*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 ZHRHAAH>I I"II(BI =&I.I6I;<:I FBIŮCJIŮCRIZI =bI =jIż5JmJJJJ\8:JJJJD;JD;JJG=:GBO5> i Im h Will construct direction to contact in vehicle frame from tetrahedron phase data. yEHiy?w?e>ѿ@?$ Z?*?p?ɨEe_@E-;E#CyޅփBޅ("Ii=I< a=p=Mb@Mb@Mb@ )Y+?y&1Mby?`役@,A @)AIAyAII2٢-y -=95RQ 5>11 =G٣9y=g= => Nusing accuracyPremultiplier from configq59uQ?5Yu iu"?:ɿ@uEujqjqjqiqhqhqhyh}BfffrfbfQ%@ɛ|BU !SI ?ɚiIѐ =I%">i!i))-">))]Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: e?`w, mARH@YRW@R9R V>yRH ?U?E!ѿ`;?d7?O? ?ɨRH@R؊;PyZ܃Bn0"III3٢= z=9`Q ?! %G٣!y%= %? -Nusing accuracyPremultiplier from config) 9I9U59-Q?]5Y-  i-Y]=ƿ]@-E-`;-;-95a e/@iZjFNOT Ignoring new targets: 231.50 m.Bj9Will construct direction to contact in vehicle frame from tetrahedron phase data.j)j)j)i)hIhQhQhQfQfYfYrfYbf]@Ĵ%@ɛ B[ %H=cRI %}iYiY)]#>)*F=?2F9:F9BF=_0JFAGa  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:3215>  BDAT read: Tx time:23:26:45.6846  $Ping request sent. H I  I "II -BI &I .I 6I <<:I Fffw,ٚmA6B1@Y6@@696~>y6Hѣ? R)? ѿxV@?@a㚿@K?@??ɨ6B1@6i;4yRكBR+"IInIn3٢v vM=9z?uQ z>x| G٣y= %> 5Nusing accuracyPremultiplier from config1m595)Q?m5Y5 i5J¿@5E5b<5b<5M;5 i@]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 231.50 m.Bjm+7Jjm+7 ProNav: ac range: 231.500000 m, nav range: 156.026917 m, bearing: 273.047565 deg, approach rate: -0.608493 m/s, LOS rate: 0.000584 deg/s, cmd heading: 9.126129 deg, new cmd heading: 9.126865 deg. 2jH7HeadingCmd: 0.159294 target range: 231.500000 and range: 234.30 m. j#>jjjihhhhfffrfbfŋ&@ɛUBU} Y]#WIY ]ɚYiYI]dm!=Ie#>iaii)m#>)i 1I9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:26:45.6838 %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252849*Fe?2Fa:FaBFaJFaG GA BY Ou >lw,mA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501807:@Y:{@:9:Z>y:H?8? ѿ`&? Y?? A?ɨ:@:=;:"CyN݃BN1"I)P PTVAMb@Mb@Mb@JJfJ1JJJ9J3Ja@a@a@a@ )YK7A?1Zd/$y "?"۽, V@)AIy=AIIV٢< :=9ںQ > G٣TGy=  > Nusing accuracyPremultiplier from config%59'Q?%5Y iv%$?%:%-%@E;;2=5Q U"@QZjFNOT Ignoring new targets: 231.50 m.BjzJjz ProNav: ac range: 231.500000 m, nav range: 155.748611 m, bearing: 273.044301 deg, approach rate: -0.676501 m/s, LOS rate: -0.007949 deg/s, cmd heading: 9.126865 deg, new cmd heading: 9.117054 deg. 2jHeadingCmd: 0.159123 target range: 231.500000 and range: 234.30 m. j ">jjjih!h!h!h% BfIfIfIrfQbfUnb'@zKKK59KKK $GZnM  /2(!mYH4!|unkfa\VɛBk WI N!ɚiI!=I ">ii) ">)*F?2F:FBFn0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755087G G B O >8ysw,mA2@Y25@2[)92/>y2H??\п?@ ?? ?ɨ2@2C;0y>BB5"IIJIJ2٢v< z]=9zQ z>|| ~G٣|y= >  Nusing accuracyPremultiplier from config 59 [Q?5Y E i 躿=@ E >; ; >5A E@AZjFNOT Ignoring new targets: 231.50 m.BjEyJjEy ProNav: ac range: 231.500000 m, nav range: 155.512253 m, bearing: 273.039292 deg, approach rate: -0.641679 m/s, LOS rate: -0.013621 deg/s, cmd heading: 9.117054 deg, new cmd heading: 9.102003 deg. 2jHeadingCmd: 0.158860 target range: 231.500000 and range: 234.30 m. j-">jjjihhhhfffrfbf S(@ɛMBMpQ y}XIy }ɚyiyIO"=I-">ii)-">)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007420jHibHiHqIq IqIqIq&Iq.Iq6Iud<:Iu FEO$=*FU?2FQ:FQBFU`0JFQ I h% Will construct direction to contact in vehicle frame from tetrahedron phase data.- ,>- R== checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260615G G B O->hzw,OmAyޕBޕ6"IMb@Mb@Mb@ )YT㥛 ?rh|kty!? 0.A @)IyAII٢G; =9Q >  G٣TGy > %Nusing accuracyPremultiplier from configE59Q?M5Y8 iցMq$?M:MM@E;;#A5UPB ]@]VEZjFNOT Ignoring new targets: 231.50 m.BjJj ProNav: ac range: 231.500000 m, nav range: 155.171432 m, bearing: 273.035109 deg, approach rate: -0.638946 m/s, LOS rate: -0.007859 deg/s, cmd heading: 9.102003 deg, new cmd heading: 9.089427 deg. 2jHeadingCmd: 0.158640 target range: 231.500000 and range: 234.30 m. jr">j j j i hhhh$Bfffrfbf@[,)@ɛmBmP#o im[Ii uѻɚqiqIu"=I}r">iyiyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510047)}r">)JnJeJJJ|;:J9JJzKm3tOKm9KiKmKmSNLHFGA<98741.-/+*)(%#"   E \J=*F ?2F :F BF _0JF ) I) U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761978G3GaBiO?w," nABv@YB@Bc9Bi>yBH ?@?@п3@?`l@ޠ?g??ɨBv@B$@;B!CybBb="I f=f=I~I~<2٢ <  6=9- qQ ->99 =G٣AyEZ7> E> mNusing accuracyPremultiplier from configiu59mQ?u5Ym imy}}@mEm:m:mC5 @ZjFNOT Ignoring new targets: 231.50 m.Bj Jj  ProNav: ac range: 231.500000 m, nav range: 154.883148 m, bearing: 273.022921 deg, approach rate: -0.642594 m/s, LOS rate: -0.027216 deg/s, cmd heading: 9.089427 deg, new cmd heading: 9.052797 deg. 2jm HeadingCmd: 0.158001 target range: 231.500000 and range: 234.30 m. j  !>j jjihhhhfffrf!bf%*@ɛB 隍"\I %ɚiI=#=I !>ii) !>)EE*E"E}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014023HI I"II2BI&I.I6I <:I] F*F!2F!:F!BF!JF! $?I G := Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267735G B O >Pw,1 (nAff@Yfmv@fD9f>yfH`?G?@Vп ?隠??g?ɨff@f;f#Cy}BޅF"II)I)٢]= /=9::Q > G٣y{= > %Nusing accuracyPremultiplier from config!-59%Q?-5Y% i%<1=򯿑]@%E%;%;%2E5q u@qB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 231.50 m.BjJjE ProNav: ac range: 231.500000 m, nav range: 154.581802 m, bearing: 273.006784 deg, approach rate: -0.605972 m/s, LOS rate: -0.032513 deg/s, cmd heading: 9.052797 deg, new cmd heading: 9.004292 deg. 2jEMHeadingCmd: 0.157155 target range: 231.500000 and range: 234.30 m. jM >jIjIjIiIhQhqhqhyfyfyfyrfybf+@ɛ5B5{ 15m[I1 =-ɚ9i9I=b#=IE >iAiA)E >)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517964*F?2F:F BF p0JF JAJAJE/JAJAJAJE(N3JAzK MK K K K   0MUTNIDA>9740/,()(&#  RK ?JK ?G- 3G B O >$kw,aAnA @6H@Y6DX@696>y6Hq?g?zп`@?w@ڠ???ɨ6H@6$;6%C pIpyvBzO"I%Mb@Mb@Mb@!!!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770045 !)!Y%RQ?PnMby%"?%%@%z*A %V@)% AI%3A!y%AIuIu 2٢= G=9+Q > G٣TGy= > Nusing accuracyPremultiplier from config59Q?5YE ilP&?:@E;;F5! %@!ZjamFNOT Ignoring new targets: 231.50 m.Bj>Jj> ProNav: ac range: 231.500000 m, nav range: 154.327072 m, bearing: 272.990952 deg, approach rate: -0.667476 m/s, LOS rate: -0.041554 deg/s, cmd heading: 9.004291 deg, new cmd heading: 8.956717 deg. 2j$亝HeadingCmd: 0.156324 target range: 231.500000 and range: 234.30 m. js >jjjihhhhBf ffrfbf%`+@ɛmBm䍽 imZIi m ɚqiqIu.$=I}s >iYiY)]s >)aG9 -Yy%B*F?2F:FBF0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021966ZH RH @AH >I  I "II 5͖w,'\nA6.@Y6C>@6-96>y6H6??~п/3೬? %`?#? ?ɨ6.@6^@;6#Cy\^P"IIIF3٢E; E\=9m^Q m>ii uG٣qyu= u> }Nusing accuracyPremultiplier from configy59}Q?5Y}j i}{@}E} ;}-;}H5QB @UEZj%FNOT Ignoring new targets: 231.50 m.Bj-TJj-T= ProNav: ac range: 231.500000 m, nav range: 154.091019 m, bearing: 272.973658 deg, approach rate: -0.634090 m/s, LOS rate: -0.046526 deg/s, cmd heading: 8.956716 deg, new cmd heading: 8.904755 deg. 2j=reHeadingCmd: 0.155417 target range: 231.500000 and range: 234.30 m. je%>jajijiiihihihqhqfqfqfqrfybf},@ɛBp o\I OɚiI$=I%>ii)%>)! aIeh*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:26:48.3562 TRx dataTimestamp_ set to:1736378809.608973checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275354G3G B O >Cw,MvnA.Will construct direction to contact in vehicle frame from tetrahedron phase data.,i,6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527446JmJdJ0JJ\8:J|9Jـ3JyBX"I Mb@Mb@Mb@    ) Y x&1?HzG ףp= y !? = Q8 ,A @)  AI A y pAI%#I%%x3٢]< ]-=9Q > G٣y > Nusing accuracyPremultiplier from config59Q?5Y6 iт%?:ڪ@E;;J5 D@ZjIMFNOT Ignoring new targets: 231.50 m.BjU,GJjU,G ProNav: ac range: 231.500000 m, nav range: 153.791763 m, bearing: 272.952896 deg, approach rate: -0.626242 m/s, LOS rate: -0.043532 deg/s, cmd heading: 8.904755 deg, new cmd heading: 8.842348 deg. zKEMKs9KKK 4o[;!2jﺝ%HeadingCmd: 0.154328 target range: 231.500000 and range: 234.30 m. j%/>j)j)j)i1h1hYhihmBfffrfbf@-@ yIyɛBp \I jj'ɚ)i1I5f)%=I5/>i9i9)=/>)9Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 23:26:48.3562 LVL= 20048, 28497, 27634, 32755, AGC= 64, IDX= 446, 0.27,-3.012, 2.412, 0.913, 1.996, PHS= 1.363, 0.463,-1.086, RAW= 51.3, -6.9, CAL= 56.5, -12.7, ROT= 93.5, 12.7 uYgot valid direction response: 23:26:48.3562 LVL= 20048, 28497, 27634, 32755, AGC= 64, IDX= 446, 0.27,-3.012, 2.412, 0.913, 1.996, PHS= 1.363, 0.463,-1.086, RAW= 51.3, -6.9, CAL= 56.5, -12.7, ROT= 93.5, 12.7 DAT read: Range 10 to 50 : 200.4 m (Round-trip 267.3 ms) speed -0.3 m/s ,DAT read: user:3216> BDAT read: Tx time:23:26:49.4347 *F 2F :F BF _5JF  $Ping request sent.  5e?Ϣ q|?)bI?ib>  ?<,dŢ)yI=i?P :publishing transmit ping time  Fpublishing direction and range info9cIh?~.F?ᖓqeP?y )Ii )Ii  ?<,dŢ)IiG- :G B O>w,]nAV@YV @V 9Vq>yVH@?k??rп`p@? qL`ՠ? Qe??ɨV@V^S;V$CybBba"II%I%F2٢5y= 5Q=95;JQ 5>99 =G٣=TGyE_> E> MNusing accuracyPremultiplier from configIU59MQ?U5YM|" iMQUƣ]@MEMC:M:MPL5a e@aWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:26:49.4339 k}STn?k}g} ky k}.:nA:k}fHCBk}GCZk}ˑ>"}^7@%`@."@b@}cIh?~.F?ᖓqeP?Jk}?Rk}P*}n][V@.s39@얺,?f@}[":9?$$E?u<k?"k}A*k}İBk}$]~o?k}1x 2k}sCkykykyk}Ck}n@HE>IA IE"IIEKBIA&IA.IA6IEE<:IE FBIYJIYRIYZI] =bI] =jI]j4 addTargetRange:: Added new target pos. range: 200.399994 m, deltaT: 14.872740 s, deltaX: -33.900009 m, approachRate: -2.279339 m/s, rangeRepo size: 4  Added new target pos. range: 200.399994 m, bearing: 16.315480 deg, lat: 36.903255 deg, lon: -122.122243 deg, deltaT: 18.903170 s, deltaX: -31.100006 m, approachRate: -1.645227 m/s, posRepo size: 3 ZjFNOT Ignoring new targets: 200.40 m.BjJjE ProNav: ac range: 200.399994 m, nav range: 153.550262 m, bearing: 272.930865 deg, approach rate: 0.000000 m/s, LOS rate: -0.043532 deg/s, cmd heading: 8.842348 deg, new cmd heading: 8.790830 deg. 2jAMHeadingCmd: 0.153429 target range: 200.399994 and range: 200.40 m. jMy>jIjIjIiIhIhIhyhyfffrf i@bf x ?ɛB` ZI )1ɚiI%=I5y>i1i1)5y>)1*F2F:FBFr3JF Im Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >fުw,:nAğ@YBԦ@\/9>yH ??Hп `"?cd?W?@?ɨğ@0;騙yޭBޭm"IMb@Mb@Mb@ )YK?V-¿ ףp= y^?h V@)IAyAIUIU0٢e= e-=9m OQ m>qq }G٣yy}`= }> Nusing accuracyPremultiplier from config59R?5Y) i:?:ᢿ@E;;dN5 1@B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 200.40 m.BjvJjvM ProNav: ac range: 200.399994 m, nav range: 153.265244 m, bearing: 272.903980 deg, approach rate: -0.617360 m/s, LOS rate: -0.058341 deg/s, cmd heading: 8.790830 deg, new cmd heading: 8.710026 deg. 2jM' UHeadingCmd: 0.152019 target range: 200.399994 and range: 200.40 m. jUƪ>jQjQjQiQhQhYhYh]-Bfyffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛBR( XI 0=ɚ9i9I=&=IEƪ>iAiA)Eƪ>)I*F?2F:FBFS0JFzK% qOK% 9K! K% K% 1]f[;|Lt4i&}G[1|n]OB60   I G 3G B O >±w,cnAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974464F@YF@F49FY>yFH?}?0п}n?YS?`X? N?ɨF@FT@;F#CybBbo"IIjIj)٢=< {=9 HQ   ? =G٣9yE= E? UNusing accuracyPremultiplier from configI}59MG R?}5YM. iMay}ԟ@MEM ;M;MO5 @ZjFNOT Ignoring new targets: 200.40 m.Bj㍺Jj㍺  ProNav: ac range: 200.399994 m, nav range: 153.069290 m, bearing: 272.883564 deg, approach rate: -0.594549 m/s, LOS rate: -0.062024 deg/s, cmd heading: 8.710026 deg, new cmd heading: 8.648700 deg. 2j D* HeadingCmd: 0.150948 target range: 200.399994 and range: 200.40 m. j1>j9j9jAiAhAhAhqhqfyfyfrfbf]?ɛ-ąB-I )U ZIQ UlGɚYiYI]d&=I]1>iaia)e1>)a*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226527jHQbHU<HYIY I]"II][BI] =&IY.IY6I]<:I]V FGI Jـ3K3 KA.KK"KJu lJu hJq Jq Ju <5:Ju Ȇ9Jq Jq Ju K?;a Ju M?;a Ju Ӭ:a Ju լ:a G B O- >tw,%@nA6z`@Y6o@6#96+_>y6H@S? J?N п<n?滿}?GP? ?ɨ6z`@6U;6$CyNBNs"II^I^T٢rڇ< vL=9vfQ v>xx zG٣zTGyzU= ~> E$?IA MNusing accuracyPremultiplier from configIU59M{R?U5YM+5 iMy}r}@MEM;M9;MQ5RB @ZjFNOT Ignoring new targets: 200.40 m.BjoJjo ProNav: ac range: 200.399994 m, nav range: 152.830124 m, bearing: 272.855999 deg, approach rate: -0.592397 m/s, LOS rate: -0.068383 deg/s, cmd heading: 8.648701 deg, new cmd heading: 8.565876 deg. 2j; HeadingCmd: 0.149503 target range: 200.399994 and range: 200.40 m. j @>j jjih1h9h9h9f9fAfArfAbfE?ɛȅB' 隵ZI h-RɚiIG&=I@>ii)@>)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.479682*F?2F:FBFl0JFG:Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730575zw,4nA2ID@Y2S@2%92>y2H?@K?@Ͽ@'?`n`-?:??ɨ2ID@23;2#CyJ#BJ"I)L LMb@Mb@Mb@ )YX9v?~jtÿ&1y?P-A )| AIAyAII3٢= 9=9Q ->)) -G٣)y5g= 5> =Nusing accuracyPremultiplier from config9E59=R?m5Y=; i=̓mN?m:mu@=E=P;=~;=S5y }@yzK%m)PK!K!K%K%wvpmic`[XRQNIHCA?:995232.,'&'('(%$#"BK):K-nAZjamFNOT Ignoring new targets: 200.40 m.BjmNJjmN} ProNav: ac range: 200.399994 m, nav range: 152.582504 m, bearing: 272.826776 deg, approach rate: -0.541052 m/s, LOS rate: -0.063956 deg/s, cmd heading: 8.565877 deg, new cmd heading: 8.478066 deg. 2j}/HeadingCmd: 0.147970 target range: 200.399994 and range: 200.40 m. j~>jjjihhhh=Bfffrfbf? !I%hɛeͅBeq aeUIa m^ɚiiiIm^'=Iu~>iqiq)u~>)y*F?2F:FBFo0JF!EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.985151G BG B O >ěw,<oA24@Y2D@2#92>y2H F??c]Ͽ`<?`E[v? .b?@9?ɨ24@2";2"Cy>"BB"IIJIJ2٢v z^=9z%^:Q z> G٣y%= %> -Nusing accuracyPremultiplier from config)559- R?55Y-@ i-15藿5@-E-;-;-U5a e@aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234586ZjFNOT Ignoring new targets: 200.40 m.H>I I"IIjBI&I.I6I<:Ik FBjJj5E ProNav: ac range: 200.399994 m, nav range: 152.376053 m, bearing: 272.799774 deg, approach rate: -0.584462 m/s, LOS rate: -0.076547 deg/s, cmd heading: 8.478066 deg, new cmd heading: 8.396949 deg. 2jE"RMHeadingCmd: 0.146554 target range: 200.399994 and range: 200.40 m. jM\>jIjIjIiIhIhqhyhyfyfyfyrfbf^@ɛхB WI fhɚiI'=I\>ii)\>) JnJeJJJ|;:J9JJJJ;JJ;J:J:*F?2F:FBF1JFGpA GqA I!G :G pAG M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486563G B O >D/˛w,h.oAe@Y&@&9v>yH@? ? ο [ ? ? a?/?ɨe@$;騥%Cy$B"IMb@Mb@Mb@ )Yi|?5?l¿y?LK+A @) AI3AyAI]"I]q3٢; &=9kQ > G٣TGyh= > Nusing accuracyPremultiplier from config59*R?5YG iA ?:@Et;;AW5 @ EB*** querying acoustic contact ***jAjAZjQ}FNOT Ignoring new targets: 200.40 m.BjBJjB ProNav: ac range: 200.399994 m, nav range: 152.106781 m, bearing: 272.760924 deg, approach rate: -0.554263 m/s, LOS rate: -0.080109 deg/s, cmd heading: 8.396949 deg, new cmd heading: 8.280193 deg. 2j[Will construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.739002HeadingCmd: 0.144517 target range: 200.399994 and range: 200.40 m. j+>jjjihhhh)BfffrfbfA9@ɛׅB% !%rYI! %uɚ!i)I-K@(=I-+>i1i1)5+>)Y*F2F:FBF1JFzK /=NK 9K K K &'',,01/.-,*+(&"!   $?I 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=2.990583}қw,HoAB$@YB @B4)9B+>yBH ϲ?@'?ο /`@?w]?h??ɨB$@BƉ;B$CyJ)BJ"IiN0>IN= Rp=Ra=IVIV2٢rH = v=9vQ v ? G٣ya=  ? %Nusing accuracyPremultiplier from config%59u1R?-5YLL ikIUpU@E<;;X5]SB ]@]REZjFNOT Ignoring new targets: 200.40 m.BjҿJjҿ ProNav: ac range: 200.399994 m, nav range: 151.935349 m, bearing: 272.734031 deg, approach rate: -0.533916 m/s, LOS rate: -0.083851 deg/s, cmd heading: 8.280193 deg, new cmd heading: 8.199423 deg. 2j /f HeadingCmd: 0.143107 target range: 200.399994 and range: 200.40 m. j>jjjihhhhfff!rf!bf% @ɛڅBC AEYXIA MY~ɚIiIIM(=I]>iaia)e>)*F92F9:F9BF=4JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:26:52.1073 TRx dataTimestamp_ set to:1736378813.388664checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243596HI I"IIyBI =&I.I6I=<:I FG *J% R="J% C=J- sJ- lJ) J) J- K:J- 9J) J) J- e;J- e;J- (:J- *:G B! O= >;؛w,boA:ݥ@Y:@:,9:>y:H c?<|?oοcR?9¿@5?@e??ɨ:ݥ@:;:"C PIPyV+BV"II`I`٢f@ < jM=9jQ j>ll ~G٣|yF= > Nusing accuracyPremultiplier from config =59 k:R?=5Y Q i AE⌿E@ E T; m; bZ5I M@MTEZjFNOT Ignoring new targets: 200.40 m.BjϺJjϺ ProNav: ac range: 200.399994 m, nav range: 151.721283 m, bearing: 272.697688 deg, approach rate: -0.534740 m/s, LOS rate: -0.090913 deg/s, cmd heading: 8.199424 deg, new cmd heading: 8.090242 deg. 2jy%HeadingCmd: 0.141201 target range: 200.399994 and range: 200.40 m. j->j)j)j)i)h)h)hQhQfQfYfYrfYbf] @Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496109ɛ߅BO. 隽YI -hɚiI)=I >ii)>)!*F%?2F):F1BF5P0JF1G 3G ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:26:52.1073 LVL= 21056, 28769, 28274, 32755, AGC= 64, IDX= 441, 0.09, 2.404, 1.716, 0.455, 1.366, PHS= 1.126, 0.397,-0.914, RAW= 50.6, -6.9, CAL= 55.6, -12.5, ROT= 94.4, 12.5  Ygot valid direction response: 23:26:52.1073 LVL= 21056, 28769, 28274, 32755, AGC= 64, IDX= 441, 0.09, 2.404, 1.716, 0.455, 1.366, PHS= 1.126, 0.397,-0.914, RAW= 50.6, -6.9, CAL= 55.6, -12.5, ROT= 94.4, 12.5 % PDAT read: Bearing 94.4, 12.5 (Local) % ~Local bearing/azimuth received: Bearing 94.4, 12.5 (Local) = DAT read: Range 10 to 50 : 201.3 m (Round-trip 268.4 ms) speed -0.2 m/s M ,DAT read: user:3217> U BDAT read: Tx time:23:26:53.2347 U $Ping request sent.U  \direction in FSK: [0.116991,0.682748,0.721227] :publishing transmit ping timeQ  Fpublishing direction and range info 9 ^R\'?:u?zB!2J?y LIC @R ap rn) I i ? C> i =b? Ulx?) f_I B?i f_> HC9g?\"_oY) I K=i V? 9N  :publishing transmit ping timeQ  Fpublishing direction and range info 9 ^R\'?:u?zB!2J?y  ) I i ) I i HC9g?\"_oY) I i fޛw,d|oA @:|@Y:@:09:`ڋ>y:Hx??@Ϳ S@?`¿@v??? ?ɨ:|@:Z;:#CyF3BF"I%Mb@Mb@Mb@!!! !)!Y%tV?q= ףpkty%?%뽹% 0%.A !)% AI%IA!y%AImIm 3٢= -=9#Q > G٣TGykb= > 5Nusing accuracyPremultiplier from config1=595FR?=5Y5 X i5΄=?=:= E@5E5;5@;5t\5I m@i IhzK͆MK9KKK$@*76|NOto*q3aB$wlaTIk l?kDM k kyoA:kLICBkGCZkp ?"m;:7@Dn-a@6i%b@^R\'?:u?zB!2J?JkV?Rk9N*i)T@"mH@uL7f@@,L?dW?ѨK@?"k+EB*kMBkl?kUlE 2ksCkkkd?kzCklF@ addTargetRange:: Added new target pos. range: 201.300003 m, deltaT: 3.779339 s, deltaX: 0.900009 m, approachRate: 0.238139 m/s, rangeRepo size: 4  Added new target pos. range: 201.300003 m, bearing: 31.432359 deg, lat: 36.903255 deg, lon: -122.122243 deg, deltaT: 3.779339 s, deltaX: 0.900009 m, approachRate: 0.238139 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 201.30 m.BjJj ProNav: ac range: 201.300003 m, nav range: 151.478317 m, bearing: 272.647483 deg, approach rate: 0.000000 m/s, LOS rate: -0.090913 deg/s, cmd heading: 8.090242 deg, new cmd heading: 7.958648 deg. 2jHeadingCmd: 0.138905 target range: 201.300003 and range: 201.30 m. jE=>jAjAjAiAhAhAhIhMRBfIfIfQrfU)i@bfU ?ɛB &  zXI %Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:26:53.2339 ɚiYI])=Ie=>iaia)e=>)a*F?2F:FBFJF)9 9 ~G 5tA = c,Y= 5tAy= r$BG :G B OM >w,KoABWill construct direction to contact in vehicle frame from tetrahedron phase data.@i@HR>IP IR#IIRBIP&IP.IRBD6IR<:IR= FCZ@Yi@q;9=>yHw?sÿl?@?`0?ɨCZ@i;騕"CJqJmJJJD:J&9JJJIZ;JLZ;J:J:y:B"I)Y YuAuAI}I}m٢< <=9nQ > G٣y= > UNusing accuracyPremultiplier from configIU59MRR?]5YM] iMY]y]@MEM\:M:M`^5uTB u@}QEZjFNOT Ignoring new targets: 201.30 m.Bj% Jj%  ProNav: ac range: 201.300003 m, nav range: 151.259567 m, bearing: 272.596449 deg, approach rate: -0.516940 m/s, LOS rate: -0.120777 deg/s, cmd heading: 7.958648 deg, new cmd heading: 7.805324 deg. 2jƥHeadingCmd: 0.136229 target range: 201.300003 and range: 201.30 m. j- >j)j)j)i)h)h1h1h1f1f9f9rf9bf=?ɛBD KWI ɚiI)=I >ii $?I) >)*F?2F:FBFY0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G% 3G B) Om >Àw,poAj6@Yj\F@jviA9jp >yjHR?L?`˿`S[U?Ŀ*?M?`?ɨj6@j;hy=B"I]Mb@Mb@Mb@YYY Y)YY](\?Zd;J +y]?]]H],A ]@)] AI]AYy]QAuWill construct direction to contact in vehicle frame from tetrahedron phase data.II2٢< ==9M^Q > G٣y~= > Nusing accuracyPremultiplier from config59o^R?5Yb i% ?:u@E|;;<`5 k@]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 201.30 m.Bj[Jj[ ProNav: ac range: 201.300003 m, nav range: 151.055481 m, bearing: 272.547310 deg, approach rate: -0.476315 m/s, LOS rate: -0.114840 deg/s, cmd heading: 7.805323 deg, new cmd heading: 7.657707 deg. 2jHeadingCmd: 0.133652 target range: 201.300003 and range: 201.30 m. j >jjjihhhh.Bfffrfbf?ɛMBM IMWIQ UkɚQiQIU\*=I] >iYiY)] >)a*F?2F:FBF_0JF IzKEHPK9KKK?5+!}xsnighfa_`]ZSORPMJEEECG - 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.GA GE lAG B O% >S]w,oA:@Y:`@: M9:4U>y:Hb?੻? }˿@ ?lĿ?? V?ɨ:@:s;:$CyR8BR"IIvIv(٢%= -h=9UQ ]>aa mG٣mTGy= > Nusing accuracyPremultiplier from config59hR?5Y.g iK}o@E ;V;a5 @Zj)MFNOT Ignoring new targets: 201.30 m.BjU JjU e ProNav: ac range: 201.300003 m, nav range: 150.886002 m, bearing: 272.504132 deg, approach rate: -0.470012 m/s, LOS rate: -0.119878 deg/s, cmd heading: 7.657708 deg, new cmd heading: 7.528029 deg. 2jeHeadingCmd: 0.131389 target range: 201.300003 and range: 201.30 m. jЊ>jjjihhhhfffrfbf ^?ɛ B 4 9\I 耜ɚiIk*=IЊ>ii)%Њ>)!*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494436H>IC I#IIBI =&I.I6I<:IJ FBIaJIaRIaZIabIajIe5G% :G B O > I ۇw,oA6@Y6@6J96 >y6H R?`C?ʿ t?mſ???`S?ɨ6@6!;4yJ?BN"IiR>IR> V=V=~Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746930I^I^F2٢E= EH=9M ;Q M>YY ]G٣Yye;= e> Nusing accuracyPremultiplier from config59tR?5Yk iwh@E;;c5 P@NEZjAEFNOT Ignoring new targets: 201.30 m.BjMJjm} ProNav: ac range: 201.300003 m, nav range: 150.697815 m, bearing: 272.452946 deg, approach rate: -0.462319 m/s, LOS rate: -0.125906 deg/s, cmd heading: 7.528030 deg, new cmd heading: 7.374281 deg. 2j}ЬHeadingCmd: 0.128705 target range: 201.300003 and range: 201.30 m. j^>jjjihhhhfffrfbf%?ɛ5B5 15~ZI9 =Gɚ9i9I=#+=IE^>iaia)e^>)i*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998738G J5 rJ5 pJ5 1J1 J5 G:J5 ^9J5 3J1 aE @aE @aE @aE @GI BQ Om >lw,pA:ū@Y:Բ@:oI9: >y:H ?k?ʿu?Pƿ4?? :?ɨ:ū@:I;8yNCBN"I E$?IEhzKOK9KKK?;767535200/.,*))(*'#!!! !?0GSYZSJA3Mb@Mb@Mb@ )YHzG?y&1&1y= ?`役P)A @) AIAyAII#3٢'{< 2=97@9Q > G٣yEk= > UNusing accuracyPremultiplier from configIU59M_R?]5YMq iM] ?]:]]]@MEM;M;Me5eUB #@PEZjFNOT Ignoring new targets: 201.30 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252112e ProNav: ac range: 201.300003 m, nav range: 150.499634 m, bearing: 272.394207 deg, approach rate: -0.436249 m/s, LOS rate: -0.129472 deg/s, cmd heading: 7.374280 deg, new cmd heading: 7.197830 deg. 2jemHeadingCmd: 0.125626 target range: 201.300003 and range: 201.30 m. jm>jijijqiqhqhqhyh}$Bfffrfbf YN@ɛBg ZI lɚiI+=I%>i!i))->))E=e>E=>*F2F:FBFJFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502162G B H >I  I #II BI  =&I .I 6I կ<:I / FO >w,pAFc@YF۪@FJ9F9>yFHj?@? >ʿp? cǿ9U?I? ?ɨFc@Fe$;DJlJn@AyzFBz"II I2٢< o=9S>Q ?!! %G٣%TGy%2= -? 5Nusing accuracyPremultiplier from config)559-R?]5Y-t i-̅Y]We@-E-;-;- g5i m@iZjFNOT Ignoring new targets: 201.30 m.BjJj ProNav: ac range: 201.300003 m, nav range: 150.357529 m, bearing: 272.349586 deg, approach rate: -0.425429 m/s, LOS rate: -0.133711 deg/s, cmd heading: 7.197830 deg, new cmd heading: 7.063841 deg. 2j HeadingCmd: 0.123287 target range: 201.300003 and range: 201.30 m. j  ~=j j j i h hhQhQfYfYfYrfYbfe@ɛB 隭ZI VɚiI+=I ~=ii) ~=) 9I9*Fm?2Fi:FiBFm4JFq%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754966GGQ BY O} >L w,;5pAyUNBU"ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005877eMb@Mb@Mb@aaa a)aYe> ףp=?Qye?eeLe5*A ep@)e~AIaaye\AII٢B= 1=9Q > G٣y > Nusing accuracyPremultiplier from config59ÛR?5Yy i?:;X@ÐE;; i5VB ~@MEB*** querying acoustic contact ***jjZjIUFNOT Ignoring new targets: 201.30 m.BjU>"JjU>" ProNav: ac range: 201.300003 m, nav range: 150.149567 m, bearing: 272.284709 deg, approach rate: -0.454056 m/s, LOS rate: -0.141846 deg/s, cmd heading: 7.063841 deg, new cmd heading: 6.868941 deg. 2j»HeadingCmd: 0.119886 target range: 201.300003 and range: 201.30 m. j=jjjihhhh BfffJsJnJJJK:J99JJrfbf@6@ɛmBu quLYIq utȳɚyiyI}`,=I=ii)=)*Fq2Fq:FqBFu4JFq $?IzKNK9KKK# ule^VOKFB=CZkpokhifdeheab`][YUUQOH<61..,,-,+*((RK>JK>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:26:55.9076 - TRx dataTimestamp_ set to:1736378817.168969- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259140G Gq By O >{w,SOpAy~PB~"II !I i3٢R< a=9Q > G٣y > Nusing accuracyPremultiplier from config59R?5Y5~ i% @ŐE7:":j5 W@Zj)UFNOT Ignoring new targets: 201.30 m.BjUJjUe ProNav: ac range: 201.300003 m, nav range: 149.981796 m, bearing: 272.232189 deg, approach rate: -0.420818 m/s, LOS rate: -0.131882 deg/s, cmd heading: 6.868941 deg, new cmd heading: 6.711207 deg. 2jeHeadingCmd: 0.117133 target range: 201.300003 and range: 201.30 m. j>=jjjihhhhfffrfbf( @ɛ5B= 9=YI9 =MLɚ9i9IE,=Ie>=iiii)m>=)iEyZHIRHMAAHU>IQ IU"#IIUBIQ&IQ.IQ6IU<:IUR FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510598*F?2F:FBF^0JFG GpA ! I1 G) Ga Ge rAGa B O Ew,1ipArWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 23:26:55.9076 LVL= 16704, 27345, 24402, 31347, AGC= 62, IDX= 427, 0.35,-0.193,-1.586,-2.369,-1.738, PHS= 1.633, 0.199,-0.634, RAW= 68.7, -12.0, CAL= 80.6, -20.9, ROT= 69.4, 20.9 =Ygot valid direction response: 23:26:55.9076 LVL= 16704, 27345, 24402, 31347, AGC= 62, IDX= 427, 0.35,-0.193,-1.586,-2.369,-1.738, PHS= 1.633, 0.199,-0.634, RAW= 68.7, -12.0, CAL= 80.6, -20.9, ROT= 69.4, 20.9 EPDAT read: Bearing 69.4, 20.9 (Local) E~Local bearing/azimuth received: Bearing 69.4, 20.9 (Local) UDAT read: Range 10 to 50 : 201.5 m (Round-trip 268.7 ms) speed 0.0 m/s ],DAT read: user:3218> ]BDAT read: Tx time:23:26:56.9847 e$Ping request sent.eir%?rK>rM"r.z?rPwV r?)rúIr ?irú>pprMA?7K=ljKʿ)ro3eIr&W>irs?rEpp:publishing transmit ping timeaFpublishing direction and range infop9rQo$?oG4ʐ?O?ypppp p)pIpippppp p)pIpippprMA?7K=ljKʿ)pIpippppy޵[B޵"II I<2٢RD= 6=9Q  >19 =G٣=TGyI > Nusing accuracyPremultiplier from confige59R?5Y iV@ǐE?=A=l5 @JEkr`?kr9nV kp krZ kpA:krICBkr*HCZkrf>"rk2MRA@:(wU@ZVcHf@rQo$?oG4ʐ?O?Jkrs?RkrE*rS>?e8E@V %'@6Ah@rW?$,B;?]v:?"kr8A*kr)BkrU`?kr1mT 2kriCkrU`?kr1mT krsCkr/Bkr9> addTargetRange:: Added new target pos. range: 201.500000 m, deltaT: 3.780425 s, deltaX: 0.199997 m, approachRate: 0.052903 m/s, rangeRepo size: 4 ] Added new target pos. range: 201.500000 m, bearing: 15.166472 deg, lat: 36.903585 deg, lon: -122.120431 deg, deltaT: 3.780425 s, deltaX: 0.199997 m, approachRate: 0.052903 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 201.50 m.BjeJja} ProNav: ac range: 201.500000 m, nav range: 43.972141 m, bearing: 15.166397 deg, approach rate: 0.000000 m/s, LOS rate: -0.131882 deg/s, cmd heading: 6.711206 deg, new cmd heading: 6.505801 deg. 2jyHeadingCmd: 0.113548 target range: 201.500000 and range: 201.50 m. j=jjjihhhhfffrf0i@bf˷?ɛ B [ VI Oɚi!I%<-=I5=i1i1)5=)9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:26:56.9839 *F ?2F :F BF 4J J J 0J J J J ـ3J JF  I GM3zKNK9KKK&#" !    !! BK:KpAG BO->'"w, pA4Я@Y߶@9U9݊>yH@?8?`ǿ`39?mrɿ???Will construct direction to contact in vehicle frame from tetrahedron phase data.ɨ4Я@A;ymaBm"I quR=Mb@Mb@Mb@ )Ym?`"I +y?94*A Z@)AIAyAIUIU&ѳ٢v< =9ƢQ > G٣yJ> > Nusing accuracyPremultiplier from config59cR?5Y iZ?:@@ʐE;;n5 Y@ZjIUFNOT Ignoring new targets: 201.50 m.BjUW<Jj}W< ProNav: ac range: 201.500000 m, nav range: 43.823898 m, bearing: 15.481967 deg, approach rate: -0.353118 m/s, LOS rate: 0.754235 deg/s, cmd heading: 6.505801 deg, new cmd heading: 7.455622 deg. 2jg=HeadingCmd: 0.130125 target range: 201.500000 and range: 201.50 m. j?>jjjihhhhBfffrfbf?ɛ} B} y}UI H)ƼɚiI-=I?>ii)?>)*Fm?2Fi:FiBFm[0JFiHm>ImC Im5#IImBIm =&Ii.Ii6ImL<:Im FWill construct direction to contact in vehicle frame from tetrahedron phase data.J9 J= AAG :GI BY Ou >_(w,:pAF{@YF@F5[9F w> ^$?I\yFH#V?n!?=yǿԚ? ʿcc?1??ɨF{@F܉;DyzfBz"III)٢ = z=9;Q ? %G٣!y%= %? MNusing accuracyPremultiplier from config)U59-R?U5Y-ً i-Y]:]@-ːE-);-J;-Hp5eWB e@eGEZjFNOT Ignoring new targets: 201.50 m.Bj2<Jj2< ProNav: ac range: 201.500000 m, nav range: 43.724533 m, bearing: 15.684992 deg, approach rate: -0.305018 m/s, LOS rate: 0.624634 deg/s, cmd heading: 7.455622 deg, new cmd heading: 8.066057 deg. 2jW<HeadingCmd: 0.140779 target range: 201.500000 and range: 201.50 m. jo(>jjjihhhhff!f!rf!bf%cD?ɛB 隕KTI 7{ʼɚiI.=Io(>ii)o(>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF_0JFGG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data..w, pA 6G@Y6V@6 `96Gf>y6H?`?ƿ߿n? V@ʿ ???ɨ6G@6{;6 Cy>mBB"IJpJrkJpJpJpJr9JpJpMb@Mb@Mb@ )Yq= ףp?Cl绿kty ?;߽ 0&A C@)~AIy AIIƳ٢= >=9)Q > G٣TGyB= > Nusing accuracyPremultiplier from config59R?5Y' iɆ?:1@͐E;;Kr5  @ IEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 201.50 m.Bj-<Jj-< $?Ih ProNav: ac range: 201.500000 m, nav range: 43.579327 m, bearing: 15.961834 deg, approach rate: -0.317513 m/s, LOS rate: 0.607367 deg/s, cmd heading: 8.066056 deg, new cmd heading: 8.899289 deg. 2jj<HeadingCmd: 0.155322 target range: 201.500000 and range: 201.50 m. j >jjjihhhhBfffrfbf?ɛBʠ 隽RI мɚiIb.=I >ii) >)zK%MK!K!K%K%  *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. H~G e -Ya ym %BG Ga B O >2m5w,pA:\@Y:&@:Qc9::>y:H ?@B?@vMƿ`z޿/U?%ʿl? ? ?ɨ:\@:$j;:"CyrzBr"I)t vAxxI~I~F3٢= M=9gQ > G٣jHbHH>IC IH#IIBI&I.I6I]<:I Fy= %> -Nusing accuracyPremultiplier from config)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.74807959-R?5Y- i-*@-ϐE-p<-z<-s5XB @FEZj9EFNOT Ignoring new targets: 201.50 m.BjE"<JjE"<} ProNav: ac range: 201.500000 m, nav range: 43.456158 m, bearing: 16.187113 deg, approach rate: -0.310650 m/s, LOS rate: 0.569795 deg/s, cmd heading: 8.899289 deg, new cmd heading: 9.577008 deg. 2j<HeadingCmd: 0.167150 target range: 201.500000 and range: 201.50 m. jt)+>*JC="Ja=jj j i h h hhfffrfbf?ɛB 隕MI ּɚiI#.=It)+>ii)t)+>)*Fu?2Fq:FqBFuo0JFq I- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000258G GA BQ Oe >:;w,pA22@Y2@2_b92>y2HAv?3?҂ſ ݿ7?*˿GH? 2?@?ɨ22@2Z;2$Cy>B>#IIJ IJ<2٢Z= ~]=9~PA:Q ~> G٣y =  > Nusing accuracyPremultiplier from config59^S?5Yϖ i$@АEi ==u5Y e@aZjquFNOT Ignoring new targets: 201.50 m.Bj}<Jj}< ProNav: ac range: 201.500000 m, nav range: 43.333092 m, bearing: 16.402908 deg, approach rate: -0.299762 m/s, LOS rate: 0.527122 deg/s, cmd heading: 9.577008 deg, new cmd heading: 10.226203 deg. 2j<HeadingCmd: 0.178481 target range: 201.500000 and range: 201.50 m. j6>jjjihhhhfffrfbf`@ɛ=B=~ 9EGIA e#ۼɚaiaIm/=Im6>iiiq)u6>)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254479*F%?2F!:F!BF%0JF!G) G) $?I Ga Gi Bq O >zK5 LK5 9K1 K5 K5 :" Nk)JmT?, &))(&#v~Bw,u qA2@Y2ͺ@2a92꤉>y2H?? Ŀۿ` ?˿@9?!??ɨ2@2;2"Cy^Bb#IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503983Mb@Mb@Mb@ )Y?"~j+y ?S㽹 )AIy AIIb2٢gB= .=9}9Q > G٣TGyg= > Nusing accuracyPremultiplier from config59S?5Yš i)?:d@ӐE;;w5  -@ CEZjQ]FNOT Ignoring new targets: 201.50 m.Bj]A<Jj]A< ProNav: ac range: 201.500000 m, nav range: 43.173904 m, bearing: 16.672689 deg, approach rate: -0.397962 m/s, LOS rate: 0.676928 deg/s, cmd heading: 10.226203 deg, new cmd heading: 11.038474 deg. 2jH<HeadingCmd: 0.192658 target range: 201.500000 and range: 201.50 m. jHE>jjjihhhhBfffrfbfO@ɛB ;  iCI  [ɚ i Isj/=IHE>ii)HE>)*F5?2F9:F9BF=2JF9HI Ia#IIԄBI =&I.I6I<:I_ FBIǭCJIǭCRIZI =bI =jI5Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756241J J oJ J J J K9J J J e;a J e;a J :a J :a% GY G B) O] >ɬHw,b$qA INw@YN@Nba9N#>yNH`g-?/F?`&Ŀ ڿAY?;̿ (???ɨNw@Na;N$CyZBj #Iin=Inp< r=rp=ItIt٢~'a= ~k=9~49Q ? G٣y =  ? ]Nusing accuracyPremultiplier from configQ]59U S?e5YU iUDaee@UԐEUP:U:U!y5 @ZjFNOT Ignoring new targets: 201.50 m.Bj#<Jj#<% ProNav: ac range: 201.500000 m, nav range: 43.047096 m, bearing: 16.878825 deg, approach rate: -0.350937 m/s, LOS rate: 0.572150 deg/s, cmd heading: 11.038474 deg, new cmd heading: 11.658675 deg. 2j%T<-HeadingCmd: 0.203482 target range: 201.500000 and range: 201.50 m. j5]P>j1j9j9i9h9h9hAhAfAfAfArfIbfu@ɛBj !%?II MɚIiIIU/=I]]P>iYiY)]]P>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008120*F-?2F):F)BF-1JF)GA G! B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:26:59.6572  TRx dataTimestamp_ set to:1736378820.948847 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261211Nw,->qA6a@Y6q@6vb96>y6H ?? fÿ`ؿ? ̿K???ɨ6a@6;6%CynBn7#I Mb@Mb@Mb@    ) Y x&?zGếMby 7 ?  ׽   @) I A y  AIEIE3٢u= u7=9}Q }>yy G٣yf= > Nusing accuracyPremultiplier from config59S1S?5Y i_ ?:@֐E5;c;{5YB e@@EB*** querying acoustic contact ***jj $?IZj15FNOT Ignoring new targets: 201.50 m.Bj=<Jj=jjjihhhh-Bfffrfbf`` @ɛ5"B5줜 9=7I9 ==ɚ9i9I= 0=IE3]>iaii)m3]>)iEy*F2F:FBFW0JF"G >G >zK EOK}9KKK! Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512040G! G= ?G= >GI Bq O >TUw,XqA2f9@Y2H@2za92>y2H?@R? ¿@ֿ?ZͿ+?*?g?ɨ2f9@2z;2"CyBBBF#IIJIJb1٢Re= Rj=9V6:Q V?TT VG٣TyZu= Z? ^Nusing accuracyPremultiplier from config\b59^>S?b5Y^ i^sdf f@^ؐE^P:^:^|5h j@hZj FNOT Ignoring new targets: 201.50 m.Bj !<Jj !<% ProNav: ac range: 201.500000 m, nav range: 42.763660 m, bearing: 17.311132 deg, approach rate: -0.378117 m/s, LOS rate: 0.564910 deg/s, cmd heading: 12.395362 deg, new cmd heading: 12.959888 deg. 2j%<-HeadingCmd: 0.226193 target range: 201.500000 and range: 201.50 m. j-g>j)j)j)i)h)h1h1h1f9f9f9rf9bf=` @ɛe$Bm im2Ii mEtɚiiqIuZ0=ZHRHH>IC I#IIBI =&I.IAD6I<:IN FI5g>i1i9)=g>)9eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:26:59.6572 LVL= 19584, 32753, 29602, 32755, AGC= 62, IDX= 439, 0.20,-2.084, 2.720, 2.733,-3.065, PHS= 1.069,-0.451,-0.488, RAW= 88.8, -1.7, CAL= 96.6, -7.2, ROT= 53.4, 7.2 Ygot valid direction response: 23:26:59.6572 LVL= 19584, 32753, 29602, 32755, AGC= 62, IDX= 439, 0.20,-2.084, 2.720, 2.733,-3.065, PHS= 1.069,-0.451,-0.488, RAW= 88.8, -1.7, CAL= 96.6, -7.2, ROT= 53.4, 7.2 PDAT read: Bearing 53.4, 7.2 (Local) ~Local bearing/azimuth received: Bearing 53.4, 7.2 (Local) DAT read: Range 10 to 50 : 201.1 m (Round-trip 268.2 ms) speed 0.0 m/s ,DAT read: user:3219> BDAT read: Tx time:23:27:00.7348 5$Ping request sent.5iim{\\?8<)mQ_ Im3 Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:27:00.7340 [w,)qqA6@Y6@6 b96 >y6H ??տ@6?Ϳ k@??B?ɨ6@6=;6$CyR΄BRZ#I)T VAVAVAIZIZ(٢bӚ= bH=9f˹Q f>dh jG٣jTGyju= n> vNusing accuracyPremultiplier from configtz59vdOS?~5Yv iv  @vِEv4;v;;v\~5! -@)k I?k5Ej k k]qA:kICBkGCZk.kn@"|W${{m9@~5>h@/%婿Cp_{/?8?Jk?RkQ*xa=q,Ug3=99ʿh@=x¿r񳸿ˢms?"k>*k ḱI?kyͥ 2k2CkkksCkq*Bk|>e addTargetRange:: Added new target pos. range: 201.100006 m, deltaT: 3.781957 s, deltaX: -0.399994 m, approachRate: -0.105764 m/s, rangeRepo size: 4 = Added new target pos. range: 201.100006 m, bearing: 213.443494 deg, lat: 36.903585 deg, lon: -122.120431 deg, deltaT: 3.781957 s, deltaX: -0.399994 m, approachRate: -0.105764 m/s, posRepo size: 4 ZjAuFNOT Ignoring new targets: 201.10 m.BjJj ProNav: ac range: 201.100006 m, nav range: 42.610615 m, bearing: 17.530520 deg, approach rate: 0.000000 m/s, LOS rate: 0.564910 deg/s, cmd heading: 12.959889 deg, new cmd heading: 13.705082 deg. 2jHeadingCmd: 0.239199 target range: 201.100006 and range: 201.10 m. jt>jjjihhhhfffrf@3#i@bf@-?ɛ(BT 隵,I ɚiIA0=It>ii)t>)eWill construct direction to contact in vehicle frame from tetrahedron phase data.aia*F2F:FBFJF $?IG :G B O >sbw,qAzK>7LK>9K<K>K> 1IhL+{_F:@D>, JƷ@YJs־@J>e9Jm>yJH(U?@w?:HԿ@n?3ο+?`? ~?ɨJƷ@JU;HyVބBVm#IbWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=w/?ˡEV-y=?=什==$A =@)=;AI=zA9y= AIUIU)٢eL= eA=9mQ m>ii uG٣qyu'h= u> Nusing accuracyPremultiplier from configy59}x`S?5Y}+ i}?:2辑@}ېE}{;};}55 @=EZjFNOT Ignoring new targets: 201.10 m.Bj<Jj< ProNav: ac range: 201.100006 m, nav range: 42.447403 m, bearing: 17.740052 deg, approach rate: -0.417075 m/s, LOS rate: 0.537498 deg/s, cmd heading: 13.705082 deg, new cmd heading: 14.336066 deg. 2jp<HeadingCmd: 0.250212 target range: 201.100006 and range: 201.10 m. j>jjjihhhh:Bfffrfbf 'Z?ɛU*BU3 Y]D&IY ]fɚYiYI]0=Ie>iaia)e>)iEpAEqA*F%?2F!:F!BF-o0JF)H>I I#IIBI =&I.I6I<:I? FWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >JSKS K[.KSKS"KSJ% uJ% pJ% 0J! J% [Q:J% ^9J% ـ3J! J% o;J% o;J% }:J% ~: I hw,qA:@Y:@:i9:Xa>y:H@? ?`ҿ@C?` ο@#6?.?y?ɨ:@:;:%CyjBnu#IprBAIvIvԳ٢= P=9tQ >    G٣ ym= > -Nusing accuracyPremultiplier from config!559%pS?55Y%{ i%15hܾ5@%ݐE%;%;%5EZB EN@E:EZjimFNOT Ignoring new targets: 201.10 m.Bju <Jju < ProNav: ac range: 201.100006 m, nav range: 42.292294 m, bearing: 17.932262 deg, approach rate: -0.393292 m/s, LOS rate: 0.489152 deg/s, cmd heading: 14.336065 deg, new cmd heading: 14.914790 deg. 2j٧<HeadingCmd: 0.260312 target range: 201.100006 and range: 201.10 m. jG>jj j i hhhhf!fIfIrfQbfU@[?ɛ-B3 #I ɚiIr 1=I G>i i)G>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo1JFG3G B Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.B#ow,~qA21R@Y2a@2#y2H??%ѿ?QϿ@8í?P8??ɨ21R@2V;2#CyNBN#IiR=IR{> V=V=Mb@Mb@Mb@ )YMb?DlI +y?O9 @)AI Ay AII٢;= >=9$Q > G٣TGyr= > Nusing accuracyPremultiplier from config59zS?5Y i?:"Ⱦ@ߐE;;̃5  ;@ Zj1=FNOT Ignoring new targets: 201.10 m.Bj=%;Jj=%; u$?Iy ProNav: ac range: 201.100006 m, nav range: 42.127190 m, bearing: 18.123157 deg, approach rate: -0.384351 m/s, LOS rate: 0.446131 deg/s, cmd heading: 14.914790 deg, new cmd heading: 15.489700 deg. 2j<HeadingCmd: 0.270346 target range: 201.100006 and range: 201.10 m. jj>jjjihhhhMBfffrf bf 1?ɛ/Bz8 隝I @ɚiI{T1=Ij>ii)j>)*F}?2Fy:FyBFW5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKGOKKKKsI"UYk#uJn]K@5( RK ?JK>G Ga Bi O >y vw,^qAb2&@Yb5@buh9b#>ybH ?`j ?Y Ͽ ?? Ͽ? E?@d?ɨb2&@bر;`yr Bv#II~ I~2٢ =  W=9 ;Q  > G٣yy= %> -Nusing accuracyPremultiplier from config!-59%S?55H=>I9 I=#II=5BI9&I9.I96I=<:I=S FY%x i%QUںU@%E%;%;%u5m[B m@m7EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 201.10 m.Bj;Jj; ProNav: ac range: 201.100006 m, nav range: 41.977688 m, bearing: 18.288791 deg, approach rate: -0.389367 m/s, LOS rate: 0.432917 deg/s, cmd heading: 15.489699 deg, new cmd heading: 15.988357 deg. 2j<HeadingCmd: 0.279049 target range: 201.100006 and range: 201.10 m. jߎ>jjjihhhhfffrfbf`3@ɛ2B} I Nɚ 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.i I}1=Iߎ>ii)ߎ>)JrJqJJJG:Jq9JJJ_;J_;J:J:*Fe?2Fa:FaBFe:2JFa e$?IehG:Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2405742|w,)qA6k@Y6 @6?d96/ی>y6Hv/?? | \˿<*?8п`?[??ɨ6k@68;6"CyNBR#IIZ IZ<2٢fo= fO=9fN ;Q j>hh jG٣hynۇ= -> 5Nusing accuracyPremultiplier from config)=59-S?M5Y-C i-ɇYeie@-E-c;-z;-95y }6@:EZjFNOT Ignoring new targets: 201.10 m.Bj~;Jj~; ProNav: ac range: 201.100006 m, nav range: 41.815697 m, bearing: 18.460506 deg, approach rate: -0.400100 m/s, LOS rate: 0.425758 deg/s, cmd heading: 15.988356 deg, new cmd heading: 16.505481 deg. 2j<HeadingCmd: 0.288075 target range: 201.100006 and range: 201.10 m. j~>jjjihhhhfff rfbfN@ɛe4BmPt 隝I PɚiI1=I-~>i)i))-~>)1MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494148*F?2F:FBFP0JF QIYG 3G B O >w, rANWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745518zKKPK9KKKupkhfd]\ZSPMIJGAA??>;:;9984421.+++*'&%%$!!#"BK!:K!y-$B-#I)1)&= ~G|uA E1YE|uAyE*B 1IMAuMb@Mb@Mb@qqq q)qYu+?Zd;OMbyuv>uj G٣TGy > Nusing accuracyPremultiplier from config59S?5Y' i>:9@EV;;Z5\B {@7EZjFNOT Ignoring new targets: 201.10 m.Bj3;Jj3;  ProNav: ac range: 201.100006 m, nav range: 41.618042 m, bearing: 18.655609 deg, approach rate: -0.411139 m/s, LOS rate: 0.407759 deg/s, cmd heading: 16.505482 deg, new cmd heading: 17.093550 deg. 2j<HeadingCmd: 0.298339 target range: 201.100006 and range: 201.10 m. jۿ>jjjihhh!h%Bf!f)f)rf)bf-@ɛ%7B-nȉ )-q I) -_ɚ)i1I51=IEۿ>iAiA)Eۿ>)I*F?2F:FBF^0JFHAIA IE$IIEYBIA&IA.IA6IE<:IE9 FMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.996361J wJ pJ 1J J W:J ^9J 3J J z;J z;J }:J ~: = $?IA GI GQ GU pAG B O= >9w,l&rA6@Y6l@6`96|>y6Hʀ??븿Wſ)s?п?@P??ɨ6@6*s;6$CyB)BB#IIJ IJ̍2٢V= V=9VA;Q Z?XX ^G٣\y^Y-> ^? bNusing accuracyPremultiplier from config`f59bS?f5Yb" i`hj}u@bEb\jjjihhhhfffrfbf [ @ɛ9Bϖ I ɚiI2=I5Λ>i9i9)=Λ>)IEWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:27:03.4059 TRx dataTimestamp_ set to:1736378824.728802checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249560*F?2F:FBF_0JFG% :G B) OU >u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iu A} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500587w,ˁ@rAb}@Yb@b_9bL‹>ybH ?`o?j @F?eп wޫ? h:??ɨb}@b ;b"Cyj7Bn#IMb@Mb@Mb@ )YV-?I +Mby>9"#A @)AId A I!y= AAAII٢E[= E'=9m;v:Q m>qq uG٣qyuZ^= }> Nusing accuracyPremultiplier from configy59}+S?5Y}A i}ćO>:V3@}E}#;}b;}Ռ5 Y@4EZj%FNOT Ignoring new targets: 201.10 m.Bj-;Jj-;= ProNav: ac range: 201.100006 m, nav range: 41.277138 m, bearing: 18.932391 deg, approach rate: -0.461514 m/s, LOS rate: 0.354337 deg/s, cmd heading: 17.435789 deg, new cmd heading: 17.927459 deg. 2j=-sjijijiiihihihqhueBfqfqfyrfybf} @ɛiIiI)M3>)IWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:27:03.4059 LVL= 24672, 32753, 32754, 32755, AGC= 63, IDX= 426, 0.02, 0.545,-1.123,-0.550,-0.232, PHS= 0.864,-0.845,-0.321, RAW= 107.4, 4.0, CAL= 118.5, 1.4, ROT= 31.5, -1.4 *F?2F:FBFJFMYgot valid direction response: 23:27:03.4059 LVL= 24672, 32753, 32754, 32755, AGC= 63, IDX= 426, 0.02, 0.545,-1.123,-0.550,-0.232, PHS= 0.864,-0.845,-0.321, RAW= 107.4, 4.0, CAL= 118.5, 1.4, ROT= 31.5, -1.4 zKulNKu}9KqKuKu   PDAT read: Bearing 31.5, -1.4 (Local) ~Local bearing/azimuth received: Bearing 31.5, -1.4 (Local) DAT read: Range 10 to 50 : 200.1 m (Round-trip 266.9 ms) speed 0.3 m/s ,DAT read: user:3220> BDAT read: Tx time:23:27:04.4848  $Ping request sent. PLw,jZrAH~>I| I~/$II~|BI|&I|.I|6I~̯<:I~" FBICJICRIZI =bI =jI$4y޵>B޽#I ==IIF٢4= a=9Q >  G٣TG-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:27:04.4840 y= => ENusing accuracyPremultiplier from configAm59E"S?u5YE iEqqu@EEE;Ec;Em5y }@kˤ@?k' k krNrA:kHCBkFCZke҂@"~uSBBnNC~p|h@_kǿ1ִ'ȿf?JkRk5L*U;kMO:lTme@U addTargetRange:: Added new target pos. range: 200.100006 m, deltaT: 3.777680 s, deltaX: -1.000000 m, approachRate: -0.264713 m/s, rangeRepo size: 4  Added new target pos. range: 200.100006 m, bearing: 234.235638 deg, lat: 36.903585 deg, lon: -122.120431 deg, deltaT: 3.777680 s, deltaX: -1.000000 m, approachRate: -0.264713 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 200.10 m.BjJj ProNav: ac range: 200.100006 m, nav range: 41.119434 m, bearing: 19.054103 deg, approach rate: 0.000000 m/s, LOS rate: 0.354337 deg/s, cmd heading: 17.927459 deg, new cmd heading: 18.333156 deg. *J4="J2jHeadingCmd: 0.319974 target range: 200.100006 and range: 200.10 m. jӣ>jjjihhhhfffrf@3i@bf%f,?ɛM?BM* IMJII UV ɚQiQIUz2=I]ӣ>ii)ӣ>) $?I*F12F1:F1BF5o0JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.GY G] ?G] >G1 BA O] >pw,.trABq@YB-@B`9B>yBH`?q?ߠ0?п ? ? ?ɨBq@B;B#CyJGBJ#IIVIV٢^>= ^c=9^ Q b>`` fG٣dyj_> j> rNusing accuracyPremultiplier from configlr59nS?r5Yn intv~v@nEn:n:n5z]B ze@z1EB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 200.10 m.Bj-8;Jj-8;= ProNav: ac range: 200.100006 m, nav range: 40.961292 m, bearing: 19.162874 deg, approach rate: -0.476646 m/s, LOS rate: 0.329106 deg/s, cmd heading: 18.333157 deg, new cmd heading: 18.660727 deg. 2j=ajAjIjIiIhQhQhQhYfYfafarfabfe?ɛ@B]I aeIi ub ɚiI2=I>ii)>)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.*F]?2Fa:FaBFe3JFa"GiGm>JtJlJ0JJ;N:J9Jـ3Ja@a@a@a@ IG 3Ga Bi O >&Yw,$ rA6@Y6@6Gb96E>y6H@F?˙?Ԕ`D?ǝп`FE???ɨ6@6ⵈ;6"Cy>BB>#IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.969401%Mb@Mb@Mb@!!! !)!Y%`"?~jt~jty%>%D%D%9$A !zK} KMK}9KyK}K} ! )!I%M A!y!IId٢E E4=9EyQ E>II MG٣IyUc= U> }Nusing accuracyPremultiplier from configy59}uT?5Y}# i}>:@}E}+;};}5 @ZjFNOT Ignoring new targets: 200.10 m.Bj›;Jj›;E ProNav: ac range: 200.100006 m, nav range: 40.759060 m, bearing: 19.288781 deg, approach rate: -0.435295 m/s, LOS rate: 0.272352 deg/s, cmd heading: 18.660727 deg, new cmd heading: 19.040315 deg. 2jE:<HeadingCmd: 0.332316 target range: 200.100006 and range: 200.10 m. jY%>jjjihhhhpBfffrfbf?ɛDB? I  ɚiI>2=IY%>i!i!)%Y%>))*F2F:FBFP5JFH >I  I N$II BI &I .I 6I ɯ<:I  FUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221127 $?I G G B O >cw,rA:f@Y:@:f9:}>y:H`??h^@?п`1֬?T? ?ɨ:f@:1;:#CyFGBJ#I)L LPRAIZIZV٢f = fe=9jKQ v>  G٣ TGy [=  > %Nusing accuracyPremultiplier from config-59$T?-5Yb i)50]5@Epi;jyjyjyiyhyhyhhfffrfbf?ɛFB&O 隍I D-ɚiI^3=I>ii)>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473109)*F%?2F!:F!BF%2JF!Ga Gy Gy Ga B OE >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724935$kw,arAJ`JboJ`J`J`JbK9J`J`j@Yj~<j c9jm>yjH n?<dH iŏ?B?^п@]???ɨj@jl;hyzFBz#I IMb@Mb@Mb@ )YZd;?~jtx~jty>Ļj A @)I7 AyAII٢ʻ 8=9;Q  >    G٣ y= > Nusing accuracyPremultiplier from config%59&T?%5YN i->-:-c<-@EA;\:u51 5w@9ZjaeFNOT Ignoring new targets: 200.10 m.Bjm#;Jjm#; ProNav: ac range: 200.100006 m, nav range: 40.396149 m, bearing: 19.478749 deg, approach rate: -0.474581 m/s, LOS rate: 0.227550 deg/s, cmd heading: 19.322795 deg, new cmd heading: 19.612772 deg. 2j*<HeadingCmd: 0.342307 target range: 200.100006 and range: 200.10 m. jB>jjjihhhhKBfffrfbf?ɛHB DI ɚiI83=IB>ij)*Fm?2Fi:FiBFu]0JFqG}qA GyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976849zKMK9KKKG:Gi Bq O >Ew,rABV@YB*=Bw}`9Bx>yBH? a`5Q? ?7 ѿ` ?@c? z?ɨBV@BB;B$CjHV<bHVp<H\I\ I^a$II^BI^ =&I\.I\6I^<:I^A FyEABE#II] I]̍2٢mǼ mU=9m:Q u>qq uG٣qy}N= }> Nusing accuracyPremultiplier from config595T?5Y it$=@E::#5^B @+EZjFNOT Ignoring new targets: 200.10 m.Bj6l;Jj6l; ProNav: ac range: 200.100006 m, nav range: 40.216778 m, bearing: 19.557765 deg, approach rate: -0.466712 m/s, LOS rate: 0.206512 deg/s, cmd heading: 19.612772 deg, new cmd heading: 19.850877 deg. 2j <HeadingCmd: 0.346463 target range: 200.100006 and range: 200.10 m. jc>jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229085ɛ=KB= 9EIA EbɚAiAIEr3=IMc>iM[)Y*F?2F:FBF_0JF u$?IyGGBOB>PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480903żw,}rA>$@Y>=>O`9>I>y>H@g?6㡿??$ѿ ]?*? n?ɨ>$@>0;>#CyjFBj#Iin%>In; na=nR=IrIr(*٢~< ~Q=9~8Q ~> G٣TGy /=  > 5Nusing accuracyPremultiplier from config1=595FT?=5Y5ƶ i59==E@5E5:5:5ܘ5I M|@B*** querying acoustic contact ***jjZjqFNOT Ignoring new targets: 200.10 m.Bj;;Jj;; ProNav: ac range: 200.100006 m, nav range: 40.031185 m, bearing: 19.633001 deg, approach rate: -0.403072 m/s, LOS rate: 0.164155 deg/s, cmd heading: 19.850876 deg, new cmd heading: 20.077627 deg. 2jP;HeadingCmd: 0.350421 target range: 200.100006 and range: 200.10 m. jXj>jjjihhhhfffrfbf`!@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732959ɛeNBen aeIa eFɚiiiImh3=ImXj>iR)JuJuJ1JJ[Q:J9J3J U$?IQ*FU?2FY:FYBFYJFY"Ge>Ge>Gm HwGu ?Gu ?GI BY O >Üw,isA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985061:@Y:=:p^9:>y:H`?ӌ32?`? uEѿʫ?`Z??ɨ:@:`ʼn;:$CyDF#I5Mb@Mb@Mb@111 1)1Y5gfffff?5t5ļ5 "A 5@)5AI5 A1y5(AIUIU<٢e& e@=9m:Q m>ii mG٣izKĂKK9KKK  yQp= > Nusing accuracyPremultiplier from config59WT?5YK i> : 5= @E;:Ś5Q U@U(EZjFNOT Ignoring new targets: 200.10 m.Bja;Jja; ProNav: ac range: 200.100006 m, nav range: 39.830143 m, bearing: 19.708298 deg, approach rate: -0.524790 m/s, LOS rate: 0.197545 deg/s, cmd heading: 20.077628 deg, new cmd heading: 20.304659 deg. 2j<HeadingCmd: 0.354383 target range: 200.100006 and range: 200.10 m. jq>jjjihhh h 1Bf f frfbf@@ɛPB; 隵 I 7ɚiI3=Iq>iK)*F?2F:FBF`0JFHe>IeC Ieg$IIeBIe =&Ia.Ia6IeI<:Iez FGLsGqByO~>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:27:07.1543 TRx dataTimestamp_ set to:1736378828.508964checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238320  I ɜw,Ů)sA $$N@YN@=Nh^9N>yNHۻ?@Af?z?@yHѿ ɫ?? ?ɨN@N(;N"Cy^BBb#I nManaging dock network, ignoring radio surface power offInInb1٢= EM=9Eڦ7Q E>II MG٣IyMq= M> ]Nusing accuracyPremultiplier from configQ]59UfT?e5YUµ iQae=e@UEU ;Uu ;Up5i u@qZjFNOT Ignoring new targets: 200.10 m.BjB;;JjB;; ProNav: ac range: 200.100006 m, nav range: 39.653248 m, bearing: 19.768600 deg, approach rate: -0.478125 m/s, LOS rate: 0.163714 deg/s, cmd heading: 20.304660 deg, new cmd heading: 20.486370 deg. 2j;HeadingCmd: 0.357555 target range: 200.100006 and range: 200.10 m. jf>jjjihhhhfffrfbf @ɛRB蛽 I hɚiI%,4=I%f>i%vF))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.490262*F?2F:FBF2JFGmA^G1BYO<> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:27:07.1543 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 425,-0.06, 0.345,-1.068,-0.228,-0.061, PHS= 0.494,-0.960,-0.170, RAW= 122.8, 10.1, CAL= 130.5, 5.8, ROT= 19.5, -5.8  Ygot valid direction response: 23:27:07.1543 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 425,-0.06, 0.345,-1.068,-0.228,-0.061, PHS= 0.494,-0.960,-0.170, RAW= 122.8, 10.1, CAL= 130.5, 5.8, ROT= 19.5, -5.8  PDAT read: Bearing 19.5, -5.8 (Local)  ~Local bearing/azimuth received: Bearing 19.5, -5.8 (Local)  DAT read: Range 10 to 50 : 199.0 m (Round-trip 265.4 ms) speed 0.0 m/s  ,DAT read: user:3221> - BDAT read: Tx time:23:27:08.2348 - $Ping request sent.5 \9>yH?`[ÿڋ0,?y? Jѿ෌???ɨ@fM;%C`direction in FSK: [-0.313729,-0.438708,0.842087]:publishing transmit ping timeYFpublishing direction and range infoA9E`d3q"Կ'ϰܿ_?yEGCAEA A)AIEAiE>EuE{.E>+ @EJ4> E@)E4Q=IE@>iE4QϽAAEv?#/?%2fy?)E]L=IE4iE'C E_%AA5:publishing transmit ping timeY5Fpublishing direction and range infoy}9B}#IA9E`d3q"Կ'ϰܿ_?yAAAA A)AIAiAAAAA A)AIAiAAAEv?#/?%2fy?)AIAiAAAAMb@Mb@Mb@ )YX9v?MbtSA x@)I Ay3AIMIM0٢], ],=9e:Q e>aa mG٣TGyZ= > Nusing accuracyPremultiplier from config59yT?5Y+ i>:=@E; ;5_B Y@%EkE=C?kE.༽, kA kE@sA:kEGCBkEECZkE%u@"E M7O$qaUX2Zhd@E`d3q"Կ'ϰܿ_?JkE'C RkE_%*EޓdIw%x~(az:OQ`@EMxwFUп7濎ұ?"kEF *kE$KkEKTC?kE<., 2kEoICkÉI?kEyͥ kEsCkEBkEWj@ addTargetRange:: Added new target pos. range: 199.000000 m, deltaT: 3.781529 s, deltaX: -1.100006 m, approachRate: -0.290889 m/s, rangeRepo size: 4  Added new target pos. range: 199.000000 m, bearing: 249.697869 deg, lat: 36.902956 deg, lon: -122.120793 deg, deltaT: 3.781529 s, deltaX: -1.100006 m, approachRate: -0.290889 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 199.00 m.BjJje ProNav: ac range: 199.000000 m, nav range: 37.938736 m, bearing: 209.793881 deg, approach rate: 0.000000 m/s, LOS rate: 0.163714 deg/s, cmd heading: 20.486370 deg, new cmd heading: 20.735308 deg. 2jamHeadingCmd: 0.361899 target range: 199.000000 and range: 199.00 m. jmJ>jijijqiqhqhqhqh}Bfyfyfrfh@bf:?ɛUBȑ % eWill construct direction to contact in vehicle frame from tetrahedron phase data.I1~G u~ɚtAiIz4= ,YtAyS%BI%J>i-Cc>)QEaEazK8aLKKKK +L{aM:**F?2F:FBFn0JFG GqAZHq RHu @AH >I  I I I  =&I .I 6I 3<:I g FG [G- qAG- rA Will construct direction to contact in vehicle frame from tetrahedron phase data.iGB!O=>לw,odasAf[@Yf`e+>f `9f>yfHo?@bƿفJ?d?п@%??`%?ɨf[@f;dyr8Br#IIIq٢M# UM=9UoQ U>YY ]G٣Yy]T= e> Nusing accuracyPremultiplier from config59T?5Y i=@E3;4;E5 $?I i@Zj FNOT Ignoring new targets: 199.00 m.BjJjM ProNav: ac range: 199.000000 m, nav range: 38.114517 m, bearing: 209.682930 deg, approach rate: 0.463794 m/s, LOS rate: -0.291391 deg/s, cmd heading: 20.735309 deg, new cmd heading: 20.403995 deg. 2jMGUHeadingCmd: 0.356117 target range: 199.000000 and range: 199.00 m. jUT>jQjQjYiYhYhYhhfffrfbf6?ɛVByס I ӥɚiIU4=I T>i 5:)*F?2F:FBFR5JFGEXGiByO\>Will construct direction to contact in vehicle frame from tetrahedron phase data.ޜw,u {sAF=@YF G>Fa9F>yFH X? ɿ<;^?@v9?6п:?`??ɨF=@F=;F&CyN6BR#IIVIVʴ٢^i bU=9bfQ b>hh =G٣9yM= M> Nusing accuracyPremultiplier from config59T?5Yʳ i‡%r>%@E<< 5i m@"EWill construct direction to contact in vehicle frame from tetrahedron phase data.%B*** querying acoustic contact ***j!j!ZjQUFNOT Ignoring new targets: 199.00 m.Bj]HJj]H ProNav: ac range: 199.000000 m, nav range: 38.295822 m, bearing: 209.578313 deg, approach rate: 0.408848 m/s, LOS rate: -0.234796 deg/s, cmd heading: 20.403995 deg, new cmd heading: 20.091634 deg. 2j#!HeadingCmd: 0.350665 target range: 199.000000 and range: 199.00 m. jc>jjjihhhhf!f)f)rf)bf-@?ɛUYB] Y]IY ]׿ɚYiYIe.5= IIc>iz5)*FY2FY:FYBFeP5JFaG5r-G BO=> Will construct direction to contact in vehicle frame from tetrahedron 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,sAzK.ӗMK.9K,K.K. $TggV@/ :J @Y:\a>:d9:ur>y:H-?̿j~p?`]? n?dп?d?@?ɨ:J @:;: Cy^/B^#IEMb@Mb@Mb@AAA A)AYES?ktˡEyE>E 0E'EA EK@)E@IE~AAyEpAI]I]<٢m m@=9m^Q u>yy }G٣TGyz= > -Nusing accuracyPremultiplier from config!U59%T?U5Y% i%ׇ]>]:] >]@%E%X;%;%ᣠ5a e@iZjFNOT Ignoring new targets: 199.00 m.BjJj ProNav: ac range: 199.000000 m, nav range: 38.480572 m, bearing: 209.474211 deg, approach rate: 0.475676 m/s, LOS rate: -0.266746 deg/s, cmd heading: 20.091635 deg, new cmd heading: 19.780830 deg. 2jM7UHeadingCmd: 0.345241 target range: 199.000000 and range: 199.00 m. jUað>jQjQjQiQhQhYhYh]ÅBfYfafarfabfe"?H->I-C I-[$II-BI- =&I).I-@D6I-<:I-T FBIëCJIëCRIZI =bI =jIÀ5ɛ[BҢ I  ֵɚ i I 5d5=Iað>i2)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475376*F2F:FBF 5JF"G>G%> IJ{JwJJJd:J9JJJ#;aJ$;aJ:aJ:aG= i)G= ?G= ?G B) OE >+"w,ysABFBQ\9ByBH>?Ͽɇ?m?H?п?@t?G?ɨBF`` fG٣dy-s= -> 5Nusing accuracyPremultiplier from config1=595T?=5Y5. i59E5>E@5E5;5;55M`B MQ@UEmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.726472ZjFNOT Ignoring new targets: 199.00 m.Bj0Jj0 ProNav: ac range: 199.000000 m, nav range: 38.645035 m, bearing: 209.388772 deg, approach rate: 0.456960 m/s, LOS rate: -0.236381 deg/s, cmd heading: 19.780831 deg, new cmd heading: 19.525607 deg. 2j9"HeadingCmd: 0.340786 target range: 199.000000 and range: 199.00 m. j{>jjjihhhhfffrfbf`a?ɛ\B>4 I #E!ɚ i I 5=I {>i/0)*F?2F:FBF_0JFG]iN$GB!O=.>% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980885 $?I %w,IhsA6eO1=Y6s!>6XnS96 >y6H@?пT94\A )~@IyAI-I-b2٢= =C=9E;Q E>AA MG٣IyUO= U> eNusing accuracyPremultiplier from configYe59]T?e5Y]I i]m>m:m<8>m@]E];]Q;]G5q ud@ZjYeFNOT Ignoring new targets: 199.00 m.BjesJjes ProNav: ac range: 199.000000 m, nav range: 38.824753 m, bearing: 209.297061 deg, approach rate: 0.419932 m/s, LOS rate: -0.213302 deg/s, cmd heading: 19.525607 deg, new cmd heading: 19.251749 deg. 2jcHeadingCmd: 0.336006 target range: 199.000000 and range: 199.00 m. j >jjjihhhhBfffrfQbfUU@ɛ^Bi:-)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234551*F?2F:FBFJFG}zKMK9KKK %>U^\QJLK?2# GqBO>jHI bHM 4=HQ IQ  IU N$IIU BIU =&IQ .IQ 6IU <:IU F F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482373+w,EsA AIAye-Be#I)i iJzJ{J1JJ`:J-9J3JJo;Jq;J:J:II٢< D=9Q > G٣TGy > Nusing accuracyPremultiplier from config59T?5Y^ i @E ;q ;5aB 6@EZj FNOT Ignoring new targets: 199.00 m.Bj Jj  ProNav: ac range: 199.000000 m, nav range: 39.009167 m, bearing: 209.203882 deg, approach rate: 0.469293 m/s, LOS rate: -0.235998 deg/s, cmd heading: 19.251749 deg, new cmd heading: 18.973537 deg. 2j%!%HeadingCmd: 0.331151 target range: 199.000000 and range: 199.00 m. j%>j)j)j)i)h)h1h9h9f9f9fArfAbfEN@ɛm_Bm qu$Iq uM%ɚqiqI}}6=I}>i}Ym,)*F2F:FBFd0JFGpA GrAG GpAGqAG9BIOmV>Will construct direction to contact in vehicle frame from tetrahedron phase data.խ>խ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738673JVw,O"sA6E=Y69>6^5D96)Ez>y6H?0ӿA??`E?YϿ E?`?m?ɨ6E=6y;6"CyV(BV#IIpIp٢vɼ zV=9z|| ~G٣|y= >  Nusing accuracyPremultiplier from config 59 }T?5Y ` i :[>%@ E 8; Z8; ê5-`B -v@-EZjFNOT Ignoring new targets: 199.00 m.BjK[JjK[ ProNav: ac range: 199.000000 m, nav range: 39.178837 m, bearing: 209.128278 deg, approach rate: 0.432132 m/s, LOS rate: -0.191722 deg/s, cmd heading: 18.973538 deg, new cmd heading: 18.747709 deg. 2jHeadingCmd: 0.327209 target range: 199.000000 and range: 199.00 m. j>jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989546ji!h)hIhhfffrfbfY@ 5$?I=hɛaBEW$ 隕iI 'ɚiI7=I >i È+)*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:27:10.9578  TRx dataTimestamp_ set to:1736378832.288718 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239499G ٲG B Ou >Ow,GtAzK.VMK.9K,K.K.)fiBK4:K6qAj=Yj؟>j^#<9jr>yjH k?`ӿ)??@?HοM? ? ?ɨj=j[;j$Cy%1B%#IMb@Mb@Mb@ )Yoʡ? %G٣!y%W< -> ENusing accuracyPremultiplier from config9E59=T?M5Y=^ i=ZU>U:]v;>]@=E=0;=7;=5 @E=B*** querying acoustic contact ***j9j9ZjimFNOT Ignoring new targets: 199.00 m.BjunJjun ProNav: ac range: 199.000000 m, nav range: 39.377670 m, bearing: 209.030723 deg, approach rate: 0.427140 m/s, LOS rate: -0.208512 deg/s, cmd heading: 18.747708 deg, new cmd heading: 18.456523 deg. 2jHeadingCmd: 0.322127 target range: 199.000000 and range: 199.00 m. j>jjjihhhhBfffrfbfƦ @H>I IH$IIBI&I.I6I<:IA Fɛ=cB=I AeIi md)ɚiiiIm 7=Iu>iuG+)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492637*F}?2Fy:FyBF0JF $?IGu柽J|JzJ0JJ;g:J9Jـ3JJՊ;J׊;JP:JQ:G1BiO>.w w, 0tAFޏ=YF>F29Fl>yFHO?gԿj?R? $n?@1ͿN?T??ɨFޏ=FC;F"Cyr:Br#IIzIz٢>= ]=9 7;Q  >  G٣TGy{< > %Nusing accuracyPremultiplier from config%59U?-5Y iu)-YF>-@E: ;R5EWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:27:10.9578 LVL= 19952, 32753, 23922, 31987, AGC= 59, IDX= 194,-0.44, 0.631,-1.053, 0.084,-0.116, PHS= 0.835,-0.890, 0.196, RAW= 128.5, -1.9, CAL= 134.4, -11.3, ROT= 15.6, 11.3 }Ygot valid direction response: 23:27:10.9578 LVL= 19952, 32753, 23922, 31987, AGC= 59, IDX= 194,-0.44, 0.631,-1.053, 0.084,-0.116, PHS= 0.835,-0.890, 0.196, RAW= 128.5, -1.9, CAL= 134.4, -11.3, ROT= 15.6, 11.3 PDAT read: Bearing 15.6, 11.3 (Local) ~Local bearing/azimuth received: Bearing 15.6, 11.3 (Local) DAT read: Range 10 to 50 : 239.0 m (Round-trip 318.7 ms) speed 0.6 m/s ,DAT read: user:3222> BDAT read: Tx time:23:27:12.0349 $Ping request sent.E/@E EQ @)EIIE'g>iEI>AAE0 l?!)/?Գ[㠿)E]>IE#!=iE2(ݿEiyAA:publishing transmit ping timeءFpublishing direction and range infoA9Eq}j8)?yῆ?yAAAA A)AIAiAAAAA A)AIAiAAAE0 l?!)/?Գ[㠿)AIAiAAAA b@kEq^?kE7u0 kA kEȴ2tA:kEoCBkEhmCZkE @"Eˑk4{e2`)1h@Eq}j8)?yῆ?JkE2(ݿRkEiy*Ev.<@􎦬e 'R*d@EsWǢپ?0S]J翧 ?"kE-*kEiAkE9)^?kEy0 2kEcCkAkE'@' kEoCkEBkE@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 239.000000 m, deltaT: 3.778428 s, deltaX: 40.000000 m, approachRate: 10.586413 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 199.00 m.BjcJjc ProNav: ac range: 199.000000 m, nav range: 39.541599 m, bearing: 208.953870 deg, approach rate: 0.426519 m/s, LOS rate: -0.199131 deg/s, cmd heading: 18.456524 deg, new cmd heading: 18.226921 deg. 2j%HeadingCmd: 0.318120 target range: 199.000000 and range: 199.00 m. j%>j!j!j!i!h!h!h)h)fffrfm@bfg?ɛMdBU QUIQ U+ɚQiQI]8 8=I]>iek+)*F]?2FY:FaBFe2JFa"Gm;>Gm>G=G=?G="?GBAWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:27:12.0341 Om >  I _w,ItA6#=Y6>6o*96 i>y6HG9?'Կ /? W?]? ͿN??q$?ɨ6#=6y;4y=B%#IMMb@Mb@Mb@III I)IYM/$?kt~jtyM&>M MMA M=@)M$@IM$AIyMAIIʴ٢6< 3=93;Q > G٣y5< > Nusing accuracyPremultiplier from config59rU?5Y| i>:2>@E*<*<U55aB 5A@=EZjyFNOT Ignoring new targets: 199.00 m.Bj"Jj" ProNav: ac range: 199.000000 m, nav range: 39.750538 m, bearing: 208.850510 deg, approach rate: 0.490826 m/s, LOS rate: -0.241531 deg/s, cmd heading: 18.226922 deg, new cmd heading: 17.918474 deg. 2j%HeadingCmd: 0.312736 target range: 199.000000 and range: 199.00 m. j>jjjihhhhfBfffrfbf@?ɛEeBMWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M4=E imMIq ujv-ɚqiqIu8=I}>i}I+)*F?2F:F!BF%75JF!GzKۍNKs9KKK  wsokigd_]^[ZGBO>H >I  I B$II BI &I .I ?D6I :I @ F Will construct direction to contact in vehicle frame from tetrahedron phase data.̌w,{ctA R$?IPJA=YJǭ>J&9Jv>yJH J&? FտS?ZJ?@2?}ο?` G٣yӡ< > Nusing accuracyPremultiplier from config59'U?5Y i;>@E;;뱠5 @ZjFNOT Ignoring new targets: 199.00 m.Bj~Jj~ ProNav: ac range: 199.000000 m, nav range: 39.915543 m, bearing: 208.771975 deg, approach rate: 0.469933 m/s, LOS rate: -0.222741 deg/s, cmd heading: 17.918474 deg, new cmd heading: 17.683845 deg. 2jHeadingCmd: 0.308641 target range: 199.000000 and range: 199.00 m. j<>jjjih h hhfffrfbf a?ɛEfBET IMII M /ɚIiQIU9=IU<>i],)Y*Fm?2Fi:FiBFmX0JFqUWill construct direction to contact in vehicle frame from tetrahedron phase data.GmEGa Bi O >2w,.}tA6h=Y6Q>696wl>y6H@?@эտ@ڥ?@g?J:?,Ϳ@W?H? ?ɨ6h=6;6!CyBUBB$IIJIJ(٢R= RZ=9RQ;Q R>TT VG٣VTGyZnX< Z> ^Nusing accuracyPremultiplier from config\b59^6U?b5Y^Ū i^ӈdf?>f@^ E^;^:^5p v@vEZj)-FNOT Ignoring new targets: 199.00 m.Bj5mJj5m ProNav: ac range: 199.000000 m, nav range: 40.086243 m, bearing: 208.692453 deg, approach rate: 0.448536 m/s, LOS rate: -0.208064 deg/s, cmd heading: 17.683845 deg, new cmd heading: 17.446296 deg. 2jEHeadingCmd: 0.304495 target range: 199.000000 and range: 199.00 m. jM>jIjIjqiqhyhWill construct direction to contact in vehicle frame from tetrahedron phase data.hhfff1rf1bf=pn? IɛhBձ & I  1ɚiIK9=I>i-)*F?2F:FBF[0JFGqA GnAG}~q;GGmAG9BAOew>)  iG 5tA &#Y 5tAy B= e#@= dBe Will construct direction to contact in vehicle frame from tetrahedron phase data.B%w,胗tA6\=Y6`ٰ>696_>y6H@F?`Ǟտ ?̧?P?{˿8?ť? N9?ɨ6\=6];6$CyRfBR$IzK~OK|K|K~K~XWVSNKGEEBCB?8.,((%&%###!!" !  }Mb@Mb@Mb@yyy y)yY}I +?ʡEy&1y}9>}-}`}A }&@)yI}Ayy}GAIIԲ٢&= ;=94;Q > G٣yH; > Nusing accuracyPremultiplier from config59EHU?5Y© i>:Q:>@ E;b;x5 @ZjFNOT Ignoring new targets: 199.00 m.BjjyJjjy ProNav: ac range: 199.000000 m, nav range: 40.287521 m, bearing: 208.597990 deg, approach rate: 0.466956 m/s, LOS rate: -0.218056 deg/s, cmd heading: 17.446296 deg, new cmd heading: 17.164323 deg. 2j%HeadingCmd: 0.299574 target range: 199.000000 and range: 199.00 m. j%a>j!j!j!i!h!h!h)h-uBf)f)f1rf1bf5Z?ɛ]iBe. aejIa e2ɚaiaImy9:=Ima>imJ.)yH~>IC IT$IIBI =&I.I6I,<:IX F*F ?2F :F BF `0JF G=GBWill construct direction to contact in vehicle frame from tetrahedron phase data.OB> $?IJYJ]BA+w,`tA6=Y6@ݮ>6c96M>y6H`#?EbտU?l?y?lɿ +??@V?ɨ6=6;6"CyRhBR$IIZIZ٢nPK< nX=9re-pt vG٣tyv' v> zNusing accuracyPremultiplier from configx%Will construct direction to contact in vehicle frame from tetrahedron phase data.-59z}WU?-5Yz iz)-4>-@z Ez;z;z5=bB =@=EUB*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 199.00 m.BjmsJjms ProNav: ac range: 199.000000 m, nav range: 40.461578 m, bearing: 208.515604 deg, approach rate: 0.452504 m/s, LOS rate: -0.213260 deg/s, cmd heading: 17.164323 deg, new cmd heading: 16.918232 deg. 2j[HeadingCmd: 0.295279 target range: 199.000000 and range: 199.00 m. j.>jjjihhhhfffrfbfB@ɛjBq @`n=I /4ɚiIs:=I.>i 0)*Fu?2Fq:FqBFu0JFqGa=GqBWill construct direction to contact in vehicle frame from tetrahedron 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 O >Jm }Jm {Ji Ji Jm [j:Jm -9Ji Ji au @au @au @au @߭2w,6G996Ɍ:>y6H@7?`^Կ@0-??!?ǿ7? T.?Ou?ɨ6=6;6$CyFyBF,$I%Mb@Mb@Mb@!!! !)!Y%)\(?ʡEZd;Oy%G?%%j%A %b@)%@I%A!y%AI=I=F2٢Mʢ= MD=9MKQQ UG٣UTGy] ]> eNusing accuracyPremultiplier from configam59e%iU?m5Yeԧ iem?m:mOF>u@eEe;es;e5 @ZjFNOT Ignoring new targets: 199.00 m.BjDxJjDxE ProNav: ac range: 199.000000 m, nav range: 40.665356 m, bearing: 208.425544 deg, approach rate: 0.493593 m/s, LOS rate: -0.217052 deg/s, cmd heading: 16.918232 deg, new cmd heading: 16.649407 deg. 2jEMHeadingCmd: 0.290587 target range: 199.000000 and range: 199.00 m. jMǔ>jIjIjIiIhIhqhqhu`Bfyfyfrfbf@ɛ PI 5ɚiI؅;=I%ǔ>i%P1))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509007*F%?2F!:F!BF%0JF)"G- >G->G9=G?G?GBOf>zKUzMKUH9KQKUKU!&*15:@BGKOSVXZ\`bccbbddbcc^^a`]]Z]ZYUQOMKJJIHDCCA@=<;79;jHq bHu <Hy Iy  I} g$II} BI} =&Iy .Iy 6I} <:I} H FBI5ɪCJI5ɩCRI1ZI5 =bI5 =jI5p5 Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760045^8w,@tA .$?I,j#=Yj>jƼ9jɴ%>yjHVO?@pԿ`?w?? !Ŀ`ؘ?`??ɨj#=j;j"CyUBUI$IIuIu(*2٢{= G=9  G٣y > Nusing accuracyPremultiplier from config59zU?5YѦ i*<>@E@::5 @ EZjFNOT Ignoring new targets: 199.00 m.Bj {Jj { ProNav: ac range: 199.000000 m, nav range: 40.865379 m, bearing: 208.334953 deg, approach rate: 0.487004 m/s, LOS rate: -0.219485 deg/s, cmd heading: 16.649407 deg, new cmd heading: 16.378967 deg. 2j HeadingCmd: 0.285867 target range: 199.000000 and range: 199.00 m. j%]>jjjih!h!h)h)f)f1f1rf9bf=@ɛ%kB5D 15ھI1 =77ɚ9i9I=0<=IU%]>iUa2)Y*F?2F:FBFT4JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013280GA=G B O >?w,tA6LH=Y6I>6?96>y6H,f?Zӿ6??@m?4¿@?YF? :?ɨ6LH=6;6!Cy>B>_$IIFIF0٢N= NZ=9RaPT VG٣TyVd V> ^Nusing accuracyPremultiplier from configXb59ZoU?f5YZ iZf@ZEZG;Z"A;Za5h j@lZjFNOT Ignoring new targets: 199.00 m.Bj oJj o ProNav: ac range: 199.000000 m, nav range: 41.046940 m, bearing: 208.250758 deg, approach rate: 0.483710 m/s, LOS rate: -0.223318 deg/s, cmd heading: 16.378966 deg, new cmd heading: 16.127501 deg. 2jB%HeadingCmd: 0.281478 target range: 199.000000 and range: 199.00 m. j%>j!j!j!i!h)h1hIhIfQfQfQrfYbf] @ɛ%lB-&E 1]ȾIY eIl8ɚiiiIm&<=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:27:14.7267 TRx dataTimestamp_ set to:1736378836.073354checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271716I=>iEP3)J5J5}J51J1J5p:J5S9J53J1EU|(H=EQEQ*F 2F :F BF p0JF G  G pAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515852zK NK 9K K K <<<><;?<;=>=<:7531* G ,=GBO >EGw,uAH.|>I, I.$II.ͅBI,&I,.I,6I./<:I.X FNS;=YN[F>N9NӉ>yNHUz?Stӿ3?w? l4?t???ɨNS;=NԈ;N"CyfBfv$I)I IMb@Mb@Mb@ )YˡE?v/{Gzy?xi# A )$@I@yp@II ٢== ==9E;Q E>AI MG٣MTGyMj U> ]Nusing accuracyPremultiplier from configQ]59UU?e5YU` iUDe?e:evR>e@UEWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 23:27:14.7267 LVL= 19952, 26913, 21858, 32755, AGC= 66, IDX= 126, 0.28, 0.327,-1.419,-0.227,-0.386, PHS= 0.801,-0.985, 0.156, RAW= 129.1, 0.4, CAL= 135.3, -8.0, ROT= 14.7, 8.0 5Ygot valid direction response: 23:27:14.7267 LVL= 19952, 26913, 21858, 32755, AGC= 66, IDX= 126, 0.28, 0.327,-1.419,-0.227,-0.386, PHS= 0.801,-0.985, 0.156, RAW= 129.1, 0.4, CAL= 135.3, -8.0, ROT= 14.7, 8.0 =PDAT read: Bearing 14.7, 8.0 (Local) E~Local bearing/azimuth received: Bearing 14.7, 8.0 (Local) MDAT read: Range 10 to 50 : 215.7 m (Round-trip 287.6 ms) speed 0.6 m/s U,DAT read: user:3223> ]BDAT read: Tx time:23:27:15.8349 ]$Ping request sent.]4@; !@)5IG\>i5>m?>נC?UNpy?)6">Iϻi濉gu:publishing transmit ping timeYU;U,=Uľ5cB @E IFpublishing direction and range info9^~]UῲP0?y )IikOZ?k<|-  )Iim?>נC?UNpy?)Iik kY$uA:kWCBkBVCZkg@"4}pj)j)j)i1h1h1h1h=sBf9f9f9rf=`fj@bfE@?ɛmB ]I \i:ɚiI==I:8>i4) Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:27:15.8341 E5 m=*F ?2F :F BF ^0JF G=]Will construct direction to contact in vehicle frame from tetrahedron phase data.GJ~J|J0JJ{m:J@9Jـ3JB!OU*?.-Rw, IuAye؅Be$IMb@Mb@Mb@ )Y rh?Qy ?QA @)@IQ@y@II<٢%= %<9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=:U?E5Y= i=M@=E=;=Y;=5UdB U@UEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 215.70 m.Bj%{Jj-{] ProNav: ac range: 215.699997 m, nav range: 142.826721 m, bearing: 255.071171 deg, approach rate: 0.310278 m/s, LOS rate: -0.220088 deg/s, cmd heading: 15.691393 deg, new cmd heading: 15.309937 deg. 2je eHeadingCmd: 0.267209 target range: 215.699997 and range: 215.70 m. jeψ>jijijiiihihihqhu]Bfqfyfyrfybf}?ɛnBՁ 1I ;ɚiI>=Iψ>iH6) 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.*F5 ?2F1 :F1 BF5 W0JF1 "G= =G= =zK MK s9K K K ZH RH ?AH z>I C I $II BI  =&I .I 6I 5<:I Z FG w!=] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994381G B O>D;Yw,AfuA $?I R3=YR|>Rb9Rt=yRH?{+ҿ@,1? /?|?@3XP?`߻??ɨR3=R;R$CyjBj$IIrIrƲ٢=.> ===9EY5Ii uG٣qy}QD }> Nusing accuracyPremultiplier from config59U?5Y| i8wo>@E׆;4;à5 @EZjFNOT Ignoring new targets: 215.70 m.BjeJj e% ProNav: ac range: 215.699997 m, nav range: 142.941360 m, bearing: 254.986046 deg, approach rate: 0.269985 m/s, LOS rate: -0.200315 deg/s, cmd heading: 15.309937 deg, new cmd heading: 15.054769 deg. 2j-y 5HeadingCmd: 0.262755 target range: 215.699997 and range: 215.70 m. j5݇>j1j1j9i9h9h9hIhIfIfQfQrfQbf]4?ɛ~ qI <ɚiIPP?=I݇>i6)*F?2F:FBF_0JFG{/=GiByO\>Will construct direction to contact in vehicle frame from tetrahedron phase data.>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246620w`w,uAyB$Ii-=I-9?IMIMW٢Ra= F=9Q > G٣TGy > Nusing accuracyPremultiplier from config59gU?5Y i4@]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500635Eb<<]Š5 9@ 5$?I9JJJ1JJs:J9J3JZj1=FNOT Ignoring new targets: 215.70 m.Bj==Jj==m ProNav: ac range: 215.699997 m, nav range: 143.048279 m, bearing: 254.906990 deg, approach rate: 0.224513 m/s, LOS rate: -0.165882 deg/s, cmd heading: 15.054770 deg, new cmd heading: 14.817780 deg. 2ju㻝uHeadingCmd: 0.258619 target range: 215.699997 and range: 215.70 m. jui>jyjyjyiyhyhyhhfffrfbfx?ɛY u AEv[IA M]=ɚIiIIMR @=IUi>iU7)Q*F5?2F1:F1BF9JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750294G] 9=G9 BA Oe >kNfw,\suAyB$IzKmBoHKm9KiKmKm %14.( Mb@Mb@Mb@ )YʡE?y&1|?Mb`?y?`;;A @)@I$@y=@II[٢ȼ= E=9Q > G٣y > Nusing accuracyPremultiplier from config59 U?5YO i+?:>@E3;b;*Ǡ5eB @EZj)-FNOT Ignoring new targets: 215.70 m.Bj5\Jj5\= ProNav: ac range: 215.699997 m, nav range: 143.172089 m, bearing: 254.828667 deg, approach rate: 0.366155 m/s, LOS rate: -0.231434 deg/s, cmd heading: 14.817781 deg, new cmd heading: 14.583015 deg. 2jEMHeadingCmd: 0.254522 target range: 215.699997 and range: 215.70 m. jMP>jIjIjIiIhIhQhQhUBfQfYfYrfYbf] ?Hw>I I%II)BI =&IGD.I>D6I<:I Fɛ1=Q]t 9=4I9 eF=ɚaiiIm@=IP>i@8)*F-?2F):F)BF-0JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002526G؛*= -$?I)GJJ@ABOEs>Zqlw,U0uA6+H=Y6>6A&896=y6H`?~ѿ ? ??@1`?/X?ll rG٣pyrM r> vNusing accuracyPremultiplier from configtz59v V?z5Yvʛ iv$|~*>~@vEv ;v ;vȠ5 @ Zj15FNOT Ignoring new targets: 215.70 m.Bj=ZJj=ZU ProNav: ac range: 215.699997 m, nav range: 143.280075 m, bearing: 254.757732 deg, approach rate: 0.291318 m/s, LOS rate: -0.191219 deg/s, cmd heading: 14.583014 deg, new cmd heading: 14.370370 deg. 2jU;]HeadingCmd: 0.250810 target range: 215.699997 and range: 215.70 m. je4j>jajajaiahahahihifififqrfqbfuQ@ɛoBg 隽I M>ɚiI!A=I4j>iB&9)*F?2F:FBFQ5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506767G= I IQ G B O >Ysw, uA63=Y6W>6096jp=y6H`?@δп`L?`y? ?%:?I#? ?ɨ63=6;6#Cy>7BR%I)X XXZAEMb@Mb@Mb@AAA A)AYEQ?Mb?~jt?yE?E@=ED Y|uAySB G٣TGy5 > Nusing accuracyPremultiplier from config59V?5Y_ iF?:.>@ E#;;ʠ5 @E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 215.70 m.Bj%[Jj%[= ProNav: ac range: 215.699997 m, nav range: 143.436539 m, bearing: 254.668061 deg, approach rate: 0.335438 m/s, LOS rate: -0.192031 deg/s, cmd heading: 14.370370 deg, new cmd heading: 14.101655 deg. 2j=EHeadingCmd: 0.246120 target range: 215.699997 and range: 215.70 m. jE|>jAjIjIiIhIhIhQhUBfQfYfYrfYbf]@7 @ɛ@\ 隍LI >ɚiIA=I|>i 9)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758498*F?2F:FBFP5JFGI<GBO>zKLK9KKK &NV`oh\QF931,(#    %Ke)Hv>I I<%IIWBI =&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011962 M $?II yw,uA^ղ=*Jb4="Jb=JfJfJf0JdJf}:Jfľ9Jfـ3JdJf;avJf;avJf;azJf;a~Y^卄>^hS,9^.=y^H?^п`e?@Gb??丿S? ?B?ɨ^ղ=^N;^"Cy=B%II I 0٢=< =B=9E1:Q E>AI MG٣IyMf M> }Nusing accuracyPremultiplier from configq}59u1V?5Yu_ iue>@u!Eu:uL:u̠5fB @EZjFNOT Ignoring new targets: 215.70 m.BjWJjW= ProNav: ac range: 215.699997 m, nav range: 143.567307 m, bearing: 254.592551 deg, approach rate: 0.327027 m/s, LOS rate: -0.188668 deg/s, cmd heading: 14.101655 deg, new cmd heading: 13.875330 deg. 2j={EHeadingCmd: 0.242170 target range: 215.699997 and range: 215.70 m. jEvw>jAjAjAiAhAhIhIhQfQfYfYrfYbf]H @ɛ/Z PǽI ?ɚiIRB=Ivw>i:)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:27:18.4969 TRx dataTimestamp_ set to:1736378839.848710checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263504G 9f<G qAG qAG B O >kkw,vA2 =Y23>2i592#=y2H?п0?l?J? ?`; ?6?ɨ2 =2!;2$CyRIBR,%IIZIZ٢b|= bf=9bv̺Q f>dd fG٣dyjS j> nNusing accuracyPremultiplier from configlr59nBBV?r5Yn intz >z@n#Enb;n`;nΠ5 @Zj FNOT Ignoring new targets: 215.70 m.BjOJjO- ProNav: ac range: 215.699997 m, nav range: 143.683899 m, bearing: 254.524800 deg, approach rate: 0.311787 m/s, LOS rate: -0.181029 deg/s, cmd heading: 13.875330 deg, new cmd heading: 13.672243 deg. 2j-zEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517676}HeadingCmd: 0.238626 target range: 215.699997 and range: 215.70 m. j}IZt>jjji $?Ihh hhf!f)frfbfu @ɛMnBUS Y] Ia mCJ?ɚiiiIu4B=IIZt>iK:)*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 23:27:18.4969 LVL= 21008, 24993, 22834, 32755, AGC= 66, IDX= 141,-0.22, 0.189,-1.525,-0.342,-0.429, PHS= 0.706,-1.049, 0.084, RAW= 129.6, 3.4, CAL= 136.0, -3.6, ROT= 14.0, 3.6 - Ygot valid direction response: 23:27:18.4969 LVL= 21008, 24993, 22834, 32755, AGC= 66, IDX= 141,-0.22, 0.189,-1.525,-0.342,-0.429, PHS= 0.706,-1.049, 0.084, RAW= 129.6, 3.4, CAL= 136.0, -3.6, ROT= 14.0, 3.6 5 PDAT read: Bearing 14.0, 3.6 (Local) 5 ~Local bearing/azimuth received: Bearing 14.0, 3.6 (Local) E DAT read: Range 10 to 50 : 193.4 m (Round-trip 257.9 ms) speed 0.1 m/s M ,DAT read: user:3224> U BDAT read: Tx time:23:27:19.5849 U $Ping request sent.U a?y fAC R a 2Y) I i j4? E 1= @ s= @) I 5z>i = Xl?m.?\]?) ‹*>I si  > p u :publishing transmit ping timeQ } Fpublishing direction and range info 9 u kȿprP>a?y  ) I i ) I i Xl?m.?\]?) I i G <Gy B O >w,3NvALBfDQ9}=yH@\?_2Ͽx? 1??Պ ^(?J?`?ɨLB<;zKNK+9KKKe {yh/S}0Jm6iXD3!y޵OB޵2%Ii=I4< ==H-u>I) I-n%II-BI)&I).I)6I-H<:I-c FBICJICRIZI =bI =jI5%Mb@Mb@Mb@!!! !)!Y%V-?kt?Q?y%h?% =%u G٣TGy > Nusing accuracyPremultiplier from config59aYV?5Y iˈ ? :5T>5@%E;#;TР5A E|@EEkI:S?k'+ k kvA:kfACBk@CZkG@"C1rB([30}c@u kȿprP>a?JkRk> p*r@w!`0?Za@GǛ棿EZ忾8`?"k *kk=S?kY+ 2kSCk=S?kkaCk Ck@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:27:19.5841 addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 193.399994 m, deltaT: 3.779247 s, deltaX: -22.300003 m, approachRate: -5.900647 m/s, rangeRepo size: 4Zj 5FNOT Ignoring new targets: 215.70 m.Bj= SJj= S} ProNav: ac range: 215.699997 m, nav range: 143.867020 m, bearing: 254.431574 deg, approach rate: 0.363028 m/s, LOS rate: -0.184580 deg/s, cmd heading: 13.672243 deg, new cmd heading: 13.392925 deg. 2j}YHeadingCmd: 0.233751 target range: 215.699997 and range: 215.70 m. jS\o>jjji IhhhhBfffrf,h@bf+?ɛ9='8P AE}Ia m?ɚiiiImzC=IuS\o>i}Z:)JEJAJE1JAJEy:JAJE3JAJE;JE ;JAJA*F=?2F9:F9BF=\0JF9G} ;< Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Ba O} >Fw,x8vA66!u96Xk=y6H ?yο7l??4?Fx?`?x?ɨ6<6<;6"CyNQBN5%IIVIVT٢bF< bf=9bNͻQ f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nhV?r5Yn intvY>v@n'En<:n:nѠ59 EY@AZjFNOT Ignoring new targets: 215.70 m.BjiPJjiP ProNav: ac range: 215.699997 m, nav range: 143.987076 m, bearing: 254.370442 deg, approach rate: 0.358125 m/s, LOS rate: -0.182206 deg/s, cmd heading: 13.392924 deg, new cmd heading: 13.209680 deg. 2jHeadingCmd: 0.230552 target range: 215.699997 and range: 215.70 m. jl>jjjihhhhfffrfbf )?ɛהQ piI MY?ɚIiIIMC=IUl>iUB;)Q*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. ]$?IYGE b<G B) OE >bw,dRvAy``UMb@Mb@Mb@QQQ Q)QYU(\?MbX?~jth?yUz?U=UD;UA U@)QIQQyQImIm)٢}n: ?=9Q > G٣y > Nusing accuracyPremultiplier from config59{V?5Y i?:>@)E/];}K;Ӡ5 T@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 215.70 m.BjTJjT ProNav: ac range: 215.699997 m, nav range: 144.145874 m, bearing: 254.293230 deg, approach rate: 0.382520 m/s, LOS rate: -0.185786 deg/s, cmd heading: 13.209680 deg, new cmd heading: 12.978301 deg. 2jHeadingCmd: 0.226514 target range: 215.699997 and range: 215.70 m. j Og>j j j i h h =Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.hh…Bfffrfbf3v?ɛam7zO 隵dI ?ɚiI]D=IOg>i ;)*F2F:FBFJFzK^9PKh9KKK}xq`]ZUNPPLGFEDB?:7432111.,*,)''(%%(%$##ZH RH Hs>IC I%IIBI =&I.I6It<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247199G w< I II G B O5 >J) J- J- 0J) J) J- 9J- ـ3J) J- ;J) J- 2;w,HlvAJ]2;NғN9NQ=yNHV?lWοgz? A??m=T?Nܺ?P?ɨNғpp rG٣rTGyrs v> zNusing accuracyPremultiplier from configt~59v^V?~5Yv iv>@v+Ev(S;vS;vYՠ5 @ZjFNOT Ignoring new targets: 215.70 m.BjSEJjSE ProNav: ac range: 215.699997 m, nav range: 144.287704 m, bearing: 254.223713 deg, approach rate: 0.352317 m/s, LOS rate: -0.172516 deg/s, cmd heading: 12.978301 deg, new cmd heading: 12.769955 deg. 2j컝HeadingCmd: 0.222878 target range: 215.699997 and range: 215.70 m. j:d>jjjih h h h f1f1f1rf1bf5@?ɛmBR 隥zI G@ɚiID=I:d>i{#<)*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503688G<G B O >tw,vA6c|696Ϛ=y6H~?ο|??.?J~zݒ?%?@k?ɨ6c|<62;6"CVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752125yZKB^-%IIfIfF2٢n} v$?Ivh J=9:Q > G٣y HĻ > Nusing accuracyPremultiplier from config559V?=5Yӈ iw9=>=@-E_k<X <aנ5EgB E@MEZjFNOT Ignoring new targets: 215.70 m.Bj_OJj_O ProNav: ac range: 215.699997 m, nav range: 144.459396 m, bearing: 254.139423 deg, approach rate: 0.369732 m/s, LOS rate: -0.181297 deg/s, cmd heading: 12.769956 deg, new cmd heading: 12.517391 deg. 2jHeadingCmd: 0.218470 target range: 215.699997 and range: 215.70 m. j_>jjjihhhhf1f1f1rf9bf= ?ɛlBQ 隕I "O@ɚiIVEE=I_>i<)*F]?2FY:FaBFe0JFa"Gm>Gm=UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002932Ge \<G9 BI Oe >;w,vAHTIT IV%IIVBIT&IT.IT6IV<:IV/ FzK~9NK~+9K|K~K~  y 8B %IMb@Mb@Mb@ )YM?S㥻?Mb`yn?/= @)I;@yII?1٢5= =6=9EQ E>AA MG٣IyU ]> mNusing accuracyPremultiplier from configY}59]V?}5Y]` i]g?:>@]/E]m;]D;]٠5 @EZjFNOT Ignoring new targets: 215.70 m.BjNJjN ProNav: ac range: 215.699997 m, nav range: 144.605591 m, bearing: 254.070552 deg, approach rate: 0.384094 m/s, LOS rate: -0.180761 deg/s, cmd heading: 12.517391 deg, new cmd heading: 12.310987 deg. 2jHeadingCmd: 0.214867 target range: 215.699997 and range: 215.70 m. j)\>jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255575 $?IjihhhhBfffrfbf `;@ɛ15l] 15ͽI1 =@ɚ9i9I=E=IE)\>iE5=)yJJJJJ}:J9JJJ;J;J\ ;J] ;*F?2F:FBF_5JFGM Hn<G9 BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507160Ou > ɭw,ѹvA6%66Dۢ96=y6Hh#?~Ϳʌv?d??@[? ? ?ɨ6%6<6A;6#Cy>9BB%IiF>IFIJIJ ٢V5; Vg=9V_Q Z>XX ZG٣ZTGy^H ^> bNusing accuracyPremultiplier from config`f59bV?f5Yb0 ibXhj>j@b0Eb:bn:bڠ5Y ]@YZjFNOT Ignoring new targets: 215.70 m.BjAEJjAE ProNav: ac range: 215.699997 m, nav range: 144.736649 m, bearing: 254.008466 deg, approach rate: 0.364362 m/s, LOS rate: -0.172453 deg/s, cmd heading: 12.310987 deg, new cmd heading: 12.124898 deg. 2j컝HeadingCmd: 0.211619 target range: 215.699997 and range: 215.70 m. jX>jjjihhhhfffrfbf%\@ɛkB:^ 隵|ǽI H@ɚiI F=IX>i=)*F?2F:FBFP0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761520GR<G B O- >ٲw,vA2;Y2i>2MЬ92t=y2H)?SͿn?/??@^⻿?_?`3?ɨ2;2;2$CyN)BN%I]Mb@Mb@Mb@YYY Y)YY]ʡE?ˡE? G٣y > Nusing accuracyPremultiplier from config59VV?5Ý iN?:P>@2E;W;ܠ5hB @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 215.70 m.Bj4YJj4Y  ProNav: ac range: 215.699997 m, nav range: 144.888123 m, bearing: 253.929877 deg, approach rate: 0.366386 m/s, LOS rate: -0.189894 deg/s, cmd heading: 12.124897 deg, new cmd heading: 11.889377 deg. 2j RHeadingCmd: 0.207509 target range: 215.699997 and range: 215.70 m. j.}T>jjjihh!EWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:23:27:22.2723 MTRx dataTimestamp_ set to:1736378843.382411Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.017968h)hUzBfYfYfYrfYbf] ED@ɛjBf 隕I 4VAɚiIԖF=I.}T>i8>)*F?2F:FBFY0JFjH<bH<Hr>I III&I.I6I<<:IX FzKmDMKmh9KiKmKmG-<GG/? $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267049G B O >ߺw,vAJZJZJXJXJZy:JZ9JXJXJZ;JZ ;JZ;JZ;j1;Yjpg>j9jr-=yjH@-?`̿ve?@^? ?(–?/?B?ɨj1;j7;j CyvBv$III٢zͽ R=9>Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-V?=5Y- i-D9=2>=@-4E-l,;-,;-5ޠ5A M6@IZjq}FNOT Ignoring new targets: 215.70 m.Bj}NJjN ProNav: ac range: 215.699997 m, nav range: 145.024048 m, bearing: 253.859293 deg, approach rate: 0.348221 m/s, LOS rate: -0.180655 deg/s, cmd heading: 11.889377 deg, new cmd heading: 11.677826 deg. 2jHeadingCmd: 0.203817 target range: 215.699997 and range: 215.70 m. jGP>jjjihhhhfffrfbf-s @ɛQUq Y]*IY ]AɚYiYI]G=IGP>i>)*FE?2FA:FABFE_0JFA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518992Gmr<G! B1 OM >-w,^dwA 0I4:Z+;Y:c>:c9:E=y:H3?@h̿`Q???B?^Y"?Ǹ??ɨ:Z+;:ݭ;:#CRWill construct direction to contact in vehicle frame from tetrahedron phase data.R4=R<~DAT read: 23:27:22.2724 LVL= 21696, 32753, 25794, 31219, AGC= 67, IDX= 193, 0.19, 3.121, 1.310, 2.484, 2.449, PHS= 0.759,-1.092, 0.032, RAW= 127.0, 3.8, CAL= 134.3, -2.6, ROT= 15.7, 2.6 Ygot valid direction response: 23:27:22.2724 LVL= 21696, 32753, 25794, 31219, AGC= 67, IDX= 193, 0.19, 3.121, 1.310, 2.484, 2.449, PHS= 0.759,-1.092, 0.032, RAW= 127.0, 3.8, CAL= 134.3, -2.6, ROT= 15.7, 2.6  PDAT read: Bearing 15.7, 2.6 (Local)  ~Local bearing/azimuth received: Bearing 15.7, 2.6 (Local) DAT read: Range 10 to 50 : 212.4 m (Round-trip 283.3 ms) speed 0.4 m/s %,DAT read: user:3225> %BDAT read: Tx time:23:27:23.3850 -$Ping request sent.-iR9=PPRsQ?5Wd? Go԰?)RiQ=IRYiRPRyzPP:publishing transmit ping time!Fpublishing direction and range infoyB$I)) )99P9R@8ɿ F?yPPPP P)PIPiPI}PPPP P)PIPiPPPRsQ?5Wd? Go԰?)PIPiPPPPI}F2٢僽 &=93Q > G٣TGy > Nusing accuracyPremultiplier from config-59V?55Y| i615r>5@6E;;`5EiB EB@EE)f= ]C5NGIi sYyBkR䬕Q?kR7f, kP kR$wA:kRfTCBkRRCZkR @"R8DC[J, f@R@8ɿ F?JkRPRkRyz*R1 0/acId@R{JVKtO!s?"kR*kRYkRdQ?kR)>~, 2kRKeCkPkPkPkR CkRM@ addTargetRange:: Added new target pos. range: 212.399994 m, deltaT: 7.563403 s, deltaX: -3.300003 m, approachRate: -0.436312 m/s, rangeRepo size: 4  Added new target pos. range: 212.399994 m, bearing: 263.276311 deg, lat: 36.903235 deg, lon: -122.122125 deg, deltaT: 7.563403 s, deltaX: -3.300003 m, approachRate: -0.436312 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 212.40 m.BjJj ProNav: ac range: 212.399994 m, nav range: 139.731842 m, bearing: 266.107136 deg, approach rate: 0.000000 m/s, LOS rate: -0.180655 deg/s, cmd heading: 11.677826 deg, new cmd heading: 11.373310 deg. 2jHeadingCmd: 0.198502 target range: 212.399994 and range: 212.40 m. jDK>jjjihhhhfffrf̌j@bfD?UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:27:23.3842 ɛhB8p 隍lGI 5Bɚ i I G=I DK>i ?)I *F ?2F :F BF ]4JF H s>I  I %II BI  =&I .I 6I .<:I N FzK ezKK 9K K K "=rUd8v$F79BK qA:K pAG<G $?IBO?ݺɝw,p(wA Will construct direction to contact in vehicle frame from tetrahedron phase data.%}}8Y%b>%ϼ9%=y%H`6?@3̿J`??`w?ϻ??ɨ%}}8%Xx;!y}B}$IMb@Mb@Mb@ )YQ?Zd;O?Mby\?j<= @)Iy @I-I-٢K =9cQ > G٣y%g %> ]Nusing accuracyPremultiplier from configQ]59U^W?e5YUz iU3e?e:eL>e@U9EU;U;U5i m@uEZjFNOT Ignoring new targets: 212.40 m.BjJj ProNav: ac range: 212.399994 m, nav range: 139.840408 m, bearing: 265.993821 deg, approach rate: 0.230796 m/s, LOS rate: -0.240704 deg/s, cmd heading: 11.373310 deg, new cmd heading: 11.033632 deg. 2j1%HeadingCmd: 0.192573 target range: 212.399994 and range: 212.40 m. j1E>jjjihhh h NBf f f1rf9bfE@c?ɛ=gB=E AEr_IA ECɚiiiIm;LH=Iu1E>iu@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2Fa:FaBFeS0JFaGe :^<G9 BI Om >.ѝw,DwA2@Y2`]>2Q92=y2H=?S˿UQ{? ?`׿??b?ɨ2@2O;;2"CyBօBB$IININV٢R? Vo=9~aQ ~?|| G٣yN ? Nusing accuracyPremultiplier from config59&W?5Y"y i/=>@:Ej::(5) -,@)ZjQUFNOT Ignoring new targets: 212.40 m.Bj] |Jj] |u ProNav: ac range: 212.399994 m, nav range: 139.909225 m, bearing: 265.921527 deg, approach rate: 0.209860 m/s, LOS rate: -0.220355 deg/s, cmd heading: 11.033633 deg, new cmd heading: 10.816858 deg. 2j}:HeadingCmd: 0.188790 target range: 212.399994 and range: 212.40 m. jRA>jjjihhhhfffrfbf`? $?IɛfB} I SDɚiIH=IRA>iPA)%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFJK KKK"KJEJAJAJAJEs:JAJAJAa@a@a@a@G =GQBYOuW> Will construct direction to contact in vehicle frame from tetrahedron phase data.Qםw,d^wAyvȅBv$Iiz=Iz:? za=za=ZHRHAAHt>I Ia%IIuBI =&I.I6I5<:IT FBImCJImCRIiZIm =bIm =jImz4Mb@Mb@Mb@ )Y(\?MbP?~jty?:ļA @)p@Iy@II(٢ 7=9 Q  >   G٣TGy > %Nusing accuracyPremultiplier from config%59:W?%5Yw i6-6?-:-d>-@jjjihhhhBfffrfbf?ɛeB,Ō I jEɚiILI=I;<>iM B)zK PK9KKKKH3 sY1]+wN%~fSC3&"|wuqied $?I*F2F:FBFn0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.*J=C="J=4=G =G B O >zݝw,xwA6v@Y6R>6e96d=y6HN?`sʿ|@i)??j_?Od?@?ɨ6v@6/A;6#Cy>BBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747394>$IININ3٢VQ6 Vc=9ZFQ Z>XX ZG٣\y=/ E> UNusing accuracyPremultiplier from configIU59MKW?}5YMv iM;y}Y>}@M>EMS;Ml;M5 @Zj-FNOT Ignoring new targets: 212.40 m.Bj5oJj5o ProNav: ac range: 212.399994 m, nav range: 140.039001 m, bearing: 265.744294 deg, approach rate: 0.150830 m/s, LOS rate: -0.209644 deg/s, cmd heading: 10.532153 deg, new cmd heading: 10.285412 deg. 2jHeadingCmd: 0.179514 target range: 212.399994 and range: 212.40 m. j7>jjjihhhhfffrfbf@y?ɛcBJ] I ~FɚiII=I%7>i%B))*F?2F:FBF0JF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999224G =G B O= >Je Je Ja Ja Je y:Je [9Ja Ja bw,=ewA6_@Y6K>696'=y6H@Y?@iɿ@zN?&?@xt? $r??ɨ6_@6+;4yRBR`$I=Mb@Mb@Mb@999 9)9Y=K7?MbV-y=I ?=@==A =x@)=Z@I=@9y=z@IMIM 2٢e e?=9eQ m>ii mG٣iyu u> Nusing accuracyPremultiplier from config59g_W?5Yu iI ?:=@@E;;5 n@ܹEZjy}FNOT Ignoring new targets: 212.40 m.BjʀJjʀ ProNav: ac range: 212.399994 m, nav range: 140.084457 m, bearing: 265.650247 deg, approach rate: 0.108879 m/s, LOS rate: -0.225193 deg/s, cmd heading: 10.285412 deg, new cmd heading: 10.003365 deg. 2jHeadingCmd: 0.174592 target range: 212.399994 and range: 212.40 m. j(2>jjjihhhhфBfffrfbf@@ɛbB 隅I  GɚWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251675iIgJ=I(2>i8pC)*Fa2Fa:FaBFeD1JFaGE3;=GB!OEs>Hw>IC I/%IILBI =&I.I6I <:I7 FzK mOK 9K K K \TPNMI??;;577421)(%""#6\}wp $?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503914w,CwA2-@Y2E>2r92<=y2H c? kȿ@n ?4?` ͠?:v?J?ɨ2-@2β;2!Cy>BBX$IDFAIRIR2J|J~BA٢  P=9 Q  >  G٣TGyր > %Nusing accuracyPremultiplier from config%59pW?-5Y1u iV)-=-@BE::755kB =@=ٹEZjFNOT Ignoring new targets: 212.40 m.BjJj ProNav: ac range: 212.399994 m, nav range: 140.123657 m, bearing: 265.567001 deg, approach rate: 0.105219 m/s, LOS rate: -0.223384 deg/s, cmd heading: 10.003365 deg, new cmd heading: 9.753698 deg. 2jNHeadingCmd: 0.170234 target range: 212.399994 and range: 212.40 m. jQ.>jjjihhhhfffrfbf Q@ɛaBi  /þI  =Hɚ i I J=IQ.>iKC)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756074Gl=GBO>vzw,a3wAB1@YB?>B 9BV=yBH`Cl?!ȿ@??? W绿? 5?^?ɨB1@B<;B"CyNBNG$IIVIV٢^j bN=9b'Q b>`d fG٣dyfq f> rNusing accuracyPremultiplier from configpv59rW?v5Yrt irbtzm=z@rCEr;rc;r5| ~@| $?IZj15FNOT Ignoring new targets: 212.40 m.Bj=i~Jj=i~M ProNav: ac range: 212.399994 m, nav range: 140.164047 m, bearing: 265.479130 deg, approach rate: 0.102267 m/s, LOS rate: -0.222424 deg/s, cmd heading: 9.753698 deg, new cmd heading: 9.490162 deg. 2jM]HeadingCmd: 0.165635 target range: 212.399994 and range: 212.40 m. je)>jajajaiahahihihqfqfqfqrfqbf}@@ɛ_B 隥vϾI .JɚiIA|K=I)>i҂D)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007542*F]?2FY:FaBFeZ0JFaJ!J%J!J!J!J%9J!J!GmN<GABIOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:27:26.0713  TRx dataTimestamp_ set to:1736378847.412740 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260484w,wAyB>$IjH=<bH=4<HMu>II IM$IIM$BIM =&II.II6IM2<:IMT F Mb@Mb@Mb@    ) Y K7?EԸX9vy  ? ƽ  A ) I  y @I%I%(*٢-6 =6=9MQ U>aa eG٣aye m> uNusing accuracyPremultiplier from configi}59mW?}5Ymxt imw}, ?}:}<}@mEEm;m[;m5 7@ֹEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 212.40 m.BjHJjH ProNav: ac range: 212.399994 m, nav range: 140.187744 m, bearing: 265.378195 deg, approach rate: 0.052407 m/s, LOS rate: -0.223184 deg/s, cmd heading: 9.490162 deg, new cmd heading: 9.187412 deg. 2j+HeadingCmd: 0.160351 target range: 212.399994 and range: 212.40 m. j2$>jjjihhhhBfffrfbf` @ɛ]B%} !%2վI! %Kɚ!i)I-YL=I=2$>i=`ME)AzK\NK9KKKf^YTIA542-,-,*'#$$    I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512619*F?2F:FBFR0JFG ><Ga Bq O >w,wA2Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: 23:27:26.0713 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 438, 0.29, 2.041, 0.346, 1.366, 1.422, PHS= 0.707,-1.029,-0.058, RAW= 123.9, 5.1, CAL= 132.4, 0.2, ROT= 17.6, -0.2 RYgot valid direction response: 23:27:26.0713 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 438, 0.29, 2.041, 0.346, 1.366, 1.422, PHS= 0.707,-1.029,-0.058, RAW= 123.9, 5.1, CAL= 132.4, 0.2, ROT= 17.6, -0.2 VPDAT read: Bearing 17.6, -0.2 (Local) V~Local bearing/azimuth received: Bearing 17.6, -0.2 (Local) ^DAT read: Range 10 to 50 : 211.6 m (Round-trip 282.2 ms) speed 0.7 m/s b,DAT read: user:3226> bBDAT read: Tx time:23:27:27.1850 f$Ping request sent.fi2d002]t?y[m?"?)2,=I2.i22lK00v:publishing transmit ping timedzFpublishing direction and range info092}E̿.޿#\?y0000 0)0I0i00000 0)0I0i0002]t?y[m?"?)0I0i0000@Y5>+93=yH#z?`ƿ`~ 8?`nQ?캿t?ޮ?`H?ɨ@z;騽%CyB;$I ===p=I] I]V2٢4 @=9Q > G٣TGy > Nusing accuracyPremultiplier from config59W?5Yot im;@GE:H:5) =^@Ak2wgM?k2@,+ k0 k2؛wA:k2SCBk2.RCZk2@"2]c^Gɀ}2XK f@2}E̿.޿#\?Jk2Rk2lK*2`be?pjr:_NHe@2WB¿C}x⿲Ar?"k2*k2+k2UM?k2B B+ 2k2kCk0k2)>~, k2cCk2Ck24@= addTargetRange:: Added new target pos. range: 211.600006 m, deltaT: 3.779767 s, deltaX: -0.799988 m, approachRate: -0.211650 m/s, rangeRepo size: 4 m Added new target pos. range: 211.600006 m, bearing: 255.836573 deg, lat: 36.903235 deg, lon: -122.122088 deg, deltaT: 3.779767 s, deltaX: -0.799988 m, approachRate: -0.211650 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 211.60 m.BjuJjy ProNav: ac range: 211.600006 m, nav range: 136.898407 m, bearing: 265.169265 deg, approach rate: 0.000000 m/s, LOS rate: -0.223184 deg/s, cmd heading: 9.187412 deg, new cmd heading: 8.888064 deg. 2jHeadingCmd: 0.155126 target range: 211.600006 and range: 211.60 m. jY>jjjihhhhfffrf@3sj@bfl?ɛM[BU} QUվIQ UYMɚQiYI]L=I]Y>iGE) $?I*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:27:27.1842 JQ JU JQ JQ JQ JU 59JQ JQ Gm AC =G ?G ?GY Bi O >qw,| xAf@Yf`T1>f19f=yfH?hƿa ?X? ٢!?`? ?ɨf@f+n;f#CyrBr4$IUMb@Mb@Mb@QQQ Q)QYUZd;O?DlQyU~ ?UO UU@ UK@)U@IU@QyU@II٢Լ I=9Q > G٣y) > Nusing accuracyPremultiplier from config59W?%5Yt i%#?%:%-@IE;;55lB 5@5ӹEEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjyFNOT Ignoring new targets: 211.60 m.BjJj ProNav: ac range: 211.600006 m, nav range: 136.901917 m, bearing: 265.074259 deg, approach rate: 0.008952 m/s, LOS rate: -0.242331 deg/s, cmd heading: 8.888065 deg, new cmd heading: 8.603057 deg. 2jO&HeadingCmd: 0.150152 target range: 211.600006 and range: 211.60 m. j\>jjjihhhhBfffrfbf`?ɛmYBm! iu5پIq uЦNɚqiqIuKM=I\>iF)*FM?2FQ:FQBFU_0JFQHI I$IIBI =&IG-7<.I6IC<:Ia FGB O5> I zK MK s9K K K BK pA:K  Will construct direction to contact in vehicle frame from tetrahedron phase data. = R= w,u-xA2k@Y2 f->292j=y2H?Xſ ە ?]?$ݣ?]?`|?ɨ2k@2;0ybzBb-$IInIn(*2٢ m=9 Q  ?  G٣y8 ? %Nusing accuracyPremultiplier from config%59W?-5Y8u i)--@JE::5A M!@IZjFNOT Ignoring new targets: 211.60 m.BjJj ProNav: ac range: 211.600006 m, nav range: 136.904419 m, bearing: 264.994307 deg, approach rate: 0.007388 m/s, LOS rate: -0.236033 deg/s, cmd heading: 8.603057 deg, new cmd heading: 8.363208 deg. 2j!HeadingCmd: 0.145966 target range: 211.600006 and range: 211.60 m. jw>jjjihhhhfffrfbf ?ɛXB ݾI! %:Oɚ!i!I%M=I-w>i-:G)1*F?2F:FBFo0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.G<G B O >w, GxA 2$?I0>P@Y>*>>&9>H=y>H?@ſ$?a?pʺ Τ?h?@?ɨ>P@>wx;>$CyNBN8$ITTIZIZm٢b]5= fN=9fQ f>dh jG٣jTGyj j> rNusing accuracyPremultiplier from configlr59nOW?v5Ynu in* @nLEnf;n;n5%mB %@-йEZjIUFNOT Ignoring new targets: 211.60 m.Bj]Jj]m ProNav: ac range: 211.600006 m, nav range: 136.906952 m, bearing: 264.901667 deg, approach rate: 0.006388 m/s, LOS rate: -0.233614 deg/s, cmd heading: 8.363208 deg, new cmd heading: 8.085294 deg. 2jmS uHeadingCmd: 0.141115 target range: 211.600006 and range: 211.60 m. jut>jqjqjqiyhyhyhyhyfffrfbf=?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛmVB} 隍ҾI :QɚiIPN=It>iG)UG}5tA Y5tAy B*F?2FY:FYBF]0JFam Will construct direction to contact in vehicle frame from tetrahedron phase data.G <G pAG nAGY Ba O >nw,YaxAZHdRHf?AHnt>Il In$IInBIl&Il.Il6In8<:InX Fy=BEC$I-only read 1 of 4 data items for water velocity. Device response is::WS,3268,V  @ @ @  @ II ٢)= <=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59W?5Y(v iш+::@NEiD;>S5 @͹E B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 211.60 m.Bj%Jj%= ProNav: ac range: 211.600006 m, nav range: 136.910141 m, bearing: 264.800270 deg, approach rate: 0.007409 m/s, LOS rate: -0.235564 deg/s, cmd heading: 8.085294 deg, new cmd heading: 7.781113 deg. 2j=!=HeadingCmd: 0.135806 target range: 211.600006 and range: 211.60 m. jE >jAjAjAiAhAhAhIhIfIfQfQrfYbf];?ɛTB 隅}ǾI RɚiIN=I >i/H) ]$?IazKKKKKKWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_5JF*J"Ja=JJJJJ:Jľ9JJJ!;aJ";aJ;aJ;aG +=G B O >&w,[{xAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003662nr@YnB>nC(9n/=ynH ?@ÿݙ@p?@s?uƺ ?`u?q?ɨnr@nH;n#CyBG$III3٢%x< %T=9-?Q ->)) 5G٣1y5( 5> EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=X?M5Y=v i=M :IUy:UU@=PE=';=R?=n5Y ]@YZjFNOT Ignoring new targets: 211.60 m.Bj&Jj& ProNav: ac range: 211.600006 m, nav range: 136.910431 m, bearing: 264.710005 deg, approach rate: 0.000753 m/s, LOS rate: -0.234567 deg/s, cmd heading: 7.781113 deg, new cmd heading: 7.510322 deg. 2j HeadingCmd: 0.131080 target range: 211.600006 and range: 211.60 m. j9>jjjihhhhfff!rf!bf%S@ɛmQBmF q隕X¾I SɚiINO=I9>is!I)*FI2FI:FIBFM4JFIG%9=GBO J> E$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2556049%w,8xANF@YN<>Ne&9N=yNHI?!ÿ@/! _?%{?`Ѥ?`b?`?ɨNF@N;N$CyVBVb$IiZp>IZ4< E E EE EE  E E EMb@Mb@Mb@AAA A)AYEK7A`?ˡEĿI +yE ?E'E9Eh@ Eb@)AIE@AyE@IeIeb2٢u= uE=9}݀:Q }>yy G٣TGyyh > Nusing accuracyPremultiplier from config59`X?5Yw iT:Q?:_@RE;;=5nB @˹EZjq}FNOT Ignoring new targets: 211.60 m.Bj}eJj}e ProNav: ac range: 211.600006 m, nav range: 136.899200 m, bearing: 264.611766 deg, approach rate: -0.025862 m/s, LOS rate: -0.226252 deg/s, cmd heading: 7.510322 deg, new cmd heading: 7.215582 deg. 2jFHeadingCmd: 0.125936 target range: 211.600006 and range: 211.60 m. jH>jjjihhhhBfffrfbf@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507930ɛEOBE覘 AE+IA M~TɚIiIIUyO=IuH>iuI)yEqAE*F%?2F!:F!BF%P0JF!Hq>IC III =&I.I6IA<:I\ FBIƨCJIƨCRIZI =bI =jIƔ^5 9 I9 GM ^S=G! B1 O] >zKm rKKm 9Ki Km Km  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759563:+w,?xAB@YB`>B/&9B=yBH?u¿K`2? ́?`eĤ? O??ɨB@B;B#CyJBJo$IJLJNAAJRJRJPJPJR]:JR9JPJPJR:;JR;;JR' ;JR' ;I%I%(1٢-db= 5O=95d9Q 5>AA MG٣IyUZ ]> mNusing accuracyPremultiplier from configiu59mH.X?u5Ymix imy}}@mTEm;m>;m5 @ZjFNOT Ignoring new targets: 211.60 m.Bj@Jj@ ProNav: ac range: 211.600006 m, nav range: 136.887527 m, bearing: 264.516960 deg, approach rate: -0.030838 m/s, LOS rate: -0.250478 deg/s, cmd heading: 7.215583 deg, new cmd heading: 6.931144 deg. 2j+HeadingCmd: 0.120971 target range: 211.600006 and range: 211.60 m. j˿=jjjihhhhfffrfbf@, @ɛ-MB-Y )-МI1 =Uɚ9i9I=1P=IE˿=iE$5J  $?I !2w,xA63Y@Y6  >6Q$969m=y6H?kΚR?? iΈ?@=? u?ɨ63Y@6/g;6"CyRŅBR$IIZIZ 2٢bo= bR=9b@:Q f>dd fG٣dyjj j> nNusing accuracyPremultiplier from configlr59n@X?r5YnHy in tvv@nUEn:n:n5x z@zȹEZj!%FNOT Ignoring new targets: 211.60 m.Bj-kJj-k= ProNav: ac range: 211.600006 m, nav range: 136.875412 m, bearing: 264.425482 deg, approach rate: -0.031358 m/s, LOS rate: -0.236788 deg/s, cmd heading: 6.931144 deg, new cmd heading: 6.656688 deg. 2j="EHeadingCmd: 0.116181 target range: 211.600006 and range: 211.60 m. jE_=jAjIjIiIhIhIhQhQfQfQfYrfYbf]@$ @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:27:29.8675 TRx dataTimestamp_ set to:1736378851.192696checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264727ɛ%KB5 9=I9 =nVɚ9i9I=P=IE_=iEOJ<GBO >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515747!M8w,pxAjH6<bH6p<H@I@ IB$IIBBIB =&I@.IB=D6IB+<:IBK Fy5څB5$I IMb@Mb@Mb@ )YHzG?Dl{Gzty= ?O ףQ@ &@)I@y@II(1٢H= +=9=Q E>II UG٣UTGyU ]> mNusing accuracyPremultiplier from configau59eDWX?}5Yez ie}?}:}彑@eXEeS;eQ;e5oB V@ŹEzKeuJKe9KaKeKeuB*** querying acoustic contact ***jqjqZjyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:27:29.8675 LVL= 24880, 32753, 32754, 32755, AGC= 64, IDX= 400,-0.43,-2.636, 2.254, 3.020, 3.099, PHS= 0.636,-0.799,-0.082, RAW= 120.0, 4.0, CAL= 129.6, -0.6, ROT= 20.4, 0.6 Ygot valid direction response: 23:27:29.8675 LVL= 24880, 32753, 32754, 32755, AGC= 64, IDX= 400,-0.43,-2.636, 2.254, 3.020, 3.099, PHS= 0.636,-0.799,-0.082, RAW= 120.0, 4.0, CAL= 129.6, -0.6, ROT= 20.4, 0.6 PDAT read: Bearing 20.4, 0.6 (Local) ~Local bearing/azimuth received: Bearing 20.4, 0.6 (Local) DAT read: Range 10 to 50 : 208.8 m (Round-trip 278.4 ms) speed 0.4 m/s ,DAT read: user:3227> BDAT read: Tx time:23:27:30.9850  $Ping request sent. iڥ+<ڡڡۥ(,?GܷM:)̱?)ۥrҹIۥZiۥ fۥ0錿ۡۡ5:publishing transmit ping time 5Fpublishing direction and range infoء9إnzBDɿ ڿ?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ(,?GܷM:)̱?)ۡIۡiۡۡۡۡUFNOT Ignoring new targets: 211.60 m.BjU|Jjm|} ProNav: ac range: 211.600006 m, nav range: 136.871628 m, bearing: 264.311759 deg, approach rate: -0.007359 m/s, LOS rate: -0.221151 deg/s, cmd heading: 6.656688 deg, new cmd heading: 6.315512 deg. 2jHeadingCmd: 0.110226 target range: 211.600006 and range: 211.60 m. jk=jjjihh!h)h-Bf1fafarfej@bfeB?JJJJJ:J"9JJJ!;J";J;J;ɛGBŅ ZI WɚiIQ=Ik=iKi@w,yAf@Yf@>f$9f=yfH?r6(? ɔ?@ ?(?Y?ɨf@f6o;f%CyrBr$III٢%'> %O=9-ڹQ M>QQ UG٣Qy]׼ ]> eNusing accuracyPremultiplier from configa59eiX?5Yez ie@eYEe)Fw,yA: @Y:=:+9:I=y:H`?˿tþ?@?`2콿u?Ӽ??ɨ: @:!;:"Cy^B^$I}Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ym?B`"۹y?ν@ =@)@I@y@IIi٢= @=9 ~Q > G٣y*A > Nusing accuracyPremultiplier from config59}X?5Y%{ i?:Ml@[E;I;X5pB @ ¹EZj9EFNOT Ignoring new targets: 208.80 m.BjEJjE] ProNav: ac range: 208.800003 m, nav range: 131.555511 m, bearing: 261.001670 deg, approach rate: 0.059746 m/s, LOS rate: -0.263342 deg/s, cmd heading: 6.053759 deg, new cmd heading: 5.744652 deg. 2j]4eHeadingCmd: 0.100263 target range: 208.800003 and range: 208.80 m. jeV=jajajaiahahihihmBfffrfbf ?ɛEBBE2s imIi ulXɚqiqIuٌQ=I}V=i}nLI I$II$BI&I.I6I<:I8 F*Fe?2Fa:FaBFeo0JFa $?IzK- JQJU Will construct direction to contact in vehicle frame from tetrahedron phase data.K- 9K) K- K- %U)S(U : wX+Z8m z K ? L9OIUG n =G B O >JA JE JE /JA JA JE m9JE (N3JA JA JA JE ;JE ;RLw,ڬ3yAB@YB@=B?,9B3=yBH?&?`?-½@逥?y??ɨB@B;B%CyJ1BN%I Rp=Ra=IVIVW٢^> ^^=9bVsQ b>`` bG٣fTGyfNJ j> zNusing accuracyPremultiplier from configt~59v'X?~5Yv}{ ~tIiv~@v]EvPB;v94;v5 @ZjFNOT Ignoring new targets: 208.80 m.BjJjm ProNav: ac range: 208.800003 m, nav range: 131.575531 m, bearing: 260.910711 deg, approach rate: 0.051031 m/s, LOS rate: -0.231826 deg/s, cmd heading: 5.744652 deg, new cmd heading: 5.471818 deg. 2jmHeadingCmd: 0.095501 target range: 208.800003 and range: 208.80 m. j'=jjjihhhhfffrfbfY=?ɛU?B]0` Y]IY ]XɚYiaIeQ=Ie'=im/M I E Will construct direction to contact in vehicle frame from tetrahedron phase data.KSw,MyA>\@Y>=>S19>G=y>HS?̔@z@? ? (?s??ɨ>\@>%;>CyFLBF/%IIRIR٢V> ZI=9ZENQ Z>`` bG٣dyj- j> nNusing accuracyPremultiplier from configlr59nX?r5Yn{ intvjv@n_En;n;n5x z@@zEZj%FNOT Ignoring new targets: 208.80 m.Bj%ꔻJj%ꔻ5 ProNav: ac range: 208.800003 m, nav range: 131.596878 m, bearing: 260.810943 deg, approach rate: 0.055723 m/s, LOS rate: -0.260387 deg/s, cmd heading: 5.471818 deg, new cmd heading: 5.172567 deg. 2j=2=HeadingCmd: 0.090278 target range: 208.800003 and range: 208.80 m. jE=jAjAjAiIhIhQhhfffrfbf[?ɛu=B}+O y}<G! B) O] >ZH RH AAH q>I  I H%II aBI &I .I >D6I <:I + FcYw,cgyA B$?IDy%jB%T%I5Mb@Mb@Mb@111 1)1Y5ʡE?&1:v?y5?5P5T<5h@ 1)5@I5@1y5\@IMIM٢e> e4=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}X?5Y}{ i}Ȉ??:͚<@}aE};}:}5qB l@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 208.80 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron 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 PK+9KKK&vJc=~uqppuxqlh_O8*&$%$#!} ProNav: ac range: 208.800003 m, nav range: 131.642532 m, bearing: 260.701880 deg, approach rate: 0.100779 m/s, LOS rate: -0.240668 deg/s, cmd heading: 5.172567 deg, new cmd heading: 4.845493 deg. 2j}+%HeadingCmd: 0.084570 target range: 208.800003 and range: 208.80 m. j2=jjjihhhhFBfffrfbfJ@ɛ:B@> =I XɚiI Q=I2=i˄NAM`w,DyA6@Y6i=6K/96>=y6H? 广0pFݸ?F?@㻿`?D?@?ɨ6@6;6"CyNBN}%I)T TXZAI^I^٢f=> fh=9f}:Q j>hh jG٣jTGyna& n> rNusing accuracyPremultiplier from configpv59rX?v5Yr{ irxzy;z@rbEr:r:rB 5| ~V@|Zj!5FNOT Ignoring new targets: 208.80 m.Bj5MJj5ME ProNav: ac range: 208.800003 m, nav range: 131.675613 m, bearing: 260.616829 deg, approach rate: 0.094085 m/s, LOS rate: -0.241830 deg/s, cmd heading: 4.845493 deg, new cmd heading: 4.590407 deg. 2jE%MHeadingCmd: 0.080118 target range: 208.800003 and range: 208.80 m. jM=jIjQjQiQhQhQhYhYfYfYfarfabfe`+@ɛ=7B=# 9=(>IA EˡWɚAiAIEQ=IM=iMNWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507737) J-J-J-1J)J-]:J-9J-3J)a5@a5@a5@a5@|uA Y|uAyB{fw,0yA2@Y2=2192`=y2H?`}"t? *?o 6?`?5?ɨ2@25;2$Cy:B>%I Mb@Mb@Mb@    ) Y |?5^?~jtx?{Gz?y ? ; ף< ~@ @) @I @ y  @I%I%(٢5m= 5C=95tQ =>99 =G٣9yEX E>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759843 MNusing accuracyPremultiplier from configIe59MX?e5YM{ iMe ?e:e=e@MdEM};Mv{;M 5 ܼ@EZjAEFNOT Ignoring new targets: 208.80 m.BjmJjm} ProNav: ac range: 208.800003 m, nav range: 131.737915 m, bearing: 260.516274 deg, approach rate: 0.141027 m/s, LOS rate: -0.227509 deg/s, cmd heading: 4.590407 deg, new cmd heading: 4.288888 deg. 2j}#HeadingCmd: 0.074855 target range: 208.800003 and range: 208.80 m. jM=jjjihhhh{Bfffrfbf@@ɛ%4B- )-_>I) -Vɚ1i1I5Q=I5M=i=eOzK} v7OK} 9Ky K} K} !#"! "+/-))'#   BK :K qAGY Ba O} >lw,yA2Z@Y2=2Z(392=y2H@?`}?հ? M`7c?`Od?@y?ɨ2Z@2ь;2!Cy:B:%IIRIR(*٢Z> ZT=9^eQ ^>\` bG٣`yb b> jNusing accuracyPremultiplier from configdj59fNX?j5Yfz ifgln=]@ffEfI gUɚi I Q=IV=itO U $?IQ % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516410sw,yAF@YF@=F y69F`=yFH ?`㶿@е??c 3ͦ?9??ɨF@F;F"Cy^ІB^%Iib>IbR=IjIjV٢v8= vG=9vQ v>xx zG٣zTGy~ ~> Nusing accuracyPremultiplier from config 59Y? 5Yy i@=@hE<::5rB &@EZjAEFNOT Ignoring new targets: 208.80 m.BjUlJjUle ProNav: ac range: 208.800003 m, nav range: 131.855835 m, bearing: 260.324442 deg, approach rate: 0.156959 m/s, LOS rate: -0.256029 deg/s, cmd heading: 4.010088 deg, new cmd heading: 3.713652 deg. 2je/mHeadingCmd: 0.064815 target range: 208.800003 and range: 208.80 m. jm=jijijqiqhqhqJJJ0JJJ[9Jـ3Jhhfffrfbf @ɛ--B5 Y]1>IY ]TɚYiYI]NjQ=Ie=iefP BDAT read: Tx time:23:27:34.7850 $Ping request sent.i};yy}?<J 5c?)}@I1I}:i}w}Y]yy} :publishing transmit ping time} Fpublishing direction and range infoy9}]?/ZȿZD|׿ @]?yyyyy y)yIyiyyyyy y)yIyiyyy}?<J 5c?)yIyiyyyyG B O >Hm o>Ii  Im %IIm BIi &Ii .Ii 6Im <:Im 1 FBI-ʧCJI-ʧCRI)ZI- =bI- =jI-y4 = $?IA βyw,yAF<@YFv=FO89FS"=yFH ?y$lb?˴?5?Q?B?ɨF<@F^@;F%CyVBZ%I-mMonly read 0 of 1 data item for BIT error. Device response is::TS,25010815284066,35.0, +11.0, 0.0,1493.5, , 0.00, 79.87, 70.36, 73.07, 76.47  m@m m@u u@u  u@u II ٢= ?=9*Q >QY ]G٣Yy]Fu ]> mbBottom track data is 0.4 s old, using for 20.0 s. mNusing accuracyPremultiplier from configa59eY?5Yeay ie+::s=@ejEe?e(5sB ø@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:27:34.7842 EkxVL?k8( k kCuyA:kOCBkMCZk@"<4QCB{R\f\g@]?/ZȿZD|׿ @]?JkwRkY]*HQCQ2=X2f@8ȿ}޿#@t?"k<*k2zKmnMKm]9KiKmKmRKyJK}?kQK?kk~( 2k uCkUM?kB B+ kkCkBCkՍ@ addTargetRange:: Added new target pos. range: 207.000000 m, deltaT: 3.779813 s, deltaX: -1.800003 m, approachRate: -0.476215 m/s, rangeRepo size: 4  Added new target pos. range: 207.000000 m, bearing: 248.022390 deg, lat: 36.903057 deg, lon: -122.121953 deg, deltaT: 3.779813 s, deltaX: -1.800003 m, approachRate: -0.476215 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 207.00 m.BjJj% ProNav: ac range: 207.000000 m, nav range: 129.258224 m, bearing: 253.954271 deg, approach rate: 0.000000 m/s, LOS rate: -0.256029 deg/s, cmd heading: 3.713652 deg, new cmd heading: 3.342454 deg. 2j!MHeadingCmd: 0.058337 target range: 207.000000 and range: 207.00 m. jMn=jIjIjIiIhIhQhQhQfQfYfYrf]i@bf] W?ɛ)B >I vSɚiI%Q=In=iw5Q晀w,zA6@@Y67=6>96u=y6H?@߹@b\?? ⺿ ?@}?@?ɨ6@@6;6 Cy>B>&IIJIJ̍٢R= R]=9V>zQ V>TT VG٣XyZ Z> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config\%59^m)Y?%5Y^x i^- :)-r:-L=-@^lE^ ;;^$P?^)51 5@9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 207.00 m.BjmۏJjmۏ} ProNav: ac range: 207.000000 m, nav range: 129.330185 m, bearing: 253.871646 deg, approach rate: 0.219193 m/s, LOS rate: -0.251537 deg/s, cmd heading: 3.342454 deg, new cmd heading: 3.094719 deg. 2j},HeadingCmd: 0.054013 target range: 207.000000 and range: 207.00 m. j<]=jjjihhhhfffrfbfJ? $?Iɛ &B]_ >I JRɚiIP=I%<]=i%Qw,!t!zA:@Y:@e=:D9:@=y:H?>g|9CA?¹?g ? a?@'?ɨ:@:Mމ;:!CyBBB&I M M MM MM  M M MMb@Mb@Mb@III I)IYMOn?Zd;O?~jt?yM?Mj=M G٣TGy0 > Nusing accuracyPremultiplier from configHm>IC IH&II1BI =&I.I=D6IJ<:I] F59BY?5Yw iT:u?:j>@nE;;d5 @EZjFNOT Ignoring new targets: 207.00 m.BjJj ProNav: ac range: 207.000000 m, nav range: 129.480515 m, bearing: 253.753095 deg, approach rate: 0.298666 m/s, LOS rate: -0.235258 deg/s, cmd heading: 3.094719 deg, new cmd heading: 2.739483 deg. 2j%t!%HeadingCmd: 0.047813 target range: 207.000000 and range: 207.00 m. j-C=j)j)j)i)h)h)h1h5ЅBf1f1f9rf9bf=?ɛe"BeJ imt>Ii mw,;zAV}@YVR=VLJ9V =yVH`H?@ ޳?@? A?@?@?ɨV}@V;V"CynBn&IIvIvn٢~`G< ~T=9 zQ >   G٣y~ > %Nusing accuracyPremultiplier from config!-59%UY?-5Y%u i%15 i>5@%pE%;%;%5=tB =@EEZjamFNOT Ignoring new targets: 207.00 m.BjmJjm} ProNav: ac range: 207.000000 m, nav range: 129.594116 m, bearing: 253.663672 deg, approach rate: 0.298130 m/s, LOS rate: -0.234471 deg/s, cmd heading: 2.739483 deg, new cmd heading: 2.471451 deg. 2j} HeadingCmd: 0.043135 target range: 207.000000 and range: 207.00 m. jH0=jjjihhhhfffrfbf.?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499704ɛUBU4 Y]i>IY ]&OɚYiYIeP=I}H0=i}SL7w,UzAV;m@YV@6=VweJ9VA{=yVH? :[??e@ J? |?@?ɨV;m@V;V#CyzBz &II}I}<٢5w<= =2=9MQ M>Y G٣y >  Nusing accuracyPremultiplier from config=59mY?=5Yt iSAEg>E@rE6 <<'5I M<@IZjFNOT Ignoring new targets: 207.00 m.Bj }Jj } ProNav: ac range: 207.000000 m, nav range: 129.733627 m, bearing: 253.553889 deg, approach rate: 0.281443 m/s, LOS rate: -0.221231 deg/s, cmd heading: 2.471451 deg, new cmd heading: 2.142462 deg. 2jHeadingCmd: 0.037393 target range: 207.000000 and range: 207.00 m. j%m)=j!j!j!i!h!h!h)h)f)f)f1rf1bfuR@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004618ɛBͣ >I 0MɚiIzO=Ium)=iuTII IM&IIMdBIM =&II.II6IMZ<:IMe F $?IG5 k%=G B O5 >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255795]w,ҫozAy=B=%&I U=U%=zKmBHKm]9KiKmKm K%|n^QH?84.'$(?MOJF?70,'"Mb@Mb@Mb@ )Y ףp= ?Cl?Mb?yQ?;=< @)K@Iy@I-I-<٢=Ɏ< =J=9=Q =>AA EG٣ETG*JMR="JM%=yU U> ]Nusing accuracyPremultiplier from configYe59]Y?e5Y]yr i]-e?e:>@]tE]c<]<]5  @EZjFNOT Ignoring new targets: 207.00 m.Bj{Jj{ ProNav: ac range: 207.000000 m, nav range: 129.854111 m, bearing: 253.465788 deg, approach rate: 0.301386 m/s, LOS rate: -0.220179 deg/s, cmd heading: 2.142462 deg, new cmd heading: 1.878405 deg. 2jHeadingCmd: 0.032784 target range: 207.000000 and range: 207.00 m. jH=jjjihhhhDžBfffrfbf0@ɛBp 隝>I9 =ЛKɚ9i9I=$O=IMH=iUVbw,zA6F@Y6k=6QD96R=y6H@?`I(`8$?`? Bງ?dm?@ ?ɨ6F@6%;4y^B^&IIfIfV8٢n| n_=9r;Q r>pp vG٣tyvV v> mNusing accuracyPremultiplier from configiu59mגY?u5Ymp imy}?>}@mvEmu ;m ;m5uB ж@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 207.00 m.BjJj ProNav: ac range: 207.000000 m, nav range: 129.972244 m, bearing: 253.378827 deg, approach rate: 0.339065 m/s, LOS rate: -0.249367 deg/s, cmd heading: 1.878405 deg, new cmd heading: 1.617761 deg. 2j#+HeadingCmd: 0.028235 target range: 207.000000 and range: 207.00 m. jM<jjjihhhhfffrfbf@ɛ%B%rT !%>I! -JJɚ)i)I-N=IEM=GBOB>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011816]w,FңzAB+@YBʊ=BhA9B-=yBH?`q@!P?j?*?S? ?ɨB+@B;@Hbf>IbC Ib&IIbBIb =&I`.I`6Ib<:Ib/ FynBn&IuMb@Mb@Mb@qqq q)qYuS?:v?MbPyu?u=uu;@ u@)u@Iup@qyu(@II<٢m ?=9:Q > G٣yl > Nusing accuracyPremultiplier from config59Y?5Ygo i?:s>@xE;";P5tB ڶ@E =$?I9ZjFNOT Ignoring new targets: 207.00 m.Bj}Jj} ProNav: ac range: 207.000000 m, nav range: 130.099960 m, bearing: 253.282540 deg, approach rate: 0.293796 m/s, LOS rate: -0.221280 deg/s, cmd heading: 1.617761 deg, new cmd heading: 1.329186 deg. 2j%HeadingCmd: 0.023199 target range: 207.000000 and range: 207.00 m. j%& <j)j)jQiQhYhYhaheBfafifrfbf @ɛ B 쮎 >I xuHɚiIhNN=I& Aw,;zA  @Y @L= 6?9 p=y H?] -B? ?n???ɨ  @ ڈ; $Cy-B-&I)1 1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516009IMAIUIU(*٢mP uN=9u,:Q u>yy }G٣}TGy + > Nusing accuracyPremultiplier from config59{Y?5Ym iɆgo>@zE;h; 5uB @EZjFNOT Ignoring new targets: 207.00 m.Bj Jj  ProNav: ac range: 207.000000 m, nav range: 130.221970 m, bearing: 253.190104 deg, approach rate: 0.305032 m/s, LOS rate: -0.230880 deg/s, cmd heading: 1.329186 deg, new cmd heading: 1.052141 deg. 2jsHeadingCmd: 0.018363 target range: 207.000000 and range: 207.00 m. jn<jjjihhhhfffrfbf@ @ɛU BU Q]q>IY ]GɚYiYI]M=In  BDAT read: Tx time:23:27:38.5351  $Ping request sent. FM @)=I~>iHH?)Rna[_?)r)EIZi V؎ :publishing transmit ping time؉  Fpublishing direction and range info9пq ֿ^r4?y )Ii )IiHH?)Rna[_?)IiGQ BY Ou >w,zAz@Yzv=zE;9zmQ=yzH?yZ`kʮ?@?h@|? ? ?ɨz@z<;z"CyB%III#UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:27:38.5343 ٢h =9^:Q > G٣y Lջ  > Nusing accuracyPremultiplier from config59Y?5Yl ik>@|E6)<)<Q!5mvB m޸@mEko|I?k & k k_zA:k7CBkC6CZk@"6nGPHPId@пq ֿ^r4?Jk RkV؎*3"w5]Hs.Tmc@ΦVѿcl^Dݿ߫?"kէ*kFkLxI?kZ' 2k^CkL?k,) kkBk@%addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 183.500000 m, deltaT: 3.779938 s, deltaX: -23.500000 m, approachRate: -6.217033 m/s, rangeRepo size: 4Zj!-FNOT Ignoring new targets: 207.00 m.Bj- Jj- ] ProNav: ac range: 207.000000 m, nav range: 130.381363 m, bearing: 253.069066 deg, approach rate: 0.309016 m/s, LOS rate: -0.234370 deg/s, cmd heading: 1.052140 deg, new cmd heading: 0.689475 deg. 2je eHeadingCmd: 0.012034 target range: 207.000000 and range: 207.00 m. jm(E<jijijiiihihihqhqfqfqfrff@bf?jH<bH<He>I III =&I.II  dEɚiI}M=I=(Ew,zAj@YjR=j;9j\=yjH?= `&J? ?`p`(r?M??ɨj@j;j%CyvՆBv%II~I~<٢ U߽  s=9 "}9Q  ?qy }G٣yysм ? Nusing accuracyPremultiplier from config59MY?M5Yj iIM c>M@~EȔ<ʔ<"5Y ] @YZjFNOT Ignoring new targets: 207.00 m.Bj<Jj;jqjqjyiyhyhyhyhfffrfbfa\?ɛB䓼 隅>I CɚiI&M=I>;i 3\;)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F:FBF`0JF e $?Ii G R`U=G qAG qAG B O >Þw,F{AF@YF\C=F<9F/F=yFH?7a]b?`?궿ԝ?Y[??ɨF@F=؈;F$CyRdžBR%IiV=IT Va=Va=IZIZ)٢b$ bO=9jn]Q j>ll nG٣nTGyr r> vNusing accuracyPremultiplier from configtz59v5Y?z5Yvri ivmx~8_>~@vEv] ;v ;v$5 @E%Will construct direction to contact in vehicle frame from tetrahedron phase data.-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 207.00 m.BjEKJjEK] ProNav: ac range: 207.000000 m, nav range: 130.601440 m, bearing: 252.899035 deg, approach rate: 0.321640 m/s, LOS rate: -0.248804 deg/s, cmd heading: 0.442806 deg, new cmd heading: 0.179816 deg. 2j]*eHeadingCmd: 0.003138 target range: 207.000000 and range: 207.00 m. je/M;jajajiiihihihqhqfqfqfqrfybf}`?ɛB' 隭>I BɚiIzL=I.M;i]Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H g>I  I &II sBI  =&I .I 6I f<:I j FBIʥCJIʥCRIZI =bI =jIʩ 6 a Ii ɞw,({AZk@YZ5=Z99Z=yZH?``^ ౦? ?@@fw.??`?ɨZk@Z]e;XyjBj%I @ @ @  @ II٢   6=9 :Q > G٣y} }> bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59WZ?5Yg iK+::[>@E(;>&5wB @EZjFNOT Ignoring new targets: 207.00 m.BjgJjg ProNav: ac range: 207.000000 m, nav range: 130.739578 m, bearing: 252.791764 deg, approach rate: 0.300701 m/s, LOS rate: -0.233262 deg/s, cmd heading: 0.179816 deg, new cmd heading: 359.858347 deg. 2j HeadingCmd: 6.280713 target range: 207.000000 and range: 207.00 m. j@jjjihhhhfffrfbf `b?ɛ=B= 9=ǹ>I9 E"}AɚAiAIEL=IM"iM^ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748754ǙОw,B{AJI8@YJ=Jw~09J=yJHv?h@-x?@? ?5?@?ɨJI8@J!;HyZBZ%IIbIbb2٢j jb=9j;Q j>ll nG٣lyrA r> zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz59v"Z?~5Yvf iv3~ :|~c:~LU>@vEv 7;vO?v'5  2@ Zj1=FNOT Ignoring new targets: 207.00 m.BjEԅJjEԅU ProNav: ac range: 207.000000 m, nav range: 130.843643 m, bearing: 252.710150 deg, approach rate: 0.298614 m/s, LOS rate: -0.234006 deg/s, cmd heading: 359.858352 deg, new cmd heading: 359.613705 deg. 2jU UHeadingCmd: 6.276443 target range: 207.000000 and range: 207.00 m. j]@jYjYjYiYhYhahahafafifirfibfm F?ɛ5B= 9=>I9 =%}@ɚ9iAIEsFL=IE{ܻiMK_֞w,s\{A@Y=؛*9ĺ=yH?Gs5??fQ? K??ɨ@s;騥"CyB~%I U U UU U]  ] ] ]Mb@Mb@Mb@YYY Y)YY]$C?i|?5Q롿y]?]q]\]@ ]@)]=@I]@Yy]Q@IuIub1٢̽ 1=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2600719E"B;Q E>II MG٣MTGyUW U> ]Nusing accuracyPremultiplier from configYe59];Z?}5Y],g i]BT:?:}v@]E]`<]`<]>)5xB @EZjFNOT Ignoring new targets: 207.00 m.Bj֏Jj ֏ ProNav: ac range: 207.000000 m, nav range: 130.914230 m, bearing: 252.585322 deg, approach rate: 0.142298 m/s, LOS rate: -0.251505 deg/s, cmd heading: 359.613695 deg, new cmd heading: 359.239421 deg. 2j,}HeadingCmd: 6.269911 target range: 207.000000 and range: 207.00 m. j}@jjZHRHHi>I In&IIPBI =&I.I=D6I<:I/ FjihhhhBfffrfbf@ IɛB 4>I 6?ɚiI7 L=I|Yi%'awݞw,|x{AF"@YF<F%9F=yFH@?@ m?o?@b?u϶??ɨF"@FY;F#CyNBNq%IIVIVF2٢^ [ ^W=9fa;Q f>hl nG٣lyvռ v>  Nusing accuracyPremultiplier from config59NZ?%5Yg iM!%y%@E^;I ]z>ɚYiYIeK=Iu㶔ib;Sw,${A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016478>~@Y>|<>k 9>Ҳ=y>H ?=G9?c?y # ?N??ɨ>~@>-Ј;>%CybtBb`%IIjIjF٢rډ vI=9v2L;Q v>xx zG٣xyzH ~> Nusing accuracyPremultiplier from config 59mbZ? 5Yh i[   @E::,5 F@E=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 207.00 m.BjUJjU- ProNav: ac range: 207.000000 m, nav range: 131.020691 m, bearing: 252.388870 deg, approach rate: 0.139358 m/s, LOS rate: -0.260549 deg/s, cmd heading: 358.959881 deg, new cmd heading: 358.650322 deg. 2j-25HeadingCmd: 6.259629 target range: 207.000000 and range: 207.00 m. jUN@jQjYjYiYhYhYhahafafafarfibfm@}@ɛB >I g=ɚiIK=IicI C I /&II BI  =&I .I 6I 4<:I J FGI BQ Ou > I hD}w,{A::@Y:d;:89:q=y:H?O*ۢ('}?#? >? ??ɨ::@:;:$CyRgBRQ%I V=V=5Mb@Mb@Mb@111 1)1Y5^I +?v/ rhy5X?5x齹5C 5p@ 5@)5@I5@1y5@IMIM 2٢eql eC=9et;Q e>ii mG٣mTGyuV u> }Nusing accuracyPremultiplier from configy59}wZ?5Y}I E<ɚiIK=I'i5d DAT read: Range 10 to 50 : 181.8 m (Round-trip 242.4 ms) speed 0.4 m/s  ,DAT read: user:3230>  BDAT read: Tx time:23:27:42.2851  $Ping request sent.  J @) =I =>i    Ӗ3?4ͳ`i!|?) pI |i  ;:  ew,{AN:publishing transmit ping timeNFpublishing direction and range info19550|"ҿGY֩ԿL#?y1111 1)1I1i11111 1)1I1i1115Ӗ3?4ͳ`i!|?)1I1i1111n7@Yn@n9n,=ynH?X`PZ@? 1?`?T?ɨn7@n.S;n"CyzcBzK%IIEIE٢U۾ UK= $?I9H;Q > G٣y ̨  > uNusing accuracyPremultiplier from config}59Z?}5Y{j iy}X<@Eoq<,;@05 c@k5G?k5F~% k1 k5{A:k55CBk54CZk5a@"5wkGIũO9YM0{d@550|"ҿGY֩ԿL#?Jk5Rk5;:*5voͬLp>%fR)c@5ԻQq0Կ>,#ٿ(=?"k5*k5fek5QG?k5S% 2k5_Ck5QK?k5k~( k1k50Bk5``@ addTargetRange:: Added new target pos. range: 181.800003 m, deltaT: 7.572233 s, deltaX: -25.199997 m, approachRate: -3.327948 m/s, rangeRepo size: 4  Added new target pos. range: 181.800003 m, bearing: 231.652065 deg, lat: 36.903020 deg, lon: -122.121665 deg, deltaT: 7.572233 s, deltaX: -25.199997 m, approachRate: -3.327948 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 181.80 m.BjJj ProNav: ac range: 181.800003 m, nav range: 108.594276 m, bearing: 245.971609 deg, approach rate: 0.000000 m/s, LOS rate: -0.264796 deg/s, cmd heading: 358.317516 deg, new cmd heading: 357.954384 deg. 2j%HeadingCmd: 6.247483 target range: 181.800003 and range: 181.80 m. j%a@jAjAjIiIhIhIhQhQfQfQfQrf]f@bf]?ɛB_ L>I (;ɚiIK=I<ieNw,{A5@Y5@5895nS=y5Hh?++{?X@T`+?@a ???` ?ɨ5@5&;5%CyEUBE:%IWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y  +?QſX9vy ? (  C@ @) @I @ y @I%I%٢5S 5==9=:Q =>99 EG٣AyE E> UNusing accuracyPremultiplier from configIU59MZ?]5YMLl iM]?]:]捾]@MEM3;M,;M 25i uM@uEZjFNOT Ignoring new targets: 181.80 m.BjƻJjƻ ProNav: ac range: 181.800003 m, nav range: 108.630295 m, bearing: 245.840003 deg, approach rate: 0.095134 m/s, LOS rate: -0.347490 deg/s, cmd heading: 357.954396 deg, new cmd heading: 357.559716 deg. 2jznHeadingCmd: 6.240594 target range: 181.800003 and range: 181.80 m. j@jjjihhhhxBfffrfbf@4H?ɛ߅B  j>jHIbHIH]h>IY I]%II]BI] =&IY.IY6I]<:I] FI ;ɚiIlK=Is.ii$=)@) u$?Iq*F?2F:FBF0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.G '=G B O >zK |MK h9K K K Pw,{A2h@Y2`x@292=y2H`?? [բ 쒿`???`մ?@?ɨ2h@2j;2!Cy:TB:9%I)< >A@BAIFIF٢Nc Ni=9Nu:Q R>PP RG٣PyV˼ V> ZNusing accuracyPremultiplier from configX^59ZZ?^5YZm iZ`bb@ZEZ ;Z ;Z35fzB fd@fEZjxzFNOT Ignoring new targets: 181.80 m.Bj}Jj} ProNav: ac range: 181.800003 m, nav range: 108.659737 m, bearing: 245.727792 deg, approach rate: 0.084249 m/s, LOS rate: -0.321011 deg/s, cmd heading: 357.559720 deg, new cmd heading: 357.223181 deg. 2jN\HeadingCmd: 6.234721 target range: 181.800003 and range: 181.80 m. jՂ@jjjihhhhfffrfbf [?ɛUۅBUN q}q>Iy }^:ɚyiyI}WK=IFie) = M ~Gw,m|AWill construct direction to contact in vehicle frame from tetrahedron phase data.:5tA\ vYv5tAyvI B~#@Y~g3@~9~qa=y~H?= ? 6]`?@#`?^?@?ɨ~#@~;~"Cy UB :%II-I-d٢=; =@=9=:Q E>AA EG٣ETGyMx M> UNusing accuracyPremultiplier from configQ]59UZ?]5YUo iUYeZe@UEU ;UG ;Up55i mM@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 181.80 m.BjJjJJJJJ<:Ju9JJU ProNav: ac range: 181.800003 m, nav range: 108.693710 m, bearing: 245.592019 deg, approach rate: 0.079917 m/s, LOS rate: -0.319280 deg/s, cmd heading: 357.223183 deg, new cmd heading: 356.815999 deg. 2jU[]HeadingCmd: 6.227614 target range: 181.800003 and range: 181.80 m. j]H@jYjajaiahahahihifififirfbf`Rn?ɛׅB8  }>I 9ɚiI-AK=I5؞ci5fI] C I] %II] ֆBIY &IY .I] <:I] N FG} zc = I IQ GQ Bq O >Z w,N-|A2@Y2@2392f=y2H !?? `? ׷?&?`?ɨ2@2_z;2%CyN[BNB%I-Mb@Mb@Mb@))) )))Y-"~? ףp= ǿ G٣yI > Nusing accuracyPremultiplier from config59Z?5Y r iˆ ?:󪾑@E ;;C75{B @EZjFNOT Ignoring new targets: 181.80 m.Bj Jj  ProNav: ac range: 181.800003 m, nav range: 108.717255 m, bearing: 245.459362 deg, approach rate: 0.056410 m/s, LOS rate: -0.317765 deg/s, cmd heading: 356.815994 deg, new cmd heading: 356.418116 deg. 2jZ%HeadingCmd: 6.220670 target range: 181.800003 and range: 181.80 m. j%@j!j!j)i)h)h)h1h5fBf1f9f9rf9bf=?ɛe҅Beռ im>Ii u8ɚqiqIuK+K=I}iyi}<=)}@)y5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740820*F%?2F):F)BF-]0JF)zKK9KKKGMk[=G! B1 Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991761ww,y"G|AV@YV @V,9V'= z$?IxyVH]??㡿`@^?@> V??!?ɨV@Vg>;V#Cy-eB-N%Ii58>I5>I=I=(٢Mk?= MP=9M;Q U>QQ UG٣Qy]+μ ]> mNusing accuracyPremultiplier from configau59eZ?u5Ye*t ieنqu }@eEe*;ee";e85 e@ZjFNOT Ignoring new targets: 181.80 m.BjJj ProNav: ac range: 181.800003 m, nav range: 108.737587 m, bearing: 245.334427 deg, approach rate: 0.051726 m/s, LOS rate: -0.317775 deg/s, cmd heading: 356.418122 deg, new cmd heading: 356.043395 deg. 2jZHeadingCmd: 6.214129 target range: 181.800003 and range: 181.80 m. j&@jjjihhhhfffrfbf-@ɛ΅Bļ Җ>I 7ɚiIK=I%>mi%J/gw, a|Aml:@YmI@m9m]=ymH?hݪ?`NcX?`Z;쳝??s?ɨml:@m;m$CyޅmBޅW%IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495786Mb@Mb@Mb@ )Yd;O?/$ƿMby?&1-@ )@Iy3@IIF2٢ = 5=9;Q > G٣TGyK > Nusing accuracyPremultiplier from config59[?5Yv i4?:=@E;;ZHRHH`>IC I%IIƆBI =&I.I6IV<:IZ FBIJIRIZI =bIjIŠ5:5|B @EZjAUFNOT Ignoring new targets: 181.80 m.Bj]Jj] $?I  ProNav: ac range: 181.800003 m, nav range: 108.762062 m, bearing: 245.190707 deg, approach rate: 0.053522 m/s, LOS rate: -0.314217 deg/s, cmd heading: 356.043391 deg, new cmd heading: 355.612336 deg. 2jWHeadingCmd: 6.206606 target range: 181.800003 and range: 181.80 m. j@jjj)i)h1h1h9h=Bf9ffrfbf @ɛ ȅB ;ȼ >I d6ɚiIK=I=՜iE:gw,}z|AzKKKKK :@Y:@:9:y=y:H ??+]?(`?5??ɨ:@:g;:#CyBBBn%IININF٢R= Ru=9VQ;Q V?XX ZG٣XyZ ^? bNusing accuracyPremultiplier from config\b59^[?f5Y^gx i^dfܲf@^E^? ;^ ;^h<5l nֿ@nEZjFNOT Ignoring new targets: 181.80 m.BjJj- ProNav: ac range: 181.800003 m, nav range: 108.779099 m, bearing: 245.084892 deg, approach rate: 0.049148 m/s, LOS rate: -0.305217 deg/s, cmd heading: 355.612324 deg, new cmd heading: 355.294930 deg. 2j-wQ5HeadingCmd: 6.201066 target range: 181.800003 and range: 181.80 m. j5#o@j1j1j1i1h1h9h9h9f9fAfArfibfu@2@ɛąB 隽>I Ll5ɚiIEDJ=IE-iMRh$w,7q|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253002F@ѿ@YF@FDvۼ9F=yFH`??ߠs?`9Pm? rӷ?}?ɨF@ѿ@F;F'CyRBRx%II^I^2٢f%!= fI=9j9;Q j>hh jG٣hynUh n> rNusing accuracyPremultiplier from configpv59r ([?v5Yrz irxz͵z@rEr':r:r/>5A ES@AuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 181.80 m.Bj۷Jj۷ ProNav: ac range: 181.800003 m, nav range: 108.799034 m, bearing: 244.955362 deg, approach rate: 0.049487 m/s, LOS rate: -0.321479 deg/s, cmd heading: 355.294939 deg, new cmd heading: 354.906426 deg. 2j\HeadingCmd: 6.194286 target range: 181.800003 and range: 181.80 m. j7@jjjihhhJJJJJ :J:JJhf1fQfYrfYbf] @ɛB: 隽>I K'4ɚiI^J=Iii<)7@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503795GN<GpAGH] ^>IY  IY IY I]  =&IY .I] ;D6I] << $?I G B O% >:I] F F# +w,Q|Ay~B~%IMb@Mb@Mb@ )Y/$?7A`¿Mby&?C@ E@)@Ix@y@II(٢= ;=9Q > G٣TGy > Nusing accuracyPremultiplier from config59<[?5Y| i?:@Ey;;@5}B <@EZj15FNOT Ignoring new targets: 181.80 m.Bj=UJj=UM ProNav: ac range: 181.800003 m, nav range: 108.829422 m, bearing: 244.821303 deg, approach rate: 0.071892 m/s, LOS rate: -0.317070 deg/s, cmd heading: 354.906437 deg, new cmd heading: 354.504381 deg. 2jMYUHeadingCmd: 6.187269 target range: 181.800003 and range: 181.80 m. jU@jQjQjYiYhYhYhaheBfafafarfibfm`@ɛBP[ 隝b>I 2ɚiIJ=IoĽiiW=)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:27:44.9291 LVL= 28032, 32753, 32754, 32755, AGC= 67, IDX= 421, 0.47,-0.111,-1.573,-0.998,-0.562, PHS= 0.540,-0.964,-0.438, RAW= 110.1, 13.0, CAL= 118.7, 10.8, ROT= 31.3, -10.8 Ygot valid direction response: 23:27:44.9291 LVL= 28032, 32753, 32754, 32755, AGC= 67, IDX= 421, 0.47,-0.111,-1.573,-0.998,-0.562, PHS= 0.540,-0.964,-0.438, RAW= 110.1, 13.0, CAL= 118.7, 10.8, ROT= 31.3, -10.8 PDAT read: Bearing 31.3, -10.8 (Local) ~Local bearing/azimuth received: Bearing 31.3, -10.8 (Local) DAT read: Range 10 to 50 : 179.9 m (Round-trip 239.9 ms) speed 0.4 m/s ,DAT read: user:3231> BDAT read: Tx time:23:27:46.0351 %$Ping request sent.%*Fm?2Fq:FqBFuP5JFq =Ԗ@)=A>I= ?i=A99=ct?E"Rſ0?)=/I=ohi=*%=499:publishing transmit ping time!Fpublishing direction and range info99=,t7[AֿJXT%̿Ȇ?y9999 9)9I9i99999 9)9I9i999=ct?E"Rſ0?)9I9i9999J!J%BAzK]LK]+9KYK]K]BKeqA:KeqAGU?<G) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,w+|A:|@Y:+@:*Ҽ @ID9:=y:H?^? = ~ X?@c`P?[?7?ɨ:|@:.;:$CyRBR%IIZIZ ٢b#a= b]=9bA;Q b>dd fG٣dyj8 j> nNusing accuracyPremultiplier from confighr59jM[?r5Yj~ ijtv̨v@jEjzD;jx5;jA5| ~@|kmpBC?km# ki kmJ |A:km3CBkm2CZkmup@"mʈCO|Dn Mkd@m,t7[AֿJXT%̿Ȇ?Jkm*%Rkm4*mQXC!I c@mXHٿ]ѿsY?"kmH*kmkmMC?km# 2km^`CkmLxI?kmZ' km^`CkmBkmS@M addTargetRange:: Added new target pos. range: 179.899994 m, deltaT: 3.780674 s, deltaX: -1.900009 m, approachRate: -0.502558 m/s, rangeRepo size: 4 e Added new target pos. range: 179.899994 m, bearing: 214.916730 deg, lat: 36.902951 deg, lon: -122.121494 deg, deltaT: 3.780674 s, deltaX: -1.900009 m, approachRate: -0.502558 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 179.90 m.BjuJjq ProNav: ac range: 179.899994 m, nav range: 99.293747 m, bearing: 236.932201 deg, approach rate: 0.000000 m/s, LOS rate: -0.317070 deg/s, cmd heading: 354.504385 deg, new cmd heading: 354.148774 deg. 2jHeadingCmd: 6.181062 target range: 179.899994 and range: 179.90 m. jC@jjjihhhhfffrf|f@bf ?ɛB" l>I ~G1ɚiI_J=I%ѽi(h=Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J J :J 3J $8w,x(|A}N@Will construct direction to contact in vehicle frame from tetrahedron phase data.Y}k^@}׼9}=y}H-?@L?⡿``?gN@V??`?ɨ}N@}1;yyB%ImMb@Mb@Mb@iii i)iYmʡE?q= ףp~jthym?m뽹mDmZ@ m/@)iIm@iym@I}I}<٢b= 0=9Q > G٣yD > Nusing accuracyPremultiplier from config59bc[?5Y i?jHbH<H\>I I%IIBI&I.I6Iz<:Iq F:@E;;C5~B p@}EZj e$?IiFNOT Ignoring new targets: 179.90 m.BjڴJjڴ ProNav: ac range: 179.899994 m, nav range: 99.371101 m, bearing: 236.784722 deg, approach rate: 0.165994 m/s, LOS rate: -0.316226 deg/s, cmd heading: 354.148778 deg, new cmd heading: 353.706697 deg. 2jYHeadingCmd: 6.173347 target range: 179.899994 and range: 179.90 m. j@jjjih!h!h)h-˄Bf)f1f1rf9bf=q?ɛB / Y?I ,/ɚiIJ=I4iiG B O >F>w, |AzK.BoHK.9K,K.K.>#@Y>I3@>Rؼ9>%=y>H l??`).ڶ`f?@  ?κ??ɨ>#@>0Ӌ;>"CyJ†BJ%IIVIVʴ٢Zހ= Zo=9^Q ^?`` bG٣bTGybw| f? jNusing accuracyPremultiplier from configdj59f s[?n5Yf idlnpn@fEf ;f` ;f;E5t vʻ@vzEZjFNOT Ignoring new targets: 179.90 m.BjDJjD ProNav: ac range: 179.899994 m, nav range: 99.426979 m, bearing: 236.677068 deg, approach rate: 0.159156 m/s, LOS rate: -0.306460 deg/s, cmd heading: 353.706701 deg, new cmd heading: 353.383922 deg. 2jRRHeadingCmd: 6.167713 target range: 179.899994 and range: 179.90 m. j]@jjjihhhhfffrfbff?ɛ-B-8 Y] ?Ia e-ɚiiiImI=I|iOj-Ew,}A"Will construct direction to contact in vehicle frame from tetrahedron phase data.J@YJd@J3ؼ9J =yJH ?`*Է?J `˯?'޹???ɨJ@Jߋ;J%CybцBb%IIjIj<٢rh= rG=9vxQ v>tt zG٣xyzb z> Nusing accuracyPremultiplier from config|59~[?5Y~ i|   @~E~;~1;~G5! %Ӻ@!B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 179.90 m.Bj3Jj3U ProNav: ac range: 179.899994 m, nav range: 99.493111 m, bearing: 236.547384 deg, approach rate: 0.159001 m/s, LOS rate: -0.311592 deg/s, cmd heading: 353.383934 deg, new cmd heading: 352.995148 deg. 2j]U]HeadingCmd: 6.160928 target range: 179.899994 and range: 179.90 m. jeR&@jajajaiahahahihifififqrfbf@/?ɛB  U?I +ɚiII=IFbi9kIC I &IIBI =&I.I6Iݰ<:I F U $?IQ G- OK=G B O- >%XKw,ݔ/}A2ƾ@Y2@2qμ92"=y2H??``G?ې͙?`@V??ɨ2ƾ@2;2"Cy>BB%IDFAMb@Mb@Mb@ )YʡE?Mbyp@ E@)Ix@y)-AAI5I5 2٢E!= ED=9EC;Q E>II MG٣IyU) U> ]Nusing accuracyPremultiplier from configYe59]E[?e5Y] i]e?m:m(m@]E];]A;]H5B @xEZj!-FNOT Ignoring new targets: 179.90 m.Bj-Jj-] ProNav: ac range: 179.899994 m, nav range: 99.567329 m, bearing: 236.418049 deg, approach rate: 0.180411 m/s, LOS rate: -0.314154 deg/s, cmd heading: 352.995159 deg, new cmd heading: 352.607450 deg. 2jeWeHeadingCmd: 6.154161 target range: 179.899994 and range: 179.90 m. jm@jijijiiihihihhBfffrfbfy?ɛB;  ?I )ɚiI#I=Ii%k Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245692 9 IA @Rw,ipI}AZ秾@YZa@ZiFƼ9Z=yZH??R`?Sg.Ș?.??ɨZ秾@Z';XyfBf&IIrIr ٢z= zP=9z &;Q z> G٣TGy   > Nusing accuracyPremultiplier from config59[?5Y i%%@E" ; ;J5) -@)ZjQ]FNOT Ignoring new targets: 179.90 m.BjeJjeu ProNav: ac range: 179.899994 m, nav range: 99.637398 m, bearing: 236.295392 deg, approach rate: 0.185919 m/s, LOS rate: -0.325228 deg/s, cmd heading: 352.607450 deg, new cmd heading: 352.239744 deg. 2j}3_}HeadingCmd: 6.147743 target range: 179.899994 and range: 179.90 m. jP@jjjihhhhfffrfbf`g@ɛB < ,?I u'ɚiIJH=IK ii!=)P@)*F?2F:FBF0JFiG|uA aY|uAyIB]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.497743G =GqBO>oXw,ac}A@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752463Yo@M>¼9 =yH?䣺?@c ?`L4G?? ?ɨ@S;騙yB &IZHqRHu?AHZ>I I<&II'BI =&I $?I.I6Is<:Ij FeMb@Mb@Mb@aaa a)aYeCl?S㥫Mbpye?e/]eeZ@ e@)e&@IaayaI}I}̍٢= =9wv:Q > G٣y > Nusing accuracyPremultiplier from config59[?5Y i?:N@EW;V;L5 @uEZjFNOT Ignoring new targets: 179.90 m.Bj0Jj0  ProNav: ac range: 179.899994 m, nav range: 99.749001 m, bearing: 236.138389 deg, approach rate: 0.213011 m/s, LOS rate: -0.299330 deg/s, cmd heading: 352.239740 deg, new cmd heading: 351.769267 deg. 2j mMHeadingCmd: 6.139532 target range: 179.899994 and range: 179.90 m. j w@jjjihhh!h%Bf!f!f)rf)bf-$@ɛ]B]F; ae4?Ia eO$ɚaiaIeIH=Imim[mE>*F?2F:FBFo0JFG GqAe Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:27:48.6769 m TRx dataTimestamp_ set to:1736378869.860560m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002743G #=J% J% J! J! J% :J% :J! J! J% ;J% ;J% DG;J% EG;G B O >h^w,&}}A65v@Y6@6ɳ96g=y6H??y@@`ͥ?@5=@?@ ?`K?ɨ65v@6;6$Cy> B>&IiB=IBp=IJIJԲ٢r&= v=9v>;Q v?xx zG٣xyz+D z? %Nusing accuracyPremultiplier from config!-59%A[?-5Y% i%)-R5@%E%:%:%N5zK=k3IK=h9K9K=K=]B eK@erEZjFNOT Ignoring new targets: 179.90 m.BjKJjK ProNav: ac range: 179.899994 m, nav range: 99.810211 m, bearing: 236.052039 deg, approach rate: 0.207483 m/s, LOS rate: -0.292517 deg/s, cmd heading: 351.769277 deg, new cmd heading: 351.510388 deg. 2jHHeadingCmd: 6.135014 target range: 179.899994 and range: 179.90 m. jR@jjjihhhhfffrf!bf% @ɛmBmDb< my=m5ew,s}AWill construct direction to contact in vehicle frame from tetrahedron phase data.NDAT read: 23:27:48.6769 LVL= 21552, 32753, 32754, 32755, AGC= 64, IDX= 413,-0.07,-1.303,-2.912,-2.257,-1.899, PHS= 0.684,-0.966,-0.361, RAW= 111.3, 8.9, CAL= 120.9, 6.2, ROT= 29.1, -6.2 ^Ygot valid direction response: 23:27:48.6769 LVL= 21552, 32753, 32754, 32755, AGC= 64, IDX= 413,-0.07,-1.303,-2.912,-2.257,-1.899, PHS= 0.684,-0.966,-0.361, RAW= 111.3, 8.9, CAL= 120.9, 6.2, ROT= 29.1, -6.2 fPDAT read: Bearing 29.1, -6.2 (Local) ~Local bearing/azimuth received: Bearing 29.1, -6.2 (Local) -DAT read: Range 10 to 50 : 178.1 m (Round-trip 237.5 ms) speed 0.3 m/s 5,DAT read: user:3232> =BDAT read: Tx time:23:27:49.7852 =$Ping request sent.=  @)k=I"?ikݽ}T>?} a=ÿH?)GmIi:publishing transmit ping time9Fpublishing direction and range info9oԹҿ x;o п @]?y )Ii )Ii}T>?} a=ÿH?)IiyޅBޝ'&III1٢O= #=9M9Q >    G٣ TGy  > Nusing accuracyPremultiplier from configE59[?E5Y iAEUM@E;;LP5Q U@QkWH?k}#$ k kd}A:k2CBk0CZkx@"o 'ISPFJRd@oԹҿ x;o п @]?JkRk*ofMNv8\`K\hc@dտVbӿyo?"k[*khrkmG?k{-$ 2kaCkmG?kS% kkBkg>@  addTargetRange:: Added new target pos. range: 178.100006 m, deltaT: 3.536714 s, deltaX: -1.799988 m, approachRate: -0.508944 m/s, rangeRepo size: 4  Added new target pos. range: 178.100006 m, bearing: 222.097157 deg, lat: 36.902910 deg, lon: -122.121365 deg, deltaT: 3.536714 s, deltaX: -1.799988 m, approachRate: -0.508944 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 178.10 m.BjJj ProNav: ac range: 178.100006 m, nav range: 93.541672 m, bearing: 229.619569 deg, approach rate: 0.000000 m/s, LOS rate: -0.292517 deg/s, cmd heading: 351.510385 deg, new cmd heading: 351.058023 deg. 2jHeadingCmd: 6.127119 target range: 178.100006 and range: 178.10 m. j[@j!j!j!i)h)hYhahififfrf@3Cf@bfY?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:27:49.7844 ɛ-B5ٺ; 15E?I1 5ɚ1i9I=/NG=I=iE goIq Iun&IIuPBIq&Iq.Iq6IuE< I:IuF FBI5ȣCJI5ȣCRI1ZI5 =bI5 =jI5|5)*F ?2F :F BF o0JF G4=GqAGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO?cmw,5)}Az@Yz-@z^9z=yzH~?a>?`8[?`H`?/??ɨz@z f;z#Cy(B>&IJuJuJqJqJu:Ju:JqJqJu7;Ju8;JuL;JuL;MMb@Mb@Mb@III I)IYMGz?QMb`yM?MMI I)M@IMb@IyM=@II٢ = ,=9\Q > G٣y{ > Nusing accuracyPremultiplier from config59[?5YL i߆?:2@EN;;_R5 B @ oEEB*** querying acoustic contact ***jIjIZjQUFNOT Ignoring new targets: 178.10 m.Bj}lJj}l ProNav: ac range: 178.100006 m, nav range: 93.678062 m, bearing: 229.477798 deg, approach rate: 0.295522 m/s, LOS rate: -0.306733 deg/s, cmd heading: 351.058036 deg, new cmd heading: 350.633349 deg. 2jRHeadingCmd: 6.119707 target range: 178.100006 and range: 178.10 m. j@jjjihhhh3Bfffrfbf9?zK=BoHK=9K9K=K=ɛMBMv3< IUQ?IQ U^dɚQiQIuF=I}f'iyi}?YF=)@)*F?2F!:F!BF%4JF)G A=mWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.GBO > -$?I-h7Ctw,}A6*@Y6@6`96_=y6H@?`?עx<A?@ Cx0?`?{w,.}Ayj9BjS&ImMb@Mb@Mb@iii i)iYm|?5^?y&1y&1|ym?m`弹m`mp@ i)m@IiiyiII=س٢%Z= )=9Q > G٣TGy > Nusing accuracyPremultiplier from config59%\?5Yy iֆ!?:2@E;A;U5 @lEZjFNOT Ignoring new targets: 178.10 m.BjJj  ProNav: ac range: 178.100006 m, nav range: 93.916847 m, bearing: 229.230496 deg, approach rate: 0.303374 m/s, LOS rate: -0.311405 deg/s, cmd heading: 350.330375 deg, new cmd heading: 349.892453 deg. 2jUHeadingCmd: 6.106775 target range: 178.100006 and range: 178.10 m. jj@jjjihhh!h-CBf)f)f)rf)bf5f?ɛ{B6#< ^?I @ɚiI%iE=I-4i-q Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695155 w,J~A *$?I(JH}@YJ@Ju9J =yJHu?v?+?^ ?t? ?ɨJH}@J2X;J#CyR@BV[&II^I^b2٢f= fY=9f9Q f>hh jG٣hy}Y }> Nusing accuracyPremultiplier from config598\?5Y iӆ@@E::W5B @iEZj%FNOT Ignoring new targets: 178.10 m.Bj-Jj-e ProNav: ac range: 178.100006 m, nav range: 94.030815 m, bearing: 229.110340 deg, approach rate: 0.280167 m/s, LOS rate: -0.295019 deg/s, cmd heading: 349.892450 deg, new cmd heading: 349.532427 deg. 2jexJmHeadingCmd: 6.100492 target range: 178.100006 and range: 178.10 m. jm:7@jijijiiihihqhhfffrfbf?ɛwB< !%d?I! %ɚ!i!I%rD=I-;i5grM͈w,$~AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202298 E$?IA S@Yb@ȸ9>=yHĦ?@I?N+5¿ K???@ ?@?ɨ S@h_;y FB c&Ii)>I> =p=Mb@Mb@Mb@ )Yn?:v{Gzty?Tף@ )@Ix@y@II(*٢ u<  =9 hg;Q  > G٣yh! > %Nusing accuracyPremultiplier from config!-59%DR\?-5Y% i%̆5?5:5j+5@%E%;%3;%Y5EB Eг@EhEZjimFNOT Ignoring new targets: 178.10 m.BjukJjuk ProNav: ac range: 178.100006 m, nav range: 94.190643 m, bearing: 228.950792 deg, approach rate: 0.311294 m/s, LOS rate: -0.310221 deg/s, cmd heading: 349.532417 deg, new cmd heading: 349.054597 deg. 2jTHeadingCmd: 6.092152 target range: 178.100006 and range: 178.10 m. j@jjjihhhhe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451187J J AAw,G>~Ay~LBj&II=I= ٢U= =9Q  ? G٣TGy  ? Nusing accuracyPremultiplier from config59b\?5YǑ iȆ@E;ީ;h[5 s@%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 178.10 m.zK5:IK5]9K1K5K5BjEJjE] ProNav: ac range: 178.100006 m, nav range: 94.290329 m, bearing: 228.851920 deg, approach rate: 0.302736 m/s, LOS rate: -0.299949 deg/s, cmd heading: 349.054605 deg, new cmd heading: 348.758303 deg. 2j]MeHeadingCmd: 6.086981 target range: 178.100006 and range: 178.10 m. je@jajajaiahahihihififqfqrfybf}@ɛmB= fo?I TZ ɚiI}C=IHiWuڕw,X~AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955309:j@Y:@:9:⸼=y:H?k?u%Ŀy?@?@??ɨ:j@:ͱ;8yFWBFw&IININƲ٢Va= VV=9VXX ZG٣Xy^c ^> fNusing accuracyPremultiplier from config`f59b$t\?j5Yb͒ ibņhj7j@bEbj:b:b]5nB rв@reEZj FNOT Ignoring new targets: 178.10 m.Bj Jj % ProNav: ac range: 178.100006 m, nav range: 94.402046 m, bearing: 228.738677 deg, approach rate: 0.304984 m/s, LOS rate: -0.308782 deg/s, cmd heading: 348.758311 deg, new cmd heading: 348.418990 deg. 2j%S-HeadingCmd: 6.081059 target range: 178.100006 and range: 178.10 m. j-@j)j)j)i)h)h1h1h1f1ffrfbf0@JJJJJܫ:J :JJa@a@a@a@ɛ}iB}h= y}v?I L ɚiIiB=ISNi vWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:27:52.4249 TRx dataTimestamp_ set to:1736378873.645060 QIYHeV>Ia Ie&IIeBIe =&Ia.Ie:D6Ieׯ<:Ie Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.234857w,Aer~Ay~\B~}&I) AMb@Mb@Mb@ )YQ?S㥛Mbpy?/ݼ-@ )I=@yQ@II1٢< 9=9Q > G٣y > Nusing accuracyPremultiplier from config59~\?5Y- i?:@P@E;;^5 @ Zj9=FNOT Ignoring new targets: 178.10 m.BjEJjEU ProNav: ac range: 178.100006 m, nav range: 94.530136 m, bearing: 228.602346 deg, approach rate: 0.289087 m/s, LOS rate: -0.307270 deg/s, cmd heading: 348.418987 deg, new cmd heading: 348.010554 deg. 2jUR]HeadingCmd: 6.073930 target range: 178.100006 and range: 178.10 m. je]@jajajaiahahahihmGBfififqrfqbf} @ɛdB = {?I ɚiIB=5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460070ImGViu x Will construct direction to contact in vehicle frame from tetrahedron phase data. M $?IQ e DAT read: 23:27:52.4249 LVL= 24944, 32753, 30626, 32755, AGC= 64, IDX= 424,-0.15,-0.041,-1.738,-1.138,-0.701, PHS= 0.748,-0.990,-0.441, RAW= 108.0, 8.9, CAL= 117.8, 6.7, ROT= 32.2, -6.7 u Ygot valid direction response: 23:27:52.4249 LVL= 24944, 32753, 30626, 32755, AGC= 64, IDX= 424,-0.15,-0.041,-1.738,-1.138,-0.701, PHS= 0.748,-0.990,-0.441, RAW= 108.0, 8.9, CAL= 117.8, 6.7, ROT= 32.2, -6.7  PDAT read: Bearing 32.2, -6.7 (Local)  ~Local bearing/azimuth received: Bearing 32.2, -6.7 (Local)  DAT read: Range 10 to 50 : 176.6 m (Round-trip 235.5 ms) speed 0.3 m/s  ,DAT read: user:3233>  BDAT read: Tx time:23:27:53.5352  $Ping request sent.  G٣TGy > Nusing accuracyPremultiplier from config59Ɯ\?5Y i]@‘E;;`5  @bEkEI?k_U" k kEK~A:k0CBkg/CZkgn@".aCH9A=Cd@Vѿ.oȿη֧2d@XDzpտ;u̿-fG?"k*klk#I?kl" 2kGeCkk{-$ k)f= IkBkv@G YyB addTargetRange:: Added new target pos. range: 176.600006 m, deltaT: 3.779691 s, deltaX: -1.500000 m, approachRate: -0.396858 m/s, rangeRepo size: 4  Added new target pos. range: 176.600006 m, bearing: 213.891893 deg, lat: 36.902910 deg, lon: -122.121179 deg, deltaT: 3.779691 s, deltaX: -1.500000 m, approachRate: -0.396858 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 176.60 m.Bj JjE ProNav: ac range: 176.600006 m, nav range: 83.012215 m, bearing: 220.905418 deg, approach rate: 0.000000 m/s, LOS rate: -0.307270 deg/s, cmd heading: 348.010542 deg, new cmd heading: 347.564133 deg. 2jAMHeadingCmd: 6.066138 target range: 176.600006 and range: 176.60 m. jM@jIjQjQiQhQhQhYhYfYfYfrf@3f@bf?ɛ_B`|< ?I ɚiI _A=I%A^i%yǩw,~A&Will construct direction to contact in vehicle frame from tetrahedron phase data. LIPH]Q>I]C I]&II]BI] =&IY.IY6I]װ<:I] Fm@K@YmZ@mY9ml=ymH@T}?Ky?GUƿy`? ;??`?ɨm@K@m};m!Cy}fB}&Iip=I4<Mb@Mb@Mb@ )Yl?:vMb`y?Լ@ )@I&@y\@II#٢y)< =9R+;Q > G٣yw > Nusing accuracyPremultiplier from config59ڵ\?5YD i?:c@đE{!;] ;b5B @_EZjFNOT Ignoring new targets: 176.60 m.Bj%=Jj%=ໝ5 ProNav: ac range: 176.600006 m, nav range: 83.193558 m, bearing: 220.736277 deg, approach rate: 0.421296 m/s, LOS rate: -0.392092 deg/s, cmd heading: 347.564121 deg, new cmd heading: 347.057816 deg. 2j5=HeadingCmd: 6.057302 target range: 176.600006 and range: 176.60 m. j=j@j9j9j9iAhAhAhAhMBBfIfIfIrfIbfU^?ɛ}[B}#= y}܂?I ɚiIީ@=INgii[=)j@)*FU?2FQ:FQBFU0JFQG-YW=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>婰w,~A2@Y2 @2?T92c=y2H`r?T?k™ǿN?ć??!?ɨ2@2;2%CyNiBR&IIZIZb٢b< b=9b:Q f?dd fG٣dyj j? nNusing accuracyPremultiplier from configlr59n\?r5YnZ intvLjv@nƑEn;nb;nJd5| @zK8MKKKK-B*** querying acoustic contact ***j)j)ZjIMFNOT Ignoring new targets: 176.60 m.BjUJjUe ProNav: ac range: 176.600006 m, nav range: 83.300636 m, bearing: 220.635600 deg, approach rate: 0.344598 m/s, LOS rate: -0.323579 deg/s, cmd heading: 347.057812 deg, new cmd heading: 346.756173 deg. 2je^mHeadingCmd: 6.052037 target range: 176.600006 and range: 176.60 m. jmI@jijijiiihqhqhqhfffrfbf?ɛEWBMNI= IMi?II M$ɚIiQIUe?=I}Cli}™z Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232057㶟w,~AJ&J&J$J$J&:J&:J$J$b ͻ@Yb@b69bs=ybH6f?f?a❿ȿD?{R@$Ԇ?R? n?ɨb ͻ@b;b"CyjqBj&IIIn٢M= 8=9i;Q > G٣TGy > Nusing accuracyPremultiplier from config =59 r\?=5Y  i AErE@ ȑE y; ; >f5MB MB@M\EZjFNOT Ignoring new targets: 176.60 m.BjJj ProNav: ac range: 176.600006 m, nav range: 83.455902 m, bearing: 220.487941 deg, approach rate: 0.344505 m/s, LOS rate: -0.327016 deg/s, cmd heading: 346.756164 deg, new cmd heading: 346.314022 deg. 2jm`HeadingCmd: 6.044320 target range: 176.600006 and range: 176.60 m. jk@jjjihhhhfffrfbfl?ɛUSBU)= Y]?IY ]IɚYiYI];I9 I='II=ɇBI= =&I9.I96I=<:I=v FG B O >w,~A6*@Y6@6y,96Vp=y6HX?x?@lh sɿ8?򀶿!?4?@?ɨ6*@6cd;6%Cy>uB>&I)@ BAMb@Mb@Mb@ )Y(\? rhMbP?yz?C: E@)@IyQ@ImIm(٢}< }R=9/:Q > G٣y= > Nusing accuracyPremultiplier from config59\?5YW i?:m@ʑEj;;g5BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736540  @ZjFNOT Ignoring new targets: 176.60 m.BjQJjQ  ProNav: ac range: 176.600006 m, nav range: 83.588158 m, bearing: 220.364478 deg, approach rate: 0.349538 m/s, LOS rate: -0.325785 deg/s, cmd heading: 346.314032 deg, new cmd heading: 345.944234 deg. 2j _HeadingCmd: 6.037866 target range: 176.600006 and range: 176.60 m. j36@jjjihhhh`Bf!f!f!rf!bf%l?ɛ]OB]FI= Y]m?IY eɚaiaIe>=Im4{iiim:#K=)m36@)q*F2F:FBF^0JFGBO$>zKyJK9KKKu Will construct direction to contact in vehicle frame from tetrahedron phase data.u c?u U? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990241 $?I ßw,YA:F@Y:    G٣ y  > %Nusing accuracyPremultiplier from config%597\?-5Y i)->u-@ˑE::i55B 5[@EYEZjiuFNOT Ignoring new targets: 176.60 m.BjuJju ProNav: ac range: 176.600006 m, nav range: 83.720558 m, bearing: 220.239548 deg, approach rate: 0.341641 m/s, LOS rate: -0.321854 deg/s, cmd heading: 345.944246 deg, new cmd heading: 345.570054 deg. 2j\HeadingCmd: 6.031335 target range: 176.600006 and range: 176.60 m. j@jjjihhhhfffrfbfP@ɛKBF= B?I 0ɚiI==IiN{JJJJJܫ:J:JJWʟw,J*A ,I,:Will construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504887HzR>Ix Iz'IIzԇBIx&Ix.Ix6IzȰ<:Iz FBICJICRIZI =bI =jI5 @YX@9=yH??6g?)-˿z!?v?`@? ?ɨ @;$CyMrBM&I5Mb@Mb@Mb@111 1)1Y5> ףp=?:v~jth?y5?5Լ5D;1 5@)5@I5@1y5\@IMIM ٢]< ])=9];Q e>aa mG٣mTGymk m> }Nusing accuracyPremultiplier from configy59}]?5Y} i}?:@}ΑE};};}k5B E@VEZjFNOT Ignoring new targets: 176.60 m.BjJj  ProNav: ac range: 176.600006 m, nav range: 83.877632 m, bearing: 220.084863 deg, approach rate: 0.323051 m/s, LOS rate: -0.317543 deg/s, cmd heading: 345.570061 deg, new cmd heading: 345.106884 deg. 2j YHeadingCmd: 6.023252 target range: 176.600006 and range: 176.60 m. jz@jjjihhh!h%OBf!f!f!rf)bf-P6@ɛUGBU,,= QU?IY ]\ۼɚYiYI]J ==Ie ieb}Eq*F?2F:FBF_0JFGBOi>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748091Пw,DA6@Y6@62c96=y6HU6? Y?`S 9̿?`ʵRfl??#?ɨ6@6;6"CyBqBB&IiF>IDIJIJV٢fȻ f=9f;Q f ?hh nG٣lyr҅ r ? vNusing accuracyPremultiplier from configtz59vf$]?z5Yv ivxzP~@vϑEv2 ;v ;vm5 U@%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 176.60 m.Bj5Jj5zK}BoHK}s9KyK}K} ProNav: ac range: 176.600006 m, nav range: 83.980865 m, bearing: 219.982699 deg, approach rate: 0.329146 m/s, LOS rate: -0.325336 deg/s, cmd heading: 345.106892 deg, new cmd heading: 344.800780 deg. 2jF_HeadingCmd: 6.017909 target range: 176.600006 and range: 176.60 m. j@jjjihhhhfffrfbf% A@ɛeDBmph= imp?Ii mWvռɚqiI]<=ID҇i}% Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:27:56.1729 - TRx dataTimestamp_ set to:1736378877.428681- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2571899"ןw,]Aȶ@YB@w9_3=yHy,??ꕿ ̿<?ӱ.>\?@_??ɨȶ@̣;y%iB%&IIUIU٢ei eA=9m;Q m>iq uG٣qyuQ > Nusing accuracyPremultiplier from config59#8]?5Y i@ёE::n5 @SEZjFNOT Ignoring new targets: 176.60 m.BjJj ProNav: ac range: 176.600006 m, nav range: 84.118362 m, bearing: 219.845861 deg, approach rate: 0.303955 m/s, LOS rate: -0.302004 deg/s, cmd heading: 344.800790 deg, new cmd heading: 344.390955 deg. 2jCOHeadingCmd: 6.010756 target range: 176.600006 and range: 176.60 m. jX@jjji!h)hIhQhQfQfQfYrfYbf]St @ɛ@B>= X?I ͼɚiI6;=I{iMI! I% 'II%χBI% =&I!.I!6I%<:I%q FG ^J=Ga Bq O >?Pݟw,8wAVn@YV@Vl99V=yVH n$?MT?`AoͿ@?f9< J?@?ɨVn@VU;TybeBb&IMb@Mb@Mb@ )YM?{Gz{Gztyn?#ף@ )@I@yII0٢왼 E=9˩;Q > G٣TGy * >Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:27:56.1729 LVL= 17104, 31217, 25698, 32755, AGC= 61, IDX= 420, 0.02,-0.716,-2.459,-1.964,-1.529, PHS= 0.901,-0.882,-0.438, RAW= 103.9, 5.3, CAL= 114.3, 3.2, ROT= 35.7, -3.2 Ygot valid direction response: 23:27:56.1729 LVL= 17104, 31217, 25698, 32755, AGC= 61, IDX= 420, 0.02,-0.716,-2.459,-1.964,-1.529, PHS= 0.901,-0.882,-0.438, RAW= 103.9, 5.3, CAL= 114.3, 3.2, ROT= 35.7, -3.2 PDAT read: Bearing 35.7, -3.2 (Local) %~Local bearing/azimuth received: Bearing 35.7, -3.2 (Local) -DAT read: Range 10 to 50 : 175.1 m (Round-trip 233.5 ms) speed 0.3 m/s 5,DAT read: user:3234> =BDAT read: Tx time:23:27:57.2869 =$Ping request sent.= hw,c{A^7a@Y^p@^sZ;9^0=y^H?@? 3ο=?``Mb`>??ɨ^7a@^;^#Cyr\Br~&I)t tI}I}b1٢' G=9;Q > G٣yo > Nusing accuracyPremultiplier from config 59^]? 5Y iy@ՑE;;r5UB U@UPEZjFNOT Ignoring new targets: 175.10 m.Bj㿻Jj㿻 ProNav: ac range: 175.100006 m, nav range: 81.303719 m, bearing: 216.868617 deg, approach rate: 0.378636 m/s, LOS rate: -0.335521 deg/s, cmd heading: 343.972152 deg, new cmd heading: 343.611544 deg. 2jCfHeadingCmd: 5.997153 target range: 175.100006 and range: 175.10 m. j@j!j!j!i!h)h)h)h)f1f1f1rf1bf5҈?ɛ}9BSl= 隭?I n0ɚiI[W:=Irii_]=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁ*F]?2FY:FYBF]G5JFYGerA GerAG .H_=GY Ba O} >-w,IA $?IHU>I I&IIBI =VWill construct direction to contact in vehicle frame from tetrahedron phase data.&I.I6IE<:IC F5@Y52@5};95h=y5H?བྷ?:fϿ?0c`r`A׷? P?ɨ5@5焉;5"CyETBEs&IMb@Mb@Mb@ )YtV?X9vMby?@ E@)@I@yQ@II?٢ 5=9$;Q > G٣yۼ > %Nusing accuracyPremultiplier from config!-59%ks]?-5Y% i%5?5:55@%בE%;%;%t5=B =P@=MEZjamFNOT Ignoring new targets: 175.10 m.BjmJjm} ProNav: ac range: 175.100006 m, nav range: 81.452904 m, bearing: 216.723331 deg, approach rate: 0.348336 m/s, LOS rate: -0.338611 deg/s, cmd heading: 343.611545 deg, new cmd heading: 343.176493 deg. 2jbhHeadingCmd: 5.989560 target range: 175.100006 and range: 175.10 m. jy@jjjihhhh?BfffrfbfN?ɛ5BTH= 隕?I ~ɚiI`9=IViiL=)y@)*Fu?2Fy:FyBF}5JFyMWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J :J J J ;J ;J oN;J oN;G= '\=GA GE >G B) OE >tw,zAy~FB~c&II I ʴ٢E# El=9MQ M?IQ UG٣UTGyU U? mNusing accuracyPremultiplier from configau59el]?u5YeQ ieʆqy}@eّEe+;eD;ev5 #@zK-)MK-9K)K-K-EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 175.10 m.Bj]vJj]vm ProNav: ac range: 175.100006 m, nav range: 81.569839 m, bearing: 216.610183 deg, approach rate: 0.317529 m/s, LOS rate: -0.306803 deg/s, cmd heading: 343.176489 deg, new cmd heading: 342.837536 deg. 2jmRuHeadingCmd: 5.983644 target range: 175.100006 and range: 175.10 m. juz@jqjyjyiyhyhyhhfffrfbf?ɛ2Bof= 隵?I ɚiIQ9=Iv]ic~G5tA rY5tAymBe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523403Пw,A2@Y26@2D;92/h=y2H@r?T?n &^п? `u$?`V?ɨ2@2J;0yB9BBR&IiF=IFC=IJIJW٢eN mH=90:Q > G٣y > Nusing accuracyPremultiplier from config59[]?5Y8 iՆU@ڑEH:j:w5  @JEZjFNOT Ignoring new targets: 175.10 m.BjĻJjĻ ProNav: ac range: 175.100006 m, nav range: 81.707336 m, bearing: 216.475529 deg, approach rate: 0.352245 m/s, LOS rate: -0.344380 deg/s, cmd heading: 342.837548 deg, new cmd heading: 342.434273 deg. 2jXlHeadingCmd: 5.976605 target range: 175.100006 and range: 175.10 m. j Z@@j j j i h h hhfffrfbf.?ɛe/BeïP= aej?Ii mR,ɚiiiIml8=Iuiqiu]=)}Z@@)y*F)2F):F)BF)JF)HS>I I&IIBI&I.I6I'<:I+ F IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.781184Gw,A2h@Y2@2Y<92ش=y2H?`u?ڏ`пv?P@``k?`?ɨ2h@2Š;2!CyR,BRC&IMb@Mb@Mb@ )Y㥛 ?㥛 ~jty? @)@I@y\@IIԲ٢qn D=95;Q > G٣y > Nusing accuracyPremultiplier from config59A]?5Y i?:ž@ܑE;;y5 е@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027339Zj1=FNOT Ignoring new targets: 175.10 m.Bj=ǻJj=ǻM ProNav: ac range: 175.100006 m, nav range: 81.833710 m, bearing: 216.330847 deg, approach rate: 0.305233 m/s, LOS rate: -0.348915 deg/s, cmd heading: 342.434266 deg, new cmd heading: 342.000898 deg. 2jMuoUHeadingCmd: 5.969042 target range: 175.100006 and range: 175.10 m. j]d@jYjYjYiYhYhYhaheBfafafirfibfm@f@ɛ,B I= 隝?I qɚiIw7=Ijנiia=)d@)*J"Ja=JK 3 K .KK"KJMJIJIJIJMܫ:JIJIJIJM;JM;JIJI*Fm?2Fi:FiBFm`0JFizKyJK9KKKRK ?JK>G.H_= $?IGi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280696w,pA:T@Y:d@:S#<9:|z=y:H? ?ы@2!ѿ? q'? ?ɨ:T@:Oߊ;:$CyBBB.&IIJIJF2٢R︽ R^=9V?;Q V>TT ZG٣ZTGyZ Z> Nusing accuracyPremultiplier from configh59j5]?5YjЮ ij!%Ⱦ%@jޑEj, I H R>I  I &II }BI  =&I .I 6I <:I } F w,-AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.787337yB&I) Mb@Mb@Mb@ )Y^I +?yX?̼̽@ )&@I@y @IIb1٢ "=9Q > G٣y > Nusing accuracyPremultiplier from config59|]?5Y, i/?:]ݾ@E@;<;y}5B q@FEZjFNOT Ignoring new targets: 175.10 m.Bj׻Jj׻- ProNav: ac range: 175.100006 m, nav range: 82.094757 m, bearing: 216.014980 deg, approach rate: 0.301196 m/s, LOS rate: -0.377011 deg/s, cmd heading: 341.610873 deg, new cmd heading: 341.054863 deg. 2j-^5HeadingCmd: 5.952530 target range: 175.100006 and range: 175.10 m. j5!{@j1j1j1i9h9h9hAhEۄBfAfAfArfIbfM\@ɛ}%B}&= bo?I ߖɚiI6=I Ki i 5=) !{@)*F2F:FBFs0JFGqA GqA-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035461JJJJJ:JJJJ;J;JJG }xd=G B O >w,0fGAFMϸ@YF޿@FJj<9F偬=yFH@?3$? @:!ҿ?@@g]%??ɨFMϸ@F=;F!CyNBN &IIVIV?13٢b b=9fg= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539164'w, XaA6@Y6@61|<96|)=y6H?@K? +E\ҿ?*@҅Ͻ?n?ɨ6@6=NJ;6%CyZBZ%IIbIb 3٢ D=9%&;Q %>!! -G٣-TGy-x -> =Nusing accuracyPremultiplier from config1=595]?E5Y5; i5nAE龑E@5E5:5:55I UĹ@UCEZjy}FNOT Ignoring new targets: 175.10 m.Bj:߻Jj:߻ ProNav: ac range: 175.100006 m, nav range: 82.302299 m, bearing: 215.745162 deg, approach rate: 0.299614 m/s, LOS rate: -0.390320 deg/s, cmd heading: 340.709397 deg, new cmd heading: 340.246463 deg. 2jHeadingCmd: 5.938421 target range: 175.100006 and range: 175.10 m. j@jj!jihhhhfffrfbf-މ @ɛB .= Gh?I OɚiI=%6=I%򄰾i%_ BDAT read: Tx time:23:28:01.0369 $Ping request sent. w,){AyrކBr%IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:28:01.0361 Mb@Mb@Mb@ )YV-?T㥛 X9vy?@ /@)@I@y\@II ٢6 .=9Q >!! %G٣!yM M> UNusing accuracyPremultiplier from configQ]59U^?]5YU iUmg ?m:mu@UEUG;Uȑ;U5 Ѻ@kLCR?k k kyZoA:k-CBk,CZkچ`@"8:?l<˪ 'q^We@8pǿ#y!1Q%,~j?Jk8Rk*Tߥe[AYJ*p  Will construct direction to contact in vehicle frame from tetrahedron phase data.ե =ե <R$w,Ay=҆BE%IIuIu٢ g=9Q > G٣y > Nusing accuracyPremultiplier from config59^?5Y ić@E7::;5B @AEZjFNOT Ignoring new targets: 173.90 m.BjJj ProNav: ac range: 173.899994 m, nav range: 74.255577 m, bearing: 210.974321 deg, approach rate: 0.359338 m/s, LOS rate: -0.465085 deg/s, cmd heading: 339.646620 deg, new cmd heading: 339.212254 deg. 2jHeadingCmd: 5.920371 target range: 173.899994 and range: 173.90 m. js@jjjihhhhfffrfbfL?ɛ}B4R= 隅\?I EIɚiI^5=I¹iiu=)s@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F!:F!BF%^0JF!JJJJJJ:JJa@a@a@a@G KXi=G B O >H P>I  I H&II 1BI  =&I .I 6I <:I F y I F-+w, ᮀA6Will construct direction to contact in vehicle frame from tetrahedron phase data.=>@Y=@={<9==y=H k?}? ӿQ?.?w@r??ɨ=>@=;="CyUdžBU%I Mb@Mb@Mb@    ) Y Mb?+ÿMby  ?    @) I @ y @II̍٢-j@ 53=95rQ 5>99 =G٣=TGy='A => MNusing accuracyPremultiplier from configIU59M.^?]5YM iM]%?]:]]@MEM7;M5;M:5i mU@iZjFNOT Ignoring new targets: 173.90 m.BjJj ProNav: ac range: 173.899994 m, nav range: 74.390808 m, bearing: 210.772707 deg, approach rate: 0.295953 m/s, LOS rate: -0.440429 deg/s, cmd heading: 339.212247 deg, new cmd heading: 338.608528 deg. 2j!HeadingCmd: 5.909834 target range: 173.899994 and range: 173.90 m. j\@jjjihhhhBfffrfbfS?ɛBs!0= ZY?I sɚ i I 4=I'ii2{=)\@)*F?2F:FBF_0JFGux\=G}?G}>G1B9OUv> Will construct direction to contact in vehicle frame from tetrahedron phase data.Q2w,ȀA6Ҷ@Y6Lƾ@6n!<96V=y6HY[?` Nusing accuracyPremultiplier from config59n>^?5Y i@E::ɇ5B @>E $?I%B*** querying acoustic contact ***j!j!Zj)=FNOT Ignoring new targets: 173.90 m.BjEJjEU ProNav: ac range: 173.899994 m, nav range: 74.495712 m, bearing: 210.615305 deg, approach rate: 0.293601 m/s, LOS rate: -0.439909 deg/s, cmd heading: 338.608541 deg, new cmd heading: 338.137010 deg. 2jU󖼝]HeadingCmd: 5.901604 target range: 173.899994 and range: 173.90 m. j]ټ@jYjYjYiYhahahahafififirfibfm ?zKK 9KKKɛBg A= W?I \iɚiI4=I^þi i 3=) ټ@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFg0JFG GnAG }ܒ=G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694320J J J 1J J L:J :J 3J ;8w,υA6@Y6@6א<96=y6HtI?զ?䁿`ՠԿ .?`P/?@6?ɨ6@6rw;6"CynBn%IIvIv٢~Rj ~G=9P;Q > G٣ y a > Nusing accuracyPremultiplier from configy59}^P^?5Y} i}J`@}E};}?';}5B @;EZjFNOT Ignoring new targets: 173.90 m.BjJj ProNav: ac range: 173.899994 m, nav range: 74.610092 m, bearing: 210.442297 deg, approach rate: 0.292623 m/s, LOS rate: -0.441934 deg/s, cmd heading: 338.137012 deg, new cmd heading: 337.618799 deg. 2jHeadingCmd: 5.892560 target range: 173.899994 and range: 173.90 m. jُ@jjjihhhhfffrfbfc?ɛ- B5@= W?I r^ɚiI[>4=IȾii=N=)ُ@)jH<bH<HM>IC I#&IIBI =&I.I9D6I<:I F*F2F:FBF0JF $?I G{=GyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947279BO`>e>w,(bA: ?@Y:N@:+<9:=y:H+4?"?}`տ?퇴@%%`f?e?ɨ: ?@:;:$CyBBB%IMb@Mb@Mb@ )YK7A? rȿ/$y "?C @)Iyf@I=I=2٢Mo) ME=9U;Q U>QQ ]G٣]TGy]B e> mNusing accuracyPremultiplier from configau59eob^?}5Ye ieqY)?:S @eEeNm;ek;e?5 @ZjFNOT Ignoring new targets: 173.90 m.Bj:Jj: ProNav: ac range: 173.899994 m, nav range: 74.716736 m, bearing: 210.256461 deg, approach rate: 0.265735 m/s, LOS rate: -0.462406 deg/s, cmd heading: 337.618792 deg, new cmd heading: 337.062096 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198557HeadingCmd: 5.882843 target range: 173.899994 and range: 173.90 m. jA@@jjjihhhhBfffrfbfP@ɛ B5= X?I SɚiI{3=I̾i!i%[=)%A@@)!*F 2F :F BF I2JF  9I9G5 M=G= pAG= qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450255zK BoHK 9K K K    G B O- >)  NG |uA Y |uAy BMEw,?A6;@Y6@6}T<96Fs=y6H@M?}?.|+տ!? +J'?@k?ɨ6;@6;6%Cy>†BB%IiF%>IF4<IbIb(٢m( = mH=9m3;Q u>q G٣yc > Nusing accuracyPremultiplier from config%59u^?%5Y i!%"%@E@::5UB ]@]:EZjFNOT Ignoring new targets: 173.90 m.BjJj ProNav: ac range: 173.899994 m, nav range: 74.828651 m, bearing: 210.058475 deg, approach rate: 0.255054 m/s, LOS rate: -0.450531 deg/s, cmd heading: 337.062104 deg, new cmd heading: 336.469057 deg. 2jHeadingCmd: 5.872493 target range: 173.899994 and range: 173.90 m. jv@jjjih h h)h1f1f1f1rf1bf=@ɛB^@= 隅q^?I FɚiI}3=IHFҾiiZ=)v@)Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.704238*Fi2Fi:FiBFmP5JFi"Gu=Gu=JJJ0JJJ:Jـ3JG nj=Ga Bi O >H N>I  I &II BI =&I .I 6I J<:I A F % $?I! vKw,H0A*Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957455v@Y@J<9gƞ=yH`3?8? y@.ֿ $?o ڈ{ҳ?`j?ɨv@;yޅBޅ%IeMb@Mb@Mb@aaa a)aYex&1?MbȿQyeA ?e@eue@ a)e&@Ie@aye@I}I}<٢ʼ -=9Z(;Q > G٣yi > Nusing accuracyPremultiplier from config59~^?5Y iĈ^'?:$@Es;;5  @ZjFNOT Ignoring new targets: 173.90 m.BjJj ProNav: ac range: 173.899994 m, nav range: 74.945198 m, bearing: 209.850138 deg, approach rate: 0.263794 m/s, LOS rate: -0.470819 deg/s, cmd heading: 336.469052 deg, new cmd heading: 335.845039 deg. 2j HeadingCmd: 5.861602 target range: 173.899994 and range: 173.90 m. j>@jjjihhhhBfff!rf!bf% ', @ɛUBU~@= Y]]?IY ]:ɚYiYI];.3=Ie׾iaimr=)m>@)q*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:28:03.6715 TRx dataTimestamp_ set to:1736378885.012663checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207457JJBAG d=G B O >_Rw,4IA6"[@Y6j@6Ƽ<96g=y6Hu?`?Jw2ֿ@ ?X@H?@?ɨ6"[@6;6#Cy>ȆB>%IIFIFb٢R-= R=9R[;Q R?TT VG٣TyZ Z? ^Nusing accuracyPremultiplier from config\b59^^?b5Y^ i^`fO'f@^E^m ;^ ;^r5h j[@j7EZjFNOT Ignoring new targets: 173.90 m.BjJj ProNav: ac range: 173.899994 m, nav range: 75.023170 m, bearing: 209.708237 deg, approach rate: 0.253444 m/s, LOS rate: -0.460757 deg/s, cmd heading: 335.845046 deg, new cmd heading: 335.419795 deg. 2j IhHeadingCmd: 5.854180 target range: 173.899994 and range: 173.90 m. jqU@jjjihhhhfffrfbf @ɛMBM5k= IMe?IIzK9MK9KKKBKpA:KpA Ub0ɚ iI2=I۾iiX =)qU@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458474*F?2F:FBF^0JFGߏ=G?G>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 23:28:03.6715 LVL= 13264, 29073, 21362, 30451, AGC= 60, IDX= 421, 0.01, 1.909, 0.052, 0.286, 0.806, PHS= 1.191,-0.707,-0.523, RAW= 95.1, 0.4, CAL= 103.7, -3.5, ROT= 46.3, 3.5 M Ygot valid direction response: 23:28:03.6715 LVL= 13264, 29073, 21362, 30451, AGC= 60, IDX= 421, 0.01, 1.909, 0.052, 0.286, 0.806, PHS= 1.191,-0.707,-0.523, RAW= 95.1, 0.4, CAL= 103.7, -3.5, ROT= 46.3, 3.5 U PDAT read: Bearing 46.3, 3.5 (Local) U ~Local bearing/azimuth received: Bearing 46.3, 3.5 (Local) ] DAT read: Range 10 to 50 : 172.8 m (Round-trip 230.5 ms) speed 0.1 m/s e ,DAT read: user:3236> m BDAT read: Tx time:23:28:04.7853 m $Ping request sent.m r칿Ocɔ?4U0?y ,C  3 q  rS) vI i r? 4 T t? ;  ?) 5zI N?i 5z=   bE?'Dۿy&?) %߾I 4i f<@ jѻ   :publishing transmit ping timei  Fpublishing direction and range info 9 j>r칿Ocɔ?4U0?y     ) I i      ) I i    bE?'Dۿy&?) I i    J J J J J :J :J J Xw,cAZ@YZ#@Z<9Zf=yZH ?`W?^umK׿?.uØ??ɨZ@Z0;Z%Cy ˆB %III(1٢x< :=9p*;Q > G٣TGy >  Nusing accuracyPremultiplier from config U59 _^?]5Y  i  Y])]@ E (< (< f5a e$@ik5ItY?k52I k1 k5qaA:k5,CBk5+CZk5s8Y@"5D)1 Q @F |e@5j>r칿Ocɔ?4U0?Jk5f<@Rk5jѻ*5/_UPqYxe@5@ -v\a;n9?"k5*k5~k5_kY?k5pI 2k5ioCk5xLN?k5^! k5jCk5XBk5h@ addTargetRange:: Added new target pos. range: 172.800003 m, deltaT: 3.775938 s, deltaX: -1.099991 m, approachRate: -0.291316 m/s, rangeRepo size: 4  Added new target pos. range: 172.800003 m, bearing: 194.465914 deg, lat: 36.903102 deg, lon: -122.120888 deg, deltaT: 3.775938 s, deltaX: -1.099991 m, approachRate: -0.291316 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 172.80 m.BjJj5 ProNav: ac range: 172.800003 m, nav range: 54.150688 m, bearing: 208.424064 deg, approach rate: 0.000000 m/s, LOS rate: -0.460757 deg/s, cmd heading: 335.419798 deg, new cmd heading: 334.736791 deg. 2j1=HeadingCmd: 5.842259 target range: 172.800003 and range: 172.80 m. j=@j9j9j9i9hAhAZHIRHIHUP>IUC IU&IIU BIU =&IQ.IU:D6IUr<:IUa Fhhfffrfe@bf? $?IɛBC=  Ji?I  FE"ɚ i I !l2=Iii=)@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:23:28:04.7845 *F?2F:FBF[0JFG GqAG "=G B O >^w,T}Ay~܆B~%IWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչmMb@Mb@Mb@*JuC="Jqiii i)iYmV-?Qſy&1|ym|?m(m`m@ i)mK@Im@iym @II<٢R= <=9Q > G٣y > Nusing accuracyPremultiplier from config59^?5Y i'$?:Z!@E;;B5B @4EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 172.80 m.Bj CJj C ProNav: ac range: 172.800003 m, nav range: 54.269085 m, bearing: 208.162808 deg, approach rate: 0.311033 m/s, LOS rate: -0.684830 deg/s, cmd heading: 334.736780 deg, new cmd heading: 333.954773 deg. 2j%꼝%HeadingCmd: 5.828610 target range: 172.800003 and range: 172.80 m. j%@j)j)j)i)h)h1h1h5Bf1f9f9rf9bf=??ɛmBuO{= qus?Iq uu,ɚyiyI}1=I}iiHʪ=)@)*F?2F:FBF_0JF $?Iu Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******u R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.zK cKK 9K K K #  RK >JK ?G 40=G B O >-ew,ABj@YBRz@BN]<9B P=yBHv??Y pؿ=q?`3 ˘@(#?5?ɨBj@BM;B#CyJBJ%IIRIRV8٢Z= Zo=9^8Q ^?`` bG٣`ybv f? jNusing accuracyPremultiplier from configdj59f^?n5Yff if?pr&r@fEf,;fF-;f5t v4@tZj)5FNOT Ignoring new targets: 172.80 m.Bj5.Jj=.  ProNav: ac range: 172.800003 m, nav range: 54.360703 m, bearing: 207.952230 deg, approach rate: 0.266311 m/s, LOS rate: -0.611066 deg/s, cmd heading: 333.954778 deg, new cmd heading: 333.324137 deg. 2j ѼEHeadingCmd: 5.817604 target range: 172.800003 and range: 172.80 m. jE)@jAjIjIiIhhhhfffrfbf?ɛ B a{= m|?Ii u5{ ɚqiqIu1=I}`iyi}÷=)})@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996003*FY2FY:FBFo0JFG=GqAGJJJJJ:J :JJGBO>HM R>II  IM <&IIM 'BIM  =&II .II 6IM <:IM FBI JI RI ZI  =bI  =jI 5 I kw,lAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248594N@YNs'@N<9N=yNH@Yl? '?@-ٿ`FQ?ߴ#?`j?ɨN@N?;N"Cy-B-%II5I5̍٢mY= 1=9cQ > G٣TGy9 > Nusing accuracyPremultiplier from config 59^? 5YR ia3)@E;F;ї5 %@%1EZjFNOT Ignoring new targets: 172.80 m.Bj,Jj, ProNav: ac range: 172.800003 m, nav range: 54.486076 m, bearing: 207.660233 deg, approach rate: 0.260158 m/s, LOS rate: -0.604514 deg/s, cmd heading: 333.324132 deg, new cmd heading: 332.450228 deg. 2joϼHeadingCmd: 5.802351 target range: 172.800003 and range: 172.80 m. jܬ@jjjihhhhfffrfbf 5?ɛ}B}ȇr= 隭Ł?I ɚiI0=I/ii5Ԡ=)ܬ@)*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=1.499212JJG \D=G B O >rw,;ˁA2Ӵ@Y2-@2F<92{l=y2H Q?5?Hٿ5?<@? B>&I Mb@Mb@Mb@    ) Y X9v?p= ף~jtx?y ?  ;  /@) =@ %$?I!I @ y \@I5I5b1٢&> P=9%g;Q %>!! %G٣)y-H -> }Nusing accuracyPremultiplier from configq59u^?5Yu iuqm!?:@uEu88;u6;u5B @.EZjFNOT Ignoring new targets: 172.80 m.Bj*Jj*zK  LK ػ9K K K BK:KoA5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751009E ProNav: ac range: 172.800003 m, nav range: 54.597309 m, bearing: 207.430464 deg, approach rate: 0.289339 m/s, LOS rate: -0.596455 deg/s, cmd heading: 332.450223 deg, new cmd heading: 331.762356 deg. 2jE̼mHeadingCmd: 5.790346 target range: 172.800003 and range: 172.80 m. jmJ@jqjqjqiqhqhqhyh}Bfyfyfyrfbfc?ɛB,=  ?I z0ܻɚiIn0=I~Uii=)J@)*FY2FY:FYBF]1JFYG5=G)B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002957Wxw,#A2@Y2#@2;<92E=y2H`R8??\wڿ;?Ǵ`~.??ɨ2@2M;2%CyRBR2&IIZIZ٢b= bc=9bf;Q b>dd fG٣dyj j> rNusing accuracyPremultiplier from configlr59n^?v5Yn intv~ v@nEnn:n:n5x z @~0EZj!%FNOT Ignoring new targets: 172.80 m.Bj-M,Jj-M,= ProNav: ac range: 172.800003 m, nav range: 54.697063 m, bearing: 207.222988 deg, approach rate: 0.290235 m/s, LOS rate: -0.602548 deg/s, cmd heading: 331.762369 deg, new cmd heading: 331.141102 deg. 2jμHeadingCmd: 5.779502 target range: 172.800003 and range: 172.80 m. j@jjjihhhhfffrfbf@ɛB$= D?I ûɚiI'/=I\ii*=)@)*FM?2FI:FQBFUO0JFQjH<bH IHS>I Ia&IIEBI&I.I6I~<:Ik F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254997GU=Gm?Gm?GYBO- >5w,bAyr-BrD&IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506999Mb@Mb@Mb@ )YzG?I +{Gz?y ?9#<@ E@)x@Iy@II ٢t= 9=9Q > G٣TGy > Nusing accuracyPremultiplier from config 59_? 5Y; i ?:f@E;};5B 2@-EZjIMFNOT Ignoring new targets: 172.80 m.J]J]JYJYJ]:J]:JYJYJYaeJYamJ]I;amJ]I;amBjYJjY ProNav: ac range: 172.800003 m, nav range: 54.830212 m, bearing: 206.985107 deg, approach rate: 0.300901 m/s, LOS rate: -0.536279 deg/s, cmd heading: 331.141095 deg, new cmd heading: 330.429223 deg. 2jHeadingCmd: 5.767078 target range: 172.800003 and range: 172.80 m. j狸@jjjihhhh#Bfffrfbf@ɛB= 隭?I pPɚiII U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759207zK K +9K K K G =G B O >V酠w,dA2@Y2H@2<923g=y2H\??RZ`6ڿ ?`$ҟ??ɨ2@2;2$Cy:6B:O&IIF IF2٢JWC= Nc=9N PP RG٣PyVu< V> bNusing accuracyPremultiplier from config\f59^!_?j5Y^^ i^lrr@^E^ɪ;^;^5t v@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 172.80 m.BjQJjQ ProNav: ac range: 172.800003 m, nav range: 54.936760 m, bearing: 206.789476 deg, approach rate: 0.292583 m/s, LOS rate: -0.536163 deg/s, cmd heading: 330.429225 deg, new cmd heading: 329.843490 deg. 2jHeadingCmd: 5.756855 target range: 172.800003 and range: 172.80 m. j(8@jjjihhhhfffrf bf @ɛބBL˫= ?I ģɚiI.=Iii=)(8@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:28:07.4187 TRx dataTimestamp_ set to:1736378888.541346checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012734*F?2F:FBF]0JFG>=GaBiOZ> I hH I  I &II iBI  =&I .I 6I <:I r F] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262822w,y2AUij@YU~Ӻ@U=9USԉ=yUH??e3?ۿ7? О4?%?ɨUij@U$;U"Cy%DB%a&IMb@Mb@Mb@ )Y|?5^?I +I +?y?9494<@ r@)I@y@II(٢b= =9[0;Q > G٣y  > Nusing accuracyPremultiplier from config 59 7_?5Y E i f?:%@  E ; ; Ѡ5-B -Ŵ@-*EZjQUFNOT Ignoring new targets: 172.80 m.BjJj ProNav: ac range: 172.800003 m, nav range: 55.100174 m, bearing: 206.531421 deg, approach rate: 0.319269 m/s, LOS rate: -0.502676 deg/s, cmd heading: 329.843495 deg, new cmd heading: 329.071677 deg. 2j}HeadingCmd: 5.743384 target range: 172.800003 and range: 172.80 m. jɷ@jjjihhhhDBff f rf bf @ @ɛڄB= 隝?I 9ɚiI-=Ic0 ii=)ɷ@)E*Fe?2Fa:FiBFm^0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515211JyJ}J}1JyJyJ}:J}3JyJyJyJ}zE;J}zE;G =G G Gi By $?I O >dFw,wMA6z@Y6@6 =96=y6H_?@ ?V? ܿ?䲿\=а?`?ɨ6z@6;6%Cy>FB>b&IIJIJb1٢NC< R=9V@|;Q V?XX ZG٣ZTGy^Q ^? bNusing accuracyPremultiplier from config`f59bD_?j5Yb ibhjj@b Eb>;bV5;b.5l r@pZj  FNOT Ignoring new targets: 172.80 m.BjaJja% ProNav: ac range: 172.800003 m, nav range: 55.198444 m, bearing: 206.374772 deg, approach rate: 0.312914 m/s, LOS rate: -0.497916 deg/s, cmd heading: 329.071684 deg, new cmd heading: 328.602585 deg. 2j%۪-HeadingCmd: 5.735197 target range: 172.800003 and range: 172.80 m. j-@j)j1j1i1h1h1h9h9f9f9f9rfAbfE @ɛׄB= z<?I ɚiIZ-=IH i!i%=)%@)!}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:28:07.4188 LVL= 13200, 28097, 23122, 31139, AGC= 59, IDX= 424,-0.43, 2.726, 0.898, 0.895, 1.610, PHS= 1.204,-0.664,-0.718, RAW= 88.6, 1.9, CAL= 95.5, -1.1, ROT= 54.5, 1.1 =GIizK}BoHK}9KyK}K} YyB*F?2F:FBFg0JF"G=G=Ygot valid direction response: 23:28:07.4188 LVL= 13200, 28097, 23122, 31139, AGC= 59, IDX= 424,-0.43, 2.726, 0.898, 0.895, 1.610, PHS= 1.204,-0.664,-0.718, RAW= 88.6, 1.9, CAL= 95.5, -1.1, ROT= 54.5, 1.1 PDAT read: Bearing 54.5, 1.1 (Local) ~Local bearing/azimuth received: Bearing 54.5, 1.1 (Local) -DAT read: Range 10 to 50 : 171.9 m (Round-trip 229.2 ms) speed 0.2 m/s ],DAT read: user:3237> eBDAT read: Tx time:23:28:08.5354 m$Ping request sent.m}.?}= }[Y?)}nFI}"s?i}nF=y6H@C?@?!h? ܿ`̉?@qB?f?ɨ6-@6Ɣ;6$CyjNBjm&IIvIv0٢ "=  E=94c;Q > %G٣!y% -> =Nusing accuracyPremultiplier from config1E595U_?E5Y5 i5IMp U@5 E5u;5'v;55a e2@e'Ek8\?k; k k(RA:k+CBk*CZk:?"4QoYo476@Ԑ $e@ΊLn7* ?Td\{?Jk @RkH *#0؎\1@Gb#q[e@;CRT,۹?W\|R?"kA*k4kq\?k΅8 2knCknlR?kx kPmCki Bk2=Z@ addTargetRange:: Added new target pos. range: 171.899994 m, deltaT: 3.780195 s, deltaX: -0.900009 m, approachRate: -0.238085 m/s, rangeRepo size: 4  Added new target pos. range: 171.899994 m, bearing: 113.294546 deg, lat: 36.903201 deg, lon: -122.120734 deg, deltaT: 3.780195 s, deltaX: -0.900009 m, approachRate: -0.238085 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 171.90 m.BjJj ProNav: ac range: 171.899994 m, nav range: 40.103367 m, bearing: 195.377757 deg, approach rate: 0.000000 m/s, LOS rate: -0.497916 deg/s, cmd heading: 328.602587 deg, new cmd heading: 327.963579 deg. 2jHeadingCmd: 5.724044 target range: 171.899994 and range: 171.90 m. j_+@jjjihhhhfffrf|e@bf,? $?IHP>I I&IIBI&I.I6I^<:IR Fɛ5ԄB50= 9=?I9 =tقɚ9i9I=,=IE#iAiE=)M_+@)i*Fe?2Fa:FaBFen0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. PExceeded connect timeout, disconnecting.G ^=G ?G ?G B O >Kw,>A:@Y:#Ϲ@:X=9:MDF=y:Hzj?l?Ձ? Xݿ`?/ԡ6¨?q?ɨ:@:SЉ;8yDFl&IWill construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYeK7?X9vMb?yeI ?ee G٣y > Nusing accuracyPremultiplier from config59f_?5Y i ?:JJJJJL:J:JJJP;JQ;JL;JL;@E<<ҥ5y }9@yZjFNOT Ignoring new targets: 171.90 m.BjJj ProNav: ac range: 171.899994 m, nav range: 40.263100 m, bearing: 195.143178 deg, approach rate: 0.368038 m/s, LOS rate: -0.538344 deg/s, cmd heading: 327.963581 deg, new cmd heading: 327.262674 deg. 2j HeadingCmd: 5.711811 target range: 171.899994 and range: 171.90 m. j (Ƕ@j j j1i1h9h9h9h=mBfAfAfArfAbfE`?ɛЄBvV= a?I  E8ɚiIs+=IEiis=)(Ƕ@))*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK K h9K K K   G =G B O >ww,! A2G}@Y2Œ@2V=92d!??ɨ2G}@2#;0y:QB:p&I)@ @IFIF=س٢߃<  S=9 ;Q  > G٣TGy骼 > %Nusing accuracyPremultiplier from config!-59%u_?-5Y% i%ɉ)- 5@%E%:%z:%5=B =@=$EeB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 171.90 m.Bj2+Jj2+ ProNav: ac range: 171.899994 m, nav range: 40.410866 m, bearing: 194.925201 deg, approach rate: 0.407334 m/s, LOS rate: -0.598680 deg/s, cmd heading: 327.262667 deg, new cmd heading: 326.611157 deg. 2joͼHeadingCmd: 5.700440 target range: 171.899994 and range: 171.90 m. jj@jjjihhhhfffrfbf ?ɛ΄BG= ߠ?I fs:ɚiI O+=I.iig=)j@) Will construct direction to contact in vehicle frame from tetrahedron phase data. i T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E$=*F?2F:FBFJFG GnA $?IH M>I C I &II BI  =&I .I 9D6I q<:I ] FG 1= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451310Gq B O >٬w,浂A9@YaI@3=9xA=yH+?Z?C?`D޿!?@i0cŢ6.?X?ɨ9@;騕#CyNBl&III[٢HZ .=9`;Q > G٣y > Nusing accuracyPremultiplier from config59]_?5Yn   nManaging dock network, ignoring radio surface power offi։ @EU;^V;5 B@ZjFNOT Ignoring new targets: 171.90 m.Bj Jj   ProNav: ac range: 171.899994 m, nav range: 40.588650 m, bearing: 194.661885 deg, approach rate: 0.381238 m/s, LOS rate: -0.562177 deg/s, cmd heading: 326.611149 deg, new cmd heading: 325.824714 deg. 2j%HeadingCmd: 5.686714 target range: 171.899994 and range: 171.90 m. j%@j!j!j!i)h)h)h)h1f1f1f1rf9bf=Um?ɛeʄBeC= am?Ii m* ;ɚiiiImn*=IuTiqi}V`=)}@)yE=<*F?2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706343JaJeAAJK KKK"KJJJ0JJ,:J:Jـ3JJ;J;JI;JI;G $=G B O > I IU hhw,KςA>@Y>@>S=9>FuC=y>H?9?w ?޿@?飿`g? |?ɨ>@>r;BJX&IUMb@Mb@Mb@QQQ Q)QYUQ?S㥛Mbp?yU?U/ݼU;U@ Q)U@IU@QyQIe IeV2٢}K }`=9;Q > G٣y瑼 > Nusing accuracyPremultiplier from config59i_?5Y  i# ?: @E"; ;)5B O@!EZjFNOT Ignoring new targets: 171.90 m.BjiJji ProNav: ac range: 171.899994 m, nav range: 40.724270 m, bearing: 194.463355 deg, approach rate: 0.372511 m/s, LOS rate: -0.543489 deg/s, cmd heading: 325.824721 deg, new cmd heading: 325.231139 deg. 2j~HeadingCmd: 5.676354 target range: 171.899994 and range: 171.90 m. j@jjjihh h h \Bf ffrfbf`/@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966643ɛDŽBi= ?I  G;ɚiI)=IIYiip=)@)EE*E"EzKM:6LKIKIKMKMBKY:KY*F2F:FBFT5JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217928G >=G1 BI Oe >iw,Afֽ@YfP͸@f0'=9fF=yfH?`e6?M?߿@?.ޯ䤿 ը??ɨfֽ@fg;f"Cyn0BnG&I v$?ItI I (*3٢U ?=9%V;Q %>)) -G٣-TGy- 5> =Nusing accuracyPremultiplier from config1E5HUO>IQ IU&IIUBIQ&IQ.IU:D6IUj<:IUX FBI JI RI ZI  =bI  =jI 595_?}5Y5R i5@5E5;_<5e_<55 1@#EZjFNOT Ignoring new targets: 171.90 m.Bj>Jj> ProNav: ac range: 171.899994 m, nav range: 40.882076 m, bearing: 194.230911 deg, approach rate: 0.341403 m/s, LOS rate: -0.500935 deg/s, cmd heading: 325.231151 deg, new cmd heading: 324.536545 deg. 2j䫼5HeadingCmd: 5.664231 target range: 171.899994 and range: 171.90 m. j=bA@j9j9j9i9h9h9hAhAfAfAfIrfIbfM1@ɛĄB~= ?I %~;ɚ!i!I%K)=I-si)i-Ѭ=)-bA@)1uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469875*F2F:FBFP0JF"GG=G IQ=G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.! i! - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722075Ew,?UA6u@Y66@6!/=96CM=y6H ??p? ߿`?@I?%?ɨ6u@6;4yB+BBB&IMb@Mb@Mb@ )Y/$?II UG٣QyUϱ U> Nusing accuracyPremultiplier from config59)_?5Y i Y ? :  @Ef;;㮡5 5@5 EZjFNOT Ignoring new targets: 171.90 m.BjE+JjE+ ProNav: ac range: 171.899994 m, nav range: 41.039688 m, bearing: 193.990711 deg, approach rate: 0.394528 m/s, LOS rate: -0.598949 deg/s, cmd heading: 324.536548 deg, new cmd heading: 323.818753 deg. 2jͼHeadingCmd: 5.651703 target range: 171.899994 and range: 171.90 m. jڴ@jjjihhhhYBfffrfbfX@ $?Iɛ5B5ѷ= 9=?I9 =O;ɚ9i9IE(=IE˨!ii ;=)ڴ@)*F%?2F!:F!BF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:28:11.1677 TRx dataTimestamp_ set to:1736378892.332670checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974908zKRIK]9KKK   RK ?JK>G 7E=G B O >oǠw,1A2@Y2#.@2J8=92L=y2H?&?&?@?ܰ 1?n?ɨ2@2;2#CyFBJ,&IIRIRb٢^l ^S=9^;Q b>`` bG٣`yfM f> jNusing accuracyPremultiplier from confighn59j)_?55Yj ij+9==@jEjza IHYI]C I]&II]sBIY&IY.IY6I]<:I]s F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481295W͠w,9A а@Y߷@tC=9M=yHGv?[k?@vo? Zgk?Jz驩?`R?ɨ а@;騙y B&IMb@Mb@Mb@ )YʡE?y&1 G٣TGyߥ > Nusing accuracyPremultiplier from config59_?5Y iZ?:,"@E;/;5 B @EZj1=FNOT Ignoring new targets: 171.90 m.Bj=2Jj=2U ProNav: ac range: 171.899994 m, nav range: 41.348675 m, bearing: 193.495555 deg, approach rate: 0.380520 m/s, LOS rate: -0.625646 deg/s, cmd heading: 323.200044 deg, new cmd heading: 322.339059 deg. 2jUּ]HeadingCmd: 5.625878 target range: 171.899994 and range: 171.90 m. j]1@jYjYjYiYhYhahhHBfffrfbf @ɛB={7= AE?IA Eh;ɚAiAIM'=IMME(iIiU|=)U1@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 23:28:11.1677 LVL= 11440, 28145, 21682, 31219, AGC= 57, IDX= 429,-0.15, 2.708, 1.229, 0.880, 1.837, PHS= 0.959,-0.561,-0.960, RAW= 78.6, 6.5, CAL= 83.0, 7.3, ROT= 67.0, -7.3 EYgot valid direction response: 23:28:11.1677 LVL= 11440, 28145, 21682, 31219, AGC= 57, IDX= 429,-0.15, 2.708, 1.229, 0.880, 1.837, PHS= 0.959,-0.561,-0.960, RAW= 78.6, 6.5, CAL= 83.0, 7.3, ROT= 67.0, -7.3 MPDAT read: Bearing 67.0, -7.3 (Local) M~Local bearing/azimuth received: Bearing 67.0, -7.3 (Local) *F]?2FY:FYBF]_0JFYGa GerADAT read: Range 10 to 50 : 171.1 m (Round-trip 228.2 ms) speed 0.0 m/s ,DAT read: user:3238> BDAT read: Tx time:23:28:12.2854 $Ping request sent.I?iw7,]?)գ 忓Ԡw,RABZk@YBz@B)M=9BI=yBH xA??r?@;7?rᱩD,??ɨBZk@B;B"CybBb%II IV2٢M* Ug=eWill construct direction to contact in vehicle frame from tetrahedron phase data.9}b;Q }> G٣y% > Nusing accuracyPremultiplier from config59_?5Y, iU%@E::&5 t@ k=`?k=  k9 k=ٱEA:k=+CBk=)CZk=9?"=q$?=bI@2c@= ۶ǿ}BT?[w~?Jk=@Rk=o*=3?@`ДPH@Tevd@=ˏ?7}?*F?"k=FB*k=)@k=l`?zKPCLK9KKK(OJ  N BK:KqAk=l 2k=,gCk=_kY?k=pI k9k=Ak=gTN@ addTargetRange:: Added new target pos. range: 171.100006 m, deltaT: 3.792950 s, deltaX: -0.799988 m, approachRate: -0.210914 m/s, rangeRepo size: 4  Added new target pos. range: 171.100006 m, bearing: 86.938589 deg, lat: 36.903387 deg, lon: -122.120645 deg, deltaT: 3.792950 s, deltaX: -0.799988 m, approachRate: -0.210914 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 171.10 m.Bj%Jj!U ProNav: ac range: 171.100006 m, nav range: 19.741354 m, bearing: 184.715952 deg, approach rate: 0.000000 m/s, LOS rate: -0.625646 deg/s, cmd heading: 322.339057 deg, new cmd heading: 321.611158 deg. 2jQuHeadingCmd: 5.613173 target range: 171.100006 and range: 171.10 m. ju@jqjqjqiqhyhyhyhyfffrf@3ce@bfԖ?ɛB L= ?I <ɚiI$'=I+ii=)@) *F?2F:FBF~0JFGe=GYBaO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju Ju Jq Jq Ju <:Ju 9Jq Jq ڠw,lA 2$?I4>@Y>X@>կU=9>H=y>HN ?`?g?;@C?뷱ಪ ?@?ɨ>@>;>$CynۆBn%IIvIv#ZH|RH|HZ>IC Ia&IIEBI =&I.I;D6I_<:IZ F٢% N=9%ѣ;Q %>!) -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595S_?E5Y5" i5IM(U@5E5;5Q;5ֵ5]B e@eEZjFNOT Ignoring new targets: 171.10 m.BjWJjW ProNav: ac range: 171.100006 m, nav range: 19.905060 m, bearing: 184.286663 deg, approach rate: 0.450031 m/s, LOS rate: -1.170409 deg/s, cmd heading: 321.611150 deg, new cmd heading: 320.334097 deg. 2jHHeadingCmd: 5.590885 target range: 171.100006 and range: 171.10 m. j@jjjihhhhfffrfbf?ɛB]= ?I ><ɚiI7&=I:1ii>=)@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF5JFGj=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,AJ@YJ@JRI]=9J<8.=yJH"?+d?Җ?Q@?`A7?@?ɨJ@J?;J#CyZɆBZ%IEMb@Mb@Mb@AAA A)AYECl?MbZd;OyEd?EEjE@ E@)E@IE@AyE@I}I}Ƴ٢ C=9>;Q > G٣TGy׼ > Nusing accuracyPremultiplier from config59`?5Y9' iڊZ?:9@!E;;5 @ZjFNOT Ignoring new targets: 171.10 m.BjJj ProNav: ac range: 171.100006 m, nav range: 20.084742 m, bearing: 183.761168 deg, approach rate: 0.410375 m/s, LOS rate: -1.189423 deg/s, cmd heading: 320.334096 deg, new cmd heading: 318.772124 deg. 2jLHeadingCmd: 5.563623 target range: 171.100006 and range: 171.10 m. j3 @jjjihhhh Bfffrfbf(? U$?IQɛeBeKƠ= ae,?I  yN<ɚ i I t]&=I<58iiG >)3 @)*F?2F:FBFP5JF"G=G>)I IG =~GG?G ?5tA -Y-5tAy-[B}Will construct direction to contact in vehicle frame from tetrahedron phase data.}Y?}Q?GBO>5@5/BzK5 8NK5 +9K1 K5 K5 /  Y ?U#'Ds B r<xL  Jw,wAy=B=%IIMIMF٢] ]N=9eQ e>ai mG٣iym m> uNusing accuracyPremultiplier from configq}59u`?5Yuv+ iu @u#Eu* ;u ;ug5 ^@EB*** querying acoustic contact ***jjZj9EFNOT Ignoring new targets: 171.10 m.BjU֯Jju֯ ProNav: ac range: 171.100006 m, nav range: 20.255957 m, bearing: 183.273494 deg, approach rate: 0.435458 m/s, LOS rate: -1.229822 deg/s, cmd heading: 318.772114 deg, new cmd heading: 317.321785 deg. 2jSHeadingCmd: 5.538310 target range: 171.100006 and range: 171.10 m. j9@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.J=J=J=1J9J=:J=9J=3J9ɛMBM/= 隕~?I 8 *<ɚiI&=I!>ii >)9@)*FE?2FI:FIBFM4JFI AIIHV>I I&II BI =&I.I6Ik<:Ic FGm =GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735661jw,nAyޅBލ%IMb@Mb@Mb@ )YNbX9?T㥛 Qy%? )-@Iy@I-I-1٢=׽ =/=9AQ E>II MG٣IyI M> ]Nusing accuracyPremultiplier from configQ]59Ut&`?e5YU 1 iUNm(?m:mCu@U%EU6g;Ud;Ur5}B }@}EZjFNOT Ignoring new targets: 171.10 m.BjļJjļ ProNav: ac range: 171.100006 m, nav range: 20.466068 m, bearing: 182.645402 deg, approach rate: 0.465181 m/s, LOS rate: -1.376273 deg/s, cmd heading: 317.321792 deg, new cmd heading: 315.457557 deg. 2j!lHeadingCmd: 5.505773 target range: 171.100006 and range: 171.10 m. jK/@jjjihhhhބBfffrfbf@4?ɛ B $є= ys?I 8<ɚ1i9I=%=I=~GiAiEI;>)EK/@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987872*F?2F:FBF3JFGH>GBO> % $?I- hw,73ԃAy~~B~l%II I #3٢d %u=9!Q %?)) -G٣-TGy) 5?=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.239834 Nusing accuracyPremultiplier from config15953`?5Y55 i5}@5'E5:5:5漡5 @EZjYeFNOT Ignoring new targets: 171.10 m.BjeѬJjmѬ ProNav: ac range: 171.100006 m, nav range: 20.617331 m, bearing: 182.205498 deg, approach rate: 0.418695 m/s, LOS rate: -1.208712 deg/s, cmd heading: 315.457560 deg, new cmd heading: 314.147770 deg. 2jaOHeadingCmd: 5.482913 target range: 171.100006 and range: 171.10 m. jt@jjjihhhhfffrfbf&@zKx}PKKKK~g:  $442.*&% #&'%"ɛBfb= )t@)*F2F:FBF^0JFG GqAG]2>G9BQO}z>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492033J J J 0J J J 9J ـ3J  I! Vw,g AHTIT IV%IIVцBIV =&IT.IV:D6IV;<:IV? Fje@Yj@jcҍ=9j<=yjH`? '?cw?--? 뱿`(H? !?ɨje@jr;j%CyrqBr\%IIzIz?13٢ȃ  L=9 =Q  > G٣y* > %Nusing accuracyPremultiplier from config!-59%B`?55Y%$: i%15T5@%)E%/;%/;%5A EZ@AZjamFNOT Ignoring new targets: 171.10 m.BjmҼJjuҼ ProNav: ac range: 171.100006 m, nav range: 20.787704 m, bearing: 181.652156 deg, approach rate: 0.457956 m/s, LOS rate: -1.475141 deg/s, cmd heading: 314.147775 deg, new cmd heading: 312.501834 deg. 2j}HeadingCmd: 5.454186 target range: 171.100006 and range: 171.10 m. j@jjjihhhhfffrfbfOw@ɛBR= Z"=b?IQ U\M<ɚQiYI].S%=I]P9Tiaie'>)e@)a*F-?2F):F)BF-`0JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745785Gu>GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:28:14.9172  TRx dataTimestamp_ set to:1736378896.112756 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996846Hw, Az@Yz @z[=9zAa11 5G٣1y= => ENusing accuracyPremultiplier from configAM59ER`?M5YE\@ iEMN1?U:UbU@E,EE@;E8;E5]B ]:@]EZjFNOT Ignoring new targets: 171.10 m.BjҼJjҼ $?I ProNav: ac range: 171.100006 m, nav range: 20.975023 m, bearing: 180.992567 deg, approach rate: 0.422618 m/s, LOS rate: -1.474804 deg/s, cmd heading: 312.501836 deg, new cmd heading: 310.541551 deg. 2j }HeadingCmd: 5.419972 target range: 171.100006 and range: 171.10 m. jjp@jjjihhhhBfffrfbf @ɛBˢ= 隝\?I OY<ɚiIY%=I\iiH;>)jp@)*Fu?2Fq:FqBFuh0JFqEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.247623zKU :MKU 9KQ KU KU G H&>G B O >3 w,!A2qc@Y2r@2GY=92IXIbIbT3٢j je=9jll nG٣nTGyrT r> vNusing accuracyPremultiplier from configtz59v_`?z5YvuE ivExzg~@v.Ev*:vZ BDAT read: Tx time:23:28:16.0354 $Ping request sent.)ꍬ@)!Ii{~x?Oj ?)Ii IHI I%IIBI =&I.I6Iy<:Im FBIeƣCJIeƣCRIaZIe =bIe =jIe&6*F?2F:FBFo0JFGH1>G?G ?GqByO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:23:28:16.0346 (7w,;Aj@Yjв@j=9j G٣y0 > Nusing accuracyPremultiplier from config59o`?5Y L il@0E;;*ġ5 @k glp?kk  k kC'A:k*CBk)CZk{?"]4fV@a@zqPO\w??Jk?Rk*,rH@qX_R@EQCb@M:@U?Y?κ9c?"kB*kCBkNPp?k# 2k>UCkq\?k΅8 kk,Ak@ addTargetRange:: Added new target pos. range: 170.699997 m, deltaT: 3.529078 s, deltaX: -0.400009 m, approachRate: -0.113347 m/s, rangeRepo size: 4  Added new target pos. range: 170.699997 m, bearing: 56.362715 deg, lat: 36.903481 deg, lon: -122.120419 deg, deltaT: 3.529078 s, deltaX: -0.400009 m, approachRate: -0.113347 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 170.70 m.BjJj- ProNav: ac range: 170.699997 m, nav range: 22.896757 m, bearing: 118.203161 deg, approach rate: 0.000000 m/s, LOS rate: -1.231461 deg/s, cmd heading: 308.957378 deg, new cmd heading: 307.438342 deg. 2j15HeadingCmd: 5.365811 target range: 170.699997 and range: 170.70 m. j=@j9j9j9i9h9h9hAhAfafifirfm`fVe@bfm R?ɛBV= 隽P?I uGq<ɚiI%=Ijii+wG>)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.J-J-J-1J)J-̝:J-9J-3J)J-;a5J-;a5J-1;a=J-1;a= $?IE <EE*FE ?2FA :FA BFE `0JFA u Will construct direction to contact in vehicle frame from tetrahedron phase data.u =u a=Gmk9>GABQOm?w,[AzK}KK+9KKK>@Y>g#@>.=9>_,H???P?@縮`K-??ɨ>@>׈;>%CyJ:BJ%IMb@Mb@Mb@ )YtV?ktƿZd;Oy2? 0j@ K@)C@Iy @I5I5(٢=a =/=9EBI;Q E>AI MG٣IyM: > Nusing accuracyPremultiplier from config59p`?5YS i 8?:u@3Ey;;Cơ5B @EZj!5FNOT Ignoring new targets: 170.70 m.Bj=Px;Jj=Px;m ProNav: ac range: 170.699997 m, nav range: 23.237864 m, bearing: 118.304167 deg, approach rate: 0.744070 m/s, LOS rate: 0.217093 deg/s, cmd heading: 307.438344 deg, new cmd heading: 307.736909 deg. 2jm<HeadingCmd: 5.371022 target range: 170.699997 and range: 170.70 m. jj߫@jjjihhhhBfffrfbf?ɛ%B%#= )-YK?I) -|<ɚ)i)I-%=I5Oki5j)5j߫@)9E=ȿ=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFGA> iImhGBO>H Y>I  I a%II uBI  =&I .I ;D6I <:I FGw,IuAjf@YjBv@jJ=9j;yjH@K?:?%?lr?ݮ ˴=??ɨjf@j0;j"CyppxzAI~I~q9 E;Q  > G٣TG%Will construct direction to contact in vehicle frame from tetrahedron phase data.y%Y -> 5Nusing accuracyPremultiplier from config1=595)`?=5Y5xY i5!9=zE@55E5` ;5 ;5ǡ5I IIZjquFNOT Ignoring new targets: 170.70 m.Bj}=;Jj}=; ProNav: ac range: 170.699997 m, nav range: 23.507748 m, bearing: 118.367839 deg, approach rate: 0.711519 m/s, LOS rate: 0.165938 deg/s, cmd heading: 307.736905 deg, new cmd heading: 307.925729 deg. 2j;HeadingCmd: 5.374318 target range: 170.699997 and range: 170.70 m. ji@jjjihhhhfffrfbfl?ɛBd= /L?I ZA<ɚiI%=Ihiiy>)i@)EE*E"E*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.J= J= J= 0J9 J= :J= 9J= ـ3J9 J= Q;J= S;J= 8;J= 8; e $?Ia G ^E>G! G! G B O >$w,2AFڽ@YFUͰ@F=9F;yFH(?l?`N?1:?) Zp?`?ɨFڽ@F;F$CyN4BR%I5Mb@Mb@Mb@111 1)1Y5I +?/$ſMby594?5,55@ 5@)5@I11y5@IMIMV8٢]^ ]<9eX;Q e>aa eG٣iym@ u> }Nusing accuracyPremultiplier from configq}59u`?5Yup` iudT9?:V~@u7Eu;u8;uɡ5 B@EZjFNOT Ignoring new targets: 170.70 m.Bj ;Jj ;U ProNav: ac range: 170.699997 m, nav range: 23.822340 m, bearing: 118.430153 deg, approach rate: 0.716179 m/s, LOS rate: 0.139986 deg/s, cmd heading: 307.925719 deg, new cmd heading: 308.110191 deg. 2jU$;]HeadingCmd: 5.377537 target range: 170.699997 and range: 170.70 m. j]@jajajaiahahahihmBfqfqfqrfqbfu?ɛB= FJ?I I3<ɚiI&=I~ii@)@)E e>E >eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF4JFGA>zKBHK9KKKGqByOc> Will construct direction to contact in vehicle frame from tetrahedron phase data.X@*w,LA>U@Y>&@>Y\=9>Y[9y>H ?@Rx?@G?b@?B `Y+??ɨ>U@>;>"CyF0BJ %IIjIj#3٢r rS=9v~ tx zG٣xyzV z> Nusing accuracyPremultiplier from config 59`? 5Yf i ʁ@:E;;ˡ5! %@! AIAMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 170.70 m.Bje:Jje:u ProNav: ac range: 170.699997 m, nav range: 24.101269 m, bearing: 118.470391 deg, approach rate: 0.714641 m/s, LOS rate: 0.101902 deg/s, cmd heading: 308.110189 deg, new cmd heading: 308.229507 deg. 2juދ;}HeadingCmd: 5.379620 target range: 170.699997 and range: 170.70 m. j}%@jyjyjyihhhhfffrfbf@ɛBd= H?I <ɚiIj%&=IPgiiT9=)%@)HyIy I}H%II}aBIy&Iy.Iy6I}<:I} F*Fm?2Fi:FqBFu]0JFqGE*'>GBO-->Will construct direction to contact in vehicle frame from tetrahedron phase data.եQ?ե<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.'1w,ĄA2l@Y2$|@2 /=92Yy2H9?X?@B? BP? ү1a?ɨ2l@2;2$CyR;BR%IiVG>IV< V=Va=UMb@Mb@Mb@QQQ Q)QYUkt?~jtÿMbpyU 0?UUU@ Q)U@IQQyU3@ImImV83٢}_[= A=9;Q > G٣TGyyI > Nusing accuracyPremultiplier from config59D`?5YXm iٍ`4?:B@ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727266G B O >zKQ KU s9KQ KU KU ^V7w,qބABK:K6@Y6iϮ@6,)=96y6H@??f?O?N@?@\Ԋ`?ɨ6@6;6#Cy>:B>%IIFIFm?3٢N RY=9R;Q R>PT VG٣TyV{e V> ^Nusing accuracyPremultiplier from configX^59Z`?b5YZVs iZ `bb@Z>EZa:Z:Zϡ5d j@jEZjFNOT Ignoring new targets: 170.70 m.Bj1r:Jj1r: ProNav: ac range: 170.699997 m, nav range: 24.661510 m, bearing: 118.530668 deg, approach rate: 0.669113 m/s, LOS rate: 0.052935 deg/s, cmd heading: 308.345612 deg, new cmd heading: 308.408226 deg. 2jP;HeadingCmd: 5.382739 target range: 170.699997 and range: 170.70 m. jf?@j)j)j)i)h1h1h9h9f9f9f9rfAbfE@t}@ɛB= SO?I <ɚiIǘ&=IfiGBOa> IHiIi ImB%IIm\BIm =&Ii.Ii6Im%<:Im3 Fz=w,‰A 2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:23:28:18.6670 6TRx dataTimestamp_ set to:1736378899.896782:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235778J$@YJ4@Jy=9J ;yJH H?@?\? ҵ`^? %J淿=a?`4?ɨJ$@J ;HyTTI]I]?139Ü;Q > G٣yB0 > Nusing accuracyPremultiplier from config59S`?5Ymz iJf@AEC::С5 Zj!%FNOT Ignoring new targets: 170.70 m.Bj-9Jj-9= ProNav: ac range: 170.699997 m, nav range: 24.970358 m, bearing: 118.541325 deg, approach rate: 0.734225 m/s, LOS rate: 0.025022 deg/s, cmd heading: 308.408231 deg, new cmd heading: 308.439806 deg. 2j=`:MHeadingCmd: 5.383290 target range: 170.699997 and range: 170.70 m. jMC@jIjIjIiIhQhQhhfffrfbf@d @ɛBz= 隭P?I [<ɚiIl&=Ifi%m I hbDw,eAyDB %%I)) )99Mb@Mb@Mb@ )Yw/?x&{Gzt?y&?7 ף;Z@ @)I@I@y@II(*3٢ <  <9 Q > G٣TGy% %> 5Nusing accuracyPremultiplier from config)=59-`?=5Y- i-z=g*?=:=yE@-CE-;-[;-ҡ5MB M]@M EZjiuFNOT Ignoring new targets: 170.70 m.Bj}K:Jj}K: ProNav: ac range: 170.699997 m, nav range: 25.244873 m, bearing: 118.559947 deg, approach rate: 0.663227 m/s, LOS rate: 0.044501 deg/s, cmd heading: 308.439814 deg, new cmd heading: 308.495071 deg. 2jS:HeadingCmd: 5.384255 target range: 170.699997 and range: 170.70 m. jK@jjjihhhhBfffrfbf@ɛB|(= U?I <ɚiIb '=I Q fuWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 170.6 m (Round-trip 227.5 ms) speed 0.0 m/s ,DAT read: user:3240> BDAT read: Tx time:23:28:19.7855 $Ping request sent.% Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:23:28:19.7847 Jw,D,AJ@YJI.@J=9Jρll rG٣pyrԳ r> vNusing accuracyPremultiplier from configtz59v`?z5YvA iv|~@vEEv@;v3A;vXԡ5  M@ -B*** querying acoustic contact ***j)j)E addTargetRange:: Added new target pos. range: 170.600006 m, deltaT: 3.781914 s, deltaX: -0.099991 m, approachRate: -0.026439 m/s, rangeRepo size: 4 ZjAEFNOT Ignoring new targets: 170.70 m.BjMJjM ProNav: ac range: 170.699997 m, nav range: 25.485558 m, bearing: 118.558539 deg, approach rate: 0.659994 m/s, LOS rate: -0.003825 deg/s, cmd heading: 308.495083 deg, new cmd heading: 308.490899 deg. 2j'HeadingCmd: 5.384182 target range: 170.699997 and range: 170.60 m. j8K@jjjihhhhfHU>I IH%IIaBI =&I.I:D6IL<:IL Ff1f1rf5@3Se@bf=rL?ɛB= 隵V?I v<ɚiIC'=I%fiE}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.uQw, FA2Z@Y2տ@2=92yy G٣y  > Nusing accuracyPremultiplier from config59`?5Y iڎ $?:@GE;;2֡5 @ZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752932FNOT Ignoring new targets: 170.70 m.Bj8Jj8 ProNav: ac range: 170.699997 m, nav range: 25.756361 m, bearing: 118.560346 deg, approach rate: 0.640097 m/s, LOS rate: 0.004227 deg/s, cmd heading: 308.490903 deg, new cmd heading: 308.496269 deg. 2j99HeadingCmd: 5.384275 target range: 170.699997 and range: 170.60 m. j K@j j j i h h hhBff!f!rf!bf%?ɛMBͥ= +Y?I <ɚiI|'=Ifi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006459ҡWw,`A:lC@Y:R@:m=9:'=y:H?q?^+?@ c?O`7L? ?ɨ:lC@:;:%Cy\\IfIf<zKnKn9KlKnKn5Ucb_\WSPLIE@>;962-(2jQ&XbD9v;Q v>xx zG٣zTGy~ ~> Nusing accuracyPremultiplier from config 59Z`? 5Y@ i  @IE::ס5B (@ EZjAEFNOT Ignoring new targets: 170.70 m.BjMJjM] ProNav: ac range: 170.699997 m, nav range: 26.003080 m, bearing: 118.554669 deg, approach rate: 0.638172 m/s, LOS rate: -0.014545 deg/s, cmd heading: 308.496258 deg, new cmd heading: 308.479389 deg. 2j]eHeadingCmd: 5.383981 target range: 170.699997 and range: 170.60 m. jeI@jajajiiihihihihqfffrfbf?ɛEBMꧦ= quY?Iq }><ɚyiyIn'=I@2fiI IN%IIfBI =&I.I6I9<:I? FBIJIRIZI =bI =jIf5GU=G]?G]>GA BI Ou >]w,JyA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508940B@YBz@B'=9B^0B=yBH?G?U?`*@ɏ?@}o$?@M?ɨB@B;B"Cy^IBb+%IIjIj?٢: <9:Q >    G٣ y > Nusing accuracyPremultiplier from config-59ga?-5YO i>15΋5@KEb; a;١5  !@ ZjAMFNOT Ignoring new targets: 170.70 m.BjMJjM蹝e ProNav: ac range: 170.699997 m, nav range: 26.262047 m, bearing: 118.543462 deg, approach rate: 0.593335 m/s, LOS rate: -0.025425 deg/s, cmd heading: 308.479401 deg, new cmd heading: 308.446111 deg. 2jemHeadingCmd: 5.383400 target range: 170.699997 and range: 170.60 m. jmD@jijijiiihihqhyhyfyfyfyrfbf m\?ɛBo= 隽iZ?I sk<ɚiIA'=IUXfiݟEm>*F?2F:FBFQ0JFGYW=GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761117 I h$dw,VAyCB$%I-Mb@Mb@Mb@))) )))Y- +?&1~jth?y-?-н-D;-@ ))-hAI-5@)y-@IE IE(2٢U@ȼ U7=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configau59e a?u5Ye~ ieu}?}:}:}@eMEe#;eH!;eۡ5 {@Zj15FNOT Ignoring new targets: 170.70 m.Bj=/Jj=/UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013150] ProNav: ac range: 170.699997 m, nav range: 26.528193 m, bearing: 118.539260 deg, approach rate: 0.611984 m/s, LOS rate: -0.009564 deg/s, cmd heading: 308.446097 deg, new cmd heading: 308.433619 deg. 2j] ҹeHeadingCmd: 5.383182 target range: 170.699997 and range: 170.60 m. jeC@jajajihhhhWBfffrfbf]6@ɛ-B5`d= 15 X?I1 5;<ɚ1i9I=K(=IEffiE@+~{xulb]\WSRPMJRK >JK ?GӞ<GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267399J3K3 K/.KK"KJe Je Je 1Ja Je :Je 9Je 3Ja I jw,AvG@Yv²@v=9vp=yvH X?|?Ž?&H@3C?⳽D`֭? ?ɨvG@v[;v CyBB#%II IV2٢-᪻ -Z=95;Q 5>99 =G٣=TGy=zܼ E> MNusing accuracyPremultiplier from configAM59Ea?U5H}]>I}C IyIyI} =&Iy.I};D6I}o<:I}k FYE iE@EOEEhqw,bDžA6O@Y6ʢ@6k=96c=y6HK?@?g ?Q -?%} !2??ɨ6O@6P;6$CyB4BB%I  @   @   @    @  II(*3٢% %O=9-?N:Q ->)1 5G٣1y5& 5> EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9U59=a?U5Y=. i=ُ]+:Y]:]ŋ]@=QE=2;=>=ޡ5i mn@iZjFNOT Ignoring new targets: 170.70 m.BjJj๝ ProNav: ac range: 170.699997 m, nav range: 26.985441 m, bearing: 118.521445 deg, approach rate: 0.609608 m/s, LOS rate: -0.024568 deg/s, cmd heading: 308.408941 deg, new cmd heading: 308.380622 deg. 2j↺HeadingCmd: 5.382257 target range: 170.699997 and range: 170.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769043 js;@jjjihhhhfffrfbf6@ɛ B #= Q?I <ɚiI%g(=I%>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021897[ww,?ABݜ@YBX@B|c=9B=yBH@S?+?TK)?o@`k?-?ɨBݜ@B-j;B#Cyf6Bf%IIr!Iri3٢v; zN=9zQ z>|| ~G٣|yT@; >  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 59 &a?5Y  zKOK9KKKFB>?>:874110/+*+**'$##"  Fi - :)-i:--@ SE ; K? ߡ59 =Z@9ZjaeFNOT Ignoring new targets: 170.70 m.Bjm6ɹJjm6ɹ} ProNav: ac range: 170.699997 m, nav range: 27.221432 m, bearing: 118.512624 deg, approach rate: 0.593373 m/s, LOS rate: -0.021989 deg/s, cmd heading: 308.380609 deg, new cmd heading: 308.354374 deg. 2j}tqHeadingCmd: 5.381799 target range: 170.699997 and range: 170.60 m. j7@jjjihhhhfffrfbf^ @ɛ= rR?I  <ɚiI-(=IAfiދIC I5%IIRBI =&I.I~w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524933:˩@Y:F@:N=9:=y:H`R^? x?1`D`e)?&7??ɨ:˩@:Zk;:$CyJBJ$IIRIR2٢Z ZN=9^'Q ^>\` bG٣`yb^; b> jbBottom track data is 1.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59f&0a?n5Yf3 ifCn9pr<:rgr@fUEf,7;fm?f5vB v@tZjFNOT Ignoring new targets: 170.70 m.BjJj ProNav: ac range: 170.699997 m, nav range: 27.457115 m, bearing: 118.504782 deg, approach rate: 0.571835 m/s, LOS rate: -0.018862 deg/s, cmd heading: 308.354382 deg, new cmd heading: 308.331060 deg. 2jOHeadingCmd: 5.381392 target range: 170.699997 and range: 170.60 m. j]4@jjjihhhhfffrfbf% t @ɛeBm>= imF?Ii Ux<ɚiI9)=Ifip }BDAT read: Tx time:23:28:23.5355 }$Ping request sent.}G B O% >)  w, AVG`l Yy4BȤ@YFث@=9_^=yH Sw?6d?ǒ27?u`? ծ?ɨȤ@ 8;y=B=$I-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:28:23.5347  E M MM MM  M M MMb@Mb@Mb@III I)IYMkt?Zd;O:vyM ?MjMTMA M@)MAIM@IyMQ@IeIe3٢ =9Q > G٣TGy; > Nusing accuracyPremultiplier from config59e"C=?]Ƙ?Y@K?a@t=*?`хY?L ,?Jk* ?Rkd`p*NwgS@D@0<6Tb@- ?WC?Z_ p?"k%B*k;Bk.z?k#w 2kUCkl`?k#w k,gCk%Bk8l? addTargetRange:: Added new target pos. range: 171.000000 m, deltaT: 3.780092 s, deltaX: 0.399994 m, approachRate: 0.105816 m/s, rangeRepo size: 4 - Added new target pos. range: 171.000000 m, bearing: 28.087958 deg, lat: 36.903588 deg, lon: -122.120227 deg, deltaT: 7.562006 s, deltaX: 0.300003 m, approachRate: 0.039672 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 171.00 m.Bj5Jj1e ProNav: ac range: 171.000000 m, nav range: 41.446541 m, bearing: 91.951997 deg, approach rate: 0.000000 m/s, LOS rate: -0.018862 deg/s, cmd heading: 308.331050 deg, new cmd heading: 308.300192 deg. 2jamHeadingCmd: 5.380854 target range: 171.000000 and range: 171.00 m. jm/@jijijiiihqhqhh~Bfffrf`e@bf`hY?ɛBp= A?I P<ɚiI)=I3fiwI  I %II 3BI  =&I .I 6I <:I FGaBO>nw,"4A>@Y>@>&=9>D=y>Hߗ?DH?@1>fL? ¿`$?@?ɨ>@>)m;>!CyFBF$IININ ٢V Zf=9ZQ Z>\\ ^G٣\y^T< b> fNusing accuracyPremultiplier from configdj59fvDa?n5Yf׿ ifϐlnn@fYEf90;fU";f5t v?@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 171.00 m.Bj;Jj; ProNav: ac range: 171.000000 m, nav range: 41.623985 m, bearing: 92.075539 deg, approach rate: 0.541628 m/s, LOS rate: 0.375490 deg/s, cmd heading: 308.300204 deg, new cmd heading: 308.669246 deg. 2jـ<HeadingCmd: 5.387295 target range: 171.000000 and range: 171.00 m. jd@jjjihhhhfffrfbfH?ɛ)5= 154?I1 5e%<ɚ1i9I])=IeYeiaie^;)ed@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF 5JFG3V;GiBqO:>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986988\Iw,MA & $?I(R` @YR@RRk=9R=yRH?@N3?\Ѣ`A\?c¿@.E~?`m?ɨR` @Rp;R$CyrBr$IMb@Mb@Mb@ )Y&1?Cl绿I +y?;߽9 A )AI@y=@II(٢+ͽ 8=9 /λQ  >  G٣TGyR< > %Nusing accuracyPremultiplier from config%59SNa?-5Y i-?-:--@[E8;;59 =@9ZjamFNOT Ignoring new targets: 171.00 m.Bjm;Jju; ProNav: ac range: 171.000000 m, nav range: 41.853203 m, bearing: 92.224460 deg, approach rate: 0.515833 m/s, LOS rate: 0.333297 deg/s, cmd heading: 308.669253 deg, new cmd heading: 309.113560 deg. 2jd<HeadingCmd: 5.395050 target range: 171.000000 and range: 171.00 m. j?@jjjihhhhlBfffrfbf f?ɛ= E)?I <ɚiI#*=I\ciiWI;)?@)*F?2F:FBFO0JFGqA GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239329Gujx<GI BQ Ou >zK] uOK] 9KY K] K] uw,:gA2&@Y2V6@2#=92=y2Hn?`?yॿ`m?C¿{@y?P?ɨ2&@2L;0y:ͅB:$IIFIF٢N Nd=9RbQ R>TX ZG٣Xy^h< b> rNusing accuracyPremultiplier from configlz59noVa?~5Yn in]1@n\En<;nȑ;n 5B @EZjqFNOT Ignoring new targets: 171.00 m.BjS;JjS; ProNav: ac range: 171.000000 m, nav range: 42.040306 m, bearing: 92.345861 deg, approach rate: 0.501659 m/s, LOS rate: 0.324051 deg/s, cmd heading: 309.113571 deg, new cmd heading: 309.476149 deg. 2j d^<5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491694 HeadingCmd: 5.401378 target range: 171.000000 and range: 171.00 m. jMج@jIjqjqiqhqhqhyhyfyfyfrfbf[Y?ɛ˒= G?I <ɚi AIAIMS*=Ie"aieo1E>Hk>IC I$II BI =&I.I=D6I(<:IF F*F}?2F:FBFP0JFG g; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743081Gy B O >]w,UA6F@Y6fV@6K=96>y6H? ? e@?¿@LK#?`XX ^G٣\y^< b> fNusing accuracyPremultiplier from config`f59by_a?j5Yb ibhjj@b^Eb:b:b5p r@pZjamFNOT Ignoring new targets: 171.00 m.Bjm;Jjm; ProNav: ac range: 171.000000 m, nav range: 42.246933 m, bearing: 92.479953 deg, approach rate: 0.513481 m/s, LOS rate: 0.331597 deg/s, cmd heading: 309.476145 deg, new cmd heading: 309.876446 deg. 2jc<HeadingCmd: 5.408364 target range: 171.000000 and range: 171.00 m. jR@jjjihhhhfffrfbf`?ɛBΊ=  ?I ڲ<ɚiI*=IG_i%k􅦡w,K\A2U@Y2ue@2Ȯ=92>y2H`? ?u1K?¿Kҵ@;Y?؞?ɨ2U@2;2#CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.246834yVBVY$IMb@Mb@Mb@ )Y^I +?X9vMbyX?A @)I-@yz@I#I%x3٢ 9=95Q > G٣TGy,; > Nusing accuracyPremultiplier from config 59ja? 5Y- i ?:@`E&;%;5 %@%EZjAMFNOT Ignoring new targets: 171.00 m.BjMG;JjMG;e ProNav: ac range: 171.000000 m, nav range: 42.489452 m, bearing: 92.634557 deg, approach rate: 0.560764 m/s, LOS rate: 0.355440 deg/s, cmd heading: 309.876448 deg, new cmd heading: 310.337601 deg. 2jesUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499008 5 $?I1 H n>I C I $II ҅BI  =&I .I 6I 9<:I U FBIʥCJIʥCRIʔCZI =bI =jIj6ïw,6A6a@Y6Sq@6Ѳ=966>y6H?U? #@`b?G{¿PL??ɨ6a@6;6%Cyb|Bb/$III2٢-3 -W=9-Q 5>9A EG٣AyMw; M> eNusing accuracyPremultiplier from configYm59]sa?u5Y] i]Hy}Ɗ}@]bE];];]~5B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 171.00 m.Bj;Jj; ProNav: ac range: 171.000000 m, nav range: 42.698681 m, bearing: 92.766882 deg, approach rate: 0.540779 m/s, LOS rate: 0.340335 deg/s, cmd heading: 310.337595 deg, new cmd heading: 310.732618 deg. 2ji<HeadingCmd: 5.423307 target range: 171.000000 and range: 171.00 m. j@jjjihhhhfffrfbf@ɛ~= 隭O>I J<ɚiI+=I \iiz9)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752177*F?2F:FBFo0JFG'HG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002895J J J J J }:J 9J J J ;J ;J 2;J 2; ! I! w,bφAR_@YRTo@R_=9R3>yRH`!??kd?`8¿4@`M?_?ɨR_@RΈ;R#CyjB$IMb@Mb@Mb@ )Y~jt?Zd;Q롿y$?\zA @)AIZ@y@I(I̍3٢  ==9 "ŻQ  > G٣yn > %Nusing accuracyPremultiplier from config!-59%=~a?-5Y% i%-'?-:--@%dE%M;%N;%]5A E9@AZjimFNOT Ignoring new targets: 171.00 m.Bju;Jju; ProNav: ac range: 171.000000 m, nav range: 42.949196 m, bearing: 92.926947 deg, approach rate: 0.588785 m/s, LOS rate: 0.374006 deg/s, cmd heading: 310.732626 deg, new cmd heading: 311.210009 deg. 2jV<HeadingCmd: 5.431639 target range: 171.000000 and range: 171.00 m. jϭ@jjjihhhh-Bfffrfbf-! @ɛBvWt= d>I B<ɚiIc+=IYii)ϭ@)*Fm?2Fq:FqBFu0JFqGE׹G9BIOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:28:26.1686 TRx dataTimestamp_ set to:1736378907.456624checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256807zK MK 9K K K B<;7322.,+)1EVVPOJ@:653-& ¹w,lAJ'g@YJv@J}=9J7>yJH ??A`/?@ ¿i[^? U?ɨJ'g@Jg;HynUBr#I)t tI I̍2٢% %Z=95ǻQ 5> G٣y; > Nusing accuracyPremultiplier from config59va?5Y i@fEK;;5 @Zj FNOT Ignoring new targets: 171.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507048Bj%;Jj%;5 ProNav: ac range: 171.000000 m, nav range: 43.179287 m, bearing: 93.072513 deg, approach rate: 0.586328 m/s, LOS rate: 0.368960 deg/s, cmd heading: 311.210002 deg, new cmd heading: 311.644363 deg. 2j56}<=HeadingCmd: 5.439220 target range: 171.000000 and range: 171.00 m. j=@j9jAjAiAhAhAhIhIfIfIfIrfQbfU &H @ɛy}-k= y隅>I {<ɚiI]+=IXii5¼)@)  $?I*F 2F:FBFP5JFG GrAjH<bH<Hu>IC IT$IIBI =&IFD.I>D6I}<:I FGI6GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. = E DAT read: 23:28:26.1686 LVL= 17088, 20945, 22386, 32755, AGC= 58, IDX= 437, 0.30, 1.667, 0.601,-0.676, 0.452, PHS= 1.303, 0.196,-1.131, RAW= 57.0, -3.5, CAL= 61.3, -8.0, ROT= 88.7, 8.0 M Ygot valid direction response: 23:28:26.1686 LVL= 17088, 20945, 22386, 32755, AGC= 58, IDX= 437, 0.30, 1.667, 0.601,-0.676, 0.452, PHS= 1.303, 0.196,-1.131, RAW= 57.0, -3.5, CAL= 61.3, -8.0, ROT= 88.7, 8.0 ] PDAT read: Bearing 88.7, 8.0 (Local) e ~Local bearing/azimuth received: Bearing 88.7, 8.0 (Local) } DAT read: Range 10 to 50 : 171.7 m (Round-trip 229.0 ms) speed 0.1 m/s  ,DAT read: user:3242> e BDAT read: Tx time:23:28:27.2855 e $Ping request sent.e Đ ~? 5z ?) 5I _(?i 5> jU?Cxt0) I S(|=i .? $i  :publishing transmit ping timea  Fpublishing direction and range info 9 5å?{|?28G?y  ) I i ) I i jU?Cxt0) I i w,A2f@Y2u@2 =92ML>y2H??@8?\@Q?l?ɨ2f@2k;2$CyBABB#IININ[3٢f#ɽ fP=9jQ j>h G٣TGy > Nusing accuracyPremultiplier from config59ܒa?5Y iC@hE; ;5Y e@eEkgi{?k7N k k}vA:k+CBk*CZkr>"k@1@_AZ@оk_D`@5å?{|?28G?Jk.?Rk$i*E|*>S@h{C@,db@yu?'?*\l?"k6B*kBkǤq{?kH 2kUCkNPp?kkUCk3{BkC? addTargetRange:: Added new target pos. range: 171.699997 m, deltaT: 3.780293 s, deltaX: 0.699997 m, approachRate: 0.185170 m/s, rangeRepo size: 4 %Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:23:28:27.2847 = Added new target pos. range: 171.699997 m, bearing: 26.732135 deg, lat: 36.904018 deg, lon: -122.120227 deg, deltaT: 3.780293 s, deltaX: 0.699997 m, approachRate: 0.185170 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 171.70 m.BjeJjiu ProNav: ac range: 171.699997 m, nav range: 62.800694 m, bearing: 43.645726 deg, approach rate: 0.000000 m/s, LOS rate: 0.368960 deg/s, cmd heading: 311.644374 deg, new cmd heading: 312.196104 deg. 2jyJ~JyJJJ{m:J9JJJ;;J=;J:J: I HeadingCmd: 5.448850 target range: 171.699997 and range: 171.70 m. j\@jjjih)h)h1h1f1f1fyrf}`fve@bf}`?ɛtCS= 隭>I <ɚiI,=IUii7)\@)EE*F?2F:FBF0JFG AܾG B O >ơw,A6g@Y6w@6nĔ=96>y6H@X? ?`ĭL?J@^F? m?ɨ6g@6 ;6"CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF(BF#I%Mb@Mb@Mb@!!! !)!Y%n?DlYY eG٣aye9 e> mNusing accuracyPremultiplier from configiu59ma?u5Ym@ im2?:@mkEm9I1 5<ɚ1i9I=>,=I=meRiAiE.)E-î@)A*F ?2F :F BF S0JF zKMK 9KKK5Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai1 IiG- 6G B O5 >H }>I C I $II hBI =&I .I ?D6I y<:I F̡w,|}6Ay~B~#Ii)) -G٣)y5 5> ENusing accuracyPremultiplier from configAM59EIa?M5YE iEIIM@EmEE:E:EM5Y ]n@a}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 171.70 m.Bj4<Jj4< ProNav: ac range: 171.699997 m, nav range: 62.952656 m, bearing: 44.123949 deg, approach rate: 0.202738 m/s, LOS rate: 0.631949 deg/s, cmd heading: 312.910883 deg, new cmd heading: 313.628960 deg. 2j<HeadingCmd: 5.473858 target range: 171.699997 and range: 171.70 m. j)@jjjihhhhfffrfbf X?ɛBԢN= >I X<ɚiI*,=I0OiiU))@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF^0JFGfGaBiO9>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207891J xJ uJ J J Z:J 9J J J ;J ;J f:J g: I ӡw,WPAyr Br#IuMb@Mb@Mb@qqq q)qYuOn?HzG G٣TGy > Nusing accuracyPremultiplier from config59a?5Y iGI .2=ɚiI,=IMϗKiIiUp)Uᜯ@)Q*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460350G >,G B O >zK BoIK s9K K K  <aBK :K pA}ڡw,6jAR@YR@Re=9R >yRH@i5?Ը?lذ`?g</d?y?ɨR@R3;R#Cy^B^#IIfIf[3٢ndC nY=9r˼Q r>pp rG٣pyv5< v> zNusing accuracyPremultiplier from configx~59zؿa?~5Yz  iz%@zqEz` ;z ;z5  @ ZjFNOT Ignoring new targets: 171.70 m.Bj7<Jj7<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712538- ProNav: ac range: 171.699997 m, nav range: 63.108517 m, bearing: 44.632124 deg, approach rate: 0.195636 m/s, LOS rate: 0.642057 deg/s, cmd heading: 314.433523 deg, new cmd heading: 315.151487 deg. 2j-QI w=ɚiI-=IbHiiE)@)ZH1RH5?AHE>IEC IE#IIE:BIE =&IA.IE@D6IE]<:IE F*F?2F:FBFJFGIGyBO^> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964326w,AyrBr#IIzIz3٢=e =D=9EQ E>AA MG٣IyM M> UNusing accuracyPremultiplier from configQe59U>a?m5YU iUiim@UtEUT`;Ua;U5q }@yZjFNOT Ignoring new targets: 171.70 m.Bj?<Jj?< ProNav: ac range: 171.699997 m, nav range: 63.190514 m, bearing: 44.896657 deg, approach rate: 0.207405 m/s, LOS rate: 0.668246 deg/s, cmd heading: 315.151485 deg, new cmd heading: 315.944001 deg. 2jN<HeadingCmd: 5.514263 target range: 171.699997 and range: 171.70 m. jt@jjjihhhhfffrfbf`P@ɛBT89= %B>I! -`r=ɚ1i9I=S-=IEDiIiM8)Mt@)I*F?2F:FBF0JFGEpA GEpA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216102 yIJEuJErJAJAJE[Q:JE9JAJAJEo;JEo;JE:JE:GGGpAGBO >"w,x흇A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467937>O@Y>@>n=9>ui>y>Hn?p?``O?@:¿a׭`֐?@?ɨ>O@>E;>"CynBn#ImMb@Mb@Mb@iii i)iYm1Zd?K7AQym";?m mm A m@)iIm@iymAI I(2٢׼ E=9BQ > G٣TGy< > Nusing accuracyPremultiplier from config59Ta?5Y i6>?:@vEa;T`;k5B $@EZjFNOT Ignoring new targets: 171.70 m.Bj8<Jj8< ProNav: ac range: 171.699997 m, nav range: 63.267494 m, bearing: 45.165227 deg, approach rate: 0.185274 m/s, LOS rate: 0.645592 deg/s, cmd heading: 315.944006 deg, new cmd heading: 316.748678 deg. 2j<HeadingCmd: 5.528307 target range: 171.699997 and range: 171.70 m. j@jjjihhhhBfffrfbf@ɛBG2= !%6>I! %=ɚ!i!I% -=IM?AiQiUt/)U@)QzKMKػ9KKK|ttwwutqijeb_^ZWUPJHC?>::64453/+'#"EU #=EYWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721901*J"J= $?Ii*F ?2F :F BF _0JF G %ЛH5 >I5 C I5 #II5 BI5  =&I1 .I5 AD6I5 I<:I5 z FG B O >Mw,%̷A63@Y6B@6-b=96,$>y6Hӡ?@vM?2`e.?#¿B (g??ɨ63@67;6!CyBBBt#IININ#3٢VEQ VZ=9VQ Z>XX ZG٣Xy^i< ^> bNusing accuracyPremultiplier from config`f59b=a?f5Yb7 ib{hj>j@byEb:b:b5l n@p~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 171.70 m.Bj 59<Jj 59<- ProNav: ac range: 171.699997 m, nav range: 63.336517 m, bearing: 45.407115 deg, approach rate: 0.185021 m/s, LOS rate: 0.647691 deg/s, cmd heading: 316.748684 deg, new cmd heading: 317.473519 deg. 2j-@<-HeadingCmd: 5.540958 target range: 171.699997 and range: 171.70 m. j5O@j1j1j1i1hhhhfffrfbf`@ɛ9=PW1= 9= >I9 E=ɚAiAIE-=IM>iIiM)MO@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.972226E}==*F?2F:FBFU5JFG銝G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:28:29.9196 - TRx dataTimestamp_ set to:1736378911.236668- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225028 I Z3w,ZчA%cg@Y%v@%T=9%*>y%H ?@$?÷ D@Q?¿ਗ਼`e)) -G٣1y5g< 5> ENusing accuracyPremultiplier from config9E59=`a?E5Y=# i=ɕM>?M:MM@={E=;=8;=5Y ]@]EZjFNOT Ignoring new targets: 171.70 m.Bj`8<Jj`8< ProNav: ac range: 171.699997 m, nav range: 63.425858 m, bearing: 45.698737 deg, approach rate: 0.197812 m/s, LOS rate: 0.644779 deg/s, cmd heading: 317.473531 deg, new cmd heading: 318.347093 deg. 2j@<HeadingCmd: 5.556205 target range: 171.699997 and range: 171.70 m. jṉ@jjjihhhhBfffrfbfM @ɛB}n,= <>I .%=ɚiIS-=Ih:ii*)ṉ@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475970E5<H=*F ?2F :F BF 0JF "G =G =zKu NKu 9Kq Ku Ku !#!!#"! #!!5Will construct direction to contact in vehicle frame from tetrahedron phase data. }$?IGLG?G?JwJlJ1JJW:J9J3Ja@a@a@a@GaBqO?8w,v8A&DAT read: 23:28:29.9196 LVL= 20000, 24721, 28482, 32755, AGC= 55, IDX= 447, 0.34,-2.099,-3.063, 1.914, 3.017, PHS= 1.255, 0.250,-1.106, RAW= 55.1, -3.9, CAL= 59.2, -8.5, ROT= 90.8, 8.5 jHLbHN<HN>IL IN#IIN BIL&IL.IL6IN<:INL FBIuCJIuCRIqZIu =bIu =jIun6bYgot valid direction response: 23:28:29.9196 LVL= 20000, 24721, 28482, 32755, AGC= 55, IDX= 447, 0.34,-2.099,-3.063, 1.914, 3.017, PHS= 1.255, 0.250,-1.106, RAW= 55.1, -3.9, CAL= 59.2, -8.5, ROT= 90.8, 8.5 fPDAT read: Bearing 90.8, 8.5 (Local) f~Local bearing/azimuth received: Bearing 90.8, 8.5 (Local) %DAT read: Range 10 to 50 : 172.4 m (Round-trip 229.9 ms) speed 0.0 m/s -,DAT read: user:3243> 5٥@Y5U@5ZF=953>y5H??`l Lz?@ CÿȨN?x?ɨ5٥@5;1BDAT read: Tx time:23:28:31.0355 $Ping request sent.5h5m0v?5'g٢5g = = 5 A?)5I5b?i5>1159 8?]mSN*]Q)5>I5ǎ=i5:?5 a119EEQ >:publishing transmit ping timeرFpublishing direction and range info195uUۙ?)U?sj?y1111 1)1I1i11111 1)1I1i11159 8?]mSN*]Q)1I1i1111 G٣TGy=j< > Nusing accuracyPremultiplier from config59Lb?5Y, i#MӄM@~E6<6<[5Q U)@Yk5Xhuz?k5h k1 k5\rA:k5f,CBk5A+CZk5?"52ui"@Y1c[@f`@5uUۙ?)U?sj?Jk5:?Rk5 a*5 ^R@c6 E@ ۧb@5xe??* ³?"k5x,B*k5Bk5YΟz?k5ݼ 2k5WCk5YΟz?k1k1k5EBk5 ?e addTargetRange:: Added new target pos. range: 172.399994 m, deltaT: 3.780998 s, deltaX: 0.699997 m, approachRate: 0.185135 m/s, rangeRepo size: 4 u Added new target pos. range: 172.399994 m, bearing: 29.975464 deg, lat: 36.904294 deg, lon: -122.120227 deg, deltaT: 3.780998 s, deltaX: 0.699997 m, approachRate: 0.185135 m/s, posRepo size: 4 Zjq}FNOT Ignoring new targets: 172.40 m.Bj}Jjy ProNav: ac range: 172.399994 m, nav range: 87.635101 m, bearing: 31.456610 deg, approach rate: 0.000000 m/s, LOS rate: 0.644779 deg/s, cmd heading: 318.347085 deg, new cmd heading: 319.433552 deg. 2jHeadingCmd: 5.575167 target range: 172.399994 and range: 172.40 m. jg@jjjihhhh!f!f!f!rf%̌e@bf-K ?ɛuBu%= >I =ɚiI-=I@5ii1Ͻ)g@)EE*E"E]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5 ?2F1 :F1 BF= `0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. 9I9G]5GQBaO} ?w,A:@Y:5+@:=9:$?>y:H .U??м`[?~ÿ @? k?ɨ:@:M~;:"CyFBFy#IUMb@Mb@Mb@QQQ Q)QYUv?/$/$yU8?U1UUA Q)QIU3@QyUAIeIeW٢u= u=9})Q }> G٣y< > Nusing accuracyPremultiplier from config59gb?5Y4 inII MZ=ɚIiIIM-=IUB2iQiU$ʽ)URͲ@)Y*F?2F:FBFP5JFGNEWill construct direction to contact in vehicle frame from tetrahedron phase data.GQBiO;>zK ѶMK K K K    v w,.A2_n@Y2}@2=92I>y2H?M?X`?@\ÿ=?b]?ɨ2_n@2~ɋ;2$CyBBBx#I)D DHJARWill construct direction to contact in vehicle frame from tetrahedron phase data. `IdININ&ѳJ-rJ-mJ-0J)J-G:J-&9J-ـ3J)٢]r ]M=9e?sQ e>aa mG٣mTGym< m> Nusing accuracyPremultiplier from config59!b?5Y; i@E::L5 @Zj1=FNOT Ignoring new targets: 172.40 m.Bj=<JjEI}C IyIyI} =&Iy.Iy6I}%<:I}e FHeadingCmd: 5.597734 target range: 172.399994 and range: 172.40 m. j @jjjihhhhfffrfbf HI?ɛ B52=/= 5 =5x>I1 5=ɚ1i1I=4-=IEy/iAiM"sʽ) @)*FA2FA:FABFEO5JFAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm ʽGa Bi O >iw,fiHA6?ʧ@Y6ٮ@6<96S>y6H??׽ 3^ OA?DuĿ9`0?dO?ɨ6?ʧ@6;6"Cy>BB|#IIJIJͳ٢n< nS=9rVQ r>tt vG٣tyz< ~> Nusing accuracyPremultiplier from config%59.b?%5YA iޖ)-}-@E(;51 5p@1UB*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 172.40 m.Bjm <Jjm < ProNav: ac range: 172.399994 m, nav range: 87.624016 m, bearing: 32.070788 deg, approach rate: -0.015270 m/s, LOS rate: 0.485600 deg/s, cmd heading: 320.726559 deg, new cmd heading: 321.276068 deg. 2j<HeadingCmd: 5.607325 target range: 172.399994 and range: 172.40 m. j5o@jjjihhhhff frfbf%DY? $?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛB1= t >I o=ɚiI-=I,-iiPOǽ)5o@))*F2F:FBF05JFG gɽG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.6685888,w,gGbAZZ&@YZ5@Z[<9Z6X>yZHv?D? c?Ŀ  ?!G?ɨZZ&@ZT;XyfBf#I]Mb@Mb@Mb@YYY Y)YY]Gz?v/ G٣y< > Nusing accuracyPremultiplier from config59I ,=ɚiI@M-=Iq*iiŽ)@)zKmMKiKiKmKm *F2F:FBFU0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920063J1J1Jـ3Km3 KS}-KK"KJ9J=oJ9J9J9J=K9J9J9ZHqRHu@AH}>I}C I}#II}BI} =&Iy.I}BD6I}<:I}X FG #'ȽG B O >Tw,|A>턨@Y>i@>JF<9>M\>y>H_?`Zo?@w ~?@Ŀ{`?@?ɨ>턨@>;>$CyFBJ#I N=Na=IRIR2٢Z< ZY=9^BQ ^>`` bG٣`yb< f> jNusing accuracyPremultiplier from configdj59fIb?n5YfM if,ln+tn@fEf ;f* ;fv 5t v@tZjFNOT Ignoring new targets: 172.40 m.Bj<Jj%<- ProNav: ac range: 172.399994 m, nav range: 87.597336 m, bearing: 32.434893 deg, approach rate: -0.038317 m/s, LOS rate: 0.477588 deg/s, cmd heading: 321.852720 deg, new cmd heading: 322.368496 deg. 2j5<5HeadingCmd: 5.626392 target range: 172.399994 and range: 172.40 m. j5g @j9j9j9i9h9hAhAhAfAfIfIrfIbfM`@ɛuBu5;= y}->Iy }*q=ɚyiI-=I#(iiΖ)g @)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.172786EE3J=*F?2F:FBF\0JF"G>G> I i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.426883GE <ŽGM ?GM ?) = cCGA U Gm |uABq O >V%w,cAZA &bY&|uAy&ByލBލ#IMb@Mb@Mb@ )YQ?+ηy&1|y(?v`A @)dAI~AyAI5I52٢E@v= M1=9MQ M>QQ UG٣UTGy] ]> eNusing accuracyPremultiplier from configam59e,Yb?m5Ye;T ieQm*?u:uVnu@eEeH;e;e{5y } @Zj!%FNOT Ignoring new targets: 172.40 m.Bj-;Jj-;] ProNav: ac range: 172.399994 m, nav range: 87.575226 m, bearing: 32.635584 deg, approach rate: -0.046178 m/s, LOS rate: 0.419260 deg/s, cmd heading: 322.368509 deg, new cmd heading: 322.970710 deg. 2j]ޏI 8=ɚiI,=Iur%iqiuKս)}a@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.677357Eu;=*F?2F:FBF_0JFG Q½G B zK KK 9K K K O >"z+w,l#A IBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.928678*Jna="Jnp=JztJzlJxJxJz;N:Jz9JxJxH>IC I#II0BI&I.IAD6ID<:I| FyaaIuIu٢`x: G=9Q > G٣y > Nusing accuracyPremultiplier from config59fb?5YY ir@E;;E5 @ZjFNOT Ignoring new targets: 172.40 m.Bj ;Jj ; ProNav: ac range: 172.399994 m, nav range: 87.556526 m, bearing: 32.813579 deg, approach rate: -0.046985 m/s, LOS rate: 0.447328 deg/s, cmd heading: 322.970713 deg, new cmd heading: 323.504794 deg. 2j<%HeadingCmd: 5.646224 target range: 172.399994 and range: 172.40 m. j%ޭ@j!j!j)i)h)h)h1h1f1f1f1rf9bf=@ɛeBe2?= imC>Ii m=ɚiiiIm`=,=Iu#iqiu)uޭ@)yE =-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:23:28:33.6700 5TRx dataTimestamp_ set to:1736378915.020658=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181066*Fe ?2Fa :Fa BFm ^0JFi G= uνG1 BA Oe >_2w,cɈA6@Y60@6;;96y6H@$??@ÿ@?"ſ`g'z;u?2?ɨ6@6tf;6%CyRBR#IIZIZ2٢b|= bm=9baQ f?dd fG٣dyj= j? nNusing accuracyPremultiplier from configlr59nrb?r5Yn^ inpvev@nEn ;n ;n5zB zA@zEB*** querying acoustic contact ***jjZj1FNOT Ignoring new targets: 172.40 m.Bj+;Jj+;] ProNav: ac range: 172.399994 m, nav range: 87.533508 m, bearing: 32.963337 deg, approach rate: -0.066946 m/s, LOS rate: 0.435679 deg/s, cmd heading: 323.504807 deg, new cmd heading: 323.954191 deg. 2je<HeadingCmd: 5.654067 target range: 172.399994 and range: 172.40 m. j@jjjihhh 5$?I9hfAfqfyrfybf@: @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.435127ɛ=BE%RC= EIA m=ɚiiiImۧ+=Iu !iqiu8)u@)yEE*E"E*F ?2F :F BF _0JF G qA G rAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M  BDAT read: Tx time:23:28:34.7856  $Ping request sent. M #ۉM h?M 5z M 0w?)M IM ԏ?iM >I I M p3?jdcV9w,Auj@Yu@uT2;9u|f>yuHs`? P?@Bÿ*?ſQf k?`T1?ɨuj@u;u"CyMb@Mb@Mb@ )YCl?~jtyd?nA )AI AyfAII(*29eԻQ e>ii mG٣mTGyuЙ< u> }Nusing accuracyPremultiplier from configy59}b?5Y}e i}?:_@}E}P;};}>5 zKBIKh9KKK $?Ik=Rղw?k=3 k9 k=$A:k=,CBk=+CZk=|L5?"=xv "@l(<]@Zl_@=)dª?'Fb? DB?Jk=!?Rk=T]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:28:34.7848 *=SÄ0P@$K@1Bb@=\yN?w?P?"k=]B*k=Bk=w?k=A 2k=XCk9k9k9k=Bk=_H? addTargetRange:: Added new target pos. range: 172.699997 m, deltaT: 3.783556 s, deltaX: 0.300003 m, approachRate: 0.079291 m/s, rangeRepo size: 4  Added new target pos. range: 172.699997 m, bearing: 40.576773 deg, lat: 36.904294 deg, lon: -122.120227 deg, deltaT: 3.783556 s, deltaX: 0.300003 m, approachRate: 0.079291 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 172.70 m.BjJj- ProNav: ac range: 172.699997 m, nav range: 87.492119 m, bearing: 33.187393 deg, approach rate: 0.000000 m/s, LOS rate: 0.435679 deg/s, cmd heading: 323.954178 deg, new cmd heading: 324.731388 deg. 2j)5HeadingCmd: 5.667632 target range: 172.699997 and range: 172.70 m. j5>]@j1j1j9i9h9h9hAhE…BfAfAfArfM`fe@bfM`?H>I I#IIDBI =&I.I6I=<:Is Fɛ B  <= )-T>I1 5} =ɚ1i1I5*=I=i9i={)=>]@)A*F?2F:FBF`0JFG<ŽGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.<@w,GAy||I I (*9-Q -?11 5G٣1y] ]? eNusing accuracyPremultiplier from configam59eb?m5Yei ieiqu@eEe:e:e5B I@EZjFNOT Ignoring new targets: 172.70 m.Bj$;Jj$;% ProNav: ac range: 172.699997 m, nav range: 87.468224 m, bearing: 33.320291 deg, approach rate: -0.077363 m/s, LOS rate: 0.430389 deg/s, cmd heading: 324.731399 deg, new cmd heading: 325.130197 deg. 2j%<-HeadingCmd: 5.674592 target range: 172.699997 and range: 172.70 m. j-C@j)j)j)i)h)hQhQhYfYfYfYrfYbfe?ɛB$N= 隭&R>I  =ɚiIo*=Iii3ʽ)C@)*Fu?2Fq:FyBF}M3JFy IWill construct direction to contact in vehicle frame from tetrahedron phase data.J%rJ%mJ!J!J%G:J%&9J!J!J%_;aUJ%_;a]J%:aeJ%:aeGٲG B O >{Fw,qAyB#IMb@Mb@Mb@ )YX9v?Zd;~jthy?yD&A @)I Ay3AII?٢%#< %v<9)Q ->)) 5G٣5TGy1 => ENusing accuracyPremultiplier from config9E59=b?M5Y=n i=M?M:MnZM@=E=;= ;=5Y ]@YZjFNOT Ignoring new targets: 172.70 m.Bj;Jj; ProNav: ac range: 172.699997 m, nav range: 87.434616 m, bearing: 33.482920 deg, approach rate: -0.079373 m/s, LOS rate: 0.384238 deg/s, cmd heading: 325.130200 deg, new cmd heading: 325.618262 deg. 2jك<HeadingCmd: 5.683111 target range: 172.699997 and range: 172.70 m. j ܵ@jjjihhhhBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB>$G= [>I X =ɚiI0)=I |i i ׽)  ܵ@)*F?2F:FBF@5JF"G=G=Ge?GiGm>G!B1O}X> I izK K K K K     Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I #II SBI &I .I 6I *<:I f FBIˬCJIˬCRI˓CZI =bI =jI˲5Lw,6ANy@YN@Ny>9NOc>yNH?}~?Zbÿ@{?`\|Ŀ@G?.? 6?ɨNy@N=;N$Cyn Bn#IIvIv۳٢~H _=9 Q > %G٣!y-˸= 5> =Nusing accuracyPremultiplier from config9E59=b?E5Y=r i=×AEQM@=E= :=:=65Q Ut@EZj!%FNOT Ignoring new targets: 172.70 m.Bj-;Jj-;u ProNav: ac range: 172.699997 m, nav range: 87.399185 m, bearing: 33.622089 deg, approach rate: -0.090247 m/s, LOS rate: 0.354625 deg/s, cmd heading: 325.618258 deg, new cmd heading: 326.035928 deg. 2j}`s<}HeadingCmd: 5.690401 target range: 172.699997 and range: 172.70 m. j@jjjihhhhfffrfbfs?ɛBʷB= E>I U =ɚiI")=Ii:G!B1OM?EUw,7VA:f@Y:lv@:u.9:9e>y:H` G٣yտ< > Nusing accuracyPremultiplier from config59޻b?5YQx iӗ?:K@E;;s5 v@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 172.70 m.Bj;Jj; ProNav: ac range: 172.699997 m, nav range: 87.345909 m, bearing: 33.806655 deg, approach rate: -0.108359 m/s, LOS rate: 0.375617 deg/s, cmd heading: 326.035938 deg, new cmd heading: 326.589953 deg. 2j<HeadingCmd: 5.700070 target range: 172.699997 and range: 172.70 m. jf@jjjihh h h ʅBf ffrfbf`j6?ɛEBE;= AEL@>IA Mm =ɚIiIIMb"(=IUGiQiU")Uf@)YE=@<*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G2GIBQOuy>g[w,oA:Zͫ@Y:ܲ@:D F9:e>y:H??zaÿ@u ?ĿÈ?@r~?1?ɨ:Zͫ@:;:"CyF BF#I PITIVIV٢^) ^Y=9bxQ b>`` bG٣fTGyf= f> rNusing accuracyPremultiplier from configlr59nb?v5Yn@| inݗtvdHv@nEn:n:n5x z@|zKLK9KKKZj)5FNOT Ignoring new targets: 172.70 m.Bj5;Jj5;M ProNav: ac range: 172.699997 m, nav range: 87.304543 m, bearing: 33.942793 deg, approach rate: -0.108742 m/s, LOS rate: 0.358042 deg/s, cmd heading: 326.589948 deg, new cmd heading: 326.998550 deg. 2jMuI  =ɚiIo'=IsiiW)e@)EE*E"EZHqRHuAAH>I I$IIYBI&I.I6I<:IV F*F?2F:FBF05JFG GqA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506683G G% pAG! G B O= >Dbw,˂AR'@YR7@R`9R\e>yRH>?`? Dÿ/ D?mĿ>?m?2?ɨR'@R:;R#CyZBZ#IIb Ib(2٢nQռ nJ=9nփQ r>pp rG٣pyv< v> ~Nusing accuracyPremultiplier from configx~59z#b?5Yze izE@zEz:z:z5 B @EZjFNOT Ignoring new targets: 172.70 m.Bj$;Jj$; ProNav: ac range: 172.699997 m, nav range: 87.258530 m, bearing: 34.087834 deg, approach rate: -0.109852 m/s, LOS rate: 0.346455 deg/s, cmd heading: 326.998558 deg, new cmd heading: 327.433900 deg. 2jm<HeadingCmd: 5.714800 target range: 172.699997 and range: 172.70 m. j߶@jjjihhhh f)f)f)rf1bf5@ɛBm`:= imd(>Ii m9 =ɚqiqIu<&=Iui}*_5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:23:28:37.4206 = TRx dataTimestamp_ set to:1736378918.548610= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011622jhw,MA^3|@Y^@^w9^`b>y^H/?\? ¿ }? Ŀ$?`a?7?ɨ^3|@^4;^$Cy-B-#IMb@Mb@Mb@ )Y|?5^?~jty&1y ?D`eA )AIAyAIIb1٢ :=9uSQ u>qq }G٣yy}?< }> Nusing accuracyPremultiplier from config59b?5Y if?:L@@E";j!; 5 @ZjFNOT Ignoring new targets: 172.70 m.Bj;Jj; ProNav: ac range: 172.699997 m, nav range: 87.202637 m, bearing: 34.249526 deg, approach rate: -0.127488 m/s, LOS rate: 0.369047 deg/s, cmd heading: 327.433914 deg, new cmd heading: 327.919290 deg. 2jF}<HeadingCmd: 5.723271 target range: 172.699997 and range: 172.70 m. j  %@j j jihhhhͅBf!f!f)rf)bf5 @ɛ}B}&f1= 隅>I W =ɚiI %=I Viih') %@)*F?2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262588zKa3JK9KKKRK>JK>H>IC I#IINBI =&I.I6I.<:Ie FG G B O >nw,,,AB*̬@YB۳@BOM9BB^>yBH9?@"?`¿@t?`Ŀ})? \?` >?ɨB*̬@B$;B%CyRBV#IIfIf1٢nK n]=9rQ r>pp vG٣vTGyv< v> zNusing accuracyPremultiplier from configx59zb?5Yzm iz= @zEz.;z1.;zf"5 @EZjAEFNOT Ignoring new targets: 172.70 m.BjMC;JjMC;] ProNav: ac range: 172.699997 m, nav range: 87.157822 m, bearing: 34.375110 deg, approach rate: -0.126764 m/s, LOS rate: 0.355410 deg/s, cmd heading: 327.919295 deg, new cmd heading: 328.296234 deg. 2j]s .= AE=IA E=ɚIiIIMu%=IuZ iqiu*S)uZ@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514751*F=?2FA:FABFMo0JFI"Gm=Gm=G@G ?G6?Gi B $?I O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.յ Aiձ J xJ uJ J J Z:J 9J J J ;J ;J g:J h:  A E YA yE NB.|uw,׉AFH@YF"@FP9Fz[>yFH@ e?@{?3¿@v`?ZĿ? 8?`uC?ɨFH@Fᵊ;F$CyRBVw#IbDAT read: 23:28:37.4206 LVL= 17856, 24545, 23474, 29843, AGC= 63, IDX= 425,-0.48,-0.433,-1.163,-2.502,-1.462, PHS= 1.117, 0.346,-1.043, RAW= 50.6, -4.5, CAL= 54.0, -9.0, ROT= 96.0, 9.0 fYgot valid direction response: 23:28:37.4206 LVL= 17856, 24545, 23474, 29843, AGC= 63, IDX= 425,-0.48,-0.433,-1.163,-2.502,-1.462, PHS= 1.117, 0.346,-1.043, RAW= 50.6, -4.5, CAL= 54.0, -9.0, ROT= 96.0, 9.0 jPDAT read: Bearing 96.0, 9.0 (Local) n~Local bearing/azimuth received: Bearing 96.0, 9.0 (Local) I^I^2٢v vJ=9vUQ z>%DAT read: Range 10 to 50 : 173.1 m (Round-trip 230.8 ms) speed -0.2 m/s -,DAT read: user:3245> 5BDAT read: Tx time:23:28:38.5356 5$Ping request sent.5 Nusing accuracyPremultiplier from configE_ [)tI?i?&>=b?|٠ :Fq?)| IPw?i| >bN&^x?_*-K )I=i;?FN:publishing transmit ping time1Fpublishing direction and range info9^#?W;J ?jDj?y )Ii5 )IibN&^x?_*-K )Ii9c? 5Y i%;%@Eu<u<C$5I M@Qkxw?kQ k kEӉA:k-CBk+CZkPM?"kcQ)@S`]@t7_@^#?W;J ?jDj?Jk;?RkFN*ly+thO@lIP@߀uqb@,9?Q?\G?"kNB*kD{Bke1w?k^" 2kVCkkkVCk4BkD?] addTargetRange:: Added new target pos. range: 173.100006 m, deltaT: 3.781746 s, deltaX: 0.400009 m, approachRate: 0.105774 m/s, rangeRepo size: 4  Added new target pos. range: 173.100006 m, bearing: 46.046020 deg, lat: 36.904294 deg, lon: -122.120227 deg, deltaT: 3.781746 s, deltaX: 0.400009 m, approachRate: 0.105774 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 173.10 m.BjJj ProNav: ac range: 173.100006 m, nav range: 87.102135 m, bearing: 34.527038 deg, approach rate: 0.000000 m/s, LOS rate: 0.355410 deg/s, cmd heading: 328.296239 deg, new cmd heading: 328.799221 deg. 2jHeadingCmd: 5.738629 target range: 173.100006 and range: 173.10 m. j٢@jjjihhhhfIfIfIrfM@3e@bfU(?ɛB&%= =I ]Z=ɚiI)$=I%h i)i-B)-٢@)1 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFG $G B O >{w,A 4I4>^@Y>1n@>69>7Y>y>H ??@:C?`0EĿF??>G?ɨ>^@>; G٣y &<  > Nusing accuracyPremultiplier from configE59Ac?M5YX eWill construct direction to contact in vehicle frame from tetrahedron phase data.iy}Q9}@EP]<n]<%5B @EB*** querying acoustic contact ***jjzKK+9KKKBK:KZjFNOT Ignoring new targets: 173.10 m.BjL;JjL;- ProNav: ac range: 173.100006 m, nav range: 87.050713 m, bearing: 34.663487 deg, approach rate: -0.143105 m/s, LOS rate: 0.379954 deg/s, cmd heading: 328.799214 deg, new cmd heading: 329.208794 deg. 2j-a<HE>IA IE#IIE?BIE =&IA.IE@D6IEZ<:IE FUHeadingCmd: 5.745778 target range: 173.100006 and range: 173.10 m. jUiݷ@jYjYjYiYhYhYhahafafafarfibfm"?ɛBĨ = xn=I =ɚiI#=I iiǍ)iݷ@) *F?2F:FBF92JFG8 Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ******% R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.G B O >捂w, Ay˄BU#II-I-(٢e eA=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configy59}c?5Y}f i}&@}E}a:} :}'5 @EZjFNOT Ignoring new targets: 173.10 m.Bj;Jj; ProNav: ac range: 173.100006 m, nav range: 86.995361 m, bearing: 34.812000 deg, approach rate: -0.139332 m/s, LOS rate: 0.374077 deg/s, cmd heading: 329.208807 deg, new cmd heading: 329.654619 deg. 2j\<HeadingCmd: 5.753559 target range: 173.100006 and range: 173.10 m. j'@jjjihhh h f f f rfbf?ɛEBEC= IM Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.165581 w,6$Az3@Yz@za9zS>yzH?`2?y&t}?ÿk?/@? P?ɨz3@zk;xyB @#I M@M M@M M@M  M@M I]I]٢) :=9Q > G٣TGyw<= > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59,c?5Y i1+::,4@E;F>U)5 @Zj!-FNOT Ignoring new targets: 173.10 m.Bj5;Jj5;U ProNav: ac range: 173.100006 m, nav range: 86.932587 m, bearing: 34.968717 deg, approach rate: -0.139757 m/s, LOS rate: 0.349156 deg/s, cmd heading: 329.654627 deg, new cmd heading: 330.125107 deg. 2jUoIA IE#IIE!BIE =&IA.IA6IE <:IEH FzK]BoIK]9KYK]K] RKe?JKe>GiByO>a䎢w,Gv>AFP@YF_@F̠9F%R>yFH ?@?@`v@?ÿK?P?R?ɨFP@F|;DynBr(#II I 3٢ӽ Z=94c;Q > G٣y< > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59:c?5Y i; :z:1@E;;P?e*5B  @EZjFNOT Ignoring new targets: 173.10 m.BjK;JjK;  ProNav: ac range: 173.100006 m, nav range: 86.878693 m, bearing: 35.099816 deg, approach rate: -0.148193 m/s, LOS rate: 0.360710 deg/s, cmd heading: 330.125118 deg, new cmd heading: 330.518654 deg. 2j w<HeadingCmd: 5.768639 target range: 173.100006 and range: 173.10 m. j@jjjihhhhf!f!f!rf!bf%:?ɛUĄBU< QUhrIQ U]=ɚYiYI]w!=I]Siaie)e@)aPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.669684*F?2F:FBF\0JFGGBO> - $?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924015Aʕw,IXARG@YRè@Rk9RQ>yRH`J? ?w;?Ŀ)-??R?ɨRG@R x;R%Cy^B^ #Iib!>Ib> M M MM UU  U U UMb@Mb@Mb@QQQ Q)QYUzG?|?5^lyU ?UҽUUAA Q)UAIU7AQyUAIuIu(٢ K=9;Q > G٣y< > Nusing accuracyPremultiplier from config59Hc?5Yt iaT:?:OC@E/;Y;',5 p@ZjFNOT Ignoring new targets: 173.10 m.Bj;Jj;} ProNav: ac range: 173.100006 m, nav range: 86.832253 m, bearing: 35.255836 deg, approach rate: -0.115358 m/s, LOS rate: 0.387760 deg/s, cmd heading: 330.518646 deg, new cmd heading: 330.986943 deg. 2j<HeadingCmd: 5.776812 target range: 173.100006 and range: 173.10 m. j۸@jjjihhhh>Bfffrfbf@C@ɛDŽB< I =ɚiI =I%i!i%m)%۸@))*F2F:FBF_0JF"GG=GeڋWill construct direction to contact in vehicle frame from tetrahedron phase data.>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.175090GYBiOZ> 1 I9 ^w,$rA6׮@Y6d@696Q>y6H n?Ɏ?2 ;?0Ŀl?'?S?ɨ6׮@6;6#CybBb #IIjIj2٢v Q=9%:Q %>!) -G٣-TGy-< -> 5Nusing accuracyPremultiplier from configEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4265911U595Wc?U5Y5 i5Q]\A]@5E5;5b;5-5a el@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 173.10 m.J{JxJ0JJd:J9Jـ3JBj;Jj; ProNav: ac range: 173.100006 m, nav range: 86.786057 m, bearing: 35.407159 deg, approach rate: -0.117289 m/s, LOS rate: 0.384407 deg/s, cmd heading: 330.986951 deg, new cmd heading: 331.441153 deg. 2j<HeadingCmd: 5.784739 target range: 173.100006 and range: 173.10 m. j@jjzK:DLK 9KKK    BK:KqAH>IC I#IIBI&I.I6I,<:Ia FBICJICRIZI =bI =jI5ji hhhhfffrfbf%G^@ɛMʄBMB< IM8II Ub =ɚQiQIU5< =I]J4iYi])]@)a*F ?2F :FBFJFG nManaging dock network, ignoring radio surface power offGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.677771O >ޢw, A6@Y6^(@696P>y6H~?@w[?;Q?@?Ŀ?`?$U?ɨ6@6>!;6"Cy^B^#IIf IfV2٢n1 nN=9ry:Q r>pp rG٣pyv< v> zNusing accuracyPremultiplier from configx~59zec?~5Yz izZ?@zEz;zF;z/5  @ Zj9EFNOT Ignoring new targets: 173.10 m.BjEc;JjMc;] ProNav: ac range: 173.100006 m, nav range: 86.738060 m, bearing: 35.560361 deg, approach rate: -0.121756 m/s, LOS rate: 0.388852 deg/s, cmd heading: 331.441159 deg, new cmd heading: 331.901010 deg. 2j]n Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181885Pw,YޥAB4L@YB[@B9BяN>yBH?|3? f6?@Ŀ@?$?X?ɨB4L@B;B$CyNBR"I)T T5Mb@Mb@Mb@111 1)1Y5X9v?K7+y5?5I 55+A 1)5~AI5A1y5AIMIM2٢y 9=9 Q 5>AA EG٣AyMhd< }> Nusing accuracyPremultiplier from config59vc?5YJ iޘ"?:EI@EW;7;15B m@EZj9=FNOT Ignoring new targets: 173.10 m.BjE;JjE;} ProNav: ac range: 173.100006 m, nav range: 86.691559 m, bearing: 35.748029 deg, approach rate: -0.099205 m/s, LOS rate: 0.400583 deg/s, cmd heading: 331.901022 deg, new cmd heading: 332.464307 deg. 2j}u<HeadingCmd: 5.802597 target range: 173.100006 and range: 173.10 m. j߮@jjjihhhh Bfffrfbf`mA @ɛфB< 隍 I z =ɚiI =Iii]{)߮@)EE I*F=?2F9:F9BF=o0JF9GA GEqAeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.436151H>I Is#IIBI =&I.I?D6I3<:Ic FzKE-%MKE9KAKEKEJ}~J}zJyJyJ}{m:J}9JyJyJ}<;aJ}=;aJ}P:aJ}R:aGE  G B) OU >M0w,AF@YFn@Fi>9FM>yFH4?``?ቿUvW?yĿG?us?[?ɨF@FA;F%CyRuBR"IIZIZ2٢z{ z^=9z:Q ~>|| G٣TGy< >  Nusing accuracyPremultiplier from config 59 Fc?5Y m i zG@ E P ;  ; "35! %*@-EZjFNOT Ignoring new targets: 173.10 m.Bj;Jj; ProNav: ac range: 173.100006 m, nav range: 86.654518 m, bearing: 35.893823 deg, approach rate: -0.106076 m/s, LOS rate: 0.417699 deg/s, cmd heading: 332.464294 deg, new cmd heading: 332.901853 deg. 2jT<HeadingCmd: 5.810234 target range: 173.100006 and range: 173.10 m. jo@jjjihhhhfffrfbf` @ɛԄB< =I . =ɚi I =I &ii )o@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:28:41.1711 LVL= 18928, 30065, 26818, 32755, AGC= 58, IDX= 430, 0.00,-2.399, 3.128, 1.846, 2.846, PHS= 1.125, 0.328,-1.003, RAW= 51.8, -4.9, CAL= 55.6, -9.7, ROT= 94.4, 9.7 %Ygot valid direction response: 23:28:41.1711 LVL= 18928, 30065, 26818, 32755, AGC= 58, IDX= 430, 0.00,-2.399, 3.128, 1.846, 2.846, PHS= 1.125, 0.328,-1.003, RAW= 51.8, -4.9, CAL= 55.6, -9.7, ROT= 94.4, 9.7 5PDAT read: Bearing 94.4, 9.7 (Local) =~Local bearing/azimuth received: Bearing 94.4, 9.7 (Local) *F2F:FBFP5JFDAT read: Range 10 to 50 : 173.5 m (Round-trip 231.4 ms) speed 0.1 m/s ,DAT read: user:3246> BDAT read: Tx time:23:28:42.2856 $Ping request sent.Nbqg?% Ulx?)-\-IB?i-\-> ٢?u)kڜ}ʵ)3uI=iC?S:publishing transmit ping timeFpublishing direction and range info99 ?t? *6~?y )IGaBqO9>i )Ii ٢?u)kڜ}ʵ)Ii $?I} Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,يAyziBz"IEMb@Mb@Mb@AAA A)AYEjt?MbX9Ŀ+yE ?E!AEA E@)AIE7AAyEAI}I}㔳٢Y 1=9Q > G٣y > Nusing accuracyPremultiplier from config59c?5Y- i>&?:N@E;<;-55I M@UEkцv?k\ k k|ŊA:k-CBkW,CZkC"_?":I,+@kX@]@bE6}_@9 ?t? *6~?JkC?RkS*AϞL@rMF8Q@Gtb@HJ^?İ ai?ij[?"kljB*kgBkB^v?kB 2kVCkw?kA kVCkBkB? addTargetRange:: Added new target pos. range: 173.500000 m, deltaT: 3.779069 s, deltaX: 0.399994 m, approachRate: 0.105845 m/s, rangeRepo size: 4  Added new target pos. range: 173.500000 m, bearing: 49.939950 deg, lat: 36.904218 deg, lon: -122.120142 deg, deltaT: 3.779069 s, deltaX: 0.399994 m, approachRate: 0.105845 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 173.50 m.BjJjm ProNav: ac range: 173.500000 m, nav range: 84.966026 m, bearing: 43.598548 deg, approach rate: 0.000000 m/s, LOS rate: 0.417699 deg/s, cmd heading: 332.901863 deg, new cmd heading: 333.498193 deg. 2jiuHeadingCmd: 5.820642 target range: 173.500000 and range: 173.50 m. juB@jqjqjqiyhyhhhBfffrfe@bf=?ɛׄBۧ< ]I J =ɚiI%=I%i!i%K)-B@))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF3JFG G ?G ? I iG B O >Bw,lA6@Y6J@6#96d/@>y6H@?@?@S'?@¿U? ?n?ɨ6@6Wi;6#CyBdBB"IIJIJ2٢Vڼ Vs=9VIQ Z?XX ZG٣Xy^ = ^? bNusing accuracyPremultiplier from config`f59bc?f5Yb6 ibdhjKj@bEbv:b:b65l nE@pWill construct direction to contact in vehicle frame from tetrahedron phase data.]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 173.50 m.Bjm;Jjm;jHybH}<HI IT#IIʄBI =&I.I6I <:IF F ProNav: ac range: 173.500000 m, nav range: 84.963509 m, bearing: 43.743003 deg, approach rate: -0.007708 m/s, LOS rate: 0.442292 deg/s, cmd heading: 333.498193 deg, new cmd heading: 333.931562 deg. 2jŗ<HeadingCmd: 5.828205 target range: 173.500000 and range: 173.50 m. j@jjjihhhhJ}JyJJJ[j:J9JJJ;J;J:J:ff1f1rf9bf=I?zKuBoHKu9KqKuKuɛڄB< 隵hkI k =ɚiI=I,ii)@)*Fm?2Fi:FqBFuU0JFqGEGB O%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.,âw,N A:?0@Y:?@:'9:C>y:H@)??@ӽl?@Wÿ?K?}i?ɨ:?0@:7U;:"CycB"II- =$?I9I-(٢E9` M3=9MQ M>QQ UG٣UTGy]< ]> eNusing accuracyPremultiplier from configam59ec?m5Ye ieiI@eEeY;eв;e85B Z@޸EZjFNOT Ignoring new targets: 173.50 m.Bj;Jj; ProNav: ac range: 173.500000 m, nav range: 84.958084 m, bearing: 43.942186 deg, approach rate: -0.012097 m/s, LOS rate: 0.444226 deg/s, cmd heading: 333.931555 deg, new cmd heading: 334.529119 deg. 2jo<HeadingCmd: 5.838634 target range: 173.500000 and range: 173.50 m. jֺ@jjjihhhhfffrfbf?ɛ%݄B%x< !%rI) - =ɚ)i)I-=I5&i1i5帖)=ֺ@)9) =Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2223285tA -7Y-5tAy-B*Fe?2Fi:FiBFu_0JFqGe ޚGa Ga G9 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470580Tɢw,"'A:q@Y:X@:z9:6YG>y:H]L?E?)@? =ÿΓ??c?ɨ:q@:ﶌ;:#CyPR"I-fonly read 0 of 1 data item for BIT error. Device response is::TS,250108152.0, +10.9, 0.0,1493.3, 0  f@f f@f f@f  j@j IjIj٢7 U=9b9Q > G٣y< > =bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E595c?E5Y5| i5ƙE+:AE:EcGM@5E5';5>5:5q u]@qZjFNOT Ignoring new targets: 173.50 m.Bj;Jj; ProNav: ac range: 173.500000 m, nav range: 84.952049 m, bearing: 44.115618 deg, approach rate: -0.014957 m/s, LOS rate: 0.429873 deg/s, cmd heading: 334.529114 deg, new cmd heading: 335.049431 deg. 2j<HeadingCmd: 5.847716 target range: 173.500000 and range: 173.50 m. j} @jjjihhhhf)f1f1rf1bfMM#?ɛ}߄B}-8< 隅xI  =ɚiI=IM޾iIiU)U} @)QEa 5$?I1*F?2F:FBF]0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.722950HyIy I}A#II}BIy&Iy.Iy6I}4<:I}c FzK>`JK9KKKG% UOG B O= >>Тw,uAA>϶@Y>KƷ@>,39>_J>y>H`+p? ?$ڽ t? ZĿ?@ ?&_?ɨ>϶@>C;xx zG٣xy~< ~>  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config59c?5Y i :V:(E@E8;;D?;5! %.@%۸EZjIMFNOT Ignoring new targets: 173.50 m.BjU;JjU;e ProNav: ac range: 173.500000 m, nav range: 84.945129 m, bearing: 44.274931 deg, approach rate: -0.019374 m/s, LOS rate: 0.446087 deg/s, cmd heading: 335.049438 deg, new cmd heading: 335.527405 deg. 2jeE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226636JK KKK"KJE {JE {JA JA JE d:JE -9JA JA a @a @a @a @k֢w,ZA~g@Y~@~◼9~oL>y~H@ ??ýWB?ۤĿ ?V?t\?ɨ~g@~:;|y eB"I        Mb@Mb@Mb@ )Y(\?bX9ƿ~jty'?E6rA )hAIAyAII 2٢ͻ <=98Q > G٣TGy߆< > Nusing accuracyPremultiplier from config59bc?5YI i'T:.?:>H@’E;3;<5 mG@mݸEZjFNOT Ignoring new targets: 173.50 m.Bj;Jj; ProNav: ac range: 173.500000 m, nav range: 84.940971 m, bearing: 44.473431 deg, approach rate: -0.009227 m/s, LOS rate: 0.440499 deg/s, cmd heading: 335.527415 deg, new cmd heading: 336.122922 deg. 2j'<HeadingCmd: 5.866452 target range: 173.500000 and range: 173.50 m. j@jjjihhhh˄Bfffrfbf|@ɛ}BD< I g=ɚiI=I^վiiK)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478766*F2F:FBFo0JFG wG G ?G B O > I ’ܢw,stA6?4@Y6C@6 @96 M>y6H`ݯ?y9?@f1?^Ŀ ? _?Y?ɨ6?4@60;4yBpBB"IININ2٢V z= V`=9V _9Q V>XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`f59bGc?f5Yb ibUhjFj@bĒEb :bn:b>5nB n@nڸE~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730737ZHRH?AH%>I! I%;#II%BI% =&I!.I!6I%<:I%Q FB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 173.50 m.Bj,<Jj,< ProNav: ac range: 173.500000 m, nav range: 84.936218 m, bearing: 44.640093 deg, approach rate: -0.012882 m/s, LOS rate: 0.451722 deg/s, cmd heading: 336.122925 deg, new cmd heading: 336.622925 deg. 2j<HeadingCmd: 5.875178 target range: 173.500000 and range: 173.50 m. jv@jjjihhhhfff!rf!bf%v@ɛBB< 隝lI A=ɚiI)C=INоiiD)v@zKa3JKKKK)*FE?2FA:FIBFM1JFI"GU=GQGmvWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:28:44.9213 TRx dataTimestamp_ set to:1736378926.109027checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984102GA BQ O >xw,֎A>j@Y>Dz@>9>N>y>H??@߿ J?'ſ;? ?`W?ɨ>j@>1;>$CyFlBF"IiJ)>IJ%=IRIR2٢V ZJ=9Z`ȹQ Z>\\ ^G٣\yb< b> fNusing accuracyPremultiplier from configdj59fd?j5Yf ifhj`Dj@fƒEf :f:fV@5p r@pZj FNOT Ignoring new targets: 173.50 m.BjP <JjP <- ProNav: ac range: 173.500000 m, nav range: 84.929932 m, bearing: 44.824615 deg, approach rate: -0.016359 m/s, LOS rate: 0.480201 deg/s, cmd heading: 336.622923 deg, new cmd heading: 337.176512 deg. 2j-Ǥ<5HeadingCmd: 5.884840 target range: 173.500000 and range: 173.50 m. j5P@j1j1j1i1h1h9h9h9fAfAfArfAbfE`v @ɛuB}Ht< y}JzIy }8=ɚiI=I˾ii )P@)  $?I*FU?2FQ:FQBFU5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235509JJwJJJs:J9JJG銝GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ѥw,rABDAT read: 23:28:44.9213 LVL= 14656, 24657, 18002, 25875, AGC= 61, IDX= 447,-0.41,-2.870, 2.427, 1.259, 2.215, PHS= 1.287, 0.259,-0.959, RAW= 57.2, -6.1, CAL= 63.3, -11.8, ROT= 86.7, 11.8 FYgot valid direction response: 23:28:44.9213 LVL= 14656, 24657, 18002, 25875, AGC= 61, IDX= 447,-0.41,-2.870, 2.427, 1.259, 2.215, PHS= 1.287, 0.259,-0.959, RAW= 57.2, -6.1, CAL= 63.3, -11.8, ROT= 86.7, 11.8 ^PDAT read: Bearing 86.7, 11.8 (Local) ^~Local bearing/azimuth received: Bearing 86.7, 11.8 (Local) jDAT read: Range 10 to 50 : 173.6 m (Round-trip 231.5 ms) speed 0.0 m/s ~,DAT read: user:3247> BDAT read: Tx time:23:28:46.0357  $Ping request sent. y]H`?e?Y`>߿@g?@}ſ`??T?ɨ]P@]ډ;] C>ur?^ ڽ i?)BRI?iBR>X?L쿡" )IITo=ih9?i:publishing transmit ping time Fpublishing direction and range info9V[?XNU?AV?y )yޝBޝ"IIi )IiX?L쿡" )IiMb@Mb@Mb@ )Yx&?ktƿL7A`堿y7)? 0+ @)AI AyAI5I5(٢ev= m=9m-9Q m>qq uG٣uTGyu|< }> Nusing accuracyPremultiplier from configy59}d?5Y}G i}š/?:?@}ɒE};};}B5 @׸Ek=تs?kE k kKA:k-CBkq,CZkd?"s/@")8Z@e,ū.a@V[?XNU?AV?Jkh9?Rki*SG@mM@.\c@f?PԪ?e??"klB*kx>Bkn~s?k 2k\^Cke1w?kkWCk&BkveJ? addTargetRange:: Added new target pos. range: 173.600006 m, deltaT: 3.528228 s, deltaX: 0.100006 m, approachRate: 0.028345 m/s, rangeRepo size: 4  Added new target pos. range: 173.600006 m, bearing: 51.166265 deg, lat: 36.904214 deg, lon: -122.120142 deg, deltaT: 3.528228 s, deltaX: 0.100006 m, approachRate: 0.028345 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 173.60 m.BjJj E ProNav: ac range: 173.600006 m, nav range: 84.575516 m, bearing: 45.298654 deg, approach rate: 0.000000 m/s, LOS rate: 0.480201 deg/s, cmd heading: 337.176523 deg, new cmd heading: 337.981327 deg. 2jAMHeadingCmd: 5.898887 target range: 173.600006 and range: 173.60 m. jMü@jIjIjIiIhQhQhyh}܄Bfyfyfrf@3e@bf?ɛB< *YWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:28:46.0349 H)I) I-H#II-BI)&I).I-@D6I-(<:I-\ FBIƪCJIƪCRIZI =bI =jI 25I u'=ɚqiqIu=I}ľiyi})}ü@)JJAAzK% K% 9K! K% K% RK= ?JK= ?*FM ?2FI :FI BFM 0JFI Gu <GABaO>w,+NjAWill construct direction to contact in vehicle frame from tetrahedron phase data.^j@Y^@^19^Q>y^Hp?`?@*`޿ց?zſE??T?ɨ^j@^\ĉ;^$Cy~B~#II I q٢4= \=9Q >!! %G٣!y->< -> 5Nusing accuracyPremultiplier from config1=595(d?E5Y5 i5IM4>U@5˒E5;5F;5BD5i u'@yZjFNOT Ignoring new targets: 173.60 m.Bj <Jj Will construct direction to contact in vehicle frame from tetrahedron phase data.J}J|JJJ[j:J@9JJw,A6 $@Y63@6^G96M>y6H$?@?@'ͼn޿?@rHſ@Ȕ?Ɛ?@7Y?ɨ6 $@6(;6#CyNBN#I)P P5Mb@Mb@Mb@111 1)1Y5v/?w/ĿS㥛y5x)?5&5/ݼ5A 1)5hAI57A1y5QAIUIU٢emh= eF=9ejQ e>ii mG٣iyu< u> }Nusing accuracyPremultiplier from configy59}{:d?5Y} i}.?:l9@}͒E}f;};}F5B n@ԸEZjY]FNOT Ignoring new targets: 173.60 m.Bjeg<Jjeg< ProNav: ac range: 173.600006 m, nav range: 84.552063 m, bearing: 45.660663 deg, approach rate: -0.033950 m/s, LOS rate: 0.449039 deg/s, cmd heading: 338.495952 deg, new cmd heading: 339.067491 deg. 2j<HeadingCmd: 5.917844 target range: 173.600006 and range: 173.60 m. j^@jjjihhhhBfffrfbfa?5Will construct direction to contact in vehicle frame from tetrahedron phase data.5=5=ɛmBu< qu~8Iq u+=ɚqiyI}'=I} ii<)^@)*F2F:FBF3JF "$?IG LG B jH bH 4<H >I  I a#II ԄBI  =&I .I 6I 4<:I f F Will construct direction to contact in vehicle frame from tetrahedron phase data.O >uw,A:a@Y:p@:9:pP>y:HHA? &? ޿x?ſ7?`z?@T?ɨ:a@:;:$CyBBF&#IININ(٢Z= ZV=9^pQ ^>\` bG٣bTGyb< b> jNusing accuracyPremultiplier from configdj59fJd?j5Yf3 if5lnu7n@fϒEf. ;f ;fG5p vk@tzK~BoHK~ 9K|K~K~B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 173.60 m.Bj- <Jj- EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.  I iSw,IJA2x@Y2@23%92S>y2Hf?9?`ytݿ?ƿ`3D?mM?`3O?ɨ2x@2Պ;2&CyNBR.#IIZIZͳ٢bW< bI=9b^Q b>dd fG٣dyj< j> nNusing accuracyPremultiplier from confighr59j\d?r5Yj ij[pr4v@jҒEj;j1;jI5x z@zӸEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710708ZjFNOT Ignoring new targets: 173.60 m.Bj%A;Jj%A;5 ProNav: ac range: 173.600006 m, nav range: 84.520340 m, bearing: 46.022937 deg, approach rate: -0.039677 m/s, LOS rate: 0.428840 deg/s, cmd heading: 339.594437 deg, new cmd heading: 340.154493 deg. 2j5'<=HeadingCmd: 5.936816 target range: 173.600006 and range: 173.60 m. jEe@jAjAjAiAhAhAhIhIfIfIfQJzJ{JJJ`:J-9JJrfybf0?ɛMBMFa< QUIQ Un=ɚQiQIUE=I]ZWiiC)e@)*F2F:FBFY0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962775G] #Ge pAGa G9 BI Oe >! w,ͭ.A6@Y6 @6(ꪼ96vy6H? ? Lܿ?lƿ`\?t?GM?ɨ6@6;6#Cy>B>D#IiB>IB> F=F=UMb@Mb@Mb@QQQ Q)QYU(\?K7Zd;OyU'?UI UjQ Q)QIUAQyU(AIuIub1٢}= >=9d;Q > #$?I G٣yt< > Nusing accuracyPremultiplier from config59od?5Y i|h+?:)@ԒE;^;dK5 @ZjFNOT Ignoring new targets: 173.60 m.Bj2 <Jj2 <  ProNav: ac range: 173.600006 m, nav range: 84.490807 m, bearing: 46.218009 deg, approach rate: -0.073671 m/s, LOS rate: 0.486778 deg/s, cmd heading: 340.154486 deg, new cmd heading: 340.739884 deg. 2j <HeadingCmd: 5.947033 target range: 173.600006 and range: 173.60 m. jN@jjjihhh!h%(Bf!f)f)rf)bf-}@ɛUB]:< Y]IY ]Wn=ɚYiaIet=Im$iiimN)uN@)qHe>Ia Ie#IIeBIa&Ia.Ia6IeA<:Iem F*Fy2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222188zKaKe9KaKeKeGIJGy B O >Gw,hHA"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475625ZHH@YZW@Zgթ9ZcW>yZH@?_?` gܿ?@ƿ@I:?N? I?ɨZHH@Z9l;XybЄBb[#IInIn̍٢v= vU=9z9Q z>xx ~G٣~TGy< > Nusing accuracyPremultiplier from config59d?5Y i'@֒E;X;!M5B @иEZjFNOT Ignoring new targets: 173.60 m.BjR<JjR< ProNav: ac range: 173.600006 m, nav range: 84.462044 m, bearing: 46.397684 deg, approach rate: -0.072373 m/s, LOS rate: 0.452250 deg/s, cmd heading: 340.739887 deg, new cmd heading: 341.279078 deg. 2j0<HeadingCmd: 5.956444 target range: 173.600006 and range: 173.60 m. j0@jjjihhhhfffrf bf @ɛ5B5< 9=I9 =,=ɚ9i9I==IEJiAiE)M0@)I*F?2F:FBF0JF $$?IG|uA Y |uAy BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726786G.qGB O >J J J J J s:J y9J J :,w,oGbA:@Y: @:i9:ĨY>y:H@S?^?`d`ۿ9?4ǿ̔?W?E?ɨ:@:j;:"Cy^Bbs#IMMb@Mb@Mb@III I)IYM)\(?zGế~jtyMG!?M ׽MDMA M@)IIIIyMzAIeIeF٢uL= uB=9}:Q }> G٣yl< > Nusing accuracyPremultiplier from config59d?5Y i#?:@ؒE;;N5 @͸EZjq}FNOT Ignoring new targets: 173.60 m.Bj};Jj}; ProNav: ac range: 173.600006 m, nav range: 84.422981 m, bearing: 46.570875 deg, approach rate: -0.091769 m/s, LOS rate: 0.407065 deg/s, cmd heading: 341.279090 deg, new cmd heading: 341.798888 deg. 2j<HeadingCmd: 5.965516 target range: 173.600006 and range: 173.60 m. j@jjjihhhhXBfff rfbf,@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979364ɛB;< 隅Iy  I} #II} BI} =&Iy .I} ?D6I} F<:I} o FG G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:28:48.6710  TRx dataTimestamp_ set to:1736378929.897351 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232830Gy B O >5Uw,|A:@Y:6@:69:4&Z>y:H@@?@t?6û`QۿW?_ǿ`?`?E?ɨ:@:IȈ;:$CyFBF#I)L LIV IV(2٢Z= ^W=9^/Q ^>`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn59jfd?n5Yj]! ijln9r@jڒEj\ ;j;jP5t v@t B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 173.60 m.Bj-<Jj-<= ProNav: ac range: 173.600006 m, nav range: 84.384872 m, bearing: 46.733218 deg, approach rate: -0.105820 m/s, LOS rate: 0.450995 deg/s, cmd heading: 341.798895 deg, new cmd heading: 342.286131 deg. 2j= @zKYK]+9KYK]K]ɛBSb< 隕`I  =ɚiI&=IJii),+@)*F2F:FBF05JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.482672GGBO> m %$?Ii vA%w,F A%35@Y%D@%T9%[>y%H??@i8ڿ w? 9ǿ?@[ BDAT read: Tx time:23:28:49.7857 $Ping request sent.ٵDLٵC?ٵ ڵ?)ڵIڵ?iڵ>ڱڱ۵,gk?PN:1P/¿)۵NsI۵+>i۵.o?۵=;۱۱E:publishing transmit ping timeEFpublishing direction and range infoر9ص#iQ?Tζh?uN?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵,gk?PN:1P/¿)۱I۱i۱۱۱۱٢ui-= u1=9}w9Q }>yy }G٣TGy< > Nusing accuracyPremultiplier from config59d?5Y! iћ@ܒE::R5B @ʸEk^LMp?k k klA:kf-CBk>,CZkU?"R+.3@]ŭU@Xb@#iQ?Tζh?uN?Jk.o?Rk=;*vA@|n=XC@UZd@̩,w,fڴAR.|@YR@RQ9Rq\>yRHl.?"_?&:ڿq?Uǿ f@?\V?@.A?ɨR.|@Rq;R"CynBn#IH~>IC I#II?BI =&I.I6Ig<:I FeWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}ʡE?V-~jtxy}?}h}Ļ}A y)}~AIyyy}GAII٢= &=9Q > G٣yR< >J J zJ 1J J J 9J 3J J ;aJ ;aJ P:aJ Q:a %Nusing accuracyPremultiplier from config!-59%d?-5Y% ! i%ٛ-?5:5K5@%ߒE%/;%;%T5a eh@aZjFNOT Ignoring new targets: 173.40 m.BjW<JjW< ProNav: ac range: 173.399994 m, nav range: 82.179626 m, bearing: 48.730897 deg, approach rate: -0.139967 m/s, LOS rate: 0.508272 deg/s, cmd heading: 343.032509 deg, new cmd heading: 343.669897 deg. 2ji<HeadingCmd: 5.998171 target range: 173.399994 and range: 173.40 m. j@jjjihhhh5Bf9f9f9rf9bf=@ ?ɛeBmr = im#=Ii m =ɚiiqIu =IV푾ii7)@)zK5BHK5h9K1K5K5*F ?2F:FBFP5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GM ᷽G) B9 OU >x3w,PΌA2M˴@Y2ڻ@2wj92&^>y2H kN? ?QIٿ G?+ȿ̕??*>?ɨ2M˴@2rԈ;2$CyN$BR#IiV4=IV=InIn@٢= c=9ºQ > G٣yw< > &$?I Nusing accuracyPremultiplier from config59d?5Y! tIiߛ@E2;2;MV5 @ǸEZjFNOT Ignoring new targets: 173.40 m.Bj;Jj;  ProNav: ac range: 173.399994 m, nav range: 82.136894 m, bearing: 48.880775 deg, approach rate: -0.123888 m/s, LOS rate: 0.434748 deg/s, cmd heading: 343.669902 deg, new cmd heading: 344.119761 deg. 2j.<HeadingCmd: 6.006023 target range: 173.399994 and range: 173.40 m. jW1@jjjihh!h!h!f!f)f)rf)bf-H?ɛ]B]r= Y]}=Ia e~7=ɚaiaIe7=Im@荾iiim\)mW1@)*Fm?2Fi:FiBFm\0JFiGUG?Will construct direction to contact in vehicle frame from tetrahedron phase data.GB)OmW>e9w,mAV`@YVo@V<9V^>yVH ?@?`Gؿ 2?dȿ ??w G٣TGy)= > Nusing accuracyPremultiplier from config59d?5Y! iٛ?:,龑@E; ;6X5B @ZjFNOT Ignoring new targets: 173.40 m.Bj;Jj; ProNav: ac range: 173.399994 m, nav range: 82.071396 m, bearing: 49.052081 deg, approach rate: -0.149580 m/s, LOS rate: 0.391526 deg/s, cmd heading: 344.119766 deg, new cmd heading: 344.634078 deg. 2jY<HeadingCmd: 6.014999 target range: 173.399994 and range: 173.40 m. jz@jjjihh!h!h%Bf!f)f)rf)bf5H_?ɛ]Be4= e%I I$IIhBI =&I.I6Ik<:IBIJIRIZIbIjI5Will construct direction to contact in vehicle frame from tetrahedron phase data.J |J J 0J J ;g:J 59J ـ3J J Պ;J ׊;J ;J ;G JG ?G ?G B O >zK K 9K K K  N@w,DABV@YBż@BR9B_>yBH`A??#׿l?!ȿ@?@? n;?ɨBV@B;B#CyN yIy Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003008]Fw,%#A:w@Y:"@:^9:a>y:H? r?@K׿`#?` ɿՖ? '? 7?ɨ:w@:;:!CyBBBB#I)H HHJAIeIe<٢<  7=9=:Q =>II uG٣qy[< > Nusing accuracyPremultiplier from config59e?5Y! iΛ%ݾ%@E<P<[5i @ĸEZjFNOT Ignoring new targets: 173.40 m.Bj;Jj; ProNav: ac range: 173.399994 m, nav range: 81.944649 m, bearing: 49.367694 deg, approach rate: -0.149764 m/s, LOS rate: 0.368200 deg/s, cmd heading: 345.037279 deg, new cmd heading: 345.581633 deg. 2j|Lw,&5A2u@Y2@292 Hb>y2H? ?@ڸֿ*D?"Lɿ"? ?`6?ɨ2u@2;2"Cy>PB>#I%Mb@Mb@Mb@!!! !)!Y%M?Mb`~jtx?y%n?%%;%A %@)!I!!y%GAI=I=V٢MG= MW=9M:Q U>QQ UGHaIa IeB$IIeBIe =&Ia.Ia6Ieկ<:Ie F٣UTGyp= > Nusing accuracyPremultiplier from config59'e?5Y! ip?:5@Eg<hg<a]59 =@9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507059ZjFNOT Ignoring new targets: 173.40 m.Bj3;Jj3; ProNav: ac range: 173.399994 m, nav range: 81.872841 m, bearing: 49.508998 deg, approach rate: -0.200817 m/s, LOS rate: 0.395516 deg/s, cmd heading: 345.581645 deg, new cmd heading: 346.005921 deg. 2j<HeadingCmd: 6.038942 target range: 173.399994 and range: 173.40 m. j?@jjjihhhhBfffrfbfV@J5@AJ1J=~J=yJ9J9J={m:J=9J9J9J=<;J==;J=:J=:ɛB)= >I X=ɚiI=Izii=)?@)zKJK9KKK  #]|gH1!RK?JK?E5<*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=2.759540 U *$?IY GMᣥG!B1OU?DUw,3VA68Ķ@Y6ӽ@6B96t`>y6Hw ?3?8@ֿwa?@4ɿ'? ?:?ɨ68Ķ@6;6$Cy>SB>#IIJIJ 2٢N|-< R*=9R$Q R>TT VG٣TyZ^< Z> ^Nusing accuracyPremultiplier from config\b59^IQ U=ɚQiQIUB=I]dpii )@)EZ<*Fm?2Fi:FiBFiJFi Will construct direction to contact in vehicle frame from tetrahedron phase data.% >% <- BDAT read: Rx Time:23:28:52.4203 5 TRx dataTimestamp_ set to:1736378933.678376= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266357G} vGQ BY O} >g[w,oA>f"@Y>1@>b9>uQ`>y>H@o*?k?@]dPտ? Yɿc?S?s:?ɨ>f"@>很;>#CyFZBF$I I5Mb@Mb@Mb@111 1)1Y5Dl?ai mG٣iym< m> }Nusing accuracyPremultiplier from configq59uzOe?5YuG! iuf ?:.@uEuM;;u ;uHa5 G@Zj9EFNOT Ignoring new targets: 173.40 m.BjE;JjE;u ProNav: ac range: 173.399994 m, nav range: 81.691887 m, bearing: 49.837285 deg, approach rate: -0.210689 m/s, LOS rate: 0.358266 deg/s, cmd heading: 346.534074 deg, new cmd heading: 346.991844 deg. 2j}u<}HeadingCmd: 6.056150 target range: 173.399994 and range: 173.40 m. j@jjjihhhhBfffrfbf| @ɛBA*= ^ >I z=ɚiI=I%{hi!i%J)%@))E1E1*E1"E1ZHiRHm?AHu{>Iq Iu[$IIuBIq&Iq.Iq6Iu <:Iu? FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516612*J]C="J]4=Je}Je{JaJaJe[j:Je-9JaJaJe;Je;Je:Je:*F?2F:FBFJFzKM 49MKM 9KI KM KM  $,2421/,,++($#   G = Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:28:52.4203 LVL= 16736, 24737, 19266, 28083, AGC= 60, IDX= 436,-0.38, 2.138, 0.610, 0.150, 0.865, PHS= 1.361,-0.208,-0.718, RAW= 76.4, -4.7, CAL= 84.7, -11.2, ROT= 65.3, 11.2 G B O >Kcw, AYgot valid direction response: 23:28:52.4203 LVL= 16736, 24737, 19266, 28083, AGC= 60, IDX= 436,-0.38, 2.138, 0.610, 0.150, 0.865, PHS= 1.361,-0.208,-0.718, RAW= 76.4, -4.7, CAL= 84.7, -11.2, ROT= 65.3, 11.2 PDAT read: Bearing 65.3, 11.2 (Local) ~Local bearing/azimuth received: Bearing 65.3, 11.2 (Local) DAT read: Range 10 to 50 : 172.8 m (Round-trip 230.4 ms) speed 0.1 m/s ,DAT read: user:3249> BDAT read: Tx time:23:28:53.5357 $Ping request sent.zGm?;"Q. W贿)BI\u=iގ?}}:publishing transmit ping timeFpublishing direction and range info9Rdgγ?r+ ?J4?y )Ii )IizGm?;"Q. W贿)IiyEYBE$II] +$?II](2٢i &=9Q > G٣TGy > Nusing accuracyPremultiplier from config%59bee?%5Yz! i!)-@EZ5<o5<qc51 5_@5Ekig?k~b: k kA:k,CBk+CZkז?"k|6@ ]akL@Lcd@Rdgγ?r+ ?J4?Jkގ?Rk}*W9@\d2@?5te@Zڣ?2ez6v?b俛?"kKA*kq@k;kg?kz7 2kNnCkn~s?k k\^CkBkj%t? addTargetRange:: Added new target pos. range: 172.800003 m, deltaT: 3.780339 s, deltaX: -0.599991 m, approachRate: -0.158714 m/s, rangeRepo size: 4 )i i5GIY sYyB Added new target pos. range: 172.800003 m, bearing: 67.521135 deg, lat: 36.904107 deg, lon: -122.120153 deg, deltaT: 3.780339 s, deltaX: -0.599991 m, approachRate: -0.158714 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 172.80 m.BjJj ProNav: ac range: 172.800003 m, nav range: 75.471054 m, bearing: 54.642750 deg, approach rate: 0.000000 m/s, LOS rate: 0.358266 deg/s, cmd heading: 346.991833 deg, new cmd heading: 347.534533 deg. 2jHeadingCmd: 6.065622 target range: 172.800003 and range: 172.80 m. j@jjjihhhhfffrfe@bf 4?ɛBt"= 隽=I =ɚiI, =I^iyiw,"AEWill construct direction to contact in vehicle frame from tetrahedron phase data.@YϾ@ 9\>yH]?n?`㵿 :&Կ?2:ɿ?@b?@@?ɨ@&;騵$Cy[B$IMb@Mb@Mb@ )YˡE?Mb?{Gzt?y?=ף;AA )hAIAyAII٢< '=9M;Q > G٣y Z"= 9I9 m> uNusing accuracyPremultiplier from configq}59uze?}5YuL!! ium0?:놾@uEu;u;ue5B F@E5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 172.80 m.BjmV;JjmV;} ProNav: ac range: 172.800003 m, nav range: 75.379692 m, bearing: 54.831746 deg, approach rate: -0.186861 m/s, LOS rate: 0.387016 deg/s, cmd heading: 347.534532 deg, new cmd heading: 348.102186 deg. 2j}̈́<HeadingCmd: 6.075529 target range: 172.800003 and range: 172.80 m. jj@jjjihhhhօBfffrfbf G?ɛ%B-<'= )-t=I) -=ɚ)i1I5, =I5Ti9i=W)=j@)9H9I9 I=m$II=BI9&I9.I96I=<:I=H F*Fu?2Fq:FqBFuj0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G YGI BY Ou >pw,AzKbzMKb9K`KbKb  <[oz@Yi@¡9U>yH n?@?ӿ ? uȿ`8?ނ?L?ɨ@Έ;#Cy-RB-#II=I=(*٢Mj M=9M&Q U?QQ UG٣Qy]< ]? eNusing accuracyPremultiplier from configam59ee?m5Ye]"! ie`quju@eEeQ:e<:ef5}B }@ZjFNOT Ignoring new targets: 172.80 m.Bju;Jju; ProNav: ac range: 172.800003 m, nav range: 75.324036 m, bearing: 54.945506 deg, approach rate: -0.197003 m/s, LOS rate: 0.402966 deg/s, cmd heading: 348.102176 deg, new cmd heading: 348.443705 deg. 2jF<HeadingCmd: 6.081490 target range: 172.800003 and range: 172.80 m. j@jjjihhhhfffrfbf?ɛ B-(=  =I  [=ɚ i I  =I4Nii)@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.983528*F2F:FBFA5JF =,$?IAG-3GGpAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235840vw,܍AJBJB}J@J@JBv:JBS9J@J@aJ@aJ@aJ@aJ@~S@Y~Cc@~9~]U>y~H@?f?iR`1 ӿ@?3ȿ Ձ?7y?ZM?ɨ~S@~3 ;~!Cy LB#Ii=It> ==I%I%W٢E MI=9U:Q ]>ai mG٣mTGymC< m> Nusing accuracyPremultiplier from configq59uʙe?5Yu#! iuM  8{@uEugS -$?I |w,}A>x@Y>@>9>xpU>y>H?(? ?s`ckҿ?ȿ?@{?uM?ɨ>x@>u;>"CyFJBF#I%Mb@Mb@Mb@!!! !)!Y%K7A`?aa eG٣aym-< m> uNusing accuracyPremultiplier from configi}59mse?}5Ym9%! imD} ?:@mEmQ;m;mxj5 Z@ZjFNOT Ignoring new targets: 172.80 m.Bj<Jj< ProNav: ac range: 172.800003 m, nav range: 75.172020 m, bearing: 55.255777 deg, approach rate: -0.227961 m/s, LOS rate: 0.477759 deg/s, cmd heading: 348.909340 deg, new cmd heading: 349.375444 deg. 2j<HeadingCmd: 6.097752 target range: 172.800003 and range: 172.80 m. j @jjjihhhhBfffrfbf?HAIA IEg$IIEBIA&IA.IA6IE<:IE+ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739375ɛ%'B%ń= )-L=I) m^C=ɚiiiIuN =Iu\=iyi}捽)} @)y*J4="Jp=*F!2F!:F!BF%\0JF!zK5اNK5]9K1K5K5{tmfbbYVSPLHD?:40,&"!%i}hWI<2-)! BKA:KEpAGM ۂG! B9 Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993440c郣w,hAJ@YJ) @Ju9JU>yJH b?`pp rG٣pyv< v> zNusing accuracyPremultiplier from configt~59ve?~5Yv&! iv<|~~@vEv ;v ;v+l5  @ EZj9=FNOT Ignoring new targets: 172.80 m.BjE;JjE;U ProNav: ac range: 172.800003 m, nav range: 75.098419 m, bearing: 55.406629 deg, approach rate: -0.188835 m/s, LOS rate: 0.387414 deg/s, cmd heading: 349.375432 deg, new cmd heading: 349.828422 deg. 2jU<]HeadingCmd: 6.105658 target range: 172.800003 and range: 172.80 m. j]a@jYjYjaiahahahahifififirfibfu @ɛ*B7O = 隥Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243366JK KKK"KJJ~JJJp:Jf9JJw,E*ANM@YN\@NWK9NV>yNHx?@?#K/ѿ`),?:ɿj?`l?4L?ɨNM@Nw~;N%CyZ$BZ#I)\ \5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495440UMb@Mb@Mb@QQQ Q)QYU rh?~jth G٣TGyF< > 5Nusing accuracyPremultiplier from config1=595^e?=5Y5L(! i5G=W ?=:EqE@5E5;5^;5n5i m@mEZjFNOT Ignoring new targets: 172.80 m.Bj;Jj; ProNav: ac range: 172.800003 m, nav range: 75.019463 m, bearing: 55.581534 deg, approach rate: -0.174208 m/s, LOS rate: 0.386313 deg/s, cmd heading: 349.828410 deg, new cmd heading: 350.353664 deg. 2j<HeadingCmd: 6.114825 target range: 172.800003 and range: 172.80 m. j@jjj!i)h)h)h)h5vBf1f1f1rf1bf=@ .$?Iɛ].Be(= aeIa e;=ɚaiiImj=Imf,iqiu6)u@)qEErA*F2F:FBFJFG! G!H=z>I9 I=N$II=BI9&I9.I96I=<:I=F FBIǩCJIǩCRIZI =bI =jIǟf4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747398J AAJ G= rG B O- >w,DAy~B~#III(*2٢%  %Q=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=e?E5Y=)! i=OAAM@=E=:=:=o5Q U8@QzK]TNK]h9KYK] K]   RKe?JKe?B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 172.80 m.Bj=;Jj=; ProNav: ac range: 172.800003 m, nav range: 74.954224 m, bearing: 55.727514 deg, approach rate: -0.178977 m/s, LOS rate: 0.400831 deg/s, cmd heading: 350.353652 deg, new cmd heading: 350.791964 deg. 2j<HeadingCmd: 6.122475 target range: 172.800003 and range: 172.80 m. jP@jjjihhhhfffrfbf@@ɛ1B< "I =ɚiIE=IX$iiU')P@)*Fu?2Fy:FyBF}0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.999977G]jG!B1O]2> /$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:28:56.1695  TRx dataTimestamp_ set to:1736378937.456604 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2532198"w,]A2@Y2@2:92gU>y2H?":?@ݮ@п`.Q?:cɿ`X?`͂?@ N?ɨ2@2߈;2$CyB BB#IJR~JR}JPJPJR{m:JRS9JPJPIJIJ ٢) C=9 G٣y-= > Nusing accuracyPremultiplier from config59e?5Y>+! i[=@E;;q5B %g@%EZj1EFNOT Ignoring new targets: 172.80 m.Bj};Jj}; ProNav: ac range: 172.800003 m, nav range: 74.875931 m, bearing: 55.894504 deg, approach rate: -0.170954 m/s, LOS rate: 0.365007 deg/s, cmd heading: 350.791959 deg, new cmd heading: 351.293440 deg. 2jz<=HeadingCmd: 6.131227 target range: 172.800003 and range: 172.80 m. jE3@jajijiiihihihqhqfqfqfqrfybf}w @ɛ5Bv>< pI =ɚiI=Iii)3@)*F?2F:FBFo0JF"G=G=]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.504695 I G 3\G pAG qAG B! Om >*\w,5 xAy=B=#IiE,>IEp=HI I"$IIrBI =&I.I6I2<:IZ FMb@Mb@Mb@ )Ym?:vX9vy?TA @)QAIy AI}I}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:28:56.1695 LVL= 17360, 26769, 22130, 31731, AGC= 61, IDX= 427,-0.12,-0.158,-1.777,-1.910,-1.281, PHS= 1.212,-0.449,-0.632, RAW= 84.8, -1.5, CAL= 92.2, -6.8, ROT= 57.8, 6.8 Ygot valid direction response: 23:28:56.1695 LVL= 17360, 26769, 22130, 31731, AGC= 61, IDX= 427,-0.12,-0.158,-1.777,-1.910,-1.281, PHS= 1.212,-0.449,-0.632, RAW= 84.8, -1.5, CAL= 92.2, -6.8, ROT= 57.8, 6.8 PDAT read: Bearing 57.8, 6.8 (Local) ~Local bearing/azimuth received: Bearing 57.8, 6.8 (Local) DAT read: Range 10 to 50 : 172.1 m (Round-trip 229.5 ms) speed 0.0 m/s ,DAT read: user:3250> %BDAT read: Tx time:23:28:57.2858 %$Ping request sent.%yy }G٣}TGy} }>۩۩:publishing transmit ping time!Fpublishing direction and range infoة9حVr]qcI?;AZ?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکک Nusing accuracyPremultiplier from config 59  f?5Y -! i n?:@ E r; M; s5کۭ؝nl&?btϮl⿙}(u)۩I۩i۩۩۩۩ A@kzb?km%! k k4}A:k,CBk*CZkyG@"Բz (ɸ@@.e@Vr]qcI?;AZ?Jk?Rk$E*¯#n 1?j̤ye@m.0#]?D2?"k>*kknڿb?km_%! 2kMnCkap?k2 kgCkxMBki? addTargetRange:: Added new target pos. range: 172.100006 m, deltaT: 3.782636 s, deltaX: -0.699997 m, approachRate: -0.185055 m/s, rangeRepo size: 4  Added new target pos. range: 172.100006 m, bearing: 178.218663 deg, lat: 36.904014 deg, lon: -122.120394 deg, deltaT: 3.782636 s, deltaX: -0.699997 m, approachRate: -0.185055 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 172.10 m.BjuJjq% ProNav: ac range: 172.100006 m, nav range: 51.367630 m, bearing: 52.271459 deg, approach rate: 0.000000 m/s, LOS rate: 0.365007 deg/s, cmd heading: 351.293431 deg, new cmd heading: 351.831666 deg. 2j)-HeadingCmd: 6.140621 target range: 172.100006 and range: 172.10 m. j-@j1j1j1zK5ؐLK1K1K5 K5 .-4)k4 i1hIhQhqhuDBfyfyfyrf}@3e@bf}3?ɛ:BT< I  F=ɚ i I =I]`iYi]ϗ)]@)a*F% ?2F! :F! BF% `0JF) M Will construct direction to contact in vehicle frame from tetrahedron phase data.U %=U %=U JDAT read: TxSync time:23:28:57.2850 0$?I G bGBO>w,9dAN@YN/@NZ9NDS>yNH$?X?@ ffͿ}?Rbɿ^s?@8?-R?ɨN@N,j;N"CyVBV{#IIbIb̍٢j jJ=9n!lp rG٣pyr_= r> zNusing accuracyPremultiplier from configtz59vcf?~5YvM/! iv|~~@vEv:v:vau5 v@ EZj15FNOT Ignoring new targets: 172.10 m.Bj=W?<Jj=W? Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,A6fʺ@Y6@6{96|U>y6H 0?7? |̿?ɿOo?q? 6O?ɨ6fʺ@6lI;6$CyBԄBB`#I PIPMb@Mb@Mb@ )YM?ˡEyn?̽'A )IyAI5I5٢EKӽ MD=9M ;Q M>QQ UG٣QyU }< > Nusing accuracyPremultiplier from config59-f?5Y1! iћ?:¾@EQ;;Ew5 @EZjIMFNOT Ignoring new targets: 172.10 m.Bjub0<Jjub0< ProNav: ac range: 172.100006 m, nav range: 51.227036 m, bearing: 52.768960 deg, approach rate: -0.153651 m/s, LOS rate: 0.616824 deg/s, cmd heading: 352.515735 deg, new cmd heading: 353.326137 deg. 2j<HeadingCmd: 6.166705 target range: 172.100006 and range: 172.10 m. jU@jjjihhhhBfffrfbf:?ɛ5@B5d< 9=WI9 =>!=ɚ9i9IE=IPii)U@)E*F2F:FBFJFGqA GqAHy>IC I#IIDBI&I.I6I<:I9 F%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!G TG B O >zK= NK= 9K9 K=  K= w,ʎA>}@Y>@>N9>Q>y>H`_:? G?"Lf˿)?`Wɿi??lT?ɨ>}@>];>#CyJÄBJK#I)P PTVAIbIb٢v@ zP=9~:Q ~>    G٣ TGy:Z< > Nusing accuracyPremultiplier from config-59/?f?55Y3! i1=,=@E;;x5I M@UEmB*** querying acoustic contact ***jiji}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZjFNOT Ignoring new targets: 172.10 m.BjO2<JjO2< ProNav: ac range: 172.100006 m, nav range: 51.168049 m, bearing: 53.005269 deg, approach rate: -0.155472 m/s, LOS rate: 0.623560 deg/s, cmd heading: 353.326150 deg, new cmd heading: 354.035856 deg. 2jθw,cA'%@Y4@ @9{P>yHD??`A7˿@?@Cɿ@(P? ?V?ɨ'%@߈;$Cy]B]B#IMb@Mb@Mb@ )Yv?M¿&1y?nPA )hAIhAy=AII%x٢߼ #=9:;Q > G٣yF?< > Nusing accuracyPremultiplier from config59Vf?5Y37! iN?:>۾@EM;;9;{5 B a@ EZj15FNOT Ignoring new targets: 172.10 m.Bj=A<Jj=AjH <bH 4<H I  I #II BI &I .I >D6I <:I F- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998540[w,AJfJfJdJdJfp:Jfy9JdJdJf;ajJf;ajJf::anJf;:anve@Yvt@v :9vaO>yvHR?n?g`^=ʿ?KɿAY? W?ɨve@v40;v"Cy~B~'#II I 3٢3  =9%}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252061 Y IY ţw,A2n@Y2@2]C;92lO>y2H ]?@? qw\ɿ s? zPɿ kh.?yX?ɨ2n@2t;0yRBR&#IiV4>IV;IZIZ 3٢f fR=9fTr;Q f>hh jG٣jTGynp< n> rNusing accuracyPremultiplier from configpv59rwf?v5Yr;! irœtvӾz@r Er:ra:r0~5| ~@~EZj!%FNOT Ignoring new targets: 172.10 m.Bj-3F<Jj-3F<= ProNav: ac range: 172.100006 m, nav range: 51.009460 m, bearing: 53.811388 deg, approach rate: -0.138066 m/s, LOS rate: 0.693120 deg/s, cmd heading: 355.673905 deg, new cmd heading: 356.456636 deg. 2jE Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754723 ] 4$?Ia ̣w,˂2A6@Y65@6E;96P>y6HTk?`9?s Dȿ 8?'ɿ`hr`&?`V?ɨ6@6x;4yBBB#I Mb@Mb@Mb@    ) Y V-? ףp= ǿS㥫y ? Q8 /] /A ) QAI A y pAI-I-٢=& =B=9Ek;Q E>AA MG٣IyMU< U> ]Nusing accuracyPremultiplier from configQ]59Uf?e5YU>! iUe#$?e:e辑e@U EU;U;U5 :@ZjFNOT Ignoring new targets: 172.10 m.Bj%ZA<Jj%ZA] <  ꯾I  Q<ɚiI=I=iaieͽ)e@)iHyI}C I}#II}BIy&Iy.Iy6I}<:I}A FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006435J@AJJ ~J xJ J J {m:J 9J J J <;J =;J &:J ':E`=<*F ?2F :F BF% ^0JF! zK BoHK K K  K  RK ?JK ?Ge .Gu ?Gu ? Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:28:59.9189  TRx dataTimestamp_ set to:1736378941.237343 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260238GYBiO>) ԣw,PA \I\r @YrD0@rꝬ;9raS>yrHIv?P?𑠿\ǿ ? xɿul@?Q?ɨr @r;r!CyEBE#II} I}2٢{! (=9:Q > G٣yp< > Nusing accuracyPremultiplier from config59f?5YpB! io侑@E; ;,5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 172.10 m.BjO<Jj%OC4ڣw,jAFm@YF}@F;9FV>yFH`??Ȟ..ƿ p?faʿ yΥ?XL?ɨFm@Fk;F%Cy^B^#IUMb@Mb@Mb@QQQ Q)QYUCl?Eȿ&1yU;?UFUPU\A Ux@)QIUQAQyUAImIm(*2٢}SO }L=9}1!;Q }> G٣TGy< > Nusing accuracyPremultiplier from config59f?5YgE! iN'?:辑@E;;烢5B  @EZjFNOT Ignoring new targets: 172.10 m.BjEM<JjEM< ProNav: ac range: 172.100006 m, nav range: 50.866737 m, bearing: 54.736311 deg, approach rate: -0.104850 m/s, LOS rate: 0.717853 deg/s, cmd heading: 358.379643 deg, new cmd heading: 359.233767 deg. 2jS<HeadingCmd: 6.269812 target range: 172.100006 and range: 172.10 m. jM@jjjihh h hBfffrfbf M1@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:28:59.9189 LVL= 24560, 32753, 32690, 32755, AGC= 63, IDX= 437, 0.17, 1.655,-0.012,-0.065, 0.541, PHS= 1.202,-0.506,-0.609, RAW= 87.1, -1.0, CAL= 94.5, -6.0, ROT= 55.5, 6.0 Ygot valid direction response: 23:28:59.9189 LVL= 24560, 32753, 32690, 32755, AGC= 63, IDX= 437, 0.17, 1.655,-0.012,-0.065, 0.541, PHS= 1.202,-0.506,-0.609, RAW= 87.1, -1.0, CAL= 94.5, -6.0, ROT= 55.5, 6.0 PDAT read: Bearing 55.5, 6.0 (Local) ~Local bearing/azimuth received: Bearing 55.5, 6.0 (Local) DAT read: Range 10 to 50 : 171.7 m (Round-trip 229.0 ms) speed 0.0 m/s ,DAT read: user:3251> BDAT read: Tx time:23:29:01.0358 $Ping request sent.Ia  Ie m#IIe ߄BIa &Ia .Ia 6Ie %<:Ie R FBI JI RI ZI =bI =jI 4= Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:23:29:01.0350 J J |J J J s:J @9J J J ;J ;J z:J |:GE gɽGU qAGU pAG!B)OM>(w,jA @6U@Y6ҿ@6P;96*Y>y6H@1?`[?T'ſ`J?@=ʿz?G?ɨ6U@6G;6#CyBBB#IIJIJ<2٢V< V9=9V_:Q V>XX ^G٣\y^< ^> bNusing accuracyPremultiplier from config`f59bf?f5YbH! ibln}侑n@bEbC;b\C;bՅ5p r@pzK5LK59K1K5 K5o_@*   k?c?kF" k kpA:k+CBk*CZkp@""I%&|:@H=>F(e@߰T|Cf~:S?RB*?Jk?Rkxs*O%hi+<5\ee@!0 lAC[Qb ?"k*k-k9c?k2" 2kxmCk;kg?kz7 kxmCkAkd? addTargetRange:: Added new target pos. range: 171.699997 m, deltaT: 3.788984 s, deltaX: -0.400009 m, approachRate: -0.105572 m/s, rangeRepo size: 4  Added new target pos. range: 171.699997 m, bearing: 215.700658 deg, lat: 36.903783 deg, lon: -122.120637 deg, deltaT: 3.788984 s, deltaX: -0.400009 m, approachRate: -0.105572 m/s, posRepo size: 4 Zj -FNOT Ignoring new targets: 171.70 m.Bj5Jj1= ProNav: ac range: 171.699997 m, nav range: 20.385860 m, bearing: 80.384032 deg, approach rate: 0.000000 m/s, LOS rate: 0.717853 deg/s, cmd heading: 359.233772 deg, new cmd heading: 0.246567 deg. 2jAEHeadingCmd: 0.004303 target range: 171.699997 and range: 171.70 m. jM;jIjIjIiQhQhQhQhQfYfYfYrf]`fve@bfe W?ɛWB t;  WI  E<ɚiI=I;ii|);)Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F-?2F1:F1BF5}0JF1GӽGBO l>] Will construct direction to contact in vehicle frame from tetrahedron phase data.!;w,A6@Y6c @6:;96=qS>y6H>??Ŀ?]ʿ`Qu>?Q?ɨ6@6M;6$CyNBR#IiV%=IVp<IZIZ٢b|< fI=9f [Q f>hh jG٣hyj< j> rNusing accuracyPremultiplier from configpv59rf?v5YrK! ir_tv;ྑv@rEr@:r:r5x ~@~EZjFNOT Ignoring new targets: 171.70 m.Bj<Jj< ProNav: ac range: 171.699997 m, nav range: 20.457542 m, bearing: 81.093245 deg, approach rate: 0.178650 m/s, LOS rate: 1.761307 deg/s, cmd heading: 0.246567 deg, new cmd heading: 2.365731 deg. 2j=HeadingCmd: 0.041290 target range: 171.699997 and range: 171.70 m. j})=jjjih h h h fffrfbfFh?ɛmYBm@F^; iuGIy }а<ɚyiyI}R=IX=ii )})=)*FU?2FY:FYBFeP5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.ս>ս!@ 7$?IGO}G B O >hw,nAHI Ia#IIԄBI =&I.I?D6IA<:Ig FyuB}##IMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.Y}?5^I?EȿI +yM"?94 b@)AI@yAI%I%V٢=< =5=9=Q =>AA EG٣ETGyE M> UNusing accuracyPremultiplier from configQ]59Uf?]5YUN! iU]*?]:]޾e@UEUU;U;U5i m@mEJAAJJJJJJ=:J9JJJԥ;J֥;Jg;Jh;Zj15FNOT Ignoring new targets: 171.70 m.Bj=<Jj= Will construct direction to contact in vehicle frame from tetrahedron phase data. I Mw,2<֏A2ݽ@Y2{@2N#k;92ma>y2H?*1?@nF}?@˿edm? 9?ɨ2ݽ@2Z;0yRBR/#IIfIf(*2٢W=  a=9  Q  > G٣y= > %Nusing accuracyPremultiplier from config!-59%* g?-5Y%bQ! i%)-Ͼ-@%E%@:%:%,59 Mx@MEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 171.70 m.Bjj=Jjj=- ProNav: ac range: 171.699997 m, nav range: 20.605621 m, bearing: 82.535799 deg, approach rate: 0.184382 m/s, LOS rate: 1.852279 deg/s, cmd heading: 4.750348 deg, new cmd heading: 6.675362 deg. 2j-=]HeadingCmd: 0.116507 target range: 171.699997 and range: 171.70 m. j]?=jYjqjqiyhyhyhyhfffrfbf@R?ɛ^Br; YI <ɚ)i)I5"=IE=iAiE}*)E?=)I*F2F:FBF84JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.G GBOf>ww,.ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001863 %8$?I!ymBu@#IMb@Mb@Mb@ )Y?Zd;Oǿ)) 5G٣1y= => ENusing accuracyPremultiplier from configAM59Ed g?M5YEMT! iE6U '?]:]w˾]@EEE:;EZ8;E5a e@eEZj FNOT Ignoring new targets: 171.70 m.Bj<Jj<% ProNav: ac range: 171.699997 m, nav range: 20.682966 m, bearing: 83.300142 deg, approach rate: 0.176004 m/s, LOS rate: 1.732763 deg/s, cmd heading: 6.675362 deg, new cmd heading: 8.958540 deg. 2j%=-HeadingCmd: 0.156356 target range: 171.699997 and range: 171.70 m. j- >j)jIjIiIhQhQhQhUBfYfYfYrfYbf] @ɛ`B|; ئI <ɚiI@=I>iiT) >)*F?2F:FBFZ0JFjH<bH<Hy>I Im#II߄BI&I.I6Iޯ<:I F5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253772G "G B O >_w,I A6&@Y6@6;96Yo>y6H?K ?y}? Ϳr$?@ ?ɨ6&@6>;4y>΄BBY#IININ(٢V|= Vf=9Z~;;Q Z>X\ ^G٣^TGybؒ= b> fNusing accuracyPremultiplier from configdj59fx2g?j5YfV! ifqhjj@fEf:f;f5rB r\@rEZjFNOT Ignoring new targets: 171.70 m.BjT<JjT< ProNav: ac range: 171.699997 m, nav range: 20.741859 m, bearing: 83.915588 deg, approach rate: 0.156611 m/s, LOS rate: 1.631936 deg/s, cmd heading: 8.958540 deg, new cmd heading: 10.798966 deg. 2j=HeadingCmd: 0.188478 target range: 171.699997 and range: 171.70 m.zKk3IK9KK K    j@A>jjjihhhhfffrfbf @ɛ%bB-< )Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ>Օ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518428-ii`)@A>))f= ]C*F]?2FY:FaBFe^0JFa"Gm8>Gmt>NG|uA "Y|uAyBG=WeGBOE>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758621J ~J wJ 1J J {m:J 9J 3J a @a @a @a @w,#A2$@Y23@2Hx;92[v>y2H7?t?bڶ ?vο`q։?[?ɨ2$@2;0ynׄBnd#IIvIv٢x-= E=9 6Q  >   G٣y = > MNusing accuracyPremultiplier from configIU59MGg?U5YMX! iM㵾@M EM jjjihhh hfffrfbfv@ɛdB\< !%,I) U<ɚYiaIe=ITV>ii;]e)*g>))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010700*F?2F:FBF_0JF ;$?I iGFAGBO>kw,=AHTIT IV#IIVBIV =&IT.IT6IV <:IV@ FyB#Ii%=I%=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiBDAT read: Rx Time:23:29:03.6675 TRx dataTimestamp_ set to:1736378945.029007 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263228Mb@Mb@Mb@ )Y/$?Pn{Gzy?ףAA )~AIhAyAI%I%2٢5z= 59=9=Q =>99 EG٣AyE E> MNusing accuracyPremultiplier from configIU59M^g?U5YM[! iM]2 ?]:]We@M"EMG;ME;Mf5i mH@mEZjFNOT Ignoring new targets: 171.70 m.Bj<Jj< ProNav: ac range: 171.699997 m, nav range: 20.863897 m, bearing: 85.376528 deg, approach rate: 0.123374 m/s, LOS rate: 1.697268 deg/s, cmd heading: 12.970838 deg, new cmd heading: 15.166723 deg. 2j=HeadingCmd: 0.264709 target range: 171.699997 and range: 171.70 m. j>jjjihhhhGBfffrfqbfu˗ @ɛfBO< BmI Q<ɚiIF=Il>ii )>)*F?2F:FBFg0JFzKmKKm9KiKm Km   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513809G gNG ?G > I G B O >@w,gWAb!@YbQ1@b1:9b\>ybH ??`>䭿@?`&+п4U@1??ɨb!@b?;b%CynBn#II~I~(٢l= %\=9-5Q ->11 =G٣=TGy]= e> mNusing accuracyPremultiplier from configam59eAqg?u5Ye\! iequ؀u@e$Ee:ej:e 5 p@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 171.70 m.Bj<Jj< ProNav: ac range: 171.699997 m, nav range: 20.905296 m, bearing: 86.013261 deg, approach rate: 0.109657 m/s, LOS rate: 1.683190 deg/s, cmd heading: 15.166724 deg, new cmd heading: 17.072400 deg. 2je=HeadingCmd: 0.297970 target range: 171.699997 and range: 171.70 m. jy>jjjihhYhYhYfafafarfabfe @ɛ-hB-'Y< 1隽*UI <ɚiIN=IC>iiE)y>)Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 23:29:03.6675 LVL= 16736, 32753, 22562, 32755, AGC= 63, IDX= 424,-0.45,-1.919, 2.820, 3.032,-2.776, PHS= 0.945,-0.640,-0.478, RAW= 95.3, 2.3, CAL= 104.3, 0.0, ROT= 45.7, -0.0 MYgot valid direction response: 23:29:03.6675 LVL= 16736, 32753, 22562, 32755, AGC= 63, IDX= 424,-0.45,-1.919, 2.820, 3.032,-2.776, PHS= 0.945,-0.640,-0.478, RAW= 95.3, 2.3, CAL= 104.3, 0.0, ROT= 45.7, -0.0 UPDAT read: Bearing 45.7, -0.0 (Local) U~Local bearing/azimuth received: Bearing 45.7, -0.0 (Local) ]DAT read: Range 10 to 50 : 170.7 m (Round-trip 227.6 ms) speed 0.3 m/s J}J|J0JJ[j:J@9Jـ3J*F2F:FBF0JF,DAT read: user:3252> BDAT read: Tx time:23:29:04.7858 $Ping request sent.w,dqA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2JDAT read: TxSync time:23:29:04.7850 B<$?I@yB#I Mb@Mb@Mb@    ) Y Zd;?#~j G٣y > Nusing accuracyPremultiplier from config59чg? 5Y]! i+C?:<@&E-;;5 @!k=ڢ,_?k=xM% k9 k=4bA:k=*CBk=)CZk= @"=sG{7q]p:y@KW!e@=L[lea ?Knս?Jk= A@Rk=B*= >o9(pr@C,id@=dmy)ÿ(Rq:̿=MV?"k=*k=sk=;_?k=K=AT% 2k=fCk=9c?k=m_%! k9k=TAk=>@ addTargetRange:: Added new target pos. range: 170.699997 m, deltaT: 3.780474 s, deltaX: -1.000000 m, approachRate: -0.264517 m/s, rangeRepo size: 4  Added new target pos. range: 170.699997 m, bearing: 236.426098 deg, lat: 36.903655 deg, lon: -122.120848 deg, deltaT: 3.780474 s, deltaX: -1.000000 m, approachRate: -0.264517 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 170.70 m.BjJjM ProNav: ac range: 170.699997 m, nav range: 13.251606 m, bearing: 170.688227 deg, approach rate: 0.000000 m/s, LOS rate: 1.683190 deg/s, cmd heading: 17.072401 deg, new cmd heading: 19.448512 deg. 2jIUHeadingCmd: 0.339441 target range: 170.699997 and range: 170.70 m. jU(˭>jQjQjQiQhYhYhYh]Bfafafrf`fVe@bf@?ɛjBˎ< #I <ɚiIL=Iާ>ii  ) (˭>) ZHRHAAHz>I I#II&BI&I.I6I<:I" F*F?2F:FBF0JFGPzWill construct direction to contact in vehicle frame from tetrahedron phase data.GQBYO}>ͭ"w,uy6H@a?Y ?wقa? ~ѿhp?@??ɨ6`@6⽈;6$CyR*BR#I)T TIZIZ<٢r= vk=9v|Q v?xx zG٣xyzX= ~? mNusing accuracyPremultiplier from configQm59Ug?u5YU^! iU?quu@U'EU;U;U5B @EZjFNOT Ignoring new targets: 170.70 m.Bj^:Jj^: ProNav: ac range: 170.699997 m, nav range: 13.465265 m, bearing: 170.704758 deg, approach rate: 0.640082 m/s, LOS rate: 0.048739 deg/s, cmd heading: 19.448513 deg, new cmd heading: 19.497320 deg. 2j;HeadingCmd: 0.340292 target range: 170.699997 and range: 170.70 m. j:>jjjihhhhfffrfbf ?ɛlB< !%2I! %`"<ɚ!i!I%i=I-F>i)i))5:>)9zK]0LK]9KYK] K] }=$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFGG!G%qAGBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.J |J zJ J J ;g:J 9J J g(w,fA6"@Y6;6964?>y6H?kBxvaq?@?ѿ4|?`u?`?ɨ6"@6;4y^:B^#IIfIf٢n= rK=9r Q r>tt vG٣vTGyvZp= z> ~Nusing accuracyPremultiplier from configx59zg?5Yzm_! izU@z)Ez%;zX;zD5 @Zj1=FNOT Ignoring new targets: 170.70 m.BjE:JjE:U ProNav: ac range: 170.699997 m, nav range: 13.702534 m, bearing: 170.746047 deg, approach rate: 0.611030 m/s, LOS rate: 0.104488 deg/s, cmd heading: 19.497320 deg, new cmd heading: 19.619040 deg. 2jUk;HeadingCmd: 0.342417 target range: 170.699997 and range: 170.70 m. jCQ>jjjihhhhfffrfbf 4?ɛnBTM<  νI k|<ɚiI0=I>ii)CQ>)*F92FA:FABFE_0JFI e>$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.GGi Bq O >p/w,(AH$I$ I&$II&YBI& =&I$.I$6I&ү<:I& FBI JI RI ZI =bI =jI 4N6@YNl =N89N!>yNH?CNQu,?? ҿ?@d?@֡?ɨN6@N-J;LynQBr#IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YtV?ktMb`?y? 0;A 5@)I AyAII٢= 0=9Q > G٣y= > Nusing accuracyPremultiplier from config59g?5Y_! iX?:e @+E9;+ ;J5 H@EZjquFNOT Ignoring new targets: 170.70 m.Bj};Jj}; ProNav: ac range: 170.699997 m, nav range: 13.966586 m, bearing: 170.879229 deg, approach rate: 0.553418 m/s, LOS rate: 0.273855 deg/s, cmd heading: 19.619040 deg, new cmd heading: 20.011027 deg. 2j;<HeadingCmd: 0.349258 target range: 170.699997 and range: 170.70 m. jѲ>jjjihhhhBfffrfbfE?ɛ=pB=ֳ< 9=}I9 E<ɚAiAIE*=ImѲ>iiimn)mѲ>)q*F?2F:FBF^0JFzKBoHK+9KK K*O- Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.խ =?խ {?G! G B) OE >l5w,ؐA2u@Y2=2.f92a>y2H?Q@w?-?dl? lӿ@ٌ?.h?o}?ɨ2u@26;2"CyF_BJ $IiN>IN> V=Vp=IZIZ2٢bC= bo=9fQ f?dd fG٣hyj= j? nNusing accuracyPremultiplier from configlr59nrg?r5Yn_! in[tv{v@n-En:nQ:nȜ5x z`@zEZj%FNOT Ignoring new targets: 170.70 m.Bj%|;Jj%|;5 ProNav: ac range: 170.699997 m, nav range: 14.160756 m, bearing: 170.997949 deg, approach rate: 0.592913 m/s, LOS rate: 0.357548 deg/s, cmd heading: 20.011027 deg, new cmd heading: 20.362298 deg. 2j5au<=HeadingCmd: 0.355389 target range: 170.699997 and range: 170.70 m. j=>j9jAjAiAhAhAhIhIfIfIfIrfQbfU]?ɛMrBMy< y}Iy N<ɚiI=I>ii[)>)*Fm?2Fi:FiBFm_0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.GAJcKc KcKcKc"KcJ}J{JJJ[j:J-9JJGB O%M> = ?$?IA By6H?@۷'_?䮷?;?` Կ??4`?ɨ6m@6~;6#CyroBr $IMb@Mb@Mb@ )YʡE?Q?/$?y?\=<#A @)7AIAyAII)٢= 9=9Q > G٣TGym= > Nusing accuracyPremultiplier from config59g?5Y^! i6?:>@/E;o;5! %`@!B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 170.70 m.Bj%,<Jj%,jYjYjaiahahahhQBfffrfbf @ɛMuBM < IM/IQ U<ɚQiQIU=I]>iYi]nQ)]>)*F?2F:FBFJF!jHE<bHAHMy>II IM;$IIMBII&II.II6IMǯ<:IM FGoGBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O}>9Bw,0 A6@Y6=696>y6H?@ƾ`9? ž? ?tԿV? t?`P?ɨ6@6&;6&CyBzBB,$IIJIJ(٢~Z= Z=9Q >    G٣ y = > Nusing accuracyPremultiplier from config%59g?%5Y]! i!%+>%@1E? ;? ;X5-B 5@5EZjY]FNOT Ignoring new targets: 170.70 m.BjeR<JjmR<} ProNav: ac range: 170.699997 m, nav range: 14.596963 m, bearing: 171.545377 deg, approach rate: 0.575909 m/s, LOS rate: 0.737773 deg/s, cmd heading: 21.214030 deg, new cmd heading: 21.979620 deg. 2j})<HeadingCmd: 0.383617 target range: 170.699997 and range: 170.70 m. jji>jjjihhhhfffrfbf`n@ɛwB"< eݟ<;I |<ɚiIj=Iji>ii E) ji>) zKF5LK]9KK KY)jR>2,v (-uF- @$?I}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748783*F?2F:FBF0JFG?&oGBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:23:29:07.4155 - TRx dataTimestamp_ set to:1736378948.5608125 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000860%Iw,1^&AD@Y3>Vż9>>yH?m%ƿBҠ?T??>Կ`8?J? V?ɨD@̋;$Cy B ;$I) !%AI-I-b٢EZ= M7=9M Q U>YY ]G٣Yye = e> }Nusing accuracyPremultiplier from configq59u7h?5Yus\! iud>@u3Eu.;u*$;uN5 @ZjFNOT Ignoring new targets: 170.70 m.Bj~Z<Jj~Z< ProNav: ac range: 170.699997 m, nav range: 14.831833 m, bearing: 171.897187 deg, approach rate: 0.518319 m/s, LOS rate: 0.764085 deg/s, cmd heading: 21.979620 deg, new cmd heading: 23.018215 deg. 2j=HeadingCmd: 0.401744 target range: 170.699997 and range: 170.70 m. jX>jjjihhhhff f rf bf U @ɛezBed< aepii$)%X>)) I*F=?2F9:FABFE0JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251752GPaGpAGrAGBO>HA IA  IE t$IIE BIA &IA .IA 6IE <:IE A F Pw,9@AFq@YF`&N>Fn_Ӽ9F>>yFHW? XɿpJ?`%??uӿ-k? ?dm?ɨFq@F;F"CyVBVD$IEMb@Mb@Mb@AAA A)AYEK7?p= ף?V-?yEI ?E=Eqq uG٣uTGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503754y= %>JYJ]@AJ}JyJyJyJ}y:JyJyJyJ};aJ} ;aJ}:aJ}:a Nusing accuracyPremultiplier from config59!h?%5YZ! i]w ?]:]s>e@5EP<<!5 @EZjFNOT Ignoring new targets: 170.70 m.Bjk<JjkjYjYjYiYhYhYhaheyBfffrfbf@{ @ɛ}B.< =I (<ɚiIK=I%>i)i-Ð")->))*F?2F:FBF0JF"G>G=G_IGqByO> A$?IzKyNKh9KK KRK?JK? Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:29:07.4156 LVL= 25888, 32753, 32578, 32755, AGC= 59, IDX= 418, 0.27, 2.979, 1.397, 1.998, 2.292, PHS= 0.776,-0.848,-0.297, RAW= 109.5, 5.2, CAL= 120.3, 2.5, ROT= 29.7, -2.5  Ygot valid direction response: 23:29:07.4156 LVL= 25888, 32753, 32578, 32755, AGC= 59, IDX= 418, 0.27, 2.979, 1.397, 1.998, 2.292, PHS= 0.776,-0.848,-0.297, RAW= 109.5, 5.2, CAL= 120.3, 2.5, ROT= 29.7, -2.5  PDAT read: Bearing 29.7, -2.5 (Local)  ~Local bearing/azimuth received: Bearing 29.7, -2.5 (Local)  DAT read: Range 10 to 50 : 169.1 m (Round-trip 225.5 ms) speed 0.4 m/s  ,DAT read: user:3253>  BDAT read: Tx time:23:29:08.5359  $Ping request sent. Vw,1ZAymBmS$II}I} ٢^= A=9Q >II MG٣IyM U> eNusing accuracyPremultiplier from configQm59U2h?m5YUY! iUiiu@U6EUW;U4X;Uӥ5y }@~Ek~@;a?kCQ* k kY6TA:k)CBk'CZkt@"ZmAzQT~6CEMd@ӝ_k˿wtlͿc k?JkNrRkH*N5nZWo1a@[f ޷W/wAVv,?"k*kpk6W/a?kՑ* 2kNCknڿb?k2" kk[Ak@c@ addTargetRange:: Added new target pos. range: 169.100006 m, deltaT: 3.783456 s, deltaX: -1.599991 m, approachRate: -0.422891 m/s, rangeRepo size: 4  Added new target pos. range: 169.100006 m, bearing: 257.001886 deg, lat: 36.903642 deg, lon: -122.120950 deg, deltaT: 3.783456 s, deltaX: -1.599991 m, approachRate: -0.422891 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 169.10 m.Bj Jj = ProNav: ac range: 169.100006 m, nav range: 18.044811 m, bearing: 203.448005 deg, approach rate: 0.000000 m/s, LOS rate: 0.824248 deg/s, cmd heading: 24.117926 deg, new cmd heading: 25.085735 deg. 2jAEHeadingCmd: 0.437829 target range: 169.100006 and range: 169.10 m. jE+>jIjIjIiIhIhIhQhQfQfQfyrf}@3#e@bf}c?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:29:08.5351 ɛB = !%M=I! %R~<ɚ!i!I%'=I-+>i)i-3)5+>)YE *F ?2F :F BF o0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.GG?G>GBO?7K^w,{A6a=Y6΁>6QW96#>y6H@?_Ͽ@? ?n?!ҿ@?4??ɨ6a=6Q;6$Cy>B>J$IMMb@Mb@Mb@III I)IYMm?MbX?Mb?yM?M=M=M#A I)MAIM~AIyIIeIe٢uj u =9}pQ }>yy }G٣yyQ= > Nusing accuracyPremultiplier from config59Hh?5YV! i9?:>@9E;;5 I@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 169.10 m.BjJJjJ񸝊 ProNav: ac range: 169.100006 m, nav range: 18.326298 m, bearing: 203.444867 deg, approach rate: 0.600603 m/s, LOS rate: -0.006592 deg/s, cmd heading: 25.085734 deg, new cmd heading: 25.076466 deg. 2jƐHeadingCmd: 0.437667 target range: 169.100006 and range: 169.10 m. j>jjjihhhh}BZHRHHz>I I$II҅BI =&I.I6IY<:Iv Ff1f1f1rf1bf=-?ɛB,< iM.})Q-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.EUR5<JJJJJs:JJJJ;J;JJ*F2F:FBF3JFGAGiByO}> B$?I izK KK 59K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996306-ew,AB)f=YBȍ>Bݴ9B"|>yBH?CѿfǪ?@u}?g?3ҿU?@i??ɨB)f=Bv;B%CynBnH$IIzIz?٢=! EO=9UdQ }>yy G٣TGym= > Nusing accuracyPremultiplier from config59RZh?5YS! i>@:En:;ϩ5 j@{EZjAEFNOT Ignoring new targets: 169.10 m.BjM :JjM :} ProNav: ac range: 169.100006 m, nav range: 18.556551 m, bearing: 203.459613 deg, approach rate: 0.553168 m/s, LOS rate: 0.034986 deg/s, cmd heading: 25.076466 deg, new cmd heading: 25.120154 deg. 2j}:HeadingCmd: 0.438429 target range: 169.100006 and range: 169.10 m. jy>jjjihhhhfffrfbf?ɛ5B=ą< 9=iMuy)EE*E"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248338EE*F- ?2F) :F) BF- 0JF) G9  G9 G5 4GI GM qA I G1BqO>lw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500394:Vx=Y:՚>:39:$U>y:H?@ҿ b? ??? 1ѿf??@?ɨ:Vx=:c֊;:"CyjBjN$I5Mb@Mb@Mb@111 1)1Y5(\?`"?~jt?y5?5=5<5A 5@)5AI5MA1y5AIMIM<٢eę< e=9e:Q e>ii mG٣iymK= u> }Nusing accuracyPremultiplier from configq59uooh?5YuO! iu?:>@u=EuF;u;u5B  @yEZjFNOT Ignoring new targets: 169.10 m.Bj,;Jj,; ProNav: ac range: 169.100006 m, nav range: 18.840622 m, bearing: 203.536074 deg, approach rate: 0.569152 m/s, LOS rate: 0.150884 deg/s, cmd heading: 25.120153 deg, new cmd heading: 25.346077 deg. 2j;HeadingCmd: 0.442373 target range: 169.100006 and range: 169.10 m. j~>jjjihhhh9Bfffrfbf?ɛ-B-/< )-i= u)A*F?2F:FBF5JFHy>I I$IIBI =&I.I6I<:IA FGr-GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752309JeJeJaJaJep:Je9JaJaJe;Je;Je2;Je3;hsw,KΑA6o=Y6>6Լ96.>y6HJ? ;Կ@0? v??п?@}L?4?ɨ6o=6v;6%CyRBR9$I)T VAI^I^٢r rh=9v~;Q v>tt vG٣xyz= z> Nusing accuracyPremultiplier from config|59~}h? 5Y~]M! i~|?@~>E~_3;~3;~5 %5@%vEZjAMFNOT Ignoring new targets: 169.10 m.BjMX;JjMX;e ProNav: ac range: 169.100006 m, nav range: 19.038509 m, bearing: 203.603502 deg, approach rate: 0.561612 m/s, LOS rate: 0.189376 deg/s, cmd heading: 25.346077 deg, new cmd heading: 25.546260 deg. 2jejijijiiihihqhqhqfqfyfyrfybfL?ɛB< 隵vI <ɚiIiYMr) =C$?I9zK5]JK5h9K1K5 K5*FA2FA:FABFEY0JFIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004468G-,GBO)> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256251Nyw, `ARs,>YR>RFK9R>yRH? տR?@1 ?@x?`7п`?Ƚ?r?ɨRs,>R‰;R!CyB:$II5I5(1٢M; MB=9U;Q U>Ya eG٣eTGym'l= m> Nusing accuracyPremultiplier from configq59u!h?5YuJ! iuAw ?@u@Eu#j!j)j)i)h)h)h1h1f1f1f1rf9bf=@ɛeBmm< im Ii m<ɚiiqIui}o)*F!2F):F1BF5_0JF9 -E$?I1GUGABIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512953O}X>jH <bH H I C I $II ݅BI =&I .I 6I !<:I L FBIiJIiRIiZIibIm =jImH4I{w,AyntBr%$IMb@Mb@Mb@ )YDl?A`"?~jtx?yO ?=;A )QAIAyzAIIF٢s F=9Q > G٣y > Nusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7646259ןh?5YG! i?:P?@BE;Й;35 >@sEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 169.10 m.Bj-{_;Jj-{_;JEJE|JE1JAJEv:JE@9JE3JAJEU;JEV;JEz:JE|:e ProNav: ac range: 169.100006 m, nav range: 19.503561 m, bearing: 203.780384 deg, approach rate: 0.563698 m/s, LOS rate: 0.195381 deg/s, cmd heading: 25.832849 deg, new cmd heading: 26.070523 deg. 2jejijijiiqhqhqhyh}Bfyfyfrfbfa@ɛBG< 隵sI Hl<ɚiI:Jiɹl)*F2F:FBFJFmPExceeded connect timeout, disconnecting. 1I9G  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:29:11.1636  TRx dataTimestamp_ set to:1736378952.345355 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018496zK BoJK 9K K  K G B O- >aw,KA22>Y24b>2ϧ92U>y2H`2ˉ;2$CyNjBN$IiR!>IRp;IZIZ2٢bH fZ=9jlp rG٣pyv= v> ~Nusing accuracyPremultiplier from configx59zˮh?5YzC! iz? @zDEz;z;zڲ5 @Zj9=FNOT Ignoring new targets: 169.10 m.BjEڕ;JjEڕ;U ProNav: ac range: 169.100006 m, nav range: 19.712505 m, bearing: 203.879470 deg, approach rate: 0.558449 m/s, LOS rate: 0.262022 deg/s, cmd heading: 26.070523 deg, new cmd heading: 26.364628 deg. 2jU3<]HeadingCmd: 0.460150 target range: 169.100006 and range: 169.10 m. j]>jYjYjYiYhahahahafififirfibfm`T @ɛB2< 隭HI <ɚiI1Li-j)1*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269789GcӽGyBO_> M F$?II Ԍw, 5A&Will construct direction to contact in vehicle frame from tetrahedron phase data.^DAT read: 23:29:11.1636 LVL= 24928, 32753, 26530, 32755, AGC= 63, IDX= 413,-0.24, 0.327,-1.050,-0.332,-0.165, PHS= 0.580,-0.838,-0.170, RAW= 118.1, 7.0, CAL= 127.4, 3.2, ROT= 22.6, -3.2 jYgot valid direction response: 23:29:11.1636 LVL= 24928, 32753, 26530, 32755, AGC= 63, IDX= 413,-0.24, 0.327,-1.050,-0.332,-0.165, PHS= 0.580,-0.838,-0.170, RAW= 118.1, 7.0, CAL= 127.4, 3.2, ROT= 22.6, -3.2 nPDAT read: Bearing 22.6, -3.2 (Local) n~Local bearing/azimuth received: Bearing 22.6, -3.2 (Local) rDAT read: Range 10 to 50 : 167.7 m (Round-trip 223.6 ms) speed 0.1 m/s v,DAT read: user:3254> zR#Rx 1: Read range and direction messages.~`direction in FSK: [-0.253332,-0.369772,0.893919]~Fpublishing direction and range info$9&VL6п+f:W׿a?y&'C$&`a$ &g)$I&?i&z?&+V&{.&A@&5= &N@)&d=I&>i&d$$&>+ ?`{,#VJ?)&ƳI&i& &ޑ$$T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.dC>Y>V9Q{>yH@Q?S ٿ`?`?`g?%Ϳ ?? ?ɨdC>;騭%CyYB$IMb@Mb@Mb@ )Ym?ʡE?Mbpy?=A 5@)v@IhAyAHex>Ia Ie$IIeȅBIa&Ia.Ie>D6Ie<:IeF FII٢u =9s;Q > G٣TGy< > %Nusing accuracyPremultiplier from config-59h?-5Y?! i-?-:M ?U@FEx;;\5]B ]@]pEk&#.h?k&[f, k$ k&3o6A:k&'CBk&&CZk&T@@"&+=E,`O4 b@&VL6п+f:W׿a?Jk& Rk&ޑ*&pwZd9`@&ЧV]q <0Cd?"k&`*k&k&-h?k&-, 2k&uDCk$k&K=AT% k&fCk&.Bk&@ addTargetRange:: Added new target pos. range: 167.699997 m, deltaT: 3.534720 s, deltaX: -1.400009 m, approachRate: -0.396074 m/s, rangeRepo size: 4 M Added new target pos. range: 167.699997 m, bearing: 269.023873 deg, lat: 36.903642 deg, lon: -122.121305 deg, deltaT: 3.534720 s, deltaX: -1.400009 m, approachRate: -0.396074 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 167.70 m.BjUJjQ ProNav: ac range: 167.699997 m, nav range: 43.673607 m, bearing: 245.226753 deg, approach rate: 0.000000 m/s, LOS rate: 0.262022 deg/s, cmd heading: 26.364628 deg, new cmd heading: 26.832562 deg. 2jHeadingCmd: 0.468317 target range: 167.699997 and range: 167.70 m. j0>jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:29:12.2859 $Ping request sent. iU h)Y E *F5 ?2F9 :F9 BF= _0JF9 GE pA GA e nManaging dock network, ignoring radio surface power off )I)G]rG]qAGYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249696G1B9zKuBoHKu9KqKu KuO ?㕤w,|XA6c>Y6>6ϊ96 w>y6H?@ڿ`?`Zo??J˿ Rv???ɨ6c>60;4y>@BB#IIJIJV٢N R[=9RTT VG٣TyZ= Z> ^Nusing accuracyPremultiplier from config\b59^h?b5Y^jjjihhhhfffrfbf%?ɛ5B5iaieO;)e>)i*F?2F:FBF`0JFGGBOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501391w,rrA NG$?IPlm>Y>P~!9t>yH??ۿ??`?`N˿/d?x8? a?ɨlm>d;"CWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753437y6B#IMb@Mb@Mb@ )YZd;O?~jt?{Gzy~ ?=ףA @)`@IAyGAII٢+ ,=9q;Q > G٣y< > Nusing accuracyPremultiplier from config59Zh?5Y!9! iܝ ?:?@JE;; 5  (@ Zj9=FNOT Ignoring new targets: 167.70 m.BjE-JjE-仝] ProNav: ac range: 167.699997 m, nav range: 44.061134 m, bearing: 244.892109 deg, approach rate: 0.445257 m/s, LOS rate: -0.398975 deg/s, cmd heading: 26.403080 deg, new cmd heading: 25.833140 deg. 2j]舼]HeadingCmd: 0.450873 target range: 167.699997 and range: 167.70 m. je>jajajaiahahihihmEBfifqfqrfqbfu"?ɛeBe5a< amTIi m<ɚiiiImiqiu0<)u>)y*F?2F:FBFJFGwZH%?ARH%>AH)I) I-[$II-BI- =&I).I)6I-+<:I-S FGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006003w,EA}w>Yd>:9k>yH ?aۿB]?Ћ?A?ʿ5T;?`z'?ɨ}w>w;騅#Cy]$B]#IImImỳ٢ M=9E G٣TGym< > Nusing accuracyPremultiplier from config59h?5Y76! i ?@LEP ; ;Ǻ5 A@jEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 167.70 m.Bj?Jj?ໝ% ProNav: ac range: 167.699997 m, nav range: 44.240108 m, bearing: 244.735855 deg, approach rate: 0.450944 m/s, LOS rate: -0.392105 deg/s, cmd heading: 25.833140 deg, new cmd heading: 25.366285 deg. 2j%-HeadingCmd: 0.442725 target range: 167.699997 and range: 167.70 m. j->j1j1j1i1h1h1h9h9f9f9f9rfAbfE7)?ɛuBu< umii=)> H$?I)EpAEmA)&= hC-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258107*FE?2FI:FQBF]0JFac~GzK:KK9KK K5tA"G>G> 7Y 5tAy B}#@}BG% fhG- ?G- >G B! OU > w,A:2}>Y:>:kL;BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5094709:;`>y:H@?(ܿ`? ?@?ȿ@y`? :?ɨ:2}>:>;:%CyNBN#IIVIV٢^ ^p=9bpjYjYjYiYhYhahihifififqrfqbfu@?ɛB]; Y] IY e:<ɚaiaIeiyi}+=)}'>)*F2F:FBFP5JFGeϼG1B9OUS> IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764902O@w,A2DJ>Y2 B>2M<92KV>y2H`c{?2;0yBBB#IiF=IF>HdId If"$IIfrBIf =&Id.Id6IfT<:Ifr F5Mb@Mb@Mb@111 1)1Y5#~j?{GztV-y5?5ף55\A 55@)5@I5@1y5AII0٢} ;=9hk G٣y6< > Nusing accuracyPremultiplier from config59ki?5Y0! i?:^>@OE;:.5B @gEZj!%FNOT Ignoring new targets: 167.70 m.Bj-1Jj-1껝= ProNav: ac range: 167.699997 m, nav range: 44.576401 m, bearing: 244.425577 deg, approach rate: 0.419355 m/s, LOS rate: -0.409490 deg/s, cmd heading: 24.972374 deg, new cmd heading: 24.439034 deg. 2j=EHeadingCmd: 0.426542 target range: 167.699997 and range: 167.70 m. jEc>jAjAjAiIhIhQhYh]BfYfYfYrfabfe@ɛB k; 隍eI h<ɚiI iiY=)c>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014740*F2F:FBF3JFG~@<GBOE> u I$?Iu iE Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266933zK BoHK 59K K  K 25,&$  D(w,VْA2>Y2>2ꛔ<92p,K>y2Hp?`ܿ@)? O??`bſ:9?`]?ɨ2>2׉;2#CyBBB{#IIJIJ ٢f׫ f[=9fthh jG٣jTGyj; n> rNusing accuracyPremultiplier from configpv59r#i?v5Yr.! ir-tvm>z@rQEr:r:rͿ5| ~@~eEZjFNOT Ignoring new targets: 167.70 m.BjܻJjܻ ProNav: ac range: 167.699997 m, nav range: 44.731438 m, bearing: 244.275689 deg, approach rate: 0.400274 m/s, LOS rate: -0.385641 deg/s, cmd heading: 24.439033 deg, new cmd heading: 23.990935 deg. 2jT HeadingCmd: 0.418721 target range: 167.699997 and range: 167.70 m. j b>j j j ihh1hAhAfIfQfqrfqbf}@ɛBқ9 #I z<ɚiI>i1i5z=)5b>)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517941JJJ/JJJ9J(N3JEԅ<*Fm ?2Fi :Fi BFm 3JFi a Ia G $3=]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772917GBO>w,hAf%>Yf~>fp<9f&=>yfH`Gl?@Bܿ:?\?? ؋ÿ @? q?ɨf%>fI;dyr؄Brf#IuMb@Mb@Mb@qqq q)qYujt?I +V-yu?u94quA q)uv@Iu@qyu@IIM3٢O =9; G٣yl: > Nusing accuracyPremultiplier from config598i?5Y+! iaey?e:e>e@SE<< ¢5i u@ubEZjFNOT Ignoring new targets: 167.70 m.BjJj껝] ProNav: ac range: 167.699997 m, nav range: 44.926067 m, bearing: 244.058165 deg, approach rate: 0.368813 m/s, LOS rate: -0.410408 deg/s, cmd heading: 23.990935 deg, new cmd heading: 23.341222 deg. 2j]ԌeHeadingCmd: 0.407381 target range: 167.699997 and range: 167.70 m. jeD>jajijiiihihihqhuBfqfqfqjHYbH]<HaIa Ie#IIe?BIa&Ia.Ia6Ie<:Ie8 Frfybf}@ s @ɛB@-: -־I /<ɚiI[qiir=)D>)MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:23:29:14.9433 ]TRx dataTimestamp_ set to:1736378956.125764]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023547E] <*F ?2F :F BF 0JF G 0P=G B J$?I O >&Ĥw,AFՉ>YF>F<9FM'->yFHv?}ܿV?-?@$?t I~??ɨFՉ>F5;F%CyNBNI#I)P RAIVIV(*3٢^ ^P=9blpdd fG٣dyj' j> nNusing accuracyPremultiplier from configh~59jYGi?~5Yj)! ij|~M>@jTEj;jM;jâ5  @ -B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 167.70 m.BjEJjEU ProNav: ac range: 167.699997 m, nav range: 45.074593 m, bearing: 243.892471 deg, approach rate: 0.405586 m/s, LOS rate: -0.450980 deg/s, cmd heading: 23.341222 deg, new cmd heading: 22.845789 deg. 2jU]HeadingCmd: 0.398734 target range: 167.699997 and range: 167.70 m. j]&>jYjYjaiahahahihifqfyfyrfybf}$ @Will construct direction to contact in vehicle frame from tetrahedron phase data.%== checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274326ɛeBe- ey&=eIi ms<ɚiiiImWii=)&>)EE*E"E'=TFailed to parse incomplete device message.*F?2F:FBF*5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J! J% 0J! J% s:J! J% ـ3J!  DAT read: 23:29:14.9433 LVL= 25840, 32753, 32754, 32755, AGC= 63, IDX= 238, 0.08,-1.937,-2.942,-1.812,-2.976, PHS= 1.127, 0.081, 1.161, RAW= 151.6, -38.2, CAL= 154.2, -41.8, ROT= 355.8, 41.8  Ygot valid direction response: 23:29:14.9433 LVL= 25840, 32753, 32754, 32755, AGC= 63, IDX= 238, 0.08,-1.937,-2.942,-1.812,-2.976, PHS= 1.127, 0.081, 1.161, RAW= 151.6, -38.2, CAL= 154.2, -41.8, ROT= 355.8, 41.8  PDAT read: Bearing 355.8, 41.8 (Local)  ~Local bearing/azimuth received: Bearing 355.8, 41.8 (Local)  DAT read: Range 10 to 50 : 189.9 m (Round-trip 253.3 ms) speed 0.8 m/s  ,DAT read: user:3255>  BDAT read: Tx time:23:29:16.0359  $Ping request sent. ,@)ڽ :Iڽ Y@iڽ :?G B O > ˤw,.Ayy}j?CBU?b)}p! ?I}^*?i}0]};yy.:publishing transmit ping timeQ.Fpublishing direction and range infoy9}l? S忢i?yyyyy y)yIyiyyyyy y)yIyiyyy}j?CBU?b)yIyiyyyyjB>Yj;>j *=9jx>yjH ?@ZXܿj?`?G?R䡿@X?М?ɨjB>jY;j#Cy-B-=#IIEIE<2٢u\* u9=9u@yy }G٣}TGym > Nusing accuracyPremultiplier from config59Xi?5Y'! i>@VE::Ţ5B '@_Ek}z?k}E( ky k}^K(A:k}=CBk}jjjihIhIhQhQfQfQfYrf]̼g@bf]?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:29:16.0351 ɛ=BE IuIy a<ɚiI ii=)+/>)*Fm?2Fi:FiBFmX0JFiGE=G B O% >HA IA  IE #IIE BIA &IA .IA 6IE <:IE = FBI ɨCJI ɨCRI ZI =bI jI ɥf4M Will construct direction to contact in vehicle frame from tetrahedron phase data.bҤw,A~HAy%B%/#IMb@Mb@Mb@ )YZd;O?+X9vyj>3 A b@)@I@yz@II<٢ G٣y > Nusing accuracyPremultiplier from config599ii?5Y%! i ? :>@XE 3;90;Ǣ5 @ZjAEFNOT Ignoring new targets: 167.70 m.BjUlJjUle ProNav: ac range: 167.699997 m, nav range: 45.387863 m, bearing: 243.520614 deg, approach rate: 0.372017 m/s, LOS rate: -0.470089 deg/s, cmd heading: 22.289877 deg, new cmd heading: 21.734113 deg. 2jeOmHeadingCmd: 0.379332 target range: 167.699997 and range: 167.70 m. jm7>jijijiiihqhqhqhuZBfyfyfyrfybf}ٲ?ɛeBe&Vl imIi m5q<ɚiiiImiqi}ޅ=)}7>)y aIa*FQ2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.zK} MK} 9Ky K}  K}  G= :=G B9 O] >+ؤw,DbAJ q>YJX~>JE3=9J =yJH`?`̵ۿ ?(? @?f`?@?ɨJ q>Jފ;J$CyVBV#IiZ=IZ=I^I^V٢fȽ f_=9jhh jG٣lyn n> vNusing accuracyPremultiplier from configpv59rwi?z5Yr|$! irxz>z@rYEr:r':rɢ5   @\EZjIMFNOT Ignoring new targets: 167.70 m.BjUJjUe ProNav: ac range: 167.699997 m, nav range: 45.514725 m, bearing: 243.355740 deg, approach rate: 0.342011 m/s, LOS rate: -0.443252 deg/s, cmd heading: 21.734113 deg, new cmd heading: 21.240882 deg. 2jemHeadingCmd: 0.370723 target range: 167.699997 and range: 167.70 m. jmrϽ>jijijiiqhqhqhhfffrfbf  ?ɛBΒ} Will construct direction to contact in vehicle frame from tetrahedron phase data.II U<ɚQiQIUQiaie4=)erϽ>J}}J}|JyJyJ}[j:J}@9JyJy)*Fe?2Fi:FiBFiJFiG==GB!O=r> aIa Will construct direction to contact in vehicle frame from tetrahedron phase data.Uޤw, |A6 5k>Y6a>6C=96k=y6H ?`iۿ,?G? ^?鲿wۺ?`?ɨ6 5k>6Z;6"CyJBJ#I]Mb@Mb@Mb@YYY Y)YY]v?B`"۹{Gzy]>]ν]ף]A ]@)YI]@Yy]@ImIm(*٢}~< }?=9 G٣TGy [ > Nusing accuracyPremultiplier from config59!i?5Y#! iJZ>:>@[E;;ʢ5 @ZjFNOT Ignoring new targets: 167.70 m.BjJj ProNav: ac range: 167.699997 m, nav range: 45.653645 m, bearing: 243.155305 deg, approach rate: 0.327729 m/s, LOS rate: -0.471411 deg/s, cmd heading: 21.240881 deg, new cmd heading: 20.641429 deg. 2já HeadingCmd: 0.360261 target range: 167.699997 and range: 167.70 m. j t>j j j i h hhh,Bf!f!f!rf)bf-u?ɛ]B]. Y]UIY e|[<ɚaiaIeiiim;,=)mt>)iZH@ARHAAHy>I Iz#IIBI&I.I6IQ<:Iq FWill construct direction to contact in vehicle frame from tetrahedron phase data.E0<*F5?2F1:F9BF9JF9 U L$?IQ G} =G G mAGQ Ba O} >w,dA.Will construct direction to contact in vehicle frame from tetrahedron phase data.>a>Y>$>>?U=9>f=y>H`@?,ڿ@z?`K?@?cˤ`?)?ɨ>a>>1Ɖ;=9-"11 5G٣1y=R => ENusing accuracyPremultiplier from configAM59Eyi?U5YE!! iEzYeu>e@E]EE3;Ev;E̢5i m"@uYEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 167.70 m.BjJj ProNav: ac range: 167.699997 m, nav range: 45.791840 m, bearing: 242.954021 deg, approach rate: 0.319957 m/s, LOS rate: -0.464616 deg/s, cmd heading: 20.641429 deg, new cmd heading: 20.039424 deg. 2jnHeadingCmd: 0.349754 target range: 167.699997 and range: 167.70 m. j>jjjihhhhfffrfbf`?zK.KKs9KK K   0YTj:DFtGq<$|ɛBu !%I! %M<ɚ!i!I%ii,=)>)EZ%=*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G yT=G B O= >Jw,#A6!V>Y6l>6vum=96=y6H ?wEڿ??8 ?@@m ,?`e?ɨ6!V>6;6#CyNBR#I)T VATTIZIZ 3 dIh٢n nP=9rvpp rG٣tyv v> zNusing accuracyPremultiplier from configxu59z\i?u5Yz ! izy}{i>@z^Ezהjjjihhhhfffrfbf@@ɛmBu+ u&O=}?Iy })i<ɚyiyI}fiiڇ=)">)EE*E "E }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210208HIC IZ#IIτBI =&I.I6I<:I$ F*Fi2Fq:FqBFqJFq% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458776J AAJ JcKkـ3 Kk .KcKc"KcJ ~J J J J {m:J 9J J J <;a J a J g;a J h;a G N=Gq B O >w,ΓA<>Y=> ~=9H=yHY?sؿ۶? %? e? 찿m?@_?ɨ<>ň;騥$Cy޵B޵#I mN$?IiMb@Mb@Mb@ )YZd;?`"Qy>u;A -@)AIp@y@I(I̍3٢Ɲ !=9P G٣UGyI > Nusing accuracyPremultiplier from config59oi?5Y! i?:'>@`EC;T;Т5B @VEZjFNOT Ignoring new targets: 167.70 m.BjJJjJ- ProNav: ac range: 167.699997 m, nav range: 46.068287 m, bearing: 242.516157 deg, approach rate: 0.307190 m/s, LOS rate: -0.511581 deg/s, cmd heading: 19.486745 deg, new cmd heading: 18.729899 deg. 2j-=HeadingCmd: 0.326898 target range: 167.699997 and range: 167.70 m. j=;_>j9j9j9i9h9hAhAhE'BfAfIfIrfIbfM @]NG|uA YY|uAyBɛB"jb I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711508 EQ<ɚIiIIMP=IM;_>iQiU"=)U;_>)Q*F?2F:FBF_1JFzK=OK=9K9K= K=cM<+ {sjfkmZQVr||qdWH=4( 9 RKM?JKM?G% ̈=G B O% >xw,iAVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.964487yޭBޭ#II#I%x3٢< \=9Q > G٣y > Nusing accuracyPremultiplier from config59i?5Y! i @bE;u;lҢ5 4@ Zj)5FNOT Ignoring new targets: 167.70 m.Bj5jJj=jE ProNav: ac range: 167.699997 m, nav range: 46.180325 m, bearing: 242.330975 deg, approach rate: 0.302056 m/s, LOS rate: -0.498042 deg/s, cmd heading: 18.729900 deg, new cmd heading: 18.175721 deg. 2jM檼MHeadingCmd: 0.317226 target range: 167.699997 and range: 167.70 m. jMxk>jQjQjYiYhYhYhahafafafirfibfm0@ɛ%…B%` !%I) - <ɚ)i)I-O=IUxk>iYi]w=)]xk>)a mO$?Iq*FE?2FA:FABFM15JFIG,=GeWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:23:29:18.6907 TRx dataTimestamp_ set to:1736378959.909007checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222657BOM >w,sGAjH bH"<H$I$ I&H#II&BI$&I$.I$6I&<:I&D FB}.>YB\6>B=9BӋ=yBHl?ؿ?`U??΢Hl?I?ɨB}.>BI;@yRBR#IiV)>IV=Mb@Mb@Mb@ )YZd;O?S㥛$tA Z@)AIZ@y@II(*3٢< I=93;Q > G٣y > Nusing accuracyPremultiplier from config59'i?5Y! i8 ? : > @cE;H;2Ԣ5 @SEZjAMFNOT Ignoring new targets: 167.70 m.BjMJjMe ProNav: ac range: 167.699997 m, nav range: 46.299473 m, bearing: 242.122673 deg, approach rate: 0.292631 m/s, LOS rate: -0.510277 deg/s, cmd heading: 18.175721 deg, new cmd heading: 17.552449 deg. 2jemHeadingCmd: 0.306348 target range: 167.699997 and range: 167.70 m. jmٜ>jijijiiihihqhqh}-Bfyfyfyrfybf] @ɛÅBʟ 隭 I Va<ɚiIZq=Iٜ>iivE=)ٜ>)Will construct direction to contact in vehicle frame from tetrahedron phase data.յAiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.467277J}J{JJJ[j:J-9JJJ;J;J:J:*F?2F:F BF X0JF  YIYGE |=G) BY O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:29:18.6907 LVL= 24528, 31969, 25250, 27923, AGC= 57, IDX= 96,-0.00,-2.602, 1.950, 2.790, 2.986, PHS= 0.783,-0.989,-0.199, RAW= 116.4, 5.3, CAL= 126.4, 1.6, ROT= 23.6, -1.6  Ygot valid direction response: 23:29:18.6907 LVL= 24528, 31969, 25250, 27923, AGC= 57, IDX= 96,-0.00,-2.602, 1.950, 2.790, 2.986, PHS= 0.783,-0.989,-0.199, RAW= 116.4, 5.3, CAL= 126.4, 1.6, ROT= 23.6, -1.6  PDAT read: Bearing 23.6, -1.6 (Local)  ~Local bearing/azimuth received: Bearing 23.6, -1.6 (Local)  DAT read: Range 10 to 50 : 187.8 m (Round-trip 250.5 ms) speed 0.6 m/s  ,DAT read: user:3256>  BDAT read: Tx time:23:29:19.7860  $Ping request sent. ie a a e ڀMG?!9<ԯü?)e Ie ,ie Re a a % :publishing transmit ping time % Fpublishing direction and range infoa 9e 7~(̿#'zֿ=b0?ya a a a a )a Ia ia a a a a a )a Ia ia a a e ڀMG?!9<ԯü?)a Ia ia a a a w, A6ƕ!>Y6>6O=96=y6H ?R׿%?Ε?u?:\}??ɨ6ƕ!>6[Z;4yBBB.#IIZ,IZ3٢f= f^=9j;Q j>hl nGzK}GOK}s9KyK} K}       ٣nUGy > Nusing accuracyPremultiplier from config 59Ui? 5Yc! ic  =@eE::բ59 =@=PEkj+8j?kWl) k k^*A:k;CBk:CZk+!@"`; [D?X=9PQ^*je@7~(̿#'zֿ=b0?JkRRk*Iwjjjihhhhfffrfyg@bfo?ɛ=ŅB=| 9E' IA E D<ɚAiAIl=I;>iiz=);>)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:29:19.7852 E$=*F ?2F :F BF P5JF M P$?IQ }Will construct direction to contact in vehicle frame from tetrahedron phase data.G=GGqAGBO=?&w,.>AVa>YV(>V =9V5fz=yVH 7?aտ)C? "?`?E)@1??ɨVa>V W;V'CyppMb@Mb@Mb@ )Y{Gz?v/y?x齹 @)AI@y(@I% I%29=;Q =>9A EG٣AyE : E> UNusing accuracyPremultiplier from configHYIY I]N#II]ńBIY&IY.IY6I]J<:I]m FI}59M j?}5YM`! iM}?}:} >}@MgEM;M ;MTآ5 B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 187.80 m.BjһJjһ ProNav: ac range: 187.800003 m, nav range: 81.522408 m, bearing: 266.030741 deg, approach rate: 0.108062 m/s, LOS rate: -0.368565 deg/s, cmd heading: 16.908808 deg, new cmd heading: 16.321083 deg. 2j|HeadingCmd: 0.284857 target range: 187.800003 and range: 187.80 m. jؑ>jjjihhhhTBfffrfbf?ɛ=DžB=o 9=I9 =_<ɚAiAIE1=IEؑ>iIiM`=)Mؑ>)QEMQ=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFU0JFJE{JE~JAJAJEd:JEf9JAJAJE";JE#;JE:JE: Q IQ GU x=G B) OE >w, XA25=Y2P>2=92/{=y2H ?%տ?@s??'@?f?ɨ25=2v;2#CyRńBRN#IIZIZ#3٢bw^= b<9f:Q f>dh jG٣hyj j> 5Nusing accuracyPremultiplier from config=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9883101E595Ej?M5Y5! i5IMF=M@5iE5{r;5r;5٢5]B ]n@]MEZjFNOT Ignoring new targets: 187.80 m.BjOѻJjOѻ ProNav: ac range: 187.800003 m, nav range: 81.559883 m, bearing: 265.897480 deg, approach rate: 0.102970 m/s, LOS rate: -0.365987 deg/s, cmd heading: 16.321084 deg, new cmd heading: 15.921489 deg. 2j,{HeadingCmd: 0.277882 target range: 187.800003 and range: 187.80 m. jF>jjjihhhhfffrfbfea?ɛȅB- I <ɚiIJ=IF>ii*J=)F>) EE*E"EzKCLK9KK K   s j  lT7% *FQ2FQ:FYBF]Y0JFYG5=Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241823G B9 O >w,&qA6C=Y6l>67x=96=y6H-? hyԿ@|??`>?:` ?`U?ɨ6C=6;6$Cy>ЄB>\#IIFIF<٢N]= RM=9RQ V>TT VG٣VUGyZ Z> ^Nusing accuracyPremultiplier from config\b59^Z*j?b5Y^"! i^ݠdf=f@^jE^;^-;^ۢ5h j@h vQ$?ItZj  FNOT Ignoring new targets: 187.80 m.BjϻJjϻ% ProNav: ac range: 187.800003 m, nav range: 81.597603 m, bearing: 265.756670 deg, approach rate: 0.097273 m/s, LOS rate: -0.362956 deg/s, cmd heading: 15.921489 deg, new cmd heading: 15.499262 deg. 2j%y-HeadingCmd: 0.270513 target range: 187.800003 and range: 187.80 m. j->j)j1j1i1h1h1h9hfffrfbf1?ɛʅB m I "<ɚiIx=I>ii9=)>)!*F?2F:FBF`0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495946GU=ZHQRHQH]z>IY I]g#II]ڄBIY&IY.I]?D6I]R<:I]s FBIȩCJIȩCRIZI =bI =jI<4G ?G,?Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744171JY J] yJY JY JY J] 9JY JY JY JY J] :J] :"w,MAvE=Yv!I>vc=9v==yvHbR?@ӿ ?}?@d?@@J9??ɨvE=v~;v"Cy~Bt#IMb@Mb@Mb@ )Y/$?㥛 {Gz?y1?#<A @)I@yp@II[3٢= 3=9%dQ %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=>j?E5Y=! i=M} ?M:M7>M@=lE=Y;=;=ݢ5Y ]@]JEZjFNOT Ignoring new targets: 187.80 m.BjлJjл ProNav: ac range: 187.800003 m, nav range: 81.659401 m, bearing: 265.590213 deg, approach rate: 0.135752 m/s, LOS rate: -0.365379 deg/s, cmd heading: 15.499262 deg, new cmd heading: 15.000283 deg. 2jzHeadingCmd: 0.261804 target range: 187.800003 and range: 187.80 m. j7 >jjjihhhhBfffrfbf@?ɛ˅B95 0I ><ɚiI =I7 >iil=)7 >) R$?I*F?2F:FBFo0JFGem=G!B)OMR>=Will construct direction to contact in vehicle frame from tetrahedron phase data.E?E`?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997267zK /OK 9K K  K (w,VAyB#II Ib3٢M= M[=9UQ ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59uNOj?}5Yu ! iuy@unEu;uO;uDߢ5 6@ZjFNOT Ignoring new targets: 187.80 m.BjϻJjϻ ProNav: ac range: 187.800003 m, nav range: 81.710503 m, bearing: 265.454146 deg, approach rate: 0.136670 m/s, LOS rate: -0.363680 deg/s, cmd heading: 15.000282 deg, new cmd heading: 14.592342 deg. 2jyHeadingCmd: 0.254684 target range: 187.800003 and range: 187.80 m. je>jjjihhhhf f frfbf.@ɛ]̅Be1 aeӾIi m<ɚiiiImy =I}e>iyi}_=)e>)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270350*F ?2F :F BF 1JF IGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523640'/w,dAZ=YZù>Z2=9Z,~m=yZH 8? C ҿe?@G?`?u??ɨZ=ZW;Z!CybBf#I]Mb@Mb@Mb@YYY Y)YY]ʡE?S㥛 rh?y]?]/ݼ]C<];A ]@)]AI]Z@Yy]@IuIub2٢X= F=9 Q > G٣UGy > Nusing accuracyPremultiplier from config598bj?5Y! i-?:uv>@pE;;5 @GEZjH{>I I#IIBI&I.I6I<:I F FNOT Ignoring new targets: 187.80 m.Bj!ջJj!ջ% ProNav: ac range: 187.800003 m, nav range: 81.783508 m, bearing: 265.300435 deg, approach rate: 0.177157 m/s, LOS rate: -0.372664 deg/s, cmd heading: 14.592342 deg, new cmd heading: 14.131633 deg. 2j%HeadingCmd: 0.246644 target range: 187.800003 and range: 187.80 m. j|>jjjihhhhքBfffrfbfId@ɛ5ͅB5$ 15{ɾI1 5*ޖ<ɚ9i9I=} =Ie|>iaiejx@=)e|>)i*F2F:FBF3JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772235Gq؃=GpAG S$?I G B O >s 6w,RٔA2r=Y2pO>2R=92Mn=y2H%?cѿ@W?0?s?@X@峲O?B>#I)@ BAIFIF?13٢R> R[=9VD;Q V>TT VG٣TyZG Z> bNusing accuracyPremultiplier from config\b59^ksj?b5Y^T! i^Adfk>f@^qE^:^:^5jB j@jDE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 187.80 m.BjP̻JjP̻Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024456 ProNav: ac range: 187.800003 m, nav range: 81.848114 m, bearing: 265.160803 deg, approach rate: 0.165425 m/s, LOS rate: -0.357248 deg/s, cmd heading: 14.131633 deg, new cmd heading: 13.713076 deg. 2j-uHeadingCmd: 0.239338 target range: 187.800003 and range: 187.80 m. ju>jjjihh!h!h!f!f!f)rf)bf-u@ɛ΅B ݻ 隥pI N<ɚiI =Iu>iii1==)u>)zK-JK-9K)K- K-*FY2FY:FYBF]5JFYGel=G9BQOuW>J5 |J5 zJ5 1J1 J5 ;g:J5 9J5 3J1 a= @a= @a= @a= @m Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:23:29:22.4066  TRx dataTimestamp_ set to:1736378963.706625 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2806052Bg=9B7t=yBHz?п?'??`У-L`׀?u?ɨBOR=B;B"CyR*BR#IIZ IZ(2٢f= fH=9jO~Q j>hh jG٣hynҜ n> vNusing accuracyPremultiplier from configpv59rJj?z5Yr! irVxzc>z@rsEr:rz:r{5| 1@Zj!-FNOT Ignoring new targets: 187.80 m.Bj5k߻Jj5k߻E ProNav: ac range: 187.800003 m, nav range: 81.917725 m, bearing: 265.007707 deg, approach rate: 0.177777 m/s, LOS rate: -0.390656 deg/s, cmd heading: 13.713077 deg, new cmd heading: 13.254189 deg. 2jM UHeadingCmd: 0.231329 target range: 187.800003 and range: 187.80 m. jUl>jQjQjQiQhQhYhYhYfafafarfabfe } @ɛυBX⸻ 隕I ɸ<ɚiI =Il>ii6@=)l>)*F2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532311GUYhA=jHbH<G9BYH|>I I#II&BO>I =&I.I6Il<:I F+Cw, AWill construct direction to contact in vehicle frame from tetrahedron phase data..DAT read: 23:29:22.4066 LVL= 21600, 32545, 32754, 32755, AGC= 65, IDX= 82, 0.35, 1.187,-0.545, 0.172, 0.549, PHS= 0.726,-1.047,-0.380, RAW= 111.9, 9.1, CAL= 121.4, 6.3, ROT= 28.6, -6.3 2Ygot valid direction response: 23:29:22.4066 LVL= 21600, 32545, 32754, 32755, AGC= 65, IDX= 82, 0.35, 1.187,-0.545, 0.172, 0.549, PHS= 0.726,-1.047,-0.380, RAW= 111.9, 9.1, CAL= 121.4, 6.3, ROT= 28.6, -6.3 6PDAT read: Bearing 28.6, -6.3 (Local) 6~Local bearing/azimuth received: Bearing 28.6, -6.3 (Local) >DAT read: Range 10 to 50 : 162.3 m (Round-trip 216.5 ms) speed 0.5 m/s B,DAT read: user:3257> BBDAT read: Tx time:23:29:23.5360 F$Ping request sent.F @)z0=Ir>iz0G?ё0,N2?)?fI@"i9^:publishing transmit ping timeD^Fpublishing direction and range info91TEIҿqX4пK?y )Ii )IiG?ё0,N2?)Ii0=Y >=9x=yH?@eп}3?K??̱?` ?ɨ0= ;騭%Cy?B#I =T$?I9]Mb@Mb@Mb@YYY Y)YY]Q?L7A`?Zd;O?y]?]+=]j<]A ]@)YI]@Yy](AIIb1)Y YGQ٢.= ]= YygB9uXQ > G٣UGyBe > Nusing accuracyPremultiplier from config59 j?5Y"! ii?:>@vE+;;5 @AEkȠc?kg' k kS A:kL"CBk7!CZk@"Y^/GQ/aY)EHYMb@1TEIҿqX4пK?JkRk9*FI_Bl56MxM"r(&b@jfs*s>׿3P?"kk*kekGc?k#' 2kQXCkkkkBk2@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 162.300003 m, deltaT: 3.799405 s, deltaX: -25.500000 m, approachRate: -6.711577 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 187.80 m.BjлJjлWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:29:23.5352  ProNav: ac range: 187.800003 m, nav range: 82.055275 m, bearing: 264.784523 deg, approach rate: 0.225418 m/s, LOS rate: -0.365141 deg/s, cmd heading: 13.254190 deg, new cmd heading: 12.585790 deg. 2jzHeadingCmd: 0.219663 target range: 187.800003 and range: 187.80 m. jv`>jjjihh h h +Bf1fQfQrfUId@bf]'?ɛхBe: 隅\I ȏ<ɚiI G=Iv`>iiK=)v`>)*FA 2FA :FA BFM X5JFI "GU =GU =zK BHK h9K K  K GA=G!G%/?GBO>ݤJw,,AJyJuJ0JJ]:J9Jـ3J:Will construct direction to contact in vehicle frame from tetrahedron phase data.:Ai:AB_=YB>B͉=9Bk=yBH ?пn?`D?? _6`3??ɨB_=Bz ;B"CyRIBV#IiZ=IZp=IjIj@ ٢~Y= ~m=9hQ   ?  G٣y ? %Nusing accuracyPremultiplier from config%59Ͱj?%5Y! ird>@xEX<i<p5 O@>EZj%FNOT Ignoring new targets: 187.80 m.Bj-XԻJjEXԻU ProNav: ac range: 187.800003 m, nav range: 82.127083 m, bearing: 264.667089 deg, approach rate: 0.227237 m/s, LOS rate: -0.371296 deg/s, cmd heading: 12.585790 deg, new cmd heading: 12.233801 deg. 2jU~eHeadingCmd: 0.213520 target range: 187.800003 and range: 187.80 m. jeZ>jajajaiahihihihifqfqfqrfqbfu@:?ɛ ⁻ I r<ɚiI=IZ>iigJ=)Z>) mU$?Ii*F5?2F1:F1BF5\0JF1-Will construct direction to contact in vehicle frame from tetrahedron phase data.G] .H=G B O >H5 >I1  I5 #II5 SBI5 =&I1 .I1 6I5 W<:I5 z FkQw,%]FA2jU=Y2>2u=92X=y2H:?rϿ?g ??Q`KM??ɨ2jU=2;2&Cy^PB^#I}Mb@Mb@Mb@yyy y)yY}Zd;?v/?Q?y}?}x=}<}QA }@)}hAI}@yy}AII(*٢(= A=9" Q > G٣y > Nusing accuracyPremultiplier from config59j?5Y ! is?:>@zE8;6;H5B @jjjihhhhnBfffrfbf]?ɛE҅BEhN AEII M<JQJU@AWill construct direction to contact in vehicle frame from tetrahedron phase data.ɚIiI%=IkTR>ii+C[=)kTR>)*F?2F:FBF]0JF mV$?ImiG% 5PK=G B O- >E Will construct direction to contact in vehicle frame from tetrahedron phase data.ڳWw,N`A/bw=9B=yH? οB?@m}??@[箿|??ɨ/<=;y-TB-#II=I=ỳ٢M0< MO=9U$ Q U>QQ ]G٣]UGy]K ]> eNusing accuracyPremultiplier from configam59ej?u5Ye ! ierqud>u@e{Ee;e9;e5y @9EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 187.80 m.BjѻJjѻzKKKK Km ProNav: ac range: 187.800003 m, nav range: 82.380104 m, bearing: 264.366782 deg, approach rate: 0.308446 m/s, LOS rate: -0.366331 deg/s, cmd heading: 11.768562 deg, new cmd heading: 11.334287 deg. 2jmh{uHeadingCmd: 0.197821 target range: 187.800003 and range: 187.80 m. ju}J>jqjqjqiqhyhyhyhyfffrfbfB?ɛ)5c 15(}I1 5f<ɚ1i9I=$=I=}J>iAiE[wc=)E}J>)aEuqAEuqA*F?2F!:F!BF%_0JF!G5qA G5mAG.H_=J]wJ]tJYJYJ]W:J]9JYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GBOi> I II ]w,d zA2}2k=92=y2H@?`Aο _?`I? ?@cpmQ?`i?ɨ2}<2i7;2$Cy>OB>#I)D DIJIJ 2٢b<ϼ bT=9b5Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nj?r5Yn! inotvm>v@n}En:n:n5x z@|ZjFNOT Ignoring new targets: 187.80 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755359Bju"˻Jju"˻ ProNav: ac range: 187.800003 m, nav range: 82.499672 m, bearing: 264.224984 deg, approach rate: 0.299940 m/s, LOS rate: -0.355190 deg/s, cmd heading: 11.334287 deg, new cmd heading: 10.909517 deg. 2js=HeadingCmd: 0.190407 target range: 187.800003 and range: 187.80 m. j= B>jAjijqiqhyhhhfffrfbf)?ɛMӅBM & IMIQ U@<ɚQiQIU}=I] B>i]/[jIC I)$IIwBI =&I.I@D6Ik<:I F)] B>)*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004950G `hZ=G B O > = X$?IA dw,Ay~TB~#IMb@Mb@Mb@ )YCl?MbX9?:v?yd?!><A $@)AIQ@y=AIIb٢< <=9UQ U>YY ]G٣Yye e> Nusing accuracyPremultiplier from config59Rk?5Y! im ?:>@E;;5B @6EWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256073ZjYFNOT Ignoring new targets: 187.80 m.BjJj ProNav: ac range: 187.800003 m, nav range: 82.676796 m, bearing: 264.045529 deg, approach rate: 0.335428 m/s, LOS rate: -0.339114 deg/s, cmd heading: 10.909517 deg, new cmd heading: 10.372321 deg. 2jhHeadingCmd: 0.181031 target range: 187.800003 and range: 187.80 m. j ;`9>j j j i h h hhBfffrf9bf=Wu@ɛF: 隭~I B<ɚiIrf=I;`9>ii=);`9>)*FU?2FQ:FQBFQJFQG- v=G B Om >jw,?ɭAJvJkJ1JJ{T:J9J3J2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508065VV#3Z=9V=yVHM ?Ϳˠ?[? ?@C`??ɨV@zEzG ;z ;z;5  a@Zj1=FNOT Ignoring new targets: 187.80 m.BjEԻJjEԻ} ProNav: ac range: 187.800003 m, nav range: 82.786255 m, bearing: 263.933608 deg, approach rate: 0.364080 m/s, LOS rate: -0.371777 deg/s, cmd heading: 10.372321 deg, new cmd heading: 10.037006 deg. 2j}%HeadingCmd: 0.175179 target range: 187.800003 and range: 187.80 m. jb3>jjjihhhhfffrfbf@@ Y$?IɛԅBʻ  I  G<ɚ i I o=I5b3>i1i5Tچ=)5b3>)9BK:K*F?2F:FBFU5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760024G 6Hx=G B O >H >I  I 5$II BI  =&I .I 6I Z<:I FBIJIRIZI =bI =jI.5Bqw,ǕAJ$J΅P=9J=yJH?kͿ@??-?V 㴲?@u?ɨJ$U G٣y   > Nusing accuracyPremultiplier from config=59##k?E5YZ ijE2#?E:E ?E@E;;'5I U6@U3EZjFNOT Ignoring new targets: 187.80 m.BjѻJjѻ ProNav: ac range: 187.800003 m, nav range: 82.954948 m, bearing: 263.778588 deg, approach rate: 0.400068 m/s, LOS rate: -0.366892 deg/s, cmd heading: 10.037007 deg, new cmd heading: 9.572904 deg. 2j{HeadingCmd: 0.167079 target range: 187.800003 and range: 187.80 m. j+>jjji h h hQhU~BfQfYfYrfYbf]`*@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012349ɛ 隍?I `<ɚiIw=I+>ii=)+>) I*F92FA:FABFE\5JFAG [=% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:23:29:26.1535 5 TRx dataTimestamp_ set to:1736378967.485367= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266154Ga B O >ww,A6E6YE=96[W=y6H?(Ϳ` =?@V|??aŨ D? ?ɨ6E<6yM;6#CyZ.BZ#IIbIb3٢j jU=9nQ n>lp rG٣pyr0 r> vNusing accuracyPremultiplier from configtz59v4k?z5Yv7 it|~?~@vEv;v ;v5  @0EEB*** querying acoustic contact ***jAjAZjamFNOT Ignoring new targets: 187.80 m.Bju̻Jju̻ ProNav: ac range: 187.800003 m, nav range: 83.095345 m, bearing: 263.649542 deg, approach rate: 0.390180 m/s, LOS rate: -0.358030 deg/s, cmd heading: 9.572904 deg, new cmd heading: 9.186426 deg. 2juHeadingCmd: 0.160333 target range: 187.800003 and range: 187.80 m. jo.$>jjjihhhhfffrfbf`/ @ɛ0 I <ɚiIo\=Io.$>ii=)o.$>)zKuKKu+9KqKu Ku!/6<DIOQRUSJGMZgu{wnic[O>4,'$!*Fu?2Fq:FqBFuZ0JFqGU=GABIOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517992 Z$?I&~w,[A.r .Ge;=9.L=y.H!? ֔̿??@?%`j`Z.??ɨ.r <.e;.$CyBBB#IIJIJ٢ %E=9%xQ %>)) -G٣-UGy-- 5> =Nusing accuracyPremultiplier from config1E595AGk?E5Y5 i5hAE?E@5E5K ;5:55Q U@QZjFNOT Ignoring new targets: 187.80 m.BjɻJjɻ ProNav: ac range: 187.800003 m, nav range: 83.253342 m, bearing: 263.504194 deg, approach rate: 0.384327 m/s, LOS rate: -0.352886 deg/s, cmd heading: 9.186426 deg, new cmd heading: 8.751219 deg. 2j.rHeadingCmd: 0.152738 target range: 187.800003 and range: 187.80 m. j>g>jjjihhhhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bf :@=DAT read: 23:29:26.1535 LVL= 27120, 32753, 32754, 32755, AGC= 62, IDX= 405, 0.16,-1.962, 2.647,-2.903,-2.536, PHS= 0.662,-1.054,-0.371, RAW= 113.3, 10.2, CAL= 122.3, 7.3, ROT= 27.7, -7.3 Ygot valid direction response: 23:29:26.1535 LVL= 27120, 32753, 32754, 32755, AGC= 62, IDX= 405, 0.16,-1.962, 2.647,-2.903,-2.536, PHS= 0.662,-1.054,-0.371, RAW= 113.3, 10.2, CAL= 122.3, 7.3, ROT= 27.7, -7.3 PDAT read: Bearing 27.7, -7.3 (Local) ~Local bearing/azimuth received: Bearing 27.7, -7.3 (Local) ɛ[jH<bHH>IC I)$IIwBI =&I.I6I<:I FDAT read: Range 10 to 50 : 159.9 m (Round-trip 213.3 ms) speed 0.4 m/s ,DAT read: user:3258> BDAT read: Tx time:23:29:27.2360 $Ping request sent.g>ilg>)EI9Ҡӿ`ҿH]!?yCi )I>ix)?y醿Y?K6> D@)w>I>iwQlF?>BvA%1Ŝ?) Ij6iؙP瑿%:publishing transmit ping time%Fpublishing direction and range info9Ҡӿ`ҿH]!?y )Ii )IiQlF?>BvA%1Ŝ?)Ii*F?2F:FBFP0JFG GqAJQ JU tJU 0JQ JQ JU 9JU ـ3JQ JU Gu;a] JU Ju;ae JU :ae JU :ae  Will construct direction to contact in vehicle frame from tetrahedron phase data.G% q= I G B O% >w,6A6ZY;Y6%Ue>6/=96j=y6H,?n˿)? f?%?@U' ?9?ɨ6ZY;6h;4y>BF#Ipp Mb@Mb@Mb@    ) Y Zd;O?K?Mb`?y j? ^:> ;  A @) MAI  y AIEIE㔳٢u }6=9}λQ }> G٣y9 > Nusing accuracyPremultiplier from config599\k?5Y is5#?:8?@E@;;5B @-Ek a?k Li' k  k G;A:k CBk CZk ˬ@" <^WH"6#F]z)b@ Ҡӿ`ҿH]!?Jk ؙRk P瑿* &[=rx<;Oha@ Zǿ̴;HٿNộ?"k |*k k ba?k j}%t' 2k NRCk k ( k NRCk Bk IĒ@ addTargetRange:: Added new target pos. range: 159.899994 m, deltaT: 7.579157 s, deltaX: -27.900009 m, approachRate: -3.681149 m/s, rangeRepo size: 4  Added new target pos. range: 159.899994 m, bearing: 244.715602 deg, lat: 36.903790 deg, lon: -122.121685 deg, deltaT: 7.579157 s, deltaX: -27.900009 m, approachRate: -3.681149 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 159.90 m.BjJj ProNav: ac range: 159.899994 m, nav range: 76.972359 m, bearing: 262.784826 deg, approach rate: 0.000000 m/s, LOS rate: -0.352886 deg/s, cmd heading: 8.751219 deg, new cmd heading: 8.259238 deg. 2jHeadingCmd: 0.144151 target range: 159.899994 and range: 159.90 m. jK>jjjihhhh0Bff)f)rf-c@bf-@?ɛq} y}Iy }H2x<ɚyiI=IK>ii|=)K>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FBF_0JFGU&=GB!O=>zKNKKK K RK ?JK>;w,/AWill construct direction to contact in vehicle frame from tetrahedron phase data.ZU@YZ?Z>Z=9Zjr=yZH`A?ʿP??`CAA EG٣AyE M> UNusing accuracyPremultiplier from configI]59M[mk?]5YM iMzY]?]@MEM ;MP ;M5i m@iZjFNOT Ignoring new targets: 159.90 m.BjJj㻝 ProNav: ac range: 159.899994 m, nav range: 77.108818 m, bearing: 262.645371 deg, approach rate: 0.390556 m/s, LOS rate: -0.398424 deg/s, cmd heading: 8.259238 deg, new cmd heading: 7.841620 deg. 2jHeadingCmd: 0.136862 target range: 159.899994 and range: 159.90 m. j% >jjjihhh h f ffrfbfK?ɛAEļ AEeIA Mwr<ɚIiIIM= U[$?IYI% >ii=)% >)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G=G B O] >H >I  I #II NBI  =&I .I 6I \<:I F w,FHAN@YN@SW>Nk=9N(m=yNH@UG?`oʿ j?"?MA?`f Ν`"?`?ɨN@NWڈ;LyVBZ6#I=Mb@Mb@Mb@999 9)9Y=K?Mb? rhy=^?=>=C=dA =I@)=AI=@9y= AQU@AIUIUW٢er mH=9m^Q m>qq uG٣uUGyui }> Nusing accuracyPremultiplier from config59Āk?5Y[ i?:}>@E;F;5 @(EZjFNOT Ignoring new targets: 159.90 m.BjJjờ ProNav: ac range: 159.899994 m, nav range: 77.240852 m, bearing: 262.485718 deg, approach rate: 0.327253 m/s, LOS rate: -0.395031 deg/s, cmd heading: 7.841620 deg, new cmd heading: 7.363491 deg. 2jHeadingCmd: 0.128517 target range: 159.899994 and range: 159.90 m. j>jjjihhhhBfffrfbfz?ɛļ  I  j<ɚ JsJnJJJK:J99JJJe;Je;JR:JS:UWill construct direction to contact in vehicle frame from tetrahedron phase data.i Im_t=Iu>iqiuP=)u>)y*F2F:FBFo0JF"G=G= M\$?IIec~G}5tA .Y5tAyOBG qT=G G ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,bA2@Y2P>2W<92Og=y2HR?.ɿ@vr?`?L?.響`w??ɨ2@2_;2#CyRBR #IiV=IVt>IZ IZ2٢b_0 bU=9f\Q f>dd jG٣hyj j> =Nusing accuracyPremultiplier from config9E59=k?E5Y= i=AE>M@=E=:=:=5UB U@U%EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 159.90 m.Bjm޻Jjm޻ ProNav: ac range: 159.899994 m, nav range: 77.367325 m, bearing: 262.331702 deg, approach rate: 0.319891 m/s, LOS rate: -0.388921 deg/s, cmd heading: 7.363490 deg, new cmd heading: 6.902208 deg. 2jtHeadingCmd: 0.120466 target range: 159.899994 and range: 159.90 m. j=jjjihhhhfffrfbf?ɛHP !I c<ɚiI18=I=ii^=)=)zKLK9KK K*F2F:FBF_5JFG=GBO=>eWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode. E]$?IA%uw,|A63M@Y6I>6<96_=y6H^? ȿ }? ? gX?`e`j@?` ?ɨ63M@6;4yBmBB"IIJIJT3٢f. fJ=9fQ f>ll nG٣lyr_ r> vNusing accuracyPremultiplier from configtz59vKk?z5Yv? ivxz>z@vEv:v:vW5 D@Zj)-FNOT Ignoring new targets: 159.90 m.Bj5߻Jj5߻E ProNav: ac range: 159.899994 m, nav range: 77.492546 m, bearing: 262.178029 deg, approach rate: 0.319475 m/s, LOS rate: -0.391429 deg/s, cmd heading: 6.902208 deg, new cmd heading: 6.441945 deg. 2jEQMHeadingCmd: 0.112433 target range: 159.899994 and range: 159.90 m. jMZC=jIjIjQiQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924542hQhhhfffrf bf A5@ɛӅBII IM#IIM BIM =&II.IMAD6IM+<:IMe F隥L3I εX<ɚiI(=IZC=io\w,1}ABt@YB@>B<9BsV=yBHLl? ǿ݄?@? f?psȪ?@\?ɨBt@BF;B$CyJDBJ"I%Mb@Mb@Mb@!!! !)!Y%`"?V-?L7A`堿y%?%m=%+%A %`@)%MAI%QA!y!IEIE[3٢UA UB=9UPQ ]>YY eG٣e UGye笼 e> mNusing accuracyPremultiplier from configiu59mk?u5Ym^ im}?}:}>}@mEmt;m;m.5 @"EZjFNOT Ignoring new targets: 159.90 m.BjaJja仝 ProNav: ac range: 159.899994 m, nav range: 77.596062 m, bearing: 262.009664 deg, approach rate: 0.245848 m/s, LOS rate: -0.399330 deg/s, cmd heading: 6.441945 deg, new cmd heading: 5.937537 deg. 2jHeadingCmd: 0.103630 target range: 159.899994 and range: 159.90 m. j;=jjjihhhhBfffrfbf g@ɛ#1 GI O<ɚiIH=I;=ii=);=)*F2F:FBFg4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.426633Gy=zK k3IK K K ! K G B O >놫w, YAWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680329J@YJ 6>J=<9JNQ=yJH {?@Zƿ@Y??u?`C替\$?D?ɨJ@J۩;HyVBV}"I)X XIbIbM3٢fQ jS=9jQ j>ll nG٣lyr˼ v> Nusing accuracyPremultiplier from config| 59~Ok? 5Y~ i~>@~E~:,;~l,;~5! %`@! ^$?IZjY]FNOT Ignoring new targets: 159.90 m.BjeѻJjeѻ ProNav: ac range: 159.899994 m, nav range: 77.690582 m, bearing: 261.853292 deg, approach rate: 0.221814 m/s, LOS rate: -0.366515 deg/s, cmd heading: 5.937537 deg, new cmd heading: 5.469004 deg. 2j{HeadingCmd: 0.095452 target range: 159.899994 and range: 159.90 m. jg|=jjjihhhhfffrfbf@ɛ҅B'< 隅[I B<ɚiI=Ig|=ii2=)g|=)*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:29:29.8513 TRx dataTimestamp_ set to:1736378971.012723checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930489HM >IM C IM A#IIM BIM  =&II .II 6IM 2<:IM m FG =G B O >pw,;ʖAy]B]P"IMb@Mb@Mb@ )Y/$?kt9A EG٣AyE E> UNusing accuracyPremultiplier from configIU59Mk?]5YM iM?]?]:]=]@MEM;M;M5a m@mEZjFNOT Ignoring new targets: 159.90 m.BjJj ProNav: ac range: 159.899994 m, nav range: 77.753258 m, bearing: 261.672042 deg, approach rate: 0.151790 m/s, LOS rate: -0.438606 deg/s, cmd heading: 5.469004 deg, new cmd heading: 4.925709 deg. 2jHeadingCmd: 0.085970 target range: 159.899994 and range: 159.90 m. j=jjjihhhh>Bfffrfbf @JJAAJoJhJ0JJ>:JȆ9Jـ3JJ|O;JO;JӬ:JԬ:5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181614ɛ9=U^ AEpmIA E6<ɚAiAIE$=IM=iQiUGҷ=)U=)Q _$?I*F2F:FBF_0JFG% Υ=G) G- *?G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436173w,\A6@Y6 >6<96 E=y6H?ÿq??u? #m`؟? 2?ɨ6@6 *;6"CyNЃBN!"IIV#IV%x3٢r V rc=9r[Q r>tt vG٣v UGyzs z> Nusing accuracyPremultiplier from config%59k?%5Y ie!-t=-@E:*:o5UB ]@]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 159.90 m.BjJj㻝 ProNav: ac range: 159.899994 m, nav range: 77.800682 m, bearing: 261.523402 deg, approach rate: 0.127259 m/s, LOS rate: -0.398617 deg/s, cmd heading: 4.925709 deg, new cmd heading: 4.480071 deg. 2jȈHeadingCmd: 0.078192 target range: 159.899994 and range: 159.90 m. j#=jjj i hhhhfffrfbf% * @ɛхBl{ s=隥6I r*<ɚiIV4=I#=ii{=zKjIK]9KK" K m kQnN~scPF;2+$)#=)*FY2FY:FYBF]^0JFY5Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 23:29:29.8513 LVL= 22032, 32753, 31346, 32755, AGC= 64, IDX= 416,-0.24,-2.556, 1.980, 2.717, 3.090, PHS= 0.726,-1.063,-0.375, RAW= 112.4, 9.2, CAL= 121.8, 6.3, ROT= 28.2, -6.3 uYgot valid direction response: 23:29:29.8513 LVL= 22032, 32753, 31346, 32755, AGC= 64, IDX= 416,-0.24,-2.556, 1.980, 2.717, 3.090, PHS= 0.726,-1.063,-0.375, RAW= 112.4, 9.2, CAL= 121.8, 6.3, ROT= 28.2, -6.3 PDAT read: Bearing 28.2, -6.3 (Local) ~Local bearing/azimuth received: Bearing 28.2, -6.3 (Local) DAT read: Range 10 to 50 : 158.4 m (Round-trip 211.2 ms) speed 0.4 m/s ,DAT read: user:3259> BDAT read: Tx time:23:29:30.9360 $Ping request sent. =J @)=z0=I=d>i=z099= |P?Z¯ #]CZ?)=I=ƃ#i=<=n-99:publishing transmit ping timeعFpublishing direction and range info99=EgҿdDѿrC*h?y99Gw=99 9)9I9i99999 9)9I9i999= |P?Z¯ #]CZ?)9I9i9999 IGBO>þw,A @6g@Y6@>6@ƴ<96ZC=y6H? {¿o?@??@ÁO@wg?@?ɨ6g@6Uˈ;6$Cy>BB"IiF=IF;IJ-IJ3٢VO VN=9VQ Z>XX ^G٣ly~Kڼ ~>  Nusing accuracyPremultiplier from config 59l? 5Y iS=@E':H:/5 %@!ku@D`?kù& kq ku$%A:kufCBkuYCZkuۄ@"us ^Fn^EHoN 2b@uEgҿdDѿrC*h?Jku<Rkun-*u1YA0]dK8N b@u8$ ̿iTֿ)h(?Will construct direction to contact in vehicle frame from tetrahedron phase data."ku]*ku kuݚ`?ku:7& 2ku/RCkuGc?kuj}%t' kqkuzBku@ addTargetRange:: Added new target pos. range: 158.399994 m, deltaT: 3.779899 s, deltaX: -1.500000 m, approachRate: -0.396836 m/s, rangeRepo size: 4  Added new target pos. range: 158.399994 m, bearing: 237.877617 deg, lat: 36.903665 deg, lon: -122.121537 deg, deltaT: 3.779899 s, deltaX: -1.500000 m, approachRate: -0.396836 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 158.40 m.Bj%Jj!] ProNav: ac range: 158.399994 m, nav range: 68.739677 m, bearing: 248.081020 deg, approach rate: 0.000000 m/s, LOS rate: -0.398617 deg/s, cmd heading: 4.480070 deg, new cmd heading: 3.996047 deg. 2jYeHeadingCmd: 0.069744 target range: 158.399994 and range: 158.40 m. je ֎=jajajaiahahihihififfrfc@bfV?H>I I"II`BI =&I.I6Iۯ<:I1 FBIëCJIëCRIZI =bI =ɛЅBl I R<jIÔ5ɚiI v=I  ֎=ii.=) ֎=)*F2F:FBF_0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data. a$?I G =G qAG rAG B O >˪ťw,A6D@Y6>6ο<96P<=y6H ȵ?@???@p`ד $?`?ɨ6D@6=;;6"CyBBB!IMb@Mb@Mb@ )Y rh?L7A`Q롿y ?+\A QA)AIQAyAI- I-̍2٢i <=9ʻQ > G٣y > Nusing accuracyPremultiplier from config59pl?5Y i?:̽@E{;; 5 p@EZjYeFNOT Ignoring new targets: 158.40 m.Bjm,Jjm, ProNav: ac range: 158.399994 m, nav range: 68.807785 m, bearing: 247.886823 deg, approach rate: 0.159814 m/s, LOS rate: -0.455231 deg/s, cmd heading: 3.996047 deg, new cmd heading: 3.414054 deg. 2j5HeadingCmd: 0.059586 target range: 158.399994 and range: 158.40 m. jt=jjjihhhhӃBfffrfbf4T?ɛ=υB= 9= I9 E* <ɚAiAIE =IMt=iIiU=)Ut=)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG̈=GYBiOZ>zK NK 9K K # K  J% nJ! J% 1J! J% |;:J! J% 3J! a- @a- @a- @a- @] Will construct direction to contact in vehicle frame from tetrahedron phase data.˥w,1AB'@YBr=BT<9B;z9=yBH? ?`29?A?L@Ijd,?@k?ɨB'@Bl;B$Cyz~Bz!IIIԲ I٢% %R=9%ǻQ %>)) -G٣- UGy5A 5> =Nusing accuracyPremultiplier from config9M59=-l?M5Y=[ i=Y]`㽑]@=E=;=˵;= 5q uG@qZjFNOT Ignoring new targets: 158.40 m.BjJj ProNav: ac range: 158.399994 m, nav range: 68.866943 m, bearing: 247.713257 deg, approach rate: 0.155233 m/s, LOS rate: -0.455049 deg/s, cmd heading: 3.414054 deg, new cmd heading: 2.893819 deg. 2j%HeadingCmd: 0.050507 target range: 158.399994 and range: 158.40 m. jN=jjjihh hhfffrfbf\;?ɛ΅BA .I K;ɚiIޱ!=IN=ii=)N=)E-׿Q=Will construct direction to contact in vehicle frame from tetrahedron phase data.յ>յp=*F?2F:FBF`0JFH >I C I f"II BI  =&I .I 6I ֯<:I / FG- |=GB O->$ӥw,5|OAyvjBv!I)x x|~A-Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y|?5^?x&1̿S㥛y ?A`/ݼA h@)$AIVAyAII٢  %=9Q > G٣ -b$?I)y => MNusing accuracyPremultiplier from configAM59EEl?M5YEO iEU?U:U2U@EEE;EI;E 5]B e@eEZjFNOT Ignoring new targets: 158.40 m.Bj, Jj,  ProNav: ac range: 158.399994 m, nav range: 68.908035 m, bearing: 247.468571 deg, approach rate: 0.082959 m/s, LOS rate: -0.493695 deg/s, cmd heading: 2.893819 deg, new cmd heading: 2.160240 deg. 2jhHeadingCmd: 0.037703 target range: 158.399994 and range: 158.40 m. jn=jjjihhhhBfffrfbf[ ?ɛuͅBu q}Iy };ɚyiyI}#=In=ii:=)n=)EuR٥w,-iAb"@Yb=bP~<9b4=ybH?Kָ`3?0?h?@ɏ }??ɨb"@bmk;`yrcBr!II#I%x3٢% %\=9-Q ->11 5G٣1y5 5> ENusing accuracyPremultiplier from configAM59EWl?M5YE iE5IMM@EEE:Ea:E5Q ]@]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 158.40 m.Bj Jj  ProNav: ac range: 158.399994 m, nav range: 68.933815 m, bearing: 247.287939 deg, approach rate: 0.069957 m/s, LOS rate: -0.489988 deg/s, cmd heading: 2.160240 deg, new cmd heading: 1.618566 deg. 2j#HeadingCmd: 0.028249 target range: 158.399994 and range: 158.40 m. jk<jjjihhzKKK 9KK$ K%Sq~z{~|}{{zwuvg_\TSQONJH?*hQhQfYfYfYrfYbfu@wI?ɛ̅BT& 隥PI P;ɚiID$=Ik:J!J%ـ3J!MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. Ec$?IA*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=2.251637w,[ A6@Y6@=69j<967"6=y6HA?`t?ڵ?w?E F??ɨ6@6;6!CyN[BR!IIVIVV83٢^> bQ=9bMQ b>dd fG٣f UGyf j> rNusing accuracyPremultiplier from configlr59n^jl?r5Yn inYtvv@nEn:n :n?5x zu@xH>I I"IĨBI&I.I6I<:I] FZj1=FNOT Ignoring new targets: 158.40 m.Bj=Jj=ﻝu ProNav: ac range: 158.399994 m, nav range: 68.959129 m, bearing: 247.095648 deg, approach rate: 0.055198 m/s, LOS rate: -0.419137 deg/s, cmd heading: 1.618566 deg, new cmd heading: 1.041923 deg. 2juӏ}HeadingCmd: 0.018185 target range: 158.399994 and range: 158.40 m. j}<jyjyjyiyhyhhhfffrfbf@2@ɛ˅B ԛI <@;ɚiIC%=I-ww,䜗A:}\@Y:=:qL<9:d9=y:H@?Ʋ$?>ܲ?`? *? ?ɨ:}\@:0;:#CyF]BF!IiJ)>IJp< J=J=Mb@Mb@Mb@ )Y(\?X9vϿQy?}u ~@)AIAyAI5I5<2٢M< MB=9MAQ U>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59e~l?m5Ye ievu?u:uΰu@eEej;e;e5y ^@EZjFNOT Ignoring new targets: 158.40 m.Bj+Jj+m ProNav: ac range: 158.399994 m, nav range: 68.973511 m, bearing: 246.883567 deg, approach rate: 0.040769 m/s, LOS rate: -0.601086 deg/s, cmd heading: 1.041923 deg, new cmd heading: 0.405841 deg. 2jBμHeadingCmd: 0.007083 target range: 158.399994 and range: 158.40 m. j;jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.t>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757347hhh|Bfff!rf!bf-!K@ɛʅB, 隝I & m;ɚiI&=I;ii);)*FE?2FA:FIBFM[0JFIG%p=GB O=r>zK-NK-9K)K-% K-*J) "J- %=J= qJ= gJ9 J9 J= D:J= 9J9 J9 m Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:23:29:33.5500  TRx dataTimestamp_ set to:1736378974.794873 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012130 ! I% iw,iŶA6@Y6 =6/<96i<=y6H ??Aޯ??+G@S??ɨ6@68;6&CynhBr!II I [3٢5s[= 5L=9=Q E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]l?e5Y]* i]aem@]E]:]3:]5uB u@uEZjFNOT Ignoring new targets: 158.40 m.BjJj ProNav: ac range: 158.399994 m, nav range: 68.985382 m, bearing: 246.680470 deg, approach rate: 0.029435 m/s, LOS rate: -0.503488 deg/s, cmd heading: 0.405841 deg, new cmd heading: 359.796679 deg. 2jŬHeadingCmd: 6.279637 target range: 158.399994 and range: 158.40 m. j@jjjihhhhfffrfbfK. @ɛȅBC I 5;ɚiI '=I hi ia=)@)*Fe?2Fa:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259583H>I I!IIBI =&I.IBD6I,<:Iq FG=G B O >w,ЗA>,@Y>O=><9><=y>H@+?` ?@??tS '@ ??ɨ>,@>ֈ;>#CyFsBF!IWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 23:29:33.5500 LVL= 21856, 32753, 31698, 32755, AGC= 67, IDX= 432, 0.47, 1.117,-0.678,-0.122, 0.357, PHS= 0.849,-0.988,-0.482, RAW= 105.5, 7.6, CAL= 115.5, 5.6, ROT= 34.5, -5.6 }Ygot valid direction response: 23:29:33.5500 LVL= 21856, 32753, 31698, 32755, AGC= 67, IDX= 432, 0.47, 1.117,-0.678,-0.122, 0.357, PHS= 0.849,-0.988,-0.482, RAW= 105.5, 7.6, CAL= 115.5, 5.6, ROT= 34.5, -5.6 PDAT read: Bearing 34.5, -5.6 (Local) ~Local bearing/azimuth received: Bearing 34.5, -5.6 (Local) DAT read: Range 10 to 50 : 157.2 m (Round-trip 209.7 ms) speed 0.5 m/s ,DAT read: user:3260> BDAT read: Tx time:23:29:34.6361 $Ping request sent.jÿ#?y3C`U {)ICiXY?|s?> @)+=I%?i+ȽIMIMT3٢]5J= ]8=9eQ e>aa eG٣m UGI ]? Ͽ(j˸?);偾Ii%KТu:publishing transmit ping timeء}Fpublishing direction and range info9j5п>jÿ#?y )Ii )y Ҽ > Nusing accuracyPremultiplier from config59Чl?5Y iV?:&@E;;5B @EIiI ]? Ͽ(j˸?)Iik"`?kVŗO$ k kҗA:k3CBk(CZkw@"nw/CؓDU5#8{b@j5п>jÿ#?Jk%RkKТ*` PB#T+v@G|!b@ٕE}Ϳ1ʿ·c?"k*kk w`?kVU$ 2kWCkba?k#' kWCkBk'n@ addTargetRange:: Added new target pos. range: 157.199997 m, deltaT: 3.528047 s, deltaX: -1.199997 m, approachRate: -0.340131 m/s, rangeRepo size: 4  Added new target pos. range: 157.199997 m, bearing: 221.957923 deg, lat: 36.903609 deg, lon: -122.121502 deg, deltaT: 3.528047 s, deltaX: -1.199997 m, approachRate: -0.340131 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 157.20 m.BjJj5 ProNav: ac range: 157.199997 m, nav range: 69.001991 m, bearing: 240.696505 deg, approach rate: 0.000000 m/s, LOS rate: -0.503488 deg/s, cmd heading: 359.796689 deg, new cmd heading: 359.087492 deg. 2j15HeadingCmd: 6.267259 target range: 157.199997 and range: 157.20 m. j=c@j9j9j9i9hhhhBfffrf`fc@bf%?ɛDžBh 隍ĔI w;:ɚiI=)=Iwii =)c@)*Fm?2Fi:FqBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:29:34.6353 G5 =G= ?G= ?G B OM >!w,~A%aC@Y%!=%];9%CN==y%H@x?`I@?.?@? jy??ɨ%aC@%D;%"CyuBu!I)y yAII3٢yl= X=9Q > G٣yv > Nusing accuracyPremultiplier from config59ݹl?5Y i¾@EU;;w5 zKBoHKh9KK& K MK@U EmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 157.20 m.BjXJjX ProNav: ac range: 157.199997 m, nav range: 69.032448 m, bearing: 240.506607 deg, approach rate: 0.082117 m/s, LOS rate: -0.511776 deg/s, cmd heading: 359.087497 deg, new cmd heading: 358.518072 deg. 2jHeadingCmd: 6.257321 target range: 157.199997 and range: 157.20 m. j;@jjjihhhhff f rfbf]?ɛ]ŅB] Y]IY euR:ɚaiaIeD*=I8Ӽii݈=);@)JJJoJJJJ>:JJJ5Will 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. f$?I*F%?2F!:F!BF%o0JF!Ga G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738920_w,PAZ@YZ,<Zs+;9Z T=9%Q > G٣y%¼ %> -Nusing accuracyPremultiplier from config)559-l?55Y-d i-15Ǿ5@-EjHE<bHEp<HM>II IM "IIMBIM =&II.IMAD6IMg<:IM F-:-ƒ<-5 @ZjFNOT Ignoring new targets: 157.20 m.BjbJjb ProNav: ac range: 157.199997 m, nav range: 69.061638 m, bearing: 240.315783 deg, approach rate: 0.066999 m/s, LOS rate: -0.437805 deg/s, cmd heading: 358.518078 deg, new cmd heading: 357.945869 deg. 2j;HeadingCmd: 6.247334 target range: 157.199997 and range: 157.20 m. j)@jjjihhhhff f rfbf?ɛuąBuc q}Iy }ɚyiyI}X+=Iii:=))@)*F]?2FY:FaBFey0JFa=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.991447 IG =Gy B O >1w,-A>u@Y><>ٹ9>=y>H@?Qb@=su@>z;>$CyFBJ!I%Mb@Mb@Mb@!!! !)!Y%i|?5?Q˿:v?y%?%(\%T<%MA %v@)%AI%A!y%AI=I=)٢M= MF=9M߻Q U>QQ UG٣UUGy]ڀ ]> mNusing accuracyPremultiplier from configam59el?u5Ye ieu?u:u u@eEe-;e;e5B @ EZjFNOT Ignoring new targets: 157.20 m.Bj+Jj+ ProNav: ac range: 157.199997 m, nav range: 69.106979 m, bearing: 240.111352 deg, approach rate: 0.132742 m/s, LOS rate: -0.598098 deg/s, cmd heading: 357.945872 deg, new cmd heading: 357.333006 deg. 2j<ͼHeadingCmd: 6.236638 target range: 157.199997 and range: 157.20 m. j@jjjQiQhQhQhYh]BfYfafarfabfed?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243049ɛ…B I XeɚiI<,=I>ii=)@)*F2F:FBFQ5JFzKK]9KK' KG b=G B U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498722O} > g$?I J qJ jJ J J D:J 9J J '\ w,) 8A>t@Y><>N9>b|-=y>H{?jtj`B?-?ڶ܉p?׭? ?ɨ>t@>ɋ;>%CyJȃBJ"Iif=If< f=f=IjIjV8٢r= vQ=9vQ v>tx zG٣xyzQ z> Nusing accuracyPremultiplier from config|59~l? 5Y~ i~   @~E~U:~a:~5 @EZj9EFNOT Ignoring new targets: 157.20 m.BjMJjU} ProNav: ac range: 157.199997 m, nav range: 69.149635 m, bearing: 239.917432 deg, approach rate: 0.109373 m/s, LOS rate: -0.496917 deg/s, cmd heading: 357.333012 deg, new cmd heading: 356.751632 deg. 2jHeadingCmd: 6.226490 target range: 157.199997 and range: 157.20 m. ji?@jjjihhhhfffrfbf-?ɛB t|I fҺɚiI-=I9hiij-=)i?@)*Fu?2Fq:FqBFuP0JFqGMx=G BO5->Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746997H=>I9 I=5"II=BI9&I9.I96I=<:I=N FBIǭCJIǭCRIZI =bI =jIh4OEw,QA6r@Y6d<6䎚96 C=y6H? 5p n??ihQs?@S`?`?ɨ6r@67;6!Cy>BBG"I~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999052%Mb@Mb@Mb@!!! !)!Y%(\?(\¿?y%?%z%<%A %@)% AI% A AIA!y%AIMIM٢7> ==9QκQ > G٣y7 > Nusing accuracyPremultiplier from config59m?5YB i?:/y@Eа;̯;5! -O@)ZjiuFNOT Ignoring new targets: 157.20 m.BjuJj} ProNav: ac range: 157.199997 m, nav range: 69.218811 m, bearing: 239.720724 deg, approach rate: 0.157595 m/s, LOS rate: -0.447689 deg/s, cmd heading: 356.751627 deg, new cmd heading: 356.162113 deg. 2jHeadingCmd: 6.216202 target range: 157.199997 and range: 157.20 m. j @jjjihhhhKBff)f)rf)bf5@ɛBW} 隕gI ?ɚiIQ-=I.ii_=) @)*FA2FA:FABFER0JFAGI GMpAWill construct direction to contact in vehicle frame from tetrahedron phase data.խ~?խ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251163G \Ȓ=Gi Bq O >mw,+kA64@Y6;696DM=y6H`?M{v W"z?}?㷩@w???ɨ64@6);6$CyB BBg"IIJIJ 2٢R- > R^=9VHQ V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\f59^8m?f5Y^ i^dff@^E^:^:^!5l n@nEZjFNOT Ignoring new targets: 157.20 m.Bj Jj  ProNav: ac range: 157.199997 m, nav range: 69.277016 m, bearing: 239.552557 deg, approach rate: 0.161144 m/s, LOS rate: -0.465192 deg/s, cmd heading: 356.162127 deg, new cmd heading: 355.658064 deg. 2j%HeadingCmd: 6.207404 target range: 157.199997 and range: 157.20 m. j%@j!j!j)i)h)h)h)h1f1f1f1rf1bf$@ɛBd 隥YI FIɚiI.=I3izK]JK9KK( K /55430.*()&%$%#''((" iߤ=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504047 5h$?I9*FE?2FA:FABFE_0JFIG%=GBO5O> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754896V!w,ԚAHpIrC Ir"IIr(BIr =&Ip.Ip6Ir<:IrF Fy=%B="IAAIMIMb٢]> e?=9eQ e>ii mG٣mUGym u> }Nusing accuracyPremultiplier from configy}59}B,m?5Y}? i}{@}E}X:}:}"5 @B*** querying acoustic contact ***jjZjyFNOT Ignoring new targets: 157.20 m.BjJj ProNav: ac range: 157.199997 m, nav range: 69.345345 m, bearing: 239.357661 deg, approach rate: 0.154414 m/s, LOS rate: -0.440004 deg/s, cmd heading: 355.658059 deg, new cmd heading: 355.073969 deg. 2jHeadingCmd: 6.197210 target range: 157.199997 and range: 157.20 m. jO@jjjihh9h9hAfAfAfarfibfm|@ɛBr` JI Fzɚi I i/=I iio=)O@)JoJiJJJ>:Jڈ9JJJ}O;aJaJh:aJj:a*F?2F:FBF^0JF -i$?I)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011721G= 6=GE pAGE qAG B! O= >(t'w,cCAF@YFj@F 9FHM=yFH ?(?`0?a??@b?ɨF@Fm;DyVFBV"IEMb@Mb@Mb@AAA A)AYE@5^I ?i|?5X9v?yEb?EqE mK=9uQ u>qq }G٣yy}8 }> Nusing accuracyPremultiplier from config59Z?m?5Y i`c?:@E;;$5B @EZjFNOT Ignoring new targets: 157.20 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:29:37.2481 TRx dataTimestamp_ set to:1736378978.577332checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264706 ProNav: ac range: 157.199997 m, nav range: 69.437904 m, bearing: 239.185445 deg, approach rate: 0.237786 m/s, LOS rate: -0.441833 deg/s, cmd heading: 355.073968 deg, new cmd heading: 354.558022 deg. 2jMHeadingCmd: 6.188205 target range: 157.199997 and range: 157.20 m. jM@jIjIjIiIhQhQhQhUBfYfYfYrfYbf]k @ɛBej =9I jɚiI/=I (½i i+=)@)*FE?2FA:FABFE_0JFA"GIGM=G̈=GBO>zK rMK +9K K ) K %v,idC$w[@& }rj_UMI ! I! ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514916y-w,TAMpW@YMf@MRj.9MBN=yMH@??s䇿?`@/ͅ? ?-?ɨMpW@Msۉ;M"CyޝcBޥ"II I<2٢%> ?=9xQ > G٣UGy > Nusing accuracyPremultiplier from config597Tm?5Y! iA@EX;;&5 @EZjFNOT Ignoring new targets: 157.20 m.BjJj ProNav: ac range: 157.199997 m, nav range: 69.537857 m, bearing: 238.996829 deg, approach rate: 0.226982 m/s, LOS rate: -0.427709 deg/s, cmd heading: 354.558016 deg, new cmd heading: 353.993002 deg. 2jĒHeadingCmd: 6.178343 target range: 157.199997 and range: 157.20 m. j@jjjihh!h!h!f)f)f)rf)bf- @ɛUB]kS Y])IY ]&ɚYiaIeU0=ImPֽiiim=)m@)q*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 23:29:37.2481 LVL= 15840, 28785, 24306, 32755, AGC= 58, IDX= 429,-0.27,-0.428,-2.193,-1.835,-1.307, PHS= 0.967,-0.839,-0.531, RAW= 99.2, 4.9, CAL= 109.0, 3.2, ROT= 41.0, -3.2  Ygot valid direction response: 23:29:37.2481 LVL= 15840, 28785, 24306, 32755, AGC= 58, IDX= 429,-0.27,-0.428,-2.193,-1.835,-1.307, PHS= 0.967,-0.839,-0.531, RAW= 99.2, 4.9, CAL= 109.0, 3.2, ROT= 41.0, -3.2 PDAT read: Bearing 41.0, -3.2 (Local) ~Local bearing/azimuth received: Bearing 41.0, -3.2 (Local) %DAT read: Range 10 to 50 : 155.9 m (Round-trip 207.9 ms) speed 0.1 m/s -,DAT read: user:3261> BDAT read: Tx time:23:29:38.3361 $Ping request sent.IC I"IItBI =&I.IBD6I<:ID F:publishing transmit ping timeؙFpublishing direction and range info9RȿZ@FIs5+_?y )Ii )IipDs?`Y퐬ֿ?)IiGE =G B O >)4w,ҘA6@Y6 @6F96\K=y6H`?R?` l?@-ˆ?]?`W?ɨ6@6A;6$CyRBR#IiV=IV< XZa= bk$?I`JjuJjkJj1JhJj[Q:Jj9Jj3JhJjo;Jjo;Jj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:29:38.3353 Mb@Mb@Mb@ )Ym?{Gz? rh?y?#=C = QA)I7AyzAI I #G٢5> B=-A95^ mYiyuBQ }>y G٣yx > Nusing accuracyPremultiplier from config59hm?5Y! i9?:I!=@E;:(5 M@k]b?kJo" k k0ŘA:kCBkCZkjc@"J`=I9ĐFwc@RȿZ@FIs5+_?Jkm9Rk*A @#!& ,c&:b@uX[ʿ8)^".?"kW`*khkRtb?kHAq" 2k.ZCkk:7& kk/Bk@ addTargetRange:: Added new target pos. range: 155.899994 m, deltaT: 3.785116 s, deltaX: -1.300003 m, approachRate: -0.343451 m/s, rangeRepo size: 4  Added new target pos. range: 155.899994 m, bearing: 203.594578 deg, lat: 36.903609 deg, lon: -122.121441 deg, deltaT: 3.785116 s, deltaX: -1.300003 m, approachRate: -0.343451 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 155.90 m.BjJj% ProNav: ac range: 155.899994 m, nav range: 65.091820 m, bearing: 236.359151 deg, approach rate: 0.000000 m/s, LOS rate: -0.427709 deg/s, cmd heading: 353.992995 deg, new cmd heading: 353.409460 deg. 2j)-HeadingCmd: 6.168159 target range: 155.899994 and range: 155.90 m. j-a@j1j1j1i1h1h1h9h=Bf9fafarfe|c@bfe?ɛBO. O=隽I NɚiIp1=I 8i i ,=) a@) *F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G R=Gq By O >:w, Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,"AH6>I4 I6N#II6ńBI4&I4.I46I6<:I6c FBX}@YB֌@Bᤌ9B'=yBH`?̧?ц-B? c?l? ?ɨBX}@B\;B"Cy^B^.#IIfIfԳ٢n= nQ=9rgTQ r>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|59~m?5Y~8! i~٢ < @~E~':~:~+5 <@%B*** querying acoustic contact ***j)j)Zj%FNOT Ignoring new targets: 155.90 m.BjRƻJjRƻ  ProNav: ac range: 155.899994 m, nav range: 65.328590 m, bearing: 236.067588 deg, approach rate: 0.278300 m/s, LOS rate: -0.346770 deg/s, cmd heading: 353.006661 deg, new cmd heading: 352.536387 deg. 2jmHeadingCmd: 6.152921 target range: 155.899994 and range: 155.90 m. j@jjjihhh!h!f!f!fIrfIbfM@ͻ?ɛBuy 隝I /̻ɚiI׷1=IdiGr`Gw, AyrBv?#I)x zAxx}Mb@Mb@Mb@yyy y)yY}Dl?J +?S㥛?y}O ?}=}/=9Q > G٣UGy > Nusing accuracyPremultiplier from config59m?5Yl i?:>@ÓE&;$;-5B d@EZjFNOT Ignoring new targets: 155.90 m.Bj Jj  ProNav: ac range: 155.899994 m, nav range: 65.486977 m, bearing: 235.909449 deg, approach rate: 0.429740 m/s, LOS rate: -0.428032 deg/s, cmd heading: 352.536389 deg, new cmd heading: 352.063130 deg. 2j%%HeadingCmd: 6.144661 target range: 155.899994 and range: 155.90 m. j%@j)j)j)i)h)h)h1h58BfAfIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.485490firfibfu V8?ɛeBeF]+ imIi ػɚiI2=IY iih"=)@)Eur= Q IQ *Fm ?2Fi :Fi BFm _5JFi zKu ozMKu 9Kq Ku + Ku ,[icN,<yXE?RQ( Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736720GE J=G B) O] >Nw,:Ay%B%I#II=I=Բ٢+= L=9Q > G٣y > Nusing accuracyPremultiplier from config59m?5Y i@œE::_/5 @EZjFNOT Ignoring new targets: 155.90 m.BjѻJjѻ- ProNav: ac range: 155.899994 m, nav range: 65.635086 m, bearing: 235.762715 deg, approach rate: 0.370980 m/s, LOS rate: -0.366704 deg/s, cmd heading: 352.063139 deg, new cmd heading: 351.623940 deg. 2j-{EHeadingCmd: 6.136995 target range: 155.899994 and range: 155.90 m. jEDb@jAjIjIiIhQhYhahafifqfqrfybf}@̳?ɛ}B}% y}Iy }mSɚiIL2=IͲiiq4=)Db@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.988683EXR=Hm>Ii Im#IImBIi&Ii.Ii6Im<:ImL F*FU?2FY:FYBF]Z0JFYGE 6=G U n$?IQ B1 O >Uw,UAJsK{3 K{.-KsKs"KsJpJjJJJA:J9JJJT;JT;J:J:JWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.239907boп@Yb@bu9bHq/=ybH`4?`J??@Л{?@*c?L? ?ɨboп@b?;b#Cyz˄B~U#IEMb@Mb@Mb@AAA A)AYEV-?@5^I ?Etyy }G٣yyD > Nusing accuracyPremultiplier from config59m?5Y~ iu+?:Z8>@ǓE;0;L15 F@ZjFNOT Ignoring new targets: 155.90 m.BjɻJjɻ ProNav: ac range: 155.899994 m, nav range: 65.811554 m, bearing: 235.606876 deg, approach rate: 0.400245 m/s, LOS rate: -0.352508 deg/s, cmd heading: 351.623930 deg, new cmd heading: 351.157678 deg. 2jqHeadingCmd: 6.128858 target range: 155.899994 and range: 155.90 m. j@j)j1j1i1h1h1h9h=KBf9ffrfbf@ɛB bܾI +dɚi!I%r2=I%!i)i-W=)-@))E1E1*EY"EYEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491962*F} ?2Fy :Fy BF} R0JFy Gu =GI BY Ou >!)[w,nA6a@Y6ߝ@6Ѩ9642=y6H@\?K?ej??`?=??ɨ6a@6> ;6"CyBʄBBT#IIJIJ3٢R Rn=9VQ V?TX ZG٣ZUGyZ Z? bNusing accuracyPremultiplier from config\b59^m?f5Y^ i^\df0>j@^ɓE^2;^-J;^25i mR@mEZjFNOT Ignoring new targets: 155.90 m.BjJj ProNav: ac range: 155.899994 m, nav range: 65.947960 m, bearing: 235.485335 deg, approach rate: 0.372741 m/s, LOS rate: -0.331435 deg/s, cmd heading: 351.157674 deg, new cmd heading: 350.793810 deg. 2jucHeadingCmd: 6.122507 target range: 155.899994 and range: 155.90 m. j@jjjihhhhfffrfbf@ɛ-B-" 15jھI1 5ɚ9i9I=2=I=Ո$iAiE٧=)E@)A o$?IzK]^NK]h9KYK], K] 0;-! #5Pfwxurmg^WPKG;63/-+'# Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744911*F?2F:FBF0JFGpA GrAG: =G?G=?GB O% >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e >e 4=m BDAT read: Rx Time:23:29:40.9458 m TRx dataTimestamp_ set to:1736378982.104893m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997178ZH9 RH= ?AHE >IA  IE #IIE &BIE  =&IA .IA 6IE <:IE 8 FBIJIRIZIbIjI4bw,AnK@Yn'[@n9n3=ynH`? ]?" ̝?ds?^?`?ɨnK@n,;n%Cyu˄B}U#III٢-; 8=9IQ >  G٣)y= E> Nusing accuracyPremultiplier from config59m?5Yx i:'>%@˓EJ=I=45) -H@)B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 155.90 m.BjEJjE ProNav: ac range: 155.899994 m, nav range: 66.132423 m, bearing: 235.319512 deg, approach rate: 0.369183 m/s, LOS rate: -0.330949 deg/s, cmd heading: 350.793817 deg, new cmd heading: 350.297750 deg. 2j cHeadingCmd: 6.113849 target range: 155.899994 and range: 155.90 m. j]@jYjYjYiYhYhahahafafifirfibfm @ IɛeBe" im־Ii m7ɚiiiIm2=Iif-iRu*;hw,A:@Y:@:绯9:e0=y:H??@}?`ꤿ? ??ɨ:@:;;:$CyRBR>#IMb@Mb@Mb@ )YS?#~j?MbP?y?%>:A hA) AIMAyAII(-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.503999٢U ]C=9eQ m> G٣y > Nusing accuracyPremultiplier from config59n?5Y= i(?:@>@͓E:< <65B @EZjFNOT Ignoring new targets: 155.90 m.BjлJjл- ProNav: ac range: 155.899994 m, nav range: 66.310669 m, bearing: 235.168122 deg, approach rate: 0.430978 m/s, LOS rate: -0.365060 deg/s, cmd heading: 350.297754 deg, new cmd heading: 349.844814 deg. 2j5z=HeadingCmd: 6.105944 target range: 155.899994 and range: 155.90 m. j=c@j9j9j9i9hahahahm3Bfififirfibfu  @ɛB" I V0 ɚiI33=IE~5iAiE=)Ec@)I*F?2F:FBFp0JF p$?IJq Ju iJq Jq Jq Ju ڈ9Jq Jq a} @a} @a} @a} @zK tNK 9K K - K "jy ,,wF81 Will construct direction to contact in vehicle frame from tetrahedron phase data. i  DAT read: 23:29:40.9458 LVL= 12736, 27377, 21778, 32563, AGC= 56, IDX= 422, 0.09,-2.466, 1.926, 2.138, 2.726, PHS= 1.179,-0.754,-0.591, RAW= 94.3, 1.8, CAL= 102.9, -0.9, ROT= 47.1, 0.9  Ygot valid direction response: 23:29:40.9458 LVL= 12736, 27377, 21778, 32563, AGC= 56, IDX= 422, 0.09,-2.466, 1.926, 2.138, 2.726, PHS= 1.179,-0.754,-0.591, RAW= 94.3, 1.8, CAL= 102.9, -0.9, ROT= 47.1, 0.9  PDAT read: Bearing 47.1, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 47.1, 0.9 (Local) % DAT read: Range 10 to 50 : 154.2 m (Round-trip 205.6 ms) speed 0.3 m/s % ,DAT read: user:3262> - BDAT read: Tx time:23:29:42.0361 - $Ping request sent.5 nw,A%l@Y%B|@%T9%'=y%H ?IN?` ֋?8 ! ?ߤ?@J?ɨ%l@%H;;%%Cy5B޵*#I) AAII ٢ 7=9+Q > G٣ UGy% > Nusing accuracyPremultiplier from config%59n?%5Y( i!%>.>-@ϓE:%<85uB u@uEkEf?kE kA kE A:kE3CBkE-CZkED@"Ewꕯz~3,5@c@Ep .([V8?ꙹ?JkEk8@RkED*E\~6@?8OS"c@E~¿dJB܃?s?"kEg?*kEkE f?kE$ 2kEZCkAkEVU$ kAkEHBkE5ev@U addTargetRange:: Added new target pos. range: 154.199997 m, deltaT: 3.778991 s, deltaX: -1.699997 m, approachRate: -0.449855 m/s, rangeRepo size: 4 mWill construct direction to contact in vehicle frame from tetrahedron phase data. Added new target pos. range: 154.199997 m, bearing: 176.240518 deg, lat: 36.903609 deg, lon: -122.121196 deg, deltaT: 3.778991 s, deltaX: -1.699997 m, approachRate: -0.449855 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 154.20 m.BjJj ProNav: ac range: 154.199997 m, nav range: 50.187088 m, bearing: 220.584579 deg, approach rate: 0.000000 m/s, LOS rate: -0.365060 deg/s, cmd heading: 349.844803 deg, new cmd heading: 349.408223 deg. 2jHeadingCmd: 6.098324 target range: 154.199997 and range: 154.20 m. jx%@jjjihhhhfffrf`fFc@H->I-C I-#II-0BI)&I).I)6I-<:I-C Fbf=.V?ɛB) I ɚiIx3=IQL=ii)=)x%@)*Fq2Fq:FyBF}0JF I E PExceeded connect timeout, disconnecting.G >=G qAG 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >uw,ؙAFD@YF&@F¼9F=yFH?@*?W=2\?r']?[?T?ɨFD@F;F&CybBb#I-Mb@Mb@Mb@))) )))Y-/$?Pn? rhy-&?->-C-A -A)-AI-;A)y-AIEIEƲ٢u uI=9}ڶQ }>yy G٣y0Լ > Nusing accuracyPremultiplier from config59)n?5Y i?:m=@ГE;;P:5  @ZjFNOT Ignoring new targets: 154.20 m.Bj/Jj/ໝU ProNav: ac range: 154.199997 m, nav range: 50.382069 m, bearing: 220.431037 deg, approach rate: 0.499727 m/s, LOS rate: -0.391997 deg/s, cmd heading: 349.408217 deg, new cmd heading: 348.949385 deg. 2jU]HeadingCmd: 6.090316 target range: 154.199997 and range: 154.20 m. j]@jYjYjYiYhYhYhhBfffrfbf@?ɛB^= I ɚiI 3=I Ei i =)@)*F?2F:FBFA5JFG=Will construct direction to contact in vehicle frame from tetrahedron phase data.>a=GBO>e|w,ղA2ٽ@Y2@2GǼ92/e=y2H ?r?b?&h@S?`K*?j?ɨ2ٽ@2떉;2$CyN|BN"IIVIVn٢^  ^l=9bǺQ b?`` bG٣dyf= f? rq$?Ip rNusing accuracyPremultiplier from confighv59jM:n?v5Yj ijtv=v@jғEjq;j'r;j;5 @ EZj)5FNOT Ignoring new targets: 154.20 m.Bj=/ػJj=/ػM ProNav: ac range: 154.199997 m, nav range: 50.545368 m, bearing: 220.301509 deg, approach rate: 0.478105 m/s, LOS rate: -0.378003 deg/s, cmd heading: 348.949392 deg, new cmd heading: 348.562070 deg. 2jMUHeadingCmd: 6.083556 target range: 154.199997 and range: 154.20 m. jU}@jQjQjQiYhYhYhYhYfafafarfabfmI?JtJoJJJ;N:JK9JJzKOK 9KK. K}Q&y^E2$ xng_[YQOLF?950.--++*('&"# uWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛuB}=O y} Iy } ɚyiIf 4=IkLii̐=)}@)*Fa2Fi:FiBFm\0JFiGt=Ga Bi O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I #II BI  =&I .I AD6I <:I 4 Fw, A2@Y2@2˼92O=y2H ?7?@7X?Ϡ 0z??`?ɨ2@2+;2&CyRgBR"I ^=^=IbIb㔳٢jν jI=9jQ n>ll rG٣rUGyvDx v> zNusing accuracyPremultiplier from configx~59z/Nn?5Yzx iz=@zԓEz &w,1_&A2f@Y2dv@2Z92q%=y2HH? 3? [T¿?&?@I?`?ɨ2f@2Έ;2"CyROBR"IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755682%Mb@Mb@Mb@!!! !)!Y%d;O?p= ף?S㥛y%?%=%/ݼ%QA %VA)%AI!!y!IEIE٢mzҽ }3=9C;Q > G٣y% %> ]Nusing accuracyPremultiplier from configQe59Uen?e5YU iUe?m:mm@U֓EU;U6;U?5 @EZjFNOT Ignoring new targets: 154.20 m.Bj RJj R ProNav: ac range: 154.199997 m, nav range: 50.949314 m, bearing: 219.935405 deg, approach rate: 0.506532 m/s, LOS rate: -0.508197 deg/s, cmd heading: 348.101028 deg, new cmd heading: 347.468171 deg. 2jb%HeadingCmd: 6.064464 target range: 154.199997 and range: 154.20 m. j%@j!j!j!iihihihqhuBfqfqfyrfybf}-?ɛeBe}+[ imiIi mz.ɚiiiIm4=Iu_iqiuC=)}@)y t$?I*F12F1:F9BF9JF9JJlJJJJ9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007502zK OK+9KK/ K  G} `=GQ Ba O} >\!w,@A>"@Y>D2@>˹9>t 0=y>Hg???aÿ 6? 8??R?ɨ>"@>ʈ;>#CyN/BN"IIVIVb2٢^3 ^g=9^4;Q ^>`` bG٣`yf̼ f? jNusing accuracyPremultiplier from configdn59f vn?n5Yf if&lnr@fؓEf" ;fe ;fA5vB v@vEZj FNOT Ignoring new targets: 154.20 m.BjJj- ProNav: ac range: 154.199997 m, nav range: 51.091217 m, bearing: 219.791471 deg, approach rate: 0.448124 m/s, LOS rate: -0.453275 deg/s, cmd heading: 347.468170 deg, new cmd heading: 347.037576 deg. 2j-5HeadingCmd: 6.056948 target range: 154.199997 and range: 154.20 m. j5@j1j1j1i1h9h9h9h9fAfAfArfAbfM઄@ɛUBU- QU-IY ]<5ɚYiYI]f>5=Iegiaie&m=)e@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260936*F?2F:FBFo0JFH=>I9 I=s#II=BI= =&I9.I96I=G<:I=| FG&=GBO@> I u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511495Hw,XZAyBw"IMb@Mb@Mb@ )Y333333?/$~jty?A @)lAIAyAI Ib3٢޽ 9=9Q > G٣UGy > Nusing accuracyPremultiplier from config 59n? 5Y- i=?:<@ړE-;;C5 %@!ZjFNOT Ignoring new targets: 154.20 m.Bj Jj  ProNav: ac range: 154.199997 m, nav range: 51.261417 m, bearing: 219.562492 deg, approach rate: 0.366798 m/s, LOS rate: -0.491833 deg/s, cmd heading: 347.037568 deg, new cmd heading: 346.352944 deg. 2j ŨHeadingCmd: 6.044999 target range: 154.199997 and range: 154.20 m. jp@jjjihhh!h%TBf!f!f!rf)bf-<@ɛUBUCt Q]H8IY ]h,@ɚYiYI]P5=Ie siaie߮=)ep@)iEy*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=2.763539Gm |=G pAG Ga Bi O >@uw,@tA &u$?I(b@Yb@b9b\G==ybH?`a??ɨb@bT-;`ynBnW"IIvIvm?3٢55  5V=9=:Q =>99 =G٣9yMR M> UNusing accuracyPremultiplier from configQ]59U n?]5YUg iUQaePe@UܓEU:U:UD5i m@mEZjFNOT Ignoring new targets: 154.20 m.BjJjJJJJJJJJ ProNav: ac range: 154.199997 m, nav range: 51.405533 m, bearing: 219.362923 deg, approach rate: 0.399205 m/s, LOS rate: -0.551263 deg/s, cmd heading: 346.352937 deg, new cmd heading: 345.755931 deg. 2j)HeadingCmd: 6.034579 target range: 154.199997 and range: 154.20 m. jF@jjjihhhhfffrfbf@,@5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5A=BDAT read: Rx Time:23:29:44.6445 =TRx dataTimestamp_ set to:1736378985.888971Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016907ɛEBM峋 QUCIQ UaIɚQiQI]U6=I]~iYie=)eF@)azKMLKh9KK0 K*F%?2F!:F!BF%_5JF!G-=GBOK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267841H% >I% C I% (#II% BI! &I! .I! 6I% <:I% T FYw, A2/@Y2[?@2 92,A=y2H,w? ?@4ǿ@q?@mH?@0??ɨ2/@2;2"CyBBB5"IIJIJ2٢ L=9%b39Q %>!! -G٣)y5ͼ 5> ENusing accuracyPremultiplier from config9U59=ղn?e5Y= i=fimZu@=ޓE=;;=#<=yF5 y@ݷEB*** querying acoustic contact ***jj ]v$?IaZjFNOT Ignoring new targets: 154.20 m.Bj5Jj5m ProNav: ac range: 154.199997 m, nav range: 51.555195 m, bearing: 219.153536 deg, approach rate: 0.315703 m/s, LOS rate: -0.440405 deg/s, cmd heading: 345.755924 deg, new cmd heading: 345.129615 deg. 2jmuHeadingCmd: 6.023648 target range: 154.199997 and range: 154.20 m. ju@jqjqjqiqhqhqhyhyfyfyfrfbf`  @ɛB" BOMWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:29:44.6446 LVL= 12928, 23441, 17762, 25139, AGC= 61, IDX= 424,-0.11, 1.273,-0.537,-0.588, 0.144, PHS= 1.218,-0.634,-0.735, RAW= 87.4, 1.6, CAL= 94.1, -1.7, ROT= 55.9, 1.7 Ygot valid direction response: 23:29:44.6446 LVL= 12928, 23441, 17762, 25139, AGC= 61, IDX= 424,-0.11, 1.273,-0.537,-0.588, 0.144, PHS= 1.218,-0.634,-0.735, RAW= 87.4, 1.6, CAL= 94.1, -1.7, ROT= 55.9, 1.7 PDAT read: Bearing 55.9, 1.7 (Local) ~Local bearing/azimuth received: Bearing 55.9, 1.7 (Local) DAT read: Range 10 to 50 : 153.1 m (Round-trip 204.2 ms) speed 0.0 m/s ,DAT read: user:3263> BDAT read: Tx time:23:29:45.7362 $Ping request sent.9w,Akӻ@Y@hٶ9ÕB=yHe?gc?&ȿ`?hږ?N?@?ɨkӻ@:;騝$Cy˃B"Ii=Ip<Mb@Mb@Mb@ )YS?RQAA EG٣EUGyE E> UNusing accuracyPremultiplier from configIU59Men?}5YM iM}R?:ԯ@MEM;MH;MH5 @kugIi?ku,  kq ku`A:kuCBkuCZkuHC@"u9|G1Q+7@rvb@uJ9e1y;?rj?Jku @Rkuꐰ*u\0.64@'}Jb@uog35) ?> ?"kuA*kukuH4>@i?kuW 2kuXCkuRtb?kuHAq" kuXCkuBku`@ =w$?I9M addTargetRange:: Added new target pos. range: 153.100006 m, deltaT: 3.532433 s, deltaX: -1.099991 m, approachRate: -0.311398 m/s, rangeRepo size: 4  Added new target pos. range: 153.100006 m, bearing: 130.046039 deg, lat: 36.903644 deg, lon: -122.120990 deg, deltaT: 3.532433 s, deltaX: -1.099991 m, approachRate: -0.311398 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 153.10 m.BjJj= ProNav: ac range: 153.100006 m, nav range: 38.972298 m, bearing: 201.196014 deg, approach rate: 0.000000 m/s, LOS rate: -0.440405 deg/s, cmd heading: 345.129623 deg, new cmd heading: 344.485790 deg. 2j9EHeadingCmd: 6.012411 target range: 153.100006 and range: 153.10 m. jEe@jAjAjAiAhAhIhhBfffrf@3#c@bf@o?ɛzB r  WI  gWdɚiIs7=I㢊ii=)e@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-BIK-+9K)K-1 K- *Fm ?2Fi :Fi BFm ~0JFq GE =G B O5 >鰦w,ÚA2Yw@Y2؆@2j¼925=y2HS???:ɿ`O? ͣL?? ?ɨ2Yw@2;2"CyjBj!II]I]2٢m% m=9u^Q u ?yy }G٣yy ? Nusing accuracyPremultiplier from config59n?5Y}! i@E;%;/J5B |@ڷEZj 5FNOT Ignoring new targets: 153.10 m.Bj=;4Jj=;4M ProNav: ac range: 153.100006 m, nav range: 39.117672 m, bearing: 201.007723 deg, approach rate: 0.488440 m/s, LOS rate: -0.630282 deg/s, cmd heading: 344.485782 deg, new cmd heading: 343.923027 deg. 2jMGؼuHeadingCmd: 6.002589 target range: 153.100006 and range: 153.10 m. ju6@jqjqjqiqhqhyhhfffrfbf\?Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I"II`BI =&I.I@D6Iɯ<:I FBI¬CJI¬CRIZI =bI =jI5ɛxB?3 %7z=%tcI! %Islɚ!i!I-U8=IuMiqiu\=)u6@)y*F?2F:FBFP0JF  QIQGi J rJ sJ J J G:J 9J J J _;a% J _;a- J <:a- J =:a- GA BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.Om >Bw,ƨݚAy~B!IMb@Mb@Mb@ )Y+?ʡEƿ rhy?-2C  A `@)@I AyAII 2٢& F=9Q > G٣y > Nusing accuracyPremultiplier from config59n?M5Y! iU&?U:UWU@E<<K5a e @mطEZjFNOT Ignoring new targets: 153.10 m.BjDJjD ProNav: ac range: 153.100006 m, nav range: 39.296452 m, bearing: 200.717736 deg, approach rate: 0.425906 m/s, LOS rate: -0.687689 deg/s, cmd heading: 343.923029 deg, new cmd heading: 343.057096 deg. 2j뼝HeadingCmd: 5.987476 target range: 153.100006 and range: 153.10 m. jg@jjjihhhhǃBfffrfbf~?ɛtB eI v,xɚiI 9=I 7gi i f˸=) g@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O > E x$?IA ] G٣UG%Will construct direction to contact in vehicle frame from tetrahedron phase data.y%_5 %> 5Nusing accuracyPremultiplier from config)559-=o?=5Y-! i-AEE@-E-|4;-5;-M5I M@IZjq}FNOT Ignoring new targets: 153.10 m.Bj}YRJj}YR ProNav: ac range: 153.100006 m, nav range: 39.460690 m, bearing: 200.445887 deg, approach rate: 0.446276 m/s, LOS rate: -0.735603 deg/s, cmd heading: 343.057097 deg, new cmd heading: 342.245004 deg. 2jkHeadingCmd: 5.973302 target range: 153.100006 and range: 153.10 m. jK%@jjjihhhhfffrfbf`w?ɛpB+é tkI DɚiI9=IiiS=)K%@)zKYLK9KK2 K *F2F:FBFJFGm2=GABIO}7>Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I"II(BI =&I.IAD6I<:I? F2$Ħw,^AF9@YF@F_dż9F 7=yFH %??B9 ;Ϳj!?t`齃?ަ?q?ɨF9@F;F%Cy~B!IIE#IE%x3٢ C=9E;Q > G٣y > I Nusing accuracyPremultiplier from config59o?5Y ! iآ@Ef<<O5 %{@%շEEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 153.10 m.Bj]TEJj]TEm ProNav: ac range: 153.100006 m, nav range: 39.654945 m, bearing: 200.123274 deg, approach rate: 0.417563 m/s, LOS rate: -0.690073 deg/s, cmd heading: 342.245015 deg, new cmd heading: 341.282013 deg. 2j켝HeadingCmd: 5.956495 target range: 153.100006 and range: 153.10 m. j@jjjihhhhfffrfbf@@JqJiJ1JJD:Jڈ9J3JJHZ;JKZ;Jh:Ji:5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ɛukBuڛ qulIq u وɚyiyI}:=I}Cii&ܽ=)@)EJM=*Fe ?2Fa :Fa BFe [0JFa Gm qA Gm qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255815Gk=G ?G?GBO?˦w,52A6>@Y6 N@6Y96Ϛ:=y6HH?? X(ο_ ?@69?`O?5?ɨ6>@6\;6$CyBBB!IMb@Mb@Mb@ )Y}?5^I?-˿~jtyM"?5^ļ A 3@)v@I AyAI-I-b1٢M< M"= y$?I9M.b:Q > G٣y > Nusing accuracyPremultiplier from config 59P0o? 5Y*! i+?:@E<; ;;Q5B %Z@%ҷEZjQ]FNOT Ignoring new targets: 153.10 m.Bj]]Jj]]u ProNav: ac range: 153.100006 m, nav range: 39.853695 m, bearing: 199.748685 deg, approach rate: 0.413481 m/s, LOS rate: -0.775408 deg/s, cmd heading: 341.282013 deg, new cmd heading: 340.163999 deg. 2ju }HeadingCmd: 5.936982 target range: 153.100006 and range: 153.10 m. j}@jyjyjyiyhhhhBfffrfbf@ɛfB )iI M;ُɚIiIIM\;=IUAiQiUw=)]@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507107Ee+w=zKKKs9KK3 K %c(M:\Z $-%< nI, mF*F2F:FBF_0JFG= =G B! O= >H} >I} C I} f"II} BI}  =&Iy .Iy 6I} <:I} 9 F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758878-Ҧw,KA׹@YM@G9ڞ;=yH? ?X"п ?ڴh?'p? 9?ɨ׹@^;%CyuBu!Ii}4>I}p; a=a=I#I%x3٢; 2=9؞:Q > G٣UGy   > Nusing accuracyPremultiplier from config59Do?5Yl! i!%"%@E@::S55B =;@=ԷEZjYeFNOT Ignoring new targets: 153.10 m.Bje [Jje [} ProNav: ac range: 153.100006 m, nav range: 40.030613 m, bearing: 199.412408 deg, approach rate: 0.404951 m/s, LOS rate: -0.766303 deg/s, cmd heading: 340.163993 deg, new cmd heading: 339.159730 deg. 2j}zHeadingCmd: 5.919454 target range: 153.100006 and range: 153.10 m. j+l@jjjihhhhfffrfbfTW@ɛbB fI \ɚiI(<=I:iiu=)+l@)E E *E"E z$?I iJoJjJ0JJ>:J9Jـ3JJ|O;JO;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010774J:J: Yy/B*Fi 2Fi :Fi BFi JFi "Gq Gu >G =GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:29:48.3442 TRx dataTimestamp_ set to:1736378989.672734checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268368BO>sgڦw,QkA5* @Y5@5j95P5=y5H`þ? 1?X`tѿo?օό???ɨ5* @5;1ymBm!I-only read 0 of 1 data item for altitude. Device response is::BD, +38.47, + -16.56, 8.02, 0.00  @ @ @  @ I%I%2٢5y= 5.=9=qk9Q =>99 EG٣AyE[ E> ]bBottom track data is 0.5 s old, using for 20.0 s. eNusing accuracyPremultiplier from configIm59MZo?m5YM&! iMm+:iu:uu@MEM ;M>M\U5}B }W@ѷEZjFNOT Ignoring new targets: 153.10 m.Bj[Jj[ ProNav: ac range: 153.100006 m, nav range: 40.215164 m, bearing: 199.048992 deg, approach rate: 0.392025 m/s, LOS rate: -0.768423 deg/s, cmd heading: 339.159737 deg, new cmd heading: 338.074629 deg. 2jHeadingCmd: 5.900516 target range: 153.100006 and range: 153.10 m. jѼ@jjjihhhhfffrfbf` @ɛ]Blj <\I ɚi!I%/<=I%Iþi)i-ɾ=)-Ѽ@))*F?2F:FBFJF {$?IGu-=G1B9OUS>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514727zK}OK9KK4 Kxxurnf`ZVOKGD@=:54231/30* bFw,XA60@Y6@6L96*=y6H?Gp?#@Vҿ8?`֗?V??ɨ60@6q;6#CyBBB"IIbIbb٢= a=9KLQ  >    G٣ y > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%59`ko?-5Y! i- :)-O:- -@E(;U?fV59 =@9ZjaeFNOT Ignoring new targets: 153.10 m.Bjm^Jjm^} ProNav: ac range: 153.100006 m, nav range: 40.356243 m, bearing: 198.767640 deg, approach rate: 0.391816 m/s, LOS rate: -0.778660 deg/s, cmd heading: 338.074638 deg, new cmd heading: 337.233597 deg. 2j}HeadingCmd: 5.885837 target range: 153.100006 and range: 153.10 m. jX@jjjihhhhfffrfbf`i @ɛ-XBH}>Iy I}Z"II}BI} =&Iy.Iy6I}<:I}V FWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:29:48.3442 LVL= 14816, 25985, 22210, 28323, AGC= 60, IDX= 436,-0.26, 0.441,-1.011,-1.406,-0.443, PHS= 0.972,-0.521,-0.966, RAW= 77.3, 5.9, CAL= 81.3, 6.3, ROT= 68.7, -6.3 Ygot valid direction response: 23:29:48.3442 LVL= 14816, 25985, 22210, 28323, AGC= 60, IDX= 436,-0.26, 0.441,-1.011,-1.406,-0.443, PHS= 0.972,-0.521,-0.966, RAW= 77.3, 5.9, CAL= 81.3, 6.3, ROT= 68.7, -6.3 PDAT read: Bearing 68.7, -6.3 (Local) ~Local bearing/azimuth received: Bearing 68.7, -6.3 (Local) DAT read: Range 10 to 50 : 152.9 m (Round-trip 203.9 ms) speed 0.1 m/s ,DAT read: user:3264> BDAT read: Tx time:23:29:49.4362 %$Ping request sent.%?)ڵz0=Iڵ.z?iڵz0ڱڱ۵g)%h?Qݑ忦~?^?)۵>I۵Tӽi۵J@۵ ۱۱:publishing transmit ping time!Fpublishing direction and range infoر9صr66ƿǐLM?rG?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵g)%h?Qݑ忦~?^?)۱I۱i۱۱۱۱*F?2F:FBFo0JF IG0=G?G ?G B O >J qJ J J J D:J J J J IZ;J KZ;J J m Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:23:29:49.4354 pw,4A:d6@Y:E@:;ü9:8"=y:H t?`k3?ȡDӿ?gNz?R?`3?ɨ:d6@:[;:"CyRBR"I        Mb@Mb@Mb@ )YQ?Zd;OͿMbPy(?~jA @)h@IAy(AII3٢"= ==9ʼQ > G٣UGy > Nusing accuracyPremultiplier from config 59~o? 5Yw ! i T: &? : (*@E;0;KX59 =@=ηEkUrj?k! k kiA:kCBkCZk?"7j\:XثH@f>a@r66ƿǐLM?rG?JkJ@Rk *C .gSI@Dhpa@cTYֹR3?wD^ ?"kJB*kvkôij?kp< 2kPQCk f?k$ kkAkB@ addTargetRange:: Added new target pos. range: 152.899994 m, deltaT: 3.779482 s, deltaX: -0.200012 m, approachRate: -0.052921 m/s, rangeRepo size: 4  Added new target pos. range: 152.899994 m, bearing: 106.943440 deg, lat: 36.903747 deg, lon: -122.120812 deg, deltaT: 3.779482 s, deltaX: -0.200012 m, approachRate: -0.052921 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 152.90 m.Bj5Jj1E ProNav: ac range: 152.899994 m, nav range: 27.198092 m, bearing: 173.693984 deg, approach rate: 0.000000 m/s, LOS rate: -0.778660 deg/s, cmd heading: 337.233596 deg, new cmd heading: 336.182059 deg. 2jAHeadingCmd: 5.867484 target range: 152.899994 and range: 152.90 m. jm»@jjjihhhhBfffrfc@bfuo?ɛeSBmg imIIi m'ɚiiqIuj\>=IuԾiyi} =)}m»@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFE0JFAGI GIG% :I= |$?I G B O% >w,!A6η@Y6B޾@6μ96J=y6Hda??'$ Կ]?x? L?e?ɨ6η@6Kq;6$CyVڃBV-"IIbIbV٢jL> j]=9j]Q n>ll nG٣lyr/ r> vNusing accuracyPremultiplier from configtz59vo?z5Yvp$! iv|~Y-@vEv8W;vbY;vY5Will construct direction to contact in vehicle frame from tetrahedron phase data.  %@!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 152.90 m.BjUWJjUWe ProNav: ac range: 152.899994 m, nav range: 27.401464 m, bearing: 173.423563 deg, approach rate: 0.571306 m/s, LOS rate: -0.754015 deg/s, cmd heading: 336.182048 deg, new cmd heading: 335.376860 deg. 2je^mHeadingCmd: 5.853430 target range: 152.899994 and range: 152.90 m. jmMO@jijqjqiqhqhqhyhyfffrfbf?ɛOB򄟽 隽:I ҫɚiI>=Iܾii)=)MO@)zK OK h9K K 5 K *F?2F:FBF05JFGe-=G!B9OU2>H}>Iy I}s"II}BIy&Iy.Iy6I}ӯ<:I}+ FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.w,қA6Ed@Y6s@6iּ96n:=y6H@1?? '?,B_Կ || ~G٣|y >  Nusing accuracyPremultiplier from config 59 %o?5Y (! i 0@ E  ; &; [59 E@E˷EZjq IFNOT Ignoring new targets: 152.90 m.BjOJjO ProNav: ac range: 152.899994 m, nav range: 27.624275 m, bearing: 173.124291 deg, approach rate: 0.545814 m/s, LOS rate: -0.727202 deg/s, cmd heading: 335.376850 deg, new cmd heading: 334.486353 deg. 2jHeadingCmd: 5.837888 target range: 152.899994 and range: 152.90 m. jϺ@jjjihhhhfffrfbf =?ɛJB ,I DɚiI ?=I i i\=)Ϻ@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250122*F?2F:FBF@5JFG S=G qAG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498748Эw,qA6 @Y6@6ۼ96ϋ*=y6H??@!տL?ɞ G٣UGy > Nusing accuracyPremultiplier from config59o?5YG-! i ?:*@E%;);]5B "@ȷEZjimFNOT Ignoring new targets: 152.90 m.Bjuc;Jjuc; ProNav: ac range: 152.899994 m, nav range: 27.855974 m, bearing: 172.836352 deg, approach rate: 0.531742 m/s, LOS rate: -0.655311 deg/s, cmd heading: 334.486357 deg, new cmd heading: 333.629793 deg. 2j༝HeadingCmd: 5.822938 target range: 152.899994 and range: 152.90 m. jU@jjjihhhhBfffrfbf?ɛ-EBM QU[IQ U ᴼɚQiQI]M@=I]{iaieKH=)eU@)a u~$?Iy*F?2F:F BF V0JF "G=Gp=JpJiJJJA:Jڈ9JJa@a@a@a@5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751007GE ^=zK] 3OKY KY K] 6 K] X% G! B) Oe >w,4AF[r@YFځ@Fۼ9Fb=yFH? i?q3ֿt? I@w?ࢰ?@?ɨF[r@F^ċ;F&CyN!BN"IIVIV2٢^> b]=9bc(Q b>dd fG٣dyf% f> nNusing accuracyPremultiplier from confighe59j1o?e5Yj1! ijim-m@jEj՝I) I-"II-FBI- =&I).I)6I-<:I-A FBIJIRIZI =bIjIg5恽Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002838 IUIQ UFɚQiQIUt@=Ie;iaim=)m@)y*FE?2FA:FABFE_0JFA YIaG B =M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255947G B O >w, A6@Y6<@6ۼ96J =y6H?W?Cf׿?@p)`:a?F?g?ɨ6@6 ;6$CyB?BF"IMb@Mb@Mb@ )YʡE?Dl:v?y-?O A Q@)h@IAyAI-I-F2٢$ > <=9I9Q > G٣y3 > Nusing accuracyPremultiplier from config59o?5Y4! iڢk?:@E;;a5 @ǷEZj%FNOT Ignoring new targets: 152.90 m.Bj5!Jj5!] ProNav: ac range: 152.899994 m, nav range: 28.278360 m, bearing: 172.348725 deg, approach rate: 0.537575 m/s, LOS rate: -0.566041 deg/s, cmd heading: 332.892601 deg, new cmd heading: 332.177966 deg. 2j]<¼mHeadingCmd: 5.797599 target range: 152.899994 and range: 152.90 m. jm@jijqjqiqhqhyhyh}?Bfffrfbf _@ɛ];B]Zc ae Ia 滼ɚiI@=Iii"=)@)*F]?2FY:FYBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507629G XY=G ?G ? M $?IM iGY Ba O > w,U:A:@Y:@:3޼9:=y:H@??x-ؿ@`?Q ś?`? ?ɨ:@:1;:"CyFXBF"I)H JAJKm3 KS}-KK"KJRnJPJPJPJR|;:JPJPJPIb Ib̍2٢f> jY=9jQ j>lWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759037l }G٣}UGy}7 > Nusing accuracyPremultiplier from config59o?5Y8! iƢ @E{!;D";b5 /@B*** querying acoustic contact ***jjZj1=FNOT Ignoring new targets: 152.90 m.Bj=?Jj=?M ProNav: ac range: 152.899994 m, nav range: 28.483599 m, bearing: 172.127748 deg, approach rate: 0.504628 m/s, LOS rate: -0.539408 deg/s, cmd heading: 332.177972 deg, new cmd heading: 331.519850 deg. 2jM}HeadingCmd: 5.786113 target range: 152.899994 and range: 152.90 m. j}'@jyjjihhhhfffrfbf@zKMK9KK7 K ! dL ?Z`I2(pF ɛ-6B55] 15޾I1 5 ɚ1i9I=i9A=I=IiAiEo=)E'@)AEE*F?2F:FBFJFG GrAHI I"II~BI&I.I6Iݯ<:I2 FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:29:52.0437 TRx dataTimestamp_ set to:1736378993.202774checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018652Gu [=Ga Bi O w,r7TA:@@Y:P@:SB9:| G٣y   > Nusing accuracyPremultiplier from config59)o?5Yw,)nAJߴ@Y@9 G٣y&Ӽ > Nusing accuracyPremultiplier from config59p?5Y?! i?:@E;Y;f5 @Zj FNOT Ignoring new targets: 152.90 m.Bj Jj  ProNav: ac range: 152.899994 m, nav range: 28.919409 m, bearing: 171.704057 deg, approach rate: 0.511670 m/s, LOS rate: -0.443527 deg/s, cmd heading: 330.869608 deg, new cmd heading: 330.258411 deg. 2j1-HeadingCmd: 5.764097 target range: 152.899994 and range: 152.90 m. j-{s@j1j1j1i1h9h9h9hEBfAfAfArfAbfM`@ @ $?Iɛ +B ; -T=I tüɚiIA=IEiAiEa=)E{s@)A*F?2F:FBF0JFJJJ1JJJJ3J Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 23:29:52.0437 LVL= 8944, 22865, 15954, 24419, AGC= 58, IDX= 431,-0.32,-0.119,-1.359,-2.267,-1.055, PHS= 1.024,-0.258,-1.215, RAW= 64.8, 4.7, CAL= 65.9, 4.6, ROT= 84.1, -4.6 UYgot valid direction response: 23:29:52.0437 LVL= 8944, 22865, 15954, 24419, AGC= 58, IDX= 431,-0.32,-0.119,-1.359,-2.267,-1.055, PHS= 1.024,-0.258,-1.215, RAW= 64.8, 4.7, CAL= 65.9, 4.6, ROT= 84.1, -4.6 ]PDAT read: Bearing 84.1, -4.6 (Local) ]~Local bearing/azimuth received: Bearing 84.1, -4.6 (Local) mDAT read: Range 10 to 50 : 152.5 m (Round-trip 203.4 ms) speed 0.0 m/s u,DAT read: user:3265> }BDAT read: Tx time:23:29:53.1362 }$Ping request sent.}) c_I :i o?   Ð? = 8?) l=I ?i l   <22?Z1Нд?) vI 2i ? 䁿  :publishing transmit ping timeyFpublishing direction and range info 9 Ġgwjtg?̐3.?y     ) I i      ) I i    <22?Z1Нд?) I i    zK] yOK] 9KY K] 8 K] oH&zk\QH<3+!|yuG5 0=G9 G9 G B O >!w,臜A6@Y61@6^96$\ zk=9~Q ~? G٣UGy% %> -Nusing accuracyPremultiplier from config)559-gp?55Y-vB! i-1]`]@-E-};-W;-h5ZHRHAAH>I IH#IIBI&I.I6I<:IQ F w@EkM +s?kMta kI kM|A:kMCBkM}CZkMa?"Mvy1'3/;BS@­0`@MĠgwjtg?̐3.?JkM?RkM䁿*M7&w"@ ܁DS@S4zg`@MWGۯ?t Y,?r?"kM$B*kMA}Will construct direction to contact in vehicle frame from tetrahedron phase data.kM 1s?kMT 2kMECkMH4>@i?kMW kIkMsAkM@ addTargetRange:: Added new target pos. range: 152.500000 m, deltaT: 3.779927 s, deltaX: -0.399994 m, approachRate: -0.105821 m/s, rangeRepo size: 4 E Added new target pos. range: 152.500000 m, bearing: 82.980810 deg, lat: 36.903819 deg, lon: -122.120605 deg, deltaT: 3.779927 s, deltaX: -0.399994 m, approachRate: -0.105821 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 152.50 m.BjMJjI} ProNav: ac range: 152.500000 m, nav range: 30.681231 m, bearing: 132.453730 deg, approach rate: 0.000000 m/s, LOS rate: -0.443527 deg/s, cmd heading: 330.258416 deg, new cmd heading: 329.732369 deg. 2jyHeadingCmd: 5.754916 target range: 152.500000 and range: 152.50 m. jE(@jjjihhhhfffrfc@bf ?ɛ&B+ -pI) -8!żɚ)i)I-;A=I5<i1i=y=)=E(@)9*F2F:FBFH5JF"G =G = $?I)a mhCc~GU 5tA A  Y% Will construct direction to contact in vehicle frame from tetrahedron phase data.Y% 5tAy- BGe q=G B! OU > (w,Ay=B=4#I @ @ @  @ II٢Y= =9=9=Q =>AA EG٣AyE M> UbBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configI59M"p?5YME! iMh+::@MEM2Mi5 @ZjFNOT Ignoring new targets: 152.50 m.Bj:;Jj:; ProNav: ac range: 152.500000 m, nav range: 30.918627 m, bearing: 132.571652 deg, approach rate: 0.586113 m/s, LOS rate: 0.288905 deg/s, cmd heading: 329.732382 deg, new cmd heading: 330.083427 deg. 2jEF<HeadingCmd: 5.761043 target range: 152.500000 and range: 152.50 m. jvZ@jjji!h!h!h!h!f)f)f)rf)bfU?ɛ!B# 隥cI ƼɚiIB=I!iz I '.w,)\A6ٳ@Y6@6>96?:JR9JRـ3JPININV٢b[> be=9b Q b>dd fG٣dyjt j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n0p?v5YnH! inRz :xWill construct direction to contact in vehicle frame from tetrahedron phase data.y: @n En;nL?nj5B ?@EZjFNOT Ignoring new targets: 152.50 m.BjՅ;JjՅ; ProNav: ac range: 152.500000 m, nav range: 31.109560 m, bearing: 132.657316 deg, approach rate: 0.524798 m/s, LOS rate: 0.234010 deg/s, cmd heading: 330.083426 deg, new cmd heading: 330.338839 deg. 2j <HeadingCmd: 5.765501 target range: 152.500000 and range: 152.50 m. j~@jjji h h h h ffQfQrfQbf]?ɛBm 隥>*I *ǼɚiI)B=Ii${I I#IIBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO5JFG GpA $?I G F=G ?G >G B O >5w,c؜AZ@YZ)@Z[9Z9A EG٣MUGy] e> bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}Cp?5Y}L! i}39Will construct direction to contact in vehicle frame from tetrahedron phase data.J:@} E}1=}?}k5  @MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 152.50 m.BjMv;JjMv; ProNav: ac range: 152.500000 m, nav range: 31.367052 m, bearing: 132.767249 deg, approach rate: 0.508541 m/s, LOS rate: 0.215333 deg/s, cmd heading: 330.338848 deg, new cmd heading: 330.665937 deg. 2j<HeadingCmd: 5.771209 target range: 152.500000 and range: 152.50 m. j@jjjihhhhfffrfbf?ɛ=B=&` 9EIA EVȼɚAiAIEN0B=IMiM};w,&AB!W@YBf@Bt]9B; G٣yg > Nusing accuracyPremultiplier from config59rSp?5YKO! iT:?:@ E;z;m5 @E $?IZjFNOT Ignoring new targets: 152.50 m.Bj;Jj; ProNav: ac range: 152.500000 m, nav range: 31.570646 m, bearing: 132.906342 deg, approach rate: 0.569319 m/s, LOS rate: 0.386443 deg/s, cmd heading: 330.665932 deg, new cmd heading: 331.080512 deg. 2j<HeadingCmd: 5.778445 target range: 152.500000 and range: 152.50 m. j@jjjih!h!h!h%Bf)f)f)rf)bf-`q?ɛB ýI % Qɼɚ!i!I%2B=I-6iIiMP=)U@)QEYEY*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003415JeqJehJaJaJeD:JeȆ9JaJa*F2F:FBFP0JFzKSOKKK: Khd_ZTMFCC@;730/-('*+-,*)++'%$$!!  jHY bH] <He >Ia  Ie #IIe 0BIe  =&Ia .Ia 6Ie <:Ie 7 FG 2=U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254192G BOu>Cw,vAR@YR@R9RIpt vG٣ty-7 -> =Nusing accuracyPremultiplier from config1=595ep?E5Y5?R! i5AE%E@5E5:5v:5o5MB U\@UEZjFNOT Ignoring new targets: 152.50 m.Bj;Jj; ProNav: ac range: 152.500000 m, nav range: 31.802057 m, bearing: 133.057982 deg, approach rate: 0.501506 m/s, LOS rate: 0.326237 deg/s, cmd heading: 331.080525 deg, new cmd heading: 331.532124 deg. 2j_<HeadingCmd: 5.786327 target range: 152.500000 and range: 152.50 m. j)@jjjihhhhfffrfbf@ɛ] B]g Y] IY eɼɚa IiI3B=I*di`~Jw,G8*AJ@YJϹ@J49J=yJH l?J? äYݿ@n?'ŝ?sp?O?ɨJ@J*D;HyZBZ#Iib>Iba= ``Mb@Mb@Mb@ )YuV?I +?MbP?yr?9<:A )~@IAyII#3٢3= >=9ĭ:Q > G٣UGy > Nusing accuracyPremultiplier from config59wp?5YT! i?:޾@ER;;[q5B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759296Zj!%FNOT Ignoring new targets: 152.50 m.Bj%;Jj-;= ProNav: ac range: 152.500000 m, nav range: 32.010281 m, bearing: 133.208450 deg, approach rate: 0.496292 m/s, LOS rate: 0.356300 deg/s, cmd heading: 331.532137 deg, new cmd heading: 331.980594 deg. 2j=t*J "J =Pw,DA6}@Y6$@6) 96 =y6H^M?`?ĥ ݿ O?f?`??ɨ6}@6щ;6#CyRBR}#IzKb NKb9K`Kb; Kb RKn ?JKn>II 2٢G J=9|+:Q > G٣y2 > Nusing accuracyPremultiplier from config59}p?5Y/W! i㾑@E;; s5 @ZjFNOT Ignoring new targets: 152.50 m.Bj;Jj;- ProNav: ac range: 152.500000 m, nav range: 32.211388 m, bearing: 133.348420 deg, approach rate: 0.500524 m/s, LOS rate: 0.346190 deg/s, cmd heading: 331.980607 deg, new cmd heading: 332.397889 deg. 2j-m<5HeadingCmd: 5.801437 target range: 152.500000 and range: 152.50 m. j5`@j1j1j1i1h9h9h9h9fAfAfArfAbfE@Z| @ɛBׂ 隝AI ԄʼɚiI,B=Iiip8<)`@) HI I#IINBI&I.I6I<:I9 FBIJIRIZI =bI =jIì4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262550*F%?2F!:F!BF%o0JF)G؛*=GBOj> I i<$Ww,,]A6Will construct direction to contact in vehicle frame from tetrahedron phase data.NDAT read: Range 10 to 50 : 152.0 m (Round-trip 202.7 ms) speed 0.0 m/s Z,DAT read: user:3266> JoJiJJJ>:Jڈ9JJJ|O;aMJO;aUJh:aUJj:a]eBDAT read: Tx time:23:29:56.8363 e$Ping request sent.eYY ]G٣aya > Nusing accuracyPremultiplier from config59Lp?5YAZ! in ?:ᾑ@E$1;>/;Uu51 5d@=E]B*** querying acoustic contact ***jYjY addTargetRange:: Added new target pos. range: 152.000000 m, deltaT: 3.530253 s, deltaX: -0.500000 m, approachRate: -0.141633 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 152.50 m.Bj;Jj; ProNav: ac range: 152.500000 m, nav range: 32.465816 m, bearing: 133.524139 deg, approach rate: 0.490013 m/s, LOS rate: 0.335769 deg/s, cmd heading: 332.397877 deg, new cmd heading: 332.920886 deg. 2jofG BO5>H<^w,9{A6@Y6,&@6qa96pF=y6H@?@k?][޿@?;?`%ɨ?5?ɨ6@6;4yBۄBBi#I)D DIIT߳٢l d=9 :Q > G٣UGy% %? -Nusing accuracyPremultiplier from config)559-ep?55Y-]\! i-ߡ1=侑=@-E-;-1;-v5A M @IZjquFNOT Ignoring new targets: 152.50 m.Bj}(;Jj}(; ProNav: ac range: 152.500000 m, nav range: 32.639175 m, bearing: 133.640235 deg, approach rate: 0.525397 m/s, LOS rate: 0.349983 deg/s, cmd heading: 332.920878 deg, new cmd heading: 333.267313 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4712952j0p<HeadingCmd: 5.816612 target range: 152.500000 and range: 152.00 m. j!@jjjihhhhfffrfbfT5?ɛBm% HxI O<˼ɚiI4/B=Iii4!2)!@)*Fm?2Fi:FiBFm&3JFiG=<GB O%+>zK5s$LK59K1K5< K5  H >I  I $II YBI &I .I 6I <:I ] FM Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.725502ew,xA $I$R@YRr@R9R-y=yRH@??f޿@?โ?3?@!?ɨR@R9;R&Cy؄Bf#III٢%l %J=9-fQ ->11 5G٣1y=~ => MNusing accuracyPremultiplier from configAM59E p?M5YE^! iEסQU羑U@EEE:E:Ex5Y ]C@eEZjFNOT Ignoring new targets: 152.50 m.Bj;Jj; ProNav: ac range: 152.500000 m, nav range: 32.845119 m, bearing: 133.773936 deg, approach rate: 0.508430 m/s, LOS rate: 0.328008 deg/s, cmd heading: 333.267305 deg, new cmd heading: 333.665887 deg. 2ja<HeadingCmd: 5.823568 target range: 152.500000 and range: 152.00 m. jZ@jjjihhhhfffrfbf$?ɛBQ mI ˼ɚiI),B=IRi }] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227124Skw,AJ@YJm@J99Jw=yJH? P?ٯ ޿9?|Z?j?`F?ɨJ@J6;J#CyVĄBVL#I=Mb@Mb@Mb@999 9)9Y=Dl?:v?y&1y=O ?=T<=`e9 =@)=;@I=A9y=ABAII㔳٢ >=9(2Q > G٣y: > Nusing accuracyPremultiplier from config59p? 5Ya! iԡ e ? :  @EY;DX;{z5 @ZjAEFNOT Ignoring new targets: 152.50 m.BjM;JjM;] ProNav: ac range: 152.500000 m, nav range: 33.069637 m, bearing: 133.906749 deg, approach rate: 0.521064 m/s, LOS rate: 0.306141 deg/s, cmd heading: 333.665888 deg, new cmd heading: 334.061614 deg. 2j]RG}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479919G G G Gi By O >zK LK 9K K = K    (/06?MUSOLJGDAAA@?<2,)'(&!3rw,=ɝAyuB}F#Ii=I> ==HI I#IINBI&I.I6I1<:Im FII3٢L G=9Q >!! %G٣% UGy- -> 5Nusing accuracyPremultiplier from config1=595p?=5Y5d! i5С99E@5E57:5C:5E|5MB M@MEZjquFNOT Ignoring new targets: 152.50 m.Bj};Jj}; ProNav: ac range: 152.500000 m, nav range: 33.284042 m, bearing: 134.031814 deg, approach rate: 0.525167 m/s, LOS rate: 0.304363 deg/s, cmd heading: 334.061602 deg, new cmd heading: 334.434375 deg. 2jP<HeadingCmd: 5.836981 target range: 152.500000 and range: 152.00 m. jȺ@jjjihhhhfffrfbf?ɛB lI ̼ɚiI,B= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731215Itiz~G%|uA=A ebYe|uAyeB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986498J qJ hJ J J D:J Ȇ9J J J IZ;J KZ;J Ӭ:J Ԭ:[xw,cAy=B=&#IMb@Mb@Mb@ )Y G٣y > %Nusing accuracyPremultiplier from config!-59%yp?-5Y%g! i%աE?E:E; E@%E%/;%3;%~5MŒB M@QZjyFNOT Ignoring new targets: 152.50 m.Bj(;Jj(; ProNav: ac range: 152.500000 m, nav range: 33.507877 m, bearing: 134.134558 deg, approach rate: 0.552837 m/s, LOS rate: 0.252064 deg/s, cmd heading: 334.434366 deg, new cmd heading: 334.740534 deg. 2j,<HeadingCmd: 5.842324 target range: 152.500000 and range: 152.00 m. jR@jjjihhhhBfffrfbf O@ɛ-B-3Q )-I) 5ͼɚ1i1I58B=I=i=Mx5~w,A: @Y:/@:`9:=y:H@ ? ?@泿?s޿p ?`γY\\ bG٣`yb< b> fNusing accuracyPremultiplier from configdj59fp?j5Yfkj! ifڡln"n@fEfG;f;f5p r@vEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 152.50 m.Bj";Jj";- ProNav: ac range: 152.500000 m, nav range: 33.708042 m, bearing: 134.228230 deg, approach rate: 0.560552 m/s, LOS rate: 0.260767 deg/s, cmd heading: 334.740522 deg, new cmd heading: 335.019868 deg. 2j-2<5HeadingCmd: 5.847200 target range: 152.500000 and range: 152.00 m. j5C@j9j9j9i9hAhAhAhAfIfIfIrfIbfM5@ɛ}B}Gt y}0I hμɚiIFB=It9߾iwzK:MK9KK> K   jH<bH<HI I#II0BI&I.I6I<:I= FM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743181  I% ilw,A6h<@Y6K@696d=y6H-?0? c,A޿-?,ĵ[?5%?W?ɨ6h<@6;6#CyBBB #I)D FAININ2٢f4 fH=9fQ f>hh jG٣j!UGynX < n> rNusing accuracyPremultiplier from configpv59rq?v5Yrm! irޡtz'z@r!Er:r:r`59 =v@9ZjaeFNOT Ignoring new targets: 152.50 m.BjmW;JjmW; ProNav: ac range: 152.500000 m, nav range: 33.934193 m, bearing: 134.334260 deg, approach rate: 0.545680 m/s, LOS rate: 0.254135 deg/s, cmd heading: 335.019877 deg, new cmd heading: 335.335844 deg. 2ji.<HeadingCmd: 5.852715 target range: 152.500000 and range: 152.00 m. jpI@jjjihhhhfffrfbf`w@ɛ-B-N 15\'IQ U#ϼɚQiQI]xTB=I]fܾieLu] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:29:59.4430 e TRx dataTimestamp_ set to:1736379000.760572e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2481804w,L0A6V@Y6e@6lj 966=y6H 9?{?x޿[?S췿uL?m?d?ɨ6V@6I;4y>xB>"IMb@Mb@Mb@ )YOn?v/{Gzy?xiףA Z@);@IAy@I%I%<2٢5ͽ 5B=9=2Q =>9A EG٣AyME; M> UNusing accuracyPremultiplier from configQ]59Ue q?]5YU,q! iU][?]:]xe@U#EU;UzK LK ]9K K ? K /_bvPc2'$" RK% ?JK% ?z~w,uJAy~eB~"I  I I  3٢E\ MK=9MQ M>QQ UG٣QyUHu>Iq Iu#IIuBIq&Iq.Iq6Iu <:IuO F > Nusing accuracyPremultiplier from config591q?5Yt! i@%E;;5 @EZjFNOT Ignoring new targets: 152.50 m.Bj%~;Jj%~;5 ProNav: ac range: 152.500000 m, nav range: 34.423313 m, bearing: 134.513733 deg, approach rate: 0.615903 m/s, LOS rate: 0.222744 deg/s, cmd heading: 335.606782 deg, new cmd heading: 335.870430 deg. 2j5<=HeadingCmd: 5.862045 target range: 152.500000 and range: 152.00 m. j=ߕ@j9jAjAiAhAhAhIhIfIfIfIrfQbfU @ɛ}لB}L, y}hI RҼɚiIB=IŸ׾iq BDAT read: Tx time:23:30:00.5363 $Ping request sent.|o?9 q|?)z0I?iz0=Ww?8LqJ/<릿)NIi7=i?kZ:publishing transmit ping timeFpublishing direction and range info9נ%?)v?GqI ?y )Ii )IiWw?8LqJ/<릿)Ii $?IG_GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:30:00.5355 䫘w,^dAy~TB~"Ii=Ip<Mb@Mb@Mb@ )YMbX9?y&1iq uG٣u"UGyy }> Nusing accuracyPremultiplier from config59Eq?5Yy! i$?: (@'Ex;; 5 @kE@mt~?kE kA kEPA:kECBkECZkE٘?"E%)@q~ɼ)X@4w{\@Eנ%?)v?GqI ?JkE?RkEkZ*Eңv6(D@"$R@Y_@EtM?X/P7g?-Cߎ?"kEB*kEA!BkE~?kE 2kE;@CkEôij?kEp< kEPQCkEgBkE -? addTargetRange:: Added new target pos. range: 151.899994 m, deltaT: 3.782685 s, deltaX: -0.100006 m, approachRate: -0.026438 m/s, rangeRepo size: 4  Added new target pos. range: 151.899994 m, bearing: 61.591644 deg, lat: 36.903851 deg, lon: -122.120276 deg, deltaT: 7.312938 s, deltaX: -0.600006 m, approachRate: -0.082047 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 151.90 m.Bj Jj  ProNav: ac range: 151.899994 m, nav range: 57.913868 m, bearing: 111.089339 deg, approach rate: 0.000000 m/s, LOS rate: 0.222744 deg/s, cmd heading: 335.870427 deg, new cmd heading: 336.195822 deg. 2j!-HeadingCmd: 5.867724 target range: 151.899994 and range: 151.90 m. j-eĻ@j1j1j1i1h1h1hh+Bfffrfb@bf ?ɛԄB&) 7I ԼɚiIB=I\ԾiEow,~A2@Y2<¹@2O%92 >y2Hc?[?b mݿ:? {?M? ?ɨ2@2&Y;2$Cy>FB>"IIFIFV8٢N^ N|=9RƤQ R ?PP VG٣TyV= V ? ZNusing accuracyPremultiplier from configX^59ZSq?^5YZ|! iZ`b$b@Z)EZ];Z_;Zt5nƒB n@nEzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 151.90 m.Bj ;Jj ; ProNav: ac range: 151.899994 m, nav range: 58.089550 m, bearing: 111.197566 deg, approach rate: 0.593952 m/s, LOS rate: 0.364791 deg/s, cmd heading: 336.195817 deg, new cmd heading: 336.519513 deg. 2jZz<-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.EHeadingCmd: 5.873374 target range: 151.899994 and range: 151.90 m. jE@jAjIjIiIhIhQhQhQfQfYfYrfYbf]_?JJ@AJpJjJJJA:J9JJa@a@a@a@ɛ%фB%jHH )-I) -tռɚ)i)I-B=I5Ѿi1i5+!)=@)9*F?2F:FBFR0JFGs2zK*0NK 9KK@ K  %'*BK:KoAGBOB>ZHRHH >I  I g#II ڄBI  =&I .I 6I $<:I c FBIJIRIZI =bIjIwY4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981056 = $?IA ٥w,;A6@Y6H@6+96>y6H@{?@eq?@`K ݿM?Ɏ|?)?ϥ?ɨ6@6Љ;4yb8Bb"IIjIji٢~ ~F=9DŽQ > G٣y ΂<  > Nusing accuracyPremultiplier from config%59eq?%5Y! i*!-#-@+E?;7@;B51 5@1ZjamFNOT Ignoring new targets: 151.90 m.Bjm;Jju; ProNav: ac range: 151.899994 m, nav range: 58.314045 m, bearing: 111.336926 deg, approach rate: 0.542095 m/s, LOS rate: 0.335220 deg/s, cmd heading: 336.519514 deg, new cmd heading: 336.935975 deg. 2jf<HeadingCmd: 5.880642 target range: 151.899994 and range: 151.90 m. j8.@jjjihhhhfffrfbf[?ɛ̈́B|"> I ׼ɚiIB=I0ξii')8.@)*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.237376G7GqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489329w,8eA6"@Y6\2@6696Y>y6H?O?ܿ`c?ئ??1?ɨ6"@6;6%CyB2BB"I)D FAMb@Mb@Mb@ )Y r? G٣#UGy< > Nusing accuracyPremultiplier from config59cxq?5Y! iD'? : , @-E;b;'5 F@EZjAMFNOT Ignoring new targets: 151.90 m.BjM;JjM;e ProNav: ac range: 151.899994 m, nav range: 58.560444 m, bearing: 111.475929 deg, approach rate: 0.569776 m/s, LOS rate: 0.320080 deg/s, cmd heading: 336.935964 deg, new cmd heading: 337.351211 deg. 2je[zK cLK ]9K K A K )$!!   벧w,B@̞A23Z@Y2i@2892>y2H ?? `AܿKx? ƽ@?@b??ɨ23Z@2it;0y:.B:"IHb>I` Ib5#IIbBI`&I`.I`6Ib+<:Ibh FIrIrF3٢z zZ=9zQ z>|| ~G٣|y < >  Nusing accuracyPremultiplier from config 59 q?5Y ! i [*@ /E  ; ` ; ɍ5! %@!ZjIMFNOT Ignoring new targets: 151.90 m.BjU$;JjU$;e ProNav: ac range: 151.899994 m, nav range: 58.771942 m, bearing: 111.596118 deg, approach rate: 0.568637 m/s, LOS rate: 0.321977 deg/s, cmd heading: 337.351212 deg, new cmd heading: 337.710475 deg. 2je\&)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994072*F)2F):F)BF)JF) $?IGGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248919w,l$AZȀ@YZG@Z'T=9Z>yZH@?`LF?`ۿ?67\??@C?ɨZȀ@Z;Z$Cyf+Bf"I]Mb@Mb@Mb@YYY Y)YY]S㥛?^I +ǿ G٣yG4< > Nusing accuracyPremultiplier from config59q?5Y! ix,?:6@2E;ތ;5ǒB @EZjFNOT Ignoring new targets: 151.90 m.Bj;Jj; ProNav: ac range: 151.899994 m, nav range: 59.028141 m, bearing: 111.725720 deg, approach rate: 0.565627 m/s, LOS rate: 0.284889 deg/s, cmd heading: 337.710480 deg, new cmd heading: 338.097593 deg. 2jC<-HeadingCmd: 5.900916 target range: 151.899994 and range: 151.90 m. j-NԼ@j)j)j1i1h1h1h1h=Bf9f9f9rf9bfE{@ɛB < 隵I ݼɚiIB=Iθþiti?w,wAy!%"Ii-=I-;=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiEAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750083I] I]2٢mx mN=9mQ m>qq uG٣u$UGy} }> Nusing accuracyPremultiplier from config59q?5Y5! i@4Ej::a5ƒB @EJK KKK"KJqJiJJJD:Jڈ9JJB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 151.90 m.Bj0;Jj0;  ProNav: ac range: 151.899994 m, nav range: 59.264351 m, bearing: 111.844084 deg, approach rate: 0.627762 m/s, LOS rate: 0.313317 deg/s, cmd heading: 338.097588 deg, new cmd heading: 338.451262 deg. 2j W<HeadingCmd: 5.907089 target range: 151.899994 and range: 151.90 m. j@jjjihhh!h!f!f!f!rf)bf-`p@ɛ]B]D YeIa en߼ɚaiaIeB=Imimg I )% = - cC+Ƨw,CA:P@Y:Ϻ@:L9:,2 >y:H`?`?@ۿ;? ??@ݑ?ɨ:P@:@t;:%CR.~G`lyv0Bv"I &Y y BII 3٢5< 5M=95Q =>99 =G٣9yE< E> MNusing accuracyPremultiplier from configIU59M#q?U5YMɗ! iMY]4]@M6EMG ;M ;M5a ef@eEZj1=FNOT Ignoring new targets: 151.90 m.Bj={;Jj={;U ProNav: ac range: 151.899994 m, nav range: 59.501781 m, bearing: 111.964314 deg, approach rate: 0.573694 m/s, LOS rate: 0.289347 deg/s, cmd heading: 338.451255 deg, new cmd heading: 338.810501 deg. 2jUF<]HeadingCmd: 5.913359 target range: 151.899994 and range: 151.90 m. j]<:@jYjYjYiYhYhYhahafafafirfibfm @ɛB@: 隝I T[ɚiI\B=IYi2eE Will construct direction to contact in vehicle frame from tetrahedron phase data.tV̧w,3Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524116 U$?IQ@Y@\#U9@#>yHs?"y?9Bۿ ^?&W?`J?*?ɨ@މ;"CyCB"IMb@Mb@Mb@ )Y rh?~jtȿy&1yC+?D` x@)@IlAy@II٢= 3=9*Q > G٣y'< > Nusing accuracyPremultiplier from config59wq?5Y?! i¢R2?:5@8E;8;5ǒB @@EZj)5FNOT Ignoring new targets: 151.90 m.Bj5;Jj5;M ProNav: ac range: 151.899994 m, nav range: 59.784420 m, bearing: 112.104439 deg, approach rate: 0.648603 m/s, LOS rate: 0.320039 deg/s, cmd heading: 338.810496 deg, new cmd heading: 339.228873 deg. 2jM[ U BDAT read: Tx time:23:30:04.2363 U $Ping request sent.U ٕjٕ!Z?ٕ޹ ڕK`?)ڕCIڕ?iڕC=ڑڑە?K ?>'|ek?(pӿ)ەޘIە'|ek?(pӿ)ۑIۑiۑۑۑۑG B O >zKM MKM h9KI KM C KM zBӧw, MAH,I, I.#II.BI. =&I,.I,6I.D<:I.| F> @Y> @> _9>m~$>y>H ?`7L?ڽ`ۿ?&;@7?@dq?@~?ɨ> @>@;99 EG٣E%UGyE; E> UNusing accuracyPremultiplier from configIU59M5q?]5YMt! iMҢY] 5]@M:EM3:Mv:M5a @kX+}?kh k kCA:kCBk}CZkؖ?"ڕ@!=-[@}Z@}B?O3zl?vJdo?Jk+ ?RkAF*'[SCA@__T@^@Tҫ?r!煂?`-v7?"kB*k Bkm>}?k_  2k=Ck 1s?k kECkNBk\?U addTargetRange:: Added new target pos. range: 152.500000 m, deltaT: 3.791139 s, deltaX: 0.600006 m, approachRate: 0.158265 m/s, rangeRepo size: 4  Added new target pos. range: 152.500000 m, bearing: 67.522414 deg, lat: 36.904091 deg, lon: -122.120045 deg, deltaT: 3.791139 s, deltaX: 0.600006 m, approachRate: 0.158265 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 152.50 m.BjJj ProNav: ac range: 152.500000 m, nav range: 76.152893 m, bearing: 86.999887 deg, approach rate: 0.000000 m/s, LOS rate: 0.320039 deg/s, cmd heading: 339.228886 deg, new cmd heading: 339.589961 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.2jHeadingCmd: 5.926963 target range: 152.500000 and range: 152.50 m. j@jj j i h h hhfffrfc@bf`͏?ɛB|* 隽DI $ɚiIwB=Ibi]+a Will construct direction to contact in vehicle frame from tetrahedron phase data._g٧w,?qgAr @Yr<@ri\n9r(>yrH?v? @,ڿ@?ۿ@?ǭ??[?ɨr @r;r$Cy[B"IMb@Mb@Mb@ )Y rh?B`"ɿ:vyNԼ A )Iyp@I5I5#٢EM= E;=9UoQ U>QQ ]G٣Yy]W; ]> eNusing accuracyPremultiplier from configam59eq?u5YeŦ! ieu3?u:u8u@e=Ee|;e>;e5y }@EZjFNOT Ignoring new targets: 152.50 m.Bj;Jj; ProNav: ac range: 152.500000 m, nav range: 76.342636 m, bearing: 87.180586 deg, approach rate: 0.457807 m/s, LOS rate: 0.434901 deg/s, cmd heading: 339.589957 deg, new cmd heading: 340.130689 deg. 2j;<HeadingCmd: 5.936400 target range: 152.500000 and range: 152.50 m. j@jjjihhhhBfffrfbf?ɛBy xL,=I ɚiI6B=I%Ѝi!i-p)-@))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. QIQG?IGa By O >Kw,h>A:@Y:a*@:Az9:$)>y:H ? ^?``ڿ?9C? ?k?ɨ:@:;:#CyRoBR"II^I^)٢f= ff=9fmQ j>hh jG٣hynJ; n> rNusing accuracyPremultiplier from configpv59rZr?v5Yr ! irtz7z@r?Er3:r:r5| ~@Zj!-FNOT Ignoring new targets: 152.50 m.Bj5;Jj5;M ProNav: ac range: 152.500000 m, nav range: 76.496078 m, bearing: 87.326101 deg, approach rate: 0.433746 m/s, LOS rate: 0.410511 deg/s, cmd heading: 340.130689 deg, new cmd heading: 340.566349 deg. 2jM݌ Will construct direction to contact in vehicle frame from tetrahedron phase data. > ? M $?II uw,DA60@Y6@@696gn)>y6H@@??@5ڿ s?+~`}?` ?U?ɨ60@6R;4yBBB#IiJ=IJ*? J=J=IRIR٢V= VL=9Z Q Z>X\ ^G٣\y^$; b> fNusing accuracyPremultiplier from config`f59b-r?j5Yb! ibhj6j@bAEb:b:bݛ5p r@rE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 152.50 m.Bj ;Jj ;- ProNav: ac range: 152.500000 m, nav range: 76.669693 m, bearing: 87.490394 deg, approach rate: 0.433431 m/s, LOS rate: 0.409230 deg/s, cmd heading: 340.566346 deg, new cmd heading: 341.058096 deg. 2j-l<-HeadingCmd: 5.952587 target range: 152.500000 and range: 152.50 m. j5{@j1j1j1i1h1h1hhfffrfbf?ɛ B  )IQ URɚYiYI]TuA=Ie4Diaie劽)e{@)a*F ?2F :F BF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JpJJJJA:JJJJT;aJT;aJaJaGlGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706700w,A2ff@Y2u@2愽92lN+>y2H@_?`d?>Uڿ@^?` `㙰?D?|?ɨ2ff@2.2;2$CyBBB #I pIpMb@Mb@Mb@ )Y!rh?{GzĿy&1yl'?#`e A )p@IAy@I I<2٢= ;=9+Q > G٣&UGyEv< > Nusing accuracyPremultiplier from config59)r?5Y! if,?:o(@CE.;W-;ǝ5 u@EZjFNOT Ignoring new targets: 152.50 m.Bj;Jj;- ProNav: ac range: 152.500000 m, nav range: 76.839821 m, bearing: 87.669900 deg, approach rate: 0.388205 m/s, LOS rate: 0.408696 deg/s, cmd heading: 341.058092 deg, new cmd heading: 341.595400 deg. 2j-><5HeadingCmd: 5.961965 target range: 152.500000 and range: 152.50 m. j=jȾ@j9j9j9i9h9h9hAhEXBfAfAfIrfIbfM`*?ɛBݼ 隅i2 w,PПAV@YV @Vb9V.>yVH@*?@?;{ٿ`?^ ? ~?w?ɨV@Vp;V&Cy^B^@#IIzIz٢= E=9 Q  >  G٣yl< > Nusing accuracyPremultiplier from config%591w,Ar|ڴ@Yr@r㊽9rv1>yrHD?`}}?]@ٿ z ? "` Y? ?@$r?ɨr|ڴ@r;r%Cyz܄Bzj#I)| |AMb@Mb@Mb@ )Y+?Zd;yv? b@)@IlAy@IIb1٢,> @=9 G٣'UGy< > Nusing accuracyPremultiplier from config59=Or?5Y! i!?:D@HE3;;t5 @ZjFNOT Ignoring new targets: 152.50 m.Bj%;Jj%;= ProNav: ac range: 152.500000 m, nav range: 77.145073 m, bearing: 88.009186 deg, approach rate: 0.341761 m/s, LOS rate: 0.398806 deg/s, cmd heading: 342.106062 deg, new cmd heading: 342.611215 deg. 2j=وI9 =Dɚ9i9I=^?=ImBciiim㓽)mY@)qEyEy*Ey"EyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715604 $?I*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:30:06.8442  TRx dataTimestamp_ set to:1736379008.081672 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969226G G B O >w,AvJ@Yv"@v)9v=5>yvH`TZ??ٿ ? R ߱?q?k?ɨvJ@vB;v&Cy~B#II I2٢-׷= -<=9UQ U>YY ]G٣Yye< e> mNusing accuracyPremultiplier from configi59mbr?5Ym3! imԢv@mJEm|;m;m^5ȒB ~@EZjFNOT Ignoring new targets: 152.50 m.Bj;Jj;U ProNav: ac range: 152.500000 m, nav range: 77.292366 m, bearing: 88.182608 deg, approach rate: 0.325881 m/s, LOS rate: 0.382959 deg/s, cmd heading: 342.611223 deg, new cmd heading: 343.130482 deg. 2jUi<]HeadingCmd: 5.988757 target range: 152.500000 and range: 152.50 m. j]壿@jYjYjaiahahahahifqfyfyrfybf}@* @ɛBMk  =%L>I! %GɚAiAIM>=IM\iQiU^)U壿@)QjHbHH>I I#IIBI =&I.I6I<:IH FzKoMK9KKF K '7@EGFDBA;:85458Cd{vsnligc^YU*F!2F!:F!BF%1JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220623 1I1Gy GY Ba O >w,!A%X]@Y%l@%鶑9%f:>y%H_v?s?09ؿ@4?@2?%?c?ɨ%X]@%P;%$Cy=B=#IAE@AIMIM0٢])> ]G=9eOQ e>aa eG٣aym϶< m> Nusing accuracyPremultiplier from config59tr?5Y! i@LE;`;+5 W@EWill construct direction to contact in vehicle frame from tetrahedron phase data.J5qJ5kJ50J1J5D:J59J5ـ3J1J5IZ;J5KZ;J5:J5:DAT read: 23:30:06.8442 LVL= 13632, 31841, 25122, 32755, AGC= 59, IDX= 433, 0.36,-0.585,-1.309,-2.599,-1.581, PHS= 1.084, 0.319,-1.020, RAW= 51.1, -4.2, CAL= 54.4, -8.6, ROT= 95.6, 8.6 mYgot valid direction response: 23:30:06.8442 LVL= 13632, 31841, 25122, 32755, AGC= 59, IDX= 433, 0.36,-0.585,-1.309,-2.599,-1.581, PHS= 1.084, 0.319,-1.020, RAW= 51.1, -4.2, CAL= 54.4, -8.6, ROT= 95.6, 8.6 B*** querying acoustic contact ***jPDAT read: Bearing 95.6, 8.6 (Local) ~Local bearing/azimuth received: Bearing 95.6, 8.6 (Local) j5DAT read: Range 10 to 50 : 152.7 m (Round-trip 203.7 ms) speed 0.0 m/s =,DAT read: user:3269> ZjiuFNOT Ignoring new targets: 152.50 m.Bju@;Jj}@;BDAT read: Tx time:23:30:07.9364 $Ping request sent.\&Qd?Q s?)`I?h9h9fAfAfArfE`fc@bfM?i`>?&LyG&) I!=i?Pe:publishing transmit ping timeؑeFpublishing direction and range info96 +?O?A~\I ɚiI==I_i]pw, G٣(UGy %> -Nusing accuracyPremultiplier from config!-59%r?55Y%! 5tIi%=?=:==@%NE%+;%6);%:5A E@Ak}p-E}?k}b ky k}_%A:k}CBk}CZk}Ȕ?"}嚒2|$@9~Z@E޸[@}6 +?O?A~\}?kyk}BCk}*Bk}59? addTargetRange:: Added new target pos. range: 152.699997 m, deltaT: 3.528004 s, deltaX: 0.199997 m, approachRate: 0.056688 m/s, rangeRepo size: 4  Added new target pos. range: 152.699997 m, bearing: 66.599115 deg, lat: 36.904366 deg, lon: -122.120045 deg, deltaT: 3.528004 s, deltaX: 0.199997 m, approachRate: 0.056688 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 152.70 m.BjJj ProNav: ac range: 152.699997 m, nav range: 84.082954 m, bearing: 67.243520 deg, approach rate: 0.000000 m/s, LOS rate: 0.339656 deg/s, cmd heading: 343.619960 deg, new cmd heading: 344.023394 deg. 2jHeadingCmd: 6.004341 target range: 152.699997 and range: 152.70 m. j#@jjjihhhhBfffrfbf`g?ɛ-B5 15>I1 5w޼ɚ9i9I=<=I=ĎiAiEe)E#@)AUWill construct direction to contact in vehicle frame from tetrahedron phase data.*J4="J%=*F ?2F :F BF  5JF H >I  I $II ^BI &I .I 6I <:I J FG- @zKm aNKm h9Ki Km G Km OHB:5/&#%yj )xpg]YSMGC>:850)*- G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ow,GVA I R@YRC@RU9RkB>yRH? [?z׿`g_?@ ÿ@eƲ??W?ɨR@RN;R'CyZRBZ#IIfIf٢nLR> nx=9nRQ n?pp rG٣pyvGU= v? zNusing accuracyPremultiplier from configx 59zϘr? 5Yz5! iz}   @zPEzz;zC{;z5 `@ E%NGM5tAmA Y5tAyBZjFNOT Ignoring new targets: 152.70 m.Bj;Jj; ProNav: ac range: 152.699997 m, nav range: 84.102623 m, bearing: 67.379826 deg, approach rate: 0.052196 m/s, LOS rate: 0.361638 deg/s, cmd heading: 344.023405 deg, new cmd heading: 344.432221 deg. 2j0xI) -ۼɚ)i)I-;=I=jiAi)^@)1uWill construct direction to contact in vehicle frame from tetrahedron phase data.JtJwJJJ;N:J9JJJ{j;J~j;J:J:E *Fq 2Fy :Fy BF} 0JFy %Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IG<GyBO ?w,^,yAB@YBp@B59B?>yBH?2?38`]ֿB?@ÿB?@}?@Y?ɨB@BF;B$CyJ[BN$I)P P5Mb@Mb@Mb@111 1)1Y5Cl?:v?y5?5̼5T<5zA 5@)1I5A1y5p@IEIE٢U2= U=9]]Q ]>Ya eG٣aye= e> uNusing accuracyPremultiplier from configi}59m*r?5Ym{! imC ?:Ͼ@mREm9;m8;m5ɒB @EZjFNOT Ignoring new targets: 152.70 m.BjX;JjX; ProNav: ac range: 152.699997 m, nav range: 84.106819 m, bearing: 67.594147 deg, approach rate: 0.008263 m/s, LOS rate: 0.422000 deg/s, cmd heading: 344.432233 deg, new cmd heading: 345.075134 deg. 2jΐ<HeadingCmd: 6.022697 target range: 152.699997 and range: 152.70 m. j@jjjihhhhBfffrfbf/H?ɛwBB: >I i ؼɚiI:=I ^i i ߂) @)E%G=*F?2F:FBF@5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AGvGBO>ZH RH AAH >I C I a$II BI  =&I .I 6I <:I X F$w,!撠A6@Y6c@696E>y6H ?h?-@Dտ y?ÿ>?-i?R?ɨ6@6r;4zKB%NKB9K@KBH KB        BKD:KFpAyJsBJ%$IIRIR ٢Z= ZV=9Z#9Q ^>\` bG٣b)UGyb= b> jNusing accuracyPremultiplier from configdj59fr?j5Yf! iflnɾn@fTEf. ;f ;fȬ5rȒB vL@vEZj FNOT Ignoring new targets: 152.70 m.Bj ;Jj ;- ProNav: ac range: 152.699997 m, nav range: 84.107666 m, bearing: 67.739703 deg, approach rate: 0.002228 m/s, LOS rate: 0.383021 deg/s, cmd heading: 345.075145 deg, new cmd heading: 345.511801 deg. 2j-n<5HeadingCmd: 6.030319 target range: 152.699997 and range: 152.70 m. j5_@j1j1j1i1h1h9h9h9fAfAfArfAbfE ?ɛmsBu5< qu?Iq u} ռɚqiyI}69=Iwii2u)_@)Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IE5=U Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF ;2JF G rG pAG GBO>G+w,4A:U@Y: e@:O9:I>y:Hm'?j?@ԿR?@7Ŀ??L?ɨ:U@:e ;:%CyNBN4$I-Mb@Mb@Mb@))) )))Y-Q?I +?I +?y-?-94<-94<-A -@)-Z@I-A)y-z@IEIE٢]hB= ] =9]:Q ]>aa eG٣aymn< m> uNusing accuracyPremultiplier from configq}59ur?}5Yu! iu} ?}:]@uVEun;u;u5ɒB @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 152.70 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 5$?I9U ProNav: ac range: 152.699997 m, nav range: 84.088722 m, bearing: 67.924357 deg, approach rate: -0.037083 m/s, LOS rate: 0.361547 deg/s, cmd heading: 345.511813 deg, new cmd heading: 346.065880 deg. 2jU x<]HeadingCmd: 6.039989 target range: 152.699997 and range: 152.70 m. j]G@jYjYjaiahahahahm.BfffrfbfF@ɛnB; ?I nмɚiI /E8=I pyiiqn)G@)EE*E"E*FI2FI:FIBFM_5JFIG% 1| Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430774J J nJ J J J 99J J a @a @a @a @G B! O= >2w,̠A2@Y2¾@2죖92J>y2H@F?0?1Կ`?Ŀ%в?J?TJ?ɨ2@2S;2#CyRBR@$IiV)>IVp;IZIZ٢~TL= ~Q=9G;Q >   G٣ y <  > Nusing accuracyPremultiplier from config%59Kr?%5Y! i)--@XE>;L?;51 5@1ZjaeFNOT Ignoring new targets: 152.70 m.Bjm;Jjm;} ProNav: ac range: 152.699997 m, nav range: 84.072418 m, bearing: 68.065965 deg, approach rate: -0.041588 m/s, LOS rate: 0.361280 deg/s, cmd heading: 346.065878 deg, new cmd heading: 346.490777 deg. 2j}w<HeadingCmd: 6.047405 target range: 152.699997 and range: 152.70 m. jW@jjjihhhhfffrfbf`>@ɛjB}< Q]<?I  ͼɚiI17=H>I I$II؅BI =&I.I6I"<:IZ FIpqii4a)W@)*F?2F:FBF_0JF' TFailed to parse incomplete device message. )I-i5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683758G}yGQBYOu>~ 9w,}A2@Y2W@2甽924K>y2H i_?Hf?@m ӿ ?`6ſ`͘?`*?`J?ɨ2@28;2%Cy:B:D$IBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.934571ININF٢R'< VP=9V ;Q V>XX ZG٣Z*UGy^a< ^> bNusing accuracyPremultiplier from config`f59b;r?f5Yb$! ibhjj@bZEbq';b);br5p r@rEZj FNOT Ignoring new targets: 152.70 m.Bj;Jj;- ProNav: ac range: 152.699997 m, nav range: 84.054459 m, bearing: 68.208666 deg, approach rate: -0.045540 m/s, LOS rate: 0.361920 deg/s, cmd heading: 346.490770 deg, new cmd heading: 346.918955 deg. 2j-ax<5HeadingCmd: 6.054878 target range: 152.699997 and range: 152.70 m. j5@j1j9j9i9hAhIhYhafififirfibfuPp@ɛfBJU< ~?I ȼɚiI5=IXii/[0?w,A6)T@Y6c@6{96K>y6Hx??`y@ӿp?kſy+?'?4K?ɨ6)T@6-;6"CyBBBC$I=Mb@Mb@Mb@999 9)9Y="~j?Q?y=S?=\===M A =@)9I=A9y=3@IUIU(٢mл m?=9u;Q u>qq }G٣yy}< > Nusing accuracyPremultiplier from config594 s?5Y}! ik?:p@[E;;P5 @ZjFNOT Ignoring new targets: 152.70 m.BjG;JjG; ProNav: ac range: 152.699997 m, nav range: 84.023033 m, bearing: 68.356635 deg, approach rate: -0.073603 m/s, LOS rate: 0.346696 deg/s, cmd heading: 346.918968 deg, new cmd heading: 347.363032 deg. 2jm<HeadingCmd: 6.062629 target range: 152.699997 and range: 152.70 m. j@jjjihhhh%Bfffrf bf  @ɛ5cB5x{< 9=o?I9 =Eżɚ9i9I=4=IEaiAiMT)M@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439210JvJrJJJ{T:J9JJ*F2F:FBFJFjH<bH<H>I I$IIBI =&I.I@D6I-<:I` FBIǫCJIǫCRIZI =bI =jIǟ5G]G B O >zKe :KKe ]9Ka Ke J Ke  !4@DIVafkk  $?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 23:30:10.5437 LVL= 15312, 23201, 19602, 24307, AGC= 59, IDX= 428, 0.20, 2.741, 1.816, 0.615, 1.571, PHS= 1.258, 0.292,-0.959, RAW= 55.8, -6.2, CAL= 61.6, -11.8, ROT= 88.4, 11.8  Ygot valid direction response: 23:30:10.5437 LVL= 15312, 23201, 19602, 24307, AGC= 59, IDX= 428, 0.20, 2.741, 1.816, 0.615, 1.571, PHS= 1.258, 0.292,-0.959, RAW= 55.8, -6.2, CAL= 61.6, -11.8, ROT= 88.4, 11.8  PDAT read: Bearing 88.4, 11.8 (Local)  ~Local bearing/azimuth received: Bearing 88.4, 11.8 (Local) % DAT read: Range 10 to 50 : 152.4 m (Round-trip 203.2 ms) speed 0.0 m/s Fw,RAn,DAT read: user:3270> rBDAT read: Tx time:23:30:11.6364 r$Ping request sent.r?cq?ymfCim;mZ mL)m^Iiim%?i@Y騿@ y9I>yH?`|W?`~9`r}ҿ`X)?xſ`t˱? ?M?ɨi@V;騥$Cm>mumQy?mkݽ m?)mBRIm|?imBR>iim[b?=0OW')m%Img=imIƵ?mcii:publishing transmit ping timepFpublishing direction and range infoi9mD/y%1?>?cq?yiiii i)iIiiiiiii i)iIiyBH$I) iiiim[b?=0OW')iIiiiiiiIIb٢o< 6=9U;Q > G٣y< >  Nusing accuracyPremultiplier from config59s?5Y! iD%;h%@]E<(T<G5Y e@Ekm`K{?km ) ki kmbIA:kmfCBkmcCZkmK?"m,@;ՎW@/{ []@mD/y%1?>?cq?JkmIƵ?Rkmc*m'7o9@N!EXP@0<`@mɷW?ULt?el?"km‚B*kmAkm;Y{?kmkg 2km'JCkikikikmBkm?} addTargetRange:: Added new target pos. range: 152.399994 m, deltaT: 3.779885 s, deltaX: -0.300003 m, approachRate: -0.079368 m/s, rangeRepo size: 4  Added new target pos. range: 152.399994 m, bearing: 69.066194 deg, lat: 36.904366 deg, lon: -122.120045 deg, deltaT: 3.779885 s, deltaX: -0.300003 m, approachRate: -0.079368 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 152.40 m.BjJjE ProNav: ac range: 152.399994 m, nav range: 83.988693 m, bearing: 68.512013 deg, approach rate: 0.000000 m/s, LOS rate: 0.346696 deg/s, cmd heading: 347.363040 deg, new cmd heading: 347.874765 deg. 2jAMHeadingCmd: 6.071560 target range: 152.399994 and range: 152.40 m. jM8J@jIjIjIiIhQhYhahafififirfm c@bfm p]?ɛ^BTyZH ??lѿ;?uoƿh?W?E?ɨZ@Z,;XybBf;$I]Mb@Mb@Mb@YYY Y)YY]Pn? rh?:vy]?]C =]T] A ]@)]@I]lAYy]G@IuIud٢) #=9E;Q > G٣+UGy< > Nusing accuracyPremultiplier from config59m3s?5YI! i&l?:X@_E;<;w5ʒB E@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 152.40 m.Bj;Jj; ProNav: ac range: 152.399994 m, nav range: 83.946999 m, bearing: 68.686148 deg, approach rate: -0.085787 m/s, LOS rate: 0.358461 deg/s, cmd heading: 347.874758 deg, new cmd heading: 348.397407 deg. 2jv<HeadingCmd: 6.080682 target range: 152.399994 and range: 152.40 m. j@j j jihhh9h=BfAfAfArfAbfM`?ɛZBt< ?I QɚiID%2=I]OiiJ)@)E<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.*JC="JR=JuJtJJJ[Q:J9JJ*FM?2FI:FIBFM_0JFIH >I  I $II BI &I .I 6I <:I FG >YGi Bq O >w=Uw,UA 4I4zKB{VMKB9K@KBK KBjkhc`]WPMMJHDA:42-'"!>RY]ZTUURQOKIJ_RKF?JKF?V"@YVm2@Vc9VbH>yVHq?`?Е G٣y*< > Nusing accuracyPremultiplier from config59vDs?5Yh! i}T@aE::65 q@Zj FNOT Ignoring new targets: 152.40 m.Bj=j;Jj=j;} ProNav: ac range: 152.399994 m, nav range: 83.913414 m, bearing: 68.825320 deg, approach rate: -0.089173 m/s, LOS rate: 0.369670 deg/s, cmd heading: 348.397404 deg, new cmd heading: 348.815077 deg. 2j}}<HeadingCmd: 6.087972 target range: 152.399994 and range: 152.40 m. j@jjjihhhhfffrfbf 3?ɛ WB=< 9= ?I9 EJ/ɚAiAIEH1=IUGiQiUW)U@)YEaEa*Ea"Ea*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.197599G GG B O>G\w,MsAypB $Ii>IC? $?I@ Mb@Mb@Mb@ )YL7A`?~jth?S㥛y+?D;/ݼ7 A )Ih@iII=س٢8. +=9Q >    G٣ y > Nusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447606=59Ys?=5Y ! i=X?=:=兾E@cE¢;;M5Q U@UEZjy}FNOT Ignoring new targets: 152.40 m.Bj;Jj; ProNav: ac range: 152.399994 m, nav range: 83.886559 m, bearing: 68.996826 deg, approach rate: -0.056295 m/s, LOS rate: 0.359628 deg/s, cmd heading: 348.815083 deg, new cmd heading: 349.329753 deg. 2jv<HeadingCmd: 6.096954 target range: 152.399994 and range: 152.40 m. j@@jjjihhhhfffrfbfy?ɛSBeHRm< aeZ?Ia m ɚiiiIm/=Iu\>iqiu lw)u@@)y*F?2F:FBFo0JFGSGBOc> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699303J J J% xJ% rJ! J! J% Z:J% 9J! J! 0cw,^A2m@Y2G}@2gr92>>y2H? ?y躿9п@;k?-Ŀ `U? ?@|d?ɨ2m@2J;0ybVBb$IIjIj(*2٢  Z=9%!!) -G٣-,UGy5< 5> =Nusing accuracyPremultiplier from config9E59=6is?E5Y=o! i=AEwE@=eE=:=:=5UɒB U.@QZjy}FNOT Ignoring new targets: 152.40 m.Bjt;H>IC I$IIBI&I.I6I<:IT FJjt; ProNav: ac range: 152.399994 m, nav range: 83.864273 m, bearing: 69.131527 deg, approach rate: -0.059998 m/s, LOS rate: 0.362742 deg/s, cmd heading: 349.329752 deg, new cmd heading: 349.733954 deg. 2jx<HeadingCmd: 6.104009 target range: 152.399994 and range: 152.40 m. j T@jjjihhhhfffrfbfJ|?ɛmPBmz< im?Ii u\㰼ɚqiqIu.=I}y7iyi}9k)} T@)*FE?2FA:FABFEJ1JFA $?IzKtNK]9KKL KuYRLD8/(#-./9?=97520/-*)*,*'#" BK:KqA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.951374) mG|uAA Y|uAydB]@e`BPExceeded connect timeout, disconnecting.G}qYGY Bi O >Tiw,"A:@Y:@:`9:;>y:H ?T?kgпYy?Ŀx?Q?_j?ɨ:@:K;8yFPBF#IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.203191If If2٢r rO=9v`6xx zG٣xy~}< ~>  Nusing accuracyPremultiplier from config 59 Vzs?5Y ! i !%|%@ fE Fg; u; 51 5@5|EZjyFNOT Ignoring new targets: 152.40 m.Bj;Jj; ProNav: ac range: 152.399994 m, nav range: 83.839989 m, bearing: 69.273763 deg, approach rate: -0.060271 m/s, LOS rate: 0.353115 deg/s, cmd heading: 349.733962 deg, new cmd heading: 350.160788 deg. 2jVrUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4554468y6H`??@{7,п?<Ŀ;F??Gn?ɨ6й@6:;6&CyB!! %G٣!y%[< %> 5Nusing accuracyPremultiplier from config)=59-s?=5Y-! i-=} ?=:=֧=@-hE-5;-;-5I M@ImB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 152.40 m.Bj;Jj;5 ProNav: ac range: 152.399994 m, nav range: 83.832123 m, bearing: 69.439109 deg, approach rate: -0.018021 m/s, LOS rate: 0.378853 deg/s, cmd heading: 350.160795 deg, new cmd heading: 350.656865 deg. 2j5<=HeadingCmd: 6.120117 target range: 152.399994 and range: 152.40 m. j=@j9j9j9i9h9h9hAhEoBfAfIfIrfIbfu @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709365ɛ]JB]BM< aem>I 7ԩɚiI0-=Ix&ii@|)@)JK KKK"KJ|JuJJJ;g:J9JJ*F]?2FY:FYBFeQ5JFaH>I I$II؅BI =&I.I6I/<:I_ FGE l } $?Iy G! B1 OU >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:30:14.2433 m TRx dataTimestamp_ set to:1736379015.388564m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960249zKu NKu +9Kq Ku M Ku  RK} ?JK} ?vfvw,4ڡAm@YmU@m2D9m9>ymH ?`?\Ͽ?Ŀz?}?`Zp?ɨm@mfZ;m"C nManaging dock network, ignoring radio surface power offyޥ,Bޥ#II I2٢j O=9  G٣-UGy< > Nusing accuracyPremultiplier from config 59s? 5Y! i)@jE;;Wã59 =@EyEZjFNOT Ignoring new targets: 152.40 m.Bj;Jj; ProNav: ac range: 152.399994 m, nav range: 83.824272 m, bearing: 69.588373 deg, approach rate: -0.019081 m/s, LOS rate: 0.362815 deg/s, cmd heading: 350.656858 deg, new cmd heading: 351.104682 deg. 2jx<HeadingCmd: 6.127933 target range: 152.399994 and range: 152.40 m. j@jjjihhh h)f1f1f1rf1bf=H @ɛGB:< >I ɚiIZ,=Iii~Z)@)*F%?2F!:F!BF%4JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212087G yG B O- >0|w,ݵAynBn#I I}Mb@Mb@Mb@yyy y)yY}n?S㥻y}?}/ݽ}L}A }r@)}@I}@yy}@II1٢ L=9Q > G٣y > Nusing accuracyPremultiplier from config59[s?5Y(! iI?:Ӿ@lEV;N;ţ5ʒB @vEZj FNOT Ignoring new targets: 152.40 m.Bj Q;Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.464844Jj Q;M ProNav: ac range: 152.399994 m, nav range: 83.838066 m, bearing: 69.749588 deg, approach rate: 0.036109 m/s, LOS rate: 0.421954 deg/s, cmd heading: 351.104672 deg, new cmd heading: 351.588226 deg. 2jUʐI ɚiI+=I@Viiu))]@)*F]?2FY:FYBF]Z0JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:30:14.2433 LVL= 13936, 25969, 20418, 25523, AGC= 57, IDX= 441,-0.06,-1.443,-2.457, 2.788,-2.568, PHS= 1.212, 0.158,-0.930, RAW= 59.5, -4.8, CAL= 65.2, -10.0, ROT= 84.8, 10.0  Ygot valid direction response: 23:30:14.2433 LVL= 13936, 25969, 20418, 25523, AGC= 57, IDX= 441,-0.06,-1.443,-2.457, 2.788,-2.568, PHS= 1.212, 0.158,-0.930, RAW= 59.5, -4.8, CAL= 65.2, -10.0, ROT= 84.8, 10.0  PDAT read: Bearing 84.8, 10.0 (Local)  ~Local bearing/azimuth received: Bearing 84.8, 10.0 (Local) % DAT read: Range 10 to 50 : 152.1 m (Round-trip 202.8 ms) speed -0.1 m/s - ,DAT read: user:3271> - BDAT read: Tx time:23:30:15.3364 5 $Ping request sent.5 {n ? ?) ¸2I q?i ¸2> Jcoa? 뿯ind) 6I V=i ? s  :publishing transmit ping time1  Fpublishing direction and range info 9 *K?UhVw?< ?y  ) I i ) I i Jcoa? 뿯ind) I i Ge 1|G9 BI Oe >w,.AHE>IA IEm$IIEBIE =&IA.IE?D6IEQ<:IEv Fy B #Ii=I=II0٢uW }==9yQ }> G٣y > Nusing accuracyPremultiplier from config59rs?5Y! im@nES;;ƣ5 j@kуy?kL| k k4 A:kCBkCZkģ?"L—"@g~gU@lE^@*K?UhVw?< ?Jk?Rks*Țf2@qm_UN@q>a@\u?]$?ʌ1X?"kbuB*k0Ak_I! % ɚ)i)I-*=I5T i1zK5nLK59K1K5N K5Sm? iU5)u0@)qEqAE*F ?2F :FBF]0JFG-qA G)G ڋGBO >Ңw,j(A:@Y: @BWill construct direction to contact in vehicle frame from tetrahedron phase data.:B5&9:?>y:H5? ?@$޴tͿ?`Gſ2Ť?`?@1k?ɨ:@:;:$CJdJfzJdJdJdJf9JdJdJf֊;arJf׊;arJfP:avJfQ:avy]B]#III(٢%d %Q=9%)) -G٣-.UGyU5= U> eNusing accuracyPremultiplier from configam59es?u5YeH! ieʾ@epEeI 1ZɚiI*=I(ii|̍)@) $?I*F]?2FY:FYBFe_0JFa=Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy GQ Ba O} >w,BAJV@YJ@J9J_B>yJH`E(?@Z?T@ ̿c? ƿ@?r4?f?ɨJV@J ;J"CyRBR#I5Mb@Mb@Mb@111 1)1Y5\(\?sh|?ſy5?5)15;A 5\@)1I11y5@IMIM٢]핼 ]U=9]ٮ;Q e>aa eG٣aym n< m> uNusing accuracyPremultiplier from configq}59urs?}5Yu%! iu!?:@urEuJ;uI;uYʣ5 ]@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 152.10 m.Bje<JjeII MAɚIiIIU&)=IUiQi]k)]g=@eWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.*J"Jp=)y*FU?2FQ:FYBF]o0JFYHIC I;$IIBI =&I.I6In<:I FBIƪCJIƪCRIZI =bI =jIƌ5Gq I Gq By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248017zK INK 9K K O K .=ZWRK ?JK ? Ėw,a\A2@Y29@2Z_92\C>y2H0?`?+@9̿ 9?ƿʢ?@K?re?ɨ2@2;2$CyV BV#IIbIbԳ٢f&= fU=9j;Q j>hl nG٣ly=2< E> }Nusing accuracyPremultiplier from configQ59U0s?5YU! iU@UtEU I9 =仙ɚ9i9I=p(=IE`#iAiMU)MM@)I*F?2F:FBF_5JFGмGGGBO>>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501035J}JJJJ[j:JJJJ;J;JJw,=vA &$?I$:@Y:@: 9:y:H;?`K=?@%˿?d ǿ bt?D?mc?ɨ:@:=;8yf Bf#I]Mb@Mb@Mb@YYY Y)YY]{Gz?NbX9ȿJ +y]#?]E]H]A ]/@)YI]@Yy]@IuIu1٢Q ?=9g;Q > G٣/UGyU< > Nusing accuracyPremultiplier from config59t?5Y! i#+?:@vE;o;ͣ5  @pEWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752368ZjFNOT Ignoring new targets: 152.10 m.Bj<Jj< ProNav: ac range: 152.100006 m, nav range: 82.382095 m, bearing: 70.213958 deg, approach rate: 0.096298 m/s, LOS rate: 0.464195 deg/s, cmd heading: 353.673452 deg, new cmd heading: 354.242740 deg. 2jI<HeadingCmd: 6.182702 target range: 152.100006 and range: 152.10 m. j@jjj!i!h!h!h!h-ۃBf)f)f)rf)bf5pf?ɛ5B̤ < >I זɚiI](=I ͽi i ^) @)1*F2F:FBFQ5JFG Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003952G J J AAB O >֣w,mAHb{>I` Ib$IIbmBI`&I`.I`6Ib<:IbH FyMBM#II] I]2٢m< mL=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config59$t?5Y! iW@xE@::ϣ5 @ZjFNOT Ignoring new targets: 152.10 m.Bj<Jj< ProNav: ac range: 152.100006 m, nav range: 82.421127 m, bearing: 70.397844 deg, approach rate: 0.098042 m/s, LOS rate: 0.461672 deg/s, cmd heading: 354.242734 deg, new cmd heading: 354.794111 deg. 2jk<HeadingCmd: 6.192326 target range: 152.100006 and range: 152.10 m. j'@jjjihhhhfffrfbf@Pc@ɛ-2B-Q< 15>I1 5f#ɚ1i9I=~'=IEiAiE)M'@)I =$?IEi*F?2F:FBFX0JFGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255354GaBiO9>zKNK]9KKP KBK:KpAw,{A&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507931JRJRJR1JPJRp:JR9JR3JPJR;JR;JRg;JRh;y"B#III٢== =>=9AQ E>AA MG٣IyI M> ]Nusing accuracyPremultiplier from configQ]59U9t?e5YUm! iUaae@UzEU:U:Uѣ5m˒B m@mEZj1EFNOT Ignoring new targets: 152.10 m.Bju;Jju; ProNav: ac range: 152.100006 m, nav range: 82.464073 m, bearing: 70.595514 deg, approach rate: 0.088899 m/s, LOS rate: 0.408967 deg/s, cmd heading: 354.794122 deg, new cmd heading: 355.386801 deg. 2jU<HeadingCmd: 6.202670 target range: 152.100006 and range: 152.10 m. jE|@jjjihhhh!f!f!f)rf)bf-s@ !I!ɛ-.B-ȅ@< 15>I1 5Zɚ1i9I]B&=IeX夽iaieRǽ)eE|@)iEqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759209*F?2F:FBFH5JFG ԣG ?G 5?G B1 O >w,kƢA@Y@Z9M>yH^?:?@M˰ɿa?[ȿ[?/?@RX?ɨ@a;%Cy6B#I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:23:30:17.9438 =TRx dataTimestamp_ set to:1736379019.173102Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016638}Mb@Mb@Mb@yyy y)yY}w/?nʿZd;Oy}&?}V}j<}hA }@)}@I}Z@yy}f@II ٢Q= 1=9` G٣0UGyX2= > Nusing accuracyPremultiplier from config-59Qt?-5Y[! iѢ5/?5:55@}E;];ӣ59 =M@EjE}B*** querying acoustic contact ***jyjyZjamFNOT Ignoring new targets: 152.10 m.Bju <Jju < ProNav: ac range: 152.100006 m, nav range: 82.511856 m, bearing: 70.814275 deg, approach rate: 0.105900 m/s, LOS rate: 0.484553 deg/s, cmd heading: 355.386791 deg, new cmd heading: 356.042665 deg. 2jE<HeadingCmd: 6.214117 target range: 152.100006 and range: 152.10 m. j @jjjihhhhBfffrfbf`@Hx>IC I$IIhBI =&I.I>D6IC<:Ie Fɛ*B4< ?I ;ɚiIU&=Itii´) @)*F?2F:FBF4JF $?IG5Ga B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268050 ! O= > M YI yM BzK BJK 9K K Q K w,8AV@YV@Vؼ9VNQ>yVHj?@?@S #ȿE?ȿ`?? /R?ɨV@V\;V#CyjPBj#IIr Ir2٢z> zn=9zp;Q z?|| ~G٣|y*< ?  Nusing accuracyPremultiplier from config 59 bt?5Y +" i @ E  ; P ;  գ5! %@!ZjIMFNOT Ignoring new targets: 152.10 m.BjU<JjU< ProNav: ac range: 152.100006 m, nav range: 82.545609 m, bearing: 70.973123 deg, approach rate: 0.112049 m/s, LOS rate: 0.527117 deg/s, cmd heading: 356.042653 deg, new cmd heading: 356.518990 deg. 2j<HeadingCmd: 6.222430 target range: 152.100006 and range: 152.10 m. j&@jj!j!i!h!h!h)h)f)f)f)rf1bf5@r @MWill construct direction to contact in vehicle frame from tetrahedron phase data.JiJm~Jm0JiJiJmf9Jmـ3JiJiJiJm:Jm:DAT read: 23:30:17.9438 LVL= 19632, 27425, 21714, 27987, AGC= 64, IDX= 428, 0.01, 1.411, 0.169,-0.674, 0.151, PHS= 1.348, 0.065,-0.829, RAW= 65.9, -6.2, CAL= 74.0, -12.7, ROT= 76.0, 12.7 Ygot valid direction response: 23:30:17.9438 LVL= 19632, 27425, 21714, 27987, AGC= 64, IDX= 428, 0.01, 1.411, 0.169,-0.674, 0.151, PHS= 1.348, 0.065,-0.829, RAW= 65.9, -6.2, CAL= 74.0, -12.7, ROT= 76.0, 12.7 PDAT read: Bearing 76.0, 12.7 (Local) ~Local bearing/azimuth received: Bearing 76.0, 12.7 (Local) DAT read: Range 10 to 50 : 152.4 m (Round-trip 203.2 ms) speed 0.0 m/s ,DAT read: user:3272> BDAT read: Tx time:23:30:19.0365 $Ping request sent.?"`?4?yUfCQULU!k UT)USmIU@iUD?U=UX9TU8?Ukݽ UMQ?)UbIUɩ?iUb>QQU{`*?g@/w$a)UqIU:=iUge?UQWQQ:publishing transmit ping time Fpublishing direction and range infoQ9U5>?"`?4?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU{`*?g@/w$a)QIQiQɛE'BE!T< AM?II MɚIiIIM#%=IUQxiQiU])U&@)YQQQ*F?2F:FBFZ0JF $?I G YĽG% qAG% qAG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:30:19.0357 O >8w,jAyUgBU$IeMb@Mb@Mb@aaa a)aYe~jt?MbXɿL7A`堿ye$?eJe+eA a)e@Iaaye\@II٢Ÿ= (=9Q > G٣y > Nusing accuracyPremultiplier from config59{t?5Y" i9q,?:@E<;j;0ף5) -J@-gEk0^y?khp k kTA:kfCBkaCZk3?"E&@>W~R@p`@5>?"`?4?Jkge?RkQW*9S 0@WE@0H(b@U-?Lϯ#??"k,B*klAkky?kN# 2kSCk;Y{?kkg k'JCkBky? addTargetRange:: Added new target pos. range: 152.399994 m, deltaT: 3.533202 s, deltaX: 0.299988 m, approachRate: 0.084905 m/s, rangeRepo size: 4 - Added new target pos. range: 152.399994 m, bearing: 69.612765 deg, lat: 36.904314 deg, lon: -122.120189 deg, deltaT: 3.533202 s, deltaX: 0.299988 m, approachRate: 0.084905 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 152.40 m.Bj5Jj1m ProNav: ac range: 152.399994 m, nav range: 70.265656 m, bearing: 72.728156 deg, approach rate: 0.000000 m/s, LOS rate: 0.527117 deg/s, cmd heading: 356.518990 deg, new cmd heading: 357.322172 deg. 2jiuHeadingCmd: 6.236448 target range: 152.399994 and range: 152.40 m. ju@jqjqjqiqhyhyhyh}CBfffrf c@bf?ɛ$B< r!?I 9ɚiIP$=I%"o?i!i%.aӽ)-@))*F?2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>jH bH <H v>I  I 5$II BI &I .I 6I <:I FŨw,xA6#u@Y6@6\˼96 m[>y6H??`ƿI?`kFʿ@x?5?@*B?ɨ6#u@6t;6&CyBBB=$I PIPIJIJV8٢bV@> bp=9b;Q f?dd fG٣f1UGyjJ= j? nNusing accuracyPremultiplier from configlr59nt?r5Yn" inatv辑v@nEn7:n:nأ5x z=@xZj%FNOT Ignoring new targets: 152.40 m.Bj%"<Jj%"< ProNav: ac range: 152.399994 m, nav range: 70.300346 m, bearing: 72.909233 deg, approach rate: 0.109023 m/s, LOS rate: 0.568788 deg/s, cmd heading: 357.322166 deg, new cmd heading: 357.865113 deg. 2j-<HeadingCmd: 6.245924 target range: 152.399994 and range: 152.40 m. j@jjjihhhhfffrfbf`)?ɛM"BWill construct direction to contact in vehicle frame from tetrahedron phase data. = 3?I ɚiII$=Ii!i%)%@)!zKKh9KKR K*F?2F:FBFb0JFG- 5G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.TH˨w,R/AF˼@YF2@FVɼ9FAi>yFHf?`M}?߮ Ŀ1?̿7*?`?`(?ɨF˼@FͲ;F%CyVBVX$II^I^k٢fr= fJ=9fB:Q f>hh jG٣hyn< n> rNusing accuracyPremultiplier from configpv59rbt?v5Yr " irtz⾑z@rEr:r:rkڣ5̒B -@5dEZjFNOT Ignoring new targets: 152.40 m.BjV <JjV <% ProNav: ac range: 152.399994 m, nav range: 70.339958 m, bearing: 73.128262 deg, approach rate: 0.087542 m/s, LOS rate: 0.483780 deg/s, cmd heading: 357.865111 deg, new cmd heading: 358.521797 deg. 2j-<]HeadingCmd: 6.257386 target range: 152.399994 and range: 152.40 m. je<@ $?Iijijjihhhhfffrfbf ?ɛB4: = ??I uɚiIg#=I-YӼi)i-Ž)-<@)1*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G .G ?G )?G B O >3Ҩw,y2H'?@x?@߭>ÿ?UY̿Θ?&?>&?ɨ2g@2έ;2&Cy>BB$IMb@Mb@Mb@ )Yjt?333333ÿy&1y ?`e~A @)@Iy@I%I%٢5 '> =C=9=Y:Q =>AA EG٣AyE< E>]Will construct direction to contact in vehicle frame from tetrahedron phase data. UNusing accuracyPremultiplier from configIe59Mt?e5YMi" iMeT%?m:mjm@MEMFk;Mi;J}J}JyJyJ}:J}[9JyJya@a@a@a@M?ܣ5q u@}aEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 152.40 m.Bj<Jj<5 ProNav: ac range: 152.399994 m, nav range: 70.362938 m, bearing: 73.347388 deg, approach rate: 0.056024 m/s, LOS rate: 0.534045 deg/s, cmd heading: 358.521793 deg, new cmd heading: 359.178927 deg. 2j5A<=HeadingCmd: 6.268855 target range: 152.399994 and range: 152.40 m. j=v@j9j9j9i9h9hAhAheBff f rf bf `?ɛ]B]!-= Y]R?Hmt>Ii Imz$IImBIm =&ImGD.Ii6ImZ<:Imr FI jɚiI"=ITjii˽)v@) $?I*F?2F:FBF0JFG GpA Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.zK= &(KK= 9K9 K= S K= G 2GY Ba O} >]بw,UcAJT@YJ"d@JD9J+tl>yJH`?s?`8v`¿?G̿]?rI? n$?ɨJT@J;J%CyRBR$IIr Ir<2٢zS@> zO=9~v1;Q ~>|| ~G٣2UGy< >  Nusing accuracyPremultiplier from config 59 t?5Y " i ˣ @ E  ; z ; ݣ5%˒B %Q@%cEZjIMFNOT Ignoring new targets: 152.40 m.BjU.&<JjU.& $?I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252951ިw,|A6ͧ@Y6M@6+;96l>y6H?@eA?[QS 3?`^̿?O?y$?ɨ6ͧ@6T;6"CyBBB$I}Mb@Mb@Mb@yyy y)yY}\(\?KMb`?y}?}^};} A y)}@I}p@yy}G@II@٢> <=9,;Q > G٣y< > Nusing accuracyPremultiplier from config%59At?%5Y" iУ%?%:%Q-@E;;ߣ55̒B Ua@U`EZjFNOT Ignoring new targets: 152.40 m.Bj. <Jj. < ProNav: ac range: 152.399994 m, nav range: 70.382553 m, bearing: 73.772386 deg, approach rate: -0.001942 m/s, LOS rate: 0.486728 deg/s, cmd heading: 359.799667 deg, new cmd heading: 0.453716 deg. 2j<HeadingCmd: 0.007919 target range: 152.399994 and range: 152.40 m. j <jj j ihhhhBfffrfbf% !@ɛmBb`O= 隕w?I HRɚiIח =I 4JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504648JJJJJ}:J"9JJG ` ǽG pAG ZHi RHm @AHu s>Iu C Iu $IIu BIu  =&Iq .Iq 6Iu H<:Iu c FBI-ʨCJI-ʨCRI)ZI- =bI- =jI-05G B O >mw,7–A I>@Y>j @>79>|n>y>H@ ?p?`b ?̿?}?@!?ɨ>@>k_;>$Cyb"Bb$IIjIjV8٢~u> ~Z=9*;Q > G٣ y <  > Nusing accuracyPremultiplier from config%59t?%5Yf" i֣!-銾-@E0;:51 5@5]EZjY]FNOT Ignoring new targets: 152.40 m.Bje<JjeGMG}ɽzK}BHK} 9KyK}T K}"6731,*+.,('(((%$# GBO5-> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008713 w,A6d@Y6t@6C 96 p>y6H??>cͼf?FͿa?? ?ɨ6d@6d;6&CyR4BV%IInInm?٢vK= vK=9vJ;Q z>xx zG٣z3UGy < >  Nusing accuracyPremultiplier from config 59 u?5Y " i ܣx@ E : ; D5! %@!ZjyFNOT Ignoring new targets: 152.40 m.Bj <Jj d~w,uʣAyQB5%IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513866J}J}JyJyJ}]:J}9JyJy}Mb@Mb@Mb@yyy y)yY}"~? 1=9Q > G٣y > Nusing accuracyPremultiplier from config59u?5Y" i£?: @Ep;;F5͒B @ZEB*** querying acoustic contact ***jjZjquFNOT Ignoring new targets: 152.40 m.Bj}x<Jj}x< ProNav: ac range: 152.399994 m, nav range: 70.338562 m, bearing: 74.371699 deg, approach rate: -0.080786 m/s, LOS rate: 0.470248 deg/s, cmd heading: 1.608641 deg, new cmd heading: 2.251982 deg. 2j]<HeadingCmd: 0.039304 target range: 152.399994 and range: 152.40 m. j =jjjihhhhQBfffrfbf @H5r>I1 I5/%II5LBI1&I1.I16I5[<:I5o FɛB= ?I w%ɚiI:6= %$?I)I= =i9iE)E =)A*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 23:30:21.6429 LVL= 15696, 25441, 19442, 30611, AGC= 60, IDX= 436,-0.45,-2.747, 1.978, 1.559, 2.242, PHS= 1.382,-0.218,-0.687, RAW= 77.5, -5.1, CAL= 86.1, -12.0, ROT= 63.9, 12.0 U Ygot valid direction response: 23:30:21.6429 LVL= 15696, 25441, 19442, 30611, AGC= 60, IDX= 436,-0.45,-2.747, 1.978, 1.559, 2.242, PHS= 1.382,-0.218,-0.687, RAW= 77.5, -5.1, CAL= 86.1, -12.0, ROT= 63.9, 12.0 U PDAT read: Bearing 63.9, 12.0 (Local) ] ~Local bearing/azimuth received: Bearing 63.9, 12.0 (Local) e DAT read: Range 10 to 50 : 151.7 m (Round-trip 202.3 ms) speed 0.3 m/s m ,DAT read: user:3273> u BDAT read: Tx time:23:30:22.7365 u $Ping request sent.u    D1?K忉쪳⶿) )=I ET=i [Q? ?p   :publishing transmit ping timeq  Fpublishing direction and range info 9 SUޡ?C?df?y     ) I i      ) I i    D1?K忉쪳⶿) I i    zKe yMKa Ka Ke U Ke  G= cȽG B O- >w,$Ab@Yb9@b9b9s>ybH??/? aͿD_?@?@?ɨb@b'A;b$CyvcBvL%Ii=I=IEIE?1٢U= UR=9};Q }> G٣y= > Nusing accuracyPremultiplier from config59M0u?5Y" iȽ@E<;5  U@UWEkevBXv?keϘ ka keByݣA:keCBkeCZke2?"e@JK@ G@ Wb@eSUޡ?C?df?Jke[Q?Rke?p*es\I @<)g4'@6Sb@e"] ޗ?"=I5M=ii}|)5M=)EpAE*F}?2Fy:FyBFyJFG GrAG]Dyӽ YIYGiBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= A*Bw,AF=@YF@Fp9FyJp>yFHV?`{?i`5?̐Ϳޭ??L?ɨF=@F*;F&CyrqBr]%IuMb@Mb@Mb@qqq q)qYuq= ףp?Q?y&1?yu ?uu=u` G٣4UGyE< > Nusing accuracyPremultiplier from config59Bu?5Yj" i ?:{=@E=7;V5;5 @ZjFNOT Ignoring new targets: 151.70 m.Bj<Jj< ProNav: ac range: 151.699997 m, nav range: 64.618309 m, bearing: 77.602307 deg, approach rate: -0.150896 m/s, LOS rate: 0.524968 deg/s, cmd heading: 2.875138 deg, new cmd heading: 3.441435 deg. 2j#<HeadingCmd: 0.060064 target range: 151.699997 and range: 151.70 m. j v=jj!j!i!h!h!h)h-qBf)f)frfbf?ɛ Bͦ= T<ʙ?I :ɚiIu=I5 v=i1i5_)5 v=)9*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ@AJJJJJ:J59JJG ٽH9 I9  I= %II= BI=  =&I9 .I9 6I= k<:I= z FG B O > E $?IA /w,A)&= \n5tAzA %?Y%5tAy%$BU3w@YU@UX9Uxs>yUHw?@z?8ߛ7?`ο`ʐ?$?u?ɨU3w@U‰;U$CyeBem%IIuIuͳ٢= K=9 ;Q > G٣y<= > Nusing accuracyPremultiplier from config59cUu?5Y%" iZz?=@EI;:5 @TEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 151.70 m.Bj<Jj< ProNav: ac range: 151.699997 m, nav range: 64.561218 m, bearing: 77.791554 deg, approach rate: -0.134930 m/s, LOS rate: 0.447667 deg/s, cmd heading: 3.441435 deg, new cmd heading: 4.009659 deg. 2j<HeadingCmd: 0.069982 target range: 151.699997 and range: 151.70 m. jR=jjjihhh)h)f1f1f1rf1bf5 ?ɛBܜ= 隵?I 1WɚiI=zK8oLK9KKV KBK:KmAIR=ii)R=)*FU?2FQ:FYBF]0JFYG%VνGB!OM> Will construct direction to contact in vehicle frame from tetrahedron phase data.:T w,,3AFB@YF@F4ꍼ9F]u>yFHQ? ؑ??࠿@?O\ο` ?q??ɨFB@F>b;DyRBRq%IIfIf?٢W< J=9Q > I 1 =G٣9yM= m> Nusing accuracyPremultiplier from config59E>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2FA:FABFE'4JFA"GM>GM]>G] #G9 BI Oe >%:w,MA2Will construct direction to contact in vehicle frame from tetrahedron phase data.*J8"J:=>*m@Y>|@>+|9>Dw>y>H?+?`jCe?ܑο S?@?_?ɨ>*m@>n;>%CyJBJp%IMb@Mb@Mb@ )Ysh|??q= ףp?:v?y ?=<d A @)-@I@y@IIF٢ I=9f;Q > G٣5UGy= > Nusing accuracyPremultiplier from config59zu?5Y" i? ?:3>@E;o;5ΒB @QEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 151.70 m.Bj%o<Jj%o<] ProNav: ac range: 151.699997 m, nav range: 64.419701 m, bearing: 78.164939 deg, approach rate: -0.213192 m/s, LOS rate: 0.470135 deg/s, cmd heading: 4.615571 deg, new cmd heading: 5.130992 deg. 2j]SI I%IIBI =&I.I6IG<:I_ FhBfIfQfQrfQbfU?ɛBз= 隥?I gɚiI7=Iig=ii)ig=) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E-]<*F ?2F :F BF 0JF zKe BIKe h9Ka Ke W Ke 3AC?<971+-*&&'###"!!  G GiBO>w,]lA2@Y2g@2Xc92Xv>y2H!? M?Í@]q?ο.y?؆??ɨ2@2C;2$CJ%J%J%1J!J%=:J%9J%3J!J%ԥ;a5J%ե;a5J% ;a=J% ;a==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261628ym~Bmm%III٢   &=9K;Q > G٣y< > -Nusing accuracyPremultiplier from config!-59%u?-5Y%w" i%15A>5@%E%b;%:%=59 =@ENEZjFNOT Ignoring new targets: 151.70 m.Bj;Jj; ProNav: ac range: 151.699997 m, nav range: 64.315994 m, bearing: 78.387080 deg, approach rate: -0.206176 m/s, LOS rate: 0.442345 deg/s, cmd heading: 5.130992 deg, new cmd heading: 5.798460 deg. 2jɗ<HeadingCmd: 0.101202 target range: 151.699997 and range: 151.70 m. jC=j j j i h h hhfffrfbf@ɛBF= 隑I ąɚiI;=IC=ii命)C=)EjZX< $?I*Fu?2Fq:FyBF}O5JFGe,GABIOe> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515596u!w,A:DG@Y: <:f&P9:$t>y:H ?`^`-ӹ??>ο?0:??ɨ:DG@:[;8yFsBF`%IMb@Mb@Mb@ )Y/$?V-?Mb?y1?=< @)@IC@y=@I5I5٢Ee EY=9EP;Q E>II MG٣IyMd = U> ]Nusing accuracyPremultiplier from configYe59]u?m5Y]W" i]ms ?m:mW>m@]E]`+;]*;]5y }@yZjFNOT Ignoring new targets: 151.70 m.Bj<Jj<] ProNav: ac range: 151.699997 m, nav range: 64.234276 m, bearing: 78.553732 deg, approach rate: -0.223897 m/s, LOS rate: 0.457182 deg/s, cmd heading: 5.798460 deg, new cmd heading: 6.299038 deg. 2j]iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768498Ho>I I%IIцBI =&I.I6IN<:Ic FE $?I*F) 2F) :F) BF- `5JF) G5 pA G5 qA Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:23:30:25.3412 - TRx dataTimestamp_ set to:1736379026.493067- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021059G5 мG BO5>(w,6棤AzK ̨MK 9KK X K  ^d@Y^ <^59^o>y^H`?U xyw@?@?Ϳ7?? H!?ɨ^d@^;^"CyvfBvO%II~I~b٢ %f 2=9c;Q > G٣6UGys< %> -Nusing accuracyPremultiplier from config!559%+u?55Y%" i%m15c>5@%E% ;% ;%5EϒB E@EKEZjquFNOT Ignoring new targets: 151.70 m.Bj}I;Jj}I; ProNav: ac range: 151.699997 m, nav range: 64.132607 m, bearing: 78.756786 deg, approach rate: -0.221399 m/s, LOS rate: 0.442877 deg/s, cmd heading: 6.299038 deg, new cmd heading: 6.909141 deg. 2j<HeadingCmd: 0.120587 target range: 151.699997 and range: 151.70 m. jt=jjjihhhhfffrfbf`e; @ɛBۢ= ?I  ɚiI"=It=iir)t=)*F?2F:FBF_0JFGrGYByWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272539O@>J#K+3 K+.-K#K#"K#JJJ0JJ :JH9Jـ3JJS;JU;JQ;JR; I .w,?A>@Y><>p9>j>y>H`?`RItb1?`?%?@_Ϳ@P?T?!)?ɨ>@>;>#CyRJBR-%I)T T Will construct direction to contact in vehicle frame from tetrahedron phase data. i A%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527377Mb@Mb@Mb@ )Y#~j?)\(?{Gzt?y?G=ף;M A @)I@y@I I (٢=w =,=9=$h;Q =>AA EG٣AyM< M> UNusing accuracyPremultiplier from configQ]59Uu?]5YU_" iUK]?]:e l>e@UEU ;U5;U5 E@ZjFNOT Ignoring new targets: 151.70 m.Bj;Jj; ProNav: ac range: 151.699997 m, nav range: 64.028465 m, bearing: 78.962559 deg, approach rate: -0.216244 m/s, LOS rate: 0.427970 deg/s, cmd heading: 6.909141 deg, new cmd heading: 7.527438 deg. 2jے<HeadingCmd: 0.131379 target range: 151.699997 and range: 151.70 m. j>jj!j!i!h!h!hIhMOBfIfIfQrfQbfUG' @ɛB= 隥u?I BP|ɚiI=I>iiߍ)>)*F?2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:30:25.3412 LVL= 17328, 32753, 24114, 32755, AGC= 55, IDX= 418, 0.17, 1.460,-0.175,-0.314, 0.278, PHS= 1.271,-0.406,-0.595, RAW= 84.7, -3.1, CAL= 92.7, -9.2, ROT= 57.3, 9.2 Ygot valid direction response: 23:30:25.3412 LVL= 17328, 32753, 24114, 32755, AGC= 55, IDX= 418, 0.17, 1.460,-0.175,-0.314, 0.278, PHS= 1.271,-0.406,-0.595, RAW= 84.7, -3.1, CAL= 92.7, -9.2, ROT= 57.3, 9.2 PDAT read: Bearing 57.3, 9.2 (Local)  ~Local bearing/azimuth received: Bearing 57.3, 9.2 (Local)  DAT read: Range 10 to 50 : 150.3 m (Round-trip 200.5 ms) speed 0.2 m/s  ,DAT read: user:3274> % BDAT read: Tx time:23:30:26.4365 % $Ping request sent.% ڱڱ۵VT?숱t= n)۵I۵:[=i۵v?۵毿۱۱U :publishing transmit ping time! U Fpublishing direction and range infoر9صK'N__,ϩl?L՜Ab?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵VT?숱t= n)۱I۱i۱۱۱۱H n>I  I %II ƆBI &I .I =D6I u<:I ~ FBIuʧCJIuʧCRIqZIu =bIu =jIuT5G G B O >ޛ5w,wפA B$?IDVO@YV'=V9Vh>yVH?6c?`?%? o̿`|?E?,?ɨVO@Vm;V$Cy-B%IIIF2٢M- Mp=9U;Q U? G٣y< > Nusing accuracyPremultiplier from config59&u?5Y3" i3v>@Ep;;|5ВB 1@FEkʰt?kĥ" k kuϤA:kLCBkJCZk6Ȃ@"c{Y՞:=@=lb@K'N__,ϩl?L՜Ab?Jkv?Rk毿*|k -4UQy߭b@2R4To^YR?"kj*k\ckȮt?kD͐" 2kCYCkky?kN# kSCk4Bk? addTargetRange:: Added new target pos. range: 150.300003 m, deltaT: 3.787793 s, deltaX: -1.399994 m, approachRate: -0.369607 m/s, rangeRepo size: 4  Added new target pos. range: 150.300003 m, bearing: 234.164415 deg, lat: 36.904271 deg, lon: -122.120458 deg, deltaT: 3.787793 s, deltaX: -1.399994 m, approachRate: -0.369607 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 150.30 m.BjJj ProNav: ac range: 150.300003 m, nav range: 45.134472 m, bearing: 74.720767 deg, approach rate: 0.000000 m/s, LOS rate: 0.427970 deg/s, cmd heading: 7.527438 deg, new cmd heading: 7.986779 deg. 2jHeadingCmd: 0.139396 target range: 150.300003 and range: 150.30 m. j>jjjihhhhf!f!f!rf%b@bf- p?ɛB2= 隕f?I (ɚiI=I>ii܅)>) Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FIBFM_0JFIzK}>BKK}]9KyK}Y K}G WGa Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J 9J J J J J !;J !;e;w,_A2֖@Y2=K=2ԁɻ92Sf>y2H@?tt?`d?&?̿ 00y?ܗ? 0?ɨ2֖@25;0yRBR$IIZIZ(٢%z %M=9-;Q ->)1 5G٣57UGy5< 5> eNusing accuracyPremultiplier from configYe59]Vu?m5Y] " i]im>m@]E]:]:]55q $@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 150.30 m.Bj,<Jj,< ProNav: ac range: 150.300003 m, nav range: 45.030876 m, bearing: 74.953679 deg, approach rate: -0.268281 m/s, LOS rate: 0.604555 deg/s, cmd heading: 7.986779 deg, new cmd heading: 8.687084 deg. 2j%s<-HeadingCmd: 0.151618 target range: 150.300003 and range: 150.30 m. j-A>j)j1j1i1hQhQhYhYfYfYfarfabfe9?ɛB)= ?I r*:ɚiI/=IA>iiq)A>)  u$?Iy*F?2F:FBFa0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.Ge 憽GA BQ Om >{Bw,; AybBb$IUMb@Mb@Mb@QQQ Q)QYUuV?X9v? G٣y > Nusing accuracyPremultiplier from config59u?5Y " iq ?: .>@E; ;5 @CEZjFNOT Ignoring new targets: 150.30 m.Bj 6<Jj 6< ProNav: ac range: 150.300003 m, nav range: 44.938679 m, bearing: 75.209508 deg, approach rate: -0.228953 m/s, LOS rate: 0.636601 deg/s, cmd heading: 8.687084 deg, new cmd heading: 9.456099 deg. 2jr< HeadingCmd: 0.165040 target range: 150.300003 and range: 150.30 m. j C)>j j j i h hhhքBfffrfbf%@?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993630ɛBƓ= ?I u:ɚiI=IC)>iiť)C)>)jHQbHU4<H]i>I]C I]%II]BI] =&IY.IY6I]G<:I]X F*F2F:F BF 0JF  aIaG- G5 qAG1 G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246848O= >eHw,]%A:2@Y:=:9:^>y:H@?G`ݩ??+?$˿c?@???ɨ:2@:D4;8yFBF$IzKNk3IKN+9KLKNZ KNIVIV٢^  ^W=9b$`d fG٣dyfM= f> nNusing accuracyPremultiplier from confighn59jv?r5Yj " ijpr}A>r@jEj ;j ;j5t z@xZjFNOT Ignoring new targets: 150.30 m.Bj?1<Jj?1<- ProNav: ac range: 150.300003 m, nav range: 44.851143 m, bearing: 75.443723 deg, approach rate: -0.231212 m/s, LOS rate: 0.619847 deg/s, cmd heading: 9.456099 deg, new cmd heading: 10.160078 deg. 2j-<5HeadingCmd: 0.177327 target range: 150.300003 and range: 150.30 m. j5)5>j1j9j9i9hAhAhAhAfIfIfIrfIbfM?ɛ}B}= y}Sw?Iy ;ɚiI =I)5>iif•))5>)*F2F:FBFC5JFGqA GG@GBO#>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497963JJJJJ:J=9JJJR;JS;J*;J*; U $?IQ Ow,s>A6@Y6P=6n:96^`>y6HG?귳@uʒ?`D?3#?3˿ 8S?! G٣8UGy< > Nusing accuracyPremultiplier from config59"v?5YT " iF?:c=@Ek;;5  T@ @EZj1=FNOT Ignoring new targets: 150.30 m.Bj=u?<JjEu?<] ProNav: ac range: 150.300003 m, nav range: 44.772083 m, bearing: 75.738084 deg, approach rate: -0.179510 m/s, LOS rate: 0.669543 deg/s, cmd heading: 10.160078 deg, new cmd heading: 11.044645 deg. 2j]<]HeadingCmd: 0.192765 target range: 150.300003 and range: 150.30 m. jeLdE>jajajaiahahahihmyBfififrfbf=?ɛB= !%j?I! %E;ɚ!i!I%8 =IMLdE>iQiU8I)ULdE>)Q*F?2F:FBFD5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005708GM ԣGU ?GU ?G) B9 HM f>IM C IM H%IIM aBIM  =&II .IM 9 IA nUw,XA6@Y6ѱ=6;967a>y6H? G٣y< > Nusing accuracyPremultiplier from config59z5v?5Y " im =@E$;;S5ђB @=EZj  FNOT Ignoring new targets: 150.30 m.BjJj% ProNav: ac range: 150.300003 m, nav range: 44.699913 m, bearing: 76.004875 deg, approach rate: -0.180829 m/s, LOS rate: 0.669546 deg/s, cmd heading: 11.044645 deg, new cmd heading: 11.846256 deg. 2j)HeadingCmd: 0.206756 target range: 150.300003 and range: 150.30 m. jS>jjjihhhhfffrfbfC@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253904ɛBу= r_?I mt;ɚiID =I S>i i s-)S>)*F2F:FBF4JFzKK9KK[ KG Ga B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505765e\w,rAf8@Yf@=fT;9fIsb>yfH /? 3?-??b˿t|Q?O8?ɨf8@f0";f#CyvBvY$IIEIE ٢U׽ ]L=9];Q ]>aa eG٣aye< m> uNusing accuracyPremultiplier from configi}59mGv?}5YmH " imy}#=}@mEm;m;m 5 -@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 150.30 m.BjK?<JjK?< ProNav: ac range: 150.300003 m, nav range: 44.628120 m, bearing: 76.267942 deg, approach rate: -0.182273 m/s, LOS rate: 0.668967 deg/s, cmd heading: 11.846256 deg, new cmd heading: 12.636674 deg. 2j<HeadingCmd: 0.220552 target range: 150.300003 and range: 150.30 m. jEa>jjjihhhhfffrfbf@ɛ%B%= !%U?I! -f;ɚ)i)I-G\ =I5Ea>i1i5ʵ)5Ea>)9 $?I*F?2F:FBF_0JFGCGBAO]U>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757923bw,#AyvBv9$I}Mb@Mb@Mb@yyy y)yY}HzG?J +y&1y}= ?}Ƚ}`e};A }@)yI}@yy}=@IIb2٢: E=9Q > G٣9UGy > Nusing accuracyPremultiplier from config59Zv?5Y " i٢: ?:Pp@E;;5 @:EZj  FNOT Ignoring new targets: 150.30 m.BjE<JjE<% ProNav: ac range: 150.300003 m, nav range: 44.587986 m, bearing: 76.553658 deg, approach rate: -0.096969 m/s, LOS rate: 0.690936 deg/s, cmd heading: 12.636674 deg, new cmd heading: 13.494524 deg. 2j%<-HeadingCmd: 0.235524 target range: 150.300003 and range: 150.30 m. j-,-q>j)j)j)i1h1h1h9h=Bf9f9fArfAbfE@+@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:30:29.0404 eTRx dataTimestamp_ set to:1736379030.272778echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010997JJJJJ:J9JJa@a@a@a@ɛ B `Xl= )-H?I) 5.;ɚ1i1I5ȣ =I=,-q>i9i=)Ͻ)=,-q>)AZH RH AAHe>I I$IIBI =&I.I6Ii<:In F*F?2F :F BF ^0JF  $?IGM GM pAGM pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262625G1 BI O >%iw,]A6@Y6@=64A<96c>y6Hs? -?|? ?˿o&5?5?ɨ6@6^;6$Cy>sBB$$IiF>IF<IJIJ(٢R V\=9VUXX ZG٣XyZJ#= ^> fNusing accuracyPremultiplier from config`j59bkv?j5Yb " ibhjq3n@bEb:G;zKnBoIKn 9KlKn\ Knb;by5x z@xZjFNOT Ignoring new targets: 150.30 m.Bj_:<Jj_:<% ProNav: ac range: 150.300003 m, nav range: 44.550022 m, bearing: 76.809294 deg, approach rate: -0.096709 m/s, LOS rate: 0.651759 deg/s, cmd heading: 13.494524 deg, new cmd heading: 14.262038 deg. 2j-<5HeadingCmd: 0.248920 target range: 150.300003 and range: 150.30 m. jU~>jYjYjYiYhahahahifififrfbf{ @ɛBc=  <隵z@?I ;ɚiIj =I~>iiȽ)~>)EEmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:30:29.0404 LVL= 14544, 28625, 20466, 29379, AGC= 61, IDX= 425, 0.29,-0.096,-1.724,-1.668,-1.116, PHS= 1.108,-0.561,-0.555, RAW= 90.2, 0.1, CAL= 97.8, -4.1, ROT= 52.2, 4.1 Ygot valid direction response: 23:30:29.0404 LVL= 14544, 28625, 20466, 29379, AGC= 61, IDX= 425, 0.29,-0.096,-1.724,-1.668,-1.116, PHS= 1.108,-0.561,-0.555, RAW= 90.2, 0.1, CAL= 97.8, -4.1, ROT= 52.2, 4.1 PDAT read: Bearing 52.2, 4.1 (Local) ~Local bearing/azimuth received: Bearing 52.2, 4.1 (Local) DAT read: Range 10 to 50 : 149.7 m (Round-trip 199.7 ms) speed 0.0 m/s ,DAT read: user:3275> BDAT read: Tx time:23:30:30.1366 $Ping request sent.Im7޺im7@m_ii :publishing transmit ping time Fpublishing direction and range infoi9m_=VQ ɺ?J6?yiiii i)iIiiiii*F-?2F):F)BF-_0JF)ii i)iIiiiiim,il5?=K߿m[?)iIiiiiiiGu[ý IGBO>)pw,d;A~Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:30:30.1358 y aB $I=Mb@Mb@Mb@999 9)9Y=Fx?~jtÿi|?5y= ?==q9 =@)=@I=@9y9I}I}b1٢ /=9Q > G٣y > Nusing accuracyPremultiplier from config59́v?5Y " iv?: @E;e;5ҒB  @8Ek2ss?k# k kFA:kCBkCZkڇ@"yDG*i;2ְ?"kO*kkf:ns?k5# 2kVCkAZv?kv3 kVCk2Akpq? addTargetRange:: Added new target pos. range: 149.699997 m, deltaT: 3.528370 s, deltaX: -0.600006 m, approachRate: -0.170052 m/s, rangeRepo size: 4  Added new target pos. range: 149.699997 m, bearing: 243.245788 deg, lat: 36.904177 deg, lon: -122.120821 deg, deltaT: 3.528370 s, deltaX: -0.600006 m, approachRate: -0.170052 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 149.70 m.Bj-Jj)E ProNav: ac range: 149.699997 m, nav range: 11.164114 m, bearing: 92.408746 deg, approach rate: 0.000000 m/s, LOS rate: 0.651759 deg/s, cmd heading: 14.262038 deg, new cmd heading: 15.185895 deg. 2jamHeadingCmd: 0.265044 target range: 149.699997 and range: 149.70 m. jmԳ>jijijiiqhqhqhqh}Bfyfyfyrf}`fb@bf`?ɛB`a= 7?I W;ɚiIe =I%Գ>i!i%N)%Գ>))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ<:Ju9JJH a>I  I $II ؅BI &I .I 6I <:I } FG= JʽGE ?GE ? $?I G B O% >8vw,ڥA6q@Y6=6:a<96!be>y6H?߽@sǥ? %?@? ˿@ `#n?W2?ɨ6q@6;6"Cy>TBB#IIJIJ㔳٢R Ro=9V9HeadingCmd: 0.314976 target range: 149.699997 and range: 149.70 m. j}D>jjjihhhhfffrfbfp^?ɛ}B6oy= 隅*2?I b;ɚiI=I4>iidi)}D>) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-1JF)G_ҽGBOE>zKUBoHKQKQKU] KU Will construct direction to contact in vehicle frame from tetrahedron phase data.a|w,-Ay޽RB޽#I) II٢ 8=9Q > G٣:UGy > Nusing accuracyPremultiplier from config59v? 5Y- " i   @E;Q; 5 =$?I9 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 149.70 m.Bj>=Jj>=  ProNav: ac range: 149.699997 m, nav range: 11.243145 m, bearing: 94.617406 deg, approach rate: 0.100577 m/s, LOS rate: 2.668962 deg/s, cmd heading: 18.046775 deg, new cmd heading: 21.779867 deg. 2j =HeadingCmd: 0.380130 target range: 149.699997 and range: 149.70 m. jt>jjjihhh!h!f!f!f!rf)bf-4?ɛ]B]]= Y]1?Ia e>;ɚaiaIe_=Im>iiim4)mt>)q-Will 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.Ejb<Et>E>*F ?2F :F BF `0JF G oGBWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:J9J3Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.482439O >饄w,~A:@Y: r>:<9:y:H|?@nJ?@x??@ dͿ3 T ?@?ɨ:@:;:&CyBSBDHn^>InC In[$IInBIn =&Il.In;D6In<:In FBICJICRIZI =bI =jI< 6Mb@Mb@Mb@ )YK7A`?|?5^ʿT㥛 y ?RA @)@Ix@y@IIƳ٢: #=9;Q > G٣y%I7= M> UNusing accuracyPremultiplier from configQ]59Uhv?]5YU" iUe?e:e<e@UEUY;U;U& 5 qIq 2EZjFNOT Ignoring new targets: 149.70 m.BjK=JjK= ProNav: ac range: 149.699997 m, nav range: 11.322049 m, bearing: 96.025302 deg, approach rate: 0.160854 m/s, LOS rate: 2.849840 deg/s, cmd heading: 21.779868 deg, new cmd heading: 25.966233 deg. 2jz=HeadingCmd: 0.453196 target range: 149.699997 and range: 149.70 m. jW >jjjihh!hh؃Bfffrfbf_?ɛB hQ= d2?I9 E;<ɚAiAIEQ=IMW >iIiMv)MW >)QE]<*F?2F:FBF0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728765GGaBqO>zK K K K ^ K BK :K oAPˊw,,F-A2m@Y2`>2<92v>y2Hޜ?@y¿2? #?y?@Ϳ s??ɨ2m@2;2%CyRUBR#IIjIj٢v@< v`=9zQ;Q z>xx ~G٣~;UGy~< >  Nusing accuracyPremultiplier from config59|v?5Y" i3@Ë<Ȉ<5 @ZjFNOT Ignoring new targets: 149.70 m.Bj A=Jj A= ProNav: ac range: 149.699997 m, nav range: 11.380803 m, bearing: 97.021091 deg, approach rate: 0.160160 m/s, LOS rate: 2.700318 deg/s, cmd heading: 25.966233 deg, new cmd heading: 28.935367 deg. 2j=HeadingCmd: 0.505017 target range: 149.699997 and range: 149.70 m. jH?jjjihhhhfffrfbfo?ɛ%B-}= 1=3?I9 E <ɚAiAIE_=IUx$?iQiU )]H?)YEaEa*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979914 m$?Ii*Fy2Fy:FBF?1JFGdk"G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232115&w,)GA6gG@Y6(>61F<96*{>y6H`̎?,ÿn?`?R?@3οF? ?ɨ6gG@6Ȉ;6"CyN\BN$IiRa>IR<5Mb@Mb@Mb@111 1)1Y5x&?S˿y&1y57 ?5/]5`e5A 5z@)5@I11y53@IMIM2٢]P= ]C=9]^;Q e>aa mG٣iyu< u> }Nusing accuracyPremultiplier from configy59}7v?5Y}" i}Q?:?@}E}I;};}5! %W@%1EZjFNOT Ignoring new targets: 149.70 m.Bj 6=Jj 6= ProNav: ac range: 149.699997 m, nav range: 11.455657 m, bearing: 98.156317 deg, approach rate: 0.169866 m/s, LOS rate: 2.559169 deg/s, cmd heading: 28.935366 deg, new cmd heading: 32.314643 deg. 2j%=%HeadingCmd: 0.563997 target range: 149.699997 and range: 149.70 m. j%b?j)j)j1i1h1h1h1h=Bf9f9f9rf9bfE@@ɛBf= 隽O8?I <ɚiI=I ?ii)b?)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484112J J J 0J J ̝:J 9J ـ3J G]^.G]?G]>H[>I I;$IIBI&I.I6I<:I FGB!OEr> U$?IQbݗw,`AyrkBr$IIzIzb٢ =  P=9 Q > G٣y > -Nusing accuracyPremultiplier from config!-59%v?55Y%" i%115@%E%;%r;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.735944%E5Q Up@U.EZjFNOT Ignoring new targets: 149.70 m.Bj BF=Jj BF=] ProNav: ac range: 149.699997 m, nav range: 11.529793 m, bearing: 99.205837 deg, approach rate: 0.197177 m/s, LOS rate: 2.773278 deg/s, cmd heading: 32.314643 deg, new cmd heading: 35.439682 deg. 2j]=eHeadingCmd: 0.618539 target range: 149.699997 and range: 149.70 m. jeX?jajajiiihihihihqfffrfbf@ɛB1= 隥)@?I o <ɚiIW=I?ii)X?)zKEKE9KAKE_ KE*Fe?2Fa:FaBFe^0JFa Will construct direction to contact in vehicle frame from tetrahedron phase data.*J R="J a= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992002G -Gi B O > A II iw,wzA6)@Y6*E>6^<96G>y6Hf?Nƿ@1?`|?@^? п`R+̖??ɨ6)@6䆉;6'CyRtBR%$IIXIX٢b)= fO=9f[9Q f>hh jG٣hyjC= n> rNusing accuracyPremultiplier from configpv59r\w?v5Yr" irtv7 v@rEra:r@:r5| ~@|B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 149.70 m.Bj<=Jj<= ProNav: ac range: 149.699997 m, nav range: 11.601672 m, bearing: 100.258036 deg, approach rate: 0.181710 m/s, LOS rate: 2.643321 deg/s, cmd heading: 35.439683 deg, new cmd heading: 38.573418 deg. 2j =EHeadingCmd: 0.673233 target range: 149.699997 and range: 149.70 m. jMY,?jIjqjyiyhhhhfffrfbf% @MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:23:30:32.7400 UTRx dataTimestamp_ set to:1736379034.060897]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241191ɛB= 隝D?I `+<ɚiI=I$?ii)Y,?)*F92FA:FABFE]0JFAGn8GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493773w,VAJ<J>J<J<J<J> 9J<J<ZHLRHLHRW>IRC IPIPIR =&IP.IR:D6IRj<:IRe Fe@YeU>e<9e>yeH4L?@vȿm? ?1?`Vп @+,??ɨe@e2;e$CyޝBޝB$I $?I) %hCc~G E YAyMBuMb@Mb@Mb@qqq q)qYuZd;O?~jtȿktyu~ ?uDu 0u A u@)u-@Iu@qyup@II٢= =9u Q > G٣ Nusing accuracyPremultiplier from config59!w?5Y" i_?:ѽ@ÔE%;n$;P5ӒB z@+EZjFNOT Ignoring new targets: 149.70 m.BjD=JjD= ProNav: ac range: 149.699997 m, nav range: 11.688691 m, bearing: 101.672462 deg, approach rate: 0.170472 m/s, LOS rate: 2.749978 deg/s, cmd heading: 38.573418 deg, new cmd heading: 42.777120 deg. 2j=-HeadingCmd: 0.746602 target range: 149.699997 and range: 149.70 m. j-H!??j)j)j)i)h1h1h1h5HBf9f9f9rfAbfE @ɛmBmх= imP?Ii umF7<ɚqiqIu%=I}!q4?ii)H!??)]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:30:32.7400 LVL= 19232, 32753, 26098, 32755, AGC= 63, IDX= 437, 0.30, 1.794, 0.158, 0.421, 0.921, PHS= 0.962,-0.716,-0.503, RAW= 96.7, 3.3, CAL= 106.1, 1.3, ROT= 43.9, -1.3 Ygot valid direction response: 23:30:32.7400 LVL= 19232, 32753, 26098, 32755, AGC= 63, IDX= 437, 0.30, 1.794, 0.158, 0.421, 0.921, PHS= 0.962,-0.716,-0.503, RAW= 96.7, 3.3, CAL= 106.1, 1.3, ROT= 43.9, -1.3 PDAT read: Bearing 43.9, -1.3 (Local) ~Local bearing/azimuth received: Bearing 43.9, -1.3 (Local) DAT read: Range 10 to 50 : 149.4 m (Round-trip 199.3 ms) speed 0.3 m/s :DAT read: user:32time3.8366 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.157952,-0.005731,0.987430]Fpublishing direction and range infoY9]O7ĿT yw, ?y]fCY] K] ]e)]I]?i]Ev?]K7]]?]k= ]?)]޹W?2aTGٿ۪sZ?)]AоI]ji]F]޾YYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_0JFG"jGqAGqAG B O >zK BoIK +9K K ` K #F:|$<MX]`[^ZK@(s]A,w,A2;Y2i>2<92k>y2H +?˿0???%п{^İ?@$?ɨ2;2=;0y>BBf$IIJIJ(٢f+T> f=9f[Q f ?hh jG٣hynъ=  ? 5Nusing accuracyPremultiplier from config)]59-3/w?e5Y-" i-æaee@-ŔE-q;-;-5i m@qkޢs?kz:& k k[$A:kfCBkcCZk{B@"[A7Uyf뿰@5pb@O7ĿT yw, ?JkFRk޾*%ExFBzAa@h$տ:x_ӿ^h?"k4*k-k뫜s?khM& 2kPCkȮt?kD͐" kkTAkll@= addTargetRange:: Added new target pos. range: 149.399994 m, deltaT: 3.788030 s, deltaX: -0.300003 m, approachRate: -0.079198 m/s, rangeRepo size: 4 M Added new target pos. range: 149.399994 m, bearing: 256.505495 deg, lat: 36.904132 deg, lon: -122.121003 deg, deltaT: 3.788030 s, deltaX: -0.300003 m, approachRate: -0.079198 m/s, posRepo size: 4 ZjIuFNOT Ignoring new targets: 149.40 m.BjuJjqWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:30:33.8358 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997277 ProNav: ac range: 149.399994 m, nav range: 8.958100 m, bearing: 211.965082 deg, approach rate: 0.000000 m/s, LOS rate: 2.749978 deg/s, cmd heading: 42.777120 deg, new cmd heading: 45.284685 deg. 2j-HeadingCmd: 0.790367 target range: 149.399994 and range: 149.40 m. j-{UJ?j1j1j1i1h1h1h9h9f9f9fArfM̬b@bfm? $?Iɛ9}= 隍`?I B<ɚiIs=II?ii){UJ?)*Fu?2Fq:FqBFyJFyGU:G1 BY O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.248006w,nȦA66L<96ʓ>y6H?Ϳ]=???ѿW)U??ɨ6<6W;6%Cy^B^z$IMb@Mb@Mb@ )YˡE?/$ÿMby?d A z@)C@I@y@I-I-٢e!= e3=9mlQ m>ii G٣yH= > Nusing accuracyPremultiplier from config59Dw?5Y" i ?::@ǔE;;5 @(EZj)eFNOT Ignoring new targets: 149.40 m.BjeJje ProNav: ac range: 149.399994 m, nav range: 9.168149 m, bearing: 211.144413 deg, approach rate: 0.473103 m/s, LOS rate: -1.806023 deg/s, cmd heading: 45.284684 deg, new cmd heading: 42.880575 deg. 2jHeadingCmd: 0.748407 target range: 149.399994 and range: 149.40 m. j??jjjihhhhBfffrfbfP%?ɛEBMa8= IMEh?II MnM<ɚQiQIU=IU:W?iYiY)]??)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.500820*F=?2F9:F9BF=0JF9HP>IC Ia$IIBI =&I.I9D6I|<:Ik F IG 3GY Ba O >r+w,(DA6P=Y6>6sG<96䞜>y6H?`&&п`j?+?Nm?^ҿ@T`E??ɨ6P=63T;4ynȅBn$IIvIv٢~ө= d=9,%Q >    G٣ =UGy w= > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.751962559OTw?=5Y" iM9E<E@ȔEg;;5I M@M%EZjquFNOT Ignoring new targets: 149.40 m.Bj}Jj}= ProNav: ac range: 149.399994 m, nav range: 9.336226 m, bearing: 210.550704 deg, approach rate: 0.483813 m/s, LOS rate: -1.678201 deg/s, cmd heading: 42.880576 deg, new cmd heading: 41.132088 deg. 2jHeadingCmd: 0.717890 target range: 149.399994 and range: 149.40 m. j7?jjjihhhhfffrfbfg?ɛ= W<p?I W<ɚiIg=I_?ii)7?)*Fu?2Fq:FqBFu25JFqG GoAzKHOKh9KKa K,zyxrlid`\RNLGEA?;<84530-,*+)&'&$!!GG?G>GiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.003866J J J J J <:J J J J ;a J ;a J O>;a J P>;a% $?I Uw,A6K=Y6#>6% <96Pr>y6H ?ཞѿP?`?6?ҿDT?@f?ɨ6K=6;6$CyNBR$IIZIZ%٢b(> bN=9bQ b>dd fG٣dyj= j> nNusing accuracyPremultiplier from configlr59nfw?r5Yn" inpv?=v@nʔEn;n;n5x z@xB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 149.40 m.Bj̼Jj̼ ProNav: ac range: 149.399994 m, nav range: 9.528399 m, bearing: 209.941389 deg, approach rate: 0.461478 m/s, LOS rate: -1.433653 deg/s, cmd heading: 41.132089 deg, new cmd heading: 39.341629 deg. 2juHeadingCmd: 0.686641 target range: 149.399994 and range: 149.40 m. j/?jjj!i!h!h!h)h)f)f)f1rfybf`nL?MWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.261279ɛmBm)= im?Ii ug<ɚqiqIu=I}.se?iyiy)}/?)*FY2FY:FaBFeP5JFaG :GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.512683G>ũw,AjH<bH<HQ>I I$II҅BI =&I.I6I<:Is Fz=Yz>zY;9z36>yzH Z?ӿ@mS?A? ?]ӿ"w`?@N?ɨz=zs;xy B $I AIAMb@Mb@Mb@ )Yx&?X9v~jty7 ?}DA 7@)p@I@y@II<٢ > :=9M*Q M>QY ]G٣Yy]c= ]> mNusing accuracyPremultiplier from configam59ezw?m5Ye" ieu* ?u:uJa>u@e̔Eeg;ea>;e5ԒB @"EZjFNOT Ignoring new targets: 149.40 m.BjpJjp ProNav: ac range: 149.399994 m, nav range: 9.762630 m, bearing: 209.512784 deg, approach rate: 0.542162 m/s, LOS rate: -0.968258 deg/s, cmd heading: 39.341630 deg, new cmd heading: 38.086879 deg. 2j &HeadingCmd: 0.664741 target range: 149.399994 and range: 149.40 m. j,*?jjjihhhh Bfffrfbf`J?ɛ= "?I %ft<ɚ!i!I%h=I-"e?i)i))-,*?)1*F?2F:FBFV0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.764840GG B O >zK NK 9K K b K  g˩w,/A2n>Y2>2M;92>y2H`A?Կ@`h??k?ӿ i ?=?ɨ2n>2-C;2"Cy:#B:$IIFIF̍٢J> Ja=9NQ N?PP RG٣R>UGyV~= V? ZNusing accuracyPremultiplier from configTZ59Vw?^5YV" iVǧ\^}>b@V͔EVC ;V ;VR 5d f@dZjtzFNOT Ignoring new targets: 149.40 m.BjzfJj~f ProNav: ac range: 149.399994 m, nav range: 9.943443 m, bearing: 209.227901 deg, approach rate: 0.521312 m/s, LOS rate: -0.806424 deg/s, cmd heading: 38.086880 deg, new cmd heading: 37.247835 deg. 2j\ HeadingCmd: 0.650097 target range: 149.399994 and range: 149.40 m. jl&?jjjihhhhfffrfbf U@ɛQu`= q}?Iy }<ɚyiyI}Z2GE> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.272484G G5 pAG1 G B O >#ҩw,WKAyz>B~%IMb@Mb@Mb@ )Yv/?Mby&1|?yx ?`;A d@)@Ip@yf@IIV8٢r= /=9Q > G٣y > Nusing accuracyPremultiplier from config59w?5Y" iŧ ?:>@ϔE;^;\"5ՒB i@EZjFNOT Ignoring new targets: 149.40 m.BjJj- ProNav: ac range: 149.399994 m, nav range: 10.189982 m, bearing: 208.977463 deg, approach rate: 0.527706 m/s, LOS rate: -0.523082 deg/s, cmd heading: 37.247836 deg, new cmd heading: 36.514740 deg. 2j-~5HeadingCmd: 0.637302 target range: 149.399994 and range: 149.40 m. j5A&#?j1j9j9i9h9h9hAhEBfAfAfIrfIbfM @ɛB*= ?I ډ<ɚiIImC Im$IImBIi&Ii.Ii6ImW<:ImL FBIŢCJIŢCRIŔCZI =bI =jIN26*F?2F:FBF\0JF U$?IYGQ G1 B9 OU >uةw,.eA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>BDAT read: Rx Time:23:30:36.4379 BTRx dataTimestamp_ set to:1736379037.596682Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.776968N7<>YNv>N`(9N,>yNHh?׿@"!?`:? f?+2ӿ e? ?ZB?ɨN7<>N͈;N$CyVSBV7%II^I^T٢f= fZ=9j^yQ n>ll nG٣lyr> r> vNusing accuracyPremultiplier from configtz59vw?~5Yv " iv|~>~@vєEv;v;v#5 %@ Zj15FNOT Ignoring new targets: 149.40 m.Bj=^ŻJj=^ŻM ProNav: ac range: 149.399994 m, nav range: 10.389898 m, bearing: 208.845806 deg, approach rate: 0.534312 m/s, LOS rate: -0.345107 deg/s, cmd heading: 36.514741 deg, new cmd heading: 36.127376 deg. 2jMl]HeadingCmd: 0.630542 target range: 149.399994 and range: 149.40 m. j].k!?jYjYjYiYhahahahafififirfqbfu``@ɛi= ,;隥 ?I S<ɚiI`ߩw,~A6X>Y6O>696H>y6Ht?@ٿ`?@i?@?ҿ t?n`? U?ɨ6X>6y;4yNfBRO%I Va=Va=IZIZ٢f= fK=9fQ f>hh jG٣j?UGyn= n> eNusing accuracyPremultiplier from configam59ew?m5Ye\ " iequ>u@eӔEe:e7:e%5y }@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 149.40 m.BjJj ProNav: ac range: 149.399994 m, nav range: 10.613493 m, bearing: 208.737523 deg, approach rate: 0.534678 m/s, LOS rate: -0.253478 deg/s, cmd heading: 36.127377 deg, new cmd heading: 35.809378 deg. 2j-HeadingCmd: 0.624992 target range: 149.399994 and range: 149.40 m. jr?j j j ihhh)h)f9fAfIrfQbf] @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.284368ɛy= 隵ٟ?I ;<ɚiIҠG >E Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHa RHa Hm I>Ii  Im B%IIm \BIm ! =&Ii .Ii 6Im 9<:Im 3 FG B O > DAT read: 23:30:36.4379 LVL= 24432, 32753, 32754, 32755, AGC= 62, IDX= 416,-0.05, 2.700, 1.142, 1.702, 2.030, PHS= 0.759,-0.840,-0.330, RAW= 108.2, 5.9, CAL= 118.9, 3.4, ROT= 31.1, -3.4  Ygot valid direction response: 23:30:36.4379 LVL= 24432, 32753, 32754, 32755, AGC= 62, IDX= 416,-0.05, 2.700, 1.142, 1.702, 2.030, PHS= 0.759,-0.840,-0.330, RAW= 108.2, 5.9, CAL= 118.9, 3.4, ROT= 31.1, -3.4  PDAT read: Bearing 31.1, -3.4 (Local)  ~Local bearing/azimuth received: Bearing 31.1, -3.4 (Local)  DAT read: Range 10 to 50 : 147.9 m (Round-trip 197.2 ms) speed 0.8 m/s E $?IA w,K̘AV,DAT read: user:3277> ZBDAT read: Tx time:23:30:37.5366 ^$Ping request sent.^iuMB?u= Wuu?uB= u@)us=Iu ?iusqquQ"(?B%dʿG88(?)u SIuiѽiuuE䡿qqm:publishing transmit ping timeXmFpublishing direction and range infoq9u\K i̿9 ʿwy[4h?yqqqq q)qIqiq7Bv>Y*>+ػ9)>yH0?+ۿ?z?2?TҿT{?@?6f?ɨ7Bv>&;騅%Cqqqq q)qIqiqqquQ"(?B%dʿG88(?)qIqiqqqqyޕwBd%IMb@Mb@Mb@ )Yi|?5?:v?V-?y?T=<XA @)@I@y@I}I} ٢g= $=9\Q > G٣yl= > Nusing accuracyPremultiplier from config59+w?5Y" iu?:.?@ՔE;;'5֒B @ Eku؟x?ku5* kq kurA:kuCBkuCZku@"uwIYi@SJ > a@u\K i̿9 ʿwy[4h?JkuRkuE䡿*u?0@[TމWg_@u!i?fQ!£N?"ku*ku @ku`Ax?kuEcC* 2ku?Ckqku5# kqku4Akux@ addTargetRange:: Added new target pos. range: 147.899994 m, deltaT: 3.787420 s, deltaX: -1.500000 m, approachRate: -0.396048 m/s, rangeRepo size: 4  Added new target pos. range: 147.899994 m, bearing: 271.571833 deg, lat: 36.904132 deg, lon: -122.121155 deg, deltaT: 3.787420 s, deltaX: -1.500000 m, approachRate: -0.396048 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 147.90 m.BjJjM ProNav: ac range: 147.899994 m, nav range: 21.025757 m, bearing: 242.999766 deg, approach rate: 0.000000 m/s, LOS rate: -0.253478 deg/s, cmd heading: 35.809377 deg, new cmd heading: 35.429349 deg. 2jIUHeadingCmd: 0.618359 target range: 147.899994 and range: 147.90 m. jUL?jQjQjQiQhQhYhYh]Bfffrf|b@bf@ɫ?ɛBN= *?I v|<ɚiIRzK} RLK} 9Ky K} d K} .<HQY[XVQGFEBB@<74.% w,PA2>Y2>2a92zמ>y2H>?ܿ??Y?`jyѿ`R??x?ɨ2>28;2$Cy>BB%IIJIJԳ٢ > %=95Q 5 ?ai mG٣iym֯= u?JJJJJ\:J9JJJj;Jk;J8;J8; Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59w?5Y" ik?%@֔Eq<n<d)5) -@)Zjq}FNOT Ignoring new targets: 147.90 m.Bj}t]Jjt] $?Ii ProNav: ac range: 147.899994 m, nav range: 21.187660 m, bearing: 242.738336 deg, approach rate: 0.483304 m/s, LOS rate: -0.774439 deg/s, cmd heading: 35.429349 deg, new cmd heading: 34.651102 deg. 2jHeadingCmd: 0.604776 target range: 147.899994 and range: 147.90 m. j?jjjihhhhfffrfbf]L?ɛN= 隥?I <ɚiIu Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,̧AyUB]%IMb@Mb@Mb@ )Yx?!rh?l?yK?l==\A @)Z@Ip@y@II٢-c = -.=9-Q 5>11 5G٣5@UGy= => ENusing accuracyPremultiplier from configAM59Ew?M5YE! iE&US?U:U&?U@EٔEEh;E-;Eb+5Y ] @]EZjFNOT Ignoring new targets: 147.90 m.BjIJjI ProNav: ac range: 147.899994 m, nav range: 21.434254 m, bearing: 242.425164 deg, approach rate: 0.561565 m/s, LOS rate: -0.704975 deg/s, cmd heading: 34.651100 deg, new cmd heading: 33.722480 deg. 2j񼝊HeadingCmd: 0.588568 target range: 147.899994 and range: 147.90 m. jj?jjjihhhhBfffrfbf?ɛ7= ?I ɴ<ɚiI)I I%IIBI&I.I6I<<:I4 F I]NGu5tAA 1Y5tAy`)BEmjb<Eua>Eu>*F 2F :F BF 0JF "G >G >G ¥'G G lAG B O >-&w,_A2Will construct direction to contact in vehicle frame from tetrahedron phase data.V1>YV ?V;!9VO>yVH &d?߿ 1????пc'?@4%?s?ɨV1>V>;TybBb%IInInT߳٢vi= vw=9vQ z?xx zG٣xy~n'> ~? Nusing accuracyPremultiplier from config 59w? 5YG! i4?@ڔE:a:,5 @ZjIMFNOT Ignoring new targets: 147.90 m.BjU(JjU(u ProNav: ac range: 147.899994 m, nav range: 21.617683 m, bearing: 242.228989 deg, approach rate: 0.556333 m/s, LOS rate: -0.589940 deg/s, cmd heading: 33.722481 deg, new cmd heading: 33.138970 deg. 2juoʼHeadingCmd: 0.578384 target range: 147.899994 and range: 147.90 m. j?jjjihhhhfffrfbf S?ɛ9E> AEV?IA Ms<ɚQiqIuw,:A:y>Y:8?:R9:4>y:H ?`ތ~? 1?@F?#Ͽ`Pj?%?`{?ɨ:y>:;:&CyFBF%IININ٢Vz< VN=9Z;Q Z>XX ZG٣\y^x= b> fNusing accuracyPremultiplier from config`f59brx?j5Yb! ibhjF;?j@bܔEb':b:b.5p r@pZj FNOT Ignoring new targets: 147.90 m.Bj [Jj [% ProNav: ac range: 147.899994 m, nav range: 21.840218 m, bearing: 242.013014 deg, approach rate: 0.561917 m/s, LOS rate: -0.539796 deg/s, cmd heading: 33.138971 deg, new cmd heading: 32.497677 deg. 2j%:5HeadingCmd: 0.567191 target range: 147.899994 and range: 147.90 m. j5v3?j1j1j1i1h1h9h9h9fAfAfArfAbfE?ɛmBuX= qu?Iq }9<ɚyiyIjH bH H G>I C I %II цBI " =&I .I 8D6I 1<:I * F Will construct direction to contact in vehicle frame from tetrahedron phase data.J) J- J- 1J) J) J- 9J- 3J) J) J) J- %7;J- %7; $?I O:w,A2y+>Y2Ñ?2iy92 >y2H?l;? ??? Һ̿@!o?`^'?3?ɨ2y+>2];2"CyNBN%I R=R=eMb@Mb@Mb@aaa a)aYe+?(\?ˡE?yev?ez>e'=eA ez@)eC@Iaaye@IuIuM٢= ==9h G٣AUGy_j= > Nusing accuracyPremultiplier from config59x?5Y! iq#?:L?@ޔE;;s05גB 2@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 147.90 m.BjJj  ProNav: ac range: 147.899994 m, nav range: 22.103077 m, bearing: 241.813368 deg, approach rate: 0.605855 m/s, LOS rate: -0.454685 deg/s, cmd heading: 32.497678 deg, new cmd heading: 31.905884 deg. 2j HeadingCmd: 0.556863 target range: 147.899994 and range: 147.90 m. j?jjjihhh!h%Bf!f!f!rf)bf-@ɛQU!= Y]Ͳ?IY ]%<ɚYiYI]LzK MK +9K K f K a w,3Ay||I I (9%Q %>!! %G٣)y- -> 5Nusing accuracyPremultiplier from config1=595-x?=5Y5Q! i51AAE@5E5P ;5 ;5&25I M>@MEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461891Zj%FNOT Ignoring new targets: 147.90 m.Bj%Jj% =$?I=iU ProNav: ac range: 147.899994 m, nav range: 22.338987 m, bearing: 241.638355 deg, approach rate: 0.575780 m/s, LOS rate: -0.422637 deg/s, cmd heading: 31.905883 deg, new cmd heading: 31.386406 deg. 2j]]HeadingCmd: 0.547796 target range: 147.899994 and range: 147.90 m. je^< ?jajajaiahahahihifififqrfbfX@ɛBU= QU?IQ ]<ɚYiYI] Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7171657Kw,MA6a>Y6#?6?;96y>y6H? Ӏ?@? ?Khȿ ۧvE? ?ɨ6a>6_;6%Cy^B^%I}Mb@Mb@Mb@yyy y)yY}Zd;?+?L7A`?y}?}>}+=} A }@)}@I}@yy}Q@II<٢%< <9l G٣y= > Nusing accuracyPremultiplier from config59;x?5Y! i"$?:]?@EI8;E;35ؒB @ EZj!%FNOT Ignoring new targets: 147.90 m.Bj-ŻJj-Ż= ProNav: ac range: 147.899994 m, nav range: 22.602037 m, bearing: 241.496798 deg, approach rate: 0.650014 m/s, LOS rate: -0.345726 deg/s, cmd heading: 31.386406 deg, new cmd heading: 30.966685 deg. 2j=DmEHeadingCmd: 0.540471 target range: 147.899994 and range: 147.90 m. jEH\ ?jAjAjAiAhAhIhQhUBfYfYfYrfYbf] @ɛ> 隍?I  <ɚ iIhI I%IIBI! =&I.I6I<:Iv F*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:30:40.1353 TRx dataTimestamp_ set to:1736379041.379459 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969615JJJ0JJ:J9Jـ3J )I)JQ;JR;JZ5;J[5;GI6GBOj>uw,gA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217870:@>Y:p(?:L@<9:fj>y:H[Q?Z?'?@ȵ?Fƿ ?i)?ɨ:@>:ċ;:#Cy^B^%IInInƲ٢~෼ ~V=9_    G٣ BUGy@B= > -Nusing accuracyPremultiplier from config!59%Hx?5Y%! i%ȥb?@%E%<%<%55 H@ZjIuFNOT Ignoring new targets: 147.90 m.BjudJjud ProNav: ac range: 147.899994 m, nav range: 22.843683 m, bearing: 241.382077 deg, approach rate: 0.589612 m/s, LOS rate: -0.276956 deg/s, cmd heading: 30.966684 deg, new cmd heading: 30.626167 deg. 2j>HeadingCmd: 0.534527 target range: 147.899994 and range: 147.90 m. j?jjjihhhhfffrfbf@v @ɛ=B=E= 9=;?I9 Ep<ɚAiAIE`G>zKm$JK9KKg KG=;<GYG]rABKQ:KQG1B9OUu>Will construct direction to contact in vehicle frame from tetrahedron phase data. %$?I!DAT read: 23:30:40.1353 LVL= 26416, 32753, 32754, 32755, AGC= 59, IDX= 419, 0.36,-0.406,-1.789,-1.080,-0.890, PHS= 0.572,-0.852,-0.193, RAW= 117.6, 7.7, CAL= 126.7, 4.0, ROT= 23.3, -4.0 Ygot valid direction response: 23:30:40.1353 LVL= 26416, 32753, 32754, 32755, AGC= 59, IDX= 419, 0.36,-0.406,-1.789,-1.080,-0.890, PHS= 0.572,-0.852,-0.193, RAW= 117.6, 7.7, CAL= 126.7, 4.0, ROT= 23.3, -4.0 PDAT read: Bearing 23.3, -4.0 (Local) ~Local bearing/azimuth received: Bearing 23.3, -4.0 (Local) DAT read: Range 10 to 50 : 145.9 m (Round-trip 194.6 ms) speed 0.4 m/s ,DAT read: user:3278> BDAT read: Tx time:23:30:41.2366 $Ping request sent. w @)5=I5>i5dJZ?ڥ(ȥ2F7/?)/IO iQ Ǎ:publishing transmit ping timeFpublishing direction and range info9&|GÆѿE hֿz$?y )Ii )IidJZ?ڥ(ȥ2F7/?)IiX\ w,QAy~B%IIIF٢p B=9Q > G٣y > Nusing accuracyPremultiplier from config594Wx?5Yb! i@E@;;75 ^@  Ek-a~?k-.M* ]Will construct direction to contact in vehicle frame from tetrahedron phase data.eAia}JDAT read: TxSync time:23:30:41.2358 k) k-\xA:k-CBk-CZk-@"-B-dC{1JkP`@-&|GÆѿE hֿz$?Jk-Q Rk-Ǎ*-)+$3@)̙UV\@-VJ?@`"p^?"k-l*k-Ak-~?k-* 2k-6Ck)k-hM& k-PCk-+BBk-g@ addTargetRange:: Added new target pos. range: 145.899994 m, deltaT: 3.528478 s, deltaX: -2.000000 m, approachRate: -0.566817 m/s, rangeRepo size: 4  Added new target pos. range: 145.899994 m, bearing: 282.803991 deg, lat: 36.904132 deg, lon: -122.121458 deg, deltaT: 3.528478 s, deltaX: -2.000000 m, approachRate: -0.566817 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 145.90 m.BjJj ProNav: ac range: 145.899994 m, nav range: 48.542557 m, bearing: 256.766581 deg, approach rate: 0.000000 m/s, LOS rate: -0.276956 deg/s, cmd heading: 30.626165 deg, new cmd heading: 30.226511 deg. 2j%HeadingCmd: 0.527552 target range: 145.899994 and range: 145.90 m. j- ?j)j)j)i)h)h)h1h1f1f1f9rf=I  I &II BI " =&I .I 6I L<:I ; FBImʠCJImʠCRImʓCZIm! =bIm! =jIm4  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J% J! J! J% :J% u9J! J! J% ;J% ;J% /;J% /;GU N<G B! O= >p&w,@Ay-B5%IMb@Mb@Mb@ )YMbX9?MbX9?~jt?y!?!><~A )@I@yz@II٢  7=9YQ ]>aa eG٣ayi m> uNusing accuracyPremultiplier from configq}59ufx?}5YuQ! iuh}&?}:}c?@uEu;u;u95 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 145.90 m.BjJj绝 ProNav: ac range: 145.899994 m, nav range: 48.809551 m, bearing: 256.615396 deg, approach rate: 0.720141 m/s, LOS rate: -0.405547 deg/s, cmd heading: 30.226510 deg, new cmd heading: 29.775447 deg. 2j)HeadingCmd: 0.519680 target range: 145.899994 and range: 145.90 m. j ?jjjihhhhHBfffrfbf.?ɛMBU> QU?IQ U"<ɚYiYI])e ?)i*F2F:FBF 5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G=GBOd>zK BoHK 9K K h K  -w,A>5>Y> .?>X=9>;>y>H^?@ٱ`q%?@-??ĩ#꡿vT?q?ɨ>5>>&;< `I`yfBfu%IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.980665IvIvʳ٢ Z=9%=Q %>)1 5G٣5CUGy=ߋ= E> ]Nusing accuracyPremultiplier from configQe59Usx?e5YUT! iUUamk?m@UEU:U:U;5q u8@uEZjFNOT Ignoring new targets: 145.90 m.Bj(Jj( ProNav: ac range: 145.899994 m, nav range: 49.027359 m, bearing: 256.502092 deg, approach rate: 0.591380 m/s, LOS rate: -0.306269 deg/s, cmd heading: 29.775448 deg, new cmd heading: 29.437052 deg. 2j0RHeadingCmd: 0.513774 target range: 145.899994 and range: 145.90 m. j?jjjihhhhfffrfbf?ɛ}B}= y隅?I XX=ɚiIE3)?)*F%?2F!:F)BF-Z0JF)G5qA G5mAG=GBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2359024w,ШA6<>Y6/?6L0=96)}.>y6H E?q? @?`1?q`? ?ɨ6<>6sɍ;6&CyRxBRe%IeMb@Mb@Mb@aaa a)aYe ףp= ?x&?Mb`yeQ?e7 >eeA e@)e-@IeK@aye=@I}I}۳٢ C=9 G٣yR; > Nusing accuracyPremultiplier from config59@x?5Y! iY"?:g?@EQ;;<5ْB @EZjFNOT Ignoring new targets: 145.90 m.BjJj  ProNav: ac range: 145.899994 m, nav range: 49.256817 m, bearing: 256.379601 deg, approach rate: 0.558392 m/s, LOS rate: -0.296697 deg/s, cmd heading: 29.437053 deg, new cmd heading: 29.071296 deg. 2j K%HeadingCmd: 0.507390 target range: 145.899994 and range: 145.90 m. j%M?j)j)j)i1hYhYhaheBfififqrfybf}@ m?ɛUBU= QUT?IY ]=ɚYiYI]i H}@>Iy I}%II}BIy&Iy.Iy6I}'<:I} F $?Ii)M?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485160JJJJJ<:J9JJJ;J;JZ5;J[5;*F?2F:FBF[0JFG}=G9BAO]v> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7371970:w,A^>Y^m/?^QT=9^@>y^HI?<`? E? ?c(b??ɨ^>^;^"Cyj[BjB%IIrIr[٢zi zT=9~| G٣yjP; > Nusing accuracyPremultiplier from config 59 vx?5Y 9! i ch?@ E  ; * ; >5! -@)ZjQ]FNOT Ignoring new targets: 145.90 m.Bj]Jjem ProNav: ac range: 145.899994 m, nav range: 49.470905 m, bearing: 256.266983 deg, approach rate: 0.555974 m/s, LOS rate: -0.291197 deg/s, cmd heading: 29.071297 deg, new cmd heading: 28.734908 deg. 2juGHeadingCmd: 0.501519 target range: 145.899994 and range: 145.90 m. jc?jjjihhhhfff rf bf 0?ɛB= <隵?I V =ɚiIe)c?)*FM?2FI:FIBFU_0JFQzK7KK59KKi K  IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988681*J"JR=Gu=G B O >Aw,A6yJ>Y6A!/?6|=96ʈ >y6H?@/?@Z/??M氿@ }8;?ǥ?ɨ6yJ>6כ;6$Cy>>B>%I@BAIFIF ٢Rh RP=9V;TT ZG٣ZDUGyZ Z> bNusing accuracyPremultiplier from config\b59^x?f5Y^C! i^sdfug?f@^E^n:^:^R@5jڒB j@nEZj|FNOT Ignoring new targets: 145.90 m.BjJj ProNav: ac range: 145.899994 m, nav range: 49.689095 m, bearing: 256.152572 deg, approach rate: 0.555947 m/s, LOS rate: -0.290240 deg/s, cmd heading: 28.734906 deg, new cmd heading: 28.393185 deg. 2j0G%HeadingCmd: 0.495555 target range: 145.899994 and range: 145.90 m. j%T>j!j)j)i)h)h)h1h1f1f1f1rf9bf= @eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243350ɛBdj= \?I ]=ɚ i I ip)T>)*F?2F:FBFJFG >GGpAGI BY Hu A>Iu C Iu %IIu BIu # =&Iq .Iq 6Iu k<:Iu P F $?I O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492578) ] Gu |uA A "Y |uAy B EGw,}AyU%BU$IMb@Mb@Mb@ )Ykt?kt?{Gzy ? =ףA @)@I@yQ@IEIEV٢]ܽ ]1=9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configq}59ux?}5Yu ! iu?:V?@uEuT&;u$;uVB5 N@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 145.90 m.BjDJjD ProNav: ac range: 145.899994 m, nav range: 49.920483 m, bearing: 256.011117 deg, approach rate: 0.500760 m/s, LOS rate: -0.304710 deg/s, cmd heading: 28.393185 deg, new cmd heading: 27.970797 deg. 2jQHeadingCmd: 0.488183 target range: 145.899994 and range: 145.90 m. j>jjjihhhhBfffrfbf@ɛ%B-:= )-?I) 5=ɚ1i1I5i9i=0>)=>)9*F2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745832G}!>GQBaO}Y>zK RLK 9K K j K kMw,I8A I6yP>Y6@$*?6ž=96 =y6H?`-sb@?Z?+9?@;Fn`j??ɨ6yP>6[^;4yNBR$IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.996478IZIZ3٢j]/ jg=Jn@AJnAAJrJrJpJpJr:Jr9JpJpaz@az@az@az@9nT=Q z>|| ~G٣|y{_ >  Nusing accuracyPremultiplier from config 59 Tx?5Y :! i ťQ?@ E : H; C5! %D@%EZjFNOT Ignoring new targets: 145.90 m.BjEuJjEuu ProNav: ac range: 145.899994 m, nav range: 50.097443 m, bearing: 255.898753 deg, approach rate: 0.471058 m/s, LOS rate: -0.298050 deg/s, cmd heading: 27.970798 deg, new cmd heading: 27.634901 deg. 2juL}HeadingCmd: 0.482320 target range: 145.899994 and range: 145.90 m. j}>jyjyjyiyhhhhfffrfbf@ɛ-B5b= 5<5?I1 5Q=ɚ9i9I=iEJu)E>)AEu0::Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:30:43.8330 TRx dataTimestamp_ set to:1736379045.161733checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256749*F5 ?2F1 :F1 BF= _0JF9 G i&>G ?G ?GiBqO>Uw,7WA>>Y>"?>s4=9>!=y>H2?@@??@?7Ax?਼`'?B?ɨ>>>%;>%CyFBF$I V$?ITH^C>I^C I^a%II^uBI\&I\.I\6I^ư<:I^ FmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.501623Mb@Mb@Mb@ )Y'1Z?? rhy?<C @ @)Z@I@y@II 2٢ =9=Q > G٣EUGy{ > Nusing accuracyPremultiplier from config 59Ux? 5Y߶! i B?:/?@E;+;%F5! %H@!ZjAMFNOT Ignoring new targets: 145.90 m.BjMN˻JjUN˻m ProNav: ac range: 145.899994 m, nav range: 50.307220 m, bearing: 255.721754 deg, approach rate: 0.423082 m/s, LOS rate: -0.355486 deg/s, cmd heading: 27.634901 deg, new cmd heading: 27.106133 deg. 2jmsuHeadingCmd: 0.473091 target range: 145.899994 and range: 145.90 m. j}9>jyjyjyiyhyhyhh-Bfffrfbf{ @ɛuB}n= y}x?Iy H>=ɚiIii>)9>)E-<*F?2F:FBFo0JFPExceeded connect timeout, disconnecting.G]">GqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 23:30:43.8330 LVL= 16672, 27089, 19058, 29235, AGC= 66, IDX= 413,-0.45, 2.618, 1.021, 1.766, 2.034, PHS= 0.672,-0.966,-0.271, RAW= 115.0, 8.0, CAL= 124.4, 4.6, ROT= 25.6, -4.6 u Ygot valid direction response: 23:30:43.8330 LVL= 16672, 27089, 19058, 29235, AGC= 66, IDX= 413,-0.45, 2.618, 1.021, 1.766, 2.034, PHS= 0.672,-0.966,-0.271, RAW= 115.0, 8.0, CAL= 124.4, 4.6, ROT= 25.6, -4.6 } PDAT read: Bearing 25.6, -4.6 (Local)  ~Local bearing/azimuth received: Bearing 25.6, -4.6 (Local)  DAT read: Range 10 to 50 : 144.0 m (Round-trip 192.1 ms) speed 0.3 m/s  ,DAT read: user:3279>  BDAT read: Tx time:23:30:44.9367  $Ping request sent.  @) l=I >i l    ム?IV:?) I i _ wM   :publishing transmit ping timeة  Fpublishing direction and range info 9 2א1ѿV;ԿP?y     ) I i      ) I i     ム?IV:?) I i    4[w,DpAy~B~~$III<2٢-[ -Y=9-Q ->11 5G٣1y] ]> mNusing accuracyPremultiplier from configiu59mx?u5Ym! im[q@mEmN;m;mG5 @EkeP|?ke%' ka ke@jA:keCBkeCZke.@"eWCa'F^mX``@e2א1ѿV;ԿP?Jke_RkewM*eȆh%@GA(fMc``@e>? \!ڿy#?"ke1k*keG+AkezV|?keָ' 2keECke`Ax?keָ' keECke7kBkekZ@} addTargetRange:: Added new target pos. range: 144.000000 m, deltaT: 3.779575 s, deltaX: -1.899994 m, approachRate: -0.502700 m/s, rangeRepo size: 4  Added new target pos. range: 144.000000 m, bearing: 280.318349 deg, lat: 36.904237 deg, lon: -122.121570 deg, deltaT: 3.779575 s, deltaX: -1.899994 m, approachRate: -0.502700 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 144.00 m.BjJj ProNav: ac range: 144.000000 m, nav range: 58.803749 m, bearing: 269.206367 deg, approach rate: 0.000000 m/s, LOS rate: -0.355486 deg/s, cmd heading: 27.106133 deg, new cmd heading: 26.677923 deg. 2jHeadingCmd: 0.465618 target range: 144.000000 and range: 144.00 m. jne>jjjihhhhfffrfb@bf?ɛuBum= y}b?Iy }%%=ɚyiyI}*iib>)ne>) IzKqOLKKKk KWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:30:44.9359 JJJ1JJ<:JJ3JEԅ<*F1 2F1 :F9 BF9 JF9 E Will construct direction to contact in vehicle frame from tetrahedron phase data.G \0">G qAG qAGBB'JO>cw,GA:A>Y:?:HN=9:MS1=y:H$Z?@[`?@?`?0?@Z?`?ɨ:A>:/e;:!CyBBBX$IuMb@Mb@Mb@qqq q)qYui|?5?&1S㥛yu>uPu/ݼu@ u@)u@Iu\@qyup@II̍٢ "=9h G٣yp > Nusing accuracyPremultiplier from config59nx?5Y! iv>:>@E;;J5 @Zj FNOT Ignoring new targets: 144.00 m.Bj Jj - ProNav: ac range: 144.000000 m, nav range: 58.917282 m, bearing: 269.005665 deg, approach rate: 0.235666 m/s, LOS rate: -0.415805 deg/s, cmd heading: 26.677923 deg, new cmd heading: 26.076999 deg. 2j-=HeadingCmd: 0.455130 target range: 144.000000 and range: 144.00 m. j=>j9j9j9iAhAhAhAhEڃBfIfIfIrfIbfUml?ɛBW= N<R?I #C =ɚiIkAi i =) >)E9E9*E9"E9 $?IZHRHHE>I I$II$BI" =&I.I6Ia<:IN FWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2Fy:FyBF}n0JFyGU 5>G) B9 O] > m nManaging dock network, ignoring radio surface power offEjw,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.fe)>Yf?f1=9f&=yfHb?1ξ?`7?@ ?Z͝???ɨfe)>fҊ;f#CyrBr6$I)t tIzIz٢r V=9    G٣FUGyi > -Nusing accuracyPremultiplier from config)559-x?55Y-! i-15{>5@-E-7:-;-K5EےB E@EEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 144.00 m.BjuJju廝 ProNav: ac range: 144.000000 m, nav range: 59.000366 m, bearing: 268.852265 deg, approach rate: 0.217795 m/s, LOS rate: -0.401553 deg/s, cmd heading: 26.077000 deg, new cmd heading: 25.617459 deg. 2jʉHeadingCmd: 0.447109 target range: 144.000000 and range: 144.00 m. jy>jjjihhhhfffrfbf`Q?ɛB8߽= zC?I "=ɚiI`iid=)y>) *F?2F:FBF 5JF I izKJK59KKl K406McmifK'|C-{l[C% jG  Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JuJuJu0JqJu:Ju9Juـ3JqG$>G B O >pw,OéANب>YN| ?N}=9N1=yNH`?`ܾ?@˜?(S?ɢ?;``&??ɨNب>NB;N$Cy^mBb$IIjIj٢ ǽ  J=9 K G٣yeZ e> mNusing accuracyPremultiplier from configiu59mx?u5Ymt! im9>@mEm?;m@;myM5ܒB @EZjFNOT Ignoring new targets: 144.00 m.BjJj绝 ProNav: ac range: 144.000000 m, nav range: 59.086857 m, bearing: 268.684777 deg, approach rate: 0.209448 m/s, LOS rate: -0.404998 deg/s, cmd heading: 25.617459 deg, new cmd heading: 25.115746 deg. 2jHeadingCmd: 0.438352 target range: 144.000000 and range: 144.00 m. jo>jjjihhhhfffrfbf@@b?ɛB,= !%8?I! %%=ɚ!i!I%i)i-2=)5o>)1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495997*F2F:FBF^0JFGJ>GBO>> $?I H5 I>I5 C I5 $II5 ҅BI1 &I1 .I1 6I5 <:I5 k FBIJIRIZI" =bI# =jIɸ)5% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745472ww,LݩA:>Y:I?:,>9::oۊ;8yFNBF#IEMb@Mb@Mb@AAA A)AYES㥛?RQI +yE>E½E9E@ E=@)E$@IEE@AyE\@YYImIm 3٢}s }D=9}b G٣yq > Nusing accuracyPremultiplier from config59L y?5Y! i}?>:R>@ES*;(;BO5 @ZjFNOT Ignoring new targets: 144.00 m.BjPJjP뻝 ProNav: ac range: 144.000000 m, nav range: 59.148121 m, bearing: 268.516662 deg, approach rate: 0.150096 m/s, LOS rate: -0.411453 deg/s, cmd heading: 25.115746 deg, new cmd heading: 24.611935 deg. 2j0HeadingCmd: 0.429559 target range: 144.000000 and range: 144.00 m. j2>jjjihhh h Bf f frfbfN?ɛ=B=-= AE(?IA EK'=ɚAiAIMiIiU^=)2>)*Fm?2Fi:FqBFqJFqGy G}qAGE`=GB1OUT>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997659M>}w,A @I@R>YR?R=>9RR{;R"Cy^;Bb#Iif,>If>InInT3٢rĽ vT=9vRxx zG٣zGUGy~u ~> Nusing accuracyPremultiplier from config 59Sy? 5Y! i P>@E3::P5  @EZjIUFNOT Ignoring new targets: 144.00 m.zKUMOKU}9KQKUm KU  *//.0114@E@;984/.1326Lnurje]YWUX`ccecBjmJjm뻝} ProNav: ac range: 144.000000 m, nav range: 59.202614 m, bearing: 268.356865 deg, approach rate: 0.140612 m/s, LOS rate: -0.411957 deg/s, cmd heading: 24.611934 deg, new cmd heading: 24.132996 deg. 2j}\HeadingCmd: 0.421200 target range: 144.000000 and range: 144.00 m. j>jjjihhhhfffrfbf )@ɛBbˮ= ?I E)=ɚiI<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248744I>ii=)>)JJJ1JJ:Ju9J3JE*F?2F:FBFY0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501172G5 PQ=G B O5 >՗w,CA6u>Y6~>6P" >96N6읊;6%Cyb)Bf#I]Mb@Mb@Mb@YYY Y)YY]On?7A`¿Mbpy]>]]]@ ]@)]Q@IYYy]@IuIuM3٢ 4=9, G٣yz; > Nusing accuracyPremultiplier from config59 ,y?5Y! iJ>:>@E;V;R5 -@ZjFNOT Ignoring new targets: 144.00 m.BjoJjo񻝊 ProNav: ac range: 144.000000 m, nav range: 59.237495 m, bearing: 268.165825 deg, approach rate: 0.077126 m/s, LOS rate: -0.422154 deg/s, cmd heading: 24.132996 deg, new cmd heading: 23.560237 deg. 2jܐHeadingCmd: 0.411204 target range: 144.000000 and range: 144.00 m. $?I jK>jjjihhhhBfffrfbf@jH<bHH M>I  I 5$II BI  =&I .I 9D6I h<:I Z Fɛ5B5= 5A&=5?I1 5w+=ɚ9i9I=iaieɐ=)eK>)i Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754414E=?:<*F?2F:FBF_0JFGF=GIBaO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:30:47.5673  TRx dataTimestamp_ set to:1736379048.684675 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005812lw,-AZ@x>YZh>Z>9ZCZz;XyfBf#IIn,In3٢v~ vU=9zk&xx zG٣|y~N ~>  Nusing accuracyPremultiplier from config 59::y? 5YQ! i1=@E::T5y }@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 144.00 m.BjOJjO軝 ProNav: ac range: 144.000000 m, nav range: 59.264259 m, bearing: 268.003828 deg, approach rate: 0.067140 m/s, LOS rate: -0.406201 deg/s, cmd heading: 23.560237 deg, new cmd heading: 23.074476 deg. 2jb HeadingCmd: 0.402726 target range: 144.000000 and range: 144.00 m. j  2>j j j i h hhQhQfYfYfYrfYbfe S@ɛBB= \?I O-=ɚiI^ii.C}=) 2>) IzK4NKKKn Kfijlotyzz{zvuokhfc_[TQPLGB=:886422---+,--++(*)(('&%%$ ""!5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261319EUV<E]qAEY*F ?2F :F BF ^0JF "G- =G- =G =G B O >w,FAVf>YVko>Vc>9V|=yVHH?+Mۿ?aS?`?@@?@6¿ ??ɨVf>V ;V$CybBf#I)h hInIn2٢v  vJ=9vuxx zG٣zHUGyU' U> ]Nusing accuracyPremultiplier from configYe59]Iy?e5Y]̧! i]mam=m@]E]:]:]iV5q ug@qZjFNOT Ignoring new targets: 144.00 m.Bj Jj  ProNav: ac range: 144.000000 m, nav range: 59.290638 m, bearing: 267.828338 deg, approach rate: 0.066014 m/s, LOS rate: -0.438975 deg/s, cmd heading: 23.074476 deg, new cmd heading: 22.548255 deg. 2jHeadingCmd: 0.393541 target range: 144.000000 and range: 144.00 m. j?~>jjjihhhhfffrfbf @ɛB%= )-j ?I) 5/=ɚ1i1I5i9i=[f=)=?~>)A*EM="EM=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508799E=y=*F?2F:FBF0JF u$?IqHQ>IC I#II?BI =&I.I6IV<:IR FG5 Ơ=G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.JK(3 K(.KK"KJM JM JI JI JM -:JM 9JI JI JM ;a] JM ;ae JM ';ae JM ';ae  DAT read: 23:30:47.5673 LVL= 22928, 32753, 29890, 32755, AGC= 67, IDX= 284, 0.10,-0.594,-2.565,-1.774,-1.519, PHS= 1.013,-0.999,-0.258, RAW= 111.4, 2.8, CAL= 122.3, -0.7, ROT= 27.7, 0.7  Ygot valid direction response: 23:30:47.5673 LVL= 22928, 32753, 29890, 32755, AGC= 67, IDX= 284, 0.10,-0.594,-2.565,-1.774,-1.519, PHS= 1.013,-0.999,-0.258, RAW= 111.4, 2.8, CAL= 122.3, -0.7, ROT= 27.7, 0.7  PDAT read: Bearing 27.7, 0.7 (Local)  ~Local bearing/azimuth received: Bearing 27.7, 0.7 (Local)  DAT read: Range 10 to 50 : 169.8 m (Round-trip 226.5 ms) speed 0.4 m/s  ,DAT read: user:3280>  BDAT read: Tx time:23:30:48.6867  $Ping request sent. i% +H ~G tA! bЗw,7`A  Y"tAy"ByB#IMb@Mb@Mb@ )YS?'1ZĿMbp?y/>";C@ @)@Ir@y@II3٢ +ڻ  .=9Q > G٣y > %Nusing accuracyPremultiplier from config!U59%R[y?U5Y%L! i%U>U:U޷=]@%E%;%;%oX5eݒB e@eEkUv~?kUw& kQ kU$\A:kU)CBkU(CZkUb@"U_ٚti1@AקpG0JAd@U+{? P%ѿtk}?"kU>*kUAkUU?kUe & 2kUdCkUzV|?kQkQkUoBkU覛@EaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 169.800003 m, deltaT: 3.779557 s, deltaX: 25.800003 m, approachRate: 6.826198 m/s, rangeRepo size: 4ZjA]FNOT Ignoring new targets: 144.00 m.Bje߻Jje߻u ProNav: ac range: 144.000000 m, nav range: 59.317894 m, bearing: 267.626046 deg, approach rate: 0.052705 m/s, LOS rate: -0.390989 deg/s, cmd heading: 22.548256 deg, new cmd heading: 21.941683 deg. 2ju*Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:30:48.6859 HeadingCmd: 0.382955 target range: 144.000000 and range: 144.00 m. j>jjjihhhhBfffrf9e@bfY?ɛ5B5F= Y] ?IY ]a1=ɚYiYI]Qqiaie@=)m>)iE K'= a Ia *F5 ?2F1 :F1 BF5 _0JF1 G 8n=G G = Will construct direction to contact in vehicle frame from tetrahedron phase data.zK jNK @9K K o K   !''(%$G BOM>w,C~A2QI>Y24>2 >92hH=y2H Y?vٿ`??qN?C?X¿`Ǩ??ɨ2QI>2;2#Cy>B>#I@BAAIFIFb٢N>< NP=9RvPP RG٣PyVD V> ZNusing accuracyPremultiplier from configX^59Z8jy?^5YZ! iZ`b9z=b@ZEZ<:Z:Z"Z5d f;@dZjFNOT Ignoring new targets: 144.00 m.BjJj ProNav: ac range: 144.000000 m, nav range: 59.336285 m, bearing: 267.455892 deg, approach rate: 0.051409 m/s, LOS rate: -0.475495 deg/s, cmd heading: 21.941684 deg, new cmd heading: 21.431395 deg. 2j)HeadingCmd: 0.374048 target range: 144.000000 and range: 144.00 m. jF>jjjihhhhfffrfbf`k?ɛBͭ= # ?I 2=ɚiI[iiCC=)F>)EE*E "E Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FQBFUn0JFQ ] $?IY G h=ZH RH ?AH [>I C I #II BI  =&I .I ;D6I k<:I j FG B O >w,xA>Will construct direction to contact in vehicle frame from tetrahedron phase data.J^J^J^0J\J^̈́:J^9J^ـ3J\J^;J^;J^ ;J^ ;j3>Y@>U>9X=yH+3?ؿ?q?ʒ?y/¿@w7?@͔?ɨj3>U;$CyB#Ii%%=I%==Mb@Mb@Mb@999 9)9Y=sh|??l¿{Gzt?y=>==ף;=@ 9)=AI=@9y= @I]I]V8٢mQH; u =9uqQ u>qy }G٣}IUGy}~+ }> Nusing accuracyPremultiplier from config59~y?5Y! i+>:=@ Eo;u:^\5 4@EZjFNOT Ignoring new targets: 144.00 m.BjIJjI ProNav: ac range: 144.000000 m, nav range: 59.366814 m, bearing: 267.223176 deg, approach rate: 0.062555 m/s, LOS rate: -0.476600 deg/s, cmd heading: 21.431395 deg, new cmd heading: 20.733642 deg. 2jHeadingCmd: 0.361870 target range: 144.000000 and range: 144.00 m. jG>jjjihhhhBfffrfbf ?ɛB⋟=  ?I! %,5=ɚ!i!I%0i)i-4+=)-G>)1*F?2F:FBF1JFG-Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,{AJ\)>YJ>JX>9J[=yJHuR? n׿T?`?`?e ͹¿=?ϒ?ɨJ\)>J%f;HyV!BV#IIfIfm?٢nR= ni=9r@Q r>pp vG٣tyv v> zNusing accuracyPremultiplier from configx~59zy?5Yz3! iz`V=@z Ez;z;z]5  @-B*** querying acoustic contact ***j)j)ZjIMFNOT Ignoring new targets: 144.00 m.BjU>JjU> $?IM ProNav: ac range: 144.000000 m, nav range: 59.386669 m, bearing: 267.063399 deg, approach rate: 0.056185 m/s, LOS rate: -0.451969 deg/s, cmd heading: 20.733642 deg, new cmd heading: 20.254484 deg. 2jU]HeadingCmd: 0.353507 target range: 144.000000 and range: 144.00 m. j]>jYjajaiahahahihifififirfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JAAJ?Aɛ= 隽'?I 6=ɚiIii'=)>)zK H-MK 9K K p K    )ipl<kb)T\+Uj^M"?d/\0{ARK?JK?*F?2F:FBFH5JFG 'HF=G B O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752247w,weϪAyލ(Bލ#I-Mb@Mb@Mb@))) )))Y-`"?zGếy&1?y->- ׽-`e<-@ -@)-$AI-@)y-@IU IU2٢e< e'=9mQ m>ii uG٣qyu u> }Nusing accuracyPremultiplier from configy59}y?5Y}"! i}>:->@} E} 3;}0;} `5 aIiޒB }[@}EZjFNOT Ignoring new targets: 144.00 m.BjJj ProNav: ac range: 144.000000 m, nav range: 59.439594 m, bearing: 266.837977 deg, approach rate: 0.102525 m/s, LOS rate: -0.436293 deg/s, cmd heading: 20.254484 deg, new cmd heading: 19.578852 deg. 2jHeadingCmd: 0.341715 target range: 144.000000 and range: 144.00 m. jS>jjjihhhh(Bfffrfbf`?ɛB= z?IH-e>I-C I-#II- BI- =&I).I-iiT=)S>)JJJJJv:J9JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006993JJT;JU;J;J;*F?2F:FBFP5JFG (=G B O >(0w,fAF^>YFܼ>Fr>9F=yFHb?Sֿ`?`? ?8Xl¿?n?ɨF^>Fwe;F#Cyj;Bj#I)p piz?I~I~<2٢=  j=9 l޻Q  > G٣JUGyM > %Nusing accuracyPremultiplier from config!-59%y?-5Y%s! i%Ω)5>5@%E%:%:%a5A E1@IZjiuFNOT Ignoring new targets: 144.00 m.}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258025BjJj ProNav: ac range: 144.000000 m, nav range: 59.475197 m, bearing: 266.675797 deg, approach rate: 0.111007 m/s, LOS rate: -0.505367 deg/s, cmd heading: 19.578852 deg, new cmd heading: 19.092615 deg. 2jjHeadingCmd: 0.333229 target range: 144.000000 and range: 144.00 m. j>jjjihhhhfffrfbfD@ɛBi= {?I ':=ɚiIOii-=)>)*F?2F:FBF_0JFG7=GABYOu7> $?I*J C="J a=- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509692zK 89PK 9K K q K ~X0o]I4#F$Eg~}mZD1ufXH;."BK :K pAw,UA2$K>Y2>2>92D=y2HV?`տo?w?3?ov@ ¿`W?@G?ɨ2$K>2d;0y>EB>#IIJIJ(*٢W= K=9Q >!! %G٣!y%+ -> 5Nusing accuracyPremultiplier from config)=59-Wy?=5Y-! i-9=>=@-E- ;-i ;-Qc5I M@MEZjiuFNOT Ignoring new targets: 144.00 m.Bj}Jj} ProNav: ac range: 144.000000 m, nav range: 59.515400 m, bearing: 266.489738 deg, approach rate: 0.100498 m/s, LOS rate: -0.464787 deg/s, cmd heading: 19.092614 deg, new cmd heading: 18.534834 deg. 2j}HeadingCmd: 0.323494 target range: 144.000000 and range: 144.00 m. j>jjjihhhhfffrfbf ~@ɛ[= z?I X<=ɚiI+i i ?=) >) *F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762086G0P=GBO> I jH <bH <H l>I C I #II BI  =&I .I =D6I E<:I _ FBIMʤCJIMʤCRIMʕCZIM =bIM =jIM6J= J= J9 J9 J= p:J= 9J9 J9 J= ;J= ;J= 2;J= 2;U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:30:51.2793 e TRx dataTimestamp_ set to:1736379052.472591e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014755>Ǫw,bA6P >Y6x>6N>96gN=y6HU?)տΊ???@1?FoJ? ?ɨ6P >6Y;6%Cy>NBF#IMb@Mb@Mb@ )YMb?:v rh?y?TC<@ )7AI@y@I5I5(٢}= }4=9Q > G٣y2 > Nusing accuracyPremultiplier from config59Ky?5Y(! i9?:0>@E;;Me5 @EZjFNOT Ignoring new targets: 144.00 m.BjeJje ProNav: ac range: 144.000000 m, nav range: 59.587921 m, bearing: 266.277336 deg, approach rate: 0.159469 m/s, LOS rate: -0.466489 deg/s, cmd heading: 18.534835 deg, new cmd heading: 17.898431 deg. 2jHeadingCmd: 0.312387 target range: 144.000000 and range: 144.00 m. j">jjj i h hhhBfffrf!bf% @ɛMBU= Y]x#?IY ] ?=ɚYiYI]|iaim4>X=)m">)i*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.՝Aiՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267181G5 <=G B O= >3]ͪw, 8A "$?I :g>Y:+>:- >9:=y:H4? X\տ4??<?բ`5d??ɨ:g>:d;:$CyV^BV $IiZe>IZ<IbIb1٢f= jl=9j"Q j?ll nG٣nKUGyrc r? vNusing accuracyPremultiplier from configtz59vy?z5Yv! ivaxzx>~@vEv:G;vT;vf5   @ -B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 144.00 m.BjE JjE U ProNav: ac range: 144.000000 m, nav range: 59.642735 m, bearing: 266.116143 deg, approach rate: 0.158365 m/s, LOS rate: -0.465286 deg/s, cmd heading: 17.898432 deg, new cmd heading: 17.415309 deg. 2jU]HeadingCmd: 0.303954 target range: 144.000000 and range: 144.00 m. j]쟛>jYjYjYiYhahahahafififirfibfuj @ɛB= *?I 5@=ɚiIiib=)쟛>)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:30:51.2793 LVL= 16880, 32753, 26978, 32755, AGC= 64, IDX= 55,-0.02, 0.475,-1.438,-0.677,-0.302, PHS= 0.865,-1.089,-0.378, RAW= 111.1, 7.1, CAL= 121.2, 4.2, ROT= 28.8, -4.2 zKܨOK+9KKr K~wsniccb^[WTRQNLHHD@??=<:511..,('(%%$$#!Ygot valid direction response: 23:30:51.2793 LVL= 16880, 32753, 26978, 32755, AGC= 64, IDX= 55,-0.02, 0.475,-1.438,-0.677,-0.302, PHS= 0.865,-1.089,-0.378, RAW= 111.1, 7.1, CAL= 121.2, 4.2, ROT= 28.8, -4.2 PDAT read: Bearing 28.8, -4.2 (Local) ~Local bearing/azimuth received: Bearing 28.8, -4.2 (Local)  DAT read: Range 10 to 50 : 141.3 m (Round-trip 188.5 ms) speed 0.6 m/s ,DAT read: user:3281> BDAT read: Tx time:23:30:52.3867 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:30:52.3859 7IԪw, QA`>Y>>9)=yH 6?1տ?A?`!?1 ض?`?ɨ`>1;騵'CyiB$I Mb@Mb@Mb@    ) Y (\?~jt?I +?y ? < 9< ~A @) MAI x@ y @ )I)IEIE٢U4= U(=9ULQ ]>YY G٣yŻ > Nusing accuracyPremultiplier from config59y?5YF! iS?:>@Ep1<2<h5ߒB b@޶EkM}y?kM@& H-r>I-C I-#II-0BI- =&I-FD.I->D6I-<<:I-] FkI kM>A:kML CBkMY CZkMf@"MKҢAzA^ `@M Ͽ`% п?JkMbRkM&䚿*M@=6ڿ hix;I N ``@M@qKg_wֿrF?"kMI*kMѾkMly?kM1& 2kMFCkIkIkIkM/pBkM[@ addTargetRange:: Added new target pos. range: 141.300003 m, deltaT: 7.317928 s, deltaX: -2.699997 m, approachRate: -0.368956 m/s, rangeRepo size: 4 = Added new target pos. range: 141.300003 m, bearing: 269.534958 deg, lat: 36.904341 deg, lon: -122.121570 deg, deltaT: 7.317928 s, deltaX: -2.699997 m, approachRate: -0.368956 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 141.30 m.BjEJjAU ProNav: ac range: 141.300003 m, nav range: 60.045998 m, bearing: 276.913442 deg, approach rate: 0.000000 m/s, LOS rate: -0.465286 deg/s, cmd heading: 17.415309 deg, new cmd heading: 16.691126 deg. 2jy}HeadingCmd: 0.291315 target range: 141.300003 and range: 141.30 m. j}A'>jjjihhhhτBfffrfa@bf O?ɛ B =  /?I  D=ɚ Will construct direction to contact in vehicle frame from tetrahedron phase data.i I%!i9iE=)EA'>)q*F%?2F):F)BF-`0JF)G YW=G ?G ?G B O- >ڪw,mA6>Y6j:>6>96}=y6H?@տ=_??G?̦kV>? k?ɨ6>6 ;6#CyBqBB"$INWill construct direction to contact in vehicle frame from tetrahedron phase data.ININb1٢V >= Vm=9Z5_Q Z?\\ ^G٣\yb. b? fNusing accuracyPremultiplier from configdj59fz?j5Yfe! ifhnj>n@fEf ;f. ;frj5t v@tZjFNOT Ignoring new targets: 141.30 m.BjJj- ProNav: ac range: 141.300003 m, nav range: 60.096031 m, bearing: 276.739919 deg, approach rate: 0.159435 m/s, LOS rate: -0.552479 deg/s, cmd heading: 16.691126 deg, new cmd heading: 16.171007 deg. 2j-5HeadingCmd: 0.282237 target range: 141.300003 and range: 141.30 m. j=i>j9j9j9i9h9h9hAhAfAfAfIrfIbfM`?ɛ B = !%+3?I! %E=ɚ!i!I%^i1i5܌=)5i>)1*F?2F:FBFQ5JFGJ5{J5xJ1J1J5d:J59J1J1a=@a=@a=@a=@MWill construct direction to contact in vehicle frame from tetrahedron phase data.zKE NKE 9KA KE s KE  R~ 0HYZVTLFA>::2*vbSKD?=;50,+&& w,bA6:=Y6>6P=96Z}=y6H ?Կາ?@iJ?`$?nrE? ?ɨ6:=6b;6"CyJwBJ)$I)L LIVIV%x٢Z< ^J=9^E.Q ^>`` bG٣bLUGyf} f> jNusing accuracyPremultiplier from confighn59j)z?r5Yj3! ij٪prF>r@jEj2;j3;j6l5t z@z۶EZj%FNOT Ignoring new targets: 141.30 m.Bj-Jj- ProNav: ac range: 141.300003 m, nav range: 60.154762 m, bearing: 276.534141 deg, approach rate: 0.145827 m/s, LOS rate: -0.510439 deg/s, cmd heading: 16.171007 deg, new cmd heading: 15.554301 deg. 2j'HeadingCmd: 0.271474 target range: 141.300003 and range: 141.30 m. j>jjjihhhhfffrfbf`,?ɛm Bmv = 隵5?I |!H=ɚiI]Gii=)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF@5JF 9I9G f=G pAG ZHa RHe @AHm w>Im C Im $IIm YBIm =&Ii .Im ?D6Im <:Im & F) G B) OM >m iG 5tA A Y 5tAy Be Will construct direction to contact in vehicle frame from tetrahedron phase data.w,BA6ER=Y6̭>6=96Ŷ=y6H Y?^Կ`$?`g(?*?`Ħ h4??ɨ6ER=60;6!Cy>zBB-$IMMb@Mb@Mb@III I)IYMn?J +??yM?M=Myy G٣yI > Nusing accuracyPremultiplier from config59(z?5Y! i;?:7?@E:;;n5 R@ZjFNOT Ignoring new targets: 141.30 m.BjJj ProNav: ac range: 141.300003 m, nav range: 60.251099 m, bearing: 276.310307 deg, approach rate: 0.224767 m/s, LOS rate: -0.521400 deg/s, cmd heading: 15.554301 deg, new cmd heading: 14.883906 deg. 2j겼HeadingCmd: 0.259773 target range: 141.300003 and range: 141.30 m. j>jjjihhhhBf f f rf bf @O?ɛE BE= AE{6?IA Mz}J=ɚIiIIMiQiU̻=)U>)Y*F?2F:FBFZ0JFGmԍ=GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data. % $?I! w,A2w=Y2X>2/=92=y2H? yVԿ??7? ὿ѵ?@?ɨ2w=2ʼn;2#CyBwBB)$IININb٢f7 fV=9fQ f>hh jG٣hyjM n> rNusing accuracyPremultiplier from configpv59r9z?v5Yr$! irtz>z@rEr3:r:ro5~B ~@~ضE%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 141.30 m.Bj5Jj5M ProNav: ac range: 141.300003 m, nav range: 60.336914 m, bearing: 276.110693 deg, approach rate: 0.224251 m/s, LOS rate: -0.520886 deg/s, cmd heading: 14.883906 deg, new cmd heading: 14.285937 deg. 2jMUHeadingCmd: 0.249337 target range: 141.300003 and range: 141.30 m. jUR>jQjQjQiQhYhYhYhYfafafarfabfm?JuJpJJJ[Q:J^9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.ɛmBm;= im4?Ii L=ɚiIPiiȫ=)R>)zK- OK-9K)K-t K-   *Fm?2Fi:FiBFm_0JFiGl=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233996Rw,qիAr=Yry>rƔ=9rҰ=yrH?)Կ&? ?A?=f"?.?ɨr=r-ˉ;r$Cy~sB~$$Ii0>I= = = IMb@Mb@Mb@ )YX9v?ףp= ?{Gz?y?>ף<;A Z@)I@yp@II(*٢݈ 8=9PػQ >   G٣MUGy > Nusing accuracyPremultiplier from config%59Mz?%5Y! i7-"?-:-?-@E;;q51 5@9ZjYeFNOT Ignoring new targets: 141.30 m.BjeJje} ProNav: ac range: 141.300003 m, nav range: 60.464745 m, bearing: 275.871599 deg, approach rate: 0.288233 m/s, LOS rate: -0.537968 deg/s, cmd heading: 14.285937 deg, new cmd heading: 13.570214 deg. 2j}HeadingCmd: 0.236845 target range: 141.300003 and range: 141.30 m. jyr>jjjihhhh0Bfffrfbf6{@ɛB= \=d1?I 7O=ɚiI,ii;8=)yr>)H>IC I"$IIrBI =&I.I@D6ID<:Io F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486593*F=?2FA:FABFAJFAGC=GBOi>#)w,AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.739431fl=Yf>f=9f/=yfH?fӿ$?c?N?n`g&??ɨfl=fy;f&CyvjBv$IIIV83٢5> 5Y=9,Q > G٣y8D > Nusing accuracyPremultiplier from config59i_z?5Y! iT?@ E:a:gs5B o@ӶEZj FNOT Ignoring new targets: 141.30 m.Bj Jj % ProNav: ac range: 141.300003 m, nav range: 60.577084 m, bearing: 275.661597 deg, approach rate: 0.286680 m/s, LOS rate: -0.534914 deg/s, cmd heading: 13.570214 deg, new cmd heading: 12.941402 deg. 2j%%HeadingCmd: 0.225870 target range: 141.300003 and range: 141.30 m. j-|Jg>j)j)j)i)h)h)h1h1f9f9f9rf9bf=`@ɛuBu= q},?Iy }GaQ=ɚyiyI}ii=)|Jg>)EpAE*F?2F:FBF`0JF "G=G> $?I*J"Jp=JrJnJJJG:J99JJ=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.990977Gu=GI BQ Om >zK FLK 9K K u K w,A2=Y2~>2D=92vq=y2H@/?ӿ??q\?@c0??ɨ2=2;2$Cy:[B:$IIBIB2٢Jl JU=9NQ N>PP RG٣PyR_ R> ZNusing accuracyPremultiplier from configTZ59Vpz?^5YVB! iVo\^?=@V"EVהjjjihhhhfffrfbf_ @ɛB= #?I ^uS=ɚiI%]i i =) 7\>) Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:30:54.9767 TRx dataTimestamp_ set to:1736379056.252730checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243033*F2F:FBFo0JFG^=GBAO|> $?I ijH<bHH>IC I5$IIBI =&I.IAD6I,<:Ic FE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494019-;w,#"Ay]FB]#IMb@Mb@Mb@ )Y+?Zd;O?Mb?yv?j<><A @)AI-@y\@I-I-#3٢Eո E2=9EQ E>II MG٣MNUGyU U> ]Nusing accuracyPremultiplier from configYe59]z?e5Y]΄! i]eT%?m:m?m@]$E]r;];]w5y }@yZjFNOT Ignoring new targets: 141.30 m.BjJj  ProNav: ac range: 141.300003 m, nav range: 60.828617 m, bearing: 275.221288 deg, approach rate: 0.328241 m/s, LOS rate: -0.544439 deg/s, cmd heading: 12.349029 deg, new cmd heading: 11.623317 deg. 2j%ҺEHeadingCmd: 0.202865 target range: 141.300003 and range: 141.30 m. jEO>jIjQjYiYhahihyh"BfIfQfYrfabf @ɛ B%Ʒ= 15;?I1 5JU=ɚ1i1I=iIiMi=)MO>)IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:30:54.9767 LVL= 12320, 24945, 22002, 30563, AGC= 59, IDX= 411,-0.29,-1.608, 2.806,-2.862,-2.398, PHS= 0.878,-1.032,-0.467, RAW= 106.7, 7.4, CAL= 116.8, 5.2, ROT= 33.2, -5.2 Ygot valid direction response: 23:30:54.9767 LVL= 12320, 24945, 22002, 30563, AGC= 59, IDX= 411,-0.29,-1.608, 2.806,-2.862,-2.398, PHS= 0.878,-1.032,-0.467, RAW= 106.7, 7.4, CAL= 116.8, 5.2, ROT= 33.2, -5.2 PDAT read: Bearing 33.2, -5.2 (Local) ~Local bearing/azimuth received: Bearing 33.2, -5.2 (Local) %DAT read: Range 10 to 50 : 139.3 m (Round-trip 185.8 ms) speed 0.4 m/s -,DAT read: user:3282> 5BDAT read: Tx time:23:30:56.0868 5$Ping request sent.5 ڥw@)ڥ޹=IڥV?iڥ޹ڡڡۥ@?Pj!Ϳvf?)ۥmIۥKiۥ !ۥ~ۡۡ}:publishing transmit ping time1Fpublishing direction and range infoء9إ3gϿ}ƿY߅{?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ@?Pj!Ϳvf?)ۡIۡiۡۡۡۡE I = $?I *F ?2F :F BF _0JF G  G J5qJ5iJ1J1J5D:J5ڈ9J1J1UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:30:56.0860 GEO=G zK JK @9K K v K B)OU?"w,rDA2=Y2w>2t=92ݵ=y2H@*Q?ӿ@ѽ?@`i?Pz?@c" >??ɨ2=2掊;0y:7B:#IIFIF1٢Jv J*=9N=Q N>LP RG٣PyR-ü V> ZNusing accuracyPremultiplier from configTZ59Vz?^5YV7! iVī\^?^@V'EVU:V:Vy5fB f@fͶEk±Uw?k\% k kb0A:kL CBk_ CZkۅ@"7NHA"{H8$KU`@3gϿ}ƿY߅{?Jk !Rk~*R/#8i5B `@AM$[^6Zѿ[j|B?"k*kka0ePw?kYM7c% 2kQHCkk1& kFCkOBk@ addTargetRange:: Added new target pos. range: 139.300003 m, deltaT: 3.777920 s, deltaX: -2.000000 m, approachRate: -0.529392 m/s, rangeRepo size: 4 - Added new target pos. range: 139.300003 m, bearing: 255.186223 deg, lat: 36.904341 deg, lon: -122.121467 deg, deltaT: 3.777920 s, deltaX: -2.000000 m, approachRate: -0.529392 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 139.30 m.Bj=Jj9 ProNav: ac range: 139.300003 m, nav range: 51.874969 m, bearing: 275.841598 deg, approach rate: 0.000000 m/s, LOS rate: -0.544439 deg/s, cmd heading: 11.623317 deg, new cmd heading: 10.834074 deg. 2jHeadingCmd: 0.189090 target range: 139.300003 and range: 139.30 m. jA>jjjihhhhfff!rf%ia@bf-?ɛB:f= ?I IW=ɚiISii)=)A>)Er=*F5?2F1:F1BF=b0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.GB=GBOk> y Iy H >I C I "$II rBI  =&I .I 6I <:I T FBIʪCJIʪCRIʔCZI =bI =jI6 Aw,l^A2ҏ=Y2>2=92/wr=y2Hd?`ҿ@W?? ?9?Ir$??ɨ2ҏ=2*;2"CyfBf#I%Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}1Zd?I +?Mby}"?}94>}} A }@)}dAI}Z@yy}@II٢; ;=9Q > G٣yC > Nusing accuracyPremultiplier from config59Rz?5Y6|! i!?:I?@)E; ;{5 6@B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 139.30 m.Bj/Jj/- ProNav: ac range: 139.300003 m, nav range: 52.003395 m, bearing: 275.574348 deg, approach rate: 0.296442 m/s, LOS rate: -0.615361 deg/s, cmd heading: 10.834073 deg, new cmd heading: 10.034358 deg. 2j-(Ӽ5HeadingCmd: 0.175133 target range: 139.300003 and range: 139.30 m. j5U3>jjjihhhhBfffrfbf= ?ɛUBU X= Q]>IY ]Y=ɚYiYI]iaie7=)eU3>)iEE*E"E*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."GG } $?Iy G {=G G ?G B O >4.w,-z{A6N=Y6ถ>6&=96>Z=y6H@{?c;ҿ@H?|?@?旿h@$??ɨ6N=6;6$Cy>B>}#IiB4=IBe>IJIJͳ٢R( RC=9^Q b>hh jG٣jOUGyn n> vNusing accuracyPremultiplier from configt]59v6z?e5Yv[x! iv)im?m@v+Evjjjihhhhfffrfbf?ɛ=BE#= AE6>II U[=ɚQiQIUiaim=)mab%>)qWill construct direction to contact in vehicle frame from tetrahedron phase data.խ>խ@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243136JAJEhJE/JAJAJEȆ9JE(N3JAzKBoHK9KKw K*F2F:FBF-1JFGu=G1B9OUS>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492980%w,7A Iy=ƄB=O#IMb@Mb@Mb@ )Y`"?T㥛 ?{Gzy?>ףA $@)AIp@yAIIb٢%[ %)=9-Q ->H=>I9 I=#II=IBI= =&I9.I96I=<:I=8 FIQ UG٣QyU U> eNusing accuracyPremultiplier from configam59ez?u5Yet! ienuH?u:u?u@e.Eec;e;e~5}B }@ǶEZj%FNOT Ignoring new targets: 139.30 m.Bj--Jj--= ProNav: ac range: 139.300003 m, nav range: 52.245674 m, bearing: 275.020963 deg, approach rate: 0.245224 m/s, LOS rate: -0.607431 deg/s, cmd heading: 9.253732 deg, new cmd heading: 8.378172 deg. 2j=oмEHeadingCmd: 0.146227 target range: 139.300003 and range: 139.30 m. jEs>jAjajiiihihihqhuBfqfqfqrfybf} ?ɛBD= 1>I rT\=ɚ!i!I%Li)i-CK >)5s>)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745095*F2F:FBF0JFG F=G! G% oAG1 BA O] >x=+w,$AF8=YF>F=9F%u=yFH"?tпٸ?g?K?f?) \??ɨF8=Fӈ;F"CyNBN#IIv!Ivi3٢~  ~u=9~oQ ? G٣y   ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996982 %Nusing accuracyPremultiplier from config!559%z?55Y%6r! i%9=s>=@%/E%J;%J;%r5A E@IZjiuFNOT Ignoring new targets: 139.30 m.BjuP4Jj}P4 ProNav: ac range: 139.300003 m, nav range: 52.321922 m, bearing: 274.818596 deg, approach rate: 0.237934 m/s, LOS rate: -0.630567 deg/s, cmd heading: 8.378172 deg, new cmd heading: 7.771981 deg. 2j`ؼHeadingCmd: 0.135647 target range: 139.300003 and range: 139.30 m. j >jjjihhhhfffrfbf@E@ɛ B0= ~i>I \=ɚiI#iiD~=) >)*Fe?2Fa:FiBFm]0JFiGupA GupAGEO= $?IGB!OE0>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249670zKU 2QKKU 9KQ KU x KU  $2w,.ȬArcW =YrB>rn=9rF =yrH`,?@Ͽ`m? ??@? >?8?ɨrcW =rT;r&Cy=uB="I)A AIIIUIU 3٢ev eD=9mQ m>ii uG٣uPUGyu(ݼ u> Nusing accuracyPremultiplier from configy59}xz?5Y}@o! i}ج>@}1E}L:} ;}B5B @¶EZjFNOT Ignoring new targets: 139.30 m.Bj.Jj. ProNav: ac range: 139.300003 m, nav range: 52.415718 m, bearing: 274.564758 deg, approach rate: 0.226478 m/s, LOS rate: -0.611815 deg/s, cmd heading: 7.771981 deg, new cmd heading: 7.011876 deg. 2jѼHeadingCmd: 0.122380 target range: 139.300003 and range: 139.30 m. j=jjjihhhihififqfqrfqbfuS@ɛ-#B5= 15%>I1 5|]=ɚ1i9I=E G |uA AG Y |uAy BB H >I  I #II BI &I .I 6I <<:I v FOM >J pJ J 0J J A:J J ـ3J J T;a  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753065J T;a J Ӭ:a J լ:a K8w,AzzZ=9z; E=9Q > G٣y 5> eNusing accuracyPremultiplier from configYe59] {?m5Y]l! i]"m?m:mz>m@]3E];];]%5 `@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 139.30 m.Bj:(Jj:(% ProNav: ac range: 139.300003 m, nav range: 52.489346 m, bearing: 274.305211 deg, approach rate: 0.167122 m/s, LOS rate: -0.588300 deg/s, cmd heading: 7.011876 deg, new cmd heading: 6.234379 deg. 2j%ɼHeadingCmd: 0.108810 target range: 139.300003 and range: 139.30 m. j=jjjihhhhCBff f rf bf_\@ɛ-%B-r= 15=I1 5V]=ɚ1i1I5 I u>w,A6;Y6g>6=965#B>"IIFIFM3٢Rhj R_=9R_ٺQ V>TT VG٣TyZ/ Z> ^Nusing accuracyPremultiplier from config\b59^{?b5Y^j! i^^dfK>f@^5E^5;^:^5l %@%EZjamFNOT Ignoring new targets: 139.30 m.Bjuw)Jjuw) ProNav: ac range: 139.300003 m, nav range: 52.547161 m, bearing: 274.094268 deg, approach rate: 0.162611 m/s, LOS rate: -0.592641 deg/s, cmd heading: 6.234379 deg, new cmd heading: 5.602273 deg. 2j\˼HeadingCmd: 0.097778 target range: 139.300003 and range: 139.30 m. j?=jjjihhhhfffrfbf@ @ɛ-'B58Z=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:30:58.6744 TRx dataTimestamp_ set to:1736379060.032896checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258211 隭 I ]=ɚi)I-E Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM A] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510279aEw,A U$?IYk@Y BX>=9I I5#IIBI =&I.I6I7<:Is FyB\"Ii>I,> p=a=}Mb@Mb@Mb@yyy y)yY}B`"?Zd;O+y}?}j}}A }v@)}AI}@yy}AI$I<3٢ "=9չQ > G٣QUGy0 > Nusing accuracyPremultiplier from config591{?5Yi! iQ?:5/>@7E;;5B D@EZjFNOT Ignoring new targets: 139.30 m.Bj)Jj) ProNav: ac range: 139.300003 m, nav range: 52.575573 m, bearing: 273.792500 deg, approach rate: 0.055683 m/s, LOS rate: -0.591103 deg/s, cmd heading: 5.602273 deg, new cmd heading: 4.697537 deg. 2jʼHeadingCmd: 0.081987 target range: 139.300003 and range: 139.30 m. j=jjjihhhhBfffrfbfV@JSK[|3 K[S}-KSKS"KSJ}oJ}gJyJyJ}>:J}9JyJyJ}}O;Will construct direction to contact in vehicle frame from tetrahedron phase data.J}O;J}>:J}?:DAT read: 23:30:58.6744 LVL= 15824, 26593, 24146, 32323, AGC= 60, IDX= 419,-0.01, 1.262,-0.819,-0.428, 0.130, PHS= 1.220,-0.902,-0.561, RAW= 98.6, 2.5, CAL= 108.6, 0.3, ROT= 41.4, -0.3 Ygot valid direction response: 23:30:58.6744 LVL= 15824, 26593, 24146, 32323, AGC= 60, IDX= 419,-0.01, 1.262,-0.819,-0.428, 0.130, PHS= 1.220,-0.902,-0.561, RAW= 98.6, 2.5, CAL= 108.6, 0.3, ROT= 41.4, -0.3 PDAT read: Bearing 41.4, -0.3 (Local) ~Local bearing/azimuth received: Bearing 41.4, -0.3 (Local) DAT read: Range 10 to 50 : 137.5 m (Round-trip 183.4 ms) speed 0.0 m/s ,DAT read: user:3283> BDAT read: Tx time:23:30:59.7883  $Ping request sent. YLw,l3AFC@YF@rH>FL=9F/11 5G٣1y=.( => ENusing accuracyPremultiplier from configA59E@C{?5YEh! iE@>@E9EEB=Sw,)MA:@Y:9>:q=9:XX ^G٣\y^ ^> bNusing accuracyPremultiplier from config`f59bU{?f5Yb h! ibDhj >j@b:Eb:bi ;b55l n@rEZj!-FNOT Ignoring new targets: 137.50 m.Bj-=Jj-== ProNav: ac range: 137.500000 m, nav range: 50.273987 m, bearing: 264.777012 deg, approach rate: 0.137010 m/s, LOS rate: -0.664346 deg/s, cmd heading: 4.009251 deg, new cmd heading: 3.297892 deg. 2j=㼝EHeadingCmd: 0.057559 target range: 137.500000 and range: 137.50 m. jEk=jAjIjIiIhIhIhQhQfQfQfYrfYbf]@C ?ɛ.B = 隍(I %\=ɚiIBH9I9 I="II=PBI= =&I9.I96I=<:I=a FJ pJ hJ J J A:J Ȇ9J J J T;J T;% Will construct direction to contact in vehicle frame from tetrahedron phase data.J Ӭ:J լ:VdYw,dgAyB!I)) )15A%Mb@Mb@Mb@!!! !)!Y%HzG?L7A`堿y%= ?%̽%+%hA !)%dAI%@!y%AI=I=F٢Myн M3=9UQ ]>YY ]G٣]RUGye e> mNusing accuracyPremultiplier from configiu59m j{?u5Ymh! im} ?}:}ﺑ}@m)-E/=)1*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $?IG|+=G B O5 >L`w,BAA6@Y6 >6㲳=96hh jG٣hrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498508yn ʽ v> zNusing accuracyPremultiplier from configx59z[z{?5Yz@h! izή;@z>EzeȼHeadingCmd: 0.031265 target range: 137.500000 and range: 137.50 m. j-=jjjihhh h f f f rfbf?ɛE2BE'T< AEII M|Y=ɚIiIIMm^G B O > I xfw,-"AZHtRHtH>IC IG"IIBI =&I.I6I6<:Iv FBICJICRICZI =bI =jI94 @Y >=9S G٣yM M> eNusing accuracyPremultiplier from configa59eʐ{?5Yehi! ie?:K'@e@Ee;e;e5B @EJJeJ1JJJ9J3JJJJ:J:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002452ZjFNOT Ignoring new targets: 137.50 m.Bjl9Jjl9- ProNav: ac range: 137.500000 m, nav range: 50.292221 m, bearing: 263.967895 deg, approach rate: -0.034625 m/s, LOS rate: -0.648432 deg/s, cmd heading: 1.791377 deg, new cmd heading: 0.870960 deg. 2j5޼5HeadingCmd: 0.015201 target range: 137.500000 and range: 137.50 m. j5 y<j9j9j9i9h9h9hyh}qBfyfyfrfbfQ@ɛ4B%< "׾I 4X=ɚiIbG B O >\lw,h˵Ab@Yb@=br=9bѳIr= r=r=IvIv[3٢~q  d=9 ;Q >   G٣SUGyJ ? %Nusing accuracyPremultiplier from config!-59%{?-5Y%Oj! i%J)-85@%BE%/;%/;%_5=B E@AZjimFNOT Ignoring new targets: 137.50 m.Bju}:Jju}: ProNav: ac range: 137.500000 m, nav range: 50.278229 m, bearing: 263.750861 deg, approach rate: -0.042034 m/s, LOS rate: -0.652161 deg/s, cmd heading: 0.870960 deg, new cmd heading: 0.219708 deg. 2j߼HeadingCmd: 0.003835 target range: 137.500000 and range: 137.50 m. jtN{;jjjihhhhfffrfbf@ɛ5Bz< I xV=ɚiIwzK :IK h9K K | K FSLGC=85+$ RK ?JK ?sw,gϭAR@YR@=R=9RѢBZn!IIzIz3٢޼ K=99Q >    G٣ y - > Nusing accuracyPremultiplier from config%59#{?%5Yxk! i!%[J-@CE{;;!51 5)@5EZjY]FNOT Ignoring new targets: 137.50 m.Bje@5Jje@5u ProNav: ac range: 137.500000 m, nav range: 50.258907 m, bearing: 263.496388 deg, approach rate: -0.048108 m/s, LOS rate: -0.633845 deg/s, cmd heading: 0.219708 deg, new cmd heading: 359.456044 deg. 2juټ}HeadingCmd: 6.273692 target range: 137.500000 and range: 137.50 m. j}@jyjyjyihhhhfffrfbf5@ɛ7B~t< SI DbU=ɚiIv<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758428IiifO=)@)*Fu?2Fq:FqBF}_0JFyGmFM= M$?IIGiBOB>HI I!IIBI&I.I6I,<:Io F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:31:02.3753  TRx dataTimestamp_ set to:1736379063.560812 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011599yw,!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595{?=5Y5l! i5E?E:EeE@5EE5;57;55Q U@QuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 137.50 m.Bj{9Jj{9 ProNav: ac range: 137.500000 m, nav range: 50.231579 m, bearing: 263.209385 deg, approach rate: -0.061731 m/s, LOS rate: -0.648649 deg/s, cmd heading: 359.456054 deg, new cmd heading: 358.594643 deg. 2j޼HeadingCmd: 6.258657 target range: 137.500000 and range: 137.50 m. jF@jjjihhhhSBfffrfbf @ɛ9B@'< I S=ɚiÌw,![A*JR="Ja=2Will construct direction to contact in vehicle frame from tetrahedron phase data.J>oJ>gJ>0J<J>>:J>9J>ـ3J =BDAT read: Tx time:23:31:03.4883 =$Ping request sent.=i6 ?6b86 +6W?6+< 6;d?)6I6clc?i6=446kw?3G޿Á˙N?)6>:I6zʼi6@6V44e:publishing transmit ping time9mFpublishing direction and range info496]3'7EN.$?ί?y4444 4)4I4i44444 4)4I4i4446kw?3G޿Á˙N?)4I4i4444@Y=g=9 G٣TUGy܊ > Nusing accuracyPremultiplier from config59y{?5Yn! i@HE51<7<5UB U@]Ek6㿼z?k6š zKV4MK9KK} K (6APrBK:KqAk4 k6s.A:k6 CBk60CZk6!(?"6#LK/M\i&'@;\P`@6]3'7EN.$?ί?Jk6@Rk6V*6dJ~0?\b!@s a@64"Ckםs?F'?"k6A*k6|k6zz?k6 2k6YJCk4k6YM7c% k6YJCk6Bk6@m addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 3.529403 s, deltaX: -0.399994 m, approachRate: -0.113332 m/s, rangeRepo size: 4  Added new target pos. range: 137.100006 m, bearing: 113.766480 deg, lat: 36.904272 deg, lon: -122.121311 deg, deltaT: 3.529403 s, deltaX: -0.399994 m, approachRate: -0.113332 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 137.10 m.Bj%Jj!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:31:03.4875 e ProNav: ac range: 137.100006 m, nav range: 38.927845 m, bearing: 260.842913 deg, approach rate: 0.000000 m/s, LOS rate: -0.648649 deg/s, cmd heading: 358.594630 deg, new cmd heading: 357.605161 deg. 2jimHeadingCmd: 6.241387 target range: 137.100006 and range: 137.10 m. jur@jqjqjqiqhqhqhyhyfyfyfrf@3#a@bfu?ɛ% ;B% Z< ) - I) - (Q=ɚ) i) I- /I  I !II qBI &I .I 6I ^<:I F9 U tA Y tAy BWill construct direction to contact in vehicle frame from tetrahedron phase data.G=GBO?Oۉw,W)Ay8Bf!I-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 82.58, 80.88, 86.32,  @ @ @  @ I)IW3٢7< =9Q > G٣y > EbBottom track data is 0.6 s old, using for 20.0 s. ENusing accuracyPremultiplier from configM59{?M5Yp! i9M+:IM:QU@JE);?5]B ]@YZjFNOT Ignoring new targets: 137.10 m.Bj%8{Jj%8{E ProNav: ac range: 137.100006 m, nav range: 38.898403 m, bearing: 260.370161 deg, approach rate: -0.054672 m/s, LOS rate: -0.878527 deg/s, cmd heading: 357.605154 deg, new cmd heading: 356.186132 deg. 2jM}HeadingCmd: 6.216621 target range: 137.100006 and range: 137.10 m. j}@jjjihhhhfffrfbf?ɛGw, CAFB@YF<F S=9FO4Z;F"CJRAAJRAAJTJVeJTJTJTJV9JTJTy^9BbWill construct direction to contact in vehicle frame from tetrahedron phase data.^g!IInIn3٢v;^; vl=9z9Q z?xx zG٣|y~ ~?  bBottom track data is 0.9 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config59c|?5YTr! ia :q:'@LE<'l?5 @Zj)-FNOT Ignoring new targets: 137.10 m.Bj5)nJj=)nE ProNav: ac range: 137.100006 m, nav range: 38.874691 m, bearing: 260.086903 deg, approach rate: -0.069679 m/s, LOS rate: -0.832869 deg/s, cmd heading: 356.186142 deg, new cmd heading: 355.335916 deg. 2jMMHeadingCmd: 6.201782 target range: 137.100006 and range: 137.10 m. jUt@jQjqjqiqhyhyhyhyfffrfbf ?ɛ=B6<  M= I M=ɚiIo8=Iֶiiu=)t@)*F?2F:FBF_0JFzKEBMKE59KAKE~ KErM+ RKU ?JKU?uWill construct direction to contact in vehicle frame from tetrahedron phase data.G=G B O > a Ia 疫w,\AH>>I< I>!II>WBI<&I<.I<6I>!<:I>i FymGBmy!I        Mb@Mb@Mb@ )Y|?5^?Onÿ:v?y ?T<A A) AI3@yQAIUIU ٢enm= e(=9eQ m>ii mG٣mUUGyu u> }Nusing accuracyPremultiplier from configy59}&|?5Y}t! i}T:?:s@}NE};}F;}%5B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 137.10 m.Bj}Jj} ProNav: ac range: 137.100006 m, nav range: 38.857624 m, bearing: 259.677928 deg, approach rate: -0.037022 m/s, LOS rate: -0.887547 deg/s, cmd heading: 355.335920 deg, new cmd heading: 354.108654 deg. 2jGHeadingCmd: 6.180362 target range: 137.100006 and range: 137.10 m. j@j j j i h h hhBfffrfbf}V?ɛM>BMFQ< QUIQ UK=ɚQiQIU?=I]>ҽiYie=)e@)a*F5?2F9:F9BF9JF9G] =G1 BA Oe >} Will construct direction to contact in vehicle frame from tetrahedron phase data. w,YvAVqT@YV.(<Vx=9VzK FNK 9K K  K <Ux^ BK :K oAMw,A24@Y2@[:2-=92dd fG٣hyjż j> nNusing accuracyPremultiplier from configlr59n?|?r5Ynv! intvv@nQEn*:n*:nK5x z@zEZjFNOT Ignoring new targets: 137.10 m.BjuJju ProNav: ac range: 137.100006 m, nav range: 38.827431 m, bearing: 259.070582 deg, approach rate: -0.043821 m/s, LOS rate: -0.859105 deg/s, cmd heading: 353.267301 deg, new cmd heading: 352.286051 deg. 2jfHeadingCmd: 6.148551 target range: 137.100006 and range: 137.10 m. j@jjj=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239694iAhAhAhAhIfIfIfIrfIbfU@'@ɛ @B-< 15޾I1 5I=ɚ1i1I5: =I=g i9iE=)E@)A $?IH}>Iy I}!II}\BIy&Iy.I}BD6I}<:I}V FE+=*F 2F :F BF `0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491702G =GiBqO>=w,p&A6@Y6@6<=96iq uG٣uVUGyuܹ u> Nusing accuracyPremultiplier from configy59}V|?5Y}5x! i}ݰ$?:mAm@}SE}<}<}x5uB u@uEZjFNOT Ignoring new targets: 137.10 m.BjcJjc Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743615= ProNav: ac range: 137.100006 m, nav range: 38.828800 m, bearing: 258.662912 deg, approach rate: 0.002676 m/s, LOS rate: -0.796432 deg/s, cmd heading: 352.286049 deg, new cmd heading: 351.063280 deg. 2j=MHeadingCmd: 6.127210 target range: 137.100006 and range: 137.10 m. jM@jIjIjIiQhQhQhQh]BfYfYfYrfYbfe@@@ɛBB0< V޾I ]MG=ɚiI&=IiiE>)E@)I $?IEeQ=*F ?2F :F BF _0JF J mJ gJ J J \8: Will construct direction to contact in vehicle frame from tetrahedron phase data.ս >ս %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997388J 9J J G h=GBO>yw,ήA2N@Y2m^@2/=92"NK>s9K<K> K>z[qY@ sh]TKB?972,(''%"! "yJyBJ!IIVIVm?3٢^= ^.=9b9Q b>`` bG٣`yfkü f> jNusing accuracyPremultiplier from confighr59j!l|?r5Yjy! ijprbMr@jVEj0;jl0;j5x z@xZjFNOT Ignoring new targets: 137.10 m.Bj%P}Jj%P}5 ProNav: ac range: 137.100006 m, nav range: 38.828968 m, bearing: 258.278971 deg, approach rate: 0.000387 m/s, LOS rate: -0.885855 deg/s, cmd heading: 351.063281 deg, new cmd heading: 349.911627 deg. 2j5=HeadingCmd: 6.107110 target range: 137.100006 and range: 137.10 m. j=rm@j9j9j9i9h9hAhAhAfAfIfIrfIbfM> @ɛ@< *ɾI "E=ɚiI=IM4i i >) rm@) mWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:23:31:06.0744 }TRx dataTimestamp_ set to:1736379067.340861}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248922E% M= IIIH>I I!IIvBI =&I.I*F?2F:FBFn0JF6I8<:I| FBIUǭCJIUǭCRIQZIU =bIU =jIU74G>G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500188w,kA6@Y6s@6g=96O G٣y   > Nusing accuracyPremultiplier from config59|?%5Y*z! i%^ ?%:%v%@WE/; ;v5) -%@5EZjYeFNOT Ignoring new targets: 137.10 m.BjedJjmd= ProNav: ac range: 137.100006 m, nav range: 38.857052 m, bearing: 257.922380 deg, approach rate: 0.063005 m/s, LOS rate: -0.799414 deg/s, cmd heading: 349.911629 deg, new cmd heading: 348.842759 deg. 2jE( HeadingCmd: 6.088455 target range: 137.100006 and range: 137.10 m. j@jjjihhhh>Bfff1rf9bfE @ɛCBH< y¾I -cD=ɚiI!=IEgGiAiMH>)M@)IEQEQ*EQ"EQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:31:06.0744 LVL= 18320, 28769, 22802, 25571, AGC= 61, IDX= 434,-0.11, 2.004, 0.401, 0.112, 1.098, PHS= 0.994,-0.649,-0.989, RAW= 80.8, 7.1, CAL= 85.8, 8.3, ROT= 64.2, -8.3 Ygot valid direction response: 23:31:06.0744 LVL= 18320, 28769, 22802, 25571, AGC= 61, IDX= 434,-0.11, 2.004, 0.401, 0.112, 1.098, PHS= 0.994,-0.649,-0.989, RAW= 80.8, 7.1, CAL= 85.8, 8.3, ROT= 64.2, -8.3 PDAT read: Bearing 64.2, -8.3 (Local) ~Local bearing/azimuth received: Bearing 64.2, -8.3 (Local) DAT read: Range 10 to 50 : 136.3 m (Round-trip 181.8 ms) speed 0.4 m/s ,DAT read: user:3285> BDAT read: Tx time:23:31:07.1884 $Ping request sent.I}l?i}Vyy};ӒD?IH~?)}B/I}i} @}Zyy :publishing transmit ping time Fpublishing direction and range infoy9}B(ɿ/ ? '?yyyyy y)yIyiyyyyy y)yIyiyyy};ӒD?IH~?)yIyiyyyyE 5 $?I1 *Fe ?2Fa :Fa BFe `0JFa Gi  Gi 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:23:31:07.1876 GM >GQGUqAG!B1OM?«w,wAB@YB~@B=9Bqq uG٣uWUGy}м }> Nusing accuracyPremultiplier from config59|?5Yz! i*ս@ZE ;C ;5B @Ekt5pw?k k kA:kLCBkeCZk(?"$p;92e)%-@))zKOK+9KK K  !%" *F?2F:FBF3JFG >Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOa> ! I! H >I  I !II BI &I .I 6I D<:I Fh/ȫw,T"AvL@Yv%@v5=9v: G٣y6 > Nusing accuracyPremultiplier from config 59  |?5Y {! i C ?:@ [E .; %-; i5! -@)mB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 136.30 m.BjY׼JjY׼5 ProNav: ac range: 136.300003 m, nav range: 13.724303 m, bearing: 220.320363 deg, approach rate: 0.406058 m/s, LOS rate: -1.506173 deg/s, cmd heading: 347.673868 deg, new cmd heading: 345.773005 deg. 2j55=HeadingCmd: 6.034877 target range: 136.300003 and range: 136.30 m. j=@jAjAjAiAhhhhvBfffrfbf`g?ɛ]EB}< 隅I A=ɚiI=IkD~ii+>)@)*FU?2FQ:FYBF]P5JFY Will construct direction to contact in vehicle frame from tetrahedron 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 m>G ?G /?G B O >  $?I UΫw,@6=96 xx zG٣xy~3. ~> Nusing accuracyPremultiplier from config 59|? 5Y3{! iW  @]E@:;5! -@-EZjQUFNOT Ignoring new targets: 136.30 m.Bj]ټJj]ټm ProNav: ac range: 136.300003 m, nav range: 13.873652 m, bearing: 219.760201 deg, approach rate: 0.409270 m/s, LOS rate: -1.518501 deg/s, cmd heading: 345.772999 deg, new cmd heading: 344.111099 deg. 2jmDuHeadingCmd: 6.005872 target range: 136.300003 and range: 136.30 m. ju0@jqjqjqiqhyhyhyhyfffrfbf@R?ɛK< ŮI @=ɚiI=Iii:7>)0@)*FQ2FQ:FQBFU_0JFQ"G]=G]=G5>GB5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253658OE0>zK DMK 9K K K   "Ohs|o@իw,VABWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505655j+@YjO;@j=9j|aa eG٣eXUGym m> uNusing accuracyPremultiplier from configq}59u9|?}5Yu~{! iumy}YG@u_Eu+;up/;uڭ5 @ZjFNOT Ignoring new targets: 136.30 m.BjѼJjѼ ProNav: ac range: 136.300003 m, nav range: 14.042727 m, bearing: 219.130160 deg, approach rate: 0.398364 m/s, LOS rate: -1.466553 deg/s, cmd heading: 344.111105 deg, new cmd heading: 342.244435 deg. 2j{ HeadingCmd: 5.973292 target range: 136.300003 and range: 136.30 m. j 6%@j j jihhhhfffrfbf%K? $?IɛFB< I z?=ɚiI4m =I)㕾i i 6>) 6%@)5tAH1I1 I5!II5BI1&I1.I16I5j<:I5 Fi*F?2F:FBFJF Y5tAyNBGU*>GBOc>JmJfJJJ\8:J9JJJD;JD;J:J:-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755905-j۫w,~oAy U@U ]@] ]@e  e@e IIF29Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59n|?5Y{! i+::@aE<;>U5B @EZj)-FNOT Ignoring new targets: 136.30 m.Bj5ҼJj5ҼE ProNav: ac range: 136.300003 m, nav range: 14.213346 m, bearing: 218.515589 deg, approach rate: 0.414237 m/s, LOS rate: -1.474154 deg/s, cmd heading: 342.244441 deg, new cmd heading: 340.423509 deg. 2jE|MHeadingCmd: 5.941511 target range: 136.300003 and range: 136.30 m. jM @jQjQjQiQhQhYhahafafafirfibfm?ɛGB < 隝I >=ɚiI/ =I4viiEW>) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008388*Fm?2Fi:FiBFiJFi IGE*>GGpAGa Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259724Ow,pA6K8@Y6G@6\=96J&B>!IIF IF̍2٢Ri\ R<9RQ R>TT VG٣TyZ Z> bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config`f59b4|?f5Yb2|! ibj :hj:j j@bbEb-;bI?bb5p rm@rEZj FNOT Ignoring new targets: 136.30 m.Bj}xѼJj}xѼ ProNav: ac range: 136.300003 m, nav range: 14.360052 m, bearing: 217.972270 deg, approach rate: 0.399684 m/s, LOS rate: -1.465064 deg/s, cmd heading: 340.423513 deg, new cmd heading: 338.810658 deg. 2j]{HeadingCmd: 5.913362 target range: 136.300003 and range: 136.30 m. jB:@jjjihhhhfffrfbf @ɛ=HBE< AE IA M]_==ɚIiIIM/ =IUYiqiuB^>)uB:@)y*F ?2F:FBFJFG GrAzK%UNK+9KK K{xqkgd^YRNJDA?=77510,($ Gn3>GBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513573 $?IH- >I)  I- "II- BI) &I) .I) 6I- 5<:I- z Fn{w,AJJjJJJJ9JJJJJ:J:yB!IiY>I<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764257 u u uu uu  } } }Mb@Mb@Mb@yyy y)yY}??y&1|y} ?}L=}`} A }dA)}AI} Ayy}AII(*3٢T .=9Q > G٣YUGy > Nusing accuracyPremultiplier from config59}?5Ya|! iűT:d ?:aݼ@dE6~;~b;p5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 136.30 m.Bj?Jj?u ProNav: ac range: 136.300003 m, nav range: 14.560580 m, bearing: 217.324335 deg, approach rate: 0.400011 m/s, LOS rate: -1.274667 deg/s, cmd heading: 338.810660 deg, new cmd heading: 336.894380 deg. 2juZ}HeadingCmd: 5.879916 target range: 136.300003 and range: 136.30 m. j}F(@jyjyjyiyhhhhBfffrfbf`@ɛ]JBef< aeľIa e;=ɚiiiIm =ImhȾiqiuP`q>)uF(@)q*FU?2FQ:FQBFYJFYG- U>G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iխ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015980 $?I w,QhAysB!IIIM3٢=н =e=9AQ E>AA MG٣IyI M> UNusing accuracyPremultiplier from configQ]59U}?]5YU|! iUaae@UfEU] ;U ;U5mB m(@mEZjFNOT Ignoring new targets: 136.30 m.BjмJjм ProNav: ac range: 136.300003 m, nav range: 14.713742 m, bearing: 216.845164 deg, approach rate: 0.470171 m/s, LOS rate: -1.455612 deg/s, cmd heading: 336.894382 deg, new cmd heading: 335.472142 deg. 2jyHeadingCmd: 5.855093 target range: 136.300003 and range: 136.30 m. j\@jjjihhhhfffrfbf Xg @ɛKB 7;<  ׾I  :=ɚiI =IԾiiVt>)\@)!*F?2F:FBF3JFJJ Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:31:09.7726 TRx dataTimestamp_ set to:1736379071.125423checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269588GU>GBO>zK% MK% 9K! K% K% RK- ?JK- >w,BׯA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521602UB@YU@Uм=9U3lyUH`-U?@7? ?Iȿ ,k?6? k`2r?ɨUB@U|;Qy}`B}!III3٢Դ D=9jQ > G٣yR4 > Nusing accuracyPremultiplier from config59+}?5Y }! iν@hEش;;е5 }$?I  U@ZjHI III&I.I6I<:I F-FNOT Ignoring new targets: 136.30 m.Bj-ֳJj-ֳ= ProNav: ac range: 136.300003 m, nav range: 14.883001 m, bearing: 216.248617 deg, approach rate: 0.360989 m/s, LOS rate: -1.257800 deg/s, cmd heading: 335.472145 deg, new cmd heading: 333.703450 deg. 2j=WuHeadingCmd: 5.824224 target range: 136.300003 and range: 136.30 m. ju `@jqjqjqiqhyhyhyhyfffrfbfW @ɛ}LB|< 隵I C8=ɚiIr =I-i1i]e>)e `@)iJK3 K.-KK"KJsJiJ1JJK:Jڈ9J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 23:31:09.7726 LVL= 10992, 24369, 16882, 23763, AGC= 56, IDX= 416, 0.05,-1.651, 3.109, 2.186,-2.764, PHS= 1.201,-0.363,-1.336, RAW= 67.7, 4.5, CAL= 69.5, 4.1, ROT= 80.5, -4.1 mYgot valid direction response: 23:31:09.7726 LVL= 10992, 24369, 16882, 23763, AGC= 56, IDX= 416, 0.05,-1.651, 3.109, 2.186,-2.764, PHS= 1.201,-0.363,-1.336, RAW= 67.7, 4.5, CAL= 69.5, 4.1, ROT= 80.5, -4.1 uPDAT read: Bearing 80.5, -4.1 (Local) u~Local bearing/azimuth received: Bearing 80.5, -4.1 (Local) DAT read: Range 10 to 50 : 135.0 m (Round-trip 180.0 ms) speed 0.0 m/s ,DAT read: user:3286> BDAT read: Tx time:23:31:10.8869 $Ping request sent.?|٠= C?)C=Iֳ?iCJe;Je;Ji:Jj:9Fe}?(@LD?)riIPiYN?j:publishing transmit ping timeؙFpublishing direction and range info9%%?*:T?y )Ii )Ii9Fe}?(@LD?)I*F ?2F :F BF ~0JF iG P{l>G B O >w,4HA @:_*@Y:9@:[=9:믢y:H@z1?`'??+˿F?{q?9oH?ɨ:_*@:}lj;:&CyBLBB!IMb@Mb@Mb@ )YDl?!) -G٣-ZUGy-YG ->]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:31:10.8861 uNusing accuracyPremultiplier from configiu59m@}?5Ym~! imE ?:J@mjEmx;m;mַ5 @Ek5'~?k5i k1 k59A:k5CBk5CZk5B?"5[a^n1$`O@RaAs]@5%%?*:T?Jk5YN?Rk5j*52-]s\@p-VP@Kqs]]@5)uw@)y*FE?2FA:FIBFMO5JFIG>G%qAG%qAGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,n A:HV@Y:e@:=9::$y:H? ?`΍?Kο?ආ?[@`?ɨ:HV@:+;:$Cyb;Bbi!IIhIh٢r=ֽ ry=9v)Q v?tt vG٣tyz_ z? ~Nusing accuracyPremultiplier from config|59~O}?5Y~~! i~h   3 @~kE~:~:~>5 @ZjAMFNOT Ignoring new targets: 135.00 m.BjM1<JjM1<] ProNav: ac range: 135.000000 m, nav range: 15.681327 m, bearing: 142.431260 deg, approach rate: 0.521035 m/s, LOS rate: 0.994530 deg/s, cmd heading: 332.079891 deg, new cmd heading: 332.978059 deg. 2je*=eHeadingCmd: 5.811563 target range: 135.000000 and range: 135.00 m. jeT@jijijiiihihihqhqfqfyfyrfybf}?ɛOBr 隵 I 5=ɚiI=Iii`>)T@)*Fi2Fq:FqBFu_0JFqzKQJK+9KK K  >~BKqA:KrA}Will construct direction to contact in vehicle frame from tetrahedron phase data.G!> e$?IaGBO>H I  I !II BI &I .I 6I <:I e FBIJIRIZI =bI =jIɡ3w,l$AWill construct direction to contact in vehicle frame from tetrahedron phase data.y 'B Q!IuMb@Mb@Mb@qqq q)qYugfffff?Mbp?yu3?u;u̼uzA u A)uAIu7Aqyu AIIT٢ %=9Q > G٣y > Nusing accuracyPremultiplier from config59f}?5Y! iW?:Zo@mE;;g5B @EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 135.00 m.Bj*m<Jj*m<% ProNav: ac range: 135.000000 m, nav range: 15.939989 m, bearing: 142.847967 deg, approach rate: 0.523322 m/s, LOS rate: 0.829388 deg/s, cmd heading: 332.978060 deg, new cmd heading: 334.207697 deg. 2j-L=-HeadingCmd: 5.833025 target range: 135.000000 and range: 135.00 m. j-#@j1j1j1i1h1h1h9h=PBf9fAfArfAbfE f?ɛPB< I =p3=ɚ9i9I==IEKiAiE!T>)E#@)I*F2F:FBF]0JFG&v>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. 9 I9 w,>A6汸@Y6g@6\=96y6H?3?@f?5Pҿ}?6׎?桿?ɨ6汸@6\,;4yRBR+!IIXIX٢bH b=9b++Q f?dd fG٣f[UGyjA* j? rNusing accuracyPremultiplier from configlv59n.u}?v5Yn! inвtzz@noEn;n;n5 @EZj!-FNOT Ignoring new targets: 135.00 m.Bj-L<Jj5L< ProNav: ac range: 135.000000 m, nav range: 16.105436 m, bearing: 143.071402 deg, approach rate: 0.533816 m/s, LOS rate: 0.713506 deg/s, cmd heading: 334.207686 deg, new cmd heading: 334.871073 deg. 2j<HeadingCmd: 5.844603 target range: 135.000000 and range: 135.00 m. j@jjjihhhhf f f rf bf`?ɛ]QB] ae$Ia m1=ɚiiiImF=Iuriqi} >)}@)y*F 2F :F BF _0JF JpJjJ/JJA:J9J(N3Ja@a@a@a@Ga>GG> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500609GBOE>zK] LK] s9KY K] K] |a='sI0 w,XA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751472:@Y:@:|=9:y:H@Z?!?2?&ӿ@Am?,w?o۰@? $?ɨ:@:=ۈ;:%CyeBe!II-I3٢rd <=9>;Q > G٣yh > Nusing accuracyPremultiplier from config59}?5 $?IY! i@qEv;w;5 @ZjFNOT Ignoring new targets: 135.00 m.Bj%9<Jj%9<5 ProNav: ac range: 135.000000 m, nav range: 16.340229 m, bearing: 143.357564 deg, approach rate: 0.540138 m/s, LOS rate: 0.648852 deg/s, cmd heading: 334.871061 deg, new cmd heading: 335.717148 deg. 2j5<=HeadingCmd: 5.859370 target range: 135.000000 and range: 135.00 m. j=@j9j9j9i9hAhAhAhAfIfIfIrfIbfMG?ɛSB R +I K/=ɚiI=I\ؾiif=)@)HyIy I}!II}BI} =&Iy.Iy6I}H<:I} F*F?2F:FBFc0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004641Ga>G B O >nw,trAb@Yb@b5=9bŅybH ? b?m?gտ'?9|k@?ɨb@b6܈;b&CyvނBv IMb@Mb@Mb@ )Y> ףp=?/$~jty?,ļA ` A)AIAy= AI.I3٢R  G=9A:Q > G٣yX > Nusing accuracyPremultiplier from config59}?5Yt! i;q?:5վ@sE;0;q5B AEZj9EFNOT Ignoring new targets: 135.00 m.BjE;JjE;] ProNav: ac range: 135.000000 m, nav range: 16.567993 m, bearing: 143.536209 deg, approach rate: 0.555823 m/s, LOS rate: 0.429959 deg/s, cmd heading: 335.717158 deg, new cmd heading: 336.245706 deg. 2j]GB!OEQ>J mJ gJ 0J J \8:J 9J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5075645"w,gFAynЂBn IvAvAIvIv[3٢%e %W=9-Q ->)) 5G٣5\UGy5 5> }Nusing accuracyPremultiplier from configy59}}?5Y}ψ! i}l@}uE}51;}P;}#¤5 9AZjFNOT Ignoring new targets: 135.00 m.Bj;Jj; ProNav: ac range: 135.000000 m, nav range: 16.783432 m, bearing: 143.700613 deg, approach rate: 0.554664 m/s, LOS rate: 0.417838 deg/s, cmd heading: 336.245705 deg, new cmd heading: 336.732575 deg. 2ja<HeadingCmd: 5.877092 target range: 135.000000 and range: 135.00 m. j$@jjjihhhhfffrfbf&@ɛ5UB52G 15&BI1 =i*=ɚ9i9I=9=IEfϾiE$wzKe(KNKe9KaKe KeGBO=>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759627 I) hC|uA Y|uAyBU 3@U XBHu >Iq  Iu !IIu RBIu =&Iq .Iq 6Iu <:Iu _ F)w,#-A#z@Y@#=9 G٣yν > Nusing accuracyPremultiplier from config59j}?5Y! i?:@wE:;5;?Ĥ5 AEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 135.00 m.Bj5fb;Jj5fb;E ProNav: ac range: 135.000000 m, nav range: 17.061115 m, bearing: 143.797764 deg, approach rate: 0.575105 m/s, LOS rate: 0.197933 deg/s, cmd heading: 336.732588 deg, new cmd heading: 337.019295 deg. 2jE Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264330 $?I iJ@/w,A6ô@Y6ӻ@6桏=96gE#%=ɚiI=I̾i1w - X#Rx 1: Read range message, but no direction.yC T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G=GyBO^>zK a3JK 59K K K    '6w,[ٰA"Will construct direction to contact in vehicle frame from tetrahedron phase data. i"A&BDAT read: Tx time:23:31:14.5869 &$Ping request sent.&9A EG٣E]UGyE" E> UNusing accuracyPremultiplier from configI59M}?5YM! iM@MzEMhGy B O >U G٣y) > Nusing accuracyPremultiplier from config59}?5Y4! iV?:#@|E;D;8ɤ5 AZjFNOT Ignoring new targets: 135.00 m.BjJj ProNav: ac range: 135.000000 m, nav range: 17.722649 m, bearing: 143.890791 deg, approach rate: 0.626184 m/s, LOS rate: -0.020336 deg/s, cmd heading: 337.316843 deg, new cmd heading: 337.294824 deg. 2jL_ HeadingCmd: 5.886905 target range: 135.000000 and range: 134.90 m. j a@jjjihhhhBfff!rf!bf%`?ɛMXBMh QUemIQ U 7=ɚQiQI]h=I]>ʾi]tJ mJ dJ J J \8:J |9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755474z:Cw,~ A6(K@Y6Z@6?=96k=y6H??գ? DQܿ঒?Y`cd?@J?ɨ6(K@6ʌ;4yRmBRl IIZIZ٢b묽 bW=9bر:Q f>dd fG٣dyjS j> nNusing accuracyPremultiplier from configlr59n}?r5Ynș! intv'v@n~En;n;nʤ59 =[A=EZjFNOT Ignoring new targets: 135.00 m.Bj.7Jj.7 ProNav: ac range: 135.000000 m, nav range: 17.946144 m, bearing: 143.874940 deg, approach rate: 0.571644 m/s, LOS rate: -0.040037 deg/s, cmd heading: 337.294822 deg, new cmd heading: 337.247862 deg. 2jۺHeadingCmd: 5.886086 target range: 135.000000 and range: 134.90 m. jZ@jjjihhhhfffrfbf?ɛMYBMܙ IUuIY ] =ɚYiYI]o=I}P˾i}S?shIw,6v'AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263424I@Y @qސ=9%`=yH?x?#? {?ܿk?@ﰶ@>??ɨI@&;#Cy\BW I)! !%A!%Mb@Mb@Mb@!!! !)!Y%(\?/$X9vy%z?%1%%zA %A)%IAI%;A!y%3 AI5I5ԲMPExceeded connect timeout, disconnecting.٢U U'=9UQ ]>YY ]G٣]^UGyeQ e> mNusing accuracyPremultiplier from configiu59m~?u5Ym! im}?}:}K1}@mEm/;m;mͤ5B A|EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 135.00 m.BjJj ProNav: ac range: 135.000000 m, nav range: 18.234459 m, bearing: 143.818645 deg, approach rate: 0.605466 m/s, LOS rate: -0.116351 deg/s, cmd heading: 337.247858 deg, new cmd heading: 337.081643 deg. 2jHeadingCmd: 5.883184 target range: 135.000000 and range: 134.90 m. j C@jjjihYhahaheBfafifirfibfm?ɛĝּ ~I f=ɚiIG=I̾i qe Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie Au checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512314  $?I LPw,AAA6ò@Y6ӹ@6=96ׇ=y6H`8^?`J?Ġ?` CݿN?@Kj=9`???ɨ6ò@6n';6"CyNPBRH IIZ4IZV3٢bG b=9f:Q f ?dh jG٣hyj j ? rNusing accuracyPremultiplier from configpv59r~?v5Yrס! irtv3v@rErX:r:rgΤ5| ~IA|ZjFNOT Ignoring new targets: 135.00 m.BjhJjh ProNav: ac range: 135.000000 m, nav range: 18.422735 m, bearing: 143.778852 deg, approach rate: 0.561719 m/s, LOS rate: -0.117508 deg/s, cmd heading: 337.081638 deg, new cmd heading: 336.963479 deg. 2jJHeadingCmd: 5.881122 target range: 135.000000 and range: 134.90 m. j'2@jjjihhhhfffrfbf?ɛeZBmϺ- im~Ii ma\=ɚiII=I<;ieoLWWw,X^AV @YV@VQ=9V=yVH M???`ݿ`;?@e ?@8?ɨV @V1;V%CybFBb< IIj5Ij3٢r&% r0=9rQ r>ttH~>I| I~ II~BI|&I|.I|6I~Q<:I~ FBICJICRIZIbIjIIJ4 G٣yz > %Nusing accuracyPremultiplier from config!-59%.~?-5Y%! i%d15%45@%E% ;%: ;%uФ59 =A9ZjamFNOT Ignoring new targets: 135.00 m.Bj}Jj} ProNav: ac range: 135.000000 m, nav range: 18.699465 m, bearing: 143.718111 deg, approach rate: 0.609708 m/s, LOS rate: -0.131848 deg/s, cmd heading: 336.963476 deg, new cmd heading: 336.783950 deg. 2jHeadingCmd: 5.877989 target range: 135.000000 and range: 134.90 m. j|@jjjihhhhfffrfbfG@ɛ 隕I g=ɚiI =IuϾi)m nManaging dock network, ignoring radio surface power offz]w,xA6防@Y6j@6=96Z=y6H@(L?!?@%?&ݿ@P4?@Sfso?@>?ɨ6防@6b;4yN>BR2 IiVG>IVp=mMb@Mb@Mb@iii i)iYm +?㥛 ¿X9vym?mim3A mQA)iIiiym AI(I̍3٢ @=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5234129Q > G٣_UGyº > Nusing accuracyPremultiplier from config59>~?5Y! i?:8@E;;Q:; $?IMҤ5 AyEZjFNOT Ignoring new targets: 135.00 m.Bj3Jj3- ProNav: ac range: 135.000000 m, nav range: 18.952503 m, bearing: 143.650372 deg, approach rate: 0.595665 m/s, LOS rate: -0.157333 deg/s, cmd heading: 336.783951 deg, new cmd heading: 336.583446 deg. 2j-׻5HeadingCmd: 5.874489 target range: 135.000000 and range: 134.90 m. j5@j1j9j9i9h9h9hAhEBfAfAfIrfIbfU`a@ɛY]i= Y]IY ek =ɚaiaIe=Im@Ѿim4!kM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775255bdw, eAJ @YJ@J˄=9J5R=yJH Q?`?&?<ݿ0? u׵?`?ɨJ @Jh;J&Cyb5Bb( IIz%Iz)3٢e- eN=9e Q e>ii mG٣iym/; u> }Nusing accuracyPremultiplier from configy59}M~?5Y}!! i}O8@}E}:}:}Ԥ5 AZjFNOT Ignoring new targets: 135.00 m.Bj.Jj. ProNav: ac range: 135.000000 m, nav range: 19.189926 m, bearing: 143.589581 deg, approach rate: 0.603387 m/s, LOS rate: -0.152582 deg/s, cmd heading: 336.583444 deg, new cmd heading: 336.403329 deg. 2jnѻHeadingCmd: 5.871346 target range: 135.000000 and range: 134.90 m. j@jjjihhhhfffrfbf @ɛ!%57 !-AI) 5} =ɚ1i1I5 =I=Ҿi=&|iI I IIBI&I.I6If<:I FG9GBO >*J R="J J nJ fJ J J |;:J 9J J J J;J J;J :J :e Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282385jw,ٱA=W²@Y=ѹ@=?w=9=y=y=Hb?`3?!? Jݿ`7?.@﮿zٸ?F?ɨ=W²@=֊;=$CyU2BU$ IMb@Mb@Mb@ )Y㥛 ?V-¿/$y?h\A A)AIAyz AI-I-(*3٢5Z =:=9=#Q =>AA EG٣AyMe< M> UNusing accuracyPremultiplier from configQe59Uf^~?e5YU! iU+m?m:m06m@UEUd;Uc;Uդ5q u4AqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 135.00 m.BjJj ProNav: ac range: 135.000000 m, nav range: 19.450924 m, bearing: 143.530889 deg, approach rate: 0.593663 m/s, LOS rate: -0.131708 deg/s, cmd heading: 336.403318 deg, new cmd heading: 336.229607 deg. 2jǴHeadingCmd: 5.868314 target range: 135.000000 and range: 134.90 m. j:ɻ@jjjihhhhBfffrfbf@ @ɛ[B   I  U=ɚiIuF"=IjԾig BDAT read: Tx time:23:31:18.2870 $Ping request sent.ډډۍ K=Tf?QGh0]Q)ۍI Iۍn9x=iۍT_?ۍ˒yۉۉ%:publishing transmit ping time%Fpublishing direction and range info؉9؍$r?@?h?Dg|?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ K=Tf?QGh0]Q)ۉIۉiۉۉۉۉGU %$$G B O5 >6qw,x`ƱAyn*Bn I)p pIvIv2٢-. -_=9-Q ->11 5G٣5`UGy] ]> eNusing accuracyPremultiplier from configam59el~?u5Yes! ie`qqu@eEeT( !%I! %#=ɚ!i)I-#=I-.վi5e:-#   ~G 5tA Y 5tAy BG G H >I  I f II iBI &I .I 6I <:I k FB O5 >xw,A2@Y2>/@2%rJ=92m=y2H@??@˨ܿJ? K@ؿ?K?ɨ2@2Q;0y>)B> IIFIF(٢N׻ NE=9RټQ R>PP VG٣TyV,< V> ^Nusing accuracyPremultiplier from configX^59Z[|~?b5YZ! iZ`b2b@ZEZ;Z;Z[٤5d jAjvEZjFNOT Ignoring new targets: 135.80 m.Bj<Jj< ProNav: ac range: 135.800003 m, nav range: 38.072010 m, bearing: 108.214408 deg, approach rate: 0.507923 m/s, LOS rate: 0.473861 deg/s, cmd heading: 336.073065 deg, new cmd heading: 336.655306 deg. 2j<HeadingCmd: 5.875743 target range: 135.800003 and range: 135.80 m. j@jj j i h h)h1h1f1f1f9rf9bf= ?ɛZB` 隍\I ϊ<ɚiI$=I8оii)@)JJAAJoJdJJJ>:J|9JJJ}O;JO;J:J:-Will construct direction to contact in vehicle frame from tetrahedron phase data.*FI2Fi:FiBFu^0JFqG G B O >E~w,A &$?I$BWill construct direction to contact in vehicle frame from tetrahedron phase data.JnD@YJS@J,=9J?>yJH S?%~? p@iܿ`FJ?`¿V3?]?ɨJnD@J8;Hyn7Br* IuMb@Mb@Mb@qqq q)qYuV-? rh G٣yj(< > UNusing accuracyPremultiplier from config]59Ҍ~?]5Yؿ! i϶]?e:e0e@E<;Bۤ5i mAiZjFNOT Ignoring new targets: 135.80 m.Bj<Jj< ProNav: ac range: 135.800003 m, nav range: 38.286366 m, bearing: 108.416741 deg, approach rate: 0.494002 m/s, LOS rate: 0.463684 deg/s, cmd heading: 336.655298 deg, new cmd heading: 337.258875 deg. 2j<HeadingCmd: 5.886278 target range: 135.800003 and range: 135.80 m. jc\@jjjihhhh ̃Bf f f1rf1bf5 3?ɛ * 隅ÈI <ɚiI2&&=I7˾iiY)c\@)*Fe?2Fa:FaBFe`0JFi5Will construct direction to contact in vehicle frame from tetrahedron phase data.G oG B O >.w,A6w^@Y6m@6B=96@>y6H@Ʊ?[??`'<ܿ|S?[¿`e' e??ɨ6w^@6m;4yB2BB$ IiF=IF7?ININi٢Vͼ V[=9VIQ Z>XX ZG٣ZaUGy^ <  > %Nusing accuracyPremultiplier from config!-59%t~?=5Y%! i%AE/E@%E%ˁ;%;%ܤ5]B e<AesEZjFNOT Ignoring new targets: 135.80 m.BjM <JjM < ProNav: ac range: 135.800003 m, nav range: 38.476315 m, bearing: 108.595210 deg, approach rate: 0.517316 m/s, LOS rate: 0.483650 deg/s, cmd heading: 337.258868 deg, new cmd heading: 337.791615 deg. 2j<HeadingCmd: 5.895576 target range: 135.800003 and range: 135.80 m. j@jjjihhhhfffrfbf D?ɛO 鉿I 4<ɚ i I &'=Itƾiio.)@)! =$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLKs9KK K  *F?2F:FBF0JFG GaBiO9>jHbHH>I IZ II^BI =&I.I6I<:Ie FJ lJ fJ /J J <5:J 9J (N3J J K?;J M?;J :J :M Will construct direction to contact in vehicle frame from tetrahedron phase data.U >U I?~Xw,S/A2@Y2@20<92& >y2H`^?A?V@ۿ~b?G¿ ŝ?L?`ܞ?ɨ2@2$;2"Cy>5BB' I}Mb@Mb@Mb@yyy y)yY}i|?5?i|?5 G٣y'< > Nusing accuracyPremultiplier from config59~?5Y! i#?:.'@E;;ޤ5 *AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 135.80 m.Bj <Jj <% ProNav: ac range: 135.800003 m, nav range: 38.680023 m, bearing: 108.798402 deg, approach rate: 0.485961 m/s, LOS rate: 0.482174 deg/s, cmd heading: 337.791623 deg, new cmd heading: 338.397964 deg. 2j%t<-HeadingCmd: 5.906158 target range: 135.800003 and range: 135.80 m. j-@@j)j)j1i1h1h1h9h=Bf9f9fArfAbfE@2?ɛim^L8 iuFIq uO<ɚqiqIu$*(=I ii2A)@@)*F-?2F):F)BF-N1JF) !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.GGpAGpAG B O >DAw,:uIA6]@Y6ú@6<96ߥ>y6H?n?ʃۿ hx? R¿ 7??ɨ6]@6.A;4yNFBN< IIVIVm?3٢b= bZ=9f=FQ f>dd fG٣dyj< n> rNusing accuracyPremultiplier from configpv59r~?v5Yr! irBtv%v@rEr:r:rp5| ~A~pEZj!%FNOT Ignoring new targets: 135.80 m.Bj- <Jj- <= ProNav: ac range: 135.800003 m, nav range: 38.860691 m, bearing: 108.978805 deg, approach rate: 0.482136 m/s, LOS rate: 0.479189 deg/s, cmd heading: 338.397952 deg, new cmd heading: 338.936628 deg. 2j=n  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504877zK "KK K K K H >I  I ` II dBI &I .I 6I <:I J Fkw,eRcAB'@YB@BƢ<9B+>yBH`b?N?`qt`@ۿ ? ?¿}X^?ޜ?ɨB'@BĊ;B$CyN@BN5 I)P PIV&IV3٢׼ E=9%7Q %>!! -G٣-bUGy-e< -> =Nusing accuracyPremultiplier from config1=595~?E5Y5! i5cAE#E@5E5G);53;5@5y }AyZjFNOT Ignoring new targets: 135.80 m.Bjl<Jjl< ProNav: ac range: 135.800003 m, nav range: 39.059521 m, bearing: 109.177927 deg, approach rate: 0.468287 m/s, LOS rate: 0.466588 deg/s, cmd heading: 338.936636 deg, new cmd heading: 339.530939 deg. 2j< HeadingCmd: 5.925933 target range: 135.800003 and range: 135.80 m. j >@j1j1j1i1h1h1h9h9fAfAfIrfIbfMas@ɛ0 隽2I P<ɚiI)=I鶾ii=BW)>@)IJ nJ iJ 0J J |;:J ڈ9J ـ3J J J;J J;UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769213J i:J j:*F 2F :F BF V5JF G= ;,BG B) OE > I w,#}AB@YB%@Bml<9B>yBH??@ Rڿ?¿@s`?`ѝ?ɨB@BÊ;B#CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016932yVNBVF I]Mb@Mb@Mb@YYY Y)YY]kt?Zd;O~jtxy] ?]j]Ļ]&A Y)]/AI] AYy]\AIuIum?3٢v= D=9UQ > G٣y^I< > Nusing accuracyPremultiplier from config59o~?5YF! i{ ?:@E{;-;5 bAoEZjFNOT Ignoring new targets: 135.80 m.Bj<Jj< ProNav: ac range: 135.800003 m, nav range: 39.250401 m, bearing: 109.386251 deg, approach rate: 0.441089 m/s, LOS rate: 0.479057 deg/s, cmd heading: 339.530944 deg, new cmd heading: 340.152851 deg. 2jb<HeadingCmd: 5.936787 target range: 135.800003 and range: 135.80 m. j)@jjjihhhh Bfffrfbf%`@ɛXB|1 隝I ,<ɚiI*=I[iijk))@)*F?2F:FBF3JFG]SGB!OMt>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:31:20.8727 ]TRx dataTimestamp_ set to:1736379082.228557echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269882;|w,A2R@Y2a@2=<92q>y2H`]? 2M?Quψڿ ?`o¿˹?ȝ?ɨ2R@2;2'Cy8<IJ IJV2٢R; RZ=9VTT VG٣XyZǟ< Z> ^Nusing accuracyPremultiplier from config\b59^j~?b5Y^b! i^dff@^E^:^:^5h j_AhZjFNOT Ignoring new targets: 135.80 m.Bj<Jj< ProNav: ac range: 135.800003 m, nav range: 39.420929 m, bearing: 109.573031 deg, approach rate: 0.465212 m/s, LOS rate: 0.507343 deg/s, cmd heading: 340.152846 deg, new cmd heading: 340.710745 deg. 2j<HeadingCmd: 5.946524 target range: 135.800003 and range: 135.80 m. jI@jjjihhhhfffrfbf@ @ɛIM2(J IMWII uD<ɚqiqI}x+=I}^ii9q)I@) $?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522078zK-BoHK-9K)K- K-*F=?2F9:F9BF=^0JF9GEqA GErAZHQRHUAAHiIi Ims IImsBIi&Ii.ImCD6Im<:ImV FBIYJIYRIYZI] =bI] =jI]N;5GGBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data."w,UAZDAT read: 23:31:20.8727 LVL= 15296, 21169, 20658, 28467, AGC= 60, IDX= 448, 0.38, 2.202, 1.100,-0.221, 0.960, PHS= 1.330, 0.187,-1.184, RAW= 57.0, -3.1, CAL= 61.0, -7.4, ROT= 89.0, 7.4 ^Ygot valid direction response: 23:31:20.8727 LVL= 15296, 21169, 20658, 28467, AGC= 60, IDX= 448, 0.38, 2.202, 1.100,-0.221, 0.960, PHS= 1.330, 0.187,-1.184, RAW= 57.0, -3.1, CAL= 61.0, -7.4, ROT= 89.0, 7.4 bPDAT read: Bearing 89.0, 7.4 (Local) b~Local bearing/azimuth received: Bearing 89.0, 7.4 (Local) nDAT read: Range 10 to 50 : 136.2 m (Round-trip 181.6 ms) speed -0.1 m/s r,DAT read: user:3289> vBDAT read: Tx time:23:31:21.9870 v$Ping request sent.zy%H`13??`]V.ڿd?@a¿`#n&??ɨ%@ Fpublishing direction and range info%;%%Cؑ9ؕIϞ?޸a?:"D?yؕ3Cؑؕ;ؕRySBL I ٕP)ٕ3oIٕ<iٕq=?ٕ|?>ٕPٕ~?ٕk] ڕ{F?)ڕ AIڕ?iڕ A>ڑڑە(|a ?N?Ux՛)ەƼIە\=iە?ەiۑۑe:publishing transmit ping timeteFpublishing direction and range infoim=Ima=ؑ9ؕIϞ?޸a?:"D?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە(|a ?N?Ux՛)ۑIۑiۑۑۑۑMb@Mb@Mb@ )Yv/?Q~jtx?yx ?u;=A )AII Ay3AI I2٢̇< =90Q =>99 EG٣EcUGyE ?< E> MNusing accuracyPremultiplier from configIU59M~?U5YM)! iM}V ?}:}x}@MEMZ;M;M5B @AlEks*gZ?kK k kbA:k3CBkLCZk2?"Rɿ@[T@iZ@IϞ?޸a?:"D?Jk?Rki*Sa@?@u@M@<{]@$o?VOP?;'Z?"khB*kdAkl?kY 2k18CkK~?kX k18CkUBkA? }$?Iy addTargetRange:: Added new target pos. range: 136.199997 m, deltaT: 3.788453 s, deltaX: 0.399994 m, approachRate: 0.105582 m/s, rangeRepo size: 4  Added new target pos. range: 136.199997 m, bearing: 61.413346 deg, lat: 36.904412 deg, lon: -122.120323 deg, deltaT: 3.788453 s, deltaX: 0.399994 m, approachRate: 0.105582 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 136.20 m.BjJj- ProNav: ac range: 136.199997 m, nav range: 53.460098 m, bearing: 90.215770 deg, approach rate: 0.000000 m/s, LOS rate: 0.507343 deg/s, cmd heading: 340.710736 deg, new cmd heading: 341.523848 deg. 2jIUHeadingCmd: 5.960716 target range: 136.199997 and range: 136.20 m. jU/@jQjQjYiYhYhYhYheBfafifrf`fa@bf y?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛWB rR=I <ɚiI0,=Iiiچ)/@)*F?2F:FBFZ0JFG qG qAG rAJKcw3 KKK"KJ lJ dJ J J <5:J |9J J a @a @a @a @G B O>vw,{βA&Will construct direction to contact in vehicle frame from tetrahedron phase data.f@Yf}@f59fj)>yfH@^?@.?`Ъifٿ?V¿? o?ۏ?ɨf@fü;f$Cy=\BEW IIUIU٢e@= e[=9eQ m>ii mG٣iyu= u> Nusing accuracyPremultiplier from config59 ?5Y! i @E:n:5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 136.20 m.Bj<Jj<= ProNav: ac range: 136.199997 m, nav range: 53.560371 m, bearing: 90.401096 deg, approach rate: 0.293380 m/s, LOS rate: 0.541211 deg/s, cmd heading: 341.523857 deg, new cmd heading: 342.078774 deg. 2jEWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKjIKs9KK KRK ?JK?H I  I II BI =&I .I 6I <:I m Fw,(,AF(@YF#@FUc9FB)>yFH@Sl? ӫ?Ƴb%ٿ ?`¿nr? .??ɨF(@Ff;DyZaBZ^ IIrIr(*٢z< zS=97jQ >    G٣ y4< > %Nusing accuracyPremultiplier from config!559%?55Y%! i%9==@%E%T;%;%O5I UAUiEZjFNOT Ignoring new targets: 136.20 m.Bj <Jj < ProNav: ac range: 136.199997 m, nav range: 53.665535 m, bearing: 90.595532 deg, approach rate: 0.266618 m/s, LOS rate: 0.491981 deg/s, cmd heading: 342.078768 deg, new cmd heading: 342.660914 deg. 2jҨ<HeadingCmd: 5.980561 target range: 136.199997 and range: 136.20 m. j`@jjjihh hhfffrfbf?}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.948844ɛUBҌ( 隝yI ];<ɚiI-=Iii4)`@)EqAE*F?2F:FBFJF"G=G > I G 憽- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198708G B O% >o{w,A:IF@Y:U@:9:j4+>y:HJ?>B?&ٴ ؿ(!?¿@!?L?@\?ɨ:IF@:;8yfbBf_ I)l lprAeMb@Mb@Mb@aaa a)aYeDl?ˡEyeO ?e'ea eA)eAIevAaye\AI}I}ʴ٢p; A=9:Q > G٣dUGym< > Nusing accuracyPremultiplier from config59l.?5YJ! i ?:@E;;%5 AZjFNOT Ignoring new targets: 136.20 m.Bj"<Jj"< ProNav: ac range: 136.199997 m, nav range: 53.773674 m, bearing: 90.815386 deg, approach rate: 0.260487 m/s, LOS rate: 0.528522 deg/s, cmd heading: 342.660919 deg, new cmd heading: 343.319125 deg. 2j \< HeadingCmd: 5.992049 target range: 136.199997 and range: 136.20 m. j ޾@jjjihhhh4Bff!f!rf!bf% ?ɛTB`P xI ç<ɚiIrs-=I%i!i%Ó)%޾@))JkJcJJJ2:Jx9JJ}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449315EUPz=*F2F:FBFJF $?I G j)) - rC .~G |uAG B -Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701361 MYM|uAyMNBOU>Ǭw, Ab̑@YbN@b&9bɾ/>ybH?? ǵ<ؿ 9?)ÿY???zKja3JKj9KhKj KjBKnpA:KnpAɨb̑@b7;b"CyvdBva IIIm?3٢; 4=9Q > G٣y< %> -Nusing accuracyPremultiplier from configjH<bH<HI I IIBI =&I.I6I$<:Iv F!59%ZA?%5Y%ͬw,9AyzhBze I AIAMb@Mb@Mb@ )Y|?5^?{Gzty ?̼ף A A) AIAyzAII2٢< @=9Q > G٣y > Nusing accuracyPremultiplier from config59iS?5Y! i ?:ܾ@E/;;5 AcEZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205504FNOT Ignoring new targets: 136.20 m.Bj\<Jj\< ProNav: ac range: 136.199997 m, nav range: 53.992046 m, bearing: 91.277996 deg, approach rate: 0.248644 m/s, LOS rate: 0.543311 deg/s, cmd heading: 344.029033 deg, new cmd heading: 344.704075 deg. 2jo<HeadingCmd: 6.016221 target range: 136.199997 and range: 136.20 m. j%@j!j!j!i!h!h!h)h-]Bf1f9f9rf9bfE`:4@ɛmRBm? iutIq uū<ɚqiqIu.=I}iyi}x)}@)EE*E"E*F2F:FBF`0JFGpA GpAJ lJ gJ J J <5:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457355G G B O >aլw,KVA6'@Y67@6h96L6>y6H@|?x?a9%׿ xl?ÿ ?v?{?ɨ6'@6;6&Cy>fB>c IiB>IB=IJIJ3٢R9 RF=9RGQ V>X` fG٣feUGyf4= f> nNusing accuracyPremultiplier from confighn59j5e?r5YjE! ijpruӾr@jEjv:j:j5t vAx B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 136.20 m.Bj% <Jj% <= ProNav: ac range: 136.199997 m, nav range: 54.089672 m, bearing: 91.499439 deg, approach rate: 0.248456 m/s, LOS rate: 0.562551 deg/s, cmd heading: 344.704075 deg, new cmd heading: 345.367173 deg. 2j= HYIY I] II]BIY&IY.IY6I]<:I]o FJ J ] Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:31:24.5731  TRx dataTimestamp_ set to:1736379085.763588 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970939۬w,qA{z@Y@" 9s8>yH0??`Z0ֿ້ࣇ?ÿ^??Hv?ɨ{z@:;騩y޹޽d IUMb@Mb@Mb@QQQ Q)QYUB`"?:v~jtxyU?UԼUĻUA UlA)Ud AIU3AQyUAImIm(*3٢}S; })=9TQ > G٣y < > Nusing accuracyPremultiplier from config59z?5Y! iw?:ξ@E;F;5B A`EZjFNOT Ignoring new targets: 136.20 m.BjL<JjL< ProNav: ac range: 136.199997 m, nav range: 54.202419 m, bearing: 91.757946 deg, approach rate: 0.234306 m/s, LOS rate: 0.536099 deg/s, cmd heading: 345.367177 deg, new cmd heading: 346.141035 deg. 2j<HeadingCmd: 6.041301 target range: 136.199997 and range: 136.20 m. jVR@j j j i hhhhCBfffrfbf`' @ %$?I!ɛOBb! 隭`tI Sؕ<ɚiIa.=Iwiih)VR@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214419*F?2F:FBF0JF"G=G=G G ?G >G B O >w,AJIJMbJM1JIJIJMt9JM3JIy޽aB޽] IWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:31:24.5731 LVL= 10000, 14241, 14946, 23715, AGC= 58, IDX= 437,-0.40, 1.886, 0.903,-0.394, 0.719, PHS= 1.256, 0.231,-1.116, RAW= 55.5, -3.6, CAL= 59.5, -8.1, ROT= 90.5, 8.1 Ygot valid direction response: 23:31:24.5731 LVL= 10000, 14241, 14946, 23715, AGC= 58, IDX= 437,-0.40, 1.886, 0.903,-0.394, 0.719, PHS= 1.256, 0.231,-1.116, RAW= 55.5, -3.6, CAL= 59.5, -8.1, ROT= 90.5, 8.1 PDAT read: Bearing 90.5, 8.1 (Local) ~Local bearing/azimuth received: Bearing 90.5, 8.1 (Local) DAT read: Range 10 to 50 : 136.5 m (Round-trip 182.0 ms) speed -0.2 m/s ,DAT read: user:3290> BDAT read: Tx time:23:31:25.6885 $Ping request sent.َw? ?)I-?i>)88v?y4xC) I72=ig?bIIV83:publishing transmit ping timeةFpublishing direction and range info9yOg?RFtV-?遧?y )Ii )Ii)88v?y4xC)Ii٢ !=9Q %>!! %G٣!y- -> Nusing accuracyPremultiplier from config1595?5Y5! i5o@5E50<5:55 Akᇜ?ko_e k k@A:kCBkCZk;3?"z@1) U@)P.oZ@yOg?RFtV-?遧?Jkg?Rkb*ޝ2@,q9@o͡ON@/]@.΢5?Пrl?0 ?"k}rB*kAk?k˂ٱ 2k8Ck?kY kkkBk? addTargetRange:: Added new target pos. range: 136.500000 m, deltaT: 3.527763 s, deltaX: 0.300003 m, approachRate: 0.085041 m/s, rangeRepo size: 4  Added new target pos. range: 136.500000 m, bearing: 67.233070 deg, lat: 36.904658 deg, lon: -122.120271 deg, deltaT: 3.527763 s, deltaX: 0.300003 m, approachRate: 0.085041 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 136.50 m.Bj-Jj)= ProNav: ac range: 136.500000 m, nav range: 64.210556 m, bearing: 66.657159 deg, approach rate: 0.000000 m/s, LOS rate: 0.536099 deg/s, cmd heading: 346.141037 deg, new cmd heading: 347.014953 deg. 2j9EHeadingCmd: 6.056553 target range: 136.500000 and range: 136.50 m. jEI@jAjAjaiihihihihifqfqfyrf}a@bf}}? $?IɛNB 2  `vI  <ɚ i I .=I0hii1)I@)*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:31:25.6877 H9 I9  I= II= BI9 &I9 .I9 6I= 1<:I=  FzKM MKM +9KI KM KM 1ALTUTUTVVVWZXURPNJD?83.&! G GBO>aw,AJ4@YJ-@J'9J>>yJH@I$?ͅ?w`Tտ׹?!Ŀ?`b?k?ɨJ4@JR;J$Cyv^BvZ I)| |BAI I ٢^ h=92Q >!! %G٣%fUGy%h= -> UNusing accuracyPremultiplier from config)]59-J?]5Y-! ]tIi-fY]ľe@-E-;-;-5mB mAiZjFNOT Ignoring new targets: 136.50 m.Bj<Jj%= Will construct direction to contact in vehicle frame from tetrahedron phase data.Fw,ZųAyYB%S IMb@Mb@Mb@ )Ygfffff?Zd;OQy3?ju!A A) AIAyQAIIM٢%ż %;=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59= ?M5Y=Y! i=b]^?e:eſm@=E=q;=];=5B !A]EZjFNOT Ignoring new targets: 136.50 m.Bjk<Jjk< ProNav: ac range: 136.500000 m, nav range: 64.199219 m, bearing: 67.057272 deg, approach rate: -0.016645 m/s, LOS rate: 0.533027 deg/s, cmd heading: 347.541035 deg, new cmd heading: 348.215333 deg. 2j<HeadingCmd: 6.077504 target range: 136.500000 and range: 136.50 m. jz@jjjihhhhIBfffrfbf`jY?ɛLBa ~yI! %r<ɚ!i!I%.=I-Ri)i5½)5z@)1*F?2F:FBFP0JFGqA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G G?G G pAG B O% >  $?I pw,e5߳A~Will construct direction to contact in vehicle frame from tetrahedron phase data.ySBL IIIn٢5 5[=99Q =>AA EG٣AyI M> UNusing accuracyPremultiplier from configI]59M?]5YMl! iM^YY]@MEM ;Mz ;M25i mPAiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 136.50 m.Bj<Jj< ProNav: ac range: 136.500000 m, nav range: 64.194016 m, bearing: 67.249208 deg, approach rate: -0.014112 m/s, LOS rate: 0.520609 deg/s, cmd heading: 348.215338 deg, new cmd heading: 348.791170 deg. 2j<HeadingCmd: 6.087554 target range: 136.500000 and range: 136.50 m. j?@jjjihhhhfffrfbf@?ɛ%KB-.g 9={I9 =y<ɚ9i9I= /=IElSHiAiEeҽ)M?@)IHyIy I} II}ĂBIy&Iy.Iy6I}<:I}S FBI9JI9RI9ZI9bI9jI=Ls4zKMMKIKIKM KM-KkdJoK*dM<'*F?2F:FBF]0JFJnJeJ0JJ|;:J9Jـ3JJa%Ja-J:a5J:a=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G) BQ O >Ĝw,+A2@Y2p@2Z92 G>y2H l? ?׻Oӿ ?|ſ M@? ^?UZ?ɨ2@2 T;0y>MBBE IiF=IF> J=J=Mb@Mb@Mb@ )Y5^I ?MbII MG٣MgUGyU= I > Nusing accuracyPremultiplier from config59?5Y! iZ?:þ@E;W; 5! %A%ZEZjamFNOT Ignoring new targets: 136.50 m.Bjq<Jjq< ProNav: ac range: 136.500000 m, nav range: 64.190750 m, bearing: 67.474682 deg, approach rate: -0.007568 m/s, LOS rate: 0.522611 deg/s, cmd heading: 348.791178 deg, new cmd heading: 349.467604 deg. 2jT<HeadingCmd: 6.099360 target range: 136.500000 and range: 136.50 m. j-@jjjihhhhHBfffrfbf?ɛ5JB5S 5t<'=5~I9 =Ǜj<ɚ9i9I= /=IE< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963368Mw,}A6fh@Y6w@6e96K>y6H`G?? Sbҿ7? {ƿ&?.>?Q?ɨ6fh@6;6"CyBB8 III#3٢-[ -L=9-Q 5>11 5G٣1y=< => ENusing accuracyPremultiplier from configAM59E?M5YE! iEUQU U@EEE3:E:E5Y ]AaZjFNOT Ignoring new targets: 136.50 m.Bj<Jj< ProNav: ac range: 136.500000 m, nav range: 64.186150 m, bearing: 67.678231 deg, approach rate: -0.012064 m/s, LOS rate: 0.533783 deg/s, cmd heading: 349.467612 deg, new cmd heading: 350.078278 deg. 2j*<HeadingCmd: 6.110019 target range: 136.500000 and range: 136.50 m. jF@jjjihhhhfffrfbf@ɛIBCo 隽I ڽ]<ɚiIy/=IR1ii˲)F@) $?Ii*F2F :F BF JF =Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215489jHbH<H>I I IIBI&I.IBD6I<:ID FzK- 4OK- ػ9K) K- K- |xrldXQMGCB?@DDEECIKGB@><952..,)&$  G G ?G ?GQ Ba O} > w, ,A:Ƹ@Y:kֿ@:]n9:O>y:H??I)ҿt(?ƿҭ??@J?ɨ:Ƹ@:>;:%CyJGBJ> IIRIR 2٢Z< ZR=9ZQ ^>\\ bG٣`yb?< b> fNusing accuracyPremultiplier from configdj59f?j5Yf;! ifOln n@fEf" ;f ;fj5rB rAvWEZj FNOT Ignoring new targets: 136.50 m.Bj<Jj< ProNav: ac range: 136.500000 m, nav range: 64.179596 m, bearing: 67.884889 deg, approach rate: -0.017176 m/s, LOS rate: 0.541675 deg/s, cmd heading: 350.078286 deg, new cmd heading: 350.698296 deg. 2j߹<HeadingCmd: 6.120840 target range: 136.500000 and range: 136.50 m. j@JmJ`J1JJ\8:Jbl9J3JJD;JD;J*:J+:jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467583ɛHBYj (I mSP<ɚqiqI} /=I=&iiu")@)*F]?2FY:FaBFaJFaG=忽 }$?IyGBO=>E Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719696w,=FA6@Y6T+@6{96Q>y6Hܶ? k?@3ѿ@>B>2 I)@ @DDuMb@Mb@Mb@qqq q)qYuv?Mb:vyu?uuԼu"A uv@)u AIuAqyuAII2٢) <=9Q > G٣hUGyw< > Nusing accuracyPremultiplier from config59d?5Y! iQ?::@Ev&;3&;R5 ATEZj  FNOT Ignoring new targets: 136.50 m.Bj2<Jj2<% ProNav: ac range: 136.500000 m, nav range: 64.176857 m, bearing: 68.118627 deg, approach rate: -0.006278 m/s, LOS rate: 0.535743 deg/s, cmd heading: 350.698303 deg, new cmd heading: 351.399511 deg. 2j%ַ<-HeadingCmd: 6.133079 target range: 136.500000 and range: 136.50 m. j-.B@j)j1j1i1h9h9h9h=BfAfAfArfAbfE{S@ɛmGBuTvt quNw,bA:ɹ@Y:Q@:9:0IV>y:H`? ?ҽ5пc?ǿ ???;?ɨ:ɹ@:]2;:&CyB;BB/ IH I  I  II BI  =&I .I 6I <:I T FII?13zK ]NK  9K K  K RK>JK>٢54 51=9=VQ =>9A EG٣AyE'== E> uNusing accuracyPremultiplier from configiu59mg&?}5YmF" imOy}7}@mEm:mX:mW5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 136.50 m.Bj<Jj<- ProNav: ac range: 136.500000 m, nav range: 64.169136 m, bearing: 68.366948 deg, approach rate: -0.016399 m/s, LOS rate: 0.527494 deg/s, cmd heading: 351.399518 deg, new cmd heading: 352.144527 deg. 2j5<=HeadingCmd: 6.146081 target range: 136.500000 and range: 136.50 m. j=@j9jAjaiahihihqhqfqfyfyrfybf )- @ɛ5FB=!Z Q]IY ]2<ɚiI.=Id ii9)@)E$=EJoJbJ0JJ>:Jt9Jـ3JJ}O;JO;JT:JU:*Fq2Fq:FqBFu{0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479594G 2 U $?IQ G BI O} > w,p$AyE %BDAT read: Tx time:23:31:29.3886 %$Ping request sent.%㥋qf?nF p?)+ȽI?i+=UQqU?3Yȸ8at) Iծ=i?z@RU:publishing transmit ping time!UFpublishing direction and range info9] ?Je%? YvNl?y )Ii )IiUQqU?3Yȸ8at)IiMb@Mb@Mb@ )YS?~jtV-y/?Ľ|!A `@)zAI\Ay AI IV2٢; #=9Q >  G٣ y  -> ENusing accuracyPremultiplier from config1E595>?E5Y5u" i5VMD?M:M˾m@5E5;56;55}B }A}QEk=Є?kY k k5тA:k CBk1CZk#?"@'`TW@0.Y@] ?Je%? YvNl?Jk?Rkz@R* +@4C*IQ@a6ic]@»e?9%$?'- p?"kOB*k_Ak$؄?k; 2k6Ckk˂ٱ k7CkvBkG?5 addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 3.782285 s, deltaX: 0.600006 m, approachRate: 0.158636 m/s, rangeRepo size: 4 m Added new target pos. range: 137.100006 m, bearing: 78.577359 deg, lat: 36.904658 deg, lon: -122.120252 deg, deltaT: 3.782285 s, deltaX: 0.600006 m, approachRate: 0.158636 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 137.10 m.BjuJjy ProNav: ac range: 137.100006 m, nav range: 65.731834 m, bearing: 69.174016 deg, approach rate: 0.000000 m/s, LOS rate: 0.527494 deg/s, cmd heading: 352.144527 deg, new cmd heading: 352.959955 deg. 2jHeadingCmd: 6.160313 target range: 137.100006 and range: 137.10 m. jI!@jjjihhhhBf f f rf@3#a@bf ?ɛ]DB$W 隅I A!<ɚiI.=Iiia)I!@)EE*E"Eu Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:23:31:29.3878 *F ?2F :F BF _0JF $?IGYGBO ?p (w,A6o@Y6k@6196V>y6H ?@o?/@uͿ`?+ǿ ?? 7?ɨ6o@6z~;6'C>Will construct direction to contact in vehicle frame from tetrahedron phase data.yB3BB$ IiF=IF4< HJ=ININ٢V23 V;=9ZJQ Z>\\ ^G٣^iUGy^== ^> fNusing accuracyPremultiplier from config`j59bS?n5Yb" ibYlnn@bEbs;b:;bk 5p rfAvNEZj H}>Iy I} II}BI} =&Iy.Iy6I} <:I}c FFNOT Ignoring new targets: 137.10 m.Bji#<Jji#< ProNav: ac range: 137.100006 m, nav range: 65.736328 m, bearing: 69.408918 deg, approach rate: 0.010933 m/s, LOS rate: 0.571455 deg/s, cmd heading: 352.959943 deg, new cmd heading: 353.664563 deg. 2j<HeadingCmd: 6.172611 target range: 137.100006 and range: 137.10 m. j@jjjihhhhf!f!f!rf!bf%?ɛCBz I @<ɚiIa.=zKMiKKM9KIKM KMklmTB7,$ ItiiȀ)@)*F?2F:FBFp0JFG-3*JQ"JUa=J]jJ]aJ]1JYJ].:J]p9J]3JYJ]~4;J]4;J]:J]:GqBO~>-Will construct direction to contact in vehicle frame from tetrahedron phase data.E.w,ݻA 4I4B@YB}@BEϛ9B~_>yBH!?? #̿A?ȿu?? &?ɨB@B{Ј;B&Cy^9Bb- IMMb@Mb@Mb@III I)IYMPn?y&1y G٣y< > Nusing accuracyPremultiplier from config59i?5Y " ib&?:ľ@•E;;J 5 /AZjFNOT Ignoring new targets: 137.10 m.Bja"<Jja"< ProNav: ac range: 137.100006 m, nav range: 65.743736 m, bearing: 69.652056 deg, approach rate: 0.017304 m/s, LOS rate: 0.567856 deg/s, cmd heading: 353.664572 deg, new cmd heading: 354.393861 deg. 2j<HeadingCmd: 6.185340 target range: 137.100006 and range: 137.10 m. jN@jjjihhhhBfffrfbfM?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛmBB*z 隵I ><ɚiI-.=IcȽiil)-N@))E=pAE=qA*F?2F:FBF0JF"G>G >G kG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data..5w,մA>@Y>^@>vl9>9\>y>H`? h[?E`̿5?̀ȿ@O?;?*?ɨ>@>;BJ2 IIVIV㔳٢^ݰ< ^W=9^ »Q b>`` bG٣`yf>< f> jNusing accuracyPremultiplier from confighn59j|?r5Yj= " ijiprr@jĕEjt.;j.;j 5vB vAzKEZj)-FNOT Ignoring new targets: 137.10 m.Bj5|!<Jj=|!Will construct direction to contact in vehicle frame from tetrahedron phase data.HyIy I} II}BI} =&Iy.Iy6I}k<:I} FzKe FNKe 9Ka Ke Ke W;w, A2f%@Y24@2792X>y2HT+??/辿 ˿ ?@}*ȿma??? /?ɨ2f%@2;2%CyRABR6 I)\ \^A^AIbIb3٢j\< jH=9nc[Q n>pp rG٣rjUGyr < v> zNusing accuracyPremultiplier from configtz59v‘?~5Yv" ivp@vǕEvEuBw,nP A2do@Y2~@2092!X>y2H;?l?@Pɿ`Խ?e<ȿ@?``?1?ɨ2do@2Ή;2#CyBLBBC IMb@Mb@Mb@ )YX9v?L7A`Q롿y?+\ A @)MAIy AI-I-1٢y>= 7=9:Q > G٣yE< > Nusing accuracyPremultiplier from config59?5Y" i{!?:U̾@ɕEQ;;5 AJEZjFNOT Ignoring new targets: 137.10 m.Bj(<Jj(<- ProNav: ac range: 137.100006 m, nav range: 65.770844 m, bearing: 70.343869 deg, approach rate: 0.036504 m/s, LOS rate: 0.589446 deg/s, cmd heading: 355.735322 deg, new cmd heading: 356.468914 deg. 2j-D<5HeadingCmd: 6.221556 target range: 137.100006 and range: 137.10 m. j5@j1j9j9i9h9h9hAhEBfAfAfIrfIbfM@@ɛ}=B}v 隅xI {W;ɚiIŅ-=In|iiн)@)JvJdJ0JJ{T:J|9Jـ3Ja@a@a@a@*F]?2FY:FaBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256187G5&+GBO%M> IM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507942Hw,,$AjHz<bHz4=H|I| I~ II~BI|&I|.I|6I~<:I~c FBIyJIyRIyZI} =bI} =jI}4y-SB-L II=I=̍٢mZ = uN=9uQ u>yy }G٣yy} > Nusing accuracyPremultiplier from config59?5Y8" i@˕E;;h5 kAGEZj)5FNOT Ignoring new targets: 137.10 m.Bj5<Jj5 $?I Nw,=Aj@Yjg@jf9j W>yjHW?!?ǿ? ^tȿ@p??11?ɨj@je;j&Cyr`Br\ IuMb@Mb@Mb@qqq q)qYu^I +?x&QyuX?u7 uuj A u@)uAIuAqyu AII<2٢= F=9_Q > G٣kUGy6= > Nusing accuracyPremultiplier from config59΀?5Y" iR?:FȾ@͕Ej;;75 AZj!%FNOT Ignoring new targets: 137.10 m.Bj-<Jj-<= ProNav: ac range: 137.100006 m, nav range: 65.799019 m, bearing: 70.782781 deg, approach rate: 0.034135 m/s, LOS rate: 0.551876 deg/s, cmd heading: 357.121850 deg, new cmd heading: 357.785315 deg. 2j=_J mJ bJ J J \8:J t9J J E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2799822Uw,WAy~oB~o IIIb٢%A= -U=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM59E2လ?M5YE$" iEIIM@EϕEE:E:E5]B ]A]DEZjFNOT Ignoring new targets: 137.10 m.Bj<Jj< ProNav: ac range: 137.100006 m, nav range: 65.812569 m, bearing: 70.987541 deg, approach rate: 0.035312 m/s, LOS rate: 0.533511 deg/s, cmd heading: 357.785308 deg, new cmd heading: 358.399437 deg. 2j<HeadingCmd: 6.255250 target range: 137.100006 and range: 137.10 m. j+@jjjihhhhfffrfbf @ɛ8B w dI g;ɚ ]$?IYiqIu,=I}(iyi}k/)}+@)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531953HI I IIBI =&I.I6IL<:I FGU޽Gu?Gu>GQ By O >zK !MK ]9K K K    RK ?JK ?[w,sqA.V@Y.@.D夽9.8Z>y.Hv?`s?@üſZ? ɿ?? ,?ɨ.V@.;.%CyByBB{ II^ I^̍2٢fO= jP=9jfúQ j>ll nG٣lyr]= r> vNusing accuracyPremultiplier from configtz59v'?z5Yvp" ivxzAz@vѕEv :v:v5 >AAEZj)-FNOT Ignoring new targets: 137.10 m.Bj5<Jj5 fQfYrfabfe@Ƽ@BDAT read: Tx time:23:31:33.0871 $Ping request sent.iw?&>uW?5z b?) AI?i A>v- ?ۆ@O^\)I}=i:M?kD:publishing transmit ping timeؑɛ6BMV j^I 0;ɚiI|S,=IڊiiJӽ)@Fpublishing direction and range info9 [J?uMz?aH=?y )Ii )Iiv- ?ۆ@O^\)Ii M$?II)Q*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >`bw,}A6< @Y6@66ͥ96 [>y6H?&?i{ÿ?\`ɿ۳?`}-? )?ɨ6< @6r|;6"CyVBV IJK3 K.KK"KJkJJJJ2:JJJMb@Mb@Mb@ )Yx?v/:vyK?x齹ԼSA @)AIAyz AII ٢X< =9B\Q > G٣lUGyk< > Nusing accuracyPremultiplier from config59 ?5Y." i:?:ݩ@ӕE;<;5 AWill construct direction to contact in vehicle frame from tetrahedron phase data. = <k-=ɪ?k-5Dn k) k-uA:k- CBk-CZk-׶?"-ߧe @k X@L'zGW@- [J?uMz?aH=?Jk-:M?Rk-kD*-F]#6%@HUR@/\@-J ?J|??ğ?"k-bB*k-i,Ak-Ҫ?k--a 2k-3Ck)k)k)k-Bk-􋭟?} addTargetRange:: Added new target pos. range: 137.600006 m, deltaT: 3.796040 s, deltaX: 0.500000 m, approachRate: 0.131716 m/s, rangeRepo size: 4  Added new target pos. range: 137.600006 m, bearing: 81.844523 deg, lat: 36.904658 deg, lon: -122.120252 deg, deltaT: 3.796040 s, deltaX: 0.500000 m, approachRate: 0.131716 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 137.60 m.BjJj  ProNav: ac range: 137.600006 m, nav range: 65.824059 m, bearing: 71.475543 deg, approach rate: 0.000000 m/s, LOS rate: 0.534408 deg/s, cmd heading: 359.028839 deg, new cmd heading: 359.900720 deg. 2jHeadingCmd: 6.281453 target range: 137.600006 and range: 137.60 m. j@jjj9i9h9h9hAhEBfAfIfIrfM@33a@bfMu?ɛ4Ba:X YI ju:ɚ i I +=Iii߽)U@)YEeqAEa AIA)= wC*F ?2F :F! BF% d0JF! M Ge sA {Y sAy BG kֽG B O >Ohw,XA2Will construct direction to contact in vehicle frame from tetrahedron phase data.B6`@YBo@B8è9B^>yBH@?@ʀ?@R@ `¿`L?mɿJ??#?ɨB6`@Bo<;B#CHR>IP IR IIRӂBIR =&IP.IP6IR1<:IR| FyfBf IInIn1٢M"> M=9U,Q U?Qy }G٣yy}= ? Nusing accuracyPremultiplier from config59?5Y" iM@ՕE`;;95B >A>E B*** querying acoustic contact ***jjZjI}FNOT Ignoring new targets: 137.60 m.Bj}e<Jje< ProNav: ac range: 137.600006 m, nav range: 65.823868 m, bearing: 71.631823 deg, approach rate: -0.000633 m/s, LOS rate: 0.518956 deg/s, cmd heading: 359.900726 deg, new cmd heading: 0.369559 deg. 2j <HeadingCmd: 0.006450 target range: 137.600006 and range: 137.60 m. jZ;jjjihhhhf!f!f!rf!bf%{?ɛ2B 隭.LzKRLK9KK K  BKpA:KlAI Ƅ:ɚiI+=IZ;iijٽ)Z;)*F2F:FBFO5JF*JC="J%=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G _ҽG E $?IA BI Oe >ow,1A>̽@Y>@>!9>f`>y>H@,??@ ?8ʿX?@?< ?ɨ>̽@>&;>%Cy^Bb IUMb@Mb@Mb@QQQ Q)QYUi|?5?~jtyU?U̽UļUA U@)UAIUEAQyU AImImW٢}?f= }G=99,Q > G٣y= > Nusing accuracyPremultiplier from config59.?5Yr!" i?:g@וE+?;hH;5 AZjaeFNOT Ignoring new targets: 137.60 m.Bjmr<Jjmr< ProNav: ac range: 137.600006 m, nav range: 65.817543 m, bearing: 71.835804 deg, approach rate: -0.015553 m/s, LOS rate: 0.501646 deg/s, cmd heading: 0.369559 deg, new cmd heading: 0.981536 deg. 2j#<HeadingCmd: 0.017131 target range: 137.600006 and range: 137.60 m. j`V<jjjihhhh Bff frfbf3?ɛ]0BeZ ae=EIa eeO:ɚaiiImL+=uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.207963I}`V% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460010ouw,LٵA223@Y2B@2Xa92c>y2H ̨?Ҹ?`:ǻ:?@ʿmŵ?"?@:?ɨ223@2;2$CyNBN IIVIVV8٢^= bW=9bvQ b>dd fG٣fmUGyf= j> 5Nusing accuracyPremultiplier from config)559-;A?=5Y-#" i-9=ڎ=@-ؕE- ;- ;-5A MPAM;EZjq}FNOT Ignoring new targets: 137.60 m.Bj}<Jj}< ProNav: ac range: 137.600006 m, nav range: 65.809326 m, bearing: 72.032804 deg, approach rate: -0.021952 m/s, LOS rate: 0.526358 deg/s, cmd heading: 0.981536 deg, new cmd heading: 1.572588 deg. 2j<HeadingCmd: 0.027447 target range: 137.600006 and range: 137.60 m. j0<jjjihhhhfffrfbf?  $?Iɛ.BZ  ;I %X>9ɚ!i!I%*=I-0G=}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712118H>I I!IIBI =&I.I6I9<:I FGkֽGBO >zK KK K K K z8;c6<H"   &|w,A6A@Y6ì@696de>J<JXX ^G٣\y^= ^> bNusing accuracyPremultiplier from config`f59bS?f5Yb$" ibhj(j@bڕEb ;b ;bj 5nB nAr8EZj!-FNOT Ignoring new targets: 137.60 m.Bj-<Jj- w, A:[@Y:@:Ѵ9:f>y:H#??D`1ٷ@?v˿ ?Ox??ɨ:[@:́;:"CyB؂BB I U@U U@] ]@]  ]@] IeIe٢u}= u?=9}Q }>yy G٣yr< > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59g?5YK&" i+::ہ@ܕE8;>!5 SAZjFNOT Ignoring new targets: 137.60 m.Bj9<Jj9< ProNav: ac range: 137.600006 m, nav range: 65.785400 m, bearing: 72.444981 deg, approach rate: -0.031675 m/s, LOS rate: 0.504363 deg/s, cmd heading: 2.162428 deg, new cmd heading: 2.809294 deg. 2j<HeadingCmd: 0.049031 target range: 137.600006 and range: 137.60 m. j0H=jjj i h h h hfffrfbf%9n@ɛM)BMU? (I [ɚiI>)=I0H=ii̽)0H=) *F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471711  $?IG rWͽG B O >5w,ϡ&AjH"<bH"<H$I$ I&G!II& BI$&I$.I$6I& <:I&` F2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724094Vih@YVw@Vb9V~g>yVH3?î?`b 䦴Z!?H˿څ? ??ɨVih@VK+;V$CybBb !IIjIjb٢ =  Q=99Q > G٣nUGyK< > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59[{? 5Y'" i  : p:v5@ޕE_<Z?#5A MAM5EmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 137.60 m.Bj#<Jj#< ProNav: ac range: 137.600006 m, nav range: 65.770233 m, bearing: 72.652382 deg, approach rate: -0.034808 m/s, LOS rate: 0.476081 deg/s, cmd heading: 2.809294 deg, new cmd heading: 3.431613 deg. 2j]<HeadingCmd: 0.059893 target range: 137.600006 and range: 137.60 m. jORu=jjjihhhh f f)f1rf9bf=@ɛ'B8+ 8d<隕I !ɚiIR)=IORu=iiɽ)ORu=)zKNK9KK Kp@~cvbD+uDa#r<}gUA+*F2F:FBFn0JFG GrAJJdJJJJ|9JJJD;aJD;aJ:aJ:aWill construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:23:31:35.6747 5TRx dataTimestamp_ set to:1736379096.871319=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980656G ͽ I Ga B O >w,5y@A6ƿ@Y6_@696g>y6H??@ 񷱿,&?Y˿%??@)?ɨ6ƿ@6&;4yBBB!!I m u uu uu  u u uMb@Mb@Mb@qqq q)qYukt?ˡE~jtyu ?u'uDuSA u@)uAIuAqyu AII ٢ = A=9\Q > G٣y< > Nusing accuracyPremultiplier from config59F?5Y(" iT:?: @E;;$5 AZjFNOT Ignoring new targets: 137.60 m.Bj F<Jj F<% ProNav: ac range: 137.600006 m, nav range: 65.732918 m, bearing: 72.847124 deg, approach rate: -0.099300 m/s, LOS rate: 0.518523 deg/s, cmd heading: 3.431613 deg, new cmd heading: 4.016150 deg. 2j-<-HeadingCmd: 0.070095 target range: 137.600006 and range: 137.60 m. j-=j1j1j1i1h1h9h9h=BBf9fAfArfAbfE @ɛm%Bm2 quIq uQɚqiyI}(=I}=iiǽ)=)uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.228082*F?2F:FBF1JFGJʽG B O= >- Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:31:35.6747 LVL= 22192, 30945, 26354, 32755, AGC= 60, IDX= 434, 0.32,-0.057,-0.934,-2.131,-1.217, PHS= 1.248, 0.330,-0.916, RAW= 55.0, -7.1, CAL= 61.2, -13.1, ROT= 88.8, 13.1  Ygot valid direction response: 23:31:35.6747 LVL= 22192, 30945, 26354, 32755, AGC= 60, IDX= 434, 0.32,-0.057,-0.934,-2.131,-1.217, PHS= 1.248, 0.330,-0.916, RAW= 55.0, -7.1, CAL= 61.2, -13.1, ROT= 88.8, 13.1  PDAT read: Bearing 88.8, 13.1 (Local)  ~Local bearing/azimuth received: Bearing 88.8, 13.1 (Local)  DAT read: Range 10 to 50 : 137.5 m (Round-trip 183.4 ms) speed 0.0 m/s  ,DAT read: user:3293>  BDAT read: Tx time:23:31:36.7886  $Ping request sent. 5 ~j5 u?5 5 ܸ?)5  jI5 a?i5  j>1 1 5 (qZ?[쿅g3)5 6I5 3=i5 j?5 7p`1 1  :publishing transmit ping time  Fpublishing direction and range info1 95 a.Ҽ?Hۭu&?V"Ͳ?y1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 5 (qZ?[쿅g33Gw,UZA)aIaiaaaa@Yp@9<\h>yH?@ 0? ?Ʒ^ ,?`H̿?P?;?ɨ@*;yB4!IIMIM e $?Ia٢e= mN=9mQ u> G٣yk= > -Nusing accuracyPremultiplier from config)}59-?}5Y-K)" i-h7彑@-E-<-><-&5B @@2Eke/?ke Z ka ke%WA:ke CBkeCZkej?"e7hώ.@'8PU@`[lZ@ea.Ҽ?Hۭu&?V"Ͳ?Jkej?Rke7p`*eڀթ <@?yg%N@)^@e@T?3e3?L=줼?"ke+qB*ke@keI4?ke 2ke:72-/-)(&#"#!!"# G= cOȽG B O- >kw,7tAJ<J>gJ<J<J<J>9J<J<J<J<J>>:J>@:=a@Y=@=Ŀ9=Vh>y=H?@?Un.?bi̿ ???ɨ=a@=;9yޕ BޝH!Ii=I<IIb1٢=Will construct direction to contact in vehicle frame from tetrahedron phase data. D=9 Q >    G٣ oUGy< > Nusing accuracyPremultiplier from configM59촁?M5Y)" iQQU]ͽU@E<<q(5 A@0EZjFNOT Ignoring new targets: 137.50 m.Bj<Jj < ProNav: ac range: 137.500000 m, nav range: 63.576569 m, bearing: 81.378521 deg, approach rate: -0.031188 m/s, LOS rate: 0.540450 deg/s, cmd heading: 4.728332 deg, new cmd heading: 5.337529 deg. 2js<5HeadingCmd: 0.093157 target range: 137.500000 and range: 137.50 m. j=Wɾ=j9j9jAiAhIhI }$?Ihhfffrfbf`3?ɛ BO 隭I } 4ɚiI/a'=IWɾ=ii陳)Wɾ=) Will construct direction to contact in vehicle frame from tetrahedron phase data.E )=*Fi 2Fi :Fi BFm j0JFi GuG} ?G}?GIBQOm ?`w,AJC@YJ"S@nWill construct direction to contact in vehicle frame from tetrahedron phase data.JDz9J´d>yJH`?:i?` 6?@̿Q?C>??ɨJC@J_1;J#Cyv/BzZ!IMb@Mb@Mb@ )Y(\?Mb  G٣ y <  > Nusing accuracyPremultiplier from config59Ё?5YK*" i$%?%:%>%@ U$?IQEL<L<*5]B e`@e-EZjFNOT Ignoring new targets: 137.50 m.Bj<Jjm<} ProNav: ac range: 137.500000 m, nav range: 63.543133 m, bearing: 81.674910 deg, approach rate: -0.058967 m/s, LOS rate: 0.522983 deg/s, cmd heading: 5.337529 deg, new cmd heading: 6.227090 deg. 2ju<HeadingCmd: 0.108683 target range: 137.500000 and range: 137.50 m. jP=jjjihhhh]Bfffrfbf?ɛBl 5I tSɚiIIs&=IP=iiq3)P=)E<*Fu?2Fq:FqBFu0JFqZH9RH9HM>II IM!IIMvBII&II.II6IM><:IM FWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu ٲGQ BY O} >"w,9AzKɰNK9KK K.7K1 e@*     6޳@Y6`@6;϶96d>y6H? 0Ѕ`6ȶ w5?B̿#Ҷ?@?`?ɨ6޳@6S;6&CBK@:KBpAyFDBFu!IIRIR٢Z = Zr=9^Q ^?\\ bG٣`yb(= b? -Nusing accuracyPremultiplier from configd559fၜ?55Yfv*" if 9==@fEffKw,zͶAyWB!I) Mb@Mb@Mb@ )Y"~?Mbp?Mbpy?;A -@)IAyAII٢= *=9Q > G٣pUGy > ]Nusing accuracyPremultiplier from confige59S?e5Yx*" iڶe?m:mRm@EV;(;~.5q u@u*EZjFNOT Ignoring new targets: 137.50 m.Bj<Jj< ProNav: ac range: 137.500000 m, nav range: 63.483387 m, bearing: 82.095277 deg, approach rate: -0.080207 m/s, LOS rate: 0.517228 deg/s, cmd heading: 6.747117 deg, new cmd heading: 7.488755 deg. 2j|<HeadingCmd: 0.130703 target range: 137.500000 and range: 137.50 m. j>jjjihhhhfffrfbf?ɛ B 5R  ¾I  V|ɚiI$=I>ii˽)>)*F?2F:FBF4JFG} ]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994788GQBYO}X> $?Ic~G|uA %Y|uAyBEw,vAHF>ID IF!IIFBID&ID.ID6IFү<:IF3 Fy~gB~!IWill construct direction to contact in vehicle frame from tetrahedron phase data.!i!-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249417II 2٢&= K=9Q > G٣y  U> ]Nusing accuracyPremultiplier from configYe59] ?e5Y]z*" i]iim@]E]:]:]Q05q u@yZjFNOT Ignoring new targets: 137.50 m.Bj <Jj < ProNav: ac range: 137.500000 m, nav range: 63.451008 m, bearing: 82.310398 deg, approach rate: -0.079467 m/s, LOS rate: 0.528233 deg/s, cmd heading: 7.488754 deg, new cmd heading: 8.134419 deg. 2jB<HeadingCmd: 0.141972 target range: 137.500000 and range: 137.50 m. j6a>jjjihhh h f)f1f1rf1bf5@ɛB6 \I %hɚ!iaImn$=I}6a>iyipݽ)6a>)zKEgPKAKAKE KERK]?JK]>*FE?2FA:FABFE 4JFAJ9J=@AJIJMfJIJIJIJM9JIJIJIJMJ;JM:JM:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502088G  I G B OU >-w,A:u@Y:<:79:@_>y:H"?&쥿`e:?8?`˿_?@?!?ɨ:u@:z;8yFjBF!I=Mb@Mb@Mb@999 9)9Y=x?Mb?~jthy=K?=<=D=A =@)=VAI=zA9y=(AIU IU<2٢e< eQ=9m|Dqq }G٣yy}= }> Nusing accuracyPremultiplier from config59C?5Y+*" iZ?:3X=@E;;15B @'EZjFNOT Ignoring new targets: 137.50 m.Bjk<Jjk< ProNav: ac range: 137.500000 m, nav range: 63.410137 m, bearing: 82.507365 deg, approach rate: -0.109806 m/s, LOS rate: 0.529525 deg/s, cmd heading: 8.134419 deg, new cmd heading: 8.725679 deg. 2j<HeadingCmd: 0.152292 target range: 137.500000 and range: 137.50 m. jc>jjjihhhhVBfffrfbf@ɛ-B- )-¬I1 5ɚ1i1I5t#=I=c>i9i=˙)Ec>)A*F2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752733GeGBO?> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004828Vƭw,A:i@Y:=:9:~^>y:H?@o !ʲ`>?&6?)˿:?QY ]G٣]qUGyeZ< e> mNusing accuracyPremultiplier from configiu59m3?u5Ym)" imaquU=u@mEmR;m;m35 @$E $?IZjFNOT Ignoring new targets: 137.50 m.Bj<Jj< ProNav: ac range: 137.500000 m, nav range: 63.365253 m, bearing: 82.716510 deg, approach rate: -0.111630 m/s, LOS rate: 0.520527 deg/s, cmd heading: 8.725679 deg, new cmd heading: 9.353530 deg. 2j<HeadingCmd: 0.163250 target range: 137.500000 and range: 137.50 m. j*'>jjjihhhhfffrfbf @ɛEBE ּ AEsIA M@8ɚIiIIM"=I*'>ii)*'>)*F2F:FBFJF"G=G=jHbHH>I I"IIǃBI =&I.I6I <:Ik F=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:31:39.3755 MTRx dataTimestamp_ set to:1736379100.653435Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258873GؽG ?G?GI BY O} >zK V$KK h9K K K    ! "$$'')(̭w,4A*JvR="JvR=yzBz!II5I51٢]?O= eH=9mQ m>yy }G٣yy >  Nusing accuracyPremultiplier from config 59 BH?5Y ])" i 5@ E : P: 55! %E@!EB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 137.50 m.BjUl<Jj]ljqjqjqiqhqhqhyhyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508703fffrfbfdA @ɛBǼ _I &!ɚiI!=I(,3>ii[˽)(,3>) I*F2F:FBFm0JFGUɽGBO5>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= Au DAT read: 23:31:39.3755 LVL= 13456, 26257, 18770, 25011, AGC= 60, IDX= 428,-0.17, 1.445, 0.299,-0.737, 0.085, PHS= 1.449, 0.262,-0.824, RAW= 61.5, -9.0, CAL= 70.7, -16.4, ROT= 79.3, 16.4 } Ygot valid direction response: 23:31:39.3755 LVL= 13456, 26257, 18770, 25011, AGC= 60, IDX= 428,-0.17, 1.445, 0.299,-0.737, 0.085, PHS= 1.449, 0.262,-0.824, RAW= 61.5, -9.0, CAL= 70.7, -16.4, ROT= 79.3, 16.4  PDAT read: Bearing 79.3, 16.4 (Local)  ~Local bearing/azimuth received: Bearing 79.3, 16.4 (Local)  DAT read: Range 10 to 50 : 137.1 m (Round-trip 182.8 ms) speed -0.1 m/s  ,DAT read: user:3294>  BDAT read: Tx time:23:31:40.4871  $Ping request sent. = R= od?= | = ?)= CI= m(?i= C>9 9 = 7g_?.}$_B!Ŀ)= ‚I= C!>i= {?= z9 9  :publishing transmit ping timeء  Fpublishing direction and range info9 9= Dk?k%rK?߼D?y9 9 9 9 9 )9 I9 i9 9 9 9 9 9 )9 I9 i9 9 9 = 7g_?.}$_B!Ŀ)9 I9 i9 9 9 9 Ciӭw,NNAynBn!IeMb@Mb@Mb@aaa a)aYe5^I ?:v?Mbpye?eTYY ]G٣Yya e> Nusing accuracyPremultiplier from configi59m^?5Ym(" im ?:Mm=@mEm@;mP;m75B @!Ek}t?k}'q= ky k}JA:k} CBk}1CZk}o5?"}2@5R@ݦGu\@}Dk?k%rK?߼D?Jk}{?Rk}z*}]Q~@H@*̫`@JoJdJJJ>:J|9JJa%@a%@a%@a%@}{A"ͧ?Q2w?CJ1;@?"k}@B*k}@k}fw?k}ż5 2k}BCk}Ҫ?kyk}8Ck}|Bk}N?e addTargetRange:: Added new target pos. range: 137.100006 m, deltaT: 3.782816 s, deltaX: -0.399994 m, approachRate: -0.105740 m/s, rangeRepo size: 4  Added new target pos. range: 137.100006 m, bearing: 82.456113 deg, lat: 36.904567 deg, lon: -122.120252 deg, deltaT: 3.782816 s, deltaX: -0.399994 m, approachRate: -0.105740 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 137.10 m.BjJj% ProNav: ac range: 137.100006 m, nav range: 63.187496 m, bearing: 83.841938 deg, approach rate: 0.000000 m/s, LOS rate: 0.526037 deg/s, cmd heading: 10.025222 deg, new cmd heading: 10.764648 deg. 2j!5HeadingCmd: 0.187879 target range: 137.100006 and range: 137.10 m. j5j1j1j1i1h1h9h9h=YBf9fafarfe@3#a@bfe |(?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:31:40.4863 ɛ B 1  >xI  :ɚiI =Ii9i=iL)=)A $?I*F2F:FBF`0JFG vH >I C I A"II BI &I .I 6I <:I T FG B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.ڭw,6VjAj/@Yj@=j.˞9j^_>yjH@e?P`Ee?!?`K̿NԳ?`?@%?ɨj/@j>;hy B !IAI%I%m٢U< U[=9]pYa eG٣erUGye= m> }Nusing accuracyPremultiplier from configy59}q?5Y}n(" i}=@}E}+ ;}] ;})95 @EZjFNOT Ignoring new targets: 137.10 m.BjQ <JjQ < ProNav: ac range: 137.100006 m, nav range: 63.144108 m, bearing: 84.039279 deg, approach rate: -0.123182 m/s, LOS rate: 0.560646 deg/s, cmd heading: 10.764648 deg, new cmd heading: 11.357056 deg. 2jb<HeadingCmd: 0.198218 target range: 137.100006 and range: 137.10 m. jJ>jjjihhhhfffrfbf;?ɛ-B-z^ )-jI) 5嬻ɚ1i1I5#I =I=J>i9i=L)=J>)9*F?2F:F BF l2JF zKNMK+9KK K*+(,/.343344536774454876562334432430.1.-*)*+)())('%$%#&% ##GGBO?>J J AAWill construct direction to contact in vehicle frame from tetrahedron phase data. I w,ZJA6+@Y6t=6IL96p]b>y6H,?`??̿@~ij? `? ?ɨ6+@6;6$CyNBR!IeMb@Mb@Mb@aaa a)aYev?:v?{Gzye?ae#eA e@)e~@Ie7 AayeAI}I}(1٢)= N=9 :Q > G٣y6< > Nusing accuracyPremultiplier from config59ᄂ?5Y'" iǵ?:=@E;-;:5 )@ZjFNOT Ignoring new targets: 137.10 m.Bj'<Jj'<  ProNav: ac range: 137.100006 m, nav range: 63.095879 m, bearing: 84.248787 deg, approach rate: -0.121592 m/s, LOS rate: 0.528599 deg/s, cmd heading: 11.357056 deg, new cmd heading: 11.986035 deg. 2j b<HeadingCmd: 0.209196 target range: 137.100006 and range: 137.10 m. jk7V>jjjihhhhNBf!f!f!rf!bf-@?ɛ]B]奼 YeWIa e'^ɚaiaIer=Imk7V>iiimW)mk7V>)quWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF:5JFGܽGBOA>J J hJ J J J Ȇ9J J % Will construct direction to contact in vehicle frame from tetrahedron phase data.w,%A6@Y6"=6996:z`>y6H?F$٫@il? 6?̿ Z?~?%?ɨ6@6;6&C R$?IPyVBV!IIbIb٢f,= jW=9ji;Q j>ll nG٣lyr< r> vNusing accuracyPremultiplier from configtz59vԗ?z5Yv'" ivxz6=z@vEv:v:v<5]B e@eEZjFNOT Ignoring new targets: 137.10 m.Bjw<Jjw< ProNav: ac range: 137.100006 m, nav range: 63.048363 m, bearing: 84.449787 deg, approach rate: -0.120165 m/s, LOS rate: 0.508700 deg/s, cmd heading: 11.986035 deg, new cmd heading: 12.589466 deg. 2j<HeadingCmd: 0.219728 target range: 137.100006 and range: 137.10 m. jHa>jjjihhhh!f!f!f)rf)bf-`?ɛBk8 EI ǁɚiI=IHa>iiG)Ha>)i*F?2F :F BF 4JF ZHRHH>I I`"IIBI&I.I6I<:Ie FBIIJIMŭCRIIZIM =bIM =jIMx&5Will construct direction to contact in vehicle frame from tetrahedron phase data.G- ;۽G5 ?G5 /?G B O- >zK !NK 9K K K !!!"!"   w,qA20@Y2@)=2_92U"`>y2H?V@h??`̿y??&?ɨ20@2Ɖ;2$CyBBB!IiF=IFC=IJIJ 2٢V< VM=9V;Q V>XX ZG٣ZsUGy^< ^> eNusing accuracyPremultiplier from configam59e?m5YeK&" ieim:=m@eEe.:e:ea>5 R@Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 137.10 m.Bj%<Jj%jIjIjIiIhQhqhqhyfyfyfyrfybf?ɛB d7I! %-ɚ!i!I%=I-l>i)i5޺)=l>)A $?I*FU?2FQ:FYBF]]0JFY"G}=G}0>GmcӽGQBaO}z> Will construct direction to contact in vehicle frame from tetrahedron 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,зA6@Y6+=696 a>y6HE?#PD??@̿`?@?`%?ɨ6@67;6'CyBBB"I=Mb@Mb@Mb@999 9)9Y=bX9?{Gzty&1y=E?=ף=`e=A =@)=h@I= A9y=AIUIUF٢m< m>=9uc;Q u>qq }G٣yy}X< }> Nusing accuracyPremultiplier from config59?5Y%" isQ?:=@E;;*@5 @EZjFNOT Ignoring new targets: 137.10 m.Bj<Jj< ProNav: ac range: 137.100006 m, nav range: 62.946529 m, bearing: 84.885466 deg, approach rate: -0.120573 m/s, LOS rate: 0.544559 deg/s, cmd heading: 13.255531 deg, new cmd heading: 13.897501 deg. 2jܺ<HeadingCmd: 0.242557 target range: 137.100006 and range: 137.10 m. j`x>jjjihhhh=Bfffrfbfa@ɛ15\ܒ 15*I9 =ɚ9i9I=[=IE`x>iAiEiU)E`x>)IJYJYJYJYJYJYJYJY*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.C?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254856 IG`ϻG B O >H >I  I y"II BI  =&I .I 6I !<:I g F0w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505917 R@Y @= Ê9 c>y H?S>`p?n?`.ͿU?@2? z#?ɨ R@ ; $Cy%B% "II5I5(*٢M= ML=9MU;Q U>QQ ]G٣Yy]= ]> eNusing accuracyPremultiplier from configam59euԂ?m5Ye$" ie_qu=u@eEe;e] ;eA5 B @EZjFNOT Ignoring new targets: 137.10 m.Bj<Jj< ProNav: ac range: 137.100006 m, nav range: 62.897976 m, bearing: 85.094634 deg, approach rate: -0.121324 m/s, LOS rate: 0.523063 deg/s, cmd heading: 13.897501 deg, new cmd heading: 14.525463 deg. 2j|<HeadingCmd: 0.253517 target range: 137.100006 and range: 137.10 m. j́>jjjihhhhfffrfbf@ɛ Ba 隵2I ĻɚiI=Í>ii)́>)*F?2F:FBF`0JFzK}:nMK}s9KyK} K} Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762971G ?G pAG qA m $?Ii G B O >w,A @6V@Y6 >6 96~d>y6H`?9¿@V`@? ?Ϳ@? H5?@$?ɨ6V@6ۉ;6'Cy^B^ "I)` `Mb@Mb@Mb@ )YQ?Mb{Gzy?ף @)Q@IyAII<٢o; D=9;Q > G٣tUGyF< > Nusing accuracyPremultiplier from config59肜?5Y$" iR?:K=@Ed;;C5  @ Zj9=FNOT Ignoring new targets: 137.10 m.BjE<JjEjYjYjYiahahahahe;Bfififirfqbfu}@ɛ BR 隝I  ȻɚiI=Is>iigx)s>)]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012521*FM?2FI:FIBFMo0JFIG-(G B O- >Ji Ji Ji Ji Ji Ji Ji Ji  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:31:43.0737  TRx dataTimestamp_ set to:1736379104.432682 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262891 ] $?IY Gw,׉A) RNG\h &Y y B@YN">Ww9L*a>yH}?@bſt*? y?0̿?D?,?ɨ@&/;騽&Cy σB"II%I%٢UN= U@=9U=YY ]G٣Yye]= e> Nusing accuracyPremultiplier from config59?5Y3#" iG>@E: :E5 @EZj FNOT Ignoring new targets: 137.10 m.Bj\<Jj\jQjQjQiQhQhQhYhYfffrfbf@| @ɛ Bf I ̻ɚiI9T=I>ii[塽)>)jH<bH<H->I-C I-"II-(BI)&I).I-AD6I-<:I-] FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514544*F?2F:FBFh0JFG 87G B O >zK KK +9K K K 9k w,^H8Ay׃B)"IIIF2٢-3= -`=9-Q 5>11 5G٣1y= => eNusing accuracyPremultiplier from configYu59]?5Y]m"" i]=@]E]9;];]3G5 +@Will construct direction to contact in vehicle frame from tetrahedron phase data.===DAT read: 23:31:43.0737 LVL= 17680, 26481, 19602, 30003, AGC= 61, IDX= 423, 0.25, 1.967, 0.485,-0.110, 0.620, PHS= 1.435,-0.089,-0.733, RAW= 73.2, -6.4, CAL= 82.2, -13.6, ROT= 67.8, 13.6 EYgot valid direction response: 23:31:43.0737 LVL= 17680, 26481, 19602, 30003, AGC= 61, IDX= 423, 0.25, 1.967, 0.485,-0.110, 0.620, PHS= 1.435,-0.089,-0.733, RAW= 73.2, -6.4, CAL= 82.2, -13.6, ROT= 67.8, 13.6 MPDAT read: Bearing 67.8, 13.6 (Local) M~Local bearing/azimuth received: Bearing 67.8, 13.6 (Local) DAT read: Range 10 to 50 : 136.8 m (Round-trip 182.4 ms) speed 0.0 m/s ,DAT read: user:3295> BDAT read: Tx time:23:31:44.1872 $Ping request sent.Gͼ;?f/G|)P)'QI4=i?閿:publishing transmit ping timeءFpublishing direction and range info $?IB*** querying acoustic contact ***jj9w渰?B+7?954?y )Ii )IiGͼ;?f/G|)P)IieT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.} addTargetRange:: Added new target pos. range: 136.800003 m, deltaT: 3.780710 s, deltaX: -0.300003 m, approachRate: -0.079351 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 137.10 m.Bj^<Jj^< ProNav: ac range: 137.100006 m, nav range: 62.749310 m, bearing: 85.726164 deg, approach rate: -0.109275 m/s, LOS rate: 0.455906 deg/s, cmd heading: 15.853028 deg, new cmd heading: 16.421473 deg. 2jqjIjIjIiQhQhQhQhYfYfYfYrf]a@bfeCĵ?ɛFQ ϽI OϻɚiI=Ib>iipV)b>)EYE]rA*F?2F:FBF`0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:23:31:44.1864  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.225486G G B O >Sw,%RA2v@Y2.>2n92`>y2HX{?ƿO9?|? ̿W?4?-?ɨ2v@2 U;2'Cy G٣uUGy < > %Nusing accuracyPremultiplier from configU59%?]5Y!" iAe?e:es=e@E <<7I5 B *@EJ9K=ـ3 K=K9K9"K9JtJiJJJ;N:Jڈ9JJk_wV>?k7E k k;A:kCBkCZkŰ?">E6!@ I@AiT_@w渰?B+7?954?Jk?Rk閿*}nu"ZE6@/`@F󵔿C?GB?"kbA*k1kejjjihhhhBfffrfbf@?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.474726ɛ- B-0` )-h˽I) 5Ѯѻɚ1i1I5 =I=g*>i9i=")=g*>)a I*F?2F:FBF2JF"G%>G%=H- >I)  I- "II- 2BI-  =&I) .I) 6I- <:I- K FGM G B) OE >?uw,/kAWill construct direction to contact in vehicle frame from tetrahedron phase data.iA"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.727544R@YR9>RAi9RW`>yRHl?ȿq ? æ?̿@7??'/?ɨR@R ;R$Cy%ۃB%."IIUIU̍٢e< e^=94;Q > G٣yi< > Nusing accuracyPremultiplier from config596?5Y!" iE3=@E?;`;J5 @ EZj!EFNOT Ignoring new targets: 137.10 m.BjM<JjM<] ProNav: ac range: 137.100006 m, nav range: 62.662289 m, bearing: 86.148526 deg, approach rate: -0.114391 m/s, LOS rate: 0.543989 deg/s, cmd heading: 17.140126 deg, new cmd heading: 17.689395 deg. 2j]<HeadingCmd: 0.308738 target range: 137.100006 and range: 136.80 m. j>jjjihhhhfffrfbfi?ɛ  ܣ\  ຽI  ӻɚiI=I>iiJ)>)*F12F1:F1BF=p4JF9G憧zK5BHJQJQK59K1K5 K5 $04579<97310/,,)'&$!GBO l>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980841 $?I0Y!w,ҧAr~@Yr`O>r]9r\>yrH@CL?oʿ(ၿ?@?@-̿@D?V?@6?ɨr~@r;r&Cy~B~7"IMb@Mb@Mb@ )Y7A`?A`"X9vy?YA b@)IMAy=AII<٢= E=9;Q > G٣yV= > ]Nusing accuracyPremultiplier from configYe59]L?e5Y]) " i]MeX?e:mp>m@] E]o;] ;]L5q u@qZjFNOT Ignoring new targets: 137.10 m.Bj<Jj< ProNav: ac range: 137.100006 m, nav range: 62.614208 m, bearing: 86.375187 deg, approach rate: -0.114901 m/s, LOS rate: 0.542079 deg/s, cmd heading: 17.689394 deg, new cmd heading: 18.369864 deg. 2j<HeadingCmd: 0.320615 target range: 137.100006 and range: 136.80 m. j'>jjjihhhhBfffrfbf?ɛ vA  I  ջɚ iIq=I'>iiߡ)'>)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232134*F?2F:FBF^0JFG.qG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482460 I P'w,A+@Y@zX>O9yZ>yHc??˿Bo@?@C?˿@ߩ??@;?ɨ+@Rʉ;%CyBC"II-I-٢=8F= =S=9EPAA EG٣EvUGyM< M> ]Nusing accuracyPremultiplier from configQ]59Uh^?e5YUc" iUVae >e@U EU;U;U>N5m B u@u EZjFNOT Ignoring new targets: 137.10 m.Bj<Jj< ProNav: ac range: 137.100006 m, nav range: 62.571438 m, bearing: 86.572009 deg, approach rate: -0.115127 m/s, LOS rate: 0.530156 deg/s, cmd heading: 18.369864 deg, new cmd heading: 18.960711 deg. 2j<HeadingCmd: 0.330927 target range: 137.100006 and range: 136.80 m. j>o>jjjihhhhfffrfbf@?ɛ  B j/ `iI ׻ɚiI=I>o>ii)>o>)!*F?2F:FBF_0JFGpA GqAGZHRHGyBO=>H>IC I"IIKBI =&I.I6I<:IM F]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734616&-w,wiA*Ja="Jp=JqJmJ1JJD:J&9J3JJHZ;aJKZ;aJ:aJ:azKJmMKHKHKJ KJ   F(_:YF}b>Fd>9Fe$[>yFH:/?'̿!c??o?-˿ͧ?'?waa eG٣aye{< m> uNusing accuracyPremultiplier from configq}59ur?}5Yux" iuby}h>}@uEuD;uw;uP5 B C@EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986598ZjFNOT Ignoring new targets: 137.10 m.Bjj<Jjj< ProNav: ac range: 137.100006 m, nav range: 62.522846 m, bearing: 86.788402 deg, approach rate: -0.118812 m/s, LOS rate: 0.529516 deg/s, cmd heading: 18.960711 deg, new cmd heading: 19.610365 deg. 2j<HeadingCmd: 0.342265 target range: 137.100006 and range: 136.80 m. jj=>jjjihh hhf }$?If!frfbfT_@ɛ= hI ػɚiI=Ij=>ii I) j=>) *F2F:FBFJFG ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238558G B O- >4w,)ӸA>6H k>>"09>y[>y>H@ ? ˵Ϳe~?`4?j`?h˿? (?=?ɨ>6H <>I;>#CyFBFY"IEMb@Mb@Mb@AAA A)AYEGz?QV-yE?EuEEA E=@)E@IEAAyEAIaIa٢u= }I=9} G٣y< > Nusing accuracyPremultiplier from config59̅?5Y" ip?:U >@E;);Q5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 137.10 m.BjI<JjI< ProNav: ac range: 137.100006 m, nav range: 62.478703 m, bearing: 86.996274 deg, approach rate: -0.108560 m/s, LOS rate: 0.511569 deg/s, cmd heading: 19.610364 deg, new cmd heading: 20.234396 deg. 2j<HeadingCmd: 0.353157 target range: 137.100006 and range: 136.80 m. jд>jjjihhhhBfffrfbf@&@ɛ!% )-`I) ]ػɚYiYIeȃ=Ieд>iiimA̬)mд>)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491561*FA2FA:FABFEo0JFA $?IG GBO k>H I  I "II [BI  =&I .I 6I <:I X FBIʬCJIʬCRIZI =bI =jI5̻:w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744036y} B}g"Ii%>I=II٢Y= C=9Q > G٣wUGy >  Nusing accuracyPremultiplier from config 59?5Y" i~@E!; ;S5! %+@%EZjY]FNOT Ignoring new targets: 137.10 m.Bje<Jjejyjyjyiyhhhhfffrfbf~@ɛ5ջ :I %Tػɚ!i!I% =I->i)i-)->)QPExceeded connect timeout, disconnecting.*F?2F:FBF 0JF "G=G=JMrJMlJM0JIJMG:JM9JMـ3JIzK]zLK]s9KYK] K]b>`d|]@$YZ6|vqmgc`]ZXROJM_;JM_;JM(:JM):Will construct direction to contact in vehicle frame from tetrahedron phase data.Y>4=BDAT read: Rx Time:23:31:46.7729 TRx dataTimestamp_ set to:1736379107.960880checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995824 $?IG Gi B O >"Aw,Ayu Buh"IMb@Mb@Mb@ )Yn?Q~jtyV?ļ3A )@IAy(AI%I%F2٢=0w; =E=99Q =>AA EG٣AyA M> UNusing accuracyPremultiplier from configQ]59U?]5YU" iU]K?]:e >e@UEUD;U;UrU5i u@qZj%FNOT Ignoring new targets: 137.10 m.-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246768BjEX <JjEX jajajaiahhhhBfffrfbfO @ɛ B ϻ @;I -ػɚiIE=IE:3>iIiMTӽ)M:3>)I*F2F:FBF1JFG Will construct direction to contact in vehicle frame from tetrahedron phase data. I  DAT read: 23:31:46.7729 LVL= 22704, 32753, 28386, 32755, AGC= 63, IDX= 432,-0.43, 1.925, 0.295, 0.107, 0.730, PHS= 1.284,-0.388,-0.626, RAW= 83.4, -3.0, CAL= 91.4, -9.1, ROT= 58.6, 9.1  Ygot valid direction response: 23:31:46.7729 LVL= 22704, 32753, 28386, 32755, AGC= 63, IDX= 432,-0.43, 1.925, 0.295, 0.107, 0.730, PHS= 1.284,-0.388,-0.626, RAW= 83.4, -3.0, CAL= 91.4, -9.1, ROT= 58.6, 9.1  PDAT read: Bearing 58.6, 9.1 (Local)  ~Local bearing/azimuth received: Bearing 58.6, 9.1 (Local)  DAT read: Range 10 to 50 : 136.2 m (Round-trip 181.6 ms) speed 0.2 m/s  ,DAT read: user:3296>  BDAT read: Tx time:23:31:47.8872  $Ping request sent. Zw?xj 3h&Gw,ؼ A)%_#I%RX=i%?%}!!B:publishing transmit ping timeBFpublishing direction and range info!9%"_l Ө?3|M=?y!!!! !)!I!i!!!!! !)!I!i!!!%Zw?xj 3h)!I!i!!!!V< =YV2|>V 9VW>yVH ?HvпkI?]?$1?ʿ`T??5F?ɨV< =Vde;V$Cyb#Bb"IIjIj2٢%> %^=959A EG٣AyE= E> UNusing accuracyPremultiplier from configIU59MI?]5YM" iMae&>e@MEMk8;M9;MW5 B @Ek%du?k%]0" k! k%A:k%3CBk%KCZk%֟P@"%tv!Mqn=@cәО`@%"_l Ө?3|M=?Jk%?Rk%}*%G>`/YЕa@%0&$A۶Axmbj?"k%AT*k%}k%q2q?k%چ0" 2k%JCk%I4?k%ż5 k%BCk%y>Bk%N?M addTargetRange:: Added new target pos. range: 136.199997 m, deltaT: 3.528137 s, deltaX: -0.600006 m, approachRate: -0.170063 m/s, rangeRepo size: 4  Added new target pos. range: 136.199997 m, bearing: 186.770237 deg, lat: 36.904556 deg, lon: -122.120417 deg, deltaT: 7.308847 s, deltaX: -0.900009 m, approachRate: -0.123140 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 136.20 m.BjJj% ProNav: ac range: 136.199997 m, nav range: 47.618557 m, bearing: 88.318372 deg, approach rate: 0.000000 m/s, LOS rate: 0.487305 deg/s, cmd heading: 21.508310 deg, new cmd heading: 22.056934 deg. 2j!-HeadingCmd: 0.384966 target range: 136.199997 and range: 136.20 m. j-H>j)j)jQiQhQhQhYhYfYfYfYrfe`fa@bfe`)?jH<bH<ɛCB hW=I  ׻ɚiI)=IH>He>Ia Ie"IIeoBIa&Ia.Ie@D6Ie<:IeH Fiyi}~)}H>)EEqAEWill construct direction to contact in vehicle frame from tetrahedron phase data.MAiIUJDAT read: TxSync time:23:31:47.8864 *F?2F:FBFR5JF  nManaging dock network, ignoring radio surface power offG% .G B O >JY J] mJY JY JY J] &9JY JY JY JY J] :J] :Nw,:AzKBOKB9K@KB KBNKD?<:641/,)&%$#!#Y|jZNB5*% jz @=Yj8>j+9jqX>yjH`X?пYS???8ʿ㯠?`?lE?ɨjz @=jЉ;hyr'Br"I)t txxI~I~b٢-t< -H=9-c;Q ->11 5G٣1y=b< => eNusing accuracyPremultiplier from configam59eVу?m5Ye" ieiu/>u@eEe;e3;eX5Will construct direction to contact in vehicle frame from tetrahedron phase data. c@EZjFNOT Ignoring new targets: 136.20 m.BjD<JjD< $?I ProNav: ac range: 136.199997 m, nav range: 47.573303 m, bearing: 88.589138 deg, approach rate: -0.114517 m/s, LOS rate: 0.685838 deg/s, cmd heading: 22.056935 deg, new cmd heading: 22.869948 deg. 2j%W<%HeadingCmd: 0.399156 target range: 136.199997 and range: 136.20 m. j-)^>j)j)j)i)h)h)h1h1f1ffrfbf`??ɛB( ~=I Kջɚi!I%=I%)^>i)i--꼽)-)^>))*F?2F:FBFU0JFG#GBOMt>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,rTA6;/a=Y6>6/96?]>y6H?mѿ@d?h?s?z˿`G%?m?`=?ɨ6;/a=6;4y^0B^"IUMb@Mb@Mb@QQQ Q)QYUʡE?~jtyU?ULUUA U@)U@IUlAQyU@ImIm<٢})/= }G=9(;Q > G٣xUGy٠< > Nusing accuracyPremultiplier from config59G䃜?5Y" iD?:H>@Eu;;Z5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 136.20 m.Bj@<Jj@< ProNav: ac range: 136.199997 m, nav range: 47.523651 m, bearing: 88.858776 deg, approach rate: -0.123881 m/s, LOS rate: 0.673443 deg/s, cmd heading: 22.869948 deg, new cmd heading: 23.679650 deg. 2j< HeadingCmd: 0.413288 target range: 136.199997 and range: 136.20 m. j w>j j j i hhhhBfffrfbf@ ?ɛB(K =I wӻɚiIO=Iw>iie{ƽ)w>)*F?2F:FBF^0JFWill 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.  $?Ic~G5tA YY5tAyIBGG B O >H= >I9  I= "II= BI9 &I9 .I9 6I= ϯ<:I= F} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233519![w, nAb =Yb>b9b;\>ybH? ҿ? Z?=? M`˿|?@c?K>?ɨb =b=;b&Cyj=Bj"IIzIz&ѳ٢~ = P=9;Q >    G٣ y< > Nusing accuracyPremultiplier from config%59?%5Y" i!%R>%@E::Z\55B 5@5EZjY]FNOT Ignoring new targets: 136.20 m.Bje><Jj>< ProNav: ac range: 136.199997 m, nav range: 47.474442 m, bearing: 89.119964 deg, approach rate: -0.125523 m/s, LOS rate: 0.666918 deg/s, cmd heading: 23.679649 deg, new cmd heading: 24.463972 deg. 2j<-HeadingCmd: 0.426977 target range: 136.199997 and range: 136.20 m. j5>j1j1j1i1h1h1h9h9f9f9fArfAbfMh?ɛu: 隕=I лɚiI=I>ii?̽)>)*F?2F:FBF_0JFG}JsJpJJJK:J^9JJJe;Je;J|:J~:GIBYOuX>zKZ-NK9KK K "#$!!!"%! Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485453 I bw,,}AW=Y>9[>yH?@Jҿ%?@??o"˿?5E?@?ɨW=;#Cy=EBE"I Ma=Ma=Mb@Mb@Mb@ )YV-?V-Qyh?u @)@I@yz@II٢= <=9;Q > G٣y <  > Nusing accuracyPremultiplier from config59 ?5Y " i%?%:%l>%@E ;r;A^5) 5@1ZjYeFNOT Ignoring new targets: 136.20 m.Bjen=<Jjmn=<} ProNav: ac range: 136.199997 m, nav range: 47.409870 m, bearing: 89.408832 deg, approach rate: -0.147877 m/s, LOS rate: 0.662447 deg/s, cmd heading: 24.463972 deg, new cmd heading: 25.331689 deg. 2j}P<HeadingCmd: 0.442121 target range: 136.199997 and range: 136.20 m. j]>jjjihhhhBfffrfbf? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737564ɛBg; 隕>I ͻɚiIDv=I]>ii{ս)]>)*F}?2Fy:FyBF}`0JFyG 8uĽ !$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991565G B O >$,hw,GA6Ͷ=Y6e>6м96E]>y6H ;? "ӿ ۤ?=?? !˿@?to?@>?ɨ6Ͷ=6 ;6%Cy>NB>"IIJIJ ٢n;= n_=9r pp vG٣vyUGyvf< v> zNusing accuracyPremultiplier from configx~59z?~5Yz" izʅ>@zEz2 ;z ;z_5  @ EZj9EFNOT Ignoring new targets: 136.20 m.BjE=<JjE=jajajaiahahahihifififqrfqbfu @ɛBn; 隥>I ɻɚiI=I>iiؽ)>)*F12F1:F1BF51JF1G rWͽZH1RH5?AH>IC I#IIBI =&I.I6Iۯ<:I& FGBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241463Unw, AzK^wMK\K\K^ K^!"##! yzZB~"II I (٢Eb= ED=9MQ M>IQ UG٣QyU U> aIa mNusing accuracyPremultiplier from configiu59m//?u5Ym" }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493620imƵ@m Emx;m y;ma5 G@ZjFNOT Ignoring new targets: 136.20 m.Bj><Jj>< ProNav: ac range: 136.199997 m, nav range: 47.291981 m, bearing: 89.930174 deg, approach rate: -0.148782 m/s, LOS rate: 0.664743 deg/s, cmd heading: 26.060558 deg, new cmd heading: 26.897564 deg. 2j<HeadingCmd: 0.469451 target range: 136.199997 and range: 136.20 m. j[>jjjihhhhfffrfbf@gK@ɛMBMƳ; IUf->IY eO#ŻɚaiaIe=Im[>ii's)[>)*F?2F:FBF1JFG#ҽG ?G 3?E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749100G! B) OU >=uw,չA2=Y2隧>2r92>^>y2HK? 1aԿ.?ђ?r?`}˿8q?@!?` G٣y$T= > Nusing accuracyPremultiplier from config59B?5Y " i H? : K> @"E;+;c5B @E5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 136.20 m.BjM[?<JjM[?<] ProNav: ac range: 136.199997 m, nav range: 47.218105 m, bearing: 90.211807 deg, approach rate: -0.175263 m/s, LOS rate: 0.669190 deg/s, cmd heading: 26.897563 deg, new cmd heading: 27.743719 deg. 2j]jajijiiihihihqhuBfqfqfyrfybf@ɛBB; 隽vH>I ſɚiI=I=I>ii)>)JxJsJJJZ:J9JJa@a@a@a@ U"$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998996*F%?2F):F)BF-Q5JF)G1 G1G=GBOf>H >I  I 5#II BI  =&I .I 6I <:I  F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:23:31:50.4715 E TRx dataTimestamp_ set to:1736379111.744671M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250619i{w,A6w=Y6I>6B96Ia>y6H+? տ6?{I?-f? ?˿?`F?` 8?ɨ6w=6搈;4yRpBR"IIZ IZ<2٢b'P= b]=9b`z;Q f>dd fG٣fzUGyj= n> vNusing accuracyPremultiplier from configtz59vS?z5YvB" itxz\>z@v$Ev;v ;v$e5B @EZjFNOT Ignoring new targets: 136.20 m.Bj6<Jj6< ProNav: ac range: 136.199997 m, nav range: 47.151531 m, bearing: 90.459772 deg, approach rate: -0.171262 m/s, LOS rate: 0.638790 deg/s, cmd heading: 27.743720 deg, new cmd heading: 28.488621 deg. 2j2<HeadingCmd: 0.497220 target range: 136.199997 and range: 136.20 m. j>jjjihhh h f f frf1bf5 @ɛ}Boq< 隕F]>I "ɚiI%=I>iiT)>)*FI2FI:FIBFMP0JFI =#$?I9zKu MKu+9KqKu Ku1Ss?a~xhZH7%xspjc_RK?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501591Gm_Gi By O >Tw,X AeM,>YeP>eQ9eɄd>yeH ?@_տ? ???r˿S?R?H3?ɨeM,>eU;e#Cy}{B}"I5Mb@Mb@Mb@111 1)1Y57A`?{Gz?~jtxy5?5#<5Ļ5A 5@)5@I11y1IUIUb1٢eG= e2=9m\:Q m>iq uG٣qyu< u> Nusing accuracyPremultiplier from configy59}i?5Y} " i}?:>@}&E};}>;}#g5 K@ZjFNOT Ignoring new targets: 136.20 m.BjG<JjG<Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:31:50.4715 LVL= 16848, 32753, 24434, 29683, AGC= 62, IDX= 433, 0.50,-0.787,-2.381,-2.401,-1.776, PHS= 1.077,-0.558,-0.628, RAW= 87.9, 1.3, CAL= 94.9, -2.1, ROT= 55.1, 2.1 %Ygot valid direction response: 23:31:50.4715 LVL= 16848, 32753, 24434, 29683, AGC= 62, IDX= 433, 0.50,-0.787,-2.381,-2.401,-1.776, PHS= 1.077,-0.558,-0.628, RAW= 87.9, 1.3, CAL= 94.9, -2.1, ROT= 55.1, 2.1 -PDAT read: Bearing 55.1, 2.1 (Local) 5~Local bearing/azimuth received: Bearing 55.1, 2.1 (Local) MDAT read: Range 10 to 50 : 135.0 m (Round-trip 180.1 ms) speed 0.3 m/s M,DAT read: user:3297> UBDAT read: Tx time:23:31:51.5873 U$Ping request sent.Ui#ۉ? ^?޹< 6?)Q Im0v?iQ ={?j`? bς-ׇ?)TIἼi< @:publishing transmit ping timeQFpublishing direction and range infobfE`.?9Rp.~UiX3?_(z?y )Ii )Ii{?j`? bς-ׇ?)IiɛBt#< 隕u>I fɚiIn=Ie?ii԰)e?)EE*Fu?2Fq:FqBFu"4JFqJ wJ wJ J J W:J 9J J ) I) G= GA GA  Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ =՝ < JDAT read: TxSync time:23:31:51.5865 G B! O= >zw,ҏ#A6>Y6>6`96h>y6H 1?Vֿ,?@@??`˿k??#,?ɨ6>6;4yBBB"IiF=IF< F=F=ININ٢fq< fi=9f5%;Q f>hh jG٣hyn= ~> Nusing accuracyPremultiplier from config 59My? 5Y " i  >@(EL::h5=B =@=Ek%K!?k%R3# k! k%A:k%CBk%CZk%}@"%ow+,m?'R3@) `@%Rp.~UiX3?_(z?Jk%< @Rk%*%~Íi'90R`@%ΔGd^Fp~þ-H?"k%ȁ*k%?k%􊀜?k%A # 2k%GCk%eI +ɚ)i1I5=I=?i9i=3)=?)AH->I) I-N#II-ńBI- =&I).I-?D6I-ǯ<:I- FBI ĪCJI ĪCRI ZI  =bI  =jI ķ5*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G1G B O >*J C="J a=hw,&n=A2+!>Y2{>2292zv>y2Hr?8׿б???;Ϳ ?@s??ɨ2+!>2RS;2$CyNBR#IIZIZm? b$$?I`٢= E=9%]=Q %>!! %G٣-{UGy-w< -> 5Nusing accuracyPremultiplier from config1=595?=5Y5." i5AE/>E@5*E5K ;5 ;5zj5I M@IzKUxiOKUh9KQKU KU[WVRU`ptvxyywtrlgeb^]XSNJIEA>;9771//,*)(&$#  BKa:KamWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 135.00 m.Bj<Jj< ProNav: ac range: 135.000000 m, nav range: 22.693213 m, bearing: 108.010521 deg, approach rate: -0.053319 m/s, LOS rate: 1.530018 deg/s, cmd heading: 30.182681 deg, new cmd heading: 32.004493 deg. 2jA=HeadingCmd: 0.558584 target range: 135.000000 and range: 135.00 m. jY?jjjihhhhfffrfbf@I AɚiI=I?iil)Y?)*Fm?2Fq:FqBFu`0JFqG]EG)B9OU>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.ڋw,JCWAy~B~#IMb@Mb@Mb@ )YK??Mby^?<A @)@IyIIƳ٢mC< @=9Q > G٣y > Nusing accuracyPremultiplier from config59ݟ?5Yh" iu?u:u>u@,E<Ö<Wl5y @EB*** querying acoustic contact ***jjZjJ{JJJJd:JJJFNOT Ignoring new targets: 135.00 m.Bj<Jj< ProNav: ac range: 135.000000 m, nav range: 22.667171 m, bearing: 108.657659 deg, approach rate: -0.058617 m/s, LOS rate: 1.458320 deg/s, cmd heading: 32.004494 deg, new cmd heading: 33.947351 deg. 2j 5z=UHeadingCmd: 0.592493 target range: 135.000000 and range: 135.00 m. jU?jQjQjQiQhQhYhYh]I 8_ɚiIH%=I?ii7%) ?) Will construct direction to contact in vehicle frame from tetrahedron 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:FBFJFGeG?G ?GQBO>H% >I!  I% a#II% ԄBI% =&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=1.502584׵w,qA6&6>Y6=L>696s>y6Hz?vؿ@~?? {?̿@?K+?<?ɨ6&6>6;6&CyRBR #I)T TIZIZ@٢f< f\=9f*~Q f>hh jG٣hyjh= n> rNusing accuracyPremultiplier from configpv59r䰄?v5Yr" irtv>z@r.Er:ra:rm5~B ~E@~EZjFNOT Ignoring new targets: 135.00 m.Bj8<Jj8< ProNav: ac range: 135.000000 m, nav range: 22.642210 m, bearing: 109.219570 deg, approach rate: -0.067417 m/s, LOS rate: 1.519275 deg/s, cmd heading: 33.947352 deg, new cmd heading: 35.634430 deg. 2jU=HeadingCmd: 0.621938 target range: 135.000000 and range: 135.00 m. jV7?jjjihhhhfffrf!bf%k?ɛmBmL< imߎ>Ii u՗ɚiIj=IV7?iij))V7?)*F?2F:FBF0JFGqA G IWill construct direction to contact in vehicle frame from tetrahedron phase data.՝4?՝?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754921zK,YNKػ9KK K   GG B O- >bw,_A@C>Yʇ>O9s>yH`S?#ٿ@π?`]?Bq?̿ ޔ?@M4?@?ɨ@C>;騵$CyB #IUMb@Mb@Mb@QQQ Q)QYUV-?y&1?y&1|yU?U` G٣|UGyE< >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006800 Nusing accuracyPremultiplier from config59Ƅ?5Y! i ? : > @0EE;;p5 @ZjAMFNOT Ignoring new targets: 135.00 m.BjM<JjM<] ProNav: ac range: 135.000000 m, nav range: 22.608452 m, bearing: 109.950519 deg, approach rate: -0.074404 m/s, LOS rate: 1.613393 deg/s, cmd heading: 35.634429 deg, new cmd heading: 37.829417 deg. 2j]h=mHeadingCmd: 0.660248 target range: 135.000000 and range: 135.00 m. jm)?jijijiiihqhqhqhu/Bfyfyfyrfybf}`N@ɛ~}n< 隵6>I }ɚiI1=I)?iii@))?)*F}?2Fy:FyBF} 2JFyGU,GB)OUu>JJxJJJJ9JJ &$?I ) &= rC NG- |uAA u Yu |uAy} yB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262084*ɨw,٤A2V@Q>Y2T>2ᷣ92Wu>y2H%?`ٿ@?`a?A?̿v?e??ɨ2V@Q>2.4;2%CyRBV#II^I^̍٢v= vp=9v:Q v?xx zG٣xy~%= ~?  Nusing accuracyPremultiplier from config 59 ք?5Y ! i >@ 2E ; 5; q5! %@%EZjIMFNOT Ignoring new targets: 135.00 m.BjU<JjUI CۈɚiI6=I,?iiٺ>)0?)*F12F1:F1BF5S3JF9ZHYRH]@AHe|>IeC Iem#IIe߄BIe =&Ia.Ia6Ie<:Ie4 FG su"GGGBO(>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515056w,峾A I:|5a>Y:>:ݩ9:&x>y:H ?ڿ?I??]̿ P;??@?ɨ:|5a>:;:&CynBr#IivN>Iva=IzIzb٢   H=9 Q > G٣yh= > %Nusing accuracyPremultiplier from config!-59%鄜?-5Y%! i%)5>5@%4E%:%3:%Ks59 =@AZjiuFNOT Ignoring new targets: 135.00 m.}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766886Bj<Jj<zKLK9KK K ProNav: ac range: 135.000000 m, nav range: 22.552547 m, bearing: 111.104873 deg, approach rate: -0.076116 m/s, LOS rate: 1.542765 deg/s, cmd heading: 39.405332 deg, new cmd heading: 41.295666 deg. 2jY=HeadingCmd: 0.720745 target range: 135.000000 and range: 135.00 m. jĂ8?jjjihhhhfffrfbfP@ɛW< Ė>I 쀻ɚiI+D=I7?iiU)Ă8?)*F?2F:FBFV0JF"G-4>G->GMe #- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019703GI BY Ou >ٵw,غAy~B~#I @ @ @  @ II3٢= @=9Q > G٣}UGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y! iw+::@6E:;>t5B s@EZjFNOT Ignoring new targets: 135.00 m.Bj~<Jj~< ProNav: ac range: 135.000000 m, nav range: 22.522940 m, bearing: 111.765054 deg, approach rate: -0.066567 m/s, LOS rate: 1.486196 deg/s, cmd heading: 41.295665 deg, new cmd heading: 43.277978 deg. 2j~=HeadingCmd: 0.755343 target range: 135.000000 and range: 135.00 m. j,^A?jjjihhhhfffrfbf @ '$?Iiɛ)5< 15՝>I1 5\oɚ1i9I=&=I=,^A?iAiEVx)E,^A?)AWill construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝<BDAT read: Rx Time:23:31:54.1699 TRx dataTimestamp_ set to:1736379115.536448checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276702*F?2F:FBF_0JFGz/GBOb>HU {>IQ  IU s#IIU BIU =&IQ .IQ 6IU گ<:IU  F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522654Pw,fA6T>Y6~>6\96b>y6H@Xp?ܿn? M?p? )ο ?#?@?ɨ6T>6;4yBBB#IIJIJ1٢f{ fZ=9j,Q r>xx ~G٣|y x=  > EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config)59- ? 5Y-! i-kU :Y]c:]?e@-8E-$=-vY?-u5 @%B*** querying acoustic contact ***j!j!ZjIUFNOT Ignoring new targets: 135.00 m.BjU<JjUI J_ɚiIx'=IIE?ii%D_)%vOI?)!E1E1JJJJJJJJJ";aJ$;aJ&:aJ':a*F?2F:FBFJF ($?IG%MGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 23:31:54.1699 LVL= 16624, 32753, 29202, 32755, AGC= 58, IDX= 432,-0.16, 2.598, 1.022, 1.273, 1.801, PHS= 0.884,-0.732,-0.531, RAW= 96.5, 5.0, CAL= 105.7, 3.6, ROT= 44.3, -3.6 -Ygot valid direction response: 23:31:54.1699 LVL= 16624, 32753, 29202, 32755, AGC= 58, IDX= 432,-0.16, 2.598, 1.022, 1.273, 1.801, PHS= 0.884,-0.732,-0.531, RAW= 96.5, 5.0, CAL= 105.7, 3.6, ROT= 44.3, -3.6 5PDAT read: Bearing 44.3, -3.6 (Local) 5~Local bearing/azimuth received: Bearing 44.3, -3.6 (Local) =DAT read: Range 10 to 50 : 133.8 m (Round-trip 178.5 ms) speed 0.3 m/s E,DAT read: user:3298> MBDAT read: Tx time:23:31:55.2873 zKUJKU 9KQKU KUM $Ping request sent.M ?p`^ٿupf?)ԇѾIoiHˊ :publishing transmit ping timeI Fpublishing direction and range info9z^ȿa۠`WƬD'j?y )Ii )Ii >?p`^ٿupf?)Ii®w,] A>Y>̼9D>yH!?%ݿ(?u? d?Dο ?`)?`s?ɨ>1;y5B5 #I)9 9%Will construct direction to contact in vehicle frame from tetrahedron phase data.        Mb@Mb@Mb@ )YQ?I +?Mby(?9<A r@)Iy@@AIIԲ٢=  =9TQ > G٣y %&=  > =Nusing accuracyPremultiplier from config=59#?E5Y! i^ET:EF?E:E?E@:E;;x5UB UE@U۵EkSIA EeKɚAiAIE} =ImP?iiiu)z)uGQ?)q*F2F:FBFJF  *$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.G OG B O >ɮw,Z'A65>Y6Z?696S>y6Hj?޿ ??`$? 6^;6$Cy>B>#IIJIJ٢Zƻ Z~=9b3Q f ?hl nG٣n~UGyvp= v? ~Nusing accuracyPremultiplier from config| 59~32?5Y~! i~S%?@~I-C I-z#II-BI- =&I).I->D6I-<:I- FZjIUFNOT Ignoring new targets: 133.80 m.BjU<JjU< ProNav: ac range: 133.800003 m, nav range: 9.415674 m, bearing: 195.954574 deg, approach rate: 0.564134 m/s, LOS rate: 0.976066 deg/s, cmd heading: 46.990195 deg, new cmd heading: 47.986683 deg. 2jw'=HeadingCmd: 0.837526 target range: 133.800003 and range: 133.80 m. jhV?jjjihhhhfffrfbfp?ɛ  < ,<>I 5Ѷ=ɚ1i9I= =I=LDU?iAiE>t)EhV?)A*F2F:FBFm0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G7RGBO^> I JKm3 KS}-KK"KJ ~J ~J J J {m:J f9J J J ;;J =;J :J :[Юw,AA6g֢>Y6I ?696>y6H Zt?*`~-?sh?7?jп7??ϲ?ɨ6g֢>6N;6#CybBb$#IIjIjdrWill construct direction to contact in vehicle frame from tetrahedron phase data.r>r@٢vM< zH=9zQ z>|| ~G٣|y[= >  Nusing accuracyPremultiplier from config zK>KK]9KK K-59 C?-5Y 0! i E15?5@ >E в; ; G{59 =@AZjaeFNOT Ignoring new targets: 133.80 m.BjmY<JjmY<} ProNav: ac range: 133.800003 m, nav range: 9.650867 m, bearing: 196.383747 deg, approach rate: 0.633890 m/s, LOS rate: 1.128508 deg/s, cmd heading: 47.986682 deg, new cmd heading: 49.242613 deg. 2j}A=HeadingCmd: 0.859446 target range: 133.800003 and range: 133.80 m. j\?jjjihhhhfffrfbf?ɛP)< ۤ>I .ɚiI,V =I\?iiwy)\?)*F?2F:FBF1JFG;mGaBiO<>Will construct direction to contact in vehicle frame from tetrahedron phase data.#֮w,][AyrBr%#I ~p=~a=Mb@Mb@Mb@ )Y9v??{Gzty?<ףvA @)Ih@y@ III٢"0; <=9Q > G٣y > Nusing accuracyPremultiplier from config59XU? 5Y! i2 "? : ? @@Eo7;Z4;,}5 @յEZjAEFNOT Ignoring new targets: 133.80 m.BjM<JjM<] ProNav: ac range: 133.800003 m, nav range: 9.892833 m, bearing: 196.811203 deg, approach rate: 0.559804 m/s, LOS rate: 0.964748 deg/s, cmd heading: 49.242614 deg, new cmd heading: 50.493406 deg. 2j]%=eHeadingCmd: 0.881276 target range: 133.800003 and range: 133.80 m. jeQa?jajajaiahihihihmBBfffrfbf$?ɛeBeH< ae >Ia mCɚiiIܔ =IQa?ii )Qa?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JFH=t>I9 I=#II=BI= =&I9.I96I=߯<:I= FBIǩCJIǩCRIZI =bI =jI5Ge 4pG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.ܮw,X7uA6 >Y6c?6'96Q>y6HL?,??4V?(п?@9?Z?ɨ6 >6X*;6$CyBBB)#IIJIJ2٢Rf< R`=9V␼Q V>TX ZG٣ZUGyZ= Z> bNusing accuracyPremultiplier from config\b59^c?f5Y^>! i^ df ?f@^AE^:^;^~5p r@pZj  FNOT Ignoring new targets: 133.80 m.Bj<Jj<% ProNav: ac range: 133.800003 m, nav range: 10.093535 m, bearing: 197.206320 deg, approach rate: 0.550602 m/s, LOS rate: 1.062392 deg/s, cmd heading: 50.493406 deg, new cmd heading: 51.655021 deg. 2j%G6=-HeadingCmd: 0.901550 target range: 133.800003 and range: 133.80 m. j-f?j)j1j1i1h1h1h9h9f9f9fArfAbfE@F?ɛD< >I  ɚiI =I f?i i Wr) f?)  +$?IJJJJJJJv:J9JJJU;JV;J\ ;J] ;E]r=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKBoIKs9KK K (65<N -B\eca_YM:&xlb[UNJHHD?869633.) *F?2F:FBF1JFG\~G B O >w,#Au7>Yu?u&9ud>yuHV??@6i? -B?? ѿݤ?@ ?`?ɨu7>uG;u#CyލBލ.#IMb@Mb@Mb@ )YM?X9v?{Gztyn?<EA )@I@y@UWill construct direction to contact in vehicle frame from tetrahedron phase data.IIb2٢d< +=9rQ > G٣yL= > Nusing accuracyPremultiplier from config59u?5Y! i?:)?@CE8;;ـ5B @ ҵE%B*** querying acoustic contact ***j!j!ZjA]FNOT Ignoring new targets: 133.80 m.Bj]<JjeI BɚiIn =Im?iix)m?)E5x< ,$?I*F?2F:FBFP5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G :G B O >w,LAR>YRd"?R&29R;)>yRH`?k T??&K?`x>ѿW?Lp?@t?ɨR>R;R%CyfBf4#IIIԲ٢%:< -`=9-Q ->11 5G٣1y=՗= => ENusing accuracyPremultiplier from configAM59E?M5YEU! iEIMm0?M@EEEE:ZHYRH]AAHeo>IeC Ie#IIeBIe =&IeGD.Ie=D6Ie<:Ie= FE:Eq5y }b@yZjFNOT Ignoring new targets: 133.80 m.Bje<Jje< ProNav: ac range: 133.800003 m, nav range: 10.543100 m, bearing: 198.160855 deg, approach rate: 0.528013 m/s, LOS rate: 1.121837 deg/s, cmd heading: 53.217439 deg, new cmd heading: 54.455240 deg. 2jz@=HeadingCmd: 0.950423 target range: 133.800003 and range: 133.80 m. jNs?jjjihhhhfffrfbfIf@ɛ  P< L>I κɚiI' =I%Ns?i!i%s)-Ns?))E1E1*E9"E9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757338*Fu?2Fq:FqBF}4JFyGpA GpAGmGA BQ Om >  I J J J J J :J 9J J J ;J ;J ;J ;iw,ûA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:23:31:57.8680 &TRx dataTimestamp_ set to:1736379119.068583*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010262B>YBl)?B>9B>yBH7? {2??3?Zѿ`ϧ??e?ɨB>B6;B$CyNBN:#IIVIV#٢^< ^R=9b[Q b>`` bG٣fUGyfƍ= f> jNusing accuracyPremultiplier from confighn59j?r5Yj{! ijմprQ7?r@jGEj|;j;j$5t v@zϵEZj%FNOT Ignoring new targets: 133.80 m.Bj%˧<Jj%˧<5 ProNav: ac range: 133.800003 m, nav range: 10.748611 m, bearing: 198.622100 deg, approach rate: 0.533100 m/s, LOS rate: 1.173589 deg/s, cmd heading: 54.455240 deg, new cmd heading: 55.812249 deg. zK=>OK9K9K= K=OG5' N\/ 2j5[I=HeadingCmd: 0.974108 target range: 133.800003 and range: 133.80 m. j_y?jjjih!h!h)h)f9fAfIrfbf @ɛBJ< 隥>I! -<3ɚ)i)I-*%=I5_y?i1i5p)5_y?)9*F2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261371GE XwG B1 OM >:w,ݻA65>Y60?6"G96t>y6H`? ݽ ?^??]ѿ? ?`X?ɨ65>6h;4y>B>8#I R-$?ITMc~G M0YIyUN)B]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:31:57.8680 LVL= 24928, 32753, 32754, 32755, AGC= 64, IDX= 429, 0.05,-1.456,-3.036,-2.475,-2.182, PHS= 0.814,-0.807,-0.297, RAW= 107.9, 4.1, CAL= 119.1, 1.5, ROT= 30.9, -1.5 Ygot valid direction response: 23:31:57.8680 LVL= 24928, 32753, 32754, 32755, AGC= 64, IDX= 429, 0.05,-1.456,-3.036,-2.475,-2.182, PHS= 0.814,-0.807,-0.297, RAW= 107.9, 4.1, CAL= 119.1, 1.5, ROT= 30.9, -1.5 PDAT read: Bearing 30.9, -1.5 (Local) ~Local bearing/azimuth received: Bearing 30.9, -1.5 (Local) DAT read: Range 10 to 50 : 132.4 m (Round-trip 176.6 ms) speed 0.4 m/s ,DAT read: user:3299> BDAT read: Tx time:23:31:58.9873 $Ping request sent.yy }G٣yyc= > Nusing accuracyPremultiplier from config59r?5Y#! i?:D?@IE;;q5 .@ke(n?ke( ka keA:kefCBkeCZke%@"e8:ݰ"_@eĩȿɿʭX?JkeRkeL*eJE;2@&wGjQ.rR[@e؁F̠?>%ixW`?"keR*keߑAke?ke`e( 2keu1CkakeA # kakeAkeW@ addTargetRange:: Added new target pos. range: 132.399994 m, deltaT: 3.530942 s, deltaX: -1.400009 m, approachRate: -0.396497 m/s, rangeRepo size: 4  Added new target pos. range: 132.399994 m, bearing: 284.668421 deg, lat: 36.904502 deg, lon: -122.121128 deg, deltaT: 3.530942 s, deltaX: -1.400009 m, approachRate: -0.396497 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 132.40 m.BjJj= ProNav: ac range: 132.399994 m, nav range: 21.139118 m, bearing: 240.539117 deg, approach rate: 0.000000 m/s, LOS rate: 1.173589 deg/s, cmd heading: 55.812249 deg, new cmd heading: 57.789399 deg. 2j9EHeadingCmd: 1.008615 target range: 132.399994 and range: 132.40 m. jEN?jAjIjIiIhIhIhQhUvBH]e>I]C I]#II]BI] =&IY.I]I  1fɚ i I =IN?iiDv)N?)*F ?2F :F BF \0JF "G >G = Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:31:58.9865 G 7ArGiByO>D]w,?AZJ?YZ??ZR9Z޵>yZHf?@x?h?&?+п=?@?@[?ɨZJ?Z;Z&CyfBf>#Iij=Ij<InInF٢vZ< za=9z{Q z>|| ~G٣|y~#> > Nusing accuracyPremultiplier from config 59 ?5Y ;! i R?@ KE : : 5%B -@ QIUiU͵EZjFNOT Ignoring new targets: 132.40 m.BjӻJjӻ ProNav: ac range: 132.399994 m, nav range: 21.335768 m, bearing: 240.413937 deg, approach rate: 0.587224 m/s, LOS rate: -0.370361 deg/s, cmd heading: 57.789397 deg, new cmd heading: 57.417323 deg. 2j,~HeadingCmd: 1.002121 target range: 132.399994 and range: 132.40 m. jE?jjjihhhhfffrfbf?ɛBlo< M<隽´>I /ɚiIV#=I?ii8uE)E?)!%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFzK5 NK5+9K1K5 K5GuOtG1B9OUS> Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,ABr?YBF?BX9B>yBHm?#?4h?`I?@п!?? U?ɨBr?B 5;@yNBRD#IUMb@Mb@Mb@QQQ Q)QYUK7?p= ף?yU ?U=UUA Q)QIQQyUf@ImImƲ٢};< B=9|Q > G٣UGy&= > Nusing accuracyPremultiplier from config59?5Y! i^ ?:Cd?@ME#;;܉5B @ʵEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 132.40 m.Bj"Jj"5 ProNav: ac range: 132.399994 m, nav range: 21.559320 m, bearing: 240.316391 deg, approach rate: 0.543145 m/s, LOS rate: -0.234541 deg/s, cmd heading: 57.417323 deg, new cmd heading: 57.127722 deg. 2j5 =HeadingCmd: 0.997067 target range: 132.399994 and range: 132.40 m. j=??j9j9j9iAhAhAhAhMBfIfIfIrfIbfu[/?ɛBX< Ÿ>I _¹ɚiI=I?ii_')??) ].$?IY*F?2F:FBFo0JFJ-J-J)J)J--:J-9J)J)a5@a5@a5@a5@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G TvG B O >jH! bH! HE \>IE C IE #IIE BIE  =&IA .IE ;D6IE -<:IE = Fg w,/A6P?Y6M?6xX96W?>y6Hu,?`K@׼??:?Ͽ?#?l?ɨ6P?6;6#CyB„BBJ#IHJAAIJIJƳ٢RS< RY=9V7Q V>TT VG٣XyZ/= Z> bNusing accuracyPremultiplier from config\b59^^Ņ?f5Y^W! i^9df7k?f@^NE^Y;^];^5l r]@pZjFNOT Ignoring new targets: 132.40 m.BjMJjM ProNav: ac range: 132.399994 m, nav range: 21.760260 m, bearing: 240.245122 deg, approach rate: 0.511678 m/s, LOS rate: -0.179806 deg/s, cmd heading: 57.127723 deg, new cmd heading: 56.915891 deg. 2jHeadingCmd: 0.993370 target range: 132.399994 and range: 132.40 m. jzM~?jjjihhhhfffrfbf+?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242216ɛBO< >I jɚiIP =IzM~?ii)zM~?)*F?2F:FBF0JFGqA GmAGeoG9BIOeV> 9I9E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494085zK FJK 9K K K Ow,IAy}ńB}N#I) AII<٢*L< :=9Q > G٣y > Nusing accuracyPremultiplier from config59х?5YU! i @PE;};p5  9@ ǵEZj)5FNOT Ignoring new targets: 132.40 m.Bj[Jj[ ProNav: ac range: 132.399994 m, nav range: 21.997471 m, bearing: 240.162678 deg, approach rate: 0.557144 m/s, LOS rate: -0.191550 deg/s, cmd heading: 56.915891 deg, new cmd heading: 56.671228 deg. 2juHeadingCmd: 0.989100 target range: 132.399994 and range: 132.40 m. j5}?jj1j1i9hAhAhIhIfIfQfQrfQbf]@?ɛ=Bm"X< q}[>IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749453 /9ɚiI=I5}?i_Mw,gAfֽ#?Yf9\?f29L9fИ>yfH`?e}`ɍ?9??@+Ϳ q??@?ɨfֽ#?fX;f$CynЄBn[#IMb@Mb@Mb@ )YPn??MbPy?L=A @)C@I~@y3@IUIU̍٢ef:= m*=9mr;Q m>iq uG٣uUGyu= u> Nusing accuracyPremultiplier from configy59}݅?5Y} ! i}?:t?@}RE}V5;};}5 @ZjFNOT Ignoring new targets: 132.40 m.Bj Jj  ProNav: ac range: 132.399994 m, nav range: 22.242620 m, bearing: 240.101475 deg, approach rate: 0.513595 m/s, LOS rate: -0.126808 deg/s, cmd heading: 56.671227 deg, new cmd heading: 56.489643 deg. 2jHeadingCmd: 0.985930 target range: 132.399994 and range: 132.40 m. je|?jjjihhhhiBfffrfbf@H-Q>I-C I-#II-!BI- =&I).I-9D6I-a<:I-Z FɛMBU²< QUY>IQ U':ɚQiYI]v=Ie|?i\, w,96i>y6H/?`[i$??$?˿ Tͧ?*??ɨ6D*?64q;6&CyBՄBBb#IIJIJF٢R= Rn=9RI) -h:ɚ)i)I-S=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502684I{?iGZGm @v- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755141Ga Bi O >V&w,SAy~B~p#Iil>I4<Mb@Mb@Mb@ )Yjt?Mb?y?=vA )@IQ@y@II(1٢TL= :=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y3! i?:!?@UEY;V;5 y@ B*** querying acoustic contact ***j j  IZj!-FNOT Ignoring new targets: 132.40 m.Bj-dJj5d ProNav: ac range: 132.399994 m, nav range: 22.641863 m, bearing: 240.048163 deg, approach rate: 0.502276 m/s, LOS rate: -0.049859 deg/s, cmd heading: 56.397114 deg, new cmd heading: 56.331097 deg. 2jHeadingCmd: 0.983163 target range: 132.399994 and range: 132.40 m. j{?jjjihhhhVBfffrfbf 7@ɛE BEt< IMt>IIJuJuJqJqJuM:Ju*9JqJq ֤:ɚiIҞI5 C I5 #II5 0BI5 =&I1 .I5 8D6I5 j<:I1 BIɤCJIɤCRIɕCZI =bI =jI6G mֽG B O >,w,`tAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:23:32:01.5663 vTRx dataTimestamp_ set to:1736379122.848561vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259055yޥBޥt#IIIƲ٢F{< I=9Q > G٣UGy > Nusing accuracyPremultiplier from config59+?5Y! i@WE0;W1;5B [@µEZj)-FNOT Ignoring new targets: 132.40 m.Bj=bJj=bM ProNav: ac range: 132.399994 m, nav range: 22.847502 m, bearing: 240.027934 deg, approach rate: 0.508173 m/s, LOS rate: -0.049540 deg/s, cmd heading: 56.331097 deg, new cmd heading: 56.270957 deg. 2jMMHeadingCmd: 0.982113 target range: 132.399994 and range: 132.40 m. jUk{?jQjQjQiQhYhYhYhYfYfafarfabfe @ɛ B= 隕C>I :ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510234zK K +9K K K Ak3w,WμAu>yuH` _?k]?.?`? ƿԠ?@?T?ɨu> G٣y2> > uNusing accuracyPremultiplier from config 59 b?5Y ʧ! i hd?@ YE <  < 5 .@ZjqFNOT Ignoring new targets: 132.40 m.Bj/:Jj/:Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:32:01.5663 LVL= 28432, 32753, 32754, 32755, AGC= 64, IDX= 425,-0.22,-0.708,-2.157,-1.336,-1.215, PHS= 0.595,-0.895,-0.125, RAW= 121.1, 6.6, CAL= 130.0, 2.3, ROT= 20.0, -2.3 Ygot valid direction response: 23:32:01.5663 LVL= 28432, 32753, 32754, 32755, AGC= 64, IDX= 425,-0.22,-0.708,-2.157,-1.336,-1.215, PHS= 0.595,-0.895,-0.125, RAW= 121.1, 6.6, CAL= 130.0, 2.3, ROT= 20.0, -2.3 PDAT read: Bearing 20.0, -2.3 (Local) ~Local bearing/azimuth received: Bearing 20.0, -2.3 (Local) DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.8 ms) speed 0.1 m/s ,DAT read: user:3300> BDAT read: Tx time:23:32:02.6874 $Ping request sent.il$݂?d4ͳ?n)Ӛ?)I l;ɚiI-!:w,|AZIA?YZ`z?ZJټ9Z`[>yZH?`?`h?)?Ŀ@5? ??ɨZIA?Z;Z$CyrBv#I)x zAHE>IC I#II:BI# =&I.I6IG<:I< FMb@Mb@Mb@ )YK7A?y&1? G٣y= > Nusing accuracyPremultiplier from config59 ?5Y/! iU-?-:-.?-@[E;N;51 =T@9k?{ܕ?kN) k k/ּA:kCBk4CZkH@" PH@lōK\ך\@Ͽڿg5/;?JkòRkɇ*ഞ1H@g@Rܔ 2W@5*?]B% T⿌tmk?"k-*kABk"R?kp\) 2ko"Ckko& kr@Ckh@Bk@ addTargetRange:: Added new target pos. range: 131.100006 m, deltaT: 3.780301 s, deltaX: -1.299988 m, approachRate: -0.343885 m/s, rangeRepo size: 4  Added new target pos. range: 131.100006 m, bearing: 302.798142 deg, lat: 36.904502 deg, lon: -122.121426 deg, deltaT: 3.780301 s, deltaX: -1.299988 m, approachRate: -0.343885 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 131.10 m.Bj5Jj1E ProNav: ac range: 131.100006 m, nav range: 48.101898 m, bearing: 256.016842 deg, approach rate: 0.000000 m/s, LOS rate: 0.038366 deg/s, cmd heading: 56.322283 deg, new cmd heading: 56.374166 deg. 2jAuHeadingCmd: 0.983915 target range: 131.100006 and range: 131.10 m. ju{?jqjqjqiqhqhyhyh},Bfyffrfbf?ɛB%>q = !%>I) - ;ɚ)i)I- I Jy J} @A^Aw,TA2aE?Y2x ~?292/n>y2H}?(8?@?? qg¿O?? ~!?ɨ2aE?2݊;0yBBB#IIHIH٢r= ro=9r e= z? ~Nusing accuracyPremultiplier from config|59~Z?5Y~ ! i~K 8? @~\E~L:~L:~ 5B @E=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjIMFNOT Ignoring new targets: 131.10 m.BjUj JjUj m ProNav: ac range: 131.100006 m, nav range: 48.270309 m, bearing: 255.971416 deg, approach rate: 0.521764 m/s, LOS rate: -0.140246 deg/s, cmd heading: 56.374165 deg, new cmd heading: 56.238363 deg. 2jmuHeadingCmd: 0.981545 target range: 131.100006 and range: 131.10 m. juF{?jqjqjqiqhyhyhhfffrfbf (p?ɛB'= 隽>I I.;ɚiIAWill construct direction to contact in vehicle frame from tetrahedron phase data.1Gw,,A2]H?Y2?292|[\>y2HI.?@0n<?@?`%?QVN?ET?B?ɨ2]H?2tW;0 @I@yZ B^#I)f= fwC5~GM5tAY  Y5tAyXB Mb@Mb@Mb@    ) Y RQ?:v?~jty ? < D M A @) @I @ y @IIJMJMJM0JIJM:JM9JMـ3JI٢]m= ](=9eLLaa mG٣iy< > Nusing accuracyPremultiplier from config59?5Yb! iI?:?@^E;j;.5 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 131.10 m.MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.Bjm-1Jjm-1} ProNav: ac range: 131.100006 m, nav range: 48.511414 m, bearing: 255.893473 deg, approach rate: 0.481550 m/s, LOS rate: -0.154901 deg/s, cmd heading: 56.238364 deg, new cmd heading: 56.005696 deg. 2j}ԻHeadingCmd: 0.977484 target range: 131.100006 and range: 131.10 m. jaIY ] O;ɚYiI!G=jHbH<HB>I I#IIIBI&I.I7D6IW<:IF FGu9Gu ?Gu?G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481520)]Mw,c 8A2lK?Y2e?292'\S>y2H ,?֤?/?`v??G;?Q?ɨ2lK?2ڢ;0yBBB#IiF=IF=IJIJʴ٢f[ f=9fI9 =Mb;ɚ9iAIEMzK K 9K K K FTw,QA2'M?Y2т?292(J>y2H8? sL? &M?[?`Q^?*?`?ɨ2'M?2Y;2#Cy:B:#IIFIFb٢Jע= NM=9NPP RG٣RUGyV< V> ZNusing accuracyPremultiplier from configX^59ZS*?^5YZ! iZN\^͉?b@ZaEZi ;Z ;ZL5fB f)@fEZj|FNOT Ignoring new targets: 131.10 m.Bj&Jj%&= ProNav: ac range: 131.100006 m, nav range: 48.864510 m, bearing: 255.787282 deg, approach rate: 0.495270 m/s, LOS rate: -0.145923 deg/s, cmd heading: 55.853787 deg, new cmd heading: 55.688281 deg. 2j=JȻEHeadingCmd: 0.971944 target range: 131.100006 and range: 131.10 m. jEPx?jAjAjAiAhIhIhIhIfQfQfQrfQbf] ;?ɛBN$= 隅?I X{;ɚiI e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2377519qZw,OkAR>N?YRt]?R;9R1 @>yRH@U?/Z?$_?@Q?M@c{? +p?ɨR>N?R81;R$Cy^&B^#IMMb@Mb@Mb@IIIH]?>I]C I]$II]YBI]$ =&IY.IY6I]<:I]d F I)IYM#~j?~jt?y&1yM?M)) 5G٣1y5I< 5> ENusing accuracyPremultiplier from config9M59=4?U5Y=s! i=[U?U:U?U@=cE=)K;=#9;=I5Y eO@eEZjFNOT Ignoring new targets: 131.10 m.Bj0Jj0 ProNav: ac range: 131.100006 m, nav range: 49.095039 m, bearing: 255.716939 deg, approach rate: 0.506944 m/s, LOS rate: -0.153960 deg/s, cmd heading: 55.688281 deg, new cmd heading: 55.478245 deg. 2jRӻHeadingCmd: 0.968278 target range: 131.100006 and range: 131.10 m. jw?jjjihhhhBfffrfbf`\@ɛB9 = u߸<?I ˈ;ɚiI I IM iJ] J] JY JY J] M:J] =9JY JY J] ;am J] ;au J] *;au J] *;au Taw,1A6-N?Y6?6~u<96 3>y6Hl?`?`c?]?`@ȳľ%<-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742452٢=J= =Z=9]maa eG٣aym:; m> uNusing accuracyPremultiplier from configq59u A IA gw,{A2LN?Y20G?2:c<929">y2H ?4`? Z?|?䯿ݫ@0?@A?ɨ2LN?2;0y:;B:#I=Mb@Mb@Mb@999 9)9Y=K7A`?~jthy&1|y= ?=D=`=A =@)=@I=@9y=3@IQIQ٢e< eG=9eii mG٣mUGyu u> }Nusing accuracyPremultiplier from configy59}E?5Y}! i}z ?:ւ?@}fE}M;}M;}5 @ZjFNOT Ignoring new targets: 131.10 m.BjVJjV ProNav: ac range: 131.100006 m, nav range: 49.496483 m, bearing: 255.584468 deg, approach rate: 0.530093 m/s, LOS rate: -0.187842 deg/s, cmd heading: 55.306405 deg, new cmd heading: 55.082457 deg. 2jHeadingCmd: 0.961370 target range: 131.100006 and range: 131.10 m. j\v?jjjihhhhՃBfffrfbf@ @ɛB.= ?I  ;ɚ!i!-Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:23:32:05.2635 =TRx dataTimestamp_ set to:1736379126.628761]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250089I%"Ia Ie$IIemBIa&Ia.Ia6Iet<:IeV FGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497362mw,OA6nL?Y6A?6=<966u>y6Hɶ?6d?+E?`?@B`n"??ɨ6nL?6;6&CyBKBB#IININ(*٢j?= jT=9v| G٣ y7C > Nusing accuracyPremultiplier from config59O?5Y{! i%6?%@hE=<$<}5i m @ 3$?IB*** querying acoustic contact ***jjZj)MFNOT Ignoring new targets: 131.10 m.BjU@JjU@e ProNav: ac range: 131.100006 m, nav range: 49.708290 m, bearing: 255.508450 deg, approach rate: 0.471443 m/s, LOS rate: -0.168480 deg/s, cmd heading: 55.082457 deg, new cmd heading: 54.855377 deg. 2je@绝HeadingCmd: 0.957407 target range: 131.100006 and range: 131.10 m. ju?jjjihhhhfffrfbf|G @ɛBD3B= ?I %;ɚ!i!I%Q BDAT read: Tx time:23:32:06.3874 $Ping request sent. =@)=+H=I=x >i=+H99=ͻ?c?!ɒ?)=S G٣y > Nusing accuracyPremultiplier from config59L]? 5Yt! i s? : ?@jE ;};㨥5B T@Ek]!Ք?k]' kY k]urȽA:k]CBk]CZk]}@"]@BNKs+[@] пCmpۿ Sȱ?Jk]TRk]兿*]jfq"F@.MOj@~Y@]0,?: ߿?"k]hz*k]1Bk]?k]9' 2k]i*Ck]?k]9' k]u1Ck]>Bk]Fў@u addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.778032 s, deltaX: -2.100006 m, approachRate: -0.555847 m/s, rangeRepo size: 4  Added new target pos. range: 129.000000 m, bearing: 305.264252 deg, lat: 36.904759 deg, lon: -122.121586 deg, deltaT: 3.778032 s, deltaX: -2.100006 m, approachRate: -0.555847 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 129.00 m.Bj Jj  ProNav: ac range: 129.000000 m, nav range: 64.621750 m, bearing: 284.361584 deg, approach rate: 0.000000 m/s, LOS rate: -0.168480 deg/s, cmd heading: 54.855377 deg, new cmd heading: 54.596035 deg. 2jEHeadingCmd: 0.952881 target range: 129.000000 and range: 129.00 m. jEs?jAjAjAiIhIhIhQhUǃBfYfYfYrf] `@bf?ɛBrt3= 隭m?I s;ɚiIOII  IM 5$IIM BII &II .II 6IM x<:IM X FBI ɟCJI ɟCRI ɓCZI $ =bI $ =jI l65*F} ?2Fy :F BF 4JF G  Will construct direction to contact in vehicle frame from tetrahedron phase data.GyBO>}w,uABG?YBQ'?BO=9B=yBH 3yy G٣UGy- > Nusing accuracyPremultiplier from config59\i?5Yo! iгX?@mE::5B @EZjFNOT Ignoring new targets: 129.00 m.Bj[ԻJj[Ի ProNav: ac range: 129.000000 m, nav range: 64.803757 m, bearing: 284.189839 deg, approach rate: 0.394610 m/s, LOS rate: -0.371316 deg/s, cmd heading: 54.596035 deg, new cmd heading: 54.082260 deg. 2j~HeadingCmd: 0.943914 target range: 129.000000 and range: 129.00 m. jQq?jjjihhhh f f f rfbf@(? M4$?IIɛBE= /= ?I ;ɚiIfw,An}F?Ynq?n}f=9nmM=ynH R?`n? ?i?(mc`ج W??ɨn}F?nQ;n)C=Will construct direction to contact in vehicle frame from tetrahedron phase data.y]pB] $IIMIM۳٢{= +=9A G٣yY > Nusing accuracyPremultiplier from config59u?5Yh! i?@oE; ;5  @ EZjQUFNOT Ignoring new targets: 129.00 m.Bj}NλJj}Nλ ProNav: ac range: 129.000000 m, nav range: 64.991753 m, bearing: 284.012804 deg, approach rate: 0.384179 m/s, LOS rate: -0.360731 deg/s, cmd heading: 54.082261 deg, new cmd heading: 53.552710 deg. 2jwHeadingCmd: 0.934671 target range: 129.000000 and range: 129.00 m. jFo?jjjihhhhfffrfbfv? !I!ɛeBmwI= im)?Ii m2f;ɚiI,Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH H 9>I C I N$II BI % =&I .I 6D6I <:I k F↋w,X0A @6ވD?Y6}?6T=96_3=y6HE?3 ? ?=?t? Ե??ɨ6ވD?6;6'CyRyBR,$IMb@Mb@Mb@ )YQ?y&1?Mb`y(?`e<@ @)Z@IK@yG@II1٢.N= [=9m G٣yҼ > Nusing accuracyPremultiplier from config59?5Yc! i3?:z?@qE);';5 <@Zj FNOT Ignoring new targets: 129.00 m.BjJjໝ- ProNav: ac range: 129.000000 m, nav range: 65.147537 m, bearing: 283.870835 deg, approach rate: 0.432408 m/s, LOS rate: -0.393119 deg/s, cmd heading: 53.552709 deg, new cmd heading: 53.127828 deg. 2j5冼=HeadingCmd: 0.927256 target range: 129.000000 and range: 129.00 m. j=`m?j9j9j9i9hAhAhAhEBfIfIfIrfIbfU@-?ɛy}Xj= y}w-?Iy 6<ɚiIM Will construct direction to contact in vehicle frame from tetrahedron phase data. A? 4= ow,?5JAN!B?YNz?NM=9N/=yNHf?^?~? ??Œ@??ɨN!B?N{;N$CyZ|BZ/$IIbIb 2٢jL< jZ=9npp rG٣rUGyr̼ r> zNusing accuracyPremultiplier from configtz59vI?~5Yv^! iv7F?@vrEv.;vp/;vG5  @ -B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 129.00 m.BjE`ܻJjE`ܻU ProNav: ac range: 129.000000 m, nav range: 65.305283 m, bearing: 283.725436 deg, approach rate: 0.419069 m/s, LOS rate: -0.385334 deg/s, cmd heading: 53.127827 deg, new cmd heading: 52.692694 deg. 2jU9zKm.KKm9KiKm Km HeadingCmd: 0.919661 target range: 129.000000 and range: 129.00 m. jnk?jjjihhhhfffrfbfC@ɛB^= 隍P.?I <ɚiIJ䘘w,4dAy~B2$IMb@Mb@Mb@ )YRQ?L7A`?MbPy"?+=@ @)I&@y@I I<2٢l0< ;=9Q > G٣y > Nusing accuracyPremultiplier from config59L?5YX! i]"?:?@uE;;05 B @ EZj1=FNOT Ignoring new targets: 129.00 m.Bj=޻JjE޻M ProNav: ac range: 129.000000 m, nav range: 65.502846 m, bearing: 283.554942 deg, approach rate: 0.453172 m/s, LOS rate: -0.389903 deg/s, cmd heading: 52.692693 deg, new cmd heading: 52.182765 deg. 2jU˅]HeadingCmd: 0.910761 target range: 129.000000 and range: 129.00 m. j]'i?jYjYjYiYhYhahihmBfififqrfqbfu@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493073ɛU B]Qx= Y]D/?IY e=q<ɚaiaIe:w,_^A6o=?Y6u?6=96=y6HG? w?`O%?`p?eX?h`??ɨ6o=?6([;6&CyBBB6$IIJIJ(*2٢Rr\< V<=9VXX ^G٣\y^, ^> bNusing accuracyPremultiplier from config`f59b?f5YbhR! ibhj?j@bwEb* ;bm ;b5l n@pZjFNOT Ignoring new targets: 129.00 m.Bj׻Jj׻ ProNav: ac range: 129.000000 m, nav range: 65.696350 m, bearing: 283.383269 deg, approach rate: 0.425231 m/s, LOS rate: -0.376144 deg/s, cmd heading: 52.182765 deg, new cmd heading: 51.669278 deg. 2jHeadingCmd: 0.901799 target range: 129.000000 and range: 129.00 m. jMf?jjjih)h)h1h1f9f9f9rf9bf=@ɛae*Y= aex0?Ii m!<ɚiiiIme Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251157xw,+A yI} iyB7$ImMb@Mb@Mb@iii i)iYmPn?Q?Mbpym$?mu=mi m&@)m@Im@iym@IIb1٢; /=9Q > G٣UGy > Nusing accuracyPremultiplier from config59?5YK! i$?:?@yEn;; 5 @EZjFNOT Ignoring new targets: 129.00 m.BjpJjp⻝  ProNav: ac range: 129.000000 m, nav range: 65.915627 m, bearing: 283.205987 deg, approach rate: 0.491358 m/s, LOS rate: -0.395933 deg/s, cmd heading: 51.669278 deg, new cmd heading: 51.139219 deg. 2j ܇HeadingCmd: 0.892548 target range: 129.000000 and range: 129.00 m. j~d?jjjihh!h!h%Bf)f)f)rf)bf56L @ɛ]!B]Bp= Y]0?IY e0*<ɚaiaIe5 BDAT read: Tx time:23:32:10.0375 $Ping request sent.i A܎+? ϲvo?)ӗIia}:publishing transmit ping time}Fpublishing direction and range info9CWKп!Py &տ/HV?y )Ii )Ii܎+? ϲvo?)IiZHa RHe AAHi Im C Ii Ii Im % =&Ii .Ii 6Im z<:Im X F*F ?2F :F BF n0JF G =G qAG qAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:23:32:10.0367 GyBO>w,|ԺA6D9?Y6q?6*R=96L=y6H"?-rB>"$II^I^2٢v  v@=9zJx| ~G٣|yh %> -Nusing accuracyPremultiplier from config!559%Ժ?=5Y%NE! i%Y]?e@%{E%;%5;%5mB m@mEkK?kū)& k kpA:kBBkBZkk@"r$@=^DjZN O\@CWKп!Py &տ/HV? %6$?I!JkaRk*l&=;@GE&\@ ? (ؿ6?"kw?*kAkDΏ?k_c2& 2k4CkDΏ?kkk Bk@e addTargetRange:: Added new target pos. range: 126.800003 m, deltaT: 3.531151 s, deltaX: -2.199997 m, approachRate: -0.623025 m/s, rangeRepo size: 4  Added new target pos. range: 126.800003 m, bearing: 299.945494 deg, lat: 36.904873 deg, lon: -122.121586 deg, deltaT: 3.531151 s, deltaX: -2.199997 m, approachRate: -0.623025 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 126.80 m.BjJj ProNav: ac range: 126.800003 m, nav range: 70.064072 m, bearing: 293.177066 deg, approach rate: 0.000000 m/s, LOS rate: -0.395933 deg/s, cmd heading: 51.139218 deg, new cmd heading: 50.592549 deg. 2jHeadingCmd: 0.883007 target range: 126.800003 and range: 126.80 m. j b?jjjihhhhfffrf@3_@bf58?ɛam0Y= imK(?Ii 5<ɚiI<zK k3IK 59K K K +4575<~ᴯw,xԾAn\7?Yno?n=9no=ynH(?q ?֮??c?l??ɨn\7?n;n#CyvoBv$I|~AIIb٢xM J=9d;Q > G٣y%' %> -Nusing accuracyPremultiplier from config)=59-ņ?=5Y-?! i-AM?M@-}E-J;-Ԙ;-5a e@iB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 126.80 m.Bj=Jj=M ProNav: ac range: 126.800003 m, nav range: 70.215118 m, bearing: 293.007040 deg, approach rate: 0.382222 m/s, LOS rate: -0.429323 deg/s, cmd heading: 50.592550 deg, new cmd heading: 50.083582 deg. 2jMRuHeadingCmd: 0.874123 target range: 126.800003 and range: 126.80 m. ju_?jqjqjyiyhyhyhyhfffrfbf`k?Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ)5i= 9=&?Ia m#=<ɚqiqIuJJJJJm:J=9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.973688 w,QA65?Y60n?6=96=y6H`R ?&xD?`ڌ?3>?@E?붿`'??ɨ65?6[;6'Cy>YB>$IHr;>Ip IrN$IIrBIp&Ip.Ip6IrO<:Ir9 FMb@Mb@Mb@ )YuV?ʡE?{Gzyr(?=# K@)@Iy(@IIT߳٢=ѽ ?=9Y;Q > G٣UGy > Nusing accuracyPremultiplier from config59ц?5Y 9! iL)?: ?@EW;:;5 B p@EZj)5FNOT Ignoring new targets: 126.80 m.Bj=Jj=M ProNav: ac range: 126.800003 m, nav range: 70.385681 m, bearing: 292.823395 deg, approach rate: 0.422956 m/s, LOS rate: -0.454292 deg/s, cmd heading: 50.083581 deg, new cmd heading: 49.533999 deg. 2jM㛼UHeadingCmd: 0.864531 target range: 126.800003 and range: 126.80 m. jUQ]?jQjQjYiYhYhYhaheBfafafarfibfm9?ɛf= 隝?I !+E<ɚiIw,(A2ܳ4?Y2/m?2i3=92,=y2H8$?`e@W?`z?@U?4? Z ? ?ɨ2ܳ4?2Z;2$CyBPBB#IIJIJ)٢R8 R`=9RW ;Q V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^ ܆?b5Y^3! i^|df?f@^E^\ ;^Q;^75h j@h]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.476926ZjFNOT Ignoring new targets: 126.80 m.BjJj仝 ProNav: ac range: 126.800003 m, nav range: 70.530708 m, bearing: 292.667403 deg, approach rate: 0.372968 m/s, LOS rate: -0.400343 deg/s, cmd heading: 49.534000 deg, new cmd heading: 49.066995 deg. 2j`HeadingCmd: 0.856381 target range: 126.800003 and range: 126.80 m. j;[?jjjih!h!h!h!f)f)f)rf)bf-*?ɛl\= 隝e?I SL<ɚiIA 1 I9 Hȯw,"A643?Y6k?6P=96ƒ=y6HI?FC?]?|?$X?aux?Q?ɨ643?6;6'CyBBBB#IiF=IFa> HH=Mb@Mb@Mb@999 9)9Y=}?5^I?A`"?=9m;Q m>ii uG٣qyuB_ u> Nusing accuracyPremultiplier from configy59}憜?5Y}(-! i}$?:^?@}E};};}5 @EZjq}FNOT Ignoring new targets: 126.80 m.Bj}%Jj}%仝 ProNav: ac range: 126.800003 m, nav range: 70.706528 m, bearing: 292.496215 deg, approach rate: 0.410735 m/s, LOS rate: -0.398920 deg/s, cmd heading: 49.066996 deg, new cmd heading: 48.554726 deg. JJJJJ:J9JJ2j㈼HeadingCmd: 0.847440 target range: 126.800003 and range: 126.80 m. j X?j j jihhhhBfffrf!bf%?mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.981615ɛ J= [1(=隝Q?I U<ɚiI$&I I)$IIwBI$ =&I.I6Io<:IS FBIJIRIZI% =bI% =jI)5G] *=G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232890|ίw,Bdd fG٣fUGyf& j> nNusing accuracyPremultiplier from confighr59j?r5YjC'! ijprL?v@jEj;j;j5z!B z@zE aIe iZjFNOT Ignoring new targets: 126.80 m.Bj|Jj|󻝊 ProNav: ac range: 126.800003 m, nav range: 70.866928 m, bearing: 292.336123 deg, approach rate: 0.427527 m/s, LOS rate: -0.425740 deg/s, cmd heading: 48.554725 deg, new cmd heading: 48.075547 deg. 2jHeadingCmd: 0.839077 target range: 126.800003 and range: 126.80 m. jV?jjjihhhhfffrfbf@ɛ)iV= 隵?I n[<ɚiI!1կw,UAzKo3NK9K K K F,?YFRe?FK=9F_=yFH@?K@h? K??#}?Xu2??ɨF,?F];F%CyRBR#IIZIZ2٢b]ս bR=9f;Q f>dd fG٣dyjY j> nNusing accuracyPremultiplier from configlr59n5?r5Yn!! in)tv2?v@nEn:nz:n¥5x z@|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 126.80 m.Bj-_Jj-_廝 ProNav: ac range: 126.800003 m, nav range: 71.022552 m, bearing: 292.179281 deg, approach rate: 0.398824 m/s, LOS rate: -0.401063 deg/s, cmd heading: 48.075547 deg, new cmd heading: 47.606063 deg. 2jHeadingCmd: 0.830883 target range: 126.800003 and range: 126.80 m. jT?jjjihhhhff f rf bf5@ɛY}@= 隭>I ѥa<ɚiI`JJJJJm:J=9JJ} Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ x>Ձ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989164Xۯw,}oAHF?>ID IF#IIFDBIF# =&ID.ID6IF<:IF Fy~B#I)    AMb@Mb@Mb@ )Y$C?|?5^?/$y?=@ x@)Q@I@y@II2٢ս <=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Ym! iiq?:?@EL;;oĥ5 B@ZjFNOT Ignoring new targets: 126.80 m.BjϻJjϻ ProNav: ac range: 126.800003 m, nav range: 71.189346 m, bearing: 292.014010 deg, approach rate: 0.366330 m/s, LOS rate: -0.362134 deg/s, cmd heading: 47.606063 deg, new cmd heading: 47.111425 deg. 2jxHeadingCmd: 0.822249 target range: 126.800003 and range: 126.80 m. j~R?jjjihhh h Bfffrfbfa @ɛV.=  >I g<ɚiI`nw,,dAB6(?YBIUa?B =9B =yBH@I?Avt?@y???`X\? ?ɨB6(?B];B$CyNۄBNi#IIVIVV83٢^ ^6=9^f;Q b>`` bG٣bUGyf f> jNusing accuracyPremultiplier from confighn59jH?n5Yj3! ijprÆ?r@jEj:j:jdƥ5t vg@zEZjFNOT Ignoring new targets: 126.80 m.BjͻJjͻ ProNav: ac range: 126.800003 m, nav range: 71.358238 m, bearing: 291.842679 deg, approach rate: 0.354289 m/s, LOS rate: -0.358555 deg/s, cmd heading: 47.111424 deg, new cmd heading: 46.598661 deg. 2jvHeadingCmd: 0.813300 target range: 126.800003 and range: 126.80 m. jo4P?j!jAjAiAhAhIhIhIfIfIfQrfQbfU\ @zK2KK9KK K:rhC RK?JK?ɛ B\=  >I  m<ɚ i I( mBDAT read: Tx time:23:32:13.6875 u$Ping request sent.} ڕ9 @)ڕQ =Iڕ>iڕQ ڑڑە(!?<#Z ^?)ە0Iەiە ەxۑۑ :publishing transmit ping timeq Fpublishing direction and range infoؑ9ؕ9o;pпﴊݶҿK{?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە(!?<#Z ^?)ۑIۑiۑۑۑۑ*F ?2F :F BF _0JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:32:13.6867 GĈ=ZHyRHyHC>IC I#IIBI" =&I.I8D6IZ<:IJ FGBO ?^w,AAF~'?YF_?Fp=9Fi=yFH`v?uP@ ?dh??? r?`O?ɨF~'?F3 ;F&Cy^ȄB^R#Iiba=Ib< f=f=5Mb@Mb@Mb@111 1)1Y5n?&1?/$y5V?5=15@ 5@)5@I5K@1y5Q@IM IM(2٢]u ]=9e#8Q e>ii mG٣iym@ u> }Nusing accuracyPremultiplier from configq59uY?5Yud ! iu?:l?@uEuN;urB;u ɥ5"B @Ek=X⍜?k=/% k9 k=)A:k=BBk=BZk=ן@"=^N@(S9Bpic\@=9o;pпﴊݶҿK{?Jk= Rk=x*=>+e4@YnF` ͦ\@=$738?}8K׿Kw xb?"k=p3*k=Ak=3?k=A% 2k=4Ck9k9k9k=$Bk=@ addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.776872 s, deltaX: -2.000000 m, approachRate: -0.529539 m/s, rangeRepo size: 4  Added new target pos. range: 124.800003 m, bearing: 294.758804 deg, lat: 36.904873 deg, lon: -122.121586 deg, deltaT: 3.776872 s, deltaX: -2.000000 m, approachRate: -0.529539 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 124.80 m.BjJj% ProNav: ac range: 124.800003 m, nav range: 71.571800 m, bearing: 291.630348 deg, approach rate: 0.000000 m/s, LOS rate: -0.358555 deg/s, cmd heading: 46.598662 deg, new cmd heading: 45.993758 deg. 2j!-HeadingCmd: 0.802743 target range: 124.800003 and range: 124.80 m. j-M?j)j)j)i1h1h1h1h=Bf9f9f9rfE@33_@bfE $`?ɛim = quƨ>Iq u~s<ɚqiqIu|=I}M?i9i=1a=)=M?)AEIEI*EI"EIWill construct direction to contact in vehicle frame from tetrahedron phase data. u9$?Iui*F} ?2Fy :Fy BFy JFy *J 4="J 4=J J J J J :J J J J 7;a- J 9;a5 J *;a5 J *;a=  Will construct direction to contact in vehicle frame from tetrahedron phase data.G {=GBO>&w,жпAB8%?YBL]?B`=9B?=yBHO? !@YG? BA??n-?b@J??ɨB8%?Bf;B#CyNBN#IIVIV2٢^Ki ^>=9^IQ b>`` bG٣bUGyf f> jNusing accuracyPremultiplier from confighn59jz)?n5Yj! ij8prw?r@jEjn:j:jʥ5t z@xZjFNOT Ignoring new targets: 124.80 m.Bj%ʻJj%ʻ5 ProNav: ac range: 124.800003 m, nav range: 71.722771 m, bearing: 291.479301 deg, approach rate: 0.354957 m/s, LOS rate: -0.354388 deg/s, cmd heading: 45.993760 deg, new cmd heading: 45.541582 deg. 2j56s=HeadingCmd: 0.794851 target range: 124.800003 and range: 124.80 m. j=T{K?j9j9j9iAhAhAhAhIfIfIfQrfQbfU?ɛBg< 隅\n>I Uv<ɚiI`=IT{K?ii~(=)T{K?)zK%VLK%9K!K% K%BK1:K5lA*F?2F:FBFp0JFG}=G9BYOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data. I /!w,|AJd"?YJx[?Jw=9J=yJH@'?z}? ??F?%`φ??ɨJd"?Jly;J"Cyn{Br"IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yy&1?Q?/$y`?\=@ @)VAI&@y@IIʴ٢ 7=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-54?55Y-! i-s=?=:=1~?=@-E-;-;-̥5E#B E}@EEmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 124.80 m.Bj}YJjY ProNav: ac range: 124.800003 m, nav range: 71.858131 m, bearing: 291.327782 deg, approach rate: 0.302592 m/s, LOS rate: -0.338074 deg/s, cmd heading: 45.541584 deg, new cmd heading: 45.087894 deg. 2jhHeadingCmd: 0.786932 target range: 124.800003 and range: 124.80 m. jdtI?jjjihhhhqBfffrfbf?HML>IMC IMN#IIMńBIM! =&II.II6IM<:IMo FɛB< 隝9>I wy<ɚiIMk=IdtI?iOd  I . w,dA6 ?Y6 X?6b=96^c=y6H?o??Q?7?`n㷿@Ҳ??ɨ6 ?6|;6%Cy>_B>"I)@ @DFAIJIJF3٢R Rd=9V+:Q V>TT ZG٣Xy^sۼ ^> bNusing accuracyPremultiplier from config`f59bI! %z<ɚ!i!I%8=I-G?i)i5=)5G?)1JuJuJqJqJu-:JuO9JqJqJu;Ju;Jue,;Juf,;%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735667*F-?2F1:F1BF5_5JF1GEj=G! B) OE >zK} jIK} 9Ky K} K}     RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9875642w,-A :$?IyKB"I5Mb@Mb@Mb@111 1)1Y5x?ˡE?Qy5K>5'=5u5$@ 5@)1I5K@1y5@IM"IMq3٢] ]&=9eQ e>aa mG٣mUGym m> }Nusing accuracyPremultiplier from configq}59uH?}5Yu iu۷M>:n?@uEu;uo;uХ5 }@ZjFNOT Ignoring new targets: 124.80 m.BjPJjP ProNav: ac range: 124.800003 m, nav range: 72.092422 m, bearing: 291.046611 deg, approach rate: 0.259939 m/s, LOS rate: -0.325779 deg/s, cmd heading: 44.721753 deg, new cmd heading: 44.245784 deg. 2j_HeadingCmd: 0.772235 target range: 124.800003 and range: 124.80 m. j+E?jjjihhhhKBfffrfbfH@ɛB@< =N==I! %b|<ɚ!i!I%aT=I5+E?i1i5|s=)5+E?)9*F?2F:FBFW5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.240424jH) bH) H5 U>I5 C I5 #II5 BI5  =&I1 .I5 :D6I5 $<:I5 3 FGe x\=Gm ?Gm >G9 BI Oe >\ w, 8Ay.B"II-I-2٢=#, =t=9AQ E?AI MG٣IyI M? ]Nusing accuracyPremultiplier from configQ]59UP?e5YU0 iUaae@UEU ;U":U ҥ5i mR@uEZjFNOT Ignoring new targets: 124.80 m.BjJj ProNav: ac range: 124.800003 m, nav range: 72.178932 m, bearing: 290.938714 deg, approach rate: 0.257781 m/s, LOS rate: -0.321124 deg/s, cmd heading: 44.245784 deg, new cmd heading: 43.922486 deg. 2jb\HeadingCmd: 0.766592 target range: 124.800003 and range: 124.80 m. j_?D?jjjihhhhffqfqrfybf}`#"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492941ɛ$}< 隥@=I |<ɚiIJ=I_?D?i`fJJJJJJ9JJJ;J;J;J;E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743570Ew,QAy=(B="IiE?>IE< E=E=IMIMV83٢]@ eH=9iQ m>qq uG٣yyy }> Nusing accuracyPremultiplier from config59Z?5Y i2@E<<ӥ5 @Zj9EFNOT Ignoring new targets: 124.80 m.BjEJjM] ProNav: ac range: 124.800003 m, nav range: 72.285393 m, bearing: 290.806718 deg, approach rate: 0.250875 m/s, LOS rate: -0.310591 deg/s, cmd heading: 43.922484 deg, new cmd heading: 43.527086 deg. 2j](UeHeadingCmd: 0.759691 target range: 124.800003 and range: 124.80 m. je{B?jajijiiqhqhqhyhyfyfyfyrfbfx_@ɛB< 隵rw,kA>?Y>K?>>=9>=y>H`eO? ? b?c?/?@\ _?@3?ɨ>?>l;;# @)Ix@y@I&I3٢>Ͻ B=9MoQ > G٣UGy > Nusing accuracyPremultiplier from config59f?5YP i_>:JO?@E;+;ե5$B %@E-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 124.80 m.BjUJûJjUJûe ProNav: ac range: 124.800003 m, nav range: 72.369179 m, bearing: 290.668540 deg, approach rate: 0.207295 m/s, LOS rate: -0.341471 deg/s, cmd heading: 43.527085 deg, new cmd heading: 43.113037 deg. 2jeYjmHeadingCmd: 0.752464 target range: 124.800003 and range: 124.80 m. jm@?jijijqiqhqhqhyh}!BfyfyfyrfbfK @H[>IC I"IIPBI =&I.I;D6IC<:IP FBI¡CJI¡CRI•CZI! =bI =jIԜ6ɛmBmVl< imyIi uc|<ɚqiqIuL=I}@?i}!g  BDAT read: Tx time:23:32:17.3375  $Ping request sent. iڽdڹڹ۽#͸?H츿wG:?)۽HȽI۽i۽k۽d۹۹ :publishing transmit ping time  Fpublishing direction and range infoع9ؽxɿC9d Կ@?yعععع ٹ)ٹIٹiٹٹٹ ;$?I ٹٹ ڹ)ڹIڹiڹڹڹ۽#͸?H츿wG:?)۹I۹i۹۹۹۹G =G G pAGBJJJJJ:J9JJJ;J;J;J;O>"w, A6?Y6!I?6 ,=96*,=y6H@0?omb?6?`?+5?`P= N??ɨ6?69`;6#Cy^ Bbh"IIj'Ij@3٢%  -0=9-Q ->QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59er?m5Ye: uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:23:32:17.3368 ieL?@eEeq+ֈED:\@]]P?ޚhֿRF`?"k]F,*k]Ak]-??k]QX% 2k]2CkYk]_c2& k]2Ck] eBk]@u addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 3.529989 s, deltaX: -1.800003 m, approachRate: -0.509917 m/s, rangeRepo size: 4  Added new target pos. range: 123.000000 m, bearing: 297.982671 deg, lat: 36.904873 deg, lon: -122.121400 deg, deltaT: 3.529989 s, deltaX: -1.800003 m, approachRate: -0.509917 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 123.00 m.BjJj ProNav: ac range: 123.000000 m, nav range: 57.261730 m, bearing: 296.324261 deg, approach rate: 0.000000 m/s, LOS rate: -0.341471 deg/s, cmd heading: 43.113039 deg, new cmd heading: 42.611570 deg. 2jHeadingCmd: 0.743712 target range: 123.000000 and range: 123.00 m. jc>?jjjihhhhfffrf^@bf\5?ɛB_< 隕I {|<ɚiIĎ=Ic>?iiB=)c>?)EQ=*F=?2F9:F9BF=\0JFAGƠ=zKU LKUs9KQKU KU!%.Eo*jxfU;zqrry|}}|zy}GBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.  I i(w,AS?YF? =9`=yH?9 ? W?`?8?`(5?,?ɨS?7;%Cy%B%^"I)) )15AMb@Mb@Mb@ )YV-?MbMb`?y;h@ @)I@yz@IIF٢ >=9⾻Q > G٣y > Nusing accuracyPremultiplier from config 59 ~?5Y  i >:=?@ E X; C; ٥5 .@ZjQmFNOT Ignoring new targets: 123.00 m.BjmMJjmM} ProNav: ac range: 123.000000 m, nav range: 57.316868 m, bearing: 296.135340 deg, approach rate: 0.125814 m/s, LOS rate: -0.430667 deg/s, cmd heading: 42.611569 deg, new cmd heading: 42.045372 deg. 2j}ȓHeadingCmd: 0.733830 target range: 123.000000 and range: 123.00 m. jK;?jjjihhhh0Bfffrfbf$2?ɛBM< 'I 0{<ɚiI =IEK;?iAiMtF=)MK;?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH9RH=@AHE^>IEC IE"IIE-BIE =&IA.IA6IE3<:IEH FEe "N=*F ?2F :F BF 4JF G k61=G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.U PExceeded connect timeout, disconnecting..w,¾A6 ?Y6YD?6"=96c=y6HY?@??k?@!? @@`??ɨ6 ?6{6;6$Cy>BBU"IIJIJ@٢R Rb=9RIQ R>TT VG٣VUGyZټ Z> ^Nusing accuracyPremultiplier from config\b59^s?b5Y^ i^иdfq;?f@^E^:^:^'ۥ5h j@lZj FNOT Ignoring new targets: 123.00 m.Bj  Jj  % ProNav: ac range: 123.000000 m, nav range: 57.362652 m, bearing: 295.974709 deg, approach rate: 0.139351 m/s, LOS rate: -0.488516 deg/s, cmd heading: 42.045371 deg, new cmd heading: 41.563873 deg. 2j%-HeadingCmd: 0.725426 target range: 123.000000 and range: 123.00 m. j-9?j)j)j)i)h) =$?Ihhhfffrfbf3?ɛ5B5;< 9=`VI9 =1T{<ɚ9i9I=q =IE9?iAimA=)m9?)qEyEy*Ey"EyWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFG 0=Gi By O >6w,0A2v ?Y2B?2֫=92x=y2Hj?!5??@;?eV?`at\?`)?ɨ2v ?29֋;2&Cy>BB`"IIJIJ)٢Rn*= RF=9RWQ R>TT VG٣TyZX Z> ^Nusing accuracyPremultiplier from config\b59^{?b5Y^o i^`f :?f@^E^ ;^ ;^ܥ5h j@jEZj  FNOT Ignoring new targets: 123.00 m.BjJj% ProNav: ac range: 123.000000 m, nav range: 57.414536 m, bearing: 295.791122 deg, approach rate: 0.125531 m/s, LOS rate: -0.443779 deg/s, cmd heading: 41.563873 deg, new cmd heading: 41.013629 deg. 2j%G-HeadingCmd: 0.715823 target range: 123.000000 and range: 123.00 m. j-+@7?j)j)j)i)h1h1h1h1f9f9f9rf9bfEl?zKtOKKK Kztog`[XXSSOJIGGEDDCB@;87642121/-,&$#%$"$%""$!ɛ B U<  pI  z<ɚiI|a =I+@7?iiQ=)+@7?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.%c~G=5tA aIaa @Y5tAyB*FM?2F :F BF 0JFG%OC>=GBOM>JK KKK"KJJJJJ :J9JJa@a@a@a@U Will construct direction to contact in vehicle frame from tetrahedron phase data.U ?U ?H _>I  I "II #BI  =&I .I 6I /<:I F F"?Y>RA?>=9>H=y>H8???^?蜀??>,;IN> N=Np=%Mb@Mb@Mb@!!! !)!Y%x?~jty&1|?y%K>%ļ%`;%VA %@)%lAI%@!y%f@I=I=?13٢M MA=9M_Q U>QQ UG٣Qy]u ]> eNusing accuracyPremultiplier from configau59e?u5Ye ie>:]4?@eEeJ J @A Cw,v A6?Y6e??6I=96xr=y6H`c?)?`?߇?pY?@uz??ɨ6?6j?;6%Cy> BVi"II^I^3٢f!1= jR=9jQ j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v?z5Yv iv)xzk2?z@vEvU:vU:v5 @%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229992Zj1=FNOT Ignoring new targets: 123.00 m.BjEJjEU ProNav: ac range: 123.000000 m, nav range: 57.512959 m, bearing: 295.413215 deg, approach rate: 0.129992 m/s, LOS rate: -0.503123 deg/s, cmd heading: 40.423010 deg, new cmd heading: 39.880920 deg. 2j]eHeadingCmd: 0.696053 target range: 123.000000 and range: 123.00 m. je02?jajajaiahihihihifqfqfqrfqbf}7@ɛBqj< 隥NI Iz<ɚiI' =I02?ii~d=)02?)*F5?2F1:F1BF54JF1G=vY=G!B1OM1>zKXNKKK K      RK>JKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481879 M >$?II ::Iw,&An??YnR=?nhܟ=9nꨜ=ynH`?`Ws?`F{?@?p[ ?`,?ɨn??n;n$Cyv Bvg"IMb@Mb@Mb@ )Y~jt? G٣UGy > Nusing accuracyPremultiplier from config%59A?%5Y iA-?-:58?5@Em;b;q5E&B E@EEJJJJJ:J9JJZj15FNOT Ignoring new targets: 123.00 m.Bj=Jj=m ProNav: ac range: 123.000000 m, nav range: 57.575859 m, bearing: 295.193403 deg, approach rate: 0.133815 m/s, LOS rate: -0.467118 deg/s, cmd heading: 39.880921 deg, new cmd heading: 39.222235 deg. 2jmJuHeadingCmd: 0.684557 target range: 123.000000 and range: 123.00 m. ju#?/?jqjqjqiqhyhyhyh}aBfffrfbf@]@%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734085ɛB*o< )I tz<ɚiI6=I#?/?iikk=)#?/?)jH<bH<Ha>I I"II(BI =&I.I6IG<:IX F*F?2F:FBFK5JFG '\=G ?G ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986703Pw,x@A 8:@f?Yf;?fۙ=9fء= tItyfH c?$f? J?@?Z-6#'? f?ɨf?fxۊ;f&Cy~B~y"I) II1٢%= %X=9-8Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=ɇ?E5Y=u i=TIM5?M@=E=:=:=5Q U@QZjFNOT Ignoring new targets: 123.00 m.BjpJjp= ProNav: ac range: 123.000000 m, nav range: 57.628193 m, bearing: 295.007351 deg, approach rate: 0.144180 m/s, LOS rate: -0.512106 deg/s, cmd heading: 39.222235 deg, new cmd heading: 38.664606 deg. 2j=EHeadingCmd: 0.674825 target range: 123.000000 and range: 123.00 m. jEO,?jAjAjAiAhAhIhIhIfIfQfrfbf '@ɛ} Bn< 隅aGVw,UZA2j?Y28?2_=92w=y2H?Z?? ?-(k{?m?ɨ2j?2;2"Cy>BB}"IIJIJ2٢j1< jO=9nQ n>pp rG٣pyv v> ~Nusing accuracyPremultiplier from configx59zև?5Yz izf3? @zEz;z;z5'B @EZj1=FNOT Ignoring new targets: 123.00 m.BjEJjEU ProNav: ac range: 123.000000 m, nav range: 57.682358 m, bearing: 294.811226 deg, approach rate: 0.142905 m/s, LOS rate: -0.516958 deg/s, cmd heading: 38.664605 deg, new cmd heading: 38.076802 deg. 2jUd]HeadingCmd: 0.664566 target range: 123.000000 and range: 123.00 m. j] *?jYjYjYiahahahahafififqrfybf}s @zKRMKKK K   BK:KpAɛ  B <   BDAT read: Tx time:23:32:20.9875  $Ping request sent. E @)E k=IE G>iE kݽA A E =H^?KDɽx'5v?)E {IE d$iE oE ٫A A  :publishing transmit ping timeة  Fpublishing direction and range infoA 9E 7ҿ,6:&ҿyϡA?yA A A A A )A IA iA A A A A A )A IA iA A A E =H^?KDɽx'5v?)A IA iA A A A G q=H c>I  I "II 7BI &I .I q\w,82tAy}#B}"IMb@Mb@Mb@ )YS?{Gzt? rh?y?ף;C<lA -@)IZ@y@II0٢= +=9Q > G٣UGy% %> Nusing accuracyPremultiplier from config)59-燜?5Y-N i-}-?::?@-E-n<-f;-5 >@ku&?ku7% kq kuoA:kuBBku\BZku@"u]!AxclAI:AvL[@u7ҿ,6:&ҿyϡA?JkuoRku٫*u mj0< @Kx?I=.9x[@uψd?Mv|ڿ?"kuI*kuAkuƘ?kuk% 2kuG0Cku-??kuk% kqku[Bku@ addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 3.777797 s, deltaX: -1.500000 m, approachRate: -0.397057 m/s, rangeRepo size: 4  Added new target pos. range: 121.500000 m, bearing: 279.132245 deg, lat: 36.904850 deg, lon: -122.121377 deg, deltaT: 3.777797 s, deltaX: -1.500000 m, approachRate: -0.397057 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 121.50 m.BjJj ProNav: ac range: 121.500000 m, nav range: 54.882996 m, bearing: 293.060271 deg, approach rate: 0.000000 m/s, LOS rate: -0.516958 deg/s, cmd heading: 38.076802 deg, new cmd heading: 37.291356 deg. 2jHeadingCmd: 0.650857 target range: 121.500000 and range: 121.50 m. j&?jj!j)i)h)h)h)h5Bf1f1f1rf5`^@bf=?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:32:20.9868 ɛ B`L< P=I ({<ɚiIu=I&?ii@=)&?)9 I*F?2F:FBFJFG x=G qAG qAG B O >ocw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.^݌>Y^4?^=9^/=y^HK? Α?#?a? 4u?9?ɨ^݌>^o ;^$Cyz/Bz"Ii~p=I~;I I  ٢= `=9VQ %>!! %G٣!y-5 -> 5Nusing accuracyPremultiplier from config1=595?=5Y5 i5AEk6?E@5E5:5U:5{5M(B M@UEmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 121.50 m.Bj,Jj, ProNav: ac range: 121.500000 m, nav range: 54.945583 m, bearing: 292.857712 deg, approach rate: 0.186193 m/s, LOS rate: -0.601908 deg/s, cmd heading: 37.291354 deg, new cmd heading: 36.684391 deg. 2jμHeadingCmd: 0.640263 target range: 121.500000 and range: 121.50 m. jN#?jjjihhhhfffrfbf?ɛB/< =I \|<ɚiI=IN#?ii6=)N#?)*F=?2FA:FABFEn0JFAG:=GBOI>zKmqOLKm9KiKm Km "%##%'('###! RKu ?JKu>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. @$?Iiiw,zA^e>Y^3?^{=9^=y^H;q?b׌?`y??4[`Ң? y?ɨ^e>^ܗ;^#Cyr0Br"IMb@Mb@Mb@ )YCl? rh?Mb?JJJJJ:J9JJyd?C =<A C@)AIp@y@II(٢; >=9Q > G٣yn > Nusing accuracyPremultiplier from config 59? 5Y i?:@?@E1;;[5 s@ZjAEFNOT Ignoring new targets: 121.50 m.BjM*JjM*e ProNav: ac range: 121.500000 m, nav range: 55.036629 m, bearing: 292.602633 deg, approach rate: 0.212582 m/s, LOS rate: -0.594596 deg/s, cmd heading: 36.684393 deg, new cmd heading: 35.920472 deg. 2je̼mHeadingCmd: 0.626931 target range: 121.500000 and range: 121.50 m. ju~ ?jqjqjqiqhqhyhyh}Bfyffrfbfo?MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995611ɛuBu[< y}d=Iy }<}<ɚyiyI}u=I~ ?ii=)~ ?)ZHRHHf>IC I"IIPBI =&I.I6I <:I@ FBIUĥCJIUĥCRIUēCZIU =bIU =jIU5*FA2FA:FABFE{0JFAG =G ?G '?GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248438 I pw,MA6g>Y60?6$j=96=y6H@?/?`W? ?М`Y@a??ɨ6g>6ʊ;6%Cy>/B>"IIFIF٢N3 Nb=9R#2Q R>PT VG٣VUGyVм V> bNusing accuracyPremultiplier from configXb59Z:?f5YZ, iZdfe>?f@ZEZ:Z:Z5h j@nEZj|FNOT Ignoring new targets: 121.50 m.Bj#)Jj #) ProNav: ac range: 121.500000 m, nav range: 55.112125 m, bearing: 292.388213 deg, approach rate: 0.208547 m/s, LOS rate: -0.591490 deg/s, cmd heading: 35.920474 deg, new cmd heading: 35.278121 deg. 2juʼ}HeadingCmd: 0.615719 target range: 121.500000 and range: 121.50 m. j}ɟ?jjjihhhhfffrfbf`?lJTimed out from 2025-01-08T23:22:22.9Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemCommsɛ B < =I1 5a~<ɚ1i1I==IEɟ?iAiEc=)Mɟ?)I*F?2F:FBF^5JF"G=G]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499833G)G B O5 >vw,=(A6>Y6-?6G_=96E=y6H`h????@q嫿@ 6?9?ɨ6>6~ŋ;6&Cy>7B>"I)@ @IJIJ(*3٢R= VJ=9VTX ZG٣XyZ Z> bNusing accuracyPremultiplier from config`f59b!?f5Ybչ ibdf;?j@bEbL:b:b5l n@lZjFNOT Ignoring new targets: 121.50 m.Bj 8*Jj 8*zK}6AMK}59KyK} K} Will construct direction to contact in vehicle frame from tetrahedron phase data.սAiչchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751954 ProNav: ac range: 121.500000 m, nav range: 55.195221 m, bearing: 292.147164 deg, approach rate: 0.205516 m/s, LOS rate: -0.595272 deg/s, cmd heading: 35.278122 deg, new cmd heading: 34.556106 deg. 2jC̼HeadingCmd: 0.603118 target range: 121.500000 and range: 121.50 m. je?jjjihhhhfffrfbfh_?5 k nAggregate::initialize lineCaptureHoming:MicromodemComms16  l ~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6 ɛ]B]֚< ae=Ia ea<ɚaiaIeU=Ime?ii }A$?IimRG=)e?)*F2F:FBF15JFG5=G) B1 m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003820H I  I "II eBI  =&I .I 6I <:I = FO ?~w,AV>YVJ)?VM=9V Ė=yVH`8?@?࿠?B? şβ? ?ɨV>VWʊ;V$Cyb6Bb"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255664eMb@Mb@Mb@aaa a)aYe}?5^I?V-?I +?yeM"?em=e94 G٣UGy* > Nusing accuracyPremultiplier from config59v7?5Yx iƹ#?:B@?@E;;"5)B B$?Ii e(@m}EZjFNOT Ignoring new targets: 121.50 m.BjR(JjR( ProNav: ac range: 121.500000 m, nav range: 55.322319 m, bearing: 291.804826 deg, approach rate: 0.219045 m/s, LOS rate: -0.588638 deg/s, cmd heading: 34.556106 deg, new cmd heading: 33.531564 deg. 2jɼHeadingCmd: 0.585236 target range: 121.500000 and range: 121.50 m. j ?jjjihhhhڃBff!f!rf!bf-@̰@ɛuBu< y}=Iy } <ɚyiI=I ?ii=) ?)EpAEqA*F?2F:FBF<1JFG! G!J5J5J1J1J5=:J59J1J1J5ԥ;a=J5ե;a=J5\ ;aEJ5] ;aEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510709G] &=Ge pAGe pAG9 BA O] >مw,Ayv3Bv"III#3٢ T=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-F?55Y- i-ӹ115@-E-? ;- ;-5A Mk@M{EmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 121.50 m.Bj}C:JjC: ProNav: ac range: 121.500000 m, nav range: 55.411594 m, bearing: 291.568408 deg, approach rate: 0.246369 m/s, LOS rate: -0.651376 deg/s, cmd heading: 33.531564 deg, new cmd heading: 32.823493 deg. 2j߼HeadingCmd: 0.572878 target range: 121.500000 and range: 121.50 m. j"?jjjihhhhfffrfbf@@ɛB< =I ߫<ɚiIY%=I"?iiRw=)"?)*F?2F:FBF4JF) zKK5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760962K9NG I|uA E&YM|uAyMBKK KG]:=G9ByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:32:23.5507  TRx dataTimestamp_ set to:1736379144.772539 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012603w,z2AH<I< I>"II>oBI<&I<.I<6I>"<:I>A F^>Y^k%?^8=9^ p=y^H`ą?$y³???@L?sE5酱?m?ɨ^>^yw;^'Cy50B5"Ii=)>I=4< ==9-]only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3  ]@] ]@e e@e  e@e II<2٢2 /=9-Q > G٣y > -bBottom track data is 0.5 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config559Y?55Yѩ i=+:9=:=kw5M*B M@MxEZjFNOT Ignoring new targets: 121.50 m.Bjt,Jjt, ProNav: ac range: 121.500000 m, nav range: 55.516640 m, bearing: 291.281917 deg, approach rate: 0.221546 m/s, LOS rate: -0.603081 deg/s, cmd heading: 32.823492 deg, new cmd heading: 31.965710 deg. 2jμHeadingCmd: 0.557907 target range: 121.500000 and range: 121.50 m. j?jjjihhhhfffrfbf.a @ɛMBUh!< U#(=U=IQ UO<ɚQiQI]=I]?iaieh=)e?)a*F?2F:FBF05JFG뜮=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263981 C$?IGBO >w,MLAnp=>Yn˚#?nr.=9n#=ynHK?T?`??Ȣ]ϥ@U?|?ɨnp=>JJJJJJJJJJJJn;n"Cy)B"II=I=b1٢U# UU=9URֻQ ]>YY ]G٣]UGyeg e>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:32:23.5507 LVL= 13088, 25137, 21682, 32755, AGC= 61, IDX= 409, 0.04, 1.790,-0.017, 0.645, 1.048, PHS= 0.830,-1.018,-0.406, RAW= 109.0, 7.3, CAL= 119.2, 4.9, ROT= 30.8, -4.9 Ygot valid direction response: 23:32:23.5507 LVL= 13088, 25137, 21682, 32755, AGC= 61, IDX= 409, 0.04, 1.790,-0.017, 0.645, 1.048, PHS= 0.830,-1.018,-0.406, RAW= 109.0, 7.3, CAL= 119.2, 4.9, ROT= 30.8, -4.9 PDAT read: Bearing 30.8, -4.9 (Local) ~Local bearing/azimuth received: Bearing 30.8, -4.9 (Local) DAT read: Range 10 to 50 : 119.2 m (Round-trip 159.0 ms) speed 0.6 m/s ,DAT read: user:3306> BDAT read: Tx time:23:32:24.6375 $Ping request sent. ڕ%@)ڕ%=Iڕ ?iڕ%ڑڑە;&?ٰJȿ3(Y?)ە'EIە*iە0ە ۑۑE:publishing transmit ping timeEFpublishing direction and range infoؑ EbBottom track data is 0.9 s old, using for 20.0 s. MNusing accuracyPremultiplier from configiM59muh?U5Ym imU :QUZ:U:?U@mEmY uw,>gA >Y!?i$=9„=yH`?`i?@\?@?5`ы ?5?ɨ >R;%CyMBU"I U U U] ]]  ] ] ]Mb@Mb@Mb@YYY Y)YY]v/?{Gz? G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.<  Nusing accuracyPremultiplier from config59}?5Y} i T:*?:}@?@E/;;5E+B M@MuEZjFNOT Ignoring new targets: 119.20 m.BjPKJjPKHe>I I"IIjBI&I.I6Ig<:Is F ProNav: ac range: 119.199997 m, nav range: 51.745434 m, bearing: 288.639673 deg, approach rate: 0.289943 m/s, LOS rate: -0.710999 deg/s, cmd heading: 31.203880 deg, new cmd heading: 30.189584 deg. 2j󼝊HeadingCmd: 0.526908 target range: 119.199997 and range: 119.20 m. jk?jjjihhh h Bf f frfbfZ?ɛBc< 隥=I V<ɚiI^=Ik?ii3=)k?)*Fi2Fi:FiBFm4JFiG k= Will construct direction to contact in vehicle frame from tetrahedron phase data. D$?I Gi By O >w,'Ab>YbZ?bF=9bvi=ybH? "?~?[?cǢ%?`1?ɨb>b5;b&Cyr Brk"I)t t  IIV8٢%Խ %w=9-*Q -?iq uG٣qyu] u? Nusing accuracyPremultiplier from configy59}?5Y}t i}>?@}E};};}?5 @ZjFNOT Ignoring new targets: 119.20 m.Bj8Jj8 ProNav: ac range: 119.199997 m, nav range: 51.837994 m, bearing: 288.411757 deg, approach rate: 0.262891 m/s, LOS rate: -0.646176 deg/s, cmd heading: 30.189583 deg, new cmd heading: 29.507091 deg. 2jݼHeadingCmd: 0.514996 target range: 119.199997 and range: 119.20 m. j?jj j i h hhhfffrfbf\|?ɛMBMcM< IMS=II U*<ɚQiQIUA=I]?iYieS=)e?)iJ@AJJ%J%J!J!J%:J%[9J!J!J%;J%;J%;J%;Will construct direction to contact in vehicle frame from tetrahedron phase data.E% L=*F 2F :F BF 05JF G =Gq B O >!w,A:>Y:v?: =9:; i=y:HV ? |ݮ?`l?_?`/?"?ɨ:>:B;:"CyRBRb"IIZIZM٢ M=9_Q >    G٣ UGym > Nusing accuracyPremultiplier from config%59=?%5Yؖ i2!%k=?-@–E ;:51 5e@5rEUB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 119.20 m.BjmOJjmO ProNav: ac range: 119.199997 m, nav range: 51.944012 m, bearing: 288.150227 deg, approach rate: 0.295142 m/s, LOS rate: -0.726583 deg/s, cmd heading: 29.507090 deg, new cmd heading: 28.724151 deg. 2jRHeadingCmd: 0.501331 target range: 119.199997 and range: 119.20 m. j;W?jjjihhhhfffrfbf?ɛB 8< &=I Mg<ɚiIpl=I;W?iip/=);W?) 9I9EWill construct direction to contact in vehicle frame from tetrahedron 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 d6=zKKh9KK K     RK>JK ?*Fq2Fq:FyBF_0JFGqGqGuoAG) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505731H d>I C I "II UBI  =&I .I 6I -<:I H FKw,TŷA6>Y6?6o<96ōb=y6H1?@KK?[?*2?`쟿J??ɨ6>6<Ӊ;6#CyBBBG"I=Mb@Mb@Mb@999 9)9Y=RQ?333333? rhy="?===C=~A =@)=AI99y=(@IUIU(*٢eϽ eD=9e2Q e>ii mG٣iyu– u> }Nusing accuracyPremultiplier from configy59}񫈜?5Y}* i}N#?::?@}ĖE};}o;}5 @ZjFNOT Ignoring new targets: 119.20 m.Bj*8Jj*8 ProNav: ac range: 119.199997 m, nav range: 52.051517 m, bearing: 287.881992 deg, approach rate: 0.258662 m/s, LOS rate: -0.644044 deg/s, cmd heading: 28.724152 deg, new cmd heading: 27.921167 deg. 2jݼHeadingCmd: 0.487316 target range: 119.199997 and range: 119.20 m. j>jjjihhhhBfffrfbf?ɛ%B%J< )-6;I) 5'l<ɚ1i1I5=I=>i9i=ӱ=)=>)A -F$?I)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759033E]]&=*F2F:FBFJFG =G B O >JA JE JE /JA JA JE H9JE (N3JA JA JA JE Q;JE R;4w,A>>Y>?>.<9>VZ=y>H b?m?N?c?L`Q?r?ɨ>>>ۉ;>$CyJBJ6"IiR>IR>IVIV<2bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011123٢^n fV=9fJQ f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv59r?v5Yr irgtz<8?z@rƖErz:r:rs5~,B ~@mEZj)5FNOT Ignoring new targets: 119.20 m.Bj57Jj57M ProNav: ac range: 119.199997 m, nav range: 52.149448 m, bearing: 287.634020 deg, approach rate: 0.254159 m/s, LOS rate: -0.642348 deg/s, cmd heading: 27.921166 deg, new cmd heading: 27.178690 deg. 2jMkܼUHeadingCmd: 0.474358 target range: 119.199997 and range: 119.20 m. jU>jQjQjQiQhYhYhYhYfafafarfabfe[@ɛMBM|Aq< IMIQ UH<ɚQiYI]E=I]>iaie`l=)e>)aEiEi*E"E*F2F:FBF`0JF IiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265713zKMK9KK K    G 4A=G1 BY O > w,#MAjW>Yj?j <9j L=yjH@"?ಯ@>??`Ş?:bP??ɨjW>jK;hyr׃Bv)"IMb@Mb@Mb@ )Y^I +?L7A`? G٣UGyؼ > Nusing accuracyPremultiplier from config59@Έ?5Y iW?:2?@ɖE;F;5  ]@ Zj9=FNOT Ignoring new targets: 119.20 m.BjE>.JjE>.U ProNav: ac range: 119.199997 m, nav range: 52.260925 m, bearing: 287.339723 deg, approach rate: 0.231306 m/s, LOS rate: -0.609339 deg/s, cmd heading: 27.178690 deg, new cmd heading: 26.297756 deg. 2jUѼ]HeadingCmd: 0.458982 target range: 119.199997 and range: 119.20 m. j]>jYjYjYiYhYhahaheBfififirfibfm5@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515130HIC I"II7BI&I.I6I<:I FBI¦CJI¦CRIZI =bI =jI_n5ɛEBMb< IMhIi m[<ɚqiqIu=Iu>iyi}=)}>)y*F)2F):F)BF-0JF)"G5=G5=Gt=GBOk> G$?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767032"w,6A6f>Y6v/?6*<96CDA=y6H`?W6݁;6&CyRBR "ITVAAIZIZF3٢b b`=9fMQ f>dd fG٣hyj[ j> =Nusing accuracyPremultiplier from config1E595݈?E5Y52 i5AE/?E@5ʖE5 ;5 ;535U-B U@UjEZjq}FNOT Ignoring new targets: 119.20 m.Bj.Jj. ProNav: ac range: 119.199997 m, nav range: 52.346046 m, bearing: 287.109923 deg, approach rate: 0.226903 m/s, LOS rate: -0.611567 deg/s, cmd heading: 26.297755 deg, new cmd heading: 25.609511 deg. 2jѼHeadingCmd: 0.446970 target range: 119.199997 and range: 119.20 m. jJ>jjjihhhhfffrfbf `8@ɛB*< I B<ɚiIV=IJ>iiy=)J>)*Fu?2Fq:FyBF}05JFyJMJMJM0JIJM]:JM9JMـ3JIJM:;JM;;JM;JM;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019859Guw=GIBYOu>y Ȱw,@!A 4I4~Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:32:27.1985  TRx dataTimestamp_ set to:1736379148.560584 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272061yB"I) !!I- I-V2٢e8 e@=9mQ m>ii uG٣qy} > Nusing accuracyPremultiplier from config59F툜?5Y i@̖E ;;5 m@zKLKh9KK K}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 119.20 m.Bj$Jj$ ProNav: ac range: 119.199997 m, nav range: 52.440788 m, bearing: 286.857637 deg, approach rate: 0.215895 m/s, LOS rate: -0.573862 deg/s, cmd heading: 25.609511 deg, new cmd heading: 24.854068 deg. 2jļHeadingCmd: 0.433785 target range: 119.199997 and range: 119.20 m. j>jjjihhhhfffrfbf\ @ɛ-B5$< 15I1 =<ɚ9i9I=X=IU>iQiUۜ>)U>)Y*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523525jH% <bH% <H) I)  I- s"II- BI-  =&I) .I) 6I- s<:I- | FGE m=G B1 Om >O6ΰw,,;A6>Y6 ?6G#<96"=y6H`U? ?`?X?5@??`?ɨ6>6U;6%Cy>B>!I Mb@Mb@Mb@    ) Y "~?{Gz?~jty ? #=  A ) hAI @ y @I%I%T3٢5 5N=95]o:Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M ?U5YM} iMںf?:?@MΖEMljQjQjYiYhahahaheQBfififirfibfu @ɛB; I <ɚi9I==I=g>iAiE=)Eg>)A UH$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 23:32:27.1985 LVL= 15280, 25649, 23138, 30131, AGC= 59, IDX= 417, 0.14,-1.024,-2.924,-2.483,-2.025, PHS= 1.089,-0.852,-0.461, RAW= 101.0, 2.5, CAL= 111.5, 0.3, ROT= 38.5, -0.3 }Ygot valid direction response: 23:32:27.1985 LVL= 15280, 25649, 23138, 30131, AGC= 59, IDX= 417, 0.14,-1.024,-2.924,-2.483,-2.025, PHS= 1.089,-0.852,-0.461, RAW= 101.0, 2.5, CAL= 111.5, 0.3, ROT= 38.5, -0.3 PDAT read: Bearing 38.5, -0.3 (Local) ~Local bearing/azimuth received: Bearing 38.5, -0.3 (Local) DAT read: Range 10 to 50 : 117.5 m (Round-trip 156.7 ms) speed 0.2 m/s *F2F:FBF]0JFGqA GrA,DAT read: user:3307>  BDAT read: Tx time:23:32:28.2876 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.հw,1yUA6 >Y6?6ݡ=96 =y6H E?@+ 9d?@l4?`Ė?`0`JҢ?k?ɨ6 >6.I;6$CyBBB!IIJIJ2٢rd? rP=9r:Q r>tt zG٣zUGy~m ~> Nusing accuracyPremultiplier from config %59  ?%5Y z i )5?5@ ЖE ; ; y5 @kEZf?kE6l" kA kE)DA:kEBBkEjBZkE끎@"EQ&WA1d<#ۇ]C\@EpW6ÿ I^?JkE)RkE*E]w23S_j\@Ev {Ŀԫ?"kEp*kEkE,*|c?kE $p" 2kE5CkEƘ?kEQX% kAkE3>BkE@m addTargetRange:: Added new target pos. range: 117.500000 m, deltaT: 3.788701 s, deltaX: -1.699997 m, approachRate: -0.448702 m/s, rangeRepo size: 4  Added new target pos. range: 117.500000 m, bearing: 255.158673 deg, lat: 36.904730 deg, lon: -122.121307 deg, deltaT: 3.788701 s, deltaX: -1.699997 m, approachRate: -0.448702 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 117.50 m.BjJj ProNav: ac range: 117.500000 m, nav range: 47.550747 m, bearing: 275.594472 deg, approach rate: 0.000000 m/s, LOS rate: -0.603004 deg/s, cmd heading: 24.143419 deg, new cmd heading: 23.399794 deg. 2jHeadingCmd: 0.408403 target range: 117.500000 and range: 117.50 m. jB>jjjihhhhfffrf`]@bf@d?ɛރB; %I! %<ɚ!i!I%IR=IUB>iYi]T=)]B>)Y*F?2F:FGBF%_0JF!55tA EI$?IAQ Y5tAydB%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!zK/KK+9KK KGe g>GA Bi O >5\۰w,oAJFJFJDJDJF̈́:JFH9JDJDaJ@aJ@aJ@aJ@-dR>Y-F?-A<9-Z-lω;-#Cy=B=!IiE%=IE; Ma=Ma=%Mb@Mb@Mb@!!! !)!Y%MbX?I +?I +y% ?%9<%94%A %@)%AI%@!y%z@I=I=(1UWill construct direction to contact in vehicle frame from tetrahedron phase data.٢]. ]2=9]" Q ]>aa eG٣aye m> }Nusing accuracyPremultiplier from configq59u?5Yuv iu ?:(?@Hc>IC IG"IIBI =&I.I6Iq<:Iz FuҖEu;u;uu 5.B >@dEZjFNOT Ignoring new targets: 117.50 m.Bjg2Jjg2 ProNav: ac range: 117.500000 m, nav range: 47.660900 m, bearing: 275.329478 deg, approach rate: 0.259944 m/s, LOS rate: -0.623894 deg/s, cmd heading: 23.399794 deg, new cmd heading: 22.606705 deg. 2jּHeadingCmd: 0.394561 target range: 117.500000 and range: 117.50 m. j>jjjihhhh8Bfffrfbf`?ɛ%܃B%ě; !%&#I) -<ɚ)i)I-D=I5>i1i5=)5>)9*F?2F:FBFJFG=GiByO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,KrA:>Y:t?:<9:>:p;:"CyF|BF!IININ̍٢V Vk=9V `9Q Z?XX ZG٣Xy^ b? fNusing accuracyPremultiplier from configdj59f),?j5Yft if$hn ?n@fԖEfXD;fE;f 5t v@tZj FNOT Ignoring new targets: 117.50 m.Bj(Jj(- ProNav: ac range: 117.500000 m, nav range: 47.744007 m, bearing: 275.125709 deg, approach rate: 0.241256 m/s, LOS rate: -0.590502 deg/s, cmd heading: 22.606705 deg, new cmd heading: 21.996487 deg. 2j-ʼ5HeadingCmd: 0.383911 target range: 117.500000 and range: 117.50 m. j5>j1j1j1i1h9h9h9h9fAfAfArfAbfM*?ɛ}كB}æ: y}L:I }<ɚiI=I>ii,;=)>)*F?2F:FBF0JF"G=G!>G=GBO%>eWill construct direction to contact in vehicle frame from tetrahedron phase data.e>ep= I hpw,geA2w>Y2>2<92`2;2;2&CZWill construct direction to contact in vehicle frame from tetrahedron phase data.y^qB^!IdfBAIjIjʳ٢r` rF=9r:Q r>tt vG٣vUGyz z> ~Nusing accuracyPremultiplier from config|59~Xjajajiiihihihqhqfqfqfyrfybf} ?ɛEփBE: AzKMKMH9KIKM KMERKIa m*{<ɚiiiIma=Iu>iqiu=)u>)y*F?2F!:F!BF%0JF!JK K .KK"KJJJ1JJ:J=9J3JGE =uWill construct direction to contact in vehicle frame from tetrahedron phase data.Hb>I I"IĨBI =&I.I;D6I]<:Ik FGY Bi O >2w,Z.Ay~dB~!IAMb@Mb@Mb@ )YˡE? G٣y > Nusing accuracyPremultiplier from config59M?5YKn iR ? : n> @זE;:5 @_E=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 117.50 m.BjMQ'JjMQ'} ProNav: ac range: 117.500000 m, nav range: 47.929501 m, bearing: 274.628999 deg, approach rate: 0.203896 m/s, LOS rate: -0.585115 deg/s, cmd heading: 21.274240 deg, new cmd heading: 20.509325 deg. 2j}ȼHeadingCmd: 0.357955 target range: 117.500000 and range: 117.50 m. jE>jjjihh J$?Ihh&Bfffrfbfii =)E>)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FU?2FQ:FQBF]U3JFYGm=GA BQ Om >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235465|w,A2wv>Y2r>21l=92e2̮;2%Cy:fB:!IIzIz3٢58< 5V=9=iA9A EG٣AyE E> MNusing accuracyPremultiplier from configIU59M]?]5YMk iMhY]>]@MٖEM ;M ;MY5e0B e@m\EZjFNOT Ignoring new targets: 117.50 m.Bj(Jj( ProNav: ac range: 117.500000 m, nav range: 48.001945 m, bearing: 274.403538 deg, approach rate: 0.190075 m/s, LOS rate: -0.590649 deg/s, cmd heading: 20.509325 deg, new cmd heading: 19.833998 deg. 2jʼHeadingCmd: 0.346169 target range: 117.500000 and range: 117.50 m. j=>jjjihhhhfffrfbf@ɛЃBi3 UI wu<ɚ i I >=I=>i)i-=)5=>)1E9E9*F2F:FBFO5JFG GqA K$?IiG =GYBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487382zKMBoHKMs9KIKM KMw,RAJ:J:J:0J8J:=:J:9J:ـ3J8MGf>YM>M\s=9M8M\;M'CyޅYBޅ!IMb@Mb@Mb@ )YS㥛?y&1|~jthy?`廹DQA @)hAI@y@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739486HEc>IA IE!IIEBIE =&IA.IEyy }G٣}UGy > MNusing accuracyPremultiplier from configAM59Eo?U5YEOi iE}e?e:mH>m@EۖEE;E!;Ef5q us@qZjFNOT Ignoring new targets: 117.50 m.Bj$Jj$ ProNav: ac range: 117.500000 m, nav range: 48.087257 m, bearing: 274.131361 deg, approach rate: 0.181019 m/s, LOS rate: -0.576495 deg/s, cmd heading: 19.833999 deg, new cmd heading: 19.018972 deg. 2jżHeadingCmd: 0.331944 target range: 117.500000 and range: 117.50 m. j >j j j i h h hh Bfffrfbf@@ɛ̓B&9 隕gI .q<ɚiI=I>ii@=)>)*FQ2FQ:FQBFUB5JFQ iIi Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:32:30.8474  TRx dataTimestamp_ set to:1736379152.088966 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992813G= =GE ?GE ?G9 BA Oe >w,R A:GT>Y:h>:S=9:b:w;:$CyRPBR!IIZIZ(*3٢bE bk=9f ;Q f?dh jG٣hyj H j? rNusing accuracyPremultiplier from configlr59n|?v5Yng intv>v@nܖEn:n:n5x ~@~YEZj!%FNOT Ignoring new targets: 117.50 m.Bj-!'Jj-!'= ProNav: ac range: 117.500000 m, nav range: 48.144028 m, bearing: 273.943101 deg, approach rate: 0.176454 m/s, LOS rate: -0.584461 deg/s, cmd heading: 19.018973 deg, new cmd heading: 18.454878 deg. 2j=ȼMHeadingCmd: 0.322098 target range: 117.500000 and range: 117.50 m. jM>jIjIjIiIhIhQhQhQfQfYfYrfYbfe 6- @ɛʃB 隍tI wo<ɚiIC=I>ii=)>)*FU?2FQ:FQBF]^0JFYG-^=GBO-,>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.243447 } L$?I Sw,>$A2. E>Y2}>28#$=922u2';2&Cy>MBB!IRWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPnDAT read: 23:32:30.8474 LVL= 16016, 24049, 20402, 25507, AGC= 60, IDX= 438,-0.44, 1.072,-0.979,-0.775,-0.201, PHS= 1.362,-0.730,-0.576, RAW= 93.8, -0.5, CAL= 102.1, -5.3, ROT= 47.9, 5.3 rYgot valid direction response: 23:32:30.8474 LVL= 16016, 24049, 20402, 25507, AGC= 60, IDX= 438,-0.44, 1.072,-0.979,-0.775,-0.201, PHS= 1.362,-0.730,-0.576, RAW= 93.8, -0.5, CAL= 102.1, -5.3, ROT= 47.9, 5.3 vPDAT read: Bearing 47.9, 5.3 (Local) v~Local bearing/azimuth received: Bearing 47.9, 5.3 (Local) ~DAT read: Range 10 to 50 : 116.7 m (Round-trip 155.6 ms) speed 0.2 m/s ~,DAT read: user:3308> BDAT read: Tx time:23:32:31.9376 $Ping request sent.V] VO)VcIV<iVV?VH:VtV?V5 V?)VqIVV?iVq=TTVϺ~&?_DܿvXE)Vp>IV ii mG٣iymg u> Nusing accuracyPremultiplier from config59?5Y:e i>@ޖE:e:5 5@kV?kV bu kT kV%A:kVfBBkVBZkV#Q@zKuk3IKu9KqKu Ku"VHÜ"kB@J]@V9ʆQL2 ?I?JkV *@RkV)}*V]KwZ"P㿒2&]@VU;YVuTuϪe?"kV*kVkV?kVo~u 2kV?6CkVt@?kVF,$ kTkVV0BkV@M addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.527730 s, deltaX: -0.800003 m, approachRate: -0.226776 m/s, rangeRepo size: 4  Added new target pos. range: 116.699997 m, bearing: 187.231766 deg, lat: 36.904666 deg, lon: -122.121259 deg, deltaT: 3.527730 s, deltaX: -0.800003 m, approachRate: -0.226776 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 116.70 m.BjJj ProNav: ac range: 116.699997 m, nav range: 44.084164 m, bearing: 264.853262 deg, approach rate: 0.000000 m/s, LOS rate: -0.584461 deg/s, cmd heading: 18.454877 deg, new cmd heading: 17.625280 deg. 2jHeadingCmd: 0.307619 target range: 116.699997 and range: 116.70 m. jB>jjjihh)h1h9f9ffArfU,]@bf]?JJJJJ]:J9JJɛŃB: pI ;k<ɚiIX=IB>ii@=)B>)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:32:31.9369 H9I9 I=!II=BI9&I9.I96I=X<:I=h FBIǥCJIǥCRIZI =bI =jI5*F?2F:FBF4JFG >=G B O >"sw,AA YZ>Z~)=9ZcZЉ;Z$CybLBb~!I Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YS㥛?~jt{GztyļףA 3@)AIy@I IV2٢+z  =9 ,;Q  >   G٣UGy > Nusing accuracyPremultiplier from config59?5Yb i?:H>@Ef;o;51B N@VEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.70 m.Bj 4Jj 4= ProNav: ac range: 116.699997 m, nav range: 44.195992 m, bearing: 264.547047 deg, approach rate: 0.231496 m/s, LOS rate: -0.632289 deg/s, cmd heading: 17.625279 deg, new cmd heading: 16.709044 deg. 2j=ؼEHeadingCmd: 0.291628 target range: 116.699997 and range: 116.70 m. jE>P>jAjAjAiIhIhIhIhUBfQfQfyrfybf}?ɛƒBx% kI 2h<ɚiI=I>P>iiS=)>P>)*F?2F:FBF_0JFG5=GyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Dw,[A:($>Y::s>:g)=9:):N;:'CybJBb{!IIjIj2٢vf vv=9vuYQ v?xx zG٣xy~K1 ~? Nusing accuracyPremultiplier from config 59n? 5Y^a iл  >@E::[52B }@SEZjiuFNOT Ignoring new targets: 116.70 m.Bju6Jj}6 ProNav: ac range: 116.699997 m, nav range: 44.268440 m, bearing: 264.343884 deg, approach rate: 0.228010 m/s, LOS rate: -0.638349 deg/s, cmd heading: 16.709044 deg, new cmd heading: 16.100574 deg. 2j ۼHeadingCmd: 0.281008 target range: 116.699997 and range: 116.70 m. jI>jjjihhhhfffrfbf:?ɛB$% rkI e<ɚiI=II>ii=)I>) M$?I*F?2F:FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995654zKQKU+9KQKU KU  G-=G B) Ou >w,DuAH(I( I*!II*BI(&I(.I*;D6I*f<:I*r F>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247451*>Y:>().=9%=yH?ֿ? ?e?@ڈ wå@ߡ? ?ɨ*>h7;%CyCBt!IMb@Mb@Mb@ )Y"~j?{GzyS?#A ;@)AI@yII(*٢]ڼ .=9;Q > G٣yz > Nusing accuracyPremultiplier from config59É?5YK_ iZ?:>@E;;g5  @Zj9EFNOT Ignoring new targets: 116.70 m.BjE-JjM-U ProNav: ac range: 116.699997 m, nav range: 44.369659 m, bearing: 264.062047 deg, approach rate: 0.218525 m/s, LOS rate: -0.607075 deg/s, cmd heading: 16.100574 deg, new cmd heading: 15.257058 deg. 2j]Pм]HeadingCmd: 0.266286 target range: 116.699997 and range: 116.70 m. j]V>jajajaiahihihihuBfqfqfqrfqbf}l?ɛB%: !%pI! %Tb<ɚ)i)I-=I5V>i1i5=)5V>)1*F?2F:FBFJF ]N$?IY-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499698G !{=G B O >#w,QAJJJJJ̈́:JH9JJJ;aJ;aJQ;aJR;a%e=Y%>%25=9%=y%H%?`,տ?@D?,?@$*q.?`:?ɨ%e=%;%#Cy=EB=v!IIU IUb3٢e~< eS=9ed;Q e>ii mG٣mUGym u> }Nusing accuracyPremultiplier from configy59}rӉ?5Y}] i}>@}E}@:}@:}5 @PEZjFNOT Ignoring new targets: 116.70 m.Bjy+Jjy+ ProNav: ac range: 116.699997 m, nav range: 44.451530 m, bearing: 263.828837 deg, approach rate: 0.210907 m/s, LOS rate: -0.599661 deg/s, cmd heading: 15.257058 deg, new cmd heading: 14.558753 deg. 2jͼHeadingCmd: 0.254098 target range: 116.699997 and range: 116.70 m. j(>jjjihhhhfffrfbf ?ɛ-B-h 5@L=5`eI1 5{_<ɚ1i1I=RI=I=(>i9iA)E(>)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751419*Fe?2Fa:FaBFe0JFiG==G)BAO]w>) C c~G% |uAA Q IQ } Y} |uAy} YBE Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004509)w,0A%=Y%>%¥:=9%~"=y%HPI?` ZԿ F? t?`P?@v Rs;?`?ɨ%=%x!;%$Cy=:B=h!IiE>IE]>IMIM<2zK]KK]]9KYK] K] 62x)Qt٢mft m[=9ui;Q u> G٣y$ > Nusing accuracyPremultiplier from config59%㉜?5Y\ i Ĝ>@E ;`;5 @ZjAMFNOT Ignoring new targets: 116.70 m.BjM=)JjM=)} ProNav: ac range: 116.699997 m, nav range: 44.530472 m, bearing: 263.598658 deg, approach rate: 0.203339 m/s, LOS rate: -0.591848 deg/s, cmd heading: 14.558753 deg, new cmd heading: 13.869474 deg. 2j˼HeadingCmd: 0.242068 target range: 116.699997 and range: 116.70 m. jw>jjjihhhhfffrfbf@ɛB8L imtIq }HK\<ɚyiI=Iuw>iyi =)w>)ZH9RH=?AHEb>IA IE!IIEBIA&IA.IA6IEh<:IEs FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259101*FU?2FQ:FYBF]0JFYG f=G G qA E P$?IA Gy B O >^0w,eAyBBr!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507627Mb@Mb@Mb@ )YuV?y&1|~jthyr?`廹DA @)AI@y\@IIm?3٢= ==9Q > G٣y > Nusing accuracyPremultiplier from config59Y?5YBZ i#v?:">@E;s; 5-3B -@-MEZjQUFNOT Ignoring new targets: 116.70 m.Bj]5Jj]5 ProNav: ac range: 116.699997 m, nav range: 44.624451 m, bearing: 263.333047 deg, approach rate: 0.224433 m/s, LOS rate: -0.632973 deg/s, cmd heading: 13.869474 deg, new cmd heading: 13.074374 deg. 2j3ټHeadingCmd: 0.228191 target range: 116.699997 and range: 116.70 m. jުi>jjjihhh)h-Bf)f)f)rf1bf5k@ɛ}B ~ 隭\I LY<ɚiI˖=Iުi>iia=)ުi>)*F]?2FY:FYBF]O5JFaJuJuJqJqJu}:Jum9JqJqJu;Ju;Ju;Ju;E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759757G} =G9 BI Oe >D7w,A6=Y6ߚ>6@=96h==y6He?ҿ! ?`W ?`?מ #?`+?ɨ6=6׊;6"Cy@@IJIJ3٢R ; Rb=9R;Q V>TT VG٣VUGyZƃ Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^X i^7dfH>f@^E^:^:^2"5h j @h~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 116.70 m.Bj A2JjA2% ProNav: ac range: 116.699997 m, nav range: 44.700336 m, bearing: 263.107799 deg, approach rate: 0.210371 m/s, LOS rate: -0.623372 deg/s, cmd heading: 13.074374 deg, new cmd heading: 12.399809 deg. 2j%ռ-HeadingCmd: 0.216417 target range: 116.699997 and range: 116.70 m. j-]>j)j)j)i)h1h1h1h9f9f9f9rf9bfE`J@ɛBl TI jV<ɚiI(=I]>ii*٦=)]>)  }Q$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.թiթchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011720E])=zKUc$OKU9KQKU KUtG&nQ;$ |ywvqmjf_YTPKIFA?>96640+(&&%%$#"*F?2F:FBFP5JFG1=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.m BDAT read: Rx Time:23:32:34.4959 m TRx dataTimestamp_ set to:1736379155.869906u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266725MT=w,:Ayޕ:Bޕi!I) A-Mb@Mb@Mb@))) )))Y-E?Mb`~jthy-?-)- A -3@)-AI-@)y-QAII(*3٢ ,=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YV iS?:>@E;;F$5 @JEZjFNOT Ignoring new targets: 116.70 m.Bj/Jj / ProNav: ac range: 116.699997 m, nav range: 44.802643 m, bearing: 262.815890 deg, approach rate: 0.215831 m/s, LOS rate: -0.614418 deg/s, cmd heading: 12.399809 deg, new cmd heading: 11.526154 deg. 2jҼ%HeadingCmd: 0.201169 target range: 116.699997 and range: 116.70 m. j-UM>j)j)j)i)h)h)h1h5+Bf1f1f9rf9bf=@ @ɛeBmƊ im[Ii mS<ɚiiiIu=IuUM>iqi}\=)}UM>)E= L= AIA*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515438G =G B O- >%7Dw,CA:C{=Y:`>:ifC=9:-2P=y:H ?@ѿ㨮?? з?[3nj??ɨ:C{=:Q;:$Cy^?B^n!IIf IfV2٢n< nn=9r:Q r?pp rG٣pyv t v? zNusing accuracyPremultiplier from configx59z'?5YzU izf>@zEz ;z;z%5 E@JJJJJ]:J[9JJJ:;J;;J;J;ZjY]FNOT Ignoring new targets: 116.70 m.Bje-Jje-u ProNav: ac range: 116.699997 m, nav range: 44.873978 m, bearing: 262.603673 deg, approach rate: 0.204363 m/s, LOS rate: -0.607000 deg/s, cmd heading: 11.526153 deg, new cmd heading: 10.890543 deg. 2juJм}HeadingCmd: 0.190076 target range: 116.699997 and range: 116.70 m. j=B>jjjihhhhfffrfbf@ @ɛBG :KI kQ<ɚiIs=Im=B>iqiuİ=)u=B>)qEyEy*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 23:32:34.4959 LVL= 13808, 28385, 21170, 29587, AGC= 61, IDX= 422,-0.07, 0.595,-1.090,-1.246,-0.431, PHS= 1.114,-0.613,-0.818, RAW= 84.4, 3.5, CAL= 90.0, 1.2, ROT= 60.0, -1.2 5Ygot valid direction response: 23:32:34.4959 LVL= 13808, 28385, 21170, 29587, AGC= 61, IDX= 422,-0.07, 0.595,-1.090,-1.246,-0.431, PHS= 1.114,-0.613,-0.818, RAW= 84.4, 3.5, CAL= 90.0, 1.2, ROT= 60.0, -1.2 EPDAT read: Bearing 60.0, -1.2 (Local) U~Local bearing/azimuth received: Bearing 60.0, -1.2 (Local) mDAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed 0.3 m/s u,DAT read: user:3309> }BDAT read: Tx time:23:32:35.5877 }$Ping request sent.}uJw,,AzK*2#OK*9K(K* K*     >U=Y>>>@=9>wW=y>H9? ѿ q? :??o@  ?@?ɨ>U=>;>#CyF=BJl!IIRIR٢V" ZC=9ZڸQ Z>\\ ^G٣^UGybѲ b> fNusing accuracyPremultiplier from configdj59fr9?j5YfT if~hj>n@fEf7 ;f ;f'5r4B rg@rGEkȔ0?k# k kA:kBBkpBZk@"n"Y[0X!=7@յ[@n ¿L̎7=??JkM9 @RkԨ*5.`@ E,@Wźe\@jc0T?MƸx?"k,bA*kavk'?kZ 2k63Ck?k $p" k63Ck Akg@= addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.779336 s, deltaX: -1.199997 m, approachRate: -0.317515 m/s, rangeRepo size: 4 M Added new target pos. range: 115.500000 m, bearing: 137.448388 deg, lat: 36.904658 deg, lon: -122.120989 deg, deltaT: 3.779336 s, deltaX: -1.199997 m, approachRate: -0.317515 m/s, posRepo size: 4 ZjIFNOT Ignoring new targets: 115.50 m.BjJj ProNav: ac range: 115.500000 m, nav range: 21.631172 m, bearing: 251.396407 deg, approach rate: 0.000000 m/s, LOS rate: -0.607000 deg/s, cmd heading: 10.890543 deg, new cmd heading: 10.126748 deg. 2jHeadingCmd: 0.176745 target range: 115.500000 and range: 115.50 m. j4>jjjihhh!h!f!f!f!rfU\@bfU>?ɛB@J9 DI 2lN<ɚ i I/ =IU4>ii=)4>)jH<bHp<Hd>I I!IIBI&I.I I QQw,ӟFA>a,=Y>>>;=9>>=y>H?`bп@ޯ?`G? \?eu`Ա?z?ɨ>a,=>ƌ;>&CbWill construct direction to contact in vehicle frame from tetrahedron phase data.bAi`y;Bj!Ii%Q > G٣y޺ > Nusing accuracyPremultiplier from config59TM?5YjR i Q ? : > @E;0;)5 @ZjAEFNOT Ignoring new targets: 115.50 m.BjM`JjM` ProNav: ac range: 115.500000 m, nav range: 21.765467 m, bearing: 250.859241 deg, approach rate: 0.306805 m/s, LOS rate: -1.219603 deg/s, cmd heading: 10.126748 deg, new cmd heading: 8.525634 deg. 2j@QHeadingCmd: 0.148800 target range: 115.500000 and range: 115.50 m. j _>jjji h h h1h5!Bf9f9f9rf9bfEH?ɛBM) IM\@II MK<ɚQiQIU =IU _>iYi]M=)] _>)Y*F=?2F9:F9BFAJFA*JC="Jp=JJJJJ:J"9JJJ;J;J;J;uWill construct direction to contact in vehicle frame from tetrahedron phase data.G =GY Bi O >Ww,`A2=Y21>2,:=92=y2Hc?Ͽ??R?tC?@?ɨ2=2]Ɛ;2"Cy>4B>`!IIJIJ<٢R! R`=9R͇Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^]?b5Y^"Q i^`f}y>f@^E^? ;^ ;^"+5h jAjDEzB*** querying acoustic contact ***jxjx S$?IZjFNOT Ignoring new targets: 115.50 m.BjګJjګ- ProNav: ac range: 115.500000 m, nav range: 21.876066 m, bearing: 250.417504 deg, approach rate: 0.302475 m/s, LOS rate: -1.201969 deg/s, cmd heading: 8.525633 deg, new cmd heading: 7.207370 deg. 2j-9N5HeadingCmd: 0.125792 target range: 115.500000 and range: 115.50 m. j5>j1j9j9i9h9h9hAhAfAfIfIrfIbfM P?ɛuBuP& y隅GI ĽI<ɚiI \V!=I >i iu=)>)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gu)=GQBYOu6>zKMK9KK KBK:KoAH f>I C I !II {BI  =&I .I 6I m<:I z FBIyJIyRIyZIybIyjI}E4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498334{]w, ^zAyr6Brc!IMb@Mb@Mb@ )YDl?{Gzty&1|y` A @)I@yzAII(٢;0< <=9Q > G٣UGy > Nusing accuracyPremultiplier from config59kq?5YO iʼT ?:y>@E;; -56B @?EZj FNOT Ignoring new targets: 115.50 m.BjJj% ProNav: ac range: 115.500000 m, nav range: 22.009699 m, bearing: 249.896864 deg, approach rate: 0.307161 m/s, LOS rate: -1.189433 deg/s, cmd heading: 7.207370 deg, new cmd heading: 5.655333 deg. 2j%L-HeadingCmd: 0.098704 target range: 115.500000 and range: 115.50 m. j-j%=j)j)j)i)h1h1h9h=,Bf9f9f9rfAbfE?ɛmBurs qu:Iq },)G<ɚyiyI}!=Ij%=ii>)j%=)*F2F:FBFQ5JF T$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750341G- =G! B1 OM >dw,/AJ2AAJ2BA:}k;Y:{f>:Q76=9:%n=y:Hv)?2̿Ѭ??@(?vĦ_ѭ? ?ɨ:}k;:;8yR;BRi!I)T TTVAIZIZ 3٢bs< fZ=9f)Q f>hh nG٣ly=( => ENusing accuracyPremultiplier from configAM59E?M5YEeN iEQU]>U@EEEC;E&D;E.5a e@aZjFNOT Ignoring new targets: 115.50 m.BjJj ProNav: ac range: 115.500000 m, nav range: 22.125237 m, bearing: 249.430606 deg, approach rate: 0.298099 m/s, LOS rate: -1.196696 deg/s, cmd heading: 5.655333 deg, new cmd heading: 4.264153 deg. 2jRMHeadingCmd: 0.074424 target range: 115.500000 and range: 115.50 m. jZk=jjjihhhhfffrfbf@ɛ B 9 (I! %>E<ɚ)i)I-"=I=Zk=i9iEbp >)EZk=)I]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003980*Fm?2Fi:FiBFm5JFiGE=GB O]U> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254901Pjw,N A6:@Y6@V>615=96X=y6HD?`Lʿ*Ы??E?̥@~@?w?ɨ6:@6F;6$CyR7BRe!IzK^ KK^9K\K^ K^RKf ?JKf?IjIjV83٢r rI=9r꫹Q v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~򔊜?5Y~@M i~ N> @~E~ ;~:~t05 @)K=)*F-?2F):F1BF5^0JF1JJJJJ:JH9JJa@a@a@a@GU>ZHyRHyHe>I I!IIvBI&I.I6I7<:IR FmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507532GBOA> U$?I _qw,6A29@Y2 ,G>2=4=92==y2H`]?uȿS?F? !`?ꢿ`څj?I?ɨ29@2;2%CyB2BB_!IjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760773Mb@Mb@Mb@ )YV-?~jtI +yh?D94 ) AI3@yAII2٢~ ;=9QQ > G٣UGy > Nusing accuracyPremultiplier from config59w?5YL iw?:q2>@E; ;[25  AZj9=FNOT Ignoring new targets: 115.50 m.BjEJjEm ProNav: ac range: 115.500000 m, nav range: 22.369993 m, bearing: 248.413389 deg, approach rate: 0.294124 m/s, LOS rate: -1.235426 deg/s, cmd heading: 2.848166 deg, new cmd heading: 1.230053 deg. 2jmSHeadingCmd: 0.021468 target range: 115.500000 and range: 115.50 m. jޯ<jjjihhhh2Bfffrf bf  @ɛBx_: 隽(I s@<ɚiI#=Iޯ)ޯ<)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՕC>Օ4=BDAT read: Rx Time:23:32:38.1445 TRx dataTimestamp_ set to:1736379159.404897checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015683G  >G% qAG! G B ~G I  O >cxw,@1A YyBym4Bma!Iiui>Iu; u=u=I}I}(*3٢< D=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y K i=@E:L:-457B A9EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.50 m.BjJj  ProNav: ac range: 115.500000 m, nav range: 22.494629 m, bearing: 247.900515 deg, approach rate: 0.298587 m/s, LOS rate: -1.221858 deg/s, cmd heading: 1.230053 deg, new cmd heading: 359.700340 deg. 2j QHeadingCmd: 6.277955 target range: 115.500000 and range: 115.50 m. j@jjjihhh!h)f)f)f)rf1bf5 < @ɛBBM: I  0|><ɚ i IR$=IciiD{5>)%@))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267482*F?2F:FBF_0JFG(>zKKKK K +Voy{ysrkhe]UNE?7/(# BK:KpAGBOf>J J J J J }:J 9J J H c>I C I !II qBI &I .I 6I <:I = F Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 23:32:38.1445 LVL= 10528, 22561, 15794, 23923, AGC= 57, IDX= 423,-0.39,-2.782, 2.188, 1.595, 2.718, PHS= 0.871,-0.483,-1.126, RAW= 71.6, 8.4, CAL= 73.6, 12.1, ROT= 76.4, -12.1 E Ygot valid direction response: 23:32:38.1445 LVL= 10528, 22561, 15794, 23923, AGC= 57, IDX= 423,-0.39,-2.782, 2.188, 1.595, 2.718, PHS= 0.871,-0.483,-1.126, RAW= 71.6, 8.4, CAL= 73.6, 12.1, ROT= 76.4, -12.1 M PDAT read: Bearing 76.4, -12.1 (Local) M ~Local bearing/azimuth received: Bearing 76.4, -12.1 (Local) ] DAT read: Range 10 to 50 : 114.4 m (Round-trip 152.6 ms) speed 0.0 m/s e ,DAT read: user:3310> e BDAT read: Tx time:23:32:39.2377 m $Ping request sent.m l?) @X>I 㭪?i @X j?myͨTn?) .XI L=i {@ '  :publishing transmit ping timei  Fpublishing direction and range info 9 rʿX?Hۣrd?y  ) I i ) I i j?myͨTn?) I i Ն~w,A6gL@Y6)>6n1=96;=y6H@y?Ŀ@Ü?@t?`}?L` @??ɨ6gL@6;4yN7BNe!I-Mb@Mb@Mb@))) )))Y-/$?/$=9Q > G٣yi > Nusing accuracyPremultiplier from config V$?I59ъ?5Y3J i\E?:>@E@;;65 @6Ek=hH;?k=b5 k9 k=9A:k=BBk=ABZk= @"=*{7G@~,`Y@=rʿX?Hۣrd?Jk={@Rk='*=gBtD:V̀C@ǻzY@=PcͿS?aU?"k=B*k=#k=W,?k=. 2k=)Ck=,*|c?k=o~u k9k=(Ak=S@ addTargetRange:: Added new target pos. range: 114.400002 m, deltaT: 3.537674 s, deltaX: -1.099998 m, approachRate: -0.310938 m/s, rangeRepo size: 4  Added new target pos. range: 114.400002 m, bearing: 123.351434 deg, lat: 36.904643 deg, lon: -122.120773 deg, deltaT: 3.537674 s, deltaX: -1.099998 m, approachRate: -0.310938 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 114.40 m.BjJj  ProNav: ac range: 114.400002 m, nav range: 10.552129 m, bearing: 188.959344 deg, approach rate: 0.000000 m/s, LOS rate: -1.221858 deg/s, cmd heading: 359.700329 deg, new cmd heading: 358.018119 deg. 2j HeadingCmd: 6.248595 target range: 114.400002 and range: 114.40 m. j}@jjjihhhh%QBfAfIfIrfM\@bfMh?ɛ~B*; 隝 I U<<ɚiI$=I̮ iiO2>)}@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:32:39.2370 *F?2F:FBFJF"G=G>G _>Gy B O >lw,AFJ@YF@>F-=9F    G٣ UGyY4 > %Nusing accuracyPremultiplier from config!-59%n⊜?-5Y%I i%t)-o=-@%E%:% :%75Y ]VAaZjFNOT Ignoring new targets: 114.40 m.BjWill construct direction to contact in vehicle frame from tetrahedron phase data.Jj ProNav: ac range: 114.400002 m, nav range: 10.750086 m, bearing: 188.914080 deg, approach rate: 0.587075 m/s, LOS rate: -0.131769 deg/s, cmd heading: 358.018108 deg, new cmd heading: 357.884814 deg. 2jݴHeadingCmd: 6.246268 target range: 114.400002 and range: 114.40 m. jn@jjjihhhhff!f!rf)bf-`Մ?ɛ{B2ҹ 隝|I ȧ:<ɚiIk%=Ia)ii1*>)n@)*F?2F:FBFp0JFGe:{!> W$?IiG9BAOeU>u Will construct direction to contact in vehicle frame from tetrahedron phase data.!w, 0A2,G@Y2>2?%=92UBTT VG٣XyZa, Z>zK^@MK^9K\K^ K^  RKf?JKf? jNusing accuracyPremultiplier from configdj59f"?n5Yf I iflnM=n@fEf;f;fW95v8B vAv3EZjFNOT Ignoring new targets: 114.40 m.BjhGJjhG ProNav: ac range: 114.400002 m, nav range: 10.972698 m, bearing: 188.845710 deg, approach rate: 0.579395 m/s, LOS rate: -0.174336 deg/s, cmd heading: 357.884810 deg, new cmd heading: 357.683863 deg. 2jJﻝHeadingCmd: 6.242761 target range: 114.400002 and range: 114.40 m. j@jjjihhhhfffrfbf ?ɛMxBM ; IM|II U8<ɚiI%=JJJJJ:J9JJI%i-n4l)U@)aH`>I III =&I.I;D6I]<:Ij FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JF IG H1>G G pAG B O >ֈw,jJA Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:=:E"=9:L=9]{ϺQ ]>Ya eG٣aymp m> uNusing accuracyPremultiplier from configi}59m ?}5YmH im}R?}:}r=}@mEms;m:m5;5! %4A)ZjiuFNOT Ignoring new targets: 114.40 m.Bju)5@)*Fm?2Fi:FiBFmJ2JFqGq GunAGeZ,>GABIOmx>Will construct direction to contact in vehicle frame from tetrahedron phase data. X$?I w,PdA>kF@Y>=>kY =9>=H?`c?? %?@s @)ā?@j?ɨ>kF@>ݤ;>$CyR7BRd!IIZ IZ2٢b< fU=9fQ f>hh jG٣jUGyje. n> rNusing accuracyPremultiplier from configpv59r?v5Yr9H irtvo=v@rEr:r:r<5x ~ A~0EZj!%FNOT Ignoring new targets: 114.40 m.Bj-ΠJj-Π= ProNav: ac range: 114.400002 m, nav range: 11.433481 m, bearing: 188.643914 deg, approach rate: 0.606281 m/s, LOS rate: -0.281173 deg/s, cmd heading: 357.393664 deg, new cmd heading: 357.090794 deg. 2j=@MHeadingCmd: 6.232410 target range: 114.400002 and range: 114.40 m. jMo@jIjIjIiIhQhQhQhQfYfYfarfabfe '>?ɛqB%; 隕`I 5<ɚiI&=IOiTGt)o@)*F5?2F1:F1BF5O0JF9eWill construct direction to contact in vehicle frame from tetrahedron phase data.aieAG+s>GBO (>zKLK9KK KJK K KK"KJJJJJm:JJJH \>I C I !II vBI  =&I .I 6I 8<:I K F Will construct direction to contact in vehicle frame from tetrahedron phase data.֞w,=~AJ@YJ@Y=J?&=9J:~;yJH`? `[ޤ??a?A Ƥ@*o?1?ɨJ@J>;J%Cyj6Bjc!Iin>Inl> r=r=mMb@Mb@Mb@iii i)iYmM?Q{Gztymn?mumףm~A mA)iImv@iymAI}I}3٢Ao >=9$[;Q > G٣y> > Nusing accuracyPremultiplier from config590?5YG i׽|?:Re=@E~ ;;>59B A.EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.40 m.BjJj 5Z$?I1 ProNav: ac range: 114.400002 m, nav range: 11.678874 m, bearing: 188.529360 deg, approach rate: 0.568335 m/s, LOS rate: -0.259736 deg/s, cmd heading: 357.090787 deg, new cmd heading: 356.754348 deg. 2jA2HeadingCmd: 6.226538 target range: 114.400002 and range: 114.40 m. j?@jjjihhhhUBfffrfbfeC@ɛ=mBE{; IM ܽII M.4<ɚIiIIMj'=IUhiU%yxG B O >w,OAr@Yr@=r*=9r;yrH?@@V?`?`?TK=?`OHa??ɨr@r;py1B]!II5I5V83٢=ʼ EO=9EJ.;Q E>II MG٣IyUyH U> ]Nusing accuracyPremultiplier from configYe59]C?e5Y]G i]ae]=m@] E]<;];]{@5q u@AqZjFNOT Ignoring new targets: 114.40 m.BjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508924Jj ProNav: ac range: 114.400002 m, nav range: 11.902401 m, bearing: 188.408185 deg, approach rate: 0.567628 m/s, LOS rate: -0.301935 deg/s, cmd heading: 356.754359 deg, new cmd heading: 356.397665 deg. 2j7OHeadingCmd: 6.220313 target range: 114.400002 and range: 114.40 m. j @jjjihhhhfffrfbf U;@ɛjB6; I 2<ɚ!i!I%'=I-{Ài-A}{ )I)GQBiO;>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760914䫱w,.A2I^@Y2.=2A-=92:y2H4?ӥ`?`Zإ?@?T?`@' \??ɨ2I^@2DE;2&CyB6BBd!IIJIJ2٢R< RV=9V:Q V>TT ZG٣ZUGyZX Z> bNusing accuracyPremultiplier from config\f59^!V?f5Y^G i^df<f@^ E^I;^{;^(B5j:B nAn+EZj  FNOT Ignoring new targets: 114.40 m.BjĻJjĻzKk3IK9KK K5 ProNav: ac range: 114.400002 m, nav range: 12.119404 m, bearing: 188.273801 deg, approach rate: 0.566303 m/s, LOS rate: -0.344416 deg/s, cmd heading: 356.397659 deg, new cmd heading: 356.001733 deg. 2j5^l=HeadingCmd: 6.213402 target range: 114.400002 and range: 114.40 m. jE1@jAjAjAiAhAhAhIhIfIfIfQrfQbfU@M@ɛ=gB=; AEII Uk1<ɚqiqIua(=I}dꎽi}n~I III =&I.I:D6I<:I- FBIJIRI”CZI =bI =jI’-6*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:32:41.7941 TRx dataTimestamp_ set to:1736379162.941406 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019232 [$?IGm %>GA BI Om >y̲w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265250>@Y>/<>.=9>;y>H?=٘3ܥ?`k?@?hgNѥp?~?ɨ>@>qT;>%CyF0BF\!I)H JALLMb@Mb@Mb@ )YB`"? G٣y( > Nusing accuracyPremultiplier from config59j?5Y~G i?:<@ EY!;;D5  HAZj1=FNOT Ignoring new targets: 114.40 m.Bj=ĻJj=Ļ] ProNav: ac range: 114.400002 m, nav range: 12.364264 m, bearing: 188.118427 deg, approach rate: 0.553632 m/s, LOS rate: -0.344346 deg/s, cmd heading: 356.001727 deg, new cmd heading: 355.544845 deg. 2j]RleHeadingCmd: 6.205428 target range: 114.400002 and range: 114.40 m. jeޒ@jajajaiahahahihmiBfififrfbf @ɛ%cB%܇; !%$˽I! -+0<ɚ)i)I-(=IU ?iYi]=)]ޒ@)Y*F2F:F BF JF JJJJJ:J9JJJ;aJ;aJ';aJ';aG=GBOg>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517554  \$?I Ww,ZA67@Y6;6v0=96 xx zG٣|yYA >  Nusing accuracyPremultiplier from config 59 |?5Y G i -@ E ; ; E5! -A-(EZjQUFNOT Ignoring new targets: 114.40 m.Bj]ֻJj]ֻm ProNav: ac range: 114.400002 m, nav range: 12.570721 m, bearing: 187.975204 deg, approach rate: 0.550519 m/s, LOS rate: -0.375632 deg/s, cmd heading: 355.544842 deg, new cmd heading: 355.122238 deg. 2jm值uHeadingCmd: 6.198052 target range: 114.400002 and range: 114.40 m. jurV@jqjyjyiyhhhhfffrfbf @ɛaBRC; lI {;/<ɚiIc)=I5Zii=)rV@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 114.1 m (Round-trip 152.2 ms) speed 0.1 m/s U,DAT read: user:3311> eBDAT read: Tx time:23:32:42.8877 e$Ping request sent.ezKK+9KK KH] U>I] C I] !II] {BI]  =&IY .IY 6I] K<:I] R F Will construct direction to contact in vehicle frame from tetrahedron phase data. = %=!w, uA>K@Y>@>(2=9>;~H?;$? /?@? KRCp?@D?ɨ>K@>);>'Cyr4Bra!I I-Mb@Mb@Mb@))) )))Y-(\?y&1|?~jthy-?-`;-D- A -hA)-AI-@)y)IEIE٢My U6=9U]q:Q U>YY ]G٣]UGyeL e> mNusing accuracyPremultiplier from configiu59m?u5YmG imFu?}:}h;}@mEm;mS;mG5;B 6A%E%B*** querying acoustic contact ***j!j!] addTargetRange:: Added new target pos. range: 114.099998 m, deltaT: 3.782957 s, deltaX: -0.300003 m, approachRate: -0.079304 m/s, rangeRepo size: 4 ZjYeFNOT Ignoring new targets: 114.40 m.BjeJje ProNav: ac range: 114.400002 m, nav range: 12.817323 m, bearing: 187.824777 deg, approach rate: 0.525139 m/s, LOS rate: -0.314170 deg/s, cmd heading: 355.122244 deg, new cmd heading: 354.679656 deg. 2jWHeadingCmd: 6.190328 target range: 114.400002 and range: 114.10 m. j*@jjjihhh h lBf f frf`f\@bf?ɛ]B٬; I -<ɚiIe*=I,iJ @AJ AAJ J J J J m:J =9J J J ;J ;J *;J *;Ʊw,OAV9@YV7I@Vs*=9Vxx zG٣xy~, ~> Nusing accuracyPremultiplier from config 59@? 5YG  tIiY<@E;;AI5 AZjAMFNOT Ignoring new targets: 114.40 m.BjM׻JjM׻e ProNav: ac range: 114.400002 m, nav range: 13.013795 m, bearing: 187.695768 deg, approach rate: 0.583377 m/s, LOS rate: -0.377278 deg/s, cmd heading: 354.679648 deg, new cmd heading: 354.298470 deg. 2jevmHeadingCmd: 6.183675 target range: 114.400002 and range: 114.10 m. jm@jqjqjqiqhqhqhyhyfyffrfbf`'?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750220ɛ[Br9; ǽI ,<ɚiIg*=IG˽iifd=)@)*F?2F:FBF5JF) %wCG}!= ]$?I5tA Y5tAy%BGABQOm5>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0019193̱w,-3A2@Y2;@2(3)=92 G٣y ^  > Nusing accuracyPremultiplier from config598?5YG in!%Ǽ%@E;;K5) -A-"EzK]BoHK]9KYK] K]RKe?JKe>ZjquFNOT Ignoring new targets: 114.40 m.Bj}iӻJj}iӻ ProNav: ac range: 114.400002 m, nav range: 13.236169 m, bearing: 187.541716 deg, approach rate: 0.542726 m/s, LOS rate: -0.369661 deg/s, cmd heading: 354.298469 deg, new cmd heading: 353.844089 deg. 2j}HeadingCmd: 6.175745 target range: 114.400002 and range: 114.10 m. j@jjjihhhhfffrfbf7?ɛXBh; ̽I +<ɚiI*=I ܽii=)@)jHbH<HR>IC I!IIvBI&I.I9D6I<:I) F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258822 ^$?IGR=GpAGqAGBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505849 ӱw,MAy+BV!IMb@Mb@Mb@ )Yx&?~jt?Mb`?y7 ?<;A A)dAIy3AII٢ < <=9Q > G٣UGy > Nusing accuracyPremultiplier from config59ȋ?5YG i M ? :  @E;;L5 AZjFNOT Ignoring new targets: 114.40 m.BjIJjI ProNav: ac range: 114.400002 m, nav range: 13.467360 m, bearing: 187.409663 deg, approach rate: 0.511708 m/s, LOS rate: -0.287263 deg/s, cmd heading: 353.844097 deg, new cmd heading: 353.454743 deg. 2j%EHeadingCmd: 6.168949 target range: 114.400002 and range: 114.10 m. jh@jjj!iahihihqhuxBfqfqfqrfybf}?ɛeUBeA; ae̦Ia mwQ*<ɚiiiImy+=Iuiu Y Ia tEٱw,fA>-@Y>3=@>u,=9>k"=y>Hq?Y?]_?~?`쀥@qJ?@G?ɨ>-@>GF;>&Cy^BbG!I)d fAddIjIjb2٢rz r]=9v,;Q v>tt vG٣xyz[ z> Nusing accuracyPremultiplier from config|59~ً?5Y~G i~ @~E~0;~51;~N5; 隥˽I p*)<ɚiI+=I/iiAS=)3@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013323*Fm?2Fi:FiBFm_0JFizKK9KK K BK:KG\Ȓ=HS>IC I!IIlBI =&I.I6I\<:I] FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265492?-w,ǽA6H@Y6@65w/=96b8=y6H`?\/?Y?0?v/`?)?ɨ6H@6 Z;6'CyBBB=!I _$?IeMb@Mb@Mb@aaa a)aYeJ +?~jt?Mbpye?e G٣y > Nusing accuracyPremultiplier from config59시?5YG i?:P@E;;hP5 $AZjFNOT Ignoring new targets: 114.40 m.Bj跻Jj跻 ProNav: ac range: 114.400002 m, nav range: 13.888435 m, bearing: 187.146967 deg, approach rate: 0.534464 m/s, LOS rate: -0.321567 deg/s, cmd heading: 353.084689 deg, new cmd heading: 352.678738 deg. 2j\HeadingCmd: 6.155405 target range: 114.400002 and range: 114.10 m. j@jjjihhhhnBfffrfbf@V@ɛMPBMi3; QUDIQ U'<ɚQiQIU{,=I]i]J J J J J J *9J J J J J (;J (;Ww,A6쥿@Y6o@6<0=96K=y6H >?@MU?@%?@ʲ y? k???ɨ6쥿@66ʼn;6&Cy>B>#!IIFIFb2٢N N[=9Rs:Q R>PT VG٣TyV V> ZNusing accuracyPremultiplier from configX^59Z?b5YZH iZ`bx缑b@ZEZ;Z;Z R5h jAnEzB*** querying acoustic contact ***jxjxZjaeFNOT Ignoring new targets: 114.40 m.BjmJjm}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766160 ProNav: ac range: 114.400002 m, nav range: 14.085289 m, bearing: 187.023512 deg, approach rate: 0.509133 m/s, LOS rate: -0.314835 deg/s, cmd heading: 352.678730 deg, new cmd heading: 352.313547 deg. 2jXHeadingCmd: 6.149031 target range: 114.400002 and range: 114.10 m. j@jjjihhhhfffrfbfNC@ɛMB 隵I %<ɚiI-=I_ iw,SzA6n@Y6{~@60=96`=y6H???`x?`q: ?@?ɨ6n@6";4yNBN!IiR>IR; TVp=I^!I^i3٢fT fG=9frQ f>hh jG٣jUGyn n> rNusing accuracyPremultiplier from configpv59r?v5YrRH irξtvz@rEr:r]:rS5| ~A|Zj!%FNOT Ignoring new targets: 114.40 m.Bj-}ûJj5}ûE ProNav: ac range: 114.400002 m, nav range: 14.301600 m, bearing: 186.885890 deg, approach rate: 0.545514 m/s, LOS rate: -0.341818 deg/s, cmd heading: 352.313534 deg, new cmd heading: 351.906919 deg. 2jEjMHeadingCmd: 6.141934 target range: 114.400002 and range: 114.10 m. jM@jIjIjIiIhQhQhQhYfYfYfYrfabfe "` @ɛKB}zKLK9KK KRK ?JK? 9=NIA m#<ɚqiqIu9-=Iuiyi}L=)}@)yHIC I!II\BI&I.I6Ip<:Ik F*FM?2FQ:FYBF]0Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273663JFa IGPă=G B O 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: Range 10 to 50 : 114.0 m (Round-trip 152.0 ms) speed 0.0 m/s M ,DAT read: user:3312> hw,LABDAT read: Tx time:23:32:46.5377 $Ping request sent.f?@Y>N@>/=9>r=y>H(?`᜶?@C?e ? d ]P??ɨ>f?@>V;>"CyFBJ!IMb@Mb@Mb@ )Yy&1?Mb?Mby`?<dA @)IyII(*3٢e +=9 pQ  > 1 5G٣1y5E => ENusing accuracyPremultiplier from config9E59=%?M5Y=H i=Mt?u:u_}@=E=<=/<=U5=B AE addTargetRange:: Added new target pos. range: 114.000000 m, deltaT: 3.527138 s, deltaX: -0.099998 m, approachRate: -0.028351 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 114.40 m.Bj_»Jj_»5 ProNav: ac range: 114.400002 m, nav range: 14.548153 m, bearing: 186.714621 deg, approach rate: 0.497699 m/s, LOS rate: -0.339868 deg/s, cmd heading: 351.906919 deg, new cmd heading: 351.401835 deg. 2j5?i=HeadingCmd: 6.133119 target range: 114.400002 and range: 114.00 m. j=B@j9j9jAiAhAhAhihm>Bfififqrfu\@bfu ?ɛHB AI : <ɚiIQ.=Iii(b=)B@)*F}?2Fy:FBF0JF"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:32:46.5370 a$?I G G qAG G B O >w,(+A>=@Y>@>h,=9>=y>H*?b!?@y?{@@? ?@?ɨ>=@>ZT;>#CyNւBN IIZIZ٢f,Խ jv=9j8#Q n?pp vG٣tyv9 z? Nusing accuracyPremultiplier from config| 59~|3? 5Y~H i~v@~E~R;~Y;~_W5! ->A-EZjiuFNOT Ignoring new targets: 114.40 m.Bj}ϻJjϻ ProNav: ac range: 114.400002 m, nav range: 14.717459 m, bearing: 186.596423 deg, approach rate: 0.526026 m/s, LOS rate: -0.363011 deg/s, cmd heading: 351.401840 deg, new cmd heading: 351.051331 deg. 2j!yHeadingCmd: 6.127002 target range: 114.400002 and range: 114.00 m. jf@jjjihhhhfffrfbf`?ɛFBT 隥BaI [<ɚiI.=Iii 7=)f@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fi:FiBFm5JFiJ}J}JyJyJ}-:J}9JyJyHW>IC If!II9BI =&I.I:D6I<:I- FBIUȣCJIUȣCRIUȓCZIU =bIU =jIU5J};J};J}p#;J}q#;zKKKK KGj=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.L}w, A @I@JѾ@YJP@J#=9J,=yJH?@W?4?ed`2? `z? %?ɨJѾ@J͉;J&CyRBR I)T TXZAMb@Mb@Mb@ )Y'1Z?y&1 rhy?`eCA v@)dAIyAII٢Ƚ 9=9ӝQ > G٣UGy >  Nusing accuracyPremultiplier from config 59 0F?5Y I i !?:M@ !E r>; <; IY5) -A)ZjQ]FNOT Ignoring new targets: 114.40 m.BjeuJjeuu ProNav: ac range: 114.400002 m, nav range: 14.934857 m, bearing: 186.392599 deg, approach rate: 0.501367 m/s, LOS rate: -0.463219 deg/s, cmd heading: 351.051342 deg, new cmd heading: 350.448793 deg. 2ju󞼝}HeadingCmd: 6.116485 target range: 114.400002 and range: 114.00 m. j}?@jjjihhhhBfffrfbf)?ɛDBf ~I d<ɚiI/=Iy*ii=)?@)*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G% 6=G B O- >w,A6Kz@Y6Ή@6 =96:ϕ=y6H h?ļ?꫞? @?׫`f??ɨ6Kz@6w;6#CyBBB IIJIJT٢RC Rb=9VQ V>TT ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59bU?f5YbWJ ib=hjK j@b#Eb/:b:bZ5n>B nArE~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: 114.40 m.BjJj ProNav: ac range: 114.400002 m, nav range: 15.114040 m, bearing: 186.221658 deg, approach rate: 0.488752 m/s, LOS rate: -0.460742 deg/s, cmd heading: 350.448783 deg, new cmd heading: 349.942053 deg. 2jHeadingCmd: 6.107641 target range: 114.400002 and range: 114.00 m. jq@jjjihhhhff f rf bf @…?ɛBBG;; I ]<ɚiIA(0=I3ii D=)%q@)A }c$?Iy*F!2F!:F!BF%_0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503312GM =GU ?GU >G! B) OM > w,5A6;@Y6_K@6]=96K=y6H@? ?b? l?E}ڸ+??ɨ6;@6IŠ;6$CyBBB IININW٢V VJ=9VQ Z>XX ZG٣Xyb] f> vNusing accuracyPremultiplier from configtz59vf?z5YvK iv\x~~@v$Ev ;v;v\5 /AZj15FNOT Ignoring new targets: 114.40 m.BjyJjy ProNav: ac range: 114.400002 m, nav range: 15.316029 m, bearing: 186.027766 deg, approach rate: 0.500145 m/s, LOS rate: -0.473766 deg/s, cmd heading: 349.942065 deg, new cmd heading: 349.368080 deg. 2jHeadingCmd: 6.097623 target range: 114.400002 and range: 114.00 m. j@jjjihhh!h!f)f)f)rf)bf5< ?H=\>I=C I=.!II= BI= =&I9.I96I=<:I= FzKUKKU9KQKU KU  JiJmJm1JiJiJm9Jm3JiJiJiJm!;Jm!;ɛ?BR 隥֦I 1`<ɚiI0=I >iiq=)%@)1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759456 ed$?Iei*F2F:FBF^0JFG d=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007382.w,OAjͽ@Yj @jK=9j&=yjH?g ?? .?P›??ɨjͽ@jՊ;j%Cy-B- Ii50>I5> ====Mb@Mb@Mb@ )Y?I +yf?94̼ A `@)AIAy(AI!Ii3٢%㠽 %5=9-:Q ->)1 5G٣mUGym m> }Nusing accuracyPremultiplier from configq59uz?5YuqL iu?:qX@u&Eu@;u@;u^5?B AEZj 5FNOT Ignoring new targets: 114.40 m.Bj5n&Jj5n&E ProNav: ac range: 114.400002 m, nav range: 15.543216 m, bearing: 185.753634 deg, approach rate: 0.489505 m/s, LOS rate: -0.582018 deg/s, cmd heading: 349.368083 deg, new cmd heading: 348.557766 deg. 2jEǼHeadingCmd: 6.083481 target range: 114.400002 and range: 114.00 m. j@jjjihhhhBfffrfbf#@ɛw,}viAM@YЛ@=9լ=yH_? ?@Ӛ?k?oltN??ɨM@0*;yErBEr IIe Ieb3٢uϽ uV=9}κQ }>y G٣y > Nusing accuracyPremultiplier from config59ۊ?5YM i`@(E;(;F`5;B GAZjFNOT Ignoring new targets: 114.40 m.Bj.Jj. ProNav: ac range: 114.400002 m, nav range: 15.730031 m, bearing: 185.528424 deg, approach rate: 0.512477 m/s, LOS rate: -0.610465 deg/s, cmd heading: 348.557777 deg, new cmd heading: 347.890201 deg. 2jzѼHeadingCmd: 6.071829 target range: 114.400002 and range: 114.00 m. jmL@jjjihhhhf f f rf bf @ɛ=:B= 9=ǾI9 E <ɚAiAIE=2=IMmXiIiM=)MmL@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511162)*F2F:FBF0JFH=^>I9 I= II=؂BI= =&I9*JI"JIJ]J]J]0JYJ]=:J]9J]ـ3JYJ]ӥ;J]ե;J];J];.I=;D6I=<:I= FGx=zKLKh9KK K  GpAGpABK:KG B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766817 } e$?Iy w,HAy5aB5] I}PExceeded connect timeout, disconnecting.=Mb@Mb@Mb@999 9)9Y=Zd;O?EԸX9vy=~ ?=ƽ== A =v@)=AI99y=AIUIU[3٢e圽 e8=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from config59]?5YO i ?:@*E;;7b58'w,A ~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266945y RB J I) I%I%M3٢Mģ M_=9IQ M>QQ UG٣UUGyQ > Nusing accuracyPremultiplier from config59G?5Y@Q i   @+E::c5;B IAE5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 114.40 m.BjE+WJjE+W] ProNav: ac range: 114.400002 m, nav range: 16.147808 m, bearing: 184.887105 deg, approach rate: 0.503850 m/s, LOS rate: -0.752456 deg/s, cmd heading: 346.861923 deg, new cmd heading: 345.991635 deg. 2j]eHeadingCmd: 6.038693 target range: 114.400002 and range: 114.00 m. je<@jajajiiihihihqhqfyfyfyrfybf} @ɛ4Bmü q=隭I ;ɚiIy3=I\ziiW=)<@) f$?I*F2F:FBFU5JFG-=GBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522574<-w,A6̼@Y6V@6 =96=y6H??Q?@?Ŀ}?@y<`rݱ?,?ɨ6̼@6;6$CyBKBBB IIJ&IJ3٢V  VU=9ZQ Z>X\ ^G٣\ybx b> fNusing accuracyPremultiplier from configdj59f.?j5YfR if8hjn@f-Ef:fgjIC I IIBI =&I.I6IO<:Ic FBjdTJjdTJJJJJ:J9JJJ ;J";J;J; ProNav: ac range: 114.400002 m, nav range: 16.330393 m, bearing: 184.600232 deg, approach rate: 0.478081 m/s, LOS rate: -0.742751 deg/s, cmd heading: 345.991647 deg, new cmd heading: 345.140714 deg. 2j HeadingCmd: 6.023842 target range: 114.400002 and range: 114.00 m. j P@j j j i hhQhQhYfififirfizKLK9KK Kbfu @ɛ1BWz¼ 隭{I I;ɚiI4=IȄii=)P@)Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 114.0 m (Round-trip 152.0 ms) speed 0.0 m/s m,DAT read: user:3313> BDAT read: Tx time:23:32:50.1878 $Ping request sent.G B O >W4w,6A6|@Y6.@6=96=y6H`I? .??ſp?H粿ޠ ?`?ɨ6|@6;6&CyjBBj7 IeMb@Mb@Mb@aaa a)aYeʡE?Pn:vye?eeԼa eI@)eMAIehAayaI}I}(*3٢! 7=9QQ > G٣y, > Nusing accuracyPremultiplier from config59ӌ?5YU ii?:hʾ@/E;I;pg5o:w,A6'@Y6r7@6<96=y6Hs?`t?^k?`=ǿd?x??ɨ6'@6$;4yB1BB" IiFC=IF< F=Fa=IJIJ3٢VP VZ=9ZLQ Z>X\ ^G٣^UGyb b> fNusing accuracyPremultiplier from configdj59f㌜?j5YfW ifhjϾn@f1Ef ;f ;fi5p rXApZj  FNOT Ignoring new targets: 114.40 m.BjHJjH- ProNav: ac range: 114.400002 m, nav range: 16.749193 m, bearing: 183.856044 deg, approach rate: 0.511485 m/s, LOS rate: -0.897228 deg/s, cmd heading: 343.944421 deg, new cmd heading: 342.936751 deg. 2j-5HeadingCmd: 5.985375 target range: 114.400002 and range: 114.00 m. j52@j1j9j9i9h9h9hAhAfAfAfArfIbfMF?ɛu,Bu y}Iy };ɚyiyI}6=Iziia=)2@)Will construct direction to contact in vehicle frame from tetrahedron phase data.E=QO=HMg>IMC IM IIMBIM =&IMFD.IM I gAw,CAyn3Br$ IMb@Mb@Mb@ )Y(\?{GzĿZd;Oyz?#j `@)IAyII ٢< 9=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YZ i#?:%澑@3E_;;k5 MAEZj1=FNOT Ignoring new targets: 114.40 m.Bj=JjE ProNav: ac range: 114.400002 m, nav range: 16.980074 m, bearing: 183.414241 deg, approach rate: 0.521333 m/s, LOS rate: -0.984025 deg/s, cmd heading: 342.936749 deg, new cmd heading: 341.629603 deg. 2j(HeadingCmd: 5.962562 target range: 114.400002 and range: 114.00 m. jN;@jjjihhhhBfff rfbf ?ɛ}(B}ʼ 隅I ;ɚiI6=I(iiv>)N;@)ErZq=%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=]0JF9G] =Ga Ge mAG9 BA O] >̏Gw,RABWill construct direction to contact in vehicle frame from tetrahedron phase data.F|@YFT@F1<9FLhm=yFH S? ?~ؐ?@cɿF?~@??ɨF|@F؈;F%CyN;BR. IIZ IZb3٢b_)= b^=9f ٻQ f>dd fG٣hyjQh j> rNusing accuracyPremultiplier from configlv59np?v5Yn] intzz@n5En;n;nl5| ~A|Zj!-FNOT Ignoring new targets: 114.40 m.Bj-_Jj-_E ProNav: ac range: 114.400002 m, nav range: 17.171335 m, bearing: 183.040806 deg, approach rate: 0.519373 m/s, LOS rate: -1.002767 deg/s, cmd heading: 341.629615 deg, new cmd heading: 340.521935 deg. 2jE ,EHeadingCmd: 5.943229 target range: 114.400002 and range: 114.00 m. jM.@jIjIjIiIhIhIhQhQfQfYfYrfYbf]?ɛ%Bq 隕I ;ɚiI7=IiiVA>).@)EE*E"E =h$?I9*F?2F:FBF_0JFG.=5Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>aMw,.9A6@Y6*@6.<96!\=y6H`c??@?H?[˿X4?@ﭿ `~??ɨ6@6;6"CyR6BR) I)T TIZ$IZ<3jHr<bHr4=HtIt Ivy IIvxBIt&It.It6Iv<:Iv FBICJICRICZI =bI =jIY=6٢u }@=9}2ߺQ }> G٣UGy > Nusing accuracyPremultiplier from config59?5Y` i0@7E ; ;{n5=B 4AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.40 m.Bj)Jj) ProNav: ac range: 114.400002 m, nav range: 17.391994 m, bearing: 182.610095 deg, approach rate: 0.515948 m/s, LOS rate: -0.994308 deg/s, cmd heading: 340.521922 deg, new cmd heading: 339.246405 deg. 2j*HeadingCmd: 5.920967 target range: 114.400002 and range: 114.00 m. jx@jjjihhh h f f frfbffp?ɛ="BEҼ AE6IA Eڰ;ɚAiIIMO_8=IUtiin >)x@)zKBoHKs9KK K   Will construct direction to contact in vehicle frame from tetrahedron phase data.Օe?Օ%=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FI:FIBFU0JFQ Mi$?IQG>GBOf>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251549Tw,nSA6@Y6@@65<96E=y6H@1&? HA? )?@Ϳa?e. 쒛??ɨ6@6ˈ;6&Cy>@BB4 IEMb@Mb@Mb@AAA A)AYEGz?Sÿqy }G٣yy}2 }> Nusing accuracyPremultiplier from config59.?5Yc i)!"?:u@9E;;>p5 AZjFNOT Ignoring new targets: 114.40 m.Bj`Jj` ProNav: ac range: 114.400002 m, nav range: 17.614143 m, bearing: 182.201767 deg, approach rate: 0.552540 m/s, LOS rate: -1.002798 deg/s, cmd heading: 339.246398 deg, new cmd heading: 338.037053 deg. 2j ,HeadingCmd: 5.899859 target range: 114.400002 and range: 114.00 m. j˼@jjjihhhhBfffrfbf@@ɛ5BE'ϼ AEm޾IA E*i;ɚAiIb9=IOCľii 0>)˼@)JKm3 KS}-KK"KJuJuJqJqJuv:Juľ9JqJqa@a@a@a@*F?2F:FBFT1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503727 1I1G G- ?G- ?G B O- >Zw,ImA:4@Y:C@:<9:!-=y:H@g ?`?Y?ο@?k/q?`?ɨ:4@:;:$CyBNBFE IININ?13٢Vo= VW=9ZQ Z>X\ ^G٣\yba b> fNusing accuracyPremultiplier from configdj59f@?j5Yff ifAhjj@f;Ef:f:fq5r>B rArEZj FNOT Ignoring new targets: 114.40 m.BjJj- ProNav: ac range: 114.400002 m, nav range: 17.822754 m, bearing: 181.816469 deg, approach rate: 0.550735 m/s, LOS rate: -1.005279 deg/s, cmd heading: 338.037045 deg, new cmd heading: 336.894839 deg. 2j5z,5HeadingCmd: 5.879924 target range: 114.400002 and range: 114.00 m. j5W(@j9j9j9i9h9h9hAhAfAfAfIrfIbfMo@ɛuB}ļ y}Z;Iy Hi;ɚiI9=I9xξiiH>)W(@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777671*FU?2FQ:FQBFU5JFQG- >GBOU2>Hi>I I II}BI =&I.I6Iɰ<:I FzKnLK+9KK KE Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:23:32:52.7451 M TRx dataTimestamp_ set to:1736379174.044667U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028610 M j$?IQ )aw,ԚA:e@Y:@:(<9:=y:H?Us?K2?Egп??`d s?@Z?ɨ:e@:l;:#CybXBbR Iij!>IjR= jR=jp=%Mb@Mb@Mb@!!! !)!Y%Zd;O?ʡEMbp?y%j?%ケ%;% A %QA)%AI!!y!II 3٢&= *=9MQ > G٣UGy > Nusing accuracyPremultiplier from config59EW?5Yj iPB?:徑@=E;T;s5 3AEZj!%FNOT Ignoring new targets: 114.40 m.Bj-2Jj-2= ProNav: ac range: 114.400002 m, nav range: 18.087879 m, bearing: 181.379754 deg, approach rate: 0.552432 m/s, LOS rate: -0.896620 deg/s, cmd heading: 336.894846 deg, new cmd heading: 335.604135 deg. 2jEMHeadingCmd: 5.857397 target range: 114.400002 and range: 114.00 m. jMo@jIjQjQiQhQhQhYh]͂BfYfYfarfabfe @ɛB1 隕I ];ɚiI/[:=Iھii>)o@)*F?2F:FBF05JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279679GM >G) B1 JQ JU JQ JQ JQ JU 9JQ JQ Ou >gw,=A)D DrWill construct direction to contact in vehicle frame from tetrahedron phase data.zDAT read: Range 10 to 50 : 114.8 m (Round-trip 153.1 ms) speed -0.2 m/s ~,DAT read: user:3314> BDAT read: Tx time:23:32:53.8378 $Ping request sent. T=9Q > G٣y > Nusing accuracyPremultiplier from config 59aj? 5Yl i\ @?ERQ;R;u5! -kA)e addTargetRange:: Added new target pos. range: 114.800003 m, deltaT: 3.546207 s, deltaX: 0.800003 m, approachRate: 0.225594 m/s, rangeRepo size: 4 ZjamFNOT Ignoring new targets: 114.40 m.BjxJjx ProNav: ac range: 114.400002 m, nav range: 18.312302 m, bearing: 181.021242 deg, approach rate: 0.549779 m/s, LOS rate: -0.867494 deg/s, cmd heading: 335.604132 deg, new cmd heading: 334.541908 deg. 2jHeadingCmd: 5.838858 target range: 114.400002 and range: 114.80 m. j׺@jjjihh)h1h1f9f9f9rfE@3\@bfE*4?ɛUBUr Q]&IY ]U';ɚYiYI]:=I~ii *>)׺@)*F?2F:FBF!5JFG~>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:32:53.8371 GBO>qnw,AZH0RH0H4I4 I6 II6BI4&I4.I46I6m<:I6 FV@YV@V<9V )P@)zK2QKKKK K&(''%$%#"#    &-.+)&(T*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. k$?IiG>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548974uw,A6@Y6'@6f<96;y6H>y? ?3?`3ӿ@z?aLx? ?ɨ6@6&;6&CyRBR I)T TTT]Mb@Mb@Mb@YYY Y)YY]S?x&I +?y]/?]7]9<]dA ]A)YI]AYy]AII(*٢s= B=9Q > G٣UGyI* > Nusing accuracyPremultiplier from config59i?5YLr i[7?:?־@CEN;;y5>B xAEZjFNOT Ignoring new targets: 114.40 m.Bjz_Jjz_ ProNav: ac range: 114.400002 m, nav range: 18.737373 m, bearing: 180.371250 deg, approach rate: 0.564065 m/s, LOS rate: -0.781511 deg/s, cmd heading: 333.595673 deg, new cmd heading: 332.614409 deg. 2jHeadingCmd: 5.805217 target range: 114.400002 and range: 114.80 m. jVĹ@j!j!j!i!h!h!h)h-Bf)f)f1rf1bf51=?ɛ] B]V ae|Ia ezs;ɚaiaIe;=ImQiqiuR>)uVĹ@)yJ=J=|J=1J9J=:J=@9J=3J9*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004205 m$?IG_4>G B O >#){w,A:,@Y:@:ˇ<9:<բ;y:H`)R?Up??fnԿR?{`KYt??ɨ:,@:;8yBBB IIJIJ[٢V= V[=9VcQ V>XX ZG٣Xy^( ^> %Nusing accuracyPremultiplier from config%59?-5Yt iR)-޾-@EE::z55?B =A=EZjimFNOT Ignoring new targets: 114.40 m.Bjul`Jjul` ProNav: ac range: 114.400002 m, nav range: 18.952913 m, bearing: 180.064664 deg, approach rate: 0.558104 m/s, LOS rate: -0.784820 deg/s, cmd heading: 332.614421 deg, new cmd heading: 331.705205 deg. 2jHeadingCmd: 5.789348 target range: 114.400002 and range: 114.80 m. jWB@jjjihhhhfffrfbfv?ɛ BN3 4PI Ni;ɚiI<=I;ii*>)WB@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265823*FU?2FQ:FYBF]0JFYGq GumAHel>IeC Ie IIeɂBIa&Ia.Ia6Ie<:Ie FG3X>GiBO>zKe MKe s9Ka Ke Ke q^E;2+# !PllbWOH>70/4AGFCA?>@<8663/.,)$" !!U Will construct direction to contact in vehicle frame from tetrahedron phase data.U >U ?] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517778 I Jw,An@@Yn.@n4p<9nZA;ynH`G*?X?q?`Vտ@*?~턿Q'w? ?ɨn@@n;n"CyzBz IMb@Mb@Mb@ )Y`"?MbpI +?y?zA A)dAI AyAII㔳٢D= 9=9ލQ > G٣y > Nusing accuracyPremultiplier from config59ִ?5Y8w iF?:@GE;;|5 VAEZjFNOT Ignoring new targets: 114.40 m.Bjp!Jjp! ProNav: ac range: 114.400002 m, nav range: 19.193087 m, bearing: 179.804739 deg, approach rate: 0.528269 m/s, LOS rate: -0.564558 deg/s, cmd heading: 331.705214 deg, new cmd heading: 330.935244 deg. 2j%HeadingCmd: 5.775909 target range: 114.400002 and range: 114.80 m. j%@Ը@j!j!j!i!h)h)h1h5XBfYfYfYrfabfe~1?ɛB> 隵#I h_;ɚiIdt<=Iii6>)@Ը@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768439*F?2F:FBFo0JFG >J= J9 J9 J9 J= y:J9 J9 J9 G B O >;w,"A6@Y6$@6h<96o;y6H e?*?`?@(ֿ@?  6{?@?ɨ6@6".;6%CyBÂBB I F=F=ININ2٢Zǥ= Z_=9ZQ Z>\\ ^G٣^UGyb* b> fNusing accuracyPremultiplier from configdj59fō?j5Yf=y if)Mt@)I*F?2F:FBF^5JFG5>G9G=pAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272974G) BQ Om >jHY bH] <He m>Ia  Ie !IIe BIe  =&Ia .Ie =D6Ie b<:Ie z Fw,`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59j8ٍ?n5Yj{ ij0pr&r@jJEj;jd;j5v@B vlAvE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 114.40 m.Bj%h1Jj%h15 ProNav: ac range: 114.400002 m, nav range: 19.626127 m, bearing: 179.322464 deg, approach rate: 0.558229 m/s, LOS rate: -0.620406 deg/s, cmd heading: 330.268169 deg, new cmd heading: 329.504600 deg. 2j5ԼEHeadingCmd: 5.750940 target range: 114.400002 and range: 114.80 m. jE@jAjAjIiIhIhIhIhQfQfQfQrfYbf]`@ɛB RE PI T;ɚ i I <=I 5Ai1i5>)5@)9zKANK9KK K#  -+bY<% Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524575*F2F:FBF 5JF"G= o$?IG>G "N>GBO >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776256w, DWA6η@Y6QǼ@6Y<96ZAA EG٣AyMt M> UNusing accuracyPremultiplier from configI59M썜?5YM} iM$?:ॾ@MLEM)۬@)*F2F:FBF%5JF p$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.!><BDAT read: Rx Time:23:32:56.3960 TRx dataTimestamp_ set to:1736379177.587157checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035830G +>G B O >w,RpA26@Y2AF@2&V<92;y2Hy???`ؿ z?"܈`Ċ`\?`?ɨ26@2;2&Cy:B: I)D DDDIJ+IJn3٢RP)= VX=9VQ V>TX ZG٣ZUGyZ+ Z> bNusing accuracyPremultiplier from config\b59^~?f5Y^ i^dff@^NE^@:^:^5h nAnEZjFNOT Ignoring new targets: 114.40 m.BjfJjf ProNav: ac range: 114.400002 m, nav range: 20.058781 m, bearing: 178.914052 deg, approach rate: 0.542875 m/s, LOS rate: -0.515465 deg/s, cmd heading: 328.869210 deg, new cmd heading: 328.292762 deg. 2j᰼HeadingCmd: 5.729790 target range: 114.400002 and range: 114.80 m. jpZ@jjjihhhhfffrfbf``6 @ɛMBU@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284313 隕4I O;ɚiIH==IW iim >)pZ@)*F2F:FBF^0JFGm>HI IT!II*BI&I.I6Ip<:I FBIŧCJIŧCRIœCZI =bI =jIc5GB*J"J4=JJJ0JJp:Jľ9Jـ3JJ;aJ;aJ;aJ;aOj>zKM NKM 9KI KM KM BKq :Kq I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:32:56.3960 LVL= 16224, 19377, 18114, 25587, AGC= 59, IDX= 438,-0.49, 0.827, 0.424,-1.512, 0.019, PHS= 0.897, 0.452,-1.534, RAW= 39.9, 1.7, CAL= 38.9, 0.9, ROT= 111.1, -0.9  Ygot valid direction response: 23:32:56.3960 LVL= 16224, 19377, 18114, 25587, AGC= 59, IDX= 438,-0.49, 0.827, 0.424,-1.512, 0.019, PHS= 0.897, 0.452,-1.534, RAW= 39.9, 1.7, CAL= 38.9, 0.9, ROT= 111.1, -0.9 M PDAT read: Bearing 111.1, -0.9 (Local) ] ~Local bearing/azimuth received: Bearing 111.1, -0.9 (Local)  DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed -0.2 m/s  ,DAT read: user:3315> ow,죊ABDAT read: Tx time:23:32:57.4878  $Ping request sent. 5ZĿ5aF2?5< 5-?)5 G٣yx %> -Nusing accuracyPremultiplier from config!-59%?u5Y%ȁ i%u ?u:u}@%PE%)<%)<%܅5AB AEk5l?k5 k1 k5"ÅA:k5BBk5rBZk5?"5sDZ(AqW@;AP@5;X;E^w?Ji׬?eWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:23:32:57.4871 Jk5?Rk5*5V=xɁotU@: Q@5q 5?ft??"k5B*k5Bk5$Kv?k5ά 2k5Ck1k5Z k1k5JAk5@ addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.541489 s, deltaX: 0.699997 m, approachRate: 0.197656 m/s, rangeRepo size: 4  Added new target pos. range: 115.500000 m, bearing: 66.974782 deg, lat: 36.904643 deg, lon: -122.120599 deg, deltaT: 18.180256 s, deltaX: 1.099998 m, approachRate: 0.060505 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 115.50 m.Bj Jj  ProNav: ac range: 115.500000 m, nav range: 25.786160 m, bearing: 142.008210 deg, approach rate: 0.000000 m/s, LOS rate: -0.515465 deg/s, cmd heading: 328.292769 deg, new cmd heading: 327.454835 deg. 2j%HeadingCmd: 5.715165 target range: 115.500000 and range: 115.50 m. j%@j!j!jaiihihihihuBfqfqfqrf}\@bf};l?ɛB6\: I 0L;ɚiI|==Iiii >)@)*F2F:FBF4JFG  G qA q$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 G B O->w,TTA>D2@Y>A@>XM<9> H@?D?*?fڿ?_^m2??ɨ>D2@>hn;>$CyrBr II5I5٢Us/ ]U=9Q > G٣y% %> 5Nusing accuracyPremultiplier from config)e59-7%?m5Y- i-qu맾}@-RE-4<-R<-5 AZjFNOT Ignoring new targets: 115.50 m.Bj%9;Jj-9;e ProNav: ac range: 115.500000 m, nav range: 25.990274 m, bearing: 142.164836 deg, approach rate: 0.542541 m/s, LOS rate: 0.413044 deg/s, cmd heading: 327.454842 deg, new cmd heading: 327.921018 deg. 2jm<HeadingCmd: 5.723301 target range: 115.500000 and range: 115.50 m. jI%@jjjihhhhfffrfbf B?ɛ=B= V9 9=@$I9 E9J;ɚAiAIE==IMTiIiM,=)MI%@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.E@p=ZH RH AAH l>I  I m!II >BI  =&I .I 6I L<:I i F*F5 ?2F1 :F1 BF5 C5JF1 J J J J J J y9J J J J J ::J ;: I zK N KK 9K K K '1:@DHGFFGB@:51*$  MWill construct direction to contact in vehicle frame from tetrahedron phase data.M>M!@Gu >GQBO-?!xw,W[AyނB Ii%=Ia= =a=Mb@Mb@Mb@ )Y#~j?X9v?{Gzty?}=ף 7A)IAyAAAII2٢  =9Q > G٣UGy > Nusing accuracyPremultiplier from config-59e; 59 =A=EUB*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 115.50 m.Bjm;Jjm; ProNav: ac range: 115.500000 m, nav range: 26.268042 m, bearing: 142.383810 deg, approach rate: 0.508400 m/s, LOS rate: 0.396551 deg/s, cmd heading: 327.921016 deg, new cmd heading: 328.570962 deg. 2j<HeadingCmd: 5.734645 target range: 115.500000 and range: 115.50 m. j6@jjjihhhhBfffrfbf ?ɛB8?: I \H;ɚiI==I&m iiՌ=)6@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EBJ=*FU ?2FQ :FY BF] P5JFY "Ge =Ge =G5 ʙ=G B) OE > NG% 5tA9 )w,VA JaYJ5tAyJEB Rr$?ITZ=@YZ@Z<9Z!_T;yZH 9e??Jz?ݿ^e?a|uj??ɨZ=@Zy;Z'Cyf˂Bf IIrIr%x٢zSս zp=9z*Q z?|| G٣y ?  Nusing accuracyPremultiplier from config 59 J?5Y  i Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.400551!-Ḿ-@ VE w; w; 51 5A1ZjYeFNOT Ignoring new targets: 115.50 m.Bjm>;Jjm>;} ProNav: ac range: 115.500000 m, nav range: 26.437202 m, bearing: 142.495348 deg, approach rate: 0.505077 m/s, LOS rate: 0.330898 deg/s, cmd heading: 328.570949 deg, new cmd heading: 328.903419 deg. 2j}c<HeadingCmd: 5.740448 target range: 115.500000 and range: 115.50 m. j@jjjihhhhfffrfbf@j?ɛmBmX imIq  "E;ɚiI==I inFI  I I I  =&I .I 4w,PAJJJJJ:J9JJJn;Jo;J;J;yu‚B} II!Ii3٢ 4=9Q > G٣y > Nusing accuracyPremultiplier from config59]?5Y i#@XEa:*:5BB AEZjFNOT Ignoring new targets: 115.50 m.Bj;Jj; ProNav: ac range: 115.500000 m, nav range: 26.666222 m, bearing: 142.644000 deg, approach rate: 0.505390 m/s, LOS rate: 0.325221 deg/s, cmd heading: 328.903415 deg, new cmd heading: 329.345531 deg. 2j2_<HeadingCmd: 5.748164 target range: 115.500000 and range: 115.50 m. j@jjjih!h!h!h!f)f1f1rf1bf5`է?ɛ]B]w-) aeܧIa m}@;ɚiiiIu">=Iu0iyi}Gu=)}@)y s$?IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.905258zKmMKm59KiKm Km*F2F:FBF_0JFGy=GBOn> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.156447OƲw,iA:@Y:k@:qM<9:#X G٣UGyj > Nusing accuracyPremultiplier from config59n?5YS i7;?:侑@ZEmb;`e;E5 AZj FNOT Ignoring new targets: 115.50 m.Bj;Jj;- ProNav: ac range: 115.500000 m, nav range: 26.876896 m, bearing: 142.738075 deg, approach rate: 0.519363 m/s, LOS rate: 0.230099 deg/s, cmd heading: 329.345520 deg, new cmd heading: 329.625530 deg. 2j-<5HeadingCmd: 5.753051 target range: 115.500000 and range: 115.50 m. j5@j1j1j1i1h9h9h9h=sBfAfAfArfAbfE M@ɛBr I 9:;ɚiI `>=I5i5˨aB̲w,Qk3A:@Y:@:Lb<9:%W~?#b? ${߿ ? \ J? ?ɨ:@:\{;8yRBR IIz*Iz3٢s U=9 _;Q  >   G٣yc > %Nusing accuracyPremultiplier from config%59q}?-5Y iK15꾑5@[Ejr;4s;5A EWAMEZjiuFNOT Ignoring new targets: 115.50 m.Bju9u;Jju9u; ProNav: ac range: 115.500000 m, nav range: 27.076925 m, bearing: 142.820852 deg, approach rate: 0.521927 m/s, LOS rate: 0.214391 deg/s, cmd heading: 329.625530 deg, new cmd heading: 329.872026 deg. 2j"<HeadingCmd: 5.757353 target range: 115.500000 and range: 115.50 m. j<<@jjjihhhhfffrfbf`"@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.661459ɛB^:  !I 2;ɚiI{>=Iix̄IC IG!II BI&I.I6I<:I FGB!OE0>JMJMJIJIJM:JM9JIJIJM!;JM";JM' ;JM' ; t$?Im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.912666zK BHK S9K K K G "< F,a;2@p' . [ ` S Qv6l//Ӳw,\MA6M3@Y6B@6~s<96<=9R;Q > G٣y˼ > Nusing accuracyPremultiplier from config59܍?5Y ip@ ?:@]Ec;;Ӓ5 AEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 115.50 m.Bj-:Jj5:= ProNav: ac range: 115.500000 m, nav range: 27.309717 m, bearing: 142.853409 deg, approach rate: 0.542601 m/s, LOS rate: 0.075239 deg/s, cmd heading: 329.872018 deg, new cmd heading: 329.968857 deg. 2jEN;EHeadingCmd: 5.759043 target range: 115.500000 and range: 115.50 m. jMJ@jIjIjIiIhIhQhYhe4Bfafifirfqbf}@ @ɛ]Be* 隅2II &;ɚiIS?=I/.iɄ y I} iTٲw,"gAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.416575BD@YB@B~y<9B=yBH?F?V{@E?@k-@/`?`?ɨBD@B';B#CyJhBJe IiRR>IRp; Rp=Rp=IV IVb3٢b  b]=9f:Q f>dd fG٣fUGyj j> nNusing accuracyPremultiplier from configlr59nᛎ?r5Yn intvv@n_En;n~(;np5 A EZjIMFNOT Ignoring new targets: 115.50 m.BjU8:Jj8:- ProNav: ac range: 115.500000 m, nav range: 27.509600 m, bearing: 142.877687 deg, approach rate: 0.533702 m/s, LOS rate: 0.064355 deg/s, cmd heading: 329.968870 deg, new cmd heading: 330.041177 deg. 2j-0;UHeadingCmd: 5.760305 target range: 115.500000 and range: 115.50 m. jUlT@jYjYjYiYhYhYhahafafafarfibfm @ɛB!v !%*xI) U;ɚQiQI]f?=ItiۥWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:33:00.0471 LVL= 15760, 18481, 18866, 24371, AGC= 59, IDX= 432, 0.15, 1.544, 1.914,-0.389, 1.145, PHS= 0.488, 0.816,-1.537, RAW= 22.6, 2.1, CAL= 21.9, 2.0, ROT= 128.1, -2.0 %Ygot valid direction response: 23:33:00.0471 LVL= 15760, 18481, 18866, 24371, AGC= 59, IDX= 432, 0.15, 1.544, 1.914,-0.389, 1.145, PHS= 0.488, 0.816,-1.537, RAW= 22.6, 2.1, CAL= 21.9, 2.0, ROT= 128.1, -2.0 -PDAT read: Bearing 128.1, -2.0 (Local) -~Local bearing/azimuth received: Bearing 128.1, -2.0 (Local) =DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed -0.4 m/s E,DAT read: user:3316> EBDAT read: Tx time:23:33:01.1379 M$Ping request sent.M`P?jĿ>Q = E>)5=I@i5\u <4,?)`ٿIyi ?ʬu:publishing transmit ping timeIuFpublishing direction and range info9 Zw}?f1?^?0?y )Ii )Ii\u <4,?)IiH g>I  I !II BI  =&I .I 6I <:I F*J] R="J] %=:@w,c A6@Y6@6Rz<96F=y6H"n?y?@m.@xc?5>J?@w?ɨ6@6;6$CyNNBNF IIV"IVq3٢% %D=9%8Q %>)) -G٣)y-k ]> eNusing accuracyPremultiplier from configam59e׫?m5Yeg ie@e`Eeor3* ~zvxvssokjf^^ZYBK:KqA ProNav: ac range: 116.199997 m, nav range: 47.488232 m, bearing: 115.454153 deg, approach rate: 0.000000 m/s, LOS rate: 0.064355 deg/s, cmd heading: 330.041188 deg, new cmd heading: 330.130729 deg. 2jHeadingCmd: 5.761868 target range: 116.199997 and range: 116.20 m. j9a@jjjihhhhfffrf ]@bf@?ɛuBu3< y}EIy fm ;ɚiI?=I ui\ Will construct direction to contact in vehicle frame from tetrahedron phase data.fw,fٚA6n@Y6}@6h\<96\Yk=y6H K??@ 0`yy }G٣yyM > Nusing accuracyPremultiplier from config59^?5Y iU?:6@bE;;5CB EAEZjFNOT Ignoring new targets: 116.20 m.Bjv;Jjv; ProNav: ac range: 116.199997 m, nav range: 47.710892 m, bearing: 115.571990 deg, approach rate: 0.615629 m/s, LOS rate: 0.324284 deg/s, cmd heading: 330.130719 deg, new cmd heading: 330.482575 deg. 2j^<HeadingCmd: 5.768009 target range: 116.199997 and range: 116.20 m. j@jjjihhhhނBfffrf bf ?ɛBZ 隽I :ɚiIG@=Iii S)@)J-J)J)J)J-=:J)J)J)a5@a5@a5@a5@*F?2F:FBF_0JF I EWill construct direction to contact in vehicle frame from tetrahedron phase data.Gjhn<G?G>G B O >}w,A >_@Y>n@>W(J<9>,f=y>H]C?c?@s5?૿D@׬?]?ɨ>_@>j;>%CyRBR IIZIZ٢f%! fV=9f>Q f>hh jG٣jUGyj✻ n> rNusing accuracyPremultiplier from configpv59rɎ?v5Yr irtv6v@rdEr:r :r5| ~< A|Zj)-FNOT Ignoring new targets: 116.20 m.Bj5;Jj5;E ProNav: ac range: 116.199997 m, nav range: 47.919880 m, bearing: 115.680933 deg, approach rate: 0.546045 m/s, LOS rate: 0.283404 deg/s, cmd heading: 330.482583 deg, new cmd heading: 330.807981 deg. 2jMBI I IIBI&I.I6I<:I FBIEĦCJIEĦCRIAZIAbIE =jIE5G BO5.> w$?IM Will construct direction to contact in vehicle frame from tetrahedron phase data.zK OK 9K K K VRPNKKEDDCC>:7665723120/,**+((('&&&#"!''(%!|w,AyUBUIMb@Mb@Mb@ )YV-?MbX9Ŀkty|?! 0 A hA)MAIypAIEIEV8٢Ud U3=9]Q ]>YY eG٣aye e> uNusing accuracyPremultiplier from configiu59m#ێ?u5Ym imK}$?}:}K}@mgEmw;m;m5  A޴EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.20 m.Bj;Jj; ProNav: ac range: 116.199997 m, nav range: 48.196880 m, bearing: 115.792603 deg, approach rate: 0.608810 m/s, LOS rate: 0.244024 deg/s, cmd heading: 330.807973 deg, new cmd heading: 331.141053 deg. 2jx'<HeadingCmd: 5.779501 target range: 116.199997 and range: 116.20 m. j@jjji h hhh%Bf)f)f1rf9bf=pu?ɛm܂Bu˼ qu;Iy }x:ɚyiyI}WSA=Ipi$J- J- J) J) J- }:J- 9J) J) I U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749669 w,߈Af^@Yfm@fD<9f =yfH C?`?}" %?ׁ,:?@?ɨf^@f;f&CyuBuIII3٢( U=9}Q > G٣yH > Nusing accuracyPremultiplier from config59鎜?5Y i|K@iEL::m5  u A ZjY]FNOT Ignoring new targets: 116.20 m.Bje9;Jje9; ProNav: ac range: 116.199997 m, nav range: 48.432903 m, bearing: 115.887444 deg, approach rate: 0.600048 m/s, LOS rate: 0.239944 deg/s, cmd heading: 331.141040 deg, new cmd heading: 331.424177 deg. 2j$<HeadingCmd: 5.784443 target range: 116.199997 and range: 116.20 m. j(@jjjihhhhfffrfbf"?ɛڂB 隅I 5b:ɚiIA=I*[ivrIa  Ie l IIe nBIe  =&Ia .Ie ;D6Ie <:Ie FG B O >0w,GA6]@Y6l@6s;96"$=y6HB?`x?ϧ @??V|@c? ?ɨ6]@6Ջ;4yBBBI F=F=HJ@AIJ'IJ@3٢R R_=9VQ V>TT ZG٣ZUGyb3 b> fNusing accuracyPremultiplier from configdj59f?j5Yf ifhjJj@fjEf:f;f5rDB r Ar۴EZj  FNOT Ignoring new targets: 116.20 m.Bj;Jj;% ProNav: ac range: 116.199997 m, nav range: 48.654270 m, bearing: 115.975823 deg, approach rate: 0.615637 m/s, LOS rate: 0.244669 deg/s, cmd heading: 331.424165 deg, new cmd heading: 331.688093 deg. 2j%'<-HeadingCmd: 5.789049 target range: 116.199997 and range: 116.20 m. j-?@j)j)j)i1h1h1h9h9fAfAfArfAbfM@@ɛu؂B x$?Iu I ":ɚiIKB=IdiFʁ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505618w,!AyrBrI}Mb@Mb@Mb@yyy y)yY}MbX?NbX9ȿ+y}*?}E}} A }@)}AI}Ayy}AI Ib3٢c ;=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i 2?:S@mE-;;젦5CB  A޴EZj FNOT Ignoring new targets: 116.20 m.Bj \;Jj \;% ProNav: ac range: 116.199997 m, nav range: 48.943840 m, bearing: 116.077382 deg, approach rate: 0.663808 m/s, LOS rate: 0.231437 deg/s, cmd heading: 331.688084 deg, new cmd heading: 331.990956 deg. 2j-<-HeadingCmd: 5.794335 target range: 116.199997 and range: 116.20 m. j-2k@j1j1j1i1h1h9h9h=Bf9fAfArfAbfE>*@ɛmւBmC quIq u 9ɚyiyI}4B=I}Ji w,5A6@c@Y6r@6P:96m_=y6H F??tҼ?@ ^]W?`[?ɨ6@c@6w;6%CyRځBRIIZ#IZ%x3٢b bZ=9be`Q b>dd fG٣dyj; j> rNusing accuracyPremultiplier from configlr59n?v5Yn intvRv@noEn0;n0;n5zDB ~M A~۴EZj!%FNOT Ignoring new targets: 116.20 m.Bj-;Jj-;= ProNav: ac range: 116.199997 m, nav range: 49.191589 m, bearing: 116.164153 deg, approach rate: 0.660901 m/s, LOS rate: 0.230305 deg/s, cmd heading: 331.990962 deg, new cmd heading: 332.249960 deg. 2j=IC I4 II@BI =&IGD.I:D6I[<:Ii FGMG BO--> ]y$?I]i- Will construct direction to contact in vehicle frame from tetrahedron phase data.- =- <5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262015zK LK h9K K K w,OAvj@Yvrz@v bº9v6>yvH@J?6?`F[ ?`R@LX?:?@з?ɨvj@vE;v#Cy B I) AAMb@Mb@Mb@ )YʡE?x&1̿ rhy/?A`C A 3@)AIAy=AI"Iq3٢1= 9=9[Q > G٣UGyL ; > Nusing accuracyPremultiplier from config59h)?5Y4 iK8?:Y@qE';A;|5   A =B*** querying acoustic contact ***j9j9ZjQUFNOT Ignoring new targets: 116.20 m.Bjeu;Jjeu;} ProNav: ac range: 116.199997 m, nav range: 49.497631 m, bearing: 116.259970 deg, approach rate: 0.688736 m/s, LOS rate: 0.214299 deg/s, cmd heading: 332.249962 deg, new cmd heading: 332.535634 deg. 2j}<HeadingCmd: 5.803842 target range: 116.199997 and range: 116.20 m. j@jjjihhh h Bf f frfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛтB  J mIDAT read: 23:33:03.6997 LVL= 15088, 20113, 18418, 27379, AGC= 58, IDX= 458,-0.37, 2.643,-2.911, 0.939, 2.313, PHS= 0.418, 1.106,-1.377, RAW= 14.4, -1.3, CAL= 14.1, -3.2, ROT= 135.9, 3.2 %Ygot valid direction response: 23:33:03.6997 LVL= 15088, 20113, 18418, 27379, AGC= 58, IDX= 458,-0.37, 2.643,-2.911, 0.939, 2.313, PHS= 0.418, 1.106,-1.377, RAW= 14.4, -1.3, CAL= 14.1, -3.2, ROT= 135.9, 3.2 -PDAT read: Bearing 135.9, 3.2 (Local) 5~Local bearing/azimuth received: Bearing 135.9, 3.2 (Local) U6ɚQiQIUC=I]lie} BDAT read: Tx time:23:33:04.7879 $Ping request sent.ٍh?ٍAٍ>ٍ޹ ڍd{>)ڍdIڍ@@iڍd=ډډۍ9<+ѿWe;))ۍIۍ˵-w,jAs|@Y@F9/>yH"S?*x?,ɳI?*N(r?Z??ɨs|@QI;%Cy5B5IIeIe(*3٢u< uI=9Q > G٣y; > Nusing accuracyPremultiplier from config599?5Y iX@tE'<'<F5   A شEkUa&ꤜ?kU/F] kQ kUvYA:kUfBBkUBZkU?sn?"Ucm)$@9Ή\@C^&f 8@U2Ձ?8|εl4?pQ|Y?JkU}?RkUQ*UpP@eY,NV@ҳ|D@Uψ>?x~'?DZ?"kUpB*kUBkU&?kUջr 2kU*BkU$Kv?kUά kUCkUBkUZ? addTargetRange:: Added new target pos. range: 118.199997 m, deltaT: 3.530000 s, deltaX: 2.000000 m, approachRate: 0.566572 m/s, rangeRepo size: 4  Added new target pos. range: 118.199997 m, bearing: 53.367926 deg, lat: 36.905154 deg, lon: -122.119813 deg, deltaT: 3.530000 s, deltaX: 2.000000 m, approachRate: 0.566572 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 118.20 m.BjJj5 ProNav: ac range: 118.199997 m, nav range: 94.362045 m, bearing: 69.539032 deg, approach rate: 0.000000 m/s, LOS rate: 0.214299 deg/s, cmd heading: 332.535628 deg, new cmd heading: 332.812846 deg. 2j9=HeadingCmd: 5.808680 target range: 118.199997 and range: 118.20 m. j=@jAjAjAiAhAhAhIhIfffrf̌]@bfoH?ɛ%ςB%] !%-I) M)ɚIiIIM%D=I]\i]{H \>I C I  II ,BI  =&I .I 6I <:I F!w,OA6@Y6@6\96#>y6H[?`?ǭ?>?(?r?ɨ6@6m;6#C Rz$?IPynBnIIvIv٢~< T=9x(Q >    G٣ y ; > Nusing accuracyPremultiplier from config%59&I?%5Yf i!%X%@vE ;& ;5) 5 A1ZjaeFNOT Ignoring new targets: 118.20 m.Bjm;Jjm;} ProNav: ac range: 118.199997 m, nav range: 94.490349 m, bearing: 69.685618 deg, approach rate: 0.360266 m/s, LOS rate: 0.411042 deg/s, cmd heading: 332.812852 deg, new cmd heading: 333.252004 deg. 2j} <HeadingCmd: 5.816345 target range: 118.199997 and range: 118.20 m. j@jjjihhhhfffrfbf@t?ɛ͂B i߾I ɚiInD=IiisE)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBFu_0JFqzK-BoHK-9K)K- K-G&GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.1'w,)AyvBvI z=xuMb@Mb@Mb@qqq q)qYuQ?zGʿI +yu\/?u Wu9uEA u@)uMAIuAqyu AII̍٢ = A=9Q > G٣UGy > Nusing accuracyPremultiplier from config59ZZ?5YW i7?:U@xEQ;;˩5 8 A״EZjFNOT Ignoring new targets: 118.20 m.Bj;Jj ; ProNav: ac range: 118.199997 m, nav range: 94.631302 m, bearing: 69.848926 deg, approach rate: 0.332419 m/s, LOS rate: 0.384566 deg/s, cmd heading: 333.252006 deg, new cmd heading: 333.741188 deg. 2j<%HeadingCmd: 5.824883 target range: 118.199997 and range: 118.20 m. j%pe@j!j!j!i!h)h)h1h5łBf9f9f9rf9bf=@ X?ɛeʂBm imP;Ii m9ݺɚiiqIuFD=*JC="J4= {$?IiIi!i%a)%pe@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF)JF)GE DG B) OE >u]-w,A2ݰ@Y2s@2p92`7>y2H?@?zVS U? ܲ¿`? t? {?ɨ2ݰ@2;2$Cy: B:IININm?٢R9= V[=9VKQ V>XX ZG٣XyZ<~Will construct direction to contact in vehicle frame from tetrahedron phase data. > =Nusing accuracyPremultiplier from config9E59=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JQJK +9K K K RK ?JK ?H4w,Az@Yz{ @zJ9zp7>yzH@)? ? H亿q81?=¿.Ñ?? {?ɨz@z(;xy'B IMb@Mb@Mb@ )Y(\?gfffffƿ{Gzy.?33#A @)AIdAyAIIV83٢ > 8=9yǻQ > G٣y < > uNusing accuracyPremultiplier from configu59B|?}5Y< i}3?}:}F}@}E1;;[5EB AԴEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.20 m.Bj;Jj;5 ProNav: ac range: 118.199997 m, nav range: 94.882286 m, bearing: 70.163034 deg, approach rate: 0.281112 m/s, LOS rate: 0.370516 deg/s, cmd heading: 334.188561 deg, new cmd heading: 334.682239 deg. 2j5H~<HeadingCmd: 5.841307 target range: 118.199997 and range: 118.20 m. j@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.ɛMƂBU QUIQ UtɚYiYI]ZD=Ie=iaiei)e@)i*F?2F:FBFo0JF e |$?Ii G ^ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234610G B O >fn:w,vA6@Y6 $@6sv96P+7>y6Hட?r?e#:??d_¿pΔ??@{?ɨ6@6r;4yB6BB) IIJIJ2٢\= N=9"Q > G٣UGy; > Nusing accuracyPremultiplier from config59?5Y` i.,F@E12;2;5 qAZj FNOT Ignoring new targets: 118.20 m.Bj ;Jj;% ProNav: ac range: 118.199997 m, nav range: 94.998512 m, bearing: 70.316284 deg, approach rate: 0.311807 m/s, LOS rate: 0.410631 deg/s, cmd heading: 334.682247 deg, new cmd heading: 335.141425 deg. 2j%<-HeadingCmd: 5.849321 target range: 118.199997 and range: 118.20 m. j--@j)j)j)i)h1h1h1h9f9f9f9rf9bfEW@ɛmĂBu quHIy }"ɚyiyI}E=In#޾iin]{)-@)*F-?2F):F)BF-P5JF)G5pA G5qAGJdGBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485775HU Z>IQ  IU Z IIU ^BIU  =&IQ .IQ 6IU ɰ<:IU FBIɤCJIɤCRIZI =bI =jIN6J J J J J -:J =9J J J ;J ;J *;J *; Y IY \Aw,̳A6*(@Y67@6ԣ96=7>y6H ?@h?@@OJ?I¿ﳗ??Qz?ɨ6*(@6K;4yZQBZJ IIbIb 2٢j? > jW=9nQ n>lp rG٣pyr; r> mNusing accuracyPremultiplier from configiu59mΝ?u5Ymv imCy}E}@mEmC:m":mѰ5 AѴEZjFNOT Ignoring new targets: 118.20 m.Bj;Jj; ProNav: ac range: 118.199997 m, nav range: 95.113770 m, bearing: 70.467986 deg, approach rate: 0.291447 m/s, LOS rate: 0.383139 deg/s, cmd heading: 335.141427 deg, new cmd heading: 335.595972 deg. 2jx<HeadingCmd: 5.857255 target range: 118.199997 and range: 118.20 m. jn@jjjihhhhfffrfbf@l @ɛ‚B_ !%`I) -2b-ɚ)i)I5}D=I5ھi1i=E)=n@)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.u>u%=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739279*F?2F:FBF3JFzKBoHK9KK KBK:KpAGbGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989969DGw,ÂA2?@Y2-O@2.Ӽ9268>y2H@m?@R8?@;%߿V?q?¿d~?@]?x?ɨ2?@2>;0y>kBBj IMb@Mb@Mb@ )YMb?y&1~jtx?y#?`役;XA @)IzAyAI% I%V2٢5= =E=9=ֻQ =>AA EG٣AyE; M> UNusing accuracyPremultiplier from configI]59M?]5YM iMA]%?]:]G2e@MEMJ;Mj;M5i mAiZj1=FNOT Ignoring new targets: 118.20 m.Bj=;Jj=;U ProNav: ac range: 118.199997 m, nav range: 95.203995 m, bearing: 70.613741 deg, approach rate: 0.215278 m/s, LOS rate: 0.347443 deg/s, cmd heading: 335.595963 deg, new cmd heading: 336.032806 deg. 2jUrn<]HeadingCmd: 5.864879 target range: 118.199997 and range: 118.20 m. j]@jYjYjYiYhYhahahekBfafifrfbf@ l @ɛB[*d n(I }6ɚiID= }$?I IB,־ii2)@)*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:33:07.3519 TRx dataTimestamp_ set to:1736379188.673962checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244793GNGBOb>Mw,O9A2Qb@Y2q@2792m:>y2H@(?`_?#6v߿g?`L¿E?F ?`u?ɨ2Qb@2U;2#CyBBB IIJIJ(*2٢R= RU=9VfQ V>TX ZG٣XyZG4< Z> bNusing accuracyPremultiplier from config`f59b?f5Yb ib>df/1f@bEb:b:b>5nFB n"ArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.493857=δEZjFNOT Ignoring new targets: 118.20 m.Bj;Jj; ProNav: ac range: 118.199997 m, nav range: 95.290535 m, bearing: 70.754169 deg, approach rate: 0.227701 m/s, LOS rate: 0.369153 deg/s, cmd heading: 336.032794 deg, new cmd heading: 336.453688 deg. 2jX}<HeadingCmd: 5.872225 target range: 118.199997 and range: 118.20 m. jD@jjjihhhhfffYrfibfmh @jH<bHp<HX>I I IIBI =&I.I6I}<:I| FɛB5 !m\Ii u<ɚyiyID=IliҾiExWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:33:07.3519 LVL= 16016, 17489, 17394, 24867, AGC= 57, IDX= 449,-0.43, 0.097, 0.708,-1.640,-0.370, PHS= 0.555, 1.125,-1.273, RAW= 16.9, -3.8, CAL= 16.6, -6.7, ROT= 133.4, 6.7 Ygot valid direction response: 23:33:07.3519 LVL= 16016, 17489, 17394, 24867, AGC= 57, IDX= 449,-0.43, 0.097, 0.708,-1.640,-0.370, PHS= 0.555, 1.125,-1.273, RAW= 16.9, -3.8, CAL= 16.6, -6.7, ROT= 133.4, 6.7 PDAT read: Bearing 133.4, 6.7 (Local) ~Local bearing/azimuth received: Bearing 133.4, 6.7 (Local)  DAT read: Range 10 to 50 : 119.8 m (Round-trip 159.8 ms) speed -0.2 m/s  ,DAT read: user:3318>  BDAT read: Tx time:23:33:08.4379  $Ping request sent. ؕQD ٕC)ٕ#aIٕ9iٕ{?ٕ?ٕٕ>ٕԇ ڕV>)ڕ|Iڕ\@iڕ|=ڑڑەR!Ϳyɸ￷Ә|)ە+pIە>=iە5?ە}ۑۑ :publishing transmit ping time  Fpublishing direction and range infoؑ9ؕ-*R?AJ?Hbf?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەR!Ϳyɸ￷Ә|)ۑIۑiۑۑۑۑzK K +9K K K RK ?JK ?G bG BA OU >tUw,MJUA<۱@Y@l3 9?>yH`6?` ?s`q޿`?¿E??cl?ɨ<۱@;$Cy B- IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:33:08.4372 Mb@Mb@Mb@ )YV-?v/99 EG٣EUGyEI< E> UNusing accuracyPremultiplier from configIU59MT֏?U5YM iM}?}:@MEM;M;M5 uAʹEk1 ɤ?kS k kGKA:kBBkBZkhp?"=ۡ.@`ɦ\@5!,c=@-*R?AJ?Hbf?Jk5?Rk}*[P@c7U@<&0dI@4\?c?UU!?"k!B*k%Bk?k 2k(Bk(V?kk(BkVBkeۄ?= addTargetRange:: Added new target pos. range: 119.800003 m, deltaT: 3.778385 s, deltaX: 1.600006 m, approachRate: 0.423463 m/s, rangeRepo size: 4 M Added new target pos. range: 119.800003 m, bearing: 53.806567 deg, lat: 36.905352 deg, lon: -122.119813 deg, deltaT: 3.778385 s, deltaX: 1.600006 m, approachRate: 0.423463 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 119.80 m.Bj}Jjy ProNav: ac range: 119.800003 m, nav range: 104.668427 m, bearing: 59.469887 deg, approach rate: 0.000000 m/s, LOS rate: 0.369153 deg/s, cmd heading: 336.453698 deg, new cmd heading: 337.067697 deg. 2jHeadingCmd: 5.882941 target range: 119.800003 and range: 119.80 m. jA@jjjihhhhBfffrf@3]@bf`?ɛ5B50 ='==PI9 =Aɚ9i9I=D=IE̾iAiEwV)MA@)I-~GU5tAmA Y5tAyB I*F ?2F :F BF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ե =ե <G G B O > ~[w,3pAyzB~ IIIT٢m :> mr=9uQ u?qq }G٣yy} }? Nusing accuracyPremultiplier from config59h䏜?5Y i @E<<5 zAB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 119.80 m.Bj;Jj;% ProNav: ac range: 119.800003 m, nav range: 104.682442 m, bearing: 59.580502 deg, approach rate: 0.043768 m/s, LOS rate: 0.345395 deg/s, cmd heading: 337.067705 deg, new cmd heading: 337.399501 deg. 2j% mHuU>IuC Iu IIu؂BIu =&Iq.Iu9D6Iu|<:Iux F e $?Ia Ju Ju Jq Jq Ju -:Ju 9Jq Jq Ju ;Ju ;Ju ;Ju ;^bw,ArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.991067yB I  II̍٢M)= MN=9IQ M>QQ UG٣QyQ ]> eNusing accuracyPremultiplier from configam59ej?m5Ye ieiiu@eEe:e:eֹ5y }<A}ʴEZjFNOT Ignoring new targets: 119.80 m.Bj;Jj; ProNav: ac range: 119.800003 m, nav range: 104.699905 m, bearing: 59.714115 deg, approach rate: 0.044764 m/s, LOS rate: 0.342424 deg/s, cmd heading: 337.399488 deg, new cmd heading: 337.800253 deg. 2jk<HeadingCmd: 5.895727 target range: 119.800003 and range: 119.80 m. j˩@jjjihhhhqfqfqfyrfybf}`*?ɛB[ Dhw,ԣAJ@YJ@JD39J>I>yJH1\?0{?r`ݿ?ÿf?3?Y?ɨJ@J&;J%CyRЂBV I I MMb@Mb@Mb@III I)IYMn?Mb rh?yM?MMCy G٣UGyw= > Nusing accuracyPremultiplier from config559+?=5Y i=?=:=l=@E<<5A EAIZjquFNOT Ignoring new targets: 119.80 m.Bj}b;Jj}b; ProNav: ac range: 119.800003 m, nav range: 104.693047 m, bearing: 59.845365 deg, approach rate: -0.015933 m/s, LOS rate: 0.304916 deg/s, cmd heading: 337.800256 deg, new cmd heading: 338.194024 deg. 2jBQ<HeadingCmd: 5.902599 target range: 119.800003 and range: 119.80 m. j@jjjihhhhBfffrfbf@/?ɛB(&9 8G=I >ɚ!i!I%B=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495179I$¾iBrnw,Av@Yv @v,79vK>yvH? ~?@oܿ?`OĿަ?C?V?ɨv@vi;tyB III 2ZHRHH!I! I%;!II%BI!&I!.I%:D6I%o<:I%n F٢EŠ= EM=9MQ M>II MG٣IyUv< U> mNusing accuracyPremultiplier from configYu59]v?u5Y]! i]y}}@]E][;]LC;]]5GB 7AǴEZjFNOT Ignoring new targets: 119.80 m.Bj%;Jj%; ProNav: ac range: 119.800003 m, nav range: 104.684509 m, bearing: 59.972456 deg, approach rate: -0.022567 m/s, LOS rate: 0.335974 deg/s, cmd heading: 338.194030 deg, new cmd heading: 338.575327 deg. 2jf<HeadingCmd: 5.909254 target range: 119.800003 and range: 119.80 m. j@jjjihhhhfffrfbf`@?ɛB~M; 隽=I :ɚiIa*B=Isiaqp̛uw,+A2 S@Y2b@2<92 ?M>y2H? >?@u3Nܿ@??eKĿn? u? }S?ɨ2 S@2T;2$CyNBN!IiR%>IR>}Mb@Mb@Mb@yyy y)yY}V-?Q?:v?y}h?}\=}T<}A y)}AI}I Ayy}= AII2٢= B=9SQ > G٣yR< > Nusing accuracyPremultiplier from config59*?5Y! i?:3ξ@EB;;45 AZj!-FNOT Ignoring new targets: 119.80 m.Bj-;Jj5;E ProNav: ac range: 119.800003 m, nav range: 104.655838 m, bearing: 60.102366 deg, approach rate: -0.068328 m/s, LOS rate: 0.309680 deg/s, cmd heading: 338.575319 deg, new cmd heading: 338.965149 deg. 2jET{w,\A:[@Y:ߴ@:h~A9: =O>y:H/?`?k~ۿ~`?RĿ-??O?ɨ:[@:6;:&CyBBF!IININ٢Zr< Z]=9^TQ ^>\\ bG٣bUGyb< b> fNusing accuracyPremultiplier from configdj59f>;?j5Yf:! ifglnɾn@fEf;f;f5t vAvĴEZj FNOT Ignoring new targets: 119.80 m.Bj2;Jj2;5 ProNav: ac range: 119.800003 m, nav range: 104.629181 m, bearing: 60.215717 deg, approach rate: -0.072436 m/s, LOS rate: 0.308089 deg/s, cmd heading: 338.965158 deg, new cmd heading: 339.305294 deg. 2j5pS<5HeadingCmd: 5.921995 target range: 119.800003 and range: 119.80 m. j=@j9jjihhhhfffrfbf-B@ɛUB]{; Y] =IY ]/ɚYiaIew@=IeimdkBI)&I).I)6I-<:I- F*F?2F:FBF_5JF I G 1|G B O >S肳w,1 A&Will construct direction to contact in vehicle frame from tetrahedron phase data.*BDAT read: Rx Time:23:33:11.0031 *TRx dataTimestamp_ set to:1736379192.200872.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008263J@YJ@JG9JQ>yJH?'?`2.ۿ~?Ŀ?l?>L?ɨJ@Jr;HyVBV!II^ I^2٢j4; jA=9niQ r>xx ~G٣|y v<  > -Nusing accuracyPremultiplier from config559KN?55Y! i=9=JľE@E;;¦5Q UAYB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 119.80 m.Bj|;Jj|; ProNav: ac range: 119.800003 m, nav range: 104.596298 m, bearing: 60.348013 deg, approach rate: -0.070161 m/s, LOS rate: 0.282366 deg/s, cmd heading: 339.305302 deg, new cmd heading: 339.702310 deg. 2jA<HeadingCmd: 5.928924 target range: 119.800003 and range: 119.80 m. j@jjjihhhhff f rf bf ;@zKUQNKUH9KQKU KU$#   +Jz"ɛB<^; =I 6)ɚiI@=Iuaiu$iw,3%A $?I:?@Y:6O@:yJ9:P>y:H ?B?n`&ڿT?Ŀ '[?@Q?`L?ɨ:?@:n;:%CJRJPJR0JPJRݒ:JPJRـ3JPaV@aV@aV@aV@yZBZ!I)` bAMb@Mb@Mb@ )YV-?/$?MbP?y,=:A @)7AI AyAI%I%٢]a e5=9u;Q }> G٣yש< >}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:33:11.0031 LVL= 14128, 15473, 16242, 20851, AGC= 56, IDX= 444, 0.33, 2.923,-3.055, 0.946, 2.294, PHS= 0.717, 0.981,-1.351, RAW= 24.1, -3.2, CAL= 23.9, -6.0, ROT= 126.1, 6.0 Ygot valid direction response: 23:33:11.0031 LVL= 14128, 15473, 16242, 20851, AGC= 56, IDX= 444, 0.33, 2.923,-3.055, 0.946, 2.294, PHS= 0.717, 0.981,-1.351, RAW= 24.1, -3.2, CAL= 23.9, -6.0, ROT= 126.1, 6.0 PDAT read: Bearing 126.1, 6.0 (Local) ~Local bearing/azimuth received: Bearing 126.1, 6.0 (Local) DAT read: Range 10 to 50 : 120.6 m (Round-trip 160.9 ms) speed -0.4 m/s ,DAT read: user:3319>  BDAT read: Tx time:23:33:12.0880  $Ping request sent. }d }>)}PwֽI} @i}Pw=yy}9fk[@dZ)}QֿI}b=i}׺?}iSyye:publishing transmit ping time eFpublishing direction and range infoy9}MWd{?j?f-s?yyyyy y)yIyiyyyyy y)yIyiyyy}9fk[@dZ)yIyiyyyy Nusing accuracyPremultiplier from configa59ec?5Ye ! ie?:"@eEe/=e;eĦ5HB A´Ek} ܠ?k}z ky k}'-A:k}3BBk}BZk}Y?"}Ru(@[@HLڮE@}MWd{?j?f-s?Jk}׺?Rk}iS*}"kf0I@U@},hP@}F'?}+WH?։i?"k}~B*k}IBk}.g?k}?` 2k}Ckykykyk}Bk}8%?u addTargetRange:: Added new target pos. range: 120.599998 m, deltaT: 3.529305 s, deltaX: 0.799995 m, approachRate: 0.226672 m/s, rangeRepo size: 4  Added new target pos. range: 120.599998 m, bearing: 60.138391 deg, lat: 36.905352 deg, lon: -122.119813 deg, deltaT: 3.529305 s, deltaX: 0.799995 m, approachRate: 0.226672 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 120.60 m.BjJj9M ProNav: ac range: 120.599998 m, nav range: 104.553627 m, bearing: 60.494221 deg, approach rate: 0.000000 m/s, LOS rate: 0.282366 deg/s, cmd heading: 339.702300 deg, new cmd heading: 340.121739 deg. 2jIUHeadingCmd: 5.936244 target range: 120.599998 and range: 120.60 m. jU@jQjQjQiQhyhyhyhBfffrf`f&^@bf:?ɛBu‘; quP=Iq }Ew!ɚyiyI}?=IFioXfI  I !II MBI &I .I 9D6I <:I FBI}̣CJI}̣CRIyZI} =bI} =jI}f5GM eG)B1O]>_w,bCArw@Yr@rO9rN>yrH`$?X$?U@?<ڿ?@Ŀ ?? DO? Iɨrw@r&È;r&Cy%B% IIIb1٢ ^ 2=9*Q > G٣UGyzv< M> UNusing accuracyPremultiplier from configQ]59U0w?]5YU\ ! iUY@UEU)=I ii\jW)/@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFzKNKh9KK K6F_{}vslkgWC67>EIPW[_chouy|rfXRMG OSG B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) w,]A2@Y2+@2d[92ŵL>y2H@2? 4?Xxٿ@?`~Ŀ/o?a?`PQ?ɨ2@2X;2%Cy:ׂB: I-bonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 97.54, 75.79, 81.68  b@f f@f f@f  j@j IrIr ٢h M=9Q > G٣y K:<  > 5bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config=59爐?=5Y[! iE+:AE:EHE@E;>Ȧ5I MAQZjFNOT Ignoring new targets: 120.60 m.Bj$;Jj$; ProNav: ac range: 120.599998 m, nav range: 104.476738 m, bearing: 60.748779 deg, approach rate: -0.092108 m/s, LOS rate: 0.302743 deg/s, cmd heading: 340.522906 deg, new cmd heading: 340.885659 deg. 2jO<HeadingCmd: 5.949577 target range: 120.599998 and range: 120.60 m. jb@jAjAjAiAhAhIhihqfqfyfyrfybf} ? E$?IIɛBckM; w=隭T=I ;ɚiIq==IΪiScy6H@E?B?p[ٿ`A?ZĿ W٫?*?S?ɨ6ʹ@6QN;6'CyBЂBB I F=F=IJIJ[٢R Rc=9V}Q V>TT ZG٣XyZ< Z> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config\j59^-?j5Y^(! i^j :hnt:n6n@^E^Qt;^B?^ɦ5p vAvEZj FNOT Ignoring new targets: 120.60 m.Bj;Jj;- ProNav: ac range: 120.599998 m, nav range: 104.442223 m, bearing: 60.859534 deg, approach rate: -0.099073 m/s, LOS rate: 0.318018 deg/s, cmd heading: 340.885671 deg, new cmd heading: 341.218043 deg. 2j-@Z<-HeadingCmd: 5.955379 target range: 120.599998 and range: 120.60 m. j5v@j1j1j1i1h1h1h9h9fAfIfIrfIbfU^E?ɛ K; =I ɚiI ==I%D֧i!i%y\)-v@))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF o0JF HuJ>IuC IqIqIu =&Iq.Iu8D6Iuİ<:Iu F =$?I= iG-T[G1G5qAG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.ե >ե n?%w,,bA:@Y:K@:kAe9:UG>y:HZ?@)?+B=ٿ ?ĿY??`W?ɨ:@: ;:&CzKOK 9KK KA"~usoniefc`^YUQNKKIGIGDCA>=:;:7532///./.+yޕǂBޝ II=I=?٢ =9^>Q >  G٣UGy>< > =bBottom track data is 1.3 s old, using for 20.0 s. =Nusing accuracyPremultiplier from configE59񱐜?E5Y! iM9QUF:Uꪾ]@E;?]ʦ5mIB u AuEWill construct direction to contact in vehicle frame from tetrahedron phase data.-B*** querying acoustic contact ***j)j)ZjQ]FNOT Ignoring new targets: 120.60 m.Bjm;Jjm; ProNav: ac range: 120.599998 m, nav range: 104.388580 m, bearing: 61.027679 deg, approach rate: -0.093059 m/s, LOS rate: 0.291847 deg/s, cmd heading: 341.218055 deg, new cmd heading: 341.722736 deg. 2jJH<HeadingCmd: 5.964187 target range: 120.599998 and range: 120.60 m. jھ@jjjihhhhfffrfbf@?ɛ-BM7: QU U=IQ UAɚQiQIUT;=I]Si]`y:HOo??@ɿ ؿ?`ÿ@!?x?`G\?ɨ:7@:r;:$CyBBB I-only read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32768,V I%I%٢5 5E=95;Q 5>99 =G٣9yE< E> UbBottom track data is 1.7 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]59MĐ?]5YM! iMje9ae :mm@MEMjv;Me?M˦5q uAqZjFNOT Ignoring new targets: 120.60 m.BjS;JjS; ProNav: ac range: 120.599998 m, nav range: 104.348404 m, bearing: 61.150756 deg, approach rate: -0.108023 m/s, LOS rate: 0.331045 deg/s, cmd heading: 341.722724 deg, new cmd heading: 342.092090 deg. 2j1c<HeadingCmd: 5.970634 target range: 120.599998 and range: 120.60 m. jn@jjjihhhhfffrfbf 6@ɛ B hd  еIC Im!II>BI =&I.I6I<:I F*F?2F:F!BF!JF! ] $?Ia G% gG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501492B! O= >fw,A6_@Y6o@6gb969B>y6H~? ?Qmؿ"?@ÿOI?)? `?ɨ6_@6;6%CyBB@IJIJ(*3٢ q: ==9%:Q %>!! -G٣-UGy-];< -> =bBottom track data is 2.1 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E595א?E5Y5! i5FM9IM:MM@5E5G;5@5˦5Y ]AeEZjFNOT Ignoring new targets: 120.60 m.Bj;Jj; ProNav: ac range: 120.599998 m, nav range: 104.304558 m, bearing: 61.283061 deg, approach rate: -0.101676 m/s, LOS rate: 0.306937 deg/s, cmd heading: 342.092101 deg, new cmd heading: 342.489177 deg. 2jR<HeadingCmd: 5.977564 target range: 120.599998 and range: 120.60 m. j4H@jjjihhhhfffrfbfO@ɛ:  q Iy w,AJSK[|3 K[L.KSKS"KSJJJ0JJM:J9Jـ3JZӎ@YZW@Z^b9Z-A>yZHߐ?`7?9:ؿp5?ÿ` G٣y[P< > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.>=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.00448759퐜?5Y6! iPT:"?:k쾑@E,;;ͦ5 AZjFNOT Ignoring new targets: 120.60 m.Bj;Jj; ProNav: ac range: 120.599998 m, nav range: 104.293549 m, bearing: 61.441797 deg, approach rate: -0.023414 m/s, LOS rate: 0.337634 deg/s, cmd heading: 342.489181 deg, new cmd heading: 342.965428 deg. 2jg<HeadingCmd: 5.985876 target range: 120.599998 and range: 120.60 m. jL@jjjihhhh`Bfffrfbf@g}@ɛuBu qu@;Iy }@ɚyiyI}9=I8iS[I C I T!II *BI ! =&I .I 7D6I <:I k FG m }$?IyGBO>zw,HANص@YNS@Na9Nf>>yNH ?ȶ?.l@F׿S?hÿ6??f?ɨNص@N;N$CyVBZ IIbIb<2٢jם j7=9j8Q j>ll nG٣lyr< r> zNusing accuracyPremultiplier from configx~59zd?~5Yzc! izY|~羑@zEz:z:zϦ5 JB  A EZj15FNOT Ignoring new targets: 120.60 m.Bj=;Jj=;M ProNav: ac range: 120.599998 m, nav range: 104.281380 m, bearing: 61.593098 deg, approach rate: -0.029198 m/s, LOS rate: 0.363073 deg/s, cmd heading: 342.965436 deg, new cmd heading: 343.419383 deg. 2jU,yzKMRMKM 9KIKM KM  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A DAT read: 23:33:14.6551 LVL= 15824, 16913, 17090, 22771, AGC= 57, IDX= 465,-0.06,-1.977,-1.814, 2.277,-2.652, PHS= 0.763, 0.885,-1.357, RAW= 27.2, -2.7, CAL= 27.0, -5.3, ROT= 123.0, 5.3  Ygot valid direction response: 23:33:14.6551 LVL= 15824, 16913, 17090, 22771, AGC= 57, IDX= 465,-0.06,-1.977,-1.814, 2.277,-2.652, PHS= 0.763, 0.885,-1.357, RAW= 27.2, -2.7, CAL= 27.0, -5.3, ROT= 123.0, 5.3 = PDAT read: Bearing 123.0, 5.3 (Local) E ~Local bearing/azimuth received: Bearing 123.0, 5.3 (Local) U DAT read: Range 10 to 50 : 122.1 m (Round-trip 162.9 ms) speed -0.5 m/s ] ,DAT read: user:3320> e BDAT read: Tx time:23:33:15.7380 m $Ping request sent.m A :F>) qI od @i q= :S=V ) BϿI @=i ͫ? ־  :publishing transmit ping timei  Fpublishing direction and range info 9 ?T^?tG?y  ) I i ) I i :S=V ) I i ONȳw,b"A>+@Y> @> 6`9>[>>y>H`ƹ?w?#!o׿`?wrÿ`,??Jg?ɨ>+@>z;>#CyB Ii>IR= %=%p= $?I-Mb@Mb@Mb@))) )))Y-MbX9?:v+y)-Խ--A -C@)-hAI- A)y-=AAAIIV83٢ *=9W:Q > G٣UGy< > Nusing accuracyPremultiplier from config59?5Ys!! ipE$?:M3M@E@<P@<Ѧ5]KB ]:A]EkU0?k5 k kA:k3BBkBZkz?"U]%@Il/[@C^gϳw,?A Will construct direction to contact in vehicle frame from tetrahedron phase data.:#@Y:b3@:4b9:-?>y:H? =+?'%׿_m?bÿB??@_e?ɨ:#@:F߈;:'CyFBF IH1I1 I5;!II5BI1&I1.I16I5<:I5 FInInM٢]G= ]P=9ekQ e>a G٣y,H< > Nusing accuracyPremultiplier from config59z+?5Y$! i@E;;}Ӧ5 A B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 122.10 m.Bj%;Jj%;U ProNav: ac range: 122.099998 m, nav range: 102.967407 m, bearing: 61.506045 deg, approach rate: 0.014899 m/s, LOS rate: 0.399840 deg/s, cmd heading: 343.998352 deg, new cmd heading: 344.422796 deg. 2jU4<]HeadingCmd: 6.011312 target range: 122.099998 and range: 122.10 m. j]\@jYjYjYiYhahhhfffrfbf`?ɛm ;I ɚiIv7=I 2i i M)\@) $?I*F2F:FBFP5JFJ-J-J)J)J-:J-*9J)J)J-;a5J-;a5J-(;a=J-(;a=GGBO`>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ճw,xXAzKKK9KK!KV@Ylf@ƒa9M9>yHf?`?@q^`ֿ? ÿ,?`x?@n?ɨV@;&Cy%B% IMb@Mb@Mb@ )YNbX9?DlQ롿y%?O \A -@)QAIzAyGAII[٢ 4=9y9Q > G٣yUc< > Nusing accuracyPremultiplier from config 59@? 5Y(! i )?:@E;;sզ5 2AE-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989537ZjquFNOT Ignoring new targets: 122.10 m.Bj}6;Jj}6; ProNav: ac range: 122.099998 m, nav range: 102.986816 m, bearing: 61.671073 deg, approach rate: 0.043443 m/s, LOS rate: 0.369309 deg/s, cmd heading: 344.422807 deg, new cmd heading: 344.917786 deg. 2jt}ܳw,lrA2@Y2@2Bvc92s<>y2H`? e?@kxXֿ7?ÿ k?9c??i?ɨ2@2lj;2$Cy:B> I)@ BADFAIJIJʴ٢Rh< Vw=9VQ V?XX ZG٣ZUGy^X< ^? bNusing accuracyPremultiplier from config`f59bcP?f5Yb+! ibhj j@bEbU:b;b֦5zLB z#AzEZjFNOT Ignoring new targets: 122.10 m.Bj;Jj; ProNav: ac range: 122.099998 m, nav range: 103.000046 m, bearing: 61.792743 deg, approach rate: 0.038373 m/s, LOS rate: 0.352866 deg/s, cmd heading: 344.917778 deg, new cmd heading: 345.282734 deg. 2j+r<HeadingCmd: 6.026320 target range: 122.099998 and range: 122.10 m. j@jjjihhhhfff!rf)bfu1?ɛ!%Cg) !MII M yɚIiIIM6=I]΃iaiea)e@)i*F]?2FY:FYBF]Y0JFYGmqA GmpA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493436GUG1HE>>IA IE4!IIEBIE" =&IA.IA6IE<:IE FBIƠCJIƠCRIƔCZI! =bI =jI7 6BaO> $?I JA JE JA JA JA JE b9JA JA JA JA JE 0.;JE 0.;7w,(AyrBr II~I~2٢ E=  D=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-#d?55Y-/! i-11=@-E-;-;-ئ5A EAAZjquFNOT Ignoring new targets: 122.10 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745529Bj1;Jj1; ProNav: ac range: 122.099998 m, nav range: 103.017342 m, bearing: 61.945711 deg, approach rate: 0.043540 m/s, LOS rate: 0.385013 deg/s, cmd heading: 345.282728 deg, new cmd heading: 345.741545 deg. 2j<HeadingCmd: 6.034328 target range: 122.099998 and range: 122.10 m. j8@jjjihhh h f f f rfbfos?ɛY]Ⱥ ae%w,]A $I$yB IMb@Mb@Mb@ )YK7A?333333ÿ~jty "?ļrA @)v@IdAyQAIeIem?3٢}*C= }5=9Q > G٣y > Nusing accuracyPremultiplier from config59x?5Y4! i&?:4@E ;+;ڦ5 AEZjFNOT Ignoring new targets: 122.10 m.Bj;Jj; ProNav: ac range: 122.099998 m, nav range: 103.043922 m, bearing: 62.108218 deg, approach rate: 0.058923 m/s, LOS rate: 0.360144 deg/s, cmd heading: 345.741553 deg, new cmd heading: 346.228938 deg. 2j)w<HeadingCmd: 6.042835 target range: 122.099998 and range: 122.10 m. j^@j j j i h hhh*Bfffrfbf @ɛAE6 IMP] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502232w,yAJ@@YJP@JG9JD>yJH`,?f%?5տ? ſ@*?f? _?ɨJ@@Ju;HyRɂBV IZH`RHb@AH=>IC I;!IIBI&I.I6I<:I FI^I^٢}П= }Z=9 G٣UGyNi= > Nusing accuracyPremultiplier from config59O?5Yn7! i@E*::Sܦ5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 122.10 m.Bj/;Jj/; ProNav: ac range: 122.099998 m, nav range: 103.061340 m, bearing: 62.243690 deg, approach rate: 0.046361 m/s, LOS rate: 0.360523 deg/s, cmd heading: 346.228928 deg, new cmd heading: 346.635267 deg. 2jlw<HeadingCmd: 6.049927 target range: 122.099998 and range: 122.10 m. j @j j j i h h hhfff!rf!bf%`5@ɛIM[b ; IMs=IQ K\ ɚiI3=IXnii͈)@) $?I% i*F?2F:FBF`0JF"G=G=J5J5J1J1J5:J59J1J1J5Q;J5R;J51;J51;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757791G,G B O >7w,'AzKF.LKF9KDKF!KF q@Y@B9F>yHk=??j:Կ@?Xſ@LO??@&^?ɨq@=;騝&CyՂB IWill construct direction to contact in vehicle frame from tetrahedron phase data.AiABDAT read: Rx Time:23:33:18.3078 %TRx dataTimestamp_ set to:1736379199.508922%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006738EMb@Mb@Mb@AAA A)AYE/$? rhMbyE?EC EEA A)E@IEAAyEAI]I]1٢mR= m0=9ul5;Q u>qq uG٣yy}uS< }> Nusing accuracyPremultiplier from config59F?5Y[;! i ?: @El<_l<Xަ5 AEZjAFNOT Ignoring new targets: 122.10 m.Bj;GJj;|uA1 msYm|uAyuB ProNav: ac range: 122.099998 m, nav range: 103.077675 m, bearing: 62.404625 deg, approach rate: 0.034201 m/s, LOS rate: 0.336907 deg/s, cmd heading: 346.635270 deg, new cmd heading: 347.117985 deg. 2j7g<HeadingCmd: 6.058352 target range: 122.099998 and range: 122.10 m. j@jjjihh -$?I)h1h5PBf1f1f1rf9bf]` @ɛB>; 隵=I 2ɚiI$3=I:fiiW6w,Ay~B~!II I  ٢E#= EX=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]q?e5Y]>! i]iim@]E]L:]:]5uMB u!AuEZjFNOT Ignoring new targets: 122.10 m.Bj;JjM;] ProNav: ac range: 122.099998 m, nav range: 103.091667 m, bearing: 62.536389 deg, approach rate: 0.038550 m/s, LOS rate: 0.362973 deg/s, cmd heading: 347.117973 deg, new cmd heading: 347.513206 deg. 2j]yI IZ!II/BI&I.I6D6I<:I FG ,DAT read: user:3321> BDAT read: Tx time:23:33:19.4380 $Ping request sent.H ?F9R)uIܔ=iCD?+:publishing transmit ping timeFpublishing direction and range info9dQ?Qp<_?Ȼc0?yBOc> )Ii )IiH ?F9R)Ii IJ J J 1J J m:J *9J 3J J ;J ;J (;J (;w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:33:19.4373 :_@Y:@:'79:\K>y:Hc??atӿ?JGƿ ? ??V?ɨ:_@:w;:%CyNBN!IIVIV٢ An=  N=9?;Q > =G٣=UGy== E> MNusing accuracyPremultiplier from configAM59E‘?U5YEA! iEQUQu@EEE;E;E5 Ak lS?k  k  k SA:k fBBk BZk ݔ?" 80 *(@{4Z@X P@ dQ?Qp<_?Ȼc0?Jk CD?Rk +* M1A@9yT@`{™U@ Fsr;?KCG?۵B?"k ϣB*k Bk eoQh?k  2k Ck .g?k  k Ck CBk L?] addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.529556 s, deltaX: 2.099998 m, approachRate: 0.594975 m/s, rangeRepo size: 4 m Added new target pos. range: 124.199997 m, bearing: 66.636192 deg, lat: 36.905342 deg, lon: -122.119842 deg, deltaT: 3.529556 s, deltaX: 2.099998 m, approachRate: 0.594975 m/s, posRepo size: 4 ZjiFNOT Ignoring new targets: 124.20 m.BjJj ProNav: ac range: 124.199997 m, nav range: 101.631935 m, bearing: 62.954533 deg, approach rate: 0.000000 m/s, LOS rate: 0.362973 deg/s, cmd heading: 347.513195 deg, new cmd heading: 347.971777 deg. 2jHeadingCmd: 6.073253 target range: 124.199997 and range: 124.20 m. jX@jj j ihhhhfffrf _@bf% @?ɛmB; 隍r>I  ɚiIs1=ItViiU)X@)zK=غKK=9K9K=!K=*Fe?2Fa:FaBFe2JFaGi GmqAWill construct direction to contact in vehicle frame from tetrahedron phase data.GE G! B) OE > $?I w,_{*ANk+@YN:@N39NdN>yNH`x?tm?`=Vӿ? ƿ@z?@?lR?ɨNk+@N;N&CyZBZ!I*J^R="J^=MMb@Mb@Mb@III I)IYM\(\?B`"۹ G٣y< > Nusing accuracyPremultiplier from config59Ց?5YD! i ?:@E-;;5 sAEZjFNOT Ignoring new targets: 124.20 m.Bj;Jj; ProNav: ac range: 124.199997 m, nav range: 101.630798 m, bearing: 63.097461 deg, approach rate: -0.002901 m/s, LOS rate: 0.364711 deg/s, cmd heading: 347.971774 deg, new cmd heading: 348.400552 deg. 2jLz<HeadingCmd: 6.080737 target range: 124.199997 and range: 124.20 m. je@jjjihhh h pBf f frfbf@w?ɛ < %>I  ɚiI1=INOii )e@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF/5JFGiGA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.jHy bHy H :>I  I !II MBI # =&I .I 6I <:I x FVw,PDAJM_@YJn@JqL39Ju@>yJHk?!?@\ҿY?VDſ g? ?Og?ɨJM_@JJŋ;J$CyV BV.!II^I^̍٢f{= fV=9jT9Q j>hl nG٣lyr< r> vNusing accuracyPremultiplier from configtz59v瑜?z5YvG! ivxz뾑~@vEv8;v;v:5 A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 124.20 m.Bj5;Jj5; M$?IIe ProNav: ac range: 124.199997 m, nav range: 101.628960 m, bearing: 63.229674 deg, approach rate: -0.004804 m/s, LOS rate: 0.345448 deg/s, cmd heading: 348.400546 deg, new cmd heading: 348.797187 deg. 2jemI #ϺɚiINl0=I7Hii)@)*Fu?2Fq:FqBFuZ0JFqPExceeded connect timeout, disconnecting.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.G}␽GQBYO}>zK BoHK K K !K 3w,v5^Am @Ym@mh09mM7D>ymH@??\`YUҿ`+?@8ſ@J?Z?@b?ɨm @mߢ;m%CyލBލ?!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471675 ==EMb@Mb@Mb@AAA A)AYE +?ʡE{GzyE?EE#EA E@)EQAIEdAAyEAIUIU٢eBn= e3=9mS:Q m>qq uG٣uUGyu5< }> Nusing accuracyPremultiplier from configy59}u?5Y}J! i}?:Ծ@}×E} ;};}85NB AEZjFNOT Ignoring new targets: 124.20 m.Bj;Jj; ProNav: ac range: 124.199997 m, nav range: 101.615211 m, bearing: 63.382389 deg, approach rate: -0.029840 m/s, LOS rate: 0.331506 deg/s, cmd heading: 348.797188 deg, new cmd heading: 349.255384 deg. 2jc<HeadingCmd: 6.095656 target range: 124.199997 and range: 124.20 m. j@jjjihhhhBfffrfbf kn? -$?I)ɛMBUC}A< QUU>IQ U;ɚYiYI]z/=I]@iT\w, xA6H@Y6@6r,96JG>y6H??@?@鷿ѿV*B>U!IIJIJ(*2٢nB= rg=9r K;Q r>tt vG٣tyv< v> ~Nusing accuracyPremultiplier from configx59z ? 5YzL! ix  XϾ @zŗEzSI;zI;z5 AZjAEFNOT Ignoring new targets: 124.20 m.BjM*;JjM*;] ProNav: ac range: 124.199997 m, nav range: 101.602921 m, bearing: 63.500566 deg, approach rate: -0.035124 m/s, LOS rate: 0.337755 deg/s, cmd heading: 349.255385 deg, new cmd heading: 349.609954 deg. 2j]gI ɚiI.=Id9iiy)PB@)*FU?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975958H-8>I) I-!II-lBI)&I).I)6I-װ<:I- F !I!G^GiByO>  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=2.227562)J$w,A6k_@Y6n@6&96b;L>y6H@n?`{6?@]ѿ@M? ǿ`5ݤ?V?V?ɨ6k_@6;6$CyB&BBP!IININ٢R~ VM=9Vx\;Q V>XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`f59b&?f5YbO! ibdjɾj@bǗEb;b_;b5p rBArEZj FNOT Ignoring new targets: 124.20 m.Bj;Jj;% ProNav: ac range: 124.199997 m, nav range: 101.586906 m, bearing: 63.633818 deg, approach rate: -0.040147 m/s, LOS rate: 0.334110 deg/s, cmd heading: 349.609954 deg, new cmd heading: 350.009767 deg. 2j-Ke<5HeadingCmd: 6.108823 target range: 124.199997 and range: 124.20 m. j5z{@j1j1j1i1h1h9h9h9f9fAfArfAbfE@*w@ɛBt< m>I ˆɚiI (.=I 2i Q $?I m*w,A6v@Y6@6s 96N>y6H@l??ӣ@r[п^?ٕǿ, ?@.?S?ɨ6v@6֏;4y>.BJRJPJPJPJR:JPJPJPnY!ImMb@Mb@Mb@iii i)iYmOn?:vym?mLmTi i)m@ImMAiymzAII1٢ = ==9p;Q > G٣yp< > Nusing accuracyPremultiplier from config593?5YUQ! i%?:(@ɗEt;5;d5 AEZjFNOT Ignoring new targets: 124.20 m.Bj;Jj;  ProNav: ac range: 124.199997 m, nav range: 101.555283 m, bearing: 63.778497 deg, approach rate: -0.073216 m/s, LOS rate: 0.335067 deg/s, cmd heading: 350.009766 deg, new cmd heading: 350.443929 deg. 2j e<HeadingCmd: 6.116400 target range: 124.199997 and range: 124.20 m. j@jjjihhhhBfffrfbf`L @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731925ɛ5BUx'< Q]z>IY ]UɚYiYI],`-=Ie*ieN Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983509ZH! RH% AAH- 7>I)  I- !II- BI- $ =&I) .I) 6I- Ͱ<:I- FBIʟCJIʟCRIʓCZI# =bI# =jID5V1w,(A6(@Y6 @6<96=kO>y6H? *?Ͽ`m?`iǿr? Z?R?ɨ6(@6^;4 TITyZ*BZU!IIb Ib̍2٢j/ jW=9jLK;Q n>ll rG٣rUGyr,< r> vNusing accuracyPremultiplier from configtz59vE?z5YvCS! it|~~@vʗEv. ;v ;v 5 A-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 124.20 m.BjE$;JjE$;U ProNav: ac range: 124.199997 m, nav range: 101.526207 m, bearing: 63.905785 deg, approach rate: -0.076322 m/s, LOS rate: 0.334220 deg/s, cmd heading: 350.443920 deg, new cmd heading: 350.825887 deg. 2j]_e<]HeadingCmd: 6.123067 target range: 124.199997 and range: 124.20 m. j]*@jajajaiahahahqhyfffrfbf@ɛ]B] < Y]*r>IY ep&ɚaiaIe5,=Im #iiimut)m*@)*F-?2F):F)BF-1JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.%>4=%BDAT read: Rx Time:23:33:22.0090 -TRx dataTimestamp_ set to:1736379203.288825-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236847G-yG B O- >zK5 MK5 h9K1 K5 !K5 :7w,g~ARK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490677e<@YeK@e9e:O>yeH ?@6?Uο7|?@ǿݢ??@`S?ɨe<@e;ay}0B}\!IMb@Mb@Mb@ )YZd;O?~jt~jtyj?A @)I7AyAII(1٢5< =)=9M;Q U>ii mG٣iymB< u> }Nusing accuracyPremultiplier from configq}59u]?5YuU! iu? $?I:4@u͗Eu{;uzz;u/5OB AEZjQUFNOT Ignoring new targets: 124.20 m.Bj];Jj]; ProNav: ac range: 124.199997 m, nav range: 101.479584 m, bearing: 64.072334 deg, approach rate: -0.092299 m/s, LOS rate: 0.329863 deg/s, cmd heading: 350.825891 deg, new cmd heading: 351.325754 deg. 2jab<HeadingCmd: 6.131791 target range: 124.199997 and range: 124.20 m. j7@jjjihhhhBfffrfbfK @ɛ5B=rq< AM{>II URƹɚyiyI+=JJJ/JJݒ:J9J(N3JIiK  BDAT read: Tx time:23:33:23.1381  $Ping request sent. 1 1 5 vJ?c./P ̄෈)5 PI5 =i5 ?5 js"1 1  :publishing transmit ping timeؙ  Fpublishing direction and range info1 95 fU? ?/t?2c?y1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 5 vJ?c./P ̄෈)1 I1 i1 1 1 1 G G ?G ?G B O > i>w,pAFp@YF*@F9F\M>yFH@4?x?`Ϳ? ǿo?`m{?@V?ɨFp@F̬;F&Cy11i==I=p;IEIE̍٢= I=9;Q > G٣UGyԂ< > Nusing accuracyPremultiplier from config59q?5YmW! i@ϗE;,;5! %A-Ek?k:Dl k kA:kBBkHBZkEƗ?"(m[cu/@tpvX@rfR@fU? ?/t?2c?Jk?Rkjs"*nIxf?@նgy^S@;W@L?8VEz?>n?"kB*k3Ak8ǜ?k}A^ 2kCkI?k?` k3CkoBkI ? addTargetRange:: Added new target pos. range: 125.000000 m, deltaT: 3.778524 s, deltaX: 0.800003 m, approachRate: 0.211724 m/s, rangeRepo size: 4  Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:33:23.1374  Added new target pos. range: 125.000000 m, bearing: 67.937798 deg, lat: 36.905296 deg, lon: -122.119849 deg, deltaT: 3.778524 s, deltaX: 0.800003 m, approachRate: 0.211724 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 125.00 m.HU6>IUC IU!IIUBIU# =&IQ.IQ6IU<:IU FBjJj ProNav: ac range: 125.000000 m, nav range: 98.717850 m, bearing: 66.719098 deg, approach rate: 0.000000 m/s, LOS rate: 0.329863 deg/s, cmd heading: 351.325752 deg, new cmd heading: 351.724987 deg. 2jHeadingCmd: 6.138759 target range: 125.000000 and range: 125.00 m. jp@jjjihhhhfffrf@_@bf ˻?ɛEBE < AEw>II M9CɚIiIIM&!+=IUhiQiUbz)Up@)Y $?I i*F?2F:FBF}4JFG!  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >MEw,>A:%@Y:@:eN9:y(K>y:H)$??%6Ϳ?ǿ(?`n6?`@Z?ɨ:%@:;:#CyF'BFQ!IININ?٢V7 V`=9Z:Q Z>XX ZG٣Xy^< ^> fNusing accuracyPremultiplier from config`f59bヒ?j5YbY! ib hjj@bїEbj:be;b5t v?AtZjFNOT Ignoring new targets: 125.00 m.Bj;Jj;- ProNav: ac range: 125.000000 m, nav range: 98.690819 m, bearing: 66.848202 deg, approach rate: -0.078218 m/s, LOS rate: 0.373684 deg/s, cmd heading: 351.724990 deg, new cmd heading: 352.112401 deg. 2j-:I 5ɚiIȒ*=I ii)@)*F?2F:FBF_0JFzKa3JK]9KK!KBKpA:KqA-Will construct direction to contact in vehicle frame from tetrahedron phase data.)  IU~GGqsAA YsAy6BGI Bi O >Je Je Je 0Ja Je <:Je 9Je ـ3Ja UwKw,0A2bӺ@Y2@2(92;>y2H -?)?Fq̿?`ſ ?;?`dr?ɨ2bӺ@2;2%CyNBRC!IeMb@Mb@Mb@aaa a)aYeףp= ?y&1L7A`堿ye?e`ee+eA e@)ev@IeAayefA}Will construct direction to contact in vehicle frame from tetrahedron phase data.IuIub٢ J 6=9+ Q > G٣y%e@< %> -Nusing accuracyPremultiplier from config)559-h?55Y-I[! i-=?=:=-=@-ӗE-;-};-5MPB MAMEZjquFNOT Ignoring new targets: 125.00 m.Bj}(;Jj}(; ProNav: ac range: 125.000000 m, nav range: 98.662979 m, bearing: 67.009977 deg, approach rate: -0.062016 m/s, LOS rate: 0.360473 deg/s, cmd heading: 352.112398 deg, new cmd heading: 352.597850 deg. 2jcw<HeadingCmd: 6.153994 target range: 125.000000 and range: 125.00 m. j@jjjihhhhOBfffrfbf ?ɛBCY< K>I o 9ɚiI^)=IJiiy)@)*F?2F:FBFY0JFGGqAGpA- Will construct direction to contact in vehicle frame from tetrahedron phase data.jHU <bHU <HY IY  IY IY I] $ =&IY .IY 6I] <:I] FG B O > $?I _Rw,NIA6V @Y6@6096@;>y6H9?#V?@K˿@>?ſ ~?X?#q?ɨ6V @6;6&Cy>B>B!I)D DIJIJV٢Zo Zd=9 cE:Q  > G٣y< %> -Nusing accuracyPremultiplier from config)559-?55Y-]! i-,9==@-՗E-j!;-!;-5I MAIeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 125.00 m.Bj};Jj}; ProNav: ac range: 125.000000 m, nav range: 98.639008 m, bearing: 67.143680 deg, approach rate: -0.064560 m/s, LOS rate: 0.360175 deg/s, cmd heading: 352.597861 deg, new cmd heading: 352.999059 deg. 2j/w<HeadingCmd: 6.160996 target range: 125.000000 and range: 125.00 m. j&@jjjihhhhfffrfbf@k?ɛBk< `F>I F09ɚiI<)=II>iiԂ)&@)*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.GՃGBO>zK m$JK K K !K E Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI Xw,@cA"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761591 }$?Iy%@Y@ 9A>yH FX?@{ ?@Xcaɿt?@Qƿ@uԡ??i?ɨ%@(;騙yޭBޭ@!IMb@Mb@Mb@ )YL7A`?V-X9vy+'?hEA x@)3@IyAII٢ -=98;Q > G٣UGy= > Nusing accuracyPremultiplier from config59Œ?5Yk_! i@W(?:$@חEf;&;&5-QB 5A5EZjquFNOT Ignoring new targets: 125.00 m.Bj};Jj;E ProNav: ac range: 125.000000 m, nav range: 98.608467 m, bearing: 67.320124 deg, approach rate: -0.064899 m/s, LOS rate: 0.375063 deg/s, cmd heading: 352.999066 deg, new cmd heading: 353.528546 deg. 2jEIJJ ְ9ɚ!i!I%'v(=I-rQi)i-Xe)5r@)1*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002959GU  G] ?G] ?G1 B9 OU >^w,+}AF0@YF@F} 9FjC>yFHf?`?Rȿw?ǿ@.?C?@f?ɨF0@FO;F$CyRBRC!IIZIZ0٢bO< bq=9fu;Q f?dd jG٣hyn< n? rNusing accuracyPremultiplier from configpv59r{ג?v5Yra! irOquu@rٗEr5I :ɚiI'=Iٽi!i%c)%J@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254768H 5>I  I !II BI # =&I .I 6I <:I  F*F?2F:FBF0JF m$?IqG}NzG9BAOe4>J-J-J)J)J-:J-=9J)J)J-;a=J-;a=J-*;a=J-*;a= Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ ?՝ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506185pew,ۈA:@Y:f@:9:͡C>y:Hm?@??@13@$ǿ?ǿ?J?f?ɨ:@:Bx;8y^Bb@!Iif%>If%=IjIj1٢rh< vI=9v :Q v>xx zG٣xyz]C< ~> Nusing accuracyPremultiplier from config 59풜? 5Y c! ib  C @ۗE::d5PB AZjIMFNOT Ignoring new targets: 125.00 m.BjU;JjU;e ProNav: ac range: 125.000000 m, nav range: 98.556137 m, bearing: 67.602038 deg, approach rate: -0.074029 m/s, LOS rate: 0.394998 deg/s, cmd heading: 353.911170 deg, new cmd heading: 354.374504 deg. 2jeI  =:ɚiI['=Iɽiiv(p)@)*Fi2Fq:FqBFu]2JFqzKJK9KK !K Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761012 YIYGuhGIBYO>*J= C="J= 4=vkw,__Ay|~?!I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009925-only read 2 of 4 data items for bottom velocity. Device response is::BS, -101, -40,A  @ @ @  @ II(٢%v- %8=9%Q ->)1 5G٣5UGy5 => EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=?M5Y=3e! i=vU+:QU:QU@=ݗE=:;= >=5]QB ]AeEZjFNOT Ignoring new targets: 125.00 m.Bj;Jj; ProNav: ac range: 125.000000 m, nav range: 98.525307 m, bearing: 67.770963 deg, approach rate: -0.069395 m/s, LOS rate: 0.380348 deg/s, cmd heading: 354.374502 deg, new cmd heading: 354.881424 deg. 2j<HeadingCmd: 6.193849 target range: 125.000000 and range: 125.00 m. j4@jjjihhhhfffrfbf`$@ɛBMM< 4>I f:ɚiI&=Iii)4@)*Fa2Fa:FaBFe2JFiZHRH Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:33:25.7102  TRx dataTimestamp_ set to:1736379207.068723 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263019H! I!  I% !II% {BI% $ =&I! .I! 6I% <:I% FG q U $?IQ G B O >0rw,FBA6QM@Y6\@696VB>y6H-z? ~? 7ƿ?EǿY?5?g?ɨ6QM@6O9;6&Cy@F@!IIJIJ2٢V; Ve=9V;Q Z>XX ZG٣Xy^)< ^> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b?j5Ybf! ibj :lnS:nn@bߗEb7;bM?b5p rArE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 125.00 m.Bj%;Jj%;5 ProNav: ac range: 125.000000 m, nav range: 98.499290 m, bearing: 67.906255 deg, approach rate: -0.072791 m/s, LOS rate: 0.378633 deg/s, cmd heading: 354.881412 deg, new cmd heading: 355.287386 deg. 2j5<=HeadingCmd: 6.200935 target range: 125.000000 and range: 125.00 m. j=n@j9j9j9i9hAhAhAhAfIfIfIrfIbfMg @ɛ}B}b< y}1>Iy ٯ:ɚiI'&=Iriio9)n@)JCKKـ3 KK .KCKC"KCJJJJJM:JJJJ;J;JJ*FM?2FI:FIBFM0JFIG-{eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514008GBO (>zK BoIK +9K K !K % Will construct direction to contact in vehicle frame from tetrahedron phase data.xw,A r$?IpUDAT read: 23:33:25.7102 LVL= 13584, 12481, 12450, 16547, AGC= 57, IDX= 436, 0.07,-2.921, 2.741, 0.971, 2.169, PHS= 1.281, 0.620,-1.201, RAW= 44.9, -6.3, CAL= 48.1, -11.5, ROT= 101.9, 11.5 Ygot valid direction response: 23:33:25.7102 LVL= 13584, 12481, 12450, 16547, AGC= 57, IDX= 436, 0.07,-2.921, 2.741, 0.971, 2.169, PHS= 1.281, 0.620,-1.201, RAW= 44.9, -6.3, CAL= 48.1, -11.5, ROT= 101.9, 11.5 PDAT read: Bearing 101.9, 11.5 (Local) ~Local bearing/azimuth received: Bearing 101.9, 11.5 (Local) DAT read: Range 10 to 50 : 125.9 m (Round-trip 167.9 ms) speed -0.4 m/s ,DAT read: user:3323> BDAT read: Tx time:23:33:26.7881 $Ping request sent.YY]LZ?OͺH)]ƧI]=i]JҴ?]56YY5:publishing transmit ping time=Fpublishing direction and range infoY9]c͈??D?yYYYY Y)YIYiYYYYY Y)YIYiYYY]LZ?OͺH)YIYiYYYYJyJy        Mb@Mb@Mb@ )Y?Cl绿  G٣ UGy   > Nusing accuracyPremultiplier from config596?5Y#j! iT:(?:V@E"<a;5RB AEk]-Nv?k] kY k]HA:k]BBk]BZk]?"]f܈R.@oEW@U0T@]c͈??D?Jk]JҴ?Rk]56*]CwR(>9@#vdR@㫑ܿX@]ߜ?1I <:ɚiI_<%=I׏iit/){@)*F} ?2F :F BF 0JF GE쯇HI I!IIvBI&I.I6I<:I FBIΞCJIΞCRIZI$ =bI$ =jIT4G!B)EWill construct direction to contact in vehicle frame from tetrahedron phase data.OU?@w,AA hIj iyv0Bv\!II~I~Բ٢ ز=  p=9 Q ? G٣y ? Nusing accuracyPremultiplier from config!59%G?5Y% l! i%@%E%(<%4;%5  AZj FNOT Ignoring new targets: 125.90 m.Bjv;Jjv;- ProNav: ac range: 125.900002 m, nav range: 88.991592 m, bearing: 69.775798 deg, approach rate: -0.015856 m/s, LOS rate: 0.434447 deg/s, cmd heading: 355.975772 deg, new cmd heading: 356.408488 deg. 2j-<5HeadingCmd: 6.220501 target range: 125.900002 and range: 125.90 m. j5Y@j1j1j1i1h9h9h9h9fAfAfArfAbfM?ɛułB}ǒ< y}U>I :ɚiI$=Ig`iiFM)Y@)*Fa2Fi:FiBFm3JFiG5^JJJJJ:JJJJ7;J8;JJG BO]T>Will construct direction to contact in vehicle frame from tetrahedron phase data.a`w,oA:ռ@Y:@:$9:C>y:H@?`h?lĿ ? t>ǿ@Y?6?g?ɨ:ռ@:;8yB;BFj!IIJIJ&ѳ٢Rb= VR=9VQ V>XX ZG٣XyZ/= Z> fNusing accuracyPremultiplier from config`j59b}\?j5Yb$n! ibhjʠj@bEb7;bI8;b5p rArEZj  FNOT Ignoring new targets: 125.90 m.Bj2<Jj2<% ProNav: ac range: 125.900002 m, nav range: 88.981979 m, bearing: 69.940754 deg, approach rate: -0.026124 m/s, LOS rate: 0.448318 deg/s, cmd heading: 356.408478 deg, new cmd heading: 356.903387 deg. 2j%֙<-HeadingCmd: 6.229139 target range: 125.900002 and range: 125.90 m. j-U@j)j1j1i1h1h1h9h9f9f9fArfAbfEf?ɛuǂBup< q}h>Iy }ׂ:ɚyiyI$=I_]iil{)U@)zKBoHK9KK !KBK:KpA%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=_0JFA $?IG@GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.xw,l8A6d@Y6@6x 96D>y6H?q?@(ݯ`cÿ ?`"ǿ9?`t?[d?ɨ6d@6B;4yfEBfv!IUMb@Mb@Mb@QQQ Q)QYUx&1?rh|I +yUA ?UU9UA Ux@)U@IUAQyU(AImImm٢}v9= }==9Q > G٣y{`< > Nusing accuracyPremultiplier from config59Tr?5Yp! ij#?:@E|;,;5 hAZjFNOT Ignoring new targets: 125.90 m.Bj;Jj; ProNav: ac range: 125.900002 m, nav range: 88.979408 m, bearing: 70.117721 deg, approach rate: -0.005963 m/s, LOS rate: 0.410420 deg/s, cmd heading: 356.903393 deg, new cmd heading: 357.434293 deg. 2jՌ<HeadingCmd: 6.238405 target range: 125.900002 and range: 125.90 m. j@jjjih h h h 1Bfffrfbf`@?ɛʂBp~< v>I . :ɚiI\#=Ipk7ii%)@)*F2F:FBFJFG GpAjHbH<H4>I I!IIBI&I.I6I<:Ic F%Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IGzG B O >J J J J J ݒ:J J J J ;J ;J J tw,dRA2:@Y2J@292n7G>y2H ܠ?F? Ѯÿ?ǿ`? u?;a?ɨ2:@2 ;0y:SB:!IIfIfb2٢~1= ~S=9K;Q >    G٣ UGy/< > %Nusing accuracyPremultiplier from config%59?-5Yr! i )-P-@E::G51 =@9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 125.90 m.Bjmd;Jjmd;}Will construct direction to contact in vehicle frame from tetrahedron phase data.}?}4?}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: 125.900002 m, nav range: 88.976189 m, bearing: 70.277723 deg, approach rate: -0.008282 m/s, LOS rate: 0.411593 deg/s, cmd heading: 357.434290 deg, new cmd heading: 357.914301 deg. 2j<<HeadingCmd: 6.246783 target range: 125.900002 and range: 125.90 m. j@jjjihhhhfffrfbfb?ɛ̂BӬ< >I B:ɚiI"=Iii`͟)@)*F2F:FBFJFGʚGBO-N>zKBHKػ9KK !KRK ?JK>= Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954696 iG |uA  $?I = A u {Yu |uAyu Bw,ilA>ku@Y>@>9>:J>y>H?"?&¿@B? JȿĶ??@,]?ɨ>ku@>;>%CyNiBN!I-~only read 3 of 4 data items for beam range. Device response is::RA, 0.06, 71.03, 77.82, 80.54  ~@~ ~@~ ~@~  ~@ IIb1٢`= I=9Ul;Q >! %G٣!y%ʏ< %> 5bBottom track data is 0.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)=59-ʚ?=5Y-t! i-#=+:AE:EE@-E-5;-7>- 5MSB M@M~EZjq}FNOT Ignoring new targets: 125.90 m.Bj};Jj}; ProNav: ac range: 125.900002 m, nav range: 88.971680 m, bearing: 70.444387 deg, approach rate: -0.011107 m/s, LOS rate: 0.410582 deg/s, cmd heading: 357.914289 deg, new cmd heading: 358.414293 deg. 2j<HeadingCmd: 6.255509 target range: 125.900002 and range: 125.90 m. j"-@jjjihhhhfffrfbf g@ɛ΂B< 隽J>I wf;ɚiI!=I$ii)"-@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202450*F?2F:FBFo0JFGG ?G ?Gi Bq O >H 5>I  I !II BI &I .I 6I <:I q F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454312܄w,^A6'@Y6@6M96tL>y6H@?4? |M!?rȿo?@F`?Y?ɨ6'@6;6'C PIPyV|BV!IIrIr 2٢eo= mE=9mO:Q m>qq uG٣qy}y< }> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59󯓜?5Y w! i9 :Z:@@E?;R? 5 p@ZjFNOT Ignoring new targets: 125.90 m.Bj;Jj; ProNav: ac range: 125.900002 m, nav range: 88.966133 m, bearing: 70.614634 deg, approach rate: -0.013368 m/s, LOS rate: 0.410333 deg/s, cmd heading: 358.414286 deg, new cmd heading: 358.925043 deg. 2j͌<HeadingCmd: 6.264424 target range: 125.900002 and range: 125.90 m. j)v@jjjihhhhfffrfbf  @ɛuтBu1< y}>Iy }!;ɚyiyI}:!=IƱii˦))v@)*F ?2F :F BF 0JF "GG=J=J9J9J9J=:J9J9J9J=7;J=8;J9J9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709529G-G B) OE >~w,8A6@Y6H@696N>y6H?p?+I@H? ɿ`ܝ?@? V?ɨ6@6B;6&Cy>B>!IIJIJ٢Rn= RX=9R1;Q R>TT ZG٣ZUGyZ<< ^> bbBottom track data is 1.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config`f59bWÓ?f5Ybx! ibOj9hj0:jj@bEb ';bٙ?b 5rTB r@r{EZj  FNOT Ignoring new targets: 125.90 m.Bj;Jj;% ProNav: ac range: 125.900002 m, nav range: 88.959778 m, bearing: 70.770233 deg, approach rate: -0.016751 m/s, LOS rate: 0.410154 deg/s, cmd heading: 358.925048 deg, new cmd heading: 359.391867 deg. 2j%<-HeadingCmd: 6.272572 target range: 125.900002 and range: 125.90 m. j-@j1j1j1i1hhhhfffrfbf@ɛԂB?< 隥 >I 4;ɚiIrw =I- Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:33:29.3621 zK5K59K1K5 !UTRx dataTimestamp_ set to:1736379210.606312echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.971123K5 $?IBK:KqAii 6%) @)*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210446G= |%G1 BQ Om >孴w,fIA2#@Y23@2X/92 P>y2H ?@ķ?@Ͼ"?@4ɿ`d? ?2T?ɨ2#@2F;2$Cy>B>!I                Mb@Mb@Mb@    ) Y bX9?L7A`尿Mb`?y E? + ; EA K@) @I A y QAI I̍2٢= 7=9:Q > G٣y~< > Nusing accuracyPremultiplier from config59ؓ?5Yz! iJT:8?:l@E5;4; 5  @ xEZj15FNOT Ignoring new targets: 125.90 m.Bj=;Jj=;M ProNav: ac range: 125.900002 m, nav range: 88.932701 m, bearing: 70.938775 deg, approach rate: -0.060868 m/s, LOS rate: 0.378997 deg/s, cmd heading: 359.391877 deg, new cmd heading: 359.897645 deg. 2jM I \J;ɚiI=I0ii)8@)*Fq2Fq:FqBF}@5JFyZH1RH1H=3>I9 I="II=̃BI9&I9.I96I=<:I9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 127.3 m (Round-trip 169.8 ms) speed 0.0 m/s ,DAT read: user:3324>  BDAT read: Tx time:23:33:30.4381 $Ping request sent.w,-A6p@Y6 @696R>y6H?`?Tl '?>ɿ?`?OP?ɨ6p@6>;6%CyBBB!IiF=IF=IJIJ ٢R= Va=9V:Q V>XX ZG٣XyZo< Z> bNusing accuracyPremultiplier from config`f59bꓜ?f5Yb{! ibFdfbf@bEb:b:bP5h n@l~B*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 127.300003 m, deltaT: 3.529769 s, deltaX: 1.400002 m, approachRate: 0.396627 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 125.90 m.Bj%;Jj%;5 ProNav: ac range: 125.900002 m, nav range: 88.909225 m, bearing: 71.075887 deg, approach rate: -0.064666 m/s, LOS rate: 0.377789 deg/s, cmd heading: 359.897639 deg, new cmd heading: 0.309075 deg. 2j5<5HeadingCmd: 0.005394 target range: 125.900002 and range: 127.30 m. j=Að;j9j9j9i9hAhAhAhAfIfIfIrfM@3_@bfU?]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:33:30.4374 mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.ɛقB = '>I Lv_;ɚ!i!I%=I%Að;i)i-)-Að;))EY*F2F:FBF\0JFGqA GG5c Will construct direction to contact in vehicle frame from tetrahedron phase data.! i% A= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503192GA I zK K s9K K !K B O5 >꺴w,OA:#@Y:@:39:H$T>y:HA?`4}?tg*?ɿԝ? 8Q?mM?ɨ:#@:;8y^ǃBb"IMb@Mb@Mb@ )YS?I +Mb?y?94<A 5@)@IyAIIͳ٢= :=9Q > G٣UGy< > Nusing accuracyPremultiplier from config59?5Y|! i,0?:K@E;O;;5UB @uEZjFNOT Ignoring new targets: 125.90 m.Bj%1;Jj-1;U ProNav: ac range: 125.900002 m, nav range: 88.860565 m, bearing: 71.230821 deg, approach rate: -0.110975 m/s, LOS rate: 0.353539 deg/s, cmd heading: 0.309075 deg, new cmd heading: 0.774122 deg. J]@AJ]@AJuJuJqJqJum:Jub9JqJqa@a@a@a@2jr<HeadingCmd: 0.013511 target range: 125.900002 and range: 127.30 m. j%]]<jjjihhhhǃBfffrfbf@5l?ɛ܂Bm = uIq u"y;ɚqiqIu=I}$]]HM 4>II  IM Z"IIM BII &II .II 6IM ɰ<:IM F Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003175_w,LA &$?I$>@Y>@>O9>Pd>y>H?@?~`@:m?9˿$p?J?1?ɨ>@>;>&Cy^܃B^/"IIfIfk٢np= rY=9rκQ r>pt vG٣tyvt< v> ~Nusing accuracyPremultiplier from configx~59z?5YzR}! iz@zEz ;z. ;z5  @rEZjFNOT Ignoring new targets: 125.90 m.Bj;Jj; ProNav: ac range: 125.900002 m, nav range: 88.817574 m, bearing: 71.363472 deg, approach rate: -0.110931 m/s, LOS rate: 0.342443 deg/s, cmd heading: 0.774122 deg, new cmd heading: 1.172259 deg. 2jk<HeadingCmd: 0.020460 target range: 125.900002 and range: 127.30 m. jI<jjjihhhhf f f rf bf Q?ɛ}߂BD = 隅 >I v;ɚiI+=II6ȴw,5!Aj2@YjB@j>9j]a>yjH ?I,?ZרFd?`˿ ?? 5?ɨj2@j;j$CyvBvC"II~I~%٢V= F=9@Q > G٣y%:< %> -Nusing accuracyPremultiplier from config)559-#?55Y-~! i-9=网=@-E-;-F;-5A E@AZjiFNOT Ignoring new targets: 125.90 m.Bj;Jj; ProNav: ac range: 125.900002 m, nav range: 88.769409 m, bearing: 71.508660 deg, approach rate: -0.120473 m/s, LOS rate: 0.363354 deg/s, cmd heading: 1.172259 deg, new cmd heading: 1.608051 deg. 2j]y<-HeadingCmd: 0.028066 target range: 125.900002 and range: 127.30 m. j-<<j)j1j1i1h1h1h9h9f9f9f9rfAbfEv?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507252ɛBzKMyJKM9KIKM!KM   e$?Iq%BX%= 15?I1 ϖ;ɚi!I%&=I<#δw,M;AyBO"IMb@Mb@Mb@ )Y/$?X9v? rh?y ?<C<A )3@IhAyzAII0٢,= @=9Q > G٣UGy > Nusing accuracyPremultiplier from config59u7?5Y>~! iR ?: @E;:5VB @ oEZj)5FNOT Ignoring new targets: 125.90 m.Bj5;Jj=;M ProNav: ac range: 125.900002 m, nav range: 88.704529 m, bearing: 71.653033 deg, approach rate: -0.151993 m/s, LOS rate: 0.338465 deg/s, cmd heading: 1.608051 deg, new cmd heading: 2.041479 deg. 2jMIh%Oִw,hvZA6@Y6v@6+96\>y6H^?? p 첿 k0?˿ m?X???ɨ6@6;6"Cy>BBT"IIJIJƲ٢N< R6=9R3;Q R>TT VG٣Ty< > Nusing accuracyPremultiplier from config 59 L?5Y i~! i μ@ E : : 5! -@)MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 125.90 m.Bje;Jje;} ProNav: ac range: 125.900002 m, nav range: 88.631859 m, bearing: 71.808356 deg, approach rate: -0.158293 m/s, LOS rate: 0.338609 deg/s, cmd heading: 2.041479 deg, new cmd heading: 2.507819 deg. 2j}bh<HeadingCmd: 0.043770 target range: 125.900002 and range: 127.30 m. jG3=jjjihhhhfffrfbf`@ɛB۠$= ?I Ý;ɚiI+=I G3=i >D}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518311 IzKe^ LKe 9KaKe!KeJ J J J J :J *9J J Mqܴw,0tAZ@YZ9@Z9ZXM[>yZH`b??᤿^6?ʿW??~1?@A?ɨZ@Z;Z$Cy~B~V"IMb@Mb@Mb@ )YCl?v/?Mb?y?xi=</A @)IAyQAIIFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767645٢{; 8=9~c:Q >qq uG٣qy}=< }> Nusing accuracyPremultiplier from config59a?5Y:~! i?:<@E;);5 @lEZj FNOT Ignoring new targets: 125.90 m.Bj-7;Jj57;= ProNav: ac range: 125.900002 m, nav range: 88.546486 m, bearing: 71.962611 deg, approach rate: -0.186803 m/s, LOS rate: 0.337848 deg/s, cmd heading: 2.507819 deg, new cmd heading: 2.971019 deg. 2jEgI I"IIFBI# =&I.I6I<:I FEU<EE> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020055 $?I *F- ?2F) :F) BF5 _0JF1 G= pA G= qAGmGu ?Gu,?GABQOm?w,ۆA:R@Y:פ@:ؼ9:|Z>y:H?L?` `J i@?Fʿ?6?mC?ɨ:R@:;:%CyBBBI"IININF2٢V6 V0=9ZW;Q Z>\\ ^G٣^UGy^u@= b> fNusing accuracyPremultiplier from config`f59b8w?j5Yb}! ibfhjWG=j@bEbC ;b ;bv5rWB rd@riEZjFNOT Ignoring new targets: 125.90 m.BjS;JjS;Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:33:33.0128 TRx dataTimestamp_ set to:1736379214.380757checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272291 ProNav: ac range: 125.900002 m, nav range: 88.456970 m, bearing: 72.115583 deg, approach rate: -0.194546 m/s, LOS rate: 0.332793 deg/s, cmd heading: 2.971019 deg, new cmd heading: 3.430390 deg. 2jdd<HeadingCmd: 0.059872 target range: 125.900002 and range: 127.30 m. j;u=jjjihhhhfffrfbf@ @ɛ5B5N!= 9=>?I9 =;ɚ9i9I=)=IE;u=iAiMV)M;u=)IEQEQ*EQ"EQ*Fm?2Fi:FiBFiJFi) G-tAAGua YtAyBGY Bi  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522992O > I zK BHK 9K K !K E w,yH@!?e?:k@A?`˿`?:?A?ɨ@;y%B-E"I5Mb@Mb@Mb@111 1)1Y5X9v?y&1?Mb?y5?5`e=5<5EA 1)5@I5A1y5AIiIi٢j 0=9;Q > G٣y< > Nusing accuracyPremultiplier from config59򍔜?5Y{}! iEk?:St=@E;;JJJJJm:JJJ5 @ZjFNOT Ignoring new targets: 125.90 m.Bj;Jj;- ProNav: ac range: 125.900002 m, nav range: 88.359169 m, bearing: 72.278816 deg, approach rate: -0.217398 m/s, LOS rate: 0.363244 deg/s, cmd heading: 3.430390 deg, new cmd heading: 3.920618 deg. 2jJy<HeadingCmd: 0.068428 target range: 125.900002 and range: 127.30 m. j#=jjjihhhhԃBf)f1f1rf1bf54@ɛ}B= 隍>I ;ɚiI)=I#=ii,)#=)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:33:33.0128 LVL= 17648, 20513, 18546, 26611, AGC= 60, IDX= 446,-0.18, 2.527, 1.633, 0.158, 1.216, PHS= 1.400, 0.464,-1.061, RAW= 52.1, -7.5, CAL= 57.9, -13.6, ROT= 92.1, 13.6 -Ygot valid direction response: 23:33:33.0128 LVL= 17648, 20513, 18546, 26611, AGC= 60, IDX= 446,-0.18, 2.527, 1.633, 0.158, 1.216, PHS= 1.400, 0.464,-1.061, RAW= 52.1, -7.5, CAL= 57.9, -13.6, ROT= 92.1, 13.6 =PDAT read: Bearing 92.1, 13.6 (Local) =~Local bearing/azimuth received: Bearing 92.1, 13.6 (Local) UDAT read: Range 10 to 50 : 127.8 m (Round-trip 170.5 ms) speed -0.2 m/s ],DAT read: user:3325> BDAT read: Tx time:23:33:34.1382 $Ping request sent.·h?*FE?2FA:FABFE~0JFA  Y?)sI?is>5O?%%cfϓ)𝗿I(X>ii?OT:publishing transmit ping time؉Fpublishing direction and range info9!Ϯi%?5;?]J_#|?y )Ii )Ii5O?%%cfϓ)IiGe 憧G! B) OM >Ha Ia  Ie "IIe UBIa &Ia .Ia 6Ie <:Ie FFw,)A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:23:33:34.1375 2$?I4ZL@YZ[@Zsm˼9Z#v[>yZH}?=?`u@C?%˿ m?6?B?ɨZL@ZD;XyBB"II]I]٢mQ m_=9m:Q m>qq G٣y< > Nusing accuracyPremultiplier from config59?5Y}! i+ˎ=@E;; 5XB @fEkBU,s?kp k klA:kBBkBZk`?"_W0@KZ2U@M W@!Ϯi%?5;?]J_#|?Jki?RkOT*Bh^-@鎧?O@&p[@*u42?yo|3L?bdz?"kyB*k*lAkư{?kI; 2kt0Ck8ǜ?k}A^ kCkhBk? addTargetRange:: Added new target pos. range: 127.800003 m, deltaT: 3.779932 s, deltaX: 0.500000 m, approachRate: 0.132278 m/s, rangeRepo size: 4  Added new target pos. range: 127.800003 m, bearing: 76.711548 deg, lat: 36.905227 deg, lon: -122.119998 deg, deltaT: 7.309701 s, deltaX: 1.900002 m, approachRate: 0.259929 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 127.80 m.BjJj ProNav: ac range: 127.800003 m, nav range: 82.704185 m, bearing: 72.566857 deg, approach rate: 0.000000 m/s, LOS rate: 0.363244 deg/s, cmd heading: 3.920618 deg, new cmd heading: 4.337537 deg. 2jHeadingCmd: 0.075704 target range: 127.800003 and range: 127.80 m. j =jjji hhhhfffrf@3_@bf%`?ɛeBmf+= O>I ~E;ɚiI[=I =ii+) =)*Fe?2Fa:FaBFe4JFaG]AGB!O=r>Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A2 @Y2@2AtѼ92_R>y2H?|?= R?"ʿ -?+?=P?ɨ2 @2;2&CyB߃BB3"IIJIJ٢R} VW=9V6Q V>TX ZG٣ZUGyZR< Z> bNusing accuracyPremultiplier from config\b59^?f5Y^|! i^dfߢ=f@^E^v:^:^!5p r@rcE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 127.80 m.Bj;Jj; ProNav: ac range: 127.800003 m, nav range: 82.623238 m, bearing: 72.706282 deg, approach rate: -0.215791 m/s, LOS rate: 0.372046 deg/s, cmd heading: 4.337537 deg, new cmd heading: 4.756217 deg. 2jT<HeadingCmd: 0.083012 target range: 127.800003 and range: 127.80 m. j=jjjihhhhfffrfbf@?ɛBu#= >I ';ɚiI=I=ii̓)=) U$?IQ]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.*F2F:FBF4JFzKKKK!KJ*((pL0 JAAJAAGe ^GA BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987832qJw,A23@Y2 @2Fʼ92ܟT>y2H`?`Ur ޘD`P?bʿ`H?#a?M?ɨ23@2gJ;2'CyZփBZ'"IUMb@Mb@Mb@QQQ Q)QYUʡE?~jt? G٣y< > Nusing accuracyPremultiplier from config59Ɣ?5YT|! i`?:Q@=@ EY;;#5 *@ZjFNOT Ignoring new targets: 127.80 m.Bj;Jj; ProNav: ac range: 127.800003 m, nav range: 82.539116 m, bearing: 72.867486 deg, approach rate: -0.202171 m/s, LOS rate: 0.387817 deg/s, cmd heading: 4.756217 deg, new cmd heading: 5.240307 deg. 2j<HeadingCmd: 0.091461 target range: 127.800003 and range: 127.80 m. jO=jjjih h hhBfffrfbfO?ɛB$= >I <ɚiIo=IO=ii.|)O=)*F?2F:FBF\0JFH)I) I-"II-FBI)&I).I)6I-Ű<:I- F =$?I9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239236GMbG! B) O] >J J J /J J J O9J (N3J J ;a J ;a J e,;a J e,;a .w,jAVc@YVG<VۍƼ9VyVH@?Jވ?N?tʿ ј?i?;M?ɨVc@Vd;V%Cy^B^ "Iib >Ib> f=f=IjIj̍٢rb rU=9v+:Q v>tt vG٣tyzk= z> ~Nusing accuracyPremultiplier from config|59~Wٔ?5Y~{! i~  t= @~ E~':~':~P%5YB @`EZjAMFNOT Ignoring new targets: 127.80 m.BjM#;JjM#;] ProNav: ac range: 127.800003 m, nav range: 82.462372 m, bearing: 73.010164 deg, approach rate: -0.200270 m/s, LOS rate: 0.372677 deg/s, cmd heading: 5.240307 deg, new cmd heading: 5.668732 deg. 2jeIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491382 5)<ɚ1i1I5=I==i9i=qi)==)AEMqAEMqA*F?2F:FBF`0JFG(~GBO> 1 I1 m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743958zK NK 9K K !K ]\ w,/AV@YV,<VF9VP T>yVH ?s?@.N?^ʿ X?TO? O?ɨV@Vc;V'CynBn!IMb@Mb@Mb@ )YQ?{Gzt:vy(?ףԼA @)I@yf@IIb1٢n ;=9v;Q > G٣UGy< > Nusing accuracyPremultiplier from config59?5Y{! iN?:=<@ Es;:8'5 @ZjQ]FNOT Ignoring new targets: 127.80 m.Bj];Jj];u ProNav: ac range: 127.800003 m, nav range: 82.379066 m, bearing: 73.186039 deg, approach rate: -0.189481 m/s, LOS rate: 0.400437 deg/s, cmd heading: 5.668733 deg, new cmd heading: 6.196874 deg. 2juhIy }) <ɚyiyI}:=IҀ=iidh)Ҁ=)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996050*F]?2FY:FYBF]_0JFYG lG B O >jH <bH <H% 3>I!  I% "II% (BI! &I! .I! 6I% }<:I% Z F  $?I o?w,mIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247133yeBe!IIuIub٢Z N=9Q > G٣y > Nusing accuracyPremultiplier from config59)?5Y{! i%@E::(5 @]EZj  FNOT Ignoring new targets: 127.80 m.Bj;Jj;- ProNav: ac range: 127.800003 m, nav range: 82.304077 m, bearing: 73.346083 deg, approach rate: -0.190671 m/s, LOS rate: 0.407306 deg/s, cmd heading: 6.196874 deg, new cmd heading: 6.677432 deg. 2j-Ë<5HeadingCmd: 0.116543 target range: 127.800003 and range: 127.80 m. j51=j1j1j9i9h9h9hAhAfAfAfArfIbfMࣳ@ɛ} B}L< y隅>I T<ɚiIƠ=I1=ii\)1=)*F ?2F:FBFo0JFJJJ0JJ:Jb9Jـ3JJ7;J9;J/.;J0.;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499910G GI BQ Ou >jw,JcA:M=@Y:{=:9:ȾO>y:H?`4)dͣ?P?'ɿ{? S?`V?ɨ:M=@:T;8yF~BF!I)H HIRIR(*2٢V Z[=9Z#3\\ bG٣`yb3= b> jNusing accuracyPremultiplier from configdj59fW?j5Yfp{! if1ln =n@fEfB;f ;f*5vZB v@vZEB*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 127.80 m.Bj;Jj;- ProNav: ac range: 127.800003 m, nav range: 82.230560 m, bearing: 73.496244 deg, approach rate: -0.197382 m/s, LOS rate: 0.403520 deg/s, cmd heading: 6.677432 deg, new cmd heading: 7.128309 deg. 2j-w<5HeadingCmd: 0.124412 target range: 127.800003 and range: 127.80 m. j5=j1j1j1i9h9hAhAhAfIfIfIrfIbfU@ɛ}B}j)< 隅`>I <ɚiI=I=iid)=)ER>E> $?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.752540*FM?2FQ:FQBFU1JFQ"G=G=G|zK5BHK5s9K1K5!K5GaBOG>JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:33:36.7133  TRx dataTimestamp_ set to:1736379217.909338 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004921[w,&}A:Sk@Y:~5=:9:nL>y:H ?ܧ֔|(?@@T?`rɿ`{?a??\?ɨ:Sk@:g;:#CyRtBR!I5Mb@Mb@Mb@111 1)1Y5S?x&L7A`堿y5/?575+5A 1)5@I5v@1y5p@IM IM2٢UC ]@=9][[;Q ]>aa eG٣eUGymX< m> uNusing accuracyPremultiplier from configq}59uj-?}5Yu{! iuP}W?}:LS@uEu;ud;uo,5 c@ZjFNOT Ignoring new targets: 127.80 m.BjP;JjP; ProNav: ac range: 127.800003 m, nav range: 82.169510 m, bearing: 73.674056 deg, approach rate: -0.143565 m/s, LOS rate: 0.418449 deg/s, cmd heading: 7.128309 deg, new cmd heading: 7.662123 deg. 2j<HeadingCmd: 0.133729 target range: 127.800003 and range: 127.80 m. jT>jjjihhhh1Bfffrfbf@ @ɛB< rB>I <ɚiI=I-T>i1i5~`v)5T>)1HI IT"IIBI$ =&I.I6Iy<:IX FBIJIRIZI# =bI# =jIإ4*F?2F:FBF2JF IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256948G b:G B O >JK|3 KS}-KK"KJ J J J J ݒ:J =9J J J ;J ;J *;J *;%w,.7AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:33:36.7133 LVL= 16160, 23217, 17890, 26483, AGC= 62, IDX= 435, 0.34, 2.394, 1.403,-0.002, 1.101, PHS= 1.381, 0.349,-1.106, RAW= 54.4, -5.8, CAL= 59.6, -11.2, ROT= 90.4, 11.2 Ygot valid direction response: 23:33:36.7133 LVL= 16160, 23217, 17890, 26483, AGC= 62, IDX= 435, 0.34, 2.394, 1.403,-0.002, 1.101, PHS= 1.381, 0.349,-1.106, RAW= 54.4, -5.8, CAL= 59.6, -11.2, ROT= 90.4, 11.2 PDAT read: Bearing 90.4, 11.2 (Local) ~Local bearing/azimuth received: Bearing 90.4, 11.2 (Local) DAT read: Range 10 to 50 : 128.1 m (Round-trip 170.9 ms) speed -0.4 m/s  ,DAT read: user:3326>  R#Rx 1: Read range and direction messages.\direction in FSK: [0.090322,0.640306,0.762791]Fpublishing direction and range infoؙ9؝_Y?jac}? ϑh?e@YeP=eNm9ewWJ>yeH?" Oq7?T?<0ɿ?`4 ? _?ɨe@eLj;e&Cy؝Cؙ؝ ?؝Z ٝE)ٝsgIٝ>iٝİ?ٝ!>ٝhٝs?ٝ4QϽ ڝ%?)ڝ+HIڝ?iڝ+H>ڙڙ۝C)=K?0Ypdd])۝ I۝=i۝?۝;^ۙۙT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y޽]B!III<2٢U U"=9UQ;Q U>YY ]G٣YyeX< e> Nusing accuracyPremultiplier from configi59mG?5Ym*|! imv8@mEm(jQjQjQiYhYhYhhfffrf@3`@bf`T?ɛBEB< QU >IQ U2<ɚQiQIU=I]>iaie)e>)a $?I*F ?2F :F BF {0JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Tx time:23:33:37.8382 ] $Ping request sent.e N,w,DA*J<"J>R=^P@Y^d=^X9^H>y^H|? {`a +?U?ȿ@?@?b?ɨ^P@^;^%CyjGBjy!I =p=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248886eMb@Mb@Mb@aaa a)aYerh|?V-Mbye?ee@e` A e@)e@IeI@aye@@AII 3٢-ǽ -==95i?;Q 5>19 =G٣9y=n:< => Nusing accuracyPremultiplier from config59v^?5Y|! i)?:齑@E;;05[B ATEZj FNOT Ignoring new targets: 128.10 m.Bj8 <Jj8 jQjQjQiQhQhQhYh]܂Bfyffrfbf ?ɛB"z< Я=I Q<ɚiI`=I ?>i i Nč)?>)*F?2F:FBF1JFGwGIBYOu>HI I"IĨBI# =&I.I6I<:Id F m $?Ii E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499104Ș3w, A:@Y:L=:NLU9:VG>y:H`f?I8E?pS?Oȿ`X? ?`c?ɨ:@:i;8ynjjjihhhhfffrfbf?ɛB~d< 隽o=I <ɚiIgW=I'>iiRю)'>)JJJJJ:JJJJ;J;JJ*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751416GNG B O > G 5tA  7Y 5tAy B Y IY 9w,Ab!@Yb\=bQ^A9bG>ybHG?@1KaU? ?Q?ȿ`+?2?vd?ɨb!@bz;`yr/BrZ!I~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004132IIʴ٢59 5F=9=rA;Q =>AA EG٣AyE(< M> UNusing accuracyPremultiplier from configQ]59U?]5YU>~! iU Yeӽe@UEU@:U:U35m\B ugAuQEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 128.10 m.Bj<Jj< ProNav: ac range: 128.100006 m, nav range: 76.540215 m, bearing: 76.217440 deg, approach rate: -0.084746 m/s, LOS rate: 0.454452 deg/s, cmd heading: 9.392816 deg, new cmd heading: 9.961324 deg. 2j<HeadingCmd: 0.173858 target range: 128.100006 and range: 128.10 m. j2>jjjihhhhfffrfbf`?zK-tNK)K)K-!K-}}xuuqppmkheda\XVUTQLHGCA;43/)%""$!ɛ}"B}ް2< 隅iiј)2>)EEpA*FQ2FQ:FQBFU3JFQ"G]=G]=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256564G] rGa Ge rAG1 BA O] >@w,A2rP@Y2=2|A92F>y2H ?Ǹdc?k|?O?Mȿw/??e?ɨ2rP@2j;0yN*BRU!I)T T-Mb@Mb@Mb@))) )))Y-x?jtĿ ףp= y-K?- -Q8-I A )))I-@)y-@II?٢ߠ D=9Q > G٣y_< > Nusing accuracyPremultiplier from config59?5Y^! iC?:,@E8;;55 ANEZj  FNOT Ignoring new targets: 128.10 m.Bj<Jj<% ProNav: ac range: 128.100006 m, nav range: 76.522385 m, bearing: 76.407006 deg, approach rate: -0.043349 m/s, LOS rate: 0.460985 deg/s, cmd heading: 9.961324 deg, new cmd heading: 10.530134 deg. 2j%/<-HeadingCmd: 0.183786 target range: 128.100006 and range: 128.10 m. j-E2<>j)j)j)i1h1h1h9h=Bf9f9fArfAbfE R>?H]2>IY I]!II]BI]$ =&IY.I]5D6I]<:I]_ Fɛ%BgL%< 隝 ii}2)E2<>) $?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512465*FE?2FA:FABFE]0JFIG%GBOI> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764566QFw,A6n@Y6ơ=6_96EF>y6H?@E@Ry?@'3?K?ȿ᫂??~e?ɨ6n@6ff;6&Cyz(BzR!II I ٢5U 5R=954;Q 5>99 =G٣=UGyE < E> MNusing accuracyPremultiplier from configI]59M?]5YM`! iMzY]%e@MEMpJ;MJ;MN75i mAiZjFNOT Ignoring new targets: 128.10 m.Bj%<Jj%< ProNav: ac range: 128.100006 m, nav range: 76.504883 m, bearing: 76.584351 deg, approach rate: -0.044906 m/s, LOS rate: 0.455129 deg/s, cmd heading: 10.530134 deg, new cmd heading: 11.062274 deg. 2j,<HeadingCmd: 0.193073 target range: 128.100006 and range: 128.10 m. jE>jjjihhhhfffrfbf`B@ɛ)BpV< I `<ɚiI ]=ImE>iqiuxt)uE>)q*FE?2FA:FABFE_0JFA $?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015166G,GG?Ga B zK NK 9K K !K    O >Lw,~6AJ6J6J4J4J6M:J69J4J4a:@a:@a:@a:@>A@Y>=>9> G>y>H? 偵|>?`?@F??ȿo}?s?Gd?ɨ>A@>;>$Cy^#B^L!IMb@Mb@Mb@ )Y&1?oʡſˡEy?-' A )I@yG@I I<2٢ >=9 ՙ;Q  >    G٣ yK< > %Nusing accuracyPremultiplier from config%59q•?-5Y! i-?-:-?-@!ED;;/95=]B =A=KEZjYeFNOT Ignoring new targets: 128.10 m.BjeV;JjmV;} ProNav: ac range: 128.100006 m, nav range: 76.493469 m, bearing: 76.773632 deg, approach rate: -0.026601 m/s, LOS rate: 0.441218 deg/s, cmd heading: 11.062274 deg, new cmd heading: 11.630184 deg. 2j}f<HeadingCmd: 0.202985 target range: 128.100006 and range: 128.10 m. jMO>jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269574hhBfffrfbf w<@ɛ-B< M=0I ?<ɚiIE=I MO>iiF)MO>)*F2F:FBF`0JFG GrAHYIY I]!II]BIY&IY.IY6I]<:I] F $?IG M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519509G B O >iSw,[PA6<@Y6=6Ѡ96gJ>y6H$?X@1?@?`=?@ɿ0t?@"?`d`?ɨ6<@6 g;6%CyR%BRN!IiV;>IVa=IZIZ(1٢b < fa=9f;Q f>dh jG٣hyj< j> rNusing accuracyPremultiplier from configlr59n'ԕ?v5Yn! intv7v@n#En@:na:n:5zqB ~]A~HEZj!-FNOT Ignoring new targets: 128.10 m.Bj-;Jj5; ProNav: ac range: 128.100006 m, nav range: 76.482773 m, bearing: 76.933438 deg, approach rate: -0.029369 m/s, LOS rate: 0.438843 deg/s, cmd heading: 11.630184 deg, new cmd heading: 12.109657 deg. 2j<HeadingCmd: 0.211353 target range: 128.100006 and range: 128.10 m. jmX>jjjihhhhfffrfbf`A@ɛ0B"< I  <ɚiI=ImX>ii`U)mX>)*F2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.խ>խR=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773436G G B) OM > I Zw,X7jAWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:33:40.4148  TRx dataTimestamp_ set to:1736379221.693440checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024988y]+B]V!IImImb1٢}+< ?=9Q > G٣UGy > Nusing accuracyPremultiplier from config59镜?5Y΃! i)@%E::<5 .AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 128.10 m.Bj;Jj;% ProNav: ac range: 128.100006 m, nav range: 76.470932 m, bearing: 77.121848 deg, approach rate: -0.027634 m/s, LOS rate: 0.439781 deg/s, cmd heading: 12.109657 deg, new cmd heading: 12.674955 deg. 2j-<-HeadingCmd: 0.221220 target range: 128.100006 and range: 128.10 m. j5kb>jjjihhhhfffrf!bf` @zK y MK h9K K !K RK5?JK5?ɛ3Btg< I M<ɚiIX=Ikb>ii  ) kb>) JyJ}BAJJJJJݒ:J*9JJ*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275160G G pAG pAG B O >N aw,(aAHI I!IIvBI# =&I.I6Iv<:IV Fy1B%]!I 5$?I1Mb@Mb@Mb@ )YuV?'1ZĿMbyr?" @)@I@y@I I̍2٢u< u-=9yQ }>yy }G٣yy > Nusing accuracyPremultiplier from config59?5Y ! ic?:9@'E;;>5 AEEZjFNOT Ignoring new targets: 128.10 m.Bjv;Jjv;Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 23:33:40.4148 LVL= 15856, 19873, 23218, 30835, AGC= 58, IDX= 451,-0.26,-0.420,-1.374,-2.694,-1.594, PHS= 1.262, 0.267,-1.103, RAW= 54.8, -4.2, CAL= 58.9, -8.8, ROT= 91.1, 8.8 5Ygot valid direction response: 23:33:40.4148 LVL= 15856, 19873, 23218, 30835, AGC= 58, IDX= 451,-0.26,-0.420,-1.374,-2.694,-1.594, PHS= 1.262, 0.267,-1.103, RAW= 54.8, -4.2, CAL= 58.9, -8.8, ROT= 91.1, 8.8 EPDAT read: Bearing 91.1, 8.8 (Local) E~Local bearing/azimuth received: Bearing 91.1, 8.8 (Local) UDAT read: Range 10 to 50 : 129.3 m (Round-trip 172.4 ms) speed 0.0 m/s ],DAT read: user:3327> eBDAT read: Tx time:23:33:41.5382 e$Ping request sent.ejjjihh9>/Gt?Q x?)nFI?inF>+m?Z{쿽f)IV=i6?M_:publishing transmit ping timeaFpublishing direction and range info9<'^?ߢWr?c^?y )Ii h!h%Bf!f!f!rf-)`@bf-`g ?)Ii+m?Z{쿽f)Iiɛu7Bu" < q隵)I v<ɚiIĹ=Im>iiν)m>)E ]<*F ?2F :F BF _0JF "G =G > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:33:41.5375 G@Y>2=>*59> V>y>Hx?뾿냙??`\? ^ʿ F??@M?ɨ>@>;>&CyJABNq!I)P PPPIVIV<2 \I\٢j$= U1=9Ufaa eG٣aymm= m> Nusing accuracyPremultiplier from config59?5Y! iU@)E<<@5rB A%BEWill construct direction to contact in vehicle frame from tetrahedron phase data.kq?kl1Q k kA:kLCBkiCZki?"m~@f7T@sl,X@<'^?ߢWr?c^?Jk6?RkM_*eM?N\ ]N@X\@@: J?$E?U[I@?"krB*ko=k(?keg1F 2k3Ckư{?kI; kt0Ck~Bk3?- addTargetRange:: Added new target pos. range: 129.300003 m, deltaT: 3.781574 s, deltaX: 1.199997 m, approachRate: 0.317327 m/s, rangeRepo size: 4 = Added new target pos. range: 129.300003 m, bearing: 89.903054 deg, lat: 36.905137 deg, lon: -122.120182 deg, deltaT: 3.781574 s, deltaX: 1.199997 m, approachRate: 0.317327 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 129.30 m.BjMJjI ProNav: ac range: 129.300003 m, nav range: 63.683018 m, bearing: 80.662803 deg, approach rate: 0.000000 m/s, LOS rate: 0.415213 deg/s, cmd heading: 13.262549 deg, new cmd heading: 13.911989 deg. 2jHeadingCmd: 0.242810 target range: 129.300003 and range: 129.30 m. j0x>jjjihhhhfffrfbf`?ɛ5:B5ҵ%< 隝Qii7)0x>)zK5RIK59K1K5!K5*J "J =JJJJJ:J9JJE =e Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF JF Gu JʽGI BY Ou >_pw,A6;@Y6m>6Q*96xY>y6H@u?DŽ `ś?`?`w? FʿJSE?@?H?ɨ6;@6;4yZSBZ!I}Mb@Mb@Mb@yyy y)yY}ˡE?L7A`Zd;Oy}?}+}j} A }@)}@I}@yy}G@II٢= <=98Q > G٣UGy< > Nusing accuracyPremultiplier from config59'?5Y! i2 ?:ǽ@+E;;B5 AZjFNOT Ignoring new targets: 129.30 m.Bj  <Jj  <% ProNav: ac range: 129.300003 m, nav range: 63.668686 m, bearing: 80.864949 deg, approach rate: -0.038184 m/s, LOS rate: 0.538699 deg/s, cmd heading: 13.911989 deg, new cmd heading: 14.518540 deg. 2j%ڸ<-HeadingCmd: 0.253396 target range: 129.300003 and range: 129.30 m. j-*>j)j)j)i1h1h1h1h=΂Bf9f9f9rf9bfE?ɛ=BoN<  x3=I  ,<ɚ i Id=I*>iiST)*>)!E)E)*E)"E)ZHIRHM@AHU1>IQ IU!IIU{BIU$ =&IQ.IQ6IU<:IU FBIJIRIZI$ =bI$ =jIÛ4 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FiBFm0JFiG G ?G >M Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >*&ww,DAV҈@YV>V9V[>yVH@? ?l?5? ˿R?`I?C?ɨV҈@Vψ;V%CybkBb!IIjIjk٢rs= rC=9rpQ v>tt vG٣tyz&< z> Nusing accuracyPremultiplier from config|59~;?5Y~3! i~  㳽 @~-E~:~:~tD5sB >A?EZjAEFNOT Ignoring new targets: 129.30 m.BjM <JjM jijijiiihihqhqhqfyfyfyrfybf} k"?ɛ@Bx< 隭l=I T<ɚiIz+=I8=>iio )8=>)*F?2F:FBF4JFGqA GGgɽ M$?IQGyBO>>uWill construct direction to contact in vehicle frame from tetrahedron phase data.zK K ػ9K K !K K}w,AJFJFJDJDJFM:JF9JDJDf @Yf6>fй9f3_>yfH`ܠ?¿K?zs?@$?`1p˿:?@?=?ɨf @fs;f$CyrxBr!Iiv>Iv>Mb@Mb@Mb@ )Yx&?MbMby7 ?A )@I@y3@IIԲ٢\i= :=9:Q > G٣y Q<  > Nusing accuracyPremultiplier from config591O?5YI! i%S ?%:%c%@/E;;_F5) -@1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 129.30 m.Bje <Jje jWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jjihhhhBff!f!rf!bf%`r?ɛCB< 隝,=I <ɚiI! =I>iiװ)>)I*F?2F:FBF5JFH2>I I!IIBI&I.I6D6I<:I F =$?I9G% iG) G- oA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004174G B) OE >5w,?A25@Y2 &>2=992a>y2H?<ĿI??Y?˿3?9?ɨ25@2;0yNBR!IIZIZV٢bw!> b`=9bu:Q b>dd fG٣fUGyj$< j> nNusing accuracyPremultiplier from configlr59n_?r5YnN! in&prgv@n0Ens:n:nG5x z@z=EZj!%FNOT Ignoring new targets: 129.30 m.Bj- <Jj- jIjIjIiIhIhIhQhQfffrfbf+'@ɛMEBM\+< IM>Iq u<ɚqiqI}Z =I}>ii)>)*F=?2F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256240GTGBO>)9 9 H~G |uA  Y |uAy B ! I! g^w,_}+A6@Y6 1>6vbb:96ףb>y6H?ſܣ?`"? ?I˿NLL i?*8?ɨ6@6;6#CyBBB!IIJIJ(*2٢jP= jI=9n:Q n>pp vG٣tyv6< v> ~Nusing accuracyPremultiplier from configx59zr?5YzC! iz>;@z2Ez` ;z ;zI5 tB F@:EZj1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508424MFNOT Ignoring new targets: 129.30 m.BjM <JjM jqjqjqiqhqhqhyhyfyffrfbfC@ɛHBjx< 隽/>I !<ɚiI%g =I>iiB)>)*Fu?2Fq:FqBFqJFq"G}>G}=zKK9KK!KG@GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761640Ew,~VEA:@Y:5<>::9:b>y:Hv?ƿ?`d? ?ӝ˿P?7?ɨ:@:Ͱ;:&CyBBB!I)D DMb@Mb@Mb@ )Yv/? ףp= yx ?Q8A )@I@y@I-I-٢=>= =D=9EF9Q E>AA MG٣IyU< U> ]Nusing accuracyPremultiplier from configYe59]\?e5Y]! i]Gm ?m:mZ=m@]4E];]0;]K5q u@qZjFNOT Ignoring new targets: 129.30 m.Bj<Jj< ProNav: ac range: 129.300003 m, nav range: 63.501575 m, bearing: 81.852533 deg, approach rate: -0.131265 m/s, LOS rate: 0.471612 deg/s, cmd heading: 16.892813 deg, new cmd heading: 17.482733 deg. $?IH3>I I "IIBI&I.I6I<:Is F2jԡ<}HeadingCmd: 0.305131 target range: 129.300003 and range: 129.30 m. j}*:>jyjyjyiyhyhhhRBfffrfbf@ɛJB< P>I n"<ɚiI =I *:>i i K) *:>)MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013116*F?2F:FBFJFGTG ?G?J J J J J :J *9J J J 7;a J 9;a J (;a J (;a G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:33:44.1152  TRx dataTimestamp_ set to:1736379225.477209 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265887ow,1_A6;@Y6nG>6Dr:96c>y6He?`#ȿ????`˿HN'?]7?ɨ6;@6>;4y>˃B>"IIJIJ٢R= RU=9V"Q V>TX ZG٣ZUGyZ< Z> bNusing accuracyPremultiplier from config\b59^?f5Y^ ! i^Odf=f@^6E^';^I;^=M5juB n@n7EZjFNOT Ignoring new targets: 129.30 m.Bj <Jj < ProNav: ac range: 129.300003 m, nav range: 63.449631 m, bearing: 82.033281 deg, approach rate: -0.135201 m/s, LOS rate: 0.470831 deg/s, cmd heading: 17.482733 deg, new cmd heading: 18.025404 deg. 2j<HeadingCmd: 0.314603 target range: 129.300003 and range: 129.30 m. j>jjjihhh h f f f rfbf@ @ɛmMBmœ< imr{>Ii m&<ɚqiI =I>iiի)>)*F)2F):F)BF-0JF) $?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516447GG B OM >zK BIK 9K K !K w, yAn@Yn2R>n;U:9nuc>ynHT?Zmɿc?8?D?˿ J2?6?ɨn@nψ;n%CyzڃBz,"IMb@Mb@Mb@ )YDl?I +y&1?yO ?94`e<A )Iy@II٢p= :=9Q > G٣y< > Nusing accuracyPremultiplier from configu59ƪ?}5Y! iE}b ?}:}8>}@7EC<<(O5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:33:44.1152 LVL= 18144, 28337, 26802, 32755, AGC= 65, IDX= 438,-0.29, 2.429, 1.662, 0.360, 1.439, PHS= 1.078, 0.270,-1.082, RAW= 51.7, -2.9, CAL= 54.4, -6.6, ROT= 95.6, 6.6  Ygot valid direction response: 23:33:44.1152 LVL= 18144, 28337, 26802, 32755, AGC= 65, IDX= 438,-0.29, 2.429, 1.662, 0.360, 1.439, PHS= 1.078, 0.270,-1.082, RAW= 51.7, -2.9, CAL= 54.4, -6.6, ROT= 95.6, 6.6 PDAT read: Bearing 95.6, 6.6 (Local) ~Local bearing/azimuth received: Bearing 95.6, 6.6 (Local) -DAT read: Range 10 to 50 : 129.5 m (Round-trip 172.7 ms) speed 0.0 m/s 5,DAT read: user:3328> =BDAT read: Tx time:23:33:45.2383 =$Ping request sent.=ٵ~ٵqf?ٵ4QO ڵs?)ڵIڵ?iڵ=ڱڱ۵M??CӢߥq)۵I۵K=i۵@g?۵R۱۱e:publishing transmit ping time9eFpublishing direction and range infoر9ص4{eФ?M ?;6yw?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵M??CӢߥq)۱I۱i۱۱۱۱k3#?kV k k~A:kCBkCZk?"9@zU@'6߽W@4{eФ?M ?;6yw?Jk@g?RkR*3yrH:7G"P@wXj[@w/f~zSb?[)e?"kB*kk- ?kO 2k1Ck)xօ?kk1Ckc{Bk? addTargetRange:: Added new target pos. range: 129.500000 m, deltaT: 3.783847 s, deltaX: 0.199997 m, approachRate: 0.052855 m/s, rangeRepo size: 4  Added new target pos. range: 129.500000 m, bearing: 97.036494 deg, lat: 36.905084 deg, lon: -122.120182 deg, deltaT: 3.783847 s, deltaX: 0.199997 m, approachRate: 0.052855 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 129.50 m.BjJj ProNav: ac range: 129.500000 m, nav range: 62.847649 m, bearing: 87.629178 deg, approach rate: 0.000000 m/s, LOS rate: 0.470831 deg/s, cmd heading: 18.025404 deg, new cmd heading: 18.751336 deg. 2jHeadingCmd: 0.327273 target range: 129.500000 and range: 129.50 m. jD>jjjihhhhBfffrf}0`@bf} ?ɛPB< Q>I *<ɚiIF =ID>ii󷯽)D>)E  IH!I! I%G"II%BI%# =&I!.I!6I%<:I% F*Fu?2Fq:FqBFu`0JFqG}pA Gye Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:23:33:45.2375 G] 孽G B! O= >'w,ǔAyޕBޕK"Ii=I; ==II٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59?%5Y! ijjjih!h!hAhAfIfIfIrfIbfUH?ɛRB== l>I ?3.<ɚiI =Ie>ii>Ž)e>)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFGЭGQBYOuz> $?I w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739577yeBed"II}I}٢= P=9Q > G٣UGy > Nusing accuracyPremultiplier from config59Ж?5Y! i3@;E;] ;R5vB @1EZjFNOT Ignoring new targets: 129.50 m.Bj<Jj< ProNav: ac range: 129.500000 m, nav range: 62.748432 m, bearing: 88.037692 deg, approach rate: -0.123349 m/s, LOS rate: 0.513063 deg/s, cmd heading: 19.404081 deg, new cmd heading: 19.977798 deg. 2j< HeadingCmd: 0.348678 target range: 129.500000 and range: 129.50 m. j >j jjihhhhff!f!rf!bf%@)?ɛMUBMX= QU>IQ UL2<ɚYiYI] } =I]>iaieս)e>)a*F?2F:FBF5JFzKMBoHKIKIKM!KM #& BKy:KyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992790G=G) B1 OM >Kw,hA $I$HI I"II#BI&I.I6IŰ<:I FyB"IMb@Mb@Mb@ )Y"~?+?~jt?y?=<A )I@y(@II۳٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59m喜?5Y! in?:>@=EE;;T5 s@UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243600ZjYmFNOT Ignoring new targets: 129.50 m.Bjg <Jjg < ProNav: ac range: 129.500000 m, nav range: 62.674931 m, bearing: 88.259332 deg, approach rate: -0.162639 m/s, LOS rate: 0.491004 deg/s, cmd heading: 19.977798 deg, new cmd heading: 20.643467 deg. 2j|<HeadingCmd: 0.360296 target range: 129.500000 and range: 129.50 m. jx>jjjihhhhȃBfffrfbfo?ɛXB-= >I %S8<ɚiIs =Ix>iiW)x>)*F2F:FBFO5JF"G=GG!ǽG?G ?GJJJJJݒ:J=9JJJ;J;J*;J*;BO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496200+w,oFA>=Y>u>>+9>Q^>y>Hr?cϿ@u? ? b??7ʿ@_r?`]???ɨ>=>Q;>'CyF,BF"I)H HIRIRV٢ZK= Zo=9^xQ b?`` bG٣`yf > f? jNusing accuracyPremultiplier from confighn59j`?n5Yjh! ijpr>r@j?Ejm ;j ;j3V5vwB v@v.EZjFNOT Ignoring new targets: 129.50 m.Bj%5<Jj%5<5 ProNav: ac range: 129.500000 m, nav range: 62.608917 m, bearing: 88.430769 deg, approach rate: -0.200711 m/s, LOS rate: 0.521795 deg/s, cmd heading: 20.643466 deg, new cmd heading: 21.158303 deg. 2j5 <=HeadingCmd: 0.369282 target range: 129.500000 and range: 129.50 m. jE>jAjAjAiAhAhAhIhIfIfIfQrfQbfU@֓?ɛZBe1= <^>I! %I<<ɚ!i!I%n =I->i)i-m)->) =$?IA*F-?2F):F)BF5_0JF1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747793G-`KҽG B9 O >zK LK 9K K !K J J AAUw,*Ay4B"IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001093 )YCl?    G٣ UGy  > Nusing accuracyPremultiplier from config%59 ?%5Y|! i%?%:%>%@AE3;;%X51 5'@1ZjY]FNOT Ignoring new targets: 129.50 m.Bjep<Jjep< ProNav: ac range: 129.500000 m, nav range: 62.507401 m, bearing: 88.661738 deg, approach rate: -0.227789 m/s, LOS rate: 0.519101 deg/s, cmd heading: 21.158304 deg, new cmd heading: 21.852301 deg. 2j jAjAjAiAhAhIhIhUBfQfQfQrfQbf] @ɛM^BM = IM>II UC<ɚQiQIU =I]'F>iYi]!)]'F>)a -$?I)*F?2F:FBFJFH I  I "II [BI &I .I 6I ڰ<:I  FBIJIRIZI# =bI# =jIƶ4G񊶽GBO >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251511r@ŵw,A6E@j=Y6b@>6u96&c>y6H@?%,ѿT)??!?@xD˿n?8? Z6?ɨ6E@j=60;6%CyB=BB"IIJIJ1٢RC= Rc=9R5:Q R>TT VG٣TyZ*= Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^z! i^df>f@^CE^:^@:^Y5h j@j+EZjFNOT Ignoring new targets: 129.50 m.Bj <Jj < ProNav: ac range: 129.500000 m, nav range: 62.421097 m, bearing: 88.847083 deg, approach rate: -0.239214 m/s, LOS rate: 0.514443 deg/s, cmd heading: 21.852301 deg, new cmd heading: 22.409087 deg. 2j<%HeadingCmd: 0.391112 target range: 129.500000 and range: 129.50 m. j%?>j!j!j!i)h)h)h)h1f1f1f1rf9bf= ;@ɛ`B8= >I G<ɚiI9 =I?>iii)?>)JuJuJqJqJuM:Ju*9JqJqJu;Ju;Ju(;Ju(;*F?2F:FBFd0JFGqA GqAGeHGiGmqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503704G!B)OE0> I Mj˵w,/AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757137:/ދ=Y:>:9:Ve>y:H@V? ѿY?XIbp;IfIf̍٢r< rF=9rֺQ v>tt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|59~/?5Y~5x! i~  &> @~EE~v:|~[5 B@5B*** querying acoustic contact ***j1j1ZjFNOT Ignoring new targets: 129.50 m.Bj# <Jj# < ProNav: ac range: 129.500000 m, nav range: 62.320591 m, bearing: 89.058843 deg, approach rate: -0.232226 m/s, LOS rate: 0.490072 deg/s, cmd heading: 22.409087 deg, new cmd heading: 23.045362 deg. 2j*<%HeadingCmd: 0.402217 target range: 129.500000 and range: 129.50 m. j%r>j!j!j!i)h)h)hQhQfQfQfQrfYbf]?@ɛcB5,= 9=>I9 =QN<ɚ9i9IE=IEr>iiQ)r>)!zKBHK9KK!KWill construct direction to contact in vehicle frame from tetrahedron phase data.><BDAT read: Rx Time:23:33:47.8145 TRx dataTimestamp_ set to:1736379229.004891checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008839E >=*F ?2F :F BF \0JF $?I jH bH <H 4>I  I "II ~BI &I .I 6I <:I FGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263544GBO?SԵw,/1QAyJB"IMb@Mb@Mb@ )Y"~j?J +?L7A`?yS#?=+= @)@Iv@y@IIb٢p< =9Q > G٣UGy > Nusing accuracyPremultiplier from config59K?5Y1t! iCu%?:L>@HE;;^5xB @(EZjFNOT Ignoring new targets: 129.50 m.Bj+<Jj+< ProNav: ac range: 129.500000 m, nav range: 62.163673 m, bearing: 89.365578 deg, approach rate: -0.284037 m/s, LOS rate: 0.556622 deg/s, cmd heading: 23.045362 deg, new cmd heading: 23.967808 deg. 2j<HeadingCmd: 0.418317 target range: 129.500000 and range: 129.50 m. j->jjjihh h h Bfffrfbf` @ɛ=hBM"= QU>IQ UU<ɚQiYI]=I]->iaie )m->)iEE<*F?2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:33:47.8145 LVL= 15008, 25585, 22690, 32755, AGC= 60, IDX= 430, 0.08,-1.398,-2.170, 2.812,-2.440, PHS= 1.130, 0.317,-1.034, RAW= 51.8, -4.4, CAL= 55.4, -9.0, ROT= 94.6, 9.0 Ygot valid direction response: 23:33:47.8145 LVL= 15008, 25585, 22690, 32755, AGC= 60, IDX= 430, 0.08,-1.398,-2.170, 2.812,-2.440, PHS= 1.130, 0.317,-1.034, RAW= 51.8, -4.4, CAL= 55.4, -9.0, ROT= 94.6, 9.0 PDAT read: Bearing 94.6, 9.0 (Local) ~Local bearing/azimuth received: Bearing 94.6, 9.0 (Local) DAT read: Range 10 to 50 : 129.0 m (Round-trip 172.0 ms) speed 0.0 m/s ,DAT read: user:3329> R#Rx 1: Read range and direction messages.\direction in FSK: [0.069397,0.674500,0.735006]Fpublishing direction and range infoa9eZı?1?5T+?yeCae:ec eX)aIe<ieף?eM>eZeqg?enF ew?)e| IeV?ie| >aaeV޺?#xcl)eJIe;=ieH?e{_SaaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ~GG e tAy rY tAy BG B O > ] $?IY Aڵw,!kAy~IB|I I ٢e eU=9aQ e>ii mG٣iyq > Nusing accuracyPremultiplier from config59}^?5Yq! i@JE;;_55yB 5@5%EkJS?k6 k k`A:kCBkCZk?(?"!@+2«U@Z5W@Zı?1?5T+?JkH?Rk{_S*(Uq$W)PO@6[[@ [9&O?֯U8V?Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiյA>DAT read: T tie:23:33:48.9383 \unknown deviceResponse_: T tie:23:33:48.9383 JDAT read: TxSync time:23:33:48.9375 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766021"k}B*k k?k[ 2k1Ck(?kk1CkxBk"? addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.530635 s, deltaX: -0.500000 m, approachRate: -0.141618 m/s, rangeRepo size: 4 = Added new target pos. range: 129.000000 m, bearing: 98.995116 deg, lat: 36.905045 deg, lon: -122.120182 deg, deltaT: 3.530635 s, deltaX: -0.500000 m, approachRate: -0.141618 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 129.00 m.BjmJji} ProNav: ac range: 129.000000 m, nav range: 62.176064 m, bearing: 93.509782 deg, approach rate: 0.000000 m/s, LOS rate: 0.556622 deg/s, cmd heading: 23.967808 deg, new cmd heading: 24.648472 deg. 2jyHeadingCmd: 0.430197 target range: 129.000000 and range: 129.00 m. jB>jjjihhhhfffrf `@bf`1?ɛ5kB5ރ.= 9=>>I9 =D\<ɚ9i9I=_=IeB>iiima"ҽ)mB>)iEqEq*Eq"EqzKK+9KK !K (Ialspljlmh_\XTOKD?>=:6440/,+'$# !JKـ3 KKK"KJJJJJݒ:JJJa%@a%@a%@a%@*F ?2F :F BF JF "G =G =e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016564G} eG9 BI O >&w,ԄAj==Yj>j d9j9`>yjH F?wQԿ@G*? ۵?`߉?`4ʿl??[ G٣yӶ= >HI I#IIBI" =&I.I6I<:Ix F mNusing accuracyPremultiplier from configiu59mt?u5Ymm! im}}&?}:}(>}@mLEmD;m<;ma5zB @ EZjFNOT Ignoring new targets: 129.00 m.Bj&<Jj&jQjQjQiQhQhYhYh]BfYfafarfabf@?ɛmoBmX$= qu">Iq ua<ɚqiqIum=I}>iiR)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.267682*F?2F:FBFo0JFG= ?G B1 O] >uUw,žA6=Y6~>6^ 96Od>y6H-?JԿ NҰ?E?@7j?˿3? F?O5?ɨ6=6o;6$CyB/BB"IIJIJF2٢R Rx=9V Q V?TT ZG٣ZUGyZQ< ^? bNusing accuracyPremultiplier from config\f59^?f5Y^lk! i^df>f@^NE^;^;^ c5p r@pZj  FNOT Ignoring new targets: 129.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.>"@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519912Bj%<Jj%<5 ProNav: ac range: 129.000000 m, nav range: 61.972977 m, bearing: 93.934526 deg, approach rate: -0.266955 m/s, LOS rate: 0.554833 deg/s, cmd heading: 25.402532 deg, new cmd heading: 25.924793 deg. 2j5c<=HeadingCmd: 0.452473 target range: 129.000000 and range: 129.00 m. j=>j9j9jAiAhAhAhAhIfIfIfIrfQbfU 5?ɛqB9= 隅ɽ>I  &e<ɚiI=I>ii^\)>)*F2F:FBF@5JFGe $?IGYBiO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771505|w,.Af>YfP<>f9fb>yfHD?~mտ]?? S?ʿ? ?8?ɨf>f;f&Cye#Be"IzK}NK}9KyK}!!K}     JJJ/JJM:J9J(N3JI5I5٢jS 1=9Q > G٣y< > Nusing accuracyPremultiplier from config59?5Yg! i>@PE3::e5{B @E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 129.00 m.Bj%<Jj%<5 ProNav: ac range: 129.000000 m, nav range: 61.847027 m, bearing: 94.192476 deg, approach rate: -0.267537 m/s, LOS rate: 0.549039 deg/s, cmd heading: 25.924792 deg, new cmd heading: 26.700168 deg. 2j5f<=HeadingCmd: 0.466006 target range: 129.000000 and range: 129.00 m. j=R>j9j9j9i9hAhAhAhAfIfIfIrfQbfU?ɛuBԧ= 隽n>I  nj<ɚiI:=IR>ii)R>)-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.023580*F2F:FBFJFG G $?I iZH RH AAH) I)  I- #II- BI- # =&I) .I) 6I- ް<:I- FG HG G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275495bw,eA^? >Y^u>^> 9^`>y^H?տ@{?`a? =?ʿ@?`P?`:?ɨ^? >^@s;^%CyjBjy"Iin=In=mMb@Mb@Mb@iii i)iYm{Gz?Mb?{Gz?ym#?m=m#!! -G٣)y-< => ENusing accuracyPremultiplier from configAM59E-?M5YExd! iEU%?]:]>]@EREE>;E{<;Ef5a e4@aZjFNOT Ignoring new targets: 129.00 m.BjM<JjM< ProNav: ac range: 129.000000 m, nav range: 61.745327 m, bearing: 94.402878 deg, approach rate: -0.263771 m/s, LOS rate: 0.546601 deg/s, cmd heading: 26.700169 deg, new cmd heading: 27.332388 deg. 2j<HeadingCmd: 0.477040 target range: 129.000000 and range: 129.00 m. j>>jjjihhhhڃBfffrfbf ?ɛyB= M>II M"n<ɚIiIIUg=IU>>iYi]kr)]>>)Y*F2F:F!BF%4JF!G EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.529681GBO> I w,CAj4>Yj>j9jϢ`>yjHm?ֿ`[? ??@PʿH}? ?`v;?ɨj4>jv;j'CyBZ"II-I-b2٢E EO=9E>a;Q M>II MG٣MUGyU< U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]`a! i]gam?m@]TE]:]U:]nh5q u@uEZjFNOT Ignoring new targets: 129.00 m.Bjf<Jjf< ProNav: ac range: 129.000000 m, nav range: 61.644791 m, bearing: 94.607111 deg, approach rate: -0.268802 m/s, LOS rate: 0.546944 deg/s, cmd heading: 27.332388 deg, new cmd heading: 27.946064 deg. 2j<HeadingCmd: 0.487751 target range: 129.000000 and range: 129.00 m. jz>jjjihhhhfffrfbf@ɛ|Bp = ۂ>I tq<ɚ i I*=Iz>ii꫽)z>)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779852*F2F:FBF_0JFJJJ0JJݒ:J=9Jـ3JG= zKM9LKMh9KIKM"!KM   RKqJKu?G B Om >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=6.033601vw,l$A2!>Y2>>2jvػ92@[_>y2H E?V+׿@?ܤ??G ʿ`{??=?ɨ2!>2W;2#Cy:B:<"I=Mb@Mb@Mb@999 9)9Y=\(\?V-?Mb`y=?=h=== A =@)=@I=@9y=@ ]$?IYIUIUb٢}> }G=9}:Q }> G٣y:< > %Nusing accuracyPremultiplier from config%59ї?-5YA^! iY-?-:->-@VEZ<_;:j5=|B =]@=EZjamFNOT Ignoring new targets: 129.00 m.Bju`<Jju`< ProNav: ac range: 129.000000 m, nav range: 61.544781 m, bearing: 94.820605 deg, approach rate: -0.232862 m/s, LOS rate: 0.497901 deg/s, cmd heading: 27.946064 deg, new cmd heading: 28.587556 deg. 2jڪ<HeadingCmd: 0.498947 target range: 129.000000 and range: 129.00 m. ju>jjjihhhhvBfffrfbf^@H3>I I"IItBI&I.I6Iٰ<:I FɛB8< L>I Mt<ɚiI[=Iu>iiw)u>) *F?2F:FBFJF"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.283704=PExceeded connect timeout, disconnecting.GG?G>G B O >w,A6L->Y6>6>踻96^>y6H`p?A׿?@XV?t?ɿw?@???ɨ6L->6.;6&CyRƃBR"I)T TIZ IZ(2Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535697٢-( R=9!;Q > G٣y%,< %> -Nusing accuracyPremultiplier from config)559-㗜?55Y-9[! i-K15A?=@-XE-C ;- ;-k5A Ej@AZjquFNOT Ignoring new targets: 129.00 m.Bj}<Jj< ProNav: ac range: 129.000000 m, nav range: 61.448071 m, bearing: 95.022918 deg, approach rate: -0.259654 m/s, LOS rate: 0.544038 deg/s, cmd heading: 28.587555 deg, new cmd heading: 29.195427 deg. 2j<HeadingCmd: 0.509556 target range: 129.000000 and range: 129.00 m. jIr?jjjihhhhfffrfbfX@ɛBxo< >I tu<ɚiI^N=IIr?ii)Ir?)*F2F:FBFp0JF ]$?IYGGBWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձBDAT read: Rx Time:23:33:51.5146 TRx dataTimestamp_ set to:1736379232.784971checking for new query: numPingsReceived=0, elapsed TxPingTime=6.788911O> w,9A>L18>Y>>>WQ9>m^>y>H@w?@mؿ`?@??hɿ%*t?˕?f??ɨ>L18>>N; G٣UGy< >  Nusing accuracyPremultiplier from config 59 ?5Y W! i ;?@ ZE @: a: m5%}B %@EE]B*** querying acoustic contact ***jYjYZjFNOT Ignoring new targets: 129.00 m.Bj<Jj< ProNav: ac range: 129.000000 m, nav range: 61.330757 m, bearing: 95.264481 deg, approach rate: -0.247407 m/s, LOS rate: 0.510414 deg/s, cmd heading: 29.195428 deg, new cmd heading: 29.921462 deg. 2j%<HeadingCmd: 0.522228 target range: 129.000000 and range: 129.00 m. j?jjjih Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041007hh!h!f!f)f)rf)bf-`"> @ɛB< 隥=I w<ɚiIb=I?iiޡ)?)*FU?2FQ:FQBFUk0JFY AIAH2>I I"IIABI&I.I6I<:Iv FBIJIRIZIbIjI4G G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:33:51.5146 LVL= 16240, 25025, 21938, 29683, AGC= 61, IDX= 447,-0.26,-0.483,-1.284,-2.595,-1.561, PHS= 1.166, 0.325,-1.036, RAW= 52.2, -4.8, CAL= 56.2, -9.5, ROT= 93.8, 9.5  Ygot valid direction response: 23:33:51.5146 LVL= 16240, 25025, 21938, 29683, AGC= 61, IDX= 447,-0.26,-0.483,-1.284,-2.595,-1.561, PHS= 1.166, 0.325,-1.036, RAW= 52.2, -4.8, CAL= 56.2, -9.5, ROT= 93.8, 9.5  PDAT read: Bearing 93.8, 9.5 (Local)  ~Local bearing/azimuth received: Bearing 93.8, 9.5 (Local)  DAT read: Range 10 to 50 : 129.0 m (Round-trip 172.1 ms) speed 0.0 m/s u ,DAT read: user:3330> } BDAT read: Tx time:23:33:52.6383 } $Ping request sent.} ٵ ٵ Z;i?ٵ ڵ {?)ڵ )Iڵ ?iڵ )>ڱ ڱ ۵ s"?mwR)۵ bI۵ Ȫ=i۵ ?۵ U۱ ۱  :publishing transmit ping timey  Fpublishing direction and range infoر 9ص *u{AL?g?׎%1?yر ر ر ر ٱ )ٱ Iٱ iٱ ٱ ٱ ٱ ٱ ڱ )ڱ Iڱ iڱ ڱ ڱ ۵ s"?mwR)۱ I۱ i۱ ۱ ۱ ۱ O% >|w,xUA ~nManaging dock network, ignoring radio surface power off C>Y > 9 ^>y HS?@ ٿ m/?q?ş?ɿ~p? ?>?ɨ C> ,; #Cy%B%!IMb@Mb@Mb@ )Y/$?QQ UG٣Qy],< ]> eNusing accuracyPremultiplier from configam59e ?5YevT! ieH?:>@e\Ee0;e;eo5 @k7~?kl{ k klRA:kBkZkR=?"klr#@ScU@gW@*u{AL?g?׎%1?Jk?RkU*Fέ)0VO@v{5[@3 zf{?e?"k2xB*kɇkFct?kѶ 2k1Ck?kѶ kk|Bk?u addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: 3.777344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 129.000000 m, bearing: 105.298688 deg, lat: 36.904989 deg, lon: -122.120170 deg, deltaT: 3.777344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 129.00 m.BjJj ProNav: ac range: 129.000000 m, nav range: 63.217278 m, bearing: 101.029452 deg, approach rate: 0.000000 m/s, LOS rate: 0.510414 deg/s, cmd heading: 29.921460 deg, new cmd heading: 30.625308 deg. 2jHeadingCmd: 0.534512 target range: 129.000000 and range: 129.00 m. j?jjjihhhh%Bfffrfbf% ?ɛUBU< QU( Nw,joA @@VM>YV>VJP9V"]^>yVHN2?@ݞٿ@ٵ?@2??Sɿ? j?Г???ɨVM>V;V&CynvBn!Iir=Ir<IzIzW٢G q=9 &(;Q  ? G٣y< ? %Nusing accuracyPremultiplier from config!-59%?M5Y%R! i%QQUB>U@%^E%;%:;%Zq5]~B ];AeEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 129.00 m.Bj!<Jj!< ProNav: ac range: 129.000000 m, nav range: 63.161713 m, bearing: 101.193041 deg, approach rate: -0.173425 m/s, LOS rate: 0.511028 deg/s, cmd heading: 30.625308 deg, new cmd heading: 31.116492 deg. 2j[<HeadingCmd: 0.543085 target range: 129.000000 and range: 129.00 m. j ?jj!j!i!h!h!hIhIfIfIfQrfQbfU D?ɛB;< 0 1 I1 /"w,s,AZPY>YZԠ>Z3x9ZLp>yZH^ ?@(ڿ+??`Zp;Z#CyfYBf!I]Mb@Mb@Mb@YYY Y)YY]L7A`?~jtL7A`堿y]+?]D]+] A Y)]@I]@Yy]=@H1>I IZ"IIBI$ =&I.I5D6I<:I FIuIu٢ A=9lQ > G٣UGy=< => ENusing accuracyPremultiplier from configAM59E*?M5YEO! iEoUw?U:U>@E`EEG=EG=EEs5 %A EWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj FNOT Ignoring new targets: 129.00 m.Bj%;Jj%;5 ProNav: ac range: 129.000000 m, nav range: 63.109245 m, bearing: 101.398062 deg, approach rate: -0.097075 m/s, LOS rate: 0.379645 deg/s, cmd heading: 31.116491 deg, new cmd heading: 31.732041 deg. 2j5F<5HeadingCmd: 0.553829 target range: 129.000000 and range: 129.00 m. j= ?j9j9j9i9h9hAhAhEBfAfIfIrfIbfM@?ɛ}B}< 隅I t<ɚiI@=I ?ii?) ?)*F- ?2F) :F) BF- 0JF1 "G= =G= =} Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu Э) MNGu5tAGB 7Y5tAy?BO >q)w,A $?IN)c>YNm>Nv-9No>yNH?@ڿYܸ?wl??ʿ ڮe?;?U ?ɨN)c>Nf̌;N$Cy^=B^l!IIjIj٢zB z.=9;Q >    G٣ y:< > Nusing accuracyPremultiplier from config59=?5YL! i>@bEa;;Tu5B  A EZjFNOT Ignoring new targets: 129.00 m.Bj0<Jj0< ProNav: ac range: 129.000000 m, nav range: 63.051449 m, bearing: 101.617937 deg, approach rate: -0.162132 m/s, LOS rate: 0.617360 deg/s, cmd heading: 31.732041 deg, new cmd heading: 32.392239 deg. 2j%<%HeadingCmd: 0.565351 target range: 129.000000 and range: 129.00 m. j%ܺ?j)j)j)i)h)hIhQhQfQfYfYrfYbf] ?ɛB; .(<隭.I ɻr<ɚiI1=Iܺ?iiA)ܺ?)*Fu?2Fq:FyBF}@5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G孽G B O >zKM KKM 9KI KM %!KM 0w,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.B>BS?>LJm>Y><>>9>m>y>H?Dۿ`;??? ʿ@RRc?`At?#$?ɨ>LJm>>v;>%CyR#BRL!I)\ \Mb@Mb@Mb@ )Y ףp= ?T㥛 ףp= yQ>Q8` A )@I@y@II3٢ܽ /=94":Q > G٣y<  > I -Nusing accuracyPremultiplier from config!559%O?55Y%J! i%=v>=:='>=@%cE%2;%%-;%Ow5A EAAeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 129.00 m.Bj};Jj}; ProNav: ac range: 129.000000 m, nav range: 63.019806 m, bearing: 101.817044 deg, approach rate: -0.069665 m/s, LOS rate: 0.438573 deg/s, cmd heading: 32.392240 deg, new cmd heading: 32.989839 deg. 2j~<HeadingCmd: 0.575781 target range: 129.000000 and range: 129.00 m. jgf?jjjihhhhBf f frfbf% b.?HI I"IIBI# =&I.I6I<:Ie Fɛ5B5:8 9=iI9 Co<ɚiI'=Igf?ii)gf?)*F2F:FBF]5JF=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 Gq B O >6w,A6t>Y6J>6M96Ci>y6H?@Uۿ@"?c??@ʿ)5??+?ɨ6t>6i9;6#CyRBR3!II^I^ ٢f9 fm=JnJnJlJlJnݒ:Jn9JlJlJn;arJn;avJn:%;avJn;%;av9vm;Q z?xx ~G٣~UGy~"< ~? Nusing accuracyPremultiplier from config 59O\? 5YMI! iy>@eEV;A;x5B %A% EZjIUFNOT Ignoring new targets: 129.00 m.BjU_;Jj]_;e ProNav: ac range: 129.000000 m, nav range: 62.995277 m, bearing: 101.967810 deg, approach rate: -0.071481 m/s, LOS rate: 0.439533 deg/s, cmd heading: 32.989838 deg, new cmd heading: 33.442302 deg. 2jmҖ Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499170 =w,UA:z>Y:N>: :9:lf>y:H?Bۿ@?r?s??lɿ!] ?t1?ɨ:z>:Щ;:%CybBb!!IIj IjV2٢r  rJ=9r3;Q r>tt vG٣tyzp< z> ~Nusing accuracyPremultiplier from config|59~k?5Y~}G! i~D> @~fE~ ;~ ;~z5 AZjAEFNOT Ignoring new targets: 129.00 m.BjM;JjM;] ProNav: ac range: 129.000000 m, nav range: 62.966152 m, bearing: 102.143745 deg, approach rate: -0.072595 m/s, LOS rate: 0.438722 deg/s, cmd heading: 33.442303 deg, new cmd heading: 33.970336 deg. 2j]I  I !II qBI $ =&I .I 6I <:I i FG ٲG B O >WDw,C7A @@zWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002953y5B5!I E=Ea=Mb@Mb@Mb@ )YˡE?B`"۹/$y>ν, @)@I@yQ@II2٢  G٣y > %Nusing accuracyPremultiplier from config!-59%B}?55Y%E! i%[5>5:5݊>5@%hE%:;%;%|5A UlA]EZj FNOT Ignoring new targets: 129.00 m.Bj;Jj;M ProNav: ac range: 129.000000 m, nav range: 62.953732 m, bearing: 102.339880 deg, approach rate: -0.025448 m/s, LOS rate: 0.401929 deg/s, cmd heading: 33.970335 deg, new cmd heading: 34.558835 deg. 2jMInvalid EZ Servo response:"\r"1 -$ (Communications Fault!  -$  I }Jw,+A6G>Y60@>6<;96>c>y6H e?`ڱܿ `?.??+ȿ y,,?6?ɨ6G>6;6$CyRBR!II^I^(٢f  fb=9fOhh jG٣jUGyj= n> rNusing accuracyPremultiplier from configpv59r?v5YrD! irtv>z@riEr*:r:r/~5| ~A|Zj!%FNOT Ignoring new targets: 129.00 m.Bj5;Jj5;E ProNav: ac range: 129.000000 m, nav range: 62.942482 m, bearing: 102.491246 deg, approach rate: -0.033090 m/s, LOS rate: 0.445319 deg/s, cmd heading: 34.558835 deg, new cmd heading: 35.013003 deg. 2jEϘGBO= >zK rOK ]9K K '!K t%fN=2(   Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:33:55.2147 LVL= 15088, 24561, 20562, 24915, AGC= 57, IDX= 448,-0.04,-0.754,-1.802,-2.919,-2.010, PHS= 1.344, 0.255,-0.912, RAW= 58.9, -7.1, CAL= 66.1, -13.3, ROT= 83.9, 13.3  Ygot valid direction response: 23:33:55.2147 LVL= 15088, 24561, 20562, 24915, AGC= 57, IDX= 448,-0.04,-0.754,-1.802,-2.919,-2.010, PHS= 1.344, 0.255,-0.912, RAW= 58.9, -7.1, CAL= 66.1, -13.3, ROT= 83.9, 13.3  PDAT read: Bearing 83.9, 13.3 (Local)  ~Local bearing/azimuth received: Bearing 83.9, 13.3 (Local)  DAT read: Range 10 to 50 : 129.1 m (Round-trip 172.2 ms) speed 0.0 m/s  ,DAT read: user:3331> % BDAT read: Tx time:23:33:56.3384 % $Ping request sent.% ٽ xiٽ x?ٽ ڽ 7?)ڽ ,mIڽ 5o?iڽ ,m>ڹ ڹ ۽ h!Ϧ?k35뿐)۽ I۽ #B=i۽ .?۽ fp۹ ۹ M :publishing transmit ping time! M Fpublishing direction and range infoع 9ؽ Τغ?p@P+?ݱ?yع ع ع ع ٹ )ٹ Iٹ iٹ ٹ ٹ ٹ dQw,EA )Iih!Ϧ?k35뿐)IinG.>Yn&>n;9na>ynHH?`xݿٻ??W? Hȿb:!?9?ɨnG.>n;n'C $?IyB!IH0>I Is!IICBI&I.I6I<:Ix FuMb@Mb@Mb@qqq q)qYux&1?V-X9vyuA>uuu A u@)u@Iu@qyu@II2٢< =95;Q > G٣ymi< > Nusing accuracyPremultiplier from config-59f?-5Y-C! i5>5:5}>5@kE5<5<5=B =sA=Ekl/?k k k1DA:kCBk6CZkP?"&$I!+@˿R@19Z@Τغ?p@P+?ݱ?Jk.?Rkfp*m%I@ 0e]@AġZ#T?e?Pc%4Y@?"kLB*kL,k?ka# 2k|7Ckkk1Ck{Bkt? addTargetRange:: Added new target pos. range: 129.100006 m, deltaT: 3.783975 s, deltaX: 0.100006 m, approachRate: 0.026429 m/s, rangeRepo size: 4  Added new target pos. range: 129.100006 m, bearing: 101.871560 deg, lat: 36.904989 deg, lon: -122.120170 deg, deltaT: 3.783975 s, deltaX: 0.100006 m, approachRate: 0.026429 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 129.10 m.BjJj- ProNav: ac range: 129.100006 m, nav range: 62.935715 m, bearing: 102.710248 deg, approach rate: 0.000000 m/s, LOS rate: 0.445319 deg/s, cmd heading: 35.013001 deg, new cmd heading: 35.751100 deg. 2j)5HeadingCmd: 0.623974 target range: 129.100006 and range: 129.10 m. j5ɼ?j1j1j1i1h1h9hYh]cBfafafarfe@3#`@bfm`M?ɛBo ۳I `X<ɚiI=Iɼ?iiɽ)ɼ?)E pAE -Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:23:33:56.3376 *F?2F:FBF_0JFGi Bq O >Je Je Je 0Ja Je :Je 9Je ـ3Ja Je ;Je ;Je :%;Je ;%;Ww,_A:>Y:8>:<9:ña>y:HX$? ݿ`Ģ?`u? ~? ȿ?@9?ɨ:>:"6;:%Cy@@)D DHJAININ<9z;Q z?xx ~G٣|y~ = ~? -Nusing accuracyPremultiplier from config!-59%⨘?-5Y%PB! i%15̓>5@%lE%:%:%Ł5Y iiB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 129.10 m.Bj ;Jj ;= ProNav: ac range: 129.100006 m, nav range: 62.931267 m, bearing: 102.827311 deg, approach rate: -0.015454 m/s, LOS rate: 0.406754 deg/s, cmd heading: 35.751099 deg, new cmd heading: 36.102309 deg. 2j= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743580i]w,OyA:Ը>Y:X?:t ;9:I[e>y:H2?@޿q0?+?T?jȿ:A`m?#3?ɨ:Ը>:Q4;:$CyFBF!IIRIR٢V7< Z<9ZOtQ Z>\\ ^G٣^UGyb/< b> jNusing accuracyPremultiplier from configdj59f?n5YfA! iflnÈ>n@fnEf8;f';fw5t v0AvEZjFNOT Ignoring new targets: 129.10 m.Bj;Jj;E ProNav: ac range: 129.100006 m, nav range: 62.923946 m, bearing: 102.986495 deg, approach rate: -0.019821 m/s, LOS rate: 0.431064 deg/s, cmd heading: 36.102310 deg, new cmd heading: 36.579906 deg. 2jM<]HeadingCmd: 0.638440 target range: 129.100006 and range: 129.10 m. j]p#?jajajaiahahahihifififirfqbfu?ɛBaJ 隥I Q<ɚiIw=Ip#?ii½)p#?)JJAA*F12F9:F9BF=4JFAGQzKm~+NKm 9KiKm(!Km RK?JK!?BO!>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995804 ]$?IYHu 1>Iq  Iu Z!IIu /BIu # =&Iq .Iq 6Iu <:Iu v FBIAJIARIAZIE$ =bIE$ =jIE4zdw,@lA2>Y2T?2];92}d>y2HI?`b޿@{?h?@6?@_Aȿx~ ^?` 4?ɨ2>2;2#CyBBB&!IzWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251815Mb@Mb@Mb@ )YS㥛?i|?5/$y> @)I@yQ@II٢^"= 8=9rQ > G٣y< > Nusing accuracyPremultiplier from config59ǘ?5Y?! iL > : > @oE;Q;g5 AZjAEFNOT Ignoring new targets: 129.10 m.BjM;JjM;] ProNav: ac range: 129.100006 m, nav range: 62.915298 m, bearing: 103.172193 deg, approach rate: -0.019516 m/s, LOS rate: 0.419126 deg/s, cmd heading: 36.579905 deg, new cmd heading: 37.137056 deg. 2j]ҏEQ*F2F:FBF[4JFGBOA>J%J%J!J!J%m:J%9J!J!J%;J%;J%';J%';Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499750 I II Djw,VA2ݙ>Y2#k?2%;92c>y2H ??`Q޿M?A?? ȿ|`2;2$Cy>B>IZIZ2٢r~= r\=9vQ v>tt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|59~՘? 5Y~j>! i~q >@~qE~mb;~b;~5%B %^A%EZjIMFNOT Ignoring new targets: 129.10 m.BjU;JjU;e ProNav: ac range: 129.100006 m, nav range: 62.907177 m, bearing: 103.327958 deg, approach rate: -0.021767 m/s, LOS rate: 0.417535 deg/s, cmd heading: 37.137057 deg, new cmd heading: 37.604402 deg. 2jeF*J! "J! zK }KK 9K K )!K ^pG&  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003664Dqw,!A r$?Ipy].B]Y!IMb@Mb@Mb@ )YI +?/$~jthy9>D @)@IyII(1٢)= %8=9-Q ->99 =G٣=UGyE E> MNusing accuracyPremultiplier from configIU59M昜?U5YMu]:]g>]@MrEM;M;M5a eAaZjFNOT Ignoring new targets: 129.10 m.HI If!II9BI$ =&I.I6I<:I FBj5;Jj5;E ProNav: ac range: 129.100006 m, nav range: 62.881802 m, bearing: 103.522860 deg, approach rate: -0.057130 m/s, LOS rate: 0.438981 deg/s, cmd heading: 37.604402 deg, new cmd heading: 38.189324 deg. 2jE8ww,AF>YF' ?F<9FOb>yFHL?@:6U?a??@UWǿ?@7?ɨF>F;F'CyNLBR~!IIV IV<2٢^z%> bc=9bG;Q b>dd jG٣hyj= n> rNusing accuracyPremultiplier from configlr59n*?v5Yn:! intv>v@ntEn:n:n5~B ~A~EZj!%FNOT Ignoring new targets: 129.10 m.Bj-;Jj-;= ProNav: ac range: 129.100006 m, nav range: 62.857166 m, bearing: 103.679293 deg, approach rate: -0.068733 m/s, LOS rate: 0.436620 deg/s, cmd heading: 38.189323 deg, new cmd heading: 38.658795 deg. 2j=ӕ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759756~w,A6>Y6?6<96a>y6H "? }{?)?у?ǿ C?Y9?ɨ6>6;6&CyNhBR!I)T TI^I^(*٢~J > ~G=9~>Q > G٣y K<  > Nusing accuracyPremultiplier from config59?5Y8! i!%}>%@uEc;;U5) -A)UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 129.10 m.Bje;Jjm;} ProNav: ac range: 129.100006 m, nav range: 62.827682 m, bearing: 103.857995 deg, approach rate: -0.071684 m/s, LOS rate: 0.434684 deg/s, cmd heading: 38.658796 deg, new cmd heading: 39.195136 deg. 2j}(<HeadingCmd: 0.684084 target range: 129.100006 and range: 129.10 m. j$ /?jjjihhhhfffrfbf@1@ɛB{: I @<ɚiI7X=I$ /?ii)$ /?)JJ@AJ%J%J!J!J%ݒ:J%=9J!J!a]@a]@a]@a]@*F2F:FBF0JFGBO(>zK%:LK%9K!K%*!K%FeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:23:33:58.9141 mTRx dataTimestamp_ set to:1736379240.096760uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012827 $?IH I  I !II bBI # =&I .I 6I h<:I L Fw,A2i>Y2?2 <92\b>y2Hw??@A?S?rǿ@/\?`8?ɨ2i>26[;2$CyB|BB!IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263531Mb@Mb@Mb@ )YPn?=9 Q > G٣UGy< > Nusing accuracyPremultiplier from config59_?5Y"6! i?:}>@wET ; ;55 =AEZj!%FNOT Ignoring new targets: 129.10 m.Bj-?<Jj-?<ɚiIh=I1?ii!_)1?)*F?2F:FBF0JFGyBO^>}Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:33:58.9141 LVL= 17760, 24881, 18338, 21843, AGC= 61, IDX= 441,-0.46, 0.002,-1.348,-2.129,-1.295, PHS= 1.385,-0.006,-0.837, RAW= 68.3, -5.6, CAL= 76.4, -12.0, ROT= 73.6, 12.0  Ygot valid direction response: 23:33:58.9141 LVL= 17760, 24881, 18338, 21843, AGC= 61, IDX= 441,-0.46, 0.002,-1.348,-2.129,-1.295, PHS= 1.385,-0.006,-0.837, RAW= 68.3, -5.6, CAL= 76.4, -12.0, ROT= 73.6, 12.0 % PDAT read: Bearing 73.6, 12.0 (Local) - ~Local bearing/azimuth received: Bearing 73.6, 12.0 (Local) 5 DAT read: Range 10 to 50 : 128.6 m (Round-trip 171.5 ms) speed 0.2 m/s E ,DAT read: user:3332> E R#Rx 1: Read range and direction messages.M \direction in FSK: [0.059648,0.451756,0.890145]M Fpublishing direction and range info؁9؅)O1?ZR?8v|?y؅C؁؅`E؅1a مG)مSUIم=iمG?مĻمEVمk?م+Ƚ څ㭪?)څPwVIڅl?iڅPwV>ځځۅkd?{lL+ )ۅgIۅ(+=iۅ.B?ۅAہہm T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode. I w,1.Aj>Yj~~?j ;9j1`>yjH?{??`&?9ƿBA?:?ɨj>j]Lj;j&CyrBr!II~I~2٢ z7>  V=9OQ > G٣y< %> -Nusing accuracyPremultiplier from config!-59%.#?55Y%3! i%1>@%yE%+x<%ax<%5 K@k2\$Ε?k7 k k&A:kCBknBZk:a?"g֮@_C M@nR@\@)O1?ZR?8v|?Jk.B?RkA*ͼb$ĢxȆH?@ x_@7.YJJ)#?X?"kDA*k#k<ȕ?k` 2k!>CkkkkzBkR?E addTargetRange:: Added new target pos. range: 128.600006 m, deltaT: 3.529712 s, deltaX: -0.500000 m, approachRate: -0.141655 m/s, rangeRepo size: 4  Added new target pos. range: 128.600006 m, bearing: 108.047210 deg, lat: 36.904989 deg, lon: -122.120170 deg, deltaT: 3.529712 s, deltaX: -0.500000 m, approachRate: -0.141655 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 128.60 m.BjJj ProNav: ac range: 128.600006 m, nav range: 62.732761 m, bearing: 104.232085 deg, approach rate: 0.000000 m/s, LOS rate: 0.462475 deg/s, cmd heading: 39.790121 deg, new cmd heading: 40.355389 deg. 2j HeadingCmd: 0.704334 target range: 128.600006 and range: 128.60 m. jCO4?jjjihhhhf!f!f!rf%@3`@bf%W?Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:34:00.0384 $Ping request sent.<ɚ iIf=ICO4?ii)CO4?)E-qAE-qA*F?2F:FBFW1JFGBOa>JsK{Mb@Mb@Mb@HI I!IIBI&I.I6Ii<:I )Y"~?~jt? 5-=9EQ E>iq uG٣qyu }> Nusing accuracyPremultiplier from configy59}6?5Y}/! i}U?::?@}{E});};}5B p@EZjFNOT Ignoring new targets: 128.60 m.Bj%<Jj-<ɚ1i1I5V=I=ԃ7?iaie@ʽ)eԃ7?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504791*FQ2FY:FYBF]1JFYG} G ?G ?GQ Ba O} >?w,̘bAF>YF{?F;9F,I>yFH+k?  6?r? ?"[Ŀ˱r/ ?@a?ɨF>FG;F%CyRۃBR."II^I^(*٢b/> bx=9fQ f?dh jG٣jUGyj%w= n ? rNusing accuracyPremultiplier from configlr59nXC?v5Yn,! inrtv?v@n|En:nU:nc5| ~@|Zj!%FNOT Ignoring new targets: 128.60 m.Bj-<Jj-<= ProNav: ac range: 128.600006 m, nav range: 62.571182 m, bearing: 104.630529 deg, approach rate: -0.211712 m/s, LOS rate: 0.506625 deg/s, cmd heading: 41.072782 deg, new cmd heading: 41.552266 deg. 2j=ح<ɚiI8=IE9?ii񘲽)E9?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755639 $?I i*F%?2F!:F!BF%^0JF!G5GBO'> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007977ew,c|A2#>Y2y?2"G;92K>y2H@4? ?.]??yĿah@SE?^?ɨ2#>2ΐ;2&CyBBBA"IIJIJW٢= G=9qQ  >    G٣ y%< > Nusing accuracyPremultiplier from config%59S?%5Y)! iS)-!?-@~E::.51 5@5EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 128.60 m.Bjm8 <Jjm8 < ProNav: ac range: 128.600006 m, nav range: 62.484394 m, bearing: 104.833144 deg, approach rate: -0.211243 m/s, LOS rate: 0.493850 deg/s, cmd heading: 41.552265 deg, new cmd heading: 42.160930 deg. 2jv<HeadingCmd: 0.735847 target range: 128.600006 and range: 128.60 m. jy`E>JJJJJݒ:J*9JJ*F?2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260206zKe ULKe 9KaKe,!Ke(,10/.-) IGD;ȽHI IA"IIBI&I.I6D6I<:Ik FGBO>Lw,9A:y>Y:ku?:ʅ$;9:4O>y:H`?1F`? ?`0x?Ŀැd@p? X?ɨ:y>:gh;BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511459:#CyJBJ\"I)P PPP-Mb@Mb@Mb@))) )))Y-Mb? rh?+?y-#?-C=-=) -@)-@I-@)y)IEIEƳ٢Ur= UE=9]ʪQ ]>ii mG٣iym< u> }Nusing accuracyPremultiplier from configq59ujd?5Yux$! iu(M$?:7?@uEu ;u;u5 Q@ZjFNOT Ignoring new targets: 128.60 m.Bj <Jj < ProNav: ac range: 128.600006 m, nav range: 62.367840 m, bearing: 105.052315 deg, approach rate: -0.280367 m/s, LOS rate: 0.528191 deg/s, cmd heading: 42.160931 deg, new cmd heading: 42.819641 deg. 2j?<HeadingCmd: 0.747344 target range: 128.600006 and range: 128.60 m. jQ??jjjihhhhuBfyfyfyrfybf};?ɛB< >I  A<ɚiI=IQ??iiæ)Q??)*F?2F:FBFJFG87GYBiOZ>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763341 $?Ixw,A6 >Y6#?6g:968S>y6H?w埿??+0? ]Ŀ]`H?hQ?ɨ6 >6 ;6$CyNBNw"IIVIV 2٢b= bT=9fQ f>dh jG٣jUGyju= j> 5Nusing accuracyPremultiplier from config)559-Nt?=5Y- ! i-AEv:?E@-E-?;-Y@;-5MB M@UEZjq}FNOT Ignoring new targets: 128.60 m.Bj<Jj< ProNav: ac range: 128.600006 m, nav range: 62.254784 m, bearing: 105.260129 deg, approach rate: -0.286383 m/s, LOS rate: 0.527370 deg/s, cmd heading: 42.819641 deg, new cmd heading: 43.444191 deg. 2j<HeadingCmd: 0.758244 target range: 128.600006 and range: 128.60 m. jJB?jjjihhhhfffrfbf@@ɛB/< +>I C<ɚiI~=IJB?iiL)JB?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015535*F?2F:FBFo0JFG&GB*Ja="Ja=JJJJJ:J9JJO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270811zK LK 9K K -!K ()&##)*'*&"  I `w,]AB>YB&?B:9B(X>yBH o?@uc?j?I?;ſ R?&J?ɨB>Bj;B&Cyn#Bn"IMb@Mb@Mb@ )Yx&?S㥻??y7)?/=L=vA )3@I@y@II٢a= 7=9bźQ > G٣!y% = %> -Nusing accuracyPremultiplier from configH9I9 I="II=-BI9&I9.I96I=m<:I=N FBIJIRIZI# =bI# =jI;4)]59-?]5Y-! ]tIi-e+?e:e~K?e@-E-I;-;-5i u5@qZjFNOT Ignoring new targets: 128.60 m.Bj<Jj< ProNav: ac range: 128.600006 m, nav range: 62.108219 m, bearing: 105.492457 deg, approach rate: -0.331994 m/s, LOS rate: 0.527505 deg/s, cmd heading: 43.444190 deg, new cmd heading: 44.142784 deg. 2j<HeadingCmd: 0.770437 target range: 128.600006 and range: 128.60 m. j[;E?jjjihhhhBfffrfbf@3@ɛƒBhl< A>I %F<ɚ!i!I%&=I-[;E?i)i-yJ)-[;E?)1E9*F2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519405G% 孽G B O% >w,A2M&>Y2U+?2Jx992]>y2H2?\?`??%ſ@ ;gz?A?ɨ2M&>2xP;0yR6BR"IIZIZb٢z= z_=9zQ z>| G٣y 4=  > Nusing accuracyPremultiplier from config59œ?5Y! i!%O?%@E;;;5-B - @-EZjQUFNOT Ignoring new targets: 128.60 m.Bj]<Jj]I jLI<ɚiI=IfG?ii)fG?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773563 $?I*F2F:FBF`5JFG GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:34:02.6125  TRx dataTimestamp_ set to:1736379243.877138 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024913lw,A:Ԋ>Y:A/?:t9:#aa>y:H#?ǔ?H:iQ;8yB;BF"IININ(*٢V+< VO=9V{aQ Z>XX ZG٣Xy^*= ^> bNusing accuracyPremultiplier from config`f59bɢ?f5Yb! ibOhjS?j@bEb:b:b5l n@pB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 128.60 m.BjT<JjT<- ProNav: ac range: 128.600006 m, nav range: 61.844639 m, bearing: 105.894446 deg, approach rate: -0.348283 m/s, LOS rate: 0.525711 deg/s, cmd heading: 44.727706 deg, new cmd heading: 45.351277 deg. 2j-e<-HeadingCmd: 0.791529 target range: 128.600006 and range: 128.60 m. j5J?j1j1j1i1h1h1h9h9f9fAfArfAbfE@9 @ɛuăB}#< y}(m>Iy }.LL<ɚiIn=IJ?ii묕)J?)*F2F:FBF5JFGGWill construct direction to contact in vehicle frame from tetrahedron phase data.<<=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280392BQ yIzKLMK9KK.!K  OI>H=0>I9 I="II=eBI9&I9.I96I=4<:I=" FŶw,#A2Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: 23:34:02.6125 LVL= 14656, 26545, 17970, 28851, AGC= 59, IDX= 424, 0.05,-1.507,-3.013, 2.962,-2.660, PHS= 1.240,-0.306,-0.664, RAW= 79.8, -3.1, CAL= 87.6, -9.0, ROT= 62.4, 9.0 NYgot valid direction response: 23:34:02.6125 LVL= 14656, 26545, 17970, 28851, AGC= 59, IDX= 424, 0.05,-1.507,-3.013, 2.962,-2.660, PHS= 1.240,-0.306,-0.664, RAW= 79.8, -3.1, CAL= 87.6, -9.0, ROT= 62.4, 9.0 RPDAT read: Bearing 62.4, 9.0 (Local) V~Local bearing/azimuth received: Bearing 62.4, 9.0 (Local) ZDAT read: Range 10 to 50 : 127.4 m (Round-trip 169.9 ms) speed 0.3 m/s ^,DAT read: user:3333> fBDAT read: Tx time:23:34:03.7384 f$Ping request sent.f002Nh?hث)23I2n^=i28?2zD00z:publishing transmit ping timedzFpublishing direction and range info092U#Q?Vr{?y0000 0)0I0i00000 0)0I0i0002Nh?hث)0I0i0000>Y2?9(yH~?u o? ?g?ſ@b^? ?@8?ɨ>;%CyAB"IMb@Mb@Mb@ )Y/$?Q?kt?y&1?\> 0=/A )I3@yp@I%I%<٢5< 5(=95Q 5>99 =G٣=UGyE!< E> mNusing accuracyPremultiplier from configIu59M%?u5YM ! iM}5?}:}ya?}@MEM4;M;M5B k@Ek2͗?k2L1 k0 k2OA:k2BBk2 BZk2ɛ@"2pv QK˒A@ܜ^@2U#Q?Vr{?Jk28?Rk2zD*25GIl*lf@~*_@2eצehK}?w?"k23@*k2Lk2-`ʗ?k2Q 2k2MACk2?k2a# k2|7Ck2LBk2?e addTargetRange:: Added new target pos. range: 127.400002 m, deltaT: 3.778309 s, deltaX: -1.200005 m, approachRate: -0.317604 m/s, rangeRepo size: 4  Added new target pos. range: 127.400002 m, bearing: 140.203253 deg, lat: 36.905017 deg, lon: -122.120284 deg, deltaT: 3.778309 s, deltaX: -1.200005 m, approachRate: -0.317604 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 127.40 m.BjJj ProNav: ac range: 127.400002 m, nav range: 51.030167 m, bearing: 106.012448 deg, approach rate: 0.000000 m/s, LOS rate: 0.525711 deg/s, cmd heading: 45.351278 deg, new cmd heading: 46.158061 deg. 2jHeadingCmd: 0.805610 target range: 127.400002 and range: 127.40 m. jwI 0P<ɚiI=Iw ̶w,f2AZ$x>YZA86?Z?U9Z˼a>yZH@:?i [? ??uſdj? 2?9?ɨZ$x>ZI%;Z$Cyb>Bf"IxzAI~I~ʴ٢  -i=95/Q 5>11 =G٣9y== => ENusing accuracyPremultiplier from configAm59EZ™?u5YE! iEqud?u@EEE;EE;E5y }@ZjFNOT Ignoring new targets: 127.40 m.BjC<JjC< ProNav: ac range: 127.400002 m, nav range: 50.886433 m, bearing: 106.242608 deg, approach rate: -0.425761 m/s, LOS rate: 0.683692 deg/s, cmd heading: 46.158060 deg, new cmd heading: 46.850455 deg. 2j<-HeadingCmd: 0.817695 target range: 127.400002 and range: 127.40 m. j-pTQ?j)j)jIiIhIhIhQhQfQfQfYrfYbf]?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛǃB <  4o>I  S<ɚ i Iz=IpTQ?ii`)pTQ?)*F?2F:FBFT0JFGۂGBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data. I zK >KK K K /!K Ҷw,p?LA2[?Y2!9?2f92@X>y2H@?vV?-?Lo?Ŀ Ҍs? ]?HI?ɨ2[?2A%;0yB4BB"I Mb@Mb@Mb@ jHm<bHm<H1>I I"IIBI$ =&I.I6Ig<:IH F   ) Y i|?5?S? rh?y 1? /> C = A @) @I @ y I]I] ٢e=: m7=9m`Q m>q G٣UGy}< > Nusing accuracyPremultiplier from config59љ?5Y i/7?:.s?@EE;b;5B M@EZj)MFNOT Ignoring new targets: 127.40 m.BjU:5<JjU:5< ProNav: ac range: 127.400002 m, nav range: 50.690342 m, bearing: 106.525315 deg, approach rate: -0.437897 m/s, LOS rate: 0.633763 deg/s, cmd heading: 46.850453 deg, new cmd heading: 47.701789 deg. 2jy<HeadingCmd: 0.832553 target range: 127.400002 and range: 127.40 m. j6"U?jjjihhhhBfffrfbf?ɛ%ȃB%< !%JW>I! %+V<ɚ)i)I->=I56"U?i1i5)56"U?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFG @G% ?G% ?JU JU JQ JQ JU M:JU O9JQ JQ JU ;JU ;JU e,;JU e,;G B O >ٶw,efA2@?Y292\Y>y2H@?z͠?`?t!?yĿ gw?`P? jG?ɨ2@?2;2#Cy>-B>"IIFIF٢R* Rl=9V!2Q V?TT VG٣XyZ(= Z? Nusing accuracyPremultiplier from config\ 59^ݙ? 5Y^ i^Y  v? @^E^:^;:^5 @ZjAEFNOT Ignoring new targets: 127.40 m.BjM4<JjM4<]Will construct direction to contact in vehicle frame from tetrahedron phase data.} ProNav: ac range: 127.400002 m, nav range: 50.538570 m, bearing: 106.740554 deg, approach rate: -0.444470 m/s, LOS rate: 0.632230 deg/s, cmd heading: 47.701788 deg, new cmd heading: 48.349416 deg. 2j}<HeadingCmd: 0.843857 target range: 127.400002 and range: 127.40 m. jX?jjjihh $?Ihhfffrfbf@a?ɛMʃBu< y}E>Iy }XX<ɚyiI=IX?ii)X?)*FM?2FI:FIBFM_0JFIGUqA GUmAG%vGBO J> Will construct direction to contact in vehicle frame from tetrahedron phase data.@߶w,AyB"II-I-٢=5 EA=9EQ E>II MG٣IyU U> eNusing accuracyPremultiplier from configam59e2왜?m5Ye ieiqu@eEe:e:e5y }@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 127.40 m.Bj9<Jj9<= ProNav: ac range: 127.400002 m, nav range: 50.350655 m, bearing: 107.010287 deg, approach rate: -0.450433 m/s, LOS rate: 0.648960 deg/s, cmd heading: 48.349417 deg, new cmd heading: 49.161580 deg. 2jEI! -Z<ɚIiQI]I=I[?ii$)[?) 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.zKk3IK+9KK0!K&m}upn*F?2F:FBFJFHYIY I]#II]BI]# =&IY.IY6I]<:I]v FG ʚG B Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003123'w,љAf ?Yf6C?fǻ9f[>yfHL#?l`O9?@??-Ŀ`5x?-?E?ɨf ?f_;f&CynBnd"IuMb@Mb@Mb@qqq q)qYum?ףp= ?Mb?yu.?u>u G٣y z= > Nusing accuracyPremultiplier from config59?5Y i3?:y?@EI;N;5B 4@ܳEZjFNOT Ignoring new targets: 127.40 m.Bj'<Jj'< ProNav: ac range: 127.400002 m, nav range: 50.169823 m, bearing: 107.266616 deg, approach rate: -0.410576 m/s, LOS rate: 0.584085 deg/s, cmd heading: 49.161581 deg, new cmd heading: 49.933289 deg. 2jm<HeadingCmd: 0.871500 target range: 127.400002 and range: 127.40 m. j_?jjjihhhhBfffrfbf@ɛ%̓B-(< )-=I) 5\<ɚ1i1I5o}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256141 $?IRw,A6: ?Y6h F?696\[>y6H?` ?]? RU?)ÿUx?@Udd fG٣fUGyjZ< j> nNusing accuracyPremultiplier from configlr59n?r5Yn inpv|?v@nEn. ;nz:nd5x z@xZjFNOT Ignoring new targets: 127.40 m.Bj4<Jj4< ProNav: ac range: 127.400002 m, nav range: 50.003670 m, bearing: 107.499557 deg, approach rate: -0.449290 m/s, LOS rate: 0.631981 deg/s, cmd heading: 49.933290 deg, new cmd heading: 50.634397 deg. 2j<HeadingCmd: 0.883737 target range: 127.400002 and range: 127.40 m. j]<ɚ)i)I-z4 I i Will construct direction to contact in vehicle frame from tetrahedron phase data. ? < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773392zK lMK s9K K 1!K g`\WRK@=;2*   Dw,gAVG?YVH?Vɻ9V[=[>yVH6?bʩ?˙?`X? ÿ5y?2?`D?ɨVG?V4;V&Cy^Bb:"I)d dHxIx Iz"IIzoBIx&Ix.Ix6Iz<:Iz F}Mb@Mb@Mb@yyy y)yY}w/?Pn?{Gzt?y}&?}>}ף;}` A }@)}@I}@yy}=@IEIEb٢}R }0=9Q > G٣y=< > Nusing accuracyPremultiplier from config59?5YC i'*?:Dy?@E;;j5B f@ٳEZjFNOT Ignoring new targets: 127.40 m.Bj3<Jj3< ProNav: ac range: 127.400002 m, nav range: 49.813705 m, bearing: 107.777176 deg, approach rate: -0.428498 m/s, LOS rate: 0.628606 deg/s, cmd heading: 50.634398 deg, new cmd heading: 51.470371 deg. 2j<HeadingCmd: 0.898327 target range: 127.400002 and range: 127.40 m. j e?j j jihYhYhYh]oBfafafarfabfm 3@ɛЃB< H&=I ]]<ɚiIJ J J J J ݒ:J 9J J J ;J ;J 1;J 1;Hdw,IdA:?Y:jK?:wڻ9:[>y:Hk?W@?`y?? ÿC{?@D?C?ɨ:?:;:$CyfÃBf"IIrIr<٢~> ~h=9rQ >   G٣y< > -Nusing accuracyPremultiplier from config)55 M$?II9-?M5Y- i-QWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:34:06.3108 TRx dataTimestamp_ set to:1736379247.665855checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273762U{?@-E-<-<-5  @ ZjIuFNOT Ignoring new targets: 127.40 m.Bj}<Jj}< ProNav: ac range: 127.400002 m, nav range: 49.667065 m, bearing: 107.989551 deg, approach rate: -0.382024 m/s, LOS rate: 0.554904 deg/s, cmd heading: 51.470369 deg, new cmd heading: 52.109345 deg. 2ji<HeadingCmd: 0.909480 target range: 127.400002 and range: 127.40 m. jh?jjjihhhhfffrfbf @ɛUуBmW=< qu Iq ub]<ɚqiqI}'Pw,/PA2K?Y2yN?2sͻ92"]>y2H/?@D???ܟÿ@cy?}?@?ɨ2K?2A׊;2#CyNBN!IIrIrF٢z۽ zJ=9~t:Q ~>|| G٣UGyX< >  Nusing accuracyPremultiplier from config 59 +?5Y 6 i i~?@ E . ;  ; 5! %@)MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 127.40 m.Bje8<Jje8 BDAT read: Tx time:23:34:07.4385 $Ping request sent.H2>I I"IIABI&I.I6Ik<:IM FBIJIRIZIbIjIƜ3%:publishing transmit ping time؁-Fpublishing direction and range infoؑ9ؕJ|g/-?Bc-{?yؕ3Bؑؕ?ؕ ٕa)ٕIٕ:iٕd;?ٕ⾩ٕ= ٕ?ٕ+ ڕS?)ڕVIڕ{?iڕV>ڑڑە8PQv?eG` &)ەdIە|-=iەD?ە ۑۑ:publishing transmit ping time؁Fpublishing direction and range infoؑ9ؕJ|g/-?Bc-{?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە8PQv?eG` &)ۑIۑiۑۑۑۑ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:23:34:07.4377 vw,LAy~B~!Ii=Ip< = =Mb@Mb@Mb@ )YK?EԸ?Mby^?= @)@Iy@I I ٢=O =7=9=Q E>AA EG٣AyM M> Nusing accuracyPremultiplier from config59:9?5Y, iY]?:v?@E;;5B @ӳEkvK?k4 ! k k A:k3BBkwBZkҗ@"CRL.6@{3jJ_@J|g/-?Bc-{?JkD?Rk *E?f?3<{z_@]?:`<--I?"k*kd>kI L?k=c! 2k?Ck<ȕ?k` k!>CkAk@e addTargetRange:: Added new target pos. range: 126.099998 m, deltaT: 3.789802 s, deltaX: -1.300003 m, approachRate: -0.343027 m/s, rangeRepo size: 4  Added new target pos. range: 126.099998 m, bearing: 271.839977 deg, lat: 36.905036 deg, lon: -122.120502 deg, deltaT: 3.789802 s, deltaX: -1.300003 m, approachRate: -0.343027 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 126.10 m.BjJj ProNav: ac range: 126.099998 m, nav range: 30.567417 m, bearing: 116.193451 deg, approach rate: 0.000000 m/s, LOS rate: 0.643770 deg/s, cmd heading: 52.830666 deg, new cmd heading: 53.736422 deg. 2jHeadingCmd: 0.937877 target range: 126.099998 and range: 126.10 m. jp?jjjihhh h Bf ffrf`f_@bf?ɛӃB; 隍۽I 2Z<ɚiIR_ w,4Ay~|B~!IIIm?٢%+ %^=9!Q %>)) -G٣)y) 5> =Nusing accuracyPremultiplier from config1E595C?E5Y5{ i5MAAE@5E5m ;5:5D5Q U{AQZjFNOT Ignoring new targets: 126.10 m.Bj6<Jj6< ProNav: ac range: 126.099998 m, nav range: 30.462830 m, bearing: 116.550245 deg, approach rate: -0.304873 m/s, LOS rate: 1.043618 deg/s, cmd heading: 53.736421 deg, new cmd heading: 54.810344 deg. 2j3=HeadingCmd: 0.956621 target range: 126.099998 and range: 126.10 m. jt?jjjihhhhfffrfbf@'?ɛԃB6 .I ?&Y<ɚiI1JJJJJ:J*9JJa@a@a@a@ ) I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,NA2Q?Y2CV?2 92'\>y2H@Ya?`{K ?`?F? H ÿ`%?w`?`(B?ɨ2Q?2;0zK:k3IK:9K8K:3!K:>^jd[K>2*# yBbBB!IHN3>IL IN`"IINBIL&IL.IL6IN<:INm F-Mb@Mb@Mb@))) )))Y-B`"?Dl?YY ]G٣]UGy]= e> mNusing accuracyPremultiplier from configau59eN?u5Yev ieKu?u:uPw?}@eEe:;e;e5 OAZjyFNOT Ignoring new targets: 126.10 m.Bj{<Jj{< ProNav: ac range: 126.099998 m, nav range: 30.351967 m, bearing: 116.933220 deg, approach rate: -0.253915 m/s, LOS rate: 0.880347 deg/s, cmd heading: 54.810345 deg, new cmd heading: 55.963305 deg. 2j =HeadingCmd: 0.976744 target range: 126.099998 and range: 126.10 m. j z?jjjihhhhӂBfffrfbfH?ɛ=ՃB=` 9ExeIA EU<ɚIiIIME*F=?2FA:FABFE`0JFI"G]=G]=Will construct direction to contact in vehicle frame from tetrahedron phase data.G} aĽGQ Ba O > G 5tA Y 5tAy B!w,ΪhA>LD!?Y>wY?> 9>f]>y>H?@$ O? y ?`?$¿ DX?u?@?ɨ>LD!?><;>%C dIfiy5NB=!I)I IQUAeWill construct direction to contact in vehicle frame from tetrahedron phase data.ImImT߳٢ǽ H=9`Q > G٣y< > Nusing accuracyPremultiplier from config59Y?5Yp iJDz?@E::ڶ5B AгEZjFNOT Ignoring new targets: 126.10 m.Bj?<Jj?< ProNav: ac range: 126.099998 m, nav range: 30.240862 m, bearing: 117.314025 deg, approach rate: -0.289214 m/s, LOS rate: 0.994895 deg/s, cmd heading: 55.963305 deg, new cmd heading: 57.109755 deg. 2j*=HeadingCmd: 0.996753 target range: 126.099998 and range: 126.10 m. j9+?j j j i h h hhfffrfbf @?ɛ]փB] л Y]燾Ia eR<ɚaiaIe w,A6\U#?Y6[?6%96_>y6H?^X?8?``? 7¿S}? ?K>?ɨ6\U#?6-;6$CyB1BB]!IININ(*2٢Z ZX=9ZX;Q Z>\\ bG٣`ybݮ< b> fNusing accuracyPremultiplier from configdj59f{c?j5Yfĺ ifIlnU|?n@fEf ;fX;f5p rAtB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 126.10 m.JJAAJJJJJm:J9JJBjl<Jjl< ProNav: ac range: 126.099998 m, nav range: 30.137808 m, bearing: 117.667085 deg, approach rate: -0.273495 m/s, LOS rate: 0.940183 deg/s, cmd heading: 57.109756 deg, new cmd heading: 58.172428 deg. 2jO!= HeadingCmd: 1.015300 target range: 126.099998 and range: 126.10 m. j ]?j j j i hhQhYhYfYfYfarfabfe)?ɛ ~I %%N<ɚ!i)IU Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.202686&w,bAy~$B~M!IMb@Mb@Mb@ )YMb?Mb? G٣UGy > Nusing accuracyPremultiplier from config59n?5Y iOh?:Zm?@E; ;k5 FAZj!%FNOT Ignoring new targets: 126.10 m.Bj-=}<Jj-=}<= ProNav: ac range: 126.099998 m, nav range: 30.041815 m, bearing: 118.054438 deg, approach rate: -0.218770 m/s, LOS rate: 0.885599 deg/s, cmd heading: 58.172427 deg, new cmd heading: 59.338029 deg. 2j==EHeadingCmd: 1.035644 target range: 126.099998 and range: 126.10 m. jE?jAjAjAiAhAhIhIhMBfIfQfQrfQbf]@ɛ׃BseO 隍I I<ɚiI%6,w,y6Huz?`E ,??? ¿fv?  ?`7?ɨ6u'?6;6'CyBBB;!IiF>IF4<IJIJ(*٢R` V^=9Vܛ;Q V>XX ^G٣\yfC= f> eNusing accuracyPremultiplier from configYm59]x?m5Y]ű i]Uq?@]E];];]5 AγEZj!%FNOT Ignoring new targets: 126.10 m.Bj-r<Jj-r<] ProNav: ac range: 126.099998 m, nav range: 29.954697 m, bearing: 118.396878 deg, approach rate: -0.215438 m/s, LOS rate: 0.849295 deg/s, cmd heading: 59.338027 deg, new cmd heading: 60.368220 deg. 2j]=mHeadingCmd: 1.053624 target range: 126.099998 and range: 126.10 m. jm(݆?jijijiiihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.707486ɛM؃BM_ I ^RD<ɚiIc`JJJJJJ=9JJ I i Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:34:10.0098  TRx dataTimestamp_ set to:1736379251.195968 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9642923w,8AH&2>I$ I&!II&BI$&I$.I$6I&ܰ<:I& FzKf+OKf9KdKf5!Kf 5*?Y5@b?595d>y5H9?@4@ؒ??`?@f¿@t?:Y? u4?ɨ5*?5,;5$CyލBލ8!IMb@Mb@Mb@ )YtV?tCE A x@)@I@y\@I=I=0٢eQA m0=9uz:Q u> G٣y~< > Nusing accuracyPremultiplier from config59?5Y} id>:I`?@E6;5;5B A˳EZjFNOT Ignoring new targets: 126.10 m.Bj y<Jj y< ProNav: ac range: 126.099998 m, nav range: 29.876759 m, bearing: 118.773646 deg, approach rate: -0.179693 m/s, LOS rate: 0.870933 deg/s, cmd heading: 60.368217 deg, new cmd heading: 61.501313 deg. 2jm=HeadingCmd: 1.073400 target range: 126.099998 and range: 126.10 m. j%/e?j!j!j!i!h!h!h1h=oBfAfIfYrfYbf]΋ @ɛMCs 隍;žI +?<ɚiI:w,fA $?IMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465910  -?Y ˆe? D9 Uf>y H?`dc??r?`<¿Epq?? 1?ɨ  -? J; &Cy B.!III٢n# G=9:Q > G٣UGy< > Nusing accuracyPremultiplier from config59k?5Y ir)-b?5@E\< ]<ؿ59 =A9ZjFNOT Ignoring new targets: 126.10 m.Bjk<Jjk< ProNav: ac range: 126.099998 m, nav range: 29.804844 m, bearing: 119.118441 deg, approach rate: -0.171507 m/s, LOS rate: 0.824269 deg/s, cmd heading: 61.501311 deg, new cmd heading: 62.538071 deg. 2jl =HeadingCmd: 1.091495 target range: 126.099998 and range: 126.10 m. j?jjjihhhhfffrfbf @ɛeكBeRŁ 隍ξI l9<ɚiI;G4>GC GBWill construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 23:34:10.0098 LVL= 14128, 29233, 21442, 32755, AGC= 55, IDX= 428, 0.07,-2.820, 1.852, 1.937, 2.494, PHS= 1.057,-0.595,-0.560, RAW= 91.1, 1.2, CAL= 98.7, -2.1, ROT= 51.3, 2.1 5 Ygot valid direction response: 23:34:10.0098 LVL= 14128, 29233, 21442, 32755, AGC= 55, IDX= 428, 0.07,-2.820, 1.852, 1.937, 2.494, PHS= 1.057,-0.595,-0.560, RAW= 91.1, 1.2, CAL= 98.7, -2.1, ROT= 51.3, 2.1 = PDAT read: Bearing 51.3, 2.1 (Local) = ~Local bearing/azimuth received: Bearing 51.3, 2.1 (Local) ] DAT read: Range 10 to 50 : 125.3 m (Round-trip 167.1 ms) speed 0.2 m/s ] ,DAT read: user:3335> e BDAT read: Tx time:23:34:11.1385 Om >u $Ping request sent.u y6H s?@sv?`9?'?<¿yCr?@? +?ɨ6/?6F;6"Cy^B^#!I)` `IjIjV٢pH i=9jQ >JKـ3 KKK"KJJJJJݒ:J9JJ G٣yD< > Nusing accuracyPremultiplier from config59ė?5Y i~e?@E2;~;|5%B %gA%ȳEkM?kh" k k2A:kBBkBZk~q@"/+qhF&@D _@h#rM&?j?Jk@RkǶ*:tT@mež5'J^@ay"?୹6ƿw ~?"k*k@k;?k" 2kxI* EtYVyQ#t!E*Fm?2Fi:FiBFu^0JFq5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i5 AG 9 Gi By O >#Gw,ZG AF83?YFdk?F沢9Fn>yFH@V?` .?`~? W?Y\¿@WVt??\"?ɨF83?F5s;F%CybBb$!IMb@Mb@Mb@ )Yq= ףp?~jtI +y>94 A )@I@yQ@I5I5T٢E%; E)=9MQ M>IQ UG٣QyUG< U> eNusing accuracyPremultiplier from configYe59] ?m5Y] i]m>m:m c?m@]E]B;];]~ç5y }_AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 125.30 m.BjE=JjE= ProNav: ac range: 125.300003 m, nav range: 8.690817 m, bearing: 174.105472 deg, approach rate: 0.270752 m/s, LOS rate: 2.763815 deg/s, cmd heading: 63.521606 deg, new cmd heading: 67.018892 deg. 2j=HeadingCmd: 1.169700 target range: 125.300003 and range: 125.30 m. j?jjjihhhhnBfffrfbf`?ɛB g־I X.<ɚiICMw,:A6ԁ7?Y6o?696q>y6H'?@,??=_? Vg¿4|?`??ɨ6ԁ7?60;6&CyBBB(!IININV٢fQ< ff=9fQ j>hh jG٣jUGynU4= r> Nusing accuracyPremultiplier from config 59 ?%5Y ! i !%%g?%@ E R; <; ŧ5) -GA1ZjY]FNOT Ignoring new targets: 125.30 m.Bje2=Jje2=u ProNav: ac range: 125.300003 m, nav range: 8.780495 m, bearing: 175.017167 deg, approach rate: 0.248169 m/s, LOS rate: 2.497095 deg/s, cmd heading: 67.018888 deg, new cmd heading: 69.723913 deg. 2ju7=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999804HeadingCmd: 1.216912 target range: 125.300003 and range: 125.30 m. jÛ?jjjihhh h f f f rf1bf5࿀?ɛ 隭ӾI )<ɚi1I5jH <bH <H1 I1  I5 !II5 MBI1 &I1 .I5 5D6I5 <:I5 _ FBIJIRIZIbIjI[3zK5 \OK5 9K1 K5 7!K5 xL9&xrolic^[VTMIJHEC??DGE@?9653/,))&$%!Tw,SA:7;?Y:c>t?: 9:"=x>y:H́?Z`2???<¿`r? ӹ?8?ɨ:7;?:}0;:$CyF BF0!IiJ=IJ%=]Mb@Mb@Mb@YYY Y)YY]w/? rh~jthy]>]C]D]A ]b@)]@I]@Yy]@I}I}٢"< ==9Q > G٣yB= > Nusing accuracyPremultiplier from config59?5Y i>:Jk?@EQ;;Ƨ5 AųEZj9EFNOT Ignoring new targets: 125.30 m.BjE,=JjM,=] ProNav: ac range: 125.300003 m, nav range: 8.886130 m, bearing: 176.076831 deg, approach rate: 0.243890 m/s, LOS rate: 2.417309 deg/s, cmd heading: 69.723910 deg, new cmd heading: 72.861789 deg. 2j]_=eHeadingCmd: 1.271678 target range: 125.300003 and range: 125.30 m. jeYƢ?jajajaiahahihihmBfifqfqrfqbfu@?ɛ@˒ 隥7;I u#<ɚiIEJ J J J J J O9J J J a J a J e,;a J e,;a I Zw,mAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755782ROB?YR|h{?RQ 9R<>yRH`?@s?@?(? 3{¿`*?5? ?ɨROB?R2;R%CyZBZ>!III<2٢mi= mN=9mqQ u>qq uG٣qy5= > Nusing accuracyPremultiplier from config59m?5Y9 i|r?@E:*:ȧ5 AZj)5FNOT Ignoring new targets: 125.30 m.Bj]+=Jj]+=m ProNav: ac range: 125.300003 m, nav range: 8.981825 m, bearing: 177.047929 deg, approach rate: 0.238286 m/s, LOS rate: 2.392220 deg/s, cmd heading: 72.861787 deg, new cmd heading: 75.741478 deg. 2ju8=HeadingCmd: 1.321938 target range: 125.300003 and range: 125.30 m. jE5?jjjihhhhfffrfbf?ɛ!%0 !%I! -<ɚ)i)I-{Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007731aw,ۤAFF?YFa?F U 9F>yFHZ?`O @r?@b?s?9r¿@j? 0?=?ɨFF?Fڈ;F&CyR'BRQ!II^I^[3٢= Q=9Q  >    G٣ UGy$= > Nusing accuracyPremultiplier from config%59ƚ?%5Ys i)-{v?-@E;:;:^ʧ5 e$?Ia CAZj  FNOT Ignoring new targets: 125.30 m.Bj%=Jj%=% ProNav: ac range: 125.300003 m, nav range: 9.075194 m, bearing: 177.983390 deg, approach rate: 0.233599 m/s, LOS rate: 2.316227 deg/s, cmd heading: 75.741477 deg, new cmd heading: 78.516693 deg. 2j-=-HeadingCmd: 1.370375 target range: 125.300003 and range: 125.30 m. j-qh?j1j1j1i1h1h9hAhAfAfAfIrfIbfM@ɛyY~ 隅LI 4<ɚiII III&I.I6I<:I F2FA:FABFM2JFI"GUp>GU>zKKNK9KK8!K   %+,--,-)'"#$$""!  GM 2AGI GM pAG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512860gw,gA: jK?Y:?: 9:o>y:H`q?iLO?/?@:?`¿-???ɨ: jK?:M;8y^:B^h!I)` `MMb@Mb@Mb@III I)IYMgfffff?Mb?yM3>MMyy G٣y,= > Nusing accuracyPremultiplier from config59Ϛ?5Y i<>:c?@E1;0;2̧5B AóEZjUFNOT Ignoring new targets: 125.30 m.)a aBjmh?=Jjh?=tA 5Y=tAy=BJYJ]JYJYJYJ]9JYJYJYJYJ]:%;J];%;@e B ProNav: ac range: 125.300003 m, nav range: 9.176353 m, bearing: 179.057188 deg, approach rate: 0.255058 m/s, LOS rate: 2.677450 deg/s, cmd heading: 78.516692 deg, new cmd heading: 81.699110 deg. 2j=HeadingCmd: 1.425918 target range: 125.300003 and range: 125.30 m. j?jjj i h hhhBff YI]if!rfYbfeɿ@ɛhI/ BI  .G<ɚ i I ܯ'nw,^A2snP?Y2Pu?2 692>y2H*W?΍@g?؂?yR?¿?)??ɨ2snP?2a;2"Cy^GB^y!IIjIjb1٢r0= rT=9r][Q r>tt vG٣tyvvP= z> ~Nusing accuracyPremultiplier from config|59~ך?5Y~ i~  ? @~E~X:~:~ͧ5B JAE5B*** querying acoustic contact ***j1j1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:34:13.7083 TRx dataTimestamp_ set to:1736379254.980830checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017005ZjFNOT Ignoring new targets: 125.30 m.Bj*=Jj*= ProNav: ac range: 125.300003 m, nav range: 9.269396 m, bearing: 180.037858 deg, approach rate: 0.229154 m/s, LOS rate: 2.390909 deg/s, cmd heading: 81.699110 deg, new cmd heading: 84.608941 deg. 2j=%HeadingCmd: 1.476705 target range: 125.300003 and range: 125.30 m. j%?j!j!j!i!h!h)h)h)f)f1fIrfbf@ɛ'AL mI! %<ɚ!i!I% 9I9M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267653ZH RH @AH />I  I !II gBI $ =&I .I 6I <:I Fuw,6AzK^MK^9K\K^9!K^BKt:Kty%ZB-!IMb@Mb@Mb@ )YGz?~jt?Mb?yp><<A =@)@I@y@I1I1٢Ea= E)=9EQ M>II UG٣UUGyU U> ]Nusing accuracyPremultiplier from configYe59]B᚜?e5Y][ i]lm>m:mS?m@]E]|;]t;]ϧ5q uAyZjFNOT Ignoring new targets: 125.30 m.BjP@=Jj P@=M ProNav: ac range: 125.300003 m, nav range: 9.385715 m, bearing: 181.315975 deg, approach rate: 0.247917 m/s, LOS rate: 2.690127 deg/s, cmd heading: 84.608941 deg, new cmd heading: 88.389961 deg. 2jM=UHeadingCmd: 1.542696 target range: 125.300003 and range: 125.30 m. jUw?jQjYjYiYhYhYhaheBfaWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:34:13.7083 LVL= 17392, 32753, 29378, 32755, AGC= 61, IDX= 428,-0.19, 2.746, 1.184, 1.487, 1.941, PHS= 0.893,-0.711,-0.457, RAW= 98.5, 3.7, CAL= 108.3, 1.8, ROT= 41.7, -1.8 Ygot valid direction response: 23:34:13.7083 LVL= 17392, 32753, 29378, 32755, AGC= 61, IDX= 428,-0.19, 2.746, 1.184, 1.487, 1.941, PHS= 0.893,-0.711,-0.457, RAW= 98.5, 3.7, CAL= 108.3, 1.8, ROT= 41.7, -1.8  PDAT read: Bearing 41.7, -1.8 (Local) ~Local bearing/azimuth received: Bearing 41.7, -1.8 (Local) DAT read: Range 10 to 50 : 124.2 m (Round-trip 165.6 ms) speed 0.4 m/s %,DAT read: user:3336> -BDAT read: Tx time:23:34:14.7885 -$Ping request sent.-l{w,AVJ\?YVc?VU9V>yVH_?n!`k^? vp=9v?Q v?xx ~G٣|y~T > ~? Nusing accuracyPremultiplier from config 59w皜? 5Y] iW15'?5@E;;yѧ59 =AAku0뻢?ku~{t$ kq kuA:kufBBkuBZkuJ@"uLwz40 b UM^@uVSſ죑 yH؄?Jkux;Rkuֲ*uÉ7@tYCJ}\@uT%0?M4ӿCB(A?"ku*kuAkuɢ?kuü{$ 2kuL5CkuI L?ku=c! kqku>!Aku:@ addTargetRange:: Added new target pos. range: 124.199997 m, deltaT: 3.535908 s, deltaX: -1.100006 m, approachRate: -0.311096 m/s, rangeRepo size: 4  Added new target pos. range: 124.199997 m, bearing: 301.756066 deg, lat: 36.905159 deg, lon: -122.120889 deg, deltaT: 3.535908 s, deltaX: -1.100006 m, approachRate: -0.311096 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 124.20 m.Bj5Jj1E ProNav: ac range: 124.199997 m, nav range: 10.077742 m, bearing: 259.455218 deg, approach rate: 0.000000 m/s, LOS rate: 2.690127 deg/s, cmd heading: 88.389963 deg, new cmd heading: 91.171822 deg. 2jAuHeadingCmd: 1.591249 target range: 124.199997 and range: 124.20 m. j?jjjihhhhfffrfbfc?ɛBĻ ?I $ <ɚiI]8Pw, A 0I0:Ac?Y:ߍ?:f9:s >y:H?`?? -?8C¿xl???ɨ:Ac?:;:#CybBb!IIjIj ٢r= rK=9vN3Q v>tt vG٣xyz= z> Nusing accuracyPremultiplier from config 59b? 5Y{ i<  ? @E::;ӧ5 =AZjFNOT Ignoring new targets: 124.20 m.Bj6Jj6 ProNav: ac range: 124.199997 m, nav range: 10.271226 m, bearing: 259.190279 deg, approach rate: 0.475887 m/s, LOS rate: -0.639357 deg/s, cmd heading: 91.171824 deg, new cmd heading: 90.392031 deg. 2jdۼ HeadingCmd: 1.577639 target range: 124.199997 and range: 124.20 m. j ?j j j i h hh1h1f9f9f9rf9bf=?Will construct direction to contact in vehicle frame from tetrahedron phase data.յ>յ:?ɛ׃B( I 4 <ɚ i I I C I !II BI &I .I 6I °<:I  Fi))e?)zK}JK}9KyK}:!K}*F?2F:FBF`0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O5 >lw,R#A6j?Y6?6yż96{>y6H?\?A?S?@l¿??z?ɨ6j?6^g;6&Cy>B>!IMb@Mb@Mb@ )YZd;O?:v?y&1?y~ ?T=`<A j@)I`@y@II@٢-@= -H=95Q 5>19 =G٣=UGyE= E> MNusing accuracyPremultiplier from configIU59M?]5YMv iM]Q ?]:]U?]@M˜EM;MI;Mէ5a m@mEZj)UFNOT Ignoring new targets: 124.20 m.BjU Jj] e ProNav: ac range: 124.199997 m, nav range: 10.490045 m, bearing: 258.986938 deg, approach rate: 0.529197 m/s, LOS rate: -0.481506 deg/s, cmd heading: 90.392028 deg, new cmd heading: 89.794753 deg. 2jm:HeadingCmd: 1.567214 target range: 124.199997 and range: 124.20 m. jy?jjjihhhhiBfffrfbf =w?JJJJJJJJJJJJ }$?IyɛUTw: Y]HԽIY ];<ɚYiYIe-(w,%=A6HGr?Y6a?6K96I>y6H\"?4&+?`vj?@x?1Q¿(?`?`0|?ɨ6HGr?6+;6%CyVBZ!IIbIb٢jj= jQ=9j, Q j>ll nG٣lyr= r> vNusing accuracyPremultiplier from configtz59v?z5Yvp ivx~?~@vĘEv;vV;v֧5 @ -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.UFNOT Ignoring new targets: 124.20 m.BjeJje绝u ProNav: ac range: 124.199997 m, nav range: 10.699811 m, bearing: 258.833751 deg, approach rate: 0.564207 m/s, LOS rate: -0.403947 deg/s, cmd heading: 89.794755 deg, new cmd heading: 89.344214 deg. 2ju}HeadingCmd: 1.559351 target range: 124.199997 and range: 124.20 m. j}Θ?jyjyjihhhhfffrfbf`[?ɛփBސG; LI k<ɚiIxWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747857jH <bH 4<H I  I "II ƒBI % =&I .I 6I <:I j F}w,WA2Zy?Y2Cy2HY? $n?t? ?A8??`h?ɨ2Zy?2a;2&Cyޅ̓Bލ"IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000497=Mb@Mb@Mb@999 9)9Y=㥛 ?+η?/$?y=?=v==,==A ==@)=@I=QA9y=zAIUIU<٢e{= e=9eKnQ e>ii mG٣iyu^= u> }Nusing accuracyPremultiplier from configy59}K?5Y}h i}~?:?@}ƘE}[;};}&٧5B H@EZjFNOT Ignoring new targets: 124.20 m.Bj(Jj( ProNav: ac range: 124.199997 m, nav range: 11.024098 m, bearing: 258.749625 deg, approach rate: 0.585735 m/s, LOS rate: -0.147480 deg/s, cmd heading: 89.344216 deg, new cmd heading: 89.099263 deg. 2jmʻHeadingCmd: 1.555076 target range: 124.199997 and range: 124.20 m. j} ?jyjyjyiyhyhyhhÃBfffrfbf@ɛՃB'; <wI <ɚiI*5w,uA>N?Y>c#?>9> >y>H ۅ? ;?@??@N ??``?ɨ>N?>m; Z=9ZQ ^ ?\\ ^G٣^UGyb= b ? fNusing accuracyPremultiplier from configdj59f?j5Yfc ifFln?n@fȘEfZ;f;fڧ5p r@pZjFNOT Ignoring new targets: 124.20 m.Bj@gJj@g  ProNav: ac range: 124.199997 m, nav range: 11.209291 m, bearing: 258.732353 deg, approach rate: 0.551026 m/s, LOS rate: -0.050544 deg/s, cmd heading: 89.099264 deg, new cmd heading: 89.048303 deg. 2j  HeadingCmd: 1.554186 target range: 124.199997 and range: 124.20 m. j?jjjihhhh!f!f!f!rf)bf-S@ɛUԃBUF2< Y]=IY ]8<ɚYiYI]4 Y Ia w,ڎA6Մ?Y6?6,96W>y6Hn? ,?4o??@h?G?k?ɨ6Մ?6u;6'Cy>B>O"IIFIF 2٢Nʡ= RL=9RQ R>TT VG٣TyVR= V>^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755965 bNusing accuracyPremultiplier from configXf59Z9?f5YZ] iZln?r@ZʘEZj;Zk;ZGܧ5t v@tZj9=FNOT Ignoring new targets: 124.20 m.BjES6:JjES6:U ProNav: ac range: 124.199997 m, nav range: 11.444113 m, bearing: 258.748117 deg, approach rate: 0.606033 m/s, LOS rate: 0.039851 deg/s, cmd heading: 89.048304 deg, new cmd heading: 89.094627 deg. 2j]:eHeadingCmd: 1.554995 target range: 124.199997 and range: 124.20 m. je ?jajajaiahahihihififqfyrfybf}@_@H],>IY I]Z"II]BIY&IY.IY6I]<:I]| FBICJICRIZI$ =bI$ =jI P5ɛӃB$RR< =I <ɚiI7mWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiuBDAT read: Rx Time:23:34:17.3555 }TRx dataTimestamp_ set to:1736379258.508900}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009202w,}AB咈?YBФ?B5 9Bb>yBH`?^*? ?^e?cŽb?@`j?@x?ɨB咈?Bu;B%CyvBvc"I YIaMb@Mb@Mb@ )Y%C?X9v?:v?yZ$?=T=A &@)@IAyAII1٢]= .=98Q > G٣y}= > Nusing accuracyPremultiplier from config59 ?5YU i'?::?@̘E;+;Xާ5i m@qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261033ZjFNOT Ignoring new targets: 124.20 m.BjZ;JjZ;E ProNav: ac range: 124.199997 m, nav range: 11.749122 m, bearing: 258.844721 deg, approach rate: 0.620276 m/s, LOS rate: 0.191355 deg/s, cmd heading: 89.094627 deg, new cmd heading: 89.376911 deg. 2jS<HeadingCmd: 1.559921 target range: 124.199997 and range: 124.20 m. j?jjjihhhhBfffrfbf೧ @ɛ҃Bks< l=I "~ <ɚiIQy:H??7?g? ?`?` ?ɨ:iN?:Ў;:$CyvBv~"I)x xII̍Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:34:17.3556 LVL= 26096, 32753, 32754, 32755, AGC= 62, IDX= 416,-0.04,-1.150,-2.638,-1.991,-1.752, PHS= 0.690,-0.839,-0.241, RAW= 112.8, 5.9, CAL= 123.1, 2.7, ROT= 26.9, -2.7 Ygot valid direction response: 23:34:17.3556 LVL= 26096, 32753, 32754, 32755, AGC= 62, IDX= 416,-0.04,-1.150,-2.638,-1.991,-1.752, PHS= 0.690,-0.839,-0.241, RAW= 112.8, 5.9, CAL= 123.1, 2.7, ROT= 26.9, -2.7 PDAT read: Bearing 26.9, -2.7 (Local) ~Local bearing/azimuth received: Bearing 26.9, -2.7 (Local) DAT read: Range 10 to 50 : 122.1 m (Round-trip 162.8 ms) speed 0.4 m/s ,DAT read: user:3337> BDAT read: Tx time:23:34:18.4386 $Ping request sent.iٍף0?ٍVٍvٍd?٢MG= M=9MQ M>QQ UG٣UUGy]S= ]> mNusing accuracyPremultiplier from configaٍB= ڍ @)ڍA=Iڍva>iڍAډډۍG?`TsĿ8.O?)ۍIۍҽ}59e?5Ye'L ie?@eϘEeLIA Eo <ɚIiIIMc6yjH? ) ? c?4?M }?3B??ɨj%?jz;j(Cy+B"IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YB`"?S㥛? ףp= ?y.?$>Q8=A )@IyQAII+٢^= =9кQ > G٣y= > Nusing accuracyPremultiplier from config59?5Y8B ih2?:k?@ҘEk;D;25  5x@1MB*** querying acoustic contact ***jIjIZjFNOT Ignoring new targets: 122.10 m.BjmJjm ProNav: ac range: 122.099998 m, nav range: 25.722677 m, bearing: 277.058106 deg, approach rate: 0.818909 m/s, LOS rate: -0.278765 deg/s, cmd heading: 89.745674 deg, new cmd heading: 89.365010 deg. 2jP?HeadingCmd: 1.559714 target range: 122.099998 and range: 122.10 m. j?jjjihhhhBfffrfbfn?ɛeЃBe< ae4>Ia <ɚiI`y6H w?MP?;?Q?@pb?xW?`ܢ?ɨ6??6t;6&CyB=BB"IiF=IF5? J=HININ[٢V= V<=9V9Q Z>^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994128`` bG٣bUGyf= f> 5Nusing accuracyPremultiplier from config1=595?=5Y5: i5C9E?E@5ԘE5:5:5(5I MU@IZjFNOT Ignoring new targets: 122.10 m.Bj4PJj4P ProNav: ac range: 122.099998 m, nav range: 26.029459 m, bearing: 276.976882 deg, approach rate: 0.695709 m/s, LOS rate: -0.182025 deg/s, cmd heading: 89.365007 deg, new cmd heading: 89.124209 deg. 2jH +>I  I "II jBI &I .I 6I <:I Z FHeadingCmd: 1.555511 target range: 122.099998 and range: 122.10 m. j?jj)j)i)h1h9hqhqfyffrfbf `?ɛK!< 隅Z>I ,<ɚiI!K<9531-''**(&$"!!'-*)%#"!RK ?JK?*FQ2FQ:FQBFUG1JFYG-MGBO%>mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.245946}ɷw,)AV?YV Ƹ?V<9V汕>yVH;?o Q?z?x?d!@u?@6o?@?ɨV?V;V$CyfCBf"I tItMb@Mb@Mb@ )Yd;O?Zd;?{Gz?y4?=#=A )@I@y@II٢< <=9꫹Q > G٣y= > Nusing accuracyPremultiplier from config59?5Y/2 i7?:U?U@טEߕ<<5Y ]@YZjFNOT Ignoring new targets: 122.10 m.Bj)Jj) ProNav: ac range: 122.099998 m, nav range: 26.327776 m, bearing: 276.911535 deg, approach rate: 0.684794 m/s, LOS rate: -0.148307 deg/s, cmd heading: 89.124208 deg, new cmd heading: 88.930388 deg. 2j˻HeadingCmd: 1.552128 target range: 122.099998 and range: 122.10 m. j"?jjjihh hhBfffrfbf?ɛeσBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498916mə< hg>I ~H<ɚiID# Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752147зw,?CA23?Y2q?2 92>y2H-?c 2?@z? S?@9}?{??ɨ23?2.;0y>KB>"IIFIF(*2٢N = R]=9R';Q R>TT VG٣TyZ= Z> ^Nusing accuracyPremultiplier from configXb59Z ?b5YZF+ iZ`bv?f@Z٘EZ2;Z;Z5jB j@jEZjYeFNOT Ignoring new targets: 122.10 m.BjeJjeu ProNav: ac range: 122.099998 m, nav range: 26.589720 m, bearing: 276.871610 deg, approach rate: 0.723340 m/s, LOS rate: -0.109164 deg/s, cmd heading: 88.930388 deg, new cmd heading: 88.811793 deg. 2j֕HeadingCmd: 1.550058 target range: 122.099998 and range: 122.10 m. jOh?jjjihhhhfffrfbfǠ?ɛ)-Z< )-v>I) 5g%<ɚ1iQIUWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002041jHbH<H*>I I #IIBI&I.I6I`<:I= FzK -MK K K ?!K  BK% oA:K% qA׷w,8g]A2?Y2.?2;92͓>y2H@T?`*`s??? `P?5??ɨ2?2;2(CyjLBj"I)p pppmMb@Mb@Mb@iii i)iYmA`"?i|?5?X9v?ym9?m=m G٣UGyy= > Nusing accuracyPremultiplier from config59 ?5Y" iU;?:G?@ۘE;c;5 x@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270343ZjFNOT Ignoring new targets: 122.10 m.Bj zJj z] ProNav: ac range: 122.099998 m, nav range: 26.911932 m, bearing: 276.838721 deg, approach rate: 0.704261 m/s, LOS rate: -0.071024 deg/s, cmd heading: 88.811795 deg, new cmd heading: 88.714311 deg. 2j]BeHeadingCmd: 1.548357 target range: 122.099998 and range: 122.10 m. je0?jajajaiahihihhBf f frfbf@@ɛ!%< )-y>I1 5<ɚ9i9I=G>u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525116G G B Ou >"=ݷw,wA6?Y6%?6J96 >y6H?]Xm??W?@פ,?z?`c?ɨ6?6;6#Cy>BBB"IIJIJ٢RMM R[=9R;Q R>TT VG٣TyV = Z> ^Nusing accuracyPremultiplier from configXb59Z ?f5YZ iZdf?f@ZޘEZn?;Z@;Z)5h n@l~B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 122.10 m.Bjm!Jjm! ProNav: ac range: 122.099998 m, nav range: 27.180733 m, bearing: 276.826862 deg, approach rate: 0.756199 m/s, LOS rate: -0.033032 deg/s, cmd heading: 88.714308 deg, new cmd heading: 88.679083 deg. 2j[HeadingCmd: 1.547742 target range: 122.099998 and range: 122.10 m. ji?jjjihhhhfffrfbf\Q@ɛim < imf>Ii <ɚiI I J J J J J 0J J :J u9J ـ3J #w,\A6?Y6?6h?Ӽ96>y6H ??? ?@-g?@?2?ɨ6?6{;6&Cy>FBB"IDFAAIJIJ٢r< rF=9rtt vG٣tyz[= z>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:34:21.0028  TRx dataTimestamp_ set to:1736379262.304694 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027117 Nusing accuracyPremultiplier from config|59~?5Y~ i~Ӿ?%@~E~;~ɨ;~51 5@1ZjQ]FNOT Ignoring new targets: 122.10 m.Bje:8Jje:8u ProNav: ac range: 122.099998 m, nav range: 27.481062 m, bearing: 276.828297 deg, approach rate: 0.747286 m/s, LOS rate: 0.003531 deg/s, cmd heading: 88.679085 deg, new cmd heading: 88.683342 deg. 2ju9uHeadingCmd: 1.547816 target range: 122.099998 and range: 122.10 m.HI I#IIBI& =&I.I6Ii<:ID F j?jjjihhhhfffrfbḟ@ɛ΃B< n>I x"<ɚiIMzKc{LK9KK@!KRK->JK-?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278024Tw,UA Iiy@B"IuMb@Mb@Mb@qqq q)qYubX9?A`"?Mb?yuE6?u=u G٣UGy > Nusing accuracyPremultiplier from config59x?5Y0 iS8?:?@E%;;5B 5@EZjFNOT Ignoring new targets: 122.10 m.BjvJjv ProNav: ac range: 122.099998 m, nav range: 27.813614 m, bearing: 276.824081 deg, approach rate: 0.686929 m/s, LOS rate: -0.008604 deg/s, cmd heading: 88.683340 deg, new cmd heading: 88.670844 deg. 2jHeadingCmd: 1.547598 target range: 122.099998 and range: 122.10 m. j?j Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 23:34:21.0028 LVL= 22944, 32753, 29938, 32755, AGC= 61, IDX= 419, 0.03,-0.751,-2.241,-1.392,-1.331, PHS= 0.668,-0.863,-0.064, RAW= 121.4, 3.9, CAL= 130.5, -1.0, ROT= 19.5, 1.0 MYgot valid direction response: 23:34:21.0028 LVL= 22944, 32753, 29938, 32755, AGC= 61, IDX= 419, 0.03,-0.751,-2.241,-1.392,-1.331, PHS= 0.668,-0.863,-0.064, RAW= 121.4, 3.9, CAL= 130.5, -1.0, ROT= 19.5, 1.0 UPDAT read: Bearing 19.5, 1.0 (Local) U~Local bearing/azimuth received: Bearing 19.5, 1.0 (Local) eDAT read: Range 10 to 50 : 120.0 m (Round-trip 160.0 ms) speed 0.4 m/s m,DAT read: user:3338> mBDAT read: Tx time:23:34:22.0886 m$Ping request sent.ui5<8E ?"ч͙?`?)I ?[&<ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:34:22.0878 6w,jA6ۮ?Y6&?6X96|>y6HkI T?x?೒V퍿ϊ? J??ɨ6ۮ?6;6$Cy>4BB"IIJIJ٢V Vr=9VI jN(<ɚiI\`w,ZAzKK9KKA!K BKpA:KpABPExceeded connect timeout, disconnecting.N\?YNq*?Nhd9NG%r>yNHi`?? ա``b ?? ?ɨN\?Nv;N%Cyn(Br"ImMb@Mb@Mb@iii i)iYm|?5^? ףp= ?ym-?mQ=mm` A i)mZ@Im@iymp@IIV8٢NV ==9 G٣y= > Nusing accuracyPremultiplier from config59X?5Y( iVX/?:?@E;B;Z5 @}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 120.00 m.BjJj ProNav: ac range: 120.000000 m, nav range: 36.799969 m, bearing: 310.100119 deg, approach rate: 0.571967 m/s, LOS rate: -0.533954 deg/s, cmd heading: 88.662208 deg, new cmd heading: 87.964096 deg. 2j9HeadingCmd: 1.535263 target range: 120.000000 and range: 120.00 m. j?jjjihhhh eBfffrfbff?ɛ< 隥3>I '*<ɚiI- Will construct direction to contact in vehicle frame from tetrahedron phase data.}w,A>^?Y>՜?>19>t>y>H1@N?@?@ি2[7?F?` ?ɨ>^?>0;>&CyR#BR"II^I^<٢fۼ fX=9fPhh jG٣hyn< n> rNusing accuracyPremultiplier from configpv59r?v5Yrm ir@xz?z@rErX:r:r5| @B*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 120.00 m.Bj5{!Jj={!M ProNav: ac range: 120.000000 m, nav range: 37.024124 m, bearing: 309.897834 deg, approach rate: 0.629576 m/s, LOS rate: -0.564707 deg/s, cmd heading: 87.964094 deg, new cmd heading: 87.360938 deg. 2jMUHeadingCmd: 1.524736 target range: 120.000000 and range: 120.00 m. jU*?jQjQjQiQhQhYhYhafafafarfabfm -?ɛ1< 隕(>I E,<ɚiI@GU=G-<GBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.  I sw,A2F?Y2[?2V˻92rd>y2HZ(R?$?``%w?jy?Q?@4?ɨ2F?2;0y>BBn"IININ٢fŽ fJ=9f1<hh jG٣jUGnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498294H%)>I! I% #II%BI!&I!.I!6I%<:I%k FBIJIRIZI& =bI& =jI.z4yjq< U> eNusing accuracyPremultiplier from configYe59];?m5Y] i]+im\?m@]E]:]:]5 X@EZj9=FNOT Ignoring new targets: 120.00 m.BjE JjE } ProNav: ac range: 120.000000 m, nav range: 37.274754 m, bearing: 309.680385 deg, approach rate: 0.570763 m/s, LOS rate: -0.491870 deg/s, cmd heading: 87.360940 deg, new cmd heading: 86.713009 deg. 2jȨHeadingCmd: 1.513427 target range: 120.000000 and range: 120.00 m. j?jjjihhh1h1f9fAfyrfbf`?ɛw< ^>I .<ɚiI *F2F:FBFR3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750432) E c~Ge tA} A Y tAy 'BGE 8<=  I hG B! OE >h w,_,AJZJZJXJXJZ:JZ9JXJXJZ;JZ;JZ1;JZ1;y5B5e"IMb@Mb@Mb@ )Y~jt?MbX9?I +y$?ʡ=94 A &@)p@I@y(@I I2٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config 590? 5Y i"%?:?@EOJ;*;5 @ZjAMFNOT Ignoring new targets: 120.00 m.BjMJJjMJ] ProNav: ac range: 120.000000 m, nav range: 37.512638 m, bearing: 309.474436 deg, approach rate: 0.590627 m/s, LOS rate: -0.508094 deg/s, cmd heading: 86.713008 deg, new cmd heading: 86.099102 deg. 2j]YmHeadingCmd: 1.502713 target range: 120.000000 and range: 120.00 m. jmX?jijijiiihqhqhqhu1Bfyfyfyrfybf}@Vp?ɛIM-i< QU=IQ U0<ɚQiQIU{s Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254835uw,dFAFa ?YFuJ?F;9F3<>yFHP欿@i`O??@˫v5?g{~d?`u?ɨFa ?Ft;F#Cy^B^O"IIfIf(*٢{ Y=9 =Q >!! %G٣!y-< -> 5Nusing accuracyPremultiplier from config1=595욜?=5Y5 i1AE?E@5E5;5;5T5I M@MEZjFNOT Ignoring new targets: 120.00 m.BjJj ProNav: ac range: 120.000000 m, nav range: 37.725651 m, bearing: 309.293975 deg, approach rate: 0.547831 m/s, LOS rate: -0.461491 deg/s, cmd heading: 86.099104 deg, new cmd heading: 85.560796 deg. 2j[HeadingCmd: 1.493318 target range: 120.000000 and range: 120.00 m. j%?jjji h h h hfffrfbf@@ɛE̓BE׺< AE=II M0<ɚIiIIM5Will construct direction to contact in vehicle frame from tetrahedron phase data.><%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506615jH=<bH9HAIA IE"IIEjBIA&IA.IA6IE<:IEu F`w,w_ABó?YB2?B4`W<9B{%>yBHD3@S|?>? G٣UGyج > Nusing accuracyPremultiplier from config59蚜?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7600415Y i(@?:?@E`<<05 @Zj)5FNOT Ignoring new targets: 120.00 m.Bj=Jj=滝M ProNav: ac range: 120.000000 m, nav range: 37.944817 m, bearing: 309.112459 deg, approach rate: 0.490274 m/s, LOS rate: -0.403706 deg/s, cmd heading: 85.560796 deg, new cmd heading: 85.019409 deg. 2jMHeadingCmd: 1.483869 target range: 120.000000 and range: 120.00 m. jh?jjjihhhhBfffrfbf Lx@ɛ-g< 隝Q=I 1<ɚiI .w,WyA6o?Y6P?6f<96>y6H@? ? zZ`?`6>u?`?ɨ6o?6~;6$Cy>ՃB>'"IIFIF٢N½ N]=9bdd fG٣dyfRm f> nNusing accuracyPremultiplier from confighr59jk嚜?r5Yjw ij1pr?r@jEj ;j ;j5t z@x B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 120.00 m.Bj%Jj% ProNav: ac range: 120.000000 m, nav range: 38.135296 m, bearing: 308.954653 deg, approach rate: 0.566891 m/s, LOS rate: -0.467305 deg/s, cmd heading: 85.019408 deg, new cmd heading: 84.548366 deg. 2jZHeadingCmd: 1.475647 target range: 120.000000 and range: 120.00 m. j?jjjihh!h!h!f!f)f)rf)bf-P @ɛ̃BG< 5<隝 I)$w,kAvWill construct direction to contact in vehicle frame from tetrahedron phase data.HaIa Ie"IIeFBIa&Ia.Ia6Ie<:Iez FDAT read: 23:34:24.6501 LVL= 30432, 32753, 32722, 32755, AGC= 69, IDX= 409,-0.30, 1.315,-0.128, 0.764, 0.924, PHS= 0.479,-1.006,-0.163, RAW= 124.5, 10.7, CAL= 131.6, 6.2, ROT= 18.4, -6.2 Ygot valid direction response: 23:34:24.6501 LVL= 30432, 32753, 32722, 32755, AGC= 69, IDX= 409,-0.30, 1.315,-0.128, 0.764, 0.924, PHS= 0.479,-1.006,-0.163, RAW= 124.5, 10.7, CAL= 131.6, 6.2, ROT= 18.4, -6.2 PDAT read: Bearing 18.4, -6.2 (Local) ~Local bearing/azimuth received: Bearing 18.4, -6.2 (Local) DAT read: Range 10 to 50 : 118.0 m (Round-trip 157.4 ms) speed 0.8 m/s ,DAT read: user:3339> eBDAT read: Tx time:23:34:25.7386 $Ping request sent.vĀvy&v^ @vt;?> v@)vk=Ivl>ivkݽttvϪX?K}*阳?fk?)v=Ivd?ivr vhxtt]:publishing transmit ping timeieFpublishing direction and range infoyM̓Bm"III2٢$ =9t9vGBiԿ؜'ݿ]g?ytttt t)tQ >    G٣ y  > Nusing accuracyPremultiplier from configItittttt t)tItitttvϪX?K}*阳?fk?)tItittttU59?U5Y0 i>YY]@E<9</5i mj@mEkv =?kv^4# kt kvA:kvBBkv_BZkv̵@"vA!3C?Ka9WX@vGBiԿ؜'ݿ]g?Jkvr Rkvhx*v$MQ@?i@R~eV@v"~?9ҿ bK?"kv4*kviBkvx:p?kv:# 2kv|CkvM"ͭ?kv:# kvD#CkvBkv`C@- addTargetRange:: Added new target pos. range: 118.000000 m, deltaT: 3.528024 s, deltaX: -2.000000 m, approachRate: -0.566890 m/s, rangeRepo size: 4 e Added new target pos. range: 118.000000 m, bearing: 334.303219 deg, lat: 36.905692 deg, lon: -122.121075 deg, deltaT: 3.528024 s, deltaX: -2.000000 m, approachRate: -0.566890 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 118.00 m.BjmJji ProNav: ac range: 118.000000 m, nav range: 66.445885 m, bearing: 329.921973 deg, approach rate: 0.000000 m/s, LOS rate: -0.467305 deg/s, cmd heading: 84.548364 deg, new cmd heading: 83.751015 deg. 2jHeadingCmd: 1.461731 target range: 118.000000 and range: 118.00 m. j?jjjzKMKs9KKD!KPkz  ihhhhfffrf]@bfr?ɛ˃Bg5<  i;I  2<ɚiI)?)!EQEQWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:34:25.7378 *F ?2F :F BF `0JF "G =G = I hJ J J J J :J 9J J J 7;J 8;J 8;J 8;G =GBO> ,w,fAWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ%=Օ%=yޭBޭ"IMb@Mb@Mb@ )YuV?ʡE?y&1yr?=`e@ @)I@yz@IMIMq٢]岽 ]:=9yQ }> G٣UGy > Nusing accuracyPremultiplier from config59ܚ?5Y/ iJ ?:?@E)<2)<5 @ZjY]FNOT Ignoring new targets: 118.00 m.BjelʻJjelʻu ProNav: ac range: 118.000000 m, nav range: 66.599182 m, bearing: 329.771687 deg, approach rate: 0.361866 m/s, LOS rate: -0.353941 deg/s, cmd heading: 83.751015 deg, new cmd heading: 83.301204 deg. 2jurHeadingCmd: 1.453880 target range: 118.000000 and range: 118.00 m. j?jjjihhhhhBfffrfbf?ɛ% < !%I! %1<ɚ)i)I-r)]?)Y*F ?2F :F BF 0JF GF(>GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.  I 2w,O@A6?Y60?6dH1=96-=y6H ӯ??Ox >d? G'i?M?ɨ6?6<;6%CyRBR"IIZIZF٢bӼ b=9b=Q b ?dd fG٣dyj j? nNusing accuracyPremultiplier from configlr59nښ?r5Yn in_pv?v@nEn;n;no5x z@xZj!%FNOT Ignoring new targets: 118.00 m.Bj-׻Jj-׻= ProNav: ac range: 118.000000 m, nav range: 66.705345 m, bearing: 329.659396 deg, approach rate: 0.357538 m/s, LOS rate: -0.377573 deg/s, cmd heading: 83.301206 deg, new cmd heading: 82.964874 deg. 2j=EHeadingCmd: 1.448010 target range: 118.000000 and range: 118.00 m. jEfX?jAjAjIiIhIhIhQhQfQfQfQ*JR="JrfbflGi Gm lAG1 Ba O >[9w,,AvP?Yv?vG=9v]=yvHp?@?`.?z?ը?`"?S?ɨvP?vR?;v#CyB!I I%Mb@Mb@Mb@!!! !)!Y%%C?V-?{Gzty%Z?%h=%ף%@ %@)!I%Z@!y%@I=I=[٢My\ M&=9M7QQ UG٣Qy]Ӽ ]> eNusing accuracyPremultiplier from configam59eך?m5Ye iezm?m:u?u@eEe;e;e5y }@yZj9EFNOT Ignoring new targets: 118.00 m.BjEJjE} ProNav: ac range: 118.000000 m, nav range: 66.863899 m, bearing: 329.485601 deg, approach rate: 0.309649 m/s, LOS rate: -0.338609 deg/s, cmd heading: 82.964874 deg, new cmd heading: 82.444739 deg. 2jbhHeadingCmd: 1.438932 target range: 118.000000 and range: 118.00 m. j.?jjjihhhhABfffrfbf-?ɛ ɃB-< 15p7I1 5Gt0<ɚ1i1I5 GBO>R@w,(DA:F%?Y:[c?:x`=9:?=y:H^[?`???`ȁ?} E??ɨ:F%?:;:&CyZBZ!IIfIfF2٢nҐ ng=9rpp rG٣vUGyv"D v> zNusing accuracyPremultiplier from configx~59z֚?5YzB iz?@zEz_;z;z#5  @-B*** querying acoustic contact ***j)j)Zj1EFNOT Ignoring new targets: 118.00 m.BjEvֻJjEvֻU ProNav: ac range: 118.000000 m, nav range: 66.975426 m, bearing: 329.359941 deg, approach rate: 0.333373 m/s, LOS rate: -0.374993 deg/s, cmd heading: 82.444741 deg, new cmd heading: 82.068395 deg. 2jUeHeadingCmd: 1.432364 target range: 118.000000 and range: 118.00 m. jeW?jajajaiahahihihififqfqrfqbfu ?ɛȃBwϰ; 隥؋I /<ɚiI<4Gw,6A-7?Y-L?-ǃz=9-{%=y-Hᦤ?7??@?uh?yK@'??ɨ-7?-%;)yEBE!IMb@Mb@Mb@ )YZd;O?Dl?yj>O=Q@ @)@Iy@II2٢-b -*=95X99 =G٣9y=& E> MNusing accuracyPremultiplier from configAU59EԚ?U5YE iEU>U:U?]@EEEW;E;E< 5a e!@aZjFNOT Ignoring new targets: 118.00 m.Bj%ûJj%û ProNav: ac range: 118.000000 m, nav range: 67.116989 m, bearing: 329.195731 deg, approach rate: 0.294783 m/s, LOS rate: -0.341218 deg/s, cmd heading: 82.068398 deg, new cmd heading: 81.576820 deg. 2j,jHeadingCmd: 1.423784 target range: 118.000000 and range: 118.00 m. j>?jjjihhhhFBfffrfbf@q@zKiJKKKF!KRK ?JK?ɛ ǃB ; PI ʖ.<ɚiI?ii3=)>?)!E)E)*E)"E) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217520 I*FU?2FQ:FQBFU@5JFYGE .=G9 BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469306KMw,v7ANqb?YN?NR=9N=yNHo?@`c?V??@S?6簿`Fk? ?ɨNqb?N;N$CyZB^!IIE IE̍2٢U U\=9UDYYY ]G٣YyeC e> }Nusing accuracyPremultiplier from configq59uҚ?5Yu% iur?@uEu;uj;u 5B G@EZjFNOT Ignoring new targets: 118.00 m.BjJj5 ProNav: ac range: 118.000000 m, nav range: 67.224442 m, bearing: 329.067314 deg, approach rate: 0.281532 m/s, LOS rate: -0.335923 deg/s, cmd heading: 81.576822 deg, new cmd heading: 81.192193 deg. 2j=fMHeadingCmd: 1.417071 target range: 118.000000 and range: 118.00 m. jMb?jQjQjQiQhhhhfffrfbf @ɛmƃBuBɴ; quȖIq u\-<ɚqiyI}/u=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.722370Gm -= I GA BQ Oq J J J /J J J 9J (N3J 5Tw,HQAE=?YEP[?E=9Ea =yEH`X?&?? [??`39?``??ɨE=?Eഊ;E%CyB!II I b٢A< >=9%#!) -G٣-UGy-( -> =Nusing accuracyPremultiplier from config1=595њ?E5Y5 i5ݾAE.?E@5E5v:5:5 5I M@QZjq}FNOT Ignoring new targets: 118.00 m.Bj}a˻Jja˻Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973641jHbH<HI I5"IIBI&I.I6I<:Im FBIYJIYRIYZIYbIYjI]›L4 ProNav: ac range: 118.000000 m, nav range: 67.345665 m, bearing: 328.917918 deg, approach rate: 0.289077 m/s, LOS rate: -0.355618 deg/s, cmd heading: 81.192194 deg, new cmd heading: 80.744820 deg. 2jtHeadingCmd: 1.409263 target range: 118.000000 and range: 118.00 m. jb?jjjihhhhfffrfbf@F@ɛ%ŃB-n ; )-oI1 5,<ɚ1i1I5zK BoHK }9K K G!K *BK :K pAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:23:34:28.2974 M TRx dataTimestamp_ set to:1736379269.612528U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226309 NG |uA Y |uAy tBaZw,kA IhyB!I-only read 2 of 4 data items for bottom velocity. Device response is::BS, +79, +517,  @ @ @  @ II2٢C< Q=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59К?5Yl i+::@E*;>5 @ZjFNOT Ignoring new targets: 118.00 m.BjŻJjŻ ProNav: ac range: 118.000000 m, nav range: 67.456635 m, bearing: 328.782120 deg, approach rate: 0.283023 m/s, LOS rate: -0.345777 deg/s, cmd heading: 80.744823 deg, new cmd heading: 80.338106 deg. 2jMmHeadingCmd: 1.402164 target range: 118.000000 and range: 118.00 m. j z?j j jihhhhfffrfbf%@; @ɛÃB; 隍QI &,<ɚiIEaw,.WA6v=?Y6{?67=96=y6H?LQ? ?`л?XX ZG٣XyZA ^> fbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from config`j59bК?n5Yb ibn :lr:rP?r@bEb;bC?b-5t v@tWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 23:34:28.2975 LVL= 25776, 32753, 32754, 32755, AGC= 63, IDX= 413, 0.06, 2.025, 0.400, 1.101, 1.428, PHS= 0.685,-0.981,-0.330, RAW= 112.8, 8.6, CAL= 122.3, 5.7, ROT= 27.7, -5.7 =Ygot valid direction response: 23:34:28.2975 LVL= 25776, 32753, 32754, 32755, AGC= 63, IDX= 413, 0.06, 2.025, 0.400, 1.101, 1.428, PHS= 0.685,-0.981,-0.330, RAW= 112.8, 8.6, CAL= 122.3, 5.7, ROT= 27.7, -5.7 EPDAT read: Bearing 27.7, -5.7 (Local) E~Local bearing/azimuth received: Bearing 27.7, -5.7 (Local) ]DAT read: Range 10 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.8 m/s e,DAT read: user:3340> mBDAT read: Tx time:23:34:29.3887 m$Ping request sent.m D@)%=I>i%˽@ c?t*MLB?)~Ii#>I:publishing transmit ping timeiFpublishing direction and range info9@`BѿrѿI*Xq~@@q`;-ϱZ@Oyr?9XοBaO?"k*kBkWzϥ?k}" 2k<-CkkkkBkӍ@ addTargetRange:: Added new target pos. range: 115.900002 m, deltaT: 3.778227 s, deltaX: -2.099998 m, approachRate: -0.555816 m/s, rangeRepo size: 4 I  Added new target pos. range: 115.900002 m, bearing: 320.079739 deg, lat: 36.905692 deg, lon: -122.121075 deg, deltaT: 3.778227 s, deltaX: -2.099998 m, approachRate: -0.555816 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 115.90 m.Bj5Jj9E ProNav: ac range: 115.900002 m, nav range: 67.556778 m, bearing: 328.652163 deg, approach rate: 0.000000 m/s, LOS rate: -0.345777 deg/s, cmd heading: 80.338106 deg, new cmd heading: 79.902021 deg. 2jIuHeadingCmd: 1.394553 target range: 115.900002 and range: 115.90 m. ju?jqjyjyiyhyhyhhfffrf\@bf8?ɛƒB; 3I  +<ɚiIvI I("IIփBI&I.I6I<:IV FWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:34:29.3879 G F=GI BQ Ou >sgw,>BAi?Y|Թ?ݶ=9 <(=yHL? @?ভ?,?`,j?ѳ?@?ɨi?Ԋ;$CyB!I = = == =E  E E EMb@Mb@Mb@zKE"KKE9KAKEH!KEESY`^aejlopooponkidb]VRKGB?=9710++,(###! RKU?JKU?AAA A)AYE rh?Mb?Mb?yE ?E=E G٣UGy*Ҽ > Will construct direction to contact in vehicle frame from tetrahedron phase data.  Nusing accuracyPremultiplier from config59Κ?5Y> i1T:?:x?@ECD<;`5EB M@MEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.90 m.Bj/Jj/ ProNav: ac range: 115.900002 m, nav range: 67.714493 m, bearing: 328.456411 deg, approach rate: 0.336334 m/s, LOS rate: -0.416476 deg/s, cmd heading: 79.902019 deg, new cmd heading: 79.316154 deg. 2j鎼HeadingCmd: 1.384328 target range: 115.900002 and range: 115.90 m. j1?jjjihh h hrBfff9rfAbfE Hl? Ihɛ Bx; QUp-IQ ]*<ɚYiYI]Z Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.mw, A?Y"Ӹ?ם=9 =yHF%?ƴ@j? ??C?@` ?a?ɨ?;yB"II-I-3٢e= ex=9mQ m?iq uG٣qyuü u? Nusing accuracyPremultiplier from configy59}>Κ?5Y}l i}Fx?@}E}1;} 2;}5 @ZjFNOT Ignoring new targets: 115.90 m.BjJj껝 ProNav: ac range: 115.900002 m, nav range: 67.816963 m, bearing: 328.328107 deg, approach rate: 0.328432 m/s, LOS rate: -0.410613 deg/s, cmd heading: 79.316152 deg, new cmd heading: 78.931825 deg. 2j挼HeadingCmd: 1.377620 target range: 115.900002 and range: 115.90 m. jU?jjjihhhqhqfqfyfyrfybf} >i?ɛB&< I *<ɚiI1J J J 1J J J O9J 3J tw,%Ay~B"III٢%X< %M=9%Q ->)) -G٣)y5 5> ENusing accuracyPremultiplier from config9E59=t͚?M5Y= i=_IIM@= E=J;=,3;=5]B e@eEZj FNOT Ignoring new targets: 115.90 m.Bj ԻJj ԻZHRHH!I! I!I!I!&I!.I!6I%<:I% FE ProNav: ac range: 115.900002 m, nav range: 67.941582 m, bearing: 328.173158 deg, approach rate: 0.299925 m/s, LOS rate: -0.372236 deg/s, cmd heading: 78.931824 deg, new cmd heading: 78.467843 deg. 2jEvMHeadingCmd: 1.369522 target range: 115.900002 and range: 115.90 m. jML?jIjIjIiIhQhQeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247386hihifififqrfqbf}^8?ɛB"< 隭޻I *<ɚiIzK ENK s9K K I!K   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498662 I zw,aAB^?YB?By=9BP=yBHT? y?@ʒ?P?ϯ?@'ʳ??ɨB^?Bs;B%CyJBJ "IeMb@Mb@Mb@aaa a)aYe㥛 ?Q?{Gz?ye?e=e# G٣UGy* > Nusing accuracyPremultiplier from config59?̚?5Y ix?:o?@ En;m;b5 C@ZjFNOT Ignoring new targets: 115.90 m.Bj|Jj|󻝊- ProNav: ac range: 115.900002 m, nav range: 68.085213 m, bearing: 328.001720 deg, approach rate: 0.357443 m/s, LOS rate: -0.425746 deg/s, cmd heading: 78.467843 deg, new cmd heading: 77.954626 deg. 2j-5HeadingCmd: 1.360565 target range: 115.900002 and range: 115.90 m. j5&?j1j1j1i9h9h9h9hEBfAfAfArfAbfM༆?ɛEBE5< AEw,RA6?Y6!?6=960 d=y6H ?Ê5??`5`??/=f??ɨ6?6g;6$Cy>BB "IIJIJF٢j ʻ nV=rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0026719v;Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 59`˚? 5Y~ i  ? @E:*: 5 V@ZjIMFNOT Ignoring new targets: 115.90 m.BjU7JjU7뻝e ProNav: ac range: 115.900002 m, nav range: 68.213631 m, bearing: 327.845829 deg, approach rate: 0.339445 m/s, LOS rate: -0.411286 deg/s, cmd heading: 77.954622 deg, new cmd heading: 77.487842 deg. 2je!mHeadingCmd: 1.352418 target range: 115.900002 and range: 115.90 m. jm?jijijiiihqhqhqhqfyfyfyrfbf7J@ɛB7< 隭 *Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254646‡w, AyMȃBM"I ]=]=Mb@Mb@Mb@ )YT㥛 ?K7A?t<@ @)`@I@y@IIm?3٢-= -*=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from config9M59=Eʚ?M5Y=v i=MJ$?M:U?U@=E=;=;=!5Y ]@YZjFNOT Ignoring new targets: 115.90 m.BjJj ProNav: ac range: 115.900002 m, nav range: 68.388344 m, bearing: 327.634206 deg, approach rate: 0.364883 m/s, LOS rate: -0.440837 deg/s, cmd heading: 77.487840 deg, new cmd heading: 76.854622 deg. 2jEHeadingCmd: 1.341366 target range: 115.900002 and range: 115.90 m. j㱫?jjjihhzKuKK9KKJ!KhhȂBfffrfbf%@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506667ɛB9M< =I e+<ɚiIxJJJ0JJ̝:JJـ3JJ;aJ;aJe,;aJe,;a Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758588荸w, T:A2J?Y2]?2q=92t6=y2H`w"?l -O?j? ? K?`>l ??ɨ2J?2;0ynÃBn"IIzIz 3٢  v=9  ;Q  ? G٣UGye ? %Nusing accuracyPremultiplier from config!-59%ɚ?-5Y%ep i%ƿ)-?-@%E%:%*:%59 =@9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 115.90 m.Bjm Jjm  ProNav: ac range: 115.900002 m, nav range: 68.507149 m, bearing: 327.485683 deg, approach rate: 0.357350 m/s, LOS rate: -0.445963 deg/s, cmd heading: 76.854620 deg, new cmd heading: 76.409833 deg. 2j%%HeadingCmd: 1.333603 target range: 115.900002 and range: 115.90 m. j-?j)j)j)i)h)h)h1hyfffrfbf@ɛuBuI< q}0Дw,/TAVC?YVVı?V_=9VV=yVH?O`~?f_?@?=?Fz?9?ɨVC?V_;V%CybăBb"IIn In(2٢ 2<  J=9  Q > G٣y => ENusing accuracyPremultiplier from configAM59E|ɚ?M5YEi iEIU ?U@EEE:;EF;E^5  @EZjFNOT Ignoring new targets: 115.90 m.BjJjjH<bH<HI I;"IIBI&I.I6I<:Iq FeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263748 ProNav: ac range: 115.900002 m, nav range: 68.651749 m, bearing: 327.303377 deg, approach rate: 0.346797 m/s, LOS rate: -0.436309 deg/s, cmd heading: 76.409832 deg, new cmd heading: 75.864081 deg. 2jHeadingCmd: 1.324078 target range: 115.900002 and range: 115.90 m. jc{?jjjihhhhfffrfbf [ @ɛ=B=@Q< AEx=I =-,<ɚiI i Ii  BDAT read: Tx time:23:34:33.0387  $Ping request sent. = ])9 I= Ai= @?= C= 15w,nAe?e> e @)eq=Ie,>ieqaae tz?kt?)eֽIeYieaelaa2:publishing transmit ping time2Fpublishing direction and range infoa9e#\յѿDӿu:;?yaaaa a)aIaiaaaaa a)aIaiaaae tz?kt?)aIaiaaaa?Yİ?֕=9=yHF?!Sas? S??n?]-g??ɨ?;$CyuȃBu"I) AJUJUJQJQJU:JU9JQJQJU;JU;JU3;JU3;Mb@Mb@Mb@ )YK7A`?㥛 ?~jth?y+?>D;I@ @)v@I@y@II٢u< %=9LQ > G٣yj > Nusing accuracyPremultiplier from config59Ț?5Y` i  /?:A?@E;+;5 @ke-c?keb" ka keiA:keBBkeY@eyE+?l=ѿu *$?"keg*ke Bkew?ke8j" 2ke+)Ckake8j" kakeBke@ addTargetRange:: Added new target pos. range: 113.400002 m, deltaT: 3.534126 s, deltaX: -2.500000 m, approachRate: -0.707388 m/s, rangeRepo size: 4  Added new target pos. range: 113.400002 m, bearing: 319.280628 deg, lat: 36.905692 deg, lon: -122.120998 deg, deltaT: 3.534126 s, deltaX: -2.500000 m, approachRate: -0.707388 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 113.40 m.BjJje ProNav: ac range: 113.400002 m, nav range: 65.360931 m, bearing: 332.133673 deg, approach rate: 0.000000 m/s, LOS rate: -0.436309 deg/s, cmd heading: 75.864079 deg, new cmd heading: 75.204641 deg. 2jamHeadingCmd: 1.312569 target range: 113.400002 and range: 113.40 m. jm??jijijiiihqhqhq}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:34:33.0379 huBfffrfY\@bf ?ɛ-B-\< )-;=I) 5,<ɚ1i1In=I??ii,}=)??)*F-?2F):F)BF-0JF)G x=G B O >8w,wNAWill construct direction to contact in vehicle frame from tetrahedron phase data.>ߣ?Y>?>R=9>=y>H`? G@?`I??%?AK?D?ɨ>ߣ?>;>%CyddIrIrͳ QIQ٢A `=9cQ >    G٣ UGy; > Nusing accuracyPremultiplier from config%59gȚ?5YZ i(^?@E<<!5 @ZjFNOT Ignoring new targets: 113.40 m.Bj Jj E ProNav: ac range: 113.400002 m, nav range: 65.482254 m, bearing: 331.941948 deg, approach rate: 0.328205 m/s, LOS rate: -0.517698 deg/s, cmd heading: 75.204638 deg, new cmd heading: 74.630548 deg. 2jEMHeadingCmd: 1.302549 target range: 113.400002 and range: 113.40 m. jM빦?jIjIjIiIhIhQhQhQfqfyfrfbf?ɛBag< J=I  -<ɚiI=I%빦?i!i%r=)-빦?))*F%?2F):F)BF-_5JF)HQIQ IUG"IIUBIQ&IQ.IQ6IUq<:IUK FBIJIRIZI% =bI% =jIƿ4Will construct direction to contact in vehicle frame from tetrahedron phase data.=:?Gm Pă=Gu qAGu qAGI By O >:̨w,An ?YnO?n*=9n"n=ynHQ?E@/w?@nC?g??ԩ?d?ɨn ?n=;n$CyvBv"I)EF= AG5tAA Y5tAyNBuWill construct direction to contact in vehicle frame from tetrahedron phase data.zKRIKKKL!K   iIiMb@Mb@Mb@ )Y(\?S㥛?Mb`?y.?$>;`@ -@)QAI@yp@@AIIԲ٢ټ (=9\vQ > G٣y' > Nusing accuracyPremultiplier from config59ǚ?5Y)Q iP2?: ?@E;;<#5 :@Zj FNOT Ignoring new targets: 113.40 m.Bj Jj  ProNav: ac range: 113.400002 m, nav range: 65.651474 m, bearing: 331.685505 deg, approach rate: 0.367165 m/s, LOS rate: -0.554980 deg/s, cmd heading: 74.630547 deg, new cmd heading: 73.863250 deg. 2j%p%HeadingCmd: 1.289157 target range: 113.400002 and range: 113.40 m. j%?j)j)j)i)h)h)h1h5Bf1f1f9rf9bf=|?ɛB\< )=I .<ɚiI=I-?i1i]|=)]?)YJSKS KSKSKS"KSJJJJJJ*9JJJJJ(;J(;*F5?2F1:F1BF5B5JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.GU Ὁ=G1 B9 Oe >w,A6 e?Y6 ?6`=96=y6H )?`:̏?;?~?ޮ? '? ?ɨ6 e?6;4yRBR!I V=Va=I^I^٢bŽ f=9jQ j?hh jG٣hyn‰ n? rNusing accuracyPremultiplier from configpv59r ǚ?v5YrlK irixz[?z@rEr~:r:r$5~B ~:@EB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 113.40 m.Bj5*Jj5*M ProNav: ac range: 113.400002 m, nav range: 65.759956 m, bearing: 331.520808 deg, approach rate: 0.346474 m/s, LOS rate: -0.525145 deg/s, cmd heading: 73.863250 deg, new cmd heading: 73.369987 deg. 2jM3]HeadingCmd: 1.280548 target range: 113.400002 and range: 113.40 m. j]?jYjYjYiYhahahahafififirfibfu 6?ɛB_A< 9=x IIMhKٵw,AZHRH@AHI III&I.I6I<:Ir FZݑ?YZ?Z{B=9Z=yZH?@<1 q?@5?'M?@!M?@?@_?ɨZݑ?Z,;XyfBj!IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.715993IzIz٢K< H=9 Q  >   G٣UGy& > %Nusing accuracyPremultiplier from config%59ƚ?%5YC i)-?-@ E::b&51 5@1ZjimFNOT Ignoring new targets: 113.40 m.Bju Jju  ProNav: ac range: 113.400002 m, nav range: 65.901443 m, bearing: 331.305963 deg, approach rate: 0.346488 m/s, LOS rate: -0.525005 deg/s, cmd heading: 73.369988 deg, new cmd heading: 72.726863 deg. 2j'HeadingCmd: 1.269323 target range: 113.400002 and range: 113.40 m. j/y?jjjihhhhfffrfbf{?ɛB9^K< 0K Ow,+kAB?YB?B?}=9BՁ=yBH?! *? J(?G?Ĭ?h`?@?ɨB?B ;B&CyJBN!IJbJbJ`J`Jb,:Jb9J`J`Jb;Jb;Jb1;Jb1;Mb@Mb@Mb@ )YʡE?{Gz?Mbpy/?#> C@)hAI@y@I-I-b٢U2 ]7=9e9Q e>ai mG٣iym u> }Nusing accuracyPremultiplier from configq}59u:ƚ?5Yu; iuU4?:|?@u"Euf;u;uW(5 j@ZjFNOT Ignoring new targets: 113.40 m.BjJj ProNav: ac range: 113.400002 m, nav range: 66.056580 m, bearing: 331.067367 deg, approach rate: 0.346489 m/s, LOS rate: -0.531638 deg/s, cmd heading: 72.726864 deg, new cmd heading: 72.012798 deg. 2jmHeadingCmd: 1.256860 target range: 113.400002 and range: 113.40 m. j?jjjihhhhBfffrfbf L@ɛB!< !%>I! %f.<ɚ!i!I%=I?iiI=)?)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222937*FE?2FA:FABFAJFAGb'=GBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471885 a Ia ]¸w,h A2%ӏ?Y27?2=92q=y2H? `*??$L?[G?Gg?f?ɨ2%ӏ?2u;2$Cy>BB!I)D DIJIJ3٢R Ri=9V`Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^+ƚ?b5Y^$5 i^dfn?f@^$E^ ;^ ;^)5h n=AlZjFNOT Ignoring new targets: 113.40 m.BjJj ProNav: ac range: 113.400002 m, nav range: 66.176460 m, bearing: 330.881430 deg, approach rate: 0.324811 m/s, LOS rate: -0.502874 deg/s, cmd heading: 72.012795 deg, new cmd heading: 71.456013 deg. 2jHeadingCmd: 1.247143 target range: 113.400002 and range: 113.40 m. j_?jjjih h h h fffrfbf@ɛB; H#I -<ɚiI=I_?ii=)_?)E *F?2F:FBFt0JF"G=G>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=2.724074G=G B O >ɸw,0&AyB!IUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977056 IzKQJKh9KKN!K *:==742.+'! EMb@Mb@Mb@AAA A)AYEFx?{Gz?~jthyE+?AEDEA EZ@)AIE@AyE@I]I]F2٢mB m&=9mQ m>qq uG٣uUGyu }> Nusing accuracyPremultiplier from configy59}Ś?5Y}1, i}0?: ?@}'E}[;};},5 YAEZjFNOT Ignoring new targets: 113.40 m.BjJj ProNav: ac range: 113.400002 m, nav range: 66.344666 m, bearing: 330.626313 deg, approach rate: 0.355359 m/s, LOS rate: -0.537605 deg/s, cmd heading: 71.456012 deg, new cmd heading: 70.692648 deg. 2jzHeadingCmd: 1.233819 target range: 113.400002 and range: 113.40 m. j?jjjihhhhBfffrfbfߛ@ɛB< p!I mI-<ɚiI=I?ii]=)?)*F2F:FBFo0JFJJJJJ:J9JJJ;J;J$7;J%7; Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:34:35.5911  TRx dataTimestamp_ set to:1736379276.924659 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229764G ޯ=G B O >@ϸw,?AN1}?YNC?N=9Na=yNH |?ӊ?S?=>?@?+ f?@{?ɨN1}?Nڊ;N&CyVqBV!II^!I^i3٢j$ j=9jVӻQ n ?ll rG٣pyr r ? vNusing accuracyPremultiplier from configtz59vIƚ?z5Yvk& iv|~?~@v)Evm ;v;vj-5 +A %B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 113.40 m.Bj5'Jj='U ProNav: ac range: 113.400002 m, nav range: 66.448990 m, bearing: 330.459872 deg, approach rate: 0.327452 m/s, LOS rate: -0.521602 deg/s, cmd heading: 70.692649 deg, new cmd heading: 70.194123 deg. 2jU]HeadingCmd: 1.225119 target range: 113.400002 and range: 113.40 m. j]М?jajajaiahahahihifififirfqbfu+ @ɛBk; 隥I l,<ɚiI}=IМ?ii=)М?)*F?2F:FBF@5JFG"==mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.480650GBO>> IhjH bH <H% ,>I!  I% "II% ̃BI! &I! .I! 6I% <:I% X F(ָw,YAB.?YBl?B=9B=~=yBH ?B ?7?`?@k?`Q??ɨB.?B4;B#CyNcBN!IbWill construct direction to contact in vehicle frame from tetrahedron phase data.zDAT read: 23:34:35.5911 LVL= 19632, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.41,-1.027,-2.867,-2.060,-1.720, PHS= 0.781,-1.099,-0.343, RAW= 113.6, 8.1, CAL= 123.1, 5.0, ROT= 26.9, -5.0 ~Ygot valid direction response: 23:34:35.5911 LVL= 19632, 32753, 32754, 32755, AGC= 63, IDX= 410, 0.41,-1.027,-2.867,-2.060,-1.720, PHS= 0.781,-1.099,-0.343, RAW= 113.6, 8.1, CAL= 123.1, 5.0, ROT= 26.9, -5.0 PDAT read: Bearing 26.9, -5.0 (Local)  ~Local bearing/azimuth received: Bearing 26.9, -5.0 (Local) DAT read: Range 10 to 50 : 111.1 m (Round-trip 148.2 ms) speed 0.4 m/s ,DAT read: user:3342> %BDAT read: Tx time:23:34:36.6887 %$Ping request sent.%QQ UG٣QFpublishing direction and range info`9b;=CѿCҿzƤ^?yb3B`bL` b)`Ib?ibG?bbb?b> b @)b¸=Ibva>ib¸``bsٟz?Fou?)b&yIb6ibSb]̔``:publishing transmit ping time!Fpublishing direction and range info`9b;=CѿCҿzƤ^?y > Nusing accuracyPremultiplier from config59ǚ?5Y i5j?@+E ::y```` `)`I`i````` `)`I`i```bsٟz?Fou?)`I`i````Q/5) Akbn?kb2Eg" k` kbc[A:kb3BBkbBZkbʊ@"b^C=%/@t.}Y@b;=CѿCҿzƤ^?JkbSRkb]̔*b*]?@1֚P@]4gY@b0u?:-ҿWE?"kb*kbAkb-v?kbm" 2kbQ'Ckbw?kb]ɡ" kbQ'CkbABkb @ addTargetRange:: Added new target pos. range: 111.099998 m, deltaT: 3.777846 s, deltaX: -2.300003 m, approachRate: -0.608813 m/s, rangeRepo size: 4  Added new target pos. range: 111.099998 m, bearing: 314.307002 deg, lat: 36.905492 deg, lon: -122.120997 deg, deltaT: 3.777846 s, deltaX: -2.300003 m, approachRate: -0.608813 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 111.10 m.BjJjU ProNav: ac range: 111.099998 m, nav range: 48.446373 m, bearing: 317.145428 deg, approach rate: 0.000000 m/s, LOS rate: -0.521602 deg/s, cmd heading: 70.194120 deg, new cmd heading: 69.444517 deg. 2jQ]HeadingCmd: 1.212035 target range: 111.099998 and range: 111.10 m. j]#?jYjYjYiYhYhahahfffrf`f[@bf?ɛB~; L=׽I ̩*<ɚ i Iݨ=I#?iiX=)#?)EiEmqA*F?2F:FBFO5JFG GrAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:23:34:36.6879 IzKm MKm 9Ki Km O!Km   G 7=G B O >Vܸw,/sAFF+?YFXi?F=9F r=yFH?޾ cQ?? U?@ȩ?` C? 8?ɨFF+?F?;F$Cy5KB5~!IMb@Mb@Mb@ )YNbX9?Dl?{Gzy%?O >#v@ @)I-@yII㔳٢gн 1=9LQ >    G٣ UGy > %Nusing accuracyPremultiplier from config!M59%{Ț?M5Y% i%_M`)?M:Mq?U@%-E%;%;%D15Y ]VAYWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 111.10 m.Bj47Jj47 ProNav: ac range: 111.099998 m, nav range: 48.633896 m, bearing: 316.877658 deg, approach rate: 0.450418 m/s, LOS rate: -0.640683 deg/s, cmd heading: 69.444514 deg, new cmd heading: 68.644358 deg. 2j=ۼUHeadingCmd: 1.198070 target range: 111.099998 and range: 111.10 m. jU\Z?jQjQjQiYhYhyhhBfffrfbf@$?ɛEBEU9 AEIA M̨(<ɚIiIIM =IU\Z?iQiU@=)U\Z?)y*F)2F1:F1BF505JF1G  =GBO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq I -:w,;A2?Y2@?2丌=92:x=y2H࣡?@??}?6)???ɨ2?2;2%CyB@BBp!IIJIJ(1٢Ru R{=9VQ V ?TT VG٣TyZ Z ? bNusing accuracyPremultiplier from config\b59^ɚ?f5Y^' i^~dfH?f@^/E^:^7:^25h jAlZjAEFNOT Ignoring new targets: 111.10 m.BjM3.JjM3.} ProNav: ac range: 111.099998 m, nav range: 48.769455 m, bearing: 316.682742 deg, approach rate: 0.424860 m/s, LOS rate: -0.609194 deg/s, cmd heading: 68.644357 deg, new cmd heading: 68.061255 deg. 2j ѼHeadingCmd: 1.187893 target range: 111.099998 and range: 111.10 m. j ?jjjihhhhfffrfbf ?ɛB TJ  'I  &'<ɚ iIL =I ?ii=) ?)!JJJJJJJ:J9JJa@a@a@a@*F?2F:FBF_0JFHI I!IIBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.Gʯ=GBO >qiw,yAy 0B \!I-Will construct direction to contact in vehicle frame from tetrahedron phase data. YIYMb@Mb@Mb@ )YMb?"~j?ii mG٣iym u> }Nusing accuracyPremultiplier from configq}59um̚?5Yu iu#?:?@u2Eu;u:;u45B 8AEzKeKK9KKP!KZjFNOT Ignoring new targets: 111.10 m.BjU*JjU* ProNav: ac range: 111.099998 m, nav range: 48.961063 m, bearing: 316.390866 deg, approach rate: 0.392578 m/s, LOS rate: -0.595670 deg/s, cmd heading: 68.061257 deg, new cmd heading: 67.189127 deg. 2jf̼HeadingCmd: 1.172671 target range: 111.099998 and range: 111.10 m. j?jjjihhhhBfffrfbf?ɛ-B5s 15@I1 5D!$<ɚ1i1I=$g =IE?iAiEi=)E?)AEK'= Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 4JF GEs=GB)OE>Ew,}Ay5B5=!IIEIEF3٢]޽ ]5=9aQ e>aa mG٣mVGyi m> }Nusing accuracyPremultiplier from configq}59uΚ?}5Yu iu@u4Eu:u:u65 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 111.10 m.Bj'Jj' ProNav: ac range: 111.099998 m, nav range: 49.130344 m, bearing: 316.136473 deg, approach rate: 0.391186 m/s, LOS rate: -0.585841 deg/s, cmd heading: 67.189124 deg, new cmd heading: 66.428622 deg. 2jɼHeadingCmd: 1.159398 target range: 111.099998 and range: 111.10 m. j)g?jjjih QIUh]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.hhhfffrfbfU?ɛEBE6 AEHkII M <ɚIiIIM| =IU)g?iYi]=)])g?)YEPH=*F?2F:FBF_0JFJJJJJ:JO9JJG=GBO>ZHRHH->I I!II{BI$ =&I.I6IŰ<:I FBIJIRIZIbIjI½4 Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007992w,O=A6#W?Y65?6KK=96 K=y6HD?`}Wv?=W? U?࢜?`ӥ`Q?w?ɨ6#W?6ܦ;6&CyBBB%!IIJIJ(*3٢Rʽ RX=9RkA:Q V>TT VG٣TyZVŽ ^> bNusing accuracyPremultiplier from config`f59bњ?f5Ybj ibdf>?j@b6Eb:bX:bf85nB nArEZj FNOT Ignoring new targets: 111.10 m.Bj *Jj * ProNav: ac range: 111.099998 m, nav range: 49.271828 m, bearing: 315.909709 deg, approach rate: 0.373321 m/s, LOS rate: -0.596625 deg/s, cmd heading: 66.428624 deg, new cmd heading: 65.750318 deg. 2j̼%HeadingCmd: 1.147560 target range: 111.099998 and range: 111.10 m. j%;?j!j)j)i)h)h)h1h1f9fAfArfAbfE@@ɛB ԅI ۂ<ɚiIw =I%;?i!i%X:=)%;?))-tAMA YtAyB QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259919zK5k3IK59K1K5Q!K5BKEoA:KAE0M=*FM ?2FI :FI BFM ^0JFI 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512380Gu >=G} ?G} ?GIBQOu>d(w,Af?Yf?f=9fA=yfH ? 6 -?5? M?`W?@@.?I?ɨf?f Ή;dynBn!I =@= =@= =@=  =@= IE!IEi3٢U- U$=9]K^9Q ]>YY eG٣ayeԼ e> ubBottom track data is 0.5 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}59m՚?}5Ym7 imI+::?@m8Em]^;m>m':5 AZjFNOT Ignoring new targets: 111.10 m.Bjj*Jjj*U ProNav: ac range: 111.099998 m, nav range: 49.454716 m, bearing: 315.612361 deg, approach rate: 0.367914 m/s, LOS rate: -0.595957 deg/s, cmd heading: 65.750317 deg, new cmd heading: 64.861649 deg. 2jU̼]HeadingCmd: 1.132049 target range: 111.099998 and range: 111.10 m. j]?jYjYjYiYhYhahhfffrfbfT1@ɛB: RI <ɚi I û=I?ii;=)?)EAEA*EA"EA IhuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765589*F?2F:FBF]0JFG] !{=G1 BI Oe >J J J 1J J J 9J 3J w,OAH4I4 I6!II6RBI4&I4.I46I6<:I6Z FF?YF/?F3=9F6=yFH@u?l I?@F?A?d?m??ɨF?F;DyRBR IIZIZ[3٢bA bU=9fIQ f>dd fG٣fVGyj j> rbBottom track data is 0.9 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59nٚ?z5Yn inuz :xzZ:zճ?z@n:En];nb?nA;5 AEZjFNOT Ignoring new targets: 111.10 m.Bj&Jj& ProNav: ac range: 111.099998 m, nav range: 49.594315 m, bearing: 315.381722 deg, approach rate: 0.352617 m/s, LOS rate: -0.580937 deg/s, cmd heading: 64.861648 deg, new cmd heading: 64.171713 deg. 2jXǼHeadingCmd: 1.120008 target range: 111.099998 and range: 111.10 m. ji\?jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.>%=BDAT read: Rx Time:23:34:39.2389 TRx dataTimestamp_ set to:1736379280.457007checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017282hhfffrfbfSC@ɛMBMZ IMĠIQ u <ɚqiqI}=I}i\?iig=)i\?)*F)2F):F)BF-~0JF)G5s=  I G1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268065zK] BoHK] h9KY K] R!K] RKm ?JKm >m? w,^3A2n~?Y2qu?22=92=.=y2H@NE?]B?`?y?@?b@&??ɨ2n~?2I;2%Cy:͂B: I-zonly read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V I #I %x3٢½ %C=9%ѺQ %>)) -G٣)y5 5> UbBottom track data is 1.3 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configAe59E ݚ?e5YE iEe9am1:m?m@E ]BDAT read: Tx time:23:34:40.3387 ]$Ping request sent.]pw,mNAnYz?Yn?n=9n'=ynHE? aկ?@L?F?45?u `??ɨnYz?np;n"Cy-˂B- II=I=3٢U U>=9UGQ U>YY ]G٣Yye e> mbBottom track data is 1.7 s old, using for 20.0 s. uNusing accuracyPremultiplier from configiu59ml᚜?u5Ym im}9y}:}]?}@m>Em(;ms?m=5 lAk3's?k)@! k k|=A:kBBk}BZk@"qA6Hm:Y@ 4ʿ?OWϿH9L?Jk8RkZ&*Om)7@N+9d:X޻Y@?οJU?"k*kOAklb?kC]! 2k0)CkWzϥ?k}" k+)CklABk^@ addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.534833 s, deltaX: -1.599998 m, approachRate: -0.452638 m/s, rangeRepo size: 4 m Added new target pos. range: 109.500000 m, bearing: 311.598497 deg, lat: 36.905474 deg, lon: -122.120994 deg, deltaT: 3.534833 s, deltaX: -1.599998 m, approachRate: -0.452638 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 109.50 m.Bj}Jjy ProNav: ac range: 109.500000 m, nav range: 48.355831 m, bearing: 313.366848 deg, approach rate: 0.000000 m/s, LOS rate: -0.575720 deg/s, cmd heading: 63.412521 deg, new cmd heading: 62.720700 deg. 2jHeadingCmd: 1.094683 target range: 109.500000 and range: 109.50 m. j?jjjihhhhfffrf`[@bf@ ?ɛUzB]# y隅SI P <ɚiI6=I?ii=)?)JeJeJe0JaJe:Jeu9Jeـ3JajHbH<H.>IC IM!II%BI&I.I6I<:Ig F*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.G A=G B O >w, 9hARw?YRj7?R=9R>$=yRH? 2j?? G I٣VGyڼ > bBottom track data is 2.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59;暜? 5Y i 9  9 خ? @AEq< @=5 AUB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 109.50 m.Bj*Jj* ProNav: ac range: 109.500000 m, nav range: 48.516949 m, bearing: 313.095012 deg, approach rate: 0.355186 m/s, LOS rate: -0.597274 deg/s, cmd heading: 62.720698 deg, new cmd heading: 61.907956 deg. 2j̼HeadingCmd: 1.080498 target range: 109.500000 and range: 109.50 m. jM?jjjih h h h fffrfbf`U?ɛvB 隥λI  <ɚiI>=IM?ii=)M?)zKK9KKS!K BKpA:K*FU?2FQ:FQBF]4JFYe Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.G !{=GQ Ba O >*| w,A2u?Y2?2%^=92 =y2HY?b@b??`$?R?@ t?$?ɨ2u?2 j;2&CyNBN I - - -- --  - - -Mb@Mb@Mb@))) )))Y-K7A`?~jt?y- ?-=-) -@)-AI-~@)y-@IEIE٢UҼ UO=9]Q e>aa eG٣aymjԼ m> }Nusing accuracyPremultiplier from configq}59u뚜?5Yu iuT:Y ?:?@uBEuj!;ur;uM?5 AZjQ]FNOT Ignoring new targets: 109.50 m.BjeJje} ProNav: ac range: 109.500000 m, nav range: 48.612000 m, bearing: 312.889411 deg, approach rate: 0.257759 m/s, LOS rate: -0.556456 deg/s, cmd heading: 61.907954 deg, new cmd heading: 61.292383 deg. 2j}򾼝HeadingCmd: 1.069754 target range: 109.500000 and range: 109.50 m. j?jjjihhhhhBfffrfbf`8?ɛ-rB I <ɚiI8=I?ii=)?) $?Ih*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242441G o=G B O >H />I  I "!II BI &I .I 6I <:I F&w,A6r?Y6?6X{x=968=y6H?h`轭?g?@,?? @?5?ɨ6r?6K;4yRBR I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495016IuIui٢L E=9Q > G٣yɼ > Nusing accuracyPremultiplier from config59?5Y i:?@DE.:: A5B yAEZjYeFNOT Ignoring new targets: 109.50 m.Bje%Jje% ProNav: ac range: 109.500000 m, nav range: 48.719284 m, bearing: 312.654312 deg, approach rate: 0.264963 m/s, LOS rate: -0.579348 deg/s, cmd heading: 61.292383 deg, new cmd heading: 60.588677 deg. 2jƼHeadingCmd: 1.057472 target range: 109.500000 and range: 109.50 m. j=[?jjjihhhhfffrfbf ?ɛnBœ !%+ľI! %-;ɚ!i!IMFF=I]=[?iYi]=)]=[?)a*F%?2F!:F!BF%]0JF! IWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747780GE q=G1 B9 Ou >zK &KK 9K K T!K  ,w,A2]o?Y2?2qt=92 =y2H?`:? :??@aң? @ ? ?ɨ2]o?2K;0y:B: IJMJMJIJIJM:JMO9JIJIJM7;a]JM8;a]JMe,;a]JMe,;a]Mb@Mb@Mb@ )YDl?y&1?Mbp?yO ?`<;A )AI@yp@IIF3٢; H=9 Q > G٣VGyo > Nusing accuracyPremultiplier from config59o?5Y iQ ?:a?@FE7 ;;B5 nAZj!%FNOT Ignoring new targets: 109.50 m.Bj-(Jj-( ProNav: ac range: 109.500000 m, nav range: 48.819157 m, bearing: 312.419665 deg, approach rate: 0.251967 m/s, LOS rate: -0.590774 deg/s, cmd heading: 60.588675 deg, new cmd heading: 59.886212 deg. 2jʼHeadingCmd: 1.045212 target range: 109.500000 and range: 109.50 m. j~Ʌ?jjjihhh!h%iBf!f!f!rf)bfU?ɛjBc 隝I H;ɚiIX=I~Ʌ?ii=)~Ʌ?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001325*F?2F:FBF_0JFG |=G B O >  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2500593w,A2Yk?Y2?2Vq=92H$=y2H8?Z`I???RƢ?g&?`+?ɨ2Yk?2Ɋ;2#Cy>B> IIF IF<2٢NxM R_=9RQ R>PT VG٣TyV/ V> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ iZf`b^?b@ZGEZ|;Z;Z~D5h jAhZjxFNOT Ignoring new targets: 109.50 m.BjO&Jj O& ProNav: ac range: 109.500000 m, nav range: 48.907375 m, bearing: 312.206550 deg, approach rate: 0.241188 m/s, LOS rate: -0.581601 deg/s, cmd heading: 59.886211 deg, new cmd heading: 59.248046 deg. 2j]ǼeHeadingCmd: 1.034073 target range: 109.500000 and range: 109.50 m. je\?jajajaiahahihihififqfqrfqbfuɟ@ɛgBݳ wľI O;ɚiIA=I\?ii4߾=)\?)*F?2F:FBFm0JFGe=GmpAGmpAG)B1OM1>ZHe?ARHaHiIi Im!IImBIi&Ii.Ii6ImU<:Im= F=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5022739w,vAZ^g?YZ@?Z_Gm=9Z$=yZH? eD??@p??ତw? ?ɨZ^g?Zlf;Z'Cy5B= I)Y Y III 3٢u< 7=9Q  >! %G٣)y5 =>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756465 Nusing accuracyPremultiplier from config59P?5YD iu?@JE;::F5  AMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 109.50 m.Bj]%Jje% ProNav: ac range: 109.500000 m, nav range: 49.019966 m, bearing: 311.927598 deg, approach rate: 0.233544 m/s, LOS rate: -0.577293 deg/s, cmd heading: 59.248046 deg, new cmd heading: 58.413173 deg. 2jƼHeadingCmd: 1.019502 target range: 109.500000 and range: 109.50 m. j ?jjjihhhh f f f rfbf@@ɛ]bB]Z Y]IY ev;ɚiIr=I ?iia =) ?)zKELKAKAKEU!KE*F=?2F9:F9BF=`0JFAJYJ]JYJYJYJ]9JYJYJYJ]9;J]:;J]:;E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007104G F=GY Ba O} >@w,JAy~B~ IMb@Mb@Mb@ )Ykt?{Gz?I +?y ?#=94<hA @)AI@y@II ٢м M=9Q > G٣VGy > Nusing accuracyPremultiplier from config59 ?5Y) i?:?@KE;;0H5 AZjQ]FNOT Ignoring new targets: 109.50 m.Bj]T'Jj]T'm ProNav: ac range: 109.500000 m, nav range: 49.113377 m, bearing: 311.710332 deg, approach rate: 0.252062 m/s, LOS rate: -0.585158 deg/s, cmd heading: 58.413171 deg, new cmd heading: 57.762645 deg. 2jmȼuHeadingCmd: 1.008148 target range: 109.500000 and range: 109.50 m. ju ?jyjyjyiyhyhyhhtBfffrfbfI_ @ɛ^B 隽nI $D;ɚiIY=I ?iiUU=)U ?)Q $?I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.եAiաBDAT read: Rx Time:23:34:42.8868 TRx dataTimestamp_ set to:1736379284.237066checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259618G$=GBO^>He 0>Ia  Ie IIe ݂BIe # =&Ia .Ia 6Ie <:Ie FBI%˞CJI%˞CRI!ZI%$ =bI%$ =jI%4Fw,-A2`?Y2@?2D`=92w=y2H :??g ?`i?@_?`W?@X? ~?ɨ2`?2;2%Cy>B<IF IF(2٢Z: Z^=9Z4 Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59f?j5Yf! if~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510168h5:?=@fMEf}i % BDAT read: Tx time:23:34:43.9888 - $Ping request sent.- Mw,d7A @6K\?Y6c?6X=96Y=y6H?0?b3?`0?@?|#C? ?ɨ6K\?6 ;6$CyRBR IJ)J-J)J)J)J-O9J)J)J)J)J-e,;J-e,;Mb@Mb@Mb@ )YzG?T㥛 ?{Gz?y ?=#<zA )AI@yAI I<2٢?<  +=9Q > G٣y > -Nusing accuracyPremultiplier from config!M59%?U5Y%) i%]?]:]?e@%OE%<%<%K5B AEk|??kR ! k k/A:kBBkBZki`@"FV,5|z""hZ@-ϕs)`8])?JkU%Rk̴*գQ'`@DmӲ+ Z@v&|Чp?Rx4?"k] Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:34:43.9880 *k@k??k 2k+Ck-v?km" k0)Ck=BkT@m addTargetRange:: Added new target pos. range: 107.800003 m, deltaT: 3.779854 s, deltaX: -1.699997 m, approachRate: -0.449752 m/s, rangeRepo size: 4  Added new target pos. range: 107.800003 m, bearing: 297.896168 deg, lat: 36.905455 deg, lon: -122.120988 deg, deltaT: 3.779854 s, deltaX: -1.699997 m, approachRate: -0.449752 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 107.80 m.BjeJjiu ProNav: ac range: 107.800003 m, nav range: 47.470585 m, bearing: 309.722630 deg, approach rate: 0.000000 m/s, LOS rate: -0.578336 deg/s, cmd heading: 57.106324 deg, new cmd heading: 56.246797 deg. 2jyHeadingCmd: 0.981692 target range: 107.800003 and range: 107.80 m. j'P{?jjjihhhhBfffrf@3Z@bf?ɛ}TB} 隅ֳI ;ɚiI;=I'P{?iiX=)'P{?)*F5?2F1:F1BF591JF1G ʯ=G B O > I h Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,PA6wY?Y6Lˈ?628P=96N=y6H? ???@Ԛ?'s??ɨ6wY?6;6#Cy>BB IIJIJ٢VA< Vx=9VcͻQ Z ?XX ZG٣ZVGy^ ^ ? bNusing accuracyPremultiplier from config`f59b#?f5Ybv ibhjR?j@bQEb:b:bSM5l rApZj FNOT Ignoring new targets: 107.80 m.BjFJjF% ProNav: ac range: 107.800003 m, nav range: 47.560379 m, bearing: 309.516113 deg, approach rate: 0.303055 m/s, LOS rate: -0.695675 deg/s, cmd heading: 56.246796 deg, new cmd heading: 55.628441 deg. 2j%HeadingCmd: 0.970899 target range: 107.800003 and range: 107.80 m. jތx?jjjihhhhfffrfbf ?ɛ5QB=;kü 9=߮I9 =׶;ɚ9i9IE%=IEތx?iIiM*=)Mތx?)I*F)2F):F)BF5_0JF1jH<bHH I  I  II ؂BI &I .I 6I t<:I U FWill construct direction to contact in vehicle frame from tetrahedron phase data.Gޯ=G B O >0Zw,˽jAVIV?YVc?VvwA=9Vyw=yVHna?c?.?`l?d?,@}??ɨVIV?V9;V%CybBf IInIn YIY٢z <=9Q > G٣y%Ǽ ->Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configI59M,?5YM iM ٔ?5@MSEMt?jjjihhhhfffrfbfy?ɛmKBmd iu3Iq uH;ɚqiqIu#=I}>t?iyi}!=)}>t?)zKJQJKs9KKW!KBK:KnA*F ?2F :F BF]0JFJKm3 KS}-KK"KJ=J=J9J9J=:J=9J9J9J=Q;J=R;J=Z5;J=Z5;- 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.GE Ҵ=GM qAGI G B) O >aw,A6΀S?Y6x?6j:=96u=y6H@?@ @?`??jC?CK )??ɨ6΀S?6 O;4yfBf IUMb@Mb@Mb@QQQ Q)QYUV-?#~j?Mb?yU?U=U G٣y > Nusing accuracyPremultiplier from config594?5Y9 iN?:?@UEJ;9;P5B AEZjFNOT Ignoring new targets: 107.80 m.BjJJjJ ProNav: ac range: 107.800003 m, nav range: 47.795418 m, bearing: 308.979559 deg, approach rate: 0.319525 m/s, LOS rate: -0.709197 deg/s, cmd heading: 54.765871 deg, new cmd heading: 54.022870 deg. 2j[󼝊HeadingCmd: 0.942877 target range: 107.800003 and range: 107.80 m. jb`q?jjjihh h h Bf ffrfbf.?ɛGB/ cI L;ɚiI=I b`q?i1i5|=)5b`q?)9 ]$?IY*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502725G =G B O >H 1>I  I I I &I .I 6I <:I u FEgw,(AbpM?YbQ?b+=9bS6b=ybH?a=`T? K??~|?q!! %G٣%VGy%kw -> 5Nusing accuracyPremultiplier from config)=59-zK BoHK +9K K X!K %+169<AEJNQOU]WTYd~}xsqjeb^[XRK ?JK > mmw,OAFȲI?YFu?FK'=9FQ=yFH ?? ?? t}?礿4?k?ɨFȲI?F;F'CyNBN I-Mb@Mb@Mb@))) )))Y-+?:v?YY ]G٣Yye e> Nusing accuracyPremultiplier from configq59uWE? 5Yu iu5!?5:5?5@uYEu I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508756Stw,%ARTE?YRuo~?R!=9RvE=yRH@p? u??@|?{?|7֘? %?ɨRTE?Rؒ;R&CyZB^ IIjIj 2٢v; vQ=9vxx zG٣xy~ ~> Nusing accuracyPremultiplier from config 59M? 5Y i  >?@[E::.V5 AZjAEFNOT Ignoring new targets: 107.80 m.BjUKJjUK ProNav: ac range: 107.800003 m, nav range: 48.146938 m, bearing: 308.189273 deg, approach rate: 0.319156 m/s, LOS rate: -0.712265 deg/s, cmd heading: 52.432743 deg, new cmd heading: 51.657958 deg. 2jiHeadingCmd: 0.901601 target range: 107.800003 and range: 107.80 m. jZf?jjjihhhhfffrf bf `@ɛ9Bワ I D;ɚiI5 =IZf?i i p=) Zf?)JJJJJ,:J9JJa%@a-@a-@a-@*F?2F:FBF{2JFZH@ARHHI I II݂BI" =&I.I6I<:Ik FWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760914G =G B O% >G}zw,A65B?Y6V\{?6/=96>=y6H@?ޡ??u?+w?`qا?1?ɨ65B?6;6$CyRBR II^I^ 3٢jS nL= |I~h9MmQ M>IQ UG٣QyU U> }Nusing accuracyPremultiplier from configq59uV?5Yuā iu?@u]Eusѩ=GA BQ O >ew,Ar%@?Yr6x?r-=9r$9=yrH` ?@\?f?)?r??4?ɨr%@?rcE;r&Cy B  IMb@Mb@Mb@ )Yx&1?p= ף?Mbp?y!?>;A )AI`@yAI I̍2٢Ik <=9sQ > G٣VGyϼ > Nusing accuracyPremultiplier from config59_?5Y7{ i$?:C?@_E;;Y5 A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 107.80 m.Bj=XJj=XM ProNav: ac range: 107.800003 m, nav range: 48.402237 m, bearing: 307.632673 deg, approach rate: 0.362985 m/s, LOS rate: -0.758743 deg/s, cmd heading: 50.825050 deg, new cmd heading: 49.992689 deg. 2jM-MHeadingCmd: 0.872537 target range: 107.800003 and range: 107.80 m. jU^_?jjjihhhhBf!f)fQrfYbf]`T @ $?I ɛ/B\A 隵I mq;ɚiI!=I^_?ii!=)^_?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:34:46.5340 LVL= 14832, 23329, 18498, 26547, AGC= 59, IDX= 417, 0.13, 0.916,-1.069,-0.819,-0.227, PHS= 1.231,-0.795,-0.595, RAW= 95.1, 1.7, CAL= 104.0, -1.2, ROT= 46.0, 1.2 Ygot valid direction response: 23:34:46.5340 LVL= 14832, 23329, 18498, 26547, AGC= 59, IDX= 417, 0.13, 0.916,-1.069,-0.819,-0.227, PHS= 1.231,-0.795,-0.595, RAW= 95.1, 1.7, CAL= 104.0, -1.2, ROT= 46.0, 1.2 PDAT read: Bearing 46.0, 1.2 (Local) ~Local bearing/azimuth received: Bearing 46.0, 1.2 (Local)  DAT read: Range 10 to 50 : 105.8 m (Round-trip 141.1 ms) speed 0.4 m/s ,DAT read: user:3345> EBDAT read: Tx time:23:34:47.6388 E$Ping request sent.E@ۍFָۉۉ:publishing transmit ping timeAFpublishing direction and range info؉9؍zY ܇V?XF?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ4?(GڿӫV?)ۉIۉiۉۉۉۉ*F2F:FBFO5JFJm Jm Ji Ji Jm :Jm u9Ji Ji H I  I II ؂BI # =&I .I 6I t<:I V FG ̈=G B O >w,AB=?YBvv?B=9BkK<=yBH`D?5???M?Vc? ޡࢃ?\?ɨB=?B;B$CyJvBJw I)` `IfIf2nWill construct direction to contact in vehicle frame from tetrahedron phase data.rJDAT read: TxSync time:23:34:47.6380 ٢zvؽ zY=9ƃQ >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)U59-g?]5Y-Du i-Y]-?]@-aE-l;-;-[5a m2 AikZ?k~j k kuA:kBBk$BZkd=@"EPuj*[@V~ @RkFָ*d MLB;"L^UZ@h]؛iZh?"k)*kMk(X?kl 2k*Cklb?kC]! kk!Bk@E addTargetRange:: Added new target pos. range: 105.800003 m, deltaT: 3.530168 s, deltaX: -2.000000 m, approachRate: -0.566545 m/s, rangeRepo size: 4 } Added new target pos. range: 105.800003 m, bearing: 251.098405 deg, lat: 36.905384 deg, lon: -122.120892 deg, deltaT: 3.530168 s, deltaX: -2.000000 m, approachRate: -0.566545 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 105.80 m.BjJj ProNav: ac range: 105.800003 m, nav range: 37.032875 m, bearing: 305.622204 deg, approach rate: 0.000000 m/s, LOS rate: -0.758743 deg/s, cmd heading: 49.992689 deg, new cmd heading: 49.068613 deg. 2jHeadingCmd: 0.856409 target range: 105.800003 and range: 105.80 m. j=[?jjjihhhhfffrf@3sZ@bf x?ɛE+BE⟸ AE$IA MW`;ɚqiqIuEy"=I}=[?ii?=)=[?)*Fa2Fa:FaBFe_0JFa IWill construct direction to contact in vehicle frame from tetrahedron phase data.G b=Ga Bi O >zKU MKU 9KQ KU Z!KU w,9A6C;?Y6dYt?6W=96h&=y6H@|?#l?`p??,c? JJפ??ɨ6C;?66;6&CyrmBrl IuMb@Mb@Mb@qqq q)qYuRQ?@5^I ?Mb`yu"?ub>uu3A q)qIu@qyuAIIV8٢% @=9Q > G٣yn > Nusing accuracyPremultiplier from config59p?5Yn i&?:%?@cE;;Y]5B  AEZj1=FNOT Ignoring new targets: 105.80 m.Bj=~Jj=~ ProNav: ac range: 105.800003 m, nav range: 37.177410 m, bearing: 305.261775 deg, approach rate: 0.357670 m/s, LOS rate: -0.888454 deg/s, cmd heading: 49.068612 deg, new cmd heading: 47.991660 deg. 2joHeadingCmd: 0.837613 target range: 105.800003 and range: 105.80 m. jmV?jjjihhhhBff!f!rf!bf-@e?ɛ&BWill construct direction to contact in vehicle frame from tetrahedron phase data.j y}Iy L;ɚiI84#=ImV?ii}R=)mV?)*FU?2FQ:FQBFU^0JFQG-!{=GBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,lSA>A:?Y>½r?>q<9>0=y>H`?Ǫ? ? !?R M`^??ɨ>A:?>G; G٣VGy% %> -Nusing accuracyPremultiplier from config)559- y?=5Y-h i-'9EV?E@-eE-oR;-8S;-_5I M AIZjquFNOT Ignoring new targets: 105.80 m.Bj}wJjw ProNav: ac range: 105.800003 m, nav range: 37.309109 m, bearing: 304.934350 deg, approach rate: 0.348698 m/s, LOS rate: -0.863854 deg/s, cmd heading: 47.991662 deg, new cmd heading: 47.012957 deg. 2j6HeadingCmd: 0.820531 target range: 105.800003 and range: 105.80 m. jPR?jjjihhhhfffrfbf\?ɛ"BѼ I ;;ɚiI#=IPR?ii }=)PR?)*F?2F:FBFb0JFJJJ/JJ:J :J(N3JjHM<bHM4<HYIY I] II]ɂBI]$ =&IY.IY6I]P<:I]; FBI9JI9RI9ZI=# =bI=# =jI=Ľ4Will construct direction to contact in vehicle frame from tetrahedron phase data.Gl=G ?G?GBO> ~G 5tA - Y- 5tAy- BX˚w,NFmA R$?ITy%TB-N IiE=IE<IUIU&ѳ٢e;s eE=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}?5Y}b i}4@}gE}.:}:}`5 G AeWill construct direction to contact in vehicle frame from tetrahedron phase data.Zjq}FNOT Ignoring new targets: 105.80 m.BjVJjV ProNav: ac range: 105.800003 m, nav range: 37.452320 m, bearing: 304.584253 deg, approach rate: 0.308245 m/s, LOS rate: -0.750656 deg/s, cmd heading: 47.012957 deg, new cmd heading: 45.966804 deg. 2jHeadingCmd: 0.802272 target range: 105.800003 and range: 105.80 m. jaM?jjjihhh)h)f)f1f1rf1bf5&?ɛ}B}F 隅ǾI  ";ɚiI$=IaM?iiǪ>)aM?)*F=?2FA:FABFE_0JFAzK}غKK}9KyK}[!K} Gm=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. ? ?ϳw,#A2z5?Y2m?2j<92n:=y2H@"? 9MBBE I=Mb@Mb@Mb@999 9)9Y=V-?`"?~jtxy=?===Ļ9 =@)9I=`@9y=AIMIM1٢] ]J=9e*Q e>ai mG٣iyme= m> Nusing accuracyPremultiplier from configy59}'?5Y}\ i}B?:?@}iE};};}b5  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 105.80 m.BjRJjR ProNav: ac range: 105.800003 m, nav range: 37.578697 m, bearing: 304.250305 deg, approach rate: 0.356723 m/s, LOS rate: -0.939455 deg/s, cmd heading: 45.966804 deg, new cmd heading: 44.968437 deg. 2j/!HeadingCmd: 0.784847 target range: 105.800003 and range: 105.80 m. jH?jjjihhhhqBfffrfbf`v?ɛ-B-K )-˾I1 5;ɚ1i1I5C%=I=H?i9iE(>)EH?)A Ih*F?2F:FBF1JFeWill 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.G0==GBO% >J! J% AAJ- J- J- 0J) J- :J- u9J- ـ3J) HI II  IM IIM BIM # =&II .II 6IM <:IM z Feݧw,A6(m2?Y6Hj?6m<96 6=y6H vp?#]`?Cg?mu?3uL5Ӧ?@?ɨ6(m2?6ܴ;6&CyR@BR4 IIZ IZ(2bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.243662٢f jT=9nEQ n>pp rG٣r VGyr v> zNusing accuracyPremultiplier from configtz59v ?~5YvPV ivP|p?@vkEvA;v;vJd5 B  A EZj15FNOT Ignoring new targets: 105.80 m.Bj=kJj=kM ProNav: ac range: 105.800003 m, nav range: 37.697910 m, bearing: 303.931736 deg, approach rate: 0.309806 m/s, LOS rate: -0.825263 deg/s, cmd heading: 44.968439 deg, new cmd heading: 44.015845 deg. 2jM UHeadingCmd: 0.768221 target range: 105.800003 and range: 105.80 m. jU)D?jjjihhhhfffrfbfr@ɛeBeܡۼ aezӾIi m\:ɚiiiImA%=I)D?ii\>))D?)*F12F1:F1BF5Q5JF1G|i=GBO J> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499229w,]ܺA6.?Y6_g?6g<96*=y6H ?@_? !??PDr@ԛ YW??ɨ6.?6 ;6$CzKRyy G٣yx > Nusing accuracyPremultiplier from config59>?5YiP ibb?:?@mEB;;%f5 C AZjFNOT Ignoring new targets: 105.80 m.BjdJjd ProNav: ac range: 105.800003 m, nav range: 37.817406 m, bearing: 303.591444 deg, approach rate: 0.281713 m/s, LOS rate: -0.799705 deg/s, cmd heading: 44.015846 deg, new cmd heading: 42.998310 deg. 2j5 HeadingCmd: 0.750462 target range: 105.800003 and range: 105.80 m. jI@?jjjihhhhnBfffrfbf @ɛBн޼  pؾI &M:ɚiI&=II@?iiM>)I@?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749621*F2F:FBF05JFG %> u $?I} hG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:34:50.1822  TRx dataTimestamp_ set to:1736379291.296667 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000700ﴹw,-A6q+?Y6c?6fB<96O?=y6H ?d@3?@I?$?h n@vg ??ɨ6q+?6p;6(Cy>&BB IIJIJM3٢^  bW=9b֏Q b>dd fG٣dyf f> nNusing accuracyPremultiplier from confighr59j?r5Yj(K ijrpr^?r@joEj2 ;je ;jg5vB z AzEZjq}FNOT Ignoring new targets: 105.80 m.Bj}]Jj] ProNav: ac range: 105.800003 m, nav range: 37.923004 m, bearing: 303.285882 deg, approach rate: 0.269021 m/s, LOS rate: -0.776275 deg/s, cmd heading: 42.998312 deg, new cmd heading: 42.084258 deg. 2j0HeadingCmd: 0.734509 target range: 105.800003 and range: 105.80 m. j)MG9BAOeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251615 Y IY w,TA2'?Y2 `?2<929 =y2H@*?@aG?`?`?>^?@:?ɨ2'?2׉;2%CynBn IIzIz?13٢Z E=9//Q >   G٣ VGy > Nusing accuracyPremultiplier from config%59򱛜?%5Y|E i)-k?-@qE;;i51 =; A=EZja}FNOT Ignoring new targets: 105.80 m.BjlJjl ProNav: ac range: 105.800003 m, nav range: 38.035904 m, bearing: 302.952332 deg, approach rate: 0.280214 m/s, LOS rate: -0.825400 deg/s, cmd heading: 42.084258 deg, new cmd heading: 41.086685 deg. 2j HeadingCmd: 0.717098 target range: 105.800003 and range: 105.80 m. j7?jjjihhhhfffrfbf  @ɛB+ gI dW:ɚiI'8(=I%7?=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.507397i i >)7?))EE*F?2F:FBF_0JFGpA GqAzKrMK9KK]!K JJJJJJ:JJJ;aJ;aJI;aJI;aG y> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:34:50.1822 LVL= 17376, 25073, 23922, 27635, AGC= 59, IDX= 430,-0.22, 1.662,-0.210,-0.230, 0.518, PHS= 1.233,-0.681,-0.751, RAW= 88.2, 2.1, CAL= 95.0, -0.9, ROT= 55.0, 0.9 - Ygot valid direction response: 23:34:50.1822 LVL= 17376, 25073, 23922, 27635, AGC= 59, IDX= 430,-0.22, 1.662,-0.210,-0.230, 0.518, PHS= 1.233,-0.681,-0.751, RAW= 88.2, 2.1, CAL= 95.0, -0.9, ROT= 55.0, 0.9 E PDAT read: Bearing 55.0, 0.9 (Local) M ~Local bearing/azimuth received: Bearing 55.0, 0.9 (Local) ] DAT read: Range 10 to 50 : 104.4 m (Round-trip 139.2 ms) speed 0.1 m/s e ,DAT read: user:3346> m BDAT read: Tx time:23:34:51.2888 m $Ping request sent.m i  Fpublishing direction and range info 9 Cxg?*q?y  ) I i ) I i &]./?s M[07v?) I i d¹w,mAy BIi=I< I}Mb@Mb@Mb@yyy y)yY}> ףp=?V-?y&1|y}?}h=}`}A }QA)}AI}QAyy}AII[3٢7F &=9Q > G٣y > Nusing accuracyPremultiplier from config59Ҿ? 5Y9? i ? : ? @sE;;k5  Ak@▜?kM k k7RA:kBBk\BZkWK@"(ƍW))CD-@ ]Y@Cxg?*q?Jkk4@Rk0*g;-bM?}q`Y@x;¿nMCt0Z?"k*kmke{ٖ?k w0M 2k[(Ck??k kk-Akq0@ addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.779073 s, deltaX: -1.400002 m, approachRate: -0.370462 m/s, rangeRepo size: 4 - Added new target pos. range: 104.400002 m, bearing: 182.041469 deg, lat: 36.905248 deg, lon: -122.120733 deg, deltaT: 3.779073 s, deltaX: -1.400002 m, approachRate: -0.370462 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 104.40 m.Bj5Jj1EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:23:34:51.2880 e ProNav: ac range: 104.400002 m, nav range: 18.772335 m, bearing: 286.817714 deg, approach rate: 0.000000 m/s, LOS rate: -0.825400 deg/s, cmd heading: 41.086685 deg, new cmd heading: 39.810355 deg. 2jiHeadingCmd: 0.694822 target range: 104.400002 and range: 104.40 m. j1?jjjihhhhIBfffrfZ@bf?ɛ%B- )-I) -9ɚ1i1I530)=I51?iYi]>)]1?)Y*F2F:FBF\0JFH I  I  II }BI $ =&I .I 6I <:I FG5  > Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! O= >ȹw,+$A6?Y6'X?6<96K)+?) $?I *F?2F:FBF_0JFG >GBOm>}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J5 J5 J1 J1 J5 :J5 *9J1 J1 a= @a= @a= @a= @ιw,=AzK>FLK>9K<K>^!K>Cg9;}O$v}< 3T~xtrqsuvwxy=B=IMb@Mb@Mb@ )YGz?~jt?y&1|y?D=A hA)AIy=AImIm%x٢ 5=9Q > G٣ VGy > Nusing accuracyPremultiplier from config59%՛?5Y5 i,?:m?@wE;Y;>o5B - AEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990404ZjFNOT Ignoring new targets: 104.40 m.BjżJjż ProNav: ac range: 104.400002 m, nav range: 19.051159 m, bearing: 285.734883 deg, approach rate: 0.350812 m/s, LOS rate: -1.383689 deg/s, cmd heading: 38.414306 deg, new cmd heading: 36.587003 deg. 2jgm HeadingCmd: 0.638564 target range: 104.400002 and range: 104.40 m. j x#?jjjihhhh(Bfffrf!bf%H?ɛMBMQ QUIQ UDչɚQiQIU*=I]x#?iaie5>)mx#?)q*F2F:FBF`0JF IG @`>G G qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245884G B O >Yչw,eWAN9?YNP?N,<9N鈆?I?r?au?W@ϐ??ɨN9?N7;N"CyZBZIIbIb̍٢jc jj=9nQ n?pp rG٣pyr v> zNusing accuracyPremultiplier from configtz59vߛ?~5Yvs1 iv|wf?@vyEv;v;vp5   A Zj9=FNOT Ignoring new targets: 104.40 m.BjEüJjEüU ProNav: ac range: 104.400002 m, nav range: 19.167667 m, bearing: 285.255596 deg, approach rate: 0.334453 m/s, LOS rate: -1.367479 deg/s, cmd heading: 36.587001 deg, new cmd heading: 35.158193 deg. 2jUjHeadingCmd: 0.613626 target range: 104.400002 and range: 104.40 m. j?jjjihhhhfff rf bf -?ɛBg 隝I )MɚiIb+=ICl ?jH<bH<H2>I IZ II^BI# =&I.I6I<:Ir Fii!>)?)*F?2F:FBF0JFGeQ $>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494701GYBaOZ> I h@۹w,ʥqA6@?Y6 K?6.<96oB>IIJIJ?13٢V  VM=9V|';Q V>XX ZG٣Xy^G ^> bNusing accuracyPremultiplier from config`f59b뛜?f5Yb, ibdj}a?j@bzEb*:b:br5=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746642]B } AEZjFNOT Ignoring new targets: 104.40 m.BjdJjdu ProNav: ac range: 104.400002 m, nav range: 19.298759 m, bearing: 284.707819 deg, approach rate: 0.290533 m/s, LOS rate: -1.205747 deg/s, cmd heading: 35.158194 deg, new cmd heading: 33.526489 deg. 2juNHeadingCmd: 0.585148 target range: 104.400002 and range: 104.40 m. j<?jjjihhhhfffrfbf g?ɛB: 隝eI VɚiIF,=IE<?iAiM7>)M<?)IJ J J J J m:J u9J J zK=öPK= 9K9K=_!K=y{xjZOB=954-'   BKI:KMpA*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998360G Q4>G B O% >w,||A2l ?Y2]F?2h<92Gb8IUMb@Mb@Mb@QQQ Q)QYUK7?V-?~jthyUI ?U G٣ VGyPF > Nusing accuracyPremultiplier from config59*?5Y@( i| ?:S?@|ES;%;ft5  A|EZjFNOT Ignoring new targets: 104.40 m.BjܼJjܼ  ProNav: ac range: 104.400002 m, nav range: 19.428257 m, bearing: 284.118179 deg, approach rate: 0.341195 m/s, LOS rate: -1.543176 deg/s, cmd heading: 33.526489 deg, new cmd heading: 31.769943 deg. 2j bHeadingCmd: 0.554490 target range: 104.400002 and range: 104.40 m. j ?jjjihhhh Bf!f!f!rf!bf-@ɛUBju! _I ϺɚiI,=I ?iin@>) ?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251597*F?2F:FBF05JFG GH3>I I: IIEBI&I.I6I<:Io FBIyJIyRIyZIybIyjI}4GF6>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502246w,[aAV?YVq@?V<9V};yVH`C^?`? ?u? a??+`VZz? ?ɨV?V;V$CyfBfIIn*In3٢v:; vU=9v2;Q z>xx ~G٣|y~w ~> Nusing accuracyPremultiplier from config 59t? 5YA$ iM?@~E6;s:;v5! % A!EB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 104.40 m.Bj]Jj]m ProNav: ac range: 104.400002 m, nav range: 19.540495 m, bearing: 283.595029 deg, approach rate: 0.291277 m/s, LOS rate: -1.349848 deg/s, cmd heading: 31.769942 deg, new cmd heading: 30.209913 deg. 2jmg}HeadingCmd: 0.527262 target range: 104.400002 and range: 104.40 m. j}?jyjyjyiyhhhhfffrfbf`D@PExceeded connect timeout, disconnecting.) wC~GtA 5{Y5tAy5Bɛe݂Be\ 隍I YɚiI-=I ?ii 7>)?) qIq*FE?2FA:FABFE3JFAG=>GBOj>eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757597J J J J J :J O9J J Jw,6A6k"?Y6:?6<96:y6H? }P͕? N?E? &?[?`?ɨ6k"?6M{;6&CzKNMKNh9KLKN`!KNRKV ?JKV?yvBvIuMb@Mb@Mb@qqq q)qYun?~jt?~jth?yuV?u G٣yZ > Nusing accuracyPremultiplier from config59?5Y ik?:]C?@E8;;w5B  AyEZjFNOT Ignoring new targets: 104.40 m.BjȼJjȼ  ProNav: ac range: 104.400002 m, nav range: 19.660578 m, bearing: 282.997412 deg, approach rate: 0.282935 m/s, LOS rate: -1.399456 deg/s, cmd heading: 30.209913 deg, new cmd heading: 28.428620 deg. 2j p}HeadingCmd: 0.496173 target range: 104.400002 and range: 104.40 m. j}d >jyjyjihWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:34:53.8310 TRx dataTimestamp_ set to:1736379295.078781checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011338hhh2Bfff rf bf@*I@ɛ]ׂB]z Y]IY ]?ɚaiaIe^.=Ie?iiD>)d >)*F?2F:FBF _0JF  ]$?IYGs>>G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258364~w, A>Y4?<9dPyH[?= &“?@?]?? j@?ɨ>h3;騵$CyBIII#3٢s C=9(;Q %>!! %G٣% VGy-xh -> =Nusing accuracyPremultiplier from config1=595l"?=5Y5 i5AEE=?E@5E5;5';5y5I M AIZHYRH]@AHe5>Ia Ie( IIe6BIe" =&Ia.Ie6D6Ie԰<:Ie FZjFNOT Ignoring new targets: 104.40 m.Bj&żJj&ż ProNav: ac range: 104.400002 m, nav range: 19.776033 m, bearing: 282.408276 deg, approach rate: 0.271820 m/s, LOS rate: -1.378895 deg/s, cmd heading: 28.428620 deg, new cmd heading: 26.672110 deg. 2jlHeadingCmd: 0.465516 target range: 104.400002 and range: 104.40 m. j !X>j jjih!h)h9h9fAfIfrfbf5 @ɛтB 6I %8ɚ i I +/=I!X>ii׿N>)!X>)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:34:53.8310 LVL= 10400, 23409, 18098, 27235, AGC= 58, IDX= 434,-0.15, 0.909,-0.537,-1.083, 0.028, PHS= 0.969,-0.518,-1.114, RAW= 73.9, 7.2, CAL= 76.8, 9.3, ROT= 73.2, -9.3 -Ygot valid direction response: 23:34:53.8310 LVL= 10400, 23409, 18098, 27235, AGC= 58, IDX= 434,-0.15, 0.909,-0.537,-1.083, 0.028, PHS= 0.969,-0.518,-1.114, RAW= 73.9, 7.2, CAL= 76.8, 9.3, ROT= 73.2, -9.3 5PDAT read: Bearing 73.2, -9.3 (Local) =~Local bearing/azimuth received: Bearing 73.2, -9.3 (Local) MDAT read: Range 10 to 50 : 103.5 m (Round-trip 138.0 ms) speed 0.2 m/s U,DAT read: user:3347> mBDAT read: Tx time:23:34:54.9388 u$Ping request sent.uibx??> ?)6&>IƇ?i6&)^?DQ ;?)NI#im@o6u:publishing transmit ping time nManaging dock network, ignoring radio surface power offqFpublishing direction and range info95\HA\ȿJ1&?E<?y )Ii )Ii)^?DQ ;?)Ii I II G% qC>G B O% >#w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:34:54.9380 y]߁B]I)a aIuIub2٢  K=9Q %>1Y ]G٣Yym m> UNusing accuracyPremultiplier from config!e59%1?5Y% i%@%E%{<%<%{5 AvEk"?k( k k'A:kBBkBZk:+@"]ɘ3aC@dhsW@5\HA\ȿJ1&?E<?Jkm@Rko6*?C$q2@IkW@8(v׿W @b?9Ƈp?"kCA*kk%4:?kHjY% 2k!Ck(X?kl kkaAk%@ addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.528661 s, deltaX: -0.900002 m, approachRate: -0.255055 m/s, rangeRepo size: 4  Added new target pos. range: 103.500000 m, bearing: 153.843322 deg, lat: 36.905161 deg, lon: -122.120659 deg, deltaT: 3.528661 s, deltaX: -0.900002 m, approachRate: -0.255055 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 103.50 m.BjJj5 ProNav: ac range: 103.500000 m, nav range: 14.106798 m, bearing: 246.578488 deg, approach rate: 0.000000 m/s, LOS rate: -1.378895 deg/s, cmd heading: 26.672109 deg, new cmd heading: 24.716742 deg. 2j1=HeadingCmd: 0.431389 target range: 103.500000 and range: 103.50 m. j>jjjihhhhfffrfY@bfSr?ɛ˂B U |I ={RɚAiAIEw0=IM>iQiUom>)U>)yzK-k3IK-59K)K-a!K-   Will construct direction to contact in vehicle frame from tetrahedron phase data.%=<*Fm ?2Fi :Fi BFm [0JFi GE ?L>G! B) OE >i w, A6>Y6}(?6k<960Xy6HN?@W? ? O?x;?胿@?ɨ6>6;6#CyNBNI r$?IpMb@Mb@Mb@ )YMbX?I +?~jtx?y ?9<;zA A)3AIAyII ٢ )=  J=9)L;Q U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59m>?}5Ym im} ?}:}2?}@mEm';m3&;mU}5  AZjFNOT Ignoring new targets: 103.50 m.BjNJjN ProNav: ac range: 103.500000 m, nav range: 14.291448 m, bearing: 246.209377 deg, approach rate: 0.546957 m/s, LOS rate: -1.079225 deg/s, cmd heading: 24.716742 deg, new cmd heading: 23.623855 deg. 2j*9HeadingCmd: 0.412314 target range: 103.500000 and range: 103.50 m. j>jjjihhhh5Bfffrfbf?ɛǂB_ v=޾I KdɚiI'1=I%J>i!i%)H>)->))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFp0JFH]6>I]C I]! II]1BI]! =&IY.IY6I]<:I]m FJJBAGe 5L>G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.E w,&A>h>Y>p"?>#"<9>Ey>Hܽ????ա?*.?ɨ>h>>X;>%CyJBJIPRAAIVIVV٢^/< ^`=9bT7Q b>`` fG٣fVGyf7 f> jNusing accuracyPremultiplier from confighn59jK?n5Yj ij"pr"-?r@jEj ;ji ;j~5t v At B*** querying acoustic contact ***j j Zj1=FNOT Ignoring new targets: 103.50 m.BjEJjEe ProNav: ac range: 103.500000 m, nav range: 14.463182 m, bearing: 245.856392 deg, approach rate: 0.477035 m/s, LOS rate: -0.968851 deg/s, cmd heading: 23.623855 deg, new cmd heading: 22.577598 deg. 2je:&mHeadingCmd: 0.394053 target range: 103.500000 and range: 103.50 m. ju_>jqjqjihhhhff f rf bf=֖?ɛ‚Bp{ 隍#վI yɚiI1=I_>iiF(O>)_>) I*F?2F:FBF1JFGeH>GB)OMR>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.w,p|@A @6 a>Y6?6<96dy6H?`@?@kz??ɠ?`۞ J ?ɨ6 a>6$;6&CyNBNIiR=IRp=zKz0LKxKxKzb!Kz uMb@Mb@Mb@qqq q)qYuK7?Mb?{Gzt?yuI ?u=uף;uA uA)uAIuhAqyuAII[٢` ?=9:Q > G٣yr; > Nusing accuracyPremultiplier from config59Z?5Y  i, ?:,?@E;S;€5B  AqEZjFNOT Ignoring new targets: 103.50 m.BjvJjv  ProNav: ac range: 103.500000 m, nav range: 14.672484 m, bearing: 245.436860 deg, approach rate: 0.493680 m/s, LOS rate: -0.975425 deg/s, cmd heading: 22.577598 deg, new cmd heading: 21.337160 deg. 2j ['HeadingCmd: 0.372404 target range: 103.500000 and range: 103.50 m. j>jjjihhhh%FBf!f!f!rf!bf-`?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490962ɛB ӾI lɚiI 2=I>iiQ>)>)!*F%?2F):F)BF-X5JF1 $?IhGe H>GA M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742957BY Ou >^Gw,UZA2>Y2?2Z<92>ӆy2H߃?4 \?@??@۟? Vؐ?ɨ2>2;0yRBRIIZIZ2٢be bY=9fR@;Q f>dd fG٣dyjt j> nNusing accuracyPremultiplier from configlr59nh?r5Yn  in6tv&?v@nEnv:n:ng5| ~ AZj1=FNOT Ignoring new targets: 103.50 m.BjEJjEU ProNav: ac range: 103.500000 m, nav range: 14.855245 m, bearing: 245.061415 deg, approach rate: 0.480954 m/s, LOS rate: -0.975864 deg/s, cmd heading: 21.337159 deg, new cmd heading: 20.224828 deg. 2jUn']HeadingCmd: 0.352990 target range: 103.500000 and range: 103.50 m. j]>jYjYjYiYhahahahafafifirfibfm`O ?ɛB 隥VҾI ٨ɚiI3=I>ii;M>)>)jHbHHI III" =&I.I6I{<:Ia F*JC="JJJJJJm:J=9JJJ;aJ;aJ*;aJ*;aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994423E=QO=*F2F:FBF2JFGuN>GI BQ Om > I Eqw,/tA64>Y69?6(>=96l\y6HY?C >?>?? ?@@?ɨ64>6m;4y>BBIIJIJM3٢R=$= RM=9R;Q R>TT VG٣VVGyVv Z> ^Nusing accuracyPremultiplier from configXb59Zw?b5YZA iZA`b ?b@ZEZ ;Z7 ;Z&5h j AjnEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246381ZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 15.047074 m, bearing: 244.655930 deg, approach rate: 0.462888 m/s, LOS rate: -0.965960 deg/s, cmd heading: 20.224829 deg, new cmd heading: 19.024068 deg. 2j%HeadingCmd: 0.332033 target range: 103.500000 and range: 103.50 m. j.>jjjihhhhfffrfbfb@ɛ=BE0 AEþIA ɚiI)4=I.>iiVJ>).>)ETw=E*F2F:FBF05JFzKu]LKus9KqKuc!KuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498183G N>G B O >m#w, aA $?Iy}B}I) Mb@Mb@Mb@ )YFx?l?II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]爜?e5Y]I i]Je ?e:m)#?m@]E];];]+5q u AqZjFNOT Ignoring new targets: 103.50 m.Bj䍼Jj䍼 ProNav: ac range: 103.500000 m, nav range: 15.270887 m, bearing: 244.207768 deg, approach rate: 0.502985 m/s, LOS rate: -0.992401 deg/s, cmd heading: 19.024068 deg, new cmd heading: 17.699538 deg. 2jD*HeadingCmd: 0.308915 target range: 103.500000 and range: 103.50 m. j"*>jjjihhhhUBfffrfbf@ɛB 隥I b릻ɚiIU`5=I"*>iia>)"*>)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750254E*E"EH9>I I( II6BI =&I.I6I<:Iz FJ#K+cw3 K+.-K#K#"K#JJJ/JJ:JJ(N3JJ8;J9;JJ*FE ?2FA :FA BFE C5JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:34:57.4798  TRx dataTimestamp_ set to:1736379298.604638 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003302G- J>GBO->(*w,UAF?H>YF> ?F=9FyFH/?߿4?`???x?`@X~!?ɨF?H>F ;DyrBrIIz IzV2٢ pb A=9%11 =G٣9y=W => ENusing accuracyPremultiplier from configAM5 ]$?IY9EY?]5YE iEUaez?e@EEE@;Es;E 5mB m AukEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 15.473336 m, bearing: 243.766687 deg, approach rate: 0.470377 m/s, LOS rate: -1.011405 deg/s, cmd heading: 17.699537 deg, new cmd heading: 16.393846 deg. 2j-HeadingCmd: 0.286127 target range: 103.500000 and range: 103.50 m. j/>jjjihhhhfffrfbf $Y @ɛBh  ƻI  %Kɚ!i!I%S6=I5/>i1i5E>)5/>)9*F?2F:FBF_0JFGN>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254573GBO@>zK K +9K K d!K ]e1w,A2]+>Y2#>2=926y2H%?'a޿ ?X? $*?`HD?Vүt?ɨ2]+>2;0BWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.506083yFBFIMb@Mb@Mb@ )Yv/?/$?~jtx?yx ?,=;A IA)IAIAyQA9=@AIEIE(*2٢uc u6=9}UM;Q }>yy }G٣VGyk > Nusing accuracyPremultiplier from config59M?5Yq ib ?:?@E\<\<5  AZjAEFNOT Ignoring new targets: 103.50 m.BjmΊJjuΊ ProNav: ac range: 103.500000 m, nav range: 15.679098 m, bearing: 243.316625 deg, approach rate: 0.449752 m/s, LOS rate: -0.970821 deg/s, cmd heading: 16.393846 deg, new cmd heading: 15.061631 deg. 2j&HeadingCmd: 0.262875 target range: 103.500000 and range: 103.50 m. j>jjjihhhhYBfffrfbf. @ɛ5B= 9=QI9 =ɚ9i9IE`7= IIQIm>iqiu{F>)}>)*F?2F:FBF^0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 102.6 m (Round-trip 136.8 ms) speed 0.1 m/s M,DAT read: user:3348> UBDAT read: Tx time:23:34:58.5889 U$Ping request sent.UG pAG G B O >ZH RH AAH I  I ! II 1BI &I .I 6I <:I s FBI˟CJI˟CRIZI! =bI! =jI˼_5R7w,nAJJJJJJ0JHJJM:JJ*9JJـ3JHJJ;JJ ;JJ(;JJ(;vlf>Yv.>v7(=9vb=yvH@?Tۿ ?@??]?`@BV ?ɨvlf>v;v%CyBIII2٢E E]=9M;Q M>Qy }G٣yy}: }> Nusing accuracyPremultiplier from config59?5Y in?@E5;;5B  AhEm addTargetRange:: Added new target pos. range: 102.599998 m, deltaT: 3.779757 s, deltaX: -0.900002 m, approachRate: -0.238111 m/s, rangeRepo size: 4 ZjiFNOT Ignoring new targets: 103.50 m.Bj_Jj_ ProNav: ac range: 103.500000 m, nav range: 15.848085 m, bearing: 242.916123 deg, approach rate: 0.445563 m/s, LOS rate: -1.044721 deg/s, cmd heading: 15.061631 deg, new cmd heading: 13.873117 deg. 2j>3HeadingCmd: 0.242132 target range: 103.500000 and range: 102.60 m. jWw>j1j1j1i1h1h9h9h9f9fAfArfE`fY@bfEz?uWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:23:34:58.5881 ɛB I YƻɚiIQ8=IWw>ii5+>)Ww>)iGsA=A @YsAyB*F?2F:FBF_0JF I!GZ>GqByO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.! i% A>w,'AK>Y >Y(=9,yH@L2?`3ڿ`/-?u?8?M? @%?ɨK>w;yBIMb@Mb@Mb@ )YK7?+?Mb`y ?=A A)AIAyAII٢д< +=99Q >    G٣ y_ > Nusing accuracyPremultiplier from config%59˜?%5Y i% ?-:- >-@E;(;59 = A9ZjaeFNOT Ignoring new targets: 103.50 m.BjmРJjmР} ProNav: ac range: 103.500000 m, nav range: 16.058365 m, bearing: 242.397996 deg, approach rate: 0.462536 m/s, LOS rate: -1.124745 deg/s, cmd heading: 13.873117 deg, new cmd heading: 12.339479 deg. 2j}@HeadingCmd: 0.215365 target range: 103.500000 and range: 102.60 m. j\>jjjihhhhqBfffrfbf`ܸ?ɛBbM sI ϻɚiIM9=I\>iiH41>)\>)zKQKQKQKUe!KU  BKY:KY*Fm?2Fi:FiBFmn0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I G UG>GY Bq O >Dw,A6_3>Y6m>6+=96. ;y6H!~?`rؿ`:?`6;6&Cy>B>IIFIF٢R R=9R5;Q V?TT VG٣VVGyZ Z? ^Nusing accuracyPremultiplier from config\b59^u؜?b5Y^ i^df >f@^E^` ;^:^ 5h jAjeEZj|~FNOT Ignoring new targets: 103.50 m.BjםJjם ProNav: ac range: 103.500000 m, nav range: 16.193930 m, bearing: 242.056153 deg, approach rate: 0.441494 m/s, LOS rate: -1.103954 deg/s, cmd heading: 12.339479 deg, new cmd heading: 11.322648 deg. 2jh=HeadingCmd: 0.197617 target range: 103.500000 and range: 102.60 m. j=\J>jjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.rfbf"?ɛMBMֽ IM II UX(׻ɚqiqIu< :=I}=\J>iyi}*>)}=\J>)*F-?2F):F)BF-"4JF)GA>G ?G ?H=>IC III =&I.I7D6I<:I FGB)O]T>J5J5J1J1J5:J59J1J1J5k;J5m;J5p#;J5q#; Will construct direction to contact in vehicle frame from tetrahedron phase data.AJw, -A2>Y2>2..=92/;y2H?1׿h?-?` ?;?$ĥ`??ɨ2>20;2$C PIPyjہBjIIrIr#٢~3H ~E=9:Q >   G٣ y z  > Nusing accuracyPremultiplier from config59霜?%5Y i!%>%@Ei ; ;ڐ5-B -AA1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 103.50 m.BjeўJjeў} ProNav: ac range: 103.500000 m, nav range: 16.374189 m, bearing: 241.588257 deg, approach rate: 0.432705 m/s, LOS rate: -1.110786 deg/s, cmd heading: 11.322648 deg, new cmd heading: 9.934699 deg. 2j}>HeadingCmd: 0.173393 target range: 103.500000 and range: 102.60 m. j1>jjjihhhhfffrfbft?ɛBV$ "I @!ɚiI8;=I1>ii-+>)1>)*Fq2Fq:FqBFu5JFqGMx1>Will construct direction to contact in vehicle frame from tetrahedron 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)B1OM1>zK LK 9K K f!K 8"Qw,0dGA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7604996>Y6s>68=96^K;y6H? տ Ħ?ື??&b? by?@?ɨ6>6&T;6%CyRҁBRIMb@Mb@Mb@ )Yw/?I +?y&1|y?9<` A)IyAII3٢- -9=9-;Q 5>11 =G٣9y=pa => ENusing accuracyPremultiplier from configAM59E?M5YE iEU ?:>@EEE=jjjjihhhhRBfffrfbfh?ɛB 隅EI pɚiIW<=Ibn>ii,>)bn>)*FQ2FQ:FQBF]U5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014229G} h1>jH <bH H ?>I  I  II ,BI  =&I .I 6I e<:I X FG G Gq B O >Xw,FaA6#=Y6>6A@=96=X\ ^G٣^VGy^ ^> fNusing accuracyPremultiplier from config`f59b ?f5Yb ib15>5@bEbg)=)*F2F:FBFS0JF E$?IAGj,>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5201146^w,{A^p]=Y^>^2F=9^|pI5;IeIe[3٢V <=9hZ;Q > G٣yD > Nusing accuracyPremultiplier from config59c?5Y i>@E:;;;m5 A]EZjFNOT Ignoring new targets: 103.50 m.BjJj- ProNav: ac range: 103.500000 m, nav range: 16.889019 m, bearing: 240.102131 deg, approach rate: 0.412128 m/s, LOS rate: -1.199559 deg/s, cmd heading: 7.155156 deg, new cmd heading: 5.523622 deg. 2j-M5HeadingCmd: 0.096405 target range: 103.500000 and range: 102.60 m. j50p=j1j9j9i9h9h9hAhAfAfAfArfIbfMim@JUJUJQJQJUM:JU9JQJQae@ae@ae@ae@ɛBB2 隝yI fɚiI7\>=I0p=iiC$1>)0p=)zK>MK59KKg!KvfWN@:620/*(*($"%))(" %Will construct direction to contact in vehicle frame from tetrahedron phase data.%>%<%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768799*F-?2F):F)BF-_0JF) A IE hGe J,>G9 BI Oe >&ew,)wA6jei=Y6$>6 K=96=rÁB>I5Mb@Mb@Mb@111 1)1Y5MbX?~jthy&1y5 ?5D5`e53A 53A)5 AI5A1y5AIM IM(2٢]r eN=9et\;Q e>ii mG٣iym7} u>}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:01.1294 TRx dataTimestamp_ set to:1736379302.384793checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021680 Nusing accuracyPremultiplier from configq59u6.?5Yuh iu ?:>@uEu;u;u5 AZjFNOT Ignoring new targets: 103.50 m.Bj;Jj; ProNav: ac range: 103.500000 m, nav range: 17.028690 m, bearing: 239.642420 deg, approach rate: 0.381879 m/s, LOS rate: -1.246583 deg/s, cmd heading: 5.523622 deg, new cmd heading: 4.156075 deg. 2jU HeadingCmd: 0.072537 target range: 103.500000 and range: 102.60 m. j b=j j j i h hhh]Bfffrfbf%Z@ɛMBUK QUIQ ]ɚYiYI]]?=Ieb=iaiep1>)eb=)i*F?2F:FBF`0JFG\ 3>HB>I I IIBI&I.I6I<:I FGBOA>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272416 % $?I! Ikw,6XAF&=YF܂>F|N=9F1A MG٣MVGyer` e> Nusing accuracyPremultiplier from config59*@?]5Y i=aeg>e@E^<<Ǚ5mB mEAuZEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 17.184174 m, bearing: 239.121427 deg, approach rate: 0.364312 m/s, LOS rate: -1.209674 deg/s, cmd heading: 4.156075 deg, new cmd heading: 2.607637 deg. 2jOHeadingCmd: 0.045512 target range: 103.500000 and range: 102.60 m. jj:=jjjihhhhfffrfbf @ɛ-{B5C 15eI9 =ɚ9i9I=@=IEj:=iAiEƶ5>)Ej:=)IWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑDAT read: Range 10 to 50 : 102.3 m (Round-trip 136.4 ms) speed -0.2 m/s ,DAT read: user:3349> BDAT read: Tx time:23:35:02.2389 $Ping request sent.Ju Ju Jq Jq Ju -:Ju 9Jq Jq G B O5 >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:23:35:02.2381 zKU MKU s9KQ KU h!KU &LexEoH%\?rW6rw,FA2a2R=92 =y2H?}Ϳ??? {Օ'NUz?`f?ɨ2a<2Č;2$CyBI)  Mb@Mb@Mb@    ) Y x&?y&1y 7 ? ̼  A A)  AI zA y GAI=I=2٢} 9=9:Q > G٣yqC > Nusing accuracyPremultiplier from config59S?5 $?IY ici ?:A>@E;I;5B AWE addTargetRange:: Added new target pos. range: 102.300003 m, deltaT: 3.529349 s, deltaX: -0.299995 m, approachRate: -0.085000 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 103.50 m.BjƼJjƼ ProNav: ac range: 103.500000 m, nav range: 17.341579 m, bearing: 238.540657 deg, approach rate: 0.378811 m/s, LOS rate: -1.384964 deg/s, cmd heading: 2.607637 deg, new cmd heading: 0.881694 deg. 2jm5HeadingCmd: 0.015388 target range: 103.500000 and range: 102.30 m. j=|<j9j9j9i9hAhAhAhMDBfIfIfIrfU@3Y@bfUB?ɛ}wB} y}¾I n ɚiIٹA=I|)|<)*F?2F:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G] 5>G9 BA O] >ZH RH @AH H>I C I II BI  =&I .I 8D6I T<:I S FZxw, ANe@YN!Z>N~1P=9N6@zEzy;z;z95  AZj1=FNOT Ignoring new targets: 103.50 m.BjEJjEM ProNav: ac range: 103.500000 m, nav range: 17.464642 m, bearing: 238.078868 deg, approach rate: 0.355005 m/s, LOS rate: -1.322750 deg/s, cmd heading: 0.881694 deg, new cmd heading: 359.506368 deg. 2jUbUHeadingCmd: 6.274570 target range: 103.500000 and range: 102.30 m. j]G@jYjYjYiYhahahihqfqfqfqrfybf} Ɩ?ɛsB EM=隭I +ɚiIB=Ih' iih>?>)G@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fy:FyBF}P5JFyGM:>G BO--> I Will construct direction to contact in vehicle frame from tetrahedron phase data.Ƅ~w,GAF-@YFE>FQ=9F :Q m> G٣VGyz/ > Nusing accuracyPremultiplier from config59w?5Y i>@E3:v:B5 ATEJ5J5J51J1J5m:J59J53J1ZjyFNOT Ignoring new targets: 103.50 m.BjնJjն ProNav: ac range: 103.500000 m, nav range: 17.627239 m, bearing: 237.460621 deg, approach rate: 0.339448 m/s, LOS rate: -1.278759 deg/s, cmd heading: 359.506379 deg, new cmd heading: 357.669409 deg. 2jf[HeadingCmd: 6.242509 target range: 103.500000 and range: 102.30 m. j@jjjihhhhfffrfbf?ɛ=oBET1 AEɾIA mzɚiiiIm~D=Iu+&iqiu~I>)u@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.zKPKh9KKi!KC5  ylbYRD7+!zzunleaa][ZXUTQNMJJJHFEA><96612*F2F:FBF2JF $?IG '=>Gy B O >clw,QA @: z@Y:`6/>:6M=9:<~?ࣞſ?@z?c?``??ɨ: z@:;:$CyBBBqI F=F=Mb@Mb@Mb@ )YFx?MbI +y ?@94`A A)IAyI5I5٢E+ E\=9MII UG٣QyU } U>]Will construct direction to contact in vehicle frame from tetrahedron phase data. mNusing accuracyPremultiplier from configam59eO?u5Ye ieuR ?u:uL=u@eEe)]@)YHN>IC IIIBI =&I.I9D6Ie<:If FBIeĠCJIeġCRIeĔCZIe =bIe =jIe 6*F?2F:FBF3JFGMB>GBOg>)=  Will construct direction to contact in vehicle frame from tetrahedron phase data.} G tA A E YM tAyM B I w,0A2@Y2`K>2"U=92\TX ZG٣XyZAd Z> Nusing accuracyPremultiplier from config59c?5Y9 i!%_=%@E $;$;5-B -aA-QEZjQ]FNOT Ignoring new targets: 103.50 m.Bj]ҼJj]Ҽm ProNav: ac range: 103.500000 m, nav range: 17.875689 m, bearing: 236.408936 deg, approach rate: 0.346501 m/s, LOS rate: -1.468970 deg/s, cmd heading: 356.181989 deg, new cmd heading: 354.537244 deg. 2jm |uHeadingCmd: 6.187842 target range: 103.500000 and range: 102.30 m. ju@jyjyjyiyhyhhhfffrfbfڼ?ɛhB)u! W̾I !ɚiI9F=I'Cýii>S>)@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.Ew=*F?2F:FBF5JF"G=G=JM JM JM 0JI JM ]:JM 9JM ـ3JI G 7G> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK `,OK 9K K j!K 30,.+&&#!#$  G B O >w,eKAyBlI $?IMb@Mb@Mb@ )Y(\?~jt~jtxy?DĻA A)IzAyAI=!I=i3٢U ; U!=9UQ U>YY ]G٣]VGye e> Nusing accuracyPremultiplier from config59Ӱ?5Y i >?:s=@E;;5 \ANEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.50 m.BjJjE ProNav: ac range: 103.500000 m, nav range: 18.037464 m, bearing: 235.732297 deg, approach rate: 0.306555 m/s, LOS rate: -1.270662 deg/s, cmd heading: 354.537252 deg, new cmd heading: 352.526412 deg. 2jEZMHeadingCmd: 6.152747 target range: 103.500000 and range: 102.30 m. jMM@jIjIjQiQhQhQhhABfffrfbf@ɛcB QU6ƾIQ ]E)ɚYiYI]G=Ieiaieq>)eM@)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.jH <bH <H W>I C I II ߁BI  =&I .I :D6I <:I FE yQ=*F ?2F :F BF $1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764860GQ> IGqByO?Zw,tpABfM@YBC=BB]=9B}ڌdd fG٣hyj^ j> nNusing accuracyPremultiplier from configlr59nƝ?r5Yn in/tvR<v@nEn#:n:nܦ5x zxA|Zj!%FNOT Ignoring new targets: 103.50 m.Bj-̼Jj-̼= ProNav: ac range: 103.500000 m, nav range: 18.187449 m, bearing: 235.063167 deg, approach rate: 0.323566 m/s, LOS rate: -1.431599 deg/s, cmd heading: 352.526417 deg, new cmd heading: 350.536428 deg. 2j=uEHeadingCmd: 6.118015 target range: 103.500000 and range: 102.30 m. jE@jAjIjIiIhIhQhQhQfQfYfYrfYbf] K@ɛ_B 隍žI z.ɚiILI=I|")ii*qd>)@)EQEQ*EQ"EQWill construct direction to contact in vehicle frame from tetrahedron phase data.սAiչBDAT read: Rx Time:23:35:04.7805 TRx dataTimestamp_ set to:1736379305.913162checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018013*F2F:FBFY5JFG}?[>Ga B O >pw,=AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270016z@Yzi=z_=9zmZn G٣yY[ > Nusing accuracyPremultiplier from config59ٝ?5Y iG?:}{@EQ;;Ũ5%B %A%KE ]$?IYZjFNOT Ignoring new targets: 103.50 m.Bj0Jj0= ProNav: ac range: 103.500000 m, nav range: 18.318642 m, bearing: 234.478832 deg, approach rate: 0.283414 m/s, LOS rate: -1.253266 deg/s, cmd heading: 350.536428 deg, new cmd heading: 348.796541 deg. 2j=WEHeadingCmd: 6.087648 target range: 103.500000 and range: 102.30 m. jE@jAjAjAiAhihihihifqfqfqrfqbf}@d @ɛ[Bl %hþI) -gn4ɚ)i1I5 {J=I=:HiAiE5k>)E@)A*F2F:FBFA4JFG GGco>G ?G?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521930GBO H [>I C I II ځBI  =&I FD.I 6I <:I Fw,AJ6J6J4J4J6y:J69J4J4J6;a:J6 ;a:J6;a>J6;a>B@YBf=B}^=9B0ftx zG٣zVGyz* z> Nusing accuracyPremultiplier from config|59~EꝜ? 5Y~ i~[  Ǽ @~E~<:~:~g5 mAZjFNOT Ignoring new targets: 103.50 m.Bj%޽Jj%޽U ProNav: ac range: 103.500000 m, nav range: 18.428600 m, bearing: 233.977581 deg, approach rate: 0.293064 m/s, LOS rate: -1.327958 deg/s, cmd heading: 348.796533 deg, new cmd heading: 347.302111 deg. 2jUc]HeadingCmd: 6.061565 target range: 103.500000 and range: 102.30 m. j]X@jYjajaiahahahihqfyfyfrfbf @5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:35:04.7805 LVL= 12784, 13649, 14162, 20227, AGC= 56, IDX= 444, 0.30,-1.132,-1.675, 2.787,-2.013, PHS= 0.969, 0.385,-1.487, RAW= 43.2, 1.2, CAL= 42.5, -0.1, ROT= 107.5, 0.1 Ygot valid direction response: 23:35:04.7805 LVL= 12784, 13649, 14162, 20227, AGC= 56, IDX= 444, 0.30,-1.132,-1.675, 2.787,-2.013, PHS= 0.969, 0.385,-1.487, RAW= 43.2, 1.2, CAL= 42.5, -0.1, ROT= 107.5, 0.1 PDAT read: Bearing 107.5, 0.1 (Local) ~Local bearing/azimuth received: Bearing 107.5, 0.1 (Local) DAT read: Range 10 to 50 : 103.1 m (Round-trip 137.5 ms) speed -0.2 m/s ɛXBj4 I n9ɚiIK=I%Dbi!i%m>M,DAT read: user:3350> UBDAT read: Tx time:23:35:05.8889 U$Ping request sent.U=V=A?=< =N=?)=I=E(?i=:99=M9?Gr?'w>|^?)=I=Oi= ?=]-99:publishing transmit ping timeQFpublishing direction and range info99=8oKdj?w[J ?y9999 9)9I9i99999 9)9I9i999=M9?Gr?'w>|^?)9I9i9999 QIQ*F%?2F!:F!BF%_0JF!GE 7n> Will construct direction to contact in vehicle frame from tetrahedron phase data.G! B) OE >Ůw,A:@Y:9=:ֻ]=9:CiVtt vG٣tyzl z> ~Nusing accuracyPremultiplier from config|59~? 5Y~ i~qC%@~E~;~b;~+5MB MA]HEkeQ?kedV ka keͪA:ke3BBkeBZkeb?"e6g^)T@!Ĵ&P@e8oKdj?w[J ?Jke ?Rke]-*e0^B(HS@?,iP@ezL1`*C?C`?"keB*keRkeڶ?kevU̵ 2kerCkake w0M ke[(Cke;Ake;_@u addTargetRange:: Added new target pos. range: 103.099998 m, deltaT: 3.779138 s, deltaX: 0.799995 m, approachRate: 0.211687 m/s, rangeRepo size: 4  Added new target pos. range: 103.099998 m, bearing: 90.591440 deg, lat: 36.905161 deg, lon: -122.120537 deg, deltaT: 11.088244 s, deltaX: -0.400002 m, approachRate: -0.036074 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 103.10 m.BjJj ProNav: ac range: 103.099998 m, nav range: 11.746112 m, bearing: 199.848725 deg, approach rate: 0.000000 m/s, LOS rate: -1.327958 deg/s, cmd heading: 347.302115 deg, new cmd heading: 345.541021 deg. 2jHeadingCmd: 6.030828 target range: 103.099998 and range: 103.10 m. j@jjjihhhhfffrf`fY@bfw?ɛeUBed imӻIi m^>ɚiiiImL=Iu4iqiu6s>)}@)y*F?2F:FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.zK;LK9KKl!KRK?JK? 5$?I1G] k>G9 BQ O} >Mw,AyUBUjIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YT㥛 ?I +Mbp?y?9;zA A)3 AI~Ay3AI I  ٢Z< 8=9%Q %>)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=?E5Y=- i=M&?M:M;0M@=E=;=;=5Y ]sAYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 103.10 m.BjJj ProNav: ac range: 103.099998 m, nav range: 11.956627 m, bearing: 199.472716 deg, approach rate: 0.554301 m/s, LOS rate: -0.972618 deg/s, cmd heading: 345.541019 deg, new cmd heading: 344.433000 deg. 2j&HeadingCmd: 6.011490 target range: 103.099998 and range: 103.10 m. j ^@jjjihhhhhBfffrfbfa?ɛRBڐ ۶I BɚiIN=I5iii|>) ^@)ZHaRHaHu`>Iq IuIIuՁBIu =&Iq.Iu;D6Iu<:Iu F*F2F:FBFo0JFG]*#p>GeqAGepAGB!OER>J}J}JyJyJ}:J}"9JyJyJ}n;J}o;J};J};m Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******u R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.  I! ׻w,&A2Pn@Y2}@2ST=92m;y2H@? :?$t?N:e?˰r??ɨ2Pn@2a׊;0yNBNfIIVIVF٢ \=9%˻Q %>!) -G٣-VGy- -> =Nusing accuracyPremultiplier from config1=595?E5Y5{ i5AE|E@5E5:5:55I MAUEEZjy}FNOT Ignoring new targets: 103.10 m.BjBJjB ProNav: ac range: 103.099998 m, nav range: 12.128454 m, bearing: 199.128608 deg, approach rate: 0.465008 m/s, LOS rate: -0.918045 deg/s, cmd heading: 344.432998 deg, new cmd heading: 343.415411 deg. 2jHeadingCmd: 5.993730 target range: 103.099998 and range: 103.10 m. j̿@jjjihhhhfffrfbf ?ɛOB| HI !FɚiI.O=I3iix~d>)̿@)*Fm?2Fi:FiBFm2JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227885G!r>GBO= >ºw,| AWill construct direction to contact in vehicle frame from tetrahedron phase data.>??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480026V.@YV@VWP=9Vì]ףף; A `A)E AIAyAI=I=<٢MJ< M9=9U(Q u>qy }G٣yy} }> Nusing accuracyPremultiplier from config59$1?5Y iw>:@E;;5B ABEZjimFNOT Ignoring new targets: 103.10 m.BjuzJjuz ProNav: ac range: 103.099998 m, nav range: 12.330936 m, bearing: 198.715374 deg, approach rate: 0.436931 m/s, LOS rate: -0.877056 deg/s, cmd heading: 343.415409 deg, new cmd heading: 342.196259 deg. 2jzHeadingCmd: 5.972451 target range: 103.099998 and range: 103.10 m. jR@jjjihhhhBfffrfbf!?ɛLB9 I ^?LɚiIqP=Iii2vJ>)R@)*F2F:FBF;2JFGg>GyBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731807Hm b>Im C Im IIm ЁBIm  =&Ii .Ii 6Im <:Im FNȺw,X%AJ2J2J0J0J2:J2ľ9J0J0J2!;J2";J2;J2;n@Yn@nT=9nߐAA EG٣AyM㏽ M> ]Nusing accuracyPremultiplier from configQ]59UE@?e5YUt iUaeٽe@UEUX;Uy;UG5i uAqZjFNOT Ignoring new targets: 103.10 m.BjJj ProNav: ac range: 103.099998 m, nav range: 12.495056 m, bearing: 198.368063 deg, approach rate: 0.470556 m/s, LOS rate: -0.982708 deg/s, cmd heading: 342.196248 deg, new cmd heading: 341.168117 deg. 2j(HeadingCmd: 5.954507 target range: 103.099998 and range: 103.10 m. jR@jjjihhhhfffrfbf?ɛ%IB%!! !-I) -:Pɚ)i)IxQ=IHiisF>)R@)E5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983784 $?I*F2F:FBF5JFGge>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=2.235683Ϻw,"R?A6#@Y62@6X=96   G٣ VGy~ > Nusing accuracyPremultiplier from config%59P?%5Y! i)-<-@E^;;}0;55B =A=?EZjFNOT Ignoring new targets: 103.10 m.BjJj ProNav: ac range: 103.099998 m, nav range: 12.672493 m, bearing: 197.979517 deg, approach rate: 0.437116 m/s, LOS rate: -0.943775 deg/s, cmd heading: 341.168113 deg, new cmd heading: 340.018958 deg. 2j!HeadingCmd: 5.934450 target range: 103.099998 and range: 103.10 m. j@jjji h hhQhYfyffrfbf@{@ɛFB I \gUɚiIR=Ilii"C>)@)*FY2FY:FYBF]m3JFY5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488547GE|zZ>G BO5q>zKeBoHKe@9KaKen!Ke   $?Iպw,YA>LT@Y>c@>i]=9>H ??௏??¿?ٟ ??ɨ>LT@>;>&CyVBZ[Iif=If; jR=ja=mMb@Mb@Mb@iii i)iYmbX9?{Gzt?Mbp?ymE>mף;m;mvA mA)m\ AImAiymAI IV2Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739916٢}y }5=9};Q }> G٣y|e > Nusing accuracyPremultiplier from config59b?5Y iK>: @E ;;5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.10 m.BjGJjG ProNav: ac range: 103.099998 m, nav range: 12.868324 m, bearing: 197.559497 deg, approach rate: 0.441335 m/s, LOS rate: -0.932164 deg/s, cmd heading: 340.018947 deg, new cmd heading: 338.778268 deg. 2jHeadingCmd: 5.912796 target range: 103.099998 and range: 103.10 m. j5@jjjihh h h Bfffrfbfɘ@ɛDBp 隭I YɚiIS=Iii@>)5@)H1I1 I5II5ՁBI1&I1.I16I58<:I5V FBIåCJIåCRIZI =bI =jIá%6*Fa2Fa:FaBFe_0JFaG=FG>*JmR="Jm4=JK3 KKK"KJuJuJu1JqJuy:Ju9Ju3JqJu;Ju ;Ju;Ju;GB On>  Y y BM Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:23:35:08.4316 U TRx dataTimestamp_ set to:1736379309.696751] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992882 I #ܺw,rA2@Y2@2]`=92G)_@)*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=3.243831GAG>GpAGqAGBO >] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:35:08.4316 LVL= 16688, 20801, 20978, 27235, AGC= 58, IDX= 438,-0.03, 2.184, 2.778, 0.398, 1.857, PHS= 0.416, 0.968,-1.462, RAW= 17.5, 0.7, CAL= 17.1, -0.4, ROT= 132.9, 0.4  Ygot valid direction response: 23:35:08.4316 LVL= 16688, 20801, 20978, 27235, AGC= 58, IDX= 438,-0.03, 2.184, 2.778, 0.398, 1.857, PHS= 0.416, 0.968,-1.462, RAW= 17.5, 0.7, CAL= 17.1, -0.4, ROT= 132.9, 0.4  PDAT read: Bearing 132.9, 0.4 (Local)  ~Local bearing/azimuth received: Bearing 132.9, 0.4 (Local)  DAT read: Range 10 to 50 : 103.8 m (Round-trip 138.4 ms) speed -0.2 m/s  ,DAT read: user:3351>  BDAT read: Tx time:23:35:09.5390  $Ping request sent. ] w?] "] a>] +H< ] Θ>)] I] bs@i] ;Y Y ] ( ˿a_q< "ib?)] 3I] sLi] ;K?] Y Y  :publishing transmit ping time  Fpublishing direction and range infoY Zw,+A9?VE]S?mu?u?y )Ii )Ii( ˿a_q< "ib?)Ii B$?I@Jϻ@YJ:@J$d=9JgU`e G٣VGy'G > Nusing accuracyPremultiplier from config59?5Y iB>:'@E<<5 AkԽ?k<  k kȌA:kBBk2BZkSr?"I@ĠUY@y):@?VE]S?mu?u?Jk;K?Rk*=ܥ(9@9[ %X@vSX}<@Rz9?C8=?ӕ$Bp7 XI VmdɚiI̻V=IӾi!i%T=>)%{л@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.Ai-JDAT read: TxSync time:23:35:09.5382 *F-?2F1:F1BF1JF1G s:;>Hm d>Ii  Im IIm ЁBIm  =&Ii .Ii 6Im u<:Im FG B O >Ѓw,A6@Y6X)@6md=96J G٣yJp > Nusing accuracyPremultiplier from config59m?5Yr i%>%@™Ev;;F5-B -A-9EuWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjyFNOT Ignoring new targets: 103.80 m.Bj<Jj< ProNav: ac range: 103.800003 m, nav range: 21.428183 m, bearing: 126.791302 deg, approach rate: 0.385667 m/s, LOS rate: 0.948991 deg/s, cmd heading: 336.280348 deg, new cmd heading: 337.220746 deg. 2j"=HeadingCmd: 5.885612 target range: 103.800003 and range: 103.80 m. jV@jjjihhhhfffrfbf? u$?Iqɛ)V@)*F2F:FBFl0JFG D;>- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Xkw,;A6^@Y6Yn@6)e=96=y6H ?u?'?0οt??`i@?@ ?ɨ6^@6;6%CyRqBR6II^I^V٢rS rT=9r@8Q v>tt vG٣tyzz z> Nusing accuracyPremultiplier from config 59렞? 5Yh i,U%@ÙEY;[;轨5I UAQZjFNOT Ignoring new targets: 103.80 m.JJJJJJy9JJa@a@a@a@Bjb<Jj%b<] ProNav: ac range: 103.800003 m, nav range: 21.560665 m, bearing: 127.099224 deg, approach rate: 0.343525 m/s, LOS rate: 0.793526 deg/s, cmd heading: 337.220755 deg, new cmd heading: 338.138761 deg. 2j]%=eHeadingCmd: 5.901635 target range: 103.800003 and range: 103.80 m. je1ڼ@jajajaiahahihhfffrfbfA?ɛ:B)  ȾI  hmɚiItY=I ɾii.>)1ڼ@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG qA G pA aIaGx1>G?G ?zK5NK59K1K5p!K5|rjb[SKGB;0  *ELD8-$ GBO>Gw,AR@YR@Rb=9R=yRH@?`?z?`Bп(??V(͢??ɨR@RY;R$Cy^jB^-IrWill construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUm?~jt?~jthyU>UD    G٣ VGyX > Nusing accuracyPremultiplier from config%59?%5Y iE->-:-vq-@řE;;Կ5=B =A=6EUB*** querying acoustic contact ***jQjQZjimFNOT Ignoring new targets: 103.80 m.Bjug<Jjug< ProNav: ac range: 103.800003 m, nav range: 21.719395 m, bearing: 127.442212 deg, approach rate: 0.378205 m/s, LOS rate: 0.811260 deg/s, cmd heading: 338.138760 deg, new cmd heading: 339.160090 deg. 2j0 =HeadingCmd: 5.919460 target range: 103.800003 and range: 103.80 m. j8l@jjjihhhheBfffrfbf?ɛ8B+4 ;I rɚiIkQZ=I':ii=)8l@)Hi>IC IIIBI =&I.IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G1 B9 U $?IU hOe >Qw,WwA6@Y6]@6egg=96=y6H@?V?J?@pѿѰ?@)ת`謿`??ɨ6@6nU;6'CyRZBRIiV=IV= V=V=IZIZM3٢f f`=9jI;Q j>hh nG٣lynkg n> vNusing accuracyPremultiplier from configpv59r?z5Yr ir[xzEz@rƙEr@:r:rk5 AZjFNOT Ignoring new targets: 103.80 m.BjI<JjI< ProNav: ac range: 103.800003 m, nav range: 21.853432 m, bearing: 127.714967 deg, approach rate: 0.349053 m/s, LOS rate: 0.705937 deg/s, cmd heading: 339.160092 deg, new cmd heading: 339.973281 deg. 2j=<HeadingCmd: 5.933653 target range: 103.800003 and range: 103.80 m. j}@jjj1i1h9h9h9h9fAfIfIrfIbfM^?ɛ5B)9 5=)۾I M1xɚiI[=Iqiiav=)}@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752210*F?2F:FBF5JFG$>GyBO_>JJ~J0JJs:Jf9Jـ3J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003181 9 IA cw,LSAy%PB% IzK}.NK}}9KyK}q!K}   Mb@Mb@Mb@ )YtV?I +:vy>94T A )rAI3Ay AIIT3٢@ 9=9Q > G٣y > Nusing accuracyPremultiplier from config 59CО? 5Yr i>:@șE;;Xè5 A%3EZjFNOT Ignoring new targets: 103.80 m.BjI<JjI< ProNav: ac range: 103.800003 m, nav range: 22.024715 m, bearing: 128.024439 deg, approach rate: 0.393284 m/s, LOS rate: 0.705048 deg/s, cmd heading: 339.973294 deg, new cmd heading: 340.894406 deg. 2j<HeadingCmd: 5.949730 target range: 103.800003 and range: 103.80 m. j0d@jjjih h h1h5nBf9f9fArfIbf}:@ɛ%3B%.7 !%hI! -X~ɚ)i)I-`&]=I5i1i5E=)50d@)9EQ*F?2F:FBF"4JF"GG>G[=GGoAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255160GBO>H I  I II BI =&I .I 6I D<:I f F w,w0)ANɷ@YNؾ@NCk=9N)=yNH1U? 6?bB? Կ9A EG٣AyE3ƽ E> UNusing accuracyPremultiplier from configIU59Mޞ?]5YM  iMY]Ȯ]@MəEM ;M: ;MŨ5a mhAm5EZjFNOT Ignoring new targets: 103.80 m.Bj&@<Jj&@< ProNav: ac range: 103.800003 m, nav range: 22.176794 m, bearing: 128.273600 deg, approach rate: 0.412977 m/s, LOS rate: 0.671966 deg/s, cmd heading: 340.894414 deg, new cmd heading: 341.636727 deg. 2j<HeadingCmd: 5.962686 target range: 103.800003 and range: 103.80 m. jRξ@jjjihhhhfffrfbfy @ɛ1BfS I %eɚ!i!I%x[^=I-i)i-2f;)-Rξ@)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527731*F?2F:FBF_0JFG =GaBiO8> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780173w,J CA2@F@Y2U@2x[i=922E=y2Hz+?$2?]?@&տ '?ve'˭?,?ɨ2@F@2Y;2&CyR)BRITTIZ IZb3٢f fQ=9nQ r>tx ~G٣~VGy[% >  Nusing accuracyPremultiplier from config 59 M힜?5Y  i ڶ@ ˙E ; ; ƨ5! %&A!ZjIMFNOT Ignoring new targets: 103.80 m.BjU?4<JjU?4< ProNav: ac range: 103.800003 m, nav range: 22.336744 m, bearing: 128.522377 deg, approach rate: 0.408201 m/s, LOS rate: 0.630342 deg/s, cmd heading: 341.636719 deg, new cmd heading: 342.377660 deg. 2jL<HeadingCmd: 5.975617 target range: 103.800003 and range: 103.80 m. jB8@jjjihhhhfffrfbf \P@J~J}JJJ{m:JS9JJɛ/BL ,I Q҅ɚiI_=IyiiH)B8@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:12.0828  TRx dataTimestamp_ set to:1736379313.244727 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032288EĎ=zK5eKK59K1K5r!K5*F 2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283288G-=G5 ?G5 ?G BOE?\w,QcAjH bH H I  I"YII"BI" =&I .I 6I"e<:I"} FF"@YF@Fld=9Fq=yFH ? K?ʊ?տ? W @Z)??ɨF"@FP;F$CyRBRIMb@Mb@Mb@ )YGz?I +~jtyp>94 A) AIAyII2٢T) =9Q > G٣y > Nusing accuracyPremultiplier from config59%?5Y i>:ݾ@͙E ;;ɨ5 A2EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.80 m.Bj<Jj<- ProNav: ac range: 103.800003 m, nav range: 22.568918 m, bearing: 128.817814 deg, approach rate: 0.441430 m/s, LOS rate: 0.555931 deg/s, cmd heading: 342.377658 deg, new cmd heading: 343.254780 deg. 2j-þ<=HeadingCmd: 5.990926 target range: 103.800003 and range: 103.80 m. j=@j9j9j9i9h9hAhAhE -UX#Rx 1: Read range message, but no direction.AyEfBA]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.GBOj>w,|AyBIIIF3٢- -S=9-Q 5>11 5G٣1y= => MNusing accuracyPremultiplier from configIU59M?U5YM iMQQ]@MΙEM:;M;Mʨ5a eHAa addTargetRange:: Added new target pos. range: 104.699997 m, deltaT: 3.552693 s, deltaX: 0.899994 m, approachRate: 0.253327 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:35:13.1890 $Ping request sent.zK= JK= }9K9 K= s!K=   #%$&l%w,A2B@Y2-R@2P=92@=y2H? ??ֿ ?_@Nޱ? W?ɨ2B@2w;2%CyBBBIMb@Mb@Mb@ )Y/$?~jt~jty1?ļ A 7A)AIAyII#٢ B=99Q > G٣VGy&D > Nusing accuracyPremultiplier from config59m ?5Y iL ?:@ЙE`;;̨5B A/EZjFNOT Ignoring new targets: 103.80 m.Bj <Jj <- ProNav: ac range: 103.800003 m, nav range: 22.950106 m, bearing: 129.242978 deg, approach rate: 0.496703 m/s, LOS rate: 0.495573 deg/s, cmd heading: 343.893878 deg, new cmd heading: 344.519609 deg. 2j- <5HeadingCmd: 6.013001 target range: 103.800003 and range: 104.70 m. jj@jjjihhhhBfffrfbf`?ɛ*BBk 0I ɚi!I% d=I%Ui)i-)-j@)1E9E9*EA"EAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504545HMm>II IM'IIMfBIM =&II.II6IM<:IM FBIƧCJIƧCRIƓCZI =bI =jI5*FQ2FQ:FQBFQJFQ) F=  CG= ! ~G 5tA G1 E YYE 5tAyE BBY O > K"@ B $?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755563l+w,A2 @Y2@2gE;=92Bt=y2H;?E?@-?^׿}?uxf{??ɨ2 @2c;2&Cy>B>IIJIJM3٢N  R]=9RjQ R>TT VG٣TyZΠ Z> ^Nusing accuracyPremultiplier from config\b59^.?b5Y^1 i^t`bb@^ҙE^:^v:^-Ψ5 ?AZjFNOT Ignoring new targets: 103.80 m.BjC;JjC; ProNav: ac range: 103.800003 m, nav range: 23.134861 m, bearing: 129.421505 deg, approach rate: 0.463802 m/s, LOS rate: 0.444588 deg/s, cmd heading: 344.519605 deg, new cmd heading: 345.050895 deg. 2j<HeadingCmd: 6.022274 target range: 103.800003 and range: 104.70 m. jx@jjjihh!hAhAfIfIfIrfIbfMY?ɛ(B} 9= IA E_ΕɚAiAIEe=IM'iIiM䪽)Mx@)Q*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007293G ~G B O >v2w,tA%@Y%@%%=9%ϔ=y%Hλ???߃׿`2?@2`-?*?ɨ%@%|؋;%#Cy5߀B5IMb@Mb@Mb@ )Y rh?B`"۹y ?ν̼A )` AIMAy= AII(*٢^  6=9ZBQ > G٣yӮ  > Nusing accuracyPremultiplier from config 59 @?5Y  i  ?:J@ ԙE  ;  ; m$?Ii "Ш5B A,EWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259571Zj1EFNOT Ignoring new targets: 103.80 m.BjE;JjE;U ProNav: ac range: 103.800003 m, nav range: 23.370855 m, bearing: 129.617586 deg, approach rate: 0.526181 m/s, LOS rate: 0.432773 deg/s, cmd heading: 345.050884 deg, new cmd heading: 345.633165 deg. 2jU Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511946ZH) RH- ?AH5 p>I5 C I5 II5 BBI5 =&I1 .I5 =D6I5 y<:I5 Fڨ8w,&RABp@YB@Bh =9B@=yBH`M??Ks?Qm׿?m@`̲??ɨBp@BIҊ;B%CyjπBjoI)l nAIv!Ivi3٢zD ~]=9~Q ~> G٣VGy x;  > Nusing accuracyPremultiplier from config 59 O?5Y  i  %@ ՙE  ;  ; Ѩ5) -A)ZjQ]FNOT Ignoring new targets: 103.80 m.Bje<Jje%Will construct direction to contact in vehicle frame from tetrahedron phase data.%^?%A?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763685>w,3A2 @Y2R@2<92I=y2H`q?l?q[׿ K?14??ɨ2 @2I;2&Cy>ǀB>eIIJIJ[3٢b  bM=9fhQ f>dh jG٣hyjtP; j> rNusing accuracyPremultiplier from configpv59rs_?v5Yr irtv; v@rיEr:r :r}Ө5| ~HA~*EB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 103.80 m.Bj5w;Jj5w;E ProNav: ac range: 103.800003 m, nav range: 23.775961 m, bearing: 129.948055 deg, approach rate: 0.527296 m/s, LOS rate: 0.423957 deg/s, cmd heading: 346.108908 deg, new cmd heading: 346.616056 deg. 2jMz QIQ- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267267zK LK 9K K u!K BK pA:K qAwEw,0A2*@Y2F:@2sq<92pA=y2Ha?%?" ׿ ?f T?@?ɨ2*@2f;2'Cy>B>ZI}Mb@Mb@Mb@yyy y)yY}Q?i|?5/$y}?}}}A }A)} AI}Ayy}f AI(I̍3٢% ;=9GQ > G٣y< > Nusing accuracyPremultiplier from config59q?5Y8  i?:@ٙE;+;dը5B A'EZjFNOT Ignoring new targets: 103.80 m.Bj%;Jj%; ProNav: ac range: 103.800003 m, nav range: 24.023300 m, bearing: 130.136114 deg, approach rate: 0.569050 m/s, LOS rate: 0.428210 deg/s, cmd heading: 346.616063 deg, new cmd heading: 347.174414 deg. 2j<HeadingCmd: 6.059337 target range: 103.800003 and range: 104.70 m. j@jjjihhhhBfffrfbf@ɛ!B^ B1I %ЧɚiI8/k=I8eiilݽ)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521198Hs>I IIIBI =&I.I6I<:I F*F2F:FBF^0JFJ|J{JJJ;g:J-9JJJ֊;J׊;J:J:G G G qAG B O > E $?IA = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772430Kw,1A @: \@Y:k@:,c<9:O=y:H ??䜿`mֿ@?@Ἷce? l?ɨ: \@:s;:$CyBBBUIiFe>IF=IN$IN<3٢V譼 V^=9V˪Q Z>XX ZG٣ZVGy^< => MNusing accuracyPremultiplier from configAM59EN?U5YEk  iE=QUU@EۙEE ;E;Eר5a eAaZjFNOT Ignoring new targets: 103.80 m.Bj|;Jj|; ProNav: ac range: 103.800003 m, nav range: 24.241488 m, bearing: 130.302681 deg, approach rate: 0.565063 m/s, LOS rate: 0.427494 deg/s, cmd heading: 347.174417 deg, new cmd heading: 347.669608 deg. 2j<HeadingCmd: 6.067979 target range: 103.800003 and range: 104.70 m. j,@jjjihhhhfff rf bf @ɛ}B}#O y}_2Iy }u뫼ɚiI3l=I^\iiH),@)*Fm?2Fi:FiBFm_0JFiGE GB)OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:15.7353 TRx dataTimestamp_ set to:1736379317.028677checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024460yRw,KA IyBOImMb@Mb@Mb@iii i)iYmzG?T㥛 ~jtym ?mmDmXA mzA)m\ AIm Aiym AII[3٢b /=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YI i]y?:@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275450ݙES<< ٨5 A&EZjFNOT Ignoring new targets: 103.80 m.Bj;Jj;U ProNav: ac range: 103.800003 m, nav range: 24.501493 m, bearing: 130.488438 deg, approach rate: 0.545753 m/s, LOS rate: 0.385764 deg/s, cmd heading: 347.669606 deg, new cmd heading: 348.220943 deg. 2je_  BDAT read: Tx time:23:35:16.8390  $Ping request sent. I  I II BI =&I .I 6I <:I FG rؽG ?G ?G B O >PYw,gA-F@Y-@-O9-">y-H?}f?ϫ@տ@?`q ¿;i?`h?8?ɨ-F@-Q];-%CyMBMZIIm Im(2JJvJ0JJJϣ9Jـ3JJJJ:J:٢%@+= %G=9-x)Q ->11 5G٣1y55= => ENusing accuracyPremultiplier from configAM59Ej?M5YE iEvIM U@EߙEE :Eq:Eڨ5y }Ay addTargetRange:: Added new target pos. range: 106.500000 m, deltaT: 3.779495 s, deltaX: 1.800003 m, approachRate: 0.476255 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 103.80 m.Bj;Jj; ProNav: ac range: 103.800003 m, nav range: 24.737879 m, bearing: 130.665842 deg, approach rate: 0.599544 m/s, LOS rate: 0.445651 deg/s, cmd heading: 348.220939 deg, new cmd heading: 348.748051 deg. 2j<=HeadingCmd: 6.086802 target range: 103.800003 and range: 106.50 m. j=@j9j9j9iAhAhAhAhIfIfIfIrfMZ@bfU?ɛB .I ߵɚiIXn=IIii߽)@) e$?IehUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:35:16.8382 *F?2F:FBF`0JFGeoG!B)OMt>H-`w,콀A2@@Y2YP@2;"N92,>y2H5??'տ@N?`ÿĉ?ay? pp rG٣rVGyr:< v> zNusing accuracyPremultiplier from configt59v?5Yv iv< @vEv*;v;vhܨ5B A#E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 103.80 m.BjE ;JjE ;U ProNav: ac range: 103.800003 m, nav range: 24.942602 m, bearing: 130.822167 deg, approach rate: 0.584231 m/s, LOS rate: 0.442451 deg/s, cmd heading: 348.748038 deg, new cmd heading: 349.213153 deg. 2jUӗ<]HeadingCmd: 6.094919 target range: 103.800003 and range: 106.50 m. j] @jajajaiahahahihifififqrfybf}`?ɛB엽 ,I ɚiIo=I@ii޽) @)*Fi2Fi:FqBFu3JFq e$?IaGȇuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.GBO>zK RLK K K w!K Vfw,A2̗@Y2Q@2S92->y2HSP?? c`(rԿ1?`tÿ?`"??ɨ2̗@2;0y:ǀB:eIMb@Mb@Mb@ )Yn?X9v{Gzy?#A v@)E AIE Ay AII(1٢= ;=9yͼQ > G٣y< > Nusing accuracyPremultiplier from config59ʟ?5Y  i?:@E;;Oި5 SAZj)-FNOT Ignoring new targets: 103.80 m.Bj5N<Jj5No=IeV6iaimݽ)m%]@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004015Hs>I IIIBI =&I.I6I<:I F*F2F:FBFQ5JFGݽGqAGGBOf>JJJxJ|JJJZ:J@9JJJ ;J ;J{:J|: I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256153Clw,sA2@Y2p@2W92x;>y2H`s?4?8ࡌӿ`?`Ŀ1 ? @J?r?ɨ2@2l;2$CyrрBrqIIzIz%x٢EB= ET=9EϼQ M>II MG٣IyU= U> ]Nusing accuracyPremultiplier from configYe59]۟?e5Y] i]im$m@]E]:]a:]ߨ5q u Au EZjFNOT Ignoring new targets: 103.80 m.Bj <Jj < ProNav: ac range: 103.800003 m, nav range: 25.405495 m, bearing: 131.197682 deg, approach rate: 0.561059 m/s, LOS rate: 0.458271 deg/s, cmd heading: 349.797620 deg, new cmd heading: 350.329313 deg. 2j@<HeadingCmd: 6.114400 target range: 103.800003 and range: 106.50 m. j*@jjjihhhhfffrfbf ?ɛ B   !I 6¼ɚiIp=I,iiӽ)*@)*FY2FY:FYBF]4JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507535Gm$޽GI BQ Ou >psw,kA r$?Ipy܀B~Ii=I{>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759662mMb@Mb@Mb@iii i)iYmQ?Mb~jthym?mmDmb A mI@)m AImrAiym AII#3٢,G= 6=9Q > G٣ VGy > Nusing accuracyPremultiplier from config59&?5Y#  iE?E:EE@E5<<5I MAIZjFNOT Ignoring new targets: 103.80 m.Bj<Jj< ProNav: ac range: 103.800003 m, nav range: 25.652657 m, bearing: 131.421501 deg, approach rate: 0.525843 m/s, LOS rate: 0.471591 deg/s, cmd heading: 350.329309 deg, new cmd heading: 350.994265 deg. 2jӡ<HeadingCmd: 6.126006 target range: 103.800003 and range: 106.50 m. j=@jjjihhh h Bf f f rfbf *8?ɛB I $ǼɚiI͑p=I ii)=@)zK5BoIK5h9K1K5x!K5RKE ?JKE?*F2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011444G ӽZH RH AAH v>I C I II BI =&I .I 6I Y<:I FBIʨCJIʨCRIZI =bI =jI85G B O >3yw,)AyvBI.~GtA E.YMtAyMaBIu IuV2٢)H= L=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y" iJzJJJJ`:JJJJo;Jq;JJ@Ež;;5B hAEZjFNOT Ignoring new targets: 103.80 m.Bj<Jj< ProNav: ac range: 103.800003 m, nav range: 25.872601 m, bearing: 131.616790 deg, approach rate: 0.576230 m/s, LOS rate: 0.507285 deg/s, cmd heading: 350.994269 deg, new cmd heading: 351.575134 deg. 2j<HeadingCmd: 6.136144 target range: 103.800003 and range: 106.50 m. jJ[@jj!j!i!h!h!h)h)f)f)f1rf1bf5@@ɛeBeN슽 ae"Ia mʼɚiiiImp=IuiqiuN)uJ[@)y $?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263681Eˡ=*FI 2FI :FI BFM B5JFI G- )G5 ?G5 ?G B O- >{w, ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515288V@YV|@Vܖ9VZ^>yVH ??@Ͽ`p^? Ƙȿ/??-?ɨV@VC;V%Cy^B^IIf If(2٢vQ= vi=9vŽQ v>xx zG٣xyz'> ~> Nusing accuracyPremultiplier from config 59? 5Y% i  о@E::=5B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.80 m.Bjz<Jjz< ProNav: ac range: 103.800003 m, nav range: 26.061106 m, bearing: 131.810149 deg, approach rate: 0.516756 m/s, LOS rate: 0.526228 deg/s, cmd heading: 351.575136 deg, new cmd heading: 352.150998 deg. 2j<HeadingCmd: 6.146194 target range: 103.800003 and range: 106.50 m. j@jjjihhhhfffrf!bf% k@ɛmBuq u[=uc Iy }'ͼɚyiyI}.p=IRG ii-)@)E̓=*F?2F:FBF_0JF IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770543GG B O >zK BoHK 59K K y!K \M w- w,A>+N@Y>]@>29>ua>y>H@? ?@\fο 6t?`ȿA?R?#?ɨ>+N@>;>$CyFBJI)L LMb@Mb@Mb@ )Yq= ףp?DlMbp?y ?O;K%A 3@) AIEAyAI-I-2٢]< ]C=9eQ m>qq }G٣}!VGyW< > Nusing accuracyPremultiplier from config59_#?5YM' i| ?:@E#;;5 AZjy}FNOT Ignoring new targets: 103.80 m.Bj3<Jj3< ProNav: ac range: 103.800003 m, nav range: 26.268164 m, bearing: 132.042688 deg, approach rate: 0.483980 m/s, LOS rate: 0.539253 deg/s, cmd heading: 352.151003 deg, new cmd heading: 352.843083 deg. 2j <HeadingCmd: 6.158274 target range: 103.800003 and range: 106.50 m. j@jjjihhhhڂBfffrfbf%@ɛM BU} QU( IQ U~ѼɚYiYI]qp=I]iaie4Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:19.3877 TRx dataTimestamp_ set to:1736379320.557881checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021719)e@)Hy>I III)BI =&I.I>D6I<:I FE=*F ?2F :F BF ^0JF $?I G] Q½G9 ] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273261By O >όw,5AFذ@YF]@F9F^c>yFH?@T? q`̿ ?`ɿ`-?x?}?ɨFذ@F%;Dyb BbIIjIj(1٢r4= rR=9vJQ v>tx zG٣xyz= z> ENusing accuracyPremultiplier from config9E59=Y4?E5Y=B) i=aIMʹM@=E=7:=7:=5Q ]7A]EZjyFNOT Ignoring new targets: 103.80 m.BjY%<JjY%< ProNav: ac range: 103.800003 m, nav range: 26.458374 m, bearing: 132.258950 deg, approach rate: 0.512270 m/s, LOS rate: 0.578243 deg/s, cmd heading: 352.843092 deg, new cmd heading: 353.487186 deg. 2jk<HeadingCmd: 6.169515 target range: 103.800003 and range: 106.50 m. jl@jjjihhhhfffrfbfM @ɛ B.e I ԼɚiI%p=Iii)l@)E|=*F2F:FBF0JFGmGBWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 108.3 m (Round-trip 144.5 ms) speed -0.2 m/s ,DAT read: user:3354> -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.Oi>JK3 K.KK"KJ yJ vJ J J ]:J ϣ9J J a @a @a @a @^w,}OA 8I< Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:35:20.4891 $Ping request sent. G٣y > Nusing accuracyPremultiplier from config%59I?%5Y+ i-%?%:%J%@E*<?*<51 5A1 addTargetRange:: Added new target pos. range: 108.300003 m, deltaT: 3.528419 s, deltaX: 1.800003 m, approachRate: 0.510144 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 103.80 m.BjS'<JjS'< ProNav: ac range: 103.800003 m, nav range: 26.679449 m, bearing: 132.558193 deg, approach rate: 0.435908 m/s, LOS rate: 0.585145 deg/s, cmd heading: 353.487179 deg, new cmd heading: 354.377394 deg. 2j<HeadingCmd: 6.185052 target range: 103.800003 and range: 108.30 m. j@jj j i h h hhBfffrf@3[@bfn?ɛm Bm{c imIi mҩؼɚqiqIp=IȽii̎Ž)@)zKMK9KKz!K %/89972'    E #Y=E  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253053jHy bHy H x>I  I II QBI &I .I 6I ϰ<:I F*F ?2F :F BF _0JF G= qA G= qAGUv $?IG1BAOm ?w,b.rA:Na@Y:p@:Hǽ9:a>y:H`V+?@? +ʿ`?5ȿ߸?`p?{?ɨ:Na@:y;:&CyF.BFIiJ=IJ=ININƳ٢VL= V/=9ZQQ Z>X\ ^G٣^"VGy^8I= ^> fNusing accuracyPremultiplier from configdj59f\?n5Yf, ntIifln~n@fEf;f;f5rB v6AvE~Will construct direction to contact in vehicle frame from tetrahedron phase data.~=~=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503831Zj!%FNOT Ignoring new targets: 103.80 m.Bj-5<Jj-5<= ProNav: ac range: 103.800003 m, nav range: 26.875061 m, bearing: 132.830646 deg, approach rate: 0.459774 m/s, LOS rate: 0.635722 deg/s, cmd heading: 354.377398 deg, new cmd heading: 355.188751 deg. 2j=%#ܢw,AJ4J6tJ61J4J4J69J63J4y]2B]IImIm̍٢}'< >=9Q > G٣y > Nusing accuracyPremultiplier from config599o?5Y. i@E ;X:5 A ]$?IamB*** querying acoustic contact ***jijiZj!UFNOT Ignoring new targets: 103.80 m.Bj]<Jje< ProNav: ac range: 103.800003 m, nav range: 27.066656 m, bearing: 133.092891 deg, approach rate: 0.408665 m/s, LOS rate: 0.555396 deg/s, cmd heading: 355.188743 deg, new cmd heading: 355.969856 deg. 2j<HeadingCmd: 6.212846 target range: 103.800003 and range: 108.30 m. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007729 j@jjjihhh!h!f!f!fIrfIbfM@qG?ɛBnZ 隝ӾI ޼ɚiIpn=I.ii Ͻ)@)*F]?2FY:FYBFe0JFazKDMKs9KK{!KBK:KpAG YĽGA BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259513Ha Ia  Ie GIIe BIa &Ia .Ia 6Ie <:Ie FL!w,UKA2@Y2@2Zܽ92Q>y2H@B??e¿ ڵǿ?#ǿ}?@2? }&?ɨ2@2;0yZDB^IMb@Mb@Mb@ )YPn? G٣yd2= > Nusing accuracyPremultiplier from config599?5Y#/ i*?:3@E4;;5 AEZj FNOT Ignoring new targets: 103.80 m.Bj aI<Jj aI< ProNav: ac range: 103.800003 m, nav range: 27.250282 m, bearing: 133.381574 deg, approach rate: 0.450997 m/s, LOS rate: 0.704242 deg/s, cmd heading: 355.969843 deg, new cmd heading: 356.829988 deg. 2j%<%HeadingCmd: 6.227858 target range: 103.800003 and range: 108.30 m. j%J@j)j)j)i)h)h)h1h5Bf1f9f9rfAbfEN?ɛuBu%` u0G3=uwIy }>ɚyiyI}n=IbiiŽ)J@) $?I*F-?2F):F)BF5_5JF1"G==G==G JʽWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511593GB)OMt>y?w,ZAyLBI)! !I5I5 2٢E\*= Me=9MQ M>QQ ]G٣]#VGye e> mNusing accuracyPremultiplier from configiu59mp?u5Ym/ imOqq@mEm(w,AF˼@YF@F9FQ>yFH@`?j?¿Ŀ@?@kǿƼ?0? !?ɨF˼@F;F%CyN[BRI-Mb@Mb@Mb@))) )))Y-Pn?I +?ii mG٣iyux= u> }Nusing accuracyPremultiplier from configy59}Ң?5Y}0 i}<?:g@}E};}s;} 5 AEZjFNOT Ignoring new targets: 103.80 m.BjL<JjL< ProNav: ac range: 103.800003 m, nav range: 27.559053 m, bearing: 133.883521 deg, approach rate: 0.424625 m/s, LOS rate: 0.716249 deg/s, cmd heading: 357.511280 deg, new cmd heading: 358.327240 deg. 2j<HeadingCmd: 6.253990 target range: 103.800003 and range: 108.30 m. j @jjjihhzKK9KK|!KhqhuBfqfyfyrfybf}e@ɛBHQ I #ɚiIl=I*iiŽ) @)*F?2F:FBF_0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269145G_ҽHw>I IIIBI =&I.I6I><:Il FGYBaO}Y>*Jm C="Jm a= % $?I! Qw,A:S'@Y:6@:'`9:S>y:H@l?Zۿ?`K*¿s0ÿ@?bǿr[? ??ɨ:S'@:UΊ;:'CbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519306ynZBnIIz Iz<2٢] ]K=9]㹻Q e>aa eG٣aym< m> uNusing accuracyPremultiplier from configq}59u?5YuF1 iuh网@uEuS*;u*;u5 A EZjFNOT Ignoring new targets: 103.80 m.Bj?<Jj?< ProNav: ac range: 103.800003 m, nav range: 27.717979 m, bearing: 134.155169 deg, approach rate: 0.394686 m/s, LOS rate: 0.670757 deg/s, cmd heading: 358.327242 deg, new cmd heading: 359.137457 deg. 2j*<HeadingCmd: 6.268131 target range: 103.800003 and range: 108.30 m. j@jjjihhhhfffrfbf @$|@ɛBQ 隽0I ɚiI(k=IviiRͽ)@)EU[=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772327*F?2F:FBF!5JFG pA G J zJ J J J `:J J J GU rؽGU ?GU > IG)BQO>_Ļw,6XA )-@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:23.0394 TRx dataTimestamp_ set to:1736379324.341503checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031301yeB(Ii>I4<Mb@Mb@Mb@ )Y r?y&1?Mb`y?`<b A @)zAIAyG AII2٢= =9Q > G٣$VGy > Nusing accuracyPremultiplier from config59J̠?5Y2 i?:%ƽ%@E;;D5) -A)UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 103.80 m.Bje$@<Jjm$@<} ProNav: ac range: 103.800003 m, nav range: 27.938894 m, bearing: 134.538102 deg, approach rate: 0.390731 m/s, LOS rate: 0.671931 deg/s, cmd heading: 359.137466 deg, new cmd heading: 0.277022 deg. 2j}<HeadingCmd: 0.004835 target range: 103.800003 and range: 108.30 m. jgn;jjjihhhhBfffrfbf @ɛB-? I n}ɚiIǒj=Ihn;ii\)gn;)zK}\KK9KK}!K  ! E31=5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275490H I  I II ՁBI =&I .I 6I q<:I FBI]ɩCJI]ɩCRIYZI] =bI] =jI]F5*F ?2F :F BF _5JF )y c~G  Y y B $?IGͽGBO?F̻w,}3Ay`B !IWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: Range 10 to 50 : 109.5 m (Round-trip 146.1 ms) speed -0.4 m/s -,DAT read: user:3355> 5BDAT read: Tx time:23:35:24.1391 5$Ping request sent.=ii mG٣iyq u> }Nusing accuracyPremultiplier from configy59}ޠ?5Y}2 i}X@}E}:} :}(5B A E addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.779613 s, deltaX: 1.199997 m, approachRate: 0.317492 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 103.80 m.BjX><JjX>< ProNav: ac range: 103.800003 m, nav range: 28.109007 m, bearing: 134.827445 deg, approach rate: 0.393736 m/s, LOS rate: 0.665647 deg/s, cmd heading: 0.277022 deg, new cmd heading: 1.139729 deg. 2ji<HeadingCmd: 0.019892 target range: 103.800003 and range: 109.50 m. j<jjjihhhhfffrf`[@bfڨ?ɛ5B5lCL 15I9 =ɚ9i9I=ti=IE*ӻw,MIMA6y@Y6@6[g96DD[>y6H)?.i?W:¿`:{@-?@f`ɿ}x? 9?2?ɨ6y@6HF;6$CJ<J>@AyBkBB.IININ?1٢Vk= VW=9ZIQ Z>XX ^G٣\y^E= b> fNusing accuracyPremultiplier from configdf59f,?j5Yf2 if#hj\j@fEf:f<:f5p r`ApZj FNOT Ignoring new targets: 103.80 m.BjE<JjE<- ProNav: ac range: 103.800003 m, nav range: 28.253288 m, bearing: 135.091124 deg, approach rate: 0.379899 m/s, LOS rate: 0.690730 deg/s, cmd heading: 1.139729 deg, new cmd heading: 1.926674 deg. 2j-<5HeadingCmd: 0.033627 target range: 103.800003 and range: 109.50 m. j5D =j1j1j9i9h9h9hAhAfAfAfIrfIbfM 6? $?IhɛI 隭I TɚiIĬh=ID =i!i-/^ͽ)UD =)aE5Will construct direction to contact in vehicle frame from tetrahedron phase data.*FA2FA:FABFE_0JFAzK$LKh9KK~!K  Ge sGi Gm pAGA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH H% u>I!  I% II% BI% =&I! .I! 6I% j<:I% FWٻw,^/gAr.پ@Yr@r9r3Y>yrH?P?@+¿5? Vɿ@N??@: ?ɨr.پ@rZ;py~mB~2I)  EMb@Mb@Mb@AAA A)AYE#~j?y&1|?{GzyE?E`;E#E9A E@)EAIEAAyEQ AI]I]i٢u3< u0=9}nQ }>y G٣%VGyo< > Nusing accuracyPremultiplier from config59c?5Y]3 i?:@E;0;5B PAEZjFNOT Ignoring new targets: 103.80 m.Bj@<Jj@< ProNav: ac range: 103.800003 m, nav range: 28.437399 m, bearing: 135.404432 deg, approach rate: 0.398405 m/s, LOS rate: 0.673587 deg/s, cmd heading: 1.926674 deg, new cmd heading: 2.860424 deg. 2j#<HeadingCmd: 0.049924 target range: 103.800003 and range: 109.50 m. j|L=jjjihhhhނBfffrfbf ?ɛ5B5"|E 15YI1 5Rɚ9i9I=Og=I=|L=iAiE)E|L=)AJ~JyJJJ{m:J9JJJ<;aJ=;aJ:aJ:aPExceeded connect timeout, disconnecting. I*F?2F:FBFJFGݽGBOc>5Will construct direction to contact in vehicle frame from tetrahedron phase data.F=w,A2F@Y2[V@292Y]>y2H?o?` ¿`97??ʿ&?@;?d?ɨ2F@2W;0yNhBR+IIZIZd٢fn fj=9fQ j?ll nG٣lyr= r> vNusing accuracyPremultiplier from configtz59v?z5Yv3 ivx~~@vEv2*;v*;v^5 A EZj)5FNOT Ignoring new targets: 103.80 m.Bj5A<Jj5A] Will construct direction to contact in vehicle frame from tetrahedron phase data.m >m ??fw,ٚAy~cB~$IMb@Mb@Mb@ )Ysh|??~jtS㥛y ?D/ݼA @)QAIAy AII٢% %6=9-Q ->)) 5G٣1y5 => MNusing accuracyPremultiplier from configAM59E&?M5YEM4 iEU0 ?U:UĽU@EEE;E;ES5a eAa}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 103.80 m.Bj ?<Jj ?< ProNav: ac range: 103.800003 m, nav range: 28.763819 m, bearing: 135.943721 deg, approach rate: 0.420081 m/s, LOS rate: 0.668120 deg/s, cmd heading: 3.570097 deg, new cmd heading: 4.468805 deg. 2jC<HeadingCmd: 0.077995 target range: 103.800003 and range: 109.50 m. j =jjjihhhhBfffrfbf۾?zK0(LK9KK!Kɛy}pBJ y}Iy ɚiI؇e=I =ii) =)EEnA*FA2FA:FABFE~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.Hs>IC IIIBI&I.I=D6Im<:IG]ݽGBO>J J J J J y:J y9J J J ;J ;J ::J <:  nManaging dock network, ignoring radio surface power off I w,A6]@Y6 @6i;96beb>y6Hˮ?`F?`s诿@7? ˿ u???ɨ6]@6d7;6'CyZfBZ(I~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012157IbIb 2٢< ]=9%d:Q %>)) -G٣-&VGy5jv= 5> =Nusing accuracyPremultiplier from config1E5957?E5Y54 i5AEM@5E5:5 :55UB UAUEZjy}FNOT Ignoring new targets: 103.80 m.BjB<JjB< ProNav: ac range: 103.800003 m, nav range: 28.916843 m, bearing: 136.196225 deg, approach rate: 0.414531 m/s, LOS rate: 0.680390 deg/s, cmd heading: 4.468805 deg, new cmd heading: 5.222262 deg. 2jy<HeadingCmd: 0.091146 target range: 103.800003 and range: 109.50 m. j=jjjihhhhfffrfbf Q@ɛBqT I LɚiId=I=iil)=)*F?2F:FBFQ5JFGݽGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264453O>yw,ސA6X@Y6g@696d>y6HP? =?@B@L65?˿?'??ɨ6X@6ʉ;6%Cy^gBb*IIjIj٢; J=9Yh:Q >!! %G٣!y%< %> 5Nusing accuracyPremultiplier from config)55 E $?IA9-I?E5Y- 5 i-bIMM@- E-v{;-?|;-5Q UAYZjFNOT Ignoring new targets: 103.80 m.Bj|A<Jj|A< ProNav: ac range: 103.800003 m, nav range: 29.082787 m, bearing: 136.472207 deg, approach rate: 0.409185 m/s, LOS rate: 0.676634 deg/s, cmd heading: 5.222262 deg, new cmd heading: 6.045424 deg. 2j/<HeadingCmd: 0.105513 target range: 103.800003 and range: 109.50 m. j=jjjihhhhfffrfbf@ɛKN I ?ɚiIc=I%=i!i%A)-=))*F?2F:FBF 5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520511G=GBO >zK JK +9K K !K  #>Au]I1 ](QHA?Xz>~H90*0-!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770197ZH RH @AH m>I C I I I =&I .I 6I T<:I s Fw,FAr@Yr@r 9rnf>yrH÷?Ɗ?e4? ˿R?K??ɨr@r[Ɖ;pykB-.IMb@Mb@Mb@ )YDl?X9vQ롿yO ?}\"A Q@)`@IXAy AI=I=F٢Ud< ]6=9mQ m>qy G٣yܮ< > Nusing accuracyPremultiplier from config59^?5Y5 iN{?:9 @ E~ ;;5 vAEZjFNOT Ignoring new targets: 103.80 m.Bj4<Jj4< ProNav: ac range: 103.800003 m, nav range: 29.288023 m, bearing: 136.760002 deg, approach rate: 0.454365 m/s, LOS rate: 0.632673 deg/s, cmd heading: 6.045424 deg, new cmd heading: 6.902694 deg. 2j< HeadingCmd: 0.120475 target range: 103.800003 and range: 109.50 m. j u=j jjihhJ]J]JYJYJ]=:J]"9JYJYJ]ԥ;J]֥;J];J];hhBfffrfbf\M@ɛfH I  $?I %jɚ!i!I%zb=I-u=i)i-0|)]u=)Y*F2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:35:26.6916  TRx dataTimestamp_ set to:1736379327.864685checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021481G sG pAG qAG B O >ew,xDA6V@Y6@6i96bg>y6Hg?pb? = 3? O-̿ ?s??ɨ6V@6n;4yRiBR,I)T TIZIZF2٢f6 fi=9fQ:Q f?hh jG٣j'VGyn= n? rNusing accuracyPremultiplier from configpv59rn?v5Yr6 ir?tzz@r Er:r:r059 EAAZjimFNOT Ignoring new targets: 103.80 m.Bju0<Jju0< ProNav: ac range: 103.800003 m, nav range: 29.443260 m, bearing: 136.979429 deg, approach rate: 0.440127 m/s, LOS rate: 0.618835 deg/s, cmd heading: 6.902694 deg, new cmd heading: 7.557473 deg. 2jY<HeadingCmd: 0.131903 target range: 103.800003 and range: 109.50 m. j>jjjihhhhfffrfbf @ɛ)-V )-I) 5ɚ1iQI]Ha=I]>iaieE)e>)auWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272506*F ?2F :F BF ^0JF GGBOA> I!= Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528700w,#A6O@Y6+_@696h>y6Ha?}C`蕿0?!{̿? ??ɨ6O@6;6#Cy^nBb3I]Mb@Mb@Mb@YYY Y)YY]ʡE?~jtkty]?]Ľ] 0]A ]$@)]@I]AYy]AIu Iu<2٢<< ?=9 Q > G٣yն< > Nusing accuracyPremultiplier from config59M?5Y7 i8?:-@E;; 5B ^AEZjFNOT Ignoring new targets: 103.80 m.Bj/<Jj/< ProNav: ac range: 103.800003 m, nav range: 29.648199 m, bearing: 137.239558 deg, approach rate: 0.487474 m/s, LOS rate: 0.614470 deg/s, cmd heading: 7.557473 deg, new cmd heading: 8.332414 deg. 2j< HeadingCmd: 0.145428 target range: 103.800003 and range: 109.50 m. j >j j j i h hhhiBfffrfbf @zKUOOKUh9KQKU!KU BKY:KYɛmBmJ qu?Iq uɚqiqIu`=I}>iyi}w)>)*FE?2FA:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:35:26.6916 LVL= 17056, 20913, 21330, 28819, AGC= 57, IDX= 459,-0.20,-0.438, 0.260,-2.141,-0.788, PHS= 0.438, 1.095,-1.356, RAW= 15.0, -1.6, CAL= 14.7, -3.6, ROT= 135.3, 3.6 Ygot valid direction response: 23:35:26.6916 LVL= 17056, 20913, 21330, 28819, AGC= 57, IDX= 459,-0.20,-0.438, 0.260,-2.141,-0.788, PHS= 0.438, 1.095,-1.356, RAW= 15.0, -1.6, CAL= 14.7, -3.6, ROT= 135.3, 3.6 H h>I C I I I  =&I .I  UBDAT read: Tx time:23:35:27.7891 U$Ping request sent.Uٕ(?ٕhٕ >ٕ ڕG\>)ڕIڕ!@iڕ=ڑڑە̂zп&-)k =eW&)ە1Iە:J J J J J }:J 9J J J ;J ;J F;J G;G B $?I O > w,5A2Y@Y2޶@292oi>y2H?j,k㿿@.?`̿` ???ɨ2Y@2 ;2&CyBtBB:IIJIJ٢b< bX=9b9Q b>dd fG٣dyjy< j>nWill construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configl 59n>? 5Yn8 in3  "@nEn;n;n 5]B ]5A]EkVR?k k k k'A:kfBBkBZkJC?"w$@/=o [@47@򧡷?h8j ?(??Jkp?Rk[*ܛ5.yB@ij,X@qb5H@Еڻx?MQ?5io?"kB*k@kZNU?k@ 2kJBkڶ?kvU̵ krCkBk!? addTargetRange:: Added new target pos. range: 111.199997 m, deltaT: 3.781809 s, deltaX: 1.699997 m, approachRate: 0.449520 m/s, rangeRepo size: 4 % Added new target pos. range: 111.199997 m, bearing: 86.956574 deg, lat: 36.905253 deg, lon: -122.119598 deg, deltaT: 18.422029 s, deltaX: 7.399994 m, approachRate: 0.401693 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 111.20 m.Bj-Jj)] ProNav: ac range: 111.199997 m, nav range: 83.529388 m, bearing: 98.088302 deg, approach rate: 0.000000 m/s, LOS rate: 0.614470 deg/s, cmd heading: 8.332414 deg, new cmd heading: 9.076377 deg. 2jYeHeadingCmd: 0.158413 target range: 111.199997 and range: 111.20 m. je6">jajajaiahahihihifffrf[@bf8?ɛ,L sI ɚiI_=I6">iir)6">)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.GIG B O >7w,OA:@Y: @:9: e>y:H ?yq m@5`3?`ec̿7?.*??ɨ:@:a;:$C PIPyVwBV=IiZa=IZ<IbIb٢fl< fI=9jKZQ j>hl nG٣r(VGyr2< r> vNusing accuracyPremultiplier from configtz59v?z5Yvw9 iv,|~~@vEv;v;v} 5 A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 111.20 m.Bj=;Jj=;M ProNav: ac range: 111.199997 m, nav range: 83.595856 m, bearing: 98.240646 deg, approach rate: 0.174534 m/s, LOS rate: 0.399716 deg/s, cmd heading: 9.076377 deg, new cmd heading: 9.533037 deg. 2jM)jQjQjQiQhahahihifififirfqbfu?ɛBޏN 隥I ޠɚiI^=IF`*>iiI)F`*>)*F?2F!:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.  > :?T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.GUG)B9OU>zK LK 9K K !K RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984143H b>I  I I I  =&I .I ;D6I Q<:I g FBIM˧CJIM˧CRIM˔CZIM =bIM =jIMlN6dw,iA~~G5tA-A ]Y]5tAy]Bk@YvU<]9h>yH`?@6+@v?0)?`ͿJO???ɨk@W;yBOIMb@Mb@Mb@ )Y&1?Pn/$y?,A @)@IAyfAII%٢%l= %*=9-źQ ->)1 5G٣1y5< 5> ENusing accuracyPremultiplier from config9U59=?U5Y=: i=)U?]:]|@]@=E=s;='r;=5a eAmE  $?IZjFNOT Ignoring new targets: 111.20 m.Bj;Jj; ProNav: ac range: 111.199997 m, nav range: 83.687378 m, bearing: 98.421687 deg, approach rate: 0.189194 m/s, LOS rate: 0.373836 deg/s, cmd heading: 9.533037 deg, new cmd heading: 10.075548 deg. 2jG<HeadingCmd: 0.175851 target range: 111.199997 and range: 111.20 m. jj4>jjjihhhh8Bfffrfbf ?ɛ f= * =mI ;ɚiI}`]=Ij4>i!i%U)%j4>))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234013G G qAG G B O >1 w,A6@Y6I<6X96l>y6H+?`Ǫ@|`?|? Ϳ g?@??ɨ6@6=;6&Cy>B>aIIFIFb٢Nܸ= R=9RQ V ?TT VG٣TyZ= Z ? bNusing accuracyPremultiplier from config\b59^:ϡ?f5Y^; i^'df95f@^E^;^;^5h j:AlZj|FNOT Ignoring new targets: 111.20 m.Bj;Jj; ProNav: ac range: 111.199997 m, nav range: 83.747063 m, bearing: 98.542896 deg, approach rate: 0.187815 m/s, LOS rate: 0.381146 deg/s, cmd heading: 10.075548 deg, new cmd heading: 10.438911 deg. 2jɂ<%HeadingCmd: 0.182193 target range: 111.199997 and range: 111.20 m. j-:>j)j)j)i)h)h)h1h1f1f1frfbf`?ɛ)-_)AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486011 YeOIa ecɚaiaIew\=Im:>iiimY)m:>)*F?2F:FBF_5JF"G!>G?>JeJaJaJaJe:JaJaJaam@am@am@am@ $?IG8G  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741065BI O >'w,oA6:!@Y6r=6V96 o>y6H?@K>q ? _?`o6ο8? o? ?ɨ6:!@6;6%CyBBBwI)D DMb@Mb@Mb@ )Y?K7kty ?I  0A @)@IAyAI-I-٢== E@=9Egc;Q E>II MG٣M)VGyMN< M> ]Nusing accuracyPremultiplier from configYe59];㡜?e5Y]< i]*e?e:e;m@]E];];]5uB uAuEZjFNOT Ignoring new targets: 111.20 m.Bj;Jj; ProNav: ac range: 111.199997 m, nav range: 83.826172 m, bearing: 98.698877 deg, approach rate: 0.186129 m/s, LOS rate: 0.366646 deg/s, cmd heading: 10.438911 deg, new cmd heading: 10.906400 deg. 2j{<HeadingCmd: 0.190353 target range: 111.199997 and range: 111.20 m. jB>jjjihhhh?Bfqfqfqrfybf}?ɛ1 d-I VɚiIM[=IB>iiB)B>)zKKKKK!K*F?2F:FBF5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990564HW>IC IIIBI =&IGD.I:D6Iw<:Iz FGR q Iq G B O >.-w,IA2}@Y2]>=2H92)q>y2H`? `go?`4 ?@'ο ?t?@?ɨ2}@2[;2'Cy>B>IIFIFV٢N= NU=9Ryd;Q R>PP RG٣PyV< 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=2.241987f59ZJ?f5YZ= iZ-df0f@ZEZ+u;Zu;Z5nB nAnEZj  FNOT Ignoring new targets: 111.20 m.BjB;JjB;% ProNav: ac range: 111.199997 m, nav range: 83.895622 m, bearing: 98.839693 deg, approach rate: 0.180611 m/s, LOS rate: 0.365899 deg/s, cmd heading: 10.906400 deg, new cmd heading: 11.328491 deg. 2j%{<-HeadingCmd: 0.197719 target range: 111.199997 and range: 111.20 m. j-vJ>j)j)j)i)h1h1h9h9f9f9f9rfAbfEFC@ɛuBu( q}Iy }ɚyiyI}NZ=IvJ>ii)vJ>)E]·3=*F?2F:FBFQ5JFG GuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494786G5 EG= ?G= :? e $?Ii J} J} Jy Jy J} -:J} 9Jy Jy G B! O= >4w,A6@Y6Dk=6?896 q>y6Hu?+\)?A?$ο? w??ɨ6@6܉;6&Cy^́BbIIjIjb٢r+= v9=9v :Q v>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 59? ? 5Y> i2$@E+ ; ;t5 A=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 111.20 m.BjU;JjU;e ProNav: ac range: 111.199997 m, nav range: 83.974098 m, bearing: 99.003127 deg, approach rate: 0.177878 m/s, LOS rate: 0.370103 deg/s, cmd heading: 11.328491 deg, new cmd heading: 11.818323 deg. 2jm}<HeadingCmd: 0.206269 target range: 111.199997 and range: 111.20 m. j8S>jjjihhhhfffrfbf@ @ɛ tƽI lɚiI Y=I8S>ii!G)8S>)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749646E =*F2F:FBFZ0JFG%oGBOl>zK= BoIK= 9K9 K= !K=  Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ iՙ  BDAT read: Rx Time:23:35:30.3437  TRx dataTimestamp_ set to:1736379331.645795 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000501H I>I C I A II JBI  =&I .I 8D6I <:I F:w,AyrBvIiz>Izp<Mb@Mb@Mb@ )YV-? rhMbyh?C nA @)I AyGAIIV٢A= >=9Q > G٣*VGy > Nusing accuracyPremultiplier from config59#?5Y? i*?:Z!@E;y;T5 AE %$?I)Zj)5FNOT Ignoring new targets: 111.20 m.BjM;JjM; ProNav: ac range: 111.199997 m, nav range: 84.052139 m, bearing: 99.165831 deg, approach rate: 0.182123 m/s, LOS rate: 0.379346 deg/s, cmd heading: 11.818322 deg, new cmd heading: 12.305968 deg. 2j+<HeadingCmd: 0.214780 target range: 111.199997 and range: 111.20 m. j%3[>j!j!j!i!h!h!h)hMvBfIfQfQrfQbfU ~ @ɛB X:I ɚiIPW=I3[>ii)3[>)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249962*F) 2F1 :F1 BF5 4JF9  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:35:30.3437 LVL= 14304, 15137, 16290, 21235, AGC= 56, IDX= 448,-0.32,-1.237,-1.026, 3.071,-1.912, PHS= 0.762, 0.933,-1.303, RAW= 26.1, -3.7, CAL= 26.0, -6.7, ROT= 124.0, 6.7  Ygot valid direction response: 23:35:30.3437 LVL= 14304, 15137, 16290, 21235, AGC= 56, IDX= 448,-0.32,-1.237,-1.026, 3.071,-1.912, PHS= 0.762, 0.933,-1.303, RAW= 26.1, -3.7, CAL= 26.0, -6.7, ROT= 124.0, 6.7 PDAT read: Bearing 124.0, 6.7 (Local) G GpAG~Local bearing/azimuth received: Bearing 124.0, 6.7 (Local) EDAT read: Range 10 to 50 : 112.7 m (Round-trip 150.3 ms) speed -0.2 m/s ,DAT read: user:3357> BDAT read: Tx time:23:35:31.4392 $Ping request sent.Bw,e A\direction in FSK: [0.108786,0.914107,0.390607]:publishing transmit ping time)Fpublishing direction and range info!9%~V`ٻ?)]@?-~T?y%fB!%7%!; %?)%RI%8i%oC?%n?%Ȧ%Z;>% A %V>)%|I%c @i%|=!!%62i9 05gMl)%ѿI%~=i%x?%v;!!f:publishing transmit ping time)fFpublishing direction and range info!9%~V`ٻ?)]@?-~T?y!!!! !)!I!i!!!!! !)!I!i!!!%62i9 05gMl)!I!i!!!!=N@Y===Lz9=\hr>y=H?i `ṿ?? #Ͽ ?@??ɨ=N@=;=$CyuBuIIIƲ٢= $=9>;Q %>)) -G٣)y-.= 5> =Nusing accuracyPremultiplier from config1=5 M$?957?e5Y5A i5"qJKm3 KS}-KK"KJJJJJ:J*9JJ} @5 E5<5<55B  AEk%-1W+?k%d k! k%5 A:k%fBBk%BZk%?"%Una1(@_{.EY@CPF@%~V`ٻ?)]@?-~T?Jk%x?Rk%v;*%d;ū S~HhvV@&P@%t'/q8?njK?"k%B*k%^Mk%7~)?k% 2k%Ck%7~)?k% k!k%гBk%r?E addTargetRange:: Added new target pos. range: 112.699997 m, deltaT: 3.526648 s, deltaX: 1.500000 m, approachRate: 0.425333 m/s, rangeRepo size: 4 } Added new target pos. range: 112.699997 m, bearing: 92.045370 deg, lat: 36.905347 deg, lon: -122.119521 deg, deltaT: 3.526648 s, deltaX: 1.500000 m, approachRate: 0.425333 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 112.70 m.BjJj ProNav: ac range: 112.699997 m, nav range: 89.907410 m, bearing: 92.045066 deg, approach rate: 0.000000 m/s, LOS rate: 0.379346 deg/s, cmd heading: 12.305968 deg, new cmd heading: 12.949276 deg. 2jHeadingCmd: 0.226007 target range: 112.699997 and range: 112.70 m. jng>jjjihhhhfffrf,\@bf?ɛeBe ae^;Ia mɚiiiImV=Ing>iii۽)ng>)eWill construct direction to contact in vehicle frame from tetrahedron phase data.m=m<JDAT read: TxSync time:23:35:31.4384 *F2F:FBFX3JFGGq B O >Iw,6&A2M@Y2}=2Y92لs>y2H?j)¸? ?hϿk?? ??ɨ2M@2;2&CzKNBHKLKLKN!KN%;q;`{BKT:KTyb%Bb IWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y Gz?B`"۹I I IIBI =&I.I7D6I<:I| F٢-"> -8=9E;Q > G٣y< > Nusing accuracyPremultiplier from config59M?M5YA iM?M:M`M@"En<Vn<5Y ] AYZjFNOT Ignoring new targets: 112.70 m.BjZ;JjZ; ProNav: ac range: 112.699997 m, nav range: 89.936272 m, bearing: 92.210725 deg, approach rate: 0.069588 m/s, LOS rate: 0.399283 deg/s, cmd heading: 12.949275 deg, new cmd heading: 13.446080 deg. 2j< HeadingCmd: 0.234678 target range: 112.699997 and range: 112.70 m. jOp>jjjihhhhBff9fArfAbfEu? iIiɛBݼ 隕=I WɚiIST=IOp>ii ׽)Op>)*Fq2Fq:FyBF}^0JFym Will construct direction to contact in vehicle frame from tetrahedron phase data.G xG ?G ?Gq B O >"Pw,@AyHB> II-I-٢=I> =i=9EQ E?AA EG٣M+VGyM M? UNusing accuracyPremultiplier from configQ]59U]?]5YUA iUaae@U#EU:U:U5mB m AuEZjFNOT Ignoring new targets: 112.70 m.Bj;Jj; ProNav: ac range: 112.699997 m, nav range: 89.957642 m, bearing: 92.330595 deg, approach rate: 0.067309 m/s, LOS rate: 0.377466 deg/s, cmd heading: 13.446080 deg, new cmd heading: 13.805600 deg. 2j<HeadingCmd: 0.240953 target range: 112.699997 and range: 112.70 m. jmv>jjjihhhhfffrfbf`?ɛ >I EɚiI5S=Imv>iIiM’)Mmv>)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFGGBOm> $?I JJJJJJ9JJE Will construct direction to contact in vehicle frame from tetrahedron phase data.KVw,gZAymdBma IEMb@Mb@Mb@AAA A)AYEV-?p= ף{GztyEh?EEףEAA E5@)AIE AAyEAI]I] ٢m.= m,=9iQ m>qq }G٣yy > Nusing accuracyPremultiplier from config59:u?5YB i\?:c@&EMq;n; 5   AE-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 112.70 m.BjE;JjE;U ProNav: ac range: 112.699997 m, nav range: 89.974373 m, bearing: 92.507351 deg, approach rate: 0.034433 m/s, LOS rate: 0.363692 deg/s, cmd heading: 13.805599 deg, new cmd heading: 14.335754 deg. 2jUy<]HeadingCmd: 0.250206 target range: 112.699997 and range: 112.70 m. j]>jYjajaiahahihihmBfifqfqrfqbfu@?ɛB 隭~E>I <ɚiI5R=I>ii )>)*F12F9:F9BF=e0JF9zKNK9KK!KvfWC/{ulgc`YVUPKE@<61.,+(&$$#!RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HMC>IMC IM IIMɂBII&II.II6IM<:IM FG ٽ $?I G B) OE >t\w,?tAyB% IIMIM٢]&R> es=9aQ e?ai mG٣iyi m? }Nusing accuracyPremultiplier from configq59uÄ?5YuB iu@u'Eu#;u;u!5  AZjFNOT Ignoring new targets: 112.70 m.Bj;Jj; ProNav: ac range: 112.699997 m, nav range: 89.985939 m, bearing: 92.624551 deg, approach rate: 0.035883 m/s, LOS rate: 0.363552 deg/s, cmd heading: 14.335754 deg, new cmd heading: 14.687305 deg. 2jy<HeadingCmd: 0.256342 target range: 112.699997 and range: 112.70 m. jjjjihhhihifqfqfqrfqbfu?ɛB {<H>I kWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730917ɚiIP=Iix)*F=?2F9:F9BF=1JF9GGBO-p> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982767Xcw, A I C@Y  > 9 y H f?`ƿ8ò#??п`???ɨ C@ " ; 'CyޝBޝ III̍٢= 6=9S G٣,VGy> > Nusing accuracyPremultiplier from config59O?5YA iz7B=@)Em ; ;|#5B AEZjaeFNOT Ignoring new targets: 112.70 m.Bjm;Jjm;} ProNav: ac range: 112.699997 m, nav range: 89.985893 m, bearing: 92.787520 deg, approach rate: -0.000100 m/s, LOS rate: 0.356466 deg/s, cmd heading: 14.687304 deg, new cmd heading: 15.176198 deg. 2j}t<HeadingCmd: 0.264875 target range: 112.699997 and range: 112.70 m. j>jjjihhhhfffrfbf.@ɛB@2: 隥͜>I kZɚiI3MO=I>iid)>) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235973*F?2F:FBF~1JF"G=G >G= G B! OU >$iw,UݧAzK+OK+9KK!K y5łB5 IeWill construct direction to contact in vehicle frame from tetrahedron phase data.iimAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.488262) wCH%>>I! I%;!II%BI% =&I!.I!6I%<:I%v FBI¡CJI¡CRIZI =bI =jIœ6UGetA}A YtAyB Mb@Mb@Mb@    ) Y > ףp=?I +~jtx?y ? 94 ; A @) Z@I  A y =AI%I%٢5 > 55=95Q =>9A EG٣Iy] ]> uNusing accuracyPremultiplier from configq}59uЯ?}5Yu@ iu:}?:5 >@u+Eu2 ;u;uy%5 $?I AZjFNOT Ignoring new targets: 112.70 m.Bj-;Jj-;E ProNav: ac range: 112.699997 m, nav range: 89.964058 m, bearing: 92.950934 deg, approach rate: -0.048714 m/s, LOS rate: 0.364663 deg/s, cmd heading: 15.176199 deg, new cmd heading: 15.666547 deg. 2jECzjijijiiqhqhqhqh}Bfyfyfyrfybf@;@JJJJJJu9JJJk;aJl;aJ/;aJ/;aɛB<λ >I ɚiIM=Ic>iirI)Ec>)I*F12F1:F9BF=3JF9G oܽ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744083G B O >a[pw,EAN_@YN !9>NS9N>xr>yNHI? -ɿo?s?` Ͽ ?n?s?ɨN_@N;Ly^؂B^ IIfIfF٢ns> n=9nO@z,Ez ;zC ;z&5 B DA ޲EZjIUFNOT Ignoring new targets: 112.70 m.BjU;JjU;e ProNav: ac range: 112.699997 m, nav range: 89.946770 m, bearing: 93.053435 deg, approach rate: -0.060154 m/s, LOS rate: 0.356716 deg/s, cmd heading: 15.666547 deg, new cmd heading: 15.974103 deg. 2jmtjqjqjqiqhqhqhyhyfyfyfrfbf@d@ɛBDÚ; 隽:>I M/ɚiI/L=I>ii)>)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:33.9950 TRx dataTimestamp_ set to:1736379335.172614checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991772E =*F92F9:F9BF=5JF9 $?IG1GB O% >M Will construct direction to contact in vehicle frame from tetrahedron phase data.ӈvw,UhA"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254634EU*@YE?E>E!۽9EYRq>yEH1:?@Sʿy@\?c? Ͽn? ??ɨEU*@E;E#CyޕBޝ!IUMb@Mb@Mb@QQQ Q)QYUI +?{Gz?y&1?yU9?Uף G٣-VGy< > Nusing accuracyPremultiplier from config59Ԣ?5Y> i[?:b>@/E; ;T;(5 ~A۲EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.70 m.Bj{;Jj{; ProNav: ac range: 112.699997 m, nav range: 89.899963 m, bearing: 93.231460 deg, approach rate: -0.095335 m/s, LOS rate: 0.362790 deg/s, cmd heading: 15.974103 deg, new cmd heading: 16.508441 deg. 2jx<HeadingCmd: 0.288127 target range: 112.699997 and range: 112.70 m. jV>jjjihh!h!h%Bf)f)f)rf)bf- T @ɛ]B] º Y]>Ia eɚaiaIeK=ImV>iiimu)mV>)qEO<ZH9RH=AAzK]c{LK]ͼ9KYK]!K]  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497262*F?2F:FBF_0JFG GHE<>IEC IE!IIEWBIE" =&IA.IA6IET<:IEF F I J J J J J M:J 9J J J ;J ;J !;J !;G 8G qAG G B O> }w,A6%@Y6yQ>6?Խ96vl>y6H)?`eJ̿@Ъ? FX?@3WϿ c?`*? ?ɨ6%@6ψ;6'Cy>B>3!IIFIF ٢N!> Ra=9RTX ZG٣XyZ5= Z> bNusing accuracyPremultiplier from config\b59^墜?f5Y^I= i^dfzn>f@^0E^U:^:^x*5h nAlZjFNOT Ignoring new targets: 112.70 m.Bj ;Jj ;=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:35:33.9950 LVL= 23808, 20721, 22578, 30387, AGC= 59, IDX= 444, 0.27,-3.027, 2.961, 1.065, 2.246, PHS= 1.099, 0.763,-1.184, RAW= 37.8, -6.4, CAL= 39.6, -11.3, ROT= 110.4, 11.3 Ygot valid direction response: 23:35:33.9950 LVL= 23808, 20721, 22578, 30387, AGC= 59, IDX= 444, 0.27,-3.027, 2.961, 1.065, 2.246, PHS= 1.099, 0.763,-1.184, RAW= 37.8, -6.4, CAL= 39.6, -11.3, ROT= 110.4, 11.3 PDAT read: Bearing 110.4, 11.3 (Local) ~Local bearing/azimuth received: Bearing 110.4, 11.3 (Local) DAT read: Range 10 to 50 : 113.7 m (Round-trip 151.6 ms) speed -0.1 m/s ,DAT read: user:3358> BDAT read: Tx time:23:35:35.0892 $Ping request sent.99=ר&NV?ƊHo)=I==i=6?=99 :publishing transmit ping timeFpublishing direction and range info5 ProNav: ac range: 112.699997 m, nav range: 89.863457 m, bearing: 93.362806 deg, approach rate: -0.100414 m/s, LOS rate: 0.361424 deg/s, cmd heading: 16.508441 deg, new cmd heading: 16.902632 deg. 2j5 x<=HeadingCmd: 0.295007 target range: 112.699997 and range: 112.70 m. j= >j9jAjAiAhAhAhIhIfIfIfqrful\@bfuU?99=lfXE?ֵW ?4??y9999 9)9I9i99999 9)9I9i999=ר&NV?ƊHo)9I9i9999ɛM BM; QU?IQ UJɚQiQIUҁI=Iu >iuk)EE*E"E*F?2F:FBFa4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iA $?I G jG B O >=w,AyB@!II-I-n٢=+= =,=9EQ E>AI MG٣IyM M> UNusing accuracyPremultiplier from configQ]59U?e5YU; iUO@lfXE?ֵW ?4??Jk6?Rk*ac!=-,R@a#;"U@6~;?? `t;?"kB*kkHZ ?kov 2kCkkkkBk? addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.779593 s, deltaX: 1.000000 m, approachRate: 0.264579 m/s, rangeRepo size: 4  Added new target pos. range: 113.699997 m, bearing: 96.738287 deg, lat: 36.905347 deg, lon: -122.119521 deg, deltaT: 3.779593 s, deltaX: 1.000000 m, approachRate: 0.264579 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 113.70 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.] ProNav: ac range: 113.699997 m, nav range: 89.816620 m, bearing: 93.534061 deg, approach rate: 0.000000 m/s, LOS rate: 0.361424 deg/s, cmd heading: 16.902632 deg, new cmd heading: 17.423762 deg. 2jaHeadingCmd: 0.304102 target range: 113.699997 and range: 113.70 m. jB>jjjihhhhfff rfbf@d?ɛ  B ; ?I 9ɚi!I%G=I%B>i-r ))*F?2F:FBF\0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.zKm LKm 9Ki Km !Km H ;>I  I !II BI &I .I 6D6I <:I v FG  I G B) O] > ꋼw,1A^K;Y^g>^ǽ9^]>y^H ?!οŦ@?O?`Ϳ?Y??ɨ^K;^Ɖ;^$Cyz8Bzf!I ~=~=JEJEJE1JAJE:JE=9JE3JAJE7;JE9;JE*;JE*;Mb@Mb@Mb@ )Y-?)\(?:v?y??Ga=T</A @)@IMAy@IMIM٢]= ]!=9]2S G٣.VGy,= > Nusing accuracyPremultiplier from config59?5Y79 i?:à>@5E5;};.5ÓB SAղEZjFNOT Ignoring new targets: 113.70 m.BjE];JjE];U ProNav: ac range: 113.699997 m, nav range: 89.743103 m, bearing: 93.717266 deg, approach rate: -0.143276 m/s, LOS rate: 0.357336 deg/s, cmd heading: 17.423761 deg, new cmd heading: 17.973808 deg. 2jUjyjyjyiyhyhhhBfffrfbf@?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ B5,+< 15?I1 =ɚ9i9I=F=IE>iAiExw)E>)A*F%?2F!:F!BF-^0JF)G G B O% >̒w,QKAWill construct direction to contact in vehicle frame from tetrahedron phase data.R`kRI9R4X>yRH ?Ͽ6@?H?@̿)?Ȯ?"'?ɨR`k @~6E~n:~7:~*05 AZjAEFNOT Ignoring new targets: 113.70 m.BjMk;JjMk;e ProNav: ac range: 113.699997 m, nav range: 89.696129 m, bearing: 93.831297 deg, approach rate: -0.151484 m/s, LOS rate: 0.367925 deg/s, cmd heading: 17.973808 deg, new cmd heading: 18.316077 deg. 2je|jijijiiihihqhqhqfqfyfyrfybf}`?ɛBB< 隭?I iyɚiI E=I>iiq)>) $?I*F12F1:F1BF50JF1JM@AJMAAGU+Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BIO>w,5eA6^6ܳ96&T>y6H?8?п5 z???@*4̿-t?@n:?1?ɨ6^<6;6&CyRXBR!IEMb@Mb@Mb@AAA A)AYEzG?v/?Mb?yE ?Exi=E G٣y< > Nusing accuracyPremultiplier from config 59 7? 5Yp5 it?:>@8E;';25) 5UA5ҲEeB*** querying acoustic contact ***jajaZjyFNOT Ignoring new targets: 113.70 m.Bj;Jj;jH<bH ProNav: ac range: 113.699997 m, nav range: 89.628105 m, bearing: 93.989718 deg, approach rate: -0.153125 m/s, LOS rate: 0.356883 deg/s, cmd heading: 18.316078 deg, new cmd heading: 18.791689 deg. 2jt<HeadingCmd: 0.327977 target range: 113.699997 and range: 113.70 m. j>jjjihhhhBfffrfbf%?H9>I I"IIƒBI# =&I.I6I<:I| F5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.zKBHK 9KK!KRK?JK>ɛmBm@-W< qu$?Iq } rɚyiyI}-wC=I>i p# ) $?I*F?2F:FBF_0JF JeJaJe0JaJeݒ:JaJeـ3JaJe;Je;JaJaGwGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995255 w,ysA2s=Y2>292mQ>y2H`?пGl =?t5?L˿v??@9?ɨ2s=2E;0yb_Bb!IIjIjV٢rL= vZ=9v3xx zG٣z/VGyzֱ< z> Nusing accuracyPremultiplier from config| 59~bH? 5Y~~3 i~@2>@~:E~2;~=3;~35 %#A!ZjAMFNOT Ignoring new targets: 113.70 m.BjMX;JjMX;e ProNav: ac range: 113.699997 m, nav range: 89.569077 m, bearing: 94.124364 deg, approach rate: -0.161900 m/s, LOS rate: 0.369542 deg/s, cmd heading: 18.791689 deg, new cmd heading: 19.195887 deg. 2je}jijijiiqhqhqhqhyfyfyfrfbf a@ɛB6< 隽s&?I ɚiIUB=I=>iinm)=>)*F5?2F1:F1BF=P5JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249760G|tGiBy IO>w,OAy~jB~!IIIb٢%Y= %G=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1E595[?E5Y5W1 i5AAM@5;5&;5~55UēB UAUϲEWill construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499554ZjFNOT Ignoring new targets: 113.70 m.Bj;Jj; ProNav: ac range: 113.699997 m, nav range: 89.504295 m, bearing: 94.273658 deg, approach rate: -0.149342 m/s, LOS rate: 0.344422 deg/s, cmd heading: 19.195886 deg, new cmd heading: 19.644084 deg. 2j_l<HeadingCmd: 0.342854 target range: 113.699997 and range: 113.70 m. j>jjjihhhhf ffrfbf-`}@ɛ-B- i< 15*?I1 5Cۼɚ1i1I5@=I=>i=/)A*F?2F:FBF1JFH 8>I  I ."II ܃BI &I .I 6I g<:I N FM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751130zK K 9K K !K qd#k>! BK :K G o $?I hG B O >2w,x*Ay%oB%!IMb@Mb@Mb@ )Y9v?&1?y?P=I A @)@IAy@I=I=F٢M< U9=9YQ ]>ai mG٣iyq }> Nusing accuracyPremultiplier from config59Hp?5Y/ i?:>@>E;b;r75œB AʲEZjFNOT Ignoring new targets: 113.70 m.Bj%q;Jj%q;5 ProNav: ac range: 113.699997 m, nav range: 89.436890 m, bearing: 94.434631 deg, approach rate: -0.155429 m/s, LOS rate: 0.371463 deg/s, cmd heading: 19.644083 deg, new cmd heading: 20.127355 deg. 2j5~<=HeadingCmd: 0.351289 target range: 113.699997 and range: 113.70 m. j=ܳ>j9j9j9i9hAhAhAhEтBfIfIfrfbf` @ɛB< !%,?I! %/׼ɚ!i!Ieo?=Imܳ>iiiu)uܳ>)qWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:37.6460 TRx dataTimestamp_ set to:1736379338.953104checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004665*F2F:F!BF%05JF!GGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255371iw,PA6LnZ=Y6!F>6;$96K>y6H?VѿDVPG?F?@ʿu?@*?@.N?ɨ6LnZ=6^;6#CyblBb!IInIn ٢z zW=9zn0=Q =>AA EG٣E0VGyMi= M> $?I Nusing accuracyPremultiplier from configQ59U?5YU, iUK>@U@EU;U3:U 95 AZj FNOT Ignoring new targets: 113.70 m.Bj ;Jj ;= ProNav: ac range: 113.699997 m, nav range: 89.374756 m, bearing: 94.572402 deg, approach rate: -0.159676 m/s, LOS rate: 0.354298 deg/s, cmd heading: 20.127355 deg, new cmd heading: 20.540946 deg. 2j=&sjyjyjihhhhfffrfbf@M& @JJJJJM:JJJa@a@a@a@ɛ]B]< Y])?Ia eҼɚaiI=>=I?>i)*F92F9:F9BF=3JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 23:35:37.6460 LVL= 18656, 19793, 18338, 26403, AGC= 61, IDX= 439, 0.25,-0.067,-0.684,-2.464,-1.232, PHS= 1.253, 0.594,-1.236, RAW= 44.8, -5.5, CAL= 47.5, -10.2, ROT= 102.5, 10.2 Ygot valid direction response: 23:35:37.6460 LVL= 18656, 19793, 18338, 26403, AGC= 61, IDX= 439, 0.25,-0.067,-0.684,-2.464,-1.232, PHS= 1.253, 0.594,-1.236, RAW= 44.8, -5.5, CAL= 47.5, -10.2, ROT= 102.5, 10.2 PDAT read: Bearing 102.5, 10.2 (Local) ~Local bearing/azimuth received: Bearing 102.5, 10.2 (Local) DAT read: Range 10 to 50 : 114.5 m (Round-trip 152.7 ms) speed -0.3 m/s ,DAT read: user:3359> BDAT read: Tx time:23:35:38.7392 $Ping request sent.F?t3My.)It=ib?G% NG- ?G- ?"5= :publishing transmit ping timeةe Fpublishing direction and range info98~??@+?y )Ii )IiF?t3My.)IiG B O >w,*A2ےz=Y2J>2Hu92I>y2H@?@,ҿ`C? ?%ʿ@??ES?ɨ2ےz=2R;2%CyrB!IZHRHH9>I I;"IIBI&I.I6Is<:IX FBICJICRICZI# =bI# =jIB75 G%|uA9 mYm|uAymBuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:23:35:38.7384 zKMGqNKM+9KIKM!KM   (;EEC@:842/.-Mb@Mb@Mb@ )YQ?S㥛?{Gzy?/<#zA )@I`@yz@II0٢< %=9p6 G٣y< > Nusing accuracyPremultiplier from config59Ƙ?5Y* i?:1>@BE;F;D;5-ƓB -A5DzE $?IkM5O?kM|_" kI kM3A:kMBBkMmBZkM-?"M G'@ $(~U@uͅ4R@M8~??@+?JkMb?RkM"5*M7:*l1Q@/.V@Mx+dR=,?$8?PQ?"kMB*kMQkMtG?kM: 2kMQCkIkIkMCkMBkM? addTargetRange:: Added new target pos. range: 114.500000 m, deltaT: 3.528310 s, deltaX: 0.800003 m, approachRate: 0.226738 m/s, rangeRepo size: 4  Added new target pos. range: 114.500000 m, bearing: 100.795496 deg, lat: 36.905347 deg, lon: -122.119521 deg, deltaT: 3.528310 s, deltaX: 0.800003 m, approachRate: 0.226738 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 114.50 m.BjJj ProNav: ac range: 114.500000 m, nav range: 89.304100 m, bearing: 94.750536 deg, approach rate: 0.000000 m/s, LOS rate: 0.354298 deg/s, cmd heading: 20.540945 deg, new cmd heading: 21.092796 deg. 2j%HeadingCmd: 0.368139 target range: 114.500000 and range: 114.50 m. j%|>j!j!j!i!h)h)h)h-Bf1f1f1rf5\@bf]~?ɛBp< T+?I C>ͼɚiI}==I|>iidz)|>)EEqA*Fm ?2Fi :Fi BFm *5JFi Gu qA Gu rA- Will construct direction to contact in vehicle frame from tetrahedron phase data.- =- <Gm mG)BAO]>3~w,CA6=Y6v>6mc96t8H>y6Hl?~ҿg?@&??ɿ y?t?wW?ɨ6=6}̉;6$CyJuBJ!IIRIR)٢ZW< Z\=9^?\\ bG٣`ybK< b> jNusing accuracyPremultiplier from configdj59fة?j5Yf( ifyprY>r@fDEfH;fZ;f<5x zAx B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 114.50 m.Bj%;Jj%;5 ProNav: ac range: 114.500000 m, nav range: 89.250465 m, bearing: 94.883920 deg, approach rate: -0.165049 m/s, LOS rate: 0.410706 deg/s, cmd heading: 21.092796 deg, new cmd heading: 21.493179 deg. 2j5<=HeadingCmd: 0.375127 target range: 114.500000 and range: 114.50 m. j=>j9j9jAiAhAhAhIhIfIfIfQrfQbfU?ɛB< 隥@,?I ɼɚiI+<=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 ******Querying Benthos address 50 with one ping in standard two-way mode.GtlGBO"> yI*J"JR=JJJJJJ9JJ- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990130Ǽw, A>Ҙ=Y>->>$S9>:;N>y>H ?+ҿ?H?u? aʿAo?`#?O?ɨ>Ҙ=>a; G٣1VGy< > Nusing accuracyPremultiplier from config59N?5YE& i`>@FEp;;>5 AIJEZjIUFNOT Ignoring new targets: 114.50 m.Bj];Jj]; ProNav: ac range: 114.500000 m, nav range: 89.181656 m, bearing: 95.051925 deg, approach rate: -0.145077 m/s, LOS rate: 0.354494 deg/s, cmd heading: 21.493180 deg, new cmd heading: 21.997571 deg. 2jIs<HeadingCmd: 0.383930 target range: 114.500000 and range: 114.50 m. j{>jjjihhhhfffrfbf?ɛ- B5j< 15'?I1 =Pļɚ9i9IE;=IM{>iM)QH5>IC I5"IIBI&I.I6I[<:ID FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242943*F?2F:FBFJFzK@MK9KK!K11.,)&''     BK:K u$?IqG= {GE pAGE mAG B OM >tͼw,69AyoB!IMb@Mb@Mb@ )Y@5^I ?Mb?    G٣ y > Nusing accuracyPremultiplier from config%59У?%5Y~$ iV-x?-:->-@HEY;:@55ǓB 5A=EZjaeFNOT Ignoring new targets: 114.50 m.Bjm!;Jjm!;} ProNav: ac range: 114.500000 m, nav range: 89.132851 m, bearing: 95.188223 deg, approach rate: -0.130866 m/s, LOS rate: 0.365668 deg/s, cmd heading: 21.997572 deg, new cmd heading: 22.406682 deg. 2j}z<HeadingCmd: 0.391070 target range: 114.500000 and range: 114.50 m. j`:>jjjihhhhyBfffrfbfC?ɛ"B < }&?I ɚiI-:=I`:>ii;䎽)`:>)*Fi2Fi:FiBFmo0JFqG|G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746155O > i Ii Լw,hSA>̥=Y>a>> ,9>G>y>H}?`ӿ@`?m:? ? 9ɿ}??]?ɨ>̥=>_;>&CyFkBJ!IIRIR#٢Z] Zc=9^`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn59jࣜ?n5Yj" ijQlr>r@jJEjE;j;j#B5t vAtZjFNOT Ignoring new targets: 114.50 m.BjL;JjL;- ProNav: ac range: 114.500000 m, nav range: 89.086075 m, bearing: 95.314470 deg, approach rate: -0.130991 m/s, LOS rate: 0.353727 deg/s, cmd heading: 22.406681 deg, new cmd heading: 22.785615 deg. 2j-r<=HeadingCmd: 0.397684 target range: 114.500000 and range: 114.50 m. j==>jAjAjAiAhAhAhIhIfIfIfQrfQbfUii)=>)*FE?2FA:FABFE1JFAG ڋGBO%>-Will construct direction to contact in vehicle frame from tetrahedron phase data.-?)-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998454jH bH 4<H 4>I  I ("II փBI $ =&I .I 6I <:I Fڼw,KmA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250047NH=YNy>N9NF>yNHip?Vӿ@?Л?V?ȿ`}?(?@`?ɨNH=N;Ly~gB~!Ii;>I> p= p=zKLMK+9KK!K Mb@Mb@Mb@ )YZd;O?~jtZd;Oy~ ?DjMA )I@y@II< $?I٢w u8=9}}Qyy }G٣2VGy)[< > Nusing accuracyPremultiplier from config59?5Y  iV ?:>@LEg;;'D5ȓB AEZj FNOT Ignoring new targets: 114.50 m.Bj;Jj;% ProNav: ac range: 114.500000 m, nav range: 89.035484 m, bearing: 95.471849 deg, approach rate: -0.108760 m/s, LOS rate: 0.338528 deg/s, cmd heading: 22.785615 deg, new cmd heading: 23.258010 deg. 2j-ThjQjQjQiYhYhYhYhe\Bfafafarfabf @ɛ%(B< =?I ɚiI8=I>i;i抽)>)*F]?2FY:FYBF]0JFY5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502518Ge ^Ge ?Ge >G9 BI Oe >w,$AydB !II5I5b2٢E8 EV=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]T i]Zaae@]ME]:]z:]E5q uAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.50 m.Bj;Jj; ProNav: ac range: 114.500000 m, nav range: 88.995956 m, bearing: 95.596409 deg, approach rate: -0.109227 m/s, LOS rate: 0.344347 deg/s, cmd heading: 23.258010 deg, new cmd heading: 23.631850 deg. 2jRl<HeadingCmd: 0.412454 target range: 114.500000 and range: 114.50 m. j->jjjihhhhfffrfbf@ɛ%*B%J< !%G?I! -Rɚ)i)I-7=I5->i1i5h)=->)9Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755763*F2F:FBF4JF  $?IJJJ0JJJ9Jـ3JGGBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:23:35:41.2974 M TRx dataTimestamp_ set to:1736379342.480733M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007264w,A=Y>ۻ9*H>yH7;?Կr?@_?0?Sfȿ@?`?b?ɨ=Ȉ;$Cy=fB=!IMb@Mb@Mb@ )Yv/?Q롿Zd;Oyx ?\ &@)@IZ@y@IEIEV٢]; !=9 G٣y^-= > Nusing accuracyPremultiplier from config59N?5YU il ?:>>@OE;;G5! % A%EHiIi Im"IImǃBIi&Ii.Ii6Im<:Im FZjFNOT Ignoring new targets: 114.50 m.Bj;Jj; ProNav: ac range: 114.500000 m, nav range: 88.946808 m, bearing: 95.771720 deg, approach rate: -0.092387 m/s, LOS rate: 0.329725 deg/s, cmd heading: 23.631850 deg, new cmd heading: 24.158060 deg. 2jIb<HeadingCmd: 0.421638 target range: 114.500000 and range: 114.50 m. j>jjjihhhh.Bfffrfbf @ɛM-BM|< QU?IQ UBɚQiyI}57=I>iW;i})>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258096 I zK-<LK-9K)K-!K-*FQ2FQ:FQBFU2JFQG ,G B O >w,g A>Will construct direction to contact in vehicle frame from tetrahedron phase data.FDAT read: Range 10 to 50 : 115.5 m (Round-trip 154.0 ms) speed 0.0 m/s J,DAT read: user:3360> NBDAT read: Tx time:23:35:42.3893 N$Ping request sent.Nf&9fJ>yfHF#?Gտ@Q?{?_?rȿR?e&?^?ɨfR=f;dyrdBr!ItvAIzIz٢d_ n=9J-@QE ;P ;uI59 =!A9m addTargetRange:: Added new target pos. range: 115.500000 m, deltaT: 3.529368 s, deltaX: 1.000000 m, approachRate: 0.283337 m/s, rangeRepo size: 4 ZjiuFNOT Ignoring new targets: 114.50 m.Bj}g;Jj}g; ProNav: ac range: 114.500000 m, nav range: 88.913490 m, bearing: 95.886264 deg, approach rate: -0.104938 m/s, LOS rate: 0.360904 deg/s, cmd heading: 24.158060 deg, new cmd heading: 24.501815 deg. 2jw<HeadingCmd: 0.427637 target range: 114.500000 and range: 115.50 m. jH>jjjihhhhfffrf\@bf`?ɛ0Bڟ< 隕E?I ɚiI6=IH>iiv)H>)E *<-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:35:42.3885 *F?2F:FBF4JF e "$?Ii G} NGq By O >hw,rAJAAJf9>YfV>f"l9f+K>yfH ?@տE??n?@dȿ?M?v]?ɨf9>fI;f%CJSK[ـ3 K[ .KSKS"KSJJJJJM:J9JJy%\B%!II=I=(1٢M# MG=9M QQ UG٣QyUl< ]> eNusing accuracyPremultiplier from configam59e;?m5YeJ ieim>m@eSEe:e:e@K5}ɓB }iA}EZjFNOT Ignoring new targets: 114.50 m.Bj3;Jj3; ProNav: ac range: 114.500000 m, nav range: 88.871521 m, bearing: 96.026170 deg, approach rate: -0.102340 m/s, LOS rate: 0.341315 deg/s, cmd heading: 24.501815 deg, new cmd heading: 24.921722 deg. 2j=j<HeadingCmd: 0.434966 target range: 114.500000 and range: 115.50 m. j>jjjihhhhfffrfbf?ɛ 2B ϫ< ?I RɚiIoK6=I>iidv)%>)!EP<Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFGG B O >ZH RH ?AH I  I "II BI &I .I 6I <:I c FE Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia fw,)A>~>Y>7>>T9>{|B>y>H?kFֿ-??b?1ǿ?)?@l?ɨ>~>>q;>&CzKfKfػ9KdKf!KfRKj>JKj>ynTBn!I]Mb@Mb@Mb@YYY Y)YY](\? ףp= /$y]?]Q8]]A ]@)]@IYYy]\@IuIui٢ E=9c;Q > G٣y< > Nusing accuracyPremultiplier from config59M?5Y iF?:t>@TE>;3=;M5 AZjaeFNOT Ignoring new targets: 114.50 m.Bjm;Jjm; ProNav: ac range: 114.500000 m, nav range: 88.832542 m, bearing: 96.166125 deg, approach rate: -0.090366 m/s, LOS rate: 0.324607 deg/s, cmd heading: 24.921723 deg, new cmd heading: 25.341764 deg. 2j^<HeadingCmd: 0.442297 target range: 114.500000 and range: 115.50 m. jt>jjjihhhh0BfffrfbfHm?ɛm5Bm< im?Ii u{*ɚqiqIu5=I}t>i};i}Fwn)}t>)Will construct direction to contact in vehicle frame from tetrahedron phase data.E<-=*F1 2F1 :F9 BF= a4JF9 GA  GE qAG] yGe ?Ge >G1=Will construct direction to contact in vehicle frame from tetrahedron phase data.BIOe>w,AV^>YV_'>V9VF>yVH!?&ֿ@'A?9?V2Ê;V$Cy^[B^!I j#$?IhIrIr٢zr< z5=9z;Q z>|| ~G٣~4VGy~< > Nusing accuracyPremultiplier from config 59 a?5Y  i >@ VE :  :  O5%ʓB -uA-EEB*** querying acoustic contact ***jAjAZjY]FNOT Ignoring new targets: 114.50 m.Bje;Jje;u ProNav: ac range: 114.500000 m, nav range: 88.787743 m, bearing: 96.318942 deg, approach rate: -0.102336 m/s, LOS rate: 0.349258 deg/s, cmd heading: 25.341764 deg, new cmd heading: 25.800438 deg. 2j}o<}HeadingCmd: 0.450303 target range: 114.500000 and range: 115.50 m. j}>jjjihhhhfffrfbf% ?ɛ7B< ?I EɚiIs5=I>iib)>)EaEa*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data.Ս ?Սi?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFZ0JFGE !r)  GI c~G tAH 2>I  I !II BI &I .I 5D6I P<:I 9 FBI͞CJI͞CRIZI$ =bI$ =jI85 Y tAy^BB9O}>! w,V.AJ2'>YJ>Jh9J I>yJHo?`׿??`?`gǿ}?A ?a?ɨJ2'>J6k;J&CyVUBV!IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759617UMb@Mb@Mb@QQQ Q)QYUS㥛?&1/$yU?UPQUMA U@)U@IU@QyU@ImIm%٢}o }&=9;Q > G٣y< > I Nusing accuracyPremultiplier from configu59u?u5Y iu?}:}j>}@XE!<<4Q5 AEzKk3IK]9KK!Ky9CU$# $'q.r1BKoA:KnAZjFNOT Ignoring new targets: 114.50 m.Bj;Jj; ProNav: ac range: 114.500000 m, nav range: 88.740578 m, bearing: 96.482517 deg, approach rate: -0.089164 m/s, LOS rate: 0.309398 deg/s, cmd heading: 25.800439 deg, new cmd heading: 26.291409 deg. 2jVT<HeadingCmd: 0.458872 target range: 114.500000 and range: 115.50 m. j:>jjjihhhhBfffrfbf@~?ɛe:Bmb< im ?Ii m,9ɚiiqIu5=Iu:>i}B^;i}U)}:>)yJ J J J J :J =9J J J 7;aJ 8;aJ aJ a*F2F:FBF_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012340G deG B O >w,)HA2s/>Y2>2d692"J>y2H$?Bؿ›?`eu?`i? piǿf? 0?_?ɨ2s/>2;0yNQBR!IIVIV٢^d bX=9b&B`d fG٣dyf< f> nNusing accuracyPremultiplier from confighr59j?r5YjI ijpr>r@jZEj;j;jR5t zAxZjFNOT Ignoring new targets: 114.50 m.Bj%;Jj%;5 ProNav: ac range: 114.500000 m, nav range: 88.703621 m, bearing: 96.606744 deg, approach rate: -0.108435 m/s, LOS rate: 0.364646 deg/s, cmd heading: 26.291410 deg, new cmd heading: 26.664241 deg. 2j5@z<=HeadingCmd: 0.465379 target range: 114.500000 and range: 115.50 m. j=!F>j9j9jAiAhAhAhAhIfIfIfIrfIbfUy@ɛiiQ)!F>)9EAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263292*F?2F:FBF`0JF"G=G= $$?IGA,[GGqAGBO=>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515217'w,bA:f6>Y: t>:^99:pJ>y:H`}{?dؿi?@? ?@$ǿk:#? o`?ɨ:f6>:D;:(CyjVBn!ItvAIzIzF2٢< F=9 ;Q  >    G٣ 5VGy< > Nusing accuracyPremultiplier from config%59Ж?%5Y i)-N>-@\E::T55˓B 5A5EZjFNOT Ignoring new targets: 114.50 m.Bj;Jj; ProNav: ac range: 114.500000 m, nav range: 88.661995 m, bearing: 96.743164 deg, approach rate: -0.092581 m/s, LOS rate: 0.303556 deg/s, cmd heading: 26.664241 deg, new cmd heading: 27.073686 deg. 2jSP<HeadingCmd: 0.472525 target range: 114.500000 and range: 115.50 m. j>jjjihhh)h)f1f1f1rf9bf= :y@ɛ>B1< 隽* ?I  ᓼɚiI҇4=I>i;ix R)%>)!H]0>IY I]!II]BI]% =&IY.IY6I]_<:I]D F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768728 %$?IzKm x3OKm 9Ki Km !Km IRK} ?JK} ?G YJ= J= J= 1J9 J= m:J= b9J= 3J9 J= ;J= ;J= /.;J= 0.;Gy B O >Ew,r{Ay%_B%!IMb@Mb@Mb@ )Y r?I +y?L97A )@I@yz@IIƲ٢/= ==9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i S? : >@]Ej;u;V5) -aA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0209715EZjFNOT Ignoring new targets: 114.50 m.BjI;JjI; ProNav: ac range: 114.500000 m, nav range: 88.619080 m, bearing: 96.884630 deg, approach rate: -0.098236 m/s, LOS rate: 0.323982 deg/s, cmd heading: 27.073687 deg, new cmd heading: 27.498281 deg. 2jX^<HeadingCmd: 0.479936 target range: 114.500000 and range: 115.50 m. j>jjj i h h hh Bfffrfbf@ɛ@Box< 隅?I 5ɚiI@4=I>iH;i#o)>)*F12F9:F9BF=j0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:35:44.9480  TRx dataTimestamp_ set to:1736379346.261385 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273004 q Iq GE lSG B O- >-%w,A6_C>Y6>>6ϻ;96& G>y6H@;T? ٿ` ?@X?h?bƿrwv?@e?ɨ6_C>6;6$CyBXBB!IIJIJ٢V@ V`=9VdXX ZG٣Xy^I= ^> bNusing accuracyPremultiplier from config`f59b?f5Yb* ib6dj>j@b_Eb:b:b!X5n̓B nAnE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 114.50 m.Bj};Jj};- ProNav: ac range: 114.500000 m, nav range: 88.581161 m, bearing: 97.003601 deg, approach rate: -0.117254 m/s, LOS rate: 0.368050 deg/s, cmd heading: 27.498282 deg, new cmd heading: 27.855342 deg. 2j5|<5HeadingCmd: 0.486167 target range: 114.500000 and range: 115.50 m. j=>j9j9j9i9h9hAhAhAfAfIfIrfIbfM* @ɛ%BB-^7< )-) ?I1 5Sɚ1iAIEu 4=I>iiU)>)EE*F2F:FBFY5JFGpA GrAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524019G]GYBiOY>HA IA  IA IA IA &IA .IA 6IE 5<:IE $ FX+w,AVWill construct direction to contact in vehicle frame from tetrahedron phase data.TiVA &$?Ih]DAT read: 23:35:44.9480 LVL= 13712, 17985, 16370, 23475, AGC= 59, IDX= 443, 0.02,-2.415, 3.009, 1.531, 2.575, PHS= 1.382, 0.482,-1.047, RAW= 51.5, -7.7, CAL= 57.3, -13.8, ROT= 92.7, 13.8 mYgot valid direction response: 23:35:44.9480 LVL= 13712, 17985, 16370, 23475, AGC= 59, IDX= 443, 0.02,-2.415, 3.009, 1.531, 2.575, PHS= 1.382, 0.482,-1.047, RAW= 51.5, -7.7, CAL= 57.3, -13.8, ROT= 92.7, 13.8 mPDAT read: Bearing 92.7, 13.8 (Local) u~Local bearing/azimuth received: Bearing 92.7, 13.8 (Local) H>YbY>$;90D>yH`B?`Wٿ? ? ?ſ@~n?"i?ɨH>K;騍&CyޝbBޝ!Ii>I= =>DAT read: Range 10 to 50 : 115.8 m (Round-trip 154.5 ms) speed 0.0 m/s ,DAT read: user:3361> BDAT read: Tx time:23:35:46.0393 $Ping request sent.VVf?V Vj?)VϢvIV?iVϢv>TTV(dSM=?QЀL9)V IV:8 >iVI?VQTT=:publishing transmit ping time=Fpublishing direction and range infoT9Vdo?K~As?pc^?yTTTT T)TITiTTTTT T)TITiTTTV(dSM=?QЀL9)TITiTTTTMb@Mb@Mb@ )Yx&?J +Mby7 ?H )@Iy@zKMkLKMh9KIKM!KM&()&##!  II1٢&= !=9;Q > G٣6VGyM)< > Nusing accuracyPremultiplier from config59zͤ?5Y  iU ?:g>@aE;;ZZ59 =KAAkV&쟡?kV kT kVUA:kVBBkVBZkV*?"V9=n.@@lnwxhS@f21$U@Vdo?K~As?pc^?JkVI?RkVQ*VwHq#U[ƠN@^f?mX@VFA}qT-?i?"kVuB*kVkVI?kV 2kVg#CkTkVov kVCkVBkVi!? addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.779680 s, deltaX: 0.300003 m, approachRate: 0.079373 m/s, rangeRepo size: 4 JJJ0JJݒ:J=9Jـ3JJ;J;J*;J*; Added new target pos. range: 115.800003 m, bearing: 98.999669 deg, lat: 36.905347 deg, lon: -122.119680 deg, deltaT: 7.309048 s, deltaX: 1.300003 m, approachRate: 0.177862 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 115.80 m.BjJj ProNav: ac range: 115.800003 m, nav range: 74.513100 m, bearing: 98.535541 deg, approach rate: 0.000000 m/s, LOS rate: 0.368050 deg/s, cmd heading: 27.855342 deg, new cmd heading: 28.437327 deg. 2jHeadingCmd: 0.496325 target range: 115.800003 and range: 115.80 m. jO>jjjihhhhBfffrf@3\@bfd?ɛDBI< *=M?I Gpɚi9IE3=IEO>iIiMb!j)MO>)I*F2F:FBF1JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:35:46.0385 G= mG B O >t2w,@AF;M>YF'>F<9FB>yFH%4?ٿ ?o(?)? ſ@7?k?ɨF;M>F";F%Cy^_B^!II~I~%٢蘼 f=9a;Q > G٣yF< > Nusing accuracyPremultiplier from config59ܤ?5Y  ik>@cEv::[5 ͓B kA EZjFNOT Ignoring new targets: 115.80 m.Bj>;Jj>; ProNav: ac range: 115.800003 m, nav range: 74.477127 m, bearing: 98.681903 deg, approach rate: -0.101478 m/s, LOS rate: 0.413080 deg/s, cmd heading: 28.437327 deg, new cmd heading: 28.876614 deg. 2j<Will construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 0.503992 target range: 115.800003 and range: 115.80 m. j?jjjihhh 5'$?I1hf9f9f9rfbf@?ɛEBz<  ?I 2ɚiI±3=I%?i)i-nt)-?)1*F2F:FBF?5JFGU og Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BQ Om >8w,ANS>YNy>Nc<9Ne9=>yNH@&!?Kٿ~?|?`?@Ŀ@?@7t?ɨNS>Nk7;N'CyZnBZ!IIbIbԲ٢r= vW=9~Q > G٣y-Pr< -> UNusing accuracyPremultiplier from configA59EJ?5YEK iE[>@EdEETE->Will construct direction to contact in vehicle frame from tetrahedron phase data. )I)*F2F:FBF4JF"G=Gp=zKkMK9KK!KJ] JY JY JY J] m:JY JY JY J] ;J] ;JY JY G uG B O >)>w,AysB%!I)) ))-AUWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YE?l񢿺I +y?94A @)@I@yII{٢%< %7=9-Q ->11 5G٣57VGy5 => ENusing accuracyPremultiplier from config9E59=g?M5Y=' i=M?:>@=fE=A<=lH<=_5˓B -A-EZjq}FNOT Ignoring new targets: 115.80 m.Bj}:;Jj}:; ProNav: ac range: 115.800003 m, nav range: 74.391220 m, bearing: 99.011358 deg, approach rate: -0.116133 m/s, LOS rate: 0.428789 deg/s, cmd heading: 29.345559 deg, new cmd heading: 29.865526 deg. 2j#<HeadingCmd: 0.521252 target range: 115.800003 and range: 115.80 m. jp?jjjihhhh&Bfffrfbf}?ɛ=IB=h< 9=-?I wzɚiIE3=Ip?ii׎)p?)  ($?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.EU @o=*F ?2F :F BF R5JF *JM R="JM %=G%`Y|GBO?'Gw, A6lh>Y6M>6%:<96+A>y6H@?vۿ]?T?\?lſ@D b?'n?ɨ6lh>6ɉ;6&CyFBF!IININ٢V= V*=ZWill construct direction to contact in vehicle frame from tetrahedron phase data.9^;Q ^>`` bG٣`yb3= f> jNusing accuracyPremultiplier from configdn59f<?n5Yf ifln>r@fhEf:f:fa5v̓B vDAvEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.80 m.Bj{;Jj{;5 ProNav: ac range: 115.800003 m, nav range: 74.334908 m, bearing: 99.201966 deg, approach rate: -0.117425 m/s, LOS rate: 0.397762 deg/s, cmd heading: 29.865525 deg, new cmd heading: 30.437761 deg. 2j5}<5HeadingCmd: 0.531239 target range: 115.800003 and range: 115.80 m. j=J?j9j9j9i9h9h9hAhAfAfifirfibfm)?ɛJBw< 隽p?I .GqɚiI3=I J?i i o)J?)Eed)=*F?2F:FBFW0JFHYIY I]"II]BIY&IY.IY6I]<:I]x FGjGBO> 1I1eWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.zK KK h9K K !K BK pA:K pAGMw,T:A2V4p>Y2~>2wN<92eC>y2H-?|ۿ`:?@"?|@?@"ſ߉N?`Aj?ɨ2V4p>28;0yNBR!IMb@Mb@Mb@ )YB`"?I +y?9 A @)-@I@y@II(٢< :=9<;Q > G٣yK< > Nusing accuracyPremultiplier from config59%&?5Y  i?:B>@jE/;d.;c5  AZj1=FNOT Ignoring new targets: 115.80 m.Bj=*;JjE*;M ProNav: ac range: 115.800003 m, nav range: 74.273170 m, bearing: 99.385092 deg, approach rate: -0.150290 m/s, LOS rate: 0.446164 deg/s, cmd heading: 30.437761 deg, new cmd heading: 30.987578 deg. 2jU<]HeadingCmd: 0.540835 target range: 115.800003 and range: 115.80 m. j].t ?jYjYjYiYhYhahaheBBfafifirfibfm@@ɛLB< 隽?I 'iɚiIM2=Ie.t ?iiie;}).t ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234358EE*E"EEy*F ?2F :F BF 4JF G  G qA - )$?I) } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486251G ڋG B O>Uw,WA:nv>Y:<>:=P<9:UD>y:HĦ?Kۿ?}?S)?+ſ@9do?h?ɨ:nv>:;:$CyJBJ!IiN=INp; Rp=Ra=IVIV(*٢^`` bG٣b8VGyfn< f> ENusing accuracyPremultiplier from config9E59=8?M5Y=d i=IMm>M@=lE=5;=;=se5Y ]A]EZjFNOT Ignoring new targets: 115.80 m.JJJJJ:J9JJa@a@a@a@Bj;Jj; ProNav: ac range: 115.800003 m, nav range: 74.210793 m, bearing: 99.568031 deg, approach rate: -0.142262 m/s, LOS rate: 0.417570 deg/s, cmd heading: 30.987578 deg, new cmd heading: 31.536839 deg. 2jI<HeadingCmd: 0.550422 target range: 115.800003 and range: 115.80 m. jo ?jjjihhhhfffrfbfW@ɛMBBp< #?I  _ɚ i I 2=Io ?ii2c)o ?)*F?2F:FBF_0JFGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738352GqBO<> NG- |uAA m Yu |uAyu PBH I  I "II ̃BI $ =&I .I 6I <:I Z FBIaJIaRIaZIe% =bIe% =jIeʯ4 Q IQ [w,qA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>BDAT read: Rx Time:23:35:48.5985 BTRx dataTimestamp_ set to:1736379349.793447Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.992127yMBM!II]I](٢mƤ= m?=9uQ u>yy }G٣y > Nusing accuracyPremultiplier from config59J?5Y i@nE: :Cg5 /AZjFNOT Ignoring new targets: 115.80 m.Bj;Jj; ProNav: ac range: 115.800003 m, nav range: 74.152573 m, bearing: 99.741103 deg, approach rate: -0.130442 m/s, LOS rate: 0.388074 deg/s, cmd heading: 31.536838 deg, new cmd heading: 32.056447 deg. 2j *< HeadingCmd: 0.559491 target range: 115.800003 and range: 115.80 m. j :?jjjihhhhfYfYfarfabfe @zKJKKK!KRK?JK?ɛNB<  ,?I UɚiIX2=I:?iiKa):?)*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242760G {G G G B O >bw,x|A6kr>Y6j>6a8<967J>y6H s?+ܿ`x?J?I?`ſ 52?0_?ɨ6kr>6;6'CyRBR!IIZIZ٢~; ~S=9|Q > G٣y =  > Nusing accuracyPremultiplier from config59;[?5Y| i!%>%@pEm ; ;h5-͓B -.A-EZjQ]FNOT Ignoring new targets: 115.80 m.Bj]<Jje eBDAT read: Tx time:23:35:49.6893 e$Ping request sent.e}R#Rx 1: Read range and direction messages.\direction in FSK: [0.077353,0.631011,0.771908]:publishing transmit ping timeaFpublishing direction and range infoء9إSfͳ?Ձ>1?w?yإfBءإ`5إZ ٥rQ)٥qI٥<i٥\?٥d;>٥٥0w?٥޹ ڥ|?)ڥ9Iڥy?iڥ9>ڡڡۥ}2.?w?^O&B)ۥpIۥR=iۥr?ۥaۡۡ:publishing transmit ping timeaFpublishing direction and range infoء9إSfͳ?Ձ>1?w?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ}2.?w?^O&B)ۡIۡiۡۡۡۡGEGB O-N>JJJ1JJJO9J3JE Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:23:35:49.6885 hw,SYAy~B~!I) IIƲ٢-i= -G=9-Q 5>11 5G٣59VGy} }> Nusing accuracyPremultiplier from config59m?5Y i@rE::j5 AkDB?k_؏ k kA:kfBBkBZk/A?"_ !@3/PTR@,lV@Sfͳ?Ձ>1?w?Jkr?Rka* W/2q mJ@roY@֌U[ic?\U)?"koSB*k|kU69?koD 2k(CkU69?k: kQCkSBka? addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.532432 s, deltaX: 0.399994 m, approachRate: 0.113235 m/s, rangeRepo size: 4 HiIi Im5"IImBIi&Ii.Ii6Im<:Imu F Added new target pos. range: 116.199997 m, bearing: 106.648313 deg, lat: 36.905321 deg, lon: -122.119748 deg, deltaT: 3.532432 s, deltaX: 0.399994 m, approachRate: 0.113235 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 116.20 m.BjJj ProNav: ac range: 116.199997 m, nav range: 68.662109 m, bearing: 103.308964 deg, approach rate: 0.000000 m/s, LOS rate: 0.453932 deg/s, cmd heading: 32.539110 deg, new cmd heading: 33.176563 deg. 2j  HeadingCmd: 0.579040 target range: 116.199997 and range: 116.20 m. j;?jjjihhhhfffArfE ]@bfES?ɛPB< 隕_1?I MBɚiI@1=I;?iiO);?) ,$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFzK% JK% 9K! K% !K% BK) :K) G LG B O >Ppw,"A2H؉>Y2>2j3;92N>y2H`^2D;2&CyNBN"IWill construct direction to contact in vehicle frame from tetrahedron phase data. @ @ @  @ II٢-< -5=95Q 5>11 =G٣9y== => MbBottom track data is 0.4 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU59E?U5YE  iEU+:Q]:] >]@EtEE(;EZ>EYl5eΓB eAeEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.20 m.Bj<Jj< ProNav: ac range: 116.199997 m, nav range: 68.608757 m, bearing: 103.510774 deg, approach rate: -0.134761 m/s, LOS rate: 0.510139 deg/s, cmd heading: 33.176565 deg, new cmd heading: 33.782439 deg. 2j <HeadingCmd: 0.589615 target range: 116.199997 and range: 116.20 m. j?jjjihhh h f f f rfbf >?ɛ=QB=@+= 9EK4?IA E)j:ɚIiIIMR1=IU?ii)?)*Fm?2Fi:FqBFu1JFqGMGBO-p> 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.c'vw,A6b،>Y6>6G;96qK;>y6H %? ݿOz?@Xq??Ŀ@xG?@5w?ɨ6b،>6;6$CyBBB "IIJIJ@٢R7= Ri=9RrQ V>TT VG٣Xy^< ^> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b?j5Yb ibj :lny:n>n@buEbU=;bdL?b[m5p rpAtZj FNOT Ignoring new targets: 116.20 m.Bj<Jj<J!J%J%0J!J!J%=9J%ـ3J! ProNav: ac range: 116.199997 m, nav range: 68.565895 m, bearing: 103.671045 deg, approach rate: -0.122255 m/s, LOS rate: 0.457427 deg/s, cmd heading: 33.782440 deg, new cmd heading: 34.263543 deg. 2j<HeadingCmd: 0.598012 target range: 116.199997 and range: 116.20 m. jJ?jjjihhhhfffrfbf?ɛ-RB-_)= 156?I1 m1ɚiiiIm0=I}J?iyi} ڙ)}J?)*F-?2F):F)BF-4JF)G5qA G5mAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234640G銝Gq B H I  I T"II BI &I .I 6I <:I s FO% > -$?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485594:\|w,A2>Y2?2;92?>y2HQ? q޿X?`K?у?GĿp4?q?ɨ2>2 N;0y>BB "IiF=IF6?        Mb@Mb@Mb@ )Y1Zd?+?{Gz?y"?=#<MA )I@y @I5I5٢E q; E?=9MvQ M>II UG٣U:VGyU< U> ]Nusing accuracyPremultiplier from configY59]?5Y] i]T:z?:?@]wE]ŗ<]<]7o5ϓB rAEZj9eFNOT Ignoring new targets: 116.20 m.Bje<Jje#:w, A2ٗ>Y2h?2C;92y(E>y2Hj?) ߿`J?@d?N?#ſ c"~?h?ɨ2ٗ>2L<;2%Cy^σB^"IIjIj٢= %N=9%KxQ %>)) -G٣)y-b< 5> =Nusing accuracyPremultiplier from config1E595?E5Y5 i5AE?E@5yE5P ;57:5p5Q UAUEZjyFNOT Ignoring new targets: 116.20 m.Bj<Jj< ProNav: ac range: 116.199997 m, nav range: 68.404350 m, bearing: 104.066411 deg, approach rate: -0.208852 m/s, LOS rate: 0.505534 deg/s, cmd heading: 34.878825 deg, new cmd heading: 35.450996 deg. 2jx<HeadingCmd: 0.618737 target range: 116.199997 and range: 116.20 m. je?jjjihhhhfffrfbf ?ɛTBRQ6= =d=?I cɚiI/=Ie?ii")e?) .$?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990648*F?2F:FBF]0JFJEJEJAJAJE:JEb9JAJAGunGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2417023fw,Ul'A>\W>Y>ڧ?> :9> 7J>y>H ?߿ ? ,? ?ſ6A?`?ɨ>\W>>0;>&CyN҃BN$"IIVIV(*٢v̘< vM=9zQ ~> G٣y =  > %Nusing accuracyPremultiplier from config!-59%2å?55Y% i%9=?=@%{E%2d;%Y[;%r5I M@IZjFNOT Ignoring new targets: 116.20 m.Bjp<Jjp< ProNav: ac range: 116.199997 m, nav range: 68.322449 m, bearing: 104.258930 deg, approach rate: -0.201254 m/s, LOS rate: 0.473636 deg/s, cmd heading: 35.450997 deg, new cmd heading: 36.029227 deg. 2j<HeadingCmd: 0.628829 target range: 116.199997 and range: 116.20 m. j ?jjqjqiyhyhhhfffrfbf@M@HI Im"IIBI% =&I.I6I<:Ig FɛUB= 隕>?I %ɚiIBw,AAV7>YV# ?V=ƺ9VS,O>yVHl?@).?`}? ?#ƿX?f? X?ɨV7>Vkƌ;Ty`b#"I)d dUMb@Mb@Mb@QQQ Q)QYUZd;?J +?:v?yU?UH=UT G٣;VGy(< > Nusing accuracyPremultiplier from config59Dե?5Y i?:E?@}E;;t5ГB @EZjFNOT Ignoring new targets: 116.20 m.Bj  <Jj  < ProNav: ac range: 116.199997 m, nav range: 68.229095 m, bearing: 104.464741 deg, approach rate: -0.224849 m/s, LOS rate: 0.496390 deg/s, cmd heading: 36.029227 deg, new cmd heading: 36.647479 deg. 2jU<HeadingCmd: 0.639619 target range: 116.199997 and range: 116.20 m. j#?jjjihhhhBfffrfbf`9@ɛ]VBU== 隍=?I  ɚiI.=I#?ii4ܒ)#?)*F=?2F9:F9BF=_0JF9 /$?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998612G] G1 BA Ou >hw,ZA6}>Y6j ?6m|y96Q>y6H`NE?UjW?? ?@]ƿ/o??`U?ɨ6}>6;;6$CyBكBB,"IIJIJ ٢R(= R]=9Vi˻Q V>TX ZG٣Xy^R< ^> fNusing accuracyPremultiplier from config`f59b奜?j5Yb ibhj?j@bEb@:b:,;b*v5p ri@pB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 116.20 m.JJBjZ <JjZ <- ProNav: ac range: 116.199997 m, nav range: 68.145706 m, bearing: 104.645696 deg, approach rate: -0.224299 m/s, LOS rate: 0.487323 deg/s, cmd heading: 36.647479 deg, new cmd heading: 37.190991 deg. 2j-9<=HeadingCmd: 0.649105 target range: 116.199997 and range: 116.20 m. j=+&?j9j9j9iAhAhAhAhAfIfIfIrfIbfUcQ @ɛ}WBHI= 隅A?I ɚiI&.=I+&?iio)+&?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:52.2492 TRx dataTimestamp_ set to:1736379353.572657checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250746E=)=*F?2F:FBFJFjH <bH 4=H I  I "II BI $ =&I .I 6I <:I c F  I G 8] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503135G B O >Ɯw,uA6P>Y6>?696S>y6H?ڧ R?M? #?۝ƿѿv?@?@Q?ɨ6P>6;6&CyB҃BB#"IMb@Mb@Mb@ )Y1Zd?X9v?I +?y"?}=94<A @)$@IyII0٢ 4=9{Q > G٣y< > Nusing accuracyPremultiplier from config59?5Y i%?-:-'?5@E<5<'x5]ѓB ]@mEJJJJJJ9JJJ;aJ;aJZ5;aJZ5;azKNKh9KK!KY{gUJ?5+%!Zj  FNOT Ignoring new targets: 116.20 m.Bj;Jj;E ProNav: ac range: 116.199997 m, nav range: 68.038345 m, bearing: 104.860440 deg, approach rate: -0.208502 m/s, LOS rate: 0.417703 deg/s, cmd heading: 37.190991 deg, new cmd heading: 37.836210 deg. 2jEU BDAT read: Tx time:23:35:53.3394 $Ping request sent.UUw?Q U(?)QIU?iQQQUA n?x쿷zb M)UIU[=iUo?UbQQ*F2F:FBF JF GpA GqA:publishing transmit ping time-Fpublishing direction and range infoQ9Ul?B]ԓ?T?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQUA n?x쿷zb M)QIQiQQQQGM fGQ GU qAG! B1 OM >[)w,mtA 0$?I R>YR?R9R!T>yRH?T@٣?Q,? e?୺ƿE[?S?P?ɨR>RPc;Py^փB^("Iib=Ib=IjIj٢vZ< vI=9z0Q z>|| ~G٣~  Nusing accuracyPremultiplier from config 59 ?5Y  i j)?@ E T ;  ; y5! %@)k*?k[H k k?A:kfBBkBZk~?"(rc!@Д~QR@V@l?B]ԓ?T?Jko?Rkb*d|5mZsH@Y@~F1ǿ ?t>g?"kDB*kkL잜?kS] 2k)CkHZ ?k Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:35:53.3386 kg#CkcxBkY? addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.778659 s, deltaX: 0.500000 m, approachRate: 0.132322 m/s, rangeRepo size: 4 5 Added new target pos. range: 116.699997 m, bearing: 113.684933 deg, lat: 36.905317 deg, lon: -122.119819 deg, deltaT: 3.778659 s, deltaX: 0.500000 m, approachRate: 0.132322 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 116.70 m.Bj=Jj9m ProNav: ac range: 116.699997 m, nav range: 62.097637 m, bearing: 107.019287 deg, approach rate: 0.000000 m/s, LOS rate: 0.417703 deg/s, cmd heading: 37.836212 deg, new cmd heading: 38.297247 deg. 2jiuHeadingCmd: 0.668413 target range: 116.699997 and range: 116.70 m. ju+?jqjyjyiyhyhyhhfffrf,]@bf)?ɛZB[B= =?I ׻ɚiI˻,=I5+?i9ie()m+?)iEqEq*Eq"Eq*F?2F:FBF`0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.) CG% @ c~G 5tA AHiIi Im"IIm#BIiG&Ii.Ii6Im<B) YM5tAyMB I:Imz FBI!JI!RI!ZI%$ =O?w,ֲAbI$ =jI4f4-Will construct direction to contact in vehicle frame from tetrahedron phase data.yEσBE "I-only read 0 of 1 data item for BIT error. Device response is::TS,2501081537000410.9, 0.0,1493.3, 0  @ @ @  @ IIq٢  =9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config591?5Y iJ+::@E);< ?{5 AEZj)5FNOT Ignoring new targets: 116.70 m.Bj5x<Jj5x) BK:KoAGuWill construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >w,=A6>Y6?6fP96N>y6H`av?@8?@?@?ƿ ?P? X?ɨ6>6/;6$CyB̃BF"IIJIJ ٢V] V`=9VcQ V>XX ZG٣XyZ= ^> fbBottom track data is 0.9 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b,?j5Yb ib3j :hjd:j1?n@bEb ';bj?b|5rғB r-ArEZjFNOT Ignoring new targets: 116.70 m.Bj(<Jj(<- ProNav: ac range: 116.699997 m, nav range: 61.894650 m, bearing: 107.497746 deg, approach rate: -0.231217 m/s, LOS rate: 0.521620 deg/s, cmd heading: 39.164469 deg, new cmd heading: 39.734968 deg. 2j-<5HeadingCmd: 0.693506 target range: 116.699997 and range: 116.70 m. j51?j1j1j1i1h9h9h9hAfAfAfArfAbfM`%?ɛu^Bu̐A= q}-7?Iy  gɚiIQ=+=I1?iil)1?)E]>E> 1$?I*F5?2F1:F1BF5C5JF1"G==G==GMWill construct direction to contact in vehicle frame from tetrahedron phase data.$E>Invalid EZ Servo response:"\r"qE$M(Communications FaultaM BQ!e`Communications Fault in component: ThrusterServoOm5> Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,x^A:>Y:I?:W9:P>y:HI?>t׺? =? ?<ƿ@?G? U?ɨ:>:e;:&Cy@F"I)H HHJAIRIRT߳٢VS ZJ=9ZQ Z>\\ ^G٣^=VGyb< b> jbBottom track data is 1.3 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdr59fkJ J J /J J J 9J (N3J J J J $7;J %7;zK5 MK5 9K1 K5 !K5 RKE ?JKE ? w,8A2>Y2q?2iV92S>y2H]"? ]$@1?"v? ?`-Yƿ͊?3?Q?ɨ2>2nq;2$CyNBR "I        Mb@Mb@Mb@ )Y-?Dl?y&1|?y??O=`;A @)@I-@y@IIb٢l :=9F9Q > G٣yN< > Nusing accuracyPremultiplier from config59L?%5Y! i%T:%L?%:%]:?%@E; ;5) 5A1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998236ZjFNOT Ignoring new targets: 116.70 m.Bj  <Jj < ProNav: ac range: 116.699997 m, nav range: 61.693684 m, bearing: 107.930442 deg, approach rate: -0.229495 m/s, LOS rate: 0.481582 deg/s, cmd heading: 40.367839 deg, new cmd heading: 41.035108 deg. 2j%@<%HeadingCmd: 0.716198 target range: 116.699997 and range: 116.70 m. j-X7?j)j)j)i)hQhYhaheBfffrfbfY@ɛaBz*(= .?I ߅ɚiIs)=IX7?i!i%H,)%X7?))*F2F:FBF4JFGBOf> Ihe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2503057ƽw,A:>Y:?:)p9:u[>y:Hs?]?`(?@M?2-ǿ?'>?fC?ɨ:>:V,;8yBBB"IININ#٢V6s< V^=9Z}Q Z>XX ^G٣\yb< b> fNusing accuracyPremultiplier from configdj59fZ?j5Yf` ifhjg̽w,[4Az>YzQ"?z89z c>yzH?u^H?k??ǿF?`A? 4?ɨz>z40;z%CyB !IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754486 !%p=Mb@Mb@Mb@-PExceeded connect timeout, disconnecting. )Yd;O?Dl?{Gzt?y?ף;MA @)@Iyf@IEIEԲ٢U* ]2=9])Q ]>aa eG٣e>VGym< m> }Nusing accuracyPremultiplier from configq}59uj?}5Yu iu?:`??@uEuz%;u*$;ue5 #AZj FNOT Ignoring new targets: 116.70 m.Bj <Jj <5 ProNav: ac range: 116.699997 m, nav range: 61.494717 m, bearing: 108.337707 deg, approach rate: -0.238038 m/s, LOS rate: 0.484666 deg/s, cmd heading: 41.574743 deg, new cmd heading: 42.258857 deg. 2j5O<HeadingCmd: 0.737556 target range: 116.699997 and range: 116.70 m. j|Kӽw,MA6>Y6$?6Pu96Qh>y6H@?o?E5?:?@Eȿ{n??@6,?ɨ6>6y;4y^B^!IInIn#٢r; vf=9v޹Q v>xx zG٣xy~E< ~> Nusing accuracyPremultiplier from config 59qw? 5Y͸ i  A? @E::5ԓB A|EZjAEFNOT Ignoring new targets: 116.70 m.BjE<JjM<] ProNav: ac range: 116.699997 m, nav range: 61.407093 m, bearing: 108.513210 deg, approach rate: -0.254041 m/s, LOS rate: 0.509548 deg/s, cmd heading: 42.258859 deg, new cmd heading: 42.786102 deg. 2j]ٮ Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 23:35:55.8993 LVL= 15824, 27281, 24786, 32755, AGC= 57, IDX= 423,-0.07, 2.990, 2.153, 0.850, 1.934, PHS= 1.144, 0.266,-1.087, RAW= 53.0, -3.3, CAL= 56.2, -7.5, ROT= 93.8, 7.5 M Ygot valid direction response: 23:35:55.8993 LVL= 15824, 27281, 24786, 32755, AGC= 57, IDX= 423,-0.07, 2.990, 2.153, 0.850, 1.934, PHS= 1.144, 0.266,-1.087, RAW= 53.0, -3.3, CAL= 56.2, -7.5, ROT= 93.8, 7.5 uٽw,gAPDAT read: Bearing 93.8, 7.5 (Local) ~Local bearing/azimuth received: Bearing 93.8, 7.5 (Local) DAT read: Range 10 to 50 : 116.7 m (Round-trip 155.7 ms) speed 0.1 m/s ,DAT read: user:3364> RBDAT read: Tx time:23:35:56.9894 R$Ping request sent.R"hl?k {?) I?i >s?kQDh[')hIp=i?(X:publishing transmit ping timePFpublishing direction and range info92)~S?؊23?f^?y )Ii )Iis?kQDh[')IiE>YEy&?E_9Eaj>yEH@$p?N?@'h?@?_ȿ ?? (?ɨE>EZ;E"Cy}B}!IIIb٢G 0=9冺Q > G٣y< > %Nusing accuracyPremultiplier from config%59??%5Y³ iIMC?M@EB;;5Q ]zAYkFΈ?k" k kfA:kBkZk= @"z)-@BTS@[STU@2)~S?؊23?f^?jHIbHM<HaIa Ie`"IIeBIa&Ia.Ia6Ieذ<:Ie FJk?Rk(X*ʖ@>\*7G@ZzXY@tnпMS w?C=q"?"k9B*k 5$?Ihkw?ke 2kl(CktG?koD k(Ck[Bk>? addTargetRange:: Added new target pos. range: 116.699997 m, deltaT: 3.529155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 116.699997 m, bearing: 123.370009 deg, lat: 36.905296 deg, lon: -122.119905 deg, deltaT: 3.529155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 116.70 m.BjJj ProNav: ac range: 116.699997 m, nav range: 54.923752 m, bearing: 113.649529 deg, approach rate: 0.000000 m/s, LOS rate: 0.509548 deg/s, cmd heading: 42.786101 deg, new cmd heading: 43.650658 deg. 2jHeadingCmd: 0.761848 target range: 116.699997 and range: 116.70 m. jsC?j=Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:23:35:56.9886 jjAiAhAhIhIhIfqfqfyrfybf}?ɛiB= t?I ZɚiIo&=IsC?ii^)sC?)EErA 5nManaging dock network, ignoring radio surface power off*F ?2F :F BF ^0JF "G =G =zK K h9K K !K G ؙWill construct direction to contact in vehicle frame from tetrahedron phase data.BO ?=w,YAJQX>YJT()?J9Jl>yJH B?z5`n???[ȿ;?`FP?`:%?ɨJQX>JU;J'CyZBZ!I)\ \`bA=Mb@Mb@Mb@999 9)9Y=%C?p= ף?y G٣?VGyn< > Nusing accuracyPremultiplier from config59?5Y iyi?:ZG?E@E<<85UՓB UAUwEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.70 m.Bj2(<Jj2(< ProNav: ac range: 116.699997 m, nav range: 54.830433 m, bearing: 113.905486 deg, approach rate: -0.214086 m/s, LOS rate: 0.588197 deg/s, cmd heading: 43.650656 deg, new cmd heading: 44.419787 deg. 2j<HeadingCmd: 0.775272 target range: 116.699997 and range: 116.70 m. j2xF?jjjihh h h f ffrfbf`?ɛekBm!= im4?Ii mײɚiiqIu%=Iu2xF?iyi}Ѯ)}2xF?) I*F=?2F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G5DBAO]T>*J 4="J R=J J J J J m:J 9J J a @a @a @a @ w,]ݤAyB !IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972155I-I-0٢=׀ =M=9=Q E>AA EG٣AyM M> ]Nusing accuracyPremultiplier from configQe59U??e5YU iU`aae@UEU1;Ue;U5q uAqZjFNOT Ignoring new targets: 116.70 m.Bj}<Jj}< ProNav: ac range: 116.699997 m, nav range: 54.758453 m, bearing: 114.105606 deg, approach rate: -0.194066 m/s, LOS rate: 0.540256 deg/s, cmd heading: 44.419787 deg, new cmd heading: 45.020913 deg. 2jb<HeadingCmd: 0.785763 target range: 116.699997 and range: 116.70 m. j'I?jjjihhhhfffrfbft}?ɛmB`,=  ?I  xɚiI%=I'I?i!i%>v)%'I?))*F?2F:FBFo0JFHI IG"IIBI&I.I6I<:Iu F 6$?IG%BOe>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224216w,FA2p>Y2s.?292Og>y2H@v?<T? -?@.!?&ǿu?&?@.?ɨ2p>2;2&Cy>B>!IMb@Mb@Mb@ )YtV?V-?Mb?y>m=< A @)@I$@y@I-I-)٢=S =J=9=Q =>AA EG٣E@VGyM[= M> UNusing accuracyPremultiplier from configQ]59U?]5YU~ iUH]>e:e)L?e@UEU ;U;U5q uAqZj9=FNOT Ignoring new targets: 116.70 m.BjE;JjE;} ProNav: ac range: 116.699997 m, nav range: 54.687939 m, bearing: 114.293088 deg, approach rate: -0.166589 m/s, LOS rate: 0.443490 deg/s, cmd heading: 45.020912 deg, new cmd heading: 45.584063 deg. 2j}.<HeadingCmd: 0.795592 target range: 116.699997 and range: 116.70 m. jK?jjjihhhzKjIK9KK!KhjBfffrfbf1g?ɛnBƝ=  ?I *xɚiI?$=IK?=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478295iAiE)EK?)IEUR>EU >*F?2F:FBFJFGrA GrAGBOm> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728053w,;A6">Y6=0?696f>y6H@>? @w?P`? ?;ǿ`??31?ɨ6">6;4yBB@iF=IF%= J=J=ININb٢V VT=9Va:Q V>XX ZG٣XyZ< ^> %Nusing accuracyPremultiplier from config!-59%?-5Y% i%1155N?5@%E%:%:%o5Y ]A]tEZjFNOT Ignoring new targets: 116.70 m.Bj <Jj < ProNav: ac range: 116.699997 m, nav range: 54.617599 m, bearing: 114.477766 deg, approach rate: -0.182912 m/s, LOS rate: 0.480859 deg/s, cmd heading: 45.584064 deg, new cmd heading: 46.138794 deg. 2j<HeadingCmd: 0.805274 target range: 116.699997 and range: 116.70 m. jn&N?jjjihhhhfffrfbf?ɛpB)%!= 隅 ?I CqɚiI9#=In&N?ii斮)n&N?)JJJJJ:J=9JJ*FM?2FI:FIBFM_5JFI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.980529GuJB ~G |uA A  Y |uAy jBO% >H I  I ."II ܃BI &I .I 6I <:I FBIJIRIZIbIjI4w,"qA LIL>>Yu2?|v[9d>yH :?T?p?@?`ƿn? ^?3?ɨ>>㠉;y%yB%!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232214Mb@Mb@Mb@ )Y+?y&1?~jtx?y>`e=;`A @)I@yf@IIb٢0 *=9h;Q > G٣y Nusing accuracyPremultiplier from config59Ǧ?5Y i>:Q?@E; ;5 A ZjIUFNOT Ignoring new targets: 116.70 m.BjU;JjU; ProNav: ac range: 116.699997 m, nav range: 54.535370 m, bearing: 114.687768 deg, approach rate: -0.167191 m/s, LOS rate: 0.427625 deg/s, cmd heading: 46.138795 deg, new cmd heading: 46.769726 deg. 2j<HeadingCmd: 0.816286 target range: 116.699997 and range: 116.70 m. jP?jjjihhhhFBfffrfbf`c@ɛMqBU3l= QU?IQ U9ɚYiYI"=IP?ii[)P?)*F5?2F1:F1BF51JF1G 'BO5>zK% BoHK% @9K! K% !K%  RK5 ?JK5 >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484089w,? AF\>YF[N4?F׏?9F5e>yFHLb? zD9F? ?`l?_ƿ ?d?V3?ɨF\>F;F$CyrvBr!II I ٢%ߋ %n=9%e;Q %?)) -G٣)y-3< 5? =Nusing accuracyPremultiplier from config1E595Ϧ?E5Y5 i5 AE`S?M@5E5 ;57:55Q UAQZjy}FNOT Ignoring new targets: 116.70 m.Bj2;Jj2; ProNav: ac range: 116.699997 m, nav range: 54.481556 m, bearing: 114.823968 deg, approach rate: -0.173371 m/s, LOS rate: 0.439222 deg/s, cmd heading: 46.769727 deg, new cmd heading: 47.178721 deg. 2j<HeadingCmd: 0.823424 target range: 116.699997 and range: 116.70 m. jR?jjjihhhhfffrfbf}@ɛrBo.= ?I 6D:ɚiI+R"=I}R?iyi}G)}R?) 7$?I*F)2F):F)BF-Y0JF)"G5=G5=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736967GU孽J J J J J :J 9J J B O- >' w,&AWill construct direction to contact in vehicle frame from tetrahedron phase data.i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988450y nB !I) AI%I%V٢5p 5I=95Q =>9A EG٣EAVGyE E> MNusing accuracyPremultiplier from configIU59MV٦?U5YM iMYae@MEM-;M-;M5m֓B m>AmqEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.70 m.BjN;JjN; ProNav: ac range: 116.699997 m, nav range: 54.413345 m, bearing: 114.998141 deg, approach rate: -0.165715 m/s, LOS rate: 0.423679 deg/s, cmd heading: 47.178722 deg, new cmd heading: 47.701883 deg. 2jb<HeadingCmd: 0.832555 target range: 116.699997 and range: 116.70 m. jR"U?jjjihhh h f ffrfbfw@ɛ%sB% = !%>I! -4?:ɚ)i)I5!=IUR"U?iYi])Ž)]R"U?)Y*F ?2F :F BF_0JFHIII IM"IIMǃBII&II.II6IMu<:IMS F IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:35:59.5488 TRx dataTimestamp_ set to:1736379360.884205checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245075G.qG B O >hw,@AymB!IMb@Mb@Mb@ )Y|?5^?Zd;O?MbP?y>j<=:A @)@I@y@IIF٢딻 >=9Q > G٣y  > Nusing accuracyPremultiplier from config59a㦜?5Y6 i*>;P?@E;;5) -FA)ZjYeFNOT Ignoring new targets: 116.70 m.Bje;Jje;} ProNav: ac range: 116.699997 m, nav range: 54.349369 m, bearing: 115.168301 deg, approach rate: -0.150057 m/s, LOS rate: 0.399580 deg/s, cmd heading: 47.701884 deg, new cmd heading: 48.212949 deg. 2j}<HeadingCmd: 0.841475 target range: 116.699997 and range: 116.70 m. jjW?jjjihhhh0Bfffrfbf @ɛtB/= >I !:ɚiI !=IjW?zK N KK ŷ9K K !K   EOPe-77770&   uBKpA:KoAiiԽ)jW?)! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492291*F]?2FY:FaBFaJFaG=oGUqAGUrAGYBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:35:59.5488 LVL= 15456, 28225, 24050, 31571, AGC= 60, IDX= 435,-0.25,-1.403,-2.075, 2.930,-2.324, PHS= 1.009, 0.296,-1.032, RAW= 50.1, -3.1, CAL= 52.5, -6.9, ROT= 97.5, 6.9  Ygot valid direction response: 23:35:59.5488 LVL= 15456, 28225, 24050, 31571, AGC= 60, IDX= 435,-0.25,-1.403,-2.075, 2.930,-2.324, PHS= 1.009, 0.296,-1.032, RAW= 50.1, -3.1, CAL= 52.5, -6.9, ROT= 97.5, 6.9 'w,YA"PDAT read: Bearing 97.5, 6.9 (Local) &~Local bearing/azimuth received: Bearing 97.5, 6.9 (Local) zDAT read: Range 10 to 50 : 116.4 m (Round-trip 155.2 ms) speed -0.2 m/s  ,DAT read: user:3365> BDAT read: Tx time:23:36:00.6394 $Ping request sent.yH ?@=N? rZ?65?Dſ {?u`?3?ɨ?d;騉yޝfBޥ!IJDAT read: TxSync time:23:36:00.6386 R#Rx 1: Read range and direction messages.\direction in FSK: [0.048220,0.697084,0.715366]:publishing transmit ping timeFpublishing direction and range info9 Q?'N?F?yB`<An ]II)S{I<i&?P>T_?k] j?)ϢI-?iϢ=0ѹ?#lNH٢ ?=9< G٣y;{= >)Ig%\=i8?L:publishing transmit ping timeFpublishing direction and range info9 Q?'N?F?y )Ii )Ii0ѹ?#lNH)Ii -Nusing accuracyPremultiplier from config)U59-Z?]5Y- i-Y]WW?]@-E-;-;-5a m~AiJJJJJ<:J9JJkz嚜?k_ k kXA:kBBk2BZk@"-6s@eFHT@<T0T@ Q?'N?F?Jk8?RkL*HtfBI e:;ɚiIk =I OY?i i]@)OY?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF]0JFGqA GqAHi Ii  Im !IIm BIi &Ii .Ii 6Im <:Im i FG% 8uĽ 8$?I G B! O} >Pw,/vAEWill construct direction to contact in vehicle frame from tetrahedron phase data.yE^BE!IiM=IM< U=Up=Mb@Mb@Mb@ )YGz?Q?~jthyp>\=D )@I@yII)٢ 4=9Q  >    G٣ BVGy > Nusing accuracyPremultiplier from config%59?%5Y i-J>-;- S?-@E7 ;;z55דB =A=lEZjYeFNOT Ignoring new targets: 116.40 m.Bje;Jje; ProNav: ac range: 116.400002 m, nav range: 54.172932 m, bearing: 116.797279 deg, approach rate: -0.140900 m/s, LOS rate: 0.398442 deg/s, cmd heading: 48.778093 deg, new cmd heading: 49.266034 deg. 2j<HeadingCmd: 0.859855 target range: 116.400002 and range: 116.40 m. jm\?j j j i h h)h1h5!Bf1f9f9rf9bf=@dI ;ɚiI=Im\?iiǽ)m\?)*F?2F:FBF_0JFG}wzK5sNK1K1K5!K5g\L;4.)%! GQBaO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,gӏAy!II=I=d٢e}] mk=9qQ u?y G٣y > Nusing accuracyPremultiplier from config59I Ƚ1;ɚiIbc=Iq]?iiҽ)q]?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF}0JFyGٲG=G4=Gi B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.")w,A ?Y=E?*p9V>yH` ?'?D?v?&eÿ Pn?? M?ɨ ?;y%XB%!II5I5٢MA׼ ML=9U;Q U>YY ]G٣Yye= e> mNusing accuracyPremultiplier from configiu59mO?u5Ym imq}]?}@mEm ;m;m5 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.40 m.Bj;Jj; ProNav: ac range: 116.400002 m, nav range: 54.070976 m, bearing: 117.071449 deg, approach rate: -0.148496 m/s, LOS rate: 0.380422 deg/s, cmd heading: 49.655970 deg, new cmd heading: 50.089308 deg. 2j<HeadingCmd: 0.874223 target range: 116.400002 and range: 116.40 m. j_?jjjihhhhfffrfbfJ?ɛxBc? = 隝x>I G;ɚiIg=I_?ii攽)_?)HI I!IIBI&I.I6I<:I F*F?2F:FBF 2JF"G=G= IG2GABqOc>Will construct direction to contact in vehicle frame from tetrahedron 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 J J j;a J k;a J 8;a J 8;a 0w,LAF?YFF?F 9FFP>yFHH? ?`ih?T^?@d¿AA?@Y?V?ɨF?F;F%CyR[BV!I)X XmMb@Mb@Mb@iii i)iYm`"? rh?Mbpymη>mC G٣CVGyq< > Nusing accuracyPremultiplier from config59?5Y0 i>;S?@E(;;5 AZjFNOT Ignoring new targets: 116.40 m.Bj$;Jj$;  ProNav: ac range: 116.400002 m, nav range: 54.019928 m, bearing: 117.219452 deg, approach rate: -0.123603 m/s, LOS rate: 0.358699 deg/s, cmd heading: 50.089308 deg, new cmd heading: 50.533728 deg. 2j+v<HeadingCmd: 0.881980 target range: 116.400002 and range: 116.40 m. jpa?jjjihh!h!h- Bf1f9f9rf9bf=?zKUMKU@9KQKU!KU#9,ɛ}yB}1 = y}>Iy }3_;ɚiIq=Ipa?ii9)pa?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709385*F?2F:FBFO5JF 9$?IG rWͽG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961423&7w,-zA2\f?Y2G?2;92(hK>y2H-?5??K?`jy`IB?@^?ɨ2\f?2;2&CyB`BB!II^I^b٢f< fW=9j;Q j>ll nG٣lynZ< n> vNusing accuracyPremultiplier from configpv59r?z5Yr irxzRT?z@rEr ;r);r65ؓB A iEZj)5FNOT Ignoring new targets: 116.40 m.Bj5f;Jj5f;E ProNav: ac range: 116.400002 m, nav range: 53.972847 m, bearing: 117.354997 deg, approach rate: -0.124034 m/s, LOS rate: 0.357402 deg/s, cmd heading: 50.533728 deg, new cmd heading: 50.940709 deg. 2jMHuI  u;ɚiI=Ic?iim)c?)Jm@AJm@A*Fe?2Fa:FiBFm\0JFiGE@ƽGB O-,>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214304ZH ?ARH H />I  I !II BI &I .I 6I <:I Z F I 91=w,UAEWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468656(?YI?^ v;9W!J>yH`?8z?@?v'?0`Gn 3?``?ɨ(? A;騝%CyޭeBޭ!IMb@Mb@Mb@ )YT㥛 ?Mb?y&1|y><` A @)I@y3@II0٢ģ< .=9p;Q > G٣yp< > Nusing accuracyPremultiplier from config59 ?5Y( i> ;O?@E3;;D5 AZj)-FNOT Ignoring new targets: 116.40 m.Bj5;Jj5;E ProNav: ac range: 116.400002 m, nav range: 53.914913 m, bearing: 117.532819 deg, approach rate: -0.123461 m/s, LOS rate: 0.379357 deg/s, cmd heading: 50.940709 deg, new cmd heading: 51.474732 deg. 2jE,I #;ɚiIz=I%e?i)i-܏)-e?))JmJmJm1JiJm:Jmb9Jm3JiJmQ;JmR;Jm/.;Jm0.;*F?2F:FBFS0JFGpA GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717371zKLK9KK!KGM G B1 OU >Dw,!A:w?Y:;K?: ;9:qI>y:H9o?T[E?x?p?'9r?ja?ɨ:w?:ێ;:(CyFfBF!IiR!>IR<IbIb(1٢nI)< nq=9r$;Q r?pp vG٣vDVGyv< v? zNusing accuracyPremultiplier from configx~59z2(?~5Yz~ iz}Q?@zEzG ;z ;z5  A Zj1=FNOT Ignoring new targets: 116.40 m.Bj=;Jj=;M ProNav: ac range: 116.400002 m, nav range: 53.872684 m, bearing: 117.661094 deg, approach rate: -0.124643 m/s, LOS rate: 0.378916 deg/s, cmd heading: 51.474730 deg, new cmd heading: 51.859851 deg. 2jMIQ Ul;ɚQiYI]+=I]Hg?iaie)eHg?)a*F ?2F :F BF _0JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:23:36:03.1986 ]TRx dataTimestamp_ set to:1736379364.409072]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971339GDGBOA>*JmR="Jmp= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222145z@Jw,*A)T TNG)A u YqyuGB?YM?;9J>yHsD?x@Vv?3? ?Got? `?ɨ?;騕&CyޭnBޭ!III ٢= <=9b:Q > G٣y݇< >  Nusing accuracyPremultiplier from config 559 1?55Y |{ i 9=[S?=@ E 1; J; 5A ESAEfEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.40 m.Bj;Jj; ProNav: ac range: 116.400002 m, nav range: 53.817150 m, bearing: 117.827417 deg, approach rate: -0.122435 m/s, LOS rate: 0.367067 deg/s, cmd heading: 51.859851 deg, new cmd heading: 52.359324 deg. 2j{<HeadingCmd: 0.913843 target range: 116.400002 and range: 116.40 m. ji?jjjihhh!h!f!f!f!rf)bfM * @H0>I I!IIBI&I.I6I<:Ig FBIYJIYRIYZIYbIYjI]X4ɛ{Bu= )-I>I) 5*!;ɚ1i1I5u= yIyIEi?iiC)i?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFuDAT read: 23:36:03.1986 LVL= 11760, 26609, 22514, 32755, AGC= 59, IDX= 416, 0.35,-0.229,-1.013,-2.323,-1.276, PHS= 1.135, 0.310,-1.050, RAW= 52.0, -4.2, CAL= 55.5, -8.6, ROT= 94.5, 8.6 }Ygot valid direction response: 23:36:03.1986 LVL= 11760, 26609, 22514, 32755, AGC= 59, IDX= 416, 0.35,-0.229,-1.013,-2.323,-1.276, PHS= 1.135, 0.310,-1.050, RAW= 52.0, -4.2, CAL= 55.5, -8.6, ROT= 94.5, 8.6 PDAT read: Bearing 94.5, 8.6 (Local) ~Local bearing/azimuth received: Bearing 94.5, 8.6 (Local) "G=G=DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed 0.0 m/s ,DAT read: user:3366> BDAT read: Tx time:23:36:04.2894 $Ping request sent.ٝffٝVh?ٝQ ڝw?)ڝ`Iڝr?iڝ`>ڙڙ۝?2W™``[)۝SI۝d=i۝%ż?۝SۙۙE :publishing transmit ping timem Fpublishing direction and range infoؙ9؝@?pY? ?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝?2W™``[)ۙIۙiۙۙۙۙJ J J 0J J J 9J ـ3J J J J 8;J 8;Gu YGy G} qAG1 B9 Oe >hQw,sGA2?Y2N?2;92 J>y2H"??`z?@r?`ʔvY?``?ɨ2?2nc;0yB%!IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:36:04.2886 'TFailed to parse incomplete device message.]Mb@Mb@Mb@YYY Y)YY]n?~jtxMbpy]V>]Ļ]]A ]@)]@I]@Yy]@IuIu0٢= 0=9ܔ:Q > G٣yJ< > Nusing accuracyPremultiplier from config59;PK?@Em ;;5 Akb 蚜?k#^¡ k k:A:kfBBkBZk@"Vh'@/j+S@.]1cU@@?pY? ?Jk%ż?RkS*>t%B]LG@bX@+AWԿtװ?,⛁Q?"kL=B*kkl{Қ?kA. 2k$Ckw?kA. kk%fBk? @ addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.536395 s, deltaX: -0.200005 m, approachRate: -0.056556 m/s, rangeRepo size: 4  Added new target pos. range: 116.199997 m, bearing: 128.550677 deg, lat: 36.905219 deg, lon: -122.119914 deg, deltaT: 3.536395 s, deltaX: -0.200005 m, approachRate: -0.056556 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 116.20 m.BjJj= ProNav: ac range: 116.199997 m, nav range: 57.536739 m, bearing: 124.662690 deg, approach rate: 0.000000 m/s, LOS rate: 0.367067 deg/s, cmd heading: 52.359325 deg, new cmd heading: 52.870076 deg. 2j9EHeadingCmd: 0.922757 target range: 116.199997 and range: 116.20 m. jE9l?jAjAjAiAhIhIhIh&Bfffrf ]@bf@?ɛ!Mr= IU?IQ U_;ɚQiQIU.=I]9l?iYi];)]9l?)a U:$?IQ*F%?2F!:F)BF)JF)u Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge G9 BI Om >&Ww,aA6\?Y6P?64 ;96J>y6H?? N?@?`6`#p?`a?ɨ6\?6;6'Cy>B>!I)@ @DFAIJIJT٢R.< Rp=9RQ V?TT VG٣VEVGy< > %Nusing accuracyPremultiplier from config%59D?%5YJu i)-M?M@E;;:5Y ]AYZjFNOT Ignoring new targets: 116.20 m.Bj2;Jj2; ProNav: ac range: 116.199997 m, nav range: 57.508827 m, bearing: 124.802008 deg, approach rate: -0.080603 m/s, LOS rate: 0.402509 deg/s, cmd heading: 52.870076 deg, new cmd heading: 53.288227 deg. 2j< HeadingCmd: 0.930055 target range: 116.199997 and range: 116.20 m. j n?j jjihhhhfffrf!bf%Q?ɛ#== 隵?I 苽;ɚiI=In?iiܗ)n?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFG iGBO`>jHe<bHe<HqIq Iu "IIuBIq&Iq.Iq6Iu<:Iu F ! I!  ^w,1zAWill construct direction to contact in vehicle frame from tetrahedron phase data.]_?Y]S?]%c;9]J>y]H?8?}?Q?`S dlV5?_?ɨ]_?];]&CymBm!I-Mb@Mb@Mb@))) )))Y-{Gz?~jt?-D<-t<-A -@)-@I))y-@IMIMԲ٢]= ]2=9]Q ]>aa eG٣aym< m> uNusing accuracyPremultiplier from configq}59uP?}5Yu]q iu}>:X?@uEu;u;u.5ٓB AcEZjFNOT Ignoring new targets: 116.20 m.Bj1;Jj1; ProNav: ac range: 116.199997 m, nav range: 57.461960 m, bearing: 124.994811 deg, approach rate: -0.106680 m/s, LOS rate: 0.439218 deg/s, cmd heading: 53.288227 deg, new cmd heading: 53.867087 deg. 2j<HeadingCmd: 0.940158 target range: 116.199997 and range: 116.20 m. j2p?jjjihhhh6Bfffrfbf`?ɛ%4= !% ?I! %;ɚ)i)I-+=I52p?i1i5V)52p?)9JKـ3 K .KK"KJ-J-J)J)J-:J-9J)J)J-;J-;J-$7;J-%7;*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBoHK9KK!KG G ?G ?G B O5 >  I dw,ՔA:r1?Y:T?::9:S7J>y:H@?)°?`g?*? :`>2\ ?@`?ɨ:r1?:.;8yVBV!II^I^n٢f= jg=9nQ r>tt zG٣xy~1< ~> Nusing accuracyPremultiplier from config %59 X?%5Y /n i 15nZ?=@ E ; a; 5A MAMaEZjiuFNOT Ignoring new targets: 116.20 m.Bju;Jj};E ProNav: ac range: 116.199997 m, nav range: 57.423748 m, bearing: 125.149804 deg, approach rate: -0.105443 m/s, LOS rate: 0.427977 deg/s, cmd heading: 53.867086 deg, new cmd heading: 54.332364 deg. 2jEے Will construct direction to contact in vehicle frame from tetrahedron phase data. i kw,CA2?Y2]V?2PR;92jKL>y2Hk?`pJ ???Hb ^?|]?ɨ2?2a~;2%Cy>BB!IiF=IF> Jp=HININ٢V4= VN=9V}:Q V>XX ZG٣ZFVGy^< ^> %Nusing accuracyPremultiplier from config!-59%b?-5Y%j i%)-\?5@%E%:%q:%59 =#A9UB*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 116.20 m.Bjm;Jjm; ProNav: ac range: 116.199997 m, nav range: 57.380150 m, bearing: 125.324036 deg, approach rate: -0.108788 m/s, LOS rate: 0.435079 deg/s, cmd heading: 54.332365 deg, new cmd heading: 54.855441 deg. 2jK<HeadingCmd: 0.957408 target range: 116.199997 and range: 116.20 m. ju?jjjihhhhfffrfbf?ɛS= ?I S;ɚiI=Iu?iiW)u?)H!I! I%."II%܃BI!&I!.I!6I%<:I% F ;$?Ih*F2F:FBFZ0JFMWill 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.Gu#GQBYOu>J J J 1J J :J b9J 3J J Q;J R;J /.;J 0.;rw,A>_?Y> W?>;9>[L>y>HHH? i1??~?@mCco?\?ɨ>_?>4;>'CyJBJ "I%Mb@Mb@Mb@!!! !)!Y%e;O?y&1?:v?y%>%`e<%T<% A %@)%@I%@!y%@IMIMb٢]6= ]>=9] 9Q ]>aa eG٣aymC^< m> uNusing accuracyPremultiplier from configq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221020zKjIK9KK!K !1CHGGC=841-+(%RK?JK>59um?5Yuf iu>:]?@uEu%;xw,AyrكBr+"IIzIz٢ &>  P=9 Q  > G٣y > -Nusing accuracyPremultiplier from config)559-x?55Y-b i-115@-E-:-;-5EړB E AE^EZjimFNOT Ignoring new targets: 116.20 m.Bju <Jju < ProNav: ac range: 116.199997 m, nav range: 57.285236 m, bearing: 125.700698 deg, approach rate: -0.122195 m/s, LOS rate: 0.489018 deg/s, cmd heading: 55.437080 deg, new cmd heading: 55.986328 deg. 2jͧ<HeadingCmd: 0.977146 target range: 116.199997 and range: 116.20 m. j9&z?jjjihhhhfffrfbfa@ɛwr= <.?I <ɚiI=I9&z?iiϽ)9&z?)*F2F:FBF_0JFG?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730478GaBiO8>ZH@ARHH I  I Z"II BI &I .I 6I <:I  F qIqe Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983707~w,9A5g#?Y5[?5:95hN>y5HQ?` €?:?}|?ޟ?S^?"Z?ɨ5g#?5';5%Cye݃Be0"I)i iquA=Mb@Mb@Mb@999 9)9Y=S㥛?kt?{Gz?y=?= 0==ף<9 =@)9I99y=@IUIU(*٢ef< m3=9m"Q m>qq uG٣uGVGyut = }> Nusing accuracyPremultiplier from config59?5Y] ij?:n?@E;;5 @ZjFNOT Ignoring new targets: 116.20 m.Bj$<Jj$< ProNav: ac range: 116.199997 m, nav range: 57.213589 m, bearing: 125.926734 deg, approach rate: -0.157364 m/s, LOS rate: 0.497077 deg/s, cmd heading: 55.986326 deg, new cmd heading: 56.665250 deg. 2j<HeadingCmd: 0.988995 target range: 116.199997 and range: 116.20 m. j.}?jjjihhhh{Bfffrfbf @ɛ-zB-C^= )5"1?I1 5A<ɚ1i1I==I=.}?i9iEŽ)E.}?)A*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:36:06.8485 TRx dataTimestamp_ set to:1736379368.199406checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237681zK=UMK=}9K9K=!K=#! BKA:KEpAG G B9 O] > - <$?I) \w,(~AN%?YN)N^?N{99NO>yNH?? l?@?@Ec0`?cX?ɨN%?Noˉ;N'CyVBVC"IIbIbF٢j= jj=9nr4Q n>ll rG٣pyr< r> vNusing accuracyPremultiplier from configtz59v?z5YvY iv|q?@vEv5;v06;v5 @ZjFNOT Ignoring new targets: 116.20 m.Bj <Jj < ProNav: ac range: 116.199997 m, nav range: 57.157627 m, bearing: 126.099927 deg, approach rate: -0.155361 m/s, LOS rate: 0.481289 deg/s, cmd heading: 56.665251 deg, new cmd heading: 57.185322 deg. 2j'<HeadingCmd: 0.998072 target range: 116.199997 and range: 116.20 m. j?jjjihhhhfffrfbf @ɛim[{= 隝8?I x<ɚiI=I?iiŽ)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485198*FM?2FI:FIBFMo0JFIJJJ0JJJ9Jـ3Ja@a@a@a@Gu8uĽGI BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:36:06.8485 LVL= 12016, 25201, 16994, 25123, AGC= 57, IDX= 446, 0.18, 2.055, 1.234, 0.017, 1.005, PHS= 1.138, 0.275,-0.991, RAW= 53.7, -4.6, CAL= 57.9, -9.4, ROT= 92.1, 9.4  Ygot valid direction response: 23:36:06.8485 LVL= 12016, 25201, 16994, 25123, AGC= 57, IDX= 446, 0.18, 2.055, 1.234, 0.017, 1.005, PHS= 1.138, 0.275,-0.991, RAW= 53.7, -4.6, CAL= 57.9, -9.4, ROT= 92.1, 9.4  PDAT read: Bearing 92.1, 9.4 (Local)  ~Local bearing/azimuth received: Bearing 92.1, 9.4 (Local)  DAT read: Range 10 to 50 : 116.1 m (Round-trip 154.8 ms) speed 0.0 m/s  ,DAT read: user:3367>  BDAT read: Tx time:23:36:07.9395  $Ping request sent. ٥ -}٥ o?٥ l ڥ Y?)ڥ 'Iڥ ?iڥ '>ڡ ڡ ۥ {ô?B=V1M_߆)ۥ Iۥ ,d=iۥ {?ۥ [ۡ ۡ - :publishing transmit ping time 5 Fpublishing direction and range infoء 9إ (?TS܌?Th2?yء ء ء ء ١ )١ I١ i١ ١ ١ ١ ١ ڡ )ڡ Iڡ iڡ ڡ ڡ ۥ {ô?B=V1M_߆)ۡ Iۡ iۡ ۡ ۡ ۡ iw,[0A2U)(?Y2`?2$:92Q>y2H@&s????`DG??`U?ɨ2U)(?2,;2&Cy>B>R"IIZIZ<٢u= G=9 OQ  >  G٣y< > -Nusing accuracyPremultiplier from config-59q?55YTU is15bs?5@EN;:HI I"II#BI&I.I6I<:I F`5ۓB (@[E Ik[?k`1  k ky,A:k3BBkBZkP@"aa @uyR@<}U@(?TS܌?Th2?Jk{?Rk[*f>COɥ E@X:RY@@eտJd\F-(?R%?"k(B*kkA ?kڔ 2kF'CkA ?kS] kF'CkiBk@ addTargetRange:: Added new target pos. range: 116.099998 m, deltaT: 3.779516 s, deltaX: -0.099998 m, approachRate: -0.026458 m/s, rangeRepo size: 4  Added new target pos. range: 116.099998 m, bearing: 132.238798 deg, lat: 36.905180 deg, lon: -122.119933 deg, deltaT: 3.779516 s, deltaX: -0.099998 m, approachRate: -0.026458 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 116.10 m.BjJj ProNav: ac range: 116.099998 m, nav range: 58.453377 m, bearing: 130.732394 deg, approach rate: 0.000000 m/s, LOS rate: 0.481289 deg/s, cmd heading: 57.185322 deg, new cmd heading: 57.811810 deg. 2jHeadingCmd: 1.009006 target range: 116.099998 and range: 116.10 m. j'?jjjihhhhff!f!rf%`f]@bf%`H?ɛs= >?I $<ɚiI1=I'?iiUɽ)'?) Will construct direction to contact in vehicle frame from tetrahedron phase data.%=4=5JDAT read: TxSync time:23:36:07.9387 E@o=*F ?2F :F BF ]0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G YĽGzKxLKŷ9KK!KBO>“w,mOAyBV"Ii =I ; ==EMb@Mb@Mb@AAA A)AYES?+?S㥛?yE?E=E/ G٣HVGy > Nusing accuracyPremultiplier from config59]?5Y~N iDU?]:]y?]@E<[<¹5a e@eYEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 116.10 m.Bj<Jj<% ProNav: ac range: 116.099998 m, nav range: 58.365372 m, bearing: 131.021395 deg, approach rate: -0.165442 m/s, LOS rate: 0.544115 deg/s, cmd heading: 57.811807 deg, new cmd heading: 58.680049 deg. 2j%<-HeadingCmd: 1.024160 target range: 116.099998 and range: 116.10 m. j-?jijijqiqhqhqhyh}ÂBfyfyfyrfbf4?ɛ{Bh= )-a@?I1 51<ɚ1i1I53=I=?i9i=)=?)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.E ]<JM AAJM AAJU JU JU /JQ JU :JU b9JU (N3JQ *F ?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9965685c~G}5tAA jY5tAy*BGm8uĽGABQOm ?w,:rA:k0?Y:i?: 9:EV>y:H?@z?`F?%'?@=??K?ɨ:k0?:'V;:'CyB BFg"IIRIRԳ٢Vk= Z,=jHXbHZ<Hb1>I` Ib"IIbABI`&I`.Ib6D6Ib<:Ibn FBIJIRIZIbIjI49rkQ r>tt vG٣t ~=$?I|yv= > Nusing accuracyPremultiplier from config59j?5Y H i?@E7::5ܓB &@VEZjFNOT Ignoring new targets: 116.10 m.BjE<Jj%E$ܢw,A6y3?Y6k?6:96#V>y6HxW?`Bm? }??``Fǁ?`?`xL?ɨ6y3?6;6#CyRBRo"IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499866EMb@Mb@Mb@AAA A)AYEOn?&1?Q?yE?E=EzKBoIK9KK!Kq) -G٣)y-< -> ]Nusing accuracyPremultiplier from configQe59U?e5YU&B iUe?e:e?e@UEUa;U;Uν5q @ZjFNOT Ignoring new targets: 116.10 m.BjQ<JjQ< ProNav: ac range: 116.099998 m, nav range: 58.187973 m, bearing: 131.521159 deg, approach rate: -0.209522 m/s, LOS rate: 0.557140 deg/s, cmd heading: 59.467322 deg, new cmd heading: 60.181531 deg. 2j.<HeadingCmd: 1.050366 target range: 116.099998 and range: 116.10 m. jcr?jjjih!h!h!h%͂Bf)f)f)rfIbfU؇?ɛ= 隝J?I !H<ɚiI=Icr?iiSŽ)cr?) Ih*F2F:FBF`0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}W?}N?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753171G ݽG B O >w,ץAJJJ0JJJ9Jـ3JB76?YB8n?B9BWX>yBH`T?`)?o?N?VՂ?@L?I?ɨB76?Bȉ;B&CyN BNi"I)P PPRAIVIVb2٢^ bV=9b Q b>dd fG٣fIVGyfG< j> nNusing accuracyPremultiplier from confighr59jħ?v5Yj)= ijtvE?v@jšEjK;jK;jZ5x ~ @|ZjFNOT Ignoring new targets: 116.10 m.Bj<Jj< ProNav: ac range: 116.099998 m, nav range: 58.112350 m, bearing: 131.718128 deg, approach rate: -0.207260 m/s, LOS rate: 0.540538 deg/s, cmd heading: 60.181528 deg, new cmd heading: 60.773181 deg. 2j{ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2589494w,ƿA9?Yr?'9[>yHd?]c@_?=?@>?? yH? OC?ɨ9?;騝"Cy޵B޵f"IeMb@Mb@Mb@aaa a)aYe+???yev?e>e G٣y< > Nusing accuracyPremultiplier from config59Χ?5Y'6 i!?:?@ŚEA;H@;e5 9@Zj FNOT Ignoring new targets: 116.10 m.Bj *<Jj*< ProNav: ac range: 116.099998 m, nav range: 57.997486 m, bearing: 131.985045 deg, approach rate: -0.255350 m/s, LOS rate: 0.594545 deg/s, cmd heading: 60.773179 deg, new cmd heading: 61.575461 deg. 2j%<-HeadingCmd: 1.074695 target range: 116.099998 and range: 116.10 m. j5?j1j1j1i1h1h1h9h=ƂBf9f9fArfAbfE:@ɛiuX== y} F?Iy }[h]<ɚyiyI}| =I?iiŽ)?)*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508106zKejIKe59KaKe!KeRKu?JKu? I hG <ŽG B O >w,ĖAB=?YB~u?Bi39Bl_>yBH@`? ?1?'?;m?/?=?ɨB=?B@ ;B&CyNBNc"IIVIV٢^: ^n=9^vQ b?`` bG٣`yf!= f? jNusing accuracyPremultiplier from confighn59j ֧?n5Yj1 ij[pr?r@jǚEj ;j ;j©5t vc@vSE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 116.10 m.Bj5#<Jj5#<] ProNav: ac range: 116.099998 m, nav range: 57.911724 m, bearing: 132.179634 deg, approach rate: -0.252328 m/s, LOS rate: 0.573364 deg/s, cmd heading: 61.575460 deg, new cmd heading: 62.160070 deg. 2j] Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:36:10.4977  TRx dataTimestamp_ set to:1736379371.724547 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012754)Cw,nA 0I4ZH4RH6AAH:2>I8 I:"II:[BI:# =&I8.I86I:L<:I:5 FV)a@?YVTx?VYF9VP`>yVH5?60?n? ć?@ ˈ? ?:?ɨV)a@?V8;V$CybBbX"IIjIj(٢r3 rH=9v29Q v>tt vG٣zJVGyz= z> Nusing accuracyPremultiplier from config|59~ާ? 5Y~* i~)  G? @~ɚE~:~ :~ĩ5ݓB @QEZjIMFNOT Ignoring new targets: 116.10 m.BjU"<JjU",þw,]Q AJ D?YJ|?NWill construct direction to contact in vehicle frame from tetrahedron phase data.jDAT read: 23:36:10.4977 LVL= 14320, 25297, 16706, 25203, AGC= 59, IDX= 437, 0.31,-0.297,-1.231,-2.316,-1.425, PHS= 1.217, 0.242,-0.893, RAW= 57.5, -6.2, CAL= 63.8, -12.0, ROT= 86.2, 12.0 rYgot valid direction response: 23:36:10.4977 LVL= 14320, 25297, 16706, 25203, AGC= 59, IDX= 437, 0.31,-0.297,-1.231,-2.316,-1.425, PHS= 1.217, 0.242,-0.893, RAW= 57.5, -6.2, CAL= 63.8, -12.0, ROT= 86.2, 12.0 rPDAT read: Bearing 86.2, 12.0 (Local) v~Local bearing/azimuth received: Bearing 86.2, 12.0 (Local) ~DAT read: Range 10 to 50 : 115.5 m (Round-trip 154.1 ms) speed 0.0 m/s ~,DAT read: user:3368> BDAT read: Tx time:23:36:11.5895 $Ping request sent.RdRt?Rkݽ RӇ?)RPwVIR?iRPwV>PPR`.^? #7:׻)R>IR4-=iR?R4kPP5:publishing transmit ping time=Fpublishing direction and range infoP9R?|E芷?aɶ3? Hm?yPPPP P)PIPiPPPPP P)PIPiPPPR`.^? #7:׻)PIPiPPPPJњS9Jb>yJH? ԍ?@M?B%?)s?? e7?ɨJ D?J;J'CyeBe<"IzKJK+9KK!KBK:K QIQMb@Mb@Mb@ )YZd;?/$?{Gz?y?1>ף< )@Iy@II٢c #=9^ӺQ > G٣yH< > Nusing accuracyPremultiplier from config59觜?5Y# i"?%:-˗?-@˚EP;;Ʃ5a mm@ikR??kR]@ kP kR$A:kRBBkRiBZkRR@"RK,X>%@USQ@  V@R?|E芷?aɶ3? Hm?JkR?RkR4k*R(5[ʾw,o+AzG?Y?e9"c>yH`J?`Q? ?@\?Lv? /(?6?ɨzG?ى;&CyE߃BM3"II]I]٢m mQ=9u;Q u>yy }G٣yy = > Nusing accuracyPremultiplier from config59]?5Y i?@͚EWill construct direction to contact in vehicle frame from tetrahedron phase data.:`;ȩ5 @NEZjQUFNOT Ignoring new targets: 115.50 m.Bje9<Jje95Ѿw,EA:^K?Y:C?:29:ߒ^>y:Hz? i?`(3?}\?<`xc? ?`9>?ɨ:^K?:Dʼn;:%CyFƃBF"I)H HLLJ%J%J!J!J%m:J%b9J!J!J%;a5J%;a5J!a5J!a5MMb@Mb@Mb@III I)IYMv?Mb?y&1?yM?M>M`e G٣KVGyl&= > Nusing accuracyPremultiplier from config59{?5Y iX?:?@ϚE;U;Tʩ5 AZjFNOT Ignoring new targets: 115.50 m.Bja&<Jja&< ProNav: ac range: 115.500000 m, nav range: 56.407444 m, bearing: 134.138833 deg, approach rate: -0.276121 m/s, LOS rate: 0.581849 deg/s, cmd heading: 64.496131 deg, new cmd heading: 65.167518 deg. 2j<HeadingCmd: 1.137388 target range: 115.500000 and range: 115.50 m. j앑?jjjihhhhBfffrfbf 1?ɛ%B%x= !%"?I! -n<ɚ)i)I-% =IU앑?iQiU)U앑?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F :F BF _0JF zKJKh9KK!KRK?JK ? 9IAG5 YG B O= >Qb׾w,^AWill construct direction to contact in vehicle frame from tetrahedron phase data.y=B="IIUIU=س٢e} eL=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}?5Y} i}m@}њE}n:}7:}̩5 7AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.50 m.Bj<Jj< ProNav: ac range: 115.500000 m, nav range: 56.302067 m, bearing: 134.363120 deg, approach rate: -0.262369 m/s, LOS rate: 0.559476 deg/s, cmd heading: 65.167518 deg, new cmd heading: 65.841605 deg. 2j<HeadingCmd: 1.149153 target range: 115.500000 and range: 115.50 m. jp?jjjihhhhfffrfbf?ɛ%B%0y= !-?I) -Zl<ɚ)i)I-C =I5p?i1i=0ν)=p?)9*F?2F:FBFo0JFG5GBO?>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 9 IE hjHi bHm p<Hq Iq  Iu "IIu (BIq &Iq .Iq 6Iu <:Iu k Fۊݾw, xA2S?Y2?2\921`>y2H? &?ֵ?@?J ?@?;?ɨ2S?2Y;2&CyBBB!IIJIJT٢j⡽ jT=9ٹQ > G٣yM= %> -Nusing accuracyPremultiplier from config!559%?55Y%  i%C9=?=@%ӚE%uI;%I;%ͩ5MޓB MAMLEZjiuFNOT Ignoring new targets: 115.50 m.Bj}<Jj}< ProNav: ac range: 115.500000 m, nav range: 56.193226 m, bearing: 134.579850 deg, approach rate: -0.276684 m/s, LOS rate: 0.552015 deg/s, cmd heading: 65.841603 deg, new cmd heading: 66.493023 deg. 2jk<HeadingCmd: 1.160522 target range: 115.500000 and range: 115.50 m. j?jjjihhhhfffrfbf Ph?ɛBl= ?I <ɚiIv =I?ii")?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753039E<E)JEJEJAJAJE:JE=9JAJAJE7;JE9;JE*;JE*;*F?2F:FBF_0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003058G U Ga Bi O >w,:]AzK&BoHK&+9K$K&!K& DIHZV?YZ ?ZU9Z`a>yZH\? uG@yO?`?f?@L??49?ɨZV?ZE;Z$CybBf!Iij>Ijt>Mb@Mb@Mb@ )YtV?)\(?Mb`?y?G=; @)@I@y@II̍٢֊ 8=9;Q > G٣LVGyw< > Nusing accuracyPremultiplier from config59 ?5Y i#^?:!?@՚E;;ϩ5 2AZjFNOT Ignoring new targets: 115.50 m.Bj<Jj<- ProNav: ac range: 115.500000 m, nav range: 56.079670 m, bearing: 134.811952 deg, approach rate: -0.260680 m/s, LOS rate: 0.533892 deg/s, cmd heading: 66.493025 deg, new cmd heading: 67.190705 deg. 2j-3<5HeadingCmd: 1.172699 target range: 115.500000 and range: 115.50 m. j5?j1j1j1i1h1h9hAhE;BfIfQfYrfYbfe6@ɛ-B5Y= 1UT ?IQ U\.<ɚYiYI]=Ie?iaie)e?)aE5(a<*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256124GzGBO>*J 4="J <)1 5 wCw,%AN~G^tArA YtAyB]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507132p@BEZY?Y7?r9գ`>yHֽ?`%sh? ? ?p~n? ?`:?ɨEZY?61;騵%CyB!III<٢ H=9o9Q > G٣y< >  Nusing accuracyPremultiplier from config 59? 5Y i?@ךE ;;|ѩ5 %A%IEZjIUFNOT Ignoring new targets: 115.50 m.Bj<Jj< ProNav: ac range: 115.500000 m, nav range: 55.972042 m, bearing: 135.028464 deg, approach rate: -0.263408 m/s, LOS rate: 0.530906 deg/s, cmd heading: 67.190702 deg, new cmd heading: 67.841456 deg. 2j-< HeadingCmd: 1.184057 target range: 115.500000 and range: 115.50 m. j ,?j j jihhhhff!f!rf!bf%@@ A$?IɛBXcU= 隵>I i<ɚiIV=I,?ii),?HI IZ"IIBI&I.I6IU<:I= FBIJIRIZI# =bI# =jId4)EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759320*F- ?2F1 :F1 BF= o0JF9 GY  G] qAJ! J% J! J! J! J% 9J! J! J! J! J% 1;J% 1;G= #mG BO5>ޒw,}A6A\?Y6^?6=965`>y6Ht?@3? xB>!I Mb@Mb@Mb@    ) Y K7?~jt?{Gzy  ? = #  A @) @I  y @IeIe٢u u6=9u;Q }>yy }G٣yy< > Nusing accuracyPremultiplier from config59w?5Ys i ?:?@ٚE;;sө5 4AZjFNOT Ignoring new targets: 115.50 m.Bj<Jj< ProNav: ac range: 115.500000 m, nav range: 55.860954 m, bearing: 135.252761 deg, approach rate: -0.246939 m/s, LOS rate: 0.499584 deg/s, cmd heading: 67.841455 deg, new cmd heading: 68.515653 deg. 2jn<HeadingCmd: 1.195824 target range: 115.500000 and range: 115.50 m. j?jjjihhhhBfffrf bf @ɛ5B5+Q= 9=P>I9 =ɘ<ɚ9i9I=H=IM?iIiU2)U?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011186*F?2F:FBFD5JF IG zKJK9KK!KGBO@>E Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:23:36:14.1464 ] TRx dataTimestamp_ set to:1736379375.506847e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267620w,hA2!^?Y2%?2v92]>y2H ?? c??7Sю?`?@u??ɨ2!^?2Z;2%CyBfBB!I)D DININ̍٢[ S=9'$;Q >    G٣ MVGy< > Nusing accuracyPremultiplier from config%59?%5Y i)-H?-@ۚEB;3;%թ59 =A9UB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 115.50 m.Bjm<Jjm< ProNav: ac range: 115.500000 m, nav range: 55.763710 m, bearing: 135.446250 deg, approach rate: -0.250339 m/s, LOS rate: 0.498973 deg/s, cmd heading: 68.515656 deg, new cmd heading: 69.097114 deg. 2j8<HeadingCmd: 1.205972 target range: 115.500000 and range: 115.50 m. jL]?jjjihhhhfffrfbf * @ɛLyM= >I 7<ɚiI$(=IL]?iivp)L]?)*F]?2FY:FYBF]]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515240 IGЭZHRHHI I""IIуBI&I.I6IO<:I9 FGBO>w,wA2a?Y2"?20\92O[>y2H*?G.?`??@f˅?H? C?ɨ2a?2;2$CyNTBN!IIVIVF٢^׻ ^N=9b;Q b>`d fG٣dyfp< f> nNusing accuracyPremultiplier from confighz5 Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:36:14.1464 LVL= 15568, 23985, 16114, 24243, AGC= 58, IDX= 425,-0.02,-2.854, 2.183, 1.452, 2.265, PHS= 1.252,-0.035,-0.816, RAW= 68.0, -4.5, CAL= 75.3, -10.3, ROT= 74.7, 10.3 9j#?5Yj ijտ? @jܚEj3=jH5=j֩5]Ygot valid direction response: 23:36:14.1464 LVL= 15568, 23985, 16114, 24243, AGC= 58, IDX= 425,-0.02,-2.854, 2.183, 1.452, 2.265, PHS= 1.252,-0.035,-0.816, RAW= 68.0, -4.5, CAL= 75.3, -10.3, ROT= 74.7, 10.3 MߓB YAGEPDAT read: Bearing 74.7, 10.3 (Local) ~Local bearing/azimuth received: Bearing 74.7, 10.3 (Local) DAT read: Range 10 to 50 : 114.6 m (Round-trip 152.8 ms) speed 0.2 m/s ,DAT read: user:3369> BDAT read: Tx time:23:36:15.2395 $Ping request sent.) ^I :i A? )\ ProNav: ac range: 115.500000 m, nav range: 55.663185 m, bearing: 135.643298 deg, approach rate: -0.204051 m/s, LOS rate: 0.400699 deg/s, cmd heading: 69.097117 deg, new cmd heading: 69.689305 deg. 2j<HeadingCmd: 1.216308 target range: 115.500000 and range: 115.50 m. `P ? |٠ 8?) X8I ?i X8>   2C?u x DC) 'hI 3=i 9E? $  :publishing transmit ping timeFpublishing direction and range info 9 BIkȣ?X҂C?in?y     ) I i  j?jjjihhhhfffrf`f\@bfI?J J J J J ̝:J b9J J J ;J ;J /.;J 0.;     ) I i    2C?u x DC) I i    ɛ]Br4= 隥>I .<ɚiI-=I?ii)?)*Fu?2Fq:FqBFu05JFq"G}=G}=Will construct direction to contact in vehicle frame from tetrahedron phase data. I hG zK K 9K K !K GQ Ba O} >w,4Ay5GB5y!I Mb@Mb@Mb@    ) Y rh|? t= Ļ A @) I @ y =@II@ ٢P /=9Q > G٣y > Nusing accuracyPremultiplier from config59O)?5Y iƿ>:?@ޚE;U;ة5 AkT%?k2CF k kvA:k3BBkBZk$@"Le@EW3J@dėtY@BIkȣ?X҂C?in?Jk9E?Rk$ *811o/@,%,ڬ[@D~rR˿. t?2E?"k[A*kk?kGu_C 2kW0Ckkڔ kk[Bku@Will construct direction to contact in vehicle frame from tetrahedron phase data. addTargetRange:: Added new target pos. range: 114.599998 m, deltaT: 3.782124 s, deltaX: -0.900002 m, approachRate: -0.237962 m/s, rangeRepo size: 4 % Added new target pos. range: 114.599998 m, bearing: 147.420575 deg, lat: 36.905180 deg, lon: -122.119959 deg, deltaT: 3.782124 s, deltaX: -0.900002 m, approachRate: -0.237962 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 114.60 m.Bj-Jj)= ProNav: ac range: 114.599998 m, nav range: 54.979408 m, bearing: 136.489070 deg, approach rate: 0.000000 m/s, LOS rate: 0.400699 deg/s, cmd heading: 69.689308 deg, new cmd heading: 70.166124 deg. 2jYeHeadingCmd: 1.224630 target range: 114.599998 and range: 114.60 m. je?jajajaiahihihihmҁBfqfqfqrfqbf}E?ɛBģ<= >I }<ɚiId=I?iih_)?)*Fu?2Fq:FqBFuP0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.G VlG B O >M w,3A6 g?Y6ȏ?6B96GQ>y6H?`6H`#?@?@P?(C? ?T?ɨ6 g?6;6&Cy>EB>v!I HIHiJa=IJ= R=R=IVIVb1٢^f ^b=9^;Q b>`` fG٣fNVGyfu= f> jNusing accuracyPremultiplier from confighn59j-?n5YjR ijprQ?r@HtIt Iv!IIvBIt&It.It6Iv]<:IvD FjEj;jb;jک5 AZj9EFNOT Ignoring new targets: 114.60 m.BjE <JjM I ^<ɚiI=Ij?iiߢ)j?)*Fu?2Fq:FqBFu_0JFqGM.qG)BAO]T>Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,IMA]j?Y]M?]$9] U>y]H@?@i`t??N?` p܃?o?N?ɨ]j?]);]'CyuABuq!I Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YGz?{Gz?~jtxy>#=A @)I@y@IIm٢As ,=9;Q > G٣y[< >  Nusing accuracyPremultiplier from config59I4?5Y i>:E?@EE;D;ܩ5-B -A-DEZjQUFNOT Ignoring new targets: 114.60 m.Bj]<Jj]I +<ɚiI5=IR?ii0)R?)*FM?2FI:FIBFIJFIzKaKe9KaKe!KeRK}?JK}>Ge  Will construct direction to contact in vehicle frame from tetrahedron phase data.GA BI O >Tw,"gA:5m?Y:ؒ?: 9:2X>y:HM??+? ?@>?u?@J?ɨ:5m?:4/;:%Cy^CB^s!IIfIf٢n4< ns=9rGT;Q r?pt vG٣tyv= v? Nusing accuracyPremultiplier from config| 59~8? 5Y~ i~Н?@~E~E;~I;~ ީ5! -A)JK KKK"KJIJMJIJIJIJM9JIJIae@ae@ae@ae@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 114.60 m.Bj;Jj; ProNav: ac range: 114.599998 m, nav range: 54.748562 m, bearing: 137.024081 deg, approach rate: -0.181815 m/s, LOS rate: 0.433825 deg/s, cmd heading: 71.316922 deg, new cmd heading: 71.773394 deg. 2juݔ<}HeadingCmd: 1.252682 target range: 114.599998 and range: 114.60 m. jW?jjjihhhhfffrfbf?ɛB@= >I n<ɚ i I cB=I5W?i1i5朽)5W?)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.*F2F!:F!BF-0JF)GZ IGBOf>jHbHp;H1>I I!IIBI&I.I5D6IL<:I6 F< w, A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2l?2<6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.926462>+Ro?Y>*?>˚9>Z>y>HZ?p?@G? -?xkYs?8%?E?ɨ>+Ro?> ';>&CybIBb{!I)d ddfAIrIr(٢z= zI=9z|| ~G٣OVGy<< >  Nusing accuracyPremultiplier from config 59 =?5Y  i ޞ?@ E q ; : ; ߩ51 5A)ZjY]FNOT Ignoring new targets: 114.60 m.Bje\;Jje\; ProNav: ac range: 114.599998 m, nav range: 54.670593 m, bearing: 137.207504 deg, approach rate: -0.170233 m/s, LOS rate: 0.401048 deg/s, cmd heading: 71.773397 deg, new cmd heading: 72.324434 deg. 2j<HeadingCmd: 1.262300 target range: 114.599998 and range: 114.60 m. j?jjjihhhhfffrfbf@ɛ%ڶ<= !%r>I! M)<ɚIiIIMU=IU?iQiUԠ)]?)Y*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.177951 q Iy G YGi B O >zK K 9K K !K     YYN D  RNfL7-' BK :K If&w,wךAy~RB~!IMb@Mb@Mb@ )Yx?J +?~jtx?yK>H=; A )x@IyQ@II٢%4&= %8=9-Q ->)) -G٣)y > Nusing accuracyPremultiplier from config59C?5Y i>:8?@E` ; ;5 kAAEZjFNOT Ignoring new targets: 114.60 m.Bj <Jj < ProNav: ac range: 114.599998 m, nav range: 54.579433 m, bearing: 137.418240 deg, approach rate: -0.232399 m/s, LOS rate: 0.538137 deg/s, cmd heading: 72.324436 deg, new cmd heading: 72.957671 deg. 2j<%HeadingCmd: 1.273352 target range: 114.599998 and range: 114.60 m. j%/?j!j!j)i)h)h)h1h5Bf1f1f9rf9bf=}@ɛae4K= ae>IiuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.429962 m&<ɚyiyI}5=I/?ii0ɵ)/?)*FE?2FI:FIBFMU5JFQJeJeJaJaJe<:Je9JaJaGm GA BI O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.681900 Y Ia U,w,q˴AHLIL ILILIL&IL.IL6IN<:INc Fyz[Bz!IIIb1٢=2= =Z=99Q E>AA EG٣AyI M> Nusing accuracyPremultiplier from config59H?5Y i@E::r5 (AZjFNOT Ignoring new targets: 114.60 m.Bj<Jj<  ProNav: ac range: 114.599998 m, nav range: 54.504620 m, bearing: 137.593011 deg, approach rate: -0.201571 m/s, LOS rate: 0.471534 deg/s, cmd heading: 72.957670 deg, new cmd heading: 73.482688 deg. 2j Ρ<HeadingCmd: 1.282515 target range: 114.599998 and range: 114.60 m. jr)?jjjih!h!h!h)f)f)f)rf1bf5`@ɛY]nR= Y]>IY e"<ɚaiaIe7*=Imr)?iiiuTĽ)ur)?)q*F%?2F!:F!BF%P0JF!GGBOC>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:23:36:17.7955 }TRx dataTimestamp_ set to:1736379379.036617}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934930y2H@Ym?ԓ?? 2?@ݳsn? A?ɨ2bu?2 ;2$CybiBf!Iij=Ij4< j=j%=]Mb@Mb@Mb@YYY Y)YY]rh|?~jt?]<]t<] A Y)]@I]K@Yy]@IuIu(*٢= F=9 G٣PVGyk= > Nusing accuracyPremultiplier from config59DN?5Y i>>:?@E;;25 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186148ZjFNOT Ignoring new targets: 114.60 m.Bj<Jj< ProNav: ac range: 114.599998 m, nav range: 54.429523 m, bearing: 137.784889 deg, approach rate: -0.186595 m/s, LOS rate: 0.477424 deg/s, cmd heading: 73.482686 deg, new cmd heading: 74.059093 deg. 2jӣ<HeadingCmd: 1.292575 target range: 114.599998 and range: 114.60 m. js?jjji!h!h!h!h-ρBf)f)f)rf)bf5nN @ IhɛImFR= qu>Iq u@<ɚqiqIuJ  BDAT read: Tx time:23:36:18.8896  $Ping request sent.  ^direction in FSK: [-0.042747,0.295535,0.954375] :publishing transmit ping time  Fpublishing direction and range info؉ 9؍ U9⥿~ ?]=?y؍ fB؉ ؍ `D؍ u ٍ rJ)ٍ jIى iٍ ̜?ٍ jٍ SCٍ Fѯ?ٍ ڍ ⏾?)ڍ ^ ڽIڍ ?iڍ ^ =ډ ډ ۍ -~ ? 2忳Zύ)ۍ ]8Iۍ ŸyuH`ss???  ?`O± 6V?B?ɨuҗy?uى;qy=|B=!I Y yBII 2٢%= %3=9%k8)) MG٣IyU/= U> ]Nusing accuracyPremultiplier from configYe59]}T?5Y]t i]z?@]E];];]55B %A?EkQ?k> I k kA:kfBBkBZkH@"?ps@@n [@U9⥿~ ?]=?Jkr?Rkj?*($ݵ}?4\)&N\@nBb}P.9??"k#7=*k%k"뤜?kKF 2k2Ck ?k k*Ck ;Bk*4@ addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.529488 s, deltaX: -0.900002 m, approachRate: -0.254995 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:36:18.8888  Added new target pos. range: 113.699997 m, bearing: 179.752600 deg, lat: 36.905221 deg, lon: -122.120028 deg, deltaT: 3.529488 s, deltaX: -0.900002 m, approachRate: -0.254995 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 113.70 m.BjJju ProNav: ac range: 113.699997 m, nav range: 46.781490 m, bearing: 139.840884 deg, approach rate: 0.000000 m/s, LOS rate: 0.477424 deg/s, cmd heading: 74.059092 deg, new cmd heading: 74.765332 deg. 2jq}HeadingCmd: 1.304901 target range: 113.699997 and range: 113.70 m. j}?jyjyjyihhhhfffrfl\@bf? C$?Iɛ)=V= AE%>IA EQ%<ɚAiAIE*I I!IIBI$ =&I.I6Iư<:I FBIiJIiRIiZIibIijIm4*F2F:FBF 1JFGqA GG & Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >@w,A^|?Y^?^)<9^]>y^H`ռ?W0`0(??;W?@"}?b@?ɨ^|?^;^&Cy B !IIId٢ef= L=9:Q > G٣y<  > Nusing accuracyPremultiplier from config 59 Y?5Y U i s(?@ E /;  ; 5I MvAIB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 113.70 m.Bj)+<Jj)+< ProNav: ac range: 113.699997 m, nav range: 46.705681 m, bearing: 140.073988 deg, approach rate: -0.194347 m/s, LOS rate: 0.598560 deg/s, cmd heading: 74.765334 deg, new cmd heading: 75.465744 deg. 2j%d<-HeadingCmd: 1.317126 target range: 113.699997 and range: 113.70 m. j-?j)j1j1i1h1h1h9h9fYfafarfabfe#?ɛfv= ?I \<ɚiIaGw,fA2G?Y2?2ogD<92i*X>y2H@-? qq uG٣uQVGyD< > Nusing accuracyPremultiplier from config59^? 5Y ie ? : 0? @E;8;5=B =A9ZjyFNOT Ignoring new targets: 113.70 m.Bj'<Jj'<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991773 ProNav: ac range: 113.699997 m, nav range: 46.633469 m, bearing: 140.288891 deg, approach rate: -0.196811 m/s, LOS rate: 0.586612 deg/s, cmd heading: 75.465742 deg, new cmd heading: 76.111421 deg. 2jK<HeadingCmd: 1.328395 target range: 113.699997 and range: 113.70 m. j?jjjihhhhBfffrfbf S?ɛB4?= 隝j?I I<ɚiI$I  I "II ǃBI &I .I 6I <:I m FG) B9 O] >.Mw,K7A6#]?Y67?6M<96$Z>y6HO?v ? +??` c?.F?ɨ6#]?6上;6"Cy>B>"IIFIFm٢N*= RX=9R:Q R>TT VG٣TyV= Z> ^Nusing accuracyPremultiplier from configXb59Z.c?b5YZܱ iZW`b?f@ZEZ:Zq:Z65h j0AhZjFNOT Ignoring new targets: 113.70 m.Bj .*<Jj .*< ProNav: ac range: 113.699997 m, nav range: 46.560623 m, bearing: 140.500216 deg, approach rate: -0.204825 m/s, LOS rate: 0.595129 deg/s, cmd heading: 76.111421 deg, new cmd heading: 76.746362 deg. 2j7<%HeadingCmd: 1.339477 target range: 113.699997 and range: 113.70 m. j%s?j!j!j)i)h)h)h)h1f1f1frfbf@W?ɛ= ?I ?0<ɚ i I !Tw,uQA6^?Y6ݜ?6Z<96=[>y6H?@<_?@?ґ?ƫ ( A1?@C?ɨ6^?6?Ŋ;6#Cy>ЃBB!"I-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747346MMb@Mb@Mb@III I)IYMGz?Q?~jt?yM?M\=M=9}Vy G٣yz< > Nusing accuracyPremultiplier from config59h?5Y iD ?:1?@E!;;5B Ag@Zw,jAB^?YB?Bz<9B̎[>yBH@]\?ęޔ?T? <%?@ڔ@:?B?ɨB^?B*;B$CyJރBJ1"IiN>INi> Rp=RR=IVIVF٢^= bV=9bdd fG٣fRVGyf< j> nNusing accuracyPremultiplier from confighr59jm?r5Yj5 ij4pr1?r@jEj+;j":j5x zAxZjFNOT Ignoring new targets: 113.70 m.Bj%S9<Jj%S9I IN"IIBI&I.I6Ie<:IH FG9BIOeV> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502496g'aw,ׄA^X?Y^lߠ?^!<9^L[>y^H?!?m? ?`2?`C?ɨ^X?^'c;^#CyjBjN"IIIԲ٢Em= ME=9U;Q }> G٣yK< > Nusing accuracyPremultiplier from config]592s?e5Y i#imt?@E<<5 @9EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 113.70 m.JJJ0JJ<:J9Jـ3JJ;aJ;aJ$7;aJ%7;aBj&<Jj&< ProNav: ac range: 113.699997 m, nav range: 46.277817 m, bearing: 141.301679 deg, approach rate: -0.207528 m/s, LOS rate: 0.583321 deg/s, cmd heading: 78.310065 deg, new cmd heading: 79.155485 deg. 2j*<HeadingCmd: 1.381524 target range: 113.699997 and range: 113.70 m. jհ?jjji h h hhfffrfbf% %]@ɛB6= 隵7?I <ɚiIzzK K s9K K !K Pgw,ѮAF؅?YF?F/><9F{[>yFH.?`?'? ?ꯥ`@g,?C?ɨF؅?FH;F'CyN BRh"I%Mb@Mb@Mb@!!! !)!Y%ʡE? rh?Q?y%?%C=%<% A %@)%@I%@!y%G@I=I= ٢M= MG=9M;Q U>QQ UG٣Qy]]< ]> eNusing accuracyPremultiplier from configau59e[w?}5Ye ie ?:?@eEeS;eͫ;e^5 w@ZjFNOT Ignoring new targets: 113.70 m.BjX<JjX<} ProNav: ac range: 113.699997 m, nav range: 46.170147 m, bearing: 141.567236 deg, approach rate: -0.306951 m/s, LOS rate: 0.758827 deg/s, cmd heading: 79.155486 deg, new cmd heading: 79.953960 deg. 2j}1=HeadingCmd: 1.395460 target range: 113.699997 and range: 113.70 m. jn?jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006167hhBfffrfbf@:@ɛ 5&= 9EB?IA M<ɚIiiIm.E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:23:36:21.4439 U TRx dataTimestamp_ set to:1736379382.816649U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259133 D$?I H I  I "II #BI &I .I 6I I<:I 3 F8{mw,vA6RQ?Y6f?6z<96q_\>y6H|z? ' ? ?_?S?@?ɨ6RQ?6;6$CyBBBs"I)D DDFAIJIJ٢V;= VU=9Z@;Q Z>XX ZG٣ZSVGy^< ^> bNusing accuracyPremultiplier from config`j59bB{?j5Yb ibhn?n@bEbpN;b(O;b 5p r@tZj FNOT Ignoring new targets: 113.70 m.Bj#H<Jj#H<- ProNav: ac range: 113.699997 m, nav range: 46.061920 m, bearing: 141.830313 deg, approach rate: -0.287256 m/s, LOS rate: 0.699899 deg/s, cmd heading: 79.953962 deg, new cmd heading: 80.744996 deg. 2j-*<5HeadingCmd: 1.409266 target range: 113.699997 and range: 113.70 m. j5b?j1j1j1i1h1h1hhfffrfbf, @ɛBG{= BG?I ӵ<ɚiIJ J J /J J \:J 9J (N3J J j;J k;J 3;J 3;btw,dAyrBr~"IWill construct direction to contact in vehicle frame from tetrahedron phase data. AIEhEDAT read: 23:36:21.4439 LVL= 18272, 27073, 21122, 30963, AGC= 62, IDX= 430,-0.05, 1.125,-0.524,-0.649,-0.018, PHS= 1.231,-0.459,-0.634, RAW= 85.1, -1.6, CAL= 92.5, -6.9, ROT= 57.5, 6.9 MYgot valid direction response: 23:36:21.4439 LVL= 18272, 27073, 21122, 30963, AGC= 62, IDX= 430,-0.05, 1.125,-0.524,-0.649,-0.018, PHS= 1.231,-0.459,-0.634, RAW= 85.1, -1.6, CAL= 92.5, -6.9, ROT= 57.5, 6.9 UPDAT read: Bearing 57.5, 6.9 (Local) U~Local bearing/azimuth received: Bearing 57.5, 6.9 (Local) DAT read: Range 10 to 50 : 112.5 m (Round-trip 150.1 ms) speed 0.4 m/s %,DAT read: user:3371> %BDAT read: Tx time:23:36:22.5396 -$Ping request sent.-ih? 뾩M"? ?)ϢIt?iϢ=9X>?*52&J⿤.)I?*52&J⿤.)Ii @ @ @  @ II(٢=  =9Q >   G٣y > %bBottom track data is 0.5 s old, using for 20.0 s. %Nusing accuracyPremultiplier from configM59{?M5YV i־M+:QU:QU@E;6?5]B ]W@]7EkӠ ?k( k kyA:kBBksBZk]@"AiCL5@xZ[@~n_1\Hu/;?)|b?Jk_?Rk *peC?Rmp (\@ "?F`9P?"kS*k?kH!?kDi 2k}2Ck?kGu_C kW0CkAkT~,@ addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.780105 s, deltaX: -1.199997 m, approachRate: -0.317451 m/s, rangeRepo size: 4 U Added new target pos. range: 112.500000 m, bearing: 299.667069 deg, lat: 36.905314 deg, lon: -122.120205 deg, deltaT: 3.780105 s, deltaX: -1.199997 m, approachRate: -0.317451 m/s, posRepo size: 4 ZjQUFNOT Ignoring new targets: 112.50 m.Bj]JjY ProNav: ac range: 112.500000 m, nav range: 28.835300 m, bearing: 154.424185 deg, approach rate: 0.000000 m/s, LOS rate: 0.699899 deg/s, cmd heading: 80.744994 deg, new cmd heading: 81.861096 deg. 2jHeadingCmd: 1.428746 target range: 112.500000 and range: 112.50 m. j#?jjjihhhhfffrf \@bf v4?zKBHK+9KK!KRK ?JK ?ɛYڗ= 隽8L?I <ɚiII1{w,4ABZZ?YBn?B<9BU_>yBH@,?@@d?;? Q?$;A!@?:?ɨBZZ?B';B'Cy^%B^"IIzIzͳ٢[L= h=9܎;Q M>QQ UG٣Qy],= ]> bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from configa59e?5Ye ie :`:?@eEe;;e`?e5 @ZjFNOT Ignoring new targets: 112.50 m.BjP<JjP< ProNav: ac range: 112.500000 m, nav range: 28.776302 m, bearing: 154.847907 deg, approach rate: -0.170380 m/s, LOS rate: 1.226161 deg/s, cmd heading: 81.861094 deg, new cmd heading: 83.134644 deg. 2j`R=-HeadingCmd: 1.450973 target range: 112.500000 and range: 112.50 m. j-~?j)j)j)i)h)h1h1h1f1f1f9rf9bf= "?ɛB婻= 隭P?I +<ɚiInI  I "II KBI &I .I 6D6I %<:I  F*F=?2F9:F9BFE`0JFAG5RCͽGBOK>} Will construct direction to contact in vehicle frame from tetrahedron phase data.} >} :?w,کA?Y ?<9Gg>yH@G?t??g:?Ƞ@`?`-?ɨ?n;y]&B]"Ii=Ip< ==II(٢[1; <=99Q >))JJJ0JJ:J9Jـ3JJQ;JR;J:;J:; G٣TVGy$< > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59r?5YX~ i95:r?@E88;V?5 @B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 112.50 m.Bj-<Jj-<= ProNav: ac range: 112.500000 m, nav range: 28.701033 m, bearing: 155.383337 deg, approach rate: -0.170275 m/s, LOS rate: 1.214407 deg/s, cmd heading: 83.134645 deg, new cmd heading: 84.744700 deg. 2j=[P=EHeadingCmd: 1.479074 target range: 112.500000 and range: 112.50 m. jMLR?jIjIjQiQhQhQhQhYfYfYfYrfYbfe?ɛNߪ= 隕DQ?I n<ɚiIzK BoHK K K !K BK- oA:K- lA;w,"ABJԍ?YB^?B<9B-g>yBHܭ?<?@? Ɩ?@J@פ?`-?ɨBJԍ?Be;B$Cyf-Bf"IMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.224106        Mb@Mb@Mb@ )Y9v?|?5^??y4?=<A @)$@I@y@IIk٢= N=9HQ >yy }G٣yy= > Nusing accuracyPremultiplier from config59?5Yv iT:7?:?@E_;;5 Q@ZjImFNOT Ignoring new targets: 112.50 m.Bjur<Jjur< ProNav: ac range: 112.500000 m, nav range: 28.613688 m, bearing: 155.917495 deg, approach rate: -0.213729 m/s, LOS rate: 1.311026 deg/s, cmd heading: 84.744698 deg, new cmd heading: 86.351620 deg. 2j`=HeadingCmd: 1.507120 target range: 112.500000 and range: 112.50 m. jP?jjjihhhhЂBf)f1f1rf9bfER?ɛp= 隽T?I <ɚiI <)9 =C~G5tA %Y%5tAy%BIP?iyi}J )}P?)E*F?2F:FBF`0JFG%pA G%oA IG Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476971G B H I  I "II `BI &I .I 6I <:I q FBIJIRIZI$ =bI$ =jIɷ?4O5 >ew,ci>y2H`/?`R_?(?`? @?@=*?ɨ2P?2ʲ;2&Cyb Bb"IIjIj ٢r rZ=9rL:Q v>tt vG٣tyz5= z>  Nusing accuracyPremultiplier from config 59? 5YWp iyּ?@E::25! %@!ZjIMFNOT Ignoring new targets: 112.50 m.BjU<JjU I h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9785381Mw,yAA EG٣EUVGyM M> UNusing accuracyPremultiplier from configQ]59Ua?]5YUg iUhe`?jjjihhhhςBfffrfbf@ɛ Ȫ=  L?I  <ɚiI`?iitc3)>`?)!*F2F:FBF4JFzK-BHK-h9K)K-!K-RK=?JK=?G. GABIOeV>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.231017ww,pA6v?Y6,?6L9<96p>y6H@(/?x^?]?@?͕if?@?ɨ6v?6h;6$CyRBRn"IIZIZ٢vܖ vc=9v^;Q v>xx zG٣xyzf= ~>  Nusing accuracyPremultiplier from config 59? 5Y` iZ0?@ E::5 7@!ZjIMFNOT Ignoring new targets: 112.50 m.BjU^<JjU^G]!>jH<bH4=HI I"II[BI&I.I6I<:Io FG$fGiByO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735282aw,A6?Y6?6pk<96!u>y6H? k?w?[?ߒ왿W??ɨ6?6 ;4y^B^^"IIfIf<٢n nK=9n Q r>pp rG٣pyvd0= v> zNusing accuracyPremultiplier from configx59z?5YzX izJa?@z Ez3;z3;z{5B @2EZjamFNOT Ignoring new targets: 112.50 m.Bjm{<Jjm{< ProNav: ac range: 112.500000 m, nav range: 28.237974 m, bearing: 158.098483 deg, approach rate: -0.249779 m/s, LOS rate: 1.388212 deg/s, cmd heading: 91.216698 deg, new cmd heading: 92.914510 deg. 2j-n=HeadingCmd: 1.621664 target range: 112.500000 and range: 112.50 m. j?jjjihhhh!f)fQfarfibfbe@JIJMJIJIJIJM9JIJIJIJIJM$7;JM%7;ɛr= ??I 00=ɚiIzK K K K !K w,9ѣAy~BF"I%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240821ix>I= M=M=Mb@Mb@Mb@ )Y~jt?/$?~jt?y;?1>vA @);@Ip@yp@I  I (2٢) 8=9%Q %>!! %G٣%VVGy- -> Nusing accuracyPremultiplier from config%59͐?%5YO i2->?-:-?-@E<;5a eE@0EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.50 m.Bj <Jj < ProNav: ac range: 112.500000 m, nav range: 28.111818 m, bearing: 158.767496 deg, approach rate: -0.260108 m/s, LOS rate: 1.385530 deg/s, cmd heading: 92.914513 deg, new cmd heading: 94.929682 deg. 2jm=%HeadingCmd: 1.656836 target range: 112.500000 and range: 112.50 m. j%0?j!jAjAiIhIhIhIhUBfQfQfQrfQbf]A @ɛBd= 5?I  =ɚ i I z5 } BDAT read: Tx time:23:36:26.1896  $Ping request sent. I  I "II ABI &I .I 6I s<:I R FiU@0m :publishing transmit ping time؁ m Fpublishing direction and range info9Ue9;?S?y )Ii )Ii4N*? ɸΎ߿O?)IiG iN$G B O >w,⭽Ay~܃B0"III٢Eý EY=9IQ M>II MG٣IyQ U> Nusing accuracyPremultiplier from config59 ?5YsH i@E94;4;#5 5AkO?kF k kxCA:kBBkBZk@"DL+'@i򍁴t[@Ue9;?S?JkU@Rk0* k{(@*Yݒ*~Ns[@e?[^QI?"kT*kEAk9Zv?kv 2k/Ck"뤜?kKF kkN?Aka@ addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.527932 s, deltaX: -1.199997 m, approachRate: -0.340142 m/s, rangeRepo size: 4  Added new target pos. range: 111.300003 m, bearing: 312.850283 deg, lat: 36.905450 deg, lon: -122.120367 deg, deltaT: 3.527932 s, deltaX: -1.199997 m, approachRate: -0.340142 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 111.30 m.BjJj% ProNav: ac range: 111.300003 m, nav range: 11.956685 m, bearing: 202.161354 deg, approach rate: 0.000000 m/s, LOS rate: 1.385530 deg/s, cmd heading: 94.929685 deg, new cmd heading: 96.443296 deg. 2j!MHeadingCmd: 1.683253 target range: 111.300003 and range: 111.30 m. jMt?jIjIjIiQhQhQhQhQfYfYfYrf]@3[@bfeJ?ɛKf= -,?I L=ɚiI A IA  Will construct direction to contact in vehicle frame from tetrahedron phase data.朵w,ʊAVu$?YVb?V<9Vs>yVH@D?@Q U?? ?k <GG?f?ɨVu$?VTҊ;V'CynȃBn"IMb@Mb@Mb@ )Y|?5^?Zd;?y2?= A @)Q@I@y@II٢[ A=9˻Q > G٣y; > > Nusing accuracyPremultiplier from config59􏨜?5Y@ i5?:?@E[;;5B A3EZj)5FNOT Ignoring new targets: 111.30 m.Bj5k=Jj=k=M ProNav: ac range: 111.300003 m, nav range: 12.056428 m, bearing: 203.451485 deg, approach rate: 0.256943 m/s, LOS rate: 3.295678 deg/s, cmd heading: 96.443296 deg, new cmd heading: 100.275618 deg. 2jU\ >]HeadingCmd: 1.750140 target range: 111.300003 and range: 111.30 m. j]?jYjYjYiYhahahaheBfififirfibfu`0?ɛ蜢= 隝!?I ]=ɚiI5z5Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J :J J a @a @a @a @Żw,-`A6`؟?Y6s?6<96=y>y6H`?z#?`?r?>o@RѕQ?@ ?ɨ6`؟?6!;6%CyBBB!I)D DDFAIJ IJ2٢- -V=95 mQ 5>QQ UG٣UWVGy].`= ]> eNusing accuracyPremultiplier from configam59el?m5Ye9 ieim?u@eEe:e:e5y }AyZjFNOT Ignoring new targets: 111.30 m.Bj_=Jj_= ProNav: ac range: 111.300003 m, nav range: 12.151272 m, bearing: 204.667784 deg, approach rate: 0.245861 m/s, LOS rate: 3.128134 deg/s, cmd heading: 100.275619 deg, new cmd heading: 103.890959 deg. 2j,>HeadingCmd: 1.813239 target range: 111.300003 and range: 111.30 m. j:?jjjihh Ihhfffrfbf@?ɛBV=  ?I [m =ɚ!i!I%E Will construct direction to contact in vehicle frame from tetrahedron phase data.ȱ¿w,'M A2a?Y2t?29<926>y2H[6?j@d?? ۴? 8@+ ?@?ɨ2a?2,;2'Cy>B>!IININk٢R˽ VR=9VFQ V>TX ZG٣Xy^m= ^> bNusing accuracyPremultiplier from config`f59bf?f5Yb2 ibdfZ?f@bEbv:b:bG 5l nYAlZj  FNOT Ignoring new targets: 111.30 m.Bj\=Jj\=- ProNav: ac range: 111.300003 m, nav range: 12.245501 m, bearing: 205.869755 deg, approach rate: 0.244160 m/s, LOS rate: 3.090279 deg/s, cmd heading: 103.890961 deg, new cmd heading: 107.464224 deg. 2j->5HeadingCmd: 1.875605 target range: 111.300003 and range: 111.30 m. j5?j1j1j1i1h9h9h9h9fAfAfArfAbfM?ɛquR= y隅?I $ =ɚiIG> IG]eZWill construct direction to contact in vehicle frame from tetrahedron phase data.GB!O=P>zK- WLK- +9K) K- !K- ).00,&'" ȿw,?%A2ʥ?Y2?2<92pه>y2H?3@/?5?K?vn?>??ɨ2ʥ?2;0yFBF!IvWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%uV?1Zd?Mb`?y%r(?%"=%;%3 A %@)%@I%@!y%@I=I=<2٢M M?=9UMQ U>QQ ]G٣Yym~g= m> ENusing accuracyPremultiplier from configAM59Eډ?U5YE* iEU*?U:]?]@EEEoR;EP;ED 5B !A1EZj=FNOT Ignoring new targets: 111.30 m.BjEF=JjEF=U ProNav: ac range: 111.300003 m, nav range: 12.353139 m, bearing: 207.189197 deg, approach rate: 0.227971 m/s, LOS rate: 2.769897 deg/s, cmd heading: 107.464222 deg, new cmd heading: 111.381594 deg. 2jU=}HeadingCmd: 1.943976 target range: 111.300003 and range: 111.30 m. j}1?jyjyjyiyhhhheBfffrfbf@?ɛBK= 隍>I =ɚiIGϿw,>A:k?Y:~2?:5<9: >y:H`? ? ?` H?=?g ӆ??ɨ:k?:;:&CyReBR!IiV=IV]> Vp=Va=IZIZ ٢b+ fU=9jQ j>hh nG٣nXVGyn= r> vNusing accuracyPremultiplier from configpv59r_?z5YrX$ ir۽xz?z@rEr*:r:r 5 A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 111.30 m. =nManaging dock network, ignoring radio surface power offBj5W=JjEW=] ProNav: ac range: 111.300003 m, nav range: 12.436866 m, bearing: 208.218971 deg, approach rate: 0.246772 m/s, LOS rate: 3.014499 deg/s, cmd heading: 111.381596 deg, new cmd heading: 114.447026 deg. 2j]M>eHeadingCmd: 1.997477 target range: 111.300003 and range: 111.30 m. jeW?jajajiiihihihihqfqfqfqrfybf}`ex@ɛ= 隭#>I 8=ɚiIh8 I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497679տw,XAb^?Ybq?bq<9beK>ybH`?G?`?Sy?ʽ?3 F??ɨb^?bpg;b%CyjXBj!ImMb@Mb@Mb@iii i)iYm/$?|?5^?MbP?ym?m=m:m` A mr@)mZ@Im@iymQ@IIF2٢@} >=93Q > G٣y]= > Nusing accuracyPremultiplier from config=59܃?=5Yl iɽ=?=:=2?E@E<<5I MWAIZjFNOT Ignoring new targets: 111.30 m.Bj5=Jj5= ProNav: ac range: 111.300003 m, nav range: 12.526877 m, bearing: 209.367813 deg, approach rate: 0.200516 m/s, LOS rate: 2.540685 deg/s, cmd heading: 114.447025 deg, new cmd heading: 117.864500 deg. 2j =HeadingCmd: 2.057124 target range: 111.300003 and range: 111.30 m. j@jjjihhhhCBff!f!rf!bf%`"@ɛB~= (>I =ɚ!i!I%$-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752754G BU Gm tA G @&Y tAy BB O >J J J J J :J 9J J ܿw,¦rA6P?Y6c.?67sV<96>y6H  ??@֓6?4Ί?@?ɨ6P?6B;6'Cy>FB^w!IIfIfb٢z T=9䌻Q >   G٣yً= > %Nusing accuracyPremultiplier from config!-59%-?-5Y%4 i%15?5@%E%n:%:%c5 AIAI MAIZjquFNOT Ignoring new targets: 111.30 m.Bj}G=Jj}G= ProNav: ac range: 111.300003 m, nav range: 12.606577 m, bearing: 210.400143 deg, approach rate: 0.216946 m/s, LOS rate: 2.792132 deg/s, cmd heading: 117.864504 deg, new cmd heading: 120.938795 deg. 2j=HeadingCmd: 2.110780 target range: 111.300003 and range: 111.30 m. j@jjjihhhhfffrfbf9@ɛ:ā= T>I T=ɚiI|I I!IIBI# =&I.I6Ip<:IR FBIJIRIZIbI# =jI}o4*F]?2Fa:FiBFmn0JFiGM:G) B9 O] >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- %=- =- BDAT read: Rx Time:23:36:28.7401 5 TRx dataTimestamp_ set to:1736379390.124827= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255608w,A2?Y2?28/<92>y2Hિ9k@2?@dd jG٣hyj= j> rNusing accuracyPremultiplier from configlr59n{?r5Yn intv ?v@n!En;n);n5 \AZj)5FNOT Ignoring new targets: 111.30 m.Bj5<=Jj5<=E ProNav: ac range: 111.300003 m, nav range: 12.685705 m, bearing: 211.450320 deg, approach rate: 0.200108 m/s, LOS rate: 2.639090 deg/s, cmd heading: 120.938799 deg, new cmd heading: 124.066392 deg. 2jMe=MHeadingCmd: 2.165367 target range: 111.300003 and range: 111.30 m. jM` @jQjQjQiQhQhQhYhYfYfafarfabfe f$ @ɛ1Us= Y]&>Ia e"=ɚiiiIu L%w,^AzKRbNKR9KPKR!KR"2BKOW]bhljknookhie[UF4.*%#   BKVpA:KVpAnWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 23:36:28.7401 LVL= 19952, 32753, 26130, 32755, AGC= 58, IDX= 423, 0.46,-2.262, 2.391, 2.781,-3.066, PHS= 0.891,-0.780,-0.439, RAW= 101.1, 4.3, CAL= 111.4, 2.4, ROT= 38.6, -2.4 =Ygot valid direction response: 23:36:28.7401 LVL= 19952, 32753, 26130, 32755, AGC= 58, IDX= 423, 0.46,-2.262, 2.391, 2.781,-3.066, PHS= 0.891,-0.780,-0.439, RAW= 101.1, 4.3, CAL= 111.4, 2.4, ROT= 38.6, -2.4 EPDAT read: Bearing 38.6, -2.4 (Local) M~Local bearing/azimuth received: Bearing 38.6, -2.4 (Local) UDAT read: Range 10 to 50 : 109.7 m (Round-trip 146.3 ms) speed 0.4 m/s },DAT read: user:3373> BDAT read: Tx time:23:36:29.8396 $Ping request sent.11 5G٣5YVGy= =>JMJMJM/JIJM,:JM 9JM(N3JI bBottom track data is 0.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59u?5Y i+::@$ES*;?5 A.Ekr-]?krm kp kr-A:krfBBkrBZkr@"rAg44-<"\Z@rrAǿeH MwW?Jkr.Rkr *rŐDE@I060X@rK?9/Tÿ%E?"krr*kr$*Bkr!v?krS 2krF%CkrH!?krDi kpkrzAkrNh@ addTargetRange:: Added new target pos. range: 109.699997 m, deltaT: 3.779925 s, deltaX: -1.600006 m, approachRate: -0.423290 m/s, rangeRepo size: 4  Added new target pos. range: 109.699997 m, bearing: 338.295346 deg, lat: 36.905564 deg, lon: -122.120382 deg, deltaT: 3.779925 s, deltaX: -1.600006 m, approachRate: -0.423290 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 109.70 m.Bj Jj  9IEhM ProNav: ac range: 109.699997 m, nav range: 8.529964 m, bearing: 283.627420 deg, approach rate: 0.000000 m/s, LOS rate: 2.639090 deg/s, cmd heading: 124.066397 deg, new cmd heading: 128.703746 deg. 2jIUHeadingCmd: 2.246304 target range: 109.699997 and range: 109.70 m. jUr@jQjqjqiqhyhyhyhyfffrfl[@bf?ɛw_= E>I h=ɚiI{w,"9AVU?YVh?V~;9V>yVH Կ *&?˰?2y?@Yo`?U?ɨVU?VV;Ty^B^E!IIfIf٢n哽 nb=9vɛQ v>tx zG٣xyzw> z> bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 5Will construct direction to contact in vehicle frame from tetrahedron phase data.9~pp?5Y~ i~m :`: ?@~%E~e;~h?~5! -1A)EB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 109.70 m.Bj]ґ;Jj]ґ;} ProNav: ac range: 109.699997 m, nav range: 8.746265 m, bearing: 283.711031 deg, approach rate: 0.676336 m/s, LOS rate: 0.254973 deg/s, cmd heading: 128.703741 deg, new cmd heading: 128.948370 deg. 2j}.<HeadingCmd: 2.250574 target range: 109.699997 and range: 109.70 m. jf @jjjihhhhfffrfbf`>?ɛ`Nv= >I  E=ɚiIw,UA:Ty:H@Pſ=??@ĿN?ljk@ ?d?ɨ:T G٣ZVGy= > Nusing accuracyPremultiplier from config59j?5Y i?T: ?:?@'E;3;5 A1EZjFNOT Ignoring new targets: 109.70 m.Bj;Jj; ProNav: ac range: 109.699997 m, nav range: 8.973475 m, bearing: 283.851706 deg, approach rate: 0.515652 m/s, LOS rate: 0.311178 deg/s, cmd heading: 128.948371 deg, new cmd heading: 129.359702 deg. 2jU<HeadingCmd: 2.257753 target range: 109.699997 and range: 109.70 m. j@jjjihhhh8Bfffrfbf?ɛq}e= y}>Iy }a=ɚyiI& Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239867ZH RH ?AH! I!  I% !II% \BI% # =&I! .I! 6I% <:I% e Fw,Az?Yz5?z ;9z>yzHxȿ&a?@cb?Ϲǿ |\?dan? B}?ɨz?z/O;z(Cy)BS!III)٢-%L= -P=9-OQ ->19 =G٣9y== E> MNusing accuracyPremultiplier from configAM59Ec?U5YE iEQU?U@E)EE :E. ;E5a eAaZjFNOT Ignoring new targets: 109.70 m.Bj|;Jj|; ProNav: ac range: 109.699997 m, nav range: 9.183967 m, bearing: 284.015845 deg, approach rate: 0.565667 m/s, LOS rate: 0.430990 deg/s, cmd heading: 129.359698 deg, new cmd heading: 129.840818 deg. 2j<HeadingCmd: 2.266150 target range: 109.699997 and range: 109.70 m. j@jjjihhh1h9f9fAfArfAbfE`Η?ɛ&t= š>I J\=ɚiI|J J J 0J J ̝:J 9J ـ3J J ;a J ;a J 8;a J 8;a w,GA 9I9*8?YyH*̿`;?7?Zʿռ?`4pB ?ౌ?ɨ*8?+;#Cy"BK!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743373Mb@Mb@Mb@ )YS㥛?S㥻?X9v?y$?/=</A \@)p@I-@yI5I53٢E׼ E,=9Mx;Q M>II UG٣QyU[= U> eNusing accuracyPremultiplier from configYm59]o[?m5Y] i]ܼu1 ?u:u$?u@]+E]7;];]5y }AZjFNOT Ignoring new targets: 109.70 m.Bj <Jj < ProNav: ac range: 109.699997 m, nav range: 9.433452 m, bearing: 284.251686 deg, approach rate: 0.524220 m/s, LOS rate: 0.482442 deg/s, cmd heading: 129.840817 deg, new cmd heading: 130.529591 deg. 2j<HeadingCmd: 2.278171 target range: 109.699997 and range: 109.70 m. j@jjjihhhh?ɛяj= >I! % |=ɚ!i!I%: w,-Ab?Yb?b*v;9bJ>ybH ĄϿ ?@?@mͿ෼?w$?@М?ɨb?b;b$Cyj.BjY!I)p pprAIvIv2٢~= ~y=9ޭ;Q ?  G٣ y )=  ? Nusing accuracyPremultiplier from config59WU?%5YV i!%?%@,Em ;:'5) -A5/EZjQ]FNOT Ignoring new targets: 109.70 m.Bj]<Jj]I ^=ɚiIuw,gGA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498401y 3B `!II%I%b٢-U< 5G=95Q 5>99 =G٣=[VGyE E> MNusing accuracyPremultiplier from configIU59MM?U5YM iMYY]@M.EM-;M.;M5eB ewAm2EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 109.70 m.Bj<Jj< ProNav: ac range: 109.699997 m, nav range: 9.820884 m, bearing: 284.658043 deg, approach rate: 0.523339 m/s, LOS rate: 0.527099 deg/s, cmd heading: 131.073215 deg, new cmd heading: 131.724101 deg. 2jߴ<HeadingCmd: 2.299019 target range: 109.699997 and range: 109.70 m. j"#@jjjihhhhfffrfbf@]@ɛUz= >I |=ɚiIW4Gu>JmJmJiJiJm<:Jm:JiJiJm;Jm;JmI;JmI; =B$?I9GiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750640GA BQ O >w,>aAFK?YF]:?F{<9FN>yFH`2Gӿ Yֱ? .?@aҿ c?`e/`?`?ɨFK?F_;F&CyRDBRu!I5Mb@Mb@Mb@111 1)1Y5Fx?)\(?l?y5 ?5G=5=5A 1)5Z@I5@1y5G@IMIM0٢e٣= eG=9e;Q m>ii mG٣iyu> u> }Nusing accuracyPremultiplier from configy59}D?5Y} i}Q?:/@@}0E}U;};} 5 AZjFNOT Ignoring new targets: 109.70 m.BjC<JjC<] ProNav: ac range: 109.699997 m, nav range: 10.042973 m, bearing: 284.945384 deg, approach rate: 0.541376 m/s, LOS rate: 0.684946 deg/s, cmd heading: 131.724105 deg, new cmd heading: 132.567001 deg. 2j] I =ɚiI_ Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iս A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254731H 2>I  I !II lBI &I .I 6I ٰ<:I Fw,P{A^?Y^)?^ 3<9^>y^H`տ`d?u9?aԿ? ya? ?ɨ^?^5Š;^%CyjVBj!Ii~0>I~= ==I I 2٢Mu= ML=9U2;Q U>YY ]G٣Yyei= e> mNusing accuracyPremultiplier from configiu59m;?u5Ym imqu@u@m2Em ;m ;m}"5 _AZjFNOT Ignoring new targets: 109.70 m.BjT<JjT< ProNav: ac range: 109.699997 m, nav range: 10.259228 m, bearing: 285.249430 deg, approach rate: 0.538967 m/s, LOS rate: 0.741789 deg/s, cmd heading: 132.567005 deg, new cmd heading: 133.459839 deg. 2j < HeadingCmd: 2.329314 target range: 109.699997 and range: 109.70 m. j y@jjjih1h1h9h9f9f9fArfAbfE` @ɛ1500= 15>I1 =)=ɚ9i9I=2 EBDAT read: Tx time:23:36:33.4897 M$Ping request sent.My.ֿ"1?yB ] y)I;iˡ%?X9tDlw@'g > L @)Q =IPw>iQ K?o 7KO@^?)%dId i - :publishing transmit ping timeA- Fpublishing direction and range info9i}ѿ_>y.ֿ"1?y )Ii )IiK?o 7KO@^?)IiG G B O >J J J J J J 9J J J J J 3;J 3;$w,A lIpuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:23:36:33.4889 ydB!IMb@Mb@Mb@ )Y|?5^??+?y?== A S@);@I@y@II 3٢M_= M&=9MQ M>QQ UG٣U\VGy] ]> eNusing accuracyPremultiplier from configa59e\0?5Ye ie}?:b@@e4Ee;eW;e$5 AkM鄾?kMm kI kMA:kMBBkMQBZkMO]@"M(|\y.ֿ"1?JkMRkM *MpګQ@1,.AT@Mظ B?$c G?"kM*kMBkMz?kMn 2kMCkM9Zv?kIkM/CkMAkMnj@] addTargetRange:: Added new target pos. range: 107.900002 m, deltaT: 3.528264 s, deltaX: -1.799995 m, approachRate: -0.510165 m/s, rangeRepo size: 4  Added new target pos. range: 107.900002 m, bearing: 355.170244 deg, lat: 36.905660 deg, lon: -122.120382 deg, deltaT: 3.528264 s, deltaX: -1.799995 m, approachRate: -0.510165 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 107.90 m.BjJj- ProNav: ac range: 107.900002 m, nav range: 16.888823 m, bearing: 323.033129 deg, approach rate: 0.000000 m/s, LOS rate: 0.741789 deg/s, cmd heading: 133.459834 deg, new cmd heading: 134.625200 deg. 2j)5HeadingCmd: 2.349653 target range: 107.900002 and range: 107.90 m. j5`@j1j1j1i1h1hYhYh]KBfafafarfeZ@bfmZa?ɛB= 隵|>I =ɚiIIy+w,(ABU?YBg?BS<9B[A>yBHؿm҆?v?٦׿? ~n??ɨBU?BEȊ;B#Cyn|Bn!III ٢=E> =j=9=o;Q =?AA EG٣AyM>> M? UNusing accuracyPremultiplier from configI}59M'?5YMc iMt@@M6EM;M;M+&5 1A5EZjFNOT Ignoring new targets: 107.90 m.BjUJjU ProNav: ac range: 107.900002 m, nav range: 17.072506 m, bearing: 322.787195 deg, approach rate: 0.562633 m/s, LOS rate: -0.745202 deg/s, cmd heading: 134.625201 deg, new cmd heading: 133.895380 deg. 2jHeadingCmd: 2.336915 target range: 107.900002 and range: 107.90 m. j@jjjihhhhf f f rfbf?ɛ=B=;= 9=t>I9 E6A =ɚAiAIEII IM!IIMBIIeWill construct direction to contact in vehicle frame from tetrahedron phase data.&II.II6IM<:IMe FBI JI RI ZI # =bI jI Iq4G1G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.o2w,A6m?Y6?@6b<96q>y6H Dڿ%`??@uٿ ?UPvt??ɨ6m?6);6&Cy>BB!I)D DDFAIJIJd٢Rd= VU=9VU;Q V>XX ZG٣Xy^׫= 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=> i=IM @M@=7E=P:=;:='5Q UA]3EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 107.90 m.Bj!;Jj!; ProNav: ac range: 107.900002 m, nav range: 17.292143 m, bearing: 322.527239 deg, approach rate: 0.560021 m/s, LOS rate: -0.654405 deg/s, cmd heading: 133.895381 deg, new cmd heading: 133.125466 deg. 2j༝HeadingCmd: 2.323478 target range: 107.900002 and range: 107.90 m. jܳ@jjjihhhhfffrfbf(?ɛBs= $?I v!=ɚiIn<8w,A2?Y2 @2L2g<92`M>y2H_ܿ`F?,?:ۿ08? 挿ӎ??ɨ2?29?;0yNBN!I]Mb@Mb@Mb@YYY Y)YY]V-?+η?+?y]|?]v=Y]\ A ]@)YI]@Yy]@IuIuͳ٢6= ==9,:Q > G٣]VGy= > Nusing accuracyPremultiplier from config59?5Y} i^!?:' @@:E>;;)5 AZjFNOT Ignoring new targets: 107.90 m.Bj";Jj"; ProNav: ac range: 107.900002 m, nav range: 17.540813 m, bearing: 322.250259 deg, approach rate: 0.595986 m/s, LOS rate: -0.654421 deg/s, cmd heading: 133.125469 deg, new cmd heading: 132.306369 deg. 2j༝ HeadingCmd: 2.309182 target range: 107.900002 and range: 107.90 m. j @jjjihhh!h%Bf!f!f)rf)bf5?ɛ= 隍??I #=ɚiI˧GM>GGBOn> IZHA RHE AAHI II  IM "IIM BII &II .II 6IM <:IM F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725894g>w,A:?Y:@:<9:>y:Hc,޿4?7?ܿ k?R`N??ɨ:?:";:$Cy^B^!IIfIf(٢n{= nV=9r;Q r>tt vG٣xyz= z> Nusing accuracyPremultiplier from config|59~?5Y~R i~5   @ @~;E~:~:~j+5=B sA6EZj9EFNOT Ignoring new targets: 107.90 m.BjE&JjE&U ProNav: ac range: 107.900002 m, nav range: 17.771009 m, bearing: 322.024511 deg, approach rate: 0.602620 m/s, LOS rate: -0.583320 deg/s, cmd heading: 132.306365 deg, new cmd heading: 131.637925 deg. 2jU)ȼ]HeadingCmd: 2.297515 target range: 107.900002 and range: 107.90 m. j]} @jajajaiahahahihqfqfqfyrfybf}?ɛBF= 隭?I %=ɚiI @$?I Ew,eA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.233191{?YF@"<9>yH߿@@U?}?^޿? V??ɨ{?1-;&CyB"Ii8>I> ==}Mb@Mb@Mb@yyy y)yY}q= ףp?EԸ?Mb?y}+?}=}=}A }S@)}h@I}@yy}G@II 2٢^:= 0=9d;Q > G٣y= > Nusing accuracyPremultiplier from config59?5Y i -?: @@>EL;lK;o-5 AZjFNOT Ignoring new targets: 107.90 m.BjJj ProNav: ac range: 107.900002 m, nav range: 18.073475 m, bearing: 321.768351 deg, approach rate: 0.624917 m/s, LOS rate: -0.520387 deg/s, cmd heading: 131.637922 deg, new cmd heading: 130.882350 deg. 2jHeadingCmd: 2.284328 target range: 107.900002 and range: 107.90 m. jn2@jjjihhhhBfffrfbf@ɛBh= 隅T?I '(=ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482652zK5 BHK5 s9K1 K5 !K5 Lw,m2ABe?YB@B<9BwF>yBHK@?]@?`߿ i?@v`2?@?ɨBe?BO;B'Cy^ăB^"IIfIfb2٢nO= nm=9r;Q r?pp vG٣v^VGyvI= v?*J|"J~4=JJJJJ̝:J9JJa @a @a @a @ Nusing accuracyPremultiplier from configx59z觜?5Yz iz@@z@Ez;zٲ;z.5% Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986038Rw,l@LA^J?Y^. @^<9^Q>y^HŠ`?@?!?@ `}?`=?ɨ^J?^1;^&CyjЃBj "IIrIr2٢z\\= zI=9~ ;Q ~> G٣y=  > Nusing accuracyPremultiplier from config%59٧?%5Yp iȺ!%@%@BE!;3";051 5cA1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 107.90 m.BjegJjeg仝u ProNav: ac range: 107.900002 m, nav range: 18.571308 m, bearing: 321.441815 deg, approach rate: 0.675921 m/s, LOS rate: -0.399370 deg/s, cmd heading: 130.395852 deg, new cmd heading: 129.915983 deg. 2ju }HeadingCmd: 2.267462 target range: 107.900002 and range: 107.90 m. j}@jjjihhhhfffrfbf`,@ɛEBE"= AE(?IA M,=ɚIiIIMѽeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.239225Yw,2fAy~ՃB~&"IMb@Mb@Mb@ )Y㥛 ?ʡE?~jt?y5?=< @)~@I@y3@IIF2٢ ?<  :=9Q > %G٣!y% -> =Nusing accuracyPremultiplier from config9E59=ɧ?M5Y= i=M6?M:U@U@=EE=~;=?|;=25a e9Am:EZjFNOT Ignoring new targets: 107.90 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490086BjJjM ProNav: ac range: 107.900002 m, nav range: 18.878872 m, bearing: 321.235437 deg, approach rate: 0.688803 m/s, LOS rate: -0.454661 deg/s, cmd heading: 129.915976 deg, new cmd heading: 129.306955 deg. 2jMUHeadingCmd: 2.256832 target range: 107.900002 and range: 107.90 m. jUo@jQjQjYiYhYhYhYheBfafafarfabfmh @ɛ/= *?I A.=ɚiII  I T"II BI # =&I .I 6I d<:I H Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742128G B O >A_w,.A:5?Y:# @:E<9:Ɍ>y:H`& [@? ?`CD?`󇙿E_??ɨ:5?:;:%CyBփBF("IININ 2٢V'; Vd=9VXX ZG٣Z_VGy^&> ^> bNusing accuracyPremultiplier from config`f59b?j5Yb  ibhj@n@bGEbE;bqF;b545p r-ApZj  FNOT Ignoring new targets: 107.90 m.Bj`Jj`% ProNav: ac range: 107.900002 m, nav range: 19.129974 m, bearing: 321.117536 deg, approach rate: 0.714608 m/s, LOS rate: -0.331129 deg/s, cmd heading: 129.306956 deg, new cmd heading: 128.957899 deg. 2j%@c-HeadingCmd: 2.250740 target range: 107.900002 and range: 107.90 m. j- @j)j)j)i)h1h1h1h9f9f9f9rf9bfEP@ɛiu"= y}+?Iy }O0=ɚyiyI}fQ1GBO )>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997626  =$?I v,fw,A%Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.250467yޕӃBޕ%"I%Mb@Mb@Mb@!!! !)!Y%+?Q?y&1|?y%v>?%\=%`;% A !)%@I%@!y%@IEIE(*٢U)C U&=9UQ ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59m񥧜?u5YmҞ im}P??}:}9@}@mJEm;m;m[65;B AA=EZjFNOT Ignoring new targets: 107.90 m.BjǻJjǻ ProNav: ac range: 107.900002 m, nav range: 19.492826 m, bearing: 320.942630 deg, approach rate: 0.738507 m/s, LOS rate: -0.349355 deg/s, cmd heading: 128.957892 deg, new cmd heading: 128.442958 deg. 2joHeadingCmd: 2.241753 target range: 107.900002 and range: 107.90 m. jx@jjjihhhyhBfffrfbf@ۚ@ɛv= D*?I 3=ɚiI `zK BoHK s9K K !K Sflw,AR@YR @R-!<9R>yRH`-???ඡ"?-Ü@͉?i?ɨR@RV;R$C*JX"JXJ^J^J\J\J^<:J^9J\J\yj΃Bj"I na=np=Ir Ir(2٢z ~w=9~T  ? Nusing accuracyPremultiplier from config 59 ??5Y 6 i @@ LE G; : 75) -lA)ZjQUFNOT Ignoring new targets: 107.90 m.Bj]퀻Jj]퀻m ProNav: ac range: 107.900002 m, nav range: 19.738508 m, bearing: 320.867238 deg, approach rate: 0.743882 m/s, LOS rate: -0.225434 deg/s, cmd heading: 128.442964 deg, new cmd heading: 128.219603 deg. 2jm }<$?IyHeadingCmd: 2.237854 target range: 107.900002 and range: 107.90 m. j9@jjjihhhhfffrfbff@ɛ}~Bv= 隅'?I 4=ɚiII I`"IIBI&I.I6I<:Ig F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.750992*F%?2F!:F!BF%]0JF!GFGBO%M> Will construct direction to contact in vehicle frame from tetrahedron phase data.յ <յ < checking for new query: numPingsReceived=0, elapsed TxPingTime=5.002135Isw,6Ay~ʃB~"II IV2٢5K =G=9=Q =>AA EG٣E`VGyM M> UNusing accuracyPremultiplier from configQ]59U?e5YUy iUaae@UNEU|4;U5;U95i mAu@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 107.90 m.BjyJjy ProNav: ac range: 107.900002 m, nav range: 20.044218 m, bearing: 320.776019 deg, approach rate: 0.741126 m/s, LOS rate: -0.217767 deg/s, cmd heading: 128.219603 deg, new cmd heading: 127.950122 deg. 2jsHeadingCmd: 2.233151 target range: 107.900002 and range: 107.90 m. j@jjjihhhhfffrfbf Yy@ɛ>ֹ= %?I 6=ɚ i I ,Xuyw,A:ާ@Y:@:=9:-t>y:H *`??`D Oh? xϠ,G?@?ɨ:ާ@:i;:%Cy~ƒB~"IMb@Mb@Mb@ )YCl?㥛 ?~jtxy;??=Ļ A @)@I@y@IIF٢-  >=9#5 G٣ y K=  > Nusing accuracyPremultiplier from config59p?%5YŎ i%&@?%:%@%@QE;D;y;51 5A5>EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.505992ZjFNOT Ignoring new targets: 107.90 m.BjJjc~GtAA ProNav: ac range: 107.900002 m, nav range: 20.366339 m, bearing: 320.729366 deg, approach rate: 0.716469 m/s, LOS rate: -0.102125 deg/s, cmd heading: 127.950125 deg, new cmd heading: 127.812380 deg. 5YtAyA2j, HeadingCmd: 2.230747 target range: 107.900002 and range: 107.90 m. j @j j j ihhhh‚Bfffrfbf%d@zKKKK!KɛB = !?I 9=ɚiIaG)>Gф`ZHi RHm @AHu 2>Iq  Iu Z"IIu BIq &Iq .Iq 6Iu <:Iu a FBI1JI1RI1ZI1bI1jI54G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=5.758004j\w,A6@Y6@6=96˶h>y6Hn `?5H?/L?B@7?H(?ɨ6@6zĉ;6"Cy^B^!IIf If̍2٢nќ r^=9r;Q r>tt vG٣tyv ?= z> Nusing accuracyPremultiplier from configx%59zZ_?%5Yz %tIiz)-@-@zSEzf;z<;z=51 5:A5@EZjFNOT Ignoring new targets: 107.90 m.BjJj ProNav: ac range: 107.900002 m, nav range: 20.641550 m, bearing: 320.703913 deg, approach rate: 0.764848 m/s, LOS rate: -0.069793 deg/s, cmd heading: 127.812374 deg, new cmd heading: 127.737034 deg. 2j?HeadingCmd: 2.229432 target range: 107.900002 and range: 107.90 m. j@jjjihhhhfff!rf!bf% @ɛiC= L?I !;=ɚiIp I IM hAw,TnArWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=6.264956=h@Y=p@=,!=9=|b>y=H4`ɧ??${?/?@1?ɨ=h@=);=&CyMBM!I Mb@Mb@Mb@    ) Y 1Zd?Dl?Mby ";? O=   A @) @I  y @I%I%2٢5# 5*=95<99 =G٣=aVGyE< E> MNusing accuracyPremultiplier from configIU59MH?U5YM iMʺ]Jj> ProNav: ac range: 107.900002 m, nav range: 20.994743 m, bearing: 320.684046 deg, approach rate: 0.753826 m/s, LOS rate: -0.041690 deg/s, cmd heading: 127.737037 deg, new cmd heading: 127.678437 deg. 2j亝HeadingCmd: 2.228409 target range: 107.900002 and range: 107.90 m. jA@jjjihhhhBfffrfbfR@ɛ!%ߨ= )-A?I) -ZS==ɚ)i)I-Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.514005zK k3IK K K !K w,P75A:<4@Y:DS@:4/=9:[>y:H@pDz `5??@?@䥿@'?=?ɨ:<4@:;:$C z:$?IxyB!III0٢M Mp=9Uj E?>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.767683*F%?2F!:F!BF%0JF)G-qA G-qAGM k =G! B) OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0179527w,OA6u@Y6@6/B=96jgQ>y6Hआr~?u? d?O?`BL?ɨ6u@6Nʼn;6'CyNBR!IiVdh jG٣hyj*< j> rNusing accuracyPremultiplier from configpv59r&?v5Yrz irtz@z@rZErq:r\:r\B5~9B ~AFEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 107.90 m.BjBJjB ProNav: ac range: 107.900002 m, nav range: 21.528727 m, bearing: 320.673026 deg, approach rate: 0.703234 m/s, LOS rate: -0.010629 deg/s, cmd heading: 127.658640 deg, new cmd heading: 127.645777 deg. 2jl鹝HeadingCmd: 2.227839 target range: 107.900002 and range: 107.90 m. j@jjjihhhhfff!rf!bf%@ɛmBmɩ= i隕P?I M@=ɚiI! Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.275042w,hhAy=uB=!IMb@Mb@Mb@ )YQ?EԸ?~jty5?=A )@IZ@yf@I"Iq3٢ A  7=9Q > G٣bVGy %> 5Nusing accuracyPremultiplier from config)=59-?=5Y-u i-E7?E:Eq@E@-\E-Q:;-7;-OD5I MAI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.522196ZjFNOT Ignoring new targets: 107.90 m.Bj:Jj: ProNav: ac range: 107.900002 m, nav range: 21.848057 m, bearing: 320.703268 deg, approach rate: 0.738404 m/s, LOS rate: 0.068907 deg/s, cmd heading: 127.645772 deg, new cmd heading: 127.735170 deg. 2j)=;HeadingCmd: 2.229399 target range: 107.900002 and range: 107.90 m. jz@jjjihhhhBBfffrfbf`9K@ɛ%= >I 99B=ɚiIx;jH <bH <H% 3>I!  I% "II% ƒBI! &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=7.773875w,ZՂA69g@Y6A@6Sik=96/>y6H l~'??``j?if?y?ɨ69g@6͊;6&Cy^`B^!IIfIf3٢r r_=9rtt vG٣tyzL ~> Nusing accuracyPremultiplier from config 59? 5Yq i<d@@_EE5;g5;E5! %A%IEZjIUFNOT Ignoring new targets: 107.90 m.Bj]N:Jj]N:m ProNav: ac range: 107.900002 m, nav range: 22.110363 m, bearing: 320.726901 deg, approach rate: 0.718352 m/s, LOS rate: 0.063955 deg/s, cmd heading: 127.735165 deg, new cmd heading: 127.805224 deg. 2jm/;mHeadingCmd: 2.230622 target range: 107.900002 and range: 107.90 m. ju@jqjqjqiqhqhyhhfffrfbf@ɛJ= 隽z>I C=ɚiIBG%>=GB O%,>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.025977J J J 0J J :J J ـ3J J ;J ;J J 8$?I :֦w,AbWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.2803375f!@Y5n@@5=95տ>y5H`c@^"?7?@@/? @I??ɨ5f!@5NJ;1yޕTB޽!I) AuMb@Mb@Mb@qqq q)qYuS?zG? G٣y > Nusing accuracyPremultiplier from config59覜?5YSl ii71?:( @@aE#;";H5 %AJEZjFNOT Ignoring new targets: 107.90 m.Bj  :Jj  : ProNav: ac range: 107.900002 m, nav range: 22.449833 m, bearing: 320.767079 deg, approach rate: 0.690219 m/s, LOS rate: 0.080455 deg/s, cmd heading: 127.805229 deg, new cmd heading: 127.923939 deg. 2j\;%HeadingCmd: 2.232694 target range: 107.900002 and range: 107.90 m. j%u@j!j!j!i)h)h)h)h5Bf1f1f1rf1bf= @ɛae$= ae>Ii u21E=ɚqiqIujTzK} KK} h9Ky K} !K} w,,~A2ߗ@Y2@2?#=92nO>y2H01ݥ??\?@耱7??ɨ2ߗ@2;2$Cy>CB>s!I F7$?ID*JFC="JF%=IR IR(2٢Zݽ Z=9ZI I!IIBI&I.I6I<:I_ Fɛ ==  >I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.782052 mOF=ɚiI#} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.033978w,)\A6@Y6!@6=96%V=y6H@@`?%?`?Ƌ?J?ɨ6@66;4yB6BBc!IIJIJ?13٢Vބ VK=9VbXX ZG٣Xy^h ^> bNusing accuracyPremultiplier from config`f59b@Ǧ?f5Ybyd ibhj@j@beEb:b:b*K5n8B rArMEZj FNOT Ignoring new targets: 107.90 m.Bj %Z:Jj %Z: ProNav: ac range: 107.900002 m, nav range: 22.940414 m, bearing: 320.806363 deg, approach rate: 0.697784 m/s, LOS rate: 0.047680 deg/s, cmd heading: 127.983880 deg, new cmd heading: 128.040526 deg. 2j;HeadingCmd: 2.234729 target range: 107.900002 and range: 107.90 m. j@jjj i hh!h)h)f)f1f1rf9bf=X"@ɛae= aeA>Ia mkG=ɚiiiIiIu@iuw,EANoS@YNwr@N0=9N=yNH ]R? b^? I66? P?`C?ɨNoS@Nʊ;N%CyZ%BZO!Ii^M94M@ M@)IIM@IyM@IeIeM3٢up u>=9}9N G٣yʼ >5Will construct direction to contact in vehicle frame from tetrahedron phase data.5=54==checking for new query: numPingsReceived=0, elapsed TxPingTime=9.538264 ENusing accuracyPremultiplier from config9E59=ײ?M5Y=_ i=m^)?m:m @m@=hE=;=c;=%M5y }AyB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 107.90 m.Bj5:Jj5:E ProNav: ac range: 107.900002 m, nav range: 23.238827 m, bearing: 320.849063 deg, approach rate: 0.628184 m/s, LOS rate: 0.088735 deg/s, cmd heading: 128.040529 deg, new cmd heading: 128.166987 deg. 2jEs;mHeadingCmd: 2.236936 target range: 107.900002 and range: 107.90 m. jm)@jijijqiqhqhqhqh}Bfyfyfyrfybf<#@ɛH؏= e<,>I =H=ɚiI`iHI I!IIgBI$ =&I.I5D6I<:Io F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.789949w,A6@Y6@6=96=y6Hj `4֞? FA? ʵ]? S?ɨ6@67;6&CyNBR?!IIZIZ3٢b bW=9bzdd fG٣fdVGyj j> 5Nusing accuracyPremultiplier from configl=59n碦?=5Yn)\ inAE8 @E@niEn.aI uI=ɚiI0 U 5$?IQ J J J J J ̝:J J J J ;J ;J J %w,A:@Y:@:{=9:=y:H#C`?i?W' ?'?VWill construct direction to contact in vehicle frame from tetrahedron phase data.Z) -G٣)y-C -> =Nusing accuracyPremultiplier from config1=595?E5Y5W i5NAE@E@5lE5>;5;5P5u7B u4 AuSEZjFNOT Ignoring new targets: 107.90 m.BjCu:JjCu: ProNav: ac range: 107.900002 m, nav range: 23.791597 m, bearing: 320.900709 deg, approach rate: 0.671211 m/s, LOS rate: 0.053607 deg/s, cmd heading: 128.244028 deg, new cmd heading: 128.320112 deg. 2j(;HeadingCmd: 2.239609 target range: 107.900002 and range: 107.90 m. jU@jjjihh!h!h!f)f)f)rf)bf5$@ɛy}F= y}>I LJ=ɚiItE>*FY2Fa:FaBFe3JFa"Gm=Gm=GU*=)= CGB!MWill construct direction to contact in vehicle frame from tetrahedron phase data.U~G  iY y AzK BHK 9K K !K   9 I9 8Lw,T7Ay B0!I)  Mb@Mb@Mb@ )YT㥛 ?p= ף?~jtxy!?>Ļ@ -@)@I@y3@IIT3٢W  Z=9 Q  >  G٣y %> -Nusing accuracyPremultiplier from config!-59%}?55Y%cS HYIY I]s!II]CBIY&IY.IY6I]԰<:I] FBIJIRIZIbIjI‰4i%wo$?: @@%nE%J<%<%lR5 T AZj9=FNOT Ignoring new targets: 107.90 m.BjE:JjE: ProNav: ac range: 107.900002 m, nav range: 24.027203 m, bearing: 320.924108 deg, approach rate: 0.608683 m/s, LOS rate: 0.059857 deg/s, cmd heading: 128.320116 deg, new cmd heading: 128.389624 deg. 2jQ$;Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:3375> -IQ UK=ɚQiYI] `d fG٣feVGyfk f> nNusing accuracyPremultiplier from confighn59jh?r5YjM ijpr@r@jpEjm ;j ;jT5t z AzTEZjFNOT Ignoring new targets: 107.90 m.Bj _9Jj _9%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254295 ProNav: ac range: 107.900002 m, nav range: 24.355000 m, bearing: 320.930371 deg, approach rate: 0.646528 m/s, LOS rate: 0.012188 deg/s, cmd heading: 128.389620 deg, new cmd heading: 128.408159 deg. 2j:HeadingCmd: 2.241145 target range: 107.900002 and range: 107.90 m. jn@jjjihhh!h!fQfYfarfabf`q&@ɛ9=v= AEB>IA EL=ɚaiaImjw,^*uA )I)zK-UKK-}9K)K-!K-&Jgtxzrh\OC80$  y9E)!IJJJJJ|:J 9JJa@a@a@a@%Mb@Mb@Mb@!!! !)!Y%Pn?Zd;?~jthy%$?%=%D! %@)%3@I!!y%@I=I=<٢Mw`: M4=9MQ U>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59eT?m5Ye I ieu '?u:u@u@esEe;e;eV5y  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 107.90 m.Bj:hJj:h ProNav: ac range: 107.900002 m, nav range: 24.649963 m, bearing: 320.924801 deg, approach rate: 0.680115 m/s, LOS rate: -0.012689 deg/s, cmd heading: 128.408157 deg, new cmd heading: 128.391647 deg. 2jV HeadingCmd: 2.240857 target range: 107.900002 and range: 107.90 m. j3j@jjjihhhhBfffrfbf}'@ɛM~BMB= QHI IT!II*BI# =&I.I6Iǰ<:I FU>I q|M=ɚiIIw,CAB@YB@B=9Bd=yBHK@q2C?^@i?D _? Rp=PIVIV[٢^M b<=9bIdd fG٣hynw n> rNusing accuracyPremultiplier from configpv59rB?v5Yr7D ir1tv@z@ruEr ;r!;rX5~6B ~ AWEZj!-FNOT Ignoring new targets: 107.90 m.Bj-Jj-= ProNav: ac range: 107.900002 m, nav range: 24.933207 m, bearing: 320.909861 deg, approach rate: 0.649444 m/s, LOS rate: -0.033868 deg/s, cmd heading: 128.391642 deg, new cmd heading: 128.347330 deg. 2j=񹺝EHeadingCmd: 2.240083 target range: 107.900002 and range: 107.90 m. jE]@jAjIjIiIhIhQhYhYfYfYfarfabfe`Di(@ 2$?Iɛ\= d=隥م>I hN=ɚiI}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967w,= AynBn"!IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882}Mb@Mb@Mb@yyy y)yY}%C?y&1?{Gzt?y}Z$?}`=}ף;}@ }@)}QAIyyy}@II٢@ ==9Q > G٣fVGy > Nusing accuracyPremultiplier from config590?5YW? if&?:@@wE$;$;qZ5  AZjFNOT Ignoring new targets: 107.90 m.BjuJju ProNav: ac range: 107.900002 m, nav range: 25.213215 m, bearing: 320.885032 deg, approach rate: 0.612884 m/s, LOS rate: -0.053742 deg/s, cmd heading: 128.347328 deg, new cmd heading: 128.273668 deg. 2j HeadingCmd: 2.238798 target range: 107.900002 and range: 107.90 m. j wH@j)j)j1i1h1h1h9h=Bf9f9f9rfAbfM`FW)@ɛ}Bډ= >I eO=ɚiI+ҳ<)%wH@ 1$?I)zK!MK9KK!K BK:KoAJJJ1JJ\:J:J3J*F}?2Fy:FyBF}05JFy"G=G=HAIA IE;!IIEBIE$ =&IA.IA6IE<:IEz FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762953Gm e~<G9 BI Oe >w,A6fx@Y6m@6A^=96T==y6HWj`Vn4m)?`M3?ZڽE?P?ɨ6fx@6"i;4y>B> !IIF!IFi3٢RO R\=9V8TT VG٣TyZW Z>  Nusing accuracyPremultiplier from config 59 !?5Y : i @@ yE 0; 0; \5) - A-ZEZjIUFNOT Ignoring new targets: 107.90 m.Bj]GκJj]Gκm ProNav: ac range: 107.900002 m, nav range: 25.459715 m, bearing: 320.852635 deg, approach rate: 0.692809 m/s, LOS rate: -0.090171 deg/s, cmd heading: 128.273671 deg, new cmd heading: 128.177423 deg. 2jmwuHeadingCmd: 2.237118 target range: 107.900002 and range: 107.90 m. ju,@jqjqjqiqhyhyhyhyfffrfbf*@ɛ|B;= 隽d>I P=ɚiIlߴ yIy Will construct direction to contact in vehicle frame from tetrahedron phase data. i A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275524<w,9A@Y""@A~=9+=yHY:YcJ?? =??ɨ@y;%CyB!I)! !)-AMb@Mb@Mb@ )YDl?J +?MbP?yO-?=:@ @)zAI@y@II(*3٢ +=9;Q > G٣yt >  Nusing accuracyPremultiplier from config 59 g?5Y  5 i ܽ/?:Z@@ |E ; Y; (^5%5B % A%]EZjIMFNOT Ignoring new targets: 107.90 m.BjUwJjUwe ProNav: ac range: 107.900002 m, nav range: 25.778116 m, bearing: 320.786307 deg, approach rate: 0.677614 m/s, LOS rate: -0.139416 deg/s, cmd heading: 128.177420 deg, new cmd heading: 127.980892 deg. 2je\mHeadingCmd: 2.233688 target range: 107.900002 and range: 107.90 m. jm@jijqjqiqhqhqhyh} Bfyffrfbf@*@ɛ{B5= >I 4+Q=ɚiII  I 4!II BI # =&I .I 6I <:I l FGw؍<Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775646GBO?+w,\A]:H?Y]$ @]̪=9]=y]H@૱N@d? @Et?am?Ӡ?ɨ]:H?].;]#CyuBu!III2٢5 *=9^;Q > G٣gVGyE > Nusing accuracyPremultiplier from config59?5Y. i$@@~ER6;6;@`56B  A[E5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 107.90 m.BjM4"JjM4"] ProNav: ac range: 107.900002 m, nav range: 26.102758 m, bearing: 320.716046 deg, approach rate: 0.663492 m/s, LOS rate: -0.141810 deg/s, cmd heading: 127.980888 deg, new cmd heading: 127.772730 deg. 2j]»eHeadingCmd: 2.230055 target range: 107.900002 and range: 107.90 m. je8@jajijihhhhfffrfbfH+@ɛzB .=  |>I  !R=ɚiIKս%=BDAT read: Rx Time:23:36:46.9747 TRx dataTimestamp_ set to:1736379408.274096checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029425GIBYO}z> I hkw,28A6-?Y6 @6:=96=y6HW wm?`h? `?=+~?ț?ɨ6-?6;6'CyllIv%Iv)3٢~: ~U=9:Q >   G٣ y   > Nusing accuracyPremultiplier from config%59L륜?%5Y* i^)-@-@E;:a555B 5 A=^EZjYeFNOT Ignoring new targets: 107.90 m.Bje'Jje'} ProNav: ac range: 107.900002 m, nav range: 26.363152 m, bearing: 320.660433 deg, approach rate: 0.693978 m/s, LOS rate: -0.146751 deg/s, cmd heading: 127.772731 deg, new cmd heading: 127.607541 deg. 2j}mɻ}HeadingCmd: 2.227172 target range: 107.900002 and range: 107.90 m. j@jjjihhhhfffrfbf6,@ɛyB:= >I R=ɚiI t@) k]=I 6>i k] Ϻ\?LMn?vN'?) e=I  i 2 ): T****** received valid address query ****** R****** received valid ping request ******G B O= >  w,6A"received new query, but waiting for acoustic response period to elapse ./$?I,,/?Y @=9v%=yH `? -h?i#U?k?`?ɨ,/?̃;$CyB !I %=%=zKpMK9KK!K*J"J4=JJJJJ:J9JJMb@Mb@Mb@ )YQ?Zd;O?y5?j=@ )AIZ@y@I$I<3٢lY 0=9GdQ > G٣y۾8 > %Nusing accuracyPremultiplier from config!-59%ץ?-5Y%# i%5G7?5:5@5@%E% ;%D;%c59 =2 A9H4>I I(!IIBI$ =&I.I6D6Ip<:IT FZj%FNOT Ignoring new targets: 107.90 m.Bj% 9Jj% 9e ProNav: ac range: 107.900002 m, nav range: 26.693855 m, bearing: 320.580776 deg, approach rate: 0.680027 m/s, LOS rate: -0.161770 deg/s, cmd heading: 127.607536 deg, new cmd heading: 127.371527 deg. 2je ޻mHeadingCmd: 2.223053 target range: 107.900002 and range: 107.90 m. jm~F@jijijiiihqhqhqhu7Bfffrfbf-@ɛwB‡= o>I 3S=ɚiIs%w,tbQA"Will construct direction to contact in vehicle frame from tetrahedron phase data."T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapseD?Y @"=9dD=yH1B?e??$Ż?`s?ɨD?;#Cy5B5!IIEIE(*3٢U ma=9uyDQ u>qy }G٣}hVGy: > Nusing accuracyPremultiplier from config59ȥ?5Y i@@E ;%;e5 b A`EZjFNOT Ignoring new targets: 107.90 m.BjFJjF ProNav: ac range: 107.900002 m, nav range: 26.949970 m, bearing: 320.520718 deg, approach rate: 0.745684 m/s, LOS rate: -0.173199 deg/s, cmd heading: 127.371526 deg, new cmd heading: 127.193064 deg. 2jHeadingCmd: 2.219938 target range: 107.900002 and range: 107.90 m. jUv@jQjQjQiQhQhYhYhYfYfafarfabfe'c.@ɛvB$̌=  d>I |T=ɚiIOWill construct direction to contact in vehicle frame 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$Tw,TRkA6 |?Y6 @6=96 =y6H}z?_?3?ɭ my??ɨ6 |?6;6%CyJނBJ I%Mb@Mb@Mb@!!! !)!Y%-?ˡE?Mby%5>?%=%%A %@)%`AI%@!y%G@I=I= 3٢M4F MJ=9UyQ U>QQ UG٣Yy]; ]> eNusing accuracyPremultiplier from configam59e\?m5YeH ie)u_??u:u@u@eEe;e;eNg5y  AE~G]|uAi `Y|uAyBZj FNOT Ignoring new targets: 107.90 m.BjGJjG% ProNav: ac range: 107.900002 m, nav range: 27.245031 m, bearing: 320.442915 deg, approach rate: 0.670284 m/s, LOS rate: -0.174831 deg/s, cmd heading: 127.193067 deg, new cmd heading: 126.962185 deg. MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse2jUﻝUHeadingCmd: 2.215908 target range: 107.900002 and range: 107.90 m. jUp @jYjYjYiYhYhYhhYBfffrfbfYF/@ɛuBa= !% S>I! %>U=ɚ!i!I%<GBOh>zKBIK 9KK!KJEJEJE1JAJE|:JE9JE3JAHE 7>IE C IE !IIE BIE " =&IA .IA 6IE <:IE q FBI JI RI ZI bI jI 5 Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6!w,aA2?Y2S @2}=92@=y2H@# ?]? 8?=@w? ?ɨ2?2lj;2'CyRӂBR I)T TIbIbF3٢Eb EK=9MQ M>IQ UG٣QyU: }> Nusing accuracyPremultiplier from configy59}㥥?5Y} i}p@@}E}+;}n;}i54B  AcEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 107.90 m.Bj XhJj XhE ProNav: ac range: 107.900002 m, nav range: 27.544497 m, bearing: 320.366001 deg, approach rate: 0.799595 m/s, LOS rate: -0.203131 deg/s, cmd heading: 126.962179 deg, new cmd heading: 126.733949 deg. 2jEh MHeadingCmd: 2.211925 target range: 107.900002 and range: 107.90 m. jM- @jIjIjIiIhIhQhhfffrfbfA0@ɛsBpȆ= >>I U=ɚiI -$?I-a'w,A:?Y:~@:FC=9:r=y:H@R5$ ?`8S?`)s?oA?͌?ɨ:?:g;:&CyF˂BF IIN"INq3٢V VU=9ZٻQ Z>XX ^G٣^iVGy^; b> fNusing accuracyPremultiplier from config`j59b|?j5Yb ibln+@n@bEb9;b;bj5r5B vH AvaEZj FNOT Ignoring new targets: 107.90 m.Bj RJj R- ProNav: ac range: 107.900002 m, nav range: 27.825092 m, bearing: 320.296898 deg, approach rate: 0.753243 m/s, LOS rate: -0.183634 deg/s, cmd heading: 126.733955 deg, new cmd heading: 126.528736 deg. 2j- 5HeadingCmd: 2.208343 target range: 107.900002 and range: 107.90 m. j5~U @j1j1j1i1h1h9h9h9fAfAfArfAbfE@p^0@ɛ}rB}t= y}2>Iy 7PV=ɚiIm 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 I -w,˸A>Y?Y>4@>U=9>=y>H:`1?R?]x?`?`?ɨ>Y?>z;>%Cy^Bb IMMb@Mb@Mb@III I)IYMV-?I +? rhyM|??*JY"J]R=M9=MCMA I)IIM@IyM@ImIm(*3٢} }>=9TQ > G٣y: > Nusing accuracyPremultiplier from config59?5Y i@?:@@EA;;l54B  AdEZjFNOT Ignoring new targets: 107.90 m.Bj:Jj:zKBHKh9KK!KBK:KpAu ProNav: ac range: 107.900002 m, nav range: 28.144739 m, bearing: 320.226029 deg, approach rate: 0.742132 m/s, LOS rate: -0.162670 deg/s, cmd heading: 126.528735 deg, new cmd heading: 126.318543 deg. 2j}G߻}HeadingCmd: 2.204674 target range: 107.900002 and range: 107.90 m. j}c @jjjihhhhaBfffrfbf`0@H8>I I IIBI! =&I.I6I<:I FɛpB%= !%>I! %LV=ɚ)i)I-x9%t4w,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:A@:F=9:>y:HK3@)??H??:#??ɨ:"@:S;:&Cy^B^ IIf Ifb3٢n nU=9rWQ r>pp rG٣pyv; v> zNusing accuracyPremultiplier from configx~59zq?~5Yz izF@@zEzu ;z ;zLn5 G AZj9=FNOT Ignoring new targets: 107.90 m.BjE2JjE2U ProNav: ac range: 107.900002 m, nav range: 28.430468 m, bearing: 320.165434 deg, approach rate: 0.745412 m/s, LOS rate: -0.156491 deg/s, cmd heading: 126.318543 deg, new cmd heading: 126.138587 deg. 2jUֻ]HeadingCmd: 2.201534 target range: 107.900002 and range: 107.90 m. j] @jYjYjaiahahahahifififirfibfu.1@ɛeoB ],$?Imhey= i隕T=I ]>W=ɚiIyu$:w,AyB IMb@Mb@Mb@ )Y"~j?+η?{GzySC?v=ף`A $@)I@y@I#I%x3٢½ :=9Q > G٣jVGy   > Nusing accuracyPremultiplier from config59]?5YI iD?%:%8@%@E;N;9p5-3B - A-gEZjQ]FNOT Ignoring new targets: 107.90 m.Bj]U*Jj]U*m ProNav: ac range: 107.900002 m, nav range: 28.764900 m, bearing: 320.099176 deg, approach rate: 0.760484 m/s, LOS rate: -0.148916 deg/s, cmd heading: 126.138581 deg, new cmd heading: 125.942119 deg. 2jmf̻}HeadingCmd: 2.198105 target range: 107.900002 and range: 107.90 m. j} @jyjyjihhhhXBfffrfbfਟ1@ɛmBzKmKm9KiKm!KmRK} ?JK}>ZHRH?AH9>I I IIĂBI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseAw,)_AB5@YBT@B=9BX|=yBH VLxU=?F? ??qԺr?`?ɨB5@B;@yrBr IIzIzV83٢5 }W=9VgQ > G٣yK; > Nusing accuracyPremultiplier from config59UL?5Y iJ@@E:X:q5 e AjEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 107.90 m.Bj$Jj$ ProNav: ac range: 107.900002 m, nav range: 29.060846 m, bearing: 320.042479 deg, approach rate: 0.759609 m/s, LOS rate: -0.144043 deg/s, cmd heading: 125.942118 deg, new cmd heading: 125.773760 deg. 2jŻHeadingCmd: 2.195166 target range: 107.900002 and range: 107.90 m. j} @j j j ihh!h)h)f1f9fArfAbfM2@ɛkB% g= 隵\=I W=ɚiI6(J J J J J :J 9J J J Q;J R;J 1;J 1;,Gw,: AyvBw I)! !)-A))I=I=?13٢M3 MI=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59em:?m5Ye ie(iqu@eEez:e:es5y } 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: 107.90 m.Bj2!Jj2! ProNav: ac range: 107.900002 m, nav range: 29.362360 m, bearing: 319.985896 deg, approach rate: 0.758758 m/s, LOS rate: -0.140929 deg/s, cmd heading: 125.773753 deg, new cmd heading: 125.605748 deg. 2joHeadingCmd: 2.192234 target range: 107.900002 and range: 107.90 m. jM @jjjihhhhfffrfbf p2@ɛiBol^= yMw,Bw:A:@Y:#@:#=9:`=y:HvE(?W?@JG?I`??ɨ:@:;\;:$CyJbBJ_ IeMb@Mb@Mb@aaa a)aYeMb?"~j?~jtye@?eS=ee A eQ@)e AIe;@ayeAIIT3٢ C=9},Q > G٣kVGy > Nusing accuracyPremultiplier from config59<'?5Y/ inB?:@@E;M;}u5 AkEzKyJKh9KK!K1GF;BK:KZj%FNOT Ignoring new targets: 107.90 m.Bj-Jj-= ProNav: ac range: 107.900002 m, nav range: 29.679165 m, bearing: 319.941186 deg, approach rate: 0.747234 m/s, LOS rate: -0.104331 deg/s, cmd heading: 125.605744 deg, new cmd heading: 125.473046 deg. 2j=3=HeadingCmd: 2.189918 target range: 107.900002 and range: 107.90 m. jE' @jAjAjAiAhAhIhIhM]BfIfQfQrfQbfU@_2@Hm;>Ii Im IImBIi&Ii.Ii6Im<:Imz FɛhB=T= 9E#IA EHW=ɚAiAIE5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapseETw,4TA%"?Y% @%=9%=y%H`)8?d??@[2@?/?ɨ%"?%ш;!y=OB=H IIIII٢e^ eO=9m Q m>ii mG٣iyu^ u> }Nusing accuracyPremultiplier from configy59}7?5Y} i}@@}E}X:}:}7w5 ($?Ih AZjFNOT Ignoring new targets: 107.90 m.BjJj ProNav: ac range: 107.900002 m, nav range: 29.977257 m, bearing: 319.898688 deg, approach rate: 0.761702 m/s, LOS rate: -0.107514 deg/s, cmd heading: 125.473048 deg, new cmd heading: 125.346821 deg. 2jHeadingCmd: 2.187715 target range: 107.900002 and range: 107.90 m. j @jjjihhhhfffrfbf@3@ɛfBK= 隵04I W=ɚiI}) Zw,VnA @:\Z?Y:4 @:f=9:¡=y:H`$ E?t?`.?`¸ۤ?v?ɨ:\Z?:Q;8yF:BF- I]Mb@Mb@Mb@YYY Y)YY]?X9v? G٣y@ > Nusing accuracyPremultiplier from config59?5Y itB?:@@E;;x5 AnEZjFNOT Ignoring new targets: 107.90 m.BjֺJjֺ ProNav: ac range: 107.900002 m, nav range: 30.284599 m, bearing: 319.860091 deg, approach rate: 0.754383 m/s, LOS rate: -0.093776 deg/s, cmd heading: 125.346826 deg, new cmd heading: 125.232210 deg. 2j HeadingCmd: 2.185714 target range: 107.900002 and range: 107.90 m. j  @j j j i h hhh:Bfffrfbf@3@ɛdBH*?= ԪI hUW=ɚiIgsI}C I}s II}sBI} =&Iy.I}7D6I}I<:I}A FzK OKs9KK!KW2Q}kB|/p7vomg`ZUPONIFFCA>=<:8Gk =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 elapse0aw,qAF ?YF̤ @F =9F=yFH@o?@Y?&?X ? u?ɨF ?Fa;Dyb!Bb IIjIj(*3٢r rU=9vQ v>tx zG٣zlVGyzͻ z> Nusing accuracyPremultiplier from config|59~? 5Y~ i~,  @ @~E~ :~L:~z5 A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 107.90 m.BjMںJjMں] ProNav: ac range: 107.900002 m, nav range: 30.574142 m, bearing: 319.823105 deg, approach rate: 0.755889 m/s, LOS rate: -0.095642 deg/s, cmd heading: 125.232215 deg, new cmd heading: 125.122309 deg. 2j]FmHeadingCmd: 2.183796 target range: 107.900002 and range: 107.90 m. jmQ @jijijqiqhyhhhfffrfbf~4@ɛcBX22= 隭I V=ɚiIJU JU JU 0JQ JU :JU =9JU ـ3JQ JU k;JU l;JU *;JU *; hw,ơA6Y?Y6h @6:=96=y6H7@??^? N?g?ɨ6Y?6@;6#Cy^B^IIf$If<3٢n nK=9r?Q r>pt vG٣tyv v> ~Nusing accuracyPremultiplier from configx59zޤ?5Yz# izk @ @zEz:z:zo|52B  AqEZj9EFNOT Ignoring new targets: 107.90 m.BjEdJjEdẝU ProNav: ac range: 107.900002 m, nav range: 30.877975 m, bearing: 319.782946 deg, approach rate: 0.752835 m/s, LOS rate: -0.098527 deg/s, cmd heading: 125.122304 deg, new cmd heading: 125.003012 deg. ]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse2je|8nw,LAy~B~I)   AMb@Mb@Mb@ )YK?Q?y&1|y^:?=`A @)I~@yAI!Ii3٢_ ;=9Q > G٣y > Nusing accuracyPremultiplier from config59ˤ?5YA iI I: IIEBI =&I.I6In<:Ia FBICJICRIZI! =bI =jI59 =nA=rEZjiuFNOT Ignoring new targets: 107.90 m.BjuJǺJjuJǺ ProNav: ac range: 107.900002 m, nav range: 31.198864 m, bearing: 319.743957 deg, approach rate: 0.724443 m/s, LOS rate: -0.087117 deg/s, cmd heading: 125.003008 deg, new cmd heading: 124.887244 deg. 2j&ozKOK+9KK!K65532.+&%$%$#"   HeadingCmd: 2.179694 target range: 107.900002 and range: 107.90 m. j @jjjihhhh Bfffrfbf;4@ɛ_B$= .5I U=ɚiIe Will construct direction to contact in vehicle frame from tetrahedron phase data. B>IIFIF?13٢Nd Ra=9RA׻Q R>TT VG٣VmVGyV* Z> ^Nusing accuracyPremultiplier from config &$?IXm59Z?m5YZX iZimu@u@ZEZ;H{w,GTAVq5?YV @Vѹ=9V=yVH E@ G٣yF > Nusing accuracyPremultiplier from config59禤?5YF i15?:@@EY;Will construct direction to contact in vehicle frame from tetrahedron phase data.<J-J-J)J)J-:J-9J)J)aE@aE@aE@aE@GBO>ZHRHAAHJ>IC I IIBI =&I.I8D6I<:I FzKuMKh9KK!K Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:3377>  BDAT read: Tx time:23:36:55.3899  $Ping request sent.  G٣y- > Nusing accuracyPremultiplier from config59閤?5Yi i2%@%@E<<5 -AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 107.90 m.Bj oJj o= ProNav: ac range: 107.900002 m, nav range: 32.059757 m, bearing: 319.638393 deg, approach rate: 0.667832 m/s, LOS rate: -0.080186 deg/s, cmd heading: 124.668574 deg, new cmd heading: 124.573437 deg. 2j=\EHeadingCmd: 2.174217 target range: 107.900002 and range: 107.90 m. jE^& @jAjAjAiIhIhihqhqfqfqfqrfybf}@6@ɛXB v= I qGS=ɚiI$5cZw, #A2>?Y2`> @2=92`=y2H`H@쮘? ? P$?`1?`?ɨ2>?2Љ;2%CyRBRIIZIZ%x٢bڽ bW=9fg+Q f>dd jG٣jnVGyj j> rNusing accuracyPremultiplier from configlv59n!?v5Yn in]xzs@z@nEnJ0;n}0;n?51B AxEZj)-FNOT Ignoring new targets: 107.90 m.Bj5غJj5غ=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiEAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502195U ProNav: ac range: 107.900002 m, nav range: 32.321312 m, bearing: 319.605546 deg, approach rate: 0.761294 m/s, LOS rate: -0.094831 deg/s, cmd heading: 124.573443 deg, new cmd heading: 124.475701 deg. 2jU)]HeadingCmd: 2.172511 target range: 107.900002 and range: 107.90 m. jek @jajajiiihihihqhqfqfqfqrfybf}`p6@ɛWBt< 隭I lR=ɚiIgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754022 $$?I Hw,h<A6?Y6 @6i=96=y6H|ø?`3?4}?@ ?@?ɨ6?6bi;6$CyNBNI*JnR="JlJrJrJpJpJr]:Jr9JpJpMb@Mb@Mb@ )Yn?`"?MbPyV.?= A 3@) AIyAHW>IC IIIBI =&I.I:D6Ir<:Iu FIIT3٢ 9=9'Q > G٣y >  Nusing accuracyPremultiplier from config 59t?5Y i1?:X@@ES;;-5! %A!ZjIzKKK9KK!K.z["A!4BK:KlAFNOT Ignoring new targets: 107.90 m.Bj)źJj )ź= ProNav: ac range: 107.900002 m, nav range: 32.625576 m, bearing: 319.567108 deg, approach rate: 0.688648 m/s, LOS rate: -0.086186 deg/s, cmd heading: 124.475703 deg, new cmd heading: 124.361466 deg. 2j=lUHeadingCmd: 2.170517 target range: 107.900002 and range: 107.90 m. jU @jQjQjQiQhYhYhYh]Bfafafarfabfe 6@ɛTBA< ΤI 1Q=ɚiIB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257876lw,VA 0I4:+?Y: @:qϭ=9:=y:H@q`? $? g+u?A7??ɨ:+?:/׏;:&CyvBzfIII?1٢ Z=9]Q > G٣y% -> 5Nusing accuracyPremultiplier from config1=5955e?=5Y5" i59E;@E@5E5;5;5҈5M0B MAM{EZjquFNOT Ignoring new targets: 107.90 m.Bj}9ǺJj}9Ǻ ProNav: ac range: 107.900002 m, nav range: 32.884747 m, bearing: 319.534147 deg, approach rate: 0.690192 m/s, LOS rate: -0.087087 deg/s, cmd heading: 124.361462 deg, new cmd heading: 124.263357 deg. 2joHeadingCmd: 2.168805 target range: 107.900002 and range: 107.90 m. j @jjjihhhhfffrfbf)A7@ɛRB|L< I (P=ɚiIPw,ƣpA6?Y6 @6QB=966+=y6Hk#??'`e?a@?@Ƕ?ɨ6?6Z;4yBBBbIMb@Mb@Mb@ )Yoʡ?MbX?{Gzt?y-?=ף; A )/ AI@yAIU IUV2٢mg mE=9}CQ }> G٣oVGy > Nusing accuracyPremultiplier from config59T?5Y i.?:+@@E;*;51B AxEZj9EFNOT Ignoring new targets: 107.90 m.BjUJjUu ProNav: ac range: 107.900002 m, nav range: 33.170738 m, bearing: 319.482300 deg, approach rate: 0.664627 m/s, LOS rate: -0.119450 deg/s, cmd heading: 124.263353 deg, new cmd heading: 124.109153 deg. 2ju}HeadingCmd: 2.166113 target range: 107.900002 and range: 107.90 m. j} @jyjyjyiyhhhhBfffrfbf87@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774155 U#$?IUhɛOBz< 隭幾I 1N=ɚiIo[IC IIIˁBI =&IFD.I;D6I<:I FzK NK +9K K !K RK ?JK >G} < Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025857Gy B O >w,A6"?Y6o @6QJ=969`=y6HP671? )?@B?ɂ? h?ɨ6"?6 ;6$CyRBRVIIZIZ2٢fll nG٣lyn, r> vNusing accuracyPremultiplier from configpv59rE?z5Yr irxz@z@rEr~ ;rG;rP50B ,A{EZj!-FNOT Ignoring new targets: 107.90 m.Bj5Jj=] ProNav: ac range: 107.900002 m, nav range: 33.426712 m, bearing: 319.434902 deg, approach rate: 0.694038 m/s, LOS rate: -0.127529 deg/s, cmd heading: 124.109154 deg, new cmd heading: 123.968050 deg. 2j] eHeadingCmd: 2.163651 target range: 107.900002 and range: 107.90 m. jeAy @jajajaiihihqhyhyfyfyfyrfbf8@ɛMBI< .=隭I 5M=ɚ1i1I5d8w,SA6?Y6H @63=96;O=y6H+>uDH?&?@&)?yQ?@?ɨ6?6-;6&Cy>B>KIiB>IB%=IJ*IJ3٢R( RM=9R :Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\f59^6?f5Y^ i^dj@j@^E^V;^1;^ 5l noAl~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 107.90 m.Bj Jj % ProNav: ac range: 107.900002 m, nav range: 33.696255 m, bearing: 319.384515 deg, approach rate: 0.674759 m/s, LOS rate: -0.125129 deg/s, cmd heading: 123.968056 deg, new cmd heading: 123.818103 deg. 2j%-HeadingCmd: 2.161034 target range: 107.900002 and range: 107.90 m. j-`N @j)j1j1i1h1h1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529695hhfffrfbf y8@ɛ JB <  ǾI 5fL=ɚ1i1I=eqE>*F?2F:FBFp0JFGV< 5 "$?I9 E Will construct direction to contact in vehicle frame from tetrahedron phase data.E >E <U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785868Gq By O >SӮw,.A*J^C="J^<JfJfJf1JdJfs:Jf9Jf3JdytB9IHe>I IyIIBI =&I.Iqy }G٣}pVGy} }> Nusing accuracyPremultiplier from config59#?5YR i8.0?:@@E;;5 A~EZjFNOT Ignoring new targets: 107.90 m.BjqJjq ProNav: ac range: 107.900002 m, nav range: 34.011982 m, bearing: 319.320354 deg, approach rate: 0.683697 m/s, LOS rate: -0.137648 deg/s, cmd heading: 123.818106 deg, new cmd heading: 123.627412 deg. 2jHeadingCmd: 2.157705 target range: 107.900002 and range: 107.90 m. j @jjjihhhhBfffrfbf@8@ɛ-GB5< 9=ӾI9 =MJ=ɚAiAIEM>  I! ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290567 ŵw,"3AR\?YR4 @R =9R=yRH@s hơ?J?@@? p??ɨR\?R?;Py^mB^1IIf'If@3٢n nf=9r9Q r>pt vG٣tyvg v> ~Nusing accuracyPremultiplier from config|59~? 5Y~ i~W  @ @~E~;~ ;~5 AZj9EFNOT Ignoring new targets: 107.90 m.BjE%JjE%U ProNav: ac range: 107.900002 m, nav range: 34.254726 m, bearing: 319.268671 deg, approach rate: 0.682672 m/s, LOS rate: -0.144318 deg/s, cmd heading: 123.627408 deg, new cmd heading: 123.473458 deg. 2jUƻ]HeadingCmd: 2.155018 target range: 107.900002 and range: 107.90 m. j] @jYjajaiahahahihifififqrfqbfuD9@ɛDB< 隭m׾I I=ɚiIx BDAT read: Tx time:23:36:58.9899 $Ping request sent.i٭ >٭y醿٭Y٭i @٭PwV> ڭ@)ڭ >Iڭ-\>iڭ ککۭp<[w,A2J?Y2 @2 =92b=y2H`yK?@\? ?Z`[??ɨ2J?2\;2$CyM`BM!I)Q QQUA  $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:23:36:58.9891 -only read 2 of 4 data items for bottom velocity. Device response is::BS, +92, +695A  E@E E@E E@E  E@E IM(IM̍3٢C =9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Yp i+:y:C@@ÛEu*;?}5 %{A%EkLt?k/ k k:A:kBBkaBZk=",P?dCBR@X2SֿF$Nܿĩp?JkYFRkx*IJ@Cx@^&e(R@g>d?"?/Y?"k@*kwUBk)ؒ?kRL 2kS Ck)ؒ?kkF%CkgBk;@ addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 25.472484 s, deltaX: -17.599998 m, approachRate: -0.690942 m/s, rangeRepo size: 4  Added new target pos. range: 90.300003 m, bearing: 5.874463 deg, lat: 36.905905 deg, lon: -122.120382 deg, deltaT: 25.472484 s, deltaX: -17.599998 m, approachRate: -0.690942 m/s, posRepo size: 4 Zj  DNOT Ignoring new targets: 90.30 m.Bj5Jj1E ProNav: ac range: 90.300003 m, nav range: 57.962788 m, bearing: 337.028978 deg, approach rate: 0.000000 m/s, LOS rate: -0.144318 deg/s, cmd heading: 123.473455 deg, new cmd heading: 123.236070 deg. 2jAMHeadingCmd: 2.150875 target range: 90.300003 and range: 90.30 m. jM @jIjijiiihqhqhqhqfyfyfyrf}@3V@bf}?ɛ@B< I VG=ɚiI4IC IYIIBI =&I.I6Iw<:I FBI]ƦCJI]ƥCRI]ƕCZI] =bI] =jI]66zKKKK!K Will construct direction to contact in vehicle frame from tetrahedron phase data.E S,=E  nManaging dock network, ignoring radio surface power off*F ?2F :F BF _0JF GE<GGpA IhWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO?w,,AZ?YZl @Z-=9Z3=yZH` @?5w??ʿ???ɨZ?Z;Z&CyfVBfIInIn(٢v$ z%=9z~ͻQ z>x| ~G٣~qVGy~1 > bBottom track data is 1.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 ?5Y LJ i % :!%J:%@%@ ƛE ); ? 攪5-/B -A5EZjQ]DNOT Ignoring new targets: 90.30 m.Bj]Jj]m ProNav: ac range: 90.300003 m, nav range: 58.267704 m, bearing: 336.886008 deg, approach rate: 0.648750 m/s, LOS rate: -0.302595 deg/s, cmd heading: 123.236065 deg, new cmd heading: 122.809409 deg. 2juOuHeadingCmd: 2.143429 target range: 90.300003 and range: 90.30 m. ju- @jyjyjyiyhyhyhhfffrfbf ,?ɛ=BJi< 隽I E=ɚiIOuw,C4ABu?YBY @BE=9B٤=yBH R@&?M}? ? Pj?`Z?ɨBu?B%;B$CyNQBNI % - -- --  - - -Mb@Mb@Mb@))) )))Y-(\??Mbp?y-z4?-=-;-A -v@)- AI-v@)y-AIEIE ٢U Ƽ U;=9]~Q ]>Ya eG٣aye]* e> uNusing accuracyPremultiplier from configiu59mݣ?}5Ym im}T:}J6?}:}K@}@mțEm;m ;m͖5 A $?I-Will construct direction to contact in vehicle frame from tetrahedron phase data.EB*** querying acoustic contact ***jAjAZjy}DNOT Ignoring new targets: 90.30 m.Bj(Jj( ProNav: ac range: 90.300003 m, nav range: 58.548225 m, bearing: 336.757954 deg, approach rate: 0.608724 m/s, LOS rate: -0.276543 deg/s, cmd heading: 122.809410 deg, new cmd heading: 122.427095 deg. 2j=HeadingCmd: 2.136756 target range: 90.300003 and range: 90.30 m. j@jjjihhhhBfffrf)bf-?ɛu9Bu Y< y}Iy }L2D=ɚyiyI}8I}C I}@II}zBI} =&Iy.I}=D6I}V<:I}x FzKY K] +9KY K] !K] G} F< Will construct direction to contact in vehicle frame from tetrahedron phase data. i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Ga Bq O >aYw, NAF=H?YF$C @F=9Fj=yFH@@b??z`Y?"ٳ˺?3?ɨF=H?F;F&CyRLBRIiV=IVx> Z=ZR=I^I^<٢fǼ fT=9fQ f>hh jG٣hynAm n> rNusing accuracyPremultiplier from configpv59r Σ?v5YrT| irtv4@z@rʛEr:r:r{5| ~A~EZjDNOT Ignoring new targets: 90.30 m.BjJj ProNav: ac range: 90.300003 m, nav range: 58.796532 m, bearing: 336.645317 deg, approach rate: 0.658545 m/s, LOS rate: -0.297468 deg/s, cmd heading: 122.427097 deg, new cmd heading: 122.090618 deg. 2j&LHeadingCmd: 2.130883 target range: 90.300003 and range: 90.30 m. jd`@jjjih!h)h1h9f9f9fArfIbfM@?ɛ7B,n< I B=ɚiIcJ J wJ 0J J J 9J ـ3J J <;J J :J :w, gA:4?Y: @:=9:=y:H/?(? R4H?ҳ`"պ?@$?ɨ:4?:;8yB>BFIRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.983403I^#I^%x3٢j nI=9rwQ r>tt vG٣vrVGyzk z> eNusing accuracyPremultiplier from configam59eq?u5Yelv ie@@e͛Ee+>J AAJ AAlw,CȁAjHbH<Hs>I I.IIkBI&I.I6IL<:Is FJ'?YJ @Jě=9J˚=yJH@~@@?`#?m;?sn?@?ɨJ'?JT;J$Cyv9BvIMb@Mb@Mb@ )YzG?~jt?Mb`?y 7?=;A A)rAIAyAII٢) ==9\Q > G٣y > Nusing accuracyPremultiplier from config59ᬣ?5Yop i88?:(@@ϛE!; ;$5.B AEZjDNOT Ignoring new targets: 90.30 m.Bj%{Jj%{ ProNav: ac range: 90.300003 m, nav range: 59.338306 m, bearing: 336.396099 deg, approach rate: 0.668277 m/s, LOS rate: -0.308587 deg/s, cmd heading: 121.721744 deg, new cmd heading: 121.346387 deg. 2jSHeadingCmd: 2.117894 target range: 90.300003 and range: 90.30 m. j@jjjihhhh Bfffrfbf E@ɛE1BEdZ< AEzKMjIKM9KIKM!KM 2/.%(  b<z[E0|uRK]?JK]?Ii m΂?=ɚiiiIm e $?Ii ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738479Uw,˜A6+?Y6o @6=96J=y6H`e``Ǩ?E?`#? ?O?ɨ6+?6];6&CyN7BRIIZIZV83٢b+ b[=9fQ f>dd fG٣dyj j> rNusing accuracyPremultiplier from configpv59r?v5Yrk irXxz@z@rћEr;r;rƝ5}/B }A}EZjDNOT Ignoring new targets: 90.30 m.BjȣJjȣ ProNav: ac range: 90.300003 m, nav range: 59.580833 m, bearing: 336.283620 deg, approach rate: 0.620015 m/s, LOS rate: -0.286379 deg/s, cmd heading: 121.346384 deg, new cmd heading: 121.010326 deg. 2jDHeadingCmd: 2.112029 target range: 90.300003 and range: 90.30 m. jz+@jjjihhhhfffrfbf%@ɛ%/B%x5< !%WI) -\>=ɚ)i)I-T_w,wA6,?Y6P5 @60i=96Ϳ=y6HNW?@? %R?訲Z??ɨ6,?6;6#Cyb1BbI IhmMb@Mb@Mb@iii i)iYmrh|?Mb?~jth?ym;?m=mD;mA i)iImAiymQAI%I)3٢ؼ 9=9RkQ > G٣sVGy >  Nusing accuracyPremultiplier from config Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242660%59 `?%5Y wd i |%p=?-:-L@-@ ԛE ; ~; 55.B 5A5E]B*** querying acoustic contact ***jYjYZjimDNOT Ignoring new targets: 90.30 m.Bju@Jju@ ProNav: ac range: 90.300003 m, nav range: 59.874256 m, bearing: 336.145504 deg, approach rate: 0.687814 m/s, LOS rate: -0.322173 deg/s, cmd heading: 121.010325 deg, new cmd heading: 120.598014 deg. 2j]HeadingCmd: 2.104832 target range: 90.300003 and range: 90.30 m. j@jjjihhhh"Bfffrfbf?X @ɛ,B4 R< I X<=ɚiII-C I-II-[BI- =&I).I->D6I-<:I- FGs=G B zK QOK +9K K !K tpnnid^YVSTPNLKJJGCAB?<;970*+)($ BK :K pAO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494503w,SA6?Y6[@6=96`=y6H3~?? ѽ?@/p??ɨ6?6?;6&CyB+BBIIJIJV83٢RA  Rb=9RBQ V>TX ZG٣Xyb5 b> rNusing accuracyPremultiplier from confighr59j}?r5Yj_ ijtv @v@j֛Ej,;j;jM5x zAxZj%DNOT Ignoring new targets: 90.30 m.Bj%'Jj%'5 ProNav: ac range: 90.300003 m, nav range: 60.115807 m, bearing: 336.031785 deg, approach rate: 0.668082 m/s, LOS rate: -0.313259 deg/s, cmd heading: 120.598014 deg, new cmd heading: 120.258234 deg. 2j5V=HeadingCmd: 2.098902 target range: 90.300003 and range: 90.30 m. jEjT@jAjAjAiAhAhAhIhIfIfIfQrfQbfU'; @ɛ*B9< 隭I s:=ɚiI7} BDAT read: Tx time:23:37:02.5900 $Ping request sent.-|-bX-)@-aF> -$@)-5=I-0>i-5))-4)Ab?.\zX?? Fe?)-E=I-Fi--G-؀)):publishing transmit ping timeؑFpublishing direction and range info)9-X'2տ3NڿQLr ?y)))) )))I)i))))) )))I)i)))-4)Ab?.\zX?? Fe?))I)i))))G,=GBO>J{JtJ0JJd:J9Jـ3JJ#;J$;J:J:w,GA>Will construct direction to contact in vehicle frame from tetrahedron phase data.b5%?Yb@bک=9b=ybH? ?,?}?`S?ɨb5%?bD;`yr#BrIII3٢% %B=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=8m?E5Y=X i=AM@M@=؛E= :=:= 5U-B UQAUEkMu8Mг?kM2 kI kM"A:kMBBkMmBZkM{W="M.pUI  I II LBI  =&I .I 6I +<:I a FB9 O] >w,,A6?Y6@6S=96%p=y6H  Ц? ?h?\ǰ@?`S?ɨ6?6;6$Cy>BBImMb@Mb@Mb@iii i)iYmMb?~jt?~jth?ym@?m=imA mzA)mAImAiym AI I(2٢'7 C=9 Q > G٣tVGy > Nusing accuracyPremultiplier from config597\?5YIR iB?:@@ۛE;;5 AZjDNOT Ignoring new targets: 87.30 m.BjջJjջ ProNav: ac range: 87.300003 m, nav range: 59.013363 m, bearing: 339.652591 deg, approach rate: 0.661312 m/s, LOS rate: -0.373828 deg/s, cmd heading: 119.860558 deg, new cmd heading: 119.395540 deg. 2jGHeadingCmd: 2.083845 target range: 87.300003 and range: 87.30 m. j]@jjjihh!h!h-8Bf)f)f)rf)bf5?ɛ]%Bh!; I t[7=ɚiI5 Will construct direction to contact in vehicle frame from tetrahedron phase data.lw,TA2f?Y28"@2=92L=y2H@5'o??@tͺ? [@ۅ??ɨ2f?2 ;2&Cy>B>IIFIF٢NŁ N]=9RQ R>PP VG٣TyV늼 V> ZNusing accuracyPremultiplier from configX%59ZTM?%5YZL iZ!%4@-@ZݛEZ+uWill construct direction to contact in vehicle frame from tetrahedron phase data.)  NG  Y y Bn w,\6A 0I0F1?YF@Fey=9F=yFHK3 ̶?-?` (?' ??ɨF1?F׊;F'CynBnImMb@Mb@Mb@iii i)iYmRQ?MbX?ymB?m=mmA mA)mAIiiymf AIIF٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config59;?5YE i4D?:0@@E ;;}5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 87.30 m.BjFڻJjFڻ ProNav: ac range: 87.300003 m, nav range: 59.544369 m, bearing: 339.351368 deg, approach rate: 0.679155 m/s, LOS rate: -0.381658 deg/s, cmd heading: 118.984218 deg, new cmd heading: 118.495966 deg. 2jHeadingCmd: 2.068145 target range: 87.300003 and range: 87.30 m. j|\@jjjihhhhIBfffrfbfU?ɛE!BE$< AMII U3=ɚQiQIU%IC IIIBBI =&I.I6Ic<:I FBIũCJIũCRIœCZI =bI =jI) 6GM 0P=GY G] oA Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.zK +MK +9K K !K   4<Q r;}S"GA BQ Om >_w,cPAB(?YBd@Bky=9B]=yBHW? _Q?X?4 j?@Z?ɨB(?B}(;B%CyNBNIIV'IV@3٢bü bY=9b9Q f>dd fG٣fuVGyj j> nNusing accuracyPremultiplier from configlr59nn,?r5Yn? in3pv@v@nEn& ;nq:n 5x zAzEZj!5DNOT Ignoring new targets: 87.30 m.Bj=ջJjEջU ProNav: ac range: 87.300003 m, nav range: 59.790867 m, bearing: 339.210969 deg, approach rate: 0.659428 m/s, LOS rate: -0.374044 deg/s, cmd heading: 118.495968 deg, new cmd heading: 118.076516 deg. 2jUZ]HeadingCmd: 2.060824 target range: 87.300003 and range: 87.30 m. je@jajajaiahahahihifififqrfqbfu d`?ɛB; 隥I C2=ɚiIi!w,_jA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255625ymBmIII3٢ <=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y8 iT @E;U; 5! %yA)ZjDNOT Ignoring new targets: 87.30 m.Bj}ʻJj}ʻ ProNav: ac range: 87.300003 m, nav range: 60.079796 m, bearing: 339.048123 deg, approach rate: 0.631230 m/s, LOS rate: -0.354062 deg/s, cmd heading: 118.076513 deg, new cmd heading: 117.590337 deg. 2jrHeadingCmd: 2.052339 target range: 87.300003 and range: 87.30 m. jY@jjjihhhhfffrfbf [@ɛUB]; Y]IY ]%0=ɚYiaIefjH bH H x>I C I II 8BI  =&I .I 6I 9<:I k FJ zJ vJ 0J J `:J ϣ9J ـ3J J p;a J q;a J :a J :a "!w,SAyeBaima>Im<Mb@Mb@Mb@ )Yx&1??MbP?yA?=:A A)AI3Ay AII3٢%s %C=9!Q %>)) -G٣)y) 5> =Nusing accuracyPremultiplier from config9E59= ?E5Y=c2 i=rE8C?E:M@M@=E=@#;=Y;=ڭ5],B ]wA]EZjDNOT Ignoring new targets: 87.30 m.Bj]ڻJj]ڻ ProNav: ac range: 87.300003 m, nav range: 60.352955 m, bearing: 338.896482 deg, approach rate: 0.690923 m/s, LOS rate: -0.381820 deg/s, cmd heading: 117.590340 deg, new cmd heading: 117.137487 deg. 2j%HeadingCmd: 2.044435 target range: 87.300003 and range: 87.30 m. j%@j!j!j!i)h)hIhQh]@BfYfYfarfabfe?)@uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758586ɛB<; I 8A.=ɚiI:<)@)Ex>E>*FY2FY:FYBFYJFYGupA GurA I hG {=% Will construct direction to contact in vehicle frame from tetrahedron phase data.% 4>% <5 BDAT read: Rx Time:23:37:05.1072 5 TRx dataTimestamp_ set to:1736379426.434053= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013229Gy B O >\1'w,9+AZE?YZA@Z6o=9Z=yZH`ɡw?? j߿d?`z⭿@?-?ɨZE?Z슉;XyfBfIIn0In(3٢v& v`=9zyQ z>xx ~G٣|y~G ~>  Nusing accuracyPremultiplier from config 59? 5Y, i@@E:C:r5Y ]AeEZjDNOT Ignoring new targets: 87.30 m.BjлJjл ProNav: ac range: 87.300003 m, nav range: 60.590557 m, bearing: 338.760516 deg, approach rate: 0.640016 m/s, LOS rate: -0.364807 deg/s, cmd heading: 117.137485 deg, new cmd heading: 116.731194 deg. 2j]zHeadingCmd: 2.037344 target range: 87.300003 and range: 87.30 m. jc@jjjihhhhfffrfbf @ @ɛMBMG8 IMII M,=ɚQiQIUxWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262576c-w,x(A $?IJ*?YJ@J k=9J1=yJH`߿`O??w߿·?^]5??ɨJ*?J;;J#CyfBfIMb@Mb@Mb@ )YZd;?K?~jth?y>?^=D;A 7A)AIMAy AI#I%x3٢^a ==9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:37:05.1072 LVL= 29792, 32753, 32754, 32755, AGC= 64, IDX= 403,-0.24,-2.355, 2.488,-3.021,-2.816, PHS= 0.549,-0.933,-0.208, RAW= 119.3, 9.3, CAL= 127.8, 5.4, ROT= 22.2, -5.4  Ygot valid direction response: 23:37:05.1072 LVL= 29792, 32753, 32754, 32755, AGC= 64, IDX= 403,-0.24,-2.355, 2.488,-3.021,-2.816, PHS= 0.549,-0.933,-0.208, RAW= 119.3, 9.3, CAL= 127.8, 5.4, ROT= 22.2, -5.4 PDAT read: Bearing 22.2, -5.4 (Local) ~Local bearing/azimuth received: Bearing 22.2, -5.4 (Local) %DAT read: Range 10 to 50 : 84.7 m (Round-trip 113.0 ms) speed 0.4 m/s -,DAT read: user:3380> 5BDAT read: Tx time:23:37:06.1900 5$Ping request sent.5AI MG٣MvVGyMUS M> ]Nusing accuracyPremultiplier from configQ]59Uꢜ?e5YU|% iUed@?e:m @m@UEU";U ;Uh5u.B u#AuE9Uҿwؿ>B?yfB`t )I@iD ?nTgB@6&> @)=Ia>i(7씔?ʕH26?),=LI%iO-:publishing transmit ping time15Fpublishing direction and range info9Uҿwؿ>B?yk*U?k  )Ii )Ii(7씔?ʕH26?)Iik kA:kfBBkCBZk<"3Q/ 9`A@\܅R@Uҿwؿ>B?JkRkO*6'k F@$D?d͖R@o?3U?AIQ?"k?*kc0Bk$an?k 2kCkk kS CkbBkrZ<- addTargetRange:: Added new target pos. range: 84.699997 m, deltaT: 3.527981 s, deltaX: -2.600006 m, approachRate: -0.736967 m/s, rangeRepo size: 4 HyIy I}II})BIy&Iy.Iy6I}O<:I}| FJ{JwJJJd:J9JJJ#;J$;J:J: Added new target pos. range: 84.699997 m, bearing: 1.522246 deg, lat: 36.905905 deg, lon: -122.120070 deg, deltaT: 3.527981 s, deltaX: -2.600006 m, approachRate: -0.736967 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 84.70 m.BjJj5 ProNav: ac range: 84.699997 m, nav range: 56.688885 m, bearing: 1.184476 deg, approach rate: 0.000000 m/s, LOS rate: -0.364807 deg/s, cmd heading: 116.731198 deg, new cmd heading: 116.156941 deg. 2j1=HeadingCmd: 2.027321 target range: 84.699997 and range: 84.70 m. j=@j9j9jAiAhAhAhIhFBfffrf,U@bfS4w,Az?Yzi@zi=9z"=yzHag߿ s??߿@"?T U?6?ɨz?zֈ;z%Cy=BEI)I IIuIu٢, ;=9vQ > G٣y > Nusing accuracyPremultiplier from config59ڢ?5Y  $?Ii# @@E<n<F5-B cAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.70 m.BjMJjM  ProNav: ac range: 84.699997 m, nav range: 56.874557 m, bearing: 0.919899 deg, approach rate: 0.504883 m/s, LOS rate: -0.717089 deg/s, cmd heading: 116.156943 deg, new cmd heading: 115.365856 deg. 2j HeadingCmd: 2.013514 target range: 84.699997 and range: 84.70 m. jj@jjjihhhhfafafarfabfm?ɛBn 隕I #>(=ɚiI[<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ij@iiަ=)j@)*FY2FY:FYBF]0JFYG5.=GBOl>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7436484 ;w,MA6 ?Y6#@6˜`=96=y6H@j+߿g?`? ޿@R,?`UU??ɨ6 ?6F;4ybȀBbfIIjIj3٢ H  S=9 Q  > G٣wVGyl8 > -Nusing accuracyPremultiplier from config!-59%̢?55Y% i%15 @5@%E%:%:%ﴪ5],B e!AeEZjDNOT Ignoring new targets: 84.70 m.Bj6Jj6 ProNav: ac range: 84.699997 m, nav range: 57.039196 m, bearing: 0.686134 deg, approach rate: 0.451507 m/s, LOS rate: -0.639229 deg/s, cmd heading: 115.365857 deg, new cmd heading: 114.666622 deg. 2jYۼHeadingCmd: 2.001310 target range: 84.699997 and range: 84.70 m. jw@jjjihhhhfffrfbf Q?ɛB ,&I K&=ɚiI Ε=Iw@ii\=)w@)a I*F92F9:F9BF=b4JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995376ZHI RHM @AHU w>IQ  IU IIU BIU  =&IQ .IQ 6IU _<:IU FG} f=G ?G >J J xJ J J J 9J J J J J &:J ':G9 BQ Om >Aw,( Ay~ɀBhIMb@Mb@Mb@ )Yrh|?MbX?Mb`y;?=EA A)/AIdAyz AII[٢; ?=9Q > G٣y   >Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247664 %Nusing accuracyPremultiplier from config-59_?-5Y i5=?5:5 @5@E$;;Զ59 =AAZjimDNOT Ignoring new targets: 84.70 m.Bj},Jj}, ProNav: ac range: 84.699997 m, nav range: 57.229431 m, bearing: 0.426607 deg, approach rate: 0.444132 m/s, LOS rate: -0.603888 deg/s, cmd heading: 114.666623 deg, new cmd heading: 113.890680 deg. 2j8ϼHeadingCmd: 1.987767 target range: 84.699997 and range: 84.70 m. j)o?jjjihhhh?BfffrfzK5/MK1K1K5!K5bfZv?ɛB/ 隽$I #=ɚiI]l=I)o?iiA=))o?)EEmA*F?2F:FBF5JFG GnAG]=GB!O=r> Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499132Hw," A6z;?Y6<@6mT=96 =y6H Vb޿`#@P? ]?`N#޿fa? J?@?ɨ6z;?6;6#CyNBRWIiV=IV>IZIZ3٢b b]=9bQ f>dd fG٣dyj j> rNusing accuracyPremultiplier from configlr59n?v5Yn  intv @v@nEn":n:nl5z+B ~yA~EZj%DNOT Ignoring new targets: 84.70 m.Bj%,Jj-,5 ProNav: ac range: 84.699997 m, nav range: 57.387051 m, bearing: 0.207692 deg, approach rate: 0.435899 m/s, LOS rate: -0.603748 deg/s, cmd heading: 113.890679 deg, new cmd heading: 113.235769 deg. 2j=,ϼEHeadingCmd: 1.976337 target range: 84.699997 and range: 84.70 m. jE?jAjAjAiAhAhIhIhIfIfQfQrfQbfU7?ɛ B H+  +I  o "=ɚiI]#=I=?i9i=Zb=)=?)A*F?2F:FBF^0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-A-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751650Glq=GBO > $?I FNw,; ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003292>N?Y>@>߳X=9>_=y>Hݿ6L@0ģ?)F?%ݿ Cw??gA? ?ɨ>N?>C;>$CyRBRCI5Mb@Mb@Mb@111 1)1Y5 +?? G٣yR̼ > Nusing accuracyPremultiplier from config59͟?5Y i88?: @@EC ; ;K5 AZjDNOT Ignoring new targets: 84.70 m.BjJj ProNav: ac range: 84.699997 m, nav range: 57.566921 m, bearing: 359.958216 deg, approach rate: 0.393368 m/s, LOS rate: -0.543887 deg/s, cmd heading: 113.235766 deg, new cmd heading: 112.489719 deg. 2jHeadingCmd: 1.963316 target range: 84.699997 and range: 84.70 m. jM?jjj1i1h1h1h1h=!Bf9f9f9rfAbfE`Q@Hv>I IIIBI =&I.I=D6I^<:I FɛBX$ƻ ^2I `Z=ɚiI< =I%M?i!i%7+=)mM?)i*F2F:FBF_0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255106zK JK ]9K K !K  GE =GI GI G B) OE >-Uw,ظU A2?Y2@2Y=92r=y2H@Bݿ@.oe2?h?sݿ8?@:`#ı??ɨ2?2;2&Cy:B:1IIF4IFV3٢J J[=9NT:Q N>PP RG٣RxVGyR`ȼ V> bNusing accuracyPremultiplier from config\j59^?=5Y^ i^WAE @E@^E^<^م<^5I MlAI $?IZjDNOT Ignoring new targets: 84.70 m.Bj'Jj' ProNav: ac range: 84.699997 m, nav range: 57.723415 m, bearing: 359.739464 deg, approach rate: 0.420902 m/s, LOS rate: -0.586752 deg/s, cmd heading: 112.489719 deg, new cmd heading: 111.835272 deg. 2jWɼHeadingCmd: 1.951894 target range: 84.699997 and range: 84.70 m. j?jj j i h h hhff1f9rf9bf=@@ɛBXt 8I |8=ɚiI=I?iiE=)?) EUJ>EU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507286*F2F:FBFJF"G=G=J}|JyJyJyJ};g:JyJyJya@a@a@a@G G B Om >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759207X[w,ٗo A^c~Gn|uAx %QY%|uAy%ByUBUI)Y YaeAIm Im(2٢Ƚ .=9Q > G٣y > Nusing accuracyPremultiplier from config591?5Yj i}@EU;";5*B #AE=B*** querying acoustic contact ***jAjAZj1EDNOT Ignoring new targets: 84.70 m.Bjul Jjul I5 ProNav: ac range: 84.699997 m, nav range: 57.920757 m, bearing: 359.466945 deg, approach rate: 0.407645 m/s, LOS rate: -0.561017 deg/s, cmd heading: 111.835270 deg, new cmd heading: 111.020557 deg. 2j5=HeadingCmd: 1.937674 target range: 84.699997 and range: 84.70 m. j=?j9j9jaiahahahihifififirfqbfuc@ɛBx' DI I=ɚiIC=I?ii=)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:37:08.7041 TRx dataTimestamp_ set to:1736379429.962253checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014626*F2F:FBFJFH I  I II ܀BI &I .I 6I c<:I FBIJIRIZIbI =jI5J J G ޯ=G B O >bw, A6?Y6X@6f[=96ɀ=y6Hۿ 7?@? Z`ۿ}H? ui??ɨ6?6։;6%Cy>}B> IMb@Mb@Mb@ )Y@5^I ?Mb?{Gzyb0?=# vA)AI`Ay AI-I-#3EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263181٢' L=9'i:Q > G٣yi >  Nusing accuracyPremultiplier from config594u?E5Y@ iM 2?M:M @U@E<<<5y }gAyZjDNOT Ignoring new targets: 84.70 m.Bj+Jj+ ProNav: ac range: 84.699997 m, nav range: 58.077549 m, bearing: 359.237640 deg, approach rate: 0.412112 m/s, LOS rate: -0.601077 deg/s, cmd heading: 111.020559 deg, new cmd heading: 110.334535 deg. 2jAμ HeadingCmd: 1.925701 target range: 84.699997 and range: 84.70 m. j ^}?j j j i hhzKeKK9KK!KRK% ?JK%!?h9h=Bf9f9f9rfAbfE @ɛ B8 2R=隍GI =ɚiI*=I^}?ii.=)^}?)*Fq2Fq:FqBFuo0JFqGM1= I GBQO|>Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 23:37:08.7041 LVL= 19888, 32753, 27634, 32755, AGC= 64, IDX= 404,-0.35,-1.050,-2.547,-1.878,-1.578, PHS= 0.616,-0.923,-0.303, RAW= 113.6, 9.1, CAL= 122.9, 6.1, ROT= 27.1, -6.1 M Ygot valid direction response: 23:37:08.7041 LVL= 19888, 32753, 27634, 32755, AGC= 64, IDX= 404,-0.35,-1.050,-2.547,-1.878,-1.578, PHS= 0.616,-0.923,-0.303, RAW= 113.6, 9.1, CAL= 122.9, 6.1, ROT= 27.1, -6.1  PDAT read: Bearing 27.1, -6.1 (Local)  ~Local bearing/azimuth received: Bearing 27.1, -6.1 (Local)  DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.7 m/s  ,DAT read: user:3381>  BDAT read: Tx time:23:37:09.7900  $Ping request sent. G @)^ =I*>i^ ڽjGe?,hoR?)IZD#i# :publishing transmit ping timeر  Fpublishing direction and range info9,3CwҿΈꀎҿcO3?y )Ii )IijGe?,hoR?)Ii hw, A2?Y2t@2c[=92T,u=y2H@ۿC1? ?:ڿ޲?i? ?ɨ2?2<;2$CJRyJRtJPJPJR]:JR9JPJPyrrBrIIz#Iz%x3٢Em EU=9ElQ M>II MG٣MyVGyUKּ U> ]Nusing accuracyPremultiplier from configYe59],i?e5Y]k i]im0 @m@]E]q:]:]h5u)B AEk=Mi?k=v: k9 k=- A:k=BBk=BZk=@"=I(7Z.7A7rR@=,3CwҿΈꀎҿcO3?Jk=Rk=#*=?، A@f<=˼R@=4gt?Ꚓqq< ?"k=*k=fBk='?k=qo 2k= Ck=<쳜?k9k9k=TBk=v@ addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.527991 s, deltaX: -2.199997 m, approachRate: -0.623583 m/s, rangeRepo size: 4  Added new target pos. range: 82.500000 m, bearing: 350.067523 deg, lat: 36.905860 deg, lon: -122.120070 deg, deltaT: 3.527991 s, deltaX: -2.199997 m, approachRate: -0.623583 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 82.50 m.Bj%Jj!u ProNav: ac range: 82.500000 m, nav range: 53.213936 m, bearing: 358.929571 deg, approach rate: 0.000000 m/s, LOS rate: -0.601077 deg/s, cmd heading: 110.334534 deg, new cmd heading: 109.619992 deg. 2jy}HeadingCmd: 1.913230 target range: 82.500000 and range: 82.50 m. j}?jjjihhhhfffrfT@bfi?ɛ- B-4 )-LI) 5=ɚ1i1I58=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:23:37:09.7892 I}?iyi}=)}?)yE *Fy2Fy:FyBF}0JFyGqA GqA % $?I- hG 5=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O% >;nw,Dm A 6?Y6?6W=96m=y6H@zڿN`ʟ???` Qڿ`x[?ܪ??ɨ6?6j;6%CyRgBRIiV=IV=Mb@Mb@Mb@ )YK7?Zd;O?~jtxy)?j=ĻA zA)EAIAy AII٢uI B=9&Q > G٣y) > Nusing accuracyPremultiplier from config59q\?5Y' i\+?:@@E=;<;?ê5  A Zj9=DNOT Ignoring new targets: 82.50 m.BjEU8JjEU8U ProNav: ac range: 82.500000 m, nav range: 53.369938 m, bearing: 358.677342 deg, approach rate: 0.399868 m/s, LOS rate: -0.644626 deg/s, cmd heading: 109.619994 deg, new cmd heading: 108.865566 deg. 2j3ݼHeadingCmd: 1.900063 target range: 82.500000 and range: 82.50 m. j@5?jjjihhhhBfffrfbfj?Hz>I ISIIBI =&I.I>D6I<:I Fɛe Be& aeQIa m=ɚiiiImð=I@5?iid:=)@5?)*FA2FI:FIBFMP5JFIG%g=GBO5q>}Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 9K K !K 'Xpqkd[TLJEA<81+'%*;NVWUSRMF@<854784441BK :K uw,8J A2rf?Y2z?2T=92l=y2Hٿ4:4?2?ٿ!?`󖪿 ?O?ɨ2rf?2Ӂ;0yBRBBI `I`IVIV2٢zݽ zY=9z8Q z>|| ~G٣|yü >  Nusing accuracyPremultiplier from config 59 @Q?5Y  i -@@ E /< f< Ī5 AZjDNOT Ignoring new targets: 82.50 m.Bj0"Jj0"  ProNav: ac range: 82.500000 m, nav range: 53.508022 m, bearing: 358.452357 deg, approach rate: 0.349009 m/s, LOS rate: -0.567183 deg/s, cmd heading: 108.865566 deg, new cmd heading: 108.192383 deg. 2j¼HeadingCmd: 1.888313 target range: 82.500000 and range: 82.50 m. j@?jjjihh!h!h!f!f)f)rf)bf-?ɛ BiڼWill construct direction to contact in vehicle frame from tetrahedron phase data. ?[I :=ɚiI"=I@?ii=)@?)JwJsJJJW:J9JJE-.=*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GM =GQGUmAG)BYO?}w,'k A (I,yMDBMI)Q QuWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-/$?EԸ?y&1|y-1(?-=-`) - A)-AI-zA)y-p AIEIE#٢M> U =9UQ U>YY ]G٣]zVGye e> mNusing accuracyPremultiplier from configi}59mk??}5Ym im$*?:@@m Em{;mny;m}Ǫ5(B AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 82.50 m.Bj,Jj, ProNav: ac range: 82.500000 m, nav range: 53.729588 m, bearing: 358.103161 deg, approach rate: 0.385197 m/s, LOS rate: -0.604578 deg/s, cmd heading: 108.192382 deg, new cmd heading: 107.149237 deg. 2juϼHeadingCmd: 1.870107 target range: 82.500000 and range: 82.50 m. j_?jjjihhhh؁Bfffrfbf?ɛ%B%TK !-FaI) - =ɚ)i)I- =I5_?i1i5=)5_?)9ZHyRHyH}>IC I'IIBI =&I.I6I<:I FEeXR=*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.zKe NKe h9Ka Ke !Ke 333:IWb__\YSQPV_^YY]hppfXNEBEBA?>=<?CGLJEA<62/*(%&#! !"RKu ?JKu ?G^=GBO%>w,& A2?Y2?2*Y=92sK=y2Hؿ`H`eܙ?@v? ؿEo?-b?`\?ɨ2?2k;2#C >$?Idh jG٣hyjKQ n> rNusing accuracyPremultiplier from configlr59nx3?v5Yn inCtvc@v@n Enf#w,2 A6#?Y6a?6Y[=96h'<=y6H'ؿ` ?y?@+׿g?`g .z?`?ɨ6#?6f;4yB-BBIIJ.IJ3٢RԽ VM=9V]:Q V>TX ZG٣Z{VGyZ Z> bNusing accuracyPremultiplier from config`f59b((?f5Yb ibbdf@j@b EbC:b:b˪5n&B nAnEZjDNOT Ignoring new targets: 82.50 m.Bj+Jj+ ProNav: ac range: 82.500000 m, nav range: 54.022652 m, bearing: 357.623249 deg, approach rate: 0.365163 m/s, LOS rate: -0.600913 deg/s, cmd heading: 106.420119 deg, new cmd heading: 105.713486 deg. 2j3μHeadingCmd: 1.845048 target range: 82.500000 and range: 82.50 m. j*?jjjihhhhfffrfbfz%@ɛ-B59 jI g=ɚiI*2 =I*?ii ژ=) *? $?Ih)EV>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497276*F=?2F9:F9BF=P5JFAH~>I III|BI =&I.I6I\<:I FGe i=GA BQ Om > w,L Ay"BIi 4>I <Will construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748570-uonly read 2 of 4 data items for water velocity. Device response is::WS,-3276,-32768,V  u@u u@u u@u  u@u I}-I}3٢N ==9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y i+::@E;;X>̪5 " AZjDNOT Ignoring new targets: 82.50 m.Bjj.Jjj.  ProNav: ac range: 82.500000 m, nav range: 54.179222 m, bearing: 357.368031 deg, approach rate: 0.375268 m/s, LOS rate: -0.609937 deg/s, cmd heading: 105.713488 deg, new cmd heading: 104.950094 deg. 2j LѼHeadingCmd: 1.831725 target range: 82.500000 and range: 82.50 m. ju?jjjihhhhfffrfbf  @zKmOeNKm+9KiKm!Km     "'&ɛB  隅oI C<=ɚiI\i =Iu?ii=)u?)*F?2F:FBFQ0JF IG0=GYBaO}{>Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:37:12.3010  TRx dataTimestamp_ set to:1736379433.495445 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0091998w,ެf Aj?Yj?j[=9j)0=yjH\yֿIS??@Yֿ?@_d??ɨj?j;j&Cyv'BvII~I~[3٢ s<  R=9 [5Q >JK3 K.-KK"KJJsJ1JJJ9J3J G٣y > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5YϾ i :  Q: @-@EV<2[?ͪ5A EAAZjDNOT Ignoring new targets: 82.50 m.BjV"JjV" ProNav: ac range: 82.500000 m, nav range: 54.322170 m, bearing: 357.124288 deg, approach rate: 0.333824 m/s, LOS rate: -0.567709 deg/s, cmd heading: 104.950091 deg, new cmd heading: 104.220828 deg. 2j¼HeadingCmd: 1.818997 target range: 82.500000 and range: 82.50 m. j?jjjihhhhfffrfbf  @ɛBMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256895 隅4lI <ɚiI=I?iij=)?)*F12F9:F9BF=_0JF9 I Ge w=Gy G} qAGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: 23:37:12.3011 LVL= 22112, 32753, 32754, 32755, AGC= 62, IDX= 404, 0.09, 1.878, 0.067, 0.837, 1.211, PHS= 0.754,-1.097,-0.377, RAW= 112.7, 8.9, CAL= 122.1, 6.0, ROT= 27.9, -6.0  Ygot valid direction response: 23:37:12.3011 LVL= 22112, 32753, 32754, 32755, AGC= 62, IDX= 404, 0.09, 1.878, 0.067, 0.837, 1.211, PHS= 0.754,-1.097,-0.377, RAW= 112.7, 8.9, CAL= 122.1, 6.0, ROT= 27.9, -6.0  PDAT read: Bearing 27.9, -6.0 (Local)  ~Local bearing/azimuth received: Bearing 27.9, -6.0 (Local)  DAT read: Range 10 to 50 : 80.1 m (Round-trip 106.9 ms) speed 0.5 m/s  ,DAT read: user:3382>  BDAT read: Tx time:23:37:13.3901  $Ping request sent. i %A? j % 3? >  c@) Pw=I Q>i Pwֽ   IZ?+v?) I i     :publishing transmit ping timeع  Fpublishing direction and range info 9 e1b 1ҿa@8ѿ~M5c?y     ) I i      ) I i    IZ?+v?) I i    Ezw, Av?YvB?v[6Y=9vn'=yvHտ`^?? տM?#@??ɨv?v$;v$CyEBEIjHbH<H>I IIIbBI&I.I6IB<:Iy F        Mb@Mb@Mb@ )Y'1Z?RQ?Mbpy"?=A I A)EAI Ay=AIUIUF3٢e1 e"=9mlQ > G٣|VGy > Nusing accuracyPremultiplier from config59D?5Y iT:$?:$@@E;N;Ϫ5 Q AEkΫ?kV k k A:k3BBk BZkl@"7E6P(N6]GKdR@e1b 1ҿa@8ѿ~M5c?JkRk*Ϡ[m=@PA;"ԄOTmR@;'?c_Mr?"k*kAk%߫?k.0 2k Ck$an?kkk;Bk@  addTargetRange:: Added new target pos. range: 80.099998 m, deltaT: 3.533653 s, deltaX: -2.400002 m, approachRate: -0.679184 m/s, rangeRepo size: 4  Added new target pos. range: 80.099998 m, bearing: 342.743614 deg, lat: 36.905792 deg, lon: -122.120070 deg, deltaT: 3.533653 s, deltaX: -2.400002 m, approachRate: -0.679184 m/s, posRepo size: 4 Zj!EDNOT Ignoring new targets: 80.10 m.BjeJja} ProNav: ac range: 80.099998 m, nav range: 46.928898 m, bearing: 356.333804 deg, approach rate: 0.000000 m/s, LOS rate: -0.567709 deg/s, cmd heading: 104.220825 deg, new cmd heading: 103.370128 deg. 2jyHeadingCmd: 1.804149 target range: 80.099998 and range: 80.10 m. j[?jjjihhhhʁBfffrf`fT@bf@B?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:37:13.3893 ɛB.+ pI <ɚiI4=I[?iiM=)[?)E*FU?2FQ:FYBF]W0JFY"Ge=Ge=zK TtMK K K !K %#!    $?I G =GY By O >NKw, AVWill construct direction to contact in vehicle frame from tetrahedron phase data.yޭBޭI) AII٢ s O=9Q > G٣y > Nusing accuracyPremultiplier from config59B?5Y i@Ee: ;Ѫ5A E AIB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 80.10 m.BjFJjF ProNav: ac range: 80.099998 m, nav range: 47.062012 m, bearing: 356.075049 deg, approach rate: 0.358424 m/s, LOS rate: -0.694753 deg/s, cmd heading: 103.370125 deg, new cmd heading: 102.596105 deg. 2jfHeadingCmd: 1.790640 target range: 80.099998 and range: 80.10 m. j3?jjjihh h h f ffrfbfP?ɛB- uI <ɚiI=I3?iiQ=)3?)*Fm?2Fq:FqBFu^0JFqeWill 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.)  NGE 5tA] AG = {Y 5tAy #B] @e BG) B1 OU >{kw,sI A 9I9yEBEIIUIU٢uc< }Q=9yQ }> G٣y > Nusing accuracyPremultiplier from config59??5Y i@E;;GӪ5%B  AEZjDNOT Ignoring new targets: 80.10 m.Bj(Jj( ProNav: ac range: 80.099998 m, nav range: 47.196083 m, bearing: 355.817751 deg, approach rate: 0.307955 m/s, LOS rate: -0.589319 deg/s, cmd heading: 102.596108 deg, new cmd heading: 101.826456 deg. 2j8ʼHeadingCmd: 1.777207 target range: 80.099998 and range: 80.10 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987241 j {?j j j i h hhhfffrfbf@ B?ɛB 隍sI w<ɚiIL=I{?ii=){?)He>Ia IeIIeSBIe =&Ia.Ie?D6IeJ<:Ie FBI%ƪCJI%ƪCRI!ZI% =bI% =jI%5*F?2F:FBF_0JFGUTU=G]?G]>JwJrJ0JJW:J9Jـ3JJz;aJz;aJ:aJ:aGBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239505(Sw,# Ar?Yr?r@=9rp G٣}VGy > Nusing accuracyPremultiplier from config59T桜?5Y` i<*?:@@E;;ժ5zK54MK59K1K5!K5$B  AEZjDNOT Ignoring new targets: 80.10 m.BjeYJj eY ProNav: ac range: 80.099998 m, nav range: 47.332237 m, bearing: 355.527857 deg, approach rate: 0.358098 m/s, LOS rate: -0.760251 deg/s, cmd heading: 101.826455 deg, new cmd heading: 100.959344 deg. 2j%p%HeadingCmd: 1.762073 target range: 80.099998 and range: 80.10 m. j%?j)j)j)i)hhhhځBfffrfbft? 9I=hɛB 隵qI <ɚiI!i=I?iin=)?)EEpA*F]?2FY:FYBF]p0JFYGmpA GmmAWill construct direction to contact in vehicle frame from tetrahedron phase data.r?K? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492007GE PQ=G B1 OU >w,3 A:H?Y:N0?:}>=9:Ib> f=f=Ij Ij(2٢rԇ< rY=9r\Q v>tt vG٣tyzs# ~> Nusing accuracyPremultiplier from config|59~ݡ? 5Y~_ i~"  ? @~E~ ;~;~֪5 s AZjAMDNOT Ignoring new targets: 80.10 m.Bj]VJj]Vu ProNav: ac range: 80.099998 m, nav range: 47.453865 m, bearing: 355.263314 deg, approach rate: 0.345157 m/s, LOS rate: -0.748798 deg/s, cmd heading: 100.959342 deg, new cmd heading: 100.167799 deg. 2juyuHeadingCmd: 1.748258 target range: 80.099998 and range: 80.10 m. j}?jyjyjyiyhyhyhhfffrfbf [?ɛB 9 eoI <ɚiId=I?ii=)?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743225*Fa2Fa:FaBFeP5JFiGEw=GBAOm5> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994942HU >IQ  IU IIU IBIQ &IQ .IQ 6IU b<:IU Fxw,(+ AB7 ?YB=G?B,<=9B}I G٣y > Nusing accuracyPremultiplier from config59^ӡ?5Y' i60?:o?@EP;;ت5 m AZjDNOT Ignoring new targets: 80.10 m.BjFJjF ProNav: ac range: 80.099998 m, nav range: 47.598125 m, bearing: 354.946796 deg, approach rate: 0.317740 m/s, LOS rate: -0.695030 deg/s, cmd heading: 100.167798 deg, new cmd heading: 99.221212 deg. 2jHeadingCmd: 1.731737 target range: 80.099998 and range: 80.10 m. j?jjjihhh)h-ہBf)f1f1rf1bf5l@ɛB8 6rI <ɚ i I =I?ii=)?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247855*F2F:FBF_5JFzKMjIKM9KIKM!KMRKU ?JKU> I G s=G) G) G B O >ٞw,s ABA?YB?B8=9B_hh jG٣j~VGyn n> Nusing accuracyPremultiplier from config59eʡ?5Y iI?@!E;;Zڪ5  AEB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 80.10 m.Bj=eVJj=eVM ProNav: ac range: 80.099998 m, nav range: 47.726799 m, bearing: 354.659427 deg, approach rate: 0.336622 m/s, LOS rate: -0.749753 deg/s, cmd heading: 99.221209 deg, new cmd heading: 98.361496 deg. 2jMUHeadingCmd: 1.716732 target range: 80.099998 and range: 80.10 m. jU?jqjqjqiqhyhyhyhyfffrfbf Q@ɛBf- sI! %|<ɚ!i!I%g=I-?i)i/=)?)*Fa2Fa:FiBFm4JFi"Gu=Gu=UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750903G =Ga Bi O >w,9 A6?Y6?6LP4=96D=y6HlοY3? ?Bοԩ?,h?@?ɨ6?6ҵ;6$C @IFhyFBFzI)H JAIPIP٢Z ZL=9^m-Q ^>`` bG٣`yfi f> jNusing accuracyPremultiplier from confighn59j?n5Yj0 ijYln?r@j#Ej~ ;j ;jܪ5v#B v AvEZjDNOT Ignoring new targets: 80.10 m.BjYUJjYU- ProNav: ac range: 80.099998 m, nav range: 47.849133 m, bearing: 354.381451 deg, approach rate: 0.329188 m/s, LOS rate: -0.746093 deg/s, cmd heading: 98.361500 deg, new cmd heading: 97.529764 deg. 2j-5HeadingCmd: 1.702216 target range: 80.099998 and range: 80.10 m. j3?jjjihh h9h9fAfIfyrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.]><checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007253ɛuBu/ quIC IIIDBI&I.I6I<:I F*F!2F):F)BF-[0JF)J]uJ]nJYJYJ][Q:J]99JYJYJ]o;J]o;J]R:J]S:G F=G B O% >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Rx Time:23:37:15.8978 u TRx dataTimestamp_ set to:1736379437.277559u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256969w,ٯS AR?YR;?R8/=9R =yRH̿`D*X?$?ظ̿=?@M奿`Z?@?ɨR?R0;Py\\}Mb@Mb@Mb@yyy y)yY}(\?B`"۹?{Gzt?y}z4?}=y}EA }A)}rAI}I Ayy}zAII<29z;Q > G٣y > Nusing accuracyPremultiplier from config59?5Y imS6?:i?@&EU;;ݪ5 ZjDNOT Ignoring new targets: 80.10 m.Bj VXJj VX- ProNav: ac range: 80.099998 m, nav range: 47.989632 m, bearing: 354.051462 deg, approach rate: 0.323062 m/s, LOS rate: -0.756548 deg/s, cmd heading: 97.529767 deg, new cmd heading: 96.542801 deg. 2j-5HeadingCmd: 1.684990 target range: 80.099998 and range: 80.10 m. j5?j1j1j1i1h9h9h9h=BfAfAfArfAbfM @zKuBoHKu 9KqKu!KuBKy:K}oAɛBʣ@ 隍urI R<ɚiI==I?iiZ=)?) } $?Iy*FU?2FQ:FQBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507750Gu=GI BQ Ou >3w,Έm A2p?Y2?2`)=92=y2HSb˿@?@a ?);?5˿?*@??ɨ2p?2Hw;2%CyLRyIIV(IV̍3٢v~ v<9zuQ z> G٣y   > Nusing accuracyPremultiplier from config59?5Y| i}%?%@(E:;;ߪ5) - A)ZjQUDNOT Ignoring new targets: 80.10 m.BjmXJjmX} ProNav: ac range: 80.099998 m, nav range: 48.111134 m, bearing: 353.762066 deg, approach rate: 0.318705 m/s, LOS rate: -0.757179 deg/s, cmd heading: 96.542805 deg, new cmd heading: 95.676878 deg. 2j}HeadingCmd: 1.669877 target range: 80.099998 and range: 80.10 m. j?jjjihhhhfffrfbf!@ɛBQ5 qI Nj<ɚiI=I?ii=)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:37:15.8978 LVL= 15952, 25713, 22354, 32755, AGC= 64, IDX= 401, 0.12,-2.392, 2.018, 2.781, 3.135, PHS= 0.844,-1.071,-0.357, RAW= 111.6, 7.0, CAL= 121.7, 4.1, ROT= 28.3, -4.1 Ygot valid direction response: 23:37:15.8978 LVL= 15952, 25713, 22354, 32755, AGC= 64, IDX= 401, 0.12,-2.392, 2.018, 2.781, 3.135, PHS= 0.844,-1.071,-0.357, RAW= 111.6, 7.0, CAL= 121.7, 4.1, ROT= 28.3, -4.1 =PDAT read: Bearing 28.3, -4.1 (Local) E~Local bearing/azimuth received: Bearing 28.3, -4.1 (Local) UDAT read: Range 10 to 50 : 77.7 m (Round-trip 103.6 ms) speed 0.4 m/s ],DAT read: user:3383> eBDAT read: Tx time:23:37:16.9901 e$Ping request sent.eqd RW)I@*F?2F:FBFn0JFibX?ȶQ?5= @)C=I'>iCuMl?3jt¿0L?)3HIiK#:publishing transmit ping timeaFpublishing direction and range info9`<5ϿQ̷пX?y )Ii )IiuMl?3jt¿0L?)IiGmm=G)B1OM1> aIa Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I I I &I .I 6I {<:I F0w,h A $$Z 4?YZr?Z=9Z]I=yZH ^-ʿO?yL?@ʿf?FlĢ? >?ɨZ 4?Z;Z&CJ%vJ%lJ!J!J%{T:J%9J!J!J%Hu;J%Ju;J%(:J%):y5B5nIim=Im=Mb@Mb@Mb@ )Y5^I ?Mb?Mb`?y8?=;\A )I AyAIIT٢W .=9PQ > G٣%VGy%P %> UNusing accuracyPremultiplier from configQ]59U?]5YUDt iU]9?e:e?e@U+EUU9;U@=U5"B !AE%Will construct direction to contact in vehicle frame from tetrahedron phase data.kM2?kMsɝ kI kMq A:kMfBBkM\BZkMɻ@"M93DK4*h3 R@M`<5ϿQ̷пX?JkMKRkM#*M 9@>Ѽ&ˆR@M̜C?¿jC?"kM5*kMAkM^[&?kM)ɟ 2kMeCkM'?kMqo kMCkMBkM @% addTargetRange:: Added new target pos. range: 77.699997 m, deltaT: 3.782352 s, deltaX: -2.400002 m, approachRate: -0.634526 m/s, rangeRepo size: 4 5 Added new target pos. range: 77.699997 m, bearing: 336.232075 deg, lat: 36.905688 deg, lon: -122.120126 deg, deltaT: 3.782352 s, deltaX: -2.400002 m, approachRate: -0.634526 m/s, posRepo size: 4 Zj1]DNOT Ignoring new targets: 77.70 m.Bj]Jja ProNav: ac range: 77.699997 m, nav range: 37.897701 m, bearing: 343.864904 deg, approach rate: 0.000000 m/s, LOS rate: -0.757179 deg/s, cmd heading: 95.676880 deg, new cmd heading: 94.423168 deg. 2jHeadingCmd: 1.647995 target range: 77.699997 and range: 77.70 m. j?jjjihhhhBfQfQfYrf]lS@bf]q?ɛB* 隭'uI / <ɚiIm=I?iiĮ=)?)zKBJK9KK!K8EKJC>967001.(%"RK?JK? Q IY *F 2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G =G qAG pAGBO>*w,&p A6?Y6=?6h=96B>rIIJ%IJ)3٢Ri< RG=9VQ V>TX ZG٣Xy > Nusing accuracyPremultiplier from config%59؞?%5Yl i!-?-@-E::w51 =!A=EeB*** querying acoustic contact ***jajaZjy}DNOT Ignoring new targets: 77.70 m.BjJj ProNav: ac range: 77.699997 m, nav range: 38.069283 m, bearing: 343.495739 deg, approach rate: 0.501620 m/s, LOS rate: -1.074390 deg/s, cmd heading: 94.423172 deg, new cmd heading: 93.320809 deg. 2jV8HeadingCmd: 1.628755 target range: 77.699997 and range: 77.70 m. j{?jjjihhhhfffrfbf 4?ɛ%B%V4` -y=-sI1 5V<ɚ1i1I5tW=IE{?iAiEF=)E{?)*F2F:FBFo0JFG]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.G1BAO]T> I hw,[ AWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221198s?Yy"?P =91=yHǿ`l`v?@j? 9ǿ`2???ɨs?ߌ;y-B-gIMb@Mb@Mb@ )Yl?B`"۹?Mbp?y7?=;rA vA)AI AyAII٢ +=9Q > G٣VGy >H >I  I I I &I .I 6I <:I  F Nusing accuracyPremultiplier from config59?5Yad i]9?:?A0E];;5 G!AZj9EDNOT Ignoring new targets: 77.70 m.BjElJjEl} ProNav: ac range: 77.699997 m, nav range: 38.265411 m, bearing: 343.082845 deg, approach rate: 0.395628 m/s, LOS rate: -0.828606 deg/s, cmd heading: 93.320806 deg, new cmd heading: 92.088675 deg. 2j}*HeadingCmd: 1.607251 target range: 77.699997 and range: 77.70 m. jc?jjjihhhhBfffrfbf`?ɛ-B- ! )-vI) _^<ɚiIɐ=Ic?ii!F>)c?)EEqA*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470208G t= $?I zK vkMK 9K K !K G B O >w,2 AyzB~cI) I (I ̍3٢c ^=9%Q %>!! %G٣)y- -> 5Nusing accuracyPremultiplier from config1=595p?=5Y5] i5AAEA52E5:5q:55M!B M_!AEZjDNOT Ignoring new targets: 77.70 m.Bj%׀Jj%׀U ProNav: ac range: 77.699997 m, nav range: 38.421764 m, bearing: 342.759622 deg, approach rate: 0.437689 m/s, LOS rate: -0.901131 deg/s, cmd heading: 92.088674 deg, new cmd heading: 91.123049 deg. 2jU]HeadingCmd: 1.590397 target range: 77.699997 and range: 77.70 m. j]#?jYjYjaiahahahahfffrfbf)E#?)A}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724815*F?2F:F BF /1JFG=GBOg>JtJjJJJ;N:J9JJa-@a5@a5@a5@m G tA A {Y tAy B= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978214Uw,hw AyrBrbIIz$Iz<3٢@ L=9 Q  >   G٣y > %Nusing accuracyPremultiplier from config%59?-5YV i))-A4E ::51 5c!A9ZjimDNOT Ignoring new targets: 77.70 m.BjuDJjuD ProNav: ac range: 77.699997 m, nav range: 38.592720 m, bearing: 342.412011 deg, approach rate: 0.450083 m/s, LOS rate: -0.911114 deg/s, cmd heading: 91.123050 deg, new cmd heading: 90.084955 deg. 2jRHeadingCmd: 1.572279 target range: 77.699997 and range: 77.70 m. jq@?jjjihhhhfffrfbf@ɛB(T ~wI |<ɚiIj=Iq@?iixV&>)q@?) IE8R=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235465He>Ia IeIIe?BIe =&Ia.Ia6Iej<:Ie FBIȫCJIȫCRIZI =bI =jI15*F?2F:FBF0JFJ! J% BAG 4>G B O >fw,v A>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.482531yuBuKIMb@Mb@Mb@ )YbX9?A`"?~jtxyE6?=ĻA A)AIyAI,I3٢- 5'=91Q 5>99 =G٣=VGy9 => MNusing accuracyPremultiplier from configA]59E|?e5YEM iEmI8?m:m?uAE7EE;E;E5 B !AEZjiuDNOT Ignoring new targets: 77.70 m.BjuqdJjuqd ProNav: ac range: 77.699997 m, nav range: 38.805534 m, bearing: 341.994751 deg, approach rate: 0.409700 m/s, LOS rate: -0.798877 deg/s, cmd heading: 90.084956 deg, new cmd heading: 88.840248 deg. 2j HeadingCmd: 1.550555 target range: 77.699997 and range: 77.70 m. jx?jjjihhhhBfffrfbf >@ I hɛmBm`, quIq u <ɚqiqIu =zK}>`JK}+9KyK}!K}RK?JK?Ix?ii>7>)x?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.737246E(z=*F! 2F! :F) BF- `0JF) G M>J rJ nJ J J G:J 99J J G B O% > w,?, A >ˡ?Y>?><9>^H _@>? ?fAC?@1K?;?ɨ>ˡ?>ث;>&CyJBJSIiN>IN<IVIV#3٢^= ^f=9b[@Q b>`d fG٣dyfO# f> jNusing accuracyPremultiplier from confighn59jv?r5Yj=G ijpr?rAj9Ej` ;j ;j5t v!Ax B*** querying acoustic contact ***j j Zj!%DNOT Ignoring new targets: 77.70 m.Bj-Jj-E ProNav: ac range: 77.699997 m, nav range: 38.949245 m, bearing: 341.682748 deg, approach rate: 0.438632 m/s, LOS rate: -0.948770 deg/s, cmd heading: 88.840250 deg, new cmd heading: 87.907781 deg. 2jE"MHeadingCmd: 1.534280 target range: 77.699997 and range: 77.70 m. jMKc?jIjIjIiIhIhQhQhQfQfYfYrfYbf]@ɛB"r  \|I  ;<ɚ i I !=I5Kc?i9i=G>)=Kc?)9EAEA*EI"EIWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑBDAT read: Rx Time:23:37:19.4953 TRx dataTimestamp_ set to:1736379440.809784checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988482  $?I *Fq2Fq:FqBF}X5JFyGUi&>G) B9 OU >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242681uw,F A2?Y2?2:<92CڭIFC IFIIF5BIF =&ID.IF@D6IFI<:IF FyB8I*Jy"J}p=Mb@Mb@Mb@ )Y/$?J +?{Gzy&1?=#A A)rAIvAyAI#I%x3٢n %*=9-]Q 5>99 EG٣Ay] ]> }Nusing accuracyPremultiplier from configq59u{o?5Yu> iu2?:?Au)ҕ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:37:19.4953 LVL= 14064, 23537, 18578, 26179, AGC= 57, IDX= 423, 0.00,-2.650, 1.609, 2.103, 2.548, PHS= 1.173,-0.892,-0.448, RAW= 101.8, 1.8, CAL= 112.2, -1.1, ROT= 37.8, 1.1 Ygot valid direction response: 23:37:19.4953 LVL= 14064, 23537, 18578, 26179, AGC= 57, IDX= 423, 0.00,-2.650, 1.609, 2.103, 2.548, PHS= 1.173,-0.892,-0.448, RAW= 101.8, 1.8, CAL= 112.2, -1.1, ROT= 37.8, 1.1 PDAT read: Bearing 37.8, 1.1 (Local) ~Local bearing/azimuth received: Bearing 37.8, 1.1 (Local) DAT read: Range 10 to 50 : 75.7 m (Round-trip 101.0 ms) speed 0.4 m/s ,DAT read: user:3384> BDAT read: Tx time:23:37:20.5901 $Ping request sent.?)ڝnFIڝ[(?iڝnF<ڙڙ۝[ia?ӿS6. ?)۝ŢI۝ii۝V!۝ۙۙ-:publishing transmit ping time-Fpublishing direction and range infoؙ9؝#SMҸ??yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝[ia?ӿS6. ?)ۙIۙiۙۙۙۙ*FU?2FY:FYBF]4JFa I ' TFailed to parse incomplete device message.G} H&>G9 Ba O >Gw,x~` AƁ?Y̿?<9v G٣VGyD >Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:37:20.5893 Nusing accuracyPremultiplier from config59j?5Y@8 i/?A>E::<5 "Akp?k k kS A:kfBBkdBZkQ@"\$XM@[98`3R@#SMҸ??JkV!Rk*]~"@ l|ֳR@;>EE?W2Aba?"k*kAku?kP 2k Ck%߫?kk Ck Bk˼@ addTargetRange:: Added new target pos. range: 75.699997 m, deltaT: 3.532109 s, deltaX: -2.000000 m, approachRate: -0.566234 m/s, rangeRepo size: 4  Added new target pos. range: 75.699997 m, bearing: 321.071668 deg, lat: 36.905640 deg, lon: -122.120126 deg, deltaT: 3.532109 s, deltaX: -2.000000 m, approachRate: -0.566234 m/s, posRepo size: 4 Zj%DNOT Ignoring new targets: 75.70 m.BjMJjI] ProNav: ac range: 75.699997 m, nav range: 34.252384 m, bearing: 338.038550 deg, approach rate: 0.000000 m/s, LOS rate: -0.808068 deg/s, cmd heading: 86.653258 deg, new cmd heading: 85.794986 deg. 2jaHeadingCmd: 1.497405 target range: 75.699997 and range: 75.70 m. j?jjjihhhhfffrfR@bf?ɛ߁B"m ʅI <ɚiIB$=I ?i i>)?)JIJMiJIJIJIJMڈ9JIJIBK:KqA*F2F:FBF]0JFGc>GBO >m Will construct direction to contact in vehicle frame from tetrahedron phase data.ww,z A 4I4BzS?YB?Bp@<9Btt vG٣tyz7 z> ~Nusing accuracyPremultiplier from config|59~e?5Y~n1 i~C  ? A~@E~P:~e:~5 "A!ZjIMDNOT Ignoring new targets: 75.70 m.BjUJjUe ProNav: ac range: 75.699997 m, nav range: 34.404312 m, bearing: 337.675310 deg, approach rate: 0.434802 m/s, LOS rate: -1.034959 deg/s, cmd heading: 85.794983 deg, new cmd heading: 84.710210 deg. 2je1mHeadingCmd: 1.478472 target range: 75.699997 and range: 75.70 m. jm>?jijijiiihqhqhqhqfyfyfyrfbfU?ɛށBW 15 I1 =)v<ɚ9i9I=7%=IE>?iAiE>)E>?)I*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.jHabHe<HiIi ImIIm%BIm =&Ii.Ii6Im3<:Imz FG&>G B O >$w,5 A"Will construct direction to contact in vehicle frame from tetrahedron phase data. i :Q?Y:?: <9:h/ G٣y  > Nusing accuracyPremultiplier from config 59 7`?5Y ) i ^H)?%:%?%A BE *$; "; 5-B -,#A-EZjQUDNOT Ignoring new targets: 75.70 m.Bj]Jj]m ProNav: ac range: 75.699997 m, nav range: 34.572166 m, bearing: 337.281623 deg, approach rate: 0.383394 m/s, LOS rate: -0.894841 deg/s, cmd heading: 84.710212 deg, new cmd heading: 83.535061 deg. 2jmuHeadingCmd: 1.457962 target range: 75.699997 and range: 75.70 m. ju?jqjyjyiyhhhhāBfffrfbf`8W?ɛ݁Bi ꈿI b*g<ɚ QIUhiIm_&=Iu?iqiuE>)u?)yEEpAzKK9KK!K*F-?2F):F)BF-n0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.GI GU pAGU mAG! BQ O} >J J J J J J J J *w,dɭ AFl?YFqF?F<9F u;yFH ֨Svf??ͨ?n?:?ɨFl?F>H;DyRhBRIIZIZV٢bn bT=9bzQ f>dd fG٣dyjH j> rNusing accuracyPremultiplier from configpv59r\?v5Yr# irttzS?zArDEr:r :ri5| ~Z#A|B*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 75.70 m.Bj5nJj5nE ProNav: ac range: 75.699997 m, nav range: 34.709393 m, bearing: 336.953089 deg, approach rate: 0.374591 m/s, LOS rate: -0.893261 deg/s, cmd heading: 83.535065 deg, new cmd heading: 82.553459 deg. 2jEBMHeadingCmd: 1.440830 target range: 75.699997 and range: 75.70 m. jMm?jIjQjQiQhQhQhYhYfafafarfabfm`.?ɛ܁B 隕"I -kZ<ɚiIe'=Im?ii&+>)m?)*F5?2F1:F1BF5k3JF1]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.G }F>GBO%> AIA Will construct direction to contact in vehicle frame from tetrahedron phase data. $? V?- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755775H} >Iy  I} II} BIy &Iy .Iy 6I} <:I} e FM1w,q A2?Y2?2K<92FKPy2H2mPV?@=8 b?`,Jz?ɨ2?2;2)CyFXBFI J=J=}Mb@Mb@Mb@yyy y)yY}Mb?EԸ? rhy} ?}=}C}+A }A)}nAI}Ayy}AII2٢9 9=9R2Q > G٣VGy/ >  Nusing accuracyPremultiplier from config 59 W?5Y ] i z"?:~?A FE  ; ; `5! %#A)ZjIUDNOT Ignoring new targets: 75.70 m.BjUwJjUwm ProNav: ac range: 75.699997 m, nav range: 34.867561 m, bearing: 336.562953 deg, approach rate: 0.352750 m/s, LOS rate: -0.866131 deg/s, cmd heading: 82.553457 deg, new cmd heading: 81.388529 deg. 2jmuHeadingCmd: 1.420498 target range: 75.699997 and range: 75.70 m. juҵ?jqjqjqiqhhhhρBfffrfbf`>?ɛ-ہB5TMp QU܋IQ U6I<ɚYiYI]L(=Ieҵ?iaie6>)eҵ?)a*F?2F:FBF2JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004173 IG @`>G B O >zK% BoIK% 9K! K% !K% RK- >JK- ? 8w,׾ A2ѭ?Y2?2<92y2H@= pf?*&? Yp?ɨ2ѭ?2z;2&Cy>8B>IIR IRb3٢5ڤ 5U=95<8Q =>99 EG٣AyEjh E> MNusing accuracyPremultiplier from configIU59MyT?U5YM* iMY]?]AMHEM ;M: ;M5a e$AiZjDNOT Ignoring new targets: 75.70 m.Bj"yJj"yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260003 ProNav: ac range: 75.699997 m, nav range: 34.996887 m, bearing: 336.234335 deg, approach rate: 0.344145 m/s, LOS rate: -0.871240 deg/s, cmd heading: 81.388527 deg, new cmd heading: 80.406416 deg. 2j{HeadingCmd: 1.403357 target range: 75.699997 and range: 75.70 m. j1?jjjihhhhfffrfbf@;@ɛEځBEK; IMII MK<<ɚIiIIMJ)=IU1?iYi]>)]1?)Y*F?2F:FBF4JFG/>G B O5 >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507916  $?I t6>w,ǜ A6#?Y6a?6~<96_y6H@?6@r ?Š? _?O Cr?ɨ6#?6((;6%CyB%BBIIJ IJ2٢RF VT=9VuWQ V>TX ZG٣XyZ)^ Z> bNusing accuracyPremultiplier from config`f59bQ?f5Yb ibdf?jAbJEb:b:b5l rb$AvEZjDNOT Ignoring new targets: 75.70 m.BjxJjx- ProNav: ac range: 75.699997 m, nav range: 35.126648 m, bearing: 335.894653 deg, approach rate: 0.333826 m/s, LOS rate: -0.870641 deg/s, cmd heading: 80.406414 deg, new cmd heading: 79.391245 deg. 2j-`5HeadingCmd: 1.385639 target range: 75.699997 and range: 75.70 m. j5\?j1j1j1i9h9h9hAhAfAfAfArfIbfMJ@ɛفB5< 1=I9 =X-<ɚ9i9I=*=IE\?iAiEEJ>)E\?)I*F12F1:F1BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763376GM5>ZHRH?AH>I IlIIBI =&I.I6IL<:I FGB)OEQ>J9J=hJ9J9J9J=Ȇ9J9J9J=_;aEJ=_;aMJ=Ӭ:aMJ=լ:aM] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:37:23.0929 e TRx dataTimestamp_ set to:1736379444.336548e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012880)Ew, AFVf?YF[?F <9F:yFH@?Ko?`?sf?iAq?ɨFVf?F ;F$CyzBzI) )-AmMb@Mb@Mb@iii i)iYm9v?K?Qym?m^=mumZA I i)iIiiymAII3٢ -=9Q > G٣VGy8 > Nusing accuracyPremultiplier from config59N?5Yz i?:}?ALEN;1;5B $AEZj DNOT Ignoring new targets: 75.70 m.BjPjJjPj- ProNav: ac range: 75.699997 m, nav range: 35.271126 m, bearing: 335.506427 deg, approach rate: 0.306200 m/s, LOS rate: -0.819412 deg/s, cmd heading: 79.391243 deg, new cmd heading: 78.231506 deg. 2j- 5HeadingCmd: 1.365397 target range: 75.699997 and range: 75.70 m. j=WŮ?j9jAjAiAhAhIhIhMBfIfQfQrfQbf] @ɛׁBLl 隍{I \P<ɚiI+=I5WŮ?i1i=>)=WŮ?)IzK-JK-h9K)K-!K-_byBK)CPJ;SKBKA:KEpA*F ?2F :F BF ]0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264008G- $>G9 G= rAG B O5 >EHKw,HR/ A)eF= mCG!A uYqyuNBWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 23:37:23.0929 LVL= 13552, 23713, 18834, 24691, AGC= 54, IDX= 415, 0.01, 0.892,-1.160,-1.012,-0.315, PHS= 1.295,-0.798,-0.701, RAW= 92.4, 2.0, CAL= 100.4, -0.6, ROT= 49.6, 0.6 ]Ygot valid direction response: 23:37:23.0929 LVL= 13552, 23713, 18834, 24691, AGC= 54, IDX= 415, 0.01, 0.892,-1.160,-1.012,-0.315, PHS= 1.295,-0.798,-0.701, RAW= 92.4, 2.0, CAL= 100.4, -0.6, ROT= 49.6, 0.6 ePDAT read: Bearing 49.6, 0.6 (Local) e~Local bearing/azimuth received: Bearing 49.6, 0.6 (Local) mDAT read: Range 10 to 50 : 74.0 m (Rou 98.7 ms) speed 0.4 m/s u,DAT read: user:3385> }BDAT read: Tx time:23:37:24.1901 }$Ping request sent.} I G٣yo > Nusing accuracyPremultiplier from config59L?5Y i?AOE;d;5 $Ak+\?kX?k$ 2k Ck^[&?kkkAkڸ@  addTargetRange:: Added new target pos. range: 74.000000 m, deltaT: 3.527924 s, deltaX: -1.699997 m, approachRate: -0.481869 m/s, rangeRepo size: 4 M Added new target pos. range: 74.000000 m, bearing: 233.345619 deg, lat: 36.905593 deg, lon: -122.120126 deg, deltaT: 3.527924 s, deltaX: -1.699997 m, approachRate: -0.481869 m/s, posRepo size: 4 ZjIUDNOT Ignoring new targets: 74.00 m.BjJj ProNav: ac range: 74.000000 m, nav range: 30.744539 m, bearing: 330.980654 deg, approach rate: 0.000000 m/s, LOS rate: -0.819412 deg/s, cmd heading: 78.231505 deg, new cmd heading: 76.926985 deg. 2jHeadingCmd: 1.342629 target range: 74.000000 and range: 74.00 m. jF۫?jjjihhhhfffrf%R@bf%+?ɛՁBfr 隵ܒI  <ɚiIqX-=IF۫?iiE>)F۫?)E*F ?2F :F BF @5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:37:24.1893 H >I  I SII BI &I .I 6I <:I FBIˬCJIˬCRIZI =bI =jIq5JK ـ3 K KK"KJUoJUfJQJQJU>:JU9JQJQJU}O;JUO;JU:JU:G>>GBO ?x\Tw,JR Ay5 B5IWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmn?MbX9?:vymV?mʡ=mTmA mA)mAIm^AiymAI I<2٢! '=9Q >99 =G٣=VGyE M> }Nusing accuracyPremultiplier from configQ59UhK?5YU iU?:L?AUQEU);U;U5 $AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 74.00 m.BjJj ProNav: ac range: 74.000000 m, nav range: 30.887690 m, bearing: 330.569423 deg, approach rate: 0.323115 m/s, LOS rate: -0.923910 deg/s, cmd heading: 76.926986 deg, new cmd heading: 75.699208 deg. Ih2j%-HeadingCmd: 1.321200 target range: 74.000000 and range: 74.00 m. j-?j)j)j)i)h1h1hYh]BfYfYfarfabfe`/?ɛӁBgޑ I u;ɚiI.=I?ii >)?) *F2F:FBFK4JFzK!PK+9KK!Kc#9n^F'vj^UNE>0}|vrlRK ?JK ?G>GaBiO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ŁZw,l AfD?YfȂ?fa'<9fR_7yfH ?eS??@ ?Ȅ?#섿@K>?ɨfD?f;f%CynBrIIzIz?13٢ t=9 x.Q  ?   G٣y ? %Nusing accuracyPremultiplier from config-59J?55Y i 15?5AREZ;H[;o5A E$AAZjamDNOT Ignoring new targets: 74.00 m.BjuԁJjuԁ ProNav: ac range: 74.000000 m, nav range: 30.983490 m, bearing: 330.275907 deg, approach rate: 0.297294 m/s, LOS rate: -0.908037 deg/s, cmd heading: 75.699205 deg, new cmd heading: 74.821453 deg. 2jHeadingCmd: 1.305881 target range: 74.000000 and range: 74.00 m. j'?jjjihhhhfffrfbf?ɛҁB\鯽 I ;ɚiIS|/=I'?ii*>)'?)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995195 1I5hG>G?G>GBO>kaw, A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249527jH9bH=<H]>IY I]FII]BI] =&IY.IY6I]0<:I]y FmI˛?YmN ?m;9mo9ymH?@wW?d?`?@`?E`x:?`?ɨmI˛?m;m$Cy}B}IMb@Mb@Mb@ )YS?Mb?y?=/A )AIyAI5I5i٢E E+=9M̦Q M>II MG٣IyU% U> ]Nusing accuracyPremultiplier from configYm59]iK?m5Y] i]m ?m:m?uA]UE]k8;] 7;]5}B }$A}EJpJJJJA:JJJJT;JT;JJZjAMDNOT Ignoring new targets: 74.00 m.BjM!xJjU!x ProNav: ac range: 74.000000 m, nav range: 31.113230 m, bearing: 329.841340 deg, approach rate: 0.260149 m/s, LOS rate: -0.867733 deg/s, cmd heading: 74.821451 deg, new cmd heading: 73.523421 deg. 2jHeadingCmd: 1.283226 target range: 74.000000 and range: 74.00 m. j@?jjjihhhhBfffrfbf?ɛMЁBM IUxIQ ׯ;ɚiI0=I@?iib >)@?)EqEunAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499201*F2F:FBF^0JF "G=G=  I! G- >G B O= >] hw,š AzK.AOK.h9K,K.!K.d`\WTOGC@@<::8875522/-*(()% BK4:K6oA:s?Y:?:+;9:a;y:H K?>w?"? M?`DT|?ఔ@,s??ɨ:s?:ͻ;:%CyFBFIIN"INq3٢V$ Vj=9VRXQ Z>XX ZG٣ZVGy^V ^> bNusing accuracyPremultiplier from config`f59bL?f5Yb ibdjH?jAbVEb:b:b 5l n$AlZj DNOT Ignoring new targets: 74.00 m.Bj Jj% ProNav: ac range: 74.000000 m, nav range: 31.206135 m, bearing: 329.522460 deg, approach rate: 0.283162 m/s, LOS rate: -0.969005 deg/s, cmd heading: 73.523421 deg, new cmd heading: 72.569724 deg. 2j%A&-HeadingCmd: 1.266581 target range: 74.000000 and range: 74.00 m. j-P?j)j)j)i)h)h)h1h1f1f9f9rf9bf=ӥ?ɛe΁Bml imIi mE;ɚiiqIu01=IP?iiMd>)P?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753715*F2F:FBFo0JFG>GBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003123  I ;nw,- A>?Y>޲?>`<9>tH}? ل`Z‚??? z?Yh.?{?ɨ>?>;>!CyZBZIIbIb?13٢n< nG=9rm-:Q r>pp rG٣pyv[ v> zNusing accuracyPremultiplier from configx~59z/M?~5Yz izv?AzXEz:z@:z5  $A Zj1=DNOT Ignoring new targets: 74.00 m.Bj=Jj=M ProNav: ac range: 74.000000 m, nav range: 31.312143 m, bearing: 329.145423 deg, approach rate: 0.257940 m/s, LOS rate: -0.914293 deg/s, cmd heading: 72.569722 deg, new cmd heading: 71.442593 deg. 2j]eHeadingCmd: 1.246908 target range: 74.000000 and range: 74.00 m. je?jajajaiahahihihifqfqfqrfqbf} U@ɛ=́B=& AEwIA Ep;ɚAiAIMb2=Iu?iqiu>)u?)q*F!2F!:F!BF%0JF!]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255280HaIeC Ie@IIeBIe =&Ia.Ia6Iee<:Ie FG  >G G qAGBJJjJJJJ9JJJJT;J:J:O >;uw,{ ArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511461yvBvI}Mb@Mb@Mb@yyy y)yY}Cl?L7A`?y}?}+=y}A }A)}AI}/Ayy}=AII[3٢7Q< ?=9Q > G٣y > Nusing accuracyPremultiplier from config59XN?5YA i?:?AZE;; 5 $A IB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 74.00 m.BjrJjr5 ProNav: ac range: 74.000000 m, nav range: 31.425659 m, bearing: 328.752430 deg, approach rate: 0.246077 m/s, LOS rate: -0.848839 deg/s, cmd heading: 71.442590 deg, new cmd heading: 70.268041 deg. 2j==HeadingCmd: 1.226409 target range: 74.000000 and range: 74.00 m. j=?jAjAjAiAhIhhhBfffrfbf`@ɛʁB8 @I #-;ɚiIM4=I%?i!i%WH>)%?)IE]a>E]>*F?2F:FBF0JFG GqAzK MK9KK!K Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ>Օ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765268G >G B O >H{w,S Ay~B~II "I q3٢/G; %S=9)Q ->)1 5G٣5VGy1 5> uNusing accuracyPremultiplier from configq}59ufO?}5Yug iuAu\Eu ;u ;up 5 $AZjDNOT Ignoring new targets: 74.00 m.BjJj ProNav: ac range: 74.000000 m, nav range: 31.530750 m, bearing: 328.395547 deg, approach rate: 0.289486 m/s, LOS rate: -0.979794 deg/s, cmd heading: 70.268044 deg, new cmd heading: 69.201095 deg. 2j(HeadingCmd: 1.207787 target range: 74.000000 and range: 74.00 m. jØ?jjjihhhhfffrfbf@ɛ%ɁB-i )5I1 5d:ɚ1i1I= 5=I=Ø?i9iE)>)EØ?)A*F?2F:FBF(5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:37:26.6911 TRx dataTimestamp_ set to:1736379447.868849checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016423G5 >GaBiO9> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269485ZHA RHE @A3w,%= AH>I III =&I.IAD6Io<:I F:4?Y>r?;9YM G٣y$ > Nusing accuracyPremultiplier from config59Q?5Yg i?:P?A^Ej;;k 5 $AEZj9EDNOT Ignoring new targets: 74.00 m.BjMJjM] ProNav: ac range: 74.000000 m, nav range: 31.646507 m, bearing: 327.958693 deg, approach rate: 0.255015 m/s, LOS rate: -0.958868 deg/s, cmd heading: 69.201093 deg, new cmd heading: 67.895562 deg. 2j]$]HeadingCmd: 1.185001 target range: 74.000000 and range: 74.00 m. je?jajajaiahahihihmBfifqfqrfqbfuzV @ɛǁB 隥I )?)*F?2F:FBFP5JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:37:26.6911 LVL= 9584, 24369, 17458, 25139, AGC= 55, IDX= 427,-0.04, 1.348,-0.150,-0.535, 0.495, PHS= 0.941,-0.598,-1.033, RAW= 77.9, 7.7, CAL= 82.1, 10.1, ROT= 67.9, -10.1 IhYgot valid direction response: 23:37:26.6911 LVL= 9584, 24369, 17458, 25139, AGC= 55, IDX= 427,-0.04, 1.348,-0.150,-0.535, 0.495, PHS= 0.941,-0.598,-1.033, RAW= 77.9, 7.7, CAL= 82.1, 10.1, ROT= 67.9, -10.1 PDAT read: Bearing 67.9, -10.1 (Local) ~Local bearing/azimuth received: Bearing 67.9, -10.1 (Local)  DAT read: Range 10 to 50 : 72.5 m (Round-trip 96.7 ms) speed 0.2 m/s  ,DAT read: user:3386>  BDAT read: Tx time:23:37:27.7902  $Ping request sent. ڕi?)ڕJ4>Iڕ?iڕJ4ڑڑەd؂?wvB[T9?)ە} G% ?G% $?G B O= >Sw,"AR3ʌ?YR7?zKVLKVh9KTKV!KV!)7@EFA@=7440+((&%#  R;9RR)mC?)EJoJgJ1JJ>:J9J3Ja@a@a@a%@*F ?2F :FBF4JFG>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. I uw,<A:?Y:Ϧ?:χ;9:rF G٣y* > Nusing accuracyPremultiplier from config59V?5Y i?AaE;5;5 *$AZj9=DNOT Ignoring new targets: 72.50 m.BjEJjE} ProNav: ac range: 72.500000 m, nav range: 15.209224 m, bearing: 308.557616 deg, approach rate: 0.424044 m/s, LOS rate: -1.711050 deg/s, cmd heading: 66.813764 deg, new cmd heading: 64.792030 deg. 2j}ȒHeadingCmd: 1.130834 target range: 72.500000 and range: 72.50 m. j-?jjjihhhhfffrfbf +?ɛ-ÁB5 15ʊI1 5 Raɚ1i9I=nS8=I==?iAiE>)E-?)A*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H)I) I-LII-BI- =&I).I)6I-L<:I- FG->GBO>\w,}VA6ň?Y6?6;96z G٣VGy > e $?Ia Nusing accuracyPremultiplier from config59Y?5Y i ?:϶?AcE] ;j;5 B$AB*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 72.50 m.Bj%Jj%⼝] ProNav: ac range: 72.500000 m, nav range: 15.385619 m, bearing: 307.864294 deg, approach rate: 0.407753 m/s, LOS rate: -1.584258 deg/s, cmd heading: 64.792028 deg, new cmd heading: 62.736840 deg. 2je臽eHeadingCmd: 1.094964 target range: 72.500000 and range: 72.50 m. je'?jijijiiihqhyhyh}ȁBfyffrfbf 1?ɛB%=j !%I! MɚIiIIMwm9=IU'?iQi]I->)]'?)a*Fa2Fa:FaBFiJFizK5qMK59K1K5!K5 /@{,Sfp{}}{pgV5fH6kE wlaXMF>1RKE?JKE?Will construct direction to contact in vehicle frame from tetrahedron 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 G9 BY O >J- qJ- jJ) J) J- D:J- 9J) J) 4w,fpAf?Yf?f_)79fp G٣y %> 5Nusing accuracyPremultiplier from config1=595V]?=5Y5| i5AEŴ?EA5eE57:5:5\5I U<$AQZjq}DNOT Ignoring new targets: 72.50 m.Bj}Jj} ProNav: ac range: 72.500000 m, nav range: 15.558012 m, bearing: 307.188974 deg, approach rate: 0.449483 m/s, LOS rate: -1.741221 deg/s, cmd heading: 62.736838 deg, new cmd heading: 60.734190 deg. 2j_HeadingCmd: 1.060012 target range: 72.500000 and range: 72.50 m. jv?jjjihhhhfffrfbf??ɛB槽 zI mq*ɚiiiImg:=Iuω?iqius,>)uv?)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427435*F?2F:FBFl0JF IIIG+ >GBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679344jH <bH H I  I YII Bsw,EAIM =&IMED.II6IMc<:IM FBI-CJI-CRI)ZI- = bI- =jI-d5yU>BUIMb@Mb@Mb@ )YMb?bX9ȶ?Mb`?y ?E=;A )Iy=AI(I̍3٢>$= :=9Q >!! -G٣-VGy- -> 5Nusing accuracyPremultiplier from config1=595`?=5Y5H i5E"?E:E?EA5hE5;5N;5D5I U#AUEZjq}DNOT Ignoring new targets: 72.50 m.Bj}Jj}꼝5 ProNav: ac range: 72.500000 m, nav range: 15.750977 m, bearing: 306.462795 deg, approach rate: 0.441481 m/s, LOS rate: -1.641016 deg/s, cmd heading: 60.734192 deg, new cmd heading: 58.583412 deg. 2j5ƌ=HeadingCmd: 1.022473 target range: 72.500000 and range: 72.50 m. j=i?j9j9j9i9hAhAhIhḾBfIfIfIrfQbfU Ď?ePExceeded connect timeout, disconnecting.ɛBTg ŇI kɚiI;=Ic?iiY>)i?)*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931391Gmq*> 1I1GIBQOm>w,A6S?Y6?6&\96$IR> V=V=IZIZ?13٢b bz=9f+Q f?dh jG٣hyjؽ j? rNusing accuracyPremultiplier from configlz59nHd?z5Yn inxzK=^ PK9K9K=!K="ywzwusttpkihea\XSQNJFA;9750,'%%%$!"BKEoA:KEnA~?}AniEnU)Uv~?)Y*F?2F:FBF4JFJJhJJJJȆ9JJG- h6,>G- ?G- ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435697G B) OE > ! I% hîw,FA:?Y:1?:9:XX ZG٣Xy^= ^> fNusing accuracyPremultiplier from config`j59bh?j5Ybf ibln=?nAbkEb;^;b@;bq5p v#AtZj DNOT Ignoring new targets: 72.50 m.BjDJjD- ProNav: ac range: 72.500000 m, nav range: 16.062693 m, bearing: 305.242597 deg, approach rate: 0.445358 m/s, LOS rate: -1.729424 deg/s, cmd heading: 56.951770 deg, new cmd heading: 54.960152 deg. 2j-\-HeadingCmd: 0.959236 target range: 72.500000 and range: 72.50 m. j5wu?j1j1j1i1h1h1hYhYfafafarfabfm a@ɛBا 隕I 撦ɚiI/l==Iw?ii6_>)wu?)*F5?2F1:F1BF5P0JF1G-jv2>GBO )>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.687483H>I IeIIBI =&IFD.I@D6I<:I F e nManaging dock network, ignoring radio surface power off2w,A67z?Y6 ?696&;y6H$?5%w??-$?q P[^?{? ?ɨ67z?6̋;6#CyB/BBIbWill construct direction to contact in vehicle frame from tetrahedron phase data.`i`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.939551%Mb@Mb@Mb@!!! !)!Y%#~j?B`"۹?Mby%%?%=%! %/A)%AI%A!y%AI=I=M3٢M M@=9U$Q U>QY ]G٣Yy]; e> mNusing accuracyPremultiplier from configam59em?u5Ye: ieu'?u:u? I5AenEe-=Ip?ii޼_>)k?)*Fa2Fa:FaBFe4JFazKuNKqKqKu!Ku!   &06:>RK ?JK?}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:37:30.2898 TRx dataTimestamp_ set to:1736379451.651570checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196190G E>G B O >J oJ jJ 0J J >:J 9J ـ3J ջw,A>Eu?Y>4?>H79>;y>HoM? hzL?@`?[M?`\kf?a?@?ɨ>Eu?>P;>$CyV2BVIdfAIn$In<3٢~; ~P=9Q >   G٣ VGyJ > Nusing accuracyPremultiplier from config59r?5Y^ i?ApE];];5 &$AEZjDNOT Ignoring new targets: 72.50 m.BjJj ProNav: ac range: 72.500000 m, nav range: 16.432360 m, bearing: 303.824124 deg, approach rate: 0.469442 m/s, LOS rate: -1.784315 deg/s, cmd heading: 52.810524 deg, new cmd heading: 50.754901 deg. 2jHeadingCmd: 0.885840 target range: 72.500000 and range: 72.50 m. jkb?jjjihhhhfffrfbf  @ɛ=B= 2 AEIA EɚAiAIE؅?=IMYg?iIiM$o>)Ukb?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443607*F2F:FBF_0JF IGPJ>GBO>>} Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ =Յ = DAT read: Range 10 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.1 m/s ZH RH ?AH >I  I I I =&I .I AD6I B<:I F ,DAT read: user:3387>  BDAT read: Tx time:23:37:31.3902  $Ping request sent.  G٣y" > Nusing accuracyPremultiplier from config59z?5Y i&?:M?ArE;w;L5 `$AE5 addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.760339 s, deltaX: -0.900002 m, approachRate: -0.239341 m/s, rangeRepo size: 4 Zj1]DNOT Ignoring new targets: 72.50 m.Bj]Jj]鼝m ProNav: ac range: 72.500000 m, nav range: 16.652857 m, bearing: 302.974073 deg, approach rate: 0.428413 m/s, LOS rate: -1.629671 deg/s, cmd heading: 50.754900 deg, new cmd heading: 48.240224 deg. 2jm͋HeadingCmd: 0.841951 target range: 72.500000 and range: 71.60 m. jW?jjjihhhhBfffrf`fQ@bf`c%?ɛ%B%ƕ !-I) -K ɚ)i)I-.@=I5W?i1i= >)=W?)9EAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:37:31.3894  $?I*F?2F:FBF^0JFG \>G B O >>w,&A:dj?Y:6?:49:]S y:H?@w i?@?z$`p?S@?ɨ:dj?:e;8yBBFIININ٢Z  Z=9^*Q ^?\\ bG٣`ybϖ b? jNusing accuracyPremultiplier from configdj59f~?n5Yf iflnv?nAftEf:f7:f 5pzKv?|MKv9KtKv!KvBBHMOSZ]dddgfgfdcbbbccab`^````_`baccbbc`]]ZYZXTOJJHHHHFA@?=<BKzpA:KzqA rx$A|Zj!%DNOT Ignoring new targets: 72.50 m.Bj-Jj-򼝊E ProNav: ac range: 72.500000 m, nav range: 16.781675 m, bearing: 302.472266 deg, approach rate: 0.439423 m/s, LOS rate: -1.698592 deg/s, cmd heading: 48.240223 deg, new cmd heading: 46.746714 deg. 2jMUHeadingCmd: 0.815884 target range: 72.500000 and range: 71.60 m. jUP?jQjQjYiYhYhYWill construct direction to contact in vehicle frame from tetrahedron phase data.hhf f frfbf@?ɛB!C½ =隍I 8 ɚiIA=I]Q?ii)P?)*F?2F:FBF`0JFGCub>GBO`>= Will construct direction to contact in vehicle frame from tetrahedron phase data. I hw,[y@A: f?Y:F?:ή9:ɐy:H?Ϫ )?9?g?u??ɨ: f?:܊;:$Cy^BbIIfIf(1٢r rI=9rBQ r>tt vG٣vVGyv A z> ~Nusing accuracyPremultiplier from configx%59z?%5YzZ iz!%?-AzvEz;z=;zb"51 5$A1ZjY]DNOT Ignoring new targets: 72.50 m.BjeJje뼝 ProNav: ac range: 72.500000 m, nav range: 16.954739 m, bearing: 301.791868 deg, approach rate: 0.423557 m/s, LOS rate: -1.648179 deg/s, cmd heading: 46.746713 deg, new cmd heading: 44.727237 deg. 2jdHeadingCmd: 0.780638 target range: 72.500000 and range: 71.60 m. jG?jjjihhhhfffrfbf0?ɛB"= LI |ɚiqIB=IG?ii)G?)Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I III&I.I@D6I<:I F*FE?2FA:FIBFMm0JFIG%5>GB)Ouy>J=qJ=kJ9J9J=D:J=9J9J9J=IZ;aMJ=LZ;aMJ=:aMJ=:aM] Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,iZA2Vp`?Y2/v?2ӻ92Mϥy2H@".? xTu@z? .?l?rpz?p&?ɨ2Vp`?2 W;2&C  G٣y]N > Nusing accuracyPremultiplier from config59?5Yz i"?:?jjjihhhhBfffrfbf`?ɛBo 隕gI x,ɚiI4C=I>?ii)>?)EElA*F5?2F1:F1BF5p0JF9zK-`NK-9K)K-!K-:896533.01.,+,)*('(&%$!RKE ?JKE"?Will construct direction to contact in vehicle frame from tetrahedron 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= >,qw,/tAZZ?YZ?Z~һ9Z ͼyZH{}? i"? }?۶y?Oz? 렙C?ɨZZ?ZB;Z'CybBbIIv#Iv%x3٢ C  Y=9*8Q > G٣y{ > %Nusing accuracyPremultiplier from config!-59%?-5Y%t i%+15B?5A%zE%:%X:%%5=B =$AEEZjDNOT Ignoring new targets: 72.50 m.BjGؼJjGؼ% ProNav: ac range: 72.500000 m, nav range: 17.283560 m, bearing: 300.499248 deg, approach rate: 0.385160 m/s, LOS rate: -1.512680 deg/s, cmd heading: 42.671139 deg, new cmd heading: 40.888206 deg. 2j%ā-HeadingCmd: 0.713634 target range: 72.500000 and range: 71.60 m. j-6?j)j1j1i1hQhQhYhYfafifirfibfm?Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753134 yI}hɛBa lI r:ɚiID=I6?i)i))-6?)AEmw=*F ?2F :F BF `0JF G  G jH <bH <H >I C I YII BI  =&I .I 6I {<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006680GM>J]rJYJYJYJ]G:JYJYJYJ]_;J]_;JYJYGAByO?w,AFK?YF?F{9F%yFH %? %F`Y)?? k?co? ߞ`7?ɨFK?F;F$Cyb~BbIeMb@Mb@Mb@aaa a)aYel?{Gz? G٣VGyF > Nusing accuracyPremultiplier from config59?5Ym i??:Ғ?A}E*$;";?(5B 9%AEZjDNOT Ignoring new targets: 72.50 m.BjJj鼝  ProNav: ac range: 72.500000 m, nav range: 17.467670 m, bearing: 299.652709 deg, approach rate: 0.359474 m/s, LOS rate: -1.635376 deg/s, cmd heading: 40.888207 deg, new cmd heading: 38.377060 deg. 2j KHeadingCmd: 0.669806 target range: 72.500000 and range: 71.60 m. jix+?jjjihh!h!h%Bf!f)f)rf)bf-@ɛ]B]Ե Y]َIY ]\zKɚaiaIeJF=Imix+?iiii)mix+?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261687  $?I!Em=*F?2F:FBF0JFG >G B O- >zK} uMK} 59Ky K} !K} ",*)/476>wvdUMC91( BK oA:K pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513054j*w,ծAN C?YN{?NF9N:yNH@?ڞ??w?c?]_?ɨN C?N;N&CyZ~BZIIb$Ib<3٢j ʼ jW=9js;Q n>ll rG٣pyr r> vNusing accuracyPremultiplier from configtz59v?z5Yvg ivN9=Վ?=Av~Ev.Iq  Iu LIIu BIu  =&Iq .Iq 6Iu t<:Iu FBI1JI1RI1ZI5 =bI5 =jI5͵5 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:37:33.8892  TRx dataTimestamp_ set to:1736379455.180807 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017675G >G ?G ?GBO >ow,fAJ)J-jJ)J)J)J-9J)J)J)J)J-:J-:ye~BeIim,>Im<Mb@Mb@Mb@ )Ykt?v/?~jty ?xi= A CA)AIAyAI #I %x3٢+; %=9%Q %>)) -G٣-VGy- 5> =Nusing accuracyPremultiplier from config1E595i?E5Y5_ i5fE?E:E?MA5E5;59;5,5UB U^%AUEZjDNOT Ignoring new targets: 72.50 m.BjܼJjܼ= ProNav: ac range: 72.500000 m, nav range: 17.784073 m, bearing: 298.122014 deg, approach rate: 0.317877 m/s, LOS rate: -1.542868 deg/s, cmd heading: 36.557406 deg, new cmd heading: 33.830313 deg. 2j=[EHeadingCmd: 0.590450 target range: 72.500000 and range: 71.60 m. jE'?jAjAjAiAhAhIhIhMBfIfQfQrfYbf] @ɛB I spɚiIH=IF ?ii)'?) 9I9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268322*F?2F:FBFn0JFG G B O >Ow,)?A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: Range 10 to 50 : 71.1 m (Round-trip 94.9 ms) speed 0.0 m/s *,DAT read: user:3388> .BDAT read: Tx time:23:37:34.9902 2$Ping request sent.2?JK>?^=2?Y^FCk?^1*:9^_*jy^Hki? p p?h??EVE'?ɨ^=2?^8 ;^%Cyf~BjIIr1Ir3٢z9! zk=9z4G B! OE >s6w,A2o*?Y2b?2^{;92y2H:?2-F?@?`:?`q?toCb@?ɨ2o*?2%;2&Cyb~BbIIjIj̍٢r< rK=9rK;Q r>tx zG٣xyz ~> Nusing accuracyPremultiplier from config 59ơ? 5YbV i |?AE::/5 e%AZjAEDNOT Ignoring new targets: 72.50 m.BjMJjM] ProNav: ac range: 72.500000 m, nav range: 17.995329 m, bearing: 296.944669 deg, approach rate: 0.307696 m/s, LOS rate: -1.740097 deg/s, cmd heading: 32.211326 deg, new cmd heading: 30.320336 deg. 2j]FeHeadingCmd: 0.529190 target range: 72.500000 and range: 71.10 m. jex?jajijiiihihqhyhyfyfyfyrfbfqp?ɛB_ӽ 隭hI wyɚiI{1K=IP ?ii)x?)EZHRH@AH>I I@IIBI =&I.I6I]<:I FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501445*Fi2Fq:FqBFuU0JFqJK3 K.KK"KJJgJJJJ9JJJJJ>:J?:G>GGGBO> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752698,aw,A6#?Y6[?6;96T(=9Q;Q > G٣VGy > Nusing accuracyPremultiplier from config59ѡ?5YQ i?:q?AEH;G;15 l%AEZjDNOT Ignoring new targets: 72.50 m.BjDҼJjDҼ- ProNav: ac range: 72.500000 m, nav range: 18.098944 m, bearing: 296.307823 deg, approach rate: 0.240655 m/s, LOS rate: -1.470637 deg/s, cmd heading: 30.320337 deg, new cmd heading: 28.421471 deg. 2j-R|5HeadingCmd: 0.496048 target range: 72.500000 and range: 71.10 m. j5 >j1j1j1i9h9h9h9hEqBfAfAfArfAbfM`U?ɛuB} y}Iy }JɚiIL=I >ii) >)*F ?2F :F BF _0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005746zK}LK}59KyK}!K}G>GBO> w,8A6rA?Y6zR?6X<96(XX ZG٣Xy^h ^> bNusing accuracyPremultiplier from config`f59bۡ?f5YbM ibdfCh?jAbEb":b:bM35l nj%AnEZjDNOT Ignoring new targets: 72.50 m.Bj ռJj ռ AIEhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257526 ProNav: ac range: 72.500000 m, nav range: 18.184128 m, bearing: 295.755056 deg, approach rate: 0.230788 m/s, LOS rate: -1.490564 deg/s, cmd heading: 28.421471 deg, new cmd heading: 26.771421 deg. 2jHeadingCmd: 0.467249 target range: 72.500000 and range: 71.10 m. jR;>jjjihhhhfffrfbfC?ɛ=BEJVŽ AEIA EfɚAiIIMM=IMi>iQiq)uR;>)y*F 2F :F BF JF GiH>I I-IIBI&I.I6I4<:I| Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508682Gq B O >9ww,RAJsJJ1JJK:JJ3JJe;Je;JJ?YFJ?J=<9;yH?rQ??p?o?Fuy?J?ɨ?ύ;騵#Cy~BIUMb@Mb@Mb@QQQ Q)QYUjt? rh? G٣yё > Nusing accuracyPremultiplier from config59\顜?5YI i?:R?AEN;;V55 |%AZjDNOT Ignoring new targets: 72.50 m.BjмJjм ProNav: ac range: 72.500000 m, nav range: 18.271139 m, bearing: 295.071267 deg, approach rate: 0.186693 m/s, LOS rate: -1.460126 deg/s, cmd heading: 26.771422 deg, new cmd heading: 24.730736 deg. 2jzHeadingCmd: 0.431633 target range: 72.500000 and range: 71.10 m. j>jjjihhhhxBfffrfbf?ɛB -$?I)-* )-I1 5Fޜɚ1i1I5.yO=I=>iYia)e>)aEqEupAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761062*F?2F:FBF^0JF"G%,>G%)>GY G1 BI Om >w,˂lAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012775zKRKKR9KPKR"KRf ?Yf A?f'Ȇ<9fr;yfH5R?@??`\S??ؐ-q??ɨf ?fzV;f&CyM~BMIiU>IU> ]=YIeIe<2٢mP< u^=9u-Xyy }G٣yyǽ > Nusing accuracyPremultiplier from config59\?5YE iI?AE ; ;65 n%AEZjDNOT Ignoring new targets: 72.50 m.BjҼJjҼ ProNav: ac range: 72.500000 m, nav range: 18.335503 m, bearing: 294.528015 deg, approach rate: 0.175132 m/s, LOS rate: -1.472966 deg/s, cmd heading: 24.730735 deg, new cmd heading: 23.107159 deg. 2j|HeadingCmd: 0.403296 target range: 72.500000 and range: 71.10 m. j|>jjjihhhQhQfYfYfYrfYbf]W@ɛB^ͽ =%I! %`vɚ!i!I%P=I-G>iIiQ)U|>)Q*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=2.264699Gm >GA BI Om >Q!w,\A6X>Y6K8?6s1<96'~;y6H ?`?@?`?߆?啿 o??ɨ6X>68;4yB~BBIIJIJm?3٢^< ^W=9^7T`` bG٣bVGyf f> -Nusing accuracyPremultiplier from configl559n&?55YnB in9=@?=AnEnRjjjihhhhfffrfbf @ɛBͺ̽ NI ɚiIXR=I>ii)^>)jHbH<H>I I!IIBI&I.I6IA<:I F5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517352*F?2F:FBF0JFG>GBO>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7687323'w,;A:,>Y:x/?:F<9:;;y:H?@B`?PB??"\?t~??ɨ:,>:b;:$CyDFIMb@Mb@Mb@ )YZd;?Mb?y&1|y><`/A A)AIAypAI=#I=%x3٢Ms MA=9M?QQ UG٣Yy] ]> eNusing accuracyPremultiplier from configam59e5 ?m5Ye> ieu>u:u7?uAeEem ;eTE;et:5 V%AZjDNOT Ignoring new targets: 72.50 m.BjӼJjӼ ProNav: ac range: 72.500000 m, nav range: 18.459772 m, bearing: 293.351576 deg, approach rate: 0.150871 m/s, LOS rate: -1.480522 deg/s, cmd heading: 21.415380 deg, new cmd heading: 19.590909 deg. 2j~HeadingCmd: 0.341926 target range: 72.500000 and range: 71.10 m. j>jjjihhhhBfffrfbf o@ɛB½ 隥ӊI dɚiI T=I>ii)>)ER>E>*Fu?2Fq:FqBF}M2JFyG GrAEWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:37:37.4891 UTRx dataTimestamp_ set to:1736379458.708867Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023229zKUKU9KQKU"KU  #'(''#  GE hs>J qJ iJ 0J J D:J ڈ9J ـ3J a @a @a @a @G! B) O > -w,%A N$?ILZ˖>YZmG'?ZV<9Z;yZHRe?Vr?q?ui?@a?ɟt??ɨZ˖>Z;Z%Cyb~BfI)h jAhhIlIl٢v; vP=9zD|| ~G٣|y >  Nusing accuracyPremultiplier from config59?5YQ; i/?AE<Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273528"<,<5B P%AEZjDNOT Ignoring new targets: 72.50 m.BjBƼJjBƼ ProNav: ac range: 72.500000 m, nav range: 18.513464 m, bearing: 292.780979 deg, approach rate: 0.130862 m/s, LOS rate: -1.386644 deg/s, cmd heading: 19.590909 deg, new cmd heading: 17.884614 deg. 2jmHeadingCmd: 0.312145 target range: 72.500000 and range: 71.10 m. jџ>jjjihhh!h)f)f)f1rf1bf5 r^ @ɛ]B]raɽ YeIa eyɚaiaIeU=ImO>iiiq)uџ>)qE؎=*FU?2FQ:FYBF]0JFaH>IC III&I.I6IF<:I FE Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: 23:37:37.4891 LVL= 14064, 13281, 15298, 17859, AGC= 53, IDX= 438, 0.06, 0.901, 0.437,-1.456, 0.102, PHS= 0.887, 0.382,-1.561, RAW= 41.3, 2.6, CAL= 40.1, 2.5, ROT= 109.9, -2.5  Ygot valid direction response: 23:37:37.4891 LVL= 14064, 13281, 15298, 17859, AGC= 53, IDX= 438, 0.06, 0.901, 0.437,-1.456, 0.102, PHS= 0.887, 0.382,-1.561, RAW= 41.3, 2.6, CAL= 40.1, 2.5, ROT= 109.9, -2.5  PDAT read: Bearing 109.9, -2.5 (Local)  ~Local bearing/azimuth received: Bearing 109.9, -2.5 (Local)  DAT read: Range 10 to 50 : 71.0 m (Round-trip 94.7 ms) speed -0.1 m/s  ,DAT read: user:3389>  BDAT read: Tx time:23:37:38.5903  $Ping request sent. E ǿE 8?E 9= E $+3?)E ¸2=IE ۄ?iE ¸2A A E D?YYw#?)E 䯿IE 6GIBYOu>5w,yAz.>Yzt?z&=9z3^?z;z$C iIiyޅ~BޅI}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:37:38.5895 Mb@Mb@Mb@ )YX9v?/$?Mbpy><^A /A)I AyAI}I}V83٢= =9ь G٣VGy > Nusing accuracyPremultiplier from config59+?5Y+7 i >:!?AE;;>5 %AkUH:/?kU+`2~ kQ kUuA:kUBBkUBZkU^ @"UU(M}ĭhrI]L@*} ME@U%Eb?S8q3?JkUVf?RkU$*Uς & @ G@[Z}E@UX?kU$ kUeCkUAkUк@ addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.527974 s, deltaX: -0.099998 m, approachRate: -0.028344 m/s, rangeRepo size: 4  Added new target pos. range: 71.000000 m, bearing: 124.770438 deg, lat: 36.905297 deg, lon: -122.120047 deg, deltaT: 10.820278 s, deltaX: -1.500000 m, approachRate: -0.138629 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 71.00 m.BjJje ProNav: ac range: 71.000000 m, nav range: 17.827047 m, bearing: 241.232653 deg, approach rate: 0.000000 m/s, LOS rate: -1.386644 deg/s, cmd heading: 17.884615 deg, new cmd heading: 15.537124 deg. 2jaHeadingCmd: 0.271174 target range: 71.000000 and range: 71.00 m. jP׊>jjjihhhAhMzBfIfIfIrfMQ@bfU?ɛBȻ 隝I CüɚiI9X=IP׊>ii)P׊>)5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E ܪ=E zK uLK 9K K "K   $+0.8[wgZOG@<5/*&#""!RK >JK ?*F ?2F :F BF _0JF ~G- sAe A Q"Y sAy rBJ nJ eJ J J |;:J 9J J $?IGG ?G?GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O?>w,Ay-B-IIMIMF2٢UVx; ]=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59uzjjjihhhhfffrfbfE?ɛB+ 煿I %ʼɚ!i!I%,Z=I-w>i)i))-W!>)1E9E9*E"EZHRHH>I III =&I.I6Id<:I FBIƬCJIƬCRIZI =bI =jIƇ4Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFGA G B) OE >,Fw,ABp>YB_?BB=9B_;yBH ?A- Ε?`Q)?"?e?[@b?`?ɨBp>B;@yNBNI lIl=Mb@Mb@Mb@999 9)9Y=i|?5?Mb?y=>=<==\A =A)=AI=vA9y==AIUIU(٢e>= e;=9miq uG٣uVGyuH }> Nusing accuracyPremultiplier from configy59}$K?5Y}s0 i}7>:c?A}E};};}B5 $A Will construct direction to contact in vehicle frame from tetrahedron phase data.iA=B*** querying acoustic contact ***j9j9ZjAmDNOT Ignoring new targets: 71.00 m.BjuAJjuA ProNav: ac range: 71.000000 m, nav range: 18.230719 m, bearing: 240.593976 deg, approach rate: 0.398839 m/s, LOS rate: -0.675291 deg/s, cmd heading: 14.562330 deg, new cmd heading: 13.642677 deg. 2j缝HeadingCmd: 0.238110 target range: 71.000000 and range: 71.00 m. js>jjjihhhhBfffrfbf`?ɛ5B=㟻 9=I9 EҼɚAiaIeR\=Ims>iiimSIu>)ms>)q*F?2F:FBF0JFG 8U> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G Ba O >zK NK K K "K    BK% pA:K% oAQLw,3A2>Y2?2>M=92;y2H@ ?`޿~ ?`?, ?k? z?@?ɨ2>2Nϒ;2'Cy: B:IIBIBV8٢N;ü RY=9RR;Q V>X\JpJgJ1JJA:J9J3J G٣y- -> eNusing accuracyPremultiplier from configYe59]X?m5Y]- i]Jim ?mA]E]:]:]D5q u$A}EZjDNOT Ignoring new targets: 71.00 m.BjSJjS ProNav: ac range: 71.000000 m, nav range: 18.394051 m, bearing: 240.302889 deg, approach rate: 0.419645 m/s, LOS rate: -0.741237 deg/s, cmd heading: 13.642676 deg, new cmd heading: 12.777240 deg. 2jZHeadingCmd: 0.223005 target range: 71.000000 and range: 71.00 m. jf[d>jj!j!i!h!h!h)h)f1fqfqrfybf}@8?ɛBt˽ \=dI ]7ټɚiI9^=If[d>ii'o>)f[d>) $?Ih*F2F:FBFY5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753223G<>GGpAGyBO]>H% >I!  I! I! I% =&I% ED.I% AD6I% .<:I% | FISw,MA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004303yBII-I-3٢E = E>=9EQ M>II MG٣IyU U> eNusing accuracyPremultiplier from configYe59]f?m5Y]R+ i]^iimA]E]*:]:]LF5q $AZjYeDNOT Ignoring new targets: 71.00 m.BjmCJjmC} ProNav: ac range: 71.000000 m, nav range: 18.561871 m, bearing: 240.009986 deg, approach rate: 0.395589 m/s, LOS rate: -0.684193 deg/s, cmd heading: 12.777240 deg, new cmd heading: 11.906546 deg. 2j}꼝HeadingCmd: 0.207808 target range: 71.000000 and range: 71.00 m. jT>jjjihhhhfffrfbf@'@ɛB^'ƽ ꀿI ɚiIU6`=IT>ii@~>)T>) *FY2FY:FaBFe_5JFa IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256321G Zu>GY Bi O >/dYw,cgAy B%IMb@Mb@Mb@ )YʡE?Q?~jthy><DA /A)AI AyAI54I5V3٢E"< E==9IQ M>II MG٣MVGyQ U> mNusing accuracyPremultiplier from configau59eu?u5Yes( ieuu>}:}F?}AeEe2I;e3;e0H5!B $AzEZjDNOT Ignoring new targets: 71.00 m.BjzEJjzE ProNav: ac range: 71.000000 m, nav range: 18.741892 m, bearing: 239.723919 deg, approach rate: 0.438802 m/s, LOS rate: -0.690590 deg/s, cmd heading: 11.906545 deg, new cmd heading: 11.056652 deg. 2j켝HeadingCmd: 0.192975 target range: 71.000000 and range: 71.00 m. jjjjihhhhBfffrfbf@e@ɛ%B%ǽ !%I! -{ɚ)i)I-.b=I5i1i5>)5)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508054*F?2F:FBFX0JFzK%LK%}9K!K%"K% 'RwBVbN=RK=?JK=>GTx>GyBO^>JMmJMeJIJIJM\8:JM9JIJI $?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7601341L`w,?A6+D>Y6&W>6n=96v/6S;6$CyNBRIIV)IVW3٢ `=9=Q > G٣y%~ %> -Nusing accuracyPremultiplier from config)559-܁?55Y-c& i-1=9>=A-E--;-6H;-I5I M$AQZjq}DNOT Ignoring new targets: 71.00 m.Bj}WJjW ProNav: ac range: 71.000000 m, nav range: 18.886091 m, bearing: 239.446786 deg, approach rate: 0.395851 m/s, LOS rate: -0.754964 deg/s, cmd heading: 11.056652 deg, new cmd heading: 10.231661 deg. 2jHeadingCmd: 0.178576 target range: 71.000000 and range: 71.00 m. j6>jjjihhhhfffrfbf@ɛBҽ bI 8ɚiI&d=I6>ii@>)6>)jHbH4=H>I III&IFD.I6I<:Io FEeT=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013106*F?2F:FBF4JFG 2}>G ?G ? I G B O >߹fw, 6A6f&>Y6h+>6=96?6I;6#CyBBBIiF4>IF4e 0=e`a eA)eAIaayefAIIF3٢sC 9=9;Q > G٣yR > Nusing accuracyPremultiplier from config59?5Y# i>:>AE;0;K5 $AwEB*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 71.00 m.Bj-NJj-N= ProNav: ac range: 71.000000 m, nav range: 19.057451 m, bearing: 239.124417 deg, approach rate: 0.387820 m/s, LOS rate: -0.723016 deg/s, cmd heading: 10.231662 deg, new cmd heading: 9.273347 deg. 2j=EHeadingCmd: 0.161850 target range: 71.000000 and range: 71.00 m. jE%>jAjAjAiIhIhIhQhUBfQfQfQrfYbf]`iqiu>>)u%>)yE}=*F?2F:FBF_0JFG5y>GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 =5 <U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521028zK OK K K "K - J$k[G3(||zuuspldccb^[XVTONMIFEAlw,AJ>YJȴ>Jd=9JsJw];J%Cy~B~II5I5V83٢9= J=9;Q > G٣VGy > I  Nusing accuracyPremultiplier from config=59S?=5Y! i9E1>EAE<bS<M5q u$AqZj!-DNOT Ignoring new targets: 71.00 m.Bj5HJj=Hu ProNav: ac range: 71.000000 m, nav range: 19.226385 m, bearing: 238.792135 deg, approach rate: 0.359977 m/s, LOS rate: -0.701827 deg/s, cmd heading: 9.273347 deg, new cmd heading: 8.285362 deg. 2j}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 71.6 m (Round-trip 95.5 ms) speed -0.3 m/s ,DAT read: user:3390> BDAT read: Tx time:23:37:42.1903 $Ping request sent.jjjihhhhfffrf`fQ@bf`??ɛ B  I tɚ!i!I%i=I%>i)i-M3>)->))E1E1*E9"E9HM >IM C II II IM =&IM ED.II 6IM (<:IM z F*F ?2F :F BF 5JF G  G qAE Will construct direction to contact in vehicle frame from tetrahedron phase data.G} JE>G G qAGY By O >gtw,zA6=Y6T>6m =96AXX ^G٣\y^l ^> bNusing accuracyPremultiplier from config`f59b^?n5Yb ibtzi>~AbEbh;b;bDO5 %A addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.780659 s, deltaX: 0.599998 m, approachRate: 0.158702 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 71.00 m.Bj/[Jj/[J}nJ}fJyJyJ}|;:J}9JyJyJ}J;aJ}J;aJ}:aJ}:aM ProNav: ac range: 71.000000 m, nav range: 19.365774 m, bearing: 238.506027 deg, approach rate: 0.376144 m/s, LOS rate: -0.766507 deg/s, cmd heading: 8.285362 deg, new cmd heading: 7.433282 deg. 2jUHeadingCmd: 0.129735 target range: 71.000000 and range: 71.60 m. jQ>jjjihh hhf e$?Iiffrfbf%?ɛ-B-dGʽ )-I) 5ɚ1i1I5\k=IEQ>iAiEn(>)EQ>)I]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG @>G B O >όzw,@Ayz~BzI)| |Mb@Mb@Mb@ )YuV?L7A`?I +yr>+=94A A)AI Ay3AIIb2٢iWill construct direction to contact in vehicle frame from tetrahedron phase data. ;=9Q > G٣y > Nusing accuracyPremultiplier from config59Լ?5Y i!>:|>AEU;;/Q5"B %AuEZj)-DNOT Ignoring new targets: 71.00 m.Bj5iJj5iE ProNav: ac range: 71.000000 m, nav range: 19.527628 m, bearing: 238.165072 deg, approach rate: 0.391468 m/s, LOS rate: -0.817812 deg/s, cmd heading: 7.433282 deg, new cmd heading: 6.419007 deg. 2jEP MHeadingCmd: 0.112033 target range: 71.000000 and range: 71.60 m. jMvq=jIjQjQiQhQhQhYh]ˁBfYfYfarfabfe ?ɛeBm ߽ mlx=隍tI ɚiIm=Ivq=iiNO;>)vq=zKWOKŷ9KK"KCB==<;9642100.+*+*(%%&$ "!!"#"!  )*F?2F:FBFo0JFG]:>GB!OMt> m$?Iqu Will construct direction to contact in vehicle frame from tetrahedron phase data.tw,TAJ =YJ>J?=9Jhh jG٣jVGyjbF n> 5Nusing accuracyPremultiplier from config1=595ʢ?=5Y5U i53AE>EA5E52 ;5e ;5R5I Mr%AIZjy}DNOT Ignoring new targets: 71.00 m.BjoJjo ProNav: ac range: 71.000000 m, nav range: 19.661594 m, bearing: 237.843765 deg, approach rate: 0.351031 m/s, LOS rate: -0.836175 deg/s, cmd heading: 6.419008 deg, new cmd heading: 5.461750 deg. 2jwHeadingCmd: 0.095326 target range: 71.000000 and range: 71.60 m. j:=jjjihhhhfffrfbf?ɛB ƄI EɚiI o=I:=ii>):=)ZHRHH>I IIIlBI&I.I6IB<:I F*F2F:FBFU5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GP)>G ?G>GBOA>JJaJJJJp9JJJJJ:J: I II w, AWill construct direction to contact in vehicle frame from tetrahedron phase data.B]Bh=9B=m=m`emCA m/A)mXAIm AiyiII 2٢ ==9vQ > G٣y=V > Nusing accuracyPremultiplier from config59ڢ?5Y iY'>:>AE ;?;T5#B %ArEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 71.00 m.Bj'sJj's ProNav: ac range: 71.000000 m, nav range: 19.807594 m, bearing: 237.482592 deg, approach rate: 0.346290 m/s, LOS rate: -0.850330 deg/s, cmd heading: 5.461750 deg, new cmd heading: 4.386349 deg. 2jHeadingCmd: 0.076556 target range: 71.000000 and range: 71.60 m. jɜ=jjjihh!h!hBfffrfbfE?ɛ%B-Խ )-I) -;q ɚ1i1I5+r=I5ɜ=i9i=>)=ɜ=)A*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.) F= CG )>u G |uA A "Y |uAy *BzK MK K K "K   G B O >ʍw,E9ABã@YB mT>B=9B =yBH'>?ʿ@R?M? O?Ǔ> }R??ɨBã@B%;;B%CyN~BNIiR?>IR> R=R=IV"IVq3٢^P bZ=9bQ b>dd fG٣dyfEq f> pIp rNusing accuracyPremultiplier from confighv59j碜?v5Yj ij{xz>zAjEjr;je:jUV5| ~ &A|ZjDNOT Ignoring new targets: 71.00 m.BjkJjk ProNav: ac range: 71.000000 m, nav range: 19.935778 m, bearing: 237.157374 deg, approach rate: 0.327332 m/s, LOS rate: -0.825138 deg/s, cmd heading: 4.386349 deg, new cmd heading: 3.417067 deg. 2j HeadingCmd: 0.059639 target range: 71.000000 and range: 71.60 m. jHt=jjjihhhhfffrfbf?ɛB4 隝I ɚiIjt=IHt=ii9>)Ht=)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012538E =*F2F:FBF1JFH >I  I II MBI &I .I 6I :<:I FBIuɮCJIuɮCRIqZIu =bIu =jIuڙ5G )3>G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263808O >w,SA6@Y66=>6E=962=y6H ?c?/ǿD?@w?sr? Űfz?u?ɨ6@6N͌;6"CyN~BRIIZ6IZm3٢bM bJ=9fQ f>dd fG٣jVGyje j> nNusing accuracyPremultiplier from configlr59n?r5Yn^ intv1>vAnEn:n:nX5x z#&AzoEZj!-DNOT Ignoring new targets: 71.00 m.Bj-Jj-= ProNav: ac range: 71.000000 m, nav range: 20.071993 m, bearing: 236.802385 deg, approach rate: 0.351366 m/s, LOS rate: -0.909473 deg/s, cmd heading: 3.417067 deg, new cmd heading: 2.359453 deg. 2jE EHeadingCmd: 0.041180 target range: 71.000000 and range: 71.60 m. jE(=jIjIjIiIhIhIhQhQfQfQfYrfYbf]`@ɛ-B- )-#I) 5sAɚ1J=mJ=bJ=0J9J=\8:J=t9J=ـ3J9J=D;J=D;J=T:J=V:i1Iuv=I(=ii>)(=) $?IEu=*F?2F:FBFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515312G]>GGGBO>ۚw,mA6U>@Y6`'>6)=96E-=y6H?`lĿ@.? |? ?2? ?ɨ6U>@6BË;6'Cy^~BbIMMb@Mb@Mb@III I)IYMsh|??:v?MT G٣yH > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.76733359?5Ya iB>:F>AEa|;z;Y5 &AZjDNOT Ignoring new targets: 71.00 m.BjтJjт} ProNav: ac range: 71.000000 m, nav range: 20.208334 m, bearing: 236.407848 deg, approach rate: 0.318334 m/s, LOS rate: -0.914955 deg/s, cmd heading: 2.359453 deg, new cmd heading: 1.184003 deg. 2j}HeadingCmd: 0.020665 target range: 71.000000 and range: 71.60 m. jI<jjjihhhhBfffrfbf @ɛmBm qu{Iq u:ɚqiqIu1y=I}I)I<)zK LK K9K K "K !-:<2&  $?IEZ=M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:23:37:44.6915 U TRx dataTimestamp_ set to:1736379466.016721] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020368*Fm ?2Fq :Fq BFu (5JFq G GBO>Kw,AF)@YF>Fcp=9F,:<=yFH ?j?J?@8? z? C?ɨF)@FH;F$CyR~BRIIZ&IZ3٢b%L b1=9b Q b>dd fG٣djHj<bHjp;Hn>Il InIIn%BIl&Il.InBD6In?<:In Fy~0 ~> Nusing accuracyPremultiplier from config 59? 5Yi i *2>AE ; ;\5$B &AlEZjAEDNOT Ignoring new targets: 71.00 m.BjMvJjMv] ProNav: ac range: 71.000000 m, nav range: 20.355465 m, bearing: 235.974090 deg, approach rate: 0.316549 m/s, LOS rate: -0.926466 deg/s, cmd heading: 1.184003 deg, new cmd heading: 359.892365 deg. 2j]eHeadingCmd: 6.281307 target range: 71.000000 and range: 71.60 m. jew@jajajaiihqhqhqhqfyfyfyrfybf}  @ɛB 4I-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271249 MI7ɚIiIIMx{=IU@8iQiU<}>)Uw@)YEaEa*Ea"EaJ%lJ%dJ!J!J%<5:J%|9J!J!J%K?;J%M?;J%:J%: I*F2F:FBFp3JFG>Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed -0.4 m/s  ,DAT read: user:3391>  BDAT read: Tx time:23:37:45.7903  $Ping request sent. 5`廹5C5A 5^A)5(AI11y5AIM(IM̍3٢-| -6=9=h3Q =>AA EG٣EVGyM/ M> eNusing accuracyPremultiplier from configYm59]*?m5Y] i]u>u:u=}A]E]c;]:b;]]5 l'AB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 3.527392 s, deltaX: 1.099998 m, approachRate: 0.311845 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 20.490765 m, bearing: 235.531612 deg, approach rate: 0.300640 m/s, LOS rate: -0.976697 deg/s, cmd heading: 359.892366 deg, new cmd heading: 358.573943 deg. 2j'HeadingCmd: 6.258296 target range: 71.000000 and range: 72.70 m. jC@jjjihhhIhUBfQfQfQrf],R@bf]8)?ɛr I ɚiI*~=I&˼ii>)C@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:37:45.7895 eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.*F92F9:F9BF=_0JFAzKULKU}9KQKU "KUBKi:KmpAGe %> $?I G9 BI Oe >*w,?AJ h@YJ=JlA=9JpI=NWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500755yJH@?@cH?(??@݁@6+@/??ɨJ h@J;J$CyZ_~BZoIIfIfi٢n nc=9nQ n>pp rG٣pyvN v> zNusing accuracyPremultiplier from configx~59z8?5Yze iz4  ̾= AzEzފ;z1;z_5-%B -'A-iEZjy}DNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 20.597475 m, bearing: 235.176732 deg, approach rate: 0.293241 m/s, LOS rate: -0.970154 deg/s, cmd heading: 358.573948 deg, new cmd heading: 357.514952 deg. 2js&HeadingCmd: 6.239813 target range: 71.000000 and range: 72.70 m. j@jjjihhhhfffrfbfA9?ɛ]B]Z ae2Ia ep!ɚaiaIe=Imd1ii)@)*F-?2F):F)BF-o0JF)G>GBOF>HI III~BI =&I.I6I<:I FmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7560779w,A aIi%@Y=7$=9O=yH?4?`2? ?y ?@?ɨ%@&;%CyE>~BM[IMb@Mb@Mb@ )Y +?{Gz~jty>ףA A)AIAyAI&I3٢쇽 +=9uQ > %G٣!yP' > Nusing accuracyPremultiplier from config59 L?5Y i\0>:B=AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009136EH;i;a5 -(AZj  DNOT Ignoring new targets: 71.00 m.BjJj5 ProNav: ac range: 71.000000 m, nav range: 20.743366 m, bearing: 234.655357 deg, approach rate: 0.298833 m/s, LOS rate: -1.060421 deg/s, cmd heading: 357.514941 deg, new cmd heading: 355.962219 deg. 2j55=HeadingCmd: 6.212713 target range: 71.000000 and range: 72.70 m. j=@j9j9j9i9h9h9hAhE{BfIfIfIrfIbfM@Lt?ɛuB}L- y}Iy }&ɚiIS=ISiiۥ >)@)*F?2F:FBFJFG% 7>G B O% >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260615aw,A6|+@Y6Ȋ=6G=966;=y6H`?& ?fS?h?`S`[y?2?ɨ6|+@6֊;6&CyR:~BRYIIZIZ<٢bV by=9b˼Q f?dd fG٣fVGyjo j? =Nusing accuracyPremultiplier from configlE59nX?E5Yn inrAE<EAnEn?;n:n c5I UD(AUfEZjyDNOT Ignoring new targets: 71.00 m.BjꑼJjꑼ ProNav: ac range: 71.000000 m, nav range: 20.833448 m, bearing: 234.327277 deg, approach rate: 0.281433 m/s, LOS rate: -1.020543 deg/s, cmd heading: 355.962221 deg, new cmd heading: 354.982338 deg. 2j/HeadingCmd: 6.195611 target range: 71.000000 and range: 72.70 m. jqB@jjjihhhhfffrfbf?ɛ~B eI ٹ)ɚiI,2=IZii >)qB@)zKk3IK59KK "KMl{"z^J@8?MRQME@;963/+*''&#RK%?JK%>J3K3 K/.KK"KJoJbJJJ>:Jt9JJa@a@a@a@*F2F:FBFY5JF e$?IaG@ >GaBiO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512677\Jw, A6Ҏ@Y6I@ IBIIB~BIB =&I@.I@6IBc<:IB Fy $~B KII%-I%3٢5{N 5C=958Q =>99 =G٣AyE; E> MNusing accuracyPremultiplier from configIU59Mi?U5YM iMY]H<eAMEMB;M\C;Md5i m(AiZjDNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 20.953117 m, bearing: 233.882103 deg, approach rate: 0.294150 m/s, LOS rate: -1.087990 deg/s, cmd heading: 354.982334 deg, new cmd heading: 353.654691 deg. 2j:HeadingCmd: 6.172439 target range: 71.000000 and range: 72.70 m. j@jjjihhhhfffrfbf@?ɛi 皿I [-ɚiI5=I *i i z >)@))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772891Ea>E>*FM?2FI:FIBFM55JFI"GU=GUC= qIyG >G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024723|uw,q'Ay- ~B-II)9 9Mb@Mb@Mb@ )Y)\(?ˡEQyG?'u A)AI^Ay\AI&I3٢-! -;=95Q 5>11 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M>|?]5YM iM]?]:]]AMEM#;M'!;Mf5e&B e(AmcEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 71.00 m.BjoJjo ProNav: ac range: 71.000000 m, nav range: 21.078606 m, bearing: 233.385779 deg, approach rate: 0.287187 m/s, LOS rate: -1.129092 deg/s, cmd heading: 353.654682 deg, new cmd heading: 352.174920 deg. 2jAMHeadingCmd: 6.146612 target range: 71.000000 and range: 72.70 m. jU @jQjQjQiQhQhQhYh]bBfYfYfarfabfe@@ɛ}B&F 5I  U2ɚiIiR=I i!i-x%>)- @))Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս??Ս%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278266*F2F:FBF 5JFzK8NK9KK "K!     BK:KJkJiJJJ2:Jڈ9JJG > u $?Iy G B O >q[w,AA:s@Y:f<:;<9:Bdd fG٣jVGyjyƽ j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.528850 vNusing accuracyPremultiplier from configlz59nk?z5Ynp inxz[zAnEnU:n:nUh5i m(AiZj  DNOT Ignoring new targets: 71.00 m.BjCJjCE ProNav: ac range: 71.000000 m, nav range: 21.177002 m, bearing: 232.975399 deg, approach rate: 0.254853 m/s, LOS rate: -1.057963 deg/s, cmd heading: 352.174908 deg, new cmd heading: 350.949688 deg. 2jE5MHeadingCmd: 6.125227 target range: 71.000000 and range: 72.70 m. jM@jIjIjIiIhQhqhqhyfyfyfyrfybf @ɛ|B) I 6ɚiI5=I!ii>)@)*F?2F:FBF]0JFGmS>G9BAO]U>H>IC III~BI =&I.I6Ir<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780581~w,M[Az@Yz@z9^;9zȬ< 1I1yzH ? c?kk?;c`'?ཚck`?`!?ɨz@z{<;z%Cye~Bm?IIiIi٢xڻ .=9ꌼQ > G٣y > Nusing accuracyPremultiplier from config59^?5Y ilAE:3:aj5'B (A`EZj  DNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 21.304821 m, bearing: 232.435338 deg, approach rate: 0.291006 m/s, LOS rate: -1.222163 deg/s, cmd heading: 350.949682 deg, new cmd heading: 349.339666 deg. 2jQHeadingCmd: 6.097127 target range: 71.000000 and range: 72.70 m. j@jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.AiBDAT read: Rx Time:23:37:48.2934 TRx dataTimestamp_ set to:1736379469.556997checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034121ffrfbf`LO@ɛ%{B%K !%I! -:ɚ)i)I-0*=I5>i1i5">)5@)9EA*F?2F:FBF_0JFGqA GG A#>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285395 c~G - @Y) y- Bw,6uA:`@Y:|p@:h9:QI4= = a=Mb@Mb@Mb@ )YL7A`?kty&1|y+? 0`A /A)rAIAyII?13٢)< Y=9ƲQ > G٣yf9 >  Nusing accuracyPremultiplier from config59$?5Y| iu?u:uͽ}AE,m<l<l5 (A]EzK-MK9KK "K JlJ^JJJ<5:Jd9JJZjDNOT Ignoring new targets: 71.00 m.BjDJjD  ProNav: ac range: 71.000000 m, nav range: 21.410955 m, bearing: 231.980316 deg, approach rate: 0.266040 m/s, LOS rate: -1.134909 deg/s, cmd heading: 349.339669 deg, new cmd heading: 347.981638 deg. 2j-B5HeadingCmd: 6.073425 target range: 71.000000 and range: 72.70 m. j=Y@j9jAjAiAhihqhh\Bfffrfbf)v @ɛzB? ⛿I 5$?I1 5>ɚ1i1I=&=I=EVi9iEW}'>)EY@)A*F%?2F):F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 74.1 m (Round-trip 98.9 ms) speed -0.4 m/s ,DAT read: user:3392> BDAT read: Tx time:23:37:49.3904 %$Ping request sent.%G B O% >w,#AjH<bH<HI III&I.I6I<:I FBIqJIuCRIqZIu =bIu =jIu5nM@Yn@n,Y9nX;n$Cyz~Bz9II%&I%3٢5l 5W=9]FQ ]>Ya eG٣eVGye0 e> mNusing accuracyPremultiplier from configiu59m.?5Ym iiqAmEm;m[;mm5 $)A addTargetRange:: Added new target pos. range: 74.099998 m, deltaT: 3.541134 s, deltaX: 1.400002 m, approachRate: 0.395354 m/s, rangeRepo size: 4 Zj%DNOT Ignoring new targets: 71.00 m.Bj%뱼Jj%뱼]Will construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:23:37:49.3896 m ProNav: ac range: 71.000000 m, nav range: 21.517466 m, bearing: 231.517138 deg, approach rate: 0.287582 m/s, LOS rate: -1.244395 deg/s, cmd heading: 347.981636 deg, new cmd heading: 346.599263 deg. 2jmUHeadingCmd: 6.049298 target range: 71.000000 and range: 74.10 m. jړ@jjjihhhhfffrf`fR@bf@8?ɛ]xBe aegIa ejBɚaiaImV‡=Ioii.>)ړ@)*F2F :F BF k0JF GX&>GB =$?I9Oew> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,AVF@YV|V@V̋9VG&IMb@Mb@Mb@ )YMbX?/$Mbpy ?,CA )AIAy3AII٢< >=9Q > G٣y %,  > Nusing accuracyPremultiplier from config59{ԣ?5Y i%+ ?%:%I-AEo;Q;o5=(B =)A=ZE]B*** querying acoustic contact ***jYjYZjamDNOT Ignoring new targets: 71.00 m.BjmԱJjmԱ ProNav: ac range: 71.000000 m, nav range: 21.637238 m, bearing: 230.992641 deg, approach rate: 0.285606 m/s, LOS rate: -1.243764 deg/s, cmd heading: 346.599261 deg, new cmd heading: 345.034891 deg. 2jeUHeadingCmd: 6.021995 target range: 71.000000 and range: 74.10 m. j/@jjjihh1h1h5TBf9f9f9rf9bfE?ɛwB @=隽I yFɚiI=Iii5>)/@)EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF0JF"G=G=JnJsJJJ|;:J9JJzK- LLK- 59K) K- "K- 2#xpcZPE?:430-.,)'&"  G 8y&> 1 I9 G B OE >|w,AJD@YJſ@J9Jh G٣yJ > %Nusing accuracyPremultiplier from config!-59%c壜?-5Y% i%)-5A%E%j:%:%2q59 =(A9ZjaeDNOT Ignoring new targets: 71.00 m.BjmJjm} ProNav: ac range: 71.000000 m, nav range: 21.740736 m, bearing: 230.531643 deg, approach rate: 0.279232 m/s, LOS rate: -1.237808 deg/s, cmd heading: 345.034902 deg, new cmd heading: 343.658771 deg. 2j}_THeadingCmd: 5.997977 target range: 71.000000 and range: 74.10 m. jn@jjjihhhhfffrfbf?ɛvBA I IɚiI=IiiOj:>)n@)*Fm?2Fi:FiBFmP5JFiGE,>GB H->I) I-II-~BI)&I).I)6I-e<:I- FOMR>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255582*J "J w,ƣAR@YR1@Rү$9R"y G٣yy@ > Nusing accuracyPremultiplier from config59?5Y i\-AE<m< s5)B (AWEZj9=DNOT Ignoring new targets: 71.00 m.BjE_JjE_} ProNav: ac range: 71.000000 m, nav range: 21.855993 m, bearing: 230.007566 deg, approach rate: 0.247993 m/s, LOS rate: -1.121665 deg/s, cmd heading: 343.658782 deg, new cmd heading: 342.095252 deg. 2j}r@HeadingCmd: 5.970688 target range: 71.000000 and range: 74.10 m. j@jjjihhhhfffrfbf`!?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507670ɛ5tB5$ 15I9 =KNɚ9i9I=Ή=IEiAi~@>)@)*F%?2F!:F!BF%S5JF!Ge 5>Gi Gm pAG9 BI Oe >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759611w,9~A6AA EG٣EVGyMN M> Nusing accuracyPremultiplier from configQ59U ?5YU iU?:i/AUœEU@jjjihhhhdBzKNK+9KK"K         ffAfArfI  $?IbfM[?ɛsBkj )>@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011634EM ==EU V>EU >*F 2F :F BF 0JF G  G pAZH RH AAH! I!  I% II% ~BI! &I! .I! 6I% 0<:I% FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264372G%=>G BOE?w,AV?@YVN@V y9Vf;yVH??¿?@=v? k?l??ɨV?@V#;Tyf;~BfYIij]>Ij=Ir Irb3٢v .= z=9zTͼQ z>|| ~G٣|yb >  Nusing accuracyPremultiplier from config u59 "?u5Y H i uquT}A ĜE  k< $k<  w5 a(ATEJjJ^J1JJ.:Jd9J3JJ4;aJ4;aJ:aJ:aZjDNOT Ignoring new targets: 71.00 m.Bj,Jj, ProNav: ac range: 71.000000 m, nav range: 22.106703 m, bearing: 228.854936 deg, approach rate: 0.269232 m/s, LOS rate: -1.260150 deg/s, cmd heading: 340.632380 deg, new cmd heading: 338.658530 deg. 2j5XEHeadingCmd: 5.910707 target range: 71.000000 and range: 74.10 m. jm$@jijijiiihihqhqhqfqfyfyrfybf}q<@ "$?IɛqB# C=]הIa eWɚaiaIe.=ImiiimA>)m$@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517743E =*FU ?2FQ :FQ BFU `0JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767648G]D>GYG]?GQBaO} ?w,{-;A6@Y6@6e96g;y6H`Oz?``?5#Xſ??@WI?kb?@H?ɨ6@6V!;4yBI~BBbIzKUMKU9KQKU"KU BKY:KY}Mb@Mb@Mb@yyy y)yY}Zd;O?y&1~jtx?y}~ ?}`弹};}A }A)}AIyyy}fAII#3٢< =9LEQ > G٣VGy > Nusing accuracyPremultiplier from config59;?5Y iD ?:aAǜE%;:;y5*B -(AQEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 71.00 m.Bj Jj  ProNav: ac range: 71.000000 m, nav range: 22.253607 m, bearing: 228.167324 deg, approach rate: 0.270861 m/s, LOS rate: -1.259418 deg/s, cmd heading: 338.658538 deg, new cmd heading: 336.610241 deg. 2jX%HeadingCmd: 5.874957 target range: 71.000000 and range: 74.10 m. j%@j!j!j!i!h!h)h)h-XBf1f1f1rf1bf=|@ɛnBˀ I b\ɚi I f=I IѾiiQ>)@)E\=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021584*F}?2F:FBF0JFG ˏC>H I  I II %BI =&I .I 6I <:I v FG B O >Vw,TA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:23:37:51.9460 &TRx dataTimestamp_ set to:1736379473.336698*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272719>@Y> @>K9>-y>H [?@? Nz Cǿ q?6?@ϲ?Y!?ɨ>@>;\\ ^G٣\ybO b> fNusing accuracyPremultiplier from configdj59fL?j5YfH if!hj\tjAfȜEf:f':f {5p r'ApZjDNOT Ignoring new targets: 71.00 m.Bj%eJj%e5 ProNav: ac range: 71.000000 m, nav range: 22.349030 m, bearing: 227.713672 deg, approach rate: 0.256190 m/s, LOS rate: -1.212748 deg/s, cmd heading: 336.610246 deg, new cmd heading: 335.255369 deg. 2j5P=HeadingCmd: 5.851310 target range: 71.000000 and range: 74.10 m. j==@j9j9j9i9hAhAhAhAfIfIfIrfIbfMw @ɛ-mB-(B 15GIQ U_ɚQiYI]ȋ=I]ݾiaieMT>)e=@)a*EmV>"Em=JkJaJ0JJ2:Jp9Jـ3JJ9;J9;J:J: m#$?IqEا=EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527718*Fu?2Fy:FyBF}0JF"G=G>G L>G B O >)w,nA:^@Y:n@:Fm9:ƺy:H`7? OZ?`l@Aʿ`~P?v?O(?3X`?ɨ:^@:偌;:%Cy^p~BbyI)d dUMb@Mb@Mb@QQQ Q)QYU!rh? rhMbp?yUl?UCU;UrA Q)U AIUAQyUAIu)IuW3٢R= ==91HQ > G٣yB > Nusing accuracyPremultiplier from config59^?5Y  i?:9uAʜE;;}5+B 'ANEZjDNOT Ignoring new targets: 71.00 m.BjuJju𧼝 ProNav: ac range: 71.000000 m, nav range: 22.458742 m, bearing: 227.203724 deg, approach rate: 0.253948 m/s, LOS rate: -1.174577 deg/s, cmd heading: 335.255382 deg, new cmd heading: 333.733390 deg. 2jIHeadingCmd: 5.824747 target range: 71.000000 and range: 74.10 m. jSd@jjjihhhhzBfffrfbf@ɛ5kB5 15ЌI9 EcɚAiIuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:37:51.9460 LVL= 22688, 16241, 19250, 27619, AGC= 66, IDX= 476,-0.47,-3.003,-1.678,-3.127, 2.851, PHS= 0.517, 1.801, 0.302, RAW= 337.6, -33.4, CAL= 342.6, -46.9, ROT= 167.4, 46.9 Ygot valid direction response: 23:37:51.9460 LVL= 22688, 16241, 19250, 27619, AGC= 66, IDX= 476,-0.47,-3.003,-1.678,-3.127, 2.851, PHS= 0.517, 1.801, 0.302, RAW= 337.6, -33.4, CAL= 342.6, -46.9, ROT= 167.4, 46.9 PDAT read: Bearing 167.4, 46.9 (Local) ~Local bearing/azimuth received: Bearing 167.4, 46.9 (Local) DAT read: Range 10 to 50 : 113.6 m (Round-trip 151.5 ms) speed -0.4 m/s ,DAT read: user:3393> BDAT read: Tx time:23:37:53.0404 $Ping request sent.)Sd@) ^direction in FSK: [0.672783,0.677257,-0.297802] :publishing transmit ping timeFpublishing direction and range infoq9un3/p?pw?%T/ӿyu3BquXuq? u2K)ukIuBiuZ?u+?u>u)@u; u X@)uQIu:@iuQ?qquN<'5>N&%zA)u IuMO?EE*EE"EEiu I?uҚ>qqM:publishing transmit ping timeMFpublishing direction and range infoq9un3/p?pw?%T/ӿyqqqq q)qIqiqqqqq q)qIqiqqquN<'5>N&%zA)qIqiqqqq IzKLK9KK"K(21-$    !188753/-,(RK ?JK>*F ?2F :F BF 0JF % Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3Q>GBO >k#w,GYAF@YF@F9FyFH??>̿.? !?o<:I F٢ֻ %+=9%Q %>)) -G٣-VGy-!( -> =Nusing accuracyPremultiplier from config9E59=5s?E5Y=h" i=AEEA=̜E=:=:=5M(B U'AUKEk'SEÜ?krI k k vA:k3BBkBZk ?"PfS@g/;S@@F@n3/p?pw?%T/ӿJk I?RkҚ>*[MW@bPL@^`;Zj?d?)]yο"kdB*kBkGyÜ?k|`z? 2kBkkx$ kOCkAkz@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 113.599998 m, deltaT: 3.783053 s, deltaX: 39.500000 m, approachRate: 10.441302 m/s, rangeRepo size: 4ZjDNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 22.578239 m, bearing: 226.637410 deg, approach rate: 0.247178 m/s, LOS rate: -1.165194 deg/s, cmd heading: 333.733397 deg, new cmd heading: 332.043962 deg. 2jGHeadingCmd: 5.795260 target range: 71.000000 and range: 74.10 m. jr@jjjihhhhfffrf`ff\@bfF?ɛiBs !%I! %gɚ)i)I-a|=I5Gi1i5b>)=r@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG U>GBO>>JJJJJJJJJJJJ $$?I} Will construct direction to contact in vehicle frame from tetrahedron phase data.)w,/A2+@Y2@292!;y2H c?h?@ VϿq?9?@\?*r??ɨ2+@2Y;0yN~BRIMb@Mb@Mb@ )Y#~j?Mb~jth?y?D;A )I AIXAyfAII3٢/= >=9(Q > G٣yL >  Nusing accuracyPremultiplier from config 59Z? 5Y$ i?:AΜE_;;5 %'A!ZjAMDNOT Ignoring new targets: 71.00 m.BjUJjUe ProNav: ac range: 71.000000 m, nav range: 22.682095 m, bearing: 226.134987 deg, approach rate: 0.244766 m/s, LOS rate: -1.178676 deg/s, cmd heading: 332.043964 deg, new cmd heading: 330.543959 deg. 2je:JmHeadingCmd: 5.769081 target range: 71.000000 and range: 74.10 m. jmO@jijijiihhhh{Bfffrfbf B1?ɛmgBu: qu쇿Iq uYkɚqiyI}Ȍ=I}aiie>)O@)EqAErA*FA2FA:FABFEZ0JFAGI GI)q q~G%tA9 }YtAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.G 2X>GY Bi O > I zK MK K K "K ''$$#" !!   *+(%!z0w,A2D@Y27T@2928;y2H ?@=I>??IFIFM٢J= Nb=9N-Q R>PP RG٣PyV3 V> ZNusing accuracyPremultiplier from configX^59Zn?^5YZ% iZz9EwEAZМEZ~)@)*Fm?2Fq:FqBFu`0JFqGe]>G!B1OER>HI I-IIBI =&I.I6IE<:I FBIƯCJIRIZIbI =jI4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.50048266w,eA:È@Y:E@:9:}1;y:H2z?̤? ҿ?S?ɷ?-#f??ɨ:È@:nj;:&C*Jb4="Jb%=JdJf`JdJdJdJfbl9JdJdJdJdJf*:Jf+:yr~BrIIzIz[3٢* C=9 Q  >   G٣VGy` > %Nusing accuracyPremultiplier from config%59ϥ?-5YZ' iN)-7-AќE:*:a51 M%$?II M&AIZjq}DNOT Ignoring new targets: 71.00 m.Bj}0Jj}0 ProNav: ac range: 71.000000 m, nav range: 22.861135 m, bearing: 225.220239 deg, approach rate: 0.238415 m/s, LOS rate: -1.232296 deg/s, cmd heading: 329.281344 deg, new cmd heading: 327.811110 deg. 2jmSHeadingCmd: 5.721383 target range: 71.000000 and range: 74.10 m. j@jjjihhhhfffrfbf$S?ɛeB! I o3rɚiIRI=ICiige>)@)*Fu?2Fy:FyBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752619GMb>GGGi By O >94A /A)x AIy=AIIF3٢MQQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59e?m5YeT) ie/mP>m:uuAeӜEeD";e;eS5}*B }`&AEEZjDNOT Ignoring new targets: 71.00 m.Bj뛼Jj뛼 ProNav: ac range: 71.000000 m, nav range: 22.948896 m, bearing: 224.735308 deg, approach rate: 0.198119 m/s, LOS rate: -1.090526 deg/s, cmd heading: 327.811104 deg, new cmd heading: 326.362202 deg. 2j;HeadingCmd: 5.696095 target range: 71.000000 and range: 74.10 m. jiF@jjjihhhhBfffrfbf@@ɛ cBQ fI uɚiI刍=IKi!i%h|>)%iF@)!E=]>E=> =&$?I9*F2F:FBFh0JF"G=G=zKeTMKes9KaKe"Ke eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258387GWb>G B O >3Cw,ЙA2 @Y2(@2cL924;y2H@a?8`??@SKտ)?`??`?E?ɨ2 @2;2#Cy:~B:I)@ BAIFIFT3HR>IP IRLIIRBIR =&IP.IP6IR <:IRz F٢^/< ^g=9b끺Q b>`` fG٣dyf  f> jNusing accuracyPremultiplier from confighr59jä?r5Yj+ ijprϾvAjԜEj);j*;j߇5x z;&AxZj!%DNOT Ignoring new targets: 71.00 m.Bj-Jj-= ProNav: ac range: 71.000000 m, nav range: 23.012779 m, bearing: 224.345420 deg, approach rate: 0.180036 m/s, LOS rate: -1.095731 deg/s, cmd heading: 326.362203 deg, new cmd heading: 325.195956 deg. 2j=;EHeadingCmd: 5.675740 target range: 71.000000 and range: 74.10 m. jE@jAjAjAiAhIhIhIhIfQfQfQrfbf h@ɛbB^ !%I! %oxɚ!i!I-<Ǎ=I-i)iUa>)U@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.յ>յR=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508284*F?2F:FBF0JFGj>GBO>>JJ !I)JmJeJ1JJ\8:J9J3JJD;JD;J:J:] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758924aIw,_y)AJW@YJVg@J𩾽9JH:yJH-??`rJֿ |?Ѭ?n̷?fC??ɨJW@J^΍;J%Cy~~B~IMb@Mb@Mb@ )YGz?~jtyp>LD/A A) AIyAIIF3٢; 9=97:Q > G٣VGy_Z > Nusing accuracyPremultiplier from config596Ԥ? 5Y- i > : , A֜Er;;͉5 6&ABEZjAMDNOT Ignoring new targets: 71.00 m.BjM\JjU\] ProNav: ac range: 71.000000 m, nav range: 23.085238 m, bearing: 223.829916 deg, approach rate: 0.164063 m/s, LOS rate: -1.163550 deg/s, cmd heading: 325.195961 deg, new cmd heading: 323.654694 deg. 2jeGuHeadingCmd: 5.648840 target range: 71.000000 and range: 74.10 m. juLô@jqjqjqiqhqhyhyh}BfyffrfbfW@ɛaBs ~I ^`|ɚiI=Imrd"iiimJh>)mLô@)q*F?2F!:F!BF%1JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010931GE Iz>  '$?I G! B) OM >zK }KK K K "K &3641*%###!BK :K qAPw,bJCA2Y@Y2ۥ@292[Q;y2H~?A1?5=ؿ"?b?@?j? ?ɨ2Y@2;0y:~B:IIB IB(2٢J,= Jb=9N=:Q N>PP RG٣PyR; R> ZNusing accuracyPremultiplier from configTZ59Vᤜ?^5YV/ iV\^;^AV؜EV. ;V ;V`5` f%AdZjtzDNOT Ignoring new targets: 71.00 m.BjzJjz ProNav: ac range: 71.000000 m, nav range: 23.141645 m, bearing: 223.409040 deg, approach rate: 0.156942 m/s, LOS rate: -1.168120 deg/s, cmd heading: 323.654688 deg, new cmd heading: 322.395354 deg. 2jjHHeadingCmd: 5.626861 target range: 71.000000 and range: 74.10 m. j>@jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263008f!rf!bf%F7 @ɛ`Bdb 隥=zI TɚiIG=I(iiw>f>)>@)E*F2F:FBFC5JFG GqAGe w>G!B)OEQ>H>IC I_IIBI =&I.I6IC<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514911Vw,}%]A >Ŵ@Y>Sջ@>89>PH.?۪?4Nٿ@ P?.5? ^?`??ɨ>Ŵ@>2;>"C TITyZ~B^Ii`IbC=IfIfF3٢n< nF=9r3;Q r>pp vG٣tyvz| v> zNusing accuracyPremultiplier from configx~59z?5Yz2 izAzٜEz;z;z.5 ,B %AAE5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 71.00 m.BjMRJjMR] ProNav: ac range: 71.000000 m, nav range: 23.202900 m, bearing: 222.925140 deg, approach rate: 0.147646 m/s, LOS rate: -1.163290 deg/s, cmd heading: 322.395365 deg, new cmd heading: 320.947821 deg. 2j]GeHeadingCmd: 5.601596 target range: 71.000000 and range: 74.10 m. jeG@@jajajiiihihihihqfqfqfqrfybf}`FF @ɛ_B" 隭|vI BɚiI=I|.iif>)G@@)*F92F9:F9BF=_0JF95Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770707GUEh>GB!O=> ]w,wA2@Y2P@2Z92~KWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.019531yj~BnIMb@Mb@Mb@ )Y`"?/$Mby> ^A) AIAyAII2٢21< <=9;Q > G٣VGyo > Nusing accuracyPremultiplier from config 59o? 5Y5 tIi>:@AۜET;S;5 %A!ZjDNOT Ignoring new targets: 71.00 m.BjQJjQ ProNav: ac range: 71.000000 m, nav range: 23.248983 m, bearing: 222.406472 deg, approach rate: 0.102938 m/s, LOS rate: -1.156252 deg/s, cmd heading: 320.947830 deg, new cmd heading: 319.395313 deg. 2jaFHeadingCmd: 5.574500 target range: 71.000000 and range: 74.10 m. jMb@jjjihhhhtBff f rfbfv@ɛ]^B]b Y]tIY eɚaiaJkJdJ0JJ2:J|9Jـ3Ja@a@a@a@ ($?IhIeώ=Iql5ii g>) Mb@)*Fy2F:FBFY0JFzKLK9KK"K    .>4)# RK?JK ?=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.273143G g>G B O >Adw,dAjH"<bH"<H$I$ I&rII&BI$&I$.I$6I&:<:I& FFK@YF(@FU9FnYY ]G٣YyeI e> uNusing accuracyPremultiplier from configq}59uD ?}5Yu8 iuy#AuܜEu;u:uȐ5 %AZjDNOT Ignoring new targets: 71.00 m.BjīJjī ProNav: ac range: 71.000000 m, nav range: 23.286158 m, bearing: 221.948984 deg, approach rate: 0.097777 m/s, LOS rate: -1.201365 deg/s, cmd heading: 319.395300 deg, new cmd heading: 318.025303 deg. 2jNHeadingCmd: 5.550589 target range: 71.000000 and range: 74.10 m. jl@jjjih h h h fffrfbf@ɛE]BEB AEqIA E|ɚIiIIM(=IUv;iQiUqe>)Ul@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.524472*F?2F :F BF _0JF "G>G IGMg>G1 Ba O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.7764600jw,AfE@YfeU@fc9f2 G٣yo > Nusing accuracyPremultiplier from config59?5Y< i?:4AޜE; ;5 %A>EZjDNOT Ignoring new targets: 71.00 m.Bj˴Jj˴ ProNav: ac range: 71.000000 m, nav range: 23.317162 m, bearing: 221.396659 deg, approach rate: 0.071077 m/s, LOS rate: -1.264513 deg/s, cmd heading: 318.025301 deg, new cmd heading: 316.371015 deg. 2jXHeadingCmd: 5.521716 target range: 71.000000 and range: 74.10 m. j屰@jjjihhhheBff frfbf@ɛ\Bf :qI N>ɚi!I%j=I-Bi)i5{;h>)5屰@)1*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.026933 )$?I Jـ3K3 K.-KK"KJ mJ J J J \8:J J J G f>G B O >zK .MK 59K K "K BK! :K! qw,A2g@Y2+w@2u:92I8) @) *FA2FA:FIBFMm0JFIHM>II IMxIIMBII&II.II6IM.<:IM FG i> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532200G ?G >G B O > Aww,YmA IRv@YR@R9R=I99 =G٣9yE"~ E> MNusing accuracyPremultiplier from configIU59M'3?U5YMC iMaQUbBUAMEMV;M;M 5e-B eV%Ae;EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 71.00 m.Bj#Jj# ProNav: ac range: 71.000000 m, nav range: 23.360058 m, bearing: 220.435063 deg, approach rate: 0.053900 m/s, LOS rate: -1.301878 deg/s, cmd heading: 315.069004 deg, new cmd heading: 313.489536 deg. 2j]_HeadingCmd: 5.471425 target range: 71.000000 and range: 74.10 m. j@jjjihhhhfffrfbf @ɛ[B lI ɚiI=I Oi iQf>)@)*F2F:FBF0JFG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787176Guge>GYBiOZ> |uA FY |uAy iAk}w,JA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=6.034746R(خ@YR@R9R~zQQ UG٣Qy]K ]> eNusing accuracyPremultiplier from configam59ey@?m5YeHH ieTm?m:mU}AeEe6~;e|;e5 $AZjDNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 23.368889 m, bearing: 219.859524 deg, approach rate: 0.020041 m/s, LOS rate: -1.305625 deg/s, cmd heading: 313.489536 deg, new cmd heading: 311.764122 deg. 2j`HeadingCmd: 5.441310 target range: 71.000000 and range: 74.10 m. j7@jjjihhhh_Bfffrfbf/@ *$?Iɛo 隅TdI OJoJgJJJ>:J9JJɚiIB=IWii9O>)7@)*F)2F):F)BF-+2JF)zK2KKŷ9KK"K )06<AEL\owxuqomg^TJA=51.+$   Will construct direction to contact in vehicle frame from tetrahedron phase data.Ai5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289560GI G! B1 OU >ZH9 RH= @AHE >IA  IE ~IIE BIA &IA .IE AD6IE <:IE e FOSw,d$ABI5CJI5CRI1ZI5 =bI5 =jI5<5yeBeIIu9Iu3٢ܷ U=9Q > G٣VGy > Nusing accuracyPremultiplier from config59L?5YDL iIAE::5 $AZjDNOT Ignoring new targets: 71.00 m.Bj eJj e ProNav: ac range: 71.000000 m, nav range: 23.378492 m, bearing: 219.359123 deg, approach rate: 0.025165 m/s, LOS rate: -1.310671 deg/s, cmd heading: 311.764121 deg, new cmd heading: 310.263898 deg. 2j`%HeadingCmd: 5.415127 target range: 71.000000 and range: 74.10 m. j%H@j!j!j!i!h)h)h)h)f1f1f9rf9bf=B @ɛmZBm7 im[fIi mYɚqiyI}=I}9^iiDk>)H@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540592*F ?2F :F BF 4JFGD]>GBOA> I - Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793279w,,A6&@Y6K6@6)t96 G٣ye > Nusing accuracyPremultiplier from config594X?5Y Q i:?:DfAEH!;Y;i5.B $A:EZjDNOT Ignoring new targets: 71.00 m.BjȼJjȼ ProNav: ac range: 71.000000 m, nav range: 23.376019 m, bearing: 218.791476 deg, approach rate: -0.006119 m/s, LOS rate: -1.404091 deg/s, cmd heading: 310.263911 deg, new cmd heading: 308.561319 deg. 2jpHeadingCmd: 5.385411 target range: 71.000000 and range: 74.10 m. jIU@jjji!h!h!h!h%KBfffrfbf\@ɛM 5aI ɚi!I%f=IeeiiimG`Q>)mIU@)iEy*F?2F:FBF2JF"G%=G%>uWill construct direction to contact in vehicle frame from tetrahedron phase data.u=u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.043161 IGe P>J pJ J 1J J A:J J 3J G9 BA Oe >ew,EAzK6N NK6@9K4K6"K6~[4 BT@YBRd@Bb9BPdd fG٣dyf j> rNusing accuracyPremultiplier from confighr59jc?r5YjU ij.tvlvAjEj1;jF1;j 5x z*$AxZj%DNOT Ignoring new targets: 71.00 m.Bj%ɼJj%ɼ5 ProNav: ac range: 71.000000 m, nav range: 23.370300 m, bearing: 218.264686 deg, approach rate: -0.015261 m/s, LOS rate: -1.406199 deg/s, cmd heading: 308.561309 deg, new cmd heading: 306.980976 deg. 2j5Dq=HeadingCmd: 5.357829 target range: 71.000000 and range: 74.10 m. j=Us@jAjAjAiAhAhAhIhIfIfIfQrfQbfU )@ɛy}"% ź=隅FXI َɚiIؑ=I1liihV>)Us@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.294969*F)2F1:F1BF5_0JF1H>IC IIIBI =&IFD.I6IT<:I FGUP>G1B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.546834 PExceeded connect timeout, disconnecting. ,$?I hvw,_A*J:C="J:4=Fr@YF@F;P9Fdd fG٣fVGyj& j> nNusing accuracyPremultiplier from configlr59nn?v5YnZ in$tzNszAnEn-i;n_i;nҞ5 #AB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 71.00 m.Bj5~ȼJj5~ȼE ProNav: ac range: 71.000000 m, nav range: 23.360413 m, bearing: 217.694441 deg, approach rate: -0.024305 m/s, LOS rate: -1.402284 deg/s, cmd heading: 306.980967 deg, new cmd heading: 305.270044 deg. 2jEpMHeadingCmd: 5.327967 target range: 71.000000 and range: 74.10 m. jM~@jQjQjQiQhQhQhYhYfYfYfarfabfe!@ɛ5YB5  15TI1 5=ɚ9i9I=\=IE.tiAiEsZ>)E~@)A*Fu?2Fy:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803547GYV>G B O >غw,SyA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051000:@Y:˱@:@9:wYY eG٣ayel e> mNusing accuracyPremultiplier from configiu59mz?}5Ym ` im}O?}:}x}AmEm[;m;m5/B #A7E yIyZjDNOT Ignoring new targets: 71.00 m.BjļJjļ ProNav: ac range: 71.000000 m, nav range: 23.347046 m, bearing: 217.076169 deg, approach rate: -0.029753 m/s, LOS rate: -1.376980 deg/s, cmd heading: 305.270032 deg, new cmd heading: 303.414840 deg. 2j@lHeadingCmd: 5.295588 target range: 71.000000 and range: 74.10 m. juu@jjjihhhh`BfffrfbfO @ɛXB9 ANI $ȑɚiI]=I+|iij`>)uu@)i*F2F:FBF`0JF G! G%qAzKMK9KK"KWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305324G >Z>G qAG rAG B O= >jH <bH <H >I  I II BI  =&I .I 6I <:I g F|w,HlAF @YF@F^/9Fq|| G٣y >  Nusing accuracyPremultiplier from config 59 @?5Y :e i  ~A E  ;  ; _5! %b#A)ZjQ]DNOT Ignoring new targets: 71.00 m.Bj]BJjeB⼝m ProNav: ac range: 71.000000 m, nav range: 23.331335 m, bearing: 216.502105 deg, approach rate: -0.043281 m/s, LOS rate: -1.582487 deg/s, cmd heading: 303.414843 deg, new cmd heading: 301.692039 deg. 2juuHeadingCmd: 5.265520 target range: 71.000000 and range: 74.10 m. j}#@jyjyjyiyhyhhhfffrfbf !@ɛ 隽JI 撽ɚiIdr=IBiiq;f>)#@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.555064 -nManaging dock network, ignoring radio surface power off m-$?IiE==JwJvJ0JJW:Jϣ9Jـ3JJz;aJz;aJ:aJ:a*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810535G5 _>G B OE >Dw,DAy%B%4IMb@Mb@Mb@ )Y\(\?!rh~jtxy?l罹ĻA  A) AIAy AI#I%x3٢ ZY=  -=9 Q > G٣VGy > %Nusing accuracyPremultiplier from config!559%?55Y%_k i%=?E:EoEA%E%ǀ;%;%n5M0B M#AM5EZjquDNOT Ignoring new targets: 71.00 m.Bj}׼Jj}׼ ProNav: ac range: 71.000000 m, nav range: 23.332470 m, bearing: 215.790883 deg, approach rate: 0.002406 m/s, LOS rate: -1.507837 deg/s, cmd heading: 301.692051 deg, new cmd heading: 299.559527 deg. 2jZHeadingCmd: 5.228300 target range: 71.000000 and range: 74.10 m. j)G9 aIaBiO{>^ w,>AzKBoHK59KK"Kq(    {]B"sN+~|vqne`:vk@Y:z@:9:2O Vf=9V\XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b񝥜?f5Yb,p ibhj{jAbEb:b:b5rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.310970t v;"Az7EZjDNOT Ignoring new targets: 71.00 m.Bj׼Jj׼- ProNav: ac range: 71.000000 m, nav range: 23.325256 m, bearing: 215.253448 deg, approach rate: -0.020270 m/s, LOS rate: -1.510614 deg/s, cmd heading: 299.559529 deg, new cmd heading: 297.947177 deg. 2j-5HeadingCmd: 5.200159 target range: 71.000000 and range: 74.10 m. j5g@j1j9j9i9h9h9hAhAfAfAfIrfIbfM@"@ɛ%+ !%6I! %{ɚ!i)I-㛔=IUiYi],p>)]g@)YEaEa*Ei"EiH>I III5BI&I.I6I"<:Iq F*F?2F:FBFv0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.562920 i Ii J qJ jJ J J D:J 9J J J IZ;J LZ;J :J :G %d>G B O >ȯw,7oANx@YN@N 9N7tt zG٣xyzd z> ~Nusing accuracyPremultiplier from config|59~ ?5Y~+v i~    A~E~G;~;~姫5 !A5B*** querying acoustic contact ***j1j1ZjDNOT Ignoring new targets: 71.00 m.BjIؼJjIؼ ProNav: ac range: 71.000000 m, nav range: 23.312635 m, bearing: 214.593055 deg, approach rate: -0.028896 m/s, LOS rate: -1.512750 deg/s, cmd heading: 297.947168 deg, new cmd heading: 295.965751 deg. 2jŁmHeadingCmd: 5.165577 target range: 71.000000 and range: 74.10 m. jmhL@jijijiiqhqhqhyhyfyffrfbfa#@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.819077ɛVB 0I ɚiI R=I ii|>)hL@) *FM?2FI:FIBFM0JFIG% ]l>GB O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.   :=9 Q > G٣VGy > %Nusing accuracyPremultiplier from config!-59%ȶ?-5Y%| i%=?=:=z=A%E%|O;%1M;%ѩ5E1B E AE4EZjiuDNOT Ignoring new targets: 71.00 m.BjuټJj}ټ ProNav: ac range: 71.000000 m, nav range: 23.310711 m, bearing: 213.925717 deg, approach rate: -0.004379 m/s, LOS rate: -1.518507 deg/s, cmd heading: 295.965757 deg, new cmd heading: 293.964438 deg. 2jDHeadingCmd: 5.130647 target range: 71.000000 and range: 74.10 m. jC.@jjjihhhhnBfffrfbf`8m$@ɛUB.e !I җɚiIѕ=I`ii >)C.@)*F2F:FBF}4JFzKeۆOKe@9KaKe"KeYVUQNKGBA?=;:84223-,)$$   EWill construct direction to contact in vehicle frame from tetrahedron phase data.EGI BQ Om >ZH RH AAH >I  I II SBI  =&I .I 6I X<:I Fw, AF@YF!@Fۺؼ9Fidd fG٣dyj j> rNusing accuracyPremultiplier from configpv59r?v5Yr+ irtvvArEr7:rX:rg5| ~ A|Zj!-DNOT Ignoring new targets: 71.00 m.Bj-ټJj5ټE ProNav: ac range: 71.000000 m, nav range: 23.300520 m, bearing: 213.375437 deg, approach rate: -0.028106 m/s, LOS rate: -1.518278 deg/s, cmd heading: 293.964430 deg, new cmd heading: 292.313350 deg. 2jE?MHeadingCmd: 5.101830 target range: 71.000000 and range: 74.10 m. jM2B@jIjIjQiQhQWill construct direction to contact in vehicle frame from tetrahedron phase data.)e2B@)a 9IEh*F 2F :F BF ^0JFJrJiJJJG:Jڈ9JJJ_;J_;Jh:Jj:G0w>GGqAGBOI>] Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Response Not Received u *response not received ,DAT read: user:3394>  BDAT read: Tx time:23:38:03.9905  $Ping request sent.  G٣y9\ > Nusing accuracyPremultiplier from config59̥?5Y\ i5?:AEi<hi<j5  AZjYeDNOT Ignoring new targets: 71.00 m.Bje˼Jje˼ ProNav: ac range: 71.000000 m, nav range: 23.293375 m, bearing: 212.697561 deg, approach rate: -0.015004 m/s, LOS rate: -1.423900 deg/s, cmd heading: 292.313354 deg, new cmd heading: 290.280003 deg. 2jMtHeadingCmd: 5.066342 target range: 71.000000 and range: 74.10 m. jy@jjjihhhhBfffrfbf&@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:38:03.9897 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242730ɛTB I ݙɚiI=Iii >)%y@)! )I)*F?2F:FBF_0JFG >Gy B O >zK fMK 9K K "K   =a`VJ@<3,&" ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493517w,KA2h@Y2zx@2L|92&BB>IIFIF)٢N= Nn=9R;Q R?PP VG٣TyVr V? ^Nusing accuracyPremultiplier from configX^59ZRե?^5YZ  iZ`bbAZEZ :Z:Z鮫5f2B fAj1EZjDNOT Ignoring new targets: 71.00 m.BjͼJjͼ ProNav: ac range: 71.000000 m, nav range: 23.284634 m, bearing: 212.193246 deg, approach rate: -0.024944 m/s, LOS rate: -1.439624 deg/s, cmd heading: 290.280007 deg, new cmd heading: 288.766866 deg. 2jwHeadingCmd: 5.039933 target range: 71.000000 and range: 74.10 m. j!G@jjjihhhhf)f)f)rf)bf5&@ɛq} y} Iy }IɚiI=I^iil|>)!G@)H>IC IIIwBI&I.I@D6I(<:Iq FBIMíCJIMíCRIIZIM =bIM =jIM|5*FE?2FA:FABFE`0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747025G  /$?I hG B O >J J nJ 1J J J 99J 3J J J J R:J T:w,JeA:@Y:@:;9:Mll nG٣rVGyrc r> vNusing accuracyPremultiplier from configtz59v+ߥ?z5Yv iv|kAvEvH<;v<;v5  ;A 3E-B*** querying acoustic contact ***j)j)ZjAEDNOT Ignoring new targets: 71.00 m.BjMݼJjMݼ] ProNav: ac range: 71.000000 m, nav range: 23.270082 m, bearing: 211.591270 deg, approach rate: -0.037474 m/s, LOS rate: -1.551206 deg/s, cmd heading: 288.766874 deg, new cmd heading: 286.960450 deg. 2j]eHeadingCmd: 5.008405 target range: 71.000000 and range: 74.10 m. jeD@jijijiiihihihqhqfqfqfyrfybf}"'@ɛSBA 隭GI kɚiI0=IvFii >)D@)EEpA%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001198*F]?2FY:FaBFe0JFaGU->GIBQOu6> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249796 ! I! !w,`xA2@Y2@292?@-p? _?@r!? ?ɨ2@2Պ;2$CyBdBBI)D D]Mb@Mb@Mb@YYY Y)YY]K?)\(X9v?y]^>]Ga]<]d A ] A)]1@I]d AYy]@ImImM٢}%= }?=9?;Q > G٣yڊ > Nusing accuracyPremultiplier from config59N祜?5Y ir>:AE;;5 pAZjDNOT Ignoring new targets: 71.00 m.Bj˭Jj˭ ProNav: ac range: 71.000000 m, nav range: 23.255486 m, bearing: 211.074865 deg, approach rate: -0.034338 m/s, LOS rate: -1.215541 deg/s, cmd heading: 286.960453 deg, new cmd heading: 285.410663 deg. 2jPHeadingCmd: 4.981356 target range: 71.000000 and range: 74.10 m. j Dg@j j j i h h hh,Bfffrf!bf%`n(@ɛIMݽ IMI ;ɚiIИ=Iaii<>)Dg@)*F2F:FBF0JFzKyMK@9KK"K  .4986854340*'%" Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501640GC|>H >I  I 4II BI  =&I .I 6I )<:I o FG B O > w,_ABġ@YBӨ@B g9BP`` bG٣`yf f> nNusing accuracyPremultiplier from confighn59j?r5Yj  ijnprprAjEj6;jP;j85| ~<A|Zj!%DNOT Ignoring new targets: 71.00 m.Bj-ƫJj-ƫ= ProNav: ac range: 71.000000 m, nav range: 23.239119 m, bearing: 210.618721 deg, approach rate: -0.043079 m/s, LOS rate: -1.201426 deg/s, cmd heading: 285.410656 deg, new cmd heading: 284.041536 deg. 2j=!NEHeadingCmd: 4.957460 target range: 71.000000 and range: 74.10 m. jE@jAjIjIiIhIhIhQhQfQfQfYrfYbf]@81)@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754412ɛRB1\߽ 隝I ɚiIh=IHiiȩ>)@) I*F-?2F):F)BF-P5JF)GU'+>G)BQO}>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0085432w,)A>3@Y>@>(9>ƅH"e?iy?cze?h"@q?w? ?ɨ>3@>w;>#Cy^wBbIeMb@Mb@Mb@aaa a)aYesh|??/$V-?ye ?e1e=97- G٣VGyr > Nusing accuracyPremultiplier from config59?5Y iRQ?:IAE;;53B A0EZjDNOT Ignoring new targets: 71.00 m.BjJJjJ ProNav: ac range: 71.000000 m, nav range: 23.183668 m, bearing: 210.045240 deg, approach rate: -0.123660 m/s, LOS rate: -1.281958 deg/s, cmd heading: 284.041531 deg, new cmd heading: 282.317523 deg. 2j[HeadingCmd: 4.927371 target range: 71.000000 and range: 74.10 m. j@jjjihhhh>Bfffrfbf*@ɛQ]Oֽ Y]ھIa eRɚiiiI =IWii >)@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258007 0$?I*F-?2F):F1BF5_5JF9GA GEpAJqJJ0JJD:JJـ3Ja@a@a@a@G c>G pAG Gy B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509670w,J Ab?@Yb$@b19b hIr4<Iv,Iv3zK~MK~ŷ9K|K~"K~^cVNnL0sZG3zpiec_XNGFD>٢ M< S=9 G٣y%؎ %> -Nusing accuracyPremultiplier from config)559-?55Y- i-:9==A-E-+;-+;-̷5I MAIZjiuDNOT Ignoring new targets: 71.00 m.Bj}ȼJj}ȼ ProNav: ac range: 71.000000 m, nav range: 23.129961 m, bearing: 209.528535 deg, approach rate: -0.145686 m/s, LOS rate: -1.404846 deg/s, cmd heading: 282.317537 deg, new cmd heading: 280.764224 deg. 2jqHeadingCmd: 4.900260 target range: 71.000000 and range: 74.10 m. jΜ@jjjihhhhfffrfbf`*@ɛQBa޽ e5=վI gZɚiI=Ipii>)Μ@)H=>I=C I=_II=ÀBI= =&I9.I96I=2<:I=s F*F2F:FBFW0JFG>GaBiO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761618 I*J R="J R=Ew,&A6@@Y6rP@6ߺ96$WII MG٣QyUu e> uNusing accuracyPremultiplier from configi}59mi?}5Ymc im" AmEmgo;mEo;m5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 71.00 m.BjuJju  ProNav: ac range: 71.000000 m, nav range: 23.069338 m, bearing: 208.981514 deg, approach rate: -0.144924 m/s, LOS rate: -1.311114 deg/s, cmd heading: 280.764215 deg, new cmd heading: 279.119315 deg. 2j `HeadingCmd: 4.871551 target range: 71.000000 and range: 74.10 m. j@jjjihhhhfffrfbf@Ŷ+@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:06.5056 TRx dataTimestamp_ set to:1736379487.704799checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014857ɛPBr3ֽ {оI ɚiIz=I=piAim >)m@)*F92F9:F9BF=4JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265635 I G >G ?G ?GA BQ Om >9w,5AFg@YF!w@FI:9Fn G٣VGy\ > Nusing accuracyPremultiplier from config59?5Y i)g?:A E;M;l54B A2EZj DNOT Ignoring new targets: 71.00 m.BjJj% ProNav: ac range: 71.000000 m, nav range: 23.039818 m, bearing: 208.457160 deg, approach rate: -0.071470 m/s, LOS rate: -1.271111 deg/s, cmd heading: 279.119314 deg, new cmd heading: 277.544655 deg. 2j-Z-HeadingCmd: 4.844068 target range: 71.000000 and range: 74.10 m. j-@j1j1j1i1h1h1h9h=܁BfAfAfArfAbfE 8},@ɛy}$1۽ y隅оI ɚiI%*=I/ii^5>)@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 83.2 m (Round-trip 111.0 ms) speed -0.6 m/s ,DAT read: user:3395>  BDAT read: Tx time:23:38:07.5905  $Ping request sent. H% >I% C I% xII% ׀BI! &I! .I! 6I% <:I%  FG B O >Vw,AZ@YZ@Z[ݯ;9ZO99 =G٣9yEk E> MNusing accuracyPremultiplier from configIU59M: ?U5YM iM0QUeWill construct direction to contact in vehicle frame from tetrahedron phase data.e%=e%=mJDAT read: TxSync time:23:38:07.5897 ]AM EM;Mg;M5y A addTargetRange:: Added new target pos. range: 83.199997 m, deltaT: 18.146748 s, deltaX: 9.099998 m, approachRate: 0.501467 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 23.009224 m, bearing: 207.974714 deg, approach rate: -0.078854 m/s, LOS rate: -1.245117 deg/s, cmd heading: 277.544655 deg, new cmd heading: 276.095719 deg. 2jUHeadingCmd: 4.818779 target range: 71.000000 and range: 83.20 m. jq3@jjjihhhhfffrfT@bf@k? I%hɛ5OB57ڽ 9=ξI9 =scɚ9i9I==IEw iAiE >)Eq3@)IE=˺=*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G @Z>G B O >P w,0I5A6J@Y6̺@6:8<96+0 %G٣!y%q %> 5Nusing accuracyPremultiplier from config1=5954?=5Y5F i5D=?=:=E=A5 E5Q;5;55I MAIZjDNOT Ignoring new targets: 71.00 m.BjJj- ProNav: ac range: 71.000000 m, nav range: 22.959932 m, bearing: 207.423829 deg, approach rate: -0.107254 m/s, LOS rate: -1.201230 deg/s, cmd heading: 276.095726 deg, new cmd heading: 274.440011 deg. 2j5N5HeadingCmd: 4.789882 target range: 71.000000 and range: 83.20 m. j5F@j9j9j9i9h9h9hAhEBfyfyWill construct direction to contact in vehicle frame from tetrahedron phase data.firfibfm`? IɛNB%:ֽ ӾI ?=ɚiIϝ=I$ii)F@)EVo=J=rJ=kJ=1J9J=G:J=9J=3J9*FM?2FI:FIBFQJFQGu >G} qAGy  Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ Bi O >w,OAzKZMKXKXKZ"KZ    ysBII%I%٢e eR=9mQ m>iq uG٣uVGyu u> Nusing accuracyPremultiplier from configy59}?5Y}J i}UA}E}:} ;}5  A/EZjDNOT Ignoring new targets: 71.00 m.BjtJjt ProNav: ac range: 71.000000 m, nav range: 22.918741 m, bearing: 206.942194 deg, approach rate: -0.110735 m/s, LOS rate: -1.297107 deg/s, cmd heading: 274.440006 deg, new cmd heading: 272.992828 deg. 2j^HeadingCmd: 4.764624 target range: 71.000000 and range: 83.20 m. jw@jjjihhhhfffrfbfL?ɛ!% !%ھI! -Ρɚ)H5>I1 I5II5BI5 =&I1.I16I5^<:I5 Fi)IMs=IU=`¿iQiQ)Uw@)YEaEa*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data. QIQ*F?2F:FBF`0JFG >G B O >v%w,jAR:͚@YRܡ@R?<9R.|| ~G٣|y~n >  Nusing accuracyPremultiplier from config59?5Y ijAE;;«5! % A!Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZj!mDNOT Ignoring new targets: 71.00 m.Bj}1Jj}1 ProNav: ac range: 71.000000 m, nav range: 22.866013 m, bearing: 206.445453 deg, approach rate: -0.121621 m/s, LOS rate: -1.148379 deg/s, cmd heading: 272.992826 deg, new cmd heading: 271.499525 deg. 2jEeHeadingCmd: 4.738561 target range: 71.000000 and range: 83.20 m. jeJ@jijijqiqhhhG-5tA9hfI u Yu5tAy}XBffrfbfb??ɛLB|׽ !ܾI :¢ɚi1I5|=I=Dſi9iE>)EJ@)A*Fe?2Fa:FiBFiJFie 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. 1$?I Gm >JsK{(3 K{(.KsKs"KsJ tJ lJ J J ;N:J 9J J GI BQ Om >!w,RAF@YF,@FN4d<9FyVmνmmI A m3 A)mȞ@Im Aiym@I1I3٢+ 0=9Y;Q > G٣yo > Nusing accuracyPremultiplier from config59P?5Y i`>:^AED;;ī5 AZjDNOT Ignoring new targets: 71.00 m.BjݲJjݲ5 ProNav: ac range: 71.000000 m, nav range: 22.788555 m, bearing: 205.899367 deg, approach rate: -0.176846 m/s, LOS rate: -1.251012 deg/s, cmd heading: 271.499528 deg, new cmd heading: 269.856174 deg. 2j5V=HeadingCmd: 4.709879 target range: 71.000000 and range: 83.20 m. j=T@j9j9j9i9hAhAhIhMBfIfIfIrfQbfU@?ɛy} }:=隅I bɚiI0=I?\ɿii >)T@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013019*F?2F:F!BF%V5JF!zKuLKuŷ9KqKu "KujH<bH<H>I IrIIҀBI&I.I6I<:I_ FBIeƬCJIeƬCRIaZIe =bIe =jIe4GG ?G ?GBO >U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264821 I 'w,wA6@Y6S#@6Ĩ<96XX ZG٣ZVGyZ˔ ^> bNusing accuracyPremultiplier from config`f59b?f5Ybj ibdf˽jAbEbn:b:b+ƫ5n5B n An1EZjDNOT Ignoring new targets: 71.00 m.BjȜJjȜ ProNav: ac range: 71.000000 m, nav range: 22.724289 m, bearing: 205.469817 deg, approach rate: -0.163600 m/s, LOS rate: -1.096568 deg/s, cmd heading: 269.856184 deg, new cmd heading: 268.564122 deg. 2j$<HeadingCmd: 4.687328 target range: 71.000000 and range: 83.20 m. j@jjjihhhhfffrfbf@@ɛ=KB=@ 9=UIA E)ɚAiAIE=IMC˿iIiM*>)M@)Q*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894GGi Bq O >4-w,XA:8@Y:_H@:<9:=9uċ;Q }> G٣y} > Nusing accuracyPremultiplier from config59$?5Y i ?:ſAE;; ȫ5 ZAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767818 9I=hZjq}DNOT Ignoring new targets: 71.00 m.Bj඼Jj඼ ProNav: ac range: 71.000000 m, nav range: 22.629406 m, bearing: 204.926567 deg, approach rate: -0.222469 m/s, LOS rate: -1.279064 deg/s, cmd heading: 268.564131 deg, new cmd heading: 266.928017 deg. 2js[HeadingCmd: 4.658773 target range: 71.000000 and range: 83.20 m. j@jjjihhhhBfffrfbf`_@ɛ%JB%" )-I) 5 ɚ1i1I5=IUϿiQiU >)U@)QEa*F2F:F BF 0JF G->GBOn> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020009zK yJK K K !"K @G=1& !/{Mhg]P@0~uh[ND><3*!BK! :K! !4w,/AH&>I&C I&SII&BI& =&I$.I$6I&Y<:I& FBP`@YBo@Bg<9B G٣y? > %Nusing accuracyPremultiplier from config!-59%?-5Y%0 i%)-[ɿ-A%E%:%n:%ɫ51 =A9Zj DNOT Ignoring new targets: 71.00 m.Bj5과Jj5과E ProNav: ac range: 71.000000 m, nav range: 22.540440 m, bearing: 204.438451 deg, approach rate: -0.228455 m/s, LOS rate: -1.258355 deg/s, cmd heading: 266.928027 deg, new cmd heading: 265.458241 deg. 2jEWMHeadingCmd: 4.633121 target range: 71.000000 and range: 83.20 m. jMB@jIjIjQiQhqhqhyhyfyfyfyrfbf W @ɛIB m I ꥽ɚ i I5ܢ=I=3ѿi9i=K>)=B@)A 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:10.1076 TRx dataTimestamp_ set to:1736379491.498397checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286740EuS-=JsJJ0JJK:JJـ3JJe;aJe;aJ(:aJ):a*F) 2F) :F) BF- O5JF) = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536724GU 4>G] pAGY G9BqO?QQ UG٣UVGy]ͽ ]> eNusing accuracyPremultiplier from configYm59]?m5Y] i]+m?u:uοuA]E];];],̫5y ] AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 71.00 m.BjȼJjȼ ProNav: ac range: 71.000000 m, nav range: 22.394361 m, bearing: 203.692108 deg, approach rate: -0.273294 m/s, LOS rate: -1.405383 deg/s, cmd heading: 265.458253 deg, new cmd heading: 263.205844 deg. 2j qHeadingCmd: 4.593809 target range: 71.000000 and range: 83.20 m. j{@jjjihhhhqBfffrfbf`& @ɛHB0C <I ɚ!i!I%Z=I-׿i)i->)-{@)1 !I!=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:38:10.1076 LVL= 26480, 20001, 14114, 26739, AGC= 57, IDX= 448, 0.20, 1.791,-1.960,-2.541,-2.934, PHS=-1.470, 1.022, 0.390, RAW= 284.1, 0.5, CAL= 286.5, -0.3, ROT= 223.5, 0.3 }Ygot valid direction response: 23:38:10.1076 LVL= 26480, 20001, 14114, 26739, AGC= 57, IDX= 448, 0.20, 1.791,-1.960,-2.541,-2.934, PHS=-1.470, 1.022, 0.390, RAW= 284.1, 0.5, CAL= 286.5, -0.3, ROT= 223.5, 0.3 PDAT read: Bearing 223.5, 0.3 (Local) ~Local bearing/azimuth received: Bearing 223.5, 0.3 (Local) DAT read: Range 10 to 50 : 84.6 m (Round-trip 112.9 ms) speed -0.3 m/s ,DAT read: user:3396> BDAT read: Tx time:23:38:11.1905 $Ping request sent.=߫@=5< =@)=I=y@i=;99=P*^+u8?͜P?)=R7@I= i=:y?=92?99:publishing transmit ping timeءFpublishing direction and range info99=h\G`?n?AÈy9999 9)9I9i99999 9)9I9i999=P*^+u8?͜P?)9I9i9999Em=*F2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G 75>GB O->zDw,AzKVNKV9KTKV""KV RK^?JK^>ji@Yj뺛@jb<9jʔI I'IIBI =&I.I?D6I!<:If F٢ Z -A=9-帺Q 5>11 5G٣1y=ى => ENusing accuracyPremultiplier from configAM59Ec?M5YEp iEXQUDҿUAEEE ;E? ;E Ϋ5Y ] AYk9?kt] k kA:k3BBkBZk@"jo @b/a'@zǟmTh\G`?n?AÈJk:y?Rk92?*0ϥL,@hfaF9+.Tc1a?("{f@"k0*k"dAk"Ȫ?kI6^ 2kkkI6^ k-BkAkZ[V@ addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 3.792054 s, deltaX: 1.400002 m, approachRate: 0.369193 m/s, rangeRepo size: 4  Added new target pos. range: 84.599998 m, bearing: 343.149872 deg, lat: 36.905297 deg, lon: -122.119998 deg, deltaT: 32.787987 s, deltaX: 13.599998 m, approachRate: 0.414786 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 84.60 m.BjJj ProNav: ac range: 84.599998 m, nav range: 20.938936 m, bearing: 191.902218 deg, approach rate: 0.000000 m/s, LOS rate: -1.405383 deg/s, cmd heading: 263.205848 deg, new cmd heading: 261.385143 deg. 2jHeadingCmd: 4.562031 target range: 84.599998 and range: 84.60 m. j)@jjjihhhhfffrf`f&U@bfR?ɛEGBE] IMII MM9ɚIiIIM=IUgڿiQi]xt>)])@)YEaEa*Ei"Ei AIImWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFS5JFJ rJ J 1J J G:J J 3J J _;J _;J J G E1>G B O >TMKw,g/A6@Y6Ě@6<BWill construct direction to contact in vehicle frame from tetrahedron phase data.96xll nG٣nVGyn n> vNusing accuracyPremultiplier from configpv59r3?z5Yr, irxzֿ~ArErZ;r?;rϫ5u6B }9!A}3EZj DNOT Ignoring new targets: 84.60 m.BjƼJjƼU ProNav: ac range: 84.599998 m, nav range: 20.862232 m, bearing: 191.230049 deg, approach rate: -0.157944 m/s, LOS rate: -1.389143 deg/s, cmd heading: 261.385138 deg, new cmd heading: 259.362104 deg. 2jUVnmHeadingCmd: 4.526723 target range: 84.599998 and range: 84.60 m. jmڐ@jijijiiihihqhqhqfqfyfyrfybf}@dX?ɛFB I "eɚiIs(=I߿ii݁>)ڐ@)*F?2F:FBFY0JF"G>G=Gu>|>G} ?G}>GIBQO}z> I-Will construct direction to contact in vehicle frame from tetrahedron phase data.1Rw,3IA23@Y2Ι@2,o}<92ii mG٣iym~ u>  Nusing accuracyPremultiplier from config 59 g?5Y  i '?:׿A E (; &; ѫ5) -~!A)ZjIUDNOT Ignoring new targets: 84.60 m.Bj] Jj] m ProNav: ac range: 84.599998 m, nav range: 20.775778 m, bearing: 190.474041 deg, approach rate: -0.224319 m/s, LOS rate: -1.969686 deg/s, cmd heading: 259.362118 deg, new cmd heading: 257.085918 deg. 2jmuHeadingCmd: 4.486996 target range: 84.599998 and range: 84.60 m. jux@jqjqjqiqhyhyhyh}4Bfffrfbf;?ɛ 隽I UɚiI=Iii >)x@)EN>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFzKLKŷ9KK#"KH>I IIIrBI&I.I6I <:IGgu>G B O > 0$?I hM Will construct direction to contact in vehicle frame from tetrahedron phase data.ZXw, cA2ґ@Y2S@2|W<92Xxx zG٣xy~ ~> Nusing accuracyPremultiplier from config 59x? 5Y i ۿA!E": :|ӫ55B !A6EZjAEDNOT Ignoring new targets: 84.60 m.BjM*JjM*e ProNav: ac range: 84.599998 m, nav range: 20.699331 m, bearing: 189.840296 deg, approach rate: -0.206923 m/s, LOS rate: -1.721701 deg/s, cmd heading: 257.085916 deg, new cmd heading: 255.178405 deg. 2jemHeadingCmd: 4.453703 target range: 84.599998 and range: 84.60 m. jm@jqjqjqiqhqhqhyhyfyffrfbfw?ɛEB 隵"I |LɚiI=Iii)@)*JC="J%=JtJjJ0JJ;N:J9Jـ3JJ{j;J}j;J:J:*F}?2Fy:FyBF}`0JFyGMy>G!B)OE0>Will construct direction to contact in vehicle frame from tetrahedron phase data.^w,l|A2@Y2 @2!]><92h; eC=9eGpQ e>ii mG٣iymކ u> I Nusing accuracyPremultiplier from config59 ?5Y i2?:ܿA#E$;;Sի5 !AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.60 m.BjxJjx ProNav: ac range: 84.599998 m, nav range: 20.608641 m, bearing: 189.065093 deg, approach rate: -0.214214 m/s, LOS rate: -1.839056 deg/s, cmd heading: 255.178408 deg, new cmd heading: 252.843930 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.2jĝHeadingCmd: 4.412959 target range: 84.599998 and range: 84.60 m. j6@jjjihhhhfffrfbf`N@ɛDB !I sɚi!I%6=I%ci)i))M6@)Q*F?2F:FBFi0JFGpA GqAG K>G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255061G B O- >jH <bH H >I  I II ]BI &I .I 6I S<:I FzKU J3KKU 9KQ KU $"KU rew,֖A2@Y20@2<92B>wIiB!>IBp;IF-IF3٢N< RW=9RzڻQ R>PT VG٣VVGyV V> ^Nusing accuracyPremultiplier from configX^59Z?b5YZ iZ`b߿bAZ%EZn:Z7:Z֫5d Mw!AQZjDNOT Ignoring new targets: 84.60 m.Bj"Jj"5 ProNav: ac range: 84.599998 m, nav range: 20.522881 m, bearing: 188.368751 deg, approach rate: -0.213713 m/s, LOS rate: -1.742480 deg/s, cmd heading: 252.843932 deg, new cmd heading: 250.747164 deg. 2j5{UHeadingCmd: 4.376364 target range: 84.599998 and range: 84.60 m. jU, @jQjQjQiQhYhYhYhYfafafarfabf@ɛCB .  I   wɚ iI˩=I%iQiQ)U, @)YE IhWill construct direction to contact in vehicle frame from tetrahedron phase data. > <checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509905*F12F1:F9BFE0JFAJ J JuJoJJJ[Q:JK9JJJo;Jo;J:J:Gy GQ Ba O >kw,PA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758670bS @Yb@b;9ba`?ɨbS @bG;b$CyB zII=+I=n3٢M0< M@=) wC|uA! u Yu|uAyuB9}λQ >c@B G٣ym > Nusing accuracyPremultiplier from config59?5Y i5㿑A(E< <5٫56B m!A8EZjDNOT Ignoring new targets: 84.60 m.BjqJjq- ProNav: ac range: 84.599998 m, nav range: 20.402229 m, bearing: 187.431524 deg, approach rate: -0.238893 m/s, LOS rate: -1.866626 deg/s, cmd heading: 250.747173 deg, new cmd heading: 247.921282 deg. 2j-!5HeadingCmd: 4.327043 target range: 84.599998 and range: 84.60 m. j5"w@j1j1j9i9hyhyhhfffrfbf@ɛBB   I  5ɚ iI=I=di9i9)="w@)A I*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:13.7088 TRx dataTimestamp_ set to:1736379495.024632checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011619G G B O >rw,[&A6@Y6("@6Ue;96mB>I n@n n@n n@n  n@r Ir"Irq3٢z|= ~C=9~Q ~> G٣y  ? bBottom track data is 0.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?%5Y iJ-+:)-v:-翑-A*ERp;*>dګ51 5!A9ZjYeDNOT Ignoring new targets: 84.60 m.Bjw Jjw  ProNav: ac range: 84.599998 m, nav range: 20.319309 m, bearing: 186.817214 deg, approach rate: -0.262272 m/s, LOS rate: -1.950920 deg/s, cmd heading: 247.921278 deg, new cmd heading: 246.071506 deg. 2j\HeadingCmd: 4.294758 target range: 84.599998 and range: 84.60 m. j%n@j!j!j)i)h)h)h1h1f1f1f1rf9bf= @Will construct direction to contact in vehicle frame from tetrahedron phase data.թiթchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263842ɛ}AB' 隅I XɚiI=I!ii)n@)H>I IIISBI =&I.I6IB<:I~ FBImīCJImīCRIiZIm =bIm =jIm[5*FU?2FY:FYBFe^5JFa"G}=G}>zK:IK9KK%"K   I G U Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: Range 10 to 50 : 85.5 m (Round-trip 114.1 ms) speed -0.1 m/s u ,DAT read: user:3397> } BDAT read: Tx time:23:38:14.7906  $Ping request sent. yw,Ac@Y)@*J4="J=q>:9[_99 =G٣=VGyE E> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}?5Y}& i}d :G:뿑A}-E}Bj<}7L?}۫5  AE addTargetRange:: Added new target pos. range: 85.500000 m, deltaT: 3.528293 s, deltaX: 0.900002 m, approachRate: 0.255081 m/s, rangeRepo size: 4 ZjaeDNOT Ignoring new targets: 84.60 m.BjmCJjmC} ProNav: ac range: 84.599998 m, nav range: 20.202824 m, bearing: 185.994535 deg, approach rate: -0.251350 m/s, LOS rate: -1.785332 deg/s, cmd heading: 246.071498 deg, new cmd heading: 243.590867 deg. 2j}(HeadingCmd: 4.251462 target range: 84.599998 and range: 85.50 m. j @jjjihhhhfffrf`U@bf .?ɛ%@B%r !%I) -ɚ)i)I-=I5#i1i1)5 @)9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:38:14.7898 *F2F:FBFO5JFG <>Gy B O >0w, A 4I4>@Y>W,@>j9>SH켿`?ĉ 꼿Cn?Vmb?~u?K?ɨ>@>ޕ;>$CyR/BRIWill construct direction to contact in vehicle frame from tetrahedron phase data.%4=%C=        Mb@Mb@Mb@ )YV-?ktyh1? 7 A  A) AI Ay= AII̍٢= Q=9LQ > G٣y > Nusing accuracyPremultiplier from config59?5Yn- icT:2?:[翑A/E;_;Wݫ5 7 A B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 84.60 m.Bj% Jj% 5 ProNav: ac range: 84.599998 m, nav range: 20.115471 m, bearing: 185.281555 deg, approach rate: -0.238610 m/s, LOS rate: -1.955961 deg/s, cmd heading: 243.590856 deg, new cmd heading: 241.443688 deg. 2j5˧=HeadingCmd: 4.213987 target range: 84.599998 and range: 85.50 m. j=؆@jAjAjAiAhAhAhIhM]BfIfIfIrfQbf?ɛE?BEp AMII M_ɚiiiImGB=Iuiqiy)}؆@)J1J5qJ1J1J1J5q9J1J1aM@aM@aM@aM@*F%?2F!:F)BF-[0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G] F>Ga Bi O >ZH RH AAH >I  I II bBI  =&I .I 6I -<:I o FzK :LK 9K K &"K  ,?;-# %($  w,7AB@YB)@B̻9Bqǵ9yBHx¿@??5B?`x¿ $ry?@y?@Ѹ6?@?ɨB@BXo;@yJ:BJIIVIV0٢Z}= Z\=9^%/Q ^>`` bG٣`yf筽 f> jNusing accuracyPremultiplier from confighn59j꥜?n5Yj4 ij`lrg뿑rAj1Ej* ;j ;jޫ5t vAv=EZjDNOT Ignoring new targets: 84.60 m.BjJj- ProNav: ac range: 84.599998 m, nav range: 20.025307 m, bearing: 184.585944 deg, approach rate: -0.243663 m/s, LOS rate: -1.888265 deg/s, cmd heading: 241.443690 deg, new cmd heading: 239.348447 deg. 2j-5HeadingCmd: 4.177418 target range: 84.599998 and range: 85.50 m. j5i@j1j1j1i1h9h9h9hAfAfAfArfAbfM@_3?ɛ >B!S 5I9 E!ɚIiQIu:=I}fiyiy)}i@) e/$?Ieh*F?2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002761G:>GGlAGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255568bBw,Uk3Ay}DBޅII I )٢E!= M4=9]Q e>i G٣VGy > Nusing accuracyPremultiplier from config59㥜?5YN< i\A3E;;5 AZj9=DNOT Ignoring new targets: 84.60 m.BjEBJjEB ProNav: ac range: 84.599998 m, nav range: 19.916502 m, bearing: 183.705303 deg, approach rate: -0.229063 m/s, LOS rate: -1.864042 deg/s, cmd heading: 239.348434 deg, new cmd heading: 236.694085 deg. 2j蟽HeadingCmd: 4.131091 target range: 84.599998 and range: 85.50 m. j1@jjji h h hhfffrfbf`?ɛE=BM IM:IQ UlɚQiQIU׮=I] iYiY)]1@)aEmY>EmG>*F?2F:FBFJF AIA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506684G Z >JU vJQ JQ JQ JU {T:JQ JQ JQ G B O >8*w,NFMAyXBIMb@Mb@Mb@ )YL7A`?DlMb?y+'?O<  A) AI Ay AII<2٢(= P=9Q > G٣y > Nusing accuracyPremultiplier from config59rޥ?5YB iS (? : 鿑 A5Ea;;5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758759 AZjDNOT Ignoring new targets: 84.60 m.BjJju ProNav: ac range: 84.599998 m, nav range: 19.840616 m, bearing: 183.019660 deg, approach rate: -0.191644 m/s, LOS rate: -1.738122 deg/s, cmd heading: 236.694086 deg, new cmd heading: 234.630231 deg. 2ju}HeadingCmd: 4.095070 target range: 84.599998 and range: 85.50 m. j} @jyjyjyihhhhBfffrfbf@>?ɛIQ IUIIUBIU =&IQ.IQ6IU<:IUP FzKZMK9KK'"K*F=?2F9:F9BFAJFA 1 I1 M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011880Ge B>G9 Ba O >Tw,#gA2%@Y25@2r92TT VG٣XyZ6 Z> ^Nusing accuracyPremultiplier from config\b59^ץ?b5Y^H i^FdffA^7E^z:^:^@5h jAhZjDNOT Ignoring new targets: 84.60 m.BjJj ProNav: ac range: 84.599998 m, nav range: 19.750067 m, bearing: 182.381674 deg, approach rate: -0.254124 m/s, LOS rate: -1.798659 deg/s, cmd heading: 234.630221 deg, new cmd heading: 232.708248 deg. 2jLHeadingCmd: 4.061525 target range: 84.599998 and range: 85.50 m. j@jjjih h hh1f1f9f9rf9bf=?@ɛ;B 隍־I \iɚiI.=I/ii)@)*F?2F:FBF0JF"G >G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262793G:>G B O >  I! Y=9u0Q u>1 5G٣5VGy=+ => ENusing accuracyPremultiplier from configAM59EΥ?M5YEO iE9M ?U:UUAE:EEe&;E$;E;5e5B eAe@EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.60 m.BjJj ProNav: ac range: 84.599998 m, nav range: 19.635406 m, bearing: 181.622779 deg, approach rate: -0.261606 m/s, LOS rate: -1.741538 deg/s, cmd heading: 232.708261 deg, new cmd heading: 230.419567 deg. 2jfHeadingCmd: 4.021580 target range: 84.599998 and range: 85.50 m. jɰ@jjjihhhhBfffrfbf@m@ɛG ¾I ɚi I dڰ=Im#iqiq)uɰ@)qJJsJ1JJJ9J3J*F?2F :F BF D2JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767143G) G B O >jHE <bHE p<HM >II  IM @IIM BII &II .II 6IM <:IM 9 FSfw,ךAzKyJK9KK("K   RK2 ?JK2?:9@Y:kI@:U9:vޥ|| ~G٣|y৽ >  Nusing accuracyPremultiplier from config 59 (ǥ?5Y U i .kA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270673w,9ArP@Yr_@r9r5y G٣y > Nusing accuracyPremultiplier from config59?-5Y[ i155A>Es<p<59 =eA9ZjDNOT Ignoring new targets: 84.60 m.BjJj켝 ProNav: ac range: 84.599998 m, nav range: 19.404144 m, bearing: 180.249360 deg, approach rate: -0.290820 m/s, LOS rate: -1.655576 deg/s, cmd heading: 228.590681 deg, new cmd heading: 226.276323 deg. 2jHeadingCmd: 3.949267 target range: 84.599998 and range: 85.50 m. j%|@j)j)j1i1h9h9hAhAfAfIfIrfIbfMA @ɛR I SɚiIP1=IE%iAiI)M|@)I I*F2F:FBFP5JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.<<DAT read: Range 10 to 50 : 85.9 m (Round-trip 114.6 ms) speed 0.0 m/s ,DAT read: user:3398>  BDAT read: Tx time:23:38:18.3906  $Ping request sent. w,:A:a@Y:p@:1:9:A^ G٣VGy > Nusing accuracyPremultiplier from config59Dz?5Y` i?:.A@E;Z;z5 A addTargetRange:: Added new target pos. range: 85.900002 m, deltaT: 3.529668 s, deltaX: 0.400002 m, approachRate: 0.113326 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 84.60 m.BjcJjc㼝 ProNav: ac range: 84.599998 m, nav range: 19.295135 m, bearing: 179.692477 deg, approach rate: -0.309569 m/s, LOS rate: -1.590375 deg/s, cmd heading: 226.276326 deg, new cmd heading: 224.596746 deg. 2j n HeadingCmd: 3.919953 target range: 84.599998 and range: 85.90 m. j z@jjjihhhhBf%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:23:38:18.3898 ffrfyU@bf` ?ɛ9B [I DŶɚiI3=I <|i i ) z@)H>IC IrIIҀBI =&I.I6I<:IV F*F?2F:FBF^0JFzK-9LK)K)K-)"K- yIG Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >¹w,A*JP"JPVV@YVe@Vּ9V®g %G٣!y%֫ -> =Nusing accuracyPremultiplier from config1E595?E5Y5f i5IMEMA5AE5]Z;5Z;5-5U5B ]A]EEZjyDNOT Ignoring new targets: 84.60 m.BjX׼JjX׼ ProNav: ac range: 84.599998 m, nav range: 19.175732 m, bearing: 179.109727 deg, approach rate: -0.306704 m/s, LOS rate: -1.506163 deg/s, cmd heading: 224.596742 deg, new cmd heading: 222.838188 deg. 2j5HeadingCmd: 3.889260 target range: 84.599998 and range: 85.90 m. jx@jjjihhhhfffrfbfj?ɛ  I >ɚiI6=Iu ii)x@)*F-?2F):F)BF-_0JF1EWill construct direction to contact in vehicle frame from tetrahedron phase data.5c~GmsAA YsAyJBGqGQ B O > -$?I >w,>A2Yj@Y2y@2y92l G٣yÊ > Nusing accuracyPremultiplier from config59&?5YRk i{?: ACE";!;5 A B*** querying acoustic contact ***jjZj%DNOT Ignoring new targets: 84.60 m.Bj%ͼJj%ͼ= ProNav: ac range: 84.599998 m, nav range: 19.044687 m, bearing: 178.503264 deg, approach rate: -0.308645 m/s, LOS rate: -1.438185 deg/s, cmd heading: 222.838187 deg, new cmd heading: 221.006937 deg. 2j=vEHeadingCmd: 3.857299 target range: 84.599998 and range: 85.90 m. jEv@jAjAjAiAhAhIhIhMBfQfQfQrfQbf]\?ɛ&W 隍ɣI ;̷ɚiI8˳=IIii)v@)J)J-pJ-1J)J)J-^9J-3J)*F5?2F1:F9BF=`0JF9"GE>GE>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.Gm2>Gu?Gu)?GI BQ ZH RH H >I  I II BI =&I .I 6I 9<:I q FBIqJIqRIqZIu =bIu =jIuɫ5O >w,AzKJK9KK*"K:p@Y:@:Ww9:0XX ZG٣ZVGy^Ҩ ^> bNusing accuracyPremultiplier from config`f59bŒ?f5Ybo ibhj jAbEEb:b:b5l nAlZjDNOT Ignoring new targets: 84.60 m.Bj SͼJj Sͼ ProNav: ac range: 84.599998 m, nav range: 18.926800 m, bearing: 177.978124 deg, approach rate: -0.320390 m/s, LOS rate: -1.436076 deg/s, cmd heading: 221.006931 deg, new cmd heading: 219.422123 deg. 2jdv%HeadingCmd: 3.829638 target range: 84.599998 and range: 85.90 m. j%u@j!j)j)i)h)h)h1h1f1f1f9rf9bf=p?ɛe8Be+M amIi mwEɚiiiImI=Iuiqiq)}u@)yEa>E> )I1*F ?2F :FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507192G:>GiBqO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758367w,}6AZ@YZ@Zz9Z3 %G٣!y% %> -Nusing accuracyPremultiplier from config)559-?55Y-t i-9=[=A-GE- ;- ;-w5I UA]KEZjDNOT Ignoring new targets: 84.60 m.BjչJjչm ProNav: ac range: 84.599998 m, nav range: 18.790440 m, bearing: 177.389328 deg, approach rate: -0.298844 m/s, LOS rate: -1.299734 deg/s, cmd heading: 219.422122 deg, new cmd heading: 217.643519 deg. 2j^HeadingCmd: 3.798596 target range: 84.599998 and range: 85.90 m. j2s@jjjihhhhfffrfbf`Ӯ?ɛrt߽ !%I! %߸ɚ!i!IE=IM11iQiQ)U2s@)Y 1I5h*F?2F:FBF0JFG  G rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011811G! G B O5 >w,XPA6Q}@Y6Z@6.x96f G٣yt  > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262354 %59 x?-5Y y i -?5:5'=A IE ڪ; S; [5A E%AAZjamDNOT Ignoring new targets: 84.60 m.BjmܼJjuܼ ProNav: ac range: 84.599998 m, nav range: 18.635635 m, bearing: 176.781118 deg, approach rate: -0.390142 m/s, LOS rate: -1.545534 deg/s, cmd heading: 217.643513 deg, new cmd heading: 215.804392 deg. 2jHeadingCmd: 3.766497 target range: 84.599998 and range: 85.90 m. jJq@jjjihhhhBfffrfbf`D@HYIY I]II]BIY&IY.IY6I]3<:I]l Fɛ' $I T\ɚiIj=Ih ii)Jq@)*F?2F:FBF1JFzK]k3IKYKYK]+"K] ,$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514686G G B! O= >w,AjAJcKk3 Kk.KcKc"KcJBvJBqJB0J@JB{T:JBq9JBـ3J@JBGu;aRJBIu;aVJB:aVJB:aVyUBUI ep=ep=ae@AIm+Imn3٢ K=9Q > G٣VGy >  Nusing accuracyPremultiplier from config59k?5Yu~ iAKE';;5%4B %\A%NEZjIMDNOT Ignoring new targets: 84.60 m.BjUμJjUμe ProNav: ac range: 84.599998 m, nav range: 18.493382 m, bearing: 176.205575 deg, approach rate: -0.354780 m/s, LOS rate: -1.446414 deg/s, cmd heading: 215.804389 deg, new cmd heading: 214.065043 deg. 2je*xmHeadingCmd: 3.736140 target range: 84.599998 and range: 85.90 m. jmo@jijijqiqhqhqhqhyfyfyfyrfybf?x@ɛ 隽ԯI 칽ɚiI=I#ii)o@)*F?2F:FBF4JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766979GG B O5 >  I Yw,A2Çy@Y2dӃ@2S92!! %G٣!y- -> ]Nusing accuracyPremultiplier from configYe59]]?e5Y]& i]e?e:e@mA]ME]a;]{;]5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.60 m.BjbɼJjbɼ ProNav: ac range: 84.599998 m, nav range: 18.336826 m, bearing: 175.615259 deg, approach rate: -0.370386 m/s, LOS rate: -1.408499 deg/s, cmd heading: 214.065041 deg, new cmd heading: 212.279582 deg. 2jq%HeadingCmd: 3.704978 target range: 84.599998 and range: 85.90 m. j%[m@j!j!j!i)h)h)hihmBfffrfbf@@ɛ 9B '/ ҶI ɚiI=I9~$ii)[m@)!*F?2F:FBF4JF"G >G >5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270325jH] <bH] <Hq Iq  Iq Iq Iu  =&Iq .Iq 6Iu o<:Iu FG 2>G B OE >"w,AzK.>`JK.9K,K.,"K.y5zB5IIE'IE@3٢UP- UX=9]Q ]>aa eG٣aye e> uNusing accuracyPremultiplier from configiu59mP?}5Ymb imyy}AmOEm ;m ;m5 A *$?IZjDNOT Ignoring new targets: 84.60 m.BjԼJjԼ ProNav: ac range: 84.599998 m, nav range: 18.197159 m, bearing: 175.073532 deg, approach rate: -0.380985 m/s, LOS rate: -1.489041 deg/s, cmd heading: 212.279588 deg, new cmd heading: 210.642404 deg. 2jzHeadingCmd: 3.676404 target range: 84.599998 and range: 85.90 m. j2Jk@jjjihhhhfffrfbfJ @ɛt % -X#Rx 1: Read range message, but no direction.ؑyؕ3BؑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_0JFJJ@AJJpJJJJ^9JJJJJ|:J~:G5:>GBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Tx time:23:38:21.9906 M $Ping request sent.M  G٣VGy > Nusing accuracyPremultiplier from config59"@?%5Y/ iQU]AQE<"<53B AQE% addTargetRange:: Added new target pos. range: 86.099998 m, deltaT: 3.526515 s, deltaX: 0.199997 m, approachRate: 0.056712 m/s, rangeRepo size: 4 Zj!MDNOT Ignoring new targets: 84.60 m.BjM JjM ] ProNav: ac range: 84.599998 m, nav range: 18.019024 m, bearing: 174.443165 deg, approach rate: -0.370001 m/s, LOS rate: -1.322241 deg/s, cmd heading: 210.642406 deg, new cmd heading: 208.733354 deg. 2jeb IHeadingCmd: 3.643084 target range: 84.599998 and range: 86.10 m. jK(i@jjjihhhhfffrf`fU@bf e?ɛ)-- 15žI1 5廽ɚ1i1I5繷=I=i(iaia)eK(i@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252990*F?2F:FBF^0JFG! G%qAGY G1 BA Oe > qq uG٣qy} }> Nusing accuracyPremultiplier from config5922?5YR i ?:nASE;I;54B }ASEZjDNOT Ignoring new targets: 84.60 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503533 ProNav: ac range: 84.599998 m, nav range: 17.870478 m, bearing: 173.890420 deg, approach rate: -0.449384 m/s, LOS rate: -1.686046 deg/s, cmd heading: 208.733354 deg, new cmd heading: 207.061836 deg. 2jHeadingCmd: 3.613911 target range: 84.599998 and range: 86.10 m. jPJg@jjjihhhhBfffrfbf?HI IIIBI&I.I6I-<:Ii Fɛ:B2m 9=<վIA EsyɚAiAIE5=IMf*iIiI)MPJg@)Q*F?2F:FBF_0JFzKBoHK@9KK-"K BKqA:K m)$?IiG!  Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ >՝ ;? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755686GA Ba O >bw,AJ0J2rJ2/J0J0J29J2(N3J0J0J0J2:J2:JFq@YJK@Jr9J$VYY eG٣aye m> uNusing accuracyPremultiplier from configq}59ub"?}5Yu iuAuUEue:u:u53B AVEZjDNOT Ignoring new targets: 84.60 m.BjKټJjKټ ProNav: ac range: 84.599998 m, nav range: 17.702629 m, bearing: 173.288214 deg, approach rate: -0.419630 m/s, LOS rate: -1.519793 deg/s, cmd heading: 207.061829 deg, new cmd heading: 205.238730 deg. 2j`HeadingCmd: 3.582092 target range: 84.599998 and range: 86.10 m. j@e@jjjihhhhfffrfbf?ɛ !%}۾I! % ɚ!i!I%常=I-,i)i1)5@e@)1*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007957G2>GBOm > I Fw,YA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259527yXBI %=%=Mb@Mb@Mb@ )Y!rh?A`"/$yl'?Y7 A hA)AI AyG AII٢-p ->=95Q 5>99 =G٣=VGyE E> MNusing accuracyPremultiplier from configAM59EW?U5YE iE](?]:]]AEWEE94;E2;E5a eAiB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.60 m.Bj6Jj6𼝊 ProNav: ac range: 84.599998 m, nav range: 17.526209 m, bearing: 172.571170 deg, approach rate: -0.409257 m/s, LOS rate: -1.680089 deg/s, cmd heading: 205.238729 deg, new cmd heading: 203.067041 deg. 2j HeadingCmd: 3.544188 target range: 84.599998 and range: 86.10 m. jb@jjjihhhhhBfffrfbfo?ɛ;BC RI ;载ɚiIP=I K/ii)b@)*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511457G:>ZH RH H! I!  I% II% BI! &I! .I! 6I% <:I% X FG B O >Npw,<3A:Gm@Y:f{@:&9:h`h??r?ɨ:Gm@:/;:$Cy^VB^IIjIjT3zKnLKnŷ9KlKn."Kn٢z+S za=9zQ z>|| ~G٣|y; >  Nusing accuracyPremultiplier from config 59  ?5Y  i A YE ; B; T5! %A%YE E($?IEhZjQ]DNOT Ignoring new targets: 84.60 m.BjejJjej缝u ProNav: ac range: 84.599998 m, nav range: 17.367207 m, bearing: 171.987562 deg, approach rate: -0.436976 m/s, LOS rate: -1.618547 deg/s, cmd heading: 203.067043 deg, new cmd heading: 201.300781 deg. 2juي}HeadingCmd: 3.513361 target range: 84.599998 and range: 86.10 m. j}`@jyjyjyiyhhhhfffrfbf@3A?ɛ] 隽PI FɚiIҹ=ID1ii)`@)*F92F9:F9BFE5JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765207JJJyJoJ0JJ]:JK9Jـ3JJ;J;J:J:GU2>G1B9O>)q u C NG |uA% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016145u A jY |uAy B" w, 9A2Ek@Y2dy@27:&92!dd fG٣dyfj j> nNusing accuracyPremultiplier from configh]59j?e5YjI ijiuuAj[EjGM ?GM ?G B! O= >zw,:RA2Fi@Y2ew@2(92MB>IMb@Mb@Mb@ )Y|?5^?Zd;O rhy2?jC A )AI AyzAI-+I-n3٢= < =C=9EQ E>AA EG٣VGy, > Nusing accuracyPremultiplier from config59+ݤ?5Yd i3?:AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519601]EU;;52B 'A\EZjY]DNOT Ignoring new targets: 84.60 m.BjJjH>I IlIÌBI&I.I6I֯<:I) FBImªCJImªCRIiZIm =bIm =jImŠ4 ProNav: ac range: 84.599998 m, nav range: 16.988569 m, bearing: 170.590207 deg, approach rate: -0.474374 m/s, LOS rate: -1.828533 deg/s, cmd heading: 199.383932 deg, new cmd heading: 197.064056 deg. 2jݜHeadingCmd: 3.439417 target range: 84.599998 and range: 86.10 m. j g\@j jjihhhh=CBfAfAfArfAbfMW@ɛ=BZ I <ɚiI/=IM6ii)g\@)E*F?2F:FBF\0JF )I1zKEBHKE}9KAKE/"KE $;2"  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772109G 2>G B O= >w,lA*J6R="J6R=ZGHg@YZLgu@Z1,9Zxx ~G٣|y~ >  Nusing accuracyPremultiplier from config59ˤ?5Y iA_E"::51B IA^EZjDNOT Ignoring new targets: 84.60 m.BjDJjD ProNav: ac range: 84.599998 m, nav range: 16.811264 m, bearing: 169.932326 deg, approach rate: -0.459376 m/s, LOS rate: -1.722426 deg/s, cmd heading: 197.064058 deg, new cmd heading: 195.070448 deg. 2j“HeadingCmd: 3.404622 target range: 84.599998 and range: 86.10 m. jRY@j j j i h h hhfffrfbfo @ɛE>BE IMII MɚIiIIM;=IUU7iYiY)]RY@)Y*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:24.5091 TRx dataTimestamp_ set to:1736379505.861374checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025243G:>GB OE > E &$?IM hp!w,:]A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275428B=e@YB\s@B9.9BAYa eG٣aye e> uNusing accuracyPremultiplier from configiu59mȷ?}5Ymo im} 7?}:AmbEm&;mi%;mm 52B 'AaEZjeDNOT Ignoring new targets: 84.60 m.Bjm5 Jju5 JxJrJJJZ:J9JJa@a@a@a@- ProNav: ac range: 84.599998 m, nav range: 16.612101 m, bearing: 169.171646 deg, approach rate: -0.500198 m/s, LOS rate: -1.933292 deg/s, cmd heading: 195.070449 deg, new cmd heading: 192.762367 deg. 2j٥HeadingCmd: 3.364338 target range: 84.599998 and range: 86.10 m. jPQW@jjjihhhhHBfffrfbf @ɛm?Bm+ imIq uOɚqiqIu,=I}f:iyiy)}PQW@)*F?2F!:F!BF!JF!"G)G->Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 23:38:24.5091 LVL= 18416, 23361, 10450, 24787, AGC= 54, IDX= 431, 0.29, 1.592, 2.210,-2.298, 2.615, PHS=-0.935,-0.357, 1.367, RAW= 223.9, -0.7, CAL= 223.7, -5.8, ROT= 286.3, 5.8 mYgot valid direction response: 23:38:24.5091 LVL= 18416, 23361, 10450, 24787, AGC= 54, IDX= 431, 0.29, 1.592, 2.210,-2.298, 2.615, PHS=-0.935,-0.357, 1.367, RAW= 223.9, -0.7, CAL= 223.7, -5.8, ROT= 286.3, 5.8 jH<bH4=H>I I_IIÀBI =&I.I>D6I-<:Ig F- PDAT read: Bearing 286.3, 5.8 (Local) 5 ~Local bearing/azimuth received: Bearing 286.3, 5.8 (Local) G G qAG pAM DAT read: Range 10 to 50 : 85.7 m (Round-trip 114.3 ms) speed 0.2 m/s M ,DAT read: user:3400> U BDAT read: Tx time:23:38:25.5907 U $Ping request sent.]  R#Rx 1: Read range and direction messages. `direction in FSK: [0.009754,-0.770355,-0.637541] :publishing transmit ping timeQ  Fpublishing direction and range info9]?㭾8]@fyfBGA[ ()`I6i)\oȶ?Dz@+H y@)4QϽIl@i4Q=MAοl? ?w&љ-)!B?IDnQA6OB>IIFIF3 pIp٢v4< vQ=9v Q v>xx zG٣zVGy > %Nusing accuracyPremultiplier from config!-59%?-5Y%ɴ i%)5!5A%dE%;%v;%' 5m1B uAudEzKu{]LKqKqKu0"KukEE?kEp@ kA kEKA:kEfBBkE@BZkET@"EF8?|=PZ6QKE]?㭾8]@fJkEpǿRkE10?*E- 1jrD+6LI@ [KEoJφ޿1?3GȺZ"kEfJB*kE#kEŚy.?kE  2kEAkE $?kE  kEBkEuBkEt5 @- addTargetRange:: Added new target pos. range: 85.699997 m, deltaT: 3.779475 s, deltaX: -0.400002 m, approachRate: -0.105835 m/s, rangeRepo size: 4 ] Added new target pos. range: 85.699997 m, bearing: 128.944624 deg, lat: 36.905128 deg, lon: -122.119466 deg, deltaT: 14.363951 s, deltaX: 1.099998 m, approachRate: 0.076580 m/s, posRepo size: 4 ZjYeDNOT Ignoring new targets: 85.70 m.BjeJja ProNav: ac range: 85.699997 m, nav range: 61.491405 m, bearing: 124.626200 deg, approach rate: 0.000000 m/s, LOS rate: -1.933292 deg/s, cmd heading: 192.762364 deg, new cmd heading: 190.335668 deg. 2jHeadingCmd: 3.321984 target range: 85.699997 and range: 85.70 m. jcT@jjjihhhhfffrflU@bf?ɛ@Bx !%I! %½ɚ!i!I-:=I-R[G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.-w,fAZ$,a@YZ)Ko@Z69Z`YY ]G٣aye e> mNusing accuracyPremultiplier from configiu59m䏤?u5Ym# im#AmfEm;m8;m 5 wAgEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 85.70 m.BjEJjE  ProNav: ac range: 85.699997 m, nav range: 61.488865 m, bearing: 124.351143 deg, approach rate: -0.006392 m/s, LOS rate: -0.692080 deg/s, cmd heading: 190.335666 deg, new cmd heading: 189.510521 deg. 2j |HeadingCmd: 3.307583 target range: 85.699997 and range: 85.70 m. joS@jjjihhh!h!f!f)f)rf)bf-?ɛ}AB O߾I <ýɚ!i!I-2=IeGp>iaii)oS@) %$?I*F?2F:FBF}0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J wJ tJ J J W:J 9J J G 2>G B O >;4w,oA2R_@Y2W/m@2n<92kii mG٣iymZ u> Nusing accuracyPremultiplier from configy59}t{?5Y} i}39?:"A}iE};}#;}5 :AZjDNOT Ignoring new targets: 85.70 m.BjaDJjaDWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.934756 ProNav: ac range: 85.699997 m, nav range: 61.489399 m, bearing: 124.077503 deg, approach rate: 0.001340 m/s, LOS rate: -0.686754 deg/s, cmd heading: 189.510524 deg, new cmd heading: 188.689673 deg. 2j뼝HeadingCmd: 3.293256 target range: 85.699997 and range: 85.70 m. jR@jjjihhh h PBf f f rfbfQ>?ɛ=BBE[ AEؾIA E ýɚAiAIM=IM+-?iIH]>IY IYIYIY&IY.IY6I]<:I]D Fii)uR@)q*F2F:FBFP5JFG GpA $$?IzKBHKs9KK1"K  G)G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.186669:w,}A2\@Y2k@25D92  G٣y > %Nusing accuracyPremultiplier from config%59Og?-5Y} ik)-$-AkE::q550B =A=jEZjDNOT Ignoring new targets: 85.70 m.Bj 9Jj 9% ProNav: ac range: 85.699997 m, nav range: 61.481609 m, bearing: 123.813871 deg, approach rate: -0.019117 m/s, LOS rate: -0.647083 deg/s, cmd heading: 188.689672 deg, new cmd heading: 187.898727 deg. 2j% ޼-HeadingCmd: 3.279451 target range: 85.699997 and range: 85.70 m. j-Q@j)j)j)i)h1hQhQhYfYfYfarfabfm@?ɛDB ǾI ĽɚiI;=I%,=@i!i!)%Q@))*F2F:FBF25JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.440291G  I Gi B OM >aAw,TA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690881>Z@Y> i@>c/?9>DEH@P ?c? ޿@ɤ??UB?`O?ɨ>Z@>/Ή;>%CybBbIMb@Mb@Mb@ )YZd;??y&1|?y9?`;~A hA)QAI Ay(AI)IW3٢O= :=97;Q >    G٣ VGyޏ > %Nusing accuracyPremultiplier from config%59TP?-5Y iF-9?-:-&-AmE;;Z59 =#A9ZjiuDNOT Ignoring new targets: 85.70 m.BjuGJj}G ProNav: ac range: 85.699997 m, nav range: 61.464645 m, bearing: 123.519023 deg, approach rate: -0.040172 m/s, LOS rate: -0.698408 deg/s, cmd heading: 187.898723 deg, new cmd heading: 187.014011 deg. 2j=-HeadingCmd: 3.264010 target range: 85.699997 and range: 85.70 m. j-P@j)j)j1i1h1h1h1h=wBf9f9f9rfAbfE@?J]yJYJ]1JYJ]]:JYJ]3JYɛEBD I J?ŽɚiI(¾=I):Aii)P@))*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942554ZHQRHQH]~>IY I]xII]׀BI] =&IY.IY6I] <:I]L FG B>Ga Bq O >eGw,!A6X@Y6g@6F;96Бtt vG٣tyzB z> ~Nusing accuracyPremultiplier from config|59~9RK?JK?UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195114*Fm?2Fi:FqBFu_0JFq"G}>G}>G2>GGqAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446431(Nw,-`;AV?V@YVDe@V 89VmIf=IjIj3٢rWe= vJ=9vp:Q v>xx zG٣xyz ~>  Nusing accuracyPremultiplier from config 59 &?5Y  i *A rE  ;  ; 5! %4A%oE=B*** querying acoustic contact ***jAjAZjIMDNOT Ignoring new targets: 85.70 m.BjU0AJjU0Ae ProNav: ac range: 85.699997 m, nav range: 61.412090 m, bearing: 122.998713 deg, approach rate: -0.077182 m/s, LOS rate: -0.675601 deg/s, cmd heading: 186.271881 deg, new cmd heading: 185.452511 deg. 2je缝mHeadingCmd: 3.236757 target range: 85.699997 and range: 85.70 m. jm'O@jijijiiqhqhqhqhyfyffrfbf@ɛHB5> 9=I9 E :ƽɚAiAIE謹=IMBiIiI)M'O@)qEy "$?Ih*F5?2F1:F9BF9JFA]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.698818Gm:>GA BQ Jm xJi Jm 0Ji Jm Z:Ji Jm ـ3Ji O >Uw,B>UA6AT@Y6Fc@6.696yy }G٣}VGy > Nusing accuracyPremultiplier from config59?5Y iY5?:a-AtEw;Z;5.B ArEWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:28.1076 TRx dataTimestamp_ set to:1736379509.388884checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951754ZjH}>IC IIIBI =&I.I6I6<:Ik FDNOT Ignoring new targets: 85.70 m.Bj 9Jj 9 ProNav: ac range: 85.699997 m, nav range: 61.370308 m, bearing: 122.724009 deg, approach rate: -0.098356 m/s, LOS rate: -0.647093 deg/s, cmd heading: 185.452504 deg, new cmd heading: 184.627892 deg. 2j ޼HeadingCmd: 3.222365 target range: 85.699997 and range: 85.70 m. j9;N@jjjihhhhBfffrfbfg@ɛJB 隕3I ƽɚiI83=I|Cii)9;N@)*F?2F:FBFJF  $?IzKmOKmK9KiKm3"Km852//37332-,*((&# '5:>BB?>;5332/.-.)('%#"BKupA:KupAm Will construct direction to contact in vehicle frame from tetrahedron phase data.m %=m %=u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203525G B>G B O >8[w,oAFR@YFa@FX49Fߤ  G٣ y=0 ]> Nusing accuracyPremultiplier from configy59} ?5Y} i}S/A}wE}q;};}u5/B 9AuEZjUDNOT Ignoring new targets: 85.70 m.ec~GyBjG9JjG9  YyB ProNav: ac range: 85.699997 m, nav range: 61.319447 m, bearing: 122.441406 deg, approach rate: -0.116514 m/s, LOS rate: -0.647927 deg/s, cmd heading: 184.627895 deg, new cmd heading: 183.779446 deg. 2jU޼ HeadingCmd: 3.207556 target range: 85.699997 and range: 85.70 m. j HM@j j jihhhhfffrfbf% @ɛLB? 隽IWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 23:38:28.1076 LVL= 24432, 31425, 14098, 31411, AGC= 58, IDX= 431,-0.10,-1.119,-1.192, 0.770,-0.469, PHS=-0.562,-0.676, 1.236, RAW= 207.0, 0.0, CAL= 206.5, -6.9, ROT= 303.5, 6.9 -Ygot valid direction response: 23:38:28.1076 LVL= 24432, 31425, 14098, 31411, AGC= 58, IDX= 431,-0.10,-1.119,-1.192, 0.770,-0.469, PHS=-0.562,-0.676, 1.236, RAW= 207.0, 0.0, CAL= 206.5, -6.9, ROT= 303.5, 6.9 5PDAT read: Bearing 303.5, 6.9 (Local) 5~Local bearing/azimuth received: Bearing 303.5, 6.9 (Local) EDAT read: Range 10 to 50 : 84.5 m (Round-trip 112.7 ms) speed 0.4 m/s M,DAT read: user:3401> MBDAT read: Tx time:23:38:29.1907 U$Ping request sent.U)HM@)V-?5?8g@ f@)ϢI@iϢ=ϙ>6?"k?{„C8?)A?Iǹi/οD>-:publishing transmit ping timeI-Fpublishing direction and range info9d~;I?6,_ٿy )Ii )Iiϙ>6?"k?{„C8?)Ii*F?2F:FBFJFGpA GqA $?I G :> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:38:29.1899 G B O >Ubw,ˉA6Q@Y6#_@6396B G٣y   > Nusing accuracyPremultiplier from config59 ࣜ?5Y i1?:2%AyE7;6;^5M.B MAUxEk۷O?k$h k kcyA:kBBkާBZkSR?"1ؙ^a I˘USЎx@d~;I?6,_ٿJk/οRkD>*NY>B8PN(R@׾A' X`ҿk/?䘻 ۿ"kGB*kk&㛜?kQ#\ 2kAk&㛜?kGv kAkBk?= addTargetRange:: Added new target pos. range: 84.500000 m, deltaT: 3.532667 s, deltaX: -1.199997 m, approachRate: -0.339686 m/s, rangeRepo size: 4  Added new target pos. range: 84.500000 m, bearing: 108.468781 deg, lat: 36.905203 deg, lon: -122.119352 deg, deltaT: 3.532667 s, deltaX: -1.199997 m, approachRate: -0.339686 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 84.50 m.BjJj= ProNav: ac range: 84.500000 m, nav range: 66.515701 m, bearing: 111.391350 deg, approach rate: 0.000000 m/s, LOS rate: -0.647927 deg/s, cmd heading: 183.779449 deg, new cmd heading: 182.898245 deg. 2j9MHeadingCmd: 3.192177 target range: 84.500000 and range: 84.50 m. jULL@jqjqjqiqhyhyhyh}Bfffrf U@bf?ɛNBz bI HǽɚiIj9=IEii ) LL@) uWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<HI IIIBI =&I.I6I'<:I` FBIYJIYRIYZI] =bI] =jI]^ 5*F2F:FBF`0JFG>GA BI Om > Q IQ hw,A6" O@Y6'+]@6n7496" bs=9bwԹQ f?dd fG٣ VGy ? %Nusing accuracyPremultiplier from config!m59%ͣ?u5Y% i%rqu4uA%{E%(<%)<%5}-B }AzEzK NKKK4"K.]xzwrke_\[VUKCA>:79840./+%"Zj1=DNOT Ignoring new targets: 84.50 m.Bj=(Jj=( ProNav: ac range: 84.500000 m, nav range: 66.502396 m, bearing: 111.188241 deg, approach rate: -0.038636 m/s, LOS rate: -0.589896 deg/s, cmd heading: 182.898246 deg, new cmd heading: 182.288822 deg. 2jkʼHeadingCmd: 3.181540 target range: 84.500000 and range: 84.50 m. j[K@jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.fffrfbf@M?ɛ PB ] 8I ǽɚiI=I][FiYiesh>)e[K@)aJJBAJJzJ1JJJ9J3JJ ;aJ ;aJP:aJQ:a*F?2F:FBFO1JFGU ^> Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BA Oe >jnw,/nA:&M@Y:E[@:jJ79:\\ bG٣`yb b> fNusing accuracyPremultiplier from configdj59f/?j5Yf ifOln6nAf}EfX;f;f5p rAtB*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 84.50 m.Bj%6Jj%65 ProNav: ac range: 84.500000 m, nav range: 66.480125 m, bearing: 110.955272 deg, approach rate: -0.060824 m/s, LOS rate: -0.636490 deg/s, cmd heading: 182.288829 deg, new cmd heading: 181.589724 deg. 2j5hڼ=HeadingCmd: 3.169338 target range: 84.500000 and range: 84.50 m. j=qJ@j9j9j9i9h9hAhAhAfAfIfIrfIbfM@?ɛuQB}Q y}9Iy }>$ȽɚyiI=IDIGiig[>)qJ@)*F?2F:F!BF%^0JF! -$?I1G5_N>GAGEmAG!B)OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.'uw,DAyn BrI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495372HQIQ IUIIUGBIQ&IQ.IQ6IUT<:IU FMb@Mb@Mb@ )Ym?{Gz{Gzt?y.?#ף;~A A)QAI AyAII@٢= 7=9 Q > G٣y% -> ENusing accuracyPremultiplier from configAM59E7?U5YE iE.].?e:e7eAEEE;E;E 5y }A}}EZjDNOT Ignoring new targets: 84.50 m.BjJj ProNav: ac range: 84.500000 m, nav range: 66.451347 m, bearing: 110.691419 deg, approach rate: -0.059015 m/s, LOS rate: -0.541319 deg/s, cmd heading: 181.589718 deg, new cmd heading: 180.797869 deg. 2jHeadingCmd: 3.155518 target range: 84.500000 and range: 84.50 m. j I@j j j i h hhhBfffrfbf?ɛTBڽ 隍I FnȽɚiIv=I+Hiii>)I@) %$?I!*F=?2F9:FABFE4JFAGEh>GBO>zKmNKm 9KiKm5"Km   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747780*J "J p=J zJ yJ 0J J `:J 9J ـ3J J o;J q;J :J :p{w,$A^ mI@Y^W@^a59^, G٣VGy-" > Nusing accuracyPremultiplier from config-59?55YE i9=;=AE;Q;#"5],B ]AeEZjDNOT Ignoring new targets: 84.50 m.Bj4Jj4 ProNav: ac range: 84.500000 m, nav range: 66.414711 m, bearing: 110.479122 deg, approach rate: -0.108578 m/s, LOS rate: -0.629519 deg/s, cmd heading: 180.797867 deg, new cmd heading: 180.160654 deg. 2jؼHeadingCmd: 3.144397 target range: 84.500000 and range: 84.50 m. j=I@jjjihhhhfffrfbf?ɛVBڽ 隥hI  ȽɚiIQ=IHii;>)=I@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999773*F?2F:FBF_0JFG8i>  $?I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253000w,[@ AVG@YVúU@V709V$?{??ɨVG@VQ;V%CybBbI]Mb@Mb@Mb@YYY Y)YY]Dl?~jty]O-?]D]Y ]QA)];AI] AYy]3AImIm?13٢[< :=9;<;Q > G٣yu > Nusing accuracyPremultiplier from config 59q? 5Y iV-?:=AE e;c;$5! %uA)ZjIUDNOT Ignoring new targets: 84.50 m.Bj]'Jj]'m ProNav: ac range: 84.500000 m, nav range: 66.363007 m, bearing: 110.226788 deg, approach rate: -0.119992 m/s, LOS rate: -0.586053 deg/s, cmd heading: 180.160651 deg, new cmd heading: 179.403105 deg. 2jmɼuHeadingCmd: 3.131175 target range: 84.500000 and range: 84.50 m. ju+eH@jqjqjqiqhqhyhyh}Bfyffrfbf@ɛXBؽ I -ȽɚiI ?=I*eH@ii3>)+eH@)*F?2F:FBFJFG_`>G ?G ?GYBaO}Y>ZHRH?A=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503884H|>I I4IIpBI&I.I6Il<:I F I ʈw,$APExceeded connect timeout, disconnecting.y!BII-I-F2٢eY< eU=9mQ m>ii mG٣qy} }> Nusing accuracyPremultiplier from config59[?5Y iAEG;H;%5+B MAEZjDNOT Ignoring new targets: 84.50 m.Bj%Jj% ProNav: ac range: 84.500000 m, nav range: 66.318848 m, bearing: 110.005814 deg, approach rate: -0.115295 m/s, LOS rate: -0.577325 deg/s, cmd heading: 179.403101 deg, new cmd heading: 178.739770 deg. 2jƼHeadingCmd: 3.119597 target range: 84.500000 and range: 84.50 m. j|G@jjjihhhhfffrfbf@zK-ܞLK-}9K)K-6"K- !E}tne[TJA5! Will construct direction to contact in vehicle frame from tetrahedron phase data.յ>յ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756139ɛmZBY<ٽ I ȽɚiI=I|G@i)i-@>)-|G@)1EA*F?2F:FBF`0JFJK3 KS}.KK"KJ{JzJ1JJd:J9J3JJ";J$;JP:JQ:G?>GBOe>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:38:31.7057 m TRx dataTimestamp_ set to:1736379512.916725m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008400Tw,ɰ>A2 D@Y2,R@2*92x'BBIIJIJb1٢Rk< RX=9Vh;Q V>TT ZG٣ZVGyZR Z> bNusing accuracyPremultiplier from config\b59^)F?b5Y^ i^dfAfA^E^L:^n:^b'5j*B jAjE=B*** querying acoustic contact ***j9j9ZjAMDNOT Ignoring new targets: 84.50 m.BjMJjM} ProNav: ac range: 84.500000 m, nav range: 66.262321 m, bearing: 109.789978 deg, approach rate: -0.146116 m/s, LOS rate: -0.558396 deg/s, cmd heading: 178.739767 deg, new cmd heading: 178.091733 deg. 2jHeadingCmd: 3.108287 target range: 84.500000 and range: 84.50 m. j-F@jjjihhhhfffrfbf p @ɛ ]B h.ؽ  սI  "ɽɚiI =I}-F@iyi>)-F@) $?I*F5?2F9:F9BF=0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259266G;>G B O >ܕw,XAWill construct direction to contact in vehicle frame from tetrahedron phase data.%Ai%A]DAT read: 23:38:31.7057 LVL= 32752, 29937, 17906, 31475, AGC= 63, IDX= 428,-0.37, 2.714, 2.023,-2.201,-3.116, PHS=-0.365,-1.097, 0.912, RAW= 188.9, 6.3, CAL= 189.0, -2.5, ROT= 321.0, 2.5 eYgot valid direction response: 23:38:31.7057 LVL= 32752, 29937, 17906, 31475, AGC= 63, IDX= 428,-0.37, 2.714, 2.023,-2.201,-3.116, PHS=-0.365,-1.097, 0.912, RAW= 188.9, 6.3, CAL= 189.0, -2.5, ROT= 321.0, 2.5 mPDAT read: Bearing 321.0, 2.5 (Local) m~Local bearing/azimuth received: Bearing 321.0, 2.5 (Local) DAT read: Range 10 to 50 : 83.1 m (Round-trip 110.9 ms) speed 0.3 m/s ,DAT read: user:3402> BDAT read: Tx time:23:38:32.7907 $Ping request sent.I| I~SII~BI~ =&I|.I|6I~O<:I~z FI%G@i%¸2=!!%Y&?bܩ?׵?)%p?I%9i%Έ%|=!! :publishing transmit ping timeء Fpublishing direction and range info!9%Gï`ȿt 51ᅰTy!!!! !)!I!i!!!!! !)!I!i!!!%Y&?bܩ?׵?)!I!i!!!!r@@YvO@(*9C=yH ? ?v~`c?C?(z??ɨr@@);騑ym/BuI }=}=Mb@Mb@Mb@ )Y rh?S㥛{Gzy,?/ݼ#hA A)IyAI I<2٢.< =9w9Q > G٣y] > Nusing accuracyPremultiplier from config59 &?5YF i,?:EAE;;)5 AE nManaging dock network, ignoring radio surface power offk%i㯥?k% k! k%cZA:k%3BBk%BZk%[?"% -$/f@T2D#%Gï`ȿt 51ᅰTJk%Rk%|=*%@NQnT@j)%]_?dZx?1Lÿ"k%tB*k%p@k%aE?k%Zx 2k%NBk%aE?k%Q#\ k!k%Bk%`? addTargetRange:: Added new target pos. range: 83.099998 m, deltaT: 3.524070 s, deltaX: -1.400002 m, approachRate: -0.397268 m/s, rangeRepo size: 4  Added new target pos. range: 83.099998 m, bearing: 84.573448 deg, lat: 36.905471 deg, lon: -122.119232 deg, deltaT: 3.524070 s, deltaX: -1.400002 m, approachRate: -0.397268 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 83.10 m.BjJj- ProNav: ac range: 83.099998 m, nav range: 73.486664 m, bearing: 83.935269 deg, approach rate: 0.000000 m/s, LOS rate: -0.558396 deg/s, cmd heading: 178.091732 deg, new cmd heading: 177.116865 deg. 2j)UHeadingCmd: 3.091272 target range: 83.099998 and range: 83.10 m. jUhE@jQjQjQiYhYhYhYheBfafafirf`fT@bfP?ɛ`BԽ ĽI ^ɽɚiII=IhE@iiP=)hE@)zKXNKK9KK7"KWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:38:32.7899 *F 2F :F BF _0JF "G =G %>G TK%>G B O >J J ~J 0J J p:J f9J ـ3J J ;J ;J :J :w,hrAy޽)B޽III㔳٢ g& =9Q ? G٣!y% %? -Nusing accuracyPremultiplier from config)U59-?U5Y- i-YY]A-E-;-;-+5a eAaZj uDNOT Ignoring new targets: 83.10 m.BjuJj} ProNav: ac range: 83.099998 m, nav range: 73.517792 m, bearing: 83.785336 deg, approach rate: 0.109644 m/s, LOS rate: -0.527891 deg/s, cmd heading: 177.116859 deg, new cmd heading: 176.667262 deg. 2j$HeadingCmd: 3.083425 target range: 83.099998 and range: 83.10 m. jVE@jjjihhhhfffrfbf`O?-Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛEbBe:Zܽ imdIi mɽɚiiiImF=IuVE@iqiu>)}VE@)y*F?2F:FBF2JFG)>GBO> u$?Iq Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A O?@Y nM@ E-9  =y H? ?? s ?@??Z?ɨ O?@ ; &Cyޭ.BޭI]Mb@Mb@Mb@YYY Y)YY]oʡ?/$y&1y]-?]]`e]~A ];A)]AI]AYy]fAI}I}(1٢< 2=9Q > G٣VGy[ > Nusing accuracyPremultiplier from config59?5Y i--?:FAE;8;-5)B AEZjDNOT Ignoring new targets: 83.10 m.BjJj  ProNav: ac range: 83.099998 m, nav range: 73.563622 m, bearing: 83.546827 deg, approach rate: 0.104721 m/s, LOS rate: -0.544652 deg/s, cmd heading: 176.667255 deg, new cmd heading: 175.952211 deg. 2j 庼HeadingCmd: 3.070946 target range: 83.099998 and range: 83.10 m. j_D@jjjihhhhBf!f!f!rf!bf-,?ɛUeBUؽ QU(۽IY ]ɽɚYiYI]e=Ie_D@iaie=)m_D@)i*F?2F:FBFA5JFjH<bH<Hy>I IfIIBI =&I.I6II<:Is FWill construct direction to contact in vehicle frame from tetrahedron phase data.G >G B O% > = $?I9 8w,A2=@Y2K@2592#=y2HI?@?$0 `z? ?s?g?ɨ2=@2;2$CyB0BBI)D DIJIJ̍٢RS< R=9VԻQ V?TT VG٣TyZ⚽ Z? bNusing accuracyPremultiplier from config\f59^Pꢜ?f5Y^ i^dfHfA^E^j;^;^q.5n(B nAnEZj)5DNOT Ignoring new targets: 83.10 m.Bj5@Jj5@ ProNav: ac range: 83.099998 m, nav range: 73.590019 m, bearing: 83.388578 deg, approach rate: 0.085347 m/s, LOS rate: -0.511452 deg/s, cmd heading: 175.952216 deg, new cmd heading: 175.477653 deg. 2j%HeadingCmd: 3.062663 target range: 83.099998 and range: 83.10 m. j%D@j!j!j)i)h)h)hYhYfYfafarfabfm1 ?Will construct direction to contact in vehicle frame from tetrahedron phase data.'TFailed to parse incomplete device message.ɛgBKڽ 隭ܽI ɽɚiI=ID@ii=)D@)EN>E>*Fa2Fa:FaBFe^0JFaGmqA GmnAGE">GB1)i mwCOz>NGtA) eYmtAymBE Will construct direction to contact in vehicle frame from tetrahedron phase data.E AiE A,Bw,A6Op<@Y6SJ@6A96{J=y6H YS? ? M۩?@0?E??ɨ6Op<@6T;4yN(BNII^I^)٢r" rF=9rlQ v>tt vG٣tyzY z> ~Nusing accuracyPremultiplier from config|59~Ң?5Y~ i~  H@ A~E~*:~n:~?05 A5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 83.10 m.BjMJjMe ProNav: ac range: 83.099998 m, nav range: 73.620857 m, bearing: 83.172590 deg, approach rate: 0.075774 m/s, LOS rate: -0.530496 deg/s, cmd heading: 175.477655 deg, new cmd heading: 174.829992 deg. 2je mHeadingCmd: 3.051359 target range: 83.099998 and range: 83.10 m. jmwIC@jijijiiihihqhqhyfyfyfyrfybf S ? $?IɛMjBM2ܽ 隕I  ʽɚiI#=IwIC@ii=)wIC@)*F}?2Fy: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.JJJ1JJ:J9J3Ja@a@a@a@G }=G pAG pAGa B O >'w,AHNw>INC INrIINBIL&IL.IL6IN+<:IN] FBIeCJIeCRIaZIe =bIe =jIeh5fB9@YfFH@f\K9fn=yfH`??_Yb? |r? ŭ? ?ɨfB9@fq;f&Cyr*BrIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998941-Mb@Mb@Mb@))) )))Y-ʡE?Mb`?y&1y-/?-;)- A -A))I-~A)y-AIMIM?13٢]*< ]5=9eQ e>ai mG٣mVGym) m> }Nusing accuracyPremultiplier from configq59u?5Yu iux/?:CH@AuEu;u{;u825 AEZj9=DNOT Ignoring new targets: 83.10 m.BjEJjM} ProNav: ac range: 83.099998 m, nav range: 73.654510 m, bearing: 82.932810 deg, approach rate: 0.071942 m/s, LOS rate: -0.512349 deg/s, cmd heading: 174.829989 deg, new cmd heading: 174.111018 deg. 2j}ϯHeadingCmd: 3.038810 target range: 83.099998 and range: 83.10 m. j{B@jjjihhhhӁBfffrfbf@ɛMnBM۽ QUIQ UIʽɚQiQIU=I]{B@iYi]~ǜ=)]{B@)a $?I*F=?2F9:FABFAJFAG/=GBO->Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250876zK- 'NK- 9K) K- 9"K-    Qw,AFh8@YFlF@FS9F/x=yFH) `|?? ?s{? w?`?ɨFh8@F@;F"CyR BRIiV>IV=IZ"IZq3٢b^ bh=9fQ f>dd jG٣hyjP j> eNusing accuracyPremultiplier from configam59ed?m5Ye iehimG@mAeEe:e:e35}'B }4A}EZjDNOT Ignoring new targets: 83.10 m.BjJj ProNav: ac range: 83.099998 m, nav range: 73.678391 m, bearing: 82.737248 deg, approach rate: 0.067855 m/s, LOS rate: -0.555509 deg/s, cmd heading: 174.111016 deg, new cmd heading: 173.524541 deg. 2jHeadingCmd: 3.028574 target range: 83.099998 and range: 83.10 m. j*A@jjjihhhhfffrfbf@ɛ-pB5 9=6I9 E%ʽɚAiAIE=I]*A@iYi];N=)]*A@)YEi*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504580"G5=G5= IGU%=G) BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758668;w,֎ A297@Y2=E@2`92(}=y2H`d?⧿X?@I?`x&.?D?@??ɨ297@2;2$CyBIMb@Mb@Mb@ )YV-? G٣y > Nusing accuracyPremultiplier from config59ۊ?5Yi iR1?:G@AEa;;55&B :AEJ}J}J}0JyJ}p:J}ľ9J}ـ3JyZjDNOT Ignoring new targets: 83.10 m.BjJj ProNav: ac range: 83.099998 m, nav range: 73.709106 m, bearing: 82.512091 deg, approach rate: 0.070157 m/s, LOS rate: -0.514053 deg/s, cmd heading: 173.524535 deg, new cmd heading: 172.849378 deg. 2jeHeadingCmd: 3.016791 target range: 83.099998 and range: 83.10 m. j A@j jjihhhhBfffrf!bf%`b%@ɛsB4 隕(I ,ʽɚiIN=IA@iiX%=)A@)*Fe?2Fa:FaBFe0JFaG=蘸=ZHyRH}@AHu>I IlIIBI =&I.I=D6IR<:Ix FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:35.3037 %TRx dataTimestamp_ set to:1736379516.444926%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008212G1BAO]v> $?I Tdw,|d'A6ͷ6@Y6D@6o96=y6H0ӯ?ٰ?@0+??J??ɨ6ͷ6@6Q;6"Cy^$B^IIf!Ifi3٢v< vZ=9zQ z>|| ~G٣VGy+ > Nusing accuracyPremultiplier from config%59t?%5Y$ i;)-F@-AElj;y;Q75 AZj)5DNOT Ignoring new targets: 83.10 m.BjU*JjU*m ProNav: ac range: 83.099998 m, nav range: 73.733566 m, bearing: 82.309527 deg, approach rate: 0.063010 m/s, LOS rate: -0.521640 deg/s, cmd heading: 172.849384 deg, new cmd heading: 172.241919 deg. uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2590812juHeadingCmd: 3.006189 target range: 83.099998 and range: 83.10 m. jee@@jjjihhhhfffrfbfA @zKdLK9KK:"K /FC4!$-*(#ɛ%wB%r !%%I) --˽ɚ)i)Imä=Iuee@@iqiu[=)uee@@)y*F?2F:FBF}2JFy% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510889G `=Gy B OM >mOw,#MAAy=B=I)A A iIqIIT3٢ <=9Q > G٣y > Nusing accuracyPremultiplier from config59p[?%5Y i"!)-AE[;;795A EOAMEeB*** querying acoustic contact ***jajaZj!]DNOT Ignoring new targets: 83.10 m.BjeJje ProNav: ac range: 83.099998 m, nav range: 73.762863 m, bearing: 82.076511 deg, approach rate: 0.067124 m/s, LOS rate: -0.533667 deg/s, cmd heading: 172.241921 deg, new cmd heading: 171.543187 deg. 2j HeadingCmd: 2.993994 target range: 83.099998 and range: 83.10 m. j?@jjjihhhhfffrfbf :@Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ=ՕC=DAT read: 23:38:35.3037 LVL= 32752, 27361, 19762, 32755, AGC= 63, IDX= 422,-0.20, 1.217, 0.300, 2.522, 1.443, PHS=-0.138,-1.096, 1.077, RAW= 183.9, 1.7, CAL= 184.0, -6.4, ROT= 326.0, 6.4 Ygot valid direction response: 23:38:35.3037 LVL= 32752, 27361, 19762, 32755, AGC= 63, IDX= 422,-0.20, 1.217, 0.300, 2.522, 1.443, PHS=-0.138,-1.096, 1.077, RAW= 183.9, 1.7, CAL= 184.0, -6.4, ROT= 326.0, 6.4 PDAT read: Bearing 326.0, 6.4 (Local) ~Local bearing/azimuth received: Bearing 326.0, 6.4 (Local) DAT read: Range 10 to 50 : 81.5 m (Round-trip 108.7 ms) speed 0.6 m/s ,DAT read: user:3403> BDAT read: Tx time:23:38:36.3923 $Ping request sent.e1|y؝Bؙؙ؝j ٝ2M)ٝIٙiٝO ٝIٝ#ۉ?ٝkM@ٝ< ڝM@)ڝIڝ@iڝ=ڙڙ۝ZZm<#?0>ڹ?J?)۝Ď?I۝Ai۝׿۝<ۙۙ5:publishing transmit ping time5Fpublishing direction and range infoؙ9؝Pp5>e1|yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝ZZm<#?0>ڹ?J?)ۙIۙiۙۙۙۙɛzB 隝=I t˽ɚiIg=I?@ii=)?@)EYEYJJJJJv:JJJ*F ?2F :F BF 0JF G  G qAH} t>Iy  Iy Iy I}  =&Iy .Iy 6I} n<:I} FG =- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >6w,A^AF5@YF>C@F29Fq=yFH6`\+ⷲ?j.?@q?s?$?`?ɨF5@F4;F%Cy"BI=Mb@Mb@Mb@999 9)9Y=@5^I ?ii mG٣iyuY u> }Nusing accuracyPremultiplier from configy59}(@?5Y} i}^1?:&HA}E};}h;}C;5%B AEkUɴ|?kU kQ kU!MA:kUBBkUBZkU6?"U11q"INe1|JkU׿RkU<*U٬0@J:S@HxUb}(?a@j1j9j9i9h9h9hAhEBfAfAfIrfM`T@bfM?ɛ}}B}? y}&6Iy }˽ɚ!i!I%W=I-]>@i)i5=)5]>@)9*F2F:FBFP5JFGˏ=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zKm MKs9KK;"K    \w,xA6d4@Y6B@696MH=y6H@`I-@Fg?H?y@?L??p??ɨ6d4@6.T;4yNBRIIZIZ٢= E_=9EQ M>II MG٣MVGyU U> eNusing accuracyPremultiplier from configYe59]*?m5Y] i]imHmA]E]:] :]<5}$B }CA}EZjDNOT Ignoring new targets: 81.50 m.BjzJjz ProNav: ac range: 81.500000 m, nav range: 73.849915 m, bearing: 81.633426 deg, approach rate: 0.102502 m/s, LOS rate: -0.536723 deg/s, cmd heading: 170.832498 deg, new cmd heading: 170.248860 deg. 2j,HeadingCmd: 2.971403 target range: 81.500000 and range: 81.50 m. jx+>@jjjihhhhfffrfbf`w?ɛ B + GI ˽ɚi!I%=I%x+>@i)i-=)-x+>@))uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF $?IG=GB O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.'Dw,AJrJr}Jr1JpJr}:JrS9Jr3Jpy=#B=IiE=IE99 =G٣AyE E> MNusing accuracyPremultiplier from configIU59M/?]5YM iM]3?]:]H@]AMEM ;MD;M>5a mAiZjDNOT Ignoring new targets: 81.50 m.BjcJjc ProNav: ac range: 81.500000 m, nav range: 73.893097 m, bearing: 81.400170 deg, approach rate: 0.099362 m/s, LOS rate: -0.536405 deg/s, cmd heading: 170.248858 deg, new cmd heading: 169.549534 deg. 2jHeadingCmd: 2.959198 target range: 81.500000 and range: 81.50 m. j~c=@jjjihhhhBfffrfbf?ɛB >I T̽ɚiI=I~c=@ii@=)~c=@)E%C>E%>*F?2F:FBF^0JF"GG=jH<bH4<Hr>I III&I.I6Ie<:I FGeI~=Will construct direction to contact in vehicle frame from tetrahedron phase data.G!B)OEQ> Inw,r«A22@Y2@@2`F926S=y2Hೞ`??a?9?~Z??ɨ22@2I;0yR(BRIIZIZb٢rĹ< vb=9v*Q v>xx zG٣x~Will construct direction to contact in vehicle frame from tetrahedron phase data.~"?~R?yz& >  Nusing accuracyPremultiplier from config 59 ?5Y  i q+G@A E !; ; Y@5! %A-EZjQ]DNOT Ignoring new targets: 81.50 m.Bj]Jj]m ProNav: ac range: 81.500000 m, nav range: 73.924057 m, bearing: 81.204801 deg, approach rate: 0.085362 m/s, LOS rate: -0.538435 deg/s, cmd heading: 169.549529 deg, new cmd heading: 168.963691 deg. 2jmøuHeadingCmd: 2.948973 target range: 81.500000 and range: 81.50 m. j}<@jyjyjyiyhyhyhhfffrfbf|?ɛB 隽0;I >̽ɚiI=I<@ii;|=)<@)zKqLKKK<"K*FM?2FI:FQBFU`0JFQJJAAGuB=GIBYO}>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I sUw,$A>'2@Y>F@@>9>V=y>H }蜹?`p?D ?@??@?ɨ>'2@>Z>;>$CyF)BFIIRIR(1٢Z@; ZN=9^+cQ ^>`` bG٣bVGybݼ f> jNusing accuracyPremultiplier from configdj59f䡜?n5Yfp if5ln{F@nAfEf: ;f ;fB5v#B vAvEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 81.50 m.BjJj- ProNav: ac range: 81.500000 m, nav range: 73.955795 m, bearing: 80.992037 deg, approach rate: 0.080240 m/s, LOS rate: -0.537672 deg/s, cmd heading: 168.963690 deg, new cmd heading: 168.325697 deg. 2j-=HeadingCmd: 2.937838 target range: 81.500000 and range: 81.50 m. j=<@j9j9jAiAhAhAhAhIfIfIfIrfIbfU I s̽ɚiI|=I<@iiT͂=)<@)*F?2F:FBF p0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.GU&=G!B1OM1>H o>I C I rII BI  =&I .I xA2†1@Y2ť?@24ͽ92l[=y2H`~L¿M??U?`? G?8?ɨ2†1@21;0yB6BBI)D DMb@Mb@Mb@ )Yn?ʡE?I +?y6?=94<A A)~@I AyI I2٢ G٣y > Nusing accuracyPremultiplier from config59Wʡ?5Y i7?:F@AE/;j;C5"B _AEZj!%DNOT Ignoring new targets: 81.50 m.Bj-Jj- ]$?IY ProNav: ac range: 81.500000 m, nav range: 73.992989 m, bearing: 80.752901 deg, approach rate: 0.084750 m/s, LOS rate: -0.544626 deg/s, cmd heading: 168.325695 deg, new cmd heading: 167.608687 deg. 2j⺼HeadingCmd: 2.925323 target range: 81.500000 and range: 81.50 m. j8;@jjjihhhhBfffrfbf @ɛUB]- ];=]4)IY ]8ͽɚaiaIeo/=Ie8;@ii=)8;@)E*FE?2FI:FIBFIJFIG]pA GYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507731zKmBIKm9KiKm="Km  G% =G B *J 4="J R=J J J 0J J :J 9J ـ3J J n;a J o;a J ;a J ;a O- > c~G% |uA9 m &Ym |uAym Bw,NAFn1@YFq ?@Fz=ڽ9F^=yFHocÿ ? ??y:?K?`?ɨFn1@FZt;F%Cyn:BnIIzIzV83٢Ǘ< W=9SQ >    G٣ y > Nusing accuracyPremultiplier from config%59?%5Y i!%F@-AEG;:E51 5BA1ZjDNOT Ignoring new targets: 81.50 m.Bj Jj  ProNav: ac range: 81.500000 m, nav range: 74.024063 m, bearing: 80.545899 deg, approach rate: 0.078845 m/s, LOS rate: -0.525002 deg/s, cmd heading: 167.608689 deg, new cmd heading: 166.987970 deg. 2j&%HeadingCmd: 2.914490 target range: 81.500000 and range: 81.50 m. j%:@j!j)j)i)h)h)h1h1fQfQfYrfYbf]@M&@uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760461ɛBvO &I yͽɚiI#8=I:@ii<=):@) U $?IQ*Fe?2Fa:FaBFe0JFaG XH== Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:23:38:38.9022 ] TRx dataTimestamp_ set to:1736379520.233772u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019623G B O= >mw,- A:k0@Y:ߊ>@: 9:a=y:Hr]Ŀj?&?`Y??2 ?ž?ɨ:k0@:CT;:$CyFBBFI%Mb@Mb@Mb@!!! !)!Y%bX9?l?YY ]G٣]VGyel e> mNusing accuracyPremultiplier from configiu59m?u5YmN imJuO7?}:}#E@}AmEmX%;m;$;muG5!B AEZjDNOT Ignoring new targets: 81.50 m.Bj!JjU!m ProNav: ac range: 81.500000 m, nav range: 74.055038 m, bearing: 80.319847 deg, approach rate: 0.077653 m/s, LOS rate: -0.566459 deg/s, cmd heading: 166.987976 deg, new cmd heading: 166.310137 deg. 2jm`¼HeadingCmd: 2.902659 target range: 81.500000 and range: 81.50 m. j,9@jjjihhhhBfffrfbf%w @ɛ5B5 ! 9=I9 =ͽɚ9i9I=V3=IE,9@iAiE=)M,9@)IZHQRHQHej>IeC IeIIeBIa&Ia.Ia6Ie<:Ie FBI%ĨCJI%ħCRI!ZI% =bI% =jI%z5*F2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264751 U $?IQG x=G B O > w,- ArWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:38:38.9022 LVL= 30544, 28465, 18114, 32755, AGC= 62, IDX= 407, 0.29,-0.760,-1.700, 0.348,-0.663, PHS=-0.009,-0.990, 1.008, RAW= 180.6, -0.1, CAL= 181.0, -7.9, ROT= 329.0, 7.9 Ygot valid direction response: 23:38:38.9022 LVL= 30544, 28465, 18114, 32755, AGC= 62, IDX= 407, 0.29,-0.760,-1.700, 0.348,-0.663, PHS=-0.009,-0.990, 1.008, RAW= 180.6, -0.1, CAL= 181.0, -7.9, ROT= 329.0, 7.9 %PDAT read: Bearing 329.0, 7.9 (Local) %~Local bearing/azimuth received: Bearing 329.0, 7.9 (Local) 5DAT read: Range 10 to 50 : 79.2 m (Round-trip 105.7 ms) speed 0.7 m/s =,DAT read: user:3404> EBDAT read: Tx time:23:38:39.9908 E$Ping request sent.Eirtrp}r%?rnI@r r-J@)r0 Ir@ir0 >pprYk?E?|8 ^)ro_?Ir:ir/ӿri ppm:publishing transmit ping timeAmFpublishing direction and range infop9r#f&᪵*oHi,?ypppp p)pIpyޝLBޝ Ii=I=ippppp p)pIpippprYk?E?|8 ^)pIpippppII1٢H= A=9Q > G٣y >zKs$LK59KK>"K Nusing accuracyPremultiplier from config59`?5Y iAE:;hI5 AEkrsΧ?kr kp kr. A:krfBBkrUBZkr?"rPZCd%S}i؏@@r#f&᪵*oHi,?Jkr/ӿRkri *rʛeJ3@/v1S@r2r?-?D?0tY"krB*krSAkr%٧?kr 2krxBkpkr krNBkrBkr? addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.528352 s, deltaX: -2.300003 m, approachRate: -0.651863 m/s, rangeRepo size: 4 JJJJJ:J9JJJ!;J";Jq#;Jq#; Added new target pos. range: 79.199997 m, bearing: 75.895902 deg, lat: 36.905471 deg, lon: -122.119189 deg, deltaT: 3.528352 s, deltaX: -2.300003 m, approachRate: -0.651863 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 79.20 m.BjJjU ProNav: ac range: 79.199997 m, nav range: 77.830208 m, bearing: 80.558066 deg, approach rate: 0.000000 m/s, LOS rate: -0.566459 deg/s, cmd heading: 166.310134 deg, new cmd heading: 165.516625 deg. 2jYHeadingCmd: 2.888810 target range: 79.199997 and range: 79.20 m. jD8@jjjihhhhfffrf S@bf  `t?ɛUBU ߽ QU IY ]\νɚYiYI]*=IeD8@iaie=)eD8@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAJDAT read: TxSync time:23:38:39.9900 E as=E qAE qA*F 2F :F BF o0JF "G =G = A II G-uX=GB1UWill construct direction to contact in vehicle frame from tetrahedron phase data.O ?ow,O AzHf/@YzL=@z39zv5l=yzH ^9 qſZ?)?x@9W?~R?@D??ɨzHf/@z$;z&Cy]B IMb@Mb@Mb@ )Y-?#~j?S㥛?y?5?=/<A h@)@I AyAIIԳ٢F{= =9ּQ > G٣yy > Nusing accuracyPremultiplier from config59a?5Y& il6?:D@AE^;NN;K5 B AEB*** querying acoustic contact ***jjZj!DNOT Ignoring new targets: 79.20 m.BjJj ProNav: ac range: 79.199997 m, nav range: 77.866463 m, bearing: 80.291847 deg, approach rate: 0.072792 m/s, LOS rate: -0.534260 deg/s, cmd heading: 165.516630 deg, new cmd heading: 164.718399 deg. 2jTHeadingCmd: 2.874878 target range: 79.199997 and range: 79.20 m. j7@jj!jAiAhAhAhIhMBfIfQfQrfQbfUa?ɛBQPܽ ޽I ;8νɚiI=I7@iYi])=)]7@)aE=D%=He>I IIIՁBI =&I.I;D6Ih<:Iy F*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G#b=GB Om > $?I !w, i AR/@YR"=@RKR 9R{=yRH`'@ƿ@{?`j~? o@ ?`\?"??ɨR/@R,;PyfoBf4IIrIrỳ٢z= Y=9}Q >    G٣ VGy %  > mNusing accuracyPremultiplier from configu59K?u5Y i y}`D@}AEV<V<QM5B AEZjDNOT Ignoring new targets: 79.20 m.BjaJja ProNav: ac range: 79.199997 m, nav range: 77.892372 m, bearing: 80.097781 deg, approach rate: 0.066964 m/s, LOS rate: -0.501404 deg/s, cmd heading: 164.718399 deg, new cmd heading: 164.136417 deg. 2jHeadingCmd: 2.864721 target range: 79.199997 and range: 79.20 m. jW7@jjjihhhhfffrfbf;l?ɛBY%ڽ }=HI TνɚiI%p=I%W7@i)i-n=)-W7@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008382zKQJKKK?"KRK ?JK?JJJ1JJ]:J9J3JJ:;J;;J;J;EGg=*FM?2FQ:FQBFU1JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259801G} = $?I GQ BY Ou >j!w,0 AB.@YB<@B9B&Ur=yBH E=ǿc?8? i`?@P?`_??ɨB.@B1y;B#CyNzBRAI)T TIZIZ<٢b;= b<=9b.Q b>dd fG٣dyj= j> nNusing accuracyPremultiplier from configlr59n1?r5Yn intvD@vAnEn:n:n6O5z"B zDA|ZjAMDNOT Ignoring new targets: 79.20 m.BjMJjM] ProNav: ac range: 79.199997 m, nav range: 77.921745 m, bearing: 79.875234 deg, approach rate: 0.068608 m/s, LOS rate: -0.519609 deg/s, cmd heading: 164.136413 deg, new cmd heading: 163.469057 deg. 2jeMeHeadingCmd: 2.853073 target range: 79.199997 and range: 79.20 m. je6@jijijiiihihqhqhqfqfqfyrfybf}?ɛBBֽ 隵h|I hpνɚiI=I6@ii=)6@)*E0>"E%?E˺=El>E>*F2F:FBF 3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516406G=G B O >H `>I C I II BI  =&I GD.I 6I r<:I | Fڏ'w, A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763648:".@Y:A<@:9:q=y:H r@Iȿ6?@'?`\@͜? ? ׭?`?ɨ:".@:I;:&CyFBF`IMb@Mb@Mb@ )Y㥛 ?ʡE??y5?=<;A Q@)@I7 AyAI IV2٢= :=9nQ > G٣yt > %Nusing accuracyPremultiplier from config!-59%?-5Y%B i%-6?5: ] $?IY5(C@]A%E%I<%;%'Q5m!B muAmEZjDNOT Ignoring new targets: 79.20 m.BjJj ProNav: ac range: 79.199997 m, nav range: 77.948639 m, bearing: 79.647113 deg, approach rate: 0.059297 m/s, LOS rate: -0.502801 deg/s, cmd heading: 163.469062 deg, new cmd heading: 162.784967 deg. 2jHeadingCmd: 2.841134 target range: 79.199997 and range: 79.20 m. j"5@jjjihhhh%Bf!f!f!rf!bf-T?ɛBн 隵I xνɚiI83=I"5@ii=)"5@)E =%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018315*F 2F :F BF _5JF zK% k3IK% 9K! K% @"K% J J J 0J J -:J 9J ـ3J J ;J ;J !;J !;G )=G ?G ,?GBO>6.w, A^,@Y^:@^"9^dd=y^H`ʿ7?F?;M? V,?3??ɨ^,@^J;^$CyjBjpIIvIv~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267846٢yn=  3=9 gQ  >qq uG٣uVGy}= }> Nusing accuracyPremultiplier from config59?5YJ iA@AE5;;/S5 AEZj)5DNOT Ignoring new targets: 79.20 m.Bj5:Jj5:E ProNav: ac range: 79.199997 m, nav range: 77.971130 m, bearing: 79.408841 deg, approach rate: 0.048945 m/s, LOS rate: -0.518365 deg/s, cmd heading: 162.784964 deg, new cmd heading: 162.070394 deg. 2jE߱}HeadingCmd: 2.828662 target range: 79.199997 and range: 79.20 m. j}5@jyjyjyiyhyhhhfffrfbfM@ $?IɛBxͽ ;I ivνɚi!I%|=I-5@i)i5Qj=)55@)1E9E9*E="E=*Fi2Fq:FqBF}P5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.ս>ս%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524658G =G B O >!6w, A>,@Y>$:@>%9>d_=y>HN@,o̿D?@/?'kS??ۓ??ɨ>,@>;<HRZ>IRC IR IIR'BIR =&IP.IR:D6IR<:IR FyZB^Iib=Ibp G٣y&м > Nusing accuracyPremultiplier from config59;⠜?5Y8 i 5?:@@AE;Y;+U5- B -aA-EMB*** querying acoustic contact ***jIjIZjQeDNOT Ignoring new targets: 79.20 m.BjeJjeWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771879 ProNav: ac range: 79.199997 m, nav range: 77.989479 m, bearing: 79.176968 deg, approach rate: 0.039732 m/s, LOS rate: -0.501973 deg/s, cmd heading: 162.070390 deg, new cmd heading: 161.374970 deg. 2j?HeadingCmd: 2.816525 target range: 79.199997 and range: 79.20 m. jA4@jjjihhhhӁBfffrf bf uf@ɛuBu= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:23:38:42.4975 E TRx dataTimestamp_ set to:1736379523.768591M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024780zKU >`JKQ KQ KU A"KU +yO  y G٣yۼ >  Nusing accuracyPremultiplier from config 59 ɠ?5Y $ i @@A ŝE ; ); W5%B -A-²EZjiuDNOT Ignoring new targets: 79.20 m.BjuTJjuT ProNav: ac range: 79.199997 m, nav range: 78.004402 m, bearing: 78.961703 deg, approach rate: 0.036452 m/s, LOS rate: -0.525711 deg/s, cmd heading: 161.374967 deg, new cmd heading: 160.729324 deg. 2jeHeadingCmd: 2.805256 target range: 79.199997 and range: 79.20 m. jP3@jjjihhhhfffrfbft @ɛ}B}7 ý } =}=Iy CνɚiI=IP3@ii)P3@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275855*F2F:FBF_0JF !I!G =G B OM >iCw,,d!AWill construct direction to contact in vehicle frame from tetrahedron phase data.}ގ*@Y}8@},9}ZL=y}H j@UϿM??[x? i?,??ɨ}ގ*@}-;}%CyޝځBޝIDAT read: 23:38:42.4975 LVL= 32752, 32209, 19986, 32755, AGC= 67, IDX= 407, 0.04,-2.208,-3.066,-1.237,-2.128, PHS= 0.009,-0.891, 0.889, RAW= 179.6, -0.1, CAL= 180.2, -7.9, ROT= 329.8, 7.9 Ygot valid direction response: 23:38:42.4975 LVL= 32752, 32209, 19986, 32755, AGC= 67, IDX= 407, 0.04,-2.208,-3.066,-1.237,-2.128, PHS= 0.009,-0.891, 0.889, RAW= 179.6, -0.1, CAL= 180.2, -7.9, ROT= 329.8, 7.9 PDAT read: Bearing 329.8, 7.9 (Local) ~Local bearing/azimuth received: Bearing 329.8, 7.9 (Local) 5DAT read: Range 10 to 50 : 76.9 m (Round-trip 102.6 ms) speed 0.5 m/s 5,DAT read: user:3405> =BDAT read: Tx time:23:38:43.5908 =$Ping request sent.= G٣VGy⽼ > Nusing accuracyPremultiplier from config59ꬠ?5Y i G6? : ?@ AȝE;;/Y5 #AŲEk~?k`o k kǃ!A:k̙BBkBZk]?" \zΔ Sr$@+ELvO7^?Jk&ԿRk4N*XJ [9@Z R@(ϕ e=l?-~&?|Y/]"kB*kAklF&?kcb 2krBkt?kkKdBkBk? addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.541878 s, deltaX: -2.299995 m, approachRate: -0.649372 m/s, rangeRepo size: 4  Added new target pos. range: 76.900002 m, bearing: 70.439681 deg, lat: 36.905521 deg, lon: -122.119189 deg, deltaT: 3.541878 s, deltaX: -2.299995 m, approachRate: -0.649372 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 76.90 m.BjJj= ProNav: ac range: 76.900002 m, nav range: 79.285606 m, bearing: 74.787719 deg, approach rate: 0.000000 m/s, LOS rate: -0.525711 deg/s, cmd heading: 160.729323 deg, new cmd heading: 159.925776 deg. 2j9EHeadingCmd: 2.791231 target range: 76.900002 and range: 76.90 m. jE2@jAjAjAiAhIhIhIhMځBfqfqfqrf}9S@bf}??HU>IC IM IITBI =&I.I9D6I<:I FɛB, =I  νɚiI-=I2@ii[ְ=)2@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:38:43.5900 *F ?2F :F BF U0JF G qA G - $?I) G =GBO>Jw,!.!AF)@YF8@F=+/9FF=yFHk`Rп`?? \`?@??~?ɨF)@Fq);F#CyrBrI)t tIIn٢-m > -d=9-b Q U>QQ UG٣Yy]$ ]> eNusing accuracyPremultiplier from configam59e𗠜?5Ye iek>@AeʝEe;e;eZ5 \AWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 76.90 m.Bj <Jj<% ProNav: ac range: 76.900002 m, nav range: 79.311012 m, bearing: 74.606258 deg, approach rate: 0.071622 m/s, LOS rate: -0.511395 deg/s, cmd heading: 159.925779 deg, new cmd heading: 159.381587 deg. 2j%{MHeadingCmd: 2.781734 target range: 76.900002 and range: 76.90 m. jM2@jIjQjQiQhQhQhYhYfYfYfYrfabfe+?ɛB |>I ͽɚiI=I2@iiF=)2@) ) CzKؐLKs9KKB"KNGtAA*F?2F:FBF_0JF  YtAy@BG =m Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > $?I Qw,G!A6l-)@Y6oL7@6~396'5=y6HM ѿ ?wD?tsR?\?z?ɨ6l-)@6T;6"Cy>B>IIFIFm?٢R= VT=9VP3Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\f59^끠?f5Y^e i^df=@fA^̝E^q:^:^o\5jB nAnȲEZjDNOT Ignoring new targets: 76.90 m.Bj@Jj @ ProNav: ac range: 76.900002 m, nav range: 79.335739 m, bearing: 74.415337 deg, approach rate: 0.066260 m/s, LOS rate: -0.511446 deg/s, cmd heading: 159.381590 deg, new cmd heading: 158.809026 deg. 2jHeadingCmd: 2.771740 target range: 76.900002 and range: 76.90 m. j2d1@jjjihhhhfffrfbf ?ɛB`ʴ %,>I) -ͽɚ)i)I-.=Iu2d1@iqiu=)u2d1@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.E˺=JeJeJaJaJe:Je9JaJaau@au@au@au@*FU?2FQ:FQBFQJFQHU P>IU C IU IIU BIQ &IQ .IQ 6IU <:IU FBIʤCJIʤCRIʔCZI =bI =jI$d6} Will construct direction to contact in vehicle frame from tetrahedron phase data.G} 뜮=GY Ba O >Xw,7d!A IyBIMb@Mb@Mb@ )YA`"?x&?L7A`?y9?7=+=A @)@I7 Ay@AAIIb٢= *=9Q > G٣VGy > Nusing accuracyPremultiplier from config59e?5Y it:?:8=@AΝEz;;^5B NAʲEB*** querying acoustic contact ***jjZj15DNOT Ignoring new targets: 76.90 m.Bj=CJj=CM ProNav: ac range: 76.900002 m, nav range: 79.366020 m, bearing: 74.170617 deg, approach rate: 0.062882 m/s, LOS rate: -0.507993 deg/s, cmd heading: 158.809029 deg, new cmd heading: 158.075191 deg. 2jMPUHeadingCmd: 2.758933 target range: 76.900002 and range: 76.90 m. jUZ0@jQjQjQiQhYhahaheہBfififqrfqbfu@;?ɛBv^ 隭JL>I ,ͽɚiIz=IZ0@iiV=)Z0@)E]=*F 2F :F BF `0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKu Kq Kq Ku C"Ku GU EU=GI Bi O >^w,}!AN'@YN5@N99N:=yNHklҿ`/?q?A#`1?y?`Vq?ɨN'@N;N&CyZ,BZ Ii^>I^> ^a=^p=IbIb<٢j> j\=9npQ n>pp rG٣pyr} v> zNusing accuracyPremultiplier from configtz59v'P?~5YvR iv|~;@~AvНEv;v`;v&`5  A ZjIUDNOT Ignoring new targets: 76.90 m.BjeJjeu ProNav: ac range: 76.900002 m, nav range: 79.384323 m, bearing: 73.982155 deg, approach rate: 0.049149 m/s, LOS rate: -0.505960 deg/s, cmd heading: 158.075193 deg, new cmd heading: 157.509958 deg. 2ju}HeadingCmd: 2.749067 target range: 76.900002 and range: 76.90 m. j}/@jyjyjyiyhhhhfffrfbfm?%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691118ɛuB}/ }g4=隅\y>I  ̽ɚiIK=I/@iiU=)/@)EE*E"E =$?I9*F2F:FBF_0JFG^=G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945260B O] >J] J] JY JY J] :J] :JY JY ew,k!A6&@Y65@6e:96:=y6H@T@(ӿ`? Z?4`+??`Jp?ɨ6&@6,|;6"Cy>ABB6 IMb@Mb@Mb@ )YS?)\(?II MG٣IyU> U> ]Nusing accuracyPremultiplier from configY59]I7?5Y]n i]c=?:9@A]ӝE]<]s<]a5 AͲEZjaeDNOT Ignoring new targets: 76.90 m.Bjm Jjm  ProNav: ac range: 76.900002 m, nav range: 79.397324 m, bearing: 73.763197 deg, approach rate: 0.029394 m/s, LOS rate: -0.494975 deg/s, cmd heading: 157.509954 deg, new cmd heading: 156.853218 deg. 2j٩HeadingCmd: 2.737605 target range: 76.900002 and range: 76.90 m. j4/@jjjihhhhBjH<bH4=HH>IC I IIBI =&I.I8D6II<:IH Ffff rf bfۚ@ɛ=B=b 9=>I9 EM̽ɚAiAIE&=IM4/@iIiM86=)M4/@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194957*F2F:FBF-1JF I!G %=G G qAG B O >Ekw,!A:(.&@Y:+M4@:yB;9:;=y:HK` ӿ??^b@F??n?ɨ:(.&@:vڈ;BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.446208:$CybaBb] IIjIj(٢r$> rR=9r!Q r>tt vG٣vVGyzo z> ~Nusing accuracyPremultiplier from configx59ze ?5Yz iz9@ Az՝Ez%;z^;zc5%B % A%βEZjIMDNOT Ignoring new targets: 76.90 m.BjUNJjUNe ProNav: ac range: 76.900002 m, nav range: 79.407051 m, bearing: 73.560984 deg, approach rate: 0.026634 m/s, LOS rate: -0.553601 deg/s, cmd heading: 156.853218 deg, new cmd heading: 156.246677 deg. 2jemHeadingCmd: 2.727019 target range: 76.900002 and range: 76.90 m. jmz.@jijijiiihqhqhqhqfyfyfyrfbfg@ɛBa䗽 隽ҫ>I ˽ɚiId=Iz.@iiة=)z.@)zKMBoHKM59KIKMD"KM'\C*F?2F:FBF 3JFGm=G1BIO}8>5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698272  $?I rw,|!A.j%@Y.3@.l;9.b'<=y.HKcԿN?`?`C~3Z??@m?ɨ.j%@.H;,yBnBBn I)D DDDIJIJ#٢f= fL=9f{ǺQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r?v5Yr irLxzE8@zArםEr5;r5;roe5 a AѲEZj DNOT Ignoring new targets: 76.90 m.Bj Jj5 E ProNav: ac range: 76.900002 m, nav range: 79.414680 m, bearing: 73.352205 deg, approach rate: 0.017829 m/s, LOS rate: -0.487833 deg/s, cmd heading: 156.246670 deg, new cmd heading: 155.620420 deg. 2jEeMHeadingCmd: 2.716089 target range: 76.900002 and range: 76.90 m. jMf-@jIjIjIiIhQhyhhfffrfbf@{@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:46.0948 TRx dataTimestamp_ set to:1736379527.302616checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959306ɛBFΜ >I G ˽ɚiI=If-@ii-=)-f-@)9J-J)J)J)J- :J)J)J)*F?2F:FBF@5JFHF>IC I!IIBI" =&I.I7D6Is<:Ic FG =G ?G ?E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202063G B  $?I O% >%xw,mW!A:$@Y:2@:q<9:&6=y:H9;տ=? `?@'@ @:y?y? m?ɨ:$@:x};8yFBF IMMb@Mb@Mb@III I)IYMjt?Zd;?{Gz?yM@?My=M#=MQ@ M@)M@IM AIyM@IeIe(*٢u> u@=9}Q }> G٣yǼ > Nusing accuracyPremultiplier from config59b?5Ys iA?:8@AڝEn ;;Lg5B  AԲEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.90 m.BjG!JjG! ProNav: ac range: 76.900002 m, nav range: 79.422951 m, bearing: 73.126427 deg, approach rate: 0.020662 m/s, LOS rate: -0.564009 deg/s, cmd heading: 155.620423 deg, new cmd heading: 154.943191 deg. 2j%EHeadingCmd: 2.704269 target range: 76.900002 and range: 76.90 m. jM-@jIjIjIiIhQhYhaheBfafifirfibfu@ @ɛ}B}] y}>Iy ~ʽɚiI=I-@ii.=)-@)Will construct direction to contact in vehicle frame from tetrahedron phase data.յ<յ<DAT read: 23:38:46.0948 LVL= 32752, 32753, 22642, 32755, AGC= 65, IDX= 410, 0.14,-2.327,-3.112,-1.481,-2.305, PHS= 0.067,-0.760, 0.822, RAW= 178.5, -1.9, CAL= 179.3, -9.4, ROT= 330.7, 9.4 Ygot valid direction response: 23:38:46.0948 LVL= 32752, 32753, 22642, 32755, AGC= 65, IDX= 410, 0.14,-2.327,-3.112,-1.481,-2.305, PHS= 0.067,-0.760, 0.822, RAW= 178.5, -1.9, CAL= 179.3, -9.4, ROT= 330.7, 9.4 PDAT read: Bearing 330.7, 9.4 (Local) ~Local bearing/azimuth received: Bearing 330.7, 9.4 (Local) DAT read: Range 10 to 50 : 74.8 m (Round-trip 99.8 ms) speed 0.5 m/s ,DAT read: user:3406> BDAT read: Tx time:23:38:47.1909 $Ping request sent.%ڹڹ۽g4?=PD?g)۽?I۽A=i۽Ͽ۽6۹۹M:publishing transmit ping timeMFpublishing direction and range infoع9ؽ(=Nf ̄mG?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽g4?=PD?g)۹I۹i۹۹۹۹EUz=zK XLK h9K K E"K *F 2F :F BF U5JF G >=]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:38:47.1901 GB $?IhOE>dKw,m"Avg#@Yv1@vH>9v0=yvHX<ֿ #?8?@@?س?k?ɨvg#@vO;ty~B~ I = =  BAII٢%b= %&=9%vQ %>)) -G٣-VGy5/ 5> =Nusing accuracyPremultiplier from config9E59=@ҟ?M5Y= i=IM6@UA=ݝE=4;=x5;=qi5Y ] AYk'멜?kn k km!A:kBBkBZkC?"vb" }ʟRX_@(=Nf ̄mG?JkϿRk6*?"?>@\Q@E}?u~/n?ʗoz1#?O#\?"k7B*kAkdU?k`8_ 2kpBk%٧?kkxBksBkA? addTargetRange:: Added new target pos. range: 74.800003 m, deltaT: 3.529867 s, deltaX: -2.099998 m, approachRate: -0.594923 m/s, rangeRepo size: 4  Added new target pos. range: 74.800003 m, bearing: 65.603493 deg, lat: 36.905530 deg, lon: -122.119189 deg, deltaT: 3.529867 s, deltaX: -2.099998 m, approachRate: -0.594923 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 74.80 m.BjJj ProNav: ac range: 74.800003 m, nav range: 79.725586 m, bearing: 72.182278 deg, approach rate: 0.000000 m/s, LOS rate: -0.564009 deg/s, cmd heading: 154.943196 deg, new cmd heading: 154.109659 deg. 2jHeadingCmd: 2.689721 target range: 74.800003 and range: 74.80 m. jc$,@jjjihIhQhQhQfQfYfYrf]@3R@bf]@?ɛB] >I  ɽɚiI=Ic$,@iiQ=)c$,@)E=*FY2FY:FaBFeW0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.GE =Jm Jm Ji Ji Jm l:Jm :Ji Ji G B O% >ZH RH AAH C>I  I Z!II /BI ! =&I .I 6I <:I Fow,1"A6g"@Y6j0@6?96j=y6H7 LK׿E?=? 9 ?`Y?m?ɨ6g"@69;4yNBR IMb@Mb@Mb@ )Y#~j?L7A`? ףp= ?yE?+=Q8=@ Z@)@I~Ay@IIn٢k > B=9#hQ > G٣yѼ > Nusing accuracyPremultiplier from config59?5YW iTF?:R6@AߝE;;Ik5B  AײEZj%DNOT Ignoring new targets: 74.80 m.Bj%Jj%=Will construct direction to contact in vehicle frame from tetrahedron phase data.E ProNav: ac range: 74.800003 m, nav range: 79.732010 m, bearing: 71.953393 deg, approach rate: 0.015365 m/s, LOS rate: -0.547426 deg/s, cmd heading: 154.109654 deg, new cmd heading: 153.423088 deg. 2jMػMHeadingCmd: 2.677738 target range: 74.800003 and range: 74.80 m. jU`+@jQjYjYiYhYhYhaheBfafafarfibfmnf?ɛBd 隝!>I ȽɚiIF=I`+@ii|=)`+@) $?IE1E1*E1"E1*Fm?2Fq:FqBFu4JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.G} =G qAG pAzK5 KK5 9K1 K5 F"K5 *+(!  3;=;:94200*%  GQ BY Ou >*w,Ql;"A27!@Y2: 0@2?92 =y2H@׿ ?? m?@'R?,l?ɨ27!@2j;0y:ςB: IIBIB³٢rm= vE=9v^Q v>xx zG٣xy~B ~> Nusing accuracyPremultiplier from config 59? 5Y i  5@AEG;;m5B H AڲEZjAEDNOT Ignoring new targets: 74.80 m.BjMJjM] ProNav: ac range: 74.800003 m, nav range: 79.735626 m, bearing: 71.729556 deg, approach rate: 0.008754 m/s, LOS rate: -0.541841 deg/s, cmd heading: 153.423083 deg, new cmd heading: 152.751634 deg. 2jeeHeadingCmd: 2.666019 target range: 74.800003 and range: 74.80 m. je*@jijijiiihihihqhqfqfyfyrfbf)?ɛāB5{} ?I tǽɚiIj=I*@iiS=)*@)*F?2F:FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IGGyBO=> Will construct direction to contact in vehicle frame from tetrahedron phase data. ? ?w,d@U"A!@Y7/@?9=yH4ؿ?ε?R~?%?j?ɨ!@!;yB!I) }Mb@Mb@Mb@yyy y)yY}J +?A`"? ףp= ?y}H?}Y=y}@ }C@)}@I}Ayy}(@II%٢= 1=9Q > G٣VGyu > Nusing accuracyPremultiplier from config59?5Yп i}I?M:M3@MAE<x<o5Q U~ A]ݲEZjDNOT Ignoring new targets: 74.80 m.BjJj ProNav: ac range: 74.800003 m, nav range: 79.730156 m, bearing: 71.477088 deg, approach rate: -0.011371 m/s, LOS rate: -0.524826 deg/s, cmd heading: 152.751635 deg, new cmd heading: 151.994225 deg. 2jHeadingCmd: 2.652800 target range: 74.800003 and range: 74.80 m. jx)@jjjih h h h Bfffrfbf3?H}A>Iy I}!II}gBI}" =&Iy.Iy6I}<:I}s Fɛ]ȁB] ez=e?Ia eƽɚaiaIe]=Imx)@iqiu㯠=)ux)@)y*F?2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data. }$?IG= =G B! O= >.w,n"A6+ @Y6J.@6*>96H+=y6Hٿ@e?`?P΢h?H ?l?ɨ6+ @6;4ybBb!IInInV٢v= vm=9zЗ;Q z?|| ~G٣|yK+ ?  Nusing accuracyPremultiplier from config 59 n?5Y m i w2@A E C ;  ; p5%B %A%E=B*** querying acoustic contact ***j9j9ZjIUDNOT Ignoring new targets: 74.80 m.Bj]&Jj]&m ProNav: ac range: 74.800003 m, nav range: 79.723206 m, bearing: 71.287998 deg, approach rate: -0.021429 m/s, LOS rate: -0.583044 deg/s, cmd heading: 151.994221 deg, new cmd heading: 151.426923 deg. 2jmȼuHeadingCmd: 2.642898 target range: 74.800003 and range: 74.80 m. ju?%)@jyjyjyiyhyhyhhfffrfbfx?ɛʁBA 隽?I ƽɚiI=I?%)@iiߘ=)?%)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FI2FI:FIBFM0JFI G-|uAEA u.Yu|uAyuB*J"Ja=J%J%J!J!J%\:J%:J!J!J%j;a5J%k;a5J%DG;a5J%EG;a5zKUrMKU9KQKUG"KU RK] ?JK]>Gm=GIBYO}>e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257354 I w,Ҫ"A:s|@Y:v-@:?=9:g3=y:Hz ڿ,?`*?-@`Ҁ?z ?@l?ɨ:s|@:;:%CyF BF-!IININ٢V= VO=9V-;Q Z>XX ZG٣Xy^޼ ^> fNusing accuracyPremultiplier from configdj59fV?j5Yf ifݻhn1@nAfEf;:f;fVr5p rhApZj  DNOT Ignoring new targets: 74.80 m.BjJj% ProNav: ac range: 74.800003 m, nav range: 79.713043 m, bearing: 71.071397 deg, approach rate: -0.025755 m/s, LOS rate: -0.549010 deg/s, cmd heading: 151.426919 deg, new cmd heading: 150.777063 deg. 2j%c-HeadingCmd: 2.631556 target range: 74.800003 and range: 74.80 m. j-kk(@j)j)j1i1h1h1h1h9f9f9fArfAbfM`@ɛúBupW quw?Iy }ŽɚyiyI}|ݻ=Ikk(@ii%Ě=)kk(@)*F5?2F1:F1BF5_5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508814GN=GBO>jH <bH <H @>I  I !II BI # =&I .I 6I <:I n FBIUʠCJIUʠCRIUʓCZIU" =bIU! =jIU:5;w,Ӆ"A2G@Y2J,@2d;9266=y2Hy@ڿ?`)? kP?m?n?ɨ2G@2P;2$CyV)BVT!I -$?I)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762261Mb@Mb@Mb@ )Yv/?v/?{Gz?yxI?xi=#=@ @)@IAyQ@I-I-m?٢Ml > M3=9]qV;Q ]>YY eG٣eVGye׽ m> Nusing accuracyPremultiplier from config59%;?5YC i.BJ?:1@AEe;;Yt5B gAEZjDNOT Ignoring new targets: 74.80 m.BjJj ProNav: ac range: 74.800003 m, nav range: 79.700607 m, bearing: 70.817143 deg, approach rate: -0.025313 m/s, LOS rate: -0.517605 deg/s, cmd heading: 150.777068 deg, new cmd heading: 150.014234 deg. 2j5HeadingCmd: 2.618242 target range: 74.800003 and range: 74.80 m. j5H'@j9j9j9i9h9h9hAhEBfifqfqrfqbfu j @ɛ=сB={j_ 9=,?I9 exýɚaiaIe*=ImH'@iiim/=)mH'@)q Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019170E _ =E E JU JU JQ JQ JU |:JU :JQ JQ JU ;JU ;JU L;JU L;*F} ?2Fy :Fy BF} _0JF G pA G zK KK 9K K H"K  G|=GpAGqA m$?IiGyBWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:49.6916 TRx dataTimestamp_ set to:1736379531.085383checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270915O ?fw,;"ARJ@@YRM_,@RV:9RQ:=yRH\;ۿ`hb?G?8`J`*?? Zp?ɨRJ@@R-;Py6B%c!IIeIe٢u<= =9P;Q > G٣y~ > Nusing accuracyPremultiplier from config59?5Y[ ih0@AE);d;v5 AEZjQ]DNOT Ignoring new targets: 74.80 m.Bj]F#Jj]F#m ProNav: ac range: 74.800003 m, nav range: 79.684837 m, bearing: 70.527518 deg, approach rate: -0.031084 m/s, LOS rate: -0.570983 deg/s, cmd heading: 150.014231 deg, new cmd heading: 149.145256 deg. 2jüHeadingCmd: 2.603076 target range: 74.800003 and range: 74.80 m. j˘&@jjjihhhhfffrfbf @ɛ=ՁBEQ AE+0?IA EA½ɚAiIIM`=Iu˘&@iqi}P&=)˘&@) EEx=*F]?2FY:FYBF]o0JFYuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519813G =G B O >H ?>I C I ("II փBI &I .I 6I <:I Fw,x"AB@YB+@B89BA=yBH=ۿB??q ;ܢ-?`*˧?q?ɨB@Bke;@yRPBR!IMb@Mb@Mb@ )Yv/?Q?~jt?y\==p@ @)E@IAy@II%x٢= G=9s;Q > G٣VGy > Nusing accuracyPremultiplier from config59?5Y` iѹJ?:q1@AE;1;kx5B )AEZjDNOT Ignoring new targets: 74.80 m.Bj(#Jj(#- ProNav: ac range: 74.800003 m, nav range: 79.676300 m, bearing: 70.302092 deg, approach rate: -0.021606 m/s, LOS rate: -0.570572 deg/s, cmd heading: 149.145254 deg, new cmd heading: 148.468938 deg. 2j-ü=HeadingCmd: 2.591272 target range: 74.800003 and range: 74.80 m. j=f%@j9j9j9i9h9h9hAhEBfAfAfIrfIbfMj"@ }$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:38:49.6916 LVL= 25072, 28241, 17506, 32755, AGC= 64, IDX= 409, 0.33,-0.828,-1.785,-0.156,-1.000, PHS= 0.260,-0.738, 0.841, RAW= 171.3, -5.3, CAL= 173.5, -12.3, ROT= 336.5, 12.3 Ygot valid direction response: 23:38:49.6916 LVL= 25072, 28241, 17506, 32755, AGC= 64, IDX= 409, 0.33,-0.828,-1.785,-0.156,-1.000, PHS= 0.260,-0.738, 0.841, RAW= 171.3, -5.3, CAL= 173.5, -12.3, ROT= 336.5, 12.3 %PDAT read: Bearing 336.5, 12.3 (Local) %~Local bearing/azimuth received: Bearing 336.5, 12.3 (Local) EDAT read: Range 10 to 50 : 72.3 m (Round-trip 96.5 ms) speed 0.6 m/s ,DAT read: user:3407> BDAT read: Tx time:23:38:50.7909 $Ping request sent.<KW? X?@q &A@)[I@i[>I-ø=I-f%@i1i5=)5f%@)1E9E9*EA"EA٫?|@?~{)Ye?Iy=i ȿ N:publishing transmit ping timeؙFpublishing direction and range info9)`?ժ0j\YᅱmiO?y )Ii )Ii٫?|@?~{)Ii*Fm ?2Fi :Fi BFm `0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J :J J J J J I;J I;G =zK{kLK+9KKI"KGBO>/w,"A2A!@Y2D@+@2@792[G=y2H_"6ܿ!?I? y?@? s?ɨ2A!@2PD;2'CyJ^BN!IPRAIVIV٢-lo= -/=9-Q;Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E果?M5YE iE#QU0@UAEEE=;E;Evz5]B ]AeEk쩜?k; k kf"A:kBBkBZk-?" Will construct direction to contact in vehicle frame from tetrahedron phase data.^w,#AyukBu!I Mb@Mb@Mb@    ) Y jt?㥛 ?Zd;O?y @? = j< -@ K@) @I VA y G@I%ZH)RH-?AH1I1 I5f"II5 BI1&I1.I16I5}<:I5c FI%?1٢]9h= ],=9eQ e>aa mG٣iym m> uNusing accuracyPremultiplier from configq}59u ˞?}5Yu iuA?:x1@AuEuD";u ;u|5B :AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 72.30 m.Bj!Jj! ProNav: ac range: 72.300003 m, nav range: 77.386253 m, bearing: 66.011016 deg, approach rate: 0.036436 m/s, LOS rate: -0.563427 deg/s, cmd heading: 147.645372 deg, new cmd heading: 146.864995 deg. 2jVHeadingCmd: 2.563278 target range: 72.300003 and range: 72.30 m. j $@jjjihhhhBfffrfbf?ɛB%A' !%E?I! %Q.ɚ!i)I-ö=I- $@i1i5w/=)5 $@)1 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF0JFG] V=G1 Ba O >#w,2#A2@Y2%)@21192;=y2H>q!޿@4?%?1$??Z|?ɨ2@2n;0yBBB!IIJIJd٢R> V}=9Vy IhU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488491w,˂L#A6&@Y6E(@6u-96==y6H}޿ ??@ǥ`?6I??ɨ6&@6;6#Cy^B^!Iib>Ib>IjIjq٢rT= rH=9rtt vG٣tyzK z> Nusing accuracyPremultiplier from config 59*? 5Yޣ i  |.@ AE2:u:5B 1AEZjAEDNOT Ignoring new targets: 72.30 m.BjMJjM] ProNav: ac range: 72.300003 m, nav range: 77.393440 m, bearing: 65.610081 deg, approach rate: 0.006349 m/s, LOS rate: -0.548777 deg/s, cmd heading: 146.313130 deg, new cmd heading: 145.662284 deg. 2j]OeHeadingCmd: 2.542286 target range: 72.300003 and range: 72.30 m. jeҴ"@jajajiiihihihqhqfqfyfyrfybf}G?ɛB 隭NS?I ɚiI=IҴ"@ii=)Ҵ"@)*FQ2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739008G](==G1B9O]>H @>I C I "II 2BI &I .I 6I <:I | F $?I %w,\f#AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990958j]@Yj|'@jL*9j:=yjHP߿=??: 0???ɨj]@j琢;j"CyvBv!IMb@Mb@Mb@ )Yrh|?~jt? G٣y_ > eNusing accuracyPremultiplier from configYm59]χ?m5Y] i]=?:/@A]E];];]5B \AEZjDNOT Ignoring new targets: 72.30 m.BjJj- ProNav: ac range: 72.300003 m, nav range: 77.404663 m, bearing: 65.369071 deg, approach rate: 0.024227 m/s, LOS rate: -0.520187 deg/s, cmd heading: 145.662281 deg, new cmd heading: 144.939397 deg. 2j-UHeadingCmd: 2.529670 target range: 72.300003 and range: 72.30 m. jU!@jQjQjQiQhYhYhaheށBfafifrfbf@ɛBZ{ ^?I 6 ɚiI=I !@ii>=)!@)*F2F:FBFJFG]=G1BAO]v>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242902zK] :NK] 9KY K] K"K] w, t#AFӆ@YF֥&@F&9F}58=yFH  A,f?F,?e$?@?v?ɨFӆ@F̊;F$CyNBN!IIVIVq٢^d[= ^\=9    G٣VGy > %Nusing accuracyPremultiplier from config%59/s?%5Y͝ i)- /@-AE::K51 5 A9ZjYeDNOT Ignoring new targets: 72.30 m.BjeH JjeH u ProNav: ac range: 72.300003 m, nav range: 77.411346 m, bearing: 65.171871 deg, approach rate: 0.018999 m/s, LOS rate: -0.560525 deg/s, cmd heading: 144.939401 deg, new cmd heading: 144.347874 deg. 2juW}HeadingCmd: 2.519346 target range: 72.300003 and range: 72.30 m. j Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747633v;w,##AJzJzJxJxJz:Jz:JxJxa%@a%@a%@a-@E@YE%@EN#9E%2=yEH`t|@t@?`z?PdVnsZ? b??ɨE@EÊ;E%Cy]B]"I)a aH?>I I"IIPBI" =&I.I6Id<:IP F Mb@Mb@Mb@    ) Y 9v?ʡE?{Gz?y 4? = #< @ @) z@I @ y @I-I-b٢=*6= =)=9=m;Q E>AI MG٣IyM佼 M> ]Nusing accuracyPremultiplier from configQ]59U Y?e5YU iU7ex7?e:e0@eAUEUA;U5;U^5q uAuEB*** querying acoustic contact ***jjZjAMDNOT Ignoring new targets: 72.30 m.BjM[JjM[] ProNav: ac range: 72.300003 m, nav range: 77.428955 m, bearing: 64.924665 deg, approach rate: 0.035469 m/s, LOS rate: -0.497834 deg/s, cmd heading: 144.347879 deg, new cmd heading: 143.606473 deg. 2j}ԪHeadingCmd: 2.506406 target range: 72.300003 and range: 72.30 m. jh @jjjihhhhBfffrfbf@@ɛB [f?I ɚiIB?=Ih @iiã= E$?IA)h @)IEWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:23:38:53.2880 UTRx dataTimestamp_ set to:1736379534.614147]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002161*F5?2F1:F1BF5^0JF1GU Ơ=GI BY Ou >Lvw,E#Ay΃B "I)! !uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251107GII E{YAyEB٢M= MX=9UQ U>YY ]G٣aye e> mNusing accuracyPremultiplier from configiu59m+D?u5Ym imԵyy}AmEm;m;m5B AEZjIMDNOT Ignoring new targets: 72.30 m.BjUJjU ProNav: ac range: 72.300003 m, nav range: 77.444038 m, bearing: 64.727444 deg, approach rate: 0.040072 m/s, LOS rate: -0.523850 deg/s, cmd heading: 143.606476 deg, new cmd heading: 143.014951 deg. 2jHeadingCmd: 2.496082 target range: 72.300003 and range: 72.30 m. jο@jjjihhJJhhff!f)rf)bf5 @ɛBkϼ In?I )UɚiIO=I ο@i i Ķ=) ο@zKuJK9KKL"KBK:K)1*F?2F:FBF_0JF I!- Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:38:53.2880 LVL= 23408, 25153, 15570, 29363, AGC= 63, IDX= 405, 0.07,-3.038, 2.102,-2.599, 2.872, PHS= 0.461,-0.724, 0.809, RAW= 162.5, -7.9, CAL= 166.5, -14.9, ROT= 343.5, 14.9  Ygot valid direction response: 23:38:53.2880 LVL= 23408, 25153, 15570, 29363, AGC= 63, IDX= 405, 0.07,-3.038, 2.102,-2.599, 2.872, PHS= 0.461,-0.724, 0.809, RAW= 162.5, -7.9, CAL= 166.5, -14.9, ROT= 343.5, 14.9  PDAT read: Bearing 343.5, 14.9 (Local)  ~Local bearing/azimuth received: Bearing 343.5, 14.9 (Local)  DAT read: Range 10 to 50 : 69.7 m (Round-trip 93.0 ms) speed 0.8 m/s  ,DAT read: user:3408>  BDAT read: Tx time:23:38:54.3909 = $Ping request sent.= 5 X95 O?5 5@5 0 5 w9@)5 %I5 ؿ@i5 %>1 1 5 })^?[]j?3 )5 =?I5  >G B O >Čw,#Ai%0ÿU۸2:publishing transmit ping time 2Fpublishing direction and range info9'? »?y )Ii )Ii})^?[]j?3 )Ii=~e@Y=$@=u9=Xs8=y=H `_??.-?Ǧ?4?ɨ=~e@=ʌ;=&CyMރBM2"III(*٢g= J=9` G٣VGy{b > -Nusing accuracyPremultiplier from configM59#.?U5Y ioQU/@UAE&$<?$<Lj5eB eAeEk ?k k kr#A:kfBBkrBZk~?"v( @\w)HPY48@'? »?Jk%0ÿRkU۸*1RiB@fK@ғR5@ ?Bj}z?D?"k]B*k;Bk ?kd 2kBkdU?k`8_ kpBkBky? addTargetRange:: Added new target pos. range: 69.699997 m, deltaT: 3.529605 s, deltaX: -2.600006 m, approachRate: -0.736628 m/s, rangeRepo size: 4  Added new target pos. range: 69.699997 m, bearing: 56.986337 deg, lat: 36.905588 deg, lon: -122.119277 deg, deltaT: 3.529605 s, deltaX: -2.600006 m, approachRate: -0.736628 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 69.70 m.BjJjm ProNav: ac range: 69.699997 m, nav range: 75.278000 m, bearing: 61.537502 deg, approach rate: 0.000000 m/s, LOS rate: -0.523850 deg/s, cmd heading: 143.014954 deg, new cmd heading: 142.386063 deg. 2jquHeadingCmd: 2.485106 target range: 69.699997 and range: 69.70 m. ju @jyjyjyiyhyhyhhfffrflQ@bf?ɛB[%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:23:38:54.3901 15mu?I9 =᳽ɚ9iYIe~=Im @iiimJ=)u @)q*F?2F:FBF 0JF G) G)JSK[ـ3 K[KSKS"KSJJJJJJ:JJG=G1G5rAG BH1I1 I5"II5oBI1&I1.I16I5<:I5o FBIJIǟCRIZI# =bI# =jIǣ4OU> $?I h Will construct direction to contact in vehicle frame from tetrahedron phase data.Cw,#AyBB"Ii=Ia=Mb@Mb@Mb@ )Yoʡ?p= ף?y&1|?y-?>`;@ r@)IZ@yp@IIʳ٢j|= I=9 Q  >   G٣y > %Nusing accuracyPremultiplier from config%59?-5Y> i-<0?-:-0@-A E7;;59 =!A9ZjimDNOT Ignoring new targets: 69.70 m.BjuJju ProNav: ac range: 69.699997 m, nav range: 75.310898 m, bearing: 61.329289 deg, approach rate: 0.084422 m/s, LOS rate: -0.534079 deg/s, cmd heading: 142.386058 deg, new cmd heading: 141.761716 deg. 2jDHeadingCmd: 2.474209 target range: 69.699997 and range: 69.70 m. joY@jjjihhhhBfffrfbf`U?ɛUBUz UjqR=Uz?IY ]kɚYiYI]i=IeoY@iaie=)eoY@)i*F?2F:FBFP5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.GM )=*J 4="J G! B) OE >zKU BoHKQ KQ KU M"KU w,($A6@Y6&#@6SY96fB>["IIFIF٢N= Rd=9R<TT VG٣TyVs V> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ iZ`bs/@bAZ EZ:Z:Z5 U$?IYfB ]sAaZjDNOT Ignoring new targets: 69.70 m.Bjf Jjf  ProNav: ac range: 69.699997 m, nav range: 75.335709 m, bearing: 61.144624 deg, approach rate: 0.064579 m/s, LOS rate: -0.480500 deg/s, cmd heading: 141.761710 deg, new cmd heading: 141.207915 deg. 2j᤼HeadingCmd: 2.464543 target range: 69.699997 and range: 69.70 m. j @j j j i h hhhfffrfbf?ɛeBe`mWill construct direction to contact in vehicle frame from tetrahedron phase data. im?Ii m˰ɚiiiIuЮ=Iu@iyi}=)}@)y*F?2F:FBF!5JFG =E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,a$AJ*J*J(J(J*ܫ:J*:J(J(ZHRHAAHIC I #IIBI&I.I6I<:I F=Z@Y=y"@=9=yף;@ E@)7@I@y@I I ٢= (=9];Q ]>aa eG٣eVGym m> uNusing accuracyPremultiplier from configq59u띜?5YuM iuR-?:'/@AuEu ;u;uH5 B @EB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 69.70 m. =$?I9BjU"Jj" ProNav: ac range: 69.699997 m, nav range: 75.369072 m, bearing: 60.894266 deg, approach rate: 0.069998 m/s, LOS rate: -0.525025 deg/s, cmd heading: 141.207918 deg, new cmd heading: 140.457223 deg. 2j)HeadingCmd: 2.451441 target range: 69.699997 and range: 69.70 m. ji@jjjihhhhBfffrfbf?ɛuBu8 quo?Iq u*ɚyiyI}|ȭ=Ii@iic=Will construct direction to contact in vehicle frame from tetrahedron 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@)*F2F:FBF.5JF"GG=G}6=G ?G>GQ Ba O} > w,G=6$A2҃@Y2Ԣ!@292t  t=9 w,ܹP$A2@Y2 @292 =y2H@ߗG?@??@l?F?ɨ2@2];0y>:B>"IIJIJi٢N= NL=9R;Q R>PT VG٣TyV Z> ^Nusing accuracyPremultiplier from configX^59ZƝ?b5YZ iZ`b`-@bAZEZz:Z:Zt5h j-@jEZj|DNOT Ignoring new targets: 69.70 m.BjJj ProNav: ac range: 69.699997 m, nav range: 75.410469 m, bearing: 60.525748 deg, approach rate: 0.053753 m/s, LOS rate: -0.508861 deg/s, cmd heading: 139.960412 deg, new cmd heading: 139.352013 deg. 2jHeadingCmd: 2.432152 target range: 69.699997 and range: 69.70 m. j_@jjjihhhhfffrfbf֟@ɛB@ 隝Ž?I ,^ɚi I _!=I_@ii"=)_@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201777E=[RS=*F2F:FBF`0JFJJJJJ:J:JJHI I5#IIBI# =&I.I6I<:I| F $?I G5 =G B O= >u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4527291!w,|j$A@Y@ 94d=yH`O`O? 4?`w|X??ڬ?ɨ@ ;%CyQB"IMb@Mb@Mb@ )YZd;O?Pn?:v?y~*?>T<@ @)@I@y @II٢= 9=9z;Q 5>11 =G٣9y= => ENusing accuracyPremultiplier from configAM59E?U5YE iETU-?U:U,@UAEEE;ER;Eo5] B e@eEZjDNOT Ignoring new targets: 69.70 m.BjJj ProNav: ac range: 69.699997 m, nav range: 75.429688 m, bearing: 60.295581 deg, approach rate: 0.041920 m/s, LOS rate: -0.501923 deg/s, cmd heading: 139.352019 deg, new cmd heading: 138.661728 deg. 2j;HeadingCmd: 2.420104 target range: 69.699997 and range: 69.70 m. j@jjjihhhhBff!f!rf!bf% 1@ɛB# 隕?I [UɚiI@2=I@iiN=)@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704765*Fm ?2Fi :Fi BFm ]0JFq Gy  G} rAzKU &`KKU ]9KQ KU O"KU  $?I G e=G pAG qAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:38:56.8847 TRx dataTimestamp_ set to:1736379538.140583checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957752GBO>S"w,zÉ$AyMsBM"Ii]4>I]4<IeIeq٢uF> }+=9}Q }> G٣VGy > Nusing accuracyPremultiplier from config59?5Y iAE;Y;5 @ZjDNOT Ignoring new targets: 69.70 m.BjJj%U ProNav: ac range: 69.699997 m, nav range: 75.451111 m, bearing: 60.054776 deg, approach rate: 0.045624 m/s, LOS rate: -0.512685 deg/s, cmd heading: 138.661733 deg, new cmd heading: 137.939565 deg. 2jU쯼]HeadingCmd: 2.407500 target range: 69.699997 and range: 69.70 m. j]y@jYjYjYiYhYhYhahafafafrfbf @ɛB%i !%?I >ɚiI%=I y@i i x=)y@)*F?2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.U >U%=]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209129G% =G B H- >>I)  I- m#II- ߄BI- " =&I) .I) 6I- s<:I- Y FO% >2}(w, $A xI|p@Yr@9RF=yH,g?` ?`o`? ?`?ɨp@p;騁yޝBޝ#I]Mb@Mb@Mb@YYY Y)YY]?"~j?I +?y],?]S=]9<]@ ]@)YI]@Yy]@IuIum?٢ > ;=9z G٣y > Nusing accuracyPremultiplier from config59J?Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:38:56.8847 LVL= 28624, 32753, 24162, 32755, AGC= 61, IDX= 403,-0.14,-0.891,-2.111,-0.772,-1.419, PHS= 0.616,-0.645, 0.644, RAW= 151.1, -9.7, CAL= 157.3, -17.5, ROT= 352.7, 17.5 Ygot valid direction response: 23:38:56.8847 LVL= 28624, 32753, 24162, 32755, AGC= 61, IDX= 403,-0.14,-0.891,-2.111,-0.772,-1.419, PHS= 0.616,-0.645, 0.644, RAW= 151.1, -9.7, CAL= 157.3, -17.5, ROT= 352.7, 17.5 PDAT read: Bearing 352.7, 17.5 (Local) %~Local bearing/azimuth received: Bearing 352.7, 17.5 (Local) 5DAT read: Range 10 to 50 : 67.2 m (Round-trip 89.7 ms) speed 0.7 m/s =,DAT read: user:3409> EBDAT read: Tx time:23:38:57.9909 M5Y| iM6/?M:MP(@UAE<<b5] B e@mE$Ping request sent.ڱڱ۵u ?*I?Xeſ)۵ ?I۵,>i۵۵ ۱۱}:publishing transmit ping time؁}Fpublishing direction and range infoر9صq]ˣ̱?#;nN.?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵u ?*I?Xeſ)۱I۱i۱۱۱۱T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.% addTargetRange:: Added new target pos. range: 67.199997 m, deltaT: 3.526772 s, deltaX: -2.500000 m, approachRate: -0.708863 m/s, rangeRepo size: 4 Zj)-DNOT Ignoring new targets: 69.70 m.Bj5Jj5m ProNav: ac range: 69.699997 m, nav range: 75.454842 m, bearing: 59.834918 deg, approach rate: 0.007688 m/s, LOS rate: -0.453065 deg/s, cmd heading: 137.939563 deg, new cmd heading: 137.280051 deg. 2juwuHeadingCmd: 2.395989 target range: 69.699997 and range: 67.20 m. j}W@jyjyjyiyhyhhhہBfffrfP@bf@V?ɛ=B= AEb?IA E/YɚAiAIE=IMW@iIiM=)UW@)Y*F?2F:FBF^0JFG>=G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e JDAT read: TxSync time:23:38:57.9901 m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.225852(.w,}u$A2@Y24@2`E92Q=y2H >e?`8?`z`? ?.?ɨ2@29Q;2$Cy>B>4#IJbJbJb1J`Jb:Jb:Jb3J`Jb;afJb;afJbL;afJbL;ajIJIJ[٢9">  f=9  5G٣1y=_ => ENusing accuracyPremultiplier from configAM59Ep?M5YEx iE2Q'@AEEE?V/7?"k5B*kBkSu?k^  2kBkkk0 k&BkBk?ZjDNOT Ignoring new targets: 69.70 m.BjXJjX ProNav: ac range: 69.699997 m, nav range: 75.456322 m, bearing: 59.650393 deg, approach rate: 0.004442 m/s, LOS rate: -0.553745 deg/s, cmd heading: 137.280054 deg, new cmd heading: 136.726510 deg. 2jHeadingCmd: 2.386328 target range: 69.699997 and range: 67.20 m. j@jjjihhhhfffrfbf@~?ɛmBm < qu=?Iq u쟢ɚqiqIuN=I}@iyi}ʈ=)@zKJK 9KKP"K_ X- ) $?I*F}?2Fy:FyBF}0JFy"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.479103G G ?G >Gy B O >b5w,SA$A20@Y22@2mf92`[=y2HhdF?nO?ٲGf ⷿ?`B? +?ɨ20@2 ;2#CyRńBRN#I)T TIZIZƳ٢b= bO=9f;Q f>dd jG٣jVGyj j>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.728940 Nusing accuracyPremultiplier from config59>\?5Y/u iԱ'@AEz ;;Ú5 B [@ EZjDNOT Ignoring new targets: 69.70 m.BjJj ProNav: ac range: 69.699997 m, nav range: 75.456505 m, bearing: 59.438315 deg, approach rate: 0.000476 m/s, LOS rate: -0.551720 deg/s, cmd heading: 136.726508 deg, new cmd heading: 136.090301 deg. 2jQHeadingCmd: 2.375224 target range: 69.699997 and range: 67.20 m. j@jjjihh h h f ffrfbfO/?ɛ=BE< AE?IA EŽɚAiIIMm=IM@iQiUD+=)U@)Q*F92FA:FABFM35JFIHI I#IIBI# =&I.I6I<:I FG=<=GBOMR> $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982628r;w,d $Ay%B%x#IMb@Mb@Mb@ )Y9v?|?5^?/$?y4?=</@ @)@I@y@IIʴ٢4> 9=9Q > G٣yM U> ]Nusing accuracyPremultiplier from configYe59]sF?e5Y]q i]pm6?m:m%@mA] E]H;];]5q }0@}EZjDNOT Ignoring new targets: 69.70 m.Bj6Jj6 ProNav: ac range: 69.699997 m, nav range: 75.452278 m, bearing: 59.208073 deg, approach rate: -0.009835 m/s, LOS rate: -0.535794 deg/s, cmd heading: 136.090303 deg, new cmd heading: 135.399576 deg. 2jڷ%~G=5tAYeHeadingCmd: 2.363168 target range: 69.699997 and range: 67.20 m. je'>@jijyjy Y5tAyxBiyhhhhBfffrfbf@ ?-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232871ɛU BUTx< QU$?IQ ]ʝɚYiYIeY=I '>@i i =) '>@)*Fy2Fy:FBFP5JFJ%J%J%0J!J%L:J% :J%ـ3J!J%P;J%Q;J%cW;J%dW; $?I hzKE IMKA KA KE Q"KE G "=G qAG GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484834Bw, %A^ < @Y^ [@^9^ M=y^H@Jt?@_?@Fz z??R?ɨ^ < @^f܎;\yjBj#IIrIr#٢z|> z[=9M! %G٣!y%jZ %> 5Nusing accuracyPremultiplier from config)m59-#4?m5Y-Ym i-qu$@uA-"E-<-L"<-<5 B M@ EZjDNOT Ignoring new targets: 69.70 m.BjJj% ProNav: ac range: 69.699997 m, nav range: 75.444443 m, bearing: 59.012227 deg, approach rate: -0.020639 m/s, LOS rate: -0.515928 deg/s, cmd heading: 135.399580 deg, new cmd heading: 134.812003 deg. 2j% -HeadingCmd: 2.352913 target range: 69.699997 and range: 67.20 m. j-"@j)j)j)i)hQhqhqhqfyfyfyrfybf}?ɛ BN\= 隭6?I ɚiIv=I"@iiOf=)"@)*Fe?2Fi:FiBFm^0JFiGq GupAGEx=GB!OEQ>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736787ZH RH H I  I #II NBI &I .I 6I <:I FBIʟCJIRIZIbIjI4Hw,$%A 0I4: @Y:@:Ms9:o W=y:H `?)?* @@}?`Z? @?ɨ: @:;:$CynBr#Iiv?>Iva>Mb@Mb@Mb@ )YMb?I +?V-?y@?9=<@ z@)@I@y@IIF٢= ?=9 G٣VGyѼ > Nusing accuracyPremultiplier from config59A?5Yh iA?:"@A%E;;5B @EZj  DNOT Ignoring new targets: 69.70 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990123Bj'Jj' ProNav: ac range: 69.699997 m, nav range: 75.423439 m, bearing: 58.772212 deg, approach rate: -0.051352 m/s, LOS rate: -0.586976 deg/s, cmd heading: 134.812006 deg, new cmd heading: 134.091799 deg. 2jkɼ%HeadingCmd: 2.340343 target range: 69.699997 and range: 67.20 m. j%0@j)jIjQiQhQhQhYh] BfYfYfYrfabfe T@ɛ BD< z?I 옽ɚiINw,>%A: @Y:@:#9:na=y:H@ NB@? M?~h`{? ?@(?ɨ: @:e;:&CyR:BR#IIZIZ٢b#> b[=9bedd fG٣dyjLȼ j>JlJlJtJvJtJtJtJv:JtJtJtJtJvnN;JvoN; Nusing accuracyPremultiplier from configl 59n ? 5YnMd in[x!@An'En3;nj;n5 %@%E=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 69.70 m.BjUJjUm ProNav: ac range: 69.699997 m, nav range: 75.403397 m, bearing: 58.560283 deg, approach rate: -0.052841 m/s, LOS rate: -0.558892 deg/s, cmd heading: 134.091804 deg, new cmd heading: 133.455875 deg. 2jmȿuHeadingCmd: 2.329244 target range: 69.699997 and range: 67.20 m. juW@jyjyjyiyhyhyhhfffrfbf 7@ɛBܶ?= 3&=?I ɚiIύ=IW@iiז=)W@) U$?IY*F?2F:FBF`0JFzK-BoHK-h9K)K-R"K-BKEoA:KEoAGm:=G)B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492811Uw,zX%A6T @Y6s@6A߽96j=y6Hh|c?o?8 ڻ?E'??ɨ6T @6 ی;6$CyBWBB$IIJIJ?1٢fB> fJ=9fAll nG٣lyryż r> vNusing accuracyPremultiplier from configtz59vU?z5Yv_ ivxz @~AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744901v*EvIq IuN$IIuBIu" =&Iq.Iq6Iu<:Iuc F*F?2F:FBFo0JF"G=G= M$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:39:00.4814 TRx dataTimestamp_ set to:1736379541.669910checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999657G =G B O >\w,Ihr%A6f @Y6h@6uٽ96cj=y6H> `#Ͻ?@ͺ?qx@K )??k?ɨ6f @6mh;6#Cy>mB>$I)@ @Mb@Mb@Mb@ )YS㥛?#~j?V-?yD?= d@)@I@yf@I-I-M٢E= EC=9E5;Q M>II MG٣MVGyU1 U> Nusing accuracyPremultiplier from config59ߜ?5YKZ iF?:@A,Er;;d5 B @ EZj9=DNOT Ignoring new targets: 69.70 m.BjEc/JjEc/ ProNav: ac range: 69.699997 m, nav range: 75.348808 m, bearing: 58.077804 deg, approach rate: -0.075290 m/s, LOS rate: -0.613348 deg/s, cmd heading: 132.764780 deg, new cmd heading: 132.007992 deg. 2jwҼHeadingCmd: 2.303974 target range: 69.699997 and range: 67.20 m. jPt@jjjihhhh:Bfffrfbf @ɛB+= 隥 ?I ېɚiIv=IPt@iiS=)Pt@)Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251927*F?2F:FBF0JFJJJ/JJܫ:J :J(N3JJ;J;JR;JR; 1 I1 G n=G zK RIK 9K K S"K B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.bw,L%A6DAT read: 23:39:00.4814 LVL= 23648, 24753, 17458, 30451, AGC= 64, IDX= 399, 0.45,-2.602, 2.147,-2.749, 2.987, PHS= 0.783,-0.793, 0.545, RAW= 141.9, -7.3, CAL= 148.2, -16.7, ROT= 1.8, 16.7 :Ygot valid direction response: 23:39:00.4814 LVL= 23648, 24753, 17458, 30451, AGC= 64, IDX= 399, 0.45,-2.602, 2.147,-2.749, 2.987, PHS= 0.783,-0.793, 0.545, RAW= 141.9, -7.3, CAL= 148.2, -16.7, ROT= 1.8, 16.7 UPDAT read: Bearing 1.8, 16.7 (Local) u~Local bearing/azimuth received: Bearing 1.8, 16.7 (Local) DAT read: Range 10 to 50 : 64.7 m (Round-trip 86.3 ms) speed 0.8 m/s ,DAT read: user:3410> BDAT read: Tx time:23:39:01.5910 $Ping request sent.:TBp? Kѹ?2Q)N!>I>iEſ;=:publishing transmit ping time؉EFpublishing direction and range info9ߧ;}?Ѿx@p?y )Ii )Ii:TBp? Kѹ?2Q)IiyB7$III%x٢ w= %=9Q > G٣y > Nusing accuracyPremultiplier from config59Ɯ?5YKT i A/Eb;;5B <@EkST1¨?k$: k k%A:kfBBkBZk>B?"M#:?E)H"GE@ߧ;}?Ѿx@p?JkEſRk;*WSB@08N<`A@͖7D@ ?}z 0?QWϒ?"k B*kBk(MPר?kwy 2kaBkkd kBk BkRFl? addTargetRange:: Added new target pos. range: 64.699997 m, deltaT: 3.529355 s, deltaX: -2.500000 m, approachRate: -0.708345 m/s, rangeRepo size: 4  Added new target pos. range: 64.699997 m, bearing: 43.474455 deg, lat: 36.905588 deg, lon: -122.119397 deg, deltaT: 7.056127 s, deltaX: -5.000000 m, approachRate: -0.708604 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 64.70 m.Bj Jj = ProNav: ac range: 64.699997 m, nav range: 66.519714 m, bearing: 52.881027 deg, approach rate: 0.000000 m/s, LOS rate: -0.613348 deg/s, cmd heading: 132.007995 deg, new cmd heading: 131.060955 deg. 2j9EHeadingCmd: 2.287445 target range: 64.699997 and range: 64.70 m. jEe@jAjAjAiAhIhIhIhIfQfQfqrfu,P@bf}?n?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:39:01.5902 ɛ]B]d= Ye?Ia eɚaiaIe8=Ime@ii=)e@)jHQ bHU p<Hm >>Ii  Im $IIm ҅BIm # =&Ii .Ii 6Im <:Im FE ZR= 5 $?I9 *Fm ?2Fi :Fi BFm _0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu6=G}?G}?GIBYOu?**lw,%A6C @Y6b@6x̽96NJg=y6H@ @O?nN?>? Ȭ?@/?ɨ6C @6G;6$CyBBBV$IMb@Mb@Mb@ )YDl?Q?S㥛?yOM?\=/<@ @)@I@y@I5I5٢E= E=9ErN G٣VGyC > Nusing accuracyPremultiplier from config59?5YpM i5N?:@A2E;4;ȩ5B @EZjiuDNOT Ignoring new targets: 64.70 m.Bj}HJj}H ProNav: ac range: 64.699997 m, nav range: 66.503593 m, bearing: 52.529459 deg, approach rate: -0.032168 m/s, LOS rate: -0.701702 deg/s, cmd heading: 131.060962 deg, new cmd heading: 130.006129 deg. 2j𼝊HeadingCmd: 2.269035 target range: 64.699997 and range: 64.70 m. j7@jjjihhhhTBfffrfbf?ɛB;= ?I 2ɚiI=I7@ii(=)7@)Will construct direction to contact in vehicle frame from tetrahedron phase data.E$=*FM?2FI:FQBFQJFQG-뜮=JJJ0JJL:JGBO->Jـ3JJP;JQ;JJ  $?I hzK JK 9K K T"K  Will construct direction to contact in vehicle frame from tetrahedron phase data. sw,%A @Y @ Ƚ9 VN=y H}ȃʺ?`ҋ?`Ѯ@95N ?@M?\?ɨ @ ׋; &Cy%B%f$Ii-C=I-; -p=-p=I5I5٢ew= eI=9mN;Q m>iq uG٣qyubؼ > Nusing accuracyPremultiplier from config59?5YH iS8@A5E;::5 @%B*** querying acoustic contact ***j!j!Zj1]DNOT Ignoring new targets: 64.70 m.Bj]pFJj]pFm ProNav: ac range: 64.699997 m, nav range: 66.489510 m, bearing: 52.255390 deg, approach rate: -0.035654 m/s, LOS rate: -0.693961 deg/s, cmd heading: 130.006135 deg, new cmd heading: 129.183813 deg. 2jm!HeadingCmd: 2.254683 target range: 64.699997 and range: 64.70 m. jL@jjjihhhhfffrfbfQ?ɛEBM$u= qup?Iq u*ɚqiqIu =I}L@iyi+=)L@)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 :F BF ^0JF HA IA  IE $IIE BIA &IA .IA 6IE <:IE _ F I G5 =G= pAG= pAG B!OM>2zw,"%A>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.441585N[@YN\4@NSƽ9NkQ=yNHOK??@/Y?@, ??ɨN[@N8;N%CyZBZw$IuPExceeded connect timeout, disconnecting.Mb@Mb@Mb@ )YB`"?X9v?{Gz?yN?}=ף<@ @)d@I=@y@II٢%i= %&=9%;Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=~?E5Y=7A i=EO?E:E@MA=8E=1;=0;=5UB ]@]EZjDNOT Ignoring new targets: 64.70 m.BjIJjI ProNav: ac range: 64.699997 m, nav range: 66.467079 m, bearing: 51.917441 deg, approach rate: -0.046860 m/s, LOS rate: -0.706259 deg/s, cmd heading: 129.183807 deg, new cmd heading: 128.169729 deg. 2jY򼝊HeadingCmd: 2.236984 target range: 64.699997 and range: 64.70 m. j*@jjjihhhhKBfffrfbf T?ɛEBERY= AE?IA m@HɚiiiIm(=Iu*@iqiu}*=)u*@)yE*FM?2FQ:FQBFUy0JFQ"Ge=Ge=G1=GBO%o>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693506w,2&A6b@Y6@6@96x O=y6H$ Թ?@e? _?k׷?oĩ??ɨ6b@6_;6$C R$?IPyZBZ$IIbIbT٢j-= jc=9n!pp rG٣rVGyr! r> zNusing accuracyPremultiplier from configtz59vhl?~5Yv< iv|~[@~Av:Ev~ ;v%;v<5 T@ EZjDNOT Ignoring new targets: 64.70 m.Bj;Jj;} ProNav: ac range: 64.699997 m, nav range: 66.448822 m, bearing: 51.667603 deg, approach rate: -0.048029 m/s, LOS rate: -0.657429 deg/s, cmd heading: 128.169729 deg, new cmd heading: 127.420054 deg. 2j}ἝHeadingCmd: 2.223899 target range: 64.699997 and range: 64.70 m. j^T@jjjihhhhfffzK>KKh9KKU"KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945587rfbfw@ɛBTz= ?I) -ɚ)i)I-_֛=I5^T@i1i==)=^T@)9*F2F:FBF0JFG% =G B O5 >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E R?E <M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197754(Aw,zm&Ay~ɅB~$I)   IIi٢-D= -E=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM59EsW?M5YEA6 iERIIMAE=EE:E:E 5Y ]@YZjDNOT Ignoring new targets: 64.70 m.BjCPJjCP ProNav: ac range: 64.699997 m, nav range: 66.429405 m, bearing: 51.380322 deg, approach rate: -0.049211 m/s, LOS rate: -0.728316 deg/s, cmd heading: 127.420048 deg, new cmd heading: 126.558022 deg. 2jHeadingCmd: 2.208854 target range: 64.699997 and range: 64.70 m. j] @jjjihhhhfffrfbf@M@HI I%II8BI&I.I6Iʰ<:I FJJJJJ:J:JJJ;J;J t;Jt;ɛMBMK= QU"?I zɚiIܚ=I]] @iaieQ= $?I)m] @) *F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450177G5=GyB nManaging dock network, ignoring radio surface power offO>) wC5 H~GM |uAkw,J8&A2`@Y2a@2%ˮ92NjB=y2HpBp`γ?w?Ż_Cҵ?z8??ɨ2`@2Ŋ;0yBυBF$ID ZYYZ|uAyZ BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7019565Mb@Mb@Mb@111 1)1Y5 rh?{Gz?{Gz?y5L?5ף=5#<5@ 5@)5@I5@1y5Q@IMIM<٢]< ]8=9]oaa eG٣aymG m> }Nusing accuracyPremultiplier from configy59}A?5Y} 0 i}M?:@A}@E}Q;};}5B F@"EZjY]DNOT Ignoring new targets: 64.70 m.Bje8<Jje8< ProNav: ac range: 64.699997 m, nav range: 66.411354 m, bearing: 51.074549 deg, approach rate: -0.038847 m/s, LOS rate: -0.658220 deg/s, cmd heading: 126.558023 deg, new cmd heading: 125.640540 deg. 2jἝHeadingCmd: 2.192841 target range: 64.699997 and range: 64.70 m. jW @jjjihhhh:Bfffrfbf\@ɛBKEw= !%?I! %sɚ!iAIM~=IW @ii=)W @)EEqA*FY2FY:FYBF]@5JFaGa GeqA $?IzKM jIKM 9KI KM V"KM  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:39:04.0779  TRx dataTimestamp_ set to:1736379545.196592 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954496G _=Gy B O >Uw,|+R&AjXU@YjYt@jզ9jr<=yjH 3X@¬?@?\{TԴ?@3x?1?ɨjXU@j*;j"Cyv΅Bv$II~I~m?٢   b=9 0 G٣VGy- -> ENusing accuracyPremultiplier from config9M59=.?M5Y=* i=ͬIM@MA=BE=:=:=5eB e?@e#EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 64.70 m.BjhOJjhO ProNav: ac range: 64.699997 m, nav range: 66.394951 m, bearing: 50.824125 deg, approach rate: -0.047498 m/s, LOS rate: -0.725323 deg/s, cmd heading: 125.640537 deg, new cmd heading: 124.889125 deg. 2jHeadingCmd: 2.179726 target range: 64.699997 and range: 64.70 m. j @jjjihhhhfffrfbf HW @ɛ B= n?I nɚiI4ܘ=I @ii=) @)*Fu?2Fq:FqBFu^0JFqGE7E=GB O%,>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211018H=>I I<%IIWBI&I.I6Iΰ<:I FBIJIRIZIbIjIj4JJJJJ:J^:JJJ;J;Jg;Jg; I hF~w, l&A2@Y2@2 92J@6=y2H`?? 6`V?´?@?ɨ2@2;2&CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.461315yFօBF$IiJ>IJ%= N=LMb@Mb@Mb@ )YMb?K?y@?^=M@ @)?@I@y@II٢})= }5=9 G٣y > Nusing accuracyPremultiplier from config%59?%5Y$ i-A?-:My@MAEE;(;5Q ]@YZjDNOT Ignoring new targets: 64.70 m.Bj7Jj7 ProNav: ac range: 64.699997 m, nav range: 66.380363 m, bearing: 50.521393 deg, approach rate: -0.030938 m/s, LOS rate: -0.642187 deg/s, cmd heading: 124.889121 deg, new cmd heading: 123.980803 deg. 2j]ܼHeadingCmd: 2.163873 target range: 64.699997 and range: 64.70 m. j| @jjjihh!h!hEBfIfIfIrfIbfM < @ɛ"B0w= 隝?I {gɚiI=I| @ii =)| @)*F}?2Fy:FyBF}`0JFy5Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 23:39:04.0779 LVL= 20000, 27473, 19346, 32755, AGC= 64, IDX= 412,-0.28, 0.641,-1.085, 0.242,-0.111, PHS= 0.840,-0.927, 0.349, RAW= 134.4, -3.4, CAL= 139.9, -13.3, ROT= 10.1, 13.3 uYgot valid direction response: 23:39:04.0779 LVL= 20000, 27473, 19346, 32755, AGC= 64, IDX= 412,-0.28, 0.641,-1.085, 0.242,-0.111, PHS= 0.840,-0.927, 0.349, RAW= 134.4, -3.4, CAL= 139.9, -13.3, ROT= 10.1, 13.3 }PDAT read: Bearing 10.1, 13.3 (Local) ~Local bearing/azimuth received: Bearing 10.1, 13.3 (Local) DAT read: Range 10 to 50 : 62.1 m (Round-trip 82.8 ms) speed 0.7 m/s ,DAT read: user:3411> BDAT read: Tx time:23:39:05.1910 $Ping request sent.=Q @=s =E@)=,mI=J4>i=,m>99=(mʈ?͠07?USb,)=a>I=}o=i=Կ=^99:publishing transmit ping timeءFpublishing direction and range info99=䥔'9kz?y9999 9)9I9i99999 9)9I9i999=(mʈ?͠07?USb,)9I9i9999G R=G ?G >Gy B O >ew,܅&A &$?I$n)@Yn* @nOO9nk-=ynH` (@b?-?@ =????ɨn)@n;n$CyzͅBz$IIIW٢jH d=9%$C!! %G٣!y-W -? 5Nusing accuracyPremultiplier from config1]595?]5Y5(  i5iae@eA5GE5;5;55mB mD@m&Ekm/db㧜?km!i ki km7}&A:kmfxBBkmvBZkmc ?"mڬ:< DCPG@m䥔'9kz?JkmԿRkm^*meA*!B@mPI5@N+F@mJY?`Y;ؠ?^ؒb?"kmA*kmBkmFG?kmğ 2kmBkmSu?km^  kmBkmJjBkmL?e addTargetRange:: Added new target pos. range: 62.099998 m, deltaT: 3.782806 s, deltaX: -2.599998 m, approachRate: -0.687320 m/s, rangeRepo size: 4  Added new target pos. range: 62.099998 m, bearing: 31.197219 deg, lat: 36.905574 deg, lon: -122.119498 deg, deltaT: 3.782806 s, deltaX: -2.599998 m, approachRate: -0.687320 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 62.10 m.BjJj ProNav: ac range: 62.099998 m, nav range: 58.572472 m, bearing: 45.864771 deg, approach rate: 0.000000 m/s, LOS rate: -0.642187 deg/s, cmd heading: 123.980802 deg, new cmd heading: 123.282425 deg. 2jHeadingCmd: 2.151684 target range: 62.099998 and range: 62.10 m. j2 @jjjihhhhff frf O@bf@J%?zKmk3IKm9KiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:39:05.1902 KmW"Kmɛm$Bx= '?I )bɚiIeؖ=I2 @iiZ=)2 @)E-G>E- >*F2F:FBFJFGK=GyBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.ӏw,o&A2'0@Y2)O@2Q.92Hu$=y2HŎ@g45?~l? ajs`6???ɨ2'0@2;2#CyBʅBB$IIJIJͳ٢~c ~M=9~" G٣VGy d  > Nusing accuracyPremultiplier from config59=?5Y i%w,d&Ay~΅B~$I) A  Mb@Mb@Mb@ )Y7A`?S㥻?y&1|y6?/=`@ z@)7@I\@y@II٢7< >=9Q > G٣y > Nusing accuracyPremultiplier from config59⛜?5YY i8?:@ALE7;Will construct direction to contact in vehicle frame from tetrahedron phase data.;5B "@ (EZjDNOT Ignoring new targets: 62.10 m.Bj7?Jj 7?= ProNav: ac range: 62.099998 m, nav range: 58.597160 m, bearing: 45.266956 deg, approach rate: 0.039637 m/s, LOS rate: -0.668697 deg/s, cmd heading: 122.396676 deg, new cmd heading: 121.489522 deg. 2j=u弝EHeadingCmd: 2.120392 target range: 62.099998 and range: 62.10 m. jE@jAjAjAiAhIhIhqhuBfqfqfqrfybf}?ɛ(B_= ?I UɚiI'=I@ii̓>)@)JJ@A*Fi2Fi:FiBFm0JFi E$?IAGM = Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK h9K K X"K BK pA:K pAG! B1 OM >Aw,Qk&A2$@Y2&@2F}92t =y2H@Lư??3@}oX?`?r?ɨ2$@2A;2$CyNυBR$IIZIZ3٢bO; b\=9fl) -G٣1y5䄽 5> =Nusing accuracyPremultiplier from config9E59=ћ?E5Y=l i=IM^@MA=NE=:=:=f5Q U@QuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 62.10 m.BjTJjT ProNav: ac range: 62.099998 m, nav range: 58.607594 m, bearing: 44.997649 deg, approach rate: 0.028855 m/s, LOS rate: -0.744693 deg/s, cmd heading: 121.489517 deg, new cmd heading: 120.681797 deg. 2jHeadingCmd: 2.106295 target range: 62.099998 and range: 62.10 m. j@jjjihhhhfffrfbf@L?ɛ )B = f?I PɚiId=I@i!i%]=)%@)!E1*F2F:FBFP5JFG= Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GABQOm5>H<>I IB%II\BI# =&I.I6I<:Io FJJJJJJ :JJJJJcW;JdW; I IQ ˺w,G&A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750325: @Y: @:t(h9:lS=y:H@G<ծ?=>?`?䂠??ɨ: @:;:%Cy%ȅB%$IMb@Mb@Mb@ )Y|?5^?`"?Mby-?=@ M@)I@y=@IIV8٢ 9=96C G٣VGy > Nusing accuracyPremultiplier from config59 ?5Y5  iܫ 0? : @ AQE;#;E5B k@)EZjIDNOT Ignoring new targets: 62.10 m.Bj?Jj? ProNav: ac range: 62.099998 m, nav range: 58.623562 m, bearing: 44.709203 deg, approach rate: 0.037166 m/s, LOS rate: -0.671162 deg/s, cmd heading: 120.681793 deg, new cmd heading: 119.816758 deg. 2jN漝 HeadingCmd: 2.091197 target range: 62.099998 and range: 62.10 m. j ,@jjjihhh!h-ӁBfififqrfqbfu?ɛ+BЌ= [?I IɚiI'=IU,@iQiU=)U,@)Y*Fy2Fy:FyBF}%5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002285G >*J C="J p=G B O > = $?IA w,$'ABm"?YB8 @B@Q9B`` bG٣`yf: f> jNusing accuracyPremultiplier from confighn59j?n5Yj ij˫pr@rAjSEj;jg;j5vB vy@v,EZjDNOT Ignoring new targets: 62.10 m.Bj%@Jj%@5 ProNav: ac range: 62.099998 m, nav range: 58.634136 m, bearing: 44.463023 deg, approach rate: 0.028929 m/s, LOS rate: -0.673367 deg/s, cmd heading: 119.816763 deg, new cmd heading: 119.078399 deg. 2j5缝=HeadingCmd: 2.078310 target range: 62.099998 and range: 62.10 m. j=@jAjAjAiAhAhAhIhIfIfIfIrfQbfUU@ɛ,B= 隅?I DɚiI c=I@iinp=)@)*F?2F:FBF_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254574zKk3IKs9KKY"K&HRPLIEA=::9400-) RK ?JK ?G2>GBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507156w, 'A6?Y6ק @6G<96xx zG٣xy~ ! ~> Nusing accuracyPremultiplier from config 59V? 5Y i@AUE::¬5ZHRH@AH!I! I%5%II%RBI%$ =&I!.I!6I%ΰ<:I% F9 =@AZjimDNOT Ignoring new targets: 62.10 m.Bju>Jju> ProNav: ac range: 62.099998 m, nav range: 58.642704 m, bearing: 44.186543 deg, approach rate: 0.020686 m/s, LOS rate: -0.667417 deg/s, cmd heading: 119.078392 deg, new cmd heading: 118.249136 deg. 2j弝HeadingCmd: 2.063837 target range: 62.099998 and range: 62.10 m. j@jjjihhhhfffrfbf@ɛ.Bԛ= ?I #>ɚiI =I @i i߱=)@) Ih*F?2F:FBFJF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758461GM=GQGUqAG) B1 Oe >zw,:'AyB$IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:39:07.6745 TRx dataTimestamp_ set to:1736379548.980756checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011547Mb@Mb@Mb@ )Y}?5^I?x&?~jtyM"?7 >D@ d@) @I@y@IIƳ٢ /=9Q > G٣y > Nusing accuracyPremultiplier from config59{?5Y, i%?:@AWE;;Ĭ5 @/EZj)-DNOT Ignoring new targets: 62.10 m.Bj5O6Jj5O6E ProNav: ac range: 62.099998 m, nav range: 58.662933 m, bearing: 43.892583 deg, approach rate: 0.043889 m/s, LOS rate: -0.637548 deg/s, cmd heading: 118.249139 deg, new cmd heading: 117.367637 deg. 2jEڼUHeadingCmd: 2.048452 target range: 62.099998 and range: 62.10 m. jU@jQjQjQiQhYhYhYh]BfafafarfabfeU@ɛ5/B5= 15?I1 =8ɚ9i9I==IE@iAiEb>)E@)JJJJJJB:JJa@a@a@a@ $?I*F=?2F9:F9BFAJFA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262370zK% MK% 9K! K% Z"K% Ge =G9 BI Oe >w,T'AyɅB $I) AAI-I-W٢=~g= =S=99Q =>AA EG٣EVGyI M> UNusing accuracyPremultiplier from configQ]59U{?]5YU iUYYeAUYEU;U;UcƬ5i mG@iB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 62.10 m.Bj@4Jj@4 ProNav: ac range: 62.099998 m, nav range: 58.680923 m, bearing: 43.648331 deg, approach rate: 0.046442 m/s, LOS rate: -0.630347 deg/s, cmd heading: 117.367635 deg, new cmd heading: 116.635145 deg. 2jMؼHeadingCmd: 2.035667 target range: 62.099998 and range: 62.10 m. j`H@jjjihhhhfffrfbf` @ɛ0BΫ= 隥7?I S2ɚiIՏ=I`H@ii[>)`H@)Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 23:39:07.6745 LVL= 24736, 32753, 26018, 32755, AGC= 61, IDX= 409,-0.22, 2.894, 1.216, 2.375, 2.317, PHS= 0.665,-1.054, 0.055, RAW= 129.5, 4.5, CAL= 136.1, -2.0, ROT= 13.9, 2.0 =Ygot valid direction response: 23:39:07.6745 LVL= 24736, 32753, 26018, 32755, AGC= 61, IDX= 409,-0.22, 2.894, 1.216, 2.375, 2.317, PHS= 0.665,-1.054, 0.055, RAW= 129.5, 4.5, CAL= 136.1, -2.0, ROT= 13.9, 2.0 EPDAT read: Bearing 13.9, 2.0 (Local) M~Local bearing/azimuth received: Bearing 13.9, 2.0 (Local) *Fu?2Fq:FyBFyJFyG GrADAT read: Range 10 to 50 : 59.4 m (Round-trip 79.3 ms) speed 0.8 m/s ,DAT read: user:3412> BDAT read: Tx time:23:39:08.7910 $Ping request sent.i5=ǎ*v? \?_V?) *>II䟽ivrn:publishing transmit ping timeFpublishing direction and range info9.p ˿P7%῰~β?y )Ii )Iiǎ*v? \?_V?)IiG BO5q>HAIA IE#%IIEBBIE# =&IA.IA6IEɰ<:IE F Irw,Fn'A"Will construct direction to contact in vehicle frame from tetrahedron phase data."JDAT read: TxSync time:23:39:08.7902 yąB$IMb@Mb@Mb@ )Y333333?Dl?~jtxy?O >Ļ@ 7@) @I@y\@II٢ B=9Q > G٣y >  Nusing accuracyPremultiplier from config59Vk?5Y? i?:%@A[Ew;r;:Ȭ5%B %@%2Eke/V?kм k ku_'A:kmBBkkBZkcd>"Y)y@wG@.p ˿P7%῰~β?JkvRkrn*&0;B@.sC @gqtXG@":{?U+?3?"kRA*kBkk?kT4^ 2kBk(MPר?kwy kaBk MBk&? addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.528072 s, deltaX: -2.699997 m, approachRate: -0.765290 m/s, rangeRepo size: 4  Added new target pos. range: 59.400002 m, bearing: 12.779066 deg, lat: 36.905557 deg, lon: -122.119603 deg, deltaT: 3.528072 s, deltaX: -2.699997 m, approachRate: -0.765290 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 59.40 m.RjPowering the camera and arming the capture device at range: 59.40 m."jBjJj!NGsA ?YsAyB ProNav: ac range: 59.400002 m, nav range: 51.262039 m, bearing: 37.305709 deg, approach rate: 0.000000 m/s, LOS rate: -0.630347 deg/s, cmd heading: 116.635152 deg, new cmd heading: 115.798007 deg. 2jHeadingCmd: 2.021056 target range: 59.400002 and range: 59.40 m. jX@jjji"jhhhAhEBfAfAfArfM@3M@bfM £?ɛ2B7= 隽?I >+ɚiIL=IX@ii@:>)X@)#&Changing to mode: 2#Armed mode.E]>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.#2Commanding negative:54396*F?2F:FBFJFJ J J J J <:J J J $?I hG >G ?G "?G B O>Tw,'A>?Y>@>ϼ9>AH`5J}?`M?@ցߙ?P??ɨ>?>g;>&CyJŅBJ$IIVIV{٢b; bP=9bX=Q b>dd fG٣dyjcM j> nNusing accuracyPremultiplier from configlr59n]?r5Yn invpr@vAn]En:n:nɬ5zB zp@~0EZjDNOT Ignoring new targets: 59.40 m.Rj!%Powering the camera and arming the capture device at range: 59.40 m."j!Will construct direction to contact in vehicle frame from tetrahedron phase data.Bj&NJj&N ProNav: ac range: 59.400002 m, nav range: 51.292377 m, bearing: 37.037266 deg, approach rate: 0.081524 m/s, LOS rate: -0.720917 deg/s, cmd heading: 115.798003 deg, new cmd heading: 114.993208 deg. 2jaHeadingCmd: 2.007010 target range: 59.400002 and range: 59.40 m. jr@jjji)"j1h9h9h9h9fAfAfArfAbfE@?zKBHK+9KK["Kɛ3BhL= ?I %ɚiI5=Ir@iiu=)r@)*FU=2FY:FYBF]o0JFYG5 >G BO5p>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E >E @Hy Iy  I} %II} 8BI} $ =&Iy .Iy 6I} Z<:I} A FBIJIRIZI$ =bI$ =jI˯4Uw,<ڥ'A25 Ra=Ra=IV IVb3٢^= ^K=9b`` fG٣fVGyf f> jNusing accuracyPremultiplier from configh559jN?55Yj ijn9=8@=Aj_EjD]GQ GU oAG) B1 OU >] Will construct direction to contact in vehicle frame from tetrahedron phase data.'5w,ɿ'AR?YRɮ@R*9RUUz@ Q)QIUz@QyU@IeIe(*2٢}2= }>=9} G٣yn > Nusing accuracyPremultiplier from config59??5Y icj?:%@AaEw;;ͬ5 @ZjDNOT Ignoring new targets: 59.40 m.RjPowering the camera and arming the capture device at range: 59.40 m."jBjMJjM} ProNav: ac range: 59.400002 m, nav range: 51.345058 m, bearing: 36.465482 deg, approach rate: 0.057559 m/s, LOS rate: -0.716982 deg/s, cmd heading: 114.170314 deg, new cmd heading: 113.278862 deg. 2j}HeadingCmd: 1.977089 target range: 59.400002 and range: 59.40 m. jB?jjji"jhhhhBfffrfbfM?JJJ1JJJJ3JɛY]f= Ye? m$?IiIa )pɚiIE=IB?ii=)B?)E*F]92FY:FYBF]?5JFYG5)3>G BO5q>Will construct direction to contact in vehicle frame from tetrahedron phase data.թiթzKBoHK9KK\"Kqw,'A62?Y6s@6 S964̠B>$IIFMIF{4٢R< VY=9Z\  G٣ y K  > Nusing accuracyPremultiplier from config59q2?%5Y i]!%@%AcE::FϬ5) -<@1MB*** querying acoustic contact ***jIjIZjaeDNOT Ignoring new targets: 59.40 m.RjaePowering the camera and arming the capture device at range: 59.40 m."jiBjmEJjmE} ProNav: ac range: 59.400002 m, nav range: 51.363140 m, bearing: 36.196962 deg, approach rate: 0.046532 m/s, LOS rate: -0.690766 deg/s, cmd heading: 113.278865 deg, new cmd heading: 112.473645 deg. 2jHeadingCmd: 1.963035 target range: 59.400002 and range: 59.40 m. jD?jjji"jhhhhfffrfbf?ɛ5B= ?I `ɚiI=I%D?i!i%6@=)-D?))Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F72F:FBFP0JFGy=H)I) I-%II-3BI)&I).I)6I-<:I-v FGYBiO9> YIY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238265Bw,l'A25?Y29@2W 92;55d@ 5M@)57@I5d@1y1IUSIU4٢e5= e?=9m3,ii mG٣uVGyu< u> Nusing accuracyPremultiplier from config59A$?5Y iW?:@AeEn;;Ѭ5B @6EZjDNOT Ignoring new targets: 59.40 m.RjPowering the camera and arming the capture device at range: 59.40 m."jBj*FJj*F ProNav: ac range: 59.400002 m, nav range: 51.382660 m, bearing: 35.907776 deg, approach rate: 0.046794 m/s, LOS rate: -0.692995 deg/s, cmd heading: 112.473647 deg, new cmd heading: 111.606487 deg. 2jHeadingCmd: 1.947901 target range: 59.400002 and range: 59.40 m. jT?jjji"jhhhhсBfffrf bf @@ɛ6Bx= 1?I R ɚiI\=I T?i i =) T?)1*F/42F:FBFJFGpA GpA%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490460G%=G ?G?J% J% J% 0J! J% :J% ^:J% ـ3J! U $?IY G B O >L*w,F (A6-?Y65@6y 96dd fG٣dyj) j> nNusing accuracyPremultiplier from configlr59n{?r5Yn inStv@vAngEn<;n:nҬ5x z$@xZj!%DNOT Ignoring new targets: 59.40 m.Rj)-Powering the camera and arming the capture device at range: 59.40 m."j)Bj5}FJj5}FE ProNav: ac range: 59.400002 m, nav range: 51.397942 m, bearing: 35.642315 deg, approach rate: 0.039971 m/s, LOS rate: -0.694128 deg/s, cmd heading: 111.606486 deg, new cmd heading: 110.810394 deg. 2jE/MHeadingCmd: 1.934006 target range: 59.400002 and range: 59.40 m. jM?jIjIjIiI"jIhQhQhQhQfYfYfarfabfe@$@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742464ɛ 7B 50=  ?I  iɚiI=I=?iAiEy=)E?)AEUpAEUpAzKK9KK]"K*F32F:FBF_0JFGA=GBOA>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:23:39:11.2708 5 TRx dataTimestamp_ set to:1736379552.508579= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995296ZH! RH% ?AH- =>I)  I- #%II- BBI) &I) .I) 6I- :<:I- + F 9 IA 0U w,$'(A2[O?Y2F@2P2ܺ92m G٣y > Nusing accuracyPremultiplier from config59\ ?5YG iP@AjE;;Ԭ5B 8@9EZjuDNOT Ignoring new targets: 59.40 m.Rjq}Powering the camera and arming the capture device at range: 59.40 m."jBj&>Jj&>5 ProNav: ac range: 59.400002 m, nav range: 51.412544 m, bearing: 35.343501 deg, approach rate: 0.032505 m/s, LOS rate: -0.664961 deg/s, cmd heading: 110.810394 deg, new cmd heading: 109.914284 deg. 2j5-伝=HeadingCmd: 1.918366 target range: 59.400002 and range: 59.40 m. j=?j9j9j9i9"j9hAhAhahyffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247200frfbf`= @ɛ= ?I tɚ!i!I% =I-?i)i-g=)-?)1*F=/2F:FBF^0JFG =G G pAG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 23:39:11.2708 LVL= 20096, 25537, 25186, 30707, AGC= 62, IDX= 405,-0.14,-1.174,-2.574,-1.816,-1.609, PHS= 0.523,-0.917,-0.210, RAW= 119.4, 9.7, CAL= 127.8, 5.8, ROT= 22.2, -5.8 u Ygot valid direction response: 23:39:11.2708 LVL= 20096, 25537, 25186, 30707, AGC= 62, IDX= 405,-0.14,-1.174,-2.574,-1.816,-1.609, PHS= 0.523,-0.917,-0.210, RAW= 119.4, 9.7, CAL= 127.8, 5.8, ROT= 22.2, -5.8 } PDAT read: Bearing 22.2, -5.8 (Local) } ~Local bearing/azimuth received: Bearing 22.2, -5.8 (Local)  DAT read: Range 10 to 50 : 56.7 m (Round-trip 75.7 ms) speed 0.6 m/s  ,DAT read: user:3413> "[w,=~A(ABDAT read: Tx time:23:39:12.3910 $Ping request sent.i-T?-j-= W-^@--\-> -@)-4Q=I-a>i-4QϽ))-0US ?Z9 )XQ?)-o*I-R-i-^-ty))*:publishing transmit ping time*Fpublishing direction and range info)9-Ď|wӿGHؿn'?y)))) )))I)i))))) )))I)i)))-0US ?Z9 )XQ?))I)i)))) $?Ihy.B %IMb@Mb@Mb@ )Y}?5^I?Cl?Mb`?yM"?;=; @ )Iy½@I=OI= 4٢ma= m=9mQ u>qq uG٣uVGy} }> Nusing accuracyPremultiplier from config59L?5Y iJ$?:* @AlE?;D=;׬5 @7Ek-|.?k-\ k) k-@(A:k-bBBk-?aBZk-@"-xR_?1~5<?k-] 2k-Bk-FG?k-ğ k-Bk-.Bk-+> addTargetRange:: Added new target pos. range: 56.700001 m, deltaT: 3.527312 s, deltaX: -2.700001 m, approachRate: -0.765456 m/s, rangeRepo size: 4  Added new target pos. range: 56.700001 m, bearing: 348.649134 deg, lat: 36.905533 deg, lon: -122.119724 deg, deltaT: 3.527312 s, deltaX: -2.700001 m, approachRate: -0.765456 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 56.70 m.RjPowering the camera and arming the capture device at range: 56.70 m."jBjJj  ProNav: ac range: 56.700001 m, nav range: 43.671009 m, bearing: 25.267183 deg, approach rate: 0.000000 m/s, LOS rate: -0.664961 deg/s, cmd heading: 109.914286 deg, new cmd heading: 108.828933 deg. 2j HeadingCmd: 1.899423 target range: 56.700001 and range: 56.70 m. jM ?jjji1"j9hAhAhAhEBfIfIfIrfMYL@bfM?]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:39:12.3902 ɛ8B= ?I zɚiI#=IM ?ii#=)M ?)E?E?zKJKKK^"K*Fm +2Fq :Fq BFu [0JFq "G} =G} =G ü=GQByO>w,@`(A:Will construct direction to contact in vehicle frame from tetrahedron phase data.:=:C=R ?YR U?Rd;9R_ =yRHJTڿ&Y/?`*?Nڿ?`:l]?IQ IUB%IIU\BIQ&IQ.IQ6IUq<:IUR FmHeadingCmd: 1.884731 target range: 56.700001 and range: 56.70 m. jm>?jijqjqiq"jqhqhqhyhyfyfyfrfbf n?ɛ> ?I )ɚiIs{=I%>?i!i%%=)%>?))JeJeJaJaJe:JeB:JaJaJe;auJe;auJe#b;auJe$b;au yIy*F*2F:FBF0JFG%=GiBqO}>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.Iw,y(A6?Y6?6Rp;968D;y6HٿyLo?{L?@ٿAnw?n`sx??ɨ6?6f;6#CyRGBR)%I5Mb@Mb@Mb@111 1)1Y5x&?i|?5?~jtx?y57)?5=5;5d@ 57@)1I5M@1y5@IU'IU@3٢e= eG=9eJ9Q m>ii mG٣iyuʼ u> }Nusing accuracyPremultiplier from configy59}A᚜?5Y} i}D+?:Q @A}pE}3;};}Cڬ5 "@ZjDNOT Ignoring new targets: 56.70 m.RjPowering the camera and arming the capture device at range: 56.70 m."jBj }Jj } ProNav: ac range: 56.700001 m, nav range: 43.747425 m, bearing: 24.632630 deg, approach rate: 0.107295 m/s, LOS rate: -0.884882 deg/s, cmd heading: 107.987128 deg, new cmd heading: 106.927153 deg. 2jHeadingCmd: 1.866231 target range: 56.700001 and range: 56.70 m. j?jjji"jhhhhBfffrfbf]?ɛL= @I NּɚiI=I?ii=)?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992122*F'2F:FBF3JF $?IGL=G?G>G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244002$w,(Afg?Yf?f2;9f:& G٣VGy% %> -Nusing accuracyPremultiplier from config)559-՚?55Y-B i-A15 @=A-rE-c;-9;-۬5A E@AZjimDNOT Ignoring new targets: 56.70 m.RjiuPowering the camera and arming the capture device at range: 56.70 m."jqBjuyJjy ProNav: ac range: 56.700001 m, nav range: 43.787579 m, bearing: 24.290900 deg, approach rate: 0.102434 m/s, LOS rate: -0.870966 deg/s, cmd heading: 106.927151 deg, new cmd heading: 105.903017 deg. 2j o HeadingCmd: 1.848356 target range: 56.700001 and range: 56.70 m. j ?j jji"jh1h9h9h9f9fAfArfAbfE?ɛ9B?= @@I ɼɚiIP=I?ii =)?) E*F$2F:FBF 5JFG GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496016Hu=>Iq Iug%IIuzBIu# =&Iq.Iq6Iu<:Iu FG ea= q Iq J J J /J J J 9:J (N3J J J J X`;J Y`;G B OM >*w,(A ?YH?^;9B_d<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748318yH xؿ@م?[?vؿ@م? ҫw`?@?ɨ ?;$CygBP%IMb@Mb@Mb@ )Y/$?"~j?{Gzt?y&1?S=ף;@  @)z@I@yIKI4٢%P= -,=9- :Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM59E]ƚ?M5YEɰ iE?Mk3?U:U@UAEuEE;EI;Eެ5]B ]@]=EZjDNOT Ignoring new targets: 56.70 m.RjPowering the camera and arming the capture device at range: 56.70 m."jBjJj ProNav: ac range: 56.700001 m, nav range: 43.831112 m, bearing: 23.859099 deg, approach rate: 0.091469 m/s, LOS rate: -0.906365 deg/s, cmd heading: 105.903019 deg, new cmd heading: 104.609132 deg. 2jHeadingCmd: 1.825774 target range: 56.700001 and range: 56.70 m. j?jjji"j1h9h9h9h=/BfAfAfArfAbfM`Yw?) ɛ-G5Б=E5tA IY隍@  ZY5tAyOBI .Z @BɚiI,=I?iIiM)=)M?)Q*F/!2F:FBF25JF Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ ?՝ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000255G j= I II G B O >%2w,(AyzxB~e%IIIId4٢%= %c=9%Q ->)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=5?E5Y= EtIi==IIMA=wE=;=;=߬5 @;EZjDNOT Ignoring new targets: 56.70 m.RjPowering the camera and arming the capture device at range: 56.70 m."jBjxJj x ProNav: ac range: 56.700001 m, nav range: 43.865814 m, bearing: 23.531950 deg, approach rate: 0.092334 m/s, LOS rate: -0.869761 deg/s, cmd heading: 104.609135 deg, new cmd heading: 103.628568 deg. 2j:%HeadingCmd: 1.808660 target range: 56.700001 and range: 56.70 m. j%)?j)j)j)i)"j)h1h1h1h1f9f9f9rf9bf=@g@ɛim > im@Ii uɚqiqIui=I})?iyi}H >)})?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252296*FM@2FI:FQBFUP0JFYG]N=G!B9zKUBHKU9KQKU`"KUOeV> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505430L8w,(A2;?Y2;(?2+h<92 G٣VGyz > %Nusing accuracyPremultiplier from config!-59%X?-5Y% i%<)->@-A%yE%@:%:%a5HAIA IE%IIEBIA&IA.IA6IE<:IE FBI JI RI ZI bI jI m4eB e@e>E}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 56.70 m.RjPowering the camera and arming the capture device at range: 56.70 m."jBj(Jj( ProNav: ac range: 56.700001 m, nav range: 43.899124 m, bearing: 23.168910 deg, approach rate: 0.085516 m/s, LOS rate: -0.931319 deg/s, cmd heading: 103.628566 deg, new cmd heading: 102.540408 deg. 2jHeadingCmd: 1.789668 target range: 56.700001 and range: 56.70 m. j?jjji"jhhhhfffrfbf@ɛ$> v@I iɚiI=I ? =$?I=hJJJ0JJ:Jq:Jـ3JJ'<J(<Jk;Jk;iiW_>)?)*FE2FI:FIBFM_0JFM]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756334GM=G B O5 >u>w,w(A6D?Y6?6~-<96dBBu%I5Mb@Mb@Mb@111 1)1Y5I +?S㥻?y594?5/=55@ 1)1I5 @1y5 @II٢"= B=9r;Q > G٣y > Nusing accuracyPremultiplier from config59 ?5YН i@U6?:@A|Et;;95 #@ZjDNOT Ignoring new targets: 56.70 m.RjPowering the camera and arming the capture device at range: 56.70 m.lFinal approach. Armed for intercept at range: 56.70 m.\Transitioning guidance mode to: FINAL_APPROACH*j@Bj Jj  ProNav: ac range: 56.700001 m, nav range: 43.931004 m, bearing: 22.778982 deg, approach rate: 0.076392 m/s, LOS rate: -0.933687 deg/s, cmd heading: 102.540407 deg, new cmd heading: 101.371644 deg. 2j2 %HeadingCmd: 1.769269 target range: 56.700001 and range: 56.70 m. j%hw?j!j)j)i)h)h)h1h5\Bf1f1f9rf9bf=@ɛaeL> im @Iq uⳐɚqiqI}у=I}hw?iyi >)hw?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:39:14.8681 TRx dataTimestamp_ set to:1736379556.037079checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009530*F 2F :F BFJFG>G ?G? )I)GBOB>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260003]Ew,)AzK:IKػ9KKa"K yB{%II%I%6٢5e< 5Q=9=Q =>AA EG٣AyE E> UNusing accuracyPremultiplier from configIU59M?]5YMe iMCYY]AM~EM ;MX;M5a m@iZjDNOT Ignoring new targets: 56.70 m.RjBjTJjT ProNav: ac range: 56.700001 m, nav range: 43.962391 m, bearing: 22.417791 deg, approach rate: 0.080486 m/s, LOS rate: -0.925525 deg/s, cmd heading: 101.371646 deg, new cmd heading: 100.288983 deg. 2jHeadingCmd: 1.750373 target range: 56.700001 and range: 56.70 m. j9 ?jjjihhhhfffrfbfd- @ɛ > $ @I }ɚyiyIq=I9 ?ii >)9 ?)*Fm2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518160H=<>I9 I=%II=BI9&I9.I96I=l<:I=N F $?IG>JJJJJ<:J:JJJ5;J6;Jn;Jn;G B O >Kw,e0)A%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:39:14.8681 LVL= 24032, 32753, 25378, 32755, AGC= 64, IDX= 406,-0.29,-0.583,-2.038,-1.433,-0.999, PHS= 0.505,-0.992,-0.437, RAW= 111.5, 14.0, CAL= 119.8, 11.6, ROT= 30.2, -11.6 Ygot valid direction response: 23:39:14.8681 LVL= 24032, 32753, 25378, 32755, AGC= 64, IDX= 406,-0.29,-0.583,-2.038,-1.433,-0.999, PHS= 0.505,-0.992,-0.437, RAW= 111.5, 14.0, CAL= 119.8, 11.6, ROT= 30.2, -11.6 PDAT read: Bearing 30.2, -11.6 (Local) ~Local bearing/azimuth received: Bearing 30.2, -11.6 (Local) DAT read: Range 10 to 50 : 54.6 m (Round-trip 72.9 ms) speed 0.5 m/s ,DAT read: user:3414> BDAT read: Tx time:23:39:15.9911 $Ping request sent. %a@)%4QO>I%V?i%4QO!!%J''ŵ? UU¿x0?)%I%@zi%$%獿!!:publishing transmit ping timeFpublishing direction and range info!9%^^("׿t'ϿB?y!!!! !)!I!i!!!!! !)!I!i!!!%J''ŵ? UU¿x0?)!I!i!!!!yeBe%IMb@Mb@Mb@ )Yl?!rh?{Gzty7?l=ף@ )I7@yII ٢ <  =9 Q >q uG٣uVGyy }> Nusing accuracyPremultiplier from config59g?5Y͍ iN9?:D@AE;;r5B D@?Ek%@D?k%ϩ k! k%2)A:k%fZBBk%XBZk%q@"%2e4}h*oH@%^^("׿t'ϿB?Jk%$Rk%獿*%HV4@Y}'+ Y%ZH@%\f+?=Ͽ[m?"k%X*k%Ak%YO?k% M 2k%Bk%k?k%T4^ k%Bk%Bk% = addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 3.781678 s, deltaX: -2.100002 m, approachRate: -0.555310 m/s, rangeRepo size: 4  Added new target pos. range: 54.599998 m, bearing: 326.664557 deg, lat: 36.905518 deg, lon: -122.119859 deg, deltaT: 3.781678 s, deltaX: -2.100002 m, approachRate: -0.555310 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 54.60 m.RjBjJj ProNav: ac range: 54.599998 m, nav range: 39.427593 m, bearing: 6.435738 deg, approach rate: 0.000000 m/s, LOS rate: -0.925525 deg/s, cmd heading: 100.288986 deg, new cmd heading: 98.625652 deg. 2jHeadingCmd: 1.721342 target range: 54.599998 and range: 54.60 m. jT?jjji hQhQhQhUiBfYfYfYrf]LK@bfe`^G?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=  @I aYɚiI=I T?i i 4>) T?) E ?E >*F 2F :F BF _0JF G  G  I G z>GY Ba O} >pRw,[J)Ay B %III]٢U\ U=9QQ U/?YY eG٣aya 7? Nusing accuracyPremultiplier from config59~?5Y iSAE5;6;5 M@Zj9EDNOT Ignoring new targets: 54.60 m.RjABjuJju ProNav: ac range: 54.599998 m, nav range: 39.497875 m, bearing: 6.195253 deg, approach rate: 0.296287 m/s, LOS rate: -1.012006 deg/s, cmd heading: 98.625650 deg, new cmd heading: 97.905518 deg. 2j- HeadingCmd: 1.708774 target range: 54.599998 and range: 54.60 m. j ?j j jihhhhff9f9rfAbfE`E?ɛ;> <<隍 @I +4HɚiIR=I?ii?>)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.i*Fu2Fq:FyBF}5JFyzKKK9KKb"K  b5#{fTG;0' G *>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Xw,Pd)AJՍ?YJ?J$_<9J1=yJH;ӿr J?w?~ӿ XӚ?H䋿1??ɨJՍ?J2^;J%CHj=>Ih Ij%IIjֆBIh&Ih.Ih6Ij}<:IjZ Fy B %II%I%4٢-o< -N=958;Q 5>19 =G٣9y=Q E> MNusing accuracyPremultiplier from configAU59E1t?]5YE iE[Y]i@]AEEE`F;EF;E>5a m@i $?IhB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 54.60 m.RjBjJj ProNav: ac range: 54.599998 m, nav range: 39.598633 m, bearing: 5.809952 deg, approach rate: 0.263534 m/s, LOS rate: -1.005192 deg/s, cmd heading: 97.905516 deg, new cmd heading: 96.752721 deg. 2jv,HeadingCmd: 1.688654 target range: 54.599998 and range: 54.60 m. j%?jjjiYhahahahifififrfbf ?ɛ:B > <隽 @I +ɚiI{=I%?ii`%>)%?) *F92F9:FABFE@5JFI-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.GU(&>GB!O=>^w,<~)A2v.?Y2vl?2t<92=y2Hҿ? ? ҿ?8?N?ɨ2v.?2M;2$CyNBN%I-Mb@Mb@Mb@))) )))Y-Q?:v?{Gzty-5?-=)-z@ -7@)-@I))y-\@IEbIE٢U ;< ]G=9]T;Q ]>aa eG٣eVGye:ּ m> uNusing accuracyPremultiplier from configi}59mi?}5Ym{ ime}7?}:}@}AmEm;m;m5B @BEmWill construct direction to contact in vehicle frame from tetrahedron phase data.u>ua=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.235444ZjDNOT Ignoring new targets: 54.60 m.RjBjGJjG ProNav: ac range: 54.599998 m, nav range: 39.698795 m, bearing: 5.410218 deg, approach rate: 0.228897 m/s, LOS rate: -0.911186 deg/s, cmd heading: 96.752724 deg, new cmd heading: 95.556728 deg. 2jUHeadingCmd: 1.667780 target range: 54.599998 and range: 54.60 m. jy?jjj i h h hhuBfffrfbfz?ɛ> 隍 @I #ɚiI7C=Iy?iiY2>)y?)E iIi*FE2FA:FABFEO0JFA"GIGM>JK KKK"KJuJuJqJqJu:JuB:JqJqa@a@a@a@Gm=>GBOm> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487176ֺew,[)A6 ?Y6 ?6^{<96 h=y6H Bҿ-?y?9ҿn?p k??ɨ6 ?66v;6%Cy^B^%IIfIf=٢  O=9:Q >!! %G٣!y-$ּ -> 5Nusing accuracyPremultiplier from config1=595s_?=5Y55u i5oAE^@EA5E5;5b;55I M;@IZjquDNOT Ignoring new targets: 54.60 m.RjyBj}Jj} ProNav: ac range: 54.599998 m, nav range: 39.794373 m, bearing: 5.025528 deg, approach rate: 0.262485 m/s, LOS rate: -1.053935 deg/s, cmd heading: 95.556730 deg, new cmd heading: 94.405596 deg. 2j4zKo#NK59KKc"KHeadingCmd: 1.647689 target range: 54.599998 and range: 54.60 m. ju?jjjihhhhfffrfbfu=?ɛ;Bx>  @I   ɚi!I%}=I-u?i)i-:>)5u?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739166E#'=HI I%IIBI&I.I6I<:I_ F iImh*F52F1:F1BF54JF1G} =>U Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996927G B O>imw,$)A:?Y:?:<9:k G٣y > Nusing accuracyPremultiplier from config59S?5Yl iC6?:5?AE;;5 @?EZjDNOT Ignoring new targets: 54.60 m.RjBjJj ProNav: ac range: 54.599998 m, nav range: 39.907879 m, bearing: 4.551623 deg, approach rate: 0.231347 m/s, LOS rate: -0.963149 deg/s, cmd heading: 94.405597 deg, new cmd heading: 92.988232 deg. 2j@%HeadingCmd: 1.622951 target range: 54.599998 and range: 54.60 m. jڼ?jjjihhhhhBf f f rf bf@p@ɛ9=> 9E @II MG7ɚIiIIM{=IUڼ?iQiU1>)Uڼ?)YEV<*F2F:FBFP0JFGN;>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248038GBOl> $?I JE JE JA JA JE <:JE 9:JA JA sw,X)A:V?Y:V?:hi<9::hh jG٣jVGyn/ n> rNusing accuracyPremultiplier from configpv59rJ?v5Yr 隕A @I  aɚiI Ez=IF?iii5>)F?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499133EIEMqAzKK9KKd"KBK1:K1*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751623H <>I  I %II BI &I .I 6I <:I a F  I G :>G B O >zw,V)ARi?YRʧ?Rʍ<9RnV    G٣ y* > Nusing accuracyPremultiplier from config%59A?%5Y_ i!%?%AE. ;m ;]51 5@1UB*** querying acoustic contact ***jQjQZjY]DNOT Ignoring new targets: 54.60 m.RjaBje&Jje&u ProNav: ac range: 54.599998 m, nav range: 40.083866 m, bearing: 3.783688 deg, approach rate: 0.218393 m/s, LOS rate: -0.966227 deg/s, cmd heading: 91.886883 deg, new cmd heading: 90.689821 deg. 2ju%HeadingCmd: 1.582836 target range: 54.599998 and range: 54.60 m. j_?jjjihhhhfffrfbf \@ɛ=B;> @I ݺɚiIx=I_?ii}8>)_?)*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:39:18.4653 TRx dataTimestamp_ set to:1736379559.824136G7>=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009719G)B1OMS> |uA! Uc.YU|uAy]:'Bw,7*AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255003:0?Y:n?:<9:90?II UG٣QyU, U> eNusing accuracyPremultiplier from configYm59]8?m5Y] X i]Ϋu0?u:u?uA]E] Q;]P;])5 y@ I*J%R="J%a=J=J=J9J9J=\:J=K:J9J9ZjDNOT Ignoring new targets: 54.60 m.RjBjgJjg ProNav: ac range: 54.599998 m, nav range: 40.173065 m, bearing: 3.399479 deg, approach rate: 0.188052 m/s, LOS rate: -0.808196 deg/s, cmd heading: 90.689824 deg, new cmd heading: 89.539919 deg. 2j HeadingCmd: 1.562766 target range: 54.599998 and range: 54.60 m. j ?jjjihhhh^Bfffrf!bfEF @ɛ>BIJ > 隕@I D&9ɚiI$v=I?ii),:>)?)*F]2FY:FYBF]`0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 23:39:18.4653 LVL= 20112, 31905, 31122, 32755, AGC= 58, IDX= 411,-0.25, 0.249,-1.412,-0.602,-0.274, PHS= 0.611,-1.090,-0.330, RAW= 116.5, 11.0, CAL= 124.9, 7.6, ROT= 25.1, -7.6 5Ygot valid direction response: 23:39:18.4653 LVL= 20112, 31905, 31122, 32755, AGC= 58, IDX= 411,-0.25, 0.249,-1.412,-0.602,-0.274, PHS= 0.611,-1.090,-0.330, RAW= 116.5, 11.0, CAL= 124.9, 7.6, ROT= 25.1, -7.6 =PDAT read: Bearing 25.1, -7.6 (Local) =~Local bearing/azimuth received: Bearing 25.1, -7.6 (Local) EDAT read: Range 10 to 50 : 52.5 m (Round-trip 70.1 ms) speed 0.5 m/s U,DAT read: user:3415> UBDAT read: Tx time:23:39:19.5911 ]$Ping request sent.]  @)>IK>iZ;[?s hҮ-%.eZ?)R{IDixE :publishing transmit ping timeYM Fpublishing direction and range info9dG6Կj؃VտNS?y )Ii )G 5>IiZ;[?s hҮ-%.eZ?)IiGY Ba O} >zK5 }\KK5 9K1 K5 e"K5  RKE >JKE ?"w,-*A2?Y2B?2e%<92# G٣VGy/ => ENusing accuracyPremultiplier from configAM59EM0?M5YEYQ iEIM?MAEEE;E;E5 @k%B3렜?k%~^( k! k%,*A:k%RBBk%PBZk%.@"%ȩ:^ 1'1c8-y? `P{=ͿhzQ?"k%?*k%Ak%u?k%!`Q 2k%Bk%3>?k%] k%Bk%Bk%y¾@ addTargetRange:: Added new target pos. range: 52.500000 m, deltaT: 3.530348 s, deltaX: -2.099998 m, approachRate: -0.594842 m/s, rangeRepo size: 4  Added new target pos. range: 52.500000 m, bearing: 329.775975 deg, lat: 36.905431 deg, lon: -122.119998 deg, deltaT: 3.530348 s, deltaX: -2.099998 m, approachRate: -0.594842 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 52.50 m.RjBjJj ProNav: ac range: 52.500000 m, nav range: 32.205151 m, bearing: 341.553864 deg, approach rate: 0.000000 m/s, LOS rate: -0.808196 deg/s, cmd heading: 89.539921 deg, new cmd heading: 88.636177 deg. 2j5HeadingCmd: 1.546993 target range: 52.500000 and range: 52.50 m. j5?j1j1j1i1h9h9h9h9fAfAfArfE@J@bfE5 ?UWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:23:39:19.5903 ɛ?B> @I !;ɚ i I du=I?ii%9>)?)H9I9 I=%II=BI9&I9.I96I=<:I= FBIJIRIZI# =bI# =jIS4 $?Ih*F2F:FBF0JF"G=G=G:>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,7*A2b?Y2bP?2q=92 }W;y2H`!ƿ b@? ƿ`E&? 5j?`?ɨ2b?2K;0yB]BBC%I Mb@Mb@Mb@    ) Y {Gz?X9v? rhy #? = C  z@) @I  y Q@I%I%a٢ A=9l;Q > G٣y > Nusing accuracyPremultiplier from config59<(?5YJ i &?:?AE;;5B f@CEZjDNOT Ignoring new targets: 52.50 m.RjBj &Jj & ProNav: ac range: 52.500000 m, nav range: 32.377567 m, bearing: 341.178039 deg, approach rate: 0.448887 m/s, LOS rate: -0.973244 deg/s, cmd heading: 88.636178 deg, new cmd heading: 87.514858 deg. 2j&%HeadingCmd: 1.527422 target range: 52.500000 and range: 52.50 m. j%?j!j!j!i)h)h)h1h5HBf9f9f9rf9bf=@3?ɛe@Bm> im@Ii mc;ɚqiqIus=I}?iyi}=>)}?)*F2F:FBF?5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.m=m9? IG :>GBO >J1 J5 J1 J1 J1 J5 ^:J1 J1 3w,ǠQ*A65?Y64/?6% =96-2;y6H`2Ŀ,Y?O?iĿ)?cb|??ɨ65?6;6'Cy>QBV5%II^\I^W٢f~ fY=9f;Q f>hh jG٣hyn4 n> rNusing accuracyPremultiplier from configpv59rX!?v5YrD ir'tz?zArErb;r;rb5| ~&@Zj)-DNOT Ignoring new targets: 52.50 m.Rj)Bj5~Jj5~E ProNav: ac range: 52.500000 m, nav range: 32.529781 m, bearing: 340.840880 deg, approach rate: 0.404294 m/s, LOS rate: -0.891331 deg/s, cmd heading: 87.514859 deg, new cmd heading: 86.508223 deg. 2jEMHeadingCmd: 1.509853 target range: 52.500000 and range: 52.50 m. jMB?jIjQjQiQhQhQhYhYfYfafarfabfe?ɛAB>> 隝@I ף;ɚiI{r=IB?ii=>)B?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFzK} KK}59KyK}f"K}BK:KqAGU<>G1BIO}>m Will construct direction to contact in vehicle frame from tetrahedron phase data.H) I)  I- %II- ˆBI) &I) .I) 6I- <:I- F I ^w,Vk*A2?Y2'?2`X=92e TT VG٣ZVGyZ" Z> bNusing accuracyPremultiplier from config\b59^W?b5Y^> i^Gdf?fA^E^n:^:^!5h j@h~B*** querying acoustic contact ***j|j|Zj DNOT Ignoring new targets: 52.50 m.Rj BjJj% ProNav: ac range: 52.500000 m, nav range: 32.689655 m, bearing: 340.481365 deg, approach rate: 0.400103 m/s, LOS rate: -0.895321 deg/s, cmd heading: 86.508225 deg, new cmd heading: 85.435088 deg. 2j%-HeadingCmd: 1.491124 target range: 52.500000 and range: 52.50 m. j-#ݾ?j)j)j)i)h)h1h1h1f9f9f9rf9bfE V?ɛeBBmi> im @Ii u6;ɚiIiq=I#ݾ?iiH>@>)#ݾ?)*F!2F!:F)BF)JF1GUqA GUrAWill construct direction to contact in vehicle frame from tetrahedron 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 >Ew,V*AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751174:f9?Y:ew?:*=9:<BF%I AIAMb@Mb@Mb@ )Y$C?Q?Qy?=u7@ )I @y @II٢se :=9@ G٣yC > Nusing accuracyPremultiplier from config59B?5YU7 ii0?:?AER2;; 5 S@ZjDNOT Ignoring new targets: 52.50 m.RjBj%pJj%p5 ProNav: ac range: 52.500000 m, nav range: 32.854980 m, bearing: 340.110187 deg, approach rate: 0.376709 m/s, LOS rate: -0.841502 deg/s, cmd heading: 85.435087 deg, new cmd heading: 84.327303 deg. 2j5`=HeadingCmd: 1.471789 target range: 52.500000 and range: 52.50 m. j=c?j9j9j9iAhAhAhAhEBfIfIfIrfIbfUK[?ɛ]CBe> > i}?I y <ɚi I o=Ic?ii>>>)c?)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003207G% =>G B O% >pw,T5*AzK.K,K,K.g"K.RK6?JK6?B`?YB_?B)==9BDpp vG٣tyv!Z v> zNusing accuracyPremultiplier from configx~59z ?5Yz1 iz,?AzEz ;z ;z5 B (@FEZj1=DNOT Ignoring new targets: 52.50 m.Rj9Bj=rJj=rM ProNav: ac range: 52.500000 m, nav range: 32.993938 m, bearing: 339.790569 deg, approach rate: 0.370721 m/s, LOS rate: -0.849101 deg/s, cmd heading: 84.327305 deg, new cmd heading: 83.372582 deg. 2jMUHeadingCmd: 1.455126 target range: 52.500000 and range: 52.50 m. jA?jjjihhhhfffrfbf n@ɛ5DB] > Ye?Ia mN"<ɚiiiIhFn=IA?iiP|;>)A?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255312jHbH<HI I%IIBI 5$?I9&I.I6I<:I F*FM2FQ:FQBFU_0JFQJ J J J J |:J &:J J J >GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510325Ǟw, *AF5?YFs?FEN=9F֙Tqy }G٣}VGy}A9 }> Nusing accuracyPremultiplier from config59?5YS+ i?:?AE@:;{8;5 @DEZjDNOT Ignoring new targets: 52.50 m.RjBjcdJjcd ProNav: ac range: 52.500000 m, nav range: 33.141403 m, bearing: 339.450162 deg, approach rate: 0.347542 m/s, LOS rate: -0.798691 deg/s, cmd heading: 83.372581 deg, new cmd heading: 82.356015 deg. 2j HeadingCmd: 1.437384 target range: 52.500000 and range: 52.50 m. j0?jjjihhhhBfffrfbfF@ɛEB-s>  ?I ~Z=<ɚiIl=I0?i i `:>) 0?) *F2F:FBFf0JF"G=G)>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759078 IhGR&;>G B O >Bw,O*A6,?Y6+?6Q_=96%w? (f?X@??ɨ6,?6;6#CyjBj$III٢-E -O=95d.AA EG٣IyM:J M> eNusing accuracyPremultiplier from configYm59]?m5Y]w% i]Ԭimu?uA]E]h;]:]G5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝ABDAT read: Rx Time:23:39:22.0624 TRx dataTimestamp_ set to:1736379563.349030checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012606ZjDNOT Ignoring new targets: 52.50 m.RjBjcJjc ProNav: ac range: 52.500000 m, nav range: 33.277363 m, bearing: 339.128571 deg, approach rate: 0.338458 m/s, LOS rate: -0.797293 deg/s, cmd heading: 82.356017 deg, new cmd heading: 81.395282 deg. 2jHeadingCmd: 1.420616 target range: 52.500000 and range: 52.50 m. jֵ?jjjihhhhfffrfbf`K@ɛ> 隭 ?I b1V<ɚiIk=Iֵ?ii'8>)ֵ?)*FM2FI:FIBFM0JFIzKKK}9KKh"KGu:>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263324Gi Bq O >H I  I z%II BI &I .I 6I ̰< I :I FJ% J% J! J! J% :J% +:J! J! J% '<J% (<J% Ƅ;J% Ƅ;Tw,*AyB$III4٢= =:=9EQ E>AA MG٣IyM m> }Nusing accuracyPremultiplier from configq}59u?5Yu iuAuEu:u:u35 @B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 52.50 m.RjBj `Jj% `5 ProNav: ac range: 52.500000 m, nav range: 33.428986 m, bearing: 338.775854 deg, approach rate: 0.338349 m/s, LOS rate: -0.783518 deg/s, cmd heading: 81.395282 deg, new cmd heading: 80.342056 deg. 2j5nmHeadingCmd: 1.402233 target range: 52.500000 and range: 52.50 m. jmb|?jijijiiihqhqhqhqfyfyfyrfybf} @ɛeFBm> q}?IyWill construct direction to contact in vehicle frame from tetrahedron phase data. % Cq<ɚ)i)I-Ѝj=Ib|?ii`I>)b|?)UDAT read: 23:39:22.0624 LVL= 13888, 25457, 20418, 30531, AGC= 55, IDX= 412,-0.19,-0.787,-2.727,-2.277,-1.747, PHS= 1.049,-0.932,-0.532, RAW= 101.0, 4.6, CAL= 111.2, 2.8, ROT= 38.8, -2.8 ]Ygot valid direction response: 23:39:22.0624 LVL= 13888, 25457, 20418, 30531, AGC= 55, IDX= 412,-0.19,-0.787,-2.727,-2.277,-1.747, PHS= 1.049,-0.932,-0.532, RAW= 101.0, 4.6, CAL= 111.2, 2.8, ROT= 38.8, -2.8 ePDAT read: Bearing 38.8, -2.8 (Local) m~Local bearing/azimuth received: Bearing 38.8, -2.8 (Local) DAT read: Range 10 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.4 m/s =,DAT read: user:3416> MBDAT read: Tx time:23:39:23.1411 *F2F:FBFo0JFG GqAM$Ping request sent.ȿ:r2 Q?yؽ3IBعؽ@6ؽqc ٽO)ٽCwIٽ7iٽE?ٽnٽ'1ٽܢ?ٽl= ڽUl?)ڽ+H=Iڽ-\-?iڽ+Hڹڹ۽W(?voԿ X?)۽I۽Ai۽/۽w۹۹]:publishing transmit ping timeI]Fpublishing direction and range infoع9ؽYb>ȿ:r2 Q?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽W(?voԿ X?)۹I۹i۹۹۹۹G 7>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >w,<+A ,I,B@?YB?0?B:}=9B=ipYY ]G٣]VGy]: e> Nusing accuracyPremultiplier from config59?5Y$ i#6 ?:?AEQ;{;5 @k+ܑ?k!N k k*A:k3IBBkGBZkQЫ@": b#V0 -H@Yb>ȿ:r2 Q?Jk/Rkw*b@lL@W=f{k6uH@қ?}O)g;?"k7*k@k?kjs 2kDBkYO?kkBkAk*@ addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 3.530380 s, deltaX: -2.200001 m, approachRate: -0.623163 m/s, rangeRepo size: 4  Added new target pos. range: 50.299999 m, bearing: 307.631298 deg, lat: 36.905351 deg, lon: -122.119998 deg, deltaT: 3.530380 s, deltaX: -2.200001 m, approachRate: -0.623163 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 50.30 m.RjBjJj ProNav: ac range: 50.299999 m, nav range: 25.484930 m, bearing: 331.081495 deg, approach rate: 0.000000 m/s, LOS rate: -0.783518 deg/s, cmd heading: 80.342054 deg, new cmd heading: 79.341585 deg. 2jHeadingCmd: 1.384772 target range: 50.299999 and range: 50.30 m. j5@?j!j!j!i!h!h!h)h-Bf)f)f1rf5`f&I@bf5CV?ɛGBV> 隥]?I `Ņ<ɚiIqi=I5@?ii4>)5@?)*F52F9:F9BF=3JF9G &J<>mWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >w, +A6y?Y6xT?6=96;y6H@ ?z@ >v?`?k~aa?]@hx??ɨ6y?6V;6&CzKBKKB59K@KBi"KByJBJ$IIRIRF٢v2 ve=9v;Q v>xx zG٣xyz& ~> ]Nusing accuracyPremultiplier from configYe59];?e5Y] i]Gim?mA]E]:]\:]5q uJ@yZjDNOT Ignoring new targets: 50.30 m.RjBjΉJjΉ ProNav: ac range: 50.299999 m, nav range: 25.619587 m, bearing: 330.750597 deg, approach rate: 0.394295 m/s, LOS rate: -0.963822 deg/s, cmd heading: 79.341588 deg, new cmd heading: 78.354213 deg. 2j]%HeadingCmd: 1.367539 target range: 50.299999 and range: 50.30 m. j ?jjjihhhhfffrfbf?ɛZ#> ?I _<ɚ i I nh=I ?ii9:>) ?)Will construct direction to contact in vehicle frame from tetrahedron phase data. YIYHqIq IuN%IIufBIq&Iq.Iq6Iu<:Iu F*F2F:FBFP0JFJJJJJ :Jq:JJJ<J<Jk;Jk;GAG>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.) 5tA Ow Y5tAysB,<+Aye߅Be$I@ Mb@Mb@Mb@ )YT㥛 ?v/?Qy?x=u@ )E@I@iIsIy٢%iu %0=9-Q ->)) -G٣)y= => ENusing accuracyPremultiplier from configAM59E?M5YE  iErUV?U:U?UAEEE];E;E 5]B e@eEEZjDNOT Ignoring new targets: 50.30 m.RjBjKoJjKo ProNav: ac range: 50.299999 m, nav range: 25.777798 m, bearing: 330.369812 deg, approach rate: 0.349840 m/s, LOS rate: -0.836828 deg/s, cmd heading: 78.354216 deg, new cmd heading: 77.219031 deg. 2jHeadingCmd: 1.347726 target range: 50.299999 and range: 50.30 m. jL?jjjihhhhfffrfbf?ɛ9 > ?I <ɚ i I CXg=IL?iiK>)L?)*F}2Fy:FyBFyJFyUWill construct direction to contact in vehicle frame from tetrahedron phase data.G]?>Ge?Ge? IG)B1O]c>w,ްT+A6?Y6?68=96EInInT٢vc vm=9zʼn Z?I ̦<ɚiIcf=I?ii7>)?)*FQ2FQ:FQBFU_0JFQzK]JK9KKj"K>H?4, G4:>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.E?b? 5 $?I5 hHa Ia  Ie %IIe 8BIa &Ia .Ia 6Ie <:Ie v FBIJIRIZIbIjIfr4J J J 1J J ̶:J K:J 3J J ;J ;J c;J c;aw,n+AB?YB#?B=9BqO!! %G٣!y%w[ -> UNusing accuracyPremultiplier from configI]59M陜?]5YM iMY]?]AMEM:M :M 5a @ZjDNOT Ignoring new targets: 50.30 m.RjBjrJjr ProNav: ac range: 50.299999 m, nav range: 26.032547 m, bearing: 329.714755 deg, approach rate: 0.327689 m/s, LOS rate: -0.848813 deg/s, cmd heading: 76.335704 deg, new cmd heading: 75.263783 deg. 2j HeadingCmd: 1.313601 target range: 50.299999 and range: 50.30 m. j$?jjjihhhhf!f!f!rf!bf% m?ɛ>  #=隽?I vt<ɚiIpe=I$?ii#7>)$?)]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%2F):F)BF)JF1G] 7>G9 BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.  I ww,i+AyrąBr$I}} }Mb@Mb@Mb@yyy y)yY}Cl?&1?~jty}d>}=}D}@ y)}\@I}ݸ@yy}=@II٢3 B=9Q > G٣y > Nusing accuracyPremultiplier from config59晜?5Y ij?:?AE+;{;5 @B*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 50.30 m.Rj Bj TtJjTt ProNav: ac range: 50.299999 m, nav range: 26.165155 m, bearing: 329.363001 deg, approach rate: 0.323760 m/s, LOS rate: -0.854440 deg/s, cmd heading: 75.263781 deg, new cmd heading: 74.213990 deg. 2jHeadingCmd: 1.295278 target range: 50.299999 and range: 50.30 m. j˥?jjjihhhhρBfffrfbf`Q@ɛAES> IM?II z<ɚiId=I˥?ii`H>)˥?)*Fy2Fy:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.Ge y~7>Gi Gm qAG9 BI Oe >3,w,RG+A6~?Y6]?6]=96X|BB$I)D DIJIJ ٢R഼ R\=9VTT ZG٣ZVGyZi Z> fNusing accuracyPremultiplier from config`j59b䙜?j5Yb ibhj!?nAbEb;bK;bX5p r@pZj  DNOT Ignoring new targets: 50.30 m.Rj BjvJjvzKLK9KKk"K ProNav: ac range: 50.299999 m, nav range: 26.278580 m, bearing: 329.040510 deg, approach rate: 0.304993 m/s, LOS rate: -0.863418 deg/s, cmd heading: 74.213987 deg, new cmd heading: 73.250786 deg. 2j#HeadingCmd: 1.278467 target range: 50.299999 and range: 50.30 m. jҤ?jjjihhhhfffrfbfD@ɛ> ?I D<ɚiIkc=I Ҥ?i iY.>)Ҥ?) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690139HI I$IIBI&I.I6I<:In F*F2F:FBF|2JFG:>GiBO@>JJJJJ|:JU:JJJ<J<Je;Je; Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:39:25.6101  TRx dataTimestamp_ set to:1736379566.880660 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.942635tZw,3+AyMBU$IMb@Mb@Mb@ )Ygfffff?~jt?~jty3>= @)r@I@y@II=س٢n* 5=9Q > G٣y %> -Nusing accuracyPremultiplier from config)559-♜?55Y- i-<=1>=:=o?=A-E-@;-o;-Q5A E.@AZjDNOT Ignoring new targets: 50.30 m.RjBjmfJjmf ProNav: ac range: 50.299999 m, nav range: 26.411165 m, bearing: 328.665830 deg, approach rate: 0.286588 m/s, LOS rate: -0.805813 deg/s, cmd heading: 73.250787 deg, new cmd heading: 72.132540 deg. 2jA HeadingCmd: 1.258950 target range: 50.299999 and range: 50.30 m. jI%?jjjihhAhIhM܁BfIfIfIrfQbfUy @ɛֆ> k?I <ɚiIb=II%?ii% D>)%I%?)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193578EE9=JJAA*F 2F :F BF ^0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:39:25.6101 LVL= 14384, 25041, 19090, 28019, AGC= 57, IDX= 420,-0.35, 0.698,-1.327,-1.173,-0.467, PHS= 1.253,-0.813,-0.709, RAW= 92.6, 2.7, CAL= 100.6, 0.5, ROT= 49.4, -0.5  Ygot valid direction response: 23:39:25.6101 LVL= 14384, 25041, 19090, 28019, AGC= 57, IDX= 420,-0.35, 0.698,-1.327,-1.173,-0.467, PHS= 1.253,-0.813,-0.709, RAW= 92.6, 2.7, CAL= 100.6, 0.5, ROT= 49.4, -0.5  PDAT read: Bearing 49.4, -0.5 (Local)  ~Local bearing/azimuth received: Bearing 49.4, -0.5 (Local)  DAT read: Range 10 to 50 : 48.6 m (Round-trip 64.8 ms) speed 0.3 m/s  ,DAT read: user:3417>  BDAT read: Tx time:23:39:26.6912  $Ping request sent. G ?G ?G BO-?0w,%+A%h?Y%?%=9%Ny G٣y > Nusing accuracyPremultiplier from config}59\ᙜ?5Yu ir_?AE8<M<5B @CEk!Q?kfE( k k+A:kfBBBkABZk5u@"XaO! @/xH@~aObS۰?Aj͜?Jk-@RkG*M1RdFP AE?IA Ek<ɚIiI'b=I3?ii_2>)3?) I Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:39:26.6904 H!I! I%$II%BI!&I!.I!6I%<:I%x FE$=*F 2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. i G{C>GBO?w,D+Ay5B5$IMb@Mb@Mb@ )YʡE?Mb?~jtxy->=Ļ@ )@I @y@IkI ٢% =9Q > G٣VGy >  Nusing accuracyPremultiplier from config 59 ߙ?5Y  i >:?A E ; 2; 5! %'@!ZjDNOT Ignoring new targets: 48.60 m.RjBjV}JjV} ProNav: ac range: 48.599998 m, nav range: 25.819294 m, bearing: 326.541133 deg, approach rate: 0.303839 m/s, LOS rate: -0.885931 deg/s, cmd heading: 70.813694 deg, new cmd heading: 69.470455 deg. 2jHeadingCmd: 1.212488 target range: 48.599998 and range: 48.60 m. j2?j!j!j!i!h!h)h)h-Bf)f1f1rf9bf=U?ɛam> im?Ii mL<ɚiiqIu1a=Iu2?iyi}I>)}2?)yEE*E"E IIMhWill construct direction to contact in vehicle frame from tetrahedron phase data.JQJUJQJQJQJU:JQJQa]@a]@a]@a]@*F2F:FBFY0JFG |8>GY Ba O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.w,),A6y?Y6?6N=96y(MDžB>$IIJIJK٢R]B= Rb=9V}XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59bߙ?f5Yb2 ibɮdf?jAbEbK ;b ;bu5l n@luB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 48.60 m.RjBj{Jj{ ProNav: ac range: 48.599998 m, nav range: 25.917768 m, bearing: 326.223485 deg, approach rate: 0.274124 m/s, LOS rate: -0.880874 deg/s, cmd heading: 69.470455 deg, new cmd heading: 68.521225 deg. 2j"HeadingCmd: 1.195921 target range: 48.599998 and range: 48.60 m. j?jjjihhhhfffrfbf`(?ɛmGBms"> qu?Iq u<ɚqiqI}Ji`=I}?iyi6#>)?)E*F!2F!:F!BF%p1JF!G|!3>GqAGGBO J>zK5K59K1K5m"K5 1I1ZHRHH;>I 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 ******Querying Benthos address 50 with one ping in standard two-way mode.# w,2,A:z;?Y:xy?:&=9:lX\ ^G٣\y^2 b> fNusing accuracyPremultiplier from config`f59bߙ?j5Yb ibhj?jAbEb:b:b85p r@pZj DNOT Ignoring new targets: 48.60 m.RjBjPJjP- ProNav: ac range: 48.599998 m, nav range: 26.025391 m, bearing: 325.868957 deg, approach rate: 0.277831 m/s, LOS rate: -0.911436 deg/s, cmd heading: 68.521223 deg, new cmd heading: 67.462165 deg. 2j-`5HeadingCmd: 1.177437 target range: 48.599998 and range: 48.60 m. j5A?j1j1j1i1h1h1hAhAfAfAfIrfIbfM y隅?I =ɚiI_=IA?ii)>)A?)*F2F:FBF 5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502749GGBO> 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750444'w,L,A:\?Y:皬?:=9:^y9=D@ @)@Iy@IIJ٢ 7=9Q;Q > G٣VGy)L %> -Nusing accuracyPremultiplier from config!M59%?U5Y%F i%Uc>]:]?eA%E%<;%;%/5i mg@ZjDNOT Ignoring new targets: 48.60 m.RjBj ~Jj ~ ProNav: ac range: 48.599998 m, nav range: 26.142405 m, bearing: 325.455996 deg, approach rate: 0.252866 m/s, LOS rate: -0.888402 deg/s, cmd heading: 67.462168 deg, new cmd heading: 66.229031 deg. 2jlHeadingCmd: 1.155915 target range: 48.599998 and range: 48.60 m. j?jjji!h!h!hihmBfififirfqbfu`?ɛFB@> ?I  =ɚiII^=I?iik_(>)?)*F2F:FBFD5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002454G e*>G B O >"5w,f,AF?YF?FS=9F  G٣ y c  > Nusing accuracyPremultiplier from config59uᙜ?5Y iE!%?%AEu ; ;5) -j@)HM<>II IM$IIMBII&II.II6IMm<:IMP FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255438ZjDNOT Ignoring new targets: 48.60 m.RjBj:Jj:e ProNav: ac range: 48.599998 m, nav range: 26.236006 m, bearing: 325.116585 deg, approach rate: 0.255956 m/s, LOS rate: -0.924819 deg/s, cmd heading: 66.229032 deg, new cmd heading: 65.214541 deg. 2jeHeadingCmd: 1.138209 target range: 48.599998 and range: 48.60 m. jѰ?jjjihhhhfffrfbf q@ɛ)-/'> IU?IQ Ud=ɚQiQIU^=I]Ѱ?iYi]%>)]Ѱ?)a*F2F:FBFP0JF"G=G=5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506996E c~Ge |uAGU a)>q @Y |uAy BGU ?GU #?G! BQ O >= w,z,Ay ߅B $Ii4>I=Mb@Mb@Mb@ )YS㥛?Mb?Mbpy?=/@ @)&@I @yQ@II٢< >=9Q > G٣y > Nusing accuracyPremultiplier from config59♜?5Y iv?:?AE@#; ; 5 @AEZjaeDNOT Ignoring new targets: 48.60 m.RjaBjmJju5 ProNav: ac range: 48.599998 m, nav range: 26.354151 m, bearing: 324.696651 deg, approach rate: 0.276844 m/s, LOS rate: -0.979590 deg/s, cmd heading: 65.214544 deg, new cmd heading: 63.960603 deg. 2j5(=HeadingCmd: 1.116323 target range: 48.599998 and range: 48.60 m. j=?j9j9j9i9hAhAhAhEKBfIfIfirfibfu@E@ IɛEBY#> ?I =ɚiIB]=I?ii:>)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս>Ս<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758941*F2F:FBFO0JFJJJJJ\:J:JJG i&>G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:23:39:29.1584 E TRx dataTimestamp_ set to:1736379570.408640M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011393F&w,S,AzÈ?Yz?z=9z G٣VGyƽ > Nusing accuracyPremultiplier from config59p䙜?5Y i?AE ; ;l"5 @ B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 48.60 m.RjBjJj%- ProNav: ac range: 48.599998 m, nav range: 26.458136 m, bearing: 324.300985 deg, approach rate: 0.263782 m/s, LOS rate: -0.999746 deg/s, cmd heading: 63.960603 deg, new cmd heading: 62.778447 deg. 2j5+=HeadingCmd: 1.095691 target range: 48.599998 and range: 48.60 m. j=??j9j9j9i9h9hAhAhAfAfIfIrfIbfM@ɛy}w2> y})?Iy =ɚiIn\=I??iiT'>)??)*F2F:FBF_0JFGSI*>GBO>> IzKPKs9KKo"KJR`_TI317::97<FSO<(  'to>RK?JK ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263007HiIi Im$IImBIi&Ii.Ii6Im<:Imm FBIJIRIZIbIjIǜ3w,w,kJ,A=iU?Y=f?=x=9= G٣y; >  Nusing accuracyPremultiplier from config 59 晜?5Y b i ԯ?A žE L: : ;$5! %@!ZjIMDNOT Ignoring new targets: 48.60 m.RjIBjUJjUm ProNav: ac range: 48.599998 m, nav range: 26.563435 m, bearing: 323.890607 deg, approach rate: 0.255212 m/s, LOS rate: -0.990679 deg/s, cmd heading: 62.778447 deg, new cmd heading: 61.552389 deg. 2jm)uHeadingCmd: 1.074292 target range: 48.599998 and range: 48.60 m. jue?jqjqjqiqhyhyhyhyfffrfbf @ɛDBV*> 隵s?I T#=ɚiI,[=Ie?iiU+>)e?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:39:29.1584 LVL= 10656, 26081, 17970, 26019, AGC= 54, IDX= 420,-0.44,-1.434,-3.029, 2.954,-2.327, PHS= 0.981,-0.655,-1.005, RAW= 80.5, 7.5, CAL= 85.4, 9.1, ROT= 64.6, -9.1  Ygot valid direction response: 23:39:29.1584 LVL= 10656, 26081, 17970, 26019, AGC= 54, IDX= 420,-0.44,-1.434,-3.029, 2.954,-2.327, PHS= 0.981,-0.655,-1.005, RAW= 80.5, 7.5, CAL= 85.4, 9.1, ROT= 64.6, -9.1 *FU2FY:FYBFe`0JFaPDAT read: Bearing 64.6, -9.1 (Local) ~Local bearing/azimuth received: Bearing 64.6, -9.1 (Local) =DAT read: Range 10 to 50 : 47.3 m (Round-trip 63.1 ms) speed 0.0 m/s M,DAT read: user:3418> BDAT read: Tx time:23:39:30.2412 $Ping request sent. ɾ?)">IZQ?i"Ul`{?Rd@. GG I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:39:30.2404 \3w,Y,AR+?YRh?R=9RIi mG٣iyu% u> }Nusing accuracyPremultiplier from configy59}<陜?5Y}G i}?:?A}ĞE};};}&5 @k5?k5n- k1 k5a,A:k53=BBk5;BZk5loN@"5Ԅ)#hBU)@I`T8F@5)2ʿ7UAk?[L7?Jk5D@Rk5R*5l+)\lZo gF@5] Epѿ&{(*?"k5Ԋ*k55Nk5΍-?k5; 2k5Bk5?k5js k5Bk5+2Ak5^@] addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 3.529403 s, deltaX: -1.299999 m, approachRate: -0.368334 m/s, rangeRepo size: 4  Added new target pos. range: 47.299999 m, bearing: 184.810442 deg, lat: 36.905195 deg, lon: -122.119930 deg, deltaT: 3.529403 s, deltaX: -1.299999 m, approachRate: -0.368334 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 47.30 m.RjBjJj ProNav: ac range: 47.299999 m, nav range: 11.135509 m, bearing: 297.098526 deg, approach rate: 0.000000 m/s, LOS rate: -0.990679 deg/s, cmd heading: 61.552388 deg, new cmd heading: 60.254376 deg. 2jHeadingCmd: 1.051637 target range: 47.299999 and range: 47.30 m. j ?jjjihhhh}Bfffrf `fG@bf ?ɛp'> 隥?I [*=ɚiICZ=I ?ii+o0>) ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq2Fq:FyBF}_0JFyGU.>G)B9OU>˃9w,u,A I:hE?Y:e?:=9:fzK%\MK%}9K!K%p"K%",562.)&" BKI:KIeWill construct direction to contact in vehicle frame from tetrahedron phase data.ii mG٣uVGy! > Nusing accuracyPremultiplier from config59뙜?5Yɵ i02?AƞE=;;'5 @HI I$IIBI&I.I6I<:I FZj)5DNOT Ignoring new targets: 47.30 m.Rj1Bj=Jj=M ProNav: ac range: 47.299999 m, nav range: 11.307715 m, bearing: 296.477558 deg, approach rate: 0.470274 m/s, LOS rate: -1.669923 deg/s, cmd heading: 60.254378 deg, new cmd heading: 58.420507 deg. 2jMAUHeadingCmd: 1.019630 target range: 47.299999 and range: 47.30 m. jU>?jQjYjYiYhYhYhahafafafarfibfmT3?ɛImm8> iu?Iq u/=ɚqiqIuY=I}>?iyi}_@>)}>?)*F!2F):F)BF-I1JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.G V+>G B OE >gk@w,z-A2?Y2??2x=92Jyy G٣yb4 > Nusing accuracyPremultiplier from config59#?5Y ic>?:?AȞE;;s)5B @?EZjDNOT Ignoring new targets: 47.30 m.RjBj>Jj> ProNav: ac range: 47.299999 m, nav range: 11.498875 m, bearing: 295.787718 deg, approach rate: 0.487299 m/s, LOS rate: -1.729250 deg/s, cmd heading: 58.420507 deg, new cmd heading: 56.386295 deg. 2jXHeadingCmd: 0.984127 target range: 47.299999 and range: 47.30 m. j{?jjjihhh h Bf f frfbf ?ɛ9E!:> AE0?IA E5=ɚIiIIMhX=IM{?iQiUjO>)U{?)YEa $?Ih*F2F:FBF5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.GH1>G?G>GBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data.Fw,-A6f{?Y6??6-6=967׬B>$IiBR=IB<IJXIJ㔴٢RI RX=9RdQ V>TT VG٣TyZD Z> ~Nusing accuracyPremultiplier from config\59^?5Y^ i^ g? A^ɞE^;^;^+5B @ AE?IA E<=ɚAiAIE\W=IM[w?iIiM'fL>)Uqs?)q*F 2F :F BF O0JF  IzK5%MK59K1K5q"K5RKM?JKM?Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I$II$BI&I.I6I<:I FGmLA>>GI Ba O} >Jm Jm Jm 1Ji Jm \:Jm ^:Jm 3Ji Jm || G٣VGy.A >  Nusing accuracyPremultiplier from config 59 ?5Y  i ʰ?A ˞E K ;  ; ,5! %@)MB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 47.30 m.RjYBjeJjeu ProNav: ac range: 47.299999 m, nav range: 11.873343 m, bearing: 294.439679 deg, approach rate: 0.490043 m/s, LOS rate: -1.735164 deg/s, cmd heading: 54.485819 deg, new cmd heading: 52.408270 deg. 2juڔHeadingCmd: 0.914697 target range: 47.299999 and range: 47.30 m. j)j?jjjihhhhf f f rf bf  ?ɛn 7> 隅?I wB=ɚiIV=Il?iij`>))j?)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F-2F):F)BF)JF)G-G>G!BIO[> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.164581Sw,TO-A63q?Y6?6 h=96b G٣y4 > Nusing accuracyPremultiplier from config59Y?5Y i ?:ĭ?A͞E;;.5 @ZjDNOT Ignoring new targets: 47.30 m.RjBjJj ProNav: ac range: 47.299999 m, nav range: 12.082343 m, bearing: 293.705563 deg, approach rate: 0.495865 m/s, LOS rate: -1.711563 deg/s, cmd heading: 52.408270 deg, new cmd heading: 50.245104 deg. 2jԒHeadingCmd: 0.876943 target range: 47.299999 and range: 47.30 m. jN`?jj j i h h hhBfffrfbf%@ɛ@8> ?I H=ɚiIU=IN`?iixDz>)N`?)*Fu2Fq:FqBFuX0JFqG}pA GyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.416740GK>GpAGG B O > I Yw,8i-Ab(m?Yb{Ғ?b~=9bWЅII MG٣IyUX4 U>HU=>IQ IU%IIU)BIQ&IQ.IQ6IU<:IU FzKmKm9KiKmr"Km   Nusing accuracyPremultiplier from config59"?5Y iE?AϞE ; ;05 4@ZjDNOT Ignoring new targets: 47.30 m.RjBjJj󼝊 ProNav: ac range: 47.299999 m, nav range: 12.281647 m, bearing: 293.009927 deg, approach rate: 0.496921 m/s, LOS rate: -1.706233 deg/s, cmd heading: 50.245105 deg, new cmd heading: 48.192991 deg. 2j_HeadingCmd: 0.841126 target range: 47.299999 and range: 47.30 m. jTW?jjjihhhhfffrfbfZ@ɛ!-hS>> )-"?I) N=ɚiIT=I/Y?ii~>)TW?)J5J5J50J1J5|:J5q:J5ـ3J1J5<J5<J5k;J5k;*FY2FY:FYBF]_0JFaG=R>GBOL>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:39:32.7074 TRx dataTimestamp_ set to:1736379573.936622checking for new query: numPingsReceived=0, elapsed TxPingTime=2.921610V`w,-Ay~ B~$IMb@Mb@Mb@ )Y-?HzG?:vy5?= >T@ @)@I@y@II-٢C @=9Q > G٣VGy > Nusing accuracyPremultiplier from config59? 5Yҏ i !? : ? AўE0;;V25 V@:EZjAEDNOT Ignoring new targets: 47.30 m.RjABjMdJjMd缝] ProNav: ac range: 47.299999 m, nav range: 12.499008 m, bearing: 292.318745 deg, approach rate: 0.517969 m/s, LOS rate: -1.618393 deg/s, cmd heading: 48.192992 deg, new cmd heading: 46.156413 deg. 2j]֊eHeadingCmd: 0.805581 target range: 47.299999 and range: 47.30 m. je:N?jaja yI}hjiiyhyhhhBfffrfbf@: @ɛEB\8> 隽f?I (lU=ɚiI{S=I:N?ii >):N?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.172918*FQ2FQ:FQBF]o0JFYG%4Hs>GB!OEQ> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 46.5 m (Round-trip 62.1 ms) speed 0.2 m/s  ,DAT read: user:3419>  BDAT read: Tx time:23:39:33.7912  $Ping request sent. BB$IIFIF٢] eH=9eQ e>ii mG٣iymv u> Nusing accuracyPremultiplier from config59 ?5Y7 iƱ*?AԞE;%;"45 @- addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 3.525334 s, deltaX: -0.799999 m, approachRate: -0.226929 m/s, rangeRepo size: 4 Zj)=DNOT Ignoring new targets: 47.30 m.Rj9Bj=Jj=弝M ProNav: ac range: 47.299999 m, nav range: 12.708452 m, bearing: 291.631954 deg, approach rate: 0.498740 m/s, LOS rate: -1.608434 deg/s, cmd heading: 46.156414 deg, new cmd heading: 44.130891 deg. 2jU]HeadingCmd: 0.770229 target range: 47.299999 and range: 46.50 m. j]-E?jYjYjYiYhYhahahafafifirfm@G@bfu`Υ?ɛn8> d?I [=ɚiIR=I  H?ii)-E?)*Fy2Fy:FyBF0JF"G>G,> IjH<bHHI I$II$BI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:39:33.7904 zKq:MK9KKs"KG3x>G?G,?G B J J J J J :J U:J J J 4<J 4<J e;J e;O > PExceeded connect timeout, disconnecting.f^mw,-A)D Db_?YbO.?v~Gb)=9b G٣y* > Nusing accuracyPremultiplier from config59?5Y i?A֞E;;55 @B*** querying acoustic contact ***jjZj)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.MDNOT Ignoring new targets: 47.30 m.RjIBjUkJjUke ProNav: ac range: 47.299999 m, nav range: 12.918205 m, bearing: 290.947485 deg, approach rate: 0.517277 m/s, LOS rate: -1.660536 deg/s, cmd heading: 44.130890 deg, new cmd heading: 42.111709 deg. 2jesmHeadingCmd: 0.734988 target range: 47.299999 and range: 46.50 m. jm,( QU*?IQ e7:b=ɚaiaIQ=I,(G9BAOew> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756466Dtw,~-AJ.@AJ.@A2 [?Y2lj?2qf=92preje@ a)e@Ie@aye@IId٢4 N=97Q > G٣VGyA > Nusing accuracyPremultiplier from config591?5YF| iKg"?:?A؞ES;;75 K@7EZjDNOT Ignoring new targets: 47.30 m.RjBjNJjN缝 ProNav: ac range: 47.299999 m, nav range: 13.119134 m, bearing: 290.297140 deg, approach rate: 0.507611 m/s, LOS rate: -1.617784 deg/s, cmd heading: 42.111709 deg, new cmd heading: 40.191317 deg. 2jȊHeadingCmd: 0.701471 target range: 47.299999 and range: 46.50 m. j3?jjjihhhĥBfffrfbf_?ɛFBdO:> %<%_?I! %\h=ɚ!i!I% P=IM|r6?iQiQ)U3?)Q*F2F :F BF ?5JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008689G- >G B O- > $?I #mzw,,-A:~U?Y:!?:g=9:[<H@I@ IB$IIBBI@&I@.I@6IB<:IB FBI!JI!RI!ZI!bI!jI%}4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260536y:H@D\?#@`ح?? ?u?`A2?{?ɨ:~U?:B;8yZхB^$IIfIf]٢rf rV=9r26Q v>tt vG٣tyz^ z>zKjIK9KKt"KBK:KlA =Nusing accuracyPremultiplier from config1E595*?E5Y5"v i5IMK?MA5ڞE5q;5`e;5^95a e@aZjDNOT Ignoring new targets: 47.30 m.RjBjJjἝ ProNav: ac range: 47.299999 m, nav range: 13.314087 m, bearing: 289.662917 deg, approach rate: 0.492131 m/s, LOS rate: -1.577533 deg/s, cmd heading: 40.191316 deg, new cmd heading: 38.317213 deg. 2jTHeadingCmd: 0.668761 target range: 47.299999 and range: 46.50 m. j3+?jjjihhhhfffrf!bf-?JJJJJ,:J:JJJ<J<Ju;Ju;ɛGB6> r?I Cn=ɚiIO=I3+?ii)3+?) nManaging dock network, ignoring radio surface power off*F2F!:F!BF% 5JF!G-qA G-mAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512655G >G G mAG B OU >lUw,.A6IP?Y6I?6=962:y6HJ?`|?@ Y? 3b?)?`л_?R?ɨ6IP?6 #;4y>B>~$I)@ @DFA AIAuMb@Mb@Mb@qqq q)qYu`"?Q?Qyu?u\>uu@ u@)u@IqqyuG@II=X٢ ?=9úQ > G٣yT > Nusing accuracyPremultiplier from config59!?5Yo iܲ+?:F?AܞEdI;!;4;5 >@5EZjDNOT Ignoring new targets: 47.30 m.RjBj pܼJj pܼ ProNav: ac range: 47.299999 m, nav range: 13.517613 m, bearing: 289.015000 deg, approach rate: 0.491726 m/s, LOS rate: -1.541785 deg/s, cmd heading: 38.317211 deg, new cmd heading: 36.403479 deg. 2jC%HeadingCmd: 0.635361 target range: 47.299999 and range: 46.50 m. j%"?j!j!j)i)h)h)h1h5Bf1f9fArfAbfE`Љ?ɛimm1?> qu"?Iq u_s=ɚqiyI}rN=I}$&?ii)"?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766123*F2F:FBFP0JFG>GBO% >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016991w,!s.AEϓI?YE?E=9E1yEH?`>@{?`[??`P?V4 R?ɨEϓI?E͐;E$Cy]B]`$IImIm ٢; I=9:Q > G٣VGy > Nusing accuracyPremultiplier from config598(?5Yi i'?AޞEh;;<5 @Zj DNOT Ignoring new targets: 47.30 m.RjBjڼJj%ڼ- ProNav: ac range: 47.299999 m, nav range: 13.712238 m, bearing: 288.385913 deg, approach rate: 0.479889 m/s, LOS rate: -1.529102 deg/s, cmd heading: 36.403481 deg, new cmd heading: 34.543697 deg. 2j5-=HeadingCmd: 0.602901 target range: 47.299999 and range: 46.50 m. j=W?j9j9j9i9h9hAhAhAfAfIfIrfIbfM@@ɛ}HB}b5> y}?Iy x=ɚiIM=I?ii)W?) 1I5hHI I$IIBI&I.I6Iİ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268948E"=zKBoHK9KKu"KRK>JK>*F2F:FBF1JFG >G ?G ?Gq By O >Jw,;.A6oC?Y6{?6#=96my6HV?30?? r?`?@di`X?ɨ6oC?6}_;6%Cy>B>9$IIFIF٢N NG=9R:Q R>PT VG٣TyVo V>nWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520595 Nusing accuracyPremultiplier from config59/?5YUc iv!%?%AE:C:>5) -@)mB*** querying acoustic contact ***jijiZjDNOT Ignoring new targets: 47.30 m.RjBjN׼JjN׼ ProNav: ac range: 47.299999 m, nav range: 13.912246 m, bearing: 287.731703 deg, approach rate: 0.467108 m/s, LOS rate: -1.505880 deg/s, cmd heading: 34.543699 deg, new cmd heading: 32.610061 deg. 2j/HeadingCmd: 0.569153 target range: 47.299999 and range: 46.50 m. j?jjji h h)h1h1f1f1f1rf9bf=@@ɛIB*> 隝?I (#=ɚiIwL=IK?ii)5?)y IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772469E <J] J] JY JY J] |:J] z:JY JY am @am @am @am @*F 2F :F BF P5JF G=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:39:36.2565 ETRx dataTimestamp_ set to:1736379577.468912Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.025812GBO=?/w, `.An7?Yno?n_Q=9n6r;ynH?`* ĥ?`??? n7p??ɨn7?nX;n'CyzfBz$Ii~0>I~= ~=~=Mb@Mb@Mb@ )Y?zG?y&1y ? =` @)@I@y@II4٢ ½ =9;Q > G٣y͜  > Nusing accuracyPremultiplier from config59;?5Yv[ i޳?:%k?%AE@;;nA5-B -@-2EZjYeDNOT Ignoring new targets: 47.30 m.RjaBjm$ټJjm$ټ} ProNav: ac range: 47.299999 m, nav range: 14.155494 m, bearing: 286.817613 deg, approach rate: 0.411232 m/s, LOS rate: -1.518731 deg/s, cmd heading: 32.610062 deg, new cmd heading: 29.917013 deg. 2j}IHeadingCmd: 0.522150 target range: 47.299999 and range: 46.50 m. j?jjjihhhhvBfffrfbf@V) @ɛKB> 隭?I 3=ɚiIԳK=I?ii)? $?I)EE*E"EHI Ig$IIBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276462zKk3IK@9KKv"K*F 2F :F BF 2JF GAmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 45.8 m (Round-trip 61.1 ms) speed 0.0 m/s ,DAT read: user:3420> BDAT read: Tx time:23:39:37.3413 $Ping request sent. G٣VGy > Nusing accuracyPremultiplier from config59H?5YT iI?:g?AEm ;G ;+D5 L@ addTargetRange:: Added new target pos. range: 45.799999 m, deltaT: 3.533537 s, deltaX: -0.700001 m, approachRate: -0.198102 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 47.30 m.RjBjͼJjͼ ProNav: ac range: 47.299999 m, nav range: 14.381198 m, bearing: 285.901705 deg, approach rate: 0.360533 m/s, LOS rate: -1.440018 deg/s, cmd heading: 29.917014 deg, new cmd heading: 27.214536 deg. 2jwHeadingCmd: 0.474983 target range: 47.299999 and range: 45.80 m. j1>jjjihhhh`Bf!f!f!rf%`fF@bf%ື?ɛMMBU> Q]ͻ?IY ]چ=ɚYiYI]+J=Ie1>iaia)e1>)i}Will construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:23:39:37.3405 *F2F:FBFO5JFJMJMJIJIJM:JM:JIJIG G B O >Ӧw,Y.ArWill construct direction to contact in vehicle frame from tetrahedron phase data.y B#IIjI٢MP M=9MQ M?QQ UG٣QyU ]? eNusing accuracyPremultiplier from configam59eN?u5YeP ie{qquAeEeB;eD;exE5 ?@ZjDNOT Ignoring new targets: 47.30 m.RjBjfʼJjfʼ ProNav: ac range: 47.299999 m, nav range: 14.489531 m, bearing: 285.477215 deg, approach rate: 0.363998 m/s, LOS rate: -1.415610 deg/s, cmd heading: 27.214535 deg, new cmd heading: 25.950803 deg. 2jrHeadingCmd: 0.452927 target range: 47.299999 and range: 45.80 m. j >jjjihhhhfffrfbf` ?ɛ23> ï?I 2=ɚiIQ J=I'(>ii) >)*F2F:FBFP0JF IH>>I I $II^BI&I.I6I<:I FGWill construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >zK BHK 9K K w"K "w,~.A2y%?Y2]?2M=92Pnhh jG٣hyr r> Nusing accuracyPremultiplier from config| 59~W? 5Y~L i~k?A~E~1;~;~-G5 %@%-EZjAMDNOT Ignoring new targets: 47.30 m.RjIBjMϼJjMϼe ProNav: ac range: 47.299999 m, nav range: 14.626293 m, bearing: 284.903812 deg, approach rate: 0.349564 m/s, LOS rate: -1.451883 deg/s, cmd heading: 25.950803 deg, new cmd heading: 24.247210 deg. 2jeymHeadingCmd: 0.423194 target range: 47.299999 and range: 45.80 m. jm׬>jijijiiqhqhqhhfffrfbf -?ɛEOBU%> QU%?IY ]Ê=ɚYiYI]pI=Ie>iaia)e׬>)iEqWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF U0JF "G0>G0>GUy}> IGG*?Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.xw,[.AF< ?YFX?F=9F=t==Լ==@ =@)=5@I=@9y=z@IUIUF٢elӽ eA=9e;Q m>ii mG٣mVGyuIF u> Nusing accuracyPremultiplier from configy59}Ga?5Y}H i}>:m?A}E}/;};}I5 @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.30 m.RjBjüJjü ProNav: ac range: 47.299999 m, nav range: 14.744649 m, bearing: 284.324167 deg, approach rate: 0.280917 m/s, LOS rate: -1.364716 deg/s, cmd heading: 24.247211 deg, new cmd heading: 22.522785 deg. 2j%jHeadingCmd: 0.393097 target range: 47.299999 and range: 45.80 m. jC>jJJJJJJz:JJjqjqiqhqhqhyh}Bfyfyfrfbf?ɛPB > :?I =ɚiIH=IC>ii)C>)*F2F:FBF^0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GH_>G B O > $?I hw,,E.ANC?YN;DS?NSO=9NV4AA EG٣AyMMZ M> UNusing accuracyPremultiplier from configQ]59Uj?]5YUTD iU>aeh?eAUEU.:U.:UJ5i mM@iZjDNOT Ignoring new targets: 47.30 m.RjBjüJjü ProNav: ac range: 47.299999 m, nav range: 14.855258 m, bearing: 283.773933 deg, approach rate: 0.277438 m/s, LOS rate: -1.369844 deg/s, cmd heading: 22.522784 deg, new cmd heading: 20.884843 deg. 2jkHeadingCmd: 0.364509 target range: 47.299999 and range: 45.80 m. j>jjjihhhhfffrfbf?ɛQB > ?I @َ=ɚiIBH=I>ii)>)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755992*F2F:FBFo0JFzKRIK}9KKx"KBK:KoANGGYi>|uA A Mb$YM|uAyMBGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006980@w,2/AM5?YML?M=9M#<ףj@ @)b@Iy@I I W٢U U/=9]aa eG٣aymJ] m> uNusing accuracyPremultiplier from configq}59uu?5Yu@ iu>:5S?AuEu;u1;uL5 K@*EZjDNOT Ignoring new targets: 47.30 m.RjBjJj ProNav: ac range: 47.299999 m, nav range: 14.964129 m, bearing: 283.149193 deg, approach rate: 0.228324 m/s, LOS rate: -1.300639 deg/s, cmd heading: 20.884842 deg, new cmd heading: 19.024949 deg. 2j'_HeadingCmd: 0.332048 target range: 47.299999 and range: 45.80 m. j2>jjjihhhhBff f rf bf @|@ɛ=RB=> =I-==?I9 E.=ɚAiAIEEG=IM2>iIiI)M2>)IEYE]nA]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260241*F2F:FBFJFGpA GpAJK3 K.-KK"KJ%J%J%1J!J% :J%q:J%3J!G G G qAG B O5 >"w,$/A:& ?Y:E?:=9:m intv#L?vAnEnU:n3:n8N5x ~@|Zj%DNOT Ignoring new targets: 47.30 m.Rj!Bj-Jj-= ProNav: ac range: 47.299999 m, nav range: 15.034802 m, bearing: 282.729481 deg, approach rate: 0.224794 m/s, LOS rate: -1.328716 deg/s, cmd heading: 19.024949 deg, new cmd heading: 17.771943 deg. 2j=cEHeadingCmd: 0.310179 target range: 47.299999 and range: 45.80 m. jEϞ>jAjAjAiAhIhIhQhQfYfYfYrfYbfe ZO@ɛSB"> 隍N?I Ȃ=ɚiIsG=IϞ>ii)Ϟ>)*FM2FI:FQBFUQ5JFQ $?I ZHRHHI IH#IIBI&I.I6I۰<:I FBIJIRIZIbIjI.5GH_>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763535GBO >zK- K- 9K) K- y"K- RK5 ?JK5 >/Ow,7/Ay5wB5"IImIm ٢}s }>=9}Q > G٣y > Nusing accuracyPremultiplier from config59?5Y: iAE*::P5 @ZjDNOT Ignoring new targets: 47.30 m.RjBjչJjչ5 ProNav: ac range: 47.299999 m, nav range: 15.131288 m, bearing: 282.170219 deg, approach rate: 0.225678 m/s, LOS rate: -1.299746 deg/s, cmd heading: 17.771944 deg, new cmd heading: 16.105353 deg. 2j5_EHeadingCmd: 0.281091 target range: 47.299999 and range: 45.80 m. jE7>jAjAjAiAhAhIhIhIfQfQfQrfQbf]@ɛTB{> 隅?I Yk=ɚiI!G=I7>ii!)%7>)QWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:39:39.8062 TRx dataTimestamp_ set to:1736379580.996809checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016312*F2F:FBFO5JF I!GE 8U>G1 B9 O] >} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2671313w,IQ/A6>Y67?6O>96!66;6$Cyz_Bz"I)| |Mb@Mb@Mb@ )Y~jt?L7A`堿:vy>+T =@)@Iy @II٢ G=9 G٣y > Nusing accuracyPremultiplier from config59?5YK8 i! q>  ; !? AE;;Q5uB }6@'E%B*** querying acoustic contact ***j!j!ZjQ]DNOT Ignoring new targets: 47.30 m.RjYBjmJj ProNav: ac range: 47.299999 m, nav range: 15.196561 m, bearing: 281.624351 deg, approach rate: 0.144117 m/s, LOS rate: -1.200031 deg/s, cmd heading: 16.105352 deg, new cmd heading: 14.475246 deg. 2jMHeadingCmd: 0.252641 target range: 47.299999 and range: 45.80 m. jZ>jjjihhhhBfffrfbf@v @ɛmUBu > qup?Iq u>Y=ɚqiyI}F=I}Z>ii)Z>)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 45.6 m (Round-trip 60.8 ms) speed 0.0 m/s ,DAT read: user:3421> BDAT read: Tx time:23:39:40.8913 $Ping request sent.E>*FE 2FA :FI BFM 0JFI "GU ?>GU ?> I H I  I "II ~BI &I .I 6I ð<:I FGm@Z>Gu ?Gu?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:39:40.8905 GABQOu?w,r/AzK BoHK K9K K z"K BKqA:K-+>Y-*?-; >9-GR- ;-#CyEPBE"IIUIU@ ٢ek e%=9m5sii uG٣uVGyu.߽ u> }Nusing accuracyPremultiplier from configy59}ȟ?5Y}5 i}c ?A}E} ;} ;} T5 @JJJ0JJJ^:Jـ3JJjjjihhhhfffrfF@bfv?ɛ VB:> .}?IY e6=ɚaiaIeF=Im/ `>iiii)m/ `>)qEjb+=*F)2F):F1BF5O5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.G I hG BA O >gw,ϼ/Ay~@B~"IMb@Mb@Mb@ )Y r?S㥫~jtxy>/]Ļ@ &@)@Iy@IIK!٢ D=9Q > G٣y > Nusing accuracyPremultiplier from config59_?5Y3 i> ;?AE%;";U5  &@ Zj)=Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 47.30 m.RjBjżJjż ProNav: ac range: 47.299999 m, nav range: 15.318101 m, bearing: 280.413233 deg, approach rate: 0.129365 m/s, LOS rate: -1.382876 deg/s, cmd heading: 12.536115 deg, new cmd heading: 10.857773 deg. 2jCmHeadingCmd: 0.189504 target range: 47.299999 and range: 45.60 m. jO B>jjjihhh!h%Bf!f!f)rf)bf-@/?ɛd> t?I =ɚiIF=IO B>ii)O B>)EE*E"E*F 2F :F BF /1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I GIGQGUmAG!B9OU?vw,q/A jH(bH*<H,I, I."II.PBI,&I,.I,6I.ΰ<:I. Fjo>Yj?jZ>9jjl;hy 8B "Iia=Ii>II:٢5+ 5)=95399 =G٣9yM+̽ M> UNusing accuracyPremultiplier from configQ]59U'?]5YUP1 iUѶY]>]AUEU:U :UW5mB m@m$EZjDNOT Ignoring new targets: 47.30 m.RjBjJj ProNav: ac range: 47.299999 m, nav range: 15.372162 m, bearing: 279.757119 deg, approach rate: 0.112081 m/s, LOS rate: -1.355466 deg/s, cmd heading: 10.857773 deg, new cmd heading: 8.897161 deg. 2jhHeadingCmd: 0.155285 target range: 47.299999 and range: 45.60 m. j>jjjihhhhfffrfbf?ɛWB > MWill construct direction to contact in vehicle frame from tetrahedron phase data.Ep?Ia e=ɚaiaIe^F=I>ii)>)*F2F:FBFO0JFzKuBoIKu}9KqKu{"Ku0s"V5  JJJJJ:JB:JJJ'<J(<J#b;J$b;G]8U>G1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,-/A:Rٿ>Y:h?:>9:F:};:$CyB@BF"II^I^&Q٢f(= fR=9jm;Q j>hh nG٣nVGyn$] r> vNusing accuracyPremultiplier from configpz59rZĚ?z5Yr/ irxz->zArEr';r8;rY5B *@"EZjQmDNOT Ignoring new targets: 47.30 m.RjiBj},Jj, I ProNav: ac range: 47.299999 m, nav range: 15.414123 m, bearing: 279.229479 deg, approach rate: 0.106625 m/s, LOS rate: -1.337095 deg/s, cmd heading: 8.897161 deg, new cmd heading: 7.318970 deg. 2jheHeadingCmd: 0.127740 target range: 47.299999 and range: 45.60 m. jO>jjjih h9hAhAfIfIfIrfibfu1?ɛJ> 隽"t?I d=ɚiIF=IO>ii)O>)mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFG 0P>G B O >4w,z/A6/Ҳ>Y6?6U>96'6;4y>CBB"I^Will construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%Pn?QMbP?y%>%u%:%@ %j@)%@I%/@!y%@I=I=٢Eq< MC=9M2IQ UG٣Qyn > Nusing accuracyPremultiplier from config59Bњ?5Y- i4}>;Z>AE;s;[5B @EB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 47.30 m.Rj)BjU<ƼJjU<Ƽe ProNav: ac range: 47.299999 m, nav range: 15.456616 m, bearing: 278.629185 deg, approach rate: 0.098419 m/s, LOS rate: -1.386483 deg/s, cmd heading: 7.318970 deg, new cmd heading: 5.523661 deg. 2jemmHeadingCmd: 0.096406 target range: 47.299999 and range: 45.60 m. jmp=jijjihhhh؁Bfffrfbfʡ@ɛ5XB5V> 9=u?I9 ==ɚ9i9I=F=IEp=iAiA)Mp=)EqAEpA $?I*F)2F):F)BF)JF)He?>IeC Ie"IIeG B O- >zK= NK= 9K9 K= |"K=   JM JM JI JI JM <:JM :JI JI JM 5;JM 7;JM .Y;JM /Y;w,M/A6>Y6? ?6>96b6;4yF>BJ"I)T TXZAIfIf٢r&ռ rQ=9rF$tt vG٣tyz6 z> Nusing accuracyPremultiplier from config| 59~vܚ?5Y~l, i~a&>A~E~];~;~5]5) -Q@)ZjDNOT Ignoring new targets: 47.30 m.RjBjͻJjͻ  ProNav: ac range: 47.299999 m, nav range: 15.490571 m, bearing: 278.113082 deg, approach rate: 0.086608 m/s, LOS rate: -1.313517 deg/s, cmd heading: 5.523661 deg, new cmd heading: 3.979142 deg. 2j ]a]HeadingCmd: 0.069449 target range: 47.299999 and range: 45.60 m. j]Y;=jYjYjYiYhahahahafififirfibfm1@ɛ> r?I ~l=ɚiI G=IY;=ii)Y;=)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518905*F2F:FBF^0JF IG@Z>G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7690055w,(0A>q>Y>2@?>>9>H ~?_߿ǹ?q>>;>"CyJJBJ"IeMb@Mb@Mb@aaa a)aYen?Mbeet G٣VGy]K ]> eNusing accuracyPremultiplier from configau59e@욜?u5Ye* ie} >};}I>}AeEeZ;eX;ev_5 @ZjDNOT Ignoring new targets: 47.30 m.RjBjSмJjSм ProNav: ac range: 47.299999 m, nav range: 15.551836 m, bearing: 277.384227 deg, approach rate: 0.122963 m/s, LOS rate: -1.457055 deg/s, cmd heading: 3.979142 deg, new cmd heading: 1.802297 deg. 2jyHeadingCmd: 0.031456 target range: 47.299999 and range: 45.60 m. j=jjjihhhhBfffrfbf@ɛ> XU=%x?I! %W=ɚ!i!I%G B O- >ZHY RHY Ha Ia  Ia Ia Ie ! =&Ia .Ia 6Ie <:Ie y F w,oH-0AVh<>YVZ4>V>9VVO;V&CybXBb"IIjIj۳٢r!= r}=9v;Q v ?tt zG٣xy~ղ ? -Nusing accuracyPremultiplier from config559?=5Y( iAE>EAE~;/;`5UB ]@]EZjDNOT Ignoring new targets: 47.30 m.RjBjüJjüWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272994= ProNav: ac range: 47.299999 m, nav range: 15.585629 m, bearing: 276.959645 deg, approach rate: 0.109209 m/s, LOS rate: -1.369150 deg/s, cmd heading: 1.802297 deg, new cmd heading: 0.531532 deg. 2j=jEHeadingCmd: 0.009277 target range: 47.299999 and range: 45.60 m. jE<jAjAjAiAhAhIhIhIfIfQfqrfqbfuM @ɛ > ?I =ɚiI:G=IE5>*F2F:FBF0JFG GqAJJJJJJ^:JJJJJg;Jg;zK rLK9KK}"K)2!5.) CMGetAq /&YtAyBGH_>Gi B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529993OU >{w,"G0A2:z>Y2l>2P!>922ȋ;2$CyNcBR"IiV=IV= TV=IZIZ{٢-BU= -F=9-];Q 5>11 5G٣1y=N~ => MNusing accuracyPremultiplier from configA yI59E`?5YE<' iE>AEEER QU?IY ]=ɚYiYI]_G=Ieiai).c@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:39:43.3568 LVL= 15856, 15777, 17794, 21315, AGC= 56, IDX= 449,-0.23,-2.074,-1.918, 2.150,-2.692, PHS= 0.706, 0.821,-1.445, RAW= 27.4, -0.7, CAL= 27.0, -2.5, ROT= 123.0, 2.5 Ygot valid direction response: 23:39:43.3568 LVL= 15856, 15777, 17794, 21315, AGC= 56, IDX= 449,-0.23,-2.074,-1.918, 2.150,-2.692, PHS= 0.706, 0.821,-1.445, RAW= 27.4, -0.7, CAL= 27.0, -2.5, ROT= 123.0, 2.5 *FY2FY:FYBF]0JFauPDAT read: Bearing 123.0, 2.5 (Local) ~Local bearing/azimuth received: Bearing 123.0, 2.5 (Local) DAT read: Range 10 to 50 : 46.0 m (Round-trip 61.4 ms) speed -0.2 m/s ,DAT read: user:3422> BDAT read: Tx time:23:39:44.4413 $Ping request sent.=+H =:F>)=¸2I=od @i=¸2=99=q C88￈@ڊ)=οI=VVGA BI Om >w,`0A6_>Y6>6޸">96)-6ʋ;6&CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yRnB^"IMb@Mb@Mb@ )YA`"?y&1?y>`e<5@ @)@Iy@II4٢rM= ?=99R;Q > G٣VGyw > Nusing accuracyPremultiplier from config 59 ? 5Y8% i 4> :R>AE';;od5 d@%Ekm {?km ki kmR0A:km8BBkm6BZkm,D?"mR֚¦@?LD@Bj2@m$*w?6u (? *%*?Jkm?Rkm׾*mhx}$);_C@ )-y?I1 5@=ɚ1i1I=eiG=I]'iYiY)ep@ }$?Iy)HI I"IIPBI" =&I.I6Ir<:IZ FBIŠCJIŠCRIZI" =bI" =jIO45Will construct direction to contact in vehicle frame from tetrahedron phase data.E.=*FA 2FA :FA BFE j0JFA zK ܞLK 9K K ~"K BK pA:K pAJ5 J5 J1 J1 J5 \:J5 :J1 J1 J5 <J5 <J5 Z;J5 Z;G0P>G?G%?GaBO?p w,ׁ0AWill construct direction to contact in vehicle frame from tetrahedron phase data.6Y6>6">96rG=y6H`t?@yٿNp?`?T??,Ŀb? ?ɨ66/;6$CyByBB"IIJIJD٢T$= !=9Q > G٣y= >  Nusing accuracyPremultiplier from config59 ?5Y" iO6>AEX::f5! %@!EB*** querying acoustic contact ***jAjAZjVStarting intercept timer at range: 46.00 m.DNOT Ignoring new targets: 46.00 m.RjBjJj ProNav: ac range: 46.000000 m, nav range: 11.845741 m, bearing: 236.992318 deg, approach rate: 0.350876 m/s, LOS rate: -1.116116 deg/s, cmd heading: 357.097289 deg, new cmd heading: 355.403043 deg. 2j~?HeadingCmd: 6.202953 target range: 46.000000 and range: 46.00 m. j~@jjjihhhhfffrfbf@4?ɛn> 隭!?I l=ɚiIoG=IPii)~@) !I!EEgW=*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G 8U>G B O >i&w,0A6+>Y6>6">96S=y6H>?g׿wz???@9?mAĿ .??ɨ6+>6;6'CyBBB#IMb@Mb@Mb@ )Y/$??I +?y&>L=94<@ )@I@y@IIR٢= K=9:Q > G٣y > Nusing accuracyPremultiplier from config59.?5Y  i>:>AE8;G;ih5 @Zj%%TStopped intercept timer at range: 46.00 m.-DNOT Ignoring new targets: 46.00 m.Rj)Bj-TJj-T= ProNav: ac range: 46.000000 m, nav range: 12.012375 m, bearing: 236.558286 deg, approach rate: 0.428406 m/s, LOS rate: -1.100381 deg/s, cmd heading: 355.403047 deg, new cmd heading: 354.119242 deg. 2jE ?I %`4=ɚ!i!I%G=I-7 Ľi)i))5 @UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.203255)YEaEa*Ea"Ea 1I1HI I"IIoBI&I.I6I<:I F*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455044G G B *J C="J R=O >-w,n0AzKJKJŷ9KHKJ"KJ dxh_F+ RKR>JKR?Z^=YZJ>Z#>9Zٽxx zG٣zVGyz ~> Nusing accuracyPremultiplier from config|59~=? 5Y~T i~  >A~E~@:;~:;~Fj5B +@%EZjEMVStarting intercept timer at range: 46.00 m.MDNOT Ignoring new targets: 46.00 m.RjIBjUJjUe ProNav: ac range: 46.000000 m, nav range: 12.184273 m, bearing: 236.070673 deg, approach rate: 0.404303 m/s, LOS rate: -1.130669 deg/s, cmd heading: 354.119244 deg, new cmd heading: 352.677366 deg. 2jeAmHeadingCmd: 6.155381 target range: 46.000000 and range: 46.00 m. jm@jijijiiihqhqhqhqfyfyfyrfybf i?ɛT%> 隭?I =ɚiIЀG=Iii)@)*FE2FA:FABFEP0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708557GiG!B1OE> $?Ic4w,sf0A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959331:ɾ=Y:n>:v$>9:4=t<@ @)v@I@yf@II٢}= <=9l:Q > G٣y\ > Nusing accuracyPremultiplier from config59M? 5Y i /> : u? AE;;,l5 N@ZjEMTStopped intercept timer at range: 46.00 m.MDNOT Ignoring new targets: 46.00 m.RjIBjUېJjUېe ProNav: ac range: 46.000000 m, nav range: 12.375621 m, bearing: 235.622658 deg, approach rate: 0.439523 m/s, LOS rate: -1.013162 deg/s, cmd heading: 352.677364 deg, new cmd heading: 351.354347 deg. 2je-mHeadingCmd: 6.132290 target range: 46.000000 and range: 46.00 m. jm;@jijijqiqhyhyhyh}Bfffrfbf+@ɛ%> 隽 ?I =ɚiI{G=I iJJJ1JJ,:J:J3Ja%@a%@a%@a%@i)-;@)1*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211050GG B O > I :w,@0A6(=Y6>(>6#>96tt vG٣tyz3x z> ~Nusing accuracyPremultiplier from config|59~2[?5Y~T i~&  h> A~E~;~:~m5B @EZjEEVStarting intercept timer at range: 46.00 m.MDNOT Ignoring new targets: 46.00 m.RjIBjMoJjMoe ProNav: ac range: 46.000000 m, nav range: 12.537263 m, bearing: 235.235309 deg, approach rate: 0.435941 m/s, LOS rate: -1.031183 deg/s, cmd heading: 351.354357 deg, new cmd heading: 350.207456 deg. 2je0mHeadingCmd: 6.112273 target range: 46.000000 and range: 46.00 m. jm@jijqjqiqhqhqhhfffrfbf@e@ɛIM*> IM?II U=ɚQiqIueG=I}*iyiy)}@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.YiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.464596*F)2F):F)BF-[0JF)JAAJAAzK$OKж9KK"K}v9 GGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:39:46.9080  TRx dataTimestamp_ set to:1736379588.053066% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717697sAw,i1AbJ=YT>#>9n G٣VGyD > Nusing accuracyPremultiplier from config-59k?-5 =$?I9Y ibQU>UAE~<v<o5a eI@aUB*** querying acoustic contact ***jQjQZjDNOT Ignoring new targets: 46.00 m.RjBj yJjy ProNav: ac range: 46.000000 m, nav range: 12.727942 m, bearing: 234.769614 deg, approach rate: 0.388051 m/s, LOS rate: -0.933525 deg/s, cmd heading: 350.207459 deg, new cmd heading: 348.831582 deg. 2j* HeadingCmd: 6.088260 target range: 46.000000 and range: 46.00 m. j@jjjihhhhfffrfbf`(@ɛim"> qu,?Iq uM=ɚqiqIuiG=IGii)@)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.970244*F2F:FBFP0JFJ J J /J J \:J :J (N3J G 0P>Gq By O >YGw, 1AB?BS!>9B4-) -K@)-QAI-@)y-Q@IEIEdUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.219205٢]  ]M=9e4HQ m>y G٣yL^ > Nusing accuracyPremultiplier from config59z?5Y i?:?A E< <~q5 @EZjTStopped intercept timer at range: 46.00 m.DNOT Ignoring new targets: 46.00 m.RjBj4Jj4- ProNav: ac range: 46.000000 m, nav range: 12.916677 m, bearing: 234.368298 deg, approach rate: 0.491377 m/s, LOS rate: -1.029562 deg/s, cmd heading: 348.831585 deg, new cmd heading: 347.645409 deg. 2j-05HeadingCmd: 6.067557 target range: 46.000000 and range: 46.00 m. j5m)@j1j1j1i1h9h9h9h=Bfafafarfibfm঻ @ɛYB&/> ?I A=ɚiIu@G=I\ii)m)@) $?I*F]2FY:FYBF]_0JFYZHQRHQHYIY I]#II]BI]! =&IY.IY6I]<:I] F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 46.8 m (Round-trip 62.5 ms) speed -0.3 m/s % ,DAT read: user:3423> % BDAT read: Tx time:23:39:47.9913 - $Ping request sent.- GY Ba O >Mw,:1A:h/;Y:li>:I >9:sɶx| ~G٣|yW >  Nusing accuracyPremultiplier from config 59 a?5Y  i ܹ>A  E u ;  ; &s5! %@!U addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.525948 s, deltaX: 0.799999 m, approachRate: 0.226889 m/s, rangeRepo size: 4 ZjU]VStarting intercept timer at range: 46.80 m.]DNOT Ignoring new targets: 46.00 m.RjYBjeJje񘼝m ProNav: ac range: 46.000000 m, nav range: 13.091340 m, bearing: 233.989320 deg, approach rate: 0.499667 m/s, LOS rate: -1.069691 deg/s, cmd heading: 347.645400 deg, new cmd heading: 346.523786 deg. 2ju7}HeadingCmd: 6.047981 target range: 46.000000 and range: 46.80 m. j}@jyjyjyiyhyhhhfffrf`ffG@bfE&?ɛV1> 隽?I Sy=ɚiInG=Ilpii)@)*Fm2Fi:FiBFu0JFqmWill construct direction to contact in vehicle frame from tetrahedron phase data.G IhGBA O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,vqT1AyzBz#I-monly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 74.43, 72.39, 66.61  m@m m@m m@m  m@m IuIuV8٢= A=9Q > G٣VGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y i+::A E';>t5B @ EZjDNOT Ignoring new targets: 46.00 m.RjBj@Jj@  ProNav: ac range: 46.000000 m, nav range: 13.286816 m, bearing: 233.578385 deg, approach rate: 0.460088 m/s, LOS rate: -0.952975 deg/s, cmd heading: 346.523774 deg, new cmd heading: 345.309296 deg. 2j #HeadingCmd: 6.026784 target range: 46.000000 and range: 46.80 m. jj@jjjihhh!h!f!f!f!rf!bf-?ɛ]ZB]*S(> Y]?IY e`=ɚaiaIeF=ImGiiii)mj@)iJeJeJe0JaJe:JeB:Jeـ3Ja*F 2F :F BF 4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GQGUqAGUqAG) BA Ou > I HY IY  I] #II] BIY &IY .IY 6I] Ȱ<:I] F[w,n1A2@Y2=>2k(>92t=tB>"IIFIF6٢N NX=9RXQ R>PP VG٣TyV7 V> ^bBottom track data is 0.8 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb59ZY?b5YZ  iZUb :df:f>fAZ EZE;ZM?Zu5h j$@lZjDNOT Ignoring new targets: 46.00 m.RjBj WJj W% ProNav: ac range: 46.000000 m, nav range: 13.458900 m, bearing: 233.188425 deg, approach rate: 0.454394 m/s, LOS rate: -1.016524 deg/s, cmd heading: 345.309284 deg, new cmd heading: 344.154528 deg. 2j%h.%HeadingCmd: 6.006629 target range: 46.000000 and range: 46.80 m. j-O6@j)j)j)i)h)h)hhfffrfbf@8;?ɛ C(> ?I =ɚiIF=Ii!i!)%O6@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF*5JFc~G5tA 5'Y55tAy5BzK!LK9KK"KGiGIBQOm>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e >e O?bw,Ƈ1A2 B@Y26(>2>92qXB>"IIFIF[٢N1 NJ=9RQ R>PP VG٣TyVV V> ^bBottom track data is 1.2 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb59Z[?b5YZ  iZb9`fY:f>fAZEZ';ZԚ?Zv5l n@nEZjDNOT Ignoring new targets: 46.00 m.RjBj _Jj _ ProNav: ac range: 46.000000 m, nav range: 13.641727 m, bearing: 232.765353 deg, approach rate: 0.451478 m/s, LOS rate: -1.030734 deg/s, cmd heading: 344.154518 deg, new cmd heading: 342.902524 deg. 2j0%HeadingCmd: 5.984778 target range: 46.000000 and range: 46.80 m. j%M@j!j!j)i) 5$?I1h9h9h9h9fAfAfArfAbfE?ɛu[B}>&> y}^~?Iy }%=ɚyiIF=IȘi i )M@)*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G0P>GBO >JE JE JA JA JE <:JE &:JA JA +hw,D1A6@Y6>6)>96E9E-@ E@)EhAIE&@AyE@IeIe٢u u1=9}Q }>yy }G٣}VGy3 > Nusing accuracyPremultiplier from config59ʛ?5Y iT:p?:>AE~C;.B;x5 2@UB*** querying acoustic contact ***jQjQZjm}TStopped intercept timer at range: 46.80 m.}DNOT Ignoring new targets: 46.00 m.RjyBjJj ProNav: ac range: 46.000000 m, nav range: 13.846843 m, bearing: 232.285542 deg, approach rate: 0.426739 m/s, LOS rate: -0.983439 deg/s, cmd heading: 342.902517 deg, new cmd heading: 341.484713 deg. 2j(HeadingCmd: 5.960032 target range: 46.000000 and range: 46.80 m. j@jjjihh 5$?I9hh=BfAfifirfibfu ?ɛ\Be> !%0t?I! %=ɚ)i)I-F=I-Nti1i1)5@)1jHbHHI I"IIeBI&I.I6Iw<:I_ FBIJIRIZI! =bIjIŬ4*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G% ?G% ?G B O% >Wnw,_(1A6 @Y6@k=6>96R 5Nusing accuracyPremultiplier from config1=595؛?=5Y5E i5-AE>EA5E5 ;5 ;5Dz5MB M'@MEZju}VStarting intercept timer at range: 46.80 m.}DNOT Ignoring new targets: 46.00 m.RjyBjJj ProNav: ac range: 46.000000 m, nav range: 14.005689 m, bearing: 231.907590 deg, approach rate: 0.466733 m/s, LOS rate: -1.097924 deg/s, cmd heading: 341.484706 deg, new cmd heading: 340.363860 deg. 2j_<HeadingCmd: 5.940470 target range: 46.000000 and range: 46.80 m. jU@jjjihhhhfffrfbf x|@ɛʟ%> \?I D=ɚiIlF=IXxii)U@)*FU2FY:FYBF]]0JFY-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263701 !I!G1GB)OM> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515464?uw,\1AZN@YZ=Z>9Zu9=u+u;@ u@)qIux@qyup@IIͳ٢! <=9Q > G٣yF > Nusing accuracyPremultiplier from config59雜?5Y i>:3>AE^;T:|5Q U=@QZjTStopped intercept timer at range: 46.80 m.DNOT Ignoring new targets: 46.00 m.RjBj뚼Jj뚼 ProNav: ac range: 46.000000 m, nav range: 14.174074 m, bearing: 231.422694 deg, approach rate: 0.380796 m/s, LOS rate: -1.083530 deg/s, cmd heading: 340.363872 deg, new cmd heading: 338.926785 deg. 2j9HeadingCmd: 5.915388 target range: 46.000000 and range: 46.80 m. jJ@jjjihhhh‚Bfffrfbfu@ɛ]B > 隕ZS?I I=ɚiIXaF=IOii)J@)*F]2FY:FaBFe_0JFa5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767500G $?I G B O >H I  I "II (BI &I .I 6I հ<:I FVh{w,1A6.@Y6=6>96t؃BB*"IIJIJ٢Rp R]=9RQ R>TT VG٣VVGyV` Z> ^Nusing accuracyPremultiplier from configXb59ZT?b5YZ} iZѻ`f>fAZEZ;Z;Z}5jB j AjEZj}VStarting intercept timer at range: 46.80 m.DNOT Ignoring new targets: 46.00 m.RjBj>Jj> ProNav: ac range: 46.000000 m, nav range: 14.320738 m, bearing: 230.993921 deg, approach rate: 0.399414 m/s, LOS rate: -1.155724 deg/s, cmd heading: 338.926773 deg, new cmd heading: 337.653847 deg. 2jJFHeadingCmd: 5.893171 target range: 46.000000 and range: 46.80 m. jܔ@jjjihhhhfffrfbf?@ɛ]^B]R> aeG) BI Ou >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271262Ow, 2A PITZC@YZsy=Zq>9ZjIj=IrIr٢vJ  vE=9zQ z>x| ~G٣|y~zZ >  Nusing accuracyPremultiplier from config 59?5Y4 i&x>AE+;^;5! %A!ZjIUDNOT Ignoring new targets: 46.00 m.RjQBjU<Jj] 隅-?I \=ɚiI*NF=IԾii)ǻ@)*F]2FY:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 47.9 m (Round-trip 63.9 ms) speed -0.3 m/s ,DAT read: user:3424> BDAT read: Tx time:23:39:51.5414 $Ping request sent.zw,ō#2A:9: ]C =]]h@ Y)]zAI]@Yy]\@IuIu٢. A=9Q > G٣yF > Nusing accuracyPremultiplier from config59^?5Y i~>:=AE9;'8;a5 AE addTargetRange:: Added new target pos. range: 47.900002 m, deltaT: 3.529257 s, deltaX: 1.100002 m, approachRate: 0.311681 m/s, rangeRepo size: 4 ZjTStopped intercept timer at range: 47.90 m.DNOT Ignoring new targets: 46.00 m.RjBj`Jj` ProNav: ac range: 46.000000 m, nav range: 14.625369 m, bearing: 229.976681 deg, approach rate: 0.335927 m/s, LOS rate: -1.247600 deg/s, cmd heading: 336.219340 deg, new cmd heading: 334.634699 deg. 2j V%HeadingCmd: 5.840477 target range: 46.000000 and range: 47.90 m. j%1@j!j!j!i)hIhQhQh]rBfafa $?Ifrf@3G@bf@??ɛaB-L > )-?I) ->=ɚ1i1I5\F=I=iAiA)E1@)ZHRH@AHI I("IIփBI&I.I6I<:I F*F2F!:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G (K>G B O >*J1 "J1 JA JE JE 0JA JA JE /:JE ـ3JA JA JA JE ^;JE ^;nw,qr=2A2r@Y2<29' >92o%=y2H ?{Ɋck?Ւ??Fb5W{?ۭ?ɨ2r@2;2#Cy>sB>!IIJIJd٢R.< RY=9R#Q V>TT VG٣VVGyZm Z> bNusing accuracyPremultiplier from config\b59^ (?b5Y^+ i^˼df=fA^E^:^@:^5h n3AlzB*** querying acoustic contact ***jxjxZjVStarting intercept timer at range: 47.90 m.DNOT Ignoring new targets: 46.00 m.RjzKK@9KK"KRK%>JK%>Bj㳼Jj㳼 ProNav: ac range: 46.000000 m, nav range: 14.750649 m, bearing: 229.499854 deg, approach rate: 0.333401 m/s, LOS rate: -1.258156 deg/s, cmd heading: 334.634709 deg, new cmd heading: 333.216685 deg. 2jWHeadingCmd: 5.815728 target range: 46.000000 and range: 47.90 m. jr@jjjihhhhfffrfbfY?ɛ-bB-|w > )u?Iq udi=ɚqiqI}[F=I}Viyi)r@)E Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F%2F!:F)BF-5JF)"G1G5G> IG-A>G B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002780䋕w,tCW2AVt@YV@V]>9V;=yVH?b?` ?q?ң`Y??ɨVt@V?;V%Cy~FB~w!IMb@Mb@Mb@ )Ykt?l+y >@ @)AI@yII(*٢IL 9=9ٜQ > G٣yUVU U> eNusing accuracyPremultiplier from configYe59]9?m5Y] i]+m>m:m٦mA]E]M;]7;]5}B }A}EZjTStopped intercept timer at range: 47.90 m.DNOT Ignoring new targets: 46.00 m.RjBj˼Jj˼ ProNav: ac range: 46.000000 m, nav range: 14.874829 m, bearing: 228.842632 deg, approach rate: 0.271666 m/s, LOS rate: -1.425758 deg/s, cmd heading: 333.216680 deg, new cmd heading: 331.262275 deg. 2jtHeadingCmd: 5.781617 target range: 46.000000 and range: 47.90 m. j@jjjihhhh"Bfffrfbf?ɛcB> >I 3=ɚ!i!I%wF=I%fi)i))-@)1*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254318Gm0P>GI BY O > $?I H I  I !II BI &I .I 6I <:I FOw,_Aq2A^y@Y^+@^Z>9^ =y^He?}?@$?; G٣ y /|  > Nusing accuracyPremultiplier from config59G?%5Y iw!%׽%AE;;5 AZjVStarting intercept timer at range: 47.90 m.DNOT Ignoring new targets: 46.00 m.RjBj¼Jj¼ ProNav: ac range: 46.000000 m, nav range: 14.972022 m, bearing: 228.317324 deg, approach rate: 0.253553 m/s, LOS rate: -1.361488 deg/s, cmd heading: 331.262262 deg, new cmd heading: 329.696979 deg. 2jiHeadingCmd: 5.754298 target range: 46.000000 and range: 47.90 m. j5#@jjjihh!h!h)f)f)f)rf)bf5 ?mWill construct direction to contact in vehicle frame from tetrahedron phase data.iiimchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506870ɛedBu= quܿ>Iy }Y=ɚyiyI}-F=I/eii)5#@)*F2F:FBFQ0JFJJ@AJJJJJ\:JB:JJJ<J<J#b;J$b;zKRIK9KK"K "$),..,&GA>GB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758486w,]2A INQ@YN.a@N>9N[!! %G٣%VGy%gz %> =Nusing accuracyPremultiplier from config1E595kW?E5Y5 i5˽AE{EA5E5';5^;5b5UB UAUEZjq}DNOT Ignoring new targets: 46.00 m.RjyBj&ؼJj&ؼ ProNav: ac range: 46.000000 m, nav range: 15.077980 m, bearing: 227.729593 deg, approach rate: 0.274484 m/s, LOS rate: -1.511792 deg/s, cmd heading: 329.696974 deg, new cmd heading: 327.946746 deg. 2jHeadingCmd: 5.723751 target range: 46.000000 and range: 47.90 m. j(@jjjihhhhfffrfbf7?ɛ]eBuQ= qu>Iy }M=ɚyiyI}IF=I7ii)(@)*F2F :F BF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010394GGBO hȨw,֤2A6n|@Y6@6 8>96v܂B> IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262342-Mb@Mb@Mb@))) )))Y-ʡE?~jtQ롿y-->-Ľ-\) --@)-~AI-@)y-G@II٢ G٣yv >  Nusing accuracyPremultiplier from config 59 g?5Y 7 i "%>%:%%A  E v; t; E59 =A9Zj}TStopped intercept timer at range: 47.90 m.DNOT Ignoring new targets: 46.00 m.RjBj#Jj#Ἕ ProNav: ac range: 46.000000 m, nav range: 15.169431 m, bearing: 227.036172 deg, approach rate: 0.208933 m/s, LOS rate: -1.574638 deg/s, cmd heading: 327.946752 deg, new cmd heading: 325.879978 deg. 2jHeadingCmd: 5.687679 target range: 46.000000 and range: 47.90 m. jw@jjjihh $?I!hIhUׁBfQfQfQrfYbf]@n@ɛfBA0= 隅*l>I =ɚiI5 |uAi Q&Y |uAy }BJE JE JA JA JE :JE /:JA JA JE ;JE ;w,2AJu^;Ju^;y~ʂB~ II I m٢% %X=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=xv?E5Y= i=nIIMA="E=:=:=닭5Q U AUEzK`LKŷ9KK"K"!    B*** querying acoustic contact ***j j Zj==VStarting intercept timer at range: 47.90 m.EDNOT Ignoring new targets: 46.00 m.RjABjEn׼JjMn׼ ProNav: ac range: 46.000000 m, nav range: 15.251185 m, bearing: 226.436809 deg, approach rate: 0.206636 m/s, LOS rate: -1.506754 deg/s, cmd heading: 325.879991 deg, new cmd heading: 324.092153 deg. 2jBHeadingCmd: 5.656475 target range: 46.000000 and range: 47.90 m. j@jjjihhhhfffrfbf @ɛgB%$= !%F>I! %&=ɚ!i!I-5G=Ip ii)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766539) *F2F:FBFJF $?IG G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:39:54.0111  TRx dataTimestamp_ set to:1736379595.364923 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025948O >ٵw,2Ay}B} IMb@Mb@Mb@ )Yi|?5?M¿:vy>nԼ@ )hAIy@I}I}٢ 6=9Q > G٣VGy > Nusing accuracyPremultiplier from config59?5Y i>:vA#Ep;W;⍭5  AZjTStopped intercept timer at range: 47.90 m.DNOT Ignoring new targets: 46.00 m.RjBjJj  ProNav: ac range: 46.000000 m, nav range: 15.334405 m, bearing: 225.680502 deg, approach rate: 0.194846 m/s, LOS rate: -1.761114 deg/s, cmd heading: 324.092148 deg, new cmd heading: 321.836772 deg. 2jHeadingCmd: 5.617111 target range: 46.000000 and range: 47.90 m. j`@jjjihhh!h%Bf!f!f)rf)bf-0 @ɛUhB]= Ye!>Ia eGL=ɚaiaIe~G=ImӃ*iqiq)u`@)q*F 2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270446 IGi GA BI Om >H! I!  I% II% BI! &I! .I! 6I% <:I% FBIJIRIZIbI! =jIO!4w,d2A6%@Y6%@6=96%BB IIFIF³٢R Ro=9R]Q R?TT VG٣TyZ` ^? bNusing accuracyPremultiplier from config`f59b4?f5Yb  ibdf澑jAb%Eb:b:ba5nB n A]EZjVStarting intercept timer at range: 47.90 m.DNOT Ignoring new targets: 46.00 m.RjBjJj輝 ProNav: ac range: 46.000000 m, nav range: 15.388017 m, bearing: 225.093145 deg, approach rate: 0.149149 m/s, LOS rate: -1.628321 deg/s, cmd heading: 321.836765 deg, new cmd heading: 320.081415 deg. 2jHeadingCmd: 5.586474 target range: 46.000000 and range: 47.90 m. jfIJ@jjjihhhhfffrfbf  @ɛ3>=  0=I  s=ɚ i I G=I.ii)fIJ@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: Range 10 to 50 : 49.2 m (Round-trip 65.6 ms) speed -0.4 m/s m,DAT read: user:3425> uBDAT read: Tx time:23:39:55.0914 $Ping request sent.zK&LKKK"K GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. = 4=- JDAT read: TxSync time:23:39:55.0906 I w,6Z 3A6Z@Y6)j@6;=96|=y6H@C??gp?@_Mƿv?@}W et??ɨ6Z@6ߔ;6$Cy>BB IIJIJ٢RUE RI=9RHyQ R>TT VG٣TyZ7g Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^  i^I`bIfA^&E^:^:^%5h nB AlM addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 3.525933 s, deltaX: 1.299999 m, approachRate: 0.368697 m/s, rangeRepo size: 4 ZjMUTStopped intercept timer at range: 49.20 m.UDNOT Ignoring new targets: 46.00 m.RjQBj]Jj]m ProNav: ac range: 46.000000 m, nav range: 15.449236 m, bearing: 224.398816 deg, approach rate: 0.155354 m/s, LOS rate: -1.754949 deg/s, cmd heading: 320.081407 deg, new cmd heading: 318.007631 deg. 2jmuHeadingCmd: 5.550280 target range: 46.000000 and range: 49.20 m. ju囱@jqjqjqiqhyhyhyhyfyffrfH@bf:?ɛiB=,= =I ș=ɚ i I H=I:ii)囱@)*F2F:FBF5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:Jq:JJa@a@a@a@GY G B) OE >w,&3AbWill construct direction to contact in vehicle frame from tetrahedron phase data.y~B~ IMb@Mb@Mb@ )Ykt?sh|?ſMby >)@ C@)~AI5@y3@I]I]# $?I٢mǥ 1=9Q > G٣VGy > Nusing accuracyPremultiplier from config59䳜?5Y i>: A(E@;;45B Q AEZjQUDNOT Ignoring new targets: 46.00 m.RjYBj]Jj] ProNav: ac range: 46.000000 m, nav range: 15.513988 m, bearing: 223.575978 deg, approach rate: 0.137404 m/s, LOS rate: -1.738729 deg/s, cmd heading: 318.007625 deg, new cmd heading: 315.551003 deg. 2j(HeadingCmd: 5.507404 target range: 46.000000 and range: 49.20 m. j<@jjjihhhhBfffrfbfق?ɛAEt=ZHRH?AHI I IIBI&I.I6I<:I F )-Ԥ=I) -ÿ=ɚ)i)I-LH=I5Fi1i1)=<@)9Ei*F2F:FBF5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G% J>G) G- pAG B O% >?w,?3A6@Y6@6 =96k?f?ɨ6@6ϑ;4yRBR IiV=IV>?IZIZV8٢ ]Ľ  d=9 #0Q > G٣y  > %Nusing accuracyPremultiplier from config!-59%?-5Y%Z i%˿155A%*E%:%:%59 = A=EZjimDNOT Ignoring new targets: 46.00 m.RjiBju-Jju- ProNav: ac range: 46.000000 m, nav range: 15.556575 m, bearing: 222.962743 deg, approach rate: 0.124863 m/s, LOS rate: -1.793005 deg/s, cmd heading: 315.550997 deg, new cmd heading: 313.716992 deg. 2jЙHeadingCmd: 5.475394 target range: 46.000000 and range: 49.20 m. jn6@jjjihhhhfffrfbf?ɛjBI= 8:=I ,=ɚiI|}H=IKii)n6@)zKĂKKKK"K*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.i u$?IyG<>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.(w,Y3AE$@YE84@El=9E2HD@ p@)AIK@y@IIK!٢I =9%KQ %>)) 5G٣1y= => MNusing accuracyPremultiplier from configA59E֜?5YE iE4>:1AE,EEI  I II BI &I .I 6I ư<:I F*Fu 2Fy :Fy BF} S5JFy "G >G >Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ge:>G9BAO]?w,->~3A:˸@Y:Aۿ@:ez=9:kGBO>w,3A6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520191@Y4+@=9\=yHD??A? Vӿm?@.@?@;@ )I@yf@I]I]٢m81= m5=9mZ9Q u>qq uG٣qy}B }> Nusing accuracyPremultiplier from config59=?5YS iy>:rA/EB;A;5B  AEZjDNOT Ignoring new targets: 46.00 m.RjBjJj𼝊 ProNav: ac range: 46.000000 m, nav range: 15.739674 m, bearing: 220.506914 deg, approach rate: 0.135462 m/s, LOS rate: -1.678988 deg/s, cmd heading: 308.657396 deg, new cmd heading: 306.386175 deg. 2jHeadingCmd: 5.347447 target range: 46.000000 and range: 49.20 m. jJ@jjjihhhhҁBfffrfbf@ɛ15J= 1=Z=I9 =7=ɚ9i9I=VMI=I]oiYiY)eJ@JJJ0JJ:J:Jـ3J)*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769585 1 I1 G :>G B O >jH <bH p<H ?>I  I I I &I .I 6I а<:I FVw,3A2w@Y2q@2ݚ=92G =y2H ?? ¹?܊Կ 8? 6Ak?@?ɨ2w@2T;0y>B> IIFIFn٢N< Rn=9R!\7Q R?PT VG٣TyVm V? ^Nusing accuracyPremultiplier from configXb59Z?b5YZ iZ`bbAZ0EZo;Z;Zq5h j AhZj|DNOT Ignoring new targets: 46.00 m.RjBj Jj = ProNav: ac range: 46.000000 m, nav range: 15.784928 m, bearing: 219.927901 deg, approach rate: 0.131519 m/s, LOS rate: -1.677874 deg/s, cmd heading: 306.386167 deg, new cmd heading: 304.654665 deg. 2jHeadingCmd: 5.317227 target range: 46.000000 and range: 49.20 m. j&@jjjihhhhfffrfbf o@ɛIM= quԂ=Iy }>*=ɚyiyII=Iuii)&@)9EUN>EU>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:39:57.5633 TRx dataTimestamp_ set to:1736379598.894891checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025009*F2F:FBF_0JFG GqAG B>G pAG qAzK LK 9K K "K  G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273469  I! w,3A:ɶ@Y:ؽ@:WA=9:{=y:H?6?_?*տa?㲿U ?8?ɨ:ɶ@:%;:$CyFBF IiJ=IJ<ININ?٢Vt VI=9Z5M:Q Z>XX ZG٣^WGy^W ^> bNusing accuracyPremultiplier from config`f59bG ?f5Yb  ibhj jAb2Eb:b:b75l n ApZjYmDNOT Ignoring new targets: 46.00 m.RjiBj}]Jj]꼝 ProNav: ac range: 46.000000 m, nav range: 15.836357 m, bearing: 219.245090 deg, approach rate: 0.123867 m/s, LOS rate: -1.639176 deg/s, cmd heading: 304.654659 deg, new cmd heading: 302.613790 deg. 2jHeadingCmd: 5.281607 target range: 46.000000 and range: 49.20 m. j@jjjihhhhfffrfbf @ɛi= Py=I %RE=ɚ!i!I%I=I-3i)i)@)*F%2F!:F!BF%`0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉՍ=DAT read: Range 10 to 50 : 50.8 m (Round-trip 67.8 ms) speed -0.6 m/s ,DAT read: user:3426> BDAT read: Tx time:23:39:58.6414 $Ping request sent.J J J J J ̶:J K:J J G B O% >w,3A:#@Y:2@:̞=9:n=y:H@c?l?`?`׿`$?m za`??ɨ:#@:F;8ybBb IUMb@Mb@Mb@QQQ Q)QYUi|?5?{Gz{Gzt?yU>UףUף;UI@ U@)U7AIU@QyU@ImIm٢}OL= }>=99Q > G٣y@ > Nusing accuracyPremultiplier from config59?5Y# i>:= A4E; ;5 U AEWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:39:58.6406 $?I addTargetRange:: Added new target pos. range: 50.799999 m, deltaT: 3.534194 s, deltaX: 1.599998 m, approachRate: 0.452719 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 46.00 m.RjZTarget missed at range: 50.80 m. Rolling out."jNTransitioning guidance mode to: ROLLOUT*j@ jjjj i "j h hhhBfffrf`ffI@bf%`;?ɛ̞= 隭=I i=ɚi w,s3A6[@Y6>k@6=96==y6H@T?@?@?vؿu?@S8? ?ɨ6[@6;6&CyRBR IXZAAI^I^)٢f< fV=9jsQ j>hh jG٣ly= => ENusing accuracyPremultiplier from configAM59Ej&?M5YE#& iE)QUwUAE5EE;E';Eѡ5Y ]< AaLu uAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseL}Entering Midcourse tracking update period 60.000000 s sec at 50.799999 m (mode 5.000000 count ).L1MB*** querying acoustic contact ***jjDNOT Ignoring new targets: 46.00 m. jjjji"jhhhh:uAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy1; v@Uninitialize Buoyancy Component.ffrfbf0?= >I9 ɚE3iIIii))E)*F2F:FBF$5JF"G>G>zK ӂLK K K "K  *4;ELQWZZ[`_`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. $?IG:>GGGGGe B O >h w,V4A&Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9972060@Y@=95UtU G٣yrX > Nusing accuracyPremultiplier from config595?5Y( iUF>:4A7E90;d.;ƣ5B  AE2lN@1MqMDNOT Ignoring new targets: 46.00 m. jjjji"jhhhh)Bffrfbf`?]F>]F>] @]@= k>I)9 ɚ#4iII3ii))9*F"2F:FBF/5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246545 IG} 2>B O >ZHY RH] AAHa Ia  Ie IIe BIa &Ia .Ia 6Ie <:Ie FBI)JI)RI)ZI)bI)jI-43 w,b-34ARԳ@YR@R/=9R<=yRH3?`?1? =ۿ@?@ `U??ɨRԳ@Rf;R#CyvBv II~,I~3٢ <=  f=9:uQ > G٣y %> -Nusing accuracyPremultiplier from config!-59%A?55Y%* i%v155A%8E%3:%U:%T5A E AA:lYqM]MeuDNOT Ignoring new targets: 46.00 m. jqjyjyjyiy"jyhhhhffrfbfQ;?]]]]\@/= R|>I9 ɚb?4iII3iQiQ)Q)YUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498034E}&V=JJJJJ<:J:JJJ5;aJ7;aJZ;aJZ;a*F%2F:FBFJFzK} MK} ŷ9Ky K} "K} dba_]\SRRNMKFD?<=<996421.1//,*)*)($" Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749956 I Gu :>B O >Lw,0M4A:{&@Y:5@:M_=9:J+=y:H`k?_?Ƶ?tܿT?ڶIXX ^G٣\y^W ^> bNusing accuracyPremultiplier from config`f59bN?f5Ybg- ibdj jAb:Eb':b:b5l n AlBlMtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseL Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse-DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1"j1h9h9h9h9fAfArfAbfE ?]i]i]i]m@}M_= 隅{>I*9 ɚS4iII3ii))Em3=EupAEuoA*F`'2F:FBFP0JFG GoA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005125GB>BO>uw,g4A6@Y6.@6[=96Kab=y6H'? ?2?%xݿg6?@w @@?`?ɨ6@6߷;6"Cy<> IiBt>IB= F=F=eWill construct direction to contact in vehicle frame from tetrahedron phase data.aia}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256565 $?IMb@Mb@Mb@ )Y%C?tD;A @)zAI@y@I=iI=:4٢<; +=9+H;Q > G٣y > Nusing accuracyPremultiplier from config 59^? 5Y0 ig>:A;E;S;.5B  AEUDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQ"jQhQhYhYh]`BfYfarfabfe@ɨ@]g>]g>]j@] @[= 隝\>I9 ɚG4iII3ii))E;HI I IIBI&I.I6I:I*F=Q*2F9:F9BF9JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505983G! B) O >7\ w,ǂ4AJJAAJJJ1JJ\:J/:J3JJ<J<J^;J^;B@YB@B=9B}=yBH?`?Ʋ?e޿?&n?@?ɨB@B;B$Cy^Bb IIjIjd4٢r= rs=9r;Q r?tt vG٣tyve z? ~Nusing accuracyPremultiplier from configx59z~i?5Yz 2 izAzB9OU>'w,ؚ4ABi@YBfy@BRW=9BȔ=yBH??+?`y߿ ]]]A ]@)] AI]@Yy]\@IuIuy4٢} '=9ϲ;Q > G٣y > Nusing accuracyPremultiplier from config59w?5Y4 i&L>;A>E;;̬5B 8 AEDNOT Ignoring new targets: 46.00 m. jjjji"jhhhhwBffrfbfF @]5L>]5L>]5/3]5|@ERW= AE\=IM9 IɚMY4iIIIIU3iQiQ)Q)YEaEa*Ea"EauWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262849 $?I*F.12F:FBFJFjH<bHHI I IIBI&I.I6I<:I FGE b>BQ Om >A-w,4A6ܰ@Y6@6FH>963=y6HgL?|?VK?"4D?` ?R?ɨ6ܰ@6;4y>B> I)@ @DFAIHIH٢R( RW=9V-ZWill construct direction to contact in vehicle frame from tetrahedron phase data.bDAT read: Range 10 to 50 : 52.7 m (Round-trip 70.3 ms) speed -0.4 m/s f,DAT read: user:3427> jBDAT read: Tx time:23:40:02.1915 j$Ping request sent.j Nusing accuracyPremultiplier from config|59~т?5Y~6 i~Q   A~?E~* ;~ ;~}5 H AE addTargetRange:: Added new target pos. range: 52.700001 m, deltaT: 3.525851 s, deltaX: 1.900002 m, approachRate: 0.538877 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQ"jQhYhYhYhYfafarfeYJ@bfe@?]!]!]!]%@]FH> Y]\=I]9 aɚe4iaIaI3ii))*J4="JJK KKK"KJJJJJ:J :JJJ;J;JR;JR;*F22F:FBFh0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:23:40:02.1907 IG 7>B O >_4w,|4A>S@Y>Fc@>>9>P=y>HO?`g?^?E?&`??ɨ>S@>;>&CyFBF IIRRIRW4٢Z ZJ=9Z:\\ ^G٣\yb+ b> fNusing accuracyPremultiplier from configdj59f?j5Yf8 if~hn, nAfAEf ;f. ;f85p rl ApDNOT Ignoring new targets: 46.00 m. jjjji"jhhhhffrfbf` ?]]]]Bj@> i=I~9 ɚI4iI!I%3i!i))))qEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F p42F :FBF/5JFGA>BO> y I h Will construct direction to contact in vehicle frame from tetrahedron phase data.k:w,4Ay%B% IMb@Mb@Mb@ )YMb?I +{Gzy>94#dA @) AI@yQAIKI4٢o 7=9Q > G٣y >  Nusing accuracyPremultiplier from config59ș?H@>I I IIBI&I.I6I<:I F55Y2; i=>= ;=]=ABE2;;-5A E AE߲EmDNOT Ignoring new targets: 46.00 m. jijqjqjqiy"jyhyhyhhffrfbfB?]>]>]C @]@ BO>J J J /J J :J J (N3J J ;J ;J J Aw,+5A @2(@Y2$@2>92Z=y2HO? &?ݭ? b.?~Ŀj`??ɨ2(@2w;2#CyBqBBq IILIL٢V Vc=9VXX ZG٣Xy~ݽ ~>  Nusing accuracyPremultiplier from config 59 +?5Y H= i 4A CE ; ; ɳ5! % A!MDNOT Ignoring new targets: 46.00 m. jIjQjQjQiQ"jYhahahahafifirfibfm?]]]]PI@ $?IzKBoHKKK"K &/<Nex > 15TI59 1ɚ5i1I1I=3i9i9)9)AUWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fs92F:FBFO0JFG A>B!O=> Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,& 5A6`@Y6@62>96%=y6H??@?C?@GMſu¿` ? _?ɨ6`@6,;6$CyNtBRt I-Mb@Mb@Mb@))) )))Y-+?~jtZd;Oy-v>-ļ-j-zA -@)- AI--@)y-AIEdIE?14٢Ua< U@=9UMii mG٣iyu* u> Nusing accuracyPremultiplier from config59?5Y? i+9>;*ADE;;5  u A}DNOT Ignoring new targets: 46.00 m. jyjyjyjyiy"jhhhhBffrfbft?]9>]9>]@]@2> ԣI9 ɚ Xi I I=3iAiI)q)qEQEUqA ImWill construct direction to contact in vehicle frame from tetrahedron phase data.iii*Fk<2F:FBFJF"G >G >ZH1RH5?AH9I9 I=s II=sBI9&I9.I96I=<:I= FG B O >)a a Nw,:5A6c~G>tAJA^Will construct direction to contact in vehicle frame from tetrahedron phase data. jDYjtAyn9u=yuH ڨ?@?J̮?@?R7ƿXÿ?t?ɨue@uE;u%CyލbBލ_ IIIr4٢ D=9  G٣y > Nusing accuracyPremultiplier from config595?5YMB in.AEE: ;o5B  AݲEDNOT Ignoring new targets: 46.00 m. jjjji"jhhh)h)f)f)rf1bf=`i@]Y]Y]Y]]0@m\> imtIu`9 qɚuIiqIqI}3iyiy)y)*F`>2F:FBF\0JFJJJ1JJ:J :J3JJ;J;JS;JS; $?IeWill construct direction to contact in vehicle frame from tetrahedron phase data.zKNKU9KK"KjVKDC@<9743//-..,&%$!    G9 BA Oe >WTw,ղT5A2w@Y2@23!>92=y2H :_?Dg??s.6?(ǿ`1)Ŀ=? zi?ɨ2w@2lg;2&CyFWBJQ ILNAIZIZkf4٢bl b\=9bFdd fG٣dyj  j> nNusing accuracyPremultiplier from confighr59j濝?r5YjD ijpv2vAjFEj;j;j 5x z^ Ax%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!"j!h)h)h)h)f1f1rf1bf5@]Q]Q]Q]U4@3!>  I9 ɚNiII3ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fq:FqBF}{0JF}G<>BO > I } Will construct direction to contact in vehicle frame from tetrahedron phase data.4[w,ߌn5AJ @YJ(@JY'>9J%=yJH`?? Y? l0@x?`dǿiĿٺ?` e?ɨJ @J0P;J%CyVPBVH I=Mb@Mb@Mb@999 9)9Y=Zd;O?X9vQy=j>=}== A =@)=AI99y= AIUIUi٢e& e@=9mJii mG٣qyu u> Nusing accuracyPremultiplier from config59ȝ?5YG i> ;PAHE,;;躭5  AH%A>I! I%G II%OBI% =&I!.I!6I%ư<:I% FBIJIRIZIbIjI4DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf &@]>]>]@]@=Y'> AE\IEP9 AɚEiAIAIM3iiii)q)qE}?E}?*F2F:F BF 0JF GoA GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:40:04.6676 TRx dataTimestamp_ set to:1736379605.9527895PExceeded connect timeout, disconnecting.GM A>BQ Ou >_bw,92_=y2HG?@#?.Ȱ? 7? ǿ|ſ^?K^?ɨ2@2;2&Cy>;B>. IIFIF[٢Nݽ NX=9RbPT VG٣TyV~ V> ZNusing accuracyPremultiplier from configX%59ZН?%5YZ0J iZL!%oT-AZIEZs \9IB9 ɚ i I I3ii))*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: Range 10 to 50 : 54.0 m (Round-trip 72.0 ms) speed 0.0 m/s 5 ,DAT read: user:3428> M BDAT read: Tx time:23:40:05.7415 U $Ping request sent.U B O% >/hw,W5A!JEJEJAJAJE:JE&:JAJAaM@aM@aM@aM@-~)@Y-8@-0>9-8=y-H v?`׆?@e? 3O?@&ȿſ_? V?ɨ-~)@-Z;-#Cye3Be$ I a=%=Mb@Mb@Mb@ )Y\(\?/$tI A @)AI@yAIEIE̍٢}2 }$=9 G٣yn > Nusing accuracyPremultiplier from config59%ڝ?5YN i> ;%g%AJE+;;ɾ51 5A1 m$?Iq addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.534089 s, deltaX: 1.299999 m, approachRate: 0.367846 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfK@bfx?]5>]5>=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:23:40:05.7407 ]5@]5@u0> qu.Iu9 ɚ@iII3ii))*F2F:FBF2JFjH <bH <HD>I I II,BI&I.I6I<:I FG A>B O >Vnw,!5A6o@Y6Ų@6R4>96=y6H *? ?@ڋ?,6@?ןɿkrƿ`K?`FK?ɨ6o@6?;6&Cy>)BB IIJIJʳRWill construct direction to contact in vehicle frame from tetrahedron phase data.٢5n 5y=9=5  AI9 ɚiII3iit>)!)!*F?2F:FBFP0JF"G >G YIYG<>BO>UWill construct direction to contact in vehicle frame from tetrahedron phase data.zK- sLK- #9K) K- "K- =uw,5A>0@Y>^@@>ͥ5>9>[=y>H`?I??L?LʿIƿ`1E?E?ɨ>0@>B;>%CyJ$BJ IIRIRƲ٢Z? ZS=9Z<;Q Z>\\ ^G٣\yb, b> fNusing accuracyPremultiplier from configdn59f杜?r5YfYS ifZpr,ovAfLEfu;f;f5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf ?]]]]=*@ͥ5> JI9 ɚiII3iiu>))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF!JF!G%>BYOY>J]J]J]0JYJ]l:J]:J]ـ3JY Q IQ e Will construct direction to contact in vehicle frame from tetrahedron phase data.g{w,5A>@Y>@ȱ@>g7>9>=y>H?"?"%?I@A?@ʿ@9ƿh?`Y@?ɨ>@>;MнM\M A M@)MAIIIyMAIeIeHF>IC III BI =&I.I6I<:I F٢ 7=9Z;Q > G٣y   > 5Nusing accuracyPremultiplier from config=59 ?=5YV i=}>=;=‿EANEF;};í5I M4AIDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf?] }>] }>] R @] /ר@=g7> 9==I=9 9ɚ=UiAIAIE3iIiM6j>)I)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G% {>B1 OM >Ja Ja :Pw, 6A:>@Y:(N@:zY8>9:W>y:H2???`H?)˿^ƿ` |?b@:@ّ;:$CybBf I pIpIzIz٢ [=9 `:Q  >  G٣y# > %Nusing accuracyPremultiplier from config!-59%?-5Y%Y i%155A%OE%:%q:%rŭ5=B =pA=ٲEmDNOT Ignoring new targets: 46.00 m. jijijqjqiqhqhqhyhyfyfrfbf`C?]]]]o_@zY8> 隽 I9 ɚ))Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKK9KK"K!)*'#!   BKpA:KpA*F%?2F):F)BF-o0JF)G5qA G1G%5~>B9O]3> Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,#6AJ4t@YJ@J<>9J|>yJH? f?g|?@B;N?8̿@zǿ@uz?/?ɨJ4t@J>;J&Cyr BrIJ%J!J%1J!J%ܫ:J!J%3J!Mb@Mb@Mb@ )YK7A`?y&1Q롿y>`役A @)AIC@yAII̍٢\J ?=9) G٣y"m > Nusing accuracyPremultiplier from config59j?5Y#] iqA>;bAPE;V;Nǭ5 ADNOT Ignoring new targets: 46.00 m. jjjjih!h!h!h%ĂBf)f)rf)bf`q@]-A>]-A>]-^@]-W7@m<> i隍RI]9 ɚiII3ii$uH>))2DpA*DqA I%Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH@AHJ>I IIIBI =&I.I8D6I<:I~ FD9*F ?2F :F BF O0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G k>B O>9Cw,A6A6S @Y6@6[9=>96>y6Hw\??S?@^?ւ̿`Ąǿ o?,?ɨ6S @66z;6$CyB BBIiF)>IF4= J=J=ININ٢RO; V@=9VM:Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b?f5Yb` iblnnAbQEbQ;boR;b,ɭ5p rApDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf w@])])])]-dϥ@=[9=> 9E IE9 A*Jea="Jea=ɚEbiiIiIu3iqiu8?>)q)yD $?I*F5?2F1:F1BF5z0JF9G-Ug>B9O]T>uWill construct direction to contact in vehicle frame from tetrahedron phase data.zK#MK9KK"K %%'&#! $'*''# RK>JK>Pfw,Z6A2i@Y2馯@2<>92R >y2H ?`*??oM? .̿luǿ?<,?ɨ2i@2Zq;2&Cy> B>IIRIR0٢b/ bJ=9f֙Q f>hl rG٣pyv v>  Nusing accuracyPremultiplier from config59?5Yc i.!%ǎ%ARE;;ʭ5) 5A1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:40:08.2189 TRx dataTimestamp_ set to:1736379609.480742DNOT Ignoring new targets: 46.00 m. jjjjihhhh!f!f!rf!bf-@p@@]]]]^@<> I<9 ɚiIIM3iqi}b3>)y)DE9JJJ0JJ:J9Jـ3J*F?2F:FBF0JF"G>GGoJ>BO> I Will construct direction to contact in vehicle frame from tetrahedron phase data.H M>I C I II BI &I .I 6I <:I Fw,[t6A2-@Y2=@2^;>92w >y2H[?q?? EY?̿ Rǿ@5?0+?ɨ2-@2;2$CyB BBIuMb@Mb@Mb@qqq q)qYuMbX9?"~jQ롿yuʡ>uS㽹qu/A q)uAIuZ@qyu3AIIV٢Y 9=9]Q > G٣y > Nusing accuracyPremultiplier from config59? 5Yg i j> ; < ASE ; ;̭5 AMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhIhQhhՂBffrfbf # @NG|uA OY|uAyA]j>]j>]@@]@%^;> !%̾I%9 IɚMJ*iIIIIU3iQiU$%)>)Q)YBDe=:De>Will construct direction to contact in vehicle frame from tetrahedron phase data.%=4=DAT read: Range 10 to 50 : 54.9 m (Round-trip 73.3 ms) speed -0.2 m/s  ,DAT read: user:3429> BDAT read: Tx time:23:40:09.3415 $Ping request sent.BI Oe >4yw,6A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:23:40:09.3407 :ɧ@Y:6ٮ@:!:>9:M>y:H }?g?Ŕ?^+ ?̿ !ǿ?Z*?ɨ:ɧ@:+;8yRBRI)T TTTIZIZ٢b) f^=9fQ f>hh jG٣hyj j> rNusing accuracyPremultiplier from configlr59n ?v5Yni intvvAnTEn7:n7:nzέ5x ~ A|5 addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.526908 s, deltaX: 0.900002 m, approachRate: 0.255181 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 46.00 m. j1j9j9j9i9hAhAhAhAfIfIrfM@3sK@bfM;?]i]i]i]m!@zKrMKk9KK"K   !:> ԾI9 !ɚ% Bi!I!I-3i)i->))))D59*F?2F:FBFp3JFGD>BOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Ƣw,fj6Ay~BI I]Mb@Mb@Mb@YYY Y)YY](\?RQL7A`堿y]z>]½]+]EA ]@)]AI]@Yy]QAIIq٢ 0=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y+m i:'>,;ڐAUE3;Q;Э5BUWill construct direction to contact in vehicle frame from tetrahedron phase data. U/A]ֲEDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfH?]'>]'>]@]H٤@a imIm9 iɚmciiIiI}3iyi}S >)y)jHbH<HP>I IIIځBI =&I.I9D6I<:I| FBIušCJIušCRIqZIu =bIu =jIu]5D9*Fe ?2Fa :Fa BFe w2JFa Gm rA Gm qA Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ)>BJJJJJ :J9JJJ;aJ;aJ8;aJ8;aO>yɱw,~6A6q@Y6@6%2>969>y6H!?7?'1?઒@o?x̿`;ƿ B?w2?ɨ6q@6|;4yBBBIIRIRW٢z[̼ zA=9zPQ z>|| ~G٣|y v >  Nusing accuracyPremultiplier from config 559 ?55Y 3p i 15 5A VE ; ; bҭ5A E^AEزEDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf>? Ih])])])]- @=%2> 9E IEȴ9 AɚEiAIyI3iiK>))2DqA*DpAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLK9KK"K  D-@9*F2F:FBFP5JFG !>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ {>Օ C?8w,)?6AB@YB@Bb.>9B>yBH?o?P]?@\)?@6̿`hſ` ?6?ɨB@B|;B%CyNBNIiZ=IZ= Z=XIfIfk٢Y F=9 x-Q >!) -G٣1yE M> Nusing accuracyPremultiplier from config59#?%5Y=s i)5kEAWEb<T`<Cԭ5 AUDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhYhYhYhYfafarfabfe S?]]]]@b.> I9 ɚiIII]3iYi]>)Y)a IDe9*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.H= T>I= C I= II= ՁBI=  =&I9 .I9 6I= <:I= FG )q!>B O >w,6A>@]@Y>l@>,>9>ا>y>H~?b?a?@-̿wſ`$A?7?ɨ>@]@>;EEtErA E@)EAIAAyEAI]I]٢m mC=9uQ u>yy }G٣yy} > Nusing accuracyPremultiplier from config59d?5Yu i->:;'AXE;;խ5 AUWill construct direction to contact in vehicle frame from tetrahedron phase data.uDNOT Ignoring new targets: 46.00 m. jqjqjqjqiqhyhyhyh}Bffrfbf`*@]>]>]&1@]Ƣ@,> I9 ɚעiII3iia=))D9EqAEpA*Fe?2Fa:FaBFeP0JFa"Gm=Gm=J-J-J-1J)J-̝:J-9J-3J)J-;J-;J-1;J-1;GE?>BQOmW> I Will construct direction to contact in vehicle frame from tetrahedron phase data. i AzK] KK] #9KY K] "K]  $3<=?BCC?=:773.,*)&$ w,'7A2H@Y2(@2Z)>92>y2HM?`?(x)?˿!ſQ? :?ɨ2H@2N;0y>B>IIFIF ٢V{ VW=9ZQ Z>\\ ^G٣\y^d b> fNusing accuracyPremultiplier from config`=59b| ?=5YbYx ibu9E*EAbYEb BI9 ɚ =i I I3iiV=)!))D9*F}?2Fy:FyBF}`0JFyGUJ>]Will construct direction to contact in vehicle frame from tetrahedron phase data.BiO9> $?I X)w,.7ABڥ@YB:@BT&>9Bȣ>yBH^!?`b?q`T@?˿<Ŀ@? 㥽A @)AIyzAII(٢t :=9LQ > G٣y` > Nusing accuracyPremultiplier from config59#?5Y{ i>H;pAZE;f;٭5  A =DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9h9hAhAhE؂BfAfIrfIbfM`@]u>]u>]uo@]u3@T&> 隍Iz9 ɚõiII3iiK=))ZHQRHUAAHeW>IeC IeIIeˁBIe =&Ia.Ie:D6Ie<:Ie FDO9*F?2F:FBF^0JFGqA GrAuWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:23:40:11.8200 }TRx dataTimestamp_ set to:1736379613.008555J% J% J% 0J! J% :J% 9J% ـ3J! J% R;J% S;J% Z5;J% [5;G= >BI O} >$w,H7A 9I9y=ہBEIIQIQ٢r L=9Q > G٣y > Nusing accuracyPremultiplier from config59)'?5Yv} iA::Rۭ5 XADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrf bf ` @]1]1]1]1A AE\IE9 AɚMӵiIIIIU3iQiU3=)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.zK=MK=9K9K="K=    D-9*F2F:FBF_0JFG [=B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: Range 10 to 50 : 55.8 m (Round-trip 74.4 ms) speed -0.3 m/s  ,DAT read: user:3430> - X#Rx 4: Read range message, but no direction.a ye 3_Ba |Lw,b7A-k[@Y-j@-Ӯ>9-J>y-H?%? 7?E˿ÿ8? D?ɨ-k[@-eЊ;-%Cy5ҁB=III(1٢ 6=9Q 5>99 =G٣9yE E> UNusing accuracyPremultiplier from configQ]59U*?e5YUA iUcaeAAU[EU )-I-9 1ɚ5si1I1I=3i9i=Z#=)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:40:12.9415 $Ping request sent.I9  I= II= BI=  =&I9 .I9 6I= <:I= FD ߹9*F ?2F :F BF JF mWill construct direction to contact in vehicle frame from tetrahedron phase data.GE=BQOm?޿w,$7Aj7*@Yj9@jvY>9j,>yjH???=M?@ʿÿ:? IF?ɨj7*@jC-;j&CyzŁB~IMb@Mb@Mb@ )Y\(\?~jtktyz> 0A @)AI@yAI=I=[٢M` U)=9UQ U>YY ]G٣YyeN e> uNusing accuracyPremultiplier from configiu59mV.?}5Ym im}+>}L;}ϗ}Am\Emz;m ;md߭5  AJK3 KA.KK"KJJJJJ:J=9JJJ;J;J*;J*;DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf;?]+>]+>]o@]@%vY> !%I%J9 )ɚ-i)I)I53i1i5l=)1)9 I *F?2F:FBF4JF"GG4>Gs=BOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= LK= k9K9 K= "K= w,7A:ڤ@Y:b@:>9:6>y:Hj?@Li?o١?@`ʿ`kR¿`~?K?ɨ:ڤ@:YΉ;:$CyRBRIIZIZV8٢vߚ ve=9vQ v>xx zG٣xyz޼ ~> Nusing accuracyPremultiplier from configy59}&1?5Y}Q i}똿A}]E};}:}5B AղEDNOT Ignoring new targets: 46.00 m. jjjjihh h h f f%Will construct direction to contact in vehicle frame from tetrahedron phase data.%!>%:?rfbf] =?]]]]Ԣ@> WI9 ɚ@iII3iic=))*F?2F:FBF 5JF I G!{=BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.H! I!  I% II% BI! &I! .I! 6I% ʰ<:I% Fw,7A6Ȣ@Y6H@6& >96Y|>y6HB?Z?jפI,?[ɿ?P?ɨ6Ȣ@6;6%Cy>BBI=Mb@Mb@Mb@999 9)9Y=V-?+:vy=|>==T=rA =@)=AI99y=AIUIU{٢] eA=9e&`Q e>ii mG٣iym u> Nusing accuracyPremultiplier from configq59u/4?5YuƇ iuOD>H;Au^Eue]=D>]=F@]=ח@m& > qufIu9 qɚu iqIqI}3iyi}=)) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:FABFE5JFAG=B!OEs> I ^w,_7A6o@Y6~@6<>96#>y6H??@vPP?y@ɿ)ع?:V?ɨ6o@6S+;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.yBuIII٢-Ht -P=9-|Q ->11 5G٣1y=| => ENusing accuracyPremultiplier from configAM59E7?M5YE) iEIUUAE_EEX:E:E5Y ]AaDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf {?]]]]>j@<> gI29 ɚiII3iih|=))EEzK5FKK59K1K5"K5      *F]?2FY:FYBF]P0JFYGa GepAG{=BO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J <:J u9J J a% @a% @a- @a- @%w,7A yjH??? x@m\?ܩȿWֿE?@Z?ɨj15@j;hyvBvfIMb@Mb@Mb@ )YRQ?sh|?)\(y>GaA )\AI@yII(٢e ==9ΆQ > G٣y  > Nusing accuracyPremultiplier from config59C:?5Y i(>A;n%A`EU;;f5) -xA)UDNOT Ignoring new targets: 46.00 m. jQjQjQjYiYhYhYhYhe~Bfafirfibfm@\@]=(>]=(>]= @]=P@Will construct direction to contact in vehicle frame from tetrahedron phase data.[= 隝fI09 ɚiII3iin=))2D*DBD:D*F?2F:FBFJFHY>I IfIIBI =&I.I6IҰ<:I FBIŤCJIŤCRIZI =bI =jIŋ5GC8=BOe>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 )?5 <Gw,v8Ay-B-UIIE IE<2٢m mS=9mQ u>qq uG٣qy} }> Nusing accuracyPremultiplier from config59=?5YV iAA;;5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`@]]]] I9 ɚ iII%3i!i%6=))))J@AJ iIi*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G=BO>zK xLK 9K K "K [e@{wndBK :K qA1w,,8A6@Y6 @6f=96V">y6HL? ?@ 8+?@ǿ ͭ@?@b?ɨ6@6_;6$Cy>BBJIIJIJ(٢R?; RY=9RQ R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from configXf59Z??f5YZ iZhjmjAZaEZ~;Zh;Z5x z,AzײEDNOT Ignoring new targets: 46.00 m. jjj!j!i!h!h!h)h)f)f)rf)bf5@]Q]Q]Q]U@ef= aegIm9 iɚm(iiIiIu3iqiuq=)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FQ:FQBFU0JFQG5=BaO'>JJJJJ:JO9JJ iImh Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:40:15.4211  TRx dataTimestamp_ set to:1736379616.788627H Z>I  I MII BI &I .I 6I <:I F[ w,>88A6ƣ@Y6T֪@6=96">y6Hࢣ?I?W?Mǿ_`d'?f?ɨ6ƣ@6;4yNwBR=IuMb@Mb@Mb@qqq q)qYuL7A`?B`"۹v/yu+>uνuxiuA u@)uAIu@qyuAIIT٢TE ;=9&Q > G٣y0 > Nusing accuracyPremultiplier from config59B?5Y i>8;AbE;I;5 A DNOT Ignoring new targets: 46.00 m. j j j j i h hhhSBff!rf!bf%Ku @]E>]E>]E^@]Eߟ@U= Y](ܾI]`9 Yɚ]/iYIYIe3iaimd=)i)i*Fm?2Fi:FiBFmd1JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.GMb=BYOu> U $?IQ Cw,LQ8A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:DAT read: Range 10 to 50 : 56.5 m (Round-trip 75.4 ms) speed 0.0 m/s >,DAT read: user:3431> BBDAT read: Tx time:23:40:16.5416 B$Ping request sent.ByNH? d?b.@p?-ƿEW?g?ɨN㨣@NȊ;N'CyV|BVCIIbIb<٢f< jY=9j+Q j>ll nG٣lyr> r> vNusing accuracyPremultiplier from configpz59rD?z5YrK ir3|~ArcErQ;rQ;rI5  [A u addTargetRange:: Added new target pos. range: 56.500000 m, deltaT: 3.779003 s, deltaX: 0.700001 m, approachRate: 0.185234 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 46.00 m. jyjyjjihhhhffrf@L@bfV?]]]]ȟ@ =  (׾IU9 QɚU6iQIQI]3iYi]QX=)Y)azKcNKk9KK"KWA#   RK>JK?*F?2F :F BF P5JF G q=BOEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:40:16.5408 J J J 1J J :J 9J 3J pw,k8A I zq@Yz@z=9z%>yzHic?`x?uò?Bzƿ3`ň?`Qj?ɨzq@z;z$Cy pB 5IMb@Mb@Mb@ )YHzG?S㥻i|?5y=>/ݽq )/AI3@yII&ѳ٢AV 9=9CQ > G٣yz > Nusing accuracyPremultiplier from config 59G? 5Yj i >2;էAdE;%;65 AEDNOT Ignoring new targets: 46.00 m. jAjAjAjIiIhIhQhYh]LBfYfarfabfe?]>]>]@]@= 隕)ܾI͵9 ɚ=iII3iiA=))mWill construct direction to contact in vehicle frame from tetrahedron phase data.HiIi Im:IImuBIm =&Ii.Ii6ImŰ<:Im FDz9E*F?2F:FBF0JFGrA GqA Will construct direction to contact in vehicle frame from tetrahedron phase data.G $g=B O >ƙ!w,8A6.J@Y6Y@6=96&W#>y6H E?(? =?@OſԸ7gB>)IIFIFԲ٢R]B RX=9R`hQ R>TT VG٣Xy^O ^> bNusing accuracyPremultiplier from config`f59bI?f5Yb ibdfojAbeEb:;b};b5l nAlDNOT Ignoring new targets: 46.00 m. jj j j i h hhhffrfbf)?]]]]@= ]Iϴ9 ɚDiII3ii^2=)) I*F?2F:FBFP0JFG)e]=BO'>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK WLK -9K K "K  BK :K nA'w,8A2.@Y2,>@2=92&>y2H 1?2?(`?Zſ@ו?`r?ɨ2.@2*;0yNdBN&II^I^ͳ٢nDJ rG=9r?DQ r>tt vG٣tyvJ v> ~Nusing accuracyPremultiplier from configx59zLL?5Yz  iz3AzfEz;z:z5  A=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfM`A!?]Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@%= )-I-9 Yɚ].LiYIaIm3iiF(=))*Fi2Fq:FqBFyJFyJ%J%J%0J!J%ݒ:J%9J%ـ3J! IGF=BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I 4II pBI  =&I .I 6I <:I F -w,!X8A6&@Y65@6\=96(>y6H+?@ 4? }M/M?3ſ@㶿@O?q?ɨ6&@6!;6%CyFhBF+IMb@Mb@Mb@ )YJ +?Pny&1y>`eA @)AI`@y\AI-I-٢=ܙ< =D=9E(ԻQ E>AI MG٣IyM/& M> ]Nusing accuracyPremultiplier from configQ]59UN?e5YU iUe>e/;e(eAUgEU_;U+;Uz5i uAqDNOT Ignoring new targets: 46.00 m. jjjjihhhh:Bffrfbf@?]>]>]٨@]@\= ѾI%9 ɚRiIIu3iqiu%=)q)y*F)2F):F)BF-Y0JF)"G==G==mWill construct direction to contact in vehicle frame from tetrahedron phase data.G-=BOM1> I Will construct direction to contact in vehicle frame from tetrahedron phase data.4w,a38A6+@Y6&@6ܲ=96(>y6Hh ?:?@㵿` 9@x?ĿMT? s?ɨ6+@6u;6#CyBlBB0IIJIJ0٢Rw< RU=9VVQ V>TT ZG٣XyZ Z> Nusing accuracyPremultiplier from config%59O?%5Y  i!-Y-A::651 5A1DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`j@]]]]~y@ܲ= ;I 9 ɚ LYi I I-3i)i5?=)Q)qzK>BKKk9KK"K'YRK ?JK?*F 2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GMҸ(=BYOu> I :w,X8Af@Yf2@f=9fpM(>yfH?@A?@_C@y?`Ŀ`0?t?ɨf@fF;f$CyngBr)IMb@Mb@Mb@ )Y(\?L7A`y>+LA @)IyAIIF٢¼ 8=9 Q > G٣y > Nusing accuracyPremultiplier from config59kQ?5Y= i+>0;rAhEf;;5B AԲE-DNOT Ignoring new targets: 46.00 m. j)j)j1j1i1h1h1h9h=CBfAfIrfIbfM`@]m>]m>]mF@]m*@}= y隅)ܾI9 ɚe`iII3iit=))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.H[>I III =&I.I6I<:I F*F2F:FBFp0JFNG|uA EWYE|uAyE$AG#=BO- >} Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,N9AB@YB@B=9B(>yBH?I?趿@O@T{?nĿ` `?u?ɨB@B3;B%CyRsBR8II^I^(1٢f= f]=9f.ܻQ f>hh jG٣hyn%ʻ n> rNusing accuracyPremultiplier from configpv59rR?v5Yr irqtvzAriEr:r:r5| ~A|=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfM@]i]i]i]m @}= y隅\оIG9 ɚfiII3ii(=))JJJJJ:J=9JJJ;aJ;aJaJa iIi*F?2F:FBFT5JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:40:19.0217 TRx dataTimestamp_ set to:1736379620.316594Gs=BO>zK% ozLK% 9K! K% "K% *452,**.631-,/' }{vvmaQE<669@AHw,*!9A:ݢ@Y:O@:p=9:^+*>y:H'?R? `] i?@>Ŀ n?^u?ɨ:ݢ@:;:&CyJ{BJCIIVIV̍٢ZJ+= ZK=9^ƻQ ^>`` bG٣`ybݻ f> jNusing accuracyPremultiplier from configdn59fWT?n5Yf ifln󴿑nAfjEf ;f ;fv5t veAtDNOT Ignoring new targets: 46.00 m. jj!j!j!i)h)h1EWill construct direction to contact in vehicle frame from tetrahedron phase data.E=E<hIhIfIfIrfIbfU: @]i]i]i]mқ@p= 隅ǾIt9 ɚmiII3ii '=))*FM?2FI:FQBFU4JFQ aIaG5s=BAO]v>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 57.0 m (Round-trip 76.0 ms) speed 0.0 m/s ,DAT read: user:3432>  BDAT read: Tx time:23:40:20.1416  $Ping request sent. yNH`?W?Y f`%^?@%ĿyRR?Dt?ɨNϢ@N ;LyVBZNImMb@Mb@Mb@iii i)iYmX9v?nZd;Oym}>mVmj G٣y > Nusing accuracyPremultiplier from config59cU?5Y i t>8;AkEU"; ;Y5  AֲE addTargetRange:: Added new target pos. range: 57.000000 m, deltaT: 3.528051 s, deltaX: 0.500000 m, approachRate: 0.141721 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.00 m. jjj j i h h hhQBffrfL@bf?]=t>]=t>]=붸@]=3(@MH͟= IM̾IM~9 QɚUsiQIQI]3iYi]v=)Y)a*F2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:23:40:20.1408 JJJ1JJ:J9J3JJ9;J:;J;%;J<%;GEz = YIYByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A;Uw,wU9A2Ѱ@Y2Q@2=92+>y2H?`f?͸yG?NÿOlK?`*v?ɨ2Ѱ@2Y;2(Cy>B>UIIjIj ٢< T=9ֻQ >    G٣ y > Nusing accuracyPremultiplier from config%59JV?%5Yش iO!%-AlE: ;:51 5A1DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfD830)&#!!     ]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> Y Ie hTL[w,Nco9Ar@Yry@rs=9r (>yrH'?t?ϻڈv9?Gÿ !?`{?ɨr@r0-;r%Cy~B~YIMb@Mb@Mb@ )Yv/?S㥛ˡEyxi>$'A @)vAI@yAIIԲ٢< ?=9]߻Q > G٣yq > Nusing accuracyPremultiplier from config59W?5Y iB>G;AmEa;;5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhjBf!f)rf)bf-@?]MB>]MB>]M_@]M@]s= Y])ܾIeL9 aɚeiaIaWill construct direction to contact in vehicle frame from tetrahedron phase data.I 3i i  G<) )H5Z>I1 I5`II5BI1&I1.I16I5ܰ<:I5 F*F?2F:FBFJFGN<BO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e >e p=3bw,m99A2D@Y2ė@2ُ=92oC*>y2H? y?r`# .?`dÿ[!?{?ɨ2D@2X;2&Cy>B>dIIJIJỳ٢b<= b[=9fλQ f>dd jG٣hyj˝ j> rNusing accuracyPremultiplier from configlr59nW?r5Yn2 intvvAnnEn:n3:n5x zA|-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h1JAAJBAJJJJJ:J9JJJ;J;J;J;h Ihffrfbf #@?]I]I]I]M@}ُ= y}\ӾI}9 ɚۃiII3ii_<))*Fe?2Fa:FaBFe^0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.Gh<BO>zK bMK K K "K BK qA:K oA]hw,9ARO@YRϜ@R%=9R+>yRH`?u?Ź@_[0? 5:ÿ=nU?x?ɨRO@R;Py^B^|IIfIfb٢nz= nI=9r'Q r>pt vG٣tyv: v> ~Nusing accuracyPremultiplier from configx~59zX?5Yz izAxz*:z*:zP5  AWill construct direction to contact in vehicle frame from tetrahedron phase data.EDNOT Ignoring new targets: 46.00 m. jAjAjAjAiIhIhIhIhIfQfQrfQbf]`mZ?]y]y]y]}9@%= 隭I<9 ɚdžiII3ii#<))*F2F:FBFo0JF I!G-;<B9OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.H% Y>I!  I% II% BI%  =&I! .I! 6I% <:I% Fnw,X9A6@Y6@6y=96^,>y6H Z?p?մ҉6?`\ÿ@K+d?w?ɨ6@6 ;6%CyfBfIeMb@Mb@Mb@aaa a)aYen?v/ex齹eta a)e` AIaaye\AIuIuV٢0q< @=9;Q > G٣y/; > Nusing accuracyPremultiplier from config59mY?5Y{ iMv>\;AoE;;*5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf@@]v>]v>]5@]N@-y= 15ѾIn9 ɚ,iII3ii<))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fq:FqBFu0JFqG G"GGJJJJJ:J=9JJJ;J;J*;J*; IB9OQ Will construct direction to contact in vehicle frame from tetrahedron phase data.muw,9A6@Y6 @6=96mg->y6H@_?`m?@4ܹ@ 9?Zwÿ'< k? Pv?ɨ6@6V;6&Cy>B>IIFIF٢R = RZ=9V3:Q V>XX ZG٣XyZ: ^> bNusing accuracyPremultiplier from config`f59b;Z?f5Yb ibdf꺿fAbpEb:b:b5l nlAlDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@]]]]6U@%= )-ľI-|9 QɚUEiQIQIu3iqi}<)y)y*F ?2F :F BF R5JF BO= >zKKKKK"KRK?JK?5Will construct direction to contact in vehicle frame from tetrahedron phase data.  I {w,i9A@Y @v[=9->yH@?p?L /3?Yrÿ@'`?v?ɨ@a2;$Cy-B-IMb@Mb@Mb@ )YE?B`"۹L7A`堿yF>ν+ )IAyAI I̍2٢= 5=9(7Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config1=595F[?=5Y5@ i5=b>=o;=z=A5qE5f;5;5 5I M1AIuDNOT Ignoring new targets: 46.00 m. jqjqjqjyiyhyhyhyhBffrfbf.@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:40:22.6224 TRx dataTimestamp_ set to:1736379623.845202]b>]b>]@]*@v[= (ܾI89 ɚאiII3iiȓ<))HZ>I IIIƁBI&I.I6I˰<:I F*Fe?2Fa:FaBFe45JFaBO(>= Will construct direction to contact in vehicle frame from tetrahedron phase data.~w,w :A2@Y2*@2Z1=92h.>y2HM?@q?e+ 0?yÿ G"`? 0u?ɨ2@2ˆ;2&CyRсBRIIZIZi٢f.= fc=9fiQ j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpz59r\?z5Yr@ irx~~AprP;rcQ;r[ 5 A eDNOT Ignoring new targets: 46.00 m. jajajijiiihqhqhyhyfyfyrfybf # @ I]]]]]@ Z1=  Z;I Q9 ɚiII3ii<))*FM?2FI:FIBFMO0JFIBYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 57.5 m (Round-trip 76.7 ms) speed -0.1 m/s ,DAT read: user:3433> BDAT read: Tx time:23:40:23.7416 $Ping request sent.yFH?js?+% -?{ÿ,?@2u?ɨF玢@Fa;DybԁBbIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:40:23.7408 IjIjV8٢#}< >=99Q > G٣yNM > Nusing accuracyPremultiplier from config59]?5Y i#ArE ;* ;< 5 A addTargetRange:: Added new target pos. range: 57.500000 m, deltaT: 3.528055 s, deltaX: 0.500000 m, approachRate: 0.141721 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h)h)h)h)f1f1rf5L@bf=?]Y]Y]Y]]P@΄= ɾI9 ɚ9iII-3i1i5g<)1)9 IJJJ0JJ:JJـ3Ja@a@a@a@*F?2F:FBF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G <B H Y>I  I II BI &I .I 6I p<:I v FO >)U = U C c~G A % Y! y% AҎw,(->:AV@YV/@V=9Vʩ.>yVH?fx?@M ޓ;%?`guÿ@W >?t?ɨV@VF;V'CybBbIdfAUMb@Mb@Mb@QQQ Q)QYUʡE?(\µMbyU-2>UUUA Q)QIUQAQyU\AImIm%٢}= }L=9AQ > G٣y4L > Nusing accuracyPremultiplier from config59^?5Y iSH>;AsE-;<;5 0ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf{?]H>]H>]T@]ț@= ѾI9 ɚiII3iiX<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFG-<BO>> yIy*JC="J4= Will construct direction to contact in vehicle frame from tetrahedron phase data.Ww,?X:A6r@Y6N@6e=96F&>y6H ?@s?縿 Q\!?@¿ ɱ?2?ɨ6r@6汉;6&Cy>B>IIJIJʳ٢R< RX=9V>UQ V>TX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b^?f5Ybo ibdfjA`b:* i Ii JK(3 K(.KK"KJ J J J J J 9J J w,cq:AIu@YɄ@=9r*>yH d??nƹJ? |¿୙ W(?{?ɨIu@3;%CyBImMb@Mb@Mb@iuWill construct direction to contact in vehicle frame from tetrahedron phase data.yi}Aii i)iYm/$?㥛 y&1ym,>mm`m+A m@)m AIiiymAII٢= .=9ʺQ > G٣y): > Nusing accuracyPremultiplier from config59[`?5Y i=>;ЯAtE[;;5 AHyIy I}II}BIy&Iy.Iy6I}<:I} FBI9JI9RI9ZI= =bI9jI=ú4DNOT Ignoring new targets: 46.00 m. jjjjihhhh҂Bffrfbf@?]5=>]5=>]5@]5@m= imfImQ9 iɚmiqIqIu3iyi}<)y)*Fu?2Fy:FyBF}_0JFy% Will construct direction to contact in vehicle frame from tetrahedron phase data.G] <Bi O >̢w,@:A Iy B I ==I%I%<٢5͏; 5e=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59Mha?U5YM9 iMYYeAIM@;M@;M=5m B mAmزEJyJ}AADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@>?]]]]a aeIe9 iɚmiiIiIu3ii=<))*FM?2FI:FIBFM1JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G<BOE>zK] BoHK] -9KY K] "K] 'lBKm pA:Ki w,=:A2@Y2:@25-=92o/>y2H`? ul?C_(^5?ÿ!`?s?ɨ2@2*;2&Cy:B>IIFIF<٢N 7< NU=rWill construct direction to contact in vehicle frame from tetrahedron phase data.9;Q >!! %G٣!y%6< -> 5Nusing accuracyPremultiplier from config)559-b?=5Y- i-ae%eA-uE-;-$;-5i uAqDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfw@]]]]nF@5-= fI9 ɚiII3ii <)) I*F?2F:FBFP5JFGqA GpAJJJJJ:J*9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.G<BO>Hq Iq  Iu IIu BIq &Iq .Iq 6Iu <:Iu F !w,t:A6r@Y6@6=96~0>y6H !?rc?@>} @?ÿl*?`cq?ɨ6r@6;4yRBRIeMb@Mb@Mb@aaa a)aYe{Gz?X9vQye#>e}ea a)eI AIe@aye\AI}I}(*٢; <=9ށ;Q > G٣y; > Nusing accuracyPremultiplier from config59d?5Y i,`2>;8Aj;;5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhh‚Bffrfbfժ@]%`2>]%`2>]%f;@]%@5= 9=ѾI=ص9 9ɚ=i9I9IE3iAiEP<)I)I*F?2F:FBFd4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G%<BO> I*JR="Ja= Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:40:26.2232  TRx dataTimestamp_ set to:1736379627.372613w,O:AB@YB @B&t=9B0>yBHa?1b?-U{A?ÿ`0ʲu?`Wp?ɨB@B*;B$CyvBvIAII<٢EV EO=9E;Q E>II MG٣IyMz: U> }Nusing accuracyPremultiplier from configQ59Ule?5YU iUV-AUvEU;UT:U5 A DNOT Ignoring new targets: 46.00 m. j j j j i h hh1h9f9f9rf9bf=(@]]]]Ğ@&t= RӾI9 ɚ_iII3ii;<))*Fm?2Fi:FiBFmO0JFizK}lNKyKyK}"K}\J=/)!vJ" RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.GM-<BaO> I J J J J J J J J 56w,C8:AeD@Yeľ@e=9e\1>yeH@?@b?*`z@?-Ŀ@?/o?ɨeD@eM݉;ayBIUWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y333333?V-X9vy>mAHX>I III =&I.I6I<:I F )Iy3AI5I5<٢= =.=9E:Q E>IQ UG٣Yy=9 >  Nusing accuracyPremultiplier from config 59  g?5Y y i '>;A wE ; ; 5! %A)uDNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhyhhhBffrfbf @] '>] '>] VA@] @== AE̾IE9 AɚE겶iAIAIM3iIiM<)Q)QD 9 Will construct direction to contact in vehicle frame from tetrahedron phase data. %= = DAT read: Range 10 to 50 : 58.1 m (Round-trip 77.5 ms) speed -0.1 m/s -% X#Rx 8: Read range message, but no direction. y fhB *F ?2F :F BF 1JF "G =G $?I J J @AGF<BO?w,%;A:_@Y:Ʃ@:{ݛ=9:2>y:H?]?'@u`C?_Ŀ v@ +?` l?ɨ:_@:bȉ;:#Cy^B^IIfIf?1٢nL0 n;=9n=;Q n>tt vG٣tyv; z> ~Nusing accuracyPremultiplier from configx~59zeh?5Yz iz   Axz6;z6;z5  AM addTargetRange:: Added new target pos. range: 58.099998 m, deltaT: 3.781050 s, deltaX: 0.599998 m, approachRate: 0.158686 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiQhQhQhQhYfYfYrfe M@bfe?]]]]@{ݛ= 隝3ϾI^9 ɚ+iII3ii:<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FY:FYBF]O0JFYG}<BO>zK} /NK}k9KyK}"K}BKqA:KpA Will construct direction to contact in vehicle frame from tetrahedron phase data. A IE hw,i-;A "@yuہBuIII#٢ d ?=9Q >JJJJJ:JO9JJ G٣y > Nusing accuracyPremultiplier from config59i?5Y iAxE0;1;`5 mADNOT Ignoring new targets: 46.00 m. jjjjihhhhf!f!rf!bf-`?]A]A]A]AY Y]f۾Ie9 aɚeiaIaIm3iiimF<)q)qEy*F2F:FBFP0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.HW>I IIIBI&I.I6I<:I FG?<BO>Cw,֧G;A6@Y6ϩ@6|=963>y6H@?`Z? m깿|oG?ĿQ4?j?ɨ6@6);6%CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF؁BFIMb@Mb@Mb@ )Yl?DlˡEy>O'A @)` AIQAyAI5I5m?٢E邼 MQ=9MÝ;Q M>QQ UG٣QyU); ]> eNusing accuracyPremultiplier from configYe59]j?m5Y]a i]mg,>m;mTmAY]Y;];]!5 AeDNOT Ignoring new targets: 46.00 m. jajajajaiahahahihmBfifrfbf2?]g,>]g,>] @]@|=  ׾I9 I ɚ-4i)I)I53i1i=<)9)9*JI"JM=*F?2F:FBFJFGrA GqA5Will construct direction to contact in vehicle frame from tetrahedron phase data.G <B O5 >Ww,ǂa;A>Ţ@Y>թ@>=9>3>y>H ?`W?wعrkK?Ŀ,xA?Xi?ɨ>Ţ@>\؈;>&Cy^ʁBbIdfBAIjIjb2٢r1 rQ=9r;Q r>tt vG٣tyz|; z> ~Nusing accuracyPremultiplier from config|59~k?5Y~ i~J; A~yE~:~n:~"5 AMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQhYfYfYrfYbfe@?]y]y]y]}@= 隕I9 ɚiII3ii_=))zK5K5-9K1K5"K5  & *F5?2F1:F1BF5p0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data. IG5G<BAOew>M Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II BI &I .I 6I ð<:I F'w,=_{;ABâ@zNGYBҩ@ BF"=9B2>-AyBH@'?@Z?l8I?mĿ^(?i?ɨBâ@Bzk;B%C ]ҿYYy]AyeBeIMb@Mb@Mb@ )Yjt?ˡE:vy >什TA ) AIv@y AI I <٢CB %8=9%:Q %>!) -G٣)y-U -> =Nusing accuracyPremultiplier from config1=595l?E5Y5 i5E=>E;EEA15U;5;5$5I LA=DNOT Ignoring new targets: 46.00 m. j9jAjAjAiAhAhAhIhmBfifirfqbfu`?]=>]=>]ܨ@]@F"=  ǾI =9 ɚĶiII3iiVU<))!2DI*DIBDI:DIEEqA*F}?2Fy:FyBF}`0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data. IJi Jm Ji Ji Ji Jm 9Ji Ji Ji a Ji a Jm %7;a Jm &7;a G =B O >w,7;A2ˢ@Y2۩@2=923>y2H?WV?}`dgN?@KĿ@"4?h?ɨ2ˢ@2 %;2$Cy>B>IIHIH٢N8 Rf=9Rj1;Q R>TT VG٣TyV@; Z> ^Nusing accuracyPremultiplier from configXb59Z|m?b5YZp iZ`bbAZzEZX ;Z ;ZF&5d jAhDNOT Ignoring new targets: 46.00 m. j j j j i h h hhffrfybf}@]]]]@= ϾI9 ɚǶiIWill construct direction to contact in vehicle frame from tetrahedron phase data.iI3ii :=) ) *F?2F:FBFS5JFG-<BO=>zKnLK9KK"K Will construct direction to contact in vehicle frame from tetrahedron phase data. I 9w,;A2oȢ@Y2ש@2%ԥ=92s3>y2H!?X? h,K??Ŀ f>?h?ɨ2oȢ@2l ;0yRBRxIIbIbb٢n nG=9nib:Q r>pp rG٣pyvt v> zNusing accuracyPremultiplier from configx~59z^n?~5Yz; iz |Axz ;z ;z(5  A =DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfM0@]q]q]q]u<@%ԥ=  I c9 ɚ ʶi II53i9i=&=)9)9*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HV>IC IIIՁBI&I.I6I<:I FBI)JI)RI)ZI- =bI- =jI-04G$3=B O1 w,};A2Will construct direction to contact in vehicle frame from tetrahedron phase data.Bɢ@YBة@B=9Bm4>yBH?=ʽ=9 =p@)= AI=`@9y==AIUIU٢ej mB=9m{:Q m>qq uG٣qyu+N9 }> Nusing accuracyPremultiplier from config59@o?5Y[ i\,[>x;yA{E;;)5 rADNOT Ignoring new targets: 46.00 m. j YIYjjajaiahahahihmIBfifirfqbf@],[>],[>]C@]l@= I9 ɚ zͶiII3ii8J=))J5J5J1J1J5<:J59J1J1J5;J5;J51;J51;*F?2F:FBFp4JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.GM :^<BY Ou >NMw,-;A2Ǣ@Y2Sש@2=924>y2HP? X?&h"H?ſ 봿 b?e?ɨ2Ǣ@2߇;2"Cy^B^`IIfIf٢n rS=9rɒ:Q r>tt vG٣tyv չ z> ~Nusing accuracyPremultiplier from config|59~p? 5Y~M i~   A|~-;~-;~+5 B AղEEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhIhIhIhIfQfQrfYbf]@ @]y]y]y]}@= 隕I9 ɚ1жiII3ii=))zKBoHK-9KK"K,573.(" *FM?2FQ:FQBFUO0JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data. IIIG5$3=BAO]v>- Will construct direction to contact in vehicle frame from tetrahedron phase data.Hu U>Iq  Iu IIu BIu  =&Iq .Iu 9D6Iu <:Iu Fuw,;AyBTIMb@Mb@Mb@ )Y?K7A trA )Iv@yII<٢5 ==9Q > G٣y > Nusing accuracyPremultiplier from config59p?5Y i}>V;A|E;;-5 A%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h!h)h)h-7Bf)f1rf1bf5@]U}>]U}>]U*@]Uߘ@a aeImź9 iɚmӶiiIiI3ii=))*F2F:FBFP0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data. IIQG<BO >JM JM JI JI JM :JM b9JI JI JM R;JM S;JM 0.;JM 1.;\w,}y6Hhh jG٣hynw n> rNusing accuracyPremultiplier from configpv59rq?v5Yr irZxzzAr}Era:r:r /5| hA-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf= @Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]];̘@%nR= )-I-L9 )ɚ-նi)I)I53i1i=p<)9)9*F2F:FBF_0JF"G=GG$3=BO>zKm y MKi Ki Km "Km  Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ =Օ < Q IU hdž w,uX0yJH@?@1i?Ҟz 1?Ŀ ʹ@IIZIZ3٢bռ fJ=9f`Q f>hh jG٣hyj> n> rNusing accuracyPremultiplier from configpv59r{q?v5Yr] vtIirtvEvAr~Er;r;r05 AMDNOT Ignoring new targets: 46.00 m. jIjQjQjQiQhQhQhYhYfYfarfabfe@]]]]@✦= 隕I?9 ɚضiII3ii6H<))*F12F1:F1BF50JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.HT>I IfIIBI =&I.I6I<:I FG<B!O=r>nw,3Jy:H@?@h?A{.?ſ񻴿sk?f?ɨ:}@:P?;:#CyRyBR@IMb@Mb@Mb@ )Y?/$ÿ+yff> C@) AII@yGA IIIm?٢N< 9=9!Q > G٣y  >  Nusing accuracyPremultiplier from config 59 q?5Y V i ">;;ſA E ~C; A; 25) -A-ײEUDNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhYhYhahe Bfafarfibfmo@]%>]%>]%@]%@m= 隍\I9 ɚX۶iII3ii))JJJ2JJ̝:Ju9Jc3JJ;J;J/;J/;*Fa2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAG r<B O >w,dy2H)?o?@.#?ĿÍq?@5f?ɨ2@@2?;2'Cy>uB>;IiB=IBp= F=F=IJIJ(٢Rz¼ Rb=9V Q V>TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\b59^q?b5Y^ i^|dfſfA\^:^:^f45h jAh DNOT Ignoring new targets: 46.00 m. j j j j i hhhhffrf!bf% z@]9]9]9]=i@Ux= QU“IUq9 QɚzݶiII3ii <))zK5K59K1K5"K5RKE?JKE>]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JF IG B1O> Will construct direction to contact in vehicle frame from tetrahedron phase data.H= S>I9  I= SII= BI9 &I9 .I9 6I= <:I= F w,y}y2H?`r?`Ng ?Ŀq>?@e?ɨ2@20v;2"CyR}BRDIeMb@Mb@Mb@aaa a)aYe +?sh|?ſ333333yev>e)eeA a)e AIe3@ayaI}I}٢P = ==9‚Q > G٣y| > Nusing accuracyPremultiplier from config59r?5Y i>/;@ǿAEA;;K65 lADNOT Ignoring new targets: 46.00 m. jjjjihhhh Bffrfbf 4@]%>]%>]%µ@]%?@=ɸ= 9=\I=F9 AɚE߶iAIAIM3iIiMm<)I)I*Fm?2Fi:FiBFm/5JFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.eyZH@?@y??Ŀ AJ`? ]G٣Yy] e> mNusing accuracyPremultiplier from configau59e.r?u5Ye ieLquuǿ}AeEe;e;e85 BAWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf6@]]]]e2@ }= )I*9 ɚiII3ii<)!)!*F2F:FBFP0JFG B<BO5>m Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK -9K K "K    BK :K I +w,y2H ? ?g_?<Ŀ`?f?ɨ2+u@2;2%CyRBRMIIjIjVJvJvJv1JtJv:Jv9Jv3Jtaz@az@az@az@٢~`; ~L=90Q > G٣y :  > Nusing accuracyPremultiplier from config59Gr?5Y i!%ǿ%AE;;95) -5A)UDNOT Ignoring new targets: 46.00 m. jQjYjYjYiahahihqhqffrfbf`M@]Y]Y]Y]]@%@= 隭I9 ɚ/iII3iiRU<))Will construct direction to contact in vehicle frame from tetrahedron phase data.HI III =&I.I6IA<:IN F)A I~Ga Yy{A*F2F:FBFJFG V<B O >~2w,F~y:H`?=?@kǺ ?@0Ŀ@C}? g?ɨ:Dk@:;:#Cy^Bb_I--only read 0 of 1 data item for water mass range. Device response is::WD, +0.00 +0.00, 20.00,2709.81  -@5 5@5 5@5  5@5 aIaIIb٢q= ;=9YQ > G٣y V5  > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%59ar?%5Y i%+:!%;%ǿ%AE';>I;51 5A1]DNOT Ignoring new targets: 46.00 m. jYjajajaiahahahihififirfibfug@W= 隥sIW9 ɚ iII3ii<))*Fa2Fa:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.G-N<B9OU>8w,Vy:H?@^?@?Ŀ`Ƴr?*h?ɨ:EW@:/ ;:"CyRBRzIIZIZ%x٢b= ba=9b.Q b>dd fG٣dyjۻ n> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv59rqr?v5Yr iruz :xz:zȿzArEr';rM?rU<5 A5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h9h9h9hAfAfArfAbfE@u~\= y}GI}9 yɚ}iII3iit<))*F12F1:F1BF5`0JF1UWill construct direction to contact in vehicle frame from tetrahedron phase data.zK,pLK9KK"KRK ?JK? QIQJ J J 0J J \:J 9J ـ3J G<BO>H R>I  I lII BI &I .I 6I {<:I x F Will construct direction to contact in vehicle frame from tetrahedron phase data.BIʣCJIʣCRIZI =bI =jI"`5?w,+5u uHq u@)uI AIqqyuAIIM٢l= ==9Q > G٣y > Nusing accuracyPremultiplier from config59sr?5Y iT:Z><;ȿAE ;;8>5 ADNOT Ignoring new targets: 46.00 m. jjjjih h h h ?Bffrfbf@]5Z>]5Z>]5Ե@]5Җ@I IMIU9 QɚU/iQIQI]3iYi]:<)a)aE]Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fq:FqBF}_0JFy AIAG MY<B O >Ew,=A61M@Y6\@6=966L5>y6H@q}??@" i ?lĿo Uz?@Hh?ɨ61M@63;6#CyB́BBIIVIV٢Zu= ZZ=9^Q ^>`` bG٣`yf4W f> jNusing accuracyPremultiplier from confighn59jsr?n5Yj, ijlrɿrAhj ;j` ;j?5t vAtDNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf5`P @]Q]Q]Q]U ʖ@Will construct direction to contact in vehicle frame from tetrahedron phase data.չiսA= m Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K k9K K "K Tqzzxtqmjgb[VVTQKFC=;8/&BK :K qA ) I) y&Lw,E2=A>GL@Y>[@>]=9>5>y>H|??> @5?hjĿ܆y?h?ɨ>GL@>;>$CyFBFIIRIR<٢V&= VJ=9Z.Q Z>JK3 KA.KK"KJbJbJ`J`Jb :Jb:J`J`hl nG٣lyn n> rNusing accuracyPremultiplier from configpv59rrr?v5Yr  ir]xxzArEr:,;r\,;rA5 DA MDNOT Ignoring new targets: 46.00 m. jIjIjQjQiQhQhQhYhYfYfYrfabfe@l!@]]]]ʖ@]= 隝l;I 9 ɚiII3ii`J<))*Fm?2Fi:FiBFm65JFiHMQ>II IMIIMƁBII&II.II6IMe<:IMg FWill construct direction to contact in vehicle frame from tetrahedron phase data.G:<BO> PExceeded connect timeout, disconnecting. Sw,L=AWill construct direction to contact in vehicle frame from tetrahedron phase data. `I`yBIMb@Mb@Mb@ )YMb?DlO trA @) AIyAII ٢ = 8=9Q > G٣y > Nusing accuracyPremultiplier from config 59&r? 5Y  i q> `; Ϳ AEU;;C5 wAEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiIhIhIhIhUBffrfbfS"@]q>]q>]̴@]@I QU=IU9 QɚQiQIQI]3iaia)a)i*F?2F:FBF05JF"G =G =Will construct direction to contact in vehicle frame from tetrahedron phase data.GE ,<BQ Ou >5Yw,wf=A6GO@Y6^@6_ =96h6>y6HS? @?}}g?%{Ŀ |?`uf?ɨ6GO@6 ;6'CyBBBIIJIJ٢R= Va=9VwݹQ V>XX ZG٣XyZ_: ^> fNusing accuracyPremultiplier from config`f59bq?f5Yb ibhjͿjAbEb:b:b$E5l rAp DNOT Ignoring new targets: 46.00 m. j j j j ihhhhffrfbf`#@]]]] @U_ = Y]hI]9 aɚaiaIaIm3iiim6<)i)5Will construct direction to contact in vehicle frame from tetrahedron phase data. IhzKmNKiKiKm"Km RK ?JK?*Fm?2Fi:FqBFu0JFqJJJJJ,:J 9JJG% 7ͤ<B1 HI II  IM IIM BII &II .II 6IM q<:IM o FO > Will construct direction to contact in vehicle frame from tetrahedron phase data.!`w,=ABO@YB^@B@=9B6>yBH@"?`?n@m?yĿ;`?f?ɨBO@B\;B$CyN"BN I%Mb@Mb@Mb@!!! !)!Y%l?Cl绿y%>%;߽%̼! %-@)!I%I@!y%GAI=I=F٢Mߙ= M@=9Up9Q U>QY ]G٣Yy]e ]> mNusing accuracyPremultiplier from configam59eq?5Ye ie=>;οAae ]=>]@]@@= 隝\In9 ɚiII3ii㣠<)) nManaging dock network, ignoring radio surface power off*F]?2Fa:FaBFeP0JFa5Will construct direction to contact in vehicle frame from tetrahedron phase data. IGBO>Gfw,qW=Ay3B% II-I-٢=~= EL=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configQ]59Ulq?e5YU iU4aaeAUEU!;U:UH5i uAqWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf $@]]]] 隝{I:9 ɚ| iII3ii))2DrA*DrADul9*F ?2F :F BF >3JF G rA G rAM Will construct direction to contact in vehicle frame from tetrahedron phase data.M =M %= I zKe KKe -9Ka Ke "Ke G B O= >lw,=A2y`@Y2o@2!=925>y2HW?@G?@ﺿ@?~Ŀht?@=h?ɨ2y`@22;2"Cy:AB>6 IIFIF ٢VI= ZE=9^V:Q b>`` bG٣`yf; f> jNusing accuracyPremultiplier from confighn59j1q?n5Yj ijcprͿrAjEj:j:jJ5t vNAtDNOT Ignoring new targets: 46.00 m. j!j!j!j!i)h)h1h1h9f9fArfIbf %@]!]!]!]%I@5!= 15`I=9 9ɚ=kCi9I9IE3iAiE<)A)qHP>IC I II,BI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.DZ9*F?2F:FBFP0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data. I G ,<B O > tw,=A6j@Y6z@6֞=96~5>y6H@??L꺿מ@? ĿճJ?@Sg?ɨ6j@6f;6&CyBRBBK IMb@Mb@Mb@ )YK? ףp= y^=Q C@)I3@yI-I-M٢}= }7=9:Q > G٣y2; > Nusing accuracyPremultiplier from config59\p?5Y i>;T࿑A;tM;L5  A=DNOT Ignoring new targets: 46.00 m. j9j9j9jAiAhAJMJMJIJIJM̝:JM9JIJIJIa]JIa]JM%7;a]JM&7;a]hihihmBfqfqrfqbfu`n&@]>]>]"@]@֞= \I9 ɚiII%3i!i%ʷ<))))UWill construct direction to contact in vehicle frame from tetrahedron phase data.Dl9*F9 2F9 :F9 BF9 JF9 Ge -<Bi O >Mzw,J_=A yNHN?{?@׺@ ?@mĿ@  ?@e?ɨN@N~a;N$CyZTBZN I\\IbIbV٢n&< nA=9n;Q n>pp rG٣pyr\; v> zNusing accuracyPremultiplier from configx~59zo?~5YzK iz࿑Axz:z:z]N5  B  AܲEEDNOT Ignoring new targets: 46.00 m. jAjIjQjYiYhahihqhqfqfqrfqbf}@dA'@]]]]u@= 隵(I]9 ɚfiII3ii<))BD=:DC>zKBoHK9KK"KD99*F-?2F):F)BF-o0JF1"GIGM=HeO>Ia IeS IIeYBIe =&Ia.Ia6Ieo<:Iek F~G 5Will construct direction to contact in vehicle frame from tetrahedron phase data.  YyAG q<B9 O >{w,">A2;@Y2@2=92Ir6>y2H ٱ?s?ᶺ@?@gĿ`z7O?@#e?ɨ2;@2~;2!CyB^BFZ IeMb@Mb@Mb@aaa a)aYex&?V-:vye7=emeԼeA e-@)eI AIeI@ayeAIIm٢34= @=9O:Q > G٣y; > Nusing accuracyPremultiplier from config59Mo?5Y8 i#=<տAE5;p;9P5 _ ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf (@]%#=]%#=]%:@]%+@== 9=I=s9 AɚERԴiAIAIM3iIiMV%<)I)I yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑՕ<D'9*FE?2FA:FABFE0JFAJ=J=J9J9J=|:J=:J9J9J=;J=;J=@;J=@;Gm V<Bq O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.އw, >A6Š@Y6E@6v=967>y6H ?i? `-'?ſ@jU?`c?ɨ6Š@6{v;6$CyRaBR^ IIZIZV٢v< vV=9v;Q v>xx zG٣xy~u; ~> Nusing accuracyPremultiplier from config 59 o? 5Y  i  sտA::Q5 F ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfS(@]]]]@%v= !%I%^9 )ɚ-i)I)I53i1i5<)9)9 aIiWill construct direction to contact in vehicle frame from tetrahedron phase data.D99zKmk3IKm9KiKm"Km*F}?2Fy:FyBF}`0JFyG Hn<B O >Lw,;>A H>N>I< I>s II>sBI<&I<.I<6I><:I> FBIECJIECRIAZIE =bIE =jIE4n9@Ynɩ@n=9n6>ynHa?@8]?`j= pJ;?%ſS`?c?ɨn9@n ͇;n%CyE`BE\ IIUIU٢ej e;=9e 0;Q m>uWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣y; > Nusing accuracyPremultiplier from config59n?5Y i!տA;;S5 N ADNOT Ignoring new targets: 46.00 m. jjjjihAhIhQhYffrfbf)@]i]i]i]mtȓ@= 隝I-9 ɚiII3ii z<)) ID K9% Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF _0JF J J J J J :J 9J J J ;J ;J O>;J P>;Gw<B O%>w,E[>AFĢ@YF*ԩ@F=9FvC6>yFH?1X?j`jC?a/ſ WҴv?@c?ɨFĢ@Fj;F'CyNaBN^ I5Mb@Mb@Mb@111 1)1Y5V-?Zd;O+y5m=5j<55A 5@)53 AI53@1y5AIEIE(*٢]Q; ]%=9eZ:Q e>aa eG٣aym9+; u> }Nusing accuracyPremultiplier from configq}59un?5Yu iuT\=<˿Aqu{;u;uU5 F AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjAjAiAhIhIhIhMBfQfQrfQbfU@*@]\=]\=]@]7@= 隵IS9 ɚ$iII3ii=))DZ9*FU?2FQ:FQBFU3JFQG- <B9OUT> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.zK) K- k9K) K- "K- RK= ?JK= >]w,wu>A6Ң@Y6=@6L=966>y6H`]?AP?@@b2N?@Gſ㴿?b?ɨ6Ң@6;6$Cy%WB%Q II5I5b1٢E@H EM=9M-:Q U>QY ]G٣Yyew; m> }Nusing accuracyPremultiplier from configq59un?5Yu iu~˿AuEu:u:uW5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`+@]]]]F!@L= I9 ɚ5iII 3i i =))HM>I Iy IIxBI =&I.I8D6I<:Iz FWill construct direction to contact in vehicle frame from tetrahedron phase data.D~9*F?2F:FBF1JF"G=G= I G <B) OE >w,(,>AWill construct direction to contact in vehicle frame from tetrahedron phase data.Bۢ@YB0@B_=9B76>yBH@? {K?@]U?`Kſ`崿?b?ɨBۢ@BvŇ;B%CyZNB^E I-Mb@Mb@Mb@))) )))Y-aa eG٣aym$; m> uNusing accuracyPremultiplier from configiu59mn?}5Ym} im}H=};}Gʿ}Aim;m:mY5  ADNOT Ignoring new targets: 46.00 m. jjjjihhh!h%ÂBf!f)rf)bf-Il,@]mH=]mH=]m,@]m}@}_= y隥kI9 ɚ9EiII3ii8 =))JJJ1JJJ9J3JJJJ<;J<;Will construct direction to contact in vehicle frame from tetrahedron phase data.AiD%z9*F ?2F :F BF 1JF G 3;=B O >w,ς>A2/@Y2@2l=92i6>y2H?I?@W[@Y?@Dſaڴ&?5c?ɨ2/@2!߇;2$CyBCBB8 IIJIJ2٢RJZ VK=9VQ V>XX ZG٣XyZ: Z> bNusing accuracyPremultiplier from config\f59^n?f5Y^Y i^df7ʿfA\^:^.:^b[5h n:Al I DNOT Ignoring new targets: 46.00 m. jjjjih!h!h!h!f!f)rf)bf-}5-@]I]I]I]M @el= ae€Ie<9 aɚe3UiaIiIm3iiiu =)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.DzKKKK"K'//.29850,% BKpA:KpA*Fm?2Fi:FiBFmP0JFiH5K>I1 I5f II5iBI5 =&I1.I16I5<:I5 FG=BO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.rw,i>ABM@YB@BJ=9BZ 6>yBH?@#F?ع`W_?s8ſFд?@0d?ɨBM@BFM;B"CyJ:BJ. I%Mb@Mb@Mb@!!! !)!Y%i|?5?QQ ]G٣Yyeb: e> mNusing accuracyPremultiplier from configiu59mo?u5Ym imA}>};}7}AmEm;m;m?]5 |ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`.@]>]>]@] B@J= 隝\I9 ɚ^iII3iiP =))Dv9 IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F12F1:F1BF5O0JF1G k =B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.w,rO>A6d@Y6@6?=96x5>y6Hu?G?@׹Z@_?ſ@@}?ve?ɨ6d@6q8;6$Cy>)B> IIJIJ(*2٢R RU=9RQ R>TT VG٣Ty%j %> -Nusing accuracyPremultiplier from config)559-o?=5Y-! i-9=E=A)-1;-$1;-^5A MAIuDNOT Ignoring new targets: 46.00 m. jqjqjqjyiyhyhyhyhffrfbf .@]]]]>@?= *2I9 ɚiiII3ii' =))2DqA*DpAD59 IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFzK] 9MK] 9KY K] "K] J] J] J] 0JY J] ܫ:J] :J] ـ3JY ae @ae @ae @ae @G B O} >w,>A6/@Y6@6?=965>y6Hk? )F?`A Z`?_ ſ 8lՋ?ce?ɨ6/@6A;6%Cy>!B> IIJIJ#3٢N{ RH=9RrQ R>TT VG٣TyZ}9 Z> ^Nusing accuracyPremultiplier from configX^59Zo?b5YZa" iZ`b2bAXZ ;Z ;Z`5h jFAh}DNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhyHIC IG IIOBI&I.I6Iz<:Io Fhhhffrfbf@m/@]Y]Y]Y]]KC@m?= quAIu9 qɚuCviqIqI3ii' =))Will construct direction to contact in vehicle frame from tetrahedron phase data.D*Fu?2Fy:FyBFyJFy I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G  =B O >lw,R?A6ޢ@Y6H@6٠=96as7>y6Hs?F?@]3[?@ſ@ ?` d?ɨ6ޢ@6;6$CyBBBIEMb@Mb@Mb@AAA A)AYEQ? ףp= 333333yE\>EQEEEA E@)EAIAAyEAII2٢}M =9(Q > G٣y6 > Nusing accuracyPremultiplier from config59p?5Ys$ i6:>;AE>;;b5 B AٲEDNOT Ignoring new targets: 46.00 m. jjjjihhhhLBffrfbf@Z0@]:>]:>]uǶ@]5j@٠= HI9 ɚ5~iII 3i i =))}Will construct direction to contact in vehicle frame from tetrahedron phase data.D͹9EErA*F?2F:F BF JF G G"GGB O >  I D8w,(/?ArWill construct direction to contact in vehicle frame from tetrahedron phase data.rI) I-( II-6BI- =&I).I)6I-<:I-x Fm0G*F2F:FBF_0JF =Y9y=SABIOe>Will construct direction to contact in vehicle frame from tetrahedron phase data."w,RH?A6[բ@Y6@6'=96%<7>y6H?'J?r线=d V?YĿ@#T?e?ɨ6[բ@6͹;6#Cy^ B^IMMb@Mb@Mb@III I)IYMkt?i|?5lyM 0>MMMA M@)MzAIIIyIIeIe1٢u uM=9ukQ }>yy }G٣yy< > Nusing accuracyPremultiplier from config59!q?5Y' ib>o;LĿA/<<,f5! %A!DNOT Ignoring new targets: 46.00 m. jjjjihhhhDBffrfbf1@ I]b>]b>]ҵ@]@E'= AEHIE9 AɚMiIII3ii=))Will construct direction to contact in vehicle frame from tetrahedron phase data.*JC="J%=DM9*F 2F :F BF JF B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ow,rb?ANТ@YN@N͙=9N6>yNH?1L? `}g`T?Ŀ 5Ϩ?`'g?ɨNТ@N;N!CyV BVIIbIbF٢ffH; fU=9nCQ n>ll nG٣pyrź r> vNusing accuracyPremultiplier from configtz59v\q?z5Yv) iv&|~ZĿ~AvEv%;v;;vg5  A =DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfM7u1@]i]i]i]mL@͙= 隍޽I9 ɚCiII3ii=)) ID9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF2JFBO>zK /NK u9K K "K uOF@>7630.-)#!!  J J J 1J J ܫ:J :J 3J vw,|?A 6A@Y6Щ@6\V=9665>y6H`?S?@R p6K?jPĿyƲ@?i?ɨ6A@6f*;6%CyBBBIiFTT VG٣XyZ Z>HbH>I` Ib IIb'BIb =&I`.I`6Ibt<:Ibi FBICJICRIZI =bI =jIS5 %Nusing accuracyPremultiplier from config-59q?-5Y+ i)5Ŀ5A";;i5A EAADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf1@] ] ] ] @E\V= AEֽIE9 IɚMŒiIIIUWill construct direction to contact in vehicle frame from tetrahedron phase data.I3ii~B<))2D*DqAD59 I*F?2F:FBFP5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.  G '=B B (JO >Cw,?Ayxx}Mb@Mb@Mb@yyy y)yY}~jt?L7A`L7A`尿y}D>}+}+}A }@)}dAI}@yy}AII(٢( 2=9Q > G٣y > Nusing accuracyPremultiplier from config59q?5Yz. iw>[;ſAE;3;k5 A DNOT Ignoring new targets: 46.00 m. j j j j i hhhh'Bffrfbf7P2@]w>]w>]ɵ@]=@ LI.9 ɚxiIIe3iaie9<)a)iD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFMP0JFIGu "<B O > I aw,U?AWill construct direction to contact in vehicle frame from tetrahedron phase data.j%@Yj@j=9j6>yjH?^Z?ӻ|'??hĿJ?@8j?ɨj%@j;j"CyMBM IIeIeq٢m= uO=9uQ }>yy }G٣yyg > Nusing accuracyPremultiplier from config59q?5Y0 i.ſAE?;@;Rm5 sA۲EDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`2@] ] ] ] @= !%`I%9 !ɚ%i!I!I-3i)i-^V<)1)1D-9zKMMKM9KIKM"KMBKa:KeoAJJJ0JJl:J:Jـ3J*F?2F:FBFQ0JFH%F>I! I!I!I% =&I!.I!6I%<:I% FWill construct direction to contact in vehicle frame from tetrahedron phase data.G<BO% > w,[|?A2?@Y2@2hn=92p7>y2H@?@0[??T@ :?UÿG`? ai?ɨ2?@2?;2$Cy>'B> I Mb@Mb@Mb@    ) Y Mb?M¿y&1y @> n `e vA ) I  y AI%I%V8٢-|N= -O=95Q 5>19 =G٣9yE E> MNusing accuracyPremultiplier from configAM59Eq?U5YE3 iEzUx>UZ;UͿUA IhEEE]x>]@@]˕@5Will construct direction to contact in vehicle frame from tetrahedron phase data.Ehn= AE#IE9 AɚEpiIIIIe3iaim 7<)i)BDF?:D$?De9*F2F:FBF[0JFGqA GqAG% <B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,V?A:@Y:4@: =9:7>y:H`?]?@zS7?Tÿ3?`j?ɨ:@:X;8yF1BF" IININF٢VR= VS=9V_Q Z>XX ZG٣Xy^L ^> bNusing accuracyPremultiplier from config`f59bq?f5Yba5 ibhj#ͿnA`b.;b.;bp5p rAp DNOT Ignoring new targets: 46.00 m. jjjjihhhh!f!f!rf!bf% }3@]A]A]A]Eƕ@e = ae"zK JK -9K K "K H- D>I)  I- ( II- 6BI) &I) .I- 7D6I- <:I- FMw,2?A2n@Y2@25j=92~7>y2H ?B^?@Mਆ6?ÿ갿?6k?ɨ2n@25;2%Cy~BB8 III٢%2= %C=9%90Q %>)) -G٣)y5- 5> =Nusing accuracyPremultiplier from config1E595Dq?E5Y57 i5AE$ͿEA5E5 ;5L:5r5Q UFAQ}DNOT Ignoring new targets: 46.00 m. jyjyjyjyihhWill construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbf 3@]]]]ƕ@5j= P2=I9 ɚ i I I3ii<))D=9EEqA*F?2F:FBFE1JF YIaG-<BO >M Will construct direction to contact in vehicle frame from tetrahedron phase data.w,@A6@Y6t@66=966>y6H?`? 5?hnÿ ۣc?m?ɨ6@6d;6"Cy>LB>D I F=F=J\J^AAJK3 K.-KK"KJbJbJ`J`Jb:Jb:J`J`Jbi;anJbk;anJbzE;anJbzE;anMb@Mb@Mb@ )YQ?V-¿~jty(>hDA )AI@yAII<٢8= ==9 "Q  >    G٣ y6 > %Nusing accuracyPremultiplier from config!-59%p?-5Y%6: i%]5Dd>5n;UտuA%E%?)<%(<%wt5y } AyDNOT Ignoring new targets: 46.00 m. jjjjihhhhfBffrfbf@m[4@]-Dd>]-Dd>]-vR@]-@e6= aeLIe*9 aɚegiaIiIm3iqiu|<)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.DO9*F- ?2F) :F) BF- d0JF) I II ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O= >} w,4@Ajw@Yj@j=9j5>yjH-? a?J 6?X(ÿ`9 ?No?ɨjw@j;hyrZBvU II~I~٢ =  L=9 ۦQ >! %G٣!y%E %> 5Nusing accuracyPremultiplier from config1=595o?=5Y5e< i59=տ=A15:5:59v5I M AM޲EuDNOT Ignoring new targets: 46.00 m. jqjqjqjqiyhyhyhyhyffrfbf@վ4@]]]]@= мI9 ɚ iII3ii<))zK>`JKKK"KHB>IC IS IIYBI =&I.I6I<:Ix FDU]9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG Vv<B O > Y IY w,yN@A@Y@~}=97>yH ?`^?-`V7?ÿ?`"n?ɨ@J;騕&CyޭnBޭm I%Will construct direction to contact in vehicle frame from tetrahedron phase data.)-=EMb@Mb@Mb@AAA A)AYEEE'EA E@)E7AIE@AyEAI]I]F٢m= m6=9ms0Q m>qq uG٣qy} 8 > %Nusing accuracyPremultiplier from config!-59%n?-5Y%> i%5_J>5;56ؿ5A%E%;%;%Ex5Y e AaDNOT Ignoring new targets: 46.00 m. jjjjihhhhnBffrfbf:5@]%_J>]%_J>]%@]%W@5~}= 15Iy yɚyiyIyI3iiu<))Do9JJJ1JJL:J:J3JJP;JQ;JI;JI;*F%?2F!:F!BF-M5JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi Bq O >w,sih@A2@Y2#@2y=92l7>y2HB?[?~ n:?Mÿ `??Em?ɨ2@28;2"CyFwBFy I)L LPPIVIV٢b\= fk=9f:Q j?hh nG٣lyv: v> zNusing accuracyPremultiplier from configx59zdn?5Yz=@ iz  ؿ AzEzT;zk;zy5  A!DNOT Ignoring new targets: 46.00 m. jjjjihhh h f f rfbfב5@]I]I]I]M? @y= 隥zK BHK 9K K "K m NG tA Y tAy AH A>I  I  II }BI =&I .I 6I ʰ<:I FQ w,$D@AF%@YF@F̷v=9F'Y8>yFH?@S?WD??ÿ3Ү?l?ɨF%@F^;F$CRWill construct direction to contact in vehicle frame from tetrahedron phase data.PiRAyVBV IIbIb٢j|= jJ=9jQ j>ll nG٣lyrQd; r> vNusing accuracyPremultiplier from configtz59vm?z5Yv.B ivRxz׿~Atv:v] ;vx{5 3 AMDNOT Ignoring new targets: 46.00 m. jIjIjQjQiQhQhQhYhYfafarfabfe@5@]]]]@̷v= 隝03=I9 ɚ4iII3ii@<)) ID}9*F?2F:FBFO0JFBO>UWill construct direction to contact in vehicle frame from tetrahedron phase data.JQ JQ Ja Je Ja Ja Ja Je :Ja Ja Ja Ja Je oN;Je oN;%&w,i@A27@Y2@2r=926>y2H?@lS?`mH? ¿Q`O?o?ɨ27@2m;2%CyBBF ImMb@Mb@Mb@iii i)iYmi|?5?i|?5ktym=mm 0mA m@)mAIm@iyiII٢= <=97Q > G٣y: > Nusing accuracyPremultiplier from config59l?5YC iv0>;޿AE5;;]}5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrf bf  a6@]-v0>]-v0>]-@]-se@r= I ɚiII3ii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.Du9 I*F- ?2F) :F) BF- P0JF) BI Oe >= Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,@A2<@Y2ɩ@2%q=92")6>y2Hz?K?@?C]{hV?¿B `f?p?ɨ2<@2ͣ;2&Cy8> IIJIJ<٢RP R^=9VQ V>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b59^k?b5Y^vE i^dfo޿fA\^;^;^~5h j Al DNOT Ignoring new targets: 46.00 m. j j j jihhhhffrfbf6@]]]]s@%q= I9 ɚ>iII3ii׏<))zK-VBJK-9K)K-"K-H?>I I IIBI&I.I6Iy<:Id FBI]ĠCJI]ĠCRIYZI] =bI] =jI]oZ5D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFX0JFBO> I 3w,Z@A2ۺ@Y2[ʩ@2%m=92r5>y2H A?0K?6@@h{@X?@̩¿uQ?7r?ɨ2ۺ@2h';0y>B> I Mb@Mb@Mb@    ) Y |?5^?:v~jty = Խ D  A @) 3AI @ y QAI%I%٢5T= 5B=95Q 5>9A EG٣AyM;9 U> uNusing accuracyPremultiplier from configq59uk?5YuF iu > ; 8޿ AuEux]>]LƯ@]ˁ@%m= :w,Vf@A>TȢ@Y>ש@>k=9>5>y>H@?`UC?J`tdd?@¿_`s?9r?ɨ>TȢ@>Rȉ;>#C LILyRBR IIbIb)٢n9C= n5=9nQ n>pp rG٣pyvo; v> zNusing accuracyPremultiplier from configx~59z?j?~5YzH izE|~ݿAxz:z:zɂ5   A=DNOT Ignoring new targets: 46.00 m. j9j9j9j9iAhAhAhAhAfIfIrfIbfUz7@]q]q]q]u!@k= 隅R=IY9 ɚiII3iiR=))eWill construct direction to contact in vehicle frame from tetrahedron phase data.D9EErA*F2F:FBF_0JFzKK9KK"KH>>I I IIBI! =&I.I6Ið<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.G ?<B O >εAw,I,AA2ˢ@Y2O۩@2ig=92CE5>y2H`?A?`Uxr h?"¿J鬿3?s?ɨ2ˢ@2;2%Cy>B> I)@ @iININ٢VwA VN=9VQ Z>XX ZG٣Xy=ֆ: => ENusing accuracyPremultiplier from configAU59Ezi?5YEJ iEݿAEEE}>Hw,ޫ$AAWill construct direction to contact in vehicle frame from tetrahedron phase data.:Wڢ@Y:@:d=9:5>y:H?`7?@\jt?g¿ њ ?`^r?ɨ:Wڢ@:;:#CyZBZ IMb@Mb@Mb@ )YZd;O?Zd;O)\(yj=jGa Z@)AI@y@II٢< $=9Q > G٣yp; > Nusing accuracyPremultiplier from config59h?5YK i>;ۿA3; ;5  A=DNOT Ignoring new targets: 46.00 m. j9j9jAjAiAhIhIhQhQfQfYrfYbf] i8@]>]>]@]! @5d= 15u=I59 9ɚ=釵i9I9Ie3iiim=)i)iD]9 I*F?2F:FBFs2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G1 BA Oe >>Nw,Pm>AAzKNBoHKN#9KLKN"KNBKT:KVpAybBb IIjHpIp Ir IIr΂BIp&Ip.Ip6Ir<:Iro FIjT٢ ;  Y=9 Q > G٣y > %Nusing accuracyPremultiplier from config!-59%8h?-5Y%L i%)15A!%L:%*:%X59 = A9eDNOT Ignoring new targets: 46.00 m. jajijijiiihihihqhqfqfqrfbf8@]]]]y y}X=I}#9 ɚ셵iII3iiI!=))5Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*FE?2FA:FABFE 5JFA IGM : =BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,#JXAA6g@Y6@6&\=96pm7>y6H@?,?.b`Á? Os¿@l?`Hq?ɨ6g@6W;6%CyBBF I5Mb@Mb@Mb@111 1)1Y5?KQy5=5^5u5A 5x@)5 AI5@1y1IMIM٢]߼ ]E=9] Q e>aa eG٣aymy; m> }Nusing accuracyPremultiplier from configq59ug?5Yu N iuJx>;ԿAuEu4;u;u'5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfDO9@]x>]x>]o@]@&\= 隍u=I9 ɚiII3ii=))2D*DD*F-?2F1:F1BF5O0JF1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge =Bq O > I N[w,#rAA6-@Y6@6>W=96/F7>y6HY? E*?z(a? R¿`䪿u?`r?ɨ6-@6;6#CyRBR IIZIZ٢K= P=9GQ  >    G٣ ya: > Nusing accuracyPremultiplier from config%59xg?%5YTO i)-gԿ-A::ߋ51 5 A1eDNOT Ignoring new targets: 46.00 m. jajijijiiihihihqhqfqfqrfybf} ۳9@Will construct direction to contact in vehicle frame from tetrahedron phase data.՝=ՙ]]]]@>W= 隽=IW9 ɚziII3iit=))D9*F?2F:FBFP0JFGqA GqAJJJ1JJ:JJ3Ja@a@a@a@zKK-9KK"KRK ?JK?H=>IC I IIӂBI" =&I.I6Il<:IX FGm=BO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.bw,2AA aIa@Yz@dR=9d7>yH ?&?@LT@s_ ܊?@6¿I?Vr?ɨ@*;%CyB IMb@Mb@Mb@ )Y!rh?KL7A`尿yl=+ A K@) AIy@II٢ 8N  -=9 #Q  > G٣y,: > %Nusing accuracyPremultiplier from config!-59%[g?55Y%P i%57#>5;=˿=A%E%yH;%F;%5A E AEEmDNOT Ignoring new targets: 46.00 m. jijijijiiqhqhqhyh}qBfyfyrfybf -:@]7#>]7#>]]@]@dR= 隽H=I9 ɚ?{iII3ii@=))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F%?2F!:F!BF)JF)GI BY Ou >E Will construct direction to contact in vehicle frame from tetrahedron phase data. iw,RAAy~B~ III٢]I]< ]k=9eQ e?ai mG٣iym ? Nusing accuracyPremultiplier from config59Eg?5YFR i   A(j;t;5  A!eDNOT Ignoring new targets: 46.00 m. jajajajaiqhqhyhhffrfbf`:@]]]] 隅=I9 ɚtiII3iiE6=))BD1?:D? iIiDy*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >)a e CJ J J 0J J <:J :J ـ3J - UGI +0ow,)AAHDID IDIDID&ID.ID6IF6<:IF1 FzKR.KKR9KPKR"KRBKT:KVoA bY`ybA @Y @ C1G=9 <6>y H@?@#?3-_?`@㨿ɱ?^t?ɨ @ ʊ; $Cy%B% II5I5V8٢E/l EL=9M1Q M>IQ UG٣QyU|): U> eNusing accuracyPremultiplier from configYe59]/g?m5Y]S i]dim˿mAY]:]:]45q }\ AyDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf :@]]]]'@eC1G= ae=Ie9 aɚmKniiIiIm3iqi-=))Will construct direction to contact in vehicle frame from tetrahedron phase data.DR9 qIq*F?2F:FBF]0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.G s=B O= >tvw,*oAA2)@Y2@2kA=92o6>y2H?!?`潾u^?X.? u?ɨ2)@2;2"CyJBN I-Mb@Mb@Mb@))) )))Y-T㥛 ?+ηT㥛 y->-v--I A ))-~AI))y-@IEIEԲ٢W< <=9IQ > G٣y: > Nusing accuracyPremultiplier from config59Jg?5Y\U i,>;ƿAE;;+5 0 A-DNOT Ignoring new targets: 46.00 m. j)j)j1j1i1h1h1h9h=XBf9f9rf9bfEy_;@]],>]],>]]@]]if@ukA= qu>IuL9 yɚ}6diyIyI3iiJ=))=Will construct direction to contact in vehicle frame from tetrahedron phase data.DE!E!*F?2F:FBF_0JF I hG OK=B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >g }w,AA6@Y6 @6o";=96T6>y6H? h ?4@_ F?@.8b?Vu?ɨ6@6R;6$CyVBV Ii^ll nG٣lyr- r> vNusing accuracyPremultiplier from configtz59vbg?z5YvV iv|~ƿ~Atv;v;v䔮5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf q;@]A]A]A]Ej@]o";= 隝'>II9 ɚ_YiII3ii=))D`9J5J5J51J1J5:J5 :J53J1HI III&I.I6D6Ig<:IT FBIğCJIğCRIZI" =bI" =jI 5*Fm?2Fi:FiBFmx1JFizKUKKKK"KWill construct direction to contact in vehicle frame from tetrahedron phase data.G V=B O > I w,`BA@Y@׸5=9L7>yH`l?@?`6`i]?@y2m?u?ɨ@o;%Cy-B- IMb@Mb@Mb@ )Yp= ף?J +v/y>Ƚxi3 A @)AIy@IIb٢N 9=9DQ  >    G٣ y;: > Nusing accuracyPremultiplier from config%59fg?%5YX i=-0>-;-ȿ-AE y;~;Ж5Y ] AYDNOT Ignoring new targets: 46.00 m. jjjjihhhh=Bffrfbf?6<@]0>]0>]*d@]@׸5=  W>I>9 ɚKiII3ii=))Will construct direction to contact in vehicle frame from tetrahedron phase data.D1*F?2F:FBFP5JFG GG =B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.qw,>*BAy=B= IIMIM?1٢e*< eU=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}ig?5Y}5Z i}{Ay} /;}/;}}5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfb<@ I]]]] a>I"9 ɚJ=iII3iiE=))DE9*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ^S=B J% J% J% 0J! J% :J% 9J% ـ3J! OM >ZH RH @AH I  I II ؂BI &I .I 7D6I <<:I 5 FzK BoHK K K "K  #$ w, DBA2H@Y2@2 *=926>y2H?1? R@i^ w?'BA? w?ɨ2H@2lj;2$CyBBB I)D DDFAIJIJ@٢R= RW=9VQ V>TX ZG٣XyZո Z> bNusing accuracyPremultiplier from config\b59^ng?f5Y^[ i^dfȿfA^E^:^:^&5h ji AlWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfl<@]Y]Y]Y]]@m *= imS>Imn9 ɚ3-iII3ii=))D*F%?2F!:F)BF-O0JF) I5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GM =BQ Ou >!w,`]BA68@Y6@6;$=965>y6H`y?c?``n? @? x?ɨ68@6qӉ;4yBBB I*Jn4="Jn=Mb@Mb@Mb@ )YT㥛 ?Zd;OMby>j@ A 5@)QAIZ@y@I5I5٢E< EA=9En^Q M>II MG٣Iy[ > Nusing accuracyPremultiplier from config 59g? 5Y{] i &>;mǿA3;;5 %[ A!mDNOT Ignoring new targets: 46.00 m. jijijijqiqhhhhOBffrfbf^o=@]5&>]5&>]5P@]54@E;$= IMHa>IM9 IɚMxiIIQIU3iYi]=)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.D9 I*F- ?2F) :F) BF- F4JF) G5  G5 "G= G= = Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >w,xBA6@Y6C @6?=96b6>y6HC? ?ۿ ]`?`4棿,?`Ox?ɨ6@6u;4yNȂBR II^I^W٢f,= fH=9jCQ j>hh nG٣lyn: n> rNusing accuracyPremultiplier from configpv59rg?v5Yr^ ir+xzHǿzArEr ;r:rǝ5| ~ A|-DNOT Ignoring new targets: 46.00 m. j)j1j1j1i1h1h1h9h9f9f9rf9bfE>=@]]]]=@?= r>I9 ɚiII%3i!i-|=))))H<>I I!IIBI&I.I6D6IK<:I? FzKLK-9KK"K DA Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFBO> I vw,9BA~[@Y~ @~}=9~^7>y~H?`?.@g\?y@?Fx?ɨ~[@~M;|y ԂB IiI4< %=%=Mb@Mb@Mb@ )Y!rh?B`"۹/$yl=ν, A @)`@Ip@y@II(٢U= <=9һQ E>II MG٣IyU: U> ]Nusing accuracyPremultiplier from configYe59]g?e5Y]` i]fe !>e;eԿmAYuWill construct direction to contact in vehicle frame from tetrahedron phase data.];]/];]5y } AyDNOT Ignoring new targets: 46.00 m. jjjjihhhhJBffrfbf@>@] !>] !>]¸@]@}= >>I9 ɚiII3ii=)) D%9*F?2F:FBF_0JFBOI>JqJu@AJJJ1JJ<:J :J3JJ5;aJ7;aJR;aJR;a% Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,|BAB@YB@B2=9B7>yBH??@HCm[`ƫ?@ߡq? x?ɨB@B;@y^B^ IIjIjV8٢n0= nZ=9r|NQ r>pt zG٣xyzeE: z> ~Nusing accuracyPremultiplier from config|59~f?5Y~ b i~  Կ A~E~Z;~;~R5 V AEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhIhIhIhQfQfQrfQbfU>@]y]y]y]}@2= 隕q>I9 ɚ ״iII3ii=)) ID9*F=?2F9:F9BF=0JFABQOm>uWill construct direction to contact in vehicle frame from tetrahedron phase data.H! I!  I% !II% BI! &I! .I! 6I% <:I% g FzK YKK 9K K "K Xw,]BA2P@Y2@2v. =92\H7>y2H!? ?@XeXF?@q`d`i?yx?ɨ2P@2ɲ;2#Cy:B:!IIFIF٢Ng= NP=9R3Q R>PP RG٣PyV: V> ZNusing accuracyPremultiplier from configX^59ZAf?^5YZc iZ`byԿbAXZ ;Z ;Z 5d fAdrWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@?@]1]1]1]5j@Ev. = IMء>IM9 IɚMiIIIIu3iyi}%=)y)y $?IDe9*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu l=B J3KO3 K(.KK"KJ J J J J ̶:J :J J J ;J ;J U;J U;O >8w,2BA^ @Y^@^a=9^6>y^H`%? ?@sTU@?[U ? ?y?ɨ^ @^B;^&CynBn!I)p pttuMb@Mb@Mb@qqq q)qYu ףp= ?+η G٣y: > Nusing accuracyPremultiplier from config59}e?5Yd i >;޿AE#;!*;5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhaBffrfbf`z?@] >] >]g@]@Ea= AE{>IE9 AɚMiIIIuWill construct direction to contact in vehicle frame from tetrahedron phase data.I3ii=)) 9I9D9*F ?2F :F BF JF 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu e=B O >w,BABGN|uAX n Yr|uAyrBM@YM!@M>=9M\6>yMH`+?@? Hc`R+?7F@i`T? y?ɨM@M‰;M$CyeBe!II}I} ٢C= 8=9Q > G٣y: > Nusing accuracyPremultiplier from config59d?5Ydf i,ݿA1;*:5 tADNOT Ignoring new targets: 46.00 m. jH=>I I;!IIBI&I.I7D6Il<:IX Fj!j!j!i!h)h)h)h)f1f1rf1bf5 ?@]Q]Q]Q]U@m>= im>Im29 qɚuT:iqIqI}3iyi}=)y)D]9zK=xLK=89K9K="K=z)ziYLA8/5=<2' u6*F?2F:FBF05JF=Will construct direction to contact in vehicle frame from tetrahedron phase data. I G =B! OE >w,CARWill construct direction to contact in vehicle frame from tetrahedron phase data.y B.!IMb@Mb@Mb@ )Y+? ףp= Q롿y=Q\ A )v@Ip@y@I%I%F٢5= 5A=9=Q =>9A EG٣AyE E> MNusing accuracyPremultiplier from configI]59Mc?e5YMg iMZe9=e;e忑eAMEM_;M ];Mͨ5i uAqB*** querying acoustic contact ***jjDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf)@@]9=]9=]@]wȏ@ >>I?9 ɚSiII3ii{=))D 9JJJ2JJ\:J:Jc3JJ<J<J.Y;J/Y;*F?2F:FBF4JFGqA GqAUWill construct direction to contact in vehicle frame from tetrahedron phase data. U2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.G =B O > I ^w,^1CA6l @Y6/@6 <961^6>y6H7? ?@j8J? V@/?z?ɨ6l @6";6"CyVBV?!Ii^=I^= b=ba=IfIf#٢j= nd=9nFQ n>pp rG٣pyvߟ; v> zNusing accuracyPremultiplier from configx~59z$c?~5Yzh iz俑Axz;z;z_5  A =DNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhAhIhIfIfIrfQbfUW@@]q]q]q]uُ@ < 隍 >Ig9 ɚ*iII3iih4%=))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3434> BDAT read: Tx time:23:41:00.0919 $Ping request sent.I I`!II4BI&I.I6I<:Ig FBIJIRIZIbIjIe4GQBaO>zK ROK 9K K "K e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247630Cw,2:KCAR(@YR+8@Ry<9R6>yRHh>??|| E B? y@д?Dz?ɨR(@RPˉ;R CyfBf;!III٢+ F=9lQ >! %G٣!y%+ ; %> 5Nusing accuracyPremultiplier from config)559-Nb?55Y-i i-AE俑EA)-:;-:;-,5I MAIuDNOT Ignoring new targets: 46.00 m. jqjyjyjyiyhyhyhhffrfbfW@@]]]]@y< >I9 ɚ3iII3ii (=)) ID}#9EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499745*F5?2F1:F1BF9JF9"GU=GU=J J J 0J J J :J ـ3J J J J nN;J oN;G !=B O >sw,7fCA23@Y2LC@2"<92o4>y2HG?`?V@?@?@uAÝs?w}?ɨ23@2œ;0y>"BBJ!IEMb@Mb@Mb@AAA A)AYEZd;?RQ+yEy=E½EA E@)E@IEZ@AyE\@I]I]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752650٢ #W= 4=9)Q >! %G٣!y5AC; 5> ENusing accuracyPremultiplier from config959=`?5Y=k i==;bA=E=<=<=+5! %KA!mDNOT Ignoring new targets: 46.00 m. jqjqjqjqiqhyhyhh~Bffrfbf 7@@] =] =] @] #7@-"< )-ף>I59 1ɚ53i1I1I=3iAiE*,=)A)A IDC9= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003900*F 2F :F BF O0JF H I  I !II MBI &I .I 6I u<:I ] FGɓ%=BO>[w,CAy(BR!I) AI%I%٢=O< =0=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59Um_?]5YU9l iUaaeAQUL:U:U/5zKm}\KKm۵9KiKm"Kmy }AyDNOT Ignoring new targets: 46.00 m. jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255606jAjIiIhIhIhQhQfQfQrfQbf]A@]q]q]q]q 隭=>I9 ɚ%W4iII3ii,=)) 9I9D19*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510034G -=B O >w,MMCA> ;@Y>J@>h<9>l6>y>HM??` ; ? so>lڟ?|?ɨ> ;@>(;>%CyF)BFT!IEMb@Mb@Mb@AAA A)AYEJ +?MbX ףp= yEH=EʽEQ8A E@)E3@IAAyAIUIUi٢e; eB=9mݱQ m>qq uG٣qyu| ; }> Nusing accuracyPremultiplier from configy59}]?5Y}9m i}OG=;Ay}H!;};}5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhh Bf f rf bf I9 ɚ4iII3iiV[/=))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764766 IDU9EEpA*F] ?2Fa :Fa BFe O0JFa Gm pA Gm pAm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015642G ,=B O >w,>CA6L@Y6@\@6?<96T6>y6H`l\?^? @1?` ? N{?ɨ6L@6È;4y>/B>Z!IIFIFq٢nZ< n<=9rj:Q r>pp vG٣tyv; v> zNusing accuracyPremultiplier from configx~59z\?~5YzAn izAzEz:z:z쳮5  AEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiIhIhIhQhQfQfQrfQbf] oA@]q]q]q]u@?< 隍 >I9 ɚ4iII3ii 7=))HI I!IIbBI&I.I6D6IJ<:I= FJJJJJ:J:JJJ;J;J.Y;J/Y;DQ9*F}?2Fy:FyBF}h0JFyzK-BoHK-#9K)K-"K-UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267766G-=BO> A IA Hw,CAm[@Ym~k@m<9mSh6>ymH h? ?ؕ@(?v?j{?ɨm[@m욈;m#Cy}3B}_!Ii=Ip< a=%=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519723%Mb@Mb@Mb@!!! !)!Y%p= ף?1Zd&1y%=%"۽%P% A %@)%@I!!y%f@IeIeM٢u|< u3=9}9Q }>yy G٣yօ; > -Nusing accuracyPremultiplier from config)559-eZ?55Y-o i-5m >5;=\=A)-;-;-5A EAADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`KA@]m >]m >]C@]@-< )54>I59 1ɚ54i1I1I=3i9i===)9)a*JC="JDv9m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773211*F ?2F :F! BF% P0JF! 9 I9 G%4=B1Ou>2w,GUCA:k@Y:{@:A<9:l6>y:H@u?[?@ ?~` Ú ?`{?ɨ:k@:;:"CyB4BFa!ILNAAININm?٢V=; VE=9ZQ Z>X\ ^G٣\y^; ^> bNusing accuracyPremultiplier from config`E59bX?E5Ybp ibIMMAbEbIP9 ɚ"5iII3iiXNC=))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:41:02.5767 TRx dataTimestamp_ set to:1736379663.921777checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025893HI I!IIlBI&I.I7D6I^<:IL FJJJ1JJ<:J:J3JJ5;J7;JZ;JZ;Dr9*Fe?2Fa:FaBFe]0JFaU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275607zKu BHKu 9Kq Ku "Ku  Gm <=B O >6w,DA (I(%Zk@Y%z@%<9%-6>y%Hu?@? d ? N`1?'|?ɨ%Zk@%A;%$Cy=-B=X!IIMIMƲ٢] ]:=9e0Q e>ai mG٣iym| m> uNusing accuracyPremultiplier from configq}59unW?}5Yuq iuEAqu,;u,;u5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfB@]1]1]1]5ϊ@M< IM>IU{9 QɚU&5iQIQI]3iYiwEB=))MWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: Range 10 to 50 : 60.4 m (Round-trip 80.6 ms) speed 0.0 m/s -eX#Rx 1: Read range message, but no direction.QyUqBQD%9*F?2F:FBF_0JFG A=B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O- >`g w,+DANu@YN_@N <9N6>yNHV~??`n?qI_?{?ɨNu@No;N!Cyv/Bv[!IMb@Mb@Mb@ )Y~jt?)\()\(y=GόGaA @)@Iy@IIi٢-< 9=9˺Q > G٣y>; > Nusing accuracyPremultiplier from config59 V?5YQs i >;A3;M;5 A iIi addTargetRange:: Added new target pos. range: 60.400002 m, deltaT: 36.294901 s, deltaX: 2.300003 m, approachRate: 0.063370 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 46.00 m. jjjjihhhhgBffrf]@33N@bfe ?] >] >]$@]{@ < >I~9 ɚ?B5iII3ii_#G=))9BDE7?:DEB?Will construct direction to contact in vehicle frame from tetrahedron phase data.D9) CE G] tAEi q "Y tAy pB*FM ?2FI :FI BFM U0JFI ZHQ RHQ H] ;>IY  IY IY IY &IY .I] 6D6I] <:I] FJ J J 0J J :J :J ـ3J J ;J ;J 9P;J :P;5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5AzKKKk9KK"K  GB=BO?(w,LDA2-w@Y2@2#<926>y2H?3?x? `@?{?ɨ2-w@2bL;2%Cy:(B:R!IIFIFb٢N N)=9N$Q N>PP RG٣PyV9 V> ZNusing accuracyPremultiplier from configT^59VT?^5YVt iV\^bAVEV;V;V5d fAdDNOT Ignoring new targets: 46.00 m. jjj Ijihhhhffrfbf@?]A]A]A]E@%#< ae|>IeM9 aɚmL]5iiIiIm3iqiq)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F ?2F :F BF V0JF *J "J %=G H=B O > w,8NjDAJz@YJA@JZ<9J7>yJH? ? c?R +`i?Y{?ɨJz@J;J$CyV)BVS!IZWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YMb?i|?5v/y=xi A @)@I-@yz@II٢ 'J;  !=95Q > G٣yqa: > %Nusing accuracyPremultiplier from config!-59%S?-5Y%v i%&5$%>5;5z翑5A!%;%9;%翮59 =AAmDNOT Ignoring new targets: 46.00 m. jijijijiiihqhqhqhuWBfyfyrfybf}}?]$%>]$%>]hR@]?1@ IUZ< QU>IU9 QɚUy5iQIYI]3iiim>H=)i)DmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F) 2F) :F) BF) JF) H I  I I I &I .I 6I <:I FBIJIRIZIbIjI'3Jq Ju Ju 1Jq Jq Ju :Ju 3Jq Jq Jq Ju .Y;Ju /Y;G `C=B O >!w,sDA6u@Y63@6I<966>y6H ~?l?`wQ?ȕ(?O|?ɨ6u@6O߈;6"Cy>2BB^!IIJIJ(*٢Rh6= RF=9RKIQ V>TT VG٣TyZxĺ Z> ^Nusing accuracyPremultiplier from config\b59^Q?f5Y^x i^idf翑fA^E^^;;^;;^5l nAlDNOT Ignoring new targets: 46.00 m. jj j j i h h hhffrfbf9?]1]1]1]5#/@UI< QUR>IUx9 QɚU5iYIYI3iiF=))2D*DWill construct direction to contact in vehicle frame from tetrahedron phase data.zKxLK9KK"K  D9EEqA YIa*Fu?2Fq:FqBF}>1JFy"G=G=G.H=B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,:>DA:}s@Y:@:<9:6>y:H|??y`s ?@[@?|?ɨ:}s@:;8yb#BbL!IUMb@Mb@Mb@QQQ Q)QYUV-?QV-yU=UUmUA U@)U@IQQyU@ImIm٢u< }?=9}4Q }> G٣yb% > Nusing accuracyPremultiplier from configJ@AJAA59(Q?5Yy i4>;ڿA`J;WH;î5 DAeDNOT Ignoring new targets: 46.00 m. jajajajaiahahihihmGBfifrfbfp@]4>]4>] c@]S@< )>I9 ɚO5iII3iilE=))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D9 aIeh*F?2F:FBFn0JFG} `C=B O ><.w,DA.Will construct direction to contact in vehicle frame from tetrahedron phase data.Rr@YRB@R <9R76>yRH@Z|?? Z`?@@~ 9?-}?ɨRr@RΛ;Pyz&BzP!III٢< L=9M-Q > G٣y%\i %> -Nusing accuracyPremultiplier from config)559-kP?55Y-{ i-9=ڿ=A-E- ;-m ;-RŮ5A E)AAuDNOT Ignoring new targets: 46.00 m. jqjyjyjyiyhyhyhhffrfbfx@]]]]5U@m < im>Im~9 iɚm 5iiIqIu3iyi}.E=)y)yHI I!IIgBI&I.I6I:<:I1 FD  Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKK9KK"K*F2F:FBF0JF I G 'HF=B O >R5w,QDANq@YN@NN<9N6>yNH{?o?-?@սIQ?}?ɨNq@N;;N$CyV+BVV!IIbIb?٢f"< fI=9r8Q v>|  G٣ y > %Nusing accuracyPremultiplier from config!=59%O?E5Y%9} i%6AMڿMA!%˵;%;%"Ǯ5e B mAuEDNOT Ignoring new targets: 46.00 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.hIhIfQfYrfbfR@]]]]V@N< >I9 ɚ5iII 3i i tWy:H@w?`S? p @O? S'?'}?ɨ:l@: H;8yB-BBX!I]Mb@Mb@Mb@YYY Y)YY]?T㥛 S㥫y]>]]/]]A ]@)]@IYYy]=@IuIuq٢}< )=9ǺQ > G٣y > Nusing accuracyPremultiplier from config59N?5YR i=>;ٿAEZ;;6ɮ5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhh7Bffrfbf @]=>]=>]<ͯ@]띒@53x< 15>I5u9 9ɚ=P5i9I9IE3iAiEЌB=)A)eWill construct direction to contact in vehicle frame from tetrahedron phase data.D HI III&I.I6I<:Ie F*F?2F:FBFP5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G `C=B! OE >M PExceeded connect timeout, disconnecting.zKM KM 9KI KM "KM  Cw,EA 8I82n@Y2.~@2klc<92S.7>y2Hmy??@ ?@'Qm?`|?ɨ2n@2};0y%+B%V!II5I5%x٢E E>=9M;AQ M>IQ UG٣QyU: U> ]Nusing accuracyPremultiplier from configYe59]M?m5Y]6 i]imٿmA]E];];]ˮ5y }A5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h1h9h9hYfYfarfabfe@3@]]]]@klc< >I9 ɚ5iII3iiC=))}Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F ?2F :F BF JF Jm AAJi Ju Ju Ju 0Jq Ju l:Ju :Ju ـ3Jq G= C=BI Om >SvJw,+EA 6i@Y6vy@60M<96I]7>y6H`u??j@"?`5Ἷ `?a|?ɨ6i@6v;6%CyB1BB^!I J=Ja=ZWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%n?v/J +y%V>%x齹%H! %S@)!I%@!y%G@IIM٢>< 4=9EQ > G٣y > Nusing accuracyPremultiplier from config59M?5YH i>>;̿AF;ͮ5 A%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i)h)h)h)h5,Bf1f1rf1bf5U@ QIQ]m>>]m>>]m@]m@}0M< y隅?I9 ɚ5iII3iiwA=))D9*Fm?2Fq:FqWill construct direction to contact in vehicle frame from tetrahedron phase data.BF}05JFG G"GGH I  I !II lBI &I .I 6I Ȱ<:I FB1 O} >ztQw,HFEA2i@Y2\y@2t;<92J+7>y2Hu?`7?``@"? un?|?ɨ2i@2L;2"CyB=BBl!IIJIJm?٢V?|= VZ=9V;Q V>XX ZG٣Xy^O ^> bNusing accuracyPremultiplier from config`f59bM?f5Yb ib nManaging dock network, ignoring radio surface power offzKKK89KK"K I M Will construct direction to contact in vehicle frame from tetrahedron phase data.Ww,̷_EA2d@Y2s@2R'<926>y2Hp?@?a&?{M2@?U}?ɨ2d@2Ԉ;2%CybFBbx!IUMb@Mb@Mb@QQQ Q)QYUPn?)\(ˡEyU>UGόU'UA U=@)Up@IU-@QyUQ@ImIm٢},= }@=9_?Q > G٣yں > Nusing accuracyPremultiplier from config59XM?5Yц ir2>;ϿA;;Ю5 #ADNOT Ignoring new targets: 46.00 m. jjjjihhhh2Bffrfbf t@]2>]2>]w@] @R'< = ?I9 ɚV6iI*J"J4=JJJJJ:J 9JJI%3i!i-?=))))Will construct direction to contact in vehicle frame from tetrahedron phase data.D*9 I*Fm ?2Fi :Fi BFm O0JFi B O >]w,:yEA6a@Y6q@6B<966>y6H@Ro? 9?@V'?NȂ@ڸ?}?ɨ6a@6=Q;6#CyBOBB!IIJIJ٢R-= RY=9V2Q V>TT VG٣XyZ+ Z> bNusing accuracyPremultiplier from config\b59^M?b5Y^o i^dfϿfA^E^:^a:^8Ү5h ]AYDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`@]]]]@B< W?I9 ɚ6iII3ii\>=))%Will construct direction to contact in vehicle frame from tetrahedron phase data.c~G-|uAA Y|uAyAHQIQ IU!IIU{BIQ&IQ.IU7D6IUZ<:IUH FD=&9*F?2F:FBF]0JFBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. I zK= VBJK= k9K9 K= "K=  4dw,kEA2^_@Y2n@2J<92W6>y2H7m?M?&/) ?ɻF?2~?ɨ2^_@2G(;2 Cy:TB:!IIFIFq٢J< NK=9N(Q R>PP RG٣PyVP V> ZNusing accuracyPremultiplier from configXb59ZL?b5YZ* iZdfϿjAXZ;Z;ZӮ5x zA|DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfL@] ] ] ] /@eJ< im ?Im9 ɚC6iII3iiZP==))5Will construct direction to contact in vehicle frame from tetrahedron phase data.DM89*F2F:FBF[0JFJـ3K3 KT.KK"KJE JE JA JA JE :JE :JA JA G sC= Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >%kw,EA2ea@Y2p@2CD;926>y2H`n??¿(?`xH}Һ?}?ɨ2ea@2;2#CyFbBF!I xIxMb@Mb@Mb@ )Yv/?A`"Q롿yx=ٽ\ j@)I@yII[٢t= 0=9^ Q > G٣y : > Nusing accuracyPremultiplier from config595L?5Y ia#>;տAE9;7;֮5 EA%DNOT Ignoring new targets: 46.00 m. j!j)j)j)i)h)h)h1h5NBf1f1rf9bf= [@]Ua#>]Ua#>]U@]U8@mCD; im= ?Imn9 qɚu[ 6iyIyI3iie>=))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq2Fq:FqBF}`0JFyH I  I !II BI &I .I 6I <:I FBIQJIQRIQZIQbIQjIUQ4G 8<=B O >Vrw,-EA6@b@Y6q@68;96ǘ6>y6Ho??`5¿@'?p@`` bG٣`yfk9 f> -Nusing accuracyPremultiplier from config)559-K?55Y- i-31=տ=A)-~ ;- ;-׮5I M1AQ}DNOT Ignoring new targets: 46.00 m. jyjyjyjyihhhhffrfbf@@]]]]m@8; q ?I?9 ɚ$)6iII3iik>=))2D*DMWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMADF9 IIUhzKKK9KK"K}  {7a-~fUE8.*# *F}?2Fy:FyBF}@5JFyGeГ>=BqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.yxw,EA6Uf@Y6u@6K;96C6>y6H r?P? "3¿L%`!?@Sou:?}}?ɨ6Uf@6(;6$CybtBb!IMb@Mb@Mb@ )YK?&1 rhy^=нC  S@)Z@Iy@I-I-F٢== =5=9E!Q E>AA MG٣IyM: M> ]Nusing accuracyPremultiplier from configQ]59UJ?]5YU iUbe=>e;eoῑeAUEUa;U{;Uٮ5i mAqJuJuJqJqJu:Ju/:JqJqDNOT Ignoring new targets: 46.00 m. jjjjihhhhVBffrfbf@@]=>]=>]z@]@K; 隕\?I9 ɚ26iII3ii@=))eWill construct direction to contact in vehicle frame from tetrahedron phase data. IIID5X9*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G >=B O>ODw,FANm@YN.}@N+s;9N6>yNHy?ߺ? 6¿!`#(?=``s@?}?ɨNm@NN ;LyZ{BZ!IIbIbm?٢nn< nD=9nQ r>pp rG٣pyv ; v> zNusing accuracyPremultiplier from configx~59zI?~5Yzy izNῑAxz:z3:zۮ5  A E=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfM@]q]q]q]uO@+s; 隅?I9 ɚ<6iII3iiءC=))HI I!IIBI&I.I6IL<:I= FDg9Will construct direction to contact in vehicle frame from tetrahedron phase data. qIq*Fu?2Fy:FyBF}P5JFyzKMOK#9KK"KG YhA=B O >fw,FA2Gm@Y2|@2Ʉ;92}6>y2Hx??A¿@U!@(?-p@?}?ɨ2Gm@2;2"Cy:B:!I)D DttIzIzq٢y4= H=9 Q >!! -G٣)y= E> eNusing accuracyPremultiplier from configY}59]I?5Y] i]IῑA]E]7<] <]Qݮ5 :A%Will construct direction to contact in vehicle frame from tetrahedron phase data.]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhYhahahafafirfibf 8 @]]]]x@Ʉ; B?I49 ɚmF6iII3iiC=))!BDMG?:DMS?Dmy9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 3JF i Ii GC=BO>w,9FAVq@YV\@V<2;9V6>yVHu|? ϶?`Y¿.? ѺEUfz?}?ɨVq@V};V#CybBb!IeMb@Mb@Mb@aaa a)aYesh|??~jtlye=eĽea a)e-@Ie@ayaI}I}n٢= $=9.Q > G٣y: > Nusing accuracyPremultiplier from config59H?5Yh i\>;⿑A;҉;u߮5 ADNOT Ignoring new targets: 46.00 m. jjjjihhh h nBffrfbf!@Will construct direction to contact in vehicle frame from tetrahedron phase data.]\>]\>]@]m@<2; \?I9 ɚO6iII3ii#E=))HI I"IIǃBI&I.I6I<:Ii FJJJ1JJl:J:J3JJ;aJ;aJL;aJL;aDu9EE*F ?2F :F BF R5JF "G a=G = Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G ߛC=B zK K -9K K "K  ##% !*@MOT k8 O > w,+UFAB\|@YB܋@B#;9B`X7>yBH? ?h¿G6?)溿nwd ?}?ɨB\|@B2;@yNBN!IIVIV@٢^]= ^J=9bQ b>dd fG٣dyfO; f> nNusing accuracyPremultiplier from confighn59jEG?n5Yj ijxzY⿑zAjEj~;j&~;j95| ~wA|-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf= !@]Y]Y]Y]]y@u#; y}\?Iy9 ɚKY6iII3iiMI=))D9*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.!%=GBO>(w,nFABWill construct direction to contact in vehicle frame from tetrahedron phase data.F={@YF@F:9F7>yFH@?@P?o¿ Og6?Й]@&?^}?ɨF={@Fԇ;D tIty~B !Ii%=I< ==Mb@Mb@Mb@ )YS㥫?~jtQ롿y/]=\7A &@)C@Iy @II[٢?< <=9|кQ > G٣y > Nusing accuracyPremultiplier from config59E?5Y• iK=;AG;E;5 FA-DNOT Ignoring new targets: 46.00 m. j)j1j1j1i1hhhhzBffrfbfz"@]%=]%=]%b1@]%!Ӊ@}: y}{?I}9 ɚLc6iII3iiϝH=))D9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 4JF H I  I ."II ܃BI &I .I 6I s<:I Z FJE JE JA JA JE ̶:JE :JA JA JE ;JE ;JE 9P;JE :P;G H=B O >w,FA6@Y6`@6:96k7>y6H@ˌ?ன?w¿@&@>?@˺q[?|?ɨ6@6{;6%CyBBB!IIJIJi٢R = VB=9ZQ Z>XX ^G٣\y^I; ^> bNusing accuracyPremultiplier from config`f59bUD?f5YbЖ ibwhjjA`b ;bT ;b5l n Al DNOT Ignoring new targets: 46.00 m. j j jjihhhhffrfbf#@]]]] ߉@Will construct direction to contact in vehicle frame from tetrahedron phase data.: .?Ic9 ɚm6iI 1I1IM3iIiMM=)I)IzK[\OK9KK"K;B  z[E6)  RK?JK?D9*Fe?2Fa:FaBFeP0JFaGi Gi"GmGm Will construct direction to contact in vehicle frame from tetrahedron phase data.B O5 >7w,bFA2@Y2~@2~:926>y2Hs?\?@Ax¿=?ଓP ?@}?ɨ2@2Iɇ;2$Cy>B>!IMb@Mb@Mb@ )YMb?bX9ȶQ롿y@=E )I@yf@I5I5٢=U< EB=9E@̺Q E>II MG٣IyU \ U> ]Nusing accuracyPremultiplier from configQ]59UB?e5YU— iUe<=e;JiJm@AeuAUEUS;UQ;U5y }AyUDNOT Ignoring new targets: 46.00 m. jQjQjQjQiYhYhYhh{Bffrfbf$@]<=]<=]X@] @ ~: ?I9 ɚ*w6iII=3i9iEK=)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data. 9I9D%9*F?2F:FBFJFBO >) =  C%w,FA&~G0>Will construct direction to contact in vehicle frame from tetrahedron phase data.\ FYyA ?dAy-B-!I9=AIEIE<٢M < U;=9UQ U>YY ]G٣Yy] e> mNusing accuracyPremultiplier from configam59eA?u5Ye ieqquAae ;e:e5y ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf Q%@]]]] ?I9 ɚs6iIH I  I G"II BI &I .I 6I <:I o FI-3i1i5K=)1)1JJJ0JJ:J :Jـ3JJi;Jj;JS;JS;D9E 5$?I1EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F} ?2F :F BF JF B O >zK NK 89K K "K    w,fNFA2@Y2}@2+:926>y2H@?P?{¿@SF?x@`]?}?ɨ2@2;2"Cy>B>!IIPIP٢z< b=9%=Q %>)) -G٣)y5[; 5> ENusing accuracyPremultiplier from config1E595P@?E5Y5 i5IMMA15/;5~:5L5Q UAQDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf &@]]]]@+: ?I>9 ɚ'6iII3iiteP=))D=9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JFB9OB>*JR="Ja= ) I) e Will construct direction to contact in vehicle frame from tetrahedron phase data.2w,*FA62@Y6@6# 966>y6H? c?@]¿;iD?LK r$? ?8~?ɨ62@6~;6#Cy>BB"IMb@Mb@Mb@ )Yl?~jt+y=Ľ A @)-@Iy@I%I%٢5)< 5H=9ϺQ > G٣y쏺 > Nusing accuracyPremultiplier from config59>?5Yv i%U=;AE ; ;$5 A DNOT Ignoring new targets: 46.00 m. j jjjihhhhqBff!rf!bf% &@]EU=]EU=]E@]Ez @]# Y]#?I]9 aɚet6ie!w," GA6@Y6@6Me#96e6>y6H? ?¿` `M?kl$?`?`}?ɨ6@6Υ;6$CyXXi\I^=IbIbԲ9n Q n>ll rG٣pyr; r> vNusing accuracyPremultiplier from configtz59vw,(GA2@Y2@2`92e6>y2HS??`¿ M?@:B@=L??`}?ɨ2@2;0y>B>"IMMb@Mb@Mb@III I)IYMX9v?+η~jtyM G٣yi۹ > Nusing accuracyPremultiplier from config 59:? 5Y* iR=; A4;E;5! %A!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQh]xBfYfYrfYbfe`(@]}R=]}R=]}@]}@` 隝?I9 ɚ̔6iw,BGA2K@Y2ˬ@2]92B7>y2H`ܟ? R?¿T?@Q+>P?@?`(}?ɨ2K@2;2"CyBBB"IIJIJb٢R< RY=9VQ V>XX ZG٣XyZ bNusing accuracyPremultiplier from config\b59^`9?f5Y^ i^df fA\^m ;^ ;^p5l nAl DNOT Ignoring new targets: 46.00 m. j j jjihhhhffrfbf%P)@]9]9]9]=@HI I`"IIBI# =&I.I6I3<:I+ F] k!?I9 ɚ6iJw,z]GA>W@Y>ר@>qպ9>p6>y>H`??g¿  R?R`ͲZ??`}?ɨ>W@>^;>$CyFBJ "I)L LIRIR٢Z!)< ZD=9^ȺQ ^>\\ bG٣`yb b> fNusing accuracyPremultiplier from configdj59f7?j5Yf ifln nAfEf ;fG ;fB5p rtAp DNOT Ignoring new targets: 46.00 m. j jjjihhh!h)f)f1rf1bf= 9'*@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]I]I]I]MY@]qպ ae"?Ie9 aɚe'6ie(sw,kxGA>@Y> @>=^9> D7>y>HN?0?¿@>Y?s,Ƌ]?=?#}?ɨ>@>:W;>%CyJBJ!I%Mb@Mb@Mb@!!! !)!Y%/$?Mb{Gzy%,=%%#% A %@)!I%@!y%z@I=I=%x٢M U9=9UιQ U>YY ]G٣Yy]; e> uNusing accuracyPremultiplier from configi}59m5?}5Ym im }5=};}}Aim@;mI;m05 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhebBfafarfibfu+@]5=]5=]$>@]@=^ (?I9 ɚ6iw,H7GA6֜@Y6V@6>)96R6>y6Hy?@? ¿V? @=e? ?}?ɨ6֜@64;6$CyBBB!IIJIJ[٢Rx RF=9VQ V>TT ZG٣XyZx Z> bNusing accuracyPremultiplier from config\b59^\4?b5Y^ i^) \'?IW9 ɚ6ikJ @AJ J J J J J :J :J J Mw,A GAyB"I IIIMb@Mb@Mb@ )Y/$?MbˡEy' @)@I@y@II%x٢< 7=9Q > G٣y   > Nusing accuracyPremultiplier from config592?5Y ip=%;%%AE;;5) -A)=Will construct direction to contact in vehicle frame from tetrahedron phase data.eDNOT Ignoring new targets: 46.00 m. jajijijiiihihihqhuVBfqfyrfybf},@]=]=]]@ 0?I)9 ɚį6iH I  I `"II BI " =&I .I 6I z<:I _ F/w,mGA6ۤ@Y6[@6sh96zX7>y6H ??¿`]?@׹vm?? |?ɨ6ۤ@6Ẋ;4yfBf!IInInb٢v  v]=9vg)Q z>xx zG٣xy~-; ~>  Nusing accuracyPremultiplier from config 59H1? 5Yk iA:3:5 %A!MDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhQhQhYhYfafarfabfeZ}-@]]]](@sh 隝q-?I : ɚ6izK- ZMK- 9K) K- "K- B w,YGAB@YB@B9B:7>yBHU? ?¿@a?͹ vcq? @?` |?ɨB@B;B%CyJBJ!IRWill construct direction to contact in vehicle frame from tetrahedron phase data.IZIZ<٢bY  bM=9fbQ f>hl ]G٣Yys: > Nusing accuracyPremultiplier from config59/? 5Y^ i9EEA<A<m5  AEDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfw.@JJJJJl:J:JJ]]]]0@ )?I9 ɚ6ij@Y>@>/9>6>y>HD?h? ¿^?Dw??}?ɨ>@>P;>$CyFBF!I)H HLNA%Mb@Mb@Mb@!!! !)!Y%T㥛 ?MbˡEy%=!!! !)%@I%@!y!I=I=T٢MA; M=9bDQ > G٣y\ > Nusing accuracyPremultiplier from config59C.? 5Y i ~=;AE;N;5 AH1I1 I5Z"II5BI1&I1.I16I5g<:I5Q FDNOT Ignoring new targets: 46.00 m. jjjjihhhhJBffrfbf`Bi/@]~=]~=]㰩@])@M/ QU0?IUK9 QɚU6iULw, HA>(@Y>@>ѻ9>I6>y>H@?` ?\¿@u`?U'v?z?? }?ɨ>(@>`;>"CyJBJ!IIRIR%x٢^̸ ^5=9^覺Q ^>`` bG٣`yf9 f> jNusing accuracyPremultiplier from confighn59j-?n5Yj ij;lnrAhj:j:j5t v&AtDNOT Ignoring new targets: 46.00 m. jjjjih!h!h)h)f1f9rf9bfEX 0@}Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@=ѻ 9= .?I=W9 AɚE6iER7w,t?HA2m@Y2@292u6>y2H ?֗?`ÿQZ?`ҸX?@? ~?ɨ2m@2;0y>B>!IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YMbX9?:vˡEyʡ=Խ~A @)@I@yG@I I F٢<< =9Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=+?E5Y= i={E, >M;M鿑MA=E=N;=;=5Q UAQ=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhIhIhM&BfIfQrfQbfU@0@HI IT"IIBI&I.I6Is<:IY FBIiJIiRIiZIibIijIm54], >], >]@]ݪ@% )-B?I-9 )ɚ-6i-Uw,/^HABa@YB᪪@B 9B.7>yBH`#?S?!ÿoH\?rĸ7? ? }?ɨBa@B;B#CyNBN!IiR=IR< R=R=IVIV#٢^: b:=9bKQ b>dd fG٣dyf: f> nNusing accuracyPremultiplier from confighr59j*?r5Yj ijpr}鿑vAhjq';j>;j5 A ]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhahahahafifirfibfu1@]]]]@ 隽u@?I: ɚ6iCn;II3iiU=))Will construct direction to contact in vehicle frame from tetrahedron phase data.D*Fm?2Fq:FqBF}0JFyGɋR=BOI>*Ju4="Ju< I= Will construct direction to contact in vehicle frame from tetrahedron phase data.bzw,xHAy~B!IMb@Mb@Mb@ )YRQ?zGế{Gzy= ׽#A )@IyIIF٢P< ;=9Q > G٣y > Nusing accuracyPremultiplier from config59)?5Y i>;޿AE;,;5 A-DNOT Ignoring new targets: 46.00 m. j)j)j1j1i1h1h9h9h9f9fArfAbfE`x1@]e>]e>]eT@]ei@y y}B?I/: ɚI6i`II3iiU=))BDB?:DM?Will construct direction to contact in vehicle frame from tetrahedron phase data.D9HAIA IAIAIA&IA.IA6IEǰ<:IE F*Fu?2Fq:FqBFub0JFq"G=G=JK3 K.-KK"KJ J J J J :J :J J J a J ;a J L;a J L;a I G 8U=B O >$w,~HA:Will construct direction to contact in vehicle frame from tetrahedron phase data.6ϔ@Y6O@6y6H@?`?@dÿ Y?+cL?2?{?ɨ6ϔ@6h;4yFBF!IININb٢Z); ZS=9Z»Q ^>\\ ^G٣\ybH b> fNusing accuracyPremultiplier from configdj59f(?j5Yfߪ ifhn޿nAdf;f:fl5p rApDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@|1@]]]]j@+2+w,HA6@Y6.@6LF96pW7>y6H? ?@sÿv@RR?UlɈ?4?t|?ɨ6@6Y{;4yBBB!I lIl}Mb@Mb@Mb@yyy y)yY}:v?)\( G٣yA > Nusing accuracyPremultiplier from config59(?5Y iBV>;ܿAE-;;m 5 A DNOT Ignoring new targets: 46.00 m. j j j j i hhhh5Bffrfbf `2@Will construct direction to contact in vehicle frame from tetrahedron phase data.] V>] V>] @@] a@LF 9=@?I=>: AɚE6iE ZIAIM3iIiMM=)I)QD9*F ?2F :F BF 0JF u Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I I I &I .I 6I <:I FG JR=B O Fx2w,[HAZ?@YZ@Z8Vl9Z7>yZH?S?Kÿ N`L?ii uG٣qyuF u> Nusing accuracyPremultiplier from configy59}N'?5Y}7 i}pܿAy}'8;}1;}C 5 A-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf= 2@]Y]Y]Y]]O@8Vl 隽=?I: ɚ6iکII3ii}I=))2D*D I Will construct direction to contact in vehicle frame from tetrahedron phase data.D9EE*F ?2F :F BF _1JF GY  GY zK K 9K K "K  U%QZVF<5-# oaYRLHIG@A?;95521-,))( Will construct direction to contact in vehicle frame from tetrahedron phase data.G] A9w,tHAyށމII̍٢%]: -.=95Q =>II UG٣Qye m> Nusing accuracyPremultiplier from config59`&?5Y iAEՐ;Ր;k5! %A-E}DNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhyhhhffrfbfkL3@]]]]! !-3=?I-$: )ɚ-6iM IIIU3iQi]OJ=)Y)Y IhDI*F?2F:FBF/5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G H=B O >@w,IAZr@YZ1@Z9ZS7>yZH}|??{ÿ`Q@_E?鶿3?T?`{?ɨZr@Z!S;Z#CyfBf"I n=na=Mb@Mb@Mb@ )YʡE?:vMby=ԽhA @)@I@yQ@II٢~= R=9ȻQ > G٣y > Nusing accuracyPremultiplier from config59 &?5Y i#>;"ҿA;:5 ~A5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h9h9h9h='BfAfArfAbfEm3@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]m#>]m#>]m3ϱ@]m.@ 隅=J?I: ɚ6iII3iitWD=))HI I`"IIBI&I.I6I<:Ik FD9*Fe?2Fa:FaBFeP0JFaJEJEJAJAJE:JE:JAJAJE;JE;JEnN;JEoN; IGM 'K=BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.GFw,WIA6e@Y6u@696h>7>y6Hq??_ÿ$dd fG٣dyjF j> nNusing accuracyPremultiplier from configlr59n%?r5Yn  inprOҿvAnEn ;n:n5x zAx-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=4@]Y]Y]Y]]|@m quP?Iu: qɚu6iyIyI}3ii<?=))BD2?:D=?D9zKNK9KK"K%&$%#!  *F ?2F :F BF ^0JF "G=GeWill construct direction to contact in vehicle frame from tetrahedron phase data.G@A=ByO> I ;qLw,/4IA6(f@Y6u@6R96ݦ7>y6H@ r?@?@ ĿB$ >?L`?@S?{?ɨ6(f@608;6$CbWill construct direction to contact in vehicle frame from tetrahedron phase data.yvăBv"IMb@Mb@Mb@ )Y1Zd?v/X9vy"=x齹 @)p@I@yII)٢ ==9Q > G٣ya9 > Nusing accuracyPremultiplier from config59$?5Y i7#>;'޿A;;5 8A DNOT Ignoring new targets: 46.00 m. j j j j i h h hh0Bffrfbf@u4@]7#>]7#>]|@]ᅑ@R =J?I: ɚO7iII3ii?@=)))Q QG-|uAA uY}|uAyAD-9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFH I  I m"II BI &I .I 6I x<:I ] FJe Je Je 1Ja Je <:Je :Je 3Ja Je 5;Je 7;Je A;Je A;G5 Г>=B9 O] >BSw,,PIA I$^_@Y^2o@^9^ R7>y^Hl?? Ŀ`':? EԔ??@h{?ɨ^_@^\;\yzуBz""I)| |AI I [٢Fp= C=91Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595#?=5Y5f i5C9E;޿EA5E5B.;5J4;5[5Q UAYDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfR4@]]]]܀@ 隭P?I: ɚ7iII3ii9==))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM"9zKeZw,]jlIA]H[@Y]j@]:9]d7>y]H h??|4Ŀ`6*`D8?Hѵ`X??{?ɨ]H[@]-;]"CyuӃBu%"I IMb@Mb@Mb@ )YB`"۹?V-S㥛y=/ݼA @)b@I@yI5I5%x٢ET < E+=9EQ E>II MG٣IyMT U> ]Nusing accuracyPremultiplier from configQe59U"?e5YU? iUoe>e;e㿑eAQU);Uu;Ur5q uAqDNOT Ignoring new targets: 46.00 m. jjjjihhhh?Bffrfbf[5@]U>]U>]U@]U>,@: 隅=J?I: ɚ( 7iII3ii;=))2D*DpAWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*Fu ?2Fq :Fq BFu P0JFq G  G e Will construct direction to contact in vehicle frame from tetrahedron phase data.G] <=Bi H I  I "II #BI &I .I 6I <:I o FBIIJIIRIIZIIbIIjIM\4O >*bw,IAnQ@Ynla@nR9n6>ynH ,a? ߳?9Ŀn/`2? p` ?&?{?ɨnQ@no{;n#CyzރBz2"I|~@AIIF٢K= H=90Q >!! %G٣!y-6 -> 5Nusing accuracyPremultiplier from config1=595!?=5Y5Թ i59=㿑EA5E5@:5a:5=5I MmAIuDNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhyhyhhffrfbf5@]]]]#@ER AEpO?IE[: IɚMa 7iIIIIU3iQiU7=)Q)Q ImWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F=?2F9:FABFE^0JFAzK PLK ж9K K "K   Ge ˰<=Bq O >ohw,_IAy5݃B51"Ii= GWill construct direction to contact in vehicle frame from tetrahedron phase data.٣y > Nusing accuracyPremultiplier from config59} ?5Yz iA::5 pADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@76@]]]]1 15=O?I5r: 9ɚ=7i9I9IM3iIiM8=)I)QJJJ0JJ:J:Jـ3Ja@a@a@a@ YIaD59*F?2F:FBF_0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.G /7=B O5 >ow,IABeP@YB_@B Ƽ9BZ6>yBH _?D? ZĿ0%3? ?t?z{?ɨBeP@B];@yjBjC"IeMb@Mb@Mb@aaa a)aYeʡE?v/:vye=ex齹eԼeQA e@)ex@Ie@aye\@I}I}(٢= ;=9oQ > G٣y > Nusing accuracyPremultiplier from config59?5Y i]>;pAE4;M;5 AmDNOT Ignoring new targets: 46.00 m. jijqjqjqiqhqhqhyh}HBfyfyrfbf6@]]>]]>][Ω@]3@ Ƽ Q?I: ɚD7iIWill construct direction to contact in vehicle frame from tetrahedron phase data.I3ii0c7=))BD:?:D,?H:>I I"II2BI&I.I6I|<:I_ F qIqD>9*FQ 2FY :FY BFY JFY "Ge =Ge = Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOe>vw,:IA>R@Y>a@>\˼9>L7>y>H a??{sĿ.4? p?o?z?ɨ>R@>X;dd fG٣dyf9 f> nNusing accuracyPremultiplier from confighn59jM?r5Yj` ij pr`rAhj:j:j5t z1AxDNOT Ignoring new targets: 46.00 m. jjjj!i!h)h)h)h)f1f1rf1bf5x7@]a]a]a]e7@}\˼ y}N?I}a: yɚ}7iII3iic=8=))D,9zKILKu9KK"K*F=?2F9:FABFEP5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.GJJJJJ\:J:JJB! ] $?Ia Ou >}w,IAWill construct direction to contact in vehicle frame from tetrahedron phase data.:Z@Y:j@:Gμ9:!7>y:Hg?1?Ŀ *;?ܙ??y?ɨ:Z@:ҫ;8yBBBH"I)H HLNAMb@Mb@Mb@ )Yv/?)\(y&1yxi=Gό` )K@Iy@II<٢2E= ;=9PwQ > G٣y; > Nusing accuracyPremultiplier from config59k?5Y i4>;AE;; 5  A DNOT Ignoring new targets: 46.00 m. jjjjihhhhBBffrfbfЇ7@]M>]M>]Ma@]M@eGμ ae W?IeF: aɚeA7iiIiIu3iqiu<=)q)yDc9Will construct direction to contact in vehicle frame from tetrahedron phase data.iHI I"IIABI&I.I6IL<:I; F*FM ?2FI :FI BFM 0JFI Y Ia G5 ‹9=BA O >w,yJAB(\@YBk@Bؼ9B7>yBHi?{?`rĿ(@>?ٴ?x?y?ɨB(\@BB;@yJBNC"IIVIV@٢b  bG=9bdd fG٣dyj89 j> rNusing accuracyPremultiplier from configpv59r?v5Yr ir[tvzApr:rL:r"5| ~A|%DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h)h1h1f9f9rf9bfE7@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@ؼ $U?I: ɚ7i!I!I%3i)i-D<=)))i2Dq*DuqAD_9zK-VBJK-9K)K-"K-*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G 8<=B O% >Fw,#I/JAJ(J*@AJ:J:J8J8J::J::J8J8 dIdUV@YUTf@Uݼ9U6>yUHd? ?`Ŀ`+@;?䓴??z?ɨUV@U ;U$CymBmA"IMb@Mb@Mb@ )Y&1?q= ףpMbyP=뽹 @)b@I@y@  I I ٢# +=9%Q %>!) -G٣)y- 5> =Nusing accuracyPremultiplier from config9E59=R?E5Y= i=M>M;MMA9=;=;=$5Q ]AYDNOT Ignoring new targets: 46.00 m. jjjjihhh h LBf f rfbf=`tk8@]u>]u>]u_'@]uu@ݼ 隍\O?I: ɚ3"7iII3ii9=))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dq9*F ?2F :F BF 0JF G  G "G G  Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I "II FBI &I .I 6I <:I f FBi O >Ēw,KJAy-B-K"II=I=٢M= UD=9UQ U>YY ]G٣Yy] ]> mNusing accuracyPremultiplier from configiu59mL?u5Ym= imyy}AmEm;m;m&5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`8@ I]]]] ]S?IO: ɚ%7iII3ii :=))Will construct direction to contact in vehicle frame from tetrahedron phase data.D%9E)*F?2F:FBFT5JFBO>w,VeJAzK"jIK"U9K K""K":_@Y:*o@:9:|6>y:Hk?D?*Ŀ&C?y`z?1?nz?ɨ:_@:;:"CyBBF>"IININb٢Vb VW=9VQ V>XX ZG٣Xy^9; ^> %Nusing accuracyPremultiplier from config!-59%c?-5Y%R i%155A!%L:%:%D(59 =AA]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]AuDNOT Ignoring new targets: 46.00 m. jqjqjqjyiyhyhyhhffrfbf59@]]]]Ȱ@ M?Id: ɚ(7iII3ii@#>=)) BD%3?:D%=?JeJeJa IJaJe̶:Je:JaJaDm9*FI2FQ:FQBFU5JFQBiO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.w,1JAL\h Yy_A50e@Y5t@5 95^7>y5H@p??Ŀc#`H?? ? }y?ɨ50e@5;5$CyMBUH"IMb@Mb@Mb@ )Y~jt?Cl绿L7A`堿y=;߽+hA @)K@I@y @I5I5٢M= M3=9M^Q M>QQ UG٣Qy]@: ]> eNusing accuracyPremultiplier from configam59e"?m5Yeb iem=u;u uAeEe;e[;e5*5y }AyDNOT Ignoring new targets: 46.00 m. jjjjihhhhGBffrfbf49@]=]=]⇡@]@u qu{T?Iu: yɚ}9,7iyIyI3iie"@=))mWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I "II KBI &I .I 6I <:I y FD9 I*Fm ?2Fi :Fi BFm 4JFi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,9 JAJk@YJ<{@Js9JH 8>yJH u?U?GĿ`M? @hO??`x?ɨJk@JbI;HyVBV>"IIbIbV8٢fjA jf=9jQ j>ll nG٣lyr:; r> vNusing accuracyPremultiplier from configpz59rV?z5Yr< ir3xz zApr:r:r+5 AE5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h9h9h9hAfAfArfAbfE@G:@]a]a]a]e@us y}.P?I};: ɚO/7iII3iiB=))Duj9EyEy*F ?2F :F BF `0JF zKk3IK9KK"K}Will construct direction to contact in vehicle frame from tetrahedron phase data.G>=B O=> I 1$w,JAJ<J<J>1J<J<J<J>3J<:4k@Y:z@:9:+8>y:Hu?@? KĿ`M?\f`:?8?`gx?ɨ:4k@:;:!CynBn9"ImMb@Mb@Mb@iii i)iYm=9˺Q > G٣y5 > Nusing accuracyPremultiplier from config59 ?5YC ia=; Ah;;-5 4ADNOT Ignoring new targets: 46.00 m. jjjjihhhhEBf f rf bf  Pp:@]-=]-=]-@]-}J@Will construct direction to contact in vehicle frame from tetrahedron phase data. \O?ID: ɚ27iII3ii5B=))D9*F?2F:FBFQ0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I I I &I .I 6I <:I o FBIJIRIZIbIjIa4G C=B O >K^w, JAyB;"II%I%㔳٢5; 5F=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59U ?]5YU@ iUYYeAUŸEUz:U:Ur/5i m,Ai IDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf:@]]]]q y}O?I}=: yɚ}67iyIyI3ii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F% ?2F! :F! BF% ^0JF! zK5 K5 -9K1 K5 "K5  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B=B O >?w,rJAV{k@YVz@V9VH7>yVH u? ʝ?`Ŀ ^O?d`;?? y?ɨV{k@V;V#CyfBdi=I=II#٢-); -5=95=Q 5>99 =G٣9y=8 E> MNusing accuracyPremultiplier from configAM59Ep?U5YES iEQU UAAE ;E ;Eh15Y e'AaDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfL;@]]]]+M@ )P?I: ɚ{97iII3i!i%[B=)!)) )I)D]9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG ڸA=B O% >F'w,wKA6o@Y6C@6Y967>y6Hx??qĿVS?*@>?Y?x?ɨ6o@6k;4y>B>?"IMb@Mb@Mb@ )YˡE?V-Q롿y'=\A )5@Iy@I-I-(*٢D< A=9T7Q > G٣yџ: > Nusing accuracyPremultiplier from config 59&? 5Yk i>; AZ;Y;G35=Will construct direction to contact in vehicle frame from tetrahedron phase data.A UAQ}DNOT Ignoring new targets: 46.00 m. jyjyjyjihhhh:BffrfHI III&I.I6I`<:IJ FbfM;@]>]>]@]G@%Y !% W?I-N: )ɚm=7iiIiIu3iqiumQD=)q)yBD2?:D6? !I!JeJeJaJaJel:Je:JaJaJe;amJe;auJenN;auJeoN;auD*F ?2F :F BF `0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GM ^KC=BY Ou >w,!KABf@YBbv@B%9Bk7>yBH+q?}?VĿ !}M?ѳ6?@?@x?ɨBf@B;B"CyNBN:"IIVIV ٢^ą ^I=9b9Q b>`` bG٣`yf0 f> nNusing accuracyPremultiplier from confighr59j?r5Yjs ijpr rAjßEj :j:j 55x z-AxDNOT Ignoring new targets: 46.00 m. jj!j!j!i!h!h!h)h)f)f1rf1bf5`!<@]Q]Q]Q]U$B@m% imWU?Im: qɚuY@7iqIqI}3iyi}?=)y)D9zKRIK9KK"K%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F1:F1BF5 5JF1 IGߛC=B OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,:KA6l@Y6|@6=967>y6Hu??@Ŀ`l@B>4"IeMb@Mb@Mb@aaa a)aYeJ +?y&1MbyeH=e`役ee@ e@)e@Ie@aye@IuIu#٢@¼ ?=99Q > G٣y: > Nusing accuracyPremultiplier from config59?5Y iEf>;Aj;s;65 WADNOT Ignoring new targets: 46.00 m. jjjjihhhh'Bffrfbf@p<@]f>]f>][@]@-= )5)\?I5: 1ɚ5C7i1I1I=3i9i=C=)A)AD9E=Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I"IIFBI&I.I6I:<:I/ F*Fq2Fq:FqBFu2JFq  I JK3 K.KK"KJ J J 0J J J :J ـ3J J J J @;J @;G Г>=B O >3w,1UKA:e@Y:uu@:t}9:y7>y:H 6p?@?5 ſ"5N?đΠ??Ex?ɨ:e@:;:"CybރBf2"IInInq٢v޻ vL=9vj)Q v>xx zG٣xy~i ~> Nusing accuracyPremultiplier from config 59? 5Y in AğE +;O+;85! %bA!UDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhQhYhYhYfYfarfabfe A<@]]]]@t} 隝v[?I^: ɚdG7iII3ii?=))2D*D Will construct direction to contact in vehicle frame from tetrahedron phase data. = <D1*F?2F:FBF?5JFzK} k3IK} 9Ky K} "K}   Will construct direction to contact in vehicle frame from tetrahedron phase data.G ߛC=B O5 >Xw,oKA2g@Y2v@2x~ 928>y2Hp?@ʜ?"ſ;!`O?|.??pw?ɨ2g@2*ʇ;0y:B::"IIBIB<٢N< RP=9V Q V>`` fG٣dyn'9 r> vNusing accuracyPremultiplier from configpv59r.?z5Yr irxzzApr:r: !I!rh:5 2A*JC="J=]DNOT Ignoring new targets: 46.00 m. jajajajaiihhhhffrfbfp=@]]]]ߧ@x~ v^?I}: ɚ8K7iII%3iIiMW@=)I)I-Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm9*F ?2F :F BF G5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I I I &I .I 6I K<:I ; FGM>=BQOu>:Ow,KAnZ@Ynbj@n9 9n7>ynHf?͢?<ſ' nH? . ?@?`w?ɨnZ@n0;n!CyzBzA"IMb@Mb@Mb@ )YQ?y&1S㥛yu=/ݼ @)I@y@IIT٢< =9kQ > G٣y? > Nusing accuracyPremultiplier from config59?5Y: i>;  A;;<5  AE=DNOT Ignoring new targets: 46.00 m. j9jAjAjAiAhAhAhIhU,BfQfQrfQbf]=@]}>]}>]}ˈ@]}#@9  隕^?I: ɚN7iII3ii;=)JJJ2JJܫ:J:Jc3JJ;J;JI;JI;)Will construct direction to contact in vehicle frame from tetrahedron phase data.D9EE*F= ?2FA :FA BFE 35JFA GM qA GM qAGa By O >n"w,ԁKAzKKK9KK"KWill construct direction to contact in vehicle frame from tetrahedron phase data.RK>>JK>>v-Z@Yvi@v09vl7>yvH f??`Aſ(H?ֲe?t?`w?ɨv-Z@vۊ;ty5B5E"IIEIE٢] < ]==9]Q ]>aa eG٣aymP m> uNusing accuracyPremultiplier from configi}59m+?}5Ym| imy}}AmşEm ;m.:m>5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf HL>@]A]A]A]Er@0 隵`?I: ɚR7iII3ii7`;=)) $?ID*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G 9=B O >)) ) c~G  6Y y Acw,PKAyBN"IMb@Mb@Mb@ )YX9v?B`"۹~jty}=νQA r@)@I@yp@IIF٢v< C=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i =;A;;V@5  A DNOT Ignoring new targets: 46.00 m. jjjjihhhh2Bffrf5Will construct direction to contact in vehicle frame from tetrahedron phase data.HAIA IE"IIEKBIA&IA.IA6IE<:IEq Fbf/>@]=]=]i@]ˊ@ Ha?I: ɚSV7i I I3ii))D!9 Ih*F?2F:FBFJFJJJ0JJ:J:Jـ3JJ;J;JL;JL; Will construct direction to contact in vehicle frame from tetrahedron phase data.G 8<=B O- >F2w,/KA6O@Y6+_@6r968>y6H.]?¦?otſ@-A? 1M?@Q?^v?ɨ6O@6H;6$Cy>BBJ"IFADIJIJT٢b b^=9bQ f>dd fG٣dyjjd j> nNusing accuracyPremultiplier from configlr59n^?r5Yn in$pv'vAnƟEn:n:nA5x zAxDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfP?@]]]]Ŋ@r _?Ie : ɚ Y7i I I3iii6=))D)*F?2F:FBFm0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.zK}BHK}89KyK}"K}BK:KoAG<=BO> I ^w,KAy5B5b"IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YMb?J +y&1y=Ƚ`e@ @)I@y@IIF٢ ۭ=  7=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-?55Y- i->5k==;=5=A)-g;-t;-C5A E3AAuDNOT Ignoring new targets: 46.00 m. jqjqjqjqiqhqhyhyh}8Bfyfrfbf͈?@]k=]k=])O@]v@ 隽ff?I*: ɚV]7iII3ii/7=))D9*F?2F:FBF_0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.H9 I9  I= "II= UBI9 &I9 .I9 6I= <:I= | FBIJIRIZIbIjIZ4 q Iy G /7=B O >Tw,ALA6-F@Y6U@6$U"96k^8>y6HU?@?`ſ@2t`d fG٣dyjF j> nNusing accuracyPremultiplier from configlr59n?r5Yn  inUtvLvAlnv:n:nE5x ~:A|%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h!h)h)hffrfbf?@]]]]|@ $U"  f?I 4 : ɚ`7iII3iin2=))!Will construct direction to contact in vehicle frame from tetrahedron phase data.<<DB9*Fe?2Fa:FaBFe`0JFaGm Gm"GqGq Will construct direction to contact in vehicle frame from tetrahedron phase data.B O5 >zKI KM u9KI KM "KM     w,&-LA6;@Y6[K@6&96ַ7>y6H gL??@ժſ885?#ۤ? ?u?ɨ6;@6;6"CyrBrm"Iiz G٣yG > %Nusing accuracyPremultiplier from config!-59%8?-5Y%8 i%m15q5A%ǟE%" ;%u ;%`G59 =@9mDNOT Ignoring new targets: 46.00 m. jijijijiiihihqhqhqfqfyrfybf}3*@@]]]]`s@& 隵j?I : ɚd7iII 3iiM.=)) iIiD%P9JJBAJJJJJ\:J:JJa@a@a@a%@*F?2F:FBF@5JFBO:> Will construct direction to contact in vehicle frame from tetrahedron phase data.Yw,FLA>;@Y>0K@>)9>J7>y>HL?;?ſ8 6?`=?V?`pu?ɨ>;@>eŇ;>#CyJBJn"I]Mb@Mb@Mb@YYY Y)YY]y&1?RQI +y]`e=]½]94Y Y)]@I]@Yy]p@IuIu)٢|; D=9Q > G٣yEN > Nusing accuracyPremultiplier from config59?5YO i=;A)0;d.;3I5 @DNOT Ignoring new targets: 46.00 m. jjjjihhhhLBffrfbf_@@]=]=]Oק@]@5) 1HAIA IE"IIEeBIE# =&IA.IA6IEt<:IEX F5Ha?IU : Yɚ]?h7iYIYIe3iaie@(/=)a)iBDmA?:Dm4?}Will construct direction to contact in vehicle frame from tetrahedron phase data.D1*F2F:FBF3JFBO)> iIi- Will construct direction to contact in vehicle frame from tetrahedron phase data.sw,`LA2y8@Y2G@2,92$m7>y2HYI?`?jſ`95?] ??u?ɨ2y8@2:܇;2"CyLLIZIZ[٢vd: zT=9~Q ~>   G٣ yU > -Nusing accuracyPremultiplier from config!559%W?55Y%T i%AEEA!%v{;%u;%J5Q ]@YDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f!rf!bf-7@@]a]a]a]eމ@, 隝aa?IC: ɚk7iII3iih-=))Dq9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFBO@>zK}KK}9KyK}"K} aIa*J "J J J J 1J J l:J :J 3J cw,tzLA69@Y6I@6Ա/96:8>y6H J??ſ8@q6?&S ??t?ɨ69@6쫇;4yRBRm"I)T TVAVArWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYEMb?~jty&1|yE@=EE`EA A)E@IE@AyE@I]I]٢u uB=9uҺQ }>yy }G٣yy 9 > Nusing accuracyPremultiplier from config59/?5Y8 i=<VAȟEW;;L5 B @EDNOT Ignoring new targets: 46.00 m. jjjjihhQhQh]VBfYfYrfYbfe@@@]=]=]@]Az@Ա/ )\?I: ɚ^o7iII3ii d.=) )Du9HIII IM"IIMtBIM" =&II.II6IMy<:IM\ FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F) BF- 4JF) A IA Gm >=By O >%w,&LA6p2@Y6A@6ۋ396a7>y6H D?@h?ſ@<1?`o? ? t?ɨ6p2@6 4;6$CyNBR}"IIbIbb٢jw= j@=9nQ n>ll rG٣pyrL r> MNusing accuracyPremultiplier from configIU59M흜?U5YM) iMY]n]AIMn:Mn:MN5a e@iDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf @@]]]]At@ۋ3 b?Id: ɚs7iII3ii +=))2D *D pAWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F%?2F!:F!BF%O0JF!G/=B OE >U Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MKK 89K K "K RK ?JK ?*+w,ܰLA22@Y2IB@2692s?8>y2H:D? 9?-ſ W<`2? ?``? s?ɨ22@2Ɇ;0y>B>m"IIFIF٢N NO= PIT9V̺Q V>XX ZG٣XyZM8 ^> bNusing accuracyPremultiplier from config`f59b읜?f5Yb ibdfgfA`b:b:bPP5h n@l%DNOT Ignoring new targets: 46.00 m. j!j!j)j)i)h)h1h9h9fAfIrfIbfU0A@]Q]Q]Q]Uu@m6 imB\?Im: iɚmv7iiIqJqJu@AJJJ0JJ:J :Jـ3JI3i i5p+=)1)AWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F- ?2F) :F) BF- P0JF) H I  I "II ~BI &I .I 6I <:I a Fu Will construct direction to contact in vehicle frame from tetrahedron phase data.G} #.=B O >;3w,ڏLA65@Y6D@6/896<8>y6H@F? }?ƿ:`<5? 尿??s?ɨ65@6l̆;6%CyFBFv"IMb@Mb@Mb@ )YZd;O?~jt~jtyj<=DQA @)@Iy@II٢< (=9Q > G٣y: > Nusing accuracyPremultiplier from config59띜?5Y i=<AɟE;k;oR5 U@-DNOT Ignoring new targets: 46.00 m. j) 9I9j)jjihhhhXBffrfbfUpA@]=]=]6@]{i@/8 ^?I: ɚWz7iII%3i!i%.,=)!))PExceeded connect timeout, disconnecting.}Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fe ?2Fa :Fi BFi JFi "Gu C=Gu =G ؛*=B O >!:w,}LAJ/@YJR?@JR;9J67>yJH@A?? /ƿ=`22?1x??s?ɨJ/@J\;J$CyRBVm"II^I^m?٢f fC=9fS Q f>hh jG٣hynɺ n> rNusing accuracyPremultiplier from configpv59rhꝜ?z5Yr irxzzApr)K;rhL;rDT5 @-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i1h1h1]Will construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbf|A@]]]]we@=R; 9ER[?IET: AɚE}7iAIAIU3iQiU}*=)Q)YBDeF?:De;?zKMnLK9KK"K    DM9 I*F?2F:FBF`0JFJJJ2JJl:J:Jc3JG-=BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. NG  Y y LAeAw,PMA>[2@Y>A@>>9>Q7>y>HwC?`?`ƿ;5?H??s?ɨ>[2@>o;> CyFBJb"IMb@Mb@Mb@ )YZd;O?/$y&1y`eA @)I@y@I5I5٢EB7 EC=9E9Q M>II MG٣Iy]A: ]> eNusing accuracyPremultiplier from configam59e靜?m5Ye iem9=m 隵)\?I: ɚ7iII3ii+=))DHI III&I.I6Is<:IX FmWill construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFE0JFA IGm ؛*=By  nManaging dock network, ignoring radio surface power offO > Will construct direction to contact in vehicle frame from tetrahedron phase data.1Gw,+MA6/@Y61?@6~A96^7>y6H@A?@`?%ƿ?=3?US-?'?s?ɨ6/@6;6#CyrBre"I)t tIzIzn٢ a<  N=9 m Q  > G٣yW > %Nusing accuracyPremultiplier from config!-59%睜?-5Y% i%)- -A!%_;%-;%W5A EAAmDNOT Ignoring new targets: 46.00 m. jijijijqiqhqhqhyhyfyfyrfybfU B@]]]] @~A 隽]?I : ɚh7iII3ii5**=))D9E*FM?2FI:FIBFMP5JFIGUqA GUrAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=>zK- +LK- 89K) K- "K- I ^Mw,8MAu4@YC@3tC927>yHD??3ƿ`_:`*8?tI&l?@?r?ɨu4@;騁yBS"IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YS㥫?bX9ȶ{Gzy/]=Eףv@ r@)I@yz@II<٢s -=9Q %>!! %G٣)y-Y: -> 5Nusing accuracyPremultiplier from config1=595C杜?=5Y5 i5=E=E;E]EA5ʟE5;5;5Y5I MAQuDNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhyhyhh'Bffrfbf HB@]=]=]~?@]@3tC h?I: ɚf7iII3iiw,=))D-9*F ?2F :F BF o0JF H I  I "II yBI &I .I 6I <:I o FBIJIRIZIbIjIɳF4 Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iy G s*=B O >U$Uw,UMA6-@Y6a=@6 J96:8>y6H #???@Vƿ`= 4? ]᯿>?@?#r?ɨ6-@6i;6$CyRBRG"IJnJnJn1JlJn:Jn:Jn3JlJlarJlarJnC;avJnC;avIIV8٢%pI -N=9-ӄQ > G٣y} > Nusing accuracyPremultiplier from config59䝜?5Y iYhAG;:G;[5 A-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h1h1f9f9rf9bfEC~B@]a]a]a]eյ@} J y}c?I}: yɚ};7iII3ii=)=))=Will construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. i G B O >[w,yqMA:,@Y:&<@:AM9:i"8>y:H =?#?eƿ >4?fv?=?q?ɨ:,@:&;: CyBBB;"I HIHzKNKNu9KLKN"KN 6PH2     iV=IV<I^I^q٢7< D=9%Q %>!) -G٣)y-b -> =Nusing accuracyPremultiplier from config1=595㝜?E5Y5 i5tAEeEA15;5;5~]5Q U)AQ}DNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhhhhffrfbf =B@]]=]]c@AM _?I: ɚ7iII3ii)=))D*FY2Fa:FaBFm?3JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >bw, MA6x#@Y62@6 9R96"8>y6H!6?r?|ƿB.?`1-D??fq?ɨ6x#@6>;6"Cy>݃B>1"IHI I"IIjBI&I.I6I<:I FMb@Mb@Mb@ )Y+?y&1:vy=`役Լ@ @)@I@y@IIF٢ ==9v G٣y5. > Nusing accuracyPremultiplier from config599❜?5YO iE>;PA˟Er; ;U_5Will construct direction to contact in vehicle frame from tetrahedron phase data. jA-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h9h= Bf9f9rfAbfEB@]eE>]eE>]eJC@]eȻ@} 9R y}^?I}5: yɚ}͉7iII3ii$=))BDE?:D2? IJEJEJE0JAJE:JE9JEـ3JAJE;JE;JE<;JE<;D9*F?2F:FBFO5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.թ խ <G B O >Hhw,MA67#@Y62@69kU9618>y6H5?`?@uƿ@B/? P??)q?ɨ67#@64;;4y>ԃB>&"IIFIFq٢N6 RT=9RQ R>TT ZG٣XyZ8 ^> bNusing accuracyPremultiplier from config\b59^?f5Y^ i^dfKfA\^;^;^a5l nAl DNOT Ignoring new targets: 46.00 m. j j jjihhhhffrfbfC@]A]A]A]E@}9kU y隅RZ?I: ɚ7iII3iiZ%=))}Will construct direction to contact in vehicle frame from tetrahedron phase data. IzKLK-9KK"K    RK?JK ?D79*F9 2F9 :FA BFE 15JFA = Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge O'=Bq O >pw,PMAF@YF[)@FuZ9F8>yFH-? ?zƿ`G)? X?+?`up?ɨF@Fr;F#Cy^ɃB^"I``MMb@Mb@Mb@III I)IYM ףp= ?V-yMQ=MM̼I M@)IIIIyM@IeIe٢u_A u-=9}8Q }>y G٣y1 > Nusing accuracyPremultiplier from config59eߝ?5YO i>;뿑A̟E;;c5  AMDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhQhQhYh]BfafrfbfXC@]>]>]^@]H@uZ !%)\?I%: !ɚ%k7i)I)I-3i1i5"!=)1)1HAIA IE"IIEUBIA&IA.IA6IE<:IE FUWill construct direction to contact in vehicle frame from tetrahedron phase data.D!9 I*F] ?2FY :FY BF] 5JFa J J J J J ̶:J :J J J ;J ;J S;J S;GE '=BQ Om >%7ww,|CMA6@Y6(@60^96mv8>y6Hb,??ƿ@G)? ֫???o?ɨ6@6s;6$Cy>BB"IJWill construct direction to contact in vehicle frame from tetrahedron phase data.ININb٢Zz ZE=9^Q ^>\\ bG٣`ybT͹ b> fNusing accuracyPremultiplier from configdj59fޝ?j5Yf ifln뿑nAdf ;f ;fd5p rIApmDNOT Ignoring new targets: 46.00 m. jqjqjqjqiqhqhqhyhyfyfyrfbfC@]]]]I@0^ \X?I : ɚ$7iII53i1i=$ =)9)92DA*DEqAD39MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JF I zK /LK 9K K "K nS&!,,/.++*)&!!" *J R="J %=G #=B O >}w,5MA>n @Y>@>Xd9>38>y>H@"??`BƿMZ"?䬿`M?`?Lo?ɨ>n @>0G;ll nG٣lyrP r> }Nusing accuracyPremultiplier from configi59mܝ?5Ymn im'=뿑Am͟Em<w,cNAJ3K3 K.KK"KJNJNJN1JLJN:JN :JN3JLJN;JN;JN9P;JN:P;]z@Y]@]yYi9].8>y]H>?@)? ƿaR`?xG@%'?@?n?ɨ]z@] ;]!CyޝBޝ"Ii G٣y > Nusing accuracyPremultiplier from config59ڝ?5Y iU,>;I近AΟE ;D;9i5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf D@]5,>]5,>]5ά@]5t@myYi imHa?Iu$: qɚu7iqII3ii]=))D= A9EA *F ?2F :F BF @5JF "G =G =5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 I zK]ޕMK]-9KYK]"K] -4653/.0/1330-,," G =B OU?2ύw,9NAb6@Yb@bt9b 7>ybH ?f?ǿP] ?<Ъ?&?@m?ɨb6@b;b"CyjBn!II~I~i٢5L 53=9EûQ M>Ya eG٣iy}s > Nusing accuracyPremultiplier from config59Eٝ?5Y i{近A;;Ck5i uAq)! %CWill construct direction to contact in vehicle frame from tetrahedron phase data.G Y y AMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhIhQhQhQfQfyrfbfPD@]]]]@t ^?I: 1ɚ57i9I9I=3iAiMl=)I)IHa Ia  Ie "IIe -BIa &Ia .Ia 6Ie <:Ie g FD S9*FE ?] Will construct direction to contact in vehicle frame from tetrahedron phase data.2FI :Fa BFe 3JFa I G5X=BO?!lw,ZNAR@YR@RC>z9R7>yRH?o?5ǿaM ?`B?``?Wm?ɨR@R;PyB"I)) -AMb@Mb@Mb@ )Yv/? rh< =9)Q > G٣y > Nusing accuracyPremultiplier from config59aם? 5Y  i 6>;Q近AϟE;;m5 B AEDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf D@-Will construct direction to contact in vehicle frame from tetrahedron phase data.-=-<]u6>]u6>]u@]uu@C>z 隥Ha?I: ɚ7iII3ii(x =))Dee9*F ?2F :F BF 2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.  I zK- {yMK- u9K) K- "K- BKa :Ke pAG Xp=B O >Tpw,]xNA2ܢ@Y2@2-92eQ8>y2H@o??-`ǿf?ᇩ`??k?ɨ2ܢ@2ԇ;2$Cy:B:"IIFIF[JLJNJLJLJLJN:JLJLaR@aR@aR@aR@٢Vq; ZC=9ZhQ Z>\\ ^G٣\yb> b> fNusing accuracyPremultiplier from config`f59b՝?j5Yb iblno近nAbПEb},;bl,;bho5p rApDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfD@]]]]@E- AEa?Im9 : iɚmØ7iiIiIu3iqiuC=)q)yDMt9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFG] OK=Bi O >HA IA  IE "IIE (BIA &IA .IE 6D6IE N<:IE = FBI JI RI ZI bI jI M45 Will construct direction to contact in vehicle frame from tetrahedron phase data. U $?IQ yYw,>>NA:rҢ@Y:@:$ׂ9:n"8>y:H`??tǿk? Ԩ X??`xk?ɨ:rҢ@:{ʇ;:#CyFBF"ImMb@Mb@Mb@iii i)iYm|?5^?K7I +ym=mI m94mA i)iIm@iym@II%x٢;< <=9zDQ > G٣yC2 > Nusing accuracyPremultiplier from config59ԝ?5Y i/>; AD;;Nq5 -A)}DNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhhhhBffrfbfjD@]/>]/>]m@]@$ׂ %)\?I%S: !ɚ-7i)I)I-3i1i5Fo=)1)1D9*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G AC =B O >P}w,NA6Ȣ@Y6ש@6P96cQ8>y6H&?.?ǿp ?75??@j?ɨ6Ȣ@6U;6$CyRBR"IiV4=IV%= V=V=I\I\٢fM< fY=9flgQ j>hh jG٣hyn[ => ENusing accuracyPremultiplier from configAM59EYҝ?M5YEn iEIMCUAEџEEa:E@:Es5Y ]TAYDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfk(E@]]]]@P _?I : ɚ:7iII3ii"=))Dp9 IhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFzK]JK89KK"KJJ?AJJJ0JJ,:J#:Jـ3JGm3;=BO > Will construct direction to contact in vehicle frame from tetrahedron phase data. ew,NA6@Y6#ѩ@6/܇961H8>y6Hv?@?ǿt`?U?X?i?ɨ6@6|;4yBÃBB"I Mb@Mb@Mb@    ) Y ˡE?HzG~jthy = = D @ E@) @I -@ y p@I-I-?1٢5e< =D=9*Q > G٣y > Nusing accuracyPremultiplier from config59 Н?5Y i!>;A;;t5 <ADNOT Ignoring new targets: 46.00 m. jjjji h h h h Bffrfbf1^E@]E!>]E!>]E{C@]E@U/܇ Y]Ha?I]G : Yɚ] 7iYIYIe3iaie<)a)iHI I"II-BI&I.I6Ib<:IK F IWill construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F5?2F1:F1BF5Q0JF1G +=B O% >׏w,NA>V@Y>ĩ@>9>|8>y>H@??@#ǿ Hz?`ߦT?.? wi?ɨ>V@>s;`` bG٣`yb f> jNusing accuracyPremultiplier from configdj59f%Ν?n5Yfm iflnnAfҟEfq ;f ;fwv5v B vAvEDNOT Ignoring new targets: 46.00 m. jjjjihh!h!h!f!f)rf)bf-`E@]I]I]I]MЋ@]Will construct direction to contact in vehicle frame from tetrahedron phase data.e im|j?Im5 : iɚmҟ7iiIiIu3iqi}X<))Dc:*F?2F:FBF_0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG e[=B O >zK JK -9K K "K  ȸw,NA2f@Y2Ʃ@2492Q8>y2HW?@?ǿxG? ??h?ɨ2f@2‡;2&Cy:كB>+"IJFJFJDJDJF:JF :JDJD)x zAxzAII(٢SH< E=9BߺQ > G٣y%: %> -Nusing accuracyPremultiplier from config)559-˝?55Y- i-$15=A)-;- ;-Hx5A EAADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf5E@]]]]ˎ@4 k?Iz : ɚ7iII%3i!i%΋<)!))D]Z:}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F:FBF3JFGN<BO J>H I  I "II ONw,k/OAB츢@YBmȩ@B9B8>yBH-?? ǿ`Sw ?3ڱ?@?g?ɨB츢@B2;B"CyJBNC"II^I^F٢f< fL=9f[Q f>hh jG٣hyn9 n> rNusing accuracyPremultiplier from configpv59r,ǝ?v5Yr/ ir8tz zAprb:;r:;r{5 A5DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9h9h9hAhAfAfArfIbfM-F@ QIY]y]y]y]}W@ 隕Y?I : ɚ17iII3ii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.zK^ LK9KK"K6b|{wspmg]JJJ1JJ:J :J3JD:*F?2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G <B O >1w,f3IOA @6X@Y6©@6ǐ96u8>y6HF? ?`ǿ`z?@#?,?Qg?ɨ6X@63;6$Cy>B>R"I J=J=eMb@Mb@Mb@aaa a)aYe~jtx?EԸy&1|?ye;eƽe`;eA e@)e@IeC@aye@I}I}٢ d= ?=9eQ > G٣y6к > Nusing accuracyPremultiplier from config59jĝ?5Y i@=<AH;F;}5 ADNOT Ignoring new targets: 46.00 m. jjjjih hhh_Bffrfbf%`eF@]==]==]=Ř@]=os@HI I"IIUBI# =&I.I6Id<:IM Fǐ !%L?I%5: !ɚ%7i!I!IM3iQiUk<)Q)Q IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.Du:*F ?2F :F BF P5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G- <BA O] >@w,P6eOAV*@YVʩ@V쐽9V8>yVH??ȿu?@ҥ?@?g?ɨV*@VA;V"CybBbW"IIjIj۳٢v< vD=9z.1Q z>|  G٣y%; %> 5Nusing accuracyPremultiplier from config1=595?=5Y5 i5I9EEA5ԟE5:5q:55I MnAI}DNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhhhhffrfbf@F@]]]]s@쐽 O?I@: ɚ7iAIIIU3iQiUY;<)Q)YBDO?:D? 1I1Dz:Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFE05JFA"Ge=GazK )MK 9K K "K RNHC=8+&# G- <BI Ou >w,lZOAc~GIy hYyA5Will construct direction to contact in vehicle frame from tetrahedron phase data.y޽B\"I-only read 0 of 1 data item for BIT error. Device response is::TS,25010815425534,35.0, +10.9, 0.0 0  @ @ @  @ IIq٢|< !=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59z? 5YO  tIiS+:;A(;?g5A ENAADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfbF@  )5Q?I5D: 1ɚ5c7i9I9IE3iAiE3a<)A)IDHqIq Iu"IIujBIq&Iq.Iu7D6Iu<:Ium F*F}?2Fy:FyBF}O0JFy  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >3Ow,vOABsˢ@YBک@BՑ9B>8>yBH??/ǿ`Ml`?6?8?@Tg?ɨBsˢ@Be;B!CyNBNX"I)P PTVAJ^J^J\J\J^̶:J^ :J\J\J^;abJ^;abJ^S;abJ^S;afIjIjT٢n r|=9rQ r ?tt vG٣xyzE; ~ ? bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 59~c? 5Y~ i~Z :;A|~6H;~T?~V5 hA!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf]QG@Ց 隕fO?I : ɚҫ7iII3iib=))D:*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G}N<BO> Q IQ pw,-OAWill construct direction to contact in vehicle frame from tetrahedron phase data.:Т@Y:U@:{9:h8>y:H^? ?@9ȿ`#i`?tK?@@?f?ɨ:Т@:ɇ;:%CyFBFV"IININ[٢   I=9 KQ  >  G٣y: > %bBottom track data is 1.2 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59ǹ?-5Yv ib-915;5s5A՟E(;?G59 =vAAmDNOT Ignoring new targets: 46.00 m. jijqjqjqiqhqhqhyhyffrfbfj8G@{ 隭N?I: ɚu7iII3iiH=))zK0MK-9KK"KD= :*F?2F:FWill construct direction to contact in vehicle frame from tetrahedron phase data.BFP0JFGA GEpAG l=B O >_w,`OAH I  I"II~BI" =&I .I 6I}<:I_ FBIiJIiRIiZIibIijImt3Fݢ@YFu@F'9F8>yFH@??ȿa?`@?@?f?ɨFݢ@F:;F#CyvBv["I } } }} }}  } } Mb@Mb@Mb@ )Y{GzX9vy&1|?y# I}A @)@I@y@IIn٢< :=9̾9Q > G٣yn; > Nusing accuracyPremultiplier from config59 ?5Y} iiT:ɗ=3<GA:;9;35 VADNOT Ignoring new targets: 46.00 m. jjjjihhh!h%Bf!f!rfbfrG@Will construct direction to contact in vehicle frame from tetrahedron phase data.]ɗ=]ɗ=]'v@]K@' @?I: ɚ7iII%3i)i-^ =))))J}J}J}0JyJ}l:J}:J}ـ3JyJ};J};J}L;J}L;D/:*F ?2F :F BF JF } Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,OA6L@Y6@6i968>y6Hp??6 ȿ ;^ ? \ 2I??}f?ɨ6L@6;6%Cy>B>S"IiB=IB= Fp=Fp=IJIJ(*٢R RB=9V2Q V>XX ZG٣Xy^e: ^> bNusing accuracyPremultiplier from config`f59bl?f5Yb ibodjGjA`b ;b ;b 5l nAlDNOT Ignoring new targets: 46.00 m. j j j j i h hhhffrfbf G@]]]]K@-i )- Will construct direction to contact in vehicle frame from tetrahedron phase data."iw,PAl@Y@98>yH ?@п?#ȿ@W? J :??f?ɨl@;騅"CyޝBޝ>"I%Mb@Mb@Mb@!!! !)!Y% rh rhMbpy%C %C%%A !)!I%@!y%=@I=I=(٢} }0=92:Q > G٣y_Q; > Nusing accuracyPremultiplier from config59?5Y i=.<@A3&;;5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhrBffrfbf@G@]=]=]@] R@ :?I,: ɚ 07i I I3iAiE֭=)A)AHI III# =&I.I6I<:Ie FD%: $?I*F?2F:FBF0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.G} AC =B O >J J J J J :J 9J J J i;J j;J <;J <;ߏw,PAN@YN%@N9NH8>yNH?6?RȿTX?jT?`I?g?ɨN@NM;N#Cy^Bb6"IIfIf٢n  ri=9rFQ r>tt vG٣tyv" z> Nusing accuracyPremultiplier from config|59~i?5Y~ i~  @ A~֟E~:~C:~5 @AEEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfUH@]q]q]q]u R@ 隍7?I: ɚ7iII3ii=))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFUU4JFQGu=BO> Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.k w,X9PA6-@Y6@696g8>y6H ??@ȿlR%?@L.O??f?ɨ6-@6|;4yb̓Bb"I)d ddfAIjIj٢v˽ vI=9z&9Q z>x| ~G٣|y~O; >  Nusing accuracyPremultiplier from config 59鬝?5Y i@Aa:a:^5! %A!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiQhQhQhQhQfYfarfabfeBH@]]]]R@ 隝{-?I-: ɚ޴7iII3ii['=))*FE?2FA:FABFEP0JFAzKM7KKM9KIKM"KMWill construct direction to contact in vehicle frame from tetrahedron phase data.GN=BO>H I  I "II jBI " =&I .I 6I U<:I A F I 6w,#kSPA6)@Y6@6596W8>y6H` ? X?ȿR $?_祿r??f?ɨ6)@6;4y>B>"I-Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YI +Q뱿Mby94\ A @)@Ip@y@IIm٢ ˨  9=9ޞQ > G٣y%g %> -Nusing accuracyPremultiplier from config!559%?55Y%3 i%= ==:<=+=A!%+;%*;%L5I MzAIDNOT Ignoring new targets: 46.00 m. jjjjihhhh?Bff!rf!bf%`}H@]e =]e =]eϑ@]e0f@5 隕q=?I: ɚy7iII3ii=))JJJ1JJl:J :J3JJ;J;J9P;J:P;*Fe?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G =B O >Uw,AFmPA6S@Y6 @6E968>y6H??gȿ`.P(?⥿??e?ɨ6S@6Ї;6$Cy>BB!IIJIJM٢R߽ Rd=9VӛQ V>TT ZG٣XyZd: Z> bNusing accuracyPremultiplier from config\b59^Ψ?f5Y^| i^df+fA\^:^:^܏5h jAlDNOT Ignoring new targets: 46.00 m. jjjjih h h h ffrfbf ƨH@]9]9]9]=՜f@ME QUp3?IU|: QɚUiQIQI3ii=)) YIY*Fm?2Fq:FqBFu_0JFq5Will construct direction to contact in vehicle frame from tetrahedron phase data.G=~=BIOew>zKJK89KK"K Will construct direction to contact in vehicle frame from tetrahedron phase data. i AS!w,w.PAE@Y@9O8>yHt ??*ȿ@R%?@f?@X?f?ɨE@J;騽&CyB!Ii G٣y > Nusing accuracyPremultiplier from config59צ?5Yg i=<4 AןE1;;5 A%DNOT Ignoring new targets: 46.00 m. j!j)j)j)i)h)h)h1h5Bf1f1rf9bf=H@]U=]U=]Uޡ@]U@  @?I(9 ɚRR4iII3iH)I) I-"II-KBI)&I).I-6D6I-]<:I-H Fi%K=)A)A2DM*DMBDM:DM III*F5?2F9:F9BF=T0JF95Will construct direction to contact in vehicle frame from tetrahedron phase data.G= ^S=BI Oe >J J J J J <:J :J J J 5;J 7;J DG;J EG;p'w,PA6i@Y6@6藽968>y6H ?໺?6ȿGS%?`??e?ɨ6i@6 ;6#CyBBB!IIJIJM٢  l=9 'Q  ?    G٣ y, ? Nusing accuracyPremultiplier from config%59h?%5Y i)-3 -A::q51 5TA1eDNOT Ignoring new targets: 46.00 m. jijijijiiihihqhqhqfyfyrfybf}I@]]]]L@藽 隵4?I: ɚiII3ii=))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFU0JFQ"G]=G]=Gu=BO> 9I9e Will construct direction to contact in vehicle frame from tetrahedron phase data..w,غPA6D@Y6@60Ù96`8>y6H@?@S?@ȿ`U#"?`ژ3??d?ɨ6D@6q[;6!CyRvBR!IIZIZi٢b= fN=9fQ f>hh jG٣hyjϺ j> rNusing accuracyPremultiplier from configlr59nã?v5Yn intv: vAlna:n@:n,5x ~A|DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf GI@]]]]@0Ù  f/?I 9 ɚ 34i I I3ii%=))zKuBoHKu9KqKu"Ku     )! !~G YyA*FM?2FI:FIBFUf2JFQGe Ge"GeGeWill construct direction to contact in vehicle frame from tetrahedron phase data.B!O=>H- 9>I)  I- "II- BI) &I) .I) 6I- <:I- k F ! I! \4w,PAy~aB~!I)   AWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YV-?!rhy&1yh=l罹`eA @)@I~@y@IIV8٢ 8=9 Q  >  G٣y > %Nusing accuracyPremultiplier from config-59?-5YF i5h >5;5O5A؟EF;D;59 =EAADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf ~I@]h >]h >]u@]⻊@ q=?I9 ɚP4iII3i i =) )*FE?2FA:FABFE3JFABYOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,%PA6 ݢ@Y6@696D-8>y6Hx?|?iȿ=_?@9Qг?Y?`c?ɨ6 ݢ@6 #;6#CyFIBF{!IIRIRi٢Z Zc=9ZٻQ Z>\\ ^G٣\yb<Ի b> fNusing accuracyPremultiplier from configdj59fz?j5Yfo if/hjjAdf? ;f ;f5p rApDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f!rf!bf-I@]A]A]A]E@] Y]1?I]: aɚeiaIaIm3iiim=)i)i I*F?2F:FBFP0JFB9OU=-Will construct direction to contact in vehicle frame from tetrahedron phase data.*JR="JJ3KO3 K(.KK"KJJJJJ :J:JJa@a@a@a@zK% LK! K! K% "K% BK5 qA:K5 qA Will construct direction to contact in vehicle frame from tetrahedron phase data.YBw,~QAKϢ@Yީ@9S8>yH`~??vȿ@&fm ?T8?@B?ub?ɨKϢ@ ;$Cy;Bj!IMb@Mb@Mb@ )Y)\(?L7A` G٣ye > %Nusing accuracyPremultiplier from config-59?-5Y iF-00>-;-鿑-AٟE;;˚59 =qA9eDNOT Ignoring new targets: 46.00 m. jajajajiiihihqhqhuƁBfyfyrfybf}JI@]00>]00>]0@]o@ 隵:?I9 ɚhN4iII3iH I  I G"II BI &I .I 6I W<:I D FBIJIRIZIbIjI&'4im=)Y)a Ih*F?2F:FBF4JFB)O=Q>-Will construct direction to contact in vehicle frame from tetrahedron phase data.+Hw,_D"QA6:Ģ@Y6ө@696O8>y6H?_?ȿ k5?@ܡɘ? ?@ a?ɨ6:Ģ@6;4yN+BRV!IiV=IV<IZIZW٢bɽ fy=9fQ j?hh jG٣hyne n? rNusing accuracyPremultiplier from configpv59r?v5Yr  irVxz鿑zAprn:rn:r<5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfJ@]]]]@   2?I : ɚ "4iII3iix<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF IGߣ=BO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.UNw,y6H??`ȿ`&v?~Ġf? n? `?ɨ6H@6S;6Cy> BBH!IIJIJF٢RPX RM=9VQ V>XX ZG٣Xy^ѻ ^> bNusing accuracyPremultiplier from config`f59b ?f5Yb  ibidfE꿑jAbڟEb:b7:b5l nLAlDNOT Ignoring new targets: 46.00 m. jj j j i h h hhffrfbf`FJ@]9]9]9]=y~@U3䨽 QU.-?IU9 QJyJ}BAJJJ0JJl:J :Jـ3JɚU5iII3ii%<))zKK9KK"K*Fq2Fq:FqBFu_0JFqGM3;=BQOu>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH AAH :>I  I "II ǃBI &I .I 6I y<:I ] F I BUw, VQAy BWill construct direction to contact in vehicle frame from tetrahedron phase data. @!I}Mb@Mb@Mb@yyy y)yY}rh|?Sÿ~jthy}=}}D}A }@)}@I}@yy}@II̍٢м !=9Q > G٣y > Nusing accuracyPremultiplier from config59˙?5Y, i~tG>;쿑A1;K;05 ADNOT Ignoring new targets: 46.00 m. jjjj!i!h!h!h!h-Bf)f)rf)bf5 XJ@]MtG>]MtG>]M@]Mt@a ae5?Ie9 iɚm|;5iiIiI3ii*<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF O0JF G rA G rA I G:^<BO5>h]\w,sQAy%B%:!I)9 9IUIUn٢wǼ L=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y' iA۟EL::5 AE-DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h1h1EWill construct direction to contact in vehicle frame from tetrahedron phase data.AE<h9hIfIfIrfIbfU`J@]q]q]q]q 隅B3?I9 ɚh5iII3ii))*F5?2F1:F1BF5_0JF1G <BO5.>J=J=J=1J9J=:J= :J=3J9zKBoHK9KK#K Will construct direction to contact in vehicle frame from tetrahedron phase data.X?cw,鞍QAV@YV@V9V5]8>yVHˤ?"?$ɿ`'?Ꝝ;??@"]?ɨV@V׆;V"CybBb?!IeMb@Mb@Mb@aaa a)aYeMb?/$ÿ~jtx?ye>ee;e7A e@)aIe@aye@II٢6< K=937Q > G٣HI I!IIBI&I.I6I<:Is F QIQyef m> uNusing accuracyPremultiplier from configq}59u?5YuF iu\L>;쿑AuܟEu]\L>]@].@ f&?I9 ɚ t5i I I3iiB<))]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFG N<B O >4diw,cQA6s@Y6@6968>y6H ?@$?9ɿ;?ꚿg? ?w\?ɨ6s@6#;6#CyJBJ;!IfWill construct direction to contact in vehicle frame from tetrahedron phase data.IjIj)٢zz zY=9z|Q ~> G٣ y  > Nusing accuracyPremultiplier from config-59e?-5Y i)5쿑5ACE;TE;Z5A EAADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf K@]]]]mڍ@  $?I 9 ɚ 5i I I3ii8<))*F?2F:FBF=5JF"G=G=Gm9f<ByO> IIIuWill construct direction to contact in vehicle frame from tetrahedron phase data.J] J] J] 0JY J] :J] :J] ـ3JY Vpw,+iQAB*h@YBw@Bη9Bo8>yBH?@?Zɿ, ?@? x?` [?ɨB*h@B;B%CyJBN@!IiRhh jG٣hynZ n> rNusing accuracyPremultiplier from configpM59r?M5Yr irIM쿑MArݟErhhm Will construct direction to contact in vehicle frame from tetrahedron phase data.vvw,zQA6oa@Y6p@6.ݹ96L8>y6H?G?qɿ >?˘|3?h?Z?ɨ6oa@6B$;6#CyFBJG!IUMb@Mb@Mb@QQQ Q)QYU?ʡEÿQ?yU=UUu G٣y > Nusing accuracyPremultiplier from config59ꏝ?5Y i<>;vAޟE7[;L;5 B QAE DNOT Ignoring new targets: 46.00 m. j j j j i h hhh́Bffrf!bf%ӈK@]M<>]M<>]M9@]MR@E.ݹ AE(?IE9 AɚME5iIIIIu3iqiup<)q)y*F!2F!:F!BF%5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GM s<BY Ou > ! I! ġ|w,eQAy~)B~S!III(٢5aB= =O=9=Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configI]59My?]5YM iMYY]AIM9;M;M5i mAiDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf>K@]]]] -?I.: ɚ 5i I I3iiY<))2D%rA*D%rAEWill construct direction to contact in vehicle frame from tetrahedron phase data.5{GAy 0YyAD5K:*F?2F:FBFT5JFG GzK% iMK% 9K! K% #K%  E}iZQD8,'$"  Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG B) OM >"w,RAR.H@YRW@Rﰾ9Rs8>yRHr? ?`xɿ?Mͷ?`+? X?ɨR.H@Rj ;RC j$?IhHxIx Iz!IIzBIx&Ix.Ix6Iz<:Izk Fy%.B%Y!I)) )11Mb@Mb@Mb@ )YT㥛 ?+ÿ G٣yFܻ > Nusing accuracyPremultiplier from config59? 5Yn i C-> ; D  AߟE3;P<5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfK@]%C->]%C->]% @]%m@Uﰾ Y])?I]9 Yɚ]5iYIYIe3iaie<))MWill construct direction to contact in vehicle frame from tetrahedron phase data.DT:JUJQJU1JQJU:JQJU3JQJU;amJU;amJUL;auJUL;au*FE ?2FA :FA BFM P5JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 5<B Oe >淊w,,RAy;Bi!III@٢-z= -E=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from config9M59=e?U5Y= i=QQUA9=v=;==;=}5Y ]tAB*** querying acoustic contact ***jj DNOT Ignoring new targets: 46.00 m. j j j j i hhhhffrfbf%,L@]9]9]9]9Q Q]"?I]w9 Yɚ]6iaIaIe3iiim~ <)i)i I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]w,RGRAzKMK-9KK#KyHBy!I!!I-I-q٢5B{= =E=99Q =>AA EG٣AyQ U>uWill construct direction to contact in vehicle frame from tetrahedron phase data.},DAT read: user:3435> BDAT read: Tx time:23:42:00.3925 $Ping request sent.w,?aRAJ*J*J(J(J*l:J*:J(J(J*;J*;J*C;J*C;BM@YBX]@B?L9B8>yBHw? ?ɿQ?w?Q?$X?ɨBM@B};B"CyNMBN!I=Mb@Mb@Mb@999 9)9Y=y&1?K7Zd;O?y=`<=I =j<=A =S@)=K@I=@9y=@IUIU+٢e< eB=9Y9Q > G٣y: > Nusing accuracyPremultiplier from config 59V? 5Y i>;*A);;55 AmDNOT Ignoring new targets: 46.00 m. jijijijiiihqhqhqhu>Bfyfrfbf#L@]>]>]l?@]z@?L !%?I%9 !ɚ%6i!I!I-3i)i-I<)1)1Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.488483D-:*F?2F:FBF_0JF I G )ş<B! OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7397525w,[{RAZP@YZ`@ZYA9Z@9>yZHz??کɿ'`d?`j?f?W?ɨZP@Z%;Xyf\Bf!IInIn٢z= zS=9zk8Q z>|| ~G٣|ykf: >  Nusing accuracyPremultiplier from config 59 1|?5Y   i $A E ; e ; ӳ5! %gA!MDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhQhQhYhYfYfarfabfeL@]]]]z@YA 隥.?I79 ɚ~ 6iII3iiH%<))Dc:zK:IK9KK#K=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.992439*Fu?2Fq:FyBFyJFy I HQ IQ  IU "IIU ǃBIU # =&IQ .IQ 6IU <:IU v FG} *f<B O >rw,hxRA2,J@Y2Y@2!92*I9>y2Ht?  ?Cɿe?πշ? ;?@BW?ɨ2,J@2;2#CyNWBN!IMb@Mb@Mb@ )Y~jtV-~jt?yD<MA )x@II@yG@II6٢fռ <=9MQ > G٣ye > Nusing accuracyPremultiplier from config59Qx?5YB! i = ; * A;/;5 AEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhAhQhURBfQfYrfYbf]L@]}=]}=]}r@]}.g@! 隍?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243840I9 ɚ)6iII3ii<))!JJJJJJJJJJJJD9*Fm ?2Fi :Fq BFq JFq M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496477Gm ,<B O >w,PRA ,I,>`T@Y>c@>bR9>s%9>y>H}?@? }ɿ@̷?,+a??X?ɨ>`T@>'; G٣y;D;  > 5Nusing accuracyPremultiplier from config1=595t?=5Y5! i59=q*=A5E5.:5 :55I mAiDNOT Ignoring new targets: 46.00 m. jjjjihhhhf f rf bf P6M@]I]I]I]Mƭg@]bR Ye ?Iek9 ɚ)26iII3ii2#<))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747696DS9*F-?2F):F)BF)JF)G <zK JK -9K K #K  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001974B1 OM >вw,>RAJi@YJx@Jd9J8>yJHQ??Iɿ@`?4@,?G?@[?ɨJi@Ju;J$Cy]gB]!IIEIE%x IIQ٢E; U+=9Ud;Q U>YY ]G٣Yye; e> mNusing accuracyPremultiplier from configiu59mXp?u5Ym" imquH*}Aimq:m:m5 AHI I."II܃BI" =&I.I6Is<:IX FDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@*rM@]!]!]!]%Zg@5d 15 ?I=9 9ɚ=;6i9I9IE3iAiE1<)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258864D%9*F] ?2FY :FY BFY JFY J] J] J] 0JY J] \:J] :J] ـ3JY J] <J] <J] S;J] S;GE6,<BQO}>ew,`:RARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504540Z}@YZg@Zϭ9Z8>yZH ?`?xɿ` |?tH?b?]?ɨZ}@ZT};Z"CyfcBf!IMb@Mb@Mb@ )YZd;OJ +I +?yj<Ƚ9<A @)I`@y3@II٢G <=9[;Q >    G٣ y#; > Nusing accuracyPremultiplier from config%59]l?%5Y" i->=-;-&?-AQ;{;59 =/A=EeDNOT Ignoring new targets: 46.00 m. jajajajaiahihihihu|Bfqfyrfybf}@M@]>=]>=]@]{R@Uϭ QUg>IU'9 Yɚ]*C6iYIYIe3iaieD<)a)aBD=:D; ID9*F?2F:FBF~2JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755664GE =<BI Om >w,SSA6@Y6@6_968>y6Hc?@?`Qȿ^`?5c ? ?_?ɨ6@6;6$CyBdBF!IIRIR㔳٢Zm; Ze=9Z;Q Z>\\ ^G٣\yb: b> fNusing accuracyPremultiplier from configdj59fi?j5Yf" idhj?nAfEf:f.:f5p r(ApDNOT Ignoring new targets: 46.00 m. jjjjihh!h!h!f!f)rf)bf-0M@]I]I]I]MfS@e_ ae5>Ie9 aɚeI6iiIiIm3iqiu<)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007757zKBoHK9KK#KD9 =$?IA*F?2F:FBF\5JFHI I;"IIBI&I.I6I.<:I& F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259781G V<B O >lw,vSAbW@Yb؛@b@9b8>ybH ?8?Ҩȿ O@O?m֡`B?`?xa?ɨbW@bZĆ;`y|~!IMb@Mb@Mb@ )YS㥫ktMb?y/] <A @)@Iv@y@IIi٢+: ;=9;Q > G٣y<; > Nusing accuracyPremultiplier from configU59Ne?U5Y" i]=]<]F]A_<+<5a e%AaDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf,N@]M=]M=]Mڄ@]MZ^K@u@ y隅)>I59 ɚfQ6iII3ii<))*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511677G *<B O > ) I) gy6H@??hȿ@n?@`??c?ɨ6x@64؆;6"CybYBb!IInIn)٢vOd vX=9z;Q z>xx ~G٣|y3: >  Nusing accuracyPremultiplier from config 59 b?5Y " i FA  : : 5! %{A!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhYhahafafarfabfm >N@]]]]bK@L 隝\>I-9 ɚW6iII3ii<))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772454*Fm?2Fq:FqBFu_0JFqGy Gy)ſ= CNG1I YyLAJEJEJAJAJE,:JE:JAJAaM@aM@aU@aU@G}<BO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023617zKe Ke u9Ka Ke #Ke -)w,sQSA hIlH9I9 I9I9I9&I9.I96I=V<:I=D F-蘢@Y-i@-j!9-W>9>y-H??Eȿl@-? ࿲? ?d?ɨ-蘢@-M;)yޅKBޅ}!I) -Mb@Mb@Mb@))) )))Y-Zd;Ox&y&1?y-j<-7-`e<- A -@))I-@)y-p@IMIM<٢]{ ]5=9]~;Q ]>aa eG٣aymR'; m> uNusing accuracyPremultiplier from configq}59u^?}5Yu" iu}=} <}H@AuEu;u;u¯5Q UAYDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`|N@]U=]U=]U%@]U^H@j! 隍>I9 ɚY^6iII3ii<))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276444*F)2F):F1BF5P0JF1Gm 9f<B O >Mw,T8kSA:@Y:o@:A9:8>y:HO?@=?@fȿB?``O?@?-g?ɨ:@:%;:$CyF=BFl!IIRIR[٢ZN Zj=9ZI-+9 yɚ}wc6iyIyI3iiW<)) I*Fm?2Fi:FiBFmh0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779630GHn<BO>5w,fSAJJJ1JJ̶:J:J3JF$@YF@F_#9F#8>yFH 4? K? Kǿ`S?@,$!?*?@h?ɨF$@F.;F#CyR4BRa!IIXIX٢b- bI=9bU dd fG٣dyf "; j> nNusing accuracyPremultiplier from confighr59jY?r5Yj" ijprH@vAhj;j(;jů5x zAx%DNOT Ignoring new targets: 46.00 m. j!j!j!j)i)h)h)h)h1f1f1rf1bf5N@]Y]Y]Y]]H@m_# im>Iu)9 qɚuh6iqIqI3ii:<))2D*DBD:D*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031751zK)K-9K)K-#K-   IHYIY I]("II]փBIY&IY.IY6I]W<:IYBIJIRIZIbIjIГ4G%<BO]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284375jbw,SA6@Y67@6肽9678>y6H?`?`[ǿ`?A :Z?F?@Uk?ɨ6@6H;6$CyjBnE!Iir G٣y74 > Nusing accuracyPremultiplier from config59V?5Y)# i͜=-<<A;c;ǯ5 [ADNOT Ignoring new targets: 46.00 m. jjjjihhhheBffrfbf O@]͜=]͜=]e:@]V@肽 隽R>I!9 ɚiII3ii <))*FU?2FQ:FQBFUP5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.536327G 5<BO5> I w,q̸SAB@YB@B-w9B-8>yBH@%? c?yNǿ@Ć@3?@'㩿?`+?fl?ɨB@BP;BCyN BN.!IIVIV̍٢b fX=9fhh jG٣hyj: n> 5Nusing accuracyPremultiplier from config)E59-zT?E5Y-Q# i-AE;MA-E-P;- Q;-ɯ5Q UAQDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`AO@]]]]?!V@-w >I9 ɚ3iII3ii<))]Will construct direction to contact in vehicle frame from tetrahedron phase data.]=]%=echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.788157*F?2F:FBF4JFJ9J=AAJSKS KSKSKS"KSJEJEJAJAJEl:JE:JAJAGb<BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039728zK KK C9K K #K 1=EDGNOSYWRRPRNDB?:) Mvw,(SA yH?? oǿ~ F?DӪ?r?@Vn?ɨN@;"CyB!IMb@Mb@Mb@ )YMbp?MbX9~jtx?y;ʡ;zA )@I`@y@IIV8٢- -)=95;Q 5>11 =G٣9y= => MNusing accuracyPremultiplier from configAM59EQ?U5YE# iEUv=U'Bffrfbf{O@] v=] v=] Rj@] or@Ul %q>I%9 !ɚ-S94i)I)I-3i1i5<)1)1eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.292703*F?2F:FBF5JFG 5<B) OM >ɜw,SA6@Y6@6Z0`968>y6H? ?ƿ܎@?D&`v?? o?ɨ6@60;6$CyFBF !IININ)٢Vݰ V=9ZG>Im9 iɚu˃4iqIqI}3iyi>`<))EE*F5?2F1:F1BF5O0JF1 qIqGU<BaO}z>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.795731J] J] J] 0JY J] <:J] :J] ـ3JY Pw,׊TAF擢@YFg@F/WU9F8>yFH`k?`?kƿA`?&ϧ?6?tp?ɨF擢@F,ˆ;DyfقBf IInIn̍٢vּ zE=9z;Q z>|| ~G٣|y~c >  Nusing accuracyPremultiplier from config 59  N?5Y $ i A  ; ; ί5%B %t A%EUDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhYhYhYhYfafarfabfmO@]]]]Ur@/WU 隝>I9 ɚ4iII3ii<))*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=7.048490zKвMKȱ9KK #K iIqGVv<BHI I!IIBI&I.I6It<:IZ FO->m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299676uw,7 TA6@Y6@@6"J96O8>y6H??@ޕƿ?`MP?U? p?ɨ6@6;6"CyNĂBR I]Mb@Mb@Mb@YYY Y)YY]{Gz?~jtMbp?y]#=]Ľ];] A Y)]C@I]I@Yy]@IuIuʴ٢&Ƚ C=9;Q > G٣y > Nusing accuracyPremultiplier from config59 L?5Y% i&=; AE;<;Я5  ADNOT Ignoring new targets: 46.00 m. j j j j i h h hhBffrfbf{ P@]=&=]=&=]=n@]=A@U"J QU>IU9 Yɚ]4iYIYIe3iaie+<)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552302D9*FM ?2FI :FI BFM P0JFI y Iy Gu 9f<B O >|w,yVH_??waƿk?`>կH??q?ɨV:u@VX(;V%CybBb IIjIjzWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.803777٢vȽ ~?=9~ G٣y  > Nusing accuracyPremultiplier from config59I?5Y& i!% %A:':}ү5) 5 A1]DNOT Ignoring new targets: 46.00 m. jYjYjajaiahahahihqfqfqrfqbf}@$P@]]]]$&@Q: 隭>I(9 ɚ'5iII3iib<))DA*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.աiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.057061GBO>zK BIK 89K K #K 1 I9 ZH RH ?AH 9>I  I !II RBI &I .I 6I I<:I ; Fg`w, VTAj2l@Yj{@j[m29jȠ9>yjH G٣yD' > Nusing accuracyPremultiplier from config59H?5Y6( i>;AEU;;`ԯ5 N ADNOT Ignoring new targets: 46.00 m. jjjjih!h)h)h-Bf)f1rf1bf5BP@]u>]u>]uF[@]u&@[m2 隥>I9 ɚ5iII3ii_<))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307850Dt9*F5?2F1:F1BF9JF9JJJJJ:J:JJJ;aJ;aJyE;aJzE;aG= y<BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559635·w,\pTA6Y@Y66i@6@-96@9>y6H?*?`2*ƿ ?`k@b?`?s?ɨ6Y@6|;6#Cy>B> IIFIF٢N Ra=9R}l;Q R>TT ZG٣XyZZ˻ Z> bNusing accuracyPremultiplier from config`f59bnF?f5Ybm) ibdffA`bn:bL:bկ5h n AleDNOT Ignoring new targets: 46.00 m. jajajajaiahihihihifqfqrfqbfuAXP@]]]]@@- >I9 ɚu'5i $?III3iiS<))BD =:D t>D=9EIWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.812759*F?2F:FBFJFc~G % Y) y- ٩AG =<B O >ho"w,6TA6T@Y6Fd@6}M&96h9>y6H @?..?IƿZy?t̰`9Ȥ?`-?s?ɨ6T@6p;6$Cy>BB IDFAININm?٢Vx VJ=9V;Q V>XX ZG٣XyZfú ^> bNusing accuracyPremultiplier from config`f59bD?f5Yb* ibdj jA``b:bׯ5l n AlDNOT Ignoring new targets: 46.00 m. jj j j i hhhhff!rf!bf%pqP@]A]A]A]E @U}M& QUS>IUm9 ɚ85iII3ii<))}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064953zKK9KK #K IH:>I IG!II BI&I.I6I\<:IJ FD%9*F?2F:FBF0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315691e PExceeded connect timeout, disconnecting.GU Fթ<Ba O} >(w,eTA>@@Y>3P@>#9>xn9>y>H|?:?k ƿ` h?uҰa??s?ɨ>@@>Z;=9UX:Q U>QQ UG٣Yy] ]> eNusing accuracyPremultiplier from configam59eB?m5Ye, ie#u`(>u;uuAeEe;e;eٯ5y } AJJJJJ,:J:JJJ<J<J.Y;J/Y;DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf6P@]M`(>]M`(>]M;@]Mtʋ@u# y}>I}9 yɚ}N5iyIyI3ii[ϒ<))eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.568410 IhD9*F= ?2FA :FA BFE 0JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819996Ge %<Bq O >C50w,eTAy=xB=z IIUIU̍٢eV e6=9eQ e>ii mG٣qy} }> Nusing accuracyPremultiplier from config59@?5YX. i2AE/;/;ۯ5 ~ ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfP@] ] ] ]  >I#9 ɚ%a5i!I!I-3i)i- <)))12D=rA*D=rADm[9EqEuqA=Will construct direction to contact in vehicle frame from tetrahedron phase data.E0i6w,TA2%@Y2:5@2929>y2H@Rf?I?ſ`O? ?_?s?ɨ2%@2އ;2#Cy:rB:r IiB=IBp<-Mb@Mb@Mb@))) )))Y-!rh?M¿{Gzt?y-l=-n-ף;- A -@)-p@I-`@)y-@IIM٢ C=9g;Q > G٣y > Nusing accuracyPremultiplier from config59>?5YC0 iA :> ;  Al;;jݯ5 B  A EEDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQhUBfYfYrfYbf]P@uWill construct direction to contact in vehicle frame from tetrahedron phase data.quR=]:>]:>];2@]J@ nManaging dock network, ignoring radio surface power off 隥]>IH9 ɚs5iII3iiox<))D,9*F=?2F9:F9BF=P0JFAJeJaJaJaJe:JaJaJaJe'<Je(<JaJaG= t<BI Om >% Will construct direction to contact in vehicle frame from tetrahedron phase data.  I 'y6HPa?`VL?`ƿF`J?,y? 4? >s?ɨ6@6 ;6%CyNmBNl IIVIV@٢bn߼ b\=9bQ b>dd fG٣dyj- j> nNusing accuracyPremultiplier from configlr59nIu9 qɚu5iqIqI}3iyi}@s<))}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received-yCw,FUA:@Y:o(@:9:9>y:H [?P?ſ`0E?`~?? s?ɨ:@:5;:&CyJoBJn IIVIV ٢ZO< ^K=9^9Q ^>`` bG٣`yfE f> jNusing accuracyPremultiplier from confighrWill construct direction to contact in vehicle frame from tetrahedron phase data.r59j:?r5Yj3 ij[tvvAhjd;jd;j5x z Ax-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h1h1h1f9f9rf9bfE P@]Y]Y]Y]][@m qu+>Iud9 qɚu5iyIyI}3iih<)) IzK>LKKK#KBK:KpA*F]?2Fa:FaBFe_0JFiHI I II݂BI&I.I6I<:I FGM[z<BO=/>Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,k(UAJJJ1JJ̶:J9:J3JJ;J;JX`;JY`;F@YFf(@F9F'9>yFH [?`P?ſ ,_D?C&@??`s?ɨF@FU;F#CynmBrl I)t tMb@Mb@Mb@ )Y)\(?Sÿ~jtx?yG=; A @)@II@y@IIT߳٢- -5=9-:Q 5>11 =G٣9y= => ENusing accuracyPremultiplier from configAM59EP8?M5YE5 iEkUf?>U;UUAEEEN;E;E5Y ] AaDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`Q@]=f?>]=f?>]=p@]=H@u y}Ha>I}9 yɚ}5iyIyI3iictj<))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFaJFa IG y<B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ =՝ <ƊPw,FBUA6@Y6_$@6p96`9>y6HTX?S?%ſ u@?`b* ?6?'t?ɨ6@6;6"CyBwBBx IIJIJ㔳٢Va= Vf=9V̑:Q Z>XX ZG٣Xy^̵ ^> fNusing accuracyPremultiplier from config`j59bY6?j5Ybt7 ibwhj1jAbEby;bw;bK5p r Ap DNOT Ignoring new targets: 46.00 m. j j jjihhhhffrf!bf%~)Q@]A]A]A]EC@p Hu>I9 ɚ5iII3iib<))*F?2F:FBFa1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO5> IzKe KKa Ka Ke #Ke H I  I II ӂBI &I .I 6I <:I o FIVw,\UAF5@YF @F.9F:>yFHSU?`YU?ſ`99 EG٣AyM U>]Will construct direction to contact in vehicle frame from tetrahedron phase data. }Nusing accuracyPremultiplier from configy59}B3?5Y}m9 i}B:>;Ay};};}N5 l ADNOT Ignoring new targets: 46.00 m. jjjjihhh h Bf f1rf9bf= GQ@]uB:>]uB:>]u@]u :@. B>IJ9 ɚg5iII3ii'T]<))*F?2F:FBF?1JFJJJJJ|:J :JJJ<J<JcW;JdW;GI BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data. I \w,vUA2@Y2Y@2H929>y2HsS?@IW?Qſ>:?@qia|?@?s?ɨ2@2;0yZBZ Ii^pp rG٣pyvR v> zNusing accuracyPremultiplier from configx~59z0?~5Yz: izAzEz;z9;z5 9 A=DNOT Ignoring new targets: 46.00 m. j9j9jAjAiAhAhAhIhIfIfIrfIbfU@]Q@]q]q]q]u:7@H 隍^O>I19 ɚh5iII3iiY<))2D*DBD:D*F2F:FBF5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.G l o<BO=>cw,֏UAbWill construct direction to contact in vehicle frame from tetrahedron phase data.yfBf IIIT٢-2< -E=95Q 5>11 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M.?U5YM< iMQQ]AIM\ ;M%;M5eB e# Ae EDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf7xQ@]]]] ^S>I9 ɚ.5iII3iiTZ<)) 1I1zKBoHKȱ9KK#K #,/*)&&%&%H9I9 I9I9I9&I9.I96I=c<:I=P F*F?2F:FBFP0JFGBO=>}Will construct direction to contact in vehicle frame from tetrahedron phase data.;iw,?ĩUAFt @YF@F 9FD<:>yFHP?Z?@ſ@ 4??@2#?t?ɨFt @Fe;DyZB^ IMb@Mb@Mb@ )Yp= ף?㥛 ¿Q?y=u<I A 5@)@I@y(@IIn٢2s= B=9r;Q > G٣yڦ > Nusing accuracyPremultiplier from config59*?5Y7> i^$>; AE;;5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhh9Bf!f!rf!bf%Q@]E^$>]E^$>]E03@]EG@] Y].>Ie9 aɚe̲5iaIaIm3iiim?R<)q)qWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF !I!Gmo<BO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.) NG  M AYI yM ۬Avpw,UAj@YjN@ja 9j9>yjH G?`?Qſ@>,? pDk?r?u?ɨj@jÈ;j#C ? AyB I) I%I%m٢== =R=9E:Q E>AI MG٣IyMF M> UNusing accuracyPremultiplier from configQ]59U(?e5YU? iUae eAQU ;U ;U35i mM AqDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfQ@]]]]=@ea aeJ>Ie9 iɚm/5iiIiIu3ii1TA<))JJJ0JJ:J9:Jـ3Ja-@a-@a-@a-@*FM?2FI:FIBFM[0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.iA IGu7+\<ByO>H1 I1  I5 II5 BI1 &I1 .I1 6I5 G<:I5 ; FzK MMK 9K K #K    ww,gUA2@Y2@292 :>y2H@K?@^? ſ@8.?Y Nޠ?& ?t?ɨ2@2;0yrBr IMb@Mb@Mb@ )YV-?S㥛Q?y<$ A K@)@IQAy@II#٢< C=9E(;Q > G٣y: > Nusing accuracyPremultiplier from config59$?5Y@ i? >;zAE;;5  ADNOT Ignoring new targets: 46.00 m. jjjjih!h!h!h%gBf)f)rf)bf-Q@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]? >]? >]ĝ@]={@5 15=I59 1ɚ=,5i9I9IE3iAiEK<)A)A*F?2F:F BF _0JF G- zQ<B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.  I -}w,CUA2;@Y2@2+929>y2HK?`?ſ`)`-?v1-c??u?ɨ2;@2҈;2$CyRBV IIjIj<٢z'= ~W=9];Q ]>aa mG٣iyuR8 u> Nusing accuracyPremultiplier from config59!?5YA i{AP;o;5  A-DNOT Ignoring new targets: 46.00 m. j)j1j1j1iQhQhQhYhYfYfYrfabfeQ@]]]]J{@+ |>I9 ɚm5iII3iiJ<))eWill construct direction to contact in vehicle frame from tetrahedron phase data.Du9*F ?2F :F BF P0JF J5 J5 J5 1J1 J5 \:J5 :J5 3J1  Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ BY O} >w,VA >$?I<^|@Y^@^c9^:>y^HN?_?ſ&@-?u-˟? ?-u?ɨ^|@^ӈ;^#CyzBz Ii|I~p< ==I I #٢; 7=9;Q >!! %G٣!y%': -> =Nusing accuracyPremultiplier from config9E59=&?E5Y=B i=AEwMA=E= :=L:=5Q U AY}DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfQ@H;>I I!IIBI! =&I.I6I<:Iu FBIyJIyRIyZIybIyjI}(5]]]]+{@zK؉LKC9KK#K c 隵 >I9 ɚ5iII3iiO<))MWill construct direction to contact in vehicle frame from tetrahedron phase data.DU9*F?2F:FBFZ0JFG B O= >Bw,u;/VAy B  IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y{GztQ:v?yףT< A p@)@Iyf@II(*٢= 1=9Q > G٣y   > Nusing accuracyPremultiplier from config59?5YxC i%h=%;%&%A*$;!;5) - A1mDNOT Ignoring new targets: 46.00 m. jijijqjqiqhqhqhyh}B Ifyfrfbf`sR@]h=]h=]v@]#k@ =IZ9 ɚV5iII3iiaN<))D%9*F?2F:FBF_0JF} Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >w,JVAJJJ J J:J:J J B@YB:@B9B9>yBHPO? 5`?`lſ`,?ز؝??@u?ɨB@B;B CyNBN IIVIV?1٢^雼 ^Q=9bן;Q b>dh nG٣lyn9 n> rNusing accuracyPremultiplier from configpv59r?v5YrD irxxzArEr";r";r_5  A-DNOT Ignoring new targets: 46.00 m. j)j)j)jihhhhffrfbfH3R@]]]]#k@ =I@9 ɚZ5iII%3i!i%%P<)!)Y2DrA*DqADM)9 Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF1JFG GqAHI I.!II BI&I.I6I<:Io FzKmKKm9KiKm#Km  UMJgI6,G% P<By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.յ =ձ 0w,ydVAZ @YZQ@Zm9Z9>yZH3Q?`?Uſ@-? ̜?@*? [v?ɨZ @Z;Z%CyvBv I)x x||Mb@Mb@Mb@ )YAI MG٣IyU: U> eNusing accuracyPremultiplier from configYm59]?m5Y]D i]=;.AY]{;];]W5 c A5DNOT Ignoring new targets: 46.00 m. j1j9j9j9i9hAhAhIhMBfifqrfqbfuPR@]=]=]즑@]&c@m  u=I 9 ɚ k5iII3iiWT<))DE9*F2F:FBF]1JFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data. IB O >w,k~VA6s@Y6@6e96^9>y6HM?`Mc?AEſr(?( ?>? v?ɨ6s@6ƈ;6"CyBB@ININ٢j: jd=9n;Q n>pp rG٣pyr"ú r> zNusing accuracyPremultiplier from configtz59v?z5YvE iv|~.~Atv\ ;v ;v5B \ A E=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfMeR@]i]i]i]mc@}e 隅hw=I9 ɚ/5iII3iiUK<))}Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*J=C="J=%=J3K3 K/.KK"KJEJEJAJAJE:JE:JAJA*F?2F:FBFV5JFBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data. I H <>I  I ;!II BI =&I .I 7D6I <:I r Fʥw, JVA2 @Y2@2_׼929>y2HQ?Na?8ſ@*`*?s @??v?ɨ2 @2 ;2 CyRBR ITVDAIZIZ?1٢bd bK=9b/;Q f>dd fG٣dyj׶: j> nNusing accuracyPremultiplier from configlr59nA ?r5YnE inpv.vAnEn:na:n5x ~ AzK(OK9KK#K BKpA:KqADNOT Ignoring new targets: 46.00 m. jjjji!h!h)hQhYfafarfibfR@]q]q]q]u c@_׼ !E0 =IEy9 aɚme5iiIiI3iiUbU<))Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F BF ,1JF B O >w,7VAjWill construct direction to contact in vehicle frame from tetrahedron phase data. Iy%B- I-Mb@Mb@Mb@))) )))Y-S㥛Mby-/ݼ---A -b@)-`@I-~A)y-AIEIEF٢]ü ]2=9eQ e>ai mG٣iym u> }Nusing accuracyPremultiplier from configq}59u?5YuE iuK=<W6Aqu;ub;u5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfR@]K=]K=]؍@]{[@ #Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Ս%=۲w,VA@Y@!Ƽ99>yHM?e?dſ?M$?F۳Ø?@^?`@w?ɨ@;$CWill construct direction to contact in vehicle frame from tetrahedron phase data. IyޝBޅ IHI I4!IIBI! =&I.I6I^<:IN FII#٢ =9Ն;Q > G٣y& > Nusing accuracyPremultiplier from config59?5Y?F iY]g6eAh<h<5i mE AiDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`SR@] ] ] ] `[@ !Ƽ 隝 "I 9 ɚ Q5i I I 3i i BK<) )A  Will construct direction to contact in vehicle frame from tetrahedron phase data.D9RK?JK?JJJJJ:J:JJJ;aJ;aJJ;aJJ;a*F?2F:FBFo0JF QIQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.G}\<BO-1?rw,gVA> @Y>@>9>3:>y>H)Q?@c?  ſ16&?@#Vϗ?$?v?ɨ> @>ڗ;YY ]G٣Yyeo: e> uNusing accuracyPremultiplier from configq}59u ?}5YuF iu1}=}<8/AuEu ;u#;uL5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBfAfArfIbfM R@]=]=]d@]}b@ 隝Will construct direction to contact in vehicle frame from tetrahedron phase data. ʷYy>A*J "J p=Rw,"WA6@Y6R@6{969>y6HOO? f?8Ŀ#?]; ?@?Xw?ɨ6@6H;6!CybBb IInInm?٢vƽ vQ=9vY:Q z>xx zG٣xy~< ~>  Nusing accuracyPremultiplier from config 59r? 5YG iE?/A7::5 %$?I!) -$ A)=Will construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 46.00 m. jijijijiiihqhqhqhqfyfyrfybf}R@]]]]b@{ 隵IX9 ɚw5iII3iixN<))H=>IC I"!IIBI =&I.I6I<:I F*FU?2FQ:FQBFUP0JFQ"G]4=G]a=zKBoHK89KK#KGR<BO%>Will construct direction to contact in vehicle frame from tetrahedron phase data.;}w,+WA6u@Y6@6]h969>y6H`)I?Zj?@Ŀ ?F ?J?@ww?ɨ6u@6i;6#Cy>}B> IJFJFJF0JDJFܫ:JF:JFـ3JDJF;JF;JFDG;JFEG;%Mb@Mb@Mb@!!! !)!Y%~jt?RQy&1y%D<%½%`e! %x@)%v@I%hA!y%AIIi٢ɼ ?=9w:Q > G٣y > Nusing accuracyPremultiplier from config59?5YG ia0= <AJ4;(4;5 O AeDNOT Ignoring new targets: 46.00 m. jijijijiiihihihh}Bffrfbf`S@]0=]0=]8њ@]vv@-]h 15I1 1ɚ1i1I9I=3iAiMՑA<)Y)q IUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF GM zQ<BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.ew,EWAJ@YJ&@J9JZ9>yJH G?k?Ŀ ?fg??w?ɨJ@JK;J!CyVgBVe IiZ=IZ;IbIb(*٢j jY=9jA:Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v?z5YvXH ivxxz~AvEv:v3:v5  A5DNOT Ignoring new targets: 46.00 m. j1j1j1j9i9h9h9hAhAfAfArfIbfMd-S@]i]i]i]mov@ 隅0I9 ɚiII3ii?<))*F5?2F1:F1BF5_0JF1JJBA I]Will construct direction to contact in vehicle frame from tetrahedron phase data.GqBO~>H>>I I!IIBI =&I.I6I<:Iz FBIJIȠCRIZI =bI =jIȫ5zK= BoIK9 K9 K= #w,_WAKeBKqA:KrA@Y@Aa9õ9>yH??eq?dĿ?@g ??`w?ɨ@5!;"Cy^BZ IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YII MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]p?e5Y]\I i]e!=mgw,GyWAy%WB-Q II=I=V٢ET% Mq=9MQ M?QQ UG٣QyU e? mNusing accuracyPremultiplier from configiu59m?u5YmJ imqy}Aim ;m!;m 5 } ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfbS@]]]] Cw,YkWA6@Y6@696d9>y6H6?Ox?/Ŀ ?#zV??`x?ɨ6@6t;4 @IDyFOBJG I)L LLNAIRIR(٢ZM* ZT=9bl];Q b>`d fG٣dyfd f> jNusing accuracyPremultiplier from confighn59j?r5YjJ ijpr rAjEjS;j;j 5t z Ax%Will construct direction to contact in vehicle frame from tetrahedron phase data.%DNOT Ignoring new targets: 46.00 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=zS@]a]a]a]e @u (Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,FWAJ6J6J61J4J6:J6 :J63J4J6;J6;J6R;J6R;FZ@YF@F@9F(:>yFH6?dx? 6Ŀ ?`贿`G?E#?w?ɨFZ@F;F#CyVHBV> I=Mb@Mb@Mb@999 9)9Y=V-?"~j~jty=m==S㽹=D=A 9)9I=A9y=AIUIU٢e  e@=9m;Q m>ii uG٣qyuF8 u> Nusing accuracyPremultiplier from configy59}?5Y}L i}>;Ay};};}5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhHBfqfqrfybf}MS@]>]>]]4@]ս@@ I ɚiII3ii#<)) qIq5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFV5JF"G=G>G(<BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Դw,1(WA2ۡ@Y2@292k9>y2H *? Ɂ?#Ŀ 4`?rҴ yג? ?x?ɨ2ۡ@2%;0y:=BB2 IIJIJ٢rTV vR=9v:Q v>xx zG٣xy᜻ > %Nusing accuracyPremultiplier from config!-59%?-5Y%-M i%)--A!%:%7:%]5]B ]HAeEDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfbS@]Y]Y]Y]]@m impIi9 ɚp2iII3iiH|<))*FE?2FA:FIBFM5JFI aIaEWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm9)<H}=>Iy I} II}BIy&Iy.Iy6I}<:I}q FBO>w,WAzK(K*9K(K*#K*   BK@:KBqAWill construct direction to contact in vehicle frame from tetrahedron phase data.y;B. Ii G٣y > Nusing accuracyPremultiplier from config59S휜?5YN iu>;AE,R;P;5 ]ADNOT Ignoring new targets: 46.00 m. jjjjihhh h JBf f rfbfS@lMJTimed out from 2025-01-08T23:32:23.5Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemComms]u>]u>]eڥ@]-@ I 9 ɚ.1iI I-3i1i5b<)1)1*F?2F:FBFP5JFG G A IA = Will construct direction to contact in vehicle frame from tetrahedron phase data.G )<B O5 >w,WAy 7B* IIEIEm?٢]b ]~=9aQ e ?aa eG٣iyq u ? }Nusing accuracyPremultiplier from configy59}뜜?5Y}O i}"Ay}m ;};}5 {ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@S@5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6]]]] PI9 ɚiII3ii))*F]?2FY:FYBF]O0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.GMh <B*J R="J R=J J J J J l:J :J J a @a @a @a @ Q IU hm Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I IIBI&I.I6I<:Is FzKLKC9KK#KRK?JK ?Will construct direction to contact in vehicle frame from tetrahedron phase data.O7?i w,-(XAy3B % IMb@Mb@Mb@ )Yv/?X9vMbpyxi=A @)IyAII(٢- <9Q r> G٣y s> Nusing accuracyPremultiplier from config59-眜?5YQ iH  > ; ~ AE;;%5B %A%EDNOT Ignoring new targets: 46.00 m. jjjjihhhhMBffrfbf T@]u >]u >]u@]uЄ@ 隕LI`9 ɚߜiII3ii))*Fa2Fa:FaBFe0JFa IWill construct direction to contact in vehicle frame from tetrahedron phase data.G P <B O >)A E wCgw,*BXArc~G|1 ]cYYy]:Am¡@Ym Ҩ@mHW9m>9>ymH??eĿ ?`0ص ? ? y?ɨm¡@m;m!Cyޅ6Bޅ) III<٢J< M=9qW G٣y > Nusing accuracyPremultiplier from config59䜜?5YR i]AL:n:5 A DNOT Ignoring new targets: 46.00 m. j j j j i hhhhff-Will construct direction to contact in vehicle frame from tetrahedron phase data.-=)rf!bf5@,T@]Q]Q]Q]U@eHW ae1Im9 iɚmiiIiIu3iqiu;)q)yJJAAJ%J%J!J!J%ܫ:J%:J!J!D9*Fe?2Fa:FaBFe`0JFa I Will construct direction to contact in vehicle frame from tetrahedron phase data.H >>I  I II BI &I .I 6I <:I y FG Mh <B O >w,L5]XA6Lá@Y6Ҩ@6>96ڿ9>y6H\?`M?KNĿ@ m?F/;և? ? y?ɨ6Lá@6OX;4y``IIFzKKK9KK#K BK:K٢O *=9I;Q > G٣yV*9 > Nusing accuracyPremultiplier from config59᜜?5YwT ixAE::5Will construct direction to contact in vehicle frame from tetrahedron phase data. AUDNOT Ignoring new targets: 46.00 m. jQjQjQjaiahahihihifqfqrfqbf}`MT@]]]]@> 隭(3IC9 ɚ,iII3ii;))*F?2F:FBF0JFGmW;BO>  I! -w,wXA"Will construct direction to contact in vehicle frame from tetrahedron phase data.y4B& IMb@Mb@Mb@ )YQ?Pn{Gzty\=ףA )IAyAII٢ j7 j=9-Q 5?99 =G٣9yE E? MNusing accuracyPremultiplier from configIU59MEߜ?U5YMMU iMU>U;]]AIM;M;M5a eAaDNOT Ignoring new targets: 46.00 m. jjjjihhhhSBffrfbf@gaT@]>]>]GF@]ʜ~@ uIb9 ɚYciII3ii))*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G ;B O >*J C="J p=J J J 2J J :J J c3J C$w, ݐXAJQ¡@YJѨ@J9J*e9>yJH?ܖ? Ŀ`h?mն0? ?y?ɨJQ¡@Jn;HyR3BV$ II^I^T٢f fa=9jhh jG٣hyr/ r> vNusing accuracyPremultiplier from configpz59rܜ?z5Yr8V ir|~~ArErH@;r@;r5 A 5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h9h9hAhAfAfArfAbfMdxT@]a]a]a]ei~@ 隅xI~9 ɚNiII3ii%þ;)) ]$?IY*F?2F:FBFP0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.HQIQ IU IIUBIU =&IQ.IQ6IṴ<:IU FBI%ĠCJI!RI!ZI!bI!jI%ć4Go;BO%n>zK oKK 89K K #K  Will construct direction to contact in vehicle frame from tetrahedron phase data.0*w,XANC@YNШ@Nqػ9N 9>yNH? 7?ÿ`?'@{?@4?mz?ɨNC@N1;N"CyZ8B^+ IeMb@Mb@Mb@aaa a)aYeQ?x&y&1|yeu G٣y > Nusing accuracyPremultiplier from config59؜?5Y)W iB >;A;c;5 vA DNOT Ignoring new targets: 46.00 m. j j j j i hhhh\Bff!rf!bf-T@] B >] B >] ]@] t@%qػ !%\I%9 !ɚ%i)I)IM3iQiU_\;)Q)Q*F?2F:FBFQ0JF AII]Will construct direction to contact in vehicle frame from tetrahedron phase data.G! B1 OM >1w,XA6ơ@Y6ը@6969>y6H ??ÿ Z?s?? y?ɨ6ơ@6|R;4y<<IFIFq9RZ;Q R>PP VG٣TyV: V> ^Nusing accuracyPremultiplier from config\b59^՜?b5Y^W i^dffA^E^:^:^!5h hh}DNOT Ignoring new targets: 46.00 m. jyjjjihhhhffrfbf`T@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]t@ 1I=9 9ɚ=ٳi9I9IE3iAiM`;)I)I2DQ*DQBDQ:DQE*FM?2FI:FIBFM_0JFI"GU=GU>JJJ1JJ:J:J3J 9IAGiByO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.i ii HI II  IM IIM BIM =&II .II 6IM Z<:IM N F@7w,kXA6ơ@Y6;֨@63AH96*e9>y6H??@گÿC `?_#i?B ?z?ɨ6ơ@6ً;6$CyRdd fG٣hyjN9 j> nNusing accuracyPremultiplier from configlr59n0Ҝ?v5YnX in  Aln;n;nc#5! %YA!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQhQfYfYrfabfe (T@]!]!]!]%t@e3AH aeIe9 aɚegiaIiIm3iqiq))zK5K5C9K1K5#K5*FU?2FQ:FQBF]o0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G;BO > ! I) hk=w,#IXAWill construct direction to contact in vehicle frame from tetrahedron phase data.Jl͡@YJܨ@J˒9Jd9>yJH6??ÿ?~ bYR??Vy?ɨJl͡@JFы;J"Cyj9Bj- I]Mb@Mb@Mb@YYY Y)YY]Mb`?p= ף:vy];]]T]EA ]@)]AI]AYy]fAIuIu٢93 >=9;Q > G٣y: > Nusing accuracyPremultiplier from config59dΜ?5YY i™>;#A@;{;C%5B gAEDNOT Ignoring new targets: 46.00 m. jjjjihhhhmBffrfbfT@]>]>]I@]DSDw,W&YAVС@YVm@Vc%;9V9>yVH("??@QPÿ5?)=ˣd?`y?ɨVС@V\{;V#Cy4B% II-I-٢ME MN=9MuQQ UG٣Qy] : ]> mNusing accuracyPremultiplier from configam59eʜ?m5YeYZ ie™qu#uAeEe:e&;e&5 ADNOT Ignoring new targets: 46.00 m. jjjjih IhhhffrfbfT@]]]] 2n@c%;  I Y9 ɚ 3i 'I I3iiq;))E)E-rA5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFG GHI III =&I.I6I|<:Ig FG)B9OU>zK k3IK 89K K #K    Will construct direction to contact in vehicle frame from tetrahedron phase data.}Jw,,YAFС@YFߨ@F ;9FL9>yFHl!??,ÿ: ?`2q`; ?`+z?ɨFС@F;F!CyN8BN+ IMb@Mb@Mb@ )YMbp?HzGI +y;= 9A @)AIQAyAII)٢p< @=9_;Q > G٣y} >  Nusing accuracyPremultiplier from config 59 ǜ?5Y ([ i (™ >;#A  ; t; (5! %rA!MDNOT Ignoring new targets: 46.00 m. jIjIjIjQiQhQhQhYh]RBfYfYrfabfe`U@J}J}JyJyJ}l:J}:JyJyJ};aJ};aJ}C;aJ}C;a] >] >]@]@o@] ; Y]LI]9 aɚe6AieؼIaIm3ii;)) I*F!2F!:F!BF%@5JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9G 1X<B O= >ogQw,EYA6͡@Y6@ݨ@6);96}9>y6Hk?ś?ÿ n`?\ṿ%w3? y?ɨ6͡@6C;6$Cy^9B^, IIfIf̍٢n; n]=9r;Q r>pp rG٣tyvJ v> zNusing accuracyPremultiplier from configx~59zÜ?~5Yz[ iz9™#AzEz6;z%;zv*5  hA EDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhAhIhIfIfIrfQbfU@-U@]q]q]q]uo@); 隅(CI]9 ɚLiļIWill construct direction to contact in vehicle frame from tetrahedron phase data.I53i1i5#;)1)Q*F?2F:FBFP0JF IG*;B!OE> Will construct direction to contact in vehicle frame from tetrahedron phase data.H ?>I  I I I &I .I 6I )<:I + FWw,(_YA2Ρ@Y2[ި@2_;92-9>y2HO ?@?ÿ ?f:k} %?y?ɨ2Ρ@2F׋;2"Cy>/BR IIZIZ0٢bS fL=9fz;Q f>hh jG٣hyjz9 n> rNusing accuracyPremultiplier from configpv59r ?v5Yr\ irL™tv#vApr.:r.:r7,5x ~A-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=@)GU@]Y]Y]Y]]`o@m_; quIuJ9 qɚu;^iuIyI3ii;))zKLKKK#KWill construct direction to contact in vehicle frame from tetrahedron phase data.D=9*F?2F:FBF4JF"G =G =J3K3 K.KK"KJJJ2JJܫ:J:Jc3JJ;J;JA;JA; I G1 BA O] >]w,yYAWill construct direction to contact in vehicle frame from tetrahedron phase data.:ġ@Y:KԨ@:[v<9:>9>y:H?Ǣ? ¿ I? Y΀Y?` z?ɨ:ġ@:s;:#CyB-BB IMb@Mb@Mb@ )Yy&1?K7:vy`e<I Լ @)AIAyfAIIb٢ ;=9;Q > G٣y|6 > Nusing accuracyPremultiplier from config59O?5Y] ic™>;UA;;$.51 5A1}DNOT Ignoring new targets: 46.00 m. jyjyjyjyihhhh`BffrfbfdU@] >] >] "@] s@[v< !%̽I%9 AɚEyiEӀIAIM3iIiUݘ;)Q)QNG*F?2F:FBFP0JF1 ]YYy]VAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>Ldw,kYAy,B I !I!II(1٢5 5T=95Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQe59U?e5YU_^ iUw™aaeAUEU=;U>;U/5q uAqDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf {U@]]]] 隝dҽI9 ɚi@II3ii85;))]Will construct direction to contact in vehicle frame from tetrahedron phase data.H@>I Iy IIxBI&I.I6Ic<:IV F*FM?2FI:FIBFM_0JFIG-;BO>zK- JK- 9K) K- #K-  Will construct direction to contact in vehicle frame from tetrahedron phase data.jw,HYAy'B Ii%    G٣ J]J]J]0JYJ]:J] :J]ـ3JYJ]'<J](<J]U;J]U;y > Nusing accuracyPremultiplier from config59?5Y~_ i™>;>AQ;;15 AUDNOT Ignoring new targets: 46.00 m. jQjYjYjYiYhahahaheABfifrfbfU@]>]>]-Ξ@]}@ LI9 ɚ $?IiII3i!i!)!)!E9*F?2F:FBF`0JFG GeWill construct direction to contact in vehicle frame from tetrahedron phase data.G o;B O >ܴqw,R(YA22@Y2@2)<92J\9>y2H.?=?`¿ U? ; ?`y?ɨ22@2>);0yN*BN IIZIZԲ٢b< b_=9b;Q b>dd fG٣dyjx j? =Nusing accuracyPremultiplier from config1=595?E5Y5d` i5™AEEA5E5:5*:5S35I MAQ}DNOT Ignoring new targets: 46.00 m. jyjyjjihhhhffrfbf^U@Will construct direction to contact in vehicle frame from tetrahedron phase data.ս<չ]]]]q}@)< 1I9 ɚߕi8II3iiVE;))*F?2F:FBFO5JF IG-;BO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.H G>I C I s II sBI  =&I .I 8D6I X<:I T FBIQJIQRIQZIU =bIU =jIUɸ5ww,YA2@Y2@2 /<92WA9>y2HR?ಸ?a¿ C!D?@(? y?ɨ2@2;0yN,BR IIVIV٢b; bJ=9b\p:Q b>dd fG٣dyj"f j> nNusing accuracyPremultiplier from confighr59j?v5Yj^a ij™tvvAhj:;j+;j 55x ~A|%DNOT Ignoring new targets: 46.00 m. j!j!j)j)i)h)h)h1h1f1f1rf1bfmU@]]]]}@ /<  $I  9 ɚ i /;I I53i9i= ;)9)92DA*DABDA:DA*F5?2F1:F9BF=P5JF9zKBoIKu9KWill construct direction to contact in vehicle frame from tetrahedron phase data.K!#K&,/49AIQX`dglqnd[RC(J}JyJ}1JyJ}<:JyJ}3JyJ}6;J}7;JyJyGs;BO> I ~w,YAWill construct direction to contact in vehicle frame from tetrahedron phase data.6ʉ@Y6K@6j+<96k(9>y6H?c?¿H,P? bDm?z?ɨ6ʉ@6);6!Cy^&B^ IMMb@Mb@Mb@III I)IYMi|?5?/$X9vyMq=IIM/A M@)MAIMQAIyMAIeIeԲ٢u3ټ u?=9}g(Q }>y G٣y» > Nusing accuracyPremultiplier from config59c?5Yb i™-U>-;- -AE<<65I MAMEDNOT Ignoring new targets: 46.00 m. jjjjihhhh_Bffrfbf@U@]U>]U>]E(@]L@=j+< 9=HI=9 9ɚ= i= *Jy "J} a=w,ZA @I@F~@YFa@F",<9Ff9>yFHk?@?¿2@ވ?* ? y?ɨF~@Fr;F#CyN)BR IIZIZ<٢bY< bV=9frx9Q f>dh jG٣hyjd j> rNusing accuracyPremultiplier from configlr59n?v5Ync in™tv vAln:nu:n85x ~A|-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h1h1h1f9f9rf9bf=-U@]Y]Y]Y]]A@u",< quֽIuj9 qɚ}i}UzK MK k9K K "# Will construct direction to contact in vehicle frame from tetrahedron phase data.K w,.ZAZ5i@YZx@Z8"<9Z~9>yZH?g?`w¿x=hw?oT['?y?ɨZ5i@Z ;Z!Cyln IeMb@Mb@Mb@aaa a)aYe㥛 ?S㥛y&1ye=e$e`eA e@)ezAIe@ayeAI}I}٢: >=9Q > G٣yɻ > Nusing accuracyPremultiplier from config59?5YFe i™8>;AE;C;u:5 ADNOT Ignoring new targets: 46.00 m. jjjjih h h hHBffrfbfV@]=8>]=8>]=@]='@M8"< uI9 ɚiіw,wjHZA6]@Y6_m@6<969>y6H]?? ÿmC`m?F @? y?ɨ6]@6};6#CyR/BR IIZIZT٢b< bX=9b4 Q f>dd fG٣dyjp j> nNusing accuracyPremultiplier from configlr59n^?v5Ynf in™tvvAnEn3=;nt.;n<5| ~AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf;1V@])])])]-a@=< AEHIEl9 AɚEĴiEH1 I5 C I1 I1 I5  =&I1 .I1 6I5 R<:I5 P FM Will construct direction to contact in vehicle frame from tetrahedron phase data.M AiI &,w,GbZA6C@Y6vS@6n<96}I9>y6HO??` ÿ QY?๿큿? y?ɨ6C@6O-;6"CyN8BR+ IIZIZ(٢bF2= bJ=9f Q f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv59r ?v5Yrg ir(™tvvApr:r:r=5| ~nA|%DNOT Ignoring new targets: 46.00 m. j!j)j)j)i)h)h)h1h1f1f1rf1bf=@IV@]a]a]a]eB@un< Iv9 ɚȴiw,}ZA^4@Y^LD@^~<9^j9>y^Ha??1ÿX M?d? y?ɨ^4@^c;^&Cyj G٣y > Nusing accuracyPremultiplier from config59ܡ?5Ybi i=™ p> ;  AE3;^;?5 NAEDNOT Ignoring new targets: 46.00 m. jAjAjIjIiIhIhIhQhUoBfQfQrfYbf]fV@]}p>]}p>]}=@]}&@~< 隍̽I9 ɚִi=Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J :J J I 7mw,–ZA: @Y:"0@:4;9:I9>y:H`*??@ÿ`qc >? ;]F}?@ z?ɨ: @:>;:$Cy^JB^B IIfIf٢r= r^=9r'Q r>tt vG٣tyvۻ z> ~Nusing accuracyPremultiplier from configx59z?5Yzj izN™Axz ;z;zvA5  AEDNOT Ignoring new targets: 46.00 m. jAjIjIjIiIhIhIhQhQfQfQrfYbf]`q~V@]y]y]y]}z@4; 隍dI9 ɚߴiII3iiW)))HyIy I}s II}sBIy&Iy.Iy6I} <:I}+ FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF3JF"GG=GUB!O=>u Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoIK 9K K $#K  #%$#%%$%)-..1,'%$ w,ZAy=MB=D IMb@Mb@Mb@ )YMb?RQy&1y=½`eEA @) AI@yAIIV٢ -<  9=9 Q > G٣y > %Nusing accuracyPremultiplier from config!-59%j?-5Y%k i%\™5V=5;5C=A%E%5;%c2;%dC5A E AA IDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfV@]]V=]]V=]]zĩ@]]~@ 隥HI 9 ɚiII3iia#))*Fa2Fa:FaBFe4JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.) U Gq G B Y y +AO >w,ZA2@Y2@2W;92Hw9>y2HPp??`mÿ Lt $?xݸ`Jvm?y?ɨ2@2Շ;2"Cy^\B^X IIfIf٢n= n_=9rQ r>pp rG٣pyz1 z> ~Nusing accuracyPremultiplier from config|59~?5Y~l i~h™  A|~:~:~D5 I AWill construct direction to contact in vehicle frame from tetrahedron phase data.!DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@V@]9]9]9]=a@uW; y}ࢽI};9 yɚ}iyIyI3ii`))*FE?2FA:FABFEY4JFAJJJJJ :J:JJ IGMBQHuH>Iq Iu IIu}BIq&Iq.Iq6Iun<:Iud FO>Will construct direction to contact in vehicle frame from tetrahedron phase data.w,PZAB@YB@B;9Bh9>yBH^??-ÿ~?`A,`q ?z?ɨB@BW;@yHJW I R=R=IVIV)٢^ ^M=9bDQ b>`` fG٣dyf0ͻ f> rNusing accuracyPremultiplier from configpv59r|?v5Yrm irt™tzzAprL:r:rF5| ~O A|-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h1h1h1f1f9rfAbfE V@]i]i]i]mO@; 隅I/9 ɚaiII3ii}))2D*DBD:D*F?2F:FBFP0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK]FMKk9KK%#K  {T     (lGMUBa qIyO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ҿw,+ZA:@Y:@:D"m;9:9>y:H@NX??@ÿ@@5?@'Z@Dm 7?y?ɨ:@:툇;:#CyFjBFh ImMb@Mb@Mb@iii i)iYmI +?+η~jtym94=mvmDmA i)m AIiiym=AII٢[= ==9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yn i™"=< AEwX;V;H5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBff rf bf  NV@]-"=]-"=]-@]-M@ED"m; AMPIM9 IɚM`iIIII3ii:))*F?2F:FBFJF=Will construct direction to contact in vehicle frame from tetrahedron phase data.GmrByO*J "J p=J J J J J \:J :J J i Ii 8w, [A6ՠ@Y6@6O1;969>y6HK?`M?@&ÿ%`b?` )f`?vz?ɨ6ՠ@6F;6 Cy^tB^t IIfIfF٢nI= nV=9rQ r>pt vG٣tyv v> zNusing accuracyPremultiplier from configx~59zė?5Yzo iz™ Axzp;z;zHJ5   ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfW@]]]]@@H!I! I% II%BI!&I!.I!6I%<:I%) FBICJICRIZI =bI =jITt5EO1; AE葽IE9 AɚM iIIIIM3iQiUZ돼)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGk}BO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- PK- 9K) K- &#K- ]Zo_PE9/'#  ,2# w,1[AJР@YJ@JS;9JN9>yJH@G?&?@mÿ ?(귿`a ?5z?ɨJР@J}=;JCybBb I)h hmMb@Mb@Mb@iii i)iYm rh?l{GzymC G٣y > Nusing accuracyPremultiplier from config59ؕ?5 IY0p i™ל=-<A;y;w;/L5 , AEUDNOT Ignoring new targets: 46.00 m. jQjQjYjYiYhYhYhaheȂBfafarfabfmW@]ל=]ל=]@]8z@S; 隝\I9 ɚ:iII3ii))*FE?2FA:FABFE`0JFA"GM=GIWill construct direction to contact in vehicle frame from tetrahedron phase data.GE%uBQOm>w,K[A:Ġ@Y:zԧ@:Σ:9:8>y:H=?`!?@ÿ?f@yTW@?{?ɨ:Ġ@::H;:!CyFBF IIRIR%x٢Z< Z_=9ZQ Z>\\ ^G٣\ybR} b> fNusing accuracyPremultiplier from configdj59f7?j5Yfp if™lrrAdfO;f9O;fM5t v AtWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf53W@]Q]Q]Q]U$z@mΣ: imIm9 qɚu6iqIqI}3iyi}̜)y)*F?2F:FBFT1JF $?IJ%J%J%0J!J%:J% :J%ـ3J!G3}B!O=r>HI>I I IIBI&I.I6I,<:I5 FWill construct direction to contact in vehicle frame from tetrahedron phase data.ձձw,Re[A6à@Y6~ӧ@6R:96F&9>y6H G٣ y a  > Nusing accuracyPremultiplier from config59b?5Y;q i™!!%AEi ;z ;O5) - A)]DNOT Ignoring new targets: 46.00 m. jYjYjajaiahahahihififirfibfusMW@]]]]$z@R: 隥 I9 ɚ&%iII3ii.))*FU?2FQ:FQBFUQ5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.zK4NKKK'#KGՒB IO> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,s[AyrBr IMb@Mb@Mb@ )YMbx&I +y794EA )~AIhAyA@AII<٢= ?=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yqq i™܎=><6A; ;uQ5  A DNOT Ignoring new targets: 46.00 m. jjjjihhhh%ςBf!f!rf)bf-@hW@]M܎=]M܎=]MK@]Mg[@Y Y]Ie9 aɚe%-iaIaIm3iiii)i)q*F ?2F :F BF 15JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GUS.BaO}> I ? w,;Q[A6@Y6Χ@6bY96mM9>y6H8?>"?ÿ@k?`Y^,>`^ ?XX ZG٣Xy^+Ӻ ^> fNusing accuracyPremultiplier from config`f59b"?f5Ybq ib™hj6jA`bz:b:bS5nB ns Ar EDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f!rf)bf-W@]A]A]A]E,c[@]bY Y]I]+9 Yɚe3ieLTw,x[Afg@Yf̧@f% 9f8>yfH 7?%#? (ÿk$?4$A>? l?z?ɨfg@f;f"CyB I !I!JMJMJIJIJMܫ:JM/:JIJIJM;a]JM;a]JM^;a]JM^;a]Mb@Mb@Mb@ )YlZd;QyyuA )AIy=AIUIU#٢m,= u.=9uyQ }>yy }G٣yy} > Nusing accuracyPremultiplier from config59o?5Yq i™N=6<cF@AN;;"U5 3 ADNOT Ignoring new targets: 46.00 m. jjjjihhhh͂BffrfbfW@]N=]N=]dY@]cF@5% 9=PI=9 9ɚ=C:i=zZ:w,[A2پ@Y2ZΧ@2w-928>y2HH8?F"?ÿ`?+E?`p?@z?ɨ2پ@2Bч;0y:B: IIFIF(RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢~|5 n=9 Q  >   G٣y: > %Nusing accuracyPremultiplier from config%59b?%5Yq i™)-gF@-AE :L:V51 5q A9eDNOT Ignoring new targets: 46.00 m. jajajajaiahihihihifqfqrfqbfupW@]]]]gF@w- 隵׽II9 ɚ@iHI I II݂BI&I.I6IͰ<:I FUWill construct direction to contact in vehicle frame from tetrahedron phase data.dw, g[Ay5B5 IIUIU?1٢m< m>=9mQ u>yy }G٣y > Nusing accuracyPremultiplier from config59?5Yq i™A:b;?;X5 L ADNOT Ignoring new targets: 46.00 m. jj j j i h h hhffrfbfW@]9]9]9]9I IM ŽIMl9 IɚUGiU1] Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,<\A:j@Y:ͧ@:Ƭ9:~8>y:H7?s"?ÿ` ? ݘU? ?@3{?ɨ:j@:!;:!CyFBF IUc~Gi YyA Mb@Mb@Mb@    ) Y {Gzp= ף~jty #  ļ /A @) I A y AII#٢- -?=95vȺQ 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configAU59Ef?]5YE{q iE™]ڣ=]%<]ME@]AAED;E +;EcZ5a e~ AiDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`W@]ڣ=]ڣ=]$@]ME@Ƭ \I9 ɚKi~ I vw,X\A:#Š@Y:ԧ@:f9:A9>y:H=??ÿ}G?@4@ U??`z?ɨ:#Š@:+;8ybBb I f=f=hjAAIjIj٢r va=9v8Q v>xx zG٣xyzz; z> Nusing accuracyPremultiplier from config|59~6? 5Y~qq i~™  YE@ A|~:~@:~[5  AMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQhYfYfarfabfeX@HG>I I IIBI&I.I6I<:I~ F]]]]YE@f 隽$ȽI9 ɚQi)))Will construct direction to contact in vehicle frame from tetrahedron phase data.2D*DBD:D*F?2F:FBF0JFG BO Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK k9K K *#K  w,t5\A @I@rh@Yrͧ@r9r@8>yrH7?!?%ÿ?`C඿S^?`?{?ɨrh@rr؆;r"CyzBz IJ3K3 K/.KK"KJ-J-J)J)J-:J-:J)J)J-;J-;J-I;J-I;Mb@Mb@Mb@ )YQ롿{GzMby\ף+A @)AIAyfAII ٢%< %7=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=0?E5Y=q i=™Ev=Mw,N\A2 @Y2iҧ@239289>y2H;??ÿ`@? 5@v`? ?@Vz?ɨ2 @2҆;0y>~BBWill construct direction to contact in vehicle frame from tetrahedron phase data.BAi@F IININ٢VԔ Vf=9V~Q Z>XX ZG٣Xy^ : ^> bNusing accuracyPremultiplier from config`f59b|?f5Ybq ib™djCjA`b:bv:bx_5l n9 Ap DNOT Ignoring new targets: 46.00 m. j j jjihhhhffrf!bf%6X@]A]A]A]EN@U3 QUIUQ9 Yɚ]_i]CI III =&I.I6I<:I FBI9JI9RI9ZI9bI9jI= 5GᆝBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.= PExceeded connect timeout, disconnecting.w,ڮh\AZĠ@YZ8ԧ@Z!49ZJ8>yZHT=? ?ÿ`?ݶ`F`? ?`1{?ɨZĠ@Z{چ;Z%CyjsBjs ItvAIzIz٢ V D=9Q >!! %G٣!y-H : -> =Nusing accuracyPremultiplier from config1E595y?M5Y5q i52™IMCUA15I;5SI;5La5a e AiDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfPX@]]]]4N@!4 隽6Il9 ɚii9;JP>;G gB) OE >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E =E %=E w,\A6Ƞ@Y6fا@6 96 9>y6H@@??nÿ ? 鶿QPa? ?`z?ɨ6Ƞ@6"І;6#Cy>gB>e I=Mb@Mb@Mb@999 9)9Y=MbEԸ+y==ƽ==A 9)=AI=QA9y=pAIUIU٢emg eE=9mBQ m>ii mG٣iyuա: u> }Nusing accuracyPremultiplier from configy59}w?5Y}r i}J™=;V2Ay};}M;}c5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhh|BffrfbfKkX@]=]=]@]_@  #I9 ɚli Q IQ 7&w,i\A2!à@Y2ҧ@2y)92o8>y2H`;?b?ÿ~ ?>e?@?t{?ɨ2!à@2ن;2%Cy>`B>\ IIJIJ(٢Ra RW=9RQ V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^Nt?b5Y^Qr i^`™df\2fA^E^:^:^d5h j) AhH%D>I! I% II%ӂBI% =&I!.I!6I%ϰ<:I% FDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf˄X@Will construct direction to contact in vehicle frame from tetrahedron phase data.])])])]-_@=y) 9=@ZI=9 AɚEoiEy5H`N G٣y8 > Nusing accuracyPremultiplier from config59p?5Ys i™0=;"A;+;f5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhh^BffrfbfBX@]0=]0=]@]p@=߷6 AEУIE9 AɚERqiEu3w,7\A2Will construct direction to contact in vehicle frame from tetrahedron phase data.yIB@ II5I5 ٢}Q` \=9Q > G٣y > Nusing accuracyPremultiplier from config59":w,E\AJD@YJʧ@JV9Jݝ8>yJH,5?"? ÿv`0?j??-{?ɨJD@JK;J"CyV:BV. IInIn٢~Ù ~O=9~@Q ~> G٣y F'  > Nusing accuracyPremultiplier from config 59 \k?5Y Et i ™"A E Ղ< ق< #j5 TADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf 1X@]]]]\p@ V  \I 9 ɚ_xi< Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,]Ab@Yb%ç@bIh9b8>ybH`.?%?1 ĿP?u em??z?ɨb@b;`yv4Bv& I  AMb@Mb@Mb@ )Y G٣y( > -Nusing accuracyPremultiplier from config!-59%h?55Y%[u i%™5>5;55A!%#;%<;%l5A EAIuDNOT Ignoring new targets: 46.00 m. jqjqjqjqiqhqhyhyh}CBffrfbfX@]>]>]1@]\}@Ih 隽Ib9 ɚ_zi IJ J J J J |:J 9J J |2Gw,/]AHBC>I@ IB IIBBI@&I@.I@6IB<:IBz FZ@YZ§@Zdp9Z8>yZH@.?@%?eĿ?v n??z?ɨZ@Z{;Z Cy~&B~ II I ?1٢ %\=9%-Q %>)) -G٣)y-< -> =Nusing accuracyPremultiplier from config9E59=Ze?E5Y=Ev i=™IMMA= E=*:=:=m5Q ]AYDNOT Ignoring new targets: 46.00 m. jjjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf@yY@]]]]-]}@dp gI9 ɚ}iDkM Will construct direction to contact in vehicle frame from tetrahedron phase data. I zK] jIK] -9KY mMw,3R8]AKm.#Km".9<>?976z@Y@Z~9t8>yHg(?)?@t Ŀ`@?P`So??`e{?ɨz@Iq;$Cy-!B- IMb@Mb@Mb@ )YA`"?#~jĿ:vyY=%TvA x@)@Iv@yAIIF٢֨ 3=9AQ > G٣yz > Nusing accuracyPremultiplier from config59la?5Yw i™{6>;VA;;o5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf o#Y@]={6>]={6>]=@]=[d@UZ~ Y]L=I]&9 Yɚ]szi]F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.HTw,fQ]ABO@YBе@B5ч9B>8>yBH #?Q,?SĿ@?@@#p? ?{?ɨBO@B`;@yZBZ IIbIb ٢n9 nm=9nHQ n?pp rG٣pyv, v? ~Nusing accuracyPremultiplier from configx~59zn^?5Yzx iz1™`Az Ez:z:z/q5  ZA=DNOT Ignoring new targets: 46.00 m. j9j9j9jAiAhAhAhAhIfIfIrfIbf:Y@] ] ] ] }_@5ч  =I%|9 !ɚ%Xxi%Q(3nZw,k]A:@Y:@:9:*8>y:H ?@-?` Ŀ`p)?@:@p?r?M{?ɨ:@: B;:"CyFBF IININ ٢V VN=9Z.8Q Z>X\ ^G٣\y^|` b> fNusing accuracyPremultiplier from config`f59b[?j5Ybz ibR™hjfnA`b(S;b|S;br5t vzAtDNOT Ignoring new targets: 46.00 m. jjjjihhhhf!f!rf!bf%SY@]A]A]A]Eg\@] Y] Will construct direction to contact in vehicle frame from tetrahedron phase data.Vaw,]A2@Y2@2928>y2H@?X2? !Ŀ`y@?v$`r??z?ɨ2@2 ;0ybBb IUMb@Mb@Mb@QQQ Q)QYUˡE?/$ſ&1yU=U,UPUA U@)QIQQyUzAImImF٢}]m: }>=9}f5Q }> G٣y: > Nusing accuracyPremultiplier from config59W?5Y{ iu™mF>;DA E;;t5 xADNOT Ignoring new targets: 46.00 m. jjjjihhhh Bffrfbf}nY@] mF>] mF>] S@] y@ !%J J J J J :J 9J J gw,s]AHB>I Il IInBI&I.I6I<:Iv FBIqJIqRIqZIu =bIu =jIu4J@YJx@J39JO8>yJH }?`6?s$Ŀ B` ?@pr?[?@{?ɨJ@Jx;HyVBZIIbIbb٢j jV=9jDjQ j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59vT?z5YvP} iv™xzSzAtv:vn:vwv5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfY@] ] ] ] !@E3 AE NGm6ByOM Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iq Ŀmw,]AzK>xLK>k9K<K>0#K>yޕBޕIUMb@Mb@Mb@QQQ Q)QYU+η?oʡſJ +yUv=U-UHQ Ux@)Uv@IU@QyUQAIIb٢iZ /=9Q > G٣y > Nusing accuracyPremultiplier from config59Q?5YG i™K>;%A E;I;x5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf@Y@]K>]K>] @]T}@ - Will construct direction to contact in vehicle frame from tetrahedron phase data.rtw,l]AJ@YJ@J9J8>yJHC?>? -Ŀ `?r? ?z?ɨJ@JU;J$CyR"BR IIZIZ٢f= fn=9fQ f?hh jG٣hyn n? ~Nusing accuracyPremultiplier from config|59~uN?5Y~ i~™ E A|~:~7:~z5B A&EEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiIhIhIhIhIfQfQrfQbfUY@]q]q]q]u-m@ 隍p=I9 ɚniPII3ii1Ӽ)) I*F?2F:FBFQ5JFH A>I  I ` II dBI &I .I 6I <:I  FWill construct direction to contact in vehicle frame from tetrahedron phase data.GfBO>jzw,F]A6s@Y6d@6/R96RW8>y6H?`%E?)ĿMw?ҵ@s? ?@{?ɨ6s@6َ;4y>%B> I Fa=Fp=DDIJIJ٢rs< rI=9v#Q v>tt zG٣xyz养 z> Nusing accuracyPremultiplier from config|59~eK?5Y~p i~™  ` A~ E~\:~~:~{5 AMDNOT Ignoring new targets: 46.00 m. jIjIjIjQiQhQhQhQhYfYfYrfYbfeY@]y]y]y]}_@/R 隕=I9 ɚ@jiQSII3iiݼ))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fq:FqBFuO0JFq $?IzKK9KK1#JJJJJ:J:JJJ;a J;a JDG;aJEG;aKGμBO=> Will construct direction to contact in vehicle frame from tetrahedron phase data.յ =յ <w,%^A2t@Y2 @2(928>y2H,?`fD?1Ŀ`v? >r? ?z?ɨ2t@2i;2!CyN0BN" IUMb@Mb@Mb@QQQ Q)QYURQ?K7A`ſ ףp= yU=U+UQ8U` A UK@)QIUI@QyU@ImImM٢}O= }A=9_V:Q > G٣y]9 > Nusing accuracyPremultiplier from config59@H?5Y< i™J>;AE;;}5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf$Y@]%J>]%J>]%X@]%Ȇ@5( 15H=I59 9ɚ=bi=,I9IE3iAiE,ۼ)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF05JF IGe FټBi O >H I  I I I =&I .I 6I <:I Fk݇w, ^AFg@YFvw@F;9F[8>yFH 6?J?4ĿAa? [۵ or?? {?ɨFg@FB;F$CyR@BR4 IIZIZ٢b= bW=9fQ f>dh jG٣hyjf j> rNusing accuracyPremultiplier from configlv59npE?v5Ynօ in2™xzzAln ;n:nM5| !A-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h1h1f1f9rf9bf=oZ@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]i]i]i]m`@}; 隅t>IM9 ɚ$ZiII3iiku))*F?2F:FBFU0JFGB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data. I w,:^A*J<"J>a=JNJNJLJLJN\:JN9JLJLJNj;JNk;JN<;JN<;zKBoHKk9KK2#Ky]NB]F I) 5Mb@Mb@Mb@111 1)1Y5Zd;O?(\¿ly5j=5z55 A 5b@)5`@I11y5f@IUIUb٢]k= ]'=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configq}59uvB?5Yu iuQ™3>;AuEu;uF;uq5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`'Z@eWill construct direction to contact in vehicle frame from tetrahedron phase data.]3>]3>]@]GG@ =I9 ɚRi/I9IE3iAiE)A)IEQ*F?2F:FBFP0JFG )B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,T^AybB_ II5I5 aIa٢e= eq=9iQ m?ii uG٣qy ? Nusing accuracyPremultiplier from config59\@?5Y ig™Az::5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhff rf bf =Z@]1]1]1]1A AM>IM9 IɚMiMMIIIU3iQiU)Y)Y*F?2F:FBF`0JFHI Is IIsBI&I.I6IU<:IL FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}<}<G+BO>w,wn^Af$Y@Yfh@f48g9f9>yfH?@R?2Ŀ@1E?`Sl?`?@z?ɨf$Y@fi;dyrqBvq II~I~<٢ =  P=90;Q > G٣yz %> -Nusing accuracyPremultiplier from config!-59%>?55Y% i%™155A%E% ;% ;%5A E AAmDNOT Ignoring new targets: 46.00 m. jijijijiiqhqhqhqhyfyfyrfbfVZ@]]]]e6@48g 隽,>I9 ɚ*3iiII3ii))Will construct direction to contact in vehicle frame from tetrahedron phase data. III*F?2F!:F!BF-o0JF)zKK-9KK3#KJJJJJ:JJJJ7;J8;JJGa Bq O >u c~G} Will construct direction to contact in vehicle frame from tetrahedron phase data. AY y A'w,p^AmN@Ymr^@mS9m8>ymH`Ү?`W?&Ŀ@3? swj??`{?ɨmN@m;m!CyޕBޕ I5Mb@Mb@Mb@111 1)1Y5㥛 ?Zd;S㥛y5=55/ݼ5vA 5K@)5v@I11y5@IMIMi٢]= ] =9]e:Q ]>aa eG٣aym m> }Nusing accuracyPremultiplier from configq}59uA;?5Yu8 iu™/>;Aqu(;u;u5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhWBffrfbf `wZ@]/>]/>] @]6@ S  T=I 9 ɚ 3iII3iis))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFp0JF AIAG} fB O >H I  I II BI &I .I 6I :I +w,cD^A6gM@Y6\@6`+969>y6H)?X? 'Ŀ@|.?2le??z?ɨ6gM@6Έ;4yRBR IIZIZM٢ffg> f=9jr ;Q j?hh nG٣lyng+ n? vNusing accuracyPremultiplier from configpv59r9?v5Yr! ir™xzzArEr:r@:r!5=Will construct direction to contact in vehicle frame from tetrahedron phase data.  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@\Z@]!]!]!]%3@=`+ 9=>I=9 9ɚEiEIAIE3iIiM :)I)QD#9*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 J J J 1J J :J :J 3J J ;J ;J C;J C;G vBI zKq Kq Kq Ku 4#Ku O >2w,Ӿ^ANE@YNU@N9N8>yNH?&]?ĿZ@!?@3yb?m?{?ɨNE@N;N CyZBZ IMb@Mb@Mb@ )Y/$?EԸ:Q > G٣y > Nusing accuracyPremultiplier from config59=7?5Y3 i™=; Ax;;J5 | A 5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h9h9h9h=BfAfArfAbfEWZ@]e=]e=]eKߣ@]eĂ@} y}=I}9 yɚ2iII3ii#Will construct direction to contact in vehicle frame from tetrahedron phase data.))D*F=?2FA:FABFEU5JFAGa Bq O >E Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia w,L^A:kF@Y:U@:q9:=9>y:H` ?\?{Ŀ`?`Lt6V?@[? Rz?ɨ:kF@:;:#CyFтBF IININ?1٢VQ> Z`=9Z;Q Z>X\ ^G٣\y^9 b> fNusing accuracyPremultiplier from config`f59bh5?j5Yb ib™hj jA`b;:b:b㋰5p r ApDNOT Ignoring new targets: 46.00 m. jjjjihhhhf!f!rf!bf%Z@]A]A]A]EÂ@Uq QU>I]9 YɚeieIaIm3iiimD)i)q2D}rA*D}rADQHI I IIBI =&I.I6Ix<:Ie FBI]àCJI]àCRIYZI] =bI] =jI]54*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G~B)O]>Aw,h^A6E@Y6$U@6Y 968>y6H`? ^?,Ŀ@Yc?K:A?:?z?ɨ6E@6;6!CyVBV!IIbIbF٢fy= jH=9j ;Q j>ll nG٣lyrt r> vNusing accuracyPremultiplier from configtz59v]3?z5Yv iv™xz zAvEv:vH:v5Will construct direction to contact in vehicle frame from tetrahedron phase data.i  A=DNOT Ignoring new targets: 46.00 m. j9j9j9jAiAhAhAhIhIfIfQrfQbfU`Z@]q]q]q]u@Y 隍L>I9 ɚiYII3iiڸ)) IJmAAJmAAzKK9KK5#KD}9*F2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G rB! OE >w, _AyB#!IMb@Mb@Mb@ )Y~jtx?T㥛 Mby;A 5@)`@Iy@II<٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config 591? 5YG i™=P<!A;S;5B A(EMDNOT Ignoring new targets: 46.00 m. jIjIjQjQiQhQhQhYh]ɂBfYfYrfYbfe Z@]}=]}=]}ՙ@]}wp@ 隕H=IS9 ɚiII3ii))%Will construct direction to contact in vehicle frame from tetrahedron phase data. ID 9JKO3 KϚ.KK"KJJJ2JJ\:J 9Jc3Ja@a@a@a@*F2F:FBF4JFH I  I !II BI =&I .I 6I \<:I P F Will construct direction to contact in vehicle frame from tetrahedron phase data.G ~B O- >w,a(_ABG@YBtW@B0:9B 9>yBH ? s^?/ÿ`2?l@%Z4? z?ɨBG@B;B"CyRBR8!IIbIb[٢r԰= rM=9vx;Q v>99 EG٣AyUA4: m> }Nusing accuracyPremultiplier from configq}59u/?5Yu iu™!Aqu:u:ud5B A+EDNOT Ignoring new targets: 46.00 m. jjjjihhhhf f rf bf`[@]Q]Q]Q]Uqp@e0: a隅>I9 ɚ3iII3iiAC))BD=:D>D*F?2F:FBFP0JFG GqA]Will construct direction to contact in vehicle frame from tetrahedron phase data. IG rB OM >*J R="J R=zK5 m$JK5 -9K1 K5 6#K5 w,8B_A2=E@Y2T@2_.;92]8>y2H? a?@lÿ@?Ae?={?ɨ2=E@2;2#CyB)BBS!I]Mb@Mb@Mb@YYY Y)YY]X9v{Gz~jthy]]#]DY ]x@)]QAI]@Yy]@IuWill construct direction to contact in vehicle frame from tetrahedron phase data.Iu<٢ =  9=9;Q >!! -G٣)y=H => ]Nusing accuracyPremultiplier from configIm59M.?m5YM iM™}O=}<}>@AIM;M<;ME5 ADNOT Ignoring new targets: 46.00 m. jjjjihhh h  Bffrfbf.[@]O=]O=]Ӳ@]>@U_.; QUu=I]>9 Yɚe[3ie IaI3ii))D#9u Will construct direction to contact in vehicle frame from tetrahedron phase data.  I *F 2F :F BF O0JF J J J 0J J |:J 9J ـ3J Gm~ByO>&w,a_AH?>I I`!II4BI&I.I6I<:I FFK@YFi[@F;9F 8>yFH? Y^?ֻÿ@1f?Qp?@z?ɨFK@F;F!CyNCBRs!IIZIZV8٢b*= b<=9bM;Q b>dd fG٣dyj: n> rNusing accuracyPremultiplier from configlr59n=,?v5Yn| in™tv?@zAln:;n};n'5| ~A|%DNOT Ignoring new targets: 46.00 m. j!j!j)j)i)h1h9hhffrfbf@I[@]]]]?@m; im=Im9 qɚuiu{IqI}3iyi}])y)Will construct direction to contact in vehicle frame from tetrahedron phase data.D%59*F2F:FBFP0JF= Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B O >H^w,C|_A~V@Ye@ˮ;9E9>yHλ?Z? ̖ÿq&?I{D?z?ɨ~V@q;"CzKMKM9KIKM7#KM 5<=EKJHDA?yޥPBޥ!I=Mb@Mb@Mb@999 9)9Y=X9vZd;O~jthy=}=j9= A =K@)9I=3@9y=@IUIU[٢eK= e =9eҥ;Q e>ii mG٣iyu%; u> }Nusing accuracyPremultiplier from configy59}*?5Y} i}™=H<@A}E};};}a5B A)EDNOT Ignoring new targets: 46.00 m. jjjjihhhh"Bffrfbf@i[@]=]=]_@]ў@ˮ; T=I9 ɚ G2i G:I I3ii+))2D%qA*D%qAWill construct direction to contact in vehicle frame from tetrahedron phase data.=D}C9EqAE*F ?2F :F BF JF "G G = Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G9BIOm>Pw,|_AF [@YFj@F<9F$8>yFH?`Z?rÿt+? ) Z )? z?ɨF [@F*;DyNYBN!IIZIZ٢^:= bT=9bAi;Q b>dd fG٣dyjμ: j> nNusing accuracyPremultiplier from configlr59nw(?r5Yny in™pr@vAln;n(;n5| ~SA|DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf[@]]]]@M< IMT=IM[9 QɚU=W3iUtIQI]3iYi])Y)JJJ1JJ:J :J3JH>>I I!IIlBI! =&I.I6I:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F}?2Fy:FyBFyJFyG dB O >w,_A6b@Y6r@6&<968>y6H}?@=W? ]ÿ`B4?`7츿@D@? Qz?ɨ6b@6;4y>fB>!IIJIJ(*٢NOt= NC=9Rd^;Q R>PT VG٣TZWill construct direction to contact in vehicle frame from tetrahedron phase data.XiXyb ; b> fNusing accuracyPremultiplier from configdj59f&?j5Yf if™hn@nAdfp;f;f蚰5p rAp xIxDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf![@]]]]ĵ@U&< Y]>I]9 Yɚ] 3i]hIYI3ii:Y))D9*F]?2FY:FYBFeo0JFazK5b3MK5-9K1K58#K5?<;747/+"   ) NG xۿYyuAmWill construct direction to contact in vehicle frame from tetrahedron phase data.G fB O >8w,R_A @6d@Y6s@6,<96)8>y6H?@W?@?ÿ 4?@:B?z?ɨ6d@6;6$CyB_BB!I Mb@Mb@Mb@    ) Y ktAA EG٣IyM9 M> UNusing accuracyPremultiplier from configQ]59U$?]5YU6 iU™e =eI_9 ɚ3i7W;II3ii>)) Will construct direction to contact in vehicle frame from tetrahedron phase data. ID d9*F?2F:FBF0JFJ=J=J9J9J=,:J=:J9J9H I  I !II BI =&I .I 6I ʰ<:I FG GB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.iw,._Avik@Yvz@v @<9vN8>yvH?`T? n3ÿ=?u %?@9z?ɨvik@v;v#CyeB!II5 I5<2٢E`< EJ=9E@;Q E>II MG٣IyM; U> eNusing accuracyPremultiplier from configQe59UG#?m5YUt iU™imC @mAUEU:;U:U5q uAyDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf[@]]]]C @- @< 15>I5{9 QɚU#4iUw,`AzK=2MK89KK9#K  Jn@YJm~@JP<9JǛ8>yJH?T?ÿJA? B ?z?ɨJn@Jw_;HybYBf!IMb@Mb@Mb@ )Y#~jS㥛:vy㥽/ݼԼ A 5@)v@I@yp@II٢Z A=9{;Q > G٣y: > Nusing accuracyPremultiplier from config59&!?5YɌ i ™ ɶ=<@A*;;\5)=Will construct direction to contact in vehicle frame from tetrahedron phase data. -PAI}DNOT Ignoring new targets: 46.00 m. jyjyjyjihh)h)h-Bf)f1rf1bf5[@]uɶ=]uɶ=]uj]@]u@P< 隵 >I9 ɚoG4i,w,2!`AHI I!IIBI! =&I.I6I:<:I3 FBIJIRIZIbIjI5J.J.J,J,J.:J.9J,J,J.;a6J.;a6J.<;a6J.<;a:z q@Yz@zv]<9z8>yzHK? rS?ÿ`) C?`ڹס@Q?Mz?ɨz q@z;z$Cye[Bm!I)q qIIF٢; ,=95:Q > G٣y: > Nusing accuracyPremultiplier from config59?5Y  i™@A;:p5 CADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfN \@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]g@%v]< !%R>I%9 !ɚ%hl4i-_!w,?`Ay%@B%o!I*Ja="Jp=II٢=c =-=9mQ m>yy GzKKK۵9KK:#K  ٣y  > Nusing accuracyPremultiplier from config59B?%5YA i)™))-AE/;J0;5A MAIDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf E,\@]A]A]A]AQ QU=IU99mWill construct direction to contact in vehicle frame from tetrahedron phase data. Yɚiw,]`A2}p@Y2@2k<92;8>y2H`??ST?ÿX?? p#?)z?ɨ2}p@2[;2!CyJ,BJW!IMb@Mb@Mb@ )YMbA`"ktyY 0 )IyII?1٢ 0=9:Q > G٣y > Nusing accuracyPremultiplier from config59?5Y܊ i@™= <m,@A;;5 ADNOT Ignoring new targets: 46.00 m. jjjjihh!h!h%Bf)f)rf)bf-3G\@HIII IIIIII&II.II6IM<:IM F]u=]u=]uSu@]uam,@k< 隕 >I9 ɚ 3iII3ii߼))E)E)*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G= +BI Oe > I IQ Bw,Ýw`A6o@Y6@6n<96I9>:Will construct direction to contact in vehicle frame from tetrahedron phase data.y6H?@T?`ÿʼ@6=?ݍ?y?ɨ6o@6\7;6"CyFBFB!IiJ=IJ%=ININm?٢V V]=9Z':Q Z>\\ ^G٣\y^נ b> jNusing accuracyPremultiplier from configdj59fn?n5Yf ifT™lng,@rAdfo;f=;f'5 AA=DNOT Ignoring new targets: 46.00 m. j9j9j9jAiAhAhAhQhQfQfQrfYbf]H_\@]]]]g,@n<  =I 9 ɚl3iII3iim߼))*F?2F:FBFP0JFJJJJJJ:JJa@a@a@a@zKcKK#9KK;#K 14%Will construct direction to contact in vehicle frame from tetrahedron phase data.G nB! O= >F$$w,_`A:kc@Y:r@:8h<9:<8>y:H?Z?o ÿ@)? 2 ?`+z?ɨ:kc@:ȇ;:#CyB BF0!I=Mb@Mb@Mb@999 9)9Y=V-/$i|?5y===q=3 A =@)9I=@9y=@IQIQ٢e쌽 e@=9mo|Q m>ii mG٣iyu?d u> }Nusing accuracyPremultiplier from configy59}?5Y} i}s™t=;AAy};};}5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBfQfYrfYbf]'{\@]t=]t=](@]Q@8h< 隭B>I]9 ɚ3iII3iiF)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFHu=>Iq Iu!IIuBIq&Iq.Iq6Iu<:Iuq FG N޼B O1 E Will construct direction to contact in vehicle frame from tetrahedron phase data.P*w,D`AZhM@YZ\@Z'R<9Z;8>yZH?@)d?+ÿ`?+`T?-z?ɨZhM@ZgC;Z!CyfBj!IIrIr<٢v zR=9z;]Q ~>|| ~G٣|y >  Nusing accuracyPremultiplier from config 59 ?5Y  i ™%"A%A E 5L; WL; 5) -uA)UDNOT Ignoring new targets: 46.00 m. jQjYjYjYiYhYhYhahafafarfabfm \@]]]]P@'R< 隥>I#9 ɚiII3ii))*Fm?2Fi:FqBFu_0JFq"G}=G}= IWill construct direction to contact in vehicle frame from tetrahedron phase data.GuVByO~>J J J 0J J ܫ:J 9J ـ3J 91w,"`AzKNLKN9KLKN<#KNmC@YmFS@m3C<9mW9>ymH`ݚ?g?@Jÿ@? ` < ?y?ɨmC@m^;m CyޅقBޅ I) Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YI +?i|?5㥛 y9< A @)I@I@yG@I5I5<٢E E7=9E!Q E>II MG٣IyUc, U> ]Nusing accuracyPremultiplier from configYe59]!?e5Y] i]™e>e;m1mAY];]!;]5q uL A},EDNOT Ignoring new targets: 46.00 m. jjjjihhhhTBffrfbf\@]>]>]౜@]~v@3C< 隵>I>9 ɚiII3iie ))2D*DBD}:D}*Fm?2Fq:FqBFuP0JFq I Will construct direction to contact in vehicle frame from tetrahedron phase data.G rB O >`7w,`A>1@Y>BA@>G+<9>*8>y>H{?o?@]ÿ @?`,鸿h`?Zz?ɨ>1@>n;>"CyJ‚BJ IIRIRb٢Z Zh=9ZVQ ^>hh nG٣lyryʻ r> vNusing accuracyPremultiplier from configtz59v ?z5Yv3 iv™xz@zAtv:v:v95  A-DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h1h1h9h9fAfArfAbfEs\@]a]a]a]ev@}G+< y}[>I}Y9 ɚiII3ii& ))HI I!II\BI =&I.I6I<:Im F*F2F:FBF0JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. I }=w,`A2Will construct direction to contact in vehicle frame from tetrahedron phase data.y}B} III(*٢ <=9Q > G٣y > Nusing accuracyPremultiplier from config59 ?5Y i™AE:X:5  ADNOT Ignoring new targets: 46.00 m. jjjjih h h h ffrfbf \@]1]1]1]1I <<>I9 ɚD3iII3ii))*F?2F:FBF/1JFGqA GrAJJJ1JJL:J:J3JUGi YyAzKa3JKk9KK=#KWill construct direction to contact in vehicle frame from tetrahedron phase data.<G ~B O- >uDw,ȳaAB@YB%@B;9B9>yBHJ?@z?`ÿ`@?  } ?@`z?ɨB@B|;@yRBR IiV=IV= V=T-only read 2 of 4 data items for bottom velocity. Device response is::BS, -155, +7,A  @ @ @  @ I%I%٢5I 5Q=9=Q =>99 EG٣AyE E> UbBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configI 59MB? 5YM iM+‘ +:  ;KAIMM|5! % A!MDNOT Ignoring new targets: 46.00 m. QIY jIjYjYjYiYhYhYhahafafarfibfm\@; 隕< >Il9 ɚc3iII3iia))uWill construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFEP5JFIHI IZ!II/BI! =&I.I6I4<:I/ FGHBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.*Jw,,aAN@YN @NC;9N8>yNH`"??ÿۓ? (p(u`?z?ɨN@N[;N#CyVBV IIbIb<٢j jQ=9jQ j>ll nG٣lyr r> vbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz59v?~5Yvf ivQ‘ :w;\AtvY;vH?v5  \ A =DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfM]@uC; y}<>I}]9 ɚ3iII3iiě))*FM?2FI:FQBFUP0JFQ M$?II}Will construct direction to contact in vehicle frame from tetrahedron phase data.yi}AGUBaO}z>J J J J J l:J :J J UQw,V~FaAzKBoHK89KK>#K&)))%U@Y@6N;969>yH?@?@ÿ{?' i? Sz?ɨU@;騥"Cy޵B޵ IWill construct direction to contact in vehicle frame from tetrahedron phase data.        Mb@Mb@Mb@ )Yv/?Kǿ+yx=^: A @)@Iy @II٢>? .=9Q > G٣y˒ > Nusing accuracyPremultiplier from config59?5Y i‘T:i>h;AE;;5  A.EMB*** querying acoustic contact ***jIjIeDNOT Ignoring new targets: 46.00 m. jajajajiiihihqhyh}Bffrfbf2]@]%i>]%i>]%@]%$@U6N; Y]>I]q9 Yɚ]@Y4iYIYIe3iaimV%)i)qEErA*F-?2F1:F1BF54JF1 )I)} Will construct direction to contact in vehicle frame from tetrahedron phase data.  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.G H<B O >vWw,7`aA6ԟ@Y6@6S:96H8>y6H o??Ŀ V?SxJ`x? z?ɨ6ԟ@6;4yBBB IDFAIJIJ%x٢Rę Ru=9VQ V?TT VG٣TyZ Z? bNusing accuracyPremultiplier from config\b59^?f5Y^0 i^™df6fA^E^: ;^:^5h n AlDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf \H]@H<>I I"!IIBI =&I.I6Io<:IZ FBIaJIaRIaZIe! =bIajIe~u4]]]]@%S: !%¥>I- 9 )ɚ-4i)I)I53iYie0)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3436> BDAT read: Tx time:23:43:00.8948 $Ping request sent.]w,zaA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:23:43:00.8940 *checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250478B ş@YBԦ@B9By:9>yBH`?Ԛ?#GĿ@$A?ӵ?U?`?Vz?ɨB ş@B܄;B!CybBb IIjIj(٢r rF=9vQ v>tt zG٣xyzȑ z> Nusing accuracyPremultiplier from config|59~y?5Y~# i~™  B A|~:~*:~鸰5  AMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhIhIhQhQfQfYrfYbf]a]@]Y]Y]Y]]i@} y隅>I9 ɚ)4iYew,qaA6G@Y6æ@6V96jB>y6Hࠠ?@=? jſ ?zhj?*?l?ɨ6G@6';6"CyBBB I DIDMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753462Y㥛 ?GzǿV-y>p=hzA @)@Iy@IIỳ٢] e=9mqQ m>iq MG٣IyU#r U> ]Nusing accuracyPremultiplier from configY59]?5Y]0 i]™ |>W;A]E]ez<]<]T5  ADNOT Ignoring new targets: 46.00 m. jjjjih!h!h!h-Bf)f)rf)bf5`*]@]M |>]M |>]M-@]Mg@eV aeq>I9 ɚp4ix@Y>@>Ļ9>X@>y>H ??aſ`?x??`o?ɨ>x@>=;dh jG٣hyjr j> rNusing accuracyPremultiplier from configlr59n?v5Yn inA™tvvAnEn:na:n,5x z A|%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2576675DNOT Ignoring new targets: 46.00 m. j1j1j1j1i9h9hAhAhAfAfIrfIbfM@Y]@]i]i]i]m]@}Ļ 隅q>IN9 ɚ5i]ttw,aAJ@YJ@J9J@=>yJHm??`Lſ`&Q?}#? ?!s?ɨJ@JE;HyVBV I]Mb@Mb@Mb@YYY Y)YY]jt? ףp= ǿV-y] >]Q8]m]A ]@)]@IYYy]p@IuIu٢!Q= ?=9ۻQ > G٣y > Nusing accuracyPremultiplier from config59?5Y ih™{>W;AE;o; 5 - ADNOT Ignoring new targets: 46.00 m. jjjjihhhhہBffrfbf ɻ]@ YIY]{>]{>]@]ȯ@ >I9 ɚ-5iIY I] II]ӂBIY&IY.I]6D6I]i<:I]V F*F2F:FBFJFJ+3K+ 3 K+L.K#K#"K#Ju Ju Ju 1Jq Ju :Ju 9Ju 3Jq Ju i;Ju j;Ju O>;Ju P>; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014043G} 4?B O >P{w,yvaAy%B% II5I5٢E$= E9=9EQ M>II MG٣QyU U> ]Nusing accuracyPremultiplier from configYe59]?e5Y] i]™iimA]E]\ ;] ;]5uB un Au1EDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf]@]]]] >I9 ɚihl:D [? IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265410Dm}9*F2F:FBFJF"G=G>G5 BDBy O >uw,eQ bAZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517593bo@YbF@bX9b:>ybHi'? ?@@ſ8?첿?53?w?ɨbo@bA;b$CyjςBj I)l lzKMjIKM9KIKMA#KMMb@Mb@Mb@ )Y㥛 ?oʡſkty>- 0zA @)@Iy@II٢i= .=9HQ > G٣y( > Nusing accuracyPremultiplier from config59훜?5Y i™h>i;A1;;ð5  AEDNOT Ignoring new targets: 46.00 m. jAjAjIjIiIhQhQhaheBfifirfibfu@^]@]h>]h>]ɘ@].*@X >I%9 ɚi;II3ii=X)) QIQeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769454D9*F5 ?2F1 :F1 BF9 JF9 Hu :>Iq  Iu IIu BIq &Iq .Iq 6Iu <:Iu h FJ J J J J L:J :J J J P;J Q;J I;J I;G]DBiO>w,n(bANK[@YNj@N:9N9>yNH??`hſ@/BW? '??!x?ɨNK[@N}`;N#CyZB^!III㔳٢]I= ]>=9eQ e>ai mG٣iyu- u> }Nusing accuracyPremultiplier from configy59}~ꛜ?5Y}Y i}™A}E}:}L:Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ>Օ4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021835}İ5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`^@]]]]Q@: >I9 ɚiI!I%3i)i-_)))1DE9*F?2F:FBF_0JFGNBOD> IE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273512w,BbA6uO@Y6^@6 96V9>y6H??sſ G?)s? ?@x?ɨ6uO@6;6$CyRBR(!II^I^)٢f!> fU=9jQ j>hh jG٣hyn w r>)t t 5Nusing accuracyPremultiplier from configGtA59(蛜?5  Y tAy BYq i™AE=<ư5! %A)]DNOT Ignoring new targets: 46.00 m. jajajijiiihqhyhhffrfbf ,^@]]]]@ >I9 ɚiFII3ii,d))2DA*DAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530540D9zKBHK9KKB#K*F?2F:FBFJFGqA GqA I G tLVB) OE >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778110c͖w,\bA2P@Y2^`@2792\h9>y2H`?``?`ԂſF?BГ?` ?x?ɨ2P@2u<;2"Cy>,B>W!IiB=IB ==9H Q > G٣y9 > Nusing accuracyPremultiplier from config59囜?5Y- i™.0>;AF;;yȰ5 ADNOT Ignoring new targets: 46.00 m. jjjjih h h h eBffrfbfE^@].0>].0>]@]@-7 )->I-9 )ɚ1i5|I1I53iYi]b)Y)aHI I4!IIBI&I.I6IG<:I< FJJJJJ :J 9JJJ;J;JO>;JP>;D9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031176*F% ?2F! :F! BF% `0JF! I G= bBI Oe >w,ǟxbABR@YB#b@B 9B39>yBH ??@ſE 7? ?@j?`y?ɨBR@B';B$CyNMBN!IIVIV̍٢^> bG=9bQ b>dd fG٣dyj : j> rNusing accuracyPremultiplier from configlr59n㛜?r5Ynب in™tvvAn En:n:nDʰ5| ~A|%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf5`^@]Y]Y]Y]]7@m iuI>Iu9 qɚqiuIqI}3iyi}Oa)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281959D9J AAJ @A*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536763zK K u9K K C#K BK pA:K pAGq B O >bw,,dbAy=gB=!IMb@Mb@Mb@ )YZd;?MbXy&1yy=ʽ`e`A @)~@Iyz@IIF٢=  8=9 Q  > G٣y > %Nusing accuracyPremultiplier from config%59ᛜ?-5Y i$™-=-;--A; ;5̰5 }$?I}h A%DNOT Ignoring new targets: 46.00 m. j!j!j!j)i)h)h)hQhUBfQfQrfYbf] A~^@]=]=]w@]1@) )->I- 9 )ɚ)i1I1I53i9i=/b)9)9BDE5?:DEi? Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786159D9HI I!IIRBI! =&I.I6Iu<:I] FBIȟCJIȟCRIZI =bIjI4*FE ?2FA :FA BFE o0JFI "GI GM = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037387GMNaBYOu>w,0bA2g@Y2w@2MV929>y2H` ?_? ſ`; ?h ?j?x?ɨ2g@2I;2#CyVBV!II^I^٢fdC> j<=9jrQ j>ll nG٣lynC; n> vNusing accuracyPremultiplier from configpv59rߛ?z5Yr" ir1™xzzAr!Er ;r ;rΰ5| A5DNOT Ignoring new targets: 46.00 m. j1j9j9j9i9h9h9hAhAfAfArfAbfMB^@]a]a]a]e@}MV y}S>I}9 ɚiII3ii;pX)) AIID&9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290108*F2F:FBFU1JFJ5 J5 J1 J1 J5 :J5 9J1 J1 aU @aU @aU @aU @G aB O >}w,sbAmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544856r@Y|@~969>yH,? ?ſ 6-?%@x?V?x?ɨr@&;騡yB!I%Mb@Mb@Mb@!!! !)!Y%{Gzty&1~jthzK5BoHK59K1K5D#K5y%ף%`e%D% A %@)%@I%@!y%@IMIM#٢]= ](=9]&Q e>aa eG٣aym;; m> uNusing accuracyPremultiplier from configq}59uݛ?}5Yuh iu8™}f=k<,/Aqu;u;u9а5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf@^@]f=]f=]f@]b@~ >I9 ɚiII3iiT)) IIQD89 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793954*FE ?2FA :FA BFE 0JFA H I  I !II BI &I .I 6I <:I z F*J54="J5%=G{XBO>vݹw,`bAbP@Ybї@b"9b`9>ybHQ?6?zſ,?`oU?@ ?`x?ɨbP@b;b"Cy׃B)"III[٢-<> -G=95:Q 5>11 5G٣1y=H; => MNusing accuracyPremultiplier from configAM59Eܛ?M5YE UtIiE=™QU/UAAE/;E@;EҰ5Y e_AaDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf^@]]]]mc@" }>I9 ɚiII3iiDK))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.053720D%\9E) I*F?2F:FBFU5JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305533G SB O >ww, cA2k@Y2쥦@2929>y2H`j? |?@cſ@%@?ső??y?ɨ2k@2\;2#CyRBRJ"IIZIZʴ٢bj > bS=9b:Q f>dd fG٣dyj; j> nNusing accuracyPremultiplier from configlr59nkڛ?r5Ynݫ inC™pv.vAln);n!*;nӰ5| ~A|-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h1h1f1f9rf9bf=}^@]]]]4c@   ?I 9 ɚiIQI]3iYi]F)Y)aJJJ0JJ:J9Jـ3JDu49*F-?2F):F1BF5P0JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560968zKBHK9KKE#KGm W I w,GcA:@Y:@:z9:]N9>y:H? ?aNſnG?K>?@?x?ɨ:@:yˇ;:"CyBBB`"IbWill construct direction to contact in vehicle frame from tetrahedron phase data.`ibAfchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.809771%Mb@Mb@Mb@!!! !)!Y%Zd;MbPy%y%̼%%dA !)!I!!y%@I=I=%x٢Mڪ= MB=9UH;Q U>YY ]G٣Yyeg; e> mNusing accuracyPremultiplier from configiu59m؛?u5Ymf imF™u=}I<}@}Am"Em4;m2;mհ5 @DNOT Ignoring new targets: 46.00 m. jjjjiqhqhqhyh}(Bfyfyrfbf`_@]=]=]a@]@=z Im)>Im9 qɚu3iqIqI}3iyi}W*;)y)yHI IN"IIBI" =&I.I6Ij<:IR FJJBADX9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062276*F ?2F :F BF 5JF I G ;,BB O>w,:cAZ\@YZЦ@ZXP9Zx8>yZH`??.ſ c?\`)?@?`y?ɨZ\@Z;Z!CyfBf"IInIn[٢= 4=9;Q  >  G٣y5̗; => ENusing accuracyPremultiplier from configAM59E֛?M5YE iEI™QU@UAAE:EC:Eװ5Y ]b@aDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf "_@]]]]@XP >I9 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313483ɚiyIyI3ii 4))JJJ1JJ:J9J3JDg9*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=7.569869zK jIK k9K K F#K G] %:By O >w,VWcA I ^'@Y^@^j`9^9>y^H? Pz??Ŀ?T`?@P?@y?ɨ^'@^8;^"Cyj(Bj"I)l lMb@Mb@Mb@ )Y!rhMbpy&1|yl罙` A @)@I@y@IIV8٢A= -=9;Q > G٣yd< > Nusing accuracyPremultiplier from config 59fԛ?5Y iM™=;@A\;Z;ٰ5! -@)UDNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhYhYhahezBfafarfibfm@@_@]=]=]SK@]ց@j` 隥>Iq9 ɚE3iIIM3iQiU W)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818405DA*F?2F:FBFP0JFHI I"IIu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=8.069385w,IpcAN@YNA#@N D9N*9>yNH8G?m?<ĿY?ݳڐ?? y?ɨN@N#;LyZ0BZ"II`I`٢jg(= j]=9j-;Q n>lp rG٣pyrL< r> zNusing accuracyPremultiplier from configt~59vқ?~5Yv ivP™@Av#Evn?;v@;v8۰5  /@ 5DNOT Ignoring new targets: 46.00 m. j1j9j9j9i9hAhAhAhAfIfIrfIbfMkX_@]i]i]i]m@ D >I9 ɚ784iII3ii))2D*DqADy9 1I9*FI2FI:FIBFM_0JFIG%#B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.321446 G |uA 5 Y= |uAy= IAJ J J 0J J :J u9J ـ3J w,kcAR]2@YRA@R$,&9RK9>yRH@|? [`?@`Ŀ@|`?@kj mń?m?+z?ɨR]2@Ra;R!Cy3B "III٢< <=9%;Q ->EWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576454ii G٣y< > Nusing accuracyPremultiplier from config59]Л?5Y iU™@A<e<<ݰ5 @5DNOT Ignoring new targets: 46.00 m. j1j1j1j9i9h9h9h9hAfAfArfAbfEnv_@]izKBoHK9KKG#K]i]i]m0@$,& >I9 ɚ 4i!I!IM3iIiM)I)Q )I5hDm9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825502*F ?2F :F BF P0JF H I  I "II oBI &I .I 6I u<:I X FG-B9OU>Yw,cAJ<J>@AnI@Yn1Y@n! 9n.9>ynH@p?V?@Ŀ`v7?`洿@6x?`a?z?ɨnI@n;n"Cy~+B"Ii YY eG٣aye"; e> uNusing accuracyPremultiplier from configiu59m͛?}5Ym, im]™}L>};}@}Aim;m;m@߰5 m@4EDNOT Ignoring new targets: 46.00 m. jjjjihhhhcBffrfbfv_@]L>]L>]J@]@! >Iy9 ɚg4iII 3i i ) )MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.078131 ID-9*F?2F:FBFU0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.329456G B O >aw,7cA6Pc@Y6r@6"t96%9>y6H ?J?bĿ`y"_?3`u|??wz?ɨ6Pc@6uۇ;6#Cy>B>"IIJIJq٢R R[=9VR;Q V>TX ZG٣XyZ < Z> ^Nusing accuracyPremultiplier from config\b59^˛?b5Y^  i^d™dfN@fA^$E^ ;^K ;^5h j3@l DNOT Ignoring new targets: 46.00 m. j j jjihhhhffrfbf%k_@]9]9]9]=N@U"t QUI>IU9 Yɚ]4iYIYI3ii&))BDI?:DO?D9JJJJJܫ:J9JJ*Fu?2Fy:FyBF}0JFyGUoWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585361BOJ>zKk3IK9KKH#K 9 I9 !w,OcA6qx@Y6@6׭96x8>y6H?A? 5AĿ@H?ϵ u?`x? z?ɨ6qx@6;6"CyRBR}"IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834547Mb@Mb@Mb@ )YX9v{GzQ롿y#\A @)h@I~@y@IIV8٢ <=9i;Q > G٣y; > Nusing accuracyPremultiplier from config59ɛ?5Y it™=;@A;;5 m@DNOT Ignoring new targets: 46.00 m. jjjjihhhh/Bffrfbf@v_@]=]=]omN@]m@ ׭  >I  9 )ɚ-35i1I1I53i9i=Dּ)9)9HI I"IIBI&I.I6I<:I~ FBIJIRIZI# =bI" =jIH5D-9*F?2F:FBFq1JFWill construct direction to contact in vehicle frame from tetrahedron phase data. 9 IA #Lw,cA6F@Y6Ǣ@6&p96}l9>y6H@?$5?`*Ŀ?`[n?& ?z?ɨ6F@6H;6#CyRBRa"I)T VATTII٢ T=9;Q > G٣y%B < %> -Nusing accuracyPremultiplier from config)559-Ǜ?55Y-ۢ i-™9=@EA-%E-?B;-B;-v5I M@IuDNOT Ignoring new targets: 46.00 m. jqjyjyjyiyhyhyhhffrfbf_@]]]]@&p >I@9 ɚiII3ii))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF 5JFGN޼BOF> Will construct direction to contact in vehicle frame from tetrahedron phase data.{8w,ݳdAzKBoHK9KKI#K#))+,,-29:9954000/+-,('&#  yBJ"ImMb@Mb@Mb@iii i)iYm ףp= ףp= :vymQmQ8mTmIA mb@)mQ@ImQ@iymG@II[٢ 4=9Q > G٣y > I -Nusing accuracyPremultiplier from config)559-ě?55Y- i-™===;=@=A)-;-;-5A MAQDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`s_@]=]=]Bf@]@ ?I9 ɚR4iII-3i1i56ü)1)y2D*DDe9*F2F:FBF@5Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Response Not Received %*response not received--J J J J J l:J :J J J ;a J ;a J J;a J J;a ^ w,+dAN@YN<@Nw޺9NV}9>yNH,?@i'?3ĿP?[?`@?y?ɨN@N;N"CyZ҃BZ$"IIbIbV٢j~3 jm=9ju;Q j?ll nG٣lyr30< r? vNusing accuracyPremultiplier from configtz59vn›?z5Yv iv™|~%@~Atv@;veA;v5  {A 5DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfM `@]i]i]i]m%@w޺ >Ik9 ɚiII 3i i2))1uWill construct direction to contact in vehicle frame from tetrahedron phase data.PExceeded connect timeout, disconnecting.D-9*F?2F:FBFP0JFGa.ʼBO>> I- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) Fw,YEdA:@Y:ǧ@:i9:I9>y:H1?`f%? ÿ_H?;-U?@~?z?ɨ:@:;8y^ÃB^"Iib=Ibp< f=f=IjIj ٢vF vI=9v:Q v>xx zG٣xy~: ~> Nusing accuracyPremultiplier from config 59ֿ? 5Y i™  3@A&En::5 AMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQhQfYfYrfabfe@`@]]]]v3@i 隝>I9 ɚ3iII3iiI))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBFO0JFzK50MK589K1K5J#K5  IG ɼB O >rw,<_dABM@YB˧@B:9Bs%9>yBH`6?@"? ÿ`?` _R?s?tz?ɨBM@B;@yJBJ!InWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YDYlʡEL7A`尿y-+A @)C@I@yQ@IIƲ٢N ;=9C9Q > G٣yN: >  Nusing accuracyPremultiplier from config59ͼ?5Y i™"=;DA;u;5! %A!DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf %`@]%"=]%"=]%@]%ZM@u: qu= ?Iu-9 yɚ}iyIyI3ii)HI I"IIPBI&I.I6IQ<:I? F)JJJJJ:J 9JJJ6;J8;JO>;JP>;DM-9Will construct direction to contact in vehicle frame from tetrahedron phase data. nManaging dock network, ignoring radio surface power off*F ?2F :F BF P0JF $?I G% B1OM>'w,:}dA6m@Y6Χ@6b969>y6H8?l!?`ÿ`c_?k4T??z?ɨ6m@6;4y>B>!IIFIF(*٢N  R@=9R iQ V>TX ZG٣ye: >  Nusing accuracyPremultiplier from config 59 ƹ?5Y  i  ™DA   ;  ; 5) -A)]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhYhahahafafirfibfm2`@]]]]bM@b 隝G>I(9 ɚiII3iik\))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fm?2Fi:FiBFiJFi Will construct direction to contact in vehicle frame from tetrahedron phase data.G ~FB O >{%w,dA $I$>]@zKBKKB9K@KBK#KBY>Ƨ@>#9>ϯ8>y>H@1?`i%?ÿv#?`Uж`??@{?ɨ>]@>9;>!CyRmBR!I)T VATVAuMb@Mb@Mb@qqq q)uAYu~jt?Zd;㥛 yu G٣y > Nusing accuracyPremultiplier from config59붛?5Y i= ™>;A;;i5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhIBff rf bf  @`@]U>]U>]U@]UBy@}# y}?I}_9 yɚ:4iII3iiW())Will construct direction to contact in vehicle frame from tetrahedron phase data.D;9HI Iy"IIBI" =&I.I6D6IX<:ID F*F?2F:FBF[0JFJ+3K+O3 K+Ϛ.K#K#"K#J J J 2J J :J :J c3J J ;J ;J A;J A; Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >,w,l[dA6䶠@Y6eƧ@6'969>y6H`h1?@$?Ŀ@V?rd??@z?ɨ6䶠@6!;6#CyBLBB~!IIJIJ<٢R& RO=9V7ºQ V>TT ZG٣XyZ Z> fNusing accuracyPremultiplier from config`f59b??f5Yb ibc ™hjjAb'Eb7:b:b$5l nApDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfGM`@]]]];Jy@' k?I9 ɚiII3ii؞))! ID*Fm?2Fi:FiBFu0JFqeWill construct direction to contact in vehicle frame from tetrahedron phase data.GNB) M Ga q Y y LBO > 9? VA2w,dA>@Y>@>a9>8>y>H%?*?Ŀ ``?@Q=Lp? o?z?ɨ>@>;`` bG٣`yfσ f> jNusing accuracyPremultiplier from confighn59j?n5Yj~ ij ™prrAhj>;j`;j5t v=AtDNOT Ignoring new targets: 46.00 m. jjjjihh!h!h!f!f)rf)bf-@Y`@]Q]Q]Q]UXBy@ea am>Im9 iɚm 3iiIiIu3iqiu|Բ)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data. IDJ9zKBoHKk9KKL#K   !!     *F5?2F9:F9BF=0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.G] B O >9w,@dAjHPbHR4<HV9>IT IV("IIVփBIV# =&IT.IT6IVZ<:IVF Fy$B%M!IMb@Mb@Mb@ )YbX9ȶ?ףp= ÿʡEyE=A &@)@Iy@II٢7ƽ 8=9Q > G٣y  > -Nusing accuracyPremultiplier from config!E59%?E5Y%: i% ™MIG>U;A%(E%/<%<%5B A7E}DNOT Ignoring new targets: 46.00 m. jyjjjihhhJJJ1JJ,:J :J3JJ;J;JU;JU;hBffrfbfOi`@]5IG>]5IG>]5y@]5ȇ@A AE ?I9 ɚ&4iII3iiYW))BD/?:D?Will construct direction to contact in vehicle frame from tetrahedron phase data. qIyD\9*Fe ?2Fa :Fa BFe h0JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data.GNBO>Aw,CeAZ@YZ@ZA9Z549>yZH@?9?@Ŀ ;?@d ?? z?ɨZ@Z;Z"CyfBfD!IInInq٢v v6=9z xx zG٣|y~) ~> Nusing accuracyPremultiplier from config 59髛? 5Y i ™A;;5 "AUDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhYhYhYhYfafarfabfe@7v`@]]]]@A 隝W?I]9 ɚ4iII3ii&Ӽ))D*F=?2F9:FABFE25JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.GU BO> I zK "MK u9K K M#K    bAGw,nneA>p@Y>l@>v:9>8>y>HN?^A? Ŀ h@W?@Ti-P??`z?ɨ>p@>k;ejr A=9Q > G٣y > Nusing accuracyPremultiplier from config59-?5Y< i ™/v>\;A)E;;5 AWill construct direction to contact in vehicle frame from tetrahedron phase data. DNOT Ignoring new targets: 46.00 m. j jjjihhhhBf!f)rf)bf-`@]M/v>]M/v>]Mtc@]M=T@}v: y}5?I}9 yɚ}$5iyII3ii))HQIQ IU!IIUBIU" =&IQ.IQ6IU1<:IU) FBIJIRIZIbI# =jIJy4D|9*F?2F:FBF%05JF!JJAA Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge ԼB O >  I hkMw,wK8eA2b@Y2tr@2_928>y2H?@GF?Ŀ(@p?߳&?`*?`z?ɨ2b@2;2!Cy>B>)!IIJIJ(٢NH RZ=9RƻQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXb59Z¦?b5YZ@ iZ: ™`b bAZ*EZ;Z_;ZG5h jAhDNOT Ignoring new targets: 46.00 m. jjjjih h h h ffrfbf`@]]]]eM@%_ !%1?I%w: !ɚ-nH5i)I)I-3iQiUy)Q)Y2Da*Da Will construct direction to contact in vehicle frame from tetrahedron phase data.Dj9*FM?2FI:FQBFU@5JFQGY GYJ J J 0J J ܫ:J 9J ـ3J a @a @a @a @Gu sB O >xTw,'ReAWill construct direction to contact in vehicle frame from tetrahedron phase data.NWR@YNa@NP9Nȥ8>yNH? L?dĿ"zZ?@L4??@z?ɨNWR@N;N"CybBb8!III aIi٢yM= ,=9Q > G٣y2 > Nusing accuracyPremultiplier from config 59? 5Yܭ ik ™  1 A+E;;d5 rADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf `@zKRLK9KKN#K]]]]wC@}P 隝)7?I9 ɚ@{5iII3ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.iD} 9H I  I !II qBI &I .I 6I r<:I X F*F ?2F :F BF Q5JF *J C="J GUfBa}Will construct direction to contact in vehicle frame from tetrahedron phase data.O?<\w,SseARD@YRzT@Rvm9R8>yRH?"Q?@})ſm@I?I@e-?@?By?ɨRD@R;R!CyjBj?!IuMb@Mb@Mb@qqq q)qYush|??ClǿX9vyu)>ud;u}uA q)u@Iu@qyu3@IIq٢< *=94Q > G٣y`c > Nusing accuracyPremultiplier from config59?5Y i ™l>P; )I)=A<͍<r5EB EJAE9EDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`@] l>] l>] &_@] s@Evm AE33?IE9 AɚM5iIIIIU3iQi})y)yDY*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G YB O= >&cw,eAJ6J6J61J4J6,:J69J63J4BP6@YBE@B9B9>yBH/?KV?XYſGj7?Q? W?@x?ɨBP6@B\ ;@yJ!BJJ!IIzIzT٢7<= V=9 Q  >  G٣yd > 5Nusing accuracyPremultiplier from config1=595?E5Y5 i5 ™AM쿑MA5,E5J;5J;5!5Q UAQ}DNOT Ignoring new targets: 46.00 m. jyjjjihhhhffrfbf``@]]]] @ 7?I: ɚݫ5iII3ii¹))BD3?:D$?D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FyBF}Z0JFy"G=G= IIQzK=BoHK=9K9K=O#K=GoBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.pEiw,eAHDID IF!IIFbBIF# =&ID.ID6IF<:IFc Fn%@Yn5@nļ9n9>ynHd?\?ſ  !?@K:? ? Rx?ɨn%@nU;n Cyz3Bz`!I5Mb@Mb@Mb@111 1)1Y5S㥛?gfffffƿMby5$>5335@5~A 5@)1I5@1y5=@IUIUm?٢eG= e6=9e»Q e>ii mG٣iyuf u> }Nusing accuracyPremultiplier from configy59}?5Y} i} ™6x>Z;K쿑A}-E}3;};}5 pADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf@`@]]6x>]]6x>]]@]]@ļ 隕:?IY9 ɚ 5iII3ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9 9I9*Fm ?2Fi :Fi BFm P0JFi G OB  Will construct direction to contact in vehicle frame from tetrahedron phase data.O>qw,xeAbe@Yb'@bghڼ9b]8>ybH M? 1a?ſ ?@8L??w?ɨbe@b;b!CynIBn{!IrArAIzIz?1٢~*= D=9ͻQ >    G٣ y8| > Nusing accuracyPremultiplier from config%59j?%5Y i ™!-m쿑-A.E ;: ;51 5A1eDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`@]]]]l@5ghڼ 15E?I5: 9ɚ=i9I9IE3iIiM)I)QJJJ0JJ:J9Jـ3JD9eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF9JFA } $?Iy zK BHK `9K K P#K    G%  B1 OM >6ww,AeA2 @Y2m@2P92Y9>y2H@4?e?`ſ `v?1?@;?`.w?ɨ2 @2/Ӌ;2"CyjdBj!IMb@Mb@Mb@ )YK7?l¿V-yI > A @)I@y@IIF٢= ?=9ƻQ > G٣yz > Nusing accuracyPremultiplier from config59m?5Y: i ™P>;4A/E|;;5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhh h Bf f rf bf`@]-P>]-P>]-ٱ@]-@EP AER8?IE9 IɚIiIIIIU3iQiUD)Q)Y2DY*DYDAHI I!IIqBI&I.I6I<:Ii F*F?2F:FBF`0JFG GG _B O% >} Will construct direction to contact in vehicle frame from tetrahedron phase data.[}w,eA I:@Y:@:|9:9>y:H@!#?`h?@= ƿ_?Ԯ@C??wv?ɨ:@:#;: CyFBF!IIRIRT٢Zr-> Z]=9^G߻Q ^>\\ bG٣`ybW b> fNusing accuracyPremultiplier from configdj59f?j5Yf if% ™lnK]AdfJ J J J J \:J J J RDw,fA2@Y2-@2" 9228>y2H ?fk?@+ƿ?@ &w?M?Bv?ɨ2@2;2"Cy>B>!IiB RK=9VQ V>TT ZG٣XyZ& Z> bNusing accuracyPremultiplier from config\b59^ڔ?b5Y^ i^: ™dfafA^0E^L:^:^" 5h jAh DNOT Ignoring new targets: 46.00 m. j j j j i hhhhffrfbf%@`@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@" U?Ic: ɚiII 3i1i=n )9)I 1I9zKLK9KKQ#KBK:KD9*F5?2F1:F1BF=}0JF95 Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I !II BI &I .I 6I <:I o FG= BI Om >xw,+fAy%B%"IMb@Mb@Mb@ )YK? 6=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 ?5Y  i K ™e>;A  ; ;  5! %+A!UDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhYhYhYheQBfafarfabfe a@]e>]e>]@]ȉ@ 隝5?I9 ɚiII3ii))BDF?:DK?uWill construct direction to contact in vehicle frame from tetrahedron phase data. ID=9*F?2F:FBF0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >1ˑw,GfA6w@Y6@696\8>y6H?Pl?eƿR[?`??pu?ɨ6w@6[=;4y>B>9"IIJIJ[٢NJ> RR=9R-Q R>TT VG٣TyZy Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^  i^Y ™`b!bA^1E^C:^:^ 5h nAlDNOT Ignoring new targets: 46.00 m. jjjji h h hhffrfbf`Ta@]]]]lj@ vI?I: ɚiII3ii"))D9*Fu?2Fy:FyBF}P0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data. 9IAGBOm >zK- g3LK- k9K) K- R#K-     cw,;afA>@Y>T@>A#9>79>y>H? g?@Sƿ@H@?S/ ga?`? t?ɨ>@>P; G٣y: > Nusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.9l?55Y ic ™=== <==A<t<5EB EAE A IA w,X{fA6@Y6 @6U(96G8>y6H? d?@Wƿ???@s?ɨ6@6nk;4yR!BR"II^I^٢f<> jX=9j@mQ j>ll nG٣lyr; r> vNusing accuracyPremultiplier from configpz59r?z5Yr irk ™xzzApr~:r ;rW5 @5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i9h9h9hAhAfAfArfAbfMQ1a@]a]a]a]e@}U( y}B?I}e: ɚiII3iia?))2D*DDu,9*F ?2F :F BF \0JF %Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> w,CfA2) @Y2@2,92F 9>y2H6.?`4]?Bƿ }?4\౓? ?Ts?ɨ2) @2;2$CBWill construct direction to contact in vehicle frame from tetrahedron phase data.y:>BF"IININ%٢V$> VL=9VQ V>XX ZG٣Xy^p; ^> bNusing accuracyPremultiplier from config`f59bw?f5YbT ibt ™djnjAb2Ebj:b:b5 ,@ I5DNOT Ignoring new targets: 46.00 m. j9j9j9jAiihyhhhffrfbf@a@]I]I]I]M@, 隥%Q?IU: ɚiII3iiB))zK=MLK=89K9K=S#K= -Will construct direction to contact in vehicle frame from tetrahedron phase data.Dc9H I  I "II 2BI &I .I 6I y<:I \ F*F ?2F :F BF 4JF J J J J J L:J :J J J P;J Q;J @;J @;GB O%>w,~ȴfA>*@Y>x:@>^19>&8>y>H@h?FL? ƿi\?`{)*?n?@Ws?ɨ>*@>;>#CyFYBF"I^Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y+X9vMb`y}7A @)Iy@II٢k= =9a Q > 5G٣9y=; => ENusing accuracyPremultiplier from configAM59E+?U5YEG iE| ™U=U5w,NfA2C@Y2)S@2,m1929>y2H???@ƿ@V?@[}+? ?r?ɨ2C@2`;0yFqBF"IININ٢Vi= VK=9VpQ Z>XX ZG٣Xy^; ^> bNusing accuracyPremultiplier from config`f59b҄?f5Yb> ib ™djE@jA`b:b:b+5l n@lDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`u\a@]]]]3E@,m1 9?I: ɚiII3ii))!BD-zK&(KKKKT#K2L9+LIDE/kDq@`6|[A+m Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I "II BI &I .I 6I <:I Few,ufAZ]@YZ&m@Zj09ZO8>yZH ?`3?mƿݿ`2?0Ϊ ??s?ɨZ]@Z;Z CyrBv"IMb@Mb@Mb@ )YMbQMb`y~A @)IC@y@I-I-ͳ٢=f= =5=9E:Q E>AI MG٣IyM; M> ]Nusing accuracyPremultiplier from configYe59]?e5Y]r i] ™e=meuw,!gA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6L{@Y6͊@6.96'9>y6Hd? $?@Bƿ? ?nΥ? c?"s?ɨ6L{@6]؊;6"CyFBF#I)H HJAJAIRIR[٢V= ZV=9Z:Q Z>X\ ^G٣\yb< b> fNusing accuracyPremultiplier from config`f59b?j5Yb ib ™hjX@jA`b:b:b5p r@pDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f!rf!bf- va@]A]A]A]EhX@]. Y]7?I]: aɚeҶ4iaIaIm3iiimdҼ)i)iDWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FQBFU_0JFQ  I GU 8Ba O} >w,zQ gAB)@YB@BGe,9B8>yBH`? k?`ƿr?`諿??s?ɨB)@BT;B#CyJBJ#IzK OK 9K K U#K |xspmjd_[YVSPJC??<<7:75301/)*,+)(&''%" %JQ:soL3 BKqA:K=Mb@Mb@Mb@999 9)9Y=/$S㥛:vy=1=/ݼ=T=A 9)=x@I=Z@9y=@IUIU٢e.= e==9e:Q e>ii mG٣iyu< u> }Nusing accuracyPremultiplier from configy59}|?5Y} i} ™ >;@Ay}/;}.;}5 _@DNOT Ignoring new targets: 46.00 m. jjjjihhAhIhM?BfIfQrfQbfUa@] >] >]VU@];@Ge, 隭.?I:9 ɚ 5iII3iiVּ))2D*DMWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I#IIBI&I.I7D6I<:Ig FDm9JJJ1JJ̝:J:J3JJ;J;JyE;JzE;*F ?2F :F BF! JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data. I G ~>ԼB O >Dw,;gAB̲@YBM§@Bi)9B9>yBH U*? ?y~ƿ ?G6??s?ɨB̲@B洉;B CyNBN#IIVIVF٢^z ^H=9^I:Q ^>`` bG٣dyj< j> rNusing accuracyPremultiplier from configlv59ny?v5Yn in ™tv@zAn4En,;n,;n}5| ~@|%DNOT Ignoring new targets: 46.00 m. j!j)j)j)i)h)h)h1h1f1f1rf9bf=a@]]]]@i) {,?I9 ɚe55iaIaIe3iiimy)i)i) ~G|uA) mYm|uAyu AWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAD9*F- ?2F) :F1 BF5 `0JF1 "G= =G= == Will construct direction to contact in vehicle frame from tetrahedron phase data.GU EBa O >w,C7XgA 8I82Р@Y2ߧ@2y&92*8>y2HC??@cƿ`6?/%ͤ??`3t?ɨ2Р@2͉;2"Cy~B~#Ii =I < =p=II?1٢=^ =2=9M:Q U>YY ]G٣Yy]; e> mNusing accuracyPremultiplier from configiu59m"v?u5YmI im ™quI@}Aim;:m;:m5 @DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`a@]]]]lI@y& *?I9 ɚf5iII 3iQiUQ)Q)QD)zKmNKm-9KiKmV#Km   *F?2F:FBFA1JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.Hu :>Iq  Iu #IIu BIq &Iq .Iq 6Iu <:Iu FG NB O >*J! "J% %=.w,7qgA2_@Y2@2F#928>y2HE[??@Rƿ`lyL?̭@ag? Q?Zt?ɨ2_@2ԉ;0yBBB#IMb@Mb@Mb@ )Y(\¿L7A`堿yz+̼ )@I-@yI-I-i٢d @=9 :Q >99 =G٣9y=L; E> MNusing accuracyPremultiplier from configAM59Er?U5YE  iE ™ui>u;u4@uAE5EE;E;Ea!5 @DNOT Ignoring new targets: 46.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. jjjjihhhh,Bffrfbf  a@]Ei>]Ei>]E.bW@]E{4@ u$?IyF# 隝.?IL9 ɚɈ5iII3iir))D9*F!2F!:F!BF%A5JF!GE ݗBQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,gA>@Y>"@>9>L8>y>Hy?m?6ƿg`h?`î?C?t?ɨ>@>;>%CybzBb"IIjIj٢r8 r^=9v=k;Q v>tx zG٣xyzB< z> Nusing accuracyPremultiplier from config|59~o? 5Y~ i~ ™  y@ A|~L:~:~"5B ]@?EMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhIhIhQhQfQfYrfYbfea@]]]]y@ 隕'?I: ɚ5iII3iid6))DqEEqAJKـ3KK3 KK.KCKC"KCJJJ0JJ\:J:Jـ3Ja@a@a@a@*F?2F:FBFP0JFG GpAWill construct direction to contact in vehicle frame from tetrahedron phase data. aIaG~B!O>zK NMK 9K K W#K w,gA6"@Y62@6968>y6H?@?T"ƿ]x?f)^s? ?+u?ɨ6"@68;6"CyjnBj"I)l lllEWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAMb@Mb@Mb@ )YZd;{Gzly#~A @)b@Iy=@IIF٢^ ;=9c:Q > G٣y ;  > -Nusing accuracyPremultiplier from config!559%Bl?5Y% i% ™>;S@A%6E%<%d<%$5  @ H-9>I) I-z#II-BI)&I).I)6I-A<:I-1 FBIJIRIZIbIjIÝ3DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf@_a@]]>]]>]]V]@]]S@ 隕:?I9 ɚT5iII3ii6))Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9 Q IQ *Fu ?2Fq :Fq BFu O5JFq GhABO>w,ҪgA>_@@Y>O@>'9>09>y>H??ƿ`dNL?``??@t?ɨ>_@@>`;> Cy^OB^"IIfIfV8٢n  n5=9r;Q r>pp rG٣pyv< v> zNusing accuracyPremultiplier from configx~59zh?~5Yz iz ™ @AxzB;z;z&59 =@9eDNOT Ignoring new targets: 46.00 m. jajajajaiahihihqhqfqfqrfybf}La@]]]]@'Will construct direction to contact in vehicle frame from tetrahedron phase data. 隥a+?I9 ɚiII3ii*Ի))JJJJJ :J:JJDI*F 2F :F BF 05JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. I Gm "B O >w,gAye+Be"IzK GLK9KKX#K Mb@Mb@Mb@    ) Y x&T㥛 ~jty 7  D A @) Z@I @ y @ImImF٢ul  } =9}Q }> G٣y > Nusing accuracyPremultiplier from config59re?5Y i ™u=;3@Ag5;2;)5 M@DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf{a@]u=]u=][y@]3@! !%q=?I-9 )ɚ)i)I)I53i1i5ו=Will construct direction to contact in vehicle frame from tetrahedron phase data.)1)AHI IA#IIBI&I.I6I]<:IF FD9*Fq 2Fq :Fq BFu @5JFq "G =G = Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G B O >w,gA @Bt@YB@B,9Br"9>yBH@? ?ſ`3`?`=?W?\u?ɨBt@Bԇ;B"CyJBNq"IiPIR< Ra=PIVIV@٢^ bM=9bP;Q b>dd fG٣dyj< j> rNusing accuracyPremultiplier from configlr59nb?r5YnY in- ™tv4@vAn7Enu:n:n*5y }@yDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfa@]1]1]1]5n4@m, im0?Im9 iɚiiqIqIu3iyi}rn)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBF4JFG G"GGJ J J 1J J :J :J 3J BY q Iq } Will construct direction to contact in vehicle frame from tetrahedron phase data.O >.w,ehA2|@Y2:@2k92.9>y2H?:?Pſ/G?@ R???u?ɨ2|@2G;2Cy>B>L"IIJIJ ٢R RH=9RǹQ R>TT VG٣TyV<); Z> ^Nusing accuracyPremultiplier from config\b59^ `?b5Y^ i^F ™`f4@fA\^:^:^,5h jiAhDNOT Ignoring new targets: 46.00 m. jjjjihh h h ffrfbf`b@]]]]m4@ k =!?IP9 ɚi!I!I=3iAiE%])i)yzK؞KK89KKY#K D 9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFHI I"II~BI&I.I6D6I~<:I_ FB Ou >4 w,Y13hA>A@Y>™@>a9><9>y>H??@bſ`' s?֮>K??@/u?ɨ>A@>:;>#CyJكBJ+"IMb@Mb@Mb@ )YMbP?EԸi|?5y:ƽqA )@Iy@I5I5٢E" EA=9E9Q M>II MG٣IyUe; U> mNusing accuracyPremultiplier from configiu59m]?u5Ym img ™}=};}"}Aimw;m;ms.5 =ADNOT Ignoring new targets: 46.00 m. jjjjiQhQhQhQh]IBfYfYrfabfe@b@]=]=]W @]Suo@ IWill construct direction to contact in vehicle frame from tetrahedron phase data.a G?I : ɚiII 3ii6:))Du!9*F ?2F :F BF JF B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,MhAn@Yn@n9n8>ynH??@ſ)$?p`仢??Su?ɨn@nև;n!Cy~B~"II I V٢! L=9% Q %>!) -G٣)y-} -> =Nusing accuracyPremultiplier from config1E595.[?E5Y5 i5 ™AM"MA15;5;5005Q U;AYDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`b@]]]]yo@ 7?I: ɚiII3ii))D9J5J5J50J1J5:J5:J5ـ3J1*Fe?2Fa:FaBFe0JFaBqO> IWill construct direction to contact in vehicle frame from tetrahedron phase data.Dw,fhA6`@Y6ᖨ@696;9>y6H@?@p? ƿ)@?W?@!?t?ɨ6`@6g;6#CzK^F5LK^9K\K^Z#K^yfBf!IeWill construct direction to contact in vehicle frame from tetrahedron phase data.aiaMb@Mb@Mb@ )Y+?V-y=mQA @)@I@yf@II٢- -;=95úQ =>AA EG٣AyM_9 M> UNusing accuracyPremultiplier from configQ]59U9Y?]5YU iU ™e%">e;e(eAU8EU+;UY;U25i mAiHI I"II7BI" =&I.I6I <:I FDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf@*b@]5%">]5%">]5 @]5E@u q}Y?I}: yɚ}2q4iyIyI3ii8))D9*F?2F:FBF}0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G MB O% >0 w,iɀhAyzBz!II I %x٢u ]=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=595W?E5Y5Ӽ i5 ™AAEA157:5X:535I MAQDNOT Ignoring new targets: 46.00 m. jjjjihhh h f f rfbf4b@]1]1]1]1A AELK?IE: AɚEiIIIIe3iyiy)) MYIyM-AD09eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FaBFeP5JFaG5XBIOZ> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.W&w,hAy=B=!IIMIMV٢] ]G=9aQ m>iq uG٣qyq }> Nusing accuracyPremultiplier from configy59}U?5Y}8 i} ™A}9E}X:}:}55  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`Ab@]!]!]!]! 隝C?I9 ɚ|V4iII3ii8))BD;?:D_?zK}jIWill construct direction to contact in vehicle frame from tetrahedron phase data.KyKyK}[#K} $%$"!&%&! HIII IMZ"IIMBIM# =&II.II6IMh<:IMO FDP9*Fe ?2Fa :Fa BFe 0JFa Gm qA Gm qAJe Je Ja Ja Je ܫ:Je 9Ja Ja Je ;a Je ;a Je Z5;a Je [5;a G-'HB1OU>-w,]hA IJ`@YJp@Jh*9J8>yJH.?`̰?SƿK<>?~R}K? H?s?ɨJ`@JL;J CyRwBR!IjWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=Dl?㥛 ¿y=O >==L=hA =@)=@I99y9I]I][٢e e.=9mQ m>qq uG٣qyu% }> Nusing accuracyPremultiplier from configy59}!T?5Y} i} ™S>;俑A}:E};};}75 IADNOT Ignoring new targets: 46.00 m. jjjjihhhhāBffrfbfPb@]S>]S>],@]n @h* 隕Y?I: ɚ 4iII3ii())D)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFu1JFG B O >s4w,hA: T@Y:c@:~o19:VI9>y:H-?@? G}ƿXB ?S ),?U?@r?ɨ: T@:bÇ;:#CyZsB^!IIbIbi٢j nG=9n+Q n>pp rG٣pyru v> ~Nusing accuracyPremultiplier from configx59zR?5Yz iz$ ™2俑 Axzj;z>;z^95 eA=DNOT Ignoring new targets: 46.00 m. j9j9jAjAiAhAhAhIhIfIfQrfQbfU]b@]q]q]q]u6@~o1 隕W?I5: ɚ"5iII3iiVn)) m$?IqD:9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F):F)BF5P0JF1G!BIOu6> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MK 9K K \#K     H I  I ."II ܃BI " =&I .I 6I v<:I Z FBIJIRIZIbIjIˠ4:w,*hA2C@Y2S@2D992&9>y2H`?Ѽ?`ƿ]Jk?@&??6r?ɨ2C@2;2$Cy~uB!IMb@Mb@Mb@ )Yx?QſlyK7>(~A )I@y @IIM٢W; <=9Q > G٣y闻 > Nusing accuracyPremultiplier from config 59OQ? 5YW i> ™&|>W;ݿ%A;EE;;C;5) 5YA1DNOT Ignoring new targets: 46.00 m. jjj j i h h h1h5́Bf9f9rf9bf= lb@]]&|>]]&|>]];@]]@JuJuJqJqJul:Ju:JqJqJu;Ju;JuI;JuI;D9 隵{T?I: ɚ\5iII3ii߻)))2D1*D1 iIiEWill construct direction to contact in vehicle frame from tetrahedron phase data.Dq9*F% ?2F! :F) BF- P5JF) "G5 =G5 = Will construct direction to contact in vehicle frame from tetrahedron phase data. < %=GMBYOu>Bw,/ iA62@Y62B@6A96I9>y6H??ƿ}R`?ΊR? d?Oq?ɨ62@6;6"CyvsBz!III㔳٢A 6=9fQ > G٣y%C %> -Nusing accuracyPremultiplier from config)=59-O?=5Y-! i-X ™9=ݿ=A-YIw,%iAj!@Yj0@j@&I9j#9>yjH? ?`VƿZy?@s1"??p?ɨj!@j8;j CyvyBz!IMb@Mb@Mb@ )YʡE?K7A`ſ/$y-2>+@ r@)@I@y@I5I5ʴ٢E< E9=9M Q U>YY ]G٣Yye e> uNusing accuracyPremultiplier from configq}59uN?5Yu iuk ™w>[;⿑Au=EzKTLK9KK]#KC63, BKpA:KWill construct direction to contact in vehicle frame from tetrahedron phase data.H)I) I)I)I-# =&I).I)6I-q<:I-V FuJ;u,=u*?5q u2AqDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfb@]5w>]5w>]5@]5 @e@&I ae^?Im: iɚmg5iiIiIu3iqiu+')q)yJ}J}J}1JyJ}<:J} :J}3JyJ};J};J}S;J}S;D9 1 I1 *FY 2FY :Fa BFe 5JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data.GZBO>Qw, DiA :@Y:1@:X9:yt9>y:H'j??3ǿj.n?X ??n?ɨ:@:+ȇ;:!CyFBF!II~I~q٢ =  9=9x Q > G٣y %> -Nusing accuracyPremultiplier from config!=59%aL?=5Y% i%~ ™9=|⿑=A%>E%T;%S;%A5I MtAIuDNOT Ignoring new targets: 46.00 m. jqjyjyjyiyhyhyhhffrfbf[b@]]]]p@X j?I:: ɚiII3ii&_))BDI?:D`?Will construct direction to contact in vehicle frame from tetrahedron phase data.DQ*F?2F:FBFP0JFG GrA I h Will construct direction to contact in vehicle frame from tetrahedron phase data.G .-B O= >7Ww,AF^iA6@Y6@6`96mX9>y6H &Z?? TǿSska?r??n?ɨ6@6u;4y>B>!IIFIFT٢NZ= RS=9RQ V>TX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config\b59^J?f5Y^ i^ ™df⿑fA\^g1;^1;^B5l nAl DNOT Ignoring new targets: 46.00 m. j j j j ihhhhffrfbf b@]]]]X`@` u?IX: ɚiII3ii3z) )D 9*F?2F:FBF_0JFGuhABO?>HyIy I}T"II}BI}" =&Iy.Iy6I}F<:I}7 FWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-5NK-9K)K-^#K-ukc]SOHD=730,*(&#    RK5?JK5>J] J] JY JY J] :J] :JY JY J] ;J] ;J] yE;J] zE;l]w,NxiA 0I0B|@YB@BRf9B+K9>yBHS?`4?jǿ@bvE]? ¦^Ƭ? ?`m?ɨB|@B ;B$CybăBb"IMb@Mb@Mb@ )YV-?OnÿMbpyh>QA )@I@y@IIW٢ > 9=9EMQ > G٣y > Nusing accuracyPremultiplier from config59H?5Y@ i ™R>;鿑A?E ;;D5B ADEDNOT Ignoring new targets: 46.00 m. jjjjihhhh% Bf!f!rf!bf%԰b@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]UR>]UR>]U(@]U@eRf ae)\?Ie: iɚiiiIiIu3iqiu;:)q)yD9*FE?2FA:FABFEg0JFAGm UBq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Cdw,\iA:uޠ@Y:@:k9:8>y:HL??@Bxǿy`SX?.t?@? km?ɨ:uޠ@:i(;:"CyFڃBF-"III٢@= I=9UQ > G٣yM M> UNusing accuracyPremultiplier from configQ]59UG?]5YUn iU ™Ye꿑eAU@EU:UX:UF5i m2AiDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf-b@]]]]@k f?I*: ɚiII3iiχ))2D*DpA yIyD9eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=0JFA"GIGM=Gu B O >njw,iAHI I"II2BI&I.I6I]<:IH FvWill construct direction to contact in vehicle frame from tetrahedron phase data.zK=2MK=89K9K=_#K=yMBMK"IMb@Mb@Mb@ )YMbX9?Pn{Gzt?yʡ=ף;A @)@I@y@II٢= I=9Q > G٣y   > Nusing accuracyPremultiplier from config 59 D?5Y  i  ™>;%A  ; ; ?H5) -kA)DNOT Ignoring new targets: 46.00 m. jjjjihhhhDBffrfbfb@]e>]e>]eOa@]e@ 隝 W?I: ɚiII3ii ݆))J!J!J=J9J=0J9J=<:J9J=ـ3J9J=;J=; iIqJ9J9D-9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF _0JF ) = rC  tA } Y} tAy} AG BO5>9Grw,7iA6@Y6q@6vq96 9>y6HP?? ǿv^?`_}`4,? ?l?ɨ6@6o;4y>B>f"IIJIJ٢N= NB=9RZQ R>PT VG٣TyZ.: Z> ^Nusing accuracyPremultiplier from config\b59^MB?b5Y^P i^ ™`bbA^AE^j:^j:^J5h jz@hDNOT Ignoring new targets: 46.00 m. jjj j i hhhhffrfbf@b@ Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@uvq qua?Iu2: yɚyiyIyI3iiс)) iIiD9*F9 2F9 :F9 BF= b0JF9  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O}>وyw,iAE@YE@E"s9E.?9>yEH@dT?@?@ǿLt b?i_?;?l?ɨE@E1;E!Cye*Be"IHI I"IIoBI# =&I.I6I<:Iz F5Mb@Mb@Mb@111 1)1Y5Mb`|?5^Mb?y55ҽ5<5hA 5@)1I5-@1y5Q@IMIMn٢U= ]=9]BQ ]>aa eG٣aymx: m> uNusing accuracyPremultiplier from configq}59uO>?}5Yu  iu ™}=<'Aqu@;uj;Will construct direction to contact in vehicle frame from tetrahedron phase data.uiL5  ]@ UDNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhYhYzKKK9KK`#KhhBffrfbf@3b@]=]=],@]ƍj@-"s )-=J?I-9 1ɚ1i1I1I=3iYi]x})Y)aBDm:?:Dmc?D=9*F?2F:FBF0JFG GqA )I) Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե AG B) Oe >mw,[jA2@Y23@2s929>y2H`Z?g?%ǿSpMi?`Z:y??_l?ɨ2@28;0y:?B:"IIJIJm?٢R= Rk=9RQ V?TT VG٣TyZ/; Z? ^Nusing accuracyPremultiplier from config\b59^;?b5Y^ i^ ™df'fA\^C:^:^M5h j @h~DNOT Ignoring new targets: 46.00 m. jjjj i h h h hffrfbfzb@]1]1]1]5 j@Ms IMT?IM: IɚIiQIQI3iiҬo))E*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GHBO>JA JE JE 1JA JA JE :JE 3JA aU @aU @aU @aU @ ! I! w,˝jA>@Y>p @>r9>+9>y>H%g? ?ǿ$i@t?થ`X?@? Bl?ɨ>@>o;>"CyFSBJ"IIRIR٢Z= ZJ=9Z; :Q Z>\\ ^G٣\ybr; b> fNusing accuracyPremultiplier from configdj59f8?j5Yf if ™hnf'nAfBEf2*;fq+;fO5t z@xDNOT Ignoring new targets: 46.00 m. jjj!j!i!h!h!h)h)f)f)rf)bf5`yc@]I]I]I]MTj@]Will construct direction to contact in vehicle frame from tetrahedron phase data.ur quq^?I}: yɚ}a4iyIyI3ii5W))*F?2F:FBFP0JFGɡcB)OUu>H)I) I-.#II-BI)&I).I)6I-<:I- FBIJIRIZIbIjID4 Will construct direction to contact in vehicle frame from tetrahedron phase data.zK% BHK! K! K% a#K% $%$#"$'%##" w,x5jAy fB "IMb@Mb@Mb@  I)YZd;㥛 Mb?yy~A )@IC@yG@IIV٢= 8=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 '5?5Y  i  ™= <Y?@A  < < Q5 @%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h)h)h1h5Bf1f1rf1bf= c@]]=]]=]]@]]/Y?@q quB?Iu9 qɚu"4iqIyI}3ii6V[))mWill construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFAJFA"GM=GM=Gm TBy O > Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,ROjA6!@Y60@6n961 9>y6H }?? e|ǿ qW,?@5u ٭?5?l?ɨ6!@6Ƞ;6!Cy>uBB"IIJIJ㔳٢RV= Rb=9R`0;Q V>XX ZG٣XyZB< ^> bNusing accuracyPremultiplier from config`f59bI2?f5Yb ib ™df?@fA`b:b:b9S5l n@lDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf c@]]]]k?@Un Y])J?I]: Yɚ] 5iYIYIe3iaie)i)i*F?2F:FBF_0JFJ{3K{3 K{/.KsKs"KsJ-J-J)J)J-:J- :J)J) I}Will construct direction to contact in vehicle frame from tetrahedron phase data.GUBO>O֙w,BijAM5@YMD@Mk9M,8>yMH?yy }G٣yyK; > Nusing accuracyPremultiplier from config59L.?5Y i ™^=;%@ACE;;@U5B h@GEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf)*c@zKsMK9KKb#K "b{e8 ]^=]^=]g@]/%@k  @?I  9 ɚ Q5i I I3ii ))2DE*DEBDE:DE*F?2F:FBF^0JF $?IG= BA Oe >} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,= jA:E@Y:tU@:Dii9:x8>y:H>?`?[ǿD@K?l)?? m?ɨ:E@:;:!Cy^B^"Iib=Ib=IjIj٢ri(= ri=9r:Q v>tx zG٣xyz8; ~> Nusing accuracyPremultiplier from config 59E+? 5Yk i ™  &@ AX:a:V5 @EDNOT Ignoring new targets: 46.00 m. jAjAjAjAiIhIhIhIhIfQfQrfQbfUW5c@]y]y]y]}&@Dii 隕C?I;: ɚf~5iII3ii Ż))*F5?2F1:F1BF5.1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.G;3B!O=r>J- J- J- 0J) J- :J- :J- ـ3J) I %w,\jA2_@Y2Yo@2d92"9>y2H`?`?@Hǿ`7f?@?锬??n?ɨ2_@2f;2 Cy^zB^"IIjIj=س٢vZ vJ=9vM7;Q v>xx zG٣xyz$< ~> Nusing accuracyPremultiplier from config 59'? 5Y i ™  E&@ ADEP:X:X5 [@=Will construct direction to contact in vehicle frame from tetrahedron phase data.UDNOT Ignoring new targets: 46.00 m. jQjYjYjYiYhYhYhahafafarfibfmZBc@]]]]iE&@d 隝f@?I: ɚ5iII3iiS_))*FM?2FQ:FQBFUP5JFQG5BAO]v>HI Iz#IIBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.zK5 MK5 9K1 K5 c#K5 2w,ʶjA>w@Y> @>o`9>8>y>H?`?+ǿ+?`M騿e ?`i?n?ɨ>w@>;>"Cy^yB\ IMb@Mb@Mb@ )YV-S㥫~jty/]D @)@I@y@II@٢@k <=9;Q > G٣yv; > Nusing accuracyPremultiplier from config59$?5Y i ™>;"@A;1;sZ5  _@MDNOT Ignoring new targets: 46.00 m. jIjQjQjQiQhQhQhYh]BfYfYrfabfeOPc@]}>]}>]}d@]}"@%o` IUE?IU: Yɚ]z5iYIYI3ii˖))MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F!BF!JF!GE V'SBQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,̘jA:X@Y:ٚ@:[X]9:8>y:H??ǿ! U?@~? ? n?ɨ:X@:;:#Cy^kBb"IIjIj)٢r) r[=9r~;Q v>tt vG٣tyzR; z> ~Nusing accuracyPremultiplier from config|59~ ?5Y~B i~ ™ "@ A|~;~;~\5 B@EDNOT Ignoring new targets: 46.00 m. jAjIjIjIiIhIhIhQhQfQfQrfQbf\c@]]]]'"@-[X] )->?I-a: 1ɚ55i1I1I]3iYi]yM:)Y)aJJJ1JJ :J:J3J I*F?2F:FBFO0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.GU|BYO}>g$w,jAHyIy I}s#II}BI}# =&Iy.Iy6I}<:I}q F*@Y@@Z9s8>yH`??_ǿ E?䩿UQ?`?o?ɨ*@$;騽"Cy_B"IWill construct direction to contact in vehicle frame from tetrahedron phase data.թխ=Mb@Mb@Mb@ )Yy&1Zd;Oy̽`ejA @)@I-@yG@IIq٢J ,=9 ǵ:Q  >   G٣ye; > Nusing accuracyPremultiplier from config%59?%5Y i™-g=-;-&@-AEE%;;'^51 5@9eDNOT Ignoring new targets: 46.00 m. jajajajaiahihihihmڂBfqfyrfybf}Wkc@]g=]g=]i@]&@M@Z IMB?IUs9 QɚU5iQIQzK]BoHK]9KYK]d#K]I]3iyi}]&;)y) ID e9e Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 1JF NG |uA Y |uAy AG}zQBO>Fw,v kA:\@Y:Ш@:T9:b 9>y:H?u?ƿ `?T?+?o?ɨ:\@: ;8yBIBB"IININ٢Rؽ VI=9Va;Q V>XX ZG٣Xy^,< ^> bNusing accuracyPremultiplier from config\f59^?f5Y^ i^™df6'@jA\^ ;^K ;^_5l nb@l DNOT Ignoring new targets: 46.00 m. j jjjihhhhffrfbf%`xc@]9]9]9]=86'@UT QU7?IUJ: Qɚ]iYIYI]3iaimT;) )EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:FABFEP0JFAG|;B!O=/> iIq Will construct direction to contact in vehicle frame from tetrahedron phase data.'kw,]O#kA6,ơ@Y6ը@6rT96'9>y6H.?r?@ƿ>h?? ?o?ɨ6,ơ@6c;6Cyv0Bv"II~I~٢   E=9 8Q > G٣yS: > %Nusing accuracyPremultiplier from config!-59%M?-5Y%Y i%#™15?'@5A!% :%L:%a5A E@AuDNOT Ignoring new targets: 46.00 m. jqjqjyjyiyhyhyhhffrfbfc@]]]]X?'@rT 隽+?I9 ɚiII3ii))*Fu?2Fy:FyBFY0JFGrA GrAHI IN#IIńBI" =&I.I6I<:I]Will construct direction to contact in vehicle frame from tetrahedron phase data.G:BO>zKmBHKm9KiKme#Km 'Pxwlc\WPD:0 i Ii J J J J J :J :J J J 6;a J 8;a J @;a J @;a ͕w,,=kA:&ԡ@Y:@:R9:X9>y:H?@zk?`ƿ@=? (U? ?o?ɨ:&ԡ@:;:!CyFBF"IMb@Mb@Mb@ )YQMbX9y&1yuʡ`~A @)IC@y@Will construct direction to contact in vehicle frame from tetrahedron phase data.IIn٢ >=9:Q > G٣yN; > Nusing accuracyPremultiplier from config59?5Y< i6™=<BB@AFE;;c5 @-DNOT Ignoring new targets: 46.00 m. j)j)j1j1i1h9h9h9h=BfAfArfAbfEcc@]e=]e=]e@]ebBB@}R y}@?I}3: ɚG4iII3iiG;))EE*F ?2F :F BF _0JF GMO;BYO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.|w,WkA2Aѡ@Y2@2+-U92d79>y2H? l?`Hƿ`K@?@0 ?? so?ɨ2Aѡ@21{;2#CyRBRe"IIZIZ=س٢b b]=9fѺQ f>dd fG٣dyjz j> nNusing accuracyPremultiplier from configlr59n?r5Yn$ inG™tv@B@vAlnu:n*:nH I  I #II BI &I .I 6D6I i<:I O FBIJIRIZI" =bI" =jI3w,pkAWill construct direction to contact in vehicle frame from tetrahedron phase data.yBS"I)! !!%AMb@Mb@Mb@ )Y G٣y > Nusing accuracyPremultiplier from config59` ?5Y i[™]=<!*AWill construct direction to contact in vehicle frame from tetrahedron phase data.G! B1 OM >w,kA6G֡@Y6@6!>X969>y6H ?`i? NƿV ?ᪿ`?`?`eo?ɨ6G֡@6!;6"CyBރBB2"IIJIJF٢R R`=9RQ V>TT VG٣TyZ: Z> ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^ i^k™`f*fA^GE^ ;^ ;^h5h nAlDNOT Ignoring new targets: 46.00 m. jjjj i h h h hffrfbfc@]]]]h@!>X G:?I 5: ɚ i I I3i1i5<)1)95Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JF $?IG*;BO=> Will construct direction to contact in vehicle frame from tetrahedron phase data.9w,kA:1ء@Y:@:DZ9:19>y:H`"?@ h?ǿ& "?;>??n?ɨ:1ء@:3;: CyFŃBF"IIPIP٢V VJ=9ZQ ^>`` bG٣`yf~: f> jNusing accuracyPremultiplier from confighn59j?n5Yj_ ij}™pr *rAhj;js;jj5t vAtDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f!rf)bf-c@]I]I]I]Mh@eDZ aez-?IeC9 iɚiiiIiIu3iqiu(/<)q)*F?2F:FBF 5JFHI I"II[BI# =&I.I6IS<:I? FEWill construct direction to contact in vehicle frame from tetrahedron phase data.G&;BO>zKƒLK9KKg#KBKqA:KqA I J J J J J ,:J :J J J ;J ;J C;J C;7w,3mkA FMʡ@YF٨@F^9F8>yFH`?zo?@Qǿ$? m@{֫?? No?ɨFMʡ@F;F!CyVBV"I5Mb@Mb@Mb@111 1)1Y5:v?ʡEy&1y5T=5ケ5`5A 5@)5@I11y5Q@IMIM٢] ]@=9]d2Q e>ai mG٣iy}i }> Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59L?5Y i™4>;A=;E;el5Y ]CAYDNOT Ignoring new targets: 46.00 m. jjjjihhhh"Bffrfbf`c@]U4>]U4>]U-@]UjO@e^ ae=J?ImT: iɚ\4iII3ii{O;))*F%?2F!:F!BF- 5JF)G1 G1M Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ Ba O} >tw,IkA 0I4:ȡ@Y:ר@:a9: 9>y:H ?o?%ǿ @?é;,?`?cn?ɨ:ȡ@:;:"CyFBF!IIRIR[٢Vս VV=9ZQ Z>X\ ^G٣\y5 > Nusing accuracyPremultiplier from config%593?%5Y i™))-AHE7::n51 5A1eDNOT Ignoring new targets: 46.00 m. jajijijiiihihihqhqfqfqrfbf %c@]]]]O@a 隽 @?I: ɚiII3ii§;))*FU?2FQ:FQBFUP0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխAGBO>H I  I "II -BI &I .I 6I i<:I P F] Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,X8kA6׼@Y6X̨@6'+f968>y6H`M ?u? 3ǿ`@??B?Hn?ɨ6׼@64;6 CyZBZ!IMb@Mb@Mb@ )Y~jt?K7/$y=I  @)@I;@yII<٢g :=9)Q > G٣yP > Nusing accuracyPremultiplier from config59?5Y_ i™,>;A;;o5 fA-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i1h1h1h1h=Bf9f9rf9bf=`c@]e,>]e,>]eZ@]eO%@zK&KKu9KKh#K QIY'+f im=J?ImY: qɚu9S4iqIyI}3PExceeded connect timeout, disconnecting.ii1s;))*JA"JEp=JMJIJM1JIJM\:JIJM3JIJMj;JMk;JIJI*F=?2F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G} O;B O >!w, lA6@Y6@6)fk96 9>y6H`h?y?TSǿ ) 7?Bzh?}?Nm?ɨ6@6x;6"CyBBޕ!IIIi٢(s <=9@Q > G٣yAQ > Nusing accuracyPremultiplier from config59?5Y i™AIE::q5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfWc@]]]]s@)fk C?I: ɚI4iII 3i i ;) )*F?2F:FBFY0JF"G=G= IIIG g;B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.S w,4%lAJ쯡@YJm@Jn9JHb9>yJH?_y?jǿ ?`-3Fԭ?`?nl?ɨJ쯡@Ja&;J#Cyr|Br!IIzIzm٢-< k=9 Q  ?   G٣y ? %Nusing accuracyPremultiplier from config!-59%:?-5Y% i%™155A!%:%:%es59 =AAmDNOT Ignoring new targets: 46.00 m. jijijijiiihqhqhqhqfyfyrfybf} d@]]]]@n ??Ih: ɚ5iII3ii@v;))EurAEq*F2F:FBFo0JFHIII IM`"IIMBIM" =&II.II6IM<:IM FWill construct direction to contact in vehicle frame from tetrahedron phase data.Gw;BO=>zK :IK 9K K i#K    1 I1  nManaging dock network, ignoring radio surface power offJa Ja 7w,?lAZB@YZñ@Zt9ZL9>yZH?@?`Rǿ@b`'? v@B??k?ɨZB@Z;Z CysB!IMb@Mb@Mb@ )YCl?~jtÿQy;=uA @)@I$@yG@II<٢+ >=9FQ > G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.yz > Nusing accuracyPremultiplier from config-59?55Y i™=%@>=;==AJE;ٲ;Nu5I M[AI)1 1G TYycA DNOT Ignoring new targets: 46.00 m. j j jjihhh9h=Bf9f9rfAbfEd@]%@>]%@>]@@]0@t B?I9 ɚK5iII3ii($;))*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G !j;B O >  I w,OYlA6ԝ@Y6U@6_^w96p29>y6H`?? ǿ@f?a @? N?k?ɨ6ԝ@6.;6!CyBxBB!IIHIH٢R< V_=9V\Q V>XX ZG٣XyZĺ ^> bNusing accuracyPremultiplier from config`f59b?f5Yb" ib™dffA`b:b:bv5l n3Al DNOT Ignoring new targets: 46.00 m. j jjjihhJ!J%J%0J!J!J%:J%ـ3J!a-@a-@a-@a-@h1h1f1f1rfbf!d@]]]],@_^w E?I: ɚw5iII%3i!i%_;)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.DS9*F5?2F1:F1BF5d0JF1GA GAH) I)  I- G"II- BI) &I) .I) 6I- <:I- FG ;BI O >Yw,slAWill construct direction to contact in vehicle frame from tetrahedron phase data.>P@Y>ѡ@>|9>^/9>y>H?چ?@Gǿ @g?@Wl }? ?&k?ɨ>P@>;>"CyHH%Mb@Mb@Mb@!!! !)!Y%v/?/$ÿy&1|y%x=%%`%hA %@)%@I%C@!y%@I=I=F9U.Q U>QQ UG٣Qy]U ]> eNusing accuracyPremultiplier from configa59ex?5Ye% ie™C>;CAeKEel:4.+(&#"]-C>]-C>]-I@]-~@=| Y]E?I]e: aɚe55iaIaIm3iiim {:)i)qD*F5?2F1:F1BF53JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >:#w,lA:핡@Y:n@:}9:ȇ9>y:H?@?ǿ ?Q`a?`6?qj?ɨ:핡@:;: CyDHIRIR[9ZQ Z>X\ ^G٣\yb: b> fNusing accuracyPremultiplier from configdj59f^?j5Yf if™ln1nAfLEfb;f;flz5p ptDNOT Ignoring new targets: 46.00 m. jjjjihh!h!h!f!f)rf)bf- k:d@]I]I]I]Mb@]} YYI]: aɚe5iaIaIm3iiim:)i)q*F?2F:FBFP0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data. IJ%J%J!J!J%:J% :J!J!G]7:BiO{> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ld)w,ZdlA:@Y:y@:ǀ9:^9>y:H? dž?@gǿ`?ߥ:??6j?ɨ:@:f6;:"CyBBB!IININ&ѳ٢jV< n<9nQ r>tt vG٣tyz{ z> Nusing accuracyPremultiplier from config 59?5Y i™GA^;k;8|5) -A)}DNOT Ignoring new targets: 46.00 m. jyjyjyjihhhhffrfbf`Gd@]]]]~@ǀ 9I?I: ɚ5iII 3i i i1W:) )*Fu?2Fq:FqBFqJFy"G=G=HI IA"IIBI&I.I6I|<:I_ FBIJIRIZIbIjI 4]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO> qIqzKe SNKa Ka Ke k#Ke UM0w,[DlAB@@YB@B$9Bu9>yBH?༂? ǿC]?@!? ?i?ɨB@@B+X;B#CyNBN!I=Mb@Mb@Mb@999 9)9Y=B`"۹?V-¿Mb`?y===h=;=A 9)=5@I99y==@I]I]ʴ٢m@= mA=9mKܹQ u>qq }G٣yy}B: }> Nusing accuracyPremultiplier from config59?5Y i™s2>;AWill construct direction to contact in vehicle frame from tetrahedron phase data.MEq<<~5A MAIDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf Vd@]s2>]s2>]@] @U$ QU:?I] 9 Yɚ]5iYIYIe3iaie:)a)i*F?2F:FBFJFG% }:B1 OM >m Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia v6w,lA6@Y6@6^96u`9>y6H?҄?Vǿ "?@ؒH?`? i?ɨ6@6';4y>BZ!IIfIf٢nh= nT=JrJrJr1JpJrܫ:Jr:Jr3Jp9z ʺQ z>|| ~G٣|y >  Nusing accuracyPremultiplier from config 59?5YH i"™Az::5%B %@A%MEUDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhYhYhYhafafarfabfepad@]]]]Q@^ 隝{@?I: ɚ5iII3iip:))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GU:BiO|>H I  I Z"II BI &I .I 6I <:I x FyJH?@m?Hǿ ?`-Х @?@ ?\i?ɨJ@J_;J Cy^B^!I b=b= I=Mb@Mb@Mb@999 9)9Y=T㥛 ?X9v{Gz?y====#<=~A =@)9I=p@9y=@II%x٢(W= .=9u9Q > G٣y: > Nusing accuracyPremultiplier from config%59뚜?-5Y i&™->-;--ANE;;́51 =A9zKeJKe9KaKel#KeDNOT Ignoring new targets: 46.00 m. jjjjihhhh2Bffrfbfpd@]>]>]֥@]@k R8?I9 ɚ6iII3iin;))2D*DBD:D*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G 7:B O >MCw,mA2ʝ@Y2K@2܁92Bl9>y2H`,?~?sǿ)?`kҥ8?L?`i?ɨ2ʝ@2.;2"Cy>B>!IIFIF[٢Nt= Rv=9R 9Q R?TT VG٣TyV: Z? ^Nusing accuracyPremultiplier from configXb59Z障?b5YZ iZ)™`bbAXZT ;Ze ;Z<5d jHAhDNOT Ignoring new targets: 46.00 m. jjj j i h h hhffrfbfzd@]1]1]1]5&@܁ A?Iv: ɚiII3ii2;))5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JF IJkـ3Kk(3 Kk(.KcKc"KcJJJ0JJJ9Jـ3JG;BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,(mAVU@YVֵ@V9V 9>yVH?~z?3ǿ@?''@e??i?ɨVU@Vm;VCyfÃBj"IIzIz%x٢ =  B=9H:Q > G٣!y-!; -> =Nusing accuracyPremultiplier from config1E595_皜?M5Y5! i5,™IMUA5OE5e;5e;55Y ]AYDNOT Ignoring new targets: 46.00 m. jjj j i h h hhffrfbf d@]y]y]y]}@ 隕H?I: ɚR4iII3iiJS;))HAIA IEy"IIEBIA&IA.IA6IE<:IE F*FU?2FY:FYBF]\5JFaG} G}"GG%Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IB!O=>zK a3JK K K m#K Pw,ۅBmAy~ɃB~"I) Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y rh?Mb~jt?yC<< A @)Iy3@II٢< ?=9Q > G٣y > uNusing accuracyPremultiplier from config}59䚜?5Y i+™w=<A<O;5 A%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h!h)h)h-bBfafirfibf@gd@]w=]w=]@]x@ 33?I9 ɚ4iII 3iiJ;))*F2F:FBFO5JFBO>>M Will construct direction to contact in vehicle frame from tetrahedron phase data. I Vw,a\mA6@Y6̨@6n}96D9>y6H`?o? Pǿ l?`Ǧ ?@? j?ɨ6@6$;6"CyRBR4"IIZIZn٢z= ~Z=9a:;Q >   G٣ y; > Nusing accuracyPremultiplier from config%59~⚜?%5Y i*™)--A:U:51 5A1eDNOT Ignoring new targets: 46.00 m. jajajajaiihihihihifqfqrfqbfu$d@]]]]3x@n} 隵>?I: ɚiII3ii߸;))*Fu?2Fq:FqBFuP0JFqBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.թiթHQ IQ  IU "IIU Will construct direction to contact in vehicle frame from tetrahedron phase data.bAԡ@Yb@b}x9b9>ybH?ec?ǿI`(?@DH?G?`j?ɨbAԡ@b#;b CynBn:"I QIQMb@Mb@Mb@ )Y rhsh|?    G٣ y ; > Nusing accuracyPremultiplier from config59ߚ?%5Y i)™%b=%<%1-APE";n ;51 5A1]DNOT Ignoring new targets: 46.00 m. jYjYjYjaiahahihqhuBfqfyrfybf}`1d@]b=]b=]T@]Q`@-}x )-(?I59 1ɚ5W54i1I1I=3i9i=<)9)AzKJKk9KKn#KJJJJJ:J:JJJ6;aJ8;aJyE;aJzE;a *F?2F:FBFJFBO(>Will construct direction to contact in vehicle frame from tetrahedron phase data.AYi ٿYyArcw,mA2 @Y2@2Du92h9>y2H`'?;^?Mǿ C 1? ?!?k?ɨ2 @2K;2CyBBBI"IIJIJʴ٢f= fa=9j;Q j>ll nG٣lyr; r> vNusing accuracyPremultiplier from configtz59vݚ?z5Yv* itxz1zAtv:v:v5 eA-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h1h1f9f9rf9bfE`ǻd@]a]a]a]e`@uDu )/?I: ɚ4iII3iiI<)) Will construct direction to contact in vehicle frame from tetrahedron phase data. IIQD9*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. <G ;B O- >jw,mAf{@Yf@fp9f9>yfH6?T?rǿ,??cݨ?W?k?ɨf{@f;f"CyrBrR"IIzIz٢ = F=9 <;Q  >   G٣y; > %Nusing accuracyPremultiplier from config%59<ښ?%5Y i(™)-b1-AD";+;⍱59 =,AAmDNOT Ignoring new targets: 46.00 m. jijijijiiihihqhqhqfyfyrfybf}@d@]]]]h`@p 隵2?IE9 ɚ5iII3iiS1<))HI I"II[BI# =&I.I6Iհ<:I F*F?2F:FBF`0JFG;BOm5>-Will construct direction to contact in vehicle frame from tetrahedron phase data. 9I9zK RIK K K o#K J J J 1J J :J :J 3J J ;J ;J A;J A;Ypw,mA>@Y> @>l9>^9>y>H?? rP? $SǿF?GC?@?l?ɨ>@>(;> CybBb_"IeMb@Mb@Mb@aaa a)aYeQT㥛 rh?yeueeC G٣yG; > Nusing accuracyPremultiplier from config59#ך?5YT i'™=<=@AQE;t;5 @ DNOT Ignoring new targets: 46.00 m. j j j j i hhhhłBff!rf!bf-d@]=]=]Y|@]z=@-l QU?IU9 Yɚ]a.5iYIYIe3iaieB@<)a)i*F%?2F!:F)BF-o0JF)5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm 4<Bq O > ) I) ww,mA2@Y2#@2]f929>y2HS?D?<ǿ `W?@kMǬ?P ?@l?ɨ2@2z;2!CyR BRg"IIZIZ%x٢b = fX=9f;Q f>hh jG٣hyjN; j> rNusing accuracyPremultiplier from configlr59n[Ԛ?v5Yn- in&™tv=@vAln:n;na5 N@-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h1h1f9f9rf9bfEd@]]]]s=@ ]f "?I9 1ɚ5U5iyIyI3ii.h<))*F-?2F):F)BF-1JF)G5rA G5qAWill construct direction to contact in vehicle frame from tetrahedron phase data.G$0<BO>HI I"IIoBI&I.I6I<:I FBIJIRIZIbI# =jIȿX4E Will construct direction to contact in vehicle frame from tetrahedron phase data.>}w,mA lIlEq#@YE2@E{a9Eg9>yEH`? =?`ǿ b?䪿+??m?ɨEq#@EY;E"CyY]f"IMb@Mb@Mb@ )Y333333v/y&1?yxi`e<7A )@Iy @I5I5)٢E@a E4=9E,;Q E>II MG٣IyUo; U> eNusing accuracyPremultiplier from configam59eК?m5Ye iam =u $w, anA6 4@Y6C@6\96ߖ9>y6Ho?r5?@uǿ@Nn?@? ?#n?ɨ6 4@6}W;6 Cy>BVa"IIbIbʴ٢fż fe=9jn[;Q j>hl nG٣lyn; r> vNusing accuracyPremultiplier from configpv59r7Κ?z5Yr ir'™xz3@zApr*:r :r锱5B @PE-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h9h9fAfArfAbfEpd@]a]a]a]e;3@u\ y}H?I}w9 yɚ}5iyIyI3iicO<))2D*DBD:D5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JF IGy<BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ow,-?+nA:G@Y:NW@:CV9:9>y:H`?+?ƿ@o}? n٪?`+ ?n?ɨ:G@:K;:CyB BFh"IIRIR)٢Z< ZL=9Z\d;Q Z>\\ ^G٣\ybA; b> fNusing accuracyPremultiplier from configdj59f-˚?j5Yf1 idhj4@nAfREf ;f ;f5p r6@pDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf e@]]]]4@-CV )-?I-9 )ɚ-5iQIQI]3iYi]L<)Y)YHI I"IIyBI&I.I6I˰<:I F*F2F:FBFP0JF"G=G>MWill construct direction to contact in vehicle frame from tetrahedron phase data. IG 喇<B!O=>J J J J J :J :J J J ;J ;J Z;J Z;zK} BoHK} 9Ky K} q#K} :w, %EnAVU@YVje@VcR9V9>yVH`?`$? ƿ?@ I?'?o?ɨVU@V.;V!Cy^B^Y"IEMb@Mb@Mb@AAA A)AYEsh|?V-Mb?yEEmEyy }G٣yy; >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59ǚ?5Y i*™=<1@AL?;;5 @IDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfe@]=]=]p@]z1@5cR 15 ?I5u9 1ɚ5|5i9I9I=3iAiEʧ<)i)q*F=?2F9:F9BF9JF9E Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge )ş<Bi I O >^`w,c^nA6 f@Y6u@6R.M969>y6H@˙??@fƿ;5?,Э` ?K?o?ɨ6 f@6І;4y>BBL"IIJIJ٢jT jU=9rX;Q r>pt vG٣tyvͨ; v> zNusing accuracyPremultiplier from configx~59zĚ?5Yzf iz-™;1@Axz;z;z65  NA=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfMA#e@]q]q]q]u;1@R.M 隅?I69 ɚj5iII3ii16<))*FU?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G7ͤ<BO>HI I"IIoBI" =&I.I6I<:Is Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.Aw,&ynA $?I]l@Y]1|@]I9]Z`9>y]Hq?q?`ƿ?Y @:??Wp?ɨ]l@]ˆ;]CyuBu;"Iyy=Mb@Mb@Mb@999 9)9Y=L7A`尿Q뱿Mb`?y=+=\=;=A =b@)=@I=@9y=@IUIU%x٢]es e1=9e:Q > G٣y: > Nusing accuracyPremultiplier from config59?5Y2 i3™= <=@ASE3;M;H5  A =DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9h9hAhAhEۂBfIfIrfIbfM v2e@]m=]m=]m5}@]m[=@I 隍?I9 ɚ5iII3iit<))zKK9KKr#K*F5?2F9:F9BF9JF9GEqA GAWill construct direction to contact in vehicle frame from tetrahedron phase data.G} -<B O >9w,)nA21}@Y2@2|E929>y2Hl??kƿ &ã? Ү?` ?`op?ɨ21}@21;2"Cy:ӃB:$"IIFIF٢NUս Rm=9RL;Q R?TT VG٣TyV; V? ZNusing accuracyPremultiplier from configX^59ZZ?b5YZ iZ8™`b>@bAXZ ;Z ;Z5d jQAh~DNOT Ignoring new targets: 46.00 m. j|j|jjihhh h f f rf bf@|E >IE9 ɚiII3ii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.i 9I9*F-?2F):F)BF-0JF)JJJJJl:J :JJa@a@a@a@Gmᔳ<ByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ɬnA6@Y6@6vC96V9>y6H??`ƿ 1r?@H s?@?p?ɨ6@6j;6#Cy>ƃBB"IIJIJ&ѳ٢N RJ=9R:Q R>TT VG٣TyV: Z> ^Nusing accuracyPremultiplier from configXb59Z'?b5YZ iZ>™`b#>@bAXZ6;ZG;Z~5h jAhDNOT Ignoring new targets: 46.00 m. jjjjihh h h f frfbfIe@]Y]Y]Y]]`#>@uvC qu>I}69 yɚ}K3iyIyI3ii"<))HI I"IIUBI&I.I6I<:Ig F*F?2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. 9I9GN<BO>zK >`JK u9K K s#K w,nA) hC9eWill construct direction to contact in vehicle frame from tetrahedron phase data.q 馭@ -vſY)y-ZA@Y@?99>yH5?`?1zƿ???p?ɨ@B;騭"CyB"I]Mb@Mb@Mb@YYY Y)YY]/$ʡEy&1|y],]-]`]3A ]K@)]@I]@Yy]@I}I}㔳٢) $=9k;Q > G٣y; > Nusing accuracyPremultiplier from config59;?5Y  iJ™^= <N@ATE;);5 @A%DNOT Ignoring new targets: 46.00 m. j!jjjihhhhBffrfbfZe@]^=]^=]vg@]Q@-? )-?I- 9 )ɚ-‰4i)I1I53i9i=>,<)9)9EErA Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 *F5 ?2F9 :F9 BF= o0JF9 "GE =GE =J J J J J :J :J J Gi B O >Dbw,*nAJl@YJ황@Jj@9J9>yJH౸? ?yƿ; ?kx ? ~ ?`p?ɨJl@JV;J!CyRBR!IInIn(*٢z zb=9z Q ~>|| ~G٣|y" > -Nusing accuracyPremultiplier from config M59 m?M5Y + i S™QUZ@UA  *; !; @5Y ]AYDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfee@]]]] Q@=j@ 9=>I=9 9ɚ=iAIAIm3iqiuH<)q)q-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=&5JF9G<B!O=/>H:>I I"II-BI# =&I.I6I<:I I  Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,nA>@Y>@>f?9>!s9>y>H? ?`sƿ ?ȇn??1q?ɨ>@>y\; G٣y": > Nusing accuracyPremultiplier from config59?5Y i`™*=<7%A";;5 vADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf`re@]*=]*=]@]pl@%f? !%?I%9 )ɚ-j4i)I)*JuC="Ju%=I3ii2<))zKVBJK9KKt#KRK>JK ?*Fe?2Fa:FaBFeP0JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBaO}>Hlw,oA6肢@Y6i@6deB96Z9>y6HW?? ƿ<@?!VJ?V?q?ɨ6肢@6φ;6"Cy>qB>!IIFIF<٢R RZ=9RܺQ R>TT VG٣TyZ'M Z> bNusing accuracyPremultiplier from config\b59^?f5Y^< i^k™dfG%fA^UE^:^:^5jB nWAnSE}DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfpe@ IWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]4l@deB Q>IW9 ɚiII%3i!i%<)!))*F?2F:FBFJFG G"GGJJJJJ:J9JJBaO{>m Will construct direction to contact in vehicle frame from tetrahedron phase data.q q |w,V0oA6Є@Y6Q@6aC969>y6H ? ?_ƿ W?@7 i?# ? p?ɨ6Є@6: ;6!CHF9>ID IFT"IIFBIF" =&ID.ID6IF<:IF FBIIJIIRIIZIIbIIjIMu4yVYBZ!IIbIb?1٢j jG=9jQ j>ll nG٣lyr: r> vNusing accuracyPremultiplier from configtz59v4?z5Yv ivw™x~B%~Atv3;vT ;v5 A5DNOT Ignoring new targets: 46.00 m. j1j1j9j9i9h9h9hAhAfAfArfIbfMe@]]]]]l@aC >I9 !ɚ!i!I!I-3i)i-<)))1 IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :FBFQ0JFByOL>JJzK JK 89K K u#K w,JoAWill construct direction to contact in vehicle frame from tetrahedron phase data.Rz@YR@R\pG9RGv9>yRH`?z? ƿ ӡ?y?`e?tp?ɨRz@Rd;R Cy^LB^~!I]Mb@Mb@Mb@YYY Y)YY]Zd;O?v/Mby]j<=]x齹]]MA Y)YIYYy]@IuIui٢z ?=9Q > G٣yqJ > Nusing accuracyPremultiplier from config59ਗ਼?5Y i™=;: A;A;b5 AmDNOT Ignoring new targets: 46.00 m. jijijijihhhh IWill construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J :J J 6w,SdoA6u@Y6>@6J96ͪ9>y6H??@ƿؤ3?`;Q?@ ?o?ɨ6u@6;4y>.BBY!IIJIJ@٢z zT=9zQ ~> G٣y  > Nusing accuracyPremultiplier from config 59 Ƨ?5Y  i ™? A VE  ; . ; 5! -sA)]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiahahahahafifirfibfm@e@]]]],p@J 隥>I9 ɚiII3ii<))2DrA*DrA5Will construct direction to contact in vehicle frame from tetrahedron phase data.D9HI I"IIƒBI# =&I.I6Iv<:IZ F*F?2F:FBFY0JFBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.\w,2v~oAy=B=D!IMb@Mb@Mb@ )Y#~j?K7AQy= uvA K@)@I@y@II٢ 9=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 ?5Y  i ™>;%A  J; H; 5-B -A-UE*J1"J5a=]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiahahahahe1Bfifirf bf ٴe@]U>]U>]U@]UM@a ae>Ie9 ɚ3iII3iiJ<))zKKKKv#KD%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF}o0JFyG %<B O >tw,oA67^@Y6m@6S96g9>y6H ђ?`?`ƿ? `Q|?? n?ɨ67^@6;6!CyR BR/!IIZIZb٢b⵽ bc=9bϻQ f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59n?r5Yn in™pvWvAnWEn;n;n5x zAx !I-h5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h1h9h9hAfAfArfAbfEƿe@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]9@S !%>I%U9 )ɚ-h4i)I)I=3i9i=<)9)ADE9J5J5J51J1J5 :J5 :J53J1*F?2F:FBF~0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.G E<B O >w,&oAHI I!IIBI&I.I6I<:I| F^I@Y^Y@^Z9^T9>y^H G٣y kȻ  > Nusing accuracyPremultiplier from config 59 ?5Y G i ™%A  ; l; ]5) -A)UDNOT Ignoring new targets: 46.00 m. jQjYjYjYiYhYhYhahafafarfibfme@]]]]'@Z 隭>IA9 ɚȦ4iII3iiyę<))BD=:Dp> IWill construct direction to contact in vehicle frame from tetrahedron phase data.D%9E9E=qA*F?2F:FBF1JFzK BoIK 9K K w#K "$'*-/021031232/.-,)&$" G Fթ<B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.nw,:oA>@YN@R`9J9>yHw?`.?ǿAx? nW?@ ?m?ɨ>@M;騍 CyB!IMb@Mb@Mb@ )YZd;?HzGMby== A b@)I@y@II[٢3 "=9*Q > G٣ym/ > Nusing accuracyPremultiplier from config594?5Y i™:> ; t翑 AXE ;;5 A=DNOT Ignoring new targets: 46.00 m. j9j9jAjAiAhAhIhQhUBfQfQrfYbf]e@]}:>]}:>]}O@]}2@R` 隍?I9 ɚ4iII3ii2[<)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.D- 9*F ?2F :F BF 0JF G<BO>kw,}oAWill construct direction to contact in vehicle frame from tetrahedron phase data.f!.@Yf=@ff9f Q9>yfHi?7?-ǿLm?`r`Ӭ?u?@om?ɨf!.@fG;f"CynBn IIzIz̍٢!w L=9 Q  >  G٣y죻 > %Nusing accuracyPremultiplier from config%59ž?-5Yu i™)-翑-A ; ;Q51 5A9eDNOT Ignoring new targets: 46.00 m. jajijijiiihihihqhqfqfqrfqbf}e@]]]]#@f 隭>I9 ɚ45iII3iix1<))H9I9 I=!II=lBI9&I9.I96I=<:I=o FD%q9 I *F?2F:FBF 3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JSK[3 K[.KSKS"KSJ J J J J L:J :J J J P;a J Q;a J 9P;a J :P;a G= <BI Oe >Zw,>pA6!@Y6 1@66m969>y6H@^?@ ebeeA ej@)e@Ie@aye@IIT٢ 2=9jaQ > G٣yY > Nusing accuracyPremultiplier from config 593? 5Y i™ J>;L㿑AYEL'<;T5 A-Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf@Ze@]%J>]%J>]%\@]%<@=6m 9隅>I69 ɚ65iII3iiȿu<))*FQ2FQ:FQBFU4JFQ I G T<B! OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. i Agw,rpA>t@Y>#@>ns9>\9>y>H3S?3B?oǿG \?⨿ uo? ?`k?ɨ>t@>_;> CyFBJ IIVIV<٢^q< bq=9bQ b?dd fG٣dyf j? nNusing accuracyPremultiplier from confighr59j ?r5Yj ij™tv~㿑vAjZEj+;j,;jϸ5x zAx%DNOT Ignoring new targets: 46.00 m. j!j!j!j)i)h)h)h)h1f1f1rf1bf5kf@]Q]Q]Q]U'0@-ns )->I5Y9 1ɚ5Q5iYIYIe3iaie2m_<)a)a*F-?2F):F1BF5X0JF1EWill construct direction to contact in vehicle frame from tetrahedron phase data.GMmo<BYO}>HA IA  IE !IIE WBIA &IA .IA 6IE <:IE FC w,T9pA:@Y:@:qYy9:9>y:H`H? F?ǿ`S? cF@&??^j?ɨ:@: T; DID:"CyNBN IIVIV ٢^>; ^J=9bbQ b>`` fG٣dyfj f> jNusing accuracyPremultiplier from confighn59j?n5Yj ij™pr㿑rAhj ;je ;j5t vAtEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfU}f@]q]q]q]ue%@Will construct direction to contact in vehicle frame from tetrahedron phase data.qYy u >Iux9 yɚp5iII3iiq\M<))JmJiJm0JiJm̶:JiJmـ3JiJm;Jm;JiJi*F?2F:FBF[0JFzK 8oLK 9K K y#K /:>9775233220.,,-)(&$$!!e Will construct direction to contact in vehicle frame from tetrahedron phase data.a e <G% Qd<B9 O] >w,]2SpA2@Y2 @2(U~92)9>y2H??@K?ǿ AL?`jů?`?i?ɨ2@2+=;0y:B:!I)@ @@@-only read 0 of 1 data item for altitude. Device response is::BD, +20.0.00  @ @ @  @ I%I%W٢5< 5C=9=">Q =>99 =G٣AyEG E> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]59M6?]5YM iM‘e+:aeY;e㿑eAM[EMUX;Mg>M5i mAiB*** querying acoustic contact ***jj%DNOT Ignoring new targets: 46.00 m. j)j)j)jqiqhqhqhqhyfyfyrfybf`f@(U~ R>I9 ɚd5iII3ii=<)) qIqWill 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.*F?2F:FBF_0JFGzQ<BO >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] ,DAT read: user:3437> e BDAT read: Tx time:23:44:00.8938 e $Ping request sent.e yfH 2?@)T?6ǿ[FA?Ѧ8-??j?ɨf#@f ;f!Cypr!II%I%n٢5 5H=9]+5Q ]>YY ]G٣aye e> ubBottom track data is 0.8 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi59mƗ?5Ym im‘ :/;俑Am\Em5 AEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhIhIhIffrfbf+f@H8>I III" =&I.I6I<:I FBIyJIyRIyZI}# =bIyjI}3 >I9 )ɚ-*5i)I)I53i1i=$"<)9)92DE*DEBDE:DE*F2F!:F!BF%p0JF! IIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252135GM F<B O >Je Je Je 1Ja Je l:Je :Je 3Ja Je ;Je ;Je @;Je @;Ҵ!w,((pA2@Y2@2e929>y2H$0?}T?ǿF@?`I? ?``i?ɨ2@2!;2Cy>B>!I         Mb@Mb@Mb@ )YZd;O?T㥛  G٣y% > Nusing accuracyPremultiplier from config59ŕ?5Yf iT: >;!A ;; 5 NA]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhYhahahe!Bfafirfibfm 8f@] >] >]n@]pNJ@e >I'9 ɚ]5iIzKMK9KKz#K   Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504947I3ii))*F?2F:FBF2JFG &<B 1 I9 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7588948'w, pAJܡ@YJ1@J49J&8>>yJH"?;U?Mȿ" 2? [?@w?Kb?ɨJܡ@JL;J CyVBV(!IiZ=IZ<I^I^٢f= fY=9j\Q j>hh nG٣lyn r> vNusing accuracyPremultiplier from configtz59v퓚?z5Yv it|~V~Av]Ev;v;v5 A 5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h1h1h9h9fAfArfAbfE >Df@]a]a]a]eH@4 S>I%9 !ɚ%5i!I!I-3i)i-<)))1EaEerA*F?2F:FBF 5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%V>%=-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011149G(<BO=>HI I!IIlBI&I.I6Iٰ<:I F ! I! .w,YںpA>@Y>sѨ@>09>O<>y>H! ?e?0ȿ?ð? 2[?`d?ɨ>@>裇;>$CyFBF5!IIRIR@ ٢VW= ZL=9ZQ Z>\\ ^G٣\yb[ f> jNusing accuracyPremultiplier from confighn59j?n5Yjd ihlrrAhj[;j;jr±5t veAtDNOT Ignoring new targets: 46.00 m. jjjjihh!h)h1f9fArfIbfM7Qf@]i]i]i]m@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2631860 隕 >I9 ɚ5iII3iið;))*F=?2FA:FIBFMP0JFQJ!J!J-J-J)J)J-:J- :J)J)J-;J-;J-R;J-R;G_<BO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514990zKE LKA KA KE {#KE /tV<+ BKU pA:KU oAm4w,1pABU@YBͨ@BF9B!:>yBH5 ?$j?@ȿ@@?᥿@?+.?f?ɨBU@B.;B#CyJ)BJS!ImMb@Mb@Mb@iii i)iYmJ +?I +?ymH=mm9 G٣y > Nusing accuracyPremultiplier from config59?5Y i™Q >;{ A^E;;Uı5B AXEDNOT Ignoring new targets: 46.00 m. jjjjih h hhqBf!f!rf)bf- _f@]mQ >]mQ >]mY@]m7R@F 隍R>IZ9 ɚiII3ii)) I*F ?2F :F BF JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767703Gm;ByO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018936;w,IpAyU,BUW!IIaIa٢u5< uK=9}Q }>yy G٣y > Nusing accuracyPremultiplier from config596?5Y  i™A;{;Ʊ5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhf!f!rf!bf%kf@]A]A]A]AHU9>IQ IU!IIUBIU# =&IQ.IQ6IU<:IU Fy y}>I}9 yɚ}3iII3ii9;)) ID39Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271939*F?2F:FBFf4JFG B O5 >wBw,2Z qANu@YN@NJ9NU:>yNH'?@Z?Ƽǿu@5? $??`ai?ɨNu@NUR;Lyb@Bbo!IMb@Mb@Mb@ )Yy&1B`"۹S㥛?y`eν/<Will construct direction to contact in vehicle frame from tetrahedron phase data.><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524527 A @)$@I`@y@I-I-i٢59= 52=9=;Q =>9A EG٣AyE< M> UNusing accuracyPremultiplier from configIU59M?]5YMS  iM™]=];]-]AzKe6MKe9KaKe|#KeIM;M;Mȱ5y }AyEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhIhIhMBfIfQrfQbfU {f@]=]=]c@]>d@J >Ih9 ɚW>4iII3iit;<))D!9*FM?2FI:FIBFMP0JFI I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774907G B O > Hw,0$qA:;@Y:@:M$y9:<9>y:H2?|U?ǿV;>?@<刺`?`/ ?j?ɨ:;@:d;:"Cy^SB^!IIfIfW٢nh= rd=9r;Q r>tt vG٣tyv; v> Nusing accuracyPremultiplier from config|59~?5Y~  i~™  - A~_E~:~":~ɱ5 JAJ%J%J!J!J%:J% :J!J!a-@a-@a-@a-@DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf)f@]]]]fd@M$y >I}9 ɚiII3ii)<))%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026823D9HI I!IIBI" =&I.I6I5<:I F*Fu?2Fq:FqBFqJFq I G q<B O >Nw,>qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278927 @Y#@"Fk9?o9>yHJ?I?Kǿ@P? @d?`?l?ɨ @d;騹y\B!IMb@Mb@Mb@ )Y~jt#~jQ?y㥽< A @)Iv@y@II%٢=  =9;Q > G٣y; > Nusing accuracyPremultiplier from config59Ԁ?5Y~  i™=;>@A)) )~G Yy^A\=Q=˱5 A MDNOT Ignoring new targets: 46.00 m. jIjQjqjqiqhqhqhyh}ÂBffrfbff@]=]=]m]}@]ղ>@"Fk >I9 ɚ 3i I I3ii]W<))*F?2F:FBF_0JFGqA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535950zKeKeu9KaKe}#KeG {*<B O >Uw,XqARa@YR,@RGb9R9>yRH[?x@? E)ǿ *^?ɪ`N?7 ?^m?ɨRa@Rqȇ;R#CyZbBZ!IIfIf@٢nE = n=9n;Q r?pp rG٣pyv; v? zNusing accuracyPremultiplier from configx~5 I9z}?5YzX  iz™>@Axz@uGb y}͟>I}#9 yɚ}4iyIyI3iiMw<))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.787653*F-?2F):F)BF-1JF)GY=<BO-->JJJJJJ9:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039548\\w,rqAHPIP IR"IIRǃBIP&IP.IP6IR<:IRo F^+@Y^A;@^Z9^O9>y^HJh?`:?Eƿ g?@ø??P?`n?ɨ^+@^ ;^!CyfjBj!IIrIr?1٢zo= zF=9~;Q ~>|| ~G٣yR; >  Nusing accuracyPremultiplier from config 59 y?%5Y &  i ™!%>@%A `E ]; ]; ϱ5) 5A1DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf f@]]]]>@-Z IM4>IMD9 IɚUs4iQIQIU3iYi]<)Y)Y $?I*F92FA:FABFEP5JFA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291168G5[<BOU >bw,QqA6?@Y6^O@6cP969>y6Hy? ,1?ƿt?  ??@)o?ɨ6?@6;6#CyFwBF!I)H H%Mb@Mb@Mb@!!! !)!Y%1Zd rhZd;O?y%"۽%C%j<%/ A %@)%h@I%@!y%@I5I5T٢M>{= ME=9M;Q U>QQ UG٣Qy]; e> mNusing accuracyPremultiplier from configam59eu?u5Ye  ie™u>u;u.@}AaeD;e;eб5 *AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542991DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf f@]u>]u>]uIK9 ɚV4iIzK]KK-9KK~#KI3ii<))EqAE*Fi2Fi:FiBFm4JFi"Gu=Gu= IGmc<ByO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795112K%iw,\qA6S@Y6wc@6daF96*9>y6H ? (?ƿ@ķM?S@ɨ??p?ɨ6S@6;6 CJBJBJB0J@JB:JB:JBـ3J@yJ{BJ!IIVIV٢< T=9;Q >!! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=595q?=5Y5  i5™9=/@EA5aE5\ ;5 ;5ұ5I MAIDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@bf@]]]]/@daF  g>I j9 ɚ4iII3i!i%<)!))*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047786H:>I I."II܃BI&I.I6I<:I FBIiJIiRIiZIm" =bIm" =jIm-4GT<BO5> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298791pw,vRqAJe@YJt@JF;9J9>yJHڙ?@!?pƿ3&?ԑt?` ?Lq?ɨJe@J ;JCyRuBV!IIbIb?٢j jH=9j;Q n>ll nG٣lyr; r> ~Nusing accuracyPremultiplier from configt%59vm?-5Yv iv™Y]A/@]AtvpD=v=vOԱ5%B %1A%[EuDNOT Ignoring new targets: 46.00 m. jqjqjqjqiqhqhqhyhyJJfyfrfbfgf@]]]]A/@F; |>I?9 ɚ-4i)I)I53i1i5}<)1)Y2Da*DaBDa:Da*FU?2FQ:FQBFYJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551122zKBoHKu9KK#K lOb{~<+Ru_OD9-&)<j~vrqi_WBKqA:KqAG W<B O >u7vw,qA $I$Jgw@YJ膩@J09J9>yJH?@]?@9ƿ@`֘?%o@5? ?`nr?ɨJgw@JdC;J!CyVpBZ!I=Mb@Mb@Mb@999 9)9Y=/$i|?5Q?y=1=q=u<=E A =@)=@I=v@9y=@IUIU٢eԼ eB=9e;Q m>iq uG٣qyE; > Nusing accuracyPremultiplier from config59xi?5Y i™5>5;5f%@=AbE<t<)ֱ5A E^AADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfXf@]>]>]c@]!f%@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.80301350 1=Ha>I=D9 9ɚ=4i9I9IE3iAiE !<)A)I*F ?2F :F BF X0JF GrA GJJJJJ :J*:JJG- 5<B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055788 c|w,VqAH";>I  I I I"! =&I .I"7D6I"<:I" FV䇢@YVe@V$9VJ9>yVH`?`?ſ ?@i?A?@s?ɨV䇢@VC;V"CybjBb!IIjIj%x٢rYּ rR=9vd;Q v>tx zG٣xyz; z> Nusing accuracyPremultiplier from config 59ne? 5Y i%@A::ױ5! %A!MDNOT Ignoring new targets: 46.00 m. jIjQjQjQiQhQhQhYhYfYfarfabfef@]]]]̆%@$ 隝V>I9 ɚ= 5iII3iiL<)) 1I1*FM?2FI:FIBFMo0JFQ%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307505GuE<BO>*J "J 4=Jw, rA6;@Y6@6d969>y6H`? b ?Bſ@”@o?ͱ@]+? ?Lt?ɨ6;@6;4y^YBb!I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559231Mb@Mb@Mb@ )YZd;Q{Gz?yu#< A @)@Iy(@II٢5 ==9;Q > G٣y; > Nusing accuracyPremultiplier from config59 a?5Y i™ >;'@A~;;ٱ5 A 5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h9h9h9h=BfAfArfAbfEf@]e >]e >]exPf@]e2'@zK0OK-9KK#KPKFA@8/,,*$%$   Dv6cRK?JK?=d 9=.>I=9 9ɚ=5iAIAIE3iIim#<)i)i*F?2F :F BF JF  1I1- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810787G5 *<BA O] >uw,'rA:@Y:@: 49:?9>y:H?o?@ſَܳ?@f š?` ? vu?ɨ:@:;8yNIBNz!I)P PIZIZ<٢b² f\=9jB;Q j>hh nG٣lyrj}; r> zNusing accuracyPremultiplier from configt59vf]?5Yvt iv™ '@ AvcEvNm;vf;v]۱5! %A!5DNOT Ignoring new targets: 46.00 m. j1j9j9j9i9h9hAhIhIfqfqrfqbf}g@]]]]'@% 4 !% >I%9 IɚM5iIIII]3iYi]J*<)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063763*F%?2F!:F!BF%0JF!"G-=G-=HaIa Ie"IIẽBIa&Ia.Ia6Ie<:Iel FG %<B ) I1 O= >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314861&[w,N~ArAvj@Yv@v`9v9>yvH?? gſ7?ck??u?ɨvj@v2;v Cy~?Bn!IIIW٢%8 -D=9-j;Q 5>11 =G٣9yE; E> eNusing accuracyPremultiplier from configQu59U;Y?}5YU iU™(@AQU;U;U0ݱ5 AJqJu@AJ}J}JyJyJ}:J}q:JyJyJyaJyaJ}k;aJ}k;aDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf`g@] ] ] ] (@` %\=I%/9 !ɚ%%5i!I!I=3iAiE<)A)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567002D9zK DNK u9K K #K pdXN\/t^TKB:3-%  BK! :K! *F ?2F :F BF _0JF % $?I! Gm<BO>첗w,J`rA>}@Y>ȩ@>9>Bs9>y>H`?? 3ſ ?`"V?n ?|v?ɨ>}@>G;aa eG٣aye: m> uNusing accuracyPremultiplier from configq}59u/U?}5Yu5 iu™}=};}0@}AudEur;u8;uM߱5 AUDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhQhYhYh]ςBfYfarfabfe%g@]=]=]Eo@]ȃ0@ R8>I9 ɚ15iII3iiw<)) D9*F]?2FY:FYBFe2JFaMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.070869G N<B O >H <>I  I !II BI &I .I 6I <:I h FKٝw, zrA 0I0>6¢@Y>ѩ@>k=9>9>y>HO?? ſ8?D*? I?zv?ɨ>6¢@>b;>!CyfBf2!IIrIrT٢v vR=9z;Q z>x| ~G٣|y~3; >  Nusing accuracyPremultiplier from config 59Q?5Y i™0@A::5) -lA)UDNOT Ignoring new targets: 46.00 m. jQjQjQjYiYhYhYhahafafarfabfm0g@]]]]0@k= 隝=I9 ɚiII3ii<))Dm9ErAEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324366*Fi2Fi:FiBFm4JFiGq Gq!J]J]J]1JYJ]:J] :J]3JYJ]7;J]8;J]9P;J]:P;G5<BAO]> e YayeAe Will construct direction to contact in vehicle frame from tetrahedron phase data.e =a e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575286Ĥw,rrAzKZROKZ89KXKZ#KZ 6{|iy B!I-uonly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0. +0.00,2924.94  u@u u@u u@}  }@} I}I}٢S @=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59`N?5YY i‘+:;A8; >5 A^EDNOT Ignoring new targets: 46.00 m. jjjjihhhh f f rfbf>g@9 9=l=I=9 9ɚ=2iAIAIE3iIiM<)I)ID 9 QIQ*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.826979G+V<BO >w,ӭrA6 @Y6̩@6,ļ96d9>y6H o?@?@Ŀ ?w˴? ?w?ɨ6 @6n;4yBނBB IIJIJ٢R R[=9RNTT VG٣TyZnݺ Z> nbBottom track data is 0.8 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr59j:K?r5Yj ij‘v :tv;v0@vAjeEjWg;jN?j5x ~A|%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf=Jg@e,ļ imp Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330851pٱw,rAJ;3K;3 K;/.K3K3"K3JJJ0JJ :J :Jـ3JJ;J;JdW;JdW;.@Yũ@y9S9>yH? ?Ŀ?@.??"x?ɨ.@.;騑yޥ̂Bޭ I        Mb@Mb@Mb@ )Y{Gz?Mb rhy#<CI A 5@)@I`@yII@٢ *=91;Q > G٣y  > Nusing accuracyPremultiplier from config 59 {H?5Y  i  ‘T:= <rA  ,; R; 5) -r A)]DNOT Ignoring new targets: 46.00 m. jYjajajaiahahahihmpBfifirfqbfu Yg@]=]=]0@]v@%y !%R8>I%9 )ɚ-M3i)I)I53i1i5p<)1)YWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583374zK .MK K K #K ZL;,#   D}j9 A II *F ?2F :F BF 5JF "G% =G% = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834788G +V<B O >޸w,1rAjb@Yj㶩@j9jd9>yjH?w?Ŀ?r? ?@+x?ɨjb@j-;j CyvBz III ٢ M=9:Q > G٣y%є %> -Nusing accuracyPremultiplier from config)559-1F?=5Y-O i-™9==A)-F-;-6-;-j5A EU AIuDNOT Ignoring new targets: 46.00 m. jqjyjyjyiyhyhyhhffrfbf fg@]]]]΋v@ 隽=I9 ɚiII3ii<))DM)9}Will construct direction to contact in vehicle frame from tetrahedron phase data.I I`!II4BI&I.I6I<:Is FBIJIRIZI! =bI! =jI5*F?2F:FBFP0JF y Iy G- F<B1 OU >qw,W rA>@Y>2@>I9>G9>y>H4?W?@9Ŀ.?`z?`ȕ??@w?ɨ>@>ڧ;>!CyZBZ IIbIbb٢n. nN=9n:Q n>pp rG٣pyv v> MNusing accuracyPremultiplier from configI]59MC?]5YM iM'™Y]]AMfEM9;M9;M25a m+ AiDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfsg@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]] ov@I Г=I-9 ɚiII3iii<))DU 9*F?2F:F BF _0JF J}J}JyJyJ}|:J} 9JyJyJ};J};J}O>;J}P>;G] r<Bi  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >zK LK 9K K #K w,sA IyUB] Iim=Im<=Mb@Mb@Mb@999 9)9Y=Q?T㥛 Zd;Oy=\===j9 =@)=@I99y=@IUIU٢e敽 e4=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}A?5Y}g i};™w>;Ay};});}!5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhh#Bffrfbf g@]w>]w>] @]@! !%B>I-9 )ɚ-!N3i)I)I53i1i5eK<)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received-w,%4sA2l@Y26|@2929>y2H?0?Ŀ@t?@U஗?@?w?ɨ2l@H<I< I>!II>BI> =&I<.I<6I><:I>i F2*;0yRsBRs IIZIZ(٢b[ bU=9f9Q f>dd jG٣hyjo n> rNusing accuracyPremultiplier from configlr59n??v5Yn inL™tvvvAngEn:nk;n5| ~= A|-DNOT Ignoring new targets: 46.00 m. j)j)j)jihhhhffrfbf@g@]]]]gT@M 隍( >I9 ɚ]3iII3ii,l<)) I *F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GVv<BO>Jy J} AA{w,NsAy~aB~] IMb@Mb@Mb@ )Y)\(?Dl~jtyG=O ` A 5@)@Iy@IIԲ٢H 9=9Q > G٣y > Nusing accuracyPremultiplier from config59=?5Y  i_™5>%;%%AQ;^;5) - A)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]DNOT Ignoring new targets: 46.00 m. jajajajaiahahahihmBfqfqrfqbfuMg@]5>]5>]T@]@ 隵>I9 ɚ4iII3iih<))*FE?2FA:FABFMS5JFIzK>`JKu9KK#KGd<B)OE0> I Will construct direction to contact in vehicle frame from tetrahedron phase data._w,lhsA>4@Y> D@>99>ݯ9>y>Ht?@N?MĿ@^G? d`t???w?ɨ>4@>;>#CyRYBRT II^I^i٢j  n^=9r+Q r>tt vG٣tyz` z> Nusing accuracyPremultiplier from config 59<II9 ɚ&4iII3iiă<))*F2F:FBF05JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.H>>I I II΂BI&I.I6I<:Is FGb<BO> Icw,pDsA6@Y6$@6vf96[29>y6HZ?^`? Ŀ@4.?C@S̖?@?@dx?ɨ6@6j;6!CyB\BBW IIJIJʴ٢R!a< VN=9VyQ V>XX ZG٣XyZ! Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.`i` Nusing accuracyPremultiplier from config%59|:?%5Y  i™)-q￑-Az::!51 5 A1DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf~g@]]]]3@=vf AEf>IE9 AɚEJ4iAIAIM3iYi]U[<)Y)q*F?2F!:F!BF-P0JF1*JUa="JUa=-$=JgetPosition uart error serial timeout]$=^Rudder uart error - getPosition..serial timeout1=-$E(Communications Fault!E BI!]\Communications Fault in component: RudderServoOmx>uWill construct direction to contact in vehicle frame from tetrahedron phase data.zK= jIK= 9K9 K= #K= RKM ?JKM ? I nw,:sA2@Y2= @2ɹ92*9>y2H`"E? l?Ŀ @?8?@?@w?ɨ2@2xƋ;2 CyNPBRH IMb@Mb@Mb@ )YDl?~jtÿy&1yO >`e A C@)II@yz@II٢ c 8=9 tQ > G٣y@߻ > Nusing accuracyPremultiplier from config598?5Y5 i™R>;8近AiE3;;5 X A=DNOT Ignoring new targets: 46.00 m. j9j9j9j9iAhAhIhQh]BfYfarfabfm@g@]R>]R>]b@]@ɹ 隥#>I9 ɚt4iII3ii6<))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF $4Uninitialize Rudder Servo.$Powering downG G"GGBO&>JeJeJaJaJe:Je :JaJa} Will construct direction to contact in vehicle frame from tetrahedron phase data.H =>I  I II BI &I .I 6I <:I Fmw,yVH??ſY ?G??Pw?ɨVȡ@V9;VCy QB J Ii=IR=I%I%<٢5< 5Q=9=Q =>AA EG٣AyE M> Nusing accuracyPremultiplier from configQ59U7?5YU; iU™鿑AUjEU ;U. ;U5 N A`EDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfg@] ] ] ] ώ@^ !%t'>I%-9 !ɚ%L4i!I!I-3i) 9I9i-;)9)A*F?2F:FBF]0JFBO>PExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.)Y YNGvA 5 Y5 vAy5 vA }? JAJ) J) w,,sAynZBnT I-5only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3768,V  5@5 5@5 5@5  5@= I=I=?٢M:(= MM=9UQ U>YY ]G٣Yy] e> mbBottom track data is 0.4 s old, using for 20.0 s. mNusing accuracyPremultiplier from configa}59ec5?}5YeI ie‘+:P;Aae7z;e>e#5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf 8g@5Will construct direction to contact in vehicle frame from tetrahedron phase data.y 隅@8>IO9 ɚ54iII3ii;))*FM?2FI:FIBFM`0JFI $U4Initializing EZServoServo. e$?IizKk3IK89KK#KBK:K $2Initializing RudderServo.B!!=^Clearing failed state for component RudderServo1=OE> Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,sAby@Yb@bü9bmn9>ybH'?@?`%ſ"`W?@PGt?@ ?w?ɨby@b;b"CyvWBvQ IJ%J%J%1J!J%|:J%:J%3J!I]I]M٢m[ mH=9mQ u>qq uG٣yy}l }> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config593?5Yc i‘ :);鿑AkE8;*M?N5 ! ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfCg@ ü 2>I9 ɚ4iII3i!i%ޅ:)!)!*F ?2F :F BF 0JF BOM>EWill construct direction to contact in vehicle frame from tetrahedron phase data.H!I! I% II%BI% =&I!.I!6I%<:I% F QIUh  nManaging dock network, ignoring radio surface power offw,mtA6@Y6@6¼9659>y6H ?@?##ſ,@ ?7T??@x?ɨ6@6ԝ;4yBgBBd I)D DIJIJWRWill construct direction to contact in vehicle frame from tetrahedron phase data.٢Z(= ZW=9^~9Q ^>\` bG٣`yb b> jbBottom track data is 1.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59f1?n5YfY if‘r9pr ;r 꿑rAflEfTE;fT?f05t v AxDNOT Ignoring new targets: 46.00 m. jjjjihh!h!h!f!f)rf)bf-lg@¼ @R>I$9 ɚ4iII 3i i ) )*F?2F:FBFU3JFBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]%=]4= A IA zK BoHK 9K K #K RK ?JK >w,dtAy%pB%o I        Mb@Mb@Mb@ )YzG?Onÿ~jth?y =D;` A K@)3@I@y@II٢%#= %5=9-Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=Y/?E5Y=V i=‘MT:M:>M;MPMA9=* ;=H;=(5Q UW A]cEDNOT Ignoring new targets: 46.00 m. jjjjihhhh7Bffrfbf`h@]:>]:>]p@];@ H=Ij9 ɚ4iII3iiMe))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFQ5JFBqO[>JEJEJE0JAJE̶:JE9:JEـ3JAe Will construct direction to contact in vehicle frame from tetrahedron phase data.HE ?>IA  IE IIE BIE  =&IA |- w,kE7tA2Sg@Y2v@2929>y2H@v?` ?6ſ<M?A kї??.w?ɨ2Sg@2I;0.Iq6Iu<:Iuq FBICJICRIZI =bI =jI25ynBr IIzIz٢E= EY=9M:Q M>II UG٣QyU# U> Nusing accuracyPremultiplier from config59-?5Y i™AmE::5  A I DNOT Ignoring new targets: 46.00 m. j j j j i hh1h1h1f9f9rf9bf=hh@]]]]@ <>I9 ɚ4iII3ii$i))*F?2F:FBF4JFBO >Will construct direction to contact in vehicle frame from tetrahedron phase data.w,QtA:T@Y:hd@:O>9:9>y:H̷??2ſF?m3 B??xw?ɨ:T@:C;:!CyFBF IiJII UG٣QyU ]> eNusing accuracyPremultiplier from configam59eO*?m5YeP ie™me>u;uK uAae;e;e5 k ADNOT Ignoring new targets: 46.00 m. jjjjihhhhnBffrfbfh@Will construct direction to contact in vehicle frame from tetrahedron phase data.]ee>]ee>]e{@]e;@uO> y}u=I}9 yɚ}4iyIyI3ii))EE*F-?2F):F)BF-P0JF)B9O]> IzKK-9KK#K Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,jtAB1M@YB\@BW^9Bι9>yBH N? ?`&ſJ%?VQ?>?w?ɨB1M@B;BCyrBr IIzIz٢V= %M=9- ;Q ->19 EG٣AyM2 M> ]Nusing accuracyPremultiplier from configQe59U~'?e5YU iU™iu[ uAUnEU;U;UR5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrf bf  *h@])])])]-@=W^ 9E=IE9 AɚEw5iAIAIM3iIiU)Q)*F?2F:FBFJFBO>%Will construct direction to contact in vehicle frame from tetrahedron phase data.H@>I I II؂BI =&I.I6I~<:Ij F I&!w,tӄtA6@@Y6O@6;毼96p9>y6H@5?h?ſ@Q|?`X?a ?-x?ɨ6@@6[;6#CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yFBF IIVIV<٢^= ^Q=9^:Q b>`` bG٣`yf冻 f> jNusing accuracyPremultiplier from confighn59j$?n5Yj ij™prw rAhj ;j ;j5t vP AtDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf6h@]]]]Lԃ@-;毼 )-B>I-9 1ɚ5i1I1I]3iYi]1)Y)aJJJ1JJ:J&:J3JJ;aJ;aJ\;a%J\;a%*F-?2F):F)BF-_0JF)B9O9>5Will construct direction to contact in vehicle frame from tetrahedron phase data. I zK5 K5 89K1 K5 #K5  @OH;,  P'w,tAy~B~ I) Mb@Mb@Mb@ )YMbpPn{Gz?yvA )`@IAyAIIT٢< 7=9Q  > G٣y% %> 5Nusing accuracyPremultiplier from config1=595 ?=5Y5 i5™=>E;E'EA5oE5c;5;55I M AIuDNOT Ignoring new targets: 46.00 m. jqjyjyjyiyhyhyhhBffrfbfkDh@]>]>]͕@]>j@ L=I9 ɚT2iII3iiA))Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝A*F?2F:FBFJFBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.H A>I  I !II BI &I .I 6I <:I } F+{-w,?tA AIAyM͂BM IIeIe@٢$= P=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YL  i™A;::5 m A DNOT Ignoring new targets: 46.00 m. j j j j i h hhhffrfbf@mQh@]]]] =Is9 ɚiII%3i!i!)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F ?2F :F BF P0JF J) J- @AJE JE JE 0JA JE \:JE :JE ـ3JA JE <JE <JE dW;JE dW;MWill construct direction to contact in vehicle frame from tetrahedron phase data.GU޹<BaO}?5w, tA67@Y6[G@6;96[9>y6Ht? ?]Ŀ@xVq? 6G?, ?x?ɨ67@6l;6"CynڂBr I I Mb@Mb@Mb@    ) Y y&1!rhyy }G٣yy > Nusing accuracyPremultiplier from config5'TFailed to parse incomplete device message.9<?5Yt  i™x>;CApE;;5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhЂBffrfbf'ch@]%x>]%x>]%@]%bN@5; 9=BK :K @%)) 5G٣1y5 => ENusing accuracyPremultiplier from config9E59=h?E5Y=  i=™IIMA9=:=:= 5Q ]AYDNOT Ignoring new targets: 46.00 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbf nh@H9I9 I=G!II= BI= =&I9.I96I=<:I= F]q]q]q]q 隵9=I9 ɚ2iII3iiy)) I*F?2F:FBF0JFG)BOE> Will construct direction to contact in vehicle frame from tetrahedron phase data. G |uA Y |uAy LA Cw,v uA:1@Y:A@:[{9:؍9>y:H3?y?૸ĿZwh?`󢴿k? ?x?ɨ:1@:݊;:!C*J^C="J^4=JbJbJb1J`Jb:Jb:Jb3J`Jb;Jb;JboN;JboN;yzBz!IIIT٢%= %K=9%;Q ->)) -G٣)y5E 5> =Nusing accuracyPremultiplier from config9E59=&?E5Y=  i= ™AMCMA9=:=:=Z 5UB UAUfEDNOT Ignoring new targets: 46.00 m. jjjyjyihhhhffrfbf {h@]]]]N@[{ 0=I&9 ɚ3iII3iiE. ))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JF"Gp=Gp= $?IzK k3IK 9K K #K G ҸлB O% > 5Iw,&uA"Will construct direction to contact in vehicle frame from tetrahedron phase data.J 2@YJA@Jc9JF9>yJHÚ? ?`ĿY`Mg?`鴿@{??`~y?ɨJ 2@Js;J"CyRBR!IMb@Mb@Mb@ )YJ +yȽ̽A @)Iv@yAIIW٢; ==96Y;Q >   G٣y%Q"9 %> ENusing accuracyPremultiplier from config9M59=0 ?U5Y=L  i=™_>;9@A=qE=<=<=B 5 A-DNOT Ignoring new targets: 46.00 m. j)j)j)jIiQhQhQhQh]BfYfYrfYbf]Ch@]_>]_>]O{@]9@c I ɚiII3i i j) )*F?2F:FBFR5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H9I9 I=f!II=9BI9&I9.I96I=<:I= F I G >uB O >Pw,{@uA6$1@Y6@@6CO96~9>y6H?? 0Ŀ`Zd?4F??Py?ɨ6$1@6Q;6!CyRBR!I)T VAI^I^̍٢f f`=9fQb;Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r?v5Yr ir™tv9@zApr:r:r5| ~,A|DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf h@])])])]-z9@]CO aeIeS9 aɚe3iaIaIm3iiiI ))2D*DBD:DEAEEqAeWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF2JFJJJ0JJJ:Jـ3JJJJzE;JzE;GBQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.WVw,5ZuA I J4@YJC@Jab89J9>yJH?@+?vĿYde?୊@, ??8y?ɨJ4@Jflj;HyRBV!I=Mb@Mb@Mb@999 9)9Y="~j+η~jtxy=S㽙=v=Ļ=A =@)=AI=A9y=pAIUIUƲ٢e< e?=9mU;Q m>qq G٣yU: > Nusing accuracyPremultiplier from config59#?5Yp i'™i>;G3@ArEP;v;5  AMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhqhqhyh} Bfyfrfbf@[h@]i>]i>]u@]G3@ab8 #IB9 ɚ 2iII 3zK-K-9K)K-#K-  RK=?JK=?i9iE)A)A*F ?2F :F BFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G% >uB1 OM >rq\w,0tuA61@Y6hA@6$969>y6H`՚?`:? bĿQZ@b?ǵ`? ?`y?ɨ61@6i;6$Cy>B> !IIZIZ[٢bc bW=9fL;Q f>dd jG٣hyj]: j> rNusing accuracyPremultiplier from configlv59n?v5Yn in0™xzA3@zAln/;n/;n\5| ~_A|%DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf=έh@]Y]Y]Y]]\A3@u$ qu@zIu9 yɚ}-%2iyIyI3iizc))Will construct direction to contact in vehicle frame from tetrahedron phase data.HB>I Iy!IIHBI&I.I6I<:I FBIJIRIZI =bI =jI4*F?2F:FBF^0JF QIYG5ABAO]v>m Will construct direction to contact in vehicle frame from tetrahedron phase data.]cw,2uAb2@YbqB@bͭ9b#9>ybH@ś??0LĿ YUa?@?O? vy?ɨb2@JKـ3KC KKT.KCKC"KCJzJzJz2JxJz<:Jz9Jzc3JxJz6;Jz7;Jz8;Jz8;b!;b Cy5B=!IiMiq uG٣qyu9 }> Nusing accuracyPremultiplier from configy59}?5Y}p i}:™A}sE}: ;} ;}85 A%DNOT Ignoring new targets: 46.00 m. j)j)j1j1i9h9hAhQhYfaf rfbfh@]]]].A3@ͭ I\9 ɚa4iII3ii))!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF\0JF AIAzK \!MK 89K K #K  G B O% >Diw,?uAWill construct direction to contact in vehicle frame from tetrahedron phase data.:'@Y:j7@:g89:]9>y:H]? /?T=Ŀ@_`]W?W! ?- ? y?ɨ:'@:$;:!CyBBB IMb@Mb@Mb@ )YA`"Mb:vyٽTA @)IQAyAIIq٢& B=95:Q 5>99 =G٣9yEM E> MNusing accuracyPremultiplier from configIU59MT?u5YM iMH™}>};}4@}AIM;Mu;M5 A=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhEBfIfIrfibfu h@]>]>]}w@]4@g8 УIm9 ɚZiII3iiw{))*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.HI Is!IICBI&I.I6I<:I F 1 I1 G! B1 OM >lpw,LuA:&@Y:k6@:9:09>y:H ?@?6Ŀ@2``T?Ee|?@?fy?ɨ:&@:ʼn;8yF݂BJ IIRIRT٢ZP Za=9ZA>;Q ^>\\ ^G٣`ybY b> fNusing accuracyPremultiplier from configdj59fa?j5Yf ifS™hn4@nAftEf ;f;f5rB rAriEDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f!rf)bf-h@]I]I]I]M4@] Y]Ieb9 aɚebiaIaIm3iiimo)i)q5Will construct direction to contact in vehicle frame from tetrahedron phase data.D=y9*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >  I vw,wuA2;@Y2)@2Cջ92(9>y2H??@"ĿfJ?`_oz??Ez?ɨ2;@2;2 Cy>ׂB> I)@ BADD]Mb@Mb@Mb@YYY Y)YY]ˡEkt/$y]什] ]Y Y)]QAI]@Yy]AIuIuM٢ >=9S:Q > G٣yk > Nusing accuracyPremultiplier from config59U뙜?5Y6 ic™!=;(9@A ;m ;5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhׂBffrfbfUh@]!=]!=]|@](9@5Cջ I ɚiII3ii0))zK}@LKKK#K$(,+)&%#RK?JK>D ?9*F?2F:FBF1JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >J J J J J :J 9J J a @a @a @a @N|w,KwuA2@Y21@2GŻ92h?9>y2H }?:?`s Ŀ=ly@? px??`+z?ɨ2@2 ;2!Cy>͂B> IIFIF(٢N^ N[=9R:Q R>PT VG٣TyVea V> ZNusing accuracyPremultiplier from configX^59Z癜?b5YZ iZq™`b9@bAXZ ;Z2 ;Z)5h jc AhHIC I`!II4BI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf` h@]]]]{9@EGŻ AEpIMi9 IɚMiIIIIu3iyi}A)y)y $?IDF9*FU?2FQ:FQBFU0JFQM Will construct direction to contact in vehicle frame from tetrahedron phase data.G= A'BI Oe >w,qvA6@@Y6@696W8>y6Htp?`?uĿ0t3?@rZ`Zx? ?z?ɨ6@@6;6#CyZBZ IIbIb٢j jF=9j9Q n>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v㙜?z5Yv iv™x~8@~AvuEv;v%;v5  A=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9h9hAhAhAfAfArfIbfM@h@]Q]Q]Q]U+8@  `IM9 ɚM.iIIQI3iivL[))Will construct direction to contact in vehicle frame from tetrahedron phase data. ID}9*F ?2F :F BF 0JF zK5 LK5 u9K1 K5 #K5    M Will construct direction to contact in vehicle frame from tetrahedron phase data.G A3B O>?w,,vAy5B5 IiIIM<JJJ1JJ:JJ3J%Mb@Mb@Mb@!!! !)!Y% ףp= EԸ:vy%Q8%ƽ%Լ! %@)!I%QA!y!I=I=T٢E M!=9MQ M>QQ UG٣QyU ]> mNusing accuracyPremultiplier from configiu59mߙ?u5Ym im™u_=};}C}Aim;m;m/5 @ ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf i@]_=]_=]@]_FN@ I ɚiII 3i i W) )D9E E *F?2F:FBF3JFHC>I I;!IIBI =&I.I6Id<:IX FWill construct direction to contact in vehicle frame from tetrahedron phase data. IG UB O >֔w,FvA6@Y6@61˼96*g9>y6H Y?@ ?/Ŀ ށ~?XN]w?o ?`y?ɨ6@6E;6 CyBBB IIJ)x x]Will construct direction to contact in vehicle frame from tetrahedron phase data.yIJ٢@ P=9ơ9Q > G٣y %> -Nusing accuracyPremultiplier from config!-59%Gܙ?55Y% i%™aeDeA!%};%;% 5 m Yiym{A  ADNOT Ignoring new targets: 46.00 m. jjjjihhh hffrfbfi@]Y]Y]Y]]N@1˼ 隕pFI9 ɚiII3ii,))*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > I zw,N`vA6cϠ@Y6ާ@6bͻ96#Q9>y6HrF?f?<Ŀ&q ?|`My?` ?z?ɨ6cϠ@6[m;6$CyVBZ IuMb@Mb@Mb@qqq q)qYu~jtx&1S㥛yuĻuнu/ݼq q)qIu@qyqIIm?٢ P=93Q > G٣y > Nusing accuracyPremultiplier from config59yٙ?5YC i™p=;*AvE;[;"5 # A DNOT Ignoring new targets: 46.00 m. j j j j i h hhhBffrfbf$i@]Ep=]Ep=]E@]Eag@zKULKU89KQKU#KUF'+<[qC'[nN4vvqmbͻ imIq qɚqiqIqI}3iyi}c)y)*F ?2F :F BF ^0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJܫ:J:Jـ3JG5BIOe>H I  I !II BI &I .I 8D6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,azvA 0I0v@Yv@vI9vh9>yvHv$?@@(?[Ŀ`a?f`}? ?y?ɨv@v;tyB% I)) )I5I5٢E EP=9E^Q M>II MG٣IyUrI U> ]Nusing accuracyPremultiplier from configYe59]֙?e5Y] etIi]™im+mAY];];]S$5q u AyDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfr1i@]9]9]9]=g@mI qu Iu9 qɚuiqIqI}3iyi))*FE?2FA:FABFE_0JFAuWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm3}ByO>դw,,GvAF@YF&@FjO9F9>yFH?@-? pĿ`E7?Υ I~? (?&y?ɨF@F҈;F"Cy }B IIUIU٢ F=9=Q > G٣yj > Nusing accuracyPremultiplier from config%5Will construct direction to contact in vehicle frame from tetrahedron phase data.9ә?5Y1 i™+A<</&5  A III]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhhhhffrfbf K@i@]]]]g@jO 0;I9 ɚ ѡi I I 3ii))*F?2F:FBF`0JFzKOKKK#Kjc_ZWSW_hH-XD=952*%!.--GA}e8sU0 a,CBK:KG (BI Om >} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,bvAF@YF @FY 9F9>yFH` ?9?{Ŀҳ?M^?@R?y?ɨF@FU;Dy^uBbv IJJJJJ:J:JJMb@Mb@Mb@ )Y~jt?`"Qy=A @)@IQAyIMIM٢e e>=9ewQ m>ii uG٣qyu u> }Nusing accuracyPremultiplier from configy59}Й?5Y}0 i}™t>;A}wE}3;}R<}(5  AeDNOT Ignoring new targets: 46.00 m. jajjjihhhhuBffrfbf;Mi@]t>]t>]@]z@-Y  )-I) 1ɚ1i1I1I=3i9i=B{Ӽ)9)92DA*DABDI:DIHiIi Im IIm؂BIm =&Ii.Ii6Im<:Im~ FBI5šCJI5šCRI1ZI5 =bI5 =jI5+5Will construct direction to contact in vehicle frame from tetrahedron phase data. AIA*F]?2FY:FYBFe0JFaG} 6B O >w,vA6 q@Y6@6- 96P9>y6H?`B?Ŀ`y?L,e? ?@Uy?ɨ6 q@67;6#CyBmBBm IiF=IF= F=F=IJIJM٢V7 Zk=9ZlQ Z?X\ ^G٣\ybɻ b? fNusing accuracyPremultiplier from configdj59fzΙ?j5Yf  if™hjjAdf@:fu ;f)5rB rW ArlE DNOT Ignoring new targets: 46.00 m. j j j jihhhhffrf!bf%Wi@=Will construct direction to contact in vehicle frame from tetrahedron phase data.]Q]Q]Q]U3Z@e- imIm9 iɚmiiIiIu3ii@))*F?2F:FBF15JFGa.ʼBO">Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I1 +w,\vA6^@Y6=n@6 96s9>y6H?0K?`=Ŀ`@[?? ?y?ɨ6^@66e;6"Cy^fB^c IMMb@Mb@Mb@III I)IYM rh?Zd;S㥛yMC=MM/ݼMA M@)IIIIyMAIeIe٢u  u>=9}4Q }>yy }G٣yĪ > Nusing accuracyPremultiplier from config59̙?5YU! i™>;zAxE;;j+5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhpBffrfbfSei@]>]>]o@]R@  隽УI}9 ɚiII3ii;mzKOK9KK#KzbXPJECCA84110+'#! _2IO2! RK?JK>))MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFGϼBO>He D>Ia  Ie IIe BIa &Ia .Ia 6Ie <:Ie F Will construct direction to contact in vehicle frame from tetrahedron phase data.  I 6w,vA6G@Y6;W@6i96a9>y6H?#V?SĿ`5?`;? ?y?ɨ6G@6i;6!Cy`B\ IIIV8٢% %O=9-2Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=ə?M5Y=" i=0™IMMA9=:=:="-5Q ] AYDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfqi@]]]]<@i I9 ɚiII3iiD))*F?2F:FBFP0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.G8BO>J J J /J J |:J :J (N3J J yFH?]?`ɝĿ?@\`??y?ɨF9@F-<;F"Cy^]BbY I)d dInInW٢v3b zN=9v56Q > G٣yb > Nusing accuracyPremultiplier from configE59Ǚ?E5Y# iE™q}}A<ڋ</5 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.) 5 A1}DNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhyhhhffrfbf i@]]]]/@% !EXI9 ɚ>iII3ii:))EErA*F=?2F9:FABFAJFAzK% ,iNK! K! K% #K% !0;H!GE rBQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.Xw,B/wAF&@YF<6@FDC9FLk9>yFH@h? e?SĿ@= ?T? ?y?ɨF&@FJ';F!CyN\BNW IMMb@Mb@Mb@III I)IYMbX9ȶ?Pn:vyME=MMԼMA M@)MAIIIyIIeIe٢m u@=9u'Q u>y G٣y6 > Nusing accuracyPremultiplier from config59lř?5YH% iY™">;AyE;;05  ADNOT Ignoring new targets: 46.00 m. jjjjiqhqhqhyh}fBfyfyrfbf֌i@]">]">]J@]*@DC УIZ9 ɚYRiII3ii7))*F?2F:FBF^0JFHI I IIBI&I.I6I<:I F IWill construct direction to contact in vehicle frame from tetrahedron phase data.GoBO>@w,LpIwA2z@Y2(@2392͓9>y2H kQ? )l?AĿ@?&{ಒ?? yy?ɨ2z@2;2 Cy@@IJIJW٢jF jU=9j8Q j>ll nG٣lyrX r> vNusing accuracyPremultiplier from configt~59vdÙ?~5Yv& ivl™|~AtvA;v?B;ve25   A Will construct direction to contact in vehicle frame from tetrahedron phase data.EDNOT Ignoring new targets: 46.00 m. jAjAjAjIiIhIhIhIhQfQfQrfQbfU@i@]y]y]y]}@3 隕PID9 ɚgiII3ii1))*F5?2F1:F1BF5~0JF1JJJ0JJ<:J9Jـ3JJ6;J7;J%7;J%7;G]c/ BO> IWill construct direction to contact in vehicle frame from tetrahedron phase data.Sjw,KcwA6@Y6O@6ZW96E9>y6H@0?u? Ŀ@?Vת??y?ɨ6@6;6CyB]BBY IiF=IF< F=Fa=MMb@Mb@Mb@III I)IYMkt?/$~jtyM =M1MļMA Mp@)MQAIIIyMAImIm̍٢u2< }@=9}Q }> G٣y > Nusing accuracyPremultiplier from config59?5Y5( i™$>;AzEQ>;<;A45  ADNOT Ignoring new targets: 46.00 m. jjjjihhhhcBffrfbf@!i@]$>]$>] *@]:@-ZW )-#I-9 1ɚ5qiII3ii))zK5=MK59K1K5#K5-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm0JFiGBO>H I  I II BI &I .I 6I <:I v F I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,%}wA2@Y2- @292G9>y2H?{?Ŀ ұ?x[ ?d?y?ɨ2@2 ;2 CyN\BRW IIZIZq٢bɻ fV=9fs:Q f>hh jG٣hyj~ n> rNusing accuracyPremultiplier from configlv59n?v5Yn) in™tv6vAln:n:n55x ~ A|DNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfi@]]]]`@ @JI9 ɚj~i I I 3iik}))*F?2F:FBFS5JFc~G1 e۵YayedA=Will construct direction to contact in vehicle frame from tetrahedron phase data.G?BO>J J J J J ̶:J 9J J J ;J ;J Z5;J [5;|w,2wA6B@Y6@6968>y6H 9??Ŀ> ?Ct? ?z?ɨ6B@6б;6!Cy>bB>^ IIZIZ<٢b< bJ=9f:Q f>dd jG٣hyjy j> nNusing accuracyPremultiplier from configlr59nf?r5Yn + in™tv\vAn{En:n:n75x z AxDNOT Ignoring new targets: 46.00 m. jjjjihhhh f  QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.frfbf@i@]Y]Y]Y]]@ 隝I9 ɚiII3iiQ&))*Fa2Fa:FaBFeQ5JFaG- BA Ou >zK VBJK 9K K #K E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iE Aw,۰wA6b@Y6@6C96w 9>y6H ??(?`"Ŀ@?r`qȀ??8z?ɨ6b@6`;6 CyRrBRs I)X X\^A=Mb@Mb@Mb@999 9)9Y= ףp= ?K7y=Q==I =̼=A =x@)=@I=v@9y=AImIm٢= ?=9:Q > G٣yK > Nusing accuracyPremultiplier from config59۹?5Y, i™)>;A; ;95 / ADNOT Ignoring new targets: 46.00 m. jjjjihhhhmBffrfbfi@])>])>]]e@]@-C IU#I I IIBI&I.I6II<:IH F III*FI2FQ:FQBFU4JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G- #B9 OU > w,9wA6ԟ@Y6K@6н968>y6Hw?i?क़Ŀ@6 @Tm?`6r??z?ɨ6ԟ@6:;6!CyRuBRv IIZIZn٢~W<Will construct direction to contact in vehicle frame from tetrahedron phase data. T=9  :Q  >   G٣y[ > %Nusing accuracyPremultiplier from config%59?%5Y. i™)--A|E:a:@;51 5 A1eDNOT Ignoring new targets: 46.00 m. jajajijiiihihihqhqfqfqrfqbf}Ti@]]]]x@н 隭 wWill construct direction to contact in vehicle frame from tetrahedron phase data.,w,hwAy~B~ IMb@Mb@Mb@ )YMb? rhI +y=C 9A @)QAI@yAIIỳ٢q= ==9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yq/ i™>;l A;; =5  A-DNOT Ignoring new targets: 46.00 m. j)j)j1j1i1h1h9h9hEBfAfArfIbfM i@]}>]}>]}ߤ@]}Y@ 隝I ɚiII3ii1-))zKUm$JKU9KQKU#KUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F1:F1BF5]0JF1GMB4.BaO}>H F>I  I II BI &I .I 6I <:I FBIIJIIRIIZIM =bIM =jIM!4 A IA  Will construct direction to contact in vehicle frame from tetrahedron phase data.)w,lwANɟ@YN٦@NyUû9N%]9>yNH ?E?Ŀ T?@+شjx?@2 ?`z?ɨNɟ@N) ;NCyZBZ IIdId٢j#= n\=9n!;Q n>pp rG٣pyvr v> zNusing accuracyPremultiplier from configx~59z?~5Yz0 iz™|~ Az}Ez ;z ;z>5 B J A nE5DNOT Ignoring new targets: 46.00 m. j1j9j9j9i9h9hAhAhAfAfIrfIbfMi@]i]i]i]m!K@}yUû y隅Vw,MxAV(@YVϦ@Vz9VB*9>yVH@l??pĿAfB? Rt? ?Tz?ɨV(@VB@;V"Cy B  II%I%@٢- = 5E=95;Q 5>99 =G٣9yE3 E> MNusing accuracyPremultiplier from configIU59M ?U5YM1 iM™Q] ]AIMb;M;M@5mB u A}qE IWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. j jQjYjYiYhahihyhyffrfbf@pj@]]]]r?@z p&=I9 )ɚ-i)I)I53i1i56)1)9*F?2F:FBFJF"G=G>G 0B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K u9K K #K BK :K w,)2xAN+@YN̦@N{9NI9>yNH8?? &rĿ9?`=`U{o??2z?ɨN+@Nt;NCyZBZ IJMJMJIJIJM:JMB:JIJIaU@aU@aU@aU@Mb@Mb@Mb@ )Y~jt?K7A{Gzy= ףA x@)AIQAyAII٢?= A=9:;Q > G٣y b > Nusing accuracyPremultiplier from config59站?5Y2 i™G >;A~E;I;kB5  A%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h)h)h1h=Bf9fArfAbfM j@]uG >]uG >]u@]uk|@{ 隍УIW9 ɚ 2iII3ii |7))H9I9 I= II=ӂBI= =&I9.I96I=<:I= F*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.GP<3BO>Bw, LxA6粟@Y6h¦@6>968>y6H8??`]Ŀ @J&?Zg? ?z?ɨ6粟@6;6"CyBBB I)D DININn٢V{= V^=9V%;Q V>XX ZG٣Xy^^ ^> bNusing accuracyPremultiplier from config`f59b(?f5Yb3 ib)™hjjA`nWill construct direction to contact in vehicle frame from tetrahedron phase data.b:bL^;bD5p vM AtDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f!rf!bf-j@]I]I]I]Myx|@e> ae+ IWill construct direction to contact in vehicle frame from tetrahedron phase data.Bw,exA:@Y:¦@:I̺9:^9>y:H?3?TĿ!?糵Y? ?!z?ɨ:@:H4;: CybBb IUMb@Mb@Mb@QQQ Q)QYUy&1|?"~j rhyU`;US㽹UCUA U@)UhAIUv@QyQIiIi٢}#= }>=9M;Q > G٣y}ø > Nusing accuracyPremultiplier from config59襙?5Yv4 i9™l=;$AM;%L;E5  A}DNOT Ignoring new targets: 46.00 m. jyjjjihhhh‚Bffrfbf =(j@]l=]l=]Ϙ@])JK?*F?2F:FBFB5JF J 3K K .KK"KJ]J]JYJYJ]l:J]9JYJYGM w:BQ Ou >H) I)  I- !II- BI) &I) .I) 6I) :I) $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,xA2Ȫ@Y2I@2g˹928>y2H?@T? }7Ŀ? rݵl9??z?ɨ2Ȫ@2W;2!CyBƂBF IININ̍٢RH= VY=9V/L;Q V>XX ZG٣XyZd% ^> Nusing accuracyPremultiplier from config59?%5Y 5 iH™!%$%AE ; ;G5) - A1]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhahahahafafirfibfm`3j@]]]]%m@g˹ 隥&w,!xA6@Y69@6o{:9629>y6H@c?? '2Ŀ`@H?JmR4?`y?ɨ6@6x;6$Cy>ЂB> IiBTT ZG٣XyZ: Z> bNusing accuracyPremultiplier from config`f59b?f5Yb5 ibW™df$fA`bC:b:bQI5h nB Al DNOT Ignoring new targets: 46.00 m. j j j j i h hhh Iffrfbf@j@]]]]C!m@eWill construct direction to contact in vehicle frame from tetrahedron phase data.o{:  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K k9K K #K BK :K A,w,hxAb@Yb0@b/4;9b P9>ybH?`,?@-Ŀ `?ۃc ?3z?ɨb@b ;bCyz܂Bz IJ%J%J!J!J%:J%u9J!J!Mb@Mb@Mb@ )Y/$B`"۹y&1yν`eA @)IyIIi٢5Z= 5:=9=3;Q =>AA EG٣AyE E> UNusing accuracyPremultiplier from configIU59MX?]5YM5 iMf™]5=];]6]AIMy;M;MMK5a mAiDNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfcOj@]]5=]]5=]]<@]]/[@m/4; 隝УIz9 ɚ4,iHI I.!II BI&I.I6I<:Iv FII3iiJ@)) qIqmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF"G=GG lL=B O >)Q U cC ~G % 뫿Y! y% ܤA;*3w,ZFxA6S@Y6Ա@6ej;96o9>y6H?_? Ŀ!@$?ĶhSm ?y?ɨ6S@6%9;6!Cy>BV!IbWill construct direction to contact in vehicle frame from tetrahedron phase data.IfIf(*٢jmj= nZ=9rVZ;Q r>pp rG٣tyvV v> zNusing accuracyPremultiplier from configx~59zu?~5Yz96 izq™7AzEz ;z ;zL5  A =DNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhAhIhIfIfIrfQbfUpZj@]i]i]i]m[@ej; 隅:I9 ɚ*iټII3iifB))*F5?2F1:F1BF5m0JF1 YIYGe=BiO|>}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁU9w,((xAyB !I)! !))Mb@Mb@Mb@ )Y:vK:vyT^T+A )IQAyAII٢%= -7=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E?M5YE-6 iE™MK=U;U`F@UAAE;Eh;EN5Y ]QAYDNOT Ignoring new targets: 46.00 m. jjjjihIhIhQhUBfQfQrfYbf]ij@]K=]K=] /@]`F@Will construct direction to contact in vehicle frame from tetrahedron phase data. LI9 ɚSciǼII3iiU9B))zKa3JK9KK#K*F?2F:FBF_0JFJMJMJIJIJM :JM9JIJIH I  I M!II %BI  =&I .I 6I ư<:I FG t=B! Q IY Oe >} Will construct direction to contact in vehicle frame from tetrahedron phase data.o<@w,zyAJ@YJ@J;9JyJH jy?I?`ÿ@#@? W@y) ? y?ɨJ@J\;J"CyRBV!II^I^F٢fhh jG٣hyj߿ n> vNusing accuracyPremultiplier from configpv59r?z5Yr"6 ir™xzMF@zApr ;r5;reP5 A-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h1h1f9f9rfAbfE`gFw,yA pIpyvBv!II~I~ͳ٢%b -D=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM59E?U5YE6 iE™QQUAEEE-;E^;E6R5eB eAetEDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@j@]]]]  I9 !ɚ% Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= :KK= 9K9 K= #K= wLw,ղ4yA2᚟@Y2b@2{<929>y2H@s?j?ÿ$?緿o`I?y?ɨ2᚟@2=;2!CyNBR(!IiVAA EG٣IyUe ]> uNusing accuracyPremultiplier from configi59m?5Ym5 im™,=;25@Aim;m;m%T5 AUDNOT Ignoring new targets: 46.00 m. jQjQjYjYiYhYhYhaheBfafarfabfmWj@HyIy I}m!II}>BIy&Iy.Iy6I}<:I} FBIAJIARIAZIE =bIE =jIE-4],=],=]{@]25@ I{< #IT9 ɚi.[I)I53i9i=VE)9)iMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:FABFEQ5JFAGa Bq O >bzSw,NyA6@Y68@6 &<96m9>y6Hv?A?Rÿ#?9Ą8?`8y?ɨ6@6~ي;6CyBBF%!INWill construct direction to contact in vehicle frame from tetrahedron phase data.IVIV٢ZE ^e=9^r;Q ^>`` bG٣`yb%: f> jNusing accuracyPremultiplier from configdn59f쇙?n5Yf`5 if™ln15@nAdf ;fq ;fU5t vAtDNOT Ignoring new targets: 46.00 m. jjjji!h!h!h!h!f)f)rf)bf-j@]I]I]I]M15@e &< aep5Ie9 aɚeﹳieIiIm3iqiu=#D)q)q*F ?2F:FBFP0JFJ J J 0J J :J :J ـ3J J ;aJ ;aJ A;a%J A;a% IG,$=BOn>]Will construct direction to contact in vehicle frame from tetrahedron phase data.գYw,nhyA2r@Y2@21<92V9>y2H~f?`? 9ÿ@E(?K:  ?y?ɨ2r@2IU;2"CynBr$!IMb@Mb@Mb@ )YI +MbX9{Gzy9ʡףA )hAI`@yAII̍٢ 9=9:Q > G٣y2( > Nusing accuracyPremultiplier from config 59샙? 5Y4 i™ = ; 0@AE|;;W5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbfj@]=]=]w@]Z0@U1< QU#IU9 QɚU{i]]GIYI]3iaieH)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF!JF!zK]jIK]9KYK]#K]H<67rbC>zNGm lL=H I  I y!II HBI &I .I 6I <:I F I B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.`w,WyA:葟@Y:i@:0B<9:t9>y:H@c?ֻ? fÿ( !? V ? ry?ɨ:葟@:D;:!CyZBZ!!IIjIj٢r/< r[=9v4;Q v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~?5Y~v4 i~™  0@ A|~n:~L:~=Y5q uAqDNOT Ignoring new targets: 46.00 m. jjjjihhhhff rf)bf-ߵj@]i]i]i]m0@}0B< 隅jI9 ɚƳi,;II3iibH))*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G%PIB1OM>J% J% J! J! J% ܫ:J% 9J! J! J% ;J% ;J% O>;J% P>;fw,yA &$?I$yB!II=I=[٢M MD=9MQ U>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam59e|?m5Ye3 ie™qquAeEez:ee:e[5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.ieDNOT Ignoring new targets: 46.00 m. jijijijihhhhffrfbfj@]]]] 隝I9 ɚгizK $OK u9K K #K Y.w5~n^PD:2% vpjfhfb\WUPNKIlw,yAyrBr !IMb@Mb@Mb@ )Y333333(\µV-yA @)zAIv@yGAII@٢ A=9Q > G٣y > Nusing accuracyPremultiplier from config59y?5Y3 i™=;7@A(;;\5  PADNOT Ignoring new targets: 46.00 m. jjjjihh 9I9HAIA IAIAIA&IA.IA6IEܰ<:IE FhYh]BfYfYrfabfe j@]=]=]}R@]7@ I9 ɚi<|sw,yA2(@Y2@26^<92{P9>y2H G?@~?@|ÿ:0?@4ϸ/Ë3 ?zy?ɨ2(@2;0BWill construct direction to contact in vehicle frame from tetrahedron phase data.yRBR!IIZIZb٢bs b^=9b;Q f>dd fG٣dyj3 j> ]Nusing accuracyPremultiplier from configle59nu?e5Ynb3 in™am7@mAln:n.:n^5y }fADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf@*j@]]]]7@6^< HI19 ɚic=Will construct direction to contact in vehicle frame from tetrahedron phase data.nyw,NyAJs@YJu@JY [<9J-9>yJH`.?? wÿ6`?2Ua ?y?ɨJs@Jň;J$CyZB^!IMb@Mb@Mb@ )YV-Mb~jtym )AII@yAII(*٢ <=9Q > G٣y > Nusing accuracyPremultiplier from config59 r?5YA3 i™8=;B@AEI;6H;h`5 tADNOT Ignoring new targets: 46.00 m. jjjjihhh!h%Bf!f!rf)bf-j@]M8=]M8=]M@]MB@eY [< im#  I H1 I1  I5 f!II5 9BI1 &I1 .I1 6I5 *<:I5 F= Will construct direction to contact in vehicle frame from tetrahedron phase data.z؀w,zAJq@YJY@Jw]<9J|9>yJH +??ૈÿ7@2?4Ʈ?    G٣ y U1  > Nusing accuracyPremultiplier from config59n?%5Y#3 i&™!%B@%A ; ;b5) -A5wEeDNOT Ignoring new targets: 46.00 m. jajajajaiahahihihififqrfqbfuj@]]]]B@w]< 隥PI<9 ɚWiJ J J 2J J ܫ:J 9J c3J J ;J ;J <;J <;  I w,hzA6b@Y6,r@6ER<96}8>y6H U??ÿ#?Lr?`~w RL?`z?ɨ6b@6n;4y>̂BB I)D DININV٢VA VP=9VTݺQ V>XX ZG٣Xy^e ^> bNusing accuracyPremultiplier from config`f59bPk?f5Yb3 ib;™djA@jA`b:bn:bc5l nX ApDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfk@]]]]A@ Will construct direction to contact in vehicle frame from tetrahedron phase data.]ER< Y]@I]9 aɚeiaIaIm3iiim\)i)i*FA2FI:FIBFMP0JFQGlSBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.խ <խ <zK MK 9K K #K ,w,|B7zAyB IMb@Mb@Mb@ )Y~jtzGếyD ׽LA p@)IyA IHE>I IM!II%BI =&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.I}I} ٢F =9Q > G٣y > Nusing accuracyPremultiplier from config59 g?5Y3 ic™p=;r2AE;1;Cf5  ADNOT Ignoring new targets: 46.00 m. jjjjihhhh Bf frfbfrk@]=p=]=p=]='@]=_@I QUIQ QɚQiQIQI]3iYie[)a)a*F?2F:FBF4JFG VB OE > w,DPzA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>aE@Y>T@>16<9>z9>y>H?-?ÿ`M C? 0 Gц?@+z?ɨ>aE@>F;> CyJBJ IIRIR<٢Z' Z=9^Q ^8?\\ ^G٣\ybTs b9? MNusing accuracyPremultiplier from configdU59f=e?U5Yf3 ifs™QU2UAdf;f&:fQg5a u8 AyDNOT Ignoring new targets: 46.00 m. jjjjihhhhff rf bf k@]I]I]I]Mن_@]16< Y]I]9 YɚeiaII3ii@j))*F]?2FY:FYBF]^0JFaJJJ1JJ,:J:J3JJ;J;J@;J@; I-Will construct direction to contact in vehicle frame from tetrahedron phase data.GtVBOE >1w,jjzAB3@YBJC@B"<9B79>yBH ?@?ÿ IU'?^@n?y?ɨB3@Bd;BCy^B^ Ii`Ib;Mb@Mb@Mb@ )Yy&1?Zd;v/y`<xirA )QAI`@yAII٢ 9=91Q > G٣y > Nusing accuracyPremultiplier from config59b?5Y4 i™ >; A;;>i5 @ AEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhIhIhMBfQfQrfQbf]A*k@]} >]} >]}@]}w@"< 隕L=I9 ɚP2iII3iilo))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F)BF-m0JF)zK=JK=9K9K=#K=#}{ vg^TKA<731*%!GM%gBYOu> IHI I(!IIBI =&I.I6Iݰ<:I FBIJIRIZI =bIjIR5= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,.zAJ!@YJW1@J <9J 09>yJH?@e? ~ÿ@]* ?:?z?ɨJ!@J;J CyRBR IIbIb٢f f^=9j?qQ j>hl nG٣lyr» v> Nusing accuracyPremultiplier from config 59 o_?5Y T5 i ™!%%A E '8; )0; j5) - A)]DNOT Ignoring new targets: 46.00 m. jYjajajaiahahahihififirfqbfu86k@]]]]xw@ < 隥 $?I Aw,7mzA6 @Y6@6;96_9>y6H@fx??Ŀg@X?|g ?y?ɨ6 @6އ;6#Cy>BB IIJIJ٢z zH=9~Q ~> G٣yϻ  > Nusing accuracyPremultiplier from config 59 \?%5Y  6 i ™!%%A  ;; ;; l5) - A1uDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfkCk@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]aw@5; 9=;I=9 9ɚ=0iAIAI3ii6x))*FU?2FQ:FYBF] 5JFYGqBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,IzAzK"NK"9K K"#K"!'# RKߞ@YR@Ry2;9Rq#9>yRH(? }?@+UĿ |8?;@m[f /?`qz?ɨRKߞ@Rx;R CyZBZ IJbJ`Jb0J`Jb :J`Jbـ3J`af@aj@aj@aj@)h jAMb@Mb@Mb@ )Y(\µ?L7A`Qy=+uA b@)@I3@y@IIm?٢} <=9Q > G٣ytP >  Nusing accuracyPremultiplier from config )I)559Z?=5Y7 i™=,>=;=0EAs<i;n5Y ]' AYH}B>I}C I} !II}BI} =&Iy.I}7D6I}<:I} FDNOT Ignoring new targets: 46.00 m. jjjjihhhhsBffrfbfQk@]U,>]U,>]U@]Uw@ey2; amu=ImH9 ɚ2iII3ii{))EErA Will construct direction to contact in vehicle frame from tetrahedron phase data. i *F2F:FBFQ5JFGM 1|BY Ou >Sw,S#zA2Will construct direction to contact in vehicle frame from tetrahedron phase data.rʞ@Yr?ڥ@rmG:9rތ9>yrHl??Ŀ܅`9? C+?y?ɨrʞ@rqX;r"CyzBz IIIT٢q~< Y=9BQ >!! %G٣!y-ٻ -> 5Nusing accuracyPremultiplier from config)559-W?=5Y-8 i-™9=GEA-E- ;- ;-0p5I M AI}DNOT Ignoring new targets: 46.00 m. jyjyjyjihhhhffrfbf]k@]]]]8l@mG: =I#9 ɚa3iII3ii}挽))*FU?2FQ:FQBFUP0JFQJJ?AG-憽B1OU> I hWill construct direction to contact in vehicle frame from tetrahedron phase data.|}w,zA6?@Y6@6@96!Y9>y6H$?!?`1Ŀӑn`?@IX@'^?@ ?@(z?ɨ6?@6j;6!CyRBR IeMb@Mb@Mb@aaa a)aYeʡE?HzG)\(ye=e= eGae A eK@)eI@Iaaye@IuIuW٢ۯ C=9Q > G٣yS > Nusing accuracyPremultiplier from config59U?5Y: i;™g?>;A;;r5 3 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhSBffrfbfjk@]%g?>]%g?>]%@]%ً@5@ 15=I=9 9ɚ=3i=I I II݂BI =&I.I6I<:I FGBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.cew,{A2 @Y2@2y929>y2H ?w"?@Ŀ`':? Hk?q?`? y?ɨ2 @2U;0yRBR IiV=IV=IZIZ٢b< bX=9f̻Q f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr59nT?v5YnC< inZ™tv"vAnEn:n@:ns5x z A|%DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf=`vk@]]]]PNj@y >I9 ɚ3i}Will construct direction to contact in vehicle frame from tetrahedron phase data.  I w,{A: |@Y:@:qܻ9:C9>y:Hv?-?ſ ?L`@{?`?z?ɨ: |@:;: CyJBJ IIRIR#٢Z5< ZK=9ZλQ ^>\` bG٣`yb? b> fNusing accuracyPremultiplier from configdj59f!R?j5Yf= ifz™lnunAfEf ;f ;fmu5p r AtDNOT Ignoring new targets: 46.00 m. jjjjih!h!h!h!f)f)rf)bf-k@]I]I]I]M~@]qܻ Ye >Iee9 aɚe4ie3 Will construct direction to contact in vehicle frame from tetrahedron phase data.aw,.9{A6a@Y6Pq@6F96^9>y6HsG?6??/ſ?I`WՂ?: ?y?ɨ6a@6訇;4J3K 3 Kg.KK"KJRJRJR2JPJR,:JR9JRc3JPzK^k3IK^9K\K^#K^yfBj I IMb@Mb@Mb@ )Y rh?QI +yC >\94 5@)@II@y@IIn٢6= 8=9ܴQ > G٣yS >  Nusing accuracyPremultiplier from config 59P?5Y@ HI III =&I.I6I<:I Fi™5L>5;5￑=Ag;;^w5A E AA}DNOT Ignoring new targets: 46.00 m. jyjyjjihhhhXBffrfbf-k@]ML>]ML>]M(w@]Mg!@}F y隅\>I9 ɚ+4iw,zqS{A6M@Y6Z]@69;96vW9>y6Hs#?>? Tſ &@?pp?`7 ?y?ɨ6M@6xć;6"Cy>B> I)@ BADFAIJIJ٢R^= Rb=9R˻Q V>TT VG٣TyZܻ Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data. rNusing accuracyPremultiplier from config\r59^PN?v5Y^A i^™tv￑vA^E^X:^:^x5zB ~I A~zE%DNOT Ignoring new targets: 46.00 m. j!j)j)j)i)h)h)h1h1f1f9rf9bf=@pk@]a]a]a]e@u9; q}*>I}49 yɚ}8S4i} \mWill construct direction to contact in vehicle frame from tetrahedron phase data. w,4Im{Ay~B~ IMb@Mb@Mb@ )YL7A`?L7A`L7A`堿y+>++ A )Iyz@IIm?٢^= :=9Q > G٣y > Nusing accuracyPremultiplier from config59XL?5YC i™B>;A;;z5  AqDNOT Ignoring new targets: 46.00 m. jjjjihhhhkBffrfbf k@]5B>]5B>]5@]5R@A IM#>Im+9 iɚm4iu;IqIu3iyi}[)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F!:F!BF%$2JF)zKBHKk9KK#KRK ?JK>JUJUJU0JQJU:JU=9JUـ3JQ yIyHI I!IIBI&I.I6I<:I FG) B1 Oe >} Will construct direction to contact in vehicle frame from tetrahedron phase data. w,M-{ABZ*@YB9@Bm~9Bq9>yBHxx zG٣xy~*< ~>  Nusing accuracyPremultiplier from config59J?5YE i™g￑AEe";";|5! %A A!MDNOT Ignoring new targets: 46.00 m. jIjQjQjQiQhQhQhYhYfYfYrfabfeuk@]]]]5@m~ 隝E>I9 ɚ4i 7II3iib))PExceeded connect timeout, disconnecting.*FM?2FI:FIBFM3JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.GԣBO> a Ia w,{A6b@Y6'@6$Í96L9>y6H?eQ?@kſ }?*?g?y?ɨ6b@6=;6"Cy>؂BB IiBTT VG٣TyZh Z> ^Nusing accuracyPremultiplier from config\b59^H?b5Y^PG i^™df￑fA^E^;^;^=~5h jAhDNOT Ignoring new targets: 46.00 m. jjj j i h h hhffrfbf`k@]]]]U&@$Í Y>I9 ɚ4iII%3i!i%x)!)!=Will construct direction to contact in vehicle frame from tetrahedron phase data.EE*F?2F:FBF5JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. = %=G $B O5 >?w,ں{A6@Y6x!@65M96>v9>y6H? 0S?ſ@9u?} `?a ?x?ɨ6@6?4;4y>B> !I IzKK-9KK#K  5Mb@Mb@Mb@111 1)1Y5Zd;O?rh|Zd;Oy5j=55j5 A 1)1I53@1y5@IMIM[٢]= ]?=9]l2Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configqHI I;!IIBI&I.I6Iڰ<:I FBICJICRIZIbI =jIL559uF?5YuH iu™ >;nAqu޵]5 >]5X@]5{X@M5M Im>Iu9 qɚ}i}IyI3ii·))MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF nManaging dock network, ignoring radio surface power offG 孽B O >Dw,{A:@Y:{@:@9:?9>y:H?@V?`kſ? Bh?a?@? x?ɨ:@:E;8yFBF'!IRWill construct direction to contact in vehicle frame from tetrahedron phase data.ININ٢Z\= ^U=9^0Q ^>`` bG٣`yf; f> jNusing accuracyPremultiplier from configdj59feD?n5Yf/J if™lr}rAfEfV;fx;fȁ5t vAtDNOT Ignoring new targets: 46.00 m. jjjjih9h9hAhAfAfArfAbfMk@]a]a]a]eQ@u@ y}G>I}9 yɚyiII3iiS))*F?2F:FBF_0JFJJJ1JJ|:J:J3JJ;aJ;aJA;aJA;a IhGЭBaO}z>UWill construct direction to contact in vehicle frame from tetrahedron phase data.ew,צ{A2@Y2+@29929>y2H৲?S? OſWs??B? x?ɨ2@2B;2 CyZ!B^I!I)` `MMb@Mb@Mb@III I)IYM u>=9uoQ u>yy }G٣y: > Nusing accuracyPremultiplier from config59A?5YK i(™=;%A;Y;5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhʂBffrfbfk@] =] =] E@]  {@%9 !%.>I% 9 !ɚiII3ii[))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBFyJFy IzKMKKM9KIKM#KM #2;5$ DdstnaUJ>2(   *;GHI Iy!IIHBI&I.I6I<:I FGe#BqO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Ww,i|AZ@YZ0 @Z9ZJ9>yZHu?S?@ſv?㮿@}Q??`x?ɨZ@Z";Z!Cyr,BrW!IImImi٢`= I=90Q > G٣y79 > Nusing accuracyPremultiplier from config59??5YK i6™#AP;Y@;s5 OADNOT Ignoring new targets: 46.00 m. jjj!j!i!h!h!h)h)f)f)rf)bf5k@]I]I]I]MZ{@e aeD>Ie9 aɚeH3iiIiIu3iyi}S)y)*F ?2F :F BF o0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G- B1 OU > I J J J 0J J J :J ـ3J J J J @;J @;+w,gD"|A @6@Y6,@6潞969>y6H?`M?ſ C?%J`kד??Xx?ɨ6@6g,;4yR?BRo!IIZIZ?٢b= bX=9ft:Q j>hh jG٣hynу; n> vNusing accuracyPremultiplier from configpv59rI5Q9 9ɚ=3i9I9IE3iAiE0)A)I*F?2F:FBF1JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,y<|A 0I4BB-@YB<@Bb9B?o9>yBH?dG?2ſ?@ȯ` ? ?x?ɨBB-@B ;BCyNRBN!IiR=9Z:Q > G٣y6; > Nusing accuracyPremultiplier from config599?5YL iQ™=<x=Ah;;5 "AmDNOT Ignoring new targets: 46.00 m. jijijqjihhhh Bffrfbf=l@]=]=]W@]rT@b \>I<9 ɚy4iII%3i!i%b)!)!%Will construct direction to contact in vehicle frame from tetrahedron phase data.DC9*Fm ?2Fi :Fi BFm _0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >$w,Y|A6:@Y62J@6966g9>y6H^?`2B?]ſF?@)!?@ ? x?ɨ6:@6;6"Cy>^B>!IIFIFV8٢R-k= RB=9V ;Q V>TT VG٣XyZ~; Z> Nusing accuracyPremultiplier from config%596?%5YL i^™!%b=-A;;;;ۊ51 5A1]DNOT Ignoring new targets: 46.00 m. jajajajaiahahahihififirfqbfuz l@]]]]hT@ 隭*(>I9 ɚO=4iII3iiW)) $?IJJJ1JJ\:J9J3JJj;Jl;J%7;J%7;DU9*Fe?2Fa:FaBFeP5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.GMQBO>#w,r|A6R@Y6nb@696vt9>y6H,?8?*ſq?`Ƨ?f ?`x?ɨ6R@6;6!Cy>kBB!I Mb@Mb@Mb@    ) Y Q뱿x&~jty \ 7  \ A ) I @ y (@iiImIm%x٢q= ==9p;Q > G٣y>; > Nusing accuracyPremultiplier from config593?5YL il™9=<0@A;;5 WADNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf-l@Will construct direction to contact in vehicle frame from tetrahedron phase data.]%9=]%9=]%y@]%'0@= 9=.>I=69 AɚEXj4iAIAIM3iIiM3)I)Q IHI I!IIBI&I.I6I<:I~ FzK]=NK]9KYK]#K]RKm?JKm>DC9*F5?2F9:F9BF=_1JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.M Ga Y y AGu B O >B/#w,p[|A2 d@Y2s@2]o92H9>y2HJ?2?`rſ? ^`%??@y?ɨ2 d@2^h;0yBsBB!IIJIJ٢R!= VT=9V{;Q V>XX ZG٣Xy^; ^> bNusing accuracyPremultiplier from config`f59b0?f5Yb@L ibx™df0@fAbEb:b ;ba5l nAlDNOT Ignoring new targets: 46.00 m. jjjji h h h hffrfbfB:l@]9]9]9]=~0@]o =>I9 ɚ4iII3iiJ))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9 qIyJ J J 0J J ,:J b9J ـ3J J ;J ;J 0.;J 0.;*F?2F:FBFP5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ i՝ AG B O >U)w, |AB"~@YB@BO9Bg9>yBH@y?` (?Yſ$?@)?( ?qy?ɨB"~@Bg=;@yNBR!II^I^M٢nz= r<=9r;Q r>tt zG٣xy~; ~>  Nusing accuracyPremultiplier from config59-?5YK i™!%0@%AQ;s;H55B 5A}E%DNOT Ignoring new targets: 46.00 m. jIjQjQjYiYhahhhffrfbf Jl@]A]A]A]E0@]O Y]X>I]y9 ɚګ4i!I!I%3i)i-))))5Will construct direction to contact in vehicle frame from tetrahedron phase data.D 59 I H I  I "II ƒBI =&I .I 6I <:I F*F- ?2F1 :F1 BF5 K1JF1 zK K 9K K #K c^4yX>,! BK :K Will construct direction to contact in vehicle frame from tetrahedron phase data.G]BiO?g52w,xC|Ab@Yb?@bI09b9>ybH@? ?`/ſ vD?' M??@z?ɨb@b#;b Cyz~Bz!IMb@Mb@Mb@ )Y:vZd;y&1yԽy`I A 5@)@I3@y@I-I-٢=: ==9E\;Q E>AI MG٣IyM3; U> ]Nusing accuracyPremultiplier from configQ]59U%)?e5YUJ iU™e=e;en!@eAUEU;U;U5q uAqDNOT Ignoring new targets: 46.00 m. jjjjihhhh"BffrfbfYl@]=]=]k@]n!@I0 R8>In9 ɚ4iII3ii5 ))Will construct direction to contact in vehicle frame from tetrahedron phase data.D#9 a Ia *Fm ?2Fi :Fi BFm 2JFi G ęB O >t 9w,|ABT@YBΥ@Bۻ9B2+9>yBH?`m?`'Ŀ݊?GOp{? ??z?ɨBT@B@;BCyNwBN!IIVIVT٢^t ^M=9b'`` bG٣dyf_< f>Will construct direction to contact in vehicle frame from tetrahedron phase data. eNusing accuracyPremultiplier from configam59e%?m5YeJ ie™iu!@uAae-;ep;e5y }AyDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfRgl@] ] ] ] -!@-ۻ 15*>I59 1ɚ=4i9I9IE3iAiMQ,)Q)QDQ*FE?2FI:FIBFMP0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G] nBq O > I J J J J J :J 9J J a @a @a @a @1?w, |AH$I$ I&""II&уBI$&I$.I$6I&<:I& FBIIJIIRIIZIM =bIIjIM\5VԞ@YVl@V9Vu9>yVH@|?? $Ŀ+@? `nQr?@>? y?ɨVԞ@V>f;V Cy\^!IzKu)MKu-9KqKu#Ku Mb@Mb@Mb@ )Y~jtZd;Q롿yĽ\ A )3@Iy@II ٢g 9=9;Q > G٣y@; >  Nusing accuracyPremultiplier from config 59"?5YqI i™=;k#@A%;;$;^5! %A!MDNOT Ignoring new targets: 46.00 m. jIjIjIjQiQhQhQhYh]/BfYfYrfYbfe tl@]}=]}=]}Jm@]}k#@ 隕^>I9 ɚF4iII3iiT))BD>:D>?-Will construct direction to contact in vehicle frame from tetrahedron phase data.DU9*Fm?2Fi:FiBFm4JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.GU bxBa O >e?Fw,Y4}AB@YB@B\9B"9>yBH)4?`?@UĿdy? Hw@*c?@?sz?ɨB@B{;B"CyRrBR!IIZIZ)٢bļ bZ=9bW;Q f>dd jG٣hyj:; j> nNusing accuracyPremultiplier from configlr59n?r5YnH in™pv#@vAnEn ;n. ;n5x zAx%DNOT Ignoring new targets: 46.00 m. j!j!j!j)i)hAhAhA QIUhhAfQfYrfYbf] l@]y]y]y]}#@ \  *>Ie9 ɚ4iII%3i!i%14)!))DiWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BFP0JFG- BI Om >tLw,>4}AB@YBk@B?9B#09>yBH L??~Ŀs?'V??@?fz?ɨB@B+;B!Cy^lB^!IMMb@Mb@Mb@III I)IYMlDlZd;OyMMOMj=9};Q }> G٣yl; > Nusing accuracyPremultiplier from config59x?5YgH i™=;^.@A};;♲5 FA5Will construct direction to contact in vehicle frame from tetrahedron phase data.15I9 ɚ5iII3i i ֢) ) Dv9 )I)JIJMJM1JIJIJM:JM3JI*F}?2Fy:FyBF}_0JFyHI I"IIǃBI&I.I6I<:I~ FzKM-LKM9KIKM#KMG (B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.#YSw, N}ARN@YR@R:9R`9>yRH@i?@? bĿk?ς@X@ ?@z?ɨRN@RЭ;R"CyZhBZ!II~I~q٢ ȴ  R=9 ;Q > G٣y\; > %Nusing accuracyPremultiplier from config!-59%?-5Y%H i%™15r.@5A!%:%:%59 =iA9mDNOT Ignoring new targets: 46.00 m. jijqjqjqiqhqhqhyhyfyfrfbfl@]]]]$r.@: 隵b>I9 ɚ55iEII3ii3-))2DqA*DpAD*F?2F:FBF0JF"G=G=MWill construct direction to contact in vehicle frame from tetrahedron phase data. I!GNBO>}Yw,.g}A6@Y6@@6=;9649>y6Hq?? FĿi9?յ/g`R?`Wz?ɨ6@6m;6 CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVWBZ!Ii^=I^a=IfIfT٢rL vM=9vi;Q v>xx ~G٣|yg: > Nusing accuracyPremultiplier from config 59 ?5Y G i ™s.@A E < < W5 A DNOT Ignoring new targets: 46.00 m. j jjjih1h9h9h9fAfArfAbfEl@]]]]zs.@=; R@>IO9 ɚ(5iHII3iit))D59UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JF $?I Je Je Je 0Ja Je ,:Je 9Je ـ3Ja H I  I "II BI &I .I 6I <:I s FG B! O= ><`w,}AzKJQJKKK#KRK" ?JK"?>@Y>@>=;9>],9>y>H|??m0Ŀ@f`?%`q`@? Zz?ɨ>@>(;>"CyJPBJ!ImMb@Mb@Mb@iii i)iYmS㥛/$&1ym/ݼmmPi m@)m@Im@iym@IIi٢ 3=9b9;Q > G٣y: > Nusing accuracyPremultiplier from config59?5YG i9™=<+AA;;R5 +ADNOT Ignoring new targets: 46.00 m. jjjjihhhhՂBffrfbfYl@]%=]%=]%1،@]%P@M=; IMu>IM9 QɚU85iU|ѼIYWill construct direction to contact in vehicle frame from tetrahedron phase data.I3ii"|))D 9*F2F:FBFn0JF} Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G B O >y6H@y?@7?E'Ŀhgv?Sht?`6z?ɨ61 @62;6#CyROBR!II^I^T٢f6 fK=9j;Q j>hl nG٣lyn n> rNusing accuracyPremultiplier from configpv59r?z5YrG irT™xz9AzApry;r;r5| ~3A-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i1h1h1h1h1f9f9rf9bf==l@]a]a]a]emP@}E; y}s>I}9 yɚ} H5i鼼II3ii~))BDJ?:D?D9*F=?2F9:FABFE15JFAGMqA GMqA%Will construct direction to contact in vehicle frame from tetrahedron phase data.G!B1O>}mw,˸}A6%@Y6@6ǿ;969>y6H3{?@?`2#Ŀf c? "w`?y?ɨ6%@6;O;6!CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yFIBFz!I)H HMb@Mb@Mb@ )Y~jt?Cl绿:vy<;߽T A @)@I@y @II[ I ٢W׼ 7=9-5:Q ->11 5G٣9y=_9 => MNusing accuracyPremultiplier from configAM59E2?U5YEH iEt™U+=];]H]AAEP#;EY!;E5a e]AeE-DNOT Ignoring new targets: 46.00 m. j)j)j)j1i1h1h1h9h=Bf9f9rf9bfE9l@JJJJJ:JJJ]+=]+=]N@]v@HI I!IIBI =&I.I6I <:I FUǿ; QU>IU9 Qɚ]g_5i]IYI]3iaie})a)iDE9zKK9KK#K*F?2F:FBFO5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9)Q QM c~Ga FY y AG B O >Crtw,7}A6@Y6@6;96969>y6H`{`?@@?lĿmv?u2xi?:z?ɨ6@6;6"Cy>:B>h!IIFIF#٢R Rf=9R"9Q R>TT VG٣TyZ8 Z> ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^6I i^™`bhfA^E^ ;^ ;^5h jAh~DNOT Ignoring new targets: 46.00 m. j|j|jjihhh h f f rf bfl@]1]1]1]57v@; >I9 ɚ7q5iII3ii>))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF IGwBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.zw,}A>]@Y>@>w;9>N9>y>HcM?`? 'Ŀ@r ?`Yyx ?`y?ɨ>]@>\;\\ ^G٣\y^Q b> fNusing accuracyPremultiplier from configdj59fM ?j5YfI if™hj~jAdf7:f:f]5p rAtDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f)rf)bf5 l@]q]q]q]uàv@Ew; IM)>IM%9 Qɚ.5ifII3iiE))2D9*D=qAD)*F?2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data. IhG H I  I !II BI  =&I .I 6I Ұ<:I FB O >w,]~AzK"k3IK"u9K K"#K" F@YF}@F(;9Fu9>yFH,?e?%Ŀ-{ ?SE`ܟwD?`lz?ɨF@FPI;F Cyn4Bna!Iir=92Q > G٣y= > Nusing accuracyPremultiplier from config59?5Y%K i™6>;<AES;;=5 A]Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhBffrfbf@l@]%6>]%6>]%Ʀ@]%@](; aeף>Ie9 aɚe@5ie/IaI3ii)))Du9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F! :F! BF% O0JF) I *J "J R=Jـ3K(3 K(.KK"KJ J J 1J J :J :J 3J J ;a J ;a J DG;a J EG;a GMNBYOu>w,\$~AB<Ξ@YBݥ@B. ;9Bb9>yBH@ ?l?P>Ŀ.`?`.!u ?z?ɨB<Ξ@B;B!CyLLI^I^(*٢f: f6=9fQ j>hh jG٣hyn2 n> rNusing accuracyPremultiplier from configpv59rK?v5YrlL ir™xz]zApr{!;r!;r35| ~A|%DNOT Ignoring new targets: 46.00 m. j!j)j)j1i1h9h9h9h9fAfArfAbfEm@]a]a]a]e @}. ; y隅>>I,9 ɚ5iII3ii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D)*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I Gm jBq O >-w,:?~Ay3B_!IH=@>I9 I=!II=BI9&I9.I96I=<:I= FBIJIRIZIbIjIK5Mb@Mb@Mb@ )Y+η? rh&1yv=C P A @)@I~@y@II[٢ǻ 5=9Q > G٣y  > Nusing accuracyPremultiplier from config59?5YN i™0>;%AE;;+5  ADNOT Ignoring new targets: 46.00 m. jjjji!hAhAhIhMBfIfIrfIbfUjm@]0>]0>]X@]3@ >zK>BKK9KK#KL~}hVMC8,! E(I9 ɚ5i%ҟI!I%3i)i-l))))BD5T?:D5z?Will construct direction to contact in vehicle frame from tetrahedron phase data.D9EqAE*F% ?2F! :F! BF) JF) G1  G1  Will construct direction to contact in vehicle frame from tetrahedron phase data. < <G0BO5>!ݖw,\~A I ʗ@YK@t';9{n9>yHm? &?`wĿ˜)? 8Mdi ?@z?ɨʗ@27;騑yޭABޭp!I) AII٢9p= 2=9Q > G٣yl > Nusing accuracyPremultiplier from config59?5YO i4™_A;;/5  AJJJ0JJ,:J9Jـ3Ja@a@a@a@DNOT Ignoring new targets: 46.00 m. jjjjihh!h!h!f!f)rf)bf-#$m@]q]q]q]u$@t'; 隍>I 9 ɚs5iwaII3ii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D<9*Fu ?2Fq :Fq BFy JFy Ge WB O >7w,~y~A6@Y6@6O:96v9>y6H~? /?Ŀ`*?ʴRv?y?ɨ6@6#;6 CyBBBBr!IMb@Mb@Mb@ )YB`"۹?@5^I ¿Zd;Oy=bj<vA )@I@y@I5I5̍٢=Ҕ;Will construct direction to contact in vehicle frame from tetrahedron phase data. I E>=9 &IQ  >   G٣y˻ > %Nusing accuracyPremultiplier from config%597?-5YQ iU™-7>-;-`-AEa;;*51 =A=EeDNOT Ignoring new targets: 46.00 m. jajajajaiihihihqhuBfyfyrfybf1m@]7>]7>]@]m_@O: 隵R>I9 ɚW5i9II3iiTƛ))D&9ZHRHAAHI III =&I.I6Iɰ<:I F*FM?2FI:FIBFM`0JFIG%8B1OUS>zK]NKYKYK]#K]   RKm?JKm?= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,)~Ay]NBe!IIuIu[٢g= E=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YS ir™A::ݱ5 ;ADNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbf>m@]]]] R>I~9 ɚ5iII3ii))2D*DDI IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF"G =G =J]J]J]1JYJ]<:J]9J]3JYG B O5 >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,~A6Y@Y6-i@6Ӻ96l9>y6H%9?@*??JĿ j@M?JqZ?`" ? z?ɨ6Y@6R(;6!CyBPBB!IiF=IF;IHIH٢Rp< R[=9VRQ V>TT ZG٣Xy^P ^> bNusing accuracyPremultiplier from config`f59b?f5YbT ib™hj5AbEb-kI9 ɚ5iEII%3i!i%B6)!))D%J9*F?2F:FBFP5JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.ձյ=G B H I  I !II BI &I .I 6I <:I FO- >w,~A6PN@Y6]@6Hb396Y9>y6H$? B?}Ŀ f ˵?@ Glf??`y?ɨ6PN@6B.;6 CyBYBB!IMb@Mb@Mb@ )YI +?@5^I ¿I +y9=94zA @)I@yI=I=)٢M&= MA=9M-Q M>QQ UG٣QzKAMK9KK#K ,..(''#!$#  BKpA:KyL > Nusing accuracyPremultiplier from config 59? 5YV i™ 0>;A;:;n5! %A!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhYhYh]Bfafarfabfe^Xm@]0>]0>]@]@Hb3 隝R>I9 ɚ5iOII3ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DF9*F?2F:FBF0JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G PB O >w,y~A2:@Y2I@2]92M9>y2HZ? "K? Ŀ`88?%Kr?C ?(z?ɨ2:@2T;2CyBaBB!IJJJJJJ/JHJJ:JJ9JJ(N3JHIVIVi٢^= ^J=9^QQ b>`` bG٣`yfһ f> jNusing accuracyPremultiplier from confighn59j?n5Yj}W ij™lrrAjEj:j:j5t vAtDNOT Ignoring new targets: 46.00 m. jjjjihhhhffrfbfkem@]9]9]9]=@M] IU>IU9 QɚU&5iUݻIQI]3iYi]쩽)Y)BDB?:DM?Will construct direction to contact in vehicle frame from tetrahedron phase data.Dg9*F}?2Fy:FyBF}3JFG B O >j}w,i~A $?I :Will construct direction to contact in vehicle frame from tetrahedron phase data.BV/@YB>@B澻9B9>yBH?N?`ſ`?ϲw??@y?ɨBV/@B;B#CyJmBN!I)P PPRAMb@Mb@Mb@ )Yl?L7A`{Gzy=+#A @)@IC@y3@IIM٢K= 3=9CQ > G٣y = > Nusing accuracyPremultiplier from config59?5YX i™H >;F A3;^;5B =A E5DNOT Ignoring new targets: 46.00 m.=Resuming propulsion at range: 60.40 m and bearing: 89.434614 deg. Not drifting fast enough.bj=? j={@j9j9j9i=L?h9hAhAhEBfIfIrfIbfM@9sm@]uH >]uH >]u%@]ul@< l#=隍g>I9 ɚ5iI9I=IBii_|){@)AjHbH<H?>I I!IIBI =&I.I6I<:I FD!*F?2F:FBFO0JFNGzKqMKu9KK#K  ,.,*'('$$%#  tA MYMtAyMsA%Will construct direction to contact in vehicle frame from tetrahedron phase data.G 憧B1 OU >\w,}A:!@Y:0@:9:)9>y:H@? T?@$ſ@/s? uM~??6z?ɨ:!@:;:CyBxBF!IININ[٢VVz= V`=9VQ V>XX ZG٣Xy^W ^> bNusing accuracyPremultiplier from config`f59b옜?f5YbZ ib™hnZ nAbEbmC;bG;b5p rAp DNOT Ignoring new targets: 46.00 m. j jjjihhhh:uAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1; vE Will construct direction to contact in vehicle frame from tetrahedron phase data.^w,V0A6b@Y6)@6969>y6H ? U?@dDſ``j?![?`?`y?ɨ6b@6g6;4yR}BR!II^I^q٢ < E=9 ]Q  >    G٣y' > Nusing accuracyPremultiplier from config%59阜?%5Yh[ i™)-] -A"::51 =AAmDNOT Ignoring new targets: 46.00 m. jijijqjqiqhqhqhyhyfyfyfrfbf@-m@]]]],a@ɛB]} 隽ٻI ɚiI I=I|ii<))2D*DD9*FU?2FY:FYBFe_0JFa IWill construct direction to contact in vehicle frame from tetrahedron phase data.Gh~BO>H I  I "II BI &I .I 6I <:I z FJU JU JU 1JQ JU L:JU 9JU 3JQ JU P;ae JU Q;ae JU 8;am JU 8;am nw,4JA6d@Y6!@6+96?9>y6H?cX?`RTſ`,`? D (z?d?y?ɨ6d@6C{;6"CzKRkMKR-9KPKR#KRyZBZ!Ii^ G٣y& > Nusing accuracyPremultiplier from config59昜?5YL\ i/™6>;/AE; ;\5 JAWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihh!h!h%Bf!f)f)rf)bf-͙m@]M6>]M6>]M@]My@ɛ]B]W7 ae9Ia e/ ɚaiaIevH=Im*㛿iiiu*=)q)qD9E9 I*F- ?2F) :F) BF- O0JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data.G% &B1 OM >_w, dAJJ@AB @YB@B!nE9BM9>yBHs?Z?mſ ^V?-??y?ɨB @BX;B CyZBZ!IIfIf٢j)= jY=9nQ n>pp rG٣pyr]0 v> zNusing accuracyPremultiplier from configt~59v^䘜?5Yv] ivF™3AtvC;vD;v5   A-B*** querying acoustic contact ***j)j)=DNOT Ignoring new targets: 46.00 m. j9jAjAjAiAhAhAhIhIfIfIfQrfQbfU`եm@]q]q]q]uy@ɛB' 隕I vɚiIϸH=Iii%[#>))D9EuΒ;*F?2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.GBO> I w,`}A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6,DAT read: user:3438> :BDAT read: Tx time:23:45:01.1944 :$Ping request sent.:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721F @YF*@F[9F9>yFH?@Y?@-ſX? 䰿`Zr??0y?ɨF @F';FCyRBR!IMb@Mb@Mb@ )Y:v?&1{GzyT<н#dA @ZHRHH@>I I("IIփBI&I.I6I<:I FBIaJIaRIaZIe =bIajIe*4)I@y@IIM٢ Q -=99Q > G٣y %> -Nusing accuracyPremultiplier from config!J5J5J50J1J5ܫ:J5 9J5ـ3J1J5;J5;J5O>;J5P>;U59%;ᘜ?U5Y%] i%b™U=U;]#]A!%;% ;%²5a eAiDNOT Ignoring new targets: 46.00 m. jjjjihhhhBfffrfbf@Xm@]M=]M=]M_ښ@]Mo@ɛ}B} 隅@I ZɚiI,H=ILlii@y>))BDP?:Dh?De9EmpAEmpAE=@%=zKuKu9KqKu#Ku*F?2F:FBFo0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:23:45:01.1936 =checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255284G~<G AB O >ʬw,p͗AR@YR,@Ruy9RS9>yRH'?\?ſb@N?@wj@"?r ?`Ey?ɨR@R,h;R"Cy^B^!I)` `dfAIjIj ٢rq= rr=9rQ v?vL?vL? vG٣vWGyzW z? ~Nusing accuracyPremultiplier from config|59~ ߘ?5Y~5^ i~v™  # A~E~:~L:~ò5 AMDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhIhQhhfffrfbfFm@ɛB`t  ¼I  Fɚ i I5 dH=I53i9iE >)A)A yIymWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502658DEE*E"EEY*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754653G G pAG oAG BOU>w,<ٵAbH @Yb@b6y9b7>ybH ?FY?Vſ @bh?ནΑ?s?@z{?ɨbH @b%;b#CyjBj!IIvIv?1٢~X= ~-=9~Q ~> G٣y3; > =Nusing accuracyPremultiplier from config)59-ۘ?5Y-^ i-™"A)-4=-4=-Ų5 [A]DNOT Ignoring new targets: 46.00 m. aIi jyjyjyjyihhhhfffrfbfm@ɛB?ź I ɚiI{H=I Dſi i ) )2D9*D=mA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007070D9HI IG"IIBI&I.I6I<:I F*F?2F:FBF4JFJUJUJQJQJU|:JU:JQJQJU;JU;JUyE;JUzE;Ge[=GBO>zK K -9K K #K &,20,+)&%##  5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259260w,A2z@Y2 @26(92;5>y2Hࡑ?@`? {ſ[?9 ??`;~?ɨ2z@2;2 Cy>B>!IMb@Mb@Mb@ )YMbpRQ/$y½,`A x@)~@I@y@IIy/٢쨼 <=9 Q >   G٣ y }  > }Nusing accuracyPremultiplier from configq}59uؘ?}5YuG_ iu™=;.AquQ;uY;uDz5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhÂBfff rf bf  fm@ɛ]Bur q}NIy XɚiIG=IC!ʿii))D9*F2F:F!BF%5JF! aIaG =Will construct direction to contact in vehicle frame from tetrahedron phase data.՝?՝Vw,pAR@YRK#@R09R41>yRHԹ?`[?@,ſ@Iȇ?Q{? ?@̃?ɨR@R ĉ;RCybBb!Iij;>Iji> ja=j%=IrIr?1٢Epk< MW=9M*Q M>IQ UG٣UWGyUr; U> eNusing accuracyPremultiplier from configam59e֘?m5Ye_ ie™imm.uAaeA;eB;e-ɲ5 jADNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf`m@ɛǃB= {I "ɚiI&G=Id̿ii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762963Dq*F ?2F:FBFP0JFGt=GBOf> a Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014708w,KAH$I$ I&Z"II&BI&! =&I$.I$6I&<:I&g FZ-@YZv=@Z񃭼9ZWU*>yZH@?@QY?<Ŀ?@Z?`Y0??ɨZ-@Zٺ;Z!CyfBf!IJ%J%J%1J!J%,:J%9J%3J!J%;J%;J%%7;J%%7;Mb@Mb@Mb@ )YI +bX9ȶI +y94E94IA @);@Ih@y@II(*٢D< ?=99Q > G٣ y ;  > UNusing accuracyPremultiplier from config]59Ә?e5Y_ i™e=eGyBO> Y IY %w,p?AyzBz!IIIԲ٢=< =V=9EQ E>AI MG٣IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518802y] ]> eNusing accuracyPremultiplier from configam59eEј?u5Ye.` ie™qquAae ;e ;e̲5y }(ADNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf n@ɛڃB8ɻ 隭,I ɚiIFG=I4Sʿii))D_9*F5?2F9:F9BF=_0JF9G@U>GBOl> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770568 w,7A6]@Y6wm@6L1964>y6H=??W? r¿@c?_? G٣WGy% s< %> -Nusing accuracyPremultiplier from config)559-Θ?55Y-v` i- ™15w3=A)-~ ;-6;-pβ5A EAEEDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf@ n@ $?IɛB PͽI ùɚiIBG=I5Sʿii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022755D\9HIII IMf"IIM BII&II.II6IM<:IMu F*F}?2Fy:FyBF}`0JFG]0>JJJ0JJ:J 9Jـ3JJ;J;JO>;JP>;G1BAO]>)] &= Y c~G  %Y y B Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274643zK% V$KK% 89K! K% #K% BK5 oA:K1 w,PA2 b@Y2q@2 92%>y2H`gF?@NX?Z2¿(?a@??)?ɨ2 b@2B;2 CyNBR"IMb@Mb@Mb@ )Y~jt?/$/$y<, A @)-@Ip@yQ@I]I]٢e< e6=9m Q m>iq uG٣qyu: }> Nusing accuracyPremultiplier from configy59}n̘?5Y}a i}"™;= <UA}E}D;};}eв5 ADNOT Ignoring new targets: 46.00 m. jjjjihh h hBfff!rf!bf-@)n@ɛB6~ 隝x۽I ɚiIF=I4Sʿii))DX9 I*F ?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530461Ge >G9 BI Oe >r/w,kjAF`@YFp@F9F(>yFH@C?jT?%¿\o&?M@?P?`?ɨF`@Fv/;FCyRBR"IIZIZW٢b; fi=9feQ f>dh jG٣hynP r> vNusing accuracyPremultiplier from configtz59vʘ?z5Yva iv5™xz@zAtv:v:vѲ5 A-DNOT Ignoring new targets: 46.00 m. j)j)j1j1i1h1h1h1h9f9f9fArfAbfE)n@ɛuBu -I1 5kK ɚ1i1I54F=I=3Sʿi9iA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.784113Dmj9*F?2F:FBFO5JF  I G! G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034770H= ?>I9  I= s"II= BI= =&I9 .I9 6I= <:I= F;!w,_AJP@YJ_@J̼9J" >yJH%?T?Hÿ` ? ç@???ɨJP@JHg;J!CyVBV!IibR=Ib4< b=b=UMb@Mb@Mb@QQQ Q)QYU333333?I +{GzyU=U9U#UA Q)U@IUC@QyU@ImIm٢}Q }?=9qQ > G٣WGy > Nusing accuracyPremultiplier from config59Aɘ?5Yb iL™=;AI;s;Ӳ5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhwBfffrfbfr7n@ɛB$@( ,I ?/ɚiIDžF=I2Sʿii))D9*Fe?2Fa:FaBFe05JFaWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287389zK=BoHK=#9K9K=#K=9\~@i #~rh_^XO<%RKM?JKM>G >Ga Bq O > I )A'w,mA6;@Y6J@6ּ96,b!>y6H? [?6ÿX`?Ju? *??ɨ6;@6;6CyBBB"IIJIJ ٢n< rU=9rSPQ r>tt vG٣tyvڻ z> ~Nusing accuracyPremultiplier from configx59zǘ?5Yzc iz`™Axzm ;z ;zxղ5  AEDNOT Ignoring new targets: 46.00 m. jAjIjIjIiIhIhIhQhQfQfQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.538757fQrfabfmCn@ɛB`AE 隕XI SLɚiI1[F=I5Sʿii))BDY?:D1?D9JJJ/JJ:J :J(N3Ja-@a-@a-@a-@*F?2F:FBFP0JFG> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791266G B O >$m-w,jPA2y@Y2"@2D5922>y2H@-?p?`CÿK?E?:?Y?ɨ2y@26;2!Cy^B^"IIfIfq٢n; nJ=9rqQ r>pp vG٣tyv D v> ~Nusing accuracyPremultiplier from configx59zƘ?5Yzd izu™   AzEz;z:z<ײ5 A IDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfRn@ɛ=BEr?mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.042775 qu.Iq uxɚqiqIuF=I}4Sʿiyi))D}9H>>I I"IIBI! =&I.I6I<:I} FBIJIRIZI! =bI =jIw4*F?2F:FBFJFG= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294593G! B9 zKU M+OKU ۵9KQ KU #KU }rmgfc_][XTRRQRNKJIDBBB?=;:7765132/+,-0-*BKe pA:Ka Oe >]4w,OҀAyeBe"IquAMb@Mb@Mb@ )YV-?&1lyh>н A )IZ@y@IIb٢X; -=9Q > G٣WGy > Nusing accuracyPremultiplier from config59Ř?5Yg i™ 6> ; ڿ A;;Mٲ5 A=DNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhAhIhMBfIfIfQrfQbfU_n@ɛ%B- f )U>IQ UBɚQiQI]E=Ie3Sʿiiii)i)iDm9 I*F%?2F!:F!BF!JF!eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.547731JKm3 Kg.KK"KJ J J 0J J J :J ـ3J GI Gi Gm pAGA BI Oa :w,OAVH@YVƤ@VIx9V >yVHR? ?\¿`q ? @͝??@%?ɨVH@V;V"CybƃBb"IIjIj#٢rx= rp=9vꏻQ v?tt zG٣xy~ ~? Nusing accuracyPremultiplier from config 59Ę? 5Yh i™ ^ܿAE;&;ڲ5! %pA)MDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhYhYhYhYfafafarfabfe jn@ɛ!Bvx 隕87I ɚiI9E=I2Sʿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.800434*F?2F:FBFo0JF GMѴ> IG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050720H <>I C I "II #BI &I .I 6I <:I s FuAw,A6{@Y6f@6396 9>y6Hz? ~?@¿C.?`AE??`6?ɨ6{@6ot;6 CyNBN"IeMb@Mb@Mb@aaa a)aYe"~?!rhQ롿yeS>el罹e\eA ej@)e@IeC@ayez@I}I}n٢V @=9aQ > G٣y拼 > Nusing accuracyPremultiplier from config59Ę?5Y(k i™#t>^;οAE;;ܲ5 A-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i)h1h1h9h=oBf9f9f9rfAbfE@wn@ɛm*Bm{ imSIq umɚqiqIuE=I}5Sʿiyiy)y)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305040zK(NK`9KK#K*)('&%&&"!    Gɯ>G B O I ܞGw,A2G=@Y2L@2D927J >y2H3?? $.@,3?or'?`??ɨ2G=@2n;0y>ÃB>"IiF=IF; DFp=IJIJ[٢RM< R[=9V9Q V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^2Ę?b5Y^um i^™dfϿfA\^v:^:^G޲5h jAhDNOT Ignoring new targets: 46.00 m. jj j j i h h hhfff%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554735rfbf-n@ɛU2BUq QUT^IQ 7[˺ɚ i I mE=I4Sʿi1i1)1)9*F?2F:FBFP5JFJJJJJJ:JJGᾄ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807056GBO >Mw,09A:@Y:@:,9: >y:H 1? ?$L???3?ɨ:@:];:CyB˃BB"IININ٢V= VJ=9Z,-9Q Z>XX ^G٣^WGyb b> fNusing accuracyPremultiplier from configdj59fØ?j5Yfo if™lnѿnAfEf;fW;f 5p vHAtDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f1f9fIrfIbfU n@ɛ;B‰ 隥n`I !ɚiIAE=I3Sʿii)) YI]h5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059967H;>I I"II-BI&I.I6I<:I F*F?2F:FBFJFG *>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.3105749Tw,}SAzK.lMK.9K,K.#K. !&'"!!BK4:K6oABɣ@YBJ@B79B: >yBH`? t#?uk ,?'1t?@n??ɨBɣ@Bf;BCyJЃBJ!"I Mb@Mb@Mb@    ) Y S㥛?K7AQy $>    @ @) @I  y @I%I%٢< ,=9:Q > G٣y > Nusing accuracyPremultiplier from config59UØ?5Ys i™ܕ>5;ͿAEr;;5 A E5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h9h9h9h=tBfAfAfArfAbfEn@ɛuDBu quhIq }vɚyiyI}E=I2Sʿii))*F!2F!:F!BF%3JF! QIQ5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.563021GU 2>J J J J J J :J J G9 BQ O} >Zw,mAyӃB%"III٢E}< Eg=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]Ø?e5Y]Hv i]™aimA]E]:]:]5q uAqDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf n@ɛLBE pI E ɚiID=I5Sʿii))E!Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.832765*F?2F:FBFO0JF"G,>G%>G > IIQG1 Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.082705Hy Iy  I} "II} 2BI} " =&Iy .Iy 6I} <:I} | Faw,cAf9@Yf@f`׼9f=yfH`?`?l f!?@_ ?`O??ɨf9@f3~;f!CynՃBn'"IMb@Mb@Mb@NG) )AY)\(?HzGV-yG>= `@ }93Yyy}j+B )@I@y=@IIb٢n< 7=9;Q > G٣WGy5 > Nusing accuracyPremultiplier from config59˜?5YNz i™>;˿AE#;;5 A}DNOT Ignoring new targets: 46.00 m. jyjyjjihhhh_Bfffrfbfn@ɛMUBMΘ QU!IQ UɚQiQIUD=I]4SʿiYiY)Y)a*F2F:FBFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.EAiEAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.339035zK LKKK#K#!!  RK ?JK?G *>G B O- > A IA gw,RAF+@YF:@F$̼9Fl=yFH _?@?@S[`g?O2?B?@?ɨF+@Fq;DyRBV9"II^I^q٢fݪ= fl=9j;Q j?ll nG٣lyn r? vNusing accuracyPremultiplier from configpv59rl˜?z5Yrm} ir™xzͿzArErK ;r ;r!5 A-DNOT Ignoring new targets: 46.00 m. j)j1j1j1i1h1h1h9h9fAfAfArfIbfM on@ɛu\Bu6? y}ZoIy }0#ɚyiyI}D=I3Sʿii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.590770*F%?2F!:F!BF%`0JF)GE>G! B) E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.842733OU >,nw,A6š@Y6ѡ@6;?965=y6HϚ? z?r? qV?9F??ɨ6š@6z;6 CyBރBB2"I Fa=DIJIJM٢V ZM=9^mn;Q ^>|| G٣y > Nusing accuracyPremultiplier from config 59 ?5Y  i !™!%FϿ%A E @; @; 59 =AAmDNOT Ignoring new targets: 46.00 m. jijijijiiihihqhqhqfyfyfyrfybfn@ɛdBP  IЅI ݤ1ɚiID=I2Sʿii))*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.094901H)I) I-"II-ABI)&I).I)6I-<:I- FJJJJJl:J:JJJ;aJ;aJnN;aJoN;aG>G*?G?GBO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=9.348083f uw,(ՁA2V@Y2f@2ٳ92b=y2H:?G?ػ@/?]z?`?`?ɨ2V@21;2"CzKB4MKBU9K@KB#KB?1N MV1\.jX> q}urBKH:KJpAyNBN>"IMb@Mb@Mb@ )YZd;?x&y۹>7 ̼I@ @)@I@y@II(*٢a.= 6=9Z;Q >!! %G٣%WGy- -> 5Nusing accuracyPremultiplier from config1]595?]5Y5 i5/™]>e;eʿeA5E5$;5t;55i mcAiDNOT Ignoring new targets: 46.00 m. jjjjihhhh|Bf!f!f)rf)bf-Vn@ɛmB$N 隝*I AɚiIgD=I5Sʿii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.598814DU9*F ?2F :F BF [0JF G5>G BO=>X|w,.A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8507885@Y5@5952#=y5H?5?D1c ?`~?v?u?ɨ5@5a;1y]B]<"I)q qII٢ (=9;Q > G٣yb޼ > Nusing accuracyPremultiplier from config59>?5Y i?™}̿AE<<5Q UmAQDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfn@ɛvBȭ I R SɚiI0D=I4Sʿii))D9 I*F}?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Fw,A2w@Y2@2Ô92AQ=y2H(?\?`s ,? ‰U$UףU@ Q)Up@IU@QyU@I}I}[٢= L=9$;Q > G٣y0 > Nusing accuracyPremultiplier from config59*?5Y iI™;>:ɿAE;;5 ADNOT Ignoring new targets: 46.00 m. jjjjihhhhjBfffrfbf n@ɛ-}B-{ 5\J=I `ɚiID=I3Sʿi6))5Will construct direction to contact in vehicle frame from tetrahedron phase data.D9zKeyOKe9KaKe#Kelfc[URKHEA?>87740.,+*)))'$!   uLs*FE?2FA:FABFE1JFA IGe >GA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,ɪ(A:@Y:@:9:.-=y:H nO?3? ٸ Q?G؉ !?@? ?ɨ:@:9Ɋ;8yJBJL"II^I^#٢jՅ nV=9r;Q r>tt vG٣v WGyzS z> Nusing accuracyPremultiplier from configy59}?5Y}i i}T™˿A}E}z:}:}t5B  AEDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf`o@ɛ-B- )-I1 5foɚ1i1I5D=I=2Sʿi=/>)A)ADUj9*F?2F:FBF P5JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Response Not Received M*response not received-MG B O > I hʢw,ɪBA HJ@Will construct direction to contact in vehicle frame from tetrahedron phase data.;@Y@^9W=yH b?@R? ,`c?@}ڋ?\?$?ɨ;@đ;騵#CH:>I I"IIPBI&I.I6Iɰ<:I FyBT"Ii}}}@ }@)}@I}@yy}@II%x٢O< 0=9×;Q > G٣y > Nusing accuracyPremultiplier from config59 ?5Y i_™>:ǿAE;';i5 @yJJJ0JJܫ:J :Jـ3JJ;J;JR;JR;DNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfo@ɛmBm, imIi u퀻ɚqiI E=I5Sʿi9G))D- 9*F2F:FBFT5JFG*>= Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >zKm KHNKm 9Ki Km #Km nT)o[MC8.'! Ėw,`\Af@Yf"@f39fo=yfH@|?0?@Tw{?`=}?Ce?9?ɨf@fj8;f!CyrBrW"IIzIzF٢< j=9;Q  ?    G٣ y<+ ? Nusing accuracyPremultiplier from config%59?%5Y ih™)-ɿ-AE::51 5@1 AIAmDNOT Ignoring new targets: 46.00 m. jijijijiiihqhqhqhqfyfyfyrfybf."o@ɛB% I ɚiI8E=I}4SʿiKM))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.E$=*Fi 2Fi :Fi BFm Q5JFi ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G G>GQBYOu> w,gzAB@YB1@B 9Ba=yBH` ?Y?@@ ``?F~?d?`L?ɨB@B;@yZBZ\"IIbIb٢jՈ< j/=9nӪ;Q n>pp rG٣r WGyr  r> zNusing accuracyPremultiplier from configx~59z?~5Yz0 izt™|~˿~AzEzn:z:z5  F@ 5DNOT Ignoring new targets: 46.00 m. j1j1j1j9i9h9h9h9hAfAfAfArfAbfM1o@ɛ}B}pż y}(Iy RɚiIYuE=I3Sʿi=T)) ID9EMHC=*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I"II[BI&I.I6I<:I FGN|>G BO-p>JJJ1JJJJ3JJJJJCߤw,eoAWill construct direction to contact in vehicle frame from tetrahedron phase data.y B Y"I) Mb@Mb@Mb@ )Yoʡ?t@ @)I@y\@II<٢q1 <=9Q > G٣y > Nusing accuracyPremultiplier from config59X?5Y i™>:ʿAE$;;5  m@ zKMK۵9KK#K .oDNOT Ignoring new targets: 46.00 m. jjjjihhhhZBfffrfbf@?o@ɛuBuBԼ quIq }^1ɚyiyI}ƸE=I2SʿiM\))D89*E="E= IWill construct direction to contact in vehicle frame from tetrahedron phase data.E\J=*F ?2F :F BF P5JF Gm7Li>GABQOm?w,ĴA6r@Y6@6sI96ht=y6HA? 9-?)F ?ˋ=i?`F ??ɨ6r@6E;6"CyNBN`"IIZIZb٢bB< b-=9b>dd fG٣f WGyj j> nNusing accuracyPremultiplier from configlr59nu?r5Yn in™pvϿvAnEn:n:n5~Will construct direction to contact in vehicle frame from tetrahedron phase data.| ~@DNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfOo@ɛBּ 隽橾I ]ɚiIF=I5SʿiWc)) ID-9EAEA*EM"EMWill construct direction to contact in vehicle frame from tetrahedron phase data.H9>I I"II`BI&I.I6D6I<:I F) F= ]C% GE |uAY Y |uAy B ? A*F 2F :F BF 0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu_>GQBYO}?w,hقA6~@Y6 @6Wz ;966d=y6H`?`g??{@v?Joa`? ?ɨ6~@6-y;6CyFBF]"IiJ=IJ4<zKjMKjж9KhKj#Kj[I:1'" Mb@Mb@Mb@ )Y)\(?q= ףp{GzyG?뽹ף )@I@yIIT٢ =9  G٣yNc > Nusing accuracyPremultiplier from config59c?5Yε i™?:HοAE1;;5 C@EDNOT Ignoring new targets: 46.00 m. jj j j i h h hh]BfffrfbfVao@ɛEBEYؼ IM3II M|DZɚIiIIUF=IU4SʿiUMIj)Y)Y Ih*F?2F:FBF4JFGa[>GqBO;>Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ=Օ%=JJJ0JJL:J:Jـ3Ja@a@a@a@2w,)A6@Y6@6=;96=y6H9?ঁ? @?` 's,y?@?ɨ6@6z;6 Cy^Bba"IIjIj[٢~< ~W=9;Q >   G٣ y <  > Nusing accuracyPremultiplier from config59k?%5Y i™!%п%AEu ; ;75) -@1DNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfmo@ɛBM I Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚiQIUsG=I]3Sʿi]n)Y)a*F?2F:FBFP0JFGD>GB IOC>jH bH < Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I I I # =&I .I 6I Ͱ<:I Fw, A2Z@Y2Qj@2;924=y2H,i?? `n`@O?@i~}ް??ɨ2Z@2M;2CyRBRe"IuMb@Mb@Mb@qqq q)qYuE?)\( rhyu?uGόuCuZ@ u@)u@Iux@qyuf@II٢ < A=9-;Q > G٣ WGy/ > Nusing accuracyPremultiplier from config59H?5Y i™ ?:пAE;"";5 @DNOT Ignoring new targets: 46.00 m. jjjjihhh h UBf f frfbf{o@ɛ=ńBE}> EDAp=ENIA M ŻɚIiIIUG=I]2Sʿi]cr)Y)a*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.AizKULKU 9KQKU#KU GwB> IGi B O >}Fw,S&A2Will construct direction to contact in vehicle frame from tetrahedron phase data.R ȓ@YRך@R <9RoJ=yRHf#?S?@;j?D`(??ɨR ȓ@RQ;R!Cy\\)` `IfIf#٢n nW=9r;Q r>pt vG٣tyv@ v> ~Nusing accuracyPremultiplier from configx~59z󺘜?5YzT iz™ҿAzEz ;z;z5  @DNOT Ignoring new targets: 46.00 m. jjjjihhhhfff1rf1bf5 0o@JyJ}JyJyJyJ}:JyJyɛ̄B] ľI ϻɚiI&/H=I5Sʿi^vGYBaO}Y>Will construct direction to contact in vehicle frame from tetrahedron phase data. I g4w,@Ay B q"II%I%@٢5r<= 5D=95Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configAU59E~?U5YE2 iE™QQUAEEE ;E:E5a e<@aUDNOT Ignoring new targets: 46.00 m. jQjQjYjYiYhhhhfff rfbf`o@mWill construct direction to contact in vehicle frame from tetrahedron phase data.HAIA IE"IIEeBIE" =&IA.IA6IEg<:IEN FBI)JI)RI)ZI)bI)jI-Æ4ɛԄB 隽¾I 7ۻɚiIH=I4SʿizGPExceeded connect timeout, disconnecting.BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ww,ݗZA6@Y6@6 s<96}=y6H?4?OᮿE?Ŕc?f?ɨ6@6oÊ;6 CyIQ UG٣U WGyUx U> Nusing accuracyPremultiplier from config59?5Y i™ ? : Կ AEU;;h5 III]B eP@eE%DNOT Ignoring new targets: 46.00 m. j!j!j)jIiIhQhQhQhUnBfYfYfYrfYbf]@o@ɛڄB֭ ȾI ɚiInI=I3Sʿi4L}G)B9OU?w,zA J@YJ@J<9J~x=yJH`H?@?L`9? BT??ɨJ@J;HyRBRt"IiZll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v6?z5Yvo iv™|~׿~AvEv:va:vs5 0@5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h1h9h9h9f9fAfArfAbfEo@ɛuBu] y};Iy }-ɚyiyI}%J=I2Sʿi]GBZH9RH=@AHQIQ IQIQIQ&IQ.IQWill construct direction to contact in vehicle frame from tetrahedron phase data.6IU<:IU FO5p>  nManaging dock network, ignoring radio surface power offw,pA6{@Y6A@6<96?=y6H?`R?mKG?@@ \?{?ɨ6{@6^;6!Cy^Bbo"IMb@Mb@Mb@ )Y G٣yy > Nusing accuracyPremultiplier from config59?5Y  i™?:ؿAàE;+;V 5 m@Will construct direction to contact in vehicle frame from tetrahedron phase data.%DNOT Ignoring new targets: 46.00 m. j!j)j)j)i)h)h)h1h5bBf1f1f9rf9bf=`o@ɛmBm UؾI .ɚiIJ=I5SʿiGJK KL.KK"KJ J J /J J J :J (N3J w,LA2@Y2|@2<92=y2H #? ?t' o?闿@s`i^?o?ɨ2@2!;2 CyBBBx"IIJIJ٢R = V^=9V;Q Z>XX ZG٣ZWGy^M2 ^> bNusing accuracyPremultiplier from config`f59bT?f5Yb ib™hjڿjAbŠEbz:bz:b 5l n@pDNOT Ignoring new targets: 46.00 m. jj j j i h h hhfffrfbfo@ɛMBMX IU־IQ U"ɚQiQIU8K=I4SʿiBMw,5ȃA6Will construct direction to contact in vehicle frame from tetrahedron phase data.HI III# =&I.I6I<:I F%w@Y%8@%-<9%=y%H|h?Z?p` -ݕ?A<Ŗ ڰ?@2?ɨ%w@%;%"Cy}Bޅ"I) AMb@Mb@Mb@ )Y㥛 ?S㥻Qy?/ݽup@ @)@IyI5I5T٢E< E'=9MY,;Q M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]y?e5Y]6 i]™m?m:mNݿmA]ǠE]g;](;] 5uB u@}EDNOT Ignoring new targets: 46.00 m. jjjjihhhhnBfffrfbfro@ɛB 隭پI ? ɚiIfL=I3SʿiW؁% Will construct direction to contact in vehicle frame from tetrahedron phase data.EFw,A6@Y6@6 b<96=y6H@c? `\p`3k??ɨ6@6VQ;6 Cy>BBu"IDFBAIJIJ٢V& VT=9Z;Q Z>XX ZG٣ZWGy^d ^> bNusing accuracyPremultiplier from config`j59bO?j5YbU ib4™ln࿑rAbˠEbn;b|n;b=5t v@tDNOT Ignoring new targets: 46.00 m. jjjjihhh!h!f!f!f!rf)bf-@o@ IɛBm+ I dɚiI%N=I%5Sʿi%G-w,^A:[@Y:tk@:?<9:~=y:H`? @v4'ޘ ? R?ɨ:[@:.;8yF"BF"IMb@Mb@Mb@ )Y\(\?1ZdQy?"۽Z@ )@Iy@I1I1٢Eq= EA=9M;:Q M>II MG٣IyU U> eNusing accuracyPremultiplier from configYe59]H?m5Y] i]D™mT?m:m࿑mA]͠E]T;];]5 N@Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhBfffrfbfp@ɛBƭ %I! %lɚ!i!I%nO=I-4SʿiM@ Will construct direction to contact in vehicle frame from tetrahedron phase data.W w,/A6@Y6J#@6g^<96.H=y6H`?@<Ė@q9+?B?ɨ6@6̽;6$CyV#BV"II^I^̍٢f; fR=9j1Q j>hh nG٣lyn n> vNusing accuracyPremultiplier from configpv59rj?z5Yr9 irS™xzῑzArϠEr:r:r5| :@]DNOT Ignoring new targets: 46.00 m. jYjYjYjaiahahahahifififirfibfu p@ɛ BVb3 2A=隥#I  ɚiIO=I3Sʿi Will construct direction to contact in vehicle frame from tetrahedron phase data.GB)O}7> IH I  I I I " =&I .I 6I <:I z FBw,|IA&Will construct direction to contact in vehicle frame from tetrahedron phase data.JQJUJQJQJQJU :JQJQJQJQJUcW;JUdW;yMBMv"IMb@Mb@Mb@ )YGz?Cl绿Zd;Oyp?;߽jp@ @)@Iy@II(٢MQ M=9MQ U>QQ UG٣UWGy] ]> eNusing accuracyPremultiplier from configam59e.?m5Ye  iek™m ?u:uῑuAeѠEe@;e<;e5 @DNOT Ignoring new targets: 46.00 m. jjjjihhhhwBfffrfbf p@ɛB._( }]w,cAy~B|"I))IMIMʴ٢= =9Q ? G٣y ? Nusing accuracyPremultiplier from config59?5Y iz™AӠEz::l5 @EDNOT Ignoring new targets: 46.00 m. jjjjihhhhff f rf bfp@ɛ=B=rLM 9EIA E5.ɚAiAIEQ=IM5SʿiMց Will construct direction to contact in vehicle frame from tetrahedron phase data.}w,|A iIuhyލBލ}"III٢!8; C=9Q >)) 5G٣1y9 => UNusing accuracyPremultiplier from configIe59Mđ?m5YMq iM™iimAMՠEM;M;MD5y }@yDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfp@ɛB: I G5ɚiIR=I4Sʿi>I III&I.I6I<:Ix FBIJIRIZIbIjIi4Will construct direction to contact in vehicle frame from tetrahedron phase data.Es=JJJJJL:J:JJJP;JQ;JJ;JJ;*FM ?2FI :FI BFM `0JFI GQ  GQ G 4<G G qA5Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBYOu>{|&w,4A^x@Y^x@^ |<9^*=y^H4 u?@िM{透uڸ?@T?ɨ^x@^;>;^CyjBjw"IeMb@Mb@Mb@aaa a)aYeQ?X9vI +ye(?ee9e@ e@)e@Ieb@aye\@I}I}<٢ 3=9Q > G٣WGyk* > Nusing accuracyPremultiplier from config59g?5Y  i™4?:@濑AנE ;] ;@5B @E 1I1uDNOT Ignoring new targets: 46.00 m. jqjqjyjyiyhyhyhhrBfffrfbfX!p@ɛ&Bw; I '}=ɚiIS=I3Sʿi;`,w,Ay~B~n"Ii=Ip= = =IIW٢% -R=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=Ӈ?M5Y=& i=™IIMA=٠E=:=:=5Q ]x@YDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfK'p@ɛ+B0V  I )DɚiI6kT=I2SʿiH I  I I I # =&I .I 6I <:I e F Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,΄AJ&J$J$J$J&ܫ:J$J$J$J&;J&;J$J$~qm@Y~|@~"<9~=y~H@`O?@Y ):v @ ??ɨ~qm@~;~ Cy-B5b"IMb@Mb@Mb@ )Y'1Z?X9vS㥛y"?/ݼ@ @)@Iy@II٢ 2 ==9PQ > G٣yU >  Nusing accuracyPremultiplier from config 59?5Y- i™&?:A濑A۠E#;o;5 @!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQhUlBfYfYfYrfYbfe`1.p@ɛ1B`T 隕I oLɚiIJU=I5SʿiEo9w,XAF{r@YF@F;9Fv=yFH`?@-@ݤ` :{@?i?ɨF{r@F}C;DyVBVd"IIfIf<٢va; z^=9~Q >   G٣WGy: > -Nusing accuracyPremultiplier from config!559%}?55EWill construct direction to contact in vehicle frame from tetrahedron phase data.Y%24 i%™IM 濑MA%ݠE%;%;%u 5eB e@eEDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrf1bf54p@ɛ6B[^ 隅I 3TɚiIV=I4Sʿi I hv@w,A6}@Y6[@68;96c=y6HC磿o?;`7+e]?ugV:??ɨ6}@67;6!CyBBBU"I)D DHHININ(*٢vu vK=9vQ v>xx zG٣xyzec; ~> Nusing accuracyPremultiplier from config 59y? 5Y: i™  忑 AߠE::3"5 @UDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhQhYhYhYfafafarfabfe:p@ɛ;BUp 隕[ I [ɚiIV=I3Sʿiy] Will construct direction to contact in vehicle frame from tetrahedron phase data.Fw,eA6_@Y6@6ls96j=y6H ??~3`< Vx? mU???ɨ6_@6jx;4yBBB]"IMb@Mb@Mb@ )Y r?X9vy#?̼@ )@Ix@y@I5I5)٢E= EE=9E,#Q E>II MG٣IyUaJ; U> I Nusing accuracyPremultiplier from config59s?5Y B i™&?:忑AE/;;$5 a@=DNOT Ignoring new targets: 46.00 m. j9j9j9j9iAhAhAhAhEBfIfIfIrfIbfu@Ap@ɛABXc 隽I dɚiIW=I2Sʿi~hLw,<6A2K@Y2̩@2E92#V>y2Hx з?Vҡ?u?2_?@?ɨ2K@2;2"CyZB^A"IIfIfi٢j nQ=9nX&Q n>pp rG٣rWGyv; v> ~Nusing accuracyPremultiplier from configx59zTo?5YzPH iz ™N忑 AzEz;z;z%5B _AE=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhAfIfIfIrfIbfUtGp@ɛEB 隅n-I lɚiI\UX=I5Sʿi}H1 I1  I5 "II5 UBI1 &I1 .I1 6I5 <:I5 r F)5 = 1 u Will construct direction to contact in vehicle frame from tetrahedron phase data.% GI q Y y NASw,.PAyޕBޕF"Ii=I< =p=-only read 0 of 1 data item for BIT error. Device response is::TS,25010210.9, 93.3, 0  @ @ @  @ II<٢!< :=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59j?5YO i‘ +:  :  AE2E;>G'5 >AEDNOT Ignoring new targets: 46.00 m. jAjAjAjIiIhQhQhQhQfYfYfYrfYbfeNp@ɛKBw 隍.I vɚiI!Y=I4Sʿiq7}zKU c{LKU ػ9KQ KU #KU Zw,FjAZ@YZz@Zyh9Zaq >yZHh堿 W?/ Z?o? >@?m?ɨZ@Z;ZCyjBjA"IIrIr٢z z[=9~üQ ~>|| G٣y; >Will construct direction to contact in vehicle frame from tetrahedron phase data. bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config %59 e?%5Y U i &‘% :)-U:-俑-A E Ƅ; P? Y(55B 5dA=EDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfTp@ɛOB 2I %iɚiIY=Im3Sʿimդ| a Ie h`w,tЃA6[@Y6@6n*96N >y6H 잠?@E1@iK֗?@?`8[?ֲ?ɨ6[@6g;6"CyrBrB"IIzIz[٢b; J=9 oDQ  >   G٣WGyŬ: > -bBottom track data is 1.2 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!559%`?55Y%\ i%3‘591=-:=俑=A%E%9;%H?%J)5A EaAAmDNOT Ignoring new targets: 46.00 m. jijqjqjqiqhqhyhyhyfyffrfbfZp@ɛTB( 隵4I XɚiI`Z=I2Sʿi | Will construct direction to contact in vehicle frame from tetrahedron phase data.gw,A2@Y2*Ǖ@2E92 >y2H I`??X` `?@?q?Q?ɨ2@25;2#CyRBR9"I)T TTT $?I        Mb@Mb@Mb@ )Ym?1ZdV-y.?"۽3@ j@)@I@y@IIm٢+  ;=9 Q >! %G٣!y5!: 5> MNusing accuracyPremultiplier from configAU59E@\?]5YEd iE?‘]T:e0?e:e࿑eAEEE};EC{;E7+5q uAqDNOT Ignoring new targets: 46.00 m. jjjjihhhhZBf)f1f1rf1bf5`Obp@ɛeZBe! ae:Ia e։ɚiiiIZ=I5Sʿia{Yy6HTU༱? , p~@t?Ɯ?I??ɨ6綎@6Ӌ;6"Cy>B>7"IIJIJ[٢N  Rd=9RZQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXb59ZX?b5YZj iZH™`b$࿑bAZEZ ;Z? ;Z,5h jAhDNOT Ignoring new targets: 46.00 m. jj j j i h h hhfffrfbf%gp@ɛE^BM̍ IM=II M|荼ɚQiQIU[=I]4Sʿi]zHI I"IIFBI&I.I6I<:Ig FBIJIRIZI# =bI# =jI4E Will construct direction to contact in vehicle frame from tetrahedron phase data..tw,΋хA%@Y%Cƕ@%,9%f >y%H-WI?@ U?`Ą?=??ɨ%@%g;% Cy=B=8"IMb@Mb@Mb@ )Y"~?B`"۹~jty3?ν`@ =@)@I@y@IIԳ٢%[; %3=9%Q ->11 5G٣5WGy5\& 5> ENusing accuracyPremultiplier from configAM59ES?M5YEUs iEL™M5?U:U޿UAEEE;E;E.5Y ]A]EDNOT Ignoring new targets: 46.00 m. jjjjihhhhcBfffrfbfnp@ɛcB^_ ?I ܅ɚiI\=I3Sʿi>zzK BHK K K #K 0Ozw,=Afǵ@YfIŕ@f9f7 >yfH1f?$@`@"}?h?I?w?ɨfǵ@fX;dyrBrB"Iiv=It va=va=~Will construct direction to contact in vehicle frame from tetrahedron phase data.IzIz٢"*= _=9m7Q > G٣y%Ū %> -Nusing accuracyPremultiplier from config)559-@P?55Y-z i-O™15޿=A-E-B;-;-Z05A EdAAmDNOT Ignoring new targets: 46.00 m. jqjqjqjqiqhqhyhyhyfyffrfbftp@ɛgBĂ >I ɚiIu\=I2Sʿiy I 6w,fA2O@Y2Ѻ@2&92.f >y2H @H?@2@ ?&ܤ?;??ɨ2O@2;2!Cy>BB8"IIJIJ٢RI$ RR=9R:8Q R>TT VG٣TyVW Z> ^Nusing accuracyPremultiplier from configXb59ZIL?b5YZA iZP™`f޿fAZEZ;Z9;Z 25h jAjEDNOT Ignoring new targets: 46.00 m. jjjjihh h h f ffrfbf` {p@ɛkB JDI <ɚiI\=I5SʿieyXX ZG٣^WGybׂ b> fNusing accuracyPremultiplier from configdj59fD?j5Yf ifG™ln ܿnAfEf;fK;f55p rAvE DNOT Ignoring new targets: 46.00 m. j jjjihhhhff!f!rf!bf% p@ɛUtBU Y]>IY ]U覼ɚYiaIe]=Ie3SʿimJwHyIy I}"II}PBIy&Iy.Iy6I}_<:I}H F% Will construct direction to contact in vehicle frame from tetrahedron phase data.{w,RA%@Y@ET9Ai >yHs\`)?@pT@`̬?7? ?e?ɨ%@V; CyBX"IMb@Mb@Mb@ )YQ?+η~jthy( G٣y > Nusing accuracyPremultiplier from config596@?5Y̙ i<™=?:ݿAE;8;75 @5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h9h9h9hEdBfAfAfArfAbfM p@ɛuyBu uzm=}=Iy }4ɚyiyI]=I2SʿiHwzK K 9K K #K kw,|lA2ӌ@Y2U@2d92>y2HO`?/` $@?[|?c?Y?ɨ2ӌ@2Q;2Cy>B>a"IIRIRV8٢b+= bt=9jN4Q j?rWill construct direction to contact in vehicle frame from tetrahedron phase data.lt vG٣tyv \ z? ~Nusing accuracyPremultiplier from configx 59z^w,\A:@Y:8@:q9:W>y:H@? `D F? ";? ?b?ɨ:@:rK;8yB BFi"IiJ%=IJp= J=J=ININF٢V< VL=9Z Q Z>X\ ^G٣^WGyb b> fNusing accuracyPremultiplier from configdj59f8?j5Yf if'™hnݿnAfEf:f;f:5t v@tDNOT Ignoring new targets: 46.00 m. jjjjihh!h!h!f!f)f)rf)bf- kp@ɛUBUe Y]:IY e懵ɚaiaIeT^=Im4SʿiuNu Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! bw,;A6z@Y6@6~96>y6H`? .s@?`_ϯ?u?@?ɨ6z@6x݋;6"CyNBN"IeMb@Mb@Mb@aaa a)aYeV-?/$Mbp?ye G٣y > Nusing accuracyPremultiplier from config594?5YV i™&>?:ܿAE;S;<5B @EDNOT Ignoring new targets: 46.00 m. jjjjihhhhBfffrf bf Vp@ɛ5B5f 9=3I9 =Rɚ9i9I=xq^=IM3SʿiMKtpw,w+A6s@Y6@6ᅽ96IA>y6HE?gC@O?*? ?b?ɨ6s@6Ht;6 Cy>)B>"IIFIFm?٢Rm= RQ=9V7Q V>TT ZG٣Xyzi ~> Nusing accuracyPremultiplier from config%590?-5Y i™)-ܿ-AE94;|4;>59 =@9eDNOT Ignoring new targets: 46.00 m. jajajajaiahahihihifqfqfqrfqbf}Ũp@ɛB 隭/I ɚiIa^=I2SʿiJ t Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J l:J :J 3J J ;J ;J nN;J oN;w,ՆA].n@Y]}@]9]I^>y]HKդ@Ҷ? A`+o?z?@̕??ɨ].n@]gՊ;]"Cyu6Bu"I)y yAAMb@Mb@Mb@ )YA`"? ףp= Mbp?y9?Q@ K@)@I@y@I-I-b٢=pj= =3=9EԻQ E>AI MG٣MWGyM M> ]Nusing accuracyPremultiplier from configQ]59U],?e5YU iU™e:?e:e޿mAU EU#;U!;U{@5uB u @uEDNOT Ignoring new targets: 46.00 m. jjjjihhhhBfffrfbfp@ɛBM 隽Z+I L7ļɚiIA^=I5Sʿi,syZw,_A:*c@Y:r@:{9:*>y:H?XJR?yK? ?`Q?ɨ:*c@:s;: CyJKBN"IIZIZ٢8= %8=9%sQ %>)) -G٣)y5qF 5> =Nusing accuracyPremultiplier from config9E59='?E5Y= i=™AEK޿MA= E= ;= ;=kB5Q U@QDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf`&p@ɛ B  "I ȼɚiIcr^=I4Sʿi%-r^w,A*Will construct direction to contact in vehicle frame from tetrahedron phase data.>Z@Y>zj@>9>S>y>H?$#⠿?y?`pr?(?ɨ>Z@>P;>CyUB"I@AIIW٢%w8= -@=9-1Q ->)1 5G٣1y5U 5> ENusing accuracyPremultiplier from config9E59=#?M5Y= i=™IMm޿MA=E=%;=A;=GD5uB }+@}EDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf`۽p@ɛ B  JJJ0JJL:J :Jـ3JJP;JQ;J9P;J:P;I %̼ɚ)i1I5T^=IM3SʿiU+qw,%(Ay lB "Ii% G٣WGy >  Nusing accuracyPremultiplier from config 59 g?5Y  i ™9?:n⿑A E ; u; %F5! %@!zK5LK5h9K1K5#K5   ]DNOT Ignoring new targets: 46.00 m. jajajajaiahahahihmBfififqrfqbfup@ɛ=B= 9=:IA E9ѼɚAiAIE(^=uWill construct direction to contact in vehicle frame from tetrahedron phase data.Iu2Sʿiu-Kp  I h% Will construct direction to contact in vehicle frame from tetrahedron phase data.vw,ۇBA6[Z@Y6i@6-96R>y6H k?`Mv?`8?@z?@?ɨ6[Z@6݊;6 Cy>B>"IIFIF(*٢N#= Rc=9RQ R>TT VG٣XyZbY Z> bNusing accuracyPremultiplier from config\b59^?f5Y^ i^™dfq⿑fA^E^:^a:^G5h jw@lDNOT Ignoring new targets: 46.00 m. jjjjihh h h f ffrfbfip@ɛEBE IM II MMԼɚIiIIM+ ^=IU5SʿioIQ IUZ#IIUτBIQ&IQ.IQ6IU<:IUr F}Will construct direction to contact in vehicle frame from tetrahedron phase data.GhAJJJJJl:J:JJJ;J;JL;JL;GBO >w,c\A:T@Y:d@:U~9:>y:Hh?@dL??X?`?ɨ:T@:-O;:"Cy^Bb#IMMb@Mb@Mb@III I)IYM ףp= ?yMQ8?MMM@ M@)M@IM@IyM@IeIe٢u= u>=9}hQ }>y G٣y׺ > Nusing accuracyPremultiplier from config $?I59m?5Y i™;?:俑AEt;;I5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjqiqhqhqhyh}Bfyfyfrfbf p@ɛBv~  I ]ؼɚiI8]=I4SʿinPw,uyBH`j@?%56i?"??Y?ɨBQ@BBn;BCyNBN#IIZIZq٢b= bW=9b*Q b>dd fG٣fWGyf? j> nNusing accuracyPremultiplier from configh=59jo?=5Yj ij™AE俑MAjEjQwZHA RHE @AHI II  IM #IIM BII &II .II 6IM [<:IM C Fw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.5Q@Y5`@5yL95cb>y5Hໞ?`B rᠿʶ??̰? ՜?ɨ5Q@5(;5 CyލBލ'#III٢-= 9=9\ZQ > G٣yJ > Nusing accuracyPremultiplier from config 59 ? 5Y> is™俑AE ;%;3M5B (@EDNOT Ignoring new targets: 46.00 m. jjjjihhhhQfYfafirfbf :p@ɛBIq I ߼ɚiIi]=I2Sʿi2lw,UAfTR@Yfa@f9fܳ>yfH[?@K`@ 0? 2?H?i?ɨfTR@fъ;f!CyrBr6#I}Mb@Mb@Mb@yyy y)yY}9v? G٣y 9 > Nusing accuracyPremultiplier from config59?5Y id™8?:近AE;;N5Q U_@QzKu+KKu9KqKu#KuRK} ?JK}?DNOT Ignoring new targets: 46.00 m. jjjjihhhhւBfffrfbf7p@ɛ-BER IUWill construct direction to contact in vehicle frame from tetrahedron phase data.m,Ii m#[ɚiiiIu%\=Iu5Sʿi}9k q Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ÇA6P@Y6 `@696h>y6H?`~S`?N??@?ɨ6P@6;6"CybBb?#IIjIj٢r = vW=9vȃQ v>xx zG٣zWGyz ~> Nusing accuracyPremultiplier from config 59S? 5Y iV™  !近 AEC: :P5 %@!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhIhIhQhQfQfQfYrfYbf]p@ɛBޡ 隍 I ɚiI\=I4Sʿij w,3݇A |I|yBG#IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data. )YI +? G٣y > Nusing accuracyPremultiplier from config59?5Y  iG™7?:(近 A!EU;f;R51 5@9MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhQhQhQhUقBfYfYfYrfYbfe`lp@ɛB8^o 隵I &ɚiI#\=I3SʿiRiJq Jq J} J} Jy Jy J} ܫ:J} :Jy Jy ?w,AFb@YFq@FMo9F&W>yFH cS?@9ў,?1ƶ?@?@M?ɨFb@F;FCyZÄBZK#IIjIj۳٢r< v\=9vQ v>xx zG٣xy~; ~> Nusing accuracyPremultiplier from config 59? 5Y^ i9™  翑 A#E7::T5 Y@EEDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf]`p@ɛ5B5h 15I1 =llɚ9i9I=[=IE2SʿiE&igw,)zAFj@YFxz@F 9Fs/ >yFHr? ߅(??%?ԕ?ɨFj@FZ_;F CyN̈́BNX#IIVIVb٢bH= bD=9bAQ f>dd fG٣fWGyjV,; j> nNusing accuracyPremultiplier from configlr59n엜?r5Yn in+™pv翑vAn%En*:n:nU5x z@zEDNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h!h!h)h)f)f1f1rf9bf= zp@ɛB!v =I  ɚiI%q[=Ie5SʿiIHh> w,8J,A>z@Y>/@>L鸽9>c >y>H?Wuy`)4?@ ?`&??ɨ>z@>8ߌ;>"CyF΄BJY#I%Mb@Mb@Mb@!!! !)!Y%㥛 ?ףp= ÿ:vy%5?%%T%@ %@)%@I%@!y%@I=I=%x٢M 7; MB=9M`Q M>QQ ]G٣Yy]C; ]> eNusing accuracyPremultiplier from configam59eD旜?m5Ye# ie™u9?u:u鿑uAe(Ee;e_;eW5y @DNOT Ignoring new targets: 46.00 m. jjjjihhhhÂBfffrfbf7q@zKmKmػ9KiKm#KmWill construct direction to contact in vehicle frame from tetrahedron phase data.յ<ձɛBnv I 0ɚiIw[=I4Sʿivge Will construct direction to contact in vehicle frame from tetrahedron phase data.-xw,)FA6$@Y6@696; >y6H`>a? D`ϙ`??G?{?ɨ6$@6;6 Cy^ڄB^h#IIfIf)٢nv= nQ=9n:Q r>pp rG٣pyv; v> zNusing accuracyPremultiplier from configx59zh? 5Yz+ iz™近Az*Ez;z;zzY5 %@!MDNOT Ignoring new targets: 46.00 m. jIjIjIjIiIhIhQhQhQfYfYfYrfYbf] x q@ɛB} 隝߾I XɚiIZ=I3Sʿi.f 9 I9 w,_A6^@Y6ક@6, 96]e >y6H ?@:K`ڷ? Zٶ?l?`?ɨ6^@6:׋;6"Cy^ՄBbb#I-Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y5^I ?333333ÿy&1y8?`e@ r@)=@I@y@II٢ﱼ ==9':Q > G٣WGy; > Nusing accuracyPremultiplier from config59(ڗ?5Y 3 i™`JKM 9KI KM #KM  e "9.[L}~qUm)qYH8* #/}}i_P/ Ga B O >J J J J J l:J J J w,tyA>٧@Y>[@>=9>i >y>H96@ױ?=͕e??mm??ɨ>٧@>+0;>!CyHJa#IIbIbm٢nj nZ=9rg:Q r>pp vG٣tyvτ; v> zNusing accuracyPremultiplier from configx~59zԗ?5Yz2: iz™"翑Az/Ez ;zG;z]5  7@5DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9h9hAhAhAfAfIfIrfIbfMXq@ɛuB4 I TɚiIY=I 5Sʿi zeZH) RH- AAH1 I1  I5 $II5 cBI5 # =&I1 .I1 6I5 <:I5 q F Will construct direction to contact in vehicle frame from tetrahedron phase data.$w,ﬓAJ.@YJȕ@JD9J >yJH"?3@zדb??\?F?ɨJ.@JM;J"CyVׄBVd#IIbIbk٢j>< jK=9n;Q n>lp rG٣pyr; r> vNusing accuracyPremultiplier from configtz59vΗ?z5YvA iv™|濑Av1Evd.;v.;v^5 B @ E=DNOT Ignoring new targets: 46.00 m. j9jAjAjAiAhAhAhIhIfIfIfIrfQbfUq@ɛ}B}m 隅I ZɚiIӡY=I4Sʿido*w,.A2@Y2&ѕ@2w92l >y2H7\?@ @E?m? N??ɨ2@2L;2!CyNՄBNb#IPRAeMb@Mb@Mb@aaa a)aYeCl?x&Mbyed;?e7 ee@ a)e@Iaayef@I}I}۳٢$ >=9;:Q > G٣WGy; > Nusing accuracyPremultiplier from config59vɗ?5YJ i™>?:㿑A3E"";n ;`5 (@DNOT Ignoring new targets: 46.00 m. jjjjihhhhBfffrf bf %q@ɛ=ÅB=\ 9=iI9 EoPɚAiAIE)HY=IM3SʿiMWde Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,cLjAyۄBi#IIIV8٢%K< %R=9%Q ->)) -G٣)y5 5> }Nusing accuracyPremultiplier from configq59uYė?5YuQ iu™Au6Eu;u:u_b5B @³EDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf,q@ɛŅB I  ɚ i I X=I2SʿicIa Ie$IIehBIa&Ia.Ia6Ie<:Iez F*F2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G~JJJJJ:JJJJ;aJ;aJS;aJS;aGiByO> I h7w,RA6َ@Y6M@696 >y6H 7@w?@y@@ȶ? ?@V?˕?ɨ6َ@6L;6 CyZՄBZa#IWill construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYe'1Z?MbMbyeB?eae$@ eS@)e@Ie@aye(@quBAI}I}b٢ C=9f;Q > G٣y; > %Nusing accuracyPremultiplier from config!U59%?U5Y%$Z i%™UE?U:UaῑUA%8E%;%Q;%=d5a e8@aDNOT Ignoring new targets: 46.00 m. jjjjihhhh}Bfffrfbf2q@ɛ-ȅB- ‚ 15?I1 5/ɚ1i1I5ɦX=I=5Sʿi=Ic>w,A J$@YJ@J9J >yJHΚt?`!@̧n?? [?`}?ɨJ$@J֬;HyV˄BVV#II^I^[٢fF fX=9jX[;Q j>hh jG٣jWGyn{; n> rNusing accuracyPremultiplier from configpv59r?v5Yr]a ir™xz3ῑ~Ar;Erj;r'r;re5 @UDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhYhYhahafafafarfibfm8q@ɛʅB|, 隕oI mɚiIxX=I4Sʿi9bG  GY y ?AjHQ bHU 4<HY IY  I] $II] cBI] $ =&IY .IY 6I] <:I] m F Will construct direction to contact in vehicle frame from tetrahedron phase data.TEw,HA6@Y6@696 >y6H@# ?-Ct@x9? ?:??ɨ6@6;4yLLIVIV̍9:Q >!! %G٣!y-: -> 5Nusing accuracyPremultiplier from config1=595?=5Y5i i5™AEῑEA5=E5;5j;5g5I II}DNOT Ignoring new targets: 46.00 m. jyjyjyjyiyhhhhJJJJJ:J :JJJi;Jj;JU;JU;fffrfbf \?q@ɛ̅B؉ 7I ɚiI=X=I3Sʿi{b*Kw,.A:I@Y:@:9:6^ >y:H`@ ?`/`p@?@Q? a?2?ɨ:I@:t;:!CyFфBF\#IMb@Mb@Mb@ )Yv/?&1~jtyxI?нD@ /@)@IC@y@I5I5W٢ER< E<9E2 ;Q M>II MG٣IyUP: U> eNusing accuracyPremultiplier from configYe59]?e5Y]r i]™m.K?u:ucܿuA]@E]@:;]j;]ji5B @ijEDNOT Ignoring new targets: 46.00 m. jjjjihhh1h5VBf9f9f9rf9bf= Fq@ɛ΅B:ވWill construct direction to contact in vehicle frame from tetrahedron phase data. 隵I `ɚiIX=I2Sʿit b4*$   *Fa2Fa:FiBFm_0JFi -$?I1GG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.Rw,HA6@Y66@6*961>y6H?`t@n ȵ?`/?3?`,?ɨ6@6;;6 CyBԄBB`#IDDIJIJ(*٢r< rQ=9r;Q r>tt vG٣v WGyz9 z> ~Nusing accuracyPremultiplier from config|59~?5Y~(z i~™ bܿ A~BE~ ;~7:~ k5B @@dzEmDNOT Ignoring new targets: 46.00 m. jijqjqjqiqhqhhhfffrfbf;Lq@ɛυBԌ EI f ɚ i I W=I5SʿiΫa 9 IE h;Xw,׈bA6@Y6@696p >y6HQ@?`捿@? q?$? ?ɨ6@6;4y>քB>c#I~Will construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYu|?5^?Zd;O G٣yҺ > Nusing accuracyPremultiplier from config59?5Yn iw™DT?:MڿAEE;;l5  @DNOT Ignoring new targets: 46.00 m. jjjjihh h h 2Bf ffrfbfRq@ɛEхBEd AMII M ɚIiIIMaW=IU4Sʿi]=azK iMK +9K K #K 1e^w,`|A2@Y2@2(!92= >y2H`*r`ҵ?@R ``p?Q???ɨ2@2MC;2Cy:ڄB:h#IIFIFƳ٢J(< N\=9NC;Q R>TT VG٣Xy^ݪ b> jNusing accuracyPremultiplier from confighn59j?n5Yj ijf™lrPڿrAjHEj;jB;jn5t v@tDNOT Ignoring new targets: 46.00 m. jjjjihh!h!h!f!f)f)rf)bf-@Xq@ɛU҅B IU} MI Z ɚiI9W=I3Sʿi` Will construct direction to contact in vehicle frame from tetrahedron phase data.rMew,=AJߎ@YJ@Jm-9Ji>yJHఁ?Yg`_%Z? ?`D??ɨJߎ@JBB;J"CyVBVv#II^I^W٢f!Z= fG=9fZ:Q j>hh jG٣j!WGyn& n> rNusing accuracyPremultiplier from configpv59rB?z5YrK irS™x~sڿ~ArJErU;rU;rhp5B 5@ ɳE5DNOT Ignoring new targets: 46.00 m. j1j1j1j1i1h1h1h9h9f9fAfArfAbfEp_q@ɛmԅBu򈉽JJJJJ:J :JJJ;J;JS;JS; 隝I sɚiIRW=I2Sʿi"c`wkw,AyrBv{#I}Mb@Mb@Mb@yyy y)yY}Zd;?㥛 ~jth?y}Y?}}D;}@ y)yI}@yy}f@II)٢M< ==9Q > G٣y > Nusing accuracyPremultiplier from config59Ȟ?5Y i8™Z?x:t׿AME;;Jr5 @DNOT Ignoring new targets: 46.00 m. jj j j i h h hh7Bfffrfbf%@Yfq@ɛMօBMߥ IMIQ UAɚQiQIUW=Ie5Sʿiez_ _rw,ɉA6̎@Y6ܕ@696`(>y6H? #6?Q?`? ?ɨ6̎@6 ;6!Cy>BB#IIFIFV8٢NE= R\=9RwU;Q R>TT VG٣TyVͻ V> ^Nusing accuracyPremultiplier from config\b59^?b5Y^1 ftIi^!™df׿fA^PE^;^n;^s5h j@hDNOT Ignoring new targets: 46.00 m. jjjjih h h h f ffrfbf Dlq@ɛׅB_ پI ɚiIV=I4Sʿii_ I 3xw,dA:@Y:̕@:H9:o>y:H@͟ ?' @唿`?`2?`?`?ɨ:@:5;8yBBF#IrWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-K?i|?5QY ]G٣]"WGy] e> mNusing accuracyPremultiplier from configam59e?u5Ye ie™uZ?ux:uֿuAeSEe$;e9;eu5 @DNOT Ignoring new targets: 46.00 m. jjjjihhhh=Bfffrfbf`sq@ɛ؅Br ?ɾI ɚiIV=I3Sʿi/^J J J J J :J :J J a @a @a @a @~w,RA:@Y:)@: 9:>y:H๶?`H,  ??J?4?ɨ:@:[;: Cy^!B^#IIfIf٢nr= nQ=9r}W:Q r>pp vG٣tyv v> ~Nusing accuracyPremultiplier from configx~59zÕ?5Yzl iz™  :ֿAzUEz;z;zzw5) 5@5˳E]DNOT Ignoring new targets: 46.00 m. jYjYjYjaiahahahahifififirfi yI}hbf}`dyq@ɛمBP 隭VI ɚiI/V=I2Sʿi>A^ Will construct direction to contact in vehicle frame from tetrahedron phase data.^w,A> @Y>@>[9>>y>H 塿a?hM?? Ͷ?@k?ɨ> @>;xx =G٣9yEٲ E> MNusing accuracyPremultiplier from configIU59M?U5YM iM™amֿmAMXEM;M;MJy5q }@yDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfq@ɛڅB6n I *(ɚiI;V=I5Sʿi k]Nŋw,^1A:掎@Y:h@:9:4>y:H@ǢV?U:r@????ɨ:掎@:g5;:$CyR[BR$IiTIV4< Vp=V=}Mb@Mb@Mb@yyy y)yY}-?x&y&1?y}?U?}7}`e<}Z@ }@)}=@I}@yy}@II㔳٢> ?=9j=:Q > G٣#WGy1 > Nusing accuracyPremultiplier from config59(?5Y i™U?~:FؿA[E^;CE;{5 @γE DNOT Ignoring new targets: 46.00 m. j j j j i h hhhoBfffrf!bf%q@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛۅB\ I ɚiIU=I%4Sʿi%\uG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,:KA6t|@Y6@6 96>y6H@~?`U?`;?x??ɨ6t|@6$;6C)X ZSCyZkBb$IMc~Gay Yy;AII٢= H=98Q > G٣y˴ > Nusing accuracyPremultiplier from config59?5Y i™ؿA^Ea::|5 @гEDNOT Ignoring new targets: 46.00 m. jj!j!j!i)h)h)h)h1H9I9 I=[$II=BI9&I9.I96I=<:I= Ff1fQfQrfYbf]@q@ɛM܅BMS im>bIi uKɚqiqIuɅU=I}3Sʿi}E\٘w,eA2p@Y2}@2K92 >y2H@@?+ Þ ?Y??e?ɨ2p@2U;2 CyBBBB$IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ym?+Mb?yN?<x@ )@I@y@I=I=٢Mz%> MR=9M/v:Q M>QQ UG٣Qy]k ]> eNusing accuracyPremultiplier from configam59e?m5Ye iet™mO?m:uڿuAe`Ee;eT;e~5 @DNOT Ignoring new targets: 46.00 m. jjjjihhhhBfffrfbf q@ɛ݅BD #I ZɚiIyU=I2Sʿi&[w,BARg@YRsw@R#9RN>yRH5?Z: V?^߳?`?£?ɨRg@Rm;PyZBZg$IIfIf ٢j> nQ=9nL9Q n>pp rG٣pyr^9 v> zNusing accuracyPremultiplier from configt~59vS?~5Yv ivY™|ڿAvcEv;v ;vM5  @  9I9EDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhAhIhIhIfQfQfQrfQbfU@q@ɛޅB 7 隥ѽI ɚiIT=I5SʿixZ Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,-ϘA6/^@Y6m@6ľ96q>y6HХ?Ζ ?ҳ?u?.?ɨ6/^@6P;6!CyBЅBB$IIJIJԳ٢R@> RN=9VC9Q V>TT VG٣Z$WGyZD Z> bNusing accuracyPremultiplier from config`f59b?f5Yby ib=™hj"ۿjAbeEb\:b:b 5! %@!DNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfsq@ɛM߅BM aePIa mɚiiiIm:7T=I}4Sʿi}PYLw,A6^@Y6,n@6'=96v>y6HɥK?@࢏C?³?@??ɨ6^@6;6 Cy>B>$IMb@Mb@Mb@ )YV-?K rh?y|??^C<K@ )IS@yG@II ٢= 7=9:Q > G٣y d 9  > Nusing accuracyPremultiplier from config59{?5Y2 i ™@?%:%Q޿%AhEK;s:;55B 5@5ӳE]DNOT Ignoring new targets: 46.00 m. jYjajajaiahahahihmBfifiuWill construct direction to contact in vehicle frame from tetrahedron phase data.fyrfybf} /q@ɛ 隵% Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,s̊A6/`@Y6o@696h>y6H5?a `f4??6??ɨ6/`@6%;4ybBb$I f=f=IjIj٢r> r^=9vY:Q v>tt vG٣xyzE: ~> %Nusing accuracyPremultiplier from config!-59%w?-5Y%| i%™)5K޿5A%jE%z:%:%59 =<@9eDNOT Ignoring new targets: 46.00 m. jajijijiiihihihqhqfqfqfyrfybf}q@ɛB(  $=隭`=I joɚiIS=I2SʿiW ) I1 )w,lAFj@YFz@FU9F\>yFH Ŵ?y}H@@`?`~?m??ɨFj@F@O;F$CnWill construct direction to contact in vehicle frame from tetrahedron phase data.yB$IMb@Mb@Mb@ )Y G٣%WGyK<; > Nusing accuracyPremultiplier from config59r?5Y i™5?:w⿑AmEj;;5 @DNOT Ignoring new targets: 46.00 m. jjjjihhhhBf f f rf bf `kq@ɛ9=. 9=p=I9 EɚAiAIEbR=IM5SʿiMVzK AMK 9K K #K R w,7AVI@YV̘@Vᗽ9V >yVH@"~?@ߛ ? ??`֟?ɨVI@V;V!C dIdyn?Bn %II~I~ỳ٢ M5>  _=9 ;Q > G٣yeF+< m> uNusing accuracyPremultiplier from configi}59men?}5Yms  im™ῑAmoEm>+;m`+;m15B @ֳEDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf 5q@ɛB轼 |=>I %mɚ!i!I%sQ=I-4Sʿi-EV Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,@AJw@YJ@J&9J~ >yJH@`?@5 ڳ?ϲ??P?ɨJw@JÌ;J CyVMBV1%IIbIbT߳٢j5= jN=9j:Q j>ll nG٣lyr; r> vNusing accuracyPremultiplier from configtz59vi?z5Yv iv™xzῑ~AvqEv ;v ;v⊳5B @سEJ-J)J)J)J-:J)J)J)J)a5J)=PExceeded connect timeout, disconnecting.aEJ-\;aEJ-\;aE]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiahahahahafififirfibfu{q@ɛ9=˲ 9=X>I9 EϺɚAiAIE)Q=IM3SʿiMœU^w,6A6@Y6Õ@6L96 >y6H񀠿 ?go@gᖿa?pr?(??ɨ6@6Ռ;4yBZBBA%IWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣&WGy4; > Nusing accuracyPremultiplier from config59c?5Yh i™j'?:7近AtE;;5 @DNOT Ignoring new targets: 46.00 m. jjjjihhh h PBf ffrfbfq@ɛ9E AEr>IA E)ɚAiAIMUP=I2SʿiTw,XPA6Ȏ@Y6uؕ@6K96( >y6H Yȴ?Uf ?0??`?ɨ6Ȏ@6ь;6!Cy>nB>X%IIFIFV8٢N,= R\=9R1;Q R>PT VG٣TyVL; V>HdId If%IIfBId&Id.If7D6If<:IfZ F rNusing accuracyPremultiplier from configlr59n^?v5Yn  in™tv翑vAnvEn:nX:n5x z@|%DNOT Ignoring new targets: 46.00 m. j!j!j!j!i!h)h)h)h)f)f1f1rf9bf=q@ɛX툼 b>I UɚiIO=I5SʿihT>w,jAyEwBEd%IMb@Mb@Mb@ )YZd;?7A`¿y&1y?`e@ )@I@y@II(٢  &=  1=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-59%X?-5Y%!( i%™-h#?5:5鿑5A%xE%;%Z;%5A E.@AmDNOT Ignoring new targets: 46.00 m. jijijqjqiqhqhqhyh}IBfyfyfrfbf`Eq@ɛ] 隽>I ɚiIN=I4SʿiJSGi Bq O >zK :NK 9K K #K   I "w,SAyvyBvf%IIIƳ٢-D< -^=91Q 5>11 =G٣='WGy9 => ENusing accuracyPremultiplier from configAM59ES?M5YE. iE™QQUAEzEE:Ez:E05]B ]3@aDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf'q@ɛ4g ח>I ɚiI%N=I3Sʿi YSI I%IIBI&IHD.I6I<:Is FG/GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J :J ـ3J J ;J ;J cW;J dW;:2w,.A6 @Y6.@6g96 >y6H@ϵ?@ 3'" !? ?@#?ͤ?ɨ6 @6;6#CyNvBRb%IIZIZʴ٢/~ %K=9%y)) -G٣)y-.< -> =Nusing accuracyPremultiplier from config1E5959N?E5Y54 i5™AM近MA5|E5T:5:55UB UR@UݳEDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfq@ɛIv ̔>I ɚiI~M= II2SʿiSYY ]G٣aye e> mNusing accuracyPremultiplier from configiu59mIH?u5Ym; im™}#?}:}T鿑}Am~Em;m[;mᕳ5 b@DNOT Ignoring new targets: 46.00 m. jjjjihhhh7Bfffrfbfq@ɛĂ >I ɚ i I L=I5SʿiRWill construct direction to contact in vehicle frame from tetrahedron phase data.fEw, ыAH I  I"%II"BI &I .I 6I"<:I"k FBSM@YB\@Bu9BA >yBH`͵? @2vW? -? ,? ?ɨBSM@B㝌;B!CynfBnP%IIvIvʴ٢% %`=9%`)) -G٣-(WGy5V}< 5> =Nusing accuracyPremultiplier from config9E59=C?E5Y=A i=™IM近MA=E=C:=:=z5Y ]H@aDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfq@ɛB >I (ɚiI6L=I4SʿiR Will construct direction to contact in vehicle frame from tetrahedron phase data.anw,bA6gc@Y6r@6Mj96 >y6H 5`?@` iԭ?`JZ?)?k?ɨ6gc@6(;4yn`BrH%IMb@Mb@Mb@ )Y!rh?7A`¿Mbyl'?@  @)@I@yz@II&ѳ٢ B=9;Q > G٣y; > Nusing accuracyPremultiplier from config598>?5YI i™+?:忑AEd*;O+;R5 @DNOT Ignoring new targets: 46.00 m. jjjjihh!h!h%Bf!f)f)rf)bf-Iq@ɛQ]r Y]>IY ].]ɚYiaIeK=Im3SʿimpRzK} BoIKy Ky K} #K}  #&)* I Xw,QA Jo@YJ~@Jb9J>yJHO @?@\*@`@?tt vG٣tyv v; z> ~Nusing accuracyPremultiplier from config|59~9?5Y~O i~™w忑A~E~z:~C:~5 @=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhAfIfQfYrfYbfe Xq@ɛ65 隥b>I  ɚiI>K=I2Sʿi#R Will construct direction to contact in vehicle frame from tetrahedron phase data.JKـ3 K튼 .KK"KJU JU JU /JQ JU :JU :JU (N3JQ JU ;JU ;JU cW;JU dW;`w,"A2m@Y2-}@2\92, >y2He? /'@b`?@׌? 1? Ʃ?ɨ2m@25z;2Cy>GB>)%IIFIF&ѳ٢nc< nH=9rX;Q r>pt vG٣v)WGyvӹ v> I%h %Nusing accuracyPremultiplier from config!-59%`4?-5Y%V i%™)15A%E%;%];%ǜ5eB e.@e߳EDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf"r@ɛ-߅B- QUP>IQ U ɚQiQIU0J=I]5Sʿi]R w,w9AVWill construct direction to contact in vehicle frame from tetrahedron phase data.bBb@Ybq@bW9b(f>ybH` ?@&Wm Bx??@r??ɨbBb@b|;b"Cyj6Bj%IuMb@Mb@Mb@qqq q)qYuʡE?`"Mbyu-2?uqu@ u @)u@Iu@qyu@IIn٢ @=94;Q > G٣y AP  > Nusing accuracyPremultiplier from config59/?5Y^ i™=5?E:Er߿EAE$;;5I M8@MEDNOT Ignoring new targets: 46.00 m. jjjjihhhh˂Bfffrfbf r@ɛ=ޅBE AE/>IA EZ ɚAiIIMt[J=IM4SʿiUȲR*FM?2FI:FIBFQJFQeWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu H<B O >H) I)  I- %II- цBI) &I) .I) 6I- ư<:I- Fw,*SAy~'B~%II I ̍٢ T=9%Q %>!) -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595,?E5Y5e i5™AAEA5E5O;5;5L5I M(@QDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfr@ɛŧ 4>I H ɚiIJ=I3SʿiR Will construct direction to contact in vehicle frame from tetrahedron phase data.ѻw,-mA6W@Y6eg@6H96@>y6Hd?c¿ :tk?@?q? ?ɨ6W@6*;6 Cy>B>$I=Mb@Mb@Mb@999 9)9Y=-?~jt~jty=5>?===U@ =ݸ@)=@I=@9y=­@IUIU٢eս eF=9mii uG٣u*WGyuH u> Nusing accuracyPremultiplier from config59.)?5Ym i™C??:׿AED;^;5 @DNOT Ignoring new targets: 46.00 m. jjjjihhhhԀBfffrfbfur@ɛ ݅Bjݼ =I h ɚiII=I%2Sʿi%hRT!w,ARR@YRub@Rn%?9R͵>yRH=T P?@ ¿`gWw?u??p?ɨRR@RU;RCyfBf$IIrIrT߳٢v zR=9z";Q z>|| ~G٣|ylʺ >  Nusing accuracyPremultiplier from config 59~&?5Y Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,ȠA6I@Y6CY@6696\>y6HB? ¿x}?Gܦ??6?ɨ6I@6;4yNBN$IIVIVỳ `Ibh٢f fM=9f;Q f>hh jG٣hyny8 n> rNusing accuracyPremultiplier from configpv59r#?v5Yr } ir™tvD׿zArErz:r:r5| @-DNOT Ignoring new targets: 46.00 m. j)j)j)j1i1h1h1h9h9f9f9fArfAbfE "r@ɛmۅBmv qux=Iy }& ɚyiyI}KI=I4SʿiplR-w,FA6t@@Y6O@6-967>y6H@"?ÿ`;읦??/?@?ɨ6t@@6׍;6"CyBBB$IRWill construct direction to contact in vehicle frame from tetrahedron phase data.R=R<Mb@Mb@Mb@ )Yy&1?+η rh?y`%?vC<@ @)Zd@I\@y(@II٢ ;=9Z;Q > G٣+WGy) > Nusing accuracyPremultiplier from config59?5Yz i™#'?:ݿAE@;;v5  @=DNOT Ignoring new targets: 46.00 m. j9j9j9j9i9hAhAhAhEBfIfIfIrfIbfM)r@J}J}JyJyJ}l:J} :JyJyɛڅBP7 pH I  I g%II zBI &I .I 6I <:I FT4w,sԌA63@Y6C@6.%96>y6H?@\5ÿ4B G?n?G?˛?ɨ63@6H;6Cy>BB$IIJIJF٢RAA R`=9Rn;Q R>TT VG٣TyZӈ Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^ i^™dfݿfA^E^LC;^C;^ 5l n@lDNOT Ignoring new targets: 46.00 m. jjjji h h h h fffrfbf`.r@ɛمB `dm Will construct direction to contact in vehicle frame from tetrahedron phase data. ;w,6\AJp&@YJ5@J19J>yJH`e ?Jÿ 1A&?2z?^??ɨJp&@J;J CyZBZ$I)\ \MMb@Mb@Mb@III I)IYML7A`?Q뱿{GzyM+G?M\M#I M@)M@IM/@IyM\@IeIeM٢m< m>=9R;Q > G٣y~t > Nusing accuracyPremultiplier from config 59?5Y i™G?:ֿAE};;5B %m@%EDNOT Ignoring new targets: 46.00 m. jjjjihhhh>Bfffrfbf`/6r@ɛׅBq  I hzK5 jIK5 9K1 K5 #K5 AAw,)A>@Y>+)@>9>1>y>HtS -?Zÿ!7 {?VV?o??ɨ>@>Ì;>CyRޅBV$IInIn٢z zS=9z;Q z>|| ~G٣,WGyA > Nusing accuracyPremultiplier from config-59?55Yh i™15ֿ5AE;*;5A E@AmDNOT Ignoring new targets: 46.00 m. jijijqjqiqhqhqhyhyfyfyfrfbf I I<%IIWBI&I.I6I{<:IT FG~q;B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,>"A I:@Y:\@: Q 9:>y:H ?͖? Vuÿ@]Mײ?N)??B?ɨ:@:;: CyFBF$IIfIf<٢n'= nL=9r;Q r>pt vG٣xyzŻ z> Nusing accuracyPremultiplier from config|59~?5Y~ i~™  ׿ A~E~7:~:~b5 @EDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhIhIhIhIfIfQfQrfQbf]jBr@ɛՅB 隍=I . ɚiIH=I3SʿiLQFNw,7;ABWill construct direction to contact in vehicle frame from tetrahedron phase data.y~B~$Ii G٣y > Nusing accuracyPremultiplier from config59?5Y5 i™L?:ֿAE(;;b5 @ IeDNOT Ignoring new targets: 46.00 m. jijijqjqiqhqhqhyh}DBfyfyfyrfbfJr@ɛ=ӅBEx IMQ=II Mn ɚIiIIUH=IU2SʿiUPH I  I )%II GBI &I .I 6I <:I | FBIIJIIRIIZIIbIIjIM4-Uw,UA>ߎ@Y>@>L9>2>y>Hj%?kÿ򺖿@!Ѡ?ȝ???ɨ>ߎ@> ;xx zG٣z-WGy~Z ~> Nusing accuracyPremultiplier from config 59u? 5Y i™ֿAE@::걳5B %@%EMDNOT Ignoring new targets: 46.00 m. jQjQjQjQiQhQhQhYhYfYfafarfabfe_Or@ɛ҅Br }K=隕j=I yi ɚiI6H=I5SʿiP?Һ))Will construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՑ*F?2F:FBF0JF IG']?;GqAGqAGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.\[w,;oAZ͎@YZTݕ@Zݼ9ZzY>yZH&Ν@?{ÿ `<@ ݟ? ???ɨZ͎@Zb;Z!CybBb$IUMb@Mb@Mb@QQQ Q)QYU~jt?v/Mbp?yUD?UxiU;Ub@ Q)U@IU@QyU@ImImʴ٢}= }A=9#;Q > G٣y) > Nusing accuracyPremultiplier from config59 ?5Y# i™&E?:CֿAEC&;%;Ƴ5 V@DNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf)Vr@ɛ-ЅB6ݼ 隭=I  ɚiIH=I4Sʿi&OzKu N KKu K9Kq Ku #Ku E?bw,lA2ν@Y2Q͕@2˼923>y2HΟ@ ?`nÿ͏+?@7q?`?|?ɨ2ν@2I<;2 CyRBR$I)T TIZIZ٢bB= bX=9fB;Q f>dd jG٣hyj j> rNusing accuracyPremultiplier from configlr59n ?r5Yn in™tvֿvAnEn :n":nl5x )@DNOT Ignoring new targets: 46.00 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.hhfffrf!bf%\r@ɛm΅BmXż im >Ii u ɚqiIH=I3SʿinO Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J 9:J J J a J a J X`;a J Y`;a I yhw,.AF@YFȕ@F 9F:>yFH<?@I)ÿA?`?FA??ɨF@Ff;F"CyR+BR%IIbIb?٢f= jH=9j;Q j>hl nG٣n.WGyrκ r> vNusing accuracyPremultiplier from configtz59v>?z5Yv iv™xzֿzAvEv:v:v65 @-DNOT Ignoring new targets: 46.00 m. j)j)j)j)i1h1h9hAhAfAfAfArfIbfMbr@ɛu̅BuFg \<>I  ɚiIH=I2SʿiFNnw,AA6/@Y6•@6S96m>y6H@?`¿#ԝ?' ?"? ?ɨ6/@6;6!Cy>;B>%IMb@Mb@Mb@ )Y-?V-Mb?y?5?m<x@ )@Iy@I-I-i٢=b= ===9E;Q E>AA MG٣IyMź U> ]Nusing accuracyPremultiplier from configYe59]G?e5Y]  i]™e5?m:m׿mA]E]3; Ih];]5 -@-E]DNOT Ignoring new targets: 46.00 m. jYjYjYjYiYhYhahaheBfffrfbfjr@ɛʅBi `>I 5ɚiIH=I-5Sʿi-4Nvw,9܍A 2Բ@Y2W•@28y92q>y2H |T?`5¿`@biÝ?@?`I?Ԫ?ɨ2Բ@2n;0y>SB>7%IIZIZm٢b= f3=9f;jWill construct direction to contact in vehicle frame from tetrahedron phase data.Q j>ll nG٣lyrOƸ r> vNusing accuracyPremultiplier from configtz59v"?z5Yv iv™x~׿~AvEv ;v ;v5  ;@ EDNOT Ignoring new targets: 46.00 m. jAjAjAjAiAhIhhhfffrfbf\qr@ɛEȅBMw IMҊ>II M5ɚIiQIUH=IU4Sʿi]QM}w,zAF@YF@FluL9FH >yFH`䠿`?F$@Ÿ 32?? 3? ?ɨF@F;FCyNrBR^%I5Mb@Mb@Mb@111 1)1Y5v/?V-?I +?y5x)?5m=594=5R@ 5@)1I5@1y5@IMIM٢]q> ],=9e=aa mG٣m/WGym$ u> }Nusing accuracyPremultiplier from configq}59uR?5Yu iuj™~*?:SÿAuEu;u ;u+5 H@DNOT Ignoring new targets: 46.00 m. jjjjihhhhBMWill construct direction to contact in vehicle frame from tetrahedron phase data.fQfQfQrfYbf]xr@ɛŅB2 4 }>I #ɚiIH=I3SʿiLX8w,AM2@YM@MXT39MN`>yMH g?W 4?mj?`??ɨM2@M;M!Cy]Bm%I)y yIIʴ٢= =9lC;Q > G٣yV > Nusing accuracyPremultiplier from config59?5Y iK™AEL:n:k5 U@DNOT Ignoring new targets: 46.00 m. jjjjihhhhf f f rf bf `πr@=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9ɛMÅBM, IMf>II UEɚQiQIUH=I]2Sʿi]LyFH@5?@ bYl?`⎄??i?ɨF@F N;FCyNBN%I-Mb@Mb@Mb@))) )))Y-ףp= ?K7AпI +y-?- -94-P@ -Ʒ@)-@I-@)y-@IEIEʳ٢] > ]]=9] ;Q ]>aa eG٣aym? m> uNusing accuracyPremultiplier from configq}59uN?}5Yu iuf™}+?:AuEuZ;u;u 5B @EDNOT Ignoring new targets: 46.00 m. jjjjihhhhJBfffrfbfr@ɛB: 隥>I ɚiIH=I5SʿizKzK BoIK 9K K #K '(v`B/# ܒw,eKA2@Y2@22920>y2H? a Z@T?I? l?߸?ɨ2@2f;2!Cy>B>%IIFIF?٢Nz= NY=9N,;Q R>PP RG٣R0WGyVU : V> ZNusing accuracyPremultiplier from configX^59Z?^5YZ iZ™`bbAZEZ: ;Z\ ;Z³5d f@dWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 46.00 m. jjjjihhhhff!f!rf!bf%@Ur@ɛBd: 隵>I 7ɚiIlH=I4SʿidJ I J J J J J :J :J J J ;J ;J cW;J dW;w,eAy҆B%%Ii-=9eQ e>ii mG٣iym m> }Nusing accuracyPremultiplier from configy59}/薜?5Y} i}™A}E};:}:}ij5B 1@EB*** querying acoustic contact ***jjDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbf๓r@ɛMBMD; IU. ?IQ ]7ɚYiYI]6H=Ie3Sʿim-@JE Will construct direction to contact in vehicle frame from tetrahedron phase data.] ,DAT read: user:3439> e BDAT read: Tx time:23:46:01.1950 e $Ping request sent.e  G٣y > Nusing accuracyPremultiplier from config59㖜?5Y i™m?:ῑAE;j;Ƴ5  A@ DNOT Ignoring new targets: 46.00 m. jjjjihhhhBBfffrfbfEr@ɛ5B5; 9=/?I9 =hɚ9i9I=G=IE2Sʿi]Iz7w,#A>@Y>t@>D:9>>y>H@ ?@R@ ǟ@Z?@7ǂ?@w? ?ɨ>@>d;>CyFBJ%IIRIR٢^μ= bt=9bQ b?dd fG٣f1WGyjC/; j? nNusing accuracyPremultiplier from configlr59n?r5Yn  in™tvrῑvAnEn;nJ;nȳ5x zD@xDNOT Ignoring new targets: 46.00 m. jjj!j!i!h!h)h1h1f1f9f9rf9bfEbr@ɛmBm< im?Ii mDɚqiqIuFG=I}5Sʿi}qIu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753599mw,!AJڴ@YJ]ĕ@J)9J>yJH}wm?@`S D@͓? 9"?Q?׸?ɨJڴ@JY';J CybBb&I)d d]Mb@Mb@Mb@YYY Y)YY]|?5^?zGếy&1|y] ?] ׽]`Y ]ݸ@)YIYYyYI}I}n٢u= <=9-Q > G٣yV: > Nusing accuracyPremultiplier from config59=ܖ?5YA i™\?:俑AE;;ɳ5 @EDNOT Ignoring new targets: 46.00 m. jjjjihhhheBff f rf bf Qr@ɛ5B5!m< 隽'?I ɚiIVG=I4SʿifHzK y NK 9K K #K  3dM;/u^SLE=751*'$"Iw,:͎Ay|~&II I -Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255104٢T:; G=9Q > G٣y > Nusing accuracyPremultiplier from config59ؖ? 5Y4 i™AáE#;;˳5! %@)MDNOT Ignoring new targets: 46.00 m. jIjQjQjQiQhQhYhYhYfYfafarfabfer@ɛB "< 隕)?I #ɚiIF=I3SʿiGI IO&II6BI% =&I.I6Iݰ<:I F*F2F:FBFP4JFGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508405G B O > $?I uw,2A6Ў@Y6V@6096 >y6HHp?#)?B?@Q?M?ɨ6Ў@6;4y^Bb&IInIn٢zOU= ~Z=9WQ >   G٣ 2WGyd< > -Nusing accuracyPremultiplier from config!559%CԖ?55Y% i%™9=L俑=A%ġE%Ir;%f;%_ͳ5Q Uf@Y%DNOT Ignoring new targets: 46.00 m. j!j)j)j)i)h)h)hQhQfYfYfYrfYbfe_r@ɛBf< '= 0?I ɚiINF=I2SʿiNG Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010998H\w,A 0I4JK KKK"KJ]J]JYJYJ]:J]/:JYJYyqu&Ii})>I}>MMb@Mb@Mb@III I)IYMJ +?"~j~jtyM?MS㽹MDMb@ MƷ@)M@IM@IyIaeAAIiIi٢} }4=9}Q > G٣y > Nusing accuracyPremultiplier from config59ϖ?5Y& i™ ?:`濑AơE ;j;Wϳ5B c@EDNOT Ignoring new targets: 46.00 m. jjjjihhhhoBfffrfbf"r@ɛB< %^1?I! %:ɚ!i!I%=(F=I-5Sʿi-8Fw,uZAy B&III³٢-s1 -c=9)Q ->11 5G٣1y9 => ENusing accuracyPremultiplier from configAM59E˖?M5YE + iE™IIUAEȡEE:E:Eг5Y ]@YDNOT Ignoring new targets: 46.00 m. jjjjihhhhfffrfbfr@ɛBv< 1?I ɚiIE=I4SʿiYFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767500IJw,B5A@Y/@9F >yH_@3?`I)-@J?`Γ??)?ɨ@);y]Be&I5Mb@Mb@Mb@111 1)1Y5J +?V- rhy155C5@ 5ݸ@)5@I51y5@IEIE٢U¼ U8=9]9~;Q ]>Ya eG٣e3WGye< e> uNusing accuracyPremultiplier from configq}59u4ǖ?}5YuD1 iu™ ?:濑AuʡEu;u8;uҳ5B @E5DNOT Ignoring new targets: 46.00 m. j1j1j9j9i9h9h9hAhE|B1CE EAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeqCEUTransitioning to midcourse guidance. Received last range of 60.400002 m 5.000943 min ago.qCUCUfQfYfYrfYbf]Ir@ɛBǓ< 0?I kۼɚiIUE=I3SʿiF[w,/SAZh*@YZ9@Z9ZUf >yZH>@C? lT Ȑ@$?o?i??ɨZh*@Z"1;XyvBv &I)x zAxxH I  I &II iBI $ =&I .I 6I <:I  FI~I~W٢M- U8=9UmwQ U>YY ]G٣Yye[B; e> mNusing accuracyPremultiplier from configiu59m–?u5Ym7 im™y}忑}Am̡Em@:m:mԳ5 h@DNOT Ignoring new targets: 46.00 m. jjjjihhhhrh@CCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange1C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangefffrfbfr@ɛB< %-?I! %ּɚ!i!I% D=I-2Sʿi-DE Ihw,mA66@Y6\F@6o96 >y6H?/'m ?๺?5?A?ɨ66@6=;6CyFBF%IIRIRV٢V  ZV=9ZCĹQ Z>\\ ^G٣\ybe; b> fNusing accuracyPremultiplier from configdj59f?j5Yf< if™ln忑nAfΡEf;f;fvֳ5p r@pIAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalqBAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1D Uninitialize.D1EqEZTransitioning guidance mode to: UNINITIALIZED*jq=zAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance= {%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>%}%Initialize.1?% ~%Initialize.=%g)g-HBg){5Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )=5q?=~=:Initialize WaypointComponent.~=ZNavigating to waypoint: 36.903300,-122.119000fAfAfArfAbfMHr@ɛuBuּ uV=u9Iq }ּ̬ɚyiyI}!E=i)EE*E"E%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786782*F2F:FBFJFGqA G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035144 I G O;J] J] JY JY J] l:J] :JY JY G B O= >Zw,GA2.<@Y2K@2U/92Y>y2H@? .Ռ@ ?/?~? f?ɨ2.<@2;2CyBBB%IUMb@Mb@Mb@QQQ Q)QYUkt?V-yU ?QU̼Ub@ Q)U@IU@QyU@ImIm㔳٢}/ ?=9'Q > G٣4WGy: > Nusing accuracyPremultiplier from config59a?5Y/C i™K?:俑AСEB;;Uس5 @MAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1N Entering Terminal tracking update period 2.000000 s sec at 60.400002 m (mode 0.000000 count ).1N qNhhd:"@"h*hg!g!g!f!f)f)rf)bf-@,r@ɛY] Y]`IY eּɚaiaIeX^E=mP ?mgeɠm7ImnͿii u>u(kpHeading = 0.400000)u:u(kiHeading = 0.001000iu@<)u D@} D@)# PauseEEEEzK5.JK5s9K1K5#K5 !)2:EJNTY`xvus5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287033H1I1 I5&II5_BI5% =&I1.I16I5ư<:I5 FG':GBO>w,rA>BB@Y>Q@>];9># >y>H?$!H?k? ?!?ɨ>BB@>rg;>#CyJ̆BJ%IiN=IN= TITVWill construct direction to contact in vehicle frame from tetrahedron phase data.XiZAZchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.540860 ^=^a=IbIb٢j jW=9jQ n>ll rG٣pyrb; v> ~Nusing accuracyPremultiplier from configx59z?5YzH iz ™俑AzѡEz;z;zٳ5  r@Zl%@qN-N--B*** querying acoustic contact ***j)j)h9h9"h9*h9g9g9gAfAfAfArfIbfM!r@ɛy} 隅uI *׼ɚiIIE=K ?پɠ8IuҿiiJ'=)pC@頕pC@)G!GBO>]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.793768w,#غA 6N@Y6^@6B96V>y6Hs?@o`@OD?`C???ɨ6N@6e;6!CybBb%IMb@Mb@Mb@ )YOn?V-~jty?ļx@ Ʒ@)I@yII%x4٢}^ ==9zQ > G٣y3d; > Nusing accuracyPremultiplier from config592?5YO i™?:~⿑AӡEp;4o;۳5 2@blNNh h "h *hgggfffrfbfJr@ɛO dI  ׼ɚiI7E=A ?:*ɠ.I5 ܿiiׂ=)%B@%B@)! $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043850G-jx<G5qAG1GB O-,>zK NK K K #K tsoV0  %131.+(%##!] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294991Ww,ղԏANT@YNd@N3J9NmV>yNH`?zX?]?`??ɨNT@NE`;N CyZBZ%IHpIp Ira&IIrEBIp&Ip.Ip6Irݰ<:Ir FBIJIRIZI% =bI% =jI3I]I]4٢@ I=9{Q > G٣5WGy: > Nusing accuracyPremultiplier from config59?5YU i'™f⿑AաE:&:ݳ5B D@Ejl)N--rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalM--Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalh9h9"h9*h9g9gAgAfAfAfArfIbfMr@ɛuBu[ q}dIy }[ؼɚiI.F=B6 ?dɠ 7Ikiid=)A@A@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548627EUt(/=J]J]JYJYJ],:J]:JYJYJ];amJ];amJ]yE;auJ]zE;auG k%=G B O >Lw,ZdANO@YN _@NV/X9NT>yNH@65@)?x`W@M?`?_~??ɨNO@N,;LyZBZ%I)\ ^A``IfIf4٢n nR=9nQ n>pp rG٣pyvӺ v> eNusing accuracyPremultiplier from configxm59z1?m5Yz\ iz3™iu⿑uAzסEz) :9A@ :9A@)EK=G,=GBO*> I he Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051184J J +0w,- AJ=@YJ%M@J՗V9J=yJH`? Q`P `+?`Ҋ??r?ɨJ=@J;HyVBVy%ImMb@Mb@Mb@iii i)iYm%C?1ZdS㥛ymZ$?m"۽m/ݼmS@ mݸ@)m@Iiiym\@IId4٢!½ ?=9m9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y?c iA™&?:[߿A١Ea;;75 @hh"h*hgggfff rf bf @r@ɛ=B=Y" AEBIA EtڼɚAiAIEnF=Mf ?M/ɠMXIU*iQiU4>)Ud@@Ud@@)YzKMȿMKIKIKM#KM   (08>CIQXaBKQ:KUqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303032HI I/&IIBI$ =&I.I6IK<:I/ FEgW=Gu =GIBYOu>  I Zw, #AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555071:@Y:@:tM[9:=y:H?tt`tϓ}?xi?@Ƈ??ɨ:@:i9;8yF}BFk%IIRIR4٢V l V[=9Z JQ Z>X\ ^G٣\y^t b> fNusing accuracyPremultiplier from config`f59bs?j5Ybi ibL™hj"࿑jAbۡEb:b7:b5p rQ@pB*** querying acoustic contact ***jjhh"h*hgggfff!rf!bf%s@JJJJJl:J :JJJ;J;JR;JR;ɛBb* VI =&ܼɚiI8G=  ?pʿɠIXiiMR>) ?@ ?@)!E)E)*E)"E)G=GqByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807035ކw, G٣6WGyx > %Nusing accuracyPremultiplier from config!-59%?-5Y%q i%V™5!8?5:5>޿5A%ޡE%*$;%";%5EB E@EEhqhq"hq*hygygygyfyffrfbf` s@ IhɛB4 3I FݼɚiIG= ?ɠjٿIC$ iiLCt>)9>@9>@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068110G5TU=G BO>zK sMK 9K K #K gimry~ri_UQJ=.#! 'SXnsnmjecaWMGB;0r`ULB Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318962lw,VAHI I%IIBI&I.I6IȰ<:I FMj@YMz@MM[9M#S=yMH ? ?Lg@t?@mi?`!?`?ɨMj@M&;M!CymQBu5%III@4٢` I=9Q > G٣y > Nusing accuracyPremultiplier from config59͙?5Y-y i^™߿AEK ;;5  @h h "h*hgggfffrfbfMs@ɛBB "I %߼ɚ!i!I%H=- ?-0ɠ-ٽI-YiIiU >)U=@U=@)QGM=G!B1Oe4> I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571159JJJJJ:J9JJJ;J;J<;J<;ޖw,pA6L@Y6 @6W96==y6H@-ݫ?z'C'?@j?`9³??ɨ6L@6㎈;6#CyBGBB)%IIJIJ4٢fP fY=9f 3:Q f>hh jG٣hyn n> =Nusing accuracyPremultiplier from config1E595T?E5Y5d i5e™AMῑMA5E5:5:535Q U@Qhyhy"hy*hygygygyfffrfbf*s@ɛB.N 隽I ɚiIHH= ?ɠc Iii)l=@l=@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.823155G\>GBO > qIq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.075161e"w,yA2{@Y2?@2̬P92v =y2Hu? ±?@k?@{^??ɨ2{@2ۇ;2CyB@BB %I)D DMb@Mb@Mb@ )Yp= ף? rhyE?C@ @)@I@yp@I-I-d4٢=_  EC=9E|t:Q E>II MG٣M7WGyM M> ]Nusing accuracyPremultiplier from configQe59U?e5YU iUj™eF?e:ec⿑eAUEU;U;U5q u@q%NGAY VYyAhh"h*hgggfffrfbf bs@ɛEBM»H im-Ii m&ɚqiqIuI=}D ?}#+ɠ}QI}+iyi) <@項 <@)Ge U>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327692zKPOK59KK#K5-'#  GYBiO8>ZHRHAAH!I! I%%II%ƆBI!&I!.I!6I%<:I%c F e $?Ia (w,PA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=8.579100fҌ@YfY@f3O9fNE=yfHC?q`b {c??릨? ?ɨfҌ@fj;f"Cyv0Bv %III4٢㠽 M=9g)9Q > G٣y%T %> -Nusing accuracyPremultiplier from config)559-k?55Y- i-o™15忑=A-E- ;-;-5EB E @EEmB*** querying acoustic contact ***jijihqhq"hq*hygygygyfffrfbf#s@JJJJJ:J:JJJ6;J7;JyE;JzE;ɛB.&^ 9I 3ɚiII=c ?u=ɠߐI:fii);@;@)qGp>GIBQO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.832041S.w,.Ay~&B~%IMb@Mb@Mb@ )YS?(\µI +yO?94r@  @)z@Iy3@IIv}4٢q4 @=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y ir™CP?:⿑AE;;5 Ih @h!h!"h!*h)g)g)g)f)f1f1rf1bf=@)s@ɛBY I  YɚiI*J=p3 ?Qɠ'I.X$ii!)% :@% :@)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.083412G!r>GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.335158zK= MK= s9K9 K= #K= }jTB<;82/($! H! I!  I% %II% BI! &I% GD.I! 6I% <:I% \ Fb5w,ؐA>90@Y>?@>X]=9>4H ¿`? ¿ ??ݓ?`?ɨ>90@>o2;>CyF!BF$IiR|| ~G٣~8WGy >  Nusing accuracyPremultiplier from config 59 p~?5Y Y i s™U近uA E f< f< <5y @hh"h*hgggfffrfbf@10s@ɛB%.d !%+I! %/ɚ)i)I-J=] ?e4dɠe6Iekn)iaia)e 9@e 9@)iGm3x>GQBiO> I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.587003J% J% J% 1J! J% L:J% :J% 3J! J% P;J% Q;J% U;J% U;;w,&Ay*B%III#4٢%.= %F=9-Q ->)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=w?E5Y= i=t™IIMA=E=:=;:=5Q U_@QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838973hh"h*hgg g f f f rfbf6s@ɛ=BE[ AEеIA EɚAiAIMFK=M?U2xɠU$FI.ii)p8@頥p8@) IG>GBO >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BB$I Mb@Mb@Mb@    ) Y 㥛 ?99 =G٣AyE+ E> MNusing accuracyPremultiplier from configIU59Mno?U5YMv iMp™LV?}:AMEM_GBO> $?I h)Hw,%AWill construct direction to contact in vehicle frame from tetrahedron phase data.i G٣9WGy > Nusing accuracyPremultiplier from config59/f?5Y/ il™AE%L;h;5  @MB*** querying acoustic contact ***jIjIhaha"ha*hagigigifffrfbfDs@ɛ݆BbY 隕ƮI sɚiIL=!Z?"ɠC7hI;:ii)x5@頥x5@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:3440> BDAT read: Tx time:23:46:12.1451 $Ping request sent.!Ow,v?A6:@Y68J@6QŻ9628y6H'п`??(пx@x?`K?ɨ6:@6d2;6"CyR,BR%I5Mb@Mb@Mb@111 1)1Y5"~?Q뱿Mbp?y5S?5\5;5z@ 5@)5@I5@1y5@IMIM҅4 aIa٢e0 eM=9m;Q m>iq uG٣qy% > Nusing accuracyPremultiplier from config59?\?5Y ig™ T? :  AEw;;n59 =.@9hyhy"hy*hygggfffrfbfiJs@ɛۆB] iI ɚiI/$M=? Ǜɠ ?yI c?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:23:46:12.1443 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.247610iAiA)E4@E4@)IJJJ0JJܫ:J:Jـ3Ja@a@a@a@GU>G] ?G]>GIBYOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498426zK} *0NK} 9Ky K} #K} n)>@_PXK:<RK ?JK ?H I  I z%II BI &I GD.I 6I <:I FVw,NYAB1@YBA@B*y9B}2yBH`tҿ?T?lҿCÂ@@7o? N@)?ɨB1@B;B!Cy^5B^%IIvGIv3٢-== -N=95;Q =>AA MG٣IyU ]> mNusing accuracyPremultiplier from configam59e5R?u5Ye iec™quuAeEen:e7:e5 @hh"h*hgggfffrfbf@}Ps@ɛچBNaX 隅cI AɚiIKM=?ɠ񘄾IpDii)3@頥3@) IIQUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753756E`T=G >G B O >3\w,o-sA60@Y6u@@6+/96Zy6HԿ B?U?  G٣:WGy y  > Nusing accuracyPremultiplier from config59"G?5Ye i_™!%%AE,;;5-~B -@5EhQhQ"hQ*hQgQgYgYfYfYfYrfabfm`Vs@ɛ؆BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002453nER 隥I zɚiI`N=?ɠόIu}H@ii)32@頽32@)Ehp=G E$?IEhGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254365J J J J J J :J J cw,AM!@YM1@M9MQ泼yMHtֿ`z?6'?X,ֿl~`5b7?S|@?ɨM!@M(;MCyWB<%IMb@Mb@Mb@ )Y|?5^?V-y&1|?yR?m`;d@ =@)@I@yz@ICI3٢= 1=9g;Q > G٣y > Nusing accuracyPremultiplier from config599?5Y i[™yS?:8AE;{;5 m@hh"h*hgggfffrfbfr^s@ɛֆBd> J~I {ɚiIO= :?  ɠ SoI B@ii);1@;1@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507356HiIi Im%IImBIi&Ii.Ii6Im<:Imi FzKYOK59KK#KBK:KoAEM|= ) I) G >G pAG pA] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758535G B O= >iw,Ay5gB=Q%IIUIU4٢mi= mR=9mQ u>qq uG٣qy} }> Nusing accuracyPremultiplier from config59I.?5Y6 iX™AEh;;5}B Y@EB*** querying acoustic contact ***jjhh"h*hgggfffrfbf ^ds@ɛԆBQ=  YI  ɚ i I ߨO=?-ɠI=@ii)$0@$0@)!E)E)*E)"E)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012753G >G B O > A IA pw,Ҍ‘A:E5@Y:D@:Y<9:NZ;y:H}Aڿ@.? L%{.%Bڿ{)끿Ik? ?ɨ:E5@:5;: CyFwBFc%I)H H%Mb@Mb@Mb@!!! !)!Y%S?A`"Mbp?y%O?%Y%;%@ %@)%@I%z@!y%(@IIt4٢= F=9 G٣;WGyM > Nusing accuracyPremultiplier from config59!?5Y iY™O?:AE;w;Z5 f@h h "h *h g ggfffrfbfjs@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263113ɛ]҆B]0 Y]7IY eɚaiaIe5]P=m ?mɠm Im7@iiiq)u.@u.@)qJsK{m3 K{S}-KsKs"KsJJJJJ:J:JJ) CMGaG YyA=]?=AGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514791H I  I %II BI % =&I HD.I 6I G<:I - FzK} :IK} 9Ky K} #K}  )RK >JK >vw,ܑA29@Y2GI@2+u_<92uSB>v%IIVIVF4٢f= fX=9jTll nG٣lyrb r> vNusing accuracyPremultiplier from configtz59vA?z5Yv iv\™|~~AvEv:v:v5|B o@EhIhI"hI*hIgIgIgQfQfQfQrfQbf]qs@ɛІB) ~I Fɚ i I  Q=El>?EɠEܮIEo3@iAiA)Mi-@Mi-@)I $?I-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766448GG?G>GBO>|w,9A60:@Y6I@6C<96}zhh jG٣hyj n> rNusing accuracyPremultiplier from configpv59r?v5YrH ira™tvzAr Er;r.;r5 ~@Eh)h)"h)*h)g)g)g1f1f1f1rf1bf= hws@ɛeΆBe amIi mɚiiiImQ=}e?}ɠ}#I.@ii)M,@項M,@) IhGGBOb>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270345J- J- J) J) J- :J- ^:J) J) փw,HA6f~@Y6C@6<96؇IF;MMb@Mb@Mb@III I)IYMjt?i|?5MbP?yM@?MqM:M@ M@)M@IM@IyIImIm4٢}b= ?=9'M G٣ Nusing accuracyPremultiplier from config59?5YR ii™[A?: A E;M;5 +@hh"h*hgggfffrfbf>~s@ɛ̆B%N !%tI! %ɚ!i!I-dR=-|?5>ɠ5eI5 `*@i1i1)5+@=+@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 99.3 m (Round-trip 132.4 ms) speed -0.4 m/s ,DAT read: user:3441> -X#Rx 1: Read range message, but no direction.رyصBرT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.H1I1 I5%II5ˆBI5$ =&I1.I16I5<:I5 FzK%NK%9K!K%#K% L+|_UPIC6)!ylaZVPLIDGyGQBaO|> $?Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.m BDAT read: Tx time:23:46:15.7966 m $Ping request sent.m  G٣yȕ > -Nusing accuracyPremultiplier from config559敜?55Y' is™15 5AEl;\:w5E{B E@EEeB*** querying acoustic contact ***jajahh"h*hgggfffrf@3X@bfF?ɛɆBf pI rMɚiIS=! ?{ɠHǾI%O'@i!i!)-*@-*@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251104Gm>GuqAGuqAGABQOm> y Iy w,}CA6Xz@Y6;@6!j=96I G٣y^ > Nusing accuracyPremultiplier from config59}ؕ?5Y  i}™,:?:AED;+;'5 [@hh"h*hggg1> |Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq>|pTransitioning to terminal guidance at range 99.300003 m q>>fffrfbf`?%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504454ɛdžBe &I QɚiIGeT=P?9ɠξI!&@ii)y)@y)@)GU8U>G1BAO]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755344H- 2>I)  I- %II- BI- % =&I) .I) 6I- <:I- X FBIJIRIZIbIjIɺ4zK} bOKy Ky K} #K} ??;779423127;=<:966976685221.,-)((% $1;Pm{_C4+%#" w,ߧ]A2s7x@Y2=+@2@'=92O;y2HgF)?@ԝ@"%:m`@@{??ɨ2s7x@2CC;2"CyR؆BR%I)T TTVAIZKIZ4٢f= fW=9j_hl nG٣n=WGyn߲ r> vNusing accuracyPremultiplier from configpz59rɕ?z5Yr ir™xzzArErF;rj[;r 5zB @!Ehh"h*hgggg@>|Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1> |Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangefffrfbfe?ɛ%ĆB%X )-(=I) -ɚ)i)I-DU= =$?I=hU<?]ɠ]վI]r&@iYiY)](@](@)a%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007249JJJJJ\:JB:JJJ>w,wA6v@Y6@6B;=96YWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259235yFBF%IIRGIR3٢Vg= ZL=9ZF\\ ^G٣\yb̧ b> fNusing accuracyPremultiplier from configdn59fa?n5YfW if™lrrAfEfTA;fA;f 5t v_@tI~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqBAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1DInitialize.qDAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD %Initialize.D%1E%B%h%h7h-h7qD--Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD-5DReached init depth of 67.445862 m.h1h5B5$Terminal guidance.B5qE==Initialize.=dInitializing internal variables to default values.=ZTransitioning guidance mode to: UNINITIALIZED*j9=DRollout timeout set to 300.00 sec.EVIIR filter is initialized with decay: 0.00.EbTransitioning guidance mode to: TERMINAL_GUIDANCE*jE?q=EzMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance=M {MAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>M}MUninitialize.1?Mq?M~M>Uninitialize WaypointComponent.fIfIfQrfQbf]&?ɛBB;= 隍 I ɚiJ5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511555$w,F`Ay~B~%IMb@Mb@Mb@ )Y(\? rhMb`y.?C@ @)@IM@yf@IIF4٢A= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59B?5Y" i™.?:FAE;#;z 5yB @$E addTargetRange:: Added new target pos. range: 99.300003 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1  j@jjjihhhh;Bfffrfbf b?ɛ Bu: u=uX9Iq uɚqiuI}KiV=I}(@i L?(kpHeading = 0.800000);(kiHeading = 0.004000i >)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763157ZHRHHI I&IIBI&I.I6I<:Ii F)A#% ResumezK0NKKK$K "" "&.4@DGEAAHMLHG=N|>GEGEGEGE 9I9G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0165270Ow,=AJ"J"J"/J J"|:J"^:J"(N3J J"<J"<J"g;J"g;J[r@YJ=@J*pt=9J<Ix> = =IOI 4٢ec< eP=9m=Q m>mm uG٣qyuO > Nusing accuracyPremultiplier from config59ϗ?5Y$ i™ AE;;65 @B*** querying acoustic contact ***jj j)j)j)j)i)hQhQhQhYfYfYfYrfYbfe @].?].?]^@]rz@ɛ ;I ɚiIW=I+@i i ))#ResumingGU^hU>BiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267244 5 $?I9 6w,ŒA2rp@Y2~@2~݅=92!ݍBB&I=Mb@Mb@Mb@999 9)9Y= r?{GzI +y=#?=ף=94=/@ =@)=@I=z@9y=@IUIU(*٢e^< eJ=9efii mG٣iyuE u> Nusing accuracyPremultiplier from configy59}{?5Y}{( i}™$?:A}E};};}5 .@'E jjjjihhhhfBfffrfbf#@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519258] $?] $?] @] Vv@ɛ %vG5 >G w >B O= >zK MK 9K K $K F@@@<;640+'$ 7emV8$ #/!RK ?JK >L`w,ޒA2n@Y2|@2w#=920dd fG٣dyf/ j> nNusing accuracyPremultiplier from confighr59juw?r5Yj, ij™pr?rAjEj ;j ;j5x zq@x jjjjihhh!h!f!f!f)rf)bf-`1 @ Ih]Y]Y]Y]]t@ɛimQ qu@;I ɚiI'Z=Ir=5@ii))PExceeded connect timeout, disconnecting.EĎ=#StartingGm=ByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:46:18.3355 -TRx dataTimestamp_ set to:1736379979.651846-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027531JeJeJe0JaJe̶:Je:Jeـ3JaJe;Je;JeZ;JeZ;拽w,lA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275143:0)m@Y:7H{@:U=9:cj<=y:H `?4@q '˥ ey?2?ɨ:0)m@:j;:CybBb &I)d dhjAInIn٢r^= vH=9vLnxx zG٣xyzs ~> Nusing accuracyPremultiplier from config 59e? 5Y0 i™   A!E::j5wB @,E jIjIjIjIiIhIhQhQhQfYfYfYrfYbfe@{ @]1]1]1]5 Us@ɛMBM U6i=U BDAT read: Tx time:23:46:19.4451 $Ping request sent.!?:publishing transmit ping time؁Fpublishing direction and range info9^-?Y"? c~G ! M .YQ yU # Brw,ƨAy~B~&I Mb@Mb@Mb@    ) Y S?(\µ~jty ?   @ @) @I d@ y =@IEIEƲ٢M U6=9uQ }>yy }G٣yy > Nusing accuracyPremultiplier from config59tS?5Y-5 i™9?:A#E;;f5 @ kEwI?kE\ kA kE A:kEBBkEBZkEe@"Eu< Σ&@dQ>NV @.YE^-?Y"?RkE!?*Ed\@jFW #߬(YE+&՝?^TZhX"4puWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:23:46:19.4443 HI I<&II'BI&I.I6I<:Iq F"kE*kET<@kEzmK?kECM 2kEkE얜?kAkEBkETBkE? addTargetRange:: Added new target pos. range: 101.000000 m, deltaT: 3.779929 s, deltaX: 1.699997 m, approachRate: 0.449743 m/s, rangeRepo size: 2 BjxJjx Added new target pos. range: 101.000000 m, bearing: 290.076623 deg, lat: 36.905067 deg, lon: -122.119866 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 ZjFNOT Ignoring new targets: 101.00 m.Bj-Jj-= ProNav pure pursuit: ac range: 101.000000 m, nav range: 68.664909 m, bearing: 85.943276 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 232.974447 deg, new cmd heading: 85.943276 deg. eHeadingCmd: 1.499993 target range: 101.000000 and range: 101.00 m. jm?jijijiiihihihqhuBfqfqfyrf}@Y@bf}PP?]9?]9?]@]br@ɛB w,,AJJJ1JJ:J^:J3JJ<J<Jg;Jg;B5k@YB<%y@Bױ=9BJ=yBH@%L@L?u?38?`;?ɨB5k@BG;B"CyNBN%IIVIV%x٢bd bg=9bWGyjĽ j? nNusing accuracyPremultiplier from configlr59nD?r5Ynb8 in<™pv!vAn%En~:n&:n5x z@z/EZj!%FNOT Ignoring new targets: 101.00 m.Bj-&Jj-& ProNav pure pursuit: ac range: 101.000000 m, nav range: 68.798668 m, bearing: 85.807019 deg, approach rate: 0.419894 m/s, LOS rate: -0.426906 deg/s, cmd heading: 85.943273 deg, new cmd heading: 85.807019 deg. HeadingCmd: 1.497615 target range: 101.000000 and range: 101.00 m. jٱ?jjjihhhhfffrfbf@o?ɛAEs AEIA EɚIiIIMx^=Iu5A@iqiq)uٱ?)yEE*E"E}Will construct direction to contact in vehicle frame from tetrahedron phase data.#StartingG }:G qAG qA  $?I G B O >4w,p`FA2Oj@Y2nx@2==92(>y2H@ ?yÿ#¢?|? ?ɨ2Oj@2;2 Cy>B>%IiB=IB G٣ywռ > Nusing accuracyPremultiplier from config59X4?5Y; id™?: "A'E;y;5yB B@B*** 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.ZjFNOT Ignoring new targets: 101.00 m.Bj̻Jj̻  ProNav pure pursuit: ac range: 101.000000 m, nav range: 68.950104 m, bearing: 85.652515 deg, approach rate: 0.351319 m/s, LOS rate: -0.357649 deg/s, cmd heading: 85.807018 deg, new cmd heading: 85.652515 deg. HeadingCmd: 1.494918 target range: 101.000000 and range: 101.00 m. j|Y?jjjihhh!h%Bf!f!f)rf)bf-J?ɛB @PI `ɚiI'`=I%B@i!i))-|Y?)1#=Starting"GE>GE>G-{/;GBO)>Hq Iq  Iu /&IIu BIq &Iq .Iq 6Iu t<:Iu K F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246186zK5 jIK5 9K1 K5 $K5 RKE ?JKE >w,&:`A2Ri@Y2Yx@2tn=92\@>y2H (?`Ŀ V g?ƶd? (?ɨ2Ri@2Nڔ;2CyB܆BB%IIJIJ٢f2A fV=9f :Q f>hh jG٣hyj. n> rNusing accuracyPremultiplier from configpv59r%?v5Yr2? ir™tzh"zAr(Er:r :ru5~fB ~@~2EZj!%FNOT Ignoring new targets: 101.00 m.Bj-лJj-л= ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.084717 m, bearing: 85.514624 deg, approach rate: 0.357163 m/s, LOS rate: -0.365147 deg/s, cmd heading: 85.652512 deg, new cmd heading: 85.514624 deg. EHeadingCmd: 1.492512 target range: 101.000000 and range: 101.00 m. jE ?jAjAjAiAhIhIhIhIfQfQfQrfQ $?IbfU@Q?ɛy} 隅I %ɚiI϶a=IsB@ii) ?)#StartingG=GiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498777 w,zA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749523:i@Y:w@:|=9:*>y:H t?cſ`D.H?iu@q?x?ɨ:i@:m{;:!CyvȆBv%II~I~̍٢ ½  F=9 DQ  > G٣?WGy > -Nusing accuracyPremultiplier from config!559%v?55Y%B i%™15"=A%*E%9;%`+;%B5A E@AZjimFNOT Ignoring new targets: 101.00 m.BjukͻJjukͻ ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.230255 m, bearing: 85.365892 deg, approach rate: 0.352207 m/s, LOS rate: -0.359180 deg/s, cmd heading: 85.514624 deg, new cmd heading: 85.365892 deg. HeadingCmd: 1.489916 target range: 101.000000 and range: 101.00 m. j?jjjihhhhfffrfbf?ɛB^ I e4ɚiI"Hc=I A@i i ) ?)#StartingGu}=Gu=Gu=Gi IB)O?>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001343JU JU JU 0JQ JU <:JU :JU ـ3JQ ae @ae @ae @ae @w,A2ѩi@Y2w@2M=92l>y2H En?OſBm?`0G?V?ɨ2ѩi@2B;2 Cy:B:%I)@ BA Mb@Mb@Mb@    ) Y Fx?~jtly  ? D  @ d@) @I @ y Q@I-I-?1٢ B=9#Q > G٣y; > Nusing accuracyPremultiplier from config59 ?5YTF i™ ?:IA,E;x;5 @5EZjquFNOT Ignoring new targets: 101.00 m.Bj}Jj} ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.384697 m, bearing: 85.224605 deg, approach rate: 0.352602 m/s, LOS rate: -0.321850 deg/s, cmd heading: 85.365890 deg, new cmd heading: 85.224605 deg. HeadingCmd: 1.487450 target range: 101.000000 and range: 101.00 m. jd?jjjihhhhBfffrfbf @HI I&IIBI&I.I6Iy<:IO FBIJIRIZI% =bI% =jI›54MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253666ɛBz pI eɚaiaIey)e=Im=@iiii)md?)q#}Starting#eLSent speed cmd:/1V10000 Response:/0@ GmpA GmpAG=>zK]KYKYK]$K]GBOn> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506495w,PǭAZi@YZw@ZKd=9ZP[ >yZH?@ ÿ ;O`?饵 ??ɨZi@Z.;Z#CyfBf%IInIn٢z= zU=9~lQ ~>|| G٣yt >  Nusing accuracyPremultiplier from config %59 * AE IA EYɚIiIIMߠf=IM:@iQiQ)U?)y#StartingGUc4>GBO5 >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762982 I w,ǓA2}-i@Y2Lw@2=92_=y2H@`c?e (?y`??ɨ2}-i@2;2CyBBB{%IeMb@Mb@Mb@aaa a)aYeB`"? rhˡEye?eC e'e@ ez@)e@Ie@ayaI}I}b٢ A=9λQ > G٣@WGyn > Nusing accuracyPremultiplier from config59蔜?5YrM i"™?:.A/E;!;"5eB @8EWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:46:21.9860 TRx dataTimestamp_ set to:1736379983.180941checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014743B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 101.00 m.Bj Jj  ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.683533 m, bearing: 84.958383 deg, approach rate: 0.381173 m/s, LOS rate: -0.331500 deg/s, cmd heading: 85.098604 deg, new cmd heading: 84.958383 deg. %HeadingCmd: 1.482803 target range: 101.000000 and range: 101.00 m. j%̽?j!j!j)i)h)h)h)h5uBf9f9f9rf9bf=S@ɛmB vt4 @:I ?ɚiIRh=IQ4@ii)%̽?)!J5J5J1J1J5̶:J59:J1J1#]&Changing to mode: 1#]Standby mode.*F?2F:FBF`0JFGP{l>GGGBOb>H I  I %II ۆBI &I .I 6I <:I _ F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265428w,bA6.h@Y65v@6̟=96*=y6Hj!? XF@?c`S??ɨ6.h@6ʕ;6 CzK^BoHK^K9K\K^$K^yzvB~c%IiV>I< a=R=I I (٢%ƽ %Q=9%W&Q %>)) -G٣)y-ż 5> AIA ENusing accuracyPremultiplier from configAM59EKڔ?M5YEP iEE™QUUAE1EE :E ;EV$5]dB e@e:EZjFNOT Ignoring new targets: 101.00 m.BjnJjn ProNav pure pursuit: ac range: 101.000000 m, nav range: 69.831200 m, bearing: 84.827632 deg, approach rate: 0.380814 m/s, LOS rate: -0.336475 deg/s, cmd heading: 84.958380 deg, new cmd heading: 84.827632 deg. HeadingCmd: 1.480521 target range: 101.000000 and range: 101.00 m. j?jjjihhhhfffrfbfl @ɛB A ^I ɚiIai=Ii/@ii)?)*Fq2Fy:FyBF}m0JF"G >G)>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:46:21.9860 LVL= 22896, 16881, 13858, 23235, AGC= 59, IDX= 452,-0.45, 0.818, 3.060,-3.121, 2.469, PHS=-1.563, 0.638, 0.691, RAW= 268.8, 2.1, CAL= 271.4, 2.5, ROT= 238.6, -2.5 Ygot valid direction response: 23:46:21.9860 LVL= 22896, 16881, 13858, 23235, AGC= 59, IDX= 452,-0.45, 0.818, 3.060,-3.121, 2.469, PHS=-1.563, 0.638, 0.691, RAW= 268.8, 2.1, CAL= 271.4, 2.5, ROT= 238.6, -2.5 PDAT read: Bearing 238.6, -2.5 (Local) ~Local bearing/azimuth received: Bearing 238.6, -2.5 (Local) DAT read: Range 10 to 50 : 102.5 m (Round-trip 136.7 ms) speed 0.0 m/s ,DAT read: user:3443> BDAT read: Tx time:23:46:23.0952 $Ping request sent. jyBpYA "6)ZI;ibȿS#?`0?Q @Q = @)¸2=IgB@i¸2GYBaO}Y>f[fN]?D?);&@Ii86?:publishing transmit ping timeFpublishing direction and range info96bMץ?^> jy )Ii )Iif[fN]?D?)Ii&w,[A*Will construct direction to contact in vehicle frame from tetrahedron phase data.6JDAT read: TxSync time:23:46:23.0944 j}lf@Yjt@jY=9jc=yjHO?@]N3M?G@d??ɨj}lf@j5;hyucB}K%III٢ B=9 ̼Q > G٣y > Nusing accuracyPremultiplier from config59`ʔ?5YT ig™ jJk586Rk5?*5o@*ѪY5I3bXl?iR?"k5@*k5$k5?k5P;y 2k5 k5zmK?k1k5LBk5Bk5?m addTargetRange:: Added new target pos. range: 102.500000 m, deltaT: 3.535006 s, deltaX: 1.500000 m, approachRate: 0.424327 m/s, rangeRepo size: 3  Added new target pos. range: 102.500000 m, bearing: 109.612133 deg, lat: 36.905050 deg, lon: -122.119866 deg, deltaT: 3.535006 s, deltaX: 1.500000 m, approachRate: 0.424327 m/s, posRepo size: 2 ZjFNOT Ignoring new targets: 102.50 m.BjJj ProNav: ac range: 102.500000 m, nav range: 69.832016 m, bearing: 86.248032 deg, approach rate: 0.000000 m/s, LOS rate: -0.336475 deg/s, cmd heading: 84.827630 deg, new cmd heading: 84.391176 deg. 2jfHeadingCmd: 1.472904 target range: 102.500000 and range: 102.50 m. j?jjjihhhhfffrfY@bf@?ɛEBEG AMfIq };ɚyiyIMk=IK)@ii)?) U$?IUh*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JU JU JQ JQ JU :JU :JQ JQ G >GY Ba O >Uw,/RA> *e@Y>Is@>-z=9>);y>H@< ?`m@JR@Dx?@?ɨ> *e@>;>!CyFNBF2%IMMb@Mb@Mb@III I)IYMZd;?I + G٣AWGyI > Nusing accuracyPremultiplier from config59?5Y3X i™<?:+!A5E+;;'5 U@ZjFNOT Ignoring new targets: 102.50 m.Bj ߻Jj ߻ ProNav: ac range: 102.500000 m, nav range: 69.984550 m, bearing: 86.096599 deg, approach rate: 0.393711 m/s, LOS rate: -0.390014 deg/s, cmd heading: 84.391174 deg, new cmd heading: 83.937877 deg. 2jԅHeadingCmd: 1.464992 target range: 102.500000 and range: 102.50 m. jބ?jjjihh h h  Bf ffrfbf#?ɛEBEY AEIA MwɚIiIIMwm=IUf$@iQiQ)Uބ?)YjHbHH1>I I%IIBI&I.I6Iڰ<:I FEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF}b0JFzKK9KK$K 5$?I1Ge>G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.W8 w,w/A>c@Y>r@>:ab=9>~cy>H@'?褿`^`D@wH?cw[?ɨ>c@>;>CyFCBJ#%IIRIR㔳٢Zz ZY=9Z }Q Z>\\ ^G٣\ybF b> fNusing accuracyPremultiplier from configdn59f^?n5Yf[ if™lrb"rAf7Ef\G;f%H;f)5vcB v @v@EZjFNOT Ignoring new targets: 102.50 m.BjڻJjڻ- ProNav: ac range: 102.500000 m, nav range: 70.125061 m, bearing: 85.952657 deg, approach rate: 0.372865 m/s, LOS rate: -0.381207 deg/s, cmd heading: 83.937875 deg, new cmd heading: 83.506921 deg. 2j-ς5HeadingCmd: 1.457471 target range: 102.500000 and range: 102.50 m. j5g?j1j1j1i1h9h9hAhAfAfAfArfIbfM9q?ɛ}B}P4` 隅 I olɚiI ^n=IX@ii)g?)*F12F1:F1BF50JF1G=qA G9]Will construct direction to contact in vehicle frame from tetrahedron phase data.G>GQBYO}> ) I) $w,HAy/B %IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yp= ף?IQ UG٣QyU U> eNusing accuracyPremultiplier from configYe59]$?e5Y]` i]™f%?:!A]9E) ]%<]<J-J-J)J)J-:J- :J)J)]+5~G5tA F@ EX YE5tAyEBuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 102.50 m.BjʻJjʻ ProNav: ac range: 102.500000 m, nav range: 70.310852 m, bearing: 85.767246 deg, approach rate: 0.356108 m/s, LOS rate: -0.354440 deg/s, cmd heading: 83.506924 deg, new cmd heading: 82.952179 deg. 2j?sHeadingCmd: 1.447789 target range: 102.500000 and range: 102.50 m. j#Q?jjjihhhhBfffrfbf?ɛeBe[ imҰIi mɚiiiImEp=Iu2@ii)#Q?)EqAErA*FQ2FQ:FQBFU_0JFQHI I%IIBI&I.I6I<:Ig Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.e ^?e B?m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.G GQ Ba O} >cw,/cA J$?IHBCaa@YBKo@B5=9B yBH_!?Ƙ`%`7` ;[?ɨBCaa@Bq;BCzKTKVK9KTKV$KV"   yV!B^$IIfIf1٢n na=9nQ r>pp rG٣pyve v> ~Nusing accuracyPremultiplier from configx~59z?5YzZc iz™|$Az;Ez:z :z%-5  @CEZj1=FNOT Ignoring new targets: 102.50 m.Bj=Jj=M ProNav: ac range: 102.500000 m, nav range: 70.451607 m, bearing: 85.615475 deg, approach rate: 0.473200 m/s, LOS rate: -0.509214 deg/s, cmd heading: 82.952176 deg, new cmd heading: 82.497784 deg. 2jUUHeadingCmd: 1.439858 target range: 102.500000 and range: 102.50 m. j]DM?jYjYjYiYhYhYhahafafifirfibfm?ɛކBR 隝I ɚiI)Gq=Ic@ii)DM?)*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=1.986403GAGB)OE>w,|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242131>_@Y>n@>"=9>Vٱy>H;`|~?Bɕ@%v`%l^@D6?ɨ>_@>%;99 EG٣EBWGyEpc E> MNusing accuracyPremultiplier from configI}59M~r?}5YMg iM™y%AM=EM;;M~;M.5 @ZjFNOT Ignoring new targets: 102.50 m.BjJj컝  ProNav: ac range: 102.500000 m, nav range: 70.607330 m, bearing: 85.440756 deg, approach rate: 0.369624 m/s, LOS rate: -0.413795 deg/s, cmd heading: 82.497784 deg, new cmd heading: 81.974799 deg. 2j HeadingCmd: 1.430730 target range: 102.500000 and range: 102.50 m. j*"?j1j1j9i9h9h9h9hAfAfAfArfAbfM`@ɛ5݆B5Ŀs 15ȾI9 =/ɚ9i9I=r=IEK@iAiA)E*"?)I $?I*F ?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494180G9 G! B1 OM >Ql%w,A6"G^@Y6*fl@6Ϫ=96Piy6H f:@?Q疿+; Gh.7 ?ɨ6"G^@6-;6"CyB BB$IMb@Mb@Mb@ )YK7?y&1|?/$yI,?`;@ @)@I@yI5I50٢M^ MA=9M.Q M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam59e_?m5Yej ie™ma,?m:u%uAe?Ee;e3;e05bB W@FEZj!%FNOT Ignoring new targets: 102.50 m.Bj-Jj-ZH9RH=?AHAIA IEa%IIEuBIA&IA.IA6IEv<:IEN F} ProNav: ac range: 102.500000 m, nav range: 70.771263 m, bearing: 85.263491 deg, approach rate: 0.395452 m/s, LOS rate: -0.426623 deg/s, cmd heading: 81.974797 deg, new cmd heading: 81.444249 deg. 2j}dHeadingCmd: 1.421470 target range: 102.500000 and range: 102.50 m. j?jjjihhhhނBfffrfbf` @ɛ ۆB lz 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746472 EξIA E ɚAiAIM,t=Im@iqiq)u?)q*F%?2F!:F!BF%0JF) IzKKLKŷ9KK$KGI GU ?GU ?G! B1 OI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998178Jc͗+w,ܟAK KL.KK"KJuJuJu1JqJu:Ju :Ju3JqJui;a*Juj;a*JuS;a*JuS;a*vX\@Yv_j@vu<9v%»yvH^?Gb- 0VAx?ɨvX\@v\;v Cy~ B~$II I ٢E EK=9E'Q M>II MG٣IyU, U> }Nusing accuracyPremultiplier from configy59}$K?5Y}n i}™&A}AE}:}&:}25aB k@IEZjFNOT Ignoring new targets: 102.50 m.BjJj5 ProNav: ac range: 102.500000 m, nav range: 70.930138 m, bearing: 85.083066 deg, approach rate: 0.397798 m/s, LOS rate: -0.450744 deg/s, cmd heading: 81.444248 deg, new cmd heading: 80.904203 deg. 2j5=HeadingCmd: 1.412045 target range: 102.500000 and range: 102.50 m. j=⽴?j9j9jAiAhAhAhAhIfIfIfIrfqbfu8 @ɛنBJ, CξI  ɚiI6u=I@ii)⽴?)*Fa2Fi:FiBFm0JFi=Will construct direction to contact in vehicle frame from tetrahedron phase data.=>==EBDAT read: Rx Time:23:46:25.6374 MTRx dataTimestamp_ set to:1736379986.964966Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.251608GIG! B1 OM > m $?Ii Ղ2w,<ʔAR8Z@YR?h@R<9Rg\o;yRH* T? D R޿ -(ȃ Лm? ?ɨR8Z@REK;Py^ B^$I)` bA``Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502391Mb@Mb@Mb@ )Y G٣CWGy > Nusing accuracyPremultiplier from config59h5?5Y,r i!™|3?:t)ADEG;F;U45 |@KEZj)5FNOT Ignoring new targets: 102.50 m.Bj5 Jj5 E ProNav: ac range: 102.500000 m, nav range: 71.091019 m, bearing: 84.885539 deg, approach rate: 0.391183 m/s, LOS rate: -0.479200 deg/s, cmd heading: 80.904205 deg, new cmd heading: 80.312988 deg. 2jEoMHeadingCmd: 1.401726 target range: 102.500000 and range: 102.50 m. jMk?jQjQjQiQhQhQhYh]BfYfYfarfabfeq @ɛ׆B0 隝(ξI 0 ɚiIecv=IE?iAiA)Mk?)I*F?2F:FBF0JFHYIY I]H%II]aBIY&IY.IY6I]<:I]~ FBIJIRIZIbIjIP4G >E Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: 23:46:25.6374 LVL= 18224, 15009, 13906, 25843, AGC= 58, IDX= 450, 0.03,-0.137, 1.572, 2.461, 1.365, PHS=-1.414, 0.254, 1.093, RAW= 250.8, 0.6, CAL= 254.2, 1.5, ROT= 255.8, -1.5  Ygot valid direction response: 23:46:25.6374 LVL= 18224, 15009, 13906, 25843, AGC= 58, IDX= 450, 0.03,-0.137, 1.572, 2.461, 1.365, PHS=-1.414, 0.254, 1.093, RAW= 250.8, 0.6, CAL= 254.2, 1.5, ROT= 255.8, -1.5  PDAT read: Bearing 255.8, -1.5 (Local)  ~Local bearing/azimuth received: Bearing 255.8, -1.5 (Local)  DAT read: Range 10 to 50 : 103.5 m (Round-trip 138.0 ms) speed -0.3 m/s G B O5 >= ,DAT read: user:3444> ] BDAT read: Tx time:23:46:26.7452 e $Ping request sent.e E m?E @E +< E @)E Pw G٣y > Nusing accuracyPremultiplier from config59K ?5Ytu i-™+AFE;;65`B 0@NEkm|?_c?kmʇʢ ki kmݔA:kmBBkmBZkm@"mHyQ;@/(E01sWm q*?DدFڿ3'Jkm^,Rkm3?*mPL4m4J-j諳B@_ϑWm_o}ɿ4- ?cL&"kmB*kmkm#NrW?kme 2kmCkm΍-?kme kmCkmBkm?E addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.781027 s, deltaX: 1.000000 m, approachRate: 0.264478 m/s, rangeRepo size: 4  Added new target pos. range: 103.500000 m, bearing: 118.856658 deg, lat: 36.905033 deg, lon: -122.120243 deg, deltaT: 3.781027 s, deltaX: 1.000000 m, approachRate: 0.264478 m/s, posRepo size: 3 ZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 37.696068 m, bearing: 82.858917 deg, approach rate: 0.000000 m/s, LOS rate: -0.479200 deg/s, cmd heading: 80.312984 deg, new cmd heading: 79.690709 deg. 2jHeadingCmd: 1.390865 target range: 103.500000 and range: 103.50 m. j?jjjihhhhfffrfY@bf`?ɛeՆBek} ae׾Ia m" ɚiiqWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:46:26.7444 Iuzw=I|?ii)?)JJJ0JJL:J :Jـ3JJO;JQ;JR;JR;*FM?2FI:FQBFU0JFQG} >GI BY Ou >M Will construct direction to contact in vehicle frame from tetrahedron phase data.h>w,?ARdV@YRd@R<9RLpp vG٣tyv v> ~Nusing accuracyPremultiplier from configx~59z ?5Yz\x iz7™-AzHEz:zC:z75  z@QE-B*** querying acoustic contact ***j)j)ZjQ]FNOT Ignoring new targets: 103.50 m.Bj]̋Jje̋u ProNav: ac range: 103.500000 m, nav range: 37.836117 m, bearing: 82.517615 deg, approach rate: 0.402712 m/s, LOS rate: -0.977779 deg/s, cmd heading: 79.690706 deg, new cmd heading: 78.670702 deg. 2ju'}HeadingCmd: 1.373063 target range: 103.500000 and range: 103.50 m. j}?jyjyjyiyhyhhhfffrfbf ?ɛӆB:v 3˾I ɚiIx=IM$?iIiQ)U?)Q $?Ih*F2F:FBFB5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gɯ>GBO>Ew,?AjHbH<HI I<%IIWBI&I.I6I˰<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972008}}GT@Y}fb@}<9} G٣DWGy > -Nusing accuracyPremultiplier from config!=59%?E5Y%N| i%B™u7?u:u.}A%KE%0<%1<%:5 IE_B E@ETEZjy}FNOT Ignoring new targets: 103.50 m.BjcqJjcq ProNav: ac range: 103.500000 m, nav range: 38.031055 m, bearing: 82.030394 deg, approach rate: 0.339494 m/s, LOS rate: -0.844157 deg/s, cmd heading: 78.670699 deg, new cmd heading: 77.216860 deg. 2jHeadingCmd: 1.347688 target range: 103.500000 and range: 103.50 m. j?jjjihhhh߂Bfffrfbf`H?ɛІBs ҾI bɚiI5z=IWG?ii)?)EEzK}VBJK}9KyK} $K}*F2F:FBF0JF"G,>G,> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224103J J J J J J J J :J J J J J nN;J oN;G >G B O >Lw,[5A6t R@Y6{)`@64T<96n$GB)OE>- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728699=Sw,OA6:O@Y6A^@6G<96>II MG٣IyUW U> eNusing accuracyPremultiplier from configam59eē?m5Ye3 ieM™m5?m:m23mAeOEeL;e;eN=5 @WEZjAEFNOT Ignoring new targets: 103.50 m.BjMJjM} ProNav: ac range: 103.500000 m, nav range: 38.287212 m, bearing: 81.328099 deg, approach rate: 0.319391 m/s, LOS rate: -0.895370 deg/s, cmd heading: 76.297796 deg, new cmd heading: 75.117377 deg. 2j}HeadingCmd: 1.311046 target range: 103.500000 and range: 103.50 m. jWЧ?jjjihhhhBfffrfbf@?ɛ̆BWc| ǾI ɚ i I L{=I51?i1i1)5WЧ?)9*F?2F:FBF05JFHIII IM5%IIMRBII&II.II6IM<:IMx FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980027GG B O > M $?II zKU KQ KQ KU $KU \Yw,iAb %N@YbD\@b4E<9bSIQ UG٣UEWGy]@ ]> uNusing accuracyPremultiplier from configi}59m?5Ym imQ™ 5AmREmH;mʅ;m?5^B @ZEZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 38.417561 m, bearing: 80.942413 deg, approach rate: 0.326147 m/s, LOS rate: -0.961749 deg/s, cmd heading: 75.117375 deg, new cmd heading: 73.964410 deg. 2j%HeadingCmd: 1.290923 target range: 103.500000 and range: 103.50 m. jGQ Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484010P`w,&ƂABu@L@YB|_Z@B?<9B6dd fG٣dyj/ j> pIt vNusing accuracyPremultiplier from configlz59n?z5Yn inV™xz6zAnTEn:n.:n@5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.50 m.Bj!Jj! ProNav: ac range: 103.500000 m, nav range: 38.534676 m, bearing: 80.576292 deg, approach rate: 0.298765 m/s, LOS rate: -0.931145 deg/s, cmd heading: 73.964412 deg, new cmd heading: 72.869527 deg. 2jHeadingCmd: 1.271813 target range: 103.500000 and range: 103.50 m. jʢ?jjjihhhhfffrfbf@ɛ%džB-1 )-ľI) -ɚ)i)I5m}=I=ϯ?i9i9)=ʢ?)9*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737210GtA 8#YtAyBG>GBO>ZH9 RH= AA*fw,UAHyIy I}<%II}WBI}$ =&Iy.Iy6I}Q<:I}4 FyB$I]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:23:46:29.2882 eTRx dataTimestamp_ set to:1736379990.492647mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.989060Mb@Mb@Mb@ )Y`"?I +?y&1|y7?94<`@ )@I@y@IIV٢` .=9Q > G٣y >  Nusing accuracyPremultiplier from config 559 {?55Y  i ]™57?5:56=A WE ; ; B5E]B E&@E]EZjFNOT Ignoring new targets: 103.50 m.BjJj $?I ProNav: ac range: 103.500000 m, nav range: 38.684566 m, bearing: 80.121040 deg, approach rate: 0.320386 m/s, LOS rate: -0.969302 deg/s, cmd heading: 72.869526 deg, new cmd heading: 71.509332 deg. 2jN&HeadingCmd: 1.248073 target range: 103.500000 and range: 103.50 m. j?jjjihhhhBf!f)f)rf)bf-@ɛ}ĆB} 隝ȾI = ɚiI,~=Iæ?ii)?)zK=k3IK=ŷ9K9K= $K=*FY2FY:FYBFYJFa Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239927GA G! B1 O >lw,}A6FH@Y6MV@6D<96#B>$IiF>IFp<IJIJ٢vi`; vn=9vr:Q v?xx zG٣zFWGy~/ ~? Nusing accuracyPremultiplier from config 59h? 5Y ib™  s:AYEA;s;OD5 @`EZjAEFNOT Ignoring new targets: 103.50 m.BjMJjMe ProNav: ac range: 103.500000 m, nav range: 38.779739 m, bearing: 79.791356 deg, approach rate: 0.293638 m/s, LOS rate: -1.014677 deg/s, cmd heading: 71.509335 deg, new cmd heading: 70.522813 deg. 2je.mHeadingCmd: 1.230855 target range: 103.500000 and range: 103.50 m. jm?jijijiiihqhqhqhqfyfyfyrfybf@Zu @ɛ†B> 隭DƾI uɚiI =I}?ii)?)E*Fu?2Fq:FqBFu`0JFq"GyG}0>uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 104.1 m (Round-trip 138.9 ms) speed -0.2 m/s ,DAT read: user:3445> BDAT read: Tx time:23:46:30.3952 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:23:46:30.3944 sw,YЕA6|F@Y6T@6AuM<96iq uG٣qy}낽 }> Nusing accuracyPremultiplier from config59xM?5YU ij™6?:d;A[E(;;JF5\B @cE addTargetRange:: Added new target pos. range: 104.099998 m, deltaT: 3.529076 s, deltaX: 0.599998 m, approachRate: 0.170016 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 38.903908 m, bearing: 79.352745 deg, approach rate: 0.273170 m/s, LOS rate: -0.961854 deg/s, cmd heading: 70.522817 deg, new cmd heading: 69.211425 deg. 2j%HeadingCmd: 1.207967 target range: 103.500000 and range: 104.10 m. j?jjjihh h h Bfffrf`fZ@bf!?ɛMBMeJ} QUSIQ U4ɚQiQIUbp=I]?iYiY)e?)a*F?2F:FBF_0JFHI III% =&I.I6Ia<:I? F}Will construct direction to contact in vehicle frame from tetrahedron phase data.G> $?I G B O >zw,:AzKBoIK@9KK $K1/BYnziSTV<!S;,&" y=B=$IIMIM㔳٢&] Y=9Q > G٣y > Nusing accuracyPremultiplier from config59x7?5Yӌ ip™A]E:i:G5 @ZjFNOT Ignoring new targets: 103.50 m.BjljJjlj ProNav: ac range: 103.500000 m, nav range: 39.008564 m, bearing: 78.991250 deg, approach rate: 0.279736 m/s, LOS rate: -0.963644 deg/s, cmd heading: 69.211427 deg, new cmd heading: 68.129986 deg. 2jU%HeadingCmd: 1.189093 target range: 103.500000 and range: 104.10 m. j/4?jjjihh h h f ffrfbf`f?ɛB 隍;I _ɚiI=Ibm?ii)/4?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFmn0JFiG>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,8A &$?I$BC@YB Q@BFL_<9B G٣GWGy m  > Nusing accuracyPremultiplier from config59 ?5Y iw™!%?%A`E;/;I5) -@-fEMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 103.50 m.Bj]yJjeym ProNav: ac range: 103.500000 m, nav range: 39.102833 m, bearing: 78.613904 deg, approach rate: 0.244290 m/s, LOS rate: -0.975497 deg/s, cmd heading: 68.129983 deg, new cmd heading: 67.000828 deg. 2ju^'uHeadingCmd: 1.169385 target range: 103.500000 and range: 104.10 m. j}i?jjjihhhhfffrfbf?ɛB ƾI ɚiIgi=I?ii)i?)*Fi2Fq: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.JMJIJIJIJM:JIJIJIGYG1B9O]>jH <bH <H I  I I I &I .I 6I R<:I 4 FBIJIRIZIbIjI{4"w,Ay%B%$I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506063Mb@Mb@Mb@ )YCl?q uG٣qy} }> Nusing accuracyPremultiplier from config59?5Yg i™*0?:=AbEA;$;K5[B %@iEZj  5$?I1=FNOT Ignoring new targets: 103.50 m.Bj=Jj=m ProNav: ac range: 103.500000 m, nav range: 39.218349 m, bearing: 78.192489 deg, approach rate: 0.251231 m/s, LOS rate: -0.913804 deg/s, cmd heading: 67.000829 deg, new cmd heading: 65.740523 deg. 2juuHeadingCmd: 1.147389 target range: 103.500000 and range: 104.10 m. j}ݒ?jyjyjyiyhyhyhhBfffrfbf?ɛB} %ܼI! %Pɚ!i!Im=Iuݒ?iqiq)uݒ?)y*F}?2Fy:FyBF}o0JFzK!NK9KK$K BK:KpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758011G G B O >3Lw,?7A6H?@Y6gM@6x<961TT VG٣TyVz, Z? Nusing accuracyPremultiplier from config\59^ ?%5Y^( i^™!%SA%A^dE^\ ;^. ;^M5-ZB -=@5kEZjaeFNOT Ignoring new targets: 103.50 m.BjmɅJjmɅ} ProNav: ac range: 103.500000 m, nav range: 39.295322 m, bearing: 77.864293 deg, approach rate: 0.219891 m/s, LOS rate: -0.935723 deg/s, cmd heading: 65.740523 deg, new cmd heading: 64.757967 deg. 2j} HeadingCmd: 1.130240 target range: 103.500000 and range: 104.10 m. j?jjjihhhhfffrfbf?ɛB I ~MɚiIr=I?ii)?)*Fu?2Fq:FqBFu`5JFq]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014060 -$?I1G>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2641043w,QAJx=@YJK@JmB<9J ^=^>JJJJJJJJeMb@Mb@Mb@aaa a)aYeʡE?L7A`?~jtye/?e+=ee@ e@)e&@Ie@aye@II(٢: 7=9;Q > G٣HWGy뀽 > -Nusing accuracyPremultiplier from config!559%$ْ?U5Y%D i%™U~0?]:]Y@]A%fE%;%;%O5a e^@enEZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 39.402199 m, bearing: 77.440099 deg, approach rate: 0.236720 m/s, LOS rate: -0.936990 deg/s, cmd heading: 64.757966 deg, new cmd heading: 63.489054 deg. 2j HeadingCmd: 1.108093 target range: 103.500000 and range: 104.10 m. jՍ?jjjih!h!h)h5Bf1f9f9rf9bf=@ɛmBuD~ quIIq u,ɚqiyI}=I}Ս?ii)Ս?)Ee>E>HI I/%IILBI&I.I6I<:Im F*F?2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514751  I Ge ɯ>G9 BQ Ou >\^w,1}kA6[;@Y6bI@6ɟ<96b G٣!y%Z %> -Nusing accuracyPremultiplier from config)559-Ò?55Y- i-™1==B=A-hE-6;-;-P5EYB E?@EqEZjimFNOT Ignoring new targets: 103.50 m.BjuJju ProNav: ac range: 103.500000 m, nav range: 39.484951 m, bearing: 77.087853 deg, approach rate: 0.231495 m/s, LOS rate: -0.983321 deg/s, cmd heading: 63.489054 deg, new cmd heading: 62.434655 deg. 2j(HeadingCmd: 1.089690 target range: 103.500000 and range: 104.10 m. jz?jjjihhhhfffrfbf@ɛB GI ) ɚiI銃=Iz?ii)z?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768417*Fu?2Fq:FqBFu4JFqG>GiByO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018018  $?I Ew,WA:9@Y:G@:q<9:Fdh jG٣hyj j> rNusing accuracyPremultiplier from configpv59rݬ?v5Yr ir™xzDzArkEr;r&:riR5| @tEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 103.50 m.Bj5WJj5WE ProNav: ac range: 103.500000 m, nav range: 39.566692 m, bearing: 76.712594 deg, approach rate: 0.206622 m/s, LOS rate: -0.946595 deg/s, cmd heading: 62.434657 deg, new cmd heading: 61.311359 deg. 2jEh"MHeadingCmd: 1.070085 target range: 103.500000 and range: 104.10 m. jM?jIjIjIiIhQhQhQhQfYfYfarfabfmY @ɛB2 隝/I l!ɚiIU=I?ii)?)*F12F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:46:32.9384 TRx dataTimestamp_ set to:1736379994.277635checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278891J!J%J!J!J!J% :J!J!Gu>GQBYOu>ZHy RH} @AH 0>I  I )%II GBI &I .I 6I <:I ] Fpw,&5A67@Y6E@6(<96  G٣IWGyA > Nusing accuracyPremultiplier from config59j?5Y! i™*?:DAmE;;QT5 @Zj%FNOT Ignoring new targets: 103.50 m.Bj%1Jj-1 $?I5 ProNav: ac range: 103.500000 m, nav range: 39.656288 m, bearing: 76.312095 deg, approach rate: 0.205741 m/s, LOS rate: -0.917590 deg/s, cmd heading: 61.311357 deg, new cmd heading: 60.112758 deg. 2j=nuHeadingCmd: 1.049166 target range: 103.500000 and range: 104.10 m. juK?jqjqjyiyhyhyhhBfffrfbf @ɛBL y vI %#ɚiI„=IK?ii))-K?))E9*F2F:FBFH3JFGpA GrAzK5$NK59K1K5$K5"v?_wWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 104.3 m (Round-trip 139.1 ms) speed -0.1 m/s ,DAT read: user:3446> BDAT read: Tx time:23:46:34.0452 $Ping request sent.G B O- >6w,:AyuBu$III٢ L=9Q > G٣y > Nusing accuracyPremultiplier from config59~?5Y i™AoEe::V5XB @wE addTargetRange:: Added new target pos. range: 104.300003 m, deltaT: 3.778918 s, deltaX: 0.200005 m, approachRate: 0.052926 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 103.50 m.Bj GJj G% ProNav: ac range: 103.500000 m, nav range: 39.740089 m, bearing: 75.946660 deg, approach rate: 0.209394 m/s, LOS rate: -0.911181 deg/s, cmd heading: 60.112761 deg, new cmd heading: 59.018908 deg. 2j-U5HeadingCmd: 1.030074 target range: 103.500000 and range: 104.30 m. j5yك?j1j1j1i1h9h9h9h9fAfAfArfu@3Z@bfub?ɛB-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:46:34.0444  隥OI '1$ɚiI3U=Iyك?ii)yك?) $?I*F2F:FBF_0JF) CG= > G Will construct direction to contact in vehicle frame from tetrahedron phase data. i A 5tAQ GI } Z!Y} 5tAy} BB O >w,ӖAJ-J)J)J)J-:J)J)J)E4@YE:B@EkT<9EYY ]G٣aye{ e> ubBottom track data is 0.4 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}59mAe?}5Ymғ im‘+::GAmqEme`;m{>mW5 p@zEZjFNOT Ignoring new targets: 103.50 m.Bj{Jj{ ProNav: ac range: 103.500000 m, nav range: 39.817802 m, bearing: 75.538572 deg, approach rate: 0.175468 m/s, LOS rate: -0.919616 deg/s, cmd heading: 59.018906 deg, new cmd heading: 57.797228 deg. 2jHeadingCmd: 1.008752 target range: 103.500000 and range: 104.30 m. j?jjjihhhhfffrfbf.?ɛ%B%~ !-I) -[,%ɚ)i)I-[=I5?i1i1)?)HI I#%IIBBI&I.I6I<:Iv F*FQ2FQ:FQBFQJFQWill construct direction to contact in vehicle frame from tetrahedron phase data. IG5 >G B OM >ܺw,A2+^2@Y22}@@2q%<92b BB$IININ<٢VF= Vh=9Zx;Q Z>XX ZG٣ZJWGy^( ^? fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59bQ?j5Ybœ ib‘j :hzKnMKn9KlKn$Knjh\.[!  "! vP:vH@vAbsEb;bK?bX5x z@|Zj%FNOT Ignoring new targets: 103.50 m.Bj%xJj%x5 ProNav: ac range: 103.500000 m, nav range: 39.874458 m, bearing: 75.215580 deg, approach rate: 0.162751 m/s, LOS rate: -0.926515 deg/s, cmd heading: 57.797232 deg, new cmd heading: 56.829728 deg. 2j5=HeadingCmd: 0.991866 target range: 103.500000 and range: 104.30 m. j=}?j9jAjAiAhAhAhIhIfIfIfIrfQbfU,R?5Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ]B]zqx Y]ƎIY e&ɚaiaIe>u=Im}?iiii)m}?)*FE?2FA:FABFAJFAG  Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Bi O >  $?I w,dA:A0@Y:H>@:^<9:I- G٣ y   > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%59:?%5Y i‘%9!%):%F@-AvE{8;:?Y55WB 5~@5}EMB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 103.50 m.BjeJjm} ProNav: ac range: 103.500000 m, nav range: 39.935795 m, bearing: 74.829800 deg, approach rate: 0.148837 m/s, LOS rate: -0.934676 deg/s, cmd heading: 56.829728 deg, new cmd heading: 55.674331 deg. 2j] HeadingCmd: 0.971700 target range: 103.500000 and range: 104.30 m. j[x?jjjihhhhfffrfbf`E?ɛBKq I &ɚiI=I[x?ii)[x?)*F2F:FBFn0JFUWill 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.Ge >GA BY O jH <bH <H I  I )%II GBI &I .I 6I <:I T Fw,6>!A:.@Y:<@:s*=9: 5aa eG٣iy} > $?I Nusing accuracyPremultiplier from config59$?5Y) i ‘T:!?:E@AxE!; ;n[5VB @EZjFNOT Ignoring new targets: 103.50 m.BjSlJjSl ProNav: ac range: 103.500000 m, nav range: 39.993996 m, bearing: 74.455600 deg, approach rate: 0.128728 m/s, LOS rate: -0.826441 deg/s, cmd heading: 55.674330 deg, new cmd heading: 54.553516 deg. 2j HeadingCmd: 0.952138 target range: 103.500000 and range: 104.30 m. jYs?jj!j!i!h!h!h)h-Bf)fIfQrfQbf]@J?ɛBg 隥 mI Z'ɚiI=IYs?ii)Ys?)*F?2F:FBFo0JFzKUlNKU@9KQKU$KUUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010986J J J /J J ܫ:J :J (N3J J ;a J ;a J L;a J L;a GA G B O% >w,l#;AJ,@YJ:@Jkp=9J/:pp rG٣rKWGyr' v> zNusing accuracyPremultiplier from configt~59v?~5Yv iv™|~D@~AvzEvF;v;v]5  @ EZjFNOT Ignoring new targets: 103.50 m.BjJj ProNav: ac range: 103.500000 m, nav range: 40.040642 m, bearing: 74.117834 deg, approach rate: 0.125413 m/s, LOS rate: -0.907058 deg/s, cmd heading: 54.553517 deg, new cmd heading: 53.541508 deg. 2jHeadingCmd: 0.934476 target range: 103.500000 and range: 104.30 m. j9o?jjj!i!h!h!h!h)fffrfbf@ɛBEq` = TDI  \(ɚ i IF=I9o?ii)9o?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262925 $?I*F!2F!:F!BF%0JF!GE >G! BQ O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518237|w,TARD*@YRK9@R$=9R! G٣y > Nusing accuracyPremultiplier from config59@?5Y i!™?:.@@A|Er;;^5 @Zj!%FNOT Ignoring new targets: 103.50 m.Bj-\Jj-\E ProNav: ac range: 103.500000 m, nav range: 40.078846 m, bearing: 73.735003 deg, approach rate: 0.092474 m/s, LOS rate: -0.925756 deg/s, cmd heading: 53.541508 deg, new cmd heading: 52.394271 deg. 2jEMHeadingCmd: 0.914453 target range: 103.500000 and range: 104.30 m. jMj?jIjIjIiIhIhQhYh];BfYfYfYrfabfe@ɛUBUx X Q]*IY ](ɚYiYI]=Iej?iaia)ej?)iHqIq Iu<%IIuWBIq&Iq.Iq6IuC<:Iu) FBI9JI9RI9ZI9bI9jI=_4*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ս>ս4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767271 IG Ga Bq O >Z)w,nA: )@Y:'$7@:&R*=9:^lp rG٣pyr r> ~Nusing accuracyPremultiplier from configx59z呜?5Yz iz+™?>@ Az~Ez`;zO;z`5UB @EzK= KK=ŷ9K9K=$K=Zj1MFNOT Ignoring new targets: 103.50 m.BjU1}JjU1}e ProNav: ac range: 103.500000 m, nav range: 40.106262 m, bearing: 73.403879 deg, approach rate: 0.073362 m/s, LOS rate: -0.885427 deg/s, cmd heading: 52.394272 deg, new cmd heading: 51.401685 deg. 2jemHeadingCmd: 0.897129 target range: 103.500000 and range: 104.30 m. jm9e?jijijiiihqhqhqhqfyfyfyrfybf@ɛB!M 隭|I D)ɚiIl=I9e?ii)9e?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:46:36.5887 %TRx dataTimestamp_ set to:1736379997.800709%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019955*Fm?2Fq:FqBFu\4JFqJ3K;|3 K;S}-K3K3"K3JJkJ0JJJ:Jـ3JJJJ <J <GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270744 $?I w,몈ANUY%@YN[x3@Ng==9NdZpt vG٣vLWGyv v> zNusing accuracyPremultiplier from configx~59z1ё?5Yz' iz8™:@AzEz ;z ;zcb5 VB @E-B*** querying acoustic contact ***j)j)Zj9]FNOT Ignoring new targets: 103.50 m.Bje}Jje}u ProNav: ac range: 103.500000 m, nav range: 40.122982 m, bearing: 73.045030 deg, approach rate: 0.041379 m/s, LOS rate: -0.887716 deg/s, cmd heading: 51.401685 deg, new cmd heading: 50.325721 deg. 2juN}HeadingCmd: 0.878350 target range: 103.500000 and range: 104.30 m. j}`?jyjyjyihhhhfffrfbf.H @ɛBrA lI )ɚiIp =I`?ii)`?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:46:36.5888 LVL= 24384, 26609, 16578, 25171, AGC= 63, IDX= 432,-0.28,-2.775,-2.309,-0.508,-1.832, PHS=-0.855,-0.429, 1.321, RAW= 220.6, -0.4, CAL= 220.3, -5.9, ROT= 289.7, 5.9 mYgot valid direction response: 23:46:36.5888 LVL= 24384, 26609, 16578, 25171, AGC= 63, IDX= 432,-0.28,-2.775,-2.309,-0.508,-1.832, PHS=-0.855,-0.429, 1.321, RAW= 220.6, -0.4, CAL= 220.3, -5.9, ROT= 289.7, 5.9 E[Z=PDAT read: Bearing 289.7, 5.9 (Local) ~Local bearing/azimuth received: Bearing 289.7, 5.9 (Local) DAT read: Range 10 to 50 : 104.5 m (Round-trip 139.4 ms) speed 0.1 m/s ],DAT read: user:3447> eBDAT read: Tx time:23:46:37.6953 e$Ping request sent.m Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:46:37.6945 GQ BY } $?Iy O >w,A2&#@Y2,1@25F=92E G٣y%o %> =Nusing accuracyPremultiplier from config1E595?E5Y5֌ i5G™Mj ?M:MD6@MA5E5W;5Q<5d5 @Ek-Y|o?k-I k) k-A:k-BBk-BZk-֔?"- ]6ٿ7k"TO-_1nĶnnMl* Jk-ɿRk-6#?*-Hfb@@ FR@P-LK^?uU7?"k-B*k-Bk-?s?k-uG 2k- L@k-zmK?k)k)k-"Bk-Ђ? addTargetRange:: Added new target pos. range: 104.500000 m, deltaT: 3.530176 s, deltaX: 0.199997 m, approachRate: 0.056654 m/s, rangeRepo size: 4 = Added new target pos. range: 104.500000 m, bearing: 66.623642 deg, lat: 36.905050 deg, lon: -122.120243 deg, deltaT: 10.838170 s, deltaX: 1.000000 m, approachRate: 0.092266 m/s, posRepo size: 4 Zj9eFNOT Ignoring new targets: 104.50 m.BjmJji ProNav: ac range: 104.500000 m, nav range: 40.733562 m, bearing: 70.057963 deg, approach rate: 0.000000 m/s, LOS rate: -0.887716 deg/s, cmd heading: 50.325722 deg, new cmd heading: 48.944686 deg. 2jHeadingCmd: 0.854246 target range: 104.500000 and range: 104.50 m. jܯZ?jjjihhhhBfffrf Z@bf`?ɛ5}BE4 AE=IA E*)ɚAiAIM\=IMܯZ?iIiQ)UܯZ?)QEepAEeqAzK}BHK}9KyK}$K} PkdC# Will construct direction to contact in vehicle frame from tetrahedron phase data.J}J}JyJyJ}L:J}:JyJyJ}O;J}Q;J}C;J}C;Ee -=*F ?2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.խ=խ> )I)G->GB O%?w,8ƗAFP!@YFW/@FJ=9Fbhh nG٣lyn ` n> rNusing accuracyPremultiplier from configpv59r]?z5YrO irW™xz4@zArEr;rJ;rf5UB i@EZjYeFNOT Ignoring new targets: 104.50 m.BjeJjm ProNav: ac range: 104.500000 m, nav range: 40.743126 m, bearing: 69.630205 deg, approach rate: 0.020797 m/s, LOS rate: -0.929992 deg/s, cmd heading: 48.944685 deg, new cmd heading: 47.661937 deg. 2jHeadingCmd: 0.831858 target range: 104.500000 and range: 104.50 m. jT?jjjihhhhfffrfbf @?ɛUxBU-/ Y]PIY ])ɚYiYI]=IT?ii)T?)EE*E"EEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFHY IY  I] %II] BIY &IY .IY 6I] h<:I] C FG >G B O >Dw,Ayv|Bvk%I Will construct direction to contact in vehicle frame from tetrahedron phase data. m$?IiMb@Mb@Mb@ )Y"~j?I +?y&1|yS#?94<`5@ @)x@I@yz@II%٢w= 4=9Q > G٣MWGy > Nusing accuracyPremultiplier from config59?5Y ii™\#?:1@AE;;h5TB @EZjFNOT Ignoring new targets: 104.50 m.BjbvJjbv ProNav: ac range: 104.500000 m, nav range: 40.738541 m, bearing: 69.224440 deg, approach rate: -0.009736 m/s, LOS rate: -0.861619 deg/s, cmd heading: 47.661938 deg, new cmd heading: 46.444699 deg. 2j%%HeadingCmd: 0.810613 target range: 104.500000 and range: 104.50 m. j%TO?j)j)j)i)h)h)h1h5Bf1fyfyrfbf)n?ɛ}sB}p$ 隅GU pAGU nAJ J J J J ,:J :J J J ;J ;J J;J J;G) B1 OM >e6w,AyBt%II-I-٢EC"= MU=9QQ U>ii uG٣qyy > Nusing accuracyPremultiplier from config59*v?5Y iy™AE;m;Sj5 @Zj%FNOT Ignoring new targets: 104.50 m.Bj%Jj%5 ProNav: ac range: 104.500000 m, nav range: 40.736225 m, bearing: 68.873418 deg, approach rate: -0.006162 m/s, LOS rate: -0.934116 deg/s, cmd heading: 46.444699 deg, new cmd heading: 45.391698 deg. 2j=D =HeadingCmd: 0.792235 target range: 104.500000 and range: 104.50 m. j=J?jAjAjAiAhAhAhIhIfIfIfIrfQbfU 8?ɛuoB}-> 隅+=I )ɚiI>͌=IJ?ii)J?)-Will construct direction to contact in vehicle frame from tetrahedron phase data. u$?Iy*FA2FI:FIBFM4JFIGm ɯ> 5 tAI Gq !Y tAy BB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,ÁA3/@Y9N*@S=9? nu?@?ɨ3/@ӎ;騽CyBy%Iip>Ii> a=a=mMb@Mb@Mb@iii i)iYmS㥛?y&1I +ym$&?m`弹m94mK@ i)m@Im@iymp@IIV8٢̀< 7=9̢;Q > G٣yPL > Nusing accuracyPremultiplier from config59Xa?5Y] i™R&?:'@AE;@;?l5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 104.50 m.BjXJjX ProNav: ac range: 104.500000 m, nav range: 40.693253 m, bearing: 68.476547 deg, approach rate: -0.099366 m/s, LOS rate: -0.918654 deg/s, cmd heading: 45.391699 deg, new cmd heading: 44.200011 deg. 2jHeadingCmd: 0.771436 target range: 104.500000 and range: 104.50 m. j|E?jjjihhhhŃBfffrfbfC@ɛ5jB5- 9=Xp=I9 =Ql)ɚ9i9I=m=Im|E?iiii)m|E?)qHI I%IIBI&I.I6I]<:I; F*F?2F:FBF\0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. ]$?IYG= >G B! OM >`H w,R/A6%]@Y6,|(@6U=96G?G?GBO> I II U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7011131w,3IA6@Y6&@6V=96\B>u%IIJIJ?1٢RqA; RM=9VV:Q V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^??b5Y^z i^™df#@fA^E^e:^:^o5jSB j@jEZjFNOT Ignoring new targets: 104.50 m.Bj Jj % ProNav: ac range: 104.500000 m, nav range: 40.604492 m, bearing: 67.807779 deg, approach rate: -0.125748 m/s, LOS rate: -0.899117 deg/s, cmd heading: 43.263603 deg, new cmd heading: 42.191718 deg. 2j%C-HeadingCmd: 0.736384 target range: 104.500000 and range: 104.50 m. j-JeJeJaJaJel:Je :JaJaau@au@au@au@GIBYOu>H I  I %II BI &I .I 6I S<:I 4 FZw, cA2@Y2 %@2U=92 ҝ G٣y` > EbBottom track data is 0.5 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9u59=<)?u5Y=u i=‘}+:y}:}N"@A=E= <=<>=7q5 "@EZjFNOT Ignoring new targets: 104.50 m.BjyJjy ProNav: ac range: 104.500000 m, nav range: 40.537571 m, bearing: 67.373827 deg, approach rate: -0.134520 m/s, LOS rate: -0.873727 deg/s, cmd heading: 42.191718 deg, new cmd heading: 40.887950 deg. 2jHeadingCmd: 0.713629 target range: 104.500000 and range: 104.50 m. jj6?jj!j!i!h!h!h)h)f1f1f1rf1bf=@ @ɛ[B@ =I  Һ(ɚ i I ~:=I-j6?i)i))-j6?))*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.455044zKNK59KK$KGE >G BI Om >_w,}A22@Y2Q#@2AT=92 5BDAT read: Tx time:23:46:41.3453 5$Ping request sent.5e:publishing transmit ping time1eFpublishing direction and range info94k.ļ-ӥֿy )Ii )Ii=K`?f ?+4U?)IiGɯ>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:46:41.3445 o%w,d̖AJJJ1JJ,:J:J3JyeBN%I } } }} }}  } } }Mb@Mb@Mb@yyy y)yY}l?~jtS㥛y}7?}}/ݼ}b@ }K@)}@I}@yy} @II#٢ '=9Q > G٣y > Nusing accuracyPremultiplier from config59O?5Ym i‘T:7?:!@AE ;;Rt5 @ZH!RH%AAH)I) I-%II-BI-$ =&I).I)6I-X<:I-7 FBIJIRIZIbIjIq%4EkMdk?kMN kI kM|A:kM3BBkMBZkMDŽ]?"Mפ A"9^ЕXfeiBM4k.ļ-ӥֿJkM)տRkMԻ>*Mqȶ7O@(uSR@FJCMH?"f?%(Kĝ׿"kMB*kMyBkM>?kM 2kMAkIkIkIkM!BkM”?- addTargetRange:: Added new target pos. range: 103.599998 m, deltaT: 3.779844 s, deltaX: -0.900002 m, approachRate: -0.238105 m/s, rangeRepo size: 4 e Added new target pos. range: 103.599998 m, bearing: 49.578456 deg, lat: 36.905050 deg, lon: -122.120243 deg, deltaT: 3.779844 s, deltaX: -0.900002 m, approachRate: -0.238105 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 103.60 m.BjmJji ProNav: ac range: 103.599998 m, nav range: 40.413280 m, bearing: 66.588609 deg, approach rate: 0.000000 m/s, LOS rate: -0.926120 deg/s, cmd heading: 39.987896 deg, new cmd heading: 38.524887 deg. 2jHeadingCmd: 0.672386 target range: 103.599998 and range: 103.60 m. j!,?jjjihhhhBfffrf`fY@bf(?ɛ-PB=H| 9=0%=I9 =r(ɚ9i9IE{=IM!,?iIiI)U!,?)Q IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFh0JF"GG)>G >G B O >+w,7A6@Y6@6ӼK=96#MBB1%IiF=IF4=IJIJ ٢R  Rx=9RλQ V?TT VG٣TyZ" Z? ^Nusing accuracyPremultiplier from config\b59^?b5Y^Bi i^ ™dfQ@fA^E^n:^:^u5l nX@l~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 103.60 m.Bj Jj ProNav: ac range: 103.599998 m, nav range: 40.353642 m, bearing: 66.265902 deg, approach rate: -0.203326 m/s, LOS rate: -1.101819 deg/s, cmd heading: 38.524886 deg, new cmd heading: 37.555432 deg. 2j =HeadingCmd: 0.655466 target range: 103.599998 and range: 103.60 m. j'?jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hhhhfffrfbf  (~?zK-a3JK-9K)K-$K-ɛULBU' Y]:IY ]q(ɚYiYI]\=Ie'?iaia)'?)*F%?2F):F)BF-P5JF1Ge> $?Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967470Gi Bq O >2w,˘A6WQ@Y6^p@6E=96E  G٣ PWGyDm > 5Nusing accuracyPremultiplier from config)=59-jߐ?E5Y-?d i-&™IM@MA-E-;-";-w5]RB e@eEZjFNOT Ignoring new targets: 103.60 m.BjuJju ProNav: ac range: 103.599998 m, nav range: 40.272999 m, bearing: 65.858203 deg, approach rate: -0.189786 m/s, LOS rate: -0.961400 deg/s, cmd heading: 37.555433 deg, new cmd heading: 36.330083 deg. 2j$HeadingCmd: 0.634080 target range: 103.599998 and range: 103.60 m. j S"?jjjihhhhfffrfbf?ɛGB/ ҼI ֆ(ɚiI=I% S"?i!i))- S"?))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221975*Fq2Fy:FBFJFJJJ0JJJ:Jـ3JH I  I %II BI % =&I .I 6I <:I a FG >G B O > I ]9w,^AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471901:@Y:@:>=9:QQ ]G٣Yy]p ]> mNusing accuracyPremultiplier from configam59eː?u5Ye_ ieE™u6?u:u@uAeEeG G pAG B O >L0?w,A> @Y>$@>9=9>IH &@Ɩ ?Q?@)0 P?w?ɨ> @>;>!CyNBN$I)P PIVIVb٢^׽ ^T=9bVQ b>`d fG٣dyf] f> jNusing accuracyPremultiplier from configh=59j?=5YjZ ijb™AE@EAjEj%hG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229584(Fw,AJJJJJ:J:JJ n @Y @ /=9 d G٣QWGyH1I1 I5%II5BI5$ =&I1.I16I5L<:I5/ F > Nusing accuracyPremultiplier from config59?5YSU i™1?:@AE;p;9}5QB @EZjFNOT Ignoring new targets: 103.60 m.BjZJjZM ProNav: ac range: 103.599998 m, nav range: 40.055908 m, bearing: 64.600694 deg, approach rate: -0.164724 m/s, LOS rate: -0.988631 deg/s, cmd heading: 33.977309 deg, new cmd heading: 32.551374 deg. 2jM)UHeadingCmd: 0.568129 target range: 103.599998 and range: 103.60 m. jUp?jQjYjYiYhyhhhTBfffrfbf@ɛ6BgH  I )ɚiI}=I p?i i ) p?) e$?Ia=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.480551*F?2F:FBF\0JFG G B O >CLw,/n3AyمB$II-I-b1٢=. =l=9EQ M?II MG٣QyU U? eNusing accuracyPremultiplier from configYe59]?m5Y]Q i]™iimA]E]:]:]~5y }}@yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735301B*** querying acoustic contact ***jjZjYeFNOT Ignoring new targets: 103.60 m.BjeEJjmEzKBoHK9KK$K ProNav: ac range: 103.599998 m, nav range: 40.004417 m, bearing: 64.281996 deg, approach rate: -0.148147 m/s, LOS rate: -0.918118 deg/s, cmd heading: 32.551374 deg, new cmd heading: 31.594143 deg. 2jHeadingCmd: 0.551422 target range: 103.599998 and range: 103.60 m. j) ?jjjihhhhfffrfbf@ɛm1Bu^ quT/Iq u0*ɚyiyI} =I}) ?ii)) ?)*F?2F:FBF_0JF"G4>G0> QIQM Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:23:46:43.8857 U TRx dataTimestamp_ set to:1736380005.108589] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984510GQ G] ?G] ?G9 BA Om >|*Sw,kGMA6C@Y6I@6#*=96t@h ? <Ϧ?`B d?`?ɨ6C@6t8;6Cy>…B>$IiB%>IBp<IFIFԲ٢n rQ=9r\Q r>tt vG٣tyvޑ z> ~Nusing accuracyPremultiplier from configx59z9?5YzL iz™+@AzEz ;z? ;z`5 @E)Y aZjFNOT Ignoring new targets: 103.60 m.BjSJjS -#Y1y5B ProNav: ac range: 103.599998 m, nav range: 39.937908 m, bearing: 63.907539 deg, approach rate: -0.175273 m/s, LOS rate: -0.988453 deg/s, cmd heading: 31.594143 deg, new cmd heading: 30.469052 deg. 2j)HeadingCmd: 0.531785 target range: 103.599998 and range: 103.60 m. j#?jjjihhhhfffrfbf @ɛ+Bb@d QI ۲*ɚiI=I #?i i ) #?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239105*F?2F:FBFJFH1 I1  I5 B%II5 \BI1 &I1 .I1 6I5 Y<:I5 9 FG% > ] $?Ie hGi B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:46:43.8857 LVL= 30416, 27697, 15266, 32755, AGC= 65, IDX= 416, 0.20,-1.987,-2.771,-0.661,-1.598, PHS=-0.301,-1.126, 0.933, RAW= 186.6, 5.5, CAL= 186.5, -3.2, ROT= 323.5, 3.2  Ygot valid direction response: 23:46:43.8857 LVL= 30416, 27697, 15266, 32755, AGC= 65, IDX= 416, 0.20,-1.987,-2.771,-0.661,-1.598, PHS=-0.301,-1.126, 0.933, RAW= 186.6, 5.5, CAL= 186.5, -3.2, ROT= 323.5, 3.2  PDAT read: Bearing 323.5, 3.2 (Local)  ~Local bearing/azimuth received: Bearing 323.5, 3.2 (Local)  DAT read: Range 10 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.3 m/s  ,DAT read: user:3449>  BDAT read: Tx time:23:46:44.9953  $Ping request sent.  G٣RWGy׽ > Nusing accuracyPremultiplier from config59k?5Y G i™'?:i@AE?;;ǂ5A M@MEku6?k k k0gA:kfBBkBZk?"oT2{t Y $]{*ǿ-U`pLJklRkt=*yV@4@EI@H*}![?W? "F赿"kbLB*k'Bki?k5 2kQhBk?s?k5 k L@k{Bk>r?% addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.526449 s, deltaX: -1.400002 m, approachRate: -0.397000 m/s, rangeRepo size: 4 5 Added new target pos. range: 102.199997 m, bearing: 30.119191 deg, lat: 36.905220 deg, lon: -122.120069 deg, deltaT: 3.526449 s, deltaX: -1.400002 m, approachRate: -0.397000 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 102.20 m.Bj=Jjy ProNav: ac range: 102.199997 m, nav range: 62.924137 m, bearing: 54.293768 deg, approach rate: 0.000000 m/s, LOS rate: -0.988453 deg/s, cmd heading: 30.469054 deg, new cmd heading: 28.803282 deg. 2jHeadingCmd: 0.502712 target range: 102.199997 and range: 102.20 m. j?jjjihhhhBfffrf̌Y@bf;?Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:46:44.9945 ɛM#BMg IMzII U|+ɚQiQIu=I}?iyiy)}?)zKuBHKu}9KqKu$Ku RK?JK?JJJ1JJ:J:J3JJ;aJ;aJ@;aJ@;a*FM ?2FI :FI BFM ^0JFQ Gu ɯ> $?I GIBYOm>aw,KA.Will construct direction to contact in vehicle frame from tetrahedron phase data.F#@YFB@F=9F]1 5G٣1y=v => MNusing accuracyPremultiplier from configIu59M\?u5YMC iM™y}@}AMEM;MK;MW5 @ZjFNOT Ignoring new targets: 102.20 m.BjE/JjE/- ProNav: ac range: 102.199997 m, nav range: 62.904179 m, bearing: 54.081863 deg, approach rate: -0.057711 m/s, LOS rate: -0.612930 deg/s, cmd heading: 28.803283 deg, new cmd heading: 28.167393 deg. 2j-SҼ5HeadingCmd: 0.491614 target range: 102.199997 and range: 102.20 m. j5̴>j9j9j9i9h9h9hAhAfifqfqrfqbfu`pM?ɛB =I P,ɚiI!=I>ii)̴>)*F92F9:F9BF=`0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.G >G B O5 >"gw,yAHI I$IIBI&IGD.I6I<:Ii FyMlBM$I)Q QMb@Mb@Mb@ )YzG?oʡ? rhy ?->C 5@ )@I@y@II(٢ <=9Q  >    G٣ y > Nusing accuracyPremultiplier from config%59J?%5Y? i ™-Z?-:-9"@5AEk;j;85EPB EE@EE ]$?IYZjq}FNOT Ignoring new targets: 102.20 m.Bj}B#JjB# ProNav: ac range: 102.199997 m, nav range: 62.910007 m, bearing: 53.842252 deg, approach rate: 0.013890 m/s, LOS rate: -0.570928 deg/s, cmd heading: 28.167393 deg, new cmd heading: 27.448665 deg. 2jüHeadingCmd: 0.479070 target range: 102.199997 and range: 102.20 m. jH>jjjihhhhBffQfQrfYbf] <?}Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ=Յ=ɛB>j JI -ɚiI?ܖ=IH>ii)H>))*F 2F :F BF o0JF G% >G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.Oe >^mw,uYAJ2J2J20J0J2:J2:J2ـ3J0J26;J27;J2L;J2L;zKNeKKN9KLKN$KN#\P* no?Yn @nhS=9ns G٣%SWGy% %> -Nusing accuracyPremultiplier from config)559-j;?55Y-_; i- ™9=@=A-E-2;-;-ه5A E@AeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 102.20 m.Bj} Jj}  ProNav: ac range: 102.199997 m, nav range: 62.903736 m, bearing: 53.633948 deg, approach rate: -0.016928 m/s, LOS rate: -0.562308 deg/s, cmd heading: 27.448666 deg, new cmd heading: 26.823718 deg. 2jHeadingCmd: 0.468162 target range: 102.199997 and range: 102.20 m. j>jjjihhhhfffrfbf?ɛB"$ I ׿.ɚiI|p=I>ii)>)*F?2F:FBFW5JF III}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GGqByO>Ntw,0ԙAybQBb#IIjIj?٢vܴ vM=9zQ z>xx ~G٣|y~ >  Nusing accuracyPremultiplier from config 59&+?5Yl7 i5 ™AE\:G:5 @EZjFNOT Ignoring new targets: 102.20 m.BjJj ProNav: ac range: 102.199997 m, nav range: 62.897953 m, bearing: 53.411379 deg, approach rate: -0.013990 m/s, LOS rate: -0.538461 deg/s, cmd heading: 26.823719 deg, new cmd heading: 26.155981 deg. 2jŸWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751776HeadingCmd: 0.456508 target range: 102.199997 and range: 102.20 m. jj>jjjihhhhfffrf bf &O?ɛE BM Y]`IY e;0ɚaiaIe%=Imj>iiii)mj>)yH)I) I-$II-݅BI)&I).I)6I-i<:I-F FBIJIRIZI$ =bI$ =jIŰ;4E2= 1I9*F=?2F9:F9BF=0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004160GQ G9 BY O} >{w,}A6i?Y6@6=96XCB>#IiB>IB> DDMb@Mb@Mb@ )Y!rh? r?~jtyl?C>ļx@ @)@Iy@II2٢Vh .=90:Q > G٣y > Nusing accuracyPremultiplier from config59?5Y53 iH ™?:*@AE;";5 @Zj FNOT Ignoring new targets: 102.20 m.BjJj- ProNav: ac range: 102.199997 m, nav range: 62.894299 m, bearing: 53.172125 deg, approach rate: -0.008065 m/s, LOS rate: -0.528031 deg/s, cmd heading: 26.155981 deg, new cmd heading: 25.438215 deg. 2j-15HeadingCmd: 0.443981 target range: 102.199997 and range: 102.20 m. j5mQ>j9j9j9i9h9h9hAhEBfAfIfIrfIbfM @ɛuBuf% y}þIy }i1ɚyiyI=ImQ>ii)mQ>)E}!=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255357*F2F:FBFS5JFJ]J]JYJYJ]l:J] :JYJYJ];J];J]U;J]U;zKumMKuŷ9KqKu$KuG= > $?I G B O= >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507250nw,3 A6}?Y6@6=96>   G٣TWGy > %Nusing accuracyPremultiplier from config!-59% ?-5Y%/ i%W ™)-"@5A%E%q:%:%K59 =@9ZjaeFNOT Ignoring new targets: 102.20 m.Bjm@Jjm@} ProNav: ac range: 102.199997 m, nav range: 62.885361 m, bearing: 52.978002 deg, approach rate: -0.023545 m/s, LOS rate: -0.511452 deg/s, cmd heading: 25.438215 deg, new cmd heading: 24.855784 deg. 2j}HeadingCmd: 0.433815 target range: 102.199997 and range: 102.20 m. j >jjjihhhhfffrfbf@ɛBQ ɾI 2ɚiIU=I >ii) >)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759322*F ?2F :F BFR5JFjH <bH <H I  I g$II BI &I .I 6I <:I e FGY GY Ba O} >׬w,b$A @I@:?Y:G@:Ի=9:,m|?>mmb@ mb@)mu@Im@iym @II(1٢%< ?=9Q > G٣y~ > Nusing accuracyPremultiplier from config59`?5Y}, i\ ™C>:@AE;Q;*5 ;@ZjFNOT Ignoring new targets: 102.20 m.Bj Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011494Jj 𻝊- ProNav: ac range: 102.199997 m, nav range: 62.885063 m, bearing: 52.797328 deg, approach rate: -0.000693 m/s, LOS rate: -0.420730 deg/s, cmd heading: 24.855784 deg, new cmd heading: 24.313779 deg. 2j-_5HeadingCmd: 0.424356 target range: 102.199997 and range: 102.20 m. j5 E>j1j1j1i1h9h9h9h=BfAfAfArfQbfUA@ɛMBM QUؼIQ U4ɚQiYI]4]=I E>ii) E>)*F=?2F9:F9BFE]0JFAGe > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  BDAT read: Rx Time:23:46:47.5341  TRx dataTimestamp_ set to:1736380008.888891 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264745G9 BA Oe >JCKK3 KK.KCKC"KCJ] J] J] 1JY J] :J] :J] 3JY J] ;J] ;J] 9P;J] :P;zK BHK K K $K   }܎w,.U>A2?Y2@20=92jll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v?z5Yv) iva ™x~}@~AvEv:v7:vҐ5 X@%B*** querying acoustic contact ***j!j!Zj9MFNOT Ignoring new targets: 102.20 m.Bj]Jj]𻝊 ProNav: ac range: 102.199997 m, nav range: 62.879776 m, bearing: 52.637250 deg, approach rate: -0.013907 m/s, LOS rate: -0.421091 deg/s, cmd heading: 24.313780 deg, new cmd heading: 23.833515 deg. 2j~ HeadingCmd: 0.415973 target range: 102.199997 and range: 102.20 m. j t>j j jihhhhfffrfAbfE{ @ɛB$ 隍}I %5ɚiI=It>ii)t>) e$?Imh*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515359G>G B O >w,XA6?Y6@6=96_]  BDAT read: Tx time:23:46:48.6468  $Ping request sent. 3泿ֈxwx w?yBB@B[Bq| BrA)@IB?iB)\BjtBn?BK@B BWK@)B5IBڶ@iB5>@@B׺p?h["P?8Jw)B?IB;iBӿBH@@:publishing transmit ping time Fpublishing direction and range info@9B>3泿ֈxwx w?y@@@@ @)@I@i@@@@@ @y9B#I)@I@i@@@B׺p?h["P?8Jw)@I@i@@@@II٢Fɻ !=9.Q > G٣UWGy%I| %> ]Nusing accuracyPremultiplier from configQ]59U㏜?e5YU{% iUh ™ae}@eAUEHI I;$IIBI&I.I6I<:I FU:U"BӭHgmV,Yng'-?B>3泿ֈxwx w?JkBӿRkBH*BLE֕W@(Ib^B@%Dٔ6B zP?W?^?*"LVǃ"kB5B*kBBkB?kB o 2kBEBkB>?k@kBAkBBkB?%? addTargetRange:: Added new target pos. range: 101.000000 m, deltaT: 3.779589 s, deltaX: -1.199997 m, approachRate: -0.317494 m/s, rangeRepo size: 4  Added new target pos. range: 101.000000 m, bearing: 20.914394 deg, lat: 36.905467 deg, lon: -122.120069 deg, deltaT: 3.779589 s, deltaX: -1.199997 m, approachRate: -0.317494 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 101.00 m. aIaBjJj ProNav: ac range: 101.000000 m, nav range: 82.562325 m, bearing: 37.117102 deg, approach rate: 0.000000 m/s, LOS rate: -0.421091 deg/s, cmd heading: 23.833515 deg, new cmd heading: 23.135453 deg. 2j HeadingCmd: 0.403790 target range: 101.000000 and range: 101.00 m. j >j j j i hhhyhyfffrf@Y@bfIf?ɛB[ %I! %6ɚ!i!I%4=I->i)i)5Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:23:46:48.6460 )->)Q*F ?2F :F BF 5JF GG?G?GBO >?w,ёwARz?YR?R[~ =9RJ->ףK@ 5@)@I@y\@II٢= C=9$Q > G٣yΔ > Nusing accuracyPremultiplier from config59 ؏?5Y! io ™>:}@AE; ;ᔴ5 @Zj9EFNOT Ignoring new targets: 101.00 m.BjE̻JjE̻ ProNav: ac range: 101.000000 m, nav range: 82.588379 m, bearing: 36.982922 deg, approach rate: 0.069568 m/s, LOS rate: -0.358159 deg/s, cmd heading: 23.135454 deg, new cmd heading: 22.733050 deg. 2juHeadingCmd: 0.396767 target range: 101.000000 and range: 101.00 m. j$>jjjihhhhBfffrfbf@vP?zK-(:MK-9K)K-$K-ɛuB} 隅I l7ɚiI=I$>ii)$>)A*F?2F:FBF_0JF ~$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G >G B O% >1 E sA%$w,^A2A F!YFsAyFBR?YR'(?RW =9RŞpt vG٣tyv v> ~Nusing accuracyPremultiplier from configx~59zΏ?5Yzy izu ™@AzEz ;z2 ;z5  @EZj1=FNOT Ignoring new targets: 101.00 m.BjEٹJjEٹU ProNav: ac range: 101.000000 m, nav range: 82.606972 m, bearing: 36.862803 deg, approach rate: 0.050311 m/s, LOS rate: -0.324963 deg/s, cmd heading: 22.733050 deg, new cmd heading: 22.372779 deg. 2jU_HeadingCmd: 0.390479 target range: 101.000000 and range: 101.00 m. j>jjjihhhhfffrfbf(?ɛ=ޅBE IMaII M%}8ɚIiIIMN&=I]>iYiY)]>)a*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAJJJ0JJJ :Jـ3Ja@a@a@a@GH1>I I/$II|BI% =&I.I6I<:Ir FGBO > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ow, G٣VWGy > Nusing accuracyPremultiplier from config59JÏ?5Y8 il ™ ?: @AE;;]5 @ZjFNOT Ignoring new targets: 101.00 m.BjuۻJjuۻ  ProNav: ac range: 101.000000 m, nav range: 82.590340 m, bearing: 36.698624 deg, approach rate: -0.038865 m/s, LOS rate: -0.383727 deg/s, cmd heading: 22.372778 deg, new cmd heading: 21.880154 deg. 2j HeadingCmd: 0.381881 target range: 101.000000 and range: 101.00 m. j߅>jjjihhhhhBfffrfbf ?ɛׅB { qI N9ɚiIKʝ=I5߅>i1i1)5߅>)9*F?2F:FBFc0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJBAGzK >`JK K K $K BK :K oAG B O >5w,ŚA $I$:2?Y: p?:<9:vUpp rG٣tyz z> Nusing accuracyPremultiplier from config 59 ?5Y l i d ™@A E < '<  5 @ B*** querying acoustic contact ***j j Zj9EFNOT Ignoring new targets: 101.00 m.BjEʻJjEʻeWill 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. ProNav: ac range: 101.000000 m, nav range: 82.569305 m, bearing: 36.552037 deg, approach rate: -0.050833 m/s, LOS rate: -0.354342 deg/s, cmd heading: 21.880154 deg, new cmd heading: 21.440290 deg. 2j.sHeadingCmd: 0.374204 target range: 101.000000 and range: 101.00 m. j>jjjihhhhfff!rf!bf%u?ɛυBlm 隝=I ;9ɚiIf=I>ii)>)*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999246G >G B O% >J J J /J J ܫ:J :J (N3J sw,BߚAHqIq IuB$IIuBIq&Iq.Iq6Iuo<:IuK F?Y.?1<9 =`;K@ K@)@I@y@II[٢= +=9ɹQ > G٣y > Nusing accuracyPremultiplier from config59?5YI ig ™>: }$?I@AE};{;5 @%EZjFNOT Ignoring new targets: 101.00 m.Bj^Jj^ ProNav: ac range: 101.000000 m, nav range: 82.534248 m, bearing: 36.401837 deg, approach rate: -0.076436 m/s, LOS rate: -0.327621 deg/s, cmd heading: 21.440290 deg, new cmd heading: 20.989510 deg. 2j`%HeadingCmd: 0.366336 target range: 101.000000 and range: 101.00 m. j%f>j!j!j)i)h)h)h)h5Bf1f1f1rf1bf=@ɛȅB6_ 隭 I p:ɚiI=If>ii)f>)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251956*Fy2Fy:FyBF}|0JFy nManaging dock network, ignoring radio surface power offG >G B O >֚w,A6 ?Y6?6s<96 ^B>Y$IIJIJRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503978٢Z$> Zv=9ZQ ^?`` bG٣bWWGyfǽ f? jNusing accuracyPremultiplier from confighn59j ?]5Yj  ijh ™Y]@]Aj¢Ejjj j i h h hAhAfAfIfIrfIbfM@ɛ…BO 썽I t:ɚiI!w=I>ii)>)zKMBoHKIKIKM!$KMRK]?JK]>*F2F:FBFS5JF IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755349G) G B O >w,A2?Y2?2<92PT VG٣TyVh V> ^Nusing accuracyPremultiplier from configX^59Zå?b5YZ iZj ™`b?bAZĢEZ ;Z;ZN5d j|@hZjx~FNOT Ignoring new targets: 101.00 m.BjJj ProNav: ac range: 101.000000 m, nav range: 82.464325 m, bearing: 36.170506 deg, approach rate: -0.107581 m/s, LOS rate: -0.333976 deg/s, cmd heading: 20.673514 deg, new cmd heading: 20.295227 deg. 2j4e%HeadingCmd: 0.354219 target range: 101.000000 and range: 101.00 m. j%!\>j!j!j!i!h)h)h)h)f1f1f1rf1bf= @ɛB< @I w:ɚiI=I!\>ii)!\>) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007358*F?2F:FBF 4JFJIJIJM0JIJIJIJMـ3JIjHm<bHm<G>HI Im$IIBI$ =&I.I6I<:Ii FBI9JI9RI9ZI9bI9jI=LJ4GBO> Ihe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260071w,,AB?YB?Br<9BsIR;-Mb@Mb@Mb@))) )))Y-x&1?v/? G٣yw > Nusing accuracyPremultiplier from config59?%5Yq ik ™%`?%:%W?%AƢEY;;?5) 5@9ZjFNOT Ignoring new targets: 101.00 m.BjMJjM ProNav: ac range: 101.000000 m, nav range: 82.392479 m, bearing: 36.021373 deg, approach rate: -0.156797 m/s, LOS rate: -0.325754 deg/s, cmd heading: 20.295226 deg, new cmd heading: 19.847445 deg. 2j_HeadingCmd: 0.346403 target range: 101.000000 and range: 101.00 m. j[>jjjihhhhLBfffrfbf`&F @ɛEBEt* Ium=Iq u2r:ɚqiqI}h=I}[>iyi)[>)*F2F:F!BF%5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512230zK k3IK 9K K "$K G% ɯ>G B O% > I 2w,QFA>y?Y>?><9>$ɓH(Ŀ`u??`Ŀ.?[@w?R?ɨ>y?>3;>"CyFޅBJ$IIRIR٢Z= ZU=9ZCQ Z>\\ ^G٣^XWGyb| b> fNusing accuracyPremultiplier from configdj59f?n5Yf ifl ™pvW?vAfǢEfV;f;fآ5  @ Zj)5FNOT Ignoring new targets: 101.00 m.Bj5pûJj=pûm ProNav: ac range: 101.000000 m, nav range: 82.328201 m, bearing: 35.899629 deg, approach rate: -0.180284 m/s, LOS rate: -0.341729 deg/s, cmd heading: 19.847445 deg, new cmd heading: 19.481935 deg. 2jmjuHeadingCmd: 0.340024 target range: 101.000000 and range: 101.00 m. ju>jqjyjyiyhyhyhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763643ɛeBeJ im=Ii m%:ɚiiiIuʠ=I>ii)>)*F2F:FBF^0JFG>G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015321O >Jm Jm Ji Ji Jm :Jm :Ji Ji w,`AHI I$IIBI&I.I6I<:Io F iIiyޅBޅ$IMb@Mb@Mb@ )Y-?l?{Gz?y??=#< )IyI5I5?٢E= E'=9MQ M>II MG٣QyU U> eNusing accuracyPremultiplier from configYm59]M?m5Y]^ i]m ™m?m:m?mA]ɢE]2;]J0;]5y }h@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.00 m.BjԻJjԻ ProNav: ac range: 101.000000 m, nav range: 82.217278 m, bearing: 35.715942 deg, approach rate: -0.224129 m/s, LOS rate: -0.371653 deg/s, cmd heading: 19.481935 deg, new cmd heading: 18.930147 deg. 2jHeadingCmd: 0.330393 target range: 101.000000 and range: 101.00 m. jS)>jjjihhhhsBfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268381bf-@@ɛB 隥*>I r9ɚiI5I=IS)>ii)S)>)*F2F:FBF_0JFG >G B O >Gw,.{AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519995Rw?YRU?Rg<9RÍ ]g=9eMQ e>aa mG٣iym > Nusing accuracyPremultiplier from config59퓏?5Y ih?AˢER;;5PB @EZj%FNOT Ignoring new targets: 101.00 m.BjMWλJjMWλ] ProNav: ac range: 101.000000 m, nav range: 82.119553 m, bearing: 35.587184 deg, approach rate: -0.273512 m/s, LOS rate: -0.360796 deg/s, cmd heading: 18.930148 deg, new cmd heading: 18.543421 deg. 2j]weHeadingCmd: 0.323644 target range: 101.000000 and range: 101.00 m. je>jajajaiahhhhfffrfbfx@ɛB!޼ 3=m>I  8ɚ i I z=I>ii)>)zKeKe@9KaKe#$Ke |$?Ih*F92F9:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771195G >GY Ba O > w,)A>d1?Y>no?>q<9>_H@|dܒ??V ?`"T? ?ɨ>d1?>uٍ;> CyFBF$IIRIR<٢Zi= ZU=9ZĻQ Z>\\ ^G٣\y^ b> fNusing accuracyPremultiplier from configdj59f?j5Yf ifl ™hj?jAf͢Efa:f:f45rQB r@pZjFNOT Ignoring new targets: 101.00 m.BjϻJjϻ- ProNav: ac range: 101.000000 m, nav range: 82.010323 m, bearing: 35.452405 deg, approach rate: -0.294183 m/s, LOS rate: -0.363478 deg/s, cmd heading: 18.543421 deg, new cmd heading: 18.138551 deg. 2j-sy5HeadingCmd: 0.316577 target range: 101.000000 and range: 101.00 m. j5p>j1j1j1i1h1h9h9h9f9fAfArfAbfE@ɛmBu"Dμ quɈ>Iy } 8ɚiIx=I%p>i!i!)%p>))%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024937*F2F:FBFp0JFZHRHHI I$II$BI% =&I.I6I<:Im F IG>GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275413g)w,ЮA6b?Y6?6F<96<$;6CyB6BB%IEMb@Mb@Mb@AAA A)AYE{Gz?&1?Mbp?yE#?EP=E;E@ E@)AIEK@AyE@IUIU<٢e9= eA=9maǻQ m>iq }G٣}YWGy}N }> Nusing accuracyPremultiplier from config59ݏ?5Y in ™\$?:?AϢEY;q';5PB @EZjFNOT Ignoring new targets: 101.00 m.Bj]޻Jj]޻ ProNav: ac range: 101.000000 m, nav range: 81.873413 m, bearing: 35.287409 deg, approach rate: -0.322090 m/s, LOS rate: -0.388814 deg/s, cmd heading: 18.138551 deg, new cmd heading: 17.642748 deg. 2jkHeadingCmd: 0.307924 target range: 101.000000 and range: 101.00 m. j9>jjjihhhhBfffrf bf  @ɛ5B5  9=n>I9 =6ɚ9i9I=H=IE9>iAiA)E9>)I*F?2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.527173JJJJJܫ:J:JJJ;aJ;aJnN;aJoN;aGm>Gi Bq O >zK K 9K K $$K   I w,țAN}?YN?N <9Npp rG٣pyr؞ v> zNusing accuracyPremultiplier from configt~59v?~5Yvq it|~?~AvѢEv ;v ;v5  N@ Zj)5FNOT Ignoring new targets: 101.00 m.Bj=ۻJj=ۻE ProNav: ac range: 101.000000 m, nav range: 81.743538 m, bearing: 35.140009 deg, approach rate: -0.338109 m/s, LOS rate: -0.384340 deg/s, cmd heading: 17.642749 deg, new cmd heading: 17.199857 deg. 2jM⃼MHeadingCmd: 0.300194 target range: 101.000000 and range: 101.00 m. jM >jQjQjQiQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779306hhhhfffrfbf%@A@ɛB2Z 隅>I 5ɚiI63=I >ii) >)) 1MtAmA XYtAyeAE5L=*F?2F:FBF`0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=6.031953H I  I B%II \BI $ =&I HD.I 6I j<:I F FG IG)B1OM>9w,AyvBBv#%IUMb@Mb@Mb@QQQ Q)QYUX9v?L7A`?MbP?yU3?U+=U:Q Q)QIU@QyU@IuIu̍٢}< =9Q > G٣ZWGy > Nusing accuracyPremultiplier from config597?5Y ip ™4?:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.283336?AԢEZ;6~;5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.00 m.BjHJjH򻝊  ProNav: ac range: 101.000000 m, nav range: 81.555397 m, bearing: 34.917408 deg, approach rate: -0.357235 m/s, LOS rate: -0.423642 deg/s, cmd heading: 17.199858 deg, new cmd heading: 16.530545 deg. 2j ^HeadingCmd: 0.288512 target range: 101.000000 and range: 101.00 m. j緓>jjjihhhh%уBf!f!f)rf)bf- C@ɛ]}B]! Ye(>Ia e"4ɚaiaImp=Im緓>iiiq)u緓>)qEe+=*F2F:FBF0JFG >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.535306G B O% >J J J 1J J :J :J 3J J ;J ;J 9P;J :P;~w,{Ay=B%%IIEIET٢eܿ m_=9iQ m>iq uG٣qyq }> Nusing accuracyPremultiplier from configy59}?5Y} i}r ™A}֢E}*:}:}5QB 6@EZjFNOT Ignoring new targets: 101.00 m.Bj[Jj[ ProNav: ac range: 101.000000 m, nav range: 81.424103 m, bearing: 34.760579 deg, approach rate: -0.360046 m/s, LOS rate: -0.430762 deg/s, cmd heading: 16.530545 deg, new cmd heading: 16.059311 deg. 2jГHeadingCmd: 0.280288 target range: 101.000000 and range: 101.00 m. j䁏>jjjihhhhfffrfbf@ɛ-vB5Vv 9=>I9 =2ɚ9i9I==IE䁏>iAiA)E䁏>)IEQEQ*EQ"EQzKuBHKu9KqKu%$Ku IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.787279*F2F:FBFJFG >G B O >l|w,P4A6?Y6L?6sQ;96x<ZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=7.039248y6H@7x?@O??z?V?3j?@?ɨ6?6d;4yMB0%IAIIV8٢= -;=9=sQ =>99 MG٣QyU]N e> }Nusing accuracyPremultiplier from configy59}튏?5Y} iyK?A}٢E}a;}3<}5 %<@!ZjQUFNOT Ignoring new targets: 101.00 m.BjU޻Jj]޻m ProNav: ac range: 101.000000 m, nav range: 81.240211 m, bearing: 34.578699 deg, approach rate: -0.393244 m/s, LOS rate: -0.389822 deg/s, cmd heading: 16.059312 deg, new cmd heading: 15.512456 deg. 2jmÅ}HeadingCmd: 0.270743 target range: 101.000000 and range: 101.00 m. j}➊>jjjihhhhfffrfbfX@ɛlBjH<bH<HI Iz%IIBI&I.I6I<:Ic Fv >I %rE1ɚ!i)I-Ѻ=I➊>ii)➊>) aIa*F2F:FBF>4JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.293037G >G B O > w,o4A>nP?Y>x?>9:9>֋Hls?N {??ns?RVSz??ɨ>nP?>;>CyJ?BN%I=Mb@Mb@Mb@999 9)9Y= +?Cl?{Gzy=6?=;==#9 =x@)=x@I99y=@IMIMb٢] eW=9eMQ e>ii mG٣m[WGym m> }Nusing accuracyPremultiplier from configq59u?5Yu iuv ™8?:?AuۢEu;u';u55  @ZjFNOT Ignoring new targets: 101.00 m.BjJju ProNav: ac range: 101.000000 m, nav range: 81.092529 m, bearing: 34.422056 deg, approach rate: -0.420480 m/s, LOS rate: -0.446806 deg/s, cmd heading: 15.512456 deg, new cmd heading: 15.041681 deg. 2j}Q}HeadingCmd: 0.262527 target range: 101.000000 and range: 101.00 m. j}i>jjjihhhhăBfffrfbf@@ɛeBD >I A/ɚiI-TϢ=I5i>i1i9)=i>)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.544424*F?2F:FBFR2JFJuJuJu0JqJu:Ju :Juـ3JqJu;Ju;JuU;JuU; YIYzKvKK9KK&$KG >G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.795213(w,NNAy޵3B޽%III[٢-b 5>=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M3?u5YMa iMy ™yy}AMݢEM;M2;M5 @ZjmFNOT Ignoring new targets: 101.00 m.Bj(Jj(𻝊 ProNav: ac range: 101.000000 m, nav range: 80.920792 m, bearing: 34.238356 deg, approach rate: -0.391750 m/s, LOS rate: -0.419926 deg/s, cmd heading: 15.041680 deg, new cmd heading: 14.489428 deg. 2jHeadingCmd: 0.252888 target range: 101.000000 and range: 101.00 m. jz>jjjihhhhfffrfbf@ɛ%\B%q AM>II Mr.ɚIiIIM =IUz>iQiQ)Uz>)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.048189*F2F:FBF4JFH 2>I  I %II BI % =&I .I 6I p<:I J FBIJIRIZIbIjIN4 a Ii G GQ Ba O >w,QiARӓ?YR?R9Rqy }G٣yy} }> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.299324 -bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!559%F?55Y% i%| ‘=+:9=n:=|?=A%E%:;%D>%5 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 101.00 m.BjJj绝  ProNav: ac range: 101.000000 m, nav range: 80.745979 m, bearing: 34.071820 deg, approach rate: -0.424672 m/s, LOS rate: -0.405440 deg/s, cmd heading: 14.489428 deg, new cmd heading: 13.988754 deg. 2j HeadingCmd: 0.244150 target range: 101.000000 and range: 101.00 m. jhz>jjjiYhYhYhahafafafirfibfm @ɛTB|a\ >I #-ɚiI+=Ihz>ii)hz>)*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iս A checking for new query: numPingsReceived=0, elapsed TxPingTime=8.552915G >G qAG G B O >J] JY JY JY J] :JY JY JY J] ;J] ;JY JY w,iǂA2?Y2U?2?92t;Q Z>XX ZG٣Xy^z f> 5bBottom track data is 0.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from configh559j݌?=5Yjܥ ij ‘= :9=@:E?EAjEjajjjihhhhfffrfbfi!@ IhɛMBQ ->I  ,ɚiIj=I:r>ii):r>)zKKж9KK'$K*Fu?2Fq:FqBFu`0JFq-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.804441G>GiByO>{&w,کA2m?Y2?2O~923U?ɨ2m?2I;2 C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.055079yFBF$IININm?٢Vݽ VJ=9VHQ Z>XX ZG٣Z\WGyf j> nbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr59j[?r5Yj3 ij ‘v9tv:v?vAjEj.+;j ?j~5| ~N@Zj)-FNOT Ignoring new targets: 101.00 m.Bj-MJj5M軝E ProNav: ac range: 101.000000 m, nav range: 80.399254 m, bearing: 33.766886 deg, approach rate: -0.471941 m/s, LOS rate: -0.406191 deg/s, cmd heading: 13.553495 deg, new cmd heading: 13.071994 deg. 2jEaMHeadingCmd: 0.228149 target range: 101.000000 and range: 101.00 m. jMi>jIjIjIiIhIhQhQhQfYfYfYrfYbf]]3"@ɛEBk 隍>I *ɚiQIU2#=IUi>iYiY)]i>)YZHqRHu@AHI I%IIBI$ =&I.I6Iu<:IN F*F!2F):F)BF-p0JF) I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.307309GM>Ga Bq O >,w,ԀA6㰈?Y6?6]96hr;6Cy>B>$I      % % %Mb@Mb@Mb@!!! !)!Y%(\?Q?y&1y%'?%(>%`%@ %K@)%@I%x@!y%@I1I1٢I :=9짺Q > G٣yψ > Nusing accuracyPremultiplier from config59:?5Yh i ‘T:-?:?AE+;d*;h5RB n@EZj!-FNOT Ignoring new targets: 101.00 m.Bj-GJj-GờE ProNav: ac range: 101.000000 m, nav range: 80.226593 m, bearing: 33.595376 deg, approach rate: -0.395700 m/s, LOS rate: -0.393909 deg/s, cmd heading: 13.071994 deg, new cmd heading: 12.556369 deg. 2jE+MHeadingCmd: 0.219150 target range: 101.000000 and range: 101.00 m. jMh`>jIjIjIiIhIhIhQhUkBfYfYfarfabfeU#@ɛI S)ɚiI==Ih`>ii)h`>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.560796*F ?2F:FBF0JF"G,>G)>JJJJJJJJJJJJ IGIGU?GU>G) B1 OM >zKe BHKe ŷ9Ka Ke ($Ke E Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8124313w,XМAB?YBhh jG٣hyn鞽 n> rNusing accuracyPremultiplier from configpv59r?v5YrϏ ir ™xz?zArEr':r:r5~SB 6@EZjFNOT Ignoring new targets: 101.00 m.BjmһJjmһ ProNav: ac range: 101.000000 m, nav range: 80.074959 m, bearing: 33.452464 deg, approach rate: -0.389658 m/s, LOS rate: -0.367938 deg/s, cmd heading: 12.556370 deg, new cmd heading: 12.126832 deg. 2j|]HeadingCmd: 0.211653 target range: 101.000000 and range: 101.00 m. j]X>jajajaiihihhhfffrfbf@#@ɛ-3B-o 隍>I (ɚiIX=IX>ii)X>)*FA2FA:FABFE0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I n%II BI &I .I 6I <:I h FG B I O5 >:w,:ANYC?YNa?N9NC x@ b@)b@Iy@II ٢/ѽ ;=9JQ > G٣]WGy > Nusing accuracyPremultiplier from config59?5Y i ™?:?AE;};콴5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.jQjYjYiYhYhYhahe.Bfafafarfibfme$@ɛ]+B] Y]>IY e'ɚaiaIev=IQ>ii)Q>)*FE?2FA:FABFEX5JFAGe > Will construct direction to contact in vehicle frame from tetrahedron phase data. @w,^A2{?Y2?292IB>T$IiBTT VG٣TyZТ Z> fNusing accuracyPremultiplier from config\j59^?j5Y^X i^ ™hnJ?nA^E^: ;^ ;^5p r@p B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 101.00 m.BjJj%- ProNav: ac range: 101.000000 m, nav range: 79.772408 m, bearing: 33.189123 deg, approach rate: -0.385145 m/s, LOS rate: -0.326368 deg/s, cmd heading: 11.695210 deg, new cmd heading: 11.335316 deg. 2j-_5HeadingCmd: 0.197839 target range: 101.000000 and range: 101.00 m. j53J> Ihj1jjihhhhfffrfbfu%@ɛ#B+ü 隽m>I ~&ɚiI=I3J>ii)3J>)zKBoIKK9KK)$K*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received%,DAT read: user:3451> 5BDAT read: Tx time:23:46:59.5955 =$Ping request sent.=!Gw,1A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6JDAT read: TxSync time:23:46:59.5947 :checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247030>fs?Y>~?>|.9>H?yt ?K{?`}?:@%q? ꒗??ɨ>fs?>_;> CyJBJ9$IIPIP٢Zֽ ZI=9Z:Q ^>\d fG٣dyjW j> rNusing accuracyPremultiplier from configlr59n?v5Yn } in ™tv?vAnEn :n :nR5x z@|ZjFNOT Ignoring new targets: 101.00 m.BjJjJSK[ـ3 K[ .KSKS"KSJJJJJ:JJJa@a@a@a@ ProNav: ac range: 101.000000 m, nav range: 79.610641 m, bearing: 33.059408 deg, approach rate: -0.380162 m/s, LOS rate: -0.305459 deg/s, cmd heading: 11.335316 deg, new cmd heading: 10.945386 deg. 2jQHeadingCmd: 0.191033 target range: 101.000000 and range: 101.00 m. j)C>j!j!j!i!h!h!h)h)f)f)f1rf1bfU@qM&@ɛB2ؼ 隥lS>I "E&ɚiI>=I)C>ii))C>)jH<bH4<HI I/%IILBI&IGD.I6I<:Ir F yIy*F ?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498188G) G B O- >LMw,7Ay~hB~$IMb@Mb@Mb@ )YX9v?zG?ly> =b@ @)K@I5@y@II۳٢Q 9=9Q > G٣^WGy > Nusing accuracyPremultiplier from config59?5YIw i ™"?:װ?AE;;<ô5 @Zj)-FNOT Ignoring new targets: 101.00 m.Bj5CJj5CM ProNav: ac range: 101.000000 m, nav range: 79.456711 m, bearing: 32.943948 deg, approach rate: -0.368220 m/s, LOS rate: -0.276728 deg/s, cmd heading: 10.945386 deg, new cmd heading: 10.598340 deg. 2jM=UHeadingCmd: 0.184976 target range: 101.000000 and range: 101.00 m. jUTj=>jQjQjYiYhYhYhaheBfafafarfibfm'@ɛBl 隝,>I %ɚiI=ITj=>ii)Tj=>)uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752090*F-?2F):F)BF-_0JF) e}$?IiGIG) B1 OM >zK K ŷ9K K *$K  ,#% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0021849Tw,ԹQAz~d?Yz}?zW9z> G٣y > Nusing accuracyPremultiplier from config59?5Y#r i ™b?AE>;;Ĵ5 -@ZjFNOT Ignoring new targets: 101.00 m.BjJj ProNav: ac range: 101.000000 m, nav range: 79.309151 m, bearing: 32.844888 deg, approach rate: -0.371702 m/s, LOS rate: -0.249996 deg/s, cmd heading: 10.598340 deg, new cmd heading: 10.300609 deg. 2j+ HeadingCmd: 0.179780 target range: 101.000000 and range: 101.00 m. j  8>j j j i hhhhfffrfbf@k'@ɛM BM IM >II MD%ɚQiQIU=IU 8>iYiY)] 8>)a*F=?2F9:FABFAJFAuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254109G>JJJJJ:J&:JJGG!?GBH I  I $II BI &I .I 6I <:I c FO% > A IA bZw,kAF ]?YFÊ?F=Z9Fyڸmxi=mC m5@ i)m5@Iiiym@II٢  C=9)Q > G٣y > Nusing accuracyPremultiplier from config59?5Ym tIi ™0>:`?AE ;;ƴ5Will construct direction to contact in vehicle frame from tetrahedron phase data.>D?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506478 .@EZj FNOT Ignoring new targets: 101.00 m.Bj$QJj$Q% ProNav: ac range: 101.000000 m, nav range: 79.173157 m, bearing: 32.770280 deg, approach rate: -0.332718 m/s, LOS rate: -0.182847 deg/s, cmd heading: 10.300608 deg, new cmd heading: 10.076401 deg. 2j-5HeadingCmd: 0.175866 target range: 101.000000 and range: 101.00 m. j5Q4>j1j1j1i1h1h9h9h=xBf9fAfArfAbfE (@ɛBU =I J$ɚi!I%G=I-Q4>i)i))-Q4>)1*F?2F:FBF`0JFG> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758374G B O >Eaw,VA6ݳT?Y6?6196@l tItl vG٣v_WGyz z> Nusing accuracyPremultiplier from config|59~? 5Y~j i~ ™  2? A~E~2:~:~fȴ5 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 101.00 m.BjMKJjMK ProNav: ac range: 101.000000 m, nav range: 79.042923 m, bearing: 32.703273 deg, approach rate: -0.345877 m/s, LOS rate: -0.178251 deg/s, cmd heading: 10.076401 deg, new cmd heading: 9.875050 deg. 2jHeadingCmd: 0.172352 target range: 101.000000 and range: 101.00 m. j}0>jjjihhh h f f frfbf`݄)@ɛB= 隅=I -$ɚiI|=I}0>ii)}0>)zKLK9KK+$K!_fVydR?/# RK ?JK?*Fi2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011077GG B O >ogw,1A&Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262609BDL?YB`?BqZi:9B?d?DM+M`?`?ɨBDL?B;B CyjBj#IIrIrƲ٢zD zH=9z۰;Q ~>|| G٣y- >  Nusing accuracyPremultiplier from config 59 e?5Y e i  ™?A E \ ;  ; +ʴ5%TB %@-EZjQUFNOT Ignoring new targets: 101.00 m.Bj]cAJj]cAm ProNav: ac range: 101.000000 m, nav range: 78.900665 m, bearing: 32.634745 deg, approach rate: -0.350351 m/s, LOS rate: -0.169074 deg/s, cmd heading: 9.875050 deg, new cmd heading: 9.669097 deg. 2jm軝uHeadingCmd: 0.168758 target range: 101.000000 and range: 101.00 m. ju,>jqjyjyiyhyhyhhfffrfbf{J*@ɛBN JJJJJ:J :JJ quT=Iq }vj$ɚyiyI}=I,>ii),>)ZHRHHI I$IIȅBI&I.I6I<:IBIyJIyRIyZIybIyjI}x4 Ih*F!2F!:F!BF%1JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515144GGpAGqAGB O= >Ěmw,A2B>#IUMb@Mb@Mb@QQQ Q)QYUx?y&1|y&1yUK>U`廹U`Q U@)U@IU@QyU@ImImb٢}V }B=9}";Q > G٣y > Nusing accuracyPremultiplier from config59?5Yb i!™>;zw?AE)G;E;̴5 @ZjFNOT Ignoring new targets: 101.00 m.BjzJjz溝 ProNav: ac range: 101.000000 m, nav range: 78.761612 m, bearing: 32.592313 deg, approach rate: -0.329581 m/s, LOS rate: -0.100749 deg/s, cmd heading: 9.669097 deg, new cmd heading: 9.541576 deg. 2jIHeadingCmd: 0.166532 target range: 101.000000 and range: 101.00 m. jW*>jjjihhh h iYiY)]W*>)aUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767310*F?2F:FBFP5JF IGGBO>zK% %NK% }9K! K% ,$K% BK- oA:K- pA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:47:02.1242  TRx dataTimestamp_ set to:1736380023.252663 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019242Džtw,ҝAj-:?Yj>^s?jǒ;9jV11 5G٣5`WGyE E> MNusing accuracyPremultiplier from configIU59M?U5YM_ iM!™Y]n?]AMEM|;M;Mʹ5a e@aZjFNOT Ignoring new targets: 101.00 m.Bj~պJj~պ ProNav: ac range: 101.000000 m, nav range: 78.629341 m, bearing: 32.555580 deg, approach rate: -0.335493 m/s, LOS rate: -0.093325 deg/s, cmd heading: 9.541575 deg, new cmd heading: 9.431193 deg. 2jHeadingCmd: 0.164605 target range: 101.000000 and range: 101.00 m. jO(>jjjihhhhfffrfbf`I+@ɛ݄BN =I #ɚiI9=IO(>i!i!)%O(>)!*F?2F:FBF4JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270670GJ9J=J9J9J9J=:J9J9GBHI IB$IIBI&I.I6I<:IX FO> ~$?I zw,Ar42?Yrj?rW;9r uK@ )@I@y(@IIԲWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522207٢S A=9;Q > G٣y > Nusing accuracyPremultiplier from config59Ǐ?5Y] i!™>;>>?mAEf<r<ϴ5 @ZjFNOT Ignoring new targets: 101.00 m.Bj/Jj/- ProNav: ac range: 101.000000 m, nav range: 78.485893 m, bearing: 32.537072 deg, approach rate: -0.296982 m/s, LOS rate: -0.038388 deg/s, cmd heading: 9.431193 deg, new cmd heading: 9.375566 deg. 2j-Һ5HeadingCmd: 0.163634 target range: 101.000000 and range: 101.00 m. j5͏'>j1j9j9i9h9h9hqhu0Bfffrfbf,@ɛ҄B x=I |#ɚiI%ꋥ=I%͏'>i)i))-͏'>))*F2F:FBFA5JFe Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:47:02.1242 LVL= 31728, 32753, 32754, 32755, AGC= 69, IDX= 313,-0.36,-1.592, 2.979,-2.563,-2.190, PHS= 0.686,-1.067,-0.376, RAW= 113.1, 9.9, CAL= 122.2, 7.0, ROT= 27.8, -7.0  Ygot valid direction response: 23:47:02.1242 LVL= 31728, 32753, 32754, 32755, AGC= 69, IDX= 313,-0.36,-1.592, 2.979,-2.563,-2.190, PHS= 0.686,-1.067,-0.376, RAW= 113.1, 9.9, CAL= 122.2, 7.0, ROT= 27.8, -7.0  PDAT read: Bearing 27.8, -7.0 (Local)  ~Local bearing/azimuth received: Bearing 27.8, -7.0 (Local)  DAT read: Range 10 to 50 : 93.4 m (Round-trip 124.6 ms) speed 0.3 m/s  ,DAT read: user:3452>  BDAT read: Tx time:23:47:03.2455  $Ping request sent. e @)e 5=Ie Ul>ie 5a a e e_I?L͒Z9U?)e Ie }e1ie je oђa a  :publishing transmit ping time  Fpublishing direction and range infoa 9e :4ZӿCMѿLX+?ya a a a a )a Ia ia a a a a a )a Ia ia a a e e_I?L͒Z9U?)a Ia ia a a a G >G G ?G B O >w,ˠA $I$y~B~#II I ٢E9 ER=9MQ M>QQ UG٣Qy > Nusing accuracyPremultiplier from config59nЏ?5YZ i#!™AE;j;ZѴ5UB i@EkvVّ?kIX" k kEA:k̺BBkBZkg+@")(?<4:,P HU@:4ZӿCMѿLX+?JkjRkoђ*/z@.`DvC,+U@Jp?7w#ڿߍ.?"k3*k׫@kA?kىY_" 2k+CkkkQhBkBk$L? addTargetRange:: Added new target pos. range: 93.400002 m, deltaT: 14.615946 s, deltaX: -7.599998 m, approachRate: -0.519980 m/s, rangeRepo size: 4 ] Added new target pos. range: 93.400002 m, bearing: 277.830003 deg, lat: 36.905467 deg, lon: -122.120069 deg, deltaT: 14.615946 s, deltaX: -7.599998 m, approachRate: -0.519980 m/s, posRepo size: 4 ZjY]DNOT Ignoring new targets: 93.40 m.BjeJja ProNav: ac range: 93.400002 m, nav range: 78.348305 m, bearing: 32.519254 deg, approach rate: 0.000000 m/s, LOS rate: -0.038388 deg/s, cmd heading: 9.375566 deg, new cmd heading: 9.332406 deg. 2jHeadingCmd: 0.162881 target range: 93.400002 and range: 93.40 m. jU&>jjjihhhhfffrfYW@bfB?zK-&~JK-@9K)K--$K-ɛUɄBU QU=IQ ]Q)#ɚYiYI]ɥ=IeU&>iaia)eU&>)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:47:03.2447 *F!2F!:F!BF%^0JF!GE >G B O% >w,y AWill construct direction to contact in vehicle frame from tetrahedron phase data.: ?Y:iY?:<9:οII MG٣MaWGyM3 U> ]Nusing accuracyPremultiplier from configQe59U.ُ?e5YUWX iU+!™ae,?eAUEU*:U:U Ӵ5q uY@qB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.40 m.BjJj ProNav: ac range: 93.400002 m, nav range: 78.215996 m, bearing: 32.508740 deg, approach rate: -0.372187 m/s, LOS rate: -0.029626 deg/s, cmd heading: 9.332406 deg, new cmd heading: 9.300811 deg. 2jHeadingCmd: 0.162330 target range: 93.400002 and range: 93.40 m. j9&>jjjihhhhfffrfbf`?ɛB r  >I  "ɚ iI=I9&>ii)9&>)HYIY I]$II]hBIY&IY.IY6I]<:I] F 9IA*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GGBO>w,6[:A6?Y6(eQ?6<96QuȽuu5@ q)u5@Iu@qyu@II٢ّ= D=9Y"8Q > G٣y꙽ > Nusing accuracyPremultiplier from config59%䏜?5YAV i/!™>; ?AEo;:Դ5 f@ZjDNOT Ignoring new targets: 93.40 m.BjT8JjT8 ProNav: ac range: 93.400002 m, nav range: 78.063713 m, bearing: 32.511056 deg, approach rate: -0.348550 m/s, LOS rate: 0.005309 deg/s, cmd heading: 9.300811 deg, new cmd heading: 9.307770 deg. 2j2i9HeadingCmd: 0.162451 target range: 93.400002 and range: 93.40 m. jY&>jjjihhhhQBfffrfbf@j?5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995371ɛeBeּ aeN>Ia e~"ɚiI>=IY&>ii)Y&>)JJJJJ<:J:JJJ5;aJ6;aJ.Y;aJ/Y;a*Fa2Fa:FaBFaJFaGmqA Gi -$?I)G G G lAGa Bi O >zK m$JK 9K K .$K ) C Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2480745 GM 5tAa @Y 5tAy BӔw,\>TAN(@?YN9H?N8<9Nh G٣y媽 > Nusing accuracyPremultiplier from config59?5YWT i3!™I?AE;,;ִ5 @Zj)-DNOT Ignoring new targets: 93.40 m.Bj59Jj=9] ProNav: ac range: 93.400002 m, nav range: 77.915924 m, bearing: 32.516993 deg, approach rate: -0.379042 m/s, LOS rate: 0.015257 deg/s, cmd heading: 9.307770 deg, new cmd heading: 9.325617 deg. 2j]':eHeadingCmd: 0.162763 target range: 93.400002 and range: 93.40 m. jeE&>jajijiiihqhqhyhyfyffrfbf>??ɛ-B-צ 15z>I1 5h>!ɚ9i9I=o=IME&>iQiQ)UE&>)a*F=?2F9:F9BF=l0JFA=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499438HQIQ IU$IIUYBIQ&IQ.IQ6IU<:IUm F  I hG% >G B O= >w,nA s?Y??e<9̽D; )@Iy(@II٢d< 5=9 ;Q > G٣bWGy%^ %> -Nusing accuracyPremultiplier from config)559-?55Y-&R i-4!™=3>=;=e>=A-E-;-;-ش5A EO@MEZjq}DNOT Ignoring new targets: 93.40 m.Bj}9Jj9 ProNav: ac range: 93.400002 m, nav range: 77.740196 m, bearing: 32.526924 deg, approach rate: -0.393275 m/s, LOS rate: 0.022275 deg/s, cmd heading: 9.325617 deg, new cmd heading: 9.355476 deg. 2jt:HeadingCmd: 0.163284 target range: 93.400002 and range: 93.40 m. j3'>jjjihhhhYBf f f rf bf `?ɛB 隍[>I 4 ɚiI=I3'>ii)3'>)*F=?2F9:F9BF=o0JF9E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003073G} >J J J J J :J :J J J ;J ;J Z;J Z;G9 BA O} >  I w,凞A>r>Y>J6?>E<9>?ѪHU*?2Q?`4?`*? \Y??ɨ>r>>C;>!CyJYBJ$IIRIRq٢^y> ^z=9f,;Q j?hh jG٣hynٽ n? rNusing accuracyPremultiplier from configpv59r?v5YrP ir6!™tz>zArEr]:r:rڴ5| ~@Zj!-DNOT Ignoring new targets: 93.40 m.Bj5:Jj5:E ProNav: ac range: 93.400002 m, nav range: 77.612663 m, bearing: 32.537479 deg, approach rate: -0.389969 m/s, LOS rate: 0.032328 deg/s, cmd heading: 9.355476 deg, new cmd heading: 9.387193 deg. 2jE}:MHeadingCmd: 0.163837 target range: 93.400002 and range: 93.40 m. jM'>jIjQjQiQhQhQhYhYfYfifqrfbfqT@ɛB ƽ>I =ɚiIǦ=I'>ii)U'>)Y*F?2F:FBFS5JFzKM]JKMŷ9KIKM/$KM%950-+-,.<Mc|ug^SG>92,'&$!  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256360G)G5?G5!?G B O5 >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507869w,W類A2/>Y2.?2rY<922;2Cy>fB>$IIJIJ٢N = NK=9RF;Q R>Ph jG٣hyj n> rNusing accuracyPremultiplier from configlv59n?v5YnN in7!™tv>vAnEn ;nG ;n۴5~VB ~@EHI I$IImBI&I.I6II<:I1 FB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.40 m.Bj 4:Jj 4:M ProNav: ac range: 93.400002 m, nav range: 77.455620 m, bearing: 32.554637 deg, approach rate: -0.359451 m/s, LOS rate: 0.039352 deg/s, cmd heading: 9.387193 deg, new cmd heading: 9.438771 deg. 2jM:UHeadingCmd: 0.164738 target range: 93.400002 and range: 93.40 m. jU(>jQjQjQiQhYhYhY $?Ihfffrfbfy@ɛBZ0 >I ŸɚiI=I(>ii)(>)!*F2F:FBFA5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759305GG B O > 7w,IA2J>Y2T%?2;h<9225;2 Cy>B>;$ImMb@Mb@Mb@iii i)iYm~jt?~jtMb?ym>mm <=9O ;Q > G٣cWGy > Nusing accuracyPremultiplier from config59 ?5YL i>:S>AE=;;ݴ5 @ZjDNOT Ignoring new targets: 93.40 m.Bj :Jj : ProNav: ac range: 93.400002 m, nav range: 77.269684 m, bearing: 32.568031 deg, approach rate: -0.465341 m/s, LOS rate: 0.033604 deg/s, cmd heading: 9.438771 deg, new cmd heading: 9.479052 deg. 2j:%HeadingCmd: 0.165441 target range: 93.400002 and range: 93.40 m. j%Gi)>j!j!j)i)h)h)h1h5Bf1f1f9rf9bf=@ɛBv] >Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:47:05.7724 TRx dataTimestamp_ set to:1736380027.032752%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012332I %ɚ!i!I%G=IMGi)>iQiQ)UGi)>)QJJJJJ:J/:JJJ;J;J^;J^;*F2F:FBFQ4JF IG >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263276zK ;NK 9K K 0$K "4EMT]acdda_[SPLG?w,k~՞Af>Yf?fڥz<9f6 fR;f!Cy~Bi$Ii G>I ;IIW٢%vB> %R=9%:;Q ->)) -G٣)y5+ 5> uNusing accuracyPremultiplier from configq}59u.?}5YuJ iq>AuEu:uz:uߴ5 @ZjDNOT Ignoring new targets: 93.40 m.BjtK:JjtK: ProNav: ac range: 93.400002 m, nav range: 77.085220 m, bearing: 32.590486 deg, approach rate: -0.364436 m/s, LOS rate: 0.044468 deg/s, cmd heading: 9.479052 deg, new cmd heading: 9.546576 deg. 2j%:HeadingCmd: 0.166619 target range: 93.400002 and range: 93.40 m. j8*>jjjihhhhfffrfbf`# @ɛ{B +?I 6ɚiI3=I 8*>i i )8*>)Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 23:47:05.7724 LVL= 12688, 25713, 22562, 30003, AGC= 61, IDX= 422,-0.32, 0.131,-1.779,-1.406,-0.873, PHS= 1.093,-0.859,-0.535, RAW= 98.9, 3.4, CAL= 108.9, 1.4, ROT= 41.1, -1.4 ]Ygot valid direction response: 23:47:05.7724 LVL= 12688, 25713, 22562, 30003, AGC= 61, IDX= 422,-0.32, 0.131,-1.779,-1.406,-0.873, PHS= 1.093,-0.859,-0.535, RAW= 98.9, 3.4, CAL= 108.9, 1.4, ROT= 41.1, -1.4 mPDAT read: Bearing 41.1, -1.4 (Local) m~Local bearing/azimuth received: Bearing 41.1, -1.4 (Local) }DAT read: Range 10 to 50 : 92.1 m (Round-trip 122.8 ms) speed 0.4 m/s ,DAT read: user:3453> BDAT read: Tx time:23:47:06.8955 $Ping request sent.I IN$IIBI&I.I6I;<:I& FBIJIRIZIbIjIU+4I7?i+ȼ=?Яֿma E? }$?I*F?2F:FBFP5JF)xIwMpi7` :publishing transmit ping time؁ Fpublishing direction and range info9DĿϡɦ䶔?y )Ii )Ii=?Яֿma E?)IiG >G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. = 4= JDAT read: TxSync time:23:47:06.8947 O >yw,)AyÅB$IMb@Mb@Mb@ )Yi|?5?~jtQ?y>ļu<x@ @)K@Iy@IIi٢= =9Q > G٣y > -Nusing accuracyPremultiplier from config)559-??55Y-G i-4!™5>=:=?=A-E-;-;-5EWB EB@eEk]gX?kh) k kLA:k3BBkBZk@"erP -?QǍeApV@DĿϡɦ䶔?Jk7Rk`*ʪ*E|)C)߷V@赿W㱵(ܒ?"kK*k<kɦ?kDw 2kCkk o kEBkΌBkщ> addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.528030 s, deltaX: -1.300003 m, approachRate: -0.368478 m/s, rangeRepo size: 4 U Added new target pos. range: 92.099998 m, bearing: 238.259953 deg, lat: 36.905467 deg, lon: -122.120224 deg, deltaT: 3.528030 s, deltaX: -1.300003 m, approachRate: -0.368478 m/s, posRepo size: 4 ZjQUDNOT Ignoring new targets: 92.10 m.Bj]JjY ProNav: ac range: 92.099998 m, nav range: 70.402740 m, bearing: 23.112842 deg, approach rate: 0.000000 m/s, LOS rate: 0.044468 deg/s, cmd heading: 9.546576 deg, new cmd heading: 9.602936 deg. 2jHeadingCmd: 0.167603 target range: 92.099998 and range: 92.10 m. j+>jjjihhhh Bfffrf`fW@bf i?ɛqB8; (?I QɚiYI]A=Ie+>iaia)e+>)i*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.J- J- J) J) J- :J- :J) J) J- i;J- j;J- cW;J- dW; I G G B O >w, A2@>Y2Y?2,<92;y2H`}? <߿O? ?@?U?`X~??ɨ2@>2H;2 Cy:B:$IIJIJ٢bk.> bv=9f:Q f?dh jG٣jdWGyju8 j? Nusing accuracyPremultiplier from config 59J? 5YE i1!™>AE;:59 =r@AZjDNOT Ignoring new targets: 92.10 m.BjJj ProNav: ac range: 92.099998 m, nav range: 70.245834 m, bearing: 23.104191 deg, approach rate: -0.489472 m/s, LOS rate: -0.027049 deg/s, cmd heading: 9.602936 deg, new cmd heading: 9.576924 deg. 2jHeadingCmd: 0.167149 target range: 92.099998 and range: 92.10 m. j)+>jjjihhhhfffrfbf4?ɛiBX< 隵$;?I pɚiI9=I)+>ii))+>)Will construct direction to contact in vehicle frame from tetrahedron phase data.zKmѴMKm9KiKm1$Km70*(! RK ?JK?*Fe?2Fa:FaBFm_0JFiG>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,Z&AjHbH<HI I$II҅BI&I.I6It<:IO F DIDJd>YJ\>JI<9Jd;yJH/?F޿`ȑ?G? !1?hT?I+}??ɨJd>Jl;HyZBZ$IIbIb٢j]> jJ=9j':Q n>ll rG٣pyv] v> zNusing accuracyPremultiplier from configx}59zKY?}5YzC iz.!™?>Az Ezjijijiiqhhhhfffrfbfac?ɛ5`B5$< 15=M?I9 =ɚ9i9I=4=IE|*>iAiA)E|*>)I*F2F:FBFJF "G)G-0>5Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G >G ?G ?G B O >w,SB@A6{{>Y6>68<96 63;4y> B>$IMb@Mb@Mb@ )Y)\(?I +?:v?yG?94=T< @)5@I@y@I-I-b(uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502794٢= <=9MEQ > G٣y> > Nusing accuracyPremultiplier from config59;i?5Y@ i,!™?:r ?A E;;51 5@1ZjDNOT Ignoring new targets: 92.10 m.BjOJjO ProNav: ac range: 92.099998 m, nav range: 69.836349 m, bearing: 23.071062 deg, approach rate: -0.523408 m/s, LOS rate: -0.064831 deg/s, cmd heading: 9.558874 deg, new cmd heading: 9.477234 deg. 2j1HeadingCmd: 0.165409 target range: 92.099998 and range: 92.10 m. j`)>jjjihhhhFBfffrfbfc? u$?IqɛVB< 7 =[?I ɚiI&=IE`)>iE9N)M`)>)I*F2F):F)BF)JF)- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754865zK ̘LK ]9K K 2$K BK pA:K nAG] >GQ Ba O >=w,-ZA2IK`>Y2>2m<92A2;2"Cy>#B>$IIFIF̍٢N= N^=9RZ.;Q R>PP RG٣VeWGyZ4 ^> nNusing accuracyPremultiplier from configdr59fv?r5Yf3> if*!™pr?rAf Ef;fG;f_5zVB z1@zEZjDNOT Ignoring new targets: 92.10 m.Bj%pJj%p5 ProNav: ac range: 92.099998 m, nav range: 69.651970 m, bearing: 23.052221 deg, approach rate: -0.513748 m/s, LOS rate: -0.052637 deg/s, cmd heading: 9.477234 deg, new cmd heading: 9.420562 deg. 2j5~=HeadingCmd: 0.164420 target range: 92.099998 and range: 92.10 m. j=](>j9j9j9i9hAhAhAhAfIfIfIrfQbfU?ɛNBK = ,j?I  ɚiI =I%](>i%|T)%](>)I*F2F!:F!BF%0JF!}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007028G>GBOD>JJJJJ:JJJa@a@a@a@HI I$IIBI% =&I.I6Iw<:IQ F U$?IY- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259013bw,sA6gD>Y6Xm>6<96{6*\;6Cy>7BB%IiFt>IF?Mb@Mb@Mb@ )Y~jt?S㥻?II UG٣QyU U> Nusing accuracyPremultiplier from config59҆?5Y: i)!™ z?:@?AEX;V;M5 @!ZjamDNOT Ignoring new targets: 92.10 m.BjmԺJjԺ ProNav: ac range: 92.099998 m, nav range: 69.423660 m, bearing: 23.010907 deg, approach rate: -0.512771 m/s, LOS rate: -0.093095 deg/s, cmd heading: 9.420561 deg, new cmd heading: 9.296210 deg. 2jHeadingCmd: 0.162249 target range: 92.099998 and range: 92.10 m. j$&>jjjihhhh~Bfffrfbf @ɛMDBMy< IUKy?IQ U6~ ɚQiQIUI=I]$&>i][)]$&>)a*F!2F!:F!BF%1JF!G-pA G-qAWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511172 q Iq G 9>Ga Bi O >Iw,yʍA6+F)>Y6:>6A<966u;6CyRCBV#%II^I^F٢ftw= fS=9f:Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpz59ro?z5Yr7 ir(!™x~S?~ArErl;rm;r5 :@ EZj1=DNOT Ignoring new targets: 92.10 m.Bj=оJjEоM ProNav: ac range: 92.099998 m, nav range: 69.232559 m, bearing: 22.980572 deg, approach rate: -0.524028 m/s, LOS rate: -0.083411 deg/s, cmd heading: 9.296210 deg, new cmd heading: 9.204956 deg. 2jUdUHeadingCmd: 0.160657 target range: 92.099998 and range: 92.10 m. jU6$>jYjYjYiYhYhahahafafifirfqbf}@ɛiUܶa)]6$>)YzKk3IK@9KK3$K !" #)/30.RK?JK>E*FM ?2FQ :FQ BFU o0JFY GE bm> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:47:09.4203  TRx dataTimestamp_ set to:1736380030.564727 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016081G! B) OE >J- J- J) J) J- <:J- :J) J) H= 4>I9  I= B%II= \BI= $ =&I9 .I9 6I= G<:I= . F ] $?Ia s{w,vŧAv^ >YvS>v7<9vvGΕ;v Cy5NB=2%II}I}i٢\T= ;=9_h:Q >    G٣ fWGy̓ > Nusing accuracyPremultiplier from config%59B?%5Yu4 i)-?-AEM ; ;5I M@IB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 92.10 m.BjJj ProNav: ac range: 92.099998 m, nav range: 68.999672 m, bearing: 22.949111 deg, approach rate: -0.516295 m/s, LOS rate: -0.069982 deg/s, cmd heading: 9.204955 deg, new cmd heading: 9.110254 deg. 2j@HeadingCmd: 0.159004 target range: 92.099998 and range: 92.10 m. j">jjjihhhhfffrfbf@t @ɛU2B]N= ae?Ia e.ɚaiaIm=Im">iuSg)u">)qEE=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270658*F)2F):F1BF535JF1G-X>GBO >[w,A6z=Y6>6ci<96;\x@ )@Iy\@II#٢== =C=9M2: !I!Q U>qq uG٣qy}~ }> Nusing accuracyPremultiplier from config59?5Y0 i*!™ ?:?AEvY<nY<5WB @EZj9EDNOT Ignoring new targets: 92.10 m.BjmY׺JjmY׺} ProNav: ac range: 92.099998 m, nav range: 68.762428 m, bearing: 22.906317 deg, approach rate: -0.520082 m/s, LOS rate: -0.094136 deg/s, cmd heading: 9.110254 deg, new cmd heading: 8.981430 deg. 2j}5}HeadingCmd: 0.156756 target range: 92.099998 and range: 92.10 m. j >jjjihhhhBfffrfbf \! @ɛM(BM '= IMi]Il)] >)a Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 23:47:09.4203 LVL= 11968, 23025, 18658, 24211, AGC= 54, IDX= 416, 0.22, 1.334,-0.211,-0.545, 0.426, PHS= 0.997,-0.589,-0.974, RAW= 79.4, 6.3, CAL= 83.9, 7.0, ROT= 66.1, -7.0 ] Ygot valid direction response: 23:47:09.4203 LVL= 11968, 23025, 18658, 24211, AGC= 54, IDX= 416, 0.22, 1.334,-0.211,-0.545, 0.426, PHS= 0.997,-0.589,-0.974, RAW= 79.4, 6.3, CAL= 83.9, 7.0, ROT= 66.1, -7.0 e PDAT read: Bearing 66.1, -7.0 (Local) e ~Local bearing/azimuth received: Bearing 66.1, -7.0 (Local) E = DAT read: Range 10 to 50 : 90.5 m (Round-trip 120.7 ms) speed 0.2 m/s  ,DAT read: user:3454>  BDAT read: Tx time:23:47:10.5455  $Ping request sent.% G !>GX>G?G?GaBqO ?w,0AWill construct direction to contact in vehicle frame from tetrahedron phase data.iZʦ=YZϪ>Z<9Z11 =G٣9y=n => ENusing accuracyPremultiplier from configAu59Eǐ?u5YE- iE-!™y}?}AEEEK;E;E5 @EJK KKK"KJJJJJܫ:J:JJ $?IhH3>I Iz%IIBI&I.I6I<:Is Fk ?k N k  k ԟA:k BBk ³BZk @" 㮋0l=e>:@J>U@ ̦ǿPV?M7r ?Jk @Rk ]!* ӊI5!N2@1K1~U@ ^(wο_?Jf?"k qA*k Tk ϐ?k *J 2k &Ck A?k *J k +Ck Ak .#?= addTargetRange:: Added new target pos. range: 90.500000 m, deltaT: 3.784612 s, deltaX: -1.599998 m, approachRate: -0.422764 m/s, rangeRepo size: 4 ] Added new target pos. range: 90.500000 m, bearing: 139.642964 deg, lat: 36.904921 deg, lon: -122.120317 deg, deltaT: 3.784612 s, deltaX: -1.599998 m, approachRate: -0.422764 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 90.50 m.BjJj ProNav: ac range: 90.500000 m, nav range: 18.466387 m, bearing: 82.424195 deg, approach rate: 0.000000 m/s, LOS rate: -0.094136 deg/s, cmd heading: 8.981430 deg, new cmd heading: 8.842455 deg. 2jHeadingCmd: 0.154330 target range: 90.500000 and range: 90.50 m. j>jjjihhhhfffrfV@bf1?ɛUBu!= 隝?I 5RɚiI`P=I>iOq)>)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF p0JF G I>G B O >w,AybTBb9%IUMb@Mb@Mb@QQQ Q)QYUMbX9?w/?y&1|yU?U&>U`U@ Q)Ub@IQQyU @I}I}ʳ٢  C=9Q > G٣gWGy > Nusing accuracyPremultiplier from config59א?5Y) i2!™X?: ?AE;;5XB =@EZjDNOT Ignoring new targets: 90.50 m.Bj<Jj<  ProNav: ac range: 90.500000 m, nav range: 18.317417 m, bearing: 82.931167 deg, approach rate: -0.395708 m/s, LOS rate: 1.357602 deg/s, cmd heading: 8.842455 deg, new cmd heading: 10.375354 deg. 2j h=HeadingCmd: 0.181084 target range: 90.500000 and range: 90.50 m. jn9>jjjihhh!h%Bf!f!f!rf)bf- ?ɛBe=^= Ǐ?I >ɚiI=I Ⱥ,>i i =)n9>)1eWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF_0JFGc/>GyBO_> Will construct direction to contact in vehicle frame from tetrahedron phase data. > a=w,AzK"LK K K"5$K""/2420/,,'%":=Y:T:>:<9:=y:H?Ͽ`5??? ? ?ɨ:=:l;:CyjHBj*%Iin=InD?IpIp٢zǀ zT=9~pQ ~>| G٣y > Nusing accuracyPremultiplier from config 59 吜?5Y & i 6!™S?A E  ; m ; Y5! -@)ZjIUDNOT Ignoring new targets: 90.50 m.BjUR<JjURjqjqjqiqhqhqhyhyfyffrfbfO?ɛ B\= 隵?I $ɚiI=ItM>ii@n9=)_[T>)*F2F:FBFJFG&>GiBO>>]Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IjH<bH=HI I%IIBI&IHD.I6IR<:I5 FBIyJIyRIyZIybIyjI}e4J J J 1J J :J  :J 3J J aJ aJ U;aJ U;aR w,1AJۚ;YJi>JQ<9Jc =yJHD*?̿ Y?@?'?* i? ?ɨJۚ;Jꅑ;J CyDB%%IIuIu$٢ @=Will construct direction to contact in vehicle frame from tetrahedron phase data.9#Q > G٣y  b  > Nusing accuracyPremultiplier from config)59-?5Y-# i-;!™' ?A-E-<-Z<-F5YB I@EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 90.50 m.Bj?<Jj?jajajaiahahahihfffrfbf8?ɛB%g7= 15*?I1 5Dݼɚ1i1I5;=I=Dt>i9i= )EDt>)A*F?2F!:F!BF%^0JF!m Will construct direction to contact in vehicle frame from tetrahedron phase data.i ii u T****** received valid address query ******u R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.GE D> I Gq B O >nw,-KA2o@Y2bT>2:<92wH-=y2H#O?U=ʿ? Z?J?lLb?Y?ɨ2o@2r;2CyB5BB%IMb@Mb@Mb@ )YZd;O?jt?Qyj> >u @)x@I@yf@I-I-=س٢= =P=9=Y:Q =>AA EG٣EhWGyMD` M> UNusing accuracyPremultiplier from configQ]59U?]5YU! iUA!™]?e:eJ?eAUEUj;U;U5i m<@qZjDNOT Ignoring new targets: 90.50 m.Bj%<Jj%jYjYjYiYhYhahhBfffrfbfv?ɛ B ^`=  G?I  YּɚiI*t=Iׇ>ii)ׇ>)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981984*F?2F:FBF`0JFG!>zK5 w,VeAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233634:@Y:`?>: <9:L=y:Ho?ǿ??`}h? O7~?@v?ɨ:@:~;:!Cy%)B%%I E$?IAI5I5٢Ul UI=9U2i:Q ]>Ya eG٣aymL m> uNusing accuracyPremultiplier from configqHI I%IIBI&I.I6IJ<:I/ F59ut?5Yu| iuH!™6>AuEuh;u;u5 @}EZjDNOT Ignoring new targets: 90.50 m.Bj<Jj< ProNav: ac range: 90.500000 m, nav range: 17.816797 m, bearing: 85.090133 deg, approach rate: -0.295548 m/s, LOS rate: 1.433054 deg/s, cmd heading: 15.201510 deg, new cmd heading: 16.895548 deg. 2ju= HeadingCmd: 0.294883 target range: 90.500000 and range: 90.50 m. j >j jjihhh!h!f!f)f)rf)bf5J@ɛB%IS= )-[?II U0?ϼɚQiYI];=Im>ii)>)*F%?2F!:F!BF-o0JF)G:=GG5?GBAO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488219w,a5A60d@Y6z,>6T<96e6c=y6H͊?`&MſD[?pt??wla?@?ɨ60d@6Z;6CynBn$ImMb@Mb@Mb@iii i)iYm`"?Zd;?~jtym>m=mm@ m@)mK@Iiiym@II<٢ݽ F=9úQ > G٣y09 > Nusing accuracyPremultiplier from config59K$?5YJ iQ!™>:>A E6;LC;5 q@ZjDNOT Ignoring new targets: 90.50 m.Bj<Jj< ProNav: ac range: 90.500000 m, nav range: 17.718637 m, bearing: 85.672606 deg, approach rate: -0.240066 m/s, LOS rate: 1.432402 deg/s, cmd heading: 16.895549 deg, new cmd heading: 18.652065 deg. 2ju=HeadingCmd: 0.325540 target range: 90.500000 and range: 90.50 m. j,>jjjihhhhZBfffrfbf@ɛB%;L= !%?I! %ȼɚ)i)I-6=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737937IU,>iQiU)],>)Y =$?I9JJJ0JJ:J :Jـ3Ja@a@a@a@*F2F:FBF0JFGnm=GyBO^> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:47:13.0695  TRx dataTimestamp_ set to:1736380034.344999 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991399m%w,AzK.LK.9K,K.7$K.%--+'$" >]@Y>@>><9>`Au=y>H@? ÿ]@>+;dd fG٣fiWGyjA j> Nusing accuracyPremultiplier from config%5943?%5YR iY!™!->-A!E::.55ZB 5@5zEZjDNOT Ignoring new targets: 90.50 m.Bj<Jj< ProNav: ac range: 90.500000 m, nav range: 17.631630 m, bearing: 86.227614 deg, approach rate: -0.222398 m/s, LOS rate: 1.425621 deg/s, cmd heading: 18.652065 deg, new cmd heading: 20.324805 deg. 2jt=HeadingCmd: 0.354735 target range: 90.500000 and range: 90.50 m. j̟>jjjihhhhfffrfbf @ɛBP= t?I RɚiI̤=I̟>iio\)M̟>)Q*F2F:FBFW5JFGRe<EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.242011GBOf> I!ZHyRH}AAHI I%IIBI&I.I6I<:I F),w,A]U@Y] >]z<9]=y]H`?@{ .ǘ?@PH?ɣ?ր BX/?`?ɨ]U@] ;] CWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 23:47:13.0695 LVL= 7136, 17793, 13538, 16371, AGC= 54, IDX= 439, 0.10,-0.118,-1.285,-2.580,-1.297, PHS= 1.267, 0.059,-1.287, RAW= 58.2, -0.4, CAL= 60.6, -3.4, ROT= 89.4, 3.4 Ygot valid direction response: 23:47:13.0695 LVL= 7136, 17793, 13538, 16371, AGC= 54, IDX= 439, 0.10,-0.118,-1.285,-2.580,-1.297, PHS= 1.267, 0.059,-1.287, RAW= 58.2, -0.4, CAL= 60.6, -3.4, ROT= 89.4, 3.4 yޭBޭ$I-PDAT read: Bearing 89.4, 3.4 (Local) -~Local bearing/azimuth received: Bearing 89.4, 3.4 (Local) 5DAT read: Range 10 to 50 : 89.8 m (Round-trip 119.8 ms) speed 0.0 m/s =,DAT read: user:3455> BDAT read: Tx time:23:47:14.1956 $Ping request sent.e=eļe@ e@)aIe@ayep@II٢Bi =9AEQ > G٣y ׼  > =Nusing accuracyPremultiplier from config9E59=)J?E5Y=T i=i!™E>M:M>MA=#E= ;=;=5Y e@akD?ki$ k kcA:kBBk^BZk?"W;4v^J@i85kQ@"_cVl:6?Yrg}?Jk?Rks,m*t@֟ g9H@I4HR@܌3fr)C??"kAB*kk9!?k~ 2k;Ck9!?kkkbAk? addTargetRange:: Added new target pos. range: 89.800003 m, deltaT: 3.529318 s, deltaX: -0.699997 m, approachRate: -0.198338 m/s, rangeRepo size: 4 e Added new target pos. range: 89.800003 m, bearing: 98.402137 deg, lat: 36.904849 deg, lon: -122.120317 deg, deltaT: 3.529318 s, deltaX: -0.699997 m, approachRate: -0.198338 m/s, posRepo size: 4 ZjamDNOT Ignoring new targets: 89.80 m.BjuJjq ProNav: ac range: 89.800003 m, nav range: 18.923130 m, bearing: 112.220091 deg, approach rate: 0.000000 m/s, LOS rate: 1.425621 deg/s, cmd heading: 20.324806 deg, new cmd heading: 22.812265 deg. 2jHeadingCmd: 0.398149 target range: 89.800003 and range: 89.80 m. j4>jjjihhhh*Bfffrf@3sV@bf@?ɛ ؃BԄ= %?I fɚiI=IE4>iIiMKM)M4>)IEYE]pAE Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:23:47:14.1948 *F ?2F :F BF o0JF G  G  $?I J J J J J :J J J G }:G G rA) GBO>%G|4w,[ҠA sAA *Y*sAy*BZ>@ZbB]@Y=Ǝ<9(_=yH?``?Z? ʫ?`!`р2??ɨ]@*#;騕"CWill construct direction to contact in vehicle frame from tetrahedron phase data.==yͅB$IIIk٢m" uW=9uQ u>yy }G٣yycE > Nusing accuracyPremultiplier from config59NY?5Y iq!™u>A%El;;T5 @wE B*** querying acoustic contact ***j j ZjEDNOT Ignoring new targets: 89.80 m.BjEI<JjEIjjjihhhhfffrfbf?zKLK}9KK8$KBK:KpAɛ-ЃB5O= U4=Um~?IQ ]M`ɚYiYI]S=Ie>iaieJu)e>)i*F ?2F :F BF 2JFG:䛻GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.  I H I  I N%II fBI &I GD.I 6I y<:I R FJ J @A̟:w,A2΢@Y2@=2ZA;92q=y2H .?@ռj? ? ?lk@N+h`??ɨ2΢@2-Ύ;2!CyNBNq$IIVIVV8٢~ ~g=9rQ >    G٣ jWGy > Nusing accuracyPremultiplier from config%59g?%5Y iy!™!-|>-A&Ev::51 5@1ZjY]DNOT Ignoring new targets: 89.80 m.Bje6<Jje6jjjihhhhfffrfbf@?ɛʃB4Y= s?I kVɚiI=I>ii )>)*F2F:FBFW0JFGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946234GB!O=Q>#Aw,ZdA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.195774>@Y>p=>&x9>`=y>H z?Wîy?@_??`o? #?g?ɨ>@>;>CyFBFX$I)H H `I`5Mb@Mb@Mb@111 1)1Y5Gz?~jth?:vy5p>5D;5Լ5@ 5j@)5@I5@1y5@IMIM٢]Ž ]D=9eÄQ e>qq uG٣yy}dƻ }> Nusing accuracyPremultiplier from config59x?5YN i!™>:=JJJJJ:J :JJ5A(EE<$<5=[B =@=tEZjDNOT Ignoring new targets: 89.80 m.Bjx<Jjx< ProNav: ac range: 89.800003 m, nav range: 19.034700 m, bearing: 113.896422 deg, approach rate: 0.133680 m/s, LOS rate: 1.346150 deg/s, cmd heading: 26.046465 deg, new cmd heading: 27.829705 deg. 2jf=HeadingCmd: 0.485720 target range: 89.800003 and range: 89.80 m. jJ>jjjihhhhՂBfffrfbfN?ɛ}B}>'= y隅m?I 1nɚiI=IJ>ii)J>)EV>E>*F 2F :F BF ]0JF "G >G=GGGBOa>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447886zK K @9K K 9$K  #$%#$  .<GUcipx}okjlnopnd[YYWVRK ?JK >Gw,J Ay5B5=$IIEIE@٢]}ս eJ=9mQ u>yy G٣y > Nusing accuracyPremultiplier from config59?5Y i!™A*E;;z5 9@ZjDNOT Ignoring new targets: 89.80 m.Bj<Jj< ProNav: ac range: 89.800003 m, nav range: 19.094194 m, bearing: 114.473862 deg, approach rate: 0.155920 m/s, LOS rate: 1.508596 deg/s, cmd heading: 27.829705 deg, new cmd heading: 29.556074 deg. 2jj=HeadingCmd: 0.515851 target range: 89.800003 and range: 89.80 m. j?jjjihhhhfffrfbf?ɛ]B]Z;= Yef?Ia e{ꟼɚaiaIe%m=Im?iiiq)u?)qUWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.702280 $?IHIII IM%IIM3BII&II.II6IMW<:IM9 FE=*FI2FI:FQBFU4JFQGE +G B) O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955056Mw,p(:A~Ե@Y~^=~M邼9~q=y~H?@'߽iᙽ??%H\???ɨ~Ե@~";~ CyxB*$IMb@Mb@Mb@ )Yx&1?I +Zd;Oy?94j@ =@)Iy(@IIq٢” C=9Q > G٣kWGy>< > Nusing accuracyPremultiplier from config59?5Yw i!™(?: =A+E;G:K 5 ;@qEZj9=DNOT Ignoring new targets: 89.80 m.BjE<JjE0Tw,ASA6l@Y6D=6¼96v >y6H ?`H}@i?(x?`}Z???ɨ6l@6]\;6CyFaBF$IiJ)>IJ;IRIR٢V[ Z`=9Z﮼Q Z>\\ ^G٣\yb< b> fNusing accuracyPremultiplier from configdj59f*?j5Yf@ if!™hn4=nAf-Efa;fL ;f 5p r@pZjDNOT Ignoring new targets: 89.80 m.Bj<Jj< ProNav: ac range: 89.800003 m, nav range: 19.248018 m, bearing: 115.568507 deg, approach rate: 0.189366 m/s, LOS rate: 1.339423 deg/s, cmd heading: 31.298635 deg, new cmd heading: 32.825854 deg. 2je=HeadingCmd: 0.572919 target range: 89.800003 and range: 89.80 m. j֪?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455993jjjihhhhfffrfbf i0@ɛUBU9= Y]Z?IY ]"tɚYiYI].=Ie֪?iaii)m֪?)izK-NK-9K)K-:$K-YXUUUUTUTOLLJKKIKLNNLKKIJKKKIKJIGFII@:4,#Ep,=*Fi2Fi:FiBFqJFq} Will construct direction to contact in vehicle frame from tetrahedron phase data. I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715662J J AAH I  I $II ҅BI &I .I 6I 0<:I  FBI JI RI ZI bI jI "4GU ȣEGY G] pAGQ BY Ou >|[w,R+pAB"g@YB >Bu9B!>yBH@s?^Oࠊ?H?jĿn? ?ඖ?ɨB"g@B@;;B CyN]BN $IIVIV<٢^' ^9=9bЙQ b>`` bG٣`yj< j> rNusing accuracyPremultiplier from configlr59n"?v5Yn in!™tvq=vAn/En:n:n 5~\B ~@~nEB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 89.80 m.Bj-<Jj-< ProNav: ac range: 89.800003 m, nav range: 19.334278 m, bearing: 116.187185 deg, approach rate: 0.201456 m/s, LOS rate: 1.438417 deg/s, cmd heading: 32.825855 deg, new cmd heading: 34.672932 deg. 2jv=HeadingCmd: 0.605157 target range: 89.800003 and range: 89.80 m. j?jjjihhhhfffrfbf+@ɛ%BWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:47:16.7198 TRx dataTimestamp_ set to:1736380037.877264checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968098%2#= 15\?I1 =,ɚAiAIM=I}?iyiy)}?)EE*E"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=3.212742 $?I G WGQ BY O} >ybw,bA6r@Y6 >6(96x;>y6H?+Ŀ󎈿`??ǿ?`6V?@o?ɨ6r@6,;4yzLBz#IMb@Mb@Mb@ )YRQ?Zd;Oy&1y?j`-@ @)@I5@yIIM٢ 4=9^Q >!! %G٣%lWGy-p= -> 5Nusing accuracyPremultiplier from config1=595ё?5Y5 i5!™?:-EA50E5i<5i<55 @kEZjDNOT Ignoring new targets: 89.80 m.Bj%O<Jj%O<5 ProNav: ac range: 89.800003 m, nav range: 19.441601 m, bearing: 116.804703 deg, approach rate: 0.228954 m/s, LOS rate: 1.310067 deg/s, cmd heading: 34.672933 deg, new cmd heading: 36.514592 deg. 2j5`=]HeadingCmd: 0.637300 target range: 89.800003 and range: 89.80 m. j]&#?jYjYjYiYhYhahaheuBfafifirfibfm@ e @ɛBȒ= Gm=X?I! %)ʇɚ!i!I%}=I-&#?i)i))-&#?)1*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ե<աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.469423GJrGBO]>zKu dHNKu 9Kq Ku ;$Ku          јhw,Ay~EB~#I) A  AII ٢% %]=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=⑜?M5Y=  i=!™QQ]A=2E=;=;=l5q uy@qZjDNOT Ignoring new targets: 89.80 m.Bj<Jj< ProNav: ac range: 89.800003 m, nav range: 19.530804 m, bearing: 117.303355 deg, approach rate: 0.248808 m/s, LOS rate: 1.384489 deg/s, cmd heading: 36.514591 deg, new cmd heading: 38.003361 deg. 2jm=HeadingCmd: 0.663284 target range: 89.800003 and range: 89.80 m. j)?jjjihhhhfffrfbf<3@ $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:47:16.7198 LVL= 13200, 20721, 20242, 22883, AGC= 59, IDX= 442,-0.43, 0.493,-0.205,-1.595,-0.456, PHS= 1.037, 0.298,-1.142, RAW= 49.5, -2.0, CAL= 51.2, -5.3, ROT= 98.8, 5.3 Ygot valid direction response: 23:47:16.7198 LVL= 13200, 20721, 20242, 22883, AGC= 59, IDX= 442,-0.43, 0.493,-0.205,-1.595,-0.456, PHS= 1.037, 0.298,-1.142, RAW= 49.5, -2.0, CAL= 51.2, -5.3, ROT= 98.8, 5.3 PDAT read: Bearing 98.8, 5.3 (Local) ~Local bearing/azimuth received: Bearing 98.8, 5.3 (Local) ɛ5B=8= 9=X?IA EݓɚAiAIE)=Ime&?DAT read: Range 10 to 50 : 90.0 m (Round-trip 120.1 ms) speed 0.0 m/s JJJJJ:J:JJii))?),DAT read: user:3456> BDAT read: Tx time:23:47:17.8456 $Ping request sent.g?y B  3 P O) cYI ;i j? u> -  +]? 5 d?) qI ?i q=   u wS?K& I0) @I =i /? I  :publishing transmit ping timeFpublishing direction and range info 9 L?AW?>g?y     ) I i      ) I i    u wS?K& I0) I i    *F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >nw,콡Af^.@YfE>ft9fXj>yfH^Y? ɿ`?̀?`XͿ??`,?ɨf^.@f/6;dyy}#IMb@Mb@Mb@ )YMbX9?Zd;Mby?$@ d@)@I@yf@II٢$; 0=9T%Q > G٣y= > 5Nusing accuracyPremultiplier from config 559 p?55Y . i !™=?=:=u=A 4E Z; ^; s5E]B AMhEk54d?k5wXZ k1 k5JA:k5BBk5òBZk5C?"5Y8U@ SO@O@5L?AW?>g?Jk5/?Rk5I*5öD%ʦG@u^@S@5p?6+v-?"k58B*k5.k5^]?k5Q 2k5Ck5^]?k1k1k5Ak5L{@ addTargetRange:: Added new target pos. range: 90.000000 m, deltaT: 3.779697 s, deltaX: 0.199997 m, approachRate: 0.052913 m/s, rangeRepo size: 4 5 Added new target pos. range: 90.000000 m, bearing: 103.294776 deg, lat: 36.904833 deg, lon: -122.120317 deg, deltaT: 3.779697 s, deltaX: 0.199997 m, approachRate: 0.052913 m/s, posRepo size: 4 Zj15DNOT Ignoring new targets: 90.00 m.Bj=Jj9U ProNav: ac range: 90.000000 m, nav range: 20.512320 m, bearing: 122.184708 deg, approach rate: 0.000000 m/s, LOS rate: 1.384489 deg/s, cmd heading: 38.003360 deg, new cmd heading: 39.997145 deg. 2jQ]HeadingCmd: 0.698082 target range: 90.000000 and range: 90.00 m. j]~2?jYjYjYiYhahahhBfffrfV@bfq? I Will construct direction to contact in vehicle frame from tetrahedron phase data. i Aɛ-B-Ѭ%= 15]?I1 5mwɚ1i1I5V.=I=e2?iaia)e~2?)a*F2F:FBF>1JFG] G1 BA O] >uw,סA.Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y: `>:~9:3q>y:H@'?(Ϳ;h?%@? ]Ͽ@??% ?ɨ:@:d;8yFKBF#IININi٢Vz = Vw=9VQ Z?\\ ^G٣^mWGyb= b? fNusing accuracyPremultiplier from configdj59f?j5Yf( if!™hn|;nAf5Ef ;f;f5p r@pZj  DNOT Ignoring new targets: 90.00 m.Bjۻ<Jjۻ<% ProNav: ac range: 90.000000 m, nav range: 20.604160 m, bearing: 122.592751 deg, approach rate: 0.297051 m/s, LOS rate: 1.313886 deg/s, cmd heading: 39.997144 deg, new cmd heading: 41.215622 deg. 2j-ma=HeadingCmd: 0.719348 target range: 90.000000 and range: 90.00 m. j6'8?jjjihhhhfffrfbf$?ɛ=BEMe= E7=Eb?IA EnɚAiI4=I6?ii)6'8?)zK9MKKK<$K      E@= $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFM1JFIJ J J J J l:J :J J H I  I m$II BI &I .I 6I <:I FGi GA BQ Ou >h|w,R A2LP|>2O92+>y2H?^п{? ?@sѿ?X??ɨ2L<2a;2CyBHBB#I Fp=DIJIJ٢RK R:=9VvüQ V>TX ZG٣XyZy= Z> bNusing accuracyPremultiplier from config\b59^N?b5Y^ i^!™df =fA^7E^a;^~ ;^5h jQ@neEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 90.00 m.Bj%?<Jj%?<5 ProNav: ac range: 90.000000 m, nav range: 20.721813 m, bearing: 123.138248 deg, approach rate: 0.265871 m/s, LOS rate: 1.225695 deg/s, cmd heading: 41.215622 deg, new cmd heading: 42.842361 deg. 2j5KR==HeadingCmd: 0.747740 target range: 90.000000 and range: 90.00 m. j=k??j9j9j9i9h9hAhAhAfAfIfrfbf?ɛ~B% <= !% e?UWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.I! 'bɚ i I=IMk??iQiQ)Uk??)aEeS^=*F?2F:FBF5JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449524G G B O >Iw, A2g=Y2>2s923>y2H G?@]ҿ<q?!`? Ipҿx???`b?ɨ2g=2;;2 Cy>MBB#I-zMonly read 0 of 1 data item for BIT error. Device response is::TS,25010815482520,35.0, +10.9, 0.0,1493.1RA, 0.00, 79.18, 58.79, 64.22, 70.00  z@z z@z z@z  z@z I~I~b٢ n<  E=9UQ > %G٣!y-s= -> 5bBottom track data is 0.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config1=595*?E5Y5 i5!‘E+:AE:E =EA59E5j<;5>5J5I U @QZjDNOT Ignoring new targets: 90.00 m.Bjϲ<Jjϲ< ProNav: ac range: 90.000000 m, nav range: 20.829029 m, bearing: 123.660673 deg, approach rate: 0.257993 m/s, LOS rate: 1.250619 deg/s, cmd heading: 42.842362 deg, new cmd heading: 44.401163 deg. 2jV=HeadingCmd: 0.774947 target range: 90.000000 and range: 90.00 m. jbF?jjjihhhhfffrfbfED?ɛ%wBtAA 0+YtAy#BCS=  j?I  .Vɚ)i)I5=I5bF?i1i9)=bF?)9eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.701441E8=zKLKs9KK=$K*F- ?2F) :F) BF- O5JF) $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954350G1 GB)JJJJJ:J :JJH2>I I$IIBI&I.I6I.<:I FO>^w,,ARܭ=YR_o>Ri;ʽ9R•>yRH^?>+Կjc(? ?@jӿ    G٣ nWGy o= > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from configE59??E5Y i!‘M :IM:M=MA;E;jh?5]^B ]$@]bEZjDNOT Ignoring new targets: 90.00 m.Bjr<Jjr< ProNav: ac range: 90.000000 m, nav range: 20.948978 m, bearing: 124.270442 deg, approach rate: 0.244167 m/s, LOS rate: 1.234104 deg/s, cmd heading: 44.401164 deg, new cmd heading: 46.219352 deg. 2jS=HeadingCmd: 0.806680 target range: 90.000000 and range: 90.00 m. jN?jjjihhhhfffrfbf@@ɛuoBu|C= y}iv?Iy 7FɚiI=IN?ii)N?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205937*FI2FI:FQBFYJFaG  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.457705G B O >dw,[JANd >YN>N9N>yNH4?@^׿\p?`4Nh\;N Cy^rB^"$I)` bA``        Mb@Mb@Mb@ )YMb?ʡEQ롿y?ケ\A @)@I@yp@II)٢= &=9Q >    G٣ y= > Nusing accuracyPremultiplier from config%59T?%5Y i!‘%T:%B?%:%#>-A=E ;;5=_B =@=`EZjaeDNOT Ignoring new targets: 90.00 m.Bjm=<Jjm=<} ProNav: ac range: 90.000000 m, nav range: 21.056982 m, bearing: 124.890625 deg, approach rate: 0.225568 m/s, LOS rate: 1.288595 deg/s, cmd heading: 46.219351 deg, new cmd heading: 48.069676 deg. 2j}]=HeadingCmd: 0.838974 target range: 90.000000 and range: 90.00 m. jV?jjjihhhh/Bfffrfbf]@ɛMgBea= ed=e?Ii mӨ6ɚiiiIma:=IuV?iqiq)uV?)y*F?2F:FBF_0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.709359G% G B O= >zKU N KKU 59KQ KU >$KU BK] oA:KY ?w,cA5r>%>Y5b>5?95ښ>y5H@^|?@ؿzz?@? ? n`Կ`5? ?U?ɨ5r>%>5';5"CyUBU<$IImIm@٢u= }T=9}*kQ }> G٣y= > Nusing accuracyPremultiplier from config596e?5Y i!™#=>A>E;;|5 }@ZjDNOT Ignoring new targets: 90.00 m.BjC<JjC< ProNav: ac range: 90.000000 m, nav range: 21.139669 m, bearing: 125.382130 deg, approach rate: 0.215303 m/s, LOS rate: 1.274768 deg/s, cmd heading: 48.069676 deg, new cmd heading: 49.538086 deg. 2jZ=HeadingCmd: 0.864603 target range: 90.000000 and range: 90.00 m. jV]?jjjihhhhfff rf bf @ $?I!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:47:20.3693 TRx dataTimestamp_ set to:1736380041.654123checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965498ɛ%`B-⡂= IU?IQ Ue(ɚQiYI]=IeV]?iaia)V]?)H3>I I$IIBI&I.I6IB<:I+ FJiJmBAJuJuJu1JqJu :Ju9:Ju3JqJu6w,Ը}A 3>>Y > 9 >>y Ht,?Jڿ!??˧?'Կ E??^?ɨ 3>> ;  Cy%B%[$IMb@Mb@Mb@ )YX9v?K~jty>^ļ3A )j@I@y @II?٢=V= E0=9uQ u> G٣oWGy"R= > Nusing accuracyPremultiplier from config59x?5YW i!™=?:'}>A@EX;v;5`B @ZE5B*** querying acoustic contact ***j1j1ZjamDNOT Ignoring new targets: 90.00 m.Bjm<Jjm<} ProNav: ac range: 90.000000 m, nav range: 21.227638 m, bearing: 125.985556 deg, approach rate: 0.179710 m/s, LOS rate: 1.227594 deg/s, cmd heading: 49.538085 deg, new cmd heading: 51.340231 deg. 2jR=HeadingCmd: 0.896056 target range: 90.000000 and range: 90.00 m. jce?jjjihhhhwBfffrfbf` @ I ɛEYBE݂= IM?II MA[ɚIiIIM=IUce?iQiQ)}ce?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.iADAT read: 23:47:20.3693 LVL= 17584, 29857, 18578, 22611, AGC= 59, IDX= 436, 0.09,-1.763,-3.048, 2.317, 2.864, PHS= 1.744, 0.418,-0.550, RAW= 65.2, -15.9, CAL= 77.6, -24.3, ROT= 72.4, 24.3 -Ygot valid direction response: 23:47:20.3693 LVL= 17584, 29857, 18578, 22611, AGC= 59, IDX= 436, 0.09,-1.763,-3.048, 2.317, 2.864, PHS= 1.744, 0.418,-0.550, RAW= 65.2, -15.9, CAL= 77.6, -24.3, ROT= 72.4, 24.3 =PDAT read: Bearing 72.4, 24.3 (Local) E~Local bearing/azimuth received: Bearing 72.4, 24.3 (Local) UDAT read: Range 10 to 50 : 89.7 m (Round-trip 119.6 ms) speed 0.0 m/s ],DAT read: user:3457> eBDAT read: Tx time:23:47:21.4956 m$Ping request sent.m ?q -\?)%پI??*F12F1:F1BF1JF1i%>"?N(-Wѿ)1uI}>ip3?Y}:publishing transmit ping timei}Fpublishing direction and range info9U?[?ĽМ?y )Ii )Ii"?N(-Wѿ)IiGu Gq By O >w,A6ٸV>Y6T>6196}>y6H?`ۿ{x?N|?b?ӿ'? f,?oj?ɨ6ٸV>64_;6!CyRBRy$IiV=IV< j=j=InIn@٢v> vs=zWill construct direction to contact in vehicle frame from tetrahedron phase data.~JDAT read: TxSync time:23:47:21.4948 9@KQ ? G٣y%= %? MNusing accuracyPremultiplier from config)U59-N?U5Y-+ i-!™Y]}>]A-BE-O;-;- 5a e@ak/?k'`_ k kA:kfBBk+BZk?"6@v)E@vWts$R@U?[?ĽМ?Jkp3?RkY*ƘF @^ǃ5@FJU@Q|9Jw1?A/?6?"kԮA*kK@k 撓?kKk 2kCkkKk k&CkAk@= addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.526930 s, deltaX: -0.300003 m, approachRate: -0.085061 m/s, rangeRepo size: 4 m Added new target pos. range: 89.699997 m, bearing: 81.701858 deg, lat: 36.904833 deg, lon: -122.120264 deg, deltaT: 3.526930 s, deltaX: -0.300003 m, approachRate: -0.085061 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 89.70 m.BjuJjq ProNav: ac range: 89.699997 m, nav range: 25.242346 m, bearing: 120.031344 deg, approach rate: 0.000000 m/s, LOS rate: 1.227594 deg/s, cmd heading: 51.340230 deg, new cmd heading: 52.592711 deg. 2jHeadingCmd: 0.917916 target range: 89.699997 and range: 89.70 m. jj?jjjihhhhfffrflV@bfU?ɛ-SB-H= -(<-%?I1 5 ɚ1i1I5fa=I=j?i9i9)=j?)azKk3IK9KK?$KE d6= IhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F1 :F1 BF5 _0JF1 Hq Iq  Iu $IIu $BIq &Iq .Iq 6Iu N<:Iu 3 FJIKM3 KM.-KIKI"KIJ J J 0J J :J /:J ـ3J J ;J ;J ^;J ^;Ge GABIOm>w,\A nManaging dock network, ignoring radio surface power off:/r>Y:>:Ԙ9:¶>y:H@Px?5ݿY? ]? ?@æӿ`?@?s?ɨ:/r>:h;: CyBхBF$IININ ٢V= V0=9Z Q Z>XX ZG٣Xy^2o= ^> bNusing accuracyPremultiplier from config`f59b?-5Ybb  ib!™)->5AbDEbg8ɚiIՕ=Iq?ii)q?)IEl<*Fa2Fa:FiBFiJFi $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.G) G B O5 >ֳw,ТA6Lą>Y6x>6Z96ݷ>y6H@O?`޿P?e??dgӿ %?s?@}?ɨ6Lą>6;4yBBB$IEMb@Mb@Mb@AAA A)AYEMbX9?y&1MbyE?E`eEEA E@)E@IE@AyE(@IeIeͳ٢m3> u?=9uQ u>yy }G٣}pWGy m= > Nusing accuracyPremultiplier from config59?5Y<  i!™?:>AEE;K;#5 @ZjDNOT Ignoring new targets: 89.70 m.Bj<Jj< ProNav: ac range: 89.699997 m, nav range: 25.328712 m, bearing: 121.029776 deg, approach rate: 0.080461 m/s, LOS rate: 1.181968 deg/s, cmd heading: 54.123167 deg, new cmd heading: 55.582150 deg. 2jJ=HeadingCmd: 0.970092 target range: 89.699997 and range: 89.70 m. jWx?jjjihhhhBfff rf bf $?ɛ=FB=%)= 9=H?I9 ErɻɚAiAIEj=IMWx?iIiI)MWx?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.E}`=<*F2F:FBFJFzKE JKE 9KA KE @$KE  I G  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >kw,[AHI IU%IIkBI&I.I6Ic<:IA FBI!JI!RI!ZI!bI!jI%z~4<>Y4z? 9>yH2? 8?r?`P?1ӿ+?`7?@3?ɨ<>r$;!Cy$B$I)-AIUIU=٢}XN> ==9Q > G٣y= > Nusing accuracyPremultiplier from config59?5Y i!™>AGE`;;%5aB @TEZjDNOT Ignoring new targets: 89.70 m.Bj<Jj<  ProNav: ac range: 89.699997 m, nav range: 25.358271 m, bearing: 121.526393 deg, approach rate: 0.067737 m/s, LOS rate: 1.136723 deg/s, cmd heading: 55.582150 deg, new cmd heading: 57.069912 deg. 2j C=HeadingCmd: 0.996058 target range: 89.699997 and range: 89.70 m. j~?jjjihhh!h!f!f!f)rf)bf-?ɛ?BW= ,?I a-ɚiIF=I~?ii)~?) EE*EQ"EQ=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2F:FBFJFGU  $?I G)B9OU>Tw, A6>Y6?6o996>y6H fK?$:?'?`?Jӿ@U?@?`G?ɨ6>6ȉ;4y>9B>%INWill construct direction to contact in vehicle frame from tetrahedron phase data.JUJUJU/JQJU<:JU:JU(N3JQae@ae@ae@ae@Mb@Mb@Mb@ )Y?:v~jth?yf?TD;QA )@I@yG@ImImW٢}= =907;Q > G٣y== > Nusing accuracyPremultiplier from config59ϒ?5YO i!™q?:B?AIE;Υ;(5  ~@MB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 89.70 m.Bjm<Jjm<} ProNav: ac range: 89.699997 m, nav range: 25.371361 m, bearing: 122.156331 deg, approach rate: 0.021312 m/s, LOS rate: 1.025045 deg/s, cmd heading: 57.069912 deg, new cmd heading: 58.958028 deg. 2j}/=HeadingCmd: 1.029012 target range: 89.699997 and range: 89.70 m. j?jjjihhhhBfffrfbf@ɛ6B'= ?I  HɚiI=I?ii)?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.U>?U%=UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFJFG zK rKK 9K K A$K G B O >89w,&A23>Y2?2 92z>y2Hr?`zW@Nӣ?F?`ov?3ӿӷ?O?@?ɨ23>2g;2Cy>hB>R%IIFIF(٢N}> Ne=9R;Q R>PT VG٣VqWGyV = V> ^Nusing accuracyPremultiplier from configXb59Zݒ?f5YZ iZ{! v$?Ithz ?~AZKEZiw,@AE>YEz?E9ER>yEH@}i?@!Ҫ???@(ӿ`O?A? |?ɨE>E.;E!CyUB]q%I e=ea=Mb@Mb@Mb@ )Y/$?X9v? rh?y ?<C<v@ @)@Iy@I5I5?٢E= E3=9E;Q M>IQ UG٣QyUp= U> eNusing accuracyPremultiplier from configYe59]풜?m5Y] i]O!™mR ?m:m["?uA]ME]3&;]%;]+5y }@yZjDNOT Ignoring new targets: 89.70 m.Bj²<Jj²< ProNav: ac range: 89.699997 m, nav range: 25.361786 m, bearing: 123.129544 deg, approach rate: -0.033711 m/s, LOS rate: 1.250259 deg/s, cmd heading: 60.206089 deg, new cmd heading: 61.877680 deg. 2jV=HeadingCmd: 1.079969 target range: 89.699997 and range: 89.70 m. jodIw,F^ZA6m>Y6Lw?6@96xu>y6H ?` /C? R?w?ҿ0?|??ɨ6m>6҆;6 CNWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258131y B %II%I%m٢->N> -^=95!99 =G٣9yE= E> MNusing accuracyPremultiplier from configIU59M?U5YM iM,!™Q]U)?]AMNEM ;M ;MG-5ebB e@eOEZjDNOT Ignoring new targets: 89.70 m.Bjv<Jjv< ProNav: ac range: 89.699997 m, nav range: 25.346003 m, bearing: 123.578208 deg, approach rate: -0.042653 m/s, LOS rate: 1.213228 deg/s, cmd heading: 61.877682 deg, new cmd heading: 63.224252 deg. 2j(P=HeadingCmd: 1.103471 target range: 89.699997 and range: 89.70 m. j>?jjjihhhhfffrfbf@9 @ɛ&BĨ> }?I @):ɚiI =I >?i i)>?)*F=?2F9:F9BF=5JF9zK]BoHK]9KYK]B$K]  BKmpA:Ki $?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513180GHI I&II BI&I.I6IR<:I4 FG B O >uqw,0tA:Z:>Y:C$?:b9:Ȣ>y:H@m?`Gv? ? ?5ҿy? ?`ć?ɨ:Z:>:;:"CyFÆBF%IININ٢V > VT=9VWLXX ZG٣ZrWGyZ= ^> bNusing accuracyPremultiplier from config`f59b?f5YbA ib!™dfz0?fAbPEbU:b:b.5naB n@lZj  DNOT Ignoring new targets: 89.70 m.Bj<Jj<% ProNav: ac range: 89.699997 m, nav range: 25.325329 m, bearing: 124.047921 deg, approach rate: -0.053676 m/s, LOS rate: 1.220512 deg/s, cmd heading: 63.224254 deg, new cmd heading: 64.634243 deg. 2j%hQ=-HeadingCmd: 1.128080 target range: 89.699997 and range: 89.70 m. j-d?j)j)j)i)h1h1h1h1f1fAfArfAbfE@ə @ɛ} B}S> y}?Iy ];ɚiI%=Id?ii)d?)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:47:24.0182 LVL= 12128, 29521, 19618, 28819, AGC= 56, IDX= 425, 0.31, 1.171,-0.261,-0.477,-0.012, PHS= 1.271,-0.202,-0.468, RAW= 81.8, -7.5, CAL= 91.3, -16.1, ROT= 58.7, 16.1 %Ygot valid direction response: 23:47:24.0182 LVL= 12128, 29521, 19618, 28819, AGC= 56, IDX= 425, 0.31, 1.171,-0.261,-0.477,-0.012, PHS= 1.271,-0.202,-0.468, RAW= 81.8, -7.5, CAL= 91.3, -16.1, ROT= 58.7, 16.1 -PDAT read: Bearing 58.7, 16.1 (Local) -~Local bearing/azimuth received: Bearing 58.7, 16.1 (Local) =DAT read: Range 10 to 50 : 88.8 m (Round-trip 118.4 ms) speed 0.2 m/s E,DAT read: user:3458> MBDAT read: Tx time:23:47:25.1457 M$Ping request sent.Mڹڹ۽%}?@W}n/)۽J*I۽Y>i۽?۽U'۹۹:publishing transmit ping timeIFpublishing direction and range infoع9ؽZZpo?K(JE?+?yعععع ٹ)ٹIٹiٹٹٹٹE<EEٹ ڹ)ڹIڹiڹڹڹ۽%}?@W}n/)۹I۹i۹۹۹۹*FU?2FQ:FYBF]O5JFY I G= m Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >Yw, AFA'>YF+?F&9FV >yFH?@>?7?{?L,ҿ??Z?ɨFA'>Fn;F CJaJeJaJaJaJe:JaJayuۆBu%I)y yy}A]Mb@Mb@Mb@YYY Y)YY]kt?y&1?y&1?y] ?]`e=]`<]`@ ]V@)]@I]-@Yy]@II(٢t= .=9^? G٣y m= > Nusing accuracyPremultiplier from config59?5Y i ™?:@?AREu;/t;15 g@LEkҀ-Ԓ?k|y k k|A:kBBkaBZkƑ@"QZ @[05@YU@ZZpo?K(JE?+?Jk?RkU'*_XP 0꿸$9Q:N)V@xΖ߂8g~ԭ̼?"k*kQkrӒ?kHz 2kCk9!?kkkAke{@ addTargetRange:: Added new target pos. range: 88.800003 m, deltaT: 3.781136 s, deltaX: -0.899994 m, approachRate: -0.238022 m/s, rangeRepo size: 4  Added new target pos. range: 88.800003 m, bearing: 261.010961 deg, lat: 36.904849 deg, lon: -122.120264 deg, deltaT: 3.781136 s, deltaX: -0.899994 m, approachRate: -0.238022 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 88.80 m.BjJj- ProNav: ac range: 88.800003 m, nav range: 24.346153 m, bearing: 121.289798 deg, approach rate: 0.000000 m/s, LOS rate: 1.220512 deg/s, cmd heading: 64.634244 deg, new cmd heading: 66.417473 deg. 2j)5HeadingCmd: 1.159204 target range: 88.800003 and range: 88.80 m. j5`?j1j1j1i9h9h9h9h=BfAfAfarfm@33V@bfmE?ɛB= 隵?I L,;ɚiIX=I`?ii)`?)E<Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=4JF9G] zK iLK 9K K C$K   G9 BA Oe >w,A $?I6>Y62?6޽965>y6H%b?@b~ٚ?@"n??ѿWǻ?q?`?ɨ6>6AH;4yfBf&IIvIv٢v9> h=9 :n G٣y%+= %> MNusing accuracyPremultiplier from config9]59=$?]5Y= i= ™aeG?eA=TE=;=;=25}bB }h@IEB*** querying acoustic contact ***jH4>I It&IIUBI&I.I6I<:I FjZjDNOT Ignoring new targets: 88.80 m.BjB<JjB< Will construct direction to contact in vehicle frame from tetrahedron 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: 88.800003 m, nav range: 24.300896 m, bearing: 121.744428 deg, approach rate: -0.128053 m/s, LOS rate: 1.288723 deg/s, cmd heading: 66.417470 deg, new cmd heading: 67.783627 deg. 2j]=HeadingCmd: 1.183047 target range: 88.800003 and range: 88.80 m. jn?jjjihhhhfffrfbf?ɛeBmC> im?Ii m`;ɚiiqIul=In?ii)n?)Ec;*Fy 2Fy :Fy BF} 4JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988462G GyBO>w,ƣA>2n ?Y>FA?>8Ž9>>y>H z$?(z? ?\? wпP?E?`?ɨ>2n ?>YS;>!CyFBF&I hIhmMb@Mb@Mb@iii i)iYm`"?x&?V-?ym?m7=m G٣sWGy= > Nusing accuracyPremultiplier from config594?5Y i{ ™?:Z?AVE;U;45cB >@FEZj!%DNOT Ignoring new targets: 88.80 m.Bj-<Jj-<= ProNav: ac range: 88.800003 m, nav range: 24.215462 m, bearing: 122.410919 deg, approach rate: -0.176066 m/s, LOS rate: 1.378345 deg/s, cmd heading: 67.783624 deg, new cmd heading: 69.789285 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2406202j|l=HeadingCmd: 1.218053 target range: 88.800003 and range: 88.80 m. j'?jjjih)h1h1h=Bf9f9farfibfmhx?ɛ  BK<> 9@I };ɚyiyI}*=I'?ii)'?)EE*E"EJJJJJJB:JJE%Y>E%>*F 2F :F BF @5JF G  G qA} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492862G GBO>> w,AB?YB.sI?B19B~>yBH\?T 3W?ْ?*?lKп`?|??ɨB?Bڭ;B CyR)BR?&IiV%>IV{>IZIZ٢b= b4=9f`dh jG٣hyny= n> rNusing accuracyPremultiplier from configpv59r6C?v5Yr irM zKzLKz9KxKzD$Kzxa?ArXEr$;rN;r65 @ =$?I=hZjAMDNOT Ignoring new targets: 88.80 m.BjM<JjM<] ProNav: ac range: 88.800003 m, nav range: 24.133186 m, bearing: 123.015885 deg, approach rate: -0.179189 m/s, LOS rate: 1.322033 deg/s, cmd heading: 69.789282 deg, new cmd heading: 71.609719 deg. 2jeb=eHeadingCmd: 1.249825 target range: 88.800003 and range: 88.80 m. jeG?jijijiiihihihqhqfqfqfyrfybf}@?ɛ5B5> 1=/@I9 =<ɚ9iAIE=ImG?iqiq)uG?)yHI I&IIBI&I.I7D6I<:I FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746159*FA2FA:FIBFM_0JFIGGY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996337-2w,AV41?YVHP?Vh9V]֐>yVH@v?`@!4?6?8?@Ͽ[?Q? ?ɨV41?V;Tyz4BzL&II I m٢e:= m3=9uyy }G٣yy|= > Nusing accuracyPremultiplier from config59PQ?5Y i! ™i?AZE.::85 @CEZj1=DNOT Ignoring new targets: 88.80 m.Bj=ټ<Jj=ټ L@I 5<ɚiIȁ= )I1Iet?iiii)mt?)i*F?2F:F!BF!JF!]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248404GE /G B1 Om >yw,A6~?Y6W?6196Q>y6H6?_???ο`?`w?`?ɨ6~?6;4yb G٣tWGyʜ= > Nusing accuracyPremultiplier from config59[?5Y  i™ ?:~z?A\Er;;_:5 m@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500705ZjDNOT Ignoring new targets: 88.80 m.Bj<Jj<  ProNav: ac range: 88.800003 m, nav range: 23.961380 m, bearing: 124.119559 deg, approach rate: -0.230531 m/s, LOS rate: 1.353879 deg/s, cmd heading: 73.458220 deg, new cmd heading: 74.931603 deg. 2j Ih=HeadingCmd: 1.307803 target range: 88.800003 and range: 88.80 m. jf?jjjih!h!h!h%Bf)f)f)rf)bf-CC@ɛ]B]#(> Y]@IY eBP<ɚaiaIeJ=Imf?iii)f?)E*F!2F!:F!BF!JF)"G5?G5? IzK5>`JK59K1K5E$K5HI I&IIBI&I.I6If<:IA FBIJIRIZIbIjIP3m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752598G G B O >J J J J J ̶:J 9:J J J ;a J ;a J X`;a J Y`;a A w,+i3Az>&?YzR_?z*19zғ>yzH@6??ko?cJ?ڛͿð? .?@?ɨz>&?z};xy%HB-e&I)1 1I}I}[٢6e= J=93 G٣y= > Nusing accuracyPremultiplier from config59f?5Y i™?A^E;-;)<5 @EB*** querying acoustic contact ***jAjAZjq}DNOT Ignoring new targets: 88.80 m.Bj}c<Jjc< ProNav: ac range: 88.800003 m, nav range: 23.864111 m, bearing: 124.662281 deg, approach rate: -0.231446 m/s, LOS rate: 1.296621 deg/s, cmd heading: 74.931601 deg, new cmd heading: 76.565935 deg. 2jw^=HeadingCmd: 1.336328 target range: 88.800003 and range: 88.80 m. j ?jjjihhhhfffrfbf@@ɛB3&> # @I l2n<ɚiIt}=I% ?i!i!)% ?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.p>BDAT read: Rx Time:23:47:27.6668 TRx dataTimestamp_ set to:1736380048.961133checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006574*F?2F:FBFa0JF  $?I GE G B) OE >Q*w,FMAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257165-?Ygf?n9#>yHw?Y rA?=?J?[̿`̭?zH??ɨ-?x6;!CyUBv&IMb@Mb@Mb@ )YGz?J +?Zd;O?yp?=j<@ Ϋ@)d@I@yz@II@٢o= 6=9w G٣y= > Nusing accuracyPremultiplier from config59r?5YS i™?:_?A`E;';>5dB @>EZjaDNOT Ignoring new targets: 88.80 m.Bj<Jj<] ProNav: ac range: 88.800003 m, nav range: 23.749512 m, bearing: 125.260867 deg, approach rate: -0.263696 m/s, LOS rate: 1.383987 deg/s, cmd heading: 76.565936 deg, new cmd heading: 78.369731 deg. 2jetm=HeadingCmd: 1.367810 target range: 88.800003 and range: 88.80 m. je?jjjihhh hBfffArfAbfE i @ɛB#> 隕 @I <ɚiI)z=Ie?ii)e?)*Fq2Fq:FyBF}o0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:47:27.6668 LVL= 22000, 32753, 28786, 32755, AGC= 57, IDX= 427, 0.12,-0.439,-2.010,-1.629,-1.272, PHS= 0.920,-0.691,-0.360, RAW= 101.2, 1.8, CAL= 111.6, -1.0, ROT= 38.4, 1.0 Ygot valid direction response: 23:47:27.6668 LVL= 22000, 32753, 28786, 32755, AGC= 57, IDX= 427, 0.12,-0.439,-2.010,-1.629,-1.272, PHS= 0.920,-0.691,-0.360, RAW= 101.2, 1.8, CAL= 111.6, -1.0, ROT= 38.4, 1.0 PDAT read: Bearing 38.4, 1.0 (Local) ~Local bearing/azimuth received: Bearing 38.4, 1.0 (Local) -DAT read: Range 10 to 50 : 87.7 m (Round-trip 117.0 ms) speed 0.3 m/s -,DAT read: user:3459> 5BDAT read: Tx time:23:47:28.7457 5$Ping request sent.5UG?YԿ*5q?)g٧Iit$L]:publishing transmit ping time1]Fpublishing direction and range info9O;l+[AiYp#q?y )Ii )Ii>UG?YԿ*5q?)Ii]$>Invalid EZ Servo response:"\r"1-$(Communications Fault! -$;Xw,1gA65?Y6m?6Q96>y6H (?" ??? )˿P/?q? ??ɨ65?6bՌ;6 C LILyRMBRk&IXXIZIZʳ٢rCJ rp=9v ј?kN~! 2kCkrӒ?kkCkqAkXD?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:23:47:28.7449 ] addTargetRange:: Added new target pos. range: 87.699997 m, deltaT: 3.526250 s, deltaX: -1.100006 m, approachRate: -0.311948 m/s, rangeRepo size: 4  Added new target pos. range: 87.699997 m, bearing: 296.726568 deg, lat: 36.904955 deg, lon: -122.120264 deg, deltaT: 3.526250 s, deltaX: -1.100006 m, approachRate: -0.311948 m/s, posRepo size: 4 ZjaeDNOT Ignoring new targets: 87.70 m.BjmJji} ProNav: ac range: 87.699997 m, nav range: 19.305496 m, bearing: 95.910883 deg, approach rate: 0.000000 m/s, LOS rate: 1.383987 deg/s, cmd heading: 78.369734 deg, new cmd heading: 79.981199 deg. 2jyHeadingCmd: 1.395935 target range: 87.699997 and range: 87.70 m. j?jjjihhhhfffrf U@bf `| ?ɛBW->  @I X{<ɚiI.w=I?ii)?)EE*F2F:FBF0JF $4Uninitialize Rudder Servo.$Powering downG G"GGGiBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.= w,CAF(yFH@Ie?I)?(%? I?ɿzͦ???ɨF( G٣y= > Nusing accuracyPremultiplier from config59?5Y in™  ?AdEA;A;A51 5p@1ZjDNOT Ignoring new targets: 87.70 m. $?IhBj<Jj< ProNav: ac range: 87.699997 m, nav range: 19.067682 m, bearing: 96.375085 deg, approach rate: -0.561288 m/s, LOS rate: 1.109262 deg/s, cmd heading: 79.981201 deg, new cmd heading: 81.390876 deg. 2jQ>=HeadingCmd: 1.420539 target range: 87.699997 and range: 87.70 m. j7Ե?jjjihhhhfffrfbf@C?ɛmBm9;> im @Ii u;<ɚqiqIut=I7Ե?ii)7Ե?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FYBFeP5JFaG9BAO]w> (;Y y 3Bf&w,IٚAy~NB|Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y\(\? ףp= ?y&1|?y?Q=`;h@ @)@I@y3@IIb(٢hA; O=9Q > G٣y > Nusing accuracyPremultiplier from config59Ɏ?5Yd iX™?:R?AfE;;?C5  g@ Zj1=DNOT Ignoring new targets: 87.70 m.Bj=<Jj= 隥M @I ׯ<ɚiIq=Iqb?ii)qb?)*F)2F):F)BF-W0JF) $54Initializing EZServoServo. IzKK9KKG$K $2Initializing RudderServo.ZHRH@AHI I&IIBI$ =&I.I6Iw<:IN FGB!^Clearing failed state for component RudderServo1O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J &:J J J J J \;J \;,w,A2@+L?Y2S?2h92>y2H`?7`v?n8??*Eǿ &̡?`b?&?ɨ2@+L?2q;2#CyRJBRh&IIfIfm?٢v v[=9v xx zG٣zvWGyzD&> ~> Nusing accuracyPremultiplier from config 59? 5Y iC™?AhE"::D5eB @;EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 87.70 m.BjR<JjR< ProNav: ac range: 87.699997 m, nav range: 18.684801 m, bearing: 97.106759 deg, approach rate: -0.498694 m/s, LOS rate: 0.911487 deg/s, cmd heading: 82.534811 deg, new cmd heading: 83.607964 deg. 2jb=HeadingCmd: 1.459234 target range: 87.699997 and range: 87.70 m. j0Ⱥ?jjjih h h h fffrfbf?ɛE߂BEp7> IMa @II M<ɚIiIIU"o=IU0Ⱥ?iYiY)]0Ⱥ?)YEme>Em>*F ?2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GBO (> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y iY m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7534773w,ΤA23S?Y2#̅?292>y2H ?x?@? @?ſ~?#? ?ɨ23S?2;2"Cyj>BjY&I)l lpp}Mb@Mb@Mb@yyy y)yY}㥛 ?+?~jthy}?}=}D}@ }@)}z@I}S@yy}Q@II@٢4^ ==9 G٣y}= > Nusing accuracyPremultiplier from config59Ş?5Y i3™?:D?AjET ; ;F5 p@ZjDNOT Ignoring new targets: 87.70 m.Bj<Jj< ProNav: ac range: 87.699997 m, nav range: 18.465038 m, bearing: 97.498744 deg, approach rate: -0.507680 m/s, LOS rate: 0.916304 deg/s, cmd heading: 83.607963 deg, new cmd heading: 84.797733 deg. 2j6=HeadingCmd: 1.480000 target range: 87.699997 and range: 87.70 m. jp?jjjihhhhBfffrfbfD?ɛeڂBm/> im @Ii m<ɚqiqI=l=Ip?ii)p?)*Fi2Fi:FiBFiJFiGABQOmW>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004886 9w,^gA Ih:pZ?Y:Wv?:Ò9:[>y:H? ???N0Ŀ1?й?|?ɨ:pZ?:g};: CyNtt vG٣tyz= ~> Nusing accuracyPremultiplier from configzKBHK59KKH$K !:]2h~tkcVMD;4' BKoA:K59̥?5Y  i&™?AlEM;V;|H5fB @9EZj!%DNOT Ignoring new targets: 87.70 m.Bj-<Jj-<HAIA IE&IIEBIE% =&IA.IA6IE^<:IE; F] ProNav: ac range: 87.699997 m, nav range: 18.262028 m, bearing: 97.846553 deg, approach rate: -0.528577 m/s, LOS rate: 0.915650 deg/s, cmd heading: 84.797734 deg, new cmd heading: 85.852636 deg. 2j]=eHeadingCmd: 1.498411 target range: 87.699997 and range: 87.70 m. je˿?jajajaiihihihihqfffrfbf@i@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257250ɛՂB9>  @I <ɚiI“i=I˿?ii)˿?)JuJuJqJqJu|:Ju^:JqJqJu<Ju<Jug;Jug;*F?2F:FBFJFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. *? < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508472@w,EAJa?YJf?JU|9JY9>yJH?Re?X?+i?f¿ n? ??ɨJa?J?;Hyr5BrM&IIIM٢M/ UC=9e6tqy G٣wWGy = > Nusing accuracyPremultiplier from config59 ?5Y i™ $?I?AnE4<<eJ5! -@)ZjquDNOT Ignoring new targets: 87.70 m.Bj}ks<Jj}ks< ProNav: ac range: 87.699997 m, nav range: 18.033487 m, bearing: 98.222234 deg, approach rate: -0.511371 m/s, LOS rate: 0.851253 deg/s, cmd heading: 85.852637 deg, new cmd heading: 86.993804 deg. 2j =HeadingCmd: 1.518328 target range: 87.699997 and range: 87.70 m. jX?jjjihhhhfffrfbf@ɛ5тB5m5> 9= @I9 =<ɚ9i9I=0f=IEX?ii)X?)E%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760360*F-?2F):F)BF-`0JF1GBOn>Fw,%A6h?Y6`?6!96O]>y6H@H?%,? ? H?p ';?*??ɨ6h?6d;4y^1BbI&I df=UMb@Mb@Mb@QQQ Q)QYUn?i|?5?I +yUV?Uq=U94U@ Q)QIU@QyU@ImImW}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:47:31.2651 TRx dataTimestamp_ set to:1736380052.488684checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013254٢~ F=95QAA EG٣AyEZ= M> UNusing accuracyPremultiplier from configQ]59U$?]5YU" iU™e)?e:e`?eAUpEU/;Uj;U L5i mM@6EZjDNOT Ignoring new targets: 87.70 m.Bj{p<Jj{p>  @I {!<ɚiIYd=I ֎?i i ) ֎?)*F2F:FBF0JF I GyBO_>H1I1 I5&II5BI1&I1.I56D6I5<:I5 FzKMNKM+9KIKMI$KMxkd]WUPMLHLMNVtysplgfeffd`ZXSOJDC>?=<867400.-()$$# M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268069Lw,) 6A^Vp?Y^ni?^9^7>y^H?`+10?@T?ࢀ?LJs? ??ɨ^Vp?^;\yr*Bv@&IIIq٢E MN=9MY]YY eG٣aym= m> uNusing accuracyPremultiplier from configq}59uw?}5Yuՙ iu™y}?AuqEu:u BDAT read: Tx time:23:47:32.3457 $Ping request sent.?y}̬By}oy }i)yI}@i};?}}?UɛǂB-2> 隽^ @I ,w=ɚiISa=IՖ?}@}?@}> }w @)}'g=I}5>i}'gyy}І?IËf?)}1I}ךi}/ }퍿yy:publishing transmit ping timeFpublishing direction and range infoy9}8п@'ֿ䃉>?yyyyy y)yIyiyyyyy y)yIyi)i))5Ֆ?)1iyyy}І?IËf?)yIyiyyyy*F2F:FBF0JFG  I B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:23:47:32.3449 &Sw,OA2uw?Y2D?2!92>y2H(?Y???``8>t??ɨ2uw?2;2#CyB(BB=&IMb@Mb@Mb@ )Yw/?I +?Qy?94=u t@)@I@y@II[٢%A %>=9%6)) -G٣-xWGJ=J9J9J9J=:J9J9J9aE@aE@aE@aE@yUQ= U> ]Nusing accuracyPremultiplier from configYe59]?e5Y] i]™mo?m:m??mA]sE];]8;]O5 @kq?k! k kc}?A:k̬BBkBZkRW@" m63>2=US@8п@'ֿ䃉>?Jk/ Rk퍿*llC@D@"'D64sP@/D?:)ݿ]bb_?"k9!*kgBkpz򇠜?k! 2kcCk 撓?kHz kkb AkN@u addTargetRange:: Added new target pos. range: 86.400002 m, deltaT: 3.528165 s, deltaX: -1.299995 m, approachRate: -0.368462 m/s, rangeRepo size: 4  Added new target pos. range: 86.400002 m, bearing: 313.947011 deg, lat: 36.904976 deg, lon: -122.120556 deg, deltaT: 3.528165 s, deltaX: -1.299995 m, approachRate: -0.368462 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 86.40 m.BjJj ProNav: ac range: 86.400002 m, nav range: 8.774094 m, bearing: 266.652717 deg, approach rate: 0.000000 m/s, LOS rate: 0.759335 deg/s, cmd heading: 88.893143 deg, new cmd heading: 89.838630 deg. 2jHeadingCmd: 1.567980 target range: 86.400002 and range: 86.40 m. j?jjjihhh!h%jBfIfIfIrfMU@bfM$]?ɛÂBG> 隥 @I Q =ɚiID_=I ?ii)?)EEqAEEqA*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.՝<ՙGqByO> I RYw,niAJI$?YJ.Л?JV;9Jr>yJH'??b?^?m*p??ɨJI$?Jlj;J Cy^B^-&I)d djAjAIrIr@ ٢eފ eW=9e*ii mG٣iyuJ= u> }Nusing accuracyPremultiplier from configy59}y“?5Y} i}™?A}uE}n:}7:}MQ5gB @4EZjDNOT Ignoring new targets: 86.40 m.BjrNJjrNHI I&IInBI&I.I6I-<:I FBIJIRIZI% =bI% =jIN4zKďNKKKJ$K !       ProNav: ac range: 86.400002 m, nav range: 8.968967 m, bearing: 266.391130 deg, approach rate: 0.549786 m/s, LOS rate: -0.721964 deg/s, cmd heading: 89.838632 deg, new cmd heading: 89.070970 deg. 2j%HeadingCmd: 1.554582 target range: 86.400002 and range: 86.40 m. j%?j!j!j!i!h!h)h1h1f1f1f1rf9bf=s?ɛeBe O> aeL @Ii mX=ɚiiiIm]=Iu?iqiq)}?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFZ0JFGB O+>J9J=AA Will construct direction to contact in vehicle frame from tetrahedron phase data.G`w,A2i?Y2?2;92矉>y2HW?;`-C?V??ڳL~??ɨ2i?2!;2!Cy>B>)&IIFIF٢nv nS=9r pp vG٣tyv;= v> ~Nusing accuracyPremultiplier from configx59z}Ɠ?5Yzȉ iz™ ? AzvEzh-;z-;zR5 @ZjQ]DNOT Ignoring new targets: 86.40 m.BjmJju Ih ProNav: ac range: 86.400002 m, nav range: 9.170258 m, bearing: 266.171869 deg, approach rate: 0.517321 m/s, LOS rate: -0.551137 deg/s, cmd heading: 89.070967 deg, new cmd heading: 88.427650 deg. 2jHeadingCmd: 1.543354 target range: 86.400002 and range: 86.40 m. j?j!j!jIiIhQhYhahafafafarfbf?ɛB9> x @I n=ɚiI[Z=I?ii9\)m?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F :F BF \0JF J]J]JYJYJ],:J]:JYJYG% Z4~G B O% >gw,8gA6ϑ?Y6ϣ?62<96>y6H\?`͂ 1?`?{?`R?@?ɨ6ϑ?6!e;6CyPR(&I-Mb@Mb@Mb@))) )))Y-Zd;?~jt?I +]Will construct direction to contact in vehicle frame from tetrahedron phase data.y->-D=-94-@ -^@)-@I-z@)y-@II4٢a1 <=9;Q > G٣yWGy = > Nusing accuracyPremultiplier from config59ɓ?5YE i™>:?AxE;;T5 @Zj1=DNOT Ignoring new targets: 86.40 m.Bj=oϻJj=oϻM ProNav: ac range: 86.400002 m, nav range: 9.381763 m, bearing: 266.011249 deg, approach rate: 0.488634 m/s, LOS rate: -0.362707 deg/s, cmd heading: 88.427652 deg, new cmd heading: 87.956668 deg. 2jMxUHeadingCmd: 1.535133 target range: 86.400002 and range: 86.40 m. jUA?jQjYjYiYhYhYhahe:Bfafafarfibfm?ɛB ZM> 隥 @I \ =ɚiIJX=I+?i%kE>*F-?2F1:F1BF5_0JF1GFz $?IGBOG>HI Iz&IIZBI&I.I6I8<:I FzK]dMK]9KYK]K$K]   "$&&&%%"!"# Will construct direction to contact in vehicle frame from tetrahedron phase data. -mw,CA>YJ?Y>b?>en<9>>y>H@_? ??1?@gލg?o?ɨ>YJ?>B;>"CybBb1&Iif=If{>IjIjƳ٢v= vZ=9z xx zG٣xy~= ~> Nusing accuracyPremultiplier from config 59b̓? 5Y| i™c?AzE@: :V5 @!ZjIUDNOT Ignoring new targets: 86.40 m.BjeJje ProNav: ac range: 86.400002 m, nav range: 9.565017 m, bearing: 265.910114 deg, approach rate: 0.489410 m/s, LOS rate: -0.264925 deg/s, cmd heading: 87.956669 deg, new cmd heading: 87.659079 deg. 2j5HeadingCmd: 1.529940 target range: 86.400002 and range: 86.40 m. j?jjjihhhhfffrfbfN?ɛB~QJ> !%( @I! %'=ɚ!i!I-[U=I-?i)i5&!)5?)*FM?2FI:FIBFM`0JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.u?u=G%PaGBOI> I Will construct direction to contact in vehicle frame from tetrahedron phase data.tw,ѥAJ?YJ)?JQ<9J.>yJH@h? 16?4 ?@S ?ꇧ`@l?5?ɨJ?J;J!C)T VCy| )A mYiymBJKـ3 K .KK"KJJJ1JJ:JK:J3J}Mb@Mb@Mb@yyy y)yY}X9v?+?~jtxy}>}=}Ļ}p@ }G@)}@I}7@yy}@II@9 G٣y]{= > Nusing accuracyPremultiplier from config591ϓ?5Yy i™>:?A{E4;;X5 B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 86.40 m.BjyJjy5 ProNav: ac range: 86.400002 m, nav range: 9.785021 m, bearing: 265.806690 deg, approach rate: 0.475530 m/s, LOS rate: -0.218521 deg/s, cmd heading: 87.659078 deg, new cmd heading: 87.355785 deg. 2j5=HeadingCmd: 1.524646 target range: 86.400002 and range: 86.40 m. j='?j9j9j9i9h9h9hAhE-BfAfIfIrfIbfU@ɛB&?>  @I /=ɚiIgS=I'?iLve I ?zw,ABDk?YBM?Bװ<9B>yBH ,5?  l?@P?`?(N ??ɨBDk?Bp;B"CyJBJ*&IIVIV٢ZO ^<9~d r @I 6=ɚiITIQ=Ie?ia Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:47:34.8629  TRx dataTimestamp_ set to:1736380056.016746 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012176&w,A2ڕ?Y2?2h<92>y2H`?`?`?$z?? %@s̘t?`?ɨ2ڕ?2짍;2 CyR%BR:&I)T TIZIZW٢w=  E=9;Q >)) -G٣)y-= 5> =Nusing accuracyPremultiplier from config1E595ғ?E5Y5Gp i5 ™AE?EA5~E5%;5:5[5Q U'@QZjq}DNOT Ignoring new targets: 86.40 m.Bj}HJjH ProNav: ac range: 86.400002 m, nav range: 10.145961 m, bearing: 265.732281 deg, approach rate: 0.478460 m/s, LOS rate: -0.061759 deg/s, cmd heading: 87.212042 deg, new cmd heading: 87.136478 deg. 2j)HeadingCmd: 1.520818 target range: 86.400002 and range: 86.40 m. j.?jjjihhhhf  qIyffrfbf%{ @ɛBD> @I >=ɚ i I N=I.?i]+GYBaO}{>JUJUJU0JQJU|:JUB:JUـ3JQ Qw,Ay.B E&ImWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521420uMb@Mb@Mb@qqq q)qYuI +?~jt?{Gzt?yu9>uD=uף;u-@ q)u@IuM@qyu@II@٢ = '=9Q > G٣y > Nusing accuracyPremultiplier from config595ԓ?5Y)j i™x>:?AE+ ;w;]5hB @/EZjDNOT Ignoring new targets: 86.40 m.Bj!Jj! ProNav: ac range: 86.400002 m, nav range: 10.379016 m, bearing: 265.717691 deg, approach rate: 0.479045 m/s, LOS rate: -0.029316 deg/s, cmd heading: 87.136480 deg, new cmd heading: 87.093693 deg. 2j%HeadingCmd: 1.520072 target range: 86.400002 and range: 86.40 m. j%?j!j!j!i)h)h)h1h53Bf1f1f1rf9bf=$ @ɛmBmP> im@Ii uyF=ɚqiqIu{>L=I}?i}ypZzKLK9KKM$K   Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 23:47:34.8629 LVL= 28480, 32753, 27250, 32755, AGC= 67, IDX= 418,-0.10,-0.778,-2.170,-1.305,-1.237, PHS= 0.546,-0.887,-0.072, RAW= 124.5, 6.7, CAL= 132.6, 1.8, ROT= 17.4, -1.8 U Ygot valid direction response: 23:47:34.8629 LVL= 28480, 32753, 27250, 32755, AGC= 67, IDX= 418,-0.10,-0.778,-2.170,-1.305,-1.237, PHS= 0.546,-0.887,-0.072, RAW= 124.5, 6.7, CAL= 132.6, 1.8, ROT= 17.4, -1.8 ] PDAT read: Bearing 17.4, -1.8 (Local) ] ~Local bearing/azimuth received: Bearing 17.4, -1.8 (Local) m DAT read: Range 10 to 50 : 84.7 m (Round-trip 113.0 ms) speed 0.5 m/s m ,DAT read: user:3461> u BDAT read: Tx time:23:47:35.9458 u $Ping request sent.} i  ӷ?w?m].rҽ?) 5=I i  u  :publishing transmit ping timeq  Fpublishing direction and range info 9 Lпd,5d޿GXw?y  ) I i ) I i  ӷ?w?m].rҽ?) I i ߀w,+8Ay4BM&II-I-٢g = q=9Q ? G٣{WGy > Nusing accuracyPremultiplier from config59lՓ?5Ye i™!%AE::_59 E;@ik5F,h?k5iu k1 k51A:k5fBBk5=BZk5ʸ@"5lQEI5fԘD^!mQ@5Lпd,5d޿GXw?Jk5Rk5u*5L%J@&ր=tP>M@5QO?ј?k5"z k1k5BBk5yť@ addTargetRange:: Added new target pos. range: 84.699997 m, deltaT: 3.783888 s, deltaX: -1.700005 m, approachRate: -0.449275 m/s, rangeRepo size: 4  Added new target pos. range: 84.699997 m, bearing: 330.870190 deg, lat: 36.905119 deg, lon: -122.120775 deg, deltaT: 3.783888 s, deltaX: -1.700005 m, approachRate: -0.449275 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 84.70 m.BjJj ProNav: ac range: 84.699997 m, nav range: 33.564667 m, bearing: 296.812509 deg, approach rate: 0.000000 m/s, LOS rate: -0.029316 deg/s, cmd heading: 87.093696 deg, new cmd heading: 87.060182 deg. 2jHeadingCmd: 1.519487 target range: 84.699997 and range: 84.70 m. j~?jjjihhhhff f rf ,U@bf B?ɛUB]V>]Will construct direction to contact in vehicle frame from tetrahedron phase data. y}g@Iy N=ɚiII=I~?iW Will construct direction to contact in vehicle frame from tetrahedron phase data. i A;cw,,gRA2?Y2'Ż?2e=92>y2H???@ƻ?Xr?𫠿 ?%?ɨ2?2'@;2"Cy>6BBO&IiFa=IF= Fp=DMb@Mb@Mb@ )YGz?L7A`?Mb?yp>+=<Z@ )@I7@y@II٢< ==9 G٣y3> > Nusing accuracyPremultiplier from config559Փ?55Y` i™5>=:=?=AE/</<ca5A E@AJUJUJQJQJU,:JU^:JQJQB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 84.70 m.Bj׻Jj׻ ProNav: ac range: 84.699997 m, nav range: 33.758205 m, bearing: 296.654762 deg, approach rate: 0.465330 m/s, LOS rate: -0.377101 deg/s, cmd heading: 87.060180 deg, new cmd heading: 86.589662 deg. 2jfHeadingCmd: 1.511275 target range: 84.699997 and range: 84.70 m. jsq?jjjihhhhKBff!f!rf!bf%@_?ɛBX> 隝@I U=ɚiI&dG=Isq?iiuM)sq?)*Fe?2Fa:FaBFeW0JFaG5}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.GBO> i Ii ތw,B@lA6y6H+ ?|`d???E1?@D`T?`v?ɨ6  0@I  [=ɚ iIJE=I ?iiޥl;) ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996178zKILKs9KKN$KBK%pA:K!*F?2F:FBF_0JFGͰ˽GaBiO9> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247131vw,$A6k9?Y6sw?6=96As>y6HW?R? ??\? ? ??ɨ6k9?6;6 Cy^MB^k&IIfIfaO٢n'= nL=9nJ;Q r>pp rG٣r|WGyvjn= v> zNusing accuracyPremultiplier from configx~59zYӓ?~5YzOV iz™w? AzEz>;z>;zd5 @Zj9=DNOT Ignoring new targets: 84.70 m.BjE溻JjE溻 ProNav: ac range: 84.699997 m, nav range: 34.099335 m, bearing: 296.405514 deg, approach rate: 0.466038 m/s, LOS rate: -0.326799 deg/s, cmd heading: 86.234144 deg, new cmd heading: 85.845695 deg. 2jG`HeadingCmd: 1.498290 target range: 84.699997 and range: 84.70 m. jǿ?jjjihhhhfffrfbf?ɛBb> I 隕@I c=ɚiIB=Iǿ?i]cWw,]AR?YR?R#*=9R$k>yRH?`S?? @c??0S/? "?ɨR?R䑋;RCy^VB^v&I)` `fAdEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751717Mb@Mb@Mb@ )Y?333333?y&1|?yf?=`;@ t@)@I @y@II٢)= ==9 G٣y+= > uNusing accuracyPremultiplier from config}59ѓ?}5YLP i™}?}:}?}AE<<f5 (@ZjDNOT Ignoring new targets: 84.70 m.BjbJjb5 ProNav: ac range: 84.699997 m, nav range: 34.313385 m, bearing: 296.268196 deg, approach rate: 0.464573 m/s, LOS rate: -0.296175 deg/s, cmd heading: 85.845697 deg, new cmd heading: 85.436320 deg. 2j5CK=HeadingCmd: 1.491145 target range: 84.699997 and range: 84.70 m. j=ݾ?j9j9j9i9h9hAhAhEFBfAfIfqrfqbf} Ie?ɛB/X> am,@Ii ml=ɚiiiImH@=I}ݾ?i1XWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002953zKe :KKe 59Ka Ke O$Ke    $$ JM JM JI JI JM |:JM U:JI JI JM qq uG٣yy} }> Nusing accuracyPremultiplier from config59ϓ?5YJ i™AE::?h5 @0EZjDNOT Ignoring new targets: 84.70 m.Bj&Jj& ProNav: ac range: 84.699997 m, nav range: 34.508755 m, bearing: 296.144457 deg, approach rate: 0.536272 m/s, LOS rate: -0.337729 deg/s, cmd heading: 85.436323 deg, new cmd heading: 85.067213 deg. 2jgHeadingCmd: 1.484703 target range: 84.699997 and range: 84.70 m. j ?jjjihhhhfffrfbfG@ɛ=BE4Hu> IM@II ]s=ɚYiYI]r>=Im ?iyir(M=) ?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255156Er; I*Fm?2Fi:FqBFu`0JFqG ^G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507088Ĵw,ԦAfͬ?Yf ?fa=9f76b>yfH !?8E ?`?:?|?0`'?,?ɨfͬ?fN;f CyrfBr&IMb@Mb@Mb@ )Ykt?V-?y&1|?y ?m=@ @)@IƷ@y@II٢'= C=9=Q > G٣y= > Nusing accuracyPremultiplier from config59͓?5YD i™?:?AE*;);j5 @Zj)5DNOT Ignoring new targets: 84.70 m.Bj5ǹJj5ǹE ProNav: ac range: 84.699997 m, nav range: 34.731834 m, bearing: 296.006425 deg, approach rate: 0.528384 m/s, LOS rate: -0.324840 deg/s, cmd heading: 85.067213 deg, new cmd heading: 84.655785 deg. 2jE^MHeadingCmd: 1.477522 target range: 84.699997 and range: 84.70 m. jUr?jQjQjQiQhQhQhYh]MBfYfYfarfabfe_@ɛB8*h> 隕@I ~{=ɚiI;=Ir?ia[5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759259 I hw,AFݭ?YF?FTw=9FbZ>yFHڴF ??3s??宿7?\7?ɨFݭ?F;F"CH`I` Ib&IIbBIb$ =&I`.I`6Ib,<:Ib FynoBn&Iir>IrC=IzIzF٢Ec-= MS=9M)`QQ UG٣U}WGy}< }> Nusing accuracyPremultiplier from config59˓?5Y> i™?AE :n:k5 @B*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 84.70 m.Bj wJj w= ProNav: ac range: 84.699997 m, nav range: 34.939766 m, bearing: 295.882775 deg, approach rate: 0.521977 m/s, LOS rate: -0.308555 deg/s, cmd heading: 84.655782 deg, new cmd heading: 84.287045 deg. 2jESEHeadingCmd: 1.471087 target range: 84.699997 and range: 84.70 m. jML?jIjIjIiIhIhIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:47:38.4599 TRx dataTimestamp_ set to:1736380059.800836checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012257hhfffrfbfB@zKzMK9KKP$KɛB^g> q@I m=ɚiIH>9=IL?i=^Kw,J AymB&IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:47:38.4599 LVL= 29328, 32753, 26594, 32755, AGC= 68, IDX= 403,-0.07,-2.138, 2.524,-2.510,-2.704, PHS= 0.654,-1.008, 0.191, RAW= 134.3, 2.2, CAL= 139.7, -5.9, ROT= 10.3, 5.9 Ygot valid direction response: 23:47:38.4599 LVL= 29328, 32753, 26594, 32755, AGC= 68, IDX= 403,-0.07,-2.138, 2.524,-2.510,-2.704, PHS= 0.654,-1.008, 0.191, RAW= 134.3, 2.2, CAL= 139.7, -5.9, ROT= 10.3, 5.9 PDAT read: Bearing 10.3, 5.9 (Local) ~Local bearing/azimuth received: Bearing 10.3, 5.9 (Local)  DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.4 m/s ,DAT read: user:3462> BDAT read: Tx time:23:47:39.5458 $Ping request sent.R/?yصBرصrر ٵg)ٱIٵDiٵl'?ٵ%ٵC>ٵ@ٵnF= ڵ @)ڵBҽIڵX8>iڵB=ڱڱ۵E?u?Oأ?)۵(>I۵i۵r꿉۵Y[۱۱U:publishing transmit ping timeUFpublishing direction and range infoر9صׅſLW>R/?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵E?u?Oأ?)۱i|uAA u7!Yu|uAyuBI۱i۱۱۱۱Mb@Mb@Mb@ )Y^I +? rh?{Gzt?yX?C=ף;x@ )@Iݸ@y@II?1٢%Ի -<9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59Eȓ?M5YEn4 iE'™MU?M:M?MAEEE;E0;En5 @kyDΨ?k'EC k k\sA:kBBkޣBZk@"Jnh+J?̰-O@ׅſLW>R/?JkrRkY[*7g#P@i"$ԝOI@?P`[=Xۢ?"k%*kBkf?kږE 2kBkpz򇠜?kkcCkHBk @u addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.528000 s, deltaX: -2.199997 m, approachRate: -0.623582 m/s, rangeRepo size: 4  Added new target pos. range: 82.500000 m, bearing: 350.838792 deg, lat: 36.905330 deg, lon: -122.120775 deg, deltaT: 3.528000 s, deltaX: -2.199997 m, approachRate: -0.623582 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 82.50 m.BjJj ProNav: ac range: 82.500000 m, nav range: 50.131428 m, bearing: 320.588843 deg, approach rate: 0.000000 m/s, LOS rate: -0.308555 deg/s, cmd heading: 84.287048 deg, new cmd heading: 83.667817 deg. 2jHeadingCmd: 1.460279 target range: 82.500000 and range: 82.50 m. jk?jjjihhhh]BfffrfT@bf`B>?ɛ B tK> 0"<隕 @I ;=ɚ i I +6=I k?i ocsw,S)A ^$?I^hmd?Yml'?m)=9m =>ymHU@}u iX?`?1gͲ?}Yzo?`?ɨmd?m؉;m CyޅvBޅ&III@ ٢Eox= E=9M=Q M?IQ UG٣U~WGyUJ< U? Nusing accuracyPremultiplier from configY59]'Ɠ?5Y]/ i]/™1?A]E];]:K;]o5iB .@.EH5>I I&IIBI% =&I.I6I`<:I= FZjDNOT Ignoring new targets: 82.50 m.Bj ,Jj ,E ProNav: ac range: 82.500000 m, nav range: 50.264004 m, bearing: 320.446258 deg, approach rate: 0.424391 m/s, LOS rate: -0.455230 deg/s, cmd heading: 83.667816 deg, new cmd heading: 83.241195 deg. 2jE5MHeadingCmd: 1.452833 target range: 82.500000 and range: 82.50 m. jMn?jIjIjIiIhIhQhqhqfqfyfyrfybf}D?ɛBv> 䛻(@IWill construct direction to contact in vehicle frame from tetrahedron phase data. X=ɚiIK4=I%n?i!i-=)-n?))zKKK59KKQ$K 2,xO;A:*F!2F):F)BF-2JF)JYJ]J]0JYJYJ]B:J]ـ3JYJ]<JYJ]#b;J]$b;G%Z=G- ?G-?GB O% >Ĺw,( CA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2 >2:?yyB&I)! !I-I-٢=l< =^=9EQ E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]59UÓ?e5YU) iU9™aaeAUEU ;U%;Uq5i m@qZjDNOT Ignoring new targets: 82.50 m.BjJj ProNav: ac range: 82.500000 m, nav range: 50.425716 m, bearing: 320.273798 deg, approach rate: 0.479961 m/s, LOS rate: -0.510216 deg/s, cmd heading: 83.241196 deg, new cmd heading: 82.725490 deg. 2jHeadingCmd: 1.443832 target range: 82.500000 and range: 82.50 m. j~ϸ?jjjihhhhfffrfbfݮ?ɛBu> @I ;=ɚ i I P2=I~ϸ?ii'>)~ϸ?) I*F2F:FBFP0JFGB=GB1O]v>Will construct direction to contact in vehicle frame from tetrahedron phase data. w,\A6+خ?Y62?6ɩ=96w>y6HP$ r??ho? 2`r6?9?ɨ6+خ?6;6"CyBqBB&IEMb@Mb@Mb@AAA A)AYEV-?㥛 ?Mbp?yE?E=E;E5@ EΫ@)AIE@AyE@IeIe٢u# uG=9uyy G٣y > Nusing accuracyPremultiplier from config59?5YC# iH™ ?:?AES;%;bs5 @ZjDNOT Ignoring new targets: 82.50 m.BjJj ProNav: ac range: 82.500000 m, nav range: 50.612194 m, bearing: 320.079387 deg, approach rate: 0.454422 m/s, LOS rate: -0.472008 deg/s, cmd heading: 82.725489 deg, new cmd heading: 82.144427 deg. 2jHeadingCmd: 1.433691 target range: 82.500000 and range: 82.50 m. j-?jjjihhhhWBff f rf bf m?ɛ=B=*x> =դ;=@I9 Ef=ɚAiAIE))0=IM-?iIiM >)M-?)IuWill construct direction to contact in vehicle frame from tetrahedron phase data.E} I*F?2F:FBF5JFH I  I I I $ =&I .I 6I <:I i F- Will construct direction to contact in vehicle frame from tetrahedron phase data.G V=G G oAzK5 NK5 s9K1 K5 R$K5 G B O >xw,,xAJbJbJ`J`Jb\:Jbh:J`J`Jb<Jb<JbMi;JbNi;r5?Yrs?r=9r=yrH( \??+?`"? 8ɶ {?@ ?ɨr5?r;rCyoB&IIEIE@٢U U?=9]gnYa eG٣eWGye= e> Nusing accuracyPremultiplier from configy59}%?5Y}[ i}Z™p?A}E}r;}r;}Au5 @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 82.50 m.BjPJjP ProNav: ac range: 82.500000 m, nav range: 50.806576 m, bearing: 319.877089 deg, approach rate: 0.449682 m/s, LOS rate: -0.466203 deg/s, cmd heading: 82.144424 deg, new cmd heading: 81.539877 deg. 2jHeadingCmd: 1.423139 target range: 82.500000 and range: 82.50 m. jn)?jjjihhhhfff rf bf S?ɛ5}B5v> 9=0@I9 =5×=ɚ9i9IE.=IEn)?iIiM>)Mn)?)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.E3;*F?2F:FBF4JF IGm V4=GI Bq O >Vw,v2A:?Y:V?:=9:)=y:H ,a MAJ??7??@"7??ɨ:?:_;:CyJeBJ&IiN>INi> R=R=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003428=Mb@Mb@Mb@999 9)9Y=ףp= ?333333?{Gzy=?===#=@ =V@)=@I=@9y9IUIU(*٢mJ mJ=9mAqq uG٣qy}n }> Nusing accuracyPremultiplier from config59?5Y it™?:?AE;t;w5 A@ZjDNOT Ignoring new targets: 82.50 m.BjJj ProNav: ac range: 82.500000 m, nav range: 50.990505 m, bearing: 319.686248 deg, approach rate: 0.460386 m/s, LOS rate: -0.475962 deg/s, cmd heading: 81.539877 deg, new cmd heading: 80.969440 deg. 2jSHeadingCmd: 1.413183 target range: 82.500000 and range: 82.50 m. j1?jjjihhhhKBfffrfbf}]@ɛ {B x> :@I =ɚiI+=I1?ii%H2>)%1?)!EIEI*EQ"EQ*F2F:FBFX0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255572Ge  >GA BI Om > I O}w,A6?Y6?6,=96=y6H ?`j?@`?vr?QH?`J ?@8?ɨ6?6TO;6 CyBdBB&IIJIJM٢R VX=9VAXX ZG٣XyZ1 Z> fNusing accuracyPremultiplier from config`f59bI?j5Yb ib™hj?jAbEb:b:bx5EjB ES@M+EZjDNOT Ignoring new targets: 82.50 m.BjJj ProNav: ac range: 82.500000 m, nav range: 51.162361 m, bearing: 319.505959 deg, approach rate: 0.433640 m/s, LOS rate: -0.453391 deg/s, cmd heading: 80.969441 deg, new cmd heading: 80.430406 deg. 2jHeadingCmd: 1.403775 target range: 82.500000 and range: 82.50 m. jꮳ?jjjihhhhfffrfHI I&IIBI&I.I6I <:I Fbf`(@ɛyB?> 隍t@I =ɚiI*=Iꮳ?iiQ>)ꮳ?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508748*Fi2Fi:FqBFuo0JFqzK}BoHK}@9KyK}S$K}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=2.759359ew,ŧA6S?Y6ԑ?6==961x=y6H Г???Ü??`95 ?Ŵ?ɨ6S?6o;6Cy>\BB}&IIJIJ@٢V3. VJ=9VPXX ZG٣XyZ ^> bNusing accuracyPremultiplier from config`f59b ?f5Yb  ib™df2?jAbEb7:b:boz5l n@!ZjimDNOT Ignoring new targets: 82.50 m.Bju Jju  ProNav: ac range: 82.500000 m, nav range: 51.343857 m, bearing: 319.313222 deg, approach rate: 0.454507 m/s, LOS rate: -0.480950 deg/s, cmd heading: 80.430409 deg, new cmd heading: 79.854264 deg. 2j HeadingCmd: 1.393720 target range: 82.500000 and range: 82.50 m. jie?jjjihhhhfffrfbfI@ɛewBm/> im@Ii m=ɚiiq yI}hIu<(=Iie?ii7>)ie?)*FQ2FQ:FYBF]0JFY=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AEBDAT read: Rx Time:23:47:42.0571 MTRx dataTimestamp_ set to:1736380063.329438Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013256G>Gi Bq J J J J J :J U:J J a @a @a @a @O >w,ߧAyzMBzl&I)   Mb@Mb@Mb@ )Y+?MbX9?y&1y?ʡ=`e=@ @)S@IyQ@IIF٢ 8=9Q > G٣WGy > Nusing accuracyPremultiplier from config 59? 5Y i™!?:?AEmb;C`;`|5 @ZjAMDNOT Ignoring new targets: 82.50 m.BjM JjU ] ProNav: ac range: 82.500000 m, nav range: 51.547157 m, bearing: 319.102258 deg, approach rate: 0.469593 m/s, LOS rate: -0.485373 deg/s, cmd heading: 79.854262 deg, new cmd heading: 79.223891 deg. 2jeeHeadingCmd: 1.382718 target range: 82.500000 and range: 82.50 m. je?jijijiiihihqhqhu9Bfqfyfyrfybf}0 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264461ɛtB@~>  @I P=ɚiIZ&=I?ii>)?)*Fa2Fa:FaBFe[5JFa iIiH I  I &II sBGQI % =&I .I 6I 7<:I  FBIJIRIZI$ =bI$ =jIǏ4G! B1 OM >= Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 23:47:42.0571 LVL= 20208, 32753, 21234, 32755, AGC= 65, IDX= 406, 0.08, 1.959, 0.498, 1.422, 1.467, PHS= 0.580,-0.922,-0.048, RAW= 125.4, 6.0, CAL= 133.3, 0.9, ROT= 16.7, -0.9 } Ygot valid direction response: 23:47:42.0571 LVL= 20208, 32753, 21234, 32755, AGC= 65, IDX= 406, 0.08, 1.959, 0.498, 1.422, 1.467, PHS= 0.580,-0.922,-0.048, RAW= 125.4, 6.0, CAL= 133.3, 0.9, ROT= 16.7, -0.9  PDAT read: Bearing 16.7, -0.9 (Local)  ~Local bearing/azimuth received: Bearing 16.7, -0.9 (Local)  DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.2 ms) speed 0.4 m/s  ,DAT read: user:3463>  BDAT read: Tx time:23:47:43.1458  $Ping request sent. i= 9 9 = RՔ? .^s?f ݺ?)= ^=I= \U׽i= x= o~9 9  :publishing transmit ping time  Fpublishing direction and range info9 9= οo_߿n*?y9 9 9 9 9 )9 I9 i9 9 9 9 9 9 )9 I9 i9 9 9 = RՔ? .^s?f ݺ?)9 I9 i9 9 9 9 zK UKK 9K K T$K    .;߹w,>AJ J 6T֦?Y6\?6=964g=y6H?U`0ү?R?@l??bش?7?ɨ6T֦?6}Q;6 Cy>>BBY&IIJIJV8٢Rh Ra=9Rj =Q V>TT VG٣TyZ㙽 Z> Nusing accuracyPremultiplier from config\59^ ? 5Y^ i^™  |? A^E^ /<^~:^}5 @Ak} ??k}VUS ky k}=A:k}̠BBk}BZk}j@"}ԁ;3M([CxP@}οo_߿n*?Jk}xRk}o~*}YAKE@#x;*؝TP@}-t9O?2 DĿO?"k}Q*k}Z*Bk}^5ַ?k}SysU 2k}Ck}^5ַ?kykyk}YBk}ă@% addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.527991 s, deltaX: -2.099998 m, approachRate: -0.595239 m/s, rangeRepo size: 4 u Added new target pos. range: 80.400002 m, bearing: 342.882316 deg, lat: 36.905362 deg, lon: -122.120775 deg, deltaT: 3.527991 s, deltaX: -2.099998 m, approachRate: -0.595239 m/s, posRepo size: 4 Zjq}DNOT Ignoring new targets: 80.40 m.Bj}Jjy ProNav: ac range: 80.400002 m, nav range: 54.478737 m, bearing: 321.419847 deg, approach rate: 0.000000 m/s, LOS rate: -0.485373 deg/s, cmd heading: 79.223890 deg, new cmd heading: 78.644730 deg. 2jHeadingCmd: 1.372609 target range: 80.400002 and range: 80.40 m. j?jjjihhhhfffrfT@bf S?ɛerBe>A}> ae@Ia mTG=ɚiI$=I?ii9>)?)*Fe?2Fi:FiBFmP5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:47:43.1450 G>GYBqO> QIYw,AN ?YNK?NX>9NKF=yNH`ʮ? :%?@?@?` ?@~_5?%?ɨN ?N+;LzWill construct direction to contact in vehicle frame from tetrahedron phase data.y~/B~G&IuMb@Mb@Mb@qqq q)qYu\(\?ʡE?Qyu?u-=uuu/@ u @)u@Iqqyu@II ٢3 ,=99 G٣WGys > Nusing accuracyPremultiplier from config59?5JUJUJQJQJU:JUK:JQJQYJ i ™?:?AE<g< 5 @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 80.40 m.Bj%Jj%5 ProNav: ac range: 80.400002 m, nav range: 54.678291 m, bearing: 321.199413 deg, approach rate: 0.427897 m/s, LOS rate: -0.470944 deg/s, cmd heading: 78.644731 deg, new cmd heading: 77.985871 deg. 2j5]HeadingCmd: 1.361110 target range: 80.400002 and range: 80.40 m. j]8?jYjYjYiYhahahahe?Bfififirfibfu@?ɛpB{zw> @I 4=ɚi!I%"=I%8?i)i-g>)-8?))*FM?2FI:FIBFMO5JFIWill construct direction to contact in vehicle frame from tetrahedron 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 GU 3X>G) B1 OU > w,)Y-A6|:?Y6x?6+>96Q=y6H?+`c-?R?ݴ?@c\?@?z?ɨ6|:?6R;6!Cyf$Bf9&Iija=Ij%=IrIr?1٢vz zm=9zL @I 㥳=ɚiI~!=I*?ii>)*?) Will construct direction to contact in vehicle frame from tetrahedron phase data. i checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992671*FE?2FA:FABFE^0JFA"GM=GM,>G >zKLK@9KKU$KAABI^|vpaM<60/..0,(&&!! !!#&+27=BIOUGBOK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246068w,'GA^:?Y^x?^} >9^'=y^Hg?@fF?@?@v? ?L ʤ??ɨ^:?^H;^ Cy~B~,&III٢%N %G=9-_)1 5G٣1y5 => ENusing accuracyPremultiplier from config9E59=?M5Y=] i=a ™IM?MA=E=z:=:=T5Y ]@YZjDNOT Ignoring new targets: 80.40 m.BjJj ProNav: ac range: 80.400002 m, nav range: 54.984882 m, bearing: 320.850132 deg, approach rate: 0.407397 m/s, LOS rate: -0.467470 deg/s, cmd heading: 77.513624 deg, new cmd heading: 76.941014 deg. 2jiHeadingCmd: 1.342874 target range: 80.400002 and range: 80.40 m. jL?jjjihhhhfffrfbfgf? IhɛmBr4~> 隥@I 㺷=ɚiI=IL?ii_=)L?)*FQ2FQ:FQBF]`0JFY)f= %Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498210Ie5tAy Y5tAycBGU>G! B9 OU >Jm Ji Ji Ji Jm :Ji Ji Ji w,`A24?Y2r?2L>92k=y2H 1?B{p?~?@Y??@9¿ߠ?@+?ɨ24?2;2!CyB BB&IMb@Mb@Mb@ )YZd;?bX9ȶ?~jty?E=ļ@ M@)@I@y@I-I-M٢= =I=9E==AA EG٣IyMK M> UNusing accuracyPremultiplier from configQ59Uƭ?5YU iU ™ ?:?AUEU 隵 @I 画=ɚiI=I?ii=)?)*Fm?2Fi:FqBFu_0JFq IGM%>GB)OEQ>HI I<&II'BI&I.I6I[<:I< F% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999783w,MzA2?Y2?28>92xx zG٣zWGy~8J ~> Nusing accuracyPremultiplier from config 59^? 5YX i ™?AE::ӆ5! %@!ZjIMDNOT Ignoring new targets: 80.40 m.BjURJjURm ProNav: ac range: 80.400002 m, nav range: 55.309525 m, bearing: 320.462771 deg, approach rate: 0.423658 m/s, LOS rate: -0.511701 deg/s, cmd heading: 76.355627 deg, new cmd heading: 75.782391 deg. 2jmmHeadingCmd: 1.322652 target range: 80.400002 and range: 80.40 m. juL?jqjqjqiqhqhyhyhyfyffrfbf@ɛjB4ʄ> 隵N@I >=ɚiI)'=IL?iiF=)L?)*F2F:FBF0JFGpA GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253687 IGq=GBO>$w,֔AjWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503774~p?Y~?~9>9~_    G٣ y >JKm3 KS}-KK"KJ5J5J1J1J5:J5/:J1J1 }Nusing accuracyPremultiplier from config59?5Y i ™?:d?AEpi<U;刵5 .@B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 80.40 m.BjJj% ProNav: ac range: 80.400002 m, nav range: 55.495110 m, bearing: 320.243057 deg, approach rate: 0.377294 m/s, LOS rate: -0.445183 deg/s, cmd heading: 75.782390 deg, new cmd heading: 75.125482 deg. 2j%Ø-HeadingCmd: 1.311187 target range: 80.400002 and range: 80.40 m. j5ԧ?j1jQjQiYhYhYhYh]9Bfafafarfabfm@ɛhBis> ː<@I =ɚiI,=Iԧ?ii=)ԧ?)9*F2F:FBFm0JFGj=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756056GBO I 8+w,!A6=?Y6{?6">96 @I 6=ɚiI=IǦ?i i j=) Ǧ?) *F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009768zKNK9KKW$K'%%%%# ""!" ""!!!,3240-++)*)GA=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2659532w,jȨARPG?YRV?RN%'>9Ra{Ib<IfIf٢n?  rM=9r1tt vG٣vWGyz z> Nusing accuracyPremultiplier from config 59? 5Yb i@!™  D? AE::5 @ AIEhZjIUDNOT Ignoring new targets: 80.40 m.BjUJjUe ProNav: ac range: 80.400002 m, nav range: 55.776295 m, bearing: 319.897631 deg, approach rate: 0.381492 m/s, LOS rate: -0.472157 deg/s, cmd heading: 74.653517 deg, new cmd heading: 74.091865 deg. 2jemHeadingCmd: 1.293147 target range: 80.400002 and range: 80.40 m. jmׅ?jqjqjyiyhyhhhfffrfbf@ @ɛeB~> 隽@I gA=ɚiIb=Iׅ?iil=)ׅ?)*FU?2FQ:FQBFU3JFQ"G]=G]=G-t+=GBO*>%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517912-28w,c`A6J?Y6?6)e+>96aa eG٣ayeA m> uNusing accuracyPremultiplier from configq}59uO?}5Yu ium!™}?}:}k?}AuEu;u;u5 -@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770372ZjDNOT Ignoring new targets: 80.40 m.Bj8Jj8E ProNav: ac range: 80.400002 m, nav range: 55.929859 m, bearing: 319.700093 deg, approach rate: 0.342422 m/s, LOS rate: -0.439265 deg/s, cmd heading: 74.091864 deg, new cmd heading: 73.500898 deg. 2jMUHeadingCmd: 1.282833 target range: 80.400002 and range: 80.40 m. jU3?jYjYjYiYhhhhCBfffrfbfc@ )I)ɛdBOs> ' @I (=ɚiI5=I%3?i!i%=)%3?)!H1I1 I5%II5ֆBI5$ =&I1.I16I5<:I5X FE] ; Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020567*F 2F :F BF 0JF JU JU JQ JQ JU <:JU :JQ JQ JU 5;ae JU 6;ae JU cW;ae JU dW;ae zK MK 59K K X$K (((%$""!! G:I=GBO?@w,ARߐ?YR?R2>9Rb=yRH9M?@~+@Y??"? E?>ƿs?;}?ɨRߐ?R;Py^B^%I)` `IjIjW٢r r"=9r4mtt vG٣tyvX z> ~Nusing accuracyPremultiplier from config|59~?5Y~ i~!™ ?%A~E~Q;~;~(5) -@)ZjYeDNOT Ignoring new targets: 80.40 m.Bje/Jje/} ProNav: ac range: 80.400002 m, nav range: 56.108898 m, bearing: 319.459513 deg, approach rate: 0.373831 m/s, LOS rate: -0.500723 deg/s, cmd heading: 73.500895 deg, new cmd heading: 72.781499 deg. 2j}ҫHeadingCmd: 1.270277 target range: 80.400002 and range: 80.40 m. jn?jjjihhhhfffrfbf@ɛbB0> H @I =ɚiI'=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271862IMn?iQi]|=)]n?)aEev< I*F?2F:FBF@5JFG!{=GqBO^> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526823 Gw,eA6t??Y6z}?65>96UF+=y6H?Ŵ??e4??Wƿ?`w?ɨ6t??6*h;6CybBb%IUMb@Mb@Mb@QQQ Q)QYUrh|?+η?~jtyU?Uv=UDU@ U@)U@IUƷ@QyU@ImImb٢}[ }A=9};Q > G٣WGy\ > Nusing accuracyPremultiplier from config59P?5Yj i!™?:S?AEN;L;5kB @'EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 80.40 m.BjJj ProNav: ac range: 80.400002 m, nav range: 56.260006 m, bearing: 319.249645 deg, approach rate: 0.360236 m/s, LOS rate: -0.498973 deg/s, cmd heading: 72.781499 deg, new cmd heading: 72.153612 deg. 2j8HeadingCmd: 1.259318 target range: 80.400002 and range: 80.40 m. jV1?jjjih h h h UBfffrfbf@ɛaB~>  @I v=ɚiI~!=IV1?iiA͟=)V1?) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775839 IEue<*F ?2F :F BF 1JF H I  I %II BI # =&I GD.I 6I G<:I / FBIqJIqRIqZIqbIqjIuh4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028159G 蘸=G qAG qAG B O >Nw,ǻ:Ab?Yb?bcw8>9b%4=ybH0R?@?T??? ƿM$?s?ɨb?b⧋;bCJzJzJxJxJz:Jz :JxJxJzi;Jzj;JzU;JzU;yB%II%I%V8٢5) 56=95ޯ;Q 5>99 =G٣9yEzݼ E> MNusing accuracyPremultiplier from configIU59MS?U5YMH iM "™Y]Ƚ?eAMEzKmcMKm9KiKmY$KmM ;M;M5}lB @%EZjDNOT Ignoring new targets: 80.40 m.Bj JjE U ProNav: ac range: 80.400002 m, nav range: 56.419048 m, bearing: 319.025506 deg, approach rate: 0.350790 m/s, LOS rate: -0.492974 deg/s, cmd heading: 72.153613 deg, new cmd heading: 71.483124 deg. 2jU)]HeadingCmd: 1.247616 target range: 80.400002 and range: 80.40 m. j]౟?jYjYjYiYhYhahahafififirfibfm @ɛ`B|> 隽@I c=ɚiI'=I౟?iik=)౟?)EE*E"EmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.279677 I*F=?2F9:F9BFEX5JFAG =G B O >(Tw,TA:??Y:}?:$:>9:w<=y:H`??`u?͛??#ǿ|)?@p?ɨ:??:5T;:"Cy^Bb%Iir=Ir4<II٢M ]I=9ek;Q m>Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.536788 G٣WGyͼ > Nusing accuracyPremultiplier from config59?5Y% iC"™X?AEV;;핵5 @Zj9EDNOT Ignoring new targets: 80.40 m.Bjm Jjm } ProNav: ac range: 80.400002 m, nav range: 56.576706 m, bearing: 318.800493 deg, approach rate: 0.348550 m/s, LOS rate: -0.496072 deg/s, cmd heading: 71.483121 deg, new cmd heading: 70.809995 deg. 2j}9}HeadingCmd: 1.235868 target range: 80.400002 and range: 80.40 m. j0?jjjihhhhfffrfbf`Dp@ɛ_B%>}> !-@I) -2=ɚ)i)I-2=I50?i1i5 [w,bLnA2'?Y2-!?2;>92I=y2H|?=[?`w]? #M?R?@Sǿ?`m?ɨ2'?23*;2 Cy>|B>j%IMb@Mb@Mb@ )YMb?S㥻?{Gzy ?/=#@ @)x@I@yQ@HI Iz%IIBI$ =&I.I6D6Ii<:IH FI=I=٢Mt M<=9M];Q M>Qq uG٣qy}7ܼ }> Nusing accuracyPremultiplier from config59~?5Y is"™"?:n?AEv&;%;5 @ZjDNOT Ignoring new targets: 80.40 m.Bj Jj - ProNav: ac range: 80.400002 m, nav range: 56.722343 m, bearing: 318.598452 deg, approach rate: 0.368153 m/s, LOS rate: -0.509421 deg/s, cmd heading: 70.809999 deg, new cmd heading: 70.205455 deg. 2j-ήuHeadingCmd: 1.225316 target range: 80.400002 and range: 80.40 m. ju*ל?jqjqjyiyhyhyhhgBfffrfbf@ɛ^Bl> !%@I! %^=ɚ!i!I-D=I=*ל?iAiE=)E*ל?) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039845*F=?2FA:FABFE_0JFAJJ@AJ%J%J!J!J%<:J%:J!J!J%5;J%6;J%Z;J%Z;zK=JK=+9K9K=Z$K= BKI:KIG! G B O% >a?Y>g?>z<>9>5S=y>H'?`@lo?dG??߸? Xmǿ-?j?ɨ>a?>S;>CyriBvR%II-I-٢M̽ U\= qIq9]};Q }>yy G٣yռ > Nusing accuracyPremultiplier from config59v?5Y i"™0?AE0U;U;H5 0@ZjDNOT Ignoring new targets: 80.40 m.Bj-Jj- ProNav: ac range: 80.400002 m, nav range: 56.858326 m, bearing: 318.407776 deg, approach rate: 0.370438 m/s, LOS rate: -0.518188 deg/s, cmd heading: 70.205452 deg, new cmd heading: 69.634811 deg. 2jбHeadingCmd: 1.215357 target range: 80.400002 and range: 80.40 m. jϐ?jj j i h h hhfffrfbf`@ɛ ]B 蝄> QUb@IQ ]l=ɚYiYI]\=Ieϐ?iaie=)eϐ?)i*F?2F:FBF`0JF|uA  EYE|uAyEB-Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557600GY G! B1 OU >&hw,A2?Y2ɤ?2<>92*\=y2H`n?K@]R?@3?y?`?}ǿX ?Bi?ɨ2?2;2"CyBZBB@%IMb@Mb@Mb@ )YMbX9?"~j?I +y!?S=94@ )@IM@y@I-I-#٢E EK=9E_:Q E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configQe59U?e5YU iU"™eJ$?e:e?mAU£EU;U;U5 @UB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 80.40 m.Bjm Jjm  ProNav: ac range: 80.400002 m, nav range: 57.004265 m, bearing: 318.202931 deg, approach rate: 0.347309 m/s, LOS rate: -0.486246 deg/s, cmd heading: 69.634810 deg, new cmd heading: 69.021873 deg. 2jڦHeadingCmd: 1.204659 target range: 80.400002 and range: 80.40 m. jD2?jjjihhhhBfffrfbf#1@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.796051ɛc> J?I u =ɚiIw=ID2?iih=)D2?) YI]h*F?2F!:F!BF%_0JF!HI IB%II\BI&I.I6It<:IP FG G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.048952O > Gnw,⻩A6h?Y6?6U=>96sa=y6HA ? @5 ???w?Aǿ!? h?ɨ6h?6j;6 CyR6BR%IIZIZ٢bi8 bR=9fPj:Q f>hh jG٣jWGJrJrJpJpJr:JrB:JpJpJr;Jr;Jr#b;Jr$b;y~ >  Nusing accuracyPremultiplier from config 59?5Y~ i#™g?AģEo;;5! %a@%#EZjQ]DNOT Ignoring new targets: 80.40 m.Bj]+Jje+m ProNav: ac range: 80.400002 m, nav range: 57.147888 m, bearing: 317.999582 deg, approach rate: 0.389177 m/s, LOS rate: -0.549632 deg/s, cmd heading: 69.021876 deg, new cmd heading: 68.413384 deg. 2ju}HeadingCmd: 1.194039 target range: 80.400002 and range: 80.40 m. j}C֘?jyjyjyiyhyhhhfffrfbf@ɛ\BKD> x?I M=ɚiI=IC֘?iiwʧ=)C֘?)EEzK5/LK59K1K5[$K5 *F2F:FBF 3JFGqA GqA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}Aiychecking for new query: numPingsReceived=0, elapsed TxPingTime=7.300018 IIQGJ=GiByO>-uw,̸թAF}k?YF?Fd'=>9FIi=yFHg?l[˻? ??4E?`ǿ ,?g?ɨF}k?Fډ;FCyN(BR%IIZIZb٢b bJ=9fQ f>dh jG٣lyv v> %Nusing accuracyPremultiplier from configE59?E5Yτ i5#™QUi?Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557007AƣE[=yW=5 A@Zj!%DNOT Ignoring new targets: 80.40 m.Bj-Jj-] ProNav: ac range: 80.400002 m, nav range: 57.294853 m, bearing: 317.790207 deg, approach rate: 0.317166 m/s, LOS rate: -0.450693 deg/s, cmd heading: 68.413381 deg, new cmd heading: 67.786893 deg. 2j]eHeadingCmd: 1.183105 target range: 80.400002 and range: 80.40 m. jeo?jajajaiahihihhfffrfbf@ɛ@s> ?I !=ɚiIIM=Imo?iiim*s=)mo?)q*F?2F:FBF/1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808907 I IQ GU =G9 BQ Ou > X{w,yA:n?Y:?:<>9:o=y:H*? 4W y??{?t?T{ǿr?-g?ɨ:n?:};:"CyFBF$IiJQQ UGHaIa Ie%IIe)BIe# =&Ia.Ia6Ie<:Ie F٣Qy}/ > Nusing accuracyPremultiplier from config59“?5Y} il#™&?:4?AȣE$5;4;V5 @ZjY]DNOT Ignoring new targets: 80.40 m.Bje&Jje& ProNav: ac range: 80.400002 m, nav range: 57.445606 m, bearing: 317.569717 deg, approach rate: 0.398026 m/s, LOS rate: -0.580618 deg/s, cmd heading: 67.786895 deg, new cmd heading: 67.127194 deg. 2j<ǼHeadingCmd: 1.171591 target range: 80.400002 and range: 80.40 m. j?jjjihhhhkBfffrfbf^ @ɛ-[B-JȀ> IU?IQ Ug=ɚQiQIU2=I]?iYi]=)]?)a Will construct direction to contact in vehicle frame from tetrahedron phase data. < <checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060285*F?2F:FBF@5JFJJBAzKؐLKs9KK\$KG =G B O >?w,]o A6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312602Jor?YJu?J!?<>9JVr=yJH̄?B?@? z??fǿɭ?g?ɨJor?J;J CyVBV$II^I^F٢fP  fS=9jߺQ j>hh nG٣nWG pIpyE M> mNusing accuracyPremultiplier from configi59mœ?5Ym,w im#™7?AmʣEm >?I >W=ɚ i I 4'=I͍?iiާ=)͍?)*F?2F:FBFR0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567805GҴ=G B J J J J J :J :J J a @a @a @a @O- >iw,J#A:k?Y:?:;>9:Cv=y:H`?, d????`'Zǿ;?g?ɨ:k?:;;8yF݅BF$I b@b b@b b@b  b@b IfIf(٢r\ rI=9rtmQ r>tt vG٣tyv z> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configx 59z>ɓ? 5Yzp iz#‘+::0?AẓEzZr;z!>zw5 %@!ZjAMDNOT Ignoring new targets: 80.40 m.BjMJjMe ProNav: ac range: 80.400002 m, nav range: 57.727558 m, bearing: 317.153454 deg, approach rate: 0.373356 m/s, LOS rate: -0.551832 deg/s, cmd heading: 66.496188 deg, new cmd heading: 65.881512 deg. 2je[mHeadingCmd: 1.149849 target range: 80.400002 and range: 80.40 m. jmC.?jijijiiqhqhqhyhyfyfyfrfbf!@ɛt> 隭?I c=ɚiI ^ =IC.?iid=)C.?)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817416 Ih*FI2FI:FIBFM^0JFIH]6>IY I]$II]BIY&IY.IY6I]}<:I]X FGk=GI BY Ou >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067814ޕw,,=A6V?Y6?6;>96?v=y6H?@ S?? y?@p? wAǿ(@?i?ɨ6V?6;4yNBN$I)P PIXIX٢fS  fK=9jQ j>hPExceeded connect timeout, disconnecting.h =G٣9yM M> }bBottom track data is 0.8 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq59u̓?5Yui iu $‘ :U:?AuΣEu6-;uO?u5mB @!EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 80.40 m.BjJj ProNav: ac range: 80.400002 m, nav range: 57.876076 m, bearing: 316.931675 deg, approach rate: 0.351373 m/s, LOS rate: -0.523351 deg/s, cmd heading: 65.881512 deg, new cmd heading: 65.217914 deg. 2jHeadingCmd: 1.138267 target range: 80.400002 and range: 80.40 m. j?jjjihhhhfffrf bf @ka"@ɛ15s> 9=?IA E[=ɚAiAIM =IM?iQiUdD=)U?)QzKuRIKu9KqKu]$Ku*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321174 $?IG=GBO >{w,WA:A?Y:?:g:>9:ɬu=y:H? B? ??@>?,ǿ@/?@(j?ɨ:A?: ;:CyFBF_$IIbIbԲ٢js jJ=9jh׺Q j>ll nG٣nWGyr r> zbBottom track data is 1.2 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz59v~Г?~5YvOc iv@$‘9-:?AvУEv^;vv?v5  @EZjDNOT Ignoring new targets: 80.40 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575147BjBJjBU ProNav: ac range: 80.400002 m, nav range: 58.011578 m, bearing: 316.727733 deg, approach rate: 0.342958 m/s, LOS rate: -0.514974 deg/s, cmd heading: 65.217911 deg, new cmd heading: 64.607538 deg. 2jU]HeadingCmd: 1.127614 target range: 80.400002 and range: 80.40 m. j]U?jYjYjYiYhYhahahafafifirfbfI#@JJJJJ:JJJɛZB k> ?I =ɚiI =IMU?iIiM=)MU?)Q*F?2F:F!BF!JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824141 I GM g=G9 BI Oe >uw,UpA2?Y2;?29>92Jq=y2H? ?@w? ?`?@ǿ??k?ɨ2?2rO;2CyRBR<$IH I  I a$II BI $ =&I .I 6I <:I  FBIJIRIZIbIjI14 e e ee ee  e e eMb@Mb@Mb@aaa a)aYeQ?(\µ?~jtye(?e=ae@ e@)e@Ie@ayez@II٢%* -6=9- Q ->11 UG٣Qy] ]> eNusing accuracyPremultiplier from configam59e9Փ?m5YeF\ iey$‘mT:m?m:u?AeӣEe;ef;e5 n@ZjDNOT Ignoring new targets: 80.40 m.BjPJjP ProNav: ac range: 80.400002 m, nav range: 58.154175 m, bearing: 316.498275 deg, approach rate: 0.318764 m/s, LOS rate: -0.511675 deg/s, cmd heading: 64.607538 deg, new cmd heading: 63.920887 deg. 2j%HeadingCmd: 1.115630 target range: 80.400002 and range: 80.40 m. j%̎?j!j)j)i)h)h1h9h=5Bf9f9f9rfAbfE X$@ɛr> ?I =ɚiI) =I%̎?i!i%4=)%̎?))Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ƊAWill construct direction to contact in vehicle frame from tetrahedron phase data.i"9No=yNH#?`@>?x?q? ?aƿqa?m?ɨN}?Nlj;NCyb\Bf$Iij!) -G٣)yU8 U> eNusing accuracyPremultiplier from configYe59]ٓ?m5Y]V i]$™Z?A]ԣE]+;];]N5 @ZjDNOT Ignoring new targets: 80.40 m.Bj Jj  ProNav: ac range: 80.400002 m, nav range: 58.280449 m, bearing: 316.293087 deg, approach rate: 0.311805 m/s, LOS rate: -0.505566 deg/s, cmd heading: 63.920885 deg, new cmd heading: 63.306679 deg. 2j{%HeadingCmd: 1.104910 target range: 80.400002 and range: 80.40 m. j%m?j!j)j)i)h1h1h9hAfIfQfQrfYbfe$@ɛ[B#l> 隽c?I N>ɚiI< =Im?iily=)m?)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.#w,lA6@z?Y6?6`8>96fh=y6H? @?oY??p?@Eƿ?@n?ɨ6@z?6;6Cy>?B>#IMb@Mb@Mb@ )YM?Q?:vyn?u=T@ x@)@I/@y@I-I- 2٢= =\=9E*Q E>AA EG٣MWGy > Nusing accuracyPremultiplier from config59lޓ?5YpP i$™E?:s?A֣E;;51 =@9ZjDNOT Ignoring new targets: 80.40 m.Bj Jj M ProNav: ac range: 80.400002 m, nav range: 58.385704 m, bearing: 316.104700 deg, approach rate: 0.266223 m/s, LOS rate: -0.475630 deg/s, cmd heading: 63.306681 deg, new cmd heading: 62.742558 deg. 2jU5 iIquWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Response Not Received *response not received,DAT read: user:3464> -  ?I A>ɚiI =I+?iiȌ=)+?)*F?2F:FBF0JFHI I $II^BI# =&I.I6I<:I` FG 7=G ?G $?5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Tx time:23:47:54.0958 = $Ping request sent.= 95`=y5H a?8=? qq uG٣yy}ɼ }> Nusing accuracyPremultiplier from config59p㓜?5YJ i%™%?AأE::5nB @EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 80.40 m.BjJj ProNav: ac range: 80.400002 m, nav range: 58.490639 m, bearing: 315.914121 deg, approach rate: 0.275576 m/s, LOS rate: -0.499593 deg/s, cmd heading: 62.742555 deg, new cmd heading: 62.171864 deg. 2jnHeadingCmd: 1.085104 target range: 80.400002 and range: 80.40 m. j%?j!j!j!i!h!h!h1h1f1f1f1rf9bf=7n&@ɛaen> im=?Ii m <>ɚiiiIm`C =Iu?iqi}ښ=)?)zKJKh9KK_$K*F2F:FBF5JF IIMhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251536GG B O >) =  y 5tA A yY 5tAy Aw, تA6}u?Y6?66>96([=y6H@? |l@??`?@x?`?Ͻƿ`?`r?ɨ6}u?6~;6CyBBB#I)D DDDIJIJ<٢V VY=9VQ V>XX ZG٣Xy^{ ^> UNusing accuracyPremultiplier from confighe59jx蓜?m5YjoE ij1%™qu¤?uAjڣEj 隵?I >ɚiIj=I?ii3=)?)*Fe?2Fa:FaBFaJFa Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759840G =GY Bi O >w,*A6r?Y6?625>969=y6H՛?@SU?d? r??ƿzئ?`v?ɨ6r?6;6CyBBB}#IH`I` Ib#IIb BI`&I`.I`6Ibg<:IbJ FMb@Mb@Mb@ )YFx?y&1?Qy ?`<u@ @)v@IS@y3@II%٢t۽ ;=9Q > G٣WGyʽ > Nusing accuracyPremultiplier from config59,?5Y? ib%™ ?:?AܣE<<C5 /@Zj9=DNOT Ignoring new targets: 80.40 m.BjE'JjE'U ProNav: ac range: 80.400002 m, nav range: 58.687172 m, bearing: 315.521984 deg, approach rate: 0.272249 m/s, LOS rate: -0.584247 deg/s, cmd heading: 61.619030 deg, new cmd heading: 60.997464 deg. 2jU{ȼ]HeadingCmd: 1.064607 target range: 80.400002 and range: 80.40 m. j]E?jYjajaiahahahihmBfififirfqbfu(@ɛ\Bh> 隭٣?I pi>ɚiI1%=IE?ii%=)E?)Ee>E*F?2F:FBF\0JFG GpA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011639G -=zKm BoIKm 9Ki Km `$Km G B O > = $?IA w, A2q?Y2ǔ?24>92B=y2Hj?:@? 1?@f?`4?{ƿߧ?w?ɨ2q?2;2 CFWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.265026yVDŽBVQ#IZ@AZ@AI^I^V٢f? fZ=9jz6Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r ?v5Yr: ir%™xz?zArݣEr@:r@:r汵5~oB ~u@EZj)5DNOT Ignoring new targets: 80.40 m.Bj; Jj;  ProNav: ac range: 80.400002 m, nav range: 58.769585 m, bearing: 315.343353 deg, approach rate: 0.223335 m/s, LOS rate: -0.483403 deg/s, cmd heading: 60.997462 deg, new cmd heading: 60.462338 deg. 2jॼHeadingCmd: 1.055267 target range: 80.400002 and range: 80.40 m. j?jjjih)h1h1h1f1f9f9rf9bf=(@ɛX> š?I  >ɚi I i=I?ii=)?)*F2F:FBF^0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.518068G =G B O- >w,%A6(m?Y6+?65>96+XE=y6Hn?m%?c? ?#?@ƿE?Iv?ɨ6(m?6;;6"CynBn=#I}Mb@Mb@Mb@yyy y)yY}~jt?I +?~jtxy}?}94<}Ļ}@ }@)}@I}@yy}@II٢< >=9:Q > G٣yB > Nusing accuracyPremultiplier from config59:?5Y_5 i%™?:?AߣEuE;;;ȳ5ēB @ IZjDNOT Ignoring new targets: 80.40 m.BjJj󻝊u ProNav: ac range: 80.400002 m, nav range: 58.851368 m, bearing: 315.145162 deg, approach rate: 0.176254 m/s, LOS rate: -0.426533 deg/s, cmd heading: 60.462337 deg, new cmd heading: 59.868613 deg. 2ju\}HeadingCmd: 1.044904 target range: 80.400002 and range: 80.40 m. j}n?jyjyjyiyhyhhhBffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767565frfbf)@ɛ]BZ> ?I p~>ɚiID%=I-n?i)i5X=)5n?)1*F2F:FBF_0JFHI IT#IIʄBI&I.I6I~<:I\ FG G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019353!w,-w?AJ2Aj?YJ^?J$6>9JZC=yJHc?0?@?o?@?Aƿ` ? u?ɨJ2Aj?J;JVJVJV0JTJV:JV:JVـ3JTJV;a^JV;a^JVZ;abJVZ;abJ CyjBj(#IIvIv٢z zV=9~+;Q ~> G٣WGyQ  > Nusing accuracyPremultiplier from config 59 ?%5Y 0 i %™)-4?-A E ׂ; ; t59 =@9ZjDNOT Ignoring new targets: 80.40 m.Bj Jj  ProNav: ac range: 80.400002 m, nav range: 58.922104 m, bearing: 314.968480 deg, approach rate: 0.194715 m/s, LOS rate: -0.485771 deg/s, cmd heading: 59.868616 deg, new cmd heading: 59.339220 deg. 2j%HeadingCmd: 1.035665 target range: 80.400002 and range: 80.40 m. j%?j!j!j!i!h)h1hQhQfYfYfYrfYbf]Gy*@ɛ^> ?I V>ɚiI+=I?i i5=)?)E!zKBoJKs9KKa$K $-*% *F2F:FBF~0JF"G=G= IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271355G7=G B O >> w,]YA:ff?Y:Mq?:!7>9:VC=y:HHf?@ ?Y?tN? ?`gƿ`?`Is?ɨ:ff?:sŌ;:"CyJBJ#IIRIR0٢Z ZN=9^>;Q ^>\\ bG٣`yb b> fNusing accuracyPremultiplier from configdn59f ?n5Yf+ if&™lnG?rAfEfd*;f*;f/5vÓB v@vEB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 80.40 m.Bj-Jj-E ProNav: ac range: 80.400002 m, nav range: 58.993034 m, bearing: 314.785109 deg, approach rate: 0.184143 m/s, LOS rate: -0.475476 deg/s, cmd heading: 59.339222 deg, new cmd heading: 58.789790 deg. 2jE(eHeadingCmd: 1.026075 target range: 80.400002 and range: 80.40 m. jepV?jijijqiqhqhyhyhyfffrfbf;+@ɛ^B[> 隽?I */ >ɚiIB=IpV?ii*=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527528)pV?)*F?2F:FBF0JFG}=GQBaO}Y> Ih Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7764673w,-sAH8I8 I: #II:BI:$ =&I8.I86I:<:I:k FyB"IMb@Mb@Mb@ )Y%C?Mbpy&1|?yZ?`;;@ C@)hAI@y@IIm?3٢r :=9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%a?-5Y%r& i%+&™}^?}:[?A%E%B<%XB<%#5ēB P@EZjDNOT Ignoring new targets: 80.40 m.BjjJjj  ProNav: ac range: 80.400002 m, nav range: 59.067467 m, bearing: 314.575780 deg, approach rate: 0.162373 m/s, LOS rate: -0.456071 deg/s, cmd heading: 58.789788 deg, new cmd heading: 58.162618 deg. 2jHeadingCmd: 1.015129 target range: 80.400002 and range: 80.40 m. j?jjjihhh!h%Bf!f!f)rf)bfM&,@ɛ_BP> t<隝?I 1 >ɚiI=I?iiG=)?) Will construct direction to contact in vehicle frame from tetrahedron phase data.>4=BDAT read: Rx Time:23:47:56.5962 %TRx dataTimestamp_ set to:1736380077.966848-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031339*F5?2F1:F9BF=5JF9JK KKK"KJJJJJ:J:JJJ;J;J.Y;J/Y;GE =zK LK 59K K b$K @Xa_ i fzt&zrngb`_]^_^ajpopoqqopnmmicd_ZXVQJG! B) OM > $?I w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2793436U-_?Y6ԋ?6689>96@=y6H?h@@????ǿⷧ?`jq?ɨ6U-_?6 v;6CyBvBB"IIJIJ(*٢RDD R_=9V';Q V>TT ZG٣ZWGyZ Z> bNusing accuracyPremultiplier from config\b59^?f5Y^3" i^K&™df?fA^E^n:^:^5l n@pZj)-DNOT Ignoring new targets: 80.40 m.Bj5 Jj5 e ProNav: ac range: 80.400002 m, nav range: 59.122681 m, bearing: 314.407164 deg, approach rate: 0.158146 m/s, LOS rate: -0.482504 deg/s, cmd heading: 58.162619 deg, new cmd heading: 57.657259 deg. 2jmHeadingCmd: 1.006309 target range: 80.400002 and range: 80.40 m. j΀?jjjih!h)hQhQfQfYfYrfYbf]`t,@ɛ`BXNU> ?I  >ɚiI=I΀?iiF=)΀?)*F?2F:FBFA5JFG}:I=GABaO}z>%Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 23:47:56.5962 LVL= 17856, 26849, 27202, 30963, AGC= 65, IDX= 293, 0.01, 1.071,-1.279,-0.419,-0.201, PHS= 1.359,-1.032,-0.222, RAW= 109.4, -1.0, CAL= 118.0, -7.8, ROT= 32.0, 7.8 e Ygot valid direction response: 23:47:56.5962 LVL= 17856, 26849, 27202, 30963, AGC= 65, IDX= 293, 0.01, 1.071,-1.279,-0.419,-0.201, PHS= 1.359,-1.032,-0.222, RAW= 109.4, -1.0, CAL= 118.0, -7.8, ROT= 32.0, 7.8  PDAT read: Bearing 32.0, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 32.0, 7.8 (Local)  DAT read: Range 10 to 50 : 72.0 m (Round-trip 96.1 ms) speed 0.4 m/s  ,DAT read: user:3465> % BDAT read: Tx time:23:47:57.6959 E $Ping request sent.E !!%Zz^t?Q$lǿ, ʢ )%s{ G٣y > Nusing accuracyPremultiplier from config59#?5Y iq&™!?:%?AEH;;ȼ5  @ uWill construct direction to contact in vehicle frame from tetrahedron phase data.kU%⚜?kU kQ kUA:kUBBkUBZkU@"UʅsӉ0#%jQ@U!'ł[ο;G?c?JkURkU`*UT"4@" Zo9:6Q@U3X?-{?"kUԂ*kUAkU?kUJ 2kUCkQkUSysU kQkUE:BkU$@ addTargetRange:: Added new target pos. range: 72.000000 m, deltaT: 14.638232 s, deltaX: -8.400002 m, approachRate: -0.573840 m/s, rangeRepo size: 4  Added new target pos. range: 72.000000 m, bearing: 348.794142 deg, lat: 36.905362 deg, lon: -122.120540 deg, deltaT: 14.638232 s, deltaX: -8.400002 m, approachRate: -0.573840 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 72.00 m.BjJjM ProNav: ac range: 72.000000 m, nav range: 46.567631 m, bearing: 332.375251 deg, approach rate: 0.000000 m/s, LOS rate: -0.482504 deg/s, cmd heading: 57.657260 deg, new cmd heading: 56.945663 deg. 2jIUHeadingCmd: 0.993889 target range: 72.000000 and range: 72.00 m. jUo~?jQjQjQiYhYhYhYhe!BfaffrfR@bfDK?ɛaB"Q> ?I \ >ɚiI.=I o~?i i *=) o~?)HiImC Im"IImeBIm# =&Ii.Ii6Imi<:ImN FBI)JI)RI)ZI-# =bI-# =jI-/4*F2F:FBF5JFG >=G ?G 7?% Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >2w,A2fX?Y2q?2NA:>92}==y2Hq? G^?`Ћ?`c?@va?`Z'ǿ I?=p?ɨ2fX?2 ;2 CJNJNJLJLJN:JN :JLJLJNi;JNj;JN9P;JN:P;yVcBZ"Ii^4=I^<IbIb٢]N  eb=9eg7;Q e>qy G٣y > Nusing accuracyPremultiplier from config59*?5Y\ i&™Ç?AE;O;]5 @ZjDNOT Ignoring new targets: 72.00 m.Bj;Jj; ProNav: ac range: 72.000000 m, nav range: 46.562855 m, bearing: 332.149650 deg, approach rate: -0.013902 m/s, LOS rate: -0.656741 deg/s, cmd heading: 56.945664 deg, new cmd heading: 56.268825 deg. 2j[ἝHeadingCmd: 0.982076 target range: 72.000000 and range: 72.00 m. jZi{?jjjihh!h!h!f)f)f)rf1bf5@ҧ?ɛ]bB] Y\> Y]*?Ia e >ɚaiaIe6=ImZi{?iiimH=)mZi{?)qzK`OK9KKc$KGD;2*! YIYuWill construct direction to contact in vehicle frame from tetrahedron phase data.Em<*FE?2FA:FABFE4JFAG 9=Ga Bq O >w,ݫA2Will construct direction to contact in vehicle frame from tetrahedron phase data.f;R?Yf[?f 8>9fخ G٣WGytF > -Nusing accuracyPremultiplier from config)559-v5?55Y- i-&™9=ń?=A-E-e:- :-5EœB En@mEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 72.00 m.Bj/Jj/ ProNav: ac range: 72.000000 m, nav range: 46.551495 m, bearing: 331.837168 deg, approach rate: -0.022307 m/s, LOS rate: -0.613750 deg/s, cmd heading: 56.268826 deg, new cmd heading: 55.331240 deg. 2jҼHeadingCmd: 0.965712 target range: 72.000000 and range: 72.00 m. j8w?jjjih!hAhIhIfIfIfIrfQbfU(?ɛdBMӬJ> IM!}?IQ U8 >ɚQiQIU=Ie8w?iaieQ=)e8w?)i $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E q<H I C I "II KBI &I .I 6I 3<:I & F*Fu ?2Fy :Fy BF} 3JFy "G =G =GU =G1 BA O] >w,AJdO?YJV?J8>9J  G٣y ߼  > Nusing accuracyPremultiplier from config59>?5Y  i&™?%:%?%AE;h;Pµ5-ēB -@-EZjQUDNOT Ignoring new targets: 72.00 m.eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.441088Bjmu>Jjmu> ProNav: ac range: 72.000000 m, nav range: 46.549507 m, bearing: 331.576006 deg, approach rate: -0.005068 m/s, LOS rate: -0.666047 deg/s, cmd heading: 55.331240 deg, new cmd heading: 54.547769 deg. 2j伝HeadingCmd: 0.952038 target range: 72.000000 and range: 72.00 m. jƸs?jjjihhhh1BfffrfbfaF?ɛeBtW> w?I u>ɚiI +=IƸs?ii=)Ƹs?)EE*E"EJ9J9J9J9J9J9J9J9J9J9J9J9zKƒLK+9KKd$K*F?2F:FBFP0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data. i % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694414G% ό= G tAB1 ] AOu ><w, A &YtAydB ~L?Y ? I9>9 /=y H |?@j% G٣yuռ > Nusing accuracyPremultiplier from config59G?5Yw i&™/?AE;;2ĵ5 !@ZjAMDNOT Ignoring new targets: 72.00 m.BjM6JjM6 ProNav: ac range: 72.000000 m, nav range: 46.545826 m, bearing: 331.295262 deg, approach rate: -0.008374 m/s, LOS rate: -0.638668 deg/s, cmd heading: 54.547769 deg, new cmd heading: 53.705536 deg. 2j'ۼHeadingCmd: 0.937338 target range: 72.000000 and range: 72.00 m. jio?jjjih h h h1f1f1f9rf9bf=`?ɛfB%M> !MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.944889%u?I  Oj>ɚiIB=I5io?i9iEX=)io?)*F5?2F1:F9BF=X0JF9 I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197465G <=G B O > w,p1AfI?Yfz-?f[-9>9fT=yfH@i?@[?౤?`6? ?lǿH?t?ɨfI?f<;dynOBr"I}Mb@Mb@Mb@yyy y)yY}@5^I ?I +?I +?y}b?}94=}9<}@ }@)}`AI}@yy}@jH<bHHI I"IIQQ UG٣UWGy]? ]> eNusing accuracyPremultiplier from configa59eoQ?5Ye ie'™?:?AeEeJ;e;e)Ƶ5œB c@ EZj DNOT Ignoring new targets: 72.00 m.Bj EJj E ProNav: ac range: 72.000000 m, nav range: 46.550640 m, bearing: 330.985282 deg, approach rate: 0.010706 m/s, LOS rate: -0.689256 deg/s, cmd heading: 53.705535 deg, new cmd heading: 52.775777 deg. 2j켝MHeadingCmd: 0.921111 target range: 72.000000 and range: 72.00 m. jMk?jIjIjIiIhQhQhQhUsBfYfYfYrfYbf]@_L@ɛ hBf5R> ws?I X?>ɚiI=I%k?i!i%n=)%k?))*F?2F:FBF_0JFGpA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449465J J J /J J l:J :J (N3J J ;J ;J L;J L;G= ^=G B! O= >zK K 9K K e$K jz: Cw,2:KA 4I6h:G?Y:J"?:8>9:W5=y:H #?`(%?@߁?Zu?G?` ƿHB?s?ɨ:G?:;:CyBIBB"IIJ IJ2٢R  V`=9VoQ V>XX ZG٣XyZT Z> bNusing accuracyPremultiplier from config`f59b?Y?f5Yb  ib5'™df?fAbEb*:b:bǵ5h n@lZjDNOT Ignoring new targets: 72.00 m.Bj>Jj>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701713 ProNav: ac range: 72.000000 m, nav range: 46.553673 m, bearing: 330.744187 deg, approach rate: 0.008402 m/s, LOS rate: -0.667912 deg/s, cmd heading: 52.775775 deg, new cmd heading: 52.052579 deg. 2j0弝HeadingCmd: 0.908489 target range: 72.000000 and range: 72.00 m. j%h?j!j!j!i!h!h!h1hqfqfqfyrfybf}OJ@ɛiBW> o?I >ɚiI|%=Ih?ii?=)h?)*F2F:FBFo0JFG=G9BIOeU> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:48:00.1940  TRx dataTimestamp_ set to:1736380081.492530 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953738w,eAE?Y ~?#s8>9N=yH_6??@>\? ?J?ƿ i?@3q?ɨE?y; CyGB"Ii%>I%C= %=%=Mb@Mb@Mb@ )Y/$? ףp= ?:v?y?Q=T<@ Q@) AI@y@IIb٢; 8=9 gQ > G٣y֠ > Nusing accuracyPremultiplier from config59b?5Y i_'™d?:? AE^;E;ɵ5 @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 72.00 m.BjSJjS- ProNav: ac range: 72.000000 m, nav range: 46.575729 m, bearing: 330.411638 deg, approach rate: 0.049100 m/s, LOS rate: -0.739925 deg/s, cmd heading: 52.052578 deg, new cmd heading: 51.055509 deg. 2j55HeadingCmd: 0.891087 target range: 72.000000 and range: 72.00 m. j5Cd?j9j9j9i9h9h9hAhEBfAfA U$?IQfirfibfm @ɛkBhQ> 隽m?I >ɚiI=ICd?iizj=)Cd?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206579*F2F:FBF0JFH7>IC I"II2BI&I.I6I<:Ix FG 뜮=G B O >w,~A6Will construct direction to contact in vehicle frame from tetrahedron phase data.NDAT read: 23:48:00.1940 LVL= 12400, 21009, 21618, 24803, AGC= 60, IDX= 414,-0.43, 2.589, 0.435, 1.182, 1.543, PHS= 1.134,-1.062,-0.364, RAW= 108.1, 3.0, CAL= 119.6, 0.3, ROT= 30.4, -0.3 RYgot valid direction response: 23:48:00.1940 LVL= 12400, 21009, 21618, 24803, AGC= 60, IDX= 414,-0.43, 2.589, 0.435, 1.182, 1.543, PHS= 1.134,-1.062,-0.364, RAW= 108.1, 3.0, CAL= 119.6, 0.3, ROT= 30.4, -0.3 VPDAT read: Bearing 30.4, -0.3 (Local) Z~Local bearing/azimuth received: Bearing 30.4, -0.3 (Local) ^DAT read: Range 10 to 50 : 70.4 m (Round-trip 93.9 ms) speed 0.6 m/s b,DAT read: user:3466> fBDAT read: Tx time:23:48:01.2959 f$Ping request sent.f9v\=yvHw?!k@W?3? ;?/?ƿ ?q?ɨv!C?vs;v"C96 usſ+fTIxʿMdKG?y6̌B46p06R 6rT)6`I6<i6&?665^6j?6PwV= 60@)6;I6?i6446LPE?GQTNʿ c )?)6HTI6>bYi6/E6445:publishing transmit ping timed5Fpublishing direction and range info496 usſ+fTIxʿMdKG?y4444 4)4I4i44444 4)4I4i4446LPE?GQTNʿ c )?)4I4i4444yU@BU"IImIm<٢P ;=9HQ > G٣WGy q > Nusing accuracyPremultiplier from config%59l?%5Y i'™!%?%AE::˵5A EV@Ik6ʚj?k6; k4 k6uA:k6̌BBk6ՋBZk6䬶@"6r aeXi?Ia mu>ɚiiiImZo=Iu۷_?iqi}Ԫ=)}۷_?)zKFLK59KKf$K QIUhE]pAEY*F2F:FBFo0JF!"G1G5=]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:23:48:01.2952 G %=G B O >a%w,ϘA2@?Y2y?25`5>92b=y2H@?<? ?{ai mG٣iymv m> Nusing accuracyPremultiplier from config59qt?5Y  i'™E?AE:C:͵5  @EZjDNOT Ignoring new targets: 70.40 m.BjvdJjvd5 ProNav: ac range: 70.400002 m, nav range: 46.314156 m, bearing: 330.457549 deg, approach rate: 0.039974 m/s, LOS rate: -0.798947 deg/s, cmd heading: 50.070734 deg, new cmd heading: 49.275956 deg. 2j5 =HeadingCmd: 0.860028 target range: 70.400002 and range: 70.40 m. j=*\?j9jAjAiAhAhIhIhqfqfqfqrfybf}0?ɛnB.Y> c?I y3>ɚiI=I*\?ii]=)*\?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF)5JFJeJeJe0JaJe,:Je :Jeـ3Jaa@a@a@a@G 1 I1 G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.y,w,AJ=?YJ{v?J&2>9J.Mt=yJH@?`k??_?p?(ƿ@?`u?ɨJ=?JԴ;JCyV/BZ"IZH9RH=@AHE9>IA IE"IIE(BIE" =&IA.IA6IE><:IE1 FeMb@Mb@Mb@aaa a)aYeS㥛?`"?y&1|?ye$?e=e`;eA e@)e AIe@aye(@I}I}i٢ڼ H=9Q > G٣y"μ > Nusing accuracyPremultiplier from config59}?5Y i'™'?:'?AE;x;ε5 g@ZjDNOT Ignoring new targets: 70.40 m.Bj^Jj^ ProNav: ac range: 70.400002 m, nav range: 46.340031 m, bearing: 330.129814 deg, approach rate: 0.061329 m/s, LOS rate: -0.776354 deg/s, cmd heading: 49.275956 deg, new cmd heading: 48.293402 deg. 2j3HeadingCmd: 0.842879 target range: 70.400002 and range: 70.40 m. jW?jjjihhhh؃Bfffrfbf -y?ɛupBuQ> y}C_?Iy }>ɚyiyI}=IW?ii3=)W?)*FA2FA:FABFE3JFAGS=Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BIOew> % $?I! 2w,͔̬AzK*BHK*9K(K*g$K*::?Y:zs?:͸/>9:cc=y:H`O? Y`t??`?H?ſ?@>{?ɨ::?: ;:CyB BF"IInIn٢r$ vU=9vDʻQ v>tx zG٣zWGy~@ ~> Nusing accuracyPremultiplier from config 59d? 5Y i'™  ? AE ; ;е5 W@ZjAEDNOT Ignoring new targets: 70.40 m.BjMpJjMp] ProNav: ac range: 70.400002 m, nav range: 46.362640 m, bearing: 329.824090 deg, approach rate: 0.062285 m/s, LOS rate: -0.841790 deg/s, cmd heading: 48.293402 deg, new cmd heading: 47.376761 deg. 2j]meHeadingCmd: 0.826880 target range: 70.400002 and range: 70.40 m. jepS?jajajaiahihihihqfqfqfqrfqbf}?ɛrBȉT> 隥V?I m>ɚiI9=IpS?ii_=)pS?)ER>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.iA*Fm?2Fi:FiBFm_0JFiGqA GG[=GaBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju Ju Jq Jq Ju |:Ju :Jq Jq *9w,rAvG8?Yvp?v,>9vR=yvHė?@?{??(?@#}ſ??ɨvG8?v;v CyBo"IMb@Mb@Mb@ )Y@5^I ?7A`?MbPyb0?> A `@)` AIx@yAII=س٢h ;=9ڻQ > G٣y1Ƽ > Nusing accuracyPremultiplier from config%59ِ?%5 IYT i)(™Z4?:?AEШ<o<xҵ5ƓB b@EB*** querying acoustic contact ***jjZj15DNOT Ignoring new targets: 70.40 m.Bj=neJj=neu ProNav: ac range: 70.400002 m, nav range: 46.396904 m, bearing: 329.448600 deg, approach rate: 0.073267 m/s, LOS rate: -0.802329 deg/s, cmd heading: 47.376760 deg, new cmd heading: 46.251273 deg. 2ju }HeadingCmd: 0.807237 target range: 70.400002 and range: 70.40 m. j}N?jyjyjyiyhyhhhBfffrfbf?ɛeuBeI> aeM?Ii m[Y>ɚqiqIu=I}N?iiP\=)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.*F5?2F1:F1BF1JF1G 2=HE8>IA IEy"IIEBIA&IA.IA6IE<:IEd FBIǟCJIǟCRIZIbIjI[4GBO>@w,BA6k5?Y6 m?6 +>96S_I=y6H ?`Gs?$G?@U?`y?dſ@Ψ??ɨ6k5?6EŊ;6C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011399y^B^["I f=f=IjIj(1٢r= r]=9vQ v>tx zG٣xyzw ~> Nusing accuracyPremultiplier from config 59ՙ? 5Y/ iR(™*?AEn:;Ե5 %h@!ZjIUDNOT Ignoring new targets: 70.40 m.Bj]Jj]m ProNav: ac range: 70.400002 m, nav range: 46.424313 m, bearing: 329.133861 deg, approach rate: 0.080267 m/s, LOS rate: -0.921171 deg/s, cmd heading: 46.251271 deg, new cmd heading: 45.307702 deg. 2jm mHeadingCmd: 0.790769 target range: 70.400002 and range: 70.40 m. juoJ?jqjqjqiqhyhyhyhyfffrfbft@JJAAɛ=vB=0Q> 9=D?I9 =>ɚAiAIE]=IEoJ?iIim>)uoJ?)q*F ?2F :F BF `0JF  IhzKMKKMs9KIKMh$KMBK]oA:KY-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263465GMqe=G) BI O >=Fw,4.Afd2?Yfj?fX +>9f==yfH`-?;??`?A??Hſ@a\?@R?ɨfd2?f;f CyzB~9"IIIF2٢= =D=9E Q M>QY ]G٣]WGye+ e> }Nusing accuracyPremultiplier from configq}59uT?5Yu: iu(™?AuEuX:u:uյ5 @EZjDNOT Ignoring new targets: 70.40 m.BjtJjt ProNav: ac range: 70.400002 m, nav range: 46.453804 m, bearing: 328.775410 deg, approach rate: 0.070392 m/s, LOS rate: -0.855020 deg/s, cmd heading: 45.307701 deg, new cmd heading: 44.233165 deg. 2jHeadingCmd: 0.772014 target range: 70.400002 and range: 70.40 m. jE?jjjihhhahafififirfibfu`4@ɛyB H> 隽5?I C>ɚiIl)E?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515493*F?2F:FBFp0JFJ=J=J9J9J=:J=:J9J9G}o=GBO`> $?I5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767288cLw,3A @jHn<bHnp<HpIp IrN"IIrBIp&Ip.Ip6Ir<:Ira Fy~ȃB~"IMb@Mb@Mb@ )YʡE?ˡE?Mby-2?'>A A) AI@yAI I̍2٢ C=9Q > G٣y > Nusing accuracyPremultiplier from config59M?5Y3 i(™7?:?AE;;׵5 @ZjDNOT Ignoring new targets: 70.40 m.BjjJjj ProNav: ac range: 70.400002 m, nav range: 46.491802 m, bearing: 328.418696 deg, approach rate: 0.087448 m/s, LOS rate: -0.820255 deg/s, cmd heading: 44.233166 deg, new cmd heading: 43.164028 deg. 2j HeadingCmd: 0.753354 target range: 70.400002 and range: 70.40 m. j@?jjjihhhhBfffrfbf  q}&?Iy }>ɚyiyI}C)@?)*Fe?2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:48:03.7915 TRx dataTimestamp_ set to:1736380085.029355checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021156GE %>GM pAGI G! B1 OM > y I "JSw,)MAy~B~!I) A  AII3zKBHK9KKi$K٢5^ 5S=91Q =>99 EG٣AyA E> MNusing accuracyPremultiplier from configIU59M?U5YM iM(™YY]AMEM;M;Mjٵ5a eAmEZjDNOT Ignoring new targets: 70.40 m.Bj؁Jj؁ ProNav: ac range: 70.400002 m, nav range: 46.528912 m, bearing: 328.086080 deg, approach rate: 0.101403 m/s, LOS rate: -0.908159 deg/s, cmd heading: 43.164029 deg, new cmd heading: 42.167086 deg. 2jHeadingCmd: 0.735954 target range: 70.400002 and range: 70.40 m. jg 0?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271436 n>ɚiI) gGaByO:> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:48:03.7915 LVL= 15568, 25969, 20594, 25555, AGC= 57, IDX= 420,-0.36, 1.358,-0.833,-0.366, 0.115, PHS= 1.331,-0.901,-0.484, RAW= 100.1, 0.5, CAL= 109.8, -3.4, ROT= 40.2, 3.4  Ygot valid direction response: 23:48:03.7915 LVL= 15568, 25969, 20594, 25555, AGC= 57, IDX= 420,-0.36, 1.358,-0.833,-0.366, 0.115, PHS= 1.331,-0.901,-0.484, RAW= 100.1, 0.5, CAL= 109.8, -3.4, ROT= 40.2, 3.4  PDAT read: Bearing 40.2, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 40.2, 3.4 (Local)  DAT read: Range 10 to 50 : 68.5 m (Round-trip 91.4 ms) speed 0.4 m/s  ,DAT read: user:3467>  BDAT read: Tx time:23:48:04.8959  $Ping request sent. 9mpH=ymH?཭? :m?h? K?Ŀ" ?`t?ɨm)?mi;mCyB!I IMb@Mb@Mb@ )YS?7A`?Zd;Oy/?>j3A A)AI@y3AI I̍2٢ $=9 Q > G٣WGy݇ > Nusing accuracyPremultiplier from config59Ĕ?5Y i()™23?:%?%A Ea;;۵5Q UAQWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:48:04.8952 kM?k k k bA:kBBkBZk@"=*-\cP@"EAtsQ?Jk9P%RkZ*yA@,sXEBQ@(?9 ~Bl?"k}*k=@k hR?k9 2kCk?knӝ kkAk4@ addTargetRange:: Added new target pos. range: 68.500000 m, deltaT: 3.535312 s, deltaX: -1.900002 m, approachRate: -0.537435 m/s, rangeRepo size: 4  Added new target pos. range: 68.500000 m, bearing: 346.876900 deg, lat: 36.905177 deg, lon: -122.120390 deg, deltaT: 3.535312 s, deltaX: -1.900002 m, approachRate: -0.537435 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 68.50 m.BjJj ProNav: ac range: 68.500000 m, nav range: 22.314754 m, bearing: 327.018215 deg, approach rate: 0.000000 m/s, LOS rate: -0.908159 deg/s, cmd heading: 42.167085 deg, new cmd heading: 40.696451 deg. 2jHeadingCmd: 0.710287 target range: 68.500000 and range: 68.50 m. j`5?jjji9h9hAhIhMӃBfIfIfQrfU Q@bfU`?H<>I I "IIBI&I.I7D6I><:I4 FɛB6> ?I >ɚiI)`5?)*F2F:FBF0JFGpA G Will construct direction to contact in vehicle frame from tetrahedron phase data.G )>G ?G ?G B O >-aw,A6&?Y6z_?6%>960=y6H BK?&f\j? 3??7?3Ŀ g?`?ɨ6&?6;6 CybTBb!IIjIj٢rً rg=9v]Q v> G٣ya > %Nusing accuracyPremultiplier from config!M59%RΔ?M5Y%ӯ i%W)™QUk?UA% E%;%;%'ݵ5Y ]A]EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 68.50 m.BjJj  ProNav: ac range: 68.500000 m, nav range: 22.339243 m, bearing: 326.389082 deg, approach rate: 0.074107 m/s, LOS rate: -1.901753 deg/s, cmd heading: 40.696453 deg, new cmd heading: 38.811841 deg. 2j %HeadingCmd: 0.677394 target range: 68.500000 and range: 68.50 m. ji-?jjjihhh!h!fAfIfIrfIbfMF?ɛmBm7> im>Ii u`>ɚqiqIu")i-?)*FQ2FQ:FQBFU75JFQzKjIK9KKj$KG-u!>uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuAuT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.G BO-p>[Qgw,lA2$?Y2\?2s$>92k=y2HZ?*[?X?Q?`ڴ?jĿ`^?@?ɨ2$?2[;2"CyN2BN_!IiR=IP V=V=IZIZ 2٢b* bM=9frQ f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59nٔ?r5Yn in)™tv?vAnEnL:n:n޵5zǓB zAzEZj!%DNOT Ignoring new targets: 68.50 m.Bj-Jj-= ProNav: ac range: 68.500000 m, nav range: 22.366175 m, bearing: 325.698730 deg, approach rate: 0.070829 m/s, LOS rate: -1.813355 deg/s, cmd heading: 38.811843 deg, new cmd heading: 36.744227 deg. 2j=EHeadingCmd: 0.641308 target range: 68.500000 and range: 68.50 m. jE,$?jAjAjIiIhIhIhIhQfQfQfQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993647rfbf@%?ɛ-B-T%2> 15^>I9 =>ɚ9i9I=t`)],$?)Y*F92F9:FABF]U0JFY IhGM6>G) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245537HE ?>IE C IE !IIE lBIE =&IA .IA 6IE <:IE v Fzmw,"Ayv Bz,!IMb@Mb@Mb@ )YHzG?V-? rhy=*?=C A )AAIyAIIW٢I@ ==9Q > G٣WGy > Nusing accuracyPremultiplier from config59Y唜?5Y  i)™-?:?AE;;5 AZj DNOT Ignoring new targets: 68.50 m.Bj [Jj[񼝊% ProNav: ac range: 68.500000 m, nav range: 22.387230 m, bearing: 324.967156 deg, approach rate: 0.048631 m/s, LOS rate: -1.688069 deg/s, cmd heading: 36.744229 deg, new cmd heading: 34.552699 deg. 2j%АMHeadingCmd: 0.603058 target range: 68.500000 and range: 68.50 m. jU b?jQjQjQiQhYhYhYh]`Bfafafarfibfm n?ɛB.*> ڀ>I >ɚi!I%4)- b?)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497818*F?2F:FBF]0JFGc$>GGJJJJJ:JO9JJJ;aJ;aJe,;aJf,;aGBOc> I zKU KU 59KQ KU k$KU ]htw,|ҭAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749622:˶?Y:2U?:? >9::YY ]G٣Yye e> mNusing accuracyPremultiplier from configi59m?5Ym5 im)™C?AmEm;m%;m|5 KAEZjQ]DNOT Ignoring new targets: 68.50 m.BjJj弝 ProNav: ac range: 68.500000 m, nav range: 22.401939 m, bearing: 324.299755 deg, approach rate: 0.035436 m/s, LOS rate: -1.606724 deg/s, cmd heading: 34.552701 deg, new cmd heading: 32.552670 deg. 2jՉHeadingCmd: 0.568151 target range: 68.500000 and range: 68.50 m. j]r?jjjihhhhf f f rf bf ?ɛBN$> 隕%>I >ɚiI)]r?)*F?2F:FBF_0JFG|C>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001674O>zw,S@A $?IFl?YFP?F >9F4  G٣y% > Nusing accuracyPremultiplier from config59?5Y i4*™?:l?AE;A;M5 AZjDNOT Ignoring new targets: 68.50 m.BjJj缝5 ProNav: ac range: 68.500000 m, nav range: 22.397696 m, bearing: 323.659952 deg, approach rate: -0.010761 m/s, LOS rate: -1.622540 deg/s, cmd heading: 32.552671 deg, new cmd heading: 30.633659 deg. 2j1HeadingCmd: 0.534658 target range: 68.500000 and range: 68.50 m. j\?jjjihhhh1Bfffrfbf R@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253788ɛeBm> iL=I  >ɚiIUh#)\?)HJ>IC I(!IIBI =&I.I8D6I<:Io F*FA2FA:FABFIJFIGe ^E>Gm ?Gm '? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506238G9 BI Oe >ww,['AJ"J"J"1J J"-:J"9J"3J J";J";J";J";Bx?YB?L?B>9B$pp vG٣tyvF v> ]Nusing accuracyPremultiplier from configx59z ?5Yz= ize*™h?AzEz I  >ɚiI3W< II-6?i)i5t>)5?)9Ey*F?2F:FBFp0JFG  G G?L>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757922zKJK+9KKl$KGBOi>w,A24?Y2=&G?2@b>92H^;y2H ?r ?`0??L?ÿ-nk?(?ɨ24?2;2CyNOBRG IVAAVAAIZIZ2٢b{ bL=9bQ b>dd fG٣fWGyjK j> nNusing accuracyPremultiplier from configlr59nY?v5YnT in*™tvb?vAnEnA;nc2;n5~ȓB ~ A~EZjIMDNOT Ignoring new targets: 68.50 m.BjUJjUWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:48:07.3896 TRx dataTimestamp_ set to:1736380088.556725checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010718 ProNav: ac range: 68.500000 m, nav range: 22.383705 m, bearing: 322.464456 deg, approach rate: -0.021984 m/s, LOS rate: -1.620297 deg/s, cmd heading: 28.894221 deg, new cmd heading: 27.047280 deg. 2j HeadingCmd: 0.472064 target range: 68.500000 and range: 68.50 m. j b>j j j i h hh9h9f9f9f9rfAbfET@ɛeBtf> 隝I ->ɚ1i1I5iyi)>)b>) $?I *F?2F:FBF0JFGulp>G1BAO]>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261634H N>I C I II BI  =&I .I 9D6I h<:I g FBIʠCJIʠCRIʔCZI =bI =jIʠ6!ˍw,9A6i ?Y6A?6 >96t2y6H? ?]? >?@*?-ÿ@ f?ɨ6i ?6;6CyN%BN IMb@Mb@Mb@ )YʡE?{Gzt rhy?ףC  3A)XAI~@yAIIT3٢%e< -5=9-eDQ ->11 5G٣1y=: => ENusing accuracyPremultiplier from configAM59E%?M5YE iE*™U?]:]??]AEEEfX;E8W;E5a e AaZjDNOT Ignoring new targets: 68.50 m.Bj"ɼJj"ɼ ProNav: ac range: 68.500000 m, nav range: 22.343779 m, bearing: 321.838869 deg, approach rate: -0.089625 m/s, LOS rate: -1.406766 deg/s, cmd heading: 27.047279 deg, new cmd heading: 25.167878 deg. 2j\qHeadingCmd: 0.439262 target range: 68.500000 and range: 68.50 m. j>jjjihhhhĂBfffrfbf g @ɛB> 2=cI ú>ɚiIvFi i >) >)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515922*F 2F:FBFP5JFJCKC KKL.KCKC"KCJeJeJaJaJe:Jem9JaJaJe;Je;Je;Je; IhG Lwv>G G pAG B O >w,ɯSAWill construct direction to contact in vehicle frame from tetrahedron phase data.2DAT read: 23:48:07.3896 LVL= 16512, 24257, 20642, 27843, AGC= 56, IDX= 416,-0.27,-1.094, 3.112,-3.027,-2.278, PHS= 1.271,-0.846,-0.752, RAW= 92.3, 3.2, CAL= 100.2, 1.2, ROT= 49.8, -1.2 6Ygot valid direction response: 23:48:07.3896 LVL= 16512, 24257, 20642, 27843, AGC= 56, IDX= 416,-0.27,-1.094, 3.112,-3.027,-2.278, PHS= 1.271,-0.846,-0.752, RAW= 92.3, 3.2, CAL= 100.2, 1.2, ROT= 49.8, -1.2 FPDAT read: Bearing 49.8, -1.2 (Local) J~Local bearing/azimuth received: Bearing 49.8, -1.2 (Local) VDAT read: Range 10 to 50 : 67.0 m (Round-trip 89.4 ms) speed 0.2 m/s V,DAT read: user:3468> ZBDAT read: Tx time:23:48:08.4960 Z$Ping request sent.^`JK}9KyK}m$K} 0>Y j5? >i9 pOy H@? ? E?S9??ÿ`TН?ɨ 0> ;  CyBIIIM3٢-H -;=9M.Q U>QQ UG٣UWGy]߽ ]> eNusing accuracyPremultiplier from configa59e>5?5Yeʅ ie+™2?AeEe:;ed;e5 yAEk?k6  k kTA:kBBkBZkY@"@0$N44@8dЎɄP@uv |ÿ(1X?#?Jkl,@Rkó*[Bu SB@+"P@J {#4m| ˱?S?"k@*kkkV[?kk3  2kCk;[os?kJ kkAk=@ addTargetRange:: Added new target pos. range: 67.000000 m, deltaT: 3.781056 s, deltaX: -1.500000 m, approachRate: -0.396715 m/s, rangeRepo size: 4 M Added new target pos. range: 67.000000 m, bearing: 128.334318 deg, lat: 36.905136 deg, lon: -122.120343 deg, deltaT: 3.781056 s, deltaX: -1.500000 m, approachRate: -0.396715 m/s, posRepo size: 4 ZjIUDNOT Ignoring new targets: 67.00 m.BjUJjQ ProNav: ac range: 67.000000 m, nav range: 16.199341 m, bearing: 322.721065 deg, approach rate: 0.000000 m/s, LOS rate: -1.406766 deg/s, cmd heading: 25.167878 deg, new cmd heading: 23.115492 deg. 2jHeadingCmd: 0.403441 target range: 67.000000 and range: 67.00 m. j>jjjihhhhf f f rf P@bf ?ɛ]B]k> ae>Ia esf>ɚaiaIeEiiimf>)u>)qEEWill construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBFUo1JFQ"G]>G]?>G- >G B O > $?I ܚw,mmAJ>YJfI/?J>9J yJHF?Z;?j?&?@6d?`$ÿ@?ɨJ>JB_;Hy%́B%IMb@Mb@Mb@ )Y)\(?YY ]G٣Yyex e> mNusing accuracyPremultiplier from configiu59mC?u5Ym  im1+™}?}:} ?}AmEm;m;m\5 AZj DNOT Ignoring new targets: 67.00 m.BjJjM ProNav: ac range: 67.000000 m, nav range: 16.124878 m, bearing: 322.051536 deg, approach rate: -0.200840 m/s, LOS rate: -1.814140 deg/s, cmd heading: 23.115491 deg, new cmd heading: 21.098510 deg. 2jMUHeadingCmd: 0.368238 target range: 67.000000 and range: 67.00 m. jU>jQjQjQiQhYhYhYh]BfaHX>IC I II'BI =&I.I:D6Ip<:Is Ffafrfbfk?ɛB$= AEоIA E>ɚAiIIMiQiU>>)U>)Q*F?2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ->G B O- >ơw,2tAJJJ/JJ:Jľ9J(N3JJ ;J!;J;J;Fk>YF2)?F}>9FPyFH?I?@i? $??F|ÿ ࢛?ɨFk>FL;FCyRBR|II^I^٢bQ b~=9fxQ f ?dh jG٣hyn~ n ? vNusing accuracyPremultiplier from configpz59rO?z5Yr irR+™|~?~ArEr,R;r<;r5 A Zj)-DNOT Ignoring new targets: 67.00 m.BjJj ProNav: ac range: 67.000000 m, nav range: 16.063862 m, bearing: 321.521470 deg, approach rate: -0.196598 m/s, LOS rate: -1.714376 deg/s, cmd heading: 21.098509 deg, new cmd heading: 19.502705 deg. 2jHeadingCmd: 0.340386 target range: 67.000000 and range: 67.00 m. j!G>jjjihhhhfffrfbfd?ɛMBU = QUIQ UT>ɚYiYI]e=I]>iaiea>)e!G>)a I=Will construct direction to contact in vehicle frame from tetrahedron phase data.NG5tAE<zKJQJK9KKn$K   %Y%5tAy%bB*FM?2FI:FIBFM4JFIG '+>G ?G ?Gi Bq O >w,P࣮A.Will construct direction to contact in vehicle frame from tetrahedron phase data.Zm>YZ2"?Z>9Z yZH|? [X?`!?` ??ÿ g$@O?ɨZm>Z/q;Z"CyfBf`IInIn<٢vͽ v6=9vY:Q z>xx ~G٣|y~|y ~> Nusing accuracyPremultiplier from config 59t`? 5Y/~ i+™>A!Eh-;-;5%ɓB %A%EEB*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 67.00 m.BjUJjU켝e ProNav: ac range: 67.000000 m, nav range: 15.975291 m, bearing: 320.782840 deg, approach rate: -0.197621 m/s, LOS rate: -1.657146 deg/s, cmd heading: 19.502705 deg, new cmd heading: 17.275713 deg. 2je)mHeadingCmd: 0.301518 target range: 67.000000 and range: 67.00 m. jm`>jqjqjqiqhqhqhyhyfyfyfrfbf ?ɛBn= 隵:I S>ɚiI=I`>iim >)u`>)yE+=Ee>E > e$?Ia*F?2F:FBF_0JFGE>GiBqO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HM c>IM C IM IIM ƁBIM  =&IM FD.IM ;D6IM 5<:IM T Fw,uA>@>Y> ?>>9>y>H?9? ?=I?[?`ÿv?ɨ>@>>;>!CyJvBJ=I-Mb@Mb@Mb@))) )))Y-q= ףp?--t-7A - A)-AI-@)y-AIE!IEi3٢Uf  UD=9U;Q ]>YY ]G٣]WGye e> mNusing accuracyPremultiplier from configiu59mp?u5Ym| im+™}>:0>Am#EmY;m;m5ʓB AEZjDNOT Ignoring new targets: 67.00 m.BjIϼJjIϼu ProNav: ac range: 67.000000 m, nav range: 15.873137 m, bearing: 320.181570 deg, approach rate: -0.244745 m/s, LOS rate: -1.449794 deg/s, cmd heading: 17.275714 deg, new cmd heading: 15.460936 deg. 2jux}HeadingCmd: 0.269844 target range: 67.000000 and range: 67.00 m. j})>jyjyjihhhhSBfffrfbf?mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.745814ɛ-B}= y} I %#>ɚ!i)I-4=I-Ԉ>i1i1)5)>)1E9E9*E9"E9 aIi*Fa 2Fa :Fi BFm Q0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997704zK LK @9K K o$K  *^uic\XQKHJHFCABMYWGm 4>Gq Gu qAGaBqO>Aw,v3ܮA2ñ>Y2]?2m7">92 Dy2H?M |۾?@?@?@?>1Ŀ`#\ D?ɨ2ñ>2q;2Cy:_B> IIFIFF3٢NJн N4=9N;Q N>PP RG٣PyRK V> ZNusing accuracyPremultiplier from configT^59V6?b5YVz iV+™dfǘ>jAV$EV;V;V5p vUAtZjDNOT Ignoring new targets: 67.00 m.Bj>üJj>ü ProNav: ac range: 67.000000 m, nav range: 15.757871 m, bearing: 319.532631 deg, approach rate: -0.240801 m/s, LOS rate: -1.365568 deg/s, cmd heading: 15.460936 deg, new cmd heading: 13.500687 deg. 2jKjHeadingCmd: 0.235631 target range: 67.000000 and range: 67.00 m. j^Iq>jjjihhhhf f f rf bf@ɛ=B=jP= =!;==4$I9 E"2>ɚAiAIE9y=IM^Iq>iIiI)M^Iq>)Q*F?2F:FBF`0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Ma?M<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250928G6>GBO?>JJJJJ:J59JJa%@a%@a%@a%@ 5$?I9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501743޼w,AHff>Id If@IIfzBIf =&Id.If+#<3A E A)AI@yAII2٢9 9=9Q > G٣WGy > Nusing accuracyPremultiplier from config59y?5Yy i+™>:V>A&E;A;r5 AuEZjDNOT Ignoring new targets: 67.00 m.BjGʼJjGʼ ProNav: ac range: 67.000000 m, nav range: 15.631114 m, bearing: 318.924107 deg, approach rate: -0.292331 m/s, LOS rate: -1.414757 deg/s, cmd heading: 13.500687 deg, new cmd heading: 11.660978 deg. 2jrHeadingCmd: 0.203522 target range: 67.000000 and range: 67.00 m. j1hP>jjjihhhhZBf f f rf1bf5 @ɛB.= 隥*I >ɚiIEM=I1hP>ii)1hP>)*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754389G <>G B O > ! I! w,A6Î>Y6*>6 &>96Ίٻy6H?@޿ ?h@??I?@TĿz@Z?ɨ6Î>6;6"CyFNBF IIN!INi3٢V  V^=9V&XX ZG٣Xy^!> ^> bNusing accuracyPremultiplier from config`f59b ?f5Yby ib+™df%>jAb'EbH:b:b5l nAlZj DNOT Ignoring new targets: 67.00 m.BjȼJjȼ% ProNav: ac range: 67.000000 m, nav range: 15.517325 m, bearing: 318.436925 deg, approach rate: -0.325915 m/s, LOS rate: -1.405610 deg/s, cmd heading: 11.660978 deg, new cmd heading: 10.189054 deg. 2j-*q-HeadingCmd: 0.177833 target range: 67.000000 and range: 67.00 m. j-6>j1j1j1i1h1h1h9h9fAfAfArfAbfE d@ɛmBu= qu.Iq }u>ɚyiyI} =I6>ii)6>)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:48:10.9881 TRx dataTimestamp_ set to:1736380092.338485checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009243*FI2FQ:FQBFU52JFQzKNK9KKp$KVQPOKJWbiieab__]YTMKKHB>92!  GuF>G1B9OU>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257669jw,)AJVJV~JTJTJVy:JVf9JTJT $?Iy5SB5I)9 99=A @ @ @  @ II(*3٢l< !=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59??5Y-x i,‘+::A)Ea;?5˓B A E%B*** querying acoustic contact ***j!j!Zj1=DNOT Ignoring new targets: 67.00 m.Bj=6¼Jj=6¼U ProNav: ac range: 67.000000 m, nav range: 15.361437 m, bearing: 317.749540 deg, approach rate: -0.304964 m/s, LOS rate: -1.358342 deg/s, cmd heading: 10.189054 deg, new cmd heading: 8.106940 deg. 2jU i]HeadingCmd: 0.141493 target range: 67.000000 and range: 67.00 m. j]}>jYjYjYiYhahahahafififirfqbfuV @ɛ]B]= Y]-IY _>ɚiI=I}>ii)}>)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:48:10.9881 LVL= 9760, 22449, 14962, 25331, AGC= 56, IDX= 434,-0.48,-2.199, 2.325, 1.828, 2.973, PHS= 1.199,-0.601,-1.148, RAW= 77.1, 5.2, CAL= 81.1, 4.9, ROT= 68.9, -4.9 Ygot valid direction response: 23:48:10.9881 LVL= 9760, 22449, 14962, 25331, AGC= 56, IDX= 434,-0.48,-2.199, 2.325, 1.828, 2.973, PHS= 1.199,-0.601,-1.148, RAW= 77.1, 5.2, CAL= 81.1, 4.9, ROT= 68.9, -4.9 PDAT read: Bearing 68.9, -4.9 (Local) ~Local bearing/azimuth received: Bearing 68.9, -4.9 (Local) DAT read: Range 10 to 50 : 65.9 m (Round-trip 87.9 ms) speed 0.1 m/s  ,DAT read: user:3469> BDAT read: Tx time:23:48:12.0960 $Ping request sent.?٥޹= ڥ-?)ڥ%=Iڥ?iڥ%ڡڡۥ;H[?2PN?)ۥl?Iۥ6iۥ6@ۥ|ۡۡu:publishing transmit ping timeuFpublishing direction and range infoء9إjĿ]c?5?yءءءء ١Hk>IC IIILBI =&I.I6Ib<:I~ F)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ;H[?2PN?)ۡIۡiۡۡۡۡE =*F ?2F! :F! BF% _0JF! U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:23:48:12.0953 G#>GB I O?eJw,BMA>nV>Y>FF>>+>9>@mH?@~ڿj?CR?`?=?,Gſ Ѐ??ɨ>nV>>g;>!CyFXBFIIn!Ini3٢z< z-=9~*| G٣WGy > bBottom track data is 1.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 Ǖ?5Y w i 6,‘ :%:%ǎ=%A +E E5; {? 35) -A)kNݒ?khbF k k@5A:k̃BBkBZkb@"֏#%ȴy5@ڄ?N@jĿ]c?5?Jk6@Rk|*!lE2@J# =O@V3O̡m?htV?"kȗA*kk2ؒ?k  2kLBk hR?k9 kCkN@k]ֱ@ addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 3.527003 s, deltaX: -1.099998 m, approachRate: -0.311879 m/s, rangeRepo size: 4  Added new target pos. range: 65.900002 m, bearing: 115.159420 deg, lat: 36.905078 deg, lon: -122.120274 deg, deltaT: 3.527003 s, deltaX: -1.099998 m, approachRate: -0.311879 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 65.90 m.BjJj ProNav: ac range: 65.900002 m, nav range: 6.259627 m, bearing: 318.416565 deg, approach rate: 0.000000 m/s, LOS rate: -1.358342 deg/s, cmd heading: 8.106940 deg, new cmd heading: 6.183387 deg. 2jHeadingCmd: 0.107920 target range: 65.900002 and range: 65.90 m. jh=jjjihhhhfffrf yP@bf QH?ɛBX= 隵,I ?>ɚiI,=Ih=ii)h=)E6=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%l0JF!zKeSNKe}9KaKeq$Ke #=HKJIGFC@?<<;76/+)&&$#GE A>G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,gAn+5>Yn>n%s,>9ndHnA;ly~gB*III٢5== =F=9=];Q E>AA MG٣IyU~ ]> bBottom track data is 1.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59ؕ?5Yw iR,‘9k:=A-E;c?,5 #A߳EJJJ1JJp:Jľ9J3JZj!%DNOT Ignoring new targets: 65.90 m.Bj-j]Jj-j] $?I ProNav: ac range: 65.900002 m, nav range: 6.117589 m, bearing: 317.131694 deg, approach rate: -0.334642 m/s, LOS rate: -3.097197 deg/s, cmd heading: 6.183387 deg, new cmd heading: 2.245819 deg. 2j]HeadingCmd: 0.039197 target range: 65.900002 and range: 65.90 m. j] =jajajihhhhfff!rf)bf5@,T?ɛB= 隽)&I j>ɚiI!=I*5=ii) =)Will construct direction to contact in vehicle frame from tetrahedron phase data.Hn>IC IIIBBI =&I.I=D6I<:IH FBIǦCJIǦCRIZI =bI =jIA6EE C;=*F 2F :F BF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO?w,{A:<=Y:>:0>9:Կ@3?N?@&O?`? ƿ:??ɨ:<=:;: CyFyBF@IiJR=IJi> ] ] ]] ]]  ] ] ]Mb@Mb@Mb@YYY Y)YY]K7A`?p= ף rh?y]>]]C =]E A ] A)]AI]I@Yy] AII̍٢Y= =9g G٣y > Nusing accuracyPremultiplier from config59_한?5Y?w ik,‘T:>:O=A/E;;q5 AZjDNOT Ignoring new targets: 65.90 m.BjvJjv ProNav: ac range: 65.900002 m, nav range: 5.947876 m, bearing: 315.425863 deg, approach rate: -0.334184 m/s, LOS rate: -3.454305 deg/s, cmd heading: 2.245819 deg, new cmd heading: 356.997811 deg. 2j*HeadingCmd: 6.230787 target range: 65.900002 and range: 65.90 m. jb@jjjihh!h!h-߂Bf)f)f1rf1bf5`a?ɛ]B] = aeaIa m>ɚiiiIu%=Iu iyiy)}b@)y $?IEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFzKeqMKaKaKer$Ke  G <>G B O >eaw,p&A2P=Y2/L>264>92B>aIIF%IF)3٢N> NU=9R$PP RG٣RWGyV V> bNusing accuracyPremultiplier from config\n59^?n5Y^+w i^~,™pv<vA^0E^;^X;^5 ̓B AܳEWill construct direction to contact in vehicle frame from tetrahedron phase data.յ?յP?Zj DNOT Ignoring new targets: 65.90 m.Bj bJj b ProNav: ac range: 65.900002 m, nav range: 5.821067 m, bearing: 314.140767 deg, approach rate: -0.306624 m/s, LOS rate: -3.174788 deg/s, cmd heading: 356.997814 deg, new cmd heading: 353.065058 deg. 2j-%HeadingCmd: 6.162148 target range: 65.900002 and range: 65.90 m. jEP0@jAjIjIiIhIhIhQhQfQfQfQrfYbf]?ɛBu= I # >ɚiI( =Iýii)P0@)JIJM{JIJIJIJM-9JIJI*Fe?2Fi:FiBFm0JFi AIIGA>e Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >H% p>I!  I% II% [BI! &I! .I! 6I% A<:I% j F,w,漯A:=Y:%ׄ>:β7>9:i;y:H`n?IZпE?'??@u?@ƿ +>x?c|?ɨ:=:͏;: CyFBFnIMb@Mb@Mb@ )Y^I +?p= ףI +?yX>94=\ A E A)AIQAyp AI5I52٢E@= EA=9Ep;Q M>II MG٣IyUҤ U> eNusing accuracyPremultiplier from configYe59]-?m5Y]zv i],™m>m:mA>mA]2E]Y;];]5y }mAyB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 65.90 m.BjΚJjΚ ProNav: ac range: 65.900002 m, nav range: 5.698609 m, bearing: 312.468703 deg, approach rate: -0.310560 m/s, LOS rate: -4.330959 deg/s, cmd heading: 353.065046 deg, new cmd heading: 347.955375 deg. 2j9HeadingCmd: 6.072967 target range: 65.900002 and range: 65.90 m. jU@jjjihhhh3Bfffrfbf`b@ɛB= 隵 I #>ɚiIg' =IQ.ii)U@)*Fm?2Fi:FiBFuP5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 5$?I9GGGpAG B O >)I M SC c~G tA b Y tAy eBmw,3֯AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506442>Q%@BBBB:>9BO fR=9j;Q j>hh jG٣hy} }> Nusing accuracyPremultiplier from config59?5Yu i,™=A3E::5͓B AٳEZjDNOT Ignoring new targets: 65.90 m.zK^LKŷ9KKs$KBjJj = ProNav: ac range: 65.900002 m, nav range: 5.580068 m, bearing: 310.823340 deg, approach rate: -0.289677 m/s, LOS rate: -4.105599 deg/s, cmd heading: 347.955381 deg, new cmd heading: 342.928067 deg. 2j=0EHeadingCmd: 5.985224 target range: 65.900002 and range: 65.90 m. jE@jAjAjAiAhAhIhIhIfIfQfqrfqbfu E@ɛB \= 3I *>ɚiI) =IMeii)@)*Fi2Fi:FiBFm 5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759234GF>G B O > ) I) w,ƢA=T@Y=J>=X;>9=;y=H>?`ȿa?#?b??]ǿ@>}?#v?ɨ=T@=~;="CyMāBMI%Mb@Mb@Mb@!!! !)!Y%MbX9?V-?kt?y%?%<% 0=%A % A)%x!AI%zA!y%AI=I=3٢ES= M4=9Ml;Q M>QQ UG٣UWGy] ]> eNusing accuracyPremultiplier from configam59e0?m5Yet ie,™ux?u:uD>uAe5Ee!;e;e5y }KA}ֳEZjDNOT Ignoring new targets: 65.90 m.BjͬJjͬ ProNav: ac range: 65.900002 m, nav range: 5.486517 m, bearing: 308.766582 deg, approach rate: -0.216252 m/s, LOS rate: -4.834406 deg/s, cmd heading: 342.928061 deg, new cmd heading: 336.678825 deg. 2j\OHeadingCmd: 5.876154 target range: 65.900002 and range: 65.90 m. jt @jjjihhhhBfffrfbf`@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:23:48:14.5874 =TRx dataTimestamp_ set to:1736380095.864756=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011646Hs>I IMIIBI =&I.I6IE<:Io Fɛ-B-4|= )-I1 5<>ɚ1i1I51 =I=gi9i9)=t @)A*Fy2Fy:FyBF}"5JFyGa  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263288G! B) O >~w,v A2i@Y21->2W=>92;y2H ;?`ſ_?-? ?8N?]ǿA}?s?ɨ2i@2`;2!CyVρBVII^I^M3٢fn= ff=9jC;Q j>hh jG٣lyn n> vNusing accuracyPremultiplier from configpv59r??z5Yrus ir,™xz%g>zAr7Er;r;r25 A J%~J%}J%0J!J%{m:J%S9J%ـ3J!J%<;a5J%=;a5J%:a5J%:a5ZjIUDNOT Ignoring new targets: 65.90 m.BjUJJjUJe ProNav: ac range: 65.900002 m, nav range: 5.410504 m, bearing: 307.050573 deg, approach rate: -0.211806 m/s, LOS rate: -4.848022 deg/s, cmd heading: 336.678821 deg, new cmd heading: 331.473614 deg. 2jmOmHeadingCmd: 5.785306 target range: 65.900002 and range: 65.90 m. jm:!@jijqjqiqhqhqhyhyfffrfbf @ $?IɛB 1= ^={I f>ɚiI# =I98¾ii):!@)*FU?2FQ:FQBFU_0JFQ=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.0 m/s U,DAT read: user:3470> ]BDAT read: Tx time:23:48:15.6960 ]$Ping request sent.]G ?G?zKUKUK9KQKUt$KU0CGBO>jw,PP$ABu@YB`>B>>9Bֿ;yBH"?W?@5? c?Ŕ?ǿ@w?@Fr?ɨBu@B;@yb؁BbIif >IfIjIj3٢v0= vI=9v6;Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 59P? 5Ycr i,™  J>A8E::5Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:48:15.6953 ΓB AӳE addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.527894 s, deltaX: -0.500000 m, approachRate: -0.141728 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 65.90 m.BjȫJj5ȫE ProNav: ac range: 65.900002 m, nav range: 5.324161 m, bearing: 305.046719 deg, approach rate: -0.203814 m/s, LOS rate: -4.805860 deg/s, cmd heading: 331.473616 deg, new cmd heading: 325.388789 deg. 2jE#NMHeadingCmd: 5.679106 target range: 65.900002 and range: 65.40 m. jM<@jIjIjIiQhQhQhYhYfYfafarfmYP@bfm ?ɛĂBg= %NI! %>ɚ!i!I-;=I5`i9i9)=<@)A $?I*F?2F:FBF^0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI G F>H w>I C I II BI  =&I .I >D6I <:I ? FGa Bq O >bw,.>A6@Y6=6m>>96;y6H:>?Ǻ ?Q?`?]?ǿ y?q?ɨ6@6:;6 CyNBNI-Mb@Mb@Mb@))) )))Y-E?V-?X9v?y-?-=-<-XA -A)-#AI-A)y-AIMIM٢]U= ]C=9]y9Q e>aa eG٣eWGym m> uNusing accuracyPremultiplier from configq59ub?5Yuwp iu,™ ?:ɩ>Au:EupɚiI@=Iri i ) 9ȱ@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF`0JFJ=yJ=wJ=1J9J=]:J=9J=3J9J=;J=;J=:J=: IGA>G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004903w,$XA6v@Y6=6>>96:y6H"R?`?OT?`?U? ǿ }l@?q?ɨ6v@6K;4yBBBIININ٢V[H< VU=9-9Q 5>11 5G٣1y=} => ENusing accuracyPremultiplier from configAM59Es?U5YEn iE-™QUQ>UAEɚiI5=I "i i )@)zKe-LKe9KaKeu$Ke7*    %'*((*'## EIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259064*F?2F:F BF _0JF GqA GmA } $?Iy GM F>Ga Ge mAGI B O >w,x*uA2@Y2څ=2{>>925 ;y2Hga? Z?`an?@?6?ǿ@Uc? r?ɨ2@2l;2!CyBBBI)D DeMb@Mb@Mb@aaa a)aYe!rh?V-?Mb?yel?e|?>e G٣yN > Nusing accuracyPremultiplier from config59㇖?5Y l iA-™?:E>A>E#;";5 OAH|>IC IIIƁBI =&I.I6Ij<:I FZjDNOT Ignoring new targets: 65.90 m.Bj%oؽJj%oؽ5 ProNav: ac range: 65.900002 m, nav range: 5.189681 m, bearing: 297.586912 deg, approach rate: -0.053595 m/s, LOS rate: -6.055107 deg/s, cmd heading: 311.475259 deg, new cmd heading: 302.962837 deg. 2j5܁=HeadingCmd: 5.287699 target range: 65.900002 and range: 65.40 m. j=4@j9j9j9i9hAhAhAhE_BfIfIfIrfIbfM@ٛ?ɛ}̂By= 隅I .>ɚiI`=I;ii)4@)Euu \=*F?2F:FBFo0JFG A>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762751G B O5 >J wJ tJ 0J J W:J 9J ـ3J J z;J z;J :J : I O#w,ЎA2^@Y2?/=2:?>92;y2H\i?\?-??@%c?ǿnv?p?ɨ2^@2$s;0yjځBjIIr.Ir3٢Q V=9R;Q >    G٣ WGyr > Nusing accuracyPremultiplier from config%59j?%5Yi ia-™!%>-A@E&:v:B55ϓB 5A5˳EZjY]DNOT Ignoring new targets: 65.90 m.BjeU޽JjeU޽u ProNav: ac range: 65.900002 m, nav range: 5.173802 m, bearing: 295.252214 deg, approach rate: -0.042185 m/s, LOS rate: -6.220085 deg/s, cmd heading: 302.962849 deg, new cmd heading: 295.974071 deg. 2j}f}HeadingCmd: 5.165722 target range: 65.900002 and range: 65.40 m. jM@jjjihhhhfffrfbf?ɛςBX= I z>ɚiIe=IOii)M@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013182*F?2F:FBFJFzK=UMK=}9K9K=v$K= BKI:KMmAG= F>G B! O= >`)w,}AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265079b0@Yb֝<b@>9b G٣y,f > Nusing accuracyPremultiplier from config59?5Yg i-™>AAE;;5 SAZj!%DNOT Ignoring new targets: 65.90 m.BjM׽JjM׽] ProNav: ac range: 65.900002 m, nav range: 5.160837 m, bearing: 292.678948 deg, approach rate: -0.030365 m/s, LOS rate: -6.039521 deg/s, cmd heading: 295.974063 deg, new cmd heading: 288.283984 deg. 2j]eHeadingCmd: 5.031505 target range: 65.900002 and range: 65.40 m. je@jajajaiahhhhfffrfbfK@ $?Iɛ҂B*= I >ɚ i I @=I"gii)@)EI*F2F:FBFP5JF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516900H>I III =&I.I?D6I)<:Ie FBIǩCJIǩCRIZI =bI =jI&.6GG ?G6?G B O > 0w,0G°Ay~BIi 0>I a=Mb@Mb@Mb@ )YS㥛?A`"?~jtxy$?Y>ĻA nA)(AIAyAI=/I=3٢U< ]>=9]Q e>iq uG٣yy} > Nusing accuracyPremultiplier from config59a?5Y;e i-™?:7>ACE ;;5ГB AȳEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 65.90 m.Bj߽Jj߽ ProNav: ac range: 65.900002 m, nav range: 5.170038 m, bearing: 290.002897 deg, approach rate: 0.021565 m/s, LOS rate: -6.258565 deg/s, cmd heading: 288.283980 deg, new cmd heading: 280.324627 deg. 2j9HeadingCmd: 4.892588 target range: 65.900002 and range: 65.40 m. j@jjjihhh h YBf ffrfbf%@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5>5<=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769342ɛւBƧ= I b >ɚiI\=IP~ii)@) $?IhJJoJJJJK9JJJz;JJ:J:*F2F:FBF05JFG!  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:48:18.1872  TRx dataTimestamp_ set to:1736380099.392896 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022287G B O- ><6w,"ܰA6@Y6@6;@>96X hh jG٣jWGyna n> rNusing accuracyPremultiplier from configpv59r̖?v5Yrlc ir-™xz5>zArEEr:r:r5| ~AZj)-DNOT Ignoring new targets: 65.90 m.Bj5۽Jj5۽M ProNav: ac range: 65.900002 m, nav range: 5.176119 m, bearing: 287.855886 deg, approach rate: 0.017449 m/s, LOS rate: -6.152007 deg/s, cmd heading: 280.324624 deg, new cmd heading: 273.919480 deg. 2jMUHeadingCmd: 4.780797 target range: 65.900002 and range: 65.40 m. jUJ@jQjQjQiQhYhYhYhafafafarfabfm[@'}TFailed to parse incomplete device message.ɛ؂B{e= 隝 &I  >ɚiI=Ij>ii)J@)*F12F1:F1BF5_0JF1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272999RK?JK?G<>GiBy IO>IC IlIIBI =&I.I6I<:ID F DAT read: 23:48:18.1872 LVL= 13200, 13985, 15186, 18707, AGC= 55, IDX= 439, 0.08,-1.810,-2.643, 2.027,-2.884, PHS= 1.162, 0.289,-1.375, RAW= 49.8, -0.7, CAL= 50.8, -3.3, ROT= 99.2, 3.3 Ygot valid direction response: 23:48:18.1872 LVL= 13200, 13985, 15186, 18707, AGC= 55, IDX= 439, 0.08,-1.810,-2.643, 2.027,-2.884, PHS= 1.162, 0.289,-1.375, RAW= 49.8, -0.7, CAL= 50.8, -3.3, ROT= 99.2, 3.3 PDAT read: Bearing 99.2, 3.3 (Local) %~Local bearing/azimuth received: Bearing 99.2, 3.3 (Local) B@Y?R@۔>>9S ]BDAT read: Tx time:23:48:19.2961 ]$Ping request sent.]ٝٝ/^?ٝ+H ڝb?)ڝkIڝk?iڝk=ڙڙ۝6D?C!Zs')۝֜I۝p1EA A))AIAy\AII#3٢V =94Q > G٣y< >  Nusing accuracyPremultiplier from config 559 㖜?=5Y ` =tIi .™= ?=:=ͨ>=A GE ; ; 5I MAMųEk#9ܜ?kD k k{A:kfBBkBZkZ?"D*?u$ F@a*"G@v(r?,튬W?\ }?Jk;?RkI* )&@ 0F@F@InY?R#?ͼv?"k4B*k(6AkMB?k& 2kBkkk3  kCk`@k?e addTargetRange:: Added new target pos. range: 65.199997 m, deltaT: 3.530262 s, deltaX: -0.200005 m, approachRate: -0.056654 m/s, rangeRepo size: 4  Added new target pos. range: 65.199997 m, bearing: 75.807279 deg, lat: 36.905078 deg, lon: -122.120181 deg, deltaT: 7.058156 s, deltaX: -0.700005 m, approachRate: -0.099177 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 65.20 m.BjJj ProNav: ac range: 65.199997 m, nav range: 3.512353 m, bearing: 68.070317 deg, approach rate: 0.000000 m/s, LOS rate: -6.152007 deg/s, cmd heading: 273.919491 deg, new cmd heading: 263.406888 deg. 2jHeadingCmd: 4.597318 target range: 65.199997 and range: 65.20 m. j:@jjjihAhAhIhMDBfIfIfQrfULP@bfU =?ɛ݂BG= 5I G) >ɚ i I =I辘ii):@)E)E)E Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:23:48:19.2954 *F 2F :F BF B5JF G pA G pA $?I JيK݊ـ3 K݊.KيKي"KيJM vJM uJI JI JM {T:JM 9JI JI JM Hu;JM Ju;JM g:JM h:G A>GyBO>Ew,`ANG , Jb"YHyJOBΜ@YP@Es:>9;yHqK?GD??ڜQ?+~-ǿr?x?ɨΜ@Ԏ;!Cy/BI) AII2Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ O=9'Q > G٣yE\ E> MNusing accuracyPremultiplier from configIU59M9?U5YMe_ iML.™Y]6>]AMIEM3:MK(;M5ѓB A³EZjDNOT Ignoring new targets: 65.20 m.Bj>Jj>e ProNav: ac range: 65.199997 m, nav range: 3.385199 m, bearing: 70.933683 deg, approach rate: -0.342198 m/s, LOS rate: 7.992043 deg/s, cmd heading: 263.406901 deg, new cmd heading: 272.245174 deg. 2jef>mHeadingCmd: 4.751575 target range: 65.199997 and range: 65.20 m. ju @jqjqjqiqhqhhhfffrfbf?ɛB%E= %s=%XI! % >ɚ!i!I- =I-ni)i1)E @)QzKU]JKUŷ9KQKUx$KU*F2F:FBF[0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G F>G B O > I E8Kw,,/AyrBrIIzIz#3٢=n =[=9EQ E>AA EG٣MWGyM M> ]Nusing accuracyPremultiplier from configQe59UP?e5YU] iUz.™aaeAUKEU.';U';U;5q uvAqZj DNOT Ignoring new targets: 65.20 m.BjE>JjE> ProNav: ac range: 65.199997 m, nav range: 3.275405 m, bearing: 73.780784 deg, approach rate: -0.269076 m/s, LOS rate: 7.208392 deg/s, cmd heading: 272.245166 deg, new cmd heading: 281.000359 deg. 2j>HeadingCmd: 4.904381 target range: 65.199997 and range: 65.20 m. j@jjjihhhhfffrfbf`+?ɛEBmos= impIi u >ɚqiqIu=I}^iyiy)}@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.jH1bH1H=>I9 I=II=LBI9&I9.I96I=<:I== F*Fu?2Fy:FyBF}\0JFyG] A>G9 BA O] >$Rw,HA>Will construct direction to contact in vehicle frame from tetrahedron phase data.yMрBMrIMb@Mb@Mb@ )Y)\(?K7A?:vyG? >TA A)C+AI1AyzABAII<٢|b >=9Q  > G٣y > %Nusing accuracyPremultiplier from config%59h?-5Y] i.™-?-:->5ALElK;H;5=ғB EAEE]B*** querying acoustic contact ***jYjYZjiuDNOT Ignoring new targets: 65.20 m.Bju-(>Jju-(> ProNav: ac range: 65.199997 m, nav range: 3.190493 m, bearing: 77.322723 deg, approach rate: -0.219882 m/s, LOS rate: 9.410053 deg/s, cmd heading: 281.000348 deg, new cmd heading: 291.773246 deg. 2j> $?IHeadingCmd: 5.092404 target range: 65.199997 and range: 65.20 m. j@jjjihhhhǃBf)f)f)rf1bf5`Ջ?ɛeB ys= 隅lI w >ɚiIG =I7ii)@)*Fa2Fa:FaBFe_0JFa-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.G K>G ?G ?GY Bi O >zK &~JK 9K K y$K BK pA:K pAJXw,bAy~B~.II I (*2٢-g 5Z=99Q =>IQ UG٣Qya e> Nusing accuracyPremultiplier from configq59uj'?5Yu[\ iu.™AuNEu ;u ;u5 AZjDNOT Ignoring new targets: 65.20 m.Bj>Jj>- ProNav: ac range: 65.199997 m, nav range: 3.126014 m, bearing: 80.606934 deg, approach rate: -0.164658 m/s, LOS rate: 8.555186 deg/s, cmd heading: 291.773250 deg, new cmd heading: 301.722383 deg. 2j-z>5HeadingCmd: 5.266049 target range: 65.199997 and range: 65.20 m. j5y@j1j1j1i1h9h9h9h9fAfAfArfAbfEւ?ɛuBuȬL= y}Iy } >ɚyiyI}=Ie|ii)y@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739300 $?IJMsJMmJIJIJMK:JM&9JIJIa]@a]@a]@a]@E}|^=*F2F:FBFJFH% >I% C I% II% BI%  =&I! .I% @D6I% <:I% ; FE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990605G F>G B O >%_w,nA:^@Y:*n@: ->9:h&;y:H@?v|??^ɿN?`@X6ſ|? ?ɨ:^@:j;: CyBgBBIUMb@Mb@Mb@QQQ Q)QYU"~j?~jt?X9vyUS?U G٣WGySd > Nusing accuracyPremultiplier from config59:?5YX] i4/™_?:,APE7;V; 5 WAEZjDNOT Ignoring new targets: 65.20 m.Bj+%>Jj+%> ProNav: ac range: 65.199997 m, nav range: 3.134975 m, bearing: 84.713560 deg, approach rate: 0.020241 m/s, LOS rate: 9.241633 deg/s, cmd heading: 301.722377 deg, new cmd heading: 313.813768 deg. 2j3>HeadingCmd: 5.477084 target range: 65.199997 and range: 65.20 m. jED@jjjihhh h XBf ffrfbfL@ɛEBEG= IMšII M>ɚQiQIUBk=I]GiYiY)]ED@)YE-R{=*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.E*?AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.243187 IG K>G B O >` fw,UA2w@Y2@2*>92K99 =G٣AyE E> MNusing accuracyPremultiplier from configIU59M7J?U5YMX^ iMo/™Y]H]AMQEM ;M ;M{"5a eUAaZjDNOT Ignoring new targets: 65.20 m.Bj>Jj> ProNav: ac range: 65.199997 m, nav range: 3.161200 m, bearing: 88.237534 deg, approach rate: 0.066631 m/s, LOS rate: 8.873791 deg/s, cmd heading: 313.813779 deg, new cmd heading: 324.176887 deg. 2jP>HeadingCmd: 5.657954 target range: 65.199997 and range: 65.20 m. j @jjjihhhhfffrfbf@r@ɛBG= I >ɚiI#!=I 5쯿i i) @)EE*E!"E!zK%XKK%9K!K%z$K%RK5?JK5>*F12F1:F1BF5o0JF1UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746711 $?I J qJ J J J D:J J J G A>G! G% qAG B O >4lw,2A~.@Y~@~.'>9~[#i G٣y< > Nusing accuracyPremultiplier from config59\?5Y_ i/™lfASE;;u$5ӓB A EZHqRHuAAH}>Iy I}II}bBI} =&Iy.Iy6I}*<:I}s FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:48:21.7887 TRx dataTimestamp_ set to:1736380102.920736checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999055ZjDNOT Ignoring new targets: 65.20 m.Bj>Jj> ProNav: ac range: 65.199997 m, nav range: 3.212156 m, bearing: 92.173515 deg, approach rate: 0.107936 m/s, LOS rate: 8.198606 deg/s, cmd heading: 324.176897 deg, new cmd heading: 335.633229 deg. 2jկ>HeadingCmd: 5.857905 target range: 65.199997 and range: 65.20 m. j s@j j j i h h hhfffrfbf I@ɛBɚiIR/#=I'ii)s@)!*F2F:FBFY1JFG F>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250312G B O5 > sw,̱A6B@Y6Ģ@6:#>96wY- G٣WGy@ > Nusing accuracyPremultiplier from config59Ik?5Ya i/™| ?:2ݾATE;<; &5  AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 65.20 m.BjG>JjG>  ProNav: ac range: 65.199997 m, nav range: 3.303003 m, bearing: 95.127575 deg, approach rate: 0.264257 m/s, LOS rate: 8.352715 deg/s, cmd heading: 335.633228 deg, new cmd heading: 344.183794 deg. 2j #>HeadingCmd: 6.007141 target range: 65.199997 and range: 65.20 m. j:@jjjihhhh%Bf!f!f!rf!bf- @ɛUBU; ]=]ϿIY ]2>ɚYiYI]$=Ieiaia)m:@)q*F-?2F):F)BF-P0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502193G5K>GA BQ Om >zK >KK 59K K {$K Jbt}zsBK oA:K qA79yw,A~@Y~ @~H>9~؀&99 =G٣9yE E> ]Nusing accuracyPremultiplier from configQe59U {?e5YU9d iU&0™imq쾑mAUVEUQ;Uqe;U'5}ԓB Y"AEZjDNOT Ignoring new targets: 65.20 m.BjO>JjO> ProNav: ac range: 65.199997 m, nav range: 3.417043 m, bearing: 98.112335 deg, approach rate: 0.286119 m/s, LOS rate: 7.235380 deg/s, cmd heading: 344.183805 deg, new cmd heading: 352.770463 deg. 2j,> HeadingCmd: 6.157006 target range: 65.199997 and range: 65.20 m. j2@jjjihhh!h!f!f)5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:48:21.7887 LVL= 16928, 19841, 19218, 26483, AGC= 55, IDX= 438,-0.04, 3.100,-2.824, 1.116, 2.636, PHS= 0.552, 0.870,-1.523, RAW= 23.0, 0.9, CAL= 22.4, -0.1, ROT= 127.6, 0.1 Ygot valid direction response: 23:48:21.7887 LVL= 16928, 19841, 19218, 26483, AGC= 55, IDX= 438,-0.04, 3.100,-2.824, 1.116, 2.636, PHS= 0.552, 0.870,-1.523, RAW= 23.0, 0.9, CAL= 22.4, -0.1, ROT= 127.6, 0.1 PDAT read: Bearing 127.6, 0.1 (Local) ~Local bearing/azimuth received: Bearing 127.6, 0.1 (Local) DAT read: Range 10 to 50 : 66.3 m (Round-trip 88.4 ms) speed -0.4 m/s ,DAT read: user:3472>  BDAT read: Tx time:23:48:22.8961  $Ping request sent. =< =+>)=I=Ӈ@i=:99ɛeBmcw< imtݿIi mm>ɚqiqIu'=Iujiyiy)}2@=F4 W.>?)= ؿI=i= ?=<ʰ99:publishing transmit ping time Fpublishing direction and range info99=?.1?L\B?Jᇩ?y9999 9)9I9i99999 9)9I9i999=F4 W.>?)9I9i999)9JoJhJ1JJ>:JȆ9J3J*Fq2Fq:FqBF}4JFyH >I C I LII BI =&I ED.I AD6I T<:I FBIMɬCJIMɬCRIIZIM =bIM =jIM[6 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy G ?G ?G9 BA O] >w,(}A:@Y:@:>9:?)) 5G٣1y5u => eNusing accuracyPremultiplier from configAm59E㍗?m5YEh iEr0™u?u:u)uAEXEE>;E;E)5y }{#AykmQwUC?kmd% ki kmwNA:kmBBkmBZkm?"m?G?9v-O@`#p6@m?.1?L\B?Jᇩ?Jkm ?Rkm<ʰ*m!:@n|,L@8!]6@mD?SX2?^I?"kmdaB*kmAkm9R?kmoL 2kmBkikm  kmLBkm[Akm? addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.778527 s, deltaX: 1.100006 m, approachRate: 0.291120 m/s, rangeRepo size: 4 - Added new target pos. range: 66.300003 m, bearing: 64.701912 deg, lat: 36.905078 deg, lon: -122.120014 deg, deltaT: 3.778527 s, deltaX: 1.100006 m, approachRate: 0.291120 m/s, posRepo size: 4 Zj)5DNOT Ignoring new targets: 66.30 m.Bj5Jj1U ProNav: ac range: 66.300003 m, nav range: 18.419739 m, bearing: 92.196075 deg, approach rate: 0.000000 m/s, LOS rate: 7.235380 deg/s, cmd heading: 352.770473 deg, new cmd heading: 3.577514 deg. 2jQ]HeadingCmd: 0.062439 target range: 66.300003 and range: 66.30 m. j]v=jYeWill construct direction to contact in vehicle frame from tetrahedron phase data.jYjyihhhhiBfffrfbfh?ɛ B ;  I  >ɚiIO+)=I/-i9iA)Ev=)I Ih*F?2F:FBFO0JFG A>G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. i O% >w, AR:@YRʼ@R >9Ro!yRH [? ?nl?D׿h? @ƫ ¿4C?ɨR:@R;RCybm~BbxIIj7Ij3٢r6 rs=9vSQ v ?tt zG٣zWGyzq z ? ~Nusing accuracyPremultiplier from config|59~ә? 5Y~k i~0™  1 A~ZE~ ;~_;~[+5 $AEZjIMDNOT Ignoring new targets: 66.30 m.BjUa<JjUaG B) O >fw,8AH >I C I II ~BI  =&I .I BD6I  <:I h F]@Y]@]=>9];y]H?8?@U?W6ٿ@X?6 A ¿Xfw?O?ɨ]@]d;Yym-~BmPIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y333333?пy?L )(AIE AyGAI-I-(*2٢= =&=9Et%Q E>AI MG٣IyUV U> eNusing accuracyPremultiplier from configYe59]?m5Y]q i]0™m&?m:mOmA]\E];];]-5uՓB }%A}EZjeDNOT Ignoring new targets: 66.30 m.Bje<Jje< ProNav: ac range: 66.300003 m, nav range: 18.782539 m, bearing: 93.247879 deg, approach rate: 0.482904 m/s, LOS rate: 1.252683 deg/s, cmd heading: 4.839160 deg, new cmd heading: 6.699547 deg. 2jV=HeadingCmd: 0.116929 target range: 66.300003 and range: 66.30 m. jx=jjjihhhh&Bfffrfbf Ph?ɛ} B}B2; y}Iy =ɚiIN-=IQeii)x=)Em=*F?2F:FBF_0JF =nManaging dock network, ignoring radio surface power offU Will construct direction to contact in vehicle frame from tetrahedron phase data. I G% A>G) G- oAJ J G B O} >Nw,RA2 @Y2|@2> >92 B1IIJ0IJ(3٢R Re=9R0Q V>TT VG٣TyZҙ Z> bNusing accuracyPremultiplier from config\b59^㸗?b5Y^gv i^1™df|VfA^^E^ :^:^/5h j&AnEzB*** querying acoustic contact ***jxjx)) )G !YyBZj!-DNOT Ignoring new targets: 66.30 m.BjMx<Jjux< ProNav: ac range: 66.300003 m, nav range: 18.960194 m, bearing: 93.677418 deg, approach rate: 0.453991 m/s, LOS rate: 1.087379 deg/s, cmd heading: 6.699547 deg, new cmd heading: 7.975866 deg. 2j:=HeadingCmd: 0.139205 target range: 66.300003 and range: 66.30 m. jɋ>jjjihhhhfffrfbf@H?ɛ B!߼ I  =ɚiIL/=I%~Ri!i!)%ɋ>)!EQEQ*EQ"EQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFZ0JFzK 0MK 9K K }$K = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993097G K> } $?Iy G B O >rw,pAbQ@Yb-@b >9bld   G٣WGy~ > Nusing accuracyPremultiplier from config%59ɗ?%5Y`| iW1™)-]-AaEC ; ;151 5j'A1ZjY]DNOT Ignoring new targets: 66.30 m.Bjm׮<Jjm׮<} ProNav: ac range: 66.300003 m, nav range: 19.199646 m, bearing: 94.207804 deg, approach rate: 0.559067 m/s, LOS rate: 1.222870 deg/s, cmd heading: 7.975865 deg, new cmd heading: 9.546763 deg. 2j}Q=}HeadingCmd: 0.166622 target range: 66.300003 and range: 66.30 m. j*>jjjihhhhfffrfbf@ɛ]B] aeIa meb=ɚiiiIm1=IuR;iqiuZ>)u*>)*F=?2FA:FABFMo0JFIHm>ImC ImRIIm1~BIm =&Ii.Ii6ImD<:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244530GuF>GQ BY O} >Nw,ŮAy}BI}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496490Mb@Mb@Mb@ )YS?ѿ=9Q > G٣y >  Nusing accuracyPremultiplier from config 59;ؗ?5Y< i1™y,?:fdAcE6;3;25%֓B %'A%EZjIMDNOT Ignoring new targets: 66.30 m. $?IBjU<Jj< ProNav: ac range: 66.300003 m, nav range: 19.435226 m, bearing: 94.686834 deg, approach rate: 0.545767 m/s, LOS rate: 1.096302 deg/s, cmd heading: 9.546763 deg, new cmd heading: 10.966129 deg. 2j<= HeadingCmd: 0.191395 target range: 66.300003 and range: 66.30 m. j C>j j j i h)h1h1h5Bf1f9f9rf9bf= @ɛBl& 隭QI =ɚiIj3=II#iiG>)C>)EJJcJJJJx9JJJ~O;a%JO;a%J:a-J:a-*F2F:FBF0JFG]>GB!OEs>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748224{w,SAy=}B=I M=M=IU&IU3٢e7F< eS=9aQ e>ii mG٣iyq u> }Nusing accuracyPremultiplier from configy59}嗜?5Y}} i}1™A}eE}:}:}45zKJK}9KK~$K -'A1ZjQ]DNOT Ignoring new targets: 66.30 m.Bj]/<Jje/jyjyjyiyhyhhhfffrfbfq@ɛBv T=隽aI D=ɚiIv5=I~xiiX6=)PBZ>)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:48:25.3906 TRx dataTimestamp_ set to:1736380106.704743checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001482*F2F:FBF4JF IGa>GYBaO}Y>H} >Iy  I} II} }BI} =&Iy .Iy 6I} <:I} z F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252370\w,iAy=}BEIMb@Mb@Mb@ )YX9v?K7ѿ~jty?A )I AyAI--I-3٢= =0=9AQ E>AI MG٣MWGyI U> ]Nusing accuracyPremultiplier from configQ]59U[?e5YUō iU1™ea,?e:eaeAUgEU;U8;U65q u'AuEZjDNOT Ignoring new targets: 66.30 m.Bj<Jj< ProNav: ac range: 66.300003 m, nav range: 19.903414 m, bearing: 95.609574 deg, approach rate: 0.574938 m/s, LOS rate: 1.115921 deg/s, cmd heading: 12.212228 deg, new cmd heading: 13.700783 deg. 2jv?=HeadingCmd: 0.239124 target range: 66.300003 and range: 66.30 m. jt>jjjihhhhBff frfbf7U @ɛMBMbѼ QUIQ UxN=ɚQiQIUN8=I]4@iYieDl;)et>)a*F2F:FBF/2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 67.7 m (Round-trip 90.3 ms) speed -0.3 m/s ,DAT read: user:3473> BDAT read: Tx time:23:48:26.4961 $Ping request sent.G! G% pAG B O% >ԋw,1CײAJl@YJ<|@JS=9JګjjjihhhhfffrfP@bf?ɛBX I =ɚiIB :=I]˾ii#) >)EEWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:48:26.4954 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFU0JFGqA GqAGZ>GaBiO9>zKBoHK9KK$K ,-.0330**'%"&#  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499385 u $?Iq Lw,Am2@Ym@m=9mf# G٣yq{ > Nusing accuracyPremultiplier from config59 ?5Y i;2™AkE:*::5B (AZj DNOT Ignoring new targets: 66.30 m.Bj d<Jj d<% ProNav: ac range: 66.300003 m, nav range: 20.355137 m, bearing: 96.242317 deg, approach rate: 0.601511 m/s, LOS rate: 0.799365 deg/s, cmd heading: 14.553303 deg, new cmd heading: 15.577394 deg. 2j%& =%HeadingCmd: 0.271877 target range: 66.300003 and range: 67.70 m. j-p3>j)j)j)i)h)h)h1h1f1f9f9rf9bf=%:?ɛmBm2 quyIq u=ɚqiyI}1<=I}Z,iis)p3>)H->I-C I-II-}BI- =&I).I)6I-f<:I- F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.760369E͢=*F5?2F1:F1BF525JF1G TK%>G ?G >G B O- >Xw, AZ_˭@YZڴ@Zt=9ZI G٣WGyD{ > Nusing accuracyPremultiplier from config59?5Y iY2™e#?:AmE;;K;;5B .(AE IZjDNOT Ignoring new targets: 66.30 m.Bj R<Jj R<5 ProNav: ac range: 66.300003 m, nav range: 20.585089 m, bearing: 96.557209 deg, approach rate: 0.542479 m/s, LOS rate: 0.734559 deg/s, cmd heading: 15.577394 deg, new cmd heading: 16.511430 deg. 2j5<=HeadingCmd: 0.288179 target range: 66.300003 and range: 67.70 m. j=->j9j9j9i9hAhAhihmHBfffrfbf`H?ɛ"B /IJmJcJJJ\8:Jx9JJJD;JD;J:J: 8=ɚ)i)I-L@>=I55Yi1i5 )5->)9Ee?=*F?2F:FBF\0JFG=GBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263321w,$AR@YR$@R=9RYtt vG٣tyv0q z> ~Nusing accuracyPremultiplier from configxe59z"?e5Yz izs2™ae[mAzoEzonjjjihhhhfffrfbf>?zKRMK59KK$K ɛ%B>@ I % =ɚ!i!I%=?=I-@Ki1i1)5ޚ>)9EIEI*EI"EIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515464 $?IER>E>*Fu?2Fq:FqBFu_0JFyGM׊=G) B9 O] >H >I  I -II }BI &I .I CD6I K<:I FBIʯCJIʯCRIʓCZI =bI =jIʥ5] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767433nw,| ?Aj@Yj)@j?=9j;=yjH? ?@ k??w׼?@?ɨj@j;j"Cyv-~BvQIi~=I~> |~R=Mb@Mb@Mb@ )YGz?w/ĿMb?y?&<A $A)IAyAI Ib3٢5= 8=9Q > G٣yS >  Nusing accuracyPremultiplier from config 59 /?5Y  i 2™?:tA qE ; ; _?5! -'A)Zjy}DNOT Ignoring new targets: 66.30 m.BjJ[<JjJ[< ProNav: ac range: 66.300003 m, nav range: 21.033501 m, bearing: 97.172918 deg, approach rate: 0.524341 m/s, LOS rate: 0.766878 deg/s, cmd heading: 17.330548 deg, new cmd heading: 18.338552 deg. 2j=HeadingCmd: 0.320068 target range: 66.300003 and range: 67.70 m. jߣ>jjjihhhhBfffrfbf?ɛ'Bȃ  I h=ɚiIA=ItOii)ߣ>)*F2F:FBFm0JFG<GGoAGBOi>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019595 IJ J fJ J J J 9J J J J J :J :;w,XAyrW~BrjIIzIz[3٢%]= -Y=9-Q ->11 5G٣5WGy5 => MNusing accuracyPremultiplier from configAU59E}:?U5YEu iE2™QQUAEsEE(j;EM;EA5a e_&AmEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 66.30 m.Bj#V<Jj#V< ProNav: ac range: 66.300003 m, nav range: 21.228245 m, bearing: 97.454314 deg, approach rate: 0.523052 m/s, LOS rate: 0.748850 deg/s, cmd heading: 18.338552 deg, new cmd heading: 19.174936 deg. 2j{=HeadingCmd: 0.334666 target range: 66.300003 and range: 67.70 m. jOY>jjjihhhhfffrfbf@@ɛ*Bt& !%I! -\=ɚ)i)I-SC=I5<)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271530*FM?2FI:FIBFM0JFIG%;GBOI>zK5LK59K1K5$K5 I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524958w,rABǫ@YB^ײ@Bݼ=9B؇=yBH`Q|?!?ޜ?c9i?@'`w?@?ɨBǫ@Bs΋;BCyj~BnIIvIvF2٢= K=9Q >)) -G٣1y=l => UNusing accuracyPremultiplier from configQ]59UE?]5YU iU2™ae1zeAUuEUP:U:UB5mB m%AmEZjDNOT Ignoring new targets: 66.30 m.BjF<JjF< ProNav: ac range: 66.300003 m, nav range: 21.441835 m, bearing: 97.739133 deg, approach rate: 0.526673 m/s, LOS rate: 0.695308 deg/s, cmd heading: 19.174935 deg, new cmd heading: 20.020814 deg. 2j<HeadingCmd: 0.349429 target range: 66.300003 and range: 67.70 m. j`>jjjihhhqhqfqfqfqrfybf}Q@ɛ,B O=隥 I =ɚiI~PE=I=ii)`>)E!H>I IeIIO~BI&I.I6I8<:I F*F?2F:FBFo1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777884G !j;G ?G ?G B O >w,yAN@YN<@N3F=9N=yNH@b?(?kʇ?=?u`V??ɨN@N;N"CyV~BVI)\ \ =$?I=hUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:48:28.9922 mTRx dataTimestamp_ set to:1736380110.241293checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031502Mb@Mb@Mb@ )YE?EԸ?y?ƽ<#A SA)(AI?AyAII3٢= ==9iQ > G٣y8W >  Nusing accuracyPremultiplier from config59Q?5YT i2™ ?:bAwE5;3;D5%B %%A%EZjIUDNOT Ignoring new targets: 66.30 m.BjU`Q<Jj]`Qjijijiiqhqhqhqh}Bfyfyfyrfybf@ɛ/B$ zI 1i=ɚiInF=IXW>i!i!)%N>)) %@"Y!y-/B*F?2F:F!BF%S5JF!GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279782%w,^A:ڈ@Y:\@:.=9:B=y:H@3[?F?,^@b*?@A V?`k?ɨ:ڈ@:ً;:!CyZ~BZIIb#Ib%x3٢j= j^=9jQ n>1A MG٣MWGy] e> Nusing accuracyPremultiplier from config59\?5Y i2™^cAyE;";XF5 $AzKBoHKKK$KZj)5DNOT Ignoring new targets: 66.30 m.Bj=F<JjEF<] ProNav: ac range: 66.300003 m, nav range: 21.814018 m, bearing: 98.335004 deg, approach rate: 0.444037 m/s, LOS rate: 0.695638 deg/s, cmd heading: 20.960826 deg, new cmd heading: 21.792912 deg. 2j]jijijiiqhhhhfffrfbf! @ɛE1BM i隅I AIImWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 68.9 m (Round-trip 91.9 ms) speed -0.4 m/s ,DAT read: user:3474> BDAT read: Tx time:23:48:30.0961 $Ping request sent.ii)K>)*F?2F:FBF05JFJnJbJ1JJ|;:Jt9J3Ja@a@a@a@G}PIGQBYOu>H >I C I II ~BI =&I .I 6I <:I i F% Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:23:48:30.0955 w,QKA@Yu@\{=9-_=yHh?ϯ?]6?1l?t?ɨ@; Cy5~B5IMb@Mb@Mb@ )YX9v?MbV-?y><)A A)IAyz AI% I%2٢5= =5=9=%Q =>AA EG٣IyUk&; U> ]Nusing accuracyPremultiplier from configYe59]\i?e5Y][ i]2™e>e:m FmA]zE]i%;]L$;]=H5q u7$Ay addTargetRange:: Added new target pos. range: 68.900002 m, deltaT: 3.535658 s, deltaX: 1.200005 m, approachRate: 0.339401 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 66.30 m.Bjs]<Jjs]< ProNav: ac range: 66.300003 m, nav range: 21.978951 m, bearing: 98.662311 deg, approach rate: 0.393189 m/s, LOS rate: 0.774423 deg/s, cmd heading: 21.792912 deg, new cmd heading: 22.767366 deg. 2j=HeadingCmd: 0.397366 target range: 66.300003 and range: 68.90 m. j~s>jjjihhhhhBfffrf9Q@bf?ɛ3B dI ;_=ɚiInI=I%W>i)i))-~s>))E*= 5$?I1uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF15JFG} _ҽG qAG pAGY By O >w7w,ڳAy~BII5I5̍٢]< ]Z=9]Q e>aa eG٣aym m> uNusing accuracyPremultiplier from configq}59ut?}5Yu iu2™Au|Eu;u;uI5 $AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 66.30 m.BjS<JjS< ProNav: ac range: 66.300003 m, nav range: 22.121601 m, bearing: 98.940357 deg, approach rate: 0.381128 m/s, LOS rate: 0.738079 deg/s, cmd heading: 22.767367 deg, new cmd heading: 23.596064 deg. 2jD<HeadingCmd: 0.411829 target range: 66.300003 and range: 68.90 m. jA>jjjihhhhfffrfbfF?ɛ6B%P" !%I! %=ɚ)i)I-vJ=I-u>i9i9)=A>)9ET=mWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF^0JFG%GABQOmV>zKJK}9KK$K ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018079aw,AJsK{3 K{.-KsKs"KsJ@J@JB0J@J@J@JBـ3J@BΫ@Yݲ@(*!=9M=yHH?m?`BqT?J`#?`F?ɨBΫ@0;騝CyBIIMIM(*٢3= 7=9TJQ > G٣WGy< > Nusing accuracyPremultiplier from config59?5Y i2™wDA}E;;K5 #AZjAEDNOT Ignoring new targets: 66.30 m.BjM>O<JjM>O<} ProNav: ac range: 66.300003 m, nav range: 22.292381 m, bearing: 99.271457 deg, approach rate: 0.376706 m/s, LOS rate: 0.724740 deg/s, cmd heading: 23.596065 deg, new cmd heading: 24.581652 deg. 2j}<HeadingCmd: 0.429031 target range: 66.300003 and range: 68.90 m. j>jjjihhhhfffrfbf?ɛ8B$ռ X=I =ɚH]>IY I]II]BIY&IY.I]DD6I]<:I] FiI%K=I=H>ii)>)mWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273031EE =*F ?2F :F BF 5JF G 7RG ?G ?  I G B O >w,ҬA.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521358:/;@Y:J@:C<9:R>y:H?@]?̰M?F`+??ɨ:/;@:j;:!CyF~BFIMb@Mb@Mb@ )Y#~j?+?y&1?y>=`<,A )/'AIAyp!AII%x٢ZE B=9üQ > G٣y5= > Nusing accuracyPremultiplier from config59B?5Yc i2™2>:tAE;;M5 #AZj9EDNOT Ignoring new targets: 66.30 m.BjEo<JjEojYjajaiahahahhBfffrfbf@?ɛ;BF fI ɾ=ɚiIL=I-5>i)i))-5>)1E-v=*F?2F:FBF_0JFG;mGiBqO}> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773572S w,x*ARȬ@YRwس@R<9R)>yRHQ7??_G:$?@¿B"??ɨRȬ@R;RCyZBZIIbIb?13٢j< j\=9%Q > G٣y%1;= %> -Nusing accuracyPremultiplier from config)559-;?55Y- i-2™9==A-E-;-A;-QO5EB E#AMEZjiuDNOT Ignoring new targets: 66.30 m.Bjuzn<Jj}zn< ProNav: ac range: 66.300003 m, nav range: 22.541939 m, bearing: 99.937648 deg, approach rate: 0.311782 m/s, LOS rate: 0.833976 deg/s, cmd heading: 25.626523 deg, new cmd heading: 26.568887 deg. 2j=zKOQLK59KK$K HeadingCmd: 0.463715 target range: 66.300003 and range: 68.90 m. jk>jjjihhhhfffrfbfD?ɛ>B%6 I  =ɚiIM=Ik>ii)k>) ]$?IYuWill construct direction to contact in vehicle frame from tetrahedron phase data.u>u4=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.025830JUmJUeJQJQJU\8:JU9JQJQE]p=*F2F:FBFJFH>I IIIbBI&I.I6I<:IY FG3G B O= >- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280567w,QDAy=B=IMb@Mb@Mb@ )Y"~j?V-?~jt?yS>m=<(0A ?A)$AIhAy!AI I T3٢f; 7=9%Q %>!! %G٣-WGy- -> 5Nusing accuracyPremultiplier from config1=595b?=5Y5 i52™Ew>E:E EA5E5;5M;5:Q5I M#AIZjyDNOT Ignoring new targets: 66.30 m.Bjbr<Jjbr< ProNav: ac range: 66.300003 m, nav range: 22.671022 m, bearing: 100.311668 deg, approach rate: 0.294216 m/s, LOS rate: 0.847629 deg/s, cmd heading: 26.568886 deg, new cmd heading: 27.684406 deg. 2jn=HeadingCmd: 0.483184 target range: 66.300003 and range: 68.90 m. jc>jjjihhhhBfffrfbfL@ɛAB  I ,=ɚiIJN=Ic>ii)c>)EE*E"E III}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529609JQJU@A*F) 2F) :F) BF) JF) GU :GU pAGQ -Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781391G1BQOm>>w,)bA6^N@Y6]@6]y96a`>y6H ?f?G~ y?|ƿ+o?? ;?ɨ6^N@6>;6 Cyz~B~I@AI I 3٢EMT E8=9EKPQ E>II MG٣IyM= U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]  i]2™immA]E];]f;],S5B ($AB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 66.30 m.Bjq<Jjq<% ProNav: ac range: 66.300003 m, nav range: 22.796289 m, bearing: 100.701121 deg, approach rate: 0.273392 m/s, LOS rate: 0.845294 deg/s, cmd heading: 27.684406 deg, new cmd heading: 28.846178 deg. 2j-=5HeadingCmd: 0.503461 target range: 66.300003 and range: 68.90 m. j=?j9j9j9i9h9h9hAhAfAfAfIrfIbfM@ɛ}DB} y隅TI  =ɚiI+N=I?ii)?)*F)2F):F)BF-@2JF) 5$?I1zK5~KK59K1K5$K5}Will construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:23:48:32.5948 TRx dataTimestamp_ set to:1736380113.785759checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035622GIJI JM dJM 1JI JI JM |9JM 3JI GY Bi O >/ew,`|AH6>I4 I6II6vBI6 =&I4.I46I6į<:I6C FBIUCJIUCRIQZIU =bIU =jIU4F2@YFPB@F|9Fz>yFH7? ?¿`?ȿ??@ ?ɨF2@Fg;Dy%~B-Ii=N>I=<IM IMb3٢Uн ]I=9]Q ]>aa eG٣aym= m> uNusing accuracyPremultiplier from configq}59uĘ?}5Yu8 iu2™y}pAuEuX ;u ;uT5 $AZj%DNOT Ignoring new targets: 66.30 m.Bj|<Jj|<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289044] ProNav: ac range: 66.300003 m, nav range: 22.907545 m, bearing: 101.059461 deg, approach rate: 0.275921 m/s, LOS rate: 0.884386 deg/s, cmd heading: 28.846177 deg, new cmd heading: 29.915846 deg. 2j]=HeadingCmd: 0.522130 target range: 66.300003 and range: 68.90 m. jP?jjjihhhhfff rf bf b @ɛ}GB}! y}}Iy P=ɚiI$O=IP?ii)P?)*FQ2FQ:FQBFU1JFQ 1 I5 h Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 70.8 m (Round-trip 94.4 ms) speed -0.6 m/s  ,DAT read: user:3475>  BDAT read: Tx time:23:48:33.6962  $Ping request sent. /P%w,IAZR@YZ#@Z9Z%Ԇ>yZH?@y8?TĿ G@*L?`nʿ ?:??ɨZR@Z;Z"Cyv~BvIMb@Mb@Mb@ )Y(\?Dl?{Gzt?y>O=ף;:A ZA)#AI#Ayz$AII2٢-䗽 -==95Q 5>11 =G٣=WGy== => ENusing accuracyPremultiplier from configAM59EIԘ?M5YEe iE{2™U>U:U-׾UAEEE;E;EV5Y ][%AeE addTargetRange:: Added new target pos. range: 70.800003 m, deltaT: 3.543758 s, deltaX: 1.900002 m, approachRate: 0.536154 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 66.30 m.Bj<Jj< ProNav: ac range: 66.300003 m, nav range: 23.024673 m, bearing: 101.471480 deg, approach rate: 0.277991 m/s, LOS rate: 0.972900 deg/s, cmd heading: 29.915846 deg, new cmd heading: 31.145416 deg. 2j&=HeadingCmd: 0.543590 target range: 66.300003 and range: 70.80 m. j( ?jjjihhhhǃBfffrf@3Q@bf?ɛJB~~  CI  Lj=ɚiIˌO=I( ?ii)( ?)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:48:33.6955 GBG?G>Ga Bq O >  $?I Vw+w,AzK"k3IK"9K K"$K":@Y:I@:gA9:{>y:H@Б?@m?ſ 2?˿@?p??ɨ:@:;:!CyB~BFIININ<٢V Vg=9VQ V>XX ZG٣XyZC= ^> bNusing accuracyPremultiplier from config`f59b/ᘜ?f5Yb ibk2™dfȾfAbEb:b3:b`X5l n%AlZjDNOT Ignoring new targets: 66.30 m.Bj <Jj < ProNav: ac range: 66.300003 m, nav range: 23.117527 m, bearing: 101.812050 deg, approach rate: 0.263557 m/s, LOS rate: 0.962791 deg/s, cmd heading: 31.145417 deg, new cmd heading: 32.162910 deg. =Will construct direction to contact in vehicle frame from tetrahedron phase data.2j0%=HeadingCmd: 0.561349 target range: 66.300003 and range: 70.80 m. j?jjjihhhhfffrfbf`?ɛMBrB{ &`=隍I ?=ɚiIO=I?ii)?)*F?2F:FBFX0JFHe>Ia IeIIebBIa&Ia.Ia6Ie<:Ie" FG:Will construct direction to contact in vehicle frame from tetrahedron phase data. i G B O >_2w,NɴAyQ~B gI) AMb@Mb@Mb@ )YCl?Mb?I +yd>@=94\EA A)I"AI/'Ay'AII(٢.ݽ 9=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yx ib2™>:ݾAE;;NZ5B &AEZj)-DNOT Ignoring new targets: 66.30 m.Bj5i<Jj=i Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,BA:靲@Y:k@:ǁ9:*>y:HP?I9? %Pȿݿ@xc?`lͿ6??r?ɨ:靲@:7;8yB2~BBTIIRIRW٢Z, Z^=9^Q ^>`` bG٣`yf% > f> jNusing accuracyPremultiplier from confighn59j?n5YjA ijU2™lrþrAjEj ;j: ;j[5t v"'AtZjiuDNOT Ignoring new targets: 66.30 m.Bj<Jj< ProNav: ac range: 66.300003 m, nav range: 23.350447 m, bearing: 102.610801 deg, approach rate: 0.269301 m/s, LOS rate: 0.964449 deg/s, cmd heading: 33.447208 deg, new cmd heading: 34.546695 deg. 2jy%=HeadingCmd: 0.602954 target range: 66.300003 and range: 70.80 m. j*[?jjjihhhhfffrfbf`p?ɛTB 隽XI @=ɚiIu4P=I*[?ii)*[?)*F2F:FBF_0JF $?IzKBHKh9KK$K 5dIo|pbUIA6* BKpA:KoAUWill construct direction to contact in vehicle frame from tetrahedron phase data.G:GGlAG B O >>w,AH>I III%BI&I.I6Iү<:IN FJqv@YJ@J9J>yJHJ?i?`Sȿ%ܿ?Nο`R?`?.}?ɨJqv@J";JCyR~BV8II^I^٢bܽ fI=9fOļQ f>hh jG٣jWGyj= n> rNusing accuracyPremultiplier from configpv59r?v5Yr irD2™tvhvArEr@:r:r]5| ~'A%B*** querying acoustic contact ***j!j!Zj)-DNOT Ignoring new targets: 66.30 m.Bj50<Jj50<] ProNav: ac range: 66.300003 m, nav range: 23.459789 m, bearing: 103.019411 deg, approach rate: 0.276772 m/s, LOS rate: 1.029459 deg/s, cmd heading: 34.546694 deg, new cmd heading: 35.766616 deg. 2je0=HeadingCmd: 0.624245 target range: 66.300003 and range: 70.80 m. j?jjjihhhhfffrfbf@?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛWB~I 隽 I zk=ɚiI? P=I-?i)i1)5?)1EU= I*F ?2F :F BF W0JF m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010497JE lJE bJE 0JA JE <5:JE t9JE ـ3JA JE L?;JE O?;JE U:JE V:G GBO>Fw,A6M@Y6D]@6e96`>y6H`<??@%ȿvzڿ_'?Ϳkδ?˫?`M?ɨ6M@6B;6!Cy>}B>IiFY>IF> F=F=Mb@Mb@Mb@ )Y/$?{Gz?Qy1?#<HA  A)AIG+Ayz(AI-I-#3٢=讽 E"=9EQ E>II MG٣IyMU= U> ]Nusing accuracyPremultiplier from configQe59U$?e5YU iU;2™mn?m:mɾmAUEU1;U)0;U_5uB u(AuEZj9EDNOT Ignoring new targets: 66.30 m.BjE<JjM<} ProNav: ac range: 66.300003 m, nav range: 23.616611 m, bearing: 103.547998 deg, approach rate: 0.299858 m/s, LOS rate: 1.003978 deg/s, cmd heading: 35.766617 deg, new cmd heading: 37.341428 deg. 2j}A,=HeadingCmd: 0.651731 target range: 66.300003 and range: 70.80 m. j&?jjjihhhhBfffrfbf3 @=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264069ɛ}[B}MR }:=} Iy =ɚiItO=I&?ii)&?)E¯`=*FE?2FA:FABFM_0JFI $?IG% J zK OK 9K K $K $~'@O3RK ?JK > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514116G! B) OE >Lw,D6A~e)@Y~8@~@궽9~Bv>y~H`PW?f?@Jȿkؿ?%Ϳն? v? ?ɨ~e)@~;~ Cy}BII%I%F3٢56 5M=9=Q =>9A EG٣EWGyEb= E> UNusing accuracyPremultiplier from configIU59M[5?]5YM iM22™Y]߻]AMEM-;M`;Ma5mB mx)AuEZj5DNOT Ignoring new targets: 66.30 m.Bj=D<JjED<} ProNav: ac range: 66.300003 m, nav range: 23.738026 m, bearing: 103.970979 deg, approach rate: 0.317356 m/s, LOS rate: 1.099937 deg/s, cmd heading: 37.341426 deg, new cmd heading: 38.603664 deg. 2j}<=HeadingCmd: 0.673761 target range: 66.300003 and range: 70.80 m. j{,?jjjihhhhfffrfbf 9@jHbH<H>I III~BI&I.I6I<:Is Fɛ_Bݩ I  =ɚiIkO=I%{,?i)i))-{,?))mWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769262E-|^=*F 2F :F BF ^0JF I G :G ?G ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019478GBO>@Uw,)VAJrmJraJr1JpJr\8:Jrp9Jr3JpJrD;JrD;Jr:Jr:%S@Y%ν@% ս9%T>y%H?d?gȿ}տ`<%?@B|Ϳ?*?4?ɨ%S@%t;%Cy5u}B=IMb@Mb@Mb@ )Y@5^I ?Zd;Oyb?Lj<  A)lAI\/Ay(AIUIU3٢n =94Q > G٣yN= > Nusing accuracyPremultiplier from config59L?5Y im?:ӾAEx;;c5 "*AZjDNOT Ignoring new targets: 66.30 m.Bj<Jj< ProNav: ac range: 66.300003 m, nav range: 23.925287 m, bearing: 104.548416 deg, approach rate: 0.351983 m/s, LOS rate: 1.076856 deg/s, cmd heading: 38.603666 deg, new cmd heading: 40.321874 deg. 2j8= HeadingCmd: 0.703749 target range: 66.300003 and range: 70.80 m. j (4?j j j i hhhhBff!f!rf!bf%@VE @ɛUcBU Y]IY ]=ɚYiYIe-YO=Ie(4?ii)(4?)EpAEpAEп8=*F92F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:48:36.1977 TRx dataTimestamp_ set to:1736380117.565605checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272243G BGq B O > M $?g[w,oAI2@Y2@2Q92>y2H G ?j?}8ȿ`AgԿ sl?`qͿ?7?3?ɨ2@2 ;2 Cy>A}B>I)@ @DFAIJIJ#3٢RA Ro=9VƏQ V?TT VG٣XyZ[= Z? ^Nusing accuracyPremultiplier from config\b59^[?b5Y^ i^12™dfƾfA^E^:^:^ve5h j*AjEZjyDNOT Ignoring new targets: 66.30 m.BjF<JjF<zK/MK9KK$K ProNav: ac range: 66.300003 m, nav range: 24.041716 m, bearing: 104.917598 deg, approach rate: 0.326428 m/s, LOS rate: 1.030048 deg/s, cmd heading: 40.321875 deg, new cmd heading: 41.423913 deg. 2j0=HeadingCmd: 0.722984 target range: 66.300003 and range: 70.80 m. ju9?jjjihhhhfffrf bf !5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521853ɛgBҽ 隕I  =ɚiIAO=Iu9?ii)u9?)EE*E"EH>I III~BI&I.I6I<:I_ F*F?2F:FBFJF 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 -0.6 m/s  ,DAT read: user:3476> - BDAT read: Tx time:23:48:37.2962 5 $Ping request sent.5 bw,Ayޕ>}BޕIMMb@Mb@Mb@III I)IYMX9v?T㥛 i|?5yM?MMqM1FA M A)M(AIM.AIyMf&A qIqIeIe3٢ (=9Q > G٣WGy > Nusing accuracyPremultiplier from config59>q?5Y i?2™ ? :  AEu<8u<g5EB M +AMEB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.781925 s, deltaX: 2.099998 m, approachRate: 0.555272 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 66.30 m.Bj<Jj=<] ProNav: ac range: 66.300003 m, nav range: 24.242258 m, bearing: 105.409916 deg, approach rate: 0.393895 m/s, LOS rate: 0.958974 deg/s, cmd heading: 41.423912 deg, new cmd heading: 42.888312 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:48:37.2955 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.2j]$=HeadingCmd: 0.748542 target range: 66.300003 and range: 72.90 m. jw??jjjihhhhRBfffrf9R@bf?ɛlB0 I y=ɚiI.N=Iw??ii)w??)JelJecJe0JaJe<5:Jex9Jeـ3JaJeL?;JeO?;Je:Je:*F?2F:FBFl0JF"G>G>G G G pA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.491494G B O5 >=iw,@¦A>@Y>'@>9>G<>y>Hn??ǿ`&vѿ?`PͿ <ƾ?l?`ʌ?ɨ>@>y;>CyJ$}BJIIRIR[٢Z> Z[=9^Q ^>`` bG٣`yf> f> jNusing accuracyPremultiplier from confighn59j ?n5Yj6 ijG2™pr龑rAjEj:j7:j9i5t vq+AxZjyDNOT Ignoring new targets: 66.30 m.Bj<Jj< ProNav: ac range: 66.300003 m, nav range: 24.390251 m, bearing: 105.800581 deg, approach rate: 0.423759 m/s, LOS rate: 1.111822 deg/s, cmd heading: 42.888312 deg, new cmd heading: 44.053026 deg. 2j>=HeadingCmd: 0.768870 target range: 66.300003 and range: 72.90 m. jD?jjj!i)h)h)h)h1f1f1f9rfabfe??ɛoBv8 I Q=ɚi9I=N=IMD?iIiI)MD?)Q $?I*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.խ=խ7?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743779zK+KK 9KK$K 1^yxrniaZUNIEB;8Bm-"_*as(MnT@'G9 G B) OE >Hu >Iq  Iu _IIu E~BIq &Iq .Iq 6Iu <:Iu ~ FBI9JI9RI9ZI= =bI= =jI=~4pw,wABٹ@YB@BB9Bl>yBH ^?? Rǿп?Ϳ@2?@G??ɨBٹ@B׻;B CyJ }BJIiR4=IRl> V=Va=IZIZ٢bvq bJ=9fQ f>dd jG٣hyjp= j> rNusing accuracyPremultiplier from configlr59nW?r5Yn inN2™tzݾzAnEn9O;n~;nj5B +AEZjAMDNOT Ignoring new targets: 66.30 m.BjM<JjM<] ProNav: ac range: 66.300003 m, nav range: 24.546541 m, bearing: 106.224196 deg, approach rate: 0.396059 m/s, LOS rate: 1.066649 deg/s, cmd heading: 44.053026 deg, new cmd heading: 45.315563 deg. 2je7=eHeadingCmd: 0.790906 target range: 66.300003 and range: 72.90 m. jexJ?jijijiiihihihqhqfqfqfqrfbf ?%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999009ɛrBֽ 隭I =ɚiIiN=IxJ?ii)xJ?)*F2F:FBFE5JF }$?Iy Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247501G J J BAG B OE >Avw,>ڵAJDJFaJF1JDJDJFp9JF3JDJDJDJF:JF:na@Yn@nk 9nf>ynH@q??ǿH̿;?rο` 6?O?@?ɨna@nԉ;lyz}BzIMb@Mb@Mb@ )Ygfffff?#~jĿZd;y3?%y`EA x A)AIy%AIIm٢C ==9˻Q > G٣WGy!q= > Nusing accuracyPremultiplier from config59󧙜?5Y i[2™?:QAE8;,7;l5 +AZjDNOT Ignoring new targets: 66.30 m.Bj-L<Jj-L<= ProNav: ac range: 66.300003 m, nav range: 24.724001 m, bearing: 106.666751 deg, approach rate: 0.413278 m/s, LOS rate: 1.023241 deg/s, cmd heading: 45.315563 deg, new cmd heading: 46.633454 deg. 2j=/=HeadingCmd: 0.813907 target range: 66.300003 and range: 72.90 m. j;\P?jjjihhhh&Bfffrfbf;?ɛevBmZ imsIi m}=ɚiiiIu:/N=I;\P?ii);\P?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501158*Fm?2Fi:FiBFu4JFqG G ?G ? u $?Iq Gy B O >a|w,lA6v@Y6@6P96؋>y6H/?I?ZEƿɿd? ο0?- ?`?ɨ6v@6;6!CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751547zKraOKr9KpKr$Kry%}B%II5I5F2٢UM= UR=9]9Q ]>aa eG٣aye@= m> uNusing accuracyPremultiplier from configiu59m?}5Ym img2™ྑAmEm +;m.+;mn5 +AEZjDNOT Ignoring new targets: 66.30 m.BjS<JjS< ProNav: ac range: 66.300003 m, nav range: 24.880178 m, bearing: 107.067077 deg, approach rate: 0.401793 m/s, LOS rate: 1.023434 deg/s, cmd heading: 46.633455 deg, new cmd heading: 47.826711 deg. 2j/=HeadingCmd: 0.834734 target range: 66.300003 and range: 72.90 m. jU?jjjihhhhfffrfbf?ɛyBr} I %Pv=ɚ!i!I%2 N=I-U?i)i))-U?))*F?2F:FBF_0JFHM>IMC IMLIIM'~BIM =&II.IMCD6IMׯ<:IMN FG1]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005845G BI O >Iw,O Ay~}B~I)   A !I%hMb@Mb@Mb@ )YʡE?(\ȿQy-?GuBA  A)AI-AyQ$AII3٢r&< A=9Q > G٣y   > Nusing accuracyPremultiplier from config59̙?%5Y iw2™%:?%:%%AEB.;`;op5) 5+A1ZjQ]DNOT Ignoring new targets: 66.30 m.Bj]/<Jje/] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507594]vw,!'A6@Y6&@6}96H>y6H`+a?C?j_Ŀjÿ༟?aϿ`?:? ͕?ɨ6@6;6 Cy~8}B~II% I%<2٢== =V=9E ;Q E>II MG٣MWGyU> ]> mNusing accuracyPremultiplier from configau59eyޙ?}5YeU ie2™y}ᾑAeEe;e;er5B 8+AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 66.30 m.Bj<Jj< ProNav: ac range: 66.300003 m, nav range: 25.221050 m, bearing: 107.866806 deg, approach rate: 0.404439 m/s, LOS rate: 0.983814 deg/s, cmd heading: 49.059032 deg, new cmd heading: 50.209223 deg. 2j(= HeadingCmd: 0.876316 target range: 66.300003 and range: 72.90 m. j CV`?j j j i hhhhfffrfbf@ɛ-B- 15dI1 5e=ɚ1i1I=M=I=CV`?iAiA)ECV`?)AEq $?I*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759721zKRIKs9KK$K )/221.&#! JJ_J2JJJ=h9Jc3Ja@a@a@a@GE :GQ GU qAG B) OE >jH= <bH= p<HM >II  IM RIIM 1~BIM =&II .II 6IM <:IM 9 Fkw,AAV@YVn@V29VDp>yVH`P??\[ÿ/?<пK?4??ɨV@Vd;TybP}BbIIjIj(1٢rn= rN=9v-;Q v>tt zG٣xyzX= z> Nusing accuracyPremultiplier from config|59~?5Y~ i~2™  Ծ A~E~;~0;~s5B *A%EZjamDNOT Ignoring new targets: 66.30 m.Bjm<Jju<Will construct direction to contact in vehicle frame from tetrahedron phase data. i %BDAT read: Rx Time:23:48:39.7999 5TRx dataTimestamp_ set to:1736380121.098120Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020451 ProNav: ac range: 66.300003 m, nav range: 25.380314 m, bearing: 108.269491 deg, approach rate: 0.406584 m/s, LOS rate: 1.021557 deg/s, cmd heading: 50.209223 deg, new cmd heading: 51.409513 deg. 2jE/=mHeadingCmd: 0.897265 target range: 66.300003 and range: 72.90 m. ju-e?jqjqjyiyhhhhfffrfbf@@ɛ=BEZٽ AEXIA e\=ɚiiiImzM=Iu-e?iqiq)u-e?)q*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=3.263562G 3G B O >w,%[[A6봾@Y6m@696h>y6H`?`R?N¿ a?п?Z?i?ɨ6봾@6y;4yR|}BVI j=j=Mb@Mb@Mb@ )YV-?> ףp=ʿQy ?Q?A  A)rAI,Ay"AIIb1٢= .=9;Q >   %G٣!y-V= -> 5Nusing accuracyPremultiplier from config1=595k?=5Y5 i52™E?E:EӾEA5E5 ;5;5u5Q U2*AQZjy}DNOT Ignoring new targets: 66.30 m.Bj-<Jj-< ProNav: ac range: 66.300003 m, nav range: 25.567898 m, bearing: 108.734521 deg, approach rate: 0.401252 m/s, LOS rate: 0.987415 deg/s, cmd heading: 51.409512 deg, new cmd heading: 52.794080 deg. 2ji)=HeadingCmd: 0.921431 target range: 66.300003 and range: 72.90 m. jk?jjjihhhhBfffrfbf: @ɛBF I eU=ɚiIrM=Ik?ii)k?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 23:48:39.7999 LVL= 15600, 20417, 15954, 23395, AGC= 56, IDX= 455,-0.05, 1.271, 1.626,-0.681, 0.691, PHS= 0.668, 0.982,-1.375, RAW= 23.0, -2.5, CAL= 22.7, -5.0, ROT= 127.3, 5.0 }Ygot valid direction response: 23:48:39.7999 LVL= 15600, 20417, 15954, 23395, AGC= 56, IDX= 455,-0.05, 1.271, 1.626,-0.681, 0.691, PHS= 0.668, 0.982,-1.375, RAW= 23.0, -2.5, CAL= 22.7, -5.0, ROT= 127.3, 5.0 *F?2F:FBF0JFPDAT read: Bearing 127.3, 5.0 (Local) ~Local bearing/azimuth received: Bearing 127.3, 5.0 (Local) DAT read: Range 10 to 50 : 74.6 m (Round-trip 99.5 ms) speed -0.2 m/s ,DAT read: user:3477> BDAT read: Tx time:23:48:40.8962 $Ping request sent.?c?C?y-3B)-<-O -R>)-c[I-8i- +?-Zd{?-)-¸2 -b>)-¸I- 2@i-¸=))-?_=Q○}Xo)-ؿI-~3=i-S?-厲)):publishing transmit ping timeةFpublishing direction and range info)9-;"|>?c?C?y)))) )))I)i))))) )))I)i)))-?_=Q○}Xo))I)i)))) I G :G B O >*w,;uABWill construct direction to contact in vehicle frame from tetrahedron phase data.BJDAT read: TxSync time:23:48:40.8955 yn}BnIzKIMK9KK$KIzIz0٢e> ei=9mQ m>ii mG٣qyu ? Nusing accuracyPremultiplier from config59|?5Y i2™AE::nw5B [)AEk]?k] kY k]0+fA:k]3BBk]6BZk]UP?"]i@@npQ@qi~9@];"|>?c?C?Jk]S?Rk]厲*]Cxf@nM@v'X F@]a?0 ?)?"k]nB*k]7@k]+?k]Z 2k] Bk]MB?k]& k]Bk]LBk]#?M addTargetRange:: Added new target pos. range: 74.599998 m, deltaT: 3.526646 s, deltaX: 1.699997 m, approachRate: 0.482044 m/s, rangeRepo size: 4 J]nJ]aJ]0JYJ]|;:J]p9J]ـ3JY Added new target pos. range: 74.599998 m, bearing: 82.503144 deg, lat: 36.905169 deg, lon: -122.119711 deg, deltaT: 17.919722 s, deltaX: 8.299995 m, approachRate: 0.463177 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 74.60 m.BjJj ProNav: ac range: 74.599998 m, nav range: 51.234684 m, bearing: 88.131317 deg, approach rate: 0.000000 m/s, LOS rate: 0.987415 deg/s, cmd heading: 52.794080 deg, new cmd heading: 53.874005 deg. 2j HeadingCmd: 0.940279 target range: 74.599998 and range: 74.60 m. jp?jjjihhhhfffrf`fR@bf@?ɛ%BE- AEII MzM=ɚIiIIMTRM=IUp?iQiQ)Up?)YHIC IrIId~BI&I.IBD6I <:Io F*F?2F:FBF1JFG%pA G%pAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga G ?G >GY Ba O >w,A2O@Y2V_@292>y2H?[?P+֪@? rѿ ʽ??z?ɨ2O@2;0 B$?IDyF}BFImMb@Mb@Mb@iii i)iYmL7A`?-ƿ:vym+?m?5mTmOAA m5A)mAImv*Aiym!AII٢= H=9T G٣WGy= > Nusing accuracyPremultiplier from config59}(?5Y i2™.?:AE<;;4y5 (AZjDNOT Ignoring new targets: 74.60 m.Bj/<Jj/< ProNav: ac range: 74.599998 m, nav range: 51.302532 m, bearing: 88.372483 deg, approach rate: 0.172466 m/s, LOS rate: 0.612217 deg/s, cmd heading: 53.874005 deg, new cmd heading: 54.596506 deg. 2j<HeadingCmd: 0.952889 target range: 74.599998 and range: 74.60 m. js?jjji!h!h!h!h% Bf)f)f)rf)bf5:?ɛeBe!8 aeeIa mF=ɚiiiImmM=Ius?iqiq)us?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF-2JF)GmJ GI BQ Ou >] Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia 9өw,5AJ_@YJ"@J9J>yJH?p@6 >l`%? ѿR??@?ɨJ_@J;Hy^~B^7I)d dhhIvIv㔳٢5> Q=9 Κ;Q  > G٣yy= %> -Nusing accuracyPremultiplier from config)559- :?=5Y- i-2™9=k=A-E-;-;-z5A M(AMEeB*** querying acoustic contact ***jajaZjqDNOT Ignoring new targets: 74.60 m.Bj*<Jj%*=ɚiiiIuHM=Iuw?iqiy)}w?)y*F}?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKBoHKKK$KRK ?JK?J3KO3 KϚ.KK"KJUmJUcJQJQJU\8:JUx9JQJQGI G! B) OE >ZH RH H >I  I II ~BI &I .I 6I <:I . Fw,X¶AF@YFA@F-h9F3>yFH ?bt"b(v@??ѿFݼ?@B|??ɨF@F;FCyb4~BfUIInIn(٢vV= vN=9vK;Q v>xx zG٣xy~s= ~> Nusing accuracyPremultiplier from config 59K? 5Yh  i2™ AE :L:|5! %Z'A!ZjIMDNOT Ignoring new targets: 74.60 m.BjUS+<JjUS+z?jqjqjqiqhqhqhyhyfyffrfbf5?ɛBY I a8=ɚiIGfM=I>z?ii)>z?)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499990*F2F:FBF%_0JF! aIehG:GGnAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751451Ӷw,ܶA29@Y2<2޽92N>y2H?c5o}@?C?Ddѿл?*?k?ɨ29@2D;2"CyRv~BR~I-Mb@Mb@Mb@))) )))Y-y&1?Sÿ+y-`?---?A -dA)-AI-G+A)y-G!AII(٢> ?=9! G٣WGy(g= > Nusing accuracyPremultiplier from config59^?5Y  i2™9 ?:mAEn;;~5B X&A}EZj  DNOT Ignoring new targets: 74.60 m.BjH(<JjH(<% ProNav: ac range: 74.599998 m, nav range: 51.471249 m, bearing: 89.095870 deg, approach rate: 0.115052 m/s, LOS rate: 0.588502 deg/s, cmd heading: 56.007623 deg, new cmd heading: 56.764176 deg. 2j%<-HeadingCmd: 0.990722 target range: 74.599998 and range: 74.60 m. j-}?j)j)j1i1h1h1h9h=JBf9f9fArfAbfE?ɛmBmԽ iu Iq u80=ɚqiyI}vTM=I}?ii)}?)*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003842GGBO> U $?IQ w,}A6m@Y6b6=6ֽ96>y6H ? P?`?Sѿ@Ǻ??`y?ɨ6m@6;6 CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255221yF~BFIiJ!>IJ< N=N=IRIR2٢ZM> Z[=9^Y2\\ bG٣`yb= b> fNusing accuracyPremultiplier from configdj59fo?n5Yf  if2™prSrAfEfD;fCE;f#5vB vD%AtZjDNOT Ignoring new targets: 74.60 m.Bj0*<Jj%0*<5 ProNav: ac range: 74.599998 m, nav range: 51.510250 m, bearing: 89.317946 deg, approach rate: 0.104604 m/s, LOS rate: 0.595166 deg/s, cmd heading: 56.764176 deg, new cmd heading: 57.429869 deg. 2j5:<5HeadingCmd: 1.002340 target range: 74.599998 and range: 74.60 m. j=L?j9j9j9i9h9hAhAhAfAfIfIrfIbfM`@zK}\KK59KK$K)FBKoA:KpAJnJdJ1JJ|;:J|9J3JɛBٽ 隵I )=ɚiI|YM=IL?ii)L?)H>IC III/BI =&I.I6I<:I4 FBIUįCJIUįCRIQZIU =bIU =jIUģ5*F?2F:FBFj0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510305GBG B O] > 9 IA Ew,VA;@Y=ν9ڈ>yH?`Y`? ?Kѿ5͹?@T?ݴ?ɨ;@;CWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759367y~BIMb@Mb@Mb@ )Y'1Z?EԸy?ƽ̼ >A A)AI(AyQ AII ٢= =9;Q > G٣WGy3= > Nusing accuracyPremultiplier from config}59?5Y  i2™N?:ȽAE؛<<5B ]$AzEZjDNOT Ignoring new targets: 74.60 m.Bj<Jj< ProNav: ac range: 74.599998 m, nav range: 51.536770 m, bearing: 89.648112 deg, approach rate: 0.044395 m/s, LOS rate: 0.552422 deg/s, cmd heading: 57.429870 deg, new cmd heading: 58.419753 deg. 2jU]w,/A $?I F@YF@1=FPƽ9FM>yFH@f?@Y>H@?H? Vѿ9Ƹ?+?Q?ɨF@F;DyRVBRIIzIzb1٢> v=9GGHI IFIIBI&I.I6I<:IJ FGBO> 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 -0.2 m/s  ,DAT read: user:3478>  BDAT read: Tx time:23:48:44.4962  $Ping request sent. yH? A¿1Y ]G٣Yy]D= ]> mNusing accuracyPremultiplier from configam59e?u5Ye  ie2™u?u:u$=AeEe;ec;ev5 3"A addTargetRange:: Added new target pos. range: 75.400002 m, deltaT: 3.533144 s, deltaX: 0.800003 m, approachRate: 0.226428 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 74.60 m.)%&= %cCBj]l<Jjml<NG5tA 3Y5tAy+B ProNav: ac range: 74.599998 m, nav range: 51.537296 m, bearing: 90.143039 deg, approach rate: -0.019923 m/s, LOS rate: 0.550521 deg/s, cmd heading: 58.994475 deg, new cmd heading: 59.904504 deg. 2j<Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:48:44.4955 5HeadingCmd: 1.045531 target range: 74.599998 and range: 75.40 m. j5Ӆ?j1j1j1i1h1h9h9h=Bf9fAfArfER@bfEn?ɛBLӛ <=隵gI =ɚiI9L=IӅ?ii)Ӆ?)JpJlJJJA:J9JJJT;aJT;aJ(:aJ*:a*F! 2F! :F! BF% _0JF! "G- >G- >GAGIGMpAWill construct direction to contact in vehicle frame from tetrahedron phase data.iG9BQO?w,PjAr̦@Yr`4>r8-9r>yrH!b?ȿRf?x=?ѿ`v>?9??ɨr̦@r ;py~BOIII%٢%Z> %W=9--11 5G٣5WGy5> => ENusing accuracyPremultiplier from config9E59=?M5Y=@  i=2™IM,=MA=E= ;= ;=5]B ] A]tEZjDNOT Ignoring new targets: 74.60 m.Bj <Jj < ProNav: ac range: 74.599998 m, nav range: 51.520386 m, bearing: 90.352525 deg, approach rate: -0.044449 m/s, LOS rate: 0.550803 deg/s, cmd heading: 59.904502 deg, new cmd heading: 60.533139 deg. 2j%H >I  I II %BI &I .I 6I =<:I Fw,A>^@Y>Q>>쬽9>>y>H 8?˿@@?`b?@sѿ ?@??ɨ>^@>Vo;> Cy^BbuIIfIf2٢n> rP=9r;Q r>tt vG٣tyv= v> ~Nusing accuracyPremultiplier from configx59zΚ?5Yz  iz2™Q=AzEz ;zP ;z҉5  AZjDNOT Ignoring new targets: 74.60 m.Bj<Jj<% ProNav: ac range: 74.599998 m, nav range: 51.497990 m, bearing: 90.570730 deg, approach rate: -0.055517 m/s, LOS rate: 0.541136 deg/s, cmd heading: 60.533139 deg, new cmd heading: 61.188008 deg. 2j%<-HeadingCmd: 1.067932 target range: 74.599998 and range: 75.40 m. j-?j)j)j)i)h)h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.hQhQfYfYfYrfYbf]-?ɛBC ^I h=ɚ!i!I-0M=I5?i9iA)E?) $?IE == Will construct direction to contact in vehicle frame from tetrahedron phase data.*FY 2FY :FY BFe _0JFa Gi  Gi J oJ gJ J J >:J 9J J J ~O;J O;J >:J @:G3G ?G?GBO ?\w,1DA6s`6٧96>y6HI?\Ͽnaa eG٣aymK= m> uNusing accuracyPremultiplier from configq}59u皜?}5Yu  iu2™?:}>AuEuD;u;up5 AqEZjDNOT Ignoring new targets: 74.60 m.Bj"<Jj="JK >H5 >I5 C I5 II5 gBI5 =&I5 FD.I5 AD6I5 <:I5 a FG=:GB!O=>w,{3ǷABk/=YB>B89B|>yBH`? [ѿl༝?@?ѿv? ; ? ?ɨBk/=B-;BCy^=B^IIf~Will construct direction to contact in vehicle frame from tetrahedron phase data.If(*2٢M= M.=9M;Q M>YY ]G٣]WGy]9= e> Nusing accuracyPremultiplier from configy59}?5Y} i}2™l>A}E}"`;}L;}{5B 7AnEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 74.60 m.BjV <JjV < ProNav: ac range: 74.599998 m, nav range: 51.365517 m, bearing: 91.161496 deg, approach rate: -0.132675 m/s, LOS rate: 0.560707 deg/s, cmd heading: 62.186250 deg, new cmd heading: 62.962454 deg. 2jg<HeadingCmd: 1.098902 target range: 74.599998 and range: 75.40 m. jӨ?jj jihhhhfffrfbf-:@ɛ-B-O 15ڿI1 5W<ɚ1i1I=L= M$?IMhI]Ө?iaia)eӨ?)aEiEi*Eu"EuWill construct direction to contact in vehicle frame from tetrahedron 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 U0JF Je tJe kJa Ja Je ;N:Je 9Ja Ja Je |j;Je j;Je :Je :Gi GABQOm>w,mAyXBIMb@Mb@Mb@ )Yw/?)\(?Q?y?Ga=u<  A)AI#AyGAII(*Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513455٢M.= M"=9UQ U>aa eG٣y > Nusing accuracyPremultiplier from config59/?5Ys i}2™?:>AERQ;X;5 aAkEZjDNOT Ignoring new targets: 74.60 m.Bj<Jj< ProNav: ac range: 74.599998 m, nav range: 51.277576 m, bearing: 91.444311 deg, approach rate: -0.168023 m/s, LOS rate: 0.541285 deg/s, cmd heading: 62.962453 deg, new cmd heading: 63.812286 deg. 2j<HeadingCmd: 1.113734 target range: 74.599998 and range: 75.40 m. jڎ?jjjihhhhBfffrfbfr@ɛEBEZ AMoԿII M<ɚIiIIML=IUڎ?iQiQ)Uڎ?)YEi -$?I)*F?2F:FBF_0JF"GG> Will construct direction to contact in vehicle frame from tetrahedron phase data.ե >ե = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764936G9 G B! O= >zK BIK 9K K $K 8w,K\AHj>IjC Ij:IIjBIj =&Ih.Ij@D6Ij<:IjF F >Y Ա> 9 gz>y H? ֿ?@?=?>ѿ@??`?ɨ > ; CyEeBEIIIIUIU٢L|= F=9 G٣y T> > Nusing accuracyPremultiplier from config}59 ?}5Y ia2™y>A¤E<<5 AZj DNOT Ignoring new targets: 74.60 m.Bj <Jjw,!A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268846j>Y->怌9>yH?`׿?-h?{?hѿ?f??ɨj>Ռ;騥 Cy޽sB޽IJsJiJJJK:Jڈ9JJJe;Je;Jh:Jj:Mb@Mb@Mb@ )Ysh|??(\µ?~jt?y ?=<6A )IM"AyAII0٢= G=9e;Q > G٣WGy΋= > Nusing accuracyPremultiplier from config590?5Y. iA2™ ?:?AĤE;;E5B AhEZj%DNOT Ignoring new targets: 74.60 m.Bj-$<Jj-$<= ProNav: ac range: 74.599998 m, nav range: 51.088833 m, bearing: 91.881470 deg, approach rate: -0.271841 m/s, LOS rate: 0.576137 deg/s, cmd heading: 64.482163 deg, new cmd heading: 65.126116 deg. 2j=~?jIjIjIiIhIhIhQhUكBfQfQfYrfYbf]r @ɛB 5y½  οI  <ɚ iIrM=I>~?ii)>~?)9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524491G G B O >  $?I o* w,3ANd:>YNN>Nn9Nz>yNH^?F>ٿ ?@ ? %$?@[ѿv=?`?D?ɨNd:>N&;NCyZBZIIbIb(1٢j= jo=9n=h;Q n?ll nG٣lyr= r? vNusing accuracyPremultiplier from configtz59v=?~5Yv iv&2™ ?AvŤEvN;vK;v•5 AZj9=DNOT Ignoring new targets: 74.60 m.BjE<JjE BDAT read: Tx time:23:48:48.0963 $Ping request sent.mZdmk?mq m~?)mX8Im?imX8>iimPI IrIIҀBI =&I.I6I<:Ia FBIƭCJIƭCRIƔCZI =bI =jI*6GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. w,LA Iy99iu=Iup< }a=}=Mb@Mb@Mb@ )YJ +?/$?I +?y?=94<5A OA)AIAyAIIn٢%-! %+=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=UP?E5Y=# i=2™Ei ?E:E ?MA=ȤE=;=2;=ٗ5UB UAUeEkaY?k`M+ k k1:A:kfBBkbBZk?" $@.InZCI@42WL@囫y?x7?:IAF?Jk?RkIV*Z| ' ?@ LOQ@FTÿ?V)?"k|A*k8k?k$P 2kCkkkk~KBk;? addTargetRange:: Added new target pos. range: 76.199997 m, deltaT: 3.779751 s, deltaX: 0.799995 m, approachRate: 0.211653 m/s, rangeRepo size: 4  Added new target pos. range: 76.199997 m, bearing: 110.031546 deg, lat: 36.905169 deg, lon: -122.119711 deg, deltaT: 7.312895 s, deltaX: 1.599998 m, approachRate: 0.218791 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 76.20 m.BjJj ProNav: ac range: 76.199997 m, nav range: 50.873314 m, bearing: 92.313561 deg, approach rate: 0.000000 m/s, LOS rate: 0.527924 deg/s, cmd heading: 65.668669 deg, new cmd heading: 66.431456 deg. 2jHeadingCmd: 1.159448 target range: 76.199997 and range: 76.20 m. jh?jjjihhh h Bf f frf S@bf2?ɛ-B5l锽 15m˿I1 5<Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚiIM=Ih?ii)h?)J1J5AA*Fi2Fq:FqBFu&1JFqG BGi By O >w,iiAFWill construct direction to contact in vehicle frame from tetrahedron phase data.Zmr>YZ.>Z*9ZȈ>yZH?Bܿw?3?6r?п ??@1?ɨZmr>Z;Z#Cy5B5IIMIMF2٢UD< UR=9]sk;Q e>aa eG٣eWGymJ> m> uNusing accuracyPremultiplier from configq}59u^?5Yu iu1™?AuɤEu>;u?;u5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 76.20 m.Bj<Jj< ProNav: ac range: 76.199997 m, nav range: 50.762207 m, bearing: 92.512743 deg, approach rate: -0.288298 m/s, LOS rate: 0.517963 deg/s, cmd heading: 66.431458 deg, new cmd heading: 67.030289 deg. 2j<HeadingCmd: 1.169899 target range: 76.199997 and range: 76.20 m. jB?jjjihhhhfffrfbf?ɛ-B-ӽ )-XʿI) 5{<ɚ1i1I5iCN=I=B?i9i9)=B?)A }$?I*F?2F:FBFP0JFG: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.GBO >J qJ pJ 0J J D:J ^9J ـ3J a @a @a @a @zK KK K K $K   BK :K lAH >I  I II BI  =&I .I 6I 1<:I v F4 w,A2d>Y2>2堇92>y2H~6?@ݿH?4?/?Hп??@?ɨ2d>2QӋ;2 CyRBV!IprBAIvIvm٢zf< ~S=9Q > G٣9y=K= E> MNusing accuracyPremultiplier from configAM59E2m?U5YE iE1™QU)"?UAEˤEE:E3:EE5y AZjDNOT Ignoring new targets: 76.20 m.BjA<JjA< ProNav: ac range: 76.199997 m, nav range: 50.644756 m, bearing: 92.711891 deg, approach rate: -0.292717 m/s, LOS rate: 0.497478 deg/s, cmd heading: 67.030288 deg, new cmd heading: 67.629095 deg. 2j<HeadingCmd: 1.180350 target range: 76.199997 and range: 76.20 m. j?j j j ih9h9hAhAfAfAfArfIbfMf?ɛB%M 隵<ʿI ơ<ɚiI|N=I?ii)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242828*F?2F:FBFW0JF IhGGGoAGy GB  U 3YQ yU r+BO] >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493436&w,?圸Ay=B= I)A AMb@Mb@Mb@ )Yx&?MbX9?~jtxy7 ?ʡ=Ļp3A )IlAyAII٢ :=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-}?55Y- i-1™= ?=:=!?=A-ͤE-5;-;-*5A EAEbEZjq}DNOT Ignoring new targets: 76.20 m.Bj}z<Jjz< ProNav: ac range: 76.199997 m, nav range: 50.516163 m, bearing: 92.932906 deg, approach rate: -0.301338 m/s, LOS rate: 0.519231 deg/s, cmd heading: 67.629098 deg, new cmd heading: 68.293799 deg. 2j,<HeadingCmd: 1.191952 target range: 76.199997 and range: 76.20 m. jߑ?jjjihhhhBfffrfbf?ɛB繽 ʿI  <ɚiIN=Iߑ?ii)ߑ?)*Fq2Fq:FqBFu_0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748347GMBG) B1 OU > $?I -w,A6$>Y6 ?6\샽96^>y6H X?1f@?~? ?)п@z?`x?@?ɨ6$>6;6!CyNBRIIZIZ٢b{ fb=9f;Q f>hh jG٣jWGyj> n> rNusing accuracyPremultiplier from configpv59r͉?v5Yr ir1™tv/?vArΤEr:r:r5~B ~A~`EZjDNOT Ignoring new targets: 76.20 m.Bj<Jj< ProNav: ac range: 76.199997 m, nav range: 50.400394 m, bearing: 93.111461 deg, approach rate: -0.307456 m/s, LOS rate: 0.475291 deg/s, cmd heading: 68.293798 deg, new cmd heading: 68.830675 deg. 2j<HeadingCmd: 1.201322 target range: 76.199997 and range: 76.20 m. ję?jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997576ff1rf9bf=0&@ɛB"  ~̿I i<ɚiIKO=Ię?ii)ę?)!JrJoJJJG:JK9JJ*F?2F:FBFJFzK%# MK%9K!K%$K%    RK5 ?JK5?ZHARHAHIII IMIIMBIM =&II.II6IM6<:IMy FG Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249379G B O >b3w,hиA I}>Y}?}mm9}>y}H'?  ݷ?`a>? ?OпJ?!??ɨ}>};}CyޝBޝIUMb@Mb@Mb@QQQ Q)QYUNbX9?y&1? rhyU?U`e=UCU2A U~A)U^AIUAQyUzAIeIe0٢uJ u2=9} :Q }>yy G٣yu= > Nusing accuracyPremultiplier from config59?5Y i1™x?:.?AФEmb;.a;5 A]EZjDNOT Ignoring new targets: 76.20 m.Bj]<Jj]< ProNav: ac range: 76.199997 m, nav range: 50.259056 m, bearing: 93.334022 deg, approach rate: -0.317500 m/s, LOS rate: 0.501363 deg/s, cmd heading: 68.830678 deg, new cmd heading: 69.500208 deg. 2j <HeadingCmd: 1.213007 target range: 76.199997 and range: 76.20 m. jC?jjjihhh h }Bf f f rfbfϜ@ɛEBM IMͿII M8l<ɚIiQIUO=IUC?iYiY)]C?)YEi*F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506183G :G- ?G- ?G B O% >n :w,pyARWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757752Z{D>YZP?Z9Z">yZH d?w?m?k*?4iп@T?$?N?ɨZ{D>ZJ;Z CybBfIij0>Ij=InIn(1٢v vh=9vQ z>xx zG٣xy~֠= >  Nusing accuracyPremultiplier from config 59 k?5Y  i 1™5?A ҤE  ;  ; L5! % A)EB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 76.20 m.Bj]<Jj]J qJ lJ 1J J D:J 9J 3J HE >IA  IE IIE BIE  =&IA .IA 6IE <:IE _ FzK} )MKy Ky K} $K}        eAw,PA2>Y2\E ?2 92Y)>y2H?R?x?ݨ?"7пt>?`%?]?ɨ2>2 ;2CyNBRIIZIZF2٢bȼ bM=9b>`:Q b>dd fG٣fWGyj׏= j> nNusing accuracyPremultiplier from configlv59nh?v5Yn in}1™xz] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:48:50.6025 LVL= 15248, 26401, 20258, 26995, AGC= 58, IDX= 432, 0.20,-2.024,-2.830, 2.197, 3.128, PHS= 1.219, 0.372,-0.934, RAW= 53.0, -7.0, CAL= 58.7, -12.9, ROT= 91.3, 12.9  Ygot valid direction response: 23:48:50.6025 LVL= 15248, 26401, 20258, 26995, AGC= 58, IDX= 432, 0.20,-2.024,-2.830, 2.197, 3.128, PHS= 1.219, 0.372,-0.934, RAW= 53.0, -7.0, CAL= 58.7, -12.9, ROT= 91.3, 12.9  PDAT read: Bearing 91.3, 12.9 (Local)  ~Local bearing/azimuth received: Bearing 91.3, 12.9 (Local)  DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.0 ms) speed 0.0 m/s  ,DAT read: user:3480>  BDAT read: Tx time:23:48:51.6963  $Ping request sent. ?[?eL?ye Ba e ;e !g e "O)e siIe :ie 1?e v>e oe hl?e 5 e #?)e fIe W?ie f>a a e 1^?M<~:j)e Ie =ie ?e Wa a  :publishing transmit ping time  Fpublishing direction and range infoa 9e N>?[?eL?ya a a a a )a Ia ia a a a a a )a Ia ia a a e 1^?M<~:j)a Ia ia a a a 3Gw,a2AuS>Yu&'?u.9uY>yuH`]?)`SE?f?%?п b?R+?F?ɨuS>u;u CyޭwBޭIMb@Mb@Mb@ )Yjt?I +?:vy?9<Լ-0A  A)AIXAy=A@AI% I%2٢   =9ǎQ > G٣yV= > UNusing accuracyPremultiplier from configQ]59UÛ?]5YUt iUv1™]?]:]x5?]AUդEUU;U;UL5 Ak]&d?khfl k k%A:kBBkBZk1@"k[!@AhE7 I@Y:L@N>?[?eL?Jk?RkW*Shm0$\<@z;Q@n{˿1m?h?"kA*khkzZ?k^ 2k+CkkkkpGBkj?M addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 3.530530 s, deltaX: 0.300003 m, approachRate: 0.084974 m/s, rangeRepo size: 4  Added new target pos. range: 76.500000 m, bearing: 119.687445 deg, lat: 36.905169 deg, lon: -122.119711 deg, deltaT: 3.530530 s, deltaX: 0.300003 m, approachRate: 0.084974 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 76.50 m.BjJj ProNav: ac range: 76.500000 m, nav range: 49.860283 m, bearing: 93.928177 deg, approach rate: 0.000000 m/s, LOS rate: 0.447572 deg/s, cmd heading: 70.565690 deg, new cmd heading: 71.258580 deg. 2j HeadingCmd: 1.243697 target range: 76.500000 and range: 76.50 m. j u1?j jjihh9hAhE%BfAfIfIrfM S@bfU?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:48:51.6956 ɛŃB uӿI d<<ɚiIQ=Iu1?ii)u1?)*F2F:FBF0JF"G>G> = $?I9 G 3G G pAG B O>ANw,;A*Will construct direction to contact in vehicle frame from tetrahedron phase data.nZ>Yn@.?nd9n>ynH?~??@ ? ~Ͽউ?@??ɨnZ>n ;lyzoBzI)| ~AII?1٢3 `=9mԺQ > G٣!y%= -> 5Nusing accuracyPremultiplier from config)559-oΛ?=5Y-> i-q1™9=I! I%II%BI!&I!.I!6I%+<:I%o FzKMMKs9KK$K  +.,*%  *F2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAGM BG1 q Iq B OE >1"Uw,UA>>Y>4?>9>c؈>y>HJ? tz? ??οӰ?? ?ɨ>>>fS;%;%t%1A !)% AI!!y!I=I= ٢Mt= UH=9U5Q ]>Ya eG٣eWGye= e> uNusing accuracyPremultiplier from configi}59mۛ?}5Ym imr1™}>}:} Will construct direction to contact in vehicle frame from tetrahedron phase data.}H[w,3SoA6\?Y6oVy6H=? $}a?l??ڗο`b?`O?/?ɨ6\?6%;6!Cy>vBBIIJIJỳ٢R槻 RV=9RrQ R>TT VG٣TyV= Z> bNusing accuracyPremultiplier from config\b59^e曜?b5Y^> i\dfED?fA^ڤE^:^a:^S5h jAhzB*** querying acoustic contact ***jxjxZjDNOT Ignoring new targets: 76.50 m.Bj +;Jj +; %$?I!- ProNav: ac range: 76.500000 m, nav range: 49.504276 m, bearing: 94.442455 deg, approach rate: -0.313195 m/s, LOS rate: 0.439177 deg/s, cmd heading: 72.303085 deg, new cmd heading: 72.805068 deg. 2j-<5HeadingCmd: 1.270688 target range: 76.500000 and range: 76.50 m. j5饢?j1j1j1ihhhhfffrfbf?ɛ5ʃB= 9=ԿIA E*&;ɚAiAIE=R=IM饢?iIiI)M饢?)q*F ?2F :F BF ^0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GIG] ?G]?G) H= >I9  I= II= ܀BI9 &I9 .I9 6I= H<:I= FBIȬCJIȬCRIȓCZI =bI =jIȹ4Bi O >zKe MKa Ka Ke $Ke Cb1rG.m0bw,.A $&@Bh ?YB B?BU\9B >yBH?@` R??k?]Aο,H?#?L?ɨBh ?B͋;BCy^yB^IIj Ij(2٢rY< rF=9r:Q r>tt vG٣tyv~= z> ~Nusing accuracyPremultiplier from configx59zb?5Yzq ixJ? AzܤEz ;z ;z5 B AREWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748634ZjDNOT Ignoring new targets: 76.50 m.Bj };Jj };] ProNav: ac range: 76.500000 m, nav range: 49.371723 m, bearing: 94.619990 deg, approach rate: -0.310515 m/s, LOS rate: 0.417004 deg/s, cmd heading: 72.805070 deg, new cmd heading: 73.339088 deg. 2j]C \/A v@) AIAyAIIb٢eBW e =9mQ m>qq uG٣uWGyu }> Nusing accuracyPremultiplier from configy59}?5Y} i}w1™>:x8?A}ޤE}t;};}5 A IZjDNOT Ignoring new targets: 76.50 m.Bj5;Jj5; ProNav: ac range: 76.500000 m, nav range: 49.206581 m, bearing: 94.879071 deg, approach rate: -0.283490 m/s, LOS rate: 0.446241 deg/s, cmd heading: 73.339088 deg, new cmd heading: 74.118889 deg. 2j <HeadingCmd: 1.293619 target range: 76.500000 and range: 76.50 m. jL?jjjihhh h Bf f f rfbfw@ɛ=̓B=T̽ AEWտIA M;ɚIiIIMcS=IUL?iQiY)]L?)YE;=*F2F:FBFP0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504255G9 H >I C I xII ׀BI &I .I 6I I<:I G B! O= >zKM p[NKM 9KI KM $KM  :+c&6. U 6  # 1 + ` jqw,4ŹARK ?JK?6d?Y6O?6A96R1>y6H?&?+?W?`hͿ@{???ɨ6d?6l;6!CyRBRII~ I~2٢ =  c=9Wn;Q > G٣yN> > %Nusing accuracyPremultiplier from config!-59%?-5Y% i%{1™15E?5A%ߤE% ;% ;%K59 =A9ZjaeDNOT Ignoring new targets: 76.50 m.Bjmr;Jjmr;} ProNav: ac range: 76.500000 m, nav range: 49.100464 m, bearing: 95.030477 deg, approach rate: -0.297702 m/s, LOS rate: 0.425673 deg/s, cmd heading: 74.118891 deg, new cmd heading: 74.574079 deg. 2j}<HeadingCmd: 1.301563 target range: 76.500000 and range: 76.50 m. j?jjjihhhhfffrfbf`*@ɛ΃B`3  ҿI  V;ɚ i IfT=I?ii)?)E!E!*E)"E)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756431PExceeded connect timeout, disconnecting. $?I*F?2F:FBFJF)5= =]CtA - 2Y- tAy5 D*B] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:48:54.2019 m TRx dataTimestamp_ set to:1736380135.465785u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010861G G G Gi Bq O >wwJJhJ1JJJȆ9J3JJJJӬ:JԬ:,AM$?YM ]?M9M(ʼn>yMH? ?D? 3?a̿???ɨM$?MꙊ;Iy}BޅI-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 108.58, 79.01, 87.68  @ @ @  @ II(*٢ <  4=9 Q  > G٣y= > -bBottom track data is 0.5 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!559%:?55Y%r i%1‘5+:15:=R?=A%E%Z8;%U>%粶5A EAEOEZjimDNOT Ignoring new targets: 76.50 m.Bju;Jju; ProNav: ac range: 76.500000 m, nav range: 48.958557 m, bearing: 95.214511 deg, approach rate: -0.311487 m/s, LOS rate: 0.405127 deg/s, cmd heading: 74.574082 deg, new cmd heading: 75.127765 deg. 2j<HeadingCmd: 1.311227 target range: 76.500000 and range: 76.50 m. jH֧?jjjihhhhfffrfbf`1j @ɛmЃBm%ս imxѿIi :ɚiIT=IH֧?ii)H֧?)*FI2FI:FIBFM^0JFI%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260489 !I!G G B O5 >X}w,AyB.II-I-b٢E= EZ=9EQ E>II MG٣MWGyU U> ]bBottom track data is 0.8 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYe59]:$?m5Y] i]1‘m :im:imA]E]O;]-U?]5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:48:54.2019 LVL= 16832, 27681, 17298, 25075, AGC= 56, IDX= 443,-0.32,-0.338,-1.770,-2.332,-1.692, PHS= 1.442,-0.031,-0.643, RAW= 73.4, -8.3, CAL= 83.5, -16.5, ROT= 66.5, 16.5 ]Ygot valid direction response: 23:48:54.2019 LVL= 16832, 27681, 17298, 25075, AGC= 56, IDX= 443,-0.32,-0.338,-1.770,-2.332,-1.692, PHS= 1.442,-0.031,-0.643, RAW= 73.4, -8.3, CAL= 83.5, -16.5, ROT= 66.5, 16.5 ePDAT read: Bearing 66.5, 16.5 (Local) e~Local bearing/azimuth received: Bearing 66.5, 16.5 (Local) mDAT read: Range 10 to 50 : 76.0 m (Round-trip 101.4 ms) speed 0.1 m/s ,DAT read: user:3481> BDAT read: Tx time:23:48:55.2963 $Ping request sent.ڡڡۥdk_?kv.N:¿)ۥ*PIۥv>iۥ?  ProNav: ac range: 76.500000 m, nav range: 48.842163 m, bearing: 95.366747 deg, approach rate: -0.285111 m/s, LOS rate: 0.373795 deg/s, cmd heading: 75.127764 deg, new cmd heading: 75.585550 deg. 2j D<ۥp˖ۡۡU:publishing transmit ping time؉UFpublishing direction and range infoء9إT ˹??ʾ`?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥdk_?kv.N:¿)ۡIۡiۡۡۡuHeadingCmd: 1.319217 target range: 76.500000 and range: 76.50 m. juܨ?jqjqjyiyhyhۡT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hhfffrfS@bf ?H>I IIIBI =&I.I6I3<:Is FɛuуBudYܽ quͿIy }$9ɚyiyIiU=Iܨ?ii)ܨ?)zKM,PKMh9KIKM$KM"    3RJaC~gI/sroXG;.& BKQ:KUpA*Fe?2Fa:FaBFe_0JFaU Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:23:48:55.2956 e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.223715 - nManaging dock network, ignoring radio surface power offG 3 9 GA Ba I9 O >w,xAu1?YuHj?u㨍9ue>yuHUv?7?N?U?@n˿@? ??ɨu1?u'l;qyށށ        Mb@Mb@Mb@ )YˡE?QMby>,A 3@) AIAy AII٢?J: %=9Q %>)) -G٣)y5j= 5> =Nusing accuracyPremultiplier from config9E59=0?m5Y= i=1‘mT:m>m:md\?mA=E=;=G;='5} B }A}LEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.474121kNrP?k k kYA:kBBkBZkm @"t,t@t {<@CgHqQ@T ˹??ʾ`?Jk?Rkp˖*S I@@lpR@bD<؞򀉍?[4J?"k@*kk~u?k4U 2k Ck~u?k$P kCkAk ?m addTargetRange:: Added new target pos. range: 76.000000 m, deltaT: 3.528411 s, deltaX: -0.500000 m, approachRate: -0.141707 m/s, rangeRepo size: 4  Added new target pos. range: 76.000000 m, bearing: 126.007437 deg, lat: 36.905165 deg, lon: -122.119928 deg, deltaT: 3.528411 s, deltaX: -0.500000 m, approachRate: -0.141707 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 76.00 m.BjJj ProNav: ac range: 76.000000 m, nav range: 29.624357 m, bearing: 99.876878 deg, approach rate: 0.000000 m/s, LOS rate: 0.373795 deg/s, cmd heading: 75.585551 deg, new cmd heading: 76.133385 deg. 2jHeadingCmd: 1.328778 target range: 76.000000 and range: 76.00 m. jh?jjj!i!h!h!h!h-Bf)f)f)rf)bf5୺?J]tJ]lJ]0JYJ];N:J]9J]ـ3JYJ]{j;J]~j;J](:J]):ɛ5҃BU<ս QUͿIQ ]}ZɚYiYI]V=Ieh?iaia)mh?)qEEpA*F ?2F :F BF JF U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.725963G- :G= ?G= >G BO5>w,WB2A $?I>8?Y>q?>.9>=>y>HL?A ??`?@$˿a?ax??ɨ>8?>53;> CyvBvAII~I~b٢ =  ]=9QQ > G٣yr= > -Nusing accuracyPremultiplier from config!559%z9?55Y%* i%{1™15Kc?5A%E%;%;%5A EAAZjquDNOT Ignoring new targets: 76.00 m.Bj}K<Jj}K< ProNav: ac range: 76.000000 m, nav range: 29.515987 m, bearing: 100.119521 deg, approach rate: -0.316863 m/s, LOS rate: 0.712067 deg/s, cmd heading: 76.133387 deg, new cmd heading: 76.863945 deg. 2jW<HeadingCmd: 1.341529 target range: 76.000000 and range: 76.00 m. j8?jjjihhhhfffrfbf?ɛӃB !ʿI Y ɚiI\V=I8?ii)8?)*Fm?2Fi:FiBFm1JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.>#@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978238GAG!H5>I1 I5II5BI1&I1.I5?D6I5h<:I5 FBIOm>zKu DPKu 9Kq Ku $Ku |vtoihfc_\ZWSRQONKJIGFFC?;87640/--/+()'%"fߒw,| LAJ??YJ"w?Jg֖9Jm>yJH?@X0?E??˿pֲ? *??ɨJ??JQ;JCyVBVZII^I^Ƴ٢f= fO=9fdQ j>hh nG٣nWGyn= n> rNusing accuracyPremultiplier from configpv59rB?v5Yrm irw1™xzi?zArEr ;r" ;rx5| ~eAZj!-DNOT Ignoring new targets: 76.00 m.Bj-.=<Jj-.=<=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230151M ProNav: ac range: 76.000000 m, nav range: 29.395939 m, bearing: 100.378400 deg, approach rate: -0.305545 m/s, LOS rate: 0.661583 deg/s, cmd heading: 76.863944 deg, new cmd heading: 77.643703 deg. 2jM<]HeadingCmd: 1.355138 target range: 76.000000 and range: 76.00 m. j],u?jajajaiihihqhyhyfffrfbf@P?ɛԃBA` 隵VſI ]ɚiI)W=I,u?ii),u?) AIA*F-?2F):F1BF5P5JF1GeBWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484110G B O >J AAJ J sJ J 1J J K:J 9J 3J J e;J e;J ';J ';3w,eA:mE?Y:}?:^P9:5">y:H|u? '??@-S?Fʿ_E?4!??ɨ:mE?:9;: CyFрBFqI%Mb@Mb@Mb@!!! !)!Y%I +?~jthy%9>%D%! !)!I%A!y%3AIEIE%x٢U-= UB=9U_Q U>YY ]G٣Yyer= e> mNusing accuracyPremultiplier from configiu59mL?u5Ym  imh1™u:>}:}[|?}AmEm $;m";mN5 AZjDNOT Ignoring new targets: 76.00 m.Bjh8<Jjh8< ProNav: ac range: 76.000000 m, nav range: 29.252224 m, bearing: 100.649886 deg, approach rate: -0.339708 m/s, LOS rate: 0.644880 deg/s, cmd heading: 77.643705 deg, new cmd heading: 78.462107 deg. 2jI<HeadingCmd: 1.369422 target range: 76.000000 and range: 76.00 m. j9I?jjjihhhhBfffrfbf@n?ɛAE#vԽ AEII MS֛ɚIiIIm+W=Iu9I?iqiq)u9I?)yuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739389*F?2F:F BF @5JF  !I)G- 3G1 G5 oAG B OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9902304w,Ay5B5II]I](1٢= E=9Q > G٣y > Nusing accuracyPremultiplier from config595U?5Y iY1™AEz::5HI IIIBI&I.I6Iu<:I F B AGEB*** querying acoustic contact ***jjZj)-DNOT Ignoring new targets: 76.00 m.Bj59<Jj59w,AԚR?Ys?,9?>yH3?`@?o?@?sɿ@x?|? ?ɨԚR?};yBIMb@Mb@Mb@ )Yx?Q?{Gz?yK><#<)A @) AIyAIIF2٢= G=9Q > G٣WGy> > Nusing accuracyPremultiplier from config59\?5Y iB1™>:? AE;;꾶5 A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494095ZjDNOT Ignoring new targets: 76.00 m.Bje"<Jje"< ProNav: ac range: 76.000000 m, nav range: 28.955471 m, bearing: 101.161534 deg, approach rate: -0.364572 m/s, LOS rate: 0.567905 deg/s, cmd heading: 79.278443 deg, new cmd heading: 80.004774 deg. 2j<HeadingCmd: 1.396347 target range: 76.000000 and range: 76.00 m. j}?jjjihh!hihmBfqfqfqrfqbf}@R]@ɛփB=mѽ iI SmɚiIcX=I}?ii)}?)*F2F:FBFR0JFG } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746730G B O% > I nBw,kA6Y?Y6 ?696>y6H?ic@?@?@Bf?ȿ@;??$?ɨ6Y?6^;6!Cy>BBIIJIJ<٢R= R`=9RQ R>TT VG٣TyZ= Z> ^Nusing accuracyPremultiplier from config\b59^"c?b5Y^ i^-1™`f?f A^E^A;^?B;^5h nAlZj DNOT Ignoring new targets: 76.00 m.Bj -<Jj -< ProNav: ac range: 76.000000 m, nav range: 28.815607 m, bearing: 101.369020 deg, approach rate: -0.407553 m/s, LOS rate: 0.607530 deg/s, cmd heading: 80.004772 deg, new cmd heading: 80.630223 deg. 2j%x<%HeadingCmd: 1.407263 target range: 76.000000 and range: 76.00 m. j-1!?j)j)j)i)h)h)h1h1f1f1f9rf9bf= @ɛimw quıIq uCɚqiqIX=I1!?iiЦ)1!?)!*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:48:57.8006 TRx dataTimestamp_ set to:1736380138.998036checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000455JxJnJ0JJZ:J99Jـ3Ja@a@a@a@ZHRH?AH>I IIILBI =&I.I6Ic<:I FBIǫCJIǫCRIZI =bI =jIi?5GG ?G?GB O >zK UMK 9K K $K A  1L*w,FͺAN`?YN?NRa9N>yNH@?2@Ȍ?g??;ȿ`j?M??ɨN`?Nn;N CyVBZII I b1٢'= C=9@Q %>!! %G٣!y-V= -> 5Nusing accuracyPremultiplier from config1EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.250182M595j?M5Y5 i51™QU?U A5E5T;5;5V¶5a eAaZjDNOT Ignoring new targets: 76.00 m.BjV<JjV< ProNav: ac range: 76.000000 m, nav range: 28.651220 m, bearing: 101.602022 deg, approach rate: -0.390883 m/s, LOS rate: 0.557216 deg/s, cmd heading: 80.630226 deg, new cmd heading: 81.333206 deg. 2j4<HeadingCmd: 1.419532 target range: 76.000000 and range: 76.00 m. jWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:48:57.8006 LVL= 18416, 31601, 22514, 32755, AGC= 57, IDX= 429, 0.22,-0.614,-2.109,-2.048,-1.542, PHS= 1.016,-0.520,-0.509, RAW= 90.4, 0.2, CAL= 98.0, -4.0, ROT= 52.0, 4.0  Ygot valid direction response: 23:48:57.8006 LVL= 18416, 31601, 22514, 32755, AGC= 57, IDX= 429, 0.22,-0.614,-2.109,-2.048,-1.542, PHS= 1.016,-0.520,-0.509, RAW= 90.4, 0.2, CAL= 98.0, -4.0, ROT= 52.0, 4.0  PDAT read: Bearing 52.0, 4.0 (Local)  ~Local bearing/azimuth received: Bearing 52.0, 4.0 (Local)  DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.3 m/s  ,DAT read: user:3482>  BDAT read: Tx time:23:48:58.8964  $Ping request sent. qy }G٣}WGy} }> Nusing accuracyPremultiplier from config59Br?5Y i0™ ?:? AE;;tĶ5 B  ADEEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:23:48:58.8957 k-%b$?k- +O k) k-:A:k-BBk-BZk-a@"-ch_Ё~@4`~SR@- KƶV16??Jk-@Rk-*-<%ɾ@~O0:/]:R@-*]߳?Y5H̿e?"k-T*k-@k- _L'?k-pR 2k- Ck)k-^ k-+Ck-Ak-C?  addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.533623 s, deltaX: -1.000000 m, approachRate: -0.282996 m/s, rangeRepo size: 4 E Added new target pos. range: 75.000000 m, bearing: 287.164199 deg, lat: 36.905165 deg, lon: -122.119947 deg, deltaT: 3.533623 s, deltaX: -1.000000 m, approachRate: -0.282996 m/s, posRepo size: 4 ZjIMDNOT Ignoring new targets: 75.00 m.BjMJjQ $?I ProNav: ac range: 75.000000 m, nav range: 26.814005 m, bearing: 102.623044 deg, approach rate: 0.000000 m/s, LOS rate: 0.557216 deg/s, cmd heading: 81.333210 deg, new cmd heading: 82.201622 deg. 2jHeadingCmd: 1.434689 target range: 75.000000 and range: 75.00 m. j㣷?jjjihhhh+BfffrfR@bfa1?ɛ1=' =&d==I9 =X.ɚ9iAIECY=IE㣷?iIiMF)M㣷?)I*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 G9 G= pAG B O5 >w,AJ.tJ.pJ,J,J.;N:J.^9J,J,>o?Y> ?>|9>ˇ>y>H ٪? 2? 20?@ ?Oǿ(?`F?`)?ɨ>o?>;<HN>IL INGIINBIL&IL.IL6IN <:INR Fy=AB=IIUIU٢e= e`=9e4Q e>ii mG٣iyu~"> u> }Nusing accuracyPremultiplier from configy59}~w?5Y} i}0™? A}E}:}C:}ƶ5 ^AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 75.00 m.Bj><Jj>< ProNav: ac range: 75.000000 m, nav range: 26.649853 m, bearing: 102.839059 deg, approach rate: -0.504274 m/s, LOS rate: 0.667682 deg/s, cmd heading: 82.201620 deg, new cmd heading: 82.853628 deg. 2j<HeadingCmd: 1.446069 target range: 75.000000 and range: 75.00 m. j?jjjihhhhfffrfbffs?ɛ15 15I1 =C;ɚ9i9I=SY=IE?iAiEX)E?)zKPKKK$K}K*F?2F:FBF0JFG}3G9BYuWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.O[> I! = 5tAU A 0/Y 5tAy 'Bw,xAy5JB5I99-]only read 0 of 1 data item for BIT error. Device response is::TS,25010815500570,0.9, 0.0,1493.3, 0  e@e e@e e@e  e@e ImIm̍٢}0= }I=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59i}?5Y i0‘+:: AE:;X>zǶ5 ABEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978764ZjDNOT Ignoring new targets: 75.00 m.BjE&<JjE&< ProNav: ac range: 75.000000 m, nav range: 26.464815 m, bearing: 103.086391 deg, approach rate: -0.431990 m/s, LOS rate: 0.581458 deg/s, cmd heading: 82.853630 deg, new cmd heading: 83.600769 deg. 2j<HeadingCmd: 1.459109 target range: 75.000000 and range: 75.00 m. jĺ?jjjihhhhfffrfbf@?ɛŽ 隽^I :NɚiIY=Iĺ?iik)ĺ?)a*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233781G5 : I G1 BI O} > w,~6A63?Y6?6hp96˹>y6H?ACk??`?Jſ?_??ɨ63?6?;4yRXBRIIZIZ&ѳ٢bٕ= bX=9b`dQ f>dd fG٣fWGyjV(> j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n⁜?v5Yn] in0‘z :xz:z?z AnEn);n'J?nȶ5 AZjDNOT Ignoring new targets: 75.00 m.Bj<Jj< ProNav: ac range: 75.000000 m, nav range: 26.287106 m, bearing: 103.295365 deg, approach rate: -0.469585 m/s, LOS rate: 0.555929 deg/s, cmd heading: 83.600771 deg, new cmd heading: 84.231903 deg. 2jþ<HeadingCmd: 1.470124 target range: 75.000000 and range: 75.00 m. j-?jjjihhhhfffrfbf ?ɛ15ٽ 1=֟I9 =\ɚ9i9I=|Y=IE-?iAiE8)E-?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483569JJoJJJJK9JJjHbH4=H>I IIIBI =&I.I6I<:IA FE[=*FU?2FQ:FQBFU0JFQG- Q{G B zK- NK- +9K) K- $K- O= >w,bPA"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736233J&?YJ/1?J9J}>yJH8?`Yu?)A?]?yVſ ${??S?ɨJ&?JC;J!CyRfBV)II^I^٢b4= fJ=9fQ f>hh jG٣hyn= n> rbBottom track data is 1.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv59r?v5Yrւ irv0‘z9xzQ:z-?z ArEr5;r?rɶ5| 9AZj!-DNOT Ignoring new targets: 75.00 m.Bj-W<Jj-W< 9IEh5 ProNav: ac range: 75.000000 m, nav range: 26.094564 m, bearing: 103.507934 deg, approach rate: -0.501027 m/s, LOS rate: 0.557224 deg/s, cmd heading: 84.231901 deg, new cmd heading: 84.874286 deg. 2j55<=HeadingCmd: 1.481336 target range: 75.000000 and range: 75.00 m. j=i?j9j9j9iAhIhIhqhqfqfqfqrfybf}v[?ɛFǽ HI mɚiI Z=I%i?iqiuA+)}i?)EQf=*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.`?Y?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986998G mG B O >5bw,TkA2?Y2?292>y2H:?b^?ࠇ?I!?Ŀ@ͷ??,?ɨ2?2Ì;2Cy>jBB-I F=Fp=        Mb@Mb@Mb@ )Yd;O?Zd;O?Zd;O?y?j=j<1*A @)dAIAyAI-I-(٢n< 3=9@6Q > G٣y= > Nusing accuracyPremultiplier from config59c?5Y{ iG0‘T: ? : 4?  AE;;˶51 5A9ZjyDNOT Ignoring new targets: 75.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239009Bj2<Jj2< ProNav: ac range: 75.000000 m, nav range: 25.847425 m, bearing: 103.728873 deg, approach rate: -0.527732 m/s, LOS rate: 0.476294 deg/s, cmd heading: 84.874287 deg, new cmd heading: 85.543408 deg. 2jp<HeadingCmd: 1.493014 target range: 75.000000 and range: 75.00 m. j?jjjihh!hAhEeBfIfIfIrfIbfU8K@ Iɛ)-NOý )-gI) =KɚiI Z=I?iiM)?)EE*E"E*F 2F :F BF 1JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490840G 5^G B O >H >I C I II ЁBI &I .I 6I <:I 4 FJ vJ sJ J J {T:J 9J J J Gu;a% J Ju;a% J <:a% J =:a- Ew,WAbG?Yb?b69b>>ybH`U? I?@9?F?Ŀ? 5?@?ɨbG?b1;bCyjuBn;IIzIz(1٢Yp= W=9 IQ  >    G٣ WGy= > eNusing accuracyPremultiplier from configYm59]?m5Y]v i]0™qu˹?u A]E]2;]2;]0Ͷ5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 75.00 m.Bj<Jj<  ProNav: ac range: 75.000000 m, nav range: 25.639139 m, bearing: 103.903583 deg, approach rate: -0.541005 m/s, LOS rate: 0.457480 deg/s, cmd heading: 85.543407 deg, new cmd heading: 86.071779 deg. 2j<]HeadingCmd: 1.502236 target range: 75.000000 and range: 75.00 m. j]DI?jYjYjYiYhYhahahafafifqrfbf`@ɛ%Ͻ !%I! %]ɚ)i)I-"Z=I=DI?i9iE )EDI?)IzKK9KK$KBK:K*F?2F:FBF_0JFGDFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745738 IGBOa>Dpw,3A6?Y6.?6'Rý96ь>y6Hwy?E'<?@?F? Atÿ``?`lM?`E?ɨ6?67;6"CyB}BBEIMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994807 )YzG?|?5^?~jt?y ?=<b&A @)AIy AI5I5<٢M"= MF=9U+Q U>QQ ]G٣Yye^= e> mNusing accuracyPremultiplier from configiu59m?u5Ymo im/™}f?}:}?} AmEm;m%;mζ5B A@EZjDNOT Ignoring new targets: 75.00 m.Bj;Jj; ProNav: ac range: 75.000000 m, nav range: 25.411640 m, bearing: 104.071527 deg, approach rate: -0.570014 m/s, LOS rate: 0.424563 deg/s, cmd heading: 86.071776 deg, new cmd heading: 86.580106 deg. 2j<HeadingCmd: 1.511108 target range: 75.000000 and range: 75.00 m. jk?jjjihhhhEBfffrfbf@ɛ!%=˽ !%XI) -p&ɚ)iIIU/Z=IUk?iYi]_)]k?)Y*F?2F:FBFJFG-GBOWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:49:01.3989 TRx dataTimestamp_ set to:1736380142.776584checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247696 q Iq fw,=A6Uc?Y6^?62ZĽ96cW>y6H?:Jp?#-?@?`%¿ ? {?G?ɨ6Uc?6Ê;6 CyBBBKIDFAIJIJ٢f̵< fS=9fQ f>hh jG٣hyn؎= n> rNusing accuracyPremultiplier from configpv59r?v5Yri ir/™xz?z ArEr:rz:rж5| ~aA|Zj!-DNOT Ignoring new targets: 75.00 m.Bj5;Jj5;E ProNav: ac range: 75.000000 m, nav range: 25.193138 m, bearing: 104.221217 deg, approach rate: -0.570816 m/s, LOS rate: 0.394442 deg/s, cmd heading: 86.580106 deg, new cmd heading: 87.033061 deg. 2jEYI IIIBI =&I.I6I <:IM FJxJvJJJZ:Jϣ9JJJ ;J ;J:J:Gi Gu ?Gu >zK% :IK% +9K! K% $K%  GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ii  DAT read: 23:49:01.3989 LVL= 22832, 32753, 30818, 32755, AGC= 59, IDX= 427, 0.36,-2.476, 2.202, 2.691, 3.049, PHS= 0.846,-0.800,-0.361, RAW= 104.9, 4.3, CAL= 115.7, 2.0, ROT= 34.3, -2.0  Ygot valid direction response: 23:49:01.3989 LVL= 22832, 32753, 30818, 32755, AGC= 59, IDX= 427, 0.36,-2.476, 2.202, 2.691, 3.049, PHS= 0.846,-0.800,-0.361, RAW= 104.9, 4.3, CAL= 115.7, 2.0, ROT= 34.3, -2.0  PDAT read: Bearing 34.3, -2.0 (Local)  ~Local bearing/azimuth received: Bearing 34.3, -2.0 (Local)  DAT read: Range 10 to 50 : 73.7 m (Round-trip 98.3 ms) speed 0.3 m/s  ,DAT read: user:3483>  BDAT read: Tx time:23:49:02.4964  $Ping request sent. yeH ?s?`U???iG??ɨe?e);eCy=B=OII I<2٢KG< =9չQ > G٣%WGyB= > Nusing accuracyPremultiplier from config59?5Y+a i/™AMj?M AE$n<Wj<Ӷ5Q UGAQkt?k~> k kһA:kfBBkjBZkT@"` +BL%#A_Q@La)ȿ3@RÿQ*K?Jk=LRk*w09@99HT?P@lxu?v9y-տ&#cL?"k*kAkn?k 2kCkk4U kk@k '@m addTargetRange:: Added new target pos. range: 73.699997 m, deltaT: 3.779468 s, deltaX: -1.300003 m, approachRate: -0.343965 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data. Added new target pos. range: 73.699997 m, bearing: 315.719211 deg, lat: 36.905165 deg, lon: -122.120177 deg, deltaT: 3.779468 s, deltaX: -1.300003 m, approachRate: -0.343965 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 73.70 m.BjJj ProNav: ac range: 73.699997 m, nav range: 7.146644 m, bearing: 150.107789 deg, approach rate: 0.000000 m/s, LOS rate: 0.394442 deg/s, cmd heading: 87.033064 deg, new cmd heading: 87.737904 deg. 2jHeadingCmd: 1.531315 target range: 73.699997 and range: 73.70 m. j$?jjjihh hhf9f9f9rf=lR@bfEhV?ɛփB 2I ɚiIoZ=I$?iiǽ)$?)*F 2F :F BF ^0JF G EG B O >w,vAy=B=PIWill construct direction to contact in vehicle frame from tetrahedron phase data. IhMb@Mb@Mb@ )Y +?:v?:v?y?=T<x'A )AIAyAII٢}; *=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y=Z if/™'?:? AE;;ն5 <AZjQDNOT Ignoring new targets: 73.70 m.Bj=Jj= ProNav: ac range: 73.699997 m, nav range: 7.023044 m, bearing: 151.985591 deg, approach rate: -0.298037 m/s, LOS rate: 4.606808 deg/s, cmd heading: 87.737905 deg, new cmd heading: 93.450424 deg. 2jE>HeadingCmd: 1.631018 target range: 73.699997 and range: 73.70 m. j/?jjjihhhhDBfff rfIbfM?ɛՃB=˽ 隽I ɚiIZ=In?ii ) /?) M Will construct direction to contact in vehicle frame from tetrahedron phase data.*F9 2F9 :F9 BF= _0JFA H >I  I II BI =&I .I 6I <:I ? FBIe˪CJIe˪CRIaZIe =bIe =jIe?o5G5 5G B! OE > w,WAyzBz`III٢= %=9!Q -.?)) -G٣)y1 5.? =Nusing accuracyPremultiplier from config9E59=#?E5Y=DV i=L/™IIM A=E= ;=? ;= ֶ5Q UAQ}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 73.70 m.Bj|=Jj|= ProNav: ac range: 73.699997 m, nav range: 6.955692 m, bearing: 153.091359 deg, approach rate: -0.274240 m/s, LOS rate: 4.545740 deg/s, cmd heading: 93.450423 deg, new cmd heading: 96.795835 deg. 2jB>HeadingCmd: 1.689406 target range: 73.699997 and range: 73.70 m. ju>?jjjihhhhfffrfbfZ?ɛY] amkIi uǭɚqiqIu!XZ=I4?iiR)u>?)zKhLK9KK$K     (?Uhw~Will construct direction to contact in vehicle frame from tetrahedron 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 *F2F:FBFP5JF"G50>G54>Gu ޽G} qAGy GQ B O >y+w,FD"AWill construct direction to contact in vehicle frame from tetrahedron phase data.C>N?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231975>?Y>,?>Ľ9>oۂ>y>Hח?@?5?Ȥ?量 ??H?ɨ>?>;)) -G٣5WGy5)> 5> ENusing accuracyPremultiplier from config9E59=p?E5Y=O i=%/™M?M:My?M A=E=;=M;=ض5UB ]Ae>EZjDNOT Ignoring new targets: 73.70 m.Bj=Jj= ProNav: ac range: 73.699997 m, nav range: 6.829036 m, bearing: 154.865753 deg, approach rate: -0.292147 m/s, LOS rate: 4.168112 deg/s, cmd heading: 96.795836 deg, new cmd heading: 102.200788 deg. 2j2>HeadingCmd: 1.783740 target range: 73.699997 and range: 73.70 m. jQ?jjj)i)hIhIhQhU BfQfYfarfabfm?ɛԃBƽ %9I! %<ɚIiIIMIZZ=IUW?iYi].)]Q?)*F?2F!:F!BF!JF!GvSGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484422BO > IhUw,y:H`?@F??ۯ?`'q?#M? ?ɨ:ڀ?::;:"CyBBFaIININ2٢V< Vf=9V:Q Z>\\ bG٣`ybpf= f> jNusing accuracyPremultiplier from configdj59f?n5YfgJ if/™ln?n Af Ef ;f6;fٶ5t vAtZjDNOT Ignoring new targets: 73.70 m.Bj=Jj%=M ProNav: ac range: 73.699997 m, nav range: 6.726320 m, bearing: 156.356233 deg, approach rate: -0.288553 m/s, LOS rate: 4.250544 deg/s, cmd heading: 102.200790 deg, new cmd heading: 106.730540 deg. 2jUQ6>UHeadingCmd: 1.862799 target range: 73.699997 and range: 73.70 m. jU5p?jYjYjYiYhahahahafififirfibfm`E?ɛb 隝I  CɚiIفZ=I+6?iiB)5p?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.737442*F ?2F :F BF R0JF jHibHm4<Hu}>IuC IuIIuBIu =&Iq.Iu>D6Iu#<:IuZ FG2GBOB>zK hMK 9K K $K ~tkbXK@<5,$  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987602  I >w,7UA)X XA]tAA / YtAy4B^2?Yfp?c9dv>yHX?@?@E?w?@Nd?`??ɨ^2? ;y%B%\II=I=(٢Mm M3=9M#QY ]G٣Yy]z= ]> uNusing accuracyPremultiplier from configq59uψ?5YuC iu.™? Au Eu;ua;u۶5 AZjDNOT Ignoring new targets: 73.70 m.Bj=Jj=} ProNav: ac range: 73.699997 m, nav range: 6.594602 m, bearing: 158.304991 deg, approach rate: -0.268703 m/s, LOS rate: 4.054072 deg/s, cmd heading: 106.730537 deg, new cmd heading: 112.671053 deg. 2j->HeadingCmd: 1.966481 target range: 73.699997 and range: 73.70 m. j?jjjihhhhYfafafarfabfm@ɛ҃B6 I MƼɚiImZ=I?ii%h)?) EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.240080*Fu?2Fy:FyBF}3JFyG GJ ـ3K 3 K .KK"KJ~J~J1JJ{m:Jf9J3JG ,G ?G ?G B O >w,f-qAN4?YNr?Nt9New>yNH hZ?`3`???s? .$@v&??|?ɨN4?N";N CynBnfI |I|Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493212Mb@Mb@Mb@ )YQ?&1?Mb`?y\?=;A Z@)AIAyf AII(1٢y= I=9;Q > G٣WGyL= > Nusing accuracyPremultiplier from config59F?5Y= i.™?:? A E<s<[ݶ5 AZj DNOT Ignoring new targets: 73.70 m.Bj Ϡ=Jj Ϡ= ProNav: ac range: 73.699997 m, nav range: 6.485911 m, bearing: 160.068475 deg, approach rate: -0.272762 m/s, LOS rate: 4.498945 deg/s, cmd heading: 112.671053 deg, new cmd heading: 118.033600 deg. 2j@>-HeadingCmd: 2.060075 target range: 73.699997 and range: 73.70 m. j-E@j)j1j1i1h1h1h9h=˂Bf9f9f9rfAbfE@C@ɛܽ xI ̼ɚiIZ=I|?ii )E@)*F12F9:F9BF=Y0JF9G>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.խ>խ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743924H z>I  I II BI =&I .I 6I <:I T F"w,A:o?Y:x\?:(~9:ey>y:H{?@@?@?z?`b?t?'?ɨ:o?:7;:!CyfBfbIIrIr2٢v] zY=9z&;Q z>|| ~G٣|yf"= >  Nusing accuracyPremultiplier from config 59 ?5Y 8 i .™? A E : O; ޶51 5A1]B*** querying acoustic contact ***jajaZjimDNOT Ignoring new targets: 73.70 m.Bju=Jju= ProNav: ac range: 73.699997 m, nav range: 6.388039 m, bearing: 161.742146 deg, approach rate: -0.275703 m/s, LOS rate: 4.786226 deg/s, cmd heading: 118.033606 deg, new cmd heading: 123.117438 deg. 2jKM>HeadingCmd: 2.148805 target range: 73.699997 and range: 73.70 m. j @jjjihhhhfffrfbf@@@ɛуB 玿I ) ӼɚiIZ=I w?ii) @)zK5-MK559K1K5$K5 ?heP=-7;``:Xe6BKA:KA*F?2F:FBFm0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:49:04.9970 TRx dataTimestamp_ set to:1736380146.304881%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997421G9GiBO;> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251370i(w,֤AynBnvIJ%J!J%0J!J%s:J!J%ـ3J!Mb@Mb@Mb@ )Y rh?bX9ȶ?~jth?yC ?E=D;=A C@)QAIAyG AIIV٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config 59? 5Y1 i.™ ?:?U AE:<><5 KAZj9=DNOT Ignoring new targets: 73.70 m.BjE:=Jje:=u ProNav: ac range: 73.699997 m, nav range: 6.288669 m, bearing: 163.700257 deg, approach rate: -0.200224 m/s, LOS rate: 4.007030 deg/s, cmd heading: 123.117438 deg, new cmd heading: 129.062011 deg. 2ju+>}HeadingCmd: 2.252557 target range: 73.699997 and range: 73.70 m. j})@jyjyjihhhhBfffrfbf- @ɛ%σB% !-I) - ܼɚ)i)I-[=I5@i9i9)=)@)a Ih*F2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 23:49:04.9970 LVL= 27968, 32753, 32754, 32755, AGC= 62, IDX= 423, 0.42,-0.613,-2.049,-1.392,-1.120, PHS= 0.595,-0.882,-0.276, RAW= 114.1, 8.8, CAL= 123.4, 5.6, ROT= 26.6, -5.6 eYgot valid direction response: 23:49:04.9970 LVL= 27968, 32753, 32754, 32755, AGC= 62, IDX= 423, 0.42,-0.613,-2.049,-1.392,-1.120, PHS= 0.595,-0.882,-0.276, RAW= 114.1, 8.8, CAL= 123.4, 5.6, ROT= 26.6, -5.6 }PDAT read: Bearing 26.6, -5.6 (Local) }~Local bearing/azimuth received: Bearing 26.6, -5.6 (Local) DAT read: Range 10 to 50 : 72.3 m (Round-trip 96.4 ms) speed 0.4 m/s ,DAT read: user:3484> BDAT read: Tx time:23:49:06.0964 $Ping request sent.i%Q?%a%O%?%nF> % @)%+=I%,>i%+Ƚ!!%~o_t?{s<P-6_?)%YdӽI%Ai%x%ǒ!!U:publishing transmit ping timeءUFpublishing direction and range info!9%νҿf ӿe fV*?y!!!! !)!I!i!!!!! !)!I!i!!!%~o_t?{s<P-6_?)!I!i!!!!GBO>.w,˿A2D?Y2L?2۶92ࣁ>y2H v@1? =?s伵Ӷ? ?4?ɨ2D?2Ʊ;2 CyNBN|IIVIV٢r< r\=9rZ:Q r>tt vG٣vWGyzƾ= %> -Nusing accuracyPremultiplier from config)559-H~?U5Y-{, i-c.™Q]?] A-E-;-;-5a e*AeIC I IIBI =&I.I=D6I$<:I*F?2F:FBF0JFG]vGYBaO}X>zK} *NK} s9Ky K} $K}   RK >JK > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,]ؼA2ȯ?Y2?2+920؇>y2H`̞`-??FEࡰ[? ?@ҿ?ɨ2ȯ?2;2!CyVBVII^I^#٢0= H=9Q >)) 5G٣1yEs= E> ]Nusing accuracyPremultiplier from configYe59]z?e5Y]& i]C.™am?m A]E]2;]F;]V5y }AyZjDNOT Ignoring new targets: 72.30 m.Bj׭Jj׭ ProNav: ac range: 72.300003 m, nav range: 21.686609 m, bearing: 283.561095 deg, approach rate: 0.575223 m/s, LOS rate: -0.075992 deg/s, cmd heading: 133.080376 deg, new cmd heading: 132.991902 deg. 2jPHeadingCmd: 2.321146 target range: 72.300003 and range: 72.30 m. j@jjjihhhhfffrfbf@N?ɛ̓B\1׽ I  O`ɚ i I Le[=Ifj@ii)@)*F?2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JEJEJE1JAJEy:JE9JE3JAGUMlG) B1 OM >ٳ?Y>?>&9>>y>H ?? n9?S??ɨ>ٳ?>4o;>CyRBRIrWill construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUw/?(\µ?{Gzt?yU?U=Uף;U&A U@)QIU AQyUzAII٢#= >=9Q > G٣ym= > Nusing accuracyPremultiplier from config59v?5Y  i!.™?:?  AE;';15 AZj9=DNOT Ignoring new targets: 72.30 m.BjE 5JjE 5] ProNav: ac range: 72.300003 m, nav range: 21.910625 m, bearing: 283.544169 deg, approach rate: 0.529136 m/s, LOS rate: -0.039571 deg/s, cmd heading: 132.991897 deg, new cmd heading: 132.941638 deg. 2j]BٺeHeadingCmd: 2.320269 target range: 72.300003 and range: 72.30 m. jeK@jajajaiihihihihuBfqfqfyrfybf}@0?ɛ̃B"T˽ 隭I 0ɚiIx[=II@ii)K@)*FI2FI:FIBFM4JFIGm DGu ?Gu ?Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BQ Hu q>Iu C Iu  IIu !BIu  =&Iq .Iq 6Iu Y<:Iu x FO >SBw,F A6m/?Y6um?6Ž96n>y6H` `]? ?Ⱥ`ձ ?/??ɨ6m/?66;6CyBāBBIIJIJ٢V3= V`=9VQ Z>XX ZG٣ZWGy~= ~> Nusing accuracyPremultiplier from config 59 s? 5Y i.™? AE:X:59 =ZA9}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 72.30 m.BjJj ProNav: ac range: 72.300003 m, nav range: 22.107538 m, bearing: 283.542682 deg, approach rate: 0.516671 m/s, LOS rate: -0.003868 deg/s, cmd heading: 132.941641 deg, new cmd heading: 132.937218 deg. 2j)HeadingCmd: 2.320192 target range: 72.300003 and range: 72.30 m. j~@jjjihhhhfffrfbf)?ɛEʃBMн IMII u@ɚqiqIuֈ[=I}~@iyiy)}~@) YIazK9LK9KK$KWill 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.*F-?2F):F)BF-[0JF)Gm>bGQ BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750317Iw,"&AyUҁB]I=Mb@Mb@Mb@999 9)9Y=?ʡE?:v?y=f?===T<=OA =@)=@I=vA9y=(AIeIeb1٢}?n= }0=9Q > G٣y > Nusing accuracyPremultiplier from config59n?5Y i-™?:? AE ;#;5 A?EZjDNOT Ignoring new targets: 72.30 m.Bj?Jj? ProNav: ac range: 72.300003 m, nav range: 22.347260 m, bearing: 283.529849 deg, approach rate: 0.533431 m/s, LOS rate: -0.028249 deg/s, cmd heading: 132.937215 deg, new cmd heading: 132.899129 deg. 2j HeadingCmd: 2.319527 target range: 72.300003 and range: 72.30 m. j #s@jjjihhhhBff!f!rf!bf%`M:?ɛɃB#Ž a{I  ɚiI-[=I5n@i1i9)=#s@)I*F%?2F!:F!BF%V0JF! M$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998476G DG B O% >L@Ow,?A6)?Y61F?6 ƽ96?>y6H`u<Y?i?" ÿr﫿y?? s?ɨ6)?6 ;6!CynBnIIzIz(*٢= f=9 Q  >  G٣y/> > -Nusing accuracyPremultiplier from config)559-j?55Y- i--™9=b?= A-E-;-;-_5A EZAIZjq}DNOT Ignoring new targets: 72.30 m.Bj}:Jj: ProNav: ac range: 72.300003 m, nav range: 22.533350 m, bearing: 283.541296 deg, approach rate: 0.522477 m/s, LOS rate: 0.031873 deg/s, cmd heading: 132.899130 deg, new cmd heading: 132.933187 deg. 2j:HeadingCmd: 2.320122 target range: 72.300003 and range: 72.30 m. j|@jjjihhhhfffrfbf@ɛǃBSн qI LɚiI[=I@ii)|@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250447jH<bHp<H%k>I%C I%( II%6BI% =&I!.I% 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502385zK RIK s9K K $K  (Vw,YA:J?Y:ψ?:ǽ9:w>y:H`,Nÿ?z?`(+ƿg&`x?`?`m?ɨ:J?:9͉;8yBBBIIJIJ٢R\= VQ=9VQ V>XX ZG٣ZWGyZ!= Z> bNusing accuracyPremultiplier from config`f59be?f5Yb  ib-™df?f AbEb:b:b5l n Ar=EZj15DNOT Ignoring new targets: 72.30 m.Bj=w:Jj=w:M ProNav: ac range: 72.300003 m, nav range: 22.737434 m, bearing: 283.566680 deg, approach rate: 0.515862 m/s, LOS rate: 0.063588 deg/s, cmd heading: 132.933185 deg, new cmd heading: 133.008655 deg. 2jM.;UHeadingCmd: 2.321439 target range: 72.300003 and range: 72.30 m. jUu@jQjQjYiYhYhYhahafafafirfibfm@ɛƃBƽ 隝kI HɚiIQ[=I+@ii)u@)*Fu?2Fy:FyBFo0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754964G%GBO>  I% hR\w,ysA:Hn?Y:P?:`Ƚ9:Eϙ>y:H@bƿ@l?@Y?@ ɿ &h?`? k?ɨ:Hn?:jK;:CyBBBIbWill construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:23:49:08.5946 fTRx dataTimestamp_ set to:1736380149.832755fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007563]Mb@Mb@Mb@YYY Y)YY]uV?L7A`? rh?y]r?]+=]C<]#A Y)YI] AYy] AIuIu٢= 0=9mJQ > G٣yuU= > Nusing accuracyPremultiplier from config59_?5Y~ ip-™ ?:? AE;?;!5 ~AZjq}DNOT Ignoring new targets: 72.30 m.Bj}:Jj}: ProNav: ac range: 72.300003 m, nav range: 22.986488 m, bearing: 283.597446 deg, approach rate: 0.520903 m/s, LOS rate: 0.063650 deg/s, cmd heading: 133.008659 deg, new cmd heading: 133.099956 deg. 2j.;HeadingCmd: 2.323032 target range: 72.300003 and range: 72.30 m. j@jjjihhhh Bfffrfbf  @ɛÃB*뵽 隍aI !ɚiIq[=I@ii)@)*F]?2FY:FYBF]`0JFYuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258448He l>Ia  Ie M IIe TBIa &Ia .Ia 6Ie <:Ie @ FJ- J- J- 0J) J- s:J- 9J- ـ3J) J- ;J- ;J- g;J- h;G -XGY Bi O >9cw,aA:??Y:G?:ʽ9:>y:Hɿ@_ r?/?_̿@i頿 DN??`n?ɨ:??:q;: CyRBRI)T VAIZIZ(*2٢b= bl=9f}]Q f?dd fG٣hyjh= j? nNusing accuracyPremultiplier from configlv59n6[?z5Yn inQ-™*?  AnEnl;n#;n5Q UAaB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 72.30 m.Bj ":Jj ":E ProNav: ac range: 72.300003 m, nav range: 23.166832 m, bearing: 283.631408 deg, approach rate: 0.505642 m/s, LOS rate: 0.094479 deg/s, cmd heading: 133.099951 deg, new cmd heading: 133.201043 deg. 2jE;MHeadingCmd: 2.324797 target range: 72.300003 and range: 72.30 m. jMx@jIjIjIiIhIhQhhfffrfbf`t @ IɛƒBgĽ nWI Q ɚiIg[=I%@i!i!)%x@))zKVBJKKK$K $Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 70.4 m (Round-trip 93.9 ms) speed 0.8 m/s ,DAT read: user:3485> BDAT read: Tx time:23:49:09.6965 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս =Ս < JDAT read: TxSync time:23:49:09.6958 Awiw,ݳA^*?Y^h?^f̽9^>y^H@̿@}??hsϿ`?8? r?ɨ^*?^;\yn"Br IMb@Mb@Mb@ )YK7A`?l?:v?y ?=< )`@IvAyAII٢%= %4=9%Q ->)) 5G٣5WGy5*h= 5> =Nusing accuracyPremultiplier from config9E59=3T?E5Y= i="-™Ms ?M:Un?U A=!E=<;=;;=5Y ]iAY addTargetRange:: Added new target pos. range: 70.400002 m, deltaT: 3.526757 s, deltaX: -1.900002 m, approachRate: -0.538739 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 72.30 m.Bj3-;Jj3-; ProNav: ac range: 72.300003 m, nav range: 23.410236 m, bearing: 283.696436 deg, approach rate: 0.572750 m/s, LOS rate: 0.151425 deg/s, cmd heading: 133.201038 deg, new cmd heading: 133.394093 deg. 2j;HeadingCmd: 2.328166 target range: 72.300003 and range: 70.40 m. j@jjjihhhh'BfffrfQ@bf7?ɛBѸ NI  ɚiIF[=I@ii)@) I*F2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G Gy B O >Zpw,}A6m?Y6u+?67ѽ96 ߏ>y6HHп}`?`4?@Fzѿ[@M?@ا? ?ɨ6m?6n;6CyR;BR/ IIbIb ٢j > jc=9j5ֻQ j>ll nG٣lyrL= r> vNusing accuracyPremultiplier from configtz59v-N?z5Yv$ iv,™x~^?~ Av#Evn:v:v-5 A@EZjAEDNOT Ignoring new targets: 72.30 m.BjMK;JjMK;] ProNav: ac range: 72.300003 m, nav range: 23.602390 m, bearing: 283.761379 deg, approach rate: 0.531017 m/s, LOS rate: 0.178008 deg/s, cmd heading: 133.394086 deg, new cmd heading: 133.587328 deg. 2j]T;eHeadingCmd: 2.331539 target range: 72.300003 and range: 70.40 m. je7@jajajaiahihihihifqfqfqrfqbfu σ?ɛB>չ 隥WAI BɚiIZ$[=I7@ii)7@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHAAHIC I II}BI =&I.I6I3<:IV F*F12F1:F9BF=P0JF9JJJJJ}:J9JJJ;J;J;J;GUMlG9BY yIyO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zKE MKE 9KA KE $KE BKC92+# vw,[۽ABCk?YBK?B<]ӽ9Bj>yBH`ѿC?@4??ӿj`_?{? Җ?ɨBCk?B;B CyJNBJF IIRIR)٢Z= ZL=9^z+Q ^>`` bG٣`yba= f> jNusing accuracyPremultiplier from configdj59fG?n5Yf if,™ln?r Af%Efm ;f ;f5t vAtZjY]DNOT Ignoring new targets: 72.30 m.Bjel;Jjel;u ProNav: ac range: 72.300003 m, nav range: 23.815609 m, bearing: 283.846566 deg, approach rate: 0.523131 m/s, LOS rate: 0.207136 deg/s, cmd heading: 133.587326 deg, new cmd heading: 133.840599 deg. 2ju'<HeadingCmd: 2.335959 target range: 72.300003 and range: 70.40 m. j[@jj j i h h hhf1f1f9rf9bf=?ɛB֪ 隭6I ɚiIZ=I[@ii)[@)a5Will construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBF]3JFa"Gm?Gm?G ~G G mA e $?Ia Gi Bq O > |w,L7A6~ ?Y6K?6ս96>y6Hӭӿ$$?`'D?Կۑo??Q?ɨ6~ ?6;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.yR[BRV IMb@Mb@Mb@ )Ygfffff?L7A`?:v?y3?+=A b@)@I Ay3AII%٢ o= 6=9;Q > G٣WGy%= %> -Nusing accuracyPremultiplier from config)559-]>?55Y- i-,™=P?=:=?= A-'E-;-;-5EB E AE=EZjiuDNOT Ignoring new targets: 72.30 m.Bju;Jj}; ProNav: ac range: 72.300003 m, nav range: 24.067444 m, bearing: 283.950252 deg, approach rate: 0.573760 m/s, LOS rate: 0.233757 deg/s, cmd heading: 133.840603 deg, new cmd heading: 134.148402 deg. 2jl <HeadingCmd: 2.341331 target range: 72.300003 and range: 70.40 m. j_@jjjihhh!h%(Bf!f!f!rf)bf-`?ɛB 隝.I s9ɚiIZ=I_@ii)_@)*FA2FA:FABFM_0JFI=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET?E`?Hk>IC I IIBI =&I.I6I><:I] FG J J J J J y:J 9J J J ;J ;J 2;J 2;G B O >w,MA6dI?Y6k?6Kֽ96@‘>y6H@s3տ@M??1<ֿXT`Ϻ?@:?` ?ɨ6dI?66A;6CyBwBBx IIJIJb٢Rg> Re=9VCQ V>TT ZG٣XyZ֐= Z> Nusing accuracyPremultiplier from config-596?-5Y i},™)-@5 A(E;d;~59 = A9eB*** querying acoustic contact ***jajaZjiuDNOT Ignoring new targets: 72.30 m.Bju[;Jju[; ProNav: ac range: 72.300003 m, nav range: 24.273413 m, bearing: 284.046049 deg, approach rate: 0.554922 m/s, LOS rate: 0.255907 deg/s, cmd heading: 134.148399 deg, new cmd heading: 134.433349 deg. 2j/<HeadingCmd: 2.346305 target range: 72.300003 and range: 70.40 m. j)@jjjihhhhfffrfbf??ɛBڪ $ I ɚiI~LZ=I)@ii))@) IhE *Fu?2Fq:FqBFu`0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK-MK-9K)K-$K-9W BK=oA:K=oAG]9GQBiO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265537‰w,(A=?Y=?=ź׽9=0>y=H Lֿ@GT-?`?׿{?@?)?M?ɨ=?=v;= Cy]B] I Mb@Mb@Mb@    ) Y ʡE?X9v?:v?y ? }=  f A ) @I  A y fAI%I%(٢-Ȫ= 54=9=nQ E>AA EG٣AyMhj= M> UNusing accuracyPremultiplier from configQ]59U,?]5YUI iUL,™e?e:eh@e AU+EUD;U;Up5mB m$ Au@EZjDNOT Ignoring new targets: 72.30 m.Bj/;Jj/; ProNav: ac range: 72.300003 m, nav range: 24.539562 m, bearing: 284.175916 deg, approach rate: 0.602049 m/s, LOS rate: 0.290583 deg/s, cmd heading: 134.433354 deg, new cmd heading: 134.818725 deg. 2jlG<HeadingCmd: 2.353031 target range: 72.300003 and range: 70.40 m. j@jjjihhhh>Bfffrfbfv*@ɛBs ;=$I !ɚiI/Y=I @i i)@)*F2F:FBFm0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515054GMlG ?G?G B O >w,BA62?Y6q?6ٽ96В>y6Hgؿ 6?b?Pٿ͍?-$??`9?ɨ62?6o[;6CyRBR IIZIZ(1٢b= be=9f"Q f>dd fG٣dyj= j> nNusing accuracyPremultiplier from configlr59nq$?r5Yn7 in%,™tv1@v An,EnL:n*:n5x zw AxZjIUDNOT Ignoring new targets: 72.30 m.BjU;JjU;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766975  ProNav: ac range: 72.300003 m, nav range: 24.750790 m, bearing: 284.291245 deg, approach rate: 0.583854 m/s, LOS rate: 0.316058 deg/s, cmd heading: 134.818727 deg, new cmd heading: 135.161755 deg. 2jX<%HeadingCmd: 2.359018 target range: 72.300003 and range: 70.40 m. j%%@j!j!j!i!h)h)h)h)f1jH=<bH=<HAIA IE IIEBIA&IA.IA6IE<:IE Ff1fqrfybf}M@ɛEBE] AE IA E%ɚIiIIMbqY=I%@ii)%@)*F2F:FBFo0JF $?IG N Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:49:12.1915  TRx dataTimestamp_ set to:1736380153.362760 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022202Ga Bi O >zK [4LK 59K K $K RK ?JK ?זw,\AVڻ?YV?Vڽ9V\>yVHڿ%?@` ?{ڿu?K?`??ɨVڻ?VP#;V CyjBj IIxIx٢o= 6=9EQ >!! %G٣%WGy-|= E> Nusing accuracyPremultiplier from configY59]I?5Y]^ i]+™@ A]/E]z<]-2<]5  AWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275091ZjDNOT Ignoring new targets: 72.30 m.Bj:;Jj:; ProNav: ac range: 72.300003 m, nav range: 25.038393 m, bearing: 284.464386 deg, approach rate: 0.523670 m/s, LOS rate: 0.311636 deg/s, cmd heading: 135.161753 deg, new cmd heading: 135.675197 deg. 2jU<HeadingCmd: 2.367979 target range: 72.300003 and range: 70.40 m. j@j!j!j!i!h)h)h1hQfYfYfYrfabfe @JJJ1JJ̈́:J9J3Ja@a@a@a@ɛMBU$ QUIQ UhɚQiYI] X=I]@iaia)e@)aEE*F% ?2F! :F! BF% _0JF! I h Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527563GM DG G pAGaBiO>Zw,M/{Ay5ςB5 IMb@Mb@Mb@ )YMb?J +?:v?y#?H=OA @)@IypAII<٢= .=9Q > G٣y > Nusing accuracyPremultiplier from config 59 ?5Y i+™#?:@ A1E;;5  A%AEZjIUDNOT Ignoring new targets: 72.30 m.BjU;JjU;e ProNav: ac range: 72.300003 m, nav range: 25.303703 m, bearing: 284.606105 deg, approach rate: 0.727113 m/s, LOS rate: 0.384323 deg/s, cmd heading: 135.675192 deg, new cmd heading: 136.095882 deg. 2jeI IG!II BI&I.I6I/<:IP FBIŦCJIŦCRIœCZI =bI =jIŖ4=DAT read: 23:49:12.1915 LVL= 22304, 25105, 22514, 32755, AGC= 62, IDX= 414,-0.09,-2.510, 1.963,-2.936, 2.968, PHS= 0.893,-0.958, 0.376, RAW= 134.3, -3.8, CAL= 139.8, -13.9, ROT= 10.2, 13.9 EYgot valid direction response: 23:49:12.1915 LVL= 22304, 25105, 22514, 32755, AGC= 62, IDX= 414,-0.09,-2.510, 1.963,-2.936, 2.968, PHS= 0.893,-0.958, 0.376, RAW= 134.3, -3.8, CAL= 139.8, -13.9, ROT= 10.2, 13.9 UPDAT read: Bearing 10.2, 13.9 (Local) U~Local bearing/azimuth received: Bearing 10.2, 13.9 (Local) eDAT read: Range 10 to 50 : 68.1 m (Round-trip 90.8 ms) speed 0.6 m/s e,DAT read: user:3486> mBDAT read: Tx time:23:49:13.2965 $Ping request sent.@ԇ y(@)UlxIK6>iUlx>p?,?6[})>Is=i6ӿ_:publishing transmit ping timeFpublishing direction and range info9UYW(`a~7_}Ec@?y )Ii )Iip?,?6[})Ii*F% ?2F! :F! BF! JF! I GM Ml Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՍ AG!B)OM>Fw,6#AzKk3IK9KK$KBK :K j?Yjn.@jYݽ9jF>yjHQݿ\ ? ;? ޿?@X? ?@?ɨj?j;hyvBv!II~I~٢ y=  :=9 :Q > G٣WGy> > %Nusing accuracyPremultiplier from config!-59%?-5Y% i%+™15<@5 A%3E%;%4;%59 =H AAkϥ{?kZue k k'kA:k3BBkHBZk<ܰ>"QUv SHgEMwJ@UYW(`a~7_}Ec@?Jk6ӿRk_*`J@g^<3@VlB@aDJ)?: Q?HBdx?"kA*kUBk"'?kv; 2kBkn?kkCkBk@ addTargetRange:: Added new target pos. range: 68.099998 m, deltaT: 3.779926 s, deltaX: -2.300003 m, approachRate: -0.608478 m/s, rangeRepo size: 4  Added new target pos. range: 68.099998 m, bearing: 19.791696 deg, lat: 36.905454 deg, lon: -122.120430 deg, deltaT: 7.306683 s, deltaX: -4.200005 m, approachRate: -0.574817 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 68.10 m.BjJj ProNav: ac range: 68.099998 m, nav range: 37.007328 m, bearing: 318.082698 deg, approach rate: 0.000000 m/s, LOS rate: 0.384323 deg/s, cmd heading: 136.095877 deg, new cmd heading: 136.606415 deg. 2juHeadingCmd: 2.384232 target range: 68.099998 and range: 68.10 m. juA@jyjyjyihhhhfffrf`fQ@bfF?ɛ5B5f 15dþI1 =ɚ9i9I=2W=IEA@iaieu~)eA@)iE]C;=*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ=:J"9Jـ3JG >bG B O >$w, A "$?I F?YF*@Fg9F>yFHw ߿_F?`?`y߿#?`??`?ɨF?FI`;Dy^B^!IMb@Mb@Mb@ )Y?~jt??y,?D=<A @)@I AyzAIId٢= ?=9cQ > G٣y= > Nusing accuracyPremultiplier from config59?5Yg i`+™Z-?:@ A5E;;5  A-B*** querying acoustic contact ***j)j)Zj9=DNOT Ignoring new targets: 68.10 m.BjEŜJjEŜU ProNav: ac range: 68.099998 m, nav range: 37.283585 m, bearing: 317.965017 deg, approach rate: 0.648296 m/s, LOS rate: -0.274117 deg/s, cmd heading: 136.606420 deg, new cmd heading: 136.255998 deg. 2jU<]HeadingCmd: 2.378116 target range: 68.099998 and range: 68.10 m. j] 3@jYjajaiahahahihmtBfiuWill 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.ff)rf)bf-?ɛB| 隝I ɚiI]W=I 3@iP}[IA  IE !IIE RBIE  =&IE GD.IA 6IE <:IE & FG B O >A w,n̾A>?Y>@>%9>_>y>HN 0c?@?N? #? 6??`?ɨ>?>;dd fG٣dyjE= j> nNusing accuracyPremultiplier from configlr59n蛜?r5Yn  in6+™tv @z An7EnD;nJ4;ni5| ~A~DEZj!-DNOT Ignoring new targets: 68.10 m.Bj5݉Jj=݉e ProNav: ac range: 68.099998 m, nav range: 37.522545 m, bearing: 317.875744 deg, approach rate: 0.649394 m/s, LOS rate: -0.241063 deg/s, cmd heading: 136.256004 deg, new cmd heading: 135.989891 deg. 2jep%uHeadingCmd: 2.373471 target range: 68.099998 and range: 68.10 m. ju@jqjyjyiyhyhyhhfffrfbf#?ɛB|} 隽BI  ɚiI vV=I@iҔU9w,KAvWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486926JiJmBAJuJuJqJqJu}:Ju9JqJqLE?Y @9Uߔ>yH`g`6?K? `۬?h?;? @w?ɨLE? ċ;騅CyޝBޝ;!IuMb@Mb@Mb@qqq q)qYu/$?X9v?I +?yu&1?u G٣WGy= > Nusing accuracyPremultiplier from config59כ?5Yʳ i*™k1?: @ A:E ;;5 B AZjDNOT Ignoring new targets: 68.10 m.Bj4nJj4n ProNav: ac range: 68.099998 m, nav range: 37.856689 m, bearing: 317.771064 deg, approach rate: 0.670681 m/s, LOS rate: -0.208254 deg/s, cmd heading: 135.989886 deg, new cmd heading: 135.678621 deg. 2j%HeadingCmd: 2.368039 target range: 68.099998 and range: 68.10 m. j%@j!j!j!i!h!h)h)h-XBf)f1f1rf1bf5Z?ɛeBmg imIi mp!ɚiiiIu;U=Iu@i}3OWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.734767w,SyAy~&B~O!II I ?1٢Mm= Mz=9MQ M?QQ UG٣Qy] ]? eNusing accuracyPremultiplier from configam59e̛?m5Ye ie*™iqu AeIC I!IIBI =&I.I;D6I$<:IA F*F2F:FBF_0JF"G?Ga=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986586GթOGBOB>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238359nGw, VAV9@YVX@Vy9VAÔ>yVHvUhc?iA?o.? ?J9?y?ɨV9@V;V Cy^+B^V!I f=f=dfAAIjIj[zKBHK+9KK$KDmdJ_?"٢-< -L=95;Q 5>19 =G٣9yES> E> MNusing accuracyPremultiplier from configIU59M?U5YMo iM*™QU@U AM>EM;MV;M 5a eAaZjDNOT Ignoring new targets: 68.10 m.Bj'Jj' ProNav: ac range: 68.099998 m, nav range: 38.347843 m, bearing: 317.644031 deg, approach rate: 0.676907 m/s, LOS rate: -0.146670 deg/s, cmd heading: 135.476488 deg, new cmd heading: 135.299961 deg. 2jQɻHeadingCmd: 2.361430 target range: 68.099998 and range: 68.10 m. j!@jjjihhhhfffrfbf@@ɛBa J_I !#ɚiIyFT=I!@isRG  $?I qw,14AR@YR@R@߽9RD>yRHv@`X9?H?@?ٻ??R?ɨR@Rq;Py^;B^j!I}Mb@Mb@Mb@yyy y)yY}Q?Q?:v?y}5?}\=}<}A }@)}Z@Iyyy} AII٢= C=9);Q > G٣y= > Nusing accuracyPremultiplier from config59̭?5Y i*™6?:t@ A@E;D; 5mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.745671 [AHEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 68.10 m.Bj,Jj,5 ProNav: ac range: 68.099998 m, nav range: 38.640110 m, bearing: 317.594411 deg, approach rate: 0.656828 m/s, LOS rate: -0.110671 deg/s, cmd heading: 135.299955 deg, new cmd heading: 135.152220 deg. 2j=痻=HeadingCmd: 2.358851 target range: 68.099998 and range: 68.10 m. j=k@jAjAjAiAhAhAhIhMBfifqfqrfqbf}@ɛBS 8I #ɚiIfS=Ik@iCjH <bH H [>I C I !II BI  =&I .I :D6I <:I $ F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:49:15.7886  TRx dataTimestamp_ set to:1736380157.144594 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996222Yw,_ NA6@Y6@6n%޽96C^>y6H@*@?`_(?`ι?@?s?਒?ɨ6@6ȉ;6CyNABNp!IIVIV(*٢b< bZ=9b:Q b>dd fG٣jWGynՙ= n> rNusing accuracyPremultiplier from configpv59r?v5Yr{ irU*™tzG@z ArBEr:r:r=5| ~.A|Zj!-DNOT Ignoring new targets: 68.10 m.Bj-պJj-պ ProNav: ac range: 68.099998 m, nav range: 38.903591 m, bearing: 317.561505 deg, approach rate: 0.753378 m/s, LOS rate: -0.093451 deg/s, cmd heading: 135.152218 deg, new cmd heading: 135.054169 deg. 2jDHeadingCmd: 2.357140 target range: 68.099998 and range: 68.10 m. ja@jjjih h h h f IffrfbfB @ɛ-B-ZT QU'IQ UU$ɚQiQI]R=Iea@im( B)a@)EEqA*F%?2F!:F!BF%0JF!G) G-qAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.247457G GBzK5LOK1K1K5$K5k?w^D*|ztmib]WRMGD@;621.,))(&$#"Omx>w,gAbWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 23:49:15.7886 LVL= 20528, 32753, 20546, 32755, AGC= 65, IDX= 417,-0.22,-0.962,-2.057,-0.645,-1.213, PHS= 0.339,-0.797, 0.565, RAW= 158.9, -1.7, CAL= 161.7, -10.1, ROT= 348.3, 10.1 ]Ygot valid direction response: 23:49:15.7886 LVL= 20528, 32753, 20546, 32755, AGC= 65, IDX= 417,-0.22,-0.962,-2.057,-0.645,-1.213, PHS= 0.339,-0.797, 0.565, RAW= 158.9, -1.7, CAL= 161.7, -10.1, ROT= 348.3, 10.1 ePDAT read: Bearing 348.3, 10.1 (Local) e~Local bearing/azimuth received: Bearing 348.3, 10.1 (Local) DAT read: Range 10 to 50 : 65.9 m (Round-trip 87.9 ms) speed 0.6 m/s ,DAT read: user:3487> BDAT read: Tx time:23:49:16.8965 $Ping request sent.f1Lfף?f5~1@f f4@)fJ4If@ifJ4>ddf0ӓ?t ?寠)ff-?If G٣y >  Nusing accuracyPremultiplier from config 59?5Y i*™'8?:@ AFE\ ; ;5B AKEkf?kfZ3 kd kfiA:kf̃BBkfBZkf?"f[8cj9M :@foQ̴+9Nu?Jkf&wԿRkf־*fIQvJ@97B@0 лE:!@f?$IJD}6?2?"kfB*kfUBkf#?kf!@ 2kf|BkfMܨ?kdkfQBkfABkf~@5 addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 3.534510 s, deltaX: -2.199997 m, approachRate: -0.622433 m/s, rangeRepo size: 4 M Added new target pos. range: 65.900002 m, bearing: 35.035006 deg, lat: 36.905557 deg, lon: -122.120430 deg, deltaT: 3.534510 s, deltaX: -2.199997 m, approachRate: -0.622433 m/s, posRepo size: 4 ZjQUDNOT Ignoring new targets: 65.90 m.Bj]JjYmWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 65.900002 m, nav range: 48.430271 m, bearing: 326.757523 deg, approach rate: 0.000000 m/s, LOS rate: -0.093451 deg/s, cmd heading: 135.054164 deg, new cmd heading: 134.885125 deg. 2jHeadingCmd: 2.354190 target range: 65.900002 and range: 65.90 m. j @jjjihhhhGBfffrfyP@bf`?ɛ5 B= H = == I9 } 3%ɚy i I ~Q=I @i ?Bw,*AB,@YB/@BHlؽ9B>yBH mP?`_"?`?? mv? ?ɨB,@B;BCy^JB^|!IIfIfW٢nl= n=9r- 5'? =Nusing accuracyPremultiplier from config9E59=r{?E5Y=2 i=)™AE(@ A=GE=(<=)<=5 AZjHQ>IC I"IIƒBI =&I.I9D6I[<:IZ F%DNOT Ignoring new targets: 65.90 m.BjT7JjT7 ProNav: ac range: 65.900002 m, nav range: 48.617462 m, bearing: 326.716487 deg, approach rate: 0.733967 m/s, LOS rate: -0.160280 deg/s, cmd heading: 134.885130 deg, new cmd heading: 134.762497 deg. 2jۻHeadingCmd: 2.352049 target range: 65.900002 and range: 65.90 m.%Will construct direction to contact in vehicle frame from tetrahedron phase data. je@jajajaiahahihihififqfyrfbf2?ɛ B q$U  HI  j]%ɚiIQ=I@iҩ>w,䜿AJ @YJ*@J,8ս9Jց}>yJHaHڔ@l?`?M ɀ??$2?pp rG٣rWGyv/C= v> zNusing accuracyPremultiplier from configx~59zj?~5Yz2 iz)™c@ AzIEzR;z;z5 B A LEZj15DNOT Ignoring new targets: 65.90 m.Bj="Jj="M ProNav: ac range: 65.900002 m, nav range: 48.893570 m, bearing: 326.662949 deg, approach rate: 0.734726 m/s, LOS rate: -0.141660 deg/s, cmd heading: 134.762501 deg, new cmd heading: 134.602795 deg. 2jMp»UHeadingCmd: 2.349262 target range: 65.900002 and range: 65.90 m. jUOZ@jQjQjihhhhfffrfbf?ɛ-B50O QUvIQ ]Ǽ%ɚYiYI]hwP=IeOZ@ie>G>GGqAGnAUWill construct direction to contact in vehicle frame from tetrahedron phase data.GB)O> $?I h w,Aj1 @YjP@jCн9jJAr>yjH AFk? S?@ $? ?4??ɨj1 @j;j!Cy%OB-!IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yd;O?V-?:v?y4?m=T<A @)@IAyp@IIԳ٢= 9=9;Q > G٣y &=  > Nusing accuracyPremultiplier from config595V?5Y i)™`5?%:%/@% ALE;;5) -A)UB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 65.90 m.Bjm3ܺJjm3ܺ ProNav: ac range: 65.900002 m, nav range: 49.200520 m, bearing: 326.620078 deg, approach rate: 0.693515 m/s, LOS rate: -0.096257 deg/s, cmd heading: 134.602798 deg, new cmd heading: 134.474988 deg. 2j%HeadingCmd: 2.347031 target range: 65.900002 and range: 65.90 m. j%5@j!j!j!i!h!h)h)h- BfQfQfQrfQbf]@Y?ɛBC 隥`I $&ɚiIO=I5@i?I I""IIуBI =&I.I6IE<:IF FBI}ȤCJI}ȤCRI}ȔCZI} =bI} =jI}6U Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******] R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.*F ?2F :F BF s3JF G μJ J J J J :J 9J J J 7;J 8;J <;J <;G B O >xw,̚пA6 @Y6@6;Ƚ96Mj>y6H ??E ?/?@V? ?ɨ6 @6y#;6CyRUBR!II~I~F٢M]< MV=9U1QQ UG aIa٣y< > Nusing accuracyPremultiplier from config59D?5Ya i)™@ ANE6;7;?5 xAOEZjDNOT Ignoring new targets: 65.90 m.BjźJjź ProNav: ac range: 65.900002 m, nav range: 49.471222 m, bearing: 326.586479 deg, approach rate: 0.700485 m/s, LOS rate: -0.086467 deg/s, cmd heading: 134.474991 deg, new cmd heading: 134.374745 deg. 2j]mHeadingCmd: 2.345282 target range: 65.900002 and range: 65.90 m. j@jjjihhhhf f f rf bf ?ɛEBEB AEĿIA Eek&ɚIiIIMvO=IU@iU?zKozLK9KK$KRK ?JKm Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957807Aw,A] @Y|@"ѽ9a>yH-?M? #?r??@?ɨ] @^; CyOB!IMb@Mb@Mb@ )YX9v? G٣WGy}q< > Nusing accuracyPremultiplier from config59U/?5Y: iX)™4?:@ AQE;N;<5B AREZjDNOT Ignoring new targets: 65.90 m.Bj%Jj%= ProNav: ac range: 65.900002 m, nav range: 49.788635 m, bearing: 326.557792 deg, approach rate: 0.698987 m/s, LOS rate: -0.062769 deg/s, cmd heading: 134.374751 deg, new cmd heading: 134.289240 deg. 2j=O,EHeadingCmd: 2.343789 target range: 65.900002 and range: 65.90 m. jE@jIjIjIiIhQhQhQhUBfYfYfYrfYbf] @ $?I ɛ%B%@ )-ĽI) -&ɚ)i)I5aeN=I5@i5UAI}C I}("II}փBI}! =&Iy.I}8D6I}`<:I}S FG':G ?G9?%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458584GBO?Tw, A6 @Y6@6u96U>y6H@>$ ?@\?9?[g?f?`/?ɨ6 @6(5;6CyLN!ITVAIZIZb٢be b4=9f6JxJzJxJxJxJz:JxJxJz6;JxJzI;JzI;)) 5G٣1y5b;< => ENusing accuracyPremultiplier from configAm59E?u5YEy iE/)™qu@u AESEEx;E;ED5y }AZjDNOT Ignoring new targets: 65.90 m.BjJj ProNav: ac range: 65.900002 m, nav range: 50.113556 m, bearing: 326.530917 deg, approach rate: 0.679726 m/s, LOS rate: -0.055857 deg/s, cmd heading: 134.289237 deg, new cmd heading: 134.209136 deg. 2jV-HeadingCmd: 2.342391 target range: 65.900002 and range: 65.90 m. j-@j)j)j)i1h1h1h1h1f9fAfarfabfm(@ɛ|B= 隵tI !'ɚiIM=I@ivnB w,%A6 @Y6@6j96G>y6H NSx? ?VJ-?.?I?I?ɨ6 @6;4y>TB>!IIFIF 2٢N< RN=9R~^TT VG٣TyVT; V> fNusing accuracyPremultiplier from config\j59^?n5Y^u i^)™tvB@v A^UE^;^#;^5~B ~pA~UEZj!%DNOT Ignoring new targets: 65.90 m.Bj)Jj)= ProNav: ac range: 65.900002 m, nav range: 50.382565 m, bearing: 326.509781 deg, approach rate: 0.714717 m/s, LOS rate: -0.055857 deg/s, cmd heading: 134.209133 deg, new cmd heading: 134.146062 deg. 2jHeadingCmd: 2.341290 target range: 65.900002 and range: 65.90 m. j@jjjihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:49:19.3855 TRx dataTimestamp_ set to:1736380160.676392checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967678ɛEyBEOp; quIy ^'ɚiI=M=I=@iEC- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2136913w,H?A2 @Y2@27927>y2H W $@? ?U@M??`?d?ɨ2 @2;2"CybVBb!IMb@Mb@Mb@ )Y&1?RQ?Mbp?y0?=;zA S@)@Iyz@II٢; (=9%T<)) -G٣-WGy5N"; 5> =Nusing accuracyPremultiplier from config9E59=Q?E5Y=p i=(™2?:!@ A=XE=-<=x1<= 5 cAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 65.90 m.Bj%ݹJj%ݹe ProNav: ac range: 65.900002 m, nav range: 50.719948 m, bearing: 326.497802 deg, approach rate: 0.686882 m/s, LOS rate: -0.024225 deg/s, cmd heading: 134.146063 deg, new cmd heading: 134.110366 deg. 2jeuHeadingCmd: 2.340667 target range: 65.900002 and range: 65.90 m. ju@jyjyjyHD>I III" =&I.I7D6Ie<:IU Fiyhhh9h=BfAfAfArfAbfM% @}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:49:19.3855 LVL= 25984, 32625, 18386, 31443, AGC= 64, IDX= 416, 0.38,-1.295,-2.263,-0.671,-1.300, PHS= 0.093,-0.916, 0.626, RAW= 169.9, 2.9, CAL= 170.4, -5.8, ROT= 339.6, 5.8 Ygot valid direction response: 23:49:19.3855 LVL= 25984, 32625, 18386, 31443, AGC= 64, IDX= 416, 0.38,-1.295,-2.263,-0.671,-1.300, PHS= 0.093,-0.916, 0.626, RAW= 169.9, 2.9, CAL= 170.4, -5.8, ROT= 339.6, 5.8 PDAT read: Bearing 339.6, 5.8 (Local) ~Local bearing/azimuth received: Bearing 339.6, 5.8 (Local) DAT read: Range 10 to 50 : 63.5 m (Round-trip 84.7 ms) speed 0.7 m/s ,DAT read: user:3488> BDAT read: Tx time:23:49:20.4982 $Ping request sent.@)څ4QϽIڅ@iڅ4Q=ځځۅYK?Wq?(QA?)ۅ^?Iۅ!"RiۅKݿۅQ]ہہ5:publishing transmit ping time5Fpublishing direction and range info +'ɚiiiImL=؁9؅EbBĿ-EGq7s?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅYK?Wq?(QA?)ہIہiہہہہI@iwEkw,ZAWill construct direction to contact in vehicle frame from tetrahedron phase data."JDAT read: TxSync time:23:49:20.4974 ^ @Y^@^/9^}'>y^H S@xH?3?R8?@[,?i?D~?ɨ^ @^;^Cy~XB~!II I ̍٢=< =a=9Eo|II MG٣qyuj u> Nusing accuracyPremultiplier from configy59}ޚ?5Y}l i}(™!@ A}ZE}h;};}!5B JAkK?kw k kpCKA:k~BBkC|BZk"(?"@wB$eNQ<+@EbBĿ-EGq7s?JkKݿRkQ]*kpI@^C@8걘7@lĩQ?! ?'?"kB*kHBk̞h?k#p 2kֈBk̞h?kv; kBkRBk#>u addTargetRange:: Added new target pos. range: 63.500000 m, deltaT: 3.525566 s, deltaX: -2.400002 m, approachRate: -0.680742 m/s, rangeRepo size: 4  Added new target pos. range: 63.500000 m, bearing: 37.630910 deg, lat: 36.905627 deg, lon: -122.119935 deg, deltaT: 3.525566 s, deltaX: -2.400002 m, approachRate: -0.680742 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 63.50 m.BjJj ProNav: ac range: 63.500000 m, nav range: 52.672756 m, bearing: 17.472843 deg, approach rate: 0.000000 m/s, LOS rate: -0.024225 deg/s, cmd heading: 134.110368 deg, new cmd heading: 134.083066 deg. 2jHeadingCmd: 2.340191 target range: 63.500000 and range: 63.50 m. j@zKjIK9KK$Kjj!j!i!h)h)h)h)f1f1f1rf5O@bf5 _?ɛqBH6 隭XHI 0'ɚiIjL=I@iFWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I hڐw,ttA6 @Y6@696Qq>y6HGq ?a?KGt? =ܰ?`ܒ?Q?ɨ6 @6;6 Cy@@EMb@Mb@Mb@AAA A)AYEHzG?/$?y&1|?yE=*?E1>E`;E A E@)Ex@IE@AyE@I]I]M٢m: mH=9mNqq uG٣qy} }> Nusing accuracyPremultiplier from config59T˚?5Yh i(™-?:I%@ A\Ez;;q#5B AAXEZjDNOT Ignoring new targets: 63.50 m.Bj'%Jj'% ProNav: ac range: 63.500000 m, nav range: 52.849869 m, bearing: 17.248532 deg, approach rate: 0.457558 m/s, LOS rate: -0.577547 deg/s, cmd heading: 134.083061 deg, new cmd heading: 133.412417 deg. 2j.ƼHeadingCmd: 2.328486 target range: 63.500000 and range: 63.50 m. j@jjjihhhh9Bfffrfbf@?ɛ-mB56a4 =V8==X)I9 =W'ɚ9i9I=(L=IE@iAiEy=)M@)IUWill construct direction to contact in vehicle frame from tetrahedron phase data.Yi]A*F?2F:FBF_5JFG8U=GBO>H C>I  I I I # =&I .I 6I <:I ~ F Will construct direction to contact in vehicle frame from tetrahedron phase data.bz#w,AyYB!II=I=?٢Yy; H=9Q > G٣WGy > Nusing accuracyPremultiplier from config59?5Yd i(™ A_EQ;;<%5 :AZjDNOT Ignoring new targets: 63.50 m.BjJj  ProNav: ac range: 63.500000 m, nav range: 53.031151 m, bearing: 17.021541 deg, approach rate: 0.441980 m/s, LOS rate: -0.551528 deg/s, cmd heading: 133.412418 deg, new cmd heading: 132.733807 deg. 2jAHeadingCmd: 2.316642 target range: 63.500000 and range: 63.50 m. jC@jjj!i!h!h!h!h)f)f)f)rf1bf=j? ]$?IYɛmiBu0 qu`Iq u'ɚyiyI}K=I}C@iiab=)C@)*F ?2F:FBF@5JFGs=G ?G?GBOD>]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKe BoHKe 9Ka Ke $Ke բ)w,jA27 @Y2V@2C7f92+=y2H! %?@{ ?&@?ì?@? ?ɨ27 @2È;2Cyv_Bv!II I ٢%Z= %R=9-11 =G٣9yE& M> mNusing accuracyPremultiplier from configau59e?u5Ye9a ie~(™y}$@ AeaEe;e7z;e&5 A[EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 63.50 m.BjJj ProNav: ac range: 63.500000 m, nav range: 53.204109 m, bearing: 16.804413 deg, approach rate: 0.437964 m/s, LOS rate: -0.548022 deg/s, cmd heading: 132.733812 deg, new cmd heading: 132.084573 deg. 2j HeadingCmd: 2.305311 target range: 63.500000 and range: 63.50 m. j6@jjjihhhhfffrfbf.O?ɛ%eBJJJJJJ:JJa@a@a@a@-+ `5I (ɚiI`K=I56@i9iE5=)m6@)y III*F=?2F9:FABFEO5JFAm Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu x=GY Bi O >j0w,DAynlBr!I}Mb@Mb@Mb@yyy y)yY}Pn?ʡE?}t<}v@ }@)}K@I}p@yy}@II٢{= B=9Q > G٣y > Nusing accuracyPremultiplier from config59ǐ?5Y] ic(™(?:H'@ AcE;#;(5 AZj DNOT Ignoring new targets: 63.50 m.Bj gJj g ProNav: ac range: 63.500000 m, nav range: 53.390446 m, bearing: 16.590071 deg, approach rate: 0.449700 m/s, LOS rate: -0.515481 deg/s, cmd heading: 132.084575 deg, new cmd heading: 131.443823 deg. 2j%ⰼ%HeadingCmd: 2.294127 target range: 63.500000 and range: 63.50 m. j-@j)j)j)i)h)h)h1h5Bf1f9f9rf9bf=?ɛmaBmd! imp6w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.R* @YRI@R59R=yRH#:@ق?@Zn?`.??PI??ɨR* @R;R!CybsBb!IIjIjb٢r= rX=9rtt vG٣vWGyz~1 z> ~Nusing accuracyPremultiplier from config|59~~? 5Y~6Z i~N(™  @&@  A~eE~y);~u ;~l*5B \A^E5B*** querying acoustic contact ***j1j1ZjAMDNOT Ignoring new targets: 63.50 m.BjMJjMe ProNav: ac range: 63.500000 m, nav range: 53.558041 m, bearing: 16.393036 deg, approach rate: 0.441718 m/s, LOS rate: -0.517686 deg/s, cmd heading: 131.443821 deg, new cmd heading: 130.854587 deg. 2jemHeadingCmd: 2.283843 target range: 63.500000 and range: 63.50 m. jm}*@jijijiiihihqhqhqfqfyfyrfybf}`~@ɛ]BO 隭p2=I 'ɚiI[K=I}*@ii)F=)}*@)E.=zKKKK$K*Fm?2Fi:FiBFm_0JFi"Gu=Gu=Will construct direction to contact in vehicle frame from tetrahedron 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}ܒ=J J J J J :J :J J G BI O ! I! )IF< J=Jp=mMb@Mb@Mb@iii i)iYmMb?{Gz?Mbp?ym#?m#>m;m@ m@)m5@Im@iymQ@@AII٢m< -=9A   G٣ y > Nusing accuracyPremultiplier from config-59hh?-55Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759370YV i9(™=#(?=:=s&@= AgE7;w;~,5MB M1AMaEZjq}DNOT Ignoring new targets: 63.50 m.Bj}Jj} ProNav: ac range: 63.500000 m, nav range: 53.768772 m, bearing: 16.149575 deg, approach rate: 0.442936 m/s, LOS rate: -0.509723 deg/s, cmd heading: 130.854581 deg, new cmd heading: 130.127102 deg. 2j讼HeadingCmd: 2.271146 target range: 63.500000 and range: 63.50 m. jvZ@jjjihhhhBfffrfbf@U@ɛXB- 4=I 'ɚiICTK=I vZ@i i =) vZ@)E-п8=H I  I ."II ܃BI # =&I .I 6I <:I | FBIuɠCJIuɠCRIuɓCZIu" =bIu" =jIurD5*F 2F :F BF =2JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:49:22.9838  TRx dataTimestamp_ set to:1736380164.202622 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014976 $?IGR@=GBO >"Ew,A:&@Y:(@:9:m=y:H ; ??8@ K?@n?h??ɨ:&@:;: CyNBN!II^I^<٢]= ]:=9]\aa eG٣aymS m> }Nusing accuracyPremultiplier from configq}59uS?5YuQ iu)(™f%@ AujEu;u&;ui.5 AZjDNOT Ignoring new targets: 63.50 m.BjJj5 ProNav: ac range: 63.500000 m, nav range: 53.961670 m, bearing: 15.922012 deg, approach rate: 0.434198 m/s, LOS rate: -0.510395 deg/s, cmd heading: 130.127098 deg, new cmd heading: 129.446882 deg. 2j5#=HeadingCmd: 2.259274 target range: 63.500000 and range: 63.50 m. j=@j9j9j9i9h9hAhAhAfAfifirfqbfu@ @ɛSB 隽 =I ,'ɚiIcK=I @i i ߚ=) @)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267412zK)K-h9K)K-$K-BKA:KEpA*FE?2FI:FIBFMR0JFIe Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:49:22.9838 LVL= 25936, 30017, 18642, 32595, AGC= 67, IDX= 415, 0.31,-1.088,-2.086,-0.540,-1.164, PHS= 0.164,-0.875, 0.622, RAW= 167.4, 1.4, CAL= 168.5, -7.2, ROT= 341.5, 7.2  Ygot valid direction response: 23:49:22.9838 LVL= 25936, 30017, 18642, 32595, AGC= 67, IDX= 415, 0.31,-1.088,-2.086,-0.540,-1.164, PHS= 0.164,-0.875, 0.622, RAW= 167.4, 1.4, CAL= 168.5, -7.2, ROT= 341.5, 7.2  PDAT read: Bearing 341.5, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 341.5, 7.2 (Local)  DAT read: Range 10 to 50 : 61.1 m (Round-trip 81.5 ms) speed 0.7 m/s  ,DAT read: user:3489> J J J J J ,:J :J J G- J= BDAT read: Tx time:23:49:24.0966  $Ping request sent. Lw,|4A`direction in FSK: [-0.131389,-0.956528,0.260366]:publishing transmit ping timeYFpublishing direction and range info)9-bkZ"4n0ש?y-ftB)-Pe-Au -H)-SI-Ci-'>-`-d;?-:@-+< -`7<@)-I-ƺ@i->))-?5?{a>?)-ǦS?I-i-ڿ-܆))^:publishing transmit ping timeY^Fpublishing direction and range info)9-bkZ"4n0ש?y)))) )))I)i))))) )))I)i)))-?5?{a>?)) @Y +@Ҽ9"Ƥ=yH 8 "p?"0?i@~Ӣ? Z?U??ɨ @u;!CI)i))))y5BU!IMb@Mb@Mb@ )YS㥛?l?t<p@ @)I@yf@II٢uRS= u=9}/;Q }>yy G٣WGyH > Nusing accuracyPremultiplier from config59 :?5YL i(™-)?:#@ AmE;f;05B *AbEk-m\4?k-70 k) k-fk-A:k-ftBBk-rBZk-?"-_KD {:8M6/@-bkZ"4n0ש?Jk-ڿRk-܆*-r pH@htF~A@M>s&%@-뛙?pR?9ZlI a|&ɚiInK=I@ii~=)@)*Fq2Fq:FqBFuP0JFqjH bH H I  I G"II BI &I .I 6I <:I k FG =G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >Sw,NABI@YBK@BR9B!=yBH`@F`:?1`?`@v?-ޖ? ??ɨBI@BO;B Cy^B^!IIjIjԳ٢r> vy=9  '@jjjihhhhfffrfbf @x?ɛMIBUɼ QUL>IQ UI%ɚQiYI]bK=I]>@ia u$?IuhieA9=)>@)*F?2F:FBF_0JF)&= cCG= NG-sAEA }Y}sAy%BGBOL> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK :IK s9K K $K RK JK ?նYw,hAyޕBޕ"IIIn٢ۣ= >=9Q > G٣WGy > Nusing accuracyPremultiplier from config559N?=5YIE i'™99= AqEzx<x<#45A EAIeB*** querying acoustic contact ***jajamWill construct direction to contact in vehicle frame from tetrahedron phase data.m >mC>uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ZjDNOT Ignoring new targets: 61.10 m.BjAJjA ProNav: ac range: 61.099998 m, nav range: 62.867786 m, bearing: 33.193394 deg, approach rate: 0.246662 m/s, LOS rate: -0.539443 deg/s, cmd heading: 128.031595 deg, new cmd heading: 127.325420 deg. 2jHeadingCmd: 2.222248 target range: 61.099998 and range: 61.10 m. jO9@jjjihhhhfff rf bf l?ɛ5DB5/ü 9=z>I9 =%ɚ9i9IEK=IEO9@iIiMP=)MO9@)IJJJ1JJJ:J3J*F?2F:FBFe0JF IG= = Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.186342G) B1 OM >`w,셂A6Z@Y6y@6 96=y6H kX@?m?;f@g? ?T?6?ɨ6Z@6>;6CyR΃BR"I V=Va=5Mb@Mb@Mb@111 1)1Y5!rh?n?:v?y5l'?5V>5T<5C@ 5@)5K@I5@1y1IIIMIM ٢w= I=9d G٣y4 > Nusing accuracyPremultiplier from config59?5YA i'™2+?: @ AsE#;D";55B nA hEZj)5DNOT Ignoring new targets: 61.10 m.Bj=)JjE)U ProNav: ac range: 61.099998 m, nav range: 62.964600 m, bearing: 32.961945 deg, approach rate: 0.248415 m/s, LOS rate: -0.592967 deg/s, cmd heading: 127.325422 deg, new cmd heading: 126.632178 deg. 2jUy˼]HeadingCmd: 2.210148 target range: 61.099998 and range: 61.10 m. j]s @jYjYjaiahahahihmBfififirfqbfu ?ɛ?B 隝->I =$ɚiIkK=Is @iig̱=)s @)HB>I If"II BI" =&I.I6If<:IT F*F!2FI:FIBFM0JFQG%Ҵ=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438432GB O%M> u$?Iy PExceeded connect timeout, disconnecting.{fw,bA26@Y28@2JV92 =y2H`H2s?/?+}?V֊?i]?@m?ɨ26@2fB;0yBBB9"IIJIJ٢nE=rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.690433 v[=9v xx zG٣xy~iμ ~> Nusing accuracyPremultiplier from config 59? 5Y#= i'™ + @ AuE];;75! %A!ZjIMDNOT Ignoring new targets: 61.10 m.BjU"JjU"e ProNav: ac range: 61.099998 m, nav range: 63.052341 m, bearing: 32.748943 deg, approach rate: 0.233789 m/s, LOS rate: -0.566755 deg/s, cmd heading: 126.632172 deg, new cmd heading: 125.994083 deg. 2jez¼mHeadingCmd: 2.199012 target range: 61.099998 and range: 61.10 m. jm @jijijqiqhqhqhyhyfyfyfyrfbfh?ɛ;B$ 隽>I ;#ɚiIK=I @iiX=) @)*FQ2FQ:FQBFUO5JFQzKKK9KK$K&gj> BK:KG=GqBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.942562O>J J J 0J J :J :J ـ3J y I }lw,2=A>@Y> @>t9>=y>H` -@ ?` >? ?@?-?@4?ɨ>@>;> CyRBRP"I5Mb@Mb@Mb@111 1)1Y5Q?B`"۹?~jt?y5(?5=5D<1 1)5b@I5@1y1IMIMV٢]ʰ= ]B=9e+aa mG٣mWGym m> }Nusing accuracyPremultiplier from configq59uᙜ?5YuX8 iu'™*?:@ AuwEu1;uJ0;ua95 #AkEZj9=DNOT Ignoring new targets: 61.10 m.BjEJjEM ProNav: ac range: 61.099998 m, nav range: 63.132767 m, bearing: 32.506032 deg, approach rate: 0.185202 m/s, LOS rate: -0.558659 deg/s, cmd heading: 125.994082 deg, new cmd heading: 125.266318 deg. 2jUeHeadingCmd: 2.186310 target range: 61.099998 and range: 61.10 m. je @jajajaiahihihihmCBfffrfbf@@ɛ%5B%zp !%>I! -!ɚ)i)I-зK=I5 @i1i5'B=)5 @)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195723*F2F:FBF@5JFG)=G ?G+?GyBO^>ZH RH @AH I  I "II -BI &I .I 6I ^<:I N F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446255sw,MARZ<@YR\[@R_9Rك=yRH h -?@Xw?^`?`w?8x? ?ɨRZ<@R-W;Py^B^d"IIjIjƲ٢rp= rP=9vtx zG٣xyz z> Nusing accuracyPremultiplier from config|59~kљ? 5Y~3 i~'™  @  A~yE~" ;~u ;~;5 7@Zj9MDNOT Ignoring new targets: 61.10 m.BjUm-JjUm-e ProNav: ac range: 61.099998 m, nav range: 63.206463 m, bearing: 32.278291 deg, approach rate: 0.196485 m/s, LOS rate: -0.606480 deg/s, cmd heading: 125.266311 deg, new cmd heading: 124.583921 deg. 2jeмmHeadingCmd: 2.174400 target range: 61.099998 and range: 61.10 m. jm]) @jijijiiqhqhqhqhqfyfy $?Ihfrfbfq@ɛ0B 隍>I  ɚiIsK=I]) @iil=)]) @)E*FQ2FQ:FQBF]P0JFYGeqA Ga 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=2.699026G1G B O5 >zKE LKE 9KA KE $KE  ,NXZTQMLJFGHGD?==<:4/)zw,]AJʍ@YJ̬@J]69J#x=yJH@\Ң`Lߨ? S?eT ҫ?f?Y??ɨJʍ@J;JCy^Bby"IIzIz0٢O= I=9%;Q ->19 =G٣9yEtԼ E> Nusing accuracyPremultiplier from config59?5Y. i'™N@ A{E);:<5B @lEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 61.10 m.Bj%Jj% ProNav: ac range: 61.099998 m, nav range: 63.284435 m, bearing: 32.031764 deg, approach rate: 0.183357 m/s, LOS rate: -0.579009 deg/s, cmd heading: 124.583921 deg, new cmd heading: 123.845293 deg. 2jƼHeadingCmd: 2.161508 target range: 61.099998 and range: 61.10 m. j&V @jjjih!h!h!h!f)f)f)rf)bf-#@]Will construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:23:49:26.5791 uTRx dataTimestamp_ set to:1736380167.735354checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955199ɛ+Bջ 隕>I &ɚiIK=I&V @ii=)&V @)JJAA*F2F:FBF%_0JF! -$?I)GV=GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202400w,A6@Y6@6896Im=y6H]?`??`2F? ;?ɨ6@6;6 CyR)BR"I5Mb@Mb@Mb@111 1)1Y5ʡE?333333?Mb?y5/?5=5<5-@ 5@)5x@I5@1y1I}I}?1٢8= C=9;Q > G٣yӼ > Nusing accuracyPremultiplier from config59?5Y) i'™0?:@ A~E;V;>5 @oEZjDNOT Ignoring new targets: 61.10 m.Bj-Jj-  ProNav: ac range: 61.099998 m, nav range: 63.347862 m, bearing: 31.786764 deg, approach rate: 0.157659 m/s, LOS rate: -0.608379 deg/s, cmd heading: 123.845291 deg, new cmd heading: 123.111068 deg. 2j мHeadingCmd: 2.148694 target range: 61.099998 and range: 61.10 m. j2 @jjjihhh)h-vBf)f)f)rf1bf5@^ @ɛ]&B] ? aeR?Ia ekWɚaiaIe K=Im2 @iiiu=)u2 @)qHA>I I"IIUBI&I.I6I <:I F*F ?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457746JSK[3 K[A.KSKS"KSJJJ2JJ:J :Jc3JJ;aJ;aJR;aJR;aG1=GGqA !I)GBO>w,AbWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:49:26.5791 LVL= 25776, 30433, 17602, 31539, AGC= 66, IDX= 415, 0.14, 1.242, 0.036, 1.670, 1.079, PHS= 0.251,-0.996, 0.588, RAW= 161.7, 2.2, CAL= 162.9, -6.6, ROT= 347.1, 6.6 Ygot valid direction response: 23:49:26.5791 LVL= 25776, 30433, 17602, 31539, AGC= 66, IDX= 415, 0.14, 1.242, 0.036, 1.670, 1.079, PHS= 0.251,-0.996, 0.588, RAW= 161.7, 2.2, CAL= 162.9, -6.6, ROT= 347.1, 6.6 %PDAT read: Bearing 347.1, 6.6 (Local) %~Local bearing/azimuth received: Bearing 347.1, 6.6 (Local) 5DAT read: Range 10 to 50 : 58.8 m (Round-trip 78.4 ms) speed 0.5 m/s 5,DAT read: user:3490> =BDAT read: Tx time:23:49:27.6966 E$Ping request sent.Eb~b+?b4@bnF= b5@)bIbr@ib=``bb1?1:@?=N?)b-:?IbS<ibDE޿b5``m:publishing transmit ping timeAmFpublishing direction and range info`9b8ÿ[xM??y```` `)`I`yޝ:Bޝ"Ii````` `)`I`i```bb1?1:@?=N?)`I`i````IIԲ٢= F=9Q > G٣WGy > Nusing accuracyPremultiplier from config559?55Y[$ i'™99= AE.= .=@5A E@Akbڄ~?kb0=O k` kb;8A:kb3kBBkbiBZkbR#? [O?"kbA*kbBBkbE?kb[J 2kbBk`k`k`kb}Bkb ? addTargetRange:: Added new target pos. range: 58.799999 m, deltaT: 3.778127 s, deltaX: -2.299999 m, approachRate: -0.608767 m/s, rangeRepo size: 4 U Added new target pos. range: 58.799999 m, bearing: 29.600169 deg, lat: 36.905627 deg, lon: -122.119709 deg, deltaT: 3.778127 s, deltaX: -2.299999 m, approachRate: -0.608767 m/s, posRepo size: 4 ZjQUDNOT Ignoring new targets: 58.80 m.RjU]Powering the camera and arming the capture device at range: 58.80 m."j]Bj]JjY ProNav: ac range: 58.799999 m, nav range: 63.414009 m, bearing: 31.536403 deg, approach rate: 0.000000 m/s, LOS rate: -0.608379 deg/s, cmd heading: 123.111073 deg, new cmd heading: 122.244999 deg. 2jHeadingCmd: 2.133578 target range: 58.799999 and range: 58.80 m. j@jjji"jhhhhfffrf`ffM@bf?zK%MK%+9K!K%$K%#       ɛu Bu,j y} ?Iy }ɚiI}K=I@ii=4=)E@)I#}&Changing to mode: 2#Armed mode.EEuWill construct direction to contact in vehicle frame from tetrahedron phase data.u=u<#}2Commanding negative:54402*FM ?2FI :FI BFM ]0JFI "GU =GU = % $?I! G s=G B O > w,:Af&@Yf(@f;9fZ=yfHC#? K?Ad??sV? 9?ɨf&@f䵉;f!CyIB"I-Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YX9v?&1?y3?P=@ &@)Ix@y@II٢Rt= &=9   G٣y%# e> uNusing accuracyPremultiplier from configi59m?5Ym^ ii/4?:Y@ AmEmISI I"II~BI# =&I.I6I<:I FBIJIRIZIbIjIǎw4G5K=G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.J] JY J] 0JY J] L:JY J] ـ3JY J] P;J] Q;JY JY w,TA I:(@Y:G@:5;9:+t=y:Hl1d "H?`m?@a@i?`y?`I?ɨ:(@:Uu;: CyR\BR"IIZIZ(*2٢f= jt=9jn;Q j?l| ~G٣y ? Nusing accuracyPremultiplier from config 59 9}?=5Y  i '™9=@E A E N; ; $D5I M@IZjDNOT Ignoring new targets: 58.80 m.RjPowering the camera and arming the capture device at range: 58.80 m."jBj\9Jj\9 ProNav: ac range: 58.799999 m, nav range: 63.520489 m, bearing: 31.017013 deg, approach rate: 0.132007 m/s, LOS rate: -0.648221 deg/s, cmd heading: 121.296838 deg, new cmd heading: 120.688314 deg. 2jo޼%HeadingCmd: 2.106408 target range: 58.799999 and range: 58.80 m. j%e@j!j!j!i!"j!h)h)h)h)f1f1fQrfYbf]/?ɛBEW< 隭"?I 9ɚiIK=Ie@ii=)e@)*F;2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Gb=G ?G?G B O >zK MK s9K K $K w,nARWill construct direction to contact in vehicle frame from tetrahedron phase data.ycB"IIIM3٢ = >=9Q > G٣WGy > Nusing accuracyPremultiplier from config59l?5Y i AE;u;E5B ?@uE B*** querying acoustic contact ***j j Zj)-DNOT Ignoring new targets: 58.80 m.Rj)5Powering the camera and arming the capture device at range: 58.80 m."j1Bj=k2Jj=k2M ProNav: ac range: 58.799999 m, nav range: 63.575577 m, bearing: 30.752631 deg, approach rate: 0.130120 m/s, LOS rate: -0.623939 deg/s, cmd heading: 120.688309 deg, new cmd heading: 119.895903 deg. 2jMּUHeadingCmd: 2.092578 target range: 58.799999 and range: 58.80 m. jU@jQjQjQiY"jYhYhYhahafafafarfibfm(? 5$?I5hɛB f< b)?I ɚi!I%K=I]@ii=)@)E>E?*F]92FY:FYBF]0JFaGi GmpAUWill 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.Ge 3=G9 BI Oe >w,bjAy%oB%"IHI I"#IIBI" =&I.I6I<:Iy FMb@Mb@Mb@ )YQ?Mb?~jthy(!! -G٣)y) -> =Nusing accuracyPremultiplier from config9E59=[?E5Y=  i='™EV)!@)J1J5J1J1J1J5/:J1J1J1J1J5^;J5^; %$?I!*F-62F):F)BF-?5JF)G5 =GBO>]G}5tAA Y5tAybB] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000103,,w,4GAF?YF @FcA<9FjlJ=yFHи??k?@R,vJ?m?ɨF?FjE;Dy^xBb"IIfVIfn4٢r<= r`=9vwtx zG٣xyz z> Nusing accuracyPremultiplier from config|59~M? 5Y~( i~'™  S@  A~E~ :~L:~mI5B @vEZjAEDNOT Ignoring new targets: 58.80 m.RjAMPowering the camera and arming the capture device at range: 58.80 m."jIBjM EJjM Em ProNav: ac range: 58.799999 m, nav range: 63.662628 m, bearing: 30.237773 deg, approach rate: 0.107018 m/s, LOS rate: -0.689068 deg/s, cmd heading: 119.068243 deg, new cmd heading: 118.352493 deg. 2jms켝uHeadingCmd: 2.065641 target range: 58.799999 and range: 58.80 m. juu3@jqjqjqiq"jhhhhfffrfbf@ɛ BL< 15i8?I9 =L{ɚ9i9I=iK=IEu3@iAiE=)Eu3@)I*F}42F:FBFP0JFzK rKK 9K K $K Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252244G==GepAGepA  I G) BI O >Uw,}Ay~B~"I = =Mb@Mb@Mb@ )YV-?{Gz?~jthy|??ף<@ 5@)@Ib@yIcIy/4٢x'= >=9Q > G٣WGy > Nusing accuracyPremultiplier from config59R=?5Yj i'™??:@@ AE;;NK5 @@ZjWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520138DNOT Ignoring new targets: 58.80 m.RjPowering the camera and arming the capture device at range: 58.80 m."jBj>Jj> ProNav: ac range: 58.799999 m, nav range: 63.703308 m, bearing: 29.950373 deg, approach rate: 0.094542 m/s, LOS rate: -0.667502 deg/s, cmd heading: 118.352493 deg, new cmd heading: 117.490912 deg. 2j 弝HeadingCmd: 2.050603 target range: 58.799999 and range: 58.80 m. j=@jjji"jh!h!h!h%؂Bf)f)fIrfQbfU z@ɛBqo< ??I  ɚiIK=I=@ii>)=@) E*F22F:FBFJFZHRHHC>I IA#IIBI&I.I8D6I]<:IM FG 9=5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770226G B JE JE JA JA JE :JE :JA JA JE ;JE ;JE R;JE R;O >  I =w,A6?Y6 @6w<96,1=y6H.^?`ja?? )#?f?ɨ6?6];4yB~BB"IIRPIR 4٢Vq Z\=9Z\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59f/?j5Yf if'™hj @j AfEfL:f7:fL5rB ra@ryEZj  DNOT Ignoring new targets: 58.80 m.Rj Powering the camera and arming the capture device at range: 58.80 m."jBj ?Jj% ?- ProNav: ac range: 58.799999 m, nav range: 63.733131 m, bearing: 29.702600 deg, approach rate: 0.080452 m/s, LOS rate: -0.668083 deg/s, cmd heading: 117.490906 deg, new cmd heading: 116.747978 deg. 2j5?弝5HeadingCmd: 2.037637 target range: 58.799999 and range: 58.80 m. j=h@j9j9j9i9"j9hAhAhAhAfIfIfIrfIbfM/@ɛ=B=V< AEI@?IA E< ɚAiAIEK=IMh@iIiM'=)Mh@)*FM02FI:FIBFM_0JFIG%=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:49:30.1761 TRx dataTimestamp_ set to:1736380171.524614checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021607GB OZ>zK BHK h9K K $K +OI5(!  RK ?JK >kw,OAZE?YZA @Z<9Z %=yZHB٘??@}?@ ?`9?ɨZE?Zl;Z!CyfvBf"InWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272209IvUIv4٢~% ~E=9~ah;Q ~> G٣y   > Nusing accuracyPremultiplier from config59~ ?5Y i'™% @% AEz::N5) -@)ZjQUDNOT Ignoring new targets: 58.80 m.RjQ]Powering the camera and arming the capture device at range: 58.80 m."jYBj]T?Jj]T?m ProNav: ac range: 58.799999 m, nav range: 63.764191 m, bearing: 29.425417 deg, approach rate: 0.075010 m/s, LOS rate: -0.669088 deg/s, cmd heading: 116.747973 deg, new cmd heading: 115.916891 deg. 2ju弝}HeadingCmd: 2.023131 target range: 58.799999 and range: 58.80 m. j}z@jyjyjyiy"jyhyhhhfffrfbf@Ѓ @ $?IɛMBU< Y隅>?I QɚiIK=Iz@ii=)z@)*F`,2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:49:30.1761 LVL= 19552, 26097, 16194, 24755, AGC= 64, IDX= 416,-0.20, 3.087, 1.838,-2.951, 2.855, PHS= 0.320,-0.970, 0.474, RAW= 155.6, 2.6, CAL= 157.4, -6.3, ROT= 352.6, 6.3 Ygot valid direction response: 23:49:30.1761 LVL= 19552, 26097, 16194, 24755, AGC= 64, IDX= 416,-0.20, 3.087, 1.838,-2.951, 2.855, PHS= 0.320,-0.970, 0.474, RAW= 155.6, 2.6, CAL= 157.4, -6.3, ROT= 352.6, 6.3 - PDAT read: Bearing 352.6, 6.3 (Local) 5 ~Local bearing/azimuth received: Bearing 352.6, 6.3 (Local) = DAT read: Range 10 to 50 : 56.4 m (Round-trip 75.3 ms) speed 0.7 m/s  ,DAT read: user:3491>  BDAT read: Tx time:23:49:31.2967  $Ping request sent. G ?G >؉؍`L؍e ٍB?)ٍ`Iٍ@iٍ ף>ٍQxٍ!>ٍ-@ٍ9= ڍF/@)ڍz0Iڍ@iڍz0=ډډۍG^f?>?s,?)ۍA?Iۍp9iۍsGΈۍ8ۉۉu :publishing transmit ping timeG B O >  Fpublishing direction and range info؉9؍j3}qſ(?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍG^f?>?s,?)ۉIۉiۉۉۉۉCPw, A6?Y6G| @6q<96=y6Hv@ +??o)c?-@g??ɨ6?6;6Cy|~"IHAIA IET#IIEʄBIE! =&IA.IA6IE<:IE FMb@Mb@Mb@ )Y+?Zd;O?Mb`yv>?j< K@)@IyIUcIUy/4٢]T; e*=9;Q > G٣WGyʼ > Nusing accuracyPremultiplier from config59 ?5Y i'™>?:x @ AEt;;P5B @Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:49:31.2959 k~5r?k7Y k kA:kaBBk`BZkѷ>">Ĝ"4xګH6]1á9@j3}qſ(?JksGRk8*cvG@yya3@֦F7@b$s?4@ ;?jE7.\?"k A*kD)V@)EE*F}*2Fy:FyBF}`0JFyGpA GGu=GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ i՝ Azw,#A:~?Y:@@: <9:=y:H`P ? ?pX"?`ma 5?`?ɨ:~?:#^;:CyNuBN"IIZ&IZ3٢f  f=9fvq;Q f ?hh jG٣hyjN/ n? rNusing accuracyPremultiplier from configpv59r?v5Yr ir'™tz @z ArEre:r.:rw,f=A2?Y2@26L<92_  G٣y˼ > Nusing accuracyPremultiplier from config59X?5Y i'™@?: @ AE;Y;#T5 z@Zj-DNOT Ignoring new targets: 56.40 m.Rj)-Powering the camera and arming the capture device at range: 56.40 m."j)Bj5IJj5IE ProNav: ac range: 56.400002 m, nav range: 60.961609 m, bearing: 30.092295 deg, approach rate: 0.056266 m/s, LOS rate: -0.704787 deg/s, cmd heading: 114.237359 deg, new cmd heading: 113.316854 deg. 2jE񼝊MHeadingCmd: 1.977752 target range: 56.400002 and range: 56.40 m. jM&?jIjIjIiI"jQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966918hahahahafififirfibfm*,?ɛB`< 隝@?I uɚiI&K=I&?iih>)&?)*F5w%2F1:F1BF54JF1jHAbHE<HIII IIIIII&II.II6IM:<:IM3 FGMF=GQGUlAG) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220459 I w,CWA2V?Y2,@2<92iuTX ZG٣ZWGyZH* Z> bNusing accuracyPremultiplier from config\f59^q瘜?f5Y^ i^'™df! @f A^E^":^e:^U5jB n@n|EZjDNOT Ignoring new targets: 56.40 m.RjPowering the camera and arming the capture device at range: 56.40 m."jBj@Jj@ ProNav: ac range: 56.400002 m, nav range: 60.979427 m, bearing: 29.833265 deg, approach rate: 0.046388 m/s, LOS rate: -0.674147 deg/s, cmd heading: 113.316854 deg, new cmd heading: 112.540042 deg. 2jT缝HeadingCmd: 1.964194 target range: 56.400002 and range: 56.40 m. jj?jjji"jhhhhfffrfbfl?ɛBm< @?I lɚi!I%zK=I%j?i)i-F>)-j?)i*F"2F:F BF P0JF "G%=G%=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.471975GM >G! B1 Om >zK [LK +9K K $K w,qA:#?Y:@:9<9: G٣y > Nusing accuracyPremultiplier from config59ؘ?5Y i'™A @ AES;;W5 @JJJJJ:J:JJ -$?I)Zj15DNOT Ignoring new targets: 56.40 m.Rj1=Powering the camera and arming the capture device at range: 56.40 m."j9Bj=*MJj=*MM ProNav: ac range: 56.400002 m, nav range: 60.997616 m, bearing: 29.527432 deg, approach rate: 0.042682 m/s, LOS rate: -0.717471 deg/s, cmd heading: 112.540043 deg, new cmd heading: 111.622901 deg. 2jU2]HeadingCmd: 1.948187 target range: 56.400002 and range: 56.40 m. j]2^?jYjYjYiY"jYhYhahahafafifirfibfm?ɛ]Bel< i隍9?I ɚiI4zK=I2^?ii>)2^?)*F2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975293G 1>GY Bi O >Cw,HAHtIt IvA#IIvBIt&It.It6Iv<<:Iv5 FBIJIRIZI! =bI! =jI|4yNB"IMb@Mb@Mb@ )YT㥛 ?Zd;? rhyA?y=C@ @)C@Ib@y@ISI4٢ F=9Q > G٣y > Nusing accuracyPremultiplier from config59ɘ?5Y i (™A?:H @ AE;;qY5B *@ }EZj)5DNOT Ignoring new targets: 56.40 m.Rj15Powering the camera and arming the capture device at range: 56.40 m."j9Bj=NJj=NU ProNav: ac range: 56.400002 m, nav range: 61.026508 m, bearing: 29.235654 deg, approach rate: 0.071545 m/s, LOS rate: -0.722170 deg/s, cmd heading: 111.622899 deg, new cmd heading: 110.748051 deg. 2jU]HeadingCmd: 1.932918 target range: 56.400002 and range: 56.40 m. j]i?jYjajaia"jahahahihmĂBfififrfbfh@ɛ=ނB=1< 9=7?IA Ea!ɚAiAIE{K=IUi?iQiU+*>)Ui?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227601 $?I h*F2F:FBF_0JFG- >G- ?G- >G B O- >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478870w,,ӤA^U?Y^J@^_<9^  G٣ WGy D  > Nusing accuracyPremultiplier from config59ʼ?%5Ym i(™)-@- AE;C;C;[51 5@1UB*** querying acoustic contact ***jQjQZjamDNOT Ignoring new targets: 56.40 m.RjimPowering the camera and arming the capture device at range: 56.40 m.ulFinal approach. Armed for intercept at range: 56.40 m.u\Transitioning guidance mode to: FINAL_APPROACH*ju@BjulIJjulI ProNav: ac range: 56.400002 m, nav range: 61.041874 m, bearing: 28.969084 deg, approach rate: 0.040612 m/s, LOS rate: -0.704384 deg/s, cmd heading: 110.748048 deg, new cmd heading: 109.948594 deg. 2j񼝊HeadingCmd: 1.918965 target range: 56.400002 and range: 56.40 m. j?jjjihhhhff!f!rf)bf-@ɛۂB< 3?I %ɚ!i)I-K=I]?iYi]t=)]?)izK:IK9KK$K*Fe2Fa:FaBFe`0JFaGmoA GiG= >Will construct direction to contact in vehicle frame from tetrahedron phase data.>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734305G B!O=r> IJJJJJL:J:JJ{w,A2#?Y2|@2=<92hAA EG٣AyE M> UNusing accuracyPremultiplier from configI59M讘?5YM iM&(™=?:; @ AMEM&G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234773 I w,A)= ]CLZ|uAd ~ZY~|uAy~QBM?YMP@M<9M@   G٣ y-߼ 5> =Nusing accuracyPremultiplier from config1=595?E5Y5 i59(™AEj@E A5E5v:5:5^5Y ]8@aZjDNOT Ignoring new targets: 56.40 m.RjBjJJjJ ProNav: ac range: 56.400002 m, nav range: 61.084831 m, bearing: 28.362860 deg, approach rate: 0.047592 m/s, LOS rate: -0.708799 deg/s, cmd heading: 109.096180 deg, new cmd heading: 108.130728 deg. 2j8󼝊HeadingCmd: 1.887237 target range: 56.400002 and range: 56.40 m. j?jjjih)h)h)h)f1f1f1rf1bf= @ɛ҂Bph<  L%?I  Uɚ i IQK=I?ii0=)?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:49:33.7729 LVL= 20416, 30369, 20514, 31699, AGC= 60, IDX= 414,-0.30, 1.189,-0.308, 0.855, 0.757, PHS= 0.521,-1.018, 0.095, RAW= 134.5, 5.9, CAL= 139.7, -1.0, ROT= 10.3, 1.0 Ygot valid direction response: 23:49:33.7729 LVL= 20416, 30369, 20514, 31699, AGC= 60, IDX= 414,-0.30, 1.189,-0.308, 0.855, 0.757, PHS= 0.521,-1.018, 0.095, RAW= 134.5, 5.9, CAL= 139.7, -1.0, ROT= 10.3, 1.0 PDAT read: Bearing 10.3, 1.0 (Local) ~Local bearing/azimuth received: Bearing 10.3, 1.0 (Local) DAT read: Range 10 to 50 : 54.0 m (Round-trip 72.0 ms) speed 0.7 m/s ,DAT read: user:3492> BDAT read: Tx time:23:49:34.8967 $Ping request sent.iE5IEҽiEE{VAA:publishing transmit ping timeةFpublishing direction and range infoA9EQοXJ[&?yAAAA A)AIAiAAAAA A)AIAiAAAE$w?m*?EK?)AIAiAAAA*F2F:FBFo0JF"G=G=G>GGqAGq B O >zK] RIK] 59KY K] $K]  w,nARWill construct direction to contact in vehicle frame from tetrahedron phase data.VJDAT read: TxSync time:23:49:34.8959 el?Ye@eC<9em!< }$?IJJJ1JJ:J :J3JyeH}iۿ` iu?B?_ۿ7?? ?)?ɨel?e|H;ayBf"II%I%٢5ֽ 5W=9=:Q =>9A EG٣EWGyE E> ]Nusing accuracyPremultiplier from configQm59UY?5YUа iUH(™@ AUEUH addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.528227 s, deltaX: -2.400002 m, approachRate: -0.680229 m/s, rangeRepo size: 4  Added new target pos. range: 54.000000 m, bearing: 6.556317 deg, lat: 36.905579 deg, lon: -122.119771 deg, deltaT: 3.528227 s, deltaX: -2.400002 m, approachRate: -0.680229 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 54.00 m.RjBjJj= ProNav: ac range: 54.000000 m, nav range: 56.900078 m, bearing: 24.177921 deg, approach rate: 0.000000 m/s, LOS rate: -0.708799 deg/s, cmd heading: 108.130726 deg, new cmd heading: 107.143606 deg. 2j9EHeadingCmd: 1.870009 target range: 54.000000 and range: 54.00 m. jEr\?jAjIjIiIhIhIhQhQfQffrfK@bf?ɛ΂B5?< Y?I '{ɚiI L=Ir\?ii04>)r\?)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFG =H I  I "II BI ! =&I .I 6I հ<:I FGq B O >ӏw,xAR<2?YR8@R5<9Rg G٣y > Nusing accuracyPremultiplier from config59턘? 5Y, iY(™ 3? :  @  AE]$;#;ub5B O@EeWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 54.00 m.RjBjsJjs% ProNav: ac range: 54.000000 m, nav range: 56.953773 m, bearing: 23.876103 deg, approach rate: 0.151825 m/s, LOS rate: -0.852586 deg/s, cmd heading: 107.143607 deg, new cmd heading: 106.239084 deg. 2j%G-HeadingCmd: 1.854222 target range: 54.000000 and range: 54.00 m. j-$W?j)j)j)i)h1h1h1h5[Bf9f9 E$?IIf9rfYbfe3?ɛʂBލ< 隵?I +޼ɚiI!&L=I$W?ii>)$W?)*FM2FI:FIBFMO5JFIG- =GBO-> Will construct direction to contact in vehicle frame from tetrahedron phase data./ w,(A:?Y:?:C<9:4?Gכ0#??ɨ:?:r;:!CyJBJ<"IIZIZʴ٢fս f_=9ji;Q n>lp rG٣pyv. v> }Nusing accuracyPremultiplier from configx59zx?5Yz~ izh(™ @ AzEz)=?)A*F2F:FBFP0JFzKBHKKK$KWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IIUhG>GBO>w,υBArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499043yփB'"IMb@Mb@Mb@ )YL7A`?X9v?Zd;Oy+'?=@ @)@I5@yQ@II۳٢G e;=9eQ m>ii mG٣mWGyu u> }Nusing accuracyPremultiplier from configy59}_j?5Y} i}y(™A*?: @ A}E};};} f5B AEZjDNOT Ignoring new targets: 54.00 m.RjBjAJjA ProNav: ac range: 54.000000 m, nav range: 57.057270 m, bearing: 23.323082 deg, approach rate: 0.136688 m/s, LOS rate: -0.678317 deg/s, cmd heading: 105.471235 deg, new cmd heading: 104.581669 deg. 2j輝HeadingCmd: 1.825294 target range: 54.000000 and range: 54.00 m. j@?jjjihhhhABfffrfbfrJ?ɛ%ÂB%q< -j^=-p ?I) 5׼ɚ1i1I5vL=I=@?i9iE7>)E@?)I*F2F:FBFJFHQIQ IU"IIUUBIQ&IQ.IU7D6IU<:IU FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754760 1 I1 G= >J J J 0J J ,:J :J ـ3J J ;a J ;a J nN;a J oN;a G B O >Aw,a\A67H?Y69?65O<96=y6Hcؿ`? A?ǂؿ`+?hd??ɨ67H?6j;4yRȃBR"IIZIZ(*2٢bh b]=9bF;Q f>dd fG٣dyjD j> nNusing accuracyPremultiplier from configlr59n_?r5Ynܘ vtIin(™tv @v AnEn;n;ng5x z3AxZj!-DNOT Ignoring new targets: 54.00 m.Rj)Bj-D;Jj-D;E ProNav: ac range: 54.000000 m, nav range: 57.098522 m, bearing: 23.093066 deg, approach rate: 0.117534 m/s, LOS rate: -0.654880 deg/s, cmd heading: 104.581671 deg, new cmd heading: 103.892156 deg. 2jE༝MHeadingCmd: 1.813260 target range: 54.000000 and range: 54.00 m. jM?jIjIjIiIhIhIhQhQfQfQfrfbf@)?ɛ-B-?< )-?I1 5ӼɚQiQIUL=I]?iYi]l>)]?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004660*F)2F):F1BF5^0JF1G >GBOF>zK BoJK 9K K $K  %'&&&"  Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ I?՝ < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255285 % $?I! w,WvAV?YV?V5=9V=yVHb׿`J?c?&׿tإ? &u??ɨV?Vu;V"CybBb"IIIb٢Y E=9b;Q > G٣y%S %> -Nusing accuracyPremultiplier from config)559-S?55Y- i-(™9=@= A-E- ;-;-fi5A EAAZjimDNOT Ignoring new targets: 54.00 m.RjiBju-<Jju-< ProNav: ac range: 54.000000 m, nav range: 57.144989 m, bearing: 22.820153 deg, approach rate: 0.112136 m/s, LOS rate: -0.658066 deg/s, cmd heading: 103.892156 deg, new cmd heading: 103.074144 deg. 2jἝHeadingCmd: 1.798983 target range: 54.000000 and range: 54.00 m. jE?jjjihhhhfffrfbf`@ɛ B:< />I мɚiI M=IE?ii% >)%E?)!E1*F2F:FBFo0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507316G(>GBO >H9 I9  I= "II= -BI9 &I9 .I9 6I= <:I=  F #w,UA6?Y6!?6~=96g=y6H@ֿ??@ֿt? -_?`,?ɨ6?6>;6 CyBBB!I F=F=Mb@Mb@Mb@ )YMb?333333?~jty ?> x@)I@y@I-I-(*٢U B=9;Q > G٣WGyU > Nusing accuracyPremultiplier from config59F?5Y֌ i(™%?:' @ AE1;%;>k5B &AEZjDNOT Ignoring new targets: 54.00 m.RjBj3Jj3- ProNav: ac range: 54.000000 m, nav range: 57.201031 m, bearing: 22.553410 deg, approach rate: 0.132290 m/s, LOS rate: -0.629045 deg/s, cmd heading: 103.074146 deg, new cmd heading: 102.274756 deg. 2j-׼5HeadingCmd: 1.785031 target range: 54.000000 and range: 54.00 m. j5{?j1j1j1i1h9h9h9h= BfAfAfArfAbfE'@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759903ɛBd; 隍>I oͼɚiI>hM=I{?iil >){?) IhJuJuJqJqJuܫ:Ju :JqJqJu;Ju;JuU;JuU;E*F2F:FBF]0JFGm > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:49:37.3694  TRx dataTimestamp_ set to:1736380178.581705% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013673GA BI Om >*w, AN*?YNh?N =9N=yNHB0ֿ@:??ֿȦ?+>?(?ɨN*?N;NCyfBf!IInIn٢v2 vW=9zc;Q z>xx ~G٣|y~ ~> Nusing accuracyPremultiplier from config 59:?5Yx i(™N @ AEE;;l5 %VA!EB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 54.00 m.RjQBj]a4Jj]a4m ProNav: ac range: 54.000000 m, nav range: 57.249424 m, bearing: 22.312797 deg, approach rate: 0.126978 m/s, LOS rate: -0.630803 deg/s, cmd heading: 102.274754 deg, new cmd heading: 101.553565 deg. 2jmuؼuHeadingCmd: 1.772444 target range: 54.000000 and range: 54.00 m. jus?jqjyjyiyhyhyhhfffrfbf@4 @ɛUBUO < QU8>IQ ]RhʼɚYiYI]M=Ies?iaie\G >)es?)EegW=zKe+LKe}9KaKe$Ke  *F2F:FBFF1JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264094 $?IG G B1 O >d0w,MA^Will construct direction to contact in vehicle frame from tetrahedron phase data.vDAT read: 23:49:37.3694 LVL= 17904, 32753, 20066, 32755, AGC= 64, IDX= 410,-0.44,-1.249,-2.696,-1.582,-1.756, PHS= 0.595,-0.893, 0.171, RAW= 134.0, 1.9, CAL= 139.4, -6.2, ROT= 10.6, 6.2 ~Ygot valid direction response: 23:49:37.3694 LVL= 17904, 32753, 20066, 32755, AGC= 64, IDX= 410,-0.44,-1.249,-2.696,-1.582,-1.756, PHS= 0.595,-0.893, 0.171, RAW= 134.0, 1.9, CAL= 139.4, -6.2, ROT= 10.6, 6.2 PDAT read: Bearing 10.6, 6.2 (Local) ~Local bearing/azimuth received: Bearing 10.6, 6.2 (Local)  DAT read: Range 10 to 50 : 51.3 m (Round-trip 68.5 ms) speed 0.6 m/s ,DAT read: user:3493> BDAT read: Tx time:23:49:38.4467 %$Ping request sent.%^@^= ^@)^kݽI^q=>i^k=\\^-; ?uօ?_M?)^=y>I^u i^鿉^w]\\e:publishing transmit ping time!mFpublishing direction and range info\9^*P4%Ŀl6j[?y\\\\ \)\I\i\mBl?YmC?m1=9m =ymHR^տ.(^?>$?KտN1?w@V??ɨmBl?m;iyޅBޅ!I\\\\ \)\I\i\\\^-; ?uօ?_M?)\I\i\\\\Mb@Mb@Mb@ )Y-?ףp= ?~jty??>D@ K@)-@I5@y@IIHB>I I`"IIBI&I.I6IU<:IH FBIJIRIZIbIjI4٢ J  =9 F.;Q > G٣yDϼ => MNusing accuracyPremultiplier from configAM59E*?U5YE\ iE(™Uv?U:U @U AEEEa;E;EGo5B AEk^A?k^=#> k\ k^_A:k^3MBBk^KBZk^| >"^ 4 C_'*y@C@^*P4%Ŀl6j[?Jk^Rk^w]*^ m@@bc\@.]C@^Kp(??u?"k^@*k^Bk^/U?k^wj 2k^Bk^M?k^ k^6Bk^PBk^k>E addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.527850 s, deltaX: -2.700001 m, approachRate: -0.765339 m/s, rangeRepo size: 4 U Added new target pos. range: 51.299999 m, bearing: 7.707838 deg, lat: 36.905549 deg, lon: -122.119834 deg, deltaT: 3.527850 s, deltaX: -2.700001 m, approachRate: -0.765339 m/s, posRepo size: 4 ZjY]DNOT Ignoring new targets: 51.30 m.RjYBjeJjau ProNav: ac range: 51.299999 m, nav range: 52.223515 m, bearing: 17.616304 deg, approach rate: 0.000000 m/s, LOS rate: -0.630803 deg/s, cmd heading: 101.553568 deg, new cmd heading: 100.485861 deg. 2jHeadingCmd: 1.753809 target range: 51.299999 and range: 51.30 m. j|?jjjihhhhBfffrf`fI@bf`?ɛBb*; >I! %R3Ƽɚ!i!I%]N=I-|?i)i-S >)M|?)QmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:23:49:38.4459 IJsK{m3 K{S}-KsKs"KsJ J J J J L:J :J J J P;J Q;J L;J L;Eu |^=*F 2F :F BF P0JF G pA G qAWill construct direction to contact in vehicle frame from tetrahedron phase data.G5N >G=?G=>G B!O]?T:w,nlA^?Y^ ?^^=9^=y^HԿ2M_?H?vԿ`Ҏ?``??ɨ^?^C;\yfBf!I)h hIrIrk٢v| z.=9zB2;Q z>|| ~G٣~WGy  > Nusing accuracyPremultiplier from config%59?%5Y6z i(™!%! @% AE;;Oq51 53A1ZjQ]DNOT Ignoring new targets: 51.30 m.RjYBje>Jje>% ProNav: ac range: 51.299999 m, nav range: 52.301731 m, bearing: 17.321027 deg, approach rate: 0.176809 m/s, LOS rate: -0.666475 deg/s, cmd heading: 100.485859 deg, new cmd heading: 99.601428 deg. 2j%伝%HeadingCmd: 1.738373 target range: 51.299999 and range: 51.30 m. j-?j)j)j)i)h)h)h1h1f1f9f9rf9bf=)?ɛBPߟ; 隕#>I ¼ɚiIN=I?ii>)?)EE*EQ"EQzK ,LK 9K K $K @yrnliba^X iIiuWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2Fy:FBFJFG  > Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG B O >Aw,A>?Y>?>"=9> =y>H@@%ӿ̆@'n?/?ӿ?@ړ?@?ɨ>?>0u;m`m@ m@)iImK@iym@II٢h +=9JQ > G٣yC > Nusing accuracyPremultiplier from config59}?5YPt i(™?: @ AE;I;es5 ZAZjDNOT Ignoring new targets: 51.30 m.RjBj(Jj(  ProNav: ac range: 51.299999 m, nav range: 52.375366 m, bearing: 17.039651 deg, approach rate: 0.153996 m/s, LOS rate: -0.587623 deg/s, cmd heading: 99.601425 deg, new cmd heading: 98.758547 deg. 2j ɼHeadingCmd: 1.723662 target range: 51.299999 and range: 51.30 m. j?jjjihhhhBf!f!f!rf)bf-`4?ɛ]B]`j; Y]>Ia e麿ɚaiaIeNO=Im?iiiuy>)u?)qH)I) I-5"II-BI)&I).I)6I-^<:I-O F*F2F:FBF0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ:J:J3JJi;Jj;JnN;JoN;GES.>G B O% >= c~GU 5tAq @Y 5tAy BGw,R!A6A?Y6?64=96L =y6Hpҿq@ߖ?@?]ҿ`֦? {ƅ?@?ɨ6A?6;;6 CyBBB!IHHIJIJ٢f?< fY=9f!Q j>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r?v5Yro ir(™xz@z AråEr:r:r u5B 5AEZjDNOT Ignoring new targets: 51.30 m.RjBj"Jj" ProNav: ac range: 51.299999 m, nav range: 52.432190 m, bearing: 16.816776 deg, approach rate: 0.144702 m/s, LOS rate: -0.566936 deg/s, cmd heading: 98.758545 deg, new cmd heading: 98.090676 deg. 2j¼HeadingCmd: 1.712005 target range: 51.299999 and range: 51.30 m. j"?jjjihhhhfffrfbf 0?=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛmBuzi < 隽>I ɚiIWO=I"?ii4>)"?)Q*F2F:FBF0JF"G=G=G]>GYBaOZ> I hzK QNK 9K K $K VRJFD?AAA=::8751//.)'%   Will construct direction to contact in vehicle frame from tetrahedron phase data. 4? r?&Nw,Z;A2M?Y2N]?2=92s=y2H njѿ`Yݘ? ?1Uѿs? Dwi? ?ɨ2M?2%&;2Cy>{B>!IiB >IB>IJIJ(*٢Rx@ VM=9Zڍ;Q Z> G٣WGy% > -Nusing accuracyPremultiplier from config!-59%?-5Y%mj i%(™15@5 A%ťE%*:%:%v59 EAAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 51.30 m.RjBj+Jj+ ProNav: ac range: 51.299999 m, nav range: 52.491428 m, bearing: 16.572869 deg, approach rate: 0.145957 m/s, LOS rate: -0.600282 deg/s, cmd heading: 98.090676 deg, new cmd heading: 97.359823 deg. 2jͼHeadingCmd: 1.699250 target range: 51.299999 and range: 51.30 m. j?jj j i hhh)h)f9fAfIrfQbfC ?ɛB; >I dɚi!I%&P=I-?i)i->)-?)1MWill 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:FBF2JFH1 I1  I5 "II5 ǃBI1 &I1 .I1 6I5 <:I5 s FG% >G B1 OU >Uw,6UA $I$F;?YFy?F.=9Fd=yFH Sп?}?`lп̧? z䣿<ȡ?`?ɨF;?Fg;FCRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255558yZ|BZ!IEMb@Mb@Mb@AAA A)AYE%C?/$?MbpyEZ?E>EE@ A)AIE5@AyE@ImIm٢; ==9T:Q > G٣yY > Nusing accuracyPremultiplier from config59?5YZe i(™ ?:@ AǥE;;x5 xAQZjDNOT Ignoring new targets: 51.30 m.RjBj2Jj2 ProNav: ac range: 51.299999 m, nav range: 52.549877 m, bearing: 16.334972 deg, approach rate: 0.136072 m/s, LOS rate: -0.553221 deg/s, cmd heading: 97.359825 deg, new cmd heading: 96.646967 deg. 2jսHeadingCmd: 1.686808 target range: 51.299999 and range: 51.30 m. jQ?jjjihhhhfff)rf1bf5 5@ɛB{"< >I -tɚiIDP=IQ?ii>)Q?)I*F2F:FBF@5JFG B>GBO>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5075238[w,MoAyB!II-I- ٢=.:= EO=9EQ E>AI MG٣IyM M> mNusing accuracyPremultiplier from configiu59m^ꗜ?u5Ym` im(™qqu AmȥEm;mI;miz5B )AEZjDNOT Ignoring new targets: 51.30 m.RjBj*Jj* ProNav: ac range: 51.299999 m, nav range: 52.606167 m, bearing: 16.109732 deg, approach rate: 0.149319 m/s, LOS rate: -0.596853 deg/s, cmd heading: 96.646965 deg, new cmd heading: 95.972000 deg. 2j̼HeadingCmd: 1.675027 target range: 51.299999 and range: 51.30 m. jLg?jjjihhhhfffrfbf`]@ɛBFWi< >I ɚiI?P=I%Lg?i!i%Ѡ>)%Lg?))E9 =$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759731zKQMK9KK$K*F2F:FBFO0JFG GJ-J-J)J)J-:J- :J)J)a5@a5@a5@a5@G>GB! O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:23:49:40.9164 m TRx dataTimestamp_ set to:1736380182.108584m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012544 bw,AymBm!I)q qMb@Mb@Mb@ )YMb?; )@Ib@y@II٢-T8= -<=9)Q ->11 5G٣5WGy9 E> MNusing accuracyPremultiplier from configIU59M{?U5YMR[ iM)™U(?]:]@] AMʥEM;MV;MM|5a eAaZjDNOT Ignoring new targets: 51.30 m.RjBjJj ProNav: ac range: 51.299999 m, nav range: 52.664413 m, bearing: 15.867427 deg, approach rate: 0.134626 m/s, LOS rate: -0.559423 deg/s, cmd heading: 95.971999 deg, new cmd heading: 95.245928 deg. 2jHeadingCmd: 1.662355 target range: 51.299999 and range: 51.30 m. j ?jjjihhhh$Bfffrfbf, @HC>I I"IIƒBI&I.I6I<:Ix FɛBQ< $?I ɚi!I%-Q=I% ?i)i-X>)- ?)1*F2F:FBFP0JFGe > )I)G)B9OUT>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263771%Khw,ɢAyEBE!III(*%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:49:40.9164 LVL= 23248, 30657, 23250, 32755, AGC= 62, IDX= 410,-0.38,-2.238, 2.611,-2.920,-2.690, PHS= 0.541,-0.935,-0.232, RAW= 118.4, 9.8, CAL= 126.9, 6.1, ROT= 23.1, -6.1 Ygot valid direction response: 23:49:40.9164 LVL= 23248, 30657, 23250, 32755, AGC= 62, IDX= 410,-0.38,-2.238, 2.611,-2.920,-2.690, PHS= 0.541,-0.935,-0.232, RAW= 118.4, 9.8, CAL= 126.9, 6.1, ROT= 23.1, -6.1 PDAT read: Bearing 23.1, -6.1 (Local) ~Local bearing/azimuth received: Bearing 23.1, -6.1 (Local) DAT read: Range 10 to 50 : 49.0 m (Round-trip 65.4 ms) speed 0.5 m/s ,DAT read: user:3494> BDAT read: Tx time:23:49:41.9968 $Ping request sent. G٣y >`direction in FSK: [-0.305332,-0.368406,0.878094]:publishing transmit ping timeFpublishing direction and range info)9-Cӿ&׿^X?y-DB)-Z-w -Z))I->i-~ ?-)\o-hm- A@-%/> -Nusing accuracyPremultiplier from config559"֗?55YU i )™99= ḀE%;j!;H~5 - @)-^ =I-pl>i-^ ڽ))-Ǥ%?Yf&5n?)-@I-/i--2))U:publishing transmit ping timeUFpublishing direction and range info)9-Cӿ&׿^X?y)))) )))I)i))))) )))I)i)) A)-Ǥ%?Yf&5n?))I)i))))k-.$!?k- R=" k) k-KA:k-DBBk-BBZk-H@"-?+-]I 2 PgE@-Cӿ&׿^X?Jk-Rk-2*-.]_N6@0nI>+~vE@-AE#?^gĿu?"k-*k-wAk-!-?k-u# 2k-nBk-yTØ?k-wj k-Bk-Bk-v= addTargetRange:: Added new target pos. range: 49.000000 m, deltaT: 3.530004 s, deltaX: -2.299999 m, approachRate: -0.651557 m/s, rangeRepo size: 4  Added new target pos. range: 49.000000 m, bearing: 340.703129 deg, lat: 36.905441 deg, lon: -122.119961 deg, deltaT: 3.530004 s, deltaX: -2.299999 m, approachRate: -0.651557 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 49.00 m.RjBjJj ProNav: ac range: 49.000000 m, nav range: 38.878998 m, bearing: 4.392354 deg, approach rate: 0.000000 m/s, LOS rate: -0.559423 deg/s, cmd heading: 95.245929 deg, new cmd heading: 94.413525 deg. 2jHeadingCmd: 1.647827 target range: 49.000000 and range: 49.00 m. j?jjj!i!h!h!h)h)f)f1f1rf5H@bf=`K?ɛB֌D< Q ?I kuɚiIQ=I?iiu$>)?)*F2F:FBFJF  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:49:41.9960 zK JK @9K K $K  BK :K rAJE JE JE 0JA JE ܫ:JE :JE ـ3JA G >G B O >2.ow,⫿Am?Ym$?m)=9m =ymH ɿ T@B?P?ɿ)ͦ? '@u?,?ɨm?m╉;m Cy5BU!IWill construct direction to contact in vehicle frame from tetrahedron phase data.]Mb@Mb@Mb@YYY Y)YY]{Gz?HzG?{Gzt?y]?]= >]ף;]@ ]@)]p@IYYy]=@II٢x< (=9[Q > G٣WGy > Nusing accuracyPremultiplier from config59q̗? 5YO i)™ L? :@ AΥE;;h5B tA!=B*** querying acoustic contact ***j9j9ZjDNOT Ignoring new targets: 49.00 m.RjBj\Jj\ ProNav: ac range: 49.000000 m, nav range: 38.976589 m, bearing: 4.039001 deg, approach rate: 0.213124 m/s, LOS rate: -0.769730 deg/s, cmd heading: 94.413527 deg, new cmd heading: 93.356248 deg. 2jHeadingCmd: 1.629374 target range: 49.000000 and range: 49.00 m. jS?jjjihhhh%Bfffrf bf ੀ?ɛU~BU`< QUz?IQ ] oɚYiYI]Q=IS?ii=)S?)HiIi Im"IImǃBIm =&Ii.Ii6Im<:Im F*F2F:FBFJFG>>G B O > I 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 Querying Benthos address 50 with one ping in standard two-way mode.e vw, VAZ?YZ?Zd=9Z+=yZH`ȿ@;a x? `?@jȿ@r?@u? Y?ɨZ?Z";ZCyB!II-I-ʳ٢}= }=9 ڻQ ? G٣y ? Nusing accuracyPremultiplier from config59Ɨ?5YK i)™U@ AХE:n:5 AZj!-DNOT Ignoring new targets: 49.00 m.Rj)Bj-UJjUUe ProNav: ac range: 49.000000 m, nav range: 39.035770 m, bearing: 3.822245 deg, approach rate: 0.204339 m/s, LOS rate: -0.747271 deg/s, cmd heading: 93.356248 deg, new cmd heading: 92.706996 deg. 2je6mHeadingCmd: 1.618042 target range: 49.000000 and range: 49.00 m. jm?jijjihhhhfffrfbf?ɛzBOs< \?I ݐɚiIkR=I?ii>)?)*Fy2Fy:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978866G Oh#>G B O > 3|w,*Ab?Yb1?bz=9b =ybHƿyvn?u?ƿW?\??ɨb?b";b Cy%B%!II5I5 AIEh٢MI< MN=9UEQ U>QY ]G٣Yyej e> uNusing accuracyPremultiplier from configi}59m*?}5YmF im)™y}w@} AmѥEm;m;mm5 AZjDNOT Ignoring new targets: 49.00 m.RjBjQJjQ ProNav: ac range: 49.000000 m, nav range: 39.111832 m, bearing: 3.536650 deg, approach rate: 0.195795 m/s, LOS rate: -0.733739 deg/s, cmd heading: 92.706998 deg, new cmd heading: 91.851948 deg. 2jHeadingCmd: 1.603119 target range: 49.000000 and range: 49.00 m. j3?jjjihhhhfffrfbf?ɛvBz< ?I! %rԠɚ!i!I%'R=I-3?i)i-zf>)-3?)1=Will construct direction to contact in vehicle frame from tetrahedron phase data.=Z?=$@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230637EMJ>EM>zK>KK9KK$K JJJJJL:J:JJ*F2F:FBF<1JFG2>GBO<> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482816w, AH!I! I%."II%܃BI!&I!.I!6I%<:I% FBIJIRIZIbIjI94yEBE"IMb@Mb@Mb@ )Y|?5^?T㥛 ?y&1|?y ?>`;-@ )Z@Ix@y@IIƳ٢J= @=9Q > G٣ y   > Nusing accuracyPremultiplier from config59'?5YA i)™%t?%:%?% AӥEH;f;J5) -rA1ZjDNOT Ignoring new targets: 49.00 m.RjBj_UJj_U- ProNav: ac range: 49.000000 m, nav range: 39.193687 m, bearing: 3.203194 deg, approach rate: 0.183554 m/s, LOS rate: -0.746178 deg/s, cmd heading: 91.851947 deg, new cmd heading: 90.853773 deg. 2j-UHeadingCmd: 1.585698 target range: 49.000000 and range: 49.00 m. jU#?jYjYjYiYhYhYhaheOBfafafirfbf J?ɛqBv< $?I &꛼ɚiIXR= 1I1I#?iiN)>)#?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.734500*FY2FY:FYBF]0JFaG5#>GB!O=>Dw,&ABP?YB?BLj =9B0=yBHhÿL@s?`h?`Eÿ٣?@hi??ɨBP?Bu׊;@RWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.986519yZՃBZ'"I`bAIfIf(*٢n> n_=9r01Q r>pp rG٣rWGyv v> zNusing accuracyPremultiplier from configx~59z?~5Yz< iz)™? AzեEz ;z ;z䆷5  A Zj9EDNOT Ignoring new targets: 49.00 m.RjABjMXJjMX ProNav: ac range: 49.000000 m, nav range: 39.259624 m, bearing: 2.914526 deg, approach rate: 0.173368 m/s, LOS rate: -0.757718 deg/s, cmd heading: 90.853776 deg, new cmd heading: 89.989295 deg. 2jHeadingCmd: 1.570609 target range: 49.000000 and range: 49.00 m. j ?jjjihhhhf ffrfbf@ɛmBLm< N4?I p?ɚiISeR=I- ?i)i5B>)5 ?)1*F2F:FBFP5JF 5$?I9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238891zK= ^KK= 59K9 K= $K= J J J J J ܫ:J :J J G >G B O= >,w,@Af`?Yf?f =9f-o=yfHx~ I?`\?Z@ ~?wb ??ɨf`?fɊ;fCyz݃Bz1"III٢M= UC=9]GQ e>qq G٣y  => eNusing accuracyPremultiplier from configY59] ?5Y]5 i])™-? A]ץE]<]a<]ۈ5 YAEZjquDNOT Ignoring new targets: 49.00 m.RjqBj} dJj} dWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490519 ProNav: ac range: 49.000000 m, nav range: 39.338177 m, bearing: 2.560074 deg, approach rate: 0.177089 m/s, LOS rate: -0.797480 deg/s, cmd heading: 89.989293 deg, new cmd heading: 88.928188 deg. 2jHeadingCmd: 1.552090 target range: 49.000000 and range: 49.00 m. j?jjjihhhhfffrfbf0@ɛhB_= 隍:?I CɚiIkR=I?ii >)?)*F92FA:FABFE"5JFAjH<bHp<H!I! I%T"II%BI%! =&I!.I!6I%g<:I%V F ) I) G >G G e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742571Gy B O >) &= cC5 NGM |uA[Ww,٘ZA nYn|uAynB E?Y E? " =9 'B=y H!V@[?Ž?^?#??ɨ E? O; yBE"IMb@Mb@Mb@ )Y9v?EԸ?{Gzt?y?=ף;Z@ @)I@yz@I I 㔳٢P= ==9%Q %>!! -G٣)y-p -> Nusing accuracyPremultiplier from config59P?5Y/ i")™ ?:? A٥E;#;5B @EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.00 m.RjBj^~Jj^~ ProNav: ac range: 49.000000 m, nav range: 39.397350 m, bearing: 2.216918 deg, approach rate: 0.153625 m/s, LOS rate: -0.889550 deg/s, cmd heading: 88.928189 deg, new cmd heading: 87.900386 deg. 2jHeadingCmd: 1.534151 target range: 49.000000 and range: 49.00 m. j _?j j j i hhhhBfffrfbf%:@ɛMdBM== IMD?IQ UɚQiQIU[R=I]_?iYi]7>)]_?)a*F2F:FBFO0JFG@ >GyBWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:49:44.4639 TRx dataTimestamp_ set to:1736380185.637121checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995939Of>w,ttABҺ?YB?B=9B =yBH*`Sݞ??֧@L{?` dY??ɨBҺ?B脋;B CyNBNY"I R=R=IVIVb `I`٢f= jb=9nQ n>pp rG٣rWGyr* v> zNusing accuracyPremultiplier from configtz59v?~5YvT* iv&)™|~(?~ AvڥEv~ ;vX;v/5  @ Zj15DNOT Ignoring new targets: 49.00 m.Rj1Bj=nJj=nM ProNav: ac range: 49.000000 m, nav range: 39.446026 m, bearing: 1.925361 deg, approach rate: 0.139499 m/s, LOS rate: -0.834538 deg/s, cmd heading: 87.900389 deg, new cmd heading: 87.026868 deg. 2jM/]HeadingCmd: 1.518905 target range: 49.000000 and range: 49.00 m. je~k?jajajaiahahahihifififqrfqbfu @ɛaB$3= 隥N?I HɚiI!;R=I~k?iio>)~k?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246437*F2F:FBF^0JFzKBHK9KK$K5gE--J`lokJJJJJJ :JJG} >GQBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501010hw,LAN?YNS?NO=9Ny=yNH`[{`6o?O?@1?@>?`?ɨN?Ns;NCH`I` Ib"IIbBI`&I`.Ib8D6Ibm<:IbZ Fyn Bni"ImMb@Mb@Mb@iii i)iYmZd;O?#~j?y&1|?ymj?m=m`;mp@ m@)mp@Im@iym@IIm?٢Ag= >=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y# i*)™?:#? AݥEk;i; 5 @ZjDNOT Ignoring new targets: 49.00 m.RjBjyJjy  ProNav: ac range: 49.000000 m, nav range: 39.497570 m, bearing: 1.550151 deg, approach rate: 0.120194 m/s, LOS rate: -0.873791 deg/s, cmd heading: 87.026869 deg, new cmd heading: 85.902859 deg. 2jHeadingCmd: 1.499288 target range: 49.000000 and range: 49.00 m. j?jjjihhhh͂Bfffrfbf @ɛM\BUb"= QUW?IQ U܂ɚQiYI]qR=I]?iaie >)e?)a Ih-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FaBFm_0JFiGuqA GqDAT read: 23:49:44.4639 LVL= 19408, 30385, 24658, 32755, AGC= 60, IDX= 415, 0.18, 1.232,-0.314, 0.315, 0.721, PHS= 0.599,-0.987,-0.409, RAW= 111.1, 11.5, CAL= 120.1, 8.9, ROT= 29.9, -8.9 Ygot valid direction response: 23:49:44.4639 LVL= 19408, 30385, 24658, 32755, AGC= 60, IDX= 415, 0.18, 1.232,-0.314, 0.315, 0.721, PHS= 0.599,-0.987,-0.409, RAW= 111.1, 11.5, CAL= 120.1, 8.9, ROT= 29.9, -8.9 PDAT read: Bearing 29.9, -8.9 (Local) ~Local bearing/azimuth received: Bearing 29.9, -8.9 (Local) DAT read: Range 10 to 50 : 47.1 m (Round-trip 62.9 ms) speed 0.7 m/s =,DAT read: user:3495> MBDAT read: Tx time:23:49:45.5468 M$Ping request sent.M -*'@)->I-0?i-))-,j/'?TbwfÿEj>m?)-I-Li-N -@)):publishing transmit ping timeIFpublishing direction and range info)9-@ տ mϿd6?y)))) )))I)i))))) )))I)i)))-,j/'?TbwfÿEj>m?))I)i))))G >G ?G ?Ga Bq O >w,.ABWill construct direction to contact in vehicle frame from tetrahedron phase data.r2v?Yr1?rg<9rR=yrH?A ??` ? +=??ɨr2v?rB;r Cy]B]z"II}I}٢= J=9{OQ > G٣y > Nusing accuracyPremultiplier from config59?5Y i.)™? AߥE;;ӏ5 @k]`W/?k]/q kY k]!A:k]f.m)&0E@]@ տ mϿd6?Jk]N Rk]@*]u+,@*E@]s#?=zoѿ49?"k]pP*k]^aAk]ϡ8?k]|Wt 2k] Bk]/U?k];B k]%Bk]Bk]@- addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 3.778713 s, deltaX: -1.900002 m, approachRate: -0.502817 m/s, rangeRepo size: 4  Added new target pos. range: 47.099998 m, bearing: 317.235229 deg, lat: 36.905406 deg, lon: -122.119986 deg, deltaT: 3.778713 s, deltaX: -1.900002 m, approachRate: -0.502817 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 47.10 m.RjBjJj5 ProNav: ac range: 47.099998 m, nav range: 35.724304 m, bearing: 357.740304 deg, approach rate: 0.000000 m/s, LOS rate: -0.873791 deg/s, cmd heading: 85.902859 deg, new cmd heading: 84.826786 deg. 2j1=HeadingCmd: 1.480507 target range: 47.099998 and range: 47.10 m. j=>?j9j9j9i9h9hAhAhAfAfifirfǔG@bfu@=?ɛXB2= `?I EyɚiIQ=I>?ii(>)>?)*Fa2Fa:FaBFe`0JFaG=)> IGBOn>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5=5i>zKm œMKm 59Ki Km $Km `WNE<2$ {w,AJ.?YJl?J6t<9J˰ G٣WGyʼ > Nusing accuracyPremultiplier from config59ѐ?5Y i1)™ B? AE<<5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 47.10 m.RjBjtJjt ProNav: ac range: 47.099998 m, nav range: 35.785744 m, bearing: 357.350700 deg, approach rate: 0.135181 m/s, LOS rate: -0.855740 deg/s, cmd heading: 84.826783 deg, new cmd heading: 83.660147 deg. 2jHeadingCmd: 1.460145 target range: 47.099998 and range: 47.10 m. j?jjjihhhhff)f)rf)bf-@?ɛuTBu:= y}5b?Iy }"mɚyiyI}NQ=I?iiE%$>)?)*F!2F!:F!BF%o0JF!ZHRHHD>I I"IIFBI =&I.I6I}<:Ig F I Ge >E Will construct direction to contact in vehicle frame from tetrahedron phase data.GA BQ Om >w,AJ6J6J4J4J6l:J6:J4J4J6;a:J6;a:J6.Y;a>J6/Y;a>uz?Yu?u<9u G٣y > Nusing accuracyPremultiplier from config59?5Ya i5)™$?: ? AE;~;5B @EB*** querying acoustic contact ***jjZj!%DNOT Ignoring new targets: 47.10 m.Rj!Bj-СJj-С= ProNav: ac range: 47.099998 m, nav range: 35.849586 m, bearing: 356.913687 deg, approach rate: 0.165634 m/s, LOS rate: -1.131761 deg/s, cmd heading: 83.660146 deg, new cmd heading: 82.351682 deg. 2j=-BEHeadingCmd: 1.437308 target range: 47.099998 and range: 47.10 m. jE?jAjAjAiAhIhIhIhUBfQfQfQrfQbf]`n?ɛQBlY= t5=隝Dm?I QaɚiIS\Q=I?iid,>)?)*F 2F :F BF P4JF "G=G=GT>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GBOj>μw,_A 6$?I4Zv?YZu3?Z<9Zn?ɛMMBMe= IMp?IQ UA}VɚQiQIU,P=I]I?iYi]70>)]I?)azKLK9KK$K -T\WSaB22Ha7  *F2F:FBFU4JFG5 ">G BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727152w,AH0I0 I2"II2jBI0&I0.I06I29<:I25 F^?Y^7?^܏<9^!! %G٣%WGy-o -> 5Nusing accuracyPremultiplier from config1=595?=5Y5 i5@)™E1?E:E?E A5E5f;5;55I M@QZjq}DNOT Ignoring new targets: 47.10 m.RjyBj}ޠJjޠ ProNav: ac range: 47.099998 m, nav range: 35.960445 m, bearing: 356.086452 deg, approach rate: 0.143733 m/s, LOS rate: -1.125136 deg/s, cmd heading: 81.310568 deg, new cmd heading: 79.874301 deg. 2j AHeadingCmd: 1.394070 target range: 47.099998 and range: 47.10 m. jp?jjjihhhhBfffrfbf?ɛIBjY= v?I $IɚiIP=Ip?ii 9>)p?) QIUh*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979451G{,>GYBaJJJ1JJ:J :J3JJ;J;JR;JR;O]>w,*r)A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232127f?YfN?fi{<9f-)) -G٣)y5c$ 5> =Nusing accuracyPremultiplier from config9E59=N?E5Y= i=F)™AE?M A=E=n:=n:=5Q U@QZjDNOT Ignoring new targets: 47.10 m.RjBjnJjn ProNav: ac range: 47.099998 m, nav range: 36.010002 m, bearing: 355.683617 deg, approach rate: 0.128753 m/s, LOS rate: -1.045154 deg/s, cmd heading: 79.874302 deg, new cmd heading: 78.667647 deg. 2jQ3%HeadingCmd: 1.373009 target range: 47.099998 and range: 47.10 m. j%ƾ?j!j)j)i)h)h)h1hQfQfQfYrfYbf]@\@ɛFBh= 隭x?I <ɚiIh)P=Iƾ?iis=>)ƾ?) AIAE5Ba=E9Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484795*F2F:FBF15JFGpA GzK OK s9K K $K KY>+ G- 0>GByO>9w,dyHA=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiEA]BDAT read: Rx Time:23:49:48.0115 ]TRx dataTimestamp_ set to:1736380189.176590echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7482034?Yr?<9$ty G٣yY > Nusing accuracyPremultiplier from config59^?5Y^ iS)™3?:C? AE;;5 @HI I"II~BI&I.I6Il<:IZ FBIJIRIZI =bI =jIû5ZjquDNOT Ignoring new targets: 47.10 m.RjqBjʜJjʜ ProNav: ac range: 47.099998 m, nav range: 36.076767 m, bearing: 355.058986 deg, approach rate: 0.117433 m/s, LOS rate: -1.096609 deg/s, cmd heading: 78.667646 deg, new cmd heading: 76.797923 deg. 2j%<HeadingCmd: 1.340377 target range: 47.099998 and range: 47.10 m. jv?jjjihhhhBfffrfbf3@ɛ5AB5dS@= 9Mz?II MT*ɚIiIIUO=I]v?iYied?>)ev?)a IhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995323E} 3=J- J) J- 0J) J- :J) J- ـ3J) J- i;J- j;J) J) *F 2F :F BF 1JF! G <>G B O >aw,cAy~:B~"II I [٢%< %h=9%Q %>)) -G٣-WGy5 5? =Nusing accuracyPremultiplier from config9E59=~?E5Y= i=Z)™AAM A=E=:=:=5Q U@UEuB*** querying acoustic contact ***jqjqZjyDNOT Ignoring new targets: 47.10 m.RjBj5Jj5 ProNav: ac range: 47.099998 m, nav range: 36.119511 m, bearing: 354.679862 deg, approach rate: 0.128850 m/s, LOS rate: -1.141502 deg/s, cmd heading: 76.797923 deg, new cmd heading: 75.662054 deg. 2jCHeadingCmd: 1.320552 target range: 47.099998 and range: 47.10 m. j?jjji)h)h)h1h1f1f1f9rf9bf= @ɛ>B(= 隭}?I EɚiIK:O=I?ii  R>) ?)EaEa*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251108*F2F:FBF4JF I5 Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 23:49:48.0115 LVL= 19168, 26785, 19906, 31987, AGC= 61, IDX= 422,-0.15, 2.155, 0.618, 1.445, 1.708, PHS= 0.535,-1.042,-0.266, RAW= 119.5, 11.3, CAL= 127.4, 7.6, ROT= 22.6, -7.6 } Ygot valid direction response: 23:49:48.0115 LVL= 19168, 26785, 19906, 31987, AGC= 61, IDX= 422,-0.15, 2.155, 0.618, 1.445, 1.708, PHS= 0.535,-1.042,-0.266, RAW= 119.5, 11.3, CAL= 127.4, 7.6, ROT= 22.6, -7.6  PDAT read: Bearing 22.6, -7.6 (Local)  ~Local bearing/azimuth received: Bearing 22.6, -7.6 (Local)  DAT read: Range 10 to 50 : 45.3 m (Round-trip 60.5 ms) speed 0.4 m/s  ,DAT read: user:3496>  BDAT read: Tx time:23:49:49.0968  $Ping request sent. 5 N@)5 >I5 >i5 1 1 5 =Tk`?n&^6(anG9 G= pAm Fpublishing direction and range info1 95 |ETտCcؿ@?y1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 5 =Tk`?n&^6(an\_w,Ar#?Yra?r<9rG G٣yd > Nusing accuracyPremultiplier from config59|?5Y  ie)™1? AE;;5  u@qkn:F;?kBj k k9a{A:k35BBk3BZkKg@" T 1.[OPC1umuC@|ETտCcؿ@?JkRk*=L1@a.GyC@[1?&k@տE?"kpWill construct direction to contact in vehicle frame from tetrahedron phase data.*kAk$aE?kem 2kBk!-?ku# kkAkk@ addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.535137 s, deltaX: -1.799999 m, approachRate: -0.509174 m/s, rangeRepo size: 4  Added new target pos. range: 45.299999 m, bearing: 319.430218 deg, lat: 36.905293 deg, lon: -122.120082 deg, deltaT: 3.535137 s, deltaX: -1.799999 m, approachRate: -0.509174 m/s, posRepo size: 4 ZjEDNOT Ignoring new targets: 45.30 m.RjABjEJjAU ProNav: ac range: 45.299999 m, nav range: 26.378498 m, bearing: 332.349228 deg, approach rate: 0.000000 m/s, LOS rate: -1.141502 deg/s, cmd heading: 75.662056 deg, new cmd heading: 73.683003 deg. 2jyHeadingCmd: 1.286011 target range: 45.299999 and range: 45.30 m. j?jjjihhhhfffrf`fF@bfZ&?ɛ:B E=  z?I  f ɚ iI]N=I=?i9i=?Q>)=?)AEIEMrAHYIY I]#II]BIY&IY.IY6I]o<:I]\ F*F2F:FBF3JF"G=G=GF>G B O >  I c~G 5tA A E QYE 5tAyE Blw,B^AWill construct direction to contact in vehicle frame from tetrahedron phase data.:h6?Y:ft?:Ů<9: G٣y > Nusing accuracyPremultiplier from config 59{?-5Y ir)™56?5:5?5 AEg;;59 =@9ZjDNOT Ignoring new targets: 45.30 m.RjBjJj漝 ProNav: ac range: 45.299999 m, nav range: 26.539101 m, bearing: 331.759851 deg, approach rate: 0.441247 m/s, LOS rate: -1.609457 deg/s, cmd heading: 73.683002 deg, new cmd heading: 71.926150 deg. 2j HeadingCmd: 1.255348 target range: 45.299999 and range: 45.30 m. j ??j jjihhhhBff!fArfIbfMz?ɛ7Bs= 隕x?I QnɚiIq:N=I??ii`>)??)*F%2F!:F!BF-P0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge ѰP>G9 BI Oe >w,T7A2L?Y2?2>ک<92y)Ý?)=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JFG\T>GABQzKe:IKe@9KaKe$KeBKi:KmmAO}7> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,#AZH|RH|HI I"IIBI&I.I6Ij<:IX FyBq"IMb@Mb@Mb@ )YV-?#~j?~jtyh1?=C@ )p@I@y@II٢ . 9=9Q > G٣y > Nusing accuracyPremultiplier from config59z?5Y i)™2?:? AE;;5 B Q@ EZj1=DNOT Ignoring new targets: 45.30 m.Rj9Bj=Jj=M ProNav: ac range: 45.299999 m, nav range: 26.817905 m, bearing: 330.758470 deg, approach rate: 0.364036 m/s, LOS rate: -1.270458 deg/s, cmd heading: 70.619430 deg, new cmd heading: 68.938699 deg. 2jMYHeadingCmd: 1.203207 target range: 45.299999 and range: 45.30 m. j?jjjihhhhقBfffrfbfʅ?ɛ]1B]k^= Yeo?Ia ebvӻɚiiiImh)?)*F}2Fy:FyBF}v0JFyGqA GrAMWill construct direction to contact in vehicle frame from tetrahedron phase data.G _>G B O >w,WAB?YB?BR<9B&A?    G٣ y9ý > -Nusing accuracyPremultiplier from config!55Will construct direction to contact in vehicle frame from tetrahedron phase data.9%y?5Y% i%)™? A%E%N<%&<%5 @B*** querying acoustic contact ***j j ZjDNOT Ignoring new targets: 45.30 m.RjBj%;Jj%;5 ProNav: ac range: 45.299999 m, nav range: 26.949081 m, bearing: 330.271415 deg, approach rate: 0.327916 m/s, LOS rate: -1.211606 deg/s, cmd heading: 68.938698 deg, new cmd heading: 67.484977 deg. 2j5OEHeadingCmd: 1.177835 target range: 45.299999 and range: 45.30 m. jELÖ?jAjAjAiAhIhIhIhIfQfQfQrfYbf]K?ɛ.Bo= 隅;d?I xɚiIL=Ie?iiaf>)LÖ?)*F 2F:FBFP5JFG d>GBOA> IM Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.J J J J J :J :J J a @a @a @a @zK JK K K $K   9w,A20?Y2n?2 <92< G٣WGyF > 5Nusing accuracyPremultiplier from config1E595Az?M5Y5 i5)™IU_?U A5E5r;5 ;5i5i m@qZjDNOT Ignoring new targets: 45.30 m.RjBjƾJjƾ ProNav: ac range: 45.299999 m, nav range: 27.087090 m, bearing: 329.748483 deg, approach rate: 0.353946 m/s, LOS rate: -1.334299 deg/s, cmd heading: 67.484974 deg, new cmd heading: 65.924578 deg. 2jdHeadingCmd: 1.150601 target range: 45.299999 and range: 45.30 m. jF?jjjihhhhfffrfbf@n@ɛ,B|e= N]?I QɚiI6cL=IT?iij |>)F?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263540*F2F:FBFQ5JFGU;>GGqAHI I"IIoBI! =&I.I6I<:I FGYBaO}z> i Iq ~w,JAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510695>?Y>˵?>:I<9>;y>H/?@b? ?>7?P?a _{?@ ?ɨ>?>y;>Cy^ԃB^&"IMMb@Mb@Mb@III I)IYMNbX9?EԸ?y&1yM%?M=M`MZ@ M-@)M@IIIyM\@IYIY٢m@ mD=9}K;Q }> G٣yxI > 5Nusing accuracyPremultiplier from config)559-Iz?=5Y- i-)™='?=:=?= A-E-;-;-R5A MAIZjDNOT Ignoring new targets: 45.30 m.RjBjJj ProNav: ac range: 45.299999 m, nav range: 27.231836 m, bearing: 329.228887 deg, approach rate: 0.329044 m/s, LOS rate: -1.174873 deg/s, cmd heading: 65.924576 deg, new cmd heading: 64.374471 deg. 2jIHeadingCmd: 1.123546 target range: 45.299999 and range: 45.30 m. j_Џ?jjjih)h)h)h-Bf1f1f1rf1bf=` @ɛ)BƸO= U?I ɚiIL=Igc?iit>)_Џ?)!*F2F:FBF5JF"G>G >Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:49:51.5583 TRx dataTimestamp_ set to:1736380192.708829 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768997G E1>G B O > Q IY p w,6ABXܖ?YBV?Bw<9B;yBH`?Ύ|?@?? 煛?Vkb?@?ɨBXܖ?B;B"CyNBN "IiR,>IRp<IVIV 2٢^ ^V=9be;Q b>`` bG٣`yfb f> nNusing accuracyPremultiplier from configlr59nz?r5Ynb in)™pr1?v AnEnU:n:n媷5x z>AzEZjDNOT Ignoring new targets: 45.30 m.Rj!Bj%Jj%񭼝5 ProNav: ac range: 45.299999 m, nav range: 27.348650 m, bearing: 328.798958 deg, approach rate: 0.331973 m/s, LOS rate: -1.216584 deg/s, cmd heading: 64.374471 deg, new cmd heading: 63.090423 deg. 2j=P=HeadingCmd: 1.101136 target range: 45.299999 and range: 45.30 m. j=?jAjAjAiAhAhAhIhIfIfQfYrfYbf]v@ɛ&BK&h= 隍K?I yɚiIcK=IE?iibpz>)?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.- >-<5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015086*F52F1:F1BF=P0JF9G@N}>JJJ1JJ:J/:J3JGBO'>zKuFLKuh9KqKu$Ku  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270959w,ePAHPIP IR"IIRFBIR =&IP.IP6IRr<:IR_ FM'?YM$U?M<9MD :yMH`?@g Vy? d??ŝ?` rA?`?ɨM'?M1];MCyeBe!IMb@Mb@Mb@ )YZd;?+η?V-y?v=@ )I@y@I5I5F٢E½ E4=9M;Q M>IQ UG٣UWGyUPC U> eNusing accuracyPremultiplier from configYe59]{?e5Y]$ i])™m?m:m?m A]E]B;];]ଷ5q }AyZjDNOT Ignoring new targets: 45.30 m.RjBjJj ProNav: ac range: 45.299999 m, nav range: 27.482801 m, bearing: 328.297237 deg, approach rate: 0.296220 m/s, LOS rate: -1.102429 deg/s, cmd heading: 63.090423 deg, new cmd heading: 61.592966 deg. 2j%=HeadingCmd: 1.075000 target range: 45.299999 and range: 45.30 m. j?jjjihhhhjBfffrfbf@_ @ Ihɛ#B;= 隕CB?I KɚiIsK=I?iiLׂ>)?)*FY2FY:FYBFaJFa=Will construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 23:49:51.5583 LVL= 12128, 22977, 22194, 32499, AGC= 55, IDX= 407, 0.49, 1.269,-0.684, 0.009, 0.391, PHS= 0.966,-1.027,-0.384, RAW= 108.4, 5.1, CAL= 119.4, 2.5, ROT= 30.6, -2.5 Ygot valid direction response: 23:49:51.5583 LVL= 12128, 22977, 22194, 32499, AGC= 55, IDX= 407, 0.49, 1.269,-0.684, 0.009, 0.391, PHS= 0.966,-1.027,-0.384, RAW= 108.4, 5.1, CAL= 119.4, 2.5, ROT= 30.6, -2.5 PDAT read: Bearing 30.6, -2.5 (Local) ~Local bearing/azimuth received: Bearing 30.6, -2.5 (Local) DAT read: Range 10 to 50 : 43.0 m (Round-trip 57.4 ms) speed 0.5 m/s ,DAT read: user:3497> %BDAT read: Tx time:23:49:52.6468 %$Ping request sent.%GM ?GM ?G B O% >w,d=jAR+?YRi?RV!=9RW29yRHk?A|?=?ro?[?@sc@@&?`?ɨR+?R;RCy^B^!IIfIf(*٢% -_=9-=;Q ->11 5G٣1y=o~ => ENusing accuracyPremultiplier from configAM59E|?M5YEH iE)™IM?M AEEE:E:E{5Y ]AYku{#Pә?ku!v kq kuyu]A:ku,BBku*BZku,@"u! !J*/{nD@uC!JAʿx`ʿ 'L?JkuRku¢*u )ۚ@ʇ")Z*D@uɳՑI?y˿z3?Will construct direction to contact in vehicle frame from tetrahedron phase data."ku*ku@kummי?ku% 2kuEBku$aE?kqkuEBkuAkuβ@ addTargetRange:: Added new target pos. range: 43.000000 m, deltaT: 3.532486 s, deltaX: -2.299999 m, approachRate: -0.651099 m/s, rangeRepo size: 4  Added new target pos. range: 43.000000 m, bearing: 307.350529 deg, lat: 36.905241 deg, lon: -122.120082 deg, deltaT: 3.532486 s, deltaX: -2.299999 m, approachRate: -0.651099 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 43.00 m.RjBjJj ProNav: ac range: 43.000000 m, nav range: 22.885860 m, bearing: 320.149211 deg, approach rate: 0.000000 m/s, LOS rate: -1.102429 deg/s, cmd heading: 61.592966 deg, new cmd heading: 60.355125 deg. 2jHeadingCmd: 1.053396 target range: 43.000000 and range: 43.00 m. jՆ?jjjihhhhfffrf E@bf ?ɛ=!B=M= 9Ea7?IA EN)ɚAiAIE)UՆ?)Q*F2F:FBF_0JFG GqAG@w>GBO@> IM Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J U:J J zK BIK s9K K $K  w,sA2?Y2ժ?2K=92=Μ;y2H`[? >(F?`U?`k?ב?BӠ s?`{?ɨ2?2;2!CyRxBR!I)T TIZIZ(*٢ 1  L=9  ;Q  > G٣yN > %Nusing accuracyPremultiplier from config!-59%|~?-5Y% i%*™)-?5 A%E%:% :%:59 =kA9]B*** querying acoustic contact ***jYjYZjimDNOT Ignoring new targets: 43.00 m.RjiBju5Jju5 ProNav: ac range: 43.000000 m, nav range: 23.026361 m, bearing: 319.655669 deg, approach rate: 0.357008 m/s, LOS rate: -1.246408 deg/s, cmd heading: 60.355124 deg, new cmd heading: 58.883872 deg. 2jUHeadingCmd: 1.027717 target range: 43.000000 and range: 43.00 m. j??jjjihhhhfffrfbf M)??)*Fu2Fy:FyBF}n0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HC>I Im"IIBI&I.I6I<:Is FBIaJIaRIaZIabIajIeƂj4 IG!>G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9781350('w,A^t?Y^rߧ?^=9^_& G٣WGyd] > Nusing accuracyPremultiplier from config59[?5Yє i*™ ?:ͼ? AEp<<5 AZjDNOT Ignoring new targets: 43.00 m.RjBj@Jj@ ProNav: ac range: 43.000000 m, nav range: 23.159929 m, bearing: 319.184017 deg, approach rate: 0.295348 m/s, LOS rate: -1.036900 deg/s, cmd heading: 58.883874 deg, new cmd heading: 57.477379 deg. 2j1 HeadingCmd: 1.003170 target range: 43.000000 and range: 43.00 m. j g?j j j ihhhh?Bfffrfbf%M?ɛMBM)= QU&?IQ U0aɚQiQIUJ=Ieg?iaie>)eg?)i*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232149G= 4>G B! O= > I K-w,]ŷA6D̈?Y6B ?6M=96NXLB>~!IIFIF=س٢N6 R_=9R9TT VG٣TyVw V> ^Nusing accuracyPremultiplier from configXb59ZR?b5YZ iZ2*™df?f AZ EZI8;Z8;Z5jB jAjEZjDNOT Ignoring new targets: 43.00 m.RjBjJj ProNav: ac range: 43.000000 m, nav range: 23.271749 m, bearing: 318.779097 deg, approach rate: 0.311653 m/s, LOS rate: -1.123118 deg/s, cmd heading: 57.477381 deg, new cmd heading: 56.268646 deg. 2j@HeadingCmd: 0.982073 target range: 43.000000 and range: 43.00 m. j%i{?jjjihhhhfffrfbf?ɛB),= 隍?I jɚiIJ=I%i{?ii>)%i{?)Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484078*F 2F :FBFQ5JF"G>G>JuJuJu0JqJul:Ju :Juـ3JqzK=BoHK=+9K9K=$K=GIG) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737926044w,ܡAH$I$ I&""II&уBI$&I$.I&7D6I&<:I& FB'O?YB$?B,-7=9B7ouMb@Mb@Mb@qqq q)qYui|?5?L7A`?X9vyu>u+=uu@ u@)u@Iu@qyu@IIb٢H 9=9[ G٣y} > Nusing accuracyPremultiplier from config59G?5Y. iI*™>:? A E;;5 KAZjDNOT Ignoring new targets: 43.00 m.RjBj% Jj% = ProNav: ac range: 43.000000 m, nav range: 23.382172 m, bearing: 318.341622 deg, approach rate: 0.260816 m/s, LOS rate: -1.028421 deg/s, cmd heading: 56.268645 deg, new cmd heading: 54.962658 deg. 2j=r0EHeadingCmd: 0.959279 target range: 43.000000 and range: 43.00 m. jEUu?jAjIjIiIhIhI YI]hhQh}BfffrfbfN?ɛMBm.= iu'?Iq uW ɚqiqIu K=I}Uu?iyi}>)}Uu?)) }~G|uAA Y|uAyEB*FE2FA:FABFE@5JFA%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986459G- <>G B O- >_:w,IA6?Y6-?6]L=96-hh jG٣jWGyjƐ n> rNusing accuracyPremultiplier from configpv59r(?v5Yr ir]*™tv.?z Ar Er:r7:r@5| ~(AZj)-DNOT Ignoring new targets: 43.00 m.Rj)Bj5Jj5E ProNav: ac range: 43.000000 m, nav range: 23.472492 m, bearing: 317.969701 deg, approach rate: 0.241668 m/s, LOS rate: -0.991299 deg/s, cmd heading: 54.962659 deg, new cmd heading: 53.851337 deg. 2jM*MHeadingCmd: 0.939883 target range: 43.000000 and range: 43.00 m. jM.p?jQjQjQiQhQhYhahafafafarfibfmf@}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238289ɛB= Y=隭f?I *ɚiI,K=I.p?ii ~>).p?)*FI2FI:FIBFUO0JFQG-4>GBO (> III- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490513uFAw,CYAzK K"s9K K"$K" ")($## %}?Y%ɚ?%c=9%͎?ɨ%}?%O;% Cy5B5D!IIMIM(1٢U ]B=9]Vaa eG٣aye m> uNusing accuracyPremultiplier from configi}59m؋?}5Ymw imu*™׬? AmEm(;m%);m5 CAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 43.00 m.RjBjJj ProNav: ac range: 43.000000 m, nav range: 23.571371 m, bearing: 317.545918 deg, approach rate: 0.234489 m/s, LOS rate: -1.000768 deg/s, cmd heading: 53.851336 deg, new cmd heading: 52.585536 deg. 2j+HeadingCmd: 0.917791 target range: 43.000000 and range: 43.00 m. jVj?jjjihhhhfffrfbf`@ɛBu|= ?I p9ɚiI%xK=IVj?iiz>)Vj?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747305*F2F:FBFP0JF!GEpA GErAHaIa Ie!IIeBIa&Ia.Ia6Iey<:Iee F 1I9Ge 1с>GA BI Oe >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:49:55.1061 e TRx dataTimestamp_ set to:1736380196.488551e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999194NzGw,-]A6.v?Y6XU?6Ry=96r B>-!I)@ @J=J=J9J9J=ܫ:J= :J9J9J=;amJ=;amJ=S;amJ=S;amMb@Mb@Mb@ )Y"~?v/?I +y>xi=9-@ C@)@Ix@y@II٢Ms M;=9MSGQQ UG٣Qy]| ]> Nusing accuracyPremultiplier from config59?5Y{ i*™C>:? AE;];5 AZj DNOT Ignoring new targets: 43.00 m.Rj BjxJjxM ProNav: ac range: 43.000000 m, nav range: 23.658707 m, bearing: 317.153240 deg, approach rate: 0.194299 m/s, LOS rate: -0.870376 deg/s, cmd heading: 52.585538 deg, new cmd heading: 51.412026 deg. 2jMUUHeadingCmd: 0.897309 target range: 43.000000 and range: 43.00 m. jU e?jQjQjQiQhqhyhyh}сBfffrfbf( @ɛB = ^>I J>:ɚiIK=I  e?i i u>) e?)*F2F:FBFO0JFG?|>GABQOmx>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250157  $?I Mw,V 9A>4o?Y>Rؓ?>*Ȉ=9> }=y>Hv? q9?k5?@?_ا?`.D?`?ɨ>4o?>M;>Cy^Bb#!IIjIj(*٢r8 rf=9rutt vG٣vWGyz z> Nusing accuracyPremultiplier from config| 59~? 5Y~x i~*™  ?  A~E~:~:~5B $AEZjAMDNOT Ignoring new targets: 43.00 m.RjIBjMJjUe ProNav: ac range: 43.000000 m, nav range: 23.725296 m, bearing: 316.839448 deg, approach rate: 0.193627 m/s, LOS rate: -0.909870 deg/s, cmd heading: 51.412026 deg, new cmd heading: 50.473380 deg. 2jemHeadingCmd: 0.880927 target range: 43.000000 and range: 43.00 m. jmia?jijijiiihihqhqhqfqfyfyrfybfp @ɛB6= 隵1>I N:ɚiI*0L=Iia?iik>)ia?)Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 23:49:55.1061 LVL= 14528, 24929, 19826, 28659, AGC= 54, IDX= 416, 0.08,-3.046, 1.145, 1.412, 2.053, PHS= 1.272,-0.861,-0.643, RAW= 95.3, 2.3, CAL= 104.3, 0.0, ROT= 45.7, -0.0 uYgot valid direction response: 23:49:55.1061 LVL= 14528, 24929, 19826, 28659, AGC= 54, IDX= 416, 0.08,-3.046, 1.145, 1.412, 2.053, PHS= 1.272,-0.861,-0.643, RAW= 95.3, 2.3, CAL= 104.3, 0.0, ROT= 45.7, -0.0 }PDAT read: Bearing 45.7, -0.0 (Local) ~Local bearing/azimuth received: Bearing 45.7, -0.0 (Local) DAT read: Range 10 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.3 m/s ,DAT read: user:3498> BDAT read: Tx time:23:49:56.1969 $Ping request sent.ڿط?)ZvܾI/%i6A@G:publishing transmit ping timeؙFpublishing direction and range info9Cڿط?)IiEX;=zK MK9KK$K *FY2FY:FYBF]P0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.G H3z>G ?G >jHA bHE 4<Ha Ia  Ie !IIe bBIe ! =&Ia .Ia 6Ie X<:Ie M FG B O >ATw,ITABLh?YBDd?BR=9BZ=yBH@X?`Q`z1?`?ތ?q?q`P?s?ɨBLh?B;@yNBN!I IhMb@Mb@Mb@ )Yx&1?Q?<tp@ @)@I@y@IEIE٢eM ,=9{4 G٣y}d > Nusing accuracyPremultiplier from config 59}? 5Ys i*™3> ;? AE; ;5 A!kbp?km k kŎ?A:k$BBk#BZkX@"N#?ϤI?, ~fD@CI) -<:ɚ)i)I-M=PExceeded connect timeout, disconnecting.JJJJJ:J :JJJ;J;JU;JU;IZ?ii)Z?)*EM="EM=E5 mY=E= qAE9 *F 2F :F BF 5JF "G =G =- Will construct direction to contact in vehicle frame from tetrahedron phase data.G "l>GyBO>V-\w,sA2kb?Y2s?2=92b!tt vG٣tyzn^ z>  Nusing accuracyPremultiplier from config59?5Yo i*™? AE::5 %hA%EZjIMDNOT Ignoring new targets: 41.20 m.RjIBjUJjUe ProNav: ac range: 41.200001 m, nav range: 21.666664 m, bearing: 310.201606 deg, approach rate: 0.205541 m/s, LOS rate: -1.041643 deg/s, cmd heading: 48.980543 deg, new cmd heading: 47.855441 deg. 2je2mHeadingCmd: 0.835235 target range: 41.200001 and range: 41.20 m. jmU?jijijqiqhqhyhhfffrfbf`a? IɛB5= >I j:ɚiInM=IU?iiUi>)U?)EE*E"E-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%2F!:F!BF%Z0JF!JaJazK KK K9K K $K tu;n=V8!i7nXI>83231+(&#%%"'3G ]l>G B O >cw,ԌAF/\?YFU?F=9F"hl nG٣rWGyv0x z>Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59򢗜?5Yk i*™1=?= AE<f<a·5y rAHI I`!II4BI =&I.I6Ij<:IZ F}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 41.20 m.RjBj^Jj^ ProNav: ac range: 41.200001 m, nav range: 21.738123 m, bearing: 309.823189 deg, approach rate: 0.147458 m/s, LOS rate: -0.778305 deg/s, cmd heading: 47.855440 deg, new cmd heading: 46.724078 deg. 2j  HeadingCmd: 0.815489 target range: 41.200001 and range: 41.20 m. j P?jjjihhhhfffArfAbfE`? IɛB6g= =T>I E;ɚAiAIE8N=IMP?iQiU0d>)}P?)*F-2F1:F1BF5_0JF1E Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode. E nManaging dock network, ignoring radio surface power offJ J J J J l:J :J J J ;J ;J dW;J dW;GU zj>GY G] oAG B! O= >,iw,{AyMb@Mb@Mb@ )Y^I +?{Gz?Mb`yX>ף<@ -@)@Ib@y@IIF٢f:  9=9 Q > G٣y% -> =Nusing accuracyPremultiplier from config1E595L?M5Y5/h i5*™U>U;Up?U A5E5;5r;54ķ5i mpAiZj15DNOT Ignoring new targets: 41.20 m.Rj1Bj=Jj=u ProNav: ac range: 41.200001 m, nav range: 21.802954 m, bearing: 309.464793 deg, approach rate: 0.170164 m/s, LOS rate: -0.937896 deg/s, cmd heading: 46.724078 deg, new cmd heading: 45.652218 deg. 2ju }HeadingCmd: 0.796782 target range: 41.200001 and range: 41.20 m. j}K?jyjyjihhhhށBfffrfbf g?ɛEBE= AE>IA MH1;ɚIiIIMN=IUK?iQiUw>)UK?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747283*Fm2Fi:FiBFm0JFqG}qA G}pAGE re> IG!B9OU> pw,5AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998897BN?YBܙ?BB=9B19 =G٣9yE@ E> UNusing accuracyPremultiplier from configIe59M?e5YMe iM*™im?m AMEM;Mv;Mŷ5 AZjDNOT Ignoring new targets: 41.20 m.RjBjGJjG ProNav: ac range: 41.200001 m, nav range: 21.854927 m, bearing: 309.140098 deg, approach rate: 0.146201 m/s, LOS rate: -0.911191 deg/s, cmd heading: 45.652219 deg, new cmd heading: 44.680549 deg. 2jUHeadingCmd: 0.779823 target range: 41.200001 and range: 41.20 m. jvG?jjjihhhhfffrf bf @ɛ5B5(= 隵%?I H;ɚiIUO=IvG?iiS>)vG?)zK,OK9KK$K?<2(    N7vZ@*F2F:FBF95JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253772Gge>H) I)  I- G!II- BI) &I) .I) 6I- <:I- u FBIJIRIZIbIjI'%4 I G B O >o7vw,A:G?Y:?:pF=9:u<;@ @)I@Ix@yQ@IUIU ٢e< eG=9m=Hiq uG٣uWGyuʉ u> Nusing accuracyPremultiplier from configy59}=?5Y}a i}*™> ;? A}E}w;};}Ƿ5 A~EZjDNOT Ignoring new targets: 41.20 m.RjBjJj ProNav: ac range: 41.200001 m, nav range: 21.909777 m, bearing: 308.758370 deg, approach rate: 0.135675 m/s, LOS rate: -0.941864 deg/s, cmd heading: 44.680550 deg, new cmd heading: 43.538393 deg. 2j!HeadingCmd: 0.759888 target range: 41.200001 and range: 41.20 m. j B?jjjihhhhBfffrfbf~ @ɛ-B-=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503600 QU?IQ UZf;ɚYiYI],P=I] B?iaie}{P>)e B?)aJuJuJqJqJu:Ju:JqJqJu;Ju;Jun;Jun;E*F 2F :F BF 0JF "G =G =Gm vT>Gu ?Gu .? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755551Ga Bi O >a|w,(A2@?Y2_y?2a=92RU??`"?uH??ɨ2@?2̏;2!CyBBB8!IININ[٢VV= VW=9VJXX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`f59b?f5YbN^ ib+™dj?j AbEb:b7:bHɷ5l vAt E$?IAZjDNOT Ignoring new targets: 41.20 m.RjBj^{Jj^{ ProNav: ac range: 41.200001 m, nav range: 21.957773 m, bearing: 308.403753 deg, approach rate: 0.119239 m/s, LOS rate: -0.879054 deg/s, cmd heading: 43.538392 deg, new cmd heading: 42.476995 deg. 2jHeadingCmd: 0.741363 target range: 41.200001 and range: 41.20 m. j=?jjjihhh h f f f rfQbfU`'@ɛB.=  ?I ,;ɚiI P=I=?iiFI>)=?)Ew=*FE2FA:FABFEP0JFAEWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:23:49:58.6545 MTRx dataTimestamp_ set to:1736380200.016762Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008227G bT>Ga Bi zK "]NK 9K K $K (  |vU/ O >`Lw, AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262492yB>!Ii!>I<IIbHB>I III! =&I.I6Iy<:Ie F٢E< M2=9]Q ]>iq }G٣yy > Nusing accuracyPremultiplier from config59×?5YY i+™ AE"::˷5 qA5B*** querying acoustic contact ***j1j1ZjYeDNOT Ignoring new targets: 41.20 m.RjaBjmJjmu ProNav: ac range: 41.200001 m, nav range: 22.026493 m, bearing: 307.909062 deg, approach rate: 0.131129 m/s, LOS rate: -0.940995 deg/s, cmd heading: 42.476994 deg, new cmd heading: 40.997898 deg. 2js!HeadingCmd: 0.715548 target range: 41.200001 and range: 41.20 m. j,.7?jjjihhhhfffrfbfF @E~GYq YyBɛB= ?I Z;ɚiI@ R=I ,.7?i i wb>) ,.7?)1E=qAE=qAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M %=M 4=} DAT read: 23:49:58.6545 LVL= 12528, 23969, 16706, 24435, AGC= 50, IDX= 432, 0.21, 1.443,-0.165,-0.516, 0.548, PHS= 0.983,-0.666,-1.067, RAW= 79.4, 8.0, CAL= 84.0, 10.5, ROT= 66.0, -10.5  Ygot valid direction response: 23:49:58.6545 LVL= 12528, 23969, 16706, 24435, AGC= 50, IDX= 432, 0.21, 1.443,-0.165,-0.516, 0.548, PHS= 0.983,-0.666,-1.067, RAW= 79.4, 8.0, CAL= 84.0, 10.5, ROT= 66.0, -10.5  PDAT read: Bearing 66.0, -10.5 (Local)  ~Local bearing/azimuth received: Bearing 66.0, -10.5 (Local)  DAT read: Range 10 to 50 : 40.1 m (Round-trip 53.5 ms) speed 0.1 m/s M ,DAT read: user:3499> U BDAT read: Tx time:23:49:59.7469 U $Ping request sent.U M f?)M f;>IM r?iM f;I I M A ?6vL!?)M y5IM XiM rw @M I I 5 :publishing transmit ping timeQ 5 Fpublishing direction and range infoI E] p=9M l˿{X٬?K?yI I I I I )I II iI I I I I I )I II iI I I M A ?6vL!?)I II iI I I I *F 2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G-oJ>G)BAO]?kyw,*R4ABD-?YBe?B =9B=yBH?ڸ?D? { ?@? ??ɨBD-?BM;B CyN4BN`!I I5Mb@Mb@Mb@111 1)1Y5"~?Zd;O?~jt?y5>5j<5D<5@ 5C@)5QAI11y5@IMIMm?٢]p= e=9mڛiq uG٣uWGyu u> }Nusing accuracyPremultiplier from configy59}͗?5Y}aU i}$+™b>:s? A}E}c;}%;}ͷ5 AkueD?kuп  kq kuI!A:kuf BBkuMBZku7@"uu9LM5V!"M'@ ]B@ul˿{X٬?K?Jkurw @Rku*u@Zp%W@Tx?C@uƷCѿV? ~ ?"kuf?@*ku-ku(>?kuȖ 2ku2Bkummי?ku% ku+Bku[Aku#ť@ addTargetRange:: Added new target pos. range: 40.099998 m, deltaT: 3.527052 s, deltaX: -1.100002 m, approachRate: -0.311876 m/s, rangeRepo size: 4  Added new target pos. range: 40.099998 m, bearing: 164.545480 deg, lat: 36.905147 deg, lon: -122.120022 deg, deltaT: 3.527052 s, deltaX: -1.100002 m, approachRate: -0.311876 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 40.10 m.RjBjJj ProNav: ac range: 40.099998 m, nav range: 13.726694 m, bearing: 296.810168 deg, approach rate: 0.000000 m/s, LOS rate: -0.940995 deg/s, cmd heading: 40.997896 deg, new cmd heading: 39.564627 deg. 2jHeadingCmd: 0.690533 target range: 40.099998 and range: 40.10 m. j0?jjjih h h h HBfffrf D@bfJ|?ɛBie6= 隅8?I ;ɚiIy S=I0?ii0>)0?)EE*E"E]Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJ<:J :J3Ja@a@a@a@*F= 2F9 :F9 BF= 0JF9 G W>G B zK ?MK }9K K $K O% >Yw, NAFf(?YF``?F=9FI=yFH S?cw?`St?ʐ?@?𦼿??ɨFf(?F[;DyZAB^q!III٢%= %O=9%Z:Q ->)) -G٣)y5Q 5> =Nusing accuracyPremultiplier from config9E59=՗?E5Y=Q i=1+™IMun?M A=E=:=@:=Ϸ5UB U0AU{EZjyDNOT Ignoring new targets: 40.10 m.RjBjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչ ProNav: ac range: 40.099998 m, nav range: 13.800226 m, bearing: 296.205813 deg, approach rate: 0.199826 m/s, LOS rate: -1.633575 deg/s, cmd heading: 39.564626 deg, new cmd heading: 37.761852 deg. 2j#HeadingCmd: 0.659069 target range: 40.099998 and range: 40.10 m. j(?jjjihhhhfffrfbfV?ɛB V= 15&?I9 E5;ɚAiAIMS=I}(?ijH<bH<HC>I IZ!II/BI&I.I6I<:Ik F )I5hi@>)M(?)I*F2F:FBFP0JF} Will construct direction to contact in vehicle frame from tetrahedron phase data.G a>G B O >w,)gA:>"?Y:Z?:=9:4D=y:H?G?e?@? ?@+V??ɨ:>"?:;:CyFLBJ~!ILNAeMb@Mb@Mb@aaa a)aYesh|??{Gz?e#=et G٣y_^ > Nusing accuracyPremultiplier from config59wߗ?5YM iC+™>:p? A EH%;#;Xѷ5 AyEZjDNOT Ignoring new targets: 40.10 m.RjBjJj⼝% ProNav: ac range: 40.099998 m, nav range: 13.891019 m, bearing: 295.501043 deg, approach rate: 0.205030 m/s, LOS rate: -1.581087 deg/s, cmd heading: 37.761852 deg, new cmd heading: 35.662352 deg. 2j%uHeadingCmd: 0.622425 target range: 40.099998 and range: 40.10 m. juFW?jqjqjyiyhhhhBfffrfbf-\?ɛB N= 隝-?I K;ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.IT=IFW?iiK>)FW?)*Fy2Fy:FyBFyJF %$?I!GU]fZ>G)B9O]>jw,+AWill construct direction to contact in vehicle frame from tetrahedron phase data.:?Y:ČT?:=9:"@0=y:Hs?`,~ ȡ?w?7?Ы?]_@%?`?ɨ:?:š;: CyfYBj!IIrIrT٢z= zV=9zQ z>|| ~G٣~WGy- >  Nusing accuracyPremultiplier from config 59 Z藜?5Y 4J i S+™!%j?% A !E Q; oR; ӷ5) -hA)ZjQUDNOT Ignoring new targets: 40.10 m.RjQJK KKK"KJeJeJe0JaJe :Je9:Jeـ3JaBj}Jj} ProNav: ac range: 40.099998 m, nav range: 13.970664 m, bearing: 294.867876 deg, approach rate: 0.221316 m/s, LOS rate: -1.749361 deg/s, cmd heading: 35.662351 deg, new cmd heading: 33.774401 deg. 2jHeadingCmd: 0.589474 target range: 40.099998 and range: 40.10 m. j?jjjihhhhfffrfbf y?ɛBV= 5?I [h;ɚiI[U=I?iiAS>)?)*FQ2FQ:FQBFU^0JFYG-{C>GBzK%k3IK!K!K%$K%O=/>Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I y!II HBI &I .I 6I ڰ<:I F ! I! ϕw,˞A2Q^?Y2KM?2=92 =y2H` ? >`?A?`H? B?+Jׁ?7?ɨ2Q^?2ߍ;2"CyRdBR!I5Mb@Mb@Mb@111 1)1Y5Zd;O?V-?y&1|?y5j>5m=5`;5I@ 5@)5 AI5@1y5Q@IMIMF٢]/G= ]D=9]Z;Q e>aa eG٣aymR m> }Nusing accuracyPremultiplier from configq59u?5YuE iug+™.>:k? Au#Eu1;u ;uԷ5 AvEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 40.10 m.RjBjOJjO ProNav: ac range: 40.099998 m, nav range: 14.068418 m, bearing: 294.125285 deg, approach rate: 0.233932 m/s, LOS rate: -1.764681 deg/s, cmd heading: 33.774401 deg, new cmd heading: 31.563267 deg. 2jbHeadingCmd: 0.550883 target range: 40.099998 and range: 40.10 m. j ?jjjihhhhςBfffrfbf`I?ɛBih= 隥T;?I \ ;ɚiI,V=IQ>?iizM>) ?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF_0JFG A>G G qAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233736`w,wA:J?Y:G?:v=9:w=y:H ?Ph9?[]?V??-dk??ɨ:J?:q ;8yFjBF!IiJY>IJ4< lIpIZIZ٢= O=9}:Q >!) -G٣)y5t 5> MNusing accuracyPremultiplier from configAU59E3?U5YEA iEz+™aee?e AE$EE;E;Eַ5q }AyZjDNOT Ignoring new targets: 40.10 m.RjBjJj ProNav: ac range: 40.099998 m, nav range: 14.159657 m, bearing: 293.418252 deg, approach rate: 0.226755 m/s, LOS rate: -1.745792 deg/s, cmd heading: 31.563267 deg, new cmd heading: 29.456838 deg. 2jÕHeadingCmd: 0.514119 target range: 40.099998 and range: 40.10 m. jJ?jjjihhhhfffrfbf@@ɛB|v= 隝??I /c<ɚiIV=I!?ii{c]>)J?)E*F2F:FBF0JFGG>G9BIOeU>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492495JJJJJ:J :JJzK= K= 9K9 K= $K= Tw, SA2 ?Y2B?2H=92=y2H ???@C? v?X`??ɨ2 ?2̌;2!CyNnBR!IIZIZb٢n8< rN=9v[Q v>|  G٣ WGy}P > %Nusing accuracyPremultiplier from config%59?-5Y= i+™)-`?- A&Ee::Oط51 =A9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741691ZjDNOT Ignoring new targets: 40.10 m.RjBjJj 󼝊u ProNav: ac range: 40.099998 m, nav range: 14.249830 m, bearing: 292.710275 deg, approach rate: 0.217964 m/s, LOS rate: -1.700439 deg/s, cmd heading: 29.456837 deg, new cmd heading: 27.347355 deg. 2jߑHYIY I]!II]gBIY&IY.IY6I]L<:I]D FHeadingCmd: 0.477301 target range: 40.099998 and range: 40.10 m. j`> $?Ijjjihhhhfffrfbf`@ɛBi= FB?I %*a<ɚ!i!I%W=I-`>i)i-v>)-`>)1*F2F:FBF0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:23:50:02.2038 u TRx dataTimestamp_ set to:1736380203.548687} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994936G NjM>G% ?G% ?G B O >Kѹw,-A^ ?Y^͉=?^I`=9^ G٣y'< > Nusing accuracyPremultiplier from config59?5Y9 i+™6 ?:f? A(Ey;j;,ڷ5B MAsEZjDNOT Ignoring new targets: 40.10 m.RjBj Jj  ProNav: ac range: 40.099998 m, nav range: 14.362096 m, bearing: 291.910078 deg, approach rate: 0.275989 m/s, LOS rate: -1.951732 deg/s, cmd heading: 27.347355 deg, new cmd heading: 24.966978 deg. 2jnHeadingCmd: 0.435756 target range: 40.099998 and range: 40.10 m. jh>jjjihhhh߂Bfffrfbf  @ɛuBu<= y}K?Iy }x<ɚyiyI}TX=Ih>ii؄>)h>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246785*F2F:FBFP5JFGkR> IGQBaO}{>۹w, AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 39.5 m (Round-trip 52.7 ms) speed 0.0 m/s ,DAT read: user:3500> BDAT read: Tx time:23:50:03.2969 "$Ping request sent." G٣y2 > %Nusing accuracyPremultiplier from config%59?-5Y4 i+™)-'b?- A*E:z:۷59 =[A9 addTargetRange:: Added new target pos. range: 39.500000 m, deltaT: 3.531762 s, deltaX: -0.599998 m, approachRate: -0.169886 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 40.10 m.RjBjJj ProNav: ac range: 40.099998 m, nav range: 14.470084 m, bearing: 291.138711 deg, approach rate: 0.257748 m/s, LOS rate: -1.827313 deg/s, cmd heading: 24.966978 deg, new cmd heading: 22.671444 deg. 2jœ5HeadingCmd: 0.395691 target range: 40.099998 and range: 39.50 m. j5>j1j1j1i1h9h9h9h9fAfAfArfEC@bfMF?ɛB= 隽K?I pO"<ɚiIX=Il>ii >)>)EpAEqAzK!K%9K!K%$K%*F2F:FBF4JF"G=G=G}

G9BYOWill construct direction to contact in vehicle frame from tetrahedron phase data.iJDAT read: TxSync time:23:50:03.2961 HI II  IM !IIM BII &II .II 6IM <:IM m FBI JI RI $?I ZI ! =bI ! =jI 43w,A6^>Y6y+4?6S=96^6@;6CyBuBB!I Mb@Mb@Mb@    ) Y S?"~j?I +y ? S= 94 v@ @) AI @ y @I%I%)٢5 5V=95Q 5>99 =G٣=WGyE2I E> MNusing accuracyPremultiplier from configIU59M*?U5YM*0 iM+™?:f? AM+EM3jjjihhhhBfffrfbf?ɛBχ= G?I! %r!,<ɚ!i!I%Y=I-Ӻ>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)iQ)Uf>)Y*F2F:FBF P0JF G- t>G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753111C w,D6A DIFhV>YVƈ/?V>=9VV;V CybtB`IjIjƲ٢r^ rO=9vQ v>tx zG٣xyzA< z> Nusing accuracyPremultiplier from config|59~6? 5Y~+ i~+™  /b?  A~-E~7:~:~Y߷5 AnEk5^@J5J5ZjIMDNOT Ignoring new targets: 40.10 m.RjIBjU>JjU>e ProNav: ac range: 40.099998 m, nav range: 14.693037 m, bearing: 289.665197 deg, approach rate: 0.302732 m/s, LOS rate: -1.989769 deg/s, cmd heading: 20.523627 deg, new cmd heading: 18.286841 deg. 2jemHeadingCmd: 0.319166 target range: 40.099998 and range: 39.50 m. jmi>jijijiiihqhqhqhqfffrfbf?ɛMBM(S= Qu`H?Iq u5<ɚyiyI}lZ=I>ii)i>)*F-2F):F)BF-\0JF1GN|>GBOI>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004898zK BoHK 9K K $K Iw,PA2>Y2S[+?2=92zO2Ċ;0yNmBR!IIZIZ٢bV  bM=9bQ b>dd fG٣dyjj' j> nNusing accuracyPremultiplier from confighr59jC?r5Yj' ij,™pr]?r Aj/Ej ;j2 ;j5x zAxk J 1K Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257169ZjDNOT Ignoring new targets: 40.10 m.RjBjJj ProNav: ac range: 40.099998 m, nav range: 14.807302 m, bearing: 288.908543 deg, approach rate: 0.286997 m/s, LOS rate: -1.885761 deg/s, cmd heading: 18.286841 deg, new cmd heading: 16.035621 deg. 2jš HeadingCmd: 0.279874 target range: 40.099998 and range: 39.50 m. j K>j j j i h hhh9fAfIfIrfIbfM?ɛBHI I!IIBI&I.I6IG<:I? FUȄ= YeE? $?IIi C@<ɚiIZ=I {>ii)K>)1) E V>E EG]tA}A  YtAyB*F2F:FBFO0JFG GrAM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508926Ge >Ju Ju Jq Jq Ju <:Ju 9:Jq Jq Ju 5;a} Ju 7;a} Ju Y`;a} Ju Y`;a Gq By O >!w,jAy5eB=!IMb@Mb@Mb@ )Y G٣WGy %> -Nusing accuracyPremultiplier from config!559%.Q?55Y%! i%5,™5?5:5`?= A%1E%;%p;% 5EB EAEkEkY1K]]Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1J] eAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLZjiuDNOT Ignoring new targets: 40.10 m.RjqBj}cJj}c ProNav: ac range: 40.099998 m, nav range: 14.944456 m, bearing: 288.052202 deg, approach rate: 0.306145 m/s, LOS rate: -1.893836 deg/s, cmd heading: 16.035621 deg, new cmd heading: 13.491944 deg. 2jwHeadingCmd: 0.235479 target range: 40.099998 and range: 39.50 m. j^!q>jjjihhhhBfffrfbf1?ɛB$J= 1B?I ]J<ɚiID([=I%>ii)^!q>)*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763441 yIyGٹ>G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012986w,]oAZE>YZZS;Z"CyfUBf!IIrIr%x٢zn z]=9z!Q z>|| ~G٣|y۽ > Nusing accuracyPremultiplier from config 59 W]?5Y  i Q,™!%U?% A 3E Z; '[; 5) -A)ZjY]DNOT Ignoring new targets: 40.10 m.RjaBje)Jje)} ProNav: ac range: 40.099998 m, nav range: 15.052571 m, bearing: 287.341762 deg, approach rate: 0.291959 m/s, LOS rate: -1.904679 deg/s, cmd heading: 13.491944 deg, new cmd heading: 11.376946 deg. 2j}eHeadingCmd: 0.198565 target range: 40.099998 and range: 39.50 m. jTK>jjjihhhhfffrfbf$@ɛB(I= :?I [\S<ɚiI[=IxW>ii)TK>)*F2F:FBF1JFzKJK}9KK$K  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267405G >HI I!IIBI =&I.I6IW<:IL F y Iy G B O >3w,6A2)>Y2l?2[9=92I;y2H&?`<`{? W*?K?F8? X|q{??ɨ2)>2x;2CyNJBN{!IPP-Mb@Mb@Mb@))) )))Y-(\?A`"?y-?-=-̼-v@ -`@)-AI-@)y-@IE IE<2٢U3_ ]E=9]Q ]>aa eG٣aye_ m> uNusing accuracyPremultiplier from configi}59m k?}5Ym5 imr,™?:@L? Am5EmS.;m-;my5 A%B*** querying acoustic contact ***j)j-xZjQ]DNOT Ignoring new targets: 40.10 m.RjYBjeJje ProNav: ac range: 40.099998 m, nav range: 15.164614 m, bearing: 286.567596 deg, approach rate: 0.257720 m/s, LOS rate: -1.767524 deg/s, cmd heading: 11.376945 deg, new cmd heading: 9.072922 deg. 2jHeadingCmd: 0.158352 target range: 40.099998 and range: 39.50 m. j'">jjjihhhh Bfffrfbf @ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517089ɛ]߁B]9 v= Y]5?IY e-]<ɚaiaIe.\=Im9>iiii)m'">)qJ5J5J51J1J5:J5 :J53J1J5;J5;J59P;J5:P;*F2F!:F!BF%A5JF!Ge >G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769023[w,5A $?I:>Y:?:7=9:0;y:H ؋?@? ?`?B? ` Mt?@?ɨ:>:J;: CyJ*BNU!II^I^V٢f$ fT=9fQ j>hh jG٣jWGynFh 5> =Nusing accuracyPremultiplier from config9E59=fx?E5Y= i=,™AMF?M A=6E=:=:=55Q UAUhEZjyDNOT Ignoring new targets: 40.10 m.RjBj& Jj&  ProNav: ac range: 40.099998 m, nav range: 15.269721 m, bearing: 285.831259 deg, approach rate: 0.279783 m/s, LOS rate: -1.946493 deg/s, cmd heading: 9.072922 deg, new cmd heading: 6.880246 deg. 2jHeadingCmd: 0.120083 target range: 40.099998 and range: 39.50 m. j =jjjihhhhfffrfbf` @ɛށB#~= +&?I e<ɚiI\=I%>ii) =)*F2F:FBFT3JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:50:05.7536 -TRx dataTimestamp_ set to:1736380207.076602-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022013Gɯ>GBO>zK  LK @9K K $K  "!!Cw,zA>>Y>|?>=9>t;y>Hy?` b?`? :?'?[@mr? 6?ɨ>>>n;>CyFBJE!IIRIR 2٢Z ZL=9ZQ Z>\\ nG٣lyr7l r> vNusing accuracyPremultiplier from configtz59v?z5Yv# iv,™xz@?z Av8Ev:v;v5! %aA!ZjimDNOT Ignoring new targets: 40.10 m.RjiBjuRJjuR}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273105ZHRH?AHI I!IIvBI! =&I.I6IX<:IM F ProNav: ac range: 40.099998 m, nav range: 15.372136 m, bearing: 285.100135 deg, approach rate: 0.255108 m/s, LOS rate: -1.808988 deg/s, cmd heading: 6.880246 deg, new cmd heading: 4.702597 deg. 2j/ 9IAHeadingCmd: 0.082076 target range: 40.099998 and range: 39.50 m. j[=jjjihhhIhIfQfYfarfbf` @ɛ݁B|W= [ ?I 2pp<ɚiI+Z]=I%[=i!i!)%[=))*F2F:FBFP5JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: Range 10 to 50 : 39.3 m (Round-trip 52.4 ms) speed 0.0 m/s E ,DAT read: user:3501> M BDAT read: Tx time:23:50:06.8470 M $Ping request sent.M G B O >Mw,ZAF*>YF= ?F=9FsF;FCyr Br,!IMb@Mb@Mb@ )Y rh?J +?QyC ?=`@ )IZ@y@II<٢%M %0=9%wQ ->11 5G٣1y=mB => ENusing accuracyPremultiplier from configAM59E?M5YE  iE,™U ?U:Ui8?U AE:EE7!;E;E5]B ]A]cE addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.528137 s, deltaX: -0.200001 m, approachRate: -0.056687 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 40.10 m.RjBjJj ProNav: ac range: 40.099998 m, nav range: 15.485352 m, bearing: 284.260325 deg, approach rate: 0.249013 m/s, LOS rate: -1.833558 deg/s, cmd heading: 4.702597 deg, new cmd heading: 2.203263 deg. 2jKHeadingCmd: 0.038454 target range: 40.099998 and range: 39.30 m. j%=jjjiAhAhAhAhMЂBfIfIfIrfM`fC@bfU0?ɛ܁Blr= g?I w<ɚiI]=Is=ii)%=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:50:06.8462 ) $?Ih*F52F1:F1BF5O0JF1GU >GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. < <w,A6>Y6B?6}=966dz;4yBBB!IIJIJ٢RG@ Rc=9VfQ V>X\ bG٣`yn r> vNusing accuracyPremultiplier from configtz59v梘?z5Yv\  iv,™x~2?~ AvJw,Sz Af >Yf>fc3=9f#? |?@a:?;??@?ɨf >f0;fCyrԂBr I- only read 0 of 1 data item for BIT error. Device response is::TS,25010815510, +10.9, 0.0,1493.3, 0  @ @ @  @ IIỳ٢-# -C=95EQ 5>99 =G٣=WGyEϽ E> MbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configIU59M?U5YM iM-‘+::'? AM>EMM5 A`EEB*** querying acoustic contact ***jAjAZjQuWill construct direction 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.DNOT Ignoring new targets: 40.10 m.RjBjJj ProNav: ac range: 40.099998 m, nav range: 15.666693 m, bearing: 282.839009 deg, approach rate: 0.213252 m/s, LOS rate: -1.717624 deg/s, cmd heading: 0.227921 deg, new cmd heading: 357.966182 deg. 2jYHeadingCmd: 6.247688 target range: 40.099998 and range: 39.30 m. j@jjjihhhh f f f)rf1bf5?ɛځBG= 隍>IJJJ/JJ:J :J(N3JJi;Jj;J9P;J:P; 3<ɚiI^=Ieii)@)*F2F:FBF]0JFG >G G mA- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257325G B O > $?I w,W:AVp>YV>V=9V=yVH@У?ۿ`}3?_?Y?~?fj??ɨVp>V8;V CybBb IIjIj٢rb½ rO=9r{Q v>tt vG٣tyz5K z> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 59~? 5Y~S i~2-‘ :{:"? A~?E~\;~O?~"5! %I A!ZjIMDNOT Ignoring new targets: 40.10 m.RjIBjUH JjUH e ProNav: ac range: 40.099998 m, nav range: 15.754633 m, bearing: 282.118085 deg, approach rate: 0.237287 m/s, LOS rate: -1.934343 deg/s, cmd heading: 357.966171 deg, new cmd heading: 355.816537 deg. 2je𥽝mHeadingCmd: 6.210170 target range: 40.099998 and range: 39.30 m. jm@jijijqiqhqhqhyhyfyfyfrfbf ?ɛ M= 隽H>I <ɚiI'_=I8~ii)@)*FU2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508828G1G BO=>zK ;LK 9K K $K  BK :K oAw,@TAFB2V>YF>FUx=9F=yFH?@ڿH?A?b?n |?,赿 i(??ɨFB2V>FDb;FCyNBR IIZIZ1٢b bL=9bD ;Q b>dd fG٣dyj, j>nWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760867 vbBottom track data is 1.2 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz59rϘ?z5Yr irP-‘~9|~K:~n?~ ArAEr;;rG?r5 $ A Zj)5DNOT Ignoring new targets: 40.10 m.Rj1Bj5RJj=RE ProNav: ac range: 40.099998 m, nav range: 15.841760 m, bearing: 281.382997 deg, approach rate: 0.217269 m/s, LOS rate: -1.822970 deg/s, cmd heading: 355.816546 deg, new cmd heading: 353.624539 deg. 2jMbMHeadingCmd: 6.171913 target range: 40.099998 and range: 39.30 m. jUO@jQjQjQiQhQhYhYhYfYfafarfabfe@?HD>I IM!II%BI =&I.I6IV<:IM FBIyJIyRIyZIybI} =jI}y4 aIaɛفB1= f>I r<ɚiI_=I%ii)O@)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013511G >J J J 0J J <:J :J ـ3J J 6;J 7;J R;J R;G B O >-w, nA6<>Y6Y>6u=966ɋ;6"CyRBR I m u uu uu  u u uMb@Mb@Mb@qqq q)qYux? rh?y&1yuK>uC =u`u~A u@)qIu@qyu@IIb1٢y >=9nBQ > G٣WGy'l > Nusing accuracyPremultiplier from config59^ߘ?5Y in-‘T:R>:> ACE;;5B  A]EZjDNOT Ignoring new targets: 40.10 m.RjBjJj켝 ProNav: ac range: 40.099998 m, nav range: 15.899695 m, bearing: 280.669450 deg, approach rate: 0.134966 m/s, LOS rate: -1.656171 deg/s, cmd heading: 353.624548 deg, new cmd heading: 351.492747 deg. 2jHeadingCmd: 6.134706 target range: 40.099998 and range: 39.30 m. jO@j!j!j!i!h!h!h)h-wBf)f)f1rf1bf5p@ɛZ,= >I <ɚiIY`=I ig i i)O@)1E9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266293*F2F:FBFP5JF U$?IQG>G?G9?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516818!w,ARv<">YR4>RV=9RRߋ;RCy~{B~~ Ii,>I=I I F2٢ %S=9%:Q %>!) -G٣)y- -> ENusing accuracyPremultiplier from configAM59E혜?M5YEX iE-™QU1>U AEDEE:E:E5Y ]~ AYZjDNOT Ignoring new targets: 40.10 m.RjBjJj ProNav: ac range: 40.099998 m, nav range: 15.949817 m, bearing: 280.020395 deg, approach rate: 0.128872 m/s, LOS rate: -1.663578 deg/s, cmd heading: 351.492736 deg, new cmd heading: 349.552472 deg. 2jHeadingCmd: 6.100842 target range: 40.099998 and range: 39.30 m. j:@jjjihhhhfffrfbf@ɛim"= im>Ii u<ɚqiI`=I|4ii):@)*F)2F):F)BF-4JF)zK>BKK9KK$K*NC+  Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771656HE>IC I!IIBI =&I.I6I^<:IT F III G |uA A ] Y] |uAye ABGq Ga B O >' (w,A:|>Y:Ҵ>:ʁ=9:-:}a;:"Cy^dBba I  @   @   @    @  II3٢% -J=9-Q ->11 5G٣1y5 => EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from configAM59Eq?M5YE< iE-‘U+:QU:U>U AEFEE(;E>E5]B e? AeZEZjDNOT Ignoring new targets: 40.10 m.RjBj Jj  ProNav: ac range: 40.099998 m, nav range: 15.999011 m, bearing: 279.347897 deg, approach rate: 0.121658 m/s, LOS rate: -1.657934 deg/s, cmd heading: 349.552471 deg, new cmd heading: 347.542054 deg. 2j:HeadingCmd: 6.065753 target range: 40.099998 and range: 39.30 m. j@jjjihhhhfffrfbfF @UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:50:09.3035 eTRx dataTimestamp_ set to:1736380210.604677echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021888ɛ= \>I 2<ɚiIa=IqMKii)@)*F2F:FBFP0JFG>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272740 U $?IY 6.w,Ay SB L II%I%1٢5 5I=9=Q =>9A EG٣EWGyE E> UbBottom track data is 0.8 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]59Md ?]5YM iM-‘e :ae:ae AMGEM@;MO?M<5i m AiB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 40.10 m.RjBjJj꼝 ProNav: ac range: 40.099998 m, nav range: 16.050644 m, bearing: 278.676470 deg, approach rate: 0.126757 m/s, LOS rate: -1.642987 deg/s, cmd heading: 347.542046 deg, new cmd heading: 345.535109 deg. 2j򌽝HeadingCmd: 6.030725 target range: 40.099998 and range: 39.30 m. j@jjjihhhhffQfQrfQbf]Ol @ɛ؁B = 隥t>I 5<ɚiIpHb=Ilgvii)@)*FM2FI:FIBFIJFIeWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 39.2 m (Round-trip 52.3 ms) speed 0.0 m/s },DAT read: user:3502> BDAT read: Tx time:23:50:10.3970 $Ping request sent.GqGuqAGI BY O >95w,ywAzK"؉LK"9K K"$K"     -7Fy=YFnV>F=9F G٣y   > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59P?%5YI i-‘%9!%h:%f>% AIEg5;?'5-B 5 A5WEHAIA IE IIEBIA&IA.IA6IEq<:IEc F addTargetRange:: Added new target pos. range: 39.200001 m, deltaT: 3.527998 s, deltaX: -0.099998 m, approachRate: -0.028344 m/s, rangeRepo size: 4 ZjVStarting intercept timer at range: 39.20 m.DNOT Ignoring new targets: 40.10 m.RjBjRJjR켝 ProNav: ac range: 40.099998 m, nav range: 16.093679 m, bearing: 278.015804 deg, approach rate: 0.107959 m/s, LOS rate: -1.652876 deg/s, cmd heading: 345.535117 deg, new cmd heading: 343.559248 deg. 2jˍHeadingCmd: 5.996240 target range: 40.099998 and range: 39.20 m. j3@jjjihhhhfffrfC@bf<-? $?Iɛ= ,a>I <ɚiIb=I꒾ii)3@)*Fq2Fq:FyBF}_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=0.501351G>Gy B O >OH;w,rRABl=YBה>Bo=9B2=yBHا?#Yѿ`??C?q1ǵ`>??ɨBl=B;BCyr6Br( I } } }} }}  } } }Mb@Mb@Mb@yyy y)yY}MbX9?}t}u}A }I@)}AI}@yy}\@II٢b @=9Q > G٣y\ > Nusing accuracyPremultiplier from config59)?5YQ i-‘T:>:J> AJE3;$;5  AZj  TStopped intercept timer at range: 39.20 m.DNOT Ignoring new targets: 40.10 m.RjBjJj༝- ProNav: ac range: 40.099998 m, nav range: 16.105652 m, bearing: 277.350328 deg, approach rate: 0.028314 m/s, LOS rate: -1.572612 deg/s, cmd heading: 343.559253 deg, new cmd heading: 341.565160 deg. 2j-膽5HeadingCmd: 5.961437 target range: 40.099998 and range: 39.20 m. j5ľ@j1j1j1i1h9h9hAhEBfIfIfIrfIbfM X?ɛ15)< 9=$;>I9 =Z;<ɚ9iAIEYc=Iu炟iqiq)uľ@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=1, elapsed TxPingTime=0.753563*F2F:FBFJF IGi GI Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=1, elapsed TxPingTime=1.004675/0Bw,- AJ&J&J$J$J&:J&:J$J$y}$B} III٢ J=9Q > G٣WGy > Nusing accuracyPremultiplier from config59}8?5Ye i .™ ALE ; ;5 GATEZj  VStarting intercept timer at range: 39.20 m. DNOT Ignoring new targets: 40.10 m.Rj Bj%߼Jj%߼5 ProNav: ac range: 40.099998 m, nav range: 16.119020 m, bearing: 276.719715 deg, approach rate: 0.033114 m/s, LOS rate: -1.560706 deg/s, cmd heading: 341.565166 deg, new cmd heading: 339.675619 deg. 2j5ㅽ=HeadingCmd: 5.928458 target range: 40.099998 and range: 39.20 m. j=@j9j9j9iAhAhAhAhAfIfIfIrfIbfU?ɛy}?< y隅>I !*<ɚiIrd=Iii)@)Ei>E>*FM2FI:FIBFM0JFIzK[LKK9KK$KHDsp^ODC;51/*'!!  :wpjd\XQMWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=1.256582H=G>I9 I= II=}BI9&I9.I=8D6I=<:I=z F IGu>Gq B O >}\Hw,#Ay%B% Ii-0>I->?Mb@Mb@Mb@ )Y)\(?x&{GzyG>7#A v@)AI@yAII۳٢ G=9Q > G٣y > Nusing accuracyPremultiplier from config 59G? 5Y i!.™ >:> AMEc2;/;5 zA=Will construct direction to contact in vehicle frame from tetrahedron phase data.= ?=?Echecking for new query: numPingsReceived=1, elapsed TxPingTime=1.509405Zj]]TStopped intercept timer at range: 39.20 m.]DNOT Ignoring new targets: 40.10 m.RjYBje ߼Jje ߼u ProNav: ac range: 40.099998 m, nav range: 16.121923 m, bearing: 276.072379 deg, approach rate: 0.006997 m/s, LOS rate: -1.560005 deg/s, cmd heading: 339.675607 deg, new cmd heading: 337.734734 deg. 2juӅHeadingCmd: 5.894583 target range: 40.099998 and range: 39.20 m. jm@jjjihhhhBfffrfbf g?ɛuفB}x< y} >I 9<ɚiIDe=I ii)m@)*F2F:FBF0JFG > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=1, elapsed TxPingTime=1.760592G B $?I O >Nw,Cl@Y>`M>>P =9>P=y>H1=?Jɿs?Gl?@=[? < ?`X?ɨ>l@>}ɑ;> CyJBJIIRIR 3٢Zy Z`=9^;Q ^>`` bG٣`ybY f> jNusing accuracyPremultiplier from configdj59fJU?n5Yf if4.™pr0K=r AfOEf3;f3;f-5vB vAvQE B*** querying acoustic contact ***j j Zj%VStarting intercept timer at range: 39.20 m.%DNOT Ignoring new targets: 40.10 m.Rj!Bj-Jj-⼝= ProNav: ac range: 40.099998 m, nav range: 16.113640 m, bearing: 275.499797 deg, approach rate: -0.022858 m/s, LOS rate: -1.580806 deg/s, cmd heading: 337.734741 deg, new cmd heading: 336.016656 deg. 2j=EHeadingCmd: 5.864597 target range: 40.099998 and range: 39.20 m. jEǪ@jAjAjIiIhIhIhIhQfQfQfQrfQbf]` 2?ɛ@B< 隍=I \”<ɚiIe=IϾii)Ǫ@)*F2F:FBF5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.012603JKـ3 K .KK"KJeJeJaJaJe\:Je9JaJaGU>GB!O=>_lUw,@VA6@Y60>6=96u=y6Hg?ſ`ڎ?`9?Ņ?/`Rp?@?ɨ6@6s*;6CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.264489yTXIfIfbjHpbHpHvJ>It IvM IIvTBIv =&It.It6Iv<:Iv FzK5]NK5ŷ9K1K5$ IK5GC?953'%')(().-*($#$$ O%9:Q > G٣WGy- > Nusing accuracyPremultiplier from config59e?5Yv iJ.™< APE:':5 ZjDNOT Ignoring new targets: 40.10 m.RjBj%1Jj%1Ἕ5 ProNav: ac range: 40.099998 m, nav range: 16.100393 m, bearing: 274.813213 deg, approach rate: -0.030363 m/s, LOS rate: -1.575014 deg/s, cmd heading: 336.016648 deg, new cmd heading: 333.956137 deg. 2j5=HeadingCmd: 5.828634 target range: 40.099998 and range: 39.20 m. j=,@j9j9j9i9hAhAhAhAfIfIfIrfIbfM}@ɛy}$ < }aW=}(=Iy }<<ɚiIf=Iii),@)E*Fq2Fy:FyBFj4JF"G)>G%>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=1, elapsed TxPingTime=2.516698G1 GQ GQ G! B1 OM >i[w,pA:@Y:T>:v`=9:=y:Ho?¿2?`ug? }? Œ y?`?ɨ:@:uӐ;:CyF BFI)H HJAJAMb@Mb@Mb@ )Y%C?~jty&1|yZ>`A A)dAIyAI=I=b2٢M@ M<9My;Q U>QQ UG٣Qy]n ]> eNusing accuracyPremultiplier from configam59eYt?m5Ye ie^.™m>u:uHǼu AeQEe;ei:e5}B }'A}NEZjTStopped intercept timer at range: 39.20 m.DNOT Ignoring new targets: 40.10 m.RjBj>Jj>㼝 ProNav: ac range: 40.099998 m, nav range: 16.082392 m, bearing: 274.192626 deg, approach rate: -0.046053 m/s, LOS rate: -1.589383 deg/s, cmd heading: 333.956144 deg, new cmd heading: 332.092993 deg. 2jXHeadingCmd: 5.796116 target range: 40.099998 and range: 39.20 m. jy@jjjihYhYhYh](Bfafafrfbf @ɛځBɵ< (=I 3<ɚiIbg=I%iIiQ)Uy@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770971 }$?Iy*F2F:F BF P0JF G- >G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:50:12.8541  TRx dataTimestamp_ set to:1736380214.139829 checking for new query: numPingsReceived=1, elapsed TxPingTime=3.0301407bw,A}AJJ@AJ"J"J J J":J"u9J J v@Yv=v<=9vۢ G٣y > Nusing accuracyPremultiplier from config592?5Y is.™zO ASE;;5 BAZj%%VStarting intercept timer at range: 39.20 m.%DNOT Ignoring new targets: 40.10 m.Rj!Bj-Jj-㼝E ProNav: ac range: 40.099998 m, nav range: 16.060223 m, bearing: 273.526026 deg, approach rate: -0.052886 m/s, LOS rate: -1.592372 deg/s, cmd heading: 332.093005 deg, new cmd heading: 330.091305 deg. 2jEMHeadingCmd: 5.761180 target range: 40.099998 and range: 39.20 m. jM[@jIjIjIiQhQhQhQhQfYfYfYrfYbfe  @ɛ_< 隝=I <ɚiI1h=I&ii)[@)*FM2FI:FIBFMO0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=1, elapsed TxPingTime=3.276599HP>IC I. II;BI =&I.I9D6If<:Ie FBIơCJIơCRIZI =bI =jI5 ]$?IYzK]`MK]}9KYK]$K] '+38=M]a]WUUVW[\[]a`^]][[Y[ZWRPMI8&RKm?JKm>G)G B OE >Ahw,SAy}B}I Mb@Mb@Mb@    ) Y %C?lMbPy     A QA) I @ y I%I%5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:50:12.8541 LVL= 15056, 17009, 15474, 21443, AGC= 53, IDX= 442,-0.13, 3.041,-2.827, 1.119, 2.624, PHS= 0.505, 0.880,-1.508, RAW= 21.6, 1.1, CAL= 21.1, 0.2, ROT= 128.9, -0.2  Ygot valid direction response: 23:50:12.8541 LVL= 15056, 17009, 15474, 21443, AGC= 53, IDX= 442,-0.13, 3.041,-2.827, 1.119, 2.624, PHS= 0.505, 0.880,-1.508, RAW= 21.6, 1.1, CAL= 21.1, 0.2, ROT= 128.9, -0.2 PDAT read: Bearing 128.9, -0.2 (Local) ~Local bearing/azimuth received: Bearing 128.9, -0.2 (Local) ٢-R 5@=95Q =>9A EG٣EWGyM > Nusing accuracyPremultiplier from config59?5Y i.™y>:X> AUE8;:5DAT read: Range 10 to 50 : 39.6 m (Round-trip 52.9 ms) speed -0.3 m/s ,DAT read: user:3503> BDAT read: Tx time:23:50:13.9471 $Ping request sent.=nF< =)>)=d;I=@i=d99=-[_O¿ [ݪ5v?)=>ۿI=T#i=B?=99E:publishing transmit ping timeعEFpublishing direction and range info9k=(B瘜?k=M% k9 k=fA:k=fBBk=RBZk=h;?"=:U?'B@ n)@=?Nܜ? 0kV?1qo:D?Jk=B?Rk=*=HQB@8֭; +@9=?Nܜ? 0kV?1qo:D?y9999 9)9I9i99999 9)9I9i999=-[_O¿ [ݪ5v?)9I9i9999checking for new query: numPingsReceived=2, elapsed TxPingTime=0.032985=vy񪿊?Rr?"k=B*k=_k=昜?k= 2k= Bk=昜?k=# k=Bk=@k=mR@ addTargetRange:: Added new target pos. range: 39.599998 m, deltaT: 3.531879 s, deltaX: 0.399998 m, approachRate: 0.113254 m/s, rangeRepo size: 4  Added new target pos. range: 39.599998 m, bearing: 93.209515 deg, lat: 36.905121 deg, lon: -122.119929 deg, deltaT: 14.119776 s, deltaX: -0.500000 m, approachRate: -0.035411 m/s, posRepo size: 4 ZjTStopped intercept timer at range: 39.60 m.DNOT Ignoring new targets: 39.60 m.RjBjJj ProNav: ac range: 39.599998 m, nav range: 7.961873 m, bearing: 254.826506 deg, approach rate: 0.000000 m/s, LOS rate: -1.592372 deg/s, cmd heading: 330.091295 deg, new cmd heading: 327.739886 deg. 2jHeadingCmd: 5.720140 target range: 39.599998 and range: 39.60 m. jc @jjjihhhh%"Bf!f!f!rf%C@bf-3?ɛuہBu6׾< 隝=I aq<ɚiIi=I ii)c @) Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:50:13.9463  checking for new query: numPingsReceived=2, elapsed TxPingTime=0.204032 i Ii E t0=E qAE *F 2F :F BF L5JF G pA G qAG]>Ge?Ge?G1BAO]?rw,AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=2, elapsed TxPingTime=0.455237>L@Y>&=>ꮷ=9>fy=y>H? 裱 q? M?`e?@=? ?ɨ>L@>SϏ;>CyJBJIiN=IN< R=PIVIV<٢^; ^=9^:Q b>`` bG٣`yUý ]> eNusing accuracyPremultiplier from configam59er?m5Ye ie.™quվu AeVEe*;e*;e5y SAk]dҌ?k]@% kY kY:kYBkYZk]2?"]:U?'B@ n)@]?Nܜ? 0kV?1qo:D?JkYRkY*]H~oտ?̈́B@3%+@]_ MdWb?x$?"k]B*k]k]ꡌ?k]ﴐ 2k]+BkYk]Ȗ k]2Bk]b@k]^]@Zj -VStarting intercept timer at range: 39.60 m.MDNOT Ignoring new targets: 39.60 m.RjIBj]7kJj]7ku ProNav: ac range: 39.599998 m, nav range: 8.003119 m, bearing: 253.248274 deg, approach rate: 0.086446 m/s, LOS rate: -3.290262 deg/s, cmd heading: 327.739879 deg, new cmd heading: 323.040747 deg. 2ju! }HeadingCmd: 5.638124 target range: 39.599998 and range: 39.60 m. j}k@jyjyjyiyhyhyhhfffrfbf?ɛ%܁B-5< )-x=I) - <ɚ)i1I5Aj=I5Ri9i9)=k@)9E%f=*F2F:FBFP0JFHV>IC I II,BI =&I.I6IB<:IP FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=2, elapsed TxPingTime=0.707983 M$?IQzK2NK9KK$K4hobYL=2*))%#BK:K)  M sAe A /"Y sAy QBG > P%@ &BG B O >{?xw,1A[@YJ=ҵ=98+D @) AIyAI%I%2٢=I< =5=9EPQ E>AA MG٣IyMJ M> ]Nusing accuracyPremultiplier from configQ]59U]?e5YU iU.™eq>e:eܾe AUXEU;U;U 5}B }%AHEB*** querying acoustic contact ***jjMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.959862Zj]TStopped intercept timer at range: 39.60 m.DNOT Ignoring new targets: 39.60 m.RjBj_Jj_ ProNav: ac range: 39.599998 m, nav range: 8.045450 m, bearing: 251.840383 deg, approach rate: 0.094556 m/s, LOS rate: -3.128014 deg/s, cmd heading: 323.040736 deg, new cmd heading: 318.847211 deg. 2j+HeadingCmd: 5.564934 target range: 39.599998 and range: 39.60 m. j@jj j i h hhh4BfffArfAbfM஥?JmJmJiJiJm:Jm9JiJiJml;auJmm;a}Jm;a}Jm;a}ɛ݁BY< 隽\=I <ɚiI\k=I)ii ) @) EE*E"E*F} 2Fy :Fy BF} @5JFy "G G 0> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=2, elapsed TxPingTime=1.211960 A IA G>GBO?Dw,*A:-@Y:̴;:3=9:C9=y:H`/?@)xfx?v??͟@z???ɨ:-@:;:!CyFBFI)L LIRIR٢Z  Z.=9^ܺQ ^>\\ ^G٣bWGyb b> fNusing accuracyPremultiplier from configdn59f˙?n5Yf if.™lnb n AfZEf)0;f[0;f 5t v\AtZjVStarting intercept timer at range: 39.60 m.DNOT Ignoring new targets: 39.60 m.RjBjgJjg ProNav: ac range: 39.599998 m, nav range: 8.087222 m, bearing: 250.323016 deg, approach rate: 0.089688 m/s, LOS rate: -3.240700 deg/s, cmd heading: 318.847219 deg, new cmd heading: 314.328552 deg. 2j HeadingCmd: 5.486068 target range: 39.599998 and range: 39.60 m. jߍ@jjjihhhhfff rfbf`u?ɛeށBe[< 隍0=I G<ɚiIl=I@ii)ߍ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=2, elapsed TxPingTime=1.465770*F 2F :F BF O0JF G!G B O% >HU Z>IU C IU  IIU 'BIU  =&IQ .IU :D6IU H<:IU Y F} Will construct direction to contact in vehicle frame from tetrahedron phase data.y iy  checking for new query: numPingsReceived=2, elapsed TxPingTime=1.715275 $?I zKu |NKu s9Kq Ku $Ku ""!"! -w,mA6|@Y6R@6:i=96I=y6Hy?@AT? F?6`m?@pŶ7?`f?ɨ6|@6;6Cy\`IjIj2٢r9< rH=9v,;Q v>tx zG٣xyzX z> Nusing accuracyPremultiplier from config%59Sۙ?-5Y i.™9E|"E A[E<3#<5uB ufA}EEZj9UDNOT Ignoring new targets: 39.60 m.RjQBj]NJj]N ProNav: ac range: 39.599998 m, nav range: 8.124225 m, bearing: 249.007317 deg, approach rate: 0.081797 m/s, LOS rate: -2.894950 deg/s, cmd heading: 314.328557 deg, new cmd heading: 310.405922 deg. 2jXHeadingCmd: 5.417605 target range: 39.599998 and range: 39.60 m. j]@jjjihhhhfffrfbf"?ɛ-߁B-< )-D=I) 5qҙ<ɚ1i1I5m=I=`GY Bi O >:=w,r7A28@Y2@2v=92=y2H?o?`J?ݢ?PFֶɠ??ɨ28@25.;0y> B>IMb@Mb@Mb@ )YX9v? ףp= MbPy>Q8A QA)I@yAI-I- AIAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.220677٢U1= UE=9]!:Q ]>Ya eG٣eWGymL m> uNusing accuracyPremultiplier from configq59u뙜?5Yuc iu.™>: Au]Eu|B$w, _QA:v$@Y:3@:g=9:/ =y:H?D? ^:?̛?x"ɶ 5s?@?ɨ:v$@:ކ;8yRBRIiV;>IV<IZIZF2٢fQU fQ=9jMQ j>hl nG٣lyrj_ r> vNusing accuracyPremultiplier from configtz59vN?z5Yv iv/™|~N~ Av^Ev;vg;v5 JA BEZj-5VStarting intercept timer at range: 39.60 m.5DNOT Ignoring new targets: 39.60 m.Rj1Bj=zJj=zU ProNav: ac range: 39.599998 m, nav range: 8.218142 m, bearing: 246.401063 deg, approach rate: 0.127945 m/s, LOS rate: -3.507410 deg/s, cmd heading: 306.360267 deg, new cmd heading: 302.644676 deg. 2jUqeHeadingCmd: 5.282146 target range: 39.599998 and range: 39.60 m. jeW@jajajaiahahihihififqfqrfqbfu6n@ɛBK< 隥=I HȚ<ɚiI*o=Iksii)W@)*F2F!:F!BF%0JF!H]>IC III&I.I6IR<:Ic F 5$?I1MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=2, elapsed TxPingTime=2.724016zKMK59KK$K  G}>GYBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:50:16.4057  TRx dataTimestamp_ set to:1736380217.665164 checking for new query: numPingsReceived=2, elapsed TxPingTime=2.977097Pw,DkA:u@Y:@@:#=9:=y:HB??޵? ;?w'圶2??ɨ:u@:-~;: CyDDJbJbJ`J`Jb :Jb9J`J`JbS;JbT;Jb{;Jb|;eMb@Mb@Mb@aaa a)aYekt?eteedA a)e AIaayeAI} I}<2٢7] 1=9úQ > G٣y= > Nusing accuracyPremultiplier from config59< ?5Y i/™>: A`EE;6D;5 LAB*** querying acoustic contact ***jjZjTStopped intercept timer at range: 39.60 m.DNOT Ignoring new targets: 39.60 m.RjBj]Jj]  ProNav: ac range: 39.599998 m, nav range: 8.275309 m, bearing: 244.958177 deg, approach rate: 0.123660 m/s, LOS rate: -3.099277 deg/s, cmd heading: 302.644671 deg, new cmd heading: 298.354405 deg. 2j HeadingCmd: 5.207267 target range: 39.599998 and range: 39.60 m. j@jjjihhh!h%dBf!f!f1rf1bf5@ @ɛ]B]W< ae=Ia eV<ɚaiaImp=ImBiiiq)u@)q*F2F:FBF0JF IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=2, elapsed TxPingTime=3.227423G! G B O5 >7w,A6dƾ@Y6@6G=96W~ BDAT read: Tx time:23:50:17.4971 $Ping request sent.G>GBO>H b>I  I I I  =&I FD.I ;D6I <:I F $?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:23:50:17.4963 m checking for new query: numPingsReceived=3, elapsed TxPingTime=0.249559zK LK 9K K $K K`w,A>@Y>/@>p=9>Hf??@&?`R?T@ /ߛ?@#?ɨ>@>;> CyJBJI)L LIR IR<2٢Z) ZK=9^g9Q b>dh nG٣nWGyz_ z> ~Nusing accuracyPremultiplier from config|59~f*?5Y~ i~>/™  sL  A~cE~:~:~^5 AE addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 3.528138 s, deltaX: 1.200001 m, approachRate: 0.340123 m/s, rangeRepo size: 4 ZjIMDNOT Ignoring new targets: 39.60 m.RjIBjUIgJj]Ig ProNav: ac range: 39.599998 m, nav range: 8.368652 m, bearing: 242.618703 deg, approach rate: 0.129767 m/s, LOS rate: -3.235323 deg/s, cmd heading: 295.150424 deg, new cmd heading: 291.384746 deg. 2j HeadingCmd: 5.085623 target range: 39.599998 and range: 40.80 m. jm@jjjihhh!h!fQfQfYrfe`ffD@bfm@M?ɛB?< !%=I! %;<ɚ!i)I-q=IMדiIiQ)Um@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=3, elapsed TxPingTime=0.503125*F2F:FBFJFJJJJJJ9JJJJJ';J';G% >G B O5 >qw,O˸A:L@Y: \@:=9:h=y:H "???஬¿`?.{ܠ??ɨ:L@:`3;:CyFBFI PIT%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=3, elapsed TxPingTime=0.752879EMb@Mb@Mb@AAA A)AYES?/$I +yE>EE94A E~A)AIE@AyEzAIeIe)٢ug u?=9uһQ u>yy G٣yf > Nusing accuracyPremultiplier from config59:?5Y iT/™i>:C AdE!; ;65B AG B O >sw,XA61@Y6@6{=96B>IIFIF۳٢NU NY=9R[Q V>TT ZG٣XyZ Z> Nusing accuracyPremultiplier from config59I?5Y ih/™%v]% AfEu ; ;51 5A1 lM?KM1LMZj]eVStarting intercept timer at range: 40.80 m.eDNOT Ignoring new targets: 39.60 m.RjaBjm:WJjm:W} ProNav: ac range: 39.599998 m, nav range: 8.478676 m, bearing: 240.165409 deg, approach rate: 0.135430 m/s, LOS rate: -3.010644 deg/s, cmd heading: 287.570908 deg, new cmd heading: 284.083395 deg. 2j}"HeadingCmd: 4.958190 target range: 39.599998 and range: 40.80 m. j@jjjihhhhfffrfbf`?ɛB'< E> $?I*F2F:FBFY0JFZHRH@AHc>IC III =&I.I6I<:I/ FBI]åCJI]åCRI]ÔCZI] =bI] =jI]#65Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=3, elapsed TxPingTime=1.258208zKN KK9KK$K G>GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=3, elapsed TxPingTime=1.509320w,AyfBfIeMb@Mb@Mb@aaa a)aYe/$?I +:vye>e9eTeA e A)aIeI@ayeAI}I}?٢- <=9Q > G٣WGy > Nusing accuracyPremultiplier from config59Y?5Y i~/™d>:-` AgE;;5 NA9El1LqLZjTStopped intercept timer at range: 40.80 m.DNOT Ignoring new targets: 39.60 m.RjBjQJjQ ProNav: ac range: 39.599998 m, nav range: 8.538427 m, bearing: 238.920726 deg, approach rate: 0.141356 m/s, LOS rate: -2.923745 deg/s, cmd heading: 284.083386 deg, new cmd heading: 280.380921 deg. 2jHeadingCmd: 4.893570 target range: 39.599998 and range: 40.80 m. j!@jjjihhhheBff!f)rfIbfMQ+?ɛB2< 8I J<ɚiIOt=I쫿ii)!@)*F2F:FBFP0JF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=3, elapsed TxPingTime=1.760791Ga GA BI Om >w,>^A2S@Y2,@2=92/˿];?>˴S ?@c?ɨ2S@2;2CyBBBIIJIJF2٢Rļ RZ=9RM{Q V>TT VG٣TyZZ Z> ^Nusing accuracyPremultiplier from config\b59^og?b5Y^  i^/™`fNf A^iE^ ;^ ;^d5h jsAhl|qL~~Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRqK~~Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRB*** querying acoustic contact ***jjZj VStarting intercept timer at range: 40.80 m.DNOT Ignoring new targets: 39.60 m.RjBjPJjP- ProNav: ac range: 39.599998 m, nav range: 8.587356 m, bearing: 237.822458 deg, approach rate: 0.130388 m/s, LOS rate: -2.909903 deg/s, cmd heading: 280.380932 deg, new cmd heading: 277.108662 deg. 2j-5HeadingCmd: 4.836459 target range: 39.599998 and range: 40.80 m. j5EĚ@j1j1j1i1h9h9hAhAfAfAfIrfIbfMʒ?ɛB0< CI #:<ɚiInt=I ӯi i ) EĚ@) Will construct direction to contact in vehicle frame from tetrahedron phase data.՝0?՝=checking for new query: numPingsReceived=3, elapsed TxPingTime=2.013310JJJJJ]:J9JJa@a@a@a@*F2F:FBFo0JFG5>G B O5 > u $?Iq H i>I  I  II BI  =&I .I }9K<K>$K>RKF?JKF?yJBJIIPIP٢v; vF=9zQ z>xx ~G٣|y~@ >  Nusing accuracyPremultiplier from config 59v?5Yn i/™!%?- AjE;;3 5EB EpAM6EZjiuDNOT Ignoring new targets: 39.60 m.RjqBjuNJj}N ProNav: ac range: 39.599998 m, nav range: 8.641760 m, bearing: 236.611874 deg, approach rate: 0.130790 m/s, LOS rate: -2.891757 deg/s, cmd heading: 277.108670 deg, new cmd heading: 273.504813 deg. 2jHeadingCmd: 4.773560 target range: 39.599998 and range: 40.80 m. j@jjjihhhhfffrfbf!@ɛBݭ< @jI <ɚiI7u=I5ݺi9i9)=@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=3, elapsed TxPingTime=2.518710*F2F:FBF_0JFG >G B O > i Iq w,C  A) AIyGAII٢  8=9wQ > G٣WGy? %> -Nusing accuracyPremultiplier from config!559%?55Y%4 i%/™5m>5:=[= A%lE%;%;%%"5A EAAZjmuTStopped intercept timer at range: 40.80 m.uDNOT Ignoring new targets: 39.60 m.RjqBj}VJj}V- ProNav: ac range: 39.599998 m, nav range: 8.697224 m, bearing: 235.274647 deg, approach rate: 0.125536 m/s, LOS rate: -3.007081 deg/s, cmd heading: 273.504817 deg, new cmd heading: 269.525489 deg. 2j-5HeadingCmd: 4.704107 target range: 39.599998 and range: 40.80 m. j5 @j1j1j1i1h9h9h9h=fBfAfAfarfibfm@@ɛBru< 隽XCI ̛<ɚiIv=IWÿii) @)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:50:19.9576 TRx dataTimestamp_ set to:1736380221.192665checking for new query: numPingsReceived=3, elapsed TxPingTime=3.021839J J J J J =:J 9J J G >G B O >?w,j0TA6~&@Y65@6M=96EXX ZG٣Xy^&q ^> fNusing accuracyPremultiplier from config`f59bᔚ?j5Yb ib/™hj"j AbmEb:b:b#5rB rAr3EZj VStarting intercept timer at range: 40.80 m.DNOT Ignoring new targets: 39.60 m.RjBjSJjS- ProNav: ac range: 39.599998 m, nav range: 8.741674 m, bearing: 234.208765 deg, approach rate: 0.124162 m/s, LOS rate: -2.961955 deg/s, cmd heading: 269.525494 deg, new cmd heading: 266.347555 deg. 2j-5HeadingCmd: 4.648642 target range: 39.599998 and range: 40.80 m. j5@j1j1j1i1h9h9hAhAfAfAfArfIbfM{ @ɛBl< HpI |<ɚiIw=I ̿i i ) @) $?IjH=<bH=<HEk>IEC IEIIEBIE =&IA.IA6IE*<:IER F*F2F:FBF15JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=3, elapsed TxPingTime=3.274863zK=RIK=59K9K=$K=J}S3# BKI:KMpAGGB! O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 42.2 m (Round-trip 56.3 ms) speed -0.4 m/s  ,DAT read: user:3505>  BDAT read: Tx time:23:50:21.0471  $Ping request sent. `edA  A)3 AI`@yAI I2٢5 5)=95Q 5>99 =G٣9yE1 E> MNusing accuracyPremultiplier from configIu59M;?u5YM iM/™u:>u:}L} AMoEM;MB;M%5 VA addTargetRange:: Added new target pos. range: 42.200001 m, deltaT: 3.529245 s, deltaX: 1.400002 m, approachRate: 0.396686 m/s, rangeRepo size: 4 ZjTStopped intercept timer at range: 42.20 m.-DNOT Ignoring new targets: 39.60 m.Rj)Bj5HJj5HE ProNav: ac range: 39.599998 m, nav range: 8.799594 m, bearing: 232.815469 deg, approach rate: 0.117436 m/s, LOS rate: -2.806129 deg/s, cmd heading: 266.347543 deg, new cmd heading: 262.202823 deg. 2jE𽝊mHeadingCmd: 4.576303 target range: 39.599998 and range: 42.20 m. jmq@jijijiiihihqhqhuTBfyfyfyrf}E@bf}`?ɛBc< I ͚<ɚiIx=Iտii)q@) $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:50:21.0463 checking for new query: numPingsReceived=4, elapsed TxPingTime=0.246542*F2F!:F!BF%P5JF!G9 G B! OE >w,AyɁBII%I%ʴ٢= =p=9=Q =?AA EG٣EWGyM U? ]Nusing accuracyPremultiplier from configY]59]K?e5Y]M i]/™aae A]pE] :]:]O'5uB ufAu0EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 39.60 m.RjBj4NJj4N ProNav: ac range: 39.599998 m, nav range: 8.842893 m, bearing: 231.857956 deg, approach rate: 0.131083 m/s, LOS rate: -2.884461 deg/s, cmd heading: 262.202821 deg, new cmd heading: 259.346847 deg. 2jrHeadingCmd: 4.526456 target range: 39.599998 and range: 42.20 m. jؐ@jjjihhmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=4, elapsed TxPingTime=0.496180hqhyfyfyfyrfybf@(?ɛ B @G< I R<ɚiIZy=Iݿii)%ؐ@)!JJ~JJJp:Jf9JJ*F2F:FBFP0JFG> IHM p>IM C IM IIM BIM =&II .IM =D6IM د<:IM  FGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i % checking for new query: numPingsReceived=4, elapsed TxPingTime=0.748264w,AzK&LMK&9K$K&$K&! F@YF,@F =9FZdd fG٣dyj j> rNusing accuracyPremultiplier from configlr59nڿ?v5Yn* in0™tv Ծv AnrEn2;n2;n(5x ~A|Zj%DNOT Ignoring new targets: 39.60 m.Rj!Bj-IJj-I5 ProNav: ac range: 39.599998 m, nav range: 8.888268 m, bearing: 230.760657 deg, approach rate: 0.117366 m/s, LOS rate: -2.823538 deg/s, cmd heading: 259.346845 deg, new cmd heading: 256.075512 deg. 2j=8򽝊EHeadingCmd: 4.469361 target range: 39.599998 and range: 42.20 m. jE@jAjAjAiAhAhIhIhIfIfQfQrfQbfU?ɛBM(< 隭pI <ɚiI,!z=Igii)@)*Fu2Fy:FyBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=1.000300G>GqByO> I &w,ZA:"Y@Y:h@:w^=9:EM@MMzA MA)M AIMv@IyMAIeIe٢uU u@=9ukQ }>yy }G٣ye > Nusing accuracyPremultiplier from config596Κ?5Yp  i%0™)>:  AsE3;2;*5 %AZj5DNOT Ignoring new targets: 39.60 m.Rj1Bj58Jj58E ProNav: ac range: 39.599998 m, nav range: 8.931164 m, bearing: 229.563511 deg, approach rate: 0.092682 m/s, LOS rate: -2.574013 deg/s, cmd heading: 256.075513 deg, new cmd heading: 252.506208 deg. 2jEܽHeadingCmd: 4.407065 target range: 39.599998 and range: 42.20 m. j@jjjihhhhPBfffrfbf@?ɛUBU< Y]IY ]'z<ɚYiYI]&{=Ie$ii)@)*F-2F1:F9BFEO0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=1.504104J J J J J v:J 9J J Ge >Gi Gm mAG9 BI Om >w, 7A2t@Y2@2N=92 TT ZG٣ZXGyZPg Z> bNusing accuracyPremultiplier from config\b59^ښ?b5Y^  i^50™dff A^uE^:^:^,5h j)An-EZj  DNOT Ignoring new targets: 39.60 m.Rj BjU[JjU[% ProNav: ac range: 39.599998 m, nav range: 8.968862 m, bearing: 228.508144 deg, approach rate: 0.110061 m/s, LOS rate: -3.068086 deg/s, cmd heading: 252.506220 deg, new cmd heading: 249.356781 deg. 2j%-HeadingCmd: 4.352097 target range: 39.599998 and range: 42.20 m. j-aD@j)j)j)i1h1h1h1h9f9f9fArfAbfE?ɛBrv; ,I d<ɚiI{{=I.ii)aD@)! $?IZHRH?AH v>I C I II BI  =&I .I >D6I \<:I  F*F2F:FBFr0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=1.756321zKLK9KK$K GGB9 O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=4, elapsed TxPingTime=2.007973;;w,AR@YR7@R1=9R(&MxiM94I I)MI AIMAIyM=AII2٢ ;=9:Q > G٣y@ > Nusing accuracyPremultiplier from config591障?5Y/ iI0™S>: AvE;;l.5 _AZj DNOT Ignoring new targets: 39.60 m.Rj BjIJjI% ProNav: ac range: 39.599998 m, nav range: 9.008963 m, bearing: 227.270120 deg, approach rate: 0.091805 m/s, LOS rate: -2.821430 deg/s, cmd heading: 249.356792 deg, new cmd heading: 245.664659 deg. 2j% 򽝊%HeadingCmd: 4.287657 target range: 39.599998 and range: 42.20 m. j-}4@j)j)j)i)h9h9hAhEXBfAfAfIrfIbfM`w@ɛ}B}E; 隅)I G<ɚiIa|=IVii)}4@)*F%2F!:F!BF-0JF) m$?Imh Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=2.262918G]>Ga Bq O `!w,xA6kW@Y6f@6@"=96 2BBwIIJIJ 2٢NL R]=9RQ R>TT VG٣TyV2f Z> Nusing accuracyPremultiplier from config59?5Y i[0™%Y % AxE ; ;05-B -A-,EMB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 39.60 m.RjYBjeHJjeHu ProNav: ac range: 39.599998 m, nav range: 9.043834 m, bearing: 226.194846 deg, approach rate: 0.091337 m/s, LOS rate: -2.805429 deg/s, cmd heading: 245.664665 deg, new cmd heading: 242.454831 deg. 2ju𽝊}HeadingCmd: 4.231635 target range: 39.599998 and range: 42.20 m. j}i@jyjjihhhhfffrfbf&@ɛBe; 6I q<ɚiI}=IKii)i@)E}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=4, elapsed TxPingTime=2.517196*Fm2Fq:FqBFuP5JFqGU>G)B9 YIYOe>Hw>I IIIBI =&I.I6I&<:IZ FBIȨCJIȨCRIZI =bI =jI@6% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=4, elapsed TxPingTime=2.767928Jw,"A6@Y6z@6-:=96Iv4<Iz Iz(2zK~LK~}9K|K~$K~٢7< C=9a8Q >!! %G٣%XGy%G -> 5Nusing accuracyPremultiplier from config)559-?=5Y-6 i-n0™9== A-yE- ;-K ;-15I MyAIZjiuDNOT Ignoring new targets: 39.60 m.RjqBj}HJj}H ProNav: ac range: 39.599998 m, nav range: 9.080914 m, bearing: 225.050111 deg, approach rate: 0.091258 m/s, LOS rate: -2.805652 deg/s, cmd heading: 242.454831 deg, new cmd heading: 239.038931 deg. 2j𽝊HeadingCmd: 4.172017 target range: 39.599998 and range: 42.20 m. j)@jjjihhhhfffrfbf2@ɛB; 87I =<ɚiI~=I;ii) )@) *FQ2FQ:FYBF]#5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:50:23.5096 TRx dataTimestamp_ set to:1736380224.724748checking for new query: numPingsReceived=4, elapsed TxPingTime=3.021194JK KKK"KJJ{JJJs:J-9JJJ;aJ;aJ:aJ:aGQG B O5 > I II $uw,u# A )IQAyI I̍2٢]0 ]7=9]Q ]>aa eG٣aym m> Nusing accuracyPremultiplier from configq59u?5Yu% iu0™>: Au{Eu;u;u35B A)EZjDNOT Ignoring new targets: 39.60 m.RjBjdDJjdD5 ProNav: ac range: 39.599998 m, nav range: 9.124894 m, bearing: 223.797263 deg, approach rate: 0.096913 m/s, LOS rate: -2.747164 deg/s, cmd heading: 239.038944 deg, new cmd heading: 235.304114 deg. 2j5뽝=HeadingCmd: 4.106832 target range: 39.599998 and range: 42.20 m. j=*k@j9jAjAiAhAhAhIhMMBfififqrfqbfu= @ɛB; "QI <ɚiID=I ii)*k@)*Fa2Fa:FaBFe4JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 43.7 m (Round-trip 58.3 ms) speed -0.4 m/s ,DAT read: user:3506> BDAT read: Tx time:23:50:24.5972 $Ping request sent.]w,^VA2T@Y2c@2=92@=y2H I*?@b8?Ҩ?޿0?@_??ɨ2T@2C~;2CyBBBdIIJIJ1٢' V=90Q > G٣yc > Nusing accuracyPremultiplier from config59?5Y i0 $?I A|E};>;|55   A)i ijH<bHHy>I IIIՁBI =&I.I6Ij<:I FUc~Gq 7 YyBWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:50:24.5964 checking for new query: numPingsReceived=5, elapsed TxPingTime=0.249233 addTargetRange:: Added new target pos. range: 43.700001 m, deltaT: 3.530752 s, deltaX: 1.500000 m, approachRate: 0.424839 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 39.60 m.Rj Bj $2Jj$2 ProNav: ac range: 39.599998 m, nav range: 9.158889 m, bearing: 222.720559 deg, approach rate: 0.078974 m/s, LOS rate: -2.491886 deg/s, cmd heading: 235.304115 deg, new cmd heading: 232.089558 deg. 2j%սuHeadingCmd: 4.050727 target range: 39.599998 and range: 43.70 m. ju@jyjyjihhhhfffrfE@bf?ɛ B44; aetgIa eo<ɚaiaImF=Iuiqiq)}@)yEpAEpAzKa3JK@9KK$K   *F52F9:F9BF=4JF9"GAGE0>Gy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=0.501520GQ Bq O >'w,cqAJ~J J J J{m:J J J J<;J=;J J @Y  @ =9 ==y H ?@+k?u?9߿?Q9`??ɨ @ ; y%B-_I)1 15A1Mb@Mb@Mb@ )YˡE?L7A`尿+t A  A)` AIhAy3AII?٢Uݙ ];=9]qQ ]>aa eG٣eXGymG m> }Nusing accuracyPremultiplier from configq59ug*?5Yu iu0™n>:' Au~Eu;u;ue75 .AZjDNOT Ignoring new targets: 39.60 m.RjBjdJjd ProNav: ac range: 39.599998 m, nav range: 9.194631 m, bearing: 221.495784 deg, approach rate: 0.093716 m/s, LOS rate: -3.198653 deg/s, cmd heading: 232.089555 deg, new cmd heading: 228.434756 deg. 2j3 HeadingCmd: 3.986939 target range: 39.599998 and range: 43.70 m. j*@jjjihhhh_BfffrfbfqW?ɛ% B% !-tI) -&<ɚ)i)I-=I5i1i1)=*@)9 I*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=0.752118G >G B O >"w,A6@Y6v@6Z=96y=y6Hy?Y?P?1A|?鸰@ͲP?b?ɨ6@6+;6"CyBBB[IIJ IJ̍2٢R Vm=9V»Q V?XX ZG٣XyZA Z? bNusing accuracyPremultiplier from config`f59b4?f5Yb ib0™df-f AbEbU:b:b85jB nJAn&E~B*** querying acoustic contact ***j|j|Zj  DNOT Ignoring new targets: 39.60 m.Rj BjFJjF% ProNav: ac range: 39.599998 m, nav range: 9.222182 m, bearing: 220.533153 deg, approach rate: 0.079737 m/s, LOS rate: -2.777484 deg/s, cmd heading: 228.434762 deg, new cmd heading: 225.558052 deg. 2j%E-HeadingCmd: 3.936731 target range: 39.599998 and range: 43.70 m. j-e{@j)j1j1i1h1h1h9hfffrfbfD?ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=1.004178v QUIY ](<ɚYiYI]L=Ieciiii)me{@)qJ1J5AA*F-2F):F)BF-_0JF) $?IH]z>IY I]II]ˁBIY&IY.IY6I]<:I] FGm>GI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=5, elapsed TxPingTime=1.256292(w,zA:2@Y:A@:|=9:=y:H?@?@d?? }p??ɨ:2@:;: CyNBNYIIVIV(٢f fH=9fqQ f>hh jG٣hyn] n> rNusing accuracyPremultiplier from configpv59r@?v5Yr! ir0™xzm3z ArEr ;r? ;r:5| ~WA|zKPCLK}9KK$K "#! ?gsyurRK ?JK?Zj9=DNOT Ignoring new targets: 39.60 m.Rj9BjEEJjEEU ProNav: ac range: 39.599998 m, nav range: 9.254248 m, bearing: 219.391333 deg, approach rate: 0.077988 m/s, LOS rate: -2.767285 deg/s, cmd heading: 225.558050 deg, new cmd heading: 222.148713 deg. 2jUe]HeadingCmd: 3.877227 target range: 39.599998 and range: 43.70 m. j]{$x@jYjYjYiYhahahahafififirfqbfuDE?ɛB ÄI M]`<ɚQiQI]=I ii){$x@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=5, elapsed TxPingTime=1.510759*F2F:FBFJFJIJMwJIJIJIJM9JIJIJIJIJM:JM:G} >G ?G ? a Ia Gi By O >.w,jA BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.760103ybBfRIij>Ij>Mb@Mb@Mb@ )YS?i|?5{Gzy>q# A 7A)IAyAII 2٢Ѽ 9=9Q >  G٣ XGy   > Nusing accuracyPremultiplier from config59IN?5Y=% i0™%>%:%.% AET;,;<5A EAAZjiuDNOT Ignoring new targets: 39.60 m.RjqBj*IJj%*I] ProNav: ac range: 39.599998 m, nav range: 9.297878 m, bearing: 218.141813 deg, approach rate: 0.098728 m/s, LOS rate: -2.813938 deg/s, cmd heading: 222.148720 deg, new cmd heading: 218.423305 deg. 2j]e񽝊eHeadingCmd: 3.812206 target range: 39.599998 and range: 43.70 m. je.s@jajajaiahihihhiBfffrfbf@?ɛBS =隕CI F<<ɚiI=I$ii).s@)*FY2FY:FYBFen0JFa5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=5, elapsed TxPingTime=2.012113Ge >G9 BI Oe >5w,tA xIxy~B~UII I ٢:< X=9!Q %>)) -G٣)y) 5> =Nusing accuracyPremultiplier from config1=595Y?E5Y5/( i50™AAE A5E5K ;56;5F>5I UyAU$EZjyH{>I IIIBI&I.I6Ie<:I F=DNOT Ignoring new targets: 39.60 m.RjABjEHJjEHU ProNav: ac range: 39.599998 m, nav range: 9.338777 m, bearing: 217.080236 deg, approach rate: 0.108658 m/s, LOS rate: -2.807874 deg/s, cmd heading: 218.423302 deg, new cmd heading: 215.255932 deg. 2jU𽝊}HeadingCmd: 3.756925 target range: 39.599998 and range: 43.70 m. j}tqp@jyjjihhhhfffrfbf @ɛ%B-Q )-I) -<ɚ1i1I5节=I=h iAiA)Etqp@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=2.264974*F2F:FBF2JFzKp~MK 9KK$Kke^VQLD@<74540,,*&#$! BK:KrAGY GQ By O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=5, elapsed TxPingTime=2.516121;w,\!AJ.{J.xJ,J,J.d:J.9J,J,J.#;J.$;J.&:J.':-6@Y-E@-9=9- Yu A A) AI AyAI5I5(1٢UR U:=9Uq9Q ]>YY ]G٣Yye" e> }Nusing accuracyPremultiplier from configi59mng?5Ym+ im1™>:9 AmEm;mi;m3@5 AZjDNOT Ignoring new targets: 39.60 m.RjBjuMJjuM ProNav: ac range: 39.599998 m, nav range: 9.383241 m, bearing: 215.793424 deg, approach rate: 0.099788 m/s, LOS rate: -2.873985 deg/s, cmd heading: 215.255925 deg, new cmd heading: 211.419845 deg. 2jHeadingCmd: 3.689972 target range: 39.599998 and range: 43.70 m. j(l@jjjih h h hfffrfbf0@@ɛEBEP AENII M<ɚIiIIM= $?II$%ii)(l@)I*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=5, elapsed TxPingTime=2.769128G >G G qAG B O >Bw, AB@YB3@BPi=9BEdh jG٣jXGyjTu j> rNusing accuracyPremultiplier from configpv59rr?v5Yr / ir1™xzk?z ArEr:r@:rA5}B }2A}!EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 39.60 m.RjBj GJj G ProNav: ac range: 39.599998 m, nav range: 9.418777 m, bearing: 214.763869 deg, approach rate: 0.096473 m/s, LOS rate: -2.784281 deg/s, cmd heading: 211.419845 deg, new cmd heading: 208.345953 deg. 2jHeadingCmd: 3.636323 target range: 39.599998 and range: 43.70 m. jh@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:50:27.0618 TRx dataTimestamp_ set to:1736380228.252879 checking for new query: numPingsReceived=5, elapsed TxPingTime=3.021371h h fffrfbf@8@ɛ} B}L y}竾Iy %<ɚiI<=I}(ii)h@) IE=H|>IC IIIBI =&I.I6I&<:I_ F*F) 2F1 :F1 BF5 1JF1  Will construct direction to contact in vehicle frame from tetrahedron phase data.ձ iձ  checking for new query: numPingsReceived=5, elapsed TxPingTime=3.273477G >zK MK 9K K $K G BO%>Iw,R)APExceeded connect timeout, disconnecting.*@Y#:@=9 MBDAT read: Tx time:23:50:28.1472 M$Ping request sent.M'# A 7A)vAJzJwJJJ`:J9JJJp;Jq;J:J:IyII2٢]; =9Q =>9A EG٣AyE7 E> UNusing accuracyPremultiplier from configIU59M?5YM4 iM21™B>:3D AMEM)tt zG٣xyz4 z> ~Nusing accuracyPremultiplier from config|59~)?M5Y~.9 i~I1™IMIM A~E~y-<~-<~F5Q ]MA] EL} }Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseL}Entering Midcourse tracking update period 60.000000 s sec at 45.299999 m (mode 5.000000 count ).L1MDNOT Ignoring new targets: 39.60 m. jjjji"jhhhh:uAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy1; v@Uninitialize Buoyancy Component.ff!rf!bf%9?ys= 隭I9 ɚwiI II)ii))Ec=jH%<bH%p<H-~>I) I-II-BI)&I).I-?D6I-$<:I)BIéCJIéCRIÓCZI =bI =jII5*Fm2Fi:FqBFuo0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=0.754447G G G G G zKu JKu 9Kq Ku $Ku    I&d}wgUC,  nManaging dock network, ignoring radio surface power offGe B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=6, elapsed TxPingTime=1.008856OE>/[w,IrARԳ@YRTñ@R=9R355 5G٣1y5BA => ENusing accuracyPremultiplier from config9M59=5?M5Y== i=b1™M?M:MKU A=E=;=b;=H5Y eAi2l}N@1M}qM}DNOT Ignoring new targets: 39.60 m. jjjji"jhhhh]Bffrfbf7?]?]?]@]z@u= quI}T9 yɚ}OiyII1f)ii))EpAEpA $?IE]/C<*F"2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=6, elapsed TxPingTime=1.256909G B O >bw,A>K @Y>@>=9>y=y>Hd??,*?`Ka?0-F? {?ɨ>K @>;> CybeBb'IIr<Ir3٢v1 zb=9zQ z>x| ~G٣|yk >  Nusing accuracyPremultiplier from config 59?5YtA is1™P AEH::J5! %A!:l1qM=MEeDNOT Ignoring new targets: 39.60 m. jijijqjyi"jhhhhffrfbfN?]]]]@= Y]I]9 Yɚ]iYIYIe2f)iaii)i)i}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=6, elapsed TxPingTime=1.509255EUE]>E]?JxJuJ1JJZ:J9J3Ja@a@a@a@*FN%2F:FBF?5JF INGtA H]>I]C I]rII]BI] =&IY.IY6I]0<:I]k FG>B O > #Y tAy B- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=6, elapsed TxPingTime=1.760884iw,@ۥA6DK@Y6Z@6=96.9=y6H?`]?.? G?rF*??ɨ6DK@6_;6CyB]BBIIJ|IJ[4٢f fL=9jQ j>hl nG٣ly]Xd ]> mNusing accuracyPremultiplier from configam59el?m5YeE ie1™quVu AeEe:e@:eRL5}B AEBlMtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseL Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseDNOT Ignoring new targets: 39.60 m. jjjji"jhhhhffrfbf[?]]]]8:@M= IM\IM9 Qɚ]iYIYIe1f)iaii)izK}NK}@9KyK}$K}{rlie_YSOMJFFKjxh]QD:1,)(&# )iEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ7?Օ=checking for new query: numPingsReceived=6, elapsed TxPingTime=2.017658*F5v(2F1:F1BF51JF1 I G >B) OE >K'ow,A2@Y2@24=92u=y2Hq?/?Fk?`@\? oð`\??ɨ2@2Q;2 Cy>aB>"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=2.268131MMb@Mb@Mb@III I)IYMx&1?Q롿y&1yMA?M\M`eMI A I)IIMAIyMAIesIeK4٢MWa< M)=9MJ;Q U>QQ UG٣Qy]) ]> eNusing accuracyPremultiplier from configam59eCś?m5Ye3J ie1™u?u:u\u AeEe;e;e\N5y }ADNOT Ignoring new targets: 39.60 m. jjjji"jhhhhfBffrfbf`@]?]?]}@]@4= Ip9 ɚL$iII2f)i i ) ) *Fd*2F:FBFH1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=2.516809J J sJ 0J J J 9J ـ3J G B! OE > vw,iTA2 @Y2S@2=92b1=y2Hp? B?-o@&?@\zV? ?ɨ2 @2F;2!Cy>^B F$?IH>II~yI~xV4٢U| x=9QoI IfIIBI =&I.I6I<:IX F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=6, elapsed TxPingTime=2.768849D9E*F-2F:FBFO0JFG GpAzK zfNK K9K K $K  G  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:50:30.6142  TRx dataTimestamp_ set to:1736380231.788749 checking for new query: numPingsReceived=6, elapsed TxPingTime=3.031523BI O >P|w,AVҦ@YV@VU =9V.=yVH ^? Q?շ6?mվԚ "??ɨVҦ@V+;VCyޅQBޅIii>Ip;UMb@Mb@Mb@QQQ Q)QYUGz?Mb~jtyU>U@UDUA Q)UAIQQyU AIIy4٢^ 2=9 G٣y( > Nusing accuracyPremultiplier from config59؛?5Y)R i1™>:rr AEV;s;Q5B _AEDNOT Ignoring new targets: 39.60 m. jjjji"jh h h h zBffrfbf*7 @ AIA]E>]E>]E^@]E@]U = Y]zI]M9 aɚejiaIaIm2f)iiii)i)qD9*FE/2FA:FABFEP0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=6, elapsed TxPingTime=3.273575G >B O >B/w,p[ ABD@YB>T@BI=9Bķ=yBH -eX#Rx 7: Read range message, but no direction.QyUfI IMIIBI =&I.I@D6I<:I FG >B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Tx time:23:50:31.6973  $Ping request sent. tt vG٣tyv17 z> ~Nusing accuracyPremultiplier from configx59z\雜?5YzY iz1™  {  AzEz[;zK;zU5! %A!m addTargetRange:: Added new target pos. range: 47.099998 m, deltaT: 3.527995 s, deltaX: 1.799999 m, approachRate: 0.510205 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 39.60 m. jjjji"jhhhhffrf̌G@bfi?]]]]@<=  aI ?9 ɚkiII%2f)i!i!)!))zK:KK9KK$KRK ?JK ?uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=0.255618D9*F5-52F1:F1BF9JF9 5 $?I1 G B O >pw,AA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=7, elapsed TxPingTime=0.503119:e@Y:"@:S=9:_=y:H?`e`eEA  A)EAI Ay AIJI)4٢, 7=9M G٣y. > Nusing accuracyPremultiplier from config59?5Y$^ i2™">: AEw;;W5B AE-DNOT Ignoring new targets: 39.60 m. j)j)j)j)i)"j)h1h1h1h5Bf9f9rf9bf=+?]]">]]">]]@]]@ S= G!Iҫ9 ɚ|iII%1f)iAiA)A)ID9 Will construct direction to contact in vehicle frame from tetrahedron phase data. i Achecking for new query: numPingsReceived=7, elapsed TxPingTime=0.755621*Fu 72Fq :Fq BFu ^0JFy J J pJ J J J ^9J J I Gm >jHq bHq H} >Iy  I} .II} kBIy &Iy .Iy 6I} <:I} c FB O >tcw,T^Ay%3B%IIMDIM3٢m/ m8=9mQ m>qy }G٣yy} }> Nusing accuracyPremultiplier from config59?5Yrb i72™ AEG;;X5 XADNOT Ignoring new targets: 39.60 m. jjjji"jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=1.007545hhhhffrfbf]8?]]]]! !%H)I%9 )ɚ-ŵi)I)I52f)i1i1)1)9BDE=:DE=D9*F92F!:F!BF%05JF!zK-BoHK-K9K)K-$K- BK9:K=pAG >Bi  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=7, elapsed TxPingTime=1.262955O >w,?xA dIdy](B]IMb@Mb@Mb@ )Y@5^I ?+:vyb>ԼA A)+AIy( AIMI{4٢%F %?=9)Q ->)) 5G٣1y1 5> ENusing accuracyPremultiplier from config9E59=?E5Y=f i=X2™M>M:MzU A=E=H;=F;=Z5Y ]AaDNOT Ignoring new targets: 39.60 m. jjjji"jhhhhBffrfbf_?]>]>]@]1@ 5I|9 ɚݵiII1f)ii))D-`9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=1.512614*F<2F:FBF5JFG GoAG @Z>B O Nrw,eA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=7, elapsed TxPingTime=1.763449>昣@Y>f@> >9>'=y>H`'o?'?{ ?ƿ̓Ϻ?`?ɨ>昣@>;QQ UG٣Qy]h ]> eNusing accuracyPremultiplier from configam59e?m5Ye(j ie{2™qu_u AeEe:e:e{\5y }ADNOT Ignoring new targets: 39.60 m. jjjji"jhhhhffrfbf@]]]]@ > 6I9 ɚiII 2f)i i ) )D19 I*F>2F:FBFP0JFH>IC IIILBI&I.I6I<:IBIMūCJIMūCRIIZIM =bIM =jIMr5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=7, elapsed TxPingTime=2.015212GPd>BO>w,ˆA6'@Y6\7@6ӷ>96F=y6H`^ ?k?wuٹ?`(8ǿ@¿^?w?ɨ6'@6;4yBBBIININ_v4٢V VU=9VTXX ZG٣Xy^p ^> bNusing accuracyPremultiplier from config`f59br ?f5Ybm ib2™hj*j AbEb*:b:b(^5l n AlzKuKKu9KqKu$KuRK?JK>DNOT Ignoring new targets: 39.60 m. jjjji"jh h h h f fQrfYbfe@eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=7, elapsed TxPingTime=2.271288]]]]?E@Uӷ> Y]BqO>?w,0A2m@Y2@2>92 =y2H ? y?>qF:N?,ȿ`ÿ? l?ɨ2m@2k;2Cy>B>IMMb@Mb@Mb@III I)IYMMbX?Cl绿M;߽MtMA MA)MnAIMQAIyMp AIeIe(٢u u"=9}yy G٣yg > Nusing accuracyPremultiplier from config59?5Yr i2™>;@ AE;;[`5B AE addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 2.772840 s, deltaX: 1.500000 m, approachRate: 0.540962 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 39.60 m. jjjjihhhhBffrfLH@bf@A ?]>]>]zw@]?@-> )-=JI-9 1ɚ5i1I1I=2f)i9iA)A)A%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=8, elapsed TxPingTime=2.771374D9 YIY) hC*F12F1:F9BF=1JF9G|uA "SY|uAyvJBZHA RHE ?AHM >II  IM IIM )BIM  =&II .II 6IM @<:IM F Will construct direction to contact in vehicle frame from tetrahedron phase data. > = DDAT read: Rx Time:23:50:34.3912  TRx dataTimestamp_ set to:1736380235.561030 DAT read: Range 10 to 50 : 48.6 m (trip time 32.4 ms) speed -0.3 - X#Rx 9: Read range message, but no direction. y   checking for new query: numPingsReceived=9, elapsed TxPingTime=3.029128G Pd>B O >*w,"pAy޵B޵I) II٢+ 9=9Q > G٣y > Nusing accuracyPremultiplier from config%59?%5YLw i 3™!)- AEW;wo;Mb59 =7A9 addTargetRange:: Added new target pos. range: 48.599998 m, deltaT: 0.504210 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 39.60 m. jjjjihhhhffrfbf @o?]A]A]A]AY Y]QI]9 Yɚ]"iYIaIu1f)iqiq)q)yzK}KK}9KyK}$K}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=9, elapsed TxPingTime=3.281585D]9J3K3 K/.KK"KJrJiJJJG:Jڈ9JJJ_;J_;Jh:Jj: I *F 2F :F BF 4JF G @Z>B O >w,!A>Will construct direction to contact in vehicle frame from tetrahedron phase data.>DDAT read: Rx Time:23:50:34.8913 BTRx dataTimestamp_ set to:1736380236.064857FDAT read: Range 10 to 50 : 48.8 m (trip time 32.5 ms) speed -0.3 -JZ#Rx 10: Read range message, but no direction.@yB3CB@Nchecking for new query: numPingsReceived=10, elapsed TxPingTime=3.530856R$@YRϨ@R/>9RSY=yRH`??a7?lm}Ъ@/o?`(ʿ ſ^ ?@R?ɨR$@R;R Cy^B^IEMb@Mb@Mb@AAA A)AYEB`"?HzGA`"yE>E= EYE+A E7A)EAIEAAyEfAI]I][٢m u==9}=Q }>yy }G٣yy% > Nusing accuracyPremultiplier from config592?5Y{ iE3™>:𩿑 AE;;.d5 xA addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.503827 s, deltaX: 0.200001 m, approachRate: 0.396963 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 39.60 m. jjjjihhhhBffrf`ffH@bfA?]>]>]@]֓@/> YIG9 ɚ0iII2f)ii))BD%=:D;%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=10, elapsed TxPingTime=3.779216De9*F 2F :F BF 4JF G  G rA  I% hH5 >I5 C I5 II5 BI1 &I1 .I5 AD6I5 :<:I5 FG%8U>B1OM>w,` !ANH@YNW@Ns5>9N#=yNHk?@v?`%?{ ˿` ƿ@A?cE?ɨNH@Nu9;N!CyjBjIIvIv(*٢%Q %2=9%^)) 5G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=?E5Y= i=3™IMϫM A=E=g;=;=/f5Q UAYWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:35.3913 TRx dataTimestamp_ set to:1736380236.568914DAT read: Range 10 to 50 : 48.8 m (trip time 32.5 ms) speed -0.4 -Z#Rx 11: Read range message, but no direction.ؑyؑؑchecking for new query: numPingsReceived=11, elapsed TxPingTime=4.034909DNOT Ignoring new targets: 39.60 m. jjjjihhhhffrfbf`%y?]a]a]a]e@}s5> y}_I}O9 ɚP?iII1f)ii))D9*F12F1:F1BF5P0JF1zKBoHK9KK$KM Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=11, elapsed TxPingTime=4.286916Gy B J tJ lJ J J ;N:J 9J J J |j;J ~j;J (:J ):O% >  I w,:A:נ@Y:M@:ni;>9:5[=y:H?@а?܍G@d?J˿ Kǿ.?#9?ɨ:נ@:i;: CyZ܀Bn~Iiz=Iz<Mb@Mb@Mb@ )Y(\?OnÿT㥛 yz>XA )|!AIy(AII٢(  ==9 1] G٣y > %Nusing accuracyPremultiplier from config-59?-5Y7 i3™- >-:-j- AE;;h59 =A9 addTargetRange:: Added new target pos. range: 48.799999 m, deltaT: 0.504057 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 39.60 m. jjjjihhhhǂBffrfbf 7?]M >]M >]M@]M'@eni;> aeuIe9 iɚm\Oi!IiI}2f)iyiy)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:35.8916 TRx dataTimestamp_ set to:1736380237.073161DAT read: Range 10 to 50 : 49.2 m (trip time 32.8 ms) speed -0.4 -Z#Rx 12: Read range message, but no direction.رyصDBرchecking for new query: numPingsReceived=12, elapsed TxPingTime=4.539137D͹9*F12F9:F9BF9JF9GY Bi O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=12, elapsed TxPingTime=4.787269w,TAM@YMN@MuD>9MӶ>yMH@l?B%?C{a? FͿ@"hȿ?D(?ɨM@M ;IyeԀBeuIII<٢ M=9̵ G٣y > Nusing accuracyPremultiplier from config59!?5Y i 4™5 AE ;" ;i5 WA addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 0.504247 s, deltaX: 0.400002 m, approachRate: 0.793265 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 39.60 m. j!j!j!j!i!h)h)h)h1f1f1rf5H@bf=?]Y]Y]Y]]@muD> imyImˑ9 qɚu^iqIqI}1f)iyiy)y) ID9jH<bHH>I IxII׀BI =&I.I6I$<:Is F*FY2Fa:FaBFeo0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:36.3916 TRx dataTimestamp_ set to:1736380237.576676DAT read: Range 10 to 50 : 49.2 m (trip time 32.8 ms) speed -0.4 -Z#Rx 13: Read range message, but no direction.ؙyؙؙchecking for new query: numPingsReceived=13, elapsed TxPingTime=5.043386Ge 0P>Bq O >-w,;nABk@YB{@BG>9B\>yBH?_?YDz`A{?`eͿȿ?@"?ɨBk@BZ;@y\\IfIf#9rapp vG٣tyz7' z> ~Nusing accuracyPremultiplier from config|59~#?5Y~ i~J4™  7  A~E~:~:~uk5 M addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 0.503515 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 39.60 m. jQjQjQjQiQhQhQhYhYfYfYrfabfe?]]]] @zKK9KK$K G> 隩I9 ɚmiII2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=13, elapsed TxPingTime=5.295334JepJeiJe0JaJeA:Jeڈ9Jeـ3JaJeT;JeT;Jei:Jej: IhDK9*F5?2F1:F9BF9JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:36.8917  TRx dataTimestamp_ set to:1736380238.081330 DAT read: Range 10 to 50 : 49.5 m (trip time 33.0 ms) speed -0.4 - Z#Rx 14: Read range message, but no direction.ة yح FBة  checking for new query: numPingsReceived=14, elapsed TxPingTime=5.547542G B O% >jw,AR@YR@R"J>9R>yRH@?q?o x?@Ϳdɿ 0?`:?ɨR@R;PynрBnqI) Mb@Mb@Mb@ )YzG?ʡEÿ~jty >A A)"AIQAyAII ٢-  <9;Q > G٣yu >  Nusing accuracyPremultiplier from config 59 %?5Y e i 4™R>: A E !; Q; ^m5-B -wA-Ee addTargetRange:: Added new target pos. range: 49.500000 m, deltaT: 0.504654 s, deltaX: 0.299999 m, approachRate: 0.594465 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 39.60 m. jijijijiiihihihhۂBffrfH@bf ?]R>]R>]н@]@ "J>  I b9 ɚ iII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=14, elapsed TxPingTime=5.795402 yID 9*F ?2F :F BF _0JF H >I C I LII BI =&I ED.I BD6I A<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:37.3918  TRx dataTimestamp_ set to:1736380238.584807 DAT read: Range 10 to 50 : 49.7 m (trip time 33.1 ms) speed -0.4 - Z#Rx 15: Read range message, but no direction.ع yؽ FBع  checking for new query: numPingsReceived=15, elapsed TxPingTime=6.051437GBO>>w,3SA2x@Y2M@2K>92}S>y2H`d?@?՞@ ?ͿnKɿi?`u?ɨ2x@2ڌ;2CyRЀBRoII I (1٢ /=9-U;Q ->11 5G٣1y= => Nusing accuracyPremultiplier from config59'?5Y i4™ AE;;uo5 AE addTargetRange:: Added new target pos. range: 49.700001 m, deltaT: 0.503477 s, deltaX: 0.200001 m, approachRate: 0.397239 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 39.60 m. jAjIjIjIiIhIhIhQhQfQfQrf]H@bf],?]]]]Va@K> ςI9 Yɚ]iYIYIe2f)iaia)a)iD5ʰ9zK LK9KK%K*F?2F:FBF1JFRK ?JK?UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=15, elapsed TxPingTime=6.302263 IG B O >zw,A2@Y2< @2L>92Y>y2H &??o8M?Ϳ@nɿPx?-?ɨ2@2Q;2 Cy>ԀB>tI Mb@Mb@Mb@    ) Y 5^I ?~jtÿ~jty >   lA ) %AI  A y =AI%I%̍٢5< 5J=951;Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:37.8919 TRx dataTimestamp_ set to:1736380239.088796DAT read: Range 10 to 50 : 49.8 m (trip time 33.2 ms) speed -0.3 -Z#Rx 16: Read range message, but no direction.y3GBchecking for new query: numPingsReceived=16, elapsed TxPingTime=6.554781 Nusing accuracyPremultiplier from config594)?5Y( i:5™>:仿 AE;+;Bq5 _A5 addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 0.503989 s, deltaX: 0.099998 m, approachRate: 0.198414 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 39.60 m. j9j9j9j9i9hAhAhAhEBfIfIrfM`fH@bfM?]m>]m>]m@]m@L> 隅I9 ɚiiII1f)ii))DU9*F?2F:FBF"5JFGBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.i im Au checking for new query: numPingsReceived=16, elapsed TxPingTime=6.803546J qJ hJ J J D:J Ȇ9J J a @a @a @a @ I /w,HA6@Y6@6\M>96 >y6H/?+?@;(~@?b*οɿ@??ɨ6@6U;6CyB݀BBIiFXX ZG٣XyZ ^> bNusing accuracyPremultiplier from config`f59bY*?f5Yb0 ib}5™dff AbEb*:bL:br5p rAp DNOT Ignoring new targets: 39.60 m. jjjjihhhhffrfbf ?ZHRH@AH>I I4IIBI =&I.I6I<:Iv FBICJICRICZI =bI =jI, 6]]]]ˢ@U\M> QU+I]9 Yɚ]iYIaIm2f)iiii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:38.3919 TRx dataTimestamp_ set to:1736380239.592847DAT read: Range 10 to 50 : 49.8 m (trip time 33.2 ms) speed -0.3 -Z#Rx 17: Read range message, but no direction.ychecking for new query: numPingsReceived=17, elapsed TxPingTime=7.059640D} 9*F?2F:FBFP5JFzK JK K K %K BK qA:K qAGQ } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=17, elapsed TxPingTime=7.308092B O >_w,tbA I=V@Y=@=RM>9=y >y=H@I?[?̧T $?7οl~ɿ`fF? `?ɨ=V@=;= CyuۀBu~IMb@Mb@Mb@ )YQ?Pnx&y\>7 A)b&AIAyAII(*٢ =9Q > G٣y > Nusing accuracyPremultiplier from config59J,?5Y i5™O>: AE;);u5 #A addTargetRange:: Added new target pos. range: 49.799999 m, deltaT: 0.504051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 39.60 m. j!j!j!j!i!h)h)h)h-Bf1f1rf1bf5g@?]O>]O>]1@]ug@RM> %I%]9 !ɚ%>i!I!I-1f)i)iI)Q)Q2D]rA*D]qAWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:38.8921 TRx dataTimestamp_ set to:1736380240.099189DAT read: Range 10 to 50 : 50.0 m (trip time 33.3 ms) speed -0.3 -Z#Rx 18: Read range message, but no direction.ءyإHBء checking for new query: numPingsReceived=18, elapsed TxPingTime=7.576235D 9*F ?2F :F BF 1JF =Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=18, elapsed TxPingTime=7.812321G(K>BO=?mw,LkAJJsJJdJHJHJJK:JJ|9JHJHZw@YZ@ZPM>9Z>yZHp?p?SB@H?!&οntɿNp?l?ɨZw@ZH;XybBfIInInm?٢r= v:=9vh9Q z>|| ~G٣|y > $?I Nusing accuracyPremultiplier from config 59 -?%5Y ' i 6™!%{% A E : *:  w5 A=c~GQi 0YyA addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 0.506342 s, deltaX: 0.200001 m, approachRate: 0.394991 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 39.60 m. jjjjihhh h f f rf I@bfx?]I]I]I]M@H>IC I-IIBI&I.I6I<:IL FPM> I9 ɚ䭶iII2f)ii))DW9*F)2F):F)BF-05JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:39.3922 TRx dataTimestamp_ set to:1736380240.601740DAT read: Range 10 to 50 : 50.1 m (trip time 33.4 ms) speed -0.4 -Z#Rx 19: Read range message, but no direction.عyؽfHBعchecking for new query: numPingsReceived=19, elapsed TxPingTime=8.069201GU A>Ba O} >v w,$2A:@Y:+@:="L>9:>y:H`đ? ?| xQ'?@?οYɿ@? ?ɨ:@:=;8yJBJIPPIVIVF٢^T= ^N=9b Q b>`` bG٣dyf f> jNusing accuracyPremultiplier from confighn59j.?n5YjH ij^6™pr]r AjEj+;;j'<;jx5x z6Ax- addTargetRange:: Added new target pos. range: 50.099998 m, deltaT: 0.502551 s, deltaX: 0.099998 m, approachRate: 0.198982 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 39.60 m. j)j)j)j1i1h1h1h1h9f9f9rfE I@bfEx?]a]a]a]ex@="L> 隅=I9 ɚصiII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=19, elapsed TxPingTime=8.317034zK]m$JK]`9D}9KYK]%K]RK?JK? 9IA*F2F:FBFP0JFGA>BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:39.8924  TRx dataTimestamp_ set to:1736380241.104796 DAT read: Range 10 to 50 : 50.4 m (trip time 33.6 ms) speed -0.3 - Z#Rx 20: Read range message, but no direction. y IB  checking for new query: numPingsReceived=20, elapsed TxPingTime=8.570796w,KAyBIMb@Mb@Mb@ )Yrh|?A`"y>ٽL A )(AIAyQAII<٢ la=  7=9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%W0?-5Y% i%6™5@>5 ;55 A%E%;%5;%z5=B =AEE} addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 0.503056 s, deltaX: 0.300003 m, approachRate: 0.596361 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 39.60 m. jyjyjyjyihhhhvBffrf@33I@bf>?]@>]@>]u@] R@9 AE)IED9 AɚEgiAIAIm2f)iiiq)q)qBD}=:D}<5Will construct direction to contact in vehicle frame from tetrahedron phase data.EDDAT read: Rx Time:23:50:40.3924 MTRx dataTimestamp_ set to:1736380241.359907]checking for new query: numPingsReceived=20, elapsed TxPingTime=8.825097JpJeJJJA:J9JJ 9I=hDES9*F2F:FBFA4JFjH <bH <H >I  I @II BI &I .I 6I <:I X F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 50.4 m (trip time 33.6 ms) speed -0.2 - Z#Rx 21: Read range message, but no direction. y   checking for new query: numPingsReceived=21, elapsed TxPingTime=9.074855G 2>B! OE >|w,*gA6)@Y6Z9@6MJ>96>y6H ??}R@e@+o? Ϳ`ɿ(?@" ?ɨ6)@6;4y>BBIIJIJ[٢RN= RS=9R=Q R>TT VG٣XyZ Z> bNusing accuracyPremultiplier from config`j59bR1?n5Yb/ ib6™lnsr AbEbU;bn;bj|5q uTAq addTargetRange:: Added new target pos. range: 50.400002 m, deltaT: 0.503601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 39.60 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=?]q]q]q]ur@MJ> Iօ9 ɚʶiII1f)ii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm9uDDAT read: Rx Time:23:50:40.8926 TRx dataTimestamp_ set to:1736380241.866448PDAT read: Bearing 199.9, 14.1 (Local) ~Local bearing/azimuth received: Bearing 199.9, 14.1 (Local) DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.2 zKRIK9KK%-UZ#Rx 22: Read range message, but no direction.yKBKpA:Ky}JBy a Ia  checking for new query: numPingsReceived=22, elapsed TxPingTime=9.369436*F 2F :F BF [4JF G]J>BaO>|!w,=A:Will construct direction to contact in vehicle frame from tetrahedron phase data.NDAT read: 23:50:40.8926 LVL= 27888, 28865, 16962, 32755, AGC= 61, IDX= 513,-0.01, 1.326,-2.907, 2.263, 2.068, PHS=-0.654, 1.356, 0.193, RAW= 305.2, -10.3, CAL= 310.1, -14.1, ROT= 199.9, 14.1 RYgot valid direction response: 23:50:40.8926 LVL= 27888, 28865, 16962, 32755, AGC= 61, IDX= 513,-0.01, 1.326,-2.907, 2.263, 2.068, PHS=-0.654, 1.356, 0.193, RAW= 305.2, -10.3, CAL= 310.1, -14.1, ROT= 199.9, 14.1 RZ#Rx 23: Read direction message, but no range.Z^direction in FSK: [0.317698,0.474420,-0.820972]89:^3(U? C\?&fE8:l:p :BB):I:=i:l':h?:ˡE>:t@:X8 :I1@):d{I:ZJ_@i:d{>8:2[a1mŶaP>]ƿ):DCI:e7>i:{?:hv?fchecking for new query: numPingsReceived=23, elapsed TxPingTime=9.585780rU@Yrd@r.H>9rD>yrHei?@什H|!A )@I~AyQAII٢p=  =9EQ > G٣yO > Nusing accuracyPremultiplier from config593?5Yݺ i7™1>;󹿑 AE;;~5Q UAQk}鄴P?k}c ky k}swA:k}JBBk}uIBZk}]="}~u0@[s 8@@;D}^3(U? C\?&fEJk}{?Rk}hv?*} GZ>@-A̾? D}Lh?$.Ds?ܼT"k}?*k}zAk}8a?k}ӎ 2k}Akykyk}+Bk}=BAk}1"@ addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 0.258051 s, deltaX: 0.299999 m, approachRate: 1.162558 m/s, rangeRepo size: 4 = Added new target pos. range: 50.700001 m, bearing: 3.092988 deg, lat: 36.905121 deg, lon: -122.119851 deg, deltaT: 27.226531 s, deltaX: 11.100002 m, approachRate: 0.407691 m/s, posRepo size: 4 EDNOT Ignoring new targets: 50.70 m. jAjAjAjAiAhAhIhIhMBfIfQrfUYI@bfU?]1>]1>]@]@.H> FaI9 ɚ,̶iII2f)ii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1MDDAT read: Rx Time:23:50:41.3926 UTRx dataTimestamp_ set to:1736380242.369596}DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.2 -Z#Rx 24: Read range message, but no direction.QyQQchecking for new query: numPingsReceived=24, elapsed TxPingTime=9.840390D 9E) J oJ J J J >:J J J ! I! *F 2F :F BF @5JF "G 4>G >H >I  I _II ÀBI =&I .I CD6I I<:I FGB>BO>(w,v7AB@YB^@B`,G>9B&>yBH`J?`V? @(-?Ϳ`oȿ`!N?@?ɨB@Bi;BCyJ2BNIIVIVm?٢^[= ^5=9^Q b>`` bG٣`yfӼ f> jNusing accuracyPremultiplier from confighn59j4?n5Yj ijR7™lrdr AjEjv:j:j5t vvAt Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=24, elapsed TxPingTime=10.079408= addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 0.503148 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 50.70 m. j9j9j9j9iAhAhAhAhIfIfIrfIbfUJ?]i]i]i]m6@`,G> 隍zHI9 ɚͶiII1f)ii))*F!2F!:F!BF%P0JF!Ge2>BWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:41.8926 TRx dataTimestamp_ set to:1736380242.872905DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.2 - Z#Rx 25: Read range message, but no direction.y checking for new query: numPingsReceived=25, elapsed TxPingTime=10.339996zK &(KK k9K K %K -;<7O > I s/w,_ A:K@Y:˞@:E>9:Z">y:H $?q?3`h?@v̿pȿ 0y?S?ɨ:K@:Y;8yZ>B^IUMb@Mb@Mb@QQQ Q)QYUi|?5?T㥛 rhyUq>UUCU"A UA)U)AIUAQyUAImImb٢}\= }?=9}VVQ }> G٣y > Nusing accuracyPremultiplier from config594?5Y iq7™z>X;¿ AEj;;|5 A addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 0.503309 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhBffrfbf` ?] z>] z>] ׶@] \@EE> AEIE9 AɚMٶiIIIIU2f)iQiQ)Q)Q%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=25, elapsed TxPingTime=10.584425*F?2F:FBF\0JFG9 Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:42.3926  TRx dataTimestamp_ set to:1736380243.372855 DAT read: Range 10 to 50 : 50.7 m (trip time 33.8 ms) speed -0.1 - Z#Rx 26: Read range message, but no direction. y   checking for new query: numPingsReceived=26, elapsed TxPingTime=10.838878?5w,5AV5@YV%E@VcD>9V>yVH`S??@w f f?7̿qȿ? ?ɨV5@V8;V CyrDBrIIzIzT aIa٢< I=9Q > G٣yܼ > Nusing accuracyPremultiplier from config59=5?5Y* i7™)Ŀ A ;n$;D5 A- addTargetRange:: Added new target pos. range: 50.700001 m, deltaT: 0.499950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 50.70 m. j)j)j1jQiQhYhahihiffrfbf?]!]!]!]%n@ecD> aeuIe{9 iɚmiII1f)ii))ZHRHH>I IIIBI =&I.I6Iȯ<:I; FEerAEerA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=26, elapsed TxPingTime=11.088123*F?2F:FBFP0JFGErA GAG B O >G96,>y6H Ӯ??@" %? m̿ Nȿ?`I?ɨ6Sݘ@6?;6Cy>FB>IIJIJ[٢nlC< rP=9rU5Q r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from config|59~t5?5Y~ i~7™ſ A~E~:~z:~5 A=DNOT Ignoring new targets: 50.70 m. j9j9jAjAiAhIhIhQhQfQfQrfQbf]2o?]y]y]y]}l@C> ܦIq9 ɚiII2f)ii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.=Ai=AEDDAT read: Rx Time:23:50:42.8927 ETRx dataTimestamp_ set to:1736380243.878235UDAT read: Range 10 to 50 : 50.9 m (trip time 33.9 ms) speed -0.1 -]Z#Rx 27: Read range message, but no direction.AyEKBAechecking for new query: numPingsReceived=27, elapsed TxPingTime=11.345073'TFailed to parse incomplete device message.*F2F:FBFk1JF IJ]pJ]hJ]1JYJ]A:J]Ȇ9J]3JYJYaJ]T;aJ]Ԭ:a J]լ:a GABQOu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=27, elapsed TxPingTime=11.591309)Cw,D AyeMBe I-only read 1 of 4 data items for beam range. Device response is::RA, 0.00, 12768,V  @ @ @E  E@E IUIU#٢e< e5=9eQ m>ii mG٣iyu u> }bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}5?5Y}a i}7‘+:/; A}E});}>}5 A addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 0.505380 s, deltaX: 0.200001 m, approachRate: 0.395743 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhffrf@3sI@bf`*? BIL9 !ɚ%i!I!I-1f)i)i))))1*F2F:FBFt3JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UDDAT read: Rx Time:23:50:43.3927 UTRx dataTimestamp_ set to:1736380244.381298eDAT read: Range 10 to 50 : 50.9 m (trip time 33.9 ms) speed 0.0 -mZ#Rx 28: Read range message, but no direction.QyQQuchecking for new query: numPingsReceived=28, elapsed TxPingTime=11.848292 IG- B>B9 O] >Hu >Iu C Iu IIu BIq &Iq .Iq 6Iu ԯ<:Iu D FBI5ɯCJI5ɯCRI5ɓCZI5 =bI5 =jI57L5UIw,$'AJq9@YJH@J[A>9JVF>yJH`z?l?Tn?˿ȿ?>?RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rpp vG٣tyv0g v> ~bBottom track data is 0.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59z5?5Yz iz7‘  :  ; ȿ  AzEz;zbO?z5! %A)u addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 0.503063 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 50.70 m. jQjQjYjYiYhYhYhahafafarfabfm?[A> \Iz9 ɚiII 2f)i i!)))1E]>E>*FA2FA:FABFEB5JFAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]DDAT read: Rx Time:23:50:43.8928 ]TRx dataTimestamp_ set to:1736380244.884811eDAT read: Range 10 to 50 : 51.0 m (trip time 34.0 ms) speed -0.1 -mZ#Rx 29: Read range message, but no direction.Yy]LBYuchecking for new query: numPingsReceived=29, elapsed TxPingTime=12.350824zK860+%!J J @AJ sJ dJ 0J J K:J |9J ـ3J J e;J e;J :J : Y Ia Gu :>B O >=Pw,\AAR@YRx@RO?>9R>yRHM??e`>l@t?ת˿`ǿ??ɨR@RE;RCyzIBzI        Mb@Mb@Mb@ )Yn?~jt~jtyV>Dļ#A dA)(AI AyIIi٢^ >=9bQ > G٣yL > Nusing accuracyPremultiplier from config59h5?5Y$ i7‘T:>;ѿ A;;~5! -A) addTargetRange:: Added new target pos. range: 51.000000 m, deltaT: 0.503513 s, deltaX: 0.099998 m, approachRate: 0.198602 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhBffrfI@bfg?]M>]M>]Mk@]M:@O?> 隅Iz9 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=29, elapsed TxPingTime=12.599403ɚi I I1f)ii))*F92F9:F9BF=05JF9Ga B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e DDAT read: Rx Time:23:50:44.3928 e TRx dataTimestamp_ set to:1736380245.388748u DAT read: Range 10 to 50 : 51.0 m (trip time 34.0 ms) speed 0.0 -u Z#Rx 30: Read range message, but no direction.a ya a } checking for new query: numPingsReceived=30, elapsed TxPingTime=12.854735Vw,4i[A)D D dIdNG1 ] YYy]A@Y&@>>9&>>yH??T`aU?`=q˿ͮǿf??ɨ@/;CyBBIII٢=f =>=9E=Q E>AA MG٣Iym稼 m> Nusing accuracyPremultiplier from config595?5Y i8™ҿ AE.;t.;e5jH<bHH>I IIIBI&I.I6I<:I- F AM addTargetRange:: Added new target pos. range: 51.000000 m, deltaT: 0.503937 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 50.70 m. jQjQjQjQiQhYhYhYhYfafarfabf@?]]]]V@>> IFz9 ɚ iII2f)ii))a*F?2F:FBFO0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=30, elapsed TxPingTime=13.104003G= R>BI Oe >\w,6uA2L@Y2d\@2<>92`>y2H`w?V?溿 }*?˿`yǿ`g??ɨ2L@2;2 CyB4BBIIJIJF٢M M[=9UKQ U>QY ]G٣Yy]]ؼ e> mNusing accuracyPremultiplier from configam59e4?m5Ye  ie,8™quԿu Aae.;e3;e5 mAEDNOT Ignoring new targets: 50.70 m. jjjjihhhhffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:44.8929 TRx dataTimestamp_ set to:1736380245.892842DAT read: Range 10 to 50 : 51.2 m (trip time 34.1 ms) speed 0.0 -Z#Rx 31: Read range message, but no direction.yLBchecking for new query: numPingsReceived=31, elapsed TxPingTime=13.359812]]]])@-<> )-\I5c9 1ɚiII1f)ii))BDzKMK-9KK%K *7?@:D;J}nJ}eJ}1JyJ}|;:J}9J}3JyJ}J;J}J;J}: IJ}:E)*F?2F:FBFJFG GqA Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց Օ < checking for new query: numPingsReceived=31, elapsed TxPingTime=13.608030G A>B O5 >Acw,A:@Y:z@::;>9:|>y:Hc?@?@X@5?ʿFǿ ? ?ɨ:@:;8yB#BFIMb@Mb@Mb@ )YK7A?v//$y >xi,#A 5A)Iy=AI-I-Բ٢=1 EK=9E|Q E>II MG٣IyM{ M> ]Nusing accuracyPremultiplier from configQe59U3?m5YU[ iUI8™m>m;m࿑m AQUUX;U%;U5q }Ay addTargetRange:: Added new target pos. range: 51.200001 m, deltaT: 0.504094 s, deltaX: 0.200001 m, approachRate: 0.396753 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhуBffrfI@bf@[?]e>]e>]e⏻@]e@:;> 隝I%v9 ɚ&iII2f)ii))*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:45.3930 TRx dataTimestamp_ set to:1736380246.398125 DAT read: Range 10 to 50 : 51.3 m (trip time 34.2 ms) speed 0.0 - Z#Rx 32: Read range message, but no direction.y3MBchecking for new query: numPingsReceived=32, elapsed TxPingTime=13.864113 IGK>BB(JO>H>I III&I.I6In<:I Fiw,xA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=32, elapsed TxPingTime=14.111743R@YRƝ@RY29>9R{>yRH    G٣ yü > %Nusing accuracyPremultiplier from config!-59%3?55Y% i%g8™1=JῑE A%E%x;%;y;%{5I MwAI addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 0.505283 s, deltaX: 0.099998 m, approachRate: 0.197906 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 50.70 m. j!j!j!j!i!h)h)h)h)f1f1rfU`fI@bfUP?]]]]I@Y29> 隭Iq9 ɚiII1f)ii))*FM?2FI:FIBFUo0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.AiADDAT read: Rx Time:23:50:45.8930 TRx dataTimestamp_ set to:1736380246.900978 DAT read: Range 10 to 50 : 51.3 m (trip time 34.2 ms) speed -0.1 -Z#Rx 33: Read range message, but no direction.ychecking for new query: numPingsReceived=33, elapsed TxPingTime=14.367157GBzKLK9KK%K:763.*'((&#"      O > I hJ{ـ3K{3 K{.KsKs"KsJ J iJ 0J J J ڈ9J ـ3J J J J i:J j:pw,ABo@YB2@B/$7>9Bi>yBH.??`.ʼA`?ʿ`Tƿ` 0?@??ɨBo@BeT;B"CyNBRI TVR=MMb@Mb@Mb@III I)IYMʡE?MbMbyM>MMM#A MdA)Mb&AIMAIyMpAAAIIV٢ >=9Q > G٣yޥ > Nusing accuracyPremultiplier from config59?2?5YM i8™6>;mݿ A;";X5 Ae addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 0.502853 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 50.70 m. jajajajiiihihihihuBfqfyrfybf}l?]6>]6>]Hu@]\@/$7> 隵I z9 ɚ!iII2f)ii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=33, elapsed TxPingTime=14.615303*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:46.3930  TRx dataTimestamp_ set to:1736380247.404729 DAT read: Range 10 to 50 : 51.3 m (trip time 34.2 ms) speed -0.1 - Z#Rx 34: Read range message, but no direction. y  % checking for new query: numPingsReceived=34, elapsed TxPingTime=14.870724G% <>B9 O] >)vw,A 4I4!@Y<1@k4>9>yH"?)?p "?ɿoƿ@P?!?ɨ!@v;騥 Cy޵݀BIII<٢1 F=9һQ  >    G٣ y > %Nusing accuracyPremultiplier from config%59b1?%5Y i8™)-޿- AE.::&51 =A9e addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 0.503751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 50.70 m. jijijijiiihqZHyRH}AAH>I IIIBI&I.I6I<:Ig Fhqhhffrfbf@?]]]]o@k4> EI{9 ɚiII1f)ii))*Fm?2Fi:FiBFmR5JFieWill construct direction to contact in vehicle frame from tetrahedron phase data.im4=uchecking for new query: numPingsReceived=34, elapsed TxPingTime=15.120764GuF>ByO>|w,}Af|ܕ@Yf@f1>9f >yfHA?<2? Ѿ`C?`@ɿb!ƿ?6"?ɨf|ܕ@f<[;fCyvрBvrII~I~F٢   [=9 bջQ > G٣y > %Nusing accuracyPremultiplier from config!-59%0?-5Y%V i%8™)5b߿5 A!%:%:%Ɩ59 =A9mDNOT Ignoring new targets: 50.70 m. jijijqjqiqhqhqhyhyfyfrfbf?]]]]Q7@1> 隵EWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:46.8931 TRx dataTimestamp_ set to:1736380247.908937DAT read: Range 10 to 50 : 51.5 m (trip time 34.3 ms) speed -0.1 -Z#Rx 35: Read range message, but no direction.yNBchecking for new query: numPingsReceived=35, elapsed TxPingTime=15.376596Io9 ɚԪiII2f)ii))zK"pMK9KK %KRK?JK> qIq*F}?2Fy:FyBF}a4JFyGBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=35, elapsed TxPingTime=15.623228w,=`Ay~B~ZIMb@Mb@Mb@ )YB`"?㥛 (\µyN>M"A A)$AIyAII٢5 ==9Q > G٣y > Nusing accuracyPremultiplier from config 59/? 5Y i9™ l> e; ؿ  AE(;;5 AEU addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 0.504208 s, deltaX: 0.200001 m, approachRate: 0.396663 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 50.70 m. jYjYjYjYiYhahahahe9BfifirfmI@bfu` H?]l>]l>]@]M@ 隥I9 ɚ(iII1f)ii))El>E>*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:47.3931 TRx dataTimestamp_ set to:1736380248.413601DAT read: Range 10 to 50 : 51.5 m (trip time 34.3 ms) speed -0.1 -Z#Rx 36: Read range message, but no direction.ychecking for new query: numPingsReceived=36, elapsed TxPingTime=15.879612 aIaJJjJ1JJJ9J3Ja@a@a@a@HyIy I}II}܀BIy&Iy.Iy6I}ǯ<:I}= FGBO>gw,i:*AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=36, elapsed TxPingTime=16.127987VE@YVU@Vʣ+>9VW#>yVH-?@aD?_n@g?EȿZſ ?P&?ɨVE@V<;V"CybBb=IIjIjԲ٢r r\=9vㇼQ v>tt vG٣xyzK z> Nusing accuracyPremultiplier from config|59~.? 5Y~_ i~K9™  ڿ  A~E~2:~:~I5 A addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 0.504664 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhf!f!rf)bf-VD?] ] ] ] oo@%ʣ+> !%IMǃ9 IɚMiIIIIU2f)iQiY)Y)Y*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:47.8932 TRx dataTimestamp_ set to:1736380248.916703DAT read: Range 10 to 50 : 51.6 m (trip time 34.4 ms) speed -0.1 -Z#Rx 37: Read range message, but no direction.yfNBchecking for new query: numPingsReceived=37, elapsed TxPingTime=16.382706 Q IQ zK vKK 89K K %K G A>BK qA:K B9 O >Sw,DAB @YB @B((>9B~$>yBH?M?&%@Q?ǿ@Ŀ`M#?)?ɨB @BW;B Cy~B~"I Mb@Mb@Mb@    ) Y Pn?+RQy >  ½  dA) I  A y I5 I5<2٢EX½ E6=9MH߻Q M>II UG٣Qye6 e> }Nusing accuracyPremultiplier from configq59u.?5YuF iu9™R>9;Կ Aqu;u;uB5 A addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 0.503102 s, deltaX: 0.099998 m, approachRate: 0.198764 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjih hhh BffrfI@bfM?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=37, elapsed TxPingTime=16.631430]MR>]MR>]Mƪ@]MS@]((> aeIe9 aɚeiaIaIm1f)iiiq)q)q*F?2F:FBF P0JF G- F>BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:48.3932  TRx dataTimestamp_ set to:1736380249.420746 DAT read: Range 10 to 50 : 51.6 m (trip time 34.4 ms) speed 0.0 - Z#Rx 38: Read range message, but no direction. y   checking for new query: numPingsReceived=38, elapsed TxPingTime=16.886837 A IA "w,]AJ$J&dJ&0J$J$J&|9J&ـ3J$yeBeII}I}V8٢I W=9Q > G٣y > Nusing accuracyPremultiplier from config59Z-?5Y i9™ A¦Ee ;. ;蝸5 A addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 0.504043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhh h f f rfjH<bHHI I@IIBI =&I.I6I<:I& FBICJICRIZI =bI =jI4bf=`?]Y]Y]Y]Yq quI}c9 yɚ}^iyIyI2f)ii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=38, elapsed TxPingTime=17.139555D509E9*F?2F:FBFJF"G>G>G B O >w,qyA2lV@Y2e@2F!>92n$>y2H@?@(`? VvGؽ?YƿĿ`B? 2?ɨ2lV@2d;0y>uB>IIJIJ٢R鳽 RL=9RQ V>TT VG٣XyZM Z> ^Nusing accuracyPremultiplier from config\b59^q,?b5Y^G i^:™`f#׿f A^æEjWill construct direction to contact in vehicle frame from tetrahedron phase data.nDDAT read: Rx Time:23:50:48.8933 nTRx dataTimestamp_ set to:1736380249.924859rDAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed 0.0 -vZ#Rx 39: Read range message, but no direction.lyn3OBlzchecking for new query: numPingsReceived=39, elapsed TxPingTime=17.390860^:^Fk<^5I m^Ai addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.504113 s, deltaX: 0.200001 m, approachRate: 0.396738 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhffrf`fI@bfޠ? I]i]i]i]mF@F!> 隝I.9 ɚTvzKJKKK %K      RK?JK>iII1f)ii ) ) D B9*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=39, elapsed TxPingTime=17.639318G B9 Oe >w,g'A:@Y:\ @:!O>9:;%>y:H`? i?> X`6F?ſ`ÿ@M?@6?ɨ:@:k\;:"CyFnBFIMb@Mb@Mb@ )YMbX9?#~j&1yʡ>㥽н|!A A)M"AIyAI- I-̍2٢= =B=9EQ E>AI MG٣IyM&Ҽ M> UNusing accuracyPremultiplier from configQ]59U+?e5YU iUI:™e>e;e8ӿe AUĦEUA;U;U5q uAqDNOT Ignoring new targets: 50.70 m. jjjjihhQhYh]ʂBfYfYrfYbfe`?]>]>]C@]A@!O>  IK9 ɚjiII52f)i1i9)9)92DA*DAWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:49.3933 TRx dataTimestamp_ set to:1736380250.429941 DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed 0.0 -Z#Rx 40: Read range message, but no direction.y%checking for new query: numPingsReceived=40, elapsed TxPingTime=17.897274 IKG)A uYqyuCAJpJJ1JJA:JJ3JD9HaIa IeIIe|BIa&Ia.Ia6Ies<:Ie F*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=40, elapsed TxPingTime=18.143757G B O >w,hAyjeBnIIvIvԲ٢8,  C=9Q %>)) 5G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=*?E5Y= i=:™AIM A=ŦE=;=;=W5Q UAY addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.505082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhffrfbfB?]]]] JI_9 ɚǵiII1f)ii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.eDDAT read: Rx Time:23:50:49.8933 eTRx dataTimestamp_ set to:1736380250.933858uDAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed -0.1 -uZ#Rx 41: Read range message, but no direction.ayaa}checking for new query: numPingsReceived=41, elapsed TxPingTime=18.400230D9EEqA YIY*FE?2FA:FABFE^0JFIGQ GQzKMK9KK %K Gi Bq O >w,vAb@YbU @b>9bQy%>ybHث?~?Y¿ @?ĿN¿a?%B?ɨb@b;b$CylluWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=41, elapsed TxPingTime=18.648129Mb@Mb@Mb@ )YbX9?l񲿢EԸyE>ƽ A A)AIOAy=AII٢ :=9BQ > G٣y > Nusing accuracyPremultiplier from config59)?5Y i:™> ;ѿ AƦE;;?5  A addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.503917 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhBffrfbf@;?]=>]=>]=@]=]@u> quIu%9 yɚ}iyIyI2f)ii))D9% Will construct direction to contact in vehicle frame from tetrahedron phase data.- DDAT read: Rx Time:23:50:50.3933 - TRx dataTimestamp_ set to:1736380251.4369725 DAT read: Range 10 to 50 : 51.8 m (trip time 34.5 ms) speed -0.1 -= Z#Rx 42: Read range message, but no direction.) y) ) E checking for new query: numPingsReceived=42, elapsed TxPingTime=18.902979*FM ?2FI :FI BFM _0JFI  $?I J oJ eJ J J >:J 9J J ZHq RHu ?AH I  I II ]BI &I .I 6I ¯<:I ; FG A>B O >#w,xAB@YB @BC>9B&>yBHv? ?@¿ԍ0?{ÿL@u?E?ɨB@Bي;B CyN\BNIIVIVF٢^Y+ ^G=9^Q ^>`` bG٣`yf Ҽ f> jNusing accuracyPremultiplier from confighn59j(?r5Yj ij;™prҿr AjǦEj-;j-;j 5x z*Az E% addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 0.503114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 50.70 m. j)j)j)j1i1h1h1h1h9f9f9rf9bf=-?]I]I]I]MZQ@C> 隵I 9 ɚiII1f)ii)) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=42, elapsed TxPingTime=19.153824*F?2F:FBFP5JFG= F>BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:50.8934  TRx dataTimestamp_ set to:1736380251.941322 DAT read: Range 10 to 50 : 51.9 m (trip time 34.6 ms) speed -0.1 - Z#Rx 43: Read range message, but no direction. y OB  checking for new query: numPingsReceived=43, elapsed TxPingTime=19.411364 I w,U4AJNL@YJ[@J >9Jm(>yJHDH? @?ÿ@?@¿`/@?+E?ɨJNL@JL;J!CzK~"KK~-9K|K~ %K~y]fB]IIuIu٢ d7= 8=9ֻQ %>19 =G٣AyMż e> Nusing accuracyPremultiplier from configM59'?U5Y i`;™Ye?Կm AɦE=|< 5 A addTargetRange:: Added new target pos. range: 51.900002 m, deltaT: 0.504350 s, deltaX: 0.100002 m, approachRate: 0.198280 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 50.70 m. j!j!j!j!i!hAhIhIhIfIfQrfU@3I@bfU >?]]]]@ > +I9 ɚciII-2f)i1i1)1)AEUi>EQMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=43, elapsed TxPingTime=19.657169*F2F:FBFJF"GGG A>B O% >w, A>@Y> @>a >9>?)>y>Hi?l?ÿ`k?#r¿>@b?`E?ɨ>@>;>Cy^vBbIeMb@Mb@Mb@aaa a)aYeS㥛?㥛 bX9ȶye$>eeEa a)e AIe Aayaip}?IIq٢= R=Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:51.3934 TRx dataTimestamp_ set to:1736380252.444840DAT read: Range 10 to 50 : 51.9 m (trip time 34.6 ms) speed 0.0 -Z#Rx 44: Read range message, but no direction.ءyءءchecking for new query: numPingsReceived=44, elapsed TxPingTime=19.911543 9I99}VQ }> G٣yǼ > Nusing accuracyPremultiplier from config59&?5Y i;™>;%ӿ% AʦE<<Ϫ5a eVAiJ pJ hJ J J A:J Ȇ9J J  addTargetRange:: Added new target pos. range: 51.900002 m, deltaT: 0.503518 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhBH>I IIINBI&I.I6I<:I| Fffrf bf `t?]M>]M>]M@]M@]a > Y]Ie؍9 aɚe9.iaIiI1f)ii))*F=?2F9:F9BF=5JF9U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=44, elapsed TxPingTime=20.159855G} F>B O >U$w,J2A6@Y6B@6*>96)>y6HLpt vG٣tyvY v> zNusing accuracyPremultiplier from configx~59z%?5Yz" iz;™տ Az˦Ez%;z;;zY5 AEDNOT Ignoring new targets: 50.70 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfUC6?]q]q]q]uʓ@U*> QU^IUI9 Qɚ]] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=45, elapsed TxPingTime=20.663404Hw,LAV@Ycf@>9Q(>yH l?=?Ŀ&ɪ?ʓ@l`? K?ɨV@`b;"Cy%B%"IMb@Mb@Mb@ )YZd;O? rhQ뱿yj>C\ )=AIyAI=I=<٢Mm= M5=9M_Q U>QQ UG٣Qy]6 ]> mNusing accuracyPremultiplier from configau59eF$?u5Yea ie<™}>} ;}ֿ} Ae̦Ee;e;eR5 A addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 0.504734 s, deltaX: 0.299999 m, approachRate: 0.594371 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhhBffrfJ@bf ?]>]>]7@]j@ >  IŐ9 ɚOiII1f)ii)!)!2D-*D-BD-:D-*F2F!:F!BF!JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:52.3935 TRx dataTimestamp_ set to:1736380253.452750DAT read: Range 10 to 50 : 52.1 m (trip time 34.7 ms) speed -0.1 -Z#Rx 46: Read range message, but no direction.رyصfPBرchecking for new query: numPingsReceived=46, elapsed TxPingTime=20.918774 I G B O >jH bH H >I  I II SBI &I .I 6I <:I 5w,fAZ}@YZ@Z>9ZS2'>yZH@c? t?@!Ŀ [6?`0Ŗ@?N?ɨZ}@Z;Z!CynBr>IIIV8٢-= -_=95%Q =>AA EG٣AyMeݼ U> ]Nusing accuracyPremultiplier from configYe59]"?m5Y] i]@<™iu׿u A]ͦE]?F;]F;]ﯸ5 A} addTargetRange:: Added new target pos. range: 52.099998 m, deltaT: 0.503176 s, deltaX: -0.100002 m, approachRate: -0.198742 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 50.70 m. jyjyjyjyihhhhffrf J@bf?]]]]@>Will construct direction to contact in vehicle frame from tetrahedron phase data.<checking for new query: numPingsReceived=46, elapsed TxPingTime=21.167667 I9 !ɚ%i!I!I-2f)i)ii)i)q*F?2F:FBF_0JFGK>BO > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:52.8937  TRx dataTimestamp_ set to:1736380253.956799 DAT read: Range 10 to 50 : 52.4 m (trip time 34.9 ms) speed 0.0 - Z#Rx 47: Read range message, but no direction. y QB  checking for new query: numPingsReceived=47, elapsed TxPingTime=21.422775  I w,{AJnJeJJJ|;:J9JJJaJJ;aJ:a"J:a"r@Yr-ȗ@rB>9rt'>yrHD? *?SĿ@K?`| I?aO?ɨr@rNj;pzKaKe9KaKe%KeRKu>JKu>yޝBޝRIII(*٢= B=9Q > G٣y϶ > 5Nusing accuracyPremultiplier from config E59 a!?M5Y  i w<™ٿ A ΦE < K< ̱5 JA!% addTargetRange:: Added new target pos. range: 52.400002 m, deltaT: 0.504049 s, deltaX: 0.300003 m, approachRate: 0.595186 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 50.70 m. j!jAjIjIiIhIhIhQhQfQfQrfU@33J@bf]?]]]]˒@B> 7~Ib9 ɚiiII1f)i i ) ) %Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=47, elapsed TxPingTime=21.672306*F}?2Fy:FBF`0JFG A>B O% >Gw,TA6n@Y6 ~@6>96'>y6H@>?@?`Ŀw Di`ٶ? O?ɨ6n@6T;6"Cy>ˀBBjIEMb@Mb@Mb@AAA A)AYE{Gz?EtExiA EOA)AIEOAAyEpAIuIub}Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:53.3936 TRx dataTimestamp_ set to:1736380254.460850 IhDAT read: Range 10 to 50 : 52.2 m (trip time 34.8 ms) speed -0.1 -Z#Rx 48: Read range message, but no direction.؁y؅PB؁checking for new query: numPingsReceived=48, elapsed TxPingTime=21.929716٢x= J=9SQ > G٣y > Nusing accuracyPremultiplier from config59?5Y  i<™s>;߿ AϦE;;5 A5 addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 0.504051 s, deltaX: -0.200001 m, approachRate: -0.396787 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 50.70 m. j9j9j9j9i9h9hAhAhEBfAfIrfMJ@bfMh?]s>]s>]@],@> I!9 ɚi I I2f)ii))EIEMrAH}>Iy I}II}rBIy&Iy.Iy6I}<:IyBI1JI1RI1ZI5 =bI5 =jI5Ĕ;4*F?2F:FBF0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=48, elapsed TxPingTime=22.175711Ge F>By O >qw,1A:+@Y:;@:;>9:y)>y:H@ V^=9V 9Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b?f5Yb ib<™hj࿑j AbЦEb":b:b%5l nAp DNOT Ignoring new targets: 50.70 m. jjjjihhhhff!rf!bf% ?]]]]@];> Y]p}I]w9 Yɚ]iYIaIe1f)iiii)i)i*FM?2FI:FIBFM05JFI IWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:53.8937 TRx dataTimestamp_ set to:1736380254.966746DAT read: Range 10 to 50 : 52.4 m (trip time 34.9 ms) speed -0.1 -Z#Rx 49: Read range message, but no direction.ءyإQBءchecking for new query: numPingsReceived=49, elapsed TxPingTime=22.432968JEoJEfJAJAJE>:JE9JAJAJE~O;JEO;JE:JE:zKK#9KK%K+:==<::4441.**(" $5::73BK:KpAGUA>BO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=49, elapsed TxPingTime=22.683212`w,'Ay5B=IMb@Mb@Mb@ )Y/$?l񲿪Mby1>@ )AIAy=AIIm?٢ =  5=9Q > G٣y > Nusing accuracyPremultiplier from config!59%h?5Y%& i%<™e>=;:翑 A%ѦE%;|<%;%5B -A#E addTargetRange:: Added new target pos. range: 52.400002 m, deltaT: 0.505896 s, deltaX: 0.200001 m, approachRate: 0.395340 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjihhhh*Bffrf@33J@bf}?]e>]e>]a@]IA@) )-I-9 )ɚ5mi1I1I52f)i9i9)9)A*F?2F:FBFx4JF) rC iIqNGWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:54.3936 TRx dataTimestamp_ set to:1736380255.472884DAT read: Range 10 to 50 : 52.2 m (trip time 34.8 ms) speed -0.1 -Z#Rx 50: Read range message, but no direction.رyصPBرchecking for new query: numPingsReceived=50, elapsed TxPingTime=22.938875  udYqy}AGK>BO >ZHY RH] @AHe >Ie C Ie 4IIe BIe =&Ia .Ia 6Ie ߯<:Ie M Fsw,gA6ǩ@Y6H@67>96z*>y6HntbP??ſ`ɻ $49{?{K?ɨ6ǩ@6);6 CyNBNII^I^@٢f(> jb=9j:Q n>pp rG٣pyvt2 v> ~Nusing accuracyPremultiplier from configx59zd? 5Yz  tIiz=™ =鿑 AzҦEzN;zs;z5! %:A!u addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 0.506138 s, deltaX: -0.200001 m, approachRate: -0.395151 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 50.70 m. jyjyjjihhhhffrfJ@bf, ?]9]9]9]=@M7> QU냿IU9 Qɚ]iYIYIu1f)iyiy)y)yE]>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=50, elapsed TxPingTime=23.188702*F ?2F :F BF P0JF G GrAGIBaO> a Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  DDAT read: Rx Time:23:50:54.8938  TRx dataTimestamp_ set to:1736380255.977206 DAT read: Range 10 to 50 : 52.5 m (trip time 35.0 ms) speed -0.1 - Z#Rx 51: Read range message, but no direction. y RB  checking for new query: numPingsReceived=51, elapsed TxPingTime=23.443939J] pJ] hJ] 0JY J] A:J] Ȇ9J] ـ3JY J] T;J] T;J] Ԭ:J] լ:.}w, Afiu@Yfꄖ@f>9f*>yfH)w?dſ@@Ǟ`",^? .J?ɨfiu@fn;fCy&BIIIi٢-`= -C=9-;Q ->11 UG٣Qy]x ]> eNusing accuracyPremultiplier from configam5zK-MK9KK%K1,)*)(! ! 9e?5Yer ieA=™꿑 AeӦEe< quIu9 qɚu獴iqIqI}2f)iyiy))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=51, elapsed TxPingTime=23.692528*F=?2F9:F9BF=O0JF9Gy B O >ؤw,A:6;@Y:J@:>9:4,>y:H`/?jſ@~!@$@=?@G?ɨ:6;@:w;:Cy^=BbI pIteWill construct direction to contact in vehicle frame from tetrahedron phase data.eDDAT read: Rx Time:23:50:55.3939 mTRx dataTimestamp_ set to:1736380256.481096uDAT read: Range 10 to 50 : 52.7 m (trip time 35.1 ms) speed -0.1 -}Z#Rx 52: Read range message, but no direction.iymRBichecking for new query: numPingsReceived=52, elapsed TxPingTime=23.947071Mb@Mb@Mb@ )YB`"?+η ףp= yN>vQ8  A) AI AyAII٢s= A=9:Q > G٣y > Nusing accuracyPremultiplier from config59?5Y ih=™Uh>i; AԦE;;{5 "AE addTargetRange:: Added new target pos. range: 52.700001 m, deltaT: 0.503890 s, deltaX: 0.200001 m, approachRate: 0.396914 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 50.70 m. jIjjjihhhhaBffrfYJ@bf;?H>I III܀BI =&I.I6I<:I\ F]5Uh>]5Uh>]5JA@]5@E> imIm59 iɚmiiIqIu1f)iyiy)y)y*F=?2F9:F9BFEP0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=52, elapsed TxPingTime=24.195232Ge F>Bq O > w,Q5A6 @Y6'@6L>96L,>y6H z?(ſ` ,)@ S?E?ɨ6 @6~;6!CyVLBVIIzIzM٢g= W=9 4n;Q  >   G٣yo > %Nusing accuracyPremultiplier from config%59?-5Yw i=™)-G- A:: 51 =A9eDNOT Ignoring new targets: 50.70 m. jijijijiiihihihqhqfqfrfbf?O?]Y]Y]Y]]@mL> imiI֋9 ɚxiII2f)ii))E ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uDDAT read: Rx Time:23:50:55.8940 uTRx dataTimestamp_ set to:1736380256.984823}DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 -Z#Rx 53: Read range message, but no direction.qyu3SBqchecking for new query: numPingsReceived=53, elapsed TxPingTime=24.450821*F2F:FBFa0JF"GG>JqJgJ1JJD:J9J3JJJZ;JMZ;J?:J@:zKMK9KK%KGA>B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=53, elapsed TxPingTime=24.699224w,OAZA֎@YZ@Z,X>9Zm,>yZH`v?nſI =$ $uK?`KD?ɨZA֎@ZW;ZCyb\BbIMb@Mb@Mb@ )YM?zGế ףp= yn> ׽ OA)AIyII ٢= ?=9;Q > G٣yP > Nusing accuracyPremultiplier from config59 ?5Y i=™k;>;6 AզE';0;迸5B &A&E addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.503727 s, deltaX: 0.099998 m, approachRate: 0.198517 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 50.70 m. jjjjih)h1h9hmBfqfrf`ffJ@bf?]mk;>]mk;>]mi˴@]m@,X> 隅I9 ɚ iII1f)ii)) I*FI2FI:FQBFU_0JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:56.3940 TRx dataTimestamp_ set to:1736380257.490178PDAT read: Bearing 217.7, -1.1 (Local) ~Local bearing/azimuth received: Bearing 217.7, -1.1 (Local) DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 DAT read: 23:50:56.3940 LVL= 21712, 27313, 13698, 29747, AGC= 56, IDX= 508, 0.33,-2.812,-0.219,-1.038,-1.263, PHS=-1.461, 1.091, 0.222, RAW= 289.6, 1.3, CAL= 292.3, 1.1, ROT= 217.7, -1.1 Ygot valid direction response: 23:50:56.3940 LVL= 21712, 27313, 13698, 29747, AGC= 56, IDX= 508, 0.33,-2.812,-0.219,-1.038,-1.263, PHS=-1.461, 1.091, 0.222, RAW= 289.6, 1.3, CAL= 292.3, 1.1, ROT= 217.7, -1.1 T#Rx 54: Read range and direction messages.^direction in FSK: [0.085659,0.237602,-0.967578]Fpublishing direction and range info؁9؅N?zi??fy؁؁؅T؅j م5)م3tIم8iم م㥋?مSc>م?@م޹< څI@@)څnFI  I II BI &I .I 6I Я<:I ? FG} F>B O >w, ziAJc@YJ伕@J\ >9J~,>yJH`Ǡ+? ~ſ/2`? j55?ZC?ɨJc@J;J#CyjbBj#IIzIzm?٢ <  W=9 ;Q  > G٣ylV > %Nusing accuracyPremultiplier from config!-59%F ?-5Y%? i%=™155 A!%6(<%%.<%5 Ak[墜?ky k k__A:k3SBBkQBZkO="L)@zGIN?zi??fJkŜ?Rk`?*z[:4@uAT ?J(ux8HlԷi??(u0Ӹ["kZ?*kAk+?kv 2kAkꡌ?kk BkPAk* @E addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.505355 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 52.799999 m, bearing: 3.589692 deg, lat: 36.905139 deg, lon: -122.119851 deg, deltaT: 15.623730 s, deltaX: 2.099998 m, approachRate: 0.134411 m/s, posRepo size: 4 uDNOT Ignoring new targets: 52.80 m. jqjqjyjyiyhyhhhffrfbfi?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=54, elapsed TxPingTime=25.203430]]]]>Ɓ@\ >  I 9 ɚHiII2f)ii))*F?2F:FBF0JF I G K>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:50:56.8940  TRx dataTimestamp_ set to:1736380257.992719 DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 - Z#Rx 55: Read range message, but no direction.؉ y؉ ؉  checking for new query: numPingsReceived=55, elapsed TxPingTime=25.459435 w,JA:}@Y:@: >9:+>y:H ?@ſe $@Ul?@~C?ɨ:}@:[;:CyFmBF1IININM٢V$e= VQ=9V&;Q V>XX ZG٣Xy^r ^> bNusing accuracyPremultiplier from config`f59b?f5Yb ib=™djj Ab֦Eb:b&:bGø5l rAp addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.502541 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 52.80 m. jjjjihhh!h!f!f!rf)bf- ?]I]I]I]M@] > ae„IeZ9 aɚeiiIiIm1f)iqiq)q)qEEqAzK5&(KK59K1K5%K5*F?2F:FBF 3JFG1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=55, elapsed TxPingTime=25.707403GUF>BqO>&w,$A $I$:m\@Y:k@: >9:k+>y:Hȥ}?|ƿ@F[ #?@-A?ɨ:m\@:;: CybwBb=IEWill construct direction to contact in vehicle frame from tetrahedron phase data.MDDAT read: Rx Time:23:50:57.3940 UTRx dataTimestamp_ set to:1736380258.497617]DAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 -]Z#Rx 56: Read range message, but no direction.IyIIechecking for new query: numPingsReceived=56, elapsed TxPingTime=25.963610Mb@Mb@Mb@ )Y)\(?"~jA`"yG=S㽹Y ) AIy=AIIʴ٢4= 9=9,j;Q > G٣y > Nusing accuracyPremultiplier from config59 ?5Y  i>™(>; A;>;6Ÿ5 OA = addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.504898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 52.80 m. j9j9j9jAiAhIhIhIhMBfQJ3Kw3 K.-KK"KJoJjJJJ>:J9JJa@a@a@a@H>I III=BI&I.I6Iد<:ID Ffrfbf(?](>](>]ȯ@]%x@] > Y]I]9 aɚeҪiaIaIm2f)iiii)i)q*F-?2F1:F1BF5 5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=56, elapsed TxPingTime=26.211422Ga Bq O > -w,AN4@YNND@N÷ >9N+>yNH;z?+ƿg ^(?@??ɨN4@N;NCyZvBXIbIbF٢jN j\=9n~*;Q n>ll rG٣pyrT r> vNusing accuracyPremultiplier from configtz59v?z5Yv! iv1>™|~O~ AvצEv ;v& ;vƸ5 TA=DNOT Ignoring new targets: 52.80 m. j9j9j9j9i9h9h9hAhAfAfArfIbfM:?]i]i]i]mw@÷ > I9 ɚʵiII1f)ii ) )  5$?I1EWill construct direction to contact in vehicle frame from tetrahedron phase data.MDDAT read: Rx Time:23:50:57.8941 MTRx dataTimestamp_ set to:1736380259.000832]DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 -]Z#Rx 57: Read range message, but no direction.IyMTBImchecking for new query: numPingsReceived=57, elapsed TxPingTime=26.467426D,9*F-?2F1:F1BF=65JF9zKmBoHKm89KiKm%Km Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=57, elapsed TxPingTime=26.717623G- A>B1 OU >:4w,&AB@YB{@B>9B,>yBH@\v? gƿ 2)`n`OO?@ =?ɨB@Bkߋ;B"CyZsB^8I b=b=Mb@Mb@Mb@ )Y+η?q= ףpMbyv=뽹 ) AIyA@AII(*٢ww 0=9;Q > G٣y6 > Nusing accuracyPremultiplier from config%59?-5Y" i_>™5%>=;=!E A! < <ȸ5I MqAI addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.503215 s, deltaX: 0.200001 m, approachRate: 0.397446 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 52.80 m. jAjAjAjAiAhIhIhIhMBfQfQrfUJ@bfU O?]%>]%>]@]Yp@> I(9 ɚiII%2f)i!i!)!)!D )I)UWill construct direction to contact in vehicle frame from tetrahedron phase data.eDDAT read: Rx Time:23:50:58.3940 eTRx dataTimestamp_ set to:1736380259.505790uDAT read: Range 10 to 50 : 52.8 m (trip time 35.2 ms) speed -0.1 -uZ#Rx 58: Read range message, but no direction.aye3SBa}checking for new query: numPingsReceived=58, elapsed TxPingTime=26.971823*F?2F:FBFO0JFJpJlJ0JJA:J9Jـ3JZHRHAAH>I III[BI =&I.I6I<:IJ FBIUȯCJIUȯCRIQZIU =bIU =jIUQ5Gu F>B O >:w,A2@Y2"@2>92T.>y2Htp?6ƿV`\@KS?9?ɨ2@2s;2 CyBvBB<IIJIJF٢R_s< R^=9R;Q V>TT VG٣TyZA Z> bNusing accuracyPremultiplier from config\b59^=?b5Y^A# i^>™df "f A^ئE^":^C:^zʸ5h nZAl addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 0.504958 s, deltaX: -0.200001 m, approachRate: -0.396074 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 52.80 m. jjjjihh!h!h!f!f)rf-`ffJ@bf-?]I]I]I]M[p@e> aeIeN9 iɚmiiIiI}1f)iyiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=58, elapsed TxPingTime=27.219381PExceeded connect timeout, disconnecting.*F?2F:FBF\0JFGA>BO> Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.u DDAT read: Rx Time:23:50:58.8942 u TRx dataTimestamp_ set to:1736380260.009176} PDAT read: Bearing 220.8, -1.7 (Local)  ~Local bearing/azimuth received: Bearing 220.8, -1.7 (Local)  DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed -0.1  DAT read: 23:50:58.8942 LVL= 16752, 19409, 11106, 24307, AGC= 55, IDX= 510, 0.40,-1.118, 1.399, 0.727, 0.445, PHS=-1.475, 1.002, 0.279, RAW= 286.5, 1.8, CAL= 289.2, 1.7, ROT= 220.8, -1.7  Ygot valid direction response: 23:50:58.8942 LVL= 16752, 19409, 11106, 24307, AGC= 55, IDX= 510, 0.40,-1.118, 1.399, 0.727, 0.445, PHS=-1.475, 1.002, 0.279, RAW= 286.5, 1.8, CAL= 289.2, 1.7, ROT= 220.8, -1.7  T#Rx 59: Read range and direction messages. ^direction in FSK: [0.073663,0.183993,-0.980163] Fpublishing direction and range infoq 9u At2۲?s?Q]yu fTBq u pAu K u b+)u ^Iu 7iu ̼u A?u َ>u @u = u @)u 96/>y6H yl?ƿ@ ŵGX?>8?ɨ6m@6Y;6CynlBn0IIvIvb٢8 E=9}:Q  >    G٣ yGY => MNusing accuracyPremultiplier from configAU59Ep?U5YE$ iE>™y}e"} AAE;E;EQ̸5 AzKcKK9KK%K#*" 2kC?k k kWA:kfTBBkRBZk6="ڐeJ@|k>#@ JAt2۲?s?Q]JkGQ?RkB?*:k2@P{wo?\Hн~? vl?1>"k?*kOAk=2?k`m 2kpAk=2?kӎ kAk Akq>= addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.503386 s, deltaX: 0.299999 m, approachRate: 0.595963 m/s, rangeRepo size: 4 m Added new target pos. range: 53.099998 m, bearing: 5.881028 deg, lat: 36.905373 deg, lon: -122.119909 deg, deltaT: 2.518998 s, deltaX: 0.299999 m, approachRate: 0.119095 m/s, posRepo size: 4 mDNOT Ignoring new targets: 53.10 m. jijijijqiqhqhqhyhyfyfyrf}̌J@bf`?]]]] o@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=59, elapsed TxPingTime=27.723356> aIM9 !ɚ%ji!I!I-2f)i)i))1)1*Fu?2Fq:FyBF}P0JFyG GqA  I! ] Gq Y y AG F>B O% > Gw,By AWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:50:59.3941 TRx dataTimestamp_ set to:1736380260.513792"DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 -"Z#Rx 60: Read range message, but no direction.yTB&checking for new query: numPingsReceived=60, elapsed TxPingTime=27.979774@Y@>9v_/>yH@M@i?ƿ @OA ¿?7?ɨ@Ru;騝 CyޭeB޵'IJsJjJ2JJK:J9Jc3JHE>IA IE'IIEfBIA&IA.IEBD6IE<:IE- FEMb@Mb@Mb@AAA A)AYES㥻?)\(ʡEyE/=EGόEEM"A E~A)EAIE~AAyAIIF٢ #=9:Q > G٣y >  Nusing accuracyPremultiplier from config599?5Y5% i>™s0>; A٦E;;yθ5! %A!u addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.504616 s, deltaX: -0.099998 m, approachRate: -0.198167 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 53.10 m. jyjyjyjyiyhhhhBffrfJ@bfl?]s0>]s0>]@]v@> I܎9 ɚ,iII1f)i i ) )*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=60, elapsed TxPingTime=28.228386 nManaging dock network, ignoring radio surface power offG= <>BI Om >Mw,W:A6v@Y6b@65>96%.>y6Hf?GƿXa=1¿?7?ɨ6v@6Y;6CyBcBB%IIRIR<٢VS Z=9Zj:Q Z?\\ ^G٣\yb6 b? fNusing accuracyPremultiplier from configdj59f훜?j5Yf% if?™hjn Adf֘  I Q9 ɚ ;i I I2f)ii)!)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.=DDAT read: Rx Time:23:50:59.8942 ETRx dataTimestamp_ set to:1736380261.017698eDAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 -Z#Rx 61: Read range message, but no direction.AyEfTBAchecking for new query: numPingsReceived=61, elapsed TxPingTime=28.490686*F?2F:FBFP5JFzKLKKK%K<=:998100,,+*'&*&!&IXWOB6*$+6;952/*& GA>BIO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=61, elapsed TxPingTime=28.7312471Tw,/0TA 02@NO@YNV_@N&h>9N<.>yNH`-@c?ƿJ@6f)e¿t? p8?ɨNO@N'5;N CyZRBZIMb@Mb@Mb@ )Yn?bX9ȶktyV>E  A A)AIyAI- I-2٢= =4=9E9Q E>AA EG٣IyM+ M> UNusing accuracyPremultiplier from configQ]59Uꛜ?]5YUL' iU;?™e>>e;e e AQUw;U;UѸ5i mrAi addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.503906 s, deltaX: 0.099998 m, approachRate: 0.198447 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.10 m. jjjjihhhh.Bffrf̌J@bf@\?]>>]>>]^ֶ@]A@ &h> 隍nI9 ɚ>KiII1f)ii))2D*DBD:DEQEUpA I*F?2F:FBF3JF"G>G>EWill construct direction to contact in vehicle frame from tetrahedron phase data.UDDAT read: Rx Time:23:51:00.3941 ]TRx dataTimestamp_ set to:1736380261.522241eDAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 -uZ#Rx 62: Read range message, but no direction.QyUTBQchecking for new query: numPingsReceived=62, elapsed TxPingTime=28.992990JJlJ1JJJ9J3JjH5<bH5<H=>I=C I=!II=`BI9&I9.I96I=ү<:I=; FGE K>BY O >Zw,nA6 @Y650@6 >96->y6H _?ƿ k¿_?9?ɨ6 @6Ɋ;4yRQBRI V=Va=IZIZ(*٢f fe=9f{Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v蛜?z5Yvf( ivf?™x~ ~ AvڦEv\ ;v ;vSӸ5 xA5 addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.504543 s, deltaX: -0.099998 m, approachRate: -0.198196 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 53.10 m. j9j9j9jAiAhAhAhAhIfIfIrfMJ@bfM@?]]]]@ >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=62, elapsed TxPingTime=29.235348 隥znI9 ɚoYiII2f)ii))*FM?2FQ:FQBFUO0JFQGqB IO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U DDAT read: Rx Time:23:51:00.8942 U TRx dataTimestamp_ set to:1736380262.024678] DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 -e Z#Rx 63: Read range message, but no direction.Q yU fTBQ m checking for new query: numPingsReceived=63, elapsed TxPingTime=29.490660aw,KA6@Y6r@6>96.>y6H EzY?@/ǿLk@A ¿`?@8?ɨ6@6A;6CyNHBNIIZIZF٢f6 fJ=9f'Q f>hh jG٣hynLh n> rNusing accuracyPremultiplier from configpv59r-囜?v5Yr) ir?™tvQ z Apr:r:rո5| ~A|- addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.502437 s, deltaX: 0.099998 m, approachRate: 0.199027 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 53.10 m. j1jjjihhhhffrf̌J@bfK6?zKMK9KK%K     RK>JK>]]]]-@> sI m9 ɚiiII%1f)iQiQ)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=63, elapsed TxPingTime=29.739519*F?2F:FBF2JFG B O- > I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] DDAT read: Rx Time:23:51:01.3941 e TRx dataTimestamp_ set to:1736380262.528673u DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 -u Z#Rx 64: Read range message, but no direction.a ye TBa } checking for new query: numPingsReceived=64, elapsed TxPingTime=29.995384S#hw,"Ay5@B5IH>I IIILBI =&IFD.I6I<:I FMb@Mb@Mb@ )YMb?Dl+ηy@>OvA QA)AI AyAImIm?1٢t "=9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%C⛜?-5Y%+ i%?™5b>5p;5 5 A%ۦE%L<%<%W׸5i uAq addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.503995 s, deltaX: -0.099998 m, approachRate: -0.198412 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.10 m. jjjjihhhh&Bff rf J@bf ?]Mb>]Mb>]MBν@]M@Y Y]3sI]ə9 aɚeziaIaIm2f)iiii)i)qEe>E>*F-?2F):F)BF-O0JF)G5qA G5rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=64, elapsed TxPingTime=30.243769Gm A>By O >Enw,ݻA6p@Y6@6>96;[0>y6H K?ǿ j|ʾ@>? S7?ɨ6p@6;6 CyV 隕tIe9 ɚiII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:01.8942 TRx dataTimestamp_ set to:1736380263.033616DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 -Z#Rx 65: Read range message, but no direction.yfTBchecking for new query: numPingsReceived=65, elapsed TxPingTime=30.500126*F]?2FY:FYBF]_0JFYJqJjJ0JJD:J9Jـ3JJaJLZ;aJ:aJ:aG=K>BQOuy>zKULKQKQKU%KU(.01 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=65, elapsed TxPingTime=30.7486950uw,AR\@YRl@R{>9R^0>yRHw`aE?ǿ`OP@ B?8?ɨR\@R];RCy}5BޅIMb@Mb@Mb@ )Y rh?J ++ηyl>H v@)&AIAyAIIi٢ ,=9-ǺQ > G٣yMV > Nusing accuracyPremultiplier from config 59 Zޛ?5Y / i B@™>Q;鿑 A  w; ; ڸ5) -ZA)e addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.504943 s, deltaX: 0.099998 m, approachRate: 0.198039 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 53.10 m. jijijijiiihihqhqhu Bfqfyrf}̌J@bf} X?]>]>]_@]$@{> 隵kIY9 ɚ‹iII2f)ii)) I*F]?2FY:FaBFe^0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:02.3941 TRx dataTimestamp_ set to:1736380263.538396%PDAT read: Bearing 224.7, -2.8 (Local) -~Local bearing/azimuth received: Bearing 224.7, -2.8 (Local) =DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0 eDAT read: 23:51:02.3941 LVL= 20160, 19681, 12002, 24435, AGC= 54, IDX= 509, 0.43,-1.904, 0.605, 0.089,-0.269, PHS=-1.546, 0.922, 0.356, RAW= 282.6, 2.4, CAL= 285.3, 2.8, ROT= 224.7, -2.8 mYgot valid direction response: 23:51:02.3941 LVL= 20160, 19681, 12002, 24435, AGC= 54, IDX= 509, 0.43,-1.904, 0.605, 0.089,-0.269, PHS=-1.546, 0.922, 0.356, RAW= 282.6, 2.4, CAL= 285.3, 2.8, ROT= 224.7, -2.8 mT#Rx 66: Read range and direction messages.}^direction in FSK: [0.056674,0.116760,-0.991542]}Fpublishing direction and range info9S?ӾI?yTBNL .)s_I6iTſ1l?E>h՝@+= qW@)+H=Iz@i+HQ2`$^?Lȕ?)ج5@I46-i_8?f?checking for new query: numPingsReceived=66, elapsed TxPingTime=31.019083H>I III8BI&IED.I6I<:If FG F>B O >Y{w,Ay~ G٣y > Nusing accuracyPremultiplier from config59ܛ?5Y1 ir@™ AݦE:P:Gܸ5B $A+EkE˨ꠜ?kE^ kA kEuA:kETBBkERBZkE/">"E,х@@0FJES?ӾI?JkE_8?RkEf?*E$MV.@"+-z@ħ+QIEw ? addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.504780 s, deltaX: -0.099998 m, approachRate: -0.198103 m/s, rangeRepo size: 4  Added new target pos. range: 53.000000 m, bearing: 9.107687 deg, lat: 36.905373 deg, lon: -122.119951 deg, deltaT: 3.529220 s, deltaX: -0.099998 m, approachRate: -0.028334 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.00 m. jjjjihhhhffrfJ@bf?]]]] gI 9 ɚ#iII 1f)i)i))))1E9*F?2F:FBFk0JF"G>G> I Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:02.8942  TRx dataTimestamp_ set to:1736380264.040677 DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 -% Z#Rx 67: Read range message, but no direction. y fTB - checking for new query: numPingsReceived=67, elapsed TxPingTime=31.506681G A>B O- >J sJ hJ 1J J K:J Ȇ9J 3J J e;J e;J Ԭ:J լ:5@w,p A:@Y:Q@: >9:)d0>y:H@W 5? <ǿ>x@¿@h?s:?ɨ:@:8<;:!Cy^7BbIIjIj٢rRɼ rV=9r#Q r>x  G٣ ye > %Nusing accuracyPremultiplier from config!-59%ڛ?-5Y%3 i%@™)-뿑- A%ަE%n:%L:%ݸ59 EKAAm addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.502281 s, deltaX: 0.099998 m, approachRate: 0.199089 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 53.00 m. jqjqjqjyiyhyhhhffrf̌J@bf|]?zKULKU#9KQKU%KU2246543110-*&#! "#"!  ]]]]/@= >mWill construct direction to contact in vehicle frame from tetrahedron phase data.m=m<uchecking for new query: numPingsReceived=67, elapsed TxPingTime=31.755842 quRjI}M9 yɚ}iyIyI2f)ii))*FU?2FQ:FYBF]o0JFY I G} F>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% DDAT read: Rx Time:23:51:03.3942 % TRx dataTimestamp_ set to:1736380264.5448065 DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 -= Z#Rx 68: Read range message, but no direction.! y! ! E checking for new query: numPingsReceived=68, elapsed TxPingTime=32.011471?jw,K#A6ϧ@Y6P@6[ >96=/>y6H`+ @-? ǿq¿ o#? ?B>IHm>Ii ImIIm.BIm =&ImFD.Ii6Im<:ImZ FBI=CJI=CRI9ZI= =bI= =jI=T5MMb@Mb@Mb@III I)IYME?X9vʡEyM>MM-MOA MQA)MAIMhAIyM3AIIq٢= ,=9  Q  >19 =G٣9yE E> uNusing accuracyPremultiplier from configIu59M؛?}5YM6 iM@™}>>;tῑ AMߦEM<;M3;M 5  A addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.504129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 53.00 m. j!j!j!j!i!h)h)h1h1f1f1rf1bf=?]>]>]N@]Ҳ@[ > ffII9 ɚiII1f)ii))*F}?2Fy:FyBF-2JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=68, elapsed TxPingTime=32.259872G A>B O >!w,%=A @I@Zj/@YZ>@Z g >9Z.>yZH@?ǿXcĿ z k??@ ??ɨZj/@Z‹;ZCyjMBj IIrIr٢z= zs=9zQ z?| G٣y5 ? Nusing accuracyPremultiplier from config 59 כ?5Y 9 i A™_㿑 A  ; o; {5) -A)eDNOT Ignoring new targets: 53.00 m. jajajajaiahihihihifqfqrfqbfu@M?]]]]7@ g > 隭f_I@9 ɚ5iII2f)ii))EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:03.8943 TRx dataTimestamp_ set to:1736380265.049192DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 -Z#Rx 69: Read range message, but no direction.y3UBchecking for new query: numPingsReceived=69, elapsed TxPingTime=32.515198*F ?2F :F BF O0JF GrA GqAJuqJurJqJqJuD:Ju9JqJqJuJZ;JuLZ;Ju:Ju:GQBO>zKMK9KK%K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=69, elapsed TxPingTime=32.765118w, WAf@Yf@fH >9f/>yfH¿)?/+ȿ@&[`iſE@s0?`7>?ɨf@flS;fCynTBrItvAMb@Mb@Mb@ )YK7?~jtMbX9yI>ļʡ&A v@)AIAy AII ٢< <=9Q > G٣y> > Nusing accuracyPremultiplier from config59՛?5Y < iBA™>9;/ῑ AE;I;`5  gA   addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.504386 s, deltaX: 0.200001 m, approachRate: 0.396523 m/s, rangeRepo size: 4 )= wCDNOT Ignoring new targets: 53.00 m. jIjQjYja qIqGiahh ȿYyAhhBf f rf `fJ@bf _?]M>]M>]M"D@]MÐ@]H > \OI9 ɚtiII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:04.3942 %TRx dataTimestamp_ set to:1736380265.558435MDAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 -Z#Rx 70: Read range message, but no direction.yfTBchecking for new query: numPingsReceived=70, elapsed TxPingTime=33.043106Hu>IuC IuIIu#BIu =&Iq.IuAD6Iu<:Iug F*F?2F:FBFP5JFG K>B O5 >w,@rA.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=70, elapsed TxPingTime=33.267258j@Yj/đ@j5) >9j20>yjH ÿ@s?WȿR`ƿ _b ?>?ɨj@j;j!Cy-cB-%II=I=m?٢M= UE=9UiQ U>YY ]G٣Yy]. e> mNusing accuracyPremultiplier from configau59eӛ?u5Ye> ietA™qu!⿑u AeEe ;e ;e05 A addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.509243 s, deltaX: -0.200001 m, approachRate: -0.392741 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.00 m. jjjjihhhhifqfyrf}̌J@bf ??]y]y]y]}{@5) > GI9 ɚصiII2f)ii)) yIy*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:04.8942 TRx dataTimestamp_ set to:1736380266.057475%PDAT read: Bearing 228.6, -3.3 (Local) %~Local bearing/azimuth received: Bearing 228.6, -3.3 (Local) 5DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 ]DAT read: 23:51:04.8942 LVL= 19216, 21729, 14786, 27875, AGC= 55, IDX= 510,-0.11, 3.135,-0.693,-1.037,-1.479, PHS=-1.581, 0.833, 0.440, RAW= 278.7, 2.8, CAL= 281.4, 3.3, ROT= 228.6, -3.3 mYgot valid direction response: 23:51:04.8942 LVL= 19216, 21729, 14786, 27875, AGC= 55, IDX= 510,-0.11, 3.135,-0.693,-1.037,-1.479, PHS=-1.581, 0.833, 0.440, RAW= 278.7, 2.8, CAL= 281.4, 3.3, ROT= 228.6, -3.3 mT#Rx 71: Read range and direction messages.u^direction in FSK: [0.044743,0.047860,-0.997851]uFpublishing direction and range info9ug?Q+?/fyKT 9)lI7i5^ʿ}?U?G>̧@+H= )@)k=IBY@ik.5dsS1?F~Ҩ?)gL1@I]FiQ?q?checking for new query: numPingsReceived=71, elapsed TxPingTime=33.536160G A>B J sJ nJ 0J J K:J 99J ـ3J J e;J e;J S:J T:O >Ow,"AyoB3IIMIM(*٢]d= ]I=9eQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq}59u9қ?5YuA iuA™ AuEu ;u7 ;u5zK+LK9KK%KRK ?JK?I UAQkM͟?kM:NH }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=71, elapsed TxPingTime=33.774303kI kMA:kMfTBBkMRBZkM|g^>"MB疶@w_T@D2~JMug?Q+?/fJkMQ?RkMq?*MRi W(@|@J}'IMV?i ?x"kM+@*kMBAkM<ӟ?kM8 2kMQAkIkM`m kMpAkM|AkM!> addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.499040 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 53.099998 m, bearing: 12.444164 deg, lat: 36.905373 deg, lon: -122.119951 deg, deltaT: 2.519079 s, deltaX: 0.099998 m, approachRate: 0.039696 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.10 m. jjjjihhhhffrfbf`?]]]] AIL9 ɚiII1f)ii))E%i>E! yIy*F2F:FBFJF"GG> Will construct direction to contact in vehicle frame from tetrahedron phase data.% DDAT read: Rx Time:23:51:05.3941 - TRx dataTimestamp_ set to:1736380266.561181= PDAT read: Bearing 229.1, -3.4 (Local) = ~Local bearing/azimuth received: Bearing 229.1, -3.4 (Local) M DAT read: Range 10 to 50 : 53.0 m (trip time 35.3 ms) speed 0.0  DAT read: 23:51:05.3941 LVL= 20624, 18993, 12898, 23859, AGC= 56, IDX= 509, 0.09, 1.940,-1.899,-2.217,-2.670, PHS=-1.585, 0.818, 0.450, RAW= 278.2, 2.9, CAL= 280.9, 3.4, ROT= 229.1, -3.4  Ygot valid direction response: 23:51:05.3941 LVL= 20624, 18993, 12898, 23859, AGC= 56, IDX= 509, 0.09, 1.940,-1.899,-2.217,-2.670, PHS=-1.585, 0.818, 0.450, RAW= 278.2, 2.9, CAL= 280.9, 3.4, ROT= 229.1, -3.4 = T#Rx 72: Read range and direction messages.H >I  I II 8BI =&I .I 6I ԯ<:I 7 F ^direction in FSK: [0.042391,0.038192,-0.998371] Fpublishing direction and range info! 9% mbG? ;퍣?Yly% TB! % P% 1J % b2)% 3]I% 8i% Hʿ% shQ?% ff>% O`@% 4QO= % X@)% s=I% <@i% s! ! G F>B O >2w,AۍPU92>yHſ? ȿ@?Rqȿ p?`̼CA `@)AIQAy AII&ѳ٢= =9ĭQ >    G٣ y  > =Nusing accuracyPremultiplier from config9E59=ϛ?E5Y=D i=A™E1>ED;E忑M A=E=;=;=;5UB uAu.EkLg?kM k kdA:kTBBkRBZkd>"^>K@@1@4tJmbG? ;퍣?YlJk%;?Rk'?*R1'@Ehl@y%|IYz`q?|m¥ީ?o("kc+@*kq  addTargetRange:: Added new target pos. range: 53.000000 m, deltaT: 0.503706 s, deltaX: -0.099998 m, approachRate: -0.198525 m/s, rangeRepo size: 4 E Added new target pos. range: 53.000000 m, bearing: 12.809719 deg, lat: 36.905341 deg, lon: -122.119955 deg, deltaT: 0.503706 s, deltaX: -0.099998 m, approachRate: -0.198525 m/s, posRepo size: 4 EDNOT Ignoring new targets: 53.00 m. jAjAjAjIiIhIhihqhu"Bfqfyrf}J@bf}?8?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=72, elapsed TxPingTime=34.275776]1>]1>]@]@u> LI-f9 )ɚ-%öi)I)I52f)i9i9)9)A*F ?2F :F BFP0JF I Ga Bi O >_w,]A6@Y6@6[>96"2>y6Huƿo?ȿ36%Mɿ>`q?B>sIIJIJ#٢N1> R=9RPQ R?TT VG٣TyV Z? ^Nusing accuracyPremultiplier from config\b59^dΛ?b5Y^F i^A™`b濑b A\jWill construct direction to contact in vehicle frame from tetrahedron phase data.rDDAT read: Rx Time:23:51:05.8943 rTRx dataTimestamp_ set to:1736380267.065418vPDAT read: Bearing 229.8, -3.6 (Local) z~Local bearing/azimuth received: Bearing 229.8, -3.6 (Local) DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 -DAT read: 23:51:05.8943 LVL= 17728, 21233, 14226, 27251, AGC= 55, IDX= 510, 0.16,-2.094, 0.277, 0.000,-0.455, PHS=-1.551, 0.779, 0.452, RAW= 277.4, 3.0, CAL= 280.2, 3.6, ROT= 229.8, -3.6 5Ygot valid direction response: 23:51:05.8943 LVL= 17728, 21233, 14226, 27251, AGC= 55, IDX= 510, 0.16,-2.094, 0.277, 0.000,-0.455, PHS=-1.551, 0.779, 0.452, RAW= 277.4, 3.0, CAL= 280.2, 3.6, ROT= 229.8, -3.6 5T#Rx 73: Read range and direction messages.=^direction in FSK: [0.039432,0.025500,-0.998897]=Fpublishing direction and range infop9rOLm0?B?yr3UBpr@ErR r7)rsjIr7ir+ƿrlG?rl>r@rPwV= rC~@)r=Ir3X@irppr_³fGs?Vy?)r/@Ir~Sir?r ?ppchecking for new query: numPingsReceived=73, elapsed TxPingTime=34.553413^;^=^5  Akro{?kr< kp kr/A:kr3UBBkrSBZkr>>"r+U@I&?{ߞJrOLm0?B?Jkr?Rkr ?*ra~&@0Q$m(@TwJr Z?YΫ?q(;"krC9@*kr3Akr(!1?kr 2krLAkr<ӟ?kr krRAkrHAkr  addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.504237 s, deltaX: 0.299999 m, approachRate: 0.594957 m/s, rangeRepo size: 4  Added new target pos. range: 53.299999 m, bearing: 14.432897 deg, lat: 36.905311 deg, lon: -122.119955 deg, deltaT: 0.504237 s, deltaX: 0.299999 m, approachRate: 0.594957 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.30 m. jjj!jAiIhIhIhIhIfQfQrf]`fJ@bf]ʴ?]]]]Sl@[> ?Iw9 ɚiII1f)ii))!zKm$JK9KK%K       BK:KqA*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=73, elapsed TxPingTime=34.781021GM A>BY Ou >ȶw,OtA lIlzΉ@Yzݐ@zE)>9z1>yzH!aǿg?ȿ,ʿ򷸿T?`=?ɨzΉ@zr;z CyB |IMb@Mb@Mb@ )Yv/?/$X9vyxi>,}A v@)XAIv@y AIIT٢N< *=9йQ >    G٣ yh` > %Nusing accuracyPremultiplier from configE59˛?M5YqI i.B™Mu>M];MM AEN;S;5Y ]AYWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:06.3942 TRx dataTimestamp_ set to:1736380267.569306PDAT read: Bearing 230.3, -3.7 (Local) ~Local bearing/azimuth received: Bearing 230.3, -3.7 (Local) DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 DAT read: 23:51:06.3942 LVL= 17728, 20065, 13266, 25427, AGC= 55, IDX= 509, 0.16,-1.623, 0.732, 0.482, 0.018, PHS=-1.552, 0.762, 0.461, RAW= 276.9, 3.1, CAL= 279.7, 3.7, ROT= 230.3, -3.7 %Ygot valid direction response: 23:51:06.3942 LVL= 17728, 20065, 13266, 25427, AGC= 55, IDX= 509, 0.16,-1.623, 0.732, 0.482, 0.018, PHS=-1.552, 0.762, 0.461, RAW= 276.9, 3.1, CAL= 279.7, 3.7, ROT= 230.3, -3.7 -T#Rx 74: Read range and direction messages.5^direction in FSK: [0.036876,0.015436,-0.999201]5Fpublishing direction and range info9']m??KsyfTBaN 3)ScIiƿoC?M addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.503888 s, deltaX: -0.200001 m, approachRate: -0.396915 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 53.30 m. jQjQjQjQiQhQhQhY1>o@k]= 6@) A=I@i ASb_?"*UrJ?)9/@InZi8>?mchecking for new query: numPingsReceived=74, elapsed TxPingTime=35.052216h]/Bffrf̌J@bfWɗ?]u>]u>];@]^@E)>ZHRH@AH>I IIIQBI =&I.I6IЯ<:I3 F BI9 ɚcGi!I!I-2f)i)i))1)1JJpJJJJ^9JJJJJ}:J~:*F?2F:FBF_0JFG GrAG1 BA Oe >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=74, elapsed TxPingTime=35.283333w,=Af*@Yf@fc>9f1>yfH@6+ȿ@?ȿ@"ʿtu?`=?ɨf*@f݊;dyrāBrIIzIzi٢ ">  o=9 *:Q  ? G٣y -? 5Nusing accuracyPremultiplier from config)559-zɛ?=5Y-LK i-PB™9=E A-E-;-;-"5I MAIk K?k \ k  k oA:k fTBBk RBZk .>" 뒧wT?gSƥ:?|w]J ']m??KsJk 8>Rk ?* D:Uv%@W@ jI ;+?\jU׬? s I"k n?@*k +Ak 3 Q?k e=~ 2k vOAk iK?k 8 k QAk CAk 9&>DNOT Ignoring new targets: 53.30 m. jjjjihhhhffrfbf!V?]]]]+@c> [5IП9 ɚiII1f)ii)) ID9Will construct direction to contact in vehicle frame from tetrahedron phase data.iDDAT read: Rx Time:23:51:06.8943 TRx dataTimestamp_ set to:1736380268.074677DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 -Z#Rx 75: Read range message, but no direction.y3UB checking for new query: numPingsReceived=75, elapsed TxPingTime=35.540649*FU?2FQ:FQBFU`0JFQG B O >w,2AzKutLKu9KqKu%KuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=75, elapsed TxPingTime=35.789951RK?JK?>l@Y{@l>9p1>yH@ȿ?wȿ@&˿7E` t?z=?ɨ>l@Y;騡y]؁B]I5Mb@Mb@Mb@111 1)1Y5K? rhy&1y5^:>5C5`e1 5`@)5AI5@1y5 AIMIM)٢]j= ]=9e6):Q e>aa eG٣iym9- m> uNusing accuracyPremultiplier from configq59uzś?5Yu{M iuB™ O>; AuEu;u;uq5 BA addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.505371 s, deltaX: 0.200001 m, approachRate: 0.395750 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.30 m. jjjjihhhhXBffrf}`fJ@bf}C?] O>] O>]@](@l> 隭@I%9 ɚaiII2f)ii)) AIAD*F?2F:FBFo0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m DDAT read: Rx Time:23:51:07.3942 m TRx dataTimestamp_ set to:1736380268.576684u DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed 0.0 -} Z#Rx 76: Read range message, but no direction.i ym fTBi  checking for new query: numPingsReceived=76, elapsed TxPingTime=36.043270H >I  I MII BI =&I .I 6I ٯ<:I 7 FJ wJ tJ 1J J W:J 9J 3J J z;J z;J :J :G B O >w,,AyBII%I%i٢5x%> 5=95Q = ?99 EG٣AyM M ? UNusing accuracyPremultiplier from configQ]59UÛ?]5YUN iUB™aae AQU :U:U5i upAq addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.502007 s, deltaX: -0.200001 m, approachRate: -0.398402 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.30 m. jjjjihhhhffrf̌J@bf`?]]]]   2I9 ɚiII1f)ii))!D EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=76, elapsed TxPingTime=36.292778*F?2F:FBF4JF"GG > IGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:07.8943  TRx dataTimestamp_ set to:1736380269.082722 PDAT read: Bearing 231.1, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 231.1, -3.9 (Local) - DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 ew,EArDAT read: 23:51:07.8943 LVL= 19488, 18929, 11058, 23379, AGC= 56, IDX= 511, 0.09, 1.843,-2.040,-2.256,-2.751, PHS=-1.602, 0.757, 0.491, RAW= 275.9, 3.2, CAL= 278.9, 3.9, ROT= 231.1, -3.9 vYgot valid direction response: 23:51:07.8943 LVL= 19488, 18929, 11058, 23379, AGC= 56, IDX= 511, 0.09, 1.843,-2.040,-2.256,-2.751, PHS=-1.602, 0.757, 0.491, RAW= 275.9, 3.2, CAL= 278.9, 3.9, ROT= 231.1, -3.9 zT#Rx 77: Read range and direction messages.~`direction in FSK: [0.032726,-0.001327,-0.999463]~Fpublishing direction and range infoA9E譀?KžUe}{КyE3UBAE LEI E2+)ES[IE8iEVͿEA?EZd>Eu@Ed= Ecě@)E'g=IE@iE'gAAE7*e>Ȅx?xb?)E&.@IEwdiE&Eh?AAchecking for new query: numPingsReceived=77, elapsed TxPingTime=36.589329!@Y @V >9q2>yH>ʿ`?@(ɿH̿@ѷ@`?@;?ɨ!@;騁y5B5I IM=II%x٢= )=9:Q > G٣y > Nusing accuracyPremultiplier from config59L?5YP iB™)-- AE;;55B =A=0EkEt3?kE"E?cbJ~xnNJE譀?KžUe}{КJkE&RkEh?*E^Z$@:V@ @bJE`?vd"Vs?kܯ\]"kER@*kE AkE ?kE|Z 2kE9LAkE(!1?kAkEvOAkE#>AkEt>U addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.506038 s, deltaX: 0.200001 m, approachRate: 0.395229 m/s, rangeRepo size: 4  Added new target pos. range: 53.299999 m, bearing: 18.089706 deg, lat: 36.905302 deg, lon: -122.119955 deg, deltaT: 2.017304 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.30 m. jjjjihhhhffrf`fJ@bf?]]zK.JK9KK%K U !J!f% } ;  X-]]΅@eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=77, elapsed TxPingTime=36.798279V > *I9 ɚANiII2f)ii)) I hD= |9*F ?2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:08.3943 TRx dataTimestamp_ set to:1736380269.585117%PDAT read: Bearing 231.2, -3.8 (Local) %~Local bearing/azimuth received: Bearing 231.2, -3.8 (Local) 5DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 ]DAT read: 23:51:08.3943 LVL= 25952, 19441, 13538, 25955, AGC= 55, IDX= 510, 0.19, 2.073,-1.818,-2.034,-2.528, PHS=-1.594, 0.758, 0.492, RAW= 275.9, 3.1, CAL= 278.8, 3.8, ROT= 231.2, -3.8 eYgot valid direction response: 23:51:08.3943 LVL= 25952, 19441, 13538, 25955, AGC= 55, IDX= 510, 0.19, 2.073,-1.818,-2.034,-2.528, PHS=-1.594, 0.758, 0.492, RAW= 275.9, 3.1, CAL= 278.8, 3.8, ROT= 231.2, -3.8 eT#Rx 78: Read range and direction messages.u`direction in FSK: [0.034304,-0.001086,-0.999411]uFpublishing direction and range info92W?'k]= @)ԇ=I^ @iԇ94j,=9tG*?ޫ?),.@I8_i?checking for new query: numPingsReceived=78, elapsed TxPingTime=37.064133H->I-C I-II-BI- =&I).I)6I-<:I-= FBIϭCJIϭCRIZI =bI =jIR+5JIKM3 KMA.KIKI"KIJvJrJJJ{T:J9JJJHu;JKu;J:J:GF>B O%?txw,kAzLj@Yz׏@zf >9z2>yzHZ˿ ?cɿ>6ο@\? ?@9?ɨzLj@z;xy%B- IMb@Mb@Mb@ )YV-?MbXQyh>ʽuA 3@)AIv@yz AII<٢%= % =9%;:Q ->)) -G٣)y5 5> eNusing accuracyPremultiplier from configam59eѹ?u5YesR ieC™u;>u; AeEe1"u 8A?KחFQ6caJu2W?'m addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.502395 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=78, elapsed TxPingTime=37.299397 Added new target pos. range: 53.299999 m, bearing: 17.286963 deg, lat: 36.905297 deg, lon: -122.119956 deg, deltaT: 0.502395 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.30 m. jjjjihhhhBffrfbf ?];>];>]K@]jz@f > :I9 ɚwԴiII1f)ii)) $?IDi *F ?2F :F BF O0JF G  G qAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M DDAT read: Rx Time:23:51:08.8943 M TRx dataTimestamp_ set to:1736380270.088697] DAT read: Range 10 to 50 : 53.3 m (trip time 35.5 ms) speed 0.0 -] Z#Rx 79: Read range message, but no direction.I yI I e checking for new query: numPingsReceived=79, elapsed TxPingTime=37.554653GBO?Bw,ɭAB @YB@B >9B3>yBH2˿@?`;ɿ`@ο`d@mJ 0(?8?ɨB @B(;B"CyN$BR IIZIZ ٢b\= b6=9bF:Q b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59n?r5YnS in/C™pr\v Aln[;n;nl5x zAx5 addTargetRange:: Added new target pos. range: 53.299999 m, deltaT: 0.503580 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 53.30 m. j9j9j9j9i9h9hAhAhAfIfIrfIbfUls?]i]i]i]my@ > 隍4Iu9 ɚ(iII2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=79, elapsed TxPingTime=37.807938zK#PK89KK%KaY$f[[3~skgaYVVW]inmgcgqwz}xwvroory}}{rkD9*F?2F:FBF_0JF I=GQi ǿYywA Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:09.3942  TRx dataTimestamp_ set to:1736380270.593805 DAT read: Range 10 to 50 : 53.1 m (trip time 35.4 ms) speed -0.1 - Z#Rx 80: Read range message, but no direction.ؙ y؝ fTBؙ  checking for new query: numPingsReceived=80, elapsed TxPingTime=38.061111G A>B O5 >A_w,3OAH>I IIIBI =&I.I@D6I<:I] FJzJJJJ`:JJJJp;Jq;JJy]:Be- IMb@Mb@Mb@ )Y1Zd?`"p= ףy"=A Q@)rAI@y AII#٢#= "=9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%+?-5Y%T i%bC™5J2>m;m))m A%E%V<%_<%5 6A addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 0.505108 s, deltaX: -0.200001 m, approachRate: -0.395956 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.30 m. jjjjihhhhBffrf̌J@bf@?]J2>]J2>]|@]Zh@ BIg9 ɚQiIWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=80, elapsed TxPingTime=38.307369I 1f)ii))a I D] 9*F 2F :F BF O0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:09.8944 TRx dataTimestamp_ set to:1736380271.098458PDAT read: Bearing 231.6, -4.4 (Local) ~Local bearing/azimuth received: Bearing 231.6, -4.4 (Local) DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed -0.1 DAT read: 23:51:09.8944 LVL= 22384, 15777, 11074, 21235, AGC= 55, IDX= 511, 0.23, 1.859,-2.047,-2.232,-2.727, PHS=-1.609, 0.727, 0.492, RAW= 275.2, 3.5, CAL= 278.4, 4.4, ROT= 231.6, -4.4 Ygot valid direction response: 23:51:09.8944 LVL= 22384, 15777, 11074, 21235, AGC= 55, IDX= 511, 0.23, 1.859,-2.047,-2.232,-2.727, PHS=-1.609, 0.727, 0.492, RAW= 275.2, 3.5, CAL= 278.4, 4.4, ROT= 231.6, -4.4 T#Rx 81: Read range and direction messages.%`direction in FSK: [0.025221,-0.012677,-0.999602]%Fpublishing direction and range info9%ә?2bMyUBpW= B+)RIiͿ:?`@5z= |@)nF=IY@inF5mn[լr? M젯?)h-@I0}ivr?-checking for new query: numPingsReceived=81, elapsed TxPingTime=38.606682G}F>BO?mw,aA^d@Y^nt@^ >9^)5>y^H`̿?ɿOϿj@e g\?4?ɨ^d@^%;^!CyhhIrIrM9~:Q ~>|| G٣y >  Nusing accuracyPremultiplier from config 59 ?5Y U i C™) A   ; P ; 5%B %0A%3Ek/➜?k֭- k k#MA:kUBBk.TBZkM>"dS|?eyJ%ә?2bMJkvRkr?*^j#@Bzt @5vc-Jq?VŦ?%i۝_"kk@*kuAk 螜?k> 2k LAkN?k kLAk-Ak&> addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.504653 s, deltaX: 0.300003 m, approachRate: 0.594474 m/s, rangeRepo size: 4  Added new target pos. range: 53.400002 m, bearing: 20.512777 deg, lat: 36.905289 deg, lon: -122.119955 deg, deltaT: 1.513341 s, deltaX: 0.100002 m, approachRate: 0.066080 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.40 m. jjjjihhhhffrf@3J@bfJ?]y]y]y]}wuh@ > I9 ɚyi I I2f)iIiQ)Q)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=81, elapsed TxPingTime=38.814838zK ƒOK 9K K  %K bZTOHC@>;985331,*($%$" ## 1or`TNHEBA@? ID9*F ?2F :F BF P0JF u Will construct direction to contact in vehicle frame from tetrahedron phase data.} DDAT read: Rx Time:23:51:10.3944 } TRx dataTimestamp_ set to:1736380271.600691 DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed -0.1 - Z#Rx 82: Read range message, but no direction.y yy y  checking for new query: numPingsReceived=82, elapsed TxPingTime=39.066681H5 >I1  I5 II5 BI5  =&I1 .I1 6I5 W<:I5 FGABQOu>w,AF*,@YF;@Fq/ >9F!D2>yFH1Ϳ@v?Eɿ;п@`w?8?ɨF*,@F;FCyNEBN; I5Mb@Mb@Mb@111 1)1Y5+η?S㥛~jty5v=5$55A 5$@)5AI5~@1y5 AIMIM̍٢U`< U<9]:Q ]>Ya eG٣aymgi m> uNusing accuracyPremultiplier from configi}59m`?5Ym,V imC™5>;1 AmEmVo;m(n;m5  A addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.502233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.40 m. jjjjihhhhBffrfbf]Y?]5>]5>]C@] +`@q/ > 33I9 ɚ8iII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=82, elapsed TxPingTime=39.315315D aIa*F}?2Fy:FyBFyJFyGA BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.m DDAT read: Rx Time:23:51:10.8945 u TRx dataTimestamp_ set to:1736380272.105326} PDAT read: Bearing 242.2, -7.1 (Local) } ~Local bearing/azimuth received: Bearing 242.2, -7.1 (Local)  DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0  DAT read: 23:51:10.8945 LVL= 24784, 19153, 15138, 27939, AGC= 57, IDX= 512, 0.08,-1.281, 0.647, 0.972, 0.330, PHS=-1.523, 0.364, 0.639, RAW= 263.3, 5.1, CAL= 267.8, 7.1, ROT= 242.2, -7.1  Ygot valid direction response: 23:51:10.8945 LVL= 24784, 19153, 15138, 27939, AGC= 57, IDX= 512, 0.08,-1.281, 0.647, 0.972, 0.330, PHS=-1.523, 0.364, 0.639, RAW= 263.3, 5.1, CAL= 267.8, 7.1, ROT= 242.2, -7.1  T#Rx 83: Read range and direction messages. bdirection in FSK: [-0.024063,-0.215815,-0.976138] Fpublishing direction and range infoq 9u  X֟˿|u #?u @u K= u W@)u =Iu E@iu q q u Kk͌vQ ??)u  @Iu 5iu qF׿u ?q q  checking for new query: numPingsReceived=83, elapsed TxPingTime=39.584656O >w,xA60@Y6@6 * >960>y6Hοq?qɿ7nп!`Cw&?:?ɨ60@6B;6"Cy@B5 IJ{JyJJJd:J9JJa%@a%@a-@a-@II<٢ ;=9FQ > G٣y > Nusing accuracyPremultiplier from config%59j?-5YV iC™)-32- Aw<Lw<5  AkB3?km k kA:kfVBBkTBZkc?"_d@"')J X֟˿|<JkqF׿Rk ?*t0Gӿ!@ɩDmJHww^F?^y"kA*k=k ?kp l 2k_DAk ?k|Z k9LAk/AkX> addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.504635 s, deltaX: 0.199997 m, approachRate: 0.396320 m/s, rangeRepo size: 4  Added new target pos. range: 53.599998 m, bearing: 91.936768 deg, lat: 36.905289 deg, lon: -122.119955 deg, deltaT: 1.006868 s, deltaX: 0.199997 m, approachRate: 0.198633 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.60 m. jjjjihhhh!f)f)rf-J@bf- 5I9 ɚliII2f)ii))2D%qA*D%qAWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:11.3945 TRx dataTimestamp_ set to:1736380272.414670PDAT read: Bearing 232.6, -4.6 (Local) ~Local bearing/azimuth received: Bearing 232.6, -4.6 (Local)  DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 - DAT read: 23:51:11.3945 LVL= 22192, 16001, 12386, 23267, AGC= 57, IDX= 511, 0.14, 2.296,-1.665,-1.799,-2.308, PHS=-1.592, 0.690, 0.506, RAW= 274.2, 3.6, CAL= 277.4, 4.6, ROT= 232.6, -4.6 5 Ygot valid direction response: 23:51:11.3945 LVL= 22192, 16001, 12386, 23267, AGC= 57, IDX= 511, 0.14, 2.296,-1.665,-1.799,-2.308, PHS=-1.592, 0.690, 0.506, RAW= 274.2, 3.6, CAL= 277.4, 4.6, ROT= 232.6, -4.6 5 T#Rx 84: Read range and direction messages.= `direction in FSK: [0.021623,-0.031474,-0.999271]= Fpublishing direction and range info9xM$?*yxk^ikyV> b0)ZIi˿ף0?7?f$@= @)l=I@il[NE'0Ii Im IIm,BIm =&Ii.Ii6Im<:Im] F]Will construct direction to contact in vehicle frame from tetrahedron phase data.]Ai]Amchecking for new query: numPingsReceived=84, elapsed TxPingTime=40.124153GuA>BO ?i w,6+Ab@Yb @b >9byz0>ybH hο`8m?nɿ@пڶs? G;?ɨb@b ;bCyn=Bn1 ItvAMb@Mb@Mb@ )YRQ?PnI +y=9A )rAIQ@y AIIV٢nK =9NQ > G٣yT >  Nusing accuracyPremultiplier from config 59 o?5Y |W i CD™+;>;#1 A E ; 8; `5! %A!k]fw?k]C kY k]A:kYBkYZk]4A>"]ϗ-4?7J]xM$?*yxk^ikJk]xRk]C,?*];!@zEj@vk\J]vA2? u?!fy"k]T@*k]5 Ak]?|?k]~\ 2k]hFAk] 螜?k]> k] LAk]o+Ak]_^>} addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.309344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 53.599998 m, bearing: 25.095406 deg, lat: 36.905285 deg, lon: -122.119953 deg, deltaT: 0.309344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.60 m. jjjjihhhhBffrfbf?]+;>]+;>]@]A`@ > .I9 ɚεiII1f)ii!)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.%DDAT read: Rx Time:23:51:11.8946 -TRx dataTimestamp_ set to:1736380272.9162055PDAT read: Bearing 59.7, 18.5 (Local) 5~Local bearing/azimuth received: Bearing 59.7, 18.5 (Local) MDAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 uDAT read: 23:51:11.8946 LVL= 17808, 18289, 13730, 24499, AGC= 54, IDX= 513,-0.29,-2.692, 2.232, 1.964, 2.400, PHS= 1.279,-0.120,-0.439, RAW= 80.0, -9.1, CAL= 90.3, -18.5, ROT= 59.7, 18.5 }Ygot valid direction response: 23:51:11.8946 LVL= 17808, 18289, 13730, 24499, AGC= 54, IDX= 513,-0.29,-2.692, 2.232, 1.964, 2.400, PHS= 1.279,-0.120,-0.439, RAW= 80.0, -9.1, CAL= 90.3, -18.5, ROT= 59.7, 18.5 }T#Rx 85: Read range and direction messages.\direction in FSK: [0.105006,0.264433,0.958670]Fpublishing direction and range info!9%Xuܱ?1w? m?y%VB!%E%qG %5)%_I%6i%F?%%%¸?%" %n?)%MQI%^?i%MQ>!!%"/?smTV&)SĿ)%&2I%9J#>i%j?%#"!!%checking for new query: numPingsReceived=85, elapsed TxPingTime=40.411926D9 $?I*F5 ?2F1 :F1 BF5 5JF1 GUF>BaO>pgw,UJAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=85, elapsed TxPingTime=40.627960J.}J.}J,J,J.[j:J.S9J,J,J1߇@YJ@JZ >9J2>yJH ο -c?ɿ@3@mпs c"?9?ɨJ1߇@J&;J!CyR:BR- IIbIb٢jL j:=9jQ j>ll nG٣lyn r> vNusing accuracyPremultiplier from configpz59r?z5YrX iryD™x~O1~ Apr;r;rJ5 /Ak-p2-?k-G k) k-:A:k-VBBk-^UBZk-@"-D3,@.@kf,@֘hI@-Xuܱ?1w? m?Jk-j?Rk-#"*-׮:?[Q+Z#yI@-,T*@?J~GпCl?"k-Z*k-?k-66.?k-P 2k-Bk-?|?k)k)k-Ak-6> addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501535 s, deltaX: 0.100002 m, approachRate: 0.199392 m/s, rangeRepo size: 4  Added new target pos. range: 53.700001 m, bearing: 277.546672 deg, lat: 36.905274 deg, lon: -122.119953 deg, deltaT: 0.501535 s, deltaX: 0.100002 m, approachRate: 0.199392 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjih!h!hAhIfIfIrfMJ@bfMA?]]]]`@Z > {/I9 ɚiII2f)ii))Dݍ9zKOK9KK"%K:65211++,*(&(&$$$#$#%$""!!!" Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:12.3945 TRx dataTimestamp_ set to:1736380273.417813DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 - Z#Rx 86: Read range message, but no direction.yfVBchecking for new query: numPingsReceived=86, elapsed TxPingTime=40.885185*F}?2Fy:FyBFO0JF I G B O >w,?eA2Ç@Y2ӎ@2 >923>y2H/EϿQY?@ɿCeѿCJL(? 8?ɨ2Ç@2;2Cy>6B>) IEMb@Mb@Mb@AAA A)AYEq= ףp?V-EԸyE=EEƽEA E@)EAIE$@AyE AI]I] ٢m m8=9uպQ u>yy G٣jHbH<H>IC I( II6BI =&I.I6I<:ID Fy > Nusing accuracyPremultiplier from config599?5YX iD™B>;g& AE;;A5 KA  addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.501608 s, deltaX: -0.100002 m, approachRate: -0.199363 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.70 m. j jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=86, elapsed TxPingTime=41.131607hhhhtBffrfJ@bf E?]-B>]-B>]-iʯ@]-Ik@e > aeIe9 iɚmiiIiIu1f)iqiq)q)yBD3?:DZ?DEp>E>*FU ?2FQ :FQ BFU P0JFY "Ga Ge >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m DDAT read: Rx Time:23:51:12.8945 u TRx dataTimestamp_ set to:1736380273.923599 DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 - Z#Rx 87: Read range message, but no direction.q yq q  checking for new query: numPingsReceived=87, elapsed TxPingTime=41.391621 I G] A>Bi O >` w,Ay0B! II%I%i٢= =;=9EQ E>AA MG٣IyM M> Nusing accuracyPremultiplier from config59Ռ?5YY iD™ A&::- 5B yA6E addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.505786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihhhhffrfbf:?]]]]1 15!I=39 9ɚ=i9I9IE2f)iAiA)A)IWill construct direction to contact in vehicle frame from tetrahedron phase data.ՅAiՁchecking for new query: numPingsReceived=87, elapsed TxPingTime=41.635483JJJJJ:J9JJDَ9*F-?2F):F)BF)JF)zK MK #9K K #%K      E Will construct direction to contact in vehicle frame from tetrahedron phase data.e DDAT read: Rx Time:23:51:13.3944 u TRx dataTimestamp_ set to:1736380274.430691 PDAT read: Bearing 234.0, -4.7 (Local)  ~Local bearing/azimuth received: Bearing 234.0, -4.7 (Local)  DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 G F>B OM >'w,yADAT read: 23:51:13.3944 LVL= 20144, 17905, 12946, 24355, AGC= 55, IDX= 511, 0.12, 1.413,-2.538,-2.613, 3.122, PHS=-1.621, 0.671, 0.545, RAW= 272.8, 3.7, CAL= 276.0, 4.7, ROT= 234.0, -4.7 Ygot valid direction response: 23:51:13.3944 LVL= 20144, 17905, 12946, 24355, AGC= 55, IDX= 511, 0.12, 1.413,-2.538,-2.613, 3.122, PHS=-1.621, 0.671, 0.545, RAW= 272.8, 3.7, CAL= 276.0, 4.7, ROT= 234.0, -4.7 :T#Rx 88: Read range and direction messages. 4I8`direction in FSK: [0.019199,-0.055171,-0.998292]Fpublishing direction and range infoؙ9؝ ר?FZ?Ey؝UBؙ؝N؝E ٝ2)ٝ#_Iٝ7iٝ|Ͽٝ+?ٝ ?ٝ:\@ٝ A= ڝ%@)ڝ=Iڝ@iڝڙڙ۝fQg) 1?TlnPd?)۝*@I۝9i۝y2۝?ۙۙchecking for new query: numPingsReceived=88, elapsed TxPingTime=41.974754c@Y$s@O>9@+4>yH@\п8@? ɿ`Wѿ a@ @,6?;?ɨc@vv; Cy "B- I-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 95.81, 93.13, 78.51  @ @ @  @ II٢-c (=9Q > G٣y)ż > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5YZ i/E‘+:b;& AE<> 5! eAak2?k3 k kqA:kUBBk-TBZk>"9Gg?;~Ԩ(J ר?FZ?EJky2Rk?*Q0@7nL@ ǸVJR8s9?WM3?wE"kg@*k@kf?k$A 2k addTargetRange:: Added new target pos. range: 53.400002 m, deltaT: 0.507092 s, deltaX: -0.199997 m, approachRate: -0.394400 m/s, rangeRepo size: 4  Added new target pos. range: 53.400002 m, bearing: 27.756388 deg, lat: 36.905263 deg, lon: -122.119950 deg, deltaT: 1.514486 s, deltaX: -0.299999 m, approachRate: -0.198087 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.40 m. jjjjihhh h f f rf@3J@bf ?He>Ia Ie IIe,BIe =&Ia.Ie?D6Ie<:IaBI%ŬCJI%ŬCRI!ZI% =bI% =jI%5O> 隍(I9 ɚiII1f)ii))2D*DWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=88, elapsed TxPingTime=42.140617D 9E *F ?2F :F BF 2JF G qA G EWill construct direction to contact in vehicle frame from tetrahedron phase data.MDDAT read: Rx Time:23:51:13.8946 UTRx dataTimestamp_ set to:1736380274.928763eDAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -eZ#Rx 89: Read range message, but no direction.IyMVBImchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.395535 IGA>BO?/w,Ab<=@YbL@b >9bk4>ybHп5?ɿ@5ѿ??=?ɨb<=@b;bCynBr IxxIIF٢- --=9-5RQ ->11 G٣y > bBottom track data is 1.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59,?5Y[ ioE‘ :7;2' AE7;#v?> 5 A addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.498072 s, deltaX: 0.299999 m, approachRate: 0.602321 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.40 m. jjjji!h!h)h1h1f9f9rfEJ@bfM\? > 隥R,Ic9 ɚ-Di)I)I52f)i1i1)1)9D *F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=89, elapsed TxPingTime=42.643772J%J%J!J!J%:J%9J!J!G F>B O >5w,@AeWill construct direction to contact in vehicle frame from tetrahedron phase data.}DDAT read: Rx Time:23:51:14.3945 TRx dataTimestamp_ set to:1736380275.436943DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 zKLK9KK$%K-Z#Rx 90: Read range message, but no direction.؁y؅fVB؁checking for new query: numPingsReceived=90, elapsed TxPingTime=42.905499@Y{#@L>9"3>yH п+?ɿg 7ҿ`WI-? @?ɨ@;C)}F= y Ic~GtAy5B =YEtAyE A5I?WA    =  = = =Mb@Mb@Mb@999 9)9Y=> ףp=?S㥫:vy=Q>=/]=Խ=A =@)=AI=@9y=zAIUIU?1٢  =9oQ > G٣y > Nusing accuracyPremultiplier from config59S?5Y] iE‘T:q>`; A;f;5 kAu addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.508180 s, deltaX: -0.100002 m, approachRate: -0.196785 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 53.40 m. jyjyjyjyiyhyhhhBffrfJ@bf^)?]5q>]5q>]5@]5G@}L> y}I}9 yɚv(iII1f)iZHRH?AH>IC I II!BI =&I.I6I<:I9 Fi) ) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=90, elapsed TxPingTime=43.147427D- 9*F ?2F :F BF JF GU>BO >r=w,hAy-B-II=I=V٢M Uf=9UQ U>YY ]G٣Yy] ]> eNusing accuracyPremultiplier from configam59e|?u5Ye_ ieE™qqu AeEe;e);e$5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:14.8946 TRx dataTimestamp_ set to:1736380275.936906DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 - Z#Rx 91: Read range message, but no direction.رyصVBرchecking for new query: numPingsReceived=91, elapsed TxPingTime=43.411732 addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.499963 s, deltaX: 0.100002 m, approachRate: 0.200019 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.40 m. jjjji I hh h hffrfJ@bf,?]Q]Q]Q]Q 隕I@9 ɚ/iII2f)ii))D*FM?2FI:FIBFQJFQe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=91, elapsed TxPingTime=43.652653J J J J J J J J G= F>BA O} >SDw,&A6@Y6Ǎ@6=96g3>y6H@ѿ3?ɿ XZҿ z#? D?ɨ6@6;6"CyNBRIIZIZ0٢bdd fG٣dyf j> nNusing accuracyPremultiplier from configh=59j z?=5YjNa ij"F™AEDE AhjbI)  I- II- BI-  =&I) .I) 6I- ;<:I- o FG B O >}Jw,,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=92, elapsed TxPingTime=44.155315yB%IMb@Mb@Mb@ )YX9v?X9vys>̽+A p@)EAI@y3AII(*٢%S< %6=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=7w?E5Y=c i=_F™M>ML;MU A=E=z_;=/];=5a e^Aa addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.507834 s, deltaX: -0.100002 m, approachRate: -0.196919 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.40 m. jjjjihhhhBffrfJ@bf?]>]>]@]F@  ̾I E9 ɚ =i II2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:15.8946 TRx dataTimestamp_ set to:1736380276.944735DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -Z#Rx 93: Read range message, but no direction.yVBchecking for new query: numPingsReceived=93, elapsed TxPingTime=44.411442DP9 $?I *F ?2F :F BF P0JF GBO>Rw,aKA>>Q@Y>`@>S=9>K2>y>HnҿZ?@$ɿ gӿ௿ K?@I?ɨ>>Q@>N;>CyJBJ IIRIRm?^Will construct direction to contact in vehicle frame from tetrahedron phase data.^Ai^Abchecking for new query: numPingsReceived=93, elapsed TxPingTime=44.660667٢f$v< f9=9Q > G٣yڼ > Nusing accuracyPremultiplier from config59)t?5Yef iF™A AE/;D;5 CA addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.499995 s, deltaX: 0.100002 m, approachRate: 0.200007 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.40 m. jj j j i h h hhffrfJ@bf?]1]1]1]5~@US= QUfɾIU;9 Yɚ]DiYIYIe1f)ii))D;9*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:16.3945 TRx dataTimestamp_ set to:1736380277.454932PDAT read: Bearing 237.2, -4.6 (Local) ~Local bearing/azimuth received: Bearing 237.2, -4.6 (Local)  DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 i Ii zK} JK} 89Ky K} &%K}  ?crpojdb^[UTQMLHEDA<:9531G K>B O > DAT read: 23:51:16.3945 LVL= 19504, 17265, 12834, 25475, AGC= 50, IDX= 511, 0.22, 0.877, 3.142,-3.070, 2.587, PHS=-1.621, 0.602, 0.623, RAW= 269.5, 3.6, CAL= 272.8, 4.6, ROT= 237.2, -4.6  Ygot valid direction response: 23:51:16.3945 LVL= 19504, 17265, 12834, 25475, AGC= 50, IDX= 511, 0.22, 0.877, 3.142,-3.070, 2.587, PHS=-1.621, 0.602, 0.623, RAW= 269.5, 3.6, CAL= 272.8, 4.6, ROT= 237.2, -4.6 5 T#Rx 94: Read range and direction messages.= `direction in FSK: [0.015861,-0.111899,-0.993593]= Fpublishing direction and range infoؙ9؝ɨh=?Bdy؝fVBؙ؝0L؝qC ٝ"2)ٝcIٝ2iٙٝ?ٝ|?ٝg@ٝ= ڝ:\@)ڝl=Iڝ;z@iڝlڙڙ۝o:ag~1?8i?)۝'@I۝5i۝ ۝?ۙۙ} checking for new query: numPingsReceived=94, elapsed TxPingTime=44.979584XXw,=dAJ0@YJ'@J>=9J2>yJH uҿ -?MɿXAӿ ?@rK?ɨJ0@Jc;J"CyrBr IeMb@Mb@Mb@aaa a)aYeL7A`?~jtI +ye+>eDe9e\A eC@)eAIaayeAII(*٢#= -=9eQ > G٣y%| %> UNusing accuracyPremultiplier from configI]59Mkq?]5YMLi iMF™]>]>;]] AMEMv;M;M5iHmy>ImC ImIIm BIm =&Ii.Im>D6Im4<:Ime F mAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=94, elapsed TxPingTime=45.163387k?kG k k]A:kfVBJJJJJ:J[9JJJ;aJ;aJ;a%J;a%BkTBZk_7?"NX4?ffXנJɨh=?BdJk Rk?*Dzs%_C@@@#J#4?.?eY"k'@*k@k.<?kR 2k=Ak.<?kk]>]@]@M>= IMIM%9 IɚU3JiQIQIU2f)iYiY)Y)DeM9*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:16.8945  TRx dataTimestamp_ set to:1736380277.956794 DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 - Z#Rx 95: Read range message, but no direction.ء yء ء  checking for new query: numPingsReceived=95, elapsed TxPingTime=45.422813G5 F>BA a Ia Om >S^w,K~A~@Y~ @~A=9~?3>y~H@!ӿ?@Gɿ:(Կ`Ɲ6 &?N?ɨ~@~5;~CyM,BU III<٢%= %U=9-h4Q ->)1 5G٣1y5q 5> eNusing accuracyPremultiplier from configYe59] o?m5Y]k i]G™im￑m A]E]X:]X:]u5y A9E addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.501862 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.60 m. jjjjihhhhffrfbfl?]I]I]I]M(@A= 隥I9 ɚVNiII1f)iiI)I)QBD]I?:D]B?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=95, elapsed TxPingTime=45.667332Du[9*F ?2F :F BF n0JF "G >G >G A>B9Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:17.3944 TRx dataTimestamp_ set to:1736380278.463350PDAT read: Bearing 238.3, -4.5 (Local) ~Local bearing/azimuth received: Bearing 238.3, -4.5 (Local) DAT read: Range 10 to 50 : 53.4 m (trip time 35.6 ms) speed 0.0 IIQzKm/MKm9KiKm'%Km-.,*)(   *yjm~wne]L6O?Dgw,\AvDAT read: 23:51:17.3944 LVL= 19536, 18545, 14562, 26451, AGC= 54, IDX= 510, 0.08, 0.356, 2.600, 2.720, 2.065, PHS=-1.620, 0.583, 0.652, RAW= 268.5, 3.5, CAL= 271.7, 4.5, ROT= 238.3, -4.5 zYgot valid direction response: 23:51:17.3944 LVL= 19536, 18545, 14562, 26451, AGC= 54, IDX= 510, 0.08, 0.356, 2.600, 2.720, 2.065, PHS=-1.620, 0.583, 0.652, RAW= 268.5, 3.5, CAL= 271.7, 4.5, ROT= 238.3, -4.5 zT#Rx 96: Read range and direction messages.~`direction in FSK: [0.016236,-0.130288,-0.991343]Fpublishing direction and range info99=O?&&qHly=UB9=PL=qH =8%j@Y%3z@%=9%3>)=SgI=6i=)\Ͽ=}??=y&?=m@=5z= =@)=|٠=I=@i=|٠99=rͅ9ˠ ?l5?)=%@I=xi=t1=5?99checking for new query: numPingsReceived=96, elapsed TxPingTime=46.025166y%H'Կ?Tɿ@a)&տ憎@5? O?ɨ%j@%M.;%Cy@B5 IMb@Mb@Mb@ )Y~jt?~jthly>DA -@)AI@yAIMIM#٢/= =9>Q > G٣y E => ENusing accuracyPremultiplier from configAm59Emk?u5YEo iECG™u>uE;u8u AEEE;E3;E(5y  AHt>IC I II'BI =&I.I=D6I <:IR Fk=a?k=S k9 k=A:k=UBBk=*TBZk=DN?"= Y?k Q*^RxJ=O?&&qHlJk=t1Rk=5?*=J3V@PI=@FTMJ=u?8BGw?XV:"k=@*k=@x@k=sK?k=C 2k=\@Ak9k=R k9k=@k=/]->]-@]-@== 9=I=59 9ɚESiAIaIm2f)iiii)i)qD 9*Fe ?2Fa :Fa BFe P0JFa  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:17.8947  TRx dataTimestamp_ set to:1736380278.961520DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 - Z#Rx 97: Read range message, but no direction. y WB checking for new query: numPingsReceived=97, elapsed TxPingTime=46.429295 IGF>BO?jqw,ZA6V1@Y6@@6#=96!3>y6HԿ ?׌ɿ`݋տ`mx$?`YR?ɨ6V1@6;6Cy>]B>Y I Fp=Fa=IJIJ٢V= V2=9VQ V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59bh?f5YbZr ibqG™df$f AbEb ;bP ;b5l n An;E  addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.498170 s, deltaX: 0.500000 m, approachRate: 1.003673 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.40 m. jjjjihhhh!f!f!rf-@3J@bf-v?]]]]@#= B9 O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:18.3946  TRx dataTimestamp_ set to:1736380279.470276 PDAT read: Bearing 238.8, -4.4 (Local)  ~Local bearing/azimuth received: Bearing 238.8, -4.4 (Local) I  DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 דww,GAzKZzNKZ#9KXKZ(%KZ& RK`JKb?DAT read: 23:51:18.3946 LVL= 19680, 18545, 13682, 25923, AGC= 54, IDX= 511, 0.14, 0.943,-3.136,-2.998, 2.627, PHS=-1.595, 0.568, 0.655, RAW= 268.0, 3.4, CAL= 271.2, 4.4, ROT= 238.8, -4.4 Ygot valid direction response: 23:51:18.3946 LVL= 19680, 18545, 13682, 25923, AGC= 54, IDX= 511, 0.14, 0.943,-3.136,-2.998, 2.627, PHS=-1.595, 0.568, 0.655, RAW= 268.0, 3.4, CAL= 271.2, 4.4, ROT= 238.8, -4.4 T#Rx 98: Read range and direction messages.@Y@=9q3>yHտw?Mɿ}տ̥@ 4? S?ɨ@i;CyޅxB`direction in FSK: [0.016915,-0.137663,-0.990335]Fpublishing direction and range infoع9ؽ*&R?ؼg-FҰyؽVBعؽLع ٽr5)ٽCeIٹiٽ(̿ޅy Iٽsh?ٽ'?ٽ@ٽs= ڽww@)ڽnF=Iڽ^@iڽnFڹڹ۽G1C(: ?1]ar?)۽]%@I۽ܷsi۽i۽H@?۹۹checking for new query: numPingsReceived=98, elapsed TxPingTime=47.060730-Mb@Mb@Mb@))) )))Y-V-? rhx&y-m>-C-7-A ))-zAI-p@)y-QAII٢$= =9>HQ > G٣ZH?ARHyo > Nusing accuracyPremultiplier from config 590e? 5YWu iG™w>[;# AE;;r 5A E; AAHn>IC IM IITBI =&I.I6IA<:Ie FBIũCJIũCRIŔCZI =bI =jI%)6kOɊ?k(  k kA:kVBBk[UBZkTX?"?} *J*&R?ؼg-FҰJkiRkH@?*& @G?(@tw:JrYи?\Eز?]:"k}@*k}`@krƌ?k0  2k]ew>]e@]eF@= 隝HaIF9 ɚډiII2f)ii))2D*DpAD*F= ?2F9 :F9 BFE O0JFA GI  GI }Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:18.8946 TRx dataTimestamp_ set to:1736380279.971945DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -Z#Rx 99: Read range message, but no direction.؁y؁؁checking for new query: numPingsReceived=99, elapsed TxPingTime=47.437817GF>BO>i~w,A IhyB IIII٢m> mH=9mQ u>qq }G٣y > Nusing accuracyPremultiplier from config59zb?5Yw iG™ AE:Z;<"5 C AU addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501669 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 53.70 m. jQjQjjihhhhffrfbfq?]A]A]A]A 隝H#Ib9 ɚiII1f)ii))D9EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAMchecking for new query: numPingsReceived=99, elapsed TxPingTime=47.683598*FU?2FQ:FQBFU_0JFQG A>B O >څw,*Ay B  I) I%I%٢5> 5b=91Q 5>99 =G٣9yA E> MNusing accuracyPremultiplier from configIU59M`?U5YMy iMG™QQ] AIM;M;M#5a et AaDNOT Ignoring new targets: 53.70 m. jjjjihhhhffrfbf`Z?]]]]   X߽I 9 ɚiII2f)Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:19.3946 TRx dataTimestamp_ set to:1736380280.477246 DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -\#Rx 100: Read range message, but no direction.y QIQechecking for new query: numPingsReceived=100, elapsed TxPingTime=47.956470zK-qALK--9K)K-)%K-*  #8/qH/# %~Giiiu|uA)i Y|uAy-B)D 9HM h>IM C IM IIM BIM  =&II .IM BqO?w,!9A2@Y2C!@2q=92Zm3>y2H вֿ;?@xxɿ``׿6:V2?W?ɨ2@2>;2!CyVȂBV IIbIb٢f\= f$=9j)Q j>ll nG٣lyn^` r> vNusing accuracyPremultiplier from configpv59r\?z5YrC| irH™xzz ArEr%;r;r%5  AU addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.505301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 53.70 m. jQjQjQjQiYhYhYhYhYfafarfabfe}?]]]]g@q= 隝~I*9 ɚwiII1f)ii))BDG?:Dt?Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉՍ<DDAT read: Rx Time:23:51:19.8947 TRx dataTimestamp_ set to:1736380280.977178DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 -\#Rx 101: Read range message, but no direction.ؙy؝WBؙchecking for new query: numPingsReceived=101, elapsed TxPingTime=48.443844 IDu9*F?2F :F BF _0JF = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=101, elapsed TxPingTime=48.691330GU A>Ba O} >Йw,LSA2@Y2H@2GE=922>y2Hl ׿+?bɿ`׿| `? \Y?ɨ2@2I%;0y>BB IIbIb٢jS= jG=9nq Q n>pp rG٣tyvi v> zNusing accuracyPremultiplier from configx~59zY?~5Yz~ izDH™e AzEz:z:z'5  AE addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.499932 s, deltaX: 0.200001 m, approachRate: 0.400056 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 53.70 m. jAjAjAjAiIhIhIhQhQfQfQrfU@3J@bf]!?]y]y]y]}6@GE= 隕I9 ɚiII2f)ii))D*F}?2Fy:FyBF}<5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:20.3946 TRx dataTimestamp_ set to:1736380281.484902 I DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -\#Rx 102: Read range message, but no direction.ؙy؝VBؙechecking for new query: numPingsReceived=102, elapsed TxPingTime=48.972397zK ?OK k9K K *%K GBO>H c>I  I II ӂBI  =&I .I ;D6I M<:I c Fw,mA $$Rꭃ@YRk@R=9RQJ3>yRH@l׿?`oɿ<ؿx.?'Y?ɨRꭃ@R;PnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=102, elapsed TxPingTime=49.195122yvBv#!I z=zp= E@E E@E E@E  E@E IMIMn٢e> e5=9e˨Q e>ii mG٣iyue u> bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}LV?5Y} i}oH‘+:1;/ A}E}:;}>}[)5 A addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.507724 s, deltaX: -0.200001 m, approachRate: -0.393916 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihhhhffrfJ@bf?= K=I9 ɚ i I I51f)i1i9)9)AD9*FA2FA:FIBFMj1JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:20.8946 TRx dataTimestamp_ set to:1736380281.984962DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -\#Rx 103: Read range message, but no direction.ؙyؙؙchecking for new query: numPingsReceived=103, elapsed TxPingTime=49.450962 IG9 BI Om >w,߆A61@Y6@6=96,3>y6H ׿??iɿ@`'ؿ替@̹`U+?Y?ɨ61@6;6 Cy>BB?!IIHIH٢Ry> Rl=9RlQ V?TX ZG٣XyZRj ^? bbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`f59bS?f5Ybׂ ibH‘j :hj;jj A`b\(;bGM?bY*5p r4Ap addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.500060 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihh!h!h!f!f)rf)bf-?= =I9 ɚiII2f)i i ) ) 2D9*D=qAD59Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=103, elapsed TxPingTime=49.700035J=J=J=1J9J=:J=:J=3J9aM@aM@aM@aM@*F?2F:FBF0JFG F>B9 O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:21.3945  TRx dataTimestamp_ set to:1736380282.493713 $?I - PDAT read: Bearing 237.4, -5.3 (Local) 5 ~Local bearing/azimuth received: Bearing 237.4, -5.3 (Local) }ҧw, ϠA DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 zK5BoHK59K1K5+%K5BKa:KaDAT read: 23:51:21.3945 LVL= 19568, 16753, 11554, 23779, AGC= 52, IDX= 511,-0.04,-2.172, 0.052, 0.141,-0.470, PHS=-1.614, 0.569, 0.608, RAW= 269.1, 4.0, CAL= 272.6, 5.3, ROT= 237.4, -5.3 Ygot valid direction response: 23:51:21.3945 LVL= 19568, 16753, 11554, 23779, AGC= 52, IDX= 511,-0.04,-2.172, 0.052, 0.141,-0.470, PHS=-1.614, 0.569, 0.608, RAW= 269.1, 4.0, CAL= 272.6, 5.3, ROT= 237.4, -5.3 V#Rx 104: Read range and direction messages.`direction in FSK: [0.007076,-0.118500,-0.992929]Fpublishing direction and range info9=)P|?%zYVZyfVBpLqA "-)\I4iο??6K@5= ?@)q=IԖ@iqRVeZTa?Dlw?)&@IiiqmԹ?Echecking for new query: numPingsReceived=104, elapsed TxPingTime=50.049076(V@Ye@ =93>yH ؿ ?@ɿpzrؿיּ`D?Y?ɨ(V@L$;騝Cy-3B-_!IH=_>I=C I=;!II=BI= =&I=GD.I96I=^<:I=k F        Mb@Mb@Mb@ )Y)\(?RQy&1yG=½`e3A @) AI@yAI5I5<٢E= E =9MwYQ M>IQ UG٣Qy' > Nusing accuracyPremultiplier from config59M?5Y׃ iH‘T:>;?) AEx;Jj;,5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=104, elapsed TxPingTime=50.203487B ]A>Ek-؜?k") k kA:kfVBBkTBZk4`"?"/F?( hD8IJ=)P|?%zYVZJkqmRkԹ?*5,@ @[2ӣJŴuƀ?&?W7)"k]@*kŖ@k4ڜ?k( 2kEAk4ڜ?kkk@k8L? addTargetRange:: Added new target pos. range: 53.599998 m, deltaT: 0.508751 s, deltaX: -0.100002 m, approachRate: -0.196564 m/s, rangeRepo size: 4  Added new target pos. range: 53.599998 m, bearing: 36.341594 deg, lat: 36.905229 deg, lon: -122.119959 deg, deltaT: 3.023437 s, deltaX: -0.100002 m, approachRate: -0.033076 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.60 m. jjjjihhhhuBffrfJ@bf ?]e>]e>]e8D@]eh@u = y}I}9 yɚ}&iyIyI1f)ii))D !9*Fe?2Fa:FaBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:21.8947 TRx dataTimestamp_ set to:1736380282.992790DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 -\#Rx 105: Read range message, but no direction.ةyحWBةchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.459064 IGBO? w,A: @Y:@:=9:34>y:H@ؿ?Iɿ ^`ٿߊ`L? 6Y?ɨ: @:\;:CyFNBF!I)H HIRIR٢Z= Z:=9ZQ Z>\\ ^G٣\ybĮ b> 5Nusing accuracyPremultiplier from config`559bI?=5Yb ibH™9=)= A`bv w,1AzKa3JK9KK,%KyލfBލ!I}Mb@Mb@Mb@yyy y)yY}X9v?!rhV-y}}=}l罹}m}A y)}7 AIyyyyIIW٢= "=9Q > G٣y >  Nusing accuracyPremultiplier from config59D?5Y iI™>;% C% AEy;_; 151 5A1H\>IC I!IIMBI =&I.I6IP<:I] F% addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.513555 s, deltaX: -0.200001 m, approachRate: -0.389444 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 53.60 m. j)j)j)j)i)h1h1hYh]BfYfarfeJ@bfm ?]>]>]ڦ@]O@ I9 ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=106, elapsed TxPingTime=51.212772I1f)ii))D B9*F 2F :F BF ^0JF G  G E Will construct direction to contact in vehicle frame from tetrahedron phase data.M DDAT read: Rx Time:23:51:22.8947 U TRx dataTimestamp_ set to:1736380284.001146] PDAT read: Bearing 275.4, -17.1 (Local) a Ii m ~Local bearing/azimuth received: Bearing 275.4, -17.1 (Local) } DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0  DAT read: 23:51:22.8947 LVL= 16176, 15137, 11810, 21379, AGC= 52, IDX= 513,-0.08,-2.939,-2.356,-0.743,-1.515, PHS=-1.336,-0.794, 0.769, RAW= 224.4, 14.3, CAL= 234.6, 17.1, ROT= 275.4, -17.1  Ygot valid direction response: 23:51:22.8947 LVL= 16176, 15137, 11810, 21379, AGC= 52, IDX= 513,-0.08,-2.939,-2.356,-0.743,-1.515, PHS=-1.336,-0.794, 0.769, RAW= 224.4, 14.3, CAL= 234.6, 17.1, ROT= 275.4, -17.1  V#Rx 107: Read range and direction messages. bdirection in FSK: [-0.263533,-0.723878,-0.637613] Fpublishing direction and range infoI 9M ?2пɄ*)TgyM WBI M 0?M !; M ".)M SII iM M CKM /D?M >z@M r> M ~@)M Θ>IM ϙ@iM ΘI I M =ο5 ?s;S3?)M "?IM D~iM M V0?I I  checking for new query: numPingsReceived=107, elapsed TxPingTime=51.481213GBOE?w,]Af ǂ@Yf։@fO=9f-3>yfHٿ`?{ɿiD0ٿ8U3_@!C?/Z?ɨf ǂ@f4;f CyޝuBޝ!I ==IIV8٢z= "=9Q >    G٣ y  > =Nusing accuracyPremultiplier from config1=595??E5Y5τ i5| 2kqAksK?kkk@kV?U addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.494801 s, deltaX: 0.200001 m, approachRate: 0.404204 m/s, rangeRepo size: 4 e Added new target pos. range: 53.900002 m, bearing: 127.530130 deg, lat: 36.905225 deg, lon: -122.119959 deg, deltaT: 1.507433 s, deltaX: 0.300003 m, approachRate: 0.199016 m/s, posRepo size: 4 mDNOT Ignoring new targets: 53.90 m. jijjjihhhhffrf@3J@bf ?]]]]N@O= ˽I9 ɚiII2f)i!i!)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=107, elapsed TxPingTime=51.715714JJJ1JJ :J:J3JD9*F% ?2F! :F! BF% R0JF! a Ia m Will construct direction to contact in vehicle frame from tetrahedron phase data.u DDAT read: Rx Time:23:51:23.3947 u TRx dataTimestamp_ set to:1736380284.506912} DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 - \#Rx 108: Read range message, but no direction.q yq q  checking for new query: numPingsReceived=108, elapsed TxPingTime=51.972916GQBzKBoIK-9KK-%KO >@ w,%Aᨂ@Yb@=944>yHNٿ?zɿ8 ڿ哿3 H?zZ?ɨᨂ@_;Cy=B=!I5Mb@Mb@Mb@111 1)1Y5Mb?p= ף rhy5@=55C53A 5@)5 AI5Z@1y5AI]I]<٢}O= }!=9}Q > G٣y > Nusing accuracyPremultiplier from config59:?5Y imI™>;C@ AE3;4;|55 A addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.505766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 H Z>I  I !II {BI  =&I .I :D6I <:I  FBI¥CJI¥CRIZI =bI =jI]6-DNOT Ignoring new targets: 53.90 m. j)j)j)j)i)h1h1h1h5Bf9f9rfAbf@(?]>]>]@]C@M= IMԣIU%9 QɚUiQIQI]1f)iYiY)y)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=108, elapsed TxPingTime=52.2251362Di*DmrAD5P9*F?2F:FBF_0JFG A>B O >l0w,9?A $I$:@Y:t@:=BWill construct direction to contact in vehicle frame from tetrahedron phase data.JDDAT read: Rx Time:23:51:23.8948 JTRx dataTimestamp_ set to:1736380285.013985RPDAT read: Bearing 237.6, -5.2 (Local) R~Local bearing/azimuth received: Bearing 237.6, -5.2 (Local) ZDAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 nDAT read: 23:51:23.8948 LVL= 18064, 18193, 8498, 17603, AGC= 59, IDX= 2,-0.24, 2.067,-1.967,-1.870,-2.494, PHS=-1.634, 0.574, 0.621, RAW= 269.0, 4.0, CAL= 272.4, 5.2, ROT= 237.6, -5.2 rYgot valid direction response: 23:51:23.8948 LVL= 18064, 18193, 8498, 17603, AGC= 59, IDX= 2,-0.24, 2.067,-1.967,-1.870,-2.494, PHS=-1.634, 0.574, 0.621, RAW= 269.0, 4.0, CAL= 272.4, 5.2, ROT= 237.6, -5.2 rV#Rx 109: Read range and direction messages.v`direction in FSK: [0.007470,-0.121398,-0.992576]vFpublishing direction and range infoH9JC~?2sX.yJXBHJFJG J2!)JDIJ;iJ&ѿJ?9:5>y:H`}ٿd?ɿ.V;ڿŒ.g? *Y?ɨ:@:;: CJ?J<@J5= J #@)J޹=IJm@iJ޹HHJYZEv?/α?)Jeb&@IJ1iJ)2Jxt?HH-checking for new query: numPingsReceived=109, elapsed TxPingTime=52.496357y5B5!IIUIUm٢\< I=9tOQ > G٣y > Nusing accuracyPremultiplier from config596?5Y iI™B@ A::>75 AkJjV򾜜?kJJW#. kH kJ!@A:kJXBBkJVBZkJ?"J.A?Y:8^JJC~?2sX.JkJ)2RkJxt?*JD5@tg]li @.}JJxN9?P N?d6"kJNS@*kJ@kJ?kJpr- 2kJAAkHkJ0  kJAAkJw@kJdI?U addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.507073 s, deltaX: 0.099998 m, approachRate: 0.197207 m/s, rangeRepo size: 4 e Added new target pos. range: 54.000000 m, bearing: 35.155611 deg, lat: 36.905225 deg, lon: -122.119963 deg, deltaT: 1.012839 s, deltaX: 0.099998 m, approachRate: 0.098731 m/s, posRepo size: 4 eDNOT Ignoring new targets: 54.00 m. jjjjihhhhffrfK@bf ?]]]]CB@5= 15I5(9 1ɚ5ܳi9I9I=2f)iaia)a)iDEb9EY*F?2F:FBFo0JF"G>G==Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=109, elapsed TxPingTime=52.727856J]J]J]0JYJ]L:J]:J]ـ3JYG= F>Ba O >tw,V[A6o@Y6V@67'=9625>y6H`8ٿӘ?`ݓɿ"@pڿ5l?Y?ɨ6o@66;4y>B>!IDFAIJIJq٢N< za=9z Q z>|| ~G٣|y& >  Nusing accuracyPremultiplier from config 592?5Yj iI™B@ AE::85! %A!UDNOT Ignoring new targets: 54.00 m. jQjQjQjYiYhYhYhahafafarfibfm\?]]]]ۺB@7'= 隥I9 ɚiII1f)ii)) I)q Will construct direction to contact in vehicle frame from tetrahedron phase data.<<DDAT read: Rx Time:23:51:24.3948  TRx dataTimestamp_ set to:1736380285.521529-PDAT read: Bearing 237.5, -5.5 (Local) =~Local bearing/azimuth received: Bearing 237.5, -5.5 (Local) mDAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 #G YyB-DAT read: 23:51:24.3948 LVL= 17440, 14993, 12018, 20979, AGC= 56, IDX= 497,-0.19,-2.018, 0.179, 0.273,-0.328, PHS=-1.602, 0.553, 0.598, RAW= 269.0, 4.2, CAL= 272.5, 5.5, ROT= 237.5, -5.5 5Ygot valid direction response: 23:51:24.3948 LVL= 17440, 14993, 12018, 20979, AGC= 56, IDX= 497,-0.19,-2.018, 0.179, 0.273,-0.328, PHS=-1.602, 0.553, 0.598, RAW= 269.0, 4.2, CAL= 272.5, 5.5, ROT= 237.5, -5.5 =V#Rx 110: Read range and direction messages.=`direction in FSK: [0.003493,-0.120818,-0.992669]EFpublishing direction and range info9ڜl?%Ky D: .)QI8iVͿh ??Q = U1@) =I @i ĽOYvs?O'~hs?)h&@Ii\ſ?}checking for new query: numPingsReceived=110, elapsed TxPingTime=53.065201zKBoHK9KK.%KD9*F?2F:FBF0JFHUX>IQ IU!IIUBIQ&IQ.IQ6IU9<:IUH F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=110, elapsed TxPingTime=53.231415G A>B O >w,tA6R@Y6;b@6 =965>y6Hٿ?@ҟɿ @ڿec@Ը`K?@0Y?ɨ6R@6S݋;4yBBB!IMMb@Mb@Mb@III I)IYMZd;O?X9v~jtyMj<=MMMA M@)M AIMC@IyMpAIIT٢K< .=9zQ > G٣y > Nusing accuracyPremultiplier from config59M.?5YH iI™3>;B@ A;;:5 AAEkUGœ?kUp6, kQ kU`aA:kQBkQZkU?"UyX$?hj0ԹgESJUڜl?%KJkU\ſRkU?*UlBjV@4 @gJUxb(? M?\i1"kUfW@*kU@kU4Ŝ?kU)+ 2kUAAkU?kU( kUAAkUk@kU !?] addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.507544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 54.000000 m, bearing: 34.845210 deg, lat: 36.905227 deg, lon: -122.119975 deg, deltaT: 0.507544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 uDNOT Ignoring new targets: 54.00 m. jqjqjqjyiyhyhyhyhBffrfbf?]3>]3>])@]_B@ = 隽#IN9 ɚ iIIIIU2f)iQiQ)Q)YBDe5?:DeM? $?IWill construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:24.8948  TRx dataTimestamp_ set to:1736380286.021274PDAT read: Bearing 317.1, -17.2 (Local) ~Local bearing/azimuth received: Bearing 317.1, -17.2 (Local) -DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 UDAT read: 23:51:24.8948 LVL= 17856, 16289, 13634, 239054, IDX= 513, 0.10,-2.908, 2.951,-1.603,-2.164, PHS=-0.656,-1.122, 0.558, RAW= 194.4, 16.0, CAL= 192.9, 17.2, ROT= 317.1, -17.2 ]!unknown deviceResponse_: 23:51:24.8948 LVL= 17856, 16289, 13634, 239054, IDX= 513, 0.10,-2.908, 2.951,-1.603,-2.164, PHS=-0.656,-1.122, 0.558, RAW= 194.4, 16.0, CAL= 192.9, 17.2, ROT= 317.1, -17.2 -e\#Rx 111: Read range message, but no direction. y  mchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.495960D*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=111, elapsed TxPingTime=53.735809G-F>B9OU>*zw,\ǒAZ*@YZ"@ZA&=9Z26>yZH`&aڿq?@ɿۿzV[K?@Z?ɨZ*@Z~;Z!Cyf~Bf!II5I5(٢u4 }?=9}hQ }> G٣y} > Nusing accuracyPremultiplier from config59&*?-5Y& iJ™1=B@= A:<с<<5y }A addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.499745 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.00 m. jjjjihhhh!f!f!rf!bf-?]i]i]i]mɉB@A&= 쉽I9 ɚSiII1f)ii)) qIq Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:25.3948 TRx dataTimestamp_ set to:1736380286.525266%PDAT read: Bearing 246.9, -4.0 (Local) %~Local bearing/azimuth received: Bearing 246.9, -4.0 (Local) ]DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 }DAT read: 23:51:25.3948 LVL= 16048, 15713, 12930, 22579, AGC= 54, IDX= 512, 0.23, 2.682,-1.998,-1.555,-2.260, PHS=-1.253, 0.310, 0.702, RAW= 259.1, 2.7, CAL= 263.1, 4.0, ROT= 246.9, -4.0 Ygot valid direction response: 23:51:25.3948 LVL= 16048, 15713, 12930, 22579, AGC= 54, IDX= 512, 0.23, 2.682,-1.998,-1.555,-2.260, PHS=-1.253, 0.310, 0.702, RAW= 259.1, 2.7, CAL= 263.1, 4.0, ROT= 246.9, -4.0 V#Rx 112: Read range and direction messages.`direction in FSK: [0.014825,-0.288327,-0.957417]Fpublishing direction and range info9&qb\?v/sҿx)y>a= 2)3XI6iNbR>F3?p@A= Y@)5=I@i5DU 9Eq Eq LC&(7 !?×\S?)Y@I^Bi|¿ᒣ?zK K 89K K /%K "0yO) u checking for new query: numPingsReceived=112, elapsed TxPingTime=54.098740*F ?2F :F BF o0JF G!  G% pAH V>I C I I I  =&I .I 6I <:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=112, elapsed TxPingTime=54.240128JJJ1JJJ:J3JJP;aJR;aJJ;aJJ;aG]A>ByO?Kw,XAy-sB-!I 5=5=Mb@Mb@Mb@ )YZd;?v/(\µyy=x齹A x@) AI@yzAII٢  =9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config)=59-$?=5Y-> i-VJ™Er>E;EEE A-E-7;-4;-]?5Y ]RAYkݞ㙜?k k kA:kBkVBZk@"x_}?E#/E;c=I&qb\?v/sҿx)Jk|¿Rkᒣ?*g`%*@ÑJ,ġ/ݱRt?("k=@*kuk@mᙜ?kL 2k DAkkk DAk[@k#? addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.503992 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 54.000000 m, bearing: 120.639945 deg, lat: 36.905227 deg, lon: -122.119975 deg, deltaT: 1.003737 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 %DNOT Ignoring new targets: 54.00 m. j!j!j!j!i!h!h)h)hUiBfQfQrfQbf]@B"?]r>]r>]̈́@]L@ yVH@yڿY?@Zɿ{ۿ;n?[]?ɨVҁ@V܊;VCynjBn!III٢E3. mA=9}Q }> G٣y > -Nusing accuracyPremultiplier from config=59 ?E5YN iJ™q}E} AĄ<<NA5 Ak/nU?k" k kDA:kXBBkTWBZk<J?"B ?nIh*~Jk=ُZ?'_¿~ƈ+JkǿRk?*β @v3& @+Jԩ{u?/A&?~&"kYn@*kl@ky X?kk0" 2k4Iq  Iu !IIu BIq &Iq .Iu 9D6Iu <:Iu FEWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAMchecking for new query: numPingsReceived=114, elapsed TxPingTime=55.251549JUJUJQJQJU:JU:JQJQJU;JU;JUoN;JUoN;G}K>BO6w,XUABȸ@YBHȈ@BHr=9BŒ3>yBHۿ Q?ɿۿ~e=?`?ɨBȸ@BŚ;@yj^Bn!IMb@Mb@Mb@ )Y?ʡE ףp= y=-QvA K@)dAIy @II㔳٢* %=9%Q ->)) -G٣)y5鸻 5> =Nusing accuracyPremultiplier from config9E59=?E5Y= i=J™E$>M;M*M A=E=;=;=C5Q UAQk}ɺ -?k}PL$ ky k}cA:k}XBBk}VBZk}}NY?"}?S< Ǔb_J}7m?O^ÿKLJk}ZƿRk}L?*}p% @8 @"J}[?G?"k}Qm@*k}P@k}(.?k}k^# 2k}>Akyk}k^# k}AAk}Ϩ@k}G? addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.504723 s, deltaX: -0.200001 m, approachRate: -0.396258 m/s, rangeRepo size: 4  Added new target pos. range: 54.000000 m, bearing: 48.635746 deg, lat: 36.905215 deg, lon: -122.119973 deg, deltaT: 0.504723 s, deltaX: -0.200001 m, approachRate: -0.396258 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.00 m. jjjjihhhh5BffrfK@bf@ ?]$>]$>]t&@]zNg@Hr= أ=I+9 ɚiI!I%2f)i!i))))) 9I9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]DDAT read: Rx Time:23:51:26.8949 eTRx dataTimestamp_ set to:1736380288.041487mPDAT read: Bearing 240.1, -5.5 (Local) m~Local bearing/azimuth received: Bearing 240.1, -5.5 (Local) DAT read: Range 10 to 50 : 54.2 m (trip time 36.1 ms) speed 0.0 DAT read: 23:51:26.8949 LVL= 15152, 9233, 7138, 14563, AGC= 54, IDX= 1, 0.12, 0.326, 2.483, 2.698, 2.028, PHS=-1.614, 0.503, 0.667, RAW= 266.3, 4.1, CAL= 269.9, 5.5, ROT= 240.1, -5.5 Ygot valid direction response: 23:51:26.8949 LVL= 15152, 9233, 7138, 14563, AGC= 54, IDX= 1, 0.12, 0.326, 2.483, 2.698, 2.028, PHS=-1.614, 0.503, 0.667, RAW= 266.3, 4.1, CAL= 269.9, 5.5, ROT= 240.1, -5.5 V#Rx 115: Read range and direction messages.`direction in FSK: [0.001415,-0.166522,-0.986037]Fpublishing direction and range infoY9]a@+0W?\/Pſdy]XBY]0;]$ ])]8I]6i]ο]?]*?]ߺ@]C= ]@)] =I]@i] ĽYY]|* B? #0?)]zl#@I]i]\ǿ]?YYchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.548412D%Þ9*F ?2F :F BF Q0JF G F>B Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=115, elapsed TxPingTime=55.755287O=> w,/AVo@YV~@Vƴ=9V3>yVH@ۿ{4?ȿܿi O,?`c?ɨVo@Va;V CybNBb!IIjIj٢rR vK=9zsQ z>xx ~G٣|y~Ժ ~> Nusing accuracyPremultiplier from config 59v? 5Y iJ™J+ A::pE5 %zA!kiAᛜ?kB k kA:kXBBkSWBZkP̄?"Or1? "~Ja@+0W?\/PſdJk\ǿRk?*H]Y1@/P8A@BAJ޽?tS1?s"k @*k@kl⛜?kί 2k:Ak(.?kk0" k>Ak@k4Y? addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 0.504155 s, deltaX: 0.200001 m, approachRate: 0.396705 m/s, rangeRepo size: 4 } Added new target pos. range: 54.200001 m, bearing: 59.443517 deg, lat: 36.905211 deg, lon: -122.119972 deg, deltaT: 0.504155 s, deltaX: 0.200001 m, approachRate: 0.396705 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrf-K@bf57?]]]]f@ƴ= @I=I9 ɚiII1f)ii))!D9 III*F?2F:FBFo0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:27.3947 TRx dataTimestamp_ set to:1736380288.546486PDAT read: Bearing 241.1, -5.5 (Local) ~Local bearing/azimuth received: Bearing 241.1, -5.5 (Local) DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 DAT read: 23:51:27.3947 LVL= 19344, 15825, 12530, 22003, AGC= 52, IDX= 496, 0.04,-1.209, 0.952, 1.214, 0.512, PHS=-1.632, 0.488, 0.700, RAW= 265.3, 4.0, CAL= 268.9, 5.5, ROT= 241.1, -5.5 Ygot valid direction response: 23:51:27.3947 LVL= 19344, 15825, 12530, 22003, AGC= 52, IDX= 496, 0.04,-1.209, 0.952, 1.214, 0.512, PHS=-1.632, 0.488, 0.700, RAW= 265.3, 4.0, CAL= 268.9, 5.5, ROT= 241.1, -5.5 V#Rx 116: Read range and direction messages.`direction in FSK: [0.000797,-0.183834,-0.982957]Fpublishing direction and range info؉9؍rN!J?݇ǿrEbty؍WB؉؍K؍= ٍ0)ٍUIٍ4iٍ`пٍ#>ٍ333?ٍ+@ٍ5= ڍ.@)ډIڍا@iډډډۍ*I6=s b-?yxp?)ۍH"@Iۍ9iۍȿۍye?ۉۉ-checking for new query: numPingsReceived=116, elapsed TxPingTime=56.029617zK BoHK 9K K 1%K !&   BK :K GY Bq O >H Q>I  I !II lBI  =&I .I 6I |<:I s Fϼ w,W -AR?@YN@=9q`4>yH`ۿg?@-ȿ@oܿ{2?X?*c?ɨR?@!;!CyDBu!I-Mb@Mb@Mb@))) )))Y-(\?v/bX9ȶy-z>-xi-E-d A -b@)-AI-@)y-@IeIeM٢L. 2=9>Q > G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=116, elapsed TxPingTime=56.259979JJJ0JJ:J :Jـ3JJ;J;JS;JS;yMK > -Nusing accuracyPremultiplier from config)559-?55Y- i-*K™=7>=;= = A-E-L;-3;-G5A EAIkܙ?k k k"A:kWBBk"VBZk,%?"K,?'9#;}JrN!J?݇ǿrEbtJkȿRkye?*'4x?>%e@n.J%1Z>?Ǘ?e"k)@*k?kvƚ?kT 2k>Akl⛜?kί kk@kl?E addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504999 s, deltaX: -0.299999 m, approachRate: -0.594059 m/s, rangeRepo size: 4 u Added new target pos. range: 53.900002 m, bearing: 69.894230 deg, lat: 36.905203 deg, lon: -122.119969 deg, deltaT: 0.504999 s, deltaX: -0.299999 m, approachRate: -0.594059 m/s, posRepo size: 4 uDNOT Ignoring new targets: 53.90 m. jyjyjyjyiyhyhyhhBffrf@3J@bfM?]57>]57>]5@]5v~@U= QU=IU9 QɚUiYIYIe2f)iaii)i)iD}ҟ9E*F?2F:FBFJFG GqA 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. DDAT read: Rx Time:23:51:27.8948  TRx dataTimestamp_ set to:1736380289.050325 DAT read: Range 10 to 50 : 54.0 m (trip time 36.0 ms) speed 0.0 - \#Rx 117: Read range message, but no direction.ؙ y؝ XBؙ  checking for new query: numPingsReceived=117, elapsed TxPingTime=56.516335G B! OE >w,FA6M@Y6&@6=964>y6H]-ܿ3 ?`ȿ͚ Uܿmi?Ae?`c?ɨ6M@6(;6CyN7BNd!IIjIj٢r͚ rl=9vQ v?xx zG٣xyzho ~? Nusing accuracyPremultiplier from config|59~? 5Y~χ i~OK™  N% A|~;~;~H51 55A1uB*** querying acoustic contact ***jqjq addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 0.503839 s, deltaX: 0.099998 m, approachRate: 0.198473 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.90 m. jjjjihhhhffrfK@bf7?])])])]-?}@== 9=(=I=z9 AɚEmiAIAIM1f)iQiQ)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=117, elapsed TxPingTime=56.763996D9*FE?2FA:FABFE?1JFA 1 I1 G B O >Yw,TaA6@Y6t@6i=964>y6H`߄ܿu?oȿ`ܿ6x?`@j? !e?ɨ6@6 =;4yJ/BJ[!IIVIV٢^; ^G=9^Q ^>`` bG٣`yfk f>zWill construct direction to contact in vehicle frame from tetrahedron phase data.~DDAT read: Rx Time:23:51:28.3947 TRx dataTimestamp_ set to:1736380289.552903 DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 -\#Rx 118: Read range message, but no direction.|y~WB|checking for new query: numPingsReceived=118, elapsed TxPingTime=57.018997 Nusing accuracyPremultiplier from config59a?5Y iK™ AE:z:J5B nADE addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.502578 s, deltaX: -0.099998 m, approachRate: -0.198971 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 53.90 m. jajajajaiahihihihqfqfqzK}MK}-9KyK}2%K}RK?JK?rf@3J@bf,`?]]]]x}@=i= 9==I=9 9ɚ=3iAIAIE2f)iIiI)I)IjH}<bH}<HO>IC I!IIRBI =&I.I6IN<:IP FBI]ţCJI]ţCRI]œCZI] =bI] =jI]ų5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=118, elapsed TxPingTime=57.267277JJJJJJ:JJJJJZ;JZ;D} 9*F 2F :F BF e0JF IGBO?P w,P߂A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2DDAT read: Rx Time:23:51:28.8947 2TRx dataTimestamp_ set to:1736380290.057260:DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 -:\#Rx 119: Read range message, but no direction.0y00>checking for new query: numPingsReceived=119, elapsed TxPingTime=57.523239Nl@YNʇ@NB=9Na4>yNHuܿ ?șȿ$tpGݿ1?` [?f?ɨNl@NM;NCyZ)BZS!IMb@Mb@Mb@ )YNbX9?~jt/$yE>ļ A &@)$AI@y@II)٢55 5=95/BQ 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M ?U5YMw iMK™]X>]z;]] AIMw;M;McM5a eAi addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504357 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.90 m. jjjjihhhhǂBffrfbf@ӻ?]X>]X>]]@]A@B= B>I9 ɚ2iII1f)ii))D*F5?2F1:F1BF=P5JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=119, elapsed TxPingTime=57.771286Gu A>B O > &w,+AF@YF@F)Ԡ=9F4>yFH=6ݿ7? nȿ\ݿZ^?`;Q? h?ɨF@F؋;FCyjBjH!IIrIr٢zo_ zx=9~ֻQ ? G٣y J  ? Nusing accuracyPremultiplier from config59P?5Y݌ iK™!% % AEo;^;N5) -A)UDNOT Ignoring new targets: 53.90 m. jYjYjYjYiYhYhahahafafirfibfm(?]]]] @)Ԡ= 隥(0>I9 ɚ0f3iII2f)ii $?I))~GtA 5$Y5tAy5AuWill construct direction to contact in vehicle frame from tetrahedron phase data.uDDAT read: Rx Time:23:51:29.3946 }TRx dataTimestamp_ set to:1736380290.560828DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -\#Rx 120: Read range message, but no direction.yy}VByT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D ^9*F?2F:FBF74JFzKUk3IKU89KQKU3%KUBKa:KaHM>I Im!II>BI&I.I6IM<:IN FG B O- >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% yzHBݿ ?Qȿ\G ݿ?6O?j?ɨztT@z ދ;xy B E!IMb@Mb@Mb@ )YZd;O?ʡEy~j>7 A @)AI@y@IPExceeded connect timeout, disconnecting.IM٢ >=9nyQ > G٣y8_ > Nusing accuracyPremultiplier from config59?5Y- iL™ew>[; AE;;P5 AE addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.503568 s, deltaX: -0.200001 m, approachRate: -0.397167 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 53.90 m. jAjAjAjIiIhIhIhQhUBfQfQrf]J@bf]@{?]ew>]ew>]/3]R@Mly= IMHa>Iu9 qɚu3iqIqI}1f)iyiy)y)DM9EUe>EU> I*F?2F:FBFP0JFG G}Will construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:29.8947 TRx dataTimestamp_ set to:1736380291.065510DAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؉y؍WB؉ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.G <>B O) 3w,XA>Y@Y>,@>8=9>R3>y>Hݿ`?`-ȿ@.@J޿b?@n"SO?Uk?ɨ>Y@>oċ;hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r?v5Yr( ir+L™tzz Apr:r:rUR5| ~AFE- addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.504682 s, deltaX: 0.200001 m, approachRate: 0.396291 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 53.90 m. j1j1j1j1i1h9h9hAhAfIfIrfM@3J@bfM?]i]i]i]mV@8= 隅Js>I9 ɚ$/4iII2f)ii))JJJJJ̶:J:JJa@a@a@a@EWill construct direction to contact in vehicle frame from tetrahedron phase data.MByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. = 4= DDAT read: Rx Time:23:51:30.3946  TRx dataTimestamp_ set to:1736380291.581625 DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 - X#Rx 1: Read range message, but no direction. y VB  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.:w,eA=@Y=@=JD=zKEBoHKE-9ZHe@ARHe@AHmJ>Ii Imf!IIm9BIi&Ii.Im8D6Im+<:Im4 FKAKE4%KERK>JK?9=4>y=H@R޿?T'ȿF`޿T?9IJ f? /k?ɨ=@=$;= Cyޝ&BޝO!IMb@Mb@Mb@ )YZd;?/$?L7A`尿yy><+ A @)AI@y@II٢= +=9%FQ > G٣yk > Nusing accuracyPremultiplier from config 59? 5Y iQL™ ݁>Q;= AEK;>J;jT5) 5A9 addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.516115 s, deltaX: -0.200001 m, approachRate: -0.387512 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.90 m. jjjjihhhhxBffrfJ@bf?]U݁>]U݁>]U4ԯ=]Un@@eJD= am>I9 ɚ4iII1f)ii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.5@w,IA>Z@Y>@>=9>F4>y>H޿m?`ǿ`4߿@?MR\?l?ɨ>Z@>5;I9 ɚ4iII2f)ii))D9*Fe?2Fa:FaBFem0JFaJk3Kk3 Kk/.KcKc"KcJJJ1JJ|:JJ3JUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUAU"Gw,A6~@Y6h@6=96?M4>y6Hd߿@Q?ǿ Ng߿(?-]?@{m?ɨ6~@6ȏ;6CyB:BBh!IDDIJIJq٢R= RO=9VbQ V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^K?f5Y^Q i^L™dff A^E^X:^:^W5h nAp DNOT Ignoring new targets: 53.90 m. j j j jihh !I%hhh!f)f)rf)bf-'?]]]]Cʊ@E= AE>IM%9 IɚM4iIIIIU1f)iQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.DDAT read: Rx Time:23:51:31.3945 TRx dataTimestamp_ set to:1736380292.589204PDAT read: Bearing 245.6, -4.2 (Local) ~Local bearing/azimuth received: Bearing 245.6, -4.2 (Local) DAT read: Range 10 to 50 : 53.6 m (trip time 35.7 ms) speed 0.0 %DAT read: 23:51:31.3945 LVL= 17072, 13793, 14322, 23219, AGC= 54, IDX= 510, 0.18,-2.733,-0.693,-0.213,-1.060, PHS=-1.585, 0.414, 0.844, RAW= 260.5, 3.0, CAL= 264.4, 4.2, ROT= 245.6, -4.2 -Ygot valid direction response: 23:51:31.3945 LVL= 17072, 13793, 14322, 23219, AGC= 54, IDX= 510, 0.18,-2.733,-0.693,-0.213,-1.060, PHS=-1.585, 0.414, 0.844, RAW= 260.5, 3.0, CAL= 264.4, 4.2, ROT= 245.6, -4.2 -R#Rx 1: Read range and direction messages.5`direction in FSK: [0.012993,-0.265588,-0.963999]=Fpublishing direction and range infoع9ؽSC9?JKbпY\yؽfVBعؽBؽ5 ٽ7)ٽZIٽ6iٽHʿٽ>ٽbX?ٽ}@ٽPwV= ڽ7@)ڽQ =Iڽ>+@iڽQ ڹڹ۽sY?T?)۽@I۽ Ri۽¿۽?۹۹ U2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.Dw9zKK9KK5%KBK:KqAHH>IC Is!IICBI =&I.I6I<:I F*F?2F:FBF_0JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.e Nw,:A^ z~@Y^L@^P=9^gf3>y^H`oz߿@9?3ǿjj߿ě?`B?o?ɨ^ z~@^L;^ CynABnq!ImMb@Mb@Mb@iii i)iYmZd;?Zd;O?v/ym~>mj G٣yV > Nusing accuracyPremultiplier from config=59?E5Y; iL™UP>]N;]] AE <<Y5a eAa Ikuc?kup kq ku%A:kufVBBkuTBZkuu@"uW]UP>]U4=]U^@ P=  >I |9 ɚ 5iII2f)iiMWill construct direction to contact in vehicle frame from tetrahedron phase data.eDDAT read: Rx Time:23:51:31.8946 mTRx dataTimestamp_ set to:1736380293.096798PDAT read: Bearing 246.1, -4.1 (Local) ~Local bearing/azimuth received: Bearing 246.1, -4.1 (Local) DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 ))eDAT read: 23:51:31.8946 LVL= 17296, 14177, 14018, 23075, AGC= 54, IDX= 511, 0.10,-1.036, 0.983, 1.481, 0.623, PHS=-1.571, 0.407, 0.856, RAW= 260.0, 2.8, CAL= 263.9, 4.1, ROT= 246.1, -4.1 uYgot valid direction response: 23:51:31.8946 LVL= 17296, 14177, 14018, 23075, AGC= 54, IDX= 511, 0.10,-1.036, 0.983, 1.481, 0.623, PHS=-1.571, 0.407, 0.856, RAW= 260.0, 2.8, CAL= 263.9, 4.1, ROT= 246.1, -4.1 R#Rx 1: Read range and direction messages.`direction in FSK: [0.015218,-0.273390,-0.961783]Fpublishing direction and range infoi9m:*?>19ѿymVBimCma7 m6)m#ZIiimɿmNb>m"[?m6@m+H= mc@)mC=Imr@imCiim%I$z迥.ӌ?Y ?)m*^@Im"EGimmu?ii 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D t9*F] ?2FY :FY BF] O0JFY J J J J J ̶:J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data. BIOm?{Vw,0[AyzWBz!I ~=|IIi٢[= %'=9%Q %>)) -G٣1y= => ENusing accuracyPremultiplier from configAM59E?M5YE2 iEL™IQU AE EE!;E";E[5Y ]6AYk;Q?ٙ?k c k k1FA:kVBBkUUBZk; @"7Q&?]\-a@I:*?>19ѿJkRku?*Z X`$@/l*NJt}}s֯6𪌗?XZu"kq@*kUk!Sי?k& 2k/EAkvƚ?k k>Aky@k^d? addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.507594 s, deltaX: 0.100002 m, approachRate: 0.197012 m/s, rangeRepo size: 4  Added new target pos. range: 53.700001 m, bearing: 122.857521 deg, lat: 36.905195 deg, lon: -122.119967 deg, deltaT: 0.507594 s, deltaX: 0.100002 m, approachRate: 0.197012 m/s, posRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihhhhffrfJ@bf`?]]]] *>IS9 ɚm)5iII%1f)i!i!)! qIq)D9*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.MDDAT read: Rx Time:23:51:32.3946 MTRx dataTimestamp_ set to:1736380293.597972]DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -]X#Rx 1: Read range message, but no direction.IyII e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.HF>I I!IIbBI =&I.I6Iq<:Ic FG% A>B) OE >zKy K} 89Ky K} 6%K}   "&&('&%%$"!#"  RK ?JK ?o\w,tA2`/}@Y21@2]=92~4>y2H`L@_?ǿue@?Ȱt?o?ɨ2`/}@2u;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.R#<D A )@I@yIIq٢ì= %/=9%ػQ ->)1 5G٣1y50 => ENusing accuracyPremultiplier from config9E59=욜?M5Y= i=L™Mm>Md;MU A9=;=;=]5Y ]A]IE addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.501174 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihhhhBffrfbf`SY?]m>]m>]R4=]C@]= >IZ9 ɚC5iII2f)ii)) iIiDM9]Will construct direction to contact in vehicle frame from tetrahedron phase data.]DDAT read: Rx Time:23:51:32.8947 eTRx dataTimestamp_ set to:1736380294.101541mDAT read: Range 10 to 50 : 53.9 m (trip time 35.9 ms) speed 0.0 -uX#Rx 1: Read range message, but no direction.ayeWBa u2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.*F% ?2F! :F! BF- Y0JF) GIBYOu>dw,KA6|@Y6Ts@6=9676>y6HFy?@˥ǿZ``?@ձ`?zm?ɨ6|@6;6Cy>BB!IIJIJʴ٢N= RP=9RuhQ R>TT VG٣TyZr Z> ^Nusing accuracyPremultiplier from config\b59^障?b5Y^ i^M™`ff A^ E^;^ ;^_5h jAh  addTargetRange:: Added new target pos. range: 53.900002 m, deltaT: 0.503569 s, deltaX: 0.200001 m, approachRate: 0.397167 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihhhhf!f!rf%@3J@bf% V?J5J5J50J1J5:J5 :J5ـ3J1Will construct direction to contact in vehicle frame from tetrahedron phase data.Im9 qɚui_5iqIqI}1f)iyiy)y)2D*DqA IIQD*FQ2FQ:FYBF]_0JFY= Will construct direction to contact in vehicle frame from tetrahedron phase data.A A E @DAT read: R ime:23:51:33.3946 M ^unknown deviceResponse_: R ime:23:51:33.3946 U DAT read: Range 10 to 50 : 53.7 m (trip time 35.8 ms) speed 0.0 -] X#Rx 1: Read range message, but no direction.A yE VBA ] 2Acoustic response timeoute Querying Benthos address 50 with one ping in standard two-way mode.G H E>I  I !II BI  =&I .I 6I W<:I N FBI̡CJI̡CRIZI =bI =jI߿5BY O} >Ukw,]AzKBQMKB9K@KB7%KBre|@YrUB@r]=9rb06>yrHB?Dǿ@A`n? Ĉ:? m?ɨre|@r N;r CyzBz!I)| |Mb@Mb@Mb@ )Y> ףp=?~jtMbyQ>D@A )I@yz@II%x٢= ,=9JQ > G٣yN > Nusing accuracyPremultiplier from config59;嚜?5Y i$M™W>{; A E;;a5 CAY addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 0.502907 s, deltaX: -0.200001 m, approachRate: -0.397689 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 53.70 m. jjjjihhhh‚BffrfJ@bf%?]eW>]eW>]e0@]eS@uWill construct direction to contact in vehicle frame from tetrahedron phase data.},DAT read: user:3509> }I9 ɚZ|5iII2f)ii)) $?ID%Ƨ9*F ?2F :F BF JF % Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Tx time:23:51:34.2981 - $Ping request sent.- sw,A2.{@Y2@25„=926>y2Ho?aǿ`&{ ? M?-m?ɨ2.{@2lt;2!Cy>B>!IIJIJW٢R> RB=9Rt9Q V>TT VG٣XyZs Z> ^Nusing accuracyPremultiplier from config\b59^\᚜?b5Y^æ i^>M™`f f A^ E^ ;^ ;^c5h jEAhDNOT Ignoring new targets: 53.70 m. jjj jihhhhffrfbf?]]]]ہ@5„= >If9 ɚiII1f)ii))AJJ Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.259135J J J J J  :J B:J J DE9*F?2F:FBFo0JF I ) C NG sA9 e WYm sAym B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503908G F>B O- >'yw,=A6֕{@Y6lڄ@6=96tD5>y6H|?_ǿ] ?\~?~o?ɨ6֕{@6_;4yBŃBB"II%I%٢= 0=9[Q > G٣yM[ U> uNusing accuracyPremultiplier from configi59mܚ?5Ym im]M™  AiZHRHHI I"IIƒBI&I.I6In<:I_ FmlB O > I hzw,A2m{@Y2@2@=92H.>y2H<3b?ŸƿE ?`%?x?ɨ2m{@2\;2"Cy>B>>"I5Mb@Mb@Mb@111 1)1Y5sh|??Qkty5)>55 05hA 5@)5h@I5b@1y5@IMIM٢]-> eO=9esQ e>ii mG٣iyme u> }Nusing accuracyPremultiplier from configq59uٚ?5Yu& iusM™B2>; Au Eu;uo;uGg5 ADNOT Ignoring new targets: 53.70 m. jjjjihhhhBffrfbfJ?]B2>]B2>].W@]?@ @=  >I 9 ɚ iII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.ս>ս@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012712DMè9*F?2F:FBFO0JFG F>B O5 >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263676w, A6iz@Y65g@6q=96]i1>y6H\D?ƿ@`DmWt?@ ?@~u?ɨ6iz@6;6Cy>BBO"IIJIJF٢ = B=9 sQ >! %G٣!y-8g 5> 9I9 ENusing accuracyPremultiplier from configAM59E՚?M5YE iEM™QUU AAE ;E ;E(i5Y e;AaDNOT Ignoring new targets: 53.70 m. jjjjihhhhffrfbf?]]]]P@q= >>I9 ɚ4iII2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515605D}ը9H D>I  I T"II BI &I .I 6I <*FU ?2FQ :FY BF] D5JFa :I FzK xLK 9K K 9%K BK oA:K nAJ J J 1J J ,:J :J 3J J B O>w, c9AfVz@Yf:@f=9f43>yfHɁ@G)?ǿ@!?@:>;?r?ɨfVz@fb;f!CyޥBޥf"IuMb@Mb@Mb@qqq q)qYuL7A`?T㥛 Mbyu+>uu@uMA u@)u3@IuK@qyuG@IIʴ٢= '=9":Q > G٣y7 > Nusing accuracyPremultiplier from config59К?5Y iM™Q>;"# AE ;};Bk5 I@-DNOT Ignoring new targets: 53.70 m. j)j)j)j)i1h1h1h1h=Bf9f9rf9bf=N/@ iIi]Q>]Q>]Ϻ@]n@= ?Iy9 ɚE4iAIAIU1f)iQiQ)Y)Y2DepA*DenAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019490D9*F ?2F :F BF P5JF G B O >qw,VAFy@YF @Fa=9Frg5>yFHԩ@? :eǿ|> .? 鰿?-n?ɨFy@F;F CyR$BR"I^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271875IbIb%x٢ > K=9;Q  >    G٣ yds > Nusing accuracyPremultiplier from config%59 ͚?%5Y\ iM™!-#- AL::m5=B ={@=LEeDNOT Ignoring new targets: 53.70 m. jajijijiiihihihqhqfqfqrfybf}0g@]]]]n@a= 隵?I9 ɚiII2f)ii)) ID59*F?2F:FBF4JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.524099H I C I "II -BI &I .I 6I <:I m FG B O >ɛw,pqAby@Yb@b@t=9b6>ybH)?RǿF DZ?:+? l?ɨby@b`;`yn6Bn"IzKKKu9KK:%KRK ?JK?}Mb@Mb@Mb@yyy y)yY})\(?{Gz:vy}G=}ף}T}A }S@)yIyyy}@II٢֝= ;=9(;Q > G٣y > Nusing accuracyPremultiplier from config59Ț?5Y iM™>;/ AE;;n5 h@DNOT Ignoring new targets: 53.70 m. jjjjihhhhBffrfbf7 @JJJ0JJJ:Jـ3JJJJn;Jn;uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777082]>]>]@]ab@@t= \?I9 ɚ!4iII1f)ii))! 1I1Dm9*F ?2F :F BF $5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:51:36.7745 % TRx dataTimestamp_ set to:1736380298.136606% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028485GABQOm>w,`A>Iy@Y>%׃@>/U=9>>6>y>Hq`D?૜ǿ |`?`HG ?Nk?ɨ>Iy@>wD;>CyNIBN"IIVIV㔳٢^= b8=9b}:Q b>dd fG٣dyf2 j> nNusing accuracyPremultiplier from confighn59jkĚ?r5Yj} ij N™pr/r Ahj:jC:jp5x z1@x%DNOT Ignoring new targets: 53.70 m. j!j!j!j!i!h!h!h)h)f1f1rf1bf5o @]Q]Q]Q]U[b@e/U= im?Im9 iɚm4iiIqIu2f)iqiy)y)yBDO?:D(?Dm9*F?2F:FBFP0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279447 $?I GBO=> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,mABDAT read: 23:51:36.7745 LVL= 12432, 9169, 6674, 12771, AGC= 55, IDX= 16,-0.29,-0.895, 1.043, 1.651, 0.723, PHS=-1.530, 0.368, 0.925, RAW= 257.5, 2.2, CAL= 261.4, 3.4, ROT= 248.6, -3.4 JYgot valid direction response: 23:51:36.7745 LVL= 12432, 9169, 6674, 12771, AGC= 55, IDX= 16,-0.29,-0.895, 1.043, 1.651, 0.723, PHS=-1.530, 0.368, 0.925, RAW= 257.5, 2.2, CAL= 261.4, 3.4, ROT= 248.6, -3.4 VDAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s Z,DAT read: user:3510> ]BDAT read: Tx time:23:51:37.8481 ]$Ping request sent.eyH=d?ѱǿ@nФ?@{`U?Cj?ɨ^y@j;騥CY]0]# ])]1I]7i] ÿ]j>]l?]Џ@]nF= ]I@)]s=I]-؊@i]sYY],ۓ(U'?M v;?)]̗@I]i]Ϳ]?YY:publishing transmit ping timeYFpublishing direction and range infoY9]V? QԿ܈G^yYYYY Y)YIYiYYYYY Y)YIYiYYY],ۓ(U'?M v;?)YIYiYYYYHI I"II[BI&I.I6It<:Ia FyYB"IiE>IEC= }=}=zKEBHKE-9KAKE;%KEMb@Mb@Mb@ )Y+η?EԸV-yv=ƽmQA \@)$@I&@yI5I5W٢-X= =9:Q > G٣y >JJJ1JJ:Jq:J3JJ <J <Jk;Jk; =Nusing accuracyPremultiplier from config9M59=A?M5Y= i=;; A=E=#<=<=s5 .@k]5!?k]  kY k]A:k]fXBBk]VBZk],@"]F?Kҧ1-=I]V? QԿ܈G^Jk]ͿRk]?*]{ʮd@RB(J]HrRړ\?0*"k]@*k]k]?k]e  2k]JAk]t?k]& k]/EAk]7@k]r?u addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 4.037568 s, deltaX: 0.399998 m, approachRate: 0.099069 m/s, rangeRepo size: 4  Added new target pos. range: 54.099998 m, bearing: 128.174241 deg, lat: 36.905151 deg, lon: -122.119967 deg, deltaT: 5.545218 s, deltaX: 0.399998 m, approachRate: 0.072134 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.10 m. jjjjihhhh:Bffrf K@bf W?]5 >]5 >]5 oA@]5 .V@E = A E \?IE ]9 i ɚm 4iq Iq I 1f)i i ) )  I D (9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fi:FiBFm0JFiGF>BO%?ww,ǽAZx@YZx@Zc=9Z9>yZH@\!`?@Ǵǿ0H 0??h?ɨZx@Z0;XyffBf"IInIn٢ve= v4=9zZlQ z>xx ~G٣|y~ ~> Nusing accuracyPremultiplier from config 59ʹ? 5Y+ i`N™d< AR;t;vu5! %^@!UDNOT Ignoring new targets: 54.10 m. jQjQjQjQiQhQhYhYhYfYfarfabfeC?]]]]U@c= 隝?I!9 ɚ!5iII2f)ii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.D569 I*F?2F:FBFO5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O >nw,Af^x@Yfk@fbz=9f^7>yfH@,o?#sǿ A@:@?4̰?k?ɨf^x@f-;fCyniBn"IIvIv4٢<< %H=95T%Q 5>AI MG٣IZHiRHiHC>I I"IIyBI&I.I6Ix<:Ic FBImCJImCRIiy$ > Nusing accuracyPremultiplier from config%59e?-5ZIm =bIm =Yq iN™< AE<<[w5 8@jIm,4 DNOT Ignoring new targets: 54.10 m. jjjjihhhhffrfbfU?]I]I]I]MɜU@ebz= ae?Ie9zKmKm9KiKm<%Km ɚL5iII1f)ii))2DqA*DpADMWill construct direction to contact in vehicle frame from tetrahedron phase data.IiMAJeJeJaJaJeL:Je9:JaJaJeA <JeA <JeY`;JeY`;*F?2F:FBF%`4JF! I G= F>BI Om >9w,LqA2 x@Y2^@2=927>y2H7(?`Mǿ V9!FM? ?@k?ɨ2 x@2;2Cy>tB>"I)@ @DDEMb@Mb@Mb@AAA A)AYEbX9ȶ?B`"۹X9vyEE=EνE}E$A E/@)E;@IEK@AyE @I]I]J٢u^= uD=9u:Q }>yy }G٣yy > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59q?5Y iN™>;m? Ab;?a;y5 ~@DNOT Ignoring new targets: 54.10 m. jjjjihhhhKBffrfbf@UZ?]>]>]+@]R@%= !%{?I-49 )ɚ-n5i)I)I52f)i1i1)9)9DEi9*F?2F:FBFP0JFGA>BO >E Will construct direction to contact in vehicle frame from tetrahedron phase data.w,8 A IZc~Gb|uAp (Y|uAy!B5x@Y5[S@5=957>y5H? ŝ?>ǿz2 WP{S?@?dj?ɨ5x@5;5CyMyBM"III٢Ʋ< F=9';Q > G٣yY > Nusing accuracyPremultiplier from config59E?5Yӯ iN™? AE-;:z5B )@OEDNOT Ignoring new targets: 54.10 m. jjj!j!i!h!h!h)h)f)f)rf)bf5?]I]I]I]MR@m= im?Im9 qɚuF5iqIqI}1f)iyiy)y)DV9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F)BF-Z0JF)HaIa Ie #IIeBIa&Ia.Ia6Ie<:Ie FG BA O >zK BHK 9K K =%K BK :K pA] Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,&:A~qRx@Y~8@~R=9~,7>y~HU@?@ɘǿ&#ea? (O9A EG٣AyE E> UNusing accuracyPremultiplier from configQe59U?e5YU$ iUN™u>u;u9} AQU;UѮ;U|5B 4@QEDNOT Ignoring new targets: 54.10 m. jjjjihhhh;Bf Ifrf!bf-`@]>]>]%@].eX@ R=  ?I 9 ɚ5iII2f)ii))ABDM>?:DMm?Will construct direction to contact in vehicle frame from tetrahedron phase data.De9E>E>*F 2F :F BF P0JF "G! G% >G B O >=w,WAB#x@YB^!@B< =9B^7>yBHhg?gǿxHĨ?]?i?ɨB#x@BS";BCyNxBN"IiRa>IR<IVIVʴ٢^4 bF=9b/:Q b>dd fG٣dJlJnJlJlJlJnq:JlJlav@av@av@av@yf v> ~Nusing accuracyPremultiplier from configx~59z?5Yzs izO™9 Axz\:z~:z~5 D@=DNOT Ignoring new targets: 54.10 m. j9j9j9j9i9hAhAhAhAfIfIUWill construct direction to contact in vehicle frame from tetrahedron phase data.rfIbf]@+@]y]y]y]}n4X@< = 隕8?IX9 ɚ 5iII1f)ii)) AIADw9*F?2F:FBFT0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:51:40.3247  TRx dataTimestamp_ set to:1736380301.665367Gu F>B H I  I #II BI =&I .I 6I <:I r FO >w,pqAw@Y @=96>yH`|t?=qǿ ?1h?nk?ɨw@;yiB"IMb@Mb@Mb@ )YS㥻?333333Q뱿y/=\ @)@I@yz@IIbzKk3IKk9KK>%KRK?JK?٢s ,=9QQ > G٣ y L̻  > Nusing accuracyPremultiplier from config59?5Y  i=O™>%;%.% AE;[;5) -+@1UDNOT Ignoring new targets: 54.10 m. jYjYjYjYiYhYhYhaheBfafirfibfm @]>]>]i@]xc@= 隝(?I9 ɚ5iII2f)ii))eWill construct direction to contact in vehicle frame from tetrahedron phase data. ]$?IYD-9*F ?2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 23:51:40.3248 LVL= 18144, 15121, 11842, 23699, AGC= 55, IDX= 450, 0.09, 2.744,-1.682,-0.962,-1.948, PHS=-1.503, 0.313, 0.984, RAW= 254.9, 1.9, CAL= 258.9, 3.0, ROT= 251.1, -3.0 U Ygot valid direction response: 23:51:40.3248 LVL= 18144, 15121, 11842, 23699, AGC= 55, IDX= 450, 0.09, 2.744,-1.682,-0.962,-1.948, PHS=-1.503, 0.313, 0.984, RAW= 254.9, 1.9, CAL= 258.9, 3.0, ROT= 251.1, -3.0 ] PDAT read: Bearing 251.1, -3.0 (Local) ] ~Local bearing/azimuth received: Bearing 251.1, -3.0 (Local) e DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.0 m/s u ,DAT read: user:3511> } BDAT read: Tx time:23:51:41.4482 } $Ping request sent.}  m{? \@ =  ט@) PwV=I =@i PwV   rhC?AyrH >a?aǿ!w? ?k?ɨrw@r2;r Cy]gB]"IImImM٢ )=9§Q > G٣yM M> UNusing accuracyPremultiplier from configQ]59U!?]5YU iUjO™ae.e AQU:U":U5 N@k2ra?k.. k kQA:k3YBBkWBZk@"U:?`:ѾbZ3u."[IHyח?(dlֿ#+֦JkrRkO?**3{F68'@@wԒJ=&?0Fk"kh@*k3kυ]?kK_ 2k(NAk!Sי?kT kEAk1@k?Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:51:41.4474 JJJJJ,:J :JJE addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.525850 s, deltaX: 0.200001 m, approachRate: 0.056724 m/s, rangeRepo size: 4 U Added new target pos. range: 54.299999 m, bearing: 131.526137 deg, lat: 36.905147 deg, lon: -122.119966 deg, deltaT: 3.525850 s, deltaX: 0.200001 m, approachRate: 0.056724 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 54.30 m. jYjyjjihhhhffrf`f&K@bf E?])])])]-F;c@Ff= 隝'?I'9 ɚM5iII1f)ii))2DpA*DqA ID 9E *Fu ?2Fq :Fq BFq JFy G  G rA Will construct direction to contact in vehicle frame from tetrahedron phase data.H)I) I- #II-BI)&I).I)6I-<:I- FGBO] ?Qw,ӴAe0w@Ye٧@e.=9eL:>yeH9? dǿ`= H߬?#@?h?ɨe0w@e<;eCy}eB}"I) AAAzKBHK9KK?%KeMb@Mb@Mb@aaa a)aYeT㥛 ?ktQ뱿ye>e 0ae A e@)e@Ie@aye@IuIu)٢Cλ =9λQ > G٣yse > Nusing accuracyPremultiplier from config59?5YѲ iO™>;0 AE_;;5 k@DNOT Ignoring new targets: 54.30 m. jjjjihhhhBffrfbf@%? Will construct direction to contact in vehicle frame from tetrahedron phase data.]->]->]-@]-+u@=.= 9=R8?I=n9 AɚEv5iAIAIM2f)iIiI)I)QD]9 I*F?2F:FBFV0JFG A>B! O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.Yxw,Ay%XB-"IIMIM6٢mŔ u`=9uQ u>yy }G٣yy > Nusing accuracyPremultiplier from config59Д?5Y iO™ A.;>/;5 D@DNOT Ignoring new targets: 54.30 m. jjjjihhhhffrfbf?]!]!]!]!1 151?I5: 9ɚ=6i9I9IE1f)iAiA)A)ID ʰ9*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.J3K3 K.KK"KJ=J=J9J9J=:J= :J9J9 IG <>B O- >w,MjA2=v@Y2@2c{=928>y2H@h@+?Cǿ nys?`[?!l?ɨ2=v@2L;0yNRBR"IIbIb٢nM rT=9rhQ v>tt zG٣xy~! ~>  Nusing accuracyPremultiplier from config59?5Yi iO™%z% AEZ;7[;j5) 5@1Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.30 m. jjjjih!h!h!h!f)f)rf)bf-a?]]]]4u@c{= .?I|9 ɚL6iII2f)ii)!))BD5F?:D5I?ZHRHAAHB>I I"IIBI! =&I.I6I<:Ig FD EpAEpA*F?2F:FBF0JF"G>GzKmKm9KiKm@%Km- Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>B O > I w,!XAy5TB="IiM=IM> Ua=UR=Mb@Mb@Mb@ )Y7A`?~jtp= ףy>DhA @)p@I@yQ@I-I-)٢=< =5=9EQ E>AA MG٣IyM U> ]Nusing accuracyPremultiplier from configYe59]~?e5Y]ĵ i]O™m %>m;m m AY];]V;]`5uB uo@}TEDNOT Ignoring new targets: 54.30 m. jjjjihhhhBffrfbf@O?] %>] %>]t@]@ =J?I: ɚ!!6iII1f)ii))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFS4JFG] F>B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Sw,3AJJJ0JJ :J:Jـ3Jj6v@Yj*@jaq=9j6>yjH @2H?^ƿ~ 1@K?`P/@?`o?ɨj6v@j2";j"CyvPBv"II~I~ỳ٢   `=9ͻQ > G٣y%c %> -Nusing accuracyPremultiplier from config!559%ڋ?55Y%ݶ i%P™9= E A!%U;%U;%5I M@IuDNOT Ignoring new targets: 54.30 m. jyjyjyjyiyhyhyhhffrfbf`@]]]]@aq= $H?I: ɚ.-6iII2f)ii)) 1I1D%9*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G<>BO >H I  I "II yBI =&I .I 6I <:I x FBIJIRIZI =bI =jID5 w,Z6Aeu@Yew@en=9e6>yeH8T@?߄ƿUo!Q ??Fp?ɨeu@eP͋;eCyuVB}"IMb@Mb@Mb@ )Y333333?~jt?V-y><mA @)@I@y@zK-jIK-9K)K-A%K- ")2nk~G[/ ^F;4-)%",DBK1:K1I=I=i٢M< M8=9U Q U>QQ UG٣Yy]> ]> eNusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.a 59e? 5Yex ie5P™ &> ; ' AeEe~]&>]v">]E@n= 隅L?I: ɚg;6iII1f)ii))2D*DrA !I!D= 9 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:51:43.9247  TRx dataTimestamp_ set to:1736380305.193664*F ?2F :F BF 0JF G pA G pAGA>BO>6w,QUAB~u@YB΁@B6f=9B%6>yBH{@?GƿQu^?|۬ຜ?q?ɨB~u@B;@yNPBN"I)P RAIVIV@٢^ͼ ^;=9bQ b>`` bG٣dyfb f> nNusing accuracyPremultiplier from confighn59j:?n5Yj  ijPP™prr AjEj:j:jҏ5x ~@|%DNOT Ignoring new targets: 54.30 m. j!j!j!j!i!h)h)h1h1f1f1rf1bf=L @]Y]Y]Y]]t@m6f= quJ?Iu(: qɚuH6iqIqI}2f)iyiy))eWill construct direction to contact in vehicle frame from tetrahedron phase data. I) wCD95NGUtAi R*YtAy"B*F?2F:FBFP5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: 23:51:43.9247 LVL= 18064, 15777, 12722, 23155, AGC= 53, IDX= 433,-0.20, 1.866,-2.633,-1.805,-2.878, PHS=-1.451, 0.292, 1.070, RAW= 252.5, 0.8, CAL= 255.9, 1.7, ROT= 254.1, -1.7 U Ygot valid direction response: 23:51:43.9247 LVL= 18064, 15777, 12722, 23155, AGC= 53, IDX= 433,-0.20, 1.866,-2.633,-1.805,-2.878, PHS=-1.451, 0.292, 1.070, RAW= 252.5, 0.8, CAL= 255.9, 1.7, ROT= 254.1, -1.7 ] PDAT read: Bearing 254.1, -1.7 (Local) ] ~Local bearing/azimuth received: Bearing 254.1, -1.7 (Local) m DAT read: Range 10 to 50 : 54.2 m (Round-trip 72.3 ms) speed 0.0 m/s U ,DAT read: user:3512> ] BDAT read: Tx time:23:51:45.0482 e $Ping request sent.e ]w,XoA.`direction in FSK: [0.038766,-0.395357,-0.917709].:publishing transmit ping timeQ.Fpublishing direction and range info 9 Ӑ٣?>CMٿM]]y XB F = 1) sZI 5i ^ > ? @ d< @) CMٿM]]y  ) I i ) I i R;"sX5I֚?ʌגь?) I i u(u@Yu棁@u.b=9u5>yuHC? $ƿ 86ǰ? V?`r?ɨu(u@u"t;u Cyޭ\B޵"III[٢>= +=9Q >11 =G٣9y+ > Nusing accuracyPremultiplier from config59`?5Y irP™U A;#;'5 @k ".?k 8k k  k lA:k XBBk QWBZk &{@" 4 (@hm5ȲH Ӑ٣?>CMٿM]]Jk Rk iŔ?* Obg"=HBf @ZcJ :RſZ]?}6[)"k 2A*k >k |?k  2k eVAk ?k e  k JAk @k _@zKYOKKKB%K\uzcXN@81,% RK ?JK? addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 3.528770 s, deltaX: -0.099998 m, approachRate: -0.028338 m/s, rangeRepo size: 4  Added new target pos. range: 54.200001 m, bearing: 138.298620 deg, lat: 36.905127 deg, lon: -122.119962 deg, deltaT: 3.528770 s, deltaX: -0.099998 m, approachRate: -0.028338 m/s, posRepo size: 4 DNOT Ignoring new targets: 54.20 m. j j j j i h 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:23:51:45.0474 hAhAhAfIfIrfMK@J]J]JYJYJ]:J] :JYJYJ]G > Will construct direction to contact in vehicle frame from tetrahedron phase data.GF>BO?V$w,A2t@Y2aq@2rZ=925>y2H G?@'ſ ʺ@Bc?K@h?%t?ɨ2t@2 ;2Cy>_B>"I]Mb@Mb@Mb@YYY Y)YY]sh|??Q?&1y])>]\=]P]Q@ Y)]-@I]@Yy]@IuIuJ٢}=E< =9Q > G٣yK > Nusing accuracyPremultiplier from config59Á?5Y޽ iP™f5>;7 AE;. ;-5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf@?]f5>]f5>]zT>]‰@-rZ= )-ff?I5W: 1ɚ5}f6i1I1I=2f)i9i9)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data. aIaD'9*F?2F:FBF 1JF= Will construct direction to contact in vehicle frame from tetrahedron phase data.= >= =G B O >+w,dAy5hB5"IIEIEHYIY I]"II]~BIY&IY.IY6I]0<:I]- F٢u,= uC=9}Q }>yy }G٣y > Nusing accuracyPremultiplier from config59f?5Y iP™ A.:q:5 6@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfIq?]]]] j?I: ɚu6iII%1f)i!i))))1DMK9*F?2F:FBFO0JFzKMK9KKC%K Kr3BK:KmA Will construct direction to contact in vehicle frame from tetrahedron phase data.JUJUJQJQJUL:JU/:JQJQJU@ <JUA <JU^;JU^; IG= A>BI Ou >U1w,2ABjt@YB@BC=9BI7>yBH s Z?ſ@@^5?3z`F?s?ɨBjt@B=;@yRtBR"I-Mb@Mb@Mb@))) )))Y-#~j?~jt?/$y-%>-=-,-`@ -\@)-@I-@)y-(@IEIEJ٢Up= M=9ZQ > G٣yԼ > Nusing accuracyPremultiplier from config59 }?5Y< iP™/>; AEa;;͗5 v@DNOT Ignoring new targets: 54.20 m. jjjji!h!h!h!h-Bf)f)rf1bf5 ?uWill construct direction to contact in vehicle frame from tetrahedron phase data.]/>]/>]k>]c׉@C= 隝k?I: ɚ`6iII2f)ii))Dl9*F?2F!:F!BF!JF!GK>BO >% Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I *8w,A:s@Y:E@:?=9:6>y:H k.@?Zſ@`@?@^)?t?ɨ:s@:n;:!CyFBF #IIRIRỳ٢Z> ZV=9Z2Q Z>\\ ^G٣\ybj b> fNusing accuracyPremultiplier from configdj59f{?j5Yf ifP™hjn Adf:f ;fk5p r@pDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f!rf)bf-"?]I]I]I]M@]?= Y]9x?IeY : aɚeiaIaIm1f)iiii)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.DZ9*F]?2FY:FaBFaJFaHyIy I}#II}BIy&Iy.Iy6I}c<:I}R FG B! OE >-=>w,A6 ss@Y6ɀ@6x?=96,5>y6H@:K*?X7ſ R]3`9?@>?Av?ɨ6 ss@6z;6Cy^B^#IzWill construct direction to contact in vehicle frame from tetrahedron phase data.zK WMK 9K K D%K RK>JK>J5J5J1J1J5[:J5B:J1J1J5f<J5g<J5#b;J5$b;Mb@Mb@Mb@ )YʡE?:v?ly><3@ r@)@I@y@IIn٢!= <=9ǸQ > G٣yh) > Nusing accuracyPremultiplier from config59dx?5YS iP™Z$>;@ AE;+;W5  S@ iIiDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf@]mZ$>]mZ$>]mD+>]mo@x?= 隥u?I;: ɚH4iII2f)ii))DEz9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF P0JF G A>B O->kFw,sA6r@Y6Ii@6h:=965>y6Hk?SĿu zM?J?2w?ɨ6r@6|;6CyBBF3#IININ۳٢V = r>=9r=Q v>tx zG٣xyz&ݼ z> Nusing accuracyPremultiplier from config 59u? 5Y iP™ AE;;<5 @MDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf]&@]]]]@h:= 隝;?I: ɚiII1f)ii))-Will construct direction to contact in vehicle frame from tetrahedron phase data. ID h9*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:51:47.5246  TRx dataTimestamp_ set to:1736380308.720541H I  I H#II BI  =&I .I 6I İ<:I FG B O% >A2Lw,'3A2EGr@Y2#3@26=925>y2H"?`jĿR Mʹ?$ѦV?!w?ɨ2EGr@2^;2 CyBńBBN#IiF >IF4<IJIJ[٢Rz= RL=9VQ V>TT ZG٣XyZ Z> ^Nusing accuracyPremultiplier from config\b59^>s?b5Y^N i^P™dfmf A\^ ;^:^5h jf@hDNOT Ignoring new targets: 54.20 m. j j j j i h h hhffrfbf@6 @]]]]؆@6= ?I : ɚiII 2f)i i ) )EWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJL:Jq:JJJ@ <JA <Jk;Jk;zKk3IKu9KKE%K  ID9*FU?2FQ:FQBFUQ0JFQGu F>B O >ASw,vMA*Will construct direction to contact in vehicle frame from tetrahedron phase data.2DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s 2,DAT read: user:3513> 6BDAT read: Tx time:23:51:48.5982 :$Ping request sent.::publishing transmit ping time4(y((NTq@YN @N4=9N5>yNH g?Ŀ@8 ¾@?〦 ?w?ɨNTq@NC';LyZ҄BZ^#IMb@Mb@Mb@ )YV-?~jtL7A`堿yh>D+$@ d@)@Ir@y@IeIeʴ٢?S= (=9Q > G٣y& > -Nusing accuracyPremultiplier from config!-59%?o?55Y% i% Q™5>5;55 A%E%3;%;%5eB e@eWE addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.527205 s, deltaX: -0.100002 m, approachRate: -0.028352 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhׂBffrf K@bf}?]%>]%>]%7]@]%Z}@]4= Y]q}?I]w: Yɚ]4iaIaIe1f)iiii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:51:48.5974 D9 ! I! *FU ?2FQ :FQ BFU P0JFQ GA>BO>Zw,zlA6Dq@Y6E@6e.=965>y6Hy3?ЍĿ `a@?;ѥ ?*x?ɨ6Dq@6O;6CyBBB}#IIJIJm٢R= RD=9RRQ V>jWill construct direction to contact in vehicle frame from tetrahedron phase data.)) -G٣)y5uT 5> =Nusing accuracyPremultiplier from config9E59=k?E5Y= i=Q™AE M A9=;=;=5Q U@QDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf?]]]]|@e.= ?I : ɚiII2f)ii))2D*DqAjHm<bHmp<HyIy I}#II}BI} =&Iy.Iy6I}<:I}y FBIIJIIRIIZIIbIIjIM|4DU9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GqA GzK= KK= 9K9 K= F%K=  I G F>B O >uaw,A2+q@Y2J@2m(=92F&>y2H`O*O?¿ ]ٜ?6 ?g?ɨ2+q@2뭌;2Cy^B^#I)d dfAdmMb@Mb@Mb@iii i)iYmX9v? G٣yy > Nusing accuracyPremultiplier from config59g?5Y i2Q™ >;( A;;礹5 A@ DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf`?]E >]E >]E˼@]E`i@UWill construct direction to contact in vehicle frame from tetrahedron phase data.}m(= y}?I}: ɚiII1f)ii))D 9*F ?2F :F BF ^0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. i JE JE JE 1JA JE ,:JE :JE 3JA aM @aM @aM @aM @ I G 5tA A *Y 5tAy #BG P>B O >hw,A6p@Y6~@6#=96*>y6H*Kg?d%ÿ G,?r`%?`ˈ?ɨ6p@6(q;6Cy>B>#IIJIJ:٢R= RB=9V6Q V>XX ZG٣Xy^P ^> bNusing accuracyPremultiplier from config`f59bc?f5Yb2 ibGQ™df)j AbEb ;bh;b5l n@lDNOT Ignoring new targets: 54.20 m. jjjji h hhhffrfbf?]]]],i@-#= )-χ?I5 : 1ɚ54i1I1IE2f)iAia)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.HYIY I]#II]&BIY&IY.IY6I]#<:I]" FD9*Fe?2Fa:FaBFe`0JFaG  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >-ow,A:.^p@Y:/}~@:o"=9:.>y:H6w:?pÿײTCµ?>? ?ɨ:.^p@:|;:CyB)BB#I TITzKbV$KK`K`KbG%KbMb@Mb@Mb@ )YCl? ףp= ˡEy;=Q'3@ /@)@IS@y@II٢o= 4=9}eQ > G٣y > Nusing accuracyPremultiplier from config59^?5Y| ibQ™>;w= A;;5 @DNOT Ignoring new targets: 54.20 m. jjjji!h!h!h!h-Bf)f)rf)bf-x?]U>]U>]U@]UT@eo"= ae׃?Im: iɚm 5iiIiIu1f)iqiq)q)yBDP?:D'?D͹9EEoAWill construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBFU0JFY"Ge>Ge>G= F>BI Om >vw,A2o@Y2~@2#=922>y2H?qÿ@@u`D?w8?|?ɨ2o@2 ;0y>#IiB>IB>IJIJ=س٢N= R]=9R:Q R>TT VG٣TybZ b> jNusing accuracyPremultiplier from configdj59fYZ?n5Yf ifyQ™ln=r AfEf1;f1;fS5t v@xDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f!rf)bf- @]]]]XT@#= ?Id : ɚiI I 2f)i i))Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J |:J :J ـ3J  IDm9*F?2F:FBFB3JF u Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H I  I #II SBI  =&I .I 6I ~<:I d FG B! O= >3=|w,UANo@YN}@N7#=9N>u5>yNH?@;ÿv`D?!u@?Fy?ɨNo@N0I;N!CyZFBZ#IIfIf٢nC= nH=9rFGQ r>tt vG٣tyvD z> ~Nusing accuracyPremultiplier from configx~59zU?~5Yz izQ™ > Axzq ;z ;z5  G@=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9hAhAhIhIfIfIrfIbfU I@]q]q]q]ufT@7#= 隍?I : ɚ>4iII1f)ii))D}ɺ9*F?2F:FBF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IzK=K=-9K9K=H%K=GMA>BYOu>3w,O Ay=LB=#I]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:23:51:51.0746 eTRx dataTimestamp_ set to:1736380312.248782Mb@Mb@Mb@ )YCl?X9vA`"yY@ E@)Iy@II%٢=< =7=9EQ E>II MG٣)y5 5> MNusing accuracyPremultiplier from config9U59=O?U5Y= i=Q™]->];]#Ge A=E=\;=;=-5i u@uZEDNOT Ignoring new targets: 54.20 m. jjjjihhhh2Bffrfbf@]E->]E->]EΆ@]EJ@q y}f?I}: yɚ}5iyIyI2f)ii))2D*DDۺ9Et>E> Will construct direction to contact in vehicle frame from tetrahedron phase data.JY J] J] 1JY JY J] :J] 3JY I *Fm ?2Fi :Fi BFm D5JFi G pA G GK>BO>.w,,ABao@YB}@B!=9B-6>yBHL?Ŀ5]թ?`]>`v?w?ɨBao@Bg;B CyNQBN#I)P PIVIV٢bf< b;=9b&{Q f>dd fG٣dyj)7 j> nNusing accuracyPremultiplier from configlr59nJ?r5Yn inQ™tvdGv Aln7:n7:n5x z@xDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf8+ @Will construct direction to contact in vehicle frame from tetrahedron phase data.==DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s ,DAT read: user:3514>  BDAT read: Tx time:23:51:52.1482  $Ping request sent. B)OE>Fdw,JAfo@Yf>}@f=9f 7>yfH@W?ÿ`!G@ǿ'?`󰣿#? w?ɨfo@fjċ;fCynNBn#IMb@Mb@Mb@ )Y:v?Zd;X9vy=}@ @)@Iy\@IIW٢m@ $=9 Q > G٣y  > UNusing accuracyPremultiplier from configI]59M$D?e5YM  iMR™0>;sH@ AM EM?]0>]b@]sH@= 隝?I: ɚ 5iII2f)ii))D%9*F ?2F :F BF O5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! J- J- J) J) J- L:J- :J) J) G A>B O >]w,FgA2n@Y2|@2G=92b6>y2Hh ? ÿ~+@`7?`8?y?ɨ2n@2;2 Cy>HB>#IIJIJʳ٢Rۼ RB=9VQ V>TX ZG٣XyZA Z> ^Nusing accuracyPremultiplier from config\b59^??b5Y^ i^*R™dM+H@M A\^<^<^5Y ]@YDNOT Ignoring new targets: 54.20 m. jjjjihhhhf!f)rf)bf-?]i]i]i]m+H@}G= y}?I}3 : ɚ5iII1f)ii))BD9?:D=?}Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<HI I/$II|BI =&I.I6I<:Iq FD9E*F?2F:FBF4JF"G >GE Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii G F>B O >w,WZA6n@Y6|@6=966>y6H `?ÿ@?`9^?@x?ɨ6n@6Kp;4y>CBB#IiFR=IFt>zKmBHKm-9KiKmJ%KmMb@Mb@Mb@ )YS㥛?|?5^㥛 y$>ҽ@ @)K@I&@yp@IIK!٢ 3=9t)Q > G٣y꡻ > Nusing accuracyPremultiplier from config5919?5Ye iWR™L:>;< A!E;-;5 k@ DNOT Ignoring new targets: 54.20 m. j j jjihhhhBffrfbf% ?]EL:>]EL:>]Ey@]E V@U= QU?IU : Yɚ]35iYIYIe2f)iaia)a)D.9*FE?2FA:FABFMP0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >nw,:A6n@Y6|@6t=96Ҥ7>y6H =?@ÿ &@Z??` ࡿ?@w?ɨ6n@6"9;4y>8B>#IIFIF٢N!x R^=9RQ R>TT VG٣TyVW Z> bNusing accuracyPremultiplier from configXb59Zz4?b5YZ iZzR™df%<f AXZ@;Z%;Z5h j"@lDNOT Ignoring new targets: 54.20 m. jjjjihh h h f frfbf`?]1]1]1]5U@t= ʍ?If : ɚ+5iII1f)ii)) }$?I}hWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ?Օo?Jـ3K(3 K(.KK"KJJJJJ,:J:JJD]9*F?2F:FBFJF E Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I "$II rBI &I .I 6I <:I FBIJIRIZI =bI =jI*4G K>B O% >`w,@AJn@YJ|@JZ=9Jgb7>yJH%?@oÿ[ {?`BD? w?ɨJn@J;HyR(BV#IIZIZn٢f fF=9f:Q f>hh jG٣hyj( n> rNusing accuracyPremultiplier from configpv59r,/?v5Yr  irR™tv8<v Ar"Er:rC:rd5~B ~@]E-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h1h1h1h1f9f9rf9bf='@]Y]Y]Y]]yU@mZ= quʉ?Iu : qɚu6iII2f)ii߅>)) 2D*DpA iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.DEEpAzKBoHKKKK%K*F-?2F1:F1BF1JF1G9 G=oAG P>B! O= >˳w, A^Vn@Y^u|@^ص=9^.7>y^H5?Gÿ('C+?u/?xw?ɨ^Vn@^;^CyfBf#I)h hWill construct direction to contact in vehicle frame from tetrahedron phase data.imMb@Mb@Mb@iii i)iYm㥛 ?MbV-ym>mmhm@ m@)mb@Im@iymz@II٢S, ?=9qn:Q > G٣yٻ > Nusing accuracyPremultiplier from config59K*?5Y iR™2>;R+ A;Y;B5 @uDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhqhyhĥBffrfbf@]2>]2>]׻@]/f@%ص= !%{?I-O : )ɚ-#6i)I)I51f)i1i5h>)1)9D%=9*F?2F:FBF0JF iIi) CWill construct direction to contact in vehicle frame from tetrahedron phase data. c~G5 |uAM A u )Y} |uAy} "BG F>B O >w,]Afu,n@YfvK|@f=9f:6>yfHD`}u?`8zÿ@2?@_?@Yx?ɨfu,n@fՊ;f"Cy B #III)٢-d -R=9-Q 5>11 =G٣9y=rջ => ENusing accuracyPremultiplier from configAM59E%?M5YE~ iER™IU+U AE#EE;E;E5a e@aDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@@]]]]ef@= G?I(: ɚ56iII2f)iim>))D-O9-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:23:51:54.6249 5TRx dataTimestamp_ set to:1736380315.789603ZHRH@AHI I$IIYBI&I.I6It<:I] F*F2F:FBFP5JFG>BO > q Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J :J ـ3J J y6HZ]a? Uÿ \L(d???"y?ɨ6m@6;6!CybBb#IeMb@Mb@Mb@aaa a)aYeI +?Q rhye94>eueCe@ e@)e@Ie@aye@I}I}٢ E=9ԺQ > G٣y > Nusing accuracyPremultiplier from config59!?5Y i S™A>; A$E+;f;zKBHK9KKL%Kƾ5 #@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBf f rf bf `~ @]-A>]-A>]-[W@]-{@=A= AE?IEk: AɚEH6iAIAIM1f)iIiM>)I)QBD]??:D]*?D9Ea>E>*F%?2F!:F!BF-5JF)"G5=G5=EWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.0 m/s ],DAT read: user:3515> eBDAT read: Tx time:23:51:55.6983 m$Ping request sent.mB9 OU >w,fAyB#Ii-G>I-=I5I5%x٢E2 EO=9MQ M>II MG٣QyU U> ]Nusing accuracyPremultiplier from configYe59]l?e5Y] i]*S™iim AY]&:]:]5q u@u_E addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.541445 s, deltaX: 0.200001 m, approachRate: 0.056474 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrf`f&K@bf? IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:51:55.6975 ]]]] ?I: ɚ\6iII2f)ii->))!Du]9*F ?2F :F BF E5JF U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iU AH A>I  I #II :BI &I .I 6I <:I | FG5 1с>BA Oe >سw,x9A2(Ym@Y2*x{@2=92U|6>y2HL/?@? ÿ7Z $? q?y?ɨ2(Ym@2Q;2"Cy>B>#IIJIJK٢Rv? RD=9RQ V>TT ZG٣XyZڲ Z> ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^o i^JS™dff A^%E^? ;^ ;^T¹5h j@h DNOT Ignoring new targets: 54.20 m. j j j j i h hhhffrfbf@;|?]9]9]9]=xz@= ;?Ip: ɚo6iII1f)ii{>))A I!Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ2JJL:J:Jc3JJA <JA <JzE;JzE;D}9zK2KKk9KKM%KBK:K*F?2F:FBF35JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.G +m>B O >w,2TA2#m@Y2$&{@2=92U,>y2Hʭ ?}? S@g?q?ɨ2#m@2;2!Cy>B>~#IEMb@Mb@Mb@AAA A)AYE5^I ?/$?y&1yEX>E,=E`eEZ@ E@)E@IE@AyEQ@I]I]b٢e؛ e5=9mZQ m>qq uG٣qyu5 }> Nusing accuracyPremultiplier from configy59}?5Y} i}cS™c>n; Ay}#;}";}MĹ5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhWBffrfbf@Bx?]c>]c>]3I>]J0@ = ?I: ɚ6iII2f)ii.x>)!)!2D-qA*D)DE9EI*F2F:FBFP0JFGqA GmAG~>BOD> YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.> @w,nA6{l@Y6z@6<96/ .>y6H`XX ZG٣\y^3 b> fNusing accuracyPremultiplier from config`f59b?j5Ybr ibyS™hjEj Ab&Eb :bn:bŹ5l r2@p DNOT Ignoring new targets: 54.20 m. j j j j i h hhhf!f!rf!bf%>?]A]A]A]EA@U< Q]ţ?I: ɚ6iII1f)iip>))]Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I#II!BI =&I.I6I<:Iq FD9*Fi2Fi:FiBFm^0JFiGPX}>B m $?Ii O > Will construct direction to contact in vehicle frame from tetrahedron phase data.J1 J1 JU JU JU 1JQ JU ,:JU :JU 3JQ JU <JU <JU C;JU C;w,jAzK":IK"9K K"N%K"RK&?JK&>:l@Y:$z@:ڹ<9:No0>y:H Bk?,1<p?6?`0?ɨ:l@:;:CybBb}#IMMb@Mb@Mb@III I)IYM%C?MbX9?{GzyMZd>Mʡ=M#Mp@ Mz@)M@IM@IyM\@IeIe㔳٢u< u>=9}Q }>y G٣yb > Nusing accuracyPremultiplier from config59r ?5Y iS™u>]; A'EZ;;ǹ5 @bEDNOT Ignoring new targets: 54.20 m. jjjjihhhhGBffrfbff?]u>]u>]mQ>]@ڹ< ?I: ɚ6iII2f)iij>))mWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBFP0JFGm Ţs>Bq O > Y IY 2w,_A>k@Y>y@><9>B?2>y>Hz5q?@@ 1 +.?r(?݀?ɨ>k@>;> CyJBJ#IZWill construct direction to contact in vehicle frame from tetrahedron phase data.IRIRV٢b= fU=9n\Q n>pp rG٣pyrg v> zNusing accuracyPremultiplier from configx~59z ?~5Yz izS™|~+~ Az(Ez:zX:zɹ5 p@ DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfkh@] ] ] ] y@=< 9=?I=B: 9ɚE}6iAIAIM1f)iIiM1d>)I)QBD]P?:D]`?D9eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF]0JFHI I#IIBI =&I.I6I<:I| FG q>B O >w,A6Wk@Y6Y"y@63<963>y6H`]ac? #Cۻ? .S?5?ɨ6Wk@6ԋ;6!Cy>B>#IiB=IB=IJIJ٢R< VC=9V(Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59bk?f5Ybi ibS™dfj A`b* ;b ;bX˹5l n @lDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf'@ qI=Will construct direction to contact in vehicle frame from tetrahedron phase data.JeJeJaJaJe:Je 9JaJaJe4<Je4<JeO>;JeP>;=>=<]!]!]!]%:@e3< aeO?Ie: aɚe}6iiIiIm2f)iqiu]^>)q)qzKK9KKO%KD9*F= ?2F9 :F9 BF= P0JF9  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:51:58.1749  TRx dataTimestamp_ set to:1736380319.317544GU Ug>Bq O >Ќw,RGAyB#I-Eonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 73.75, 59.81, 67.97  E@E E@E E@E  E@E IMIM³٢]V= ]@=9eQ e>aa mG٣iym m> }bBottom track data is 0.4 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq59u?5Yu iuS‘+:3; Au)Euxk;u>u̹5 p@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfY @ 隝?IW: ɚiII1f)iia^>)) I=Will construct direction to contact in vehicle frame from tetrahedron phase data.D*Fi2Fi:FiBFu0JFqG re>B O >w,A>e!j@Y>g@x@>O<9>4>y>H`; ? ׁj?N0@c|? }?ɨ>e!j@> !;> CyJ*BJ#IIRIRm٢ZU= ZN=9^vQ ^>\\ bG٣`yb b> jbBottom track data is 0.8 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59f?n5Yf ifS‘n :ln;nr Af*Ef);fS?f͹5x z@x%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!-Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH1RH1H9I9 I=#II=0BI9&I9.I96I=<:I=z FBIJIRIZIbIjI5hhhffrfbf@b @O< 隭ϸ?I: ɚiII2f)ii3Q>))2DpA*DqAD 9 )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.0 m/s E ,DAT read: user:3516> U BDAT read: Tx time:23:51:59.2483 e $Ping request sent.e B O >@w,܀ABTi@YBsw@B<9B5>yBH@?d-5`?`?@R}?ɨBTi@B 2;@yNBBN#I)P P } } }} }}  } } }Mb@Mb@Mb@yyy y)yY}1Zd?ʡE?~jty}"[>}-=}D}@ }M@)}@I}@yy}z@II@ ٢e= &=9 Q > G٣yм > Nusing accuracyPremultiplier from config59?5Y iT:l>e; A+E; ;"й5 s@- addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 3.779897 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h9}Will construct direction to contact in vehicle frame from tetrahedron phase data.h9hhpBffrfbf˟?]=l>]=l>]=E>]=-@< 隕{?I: ɚ4iII1f)iir H>))D9M NG Y IY u sA *F ?2F :F BF 0JF *Y sAy H"B5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju Ju Jq Jq Ju :Ju :Jq Jq a} @a} @a} @a} @G S>B O > w,+)AJ|h@YJ~w@JM@<9JEL>yJH̍? ¿ +`S?@p? Z?ɨJ|h@Jɯ;HyZbB^$IInIn+٢z|+> zX=9~4rQ ~> G٣ y s > %Nusing accuracyPremultiplier from config-59?-5Y i15*5 A,E4X;a#;ѹ5 m@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrf bf  [?])])])]-@EM@< AE?IE: IɚMiIIIIU2f)iQiUC>)Q)YD9E*FE?2FA:FABFEP0JFAHI I$IIcBI&I.I6I[<:IJ FWill construct direction to contact in vehicle frame from tetrahedron phase data.G- ƉR>B9 O] > Y Ia w,~8CA~Will construct direction to contact in vehicle frame from tetrahedron phase data.›h@Yĺv@~<9I>yH0`Pp?k¿@`w7?i \?~_?ɨ›h@;!CyeBm5$IMb@Mb@Mb@ )Y/$?Zd;?~jthy&1>y=D@ )j@Ir@y@IMIM:٢]= ](=9eo޺Q e>aa mG٣iymG= m> }Nusing accuracyPremultiplier from configy59}?5Y} i}S™;>; Ay};};}ӹ5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf)?];>];>]>]@~< R?IM: ɚiI!I%1f)i!i-?>))))BD5:?:D5F?zKUMKU9KQKUQ%KU Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fm ?2Fi :Fi BFm O5JFi GE D>BQ Om >Pw,\ABvih@YBxv@Bz<9B1rF>yBH@@` ^=9^Q b ?`` bG٣`yf f ? jNusing accuracyPremultiplier from confighn59j`?r5Yj  ijS™pvv Aj-EjG;jG;jHչ5x zM@xDNOT Ignoring new targets: 54.20 m. jj!j!j!i!h!h!h)h)f)f)rf)bf5r?]I]I]I]MU@ez< im8?Im : iɚiiiIiIu2f)iqi}y<>)y)y I Will construct direction to contact in vehicle frame from tetrahedron phase data.J5J5J1J1J5:J5:J1J1D9*FQ2FQ:FYBF]P0JFYG} &D>jH <bH 4=H I  I g$II BI &I .I 6I c<:I O F Will construct direction to contact in vehicle frame from tetrahedron phase data.B O > w,vA6@Bh@Y6Bav@6<96B>y6H@\M`W?O?u+?j?ɨ6@Bh@6|;6!Cy>BB$IIJIJ٢R7= RL=9RQ V>TT VG٣TyZû Z> bNusing accuracyPremultiplier from config\b59^C?f5Y^ i^S™df=f A\^*(;^O;^׹5jB j@neEMDNOT Ignoring new targets: 54.20 m. jIjIjIjIiQhQhQhQhyfyfyrfbf@K?]]]]/@< x?I;: ɚiII1f)ii B;>) ) PExceeded connect timeout, disconnecting. $?ID9%Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FI:FQBFQJFQG]pA G]qAG- =>B9 OU >zK iLK 9K K R%K L#w,AN7h@YNVv@N<9Nf>>yNH PX?_`VG?^u? q?ɨN7h@N ;N"CybBb$I}Mb@Mb@Mb@yyy y)yY}T㥛 ?~jtx?~jtxy}>};}Ļ}@ }d@)}S@I}@yy}@II ٢'> ;=91U:Q > G٣y8ĺ > Nusing accuracyPremultiplier from config59Ꙝ?5Y iS™P>;: A.E`;]UP>]UiB=]U|y@m< im ?Im: iɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.iiII2f)ii:>))2D*DDQ I*F?2F:FBFJF% Will construct direction to contact in vehicle frame from tetrahedron phase data.Ji Jm Ji Ji Ji Jm :Ji Ji G |_>>B O >7w*w,qA61$h@Y63Cv@6I`<96:>y6HWT?Jd?K9?8v?ɨ61$h@6͕;6Cy> B>$I)@ @DFAIJIJ٢RCK> RP=9V@Q V>TX ZG٣XyZD Z> ^Nusing accuracyPremultiplier from config\b59^癜?b5Y^ i^S™dfOf A\^ ;^ ;^ڹ5l n@lDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfY@]]]]y@MI`< IM ?IM: QɚQiQIQI]1f)iqiu 9>)q)DH@>I I$IIBI =&I.I6I+<:I$ FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:52:01.7247 TRx dataTimestamp_ set to:1736380322.846638*F-?2F1:F1BF50JF1G-;>B9OUT>  nManaging dock network, ignoring radio surface power off  I *Y1w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.%"g@Y%$v@%0<9%.?9>y%H:g`C?{F`?ҕ G?|x?ɨ%"g@%;!y=-B=%IMb@Mb@Mb@ )Y/$?A`" rhy=YC )j@I@yIEIE㔳٢]V> ]&=9ez:Q e>ii mG٣iyuq˻ u> }Nusing accuracyPremultiplier from configy59}㙜?5Y} i}S™^=<> A}/E}+;;}49;}ܹ5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhPBffrfbf@" @]^=]^=] @]T@0<  ?I@: ɚiIzK%k3IK%k9K!K%S%K%#)BK):K)I52f)i1i=uD7>)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.D@9*F= ?2F9 :F9 BF= _0JFA IGBO>28w,AZWill construct direction to contact in vehicle frame from tetrahedron phase data.bDAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s b,DAT read: user:3517> fBDAT read: Tx time:23:52:02.7983 j$Ping request sent.j 7=9%Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config592?5Y iS™!)- As<s<޹51 =@9 addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.526395 s, deltaX: -0.200001 m, approachRate: -0.056715 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrf K@bf!?]]]] p?I: ɚiI!I-1f)i)i-7>)))1BD/?:D:?ZHRHHI I5%IIRBI&I.I6Is<:IX FeWill construct direction to contact in vehicle frame from tetrahedron phase data.DR9*Fu ?2Fq :Fq BFq JFq aIaGm8>BqO>H@w,_zA6dog@Y6fu@6<96Ȅ8>y6HG@R?R`=~ASƿ?@X?y?ɨ6dog@6;6 CyNbBNJ%Ii^=I^4< ^=^=IfIfd٢n= n;=9r9Q r>tt vG٣tyz: z> ~Nusing accuracyPremultiplier from configx59zܙ?5YzL izS™ > Axz;z;Will construct direction to contact in vehicle frame from tetrahedron phase data.z5 a@-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1hYhYhYfafarfabfe ?]]]]S@< d?I: ɚiII2f)iiP0>))D *9zKILK#9KKT%K278766-)(&# !  *F?2F:FBF0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GM [8>BY Ou >uFw,d#A:}f@Y:u@:b<9:( .>y:H@?`,~Nqt+?` ???ɨ:}f@:];8yB}BBk%I%Mb@Mb@Mb@!!! !)!Y%{Gz?1ZdV-y%#=%"۽%%@ %M@)!I%r@!y%@I5I5b٢U= UE=9UO Q U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59mٙ?u5Ym imS™u^=};}=(@} Am0Em;mg;m}5 @DNOT Ignoring new targets: 54.20 m. jjjjihhh9h=Bf9f9rf9bfE?]^=]^=]>@]=(@b< 隽R?IL: ɚiII1f)iiZ)>) I)Dr9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFA5JFG]jv2>BqOd>H I  I %II BI &I .I 6I h<:I P FBIJIRIZI =bIjIl5] Will construct direction to contact in vehicle frame from tetrahedron phase data.!Mw,7A6Cf@Y6Et@6<96)2>y6Hdu?¿@"'0N?`=d'?@?ɨ6Cf@6 ;6CyfBfu%II~I~m?٢ ^!=  N=9Q >! %G٣!y%␼ %> UNusing accuracyPremultiplier from config)U59-d֙?]5Y-( i- T™Y]'@] A)-;-+;-:5a e7@iDNOT Ignoring new targets: 54.20 m. jjjjihhhhff rf bf>?]Q]Q]Q]Uh'@e< 隍R?IF: ɚ^4iII2f)ii$>))2D*D IDo9Will construct direction to contact in vehicle frame from tetrahedron phase data.յ?յQ?J)J-J)J)J)J- :J)J)J-@ Bi O >Tw,.rSABt%f@YBvDt@BkJ<9B45>yBH`?@P`` ?`0?^~?ɨBt%f@BW;BCyVBVx%I)X X\^AMb@Mb@Mb@ )Y?x&kty<7  0@ 7@)S@I@yWill construct direction to contact in vehicle frame from tetrahedron phase data.IIʳ٢/< ,=9H:Q  > G٣y %Nusing accuracyPremultiplier from config!-59%ҙ?-5Y%  i%+T™5]>5;5@= A!%a';%%;%M5A E @AmDNOT Ignoring new targets: 54.20 m. jijijijqiqhqhyhyh}Bfyfrfbfs?]]>]]>]Ნ@]@kJ< R?I: ɚ@5iII1f)ii)>)))! ! IGtAD9 %)Y-tAy5!B Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF Y2JF G F%>B O >uZw,FmA:f@Y:1t@:<9:)P6>y:H@k@ ?@?H`<a`?5?|?ɨ:f@:(;:CyFBF{%IININ&ѳ٢Vcx< Vc=9ZP;Q Z>\\ bG٣`ybO b> fNusing accuracyPremultiplier from configdj59fϙ?j5YfY ifDT™ln@n Af1Ef: ;f ;f5rB r@vhEDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f!rf)bf-[)@]I]I]I]M@< 隍?I: ɚ^5iII2f)iiT>))D9*F-?2F):F)BF-P0JF)jH1bH5<H9I9 I=%II=BI9&I9.I96I=.<:I=$ FWill construct direction to contact in vehicle frame from tetrahedron phase data.G57%>BO> i Ii Saw,!A*Will construct direction to contact in vehicle frame from tetrahedron phase data.J+3K+ 3 K+L.K#K#"K#J^J\J^0J\J^:J\J^ـ3J\J^<J^<J\J\yBt%ImMb@Mb@Mb@iii i)iYmS㥛?7A`¿V-ym/ G٣y > Nusing accuracyPremultiplier from config59I˙?5Y, ioT™*$>;@ A;; 5 2@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrf bf @%@]5*$>]5*$>]5@]5{@A AE?IE: ɚ5iII1f)ii>))BDF?:D*?zK]JK9KKV%KWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F 2F :F BF 5JF Y IY GmD>BqO>hw,A2e@Y2s@2/<92*,8>y2H`@^t?8@#?\IB< F=Fp=IJIJ&ѳ٢R RV=9Vl;Q V>TT VG٣XyZ Z> bNusing accuracyPremultiplier from config`f59bǙ?f5YbF ibT™dWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:52:05.2748 TRx dataTimestamp_ set to:1736380326.624764j>@U Ab2Eb&@/< 隽Ⱥ?I: ɚ5iII%2f)i)i-a >)))YH?>I I%IIƆBI&I.I6I{<:I] FD%9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 4JF G 4>B O >pw, A $?I y5qB5\%IIEIEW٢U ],=9]Q ]>Ya eG٣aye e> uNusing accuracyPremultiplier from configiu59mÙ?}5Ym' imT™yy} Aim:m :m5 h@DNOT Ignoring new targets: 54.20 m. jjjjihhhhfIfIrfIbfM@! @]]]] 隥?I:Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 54.2 m (Round-trip 72.3 ms) speed -0.1 m/s ,DAT read: user:3518> BDAT read: Tx time:23:52:06.3483 $Ping request sent.))zKmRIKiKiKmW%KmD9Ei>E*F ?2F :F BF 2JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] Ai] Ae JDAT read: TxSync time:23:52:06.3475 G />B O >Hww,Ay\BC%I qIqMb@Mb@Mb@ )YT㥛 ?T㥛 rhy=C@ ݸ@)Ir@y@II3٢u ,=9Q > G٣y > Nusing accuracyPremultiplier from config59,?5Y iT™. >;[/@ A3EE;mC;5 @- addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 3.528005 s, deltaX: 0.100002 m, approachRate: 0.028345 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h1h9h9h=RBf9fArfEK@bfEʡ?]e. >]e. >]e@]e[/@y y}?I}: yɚ}+6iyII2f)ii ) ) Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F ?2F :F BF P0JF H I  I %II BI &I .I 6I <:I k F Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bi O >pk~w,{A>e@Y>s@>K<9>=>y>H` '`X?`ւ/@??#r?ɨ>e@>؉;> CyJ?BN %IPPIVIV³٢^  ^G=9b[ Q b>`` bG٣`yf" f> jNusing accuracyPremultiplier from confighn59j"?n5Yj ij U™prZ/@r Ahjz:j":j5t v@xDNOT Ignoring new targets: 54.20 m. jjjji!h!h!h!h!f)f)rf1bf5@ia?]I]I]I]MZ/@eK< aeh?Ie: aɚeiaIiIu1f)iqiu>)q)y )I)D}9Will construct direction to contact in vehicle frame from tetrahedron phase data.JUJUJQJQJU|:JU:JQJQJU<JU<JUJ;JUJ;*F?2F:FBFJFzK K u9K K X%K Ge >Bq O >Mw,)<A2e@Y2s@2<92|;>y2Hs%[_?"/< j?`_ +M?u?ɨ2e@2f+;2Cy:.B: %I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y:v?ʡEV-y=-h@  @)@I\@y@IIF٢7 <=9pQ > G٣yU: > Nusing accuracyPremultiplier from config59?5Y i2U™>;E A4Eh;;5 @DNOT Ignoring new targets: 54.20 m. jjj!j!i!h)h)hhBffrfbf@?]]>]]>]]Ų@]]AL@m< 隍?I: ɚ4iII2f)ii>)) )I)D9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF O0JF "G =G =Gm >By O >w,2A6pe@Y6rs@6h<969>y6H`"Ee?`G`?Ut@r? 'x?ɨ6pe@6X6;6CyBBB$IIJIJm٢V VG=9ZQ Z>\\ ^G٣\y^: b> fNusing accuracyPremultiplier from config`f59b0?j5Yb" ibVU™hjEj A`b ;b ;bX5p r@p DNOT Ignoring new targets: 54.20 m. j j j jihhhhffrfbf%`7:?]I]I]IHI It%IIBI&I.I6I<:Ih F]MBL@Eh< IM?IU: QɚUiQIQIe1f)iaie3>)a)iBDuBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,)LAfe@Yhs@ૉ<9Z`8>yH#Of?@?F5 c?mz?ɨfe@I0;騝Cy޵B޵$Ii=Ie> a=Mb@Mb@Mb@ )YS㥛?+p= ףy$>@ ݸ@)IE@y\@II(٢ ,=9Q > G٣yA > Nusing accuracyPremultiplier from config59~?5Y izU™96>;( A5E;c;l5 @kEEDNOT Ignoring new targets: 54.20 m. jAjAjIjQiQhYhhhԂBffrfbf5@zK-BoIK-89K)K-Y%K-l) B|i O >mEpV9 2]m96>]m96>]mt@]m#i@ૉ< 隕?I: ɚQ4iII2f)ii >))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F= ?2F9 :F9 BF= R0JF9 GE  GE "GM GM I  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O>J5J5J1J1J5 :J5:J1J1a=@aE@aE@aE@9$w,YjAv pe@Yvs@v<9v(7>yvH`2_T?Lt`d@Ѽ?@Ր@? {?ɨv pe@vk;ty%؅B-$IIEIEm٢U ]C=9]dQ ]>aa eG٣ayec m> uNusing accuracyPremultiplier from configi}59m{?}5Ym imU™.) Aim(S;mS;m@5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@l@]]]](h@< %?I%: )ɚ-i)I)I51f)i1i5>)1)9HI I)%IIGBI&I.I6I'<:I FBIJIRIZIbI =jIou4EWill construct direction to contact in vehicle frame from tetrahedron phase data.D=9*F ?2F :F BF V0JF B O > I 2w,̓A>zEe@Y>{ds@>t<9>6>y>H`? F?`辿>?@?|?ɨ>zEe@>;>!CyRŅBV$II^I^&ѳ٢fн fY=9fxQ j>hh jG٣hyn => ENusing accuracyPremultiplier from configA]59E͢?e5YE iEU™ae^)e AE6EE>;E-;E5i m @qDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@] ] ] ] h@Et< AE?IE: AɚAiAIIIM2f)iQWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:52:08.8250 TRx dataTimestamp_ set to:1736380330.152476iU>))2D9*D9D9*F?2F:FBFP5JFB!OER>zK,PK9KKZ%K#jG"Dyv8",-bB$ n Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ AiՑ *w,Ad@Yr@.E<9[6>yHXfY?Fu`b ?`z?}?ɨd@; CyBk$I) !!Mb@Mb@Mb@ )Yn?y&1?J +yV>`<Hx@ Ʒ@)@I@y@I  $?IH~GI V!٢=½ E)= M&YQyUuB9E*ŻQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configy59}?5Y} i}U™]>u;4 A}7E};};} 5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhheBffrf!bf% @]}]>]}]>]}_>]}}@.E< 隵?I : ɚ4iII1f)ii4>)) Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed 0.0 m/s ,DAT read: user:3519>  BDAT read: Tx time:23:52:09.8984 $Ping request sent.E >*F= ?2F9 :F9 BF= o0JF9 BQ Om >HE >>IA  IE $IIE BIA &IA .IA 6IE Z<)!)) ID*FM?2FQ:FQBFU@5JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. = 4=G= 2>Bq O >Xw, ;A:R%d@Y:SDr@:;9:3>y:H`ӗ?`A@65 9P?w}1T?`-?ɨ:R%d@:Ӛ;:!CyFBF?$IUMb@Mb@Mb@QQQ Q)QYUp= ף?Ut=UUK@ Q)U@IQQyUz@ImIm٢} }B=9 G٣yP > Nusing accuracyPremultiplier from config59;?5Y iU™>B;B  A8E;;Y5 @DNOT Ignoring new targets: 54.20 m. jjjjihzKOKu9KK[%KQ7(V|UBK:Khhh7Bffrfbf@G?]5>]5>]5Q>]5n@M; IM{?IM%: QɚUT4iQIQI]1f)iYi]>)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.D59 I*F%?2F!:F!BF-{4JF)G ye>B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J :J :J 3J }w,AB+c@YB,q@Bn;9B4>yBH6 N?h7[?[m s??ɨB+c@Bn;BCyNBR5$IIZIZ=٢b ) bX=9bQ f>hh jG٣hyjͨ j> rNusing accuracyPremultiplier from configlr59n?v5Yn inU™tv v An9EnX:n7:n5zB ~W@~pE%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf5?]]]].@n; z?I: ɚV5iII]2f)iYi]=)Y)aZHRH?AHI I$II؅BI! =&I.I7D6I|<:I_ FDU9Will construct direction to contact in vehicle frame from tetrahedron phase data.E *F2F:FBFO0JF  I hG >B O >w,jA6Bc@Y6aq@6#;96J5>y6HS N?0JDu?c``?@?ɨ6Bc@6\;6CyB{BB-$IININJH٢V VC=9ZQ Z>X\ ^G٣\y^k ^> bNusing accuracyPremultiplier from config`f59b=?j5Yb ibU™hj$j Ab:Eb ;b: ;b5l n@p DNOT Ignoring new targets: 54.20 m. j j j j ihhhhffrfbf?]]]]@Will construct direction to contact in vehicle frame from tetrahedron phase data.#; ?I: ɚ R5i I I1f)iip=))D C9*F?2F:FBF_0JF"GR=G=G >BOL>zKELKE89KAKE\%KERKM?JKM?} Will construct direction to contact in vehicle frame from tetrahedron phase data.lw,a A6b@Y6q@6!i:96P5>y6Hn?ۛ`N3?#Q΋?`?ɨ6b@6v1;6 Cy^wB^)$I )I1=Mb@Mb@Mb@999 9)9Y=B`"?)\(?~jty=َ>=G==ļ=5@ =@)=r@I99y=3@I]I](٢}y }1=9^Q > G٣y) > Nusing accuracyPremultiplier from config59񁙜?5Y/ iV™ >0; A;E`F;D;5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhh Bf f rf bfeH?] >] >]uH>]̈́@!i:  ?I 1: ɚ5iII2f)i!i%=)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.JEJEJAJAJE,:JE:JAJADm9*F ?2F :F BF O0JF H I  I $II BI &I .I 6I <:I  F Will construct direction to contact in vehicle frame from tetrahedron phase data.G %>B O>w,H>A>b@Y>ïp@>pw99>5>y>H h`(G?#E@@ަa?N.@? d?ɨ>b@>u;`` bG٣dyf w f> jNusing accuracyPremultiplier from confighn59jz|?n5Yj ijV™prr Ajw, XAzKVBJKu9KK]%K[glM:222=H_yBK&oA:K$yrBr>$ImMb@Mb@Mb@iii i)iYmV-??{Gztymh>m>mףm@ m@)m\@Im@iym@II٢< >=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙ9Q > G٣y > Nusing accuracyPremultiplier from config59v?5Y tIiU™>+; A=Eu ;r; 5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBff rf bf ~H@]->]->]-I>]-P@ ?I: ɚg'6iII2f)ii(=)) aIaD9*F?2F:FBFJFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:52:12.3748 e TRx dataTimestamp_ set to:1736380333.682466Gu =B O >w,srA6a@Y6o@6\4965>y6HC@d?`< G%?`f?Ȗ?d?ɨ6a@6Uz;6CyBBBY$IIJIJ٢r= rO=9vQ v>tt vG٣xyz z> ~Nusing accuracyPremultiplier from config|59~Oq?5Y~ i~U™    A~>E~:~ :~8 5 @MDNOT Ignoring new targets: 54.20 m. jIjQjQjQiQhQhQhYhYfYfYrfabfeq @]]]]'@\4 隕?I#: ɚi>vw,=AU`a@YUbo@U{9U5>yUH \.?Ը$?@{o? l?>?ɨU`a@UX;UCy]B]p$Iim=Im<Mb@Mb@Mb@ )YL7A`?/$?Mb?y+>1><@ @)E@I@yQ@IIԳ٢M= M=9U Q U>QQ ]G٣Yy] ]> eNusing accuracyPremultiplier from configa59ej?5YeY ieU™h>3;H Ae?Ee;e;e 5 Q@sEzK 9NK 9K K ^%K v;{k^UPNJG@82/(!  addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.530890 s, deltaX: -0.200001 m, approachRate: -0.056643 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrf K@bfj,?MWill construct direction to contact in vehicle frame from tetrahedron phase data.]eh>]eh>]e>]ek@u{ qu?I}a: yɚ}} 5i}$5w,A6+a@Y6Jo@6A 96Vv5>y6HUu ?M@~"M?!Au?^??ɨ6+a@6;;6CyBׅBB$IININ٢V > V=9V갻Q V3?XX ZG٣XyZ ^3? bNusing accuracyPremultiplier from config`f59bg?f5Yb ibU™hjj Ab@Eb/;b/;b5p r@p DNOT Ignoring new targets: 54.20 m. j j j j ihhhhffrfbf%?]]]]v?@A ?I9: ɚie Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia Nw,MA6`@Y6n@6#0Ļ965>y6H &?췿 !@+?x?@?`Z?ɨ6`@6;6CyB߅BB$IIJIJ(٢R= RJ=9RQ V>XX ZG٣Xy^t ^> bNusing accuracyPremultiplier from config`f59bb?f5Yb ibU™djj AbAEb3:bv:b5l nq@lDNOT Ignoring new targets: 54.20 m. jj j j i h h hhffrfbf`d?]A]A]A]E<@U#0Ļ YIY ae?Ie%: aɚey4ie=$Gw,TAzK"cOK"-9K K"_%K" R~`@YRn@RTzڻ9R.5>yRHyy? ጷ@ɷ 5 9?@=O{? ??ɨR~`@R;R CyrBr$IWill construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYuuV?S㥻?~jt?yurh>u/=uD <=9̺Q > G٣yS* > Nusing accuracyPremultiplier from config59]?5Y+  iU™ڀ>R; ABE;;d5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhqBffrfbf?]Uڀ>]Uڀ>]U^>]U=@eTzڻ ae?Ie;: iɚmimBw,A6w`@Y6y=n@6YZH8RH:AAH<I< I>%II>)BI>! =&I<.I<6I>+<:I>" F964~5>y6H Q?<+Ov^? }?`C?s?ɨ6w`@6H;6CyR0BR %IIZIZd٢bD> b>=9bŸQ f>dd fG٣hyj` n> rNusing accuracyPremultiplier from configpv59rX?v5Yr  irU™xzQz Apr< ;r ;rF5| ~a@|DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf?]]]]@-Y )-?I-E#: 1ɚ1i5b= Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J B:J ـ3J J <J <J #b;J $b;T'w,kA_@Ym@965>yHA1?moct?~?ߙ?@?ɨ_@ ;騝CyLB/%IMb@Mb@Mb@ )YʡE?Mb?I +?y-2>=94<@ )I@y@II٢= .=9)Q > G٣ya% > Nusing accuracyPremultiplier from config59{T?5Y` iU™.>>; ACE/#;!;R5 @-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h1h1h5Bf1f9rf9bf=`@].>>].>>]Uu>]Ɓ@ ?I: ɚiO w,?+A:;x_@Y:=m@:89:%6>y:H G@\ ?ܶ Izb?`3??~?ɨ:;x_@:d;:CyRxBVe%IiZ=IZ4< XZa=IbIbƳ٢jz> jq=9jRQ j?ll nG٣lyr r? vNusing accuracyPremultiplier from configtz59v>Q?z5Yv ivU™x~Will construct direction to contact in vehicle frame from tetrahedron phase data. AvDEv`;v a;v5  @EDNOT Ignoring new targets: 54.20 m. jAjAjIjIiIhIhIhIhQfQfQrfYbf]@@]q]q]q]u>@8 隍?I+: ɚin;II2f)ii=))D9*F?2F:FBF0JFGR=BO+>H=>IC Ig%IIzBI&I.I6I<:Ia FWill construct direction to contact in vehicle frame from tetrahedron phase data. I ':w,%EAf:_@YfYm@fR9fQ6>yfH`?//>?`K~??~?ɨf:_@f桉;dyB%II-I- ٢=> =C=9=͋9Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59U;M?]5YUE iUU™ae(e AQU":U:U5mB m@mxEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@O@]]]]{@R ?I%: ɚi);II1f)ii=)) Will construct direction to contact in vehicle frame from tetrahedron phase data.Jـ3K3 KT.KK"KJEJEJAJAJE:JE:JAJAJE4<JE4<JEC;JEC;D=9EAEE>*F?2F:FBFj0JF"GG=zK JK -9K K a%K  Will construct direction to contact in vehicle frame from tetrahedron phase data.G =B O >`w,^A2^@Y2m@292M;6>y2Hn?@&@?V~??f~?ɨ2^@2|҉;0y:B:%IMb@Mb@Mb@ )YX9v?Q?~jtx?y=u<;@ )I@yII{٢3> B=9yF9Q > G٣y<' > Nusing accuracyPremultiplier from config59I?5Y iU™=; AEEa;;x5 @ I-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h9h9h=Bf9fArfAbfEz @]e=]e=]ee>]ejt@u qu?I} : yɚyi}WIyI2f)iihi=))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=0JF9G =B OM > w,xAHI I%IIֆBI" =&I.I8D6I<:Iv FF[^@YF]l@Fۻ9FEe6>yFH`?֣W`:?t{??`5~?ɨF[^@F ;FCyN܆BR%ITVAIZIZ٢b.6> b\=9f:Q f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv59rF?v5Yr irU™tvv AprX:r:r5| ~@|%DNOT Ignoring new targets: 54.20 m. j!j)j)j)i)h)h)h1h1f1f1rf9bf= @]a]a]a]e54t@uۻ qu!?Iu&: yɚyi} IyI1f)iih=))uWill construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F?2F :F BF O0JF  I GuX=BO%>- Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J <:J &:J 3J J 5;J 7;J \;J \;[r$w,A%^@Y%l@% mԻ9%6>y%H,?? z? ұ? ~?ɨ%^@%o';%CyuBu&III㔳٢ > 9=9:Q  > G٣y8 > Nusing accuracyPremultiplier from config59^C?5Y iU™  A::5 @DNOT Ignoring new targets: 54.20 m. jjj j i h h hhffrfbf@]9]9]9]=s@U mԻ QU?IU!: YɚYi]?IYIe2f)iaie-z=)a)azKeJKeu9KaKeb%KeRKm ?JKm?Will construct direction to contact in vehicle frame from tetrahedron phase data.D89E I*FM ?2FI :FI BFM P5JFI GQ  GU pA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu Pă=B O >#F+w,VIAy B&IMb@Mb@Mb@ )Yx&?A`"~jtxy7=YĻ@ )\@I@y@IIn٢}= 6=9Q > G٣y > Nusing accuracyPremultiplier from config 59 R@?5Y  i U™c=<C@ A FE ; ;  5! -@)]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhYhahahezBfifirfibfm@]c=]c=]N@]C@ 隥?I: ɚ54i>II1f)iiJ{=))BDL?:D#?H>>I I6&II"BI&I.I6IM<:I8 FUWill construct direction to contact in vehicle frame from tetrahedron phase data.D5&9 I *F ?2F :F BF JF G f=B O >2w,mAF ^@YF?l@F9FV7>yFHH y? >@z%?p??`|?ɨF ^@F[;DyRBR-&IiVhh jG٣hyj3| n> rNusing accuracyPremultiplier from configlv59n`=?v5Yn inU™tvB@z Aln|;n;n"5| ~@| Will construct direction to contact in vehicle frame from tetrahedron phase data.5DNOT Ignoring new targets: 54.20 m. j1j1j9j9i9h9h9hAhAfIfIrfIbfU 2@]q]q]q]uB@% !%$?I%O!: )ɚ-m5i-aI)I52f)i1i5]c=)1)9D}F9*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iG=zKJK89KKc%KBK pA:K B O- >  I 9w,LAF&^@YF(/l@FGo9F7>yFH`M{q?`W`Y?Dm?'?`|?ɨF&^@F;F!Cyb,BbB&ImMb@Mb@Mb@iii i)iYmS㥛?MbX{Gzym/=9:Q > G٣y > Nusing accuracyPremultiplier from config59:?5Y iU™=;@ Ar;;$5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrf!bf% @]]=]]=]]Q@]]ު@Go 隥?I: ɚ5ieII1f)iib=))5Will construct direction to contact in vehicle frame from tetrahedron phase data.JuJuJu0JqJu:Ju:Juـ3Jqa}@a@a@a@D*F2F:FBF%O0JF!HQ IQ  IU &IIU dBIQ &IQ .IQ 6IU "<:IU  FBIɟCJIɟCRIZI" =bI! =jI5Ge @e=Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.A?w,A2]@Y2l@2F692M28>y2HfU nb? 7 `hJ?@f??{?ɨ2]@2;2CyN7BNP&IIVIV٢^f= bZ=9b;Q b>dd fG٣dyf} f> nNusing accuracyPremultiplier from confighn59j~8?r5Yj' ijU™pr@r AjGEj ;j ;jP&5x z@xDNOT Ignoring new targets: 54.20 m. jjjjihhhhff $?Irfbfz|@]9]9]9]=@MF6 IM?IMS%: yɚ}5i}֌IyI2f)iiW[=))2DqA*DD*Fe?2Fa:FaBFe_0JFa5Will construct direction to contact in vehicle frame from tetrahedron phase data.=<=<Ge 'd=B O >(Fw,Ay>BY&I)! !Mb@Mb@Mb@ )YI +?x&19 =G٣AyE E> eNusing accuracyPremultiplier from configYm59]5?u5Y] i]U™}>};}6 @} AY]Eo;]w;]L(5Will construct direction to contact in vehicle frame from tetrahedron phase data. w@zKKKKd%K (|+6 DNOT Ignoring new targets: 54.20 m. jjj j i hhhhBffrfbf@U@]>]>]j@]6 @ f?I: ɚ6i%I!I-1f)i)i-U\=)))) IG!A uYqyuBDug9*F% ?2F! :F! BF% O0JF! M Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J :J $:J 3J GMva=BQOu>`Mw,8A6L]@Y6Nk@6_96#8>y6H[@MX?:U]@?@`??{?ɨ6L]@6I;6!CyZ8BZQ&IIbIbkHxIx Iz&IIzBIx&Ix.Ix6Iza<:IzF F٢e ݼ m6=9m:Q m>qq uG٣qy}B }> Nusing accuracyPremultiplier from configy59}2?5Y} i}U™ @ A}HE}S;};}=*5 @vEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@]]]] @_ ?I!: ɚ26i4II%2f)i)i-W=))))Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍA yID9*Fe?2Fa:FaBFeP0JFi5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G 6a=B O >Tw,8SA2]@Y2k@2sº9218>y2Hj[W?p`Й L?zNX?`~?`{?ɨ2]@2b;2Cy>*B>@&IIJIJ ٢Rw RN=9R:Q R>TT VG٣TyZPR Z> ^Nusing accuracyPremultiplier from config\b59^Z0?b5Y^ i^V™`b @f A\^e ;^ ;^+5h j@hEDNOT Ignoring new targets: 54.20 m. jajijijiiihihihqhqfqfqrfybf} @]]]] @=sº imM?IuJ : yɚ}O6iII 1f)iiMX=)9)iD*F ?2F :F BF o0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zK/MKu9KKe%K IGU 4X=Bi O >ͭZw,dlA Fz]@YF|k@FPκ9F7>yFHZlX?`Lfߚ@$?@Y??|?ɨFz]@F{8;F!CyN#BN7&I-Mb@Mb@Mb@))) )))Y-~jt?M¿J +y-<-n-H) ))-/@I))y-@IEIE٢U UA=9UVhQ ]>YY ]G٣Yye9 e> uNusing accuracyPremultiplier from configiJJJJJ:JU:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.559mR-?55Ym  im V™=>=;=@= Aim]e>]e@]e@Pκ 隕?I: ɚn6i篼II2f)iiX=))jHYbHYHe=>Ia Ie&IIeBIe# =&Ia.Ia6Ie\<:IeA FDm9Eq Will construct direction to contact in vehicle frame from tetrahedron phase data.*F! 2F! :F! BF% _0JF! "G- =G- = I G B O>\tbw,KA>\]@Y>^k@>˭9>Xw8>y>H"]S?Y~ @?yU? ?@n{?ɨ>\]@>8;> CyNBN"&IIZIZ٢^ b9=9b:Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from configlr59n)*?r5YnX  inAV™pr@r AnIEnX:n:n/5x z-@x-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h1h9h9f9f9rf9bfE @]a]a]a]e3@u˭ qua?Iu": yɚ}6i}6IyI1f)iizV=))-Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K k9K K f%K "&$%'+3=ADEFHKIHGDCADECBA@961.&" RK >JK ?  I G ZX=B! O= >ߓhw,'A2]@Y2k@292B8>y2HjZY? Pp@ `?8z`?@?? |?ɨ2]@2M ;2CyVBV%IMb@Mb@Mb@ )YI +?T㥛 y&1y94=`e V@)@I@yf@II٢  8=9 ʺQ  > G٣y: > %Nusing accuracyPremultiplier from config!-59%&?-5Y%y  i%dV™55>5;5@5 A!%;%;%159 =@ADNOT Ignoring new targets: 54.20 m. jjjjihhhh%ABf!f!rf)bf- @]5>]5>]#@]U@ ?I: ɚi II2f)ii2Y=))2D*DpADJ5J5J1J1J5:J5:J1J1MWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fi:FiBFmO5JFiGM X=BY Ou >H I  I &II iBI &I .I 7D6I p<:I P Fִnw,ޮA2]@Y2k@2%92J8>y2H _NR?1੓ e?@d??@{?ɨ2]@2 ;2 CyBنBB%IIJIJk٢R Re=9VwQ V>TT ZG٣XyZ&L Z> bNusing accuracyPremultiplier from config\b59^#?b5Y^  i^V™df@f A^JE^X:^z:^?35h j@h DNOT Ignoring new targets: 54.20 m. j j j j i h hhhffrfbfʟ!@]]]]@% 隭?IC': ɚWill construct direction to contact in vehicle frame from tetrahedron phase data.iǼII1f)iiT=)) ID9EEpA*Fe?2Fa:FaBFmO0JFiGq GuqAGNY=BO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.m =m <uw,wAJ]@YJk@J;,f9J7>yJH{^U?`㶿˾?l?g?|?ɨJ]@JrA;HyrÆBv%II%I%Ƴ٢]ҽ ]@=9mQ u> G٣y9 > Nusing accuracyPremultiplier from config59 ?5Y  iV™@ A\<<*55 @uDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhqhyhyhyfyfrfbfྖ"@]]]]3@5;,f 15f?I5X: 9ɚ9i=*ټI9IE2f)iAiEyU=)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data. IzKkMK9KKg%KBK :K DU9*F ?2F :F BF P5JF u Will construct direction to contact in vehicle frame from tetrahedron phase data.GMZX=BQOm> |w,Ab]@Ybk@b;9b7>ybHjB?g ^n>? lgr?@?@|?ɨb]@b;;`yrBr%IMb@Mb@Mb@ )YʡE?(\µS㥫y-=/]@ ?@)@I@y@II٢ '=9Q > G٣ypŻ >ZHQRHU@AHYIY I]H&II]1BI]$ =&IY.IY6I]<:I] F Nusing accuracyPremultiplier from config59H?5Y  iV™E>;>@ AKEk8;s6;Z75 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBff)rf)bf- #@]uE>]uE>]u M@]u>@; 隭\?I : ɚiII1f)iiJ=))Will construct direction to contact in vehicle frame from tetrahedron phase data. IDM9*F ?2F :F BF JF Je Je Je 0u Will construct direction to contact in vehicle frame from tetrahedron phase data.Ja Je :Je 9:Je ـ3Ja Je 'ᚄw,PA~i]@Y~k@~^$9~=7>y~HwK0?ĵ`i@Om ?yd~?R?@|?ɨ~i]@~Չ;~!CyMBMr%II]I]Գ٢u u6=9uջQ u>yy }G٣yy > Nusing accuracyPremultiplier from config59=?5Yv  iV™>@ A:X:595 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf|Z$@lJTimed out from 2025-01-08T23:42:24.0Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemComms]i]i]i]m >@}^$ y隥O?IU : ɚiII2f)i iR@=))Y Will construct direction to contact in vehicle frame from tetrahedron phase data.Dy9EE $?IzK]RIK]9KYK]h%K]*F?2F:FBF?5JF"G=G>G M=B O% >!.w,.AZS]@YZrk@Z߀9Z6>yZH})?@N<`Q?@ ??s}?ɨZS]@ZH;Z CyfcBfL%I]Mb@Mb@Mb@YYY Y)YY]V-? rh~jty]h>]C ]D]@ ](@)]@I]@Yy]@II<Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ<Ց٢  ;=9vQ > G٣yN > Nusing accuracyPremultiplier from config59C?5Y  iV™c>;1 A/;;;5i m @qDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf+H%@5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l%~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6%]=c>]=c>]=@]=c[`@m߀ qu?Iu: qɚqiqIqI1f)ii<=))H<>I I%IIBI# =&I.I6I <:I FBIJIRIZI# =bI# =jI4DE9M Will construct direction to contact in vehicle frame from tetrahedron phase data. I *F 2F :F BF 15JF G@A=BJJJ1JJJ:J3JJJJI;JI;Will construct direction to contact in vehicle frame from tetrahedron phase data.O.?Ow,wZAyEHBE*%I)I IQUA @ @ @  @ II㔳٢Ɠ <9Q m>Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y m> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59 ?5Y  i#W‘+:; ALEB;A?=5B @|E)! ) aIiGzKKu9KKi%K hYyBDNOT Ignoring new targets: 54.20 m. jjjjihhhhf!f!rf!bf%u&@Q QU!?IUP: Yɚ]!5iYIYIe2f)iaie|==)a)D*F] ?2FY :FY BF] _0JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data.G} A=B O >A"w,QwAyލBލ$III٢n X=9Q > G٣y > bBottom track data is 1.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59b?5Y  i7W‘ :b; AME);?>5jH<bHp<HI I%IIBI&I.I6If<:IJ F  @ =DNOT Ignoring new targets: 54.20 m. j9j9jAjAiAhAhAhhffrfbfz'@ ?I#: ɚi!I)Im1f)iiim/==)i)qD]9Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF3JFG @=B O >w,AJv\@YJ̕j@J&9J0B6>yJH }`?Ѷo8,?B? ? B}?ɨJv\@J.;JCyVBV$II^I^٢f f[=9jǼQ j>hJlJlJrJrJr0JpJrL:Jr:Jrـ3JpJr@ <JrA <JrL;JrL;h zGWill construct direction to contact in vehicle frame from tetrahedron phase data.٣y? > bBottom track data is 1.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y  iLW‘97;2 A|;??5  @1DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfiS(@& T?I&: ɚ%4i!I!I%2f)iIiMB9 =)I)QD;9Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F- ?2F) :F) BF- 0JF) zK} BoHK} 9Ky K} j%K}  G A=B O >w,UA N=\@YN\j@N`@9Nr5>yNH@M@?@A ߿`E?`'??@}?ɨN=\@N;N Cy^B^$I        Mb@Mb@Mb@ )Y?kt?Qyff> =uj@ @)@I@y@IIV٢0O 0=9Q > G٣yV > Nusing accuracyPremultiplier from config594?5YD iJW‘T:"w>[; ANE ;;A5  r@=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hAhAhE BfAfIrfIbfM`()@]m"w>]m"w>]m>]m@ `@  )?I &: ɚTm5iII1f)ii=))MWill construct direction to contact in vehicle frame from tetrahedron phase data.BDM??:DM)?H9I9 I=[%II=pBI=$ =&I9.I96I=c<:I=H FDmJ9*F?2F:FBF2JFG -=B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  I uw,A:p[@Y:r j@:q\9:5>y:H F?q4߿W??`?@1}?ɨ:p[@:~؉;:CybBb$IIjIjỳ٢r v\=9vػQ v>xx zG٣xyz[ ~> Nusing accuracyPremultiplier from config| 59~l? 5Y~ i~HW™ b A~OE~B.;~h-;~RC5B W@~EDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf)@]]]]ހ@-q\ 15?I5x': 1ɚ=5i9I9I=2f)iAiE8<)A)ADMn9*F2F:FBFO0JFJEJEJE1JAJE,:JE :JE3JAJE<JE<JES;JES;]Will construct direction to contact in vehicle frame from tetrahedron phase data.G @=BO>أw,g Ayy}$I IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;?`"?y&1|?yy>=`;S@ @)z@I@y@I5I5٢Eb; E6=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configYe59]?m5Y] i]8W™u}>uB;u4 u A]PE]C;]3A;]IE5y }J@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf*@]}>]}>]Ŵ>]u@ @I&: ɚ\5iII1f)ii<))zKKK-9KKk%KBK:KDj9*FE ?2FA :FA BFE 4JFA m Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH) RH- AAH9 I9  I= /%II= LBI9 &I9 .I9 6I= F<:I= 2 FG Z<B O >zw,A2X[@Y2wi@2Ge92x5>y2H`I?\߿wy??`?`E|?ɨ2X[@2k;2!CyBBB$IIJIJ@ ٢~ ~I=9~JOQ > G٣y J  > Nusing accuracyPremultiplier from config59H똜?5Y i)W™!% % AQE:C:G5-B -R@-EUDNOT Ignoring new targets: 54.20 m. jQjYjYjYiYhYhYhahafafarfibfm`+@]]]] .@Ge 隥?I](: ɚ6iII2f)iiZ<))2D*D M$?IMheWill construct direction to contact in vehicle frame from tetrahedron phase data.D1*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ><B O >\w,g}AJq[@YJr0i@J9Jٳ5>yJH@ m? `޿??^?`{?ɨJq[@J"z;J"CybBb$IIrIr٢e> eE=9m)Q m>ii uG٣qyu* u> Nusing accuracyPremultiplier from config59嘜?5Y iW™  An:L:H5 e@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`r,@]]]]Y @  f?I': ɚ<6iII1f)i!i%Q<)!)! AIID}9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF9JF9zKk3IKu9KKl%KG% 5<Bq O >w,|`0A2Z@Y2h@2A92p5>y2H@@mh?@@5޿@Zt?ؠ??_{?ɨ2Z@2_;2CyNBR$I=Mb@Mb@Mb@999 9)9Y=rh|?x&? rh?y={>=7 >=C<9 =@)=M@I99y=G@IUIU٢eF= eJ=9eջQ e>ii mG٣iyue) u> }Nusing accuracyPremultiplier from configy59}?5Y} i}W™>=;'  AJ3KO3 K(.KK"KJJJ0JJ:J:Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.a@a@a@a@}RE}N=}I=}J5q }k@yDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf`T-@]=>]=>]=_>]=@uA qu@Iu,&: qɚu_6iqIyI}2f)iyiNf<))H;>I I)%IIGBI&I.I6Il<:IN FD 9E 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF JF "G =G =G ӌ<B O >"w,'MA6wZ@Y6h@6x96p5>y6H-@:#?E^`?޿@@@??? ^z?ɨ6wZ@6;6!Cy>B>$I F=F=hhIjIj=س٢rv< r<=9vQ v>xx zG٣xyzC ~> Nusing accuracyPremultiplier from config|59~ژ? 5Y~ i~V™  z  A~SE~;~,;~L5 @5B*** querying acoustic contact ***j9j9MDNOT Ignoring new targets: 54.20 m. jIjQjQjQiQhQhQhYhYfYfYrfabfe.@]]]]o҃@x 隕w@I*: ɚU6iII1f)ii?!<))DWill 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.*F]?2FY:FYBFe0JFaG5 <BAOm5> I M Will construct direction to contact in vehicle frame from tetrahedron phase data.U ,DAT read: user:3520> ] BDAT read: Tx time:23:52:28.7986 ] $Ping request sent.] yJH`!: ?Q޿@$??S?`iz?ɨJX@Z@JA;J CybBf$IzKK9KKm%K}Mb@Mb@Mb@yyy y)yY}Zd;O?p= ף?:v?y}~j>}>}<}@ y)yI}@yy}@II٢1= 2=9Q > G٣ye > Nusing accuracyPremultiplier from config59U՘?5Y; iV™z>H;   ATE;;N5 @EDNOT Ignoring new targets: 54.20 m. jAjIjyjyiyhhhh Bffrfbf/@]z>]z>]-?]z@-1 15G@I5L$: 1ɚ56i1I1I=2f)i9iE;)A)AJJJ2JJ:J :Jc3JWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:52:28.7978 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257565Dm9jH% <bH% <H) I)  I- B%II- \BI) &I) .I) 6I- X<:I- ? FBIJIRIZI$ =bI$ =jI_4*Fe ?2Fa :Fa BFe _0JFa Gi  Gi I uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503616Gy<BO> jw,A6Y@Y6h@6^,96؆5>y6H K'? νݿ@@?C??y?ɨ6Y@6D;4y>-B> %IIFIFF٢= <=9Q > %G٣!y-2/ -> 5Nusing accuracyPremultiplier from config1=595,И?=5Y5! i5V™AE, E A5UE5:5C:5qP5I Mb@Q}DNOT Ignoring new targets: 54.20 m. jyjyjjihhhhffrfbfh/@]]]]@^, 4@I|): ɚiII1f)iiGf;))D9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755971*F%?2F!:F)BF)JF)GU <BO >w,mǟA~Y@Yg@H1'9'>yHlR.?uݿ05??`S?@ċ?ɨ~Y@M;騅!CyޥGBޥ)%I) $?I A%c~G=5tAQ Y5tAy6BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007038Mb@Mb@Mb@ )Y(\?B`"۹?S㥛?yG>=/<&@ @)I@yG@IIa٢m= u=9}uyQ }> G٣y > Nusing accuracyPremultiplier from config59ʘ?5Y $ iV™b>o;  AVE;;R5  @ EzK}jIK}-9KyK}n%K}RK ?JK?DNOT Ignoring new targets: 54.20 m. jjjjihhhhBBffrfbfb0@]%b>]%b>]%>]%@UH1' im@Iy: ɚ5iII2f)iii;))J% J% J% 1J! J% \:J% :J% 3J! e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259371D 9*Fm ?2Fi :Fi BFu V0JFq H I  I z%II BI % =&I .I 6I K<:I 5 FGUO <BaO} ?1w,\AF%Y@YFDg@F19F|.> LILyFHzy? 㣿 ݿp?g6?i?E?ɨF%Y@FZ;FCyVfBVO%II^I^d٢j> jB=9ngȻQ n>ll rG٣pyrϼ r> vNusing accuracyPremultiplier from configtz59vƘ?~5Yv% ivV™|~ ~ AvWEvV;vx;vT5 @ 5DNOT Ignoring new targets: 54.20 m. j1j1j1j9i9h9h9h9hAfAfArfAbfE0@]]]]F@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5110351 隥@Io+: ɚiII1f)ii|))D9*F2F:FBF`0JFGe.A;BqO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762846Cw,"A6X@Y6f@62962>y6Hѓ@]?zܿ A?@V??|?ɨ6X@6;6CyNBNt%IIVIV=س٢zg> zI=9zQ ~>|| G٣y >  Nusing accuracyPremultiplier from config 59 ?5Y ' i uV™ A XE >; p; MV5! %@)UDNOT Ignoring new targets: 54.20 m. jQjYjYjYiYhYhahahafafirfibfmBL1@]]]]1@2 Q@I+: ɚiII2f)iixP))D IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015107*F2F:FBFP5JFzKBoJK9KKo%K)G>F;BO>J% 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=2.2669171w,3A @:hX@Y:f@: 49:q4>y:H``p? :iܿ ?`␦?j?My?ɨ:hX@:ۋ;8yRBR%IiZ=IZR=Mb@Mb@Mb@ )Y#~j?i|?5?~jt?y%>q=<=@ @)IyI I k٢%= %8=9MQ M>II UG٣QyU U> ]Nusing accuracyPremultiplier from configY59]#?5Y]*) i]bV™?2>; AY];];]CX5 @ZH!RH%@AH)I) I-%II-BI)&I).I)6I-<:I- F]DNOT Ignoring new targets: 54.20 m. jYjYjYjaiahahahihmBfifirfqbfu 1@]?2>]?2>] Ӳ>] G{@ 4 隭@I$: ɚ 5iII1f)iiၼ)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519853D9E *F ?2F :F BF 0JF Gu KB O >6w,A2/X@Y2Of@2592[q6>y2H/Z>?W'6ܿ@&`R?0?? ev?ɨ2/X@2Nj;2CyNBN%IIZIZ٢^- > be=9bBQ b>dd fG٣dyfH! j> nNusing accuracyPremultiplier from confighr59j?r5YjE* ijSV™prr AjYEjy;j:jY5x z@x%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf=`v2@]Q]Q]Q]U{@m5 im7@Im0: iɚmiiIqIu2f)iyi})y)Will construct direction to contact in vehicle frame from tetrahedron phase data.>4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771302D*F2F:FBF05JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:52:31.2751  TRx dataTimestamp_ set to:1736380352.600737 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024085G KB O= > w,)AV*X@YVIf@V69V6>yVHG(:? 棿21ܿ@'@?`ۦ?`? u?ɨV*X@Vꪋ;VCyfɆBj%ImMb@Mb@Mb@iii i)iYmʡE?=9 G٣yI > Nusing accuracyPremultiplier from config59䵘?5Y* iJV™=;T( A;;zKYKK-9KKp%K RK?JK>[5 @ DNOT Ignoring new targets: 54.20 m. j j jjihhhhɂBffrfbf%2@]=]=]:=]i@6 @I$: ɚiII1f)i i ,) ) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274941D 9*F ?2F :F BF 5JF HI II  IM &IIM BII &IM HD.II 6IM <<:IM ) F I G% ݗB1 OM >MMw,uEABX@YB3f@B69B7>yBHm&? ܿ*?ݦ??ht?ɨBX@B4;BCJWill construct direction to contact in vehicle frame from tetrahedron phase data.RDAT read: Range 10 to 50 : 54.3 m (Round-trip 72.4 ms) speed -0.1 m/s -RX#Rx 1: Read range message, but no direction.HyJ3YBHyZ׆BZ%IIbIb=س٢zӊ= zE=9~Q ~>|| G٣yHR > Nusing accuracyPremultiplier from config 59 W?5Y + i AV™l( A  : .: ~]5! %@)] addTargetRange:: Added new target pos. range: 54.299999 m, deltaT: 18.916161 s, deltaX: 0.200001 m, approachRate: 0.010573 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 54.20 m. jajajajaiahihihqhqfqfqrfu`f&K@bf}?]]]]1i@6 隭@I): ɚ5iII2f)iiԠ))mPExceeded connect timeout, disconnecting.2DpA*DqADEpAEqAJJJ1JJ:J/:J3JJ;a%J;a-J^;a-J^;a-MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JF"GG=G D&B O >w,`AF^X@YF`6f@F,59F?8>yFH '?@M8` ܿ)g??|?t?ɨF^X@F;F Cy^Bb%IIjIjƳ٢r= vB=9~ Y:Q >  G٣y59 5> UNusing accuracyPremultiplier from configIe59M?u5YM/, iM8V™j( AMZEMH@w,TzA6X@Y6;f@6\m596 8>y6H@},?`B$ܿ(m?ū?`V?@t?ɨ6X@6ߤ;6!CyNBR&IjHYbH]p<HaIa IeU&IIe;BIa&Ia.Ia6Ied<:IeF FUMb@Mb@Mb@QQQ Q)QYUkt?~jtMb`?yU =UU;U&@ U@)Ud@IU@QyU@II٢N= ?=9ƕ8Q > G٣yD: > Nusing accuracyPremultiplier from config59Y?5Y:, i9V™= <SF Aj;Q;3a5 @ DNOT Ignoring new targets: 54.20 m. j j jjihh!h!h%Bf!f)rf)bf-`i?]M=]M=]Mt@]MlK@e\m5 ae?IeG,: aɚe=4iiIiIm2f)iqiu )q)qDU,9*F?2F:FBF_0JF $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data. nManaging dock network, ignoring radio surface power offGᆝB O $w,@A6X@Y63f@6Ws296r8>y6Hg !#?æܿ *`?L?`s?`s?ɨ6X@6;6"Cy^B^&IIfIf٢nB1= nX=9n0:Q r>pp rG٣pyv z> ~Nusing accuracyPremultiplier from config|59~V?5Y~D, i|ZF A|~:~:~b5 @J=J=J9J9J=̶:J= :J9J9J=;J=;J=U;J=U;]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhahahahafifi}Will construct direction to contact in vehicle frame from tetrahedron phase data.rfibf},?]]]]$K@MWs2 IUi@IU(: QɚUy5iQIQI]1f)iYi])Y)aBD/?:D3?DI*F?2F:FBF0JFG G I- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- AGe `6Bi O >*w,RAzK.LK,K,K.r%K.N#X@YNBf@ND19N8>yNH4@/?`%Ƥ+ܿ' ?&?`i?et?ɨN#X@N̉;N Cyn Bn&IeMb@Mb@Mb@aaa a)aYeZd;?Dl G٣y ; > Nusing accuracyPremultiplier from config59N?5Y+ iAV™=<1@ A[E/;;d5 }@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf `l?]=]=]b@],1@D1 p?I%: !ɚ%5i!I!I-2f)i)i53)1)IWill construct direction to contact in vehicle frame from tetrahedron phase data.D5M9HI I&IIdBI&I.I6I$<:I FBI!JI!RI!ZI%% =bI%% =jI%E4*F?2F:FBF_0JF I = Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >y2w,aA6X@Y67f@6.96G8>y6Hٵ$?!ܿ@) ? ե??s?ɨ6X@6KN;6CyBBB&IININd٢^< ^D=9^:Q ^>`` bG٣`yfպ f> jNusing accuracyPremultiplier from confighn59jV?n5Yj+ ijIV™ln1@n Ahj:jq:jf5t v'@tDNOT Ignoring new targets: 54.20 m. jjjjih!h!h)h)f)f)rf)bf5 ?@]]]] 1@. ?I': ɚC5iII 1f)iiW))J5J5J1J1J5<:J5:J1J1J55;J56;J5DG;J5DG;DM_9}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFG ᆝ)  wC ~G tA I 1 BQ Y tAy vB-Will construct direction to contact in vehicle frame from tetrahedron phase data.OM>9w,lxAj#X@YjBf@j ,9j8>yjH@+,?@ r`+ܿ`'?@d??&t?ɨj#X@jq;j Cy=B=$&I)I I-}only read 0 of 1 data item for BIT error. Device response is::TS,25010815534088,35.0, +100, 0  }@ @ @  @ II=س٢Y< #=9ĥ:Q > G٣y: > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59Ş?5Y + iSV‘+:;1@ Ai);?Mh5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfg@% , )-?I-!: )ɚ-#6i)I)I52f)i1i=)9)92DEqA*DEpAzKK9KKs%KuWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F% ?2F) :F) BF- _0JF1 "GE =GE =ZH! RH! H) I)  I- &II- }BI- & =&I) .I) 6I- <:I-  FG gB O >=Aw,5A I :4!X@Y:5@f@:)9:8>y:HYF(?߸)ܿ@g(?`:?? t?ɨ:4!X@:;8yFBF'&IININk٢V%G< VC=9Z:Q Z>X\ ^G٣\y^ɹ ^> fbBottom track data is 0.9 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59bɛ?j5Yb* ib[V‘j :hn;n1@n Ab\Eb6;bk?bi5p r@pmWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf6J@) 隍%@I': ɚD6iII1f)iiʽ))Dm9JJJJJ:J :JJJ;J;JR;JR;% Will construct direction to contact in vehicle frame from tetrahedron phase data.*F) 2F) :F) BF- o0JF) G} S.B O >Hw,!Aj8X@YjWf@j"]'9jGB8>yjH~%;?{>ܿ $$?&?@?u?ɨj8X@jRp;jCyvBv&II~I~ʳ٢   2=9:Q > G٣y%F; %> 5bBottom track data is 1.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config)M59-?U5Y-b* i-cV‘]9Ye;e1@m A)-!<-?-j5 3@ I5Will construct direction to contact in vehicle frame from tetrahedron phase data.uDNOT Ignoring new targets: 54.20 m. jqjqjqjqiyhyhyhhffrfbf] @5"]' 15?I=p!: YɚeAi6iaIaIm2f)iiiuC)q)zKBoHK-9KKt%KDj9*Fu ?2Fq :Fy BF} _0JFy  Will construct direction to contact in vehicle frame from tetrahedron phase data.Hi Ii  Ii Ii Im % =&Ii .Ii 6Im K<:Im 2 FGXBO>DPw,S!AA2;X@Y2Zf@2~$92[8>y2H@ B>&I F=F=        Mb@Mb@Mb@ )YMb?kt~jty@= S@ @)d@I@y@I-I-٢=A =%=9=:Q E>AA EG٣y9 > Nusing accuracyPremultiplier from config59?5Y) itV‘T:s=< .$@  Aw;;l5 c@ )I)MDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhQhUBfYfYrfYbf]@]s=]s=]6ͦ@]+.$@~$ 隕)?I%: ɚ36iII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F}?2Fy:FyBF}p0JFG G] Will construct direction to contact in vehicle frame from tetrahedron phase data.G ,B O >Vw,[AyvBz &IIIT߳٢e\m e@=9eQ m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}]?5Y}") i}V™ A}]E};}y;}n5 -@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf *@]]]] ?It': ɚ6iII%2f)i!i!)!))D! I*F?2F:FBF 5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9G7BO >zK BoIK 9K K u%K -ZS65r! EdD%BK :K \w,øuAfHDX@YfIcf@f!9f 8>yfH`2B?@ Iܿ"? :?`&? u?ɨfHDX@f G٣y: > Nusing accuracyPremultiplier from config593?5Y( iV™= <0@ A;R;p5B @E-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h1h1h1h5Bf9f9rf9bf=N]@]=]=]ì@]0@H!I! I%&II%sBI!&I!.I!6I%0<:I% Fu! qup?Iu_$: qɚu"6iqIyI}1f)iyiH)) ID9U Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe ?2Fa :Fi BFm 0JFi G)B9OU>ҵdw,ABJX@YBif@B!9Bx7>yBH@ëH?Oܿ"?>?? Cv?ɨBJX@BP;B"CyJ߆BN%IIZIZ%٢b bH=9fQ f>dd fG٣dyj: j> nNusing accuracyPremultiplier from configlr59n[?r5Yna( inV™tv0@v Aln :n:nMr5x ~@|%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i)h)h1h9h9f9f9rf9bfE"@]a]a]a]e0@u! qu=?Iu6): yɚ}6iyIyI2f)iiw))Will construct direction to contact in vehicle frame from tetrahedron phase data.D*Fi2Fi:FiBFm@5JFi Iu Will construct direction to contact in vehicle frame from tetrahedron phase data.G} 5B O >jw,ׇA6{BX@Y6|af@6]B 9697>y6H @?``MHܿ# 8??@B? 1v?ɨ6{BX@6l;6!Cyf҆Bf%I]Mb@Mb@Mb@YYY Y)YY]{Gz?i|?5Mby]ף=]q]]@ Y)]7@IYYyYIuIum٢z ?=9::Q > G٣y > Nusing accuracyPremultiplier from config59و?5Y:( iV™2=<@@ A^Ei@;>;,t5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhh܂Bffrfbf@]-2=]-2=]-9@]-K@@]B p?I%: ɚj6iII1f)izKOKu9KKv%KoD4(}wpjgffb\VPJFCA>;::745440/+)('RK>JK?i ))JJJJJ:JJJWill construct direction to contact in vehicle frame from tetrahedron phase data.D9H1I1 I5z&II5ZBI1&I1.I16I5^<:I5@ F*Fq2Fq:FyBF} 5JFy $?I G B O >s%rw,A.Will construct direction to contact in vehicle frame from tetrahedron phase data.FbDX@YFccf@F89F7>yFHQA?ĦJܿ`#5?:?/?v?ɨFbDX@Fw;FCyNˆBN%IIVIVԳ٢b~ bJ=9f|9Q f>dd fG٣hyj9 j> nNusing accuracyPremultiplier from configlr59n?r5Yn( inV™tv@@v AlnP:nq:nu5| ~h@|%DNOT Ignoring new targets: 54.20 m. j!j!j!j)i)h)h)h1h1f9f9rf9bfE!O@]Y]Y]Y]]B@@u8 y}?I}A*: yɚ}6iyIyI2f)iiYO))Du9Ey*F ?2F :F BF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BY Ou >`xw,$A2;X@Y2Zf@2 927>y2H&:?e 5Bܿ`%?`??v?ɨ2;X@2)҇;2Cy>B>%I F=Fp=IfIfʴ٢r rF=9r})Q r>tt vG٣ty~ ~> Nusing accuracyPremultiplier from config| 59~-? 5Y~' i~V™  @@ A|~;~h;~w5 @ 1I1UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiYhYhYhYhYfafarfabfeG@]]]]@@ 隥?I&: ɚ6iII1f)iipt))D]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFzKEOKE-9KAKEw%KE)(%"!      BKa:KaG= ͍BI Oe >JK 3 KL.KK"KJ J J 0J J :J K:J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.~w,AB?)X@YB@Hf@Bgu 9B#7>yBHC)?힦 1ܿ`R)?\ ? ? v?ɨB?)X@B1;@yJBN%IHv:>It IvO&IIv6BIv$ =&It.It6Iv<:Iva FBIJIRIZIbIjIQ4Mb@Mb@Mb@ )Yv/?l~jtyx=D&@ )M@IyG@II@ ٢%T %8=9-9Q ->)1 5G٣1yUZ% ]> eNusing accuracyPremultiplier from configYm59]}?m5Y]*( i]V™=;m> A]_E] ;]S;]y5 @ DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrf!bf%r@]]=]]=]]@]]S@gu 隵@I&: ɚ6iII2f)iiq)) 1I1]Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm9*F ?2F :F BF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G-D&B9OU>lw,A6~+X@Y6Jf@6H~"96t7>y6H@-?`IM3ܿ 2)?kN?? v?ɨ6~+X@6va;4yRBR%II^I^٢f j@=9j㘺Q j>ll nG٣lyrx9 r> vNusing accuracyPremultiplier from configpz59ry?z5Yrb( irV™xzl>~ Apr ;r ;r{5 u@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf` {@] ] ] ] [S@}H~" y}z?I&: ɚ7iII1f)iiV))2D *D qANG|uA !I! %hY%|uAy-A}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiyD9*F ?2F :F BF JF zK KMK u9K K x%K G 圼B O >R`w,8AJJJJJl:J:JJv X@Yv+f@v˸%9v7>yvH, J?WХ ܿ7/ ???v?ɨv X@vg;vCyB%~%I=Will construct direction to contact in vehicle frame from tetrahedron phase data.)I IQUA]Mb@Mb@Mb@YYY Y)YY] rh?{GztMb`y]C >]ף]]S@ Y)]7@IYYy]@I}I}<٢Z =9ɺQ > G٣yp > Nusing accuracyPremultiplier from config59.t?5Y") iV™_ >;. A`EB;;}5 U@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBff rf bf@}@]=_ >]=_ >]=@]=(d@HI I#&IIBI% =&I.I6I <:I F˸% @I#: ɚ 7iII2f)iik))A yIyD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F= ?2F9 :F9 BF= O0JF9 GeݗBqO>cw,JVA6_W@Y6`f@6$&96 +8>y6Hؾ? Uۿ`4@?`jڤ?`?@-u?ɨ6_W@6Y;4y>BBq%IIJIJ٢RD RE=9R1Q V>TT ZG٣XyZa} ^> bNusing accuracyPremultiplier from config\b59^o?f5Y^) i^V™df3.f A\^U";^?';^5nB n@nE DNOT Ignoring new targets: 54.20 m. j j j j i hhhhffrfbf @]9]9]9]=c@M$& Q]s?I]*: Yɚ]7iYIYIe1f)iaie㮼)a Will construct direction to contact in vehicle frame from tetrahedron phase data.)D9 1I1*FA2FA:FABFEP0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.G `6B O >Lܛw,'qAy kBU%IMb@Mb@Mb@ )Yףp= ?Q?{Gzt?y>u<ף;@ @) @IyIIm٢ /=9Q > G٣y > Nusing accuracyPremultiplier from config 59j? 5Y* iV™ >;T& AaE;;5 %V@)zKEJKE9KAKEy%KEeDNOT Ignoring new targets: 54.20 m. jajajajaiihihihihmkBfqfqrfqbfu`Ё!@]>]>]=] k@ 隭@I%: ɚ7iII2f)iizh))BD4?:DS?Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ1JJJq:J3JjH<bHHI I%IIBI&I.I6I<:I FD 39*F?2F:FBFQ0JF I = Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA G B O >zw,Ay gB P%Iiqq uG٣qyq }> Nusing accuracyPremultiplier from configy59}f?5Y}+ i}V™ Ay}` ;} ;}e5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfR"@]]]]! !%?I-*: )ɚ-%7i)I)I51f)i1i1)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.D%09*F?2F:FBF_0JF I G B O% >w,ԀANCW@YNDe@NiF29N7>yNH??`4tۿ7? G??t?ɨNCW@N+u;N CWill construct direction to contact in vehicle frame from tetrahedron phase data.y޵`B޵H%IIEIEV٢aӼ  )=9 hQ  > G٣y-G > %Nusing accuracyPremultiplier from config-59`?-5Y, iV™)-l&5 AbE;;59 =@9eDNOT Ignoring new targets: 54.20 m. jajajajiiihihihihqfqfqrfqbf} H#@]]]]k@iF2 隵Y?I$: ɚ].7iII2f)iiV))zK-BHK-89K)K-z%K-RK=>JK=?DEB9- Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF ^0JF H= 9>I9  I= %II= ֆBI= $ =&I= GD.I9 6I= ^<:I= A F $?I G B O%>zw,5A2EW@Y2Fe@26927>y2H 8?mۿ9@?@ئ??2t?ɨ2EW@2\;2Cy:\B:C%I Mb@Mb@Mb@    ) Y +?~jt?I +?y v>> < 94< =@ @) M@I @ y I%I%k٢-U 5J=95g4Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configAU59EH[?U5YE- iEV™U_@>U;U$U AAEy;E;EG5a eI@a-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h1h9h=\Bf9f9rfAbfE` "$@]}_@>]}_@>]}*g>]}n_m@Will construct direction to contact in vehicle frame from tetrahedron phase data.6 @I(: ɚ67iII1f)ii ))2D*DrAD*F= ?2F9 :FA BFE _0JFA J% J% J! J! J% :J% :J! J! J% 6;a5 J% 7;a5 J% n;a= J% n;a= ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge fBq O >Aw,ܞA6(W@Y6)e@69967>y6H?`Cۿ`:a?n5?`?t?ɨ6(W@6__;6Cy>SB>7%I)@ @DFAInInʴ٢r% v<=9vպQ v>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 59U? 5Y. iV™ $ AcE-;-;-5 @!UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhQhQhYhYfYfYrfabfe$@ qIq]]]]Zm@9 隥?I*: ɚ>7iII2f)iih))D9*F?2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zK JK K K {%K BK :K qA- Will construct direction to contact in vehicle frame from tetrahedron phase data.gew,aAN&W@YN'e@NM>9N7>yNH8? ޙ 1ۿ5>,%?٧??vs?ɨN&W@N';N CyfMBf0%IMb@Mb@Mb@ )Y r?Zd;O?{Gz?yC>j<=ף< @) @I@yG@ZHRH?AH:>I I%IIƆBI&I.I6IX<:I= FII٢ Ҽ  :=9 -;Q  > G٣y6 > %Nusing accuracyPremultiplier from config!-59%O?-5Y%40 i%V™-7J>5;5p5 A%dE%3;%2;%5A E2@EEuDNOT Ignoring new targets: 54.20 m. jyjyjyjihhhhHBffrfbf%@]]7J>]]7J>]]Jr>]]s@mM> 隕@I^': ɚ}G7iII1f)iiYǼ)) qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.DMP9*F ?2F :F BF o0JF G BO5>=w,*A6W@Y6e@6B967>y6H@? !@ۿ7?L/? P??`Es?ɨ6W@6;6CyJOBJ3%IIVIVJvJvJtJtJv:Jv!:JtJtJv;Jv;Jvmy;Jvmy;٢1< ==9 Q >    GUWill construct direction to contact in vehicle frame from tetrahedron phase data.٣ yj > Nusing accuracyPremultiplier from config59J?5Y1 izV™v AET;MV; 5  @uDNOT Ignoring new targets: 54.20 m. jqjqjqjqiyhyhyhyhyffrfbf }&@]]]]Cs@B @I%<(: !ɚ%P7i)I)I52f)i1i5KRɼ)9)9BDE@?:DEH? yIyDMt9*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ͿB O >9w,x7ABQW@YBSe@BK9B"8>yBH@n?fqۿ DZ?|?K?@q?ɨBQW@B-;BCyJJBN-%IiR%=IP R=R=-Mb@Mb@Mb@))) )))Y- r??Zd;O?y)-L=-j<) ))-7@I-@)y)zKEBoIKE9KAKE|%KEIUIU)٢e e.=9m՟Q m>ii uG٣qyu7 u> Nusing accuracyPremultiplier from configy59}SD?5Y}3 i}gV™K>; }  A}eE}a<};} 5 c@]DNOT Ignoring new targets: 54.20 m. jYjYjajaiahahahihmEBfifirfibfu@3'@Will construct direction to contact in vehicle frame from tetrahedron phase data.]K>]K>]>]Сt@K @I8(: ɚX7iII1f)ii ټ))HQIQ IU%IIUBIQ&IQ.IQ6IU-<:IU FBIJIRIZI$ =bI$ =jI<4 ID=q9*F?2F:FBF0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.G EB O5 >aw,1SAy]DB]%%IImIm٢ۼ ;=9Q > G٣y > Nusing accuracyPremultiplier from config59>?5Y~4 iUV™ AfE:~:5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf-(@]]]]) 15?I5*: 1ɚ5`7i1I1I=2f)i9iEb ׼)A)AJmJmJm0JiJmL:Jm+:Jmـ3JiJmP;JmQ;JmƄ;JmƄ;Will construct direction to contact in vehicle frame from tetrahedron phase data.D9EJ>E>)%= %rCG*F2F:FBF1JF $?I  Y y A Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 ټBi O >ow,UoA}pW@Y}e@}8T9}e8>y}HX?矿ۿH@??@?p?ɨ}pW@}1;} CyޕMBޕ1%IMMb@Mb@Mb@III I)IYM-?V-?V-?yM?5>Mm=M G٣y~Z > Nusing accuracyPremultiplier from config59E9?5Y 6 i=V™A>; AgE";7!; 5 ,@DNOT Ignoring new targets: 54.20 m. jjjjihhhh]Bffrfbf J{)@]A>]A>] >]dx@%8T )-)?I-%: )ɚ-i7i)I)I51f)i1i5)9)9zK5BIK1K1K5}%K5Will construct direction to contact in vehicle frame from tetrahedron phase data.D9jH-<bH-<H9I9 I9I9I9&I9.I96I=c<:I=F F*F9 2F9 :F9 BF= _1JF9 Y IY G% ~>ԼB1 OM >w,n܋A:{W@Y:e@:9X9:I7>y:HX`R?žTۿ@F`}?)??q?ɨ:{W@:;:CyFNBF2%I)H HININ٢VC; ZX=9ZCCQ Z>\\ ^G٣\y^: b> fNusing accuracyPremultiplier from config`j59b4?j5YbA7 ib*V™hj j A`b ;b";b5t v@zWill construct direction to contact in vehicle frame from tetrahedron phase data.tDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf"H*@]]]]x@m9X imi?Im*: qɚuq7iqIqI}2f)iyi}ܼ)y)D9J5J5J1J1J5:J5$-:J1J1J5i;J5j;J5;J5;*F2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I IQ G N޼B O >Jw,MA:lW@Y:e@:[9:8>y:H`[`|?@^ۿH?n?}?@^p?ɨ:lW@:j;:CyZMBZ0%IIbIbn٢nN n>=9n˺Q r>pp rG٣pyv v> uNusing accuracyPremultiplier from configi}59m/?}5Ym8 imV™ AmhEm`;mzD;m5B -@EDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`#+@]1]1]1]52x@M[ IM?IU&): QɚUy7iQIQI]1f)iYi])Y)aDAuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JFG B) OE >zK N KK u9K K ~%K !$  RK% ?JK% > Will construct direction to contact in vehicle frame from tetrahedron phase data.$-w,UAHI III&I.I6IA<:I- FZxW@YZȗe@Z"u^9Z97>yZH@z0?xuۿ`uFΏ?$˫?$?p?ɨZxW@Z;ZCynSBn7%IMb@Mb@Mb@ )Yoʡ?S㥫?V-?y->/]= (@)I@yIIT߳٢< ==9NֺQ > G٣y: > Nusing accuracyPremultiplier from config59S+?5Y9 iV™ 8> ;   Aٕ;&;x5 @MDNOT Ignoring new targets: 54.20 m. jIjIjIjIiQ YI]hhYhahahebBfifirfibfm+@]8>]8>]Y>]̅w@"u^ 隥)?IS*: ɚ7iII2f)ii&`ݼ))BD5?:D?D9*F%?2F!:F)BF-P0JF)}Will construct direction to contact in vehicle frame from tetrahedron phase data.GsB O% >Ww,[A6lW@Y6e@6sN`96!8>y6H?s@ۿ KH\? 8?@?o?ɨ6lW@6f2;6CyBUBF:%IiJ=IJ=ININ٢V .< V^=9Z䠺Q Z>XX ZG٣\y^ ^> bNusing accuracyPremultiplier from config`f59bQ'?f5Yb; ibU™hjj AbiEb:b:b5l n@pDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f)rf)bf-,@]I]I]I]Myw@esN` ae?Ie.: iɚm7iiIiIu1f)iqiu^)y)yDU9]Will construct direction to contact in vehicle frame from tetrahedron phase data.]=]%=*F?2F:FBF_0JF IIIG޼BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,rA6qgW@Y6se@6Xa96V8>y6H?Ȝ ~ۿ H0? 3? ?co?ɨ6qgW@61;;6 Cy>YB>?%I5Mb@Mb@Mb@111 1)1Y5M?Zd;O?X9v?y5n>5j<=5<1 5@)5 @I5@1y5=@IUIUk٢e< m?=9mTQ m>qq uG٣qyuEC }> Nusing accuracyPremultiplier from config59Y#?5Y'< iU™>; A;;5 m@DNOT Ignoring new targets: 54.20 m. jjjjihhhhcBffrfbf -@]>]>]X>]t"w@Xa p?I): ɚЈ7iI!I%2f)i!i-mY))))zK rLK 9K K %K BK:KpAJmJmJm1JiJm:Jm*:Jm3Jiau@a}@a}@a}@eWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH)RH-AAH9I9 I=%II=BI9&I9.I96I=P<:I=8 FD9 1I9*F=?2F9:FABFER0JFAGu )B O >؍w,)A2jW@Y2e@2;d928>y2H ?(,ۿ>H???ro?ɨ2jW@24;2C>Will construct direction to contact in vehicle frame from tetrahedron phase data.yBbBBJ%IIJIJ٢RA= RR=9VκQ V>TT G٣!y%9 %> 5Nusing accuracyPremultiplier from config)559-?=5Y-,= i-U™9== A-jE-;-;-5A E@IuDNOT Ignoring new targets: 54.20 m. jqjyjyjyiyhyhyhhffrfbf [.@]]]]&w@;d ?Ip,: ɚٌ7iII1f)ii))2D*DDM9*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data. I G VB O5 > w,(A:}bW@Y:e@:5d9:!^8>y:H`?0`Zyۿ`~I ? ?`?o?ɨ:}bW@:cw;:CyJeBJN%I)P PTVAI^I^Գ٢jz< jH=9nQ7Q r>tt zG٣xy~J > Nusing accuracyPremultiplier from config59?5Y0> iU™ AP;W;q5 @EDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhAhIhIhIfIfQrfqbfu`,9/@]]]]<w@5d K@ID*: ɚ7iIIU2f)iQiU)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.D59*F?2F:FBFo0JFzKE k3IKE 9KA KE %KE JU JU JU 0JQ JU :JU %:JU ـ3JQ RKe ?JKe ?= Will construct direction to contact in vehicle frame from tetrahedron phase data.H 9>I  I %II ˆBI &I .I 6I <:I  FG B O >w,CA ~$?IymBX%IMb@Mb@Mb@ )YHzG?l?y&1?y= >=`<@ (@)z@I@yz@II٢= 3=9Q > G٣y > Nusing accuracyPremultiplier from config59? 5Y4? iU™ -> ;   AkE;y;j5  @EDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhIhIhIhMBfQfQrfQbfU i0@]u->]u->]um>]uYt@ 隕{?I): ɚ7iII%1f)i)i-))))Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F% ?2F! :F! BF% 0JF! GA BY Ou > w,_A2Will construct direction to contact in vehicle frame from tetrahedron phase data.BgW@YBe@B :e9B48>yBH``? }ۿ|H\?p??1o?ɨBgW@Bք;BCyNzBNh%IIZIZ٢^}= ^K=9b!Q b>`d fG٣dyfG: j> nNusing accuracyPremultiplier from confighn59jB?r5Yj@ ijU™prr Ahjh;j;j-5x zT@x%DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h)h1h1f1f1rf9bf=o0@]Y]Y]Y]]_t@m :e iu?Iu*: qɚu7iqIqI}2f)iiW))BD[?:DL? ID*FU?2FQ:FQBFU 4JFY Will construct direction to contact in vehicle frame from tetrahedron phase data. i G}+BO>w,yA2^wW@Y2`e@2RPf92\7>y2H@@?@@ۿ`E?@(Ƭ??o?ɨ2^wW@2#;2!CyB}BBk%IiDIF< J=J=UMb@Mb@Mb@QQQ Q)QYUS㥻?/$?y&1?yU/=U G٣y; > Nusing accuracyPremultiplier from config59?5Y@ iU™=;'# AlEY;a; 5 -@DNOT Ignoring new targets: 54.20 m. j j j j i h h hhBffrfbf30@]==]==]=:D>]=n@MRPf IM?IU(: QJJJJJL:J7/:JJɚU7iII1f)iiAݼ))zKBoHK89KK%K}Will construct direction to contact in vehicle frame from tetrahedron phase data.H:>I I%IIۆBI&I.I6I6<:I$ FBIJIRIZIbIjI3 IDU9*F?2F:FBFP5JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.G VB! O= >%w,vSAy-B-n%IIEIE4٢U$< U?=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configi}59m ?}5YmuA imoU™yy Aim Q;m7;m覺5 @EDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfE M1@]a]a]a]a 隕O?I': ɚ7iII2f)ii3޼))Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ<Օ<D%9G ItA UY]tAy]A*F 2F :F BF F5JF! GE ޼M Will construct direction to contact in vehicle frame from tetrahedron phase data.BY Ou >+w,AMW@YMe@Mmc9M8>yMHL@'?@ 圿@ۿ@ڵ?j?e?n?ɨMW@M;MCy]Be{%IMb@Mb@Mb@ )YRQ?y&1?y=@ ?@)d@Iyp@I-I-̍٢E1= E"=9E:Q E>II MG٣IyU; U> eNusing accuracyPremultiplier from configYe59]/ ?m5Y]A i]^U™m=mI I%IIBI&I.I6I<:I FD}39 I *F) 2F) :F1 BF5 O5JF1 G=  G= "G= G= B O >R3w,A2HW@Y2Je@2b92b8>y2H?7kۿ=!? 3=?? n?ɨ2HW@2x;2 Cy@@DDIJIJK!٢R  R[=9Vp:Q V>TT ZG٣XyZr; Z> bNusing accuracyPremultiplier from config\b59^y?b5Y^IB i^QU™df/f A^mE^L:^ :^5h nQ@lDNOT Ignoring new targets: 54.20 m. jj j j i h h hhffrfbf`%*2@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]A]A]A]EEb@b ?I+: ɚͨ7iII2f)iiм))D*FA2FA:FABFMa4JFIBYO}>Will construct direction to contact in vehicle frame from tetrahedron phase data. I ;9w,;ABJW@YBLe@Bma9BA8>yBH?< yۿ 8@?*?`?o?ɨBJW@Bc;BCyRBR%IIbIb٢j= jH=9r*9Q r>pt vG٣tyvЃ; z> Nusing accuracyPremultiplier from config| 59~|? 5Y~B i~CU™/ A|~);~:;~5! %@)eDNOT Ignoring new targets: 54.20 m. jijijijiiihqhqhqhqfyfyrfybf2@]]]]bb@ma 隵}?IJ): ɚ7iII1f)iiZż))MWill construct direction to contact in vehicle frame from tetrahedron phase data.D]E9*F?2F:FBFP0JFB)O]>zK "MNK 9K K %K  Will construct direction to contact in vehicle frame from tetrahedron phase data. <HA IA  IE &IIE BIE # =&IA .IA 6IE <:IE FG@w,AFW@YFe@F^9FQ8>yFH@?xۿ7?;۫???o?ɨFW@F h;FCy11 IuMb@Mb@Mb@qqq q)qYuMbX9?/$~jt?yuʡ=uu G٣yj: > Nusing accuracyPremultiplier from config59Z?5YB i8U™z=<&@ A;;5 DNOT Ignoring new targets: 54.20 m. jjj!j!i!h!h!h)h-قBf)f)rf1bf5+ 3@]Mz=]Mz=]Mt@]M+Q@e^ ae?Ieu%: aɚe7iiIiI2f)iiļ))BD4?:D?]Will construct direction to contact in vehicle frame from tetrahedron phase data.DS9*Fm ?2Fi :Fi BFi JFi By O >Fw,ZhA6>W@Y6@e@66Z_96!8>y6H v ?`{ۿ R0@? ??o?ɨ6>W@6#9;6 CyNBR%I V=Vp=IZIZ٢bX< b<9fQ f?dd fG٣dyj; j? nNusing accuracyPremultiplier from configlr59n?r5YnB in0U™tv@v Aln:n:n 5x z.@xJJJJJ1JJL:J#:J3JJP;aJQ;aJ};aJ};aDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`g3@] ] ] ] R@-6Z_ )-?I-,: 1ɚ5O7i1I1I=1f)i9i= )9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.DI I*F?2F:FBF0JFG6BO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e Aie ALw,^K6Ay}Bޅ%IMb@Mb@Mb@ )Y~jt?AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59U?]5YUB iU(U™e=e qIqG (BA Ou >Sw,HPA:X@Y:$f@: [9:r8>y:H)0? ܿ`*'T?`??o?ɨ:X@:>;:CyBBB%IIJIJ٢R Ri=9Vr@;Q V>TX ZG٣XyZu; Z> bNusing accuracyPremultiplier from config`f59bE?f5YbB ib"U™dfG@j A`b:b:b5l nX@p DNOT Ignoring new targets: 54.20 m. j j j j i hhhh%Will construct direction to contact in vehicle frame from tetrahedron phase data.ff!rf)bf-b/4@]I]I]I]M+G@] [ Y].?I]P-: aɚe7iiIiIm1f)iqiu=h)q)qDuP9*F?2F:FBF5JFJJJJJ:J7:JJJi;Jj;J;J;G^BYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data. m $?Ii Zw,iAJX@YJ3f@J+Y9J38>yJH``;?`sܿ# ?7"?`?o?ɨJX@J;HyjBn%IIvIv٢~^X< ~E=9˖:Q >  G٣ y #;  > Nusing accuracyPremultiplier from config%59P?%5YB iU™!%G@- A9;8;_51 5+@1eDNOT Ignoring new targets: 54.20 m. jajijijiiihihihqhqfqfyrfybf}4@]]]]G@+Y 隭?I(: ɚ7iII2f)ii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.D]t9*F ?2F:FBFP5JF"Ga=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH 4<H :>I  I &II BI # =&I .I 6I <:I  FzK K u9K K %K   Gu o>B O >= aw,eA23X@Y2Rf@2VW928>y2H@|U?Ǡ`5ܿ? ??`o?ɨ23X@2I;0y:B:%I \I\Mb@Mb@Mb@ )YQ?Zd;O rh?y\=j<C<@ l@)IE@y @II۳٢< 6=97:Q >! %G٣!y%; %> 5Nusing accuracyPremultiplier from config)559-%?=5Y-B i-U™= ==<=m?@= A-oE-;-;-V5A @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf5@] =] =]0u@]m?@VW =?I$: ɚ7iII1f)iiӑ))!Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F] ?2FY :FY BF] 1JFY J J J J J ̶:J $-:J J J ;J ;J ;J ;GdxBWill construct direction to contact in vehicle frame from tetrahedron phase data.O>qehw,i7AV VX@YVuf@V$aW9VҸ8>yVH٤`t?`[Uܿ?? ?o?ɨV VX@VQf;V!Cy%B%%I11I=I= III٢m4= u2=9u89Q u>yy }G٣yy); > Nusing accuracyPremultiplier from config59?5YB iU™?@ Ae:e:]5B "@EDNOT Ignoring new targets: 54.20 m. jjjjihhhhf9fArfAbfE '5@]]]]6?@$aW 隝?I&: ɚv7iII2f)ii))D*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G D&B! Om >nw,*A6gX@Y6f@6T9659>y6H@@ށ?\yeܿK?`??`{o?ɨ6gX@6P;6 CyRBR%IuMb@Mb@Mb@qqq q)qYul?~jtQ?yu=uDuu G٣y/; > Nusing accuracyPremultiplier from config59엜?5YmB i U™<=<a@@ A>;f=;5 |@DNOT Ignoring new targets: 54.20 m. jjjjih h h h Bffrfbf5@]=<=]=<=]=@]=#a@@MT IMf?IU(:HI III$ =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.BIJIRIZIbIjIK4 IɚU 7iQIQIU1f)iYi]@z)Y)YzK,LK9KK%K    iIiDuH:*F2F:FBF P0JF G%qA G%qAGE ~BQ Oi  Will construct direction to contact in vehicle frame from tetrahedron phase data.nuw,A65X@Y67f@63T96{8>y6Hbd?aܿJ`v? ֖?B?TT VG٣TyV< V> ^Nusing accuracyPremultiplier from configXb59Zꗜ?b5YZPB iZU™df@@f AXZ:;Z9;Z5h j@hDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfP6@]]]]̑@@-3T QU@?I]Z(: Yɚe7iaIaI2f)ii)O))J%J%J!J!J%:J%+:J!J!J%4<J%4<J%Ƅ;J%Ƅ;Will construct direction to contact in vehicle frame from tetrahedron phase data.)  G-|uAD5Z: qII Y|uAyA*F2F:FBFO0JFG  ~B O >{w,CA>X@Y>f@>8R9>*9>y>HD? \%Eܿ@$z?0M?@S?o?ɨ>X@>;>CyFBJ%I)L LIRIR<ZWill construct direction to contact in vehicle frame from tetrahedron phase data.ZAiZA٢5 56=95:Q 5>99 =G٣9yET; E> MNusing accuracyPremultiplier from configIU59M旜?U5YM,B iMU™Y]@@] AMpEMQ;M}0;M5i m@iDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf T6@]]]]@@8R M?I&: ɚ]7iII1f)iiC?))Dm:*F2F:FBFJFH1I1 I5&II5BI1&I5HD.I16I5W<:I5< FeWill construct direction to contact in vehicle frame from tetrahedron phase data. I zK LK 9K K %K BK :K G *UB) OU >&w, AyB|%IMb@Mb@Mb@ )Y+?S㥫Mb?y=/]<@ @)@IyQ@II ٢  >=9Q > G٣y > Nusing accuracyPremultiplier from config%59]㗜?%5YB iT™%=% <%>@- A;;51 5<@1]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiahahahihmBfifirfqbfu *7@]=]=];@]p>@ ?I7&: ɚ7iII2f)iiɮB))Will construct direction to contact in vehicle frame from tetrahedron phase data.D:*F] ?2FY :FY BFe P0JFa } Will construct direction to contact in vehicle frame from tetrahedron phase data. I G KB O >ȉw,F )A^X@Y^g@^[R9^,9>y^H +?` aܿ`$It?H?`?o?ɨ^X@^(ɉ;\yv|Bzj%III٢5% 5?=9=8Q =>AA EG٣AyM5< M> UNusing accuracyPremultiplier from configQ]59Uߗ?]5YUA iUT™Y]?@e AQU:U:Usº5i m@qDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@w7@]i]i]i]m?@}[R 隅?I$: ɚ7iII1f)ii))BDM?:D?UWill construct direction to contact in vehicle frame from tetrahedron phase data.Di*F ?2F :F BF JF! J J J J J ̶:J &:J J a @a @a @a @H I  I &II BI &I GD.I 6I 1<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Zw,`EA ,I0RPY@YRog@R{T9R/-9>yRH lpL? ٢4ݿ`u? r?y?o?ɨRPY@RN;R!Cy\\if G٣y0< > Nusing accuracyPremultiplier from config59ۗ?5YA iT™ =;B@ AqE;[;|ĺ5 %DNOT Ignoring new targets: 54.20 m. j!j!j!j)i)h)h)h1h5Bf1f1rf9bf= 8@]U =]U =]U/@]U~B@{T ?I/$: ɚ7iIIM2f)iIiM\f)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.D%z:*F ?2F :F BF JF G R B O >`w,)#cA2vY@Y2g@2$U92M9>y2Hdjn?@@Vݿ`x?`?s?So?ɨ2vY@2;2Cy>pB>\%IIJIJ٢R~Լ R<9RȹQ R>TT VG٣TZWill construct direction to contact in vehicle frame from tetrahedron phase data.y^p; ^> bNusing accuracyPremultiplier from config`f59b,ؗ?f5YbA ibT™hjB@j A`b;bA;bVƺ5l n@pmDNOT Ignoring new targets: 54.20 m. jijijqjqiqhyhyhyhyffrfbf~8@ I]]]]B@$U ?IO#: ɚ57iI!I%1f)iIiM)I)IDeWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm]0JFqG ԑB O >՞w,8~A2Y@Y2g@2eW92t#9>y2HLZ?`&{ݿ!z? ?`?Jo?ɨ2Y@2G;2Cy>eB>N%IMMb@Mb@Mb@III I)IYM&1?Zd; rh?yM=MyMCyy G٣y; > Nusing accuracyPremultiplier from config59ӗ?5Y{A iT™=;.D@ ArE;-;LȺ5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf@H8@] =] =] з@] .D@eW %?I%%: !ɚ%7i!I!I-2f)J=J=J9J9J=:J=\3:J9J9iIiM9)I)Q2DY*DYjH<bH4=HI I%IIBI# =&I.I6I*<:I F-Will construct direction to contact in vehicle frame from tetrahedron phase data.D5: $?I*F?2F:FBFW1JFzK=BHK=u9K9K=%K=GxBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A6Y@Y6g@6Y96F]9>y6HR k?`ڗݿ`H?/??n?ɨ6Y@6B;6!CyBQBB6%I)D DDFAIJIJ³٢Rͽ VY=9VQ Z>XX ZG٣Xy^; ^> bNusing accuracyPremultiplier from config`f59bϗ?f5YbdA ibT™hjND@j A`b:b:bɺ5nB n@rE DNOT Ignoring new targets: 54.20 m. j j j j i h hhhffrfbf N9@]]]]ND@Y ?IY: ɚiII1f)ii:))DE :MWill construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF0JFG >B O% >w,cA>Y@Y>h@>Mm]9>lE9>y>HI@ ?pĢLݿI Í?@6?@?n?ɨ>Y@>W;> CyNHBN+%IIVIV%٢^c0 bH=9b]Q b>`d fG٣dyfG; f> nNusing accuracyPremultiplier from confighn59j˗?r5YjLA ijT™pruD@r Ahj7:j:j˺5t vM@x=DNOT Ignoring new targets: 54.20 m. j9jAjAjAiAhIhIhYhYfafarfabfm@ɸ9@Will construct direction to contact in vehicle frame from tetrahedron phase data.]1]1]1]5PuD@EMm] AE?IM.: IɚM\4iQIQIU2f)iYi]q;)Y)YDq*F?2F:FBF<2JFJUJUJU0JQJU:JU(:JUـ3JQHI I%IIцBI$ =&I.I6I<:I FE Will construct direction to contact in vehicle frame from tetrahedron phase data. I zK K 9K K %K RK ?JK >G 9B O >^̲w,A2 Z@Y2#h@2n_92$9>y2H@\B?eŢ@ݿ``M?`>?`3 ?`m?ɨ2 Z@2[';0y:=B:%IMb@Mb@Mb@ )Y1Zd?)\( G٣y; > Nusing accuracyPremultiplier from config59NǗ?5YIA iT™"=;H@ AsE[;;ͺ5  @ DNOT Ignoring new targets: 54.20 m. jjjjihhhhւBffrfbf-:@]5"=]5"=]5L޹@]5H@n_ 隕?I: ɚa5iII1f)ii@;))BD/?:D?Will construct direction to contact in vehicle frame from tetrahedron phase data.D:*FM ?2FI :FI BFM P5JFI ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] =] = I GU ']?;Ba O >$w,AAR4Z@YRSh@R~d9RhV9>yRH6 ?u 8ݿ?? L?m?ɨR4Z@RNƋ;RCyb-Bb %Iif=If= j=j=IrIrT߳٢~ ~D=95Q > G٣y; > -Nusing accuracyPremultiplier from config!559%×?55Y%GA i%T™9=H@= A!%V;%)f;%zϺ5Q U@QDNOT Ignoring new targets: 54.20 m. jjjji)h)h1h1h1f1f9rf9bf=`:@]y]y]y]}۰H@~d 隵?I: ɚ5iII2f)iiRM;))Will construct direction to contact in vehicle frame from tetrahedron phase data.D)*F?2F:FBFC5JFG ;B O >w,AJJJ J Jl:J7/:J J H,I, I.%II.BI,&I,.I,6I.<:I. FBI!JI!RI!ZI!bI!jI%j4RhUZ@YRjth@R0g9RE9>yRH.:?|p޿V`{?&?`[ ?`l?ɨRhUZ@Rt;RCy^Bb$IWill construct direction to contact in vehicle frame from tetrahedron phase data. qIyMb@Mb@Mb@ )YX9v?I +~jt?y=94<-@ Ʒ@)@I@y@I5I5٢Mq M.=9MQ M>QQ UG٣Qy]; ]> eNusing accuracyPremultiplier from configam59eབྷ?m5Ye|A ieT™u!>u;u@u AetEe;eD;eѺ5y }@y%DNOT Ignoring new targets: 54.20 m. j!j!j)j)i)h)h)h1h5ÂBf1f1rf1bf=;@]}!>]}!>]}&@]}QCQ@zKjIK-9KK%K(C BK:K0g  ?I: ɚ5iII1f)ii<))DE:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF F5JF Go;B)OE>w,!A2"Z@Y2$h@2l92#o9>y2H`#`f? `B޿a?Y??`l?ɨ2"Z@2;2 Cy> B>$IIFIFn٢NTѽ NF=9RUQ R>PP RG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b59^R?b5Y^A i^T™`f@f A\^:^:^TӺ5h j=@h~DNOT Ignoring new targets: 54.20 m. j|jjjihhh h f f rfbf_{;@c~G=Will construct direction to contact in vehicle frame from tetrahedron phase data.EtAY yIy YtAySA]]]]GqQ@Ml IM?IMG: QɚUiQIQI]2f)iYi] G:<)Y)a2D*DD+: Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF O5JF G^n;BO>Y"w,@AVZ@YVh@V>9v9VK9>yVH @?􀡿޿1z? i®?k?k?ɨVZ@V);V!CybBb$I)d fAfAfAmMb@Mb@Mb@iii i)iYmK7?mtmף G٣y+< > Nusing accuracyPremultiplier from config59R?5YB iT™}>;; AuE/;{;պ5 =@HI I%IIBI&I.I6I<:I F IWill construct direction to contact in vehicle frame from tetrahedron phase data.-DNOT Ignoring new targets: 54.20 m. j)j)jAjAiAhAhIhIhMBfIfQrfQbfU o<@]u}>]u}>]u@]ulW@>9v 隭3?I: ɚ4iII1f)iiO<))DzKKK89KK%K*FQ2FQ:FQBFUP0JFQG s%<B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.UGw,UZA2Z@Y2i@2z92̯9>y2H`?V?_޿5r?`Y?` ? j?ɨ2Z@2;2CyNBR$IIZIZ٢bW  bZ=9bIQ b>dd fG٣dyjȑ; j> nNusing accuracyPremultiplier from confighr59j?r5YjfB ijT™pr:v Ahj-;j;j8׺5x z@zEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf\<@]1]1]1]5z3W@Ez IM?IMC: IɚMiIIIIu2f)iqiu<)y)yD4:JJJJJJf4:JJJ;aJ;a J֌;a J֌;a *FE?2FA:FABFAJFA $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.G]y<BiO[>rw, 3tA2$[@Y2Ci@22929>y2H@@?2㠿޿f?? ? j?ɨ2$[@2^;2Cy^хB^$IIfIf{٢n) rH=9rUQ r>tt vG٣tyv; v> Nusing accuracyPremultiplier from config|59~6?5Y~B i~T™  :  A~vE~q:~.:~ٺ5 @}Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jj!j!j!i!h!h!h)h)f)f)rf)bfu@n<@]]]]_W@2 ?Ic: )ɚ-~4i)I)I51f)i1i=p<)9)9BDE:?:DEL?D:EqAEHI IU%IIkBI&I.I6I<:I F*F?2F:FBFO0JF I- Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BIK K K %K  G RD<B O >>w,,AFC[@YFbi@Fr9F89>yFHi ?hd M޿]?@nk?@?@2i?ɨFC[@F;F CyNBNw$IiR=IR= V=Va=Mb@Mb@Mb@ )Y7A`?Q~jt?y>u<K@ Ʒ@)@I@yII٢\ 6=9gQ > G٣y; > UNusing accuracyPremultiplier from config]59?]5Y^C iT™]J>e;e1e A<1;ں5y }h@yDNOT Ignoring new targets: 54.20 m. jjjjihhhhiBffrfbfj9=@]J>]J>]@]Ya@r 3?I: ɚiII 2f)i i *<) )Will construct direction to contact in vehicle frame from tetrahedron phase data.D:*F] ?2FY :FY BFY JFY J J JK3KKO3 KCKCKC"KCJ J J J J :J J1:J J a @a @a @a @ 9 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data.G <B O >"ww,A6d[@Y6i@6969>y6H[:?< ߿@T%0?࿰?H ?Mh?ɨ6d[@6;6"CyBBB`$IIJIJm٢Rĭ RE=9VXX ZG٣Xy^x; ^> bNusing accuracyPremultiplier from config\b59^N?=5Y^C i^T™9=0E A^wE^<^<^ܺ5I M@IDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf=@]]]]'a@ ?I: ɚg4iII1f)ii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.DMB:*F?2F:FBF[0JFG 7ͤ<H I  I %II =BI # =&I .I 6I <:I  FB1 OU >^w,A 8I86[@Y6i@696}9>y6H@^?ꞿ"߿J@A?S/??g?ɨ6[@6;6CyFBFI$I Will construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%MbX9?~jt?V-?y%!>%D<%<%@ !)%@I%@!y%@II?٢ 9=9i|Q > G٣y; > Nusing accuracyPremultiplier from config59]?5YD i}T™$>;% Ar;;޺5 @-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h1h9h=XBf9fArfIbfMo>@]m$>]m$>]m?=]m]l@} 隅?I: ɚoT5iII2f)iiTC<))2D*DpAzK؉LK9KK%K"   "%$"# !!#! DK:E]>E>*F}?2Fy:FyBF}_0JFy"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.G Fթ<B O >3w,A2B[@Y2Di@2929>y2H@{?kO<߿]ByT?@{??f?ɨ2B[@2Í;2 CyZpBZ $I)\ ^AIbIbT߳٢n+ nS=9nEQ n>pp rG٣pyr<; v> zNusing accuracyPremultiplier from configt~59v ?~5YvE ivlT™|~%~ AvxEv6;v:ve5  @ DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfgw>@]A]A]A]E{l@} 隅?I: ɚJJJ1JJl:J+:J3JiII1f)i Iib<))Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F?2F:FBF1JFG \<B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,VA:;[@Y:=i@:*s9:`9>y:H ]?2AY߿9 9g?? K?@^f?ɨ:;[@:;8yFkBF$IIRIRb٢Z ZM=9^Q ^>`` bG٣`ybp; f> jNusing accuracyPremultiplier from configdj59f?n5YfF if[T™ln%n Adf ;fG;f#5t v@tDNOT Ignoring new targets: 54.20 m. jjjji!h!h!h!h!f)f)rf)bf- >@]I]I]I]Ml@]*s ae?Ie: aɚeH4iaIaIm2f)iiim <)q)qD:*F?2F:FBF5JFZHARHE?AHM;>II IM$IIMBII&II.II6IM-<:IM F IWill construct direction to contact in vehicle frame from tetrahedron phase data.GM V<BY Ou >zK% +MK% 9K! K% %K% } PExceeded connect timeout, disconnecting.w,K;A:[@Y:i@:葽9:9>y:HH:?}yf߿@3΄?`9? ?`e?ɨ:[@:.;:CyFTBF#I}Mb@Mb@Mb@yyy y)yY}w/?Mb? rh?y}&>}@=}C =}@ }@)}@Iyyy}\@IIT߳٢ѽ <=94Q > G٣y; > Nusing accuracyPremultiplier from config59:?5YG iCT™*1>;e AyEr;; 5B y@EWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhh0BffrfbfN?@]=*1>]=*1>]=>]=y@葽 隕?I: ɚiII1f)iip<))BDD?:DF?D:E $?IJJJ0JJ:J#:Jـ3J*Fe ?2Fa :Fi BFm 1JFi Gq  Gq  Will construct direction to contact in vehicle frame from tetrahedron phase data.G %<B O > w,%y1A6[@Y6j@696w9>y6H ?om`t߿`)?n??`d?ɨ6[@6B;6CyBCBB#IiFTX ZG٣Xy^; b> fNusing accuracyPremultiplier from configdn59f?n5Yf.I if,T™ln>n Adf,;f,;f5t v@tDNOT Ignoring new targets: 54.20 m. jjjjihhhhff rf bfz?@]Q]Q]Q]Uy@e y}?I}D: yɚ}4iII2f)ii'J<))Will construct direction to contact in vehicle frame from tetrahedron phase data.ՅAiՁDul:*F ?2F :F! BF% 4JF! H I  I $II ݅BI &I .I 6I 5<:I & FBIiJIiRIiZIm# =bIm# =jIm4  I! 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge <Bq O >Sw,MAB\@YB&j@B9B9>yBHW?aZ߿0& ??@h?cc?ɨB\@B%;@yJ8BJ#IzK V$KK 89K K %K Ou||}{{wxxtsnokaUMJF@8411+)&$"! EMb@Mb@Mb@AAA A)AYEQ?ʡE?I +?yE(>E=E94=E@ E @)AIE&@AyE@IUIU٢eH m.=9mrOQ m>qq uG٣qyu.: }> Nusing accuracyPremultiplier from configy59}˅?5Y}J i} T™?>;] A}zE}};};}5 C@ EnManaging dock network, ignoring radio surface power offMDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhQhUBfYfYrfYbf] n@@]?>]?>]>];@ 1}?I}: ɚR5iII1f)iiE<))DUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF-0JF)G N<B O >) F=  wC NG I h  $ww,cgAJJ J J J|:J J J FYy3AN\@YN5j@N+ۚ9N1z9>yNH@4?7i߿@!` ?V??b?ɨN\@N2;NCyZ*BZ#I^Will construct direction to contact in vehicle frame from tetrahedron phase data.InIn٢zx zS=9= dQ =>AA EG٣AyM; M> eNusing accuracyPremultiplier from configYm59]@?m5Y]UL i]S™I AY] <] <]5 @EDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhAhIhihifqfqrfqbfu\L@@]]]]@+ۚ T?IL: ɚk5iII2f)iiޟ<))2D*DqADe:*F2F:FBFP0JF"G=G=mWill construct direction to contact in vehicle frame from tetrahedron phase data.G B) OE >^ w,LA`\@Ya>j@,9-E9>yH@4@?͗מ߿? ??Bb?ɨ`\@ o;騍 CyB#I) jH<bH<HI Iz$IIBI&I.I6I<:I F qIyMb@Mb@Mb@ )Yw/? ףp= ?A`"?y&>Q=Y=x@ )@IS@y@II٢P /=9mt_Q m>qq uG٣qyu: }> Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59[~?5Y)N iS™=F>;  A{E==5 @ DNOT Ignoring new targets: 54.20 m. j j jjihhhhBffrfbf`}@@]M=F>]M=F>]MG&?]M@, 隅f?IF: ɚ5iII1f)iiQ<))DzKHNK9KK%K *F 2F :F BF JF } Will construct direction to contact in vehicle frame from tetrahedron phase data.} Aiy G) B9 OU >'w,|A2"\@Y2#3j@2 ]929>y2Hc 6?Aۖ`n߿ ? c??>a?ɨ2"\@2;2!Cy>#B>#IIJIJ٢Ri< Ra=9VIQ V?TX ~G٣|y >  Nusing accuracyPremultiplier from config 59 o{?5Y O i S™  A |E j<; <; N5! -@)UDNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhYhYhahafafarfibfm@@]]]]w@ ] 隥?I$: ɚf5iII2f)ii%<))D: iIi*F}?2F:FBF_0JFJ@AJ@AWill construct direction to contact in vehicle frame from tetrahedron phase data.Gec=BO>/-w,OA2\@Y24j@292 9>y2H :@2?{߿?@\?-?a?ɨ2\@2o;2Cy>&B>#IIFIFʴ٢N~< RK=9RbWQ R>TT VG٣TyVg9 V> ^Nusing accuracyPremultiplier from config\b59^6x?b5Y^ Q i^S™`b b A\^:^C:^5h je@jE~DNOT Ignoring new targets: 54.20 m. jjjjih h h h ff=Will construct direction to contact in vehicle frame from tetrahedron phase data.rfbfq@@])])])]-@] aef?Ie: aɚe6iaIaI1f)iiq<))BD9?:DL?HI I[$IIBI&I.I6I@<:I/ FD5: aIiJJJJJ\:J:JJJ-4w,D0A2w[@Y2xj@2ꊤ92-9>y2H`H`?i`v߿'??_?l`?ɨ2w[@2P;0y:.B:#Iib=IbC=mMb@Mb@Mb@iii i)iYmS? ףp= ?i|?5?ym>imq=m@ m@)iIm=@iym @II%٢ = ,=9VƺQ > G٣yِ > Nusing accuracyPremultiplier from config59t?5YR i_S™=>;i A}Ed;Rl;5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf`S%A@]==>]==>]= ?]=Dۄ@MWill construct direction to contact in vehicle frame from tetrahedron phase data.ꊤ 隕=?I: ɚD46iII2f)ii%<))DM&: Q IQ *F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G <<BO5>;w,Ayv5Bz#II I ٢5= =7=9=Q =>AA EG٣AyE E> UNusing accuracyPremultiplier from configQ]59Uoq?]5YUlT iU8S™YY] AQUX:UX:U 5i mr@iDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf[A@]]]]  ?I(: ɚN6iII1f)ii<))D*F]?2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G5<BAO8>ZHA RHE @A q Iq H :>I  I a$II BI &I .I 6I :I J J J 1J J ̶:J :J 3J J ;J ;J u;J u;- Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw, A61[@Y62i@6 l96*8>y6H@چ?-߿ A? S'??M`?ɨ61[@6X;6CybABb#IMb@Mb@Mb@ )Yx&? rh? rh?y7 >C=C=@ @)/@I@y@IIͳ٢5d= B=9Q > G٣y{| > Nusing accuracyPremultiplier from config59tn?5YU iS™(>;l A~EU;S;5 @E-DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h1h9h9h=ABf9fArfAbfE`A@]e(>]e(>]eeo>]eف@} l y隅?I4: ɚYg6iII2f)ii+<))2D*DzK BoHK 9K K %K D5:E9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF"G=G=G <B O% >1Iw,B&A (I(69Y[@Y6:xi@696A8>y6H _?֎޿ M@M ? X? ?_?ɨ69Y[@6$e;6 CyFSBb#I)d dInIn٢rY= vL=9vSQ v>xx zG٣xy~ ~>  Nusing accuracyPremultiplier from config59k?5YV iR™ A,3;q:5! %@)UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhQhYhYhYfYfarfabfeA@]]]]@ 隵Y?I_: ɚ6iII1f)iiJ<))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM:*F2F:FBF0JFG<BO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.AOw,?A6'[@Y6Fi@6.$96J8>y6H@p6?(޿`?X5? ~?o?^?ɨ6'[@65;4y^fB^$IIfIf<٢n= nL=9vQ z>II MG٣IyUV U> ]Nusing accuracyPremultiplier from configYe59]h?e5Y]W i]R™imm A]E]i ;]e ;]q5 \@EDNOT Ignoring new targets: 54.20 m. jAjIjIjYiYhahihhffrf!Hu;>Iq Iuz$IIuBIq&Iq.Iq6Iu<:Iu F m$?Ibf%A@]]]]k@J-J-J-0J)J-:J-*:J-ـ3J)J-4<J-4<J-;J-;.$ 隍&?I: ɚ6iII2f)ii<))Will construct direction to contact in vehicle frame from tetrahedron phase data.D=:zK jIK u9K K %K *Fa 2Fa :Fa BFe p0JFa ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G~<BO>UWw,L^A^[@Y^$i@^*c9^8>y^H vK?#ڤ޿_5A?ť?s?;^?ɨ^[@^ ܊;^CyjsBj$$IeMb@Mb@Mb@aaa a)aYe)\(?y&1?L7A`?yeG=e`e G٣yLj > Nusing accuracyPremultiplier from config59d?5YX iR™#>;' A;;5 @DNOT Ignoring new targets: 54.20 m. jjjjihhh!h%Bf!f!rfbfU;B@]#>]#>]Z>]@Uj@*c R?Iq: ɚ16iII 1f)iix<))BDG?:DN? AIAeWill construct direction to contact in vehicle frame from tetrahedron phase data.DiEqEq*F ?2F :F BF 0JF G  G rAG <B O >{]w,xA6oZ@Y6ph@6T96_9>y6H|?} |޿`j gT??? J]?ɨ6oZ@6'@;6!CyBBB?$IiDIF4= J=HININ ٢V= VZ=9Z8Q Z>XX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`f59bb?f5Yb)Y ibR™hj'j A`b7:b:b85l r0@pDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfjB@Will construct direction to contact in vehicle frame from tetrahedron phase data.]9]9]9]=+ j@UT q}?I}: yɚ}iyIyI2f)ii#;q<))DmO:*F2F:FBFO0JFHI I$II݅BI$ = YIa&I.I6I'<:I FBIJIRIZIbIjI}4J J J 1J J :J h:J 3J J '<J (<J Mi;J Ni;G <BO >m Will construct direction to contact in vehicle frame from tetrahedron phase data./ddw,+kA6JZ@Y6Kh@6V96#9>y6H ?j޿n U?ĵ?`?J]?ɨ6JZ@6 S;6 CyBBBV$IMb@Mb@Mb@ )YʡE?S㥫V-?y=/]m=-@ z@)\@I@y@I-I-٢== EA=9E Q E>II UG٣Qy]= ]> eNusing accuracyPremultiplier from configam59e^?m5YeX iekR™mJ=m;m:@u AeEef;e;e5zKuBoHKqKqKu%KuBK:K @uDNOT Ignoring new targets: 54.20 m. jqjqjqjyiyhyhyhyhނBffrfbfB@]J=]J=]}@]:@V \?Ih: ɚ@4iII1f)ii3d<))Will construct direction to contact in vehicle frame from tetrahedron phase data.D:*Fm?2Fq:FqBFu5JFqu c~G |uA Y |uAy B I II GU z<Ba } Will construct direction to contact in vehicle frame from tetrahedron phase data.O >jw,QAyUBUt$IIeIe٢}U= C=9Q > G٣y > Nusing accuracyPremultiplier from config59][?5YX iTR™ A::5 |@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfB@]]]] v?I-: ɚiII2f)iiI  I $II BI  I! &I .I 6I <:I FGE mo<B O >hrw,"AJZ@YJh@J319J9>yJHQ@?@KH޿w_?n?8?\?ɨJZ@Jӊ;JCyVBV$I)\ \bAbAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y)\(?q= ףpJ +?yGa=뽹H= @)@I@y@I%I%d٢E= M(=9M9Q U>YY G٣yj > Nusing accuracyPremultiplier from config59V?5YW iDR™ >;4@ AE<<5! -@)uDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhhhh$Bffrfbf@C@] >] >]c@]4@-31 15f?I5: Yɚ]:4iYIYIe1f)iaieC<)a)izK K 9K K %K *$# RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.D f :*F ?2F :F BF (5JF YIaGBO>yw,"QAJ<J>J>0J<J<J>:J>ـ3JyH?b 0޿@}t?`? ?`[?ɨ:Z@$;y-΅B-$II=I=٢MH= M3=9UD9Q U>QQ ]G٣Yy]s ]> eNusing accuracyPremultiplier from configam59e#S?m5YeV ie5R™qu@u Aae;e;e5y }@yDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfLC@ Will construct direction to contact in vehicle frame from tetrahedron phase data.]y]y]y]}@ŭ 隵?I: ɚ75iII2f)ii>/<))De] :*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GE 5[<BQ Om >Mw,2wAB8pZ@YB9h@BSͬ9B;>yBH ?|+="޿`t?@?)?[?ɨB8pZ@BΉ;BCyNԅBN$II`I`ZH|RH~AAHI I%II3BI# =&I.I6I< iIi:I F٢< 1=9 :Q >!! MG٣Qy] > Nusing accuracyPremultiplier from config59N?5YU i&R™ @ AE`;_0<5EB Et@EEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfWC@Will construct direction to contact in vehicle frame from tetrahedron phase data.] ] ] ] h @=Sͬ 9=?IE: AɚE5iAIAIM1f)iIiM"<)I)QBD}5?:D}V?Df :zKLLKC9KK%K*FQ 2FQ :FQ BFU 5JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.GEܸ<<BQOm>-w,#A6esZ@Y6fh@6뫽96,!;>y6H?AO%޿ |?w?@-?:[?ɨ6esZ@6D;6 Cy>؅B>$IiBAA MG٣IyM9 M> UNusing accuracyPremultiplier from configQ]59UJ?]5YUT iU%R™eJ<>;@ AQU]J<>]@]@=뫽 AE?IE\: IɚM5iIIIJeJeJe1JaJe\:Je%:Je3JaI2f)ii;'<))Will construct direction to contact in vehicle frame from tetrahedron phase data.D :E!E!*F 2F :F BF 4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G Y=<B O >#w,)@A6aZ@Y6h@696c;>y6H`?k`޿@N?%n?i>?Z?ɨ6aZ@6ɉ;4y>ЅB>$IIfIf{٢n n:=9nj9Q r>pp rG٣pyv! v> zNusing accuracyPremultiplier from configx~59z3F?~5YzfR iz$R™@ AzEz:z*:z 5  @EDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhAhAhIhIfQfQrfQbfUgC@]q]q]q]u@ 隅?Iu: ɚr5iII1f)ii@<))DHI $?I I/%IILBI&I.I6Iί<:I F*Fm?2Fi:FiBFu[0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zK BHK 9K K %K Fw,RZA2 hZ@Y2h@2ު92;>y2H@o?,޿*?U?1B>$I-zonly read 2 of 4 data items for bottom velocity. Device response is::BS, -20, +14,A  z@z z@z z@z  z@z I~I~ ٢ G  H=9q:Q >!! %G٣)y5x: 5> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configIe59M B?m5YMP iIu+:qui;u@u AIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mù;M>M\ 5I U@q5DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h9h9h9h9fAfArfAbfE4D@ު ?Ij : ɚ6iII2f)ii4<)) 2D*D IJKـ3KK(3 KCKCKC"KCJUJUJU0JQJU<:JUS2:JUـ3JQDm :Eui>Eu> Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F! :F) BF- O0JF) G 9)<BO=>ew,Q1xA2^Z@Y2}h@2$92;>y2H `n?Ռ޿@D?=?`C? Z?ɨ2^Z@2BZ;2Cy>B>t$I)@ @ININ@ ٢Rk0 V4=9VX:Q V>XX ZG٣Xy^* ^> bbBottom track data is 0.9 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^=?f5Y^7O i^#R‘j :hj=;j@j A^E^6;^e]?^ 5nB nd@rE DNOT Ignoring new targets: 54.20 m. jjjjihhhh!f!f!rf)bf- gD@U$ QU ?IU: Yɚ]{6iYIYIe1f)iaie*<)a)i%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!*F?2F:FBFo0JFHI III&I.I6Iׯ<:I F IGBAO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Dw,WA:_Z@Y:~h@:)9:;>y:H?@޿@_ {? ?\C?*[?ɨ:_Z@:;:CyNBNX$I M M MM MM  M U UMb@Mb@Mb@QQQ Q)QYUQ?nʿMbP?yU G٣yV9 > Nusing accuracyPremultiplier from config598?5Y-M i4R‘T:6X>{;"@ AE;N;5 @DNOT Ignoring new targets: 54.20 m. jjjji h hhhZBffrfbf%D@]u6X>]u6X>]u[@]ui"@)  ?I  : ɚ L*6i II2f)ii!<))zK!K%ȱ9K!K%%K%BK1:K1*F?2F:FBFk0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G% (<BA O} > I mw,IAJ&J$J$J$J&:J$J$J$>.]Z@Y>/|h@>0&9>;>y>HՄ?ۙ`޿@'{? ? C?@*[?ɨ>.]Z@>|;>CyJ~BJ2$IPRAAIRIR@٢Z3 Zn=9^7Q ^? %G٣!y%J %> -Nusing accuracyPremultiplier from config)559-4?55Y-K i-@R™9=@= A)- ;- ;-:5A E@IuDNOT Ignoring new targets: 54.20 m. jyjyjyjyiyhyhhhffrfbfD@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@0& ?I : ɚiII1f)ii <))E*F2F:FBFP5JFG9)<BO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.*Vw,$Ay~aB$IHAIA IE%IIE3BIA&IA.IA6IE<:IE FBI)JI)RI)ZI)bI)jI-P4i5 G٣y > -Nusing accuracyPremultiplier from config!E59%50?M5Y%I i%OR™YYe A%E%<% <%"5 @5DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hAhAhafifirfibfm`hE@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]] ?I: ɚiII2f)ii_<))*F2F:FBF2JFzKE BoHKE C9KA KE %KE RKM ?JKM >G (<B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ARMZ@YRlh@R=9R~;>yRH_#w?:޿ Hw??@B?][?ɨRMZ@RR;RCyZ=BZ#I]Mb@Mb@Mb@YYY Y)YY]V-?ʡEƿMbpy]m=]-2]Y Y)]&@IYYy]f@IuIu<٢I- D=9G9Q > G٣y   > Nusing accuracyPremultiplier from config%59+?%5YoH i\R™-;>-;-@- AEWL;F;51 5@=EeDNOT Ignoring new targets: 54.20 m. jajajajaiihihihihu Bfqfqrfqbf}`n];>]@](@= 隭͌?I: ɚiII1f)iix.<))2D*DBD:D)= rCNG) QI]h YyvA @ DB*F!2F!:F!BF-4JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.GA BQ Om >w,2A23Z@Y2Rh@2Q92;>y2H) k`?9ݿ  x?p?AC?V[?ɨ23Z@2>8;2 CyRBR#IIZIZ³٢bA b_=9b8Q f>dd fG٣dyj؏ j> nNusing accuracyPremultiplier from configlr59n'?r5YnCG inhR™pv@v Aln ;nX:n~5| ~ @|%DNOT Ignoring new targets: 54.20 m. j!j)j)j)i)h)h)h1h1f1f1rf9bf= jE@]Q]Q]Q]U@mQ iu?IuZ : yɚyiyIyI2f)ii;))EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5P0JF1ZHRH AIIH%=>I! I%$II%BI%" =&I!.I!6I%ͯ<:I% FGU9)<BaO{>Jm Jm Jm 1Ji Jm :Jm :Jm 3Ji Jm y2H`e-jR?1g@ݿ!h? ?z,?7\?ɨ2\"Z@2I;2CyBBB#I)D DDD]Mb@Mb@Mb@YYY Y)YY]MbX?X9vy]=]]]@ Y)YIYYy] @ImImỳ٢}}@ ?=9Q > G٣y > Nusing accuracyPremultiplier from config59\"?5YF inR™>;1@ AE;U;]5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhǂBffrfbf֡E@]>]>]i@]%1@-1 )5=?I5) : 1ɚ1i1I1I=1f)i9i=s;)A)A*F?2F:FBFJFzK-jIK-9K)K-%K- Will construct direction to contact in vehicle frame from tetrahedron phase data.GO <BO> - $?I) JU AAJU AAw,S-A6Y@Y6h@696Z:>y6H7 -?@ Iݿ f?:?@!?m\?ɨ6Y@6!;6!CyB̈́BBX#IIJIJ?٢R8 RY=9R"Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b?f5YbF ibsR™df0@j A`bz:b:b5l n@lDNOT Ignoring new targets: 54.20 m. jjjj i h h h hffrfbfE@]9]9]9]=+0@U]Will construct direction to contact in vehicle frame from tetrahedron phase data. ?I* : ɚiII2f)iih#r;))*F?2F:FBF_0JFG &;BO5> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,$GA:rY@Y:sg@:R9:E:>y:HB?u)Kݿ@U@_?M? ]?\?ɨ:rY@:Hf;8yFBF##IIRIRỳ٢ZT ZJ=9Z& `I`HhIh Ij[$IIjBIj# =&Ih.Ih6Ij<:Ij Ftt vG٣tyzU z> ~Nusing accuracyPremultiplier from config|59~?5Y~rE i~xR™  0@  A~E~:~q:~5 y@mDNOT Ignoring new targets: 54.20 m. jijijijiiihqhqhqhyfyfyrfybf}0F@]]]]:0@R m?IU: YɚaiaIiI1f)iibȽ:))J-J-J)J)J-,:J-:J)J)J-<J-<J-n;J-n;E V>E >mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG 1;B O >zK K M9K K %K  Will construct direction to contact in vehicle frame from tetrahedron phase data. w,aAy=B="IiE=IE= E=E=Mb@Mb@Mb@ )Y?+t<@ /@)I@y@IIʳ٢ o  6=9Q > G٣y > -Nusing accuracyPremultiplier from config!-59% ?55Y%E i%oR™5X>=;=>E A!%;%;%5i m@=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hA IhAhMfBfIfIrfQbfU@FF@]X>]X>]Zb@] S@1 15f?I5[: 1ɚ1i1I9I}2f)iiY:))*FU?2FQ:FQBFQJFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.G] 4&;Ba O >]w,wzA6DY@Y6dg@6﬽96K9>y6HH_?R'ݿ Pa?e??` ]?ɨ6DY@6;6 CyBTBB"IIJIJƳ٢R'u Re=9ROQ V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^'?b5Y^E i^gR™df?f A^E^;^:^M5l n]@p DNOT Ignoring new targets: 54.20 m. j j j j i h hhhffrfbf% mF@]]]]6R@﬽ v?I : ɚiIIE1f)iAiM誺)I)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FI:FIBFMR5JFI IjHbH<HI I#II?BI" =&I.I6I <:I FG;BO >JE JE JE 0JA JE :JE :JE ـ3JA JE <JE <JE t;JE t; Will construct direction to contact in vehicle frame from tetrahedron phase data.w,>A:X@Y:g@: 9:9>y:H@`ouZ?Qz`ܿ(@,b?0ڵ?$?!]?ɨ:X@:w;:CyF2BF"I%Mb@Mb@Mb@!!! !)!Y%ףp= ?l?%=%t=%@ %@)!I%@!y!IEIE(٢U U@=9UAQ U>YY eG٣aye!- e> mNusing accuracyPremultiplier from configiu59m ?u5YmF imOR™}J'>};}|} Aim;m;m* 5B n@EDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf F@]eJ'>]eJ'>]eo>]e֢s@  f?I : ɚiII2f)ii-))E zKBHKȱ9KK%K *awplga\VRPLID<:7320++)&!! *F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iG}TBOe> I w,A6X@Y6f@6寽96A9>y6Hl?szܿ@X&n??5? \?ɨ6X@61֊;4y> B>l"I)@ @DFAIJIJͳ٢n= rR=9rlQ r>tt vG٣tyv兼 v> ~Nusing accuracyPremultiplier from configx~59z?5YzG iz9R™ AzEz ;z ;z!5  @=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhIhIhQhQfQfYrfYbf]@tF@]]]]~:s@寽 fz?I : ɚiII1f)iiF$g))*Fe?2Fa:FaBFeP0JFaGqBO~>Will construct direction to contact in vehicle frame from tetrahedron phase data.w,jA 8I8HDID IFm#IIF߄BIF# =&ID.ID6IF <:IF Fn:X@YnYf@nKw9n'k8>ynH /@ڶ?$cS+ܿ@6i?G?E?\?ɨn:X@n;nCyzBzN"IIMIM٢  @=9H>Q > G٣yL > Nusing accuracyPremultiplier from config59`?5YH i R™8 A;;#5! -D@)JJJ1JJL:J:J3JJ@ <JA <Jn;Jn;MWill construct direction to contact in vehicle frame from tetrahedron phase data.UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhYhYhYhYfafarfbfxG@]]]]r@Kw n?IX: ɚiII2f)ii:))ErAE*F?2F:FBF4JFzK #,NK C9K K %K G TB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.n-w,{LABW@YBe@B9B`8>yBH @N?#ۿ > `s?{??l\?ɨBW@B=;B CyZBZ4"IMb@Mb@Mb@ )Yx?J +?V-?yK7>=m=@ /@)Iy@II٢Lʽ G=9zQ > G٣y > Nusing accuracyPremultiplier from config59_?5YJ iQ™>Y>z; AE; ;%5 HA=DNOT Ignoring new targets: 54.20 m. j9j9j9jAiAhAhAhIhMBfIfIrfQbfU`@G@]u>Y>]u>Y>]u;?]u`́@ 隅?IB: ɚ)w4iII1f)iiȼ)) ]$?I]h*FM?2FI:FIBFMP0JFIG% B)OE0>UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uw,A:\W@Y:{e@:9:m7>y:H ?d?bۿ6@n?Ͷ?&?`\?ɨ:\W@:s;8yZƃBZ"Iib=I` fp=f=IjIj٢r  rZ=9v\Q v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~?5Y~L i~Q™    A|~X:~z:~)'5 AEDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhIhIhQhQfQfQrfYbf]pG@]y]y]y]}@ 隍:?ID : ɚiII2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5`0JF1 AIAZHYRHYHaIa Ie#IIeBIe" =&Ia.Ia6Ie<:Ie FBI1JI1RI1ZI5" =bI5" =jI5?4Gu5BO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.}=w,AVjbV@YVkd@Vyn9VFR7>yVH`x ?}?ڿlt}?E?ֲ?[?ɨVjbV@V8Ӌ;TyrBv"I}Mb@Mb@Mb@yyy y)yY}~jt?㥛 ?#~j?y}D>}>}=}3@ y)}=@I}@yy}@IId٢: ?=98Q > G٣y > Nusing accuracyPremultiplier from config59?5YEN iQ™F>P; AE;; )5 gADNOT Ignoring new targets: 54.20 m. j j j j i h h hhBffrfbfuG@]EF>]EF>]E7o&?]E @yn ?I: ɚ4iII1f)ii'.))zKVLKu9KK%KA?* Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF"G=GG!G=89 쭿YyǦABO> 9 IA J J J J J :J U:J J a- @a- @a- @a- @l w,9/A>U@Y>c@>⻽9>7>y>Ho ?c? ڿ@"?s??Z?ɨ>U@>};>CyFBF!IIRIRʴ٢Z' ZZ=9ZqQ ^>\\ ^G٣\yb6 b> fNusing accuracyPremultiplier from configdj59f ?j5Yf)P ifsQ™lnn AfEf ;f ;f*5rB rArEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf]G@]]]]Dž@⻽ y?IH: ɚo5iII%2f)i!i%5G)!)I*F?2F:FBF1JFG!B1OM>Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I1 ,Ow,IAHI I"IIUBI# =&I.I6I<:I FJTU@YJsc@J󁽽9J‘7>yJH<1 E4???@ٿ??Ϲ?@pt vG٣tyvW v> zNusing accuracyPremultiplier from configx59z?5Yz7R iz@Q™ AzEzZ;zZ;zs,5 A=DNOT Ignoring new targets: 54.20 m. j9j9j9j9iAhAhAhAhAfIfIrfIbfMy H@]q]q]q]u>@󁽽 隍3y?I: ɚ>5iII1f)ii`))*F?2F:FBF:5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.GusBO>zK] LK] 9KY K] %K] RKm ?JKm > Will construct direction to contact in vehicle frame from tetrahedron phase data.9zw,cA2T@Y2b@2j92y2H WJ`?X?{ٿ"`?g?W?@Y?ɨ2T@2Z;2Cy>BB"IMb@Mb@Mb@ )YK?S? ףp= ?y^:>>Q=I@ r@)j@Iy3@II٢= ;=9 Q > G٣yf > Nusing accuracyPremultiplier from config59G얜?5YbT iQ™>Q; AV;T;[.5 B AE=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9hAhAhAhEсBfIfIrfIbfM`fCH@ I]>]>]oL1?]ំ@Ej AE3s?IMv: iɚmF5iiIqI}2f)iyi}z))*FA2FA:FABFEA5JFAJJJJJL:J:JJ=Will construct direction to contact in vehicle frame from tetrahedron phase data.G- DB1 OU >ʣw,^g}A6LIT@Y6Mhb@6C96\7>y6H@d@G?_?@Wؿ_?j??/Y?ɨ6LIT@6u;6CyRBR "IIZIZn٢b1= f]=9fQ f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr59n薜?v5Yn6V inP™tvgv AnEn:n:n/5x zKA|-DNOT Ignoring new targets: 54.20 m. j)j)j)j1i1h1h1h1hffrfbf FuH@]]]][@UC Q]Mw?I]G : Yɚ]-5iYIYIe1f)iaie )a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JF IGGgBjH%<bH%4=H)I) I-"II-ABI-" =&I).I)6I-<:I- FOMS>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y ] =%w, OA>S@Y>a@>,9>i87>y>Hz??i+ؿ`@?@p??`bY?ɨ>S@>Ə;>CyNƒBN"IiR4=IR4> R=R=5Mb@Mb@Mb@111 1)1Y5S??MbX?y5/>5>5=1 5@)5@I5Z@1y5@IMIMʴ٢]S< ]A=9eqQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq59u&喜?5YuW iuP™ko>c;  AuEus;uIr;u15 5AeDNOT Ignoring new targets: 54.20 m. jajajajaiihihhhBffrfbf 9H@]ko>]ko>]!?]@5, 15^?I5: 9ɚ=85i9I9IE2f)iAiET)A)Q*F?2F:FBF P0JF zK}JQJK}9KyK}%K}8F;*.,]Will construct direction to contact in vehicle frame from tetrahedron phase data. IG )wB O >J J J J J 0J J :J ':J ـ3J +w,A62JS@Y63ia@6967>y6H/ c?4?@Ш׿f?2??`ZX?ɨ62JS@6};6CyBуBB""IIJIJ)Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ =  P=9fQ > G٣y > -Nusing accuracyPremultiplier from config!-59%ᖜ?-5Y%Y i%bP™15A 5 A!%:%a:%35A EAA}DNOT Ignoring new targets: 54.20 m. jyjyjyjyiyhyhhhffrfbf[H@]]]]?o@ 隽f?Ig: ɚ5iII1f)ii))BD=:D=D= :*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G$BO> I H) I)  I) I) I) &I) .I) 6I- گ<:I- F2w,+A6R@Y6`@6C9½968>y6H"??'9׿?=?`?W?ɨ6R@6;4yRރBR2"IIZIZ٢f= fO=9jܹQ j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59vݖ?z5Yv:[ iv+P™xz ~ AvEvv:v Will construct direction to contact in vehicle frame from tetrahedron phase data.zKU NKU 9KQ KU %KU }yupopmotpkkhcYPE><OnaP@3(% #!+=GKN8w,A:VR@Y:u`@:½9:8>y:H! ??ֿ4 ?CH??V?ɨ:VR@:WЊ;: CyZB^E"I)` `bA`EMb@Mb@Mb@AAA A)AYEDl?㥛 ?+η?yEO >E=Ev=Ev@ A)E@IEC@AyEf@I]I]̍٢u= u?=9uOĹQ u>yy }G٣yy > Nusing accuracyPremultiplier from config59Uږ?5YQ\ iO™:>; AF1;L;!75 @ =$?I9DNOT Ignoring new targets: 54.20 m. jjjj i h h hh;Bffrfbf% II@]:>]:>]5>]z@½ 隵Y?I[: ɚC 6iII1f)ii))D :JJJ2JJ:Jz:Jc3J*F2F:FBF`0JFG BO5p>=Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,ɮAyB]"II-I-k٢== EN=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configQ]59Uז?e5YUT] iUO™aae AUEU ;U ;U85i u}@qDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@IwI@]]]] 3c?I: ɚ6iII2f)ii~") ) Will construct direction to contact in vehicle frame from tetrahedron phase data. 1I1ZHRH?AHI I"II`BI&I.I6I<:I FD]:*F?2F:FBF_0JFG GqAU Will construct direction to contact in vehicle frame from tetrahedron phase data.G 孽B OU >Ew,A60Q@Y61_@6z969>y6H@o ?@t? D ֿ@Xc?`&?@?V?ɨ60Q@6~;6CyB BBi"IUMb@Mb@Mb@QQQ Q)QYU"~j?I +MbX9?yUS=U94Uʡ=U@ U@)QIU@QyU@IuIu=س٢9= E=9ʥ:Q > G٣y > Nusing accuracyPremultiplier from config59TӖ?5Yw] iO™ >;A A:;9;:5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhh qBf f rfbf@I@]5 >]5 >]5@]5F{P@Ez AEL?IE: IɚM#6iIIQI]1f)iYi]w3ҽ)Y)Y*F%?2F!:F!BF%O5JF)G.qB O-->Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5NK59K1K5%K5LNLPbunS;* 'aQ@s~ M x/@? OeCM- !I!Lw,Dj2A:2Q@Y:Q_@:,9:w9>y:H`Xx?ę?7տ=h?@?? ZV?ɨ:2Q@:;: CyF"BF"IiJhh nG٣lyns n> vNusing accuracyPremultiplier from configpv59rϖ?z5Yr] irO™xzBz Apr;~Will construct direction to contact in vehicle frame from tetrahedron phase data.r;rT<5 B [@ E5DNOT Ignoring new targets: 54.20 m. j1j1j9j9i9h9h9hAhAfAfArfAbfMI@]]]]wP@%, !%X?I%: !ɚ%i!I)I-2f)i)i=Vٽ)9)Y*F?2F:FBF1JFG BO=>Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! H I  I "II BI &I .I 6I ?<:I 4 FBIJIRIZIbIjI4Rw,CLABDP@YBE _@BȾ9B"9>yBH5?@K?uտ`tz?Gз??@V?ɨBDP@B%;B!Cyn1Bn"IIvIvn٢~= G=9:Q >    G٣ y +  > Nusing accuracyPremultiplier from config%59J̖?%5Y] i_O™)-LB- AEO;7_;>59 =n@9eDNOT Ignoring new targets: 54.20 m. jajajajiiihihihihqfqfqrfybf}`^J@]]]]O@Ⱦ 隭`?IU: ɚg^4iII1f)ii׏))E*F2F:FBFP0JF"G>G>Will construct direction to contact in vehicle frame from tetrahedron phase data.GcOȽBO%+> Will construct direction to contact in vehicle frame from tetrahedron phase data.)i i Yw,p$fA8DPzKOKC9K jYhyj(AK%K e@P@YeA^@e[9e:>yeH@<?D?`%տT?シ?`?@=V?ɨe@P@e;ayޭBBޭ"I IMb@Mb@Mb@ )YRQ?MbX9x&?y=ʡ7=hA @)@I@y=@IIʳ٢= .=9%;Q > G٣y7 > Nusing accuracyPremultiplier from config 59 ǖ?5Y ] i BO™>;s,@ A  :;  ; *@5 h@MDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhQhÛBfYfYrfYbf] 7QJ@]>]>] ݲ@]s,@[ :?I9 ɚA4i!I!I%2f)i)i-j))))*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G} oS׽B O >/@_w,UA6_P@Y6~^@6k96:>y6H ?@ay?Կ?9E?@q?W?ɨ6_P@6i;6CybNBb"IfAfAIjIjm٢r= rs=9v8;Q v?xx zG٣xy~# ~? Nusing accuracyPremultiplier from config 59Ė? 5Y\ i-O™A,@ AE::A51 5@1]DNOT Ignoring new targets: 54.20 m. jajajajaiahahahihififirfqbfuxJ@]]]]A,@k 隵A?I: ɚ5iII1f)ii))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JF IGwBO">jHabHe<HiIi Im5#IImBIi&Ii.Ii6Im<<:Im1 FJJJ0JJ<:J":Jـ3JJ5;aJ7;aJ8{;aJ8{;a5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5(fw,әA2 P@Y2+^@2~9265;>y2HK'@e^??)Կ``?p?`g-?`W?ɨ2 P@2Ս;2 CyBVBB"IEMb@Mb@Mb@AAA A)AYEX9v?OnÿZd;O?yE}=EEj<=E A E=@)E@IE@AyE@I]I]?٢m= mB=9uS;Q u>qy }G٣yy}C }> Nusing accuracyPremultiplier from config59?5Y [ i#O™+>;V@ AZ;#;zC5 !@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf`;J@] +>] +>] j@] V@~ !%#?I%q9 !ɚ%@5i!I!I-2f)i)i-#)))*F?2F:FBFJFGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.zK&~JK9KK%KHs[7  IG=BO>8Rlw,A6vO@Y6w]@696J;>y6H 1@'?@!?qԿ S??P)?AX?ɨ6vO@6y;4y>`B>"IIFIF㔳٢NK= NY=9R];Q R>PT VG٣TyV Z> ^Nusing accuracyPremultiplier from config\b59^R?b5Y^Y i^O™df"@f A^E^X:^n:^ E5h j@hrWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@bJ@]]]]C"@= AE(?IEp9 AɚEwk5iAIAIM1f)iIiM])Q)Q*F?2F:FBF0JFGBO%>Will construct direction to contact in vehicle frame from tetrahedron phase data. I Hi Ii  Im a#IIm ԄBIi &Ii .Ii 6Im <:Im  F9sw,Ay~_B~"Ii=Ip< = %=IIn٢-r -B=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E?M5YEqX iEO™IIU AAE*:E:EF5 @ DNOT Ignoring new targets: 54.20 m. j j j j i hhhhf!f!rf!bf%K@]A]A]A]AQ Y]=(?I]9 Yɚ]75iYIYIe2f)iaier)i)iJ}J}J}1JyJ},:J}&:J}3JyJ}<J}<J}1;J}1;Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF%:5JF!GăBOE> Will construct direction to contact in vehicle frame from tetrahedron phase data.Bdyw,0dAzKN[LKNȱ9KLKN%KNRKTJKV?ZUO@YZt]@Z9Zb;>yZHKG??ӿ=[??ڵ?B?/Y?ɨZUO@ZWՊ;Z!CyfbBf"I )I)Mb@Mb@Mb@ )YV-? rȿy&1?ym=C`<7A S@)K@I@y@IEIEʴ٢Uqv< u9=9u;Q }>y G٣yL > Nusing accuracyPremultiplier from config59%?5Y}V iO™gN>; @ AE2;/;H5 ^@DNOT Ignoring new targets: 54.20 m. jj!j!j!i!h)h1h1h5CBf1f9rf9bf=NK@]gN>]gN>];@] @ \?Ig9 ɚl5iII1f)ii l) ) *F?2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Kw,=A6'O@Y6F]@696;>y6HO {?8?\ӿ{?O? DC? Z?ɨ6'O@6L:;6 Cy>WB>"IIfIf٢r  re=9r`;Q r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from configx59z?5YzT izO™ @ Axz" ;z" ;ztJ5 @=DNOT Ignoring new targets: 54.20 m. j9j9j9jAiAhAhAhAhIfIfIrfIbfM`zK@]q]q]q]u @ 隍 ?I9 ɚ5iII2f)ii))]Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IZH RH AAH>>I Is#IIBI&I.I6I.<:I& FD4:*F12F1:F1BF52JF1JJJ0JJ\:J:Jـ3JJ<J<Ju;Ju; Will construct direction to contact in vehicle frame from tetrahedron phase data. = G- B9 OU >vw,rA2N@Y2]@2$92F<>y2HY G٣y > Nusing accuracyPremultiplier from config59+?5YR iO™tb>p; @ AE;;SL5B  @E]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiahahahaheWBfifirfibfm`K@]tb>]tb>]j8@] @$ ?I(9 ɚ%5iII-1f)i1i5 )1)1eWill construct direction to contact in vehicle frame from tetrahedron phase data. I D=:zK=BoHK=9K9K=%K=*F2F:FBFP5JFJ J @AG  Will construct direction to contact in vehicle frame from tetrahedron phase data.B) OE >w,6A6N@Y6\@6覽96p;>y6H_`??vӿ Z?.״? C? [?ɨ6N@6;6 Cy>HB>"IIJIJ%x٢N^ RK=9RR;Q R>T  G٣y; > %Nusing accuracyPremultiplier from config%59?M5YP i O™IM @M AE};;#N5Q ]@YDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfK@]1]1]1]5 @M覽 QU>IU9 QɚU5iQIQI]2f)iYilr ))D:Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF05JF  I H I  I I I &I .I 6I <:I  FG B O >]w,ORAJZJZJZ1JXJZ:JZ:JZ3JXJZ;JZ;JZBr;JZCr;nݑN@Ynް\@n49n;>ynHh ?@? Bӿ`I??OB?\?ɨnݑN@nl;lyz3Bz"IIIV٢ 8=9C;Q > G٣!y%? %> -Nusing accuracyPremultiplier from config)559-+?55Y-N i-'O™9=x @= A-E-:-:-P5A MA@MEB*** querying acoustic contact ***jjDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf^L@]]]]x @5Will 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.]4 im>Iu9 ɚ5iII1f)iib))D:*Fm?2Fi:FiBFmP0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3521>  BDAT read: Tx time:23:53:28.8492  $Ping request sent. 9 I9 zK K 9K K %K e}w,\kABdN@YB\@BӇ9B|;>yBH`:p?:?ӿ i4?+? ;?`^?ɨBdN@Bߋ;@yJ,BN"IiR G٣yGԻ >  Nusing accuracyPremultiplier from config 59П?5YM i/O™N>; @ A;o;Q5! %@!MDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhYh]@BfYfYrfYbfe TL@]N>]N>]K@]5 @Ӈ 隝>I9 ɚ5iII2f)ii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:23:53:28.8484 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251856Dl:*F?2F:FBFJFG p B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503115O >áw,dA2&N@Y2E\@2ߟ92;>y2H y`y?@ϓ?`uҿ@*`1??C?@0^?ɨ2&N@2_r;2Cy> B>l"IIJIJ+٢N RQ=9R;Q R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from configXb59Z훖?b5YZrK iZ6O™`bQ @f AZEZ(;Z9;ZS5h j@h !I!DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf L@]1]1]1]5Q @Mߟ IM>IMP9 IɚMiQjH]<bH]p<HaIeC IeT#IIeʄBIe! =&Ia.Ia6Ie<:Ie FBI!JI!RI!ZI!bI!jI%4IQI1f)ii))DK:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757621*F}?2F:FBFJF"G)>G4>G  B O >@w,A6SM@Y6T[@6u96?N:>y6H/n1??`ҿ ? 3ڳ??`?ɨ6SM@6wD;4y>B>L"IMb@Mb@Mb@ )YˡE?ףp= ÿ:v?y=T<A @)@I@yp@II&٢} 2=9{y:Q > G٣yk# > Nusing accuracyPremultiplier from config 59?5YI i:O1]Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012537tA4> CĿYtAyA;@ AE'=U=U5 >@ qIqDNOT Ignoring new targets: 54.20 m. jjjjihhhh0Bffrfbf`lL@]-4>]-4>]-$^@]-@Uu QU>IUD9 QɚQiYIYI2f)iik))zKBHK9KK%KD]:*F?2F:FBF_0JFJJJJJ: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=1.260886G5 "B9 Oe >*ew,`AyۃB."I)    IID٢- -S=9-Q 5>11 5G٣1yu u> Nusing accuracyPremultiplier from configy59}?5Y}H i}>O™ Ay}C:} :}NW5 `ADNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`3L@]]]]1 9=\>I=9 9ɚ9iAIAIE1f)iIiM)I)IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510877 m$?ImhD:HI I#IIBI" =&I.I6I2<:I+ F*FU?2FQ:FQBFQJFQG ,B O >w,aA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766910yޅBޅ"IMb@Mb@Mb@ )YMbX?EԸ{Gz?y=ƽף< A )@I`@y@I-I-V٢} =9Q > G٣y > Nusing accuracyPremultiplier from config59?5YG i8O™e>;)@ AE<;{;Y5B dAEDNOT Ignoring new targets: 54.20 m. jjjjihhh h Bf frfbf%6M@]me>]me>]mvA@]m)@ 隍q>I9 ɚiII2f)ii.))Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019032 IDU :E] Y>EY zK KK 9K K %K *F ?2F :F BF P0JF G qA G pAJ%J%J!J!J%|:J%:J!J!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272836GBO ?*w,A A2 L@Y2 Z@2^+929:>y2H?@?`Hѿ#^??/#?b?ɨ2 L@24+;0y>B>!IIFIF٢N, NM=9R0PP RG٣TyZ. Z> ^Nusing accuracyPremultiplier from config\b59^p?b5Y^G btIi^5O™df{(@f A\^;^;^V[5h jwAh}DNOT Ignoring new targets: 54.20 m. jyjyjyjihhhhffrfbfDkM@]Y]Y]Y]]{(@^+ 隕 >I|9 ɚiII1f)ii`H'))D:*F?2F:FBF`0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523217 IHq Iq  Iu "IIu `BIq &Iq .Iq 6Iu <:Iu  FG9 BI Om >w,4A2/L@Y20Z@2̓9209>y2Hn?@?Wѿ-@?}u?6?d?ɨ2/L@2ω;0y>zB>!IiB;>IB< F=F=IJIJ[٢RZ RI=9R':;Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^C?b5Y^LF i^1O™dfC(@f A^E^;^X;^]5h n_Al DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrf!bf%M@]9]9]9]=C(@U̓ QU|>IU9 YɚYiYIYIe2f)iaieZ6()a)iDeZ:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775191*F ?2F :FBFP5JF!GBIO9>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:23:53:31.3255 ] TRx dataTimestamp_ set to:1736380412.636571e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027974 I &w,,A21L@Y2PZ@292H9>y2HXn?@{?zѿ@:?>?c ?Pe?ɨ21L@2;2CzK^k3IK^ȱ9K\K^%K^yfXBf!I}Mb@Mb@Mb@yyy y)yY}zG?y&1V-?y} =}`弹}<} A }@)}@I}v@yy}@II٢ <=9K;Q > G٣yP > Nusing accuracyPremultiplier from config59P?5Y@F i#O™W=;F@ A;8;_5 oADNOT Ignoring new targets: 54.20 m. jjjjihhhh Bf f rf bf `M@]-W=]-W=]-@]-ΜF@ >I9 ɚiII-1f)i)i-1-)))1J-@AJ-AAJ=J=J9J9J=,:J=!:J9J9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278913DuP9*F?2F:FBF0JFG Ta"B O >w,GA>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.0 m/s -FX#Rx 1: Read range message, but no direction.fXB< lIly;Bi!II-I-b٢=  EF=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]}?e5Y]4F i]O™aam AY]7:]:]`5q uYAq addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 60.036005 s, deltaX: -0.200001 m, approachRate: -0.003331 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrf K@bf@hv?]]]]HqIq Ius"IIuBIu! =&Iq.Iq6Iu'<:Iu$ F >I9 ɚiII2f)iik,))Dm%9=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 1JF G d (B O >w,fdA66K@Y67Y@6qp969>y6H%`?@\? aп3R@???f?ɨ66K@6.;6 CyF&BFO!I)L LPRA-Mb@Mb@Mb@))) )))Y-v/?Q?ˡE?y-x=-<-'=) -@)--@I-`@)y- @IAIA٢U ]3=9]5;Q ]>aa eG٣ay > Nusing accuracyPremultiplier from config59y?5YF iN™=;+ AE; Will construct direction to contact in vehicle frame from tetrahedron phase data. i ;b5) -A1 QIQDNOT Ignoring new targets: 54.20 m. jjjjihhhh}Bffrfbf`?]=]=]>]Mf@qp 隕>I19 ɚe3iII1f)ii5))zKBoHK9KK%KD9J5J5J1J1J5:J5z:J1J1*Fy 2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >pw,ցABy@K@YBz_Y@Bʉ9BJ$9>yBHs ?j?8п3]`Qh? 5??`dd fG٣dyf6 f> nNusing accuracyPremultiplier from confighn59ju?r5Yj]G ijN™pr,r Ahj:j:jd5t zAxDNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h!h)h)f)f1rf1bf5y?]Q]Q]Q]UKf@eʉ ae>Ie[9 iɚmiiIiIu2f)iqiu9)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data. IHI I"IĨBI&I.I6I0<:I+ FD9*F%?2F!:F)BF-P5JF)G z/B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A-J@Y-X@-9-/9>y-H ;??pϿ@j`H[?߰??@h?ɨ-J@-+;-Cy}Bޅ!IIIỳ٢V 9=9B;Q  >!) -G٣1y=_ E> ]Nusing accuracyPremultiplier from configYe59]r?e5Y]G i]N™ae,e A]E]:]P:]f5i A%DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h1h1h1h1f9f9rf9bf= Z?]Y]Y]Y]]e@m quN^>IuM9 qɚqiqIqI}1f)iyi}I>)y)D9*FY2FY:FYBF]P0JFY IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK K 9K K %K G B O >w,}A2sJ@Y2X@2M92:9>y2H$?@? QοxK?p??i?ɨ2sJ@2@;2 Cy:ՂB: IiF=IFp< F=Fp=-Mb@Mb@Mb@))) )))Y-Zd;?#~j?S㥫?y-=-=-/]=- A -@)-Q@I-v@)y-Q@IIb٢{ O=9;Q > G٣yօ > Nusing accuracyPremultiplier from config59n?5YH iN™>;' AJK;I;[h5B AE%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h)h)5Will construct direction to contact in vehicle frame from tetrahedron phase data.h-@Bf9f9rfAbfMR?]>]>]7 ?]z@M {>Ii9 ɚIiIIIIU2f)iQiUC)Q)YDP9*F! 2F) :F) BF- $4JF) $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G% "7B) OM >H I  I !II BI &I .I 6I L<:I @ FBIEˠCJIEˠCRIAZIE! =bIAjIE˖Q4@w,RA>Y!J@Y>Z@X@>P9>88>y>H~ ?@?ο @F*?]'?? Nk?ɨ>Y!J@>;>CybƂBb IIjIj٢r7 rX=9rA;Q v>tt vG٣tyz[ z> ~Nusing accuracyPremultiplier from config|59~k?5Y~I i~N™  z  A|~V;~z:~i5 AMDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhIhQhQhQfQfYrfYbfe&@]y]y]y]}z@P 隕{>I9 ɚ3iII1f)iiG))2DrA*DqAJJJ0JJ:J&:Jـ3JJ' |uA1 w,yEH `0??@=Ϳ?c?@?k?ɨE:I@ESۉ;E Cy}B} I-Mb@Mb@Mb@))) )))Y-Zd;?y&1?T㥛 ?y)-`=-=- A -@))I-@)y-@IEIE٢Up U5=9UN;Q ]>YY ]G٣Yyeh e> mNusing accuracyPremultiplier from configiu59m\h?u5YmVK imiN™uq5>};}N } AmEm;m;mk5 h ADNOT Ignoring new targets: 54.20 m. jjjjihhhh8Bffrfbf\@]q5>]q5>] >?]h@D{ >I9 ɚ4iI I 2f)iiIL)!)1zK%JK%ȱ9K!K%%K%&MSI?;621/-,(&$ D-9*F2F:FBF`0JFG<BOi>mWill construct direction to contact in vehicle frame from tetrahedron phase data.m=m4=vw, AZ,jI@YZ-W@Zu9ZA8>yZH !@ד?@͑?g̿Ț ???9m?ɨZ,jI@Z;ZCyfBf I)h hhjAII٢- -`=95m;Q 5>11 5G٣9y=nU => ENusing accuracyPremultiplier from configAM59Ee?M5YEL iEGN™QU U AAE:E:Em5Y ] AaDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`k@]]]]>@u s>Iu9 ɚ]?4iII1f)iiҬP)) 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.HAIA IE!IIERBIE" =&IA.IA6IES<:IEF FD}9*F?2F:FBF_0JFJK3 K.KK"KJ J J 1J J L:J :J 3J J @ <J A <J S;J S;} Will construct direction to contact in vehicle frame from tetrahedron phase data.  nManaging dock network, ignoring radio surface power offG 2AB9 Ou >w,I-AFI@YF!W@Fgm9F`8>yFHj-+?2?˿@f?*?Z?bm?ɨFI@F;FCyjBj IIIn٢m= 6=9ے;Q > G٣yd > Nusing accuracyPremultiplier from config59a?5YM iN™ AE;G:o5  A5DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h9h9h9h9fAfArfAbfEla @]]]]@gm d^>IY9 ɚ e|4i I I2f)ii) V)) I Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm9*F ?2F :F BF JF G rA G rAzK% !lMK% 9K! K% %K% BK= qA:K9 G |GB O >g w,7AyB IMb@Mb@Mb@ )YQ?rh|?Q?y==\= A @)p@IQAy@II٢< T=9Q > G٣y > Nusing accuracyPremultiplier from config 59(_?5-Will construct direction to contact in vehicle frame from tetrahedron phase data.YJO iM™M>>M;My M AEB/<+<8q5Q ] AYDNOT Ignoring new targets: 54.20 m. jjjjihhhh;BffrfbfTo@]>>]>>]8L?]Ӄ@ Ha>IG9 ɚa4iII1f)iie2U))DM9*F?2F:FBF0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I T!II *BI ! =&I .I 6I 3<:I / FG HB O >>w,QA6"WH@Y6#vV@6^96x8>y6H@TAc?V?`ʿ(]??%?n?ɨ6"WH@6};6!Cy>B> IiFXX ^G٣\y^ ^> fNusing accuracyPremultiplier from config`f59bI\?f5YbP ibM™hj@ j A`b ;b:br5nB nL AnE DNOT Ignoring new targets: 54.20 m. j j j j i hhhhff!rf!bf%@]A]A]A]Eo@U^ Y]B>I]K9 Yɚ]4iYIYI}2f)iiX4_))JJJ0JJ:J :Jـ3JJ<J<JR;JR;Will construct direction to contact in vehicle frame from tetrahedron phase data.յ%=ձD9*F]?2FY:FYBF]R5JFY q Iq GE {NBY e Will construct direction to contact in vehicle frame from tetrahedron phase data.O} >}w,lAy]B] IMb@Mb@Mb@ )Y`"?&1?㥛 ?y=== A 5@)@I@y@I I ʳ٢%= %3=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config9E59=X?E5Y=Q i=M™Ev2>E;EaE A=E=+;=j;=t5Q U AYDNOT Ignoring new targets: 54.20 m. jjjjihhhh9Bffrfbf0@]v2>]v2>]M3?]@  W>IB9 ɚ4iII1f)ii]))zK+KK9KK%KD 9*F?2F:FBFP0JFG7RBO`>Will construct direction to contact in vehicle frame from tetrahedron phase data.e!w,مA2G@Y2U@2ڬK928>y2HuT3?Mu?Dɿ V`?r?=? p?ɨ2G@21Q;2Cy>B> IIrIr̍٢zi < z`=9zJ|| ~G٣|yN >  Nusing accuracyPremultiplier from config 59 U?5Y R i M™) A  :  ; wv5! % A!UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhYhYhahafafarfabfm@]]]]{~@ڬK 隝@Z>I9 ɚ#4iII2f)iiIg)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <HI I;!IIBI&I.I6Iq<:I] FD9*Fq2Fq:FqBFyJFyJJJ1JJ:J :J3JJ<J<JU;JU; Will construct direction to contact in vehicle frame from tetrahedron phase data.G VB O >'w,xAyUBU I)Y YMb@Mb@Mb@ )YʡE?L7A`?Q?y=+=\= A Z@)@IAyp@II٢-t.= -+=9-Q 5>11 5G٣1y= => ENusing accuracyPremultiplier from configAM59EQ?M5YES iEWM™U>U;U U AAEF;E;Ex5Y ] AYDNOT Ignoring new targets: 54.20 m. jjjjihhhhnBffrfbf`*@]>]>]{?]՘q@  >Ij9 ɚv4iII1f)iiuf)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.DM9*F 2F :F BF JF zK BoHK -9K K %K G ^B O >.-w,훹AFF@YFT@Fe%-9F9>yFHI]9 Yɚ]85iYIYIe2f)iaiet)a)iD9 I*Fi2Fi:FiBFiJFiGuqA GuqA Will construct direction to contact in vehicle frame from tetrahedron phase data.H! I!  I! I! I! &I! .I! 6I% <:I% k FGU aBY O} >x4w,LA>F@Y>T@>#9>R9>y>HSr@?x?$ǿs?w?H?r?ɨ>F@>+O;>!CyJBJ IIVIV٢^< ^I=9b;Q b>`` fG٣dyf f> nNusing accuracyPremultiplier from configlr59nIK?r5YnEU inM™pr!v Aln.:n :n{5x ~F A|%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h1h1h1f9f9rf9bf=@]Y]Y]Y]]tJp@m# qu>Iu9 qɚu5iqIqI}1f)iyi} t))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D;9*F?2F:FBF_0JFG%fBO> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i :w,@A6NF@Y6mT@696:>y6Hy?-o?ƿ?[?4?@r?ɨ6NF@6;6CyrȂBr Iiv G٣y$ > Nusing accuracyPremultiplier from config59uG?5YU iL™>;: AEQ;{;}5 ADNOT Ignoring new targets: 54.20 m. jj j j i h h hhBffrf!bf%5@]>]>]z>]4W@5 15=I59 1ɚ55i9I9I=2f)iAiE.x)A)AzKBoIK9KK%K*F%?2F!:F!BF%4JF!JJJ0JJ:JU:Jـ3Ja@a@a@a@eWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm "jBy O >Aw,cA2,F@Y2KT@27 92r|:>y2H@i}S?X?Vƿ ??%+?s?ɨ2,F@2<;2CyBтBB IIJIJq٢RS= R]=9RA;Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^,D?b5Y^U i^L™`b ;f A\^ ;^ ;^C5h jAh !I!DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf$@]]]]W@-7 )-=I-9 )ɚ-/5i1I1IU1f)iYi](y)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.HI IG!II BI&I.I6II<:I? FBIYJIYRIYZIYbI]! =jI]4*F2F:FBF4JFGBhpBO$>e Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,@!A^E@Y^T@^9^:>y^HYx>?dJſ 0?`+?:?@s?ɨ^E@^֊;^ Cy؂B% III(*٢M"< u2=9u0;Q u>yy }G٣yyo > Nusing accuracyPremultiplier from config59 @?5Y V iL™ -~GAYuM;} A ϿYyAC =U =I5 fA I}DNOT Ignoring new targets: 54.20 m. jyjjjihhhhffrfbf5 @]]]]mV@M QU>I]9 Yɚ]'5iYIYIe2f)iaim!})i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF?5JFzK RIK K K %K G] 2^pBi O >J J J J J J z:J J Nw, ;AVE@YVS@V@9V:>yVH?pjeſ@??F9?@t?ɨVE@V;TybBb!I)d dWill construct direction to contact in vehicle frame from tetrahedron phase data.uMb@Mb@Mb@qqq q)qYu"~j?V-:v?yuS=uuT=uvA u@)u3@IuQAqyuAIIq٢?= V=9;Q > G٣y > Nusing accuracyPremultiplier from config59h;>@ AEw;;5 ADNOT Ignoring new targets: 54.20 m. jjjjihh h h҂Bffrfbf}@]>]>]e@]7>@=@ AEL=IE9 iɚuiqIqI}1f)iyi}~)y)*FA2FA:FABFEP0JFAGSrpB!OEQ> IWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I Z!II /BI &I .I 6I <:I FTw,kTA6nE@Y6nS@6Ҽ96~;>y6H, m? vIſ w?a??[??u?ɨ6nE@6x;4yRBR !IIZIZ٢bZ; bZ=9f;Q f>dh jG٣hyj9ݻ j> 5Nusing accuracyPremultiplier from config)559-8?=5Y-U i-L™9=s>@= A)-W;-h;-5I MAIuDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhyhhhffrfbf@y @]]]]s>@Ҽ T=I#9 ɚK2iII2f)iia))2D*DBD:D*F?2F:FBF_0JFG G5Will construct direction to contact in vehicle frame from tetrahedron phase data.GpBAOe> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.1+[w,QnA2xE@Y2S@2ڱ92g;>y2HP`"?B`Ŀq? ?I? &u?ɨ2xE@2.;2CyBBB!IMb@Mb@Mb@ )YMbX?X9vˡE?y=}'=` A @)`@IhAyzAI-I-̍٢= ==9;Q > G٣yƻ > Nusing accuracyPremultiplier from config594?5YU iL™=;,@ AU;T;v5 FA%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h)h)hMBfQfQrfQbfUV!@]=]=]`(@],@ڱ 隭bw,A:]E@Y:|S@:.9:RR;>y:H?^Ŀb?v?G?@u? DIDɨ:]E@:N;:!CyNBN!!IiPIR< R=Ra=IVIV٢^O< bY=9bY;Q b>`d fG٣dyfʏ f> jNusing accuracyPremultiplier from confighr59jk1?r5YjT ijL™pr,@v AjEj);j);j5x z&AxDNOT Ignoring new targets: 54.20 m. jjj!j!i!h!h!h)h)f)f)rf)bf5 V"@]I]I]I]MQ,@e. imM Will construct direction to contact in vehicle frame from tetrahedron phase data.M=hw, ABb.E@YBbMS@BM9B;>yBH@,&r?`cĿ{ *g?h?Z?Du?ɨBb.E@Bi[;B CyM BM.!III<٢558= 55=9E;Q M> G٣y|Ȼ > Nusing accuracyPremultiplier from config59"-?5YS irL™o,@ A::(5B AƳEDNOT Ignoring new targets: 54.20 m. jjjjih!h!h!h!f)f)rf)bf5#@]a yIy]a]a]e^o,@M 隥 E=I|9 ɚ3iII1f)iia))*F2F:FBF0JF"G>G0?Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK k3IK k9K K %K    J} J} Jy Jy J} ;:J} !:Jy Jy 3enw,`AN!E@YN@S@NMr9Noa;>yNHvsL? KĿ J?iI?J?Xv?ɨN!E@NX;LybBb6!IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y)\(?~jtV-?yG=Ľ<A @)QAIAy=AII㔳٢< O=9;Q > G٣y >  Nusing accuracyPremultiplier from config 59 /)?5Y #S i mL™l>;$@ A E ; t; ΋5! %A!UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhYhYhYh]?Bfafarfabfe`U#@]l>]l>]@]*$@UMr QUPI]9 Yɚ]+2iYIYIe2f)iaieև)a)i*F2F:FBF4JF e$?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.Ha Ia  Ie !IIe WBIa &Ia .Ia 6Ie /<:Ie + FG \~B O >mOuw,EA2yD@Y2zS@2EF92H;>y2Hܚ? fÿ`0` F? ?`R?`Hv?ɨ2yD@2k;0yNBN8!I)P PTTIVIV)٢b4< b_=9b;Q b>dd fG٣dyj׻ j> nNusing accuracyPremultiplier from configlr59n[%?r5YnZR inhL™tv#@v Aln:n:ng5x zAx%DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h)h1h1f1f9rf9bf=~$@]Y]Y]Y]]#@mEF im Im9 qɚuiqIqI}1f)ii홄)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F5?2F1:F1BF=1JF9 Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ Ba O} >{w,qAFGD@YFH S@F 9F@-;>yFH@,?3ÿ{,?`?D?#w?ɨFGD@F;FCyjBj;!IeMb@Mb@Mb@aaa a)aYe&1?q= ףp~jt?ye=e뽹e G٣y > Nusing accuracyPremultiplier from config59!?5Y8Q iiL™>;@ AE;B;L5 xADNOT Ignoring new targets: 54.20 m. jjjjihhhhNBffrfbfIi%@]>]>]@]X@ HI89 ɚXiII2f)ii 넾) ) D9zK]ѦLK]9KYK]%K]    *F?2F:FBF2JFG GrAGqBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.  I .nw,1 A6D@Y6R@6yX96;T;>y6Ht?s@ÿ{@ (?~?H?w?ɨ6D@6i;6Cy>B>7!IIFIFi٢N n\=9r8;Q r>pp vG٣tyv< v> zNusing accuracyPremultiplier from configx~59z5?~5Yz8P ixd@ Axz~ ;z ;z5  A =DNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhAhAhIhIfIfIrfQbfU &@]q]q]q]ud@yX 隅I9 ɚ+iII1f)ii/ԅ))]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYZHRH?AHI I!IIgBI&I.I6I^<:IN FD9*Fi2Fi:FiBFmP0JFiJUJUJQJQJU:JU@:JQJQJQauJQauJU;auJU;a}GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,$ABŬD@YBR@B9BE;>yBH`O 2?ǖdÿ) <?@`v?EG?Dw?ɨBŬD@Bͪ;B CyN BN0!I Va=V=IZIZW٢nټ rF=9v1;Q z> G٣y_ > %Nusing accuracyPremultiplier from config]59?e5YO ijL™iH@ AE I<p =䒻51 =A=ijEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf'@]]]]]H@ 隭>I9 ɚ$ɳiII2f)ii ))BD=:Di>eWill construct direction to contact in vehicle frame from tetrahedron phase data.D&9EqAEqA*Fy 2Fy :F BF 5JF "G >G >zK ,pLK 89K K %K  Will construct direction to contact in vehicle frame from tetrahedron phase data. < G3BO>_w,yCAVD@YVR@Vky9V;;>yVHV@? 0ÿ%?t-o?F?bw?ɨVD@VoS;Ty-B-4!I-Mb@Mb@Mb@))) )))Y-B`"۹?"~j{Gz?y-=-S㽹-#<-A ))-AI))y-AI=I=٢ML< U=9UL;Q U>YY ]G٣Yy]O e> Nusing accuracyPremultiplier from configa59e?5YeM ieoL™>;n@ Aae;e;e 5 ADNOT Ignoring new targets: 54.20 m. jjjjihhh!h%RBf!f)rf)bf-6(@ III]U>]U>]Uk@]Un@mky imIm9 iɚmiqIqIu1f)iyiy)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.H9I9 I9I9I9&I9.I96I=-<:I=* FBI)JI)RI)ZI)bI)jI-h4D9*F 2F :F BF #5JF! J J J 0J J J U:J ـ3J J J J e;J e; Will construct direction to contact in vehicle frame from tetrahedron phase data.G:BO>.w,@ObAN!jD@YN"R@N-49N;>yNHd`A?q¿ [f?a?Q?v?ɨN!jD@NA;NCyZBZ"!IIbIb@٢n† r:=9r;Q r>tt vG٣tyv' z> ~Nusing accuracyPremultiplier from configx59z? 5YzL iztL™E@% AzEzr;z;z55B 5A=dzEeDNOT Ignoring new targets: 54.20 m. jijijijiiihihihqhqfyfyrfybf} (@)a mhC5NGIi] I VYyA]]]EE@%-4 )-"I-9 )ɚ56i1I1I=2f)i9i9)a)iD=9}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁ*F2F:FBFP0JFG B O- >,Uw,|AzKBHK9KK%K "$$# yB!I)! !)-A-only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3  @ @ @  @ II٢ ==9Q > G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.y >  bBottom track data is 0.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from configE59U ?E5YK ixL‘E+:AE;IM A=<>5a eHAaDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@)@ 隕0I79 ɚ`iII1f)ii))Dm9*F?2F:FBFO0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I !II \BI &I .I 6I g<:I T FG 3B O5 >=w,AF-D@YFLR@FL:9Fp;>yFH@Ϊ? li¿@# ?@I L?#w?ɨF-D@F3;F CyRBR!IIZIZ٢bý b[=9f1;Q f>dd jG٣hyjy" j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n?v5YnJ in|L‘v :tzg;z@z AnEn\(;nN?n5| ~A-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h1h9h9f9fArfAbfE@'}*@mL: im"UIu9 qɚuiuIqI}2f)iyiy))DC9J=J=J=1J9J=:J=q:J=3J9J=Z<J=Z<J=k;J=k;*F-?2F):F)BF-o0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.G:BO > I Zkw,mAWill construct direction to contact in vehicle frame from tetrahedron phase data.:D@Y:8R@::9::>y:H=/?`SOqA¿ &?]9?x?ɨ:D@:r;:CynBn I m m mm mm  m m mMb@Mb@Mb@iii i)iYmRQ?x&y&1|?ym=m7m`;i m@)mAImAiymAII٢ ;=9K;Q > G٣y9 > Nusing accuracyPremultiplier from config59?5YJ iL‘T:=;*@ A* ;e;{5 A%DNOT Ignoring new targets: 54.20 m. j)j)j)j)ihhhh;Bffrfbfe+@]=]=]g@]*@5: 15.I59 1ɚ5=i=II9I=1f)iAiA)A)ABDM=:DM;zKU~MKU9KQKU%KU  3D]{2ET_`D9EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF T0JF $?I G B O >Lw,A:C@Y:Q@:Ʉ;9::>y:H@DC?@``,?-p@5?"x?ɨ:C@:;:CyFՂBF IiJX\ ^G٣\y^: b> fNusing accuracyPremultiplier from config`f59bG?j5YbI ibL™lr*@r AbEbRl;btl;bQ5t vpAtDNOT Ignoring new targets: 54.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I!IIMBI&I.I6I<:I F jjjjihhhhffrfbf `SB,@]A]A]A]E)*@}Ʉ; y}zLI}[9 ɚԻiؼII2f)ii))Dm9*F?2F:FBF0JF JKO3 K(.KK"KJJJJJ[:J":JJJf<Jg<J8{;J8{;GI BY m Will construct direction to contact in vehicle frame from tetrahedron phase data.O >TGw,ArC@YrQ@ry;9r!;>yrH?@RD/?@*ouB?zw?ɨrC@r!;py-˂B= II II%x٢} ) }0=9&;Q > G٣y6ջ > Nusing accuracyPremultiplier from config595?5YH iL™T*@ A-;p;]5 AmDNOT Ignoring new targets: 54.20 m. jijijijiiihihqhqhqfqfyrfybf} )-@]]]]mT*@y; 隵`Iy9 ɚٴiII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F- ?2F) :F) BF- ]0JF1 G9  G= qAzK} NK} 9Ky K} %K} _I)~}}wuuoigfda_WSTRPJGFED@BA=98;95u Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge3BqO>^w,A2CC@Y2DQ@2HC;92r:>y2Hf? ^㞿}'1? _x L-?ox?ɨ2CC@2;2 Cy>B> I-Mb@Mb@Mb@))) )))Y-~jt?ˡE~jth?y-=-'-D;-EA )))I))y)I=I=<٢M½ U8=9U:Q U>YY ]G٣Yy] ]> Nusing accuracyPremultiplier from config59Z?5YH iL™%=%;%7@% A<<Z51 5k A1 IIUhDNOT Ignoring new targets: 54.20 m. jjjjihhhh Bffrfbf`.@]-=]-=]-I%@]-7@EHC; AE.IM9 IɚUZiUIQIU2f)iyiy)y)*F5?2F1:F1BF5_1JF1HaIa IeZ!IuWill construct direction to contact in vehicle frame from tetrahedron phase data.Ie/BIe" =&Ia.Ia6Ie3<:Ie/ FGY Bq O >J% J% J! J! J% :J% #:J! J! J% <J% <J% };J% };4w,qARKRC@YRLqQ@RyD;9R:>yRH`QE? k74@z?~H}Y>?w?ɨRKRC@RY ;Py^B^ I)` `dfAIjIjFrWill construct direction to contact in vehicle frame from tetrahedron phase data.٢v vR=9z9;Q z>x| ~G٣|y) >  Nusing accuracyPremultiplier from config 59 1?5Y >H i L™7@ A E :  ; 5! %$ A!]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhahahahafifirfibfm.@]]]]έ7@yD; 隥|\I/9 ɚiII1f)ii))*F%?2F!:F!BF%b4JF! iIiGU:BaO}{>Will construct direction to contact in vehicle frame from tetrahedron phase data.w,N9A6u9C@Y6vXQ@6 <96:>y6H73??@w6 )? d2?x?ɨ6u9C@69;6CybBb IeMb@Mb@Mb@aaa a)aYeRQ?{Gzt{Gzt?ye=eףeף;eA e-@)eAIaayezAIuIu(٢Y A=9);Q > G٣y4j > Nusing accuracyPremultiplier from config59?5YQH iL™= <D AP';&;֤5  ADNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf:/@]-=]-=]-a@]-mM@ < kI9 ɚ2tiNII2f)ii)zK-XNK-9K)K-%K-5664321.-)+)''%$##"" ! BK=pA:K9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF3JF"G>G qIqGm 3B Ha Ia  Ie .!IIe BIe ! =&Ia .Ia 6Ie f<:Ie T FO > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,*SA2B@Y2Q@25<92.;>y2H@@?H @9C?tOD?+w?ɨ2B@2;0y>BB IIJIJ٢Rj RZ=9RK[;Q R>TT VG٣TyV' Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ`H iZL™`bDb AXZ ;Z ;Zw5jB j AjʳEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`)70@]]]].M@ 5< ÀI9 ɚpiII=1f)i9i9)9)9*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.<GBO> y I w,"mARB@YRQ@R#<9R:>yRH@@? z.D<;? gu@{0?x?ɨRB@R4;RCy^pB^p Iif=Ifp< j=jp=Mb@Mb@Mb@ )YK?V-?~jtx?y^=<;rA @)MAIyAII ٢ 9=9@:Q > G٣yGZ > Nusing accuracyPremultiplier from config59땜?5YH iL™= <f. AE&;$;f5  ADNOT Ignoring new targets: 54.20 m. jj!j!j!i!h!h!h)h-Bf)f1rf1bf50@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]e=]e=]e>]ec@}#< y}I}=9 yɚ}?i5II2f)ii))2D*DBD:D*F?2F:FBFJFJJJJJ:JK:JJa@a@a@a@G:BO >zK= )MK= 9K9 K= %K=        Will construct direction to contact in vehicle frame from tetrahedron phase data.w,߆AFB@YFP@F5<9F:>yFHϽ? W Ծ{?? ?6?`w?ɨFB@FA;DyNaBN] IIZIZ<٢bM b]=9bD;Q b>dd fG٣dyf" j> nNusing accuracyPremultiplier from confighr59j蕜?r5Yj2I ij}L™pr.r Ahj2 ;jT ;j5t z Ax5DNOT Ignoring new targets: 54.20 m. j1j1j1j9i9hAhAhAhIfIfIrfIbfM1@]i]i]i]mۀc@5< 隅4IF9 ɚi;II1f)ii)) )I)*F?2F:FBF`0JFHI I II݂BI&I.I6I8<:I3 FBIJIRIZIbIjI s4eWill construct direction to contact in vehicle frame from tetrahedron phase data.G1BAOmx>:w,AbWill construct direction to contact in vehicle frame from tetrahedron phase data.yjOBjH IIrIr٢z zG=9zQ ~>|| G٣y >  Nusing accuracyPremultiplier from config 59 啜?5Y I i yL™!!% A  @; TA; ϫ5) - A)UDNOT Ignoring new targets: 54.20 m. jQjYjYjYiYhYhahahafafirfibfmj1@]]]] 隥I9 ɚKixuWill construct direction to contact in vehicle frame from tetrahedron phase data.#w,hAynHBr? I)t ttvAuMb@Mb@Mb@qqq q)qYu?T㥛 ?~jtx?yu=u=quA u-@)uAIqqyuzAII٢ ==9Q > G٣y > Nusing accuracyPremultiplier from config59z╜?5YoJ irL™]=;e AE,;.;5  A-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h9h9h=Bf9fArfAbfEf1@]e]=]e]=]ew?]es@JJJ2JJ;:J":Jc3J 隕kI9 ɚʴieH I  I II BI &I .I 6I <:I  F} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,qAV.B@YVMP@Ve<9VI9>yVH`ƻ?`s T伿NH ?`׽?@x?ɨV.B@V;Tyr:Br- IIzIz%x٢ X=9 ;Q  >    G٣y > Nusing accuracyPremultiplier from config%59ߕ?%5Y&K ikL™)-- A : :Y51 5C A1eDNOT Ignoring new targets: 54.20 m. jajajajaiihihihihqfqfqrfqbf}:2@]]]]IGYWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> $?I \w,gAv8A@Yv9 P@veiv<9vR=:>yvH@o?ڻwK?̎1&? w?ɨv8A@v;<;v!Cy1B" IMb@Mb@Mb@ )Y ףp= ?MbX?I +?yQ==94<EA )7AIhAyAIIi٢D+ >=9C;Q > G٣yc > Nusing accuracyPremultiplier from config59ܕ?5YVL i_L™w >; A";H!;:5  A%DNOT Ignoring new targets: 54.20 m. j!-Will construct direction to contact in vehicle frame from tetrahedron phase data.j1j1j9i9h9h9hAhEBfAfrfbf2@]Ew >]Ew >]EC>U?]E@eiv< 隵LI9 ɚi%Yy2H`?ա}NU? q?$B> IiB=IB%= F=Fa=IJIJԲ٢RqR R0=9Vd;Q V>XX ZG٣XyZϻ ^> bNusing accuracyPremultiplier from config\f59^ٕ?f5Y^M i^RL™dfNf A^E^ ;^ ;^A5l n AlDNOT Ignoring new targets: 54.20 m. jjjji h h h hffrfbf`3@]9]9]9]=@Uщ< QU4eIU9 QɚUiU Will construct direction to contact in vehicle frame from tetrahedron phase data. w,'(A:P~A@Y:QO@:!x<9:]9>y:H 2?顿 .)@Q j? N8?@Fx?ɨ:P~A@:v;: CyFBF IIVIVM٢bD| bI=9f;Q f>hh jG٣lyrG r> zNusing accuracyPremultiplier from configt~59v֕?5YvN ivGL™ Atvw;vo;v5 UAeDNOT Ignoring new targets: 54.20 m. jajajajaiihihihqhq Ifqfrfbf3@]]]]DɁ@!x< ~I9 ɚt"iII1f)ii))q*FM?2FQ:FQBF]2JFYGy G}rAeWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu:BO>J J J 1J J :J &:J 3J zw,BAbWill construct direction to contact in vehicle frame from tetrahedron phase data.zKVBJK9KK%Ky-B- IMb@Mb@Mb@ )Y ףp= ?Cl?I +?y;= @)AIAyAII٢.< :=9Q > G٣y > Nusing accuracyPremultiplier from config59ӕ?5Y P i:L™/>;p  AE-;;5 B FA ̳E=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hAhAhE{BfAfIrfIbfM V3@]m/>]m/>]m'na?]mW@) IMBIU9 QɚU`/iQIQI]2f)iYiY)Y)a qIq*F%?2F!:F!BF%P0JF!HI If IIiBI&I.I6IG<:I? FuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiqGi Bq O >w,[A2GA@Y2G.O@2.<92N9>y2H@10?o@X??x?ɨ2GA@2;2"Cy>B> I)@ @DFAIJIJʴ٢R < Ra=9R1;Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from configXb59Zbѕ?b5YZ!Q iZ/L™`b f AXZ ;Z ;Z5h jAhDNOT Ignoring new targets: 54.20 m. jjjjihh h h f frfbfT4@]]]]@.< !%8I%9 !ɚ%:i!I!I}1f)iyiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF)JF) aIaGqBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.Cw,vAyB IMb@Mb@Mb@ )YʡE?`"?~jt?y-==<\A -@)7AIy(AII٢ ˼  4=9Q > G٣y %> -Nusing accuracyPremultiplier from config)559-tΕ?55Y-R i-L™=>=;== A-E-$;-!;-5EB EFAMϳEuDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhqhyhyh}Bfyfrfbf64@]>]>]r?]@ 隽 WI9 ɚHiII2f)ii))2D*DBD:D*F?2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zK1K59K1K5%K5 G! B1 O] > ! I) S#w,AjHYbHYHaIa IeS IIeYBIa&Ia.Ie6D6Ie\<:IeN F5Will construct direction to contact in vehicle frame from tetrahedron phase data.h@@YN@V<9SC9>yH``Q?;`A׵_Ĺ? v*?`x?ɨh@@;騝Cy=%B= IIUIUM٢e`M= e8=9;Q > G٣ yD > =Nusing accuracyPremultiplier from config)=59-ʕ?E5Y-UT i-L™AEE A)-k;-;-ټ5I M AQ}DNOT Ignoring new targets: 54.20 m. jyjyjyjyiyhhhhffrfbfxQ5@]]]]@V< 隕<@IG9 ɚViII1f)ii))JJJJJ:J!:JJJ u*w,Ay5+B5 Ii==I=4< E=Ep=IMIMi٢ = S=9Q > G٣y ?  Nusing accuracyPremultiplier from config%59ȕ?=5YTU iK™AAU AE%-<d-<15q } ADNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf5@Will construct direction to contact in vehicle frame from tetrahedron phase data.]1]1]1]1a im2ImJ9 iɚm/aiiIiIu2f)iqiq)q)y*F?2F:FBF_0JFG= :BA J] AAJ] BAOe > Will construct direction to contact in vehicle frame from tetrahedron phase data.d1w,AzK0(LK9KK%K      i5mh%BKqA:KqA^?@Y^N@^B<9^69>y^H ɲ?@c`ٽ?``"?x?ɨ^?@^=$;\yn8Bn+ IeMb@Mb@Mb@aaa a)aYesh|??&1?I +?ye=e=e9x= L=9 ;Q > G٣yH > Nusing accuracyPremultiplier from config59vƕ?5YbV iK™>;R  A;;濻5 Q A IDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf 6@]%>]%>]%Cc?]%f@=B< 9= WI=v9 9ɚ=*niAIAIE1f)iIi))*F)2F1:F1BF50JF9H)I) I)I)I)&I).I-7D6I-F<:I-? FBIJIRIZIbIjI4Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BY Ou >=7w,Ar?@YrM@r <9rk9>yrH`4?=@`e@4?`EM?`w?ɨr?@rgj;rCyzNBzF II I J%J%J%2J!J%:J%:J%c3J!J%<J%<J%Cr;J%Cr;٢== =O=9Ey:Q E>AA MG٣IyM$ M> UNusing accuracyPremultiplier from configQ]59UÕ?e5YUrW iUK™ae e AQUb;U;U5i u AqDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf i6@]]]]D@ < >*I9 ɚiII2f)ii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBF@5JF) rC]~Gy VYy A IGyBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,:A2P?@Y2PM@2yz<92#F9>y2H2?`9@g ?n? Xx?ɨ2P?@2Hx;2CyB\BBW I)D DDFAMb@Mb@Mb@ )YʡE?Q?I +?y-=\=A -@)MAIhAyAI-I-)٢== EJ=9E|Q E>II MG٣IyM M> Nusing accuracyPremultiplier from configQ59U?5YU4X iUK™=; AUEU3H! I!  I% l II% nBI! &I! .I! 6I% <:I% i FbDw,kAF2\?@YF2{M@F0<9F9>yFH o@W?fh ?喿6?w?ɨF2\?@F%;F CyRmBRl IIXIX٢b= bR=9f:Q f>dd jG٣hyn rWill construct direction to contact in vehicle frame from tetrahedron phase data. r> vNusing accuracyPremultiplier from configtz59v^?z5YvX ivK™|~~ Atvu;v;vŻ5  A eDNOT Ignoring new targets: 54.20 m. jajajijiiihihqhqhqfyfyrfbf67@]9]9]9]=;v@M0< IMTIM;9 ɚeiII2f)ii))*FM?2FI:FIBFMP0JFIJ=J=J=1J9J=L:J=q:J=3J9J=@ <J=A <J=k;J=k;GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii Jw,AI-A6SB?@Y6SaM@6uc<969>y6H`?UJuAvi?@?w?ɨ6SB?@6 Ȋ;4yRBR IIbIbq٢f= jJ=9j']Q j>hl nG٣lyr r> vNusing accuracyPremultiplier from configpv59r?z5YrY irK™xzz ArEr:r:rƻ5  A-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i1h1h1h9hAfAfArfAbfE7@]]]]H"v@uc< 隥"Ir9 ɚiII1f)ii))*F=?2F9:FABFAJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G3BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.չ չ Qw,S$GAzK.qKK.89K,K.%K. >K?@Y>K7M@>:*<9>fM:>y>H`Ꝯ?@i!?@Τc'?v?ɨ>K?@>x; G٣y > Nusing accuracyPremultiplier from config59E?5YY iK™6=<B< A#;;Ȼ5 6 A $?IMDNOT Ignoring new targets: 54.20 m. jIjIjQjQiYhYhahihmBfqfqrfybf}b 8@]6=]6=])4>]EU@%:*< )-kI-9 IɚM|iIIQIU2f)iQiY)Y)Y*Fe?2Fa:FaBFaJFaHI I IIBI&I.I6I:<:I5 FWill construct direction to contact in vehicle frame from tetrahedron phase data.GE :BQ Om >Ww,f`ABc ?@YBc)M@B@<9BT:>yBHD9?ؠ@FbJj`?`U>C(?v?ɨBc ?@BŊ;BCyJBN IIVIVn٢^= ^\=9^Q b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59jx?n5YjZ ijK™prP<r Ahj;j;j_ʻ5t v AtJJJ0JJ:J:Jـ3JJ4<J4<Jn;Jn;=DNOT Ignoring new targets: 54.20 m. j9j9jAjAiAhAhAhIhIfIfIrfIbfUj8@]]]]sU@@< !%CI%'9 !ɚ%i!I!I-1f)i)i))))1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JF IGBBIO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.n^w,zA>3>@Y>3M@><9>W:>y>H {?@@Hj5?ޕ6?`Bv?ɨ>3>@>Y;>CyFƂBF I%Mb@Mb@Mb@!!! !)!Y%Mb?Q롿:v?y%=%\%T<%A !)%AI%A!y!I=I=#٢M= MA=9MYbQ M>QQ UG٣Qy]5[ ]> mNusing accuracyPremultiplier from configiu59m?u5YmY imK™}$=}<}:5@} Aim~(;m&;m9̻5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhhH I  I II ɂBI &I .I 6I Z<:I L Fdw,A:j>@Y:j M@:'<9::>y:HaI?@Hd`pů 5j`?@y`T=?u?ɨ:j>@:l;: CyF˂BF I)H HNANAIRIRm?٢Z< ZT=nWill construct direction to contact in vehicle frame from tetrahedron phase data.9~ Q ~> G٣y%@ %> -Nusing accuracyPremultiplier from config)559-Ӯ?55Y-fY i-K™Y]15@] A-E-;-;-ͻ5eB eAeҳEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf?9@]A]A]A]E15@]'< Y]`Ie9 aɚeOaiaIaIm1f)iiii)i)*FI2FI:FIBFM1JFIGiWill construct direction to contact in vehicle frame from tetrahedron phase data.BO> I =kw,6A:>@Y:M@:㲦<9:v;>y:H? F쟿`ǁi? Ք /L? pu?ɨ:>@:V;:!CyBBB IININq٢V = VK=9ZQ Z>XX ^G٣\yb b> fNusing accuracyPremultiplier from config`j59b?j5YbY ibK™hj(5@j A`b:b:bϻ5p rAp DNOT Ignoring new targets: 54.20 m. j j j j i hhhhff!rf!bf% 9@]]]](5@㲦< N2I9 ɚiII 2f)i i ) )IEEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F!BFMA5JFIG3BO>JK3 K.KK"KJ- J- J- 1J) J- |:J- :J- 3J) a= @a= @a= @a= @ Will construct direction to contact in vehicle frame from tetrahedron phase data.rw,QjAR>@YR M@R<%<9Rcx;>yRH s?=z ѯ@[i k?PDlL? u?ɨR>@Ra;PyZB^ !IzKnMKnk9KlKn%Kn[RG>71'$  UMb@Mb@Mb@QQQ Q)Q aIaYUMbX? ףp= ~jthyU=UQUDUA Up@)UdAIUAQyUpAIuIuV٢^= ==9䨺Q > G٣y: > Nusing accuracyPremultiplier from config59৕?5Y'X iK™ >;m@ AE;<;ѻ5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfU:@]m >]m >]ms@]m#m@<%< zI9 ɚGiII=1f)i9i9)9)A*F?2F:FBF4JFHI I!IIBI&I.I6IW<:IJ FWill construct direction to contact in vehicle frame from tetrahedron phase data.iG- :BA O] >+xw,kDA2>@Y2 M@2Cʙ<92<>y2H@{? v`¯ h-?`8`]?@t?ɨ2>@2|;0y>B>!IiF=IFR= Fp=Fa=IJIJm٢R]= RZ=9V2Q V>TT ZG٣XyZ Z> =Nusing accuracyPremultiplier from config\E59^?E5Y^YW i^K™AAM A\^F;^;^/ӻ5Q UAQDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfr:@]]]]m@Cʙ< I9 ɚ3iII2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF QIYG3BO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.bV~w,"A6d>@Y6d M@6N<96js<>y6H`??ڝ ůg`@6;6CyRBR!!IeMb@Mb@Mb@aaa a)aYeMbX?Zd; G٣yZ8 > Nusing accuracyPremultiplier from config59?5YV iK™!>;N@ At;;ջ5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf :@]%!>]%!>]%^@]%N@=N< AE=IM9 IɚMWUiIIIIU1f)iQiQ)Y)YJJJJJ:J/:JJ*F ?2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data. 9I9zKEf=MKEu9KAKE%KEGIBYO}>ZH} ?ARH} AAH I  I M!II %BI " =&I .I 6I M<:I A FBIQJIQRIQZIQbIQjIU4]?w,yAf>@YfM@fn<9fX<>yfH`q6?1},Vg:?qOh?t?ɨf>@fH;fCynBr!IIzIzT٢ T=9:Q >    G٣ y>; >%Will construct direction to contact in vehicle frame from tetrahedron phase data. -Nusing accuracyPremultiplier from config)559-I?55Y-T i-K™9=d@= A-E-;-!;-ֻ5A E#AAmDNOT Ignoring new targets: 54.20 m. jijijqjqiqhhhhffrfbfC;@]]]]d@Un< Y]֍I]79 Yɚ]iYIYIe2f)iaia)i)i*F?2F :F BF _0JF G1BYOyWill construct direction to contact in vehicle frame from tetrahedron phase data.  ) ] ׿Ya y A ) I1 Mhw,/A6~>@Y6~M@6<96<>y6H@R?A/frI?&r gu?,t?ɨ6~>@6"(;6 Cy^B^!I)` `fAfAIjIj)٢v߼ vL=9vQ v>xx zG٣xyz8 ~>  Nusing accuracyPremultiplier from config 59?5YS iK™i@ A::ػ5! %PA!MDNOT Ignoring new targets: 54.20 m. jIjIjIjQiQhQhQhYhYfYfYrfYbfe;@]y]y]y]}i@< 隝pI9 ɚݲiII1f)ii))=Will construct direction to contact in vehicle frame from tetrahedron phase data.D19*FU?2FQ:FQBFUP0JFYJ J AAJ J J 0J J :J :J ـ3J G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.Pw,=IA b$?I`ynBr!IzKKKK%KBK!:K%pAMb@Mb@Mb@ )Y?S㥛Q롿y=$\ )dAIyGAII̍٢T <=9Q > G٣y > Nusing accuracyPremultiplier from config59ו?5YyR iL™,>;!@ AE9;;kڻ5  mA =DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hAhAhEBfAfIrfIbfM&<@]m,>]m,>]m @]m!@ 隅\I9 ɚsشiII2f)ii))DH5?>I1 I5m!II5>BI1&I1.I16I5^<:I5N F*F?2F:FBFo0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >{w,)cA6!?@Y6@M@6:b<96u<>y6H@?@j" e`B?@G`!l?t?ɨ6!?@6f;6Cy>B>!IIFIF%x٢N4= Na=9R˻Q R>PT VG٣TyV; V> ZNusing accuracyPremultiplier from configXf59Z?f5YZ^Q iZL™dfO@j AXZm;Zm;Zܻ5nƓB nAlDNOT Ignoring new targets: 54.20 m. jjj j i h h hhffrf1bf5 Xt<@]Y]Y]Y]]O@m:b< imIm9 iɚu&iqIqI}1f)iyiy)y)Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F2F:FBFP5JFG:BO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.w,n}A:Z0?@Y:ZOM@:Q<9:"n<>y:H@J@?Lq@Mk?u?ɨ:Z0?@:);: CyFۂBF IiJ G٣y*; > Nusing accuracyPremultiplier from config59?5YFP i5L™o>;@ AE;^;ݻ5q uWAuճEDNOT Ignoring new targets: 54.20 m. jjjjihhhhjBffrfbf@<@]o>]o>]Qǭ@]@%Q< IM\IU9 QɚUiQIQI]2f)iYiY)Y)aEEpAJJJ1JJ:J/:J3J*F92FA:FABFEO5JFAGMrA GMqAWill construct direction to contact in vehicle frame from tetrahedron phase data. IzKK9KK%KG 3B O >H! I!  I! I! I! &I! .I! 6I% <:I% r Fw,AAFW@?@YFX_M@FMv<<9FjI<>yFHf?'U: d@?f?_u?ɨFW@?@FxP;FCybʂBb IIjIj ٢r rZ=9rIeQ v>tt vG٣tyz*; z>Will construct direction to contact in vehicle frame from tetrahedron phase data.iA  Nusing accuracyPremultiplier from config|59~?5Y~YO i~OL™@ A|~5;~|;~߻5%œB -A-ӳEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrf!bf%`J=@]y]y]y]}Ӵ@Mv<< 隽ŸIV9 ɚ%iII1f)ii))*Fi2Fi:FiBFmO0JFiGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O> I hw,: A:A?@Y:`M@:yS0<9:l<>y:H Lu?o`[@ {d@F?@S Gk?XX ZG٣Xy^q9 b> fNusing accuracyPremultiplier from configdj59f ?j5Yf]N ifkL™hj@j AfEf:f:fO5p r0AtDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f!rf!bf-@B=@]A]A]A]EM@]yS0< Y]ªI]W9 Yɚe%:iaIaIm2f)iiiq)q)q*F?2F:FBF%P0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu:BO>J J @A Will construct direction to contact in vehicle frame from tetrahedron phase data.Mw,rA IV0M?@YV1lM@Vea<9V;>yVH ?RO@md@9? @[?`v?ɨV0M?@V*;V Cy^Bb I)d djAjAeMb@Mb@Mb@aaa a)aYeI +?y&1~jtye9=e`eeDa a)eMAIeAayazK}BHK}k9KyK}%K}BKpA:KII٢ӽ <=9a7Q > G٣y: > Nusing accuracyPremultiplier from config59?5YM iL™'=;B.@ A;Y;55 AuDNOT Ignoring new targets: 54.20 m. jqjqjyjyiyhyhyhh8Bffrfbf`:>@]'=]'=]5@];B.@ea< \I%9 ɚiII1f)ii))2D*DBD:DHI IT!II*BI! =&I.I6Iv<:I` F*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G) B1 OU >Ǹw,xA2>?@Y2]M@2V|<92;>y2H-~?@v@1]e@@6? {/ V?Xv?ɨ2>?@2r;0y>B> IIFIFԲJVJVJTJTJV:JVB:JTJTJV'dd fG٣dyjv j> nNusing accuracyPremultiplier from configlr59nၕ?r5YnM inL™pv4.@v Aln ;n" ;n5x z AxDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf>@]a]a]a]e4.@}Will construct direction to contact in vehicle frame from tetrahedron phase data.V|< )I 9 ɚiII2f)ii)) I!*F?2F:FBF_0JFGBOY 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A6C?@Y6bM@6.<96:>y6H ` ?4GjfP?P :?w?ɨ6C?@6;6CyRBR I5Mb@Mb@Mb@111 1)1Y5I +?y&1|?kty15`;5 05A 5@)5AI5~A1y5zAIEIEV8٢Us~ U?=9]e Q ]>aa eG٣aym$S: m> uNusing accuracyPremultiplier from configi59m~?5YmM imL™%=%<%:% AmEmF@]=]=]=]!X@.< 隥kI59 ɚCmiII1f)ii))*Fi2Fi:FiBFmo0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. IzKK9KK%K GBO>ZH @ARH ?AH I  I !II BI &I .I 6I h<:I V Fw,A6)?@Y6HM@6d;96#:>y6H @?򰓿q߰g? pl~D0?8x?ɨ6)?@6;6 CyNiBRg IiTIV= V=V=I^I^Ʋ٢nrWill construct direction to contact in vehicle frame from tetrahedron phase data. vS=9z̴Q ~>    G٣y儻 %> -Nusing accuracyPremultiplier from config!-59%{?55Y%M i%L™15::5 A!%L:%%;%l5A E AAmDNOT Ignoring new targets: 54.20 m. jijqjqjqiqhyhyhyhyffrfbf J?@]]]]W@d; 隽\I9 ɚiII2f)ii))E*F 2F :F BF 1JF JJJJJ :J :JJJ<J<J9P;J:P;GUBBiWill construct direction to contact in vehicle frame from tetrahedron phase data.O> Iw,i2A2?@Y27M@2;929>y2H`?@`ƛ@iT?|`n?'y?ɨ2?@2;0y>YBBT IIJIJV٢f  fK=9jZjQ j>hl nG٣lyr* r> vNusing accuracyPremultiplier from configtz59vy?z5Yv(N ivL™xzP:z Atv ;v` ;v'5 ^ A-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h1h9h9f9f9rfAbfEB?@]]]]W@; *I9 ɚiII 1f)i i ) )*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G:BO>J J AA Will construct direction to contact in vehicle frame from tetrahedron phase data. I w,d@LAJ>@YJM@J;9J9>yJH?S@ j?Qz C? y?ɨJ>@J^;HyVJBVA IEMb@Mb@Mb@AAA A)AYE#~j?ˡE?y&1yE=E=E`EEA E@)EAIEhAAyEAIUIUƲ٢e# eA=9mǺQ m>iq uG٣qyu( u> Nusing accuracyPremultiplier from config59Vv?5Y+O iL™=; AE';s;5  AzKH LK-9KK%KBK:KMDNOT Ignoring new targets: 54.20 m. jIjIjQjQiQhQhYhYh]BfYfarfabfe@@]=]=]J?]@; 隕P8I9 ɚiII2f)ii))*FU?2FQ:FYBF] 5JFYHu>>Iq Iu IIu΂BIq&Iq.Iq6Iu<:Iu FBI1JI1RI1ZI1bI1jI5Lr4Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,fA68>@Y69L@6;96v9>y6H@߱?m@ήk?zT?@y?ɨ68>@6;6CJFJFJDJDJF:JF/:JDJDJF4<JF4<JF^;JF^;yv=Bv2 I)x x)  I5I5(uNG٢k E= YyA99Q > G٣y%л %>]Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I Nusing accuracyPremultiplier from config1595s?5Y5/P i5L™ A15:5:55 ƓB A A ճE}DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfI@@]]]]t@; -PI-9 )ɚ-`8i)I)I51f)i1i9)9)9D z9E) E- qA Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF "G >G >G BO5>kw,<A6>@Y6L@6z;968>y6H@Ĭ?@됿@ѭm?UOy ?z?ɨ6>@6ǽ;6!Cy>7B>) I-Mb@Mb@Mb@))) )))Y-Zd;O?M?~jty-j=-n>-D-A -@)- AI-QA)y-AIEIEm?٢U2 U(=9]^aQ e> G٣y   > Nusing accuracyPremultiplier from config59$p?5YR iL™%.>%;%s% AE;;51 5w A1]DNOT Ignoring new targets: 54.20 m. jYjYjajaiahahahihmoBfifirfqbfu`2@@ IWill construct direction to contact in vehicle frame from tetrahedron phase data.].>].>]c?].V@z; HI9 ɚViII2f)ii))*F?2F:FBF4JFzKuKu9KqKu%KuRK?JK>HI I IIBI&I.I6I<:Ii FGB O- >= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ŸAvv>@Yv˕L@vC;9v݃8>yvH m@"? ux +os?]yw?4{?ɨvv>@vw ;vCy*B II5I5q٢U8z UK=9]s9Q ]>YY ]G٣Yyes e> mNusing accuracyPremultiplier from configiu59mpm?u5YmS imL™y}} AimC ;me ;m5œB  AسEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`@@UPExceeded connect timeout, disconnecting.]]]];@C; 隽 I!9 ɚryiII1f)ii))JJJJJ :J$:JJJ<J<J~;J~;*F?2F:FBFO0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O- >w,A>5U>@Y>6tL@>I;9>7>Will construct direction to contact in vehicle frame from tetrahedron phase data.y>HV_?֏`z@q?@*iy?p|?ɨ>5U>@><;>!CyޅBލIi G٣y >  Nusing accuracyPremultiplier from config 59 .j?5Y _U i L™ A E z: : 5A EAIDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@@]]]]i+@I; TI9 ɚi9I9IE2f)iAiA)A)IEUe>EU%>*F?2F:FBFP0JFGqA G iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK BoIK K K %K }P!, { w,iA2>@Y23L@2;92%7>y2H@`a?^=%s`?{y?0|?ɨ2>@2R;2 Cy>NB>F IHAIA IE IIE}BIA&IA.IA6IE<:IE FMb@Mb@Mb@ )YMb?-?y&1|?y=?5>`;A @)~AI@yfAII1٢%? %W=9%:Q ->)) -G٣)y5* 5> ENusing accuracyPremultiplier from config9E59=wg?E5Y=!W i=L™MXM>M;MUM A=§E=;=Y;=U5Q ] AYDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfA@]XM>]XM>]?]Ke@; ̽I9 ɚiII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF UnManaging dock network, ignoring radio surface power offG:BO>J J J 2J J <:J :J c3J J 5;J 7;J U;J U; i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. \w,_FAz=@YzK@z w;9z7>yzH=@?XT Eu`?}]?|?ɨz=@zފ;xy-VB-P IIeIeF٢us#= uV=9D:Q > G٣y9 > Nusing accuracyPremultiplier from config59d?5YX iL™ A-;N;5 y A5DNOT Ignoring new targets: 54.20 m. j1jYjYjYiYhYhahahafafirfibfmRA@]]]]2@ w; I_9 ɚjiII2f)ii))2D*DBD:D*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O5 >vw,DABO=@YBPK@B;9Bs7>yBH`@s?`Ѝu }?6~ ?@|?ɨBO=@B;BCyZbBZ^ IEMb@Mb@Mb@AAA A)AYEB`"۹?x?{Gz?yE=EK7>Eףqq }G٣yy} }> Nusing accuracyPremultiplier from config59va?5YZ iL™tS>; AçED;@#;5  ADNOT Ignoring new targets: 54.20 m. jjjjihhhhBff IrfbfA@mWill construct direction to contact in vehicle frame from tetrahedron phase data.]tS>]tS>]sN?]@; ԣI9 ɚ*iII1f)ii))*F?2F:FBF0JFzKOK9KK%K  4 +  BW`Xg2U m1xjaZQICB?:862.))&!H)I) I-y II-xBI)&I).I)6I-<:I-| FG:BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.w, A2T=@Y2sK@2<92\8>y2H@9? r v? +:`m?{?ɨ2T=@2;0yVrBZr IIbIbƲ٢j= jV=9j:Q n>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595T^?E5Y5\ i5L™AE&E A15& ;57 ;5{5I M AQ}DNOT Ignoring new targets: 54.20 m. jyjyjjihhhhffrfbf A@]]]]@< xDI9 ɚfZiII2f)ii))*F?2F:FBFO5JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G3BO>Ww,^:AF<=@YF[K@FH<9Fyb8>yFHr P?xȍ]`v&?逿F?G{?ɨF<=@Fj;F!CyVBV IIbIb ٢j,,> jJ=vWill construct direction to contact in vehicle frame from tetrahedron phase data.9U:Q > %G٣!y5o > Nusing accuracyPremultiplier from config 59Z?5Y^ ikL™!-?- AħE<<U5  AEDNOT Ignoring new targets: 54.20 m. jAjAjAjAiIhihqhqhqfyfyrfybf}[A@]]]]@H< zKU nPKU u9KQ KU %KU  F:<1sjc\TPLJGDA@<:77630-,)()%$!###"!! " "w,!TA:`=@Y:a&K@:g)<9:+9>y:HR ]<]A ]@)]AI]@Yy]AImImq٢}K= }?=9n:Q > G٣y > Nusing accuracyPremultiplier from config59W?5Y_ iXL™31>;  AŧE;;5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhh˂Bffrfbfj#B@] 31>] 31>] xr?] @%g)< AE\IE/9 IɚM6iQIQI2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F!:F!BF%4JF!G= :BI Om > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.lw,ʍnAF<@YFK@Fw<9F9>yFH?R@ Av? 0? 5z?ɨF<@F;FCyB IIIm?٢5o= 5P=95Y:Q 5>99 =G٣9yE= E> MNusing accuracyPremultiplier from configIU59MT?U5YMea iMDL™QU ] AIM,;Mo;M5a e-AaDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf(RB@]]]]@w< I#9 ɚiII1f)ii))*Fi2Fi:FiBFmO0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data. i G3BO>A"w,"qA2<@Y2J@2t<92R9>y2Ho?|w? ?y?ɨ2<@2p̉;0JSK[ 3 K[L.KSKS"KSJFJDJF0JDJF:JDJFـ3JDynBn I YIYMb@Mb@Mb@ )YEԸ?333333?I +?y==9< @)zAIv@yAI I q٢$> <=9:Q %>!! %G٣!y-] -> =Nusing accuracyPremultiplier from config1=595 Q?E5Y5;b i55L™E=E;EQE A5ƧE5;5;55UWill construct direction to contact in vehicle frame from tetrahedron phase data.I ]*AYDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfB@]E=]E=]E~(?]Er@]t< Y]uI]%9 YɚYiYIaIe2f)ii))*F92F9:FABFEP0JFAzK]NK]9KYK]%K]%X^:lwcI. lV?,HI I IIBI&I.I6Ig<:IV FBIJIRIZIbIjI4GE :BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.+(w,EA6f<@Y6gJ@6I"*<96:>y6H K?@_[`h眿@Lv? 0De"?x?ɨ6f<@6X؉;6!CyBBB"!IFADIJIJ ٢Z8> Ze=9Z:Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59f*N?j5Yfb if(L™hnsn Adfx;f);f?5vēB vAv۳EDNOT Ignoring new targets: 54.20 m. jjjjihh!h!h!f!f)rf)bf-zB@]I]I]I]M߫r@mI"*< im@;Im9 qɚqiqIqI1f)ii))G*F2F:FBF_0JF 0Y!y%)B U$?IYeWill construct direction to contact in vehicle frame from tetrahedron phase data.GB!O=>V.w,9%A63<@Y63J@6k.<96<:>y6H3` ?.4v?@2ԅq&?@nx?ɨ63<@6ʉ;6"CfWill construct direction to contact in vehicle frame from tetrahedron phase data.y~BD!IIIm?٢%> %C=9%+:Q ->AI MG٣Iy]5: e> Nusing accuracyPremultiplier from configy59}J?5Y}c i}L™p Ay}<}<}5 @AeDNOT Ignoring new targets: 54.20 m. jajajajaiahahihhffrfbf@B@]]]]kr@k.< o=I9 ɚiIIM2f)iIiQ)Q)YJJJ1JJ:J :J3J 9I9*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >e5w,AHI I!IIBI&I.I6I<:Is FzK.@OK.9K,K.%K.xrpg_]VNJHFD@>:421--,*%&# "%)(&&## (CSNC9/& nS<@YnSJ@n=<9nV:>ynH`!⃚?`=&@Au@d,? `9? }w?ɨnS<@n;nCyz5Bzb!I}Mb@Mb@Mb@yyy y)yY}ʡE?Mbp?Mb?y}-=};}<}A }@)}AI}QAyy}=AII[٢= >=9. ;Q > G٣y > Nusing accuracyPremultiplier from config59G?5Yc iL™=<jE AǧE;;5 {ADNOT Ignoring new targets: 54.20 m. jjjjihhhhcBffrfbf`&C@]%=]%=]%i0<=]%!L@==< 9=PI]9 YɚaiaIaIm1f)iiii)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG] 3B O > I M Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,!YAF<@YFJ@FC<9F4D;>yFH@6?m읿xt@k9?NcF?v?ɨF<@F͵;FCyNMBN!IiR%=IR=IZIZ<٢b> f[=9fb:Q f>hh jG٣hyj); n> rNusing accuracyPremultiplier from configpv59rD?v5Yrc irL™tv^Ez Apr:r:r5| ~A|%DNOT Ignoring new targets: 54.20 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=SC@]]]]L@-C< )-+I-9 )ɚ)i1I1I=2f)i9i9)9)9EQ*F ?2F :F BF P5JF G GWill construct direction to contact in vehicle frame from tetrahedron phase data.GE:BO>uBw,P A yZH?77js`NJ?lj`X?`u?ɨZ<@Z x;Z!CybkBb!IUMb@Mb@Mb@QQQ Q)QYU~jt?x&MbyU=U7UUA U@)UAIU@QyUAImIm٢} > }>=9:Q > G Will construct direction to contact in vehicle frame from tetrahedron phase data.٣yM: M> UNusing accuracyPremultiplier from configQ]59UA?]5YUc iUL™]$=]<]@e AQUw;Uo;U 5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhh Bf f rf bf `{C@]u$=]u$=]u@]u@@N< 隭ԣI9 ɚiII1f)ii))*Fu?2Fq:FqBFqJFyH9I9 I=y!II=HBI9&I9.I96I=ʰ<:I= FzK*NKk9KK%K RK ?JK?G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >[Hw,$ A>{<@Y>{K@>T<9>;>y>H $?@ Sws`y@?휊 \P?Dv?ɨ>{<@>\;dd fG٣dyfr; j> nNusing accuracyPremultiplier from confighr59j??r5Yjb ij%L™pr@r Ahja:j@:j 5t zVAx%DNOT Ignoring new targets: 54.20 m. j!j)j)j)i)h)h)h1h1f1f9rf9bf=@cC@]Y]Y]Y]]@mT< impTIm9 qɚuCiqIqI}2f)iyiy)y) yIy*Fa2Fa:FaBFeO0JFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.GM3BaO}>ANw,W= ABWill construct direction to contact in vehicle frame from tetrahedron phase data.J=@YJ$K@J_<9J<>yJH L0?ԓ>`r@zM? f^?`u?ɨJ=@Jr;JCy%B%!I)) )I5I5M٢]= eA=9m:Q u> G٣yx: > Nusing accuracyPremultiplier from config59 iIi5Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >HA IA  IE !IIE BIA &IA .IA 6IE D<:IE ; F-Uw,W AzK^olLK^9K\K^%K^BK`:KbrAn6+=@Yn6JK@n e<9no;>ynH<t7? ѡ@tr D?ZW?u?ɨn6+=@n;n CyzBz!IMb@Mb@Mb@ )YV-?ʡE:vyh=ケԼA @) AI`@yIIi٢< @=9TC:Q >   G٣ y ;  > Nusing accuracyPremultiplier from config59/:?%5Y` iBL™%>%;% @% A/;I;5) 5A1}DNOT Ignoring new targets: 54.20 m. jyjyjyjyihhhhBffrfbf(D@]E>]E>]E@@]EU @] e< Y]ԣI]9 Yɚ]iaIaIe2f)iiiiWill construct direction to contact in vehicle frame from tetrahedron phase data.)i)2DqA*DqAD59 Q IY Jm Jm Ji Ji Jm :Jm :Ji Ji Jm ;a Jm ;a Jm .Y;a Jm /Y;a *F ?2F :F BF 5JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B9OU>r\w,Zu A62=@Y6QK@6Ƒp<96v<>y6H`a?bhqmX?3l?`t?ɨ62=@6S;6CyZBZ!IIbIb[٢j < j==9nv:Q n>ll rG٣pyr: r> vNusing accuracyPremultiplier from configtz59v}7?z5Yvg_ ivXL™|~ @~ AvɧEv:v:v5 `ADNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfaD@]]]]v @Ƒp<  9 I9 dcw,: AWill construct direction to contact in vehicle frame from tetrahedron phase data.yB!Ii 4=I ;Mb@Mb@Mb@ )YX9v?M¿Zd;Oy}=nj<A ) AIQAyfAII ٢a= :=9Q > G٣y  > Nusing accuracyPremultiplier from config 59 5?5Y ] i xL™h&>;q@% A  A; ; 5) 5A1]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiahahahahe؃Bfifirfibfm\D@]h&>]h&>]E@]q@ 隥̽I9 ɚiII2f)ii))DHI I"IIBI&I.I6Ir<:I\ FzKKK89KK%KRK ?JK ?*Fi2Fi:FiBFm\0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >iw,qv AV&i=@YV&K@Vz<9V<>yVH` ?𢖿@p\^?@ X'u?Ht?ɨV&i=@Vh;TyfBj!I tItI I ƲJ%J%J!J!J%:J%B:J!J!J%;J%;J%#b;J%$b;٢5Ҽ 5W=9=:Q =>9A EG٣AyE< E> MNusing accuracyPremultiplier from configIU59M2?]5YM\ iML™Y]@] AMʧEM ;M ;MH5a e%AiDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfD@]]]]x@]z< Y]I]9 Yɚ]iaIaIe1f)iiii)i)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm}9*F?2F:FBFm0JFG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,c AV=@YVK@ڀ<9?z<>yH0`6? G٣y; > Nusing accuracyPremultiplier from config59W0?5Y1[ iL™#>;!@ A;F;A5 ;ADNOT Ignoring new targets: 54.20 m. jjjj i h h hhBffrfbfE@]5#>]5#>]5?@]5!@Mڀ< IMuIM9 QɚUسiQIQI]2f)iYiY)Y)a ID)*F?2F:FBF0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.====G BB H I  I ""II уBI &I .I 6I T<:I F FBIJIRIZIbIjI4O >zK5 K5 u9K1 K5 %K5 vw,N% A2=@Y2K@2Ų<92<>y2H?wIo X?@-q?ct?ɨ2=@2H;2 CyNBR!I)T TVAVAIZIZԲ٢fܞ fo=9jgQ n?pt vG٣tyzd; ~?Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59:.?5YZ iL™5@ A˧E Z;Y;5 A޳EDNOT Ignoring new targets: 54.20 m. jjjjih h hhff!rf!bf%P1E@]Y]Y]Y]]5@Ų< 隍HI9 1ɚ5i1I1Ie1f)iaia)i)D) %c~GMtA*FU?2FQ:FQBFU?1JFQa YtAyA $?I?*}w, Ay~~B~!IIIb٢% %E=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=+?M5Y=X i=L™IIM A9=:=L:=5Q ],Aa DNOT Ignoring new targets: 54.20 m. j j j j i h hhhffrfbf%@dE@]A]A]A]AQ Y]I] 9 Yɚ] !iYIYIe2f)iaia)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fm?2Fq:FqBFu0JFq I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >^ w,N AN =@YN L@NMz<9N;>yNH4`?`Ƨ p#? nI`@?v?ɨN =@N;NCyZpBZ!IEMb@Mb@Mb@AAA A)AYEV-?&1L7A`尿yEh=EнE+EA E@)E~AIE`@AyEGAIeIe̍٢ŭ uB=9uQ }>yy }G٣yy/< > Nusing accuracyPremultiplier from config59U)?5YW iM™>;F@ A;;h5A EAADNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfӜE@]%>]%>]%[A@]% F@MMz< IMIM9 QɚU$)iQIQZHaRHeAAHiIi Im"IIm̃BIi&Ii.Ii6Im<:Im FI1f)ii))zKIKM 9KIKM%KMWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F ?2F :F BF d1JF i Ii J% J% J% 0J! J% L:J% !:J% ـ3J! J% P;J% Q;J% my;J% ny;G B O >w,'. A2D=@Y2EL@2A|<92:>y2H @%? 1`\@p? ч`_B>!IiB11 5G٣1y5a: => ENusing accuracyPremultiplier from config9E59=&?M5Y=V i=EM™QUJ@U A=̧E=2*;=*;=U5Y ]#AYuWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf>E@]]]]NJ@A|< I9 ɚY9iII2f)ii))D59*F?2F:FBF@5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B OU >Ww,8H AV>@YV%L@Vs<9V>s:>yVH M?@%嗿`Gp?yt,?@w?ɨV>@VrF;VCybABbq!I IMb@Mb@Mb@ )Y~jt?ktX9vy= 0}vA @)hAIyzAII?1٢%  @=9ڡQ > G٣y,T; > Nusing accuracyPremultiplier from config59#?5YV icM™S=;3@  AO;;0 5 %A!UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhYhYJYJYhahe7Bfifirfibfm@]F@] S=] S=] 땸@] 3@s< Iw,e AN>@YN5L@Nsj<9N#:>yNH@Am?@a`*@Up@?`l^#?3x?ɨN>@N"O;N CyZ)BZT!IIbIbԲ٢j j>=9nQ n>ll nG٣pyr; r> zNusing accuracyPremultiplier from configx~59z!?~5YzHV izM™|~3@ AxzL:z:z"5  ADNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf .Dw, A*Will construct direction to contact in vehicle frame from tetrahedron phase data.:P >@Y:Q,L@:e<9:Y:>y:H ,? ;`ਿ6pr ?@)?w?ɨ:P >@:;:CyJBJB!I)L LNALIRIR<٢Zބ Z?=9^ZQ ^>\` bG٣`ybg b> UNusing accuracyPremultiplier from configIU59M;?]5YMU iMM™Y] 3@] AMͧEM :M:M$5a mDAq=DNOT Ignoring new targets: 54.20 m. jajijijqiqhyhhhffrfbf-`v}F@]]]]& 3@e< HaI9 ɚwiII1f)i!i!)!)! I*J4="J<JJJ1JJl:JU:J3Ja@a@a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fu ?2Fq :Fq BFu 55JFq HY IY  I] !II] BI] =&IY .IY 6I] <:I] g FzK BoIK 9K K %K   RK%>JK%?GBO>ϣw,A AF!>@YF@L@FyFHC? {pM?@cU?@x?ɨF!>@F;FCyRBR$!I~Will construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmZd;O?I +?A`"ymj=m9 G٣yn; > Nusing accuracyPremultiplier from config59w?5YnV iM™=;0 A5;;.&5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfFF@]=]=][p>]Pa@5K̭w,߹ Afv>@Yfw1L@fO<9f:>yfH@u?@RÕ `Vp? z"?kx?ɨfv>@f3;f!CyvBv !III٢ͽ U=9rQ > G٣!y% %> -Nusing accuracyPremultiplier from config)559-?55Y-V i-M™9=0= A)-` ;- ;-'5A EAAuDNOT Ignoring new targets: 54.20 m. jqjqjyjyiyhyhyhhffrfbf@0F@]]]]Ba@O< 隽:I9 ɚiII1f)ii))D-9 Will construct direction to contact in vehicle frame from tetrahedron phase data. i A*F?2F:FBF_0JF iIiGBO >J J J J J :J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.w, A6|>@Y6}$L@6A<96]:>y6H` ""?є4`6p`?: t*?"x?ɨ6|>@6};6 CyNBN IiR4=IR< V=V=uMb@Mb@Mb@qqq q)qYuS㥻?+η?~jtyu/=uv=uu` A u5@)uQAIu@qyup@II(٢N B=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YW iM™ >; AΧE!.;:,;)5 ADNOT Ignoring new targets: 54.20 m. jjjjihhh h Bf f rfbf*G@]= >]= >]='5?]=}{@MA< QU >IU9 QɚU 3iYIYI]2f)iaia)a)aH?>I I!IIRBI&I.I6Ik<:IX FD-#9*F?2F:FBFo0JFzKKK89KK%K Will construct direction to contact in vehicle frame from tetrahedron phase data.G3B O- > i Ii ۺw, A> >@Y>+L@>f{.<9>:>y>H``@y?@`ݨ`xp ?Qυ^?x?ɨ> >@>=_;>CyFӂBJ IIVIV(1٢Z ^Z=9^NQ ^>`` bG٣`yf: f> jNusing accuracyPremultiplier from confighn59j?n5YjX ijM™lrr Ahj ;j ;jU+5t vAtDNOT Ignoring new targets: 54.20 m. jj!j!j!i!h!h!h)h)f)f)rf)bf5NG@]I]I]I]M{@ef{.< aep=Ieb9 aɚmo3iiIiIm1f)iqiq)q)q}Will construct direction to contact in vehicle frame from tetrahedron phase data.D19*F2F:FBF_0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,z Ai=@YjL@E"<9F:>yH _@?˒I`up&?_ '?nx?ɨi=@:;騁yޥɂBޥ I I}Mb@Mb@Mb@yyy y)yY}y&1?On?~jty}`=}>}}3 A }@)}v@I}@yy}3@II(٢B. .=92ĺQ > G٣y > Nusing accuracyPremultiplier from config59 ?5YZ iM™?>;  AϧE;F;a-5ÓB AE DNOT Ignoring new targets: 54.20 m. j j j j i hhhhcBffrfbf G@]=?>]=?>]=m?]=^ǃ@UE"< QUL>IU_9 QɚUh3iQIYI]2f)JmJmJm0JiJm<:Jm:Jmـ3JiiYi))}Will construct direction to contact in vehicle frame from tetrahedron phase data.D@9ZHRH@AH>>I IM!II%BI&I.I6IK<:IA FBIQJIQRIQZIU =bIQjIUl4*F} ?2Fy :Fy BF JF zK MKK 9K K %K = Will construct direction to contact in vehicle frame from tetrahedron phase data.E AiE AG B O >(w,l$ A>=@Y>L@>E<9>U9>y>H@Sg=?Cu q[?(?Ny?ɨ>=@>;\` bG٣`ybZ: b> fNusing accuracyPremultiplier from configde59f ?e5Yf\ ifM™am m AfЧEfߤI9 ɚ)4iII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DR9*F ?2F :F BF JF G=:BIOm> w,%C AWill construct direction to contact in vehicle frame from tetrahedron phase data.z=@YzL@f<9d9>yH@ ?+v§Sq? ?@9y?ɨz=@Ӈ;CyȂB II I <٢,< =9bQ >!! %G٣!y-, -> 5Nusing accuracyPremultiplier from config1=595r?=5Y5^ i5M™9= = A15:5:5`15I MAIDNOT Ignoring new targets: 54.20 m. jjjjih AIIhhihifqfrfbf`/H@]]]]@=f< AEJ>IE9 AɚEd4iAIAIM2f)iIiI)Q)JKw3 K.-KK"KJJJ1JJ:J :J3J2DpA*DWill construct direction to contact in vehicle frame from tetrahedron phase data.<Du <9H I  I "!II BI &I .I 6I C<:I < F*F ?2F :F BF P0JF zK]BoIK]9KYK]%K]}Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BIO ?Pw,e ANP=@YNPK@Nt;9NX9>yNH`?r ɦre?v@1?y?ɨNP=@N;N CyZ҂BZ I ^=^R=UMb@Mb@Mb@QQQ Q)QYUʡE?gfffff?MbpyU=U33>UU A Q)U`@IU@QyU@IIm?٢= =9݋Q > G٣ym > Nusing accuracyPremultiplier from config59?5Ya iM™W>|; AѧE;;35 ADNOT Ignoring new targets: 54.20 m. jjjjihhhhWBffrfbfEH@ I]]W>]]W>]]B{?]])@t; 隝u>I9 ɚ)4iII1f)ii))D`9*F%?2F!:F!BF%_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bq O >? w,aq A6=@Y6K@63;969>y6HQ 8?  Zr ?@s ;?iy?ɨ6=@6Ն;6Cy>BB IIJIJԲ٢R= R]=9RQ R>TT ZG٣XyZ ^> bNusing accuracyPremultiplier from config`f59b0?f5Ybb ibM™dff AbҧEbU:bv:bI55l nAlDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`sH@]]]]@3; |>I9 ɚ4iIWill construct direction to contact in vehicle frame from tetrahedron phase data.I%2f)i!i!))))Di*F ?2F:FBF2JFG5pA G5pA !I!G- 3BA Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,UN AjH bH H$I$ I&!II&BI$&I$.I$6I&:<:I&5 FF=@YFK@Fm;9F]9>yFH@ͤ?b͆V}r`, ?`:m??`y?ɨF=@F.;F!CynBr!IMb@Mb@Mb@ )Y!rh?Cl?t<3 A @)@I@y@II ٢d= 7=9s2Q > G٣y >  Nusing accuracyPremultiplier from config 599? 5Yd iM™n\>v; AӧE0;>/;;75! %A!MDNOT Ignoring new targets: 54.20 m. jIjIjQjQiQhQhYhYh]rBfYfarfabfeH@]n\>]n\>]QA?] @m; 隝>I&9 ɚN4iII1f)ii))BD=?:D2?zK-BHK-9K)K-%K-%Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBF0JF  I J J J 0J J :J :J ـ3J J ;a J ;a J C;a J C;a G :B O >fw, AWill construct direction to contact in vehicle frame from tetrahedron phase data. :=@Y:K@:ԉ3;9:9>y:H i@?N{s@L?8qf`?Sy?ɨ:=@:;:CyB BF/!I)H HLNAIRIRV٢Z> ZY=9^#Q ^>\\ ^G٣\yb䪻 b> fNusing accuracyPremultiplier from configdj59f?n5Yff ifM™ln#n Adf*;f*;f85p vAtDNOT Ignoring new targets: 54.20 m. jjjjihh!h!h!f!f)rf)bf-H@]I]I]I]M@ԉ3; >I9 ɚiII2f)ii ) )D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F):F)BF-2JF) I G 3B O >w,O A2w=@Y2K@2:92M`9>y2H u< A @)@I@yI-I-٢= 5=9 Q > G٣y > Nusing accuracyPremultiplier from config59?5Yh iM™R@>;(  AԧE;;:5 A DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrf!bf%I@]ER@>]ER@>]Ey?]Em{@U: QU>IU9 YɚYiYIYIe1f)iaia)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.HYIY I]4!II]BI]! =&IY.IY6I]d<:I]S FD9E*F2F:FBFP5JF"G>G>zK RIK 9K K %K ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >$w,J ARwP=@YRwoK@Ru:9Rd9>yRH]?S@"t?P`?y?ɨRwP=@R؉;Py^BB^r!I``If 9I9If٢U> UD=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59m픜?u5YmHj imtM™quN } AimC ;me ;m<5“B AEDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`II@]]]]h@u: >I9 ɚi I I2f)ii)!))JJJJJl:J:JJJ;J;J@;J@;Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F!2F!:F)BF-5JF)GQ Ba O} >w,\u AWill construct direction to contact in vehicle frame from tetrahedron phase data.:B=@Y:aK@:99:;9>y:H@0?~|ӈ@u`?}=`,?Vz?ɨ:B=@:;:"CyFbBF!IiJ ZS=9ZPQ Z>\\ ^G٣\y^6 ^> bNusing accuracyPremultiplier from config`f59bXꔜ?j5Ybk ibdM™hjY n AbէEb<;b<;b^>5p rApDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf}I@]]]]b@9 h>I9 ɚiII1f)ii)))DI QIY*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.<G B! Ou >ZHq RHu ?AHy Iy  I} s!II} CBI} =&Iy .Iy 6I} ><:I} 7 F0w,) A:u)=@Y:uHK@: 9:'9>y:H?@`\w@á`u?A??`rz?ɨ:u)=@:-;:!CyF~BF!IMb@Mb@Mb@ )YMb?B`"۹?~jt?y==D< @)I@y@I5I5Բ٢E&> EB=9MaQ M>QQ UG٣Qy]i ]> eNusing accuracyPremultiplier from configam59e 甜?m5Yel ieWM™u >u;uu Aae<;e;e5@5y }#ADNOT Ignoring new targets: 54.20 m. jjjjihhhhBf9fArfAbfMI@] >] >]k?R?]~@zKK-9KK%K5  15>>I=9 9ɚ9i=P0 w,ɰ: A2=@Y2&K@2RYS92\9>y2H`?tt@z@u?*kJ?@8 ?@&z?ɨ2=@2H;2"Cy>B>!IIFIF٢NK> NA=9R Q R>PP VG٣TyV؟ V> ZNusing accuracyPremultiplier from configX^59Z㔜?^5YZn iZJM™`bb AZ֧EZL:Z*:ZB5d fAh}DNOT Ignoring new targets: 54.20 m. jyjyjyjihhhhffrfbfI@]]]]}~@5RYS 15r>I59 1ɚ1i=Pcw,BV Ay5ǃB5"I)9 99=AMb@Mb@Mb@ )Y#~j?kt?~jtx?y= 0=; @)I@yH1I1 I5!II5BI1&I1.I16I5<:I5 FBIJIRIZIbI =jI4II٢<= #=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yn iCM™7=<( A;;?D5 @DNOT Ignoring new targets: 54.20 m. jjjjihhh h =Bf f rf bf(J@]-7=]-7=]-u>]-Gi@A AE>>IEI9 AɚIiM;J P>;GE :BQ Om >w,yBHR`n?okv?uZ? ?@6z?ɨB<@BH;BCyJBJA"IIVIVb٢bg7> bW=9b Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from configlr59nݔ?r5Yno in=M™pr)r AnקEn:n:nE5x z@xDNOT Ignoring new targets: 54.20 m. jjjji!h!h!h)h1f1f1rf1bf5`XJ@uWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]] i@Ӻ  >I9 )ɚ)i-_\#w,S AEֽ<@YEJ@ED9E)9>yEH`ಮ?b_jΜ+wW?^??`lz?ɨEֽ<@Eh;ECy]B]a"IMb@Mb@Mb@ )YDl?/$~jtxyO=Ļ A )I@yG@I I ̍٢= )=9 Q %>!! G٣yj > Nusing accuracyPremultiplier from config59۔?5Yn iBM™8=7<,9@ A;L ;H5 @]DNOT Ignoring new targets: 54.20 m. jYeWill construct direction to contact in vehicle frame from tetrahedron phase data.jYjjihhhhBffrfbf`3J@]%8=]%8=]%@]%,9@5D 9隅>I%9 ɚizK .LK k9K K %K )w, Ay+B%"Ii= mX=9uQ u> G٣y > Nusing accuracyPremultiplier from config59ؔ?5Yn iFM™ A::I5 ~@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfJ@] ] ] ] ! !%>I%9 !ɚ)i-'0w,υ A6<@Y6J@6496w8>y6H?@f w@.?@&c?`c?`z?ɨ6<@6;6 Cy>?BB"II^I^#٢j= jT=9jQ j>ll rG٣pyr9 r> vNusing accuracyPremultiplier from configtz59v֔?z5Yvn ivIM™|~.9@~ Atv` ;v ;v\K5 4@-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h1h9hAfAfIrfIbfMJ@]i]i]i]mz.9@Will construct direction to contact in vehicle frame from tetrahedron phase data.4 !>I9 !ɚ!i% Will construct direction to contact in vehicle frame from tetrahedron phase data.H ?>I  I "II -BI &I .I 6I <:I  F-6w,Fa Ay%MB%"IMb@Mb@Mb@ )YQ?l/$y\= @)@I@y@II?1٢=x= =5=9EQ E>AA MG٣IyM M> UNusing accuracyPremultiplier from configQ]59UӔ?]5YUm iUYM™e=e;e@e AUاEUf;Us;UTM5i mT@iDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfZ2K@]=]=]` @]Y@ ]>IM9 ɚm3i+=w, AN <@YN J@NA9NY:9>yNHEQN?2dSw? 0b? ? Sz?ɨN <@Nʫ;NCyZaBZ"I)\ \``IfIfn٢nt= n]=9r9Q r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from configx~59zє?~5Yzm izfM™@ Axz" ;z ;zN5  @EDNOT Ignoring new targets: 54.20 m. jAjAjIjIiIhIhIhQhQfQfQrfQbf]}aK@]y]y]y]}@A 隍^>I9 ɚiɸDw,z AJpJrJpJpJpJr:JpJpO<@YOJ@$98>yH))ݚ?Kb@{֚w?0d?y?z?ɨO<@X; Cy5lB5"IMb@Mb@Mb@ )Yx&?!rhly7=l罹 A @)@I@y@IIM٢@= 9=9/Q > G٣y\: > %Nusing accuracyPremultiplier from config!-59%ϔ?-5Y%k i%M™- >-;- @ A!%<%Е<%P5 `@EDNOT Ignoring new targets: 54.20 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.h hhhffrfbf؜K@]] >]] >]];@]] @$ 隕>I9 ɚ_3iJw,g&- ARג<@YRױJ@R XI\9R!9>yRH@O%?`a w?`/d?`? uz?ɨRג<@R;RCyfvBf"Iln@AInIn)٢ I= F=949Q > G٣y޺ %> -Nusing accuracyPremultiplier from config!559%̔?55Y%j i%M™15 @5 A%٧E% ;% ;%R59 E@ADNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf$K@]q]q]q]u @ 隭{>I 9 ɚ<4ihRw,jH Af8<@Yf8J@f!9f/9>yfHNh,? $a%w? G٣y#d8 > %Nusing accuracyPremultiplier from config!-59%*ʔ?-5Y%i i%M™)5 @5 A!%.:%P:%T59 =@9DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfL@]y]y]y]} @! 隵>I9 ɚB4i~+Xw,[Db AB<@YBJ@Bkq89B=8>yBH`!?3`$ `w?`+g?A?@z?ɨB<@B,|;@yN{BN"I-Mb@Mb@Mb@))) )))Y-㥛 ?Q~jty-=--D-zA -@))I-@)y-@IEIE٢U< UF=9Uaa eG٣aym ; m> uNusing accuracyPremultiplier from configq}59uǔ?5Yuoh iuM™>; @ AuڧEuW-;u+;uWV5 f@B*** querying acoustic contact ***jj=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9hAhAhAhE݃BfIfIrfIbfM6]>]I@] @kq8 >I9 ɚ-4i5 U BDAT read: Tx time:23:54:29.0998 U $Ping request sent.U ^w,~ A2y<@Y2yJ@2-929>y2H L8?`Pa`))w ? e?`?y?ɨ2y<@2Ǜ;2CyBsBB"IIJIJ٢R: RA=9Rx9Q V>TT VG٣XyZ Z> ^Nusing accuracyPremultiplier from config\b59^Ĕ?b5Y^=g i^M™`f @f A\^:^(;^/X5h n@lDNOT Ignoring new targets: 54.20 m. j j j j i hhhhffrfbf@NpL@]]]]G @- >I49 ɚ[4iew, Aj,<@Yj,J@jm9je9>yjHٚ?V0O7T`w ? p?8 ? z?ɨj,<@j;jCyraBv"I)x x}Mb@Mb@Mb@yyy y)yY}bX9ȶ?&1i|?5y}E=}н}qy }@)}@I}@yy}f@II&ѳ٢i 9=jHbH<H@>I I5#IIBI" =&I.I6I:IBIqJIqRIqZIu! =bIu! =jIu 59ii mG٣iym !; u> }Nusing accuracyPremultiplier from configq}59u8?5Yu,f iuN™6>;[@ AuۧEuE;uk;u7Z5 @DNOT Ignoring new targets: 54.20 m. jjj!j!i!h!h!h)h-Bf)f)rf1bf5@:L@]6>]6>])@][@m 隵4>IC9 ɚ"5iF[JK> s Y5tAyB $?I G :B O >lw,ۧ A2k<@Y2kJ@2ы923>y2HA?9/蚿~qa?`9zq?_?́?ɨ2k<@2U;2Cy:[B>"IIrIr٢v zW=9zBpQ z>|| G٣yǗ >  Nusing accuracyPremultiplier from config 59 x?5Y Ye i *N™2@ A  m ;  ; [5! %m@)MDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhQhQhYhYfYfarfabfe`*L@]]]]2@ы ά>I%9 ɚ5i=e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258763Urw, A2ņ<@Y2ťJ@2Ѻ92=6>y2H@Z? T?] {?2Zw? ܨ?`z~?ɨ2ņ<@2i;2CyRHBR"IIZIZ٢b bM=9blQ f>dd fG٣dyjx j> nNusing accuracyPremultiplier from configlr59nf?r5Ynnd inIN™pv3@v Aln ;n ;n]5x z@x-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i1h1h1h1h1 aIaffrfbfM@]!]!]!]%3@]Ѻ Y]͙>I]t9 aɚe.5ie ,yw,z A6g<@Y6J@6Rƫ968>y6H `N?Q?cy`]?xu??{?ɨ6g<@6{;6!Cy>1B>"IiB=IB>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7629985Mb@Mb@Mb@111 1)1Y5 ףp= ?V-Zd;y5Q=5h5y5A 5@)5@I5p@1y5z@IMIMV٢]zԽ ]@=9eJ:Q m>qq }G٣yy} > Nusing accuracyPremultiplier from config59ַ?5Yc ikN™>;%@ AܧE;;_5zKC1NK-9KK%KBKoA:KqA @DNOT Ignoring new targets: 54.20 m. j!j!j)j)i)h)h)h1h5_Bf1f1rf1bf= {HM@]>]>].@]%@Rƫ >I9 ɚij;II1f)ii)) IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014770D9*FQ 2FQ :FQ BFU ?1JFY GyBO>=w,5A2#n<@Y2#J@29228>y2H W?RE?`ӗx/?t?`?3{?ɨ2#n<@2;2Cy>B>"IIRIR٢Z Z2=9^B:Q ^>\` bG٣`ybNw: b> jNusing accuracyPremultiplier from configdj59f?n5Yfc ifN™ln%@n Adf:f:f_a5p rC@tDNOT Ignoring new targets: 54.20 m. jjjjih!h!h!h!f!frfbf@tM@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267001]]]]i%@   >I9 ɚ3i"F;II2f)ii)!)AD!*F2F:FBFP0JFG G IG:BO >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518781ZH RH AAH I  I #II BI &I .I 6I ,<:I ' F_w,ANLk<@YNLJ@N;9N*9>yNH@0?fI?|x`A?lt??Tz?ɨNLk<@N;NCyZBZa"IEMb@Mb@Mb@AAA A)AYERQ?~jt:vyE=EETEdA A)E@IAAyE@IUIU٢e} m@=9m݆Q m>qq }G٣yy}չ }> Nusing accuracyPremultiplier from config59$?5Yc iN™/=;ID@ A;;:c5 @eDNOT Ignoring new targets: 54.20 m. jajijijiiihihihqh#Bffrfbf`ҶM@]/=]/=]ʾ@]}ID@=; AEH>IE9 AɚEiE9IIIm1f)iqiq)q)qBD2?:D?Dm9Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773806*F?2F:F!BF!JF!zKiJKKK%K IG! BA Oe >JcKk3 Kk.KcKc"KcJ J J J J ̶:J :J J J ;a J ;a J S;a J S;a Dw,8A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:23:54:31.5756 *TRx dataTimestamp_ set to:1736380472.897446*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024690-z<@Y-J@-!D9-< 9>y-H`3?P? wS?|Hv?? _z?ɨ-z<@-x;- Cy}B}@"I) II٢R G=9tQ > G٣yp; > Nusing accuracyPremultiplier from config59׭?5Yb iN™XD@ AݧEz::e5B y@EDNOT Ignoring new targets: 54.20 m. jjjjihh h h f frfbf`iM@]]]]XD@!D z>I9 ɚi!!II2f)i i ) )ID9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276380*FE ?2FA :FA BFE 2JFI "GU >GU > I Gq B O>Pw,IKVAWill construct direction to contact in vehicle frame from tetrahedron phase data.Օ=Օ%=DAT read: Range 10 to 50 : 53.7 m (Round-trip 71.7 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.ؙy؝VBؙyكB+"IHI I"II`BI" =&I.I6ID<:I9 FmMb@Mb@Mb@iii i)iYm|?5^?I +?ˡEym=m94=m'i m@)mp@ImZ@iym@IIF٢s =9Q > G٣y > Nusing accuracyPremultiplier from config59 ?5Yc iN™E=;P* Ag; ;ug5 @ addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 60.260256 s, deltaX: -0.399998 m, approachRate: -0.006638 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfJ@bf B\?]5E=]5E=]5M>]5g@I QU>IU9 QɚUd 4iUMȻIQI]1f)iaia)a)aM Will construct direction to contact in vehicle frame from tetrahedron phase data.Du 9*F ?2F :F BF 15JF zKU .JKU 9KQ KU %KU BKe pA:Ke pA I JJJ0JJ:J:Jـ3JJ'<J(<JI;JI;G=3BIOe?w,:vAZ~<@YZJ@Z"޻9ZmM9>yZHd@?Jb? w ?@v{?; ? z?ɨZ~<@ZZ;Xy B  "III̍٢=  EO=9MS`Q M>QQ ]G٣Yye60: m> Nusing accuracyPremultiplier from configyWill construct direction to contact in vehicle frame from tetrahedron phase data.59}?5Y}Jd i}N™N* A}ާE}З;});}4i5 #AUDNOT Ignoring new targets: 54.20 m. jQjQjYjYiYhYhYhahififirfibfu@?]]]]lg@"޻ >I9 ɚiII2f)ii))D*F?2F:FBFP0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > I uw,WAyfBf"IIrIr(٢v zP=9zQ z>x| ~G٣|y~ >  Nusing accuracyPremultiplier from config59H?%5Yd iN™))5 A ;;j5I M\AIuDNOT Ignoring new targets: 54.20 m. jqjyjyjyiyhyhhhffrfbfQ?]]]]! )->I-9 ɚt3ihSII1f)i!i!)))YD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFZ0JFG  G qAjHbH<HI I"II-BI! =&I.I6Iy<:Ia FG B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,YAN3x<@YN3J@N709N9>yNHd܍?@{Tn?t x =??@w?`^z?ɨN3x<@N&;N"CyZB^!I%Mb@Mb@Mb@!!! !)!Y%|?5^?:v?:vy!%=%Լ%MA %j@)%C@I%C@!y%@I=I=Բ٢Mn M5=9MAQ U>QQ UG٣Qy]m ]> iIizKmBoHKm9KiKm%Km Nusing accuracyPremultiplier from config59n?5Y%f iN™;>; AߧE;;l5 ADNOT Ignoring new targets: 54.20 m. jjjji h h h hBffrfbf@?]U;>]U;>]UsLJ?]Up ~@70 隍?Iw9 ɚ?q4iII2f)ii))BD8?:D?DJJJJJ̶:JJJJ;J;JJ*F-?2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.թթG :B O= >7w,&A2[<@Y2zJ@2 92b9>y2Hޗ?q?@ w`?`X? ?y?ɨ2[<@2;2Cy:B>!IIJIJ(1٢R Rj=9VQ V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^?b5Y^#g i^N™df.f A\^:^:^en5h jYAl DNOT Ignoring new targets: 54.20 m. j j j j ihhhhffrfbf%`7?]9]9]9]=}@U QU>IU9 QɚUr4i]HIYI]1f)iaia)a)aD-&9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JF ]$?IaGiBqO}> Will construct direction to contact in vehicle frame from tetrahedron phase data.("w,tAHI I`"IIBI&I.I6IK<:I? FBIqJIqRIqZIqbIqjIu4y]B]!I)a eA Mb@Mb@Mb@    ) Y zG?M?I +y  = n> 94 A ) @I @ y @I%I%(*٢54 54=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M?U5YMh iMN™U6>];] ] AMEM ;M};M`p5a e{AaDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfc;@]6>]6>]+o?]7@ ?IA9 ɚ*4iӼII2f)ii))) hC-Will construct direction to contact in vehicle frame from tetrahedron phase data.-GetAq (9YtAy1BD89EpAE yIy*F?2F:FBFm0JF"G>G>zKm$JKk9KK%K "#&&(&(&%!   J J J /J J J :J (N3J J J J .Y;J /Y;Gu 3B O >[pw,]A> H<@Y> gJ@>"9>V8>y>H?#x?>r xc?W? ? z?ɨ> H<@>+;>CyNBN!IIVIV̍٢< X=9%}Q %>!! %G٣!y-~P ->5Will construct direction to contact in vehicle frame from tetrahedron phase data. ENusing accuracyPremultiplier from config9E59=]?M5Y=Pj i=N™QU U A9=o;=p;=r5y }lADNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfT@]]]]0/@" ?I!9 ɚd5iII%1f)i!i!)!))DuF9*F?2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G- :BA O] >Zw,VDA67<@Y6VJ@6Lg*968>y6H`?@CE{?ic 7y`?`L?`?z?ɨ67<@6a;6CyJBJ!IIRIRF٢Z< ZQ=9ZQ ^>\\ ^G٣\yb- b> fNusing accuracyPremultiplier from configdj59f?j5Yfk ifN™hn n AfEf ;f*;fs5t vKAtDNOT Ignoring new targets: 54.20 m. jj1j9j9i9hihqhyhffrfbf@]]]] '@=Will construct direction to contact in vehicle frame from tetrahedron phase data.MLg* IM ?IMS9 IɚMvE5iQIQI]2f)iYiY)Y)YZHRH?AHI I5"IIBI&I.I6I<:Im FDj9*Fq 2Fq :Fq BFu 0JFq  Will construct direction to contact in vehicle frame from tetrahedron phase data. IG}3BO>w,1AzK`PMK9KK%K:S<@Y:S3J@:Y59:8>y:H4? p?@7)y@ ?ଢ? E?@];]A ]=@)]@I]-@Yy] @IuIu٢}; }!=9Q > G٣yEu E> ]Nusing accuracyPremultiplier from configQ59U?5YUn iUN™I>; AQUy]I>]ā?]K@Y5 {?I9 ɚ&o5iII1f)ii)Will construct direction to contact in vehicle frame from tetrahedron phase data.))D C9E N>E >*FI 2FI :FI BFM o0JFI GQ  GU pA Will construct direction to contact in vehicle frame from tetrahedron phase data.խ Aiթ IhGu:ByO?Aw,QA6\;@Y6\J@6>96E8>y6H`\]?lw?`yi?qև??Wz?ɨ6\;@6;4y>B>!IININ(٢V{Y= V(=9VnQ V>XX ZG٣XyZU ^> bNusing accuracyPremultiplier from config\f59^?f5Y^p i^N™djj A^E^ :^z:^x5nB nAnEDNOT Ignoring new targets: 54.20 m. jjj j i h h hhffrfbf%`R@]a]a]a]e@@u> y}?I9 ɚ55iI!I%2f)i)i))1)AJJJ0JJ\:J:Jـ3Ja@a@a@a@D]y9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF @5JF H)I) I-("II-փBI)&I).I)6I-U<:I-H FG- 3BA O] >&_w,kAWill construct direction to contact in vehicle frame from tetrahedron phase data.BPExceeded connect timeout, disconnecting.yzBz!IMb@Mb@Mb@ )YZd;O?sh|??I +?yj=)>94< A &@)I@y@II̍٢|= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59N?5Yr iN™B>; I AE;Y;y5  fADNOT Ignoring new targets: 54.20 m. jjjjihhhhlBffrfbfA@zK-k3IK-u9K)K-%K-BK9:K9]uB>]uB>]uH?]u͆@ 隅#?I9 ɚ5iII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9E*F ?2F :F BF /1JF "G >G >G :B O >7w,Ay%˃B-"II=I=<٢MQ= M:=9IQ U>YY ]G٣Yya e> mNusing accuracyPremultiplier from configau59e?u5Yes ieN™qq} Aae;eO;e{5 d@Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf1@]]]] !%$/?I% 9 !ɚ%i!I!I-2f)i1i1)1)12D=qA*D=qA IIID-9JeJeJaJaJe|:Je :JaJaE Will construct direction to contact in vehicle frame from tetrahedron phase data.*F= ?2FI :FI BFU 1JFQ H I  I 5"II BI =&I .I 6I <:I q FG% 3B1 OM >̽w,A6|;@Y6I@6Hk96x8>y6H @c?ω?0e`z?`h?;?Wz?ɨ6|;@6;6CyBBB8"IUMb@Mb@Mb@QQQ Q)QYUI +?M? rh?yU9=Un>UC G٣y㏼ > Nusing accuracyPremultiplier from config59~?5Yu iyN™,>;0 AE;=;}5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf@],>],>]9s?]d@-Hk )5f&?I59 1ɚ1i1I9IE1f)iAi))Will construct direction to contact in vehicle frame from tetrahedron phase data. nManaging dock network, ignoring radio surface power off 9IAD9zKMBoIKM9KIKM%KMRK]>JK]>*F?2F:FBFP5JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >l8w,ֿA2e;@Y2܄I@2zx920_8>y2H`y??{?}5{ j??e?z?ɨ2e;@2;0yRBVS"II^I^m?٢b~= fL=9fQ f>hh jG٣hyn0] n> rNusing accuracyPremultiplier from configpv59r{?v5Yrv irgN™tzCz ArEr;rW;r5| ~z@|5DNOT Ignoring new targets: 54.20 m. j1j1j9j9i9h9h9hAhAfAfArfAbfML@]a]a]a]e@}zx y}M1?I}+9 yɚyiII2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm9EqAEqA $?I*F2F:FBF4JFGqA GJ J J J J ̶:J J J G 3B O >n<w,'AEWill construct direction to contact in vehicle frame from tetrahedron phase data.E%=Ea=\;;@Y\ZI@]98>yH }? T?`ʟr@z?~C? }?` z?ɨ\;;@; Cy5B5y"Ii==I==Hu?>Iq Iu`"IIuBIu =&Iq.Iq6Iq:IqMb@Mb@Mb@ )Y ףp= ?!rh? rh?yQ=l= A )@I-@y@II<٢= #=9nQ > G٣y| > Nusing accuracyPremultiplier from config59x?5Yjx iSN™>;u A;;́5 @MDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhIhQhQhUڂBfQfYrfYbf Q@]>]>]e?]Հ@] ?I9 ɚiII1f)i i ) ) DQ*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. A IA G) B9 O] >0jw,IAzKBoHK-9KK%K   BK:KRx;@YRx;I@R 9R8>yRHbv?;? e z`? ?X?y?ɨRx;@Ri;RCy^1B^"IIfIfV8٢n> n=9nyźQ r ?pp rG٣pyvû v ? zNusing accuracyPremultiplier from configx~59zu?~5YzNy izFN™ AzEz :z:z+5  @ 5DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9h9hAhAfAfArfIbfM>@]i]i]i]mSƀ@}  y}8+?I}: yɚiII2f)ii))D9*F=?2F9:F9BF=_0JF9EWill construct direction to contact in vehicle frame from tetrahedron phase data.GyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. Iw, AF;@YF$I@F͞9F8>yFHq?C.?Tz`{??`?`y?ɨF;@FP;DyN>BR"IIVIV[ pIt٢= %G=95 Q =>99 EG٣AyE\ E> MNusing accuracyPremultiplier from configIU59Mr?U5YM|z iM6N™Y]] AIM` ;M ;M5a e'@iDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfNz@]]]]@͞ 1?I9 ɚ=64iII1f)ii))JMJMJM1JIJML:JM:JM3JID}9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF[0JF"G)G->ZHqRHqHyIy I}"II}7BI} =&Iy.Iy6I}<:I}f FBI9JI9RI9ZI= =bI= =jI=L 5GY Bi O > w,(A6i:@Y6j I@68q968>y6Hyh??1?`z@? M?P?y?ɨ6i:@6';4yBaBB"I)D FA PYyBuMb@Mb@Mb@qqq q)qYu+η?Q?I +?yuv=u\=Will construct direction to contact in vehicle frame from tetrahedron phase data.u94 /=9Q > G٣yZ > Nusing accuracyPremultiplier from config59o?5YM{ i*N™s=;! A;;5B @ E5DNOT Ignoring new targets: 54.20 m. j1j1j9j9i9hAhAhAhEBfIfIrfIbfMT@]ms=]ms=]m-%?]mDq@}8q 隅(?ID9 ɚiII2f)ii)) I2DpA*DzKLK9KK%K D9*F} ?2Fy :Fy BF} ^0JFy ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] =] <G B O >.w,DAy vB "II%I%i٢5s= 5M=9=Q =>99 =G٣AyE E> UNusing accuracyPremultiplier from configQ]59Uk?]5YU| iU N™YY] AUEU:U :U5 @DNOT Ignoring new targets: 54.20 m. j j j j i h h hhffrfbf@]9]9]9]9Q QU)3?IU9 QɚUm74iYIYI]1f)iaia)a)aD9=Will construct direction to contact in vehicle frame from tetrahedron phase data. I!*FI2FI:FIBFM0JFIG9 BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.CVw,^AHHIH IJ"IIJtBIJ! =&IH.IH6IJ?<:IJ5 F=_:@Y=_H@=jD9=c8>y=HjD??g?z?;? @?@fy?ɨ=_:@=t;9yUBU#IMb@Mb@Mb@ )YJ +??MbP?y=<:A @)Iy@I%I%M٢5g > 5;=9=9kQ =>99 EG٣AyE[Ż E> UNusing accuracyPremultiplier from configI]59MLh?]5YMH| iMN™]$=]<]9] AIM;MQ;M5i m@iDNOT Ignoring new targets: 54.20 m. jjjjihhhh8BffrfbfV @]$=]$=]>]X@jD .?Ia9 ɚiII2f)ii))D9MWill construct direction to contact in vehicle frame from tetrahedron phase data.UAiQ I*FI2FI:FIBFM0JFIGy G}qAzK 5LK 9K K %K G :B O >w,EdyAJJJ2JJ:J:Jc3JJ;aJ;aJDG;aJEG;a$:@Y$H@妼9O8>yH CE?u?h?{ ?@\ܔ??y?ɨ$:@(ˉ;y=B=,#IiEii uG٣qyuQ u> }Nusing accuracyPremultiplier from configy59}e?5Y}| i}N™9 Ay}z ;}? ;}X5 s@DNOT Ignoring new targets: 54.20 m. jjjjihh)h1h1f9fArfAUWill construct direction to contact in vehicle frame from tetrahedron phase data.bfmh&!@]]]]X@妼 %{8?I%19 )ɚ)i)I)I51f)i1i1)1)1D 9*F} ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B O > C%w,A6:@Y6H@6{969>y6H j])A?Lw?z??? x?ɨ6:@6C;6Cy>B>F#IIHIH٢R= RA=9VҺQ V>TT ZG٣Xy^(ͻ ^> bNusing accuracyPremultiplier from config`f59ba?f5Yb| ibN™df9f AbEb5i Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 Ji+w,ܯAy~τB~Z#I u@u u@u u@u  u@} I}I}̍٢?= ==9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59^?5Y} iN‘+:; AE;>5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhf f rf bf B"@9 9=|K?I=: AɚEO4iAIAIM1f)iIiI)I)QzKBoHK-9KK%KDJJJ1JJ:J:J3JJ;J;JJ;JJ;*FE?2FA:FABFEP0JFA"GM>GI]Will construct direction to contact in vehicle frame from tetrahedron phase data.GM 3Ba O} >7Q2w, A2l:@Y2H@2QԷ92J9>y2H o?z? Bz? ??`9x?ɨ2l:@2{;0y>B>r#I)@ @IDID٢N= N[=9RsQ R>PP VG٣TyVϻ V> ^bBottom track data is 0.8 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXb59ZZ?b5YZL} iZN‘b :`f;f9f AXZ7;ZN?Z̐5h j@hDNOT Ignoring new targets: 54.20 m. jjjj i h h h hffrfbf #@EQԷ AET?IE: IɚM5iIIIIU2f)iQiQ)Q)Y2Di*DmpADU)9Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBFZ0JFG*B O%>u Will construct direction to contact in vehicle frame from tetrahedron phase data.H @>I  I #II BI ! =&I .I 6I v<:I ] Ffz8w,PA:q:@Y:H@:039:V8>y:H@Ml?`?zL???@x?ɨ:q:@:/;:!Cy^B^#I U U UU UU  ] ] ]Mb@Mb@Mb@YYY Y)YY]+η?y&1Mby]v=]`e]Y Y)YI]@YyYImImT٢ш= ==9:Q > G٣y': > Nusing accuracyPremultiplier from config59W?5Y| iN‘T:=;'@ AE ;;5 @DNOT Ignoring new targets: 54.20 m. jjjjihhqhhBffrfbf|$@]5=]5=]5̷@]5'@u03 y}.?I}9 yɚZI5iII1f)ii)) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.Dmq9*F ?2F :F BF O0JF zKE BHKE 9KA KE %KE ZV! LBKQ :KU oAJـ3K(3 K..KK"KJ J J J J l:J :J J J ;J ;J A;J A; Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O>A@w,fAr`:@YrH@r|ȼ9r>8>yrH9`cqJ? ?z`%???@jx?ɨr`:@rR;r CyzBz#IIIm?٢o< 6=9)Q >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)=59-T?E5Y-| i-%N™AE'@M A)-U;-;-5a e@aDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf\%@]]]]'@|ȼ z0?ID9 ɚw5iII2f)ii)) I-Will construct direction to contact in vehicle frame from tetrahedron phase data.DmJ9*F ?2F! :F! BF% P0JF! GM 3BQ Ou >Fw,BA}Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I#IIBI&I.I6I@<:I5 FyuBu#Ii}=I}< ==]Mb@Mb@Mb@YYY Y)YY]:v?ˡES㥛y]=]什]/ݼ] A Y)]@IYYyYIuIu%x٢]< =9Q > G٣y > Nusing accuracyPremultiplier from config59YO?5Yz i;N™h > ; w @  AE";;5B X@E=DNOT Ignoring new targets: 54.20 m. j9jAjAjAiAhIhIhIhUBfQfQrfQbf]@e&@]}h >]}h >]}V@]}w @ 隍.?I9 ɚ~5iII1f)ii))BDN?:D_? IDj9% Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu ?2Fq :Fq BFy JFy zK MK 9K K %K 7  RK ?JK >JEJEJAJAJE:JE:JAJAJE;JE;JE@;JE@;G:B!O=>fNw,7=A rU:@YrtH@rӼ9r8>yrH "s 氛? Z?z@?@a?`? x?ɨrU:@rV;pyB#IIEIEi٢U.9< UE=9]GQ ]>YY ]G٣Yye8Һ e> mNusing accuracyPremultiplier from configiu59mK?u5Ym'z imKN™y}q @} Aim ;m ;mȘ5 2@Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf :'@] ] ] ]  q @%Ӽ !%H/?I%c9 !ɚ%5i)I)I52f)i1i1)1)1DE*F-?2F):F)BF)JF)"G5>G5> IE Will construct direction to contact in vehicle frame from tetrahedron phase data.G- 3B9 OU >ȁUw, WAyB#II-I-?1٢= =L=9=Q =>AA EG٣AyM M> Nusing accuracyPremultiplier from config59H?5YSy i[N™ AE1;W1;5 R@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf- (@]]]]) )-H.?I59 1ɚ5*5i1I1I=1f)i9i9)9)ADIWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I#II:BI&I.I6Ie<:IP FBIyJIyRIyZI}! =bI}! =jI}~3*F]?2FY:FaBFe`0JFa)Y Y G B O >  1 m bYi ym B I U Will construct direction to contact in vehicle frame from tetrahedron phase data.Э[w,/pANVF:@YNVeH@NXPۼ9N*9>yNHP7v?N?gz?`4i??@w?ɨNVF:@N9;NCyZBZ#I)\ \\^AEMb@Mb@Mb@AAA A)AYEB`"۹?ʡEX9vyE=E-EE A E@)E@IE@AyAI]I]m?٢u粼 uG=9u Q u>y G٣y > Nusing accuracyPremultiplier from config59D?5Yvx imN™% >;@ A;;V5A M@IDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfm(@] % >] % >] N@] )@XPۼ 9E.?IE9 AɚE 5iAIAIM2f)iIiI)I)QzK܎MKu9KK%KWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F} ?2Fy :Fy BF} V0JFy G :B O >Qcw,9A24N:@Y24mH@22928>y2H{sꚝ?R?@z?{=? ?@w?ɨ24N:@2,;2 Cy>B>~#IIbIbb hIh٢r#< r<=9vQ v>xx zG٣xy~: ~> Nusing accuracyPremultiplier from config| 59~@? 5Y~w i~N™ @ A|~;~W;~;5 >@EDNOT Ignoring new targets: 54.20 m. jAjAjAjIiIhIhIhQhQfQfQrfQbf]Ƹ)@]y]y]y]}h@Will construct direction to contact in vehicle frame from tetrahedron phase data.2 隝(?I9 ɚR5iII1f)ii))DJJJ0JJ̶:J:Jـ3Ja@a@a@a@*F=?2FA:FABFE_0JFAM Will construct direction to contact in vehicle frame from tetrahedron phase data.jHq bHq H I  I #II IBI &I .I 6I F<:I 9 FGM 3BQ Ou >iw,XA:A:@Y:`H@:$9:{9>y:HSyv#? '?|z}?? +?Zw?ɨ:A:@:~;:CyJBJu#IMb@Mb@Mb@ )YzG?sh|? rhy =C A @)@I@y=@II٢ 9=9gQ > G٣y > Nusing accuracyPremultiplier from config 59=? 5Yv iN™ h > ;  @  AE ;;(5 @MDNOT Ignoring new targets: 54.20 m. jIjQjQjQiQhQhQhYh]oBfYfYrfYbfeҚ*@]h >]h >],@] @$ :?I9 ɚ=6iIIE2f)iAiA)I)I ID9}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF 2JFzK BoHK 9K K %K ",123465322/))&%#"!  G B O- >- Will construct direction to contact in vehicle frame from tetrahedron phase data.[kpw,HA2O:@Y2nH@2Ӌ928>y2H@?@Or?`?!{?sP??@w?ɨ2O:@21;2 Cy:ԄB>`#IIFIFF٢Jj Nc=9NQ R>PP RG٣PyV`; V> jNusing accuracyPremultiplier from configdr59f9?r5Yfu ifN™pr @v Adf;^;fP;f5x z@xDNOT Ignoring new targets: 54.20 m. jjjj!i!h!h!h!h)f)f)rf)bf-T+@]]]] @Ӌ 2?I: ɚ 6iII 1f)i i ) )BDM@?:DMC?D9E-e>E->*F2F:FBF5JF"G>G> IWill construct direction to contact in vehicle frame from tetrahedron phase data.G:BO>vw, AJ0J0J4J6J4J4J4J6:J4J4FF:@YFeH@F:9F%9>yFH 0zt?:?z?3?e?Jw?ɨFF:@F(;FCynBnI#IIzIzT٢ D=9MMQ  >    G٣ y; > %Nusing accuracyPremultiplier from config%596?-5Yu iN™)- @- AE::51 =@9eDNOT Ignoring new targets: 54.20 m. jajajajaiihihihihifqfqrfqbf}@~(,@]]]] @: 隵(?I~9 ɚ6iII2f)ii))DWill construct direction to contact in vehicle frame from tetrahedron phase data.H9I9 I=#II=DBI9&I9.I96I9:I9*F2F:FBFP0JFGBO > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա /|w,zAy~B~8#IMb@Mb@Mb@ )YzG?J +L7A`堿yH+~A @)I@y@II ٢ ?=9Q > G٣y > Nusing accuracyPremultiplier from config59M2?5Yt iN™=;$0@ AT;Q;j5 @DNOT Ignoring new targets: 54.20 m. jjjjih!h!h!h%GBf)f)rf)bf-`(-@]M=]M=]M@]M$0@ 5?Is9 ɚ$6iII1f)ii))zK͆MKk9KK%KD9*Fe?2Fa:FaBFaJFa Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B O > w,VA $?IZbM:@YZblH@Zb9Zj:9>yZH@r ?l?@bz?`?a?v?ɨZbM:@Z;ZCyfBf#IllprDAIrIr<٢z zW=9zn3Q ~>|| G٣y܇: >  Nusing accuracyPremultiplier from config 59 .?5Y (t i N]Will construct direction to contact in vehicle frame from tetrahedron phase data..0@ A  < < 5 8@EDNOT Ignoring new targets: 54.20 m. jjjjihhhhf!f!rf!bf%|-@]a]a]a]et.0@b 隝)?I9 ɚiII2f)ii))*J}R="JyJJJJJ<:J/:JJD9*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.Hq Iq  Iu #IIu &BIu " =&Iq .Iq 6Iu <:Iu  FG :B O- >i>w,/*ABI:@YBhH@Bc9B~9>yBH`nrr&??y`?=? ?Iv?ɨBI:@BR";B!CyJBJ#IeMb@Mb@Mb@aaa a)aYeB`"۹?I +Qye=e94eeA e@)e@Ie@aye@I}I}#٢7 5=9Q > G٣yH > Nusing accuracyPremultiplier from config59 +?5Yt iN™=;E@ AE; ; 5 A@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfj.@]%=]%=]%)@]%>E@ 9I9Mc IMG?IM>: IɚUN4iQIYI]1f)iYia)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FU?2FQ:FQBFQJFQzK MKK 9K K %K  RK ?JK ?M Will construct direction to contact in vehicle frame from tetrahedron phase data.G= 3BA Oe >,w,DAJU:@YJtH@J5X9J/9>yJH`nq?_?yz`?໩?@? v?ɨJU:@J~;JCyVtBV"II^I^i٢fv fW=9f&Q j>hh jG٣hyn]; n> rNusing accuracyPremultiplier from configpz59r'?~5Yrt irN™ E@ Apr;r;r5 @MDNOT Ignoring new targets: 54.20 m. jIjjjihhhhffrfbfIu/@]]]] E@5X GPw,^Ay=`B="IIMIM(٢]޻ eB=9eQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq}59u*$?5Yus tIiuN™ Aqub;u{;u5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.H1I1 I5#II5BI5! =&I1.I16I5<:I5 F%DNOT Ignoring new targets: 54.20 m. j!j!jijiiihqhqhqhqfyfyrfybf}90@]]]] a2?I!9 ɚH4iII1f)ii))BDD?:D(? IDM 9Ee pAEe oA Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF P0JF "G >G >G%BB1O]?w,#~A6G>:@Y6G]H@6v96b9>y6Hk ՛ti?|O?`%z?@ .? ?v?ɨ6G>:@6;6CyBRBB"IzKF G٣y8 > Nusing accuracyPremultiplier from config59 ?5Yt iO™2=;:- AE;;Ů5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhB Will construct direction to contact in vehicle frame from tetrahedron phase data.ff!rf!bf-0@]e2=]e2=]e$>]ed@uv y}=J?I}: yɚ} 4iII2f)ii)9)9D9*F?2F:FBFh0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >A٥w,A:A:@Y:`H@:9:9>y:H X“s@??@z?]? z? cv?ɨ:A:@:J;: CyF2BF"IININm?٢<  M=9oQ > G٣y: > Nusing accuracyPremultiplier from config59?5Yt iO™8- AL:*:5 @EDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhAhIhIhIfIfQrfQbf}@@1@]]]]}d@ =:?I9 ɚiII1f)ii)) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.jHYbH]p<HqIq IuZ#IIuτBIq&Iq.Iq6Iux<:Iu_ FBIJIRIZIbIjI(4DU,9*F2F:FBF_0JFG% pA G% pAA Q i Y y >B  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq By O >w,p A65:@Y6TH@6Ρ96XD9>y6Hu mz?Y?Oz@?w?@?u?ɨ65:@6 ;6Cy>*B>"IMb@Mb@Mb@ )Y(\µ?EԸ? G٣y\̺ > Nusing accuracyPremultiplier from config59?5Y%v iO™c>;- AE; ;~5 U@DNOT Ignoring new targets: 54.20 m. jjjjih!h!h!h%Bf)f)rf)bf51@]Mc>]Mc>]MY?]M~@eΡ ae\O?Ie: aɚmX4iiIiIu2f)iqiq)q)y2Dy*D}qAJeJeJaJaJe:Je:JaJaJe;auJe;auJeZ;auJeZ;auzKUBoHKU-9KQKU%KUDWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JF I G 3B O >ճw,]A6:@Y68H@6969>y6H`@|@?@B?@yi? ??u?ɨ6:@6;6Cy>BBz"IIJIJF٢R RS=9R :Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\59^?5Y^w i^N™J A\^&<^&<^.5 e@mDNOT Ignoring new targets: 54.20 m. jijqjqjqiqhqhqWill construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbf 1@] ] ] ] ~@= 9=F?IEz: AɚE74iAIAIM1f)iIiI)I)QDQ9*F5?2F1:F1BF50JF1u Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I "#II BI &I .I 6I &<:I # FG= :BI Ou >w,2=ARk:@YRk9H@RA9RyT9>yRH@a6| ?@Ɋ? &z?d??@u?ɨRk:@RqՇ;RCyZB^u"I}Mb@Mb@Mb@yyy y)yY}(\µ?n?Mbp?yy}V>};}@ }@)}5@Iyyy}@II٢ 9=9CQ > G٣y,8 > Nusing accuracyPremultiplier from config59?5Yx iN™&>; AE ;;5 @DNOT Ignoring new targets: 54.20 m. jj j j i h h hh]BffrfbfT2@]E&>]E&>]Esς?]Eɬ@UA Q])\?I] : Yɚ]!5iYIYIe2f)iaia)a)i IWill construct direction to contact in vehicle frame from tetrahedron phase data.D;9*F5?2F1:F1BF51JF9"GE>GE>J J J 0J J <:J U:J ـ3J J 5;J 7;J e;J e;zK BHK #9K K %K    G B! O= >w,vAWill construct direction to contact in vehicle frame from tetrahedron phase data.yuBum"Ii} G٣y > Nusing accuracyPremultiplier from config59?5Yz iN™ A<1<ڷ5  @%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h)h)h1f1f9rfAbfE`2@]q]q]q]q 隍X?I: ɚX5iII1f)ii)) $?IDM9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO5JFG B O >rw,=A69@Y6H@6+D 969>y6H@rF;Y??z ?@G?? v?ɨ69@6;6 Cy> B>h"IIJIJ٢Rp RN=9RAQ R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^{ i^N™dff A^E^/;^/;^5nB nA@nEDNOT Ignoring new targets: 54.20 m. jjj j i h h hhffrfbf3@]9]9]9]=I@U+D QV?Ip: ɚ5iII2f)ii))ZHiRHiHyIy I}"II}yBIy&Iy.Iy6I}8<:I}1 FWill construct direction to contact in vehicle frame from tetrahedron phase data.D_9*F?2F:FBF,4JF IE Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3B! O= > w,)8AB9@YBG@B 9Bt9>yBH#!卢??y?@A? ?pu?ɨB9@B;BCyN BNj"I%Mb@Mb@Mb@!!! !)!Y%~jt?sh|?? rh?y%=%)>%CYY ]G٣Yye e> uNusing accuracyPremultiplier from configiu59m! ?u5YmJ} imN™};>};}r} Aim;m;mp5 *@DNOT Ignoring new targets: 54.20 m. jjjjihhhhSBffrfbf63@];>];>]?]V@ )\?I: ɚn5iII1f)ii))JJJ1JJ:J:J3JJ;J;Jxp;Jyp;zKus$LKu9KqKu%Ku Will construct direction to contact in vehicle frame from tetrahedron phase data.D%m9E5qAE5qA*F?2F:FBFP0JFG G I G B O >w,qTA>Will construct direction to contact in vehicle frame from tetrahedron phase data.F?9@YF?G@F 9Fc8>yFH`Fi0٢?F?Yz ?@~?? v?ɨF?9@F ^;FCyRBRq"I)T TTVAI^I^F٢b< fJ=9fYQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r}?v5Yr~ irN™tv{v ArEr7 ;rC ;r55| ~@|-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i1h1h1h9h9f9f9rf9bfE3@]Y]Y]Y]]7R@u qu)_?Iu: qɚ}5iyIyI}2f)ii))D1HI I"IIeBI&I.I6II<:I= F*F?2F:FBFQ0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 O] >w, mA29@Y2G@2n 92 9>y2H>@n?a?z@?l?@? u?ɨ29@2K;2 CyB!BF"I |I|eMb@Mb@Mb@aaa a)aYe+?oʡ?X9v?ye=e->e G٣y > Nusing accuracyPremultiplier from config59?5Ỳ iN™9A>;  A;:5 @DNOT Ignoring new targets: 54.20 m. jjjji h h h hUBffrfbfb4@]9A>]9A>]?] @n ff?I: ɚb5iII1f)iQiQ)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.D9JJJJJ:JU:JJJ;J;Je;Je;*F ?2F :F BF P0JF zK5 KK5 k9K1 K5 %K5  &K`ilpokljfdb^YTPMIGB>81*%"!!BKA :KA 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!OE>Dw,5ыAF9@YFG@F149F8>yFH>֌`h?f*?z?? ?7?`Wv?ɨF9@F;FCyb.Bf"IInIn<٢r[= v8=9vºQ v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config| 59~? 5Y~ i~rN™    A~E~@:~e ;~ 5  @DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf 4@]]]]@14 l?I: I ɚ5iII2f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D|9*FE?2FI:FIBFIJFI"GiGm>jH bH <H I  I I I &I .I 6I ><:I 5 FU Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >-w,~Ar9@YG@h98>yH@أ?2?y@? ?`n?@u?ɨr9@"X;CyEB"Ii=I4<Mb@Mb@Mb@ )YʡE?n?Q?y-=V>\= @)@IyIIb٢h= !=9ƹQ > G٣yҬ > Nusing accuracyPremultiplier from config59?5Yb iQN™+>;  AE_;;Bü5 @DNOT Ignoring new targets: 54.20 m. jjjji!h!h!h!h-yBf)f)rf)bf-}V5@]M+>]M+>]M}z?]M@ Ih ff?IE: ɚ 6i I I 1f)i1i1)9)9BDE%?:DE.?MWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F BF JF JU3KUO3 KU(.KQKQ"KQJ] J] JY JY J] :J] :JY JY J] ;J] ;J] S;J] S;zK]NK]u9KYK]%K] RKe?JKe>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O>nw,iAym`Bm"III)٢= A=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YӅ i6N™ AS;P ;ż5 @}DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf5@]]]] s?I: ɚiII2f)ii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FU ?2FQ :FY BFY JFY G B O >V\w,8A229@Y2QG@2x92ӏ8>y2H{@Ô@??y?}? !?u?ɨ229@2P;0y>}B>"IIDID٢Nt> RB=9RYQ R>TT VG٣TyV V> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ= iZN™`b& b AZEZ;Z;ZƼ5h j@hHpIp Ir"IIr~BIp&Ip.Ip6Ir*<:Ir& FBIJIRIZIbIjIu4}Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfu66@]]]]g|@x  ?I1: !ɚ!iIIQI1f)ii)) ) %Y!y% B !I!DU9*F?2F:FBF_0JFGqA GqA- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,AyB#I)! ! @ @ @  @ II[٢= ;=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59Z?5Y iM‘+:; AGc;>ȼ5 @DNOT Ignoring new targets: 54.20 m. jjjj!i!h!h!h!h)f)f)rf)bf-U6@ f?I : ɚ4iII2f)ii))D9zKe&KKe9KaKe%Ke/T!BKq:KurAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JF  I G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.'nw,A6v9@Y6v$G@696v8>y6H CND??Ay ?`B?? u?ɨ6v9@6;6Cy>B>2#IIJIJ(*٢R=> R]=9R'=Q R>TT VG٣TyZ Z> bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from configXf59Z?f5YZ iZM‘j :hjO;jM j AZEZY;ZO?Zɼ5l r@peDNOT Ignoring new targets: 54.20 m. jijijijiiihihihqhqffrfbf7@ s?I* : ɚiII 1f)i i ) )9DiJJJ0JJ :JU:Jـ3Ja@a@a@a@*F2F:FBFD5JFZHRH@AHI I(#IIBI&I.I6ID<:I9 FWill construct direction to contact in vehicle frame from tetrahedron phase data.GE 3B! O > I  w,Ԝ0Ayn„BnK#I        Mb@Mb@Mb@ )Y)\(?/$?S㥛?yG=</<@ )K@I@yf@II㔳٢= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y iM‘T:=;A A*;q';z˼5 @E DNOT Ignoring new targets: 54.20 m. j j jjihhhhBffrf!bf%m7@]M=]M=]M*A>]MRbP@Y Y]Y?I]: aɚeS_4iaIaIm2f)iiii)i)qBD}8?:D}5?5Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBF2JF"GG>zK} !LK} k9Ky K} %K} "%#  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >Fw,5LA28@Y2F@2i928>y2Hpʆ ^?V?`Tx??`x? t?ɨ28@2;2 Cy:ӄB>_#IiB%=IBp;IFIF<٢N= NN=9NlQ N>PP RG٣PyV`ͻ V> ZNusing accuracyPremultiplier from configX^59Zꓜ?^5YZ< iZM™\bAb AZEZ&;Z<;Z4ͼ5l n@9DNOT Ignoring new targets: 54.20 m. jjjj $?Iihhhh ffrf9bf=7@]]]]-9P@ i  a?I : ɚ4iI1I=1f)i9i9)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F 2F :F BF +2JF J9 J= J= 1J9 J9 J= /:J= 3J9 H I  I s#II BI =&I .I 6I 1<:I + F= Will construct direction to contact in vehicle frame from tetrahedron phase data.= =9 G :B O >w,iAu8@YuG@ut$9u8>yuH$`.?9z?x ?c?? t?ɨu8@u;uCyB{#III㔳٢= =9 Q >    G٣ y : > Nusing accuracyPremultiplier from config59 擜?%5Yh iM™!%A% A ;h;ϼ5) 5<@1 IIIDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf(]8@]]]]?P@t$ Mm?I: aɚe 65iaIaIm2f)iiii)i)qD9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*FI2FI:FIBFM5JFIG1 BA Om >A w,ʂA68@Y6F@6P.'968>y6H@z?M?Tx3?M?N?t?ɨ68@6 BB#IEMb@Mb@Mb@AAA A)AYEʡE?y&1 mg=9mQ m>iq uG٣qyu|E }> Nusing accuracyPremultiplier from configy59}ⓜ?5Y} i}M™=;c6@ Ay};};} Ѽ5 B@DNOT Ignoring new targets: 54.20 m. jjjjihhhh[Bffrfbf@l8@]=]=]@] c6@P.'  W?I$: ɚiII-1f)i)i))1zKunLKu9KqKu%KuBKy:K}pAWill construct direction to contact in vehicle frame from tetrahedron phase data.)2DqA*DpAD9*F!2F!:F!BF%O0JF! AIAGI BQ Ou >M Will construct direction to contact in vehicle frame from tetrahedron phase data.@&w,㨜A28@Y2F@2+92$8>y2H| W?@?y&?u??@Ct?ɨ28@2㓈;2CyNBN#I)P PIVIV<٢b< bU=9b=Q b>dd fG٣dyf ; j> nNusing accuracyPremultiplier from confighr59jޓ?r5Yj ijM™prp6@r AjEjy;j:jҼ5x z@xDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf9@]]]]p6@+ Y?I$: ɚ[4i I I 2f)ii))JJJJJ:J:JJjHM<bHM<HU?>IQ IU#IIU!BIU! =&IQ.IQ6IU<:IU FWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F5?2F9:F9BF=P0JFA 1 I1 G 3B O >C-w,A68@Y6F@:Will construct direction to contact in vehicle frame from tetrahedron phase data.6O.968>y6H̐`yv?? x?Pȥ?Y?s?ɨ68@6È;6CyBBF#IuMb@Mb@Mb@qqq q)qYuMb?v/Mb?yu>uxiu G٣yĺ > Nusing accuracyPremultiplier from config59&ړ?5Y iM™>;+@ Ab;;Լ5 |@DNOT Ignoring new targets: 54.20 m. jj j j i h h hhcBffrfbf@9@]=>]=>]=ӧ@]=+@MO. IMY?IU0: QɚU4iQIQI]1f)iYiY)a)D9zK%BoHK%-9K!K%&K%=Will construct direction to contact in vehicle frame from tetrahedron phase data.RKE ?JKE?*F= ?2F9 :F9 BF= O0JF9 I G :B O- >4w,>Af8@YfG@ff29f,|8>yfH+s٨?`S?@Xy׿?K??s?ɨf8@f ;fCyrBr#II|I|٢ T<  F=9 Q > G٣yA; > %Nusing accuracyPremultiplier from config!-59%Փ?-5Y%V i%M™15+@5 A%E%\ ;% ;%|ּ59 =&@9eDNOT Ignoring new targets: 54.20 m. jajijijqiqhyhyhyhyffrfbf%9@]]]]T+@f2 隽M\?I,: ɚ(5iII2f)ii))BDR?:D>?Will construct direction to contact in vehicle frame from tetrahedron phase data.D09E*F=?2FA:FABFEp0JFAJJJJJ,:JJJG BO5>HI I#IINBI" =&I.I6I/<:I' F] Will construct direction to contact in vehicle frame from tetrahedron phase data.:w,A yI8@YG@=J69!8>yH V?[?@x?ZǦ??r?ɨ8@pB;騵Cy%B#Ii I <Mb@Mb@Mb@ )YMb?Zd;O~jtxyjĻA @)I@y@IIb٢$= /=9FQ > G٣y   > Nusing accuracyPremultiplier from config59Г?5Y0 iM™%!>%;%0 @% A;;ؼ5) 5@1]DNOT Ignoring new targets: 54.20 m. jajajajaiihihihihuBfqfyrfbfk:@]!>]!>]@]0 @=J6 E?I9 ɚ^5iII1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.iDMB9*F ?2F :F BF T0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JQJK 9K K &K   $$&%&)(''%#"! """<F"7( Pq:]u9}hBK :K oAG!B1OM>Bw,9 A2p8@Y2q G@2}9928>y2H`\ɮ?e?@x?`-?r?r?ɨ2p8@2];2CyZ"BZ#IIbIb&ѳ٢j` nM=9nQ n>pp rG٣pyr7: r> vNusing accuracyPremultiplier from configt}59v̓?}5Yv5 ivM™: @ AvEvvZIw,;'A~ 8@Y~ G@~KA9~ @9>y~H?`B?@x`?'?(?@Wq?ɨ~ 8@~]R;Will construct direction to contact in vehicle frame from tetrahedron phase data.~!CyEBE#IIeIe٢1 1=91Q > G٣yw: > Nusing accuracyPremultiplier from config)Q59Ǔ?5 {YyBY iM™ K @  Aƛ= e$?Iio=Nܼ5 @=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfMb;@]]]]LK @KA 隵A?I9 ɚݤ5iII1f)ii))2DpA*DWill construct direction to contact in vehicle frame from tetrahedron phase data.D= b9EE pAEE pA*F 2F :F BF P0JF G  G pAJ J J 0J J :J /:J ـ3J J ;a J ;a J ^;a J ^;a GBO?'Rw,[ IA*Will construct direction to contact in vehicle frame from tetrahedron phase data.:G 9@Y:G?G@: .F9:8>y:HFa??z?Jè? ?q?ɨ:G 9@:q;:$CyJ BJ#I)L L-jonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 80.88, 65.25, 71.03,  j@j j@j n@n  n@n InInFzKvOKv9KtKv&KvUG<2*# ٢~⌽  =9Q >    G٣ yҎ; > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%598“?%5Yу iM‘-+:)-;-o @- AE8;f?޼51 =@9eDNOT Ignoring new targets: 54.20 m. jajajajaiahahih h f f rfbf ;@] .F Y]8?I]9 Yɚ]5iaIaIm2f)iiii)i)i ID_9 Will construct direction to contact in vehicle frame from tetrahedron phase data. i *F?2F:FBFW0JFGi By O >uXw,F|cAJ$J&BA69@Y62G@6:H96E9>y6H"TUH?ǝ?x??b?@p?ɨ69@6҈;6CyBBB#IIJIJ٢^p ^J=9bQ b>dd fG٣hyjO j> rbBottom track data is 0.9 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n罓?v5Yn҂ inM‘z :xz\;zd @z AlnE;nIj?nC߼5| ~@|-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=`1<@HiIi Im/$IIm|BIi&Ii.Ii6ImP<:Im? F :H  l2?I.9 ɚ*5iII1f)i!i!)!)9%Will construct direction to contact in vehicle frame from tetrahedron phase data. AIIDuq9*F=?2F9:F9BF=`0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Om >ɩ^w,}AyBt#I        Mb@Mb@Mb@ )Y!rh?99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M?U5YM iMM‘UT:U >];]L%@] AMEM ;M ;M>5a e@aDNOT Ignoring new targets: 54.20 m. jjjjihhhhKBffrfbfʥ<@] >] >]@]L%@ L?I: ɚiII2f)ii))BDC?:D?JMJMJM1JIJM,:JMK:JM3JIJM;JM;JMc;JMc;Will construct direction to contact in vehicle frame from tetrahedron phase data.zK PLK -9K K &K  #251)$  DaEqEq ! I! *F- ?2F) :F) BF- k0JF) "G5 >G5 >GA BQ Ou >fw,կA*Will construct direction to contact in vehicle frame from tetrahedron phase data.:9@Y:>G@:jO9:9>y:H1J@?@\?x?@? ?o?ɨ:9@:5e;:CyB҄BB^#IiJXX ZG٣\y^: ^> bNusing accuracyPremultiplier from config`f59b絓?f5YbB ibM™hj[%@j A`b\ ;b ;b5l n@lDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf =@]]]][%@jO C?ID: ɚrF4iII1f)ii))))H1I1 I5$II5mBI5! =&I1.I16I5<:I5g FDm9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF  I Ga Bq O >flw,A669@Y6UG@6R969>y6H/`𻑿]??y?`Q?`?o?ɨ669@6h;6Cy>„B>J#IMb@Mb@Mb@ )YZd;O?X9v G٣yR; > Nusing accuracyPremultiplier from config59s?5Y iM™6=<5@ AE;[;5 @DNOT Ignoring new targets: 54.20 m. jj j j i hhhhBffrf!bf% `{=@]E6=]E6=]Ed@]E5@]R aeQ?IuW: qɚ}4iyIyI2f)ii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.DM9JJJJJJ:JJJJJ t;Jt;*F ?2F :F BF ?1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- < MK- 9K) K- &K- GE 3BQ Om >0sw,,A 4I4bT(9@YbTGG@bT9bV9>ybH `x@?}?x9??`2 ?`n?ɨbT(9@bU;bCyjBn'#II~I~W٢ B=9଺Q > %G٣!y% %> -Nusing accuracyPremultiplier from config)=59--?=5Y- i-M™9=5@= A)-+;-.+;-5MB Mq@MEuDNOT Ignoring new targets: 54.20 m. jqjqjqjqiyhyhyhyhyffrfbf=@]]]]5@T 隽C?I: ɚiII1f)ii))2DqA*DqAWill construct direction to contact in vehicle frame from tetrahedron phase data.D9E*F2F:FBFP5JFG GH I  I #II IBI &I .I 6I <:I FG B! O= >Zyw,AFWill construct direction to contact in vehicle frame from tetrahedron phase data.V]29@YV^QG@VyV9Vb9>yVH@'̑`ެ?`ݛ?:y?ͪ? ?`o?ɨV]29@V-;VCyfBj #I)l lprAAIEIE̍٢]̽ ]G=9]yQ e>ii mG٣iymF: u> }Nusing accuracyPremultiplier from configq}59u?5YuB iuM™5@ Aqu;u;u5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf VP>@]]]]l5@ yV  9?I9 ɚ =4iII2f)ii)!)! ID9*F?2F:FBFP4JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >׀w,A659@Y6TG@6 Y96N9>y6H@h}(?@X? dy7?~?H?n?ɨ659@6 ;4y>uBB"IJvJvJv0JtJv:JvmQ:Jvـ3JtJv;Jv;Jv;Jv;-Mb@Mb@Mb@))) )))Y-sh|??~jt?y&1|y-=-<-`-hA -@)-@I-@)y-@IMIM?1٢e D=9ºQ > G٣y9 > Nusing accuracyPremultiplier from config59 ?5Ys i=<;% AEN;t;W5) -w@)DNOT Ignoring new targets: 54.20 m. jjjjihhhhւBffrfbf`>@]=]=]jpf>]GjV@u Y y}\O?I}: yɚ}iyIyI1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dm9zKRIK9KK&K*F?2F:FBFP0JF IG% 3B1 Oe >e Will construct direction to contact in vehicle frame from tetrahedron phase data.w,fA>H-9@Y>ILG@>tY9>~u9>y>HRJ?`-?y?`4??n?ɨ>H-9@>;> CyVeBV"II^I^̍٢f f]=9jQ j>hh nG٣lyn r> vNusing accuracyPremultiplier from configpv59rp?z5Yr irM™xz;z Apr":r":r5| q@-DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h1h1h9h9f9fArfAbfE?@]a]a]a]ebV@utY quG?Iu: yɚ}5:4iyIyI2f)ii))BD4?:D??DQE]qAE]qA*F?2F:FBFc0JF"G>G>HI I#IIBI&I.I6I<:Ie FWill construct direction to contact in vehicle frame from tetrahedron phase data.G%:BO > I 1w,CW7A229@Y2QG@2R\92T?9>y2H慑w?֛?|y@D???@n?ɨ229@2;0ynPBn"Iir G٣yI: > Nusing accuracyPremultiplier from config59磓?5YZ iM™=<} A;;5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhh BWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbfo?@]==]==]=1G?]=x@-R\ )-=J?I5S: 1ɚ54i1I1I=1f)i9i9)9)aDm9*F% ?2F! :F! BF- P0JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K K K &K RK ?JK > $?I G B O- >Kw,SAf|9@Yf}8G@fX\9f9>yfH@@?@i?`xQ?`?@ ? n?ɨf|9@fR};fCyr:Br"IIzIzb٢ս F=99Q  >   G٣yt > Nusing accuracyPremultiplier from config%59x?%5Y  iM™!-- AEH:j:51 5+@1]DNOT Ignoring new targets: 54.20 m. jYjajajaiahahahqhyffrfbf@?@]]]]x@X\ =??I9 ɚiII2f)i i ) ) EWill construct direction to contact in vehicle frame from tetrahedron phase data.DiJ% J% J! J! J% l:J% q:J! J! a5 @a5 @a5 @a5 @*F= ?2F9 :F9 BFE Z0JFA H I  I s#II BI &I .I 6I <:I v FBIJIRIZIbIjI4) cC Will construct direction to contact in vehicle frame from tetrahedron phase data.) I Y Y y bBGe 3Bi O >b]w,֪oA:`9@Y:a G@:-^9:9>y:H 6 qM?`?Xx?%«?f?m?ɨ:`9@:B~;8yB)BF"IININ٢V V;=9VQ Z>\\ ^G٣\yb\ b> I mNusing accuracyPremultiplier from configa59eȞ?5Yeт ieM™ Aae?E>*Fq 2Fy :Fy BF} P0JFy G  G qA Will construct direction to contact in vehicle frame from tetrahedron phase data.GABQOm>Rw,A28@Y2G@2=_92O_9>y2H $B>"I)@ @DFAMb@Mb@Mb@ )Yi|?5?!rh?AA EG٣IyM U> eNusing accuracyPremultiplier from configYm59]9?u5Y]: i]M™u>u;u} AY];]P;]5 @UDNOT Ignoring new targets: 54.20 m. jQjYjYjYiYhahahahepBfifirfibfm@v@@]>]>];x?]MN@=_ QuY?Iu?: yɚ}4iyIyI2f)ii))*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G :B O >*J C="J p=J3K3 K/.KK"KJ J J J J :J :J J tw,穧AH&>>I$ I&;#II&BI$&I$.I$6I&̰<:I& FyޕBޕq"IIIq٢ P=9Q > G٣y > Nusing accuracyPremultiplier from config 59?? 5YR iM™    AE:n:5 @EDNOT Ignoring new targets: 54.20 m. jAjAjAjAiIhIhIUWill construct direction to contact in vehicle frame from tetrahedron phase data.hIhYfafarfabfm!@@]]]] 隝P?Iw: ɚ5iII1f)ii))*F%?2F!:F!BF%P5JF! I GBO%> Will construct direction to contact in vehicle frame from tetrahedron phase data.[w,Ay~Bp"IMb@Mb@Mb@ )YT㥛 ?L7A`?V-?y=+><@ @)I@yII<٢ N=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y iM™>;9 A;;J5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhh^Bffrfbft@@] >] >] ;?] r@9 AEY?IE: IɚM7X5iiIiIu2f)iqiq)q)yE*F2F:FBF 5JF "G>G>eWill construct direction to contact in vehicle frame from tetrahedron phase data.zKjIKC9KK&K IG3B O5 >w,ccAN8@YNF@Nb9Nwr9>yNH`?Gɡ?`w{???@?m?ɨN8@N4);NCbWill construct direction to contact in vehicle frame from tetrahedron phase data.`i`yjBjt"Ii=YY eG٣ayeP2 e> mNusing accuracyPremultiplier from configiu59m?u5Ym߇ imM™y}{} AmEmi ;mz ;m5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@ A@]]]]Q@b 4[?I: ɚd5iII 1f)i i ) )*F?2F:FBFO0JFJJJ1JJ:Jq:J3JHAIA IE #IIEBIA&IA.IA6IEv<:IE] FG:BO>mWill construct direction to contact in vehicle frame from tetrahedron phase data. I w,GAm28@Ym3F@mdc9m|/9>ymH8Zx 6?`?>x?`n??@m?ɨm28@m=;mCy޽B޽q"IMMb@Mb@Mb@III I)IYML7A`?S㥛?l?yM+=M$>M=MQA M@)M@IM@IyM\@IeIeb٢ucY u9=9}XQ }> G٣y > Nusing accuracyPremultiplier from config59}?5YD iqM™>; A;';5 @UDNOT Ignoring new targets: 54.20 m. jQjYjYjYiYhYhYhahemBfafirfibfm`EA@]>]>]%S?]:@Will construct direction to contact in vehicle frame from tetrahedron phase data.dc Q?I: ɚϢ5iII2f)ii))2DE*DEBDE:DE*F?2F:FBFP0JFG9 BI Oe >u Will construct direction to contact in vehicle frame from tetrahedron phase data.w,3TA:f8@Y:gF@:d9:Mo9>y:H9? ? w`]?$?`Q?vm?ɨ:f8@:-;8yFBFs"IININm?٢V%< Vk=9VCyQ V?XX ZG٣Xy^ ^? bNusing accuracyPremultiplier from config`f59b?f5Yb] ibZM™hj1j AbEb:b:bs5p r@p DNOT Ignoring new targets: 54.20 m. j j j j i hhhhffrfbfpA@]A]A]A]E#w@ aIaed imR?ImU: iɚmѺ5iiIiIu1f)zKk3IK89KK &Kiqi))EpAEpA*F?2F:FBF^0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOM>J J J J J :J J J H! I% C I% "II% yBI% " =&I! .I! 6I% <:I% l Fw,|(Aro8@YrF@r.#e9r9>yrH @? u?v[??9 ? m?ɨro8@r҈;r CyBy"I) AI-I- ٢E< MB=9M#Q M>QQ UG٣Qy]g ]> eNusing accuracyPremultiplier from configam59e%?m5Ye ie?M™imQm Aaen:en:eI5y }@@}EDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf˥A@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@g@.#e 隝8U?I: ɚ5iII2f)ii)) iIq*Fq2Fq:FqBFu`0JFyPExceeded connect timeout, disconnecting.GIBYO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,BA2g8@Y2F@2xh92f9>y2H c@0uz?`@? wd?  ? ?m?ɨ2g8@2q;2CyB)BB"IEMb@Mb@Mb@AAA A)AYE#~j?i|?5? ףp= ?yE=E=EQ8=Ev@ E@)E@IAAyEf@I]I]W٢mg= mH=9mQ m>qq uG٣qy}_ }> Nusing accuracyPremultiplier from config59X?5Yь i"M™>; A;;5 -@DNOT Ignoring new targets: 54.20 m. jjjjihhhhvBffrfbf2A@]>]>]_x?]y@xh Y?I: ɚ5iII%1f)i)i)))))*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data. qIyzKBHK9KK &KRK>JK>G 3BO5>w,O\A2H8@Y2gF@2h929>y2HR4?M6?`Zv@?? ?l?ɨ2H8@2S;2!Cy>.B>"IIFIFNWill construct direction to contact in vehicle frame from tetrahedron phase data.٢R< RX=9R:Q V>TT VG٣TyZ\ Z> ^Nusing accuracyPremultiplier from config\b59^?f5Y^܍ i^M™hjj A^E^;^;^5t v@xDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfEB@]9]9]9]=@Mh Im\?Im: qɚu6iqIqI}2f)iyiy)y)Ep>E>*F%?2F!:F!BF%4JF!"G1G5>HIC I"IItBI! =&I.I6Is<:IZ FMWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm:BqO> a Ia  nManaging dock network, ignoring radio surface power offw,vA1A8@Y2`F@GDk959>yHI9`8`?r?v?@ed??m?ɨ1A8@vE;騥"CyBB"Ii G٣y > Nusing accuracyPremultiplier from config59?5Y iL™>;! A^V;T;5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf@JB@]>]>]é2?].p@UGDk Y]L?I] : Yɚ]6iYII1f)ii))*F12F1:F1BF=2JF9J J J J J J :J J Gy B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,RaA6(8@Y6GF@6m96?9>y6H౎印? 4?hv@!???l?ɨ6(8@6xQ;6CybPBf"IInInb٢v = vn=9vQ z?xx zG I٣yW  ? Nusing accuracyPremultiplier from config 59 `?5Y A i L™%"% A E Z; |; M5) -@)]DNOT Ignoring new targets: 54.20 m. jYjYjYjaiahahahahififirfibfm zsB@]]]]p@m 隥S?It: ɚ 6iII2f)ii))zKBoHKu9KK &KBK:KpADE39Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF(4JFjH bH <H ?>I  I #II BI " =&I .I 6I <:I v FBIJIRIZIbIjIx4G B9 Oe >pw,\AN8@YN;F@No9NW9>yNH䠿.?? v`N?}ݭ?@?l?ɨN8@Nx;N CyjbBn"IQm|uA Y|uAy BII<٢v= :=9Q > G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.y%ݺ %> -Nusing accuracyPremultiplier from config)559-?55Y- i-L™1="= A)- :-:-;5A E@M EDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf@B@]]]]p@o 9=]?I=: AɚE/6iAIAIM1f)iIiI)I)I $?I!D)E9*F?2F:FBFP0JFG GrA Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BA O] >kw,#A:7@Y:F@:Pq9:zK9>y:H%d?|?@u ?%??@Dl?ɨ:7@:w;:CyF|BF"I)H H%Mb@Mb@Mb@!!! !)!Y%"~j?X9v?ˡE?y%S=%<%'=%A %@)%@I%-@!y%@I5I5q٢E> EW=9M(Q M>II UG٣QyU ]> eNusing accuracyPremultiplier from configYm59]{|?m5Y]/ i]L™m=m;m>m AY];];]5y }@yDNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfLB@]e=]e=]e-p>]eS@Pq 隝E?I.: ɚiII2f)ii))BD=:D=JJJJJ<:Jh:JJ%Will construct direction to contact in vehicle frame from tetrahedron phase data.%<%< ID%E9zKIKMC9KIKM &KM*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >w,Af7@YfF@fnjs9fDC9>yfH`# P?\?u?@h??l?ɨf7@f;f CyrBr"II~I~T٢i<  A=9 Q  > %G٣!y% %> -Nusing accuracyPremultiplier from config)559-x?=5Y-c i-L™9=>= A-E-;-%;- 5A E@IDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf C@]]]]S@njs 隝G?I: ɚ,R4iII1f)ii))HI IZ#IIτBI! =&I.I6Is<:IZ FDU9]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFU0JF 1 I1 G 3BY O >]lw,~AF7@YFF@Fv9F/9>yFH@^`~P? @?u ?`ˮ?`?k?ɨF7@F>;FCyRBR#I5Mb@Mb@Mb@111 1)1Y5Mb?{GzQ?y5>5ף5\=5hA 5@)5@I5$@1y5G@UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUAI]I]i٢el= m1=9uֺQ u>qy }G٣yy}h }> Nusing accuracyPremultiplier from config59s?5Y ivL™k >;9@ AE;XD; 5 U@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbf|PC@]k >]k >]@]9@ v  B?I x9 ɚ#4iII2f)ii))AD=9EEqAEEqA*F?2F:FBFP0JFJJJJJ:J^:JJJ;aJ;aJg;aJg;a Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > I 6Pw,#IAzK.k3IK.9K,K. &K. BK0:K0yB%#I %p=%a=I-I-q٢]~= eK=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configy59}o?5Y} i}fL™ A}E}:}\:}5B y@DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf )C@]]]]) 15H?I5: 1ɚ=)5i9I9IM1f)iQiQ)Q)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFGiBqO>ZHI RHM ?AHa Ia  Ie #IIe BIa &Ia .Ia 6Ie <:Ie | F Will construct direction to contact in vehicle frame from tetrahedron phase data.w w,0ABt7@YBuF@Bz9B8>yBHphG? *]?@u`?X=?`?k?ɨBt7@B;BCyJBJ7#IIVIVV٢Z= ^V=9^(Q ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59jk?n5YjW ijWL™pv8@v Ahj9n;j';j+5| ~@-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h1h1h1f1 aIafrfbfC@]]]]L8@=z AECP?IE: AɚEO5iAIAIM2f)iIiI)Q)*F12F1:F1BF=0JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.G:BO >_w,IA>7@Y>E@>nz9>s|9>y>H@`??`?tA?`H??`j?ɨ>7@>H=;>CJRJRJR0JPJR:JR+:JRـ3JPJRi;JRj;JRƄ;JRƄ;y^B^G#IeMb@Mb@Mb@aaa a)aYeX9v?DlMb?ye=eOe=eA a)e-@IeQ@aye@II٢p= ==9VQ > G٣y] > Nusing accuracyPremultiplier from config591g?5Yo iKL™>;M#@ A;9;5 @DNOT Ignoring new targets: 54.20 m. jjjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhhNBffrfbf%C@]=>]=>]=и@]=M#@mnz quR8?Iuu9 qɚu5iqIqI}1f)iyiy))E]>E%> QIQ*F}?2F:FBF!1JFG GpAzKKKKK&K!9Th{*9AGT_hgU:zyy}G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՅ Aw,cAF7@YFE@Fu'}9F9>yFHsi?p?u@?Ɵ?U?@k?ɨF7@F;FCyTT)X XIbIbʳ٢f9: jW=9j&Q j>ll nG٣lyra; r> vNusing accuracyPremultiplier from configpz59rbc?z5Yr irAL™xzb#@~ ArEr%;r6;r5 @=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfM`D@]i]i]i]m;b#@u'} 隅k8?I: ɚf5iII2f)ii))*F)2F):F1BF5c4JF1HI I#IIBI&I.I6If<:IP FWill construct direction to contact in vehicle frame from tetrahedron phase data. 9I9G3BO>w,}AZ:7@YZ;E@ZHT~9ZL9>yZH@gӱ?`?Ku?Nů? ?@j?ɨZ:7@ZT;ZCyfDŽBfQ#I5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y"~j?&1?yS=н<~A =@)@IZ@y@IIq٢j= ;=9N,Q > G٣y|R > Nusing accuracyPremultiplier from config%59_?%5Y` i;L™%y>-;-]@- AD<<51 59@9]DNOT Ignoring new targets: 54.20 m. jajajajaiahahahh\BffrfbfTD@]5y>]5y>]5G@]5]@eHT~ ae5?Im9 iɚm5iiIiIu1f)iqiq)q)y2Dy*DyBD:D*Fy2Fy:FyBF}4JFyJJJ1JJl:J#:J3JJ;J;J};J};Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > ! I! v%w,„A2]7@Y2^F@2w92(9>y2H@6y?`eM? u@?^?c?j?ɨ2]7@2ن;0zK> OK>-9K<K>&K>|wywstomnqmhccba`\ZXZ[\[YZXVTTSPNLKKI@;9844341,,.*+*++)*(('yJÄBJL#IIRIRm٢Z趼 Z^=9^uQ ^>`` bG٣`yb: f> jNusing accuracyPremultiplier from configdj59fA\?n5YfO if6L™lng@n Af Ef ;f. ;f:5p v|@tDNOT Ignoring new targets: 54.20 m. jjjjihhhhf!f!rf!bf%D@] ] ] ] g@]w Y]3?I]: aɚe5iaIaIm2f)iiii)i)E*FI2FI:FIBFMP0JFIUWill construct direction to contact in vehicle frame from tetrahedron phase data."GYG]>GBjHbHO >H I  I #II +BI &I .I 6I <:I o F Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,}AF7@YFF@F9FD9>yFH@s>?Y?u?C? ?`j?ɨF7@FB;FCyNBNE#I V$?IXi^=I^%=IfIf٢jO nG=9n]Q n>pp rG٣pyvc v> zNusing accuracyPremultiplier from configx~59zX?~5Yz iz1L™|f@ Axz ;z\ ;z5  @ EDNOT Ignoring new targets: 54.20 m. jAjIjIjQiQhqhqhqhqfyfrfbfǸD@]a]a]a]e f@ 隝0?I9 ɚW5iII1f)ii))*F12F9:F9BF=O0JFA=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9G B O >62w,9A:07@Y:1 F@:`19:o9>y:Hu`? ? u@H?`~?@6?j?ɨ:07@:;: CyRBR8#II\I\٢fsP fM=9jQ j>hh jG٣lyMͳ: M> ]Nusing accuracyPremultiplier from configQ]59UT?e5YU iU+L™aeo@e AU EU ;U ;U5i u@qDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfuD@]]]]Lo@`1 +?I9 ɚw5iII 2f)i i ) )Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JF IzK5kNK5#9K1K5&K5**(&'(%%$"%"""   RK]?JK]?GBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,&AN>7@YN? F@Nb`9N&P9>yNH@ @C?c&?u?[ ?? ej?ɨN>7@NZH;NCyVBV2#II^I^㔳٢z竼 zG=9zHeQ ~>|| ~G٣|yQ > Nusing accuracyPremultiplier from config 59 kQ?5Y Ƈ i &L™l@% A  ; ~: 5) -@)DNOT Ignoring new targets: 54.20 m. jjjjihhhh!f!f!rf)bf-`) E@]Y]Y]Y]]Cl@}b` y隅\)?I59 ɚ6iII1f)ii)))]&= YHiImC Im#IIm&BIm" =JJJJJܫ:J$:JJJ;J;J~;J~;&Ii.Ii6Im<:Im FBI)JI)RI)ZI)bI)jI-@41AY*Fe?2Fi:FiBFmo0JFq {YyMBGpA GrA^@BWill construct direction to contact in vehicle frame from tetrahedron phase data. IG B O5 >?w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.yޭB޵#I) A @ @ @  @ II³٢ 3=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59`M?5Yt i L‘+:; A EM7;u>,5B @ EDNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfnWE@) 15!?I549 1ɚ51 6i1I1I=2f)i9i9)A)A*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G! B) OM > I bEw,AF8@YFF@FO~9Fx9>yFHba ݹ? r?Qui?@į? ?j?ɨF8@Fj;FCyNBR#IIZIZ[٢b bm=9b:Q b?dd fG٣hyn; n? vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz59rLJ?z5Yrt irL‘z :xzc;~@~ AzK~֠MK~u9K|K~&K~       BKI:KIpr Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,42A IB8@YB:F@B}9Bk9>yBH;@??`5vخ???j?ɨB8@B;@yJtBJ"IITIT٢^ѽ ^J=9b.E9Q b>`` fG٣dyfo; f> nbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr59jF?r5YjJ ijL‘r9pv8;v@v Aj Ej(;j?j 5x zb@xDNOT Ignoring new targets: 54.20 m. jj!j!j!i!h!h)hAhAfIfIrfQbfU E@} 隥( ?I9 ɚiII2f)ii))*F?2F:FBF5JF"GG>5Will construct direction to contact in vehicle frame from tetrahedron phase data.G:BO>/Rw,8LA> 8@Y>+F@>.{9>$:>y>H`AGZ?@`? t ?`??i?ɨ> 8@>r;>CyJXBJ"IiPIR= - - -- --  - - -Mb@Mb@Mb@))) )))Y-~jt?T㥛 Mbp?y-=--;-A -&@)-K@I-@)y-@IEIET٢U UB=9U:Q ]>YY ]G٣Yye, e> mNusing accuracyPremultiplier from configiu59mD?u5Ym imL‘}T:}V=}<(@ AimCE;mLC;m!5 %@DNOT Ignoring new targets: 54.20 m. jjjjihhhh BffrfbfVE@]V=]V=]@](@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ՝=.{ 隽)?I9 ɚiII1f)ii)) 1I1*F?2F:FBFO0JFzKuLKqKqKu&Ku  GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.%Yw,d]fAJ#8@YJBF@JRy9J69>yJH7q =S?}a?`u?q%?N ?`j?ɨJ#8@JAG;JCyr@Br"IIzIzF٢ k  O=9 ̖:Q  > G٣y e; > %Nusing accuracyPremultiplier from config!-59%A?-5Y%ނ i%L™)->@- A!%:%:%#59 =@9eDNOT Ignoring new targets: 54.20 m. jijijijiiihqhqhhffrfbfF@]]]]>@Ry (?IQ9 ɚiII 2f)i i ))HI Ia#IIԄBI&I.I6Ie<:IO FJqJu@AJ;3K; 3 K;S}-K3K3"K3JJJJJ:JB:JJJ;J;J#b;J$b;Will construct direction to contact in vehicle frame from tetrahedron phase data. )I)*F?2F:FBFJFG B O >`w,FAWill construct direction to contact in vehicle frame from tetrahedron phase data.e8@Ye0F@eBv9eN:>yeH`0?@?t.?î?F?:j?ɨe8@e ;ay}"B}"I5Mb@Mb@Mb@111 1)1Y5Q?MbP?Mb?y5\=5:5<1 5=@)5@I5@1y5\@IMIM(*٢e e6=9ey:Q e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}??5Y}ӂ i}L™N=<<E@ A} E}S*;}(;}%5 @DNOT Ignoring new targets: 54.20 m. jjjjihhAhIhMBfIfQrfQbfU 4[F@]}N=]}N=]} j<]}CE@Bv 隕?I9 ɚiII1f)ii))E*F=?2F9:F9BF=P0JFAGMqA GMqAWill construct direction to contact in vehicle frame from tetrahedron phase data. I G B OM >58fw,3A:%8@Y:DF@:Du9:o9>y:Hyv?R?uG?ڝ??@ k?ɨ:%8@:;:CyRBRa"I)T TTVA\\IbIbT٢j/( jh=9j\V:Q j>ll nG٣lyr[; r> vNusing accuracyPremultiplier from configtz59vH>>IC I#IIBI! =&I.I6IM<:I? F*J "J =J J J 0J J ̶:J :J ـ3J J ;J ;J Cr;J Cr; Will construct direction to contact in vehicle frame from tetrahedron phase data.  I alw,A2U8@Y2V5F@2Zq92/:>y2H @4?@ Ȧ?t?.? ? j?ɨ2U8@2Dч;2CyBBB="IIJIJF٢VL VM=9Z' ;Q Z>XX ^G٣\y >  Nusing accuracyPremultiplier from config 59 :?5Y  i  L™=E@= A  j; ; (5A E/@IDNOT Ignoring new targets: 54.20 m. jjjjihh h h f frfbfU_F@]]]]E@Zq 隥o>I9 ɚiII1f)ii))*Fi2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.GM3BYO}>TJsw,A6]8@Y6^7F@6n96:>y6H ??u'?έ?@]?k?ɨ6]8@6;4yN؃BR*"I]Mb@Mb@Mb@YYY Y)YY] rh?Dl?I +?y]C=]O=]94 G٣y 9 > Nusing accuracyPremultiplier from config598?5Yu iK™=< A;K;*5 )@DNOT Ignoring new targets: 54.20 m. jjjjih!h!h)h-Bf)f)rf)bf5@F@]U=]U=]U7J?]U*x@en ae?Im9 iɚmq4iiIiuWill construct direction to contact in vehicle frame from tetrahedron phase data.I2f)ii)) $?IEE*F!2F!:F!BF%0JF!"G->G->zKrKKC9KK&K   G9 BI Oe >- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) wvyw,A6 8@Y6*F@6k96P9>y6H Nu??`u??@Hr? N?.l?ɨ6 8@6?N;6CyBBB"IiFhh rG٣pyv{ z>  Nusing accuracyPremultiplier from config595?5Y iK™ AEE;E;{,5) -)A1}DNOT Ignoring new targets: 54.20 m. jyjyjjihhhhHIII IM"IIMPBII&II.II6IME<:IM9 Ffifrfbf&G@]]]]bx@k ?Id9 ɚiII-1f)i)i))1)1*F?2F:FBFP5JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.G:BO >_w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.}78@Y}8"F@}w%h9} 09>y}H`I@0ӡ [?@]a? u??J?`vm?ɨ}78@}f;} CyލBލ!IMb@Mb@Mb@ )YV-?K7?Q?ym=I >< A )@Ip@y@II٢\> .=9:Q > G٣yM > Nusing accuracyPremultiplier from config59~3?5Y iK™h>; AH!;;.5 ADNOT Ignoring new targets: 54.20 m. jjjj!i!h!h!h)h-lBf)f)rf1bf5;]G@]]h>]]h>]]̕?]]@mw%h im?Im9 qɚuX#4iqIqI}2f)iyiy)y)J]J]J]1JYJ]:J]K:J]3JYae@ae@ae@ae@DMb9 IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 0JF G  G zK%[BLK%9K!K%&K%G-3BAO]>w,Ay7@Yz F@ e9R8>yH B? ?u?@?@?Kn?ɨy7@;Cy5B5!IIEIEm?٢U U@=9U:Q U>YY ]G٣Yye5M e> mNusing accuracyPremultiplier from configiu59mQ1?u5Ym imK™qu7u AmEm:mn:m[05 ADNOT Ignoring new targets: 54.20 m. jjjjihhhWill construct direction to contact in vehicle frame from tetrahedron phase data.hffrf bf G@]9]9]9]=3t@ e ?I9 ɚ84iII1f)ii))HI Is"IIBI&I.I6IR<:ID FBIJIRIZIbI" =jI64mc~G VݿYy?AD=t9*F?2F:FBF0JF y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! O= >",w,~q;Afu7@YfvE@fb9fR8>yfH昣`'? ? uQQ UG٣Qy]b ]> eNusing accuracyPremultiplier from configam59e/?m5Ye ieK™quZu AaeR;e;e?25y }mA}EDNOT Ignoring new targets: 54.20 m. jijijqjqiyhyhhhffrfbfG@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]a]a]a]eb@ub qu?Ium9 yɚ}W4iII2f)ii))J J J J J <:J :J J D S9E *F5 ?2F1 :F1 BF5 o0JF1 "GA GE > y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.G:BO?ɖw,Sx\A67@Y6E@6r4a96S7>y6H %?T?uZz?"?"? p?ɨ67@6߇;6 CyVBZ!IEMb@Mb@Mb@AAA A)AYEJ +?gfffff?Zd;O?yEH=E33>Ej<=EA A)AIE@AyE@I]I]F٢ma u=9u+:Q u>yy }G٣yy}Il }> Nusing accuracyPremultiplier from config59,?5Y i{K™?>; AE,;Q>;45 AzKBoHK9KK&KDNOT Ignoring new targets: 54.20 m. jjjjihhhhNBffrfbf H@]?>]?>]?]@r4a )?I9 ɚ #5i I I 1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9HyIy I}G"II}BI}" =&Iy.Iy6I}n<:I}X F*F?2F:FBF0JFJ! J% AA I u Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Cw,wAB_~7@YB_E@Bx]9B7>yBH@*}0 ?@#?tr?@?@?p?ɨB_~7@BD;BCyNBN!IIVIV<٢^ ^K=9^;Q b>`` bG٣`yf f> nNusing accuracyPremultiplier from confighr59j*?r5Yjl ijZK™tvv AhjGD;j06;jG65x ~A|%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h)hAhAfAfArfIbfMiAH@]q]q]q]u"@x] 隅?I9 ɚ I5iII2f)ii))*F2F:FBFO0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >J J J J J |:J /:J J $w,bA63]7@Y63|E@6@\96p7>y6H@c`>?׎?td?઄?@H?Aq?ɨ63]7@6/;6 Cy>BB!I IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yv/?x?X9v?yxi=K7>}=3A K@)@I~@y\@II٢'\< ;=93:Q > G٣y > Nusing accuracyPremultiplier from config59(?5YI i/K™J>;8 AEl;;/85 A%DNOT Ignoring new targets: 54.20 m. j!j)j)j)i)h)h)hh_Bffrfbf|{H@]J>]J>]?]A@m@\ iu?Iu9 qɚuJp5iqIqI}1f)iyiy)y)*F!2F!:F!BF%P0JF!G) G)zKKC9KK&K M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM AGQ Ba O >yOw,>AjHF<bHDHLIL IN;"IINBIL&IL.IL6IN]<:INL F:)*7@Y:)IE@:!Y9:g7>y:HA@ߨ? 5&?r`k? ?j? q?ɨ:)*7@::;:CyvBz!IIeIeq٢m%|= uP=9u:Q > G٣y > Nusing accuracyPremultiplier from config59&?5Y iK™ AE;;95 TA]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhahahahafifirfibfm]H@]]]]$@!Y ?I9 ɚ&5iII 2f)ii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFGBO >e Will construct direction to contact in vehicle frame from tetrahedron phase data.Iw,EgAr6@YrD@r__T9rs9>yrHeJ@.?`F?@n×??@&?@1o?ɨr6@rl;rCy~B!IMb@Mb@Mb@ )Yl?(\?V-?y=z>h= b@)@I@yQ@IIW٢ ug= ?=9p1;Q > G٣y^5 %> -Nusing accuracyPremultiplier from config!-59%#?55Y%` i%J™55>5;55 A!%;%d;%;59 EAEEmDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhyhyhyh}BffrfbfH@]5>]5>]?] $@__T 隽= ?I"9 ɚ5iII1f)ii)I)I*F2F:FBF[0JF!JMJMJM0JIJM\:JMU:JMـ3JI IhWill construct direction to contact in vehicle frame from tetrahedron phase data.G! B1 OM >qw,P8AJ6@YJD@J{R9Jk9>yJH`Eý?`n?`Fn~?`iL?P?mo?ɨJ6@JT;HyVBV!II^I^٢fe= fb=9j$:Q j>ll rG٣pyrܺ r> vNusing accuracyPremultiplier from configtz59v!?z5Yv ivJ™|~~ AvEvt;v;v\=5 A 5DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h9h9hAhAfAfArfAbfM`I@]q]q]q]u@{R 隅p?IR9 ɚ֭5iII2f)zK&`KK9KK&K  *-)!ii))2D*DBD:DWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF o0JF"G>G>HaIa IeN"IIeBIa&Ia.Ia6IeO<:IeA FGBO=> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ěw,AJf6@YJfD@JQ9J"9>yJHж? =?m)?3? ? Vo?ɨJf6@JQ;J CyVƒBV"IIbIbi٢jJ > jJ=9j9Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v?z5Yv ivJ™x~~ Atv ;vP ;v ?5 y@-DNOT Ignoring new targets: 54.20 m. j)j1j1j9i9h9h9hAhAfAfArfIbfM@:DI@]i]i]i]m@}Q 隅?IL9 ɚiII1f)ii))*F5?2F1:F1BF51JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAG3BO>w,SA I$:%6@Y:%D@:N9:09>y:HV@r?5ְ?"m ̜?@٩?`= ?po?ɨ:%6@:1;:CyFӃBF$"IeWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YK?㥛 ?Q?y^==\=7A @)@I@yG@I%I%V٢-i= 56=95:Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59Mx?U5YM iMgJ™]Q >];]&] AIMt;M;MA5a ev@aDNOT Ignoring new targets: 54.20 m. j j j jihhhh͂Bf!f!rf!bf%@I@]eQ >]eQ >]e-?]e|)k@N 隝?ID9 ɚ4iII2f)ii))*F?2F:FBF-1JFzK:LKC9KK&K - Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,,AZH0RH0H4I4 I6"II6BI6! =&I4.I46I6<:I6e FBL6@YBLD@BtN9BN9>yBH z@i?@?m?˩? ?o?ɨBL6@B2;B CybBb?"I r=rp=IzIzm?٢Z= %^=9%e9Q ->)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=?E5Y= i=FJ™IM&M A=E=q:=q:=B5Q U@Q*J"JJ%J%J%1J!J%<:J% :J%3J!J%5;a-J%7;a-J%9P;a5J%:P;a5DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbfpI@ 9I9]9]9]9]=`&k@UtN QU ?IU9 QɚUiQIYI]1f)iaia)a)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFA5JFG :B! O= >M Will construct direction to contact in vehicle frame from tetrahedron phase data.w,عFAyޭBޭO"IUMb@Mb@Mb@QQQ Q)QYU"~j?y&1|Zd;?yUS=U`廹Uy=UMA U@)U@IU@QyU@ImIm٢}_= }5=9}Q }> G٣y > Nusing accuracyPremultiplier from config59?5Y” i)J™>;R:@ A;/;D5 F@DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfI@]>]>] @]xR:@! )-)>I-9 )ɚ-3i)I)I52f)i1i1)9)9*F?2F:FBF2JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G= 3BI Oe >%w,y`A6I6@Y6ID@6N96Yh9>y6H `i@P?Ű?mਕ??`7?o?ɨ6I6@6vׇ;6CyR BRg"IIZIZi٢z = zh=9~9Q ~> G٣y Z:  > Nusing accuracyPremultiplier from config59t?5Y iJ™%[:@% AK ; ;4F5) -@)DNOT Ignoring new targets: 54.20 m. jjjjihhhhffrfbf`J@]]]]_[:@N >I9 ɚiII 1f)i i ) )zKyLK9KK&KRK%>JK% ?Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JF)= 5NGQHiIi Im"IImKBIi&Ii.Ii6Im^<:ImL FBIJIRIZI" =bI! =jIŦE4 YyAG:BO>J1J5J50J1J1J5 :J5ـ3J1J1J1J5U;J5U;  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,TzA2Q6@Y2QD@2xL92W9>y2H`@y4?@?l?? ?[o?ɨ2Q6@2ۋ;2CyNBRl"I)T TIZIZW٢b< bN=9bb:Q f>dd fG٣dyj̴ j> nNusing accuracyPremultiplier from configlr59n ?r5YnD inI™pvN:@v AnEny;ny;nG5zB z@zE%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i)h)h)h)h)f1f1rf1bf5uFJ@]]]]N:@exL ae*>Ie9 iɚm53iiIiIu2f)ii))EE*FM?2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>  I w,FA2~6@Y2~D@2oM9249>y2H@ī!? BB"I Mb@Mb@Mb@    ) Y Pn?/$kt?y >   0= dA @) -@I  y @I%I%)٢5:= 5C=9=iQ =>99 EG٣AyE; E>UWill construct direction to contact in vehicle frame from tetrahedron phase data.U=U< ]Nusing accuracyPremultiplier from configIe59M ?e5YM- iMI™e#>e;ey@m AIMr;M;MI5y }@y]DNOT Ignoring new targets: 54.20 m. jajajajaiahahhhXBffrfbf J@]#>]#>]@]4y@%oM !->I-9 )ɚ-d4i)I)I51f)i1i1)1)9DzKmBIKmȱ9KiKm&KmBK:KqA Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F! :F! BF! JF! jHM <bHI HQ IQ  IU "IIU tBIQ &IQ .IQ 6IU <:IU FGa Bq O >Ĭw,AJVJVJTJTJVL:JVh:JTJTJVP;JVQ;JVNi;JVNi;yn-Bn"IIvIv@٢5k= 9=9 Q  > G٣y > %Nusing accuracyPremultiplier from config%59?%5Y iI™) 1I9)= AE;<;K5A E@AuDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhqhqhyhyffrfbfJ@]]]] 隽>I9 ɚ4iII2f)ii))D9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F):F)BF-_0JF)GaBiO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i \w,A226@Y22E@2(AM92'z9>y2H:`?@?*o ߟ?`e?`u?o?ɨ226@2;0y<MbM G٣y; > Nusing accuracyPremultiplier from config59?5Y^ iI™+K>;@ A;;M5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrfbfkJ@]+K>]+K>]ʕ@]@-(AM )-ף>I-9 )ɚ-4i)I1I=1f)i9i9)9)ADM9 9I=h*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,2A67@Y6'E@6hnL969>y6H'$?7?@n ;???lo?ɨ67@6r;4yR)BR"IIZIZ̍٢b bW=9b :Q f>dh jG٣hyn: n> rNusing accuracyPremultiplier from configpv59ra?v5Yrێ irI™xz@z ArEr:ra:r2O5zK~JQJK~u9K|K~&K~RK ?JK ? @EEDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfU@gK@Will construct direction to contact in vehicle frame from tetrahedron phase data.] ] ] ] @EhnL AE>>IEv9 IɚM[4iIIII2f)ii))BD=:DV>Db9HI I #IIBI&I.I6IZ<:IH F*FE?2FI:FIBFM0JFIJJJ1JJܫ:J&:J3JJ;J;J1;J1; I!5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G] 3B O >)w,lA:>7@Y:>=E@:yK9::9>y:HMy\{??Co@?l??`No?ɨ:>7@:z;:CyB%BB"IIJIJi٢R RL=9Z:Q Z>XX ^G٣\y^&^; ^> fNusing accuracyPremultiplier from config`f59b?f5YbE ibI™hj@j AbEb:bX:bP5l rC@p%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h!h)h)f1f1rf1bf=NK@]Q]Q]Q]U @myK qu֛>Iu9 qɚu5iqIqI}1f)ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D!9*F?2F:FBF0JF I G :B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,LA6#67@Y6#UE@6'K96v0:>y6H@nf?ǭ?oٽ?x??n?ɨ6#67@6";4yjBj|"I)l lppeMb@Mb@Mb@aaa a)aYe(\?/$ÿ{Gzt?yez>eeף;e A a)aIeI@ayeQ@II<٢B <=9dQ > G٣y[; > Nusing accuracyPremultiplier from config59?5Yr iI™W>{;@ A;d;R5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBffrf bf `ׅK@]W>]W>]@]@'K {>I09 ɚ$5iII 2f)ii))zKUKQKQKU&KUBKa:KepAWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*Fm ?2Fi :Fi BFu 0JFq ZH RH ?AH I  I #II BI &I .I 6I e<:I Q F  $?I G B O > w,g5AbT7@YbsE@bJ9b{%:>ybHϧ@#?mҬ?Wp?`U? ?`&o?ɨbT7@b;`y- B-f"II=I=٢U읽 U7=9U:Q ]>YY ]GeWill construct direction to contact in vehicle frame from tetrahedron phase data.٣Yyu; u> }Nusing accuracyPremultiplier from configy59}풜?5Y} i}I™@A}E};}%;}T5B @EDNOT Ignoring new targets: 54.20 m.Resuming propulsion at range: 53.70 m and bearing: 37.758904 deg. Not drifting fast enough.bjZ(? j1=s@jjjiL?hhhhffrfbfFK@]]]]@ < A=>I9 ɚ55iI;=I%2'i!i!)%1=s@)-A2D5qA*D5qAD59*F?2F:FBFp4JFG3% Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >w,OAyBO"IMb@Mb@Mb@ )YPn?/$Mby>13 A )I`@y@II<٢ D=9Q > G٣y > Nusing accuracyPremultiplier from config59钜?5Y iI™=>;r@AE;;V5 ,@ JKO3 K(.KK"KJ%J%J!J!J%l:J%:J!J!a5@a5@a5@a5@ 9IA]DNOT Ignoring new targets: 54.20 m. jajajajaiahahihqhukB:uu}Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1;} v}]=>]p@]r@ɛB 隵I9 ߇ɚiI\=I$ii))Dm9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFeP0JFaG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,WhAzK"BoHK"9K K"&K" 46@%Pl7@Y%PE@%fF9%:>y%H])z?<? o ?Ҩ?4?qn?ɨ%Pl7@%];% CyEBEG"IiUqy }G٣yy}n; > Nusing accuracyPremultiplier from config59x咜?5Y iI™@A\ ; ;RX5 @-B*** querying acoustic contact ***j)j)mDNOT Ignoring new targets: 54.20 m. jijijijiiqhyhyhyhfffrfbf 1)L@HI I"IIoBI&I.I6Ib<:IN F]A]A]A]EP@ɛBu: 隝@9EE AII*F?2F:FBF!JF!G) G)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.G) BI O > w,GǂAyԃB %"IIIb٢e  eK=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from config59Jᒜ?5Y8 iJ™AE::Z5 L@DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf)ZL@]]]]ɛكB Y 8I 65ɚiIr=I%Jpi!i))))1Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3523> BDAT read: Tx time:23:55:29.3503 $Ping request sent.!(w,.A2s7@Y2sE@2@92f:>y2H3@џ?@`? p?,?6?@n?ɨ2s7@2$;0yBBB"IEMb@Mb@Mb@AAA A)AYE!rh?~jtyy }G٣yy<; > Nusing accuracyPremultiplier from config59ܒ?5Y2 iJ™ >; !@AE7%;r#;9\5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhh?BfffrfbfؘL@]  >]  >] @] ^ !@ɛƃB>Һ !%ͼI! %U÷ɚ!i!Iϲ=Iii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503770zKKC9KK&Kc~G5tA ߿Y5tAyAjHM<bHM<HiIi Im"IIm+H0w,.AF_7@YF~E@FO9?9F 3>yFH_U觿@x?{? 0y?? W?2y?ɨF_7@Fe;DyNBN!I)T TIZIZ%x٢b b0=9b6P:Q f>fL?fL? fG٣fXGyji j> nNusing accuracyPremultiplier from configlr59nxؒ?v5Yn: inJ™tv @vAln,;ny-;n?^5x ~A|%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf5@(L@ɛB(_ 隅hRI *KɚiI _=IWii))D|9E-B=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009686*F?2F!:F!BF%P0JF)  I Je Je Je 0Ja Je \:Je U:Je ـ3Ja G :Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258986gf6w,A>67@Y>UE@> 99>ȼ4>y>H (H"?`ĭ? v??s? x?ɨ>67@> ; G٣yY > Nusing accuracyPremultiplier from config59 Ւ?5Y iJ™_= <<@AI;G;#`5 A%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h!h)h-Bf)f)f1rfbf6 M@ɛB蘻 I  ɚiI=Iii))D&9EE*E"E%Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai!-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511883EzKBoHK9KK &K*F ?2F :F BF JF H I  I Z"II BI &I .I 6I O<:I A F ! I! G "G B O > `=w,A26@Y2E@2,922>y2HʈϷ?`$?@w q?@?`4?e|?ɨ26@2Q-;2Cy>kBB!IIFIF٢V˽ VA=9V};Q V>XX ZG٣^XGy^Z ^> bNusing accuracyPremultiplier from config`f59bђ?f5Ybς ibJ™dj<@nWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762676rAbEb?|;b|;ba5t vlAtDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfDM@ɛEBE² AEIA mRɚiiiIm^π=Iuiqiq)q)yDe9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014625G 3G Ba O} >CDw,HA6U6@Y6UD@6596->y6HJ ?ð?=|E?sţ?U??ɨ6U6@6BV;6 CyRXBR!I V=V= !I!MMb@Mb@Mb@III I)IYM#~j?y&1?Q?yM=M`e=MuJJJJJ:Jz:JJ G٣y %> -Nusing accuracyPremultiplier from config!-59%Β?55Y%^ i%J™U=Uy:H NLv?`Bzn!II I (٢\ P=9%!! %G٣)y-" -> 5Nusing accuracyPremultiplier from config1E595˒?E5Y5Ճ i5I™AE1(EA15,;5:,;5e5Q UAQ}DNOT Ignoring new targets: 54.20 m. jyjyjyjyiyhhhhfffrfbf@M@ɛuBW 8g=隽ڽI [ɚiIk=Iii))ZHRH@AHI I"IIǃBI&I.I6IZ<:IJ FBDa=:D=Dg9 $?I*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770428G3G pAG pAG B O >pUQw,EA>L6@Y>kD@>N9>3#>y>H`u?_? y?@ ?@p?M?ɨ>L6@>Ǜ;>CyJ7BJd!IIRIRV8٢Z ZQ=9Zg\\ bG٣`yb b> jNusing accuracyPremultiplier from configd=59f'ɒ?E5YfQ ifI™AEV(EAfEf xWw,w_Ayn%BnN!I)p pttMb@Mb@Mb@ )Y+η?&1?Mb?yv===A @)I@y@II٢2 :=9Q > G٣XGy > Nusing accuracyPremultiplier from config59Œ?5YX iI™>;A ;';2i5 A%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h!h)h-Bf)f)f9rf9bf= N@ɛeVBm imhƽIi mqɚiiqIu=I}iyiy)y)y*F ?2F :F BF 2JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 54.2 m (Round-trip 72.3 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.iymXBizK]jIK]89KYK]"&K]HI I!IIBI&I.I6IW<:IH FG:GBO > I J J J J J J J L:J 9:J J J @ y:H5M&?H!?`J Ff?4??`?ɨ:5@:;:CbWill construct direction to contact in vehicle frame from tetrahedron phase data.yf#BfK!IInIn[٢v) vY=9vؘxx zG٣xy~ >  Nusing accuracyPremultiplier from config 59 `’?5Y : i I™%W%A  F; KG; j5) -A)e addTargetRange:: Added new target pos. range: 54.200001 m, deltaT: 60.268120 s, deltaX: 0.500000 m, approachRate: 0.008296 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 54.20 m. jajajajaiihihihihifqfqfqrfuK@bf}ಘ?ɛHBy 隭tI  ɚiI=Iii))E*F?2F:FBF05JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G 3G >G *?Gq B O >dw,A I N5@YNC@N,9N e>yNH`H /?`*?@@?`&E?@8?$?ɨN5@N,;N CyZB^C!IMMb@Mb@Mb@III I)IYMM=M 0=MA M@)M@IIIyM @IeIe٢u u>=9}|;Q }>y G٣y > Nusing accuracyPremultiplier from config59伒?5Y] iI™D>;#AE@;;l5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhhsBfffrfbf?ɛ8B- cI $ ɚiI =I-i)i))))1Will construct direction to contact in vehicle frame from tetrahedron phase data.Ee=*F?2F:FBFP0JFG GY Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 fjw,AzK"K"9K K"#&K">ٛ5@Y>ٺC@>++9>!>y>H`@?@L? `??b!?x?ɨ>ٛ5@>3V;>"CyJ%BJN!IiN`` bG٣bXGyfѻ f> jNusing accuracyPremultiplier from confighn5HAIEC IE!IIEBIE" =&IA.IA6IE<:IE F9j?5Yj[ ijI™#Aj Ejwqw,'A6-5@Y6-C@6G96'>y6H@@=|@@? ^?x ? ???ɨ6-5@6a;6Cy>#B>L!IIJIJb٢RSػ RF=9V;Q V>TX ZG٣XyZ@ Z> bNusing accuracyPremultiplier from config`f59bò?f5Ybo ibyI™df$fA`b;bb;b/p5l nAqWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf D?ɛB- : Їxw, A215@Y21C@2|92)>y2H@ό ?@c?@u?А? ?o?ɨ215@2u;0yB(BBR!I Mb@Mb@Mb@    ) Y MbX?S㥻?~jt?y J> /= D= A C@) @I @ y Q@I-I-٢=)< =A=9=8;Q E>AA EG٣AyM M> Nusing accuracyPremultiplier from configQ59Ux?5YUX iU[I™l>f;0AU!EUU Will construct direction to contact in vehicle frame from tetrahedron phase data.I~w,A6Ī5@Y6C@6@96}'>y6H`4 C#??~xH?@?c?5?ɨ6Ī5@6;6 Cy^,B^W!I)` ```IfIf#٢rw< rP=9ra;Q v>tt vG٣v XGyzu; z> ~Nusing accuracyPremultiplier from config|59~?5Y~2 i~@I™  0 A~"E~:~~:~s5 ZAEDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhIhIhIhIfQfQfQrfYbfeU@ɛB; 隍=I ɚiIh~=Iii))*FA2FI:FIBFMP5JFIGWill construct direction to contact in vehicle frame from tetrahedron phase data.GaBO> I 0.w,oA285@Y28C@292'>y2HUBP?zM=M94=M A I)IIM@IyM=@ImIm٢}v= }A=9Q > G٣y; > Nusing accuracyPremultiplier from config59?5YË i&I™>6;=A#E1;;u5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhhÂBfffrfbf`@ɛ%B%< !%>I! -g@¹ɚ)i)I-U~=I5i1i1)1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF!5JFGG4?G?GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.Zw,/AZH@RHBAAHDID IF!IIFBID&ID.ID6IFP<:IFC FzKRk3IKR`9KPKR%&KRr"6@YrAD@r39rKG(>yrH C?R2?|;?֡?? ?ɨr"6@r0;pyz8B~f!II I ٢ Q=9aQ >!! %G٣!y%j*< -> 5Nusing accuracyPremultiplier from config)=59-~?=5Y-L i- I™9=S==A-$E- ;- ;-Ow5I MAI AIAMDNOT Ignoring new targets: 54.20 m. jqjqjqjyiyhyhhhfffrfbf@W @ɛB 9< />I! %!gɚ!i!I%%}=IMiIiI)I)QJJJ0JJJ:Jـ3JJJJxp;Jyp;*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.<GG B O >Aw,vIA66@Y6D@6v96g/*>y6H`e{q?@t?}@?SՑ?@,??ɨ66@6;6!CyF?BFn!IiJ=IJp< Jp=Ja=IZIZ<٢b= bP=9fCQ f>dh jG٣j XGyj< j> rNusing accuracyPremultiplier from configlr59n;?v5Ynی inH™tv<vAln;n;ny5~B ~A~E-DNOT Ignoring new targets: 54.20 m. j)j)j1j1i1h1h1h9h9f9f9fArfAbfE* @ɛmԂBmY< iuV>Iq}Will construct direction to contact in vehicle frame from tetrahedron phase data. uN\ɚiIi}=Iii))*Fq2Fq:FqBF}P0JFy AIAGGiBqO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.2jw,ZKcA2>6@Y2>E@2}92'8.>y2H`w`ɜ?`D? {|?f/? 0?N?ɨ2>6@2V;2CyRQBR!ImMb@Mb@Mb@iii i)iYmʡE?/$?L7A`?ym>m,=m+=m A mZ@)m@Im3@iym@II(*٢= >=9IQ > G٣yhn< > Nusing accuracyPremultiplier from config59{?5Y iH™>;[FA&Er>;<;z5 -ADNOT Ignoring new targets: 54.20 m. jjjjih h h h Bf ffrfbf@ɛMĂBM[n< IM6>II Ur*9ɚQiQIU}=I]iYiY)a)a*F)2F):F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I!IIBI&I.I6IM<:IA F'TFailed to parse incomplete device message. =$?I9GiGqGqGI Bi O >J J J 1J J :J :J 3J J ;J ;J cW;J dW;E Will construct direction to contact in vehicle frame from tetrahedron phase data.ҥw,o}ARK>?JK>?Z̎7@YZ̭E@Z쌩9Z61>yZH@ Ө@'? ? |@?`:1???ɨZ̎7@Z;Xyf\Bf!IInInW٢vg= vS=9vTQ v>xx zG٣xy~f< ~> Nusing accuracyPremultiplier from config 59p? 5Y3 iH™EA'E:z:|5 A!UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiYhYhYhYhafafafarfabfmOY@ɛ B5|< 9=]>I9 = 9ɚ9i9I=#u|=IEiAiA)A)I*F?2F:F BF _0JF }Will construct direction to contact in vehicle frame from tetrahedron phase data.GM3G! B1 OU > ! I! w,y2H⣿@? C? |u'?੆?K??ɨ2'8@2yd;2CyVfBV!I)X X\^AEMb@Mb@Mb@AAA A)AYEL7A`?{Gzt?{Gz?yE+>Eף;Eףiq uG٣u XGyuf< }> Nusing accuracyPremultiplier from configy59}b?5Y} i}H™r>;F@A}(E}WL;}J;}n~5 yA!EDNOT Ignoring new targets: 54.20 m. jjjjihhhh Bfffrfbf d@ɛuBuØ< y}>Iy }D =:ɚyiyI}B{=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFUo0JFQGm:GA BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data.jHU <bHQ HY IY  I] !II] BI] =&IY .IY 6I] ^<:I] N Fǫw,jiA6E8@Y6EF@6Gм966>y6HM?}?z?Q?R?`{?ɨ6E8@6D;6 CzK>MK>9K<K>'&K>   yJeBJ!IIRIRԲ٢Zǻ ZT=9ƻQ %>!! -G٣)y-< -> =Nusing accuracyPremultiplier from config1=595U?E5Y5 i5H™AE+G@EA5)E5:5 :5+5I MAQ}DNOT Ignoring new targets: 54.20 m. jyjyjyjyiyhyhhhfffrfbf @ $?IɛB< eB=s>I ԇ:ɚiI6{=Iii))*FQ2FQ:FQBFUO1JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.GG0?G?GiByO>'w,9A629@Y62G@6r96M;>y6H)U?w?@vv@3?`@?E? t?ɨ629@6;6CyJtBJ!IIVIV?1٢b}= bJ=9bQ f>dd fG٣dyj< j> rNusing accuracyPremultiplier from configlz59nI?z5Yn֌ inH™xzG@zAn*En |;n^;nၽ5B  A$E%Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf`F@ɛBɗ= >I :ɚiI'ظw,AyuB!Ii%`et<I A b@)I@Iv@y@IIb٢; 7=9 Q  > %G٣% XGy% -> ENusing accuracyPremultiplier from config9M59=8?M5Y= i=H™Ue>U:UuE@]A=,E=w;=;=؃5i mAiDNOT Ignoring new targets: 54.20 m. jjjjihhhh=Bfffrfbf@ɛ}BQm = >I $a:ɚiIWy=Iii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JFHI I"IIƒBI&I.I6I)<:I& FzKRLK#9KK(&K  "(+)))))% $?IGi J J ?AGA Bi O >} PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data.w,Ar8;@YrWI@rKC9rqB>yrH`+? ?%qYl/? ǡ?'? g?ɨr8;@r>.;r CyB!III%x٢-= -Y=9-FQ ->11 5G٣1y== => ENusing accuracyPremultiplier from configAM59E*?M5YEi iEH™IUG@UAE-EE*:EP;Ey5]B ]A]'EDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfz@ɛrB-= 隕?I #];ɚiIwx=Iii))E0f=5Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFm3JFi I G1 G9 G9 Jـ3K(3 KKK"KJ J J J J :J :J J G) B9 OU >Wjw,yAVF<@YVF2J@V-9V!PE>yVH=?J?`&#f`?@d?~?b?ɨVF<@VLD;VCy^wB^!IWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=(\?V-Mbpy=>==9 =K@)=@I=QA9y=@IuIu ٢7A *=9׻Q > G٣y$< > Nusing accuracyPremultiplier from config59?5Y* iH™>e:ecF@eA/E<<5q uAqDNOT Ignoring new targets: 54.20 m. jjjjihhh h :Bf f f rfbf5@ɛ]`B}= 隅 ?I 6;ɚiI4w=Iii))E}&t@=*F2F:FBF(5JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA = c~Ga Y y 8BZH RH @AH I  I ""II уBI &I .I 6I K<:I ? FBIJIRIZI =bIjI4Gu 3G1 B9 Oe >{w, 4A $?IzK6;OMK4K4K6)&K6""    Bg =@YBg(K@B'9BYF>yBH`{~?X?_??ũ?z_?ɨBg =@B;@yJBJ!I)L LIVIVF٢ZA= ^k=9^Q ^?`` bG٣b XGyf0= f? jNusing accuracyPremultiplier from confighn59jZ ?n5Yj  ijH™prZG@rAj0Ej ;j%;j5t vAz*EDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f)f)rf)bf-@ɛ}VB}! J= =M?II USN;ɚQiYIGv=Iii))EE*E"E nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFf4JFG :E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >w,ܜPAI>@YI M@@9XN>yH ?/?2ůE? ?>? ZQ?ɨI>@j;Cy-B-!II}I}٢⥻ 0=9 UQ > G٣yU= > Nusing accuracyPremultiplier from config -5 ]$?Ia9 ?m5Y  i H™y}HA 2E |< y< (5  -A1DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf @F@ɛ5EB=)= 9=?I9 ERx;ɚAiAIEt=IMiIiI)I)QJJJJJ:J :JJ*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G $?G ?G B O >w,CjAZ?@YZ N@ZiK9ZqT>yZH@*x?@)?K۳1?}r?!W?SF?ɨZ?@Z0v;XyfBf!I]Mb@Mb@Mb@YYY Y)YY]Zd;?:vI +y]>]Լ]94]vA ]5@)]@I]v@Yy]p@IuIu@٢!= N=9<ݻQ > G٣yL#= > Nusing accuracyPremultiplier from config59瑜?5Y8 iH™F>:GA4EK;v&;ٌ5B bA-EDNOT Ignoring new targets: 54.20 m. jj5Will construct direction to contact in vehicle frame from tetrahedron phase data.jjihhhhDBfffrfbf@) @ɛM8BMT= QU"'?IQ Uߋ;ɚQiQIULs=I]iYiY)a)HI I5"IIBI! =&I.I6I<:Iz F aIa*Fa2Fi:FiBFm]0JFizKLK9KK*&K   G 3 Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Ba O >w,A2@@Y2O@2!V92ߨZ>y2H 7\?H? T ?!??`;?ɨ2@@2:D;2Cy>B>!IiF%=IFp; F=F%=IJIJT٢R;= RZ=9V\߻Q V>TX ZG٣ZXGyZ84= Z> %Nusing accuracyPremultiplier from config!-59%ב?-5Y%t i%H™)-F-A%5E%:%:%59 =1A9mDNOT Ignoring new targets: 54.20 m. jijijijiiihihqhqhqfyfyfyrfybf}_ @ɛ-Bd= 隵0?I 5ٛ;ɚiIIr=Iii))*FI2FI:FIBFM0JFQEWill construct direction to contact in vehicle frame from tetrahedron phase data.G5:G  iIqBO5 >J J J J J l:J /:J J "w, A6`B@Y6`P@6_96 F`>y6H` G٣y6= > Nusing accuracyPremultiplier from config59ő?5Y i|H™1?:_DA7E;j;g5B (A0EDNOT Ignoring new targets: 54.20 m. jj!j!j!i!h!h!h)h-PBf)f)f1rf1bf5!@ɛ]Beg\= ae)7?Ia eBٯ;ɚaiiImp=Iuiqiy)y)yEUWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FqBFu_0JFq"G}>G}>jH <bH <H I  I ;"II BI &I .I 6I F<:I ; F m $?Iq zK yLK K K +&K G G G G B O >'w,^ABl C@YBl+Q@B\f9BD|d>yBHw SZ?"?z% 0?`Ҭ? G??(?ɨBl C@BLj;@yJBJ!IIVIVM٢Z ^?=9^Q ^>`` bG٣`yf= f> jNusing accuracyPremultiplier from confighn59j4?n5Yjd ijtH™lrQCrAj9Ej ;j ;jD5t v8AtDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f!f!rf)bf-@"@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=B=]`= AEp=?IA E;ɚAiAIE!o=IMiIiI)q)qE]=*F2F:FBF0JFG 3 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,$CA @I@%},D@Y%}KR@%Hn9%Nh>y%H/?T?^¿@.`Ł?ĭ?? ?ɨ%},D@%G;!y=B=!I)A AAEAMb@Mb@Mb@ )Y%C?y&1{GztyZ?`eףA @)@IhAy @II<٢ < +=9}Q >   G٣ XGy<= > Nusing accuracyPremultiplier from config%59z?%5Y, iiH™%h?-:-aA-A;E;p;\51 5 A53E]DNOT Ignoring new targets: 54.20 m. jYjYjYjaiahahah!h-eBf)f)f)rf1bf5#@ɛ}B} f= y隥]F?I 9;ɚiI=Rm=Iii))EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G :G !?G ?H I  I G"II BI &I .I 6I 8<:I 1 FGBO>zww,JAF yFH Ҫ?@?wvĿ ?Y?k*??ɨF dd fG٣dyj%= j> nNusing accuracyPremultiplier from configlr59n?r5Yn in`H™pvP@vAnNYw,  A~Will construct direction to contact in vehicle frame from tetrahedron phase data.yB !IIIm?٢Ebջ EC=9MQ M>IQ UG٣QyU U> mNusing accuracyPremultiplier from configiu59mz?u5Ym imVH™yy}Am>Em;mN;m5 ADNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf@=H%@ɛB= Y?I  <ɚiIi=I ii)) I*F2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GI G! B1 OM > w,' A 2@0y޵B޵!IeMb@Mb@Mb@aaa a)aYe?QMbpye ?euee+A e@)e@Iaayef@I}I}(*٢< 7=9Q > G٣XGy > Nusing accuracyPremultiplier from config59)f?5Y iJH™ ?:\@A@E0;;5 A;EDNOT Ignoring new targets: 54.20 m. jjjjihhhhjBff f rf bf y&@ɛ5فB== 9=a?I9 E<ɚIiIIM)h=IUiQiQ)Q)Y Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFd0JF"G>G>ZH!RH!H)I) I-T"II-BI)&I).I)6I-$<:I-" F $?IzK-JK)K)K--&K-NT{ylVC5(# uRF?;550*&%"" G3GGqAJq Jq Ju 0Jq Jq Jq Ju ـ3Jq Jq Jq Jq Jq G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ow,A Ay}B}!III)٢= X=9Q > G٣y > Nusing accuracyPremultiplier from config59T?5YU iAH™ABE\:i:5 fADNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h)h)h1f1f1f1rf1bf=@k&@ɛe΁BeP= aek?Ia e,X<ɚiiiImq~f=Iuiqiq)q)yE3=Will construct direction to contact in vehicle frame from tetrahedron phase data.i*FM?2FI:FIBFM05JFI I hG :G B O >jLw,^ A6 J@Y6 3X@6?96u>y6Hf ?k?XͿP?V?/H? ?ɨ6 J@6i;6CyBBB!I Will construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%Q?Qy%\?%%%A %@)%@I%A!y%@I=I=[٢M< M<=9UQ U>QQ UG٣Qy] 2> ]> mNusing accuracyPremultiplier from configam59e@?u5Ye ie4H™u?u:uA=uAeDEe3;e<;e~5}B RA>EMDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhQhUhBfYfyfyrfbf'@ɛB^= +s?I )+<ɚiIrd=Iii))E<*F?2F:FBFO0JF)-&= )NG HYyBWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I f"II BI &I .I 6I Z<:I J FBIJIRIZI! =bIjIYZ4G G B O > M $?IQ Fkw,Hx AzKNLNKN9KLKN.&KN    y~B~!I A   AAII%x٢%%= %N=9%Q %>)) -G٣-XGy5 5> =Nusing accuracyPremultiplier from config9E59=E.?E5Y= i=)H™AIMA=EE=<;=;=95UB U AUAE}DNOT Ignoring new targets: 54.20 m. jyjyjjihhhhfffrfbf (@ɛB= 隽|?I 7<ɚiIb=Iii))JJ@AJJJ/JJ:JJ(N3JJ;J;JJEE*E"E5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F9BF=P0JF9G 3 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >PS$w,h$ A2L@Y2Z@2~~92y2HƲ@<?@ѿ J?ʯ?@?4?ɨ2L@2r;2 Cy>B>!IIJIJ٢ZU< ZR=9^nQ:Q ^>\` bG٣`yb= b> fNusing accuracyPremultiplier from configdj59fU?j5Yf ifH™l]:]AfGEf/}*w,z Ay~ÃB~"IMb@Mb@Mb@ )Yl?ktMbPy? 0A @)@I Ayf@IIq٢ = :=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YO iH™?:;AIER;;٢5 @DE-DNOT Ignoring new targets: 54.20 m. j)j)j1j1i1h1h1h9h=Bf9f9fArfAbfE/*@ɛuB}_ֳ= }N<}?Iy }CT<ɚyiIQ^=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙjHu<bHu<HI Iy"IIBI&I.I6Ij<:IU F*F)2F):F)BF-0JF) IzKU"MKUK9KQKU/&KUJJJ0JJ:JJـ3JJ;J;JJGiGi By O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.l1w, AJ?O@YJ?]@Jv9J|>yJH`E W?#`ԿB@l?ͮ?@2??ɨJ?O@Ja;JCyXZ"I ^=^=IbIb(٢j; jZ=9n;Q n>ll rG٣rXGyrL= r> zNusing accuracyPremultiplier from configtz59v?~5Yvȗ iv H™|~8~AvKEv;:v\:v{5 @ 5DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM`:*@ɛuBuq= y}?Iy }a<ɚyiyI}\=Ii=d>ݏ7w, A:|9Q@Y:|X_@:o9:>.>y:H=?}տ< B???Y?ɨ:|9Q@:ޚ;:!CyFЃBF!"I~Will construct direction to contact in vehicle frame from tetrahedron phase data.5Mb@Mb@Mb@111 1)1Y5S?v/{Gzty5/?5xi5ף5EA 5@)1I5hA1y5p@IMIM٢]x= ]C=9]a;Q e>aa eG٣ayme= m> uNusing accuracyPremultiplier from configq}59uߐ?}5Yu iuH™?:d8AuMEu;uV;uP5B @GEDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbf+@ɛB;= u?I -vr<ɚiIYZ=Ii;5Will construct direction to contact in vehicle frame from tetrahedron phase data.Hq Iq  Iu "IIu (BIq &Iq .Iq 6Iu [<:Iu J F I =w,͒ A2HR@Y2H`@2f92>y2H`?@R!=׿X`?@Ҭ??@?ɨ2HR@2N‰;2Cy>̃B>"IIFIF٢N NW=9Ru;Q R>PP VG٣TyV= V> ZNusing accuracyPremultiplier from configX^59Z̐?b5YZD iZG™`b6bAZOEZ;Z;Z5fB j@jJEzKJK@9KK0&KBK!:K!uDNOT Ignoring new targets: 54.20 m. jyjyjyjihhhhfffrfbfk,@ɛwB|= I?I <ɚ i I X=I i2."Ew,3!A 2$?I0VXT@YVwb@VM[9V >yVHxp?`بgؿi`;? t? L??ɨVXT@V;VCybڃBb-"IIjIj٢z}= 7=9S;Q > G٣%XGy%5`= %> -Nusing accuracyPremultiplier from config)559-c?55Y- i-G™9=C5=A-QE-u;-;-5A E1@A}DNOT Ignoring new targets: 54.20 m. jyjyjyjyiyhyhhhfffrfbfo-@ɛjBE= ?I - <ɚ)i)I5͍V=Iui}N&IKw,U/!A6U@Y6 d@6M96O>y6HF(Q?,ڿ`??9? ?ɨ6U@6;6Cy<<=Mb@Mb@Mb@999 9)9Y=Mb?Zd;ii uG٣qyuv=}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHAAHI I"II2BI&I.I6IA<:I7 F 5> =Nusing accuracyPremultiplier from config9M59=m?M5Y= i=G™MU!?M:M3MA=SE=5;=8;=ܫ5Y ])@]MEDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbf0T.@ɛ%]B%= !-;?I) U$?IY ]7<ɚYiYI]VT=Ieie-*Fu?2Fy:FyBF}25JFy5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm 'ZaGA BI Om >2Rw,H5I!Av:Y@YvYg@v19vEς>yvH@th? `$ݿ*f{;?`r!? (??ɨv:Y@v4(;v Cy~B6"IIIԲ٢% = %O=9-)) -G٣)y5> 5> ENusing accuracyPremultiplier from configAM59E?M5YE9 iEG™IMP0MAEUEE.:E :E|5]B ]@]PEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf@/@ɛSB= ?I ˙<ɚiiqIu|R=Iui}"GU=Will construct direction to contact in vehicle frame from tetrahedron phase data. E$?IAGMPaG) BY O >JE JE JA JA JE :JE /:JA JA 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.[Xw,,c!AFZ@YFi@FM!9Fh>yFH@u@?2`޿`%? 7?`;?~?ɨFZ@F;FCyRރBR2"I V=TMb@Mb@Mb@ )YNbX9?L7A`尿y%?+̼A j@)Iv@y@IIV8٢n >=9 G٣XGy= > Nusing accuracyPremultiplier from config 59x?5Y* iG™&?:.AXEM;L;[5! %@!DNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbfx/@ɛmFBq= 隕?I ?s<ɚiIUP=Ii Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I"II7BI&I.I6IM<:I? F 1 I1 „^w,6|!A6ڋ\@Y6٪j@696؄>y6H ?Xѝ?@?h??ɨ6ڋ\@6ً;6 CzKNJlJnBApt vG٣tyv= v> ~Nusing accuracyPremultiplier from configx59z;f?5Yzا izH™-AzYEz ;z ;z5 B @SEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf$Y0@ɛe;Bm= 隝?I 9<ɚiIzN=Ii8 Will construct direction to contact in vehicle frame from tetrahedron phase data. % $?I! slew,!A2^@Y29l@292>y2H@G ^?oij ?;?@L{?yb??ɨ2^@28l;2CyZBZ8"IIfIf ٢n< rJ=9r)<tt vG٣tyvv= z> ~Nusing accuracyPremultiplier from configx59zfR?5Yz izH™+Az\Ez? ;z ;z5 @=DNOT Ignoring new targets: 54.20 m. j9j9j9j9iAhAhAhIhIfQfQfQrfQbfU`0@ɛ0B= !%?I! %]ʳ<ɚ!i!I%L=I-i-ym G Y y tBkw,p!AB_@YBm@BeԼ9Bp>yBHP@g?ASV@? ???ɨB_@BԌ;B CyNڃBN-"I)T T=Mb@Mb@Mb@999 9)9Y=MbX?:vQy=*?=T=9 =S@)=@I=`@9y=(@IUIUq]Will construct direction to contact in vehicle frame from tetrahedron phase data.٢m1 mA=9mD:qq uG٣}XGy}^= }> Nusing accuracyPremultiplier from config59=?5Y iH™q+?:(A^E;D;5 @VEjHbHHI I"II2BI&I.I6I<:I FBIJIRIZIbIjII4 $?IDNOT Ignoring new targets: 54.20 m. jjjjihhh h Bf f f9rf9bf=O21@ɛ#B= 隍?I h=<ɚiIJ=Ii rw,x!A>M`@Y>Lo@>S9>Y|>y>Hy?l`@Q?@ ?`7??ɨ>M`@>;>!CyN݃BN1"IIVIV̍٢zs< zR=9~Ec| G٣y Y=  > Nusing accuracyPremultiplier from config59*?%5Y i$H™!%<'%A`E&::I5-B -@5[E]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhYhahahafafifirfibfm 1@ɛB> 隥?I r<ɚiIH=Iim IJKـ3 K .KK"KJ J J J J :J :J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.ܩxw,`V!A6Q1b@Y6PPp@696HCu>y6H-* C?&ʿjWZ ? ?\?@.?ɨ6Q1b@6;6CyLR0"I5Mb@Mb@Mb@111 1)1Y5/$?I +Mby5&1?5955A 5=@)5@I5@1y5=@IMIM٢ ;=9:  G٣ y >=  > Nusing accuracyPremultiplier from config59x?%5Yy i0H™%n1?%:%#%AbE;I;15-B -@1]DNOT Ignoring new targets: 54.20 m. jYjajajaiahihihqh}gBfyfyfyrfbf`,1@ɛ B_= ܳ?I '<ɚiIsF=Ii} E!>*F%?2F!:F!BF%O0JF!"G-8>G-=G孽GBOj>uWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I"II(BI&I.I6IA<:I7 F $?Ih~w,w/!A>2c@Y>Qq@>w*9>Up>y>H_?v@e?^?`??ɨ>2c@>7;>CyR؃BR+"IiV=IV=IZIZ٢j j`=9rdtt vG٣vXGyvB/= z> Nusing accuracyPremultiplier from configx59z? 5YzM iz;H™  " AzdEzD=;zv=;z̹5B $@zKm$JK9KK4&K &BTXZ\`mrga[TMHB>;4.&&Demx-^EUDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhYhYhYhYfafafarfabfeGY2@ɛBrs> 隕G?I ̛<ɚiIQ9E=Ii2c  Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I w,"A6pd@Y6o0r@6O̪96g>y6Hޝ?P- . ^?Yu??:/?ɨ6pd@6;4yBBB4"IIJIJ#٢R= RM=9VW\\ ^G٣\yb = b> fNusing accuracyPremultiplier from configdj59f?j5Yf ifHH™hj@!jAfgEfu:f:f5y @DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf@%2@ɛ]BeS> ae ?Ia eo<ɚaiaImcC=Imiu w,"1"A6d@Y6r@6 896]>y6Hk\?7ox?@p?@?ɨ6d@6Z;6 CyRBR6"I=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHyRHyHI I"II#BI&I.I6I<:I F !I!5Mb@Mb@Mb@111 1)1Y59v?~jtx~jty54?5Ļ5ļ5A 55@)5@I5@1y5@IUIU㔳٢e< e1=9m=ii mG٣qyu < u> Nusing accuracyPremultiplier from configy59}?ۏ?5Y} i}TH™5?:YA}iE}r;};}5 @aEDNOT Ignoring new targets: 54.20 m. jj)j)j1i1h1h1h9h=RBf9f9f9rfAbfE73@ɛB $> 隵?I <ɚiIMA=Ii zK2NK59KK5&K|vkL-"|G-&# !!  Will construct direction to contact in vehicle frame from tetrahedron phase data.q̒w,K"AZ;Le@YZ:ks@Z9;9Z"T>yZH U>(7?dolb?2gv_?P?ɨZ;Le@Z r;Z!CyfBf9"I)h hpr@AIrIr@٢~E3< ~e=9u  G٣ XGy :<  > Nusing accuracyPremultiplier from config59lʏ?5Y i^H™!%%AkE: ; ;5-B -U@-dEUDNOT Ignoring new targets: 54.20 m. jQjYjYjYiYhYhYhahafafafirfibfm`3@ɛB> 隥o?I <ɚiIk?=Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,|e"Ay=B=@"I Mb@Mb@Mb@    ) Y \(\?I +?~jty :? 94<   A b@) @I h@ y @IEIE ٢< .=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 ?5Y } i hH™:?:kA nE ; ; '5%B % @!MDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhQhQhYh]Bfafafarfibfm4@ɛՀB#+> 隝?I =ɚiI >=Ii w,ms"AJTJVJV1JTJTJV&:JV3JTJTJTJV\;JV\;yrBrK"IIzIz̍٢ >N=  o=9 Q  ? G٣y }? Nusing accuracyPremultiplier from config59&?5Y ioH™ApE~::½5 z@iEzKNK9KK6&KDNOT Ignoring new targets: 54.20 m. jjjjihhhh!f!f!f!rf!bf- d4@ɛÙBU> QU?IY ]Ɣ=ɚYiYI][<=Ieie G>G.A;GBO J> Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A I w,O"A6/f@Y6.:t@6K<96=7>y6H@?>`Ҫ.?(:?~{?ɨ6/f@6;6CyRBRU"IiTIV= Vp=V=IZIZT٢b.= bO=9f=Q f>dd jG٣jXGyj= j> rNusing accuracyPremultiplier from configpv59r?v5Yr ir|H™tzzArrEr:r:r`Ľ5| ~@|-DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h1h1h9h9f9fAfArfAbfE4@ɛm€Bm<> quB?Iq u2 =ɚqiI:=I%i%[ 15w,4"ANf@YN:t@Nz<9N+>yNHݘ?@+`\G?`QQT?ൊ?ɨNf@N;N CyVBV_"IjH<bH=H!I! I%"II%-BI!&I!.I!6I%N<:I%@ F]Will construct direction to contact in vehicle frame from tetrahedron phase data. |$?ImMb@Mb@Mb@iii i)iYm/$?Mbp?Mbymq uG٣qy}k8 }> Nusing accuracyPremultiplier from config59z?5Y iH™5@ɛB?> G?I <=ɚ i I 8=Ii zKLK9KK7&K '+;EF712/+*(#!    Will construct direction to contact in vehicle frame from tetrahedron phase data.w,"A2 f@Y2?t@2<92X+>y2H ?Ͼ@^@ ? oa?o?ɨ2 f@2Ќ;2Cy  B k"III[٢-&J= -S=95Q11 =G٣9y=W: => MNusing accuracyPremultiplier from configAM59Ei?U5YE iEH™QUQUAEwEE:E\,;Eǽ5a e@eoEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf5@ɛB")> ?I =ɚiI t7=IiG- E>*F?2F:FBF^0JFG G u{$?Iuh}Will construct direction to contact in vehicle frame from tetrahedron phase data.Gb<GBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,2"A6f@Y6't@6=96`l>y6H?{`+`?u5KZ??ɨ6f@6 ;6 CybBby"I)d dfAfA-Mb@Mb@Mb@))) )))Y-x&1?/$ii mG٣mXGym|X u> }Nusing accuracyPremultiplier from configy59}6S?5Y} i}H™b@?:A}zE}+;};}ɽ5 -@)]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhahahahe1Bfifq)y yfyrfbf 6@c~G mGYiymAɛB"> ?I =ɚiI5=Iiť -w,8#A:e@Y: t@:J*%=9: >y:H>`$? `{?ڣ;D?`g?ɨ:e@: ;8J@JBAAJFJFJDJDJF:JFU:JDJDJF;JF;JFe;JFe;y^"Bb"IIjIj٢ri= rf=9vZtt zG٣xyz' z> Nusing accuracyPremultiplier from config|59~JA? 5Y~ i~H™   A~|E~:~\:~s˽5%B %`@%rEMDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhQhQfYfYfYrfYbfe@Ec6@zK~MK@9KK8&KBK:KqAɛ%B%M7> )-?I) -tt!=ɚ)i)I- 14=IUiU M z$?II  Will construct direction to contact in vehicle frame from tetrahedron phase data.Vw,#A6e@Y6s@6w7=96q>y6H@ێ?P 꼲?@ᦿnm?@?ɨ6e@6Ќ;6Cy^4B^"IIfIf(*٢rx= rK=9r1tt vG٣tyz z> Nusing accuracyPremultiplier from config 59,? 5Y iH™  A~E;::7ͽ5B ;@uEEDNOT Ignoring new targets: 54.20 m. jAjAjAjIiIhIhIhIhQfQfQfQrfQbf]}6@ɛBX%/> 隕t?I 3'=ɚiI2=IiP- ߀w,mq4#A6*e@Y6)s@6֌J=96>y6H}?.Uq?N?h?ɨ6*e@6~;6 CyB;BB"IiF%=IFp; F=Fp=ZH`RHb@AHdId If"IIfKBId&Id.Id ry$?Ivh6If9<:If1 FEMb@Mb@Mb@AAA A)AYECl?S㥛~jtyEd;?E/ݼEEzA E@)E@IE@AyEG@eWill construct direction to contact in vehicle frame from tetrahedron phase data.II٢%< %8=9-.)) 5G٣5XGyU U> eNusing accuracyPremultiplier from configYm59]?m5Y] i]H™;?:~ A]E];];]-Ͻ5B @wEDNOT Ignoring new targets: 54.20 m. jjjjihhhh5Bff!f!rf!bf% @7@ɛB&> 隝)?I ~`.=ɚiI0=Iin hjw,SN#AF+e@YF*s@F@Z=9Fa=yFH! s?r `?@O@Kl?M?ɨF+e@FuG;FCyNFBR"IIZIZ٢bu= bd=9b2dd fG٣dyj j> rNusing accuracyPremultiplier from configlr59n?v5Yn in I™tv vAnEn:n:nн5~B ~@~zEUDNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhahihqhqfqfyfyrfybf}7@ɛyBv]@> 隭 ?I 3=ɚiI#Z/=Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,c+h#A6\ee@Y6[s@6kk=96:=y6H@,`\a?)B?%n2?@K?ɨ6\ee@6͋;6Cy>JB>"IMb@Mb@Mb@ )Yv?~jtZd;Oy8?jA -@)@I@y@II[٢y< 8=9! G٣y Ӯ  > Nusing accuracyPremultiplier from config59?%5Y i(I™%.9?-:-!-AE8;7;ҽ55B =@=}EDNOT Ignoring new targets: 54.20 m. jjjjihhhhJBfffrfbfQ8@ɛ=nBE 40> AE?IA E:=ɚAiIIMˣ-=Iuiuڶ I I"IIeBI&I.I6I <:I FuWill construct direction to contact in vehicle frame from tetrahedron phase data.Gl o<G B O >mzw,~#A6tRe@Y6sqs@6u|=96=y6HH0W?jbh2? }h? %?ɨ6tRe@6@);6!CyB]BB"I)D DININ٢V= Vc=9VA7XX ZG٣Xy^Q ^> bNusing accuracyPremultiplier from config`f59b#ݎ?f5Yb ibCI™hj!jAbEb:b;:b=Խ5p r@pDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfj8@ɛeB;E> ?I ̽@=ɚiIx,=Ii%& w$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ޛ#A67xx zG٣zXGy~W ~> Nusing accuracyPremultiplier from config 59Ȏ? 5YQ ibI™!AE:: ֽ5 %@%EMDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhIhQhQhQfQfYfYrfYbf]8@ɛ [B A>  &@I {G=ɚIiIIMhn*=IUi >I4 I6"II6yBI4&I4.I46I6+<:I6& F=Will construct direction to contact in vehicle frame from tetrahedron phase data.yMtBU"IMMb@Mb@Mb@III I)IYMX9v?T㥛 I +yM3?MM9MzA I)Mv@IM@IyM3@ImIm(*٢}= }3=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y  iI™4?:=$AEY;;ؽ5 @DNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbfD9@ɛ%QB%A> )-Y@I) -DN=ɚ1i1I5.(=I=i= EM>*F?2F:FBF_0JF"G=G=zKK9KK;&K    8|$GN"<Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Uw,#Ab.e@YbMs@b2A=9b=ybH7B? [@C@Ce? ,Dг?֯?ɨb.e@bs;b"CyjvBn"IivYa eG٣iyus > Nusing accuracyPremultiplier from config 59 󞎜?5Y   i I™L$A E `< f< ٽ5B @E =t$?I9EDNOT Ignoring new targets: 54.20 m. jAjAjAjAiIhIhIhQhQfQfQfQrfYbf] 19@ɛGB?H> 隅@I [V=ɚiI&=Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. = <w,z#AJv(e@YJuGs@Jͦ=9J=yJH`n7i=?`h@/G@?TӾ?|?ɨJv(e@JƊ;Hy`b"IMb@Mb@Mb@ )YGz?KS㥛y0?^/ݼA p@)QAI@y@IIn٢ o;  ?=9;Q > G٣XGyfh > %Nusing accuracyPremultiplier from config!-59%?55Y% i%I™5M2?5:5&5A%E% #;%!;%۽5EB E@EEmDNOT Ignoring new targets: 54.20 m. jijijijiiihqhqhqhuBfyfyfyrfybf}:@ɛm=BmnO> qu@Iq u^\=ɚqiqIuYJ%=I}i}S $ w,K$A6.e@Y6Ms@6̝=96&=y6HV4>?0 ڏFLʨ? Ǿ??ɨ6.e@6ڊ;6CyPPIZIZ ٢bU bb=9b;Q f>dd fG٣dyj: j> vNusing accuracyPremultiplier from configlz59nlx?z5Yn inI™xz&zAnEn{;n9;nݽ5 @-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h1h9h9f9f9fArfAbfEl:@ɛ 5B rY> ; @I  @c=ɚiI5#=I=i=d  s$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. w,t%$A::"e@Y:9As@:tV=9:=y:H`65?Q Ku?`De`?>?ɨ::"e@:;: Cy^zBb"I)d dhjAInInq٢vw< vG=9zl;Q z>x| ~G٣y; >  Nusing accuracyPremultiplier from config 59 c?5Y  i J™&A E ; ; ޽5! %@-EUDNOT Ignoring new targets: 54.20 m. jQjQjQjYiYhYhYhahafafafirfibfmD:@ɛ,BV> 隝 @I jj=ɚiI"=Ii Will construct direction to contact in vehicle frame from tetrahedron phase data.NG|uA Y|uAyA  I ZHY RH] AAHa Ia  Ie #IIe BIa &Ia .Ia 6Ie h<:Ie R FBI!JI!RI!ZI!bI!jI%n486 w,j7$A Will construct direction to contact in vehicle frame from tetrahedron phase data.yvB-"IMb@Mb@Mb@ )YZd;O?~jtS㥛y~*?Ľ7A x@)AI@y\@IIF٢%hq -5=9-Q ->11 5G٣5XGy5 5> Nusing accuracyPremultiplier from config959=M?5Y= i==J™e,?:'A=E=m<=;=5B @EDNOT Ignoring new targets: 54.20 m. jjjjihhhh҃Bfffrfbf`TK;@ɛ-!B-cL> )- @I) 5Or=ɚ1i1I54 =I=i= Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK K K =&K      w,l&Q$A:,e@Y:Ks@:H=9:=y:H1 6?@@Jk?B #?`?ɨ:,e@: ;8yFbBF"IININ(٢V Vg=9Zdh jG٣lyn : r> vNusing accuracyPremultiplier from configp~59ry }r$?Iy 隅- @I x=ɚiI=Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.I? w,j$ARs@e@YRr_s@R=9R0y=yRH`*@z=?u¿ēE"? l|?ࠥ?ɨRs@e@R;Py^^B^"Iif G٣y3; > Nusing accuracyPremultiplier from config%59&?%5Yt# iJ™-+?-:-)-AE;;V55B 5D@=EDNOT Ignoring new targets: 54.20 m. jjjjihhhhσBfffrfbf<@ɛB#V>   @I  -5=ɚ1i1I5q=I=i=v &! w,ф$AJJBAFFAe@YFE`s@F=9F`=yFH)hh jG٣jXGynk9 n> vNusing accuracyPremultiplier from configpv59r?z5Yr& irJ™xz)zArEr":r:r5| 7@-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h1h1h1h9f9fAfArfAbfE r<@ɛuBu=e> qu@Iq }ZK=ɚyiyI}B=Ii &K !BK:KpAEX;*F92F9:F9BF=R0JFAG(< aIiGBO >M Will construct direction to contact in vehicle frame from tetrahedron phase data.[Q' w,l$A6Ne@Y6ms@6X!=96=y6H$ ??r¿@ .C? |`C?Ƣ?ɨ6Ne@6ي;6 CyBHBB"IIfIf(*٢n nI=9r3};Q r>pp vG٣tyv0; v> zNusing accuracyPremultiplier from configx~59z ?5Yz) izJ™(AzEz ;z. ;z5 @EEDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbf]<@ɛB\> 隍E @I ܆=ɚiIV=IiC. I C I "II oBI ! =&I .I 6I /<:I + FG B O5 >m- w,P$A6Se@Y6rs@6SU=96h=y6H3"@?¿S`B?@⶿]B?`?ɨ6Se@6+;6!CyB3BB"I)H HWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YʡE?zGếly/? ׽3A @)AI@y@II)٢@Ľ ;=9k;Q > G٣yuB: > Nusing accuracyPremultiplier from config 59 3덜?5Y - i K™%1?%:%(%A E %L; : ; 5-B -@5E]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhahahaheBfififirfibfu J=@ɛB~V> 隥@I +=ɚiIImV=IuiuvG #S4 w,#$A2fe@Y2s@2`=92Ѐ=y2H@F?o¿ 1>o?`Uw:?u?ɨ2fe@2Ԋ;0y: B:"IININ̍٢^Tѽ ^a=9b;Q b>`` bG٣fXGyf'H; f> jNusing accuracyPremultiplier from confighr59j؍?r5Yj 1 ij>K™pr'vAjEj0;j0;j15x z@zEDNOT Ignoring new targets: 54.20 m. jjjjih!h!h!h!f)f)f)rf)bf-`F=@ o$?IɛBQd> l@I ύ=ɚ!i!I%#E=I-i-b  Will construct direction to contact in vehicle frame from tetrahedron phase data.: w,$Ayu Bug"I%Mb@Mb@Mb@!!! !)!Y%(\?Zd;Okty%z4?%j% 0%A %@)%AI%@!y%(@IeIeF٢uqŽ u1=9}Q }>yy G٣y > Nusing accuracyPremultiplier from config59?5Yq5 iuK™W6?:v&AE;<;65 {@EDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbf@>@ɛB%S> !%@I! -m=ɚ)i)I-c=I5i5g eA w,%AJJJJJ:J:JJJ;J;JZ;JZ;FAe@YFAs@Fő=9F3C=yFHwS? ÿ`_6?H 8Ѿ?`6?ɨFAe@Fv;FCy B V"Ii%=I=II[٢-} -b=9=(AA EG٣AyM; M> UNusing accuracyPremultiplier from configI]59M&?]5YM8 iMK™YeV&eAMEM;M;M5mB mF@mEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf6z>@ɛ-B-c> 1=#@I9 E*ܔ=ɚAiAIEK=IMiMZ E Will construct direction to contact in vehicle frame from tetrahedron phase data.7G w,%A6We@Y6Vs@64w=96"=y6H@9`?"ÿQ@5.~?ĸ I{??ɨ6We@6MT;6 CyN܃BR/"IIZIZ<٢b" bR=9bB;Q b>dd fG٣f XGyj; j> rNusing accuracyPremultiplier from configlr59n}?v5Yn< inK™tv8&vAnEn2;n3;n}5x ~@@|DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM`>@ɛBmY> 隽K@I tP=ɚiIvd=Ii? m$?I ZH RH @AH ?>I  I s"II BI &I .I 6I [<:I K FM w,q9%ABe@YBs@Br^=9B=yBH^?Uÿε/`?EA@?\?ɨBe@BK;BCyNÃBN"IWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%NbX9?X9vZd;Oy%%?%}%j% A %@)%G@I%@!y%(@I9I9٢M ޽ M4=9M;Q M>QY ]G٣Yy]M e> mNusing accuracyPremultiplier from configam59e͆?u5Ye@ ieK™u~&?u:u3$}AeEe;e%;ez5B @EDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbfdR?@ɛBxY> w?I y=ɚ i I =Iik!rT w,lS%A6;e@Y6:s@6gn=960=y6H@i^?ÿ@M/` ?¹(??ɨ6;e@6d;4yBBB!I)D DHJAININT٢V Vi=9VA;Q V>XX ZG٣Xy^t: ^> bNusing accuracyPremultiplier from config`f59bv?f5YbD ib L™df.$jAbEb:be:b5l r8@pMDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhQ ek$?IahQhihifififirfqbfu?@ɛB/c> 隥?I ɕ=ɚiIBj=IiV Will construct direction to contact in vehicle frame from tetrahedron phase data.Z w,?Um%A)T XUGmtA YtAy]AMe@YMs@M=9M=yMHX?`Ŀ`22?@ʺظ?`z?ɨMe@M6g;MCyeBe!IMb@Mb@Mb@ )Y~jt?/$)\(yD?,GavA $@)AI@y@IIV٢%E̽ %(=9%)) -G٣-!XGy5 5> ENusing accuracyPremultiplier from config9M59=]?M5Y=I i=fL™MgE?M:MM!UA=E=;=;=!5Y ]]A]EDNOT Ignoring new targets: 54.20 m. jjjjihhhheBfffrfbf *@@ɛpBWO> ?I Z=ɚiI = IIIIiIQ IU""IIUуBIQ&IQ.IQ6IU/<:IU. FBI JI RI ZI =bI jI ųZ5*F12F1:F9BF=n0JF95Will construct direction to contact in vehicle frame from tetrahedron phase data.G Ӕ<G B O >a w,:%AJJAAJJJ1JJ:JJ3JJ;J;JJ^He@Y^Gs@^ =9^'=y^H@eY?@,Ŀଳ@2Vk?Sҕ?-?ɨ^He@^;\yjqBj!IIvIvF٢~L ~v=9;Q ? G٣ y a:  ? Nusing accuracyPremultiplier from config%59^L?%5YM iL™)5J!5AE;;5B gAEEDNOT Ignoring new targets: 54.20 m. jAjAjAjIiIhIhIhIhQWill construct direction to contact in vehicle frame from tetrahedron phase data.fQffrfbf C@@ɛ`B]> A?I! %`==ɚ)i)IM =IUiUzK-0(LK)K)K-B&K-:L.VE !<&0w3w3`46651*J# ,BK9:K=qA*F?2F:FBF 2JF  =j$?IAG5 y<G B O- >M Will construct direction to contact in vehicle frame from tetrahedron phase data.bg w, %A @@Je@YJs@J=9J&=yJHzqO?'gĿ@`9?λ??ɨJe@J ;J#CyVeBV!II^I^٢ft fM=9f;Q f>hl nG٣lynD r> vNusing accuracyPremultiplier from configpv59r7?~5Yr6R irL™]!ArErp;r q;rS5  A E=DNOT Ignoring new targets: 54.20 m. j9j9j9j9iAhAhAhAhAfIfIfIrfIbfUq@@ɛRBja> 隍?I y=ɚi I ; =Ii  - i$?I) jH9 bH= 4<HE F>IE C IE !IIE BIE  =&IA .IE 8D6IE 7<:IE 8 F n w,%AVe@YVs@V =9V]=yVH*MP?pĿ ?@-:!? UFࠈ?@ ?ɨVe@V<;VCybKBb~!IzWill construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmFx?{Gz?ymK?m#=9;Q > G٣"XGy9 > Nusing accuracyPremultiplier from config59!?5YW i M™1L?:AE;;55mB mAmEDNOT Ignoring new targets: 54.20 m. jjjjihhhhKBfffrfbf @@ɛ@BP> %?I! ejh=ɚiiiIm=ImiuN:< > dOYRKE ?JKE ?BQ Om >t w,%ABF~e@YBEs@B=9B=yBHp"B?κĿ^`=D>?@??ɨBF~e@B;BCyN4BN`!IIVIV(1 `Ibh٢b bY=9f;Q f>dd jG٣hy%Ӣ -> 5Nusing accuracyPremultiplier from config1=595 ?=5Y5\ =tIi5CM™9E5EA5E5;5m ;55I UHA]EDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf@@ɛ 1B_> ?I % =ɚ!i)I-=I5i5^JM JM JM 0JI JM ̝:JM 9JM ـ3JI a] @ae @ae @ae @ Will construct direction to contact in vehicle frame from tetrahedron phase data. '{ w,%AyBD!I) }Mb@Mb@Mb@yyy y)yY}i|?5?+?~jty}Q?}=}Dy }-@)}3 AI}C@yy}AIIԲ٢/ƽ .=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-?55Y-c i-M™=BR?=:==A-E-;-;-5A EAIuDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhyhyhyh}'BfffrfbfA@ h$?IɛBv0N> R?I >=ɚiI6=IiFI I!IIMBI =&I.I6Iܯ<:I F*Fm?2Fi:FiBFmP0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.iAG -Y<Ga Bq O > w,Ug&AJJ:?e@Y:^s@:o`=9:=y:H``)?"Ŀ sX?{[I??ɨ:?e@:*;: CyF BF0!IIRIR0٢Z Zs=9Z  Y]?Ia eγ=ɚaiaIe=Imimc <)i)q}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFzKmPKmh9KiKmD&KmbE?>:7,#*"   BKq:KupA g$?IhG5[<GBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.+ w,D"&A6'1e@Y6&Ps@6=96O=y6H#"?Ŀ } ^B?@`B??ɨ6'1e@6~O;6Cy>B> !IIZIZ#٢bօ bI=9f"E;Q f>dd fG٣dyj j> rNusing accuracyPremultiplier from configlv59nЌ?v5Ynm inM™tzKzAnĨEn1;n(;n$5| ~A|-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h1h1h1h1f9f9f9rf9bfE-tA@ɛmBufW> qux?Iq u=ɚyiyI}=IiI I ZH RH H P>I C I A!II BI  =&I .I 9D6I ]<:I ] FU w,<&A6 e@Y6*s@6|e=96Q.=y6H@%?@ſ n@iB?@3]?e?ɨ6 e@6Z;6 CyNBR!IrWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y-? rh?I +y?U?C=94 @)I AIZ@yAIIM٢J; ;=98;Q > G٣y > Nusing accuracyPremultiplier from config59Q?5YQt i&N™@V?%}:%P%AǨE5;;5) -6A-E]DNOT Ignoring new targets: 54.20 m. jYjYjajaiahahahihmBfififirfqbf A@ɛ~BQ> %?I! %=ɚ!i!I%8|=I-i-zK :nMK s9K K E&K {= w,U&A f$?Ib,d@Yb,s@b&=9bA=ybH,p?rDſ`d`qY? |R`jg? ?ɨb,d@b;bCynBr!IIzIz٢n| W=9g;Q  >    G٣ $XGyҁ > %Nusing accuracyPremultiplier from config!-59%5?-5Y%y i%ZN™)-h-A%ɨE%:%:%5=B AE%DNOT Ignoring new targets: 54.20 m. j!j)j)j)i)h)h)h1h1f1f9f9rf9bf=`A@ɛe~Be]> im?Ii m=ɚiiiImC=I}i} G٣yQ > Nusing accuracyPremultiplier from config59K?5Yb iN™T?:ĄE;^;5B AE e$?IDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbfB@ɛ5~B5DS> 15~?I1 = =ɚ9i9I=P<HmT>ImC Im!IImBIm =&Ii.Ii6Im<:Im FIi9^-_ w,&ABd@YBr@B=9B#=yBH-??@p{ſ`1G '?﾿kX?Ɖ?ɨBd@B;BCyRBR!I)T TIZIZV8٢b< fn=9jv;Q j?ll nG٣lyr û r? vNusing accuracyPremultiplier from configtz59vX|?z5YvH ivN™xz~AvΨEvn?;v3A;v9 5  {A 5DNOT Ignoring new targets: 54.20 m. j1j1j1j1i9hAhAhAhAfIfQfQrfYbf]DB@ɛ~Bo> 隍?I S=ɚiİ Will construct direction to contact in vehicle frame from tetrahedron phase data.6 w,pͣ&Ay=B=!IIUIU%x٢]; eA=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configq59uaf?5YuH iuN™AuѨEu;ub;u 5 mAEDNOT Ignoring new targets: 54.20 m. jjjjihhhhf f f rf bf  zB@ɛ=~B=Dc^> AE,?IA Eq=ɚAiAIEjHa bHe <Hm ^>Im C Im !IIm BIm  =&Ii .Im ;D6Im h<:Im q FBIUʢCJIUʢCRIUʔCZIU =bIU =jIUi6b w,&A^Will construct direction to contact in vehicle frame from tetrahedron phase data.yllMb@Mb@Mb@ )Y"~? G٣%XGy > Nusing accuracyPremultiplier from config59 P? 5Y& i.O™  隕?I ~=ɚiIzK OK 9K K G&K h]A  c$?I 7 w,&AVOd@YVnr@V]W=9VD=yVH zXQ?Xſť3?տ`@??ɨVOd@V;V!CyjBj!Iin!! %G٣!y%x -> 5Nusing accuracyPremultiplier from config)=59-;?=5Y-[ i-\O™9=EA-֨E-y;-;-5MB M7AMƴEuDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhyhyhyhfffrfbfB@ɛ~B]hl> 隵K?I XM=ɚiI] Will construct direction to contact in vehicle frame from tetrahedron phase data.ɻ w,;r&A&d@YEr@< >96=yHc h?ſ@r?@`V?`؄?ɨ&d@;騥CyB!I ]a$?IYMb@Mb@Mb@ )YK7?Mb`? rhyIL?;CA 3@)AAIyAIIb٢ < 1=9\@;Q > G٣yM > Nusing accuracyPremultiplier from config59#?5Y& iO™UL?:A٨E;;5 "AȴE-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h1h1h5Bf1f9f9rf9bf=@C@ɛm~Bm@b> qu?Iq u=ɚqiqIu)I C I I I  =&I FD.I J J @AJ J J 0J J :J 9J ـ3J J !;a% J ";a% J ' ;a- J ' ;a-  w,= 'A6d@Y66r@6E>965$=y6Hf?jƿ` η`?yF 2?`׃?ɨ6d@6;6!Cy>B>!!IIFIF@٢N= Nu=9Rw;Q R?PT ZG٣Z&XGyZ6 Z? bNusing accuracyPremultiplier from config\f59^?f5Y^U i^O™dffA^ۨE^P:^:^5h nAleDNOT Ignoring new targets: 54.20 m. jajajajaiahahihihififqfqrfqbfu`FC@5Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}~~B} it> 隅k?I =ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.[ w,3%'A6d@Y6#r@6:>96=y6H k@?7Bƿֽv?j~??ɨ6d@6;6 CyRBR'!IIZIZ٢bf< bH=9b2;Q b>dd fG٣dyf; j> nNusing accuracyPremultiplier from confighr59jN?r5Yjn ijO™prrAjިEj ;j ;j5zB zAz˴E%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i)h)h)h)h)f1f1f1rf1bf= yC@ɛ p~B #|t> =;?IA E=ɚAiAIM\I  I !II BI  =&I .I 6I <:I 1 F w,J>'ARWill construct direction to contact in vehicle frame from tetrahedron phase data.y~ B~/!IMb@Mb@Mb@ )Yp= ף?S㥫 rhyE?/]+A v@)AI@yQAII#٢5< 55=9=Q =>99 EG٣AyE E> MNusing accuracyPremultiplier from configIU59M㋜?]5YM\ iM&P™]E?]:]Q$]AMEM-;M;M5eB eZAmδEDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbfC@ɛb~B@q> ?I V=ɚiI - _$?I) zK] LK] h9KY K] I&K] M w,>X'A2 d@Y2)r@2JQ>92 =y2H@g?خƿ`7?ؽ ?|?ɨ2 d@2K/;2Cy: B:-!IIbIbT٢j jd=9r;Q r>tx zG٣z'XGy f:  > -Nusing accuracyPremultiplier from config!559%8Ћ?55Y%Y i%TP™AEJ$EA%E%I;%kn;%`5I MgAIDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfC@ɛV~BD}> ?I ^=ɚiIAE!>*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.i w,{r'A ^$?I d@Y ;r@x>9"=yHGa@?ƿ@ SC?҇?5y?ɨ d@) ; CyB5!I =}Mb@Mb@Mb@yyy y)yY}^I +?|?5^~jty}X9?}ҽ}}A }QA)}AI}I@yy}= AIIb٢< ,=9q>;Q >  G٣ y *;  > Nusing accuracyPremultiplier from config59E?5Y iP™%E;?%:%(%AE(;;m5) 54A5ԴE]DNOT Ignoring new targets: 54.20 m. jajajajaiahihihihm>BfqfqfqrfqbfuhD@Hj>IC I"!IIBI&I.I6I <:I9 FɛF~B'q> Y?I =ɚiIJcKk3 Kk.-KcKc"KcJ J J J J y:J 9J J J ;J ;J g;J h; w,'A>q8d@Y>qWr@>>9>>y>H W@i?`/ǿհ$g?@9@s޿?v?ɨ>q8d@>!ܐ;>CyJ BN/!IIVIVn٢^ ^x=9bY;Q b?`d fG٣dyf; f? nNusing accuracyPremultiplier from confighr59jѥ?r5Yj ijP™pr(rAjEj;j;j5zB zVAzִE%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h)h)h)h)f1f1f1rf1bf5zHD@ɛ;~B %> ?I =ɚiIG Will construct direction to contact in vehicle frame from tetrahedron phase data.% w,]'A6Ld@Y6kr@6a >96>y6H`P?uǿ璕?>!?ds?ɨ6Ld@6;6 CyF BF1!IININV٢V< VK=9Zs;Q Z>XX ^G٣^(XGy^H; ^> fNusing accuracyPremultiplier from config`f59b|?j5Ybb ibP™hj(jAbEb~:bi:b5l rHApDNOT Ignoring new targets: 54.20 m. jjjjihhhhf!f!f!rf!bf%{D@ɛU/~BUu> QU?IY ]g=ɚYiYI]yM I  I I I =&I .I =D6I <:I 6 FG5 i"G9 G9 G  Will construct direction to contact in vehicle frame from tetrahedron phase data.B) OE > w,^-'AyB!I-only read 0 of 1 data item for BIT error. Device response is::TS,25010815572012,35.0, +10.9, 0.0,149  @ @ @  @ II ٢ ֗ *=9Q >! %G٣!y- -> MbBottom track data is 0.5 s old, using for 20.0 s. MNusing accuracyPremultiplier from configA]59Ev?e5YE׽ iE1Q‘e+:aek:imAEEE;E>ET5uB uA}ٴEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf@'D@ɛ~Bd`q> 隍?I =ɚiIW w,'A2Nd@Y2Nr@2 >92D>y2H55`M?ǿ`Z7J-?``Nt?`m?ɨ2Nd@2਑;0yJBJ!IZWill construct direction to contact in vehicle frame from tetrahedron phase data.XiZAI^I^٢fL f<=9j;Q j>hl nG٣lynA< n> mbBottom track data is 0.9 s old, using for 20.0 s. mNusing accuracyPremultiplier from configa}59e1_?5Ye ienQ‘ :>:D(AeEef;ep?e5  AܴEDNOT Ignoring new targets: 54.20 m. jjjjihhhhff f rf bf  SD@ɛE~BE|> IM?II M7=ɚIiIIM;)Y)YEaEa*Ea"Ea) }NG|uA*F?2F:FBF]0JF Y|uAyA]Will construct direction to contact in vehicle frame from tetrahedron phase data.P@NA [$?I G ˴H t>I C I !II BI =&I .I >D6I U<:I x FBIM̧CJIM̧CRIIZIM =bIM =jIM+6G B O >> w,˿'A292&>y2H$?@+ȿ`oI@چE? ?@j?ɨ2ڂB> I } } }     Mb@Mb@Mb@ )YV-?#~jĿ{Gzy-?%#A  A)AIQAy AII(*٢ٽ 5=9*v;Q > G٣)XGy; > Nusing accuracyPremultiplier from config59kH?5Y6 iQ‘T:2?:-AE#9;` ;!5B AߴE5DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9h9hAhEyBfIfIfIrfIbfM+E@%Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ-~B-|> )-3?I) 5=ɚ1i1I5 Will construct direction to contact in vehicle frame from tetrahedron phase data. < < w,x(A6e@Y6s@6>96j>y6H *?:zȿZyyϓ?¿ ?Ag?ɨ6e@6ʐ;6 C PIPyVƂBV II^I^٢f\ؽ f[=9j;Q j>hh nG٣lynz; r> zNusing accuracyPremultiplier from configtz59v4?~5Yv ivQ™-AvEve";v";v'#5  nA 5DNOT Ignoring new targets: 54.20 m. j1j1j1j9i9h9h9hAhAfAfAfArfIbfM ZE@zKJK59KKL&K       !$',01012697745300-ɛ5}B5> 9=?I9 ==ɚ9i9I=)JE ~JE {JE 1JA JE {m:JE -9JE 3JA aM @aM @aM @aM @^H w,R/(AN 6e@YN Us@N8>9N >yNHp?ȿ%nkk?nK¿t?b?ɨN 6e@Ni;LyVBZ IIfIf٢nT nI=9r;Q r>pp vG٣tyv< v> zNusing accuracyPremultiplier from configx~59z?5Yz iz0R™-AzEz;z>;z$5 B AE5DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hAhIhIfQfQfQrfQbfU`E@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}B&> QUV?IQ ]l=ɚYiYI]n0IC I II΂BI =&I.I6IR<:IGu*;GI U Will construct direction to contact in vehicle frame from tetrahedron phase data.BY O} >:0 w,-I(A6Nre@Y6Ns@6h>96 >y6Hk ?@(ɿ@@tZr?}¿#?^?ɨ6Nre@6;6CyBBB ImMb@Mb@Mb@iii i)iYm&1?K7&1ym0?mI mPmA mA)m9AImhAiymAII٢ ?=9;Q > G٣*XGy < > Nusing accuracyPremultiplier from config59 ?5Y izR™4?:*AE?';%;&5 AEDNOT Ignoring new targets: 54.20 m. jjjjihhh h tBf f f rfbfoE@ɛM}BM{> IM?IQ U=ɚQiQIU!gEi*Fi2Fi:FiBFmO0JFi"Gu=Gu=Will construct direction to contact in vehicle frame from tetrahedron phase data. IGU)<zKۮMK9KKM&K+-+-.,.,.,)+))'!  G) B1 OU >] Will construct direction to contact in vehicle frame from tetrahedron phase data.^ w,.c(ABFe@YBFs@Bm>9BB >yBH -?@}ɿ`̕LY? ¿zI?Z?ɨBFe@Br;B CyNkBNj I)P PTTIZIZ<٢bm bX=9bh;Q f>dd nG٣lyv< ~> Nusing accuracyPremultiplier from config 59 ? 5Y iR™t*AE;y;v(5 > A%EDNOT Ignoring new targets: 54.20 m. jjjj i h hhhfffrfbfzE@ɛ}B,z> 隕T?I U=ɚiIH {>I  I II BI  =&I .I 6I <:I 1 F w,|(Ab e@Yb t@b>9bZ >ybH]4??ʿL@8F(?$gÿh?NT?ɨb e@b;bCyjLBjD ImMb@Mb@Mb@iii i)iYmn?L7A`Zd;ym6?m+mymA mA)mAImzAiymAIIT٢: >=9c# G٣y3< > Nusing accuracyPremultiplier from config559 ?=5Y| i S™=9?=:=G)=AE<z<Q*5EB M/ AMEDNOT Ignoring new targets: 54.20 m. jjjjihhhhGBfffrfbfj/F@ɛ}BsQv> $?I =ɚiI` Will construct direction to contact in vehicle frame from tetrahedron phase data.m% w,a–(A 0I2hJf@YJ/t@JO>9J>yJH{@t>?Eʿ 0ˊ? ÿ}?P?ɨJf@J *;JCyV,BV II^ I^(2٢4' T=9;Q  >    G٣ +XGy; > Nusing accuracyPremultiplier from config%59 ̊?%5Y iWS™)-()-AE;:;:,51 5+ A5EeDNOT Ignoring new targets: 54.20 m. jijijijiiihihihqhqfqfyfyrfybf}`'^F@ɛ}B[H}> 隭\?I S>ɚiIh.%Will construct direction to contact in vehicle frame from tetrahedron phase data.J% zJ% tJ% 1J! J% `:J% 9J% 3J! + w,[(A>Yf@Y>X/t@>>9> >y>H@ֳ@=?`nʿI"2k?SÿPt? N?ɨ>Yf@>9;>CyFBFIiHIJp<IRIR٢^CO ^O=9^*;Q ^>`` bG٣`ybi f> jNusing accuracyPremultiplier from configdn59f?n5Yfa ifS™ln*)rAfEf ;f;f-5t vs AtuWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfTF@ɛ}Bv4q> ?I  >ɚiIImC Im. IIm;BIm =&Ii.Im?D6ImA<:Ims FGM<G! - Will construct direction to contact in vehicle frame from tetrahedron phase data.B1 OU >ɀ2 w,(A2f@Y2#t@2!>92 >y2H 87?@ʿ97'?$Ŀbk?L?ɨ2f@2c^;2CyN܁BNI-Mb@Mb@Mb@))) )))Y-$C?Q뱿V-y-:?-\-h-=A -7A)-|!AI-~A)y-AIEIEb1٢U7 UA=9]ْ;Q ]>YY eG٣aye޺ e> mNusing accuracyPremultiplier from configi*J4="Jp=59m?5Ym imS™;?:`#AmEm 15\?I1 =E>ɚ9i9I= 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.X8 w,\(Ay5B=II]I]F2٢}| }H=9Q > G٣,XGy > Nusing accuracyPremultiplier from configE59󍊜?M5Y iIT™IIMAEr<<d15]B ]A]EDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfF@ɛ}B !%?I! -|>ɚ)i)I-IQ  IU IIU ߁BIU  =&IQ .IQ 6IU <:IU ] FB O >Q> w,.(A6e@Y6t@69%>96 >y6H@Y92?ʿK=}?9Ŀ,?J?ɨ6e@6;6"CyrBv`I)x x}Mb@Mb@Mb@yyy y)yY}"~j?X9vx&y}SC?}}7} A }A)}#AI}OAyy} AII(1٢H H=9d G٣y > Nusing accuracyPremultiplier from config59y?5Y iT™=D?:AE;w;&35B ADNOT Ignoring new targets: 54.20 m. j j j j i h h hhۃBfffrfbf/G@ɛE}BEl> IM?II MՐ>ɚIWill construct direction to contact in vehicle frame from tetrahedron phase data.iIII Will construct direction to contact in vehicle frame from tetrahedron phase data. Y IY E w,B!)A6Le@Y6Kt@6&>96r >y6Hu`a3?@2ʿ`+>qv? Ŀ@A? I?ɨ6Le@6 ;6Cy>qBB6IIJIJ٢V7 V[=9Vh};Q V>\\ ^G٣\y^[9 ^> fNusing accuracyPremultiplier from config`j59bg?j5Yb+ ibT™hjjAb EbP ;b ;b45nB r ArE DNOT Ignoring new targets: 54.20 m. j j jjihhhhfffrfbflaG@ɛ-}B5*`g> 15j?I1 5j>ɚ1i9I=P c~G tAJ sJ mJ J J K:J &9J J  Y tAy ]AK w,1)A>)e@Y>(t@>ѓ(>9>P >y>H` 1*?DʿMtEWr?$Ŀ@?G?ɨ>)e@>O;>CyNKBNIIVIVb1٢^8 ^J=9^7;Q b>`` bG٣b-XGyf`G f> jNusing accuracyPremultiplier from confighn59jR?n5Yj ij3U™prrAj Ej ;jK ;j65vB v:AvE%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h)h)h)f)f1f1rf1bf5`;G@]Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛm}}Bmd> imM?Ii ul>ɚqiqIu5,I C I @II zBI  =&I .I 6I )<:I i FBIĪCJIĪCRIZI =bI =jI=6Gm˙<Gu ?Gu> Will construct direction to contact in vehicle frame from tetrahedron phase data.GI BQ O >R w,^K)A:@e@Y:@s@:2*>9:0 >y:H@7$?˿& EJkl?'ſ?:F?ɨ:@e@:;8yF/BFIMb@Mb@Mb@ )Yx&?Q? rhy7I?u<CA 5A)%AIAyAI-I- ٢E EB=9EDX;Q E>II MG٣IyU& U> ]Nusing accuracyPremultiplier from configYe59]!>?e5Y]_ i]U™eJ?m:m'mA]E] ;]f;]d85}B AEDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbf`PG@ɛmr}Bm]> m'ɚyiyI}G Will construct direction to contact in vehicle frame from tetrahedron phase data. i AX w,e)A6e@Y6s@6 +>96 >y6H`?rB˿`ҋ$VLh?sZſ? D?ɨ6e@6P;6 CyNBNII I<2٢&F M=9;Q >! %G٣!y5 5> MNusing accuracyPremultiplier from configIU59MU*?U5YM iMU™QUK]AMEM7;MQ;M%:5mB mKAmEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfG@ɛh}Bȳ^> ?I  >ɚiIzH >I C I II BI  =&I .I @D6I <:I e F _ w,s)Ay~B~IMb@Mb@Mb@ )YV-?Zd;?y&1yhQ?y=`e|!A  A)b&AIAyAIIb1٢ ?=9Q > G٣.XGy > Nusing accuracyPremultiplier from config59k?5Y i'V™zR?:AE$;U";;5 A-DNOT Ignoring new targets: 54.20 m. j)j)j)j1i1h1hAhIhMBfIfIfQrfQbfU3H@ɛ}^}B-Y> 隅W?I  >ɚiI: Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս =Ս = Q$?I f w,N)ABne@YBms@BwY.>9B>yBH`?xo˿}w@eR?Dſ@~?`A?ɨBne@B;BCyRӀBRsIIZIZ٢bT4 f]=9f;Q f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv59r!?v5Yr  irmV™tv vArEr:r:r=5| ~A~E5DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h9h9hAhAfAfAfArfIbfMgbH@ɛuU}Bu[> qu?Iy }z >ɚyiyI}& fl w,)AB]e@YB|s@B/>9B>yBH@o?(˿#g`RrF? mſ?@{??ɨB]e@B_ ;BCyRȀBRfII^I^F2٢bS fD=9f#t;Q f>dhnWill construct direction to contact in vehicle frame from tetrahedron phase data. jG٣lyr r> vNusing accuracyPremultiplier from configtz59vp?z5Yv  ivV™x~3~AvEv ;v ;vq?5B AAE=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9h9hAhAfAfAfIrfIbfM`֗H@ɛuK}BuEW> y}?Iy }qd >ɚyiyIIEC IErIIEҀBIE =&IA.IEAD6IE;<:IE FGeRe<GQBYO}X>Will construct direction to contact in vehicle frame from tetrahedron phase data.IJs w,)A2Fe@Y2es@21>92>y2H@?˿F] y=D Oƿ]?W??ɨ2Fe@2ד;0y>BBFIJErJEhJE1JAJEG:JEȆ9JE3JAJE_;JE_;JEӬ:JEլ:]Mb@Mb@Mb@YYY Y)YY]`"?V-?Zd;Oy]W?]h=]j<]#A ]x A)](AI]AYy]AImIm2٢ ?=9 ;Q > G٣/XGy\X > Nusing accuracyPremultiplier from config59؉?5Yg i W™X?z:AE;o;NA5 AEDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbfLH@ɛ-A}B-T> 15|?I1 5TJ >ɚ9i9I= %z w,"5)A^a"e@Y^`As@^Ea2>9^h>y^HD?@ ˿@N isH@U/ƿ?7=?ɨ^a"e@^~;^CyfBj8Iin=In<IrIr٢~] ~@=9L;Q  > G٣y% -> MNusing accuracyPremultiplier from configA]59E‰?]5YE iE\W™ammAEEEL;E;E1C5B hA  E=DNOT Ignoring new targets: 54.20 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfUI@ɛ}7}B}bR> y}Ӂ?Iy }^;>ɚiI82I  I 'II BI =&I ED.I 6I <:I  FG 9)<G B O >M w,Ww*A6e@Y6&s@:Will construct direction to contact in vehicle frame from tetrahedron phase data.6+3>96>y6H [2?`Ⱦ˿ C[`;Hƿ? 9=?ɨ6e@6צ;6 CyRBR-I Mb@Mb@Mb@    ) Y `"?A`"?ˡEy  Y= ' $A  A) -AI  A y fAI%I%(*٢5 5/=9=):Q =>99 EG٣AyE UNusing accuracyPremultiplier from configIU59MԪ?]5YM" iMW™]}X?]{:]{]AM"EM#;M;M4E5i mAu EDNOT Ignoring new targets: 54.20 m. jjjjihhhh̃Bfffrfbf@I@ɛ ,}B >Q> ܀?I 7>ɚiIFjo w,/*A>d@Y>r@>l#4>9>>y>H^5?@,˿.PXfƿ@? ;?ɨ>d@>;>CyJBJIIR IR(2٢Zn Zh=9Z/;Q ^>\\ bG٣b0XGyb} b> fNusing accuracyPremultiplier from configdn59fu?n5Yf' ifW™prrAf%EfE;f.F;fF5t vAtDNOT Ignoring new targets: 54.20 m. jjjjihh!h!h!f!f)f)rf)bf-`mI@ɛe%}Beq_> im=|?Ii mN>ɚiiiImrgE Will construct direction to contact in vehicle frame from tetrahedron phase data.  I w,$ 9*A62d@Y61r@6'4>96;>y6H`?@˿! 9Puƿ? :?ɨ62d@6*Ǒ;6CyVBVI)X XIbIb0٢jc< jH=9j :Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59v,?z5Yvt- iv>X™xz~Av'Ev:v:vH5B fAE-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i1h1h9hAhAfAfAfArfIbfMI@ɛu}BuU> quy?Iq }>ɚyiIIC IIImBI =&I.I6Iٯ<:I@ F*Fu?2Fy:FyBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G{/;GBO>JCKK3 KKA.KCKC"KCJ mJ hJ 0J J \8:J Ȇ9J ـ3J J D;J D;J Ԭ:J լ:ւ w,R*A6d@Y6r@625>96&>y6H?@˿`СK%ƿ`?@9?ɨ6d@6;6 CyBBBIMb@Mb@Mb@ )Ygfffff? G٣y > Nusing accuracyPremultiplier from config59l?5Yc3 iX™S?:9A*E;;jJ5 >AEWill construct direction to contact in vehicle frame from tetrahedron phase data.<%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h)h)h-݃Bf)f1f1rf1bf=I@ɛe}BedU> ae=~?Ii m(>ɚiiiIm Will construct direction to contact in vehicle frame from tetrahedron phase data. w,l*A27ld@Y26r@25>92m>y2H+ɍ?̿@y&@ƿ?`8?ɨ27ld@2 ;0yNBNIIVIV٢^3 < b[=9f0:Q f>lp rG٣v1XGyv z>  Nusing accuracyPremultiplier from config59X?%5Y8 iX™)-W-A-E";c;L51 =2A9)a ehCE~G]|uAqDNOT Ignoring new targets: 54.20 m. FY|uAyA jjjjihhhhfffrfbf@J@ɛM }BmW> im?Ii un>ɚqiqIuXIA IEIIEXBIE =&IA.IEBD6IEH<:IE FBIǭCJIǭCRIZI =bI =jI)6G :G ?G >G B O > w,*A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:Qd@Y:pr@:25>9:r>y:H`$@?`̿ WGF?6ƿ@$?`7?ɨ:Qd@:ΐ;:!CyFBFI%Mb@Mb@Mb@!!! !)!Y%(\?Mb?Qy%N?%<%%)A %/A)%0AI%x A!y%AIIb1٢E :=9ƷQ > G٣yq > Nusing accuracyPremultiplier from config59#B?5Y> iY™ ;N? :  A/E* ; ;M5B _AE=DNOT Ignoring new targets: 54.20 m. j9jAjAjAiAhAhAhIhM BfIfIfQrfQbfUtAJ@ɛ}B{\> 隍?I s7>ɚiId w,#*A6Kd@Y6jr@6 6>96 >y6H^%p|?D̿`Z]? Ӣƿ+?`5?ɨ6Kd@6;6 CyBBBIIJIJ٢R\< R`=9VČ:Q V>TT VG٣Xyb\ b> fNusing accuracyPremultiplier from configdj59f/?j5YfB if^Y™hnnAf2Ef;f;fO5rB r;ArE DNOT Ignoring new targets: 54.20 m. j jjjihhhhff!f!rf!bf%`:pJ@ɛU|B]`> Y]܁?IY ]>ɚYiaIe0JJbJ1JJJt9J3Ja@a@a@a@ Will construct direction to contact in vehicle frame from tetrahedron phase data. y I / w,~T*A>TJd@Y>Sir@>]6>9>Z >y>H%y?{^̿`Rf?>ƿ b?;4?ɨ>TJd@>s;`` bG٣b2XGyf[ f> jNusing accuracyPremultiplier from confighn59j?n5YjG ijY™pprAj4Ejw;j;jVQ5t vHAtDNOT Ignoring new targets: 54.20 m. jjjji!h!h!h!h!f)f)f)rf)bf5J@ɛ]|B]>]> Y]r?IY e`>ɚaiaIeIC IIISBI =&I.I6IS<:I F*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G=˴GAGAGBO5>Tд w,0*Ay~BI)  Mb@Mb@Mb@ )Y!rh?/$:vylG?,Լ,A A)A4AI Ay AIIm?٢[ ;=9Q > G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59?5YL iY™G?:"A7E0p;m;>S5B ZAE H$?I!5DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9h9hAhE{BfAfAfIrfIbfMfJ@ɛ=|B='Y> 9=΂?I9 E>ɚAiAIE4= w, *AB `d@YB r@B6>9B>yBHF l{? {̿"1s?ƿ@b?`P/?ɨB `d@B/;BCyNBNIIZIZ1٢^ = b[=9b;Q b>dd fG٣dyfyi; j> nNusing accuracyPremultiplier from confighr59j?r5Yj Q ij1Z™pr"rAj9Eju ;j ;jT5x z"Az"EDNOT Ignoring new targets: 54.20 m. jjjjih!h!h)h)f1ffrfbf K@ɛ|B%nd> !%P?I! %>ɚ)i)I-aIC III&I.ICD6IH<:I FG˴GI B O > w,+A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:ld@Y:r@:7>9:T>y:H}?̿Ft?@ƿ`?6-?ɨ:ld@:^;:Cy``]Mb@Mb@Mb@YYY Y)YY]x&1?{Gz~jty]A@?]ף]ļ].A ]CA)]6AI]AYy]"AIuIuV٢: >=9X:Q > G٣3XGy=V: => MNusing accuracyPremultiplier from configAU59Eֈ?U5YEU iEZ™UpA?U:U.&UAE c?I ~>ɚiIg}E>*FU?2FQ:FQBFU_0JFQ G$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm'HG! B1 OM >; w,96Y>y6H@?̿f+Vt?ƿf? ,?ɨ6"d@6I;6CynBnIipIrp;IzIz٢ S=9 %<:Q  >    G٣ y; > %Nusing accuracyPremultiplier from config-59È?55YIY iZ™15 &5A>Eh-;;pX5=B E9AE%EmDNOT Ignoring new targets: 54.20 m. jijijijiiihqhqhqhqfyfyfyrfybf 5tK@ɛ|Bf> 隽4?I H>ɚiIcJnJbJJJ|;:Jt9JJ I  Will construct direction to contact in vehicle frame from tetrahedron phase data.e8 w,;+A2d@Y2r@28>92W~>y2H| @?Ϳ Rw?`ƿ,?)?ɨ2d@24;;0y>zB>IIJIJT٢R? RP=9R:Q V>TT VG٣TyZ6; Z> ^Nusing accuracyPremultiplier from config\b59^Ů?b5Y^@] i^[™df%fA^@E^~:^:^&Z5h j~Aj(E DNOT Ignoring new targets: 54.20 m. j j j j ihhZHYRHYHe>Ia IaIaIe =&Ia.Ia6Ie <:Ies Fhhfffrfbf@K@ɛU|BU(b> QU„?IQ ]]*>ɚYiYI]HK w,wU+Ay~tB~I F$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YzG?rh|y 7?̼0A A)9AI/Ay$AII ٢g޼ 7=9Q > G٣4XGy >  Nusing accuracyPremultiplier from config 59 D?5Y a i O[™9?:$*A CE ;$; !; \5! %A)MDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhQhYhYh]BfYfafarfabfm@gK@ɛ|B(a> ?I >ɚiI(H w,zSo+AnCd@YnBs@n2x9>9nA[>ynH`P?@HGͿI/g֠t?ǿG? &?ɨnCd@n=;nCy lBI) !!I%I%b٢5 5W=9=;Q =>AA EG٣AyE0< M> UNusing accuracyPremultiplier from configIU59ML?]5YMid iM[™Y])]AMEEM%;M;M]5mB mAm+EB*** querying acoustic contact ***jjDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfYbf]L@J}mJ}tJyJyJ}\8:J}9JyJyɛ|B :d> 隵 ?I >ɚiIIeC IeIIeIBIe =&Ia.IeDD6Ie<:IeZ FG .A;G B9 O >3 w,2<+AWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3524> BDAT read: Tx time:23:56:29.3509 $Ping request sent.ii mG٣iym u> }Nusing accuracyPremultiplier from configq59uj?5Yu h iu[™4?:,AuGEuV;u>;u_5B A.EDNOT Ignoring new targets: 54.20 m. jjjjihhhh BfffrfbfML@ɛ|B]>  4z?I  >ɚ i I \ w,+A2G3e@Y2FRs@2M:>92>y2HL@?@OͿ M܉g?(ǿ>?@R&?ɨ2G3e@2Ɏ;0yN 'q?I ok>ɚiI  Q IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754218G w,d+A:Ne@Y:ms@:7>9: I>y:H?I̿ Z@{DNh?[ƿ@4?+?ɨ:Ne@:t;:CyFBFIININ٢V VL=9V6ѻQ V>XX ZG٣Z5XGy^Չ; ^> bNusing accuracyPremultiplier from config`f59bCE?f5Ybm ibc\™dj,jAbKEb:b:bb5nB nBAn1EjH~<bH|H>I III0BI&I.I6I<:IBICJICRIZI =bI =jI55DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h9h9h9h9fAfAfArfAbfML@ɛ|B<\> 隝Ud?I +>ɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006105J J cJ 1J J J x9J 3J J D;a J D;a J :a J :a Em w,+A6pe@Y6s@67>96#>y6H@L?̿gq h? ƿF?-+?ɨ6pe@6;6Cy^ Bb{I rB$?IpWill construct direction to contact in vehicle frame from tetrahedron phase data.՝ ?՝t?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258440Mb@Mb@Mb@ )Y(\?+ÿ{Gzy.?#7A XA)OAAIrAy)AII٢#Ƚ 6=9pQ >   G٣ y Γ;  > Nusing accuracyPremultiplier from config%59@.?%5Yq i\™%2?%:%,%ANE;;d51 5A56EeDNOT Ignoring new targets: 54.20 m. jajajajaiahihihihu"Bfqfqfqrfybf}@LL@ɛ=|BES7W> AEZ?IA E>ɚAiAIM<1i w,+ABe@YBs@B,8>9B>yBH`?A$Ϳ@F{@bg?ƿ?(?ɨBe@Bb;BCyJBNWIIVIV(1٢^a! ^b=9b8:Q f>pt zG٣xy~] < > Nusing accuracyPremultiplier from config %59 E?%5Y s i \™!-,-A PE O; +?; f59 =A9DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfM@ɛ|BlVY> 隭M?I >ɚiI_`IC IlIIBI =&I.IED6I<:Iq FGP<G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014818| w,# ,Arf@Yr t@r9>9rj1>yrHA?d6Ϳ`( H ?`Cǿ ? '?ɨrf@r;rCy~B~)IMb@Mb@Mb@ )YB`"?(\¿y&1y.?z`e9A A)BAIAy+AII٢+ :=93R;Q >!! %G٣%6XGy%R< -> 5Nusing accuracyPremultiplier from config)559-?=5Y-bw i-U]™=Q3?]:e*eA-RE-;-;-|h5mB mAm9EDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf`xKM@ɛ%|B%R> )-Q>ɚ)i)I-̳¨ w,Q$,AF=@f@YF<_t@FQA:>9F>yFH`2? :Ϳ5f[Z'ǿ    G٣ y^*< > Nusing accuracyPremultiplier from config%59l?%5YWz i]™)-*-ATEG:&:j51 5\A1eDNOT Ignoring new targets: 54.20 m. jajajajaiahahihihqfqfyfyrfbf`XyM@ɛ|BQ> 隵'?I >ɚiI+ I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770091 w,>Z>,A6Qgf@Y6Pt@6;>96Q>y6Hb|@?a\Ϳ @*da`Aǿ@?%?ɨ6Qgf@6;6"Cy>~B>IZHDRHFAAHR>IRC IRIIRWBIR =&IP.IRFD6IR<:IRK FIfIfb٢n W nK=9r;Q r>tt vG٣tyvc; v> ~Nusing accuracyPremultiplier from configx~59z6އ?5Yz} iz]™*AzVEz5 im?Ii mK8 >ɚiiiImϜJu lJu dJq Jq Ju <5:Ju |9Jq Jq Ju M?;Ju O?;Ju :Ju : w,GX,A &?$?I$Frf@YFqt@F4;>9F>yFH nAR?`SͿFXpTǿF? &?ɨFrf@Fk;F CyR~BRIiZ]>IZqq uG٣u7XG}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274195y; > Nusing accuracyPremultiplier from config59yȇ?5Y iQ^™.;?:?'AYE;S;m5B !A?EuDNOT Ignoring new targets: 54.20 m. jqjqjyjyiyhyhyhhӄBfffrfbfM@ɛ|BC> ?I ( >ɚiIzKe ezKKe 9Ka Ke ]&Ke   '.:><9731.+&$$# RKm >JKm ? w,Hq,A6?f@Y6>t@6<>96[>y6HhY?OͿK@ltbǿ`?>&?ɨ6?f@6Ȏ;6Cyb~BbEIIrIr?13٢v zR=9z:Q z>|| ~G٣|y0; >  Nusing accuracyPremultiplier from config 59 0?5Y  i ^™0'A [E L ;  ; ^o5! %#A!U addTargetRange:: Added new target pos. range: 77.599998 m, deltaT: 60.009496 s, deltaX: 23.399998 m, approachRate: 0.389938 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 54.20 m. jQjYjYjaiahihihqhyfffrf`ffS@bfjj?ɛ|B\>> >I  >ɚiI$?I9*F-?2F):F)BF-O0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.HĽ>IC III~BI =&I.I6I̯<:I\ FG<GGoAGBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data./" w,介,A6f@Y6t@6<>96N >y6Haf?'Ϳ - `qǿ[?s(?ɨ6f@6;6CyF}BF IMb@Mb@Mb@ )Y)\(?Mbsh|?yGA?j G٣yK; > Nusing accuracyPremultiplier from config59?5YΉ i _™"C?:!A]E(;;=q5B 1%ABE DNOT Ignoring new targets: 54.20 m. jjjjihhh!h-Bf)f1f9rf9bfE?ɛM|BM5> m4Iq uy=!>ɚqiqIu( w,N,A:ٹf@Y:t@:%<>9: >y:H`l?@S̿zǿ?`T+?ɨ:ٹf@:U;:CyBT}BFI)H HININ#3٢V7 V\=9ZV:Q Z>XX ZG٣Z8XGy^9 ^> bNusing accuracyPremultiplier from config`f59b?j5Yb ib`_™ln!nAb_EbmG;bG;br5rB r&AvEEDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f!f!rf)bf-,P?ɛ}|BL1> }V>I d!>ɚiIw Will construct direction to contact in vehicle frame from tetrahedron phase data. / w,qs,AjH"<bH H&ǽ>I&C I&II&}BI& =&I$.I&GD6I&#<:I& FVf@YVt@VP>>9V=m >yVH````l?@A̿ vHgǿ ?*?ɨVf@V2;Tyr|BrIIzIzT3٢r  E=9 (8;Q  >  G٣y& > %Nusing accuracyPremultiplier from config-59Ax?-5Yx i_™)-!-AbE:~:t5EB Ee(AEGEmDNOT Ignoring new targets: 54.20 m. jijijqjqiqhqhqhyhyfyfyfrfbfg?ɛy|B])> 隭N=I |!>ɚiIK1JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G5<G= ?G=?GBO=> - ;$?I) 6 w,[,AZf@YZt@Z?>>9Z ;>yZH@gje?@'̿ Ͱ ǿ@?`+?ɨZf@Z1H;Z!Cyn|BnTI]Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}Zd;O?~jthʡEy}~J?}D}-} >A }A)}1FAI}(Ayy}/AII#3٢`W @=99Q > G٣yW > Nusing accuracyPremultiplier from config59Ac?5Y i&`™K?:AdE;;v5B )AJEDNOT Ignoring new targets: 54.20 m. j j j j i hhhh% Bf!f!f!rf!bf-R?ɛt|B>#> (ɚiI.<E>*F?2F:FBF_0JFG GqA Will construct direction to contact in vehicle frame from tetrahedron phase data.zK >KK h9K K _&K  "*.2434610.--+,*++)'$"! ) E G] tAu A Y tAy AG G B O ><< w,LU,AFwf@YFt@Fh>>9FH>JNkJNeJLJLJN2:JN9JLJLaR@aR@aR@aR@yFHs`BY?T̿`f'ԋ ǿr?-?ɨFwf@FT;FCyZ:|BZIi^=I\IfIf[3٢nLP n@=9nk9Q n>pp rG٣r9XGyv͹ v> zNusing accuracyPremultiplier from configx~59z1N?~5Yz` iz`™|AzgEz:z:zex5 B ++A ME =:$?I=hEDNOT Ignoring new targets: 54.20 m. jAjIjjihhhhfffrfbfQ@ɛ%o|B%> )-0TI) 5bw!>ɚ1i1I5)I IeII|BI&I.I6Iѯ<:Ig FBIĴCJIĴCRIZI =bI =jIM>6*F2F:FBF2JFG= Vv<G9 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data.aC w,e-Ay{BI-]only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 118.23, 123.87, 97.37  ]@] ]@] ]@]  ]@] Im!Imi3٢}K A=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59A9?5Yʢ i`‘+:X:AjE*;7>y5 5,A1}DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfK@ɛk|B> 2I JT!>ɚ i I BJ w,!!.-AzKZzMKZ9KXKZ`&KZyU{BUIIe Ieb3٢u" u/=9qQ u>yy }G٣yy > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59%"?5YĨ i^a‘ :/:AlE{8;d?<{5 .APEMDNOT Ignoring new targets: 54.20 m. jIjQjQjQiQhQhQhYhYfaffrfbf  @ɛ5g|B5K> 5<5fI1 5!>ɚ9i9I=fIC III{BI =&I.I6I <:I FG G)BaWill construct direction to contact in vehicle frame from tetrahedron phase data.O>"LS w,M-A2e@Y2 t@2Fk=>92-#>y2Ho(?ts̿ߑPǿ? N2?ɨ2e@25b;2Cy>G{BBI)D DDD M M UU UU  U U UMb@Mb@Mb@QQQ Q)QYUx&1?A`"?x&yUA`?U=U7U~@A UM"A)UtIAIUlAQyUf2AImIm(*3٢ $=9Q > G٣:XGy، > Nusing accuracyPremultiplier from config59& ?5Y ia‘T:b?o:ApEL ;;i}5B .AUEDNOT Ignoring new targets: 54.20 m. jjjjihhhhփBfffrfbf @ɛ%c|B%X> )-鍾I) - >ɚ1i1I5(yvY w,g-A6}e@Y6|s@6;>96B>y6H 9?]+̿#xpdЊYǿB?p6?ɨ6}e@6;6 CyFzBF[II^"I^q3٢n= rU=9r灻Q v>xx ~G٣|yf6  > 5Nusing accuracyPremultiplier from config)E59-{?E5Y-6 i-b™IMMA-sE-;-;-5a e0AaeDNOT Ignoring new targets: 54.20 m. jajijijiiihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.frfbf &@ɛ=_|B=> 9=sI9 E >ɚAiAIEl*F2F:FBF%5JF!G <G?G>GBOe>JjJ`J1JJ.:Jbl9J3J 1I1 Will construct direction to contact in vehicle frame from tetrahedron phase data.H н>I  I eII {BI &I .I 6I ϯ<:I k F[` w,-A6`e@Y6s@6D:>96>y6HQ?9̿^w6ǿ?8?ɨ6`e@6~$;6CynzBnFIIvIv2٢ +  H=9|.Q > G٣yC& > %Nusing accuracyPremultiplier from config!-59%ᆜ?-5Y% i%vb™15$5A%uE%*:%n:%߀5I M0AMXEuDNOT Ignoring new targets: 54.20 m. jqjqjqjqiyhyhyhyhfffrfbf@ɛ\|B> 隵8I 5D >ɚiIe % 7$?I! f w,Z-A6]e@Y6\/s@6+9>96=y6H`?)˿`A`͙3ǿ;?4 G٣;XGyK= > Nusing accuracyPremultiplier from config59rˆ?5Y ib™c?n:AxE9;,;5B f1A[E=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9hAhAhAhEBfIfIfIrfIbfUL@ɛEX|BEc> AMپII M>ɚIiQIU<m w,-Abd@Ybr@bV7>9b$=ybH ݭ?˿5 ƿ?`??ɨbd@b/;bCyjzBjIIM IM̍2٢:H -=9wxQ > G٣y > Nusing accuracyPremultiplier from config59B?5Yc i)c™DA|E ;m ;ʄ5 1ADNOT Ignoring new targets: 54.20 m. jjjjihhh h f f f rfbf@*@%Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛMU|BM9> IMHII Uw>ɚQiQIULŨI IIIzBI =&IDD.IHD6I<:Ic F*F2F:FBFP0JFGK <GBO^> Will construct direction to contact in vehicle frame from tetrahedron phase data.t w,l-AJVd@YJur@J g6>9JC=yJH!ʔ?v˿Z^ ƿu ?@?ɨJVd@JV;Hy^zB^I @ @ @  @ I%I%#3٢5 5R=95lQ 5>99 =G٣AyE}$ E> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI59MF?5YM iMvc‘+:A:AM~EMM)5B 1A`EmDNOT Ignoring new targets: 54.20 m. jijijijqiqhyhyhyhyfffrfbf`@ 5$?Ihɛ5R|B5-= 15=I1 =r>ɚ9i9I=pDA{ w,3-AFR$d@YFQCr@Fߙ4>9FW>>yFH2`~?qq uG٣u bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}?5Y} i}c‘ ::A}E} 3;}T?}m5 1AcEzKjIK9KKc&K 0p[">w;ga4RK ?JK?DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf}@ɛP|B= ]I ɲ>ɚiIrJMkJM]JIJIJM2:JM_9JIJImWill construct direction to contact in vehicle frame from tetrahedron phase data.Hֽ>IC III9zBI&I.I6I<:I~ F w,.AFHc@YFF r@F2>9Fn>yFH`F Sg?6C˿@8W&ƿ`ȿ?D?ɨFHc@F<;DyRzBRIIZIZM3٢b8< fV=9jSлQ j>hh nG٣lyn r> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configx-59zt?55Yz  izd‘E9AM9MUAzEzD< 隵I FI>ɚiIzrK w,`".A:gc@Y:fq@:&0>9:;>y:H`@SQW?3˿G (JY?ſ(?@D?ɨ:gc@:P1;:Cy^zB^I M M MM MM  U U UMb@Mb@Mb@QQQ Q)QYU ףp= ?bX9ȶ? G٣yo > Nusing accuracyPremultiplier from config59^?5Ya iUd‘T:Y?y:bAE;5;+54B E/AfE}DNOT Ignoring new targets: 54.20 m. jyjyjyjyiyhhhh#Bfffrfbf`@ɛ K|B := 15پI1 =>ɚ9i9I=:S}|uA zY|uAypAzKOK9KKd&Kuj]LH@861+(%#"  BK:K  3$?I t w,<.ABϿc@YBq@B->9B!>yBHW`S?˿ u r? ſ@N[?iF?ɨBϿc@BZ;@ybzBbI fa=fp=IjIj2٢r rT=9vԻQ v>tx zG٣z=XGyz z> Nusing accuracyPremultiplier from config|59~J? 5Y~% i~d™  i A~E~e:~:~ڋ5 q/AiE=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhYhahafifqfyrfbfF@ɛI|B~= ޾I >ɚiIZuIi ImIIm/zBIm =&Ii.Ii6Im<:Im FBI-¶CJI-¶CRI-“CZI- =bI- =jI-S5*F?2F:FBF@5JFG4λ Will construct direction to contact in vehicle frame from tetrahedron phase data.G BA O >\ w,(~V.A6 c@Y6q@6Sq+>966>y6H\WL?˿i%? Tſ?@E?ɨ6 c@6;6CyRzBRI-eonly read 0 of 1 data item for altitude. Device response is::BD +6.72, +1621.69, -35.75, 11.64, 0.00  e@e e@e e@e  e@e IuIuF2٢ < @=9Q > G٣yސ I > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59e4?5Y id‘+:J:rAE=7;>\53B ɚaiaIe,uGu?Gu ?Ga By O >% Will construct direction to contact in vehicle frame from tetrahedron phase data. w,p.ABc@YBq@B*(>9B_ >yBH\:M?b˿e c?@Ŀ`-?E?ɨBc@Bɍ;@yJzBJ&IIVIVb2٢^~= ^V=9bQ b>dd fG٣dyf: j> nbBottom track data is 0.8 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighv59j ?v5Yj5 ijd‘v :tv#:vizAjEjW;j(O?jr5| ~.A~nE%DNOT Ignoring new targets: 54.20 m. j!j!j)j)i)h)h)h1h1f9f9f9rf9bfE= @ɛmF|Bm>= im<ϾIq u<>ɚqiqIuqE >zK}MK} 9KyK}e&K}*F?2F:FBFP0JFG G 1$?IheWill construct direction to contact in vehicle frame from tetrahedron phase data.e=e<GHM߽>IMC IMIIM9zBII&II.IMID6IM2<:IM FGqBO>o w,7.Anc@Ynq@nI:&>9ny>ynH\8L?@)˿ c@ =9?`Ŀ ?E?ɨnc@n G;lyzzBz2I)| |AI I (1٢E= F=9fĻQ >!! %G٣%>XGy-ғ: -> mbBottom track data is 1.2 s old, using for 20.0 s. uNusing accuracyPremultiplier from configI5PExceeded connect timeout, disconnecting.9M ?5YMq iM5e‘9:bAMEMz ľI >ɚiIյL w,L.A6c@Y6r@6#>96">y6HS[?ʿN`6? [Ŀ? F?ɨ6c@6l؎;6CynzBn8I m m mm mm  u u uMb@Mb@Mb@qqq q)qYu}?5^I?lMb?yuMB?uu G٣y<; > Nusing accuracyPremultiplier from config59?5Y ihe‘T:B?:G#AE ;;?5 ~.ADNOT Ignoring new targets: 54.20 m. jj j jihhhhBfff!rf!bf%`Y!@ɛMC|Br= I M>ɚiI /$?I Ǯ w,@.A:d@Y:/r@:{>!>9:>y:HMg?`&ʿh?`Ŀ?`G?ɨ:d@:;:!CyFzBF0IININ(*2٢VQ  V[=9VƻQ Z>XX ZG٣\y^N; ^> bNusing accuracyPremultiplier from config`f59bqᅜ?f5Yb+ ibe™hj(#jAbEb` ;bm ;bߒ5l n.AntEDNOT Ignoring new targets: 54.20 m. jj j j i h h ]Will construct direction to contact in vehicle frame from tetrahedron phase data.hhfffrfbfc"@ɛA|B(> ľI >ɚiIWW<H>I IIIazBI =&I.I6Iǯ<:Iu FIi&GB Will construct direction to contact in vehicle frame from tetrahedron phase data.O >p w,.A !I!JiJJJJ+:JJJJ/;J/;JJyzB7Ii% G٣?XGy > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59Ņ?5Y  ie‘+:b:AE9;?51B }.AwEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf`#@ɛ@|B> !%vI! ->ɚ)i)I-pK'm w,.A6nd@Y6ԍr@6>96Jl>y6H`5%?@ʿ ;k?`tÿE?@K?ɨ6nd@6$ȍ;4y>zB>-IIJIJ(*3٢R?M Rz=9V+jQ V ?TT ZG٣XyZ< Z ? bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^ ?f5Y^ i^e‘f :dj7:j"jA^E^7;^ Y?^5n0B n.AnyE DNOT Ignoring new targets: 54.20 m. j j j jihhhhfffrfbf%X$@ɛ?|BmQ= ƾI [>ɚiI IC IIIvzBI =&I.IJD6I<:I FGPGBO>~K w, /Abd@Yb~r@bk>9b>ybH &Ԩ? Wʿ2@?@b,ÿgZ?M?ɨbd@bgB;`yMzBMIWill construct direction to contact in vehicle frame from tetrahedron phase data.II2٢W ,=9-Q ->11 5G٣1y5; => EbBottom track data is 1.3 s old, using for 20.0 s. ENusing accuracyPremultiplier from config959=ܛ?5Y= i=/f‘9:"A=E=;|<=?=Ŗ5 /A|EDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf`PV%@ɛ15r> 15ҾI1 =>ɚ9i9I=öu w,'/A6d@Y6s@6]>96i7>y6HQ?:ʿvJʄ?¿B?Q?ɨ6d@6|;6CyBszBBI)D DDFA        Mb@Mb@Mb@ )Y(\?K7I +y.?I 94QA -0A)UAI-AyGAAII(*2٢ʽ \=9ʻQ > G٣@XGy< > Nusing accuracyPremultiplier from config 59"? 5Y i`f‘T:1?:+AE;w;\5/B /A%EDNOT Ignoring new targets: 54.20 m. jjjjihhhhIBfffrfbf@#&@ɛM>|BMq= QUsIQ U˜>ɚQiQIU|[ w,A/AWill construct direction to contact in vehicle frame from tetrahedron phase data.6 e@Y6?s@6dx>96>y6H?ɿ@c`q?¿@u5?@T?ɨ6 e@6$;4HF>IFC IFIIFkzBIF =&ID.ID6IF<:IFi Fy^LzB^IInInF3٢vս v\=9vjQ v>xx zG٣xyz!%< ~> eNusing accuracyPremultiplier from configam59etu?m5Ye ief™im+mAeEe&:ei:e5y }N0AyDNOT Ignoring new targets: 54.20 m. jjjjihh h h f ffrf1bf5@&@ɛ= 隍I G7>ɚiI_> I c w,Nb[/A6Ue@Y6ts@6o)>96{'>y6H?wɿ[z2`]?`T¿^$?`W?ɨ6Ue@6Ì;6"CyR!zBRI-Mb@Mb@Mb@))) )))Y-HzG?sh|?ſQy-=*?-)--PA -1A))I-\/A)y-AAIEIE3٢Uʽ ]C=9]vQ ]>aa eG٣aye; m> uNusing accuracyPremultiplier from configi59m`?5Ym imf™/?:.AmEm3ɚiI E=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF"G=G=GMh <G B O >)) 5 rC c~G  Will construct direction to contact in vehicle frame from tetrahedron phase data.  Y y A w,5u/A2Ƌe@Y2Ūs@2J>92L>y2H@?"MɿNo? ¿ ?[?ɨ2Ƌe@2];2Cy:yB>IiFtt vG٣vAXGyv < v> ~Nusing accuracyPremultiplier from configx59zL? 5Yz! iz g™  - AzEzB;zC;z5.B 1AEEDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhIhIhIhIfQfQfQrfQbfU`d(@ɛ= 隍`I U>ɚiIiI III/zBI&I.IKD6I<:I FBIEƹCJIEƹCRIAZIE =bIE =jIEƢ5Gu{*<G1BQOu> w,/AFVe@YFUs@F!L>9FHC>yFH.g*?Zȿ F ;g? -?@_?ɨFVe@Fnɍ;FCyNyBNIIZIZV83٢z} ~I=9Q >Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣yh < > -Nusing accuracyPremultiplier from config!e59%5?m5Y%$ i%Lg™-A%E%<%<%o5 2AMDNOT Ignoring new targets: 54.20 m. jIjIjQjQiQhQhQhYhYfYfYfYrfabfeU)@ɛ>|BjC= %I o>ɚiIۺX w,4/ARae@YR`t@R >9R>yRH??@'ȿ`,0C?Ls p?bc?ɨRae@Rߍ;RCyr^yBr[IMb@Mb@Mb@ )YK7A`?ףp= ÿ:vy+?T?SA 2A)SWAI1AyCAI!Ii3٢%# %8=9-Q ->)1 5G٣1y5; => ENusing accuracyPremultiplier from config9M59= !?U5Y= ( i=g™U0?U:U+,UA=E=L;=`J;=85Y e3AeEDNOT Ignoring new targets: 54.20 m. jjjjihhhh Bfffrfbf`*@ɛ= 7I &>ɚiI|ػU Will construct direction to contact in vehicle frame from tetrahedron phase data.& w,n/AH>I IIIyBI&I.I6I<:I Fz+$f@Yz*Ct@z >9zT>yzH jU?oȿR?@,P?f?ɨz+$f@zq;z CyUyBU$I)Y YaeBAIe Ie2٢u|l }V=9}Q }> G٣BXGyD; > Nusing accuracyPremultiplier from config59 ?5Y* ig™+AE.:.:㢾5-B ]5AEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf*@ɛv= NI ~>ɚiI96D>y6Hһb?%ȿ@ `uÚ?`D?j?ɨ6=f@6!s;6!CyBxBBIEMb@Mb@Mb@AAA A)AYEqq }G٣yy}w; }> Nusing accuracyPremultiplier from config59|?5Y. ih™6?:`'AE';v&;5 6ADNOT Ignoring new targets: 54.20 m. jjjjihhhhÄBfffrfbf`+@ɛ?|BF= !%[aI! %k>ɚ!i!I%0 Will construct direction to contact in vehicle frame from tetrahedron phase data. w,1~/A>\f@Y>{t@>Ǎ>9>Z >y>Hs?ǿ@U "?`DW? ?n?ɨ>\f@>8;>CyJXxBJIIRIR3٢Zr ZW=9^Q ^>`` bG٣`ybɦ; b> jNusing accuracyPremultiplier from configdj59fb愜?n5Yf*2 if[h™lnB'nAfEfy;f;fN5v,B v8AzEDNOT Ignoring new targets: 54.20 m. jjjjih!h!h!h!f)f)f)rf)bf5l,@ɛ]@|B]'= YeyIa e >ɚaiaIe懿I) I-,II-yBI)&I).I)6I-<:I- FG5<GqBO> w,X0A:]f@Y:|t@:S>9:, >y:H`:y?@oǿv@Sə?^?r?ɨ:]f@:;8yV xBVIiZ=IZp< ^p=^a=IbIbM3٢j48 jH=9nQ n>pp rG٣rCXGyv'9 v> zNusing accuracyPremultiplier from configx~59zф?~5Yz5 izh™|D'AzEz';zF;z5! -.9A1Will construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 54.20 m. jijijjihhhhfffrfbfY-@ɛA|B = 隽I >ɚiIL w,)>*0AN,[f@YN+zt@N#>9N}>yNHV|?#ǿ` ?@%?iv?ɨN,[f@Nh;NCyZwBrMIuMb@Mb@Mb@qqq q)qYu+?:vlyuv>?uTuuVA uA4A)qIuA4AqyuEAII3٢l >=9DQ > G٣yȹ > Nusing accuracyPremultiplier from config59M?5Y: ih™??:O!AE];;5+B :AEDNOT Ignoring new targets: 54.20 m. jjjjihhh h ^Bf f frfbf`.@ɛEB|BMu= M$=MXII n(>ɚiIZH RH @AH >I C I II =xBI =&I .I 6I <:I q F5 Will construct direction to contact in vehicle frame from tetrahedron phase data. w,D0A26If@Y25ht@2 =92>s>y2H`} y?ƿu t?#̿ ՠ?z?ɨ26If@2,;2CyRFwBRIIfIf3٢r~ rW=9rͨQ v>tt vG٣tyzl= z> ~Nusing accuracyPremultiplier from config|59~U?5Y~> i~2i™  d! A~E~s;~;~5 ?ɚ1i1I5 %$?I " w,J]0A:(f@Y:Gt@:ś=9:>y:H`(o?@ƿQf^?;_@?|?ɨ:(f@:+d;8yFvBFI)H H%Mb@Mb@Mb@!!! !)!Y%HzG?{Gz?YY ]G٣]DXGy]4 e> mNusing accuracyPremultiplier from configau59e?}5YeD ieyi™}$K?}:}oAeEeN;eL;es5 =ADNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h9h9h9h=BfAfAfArfAbfEA/@ɛE|BF=Will construct direction to contact in vehicle frame from tetrahedron phase data. ?I >ɚiIEp Will construct direction to contact in vehicle frame from tetrahedron phase data. L w,w0A6hf@Y6g1t@6~4=96A>y6H`fk?`4ƿ`@O?!>?2?ɨ6hf@6;4ybvBbIIn"Inq3٢v&E vQ=9z Q z>x| ~G٣|y~Mb >  Nusing accuracyPremultiplier from config 59??5YI ii™AE\::)5%*B %>A-E E$$?IAeDNOT Ignoring new targets: 54.20 m. jajijijiiihihihqhqfqfqfyrfybf}=0@ɛF|BL= 隭I >ɚiI^oJK>E<H>I I&I Will construct direction to contact in vehicle frame from tetrahedron phase data.IgwBI&I.I6Iï<:I F*F%?2F!:F!BF)JF)G o<Gq B O >]$ w,O0A>e@Y>s@>)=9>K>y>H [?ſ|`)Y? ?Ȅ?ɨ>e@>A;>CyRQvBj{IIzIz3Will construct direction to contact in vehicle frame from tetrahedron phase data.٢-3 5A=9=~Q U>Ya mG٣iy} > Nusing accuracyPremultiplier from config59k?5YO ij™AE <& <5  @AEMDNOT Ignoring new targets: 54.20 m. jIjQjQjQiQhQhQhhfffrfbf`g0@ #$?Ihɛ-H|B->>= QUݾIQ Ue>ɚQiYI] G٣EXGyH > Nusing accuracyPremultiplier from config59mQ?5YnW iTj™T?:AĩE;;\5)B AAE-DNOT Ignoring new targets: 54.20 m. j1j1j1j1i1h1h1h9h=Bf9f9fArfAbfE<31@ɛK|B5 = ǿI  >ɚiIG3)!   BKA:KEoAjH<bH4=H >I C I II vBI  =&I .I MD6I <:I  FBIǻCJIǻCRIǔCZI =UWill construct direction to contact in vehicle frame from tetrahedron phase data.bI =jI 5*F?2F:FBFR0JFG 1<G B O>4 w,0A2}>e@Y2|]s@2=92=y2HI"?@Fſ|X?`n??ɨ2}>e@2];2!Cy>uB>#IIJ&IJ3٢Nd5 RA=9RXQ R>TT VG٣TyZn Z> ^Nusing accuracyPremultiplier from config\b59^Uɚ9i9I=u*JC="JJiJ`J2JJ+:Jbl9Jc3JJ/;J/;J,:J-: Will construct direction to contact in vehicle frame from tetrahedron phase data..: w,0Ay%uB%IMb@Mb@Mb@ )Y$C?rh|?ˡEyZ?='UA 7A)TAI5AyEAI'I@3٢ 9=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=%?M5Y=e i=j™M\?Mv:M/MA=ʩE=T;=;=.5](B ]CA]EDNOT Ignoring new targets: 54.20 m. jjjjihhhhcBfffrfbf92@ɛP|B̡< YJ=ؿI  >ɚiI)lzK NK 9K K o&K   HE >IE C IE 8IIE uBIE =&IA .IE ND6IE <:IE y FLA w,u1A6Will construct direction to contact in vehicle frame from tetrahedron phase data.od@Ynr@@=9F=yH`)D?@Ŀ`P~7?5Y@`#?i?ɨod@ߎ;Cy%NuB-I)1 1I=9I=3٢M MS=9MsIQ U>QQ UG٣UFXGy] ]> eNusing accuracyPremultiplier from configam59e)?m5Ye'k iej™quuAe̩Ee:e:eҸ5y } DADNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf 7s2@ɛR|B:; xI p >ɚiI l I #AG w,em1A2~d@Y2r@2n=92Y=y2HV`e?OlĿ@<`p?$'??ɨ2~d@2Հ;2CyR@uBRIJbAAJbAAJffJf\Jf1JdJf|":Jf[9Jf3JdJf;Jf;Jf؁:Jfف:Mb@Mb@Mb@ )YMb?~jt?tTA V8A)TAI7Ay=FAI4IV3٢W A=9[ŻQ > G٣yI > Nusing accuracyPremultiplier from config59?5Ydr i$k™c? n: b AϩE;;5'B 7DAEEDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhIhIhIhMNBfQfQfQrfYbf]2@ɛU|B`=N< 隍I >ɚiIΠ:))uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFG!j;GYBaOY>% Will construct direction to contact in vehicle frame from tetrahedron phase data.ikM w,(I81A62d@Y6Qr@6=96=y6H Eo@%?l2Ŀ@4ӡ?`I#8?@Y?ɨ62d@6A;4y>+uBBIIJ$IJ<3٢RAi Ra=9VƻQ V>TX ZG٣XyZDS Z> bNusing accuracyPremultiplier from config`f59b$냜?f5Ybx ibFk™dffAbҩEb:b:bB5n&B nDAnEDNOT Ignoring new targets: 54.20 m. jjjj i h h hhfffrfbf<3@ E $?IEhɛUW|BU89 QI Z>ɚiIA*IC IIIuuBI =&I.I6Iү<:I FE$=}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF!5JFG .A;G ?G >G B O >WT w,nR1Ay!uBIiI=I-I-M3٢=? =;=9=Q =>AA EG٣EGXGyE M>uWill construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59ԃ?5YF iqk™AթE:T:<5 DA=DNOT Ignoring new targets: 54.20 m. j9j9j9j9i9h9hAhAhAfAfAfIrfIbfM3@ɛ}[|B}9< y}-I  >ɚiI% Will construct direction to contact in vehicle frame from tetrahedron phase data.[Z w,Tl1A6c@Y6q@6T=96Q=y6H?@ ÿ?`Y ? ?ɨ6c@6R;6 CyDDMb@Mb@Mb@ )Y?jt?Mb`?y`? >;UA &9A)SWAIy\GAI5I5[3٢Eo| EJ=9Eh]Q E>II MG٣IyUp U> ]Nusing accuracyPremultiplier from configYe59],?e5Y]ۆ i]k™ec?mn:mmA]ةE];]I;]5q uDAuEDNOT Ignoring new targets: 54.20 m. jjjjihhhhbBfffrfbf4@ɛ^|BAL I ̞>ɚiII C I II .uBI =&I .I OD6I <:I FG @KG G qA= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B OU >b w,81AJzc@YJq@J=9JȖ=yJHs{?_ÿڥ?-??ɨJzc@J;JCyRuBVII^I^3٢b覼 fB=9fwQ f>hh jG٣hynͻ n> rNusing accuracyPremultiplier from configpz59rq?z5Yr irk™|~=Ar۩Er{;r;r5%B DAEEDNOT Ignoring new targets: 54.20 m. jAjAjAjAiAhIhIhIhfffrfbf@44@ɛ=b|B=; AE-IA E >ɚAiAIE9Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I";h w,1ANEc@YNdq@NC=9N*>yNHf?`ÿ`Dk^?}߷@^??ɨNEc@N;N Cyb'uBbI)l lMb@Mb@Mb@ )YS??I +?y/]?>94<SWA ;A)I;AypIAI Ib3٢z= <=9 Q > G٣HXGWill construct direction to contact in vehicle frame from tetrahedron phase data.y} }> Nusing accuracyPremultiplier from config592?5Y\ ik™_?s:AީE;;þ5 DAEDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrf bf 4@ɛ5e|B={l; 9=IA EU>ɚAiAIE $?I hen w,c1A6,c@Y6Kq@6rY=963>y6H ^?k¿L`]?@yöY?`,?ɨ6,c@6!;6Cy>3uB>IIJ*IJ3٢n== rZ=9r>Q r>tt vG٣tyv v> ~Nusing accuracyPremultiplier from configx59z?5Yz izk™AzEz;z!;zOž5$B VDAEEDNOT Ignoring new targets: 54.20 m. jAjAjAjAiIhIhIhIhIfQfQfQrfYbf]`I5C I1I1I5 =&I5CD.I16I5<:I5 FG]Y:KpA Will construct direction to contact in vehicle frame from tetrahedron phase data.G!B1OM0>Ou w,gG1A.Will construct direction to contact in vehicle frame from tetrahedron phase data.Bc@YB:q@BϬ=9B>yBHHqX?7v¿@S`@? e??ɨBc@B;BCyr@uBvII~I~b2٢ |<  G=99Q > G٣y ' %> -Nusing accuracyPremultiplier from config!-59%j?55Y% i%k™155A%E%;%;%Ǿ5E#B EDAEEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfi5@ɛm|B= I $?I j =ɚiIgaw{ w,1A)D D H~GyIuBI%|uA9i]=I]; mYm|uAymAMb@Mb@Mb@ )Y㥛 ?L7A`?I +?yU?+=9<$XA )VAI >AyJAIIM3٢%n< %:=9%Q ->)) -G٣-IXGy5 5> =Nusing accuracyPremultiplier from config9E59=R?E5Y= i=k™M>V?M}:MMA=E=;=/;=ɾ5Q UCAY%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h)h)hM̓BfQfQfQrfQbfU@.6@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛq|B`H; 隍I =ɚiI&I)  I- II- MuBI) &I) .I- PD6I- <:I- ~ FBICJICRIZI =bI =jIʟ 6zKM k3IKM 9KI KM s&KM RKU ?JKU >G % Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >b w,T 2AJ c@YJ?q@Je=9J >yJH]?%?(E?@?ɨJ c@J 8;J CyRmuBVII^I^m?3٢f= fb=9jּQ j>ll nG٣lyn`: r> vNusing accuracyPremultiplier from configpv59r??z5Yr irl™xzzArErh;r;rʾ5 eCAE-DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h1h1h1f9f9f9rf9bf=ل6@ɛu|B 隍I >=ɚiIE w,#2A6)c@Y6Hq@6 =96f >y6He`b?-`?`w@s? q?ɨ6)c@61;6CyRluBRIeMb@Mb@Mb@aaa a)aYeoʡ?~jt?I +?yeM?e G٣yC: > Nusing accuracyPremultiplier from config59(?5YT il™0M?:AEZ;X;w̾5"B _CAµEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 54.20 m. jjjjihh h h Bf ffrfbf#6@ɛMy|BM7i IMIQ S%=ɚiIsE>*F2F:FBFJFG GG Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > $?I w,=2A2xFc@Y2weq@2Hn=92A>y2H`p?66 7IJ?갿 ?W?ɨ2xFc@2;2Cy>uB>I)@ @IJIJ2٢R+= RY=9R6Q V>TT ZG٣ZJXGyZ; Z> ^Nusing accuracyPremultiplier from config\b59^?b5Y^" i^l™dfwfA^E^ ;^;^ξ5h jBAlDNOT Ignoring new targets: 54.20 m. j j j j i h hhhfffrfbfR7@ɛE~|BE8y IM޿II U|=ɚQiQIU IC IIIuBI =&I.IQD6I<:I FzK5K1K1K5t&K5Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>o w,W2A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:Xc@Y:wq@:}=9:؜>y:H@7Hy?Axѳ?@`?@ܞ?ɨ:Xc@:O;:!CybuBbIIjIjm?3٢r< rG=9v$Q v>xx zG٣xy~0; ~> Nusing accuracyPremultiplier from config 59? 5Yd i'l™fAE::Ͼ5!B BA%ŵEEDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhIhIhQhQfQfQfYrfYbf]@ܻ7@ɛ|Bp 隕H޿I =ɚiIhkś w,1_q2Ay uB IMb@Mb@Mb@ )YT㥛 ?ˡE:v?yA?'T<\A ( G٣y > Nusing accuracyPremultiplier from config59悜?5Y i8l™VA?:B$AEI;r;Ѿ5! %pBA%ȵEMDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhYh]>BfYfafarfabfe+8@ɛ|B5 15?ܿI1 5{=ɚ9i9I=8I ÍC I II uBI =&I .I 6I ү<:I FGa Bi zK K 9K K u&K O > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,X;2A @Vc@YVq@V/^=9Vt>yVH  ?H`Y ? }« ?`?ɨVc@V/|;VCynuBrIIzIzm?3٢ W=9`Q >    G٣ KXGy3< > Nusing accuracyPremultiplier from config%59҂?%5Y. iEl™!%#-AE;\:rӾ51 5vBA1DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf.8@ɛM|BM IUݿIq u|=ɚqiqIu_bר w,Q2A:jc@Y:iq@:sO=9:^&>y:H ?@H@? @f? 멿.?N?ɨ:jc@:F;:CyDH%Mb@Mb@Mb@!!! !)!Y%S?{GzMbP?y%:?%ף%:%^A %?=A)%AVAI%CA!y%MAIEIE29UmQ U>QY ]G٣Yym; u> Nusing accuracyPremultiplier from config59A?5YD iZl™;?:*'AE.;n;Gվ5 B rBA˵EWill construct direction to contact in vehicle frame from tetrahedron phase data.չչDNOT Ignoring new targets: 54.20 m. jjjjihhhhkBfffrfbf 8@ɛ=|B=0T 9=ݿIA E=ɚAiAIEr % $?I% h w,2A2c@Y2r@2O@=92>y2H!`_?`)?`u>?=?ɨ2c@2l;2CybuBbIIjIj#3٢rƾ v<9vQ v>xx ~G٣|yA; >  Nusing accuracyPremultiplier from config 59 ?5Y   i kl™%&-A E ; ; ־5I IMεE}DNOT Ignoring new targets: 54.20 m. jyjyjyjyihhhhfffrfbf:[9@ɛ|B_ ޿I =ɚiIIq Iu8IIuuBIu =&Iq.IuRD6Iu<:Iu FzKBHK9KKv&K %'%" BK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.GJGBO > w,2A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:&d@Y:Er@:q2=9:+>y:HV?;71@r=?]UF?/?ɨ:&d@:;:!CyNuBRIIZIZb٢e eC=9eiQ m>ii mG٣mLXGyu; u> }Nusing accuracyPremultiplier from configy59}?5Y}, i}~l™&A}E}:}~:}ؾ5B wBAеE $?IDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfo9@ɛ5|B513 1=߿I9 =t=ɚ9i9I=(}v w,2A6%[d@Y6$zr@66%=96J>y6H}'?` F a? SD0? $?ɨ6%[d@6Փ;6CyBuBF IMMb@Mb@Mb@III I)IYM"~?&1MbyM3?MнMI I)MTAIMEAIyIIIM3٢׉ D=9`Q > G٣y; > Nusing accuracyPremultiplier from config59{?5Y il™5?:(AE&;%;ھ5B BAӵE-DNOT Ignoring new targets: 54.20 m. j)j1j1j1i1h1h9hAhEfBfAfIfIrfIbfMG0:@ɛ}|B}Xh y}*I =ɚiI I} čC I} >II} uBI} =&Iy .Iy 6I} <:I} FB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK} [LK} +9Ky K} w&K}   RK ?JK > w,> 3A5Gd@Y5Fr@5 =95>y5H@i?@Ǽ j lDi?@{??ɨ5Gd@5q;5!CyMruBMIIeIe?13٢mǽ uP=9uӀQ u>yy }G٣yy]< > Nusing accuracyPremultiplier from config59Fg?5Y il™A(AE? ; ;Vܾ5 (CAֵEDNOT Ignoring new targets: 54.20 m. jjj)j1i1h1h9hAhAfififqrfqbfu /:@ɛ|Bd I z =ɚ i I ^eJE eJE XJE 1JA JE \:JE 5K9JE 3JA JE ;JE ;JE g:JE g:- w,|&3A>d@Y>r@> =9>"c>y>Hb)?K2t v;`෷??പ?ɨ>d@>>;>CyFRuBFIEMb@Mb@Mb@AAA A)AYEV-?:vV-yEh1?EԽEE"aA El?A)E+UAIE GAAyE3OAIeIem?3٢5 I=9s߻Q > G٣MXGy^o; >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59(R?5YC il™3?:M(AE;Ӄ;"޾5 CADNOT Ignoring new targets: 54.20 m. jjjjihhhhvBfffrfbf\;@ɛM|BM IMII U=ɚQiQIU } $?Iy [ w,8@3Ay~6uBIIIV83٢= =P=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59U<>?e5YU iUl™aaeAUEU|4;Ug5;U߾5mB uDAuٵEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfOa;@ɛ|BK I !=ɚiIk=IiFI I8IIuBI&I.ISD6Id<:Ir FBIÍCJIÍCRIZI =bI =jIª6*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zK%.LK%]9K!K%x&K%BK):K)G!j;GiByO>z7 w,#Z3AWill construct direction to contact in vehicle frame from tetrahedron phase data.:e@Y:/s@:z0<9:>y:H@NJ? $@z? J??ɨ:e@:ñ;: CyF)uBFIININ3٢V VT=9VtcQ Z>XX ZG٣\ybn3< b> fNusing accuracyPremultiplier from configdj59fn*?j5YfF ifl™hj (nAfEf:f>;f5p rCDArܵE DNOT Ignoring new targets: 54.20 m. j j jjihhh %$?I!hf)f)f)rf)bf5;@ɛ]|BeDf ae+Ia e=ɚaiiImy=ImiuQb w,Es3A>h0e@Y>fOs@> <9>[?>y>H`,EY?uV?n"?@ծ?ɨ>h0e@>n;>!Cy^uBbI)d dUMb@Mb@Mb@QQQ Q)QYUi|?5?bX9ȶMbyU1?UEUU `A U?=A)URAIU7IAQyUfNAIm Imb3٢} }>=9}Q > G٣yB; > Nusing accuracyPremultiplier from config59?5YV im™N3?:&A EE;D;f5 DADNOT Ignoring new targets: 54.20 m. jjjjihhhh7Bfffrfqbfu@6<@ɛ|B 隭FI =ɚiI==IiI ōC I II uBI =&I .I 6I <:I FG) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK h9K K y&K RK ?JK ?pI w,?ɍ3A2K@e@Y2I_s@2{<92E= >y2H@`Dc? \ӹ@?`?&W?`f?ɨ2K@e@2b;2Cy:tB>IIF9IF3٢N׽ NZ=9RaۻQ R>PP RG٣RNXGyV]); V> ZNusing accuracyPremultiplier from configX^59Z?5YZ iZ+m™  s& AZ EZEJ- cJ- VJ) J) J- :J- B9J) J) J- ;J- ;J- X:J- X:v w,3A6Se@Y6rs@6<966 >y6H;`m? `E`s @??i_x?߱?ɨ6Se@6S;4y^tB^IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y! %G٣!y%); %> 5Nusing accuracyPremultiplier from config)559-끜?=5Y- i-Em™=J4?=:={#=A-E-;-;-5A MEAME}DNOT Ignoring new targets: 54.20 m. jyjyjyjyiyhhhh+Bfffrfbf=@ɛ|B+ 隽I F=ɚiI=Iiq] w,+3A6he@Y6s@6<96 >y6H4@rx?ֻ ?u VO?@?ɨ6he@6;6Cy>tBB]IiF4=IFp=IJ/IJ3٢R. Re=9RQ V>TT VG٣TyZm; Z> bNusing accuracyPremultiplier from config\f59^ف?f5Y^2 i^Ym™dfg#fA^E^ :^q:^5nB nFAnEDNOT Ignoring new targets: 54.20 m. jjjjih h h h fffrfbfa=@ɛM|BM[u IMbII U=ɚQiQIU=I]i])>I IIIkuBI&I.I6Iޯ<:I F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBIK9KKz&K BK:KrAG(<GBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.r w,"o3A >$?I@V`e@YVs@Vw<9V >yVHp7@w?.@z?M[/?@?ɨV`e@V㊓;VCyb_tBbIIIj*Ij3٢r rF=9rјQ v>tt vG٣vOXGyzڝ z> ~Nusing accuracyPremultiplier from config|59~Ł?5Y~m i~om™  p# A~E~:~P:~`5 YGAEEDNOT Ignoring new targets: 54.20 m. jAjAjIjIiIhIhIhQhQfQfQfYrfYbf]y=@ɛ|BZ 隍I S=ɚiI=IiE9JJJ!;J#;JQ:JQ:G-$0<Will construct direction to contact in vehicle frame from tetrahedron phase data.G!B1Om>A w,\<3A27\e@Y26{s@2ت]<92` >y2H8w?yƷ@O$?# ~??ɨ27\e@2ē;2CyBGtBB:I=Mb@Mb@Mb@999 9)9Y=333333?~jtL7A`堿y=9?=ļ=+=^A 9)=QAI=dKA9y=NAIU)IUW3٢el eC=9eyQ e>ii mG٣iyu% u> }Nusing accuracyPremultiplier from configy59}?5Y}/ i}m™9?:Z A}E}9;}Z8;}55 GADNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbf6>@ɛ |B ve  I o=ɚiI*=Ii%k`E1Will construct direction to contact in vehicle frame from tetrahedron phase data. }$?Iy*F2F:FBF0JFG9)<G?G?GH?>I IIIuBI =&I.I6Iw<:I FBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK &KK ػ9K K {&K  w,4A2X;e@Y2VZs@2#A<92(>y2H*Cl?C@t  ?@U$ ?`?ɨ2X;e@2<};0yNtBRI)T TIXIX٢b bU=9b֔Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59n/?r5Yn inm™tv{ vAnEn;n:n5zB ziHAzEDNOT Ignoring new targets: 54.20 m. jjj!j!i!h!h!h)h)f)f)f)rf1bf5`>@ɛ|BE $ I #=ɚiI߫=I i\lJ J t w,>)4Ay5sB5IuWill construct direction to contact in vehicle frame from tetrahedron phase data.]Mb@Mb@Mb@YYY Y)YY]MbX9?A)]PAIYYy]NAI-I3٢ .=9Q > G٣PXGy > Nusing accuracyPremultiplier from config59dž?5Ye im™A?:AE0;;5B HAEDNOT Ignoring new targets: 54.20 m. jjj!jihhhhBfffrfbf`b?@ɛU|BUJe QUIY }e=ɚyiyI}/=Iiz w,;B4A>e@Y>'s@>Y4<9>>y>H R]?1 `e N?~怿!?߸?ɨ>e@>;> CyJsBJIIZ'IZ@3٢b! bq=9b*Q b?dd fG٣dyf| j? nNusing accuracyPremultiplier from confighr59ju?r5Yj  ijm™pvvAjEj;j;ji5x zIAxDNOT Ignoring new targets: 54.20 m. jjjj!i!h!h)h)h)f1f1f1rf1bf5g?@ɛe|Beǽ ens=eIi m٩=ɚiiiImz =IuiuZtIa Ie}IIetBIa&Ia.Ia6Ieu<:Ia*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKVBJK9KK|&K0w:G1G9G9GB!OE> = $?IA E Will construct direction to contact in vehicle frame from tetrahedron phase data. w,*\4A2d@Y2s@2;92L>y2H\R?µ `l)@-?@j\{)?@w?ɨ2d@28];0y:sB:IiB=IB4<IJ-IJ3٢R# RL=9VpQ V>TX ZG٣XyZ Z> =Nusing accuracyPremultiplier from config9E59=%a?E5Y= i=m™IMMA=E=T:=u:=<5Q uIA}EDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf`?@ɛM}BMrk IUXIQ U=ɚYiYI] =Iuiu\)  u G tA yY tAy A w,Dv4ABd@YBr@Bb;9BS[>yBH#c`L?2:@z ]/ໝ?tO? ?ɨBd@B9;BCyNsBNI-Mb@Mb@Mb@))) )))Y-x&?Zd;O? rhy-7I?-j<=-C) ))-OAI-vLA)y)IEIE?13٢ :=9Q > G٣QXGy> > Nusing accuracyPremultiplier from config59K?5Y im™I?:IA"EW;U;5B :JAE%DNOT Ignoring new targets: 54.20 m. j!j!j)j)i)h)h)h1h5Bf1f9f9rf9bf=@@ɛe }Buæ quIq }ӛ=ɚyiyI}G =Ii=I}ƍC I}KII}ctBI} =&Iy.I}TD6I}<:I} FBIōCJIōCRIȓCZI =bI =jIȀI5G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.# w,2Z4AzKFLKFh9KDKF}&KF ysBII-I3٢Eq ES=9MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configYe59]x8?m5Y] i]m™iimA]$E]:]:]5q }JAyDNOT Ignoring new targets: 54.20 m. jjjjihhhhff1f1rf9bf=8S@@ɛ}Bܯ 隍 I =ɚiIK =Iig~* w,^4A6cd@Y6br@6;:968c>y6Hx4?M^@>C?@}gZ? ?ɨ6cd@6;6Cy>nsB>I)H JA}Mb@Mb@Mb@yyy y)yY}i|?5?p= ף?{Gzty}Q?}=}ףy y)yI}dKAyy}fNAI!Ii3٢A -=9Q > G٣yF > Nusing accuracyPremultiplier from config59 ?5Y! im™SR?:_A'E;;5B KAEDNOT Ignoring new targets: 54.20 m. jjjjihhh!h%jBf!f!f)rf)bf-@@ɛ}BU I =ɚiI"=Ii\1 w,`4AJeJVJ1JJ\:JB9J3JH4I4 I6II6tBI4&I4.I46I6<:I6 FR`d@YRr@R 69R]>yRH $?&ݳMO`C?\޾`w? ?ɨR`d@R);RCyZ\sB^IIf)IfW3٢n< n[=9rQ r>pp rG٣vRXGyv< v> zNusing accuracyPremultiplier from configx59z ?5Yz' izm™   Az*EzJ;z:K;zz5 GKAEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf@@ɛE'}BE˽ AEIA M$!=ɚIiIIM=IUiub18 w,_4A2Fd@Y2er@2Ⱥ92]\>y2H@?$gB/Wb?Y?``??ɨ2Fd@2ސ;2Cy>fsB>IIF#IF%x3٢N< NF=9NsQ R>PP RG٣PyVR{ V> ZNusing accuracyPremultiplier from configX^59ZT?^5YZ, iZm™\bbAZ,EZC:Z":ZH5d f KAd}DNOT Ignoring new targets: 54.20 m. jyjyjjihhhhfffrfbf @@ɛ2}B= I I=ɚiI+=Ii&3V> w,!4A I~Will construct direction to contact in vehicle frame from tetrahedron phase data.yVsBIi  G٣y > Nusing accuracyPremultiplier from config59Iހ?5Y4 im™Z?x:A0E";;X5B UKAEDNOT Ignoring new targets: 54.20 m. jjjjihhhh%TBf!f!f!rf!bf-.A@ɛU;}B]н Y]IIY ]x=ɚaiaIe_=IeimI IIIsBI =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.G <zK LK 9K K &K    RK ?JK ?G B O >>E w,5AVc@YVr@V9VK>yVH>@? {`"& jx?`wu?@P?`?ɨVc@Vg ;VCyn^sBnIIv3Ivʴ3٢~[< ~X=9$Q >  G٣ SXGy $M  ? Nusing accuracyPremultiplier from config59ˀ?5YU9 im™!%%A2E ;C ;5-B -/KA-EUDNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhYhYhahafafafirfibfm[A@ɛC}B 隝BI N=ɚiI=Iil Will construct direction to contact in vehicle frame from tetrahedron phase data.8jK w,/5A6kc@Y6jr@66096{>y6H"`&?H {qq?~?`e?G?ɨ6kc@6;6CyBksBBIMb@Mb@Mb@ )Y +?{Gz?I +?yV?ף=94<\A )MAIyMAIUIU?13٢e*< eD=9mQ m>ii uG٣qyu돻 u> Nusing accuracyPremultiplier from configy59}?5Y}? i}m™W?{:1A}5E}?];}[;}5 JADNOT Ignoring new targets: 54.20 m. jjjjihhhhOBfffrfbf@͐A@ɛ%L}B%2ν )-I) -=ɚ)i)I5.=I5i5GBOA> IWill construct direction to contact in vehicle frame from tetrahedron phase data.H C>I  I I I =&I .I SD6I ȯ<:I F)OR w,I5A6Ec@Y6Dq@6x96>y6H`?@@@} ??`p??ɨ6Ec@6xc;6CybzsBbI)d fAIjIj2٢v= vS=9zƳQ z>x| ~G٣|y~ >  Nusing accuracyPremultiplier from config 59#?5YFE im™`A7E:n:b5%B %JA%EMDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhQhQhQhQfYfYfYrfabfeUA@}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛV}B#ҽ I y=ɚiI/4=Ii4C)   $?I G ҸG B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 1 %zX w,?c5A6c@Y6q@6?B96?>y6H?`Z݆D"?G?6\?:?ɨ6c@6Վ;6CyRsBRIIXIX٢fWP= fM=9jQ j>hh jG٣jTXGyn n> rNusing accuracyPremultiplier from configpv59r?v5Yr-K irm™xzzAr:Er:rz:r!5| ~eJA E%DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h)h1h1f1f1f9rf9bf=@}A@ɛ_}Bgm 隕I /Ă=ɚiIZs=Ii I ǣ^ w,Qg}5AybsBbIrWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YZd;?V-?I +?yY?m=9<]A )IMAyNAII(*3٢I= ;=9Q > G٣y > Nusing accuracyPremultiplier from config59s?5YxQ im™oZ?x:SA=E;;5B JA E%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h)h)h-{Bf9f9f9rf9bf=f-B@ɛej}Bm@ѽ imQIi m;|=ɚqi I=IiI IIItBI =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՑG O8G B O >zK= "MK= ]9K9 K= &K=    e w,LO5A:SRc@Y:Rqq@:pT9:-n>y:H@@?H?Wj?@?U?ɨ:SRc@:;: CyVsBZIi`Ib4< j=hIpIp٢~= ~X=9~^Q ~> G٣y$  > %Nusing accuracyPremultiplier from config59 _?5YV inm™A@E<<5 IAEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf@_B@ɛt}B0 I u=ɚiI%=I5i=H Will construct direction to contact in vehicle frame from tetrahedron phase data.k w,5Al|uA =YE|uAyEAu9c@YuXq@ur9ud>yuH#?@F@і@qk?@"? ? ޵?ɨu9c@uB;uCyޝsBޝI]Mb@Mb@Mb@YYY Y)YY]Q?S㥛?S㥛?y]\O?]/<]/<]\A Y)]NAI]vLAYy]MAIu Iub3٢d= 4=9龻Q > G٣UXGyX > Nusing accuracyPremultiplier from config59F?5Y\ iXm™O?:ACEy;; 5B IAEUDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhQhYhYh]BfYfafarfabfeB@ɛ=}B=jǽ 9=)I9 Ek=ɚAiAIE(=IMiM]jH} <bH} p<H @>I ōC I 8II DtBI =&I .I 6I <:I FBIMƍCJIMƍCRIIZIIbIIjIMˆ5r w,5A66c@Y6Uq@696 >y6H`A?SB@F??`)? ?ɨ66c@6 ̏;4yBsBB IIJIJ3٢= g=9 Q  >    G٣y > ENusing accuracyPremultiplier from configAM59E23?U5YEa iEGm™y}}AEEEE;E;E= 5 HADNOT Ignoring new targets: 54.20 m. jjjjihh9h9hAfAfAfArfAbfMB@}Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}Bb 隍I d=ɚiI8P=Ii0Z;ivN))*F?2F:FBFQ5JFG GzK};LK}9KyK}&K} wn  I  J 8 yy*FcJyfR?1& U$?IYGmG ?G>G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.x w,5A6)c@Y6Hq@6Z\ɼ96_ >y6H@@?4﮿ @-? *?o? "?ɨ6)c@6w;6CyBtBBI)D DIJIJ?13٢R= RQ=9R_ʻQ V>TX ZG٣\y^5 ^> fNusing accuracyPremultiplier from config`f59b<?j5Ybf ib3m™hjjAbHEb:b:b 5nB r>HArEDNOT Ignoring new targets: 54.20 m. jjjjihhhhff!f!rf!bf-@B@JeJXJ1JJ\:J5K9J3Jɛ}BhϽ 隭I l[=ɚiIw=Iiz;ib))Will construct direction to contact in vehicle frame from tetrahedron phase data.թiթ*F}?2Fy:FyBF}Q4JFyG G"GGG B O- > A IA G~ w,5A~Will construct direction to contact in vehicle frame from tetrahedron phase data.yDtB 8IMb@Mb@Mb@ )YFx?Mbp?V-?yK?;<"aA )MAINAy3OAII#3٢-= -4=95Q 5>99 =G٣=VXGy= E> MNusing accuracyPremultiplier from configAM59E?U5YE)l iEm™UK?U:U UAEJEEV;E-;E5a eGAeEDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbf1C@ɛ}B+ I C U=ɚiI=Ii2;i))*F?2F:FBFO0JFH5?>I1 I5jII5tBI1&I1.I16I5ů<:I5 FGaBiO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LSPK 9K K &K |wplgd_\WSOKHE?=>;=:6520.,)''')(#   RK ?JK !?م w,҉6AB/8c@YB.Wq@Bv]9B>yBH b?ȭ@M ? J??۬?ɨB/8c@B5;BCyRatBRJIIZ IZ(2٢b?= be=9beQ b>dd fG٣dyj; j> nNusing accuracyPremultiplier from confighr59jW?r5Yjp ij m™pr vAjMEj;j;jz5zB ~ GA~EUDNOT Ignoring new targets: 54.20 m. jQjQjYjYiYhYhYhahafafafirfibfm6`C@ɛ}B  $?IhyIY ]N=ɚYiYI]=Ieie;ie*‚)a)i Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%P0JF!G1G1GABIOe4>JdJ[J2JJ<:JW9Jc3J Will construct direction to contact in vehicle frame from tetrahedron phase data. w,e26AyrwtBvXIiz=Iz< zp=xMb@Mb@Mb@ )Y?V-y&1?y@?`< `A )IyNAII2٢iL= :=9Q > G٣y > Nusing accuracyPremultiplier from config599?5Y[u il™F@?:#AOE ;;e5B FA E5DNOT Ignoring new targets: 54.20 m. j1j1jjihhhhBfffrfbfC@ɛ-}B5fս 15I1 5E=ɚ9i9I=N =I=iEq;iE9,)A)A I*F?2F:FBFJFGBO J>Will construct direction to contact in vehicle frame from tetrahedron phase data.H! I!  I% II% tBI% =&I! .I! 6I% <:I% F w,+NL6A6ec@Y6q@6o 96ܖ>y6H`B?"w`? k??`?ɨ6ec@67;6"Cy>tB>hIIJIJ<2٢RO= R_=9RiUQ R>TT ZG٣ZWXGy^; ^> bNusing accuracyPremultiplier from config`f59b?f5Ybay ibl™djd#jAbREb:b:b5l n@FAnEeDNOT Ignoring new targets: 54.20 m. jajajajaiahihihihifffrfbf@C@ɛ}B5 I >=ɚiIE!=Ii;iG ^))uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFePExceeded connect timeout, disconnecting.zKnCNKS9KK&K BK:KpA $?IG{#G ?G*?GBO- >% Will construct direction to contact in vehicle frame from tetrahedron phase data. w,*f6A6ŀc@Y6ğq@6<96U>y6H@i? mP?{?@?G?ɨ6ŀc@6Z;6CyBtBB}IININ2٢V= VJ=9Z垻Q Z>XX ^G٣\yb; b> fNusing accuracyPremultiplier from configdj59f?j5Yf} ifl™hnJ#rAfTEf…;f;f5  EA =DNOT Ignoring new targets: 54.20 m. j9j9j9jAiAhAhAhAhIfIfIfIrfIbfUC@ɛE}BEtx IMwII U6=ɚqiqI}"=Ii>;ixML))*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G- :_G B O- > I @ w,/6A2ɩc@Y2q@292>y2H `?z7_??L'??ɨ2ɩc@2;0yBtBBI)D DnWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YK?Zd;~jt?y^:?y<9bA @A)IPAyQPAIIm?3٢1= 9=9*Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y? il™;?:% AWEL;;5B hEA"E=DNOT Ignoring new targets: 54.20 m. j9j9j9jAiAhAhAhAhMTBfIfIfIrfIbf4D@ɛU}B]lQ޽ Y]IY ].=ɚYiaIeB#=Ieim$;i *))H@>I III8uBI =&I.I6I<:I F*F%?2F!:F!BF%0JF!"G5R=G5p=JiJmYJiJiJiJm[O9JiJiJm ;auJm#;auJm2n:a}Jm5n:a}Will construct direction to contact in vehicle frame from tetrahedron phase data.GM *UG B O1 e nManaging dock network, ignoring radio surface power offzK 0(LK 9K K &K  #*-5;ACAA=;:93//,'%! RK ?JK ?' w,љ6AJbc@YJar@J?,9JZ>yJH@`\?0@7 cKdz?`i? ?s?ɨJbc@J㲏;JCyRtBRII^I^T3٢f < f]=9f!Q f>hh jG٣jXXGyj{&< n> rNusing accuracyPremultiplier from configpv59rB?v5Yr irl™tz%zArYEr:r:rN5| ~WEA~%E E$?IADNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf:eD@ɛU}BU Q]IY ]'=ɚYiYI]=$=Iui};i})y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF-O5JF)GU.-GaGaGI Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.V w,׿6AFd@YF$r@FI39FP>yFH`^`?@Ŗ # WA?@_g??@?ɨFd@Fs͏;FCyRtBRI=Mb@Mb@Mb@999 9)9Y=aa eG٣aym=; m> uNusing accuracyPremultiplier from configq}59up?}5YuR iul™u4?:&Au[Eu;u;uM5 DADNOT Ignoring new targets: 54.20 m. jjjjihhhhPBfffrfbfD@ɛ}Be amlIi mc =ɚiiiIm%=Iuiu ;iu+1Ȼ)q)y 1I1*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G UG B O >H ?>I  I II uuBI =&I .I 6I <:I FJ} cJ} ZJy Jy J} :J} S9Jy Jy J} ;J} ;J} ]u:J} _u:: w,6AF3d@YFRr@FS:9F>yFH`3?f 52@r? bH?w ??ɨF3d@FQ ;F CyrtBrIiv G٣y; %> -Nusing accuracyPremultiplier from config!-59%^?55Y% i%l™15&5A%]E%%;%;%5EB EEAE(EmDNOT Ignoring new targets: 54.20 m. jijijijiiihqhqhyhyfyfyfrfbfD@ɛ}BY 隽I K=ɚiIA&=IiAc;i|+r))eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFGqA GqAzKXMKh9KK&K     $?IhG̻GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.6d w,c6A2Od@Y2nr@2@92C>y2H`@?`Ȩ@@'?? N+??ɨ2Od@2;2CyNtBRIIZIZ3٢b~B bO=9bQ b>dd fG٣fYXGyjJ; j> ]Nusing accuracyPremultiplier from configle59nJ?m5Yn inl™iml&uAn_En I K w,)>7A:sd@Y:r@:F9:3>y:H xmO?GNzY,?@Ш? ?@?ɨ:sd@:;8yFtBFIbWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%ʡE?333333QQ UG٣QyUk; ]> mNusing accuracyPremultiplier from configiu59mB5?u5Ym iml™u83?u:}<&}AmbEm&%;m#;mq!5 EADNOT Ignoring new targets: 54.20 m. jjjjihhqhyh}7Bfyfyfrfbf`26E@ɛ~B*{ I q] =ɚiI(=Ii;i;))Hu;>IučC Iu IIuuBIq&Iq.Iq6Iu<:Iu FBI=ōCJI=ōCRI9ZI= =bI= =jI=ę5*F?2F:FBFU0JFJUdJUWJQJQJU<:JUG9JQJQJU ;JU#;JU_:JU_:uWill construct direction to contact in vehicle frame from tetrahedron phase data.G*G B O >w w, 7AzKR&LKKK&K:d@Y:r@:>L9:L>y:H|o\?YYd2?@? ? ? R$?IPɨ:d@:;8ybtBbI)d dhjAAInInV83٢v? vP=9v(Q v>xx zG٣xy~l; ~> Nusing accuracyPremultiplier from config 59!? 5YM il™  &AdEq:: dEA0EEDNOT Ignoring new targets: 54.20 m. jAjAjAjIiIhIhIhIhQfQfQfYrfYbf] eE@ɛ~B~ 隍I k=ɚiI)=Ii;iZq-:))*FI2FI:FIBFMo0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G˴JQJQGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data.+ w,47ABd@YBr@BP9B>yBHcl? mji@G?`?0 ?d?ɨBd@B;B"CyRtBRIeMb@Mb@Mb@aaa a)aYe +?:vI +ye6?eTe9e9bA eV>A)aIeRAayeOAI} I}V2٢L< A=9Q > G٣ZXGy; > Nusing accuracyPremultiplier from config59( ?5Y i|l™Z7?:#AfE(;';%5 B DEA3EDNOT Ignoring new targets: 54.20 m. jjjjihhhhABfffrfbf E@ɛ5,~B5Tv 9=/I9 =Jx<ɚ9i9I=$+=IEiE[;iEA.;)I)I $?I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GzQGGGBO >ZHi RHm AAHu 6>Iq  Iu IIu uBIu =&Iq .Iu RD6Iu <:Iu FJe eJa Je 1Ja Je \:Ja Je 3Ja Je ;Je ;Je _:Ja w,N7A2*d@Y2)r@2 V92>y2HKd>l?`󰦿g xS?Y?@0?x?ɨ2*d@2};2CyBtBBIIJIJ3٢R] RZ=9VfQ V>TT VG٣TyZf Z> bNusing accuracyPremultiplier from config`f59bP~?f5Yb ibyl™df#fAbiEb:b:b&5l n|EAl DNOT Ignoring new targets: 54.20 m. j j j j i hhhhfff!rf!bf%E@ɛ9~BE 隭I 2p<ɚiI1,=IiU;i;))EEqAEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFzK]BoJK]+9KYK]&K] $?IGu:GQBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.u w,h7A:id@Y:hr@:[9:0l>y:HtcVn? vҥ:g`'R?n??@!?ɨ:id@:M;:CyJtBJsIiR%=IR< V=V=I^ I^b3٢j?b jG=9nUQ r>pp vG٣tyzA9 z> Nusing accuracyPremultiplier from config 59~?5Y iul™%#%AkE;4;q(51 5EA=6EuDNOT Ignoring new targets: 54.20 m. jqjqjyjyiyhyhyhhfffrfbfF@ɛUF~BU7x Y]$IY ]<ɚYiYI]]-=Imi;il ;))*Fm?2Fq:FqBFuB5JFyMWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm:GA BQ i Ii O} > w,腂7A:d@Y:r@:؀a9:>y:H=fk?Q b  `\?u,?`?T?ɨ:d@:u3;:CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVtBVlI=Mb@Mb@Mb@999 9)9Y=Gz?y&1~jty=p=?=`弹=ļ=ScA =C=A)=;IAI=SA9y=3OAI])I]W3٢mۼ mA=9m bQ m>qq uG٣qy}κ }> Nusing accuracyPremultiplier from config59,~?5Y iol™=?:r!AmE;y;H*5 B EA9EDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbf76F@ɛT~B 隵I =<ɚiI.=IiG;if :))H.>IC IIIuBI =&I.IQD6Iٯ<:I F*FE?2FA:FABFE3JFAUWill construct direction to contact in vehicle frame from tetrahedron phase data.GYGu ?Gu?G) B9 OU > ] $?IY e w,[{7AzKRIKKK&K>ʓd@Y>ɲr@>>f9>Y>y>Hel )d? MkY Ew?ì?`?෣?ɨ>ʓd@>xύ;>CyFtBJdIIRIR3٢z ~V=9~BQ ~> G٣[XGy^  > Nusing accuracyPremultiplier from config59M~?5Y ijl™!ApE:;+5) -1FA)UDNOT Ignoring new targets: 54.20 m. jQjQjQjQiQhYhYhYhYfafafarfabfehF@ɛ`~B 隕EI  :<ɚiIX/=Ii;i½9))E]>E*FE?2FA:FABFEP0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.G:J1J5VJ1J1J1J5B9J1J1aE@aE@aE@aE@GBO >U Will construct direction to contact in vehicle frame from tetrahedron phase data. w,D7AystBUI)! !!!Mb@Mb@Mb@ )Yp= ף?Mbp?{GzyE?;ף`A )GAIQAyMAII#3٢`_ 8=9Q > G٣y > Nusing accuracyPremultiplier from config59~?5Y i_l™0E?%:%%ArE;;-5- B -FA->E]DNOT Ignoring new targets: 54.20 m. jYjYjYjYiYhahahaheӃBfififirfqbfu`F@ɛo~Bb 隵I F<ɚiI1=Iib;iri:)) $?Ih*FY2FY:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.G 9jH bH <H +>I  I II uuBI =&I .I 6I <:I FG1 BI Oe > w,'7Auud@Will construct direction to contact in vehicle frame from tetrahedron phase data.Yur@uoo9uP>yuHtZ? ?` M` ???'?ɨuud@u;u CyqtBTIIU*IU3٢mw m=9u"Q u>q G٣\XGyee > Nusing accuracyPremultiplier from config59-~?5Y iQl™AvE::+05 B FAAE $?IDNOT Ignoring new targets: 54.20 m. jj j j i h h hhfffrfbf@F@ɛE~BE. IM II Mtȍ<ɚIiIIMKm2=IUiU;i]U)Y)Y*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. i G= ĝ:GQ GQ G1 B9 O] > w,7A6uid@Y6tr@6Rs96 >y6Hw@V?}G,@?s???ɨ6uid@6;6Cy>ktB>PIIFIF3٢N` R=9RvQ R?TT VG٣TyV14 V!? ^Nusing accuracyPremultiplier from config\b59^|~?b5Y^d i^Jl™dffA^wE^L;^M;^_15l nFAlJ~gJ~XJ~2J|J~%:J~5K9J~c3J|DNOT Ignoring new targets: 54.20 m. jjjj!i!h!h!h!h)f)f)f)rfbf G@ɛM~BMB@ U =U"IQ ]4<ɚYiYI]3=Ieie<;ie)a)E-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq2Fy:FyBF}]0JFy IG] G9 BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.ew,8A6[Rd@Y6Zqr@6iy96[ >y6HV~O? 0롿 .>`"? N(?@?@?ɨ6[Rd@65;6"CyfZtBjEI np=np=eMb@Mb@Mb@aaa a)aYeCl?y&1? G٣y:U > Nusing accuracyPremultiplier from config59e~?5Y: i6l™P?:eAzE<;<;;C35 FADEDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbfY=G@ɛ~B%H)>IC IIIWuBI&I.IPD6Iկ<:I F $I L4_<ɚiI5=Iix;i=))*F?2F:FBFo0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G ˴G B O > $?I zKU LKU h9KQ KU &KU  *w,8AyeYtBaIu.Iu3٢y H=9Q > G٣y > Nusing accuracyPremultiplier from config59 O~?5Y i#l™A}E:Q;55 B FAGEEDNOT Ignoring new targets: 54.20 m. jIjIjIjIiIhIhIhQhQfQfQfY}Will construct direction to contact in vehicle frame from tetrahedron phase data.rf9bfEvG@ɛ~BV$ 隭%I J:<ɚiI56=IiP;i+4))*FM?2FI:FIBFM0JFQJJ@AJ-eJ)J-1J)J-\:J)J-3J)GE Wq c~G = Will construct direction to contact in vehicle frame from tetrahedron phase data. ] hYa ye AG G .?G B O >^ w,98A>K(d@Y>JGr@>L9>i >y>H @?3,.?&?`?ס?ɨ>K(d@>R ;>CyJqtBJSI r@v v@v v@v  v@v IxIx٢r= V=9 Q  >    G٣ ]XGy޻ > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59 ;~?-5Y il‘-+:15S:55AE!*;>h659 =FAA ]$?IaDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf`ͤG@ɛM~BM+9 qua$Iq u<ɚqiqIu7=IiP";i-n))Will construct direction to contact in vehicle frame from tetrahedron phase data.EEEpA*F?2F:FBFo0JFH(>I IIIBuBI =&IDD.I6I<:I FBI}CJI}CRI}ȔCZI} =bI} =jI}ȝ(6G b(U Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >sw,'V8AR^d@YR] r@R d9R >yRH@E`'2?-@8?@i?@?`)?ɨR^d@Reb;RCyvwtBzWI)| |I%I)3٢^< 2=9Q > G٣y%y %> EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=~"~?U5Y=  i=k‘U :QU+:UUA=E=jW;==W?=75eB efFAeLEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf G@ɛm~Bm6( im$Iq u;ɚqiqIuZ9=I}i};;i})y $?Ih)E̓=zKgKK]9KK&KRK?JK ?*Fu?2Fq:FqBFu5JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.G] XG1 BA O] >JsKs KsKsKs"KsJ dJ ZJ J J <:J S9J J w,p8A6Vc@Y6Ur@6S96( >y6H1?>`:?y? z?໡?ɨ6Vc@6^;4yB{tBBZIIJIJV83٢%< %J=9-fQ ->)1 5G٣1y > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configE59$ ~?M5Y Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Չik‘9 :AE=7?85  5TFA=OEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf H@ɛm~Bmw$ iu%Iq u#;ɚqiqIu:=I}i};iy)y) IE l=- Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm ?2Fi :Fi BFu o0JFq H '>I  I I I &I .I 6I ǯ<:I FG;3GGGBO?($w,\q8A6%c@Y6$q@6/96 >y6Hடa%? Ct??z??ɨ6%c@6ڊ;6!CyBtBBgI u } }} }}  } } }Mb@Mb@Mb@yyy y)yY} G٣^XGy > Nusing accuracyPremultiplier from config59}?5Y ik‘T:S?:AE8W;U;:5 EADNOT Ignoring new targets: 54.20 m. jj j j i h hhhBfffrfbf TH@5Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛU~BU+ Y]%IY ]O;ɚYiYIet\<=Ieie0;im)i)qEyEy*Ey"Ey E$?IA*F2F:FBF0JFzKK9KK&K  Will construct direction to contact in vehicle frame from tetrahedron phase data. i G G B O >*w,+8Abc@Ybq@bp9bu >ybHW ?@!:o@TX?? be?e?ɨbc@b;b CyntBrrII%I%2٢52= 5K=9=(Q =>9A EG٣AyE* E> ]Nusing accuracyPremultiplier from configQ]59U}?e5YUy iUk™ae[eAUEU:U :U<5mB uEAuREDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfAH@ɛ=~BE]6 AMl%II Upm9ɚQiQIU==Ieiee;iuH)q)J!J%UJ%2J!J!J%>9J%c3J!*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GZGBOe> $?Ie1w,8A*Will construct direction to contact in vehicle frame from tetrahedron phase data.Jc@YJq@J9J0 >yJH` ?) oX@_?`ι?l??ɨJc@J ;JCyVtBVIEMb@Mb@Mb@AAA A)AYEʡE? ףp= ?Q?yE-R?EQ8=E G٣_XGy9 >  Nusing accuracyPremultiplier from config 59}?5YB iok™R?:KAEL$; #;>5%B %EA%UEUDNOT Ignoring new targets: 54.20 m. jQjQjQjQiYhYhYhYheBfafafarfabfm@H@ɛB5 隝#I \ɚiI;?=Ii?;iS))EHI IIIauBI =&I.I6I<:I F*F)2F):F)BF-P0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.GM G] ?G]?G) B1 Ou > I 7w,"8A:qic@Y:pq@:a9:E >y:H಼ j?| `@+?Z?@b? ?ɨ:qic@:щ;:CyNtBNIIV IV2٢^H= ^_=9b Q b>`` fG٣dyf$ f> nNusing accuracyPremultiplier from confighn59jP}?n5Yj8 ijKk™prjrAjEj:j:j(@5t vDAvWE%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h!h)h)f)f)f1rf1bf5`H@zKU#LKU]9KQKU&KUɛmBmgA qu"Iq }rɚyiyI}j@=Ii ;iqo))*F ?2F :F BF _0JF UWill construct direction to contact in vehicle frame from tetrahedron phase data.Gc?GBO$>*J"JR= Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,J8AytBI ]$?IYMb@Mb@Mb@ )YK7A`?V-?L7A`?yK?<+=]A )DAIyLAII3٢; 8=9Q >  G٣ y  > Nusing accuracyPremultiplier from config59}?%5Y ik™%QK?%:%%AEz;;B55B 5uDA5ZEDNOT Ignoring new targets: 54.20 m. jjjjihhhh݃Bff f rfbfB)I@ɛ])B]P/ Y]#IY eǻɚaiaIe0B=Ii^N;iO@l))*F]?2FY:FYBFeU0JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II uBI &I .I 6I q<:I k FG \LG G Ga Bq O >J J YJ 1J J J [O9J 3J J ;a J !;a J 1n:a J 3n:a Dw,n9A6Kc@Y6jq@6M96ɍ >y6H ?D`c[?sC?t??ɨ6Kc@6;6Cy^uBbIIf If2٢v> v]=9vQ z>xx zG٣xy~D ~> Nusing accuracyPremultiplier from config 59}? 5Y ij™AEe:P:C5Will construct direction to contact in vehicle frame from tetrahedron phase data. CA]EDNOT Ignoring new targets: 54.20 m. jjjjihhhh f f f rf bfXI@ɛ=7B=4E 9=!IA EJɚAiAIE^C=IMiM;iMGG)I)QEqEuqA*F2F:FBFl0JFG G M$?IMhzKRIK9KK&K#G 7|t%jf!Ur UrCG W]GBO- >m Will construct direction to contact in vehicle frame from tetrahedron phase data.]Jw,cF-9A2>c@Y2]q@2(r92 >y2H@Q?@· Ad ?*'?@r?`?ɨ2>c@2͊;2 Cy:=uB:IiBpp rG٣r`XGyz z>  Nusing accuracyPremultiplier from config%59q}?%5Y ij™!%%AEj;n;yE51 56CA1]DNOT Ignoring new targets: 54.20 m. jYjajajaiahahahihifififqrfqbfu`̉I@ɛ=GB=8U= 9E IA EO#ɚIiIIMUD=IUiUDj;iun)q)y*F?2F:FBF0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.4= =$?I9Gu+GI Ba O >3Qw,\!G9A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:Ic@Y:hq@:(9: >y:HNM?`T@]q? ?y??ɨ:Ic@:c;:Cy~]uBIMb@Mb@Mb@ )Y/$?MbP rh?y1H?C =[A )Iy\KAIIb2٢= <=9 Q > G٣yz: > Nusing accuracyPremultiplier from config59Z}?5Y ij™aH?:/!AE;;[G5B BA`EZHRH@AHI I>IIuBI&I.I6Iw<:Io FDNOT Ignoring new targets: 54.20 m. jjjjihhhhBfffrfbf `I@ɛ]YBe6 aeIa eqGɚaiaImE=ImiuL;iuL)q)qJeJVJJJ\:JB9JJJ;J;JX:JX:*F?2F:FBFe1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G- G5 ?G5 ?G B ) I) Oe >Ww,`9A2Dc@Y2cq@292z >y2H`@}?y@j\@R???\?ɨ2Dc@2S;2 CyRuBRIIZIZ?13٢bs= b\=9bf%Q b>dd fG٣dyjo j> nNusing accuracyPremultiplier from configlr59nF}?r5YnO  invj™pv4!vAnEn-;n;nH5x zAAzcEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffzKn0PK 9KK&K|mcYO7 rfbf I@ɛ%hB%`G !%I! -dɚ)i)I-%G=I5iUb;i]솼)Y)YEmR>Em!>UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF 5JF"G==G==Gi)= ~G GQ BY i O > Y y A Will construct direction to contact in vehicle frame from tetrahedron phase data.^w,{9A Z$?IZhjgUc@Yjftq@jJȽ9jY>yjH@D ?9n@T ??ɦ? 5?ɨjgUc@jί;jCyvuBvI)x xxzA}Mb@Mb@Mb@yyy y)yY})\(?:vV-?y}GA?}Լ}<}\A }- G٣aXGyb; > %Nusing accuracyPremultiplier from config!-59%j/}?-5Y%A i%Hj™5A?5:56#5A%E% ;%;%J5=B EWAAEhEuDNOT Ignoring new targets: 54.20 m. jqjqjqjqiqhqhyhyh}*Bfffrfbf )J@ɛyBr: 隽I 7yɚiIRH=IiD;i~))*FU?2FY:FYBF]1JFYUWill construct direction to contact in vehicle frame from tetrahedron phase data.G=H%>I IwIIKvBI&I.I6Im<:Ig FBIeCJIeCRIeȓCZIabIe =jIe4G1 BA O] >J dJ [J J J <:J W9J J J ;J !;J |:J |:idw, 9A6pc@Y6ӏq@6mн96$F>y6H@?@TII J?!? ?@?ɨ6pc@6>;4yRuBR.IIZ IZ(2٢f&= fc=9f4Q f>hh jG٣hynL; n> rNusing accuracyPremultiplier from configpv59r}?v5Yr: ir#j™tz#zArEre:r:rL5| ~@A%DNOT Ignoring new targets: 54.20 m. j)j)j)j)i)h)h)h1h1f1f1f9rf9bf=`WJ@ɛmBmI qu:Iq uO‘ɚqiyI}]qI=I}i';i"f))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBFUP0JFQ $?IGqGyGyGIzKUMKU9KQKU&KUBKa:KaBiO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,!9A:Jc@Y:Iq@:-׽9: >y:H`m&?6V? @@C? ?޻?%?ɨ:Jc@:߉;8yFuBF:IININV83٢V?= VL=9ZQ Z>XX ZG٣Xy^:B; ^> bNusing accuracyPremultiplier from config`f59b}?f5Yb jtIibi™hj#jAbEb;b;bCN5nB ru@ArkEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf6J@ɛMBMZ; IM'II <ɚiIvJ=IiX&;i\kY))E*Fi2Fi:FqBFqJFqG GWill construct direction to contact in vehicle frame from tetrahedron phase data. IGG B O >rw,.r9AWill construct direction to contact in vehicle frame from tetrahedron phase data.i:fc@Y:eq@:޽9: >y:H=@4:?cr?;93\c?$ϻ?d?ࢁ?ɨ:fc@:qD;:CyJuBJIIiR=IR=5Mb@Mb@Mb@111 1)1Y5On?:vQ?y58?5T5u<5[A 5;A)5p?AI5TA1y5JAIMIM3٢]e]= ]@=9]Q ]>aa eG٣ebXGymK; m> Nusing accuracyPremultiplier from configq59u|?5Yu iui™9?:%AuEu2IY I]II]vBIY&IY.IY6I]<:I] FDNOT Ignoring new targets: 54.20 m. jjjjihhhh8BfffrfbfJ@ɛ%B%wP= )5I1 5ɚ9i9I='K=IMiMv;iU4)Q)Q*F2F:FBF^0JFJgJXJJJ%:J5K9JJJQ$;JT$;Jg:J g:Will construct direction to contact in vehicle frame from tetrahedron phase data.G K $?I G B O- >+xw,B9A:6c@Y:5q@:9:>y:H C?Fy?3i* ???}?ɨ:6c@:ˉ;:CyJvBJXIIRIRT3٢Z= ZV=9^p Q ^>\` bG٣`yb/; b> jNusing accuracyPremultiplier from configdj59f>|?j5Yf  ifi™ln%nAfEf;f';fQ5x z?AznE%DNOT Ignoring new targets: 54.20 m. j!j!j!j!i!h!h)h)h)f)f1f1rf1bf5`J@ɛeBeR ae#Ii mɚqiqIuL=I}i}M;i}*)y)zK]JK]9KYK]&K]F)46;>874-!wmbWJC=51+%" RKm ?JKm?*F?2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G5hAG= ?G=>GB1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data.$Y~w,E.9A $?I %1c@Y%0r@%U9%#>y%H~V?J?PF\? y? ?@y?ɨ%1c@%<;%Cy=CvB=rIMb@Mb@Mb@ )Y333333?Q뱿~jtx?y9?\;E\A ;A)?AITAy3KAII2٢= 7=9Q > G٣y  ;  > Nusing accuracyPremultiplier from config59|?5Y5% ii™%x:?%:%N&%AE;3;S5-B -?A5qEDNOT Ignoring new targets: 54.20 m. jjjjihhhhnBfffrfbf-K@ɛ=B=q8 Ez=EIA m5ӼɚiiiImM=IuiuC;iu$ )q)yEE*F?2F:FBF0JF!"G-=G-==Will construct direction to contact in vehicle frame from tetrahedron phase data.HU >IUC IUIIUwBIU =&IQ.IQ6IUɯ<:IU FGE +I,G By O >s=w,r:A6Qc@Y6Pr@6'96 >y6H zuPb??7`s\?@R?`?u?ɨ6Qc@6;6CyBNvBByI)D DIJIJ<2٢Z< Zb=9^Q ^>`` bG٣bcXGyf`t; f> jNusing accuracyPremultiplier from confighn59j|?n5Yj( ijmi™pr8&rAjEj6;jh;jTU5t v>AtDNOT Ignoring new targets: 54.20 m. j!j!j!j)i)h1Will construct direction to contact in vehicle frame from tetrahedron phase data.h9hhfffrfbf`]K@ɛeBm=M imIi mަɚqiqI4N=Ii;i)) E$?IA*F?2F:FBFP5JFGJzK= }NK= 9K9 K= &K=   GM39YjQ?)Q Bg%tN&U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iU AG B O >iw,/:AB7"d@YB6Ar@B|9B`>yBH@hr?f?@ ی???s?ɨB7"d@B;B CyHLIVIV19^ۻQ ^>`` bG٣`yf; f> jNusing accuracyPremultiplier from confighn59j|?n5Yj, ijJi™pr&rAjEj>+;j`+;jW5t v>AvtEDNOT Ignoring new targets: 54.20 m. jjjjihhh!h!f!f!f)rf)bf- ΍K@JYJ]AAJ}cJ}WJyJyJ}:J}G9JyJya@a@a@a@ɛBLQ I l8ɚiIO=I%i%;i-*))))*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data. 9I=hG>uGBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,I:AN8d@YN Wr@N͜9N>yNH@_}?f?m` G٣yWK; > Nusing accuracyPremultiplier from config59k|?5Y1 i%i™;?:&AEn;;X5B K>AyEDNOT Ignoring new targets: 54.20 m. jjjjihhZH)RH-?AH5>I1 I5II5SwBI5 =&I1.I5OD6I5<:I5 FhqhuKBfqfyfyrfybf}`'K@ɛBOA fI @|ɚiIP=IiR;iϘ))!EMD=EUJ>EU>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF2JFG GrA - $?I) G G B O >+w,Bwf:A2Vd@Y2ur@2t92>y2H@T/?v?! ?)? ?hm?ɨ2Vd@2:f;0y>vBBIiFXX ZG٣ZdXGy^0; ^> bNusing accuracyPremultiplier from config`f59bUr|?f5YbJ5 ibi™dj%jAbEb;bd;bZ5l n=AlDNOT Ignoring new targets: 54.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. jjjjihhhhfff rf bfK@zKMOKM9KIKM&KM~zvlea^[VRPLGEC?73:DDCCA?9612/-*))&$"ɛ BE vI 2 ɚiIQ=Ii4;iMK))Eff=*FU?2FQ:FQBF]O0JFYJeJVJJJ\:JB9JJ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge !G9 Bi O > $?I w,P9:A>sd@Y>r@>}9>(>y>HI? ?`G+8 A? ?`?oj?ɨ>sd@>ڻ;>Cy^vB^IMMb@Mb@Mb@III I)IYM+?~jthyMv>?MLMDMt[A M/9A)M;AIM`WAIyMIAIuIu2٢= >=9һQ > G٣yC; > Nusing accuracyPremultiplier from config59[|?5Y9 ih™>?:#AE;;\5B =A|EB*** querying acoustic contact ***jjDNOT Ignoring new targets: 54.20 m. jjjjihhhhkBfffrfbf` 6L@ɛEBEK AEIA MɚIiIIMR=Ii ;i))EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.H>I I8IIwBI&I.I6I<:Ix F*F?2F :F BF 5JF "G =G =} Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3525>  BDAT read: Tx time:23:57:29.6516  $Ping request sent. UEw,~:AJd@YJr@JkP9J>yJHC`+??/ /G??.?i?ɨJd@J벊;J CybvBfII~I~?13٢ <  2=95O|Q 5>99 =G٣9yE: E> MNusing accuracyPremultiplier from configIu59MC|?u5YM> iMh™qu#}AMEM;M;M^5 =AEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfff rf bf-nL@ɛBY>I 隥%I pɚiIэS=Ii2z;iT))*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:57:29.6508 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254186zK^NK]9KK&K (>j")/-*,5>:% yqv|tojG2 Ga Bi O >J! J% [J! J! J! J% W9J! J! U iGu 5tA yY 5tAy Akw,J:A6pd@Y6or@6:96>y6H=@??5`[? ?Q? h?ɨ6pd@6;6Cy^vB^I)d dIjIj㔳٢v! vM=9zwQ z>   G٣eXG%Will construct direction to contact in vehicle frame from tetrahedron phase data.%<%<-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503215y-; -> =Nusing accuracyPremultiplier from config1E595.|?E5Y5/C i5h™AE#EA5E5;5:;5w`5MB U=AUEDNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbfL@ $?Iɛ)BةR  I  #ɚ i I ώT=Ii;iWz))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754580G= w*jH <bH H >I  I XII wBI =&I .I 6I <:I FBICJICRIZI =bI =jIh5GY Bi O >_Sw,$:AyrvBrI-only read 0 of 1 data item for altitude. Device response is::BD, +6.43, +1660.03, , 12.53, 0.00  @ @ @  @ II٢Ą= ?=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59|?5YG ifh‘+:f:AE8<;>a5 =ADNOT Ignoring new targets: 54.20 m. jjjjihhhh!f!f!f!rf!bf- L@ɛM2BU] Q]IY ]F+ɚYiYI]U=Ieie>;ie$)a)i*F?2F:FBFc0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006549 IG˴GpAGmAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042 }w,:AzKBOK@K@KB&KBe_YXVS?82-,(%$  Vld@YVًr@Vw 9VH>yVHDS?K?#1??`?`Qd?ɨVld@V;V Cy^vB^IIfIfƳ٢n:)= nX=9rdGQ r>pt vG٣tyvƻ v> ~bBottom track data is 0.8 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59zT|?5YzK izBh‘ :  :: # AzEzw9;zhM?z c5 ew,#;Ay~vB~Ii=IN> = =        Mb@Mb@Mb@ )YDl?~jth G٣fXGy > ]Nusing accuracyPremultiplier from configQ]59UJ{?]5YUeQ iU h‘eT:eSM?e:eeAUĪEU ;U ;Ue5mBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766197 uIuC IuqIIuwBIu =&Iq.Iq6Iud<:IuT F*F2F:FBF0JFG @KM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015131G B O > I hw,;A6qid@Y6pr@6{96- >y6H@{C֞?h?@ @ ?w?^V?vc?ɨ6qid@6i;6CybvBbIIjIjF٢rHn= rY=9v5ػQ v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~ {?5Y~U i~g™   A~ƪE~:~:~f5 9λw,[9;AbTd@Ybsr@b9b >ybHH`? ѝ?@`R??@H?b?ɨbTd@b(h;bCyjwBnIIrIr̍~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518735٢Qv= ?=9 ,Q > G٣y B > Nusing accuracyPremultiplier from config59{?5YC[ ig™ AɪE;TE;sh5 ;AE =$?I9UDNOT Ignoring new targets: 54.20 m. jYjYjajaihhhhfffrf bf TM@ɛmZBm|N quIq uLɚqiqIuPY=I}i};it))*F?2F:FBFP5JFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.խAiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770754He >Ie C Ie IIe xBIe =&Ia .Ie ND6Ie |<:Ie a FGY Ba O} >Rw,kS;AJ3K23 KS}-KK"KJtJvYJtJtJtJv[O9JtJtJv;aJv;aJv0n:aJv2n:a y=$wB=I)A AIMA}Mb@Mb@Mb@yyy y)yY}Q? rh?/$?y}\O?}C<}<}UA }6A)}5AI}TAyy}EAII ٢i= <=9Q > G٣gXGy > Nusing accuracyPremultiplier from config59{?5Y` img™yO?:A̪E;Ni;Zj5B L;AE}DNOT Ignoring new targets: 54.20 m. jyjjjihhhh+Bfffrfbf@M@ɛcBbd )I Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:57:32.2916 TRx dataTimestamp_ set to:1736380653.436848checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023739 -VnTɚ)i)I-Z=I5i5u;i5_l)1)9 1I1*F?2F:FBFO0JFGBO k> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274612aw,tFm;AZq$d@YZpCr@Zta9Zu >yZHT ?x?@%`D?[?`2? :`?ɨZq$d@Z:;Z Cyj*wBjIIrIr(1٢z*< zj=9~XQ ~>zK~ILK~9K|K~&K~/HWbo~zo_J:0)%(<cnhda`][ZUPMJRK  ?JK > G٣y > -Nusing accuracyPremultiplier from config!-59%E{?-5Y%xe i%;g™155A%ΪE%:%;:%k59 E6;AA}DNOT Ignoring new targets: 54.20 m. jjjjihhhhfffrfbf N@ɛkBvu I [ɚiIM[=Ii;inwѻ))E8=Will construct direction to contact in vehicle frame from tetrahedron phase data.%4=%4=-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527909*F?2F:FBFJFGGpA =$?I9G! Bi O >w,+;A6d@Y60r@696 >y6H X݀?7?=?`l?@%?(_?ɨ6d@6$;4y^TwB^IMb@Mb@Mb@ )Y> ףp=?Q?Q?yQ?<<TA x3A)5AIy(DAII٢O= :=96?Q >   G٣ y ) > Nusing accuracyPremultiplier from config%59#{?%5Y@k if™-3R?-:--AѪEC&;=;m59 =:A=EeDNOT Ignoring new targets: 54.20 m. jajajajaiahahiuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:57:32.2916 LVL= 22576, 16177, 15682, 27091, AGC= 64, IDX= 253, 0.17, 0.035, 2.310, 0.761, 0.248, PHS=-0.125, 2.109, 0.510, RAW= 314.0, -23.9, CAL= 314.6, -35.8, ROT= 195.4, 35.8 Ygot valid direction response: 23:57:32.2916 LVL= 22576, 16177, 15682, 27091, AGC= 64, IDX= 253, 0.17, 0.035, 2.310, 0.761, 0.248, PHS=-0.125, 2.109, 0.510, RAW= 314.0, -23.9, CAL= 314.6, -35.8, ROT= 195.4, 35.8 PDAT read: Bearing 195.4, 35.8 (Local) ~Local bearing/azimuth received: Bearing 195.4, 35.8 (Local) DAT read: Range 10 to 50 : 176.8 m (Round-trip 235.8 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.548845,0.532589,-0.644297]Fpublishing direction and range infoq9u?"?n2K% ?r&gyu0Cqu0Xu1? uB=)uiIu@iuu@u\?u^@uվ u@)uIuCZ@hhBfffrff@bf_?iu?qqu[e쿦>L̿w{ٿ)uzo9Iuj0>iu6E?u93?qqɛwBH >IC IIIGxBI =&I.IMD6Iܯ<:I FZW AEII MNdɚIiIIMx\=IUiUV;iU)Y)YEX=JgJJJJ%:JJJJP$;JS$;JJ*F?2F:FBFP0JFGBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! zw,T;A2^c@Y2]r@2Z892n >y2Hw]y?@G"?M? ҵ??^?ɨ2^c@2;2CyBjwBB(I F=Fa=IJIJ٢f`m= fa=9fbQ f>hl rG٣rhXGyz` ~>  Nusing accuracyPremultiplier from config 59 n{?5Y $p i f™A ӪE  ;  ; ho5%B %(:A%Ek0s?k+/ k kI;A:k0CBk/CZk@"B4HIBX@@TYW@ Yz\?"?n2K% ?r&gJk6E?Rk93?*1-79(c ;:U3Qq0#W[ǥ޿"kA*k kGbs?k 5/ 2kkυ]?kkkXBk|? addTargetRange:: Added new target pos. range: 176.800003 m, deltaT: 60.514145 s, deltaX: 99.200005 m, approachRate: 1.639286 m/s, rangeRepo size: 4 % Added new target pos. range: 176.800003 m, bearing: 261.230965 deg, lat: 36.905107 deg, lon: -122.119962 deg, deltaT: 348.495350 s, deltaX: 122.600006 m, approachRate: 0.351798 m/s, posRepo size: 4 -FNOT Ignoring new targets: 176.80 m.-Completed rollout at range: 176.80 m. Resuming terminal guidance.-bTransitioning guidance mode to: TERMINAL_GUIDANCE*j-? j-Z(?jQjQjQiQhQhQhYhYfYfYfarfabfe@Ȳ?ɛBn jI ukɚiI*]=I/ii;)Z(?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.zKUNKU9KQKU&KUFED??>92*" BKa:Ka*F)2F):F1BF1JF1GU G1 = Will construct direction to contact in vehicle frame from tetrahedron phase data.BI Oe >Vw,;A:c@Y:q@:9:F >y:Hvld?@ʣ?@@@,?$?*?z\?ɨ:c@:k;: CyNwBNGI Z$?IXIfIf2٢n= n9=9rѮQ r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from configx~59zGW{?5Yzu izxf™  3 Az֪Ez-/;z/;zPq5) 5Z9A1MmuAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1N=Entering Terminal tracking update period 2.000000 s sec at 176.800003 m (mode 1.000000 count ).1N=qN= jIjIjIjIiIhQhQhqhyfyfyfyrfybf?ɛBY I tɚiI^=I0?#iiG=))*F?2F:FBF_0JFG9GYBqWill construct direction to contact in vehicle frame from tetrahedron phase data.O~>jH<bHH >I  I II xBI =&I .I 6I <:I FJ eJ [J J J \:J W9J J J ;J ;J |:J |:kw,f;ANc@YNq@Nm9N~ >yNH8w`U?#i? $ ?@%? ?@Z?ɨNc@Nڣ;NCyZwBZ[IEMb@Mb@Mb@AAA A)AYES?Q?L7A`?yEO?AE+=EQA E2A)Ex3AIEQAAyEfBAI]I](*٢mҔ= mC=9u,Q u>qy }G٣yy > Nusing accuracyPremultiplier from config591A{?5YV{ i4f™kO?:\A٪E#;e";%s5B 8AEZl=@qN=N=EB*** querying acoustic contact ***jAjA jqjqjqjqiyhyhyhyhBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛBn I %{ɚ!i!I%O_=I- 'i)i-=)))1 $?Ih*F?2F:FBF1JFGqA GqAG&;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3526>  BDAT read: Tx time:23:57:34.9016  $Ping request sent. (}c@Y>'q@>D9>h>y>H`~K?+7? -M ? G??dZ?ɨ>(}c@>;> CyJwBJnI)L L\^AIbIbb1٢j#= nT=9~+Q ~> G٣iXGy *  > Nusing accuracyPremultiplier from config=59,{?)M&= MhC=5Y\ ie™yyAG|uA۪EK<P<t5 Y|uAyA W8A EblNN jjjjihhhhfffrfbf ܤ?ɛeBeʞd imFIi mɚiiiIu2`=Iu,iyi}J+>)y)y*F%?2F!:F!BF%O5JF!G喇<Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251445 $?IGBOi>G~w,!u Jc@Y>iq@>09>^>y>H@:?ˣ?-0`V?r??@P?ɨ>Jc@>F;>CyJxBJIUMb@Mb@Mb@QQQ Q)Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502806YU/$?~jt? G٣yQ > Nusing accuracyPremultiplier from config59{?5Y ie™LL?:AުE;;v5 7AjlNrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal jjjjihhhh,Bfffrfbf#K@ɛ5B=p 9=I9 EynɚAiAIEa=IMgy1iIiMEg>)I)IHE>IEC IE IIExBIE =&IA.IELD6IE<:IEx FBI}½CJI}½CRI}”CZI} =bI} =jI}6*F2F:FBFO0JFG}xd=GBO>>JJ]JJJJ_9JJJ;JJl:Jm: Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754725 I w,3S$y2H %?X?@J HV?@?`?U?ɨ2c@2;2CyB5xBBIIJIJʳ٢fW= fW=9f,Q f>hh jG٣hyjc n> rNusing accuracyPremultiplier from configpv59r{?z5YrQ irre™xzzArEr 2;rD;rYx5B 6AE j)j)j)j)i)h)h)h1h1f1f1f9rf9bfE T@ɛeBmm imIq DɚiIb=Ie6ii% >)!)!*F?2F:FBFP0JF"G=G=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007344GL=GBO=>zKXKK]9KK&K% Will construct direction to contact in vehicle frame from tetrahedron phase data.% ?% P?5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261032w,0>I A? p=p=IIn٢-= -D=9-^Q ->11 5G٣5jXGy=d^ => ENusing accuracyPremultiplier from configAM59Ez?M5YEq iE.e™Q] ]AEEE;;Ej<;E+z5a e]6AeE jYjajajiiihhhhfffrf!bf%@ɛB[ zI RɚiIzc=I y=i i ) )*F?2F:FBFJF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511446ZH1 RH1 H= >I9  I= KII= EyBI= =&I9 .I9 6I= <:I= FG Z=G B O >Aw,NX)) -G٣1y=? E> MNusing accuracyPremultiplier from configIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.76262159Mz?5YM iMd™F?:0!AMEM=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014776w,Tq ^e=9^:Q ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59jz?n5Yj ijd™lr!rAjEj;j;j}5t v4AvEzK~BHK|K|K~&K~ C"pL#v4)WD~Q#}bE. jjjjihhhhfffrfbf`$ @ɛԀB { I "`ɚiI me=I T Gi i))1JgJ\J2JJ%:J[9Jc3Ja@a@a@a@*F?2F:FBFo0JFGpA GrAG>GBOB> $?IhWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274764"w,#AI=I=(1٢M= M3=9MQ M>QQ UG٣UkXGy] ]> eNusing accuracyPremultiplier from configam59e z?m5Yeŝ iend™m=E?u:u"uAeEe;e/;e5B 04AE jjjjihhhhBfffrfbfdS@H>IC IIIyBI =&I.I6I̯<:I Fɛ߀B c 隝 I lhɚiIҚf=ID@ii))*FE?2FA:FABFE0JFAG0D>GBO%n> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774673(w,t\\ ^G٣\yb#ǽ b> fNusing accuracyPremultiplier from configdj59fz?j5Yf if;d™pr$rAfEf;^;f^;f(5t v3At jjjjihh!h!h!f!f)f)rf)bf-@ɛeBeVw ae Ii mɚiiiImg=Iu3@@iqiq)q)y*F2F:FBF@5JFGZj>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:23:57:37.5454 }TRx dataTimestamp_ set to:1736380658.733541checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029104GBO >zKUkPKU9KQKU&KU}sngdb^XVQOJFD?@@<71-+(%''&!  JfJZJJJ|":JS9JJ $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278689V$/w,99 EG٣AyUl U> eNusing accuracyPremultiplier from configYe59]߀z?m5Y] i]c™imv&mA]E]:]:]5y }2A}E jjjjihhhhfffrfbfno@ɛ5B=a Am Ii uɚyiyI}0h=I,:@ii))*Fy2Fy:FyBF}O5JFy"G>G%>Gm],>GQuWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiuA}DAT read: Range 10 to 50 : 179.7 m (Round-trip 239.6 ms) speed -0.5 m/s -X#Rx 1: Read range message, but no direction.qyu3CqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BO>H- >I)  I- II- zBI- =&I) .I) 6I- <:I- F6w,N G٣lXGy > Nusing accuracyPremultiplier from config59iz?5Yȩ ic™kB?:#)AEn;;҄5B &2AE addTargetRange:: Added new target pos. range: 179.699997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1  jjjj i h h h hBfff!rf%`fvf@bf%mR?ɛUB]ޙo Y] IY ]ɚYiaIei=IeUF5@iiii)i)i }$?I}hEWill construct direction to contact in vehicle frame from tetrahedron phase data.M,DAT read: user:3527> UBDAT read: Tx time:23:57:38.7017 ]$Ping request sent.]GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247874{3<w,,tt vG٣tyz⩽ z> Nusing accuracyPremultiplier from config 59Tz? 5Y+ ic™ +AE::|5zK\fNK9KK&K   ) -1A)MB*** querying acoustic contact ***jIjI jYjYjYjYiYhYhahahafafafirfibfm ?ɛ Bq 隝H I @WɚiIj=I/0@ii))*J"Jp=JJ[J1JJJW9J3J*F?2F:FBFJF }$?Iy=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499660GGBOM >Cw,) =Ay~yB~IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752001Mb@Mb@Mb@ )Y~jt?I +I +?y;?9<:A ^8A)IIAy=:AII<٢S= ;=9Q > G٣y >  Nusing accuracyPremultiplier from config 59M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003656G B O >'GIw,&=A:OU@Y:nc@:x9:{y:H `/ ??j`ٿs`l? b?ɨ:OU@:P;8y^yB^I)` `IjIj٢r= r]=9ry&tt vG٣vmXGyzqB z> ~Nusing accuracyPremultiplier from config|59~'z?5Y~ i~(c™  / A~E~];~;~5 L0AE jQjYjYjYiYhahahahifififqrfbf`?ɛe!Bm6m i隍I lɚiIsLm=I$@ii))*FA2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255918~G5tA &Y5tAyBzKyLK9KK&KGY>JJBAJgJ_JJJ%:J=h9JJG B O% > e $?Ia U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.50773333Pw,@=AS@Y&a@L 9yH@z?Ϥ?@L׿I? ?ɨS@>5;CyyBII5I5m?٢E= ED=9EUII MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]<z?e5Y]z i]b™ae1mA]E]X:] ;]Ջ5y }/A jjjjihhh1h1f9fAfirfqbf}|?ɛ.BjPg I! -prɚ)i)I-_n=I5@i1i1)1)Y*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760452ZHRH@AH>I IXIIzBI&I.I6Iԯ<:I FBIȻCJIȻCRIȓCZI =bI =jIȱ4G9 G B! O= >WVw,xZ=A2P@Y2^@2992[&y2H@?? Nտ\+Y? ?ɨ2P@2;2 CybzBbIUMb@Mb@Mb@QQQ Q)QYUV-?{Gz rh?yU G٣yx > Nusing accuracyPremultiplier from config59>y?5Y ib™ =?:4AE<;;5B  /AE jjjjihhhhBBff $?If rf bf @@ɛ7BXx =隽 I TvɚiIo=Iz@ii))%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013635*F?2F:FBF1JF"Gp>G>Gmc>GI BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263841n\w,st=A6N@Y6\@6*96Sy6H@7#?5?`hӿ }Y?C`?ɨ6N@6;6CyBCzBBIiF!>IFa=IJIJ(*2٢V= VY=9V?cXX ZG٣Xy^X ^> bNusing accuracyPremultiplier from config`f59by?f5Yb ibb™hj6jAbEb:bi:bF5p r.ArEB*** querying acoustic contact ***jj j jjjihhhhff!f!rf!bf%@}@zKKK+9KK&KɛBBp "I ˷ɚiI ?q=Ic@ii))!*F2F:FBFD5JF $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515831G^>GB O >4jcw,R=A6L@Y6Z@6bF96y6HN^?`"?*}ѿ-9c?4?q?ɨ6L@6 ;6CyBczBBIMb@Mb@Mb@ )YʡE?~jt:v?y=?ļT<1A ) ,AI=FAy8AI%I%1٢5}= =B=9=EdAI MG٣MnXGyM뙽 M> ]Nusing accuracyPremultiplier from configQ]59Uy?e5YU iUjb™e=?e:eD9eAUEU;U;U5mB u.AuöE}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767807 jIjIjIjIiIH}>Iy I}II}_{BIy&Iy.Iy6I}<:I} Fhhhh1Bfffrfbf@ɛuOBu"h quIq uEɚyiyI}r=IQ@ii))*F=?2FA:FABFE05JFAJJ`JJJJbl9JJJP$;aJR$;aJ,:aJ-:a $?IG 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:23:57:41.3107 E TRx dataTimestamp_ set to:1736380662.526157E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022329G B O- >Fiw,-=A2J@Y2X@292Ypy2H?a?` ϿJ ;?@?׍?ɨ2J@2U;2Cy^zBbII~I~2٢== =L=9EII UG٣Qy]ܟ ]> mNusing accuracyPremultiplier from configiu59my?}5Ym imAb™N;AmEm`;m{;m咿5 W-A jjjjihhhhfffrfbf` @ɛXBłx  +I  ɚ i I XNt=I]R @iYiY)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271659Er=zK-/KK-}9K)K-&K-*FM?2FI:FIBFUP5JFQG]pA GY I E Will construct direction to contact in vehicle frame from tetrahedron phase data.E G B O >Nqw,{=AyޥzBޭ,I) AMb@Mb@Mb@ )YK?I +I +?y^:?994<2A :A)IXAAy6AII1٢= =9Q > G٣oXGy > Nusing accuracyPremultiplier from config59y?5Y i b™y:?:+;AE);a';?5 ,AƶE}addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 153.600006 m, deltaT: 3.793280 s, deltaX: -26.099991 m, approachRate: -6.880587 m/s, rangeRepo size: 1 jyjyjjihhhhBfffrf@33c@bfLM?ɛgBf] I $ýɚiIv=I@ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3528> BDAT read: Tx time:23:57:42.5017 $Ping request sent.IC III{BI =&I.IKD6I <:I FE=J fJ dJ 0J J |":J |9J ـ3J J ;J ;J :J :*F 2F :F BF 0JF $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:57:42.5009  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251075G^>GBO?.Jyw,=AD@YR@A9K? 1=9T=Q > G٣yMK M> UNusing accuracyPremultiplier from configQ]59Umsy?]5YU iUa™ae0AeAU EU:U:UP5mB mx+AuɶE jjjjihhhhfffrfbfq?ɛtBXg D=I aƽɚiIe/x=IE?iAiA)A)IEQEQ*EQ"EQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502227*F2F:FBF1JFzK= KK= 9K9 K= &K=  ] $?IY G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754199G B O >b܀w,Z>ABB@YBQ@BѪ9BM=9]aa eG٣aym; m> Nusing accuracyPremultiplier from config59Yy?5Y ia™CA E:;)5 *A̶EB*** querying acoustic contact ***jj j)j)jIjQiQhQhQhQhYfYfYfYrfYbfe?ɛMBUg 隅I ʽɚiI6hz=I-?ii))*Fu?2Fq:FqBFu?5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006574H>IC III{BI =&I.I6I<:I FGy JK KL.KK"KJ% gJ% [J% 1J! J% %:J% W9J% 3J! J% O$;J% R$;J% |:J% |:G B O >w,g>A @6c@@Y6bO@6zК96TR G٣pXGy > Nusing accuracyPremultiplier from config59@y?5Y ia™[8?: BAE ;;5  L*A ϶E j1j9j9j9i9hAhAhAhEBfIfIfIrfIbfM?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257970ɛBԻx SI %ͽɚ!i!I%%s|=I-S ?i)i))))QE*F?2F:FBFP0JF GI % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509946G1 B9 O >,w,cB7>A6?@Y62M@6k96Z#dd fG٣hyjڥ j> rNusing accuracyPremultiplier from configpv59r*y?v5Yr! ira™tvCvArEr":r:r5~B ~)AҶE jjjjihhhhzKXKK@9KK&K*>DB@>;5210-*(&$  <d~{tkc^ZTNHB@<641-'$$"BKoA:KoAJJAAfffrfbf@^?ɛB%y %` =%}I! %нɚ)i)I-Ƥ~=I-&?i1i1)1)9 $?I*F?2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761812GGB O} >w,Q>AvWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016048yh{B IZHRHH>I III+|BI =&I.IJD6I<:I FMb@Mb@Mb@ )YzG?Q? G٣y > MNusing accuracyPremultiplier from config U59 y?U5Y  i |a™]7?]:]C]A E +< ; 5a e)AmնE jjjjihhhh Bfffrfbf@L@ɛ=BM-k IM5II M(ԽɚQiQIUG=IUl?iYiY)Y)YJJ`JJJJbl9JJJJQ$;J+:J-: $?I nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266920E=*F ?2F :F BF% 1JF) G GBO >֚w,p>A6EH;@Y6DgI@6T>96ʢ`{B>IIFIFF٢R,= VC=9Vd>=Q V>XX ZG٣qXGy   > Nusing accuracyPremultiplier from config59Rx?5Y iia™%cG%AE3;7;55Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5179929 E)AA jijijijiiihihq) hhfffrf.~GbfU@tA M'YtAyY BɛEBM.o IM?II M(OؽɚIiQIU]=IU9?iYiY)Y)YE]~=zK]X8NK]9KYK]&K] *F2F:FBFP0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.?< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773124GI G B! O= >Z~w,qu>Az|P9@Yz{oG@zl9zyAI MG٣Iy]B ]> eNusing accuracyPremultiplier from configam59e|x?m5Ye ieYa™imH@mAeEeL:e:e{5}B }(A}ضEB*** querying acoustic contact ***jj jjjjihIhQhQhQfQfYfYrfYbf]@ @ɛBv 8I ۽ɚiIe=I_ݳ?ii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:23:57:45.0768 ]TRx dataTimestamp_ set to:1736380666.305775echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024511H5>I1 I53II5]|BI5 =&I1.I16I5F<:I5 FBIĹCJIĺCRIĔCZI =bI =jIc5E5t=J5 hJ5 _J1 J1 J5 (:J5 =h9J1 J1 J5 );J5 );J5 :J5 : I *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=3.274049G GBO>کw,rR>AV>y7@YV=E@Vp9V%j?`r?S ?͝?@M??ɨV>y7@V;;VCyf{BjIMb@Mb@Mb@ )Y"~?I +?y3?94<2A 1A).AI6Ayf2AIIb1٢6}= ,=9n G٣yT{ > Nusing accuracyPremultiplier from config59x?5Y iOa™3?:F@ AE;;5 >(A۶E j9j9j9j9iAhAhAhIhMBfIfIfIrfQbfU@ @ɛ}B},t w= EI  5߽ɚiI%=IU!f?ii))E E *E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.i-DAT read: 23:57:45.0768 LVL= 22560, 18929, 12786, 27859, AGC= 63, IDX= 82, 0.45, 0.045, 2.420, 2.222, 1.664, PHS=-1.532, 0.802, 0.554, RAW= 275.5, 1.6, CAL= 277.7, 1.5, ROT= 232.3, -1.5 =Ygot valid direction response: 23:57:45.0768 LVL= 22560, 18929, 12786, 27859, AGC= 63, IDX= 82, 0.45, 0.045, 2.420, 2.222, 1.664, PHS=-1.532, 0.802, 0.554, RAW= 275.5, 1.6, CAL= 277.7, 1.5, ROT= 232.3, -1.5 EPDAT read: Bearing 232.3, -1.5 (Local) E~Local bearing/azimuth received: Bearing 232.3, -1.5 (Local) UDAT read: Range 10 to 50 : 128.1 m (Round-trip 170.9 ms) speed -0.3 m/s ]R#Rx 1: Read range and direction messages.]`direction in FSK: [0.062918,-0.009271,-0.997976]eFpublishing direction and range info9Sj?i(*OjyC XI 1)lI?iĿOM? ?Dޙ@< @)Pw  BDAT read: Tx time:23:57:46.3017  $Ping request sent. Ayޥ{BޥI ]Mb@Mb@Mb@YYY Y)YY]ʡE?~jt?~jtxy]-2?]<]ĻY ]2A)]50AI]x3AYy]=2AIuIu(1٢2< =9Q > G٣rXGy > Nusing accuracyPremultiplier from config59\x?5Y iGa™I2?:G@AEN;FL;5B (A޶Ek t?k4 k kc>A:kCBkBZk3I@")} @U󿠏+_Sj?i(*OjJkRkz?*e=̖'PN#o3y_wY~3"k)|*k<ky9vt?ki_ 2k9k|?kkkBk?addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 128.100006 m, deltaT: 7.572031 s, deltaX: -51.599991 m, approachRate: -6.814551 m/s, rangeRepo size: 1 jjjjihhh!h!f!f!f)rf-@3`@bf-`J?ɛ]ЁB]VCg aeIa eɚaiaIeƆ=Imt?iiii)i)qWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:57:46.3009 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253425He>Ia IeLIIe|BIa&Ia.Ia6Ie<:Ie F*F2F:FBFP0JF $?I G= c>G B OM >Xw,5 >Ayn{BnIWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504595I-I-Գ٢][= e=9iQ m? G٣y  ? Nusing accuracyPremultiplier from config59x?5Yi iBa™  A!Ea#;#;f5 'AE jAjAjAjAiAhAhAhIhIfIfQfQrfQbfU`Ҙ?ɛ}؁B} 隅 I YɚiI=I@?ii))*F?2F:FBFt0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754915G% T>G) G) G B1 OM >Fw,~>AJ6fJ6^J4J4J6|":J6d9J4J4a:@a:@a:@a:@>k1@Y>j@@>J9>02H@ ¿х?`4?`v?Wۂ?X?@*?ɨ>k1@>;>CyJ{BJIII㔳٢-< -N=95M=Q 5>zK=BIK=}9K9K=&K=1I MG٣IyMgi U> e$?Ia eNusing accuracyPremultiplier from configam59eIsx?m5Ye iaqu6B@uAe#Ee:e ;e5y 'A jjjjihhhhfffrfbf ?ɛB ܂ 5j>I vɚiIJ=I?ii))*F?2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791G^>GBO- > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259368H] >I] C I] XII] |BIY &I] ED.IY 6I] <:I] F=w,?Ay]{B]I)q uAy}AMb@Mb@Mb@ )YCl?S㥛?y&1y/?/<`e 1A  1A)2AI 1Ayp1AII{٢%< %:=9-Q ->11 =G٣=sXGy= => ENusing accuracyPremultiplier from configAM59E"Zx?M5YE iEEa™U 0?U:UB@UAE%EE]$;E"";E5eB e'AeEB*** querying acoustic contact ***jj jj j j i h hhhBfffrfbf0?ɛmB| 隕I {3ɚiIwR=ID6s?ii)) =$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510791EM=*F 2F :F BF _0JF G)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763099G!BIO?w,x6?AND,@YNc:@Ng;9NGG| G٣y1? > Nusing accuracyPremultiplier from config 59 i?x?5Y ? i Ma™<@A (E : i:  5) -['A-E jjjjihhhhfffrfbf@ɛB0h}  I ɚiI%<=I%.wZ?iIiI)I)IE%G>JUhJU\JU0JQJU(:JU[9JUـ3JQ $?IzKKKKK&K BJHD@=86430+)&# BK1:K5nA*F2F:FBF,1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.?=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014992GG B O >w,(P?ARo*@YR8@R];9Rl  G٣yA >  Nusing accuracyPremultiplier from config 59&x?5Yƿ iWa™-?:A*Er;;5%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266873 -}'A-E jYjYjYjYiYhYhahaheBfafifirfibfm;@ɛB 隝H>I I_II|BI&I.I6I<:I FI ɚiI=IC?ii))EE*E"E I*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518650GE c>G B) OE >Xw, Sl?A6>(@Y6<6@6q[<96 (@6ߐ;6Cy>{B>I F=F=IJIJ3٢Rܼ RI=9Rn;Q V>TX ZG٣ZtXGy^] ^> bNusing accuracyPremultiplier from config\f59^x?f5Y^? i^ba™df;@fA^,E^T:^T:^5l n'Al jjjjihhhhfffrfbfS@ɛ BY? I  ɚiI=I%.3?i!i!))))*F?2F:FBF4JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772321G%^>J]gJ]`J]1JYJ]%:J]bl9J]3JY $?IG B O- >zK mMK 9K K &K  RK JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:57:48.8788 % TRx dataTimestamp_ set to:1736380670.089305% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028501tw,T?A2c&@Y2a4@24<92aQQ UG٣QyU| }> Nusing accuracyPremultiplier from config59)w?5Y] ima™39@A.E;;5B 'AE j jjjih1h1h9h9f9f9fArfAbfEK @ɛB :r>'I ɚiIZՒ=I B(?i i ) )*F?2F:FBFO0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275973H>I IXII|BI&I.I6I<:Ic FGM Y>GA BQ Om > $?I 8w,?A6 $@Y6 2@6^<96#iٽX9ٽC >ٽ;ߏ?ٽ@ٽ+< ڽ=@)ڽl$=Iڽט@iڽl$ڹڹ۽VaZ6>r+&y?UNyy }G٣yyW > Nusing accuracyPremultiplier from config59w?5YY i~a™)?:,9@A1E;D;5 'AEkE#~?kN k kh?A:kCBkCZkǣ?"K@1ND\HBŒ?80O޿jaj-JkĿRkmۉ?*BA(3@JqpُL@_\/aPA? L5?VST"k~dB*kFAkBI.~?kHGd 2k'OkBI.~?kHGd kkqBk? addTargetRange:: Added new target pos. range: 129.600006 m, deltaT: 11.352611 s, deltaX: -50.099991 m, approachRate: -4.413081 m/s, rangeRepo size: 2 BjJj Added new target pos. range: 129.600006 m, bearing: 71.458473 deg, lat: 36.904391 deg, lon: -122.120050 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 Zj9=FNOT Ignoring new targets: 129.60 m.BjEJjEU ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.251202 m, bearing: 71.458261 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 37.758904 deg, new cmd heading: 71.458261 deg. ]HeadingCmd: 1.247182 target range: 129.600006 and range: 129.60 m. j}?jyjyjyiyhyhhhfffrf@33`@bfY?ɛ=#BÈ AEXIA E8ɚAiAIM-=IMjl$?iQiQ)U?)yE*F- ?2F) :F) BF- O5JF) "G5 >G5 > ~G1 I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m ,DAT read: user:3530> u BDAT read: Tx time:23:57:50.0518 u $Ping request sent.u G ?G %?G B O%>w,?AJ"jJ"\J J J".:J"[9J J  G٣uXGy > Nusing accuracyPremultiplier from config59w?5Ym ia™X7@A3E;::[5B (AEzKKK9KK&KB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 129.60 m.Bj;JJj;J ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.264290 m, bearing: 71.204657 deg, approach rate: 0.036507 m/s, LOS rate: -0.707222 deg/s, cmd heading: 71.458259 deg, new cmd heading: 71.204657 deg. HeadingCmd: 1.242756 target range: 129.600006 and range: 129.60 m. j?jjjihhhhfffrf bf c?ɛU*BUޔ QU IQ ]ɚYiYI]iӖ=Ie%?ii)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:57:50.0510 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252894*F}?2Fy:FyBF}P0JFyG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502657jH bH H >I  I LII |BI &I .I 6I <:I FBI˸CJI˸CRI˓CZI =bI =jIo84w,ׅ?ARj!@YRh8/@R;9RFf" G٣yV > Nusing accuracyPremultiplier from config59w?5Y ia™$?:7@A5E;; 5 D(AZjFNOT Ignoring new targets: 129.60 m.Bj%'6Jj%'65 ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.279335 m, bearing: 70.957488 deg, approach rate: 0.038784 m/s, LOS rate: -0.637006 deg/s, cmd heading: 71.204661 deg, new cmd heading: 70.957488 deg. =HeadingCmd: 1.238442 target range: 129.600006 and range: 129.60 m. j=C?j9j9j9i9hAhAhAhEBfIfIfIrfIbfMIS?ɛ}3B}4 隅I I L`ɚiI=I*,?ii)C?) }$?IyE}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754685*F5?2F1:F1BF1JF1GU ^>GQ BY Ou >Vw,?A6}J@Y6{i-@6g`*;96iO{BBIIFIFƲ٢RK RH=9R Q R>TT VG٣Ty^W ^> bNusing accuracyPremultiplier from config`f59bϟw?f5Yb iba™df5@fAb7Eb ;b;b麿5l nU(AnE=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007149ZjyFNOT Ignoring new targets: 129.60 m.Bj)Jj) ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.288273 m, bearing: 70.707677 deg, approach rate: 0.021221 m/s, LOS rate: -0.593022 deg/s, cmd heading: 70.957490 deg, new cmd heading: 70.707677 deg. HeadingCmd: 1.234082 target range: 129.600006 and range: 129.60 m. jd?jjjihhhhfffrfbfŋ?ɛe=Be0 ae Ia YɚiI=I):?ii)d?)EW>EpAEpA AIA*F]?2FY:FYBF]S0JFYGeqA GepAzKBoHKж9KK&K Will construct direction to contact in vehicle frame from tetrahedron phase data.>C? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263047G G B O >6<w,ő @Ay%{B%Ii-=I-< 5a=5R=I=I=ʴ٢& ;=9Q > G٣vXGy >  Nusing accuracyPremultiplier from config%59ʈw?-5YM ia™99EA:E<<ڼ5eB es(AmEZjFNOT Ignoring new targets: 129.60 m.Bj'$Jj'$ ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.299290 m, bearing: 70.436121 deg, approach rate: 0.023293 m/s, LOS rate: -0.574054 deg/s, cmd heading: 70.707676 deg, new cmd heading: 70.436121 deg. HeadingCmd: 1.229342 target range: 129.600006 and range: 129.60 m. j[?jjji!h)h)h)h)f1f1f1rf1bf=-?MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510914Hm>Ii Im?IImr|BIi&Ii.ImID6Im <:Im FɛHBv 隕I ̄ɚiI(˜=I&nP?ii)[?)EE*E"E 5$?I1JUhJU^JQJQJU(:JUd9JQJQJQa]JQaeJU:aeJU:ae*F ?2F :F BF O0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762628G c>GBO>x w,x)-@Ay {B IMb@Mb@Mb@ )YS?v/?V-y?x= 1A  1A)1AIh/Ay0AIIƲ٢t< $=9Q > G٣y > Nusing accuracyPremultiplier from config590pw?5Y` ia™?:c9@AtI  ɚiIߞ=I=zK LK K9K K &K BK :K pAw,F@AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270773Rd@YRb%@R)o9RМ;yRHD~@?@?EmdT?ల~??ɨRd@R[;Py^{BbIIrIr 2٢z ռ zZ=9~;Q ]>ii uG٣uwXGyu u> Nusing accuracyPremultiplier from configy59}Z]w?5Y}# i}a™1@A}>E}:}i:}5B ~(AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 129.60 m.Bj'Jj' ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.325386 m, bearing: 69.924534 deg, approach rate: -0.009421 m/s, LOS rate: -0.584257 deg/s, cmd heading: 70.151644 deg, new cmd heading: 69.924534 deg. HeadingCmd: 1.220413 target range: 129.600006 and range: 129.60 m. j6?jjjihh h h f ffrfbfo@ɛ=ZBE AEIA EM ɚIiIIMѠ=IM_|?iQiQ)U6?)Y*F2F:FBF0JFZHRHWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524114HIG I9IIh|BI =&I.I6I)<:I FGBO> a Ii J J [J J J J W9J J J J J |:J |:w,`@Ay {B IMb@Mb@Mb@ )YzG?Dl?Zd;Oy ?O >j90A )I90AyII(1٢Im< ==9Q > G٣y > Nusing accuracyPremultiplier from config59Iw?5Y  ia™:?:4@A@E;;¿5B `(AEZj)5FNOT Ignoring new targets: 129.60 m.Bj=n$Jj=n$E ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.333466 m, bearing: 69.684176 deg, approach rate: 0.019332 m/s, LOS rate: -0.575027 deg/s, cmd heading: 69.924533 deg, new cmd heading: 69.684176 deg. MHeadingCmd: 1.216218 target range: 129.600006 and range: 129.60 m. jM ?jIjIjihhhhԃBfffrfbfP"@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774800ɛUcBU< Y]IY ]T ɚYiYI]=Ie?iaia)m ?)*FI2FI:FIBFM0JFIGe ^>GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:57:52.6298  TRx dataTimestamp_ set to:1736380673.868743 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027859w,z@A29@Y27!@2ռ92;y2H/`B_?_?O2`bG 뢚? q?`&?ɨ29@2*;0yb{BbIIjIj0٢r< rZ=9vQ v>tt vG٣tyz( z> Nusing accuracyPremultiplier from config 59U7w? 5Yͩ ia™0@ABEi::&Ŀ5 %T(A!ZjAMFNOT Ignoring new targets: 129.60 m.BjM$JjM$] ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.327644 m, bearing: 69.468417 deg, approach rate: -0.015543 m/s, LOS rate: -0.576138 deg/s, cmd heading: 69.684179 deg, new cmd heading: 69.468417 deg. eHeadingCmd: 1.212453 target range: 129.600006 and range: 129.60 m. je1?jajajiiihihihihqfqfqfyrfybf @ɛkB 隭I <ɚiI?=I2L?ii)1?) $?I*Ju4="JuR=zKKŷ9KK&KRKJK>E=>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279307*F2F:FBF0JFG9 G1 B O >~%w,1@AH>I  I I I &I .I 6I$<:I F&Will construct direction to contact in vehicle frame from tetrahedron phase data..DAT read: Range 10 to 50 : 130.4 m (Round-trip 173.9 ms) speed -0.1 m/s -.X#Rx 1: Read range message, but no direction.$y&fC$2T****** received valid address query ******2R****** received valid ping request ******2Querying Benthos address 50 with one ping in standard two-way mode.y{BIMb@Mb@Mb@ )Yi|?5?@5^I ?~jty?b>Dh/A )h/AI 1Ay(0AI]I](*2٢eM m=9mQ m>qq uG٣xXGy > Nusing accuracyPremultiplier from config59w?5YӦ ia™?:s1@ADEe ;;|ƿ5 k(AEJ9J9J9J9J9J9J9J9J9J9J9J9 addTargetRange:: Added new target pos. range: 130.399994 m, deltaT: 3.783167 s, deltaX: 0.799988 m, approachRate: 0.211460 m/s, rangeRepo size: 3 ZjFNOT Ignoring new targets: 129.60 m.BjfJjf ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.325150 m, bearing: 69.170745 deg, approach rate: -0.004525 m/s, LOS rate: -0.539944 deg/s, cmd heading: 69.468420 deg, new cmd heading: 69.170745 deg. HeadingCmd: 1.207257 target range: 129.600006 and range: 130.40 m. jh?jjjihhhhBfffrfL`@bf@?ɛuwBuƎ quIq }`ɚyiyI}=IT̗?ii)h?)Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3531>  BDAT read: Tx time:23:57:53.8518  $Ping request sent. *F- ?2F) :F) BF- _0JF) G1  G5 qAGMc>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:57:53.8510 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251891GIBYO ?-w,]@AV@YV@VR 9V !! -G٣)y-M -> =Nusing accuracyPremultiplier from config1=595 w?E5Y5ۣ i5a™AE-@EA5FE5.:5q:5ȿ5MߒB M'AUEZjyFNOT Ignoring new targets: 129.60 m.Bj$Jj$ ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.307682 m, bearing: 68.914783 deg, approach rate: -0.039286 m/s, LOS rate: -0.575843 deg/s, cmd heading: 69.170746 deg, new cmd heading: 68.914783 deg. HeadingCmd: 1.202790 target range: 129.600006 and range: 130.40 m. j?jjjihhhhfffrfbfc?ɛB{ GI ɚiIul=IW?ii)?)EE*E "E  U$?I]hzKBoIK9KK&K Will construct direction to contact in vehicle frame from tetrahedron phase data.=a=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503721*F?2F:FBFo0JFG9 G1 BY O >34w,w@AH>I IFII||BI =&I.I6I0<:I F- @Y+@@9E=;yH@[_ `K?q?gR?@pu??ɨ- @+;騝Cyޭ{BޭIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754671MMb@Mb@Mb@III I)IYMS?L7A`?yM?M+>MI M90A)M,AIMM4AIyIImIm٢}MF= }2=9}cQ }> G٣y҅ > Nusing accuracyPremultiplier from config593v?5Y ia™ ?:*@AIE;w;ʿ5 q'AiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 129.60 m.Bj_Jj_ ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.280983 m, bearing: 68.665221 deg, approach rate: -0.054739 m/s, LOS rate: -0.511880 deg/s, cmd heading: 68.914785 deg, new cmd heading: 68.665221 deg. %HeadingCmd: 1.198434 target range: 129.600006 and range: 130.40 m. j-Kf?j)j)j)i1h1h1h9hE܃Bfifqfrfbf ? $?IJK 3 KS}-KK"KJfJ\JJJ|":J[9JJJ;J;Jց:J؁:ɛeBm$ imQIi m^ɚiiqIu˙=IKf?ii)Kf?)*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007101G ^>G B O] >!;w,Kw@A6  @Y6&@6$a96;y6Hf`N?@$a?@ ؟? |? f?ɨ6  @6l;6CyB{BBIHJ@AININd٢RF= VX=9VHQ V>XX ZG٣ZyXGy^ ^> fNusing accuracyPremultiplier from config`=59b&v?E5Yb iba™AE)@MAbJEbGe> IG G ?G ?G B zK ѭLK ŷ9K K &K O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510610nBw,33 AAB @Ya@9;yH`"Y ? ?0C4?;1~?X?ɨB @~-; Cy|B II-I-i٢5= =B=9=`Q E>AA EG٣AyMS M> UNusing accuracyPremultiplier from configQ]59Uv?]5YU iUa™ae@'@eAULEUP ;U ;UͿ5i m&AiZjFNOT Ignoring new targets: 129.60 m.BjJj%- ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.217510 m, bearing: 68.234088 deg, approach rate: -0.086325 m/s, LOS rate: -0.542368 deg/s, cmd heading: 68.460420 deg, new cmd heading: 68.234088 deg. UHeadingCmd: 1.190910 target range: 129.600006 and range: 130.40 m. jUo?jQjQjYiYhYhYhYhafafafarfabfm?ɛB I \ɚ!i!I% =I%o?i)i))-o?)Q*F2F:FBF`4JFH>I IkII|BI =&I.I6I<:I FBIIWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764109JIIRIIZIM =bIM =jIM~4GI $?I GA BI Om >Hw,$AAj@@Yj_@j9jb0 G٣yz >UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014640 Nusing accuracyPremultiplier from config59^v?5Y5 ia™u?:#@ANE<a<Ͽ5ޒB &AEZjFNOT Ignoring new targets: 129.60 m.BjJj ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.168999 m, bearing: 68.005383 deg, approach rate: -0.106599 m/s, LOS rate: -0.502961 deg/s, cmd heading: 68.234088 deg, new cmd heading: 68.005383 deg. HeadingCmd: 1.186918 target range: 129.600006 and range: 130.40 m. j?jjjihhh)h- Bf)f)f1rf1bf5@ɛ}B}[陾 y隅I UɚiI]=I?ii)?)*Fy2Fy:FyBF}3JFy Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270239G T>G B O >PNw,=AA 0I6h:A@Y:`@:)9:=XX ^G٣^zXGy^ ^> fNusing accuracyPremultiplier from config`f59bдv?j5Yb ibua™hj!@jAbPEb.:b:bsѿ5p rd%ApZj FNOT Ignoring new targets: 129.60 m.Bj>-Jj>-JJ[J2JJJW9Jc3Ja@a@a@a@ ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.121590 m, bearing: 67.809488 deg, approach rate: -0.146508 m/s, LOS rate: -0.605849 deg/s, cmd heading: 68.005380 deg, new cmd heading: 67.809488 deg. HeadingCmd: 1.183499 target range: 129.600006 and range: 130.40 m. j|?jjjihhhhfffrfbf:H@ɛB 隝 I aɚiI=I|?ii)|?)*Fi2Fi:FiBFmP0JFiGupA GqzK7KK9KK&K %)'$#   eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518571GUc>G) B1 OM >Uw,sWAAH>IC III }BI =&I.I6I+<:I F^Will construct direction to contact in vehicle frame from tetrahedron phase data.\i\bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770919y]~|B]GIieN>Iea=Mb@Mb@Mb@ )Y`"? ףp= ?~jt?y?Q=< )(AI6Ay0AIIV8٢tY= -=9Q > G٣y > Nusing accuracyPremultiplier from config59Pv?5Yi iSa™?: @ARE{8;5;ӿ5 $A E M$?IIB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 129.60 m.BjJj ProNav pure pursuit: ac range: 129.600006 m, nav range: 60.043365 m, bearing: 67.552524 deg, approach rate: -0.160578 m/s, LOS rate: -0.528178 deg/s, cmd heading: 67.809490 deg, new cmd heading: 67.552524 deg. HeadingCmd: 1.179014 target range: 129.600006 and range: 130.40 m. j?jjjihhhh%Bf f f rf bf @ɛB}7 隝I ?ɚiIl=I?ii)?)*F?2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:23:57:56.4305 }TRx dataTimestamp_ set to:1736380677.649775checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025163G G B O >[w,qAA6}^@Y6{}@6/)96KG B O >zK= IMK= 9K9 K= &K= RKM ?JKM ?} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 130.9 m (Round-trip 174.6 ms) speed 0.0 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.lbw,}AAV|@YVʛ@Vҽ9V*@ G٣{XGy > Nusing accuracyPremultiplier from config59Åv?5Y ia™O@AVE;;ֿ5! %#A% E addTargetRange:: Added new target pos. range: 130.899994 m, deltaT: 3.779861 s, deltaX: 0.500000 m, approachRate: 0.132280 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 129.60 m.Bj5Jj5 ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.883198 m, bearing: 67.137876 deg, approach rate: -0.205297 m/s, LOS rate: -0.514793 deg/s, cmd heading: 67.370110 deg, new cmd heading: 67.137876 deg. HeadingCmd: 1.171777 target range: 129.600006 and range: 130.90 m. j?jjjihhhhfffrf%\`@bf-`9?ɛÂB-d 5Z >5 I1 =R#ɚ9i9IE2=IU?iQiY)]?)a*F 2F :F BFo0JFH9I9 I=II=f}BI= =&I9.I96I=<:I= FWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3532>  BDAT read: Tx time:23:57:57.6018 $Ping request sent.G ?G ?G B O >;iw,-AA6D?Y6 @6|BBIEMb@Mb@Mb@AAA A)AYE+?Q?Q?yEv?E\=E!! -G٣)y5! 5> ENusing accuracyPremultiplier from configAU59Evv?U5YE iE`™]?]:]@]AEXEEz;Eς;Eؿ5i uH#AqZjFNOT Ignoring new targets: 129.60 m.BjoJjo ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.773365 m, bearing: 66.908206 deg, approach rate: -0.261135 m/s, LOS rate: -0.547058 deg/s, cmd heading: 67.137877 deg, new cmd heading: 66.908206 deg. HeadingCmd: 1.167768 target range: 129.600006 and range: 130.90 m. jpy?jjjihhhh`Bfffrfabfm?ɛ˂B>W 隵 I $ɚiI=Ipy?ii)py?)!*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497551G h> $?I G B O >Aow,AA2I?Y2 @292X_0  G٣ y }  >J%iJ!J!J!J%+:J!J!J! -Nusing accuracyPremultiplier from config559njv?=5Y} i`™9=@=AZEK;;_ڿ5A E"AMEZjiuFNOT Ignoring new targets: 129.60 m.Bj}CJj}C ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.674713 m, bearing: 66.714835 deg, approach rate: -0.272988 m/s, LOS rate: -0.535977 deg/s, cmd heading: 66.908205 deg, new cmd heading: 66.714835 deg. HeadingCmd: 1.164394 target range: 129.600006 and range: 130.90 m. j ?jjjihhhhfffrfbf@T?ɛ҂B  I #n&ɚiI=I ?ii) ?)*F?2F:FBF4JFzKBoHK9KK&KTiO8)! %uf]YXWSQQS`Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749519G^>GBO>H ߽>I  I II }BI =&I .I 6I į<:I h Fj)vw,'AA*Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005032 YIYye,}BeIMb@Mb@Mb@ )YPn?v/?X9v?y$?xi=<.A )+#AI;Ay\/AIIW٢= -=9Q >!! %G٣%|XGy% -> 5Nusing accuracyPremultiplier from config1=595_Zv?=5Y5aw i5`™=$?=:={@=A5\E5;5o;5pܿ5I M<"AIuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 129.60 m.Bj Jj  ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.537125 m, bearing: 66.457943 deg, approach rate: -0.291609 m/s, LOS rate: -0.545721 deg/s, cmd heading: 66.714836 deg, new cmd heading: 66.457943 deg. HeadingCmd: 1.159910 target range: 129.600006 and range: 130.90 m. jw?jjjih)h)h1h5hBf1f1f1rf9bf==?ɛۂBF I (ɚiI)=I%w?i!i!)%w?))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254510EA *F ?2F :F BF 0JF Gc>G G mAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505896GB O-??~w,YAA2s_?Y2N@292R1dh jG٣lyr? v> Nusing accuracyPremultiplier from config| 59~Lv?5Y~q i~P`™ @%A~^E~;~; }$?I}h~o޿5ݒB !AEZjFNOT Ignoring new targets: 129.60 m.Bj Jj% 5 ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.384426 m, bearing: 66.221152 deg, approach rate: -0.318391 m/s, LOS rate: -0.494998 deg/s, cmd heading: 66.457946 deg, new cmd heading: 66.221152 deg. 5HeadingCmd: 1.155777 target range: 129.600006 and range: 130.90 m. j5?j9j9j9i9h9h9hahafafifirfibfm@?ɛBu y>9I )*ɚiI%f=I?ii)?) JelJaJe1JaJe<5:JaJe3JaE2 >*F2F:FBFP5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757521zK'NK}9KK&KnfPC@8 G G B O >$w,!wBAZe?YZQ@Z_9Z! %G٣!y% %> -Nusing accuracyPremultiplier from config)559-@v?55Y-ak i-`™9= @=A-`E-;--;-85EޒB Mg!AMEHI IeIIO~BI&I.I6Iί<:Io FWill construct direction to contact in vehicle frame from tetrahedron phase data.խAiթchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013973ZjFNOT Ignoring new targets: 129.60 m.Bj% Jj%  ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.242500 m, bearing: 66.013252 deg, approach rate: -0.328493 m/s, LOS rate: -0.482345 deg/s, cmd heading: 66.221150 deg, new cmd heading: 66.013252 deg. HeadingCmd: 1.152149 target range: 129.600006 and range: 130.90 m. jy?jjjihhhhfffrfbf`vv@ɛB9 I ,ɚiI%=I%y?i9i9)=y?)I yIyE( >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262461*Fa 2Fa :Fi BFm 0JFi G)G5?G5?GE~GBYutA #YtAyBO?w,Ug6BA2Ӌ?Y2d@292p G٣}XGyh > Nusing accuracyPremultiplier from config59 2v?5Yc i_™)?:@AcE;;5 !AZjFNOT Ignoring new targets: 129.60 m.Bj+"Jj+"  ProNav pure pursuit: ac range: 129.600006 m, nav range: 59.043209 m, bearing: 65.740580 deg, approach rate: -0.413106 m/s, LOS rate: -0.567121 deg/s, cmd heading: 66.013252 deg, new cmd heading: 65.740580 deg. HeadingCmd: 1.147390 target range: 129.600006 and range: 130.90 m. jݒ?jjjihhhhBEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513349fffrfbf>F@ɛBʿ QI .ɚiI=Iݒ?i i ) ݒ?) EpAEpA IE!>*F2F:FBFO5JFG h> Will construct direction to contact in vehicle frame from tetrahedron phase data. > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765601zKM lLKM 9KI KM &KM  G B O > ؓw,`PBAR?YR?R$9Rc    G٣ yР > Nusing accuracyPremultiplier from config%59'v?%5Y] i_™)-@-AeE;;65=ݒB =} A=EZjFNOT Ignoring new targets: 129.60 m.BjAJjA ProNav pure pursuit: ac range: 129.600006 m, nav range: 58.893673 m, bearing: 65.546283 deg, approach rate: -0.384582 m/s, LOS rate: -0.500968 deg/s, cmd heading: 65.740578 deg, new cmd heading: 65.546283 deg. HeadingCmd: 1.143999 target range: 129.600006 and range: 130.90 m. jn?jjjihhhhfffrfbfxE @ɛB0 0I 1:0ɚiIu=I n?i i ) n?)EE*E"EH}ݽ>mWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:58:00.1802 TRx dataTimestamp_ set to:1736380681.432757checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023703Iy I}II}~BIy&Iy.Iy6I}<:I} FBI%ķCJI%ķCRI!ZI% =bI% =jI%'4 $?I *Fi2Fi:FiBFmP5JFiJM gJI JI JI JM %:JI JI JI JM N$;a] JM Q$;a] JM l:a] JM m:a] Gu ^> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270826GI BY Ou >Mw,RlBA6"?Y6.?6ٺ)96eD;y6Hؿ }{??,?|ؿy3ÿ ?jz?`?ɨ6"?6o;6CyB}BBIMb@Mb@Mb@ )Y rh?p= ף?I +?yC+?=9<,A )Z"AI\AAy0AIIV8٢  0=9V+Q > G٣y3 > Nusing accuracyPremultiplier from config59v?5YV i__™),?:@AhE ; ;=5  A B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 129.60 m.BjJj%= ProNav pure pursuit: ac range: 129.600006 m, nav range: 58.708126 m, bearing: 65.309373 deg, approach rate: -0.403531 m/s, LOS rate: -0.516863 deg/s, cmd heading: 65.546286 deg, new cmd heading: 65.309373 deg. EHeadingCmd: 1.139864 target range: 129.600006 and range: 130.90 m. jE ?jAjAjAiAhIhhhBfffrfbf @ɛ B% !EII MN2ɚIiIIMݾ=IU ?iQiQ)U ?)YEa*F2F:FBFO0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:58:00.1802 LVL= 23696, 25585, 12530, 28211, AGC= 57, IDX= 436,-0.34, 2.071, 2.222,-2.133, 2.714, PHS=-0.555,-0.445, 1.434, RAW= 212.8, -4.5, CAL= 210.5, -11.3, ROT= 299.5, 11.3 Ygot valid direction response: 23:58:00.1802 LVL= 23696, 25585, 12530, 28211, AGC= 57, IDX= 436,-0.34, 2.071, 2.222,-2.133, 2.714, PHS=-0.555,-0.445, 1.434, RAW= 212.8, -4.5, CAL= 210.5, -11.3, ROT= 299.5, 11.3 PDAT read: Bearing 299.5, 11.3 (Local) ~Local bearing/azimuth received: Bearing 299.5, 11.3 (Local) DAT read: Range 10 to 50 : 130.6 m (Round-trip 174.2 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.057549,-0.874874,-0.480920]Fpublishing direction and range infoQ9Uf-cw?QQUBHI:%Cʂ?נ 9)U\?IU=iUUo?QQT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IGe c>Ga Ge qAG! B) OE >'uw,BA:2%?Y:,c?:a.9:$;y:H}Uֿ װ? ~?@Rֿ tÿ ?y?@ԉ?ɨ:2%?:=;: Cy^}B^IIfIf%x٢rw = rY=9v6Q v>tt vG٣z~XGyzj z> ~Nusing accuracyPremultiplier from config|59~}v?5Y~P i~+_™  @ A~jE~;~;~5 X A!kL#z˖?kFu k kG{BA:kCBkCZk?"+]0=@ \6qgOf-cw? BDAT read: Tx time:23:58:01.4519 $Ping request sent.I9  I= II= BI9 &I9 .I9 6I= ۯ<:I= v FGQ BY O} >u Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:58:01.4511  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258484 I w,"BA2d?Y2?2192G;y2HהԿ`^;C?@?HԿ'Ŀ [?~??ɨ2d?2;2Cy>}B>IeMb@Mb@Mb@aaa a)aYe#~j?=9{ Q > G٣y\ > Nusing accuracyPremultiplier from config59ev?5Y;J i^JJ^JJJJd9JJJJJ:J:U&?U:U@UAlEj<xj<5Y ]/ AeEZjFNOT Ignoring new targets: 130.60 m.BjJj ProNav: ac range: 130.600006 m, nav range: 58.375900 m, bearing: 64.910604 deg, approach rate: -0.398674 m/s, LOS rate: -0.475111 deg/s, cmd heading: 64.718310 deg, new cmd heading: 64.085290 deg. 2jHeadingCmd: 1.118499 target range: 130.600006 and range: 130.60 m. j*?jjji h hhhBfffrfbf_h?ɛeBmB 隝OI 5ɚiI=I*?ii)*?)*F2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=4=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503158G ^>Gy B O >wȭw,tϹBA6?Y6?64965}BB IIJIJ?٢RR< R]=9RQ R>TT VG٣TyZL Z> ^Nusing accuracyPremultiplier from configXb59Zpv?b5YZD iZ^™`bB?fAZnEZ ;Z2 ;Z_5h j AhZjFNOT Ignoring new targets: 130.60 m.Bj  Jj   ProNav: ac range: 130.600006 m, nav range: 58.222431 m, bearing: 64.737168 deg, approach rate: -0.438646 m/s, LOS rate: -0.497021 deg/s, cmd heading: 64.085288 deg, new cmd heading: 63.563624 deg. %Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548822j-5HeadingCmd: 1.109395 target range: 130.600006 and range: 130.60 m. j5?j1j1j1i1h1h1h9h9fAfAfArfAbfM@2?ɛu!BuΗ I OX7ɚiI%@=I%?i)i))-?))E9E=qA m$?Imh*F2F:FBFs0JFGc>GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007859BO >zK .JK }9K K &K 谴w,BA2^?Y2X?2792>-hh nG٣nXGyr뛽 r> Nusing accuracyPremultiplier from config|59~u?5Y~"> i~^™!%D?-A~pE~t;~;~-59 =AAZjFNOT Ignoring new targets: 130.60 m.Bj:Jj:= ProNav: ac range: 130.600006 m, nav range: 58.043289 m, bearing: 64.545264 deg, approach rate: -0.410430 m/s, LOS rate: -0.441026 deg/s, cmd heading: 63.563626 deg, new cmd heading: 62.986156 deg. 2jEVEHeadingCmd: 1.099316 target range: 130.600006 and range: 130.60 m. jEa?jIjIjIiIhIhIhQhqfqfyfyrfybf}9L?Hڽ>I III9BI&I.I6I<:I Fɛe*BuZi y隅6 I A\9ɚiI=Ia?=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261848iiY)ea?)q QIQ*F=?2F9:FABFEo0JFAJiJ_JJJ+:J=h9JJJ/;J/;J:J:Gi GA BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510706ۺw, BA6B?Y6?6:96il G٣ys > Nusing accuracyPremultiplier from config 59 Gu?5Y 7 i c^™?:F?A rE .; iD; 5) -A5EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 130.60 m.BjmJjm ProNav: ac range: 130.600006 m, nav range: 57.865601 m, bearing: 64.346856 deg, approach rate: -0.426415 m/s, LOS rate: -0.477598 deg/s, cmd heading: 62.986154 deg, new cmd heading: 62.389126 deg. 2j⣼HeadingCmd: 1.088896 target range: 130.600006 and range: 130.60 m. j`?jjjih h h)h-{Bf1f1f1rf1bf==%?ɛ3BƧ !%3 I! %I;ɚ!i!I%=Im`?iiiq)u`?)q*F2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763501 9I9G G B O >w, fCA6K,?Y6Dj?6Z;96á?f?˿N<ƿ`A?T%?`Tv?ɨ6K,?6;6 CyB}BBIIJIJV8٢R; Rb=9V鍺Q V>TT ZG٣XyZ, Z> bNusing accuracyPremultiplier from config`f59bu?f5Yb32 ib9^™df0?fAbtEb2:bT:b5l nAlZj)-FNOT Ignoring new targets: 130.60 m.Bj51Jj51E ProNav: ac range: 130.600006 m, nav range: 57.714577 m, bearing: 64.187249 deg, approach rate: -0.414514 m/s, LOS rate: -0.439218 deg/s, cmd heading: 62.389127 deg, new cmd heading: 61.909064 deg. 2jEMHeadingCmd: 1.080517 target range: 130.600006 and range: 130.60 m. jMbN?jIjIjIiIhQhQhQhYfYfYfYrfabfe@ɛ9Bd- *>隕 I <ɚiI=IbN?ii)bN?)E=l>E=>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015927zKKK9KK&K*F?2F:FBF4JFGGBH ׽>I C I II WBI =&I .I HD6I ۯ<:I q FO] >U Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270224 A II cw,?!CA:?Y:M?: :9:ɠAQyU*AIuIu̍٢l; ==9:Q > G٣XGy7 > Nusing accuracyPremultiplier from config594u?5Y&, i^™?:?AvEw;;5 AEJhJ[JJJ(:JW9JJJ);J);J|:J|:ZjFNOT Ignoring new targets: 130.60 m.Bj1Jj1仝 ProNav: ac range: 130.600006 m, nav range: 57.546093 m, bearing: 64.009147 deg, approach rate: -0.376355 m/s, LOS rate: -0.399003 deg/s, cmd heading: 61.909067 deg, new cmd heading: 61.373215 deg. 2jꈼHeadingCmd: 1.071165 target range: 130.600006 and range: 130.60 m. j?jjjihhhh!Bfffrfbf@x@ɛ=BBEz AE IA E>ɚIiIIM=Iu?ii)?)*F?2F:FBFm4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519975G G B O >w,;CAR ?YR!?R489R3ҍtt vG٣tyz* z>~Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771060  Nusing accuracyPremultiplier from config|59~u?5Y~& i~]™u?A $?Ih~wE~-<~8<~;5 AZjIMFNOT Ignoring new targets: 130.60 m.Bj}W׻Jj}W׻ ProNav: ac range: 130.600006 m, nav range: 57.387154 m, bearing: 63.860062 deg, approach rate: -0.400309 m/s, LOS rate: -0.376530 deg/s, cmd heading: 61.373218 deg, new cmd heading: 60.924732 deg. 2j4HeadingCmd: 1.063337 target range: 130.600006 and range: 130.60 m. jo?jjjihhhhfffrfbf@Ѡ@ɛJBC  I @ɚiI=I o?ii)o?)iJ@AJ@A*F!2F!:F!BF%P0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:58:04.0291 TRx dataTimestamp_ set to:1736380685.212333checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027483GM h>zK BoIK 9K K &K i/ nO9* G BK pA:K B) OE >@w,TCAF޷?YF?F_69F]    G٣ y > Nusing accuracyPremultiplier from config%59u?%5Y  i]™!%p?-AyE::51 =SA9Zj FNOT Ignoring new targets: 130.60 m.Bj=Jj=ໝM ProNav: ac range: 130.600006 m, nav range: 57.213379 m, bearing: 63.705763 deg, approach rate: -0.440970 m/s, LOS rate: -0.392737 deg/s, cmd heading: 60.924734 deg, new cmd heading: 60.460442 deg. 2jMĆ}HeadingCmd: 1.055234 target range: 130.600006 and range: 130.60 m. j}?jyjyjyiyhhhhfffrfHӽ>I IIIlBI =&I.I6I<:I Fbf@ @ɛ5QB5 9= I9 EbRBɚAiAIM =I]?iYia)e?)%Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280581 IEm >*F 2F :F BF E5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530587)1 9Gmc>9GYBiO ?aDw,rwCA 2%Y4y6OBy }B *IMb@Mb@Mb@ )Y"~j?B`"۹?I +yS?=9(A (A)AIv G٣XGy > Nusing accuracyPremultiplier from config59u?5YN i]™?:M?A|E;;~5 1AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 130.60 m.BjʻJjʻWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:58:04.0291 LVL= 30256, 28321, 17890, 32755, AGC= 64, IDX= 425,-0.11,-1.778,-2.320,-0.354,-1.325, PHS=-0.365,-0.948, 0.969, RAW= 192.7, 4.1, CAL= 192.8, -4.1, ROT= 317.2, 4.1 %Ygot valid direction response: 23:58:04.0291 LVL= 30256, 28321, 17890, 32755, AGC= 64, IDX= 425,-0.11,-1.778,-2.320,-0.354,-1.325, PHS=-0.365,-0.948, 0.969, RAW= 192.7, 4.1, CAL= 192.8, -4.1, ROT= 317.2, 4.1 -PDAT read: Bearing 317.2, 4.1 (Local) 5~Local bearing/azimuth received: Bearing 317.2, 4.1 (Local) =DAT read: Range 10 to 50 : 129.8 m (Round-trip 173.1 ms) speed 0.0 m/s ER#Rx 1: Read range and direction messages.Mbdirection in FSK: [-0.142344,-0.973668,-0.178073]MFpublishing direction and range info9clP8¿8H(rxƿyC0vn E)I@iHẾ!rbx?z?W@C= \W@)CIm(@iC=;͘?9>Uh{?>?)r?IiۿR7>eT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode. I ProNav: ac range: 130.600006 m, nav range: 56.996788 m, bearing: 63.505826 deg, approach rate: -0.381380 m/s, LOS rate: -0.353393 deg/s, cmd heading: 60.460445 deg, new cmd heading: 59.858377 deg. 2jrHeadingCmd: 1.044726 target range: 130.600006 and range: 130.60 m. j?jjjihhhhBfffrf9`@bf Ed?ɛu]B}rS y} Iy }DɚiIih=I?ii)?)*E="E=Eժ >JJ^JJJJd9JJa@a@a@a@*F)2F):F)BF-4JF) Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:3534>  BDAT read: Tx time:23:58:05.4519  $Ping request sent. zK- VNK- 9K) K- &K- GI BQ Om > 9w,1CAy}B3II%I%n٢5T= 5R=99Q =>9A EG٣AyA E> UNusing accuracyPremultiplier from configQ]59Uu?]5YU6 iU]™aaeAU}EUG:U:U15i mAqk،7?kT] k k}CA:kCBkCZk\@"y2ϫPus_4$7clP8¿8H(rxƿJkۿRkR7>*Ysݪ_@n>Y?*ax2<ikhq:?p^\1M6^˿"k1*kVBk }?kv{] 2k3 Bkkv{] kkAkX@ addTargetRange:: Added new target pos. range: 129.800003 m, deltaT: 4.032621 s, deltaX: -0.800003 m, approachRate: -0.198383 m/s, rangeRepo size: 4 ] Added new target pos. range: 129.800003 m, bearing: 358.742256 deg, lat: 36.904391 deg, lon: -122.120653 deg, deltaT: 4.032621 s, deltaX: -0.800003 m, approachRate: -0.198383 m/s, posRepo size: 3 ZjYeFNOT Ignoring new targets: 129.80 m.BjeJj ProNav: ac range: 129.800003 m, nav range: 25.634058 m, bearing: 353.771663 deg, approach rate: 0.000000 m/s, LOS rate: -0.353393 deg/s, cmd heading: 59.858378 deg, new cmd heading: 59.457232 deg. 2jHeadingCmd: 1.037724 target range: 129.800003 and range: 129.80 m. j(Ԅ?jjjihhh h f f frfbfg]?ɛ=dB=u" 9E I ZFɚiIy=I(Ԅ?ii)(Ԅ?)EE*E"EHMͽ>IMC IMIIMvBIM =&II.IMGD6IMQ<:IM FBI%ĶCJI%ĶCRI!ZI% =bI% =jI%<5Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:58:05.4511 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254818 I*F ?2F :F BF 4JF GI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503549GABYO>w,pCAR}?YRv!?Rq09RU=UjUn&A U%A)UAIU:AQyU'AImIm:٢p|= #=9@ G٣yn? > Nusing accuracyPremultiplier from config59u?5Y7 if]™a>:?AE;;a5 ޒB ~A EZj15FNOT Ignoring new targets: 129.80 m.Bj=~Jj=~U ProNav: ac range: 129.800003 m, nav range: 25.706097 m, bearing: 353.278429 deg, approach rate: 0.146995 m/s, LOS rate: -1.003615 deg/s, cmd heading: 59.457234 deg, new cmd heading: 57.982021 deg. 2jU1,]HeadingCmd: 1.011977 target range: 129.800003 and range: 129.80 m. j]x?jYjYjYiYhahahihmBfififqrfqbfuM?ɛlBn^ 隥 I ʵHɚiI=Ix?ii)x?)EEpA*FA2FA:FABFEP0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928 1I1GMc>GUqAGUpAG B) OU >JSKS K[L.KSKS"KSJ} jJ} `Jy Jy J} .:J} bl9Jy Jy sow,6CA6?Y67?6`/96 | G٣XGy >  Nusing accuracyPremultiplier from config 59 {u?5Y   i P]™?A E  ; m ; 5! %A)ZjQ]FNOT Ignoring new targets: 129.80 m.Bj]팼Jje팼m ProNav: ac range: 129.800003 m, nav range: 25.755995 m, bearing: 352.908689 deg, approach rate: 0.133280 m/s, LOS rate: -0.985670 deg/s, cmd heading: 57.982022 deg, new cmd heading: 56.875097 deg. 2ju)}HeadingCmd: 0.992658 target range: 129.800003 and range: 129.80 m. j}~?jyjyjyiyhyhhhfffrfbf?ɛsB}  I ^JɚiI\=I~?ii)~?) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008977*F92F9:F9BF=_0JFAzK K K9K K &K G1Hɽ>IC I'IIBI =&I.I6IP<:I FGB9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261271 E $?II @w,KCA2/?Y2m?2N.92e[X~B>kIMb@Mb@Mb@ )Yףp= ? rh?~jty>C=$A #A) AI39Ay&AI-I-4٢=;= =E=9EE;Q E>AA MG٣IyMs M> ]Nusing accuracyPremultiplier from configQ]59Uu?e5YU iU8]™e>e:e?eAUEUf;U;U5i uAqZj9EFNOT Ignoring new targets: 129.80 m.BjE&JjE&} ProNav: ac range: 129.800003 m, nav range: 25.794939 m, bearing: 352.515746 deg, approach rate: 0.089661 m/s, LOS rate: -0.903294 deg/s, cmd heading: 56.875098 deg, new cmd heading: 55.698224 deg. 2j}HeadingCmd: 0.972117 target range: 129.800003 and range: 129.80 m. jx?jjjihhhhՃBfffrfbf?ɛ{B; 隥 I ffLɚiI!=Ix?ii)x?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512444*F}?2F:FBFJFG ^>G B O >w,BCA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762963b?Yb(?b*9bI0!! %G٣!y-k -> 5Nusing accuracyPremultiplier from config)=59-Ju?=5Y-b i-!]™9=G?=A-E-i ;- ;-5I MAImB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 129.80 m.BjJj ProNav: ac range: 129.800003 m, nav range: 25.827885 m, bearing: 352.136136 deg, approach rate: 0.086910 m/s, LOS rate: -1.000118 deg/s, cmd heading: 55.698222 deg, new cmd heading: 54.561004 deg. 2j+HeadingCmd: 0.952269 target range: 129.800003 and range: 129.80 m. js?jjjihhhhfffrfbfx@ɛB䷾ ;>I MɚiI>=Is?ii)s?)*F-?2F):F)BF-0JF)"G1G5>J]iJ]^J]0JYJ]+:J]d9J]ـ3JYWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015965Gc>G?G?Gq B O >zKy K} ŷ9Ky K} &K} )tbxgYK:(udWLE?83-*+*%%"!w,DAv?Yvķ?vd'9v~R)) -G٣-XGy-v 5> =Nusing accuracyPremultiplier from config1E595u?E5Y5 i5 ]™AE?EA5E5:5:5T5Q UAQHƽ>I IFIIBI =&I.IFD6I=<:I FZjIMFNOT Ignoring new targets: 129.80 m.BjuʀJjuʀ ProNav: ac range: 129.800003 m, nav range: 25.856579 m, bearing: 351.748638 deg, approach rate: 0.066778 m/s, LOS rate: -0.900791 deg/s, cmd heading: 54.561003 deg, new cmd heading: 53.399965 deg. 2jHeadingCmd: 0.932005 target range: 129.800003 and range: 129.80 m. jn?jjjihhhhfffrfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275346 IɛB I lOɚiI=In?i!i!)n?)*F=?2F9:F9BF=p0JF9E Will construct direction to contact in vehicle frame from tetrahedron phase data.E >E <U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524560G] h>G1 BA O] >) w,1DAfw6?Yfpt?fS$9f)uY=u#u#A uV"A)uzAIu5Aqyu$AIIb٢= B=92;Q > G٣y%J %> 5Nusing accuracyPremultiplier from config)=59-u?=5Y- i-\™=>E:E?EA-E- ;-;-<5I MZAIZjq}FNOT Ignoring new targets: 129.80 m.Bj}Jj} ProNav: ac range: 129.800003 m, nav range: 25.875912 m, bearing: 351.341775 deg, approach rate: 0.047066 m/s, LOS rate: -0.989766 deg/s, cmd heading: 53.399966 deg, new cmd heading: 52.180485 deg. 2j)HeadingCmd: 0.910721 target range: 129.800003 and range: 129.80 m. j%i?jjjihhhhكBfffrfbf`1@ɛBⲾ I  QɚiI~=I%i?ii)%i?)*F2F:FBF55JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775753 IhGc>G B O >Je gJa Je 1Ja Je %:Ja Je 3Ja w,~KDA6?Y66?6!96~B>IIJIJm?٢VI> V[=9Z;Q Z>X\ ^GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:58:08.0274 TRx dataTimestamp_ set to:1736380689.244540checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027929٣\y5G 5> =Nusing accuracyPremultiplier from config9E59=u?E5Y=Y i=\™IMY?MA=E=a:=:=5Q UAYZjFNOT Ignoring new targets: 129.80 m.BjJjM ProNav: ac range: 129.800003 m, nav range: 25.889378 m, bearing: 350.963092 deg, approach rate: 0.032351 m/s, LOS rate: -0.909296 deg/s, cmd heading: 52.180484 deg, new cmd heading: 51.045182 deg. 2jMUHeadingCmd: 0.890907 target range: 129.800003 and range: 129.80 m. jUsd?jQjQjYiYhYhYhYhafafafarfabfm@ @ɛBN I ^OSɚiIv=Isd?ii))-sd?)1'UTFailed to parse incomplete device message.H½>IC IrIIBI =&I.I6IN<:I FEA>E*Fi 2Fi :Fi BFm 0JFi Gq  Gu pA I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291339G ^>GBO>R"w,^jDAm?Y?,w9,I5; Ep=Ep=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:58:08.0274 LVL= 32752, 32753, 22562, 32755, AGC= 66, IDX= 424,-0.03,-2.078,-2.934,-1.103,-1.907, PHS=-0.082,-0.979, 0.801, RAW= 179.8, 3.4, CAL= 179.9, -5.2, ROT= 330.1, 5.2 Ygot valid direction response: 23:58:08.0274 LVL= 32752, 32753, 22562, 32755, AGC= 66, IDX= 424,-0.03,-2.078,-2.934,-1.103,-1.907, PHS=-0.082,-0.979, 0.801, RAW= 179.8, 3.4, CAL= 179.9, -5.2, ROT= 330.1, 5.2 8DAT read: $Error in header *Received a bad headerMX#Rx 1: Read direction message, but no range.U`direction in FSK: [-0.152563,-0.987327,0.043711]ر9ص2ÿB-Ka?رصص ٵ"X)ٱIٵBiٵ什ٵzٵVM?ٵH@ٵs= ڵBH@)ڵ޹Iڵ\@iڵ޹=ڱ۵/a?UB?7z?)۵u?I۵si۵~ܿ۵3mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )Y)\(?~jt?MbpyG>=&#A  A)AIx3Ay"AI!I!٢-m= 5=9519 =G٣]XGy]i e> mNusing accuracyPremultiplier from configau59eu?u5Ye ie\™u >u:uױ?uAeEe;e_;e 5 AEZjFNOT Ignoring new targets: 129.80 m.BjJj5 ProNav: ac range: 129.800003 m, nav range: 25.884563 m, bearing: 350.394183 deg, approach rate: -0.008227 m/s, LOS rate: -0.972331 deg/s, cmd heading: 51.045183 deg, new cmd heading: 49.338670 deg. 2j5&=HeadingCmd: 0.861122 target range: 129.800003 and range: 129.80 m. j=r\?j9j9j9i9hAhAhAhEBfIfIfIrfIbfM`8>@ɛB I UɚiIٹ=Ir\?i!i!)-r\?)) E $?IA e Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapseE] >*F ?2F :F BF _0JF *J"J4=JhJ]J0JJ(:J_9Jـ3JGc>GBO?#w,DA.Will construct direction to contact in vehicle frame from tetrahedron phase data..T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapseB.?YBl?B69Bi f;=9j*;Q j>hl nG٣lyn n> vNusing accuracyPremultiplier from configpv59ru?z5Yr ir\™?ArEraI III:BI =&I.IED6I<:IJ F 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*Fm?2Fi:FqBFqJFqG ^>G B O >a*w,.SDAJ?YJE?J9JN^E 0=ET m/=9mYM;Q u>qq uG٣uXGy} }> Nusing accuracyPremultiplier from config597u?5Yp io\™>:v?AE;; 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 elapseZjFNOT Ignoring new targets: 129.80 m.BjώJjώ ProNav: ac range: 129.800003 m, nav range: 25.863766 m, bearing: 349.511254 deg, approach rate: -0.027094 m/s, LOS rate: -0.998842 deg/s, cmd heading: 48.083610 deg, new cmd heading: 46.689311 deg. 2j_+HeadingCmd: 0.814882 target range: 129.800003 and range: 129.80 m. jP?jjjihhhhBfffrfbf@H@ɛMBM[ IMDIQ UP+YɚQiQIUv=I]P?iYiY)]P?)aEENG*FM?2FI:FIBFM1JFI"GYG]> ]b YayeeB i Ii G c>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 B O >t1w,?DAy%&B%I)) )I=I=@٢e=> eK=9mQ m>ii uG٣qyu u> Nusing accuracyPremultiplier from configy59}u?5Y} i}N\™A}E};};}E5ߒB AEZjFNOT Ignoring new targets: 129.80 m.Bj Jj  ProNav: ac range: 129.800003 m, nav range: 25.854288 m, bearing: 349.111612 deg, approach rate: -0.025045 m/s, LOS rate: -1.056450 deg/s, cmd heading: 46.689312 deg, new cmd heading: 45.490133 deg. 2jB5HeadingCmd: 0.793953 target range: 129.800003 and range: 129.80 m. jz@K?jjjihhhhfffrfbf @ɛ-B5: 158I9 =?Zɚ9i9I=W=IEz@K?iAiA)Ez@K?)I*F2F:FBF4JF-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 elapseGh>zK0NK9KK&KISNE6&xtng_[_a\O=1/'CBK:KGBO>Hu >Iu C Iu IIu |BIu =&Iq .Iq 6Iu <:Iu FBI5ʳCJI5ʳCRI5ʔCZI5 =bI5 =jI5"5 a Ia 7w,DA>Will construct direction to contact in vehicle frame from tetrahedron phase data.>T****** received valid address query ******BR****** received valid ping request ******Breceived new query, but waiting for acoustic response period to elapse^Ks?Y^?^۬9^ںa mG٣iy} > Nusing accuracyPremultiplier from config59u?%5Y i)\™)-?-AEA<x<851 5A1ZjFNOT Ignoring new targets: 129.80 m.Bj?Jj? ProNav: ac range: 129.800003 m, nav range: 25.832159 m, bearing: 348.669545 deg, approach rate: -0.047312 m/s, LOS rate: -0.945947 deg/s, cmd heading: 45.490132 deg, new cmd heading: 44.163043 deg. 2jL"HeadingCmd: 0.770791 target range: 129.800003 and range: 129.80 m. jRE?jjjihhhhff f rf bf @ܬ@J!J%^J!J!J!J%d9J!J!J%);a-J%);a-J%:a5J%:a5ɛB/ꦾ ߿I CE\ɚiI =I RE?ii)RE?)*F?2F:FBF@5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseG c>G G G B O >=w,DAfk?Yfo͑?f9fp@=ף< A A)Ih/Ayz AIIT٢g> K=9ؿ:Q > G٣XGy! > Nusing accuracyPremultiplier from config59u?5Y1 i\™ F> : ? AE3;;5 AZj9EFNOT Ignoring new targets: 129.80 m.BjE袼JjM袼] ProNav: ac range: 129.800003 m, nav range: 25.807432 m, bearing: 348.264591 deg, approach rate: -0.069507 m/s, LOS rate: -1.139405 deg/s, cmd heading: 44.163044 deg, new cmd heading: 42.947213 deg. 2j]}CmHeadingCmd: 0.749570 target range: 129.800003 and range: 129.80 m. jm??jijijiiihqhqhyh}cBfyfyfyrfbf@ IɛMăBM{ quտIq uS}]ɚqiqIus3=I}??iyi)??)Will construct direction to contact in vehicle frame 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):F1BF5P0JF1Gi GA BQ Om >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse5Dw,:EA>b?Y>е?>f9>1HQ?apP?||?ޱ? 9??ɨ>b?>vX;`` fG٣dyf f> jNusing accuracyPremultiplier from confighn59jku?r5Yj ij[™pr?rAjEj`;j;jx5t vAzEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 129.80 m.BjYJjY ProNav: ac range: 129.800003 m, nav range: 25.779039 m, bearing: 347.872874 deg, approach rate: -0.074112 m/s, LOS rate: -1.023596 deg/s, cmd heading: 42.947212 deg, new cmd heading: 41.770939 deg. zK(MOKŷ9KK&K 9DEDDCB=;:730/*((&&%%$" 2j5/MHeadingCmd: 0.729040 target range: 129.800003 and range: 129.80 m. jMe:?jIjIjIiIhIhqhyhyfyffrfbf@ɛʃBI ҿI ^ɚ!i!I%g=I%e:?i)i))-e:?)QH->I) I-fII-ȀBI- =&I).I)6I-<:I-A F*F2F:FBFJF IhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG G! B1 JI JM mJM 1JI JI JM &9JM 3JI JI JI JM :JM :O} >Jw,‡-EA: Z?Y:~?:gX9:rt G٣y{ > Nusing accuracyPremultiplier from config59"u?5Y1 i[™?:2?AE;^;]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 elapseZj FNOT Ignoring new targets: 129.80 m.Bj=0Jj=0M ProNav: ac range: 129.800003 m, nav range: 25.746803 m, bearing: 347.372436 deg, approach rate: -0.077031 m/s, LOS rate: -1.197330 deg/s, cmd heading: 41.770941 deg, new cmd heading: 40.268110 deg. 2jMmMUHeadingCmd: 0.702811 target range: 129.800003 and range: 129.80 m. jn3?jjjihhhhBfffrfbf@\@ɛ]ЃB]wʨ aeJͿIa e)`ɚaiaIe=Imn3?iiiq)un3?)qE*F?2F:F BF _0JF  $?IGI GU ?GU ? Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG! B1 OU >TQw,qGEAJèR?YJZ?J9JTf&`? Ѝ?@d?ɨJèR?J;J CynBnTIIvIv[٢ >  S=9Q > G٣XGy~ > %Nusing accuracyPremultiplier from config!-59%u?-5Y%G i%[™1$?A%E%<%<% 5 -AZjFNOT Ignoring new targets: 129.80 m.BjJj ProNav: ac range: 129.800003 m, nav range: 25.713531 m, bearing: 346.929466 deg, approach rate: -0.083269 m/s, LOS rate: -1.110041 deg/s, cmd heading: 40.268111 deg, new cmd heading: 38.937736 deg. 2js>HeadingCmd: 0.679592 target range: 129.800003 and range: 129.80 m. j-?jjjihh!h!h!f!f)f)rf)bf-@ɛ]փB]j Ye,ǿIa e]aɚaiaIe=Im-?iiiq)u-?)q*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 elapseG zK-fMK-@9K)K-&K-     ,y:udTE81*'GBO >H >I C I II BI &I .I 6I <:I F I Ww,ZaEA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapse^,J?Y^?^9^G G٣y 2  > Nusing accuracyPremultiplier from config59u?%5Y5 id[™)5"?=AE;;5eB mAu EZjimFNOT Ignoring new targets: 129.80 m.BjujJjuj ProNav: ac range: 129.800003 m, nav range: 25.673876 m, bearing: 346.467571 deg, approach rate: -0.087186 m/s, LOS rate: -1.017069 deg/s, cmd heading: 38.937737 deg, new cmd heading: 37.550197 deg. 2j.HeadingCmd: 0.655375 target range: 129.800003 and range: 129.80 m. j'?jjjJ J aJ 0J J J p9J ـ3J J J J :J :ih9hAhAhIfIfIfQrfQbfU@ɛ݃B 15ÿI1 =bɚ9i9I=$=IE'?iAiA)E'?)I*F2F:FBFm0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG G B O >^w,{EAyBIMb@Mb@Mb@ )YDl? ףp= ?/$?yO ?Q=<A xA);AI-AyAII=س٢= >=9Q > G٣y > Nusing accuracyPremultiplier from config59u?5Yq i6[™G?:?AE;;5  AZj1=FNOT Ignoring new targets: 129.80 m.Bj=HμJjEHμU ProNav: ac range: 129.800003 m, nav range: 25.637493 m, bearing: 345.944353 deg, approach rate: -0.100185 m/s, LOS rate: -1.442778 deg/s, cmd heading: 37.550198 deg, new cmd heading: 35.978731 deg. 2j]w]HeadingCmd: 0.627947 target range: 129.800003 and range: 129.80 m. je( ?jajajaiahahahihmBfifi yIyfrfbf@ @ɛB8 !%I! %Mcɚ!i!I%y2=IU( ?iQiQ)U( ?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBFP5JFGqA GGGGG 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 elapsedw,EAfa:?YfP-s?fe9f<͙    G٣ y )  > Nusing accuracyPremultiplier from config%59:v?-5Y i[™)-?-AEG;6H;T51 }AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 129.80 m.BjDJjD ProNav: ac range: 129.800003 m, nav range: 25.594879 m, bearing: 345.492597 deg, approach rate: -0.109515 m/s, LOS rate: -1.162906 deg/s, cmd heading: 35.978732 deg, new cmd heading: 34.621476 deg. 2jGHeadingCmd: 0.604259 target range: 129.800003 and range: 129.80 m. j?jjji h h h h fffrfbf@ @zK5NK59K1K5&K5!  ! ɛB%ئ I $eɚiIY=I-k?i1i1)5?)1H>I I!II`BI =&I.IDD6I<:Iv F*F2F:FBF5JF qIq}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG5 m>G J5 kJ5 bJ1 J1 J5 2:J5 t9J1 J1 J5 9;J5 9;J5 U:J5 V:BY O >*kw,׮EAN-2?YN3k?Np99N8 ףp=?!rh?~jt?ym?ml=mD G٣XGy > Nusing accuracyPremultiplier from config59yv?5Y iZ™%?%:%?%AE/;;=5i mAuEZjFNOT Ignoring new targets: 129.80 m.Bj2Jj2 ProNav: ac range: 129.800003 m, nav range: 25.546183 m, bearing: 344.942612 deg, approach rate: -0.112616 m/s, LOS rate: -1.274308 deg/s, cmd heading: 34.621478 deg, new cmd heading: 32.968862 deg. 2jZHeadingCmd: 0.575415 target range: 129.800003 and range: 129.80 m. jiN?jjjihhhhBfffrfbf`#!@ɛB EI GWfɚiI=I?ii)iN?)*F2F:FBF0JF U$?IUh Will construct direction to contact in vehicle frame 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 ^>Gy B O >Erw,EANJ*?YN9'c?N%'9N)tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|59~v?5Y~ i~Z™  ? A~E~e:~C:~ 5B [AEZj9EFNOT Ignoring new targets: 129.80 m.BjE2JjE2U ProNav: ac range: 129.800003 m, nav range: 25.500610 m, bearing: 344.481701 deg, approach rate: -0.127153 m/s, LOS rate: -1.288291 deg/s, cmd heading: 32.968862 deg, new cmd heading: 31.583942 deg. 2jU ]]HeadingCmd: 0.551244 target range: 129.800003 and range: 129.80 m. j]P ?jajajaiahahihihqfqfqfqrfybf}o"@ɛB奄 隭I EegɚiI=IFv?ii)P ?)*FQ2FQ:FQBFUV0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGqG}?G}/?GIBYOu>zKsLK9KK&K  cjH <bH p<H >I C I rII BI =&I .I 6I <:I e F I II ;xw,@EABWill 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 elapse5("?Y5\[?56(9519 =G٣=XGy=d E> MNusing accuracyPremultiplier from configIU59Mb$v?U5YM iMZ™eZ?e:e?mAMEM*y;Mw;M:#5q u AqZjFNOT Ignoring new targets: 129.80 m.BjðJjð ProNav: ac range: 129.800003 m, nav range: 25.429749 m, bearing: 343.807335 deg, approach rate: -0.129553 m/s, LOS rate: -1.236318 deg/s, cmd heading: 31.583942 deg, new cmd heading: 29.556102 deg. 2jTHeadingCmd: 0.515851 target range: 129.800003 and range: 129.80 m. j?jjjihhhhBfffrfbf{#@ɛBş  ˴I  ohɚ i I =I?ii)?)*F?2F:FBFP0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse) e Gy Y y A- @- BBG c>G B O >L~w,SEAyj2BjI)l lprAIvIv٢&=  =9 Q  ? G٣y ? !I! -Nusing accuracyPremultiplier from config)559-*+v?55Y-ٞ i-mZ™9A-E-<-<-$5B u AZjFNOT Ignoring new targets: 129.80 m.BjIJjI ProNav: ac range: 129.800003 m, nav range: 25.393198 m, bearing: 343.444087 deg, approach rate: -0.118967 m/s, LOS rate: -1.184018 deg/s, cmd heading: 29.556103 deg, new cmd heading: 28.464930 deg. 2j%K%HeadingCmd: 0.496807 target range: 129.800003 and range: 129.80 m. j%t]>j!j!j!i!h)h)h)h)f1f1f1rf1bf=`*&$@ɛeBe[ e}#>eZIa miɚiiiIm=IuA?iqiy)}t]>)Will construct direction to contact in vehicle frame 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*F5?2F1:F1BF=`0JF9*J=R="J=C=JEmJEkJAJAJE\8:JE9JAJAaU@aU@aU@aU@GiGQ BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. qy }G٣y > Nusing accuracyPremultiplier from config594v?5Y~ iGZ™AE;y;N&5B C AEB*** querying acoustic contact ***jjZjUFNOT Ignoring new targets: 129.80 m.Bj]dJj]de ProNav: ac range: 129.800003 m, nav range: 25.343437 m, bearing: 342.930555 deg, approach rate: -0.125401 m/s, LOS rate: -1.296670 deg/s, cmd heading: 28.464929 deg, new cmd heading: 26.921700 deg. 2jmy^mHeadingCmd: 0.469872 target range: 129.800003 and range: 129.80 m.zKuNKqKqKu&Ku5= AUl4V!]:0%~J{*R)U cWxJ, RK?JK? ju>jjjihhhhfffH>I IIIЁBI&I.I6I%<:I FBI}±CJI}±CRI}“CZI} =bI} =jI}°5rfbf$@ɛEBE AEII MkɚIiI(=I>ii)> E$?IQ)iWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read:  Zŋw,^1FAFj?YF;?F 9F. G٣y > Nusing accuracyPremultiplier from config59?v?5Y i'Z™@ ?:q?AETA;7@;(5 L AZj  FNOT Ignoring new targets: 129.80 m.BjצJjצ% ProNav: ac range: 129.800003 m, nav range: 25.272261 m, bearing: 342.451896 deg, approach rate: -0.173035 m/s, LOS rate: -1.166916 deg/s, cmd heading: 26.921701 deg, new cmd heading: 25.481999 deg. 2j%6H-HeadingCmd: 0.444745 target range: 129.800003 and range: 129.80 m. j->j)j)j1i1h1h1h9h=Bf9f9fArfAbfE%@ɛu B}' y}Iy }d/lɚyiI>=I>ii g>)>)*F%?2F!:F!BF%0JF) 9I9 Will construct direction to contact in vehicle frame from tetrahedron phase data. i  BDAT read: Response Not Received  *response not received% ,DAT read: user:3536> - BDAT read: Tx time:23:58:16.4021 5 $Ping request sent.5 G! B1 OM >ױw,fMKFAJnJbJJJ|;:Jt9JJyu?BuIi}%=I}< p=p=IIq٢"= K=9Q > G٣XGy > Nusing accuracyPremultiplier from config59Jv?5Y iZ™AE:.:)5  AZjy}FNOT Ignoring new targets: 129.80 m.BjoJjo ProNav: ac range: 129.800003 m, nav range: 25.204123 m, bearing: 341.979481 deg, approach rate: -0.162418 m/s, LOS rate: -1.129110 deg/s, cmd heading: 25.482000 deg, new cmd heading: 24.061232 deg. 2jAHeadingCmd: 0.419948 target range: 129.800003 and range: 129.80 m. jc>jjjihhhhfffrfbf` &@ɛB㧾 I dmɚiIk=Ic>iiO>)c>)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:23:58:16.4013 mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249311E '>zK[PKKK&Kxoe`[YRMKIIF@::862301.,*)'%"  #)BK:KH>I IIIBI =&IFD.I6I<:Iv F*F?2F:FBFn0JFG .|> ) I) G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501547lטw,{eFA:>Y:lS,?::#9:mv:j;:CyJ>BJIIIM٢u   D=9QQ %>)A MG٣Iy > Nusing accuracyPremultiplier from config 59DWv?E5Y; iY™Yeb?eAEr<o<+5uB u! AuEZjFNOT Ignoring new targets: 129.80 m.Bj Jj  ProNav: ac range: 129.800003 m, nav range: 25.118610 m, bearing: 341.475339 deg, approach rate: -0.192769 m/s, LOS rate: -1.140338 deg/s, cmd heading: 24.061232 deg, new cmd heading: 22.544031 deg. 2jCHeadingCmd: 0.393468 target range: 129.800003 and range: 129.80 m. jt>jjjihhhhf)f)f1rf1bf5 ր'@ɛ}B}" y隅嵿I nɚiAIEa=IMt>iIiUQg>)Ut>)QE]l">}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753091*F2F:FBF2JFG%h>G?G>G B O >w,~FA2O>Y2$?2]%92|E`e???i?`S?ɨ2O>2;2CyJCBJI f$?IjhMb@Mb@Mb@ )YT㥛 ?EԸ?y?=̼A dA) AI(AyAII٢ <  J=9Q > G٣y? > -Nusing accuracyPremultiplier from config!-59%Rbv?55Y%h i%Y™5?5:5U?5A%E%;%;%s-5A E AAZjimFNOT Ignoring new targets: 129.80 m.BjuJju ProNav: ac range: 129.800003 m, nav range: 25.040932 m, bearing: 341.065077 deg, approach rate: -0.215262 m/s, LOS rate: -1.140431 deg/s, cmd heading: 22.544031 deg, new cmd heading: 21.309629 deg. 2jCHeadingCmd: 0.371923 target range: 129.800003 and range: 129.80 m. jl>jjjihhhh]Bfffrfbf5(@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004332ɛBF= I oɚiI=Iul>iqiuSd>)ul>)q*E="E=Jـ3K3 K.-KK"KJElJEiJAJAJE<5:JEڈ9JAJAER5#>*FM ?2FI :FI BFM P5JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256151Gm xh>GIBQO}>}w,UFAH>IC IIIBI =&I.ICD6I<:I2 FFƢ>YFRM?F(@(9F2F)X;FCyNBBNIzKRC1NKR9KPKR&KR-034142-,++)##!  )\ \IbIb-٢j0 j<=9j{ԻQ n>ll nG٣nXGyr䉽 v> zNusing accuracyPremultiplier from configt~59vGov?~5Yv. ivY™|~yN?~AvEv;v;vZ/5   A %B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 129.80 m.Bj=Jj=M ProNav: ac range: 129.800003 m, nav range: 24.948380 m, bearing: 340.602152 deg, approach rate: -0.212608 m/s, LOS rate: -1.067350 deg/s, cmd heading: 21.309628 deg, new cmd heading: 19.915993 deg. 2jM 7UHeadingCmd: 0.347600 target range: 129.800003 and range: 129.80 m. jU>jQjQjYiYhYhYhYhafafafarfibfm )@ Iɛ B娾 5I 2 qɚiI =IE>iYie6[`>)e>)qEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.չiսAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508628E=t>E=>*F?2F:FBFN5JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760754G= re>G B) OE >ɠw,)FAy@BIMb@Mb@Mb@ )YʡE?T㥛 ?=tA A) AI;'Ay(AIIW٢ /=9Q > G٣y > Nusing accuracyPremultiplier from config59|v?5Y3 iY™>:??AE;y;c15  AEZj!-FNOT Ignoring new targets: 129.80 m.Bj5ċJj5ċE ProNav: ac range: 129.800003 m, nav range: 24.845850 m, bearing: 340.148804 deg, approach rate: -0.220175 m/s, LOS rate: -0.977543 deg/s, cmd heading: 19.915993 deg, new cmd heading: 18.550609 deg. 2jM'MHeadingCmd: 0.323769 target range: 129.800003 and range: 129.80 m. jMť>jQjQjQiQhQhQhYh],BfYfYfarfabfe*@ɛ%B 隕#I crɚiI&=Iť>iAiEm3w>)Eť>)I $?I*F2F:FBFP0JFGb>GpAGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014201GBO`>JE oJE eJA JA JE >:JE 9JA JA w,FA2I>Y2̠ ?2)92%82;0yBGBBIIJIJi٢V? = V`=9VėQ V>XX ZG٣Xy^+ ^> fNusing accuracyPremultiplier from config`f59bXv?f5YbI| ibY™hj0?jAbEb:b:b25=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264397! E AIZjiuFNOT Ignoring new targets: 129.80 m.BjuIJjI ProNav: ac range: 129.800003 m, nav range: 24.757143 m, bearing: 339.802052 deg, approach rate: -0.234072 m/s, LOS rate: -0.918250 deg/s, cmd heading: 18.550609 deg, new cmd heading: 17.506749 deg. 2jHeadingCmd: 0.305550 target range: 129.800003 and range: 129.80 m. jq>jjjihhhhf!f!f!rf!bf-`(*@ɛ*Bo^ I sɚiII=I%q>i)i-9J>)-q>)i*F2F:FBFJFHM>II IMIIMBIM =&II.II6IMT<:IM FzK6dMKKK&K IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516742G- a>G B O- >¯w,FAj>Yjf?jƷ+9j_j;jCyrBBrIiv=IvC=]Mb@Mb@Mb@YYY Y)YY]sh|??]t<]]A ]zA)]=AI]$AYy]AIIV٢ .=9lQ > G٣XGy} > MNusing accuracyPremultiplier from configAM59E.v?U5YE&y iEzY™U>U:U?UAEEE;E8;E55]B e AeEZjFNOT Ignoring new targets: 129.80 m.BjxJjx ProNav: ac range: 129.800003 m, nav range: 24.622528 m, bearing: 339.391025 deg, approach rate: -0.283152 m/s, LOS rate: -0.869285 deg/s, cmd heading: 17.506748 deg, new cmd heading: 16.267129 deg. 2j%HeadingCmd: 0.283915 target range: 129.800003 and range: 129.80 m. jM]>jjjihhhhBfffrfbf+@ɛ/B᫾ FI tɚiIH=I M]>i i I>) M]>)EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768511*F2F:FBF\0JFG]ԑW>GB!O]v> i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020194Bw,GA6ߋ>Y6h>6-966T;4yNNBR IIZIZ<٢5= 5f=95»Q =>9A EG٣AyE E? MNusing accuracyPremultiplier from configIU59Mdv?U5YMw iMlY™Ye ?eAMEM>;M?;M65i m AiZjFNOT Ignoring new targets: 129.80 m.BjKoJjKo ProNav: ac range: 129.800003 m, nav range: 24.526064 m, bearing: 339.109030 deg, approach rate: -0.285141 m/s, LOS rate: -0.836831 deg/s, cmd heading: 16.267129 deg, new cmd heading: 15.417883 deg. 2jHeadingCmd: 0.269093 target range: 129.800003 and range: 129.80 m. jƉ>jjjihhhhfffrfbfe,@ɛ3B*N OI   uɚ i I =IƉ>iiD<>)Ɖ>)*F2F:FBF0JFGK>G?G-?GBO?>]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:23:58:18.9710 eTRx dataTimestamp_ set to:1736380700.345138mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273790HE >IE C IE IIE BIE  =&IA .IE BD6IE <:IE k F ] $?IY w,И GA6,y>Y60>6 0966o;6 CzKVFJKV}9KTKV&KVRK\JK^?ybVBbIIjIjV٢r-= rO=9r}ݻQ v>tt vG٣xyz z> ~Nusing accuracyPremultiplier from config|59~v?5Y~t i~[Y™ c? A~E~ ;~ ;~R85 g AE5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 129.80 m.BjEPlJjEPl ProNav: ac range: 129.800003 m, nav range: 24.409983 m, bearing: 338.784954 deg, approach rate: -0.294610 m/s, LOS rate: -0.826401 deg/s, cmd heading: 15.417883 deg, new cmd heading: 14.441129 deg. 2j HeadingCmd: 0.252045 target range: 129.800003 and range: 129.80 m. j >jjjih)h)h)h)f1f1f9rfAbfM`<-@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524347ɛ 8B׬ jI };wɚiIθ=I >ii2>) >)yJJJJJJ9JJJ}O;aJO;aJ;aJ;a*F?2F:FBFo0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:58:18.9710 LVL= 31856, 32753, 32754, 32755, AGC= 66, IDX= 371, 0.39, 0.446,-1.206,-0.102,-0.240, PHS= 0.774,-0.919, 0.134, RAW= 128.0, 0.1, CAL= 134.4, -8.2, ROT= 15.6, 8.2  Ygot valid direction response: 23:58:18.9710 LVL= 31856, 32753, 32754, 32755, AGC= 66, IDX= 371, 0.39, 0.446,-1.206,-0.102,-0.240, PHS= 0.774,-0.919, 0.134, RAW= 128.0, 0.1, CAL= 134.4, -8.2, ROT= 15.6, 8.2  PDAT read: Bearing 15.6, 8.2 (Local)  ~Local bearing/azimuth received: Bearing 15.6, 8.2 (Local)  DAT read: Range 10 to 50 : 123.6 m (Round-trip 164.8 ms) speed 0.1 m/s  ,DAT read: user:3537>  BDAT read: Tx time:23:58:20.0521  $Ping request sent. u 5@u : u Q @)u CIu 'g>iu C>q q u &Q/?vu?bۈ'_e?)u G>Iu #,iu O濉u Ezq q  :publishing transmit ping time   Fpublishing direction and range infoq 1 Y "Y y B9u 鉀 N [ۿ_izϏ?yq q q q q )q Iq iq q q q q q )q Iq iq q q u &Q/?vu?bۈ'_e?)q Iq iq q q q GM J>G B OE >fw,g`弹OA A)AI#AyAI%I%㔳٢N; =9Q >   G٣ XGy  > Nusing accuracyPremultiplier from config594v?%5YMr iCY™%>%:%@>-AE;1;:51 =W A9Will construct direction to contact in vehicle frame from tetrahedron phase data.kN\w?k bQ& k k}6GA:k3BBkBZk؎@" I}/ PoAY@鉀 N [ۿ_izϏ?JkORkEz*iS?yP@SJw*X@ku^?%E9!?"k*k?kmU]w?k4 _& 2kV!Ckkkc@kAkG@ addTargetRange:: Added new target pos. range: 123.599998 m, deltaT: 14.886399 s, deltaX: -6.200005 m, approachRate: -0.416488 m/s, rangeRepo size: 4  Added new target pos. range: 123.599998 m, bearing: 271.363527 deg, lat: 36.904391 deg, lon: -122.120653 deg, deltaT: 14.886399 s, deltaX: -6.200005 m, approachRate: -0.416488 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 123.60 m.BjJj ProNav: ac range: 123.599998 m, nav range: 24.239807 m, bearing: 338.391154 deg, approach rate: 0.000000 m/s, LOS rate: -0.826401 deg/s, cmd heading: 14.441129 deg, new cmd heading: 13.020392 deg. 2jHeadingCmd: 0.227249 target range: 123.599998 and range: 123.60 m. jh>j9jAjAiAhIhIhQhUӃBfQfYfYrf]`f^@bf]Bd 隭sI xɚiI>$=Ih>iiJ>)h>)EEqA*F?2F:FBF_0JFG ?>GA BY Ou >0Qw,>Y:4i>:79:7>:Ԓ;8yNlBN0IIVIVb٢^> ^=9b[Q b?`` bG٣`yfC f? nNusing accuracyPremultiplier from confighr59jv?r5Yjq ij4Y™pr>rAjEj.:j :j;5x z AxZjQeFNOT Ignoring new targets: 123.60 m.Bjm]Jjm]% ProNav: ac range: 123.599998 m, nav range: 24.140768 m, bearing: 338.183368 deg, approach rate: -0.368018 m/s, LOS rate: -0.775273 deg/s, cmd heading: 13.020392 deg, new cmd heading: 12.394504 deg. 2j%UHeadingCmd: 0.216325 target range: 123.599998 and range: 123.60 m. jUG]>jQjQjQiQhQhYhYhYfYfafarfabfe/g?ɛAB} 7I yɚiI=IG]>ii>)G]>)ZHRH?AH>I IIIBI =&I.I6II<:I FBIïCJIïCRIZI =bI =jIõ5*F?2F:FBF@5JF $?IG}+3>zKBHK@9KK&Kz R8]mBVX ! j,l8>BK:KoAG9BAO]U>Will construct direction to contact in vehicle frame from tetrahedron phase data.J qJ jJ J J D:J 9J J J IZ;J KZ;J :J :ww, pGA2Y$>Y2 F>2a;922`;2Cy^B^JIMb@Mb@Mb@ )YuV?Q~jtyr>uļ~A ;A)-AIyAIID٢t= ;=9Q > G٣y+q > Nusing accuracyPremultiplier from config59v?5Yo iY™>:.>AE;;=5B  AEZj!-FNOT Ignoring new targets: 123.60 m.Bj-T;Jj-T; ProNav: ac range: 123.599998 m, nav range: 23.980984 m, bearing: 337.903866 deg, approach rate: -0.372029 m/s, LOS rate: -0.655105 deg/s, cmd heading: 12.394504 deg, new cmd heading: 11.550475 deg. 2j༝HeadingCmd: 0.201594 target range: 123.599998 and range: 123.60 m. jnN>jjjihhhhكBfffrf bf ?5Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛFB6 I OzɚiI=InN>iiY>)nN>)*F2F:FBF*5JF"G=G= IGE l3> Will construct direction to contact in vehicle frame from tetrahedron phase data.G! B) OE >F_w,GAyB^II-I-=٢E΢= ES=9EQ E>II UG٣UXGy] e> mNusing accuracyPremultiplier from configim59m`v?u5Ymn imY™qquAmEm?{j1j9j9i9h9h9hAhAfAfAfArfIbfM W?ɛJB 隍 I {ɚiI =I.@>iiMt&>).@>)EY>E>*F?2F:FBFO0JFG].>GBOG>=Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I  II ,BI &I .I 6I 3<:I | F $?I w,̣GAzKBPKж9KK&KM/="81^#OKWm d dgE-n@pZH6* J=YJ />JŠC9J*]=yJH? {տ`ſDc?0?bK??f?ɨJ=J;;J CyRBRII^I^³٢f> fR=9fQ f>hh jG٣hyj n> rNusing accuracyPremultiplier from configpv59rv?v5Yrm irX™tvL>vArEr:r:rBA5~B ~ A~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 123.60 m.Bj-5Jj-5= ProNav: ac range: 123.599998 m, nav range: 23.692497 m, bearing: 337.413888 deg, approach rate: -0.390152 m/s, LOS rate: -0.636365 deg/s, cmd heading: 10.785400 deg, new cmd heading: 10.071710 deg. 2j=]ڼEHeadingCmd: 0.175784 target range: 123.599998 and range: 123.60 m. jE4>jAjIjIiIhIhIhQhQfQfQfQrfYbf]&?ɛMBO 隍 I |ɚiIT=I4>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.it>)4>)*F?2F:F!BF%W0JF)JJkJ1JJJ9J3JJJJ:J:GT >GB!O=r>M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000249w,멽GABЪ=YB>BF9B=yBH`8?@Քӿ@&ƿ?`q?ŷ`? {?t`?ɨBЪ=B;@ybǁBbI aIaMb@Mb@Mb@ )Y/$?ʡE{Gzty&>ףA A)@IZ"AyAII٢H= <=9,Q > G٣y4x > Nusing accuracyPremultiplier from config59 w?5Yl iX™]>:T>AE;s;*C5 AZj!%FNOT Ignoring new targets: 123.60 m.Bj-'Jj-'= ProNav: ac range: 123.599998 m, nav range: 23.516483 m, bearing: 337.159880 deg, approach rate: -0.403393 m/s, LOS rate: -0.586497 deg/s, cmd heading: 10.071710 deg, new cmd heading: 9.304030 deg. 2j=@ɼEHeadingCmd: 0.162386 target range: 123.599998 and range: 123.60 m. jEH&>jAjAjIiIhIhIhIhUǃBfQfQfYrfYbf]@@ɛ-RB- IUܢIQ U~ɚQiQIU=I]H&>iYi]-=)]H&>)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252951*F)2F):F)BF-^0JF)Ge "N>GA BQ Om >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503561w,sGA6fm=Y6k>6J96')=y6H)?ҿ#ƿMC?`ު?e/?@?Y?ɨ6fm=6Q;6CyBށBBIII&ѳ٢%= %T=9% Q %>)) 5G٣5XGy5e 5> =Nusing accuracyPremultiplier from config9E59=&w?E5Y=sl i=X™IM=MA=E= ;=: ;=D5Q U7A]EZjFNOT Ignoring new targets: 123.60 m.Bj"Jj" ProNav: ac range: 123.599998 m, nav range: 23.358812 m, bearing: 336.941661 deg, approach rate: -0.408461 m/s, LOS rate: -0.569131 deg/s, cmd heading: 9.304031 deg, new cmd heading: 8.644985 deg. 2jKüHeadingCmd: 0.150883 target range: 123.599998 and range: 123.60 m. j2>jjjihhhhfffrfbf@ɛVB8ӭ ݝI CɚiI=I2>ii=)2>) EjH<bH<H>I IM IITBI =&I.IAD6I<:IR F*F?2F:FBF0JF M$?IIGm>GyBO<>zKMPKMK9KIKM&KMzrnjgd`\]ZVROLKGDC@>>?;899754002/*('''(%#Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755995J sJ mJ 0J J K:J &9J ـ3J J e;J e;J :J :w,~pGAve=YvӁ>vu;O9v*=3=yvH6X? пyǿ`t?c?@B??"Q?ɨve=vQM;v"CyBIMb@Mb@Mb@ )YX9v?Zd;~jtx?y>y;A  A)AIA$AyAIIV٢4)> ?=9%Q > G٣yp > Nusing accuracyPremultiplier from config59,w?5Yk ixX™ > : *> AE<<F5 A Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:58:22.6189 TRx dataTimestamp_ set to:1736380703.872721checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008665Zj%FNOT Ignoring new targets: 123.60 m.Bjm>(Jju>( ProNav: ac range: 123.599998 m, nav range: 23.178616 m, bearing: 336.680003 deg, approach rate: -0.402065 m/s, LOS rate: -0.588363 deg/s, cmd heading: 8.644986 deg, new cmd heading: 7.853963 deg. 2jɼHeadingCmd: 0.137078 target range: 123.599998 and range: 123.60 m. j ^ >jjjihhh h +Bf f frfbfn@ɛZBH 隍I ɚiI]=I ^ >iih=) ^ >)*FU?2FQ:FQBFUn0JFY 5$?I1G==GAGEqAG BO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259573 w,G9 HAJ9#JM%T9J=&=yJH|? )Gο`]kȿ?@?[,@4T?1f?`-J?ɨJ9# v\=9zSQ z>xx ~G٣|y~ } ~>  Nusing accuracyPremultiplier from config 59;w? 5Y>k iPX™=AëE::WH5B %A%EZjQUFNOT Ignoring new targets: 123.60 m.Bj]l5Jj]l5m ProNav: ac range: 123.599998 m, nav range: 23.020603 m, bearing: 336.458727 deg, approach rate: -0.449973 m/s, LOS rate: -0.634452 deg/s, cmd heading: 7.853963 deg, new cmd heading: 7.185610 deg. 2jmټuHeadingCmd: 0.125413 target range: 123.599998 and range: 123.60 m. ju&l>jqjqjqiqhhhhfffrfbf  @ɛu^B}# y}VIy }"zɚyiI=I&l>iiI=)&l>)*F?2F:FBF1JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:58:22.6189 LVL= 24800, 32753, 32754, 32755, AGC= 63, IDX= 414,-0.30, 1.614, 0.199, 0.898, 1.128, PHS= 0.573,-0.883,-0.234, RAW= 116.4, 8.6, CAL= 125.5, 5.1, ROT= 24.5, -5.1 Ygot valid direction response: 23:58:22.6189 LVL= 24800, 32753, 32754, 32755, AGC= 63, IDX= 414,-0.30, 1.614, 0.199, 0.898, 1.128, PHS= 0.573,-0.883,-0.234, RAW= 116.4, 8.6, CAL= 125.5, 5.1, ROT= 24.5, -5.1 PDAT read: Bearing 24.5, -5.1 (Local) ~Local bearing/azimuth received: Bearing 24.5, -5.1 (Local) DAT read: Range 10 to 50 : 121.9 m (Round-trip 162.6 ms) speed 0.5 m/s ,DAT read: user:3538> BDAT read: Tx time:23:58:23.7021 $Ping request sent. %R/ @)%K=I%!>i%K!!%x(\ؒ?ZAu^C?)%$I%i%3 %=!!M:publishing transmit ping timeMFpublishing direction and range info!9% ']ҿ(Uտ %Z?y!!!! !)!I!i!!!!! !)!I!i!!!%x(\ؒ?ZAu^C?)!I!i!!!!G =H >I C I II BI  =&I .I 6I -<:I q F 1 I1 Ga Bq O >#w,z%HAzK2_NK29K0K2&K2Be fD-" RK8JK:?B @YBU>BF]Y9B; =yBH_?t˿ Tɿ?2;?` ?`?`B?ɨB @B ;BCyRHBR? IIZIZ٢b!> bM=9bkQQ b>dd fG٣fXGyjg j> nNusing accuracyPremultiplier from configlr59n+Lw?r5Ynj in$X™pr=vAnīEni:n:nJ5x zAxkUB@Xh?kUT»'$ kQ kU HA:kUBBkU.BZkU<@"U44AoMD2[[@U ']ҿ(Uտ %Z?JkU3 RkU=*UvBF\aL^pX@U$)nؿG^jwݿQK?"kU`*kU6kUڋ>h?kUŋ1$ 2kU6#CkQkQkU3 BkU˶AkUȻ@M addTargetRange:: Added new target pos. range: 121.900002 m, deltaT: 3.524428 s, deltaX: -1.699997 m, approachRate: -0.482347 m/s, rangeRepo size: 4 ] Added new target pos. range: 121.900002 m, bearing: 230.828377 deg, lat: 36.904391 deg, lon: -122.120653 deg, deltaT: 3.524428 s, deltaX: -1.699997 m, approachRate: -0.482347 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 121.90 m.BjeJjau ProNav: ac range: 121.900002 m, nav range: 22.849545 m, bearing: 336.227900 deg, approach rate: 0.000000 m/s, LOS rate: -0.634452 deg/s, cmd heading: 7.185610 deg, new cmd heading: 6.420291 deg. 2jq}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:58:23.7013 HeadingCmd: 0.112055 target range: 121.900002 and range: 121.90 m. j4}=jjjihhhhfffrfy^@bfs?ɛaB 0I c䀾ɚiI"?=I4}=iiͧ=)4}=)*FU?2FQ:FQBFU3JFQG-7=GB O9>- Will construct direction to contact in vehicle frame from tetrahedron phase data.w,>HA>@Y>@@>>P_9>i*=y>H@?@ɿ.ʿd?`gZ?`Ӵ ?Τ? 7?ɨ>@>c;>C `I`yfjBfi IMb@Mb@Mb@ )Yx&1?S㥛 <=9ZQ > G٣y: > Nusing accuracyPremultiplier from config59 ^w?5Yj iW™?:>AƫE;9;K5 AE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 121.90 m.Bj%|;Jj%|;5 ProNav: ac range: 121.900002 m, nav range: 22.667091 m, bearing: 335.946798 deg, approach rate: -0.422164 m/s, LOS rate: -0.655653 deg/s, cmd heading: 6.420291 deg, new cmd heading: 5.570261 deg. 2j=༝=HeadingCmd: 0.097219 target range: 121.900002 and range: 121.90 m. jE=jAjAjAiAhAhAhIhM隵k}I -SɚiI=I=iià=)=)*Fi2Fi:FiBFmP0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GE =GM?GM2?GB)OEQ>JqJuqJu1JqJqJuq9Ju3Jqa}@a}@a}@a@= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983486w,XHA26i@Y2 ->2e92[YZ=y2H@?`ǿ@\ʿ ?`jo? =z?@Ә?V'?ɨ26i@2d;2CyBBB IIJnIJd٢bL> f[=9f‰Q f>hh jG٣lyrR r> vNusing accuracyPremultiplier from configtz59vlmw?z5Yvi ivW™xz=zAvȫEv;vR;vM5 AZj)-FNOT Ignoring new targets: 121.90 m.Bj57Jj57E ProNav: ac range: 121.900002 m, nav range: 22.508938 m, bearing: 335.709605 deg, approach rate: -0.423931 m/s, LOS rate: -0.640262 deg/s, cmd heading: 5.570261 deg, new cmd heading: 4.853723 deg. 2jEۼMHeadingCmd: 0.084713 target range: 121.900002 and range: 121.90 m. jM>~=jIjIjIiIhQhhhfffrfbf.?ɛ5iB] aelIa mkɚiiiIm\=I>~=iiՔ=)>~=)ZH1RH5AAH=>I9 I=!II=BI= =&I9.I96I=<:I=P F $?I*FM?2FI:FIBFIJFIGQ GQzKM=NK9KK&K /{ )@HWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235615G蘸=G B O >Jw,ǺrHAn@Yng>nsl9n'_=ynH@?@Ŀ@w˿`n?@d? 埶@mK?$? ?ɨn@nА;n!CyvBz I)| |~A~A)y }hCG]5tAuA Y5tAyBMb@Mb@Mb@ )Yp= ף?I +?Zd;O?y?94<j<dA )Z@I$AyQAII=٢;= -=9bQ >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487622 G٣XGyj > Nusing accuracyPremultiplier from config 59!w? 5Yyh iuW™G?:L/>AʫE9O;X;O5=B =AMEZjAMFNOT Ignoring new targets: 121.90 m.BjUBJjUB ProNav: ac range: 121.900002 m, nav range: 22.312799 m, bearing: 335.367929 deg, approach rate: -0.387237 m/s, LOS rate: -0.680498 deg/s, cmd heading: 4.853723 deg, new cmd heading: 3.819801 deg. 2j鼝HeadingCmd: 0.066668 target range: 121.900002 and range: 121.90 m. jJ=jjjihhhhBfffrfbfG?ɛ%mB-& )-q_I) -L%ɚ)i1I5:4=I]J=iYi]=)]J=)YEml>Em> $?I*F?2F:FBFJFG=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739472a"w,؁HA:U@Y:` >:t9:c?a=y:H@?¿̿B?`y?@9? X?U ?ɨ:U@:;:CyRقBR II^I^{٢f> ft=9flQ j?hh jG٣hynJ n? rNusing accuracyPremultiplier from configpv59rw?v5Yrg irCW™xz>zAr˫Er3:rU:r%Q5| ~mAZj)5FNOT Ignoring new targets: 121.90 m.Bj5bJj5bE ProNav: ac range: 121.900002 m, nav range: 22.174034 m, bearing: 335.130274 deg, approach rate: -0.460102 m/s, LOS rate: -0.792918 deg/s, cmd heading: 3.819801 deg, new cmd heading: 3.102414 deg. 2jM MHeadingCmd: 0.054147 target range: 121.900002 and range: 121.90 m. jM]=jQjQjQiQhQhQhYhYfYfYfarfabfe?ɛoB 隕@KI `ɚiI\=I]=ii=)]=)J=vJ=pJ=0J9J={T:J=^9J=ـ3J9 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993014Ec?#>*F?2F:FBFJFH5 >I1  I5 y!II5 HBI1 &I1 .I1 6I5 J<:I5 FBI%ɬCJI%ɬCRI!ZI% =bI% =jI%s5 I hG t=G G oAG B O >e{)w,;ŧHAzK &MK 9KK &K HC=8/) zsmdXRMD<630)&%&$!  RK?JK?^Will construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.246471yMBM !IImIm&ѳ٢= 6=9Q > G٣y > Nusing accuracyPremultiplier from config59ݡw?5Yf iW™AͫE*<C< S5 @޶EZjFNOT Ignoring new targets: 121.90 m.BjCJjC% ProNav: ac range: 121.900002 m, nav range: 21.986029 m, bearing: 334.802419 deg, approach rate: -0.388913 m/s, LOS rate: -0.684004 deg/s, cmd heading: 3.102414 deg, new cmd heading: 2.110544 deg. 2j%꼝-HeadingCmd: 0.036836 target range: 121.900002 and range: 121.90 m. j-H=j)j1j1i1h1h1h9h9f9fafirfibfur@ɛUtBU# Y]BIa eĂɚaiaIm)>I}H=iyiz=)H=)eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.495482E 4>*Fm ?2Fi :Fi BFi JFq $?I G=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748417GBO ?B2w,HAR@@YR=R9R)=yRH?@-п?? /"? 3?Q?ɨR@@RW;PyZBZ2!I}Mb@Mb@Mb@yyy y)yY}S㥛?J +?{Gz?y}$?}H=}ף<};A }A)}@I}X%Ayy}AII٢= =9)Q > G٣XGye > Nusing accuracyPremultiplier from config59w?5Y|e iV™?:E>AϫEe";H!;U5B @۶EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 121.90 m.Bj oJj o ProNav: ac range: 121.900002 m, nav range: 21.764212 m, bearing: 334.373078 deg, approach rate: -0.427657 m/s, LOS rate: -0.836187 deg/s, cmd heading: 2.110544 deg, new cmd heading: 0.809627 deg. 2jw%HeadingCmd: 0.014131 target range: 121.900002 and range: 121.90 m. j%Lg<j)j)j)i)h)h)h1h5ƄBf1f1f9rf9bf=`*@ɛmxBmʙ m >u 5Iq uu!ɚqiqIuD8>I}LgjH <bH 4<H >I C I !II BI &I .I @D6I D<:I z F Q IQ 8w, HA:M@Y:|=:9:{$=y:H?`ӿпz? ?+@& ?ϣ??ɨ:M@:+;: CyF;BFj!IININ㔳٢Vhw> V]=9ZQ Z>XX ^G٣\y^ڼ ^> fNusing accuracyPremultiplier from config`f59bw?j5Ybd ibkV™ln;>nAbЫEbP;bQ;b#W5t v@tZj FNOT Ignoring new targets: 121.90 m.BjaJja- ProNav: ac range: 121.900002 m, nav range: 21.614491 m, bearing: 334.082806 deg, approach rate: -0.404776 m/s, LOS rate: -0.790193 deg/s, cmd heading: 0.809627 deg, new cmd heading: 359.932852 deg. 2j--HeadingCmd: 6.282013 target range: 121.900002 and range: 121.90 m. j5A@j1j1j1i1h1h1h9h9fAfAfArfAbfE @ɛu{Bu 隅I !^ɚiI[Q>Iii ޞ=)A@)zKUNKU59KQKU&KUWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253335*F?2F:FBF0JF!G] =GQBYO}>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503532>w,{HA ~$?I|yNB!IMb@Mb@Mb@ )Yp= ף?~jt?I +?y?=94<A  A)@Iy AII٢= 9=9Q > G٣y > Nusing accuracyPremultiplier from config59Hw?5Y6c i&V™?:xs>AҫE ;;Y5 @ضEZj)-FNOT Ignoring new targets: 121.90 m.Bj=FwJj=FwM ProNav: ac range: 121.900002 m, nav range: 21.443413 m, bearing: 333.704417 deg, approach rate: -0.387872 m/s, LOS rate: -0.864730 deg/s, cmd heading: 359.932856 deg, new cmd heading: 358.788793 deg. 2jM]eHeadingCmd: 6.262046 target range: 121.900002 and range: 121.90 m. jmb@jijijiiihihqhqhuBfqfyfyrfybf}s @ɛ%B% IMiII MɚIiIIUj>IU-iQi]Â=)]b@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JF5DAT read: 23:58:26.2663 LVL= 25232, 32753, 32754, 32755, AGC= 56, IDX= 419, 0.12, 2.139, 0.553, 1.064, 1.434, PHS= 0.793,-0.834,-0.373, RAW= 106.0, 5.8, CAL= 116.4, 3.5, ROT= 33.6, -3.5 MYgot valid direction response: 23:58:26.2663 LVL= 25232, 32753, 32754, 32755, AGC= 56, IDX= 419, 0.12, 2.139, 0.553, 1.064, 1.434, PHS= 0.793,-0.834,-0.373, RAW= 106.0, 5.8, CAL= 116.4, 3.5, ROT= 33.6, -3.5 G=PDAT read: Bearing 33.6, -3.5 (Local) ~Local bearing/azimuth received: Bearing 33.6, -3.5 (Local) DAT read: Range 10 to 50 : 120.0 m (Round-trip 160.0 ms) speed 0.4 m/s ,DAT read: user:3539>  BDAT read: Tx time:23:58:27.3521 GBO>u$Ping request sent.hh jG٣nXGrWill construct direction to contact in vehicle frame from tetrahedron phase data.yvkM v> zNusing accuracyPremultiplier from configx~59zw?5Yz%b izU™*a>AzԫEz|Iiiw=)@) $?IH>I I`"IIBI =&I.I6I<:IS F*F2F:FBF5JFzK}\KK9KK&KWill construct direction to contact in vehicle frame from tetrahedron phase data.Gp=G B O >Kw,Q32IAzT@Yzh=z)9z!;yzH?=Gҿ`٫?z?@꽘=?}?R?ɨzT@za;z CyU~B]!IIIy/٢4= 2=9Q > G٣yμ > Nusing accuracyPremultiplier from config59w?5Y` iU™WV>AիE:a:\5 @ նEZjIUFNOT Ignoring new targets: 120.00 m.BjUJjU ProNav: ac range: 120.000000 m, nav range: 28.596275 m, bearing: 266.218037 deg, approach rate: 0.137655 m/s, LOS rate: -0.989941 deg/s, cmd heading: 357.762112 deg, new cmd heading: 356.426302 deg. 2j)HeadingCmd: 6.220812 target range: 120.000000 and range: 120.00 m. j@jjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ-B-Mb 5#*=5I1 5hɚ1i1I5Xp>I=zii=)@) IE$z>*F] ?2FY :Fa BFe `0JFa G5 =G9 G= pA Will construct direction to contact in vehicle frame from tetrahedron phase data.G BQ Om >Rw,@LIAy~B~!IMb@Mb@Mb@ )YS㥛?l?{Gzty$?=ף A A)&@I'Ay AII=٢ > R=9Q > G٣y > Nusing accuracyPremultiplier from config59 x?5Y_ ibU™{?:P>A׫E/;6-;b^5  @ -B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 120.00 m.BjEJjE] ProNav: ac range: 120.000000 m, nav range: 28.648561 m, bearing: 265.843358 deg, approach rate: 0.140771 m/s, LOS rate: -1.006909 deg/s, cmd heading: 356.426291 deg, new cmd heading: 355.304457 deg. 2j],eHeadingCmd: 6.201232 target range: 120.000000 and range: 120.00 m. jep@jajajaiahihihihmBfqfqfqrfqbf}k?ɛB*( 隭I bHɚiIn>Iקii3F=)p@)JK3 K.KK"KJJJ1JJ̈́:J9J3JE>*F]?2FY:FYBFe15JFaWill construct direction to contact in vehicle frame from tetrahedron 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 ZH RH H >I C I "II UBI =&I .I ?D6I O<:I x FG ڹ=G B O >Yw,eIA6@Y6_<6)96mBZ!Iib=Ib<IfIfxV٢n= n^=9r,*Q r>tt vG٣vXGyz z> ~Nusing accuracyPremultiplier from configx59zx?5Yz^ iz'U™ 5> AzثEzE;z;z_5B @ҶEZj9EFNOT Ignoring new targets: 120.00 m.BjEJjMU ProNav: ac range: 120.000000 m, nav range: 28.695160 m, bearing: 265.483111 deg, approach rate: 0.126622 m/s, LOS rate: -0.977303 deg/s, cmd heading: 355.304446 deg, new cmd heading: 354.225593 deg. 2j]'eHeadingCmd: 6.182403 target range: 120.000000 and range: 120.00 m. je?@jajajaiahihihihifqfqfqrfqbfu?ɛB{ 隵I sɚiI_>IfνiiJ=)?@)*E="E=]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.449882zKuBoIKqKqKu&Ku  Ea=*Fm?2Fq:FqBFuO0JFyGe}=G)B1OUS> Will construct direction to contact in vehicle frame from tetrahedron phase data. b? ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701053b2_w,sIA 0I0yB!IMb@Mb@Mb@ )Y#~j?:v? rhy?T=CV A CA)@IX%Ay AII٢[< ;=9Q > G٣y > Nusing accuracyPremultiplier from config59.x?5Y5^ iT™?:>AګE;};a5 @ Zj9=FNOT Ignoring new targets: 120.00 m.BjEJjE ProNav: ac range: 120.000000 m, nav range: 28.742474 m, bearing: 265.053343 deg, approach rate: 0.108392 m/s, LOS rate: -0.982930 deg/s, cmd heading: 354.225604 deg, new cmd heading: 352.938653 deg. 2j(HeadingCmd: 6.159942 target range: 120.000000 and range: 120.00 m. j>@jjjihhhhBff fQrfYbf]o&?ɛB:\  I  ɚ i I BI>Igiij>)>@)E)E)*E-"E-eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.952799*JA "JE a=*Fm ?2Fi :Fq BFu 4JFq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.205750G =GiBO>">gw,`IA:@Y:b;:9:CXX ZG٣Xy^y ^> fNusing accuracyPremultiplier from configdj59f%Ax?j5Yf] ifT™hj=nAfܫEf:f:fc5 $?I  @϶EH-t>I-C I-#II-BI- =&I).I->D6I-<:I- FZjFNOT Ignoring new targets: 120.00 m.BjJj ProNav: ac range: 120.000000 m, nav range: 28.786081 m, bearing: 264.618996 deg, approach rate: 0.094042 m/s, LOS rate: -0.935259 deg/s, cmd heading: 352.938660 deg, new cmd heading: 351.637828 deg. 2jw HeadingCmd: 6.137238 target range: 120.000000 and range: 120.00 m. jAd@jjjih h h h fffrfbfI@ɛB& u=隍վI ڄɚiI?(>I=siiP>)Ad@)*F2F:FBFP0JFGmW=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458062GABYOuX>zKF5LK@9KK&KRK?JK>J J J 0J J :J 9J ـ3J J ;a- J ;a- J ;a5 J ;a5 ~G tAamw,O!IAuA bYbtAybBU@YUf@U{9U:_ G٣XGy8 > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59Sx?5Y] i^T‘+:: b= AޫE=;>be5B /@̶EZjAEFNOT Ignoring new targets: 120.00 m.BjMJjM] ProNav: ac range: 120.000000 m, nav range: 28.828287 m, bearing: 264.186313 deg, approach rate: 0.100874 m/s, LOS rate: -1.032614 deg/s, cmd heading: 351.637837 deg, new cmd heading: 350.341921 deg. 2j]+1eHeadingCmd: 6.114620 target range: 120.000000 and range: 120.00 m. je@jajaji!h!h!h)h)f)f1f1rf9bf=@K@ɛB`* 隕&ľI \ɚiI9>IQ,ii9< >)@) $?I*F?2F:FBFX0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:23:58:29.9146 U TRx dataTimestamp_ set to:1736380711.182043] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963256G 7>G B O >Dtw,XIA6C@Y6R@6996ol?ْ?FԿ_`?A| ?w???ɨ6C@65;4yNBN@"IIVIVͳ٢b= b_=9b-Q b>dd fG٣dyj j>JnAAJnAA rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv59r@cx?v5Yr\ ir#T‘z :xz:z=zAr߫Er&;rO?rpf5 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 120.00 m.BjMjJjMj ProNav: ac range: 120.000000 m, nav range: 28.862377 m, bearing: 263.825791 deg, approach rate: 0.084560 m/s, LOS rate: -0.893206 deg/s, cmd heading: 350.341931 deg, new cmd heading: 349.261777 deg. 2j?HeadingCmd: 6.095768 target range: 120.000000 and range: 120.00 m. j@jjjihhhhfffrfbf n @ɛEBM imIi u!*ɚqiqIuͶ=I}E?iyi}( >)}@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214317*F%?2F):F)BF-_0JF) IjH9bH=p<HEg>IEC IEa#IIEԄBIE =&IEGD.IEGI B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:58:29.9146 LVL= 17296, 32753, 24098, 32755, AGC= 57, IDX= 417, 0.05,-2.666, 2.028, 2.291, 2.755, PHS= 0.950,-0.679,-0.467, RAW= 96.9, 2.6, CAL= 106.4, 0.4, ROT= 43.6, -0.4  Ygot valid direction response: 23:58:29.9146 LVL= 17296, 32753, 24098, 32755, AGC= 57, IDX= 417, 0.05,-2.666, 2.028, 2.291, 2.755, PHS= 0.950,-0.679,-0.467, RAW= 96.9, 2.6, CAL= 106.4, 0.4, ROT= 43.6, -0.4  PDAT read: Bearing 43.6, -0.4 (Local)  ~Local bearing/azimuth received: Bearing 43.6, -0.4 (Local)  DAT read: Range 10 to 50 : 118.7 m (Round-trip 158.3 ms) speed 0.1 m/s  ,DAT read: user:3540>  BDAT read: Tx time:23:58:31.0022  $Ping request sent.  G٣yQ > bBottom track data is 1.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59$yx?5YC\ iS‘ 9V:`=AE<p?g5 6@ɶEk]egf?k!'f k kIA:kfBBkBZkI@"gB۵41Ӣ6>(y_6\]@mЍ¿oݷ̬2B?JkDRkf*` Kq%.ؿACZ@CJݿcj=bQ?"kw*k]kGf?kXP8f 2k+Ckڋ>h?kk6#Ck5dBk[j@ addTargetRange:: Added new target pos. range: 118.699997 m, deltaT: 3.525577 s, deltaX: -1.300003 m, approachRate: -0.368735 m/s, rangeRepo size: 4  Added new target pos. range: 118.699997 m, bearing: 180.391734 deg, lat: 36.903792 deg, lon: -122.120866 deg, deltaT: 3.525577 s, deltaX: -1.300003 m, approachRate: -0.368735 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 118.70 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:58:31.0014 5 ProNav: ac range: 118.699997 m, nav range: 57.052021 m, bearing: 210.212824 deg, approach rate: 0.000000 m/s, LOS rate: -0.893206 deg/s, cmd heading: 349.261778 deg, new cmd heading: 347.739987 deg. 2jYeHeadingCmd: 6.069208 target range: 118.699997 and range: 118.70 m. je6@jajajaiahahihihififqfqrf̬]@bf!?ɛBQj I ]ɚiIn)=I[ii >)56@)1 U $?IQ E] =*F 2F :F BF 4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G >G ?G ?GBO ?!w, JA6Կ@Y6|@6n96=X G٣XGy > Nusing accuracyPremultiplier from config59}x?5Yi] iS‘T:?:qAE3;;j5B @ƶEZjAMFNOT Ignoring new targets: 118.70 m.BjMѻJjMѻ] ProNav: ac range: 118.699997 m, nav range: 57.269833 m, bearing: 210.035740 deg, approach rate: 0.452773 m/s, LOS rate: -0.366711 deg/s, cmd heading: 347.739984 deg, new cmd heading: 347.210768 deg. 2j]{eHeadingCmd: 6.059971 target range: 118.699997 and range: 118.70 m. jeI@jijijiiihqhqhqhuBfyfyfyrfybf})I@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.E= }$?I*F?2F:FBFP0JFH\>IC I#IIBI =&I.I;D6Ir<:Io FG  >G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.zK UNK 9K K &K yi]VSNIB=;51-+*(('$"!  )w,l.JA26@Y2tF@2*92A;y2H (?`ȵ? uտ_+?b8??@Au?E#?ɨ26@2ݎ;2Cy:1B:"IIbIb$٢j/> jS=9jGQ j>ll nG٣lyrV r> vNusing accuracyPremultiplier from configtz59vx?z5Yv@^ ivLS™xz3~AvEvj:v ;vk5 @Zj)-FNOT Ignoring new targets: 118.70 m.Bj5}Jj5}E ProNav: ac range: 118.699997 m, nav range: 57.409496 m, bearing: 209.918476 deg, approach rate: 0.380966 m/s, LOS rate: -0.319087 deg/s, cmd heading: 347.210781 deg, new cmd heading: 346.859850 deg. 2jEZMHeadingCmd: 6.053846 target range: 118.699997 and range: 118.70 m. jM@jIjIjQiQhQhQhQhYfafafarfabfe|?ɛB 隭uI OɚiIOR=Iji;i8=)@)EpAEpAJJJ0JJ:J:Jـ3JJQ;JS;JA;JA;E]~=Eea>Ee>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJF yIG= ׂ>G B! OE >w,JJA28@Y2@292GB>"I)@ @ Will construct direction to contact in vehicle frame from tetrahedron phase data.-E G٣XGy > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59ȳx?5Y{_ iS‘+::EAEo7;c>vm5 ?@öEZjFNOT Ignoring new targets: 118.70 m.Bj}巻Jj}巻 ProNav: ac range: 118.699997 m, nav range: 57.593704 m, bearing: 209.759444 deg, approach rate: 0.373649 m/s, LOS rate: -0.321549 deg/s, cmd heading: 346.859846 deg, new cmd heading: 346.384289 deg. 2j\HeadingCmd: 6.045547 target range: 118.699997 and range: 118.70 m. ju@jjjihhhhfffrfbf ?ɛ=B= 9=6PIA EɚAiAIE=IMWsiMì;iM =)Mu@)qE}E}*Ey"EyWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF O0JF } $?Iy G =H V>I C I #II :BI  =&I .I :D6I <:I FG B ! bCommunications Fault in component: RDI_PathfinderO >觘w,/NdJA2@Y2w@2 928pB>"IF@FPowering downFF JJININ%٢Md> Mc=9U,68Q U>QQ UG٣Yy]c ]> mbBottom track data is 0.9 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau59esx?}5Yey` ieR‘} :y:ZAeEeIn;eZ?e~n5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.70 m.BjJj ProNav: ac range: 118.699997 m, nav range: 57.726234 m, bearing: 209.641281 deg, approach rate: 0.366618 m/s, LOS rate: -0.326124 deg/s, cmd heading: 346.384301 deg, new cmd heading: 346.030630 deg. 2j_HeadingCmd: 6.039374 target range: 118.699997 and range: 118.70 m. jB@jjjihhhhfffrfbf;%?ɛB%Z͊ %#=%I! %Qɚ!i)I-,S=I-yi1i5B=)5B@)y-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.*FU?2FQ:FQBFU0JFQ'eTFailed to parse incomplete device message.BKi:KiJJJ1JJ :J:J3JJ;J;JI;JI;Gu=GI BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259529Ҟw,,~JA6U@Y6;e@6_96a ^T=9b;Q b>`d fG٣dyf;_ j> rbBottom track data is 1.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n)x?v5Yna inR‘v9tv[:zXozAnEn%;nמ?ndo5~B ~@~E !I!ZjFNOT Ignoring new targets: 118.70 m.Bj/Jj/ ProNav: ac range: 118.699997 m, nav range: 57.866474 m, bearing: 209.511783 deg, approach rate: 0.349613 m/s, LOS rate: -0.322051 deg/s, cmd heading: 346.030634 deg, new cmd heading: 345.643088 deg. 2j]HeadingCmd: 6.032610 target range: 118.699997 and range: 118.70 m. j$ @jjjihhhhfffrfbf`@ɛ}B}3 隅XI ƅɚiI=IoKic;iȹ=)$ @)E*F?2F:FBF1JF"G =G =GTU=GBOj>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511488+w,UJAN@YN@Nꮾ9NmI^4<IbIb٢j)> nH=9nO;Q n>pp rG٣rXGyr` r> zbBottom track data is 1.6 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~59vx?~5Yvb iveR‘91:AvEvC;v?v(p5  o@Zj9EFNOT Ignoring new targets: 118.70 m.BjE)ʻJjE)ʻ] ProNav: ac range: 118.699997 m, nav range: 58.011307 m, bearing: 209.372934 deg, approach rate: 0.369643 m/s, LOS rate: -0.353487 deg/s, cmd heading: 345.643089 deg, new cmd heading: 345.227589 deg. 2j]reHeadingCmd: 6.025358 target range: 118.699997 and range: 118.70 m. je@jajajaiahihihihififqfqrfqbf}`@ɛB 隥I DžɚiIN=Iii_==)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.՝>՝4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765245*F-?2F):F)BF-4JF) $?I HQ>I I)$IIwBI! =&I.I9D6IQ<:IL FG =GB!dClearing failed state for component RDI_PathfinderO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:23:58:33.5638 M TRx dataTimestamp_ set to:1736380714.712705M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016670zK XKK 9K K &K RK ?JK ?w,JA6A@Y6@6(96U bL=9fQr;Q f>dd jG٣hyjV j> rbBottom track data is 2.0 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59nx?v5Ynkd in-R‘v9tv:zzAnEn(;n!@np5| ~@~EZjIUFNOT Ignoring new targets: 118.70 m.Bje6ĻJje6Ļ} ProNav: ac range: 118.699997 m, nav range: 58.151493 m, bearing: 209.233840 deg, approach rate: 0.346611 m/s, LOS rate: -0.343081 deg/s, cmd heading: 345.227595 deg, new cmd heading: 344.811326 deg. 2jtkHeadingCmd: 6.018093 target range: 118.699997 and range: 118.70 m. j8@jjjihhhhfffrfbfO2 @ɛB4 T=I ɚiIb=I#i;i@=)8@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267570 IEA=*F?2F:FBF1JFGm q=GA BI Om >̲w,JA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522222y-B5#III۳٢8> 2=9Q > G٣y > %bBottom track data is 2.5 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!M59%y?U5Y%!f i%Q‘Uo9QU9QUA%E%;%"@%[q5Y ew@aZjFNOT Ignoring new targets: 118.70 m.BjrûJjrû ProNav: ac range: 118.699997 m, nav range: 58.319187 m, bearing: 209.068774 deg, approach rate: 0.348189 m/s, LOS rate: -0.341746 deg/s, cmd heading: 344.811336 deg, new cmd heading: 344.317575 deg. 2jj HeadingCmd: 6.009475 target range: 118.699997 and range: 118.70 m. j M@jjjihhhhfff!rf!bf%  @ɛB7 隵^+>I TɚiIa=I#ii3=)M@JJJ0JJ|:J:Jـ3Ja@a@a@a@)EI=*FQ2FY:FYBF]5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:58:33.5638 LVL= 14800, 29137, 21394, 27891, AGC= 61, IDX= 441,-0.36, 2.537, 0.832, 0.721, 1.375, PHS= 1.251,-0.496,-0.656, RAW= 85.6, -1.1, CAL= 92.9, -6.1, ROT= 57.1, 6.1 Ygot valid direction response: 23:58:33.5638 LVL= 14800, 29137, 21394, 27891, AGC= 61, IDX= 441,-0.36, 2.537, 0.832, 0.721, 1.375, PHS= 1.251,-0.496,-0.656, RAW= 85.6, -1.1, CAL= 92.9, -6.1, ROT= 57.1, 6.1 PDAT read: Bearing 57.1, 6.1 (Local) ~Local bearing/azimuth received: Bearing 57.1, 6.1 (Local)  DAT read: Range 10 to 50 : 118.1 m (Round-trip 157.5 ms) speed 0.1 m/s  ,DAT read: user:3541>  BDAT read: Tx time:23:58:34.6522 % $Ping request sent.% I  I $II ÅBI &I .I 6I <:I z FG =Gy B O > w,,JA^@Y^@^u9^5ھ ^=9!! %G٣!y%*۽ -> bBottom track data is 2.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config)59-y?5Y-g i-Q‘B9 9A-E-<-9@-q5%B %+@%Ekp(l?k$u k kJA:k3BBkBZklZ!@"Ϟ*-I ɚiIa=Iwi ;i<=)@)EE*E"EzK=RIK=9K9K=&K=) cCA}sAA YYsAyB*F 2F :F BF @5JF } Will construct direction to contact in vehicle frame from tetrahedron phase data. I G y؜=GBO>PKw,mKAy5oB5$IIEIEm?٢UU> U%=9]Q ]>YY eG٣eXGye e> }bBottom track data is 3.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy59}'y?5Y}i i}vQ‘99A}E}DA;}W@}r5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.10 m.BjUJjUờ ProNav: ac range: 118.099998 m, nav range: 58.606464 m, bearing: 208.768038 deg, approach rate: 0.379350 m/s, LOS rate: -0.394719 deg/s, cmd heading: 343.913767 deg, new cmd heading: 343.386198 deg. 2jrHeadingCmd: 5.993220 target range: 118.099998 and range: 118.10 m. juȿ@jjjihhhhfffrfbf|?ɛ=ńB=lt 9=>IA dɚiI=Iaviip=)uȿ@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.*F=?2F9:F9BF=P0JF9G=GBOn>JJJ1JJ:J:J3J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994151pw,5KAB˹@YB/@B 9B?=yBH>?))? Կaο?Y۪?y?X? *7?ɨB˹@Be;B C R$?IRhy5B5z$IIE{IEk٢Uq> UK=9e;Q e>aa mG٣iymL m>HO>IC I$II$BI&I.I6I\<:IQ FBIECJIECRIECZIE! =bIE =jIE6 bBottom track data is 3.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configq59u7y?5YuQk iu@Q‘8w9}AuEu>;ur@u_r5 B@EZjFNOT Ignoring new targets: 118.10 m.Bj5˻Jj5˻E ProNav: ac range: 118.099998 m, nav range: 58.739388 m, bearing: 208.622180 deg, approach rate: 0.325463 m/s, LOS rate: -0.356325 deg/s, cmd heading: 343.386203 deg, new cmd heading: 342.949630 deg. 2jEtMHeadingCmd: 5.985600 target range: 118.099998 and range: 118.10 m. jM @jIjqjqiqhqhqhyhyfyfyfrfbf+?ɛȄBb$h L=I>I z4ɚiI=I]ii=) @)*F2F:FBFZ0JFG'HF=GyBO]>UWill construct direction to contact in vehicle frame from tetrahedron phase data.Yi]A]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246496zKe Ke 59Ka Ke &Ke L{uplgaZUQMKGC?831+)%! %w,, 9KAZ @YZ@ZȽ9Z/=yZH`??@Կ`%п@???@ᯤ?:?ɨZ @ZgM;XybBf$Iij=Iji>InsIny٢5> 5L=9=;Q E>II MG٣MXGyUr U> ]bBottom track data is 4.2 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYe59]/Gy?m5Y]1m i] Q‘m8imH9m'mA]E](;]@]r5 @ZjFNOT Ignoring new targets: 118.10 m.BjIջJjIջ ProNav: ac range: 118.099998 m, nav range: 58.868725 m, bearing: 208.474669 deg, approach rate: 0.327709 m/s, LOS rate: -0.372935 deg/s, cmd heading: 342.949618 deg, new cmd heading: 342.508066 deg. 2jHeadingCmd: 5.977893 target range: 118.099998 and range: 118.10 m. jJ@jjjihhhhfffrfbf?ɛ ʄB[^ %l?I! -ɚ)i)I-8D=IE5OiAiEb<)MJ@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498285) $?I*F?2F:FBF_0JFGГ>=G B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7506179w,[RKARR@YRǿ@R]稾9RC=yRH@? +U?ԿQѿ$?? k?`*?`g=?ɨRR@RU;Pyb%Bb$IIjIj?1٢rs> rP=9rU;Q r>tt vG٣tyzDϼ z> ~bBottom track data is 4.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|59~wVy? 5Y~o i~P‘ 8  "9  A~E~,;~4@~r5B @%EZjAMFNOT Ignoring new targets: 118.10 m.BjMӻJjMӻ] ProNav: ac range: 118.099998 m, nav range: 58.994297 m, bearing: 208.329745 deg, approach rate: 0.320532 m/s, LOS rate: -0.369140 deg/s, cmd heading: 342.508059 deg, new cmd heading: 342.074222 deg. 2jeV}eHeadingCmd: 5.970322 target range: 118.099998 and range: 118.10 m. je @jijijiiihihihqhqfqfyfyrfybf} :?ɛ̈́BqX 隵,?I RɚiIq=I/ii1<) @)EJJJ0JJJJـ3J*F?2F:FBF0JFGT!=GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.7?<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002823 IZHu?ARHu@AH}N>Iy I}%II}BI}" =&Iy.Iy6I}G<:I}? Fw,JlKA2x@Y2r@2UL92lX=y2H-?H?!Կѿ?`m???`>?ɨ2x@2͊;0yJ]BNC%IIRIR4٢ZM> ZL=9^|A;Q ^>\` bG٣`yb, b> jbBottom track data is 5.0 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59ffy?n5Yfq ifP‘n8pr9rþrAfEf~(;f @fr5zB z@zE Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254424Zj)-FNOT Ignoring new targets: 118.10 m.Bj5һJj5һE ProNav: ac range: 118.099998 m, nav range: 59.122131 m, bearing: 208.181095 deg, approach rate: 0.317536 m/s, LOS rate: -0.368445 deg/s, cmd heading: 342.074233 deg, new cmd heading: 341.629254 deg. 2jE|MHeadingCmd: 5.962555 target range: 118.099998 and range: 118.10 m. jMA;@jIjIjQiQhQhQhQhYfYfYfYrfYbfe` :@ɛ-τB-R 15F?I1 5]_ɚ1i1I5p=I=)i9iUI<)UA;@)azK-9NK-+9K)K-&K-BKUoA:KUpAEeO)=*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506837 ] $?IY G 9f<G B O >w,kKAyB%IIIK!٢%x> %8=9-Q ->)1 5G٣5XGy5 5> EbBottom track data is 5.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=Ywy?M5Y=4s i=gP‘M[8QU8QUA=E=S*;=;@=s5Y ]@]E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 118.10 m.Bj=~ɻJj=~ɻM ProNav: ac range: 118.099998 m, nav range: 59.264198 m, bearing: 208.017181 deg, approach rate: 0.306094 m/s, LOS rate: -0.352316 deg/s, cmd heading: 341.629260 deg, new cmd heading: 341.138711 deg. 2jMqUHeadingCmd: 5.953994 target range: 118.099998 and range: 118.10 m. j]@jYjYjYiYhYhYhahafafafirfibfm` @ɛ҄BJL 隵a?I ɚiI=IËii=)@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759423E7=*F-?2F):F)BF-D3JF)J=J=J9J9J=,:J=:J9J9GM <G! B9 Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:58:37.2125  TRx dataTimestamp_ set to:1736380718.492803 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011489 I w, KAHFL>ID IF)&IIFBID&ID.ID6IF<:IF Fr@Y"@͓9u=yH??X?$=?ɨr@;#Cy͆B%II-I-٢m> uG=9u a;Q u>yy }G٣yyF > bBottom track data is 5.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59Jy?5YGu i1P‘188ɾAEa';e@s5 @ZjFNOT Ignoring new targets: 118.10 m.Bj߻Jj߻  ProNav: ac range: 118.099998 m, nav range: 59.394505 m, bearing: 207.864507 deg, approach rate: 0.333669 m/s, LOS rate: -0.390087 deg/s, cmd heading: 341.138716 deg, new cmd heading: 340.681709 deg. 2j ۅHeadingCmd: 5.946018 target range: 118.099998 and range: 118.10 m. jE@jjjih!h!h!h!f)f)f)rf)bf5 @ɛ]ԄB]r? ]X=]S|?Ia eɚaiaIe=Im=iiim.<)uE@)q}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262672E.=EE*F!2F!:F!BF%0JF!"G5=G5=zKKKKK&K /rw*bE-  GU z =G) B9 O] >w,oKA2@Y2[@2(92=y2Hy?n?Կ ҿ?#??2?B>&IIFIF ٢N> NG=9Nd;Q N>PP VG٣TyZ@ ^>jWill construct direction to contact in vehicle frame from tetrahedron phase data. 1I1=DAT read: 23:58:37.2125 LVL= 13872, 23729, 18034, 23139, AGC= 54, IDX= 426, 0.42, 0.305,-1.122,-1.55, PHS= 1.216,-0.252,-0.731, RAW= 76.3, -2.7, CAL= 83.6, -8.2, ROT= 66.4, 8.2 E!unknown deviceResponse_: 23:58:37.2125 LVL= 13872, 23729, 18034, 23139, AGC= 54, IDX= 426, 0.42, 0.305,-1.122,-1.55, PHS= 1.216,-0.252,-0.731, RAW= 76.3, -2.7, CAL= 83.6, -8.2, ROT= 66.4, 8.2 ]PDAT read: Bearing 66.4, 8.2 (Local) ]~Local bearing/azimuth received: Bearing 66.4, 8.2 (Local) mDAT read: Range 10 to 50 : 117.0 m (Round-trip 156.1 ms) speed 0.0 m/s u,DAT read: user:3542> }BDAT read: Tx time:23:58:38.3022 }$Ping request sent.}w, }KA6Ƿ@Y6l׾@6¦96=y6H`??jԿ ӿq? ? z? ?;?ɨ6Ƿ@6;4yB3BBK&Iif=IfC=IjIj3٢r^> rB=9vP:Q v>tt vG٣vXGyz* z> bBottom track data is 6.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|59~sy?5Y~y i~O‘7!%b8%;%A~E~z;~@~As5) 5@1ZjQ]FNOT Ignoring new targets: 118.10 m.Bj]ջJjeջ ProNav: ac range: 118.099998 m, nav range: 59.657360 m, bearing: 207.556224 deg, approach rate: 0.318215 m/s, LOS rate: -0.372556 deg/s, cmd heading: 340.161944 deg, new cmd heading: 339.758955 deg. 2jHeadingCmd: 5.929913 target range: 118.099998 and range: 117.00 m. j@jjjihhhhfffrfbft?ɛ؄B- 隭?I ɚiIl=I1ാiiA =)@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IH1I1 I5&II5BI1&I1.I16I5<:I5q F*F2F:FBF@5JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.G e[=G B! OE >>yw,nQKAzKFNKDKDKF&KFlJ&F0zaQGA<7BKNpA:KLRb@YRॾ@RpG9R҆=yRHB?@c?qԿdӿ{?,? k?X?;?ɨRb@R!;PyZkBZ&IIbIbT_٢j > n<=9nz;Q n>pp rG٣pyrd v> zbBottom track data is 7.1 s old, using for 20.0 s. zNusing accuracyPremultiplier from configx~59z&y?~5Yz{ izO‘778оAzEz';z@zNs5  6@EZj1=FNOT Ignoring new targets: 118.10 m.Bj=ԻJj=ԻU ProNav: ac range: 118.099998 m, nav range: 59.793663 m, bearing: 207.395642 deg, approach rate: 0.316431 m/s, LOS rate: -0.371943 deg/s, cmd heading: 339.758963 deg, new cmd heading: 339.278329 deg. 2jUB]HeadingCmd: 5.921524 target range: 118.099998 and range: 117.00 m. j] }@jYjYjYiahahahahifififirfqbfu`p?ɛڄBI( 隝 ?I EɚiIѱ=I+ii@=) }@)JJJ1JJ:J:J3JJ6;aJ8;aJaJa*F%?2F!:F)BF-P0JF)Gz =GGGBO%>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IxYw,| LA:^u@Y:݄@:99:;=y:Hҳ??/Կ`ޠӿ 4r??@a?઎?; 5F=95:Q 5>99 =G٣9yE E> MbBottom track data is 7.5 s old, using for 20.0 s. UNusing accuracyPremultiplier from configIU59My?]5YM} iMXO‘]7Y]8]ҾeAMEMk;M @MYs5i uS@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.10 m.BjһJjһ ProNav: ac range: 118.099998 m, nav range: 59.923683 m, bearing: 207.242462 deg, approach rate: 0.313151 m/s, LOS rate: -0.368131 deg/s, cmd heading: 339.278336 deg, new cmd heading: 338.819803 deg. 2j|HeadingCmd: 5.913521 target range: 118.099998 and range: 117.00 m. j;@jjjihhhhfffrfbf@?ɛ܄B "  .?I  yɚiI=IDii"=);@)!*F?2F:FBF^0JFGH= 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.GB O% >HQ IQ  IU t'IIU %BIQ &IQ .IQ 6IU <:IU F̈́ w,'LA:tR@Y:a@:ȃ9:Z{=y:H?U?Կ`3ӿ`cg?F?Y6?@u׳?B?ɨ:tR@:*p;8yjLJBj'I)t tI~I~=٢e> L=9;Q >!! %G٣%XGy-- -> MbBottom track data is 7.9 s old, using for 20.0 s. MNusing accuracyPremultiplier from configA]59Ey?]5YE iE%O‘ew7ae7eԾeAEEE);E@Eas5}B }z@}EZjFNOT Ignoring new targets: 118.10 m.BjлJjл ProNav: ac range: 118.099998 m, nav range: 60.050373 m, bearing: 207.093073 deg, approach rate: 0.310232 m/s, LOS rate: -0.365045 deg/s, cmd heading: 338.819812 deg, new cmd heading: 338.372599 deg. 2jzHeadingCmd: 5.905716 target range: 118.099998 and range: 117.00 m. j@jjjihhhhfffrfbf?ɛ-ބB-M -7=-7?I) ހɚiIxm=ICiix-=)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743970*F2F:FBF_0JFzK5 NK59K1K5&K55551'RKU ?JKU#?GtAAJSK[(3 K[(.KSKS"KSJJJ0JJJJـ3JJJJJ ]&Y]tAy]oBGzc =Gi B O > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994755w,SBLA6y2@Y6A@6r96%P=y6H`?@V?`ɏԿ#Կ3]?Y?@?@@3? K?ɨ6y2@6u;4ynBn('IIzIz٢> G=9    G٣ y  > bBottom track data is 8.3 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%59?y?%5YH iN‘-H7)-7-־-AE(;Ahs59 =@9ZjFNOT Ignoring new targets: 118.10 m.BjлJjл ProNav: ac range: 118.099998 m, nav range: 60.178246 m, bearing: 206.942272 deg, approach rate: 0.309849 m/s, LOS rate: -0.364631 deg/s, cmd heading: 338.372599 deg, new cmd heading: 337.921166 deg. 2j>zHeadingCmd: 5.897837 target range: 118.099998 and range: 117.00 m. j@jjjihhh h f1f1f1rf1bf=P@ɛ}B 隅?I -6ɚiI ?=IMYLžiIiM`;=)M@)Q*F2F:FBFl0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250044G,=GG?G B O >w,[LA:A@Y:$@:Fߠ9:ڮ=y:Hӭ?~?`eԿ]ԿS?9?`?`´?R?ɨ:A@:;:CyFBF\'IININ)٢VPZ> VT=9ZuX\ ~G٣|yN > bBottom track data is 8.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 `y?5Y i i N‘%"7!%7%ؾ%A E 9; R A ms5) -@-EZjQ]FNOT Ignoring new targets: 118.10 m.Bj]ٻJj]ٻm ProNav: ac range: 118.099998 m, nav range: 60.301880 m, bearing: 206.796555 deg, approach rate: 0.323857 m/s, LOS rate: -0.380918 deg/s, cmd heading: 337.921178 deg, new cmd heading: 337.484932 deg. 2jmuHeadingCmd: 5.890223 target range: 118.099998 and range: 117.00 m. j}|@jyjyjyiyhyhyhhfffrfbf@ɛB ?I 7ɚiI&=IS2ɾii6I=)|@) ]$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503405*F2F:FBFP5JFZH@ARHAAHK>I I(IIBI&I.I6I{<:I_ FBIáCJIáCRIÓCZI" =bI" =jI4G4=GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754506w,|uLAB@YB/@BA9Bh=yBH? ?4Կ-ԿDE?+?l? ݺ?Z?ɨB@B7i;B CyN-BN~'IiRC>IR4=IVIV+٢^ > bI=9b;Q b>dd fG٣dyf` f> nbBottom track data is 9.1 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighv59jz?v5Yj ijN‘z7xz7zB۾zAj Ej;zK~ LK~9K|K~&K~BKoA:KjAjqs5 +@Zj9=FNOT Ignoring new targets: 118.10 m.BjEEѻJjEEѻU ProNav: ac range: 118.099998 m, nav range: 60.426121 m, bearing: 206.649575 deg, approach rate: 0.309944 m/s, LOS rate: -0.365917 deg/s, cmd heading: 337.484920 deg, new cmd heading: 337.044896 deg. 2jU {]HeadingCmd: 5.882543 target range: 118.099998 and range: 117.00 m. j]=@jYjYjYiahahahahafififirfibfu@ɛBF 隝T?I m}ɚiI=I ;ii O=)=@)JmJmJm1JiJmܫ:Jm :Jm3JiJm;Jm;Jm9P;Jm:P; YIYE=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:58:40.8614 TRx dataTimestamp_ set to:1736380722.025229checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008259*FU?2FQ:FQBF]0JFYG} F=GQ Ba O >#w,\ˏLA6@Y60ѽ@696=y6H`Z?e? ԿԿ38?O?`? д?`b?ɨ6@6SNJ;6CyRHBR'IIZIZK!٢n0> nE=9nrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258727xx zG٣zXGyzM; ~> bBottom track data is 9.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59`z?5Y i]N‘6O7ݾA E:;Aus5B y@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 118.10 m.BjջJjջ  ProNav: ac range: 118.099998 m, nav range: 60.563068 m, bearing: 206.487253 deg, approach rate: 0.315103 m/s, LOS rate: -0.372642 deg/s, cmd heading: 337.044892 deg, new cmd heading: 336.559039 deg. 2j HeadingCmd: 5.874063 target range: 118.099998 and range: 117.00 m. jT@j!j!j!i!h!h!h)h)f)f)f1rf1bf5 @ɛ]B]Q ae?Ia e6\|ɚaiaIeV=ImgxѾiiiuK[=)uT@)qEX=*F)2F):F)BF5 5JF1 9IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517903Gq H J>I  I (II BI &I HD.I 6I <:I FG B O >y)w,}LAj@Yj"@jw9jr=yjH??ӿ`_^տ &?@0?*?N? m?ɨj@j|w;j"CyhB'III?1٢%> %G=9- )1 5G٣1y5Vt => EbBottom track data is 9.9 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=3%z?M5Y=/ i=/N‘U6QU(7UྑUA= E=`F;=A=xs5a e|@aZjFNOT Ignoring new targets: 118.10 m.BjhӻJjhӻ ProNav: ac range: 118.099998 m, nav range: 60.683880 m, bearing: 206.343317 deg, approach rate: 0.310887 m/s, LOS rate: -0.369656 deg/s, cmd heading: 336.559047 deg, new cmd heading: 336.128107 deg. 2j}HeadingCmd: 5.866542 target range: 118.099998 and range: 117.00 m. j@jjjihhhhfffrfbf ^ @ɛBY n?I zɚiIy=IARվii ;_=)@)*E="E=%Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 23:58:40.8614 LVL= 14592, 23985, 14674, 21331, AGC= 53, IDX= 431, 0.12,-1.946, 3.000, 2.149, 3.038, PHS= 1.387, 0.010,-0.892, RAW= 66.9, -5.1, CAL= 74.4, -11.1, ROT= 75.6, 11.1 mYgot valid direction response: 23:58:40.8614 LVL= 14592, 23985, 14674, 21331, AGC= 53, IDX= 431, 0.12,-1.946, 3.000, 2.149, 3.038, PHS= 1.387, 0.010,-0.892, RAW= 66.9, -5.1, CAL= 74.4, -11.1, ROT= 75.6, 11.1 uPDAT read: Bearing 75.6, 11.1 (Local) u~Local bearing/azimuth received: Bearing 75.6, 11.1 (Local) DAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed 0.0 m/s ,DAT read: user:3543> BDAT read: Tx time:23:58:41.9522 $Ping request sent.))-AÍ?qb涿)-lmI-s=i-ƺ?-)):publishing transmit ping timeؑFpublishing direction and range info)9-˵ ^*? ƒ9L?RlJ"?y)))) )))I)i))))) )))I)i)))-AÍ?qb涿))I)i))))E=Ex>E>zKu:KKu9KqKu&Ku  *F-?2F):F)BF-@5JF)J]J]J]0JYJ]L:J] :J]ـ3JYJ]P;J]Q;J]S;J]S; = $?IA  Will construct direction to contact in vehicle frame from tetrahedron phase data.GU vY=G B O5 ><1w,0LAZZ@YZi@Zę9Zt=yZH?J?`vӿ`տ???`? x?ɨZZ@Z;ZCyb~Bb'I)h hInvInt٢r= v@=9v G٣yw > -dBottom track data is 10.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!U59%5z?U5Y% i%M‘U6Q]7]>侑]A%E%2;%%A%zs5a e@eEkum`w?ku0O+ kq ku-LA:kufBBkuBZku?"u&B@^Zt2K@eȊY@u˵ ^*? ƒ9L?RlJ"?Jkuƺ?Rku*u$8tdVJ@ݵwY@u$ofd?3Is?"kuRB*kuku7w?ku! 2ku+CkqkuXP8f ku+CkucZBkuNG@5 addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.786864 s, deltaX: -0.800003 m, approachRate: -0.211257 m/s, rangeRepo size: 4 e Added new target pos. range: 116.199997 m, bearing: 97.854627 deg, lat: 36.903792 deg, lon: -122.120548 deg, deltaT: 7.315854 s, deltaX: -1.900002 m, approachRate: -0.259710 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 116.20 m.BjuJjq ProNav: ac range: 116.199997 m, nav range: 54.596687 m, bearing: 178.429964 deg, approach rate: 0.000000 m/s, LOS rate: -0.369656 deg/s, cmd heading: 336.128116 deg, new cmd heading: 335.625473 deg. 2jHeadingCmd: 5.857769 target range: 116.199997 and range: 116.20 m. jr@jjjihhhhfffrf ]@bf`?ɛ%B-a )-?I) -?yɚ)i1I5==I5پi9i=pf=)=r@)9EiEi*Em"EmUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF;5JFJy J} @AG g\= I IU hG B O >28w, `LAWill construct direction to contact in vehicle frame from tetrahedron phase data.jHz<bHxH~K>I| I~(II~QBI|&I|.I|6I~t<:I~X FyB'II%I%K٢ӭ= )=9Q > G٣XGy > dBottom track data is 10.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59Gz?5Y[ iM‘b66AEׂ;p-A}s5 å@EZj!-FNOT Ignoring new targets: 116.20 m.Bj-iJj-i= ProNav: ac range: 116.199997 m, nav range: 54.816177 m, bearing: 178.327994 deg, approach rate: 0.482585 m/s, LOS rate: -0.223299 deg/s, cmd heading: 335.625469 deg, new cmd heading: 335.320789 deg. 2j=?MHeadingCmd: 5.852452 target range: 116.199997 and range: 116.20 m. jMIG@jIjIjIiQhQhQhQhQfYfYfarfabfm ?ɛB ?I wɚiIj=Iܾi;iCz=)IG@)*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G zKM RKKI KI KM &KM    BK] pA:K] oAU>w,LAb'@Yb@b;79b9=ybH`u?s?ҿ`!ֿ ?@W{? =? ??ɨb'@b;`yzB~(IIe]Iet٢g= O=9 G٣yo > dBottom track data is 11.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 Wz? 5Y iM‘76%6%G쾑%AE_.<3A~s5 $?IQ J@EEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 116.20 m.Bj\Jj\ ProNav: ac range: 116.199997 m, nav range: 54.999363 m, bearing: 178.239972 deg, approach rate: 0.401811 m/s, LOS rate: -0.192431 deg/s, cmd heading: 335.320788 deg, new cmd heading: 335.057602 deg. 2j5HeadingCmd: 5.847858 target range: 116.199997 and range: 116.20 m. j=!@j9j9jAiAhihihqhqfyffrfbf ^?ɛ-B5a 157?I1 55uɚ9i9I=_=I=/޾i;i^iQ=)!@)E*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ZqEw,$MAyB4(Ii=I>I%I%aO٢5= 5H=9=Q =>9A EG٣EXGyM M> dBottom track data is 11.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59fz?5Y, iiM‘66AE!E;:As5 @ B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 116.20 m.Bj%hJj%h5 ProNav: ac range: 116.199997 m, nav range: 55.189285 m, bearing: 178.149395 deg, approach rate: 0.523927 m/s, LOS rate: -0.249007 deg/s, cmd heading: 335.057607 deg, new cmd heading: 334.786815 deg. 2j5*=HeadingCmd: 5.843132 target range: 116.199997 and range: 116.20 m. j=@j9j9jAiAhAhAJUJUJU1JQJU:JU:JU3JQa]@a]@a]@a]@hahafafifirfibfm@en?ɛnz 9z=隝2?I itɚiI!u=INi;ii=)@)*Fa2Fa:FaBFe_0JFaGi Gi $?I G=Rk=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GB O%M>HI I0)IIBI! =&I.I:D6IJ<:I9 FܖKw,0MA2|@Y2/@2Z492xx zG٣xy~ ~>  dBottom track data is 12.0 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 59uz?5Yt i@M‘5j6[E#;@As5%B %@%E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003874ZjFNOT Ignoring new targets: 116.20 m.BjyJjy ProNav: ac range: 116.199997 m, nav range: 55.361191 m, bearing: 178.065436 deg, approach rate: 0.448002 m/s, LOS rate: -0.218126 deg/s, cmd heading: 334.786804 deg, new cmd heading: 334.535711 deg. 2jHeadingCmd: 5.838749 target range: 116.199997 and range: 116.20 m. j ׺@jjjihhhhfffrfbfC@ɛBƽ ?I 5rɚiIJ=Iig;i[I=) ׺@)*F-?2F):F)BF50JF1zK%LK%h9K!K%&K%RK-?JK-? IG\~Rw,yuJMA:=@Y:L@:)9:t=y:HY??Rѿ׿`ҧ?o?@?@>??ɨ:=@:jϊ;8yBBF^(IININB٢Vo= VN=9VJXX ZG٣Xy^ ^> fdBottom track data is 12.4 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`f59bz?j5Yb ibM‘j5hj=6jLjAbEb~(;bFAbs5p r@tZj15FNOT Ignoring new targets: 116.20 m.Bj=Jj=󀻝M ProNav: ac range: 116.199997 m, nav range: 55.540970 m, bearing: 177.976501 deg, approach rate: 0.457275 m/s, LOS rate: -0.225478 deg/s, cmd heading: 334.535699 deg, new cmd heading: 334.269758 deg. 2jMUHeadingCmd: 5.834108 target range: 116.199997 and range: 116.20 m. jU@jQjQjQiQhYhYhahafafafarfibfmf@ɛBVĽ 隝>?I LqɚiI"=I}i;iA=)@)*F?2F:FBFP5JF!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506792GH=GBO>JuJqJqJqJu̶:JqJqJq I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758516}Xw,TdMAZH RH"@AH&G>I&C I&o)II&BI&" =&I$.I&9D6I&q<:I&R Fr@Yr@rj9r͜=yrH`3?`?[ѿؿm?? ?@+??ɨr@r";r Cy%B%u(I)) )I5I5b(٢ez= e?=9mHiq G٣y* > dBottom track data is 12.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59z?5Y iL‘56~AEP;MAs5 @EZjFNOT Ignoring new targets: 116.20 m.BjJj  ProNav: ac range: 116.199997 m, nav range: 55.736511 m, bearing: 177.876025 deg, approach rate: 0.456642 m/s, LOS rate: -0.233816 deg/s, cmd heading: 334.269759 deg, new cmd heading: 333.969390 deg. 2j w HeadingCmd: 5.828866 target range: 116.199997 and range: 116.20 m. j@jjjihhh!h!f!f!f!rf)bf-)@ɛUBU7Ƚ Y]@IY ]~oɚYiYIe=Imim0;iuo=)}@)EUWill construct direction to contact in vehicle frame from tetrahedron phase data.Yi]A]BDAT read: Rx Time:23:58:44.5115 eTRx dataTimestamp_ set to:1736380725.808891echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011917*F?2F:FBFo0JF"G=G=) ] Gq Y y BzK] BoIK] +9KY K] &K] PU-BKa :Ke pAG F= $?I GBWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265829Oe?aw,MA%[@Y%9k@%ꇾ9%,=y%Hg?}S?ѿ7ٿN?@l?q?J`?v?ɨ%[@%dq;!yUB](III٢>  =9 G٣XGy > dBottom track data is 13.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59z?5Y iL‘55"E BDAT read: Tx time:23:58:45.6023 $Ping request sent. ? ?yIIM09M^ M"C)M#^IM?iM9?M=MuMq|?M޹ M?)MIM?iM=IIM;?4 Ie=)M1IMT? ?yIIII I)IIIiIIIII I)IIIiIIIM;?4 Ie=)IIIiIG9 BA O >IIIJq Ju Jq Jq Jq Ju ,:Jq Jq Agw,oMA6&@Y6#@6҅96 =y6H|??@sпڿ1?? ?`ױ?'?ɨ6&@6Dډ;6Cy>1BB(IIFIF?1٢f? > fY=9fH2hh jG٣hy~. >  dBottom track data is 13.7 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 9 z?Y n i L‘-O5)-5-Q E f;  \A $?I  @Ek=q|?k3܏ k kMA:kBkBZk]X?"S`?cWR@%нV@žjfZ?~>? ?Jk?Rk2f*4ׯ=@/K%^MtQ@C֬ /W@lS(Te?( :?ry?"kB*k@k4t|?k3s 2kU!Ckl?k kkWBk"@E addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.527893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 116.199997 m, bearing: 85.650551 deg, lat: 36.903897 deg, lon: -122.120231 deg, deltaT: 3.527893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 116.20 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:58:45.6015  ProNav: ac range: 116.199997 m, nav range: 53.904110 m, bearing: 145.577375 deg, approach rate: 0.000000 m/s, LOS rate: -0.233728 deg/s, cmd heading: 333.613596 deg, new cmd heading: 333.325656 deg. 2jHeadingCmd: 5.817630 target range: 116.199997 and range: 116.20 m. j*@jjjihhhhfffrfbf `?H9I9 I=)II=BI=# =&I9.I96I=<:I= FBIJIRIZIbIjIi(5ɛB 隥7@I qkɚiIN=I;]i1;i@=)*@)Eɯy=PExceeded connect timeout, disconnecting.*F 2F :F BF _0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.G {=GBO>nw,倽MAzKc{LK9KK&K :?ų@Y:Ժ@:9:(=y:H`?@m?п`ڿ` ?? P? g??ɨ:?ų@:F;:CyBHBB(IiF=IF=INsINy٢V6= V*=9V;Q Z>XX ZG٣ZXGy^ࣼ ^> fdBottom track data is 14.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`9bz?Yb ibgL‘j(5hj5jjAbEb},;bcA`p r@p}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 116.20 m.BjM::JjM:: ProNav: ac range: 116.199997 m, nav range: 54.144463 m, bearing: 145.596281 deg, approach rate: 0.519970 m/s, LOS rate: 0.040719 deg/s, cmd heading: 333.325662 deg, new cmd heading: 333.382129 deg. 2j: I HeadingCmd: 5.818616 target range: 116.199997 and range: 116.20 m. j 2@j j j ihhhhfffrf!bfM`*(?ɛ 隭 @I KoiɚiI=IiQ];i<)2@) Will construct direction to contact in vehicle frame from tetrahedron 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~4=*F)2F):F)BF-0JF)= Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000056Gu l=GI By O >.uw,HMA6@Y6*@696=y6H`?V?_пyۿ???@;? ?ɨ6@6N;6 CyBjBB)IIvIv=X٢z> ~?=9E AA EG٣IyM7 M> ]dBottom track data is 14.7 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe59Uz?e5YU iU>L‘e5im5mU EU@;UjAUs5uB u~@uEZjFNOT Ignoring new targets: 116.20 m.Bj&:Jj&: ProNav: ac range: 116.199997 m, nav range: 54.365112 m, bearing: 145.611704 deg, approach rate: 0.522820 m/s, LOS rate: 0.036396 deg/s, cmd heading: 333.382134 deg, new cmd heading: 333.428216 deg. 2j:HeadingCmd: 5.819420 target range: 116.199997 and range: 116.20 m. j8@jjjihhhhfffrfbf ?ɛB R ||= )@I  Ěgɚ i I =Iri;i%<)%8@)!E-E-*E)"E)J]J]J]0JYJ],:J]-.:J]ـ3JY u$?Iq%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249638jHE<bHE<HUF>IQ IU)IIUBIU" =&IQ.IQ6IU@<:IU- F*F2F:FBF1JFG<Gi By O >  nManaging dock network, ignoring radio surface power off{w,'MAy~B~()II bI ٢% > %G=9%Q ->)) -G٣)y5 5> EdBottom track data is 15.1 s old, using for 20.0 s. ENusing accuracyPremultiplier from config99=cz?Y=O i=L‘M4IMV5I=!E=;= qA9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502231Q @Zj%FNOT Ignoring new targets: 116.20 m.Bj%~:Jj%~:] ProNav: ac range: 116.199997 m, nav range: 54.567650 m, bearing: 145.625751 deg, approach rate: 0.482357 m/s, LOS rate: 0.033330 deg/s, cmd heading: 333.428225 deg, new cmd heading: 333.470209 deg. 2j]:eHeadingCmd: 5.820153 target range: 116.199997 and range: 116.20 m. je>@jajajaiahahahihifififrfbf`L?ɛV  @I  MeɚIiQIU(=IUi];i]r2<)]>@)YE*F%?2F!:F!BF%O0JF)zKBoJKKK&K   YIYG5 <U Will construct direction to contact in vehicle frame from tetrahedron phase data.] E?] B?m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760901G ?G ?G B O >܂w, NA:(@Y:P8@:z9:=y:H`?x?Dпۿ[??` ?y8??ɨ:(@:;:CyFBFa)I)H H Np=Np= % % -- --  - - -- -Mb@Mb@Mb@))) )))Y-p= ף?bX9ƿMby-%?-E6--@ -v@)-;@I-1@)y-@IEIE(*٢U}c> UG=9U)aa eG٣eXGymz m> uNusing accuracyPremultiplier from configq}59u-z?}5Yu iuK‘T:M+?:<Au#Eu$;ua#;uOu5 ȓ@EZjFNOT Ignoring new targets: 116.20 m.BjHJjHຝ ProNav: ac range: 116.199997 m, nav range: 54.834194 m, bearing: 145.587323 deg, approach rate: 0.683356 m/s, LOS rate: -0.098041 deg/s, cmd heading: 333.470217 deg, new cmd heading: 333.355493 deg. 2jHeadingCmd: 5.818151 target range: 116.199997 and range: 116.20 m. jUK.@jQjQjQiQhYhYhaheʃBfafifirfibfm E?ɛ^ {@I cɚiIF=Ii;ig;)K.@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007105*Fi2Fq:FqBFuP0JFqG]oT<G1BAO]v>JM JM JI JI JM :JM 9:JI JI M $?IM h= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257520_w,f%NAH}D>Iy I}*II}JBI}# =&Iy.Iy6I}j<:I}J Fr"@Yr@ru9r=yrHv??Ͽ dܿ?y?p?P?^?ɨr"@rK;py5މB=)IIUIU$٢eJ> eI=9ezCii mG٣iyu> u> }Nusing accuracyPremultiplier from configy59}{?5Y}ϴ i}K™=A}&E}*:} :}w5 4@ZjFNOT Ignoring new targets: 116.20 m.BjrغJjrغe ProNav: ac range: 116.199997 m, nav range: 55.097687 m, bearing: 145.548519 deg, approach rate: 0.645570 m/s, LOS rate: -0.094616 deg/s, cmd heading: 333.355497 deg, new cmd heading: 333.239643 deg. 2jmށHeadingCmd: 5.816129 target range: 116.199997 and range: 116.20 m. j@jjjihhhhfffrfbf\@ɛEBM^V IM@II UdaɚQiQIU=I!iӎ;iN;)@)*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509919G p<G B O >zK ̭KK 59K K &K RK% ?JK% >`0w,?NA2ײ@Y2 @2q92ޓ=y2H ?%?҆Ͽ`Ycܿ?RĞ?P?&P?`?ɨ2ײ@2;2Cy>B>)IIFIF3٢NU> NX=9Nn5PP RG٣PyV` V> ZNusing accuracyPremultiplier from configX^59Z{?^5YZ@ iZxK™`b>bAZ(EZ ;Z ;Zx5d f@fE r$?IpzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 116.20 m.Bj ߺJj ߺ% ProNav: ac range: 116.199997 m, nav range: 55.343410 m, bearing: 145.511432 deg, approach rate: 0.651043 m/s, LOS rate: -0.097827 deg/s, cmd heading: 333.239657 deg, new cmd heading: 333.128888 deg. 2j%F-HeadingCmd: 5.814196 target range: 116.199997 and range: 116.20 m. j- @j)j)j)i)h1h1h1h1f9ffrfbf@ɛy}  隅"@I 8_ɚiI=IWiV;i}Pk;) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764782Ev=*FM ?2FQ :FQ BF] P0JFY Gm pA Gm qA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:58:48.1615  TRx dataTimestamp_ set to:1736380729.344609 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014623GU #N;G)B9Om>#w,#]NAy~-B~)Ii,>I<Mb@Mb@Mb@ )YJ +?gfffffƿMb`?y(?33;+@ @)@I@y̜@II-٢*> =9Q > G٣XGy > Nusing accuracyPremultiplier from config 59+{? 5YY i-K™ .?: =A*E(;;z5 %O@)ZjiuFNOT Ignoring new targets: 116.20 m.Bj}&ӺJj}&Ӻ ProNav: ac range: 116.199997 m, nav range: 55.684101 m, bearing: 145.463276 deg, approach rate: 0.657028 m/s, LOS rate: -0.092300 deg/s, cmd heading: 333.128898 deg, new cmd heading: 332.985316 deg. 2ja}HeadingCmd: 5.811690 target range: 116.199997 and range: 116.20 m. j^@jjjihhhhBfffrfbfJ @ɛI q'@I m\ɚiIA=Igi1;i+O;)^@)ZHRHAAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266785HB>IC Io*IIBI$ =&I.IE-=6I<:I~ F*F?2F:FBF]0JFG!j;GQBaO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 23:58:48.1615 LVL= 15184, 21681, 18146, 24147, AGC= 64, IDX= 448,-0.01, 1.839, 1.037,-0.295, 0.835, PHS= 1.092, 0.249,-1.133, RAW= 52.0, -2.2, CAL= 54.3, -5.6, ROT= 95.7, 5.6 UMw,wNAYgot valid direction response: 23:58:48.1615 LVL= 15184, 21681, 18146, 24147, AGC= 64, IDX= 448,-0.01, 1.839, 1.037,-0.295, 0.835, PHS= 1.092, 0.249,-1.133, RAW= 52.0, -2.2, CAL= 54.3, -5.6, ROT= 95.7, 5.6 FPDAT read: Bearing 95.7, 5.6 (Local) F~Local bearing/azimuth received: Bearing 95.7, 5.6 (Local) JDAT read: Range 10 to 50 : 116.2 m (Round-trip 155.0 ms) speed 0.2 m/s N,DAT read: user:3545> RBDAT read: Tx time:23:58:49.2523 R$Ping request sent.R0ӡ?`M?ybE@Ybħ@bi9b=ybHR?M?"Ͽ ܿ =??@?@W?@^?ɨbE@b];bCP;T F)S^I@iƋ?~>%Vh?nF _r?)+ȽI?i+=ͤI?}ԘV)ԗI=i?ySm:publishing transmit ping timePmFpublishing direction and range info9}{?>0ӡ?`M?y )y}cB}8*IIIxVIi )٢> G=9Ɨ!! %G٣!y- ->IiͤI?}ԘV)Ii Nusing accuracyPremultiplier from configy59}<{?5Y}\ i}J™>A}-E};} ;}|5B @Eko?k k k^hvNAJ5J5J1J1J5:J5T:J1J1J560ӡ?`M?Jk?RkyS* l0@KQ@RAV@R\`?i?ϵX?"kB*ksAk ?kaOj 2k Ck7w?k! kk^Bk? addTargetRange:: Added new target pos. range: 116.199997 m, deltaT: 3.538176 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 116.199997 m, bearing: 76.684923 deg, lat: 36.904217 deg, lon: -122.119972 deg, deltaT: 3.538176 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 116.20 m.BjJj ProNav: ac range: 116.199997 m, nav range: 55.729851 m, bearing: 100.746191 deg, approach rate: 0.000000 m/s, LOS rate: -0.092300 deg/s, cmd heading: 332.985328 deg, new cmd heading: 332.863455 deg. 2jHeadingCmd: 5.809563 target range: 116.199997 and range: 116.20 m.zK%JK%+9K!K%&K%BK1:K1 j=@j9j9j9i9h9h9hAhAfafifirfibfmF? $?Iɛ ;.@I RZɚiI =I~i k;i aaN:) @)  Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:23:58:49.2515 E|=*FE ?2FA :FA BFE O0JFA GmP;Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B1OM?pw,NAyeBej*IMb@Mb@Mb@ )YS㥛?333333ÿy$&?@ h@)@I@y@IEIEy/٢]!> ] =9]Q ]>aa eG٣iym m> uNusing accuracyPremultiplier from configq}59uQ{?}5Yu iuJ™}*?:Z6Au/Eu< ;u;u5 g@EZjFNOT Ignoring new targets: 116.20 m.Bj;Jj; ProNav: ac range: 116.199997 m, nav range: 55.985752 m, bearing: 100.953766 deg, approach rate: 0.539264 m/s, LOS rate: 0.435425 deg/s, cmd heading: 332.863450 deg, new cmd heading: 333.483303 deg. 2jj<HeadingCmd: 5.820382 target range: 116.199997 and range: 116.20 m. j@@jjjihhhhBfffrfbf`?ɛB%@ʼ %g$T=%h3@I! -TWɚ)i)I-L=I5i1i56 )5@@)9EAEA*EI"EI IH>>I I*IIBI% =&I.I8D6IO<:I/ FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFGm ?:GA BQ Om >|hw,$ NA6qC@Y6R@6 `967=y6Ḧ??οQݿ`ne?l?? }??ɨ6qC@6=;6!CyB͊BB*I)D D J=J=ININ٢VЧ> VT=9ZXX ^G٣^XGy^Yܼ ^> bNusing accuracyPremultiplier from config`f59ba{?j5Yb] ib}J™hj8jAb1Eb;bl;b5l r]@pZj FNOT Ignoring new targets: 116.20 m.Bjj;Jjj;% ProNav: ac range: 116.199997 m, nav range: 56.185253 m, bearing: 101.110773 deg, approach rate: 0.518215 m/s, LOS rate: 0.406385 deg/s, cmd heading: 333.483303 deg, new cmd heading: 333.952639 deg. 2j-s<5HeadingCmd: 5.828573 target range: 116.199997 and range: 116.20 m. j5@j1j1j1i1h1h9h9h9f9fAfArfAbfE ?UWill construct direction to contact in vehicle frame from tetrahedron phase data.c~G5tA 5 Y=5tAy=BɛR 隭;@I  >UɚiI=IiiǼ)@)*Fy2Fy:FyBF}o0JFyJEJEJE1JAJE;JEc:JE3JAJEdL<JEeL<JE$;JE%;GUi"G1BAO]U> u$?IqzKBHK 9KK&K-^h]PDRK?JK> Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,NAy~B*IMb@Mb@Mb@ )YˡE?X9vMb`?y'?;`@ @)~@In@y@IqIv}٢i> ;=9Q > G٣y > Nusing accuracyPremultiplier from config59ct{?5Y  iBJ™*?:,A3EK;;5 V~@E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 116.20 m.Bj;Jj;5 ProNav: ac range: 116.199997 m, nav range: 56.403111 m, bearing: 101.297925 deg, approach rate: 0.467930 m/s, LOS rate: 0.400426 deg/s, cmd heading: 333.952646 deg, new cmd heading: 334.511916 deg. 2j5g<=HeadingCmd: 5.838335 target range: 116.199997 and range: 116.20 m. j=Ӻ@j9jAjAiAhAhAhIhMBfififqrfqbfuV?ɛ4  A@I (xRɚiIG=Iyii%F)%Ӻ@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.)*F?2F:FBFj0JF q Iq G]  Ga Ga jH <bH H <>I C I P+II HBI ) =&I .I 6I X<:I 1 FBI˟CJI˟CRI˔CZI$ =bI% =jI *6 Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720090G) B9 OU >tw,NAy,B.+III3٢ R>  E=9Q 5>19 =G٣9y9 => MNusing accuracyPremultiplier from configAM59Ep{?M5YE iE J™qquAE6EE[;E;El5y x@ZjFNOT Ignoring new targets: 116.20 m.Bj;Jj; ProNav: ac range: 116.199997 m, nav range: 56.613205 m, bearing: 101.476565 deg, approach rate: 0.527833 m/s, LOS rate: 0.447141 deg/s, cmd heading: 334.511930 deg, new cmd heading: 335.045844 deg. 2jo<HeadingCmd: 5.847653 target range: 116.199997 and range: 116.20 m. j @j j j)i)h)h1h1h1f1f9f9rf9bf=?ɛ%BMpB< M&/=MsG@II MVOɚQiQIUظ=IU޾iYi]6)]@)Y*F?2F:FBF=1JF!Gm}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.973895GBO>J3KO3 KKK"KJe Je Ja Ja Je ;Je u:Ja Ja Je J_<Je J_<Je D;Je D;zLw,@OA $?IhZA@YZ>Q@ZgxT9Zպ=yZHh?@?`$οݿ _?zy^^?A?n?ɨZA@Zz;XyfdBfs+Iij>Ij>jAjAzK~MK~9K|K~&K~9.'!  &#I I -٢=h> E[=9EII MG٣MXGyM M> }Nusing accuracyPremultiplier from configQ59U^{?5YU iUI™{,AU8EU.:U:U 5 q@EZjFNOT Ignoring new targets: 116.20 m.Bj;Jj;= ProNav: ac range: 116.199997 m, nav range: 56.798950 m, bearing: 101.633159 deg, approach rate: 0.496653 m/s, LOS rate: 0.417339 deg/s, cmd heading: 335.045832 deg, new cmd heading: 335.514068 deg. 2j=5<HeadingCmd: 5.855825 target range: 116.199997 and range: 116.20 m. jb@jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227889f1f1rf9bfE65@ɛ< -N@I) --Lɚ)i1I5!=IEھiAiM 8)Mb@)IE Q|= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476541*F ?2F :F BF% `0JF! *J"JGE~ qIyGB1Oe ? ~w,#OA6rH@Y6W@6٫P96=y6H`?@}?EͿ,ݿ`a?@ \?$?K?ɨ6rH@6>;6 CyBBB+IMb@Mb@Mb@ )YK7A?J + E=9M&;Q M>QQ UG٣Qy]#: ]> eNusing accuracyPremultiplier from configam59e{?m5Ye ieI™m#?m:H8>IC I+IIBI+ =&I.I7D6I<:IZ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728214 % Ae:Ee"E==E;=*Fm?2Fi:FiBFm0JFqGEw!G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979711ȣw,Ug=OAZL^@YZm@ZM9ZU>yZH? a?Ϳoݿph?.x?`{? ?ɨZL^@Z;Z"CynˋBr+II]I]b(٢m> mH=9u9 qy }G٣yy}^; }> Nusing accuracyPremultiplier from config59U{?5Y icI™F%A_w, ZOARu@YR@RŅI9R>yRH?a*?ͿMݿo?Gk,?`$? ?ɨRu@R~;R CyZBZ,,I)\ \ b=ba=Mb@Mb@Mb@ )Y r?Zd;{Gzt?y#?yף;@ ~@)s@I@y@I5I5m?٢e3> e=9m$;Q m>ii uG٣uXGyṷ; u> Nusing accuracyPremultiplier from config59{?5Y i!I™U$?:9A?Ef;;y5 A_@EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 116.20 m.Bj-;Jj-;E ProNav: ac range: 116.199997 m, nav range: 57.484234 m, bearing: 102.258233 deg, approach rate: 0.445976 m/s, LOS rate: 0.435303 deg/s, cmd heading: 336.687072 deg, new cmd heading: 337.381602 deg. 2jE_ @ɛ B Xۨ< Uט0=Ua@IQ U3/CɚQiQI]=I]ʾiYie܆)em@)aH=5>I9 I=c,II='BI=. =&I9.I96I=7<:I= FuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:58:51.8110 LVL= 13856, 23409, 24930, 27923, AGC= 59, IDX= 443,-0.14, 2.255, 1.492, 0.141, 1.235, PHS= 1.108, 0.304,-1.097, RAW= 51.1, -3.3, CAL= 53.9, -7.3, ROT= 96.1, 7.3 Ygot valid direction response: 23:58:51.8110 LVL= 13856, 23409, 24930, 27923, AGC= 59, IDX= 443,-0.14, 2.255, 1.492, 0.141, 1.235, PHS= 1.108, 0.304,-1.097, RAW= 51.1, -3.3, CAL= 53.9, -7.3, ROT= 96.1, 7.3 PDAT read: Bearing 96.1, 7.3 (Local) ~Local bearing/azimuth received: Bearing 96.1, 7.3 (Local) DAT read: Range 10 to 50 : 115.8 m (Round-trip 154.5 ms) speed 0.0 m/s ,DAT read: user:3546> BDAT read: Tx time:23:58:52.9023 $Ping request sent."@?yuBqu 6uq[ uba)umIu;iuҍ?u㥛>uju&Qd?uk up?)uwIu?iuw>qquByH?G.K t)u㙿Iuk=iu?u?Pqq5:publishing transmit ping time5Fpublishing direction and range infoq9uut?QR?6>"@?yqqqq q)qIqiqqqqq q)qIqiqqquByH?G.K t)qEmVw,;rtOAyr0Brn,IIzIzT٢EL> Mv=9MQ M?QQ UG٣QyU }? Nusing accuracyPremultiplier from config59p{?5Y iH™AAE::5 X@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:58:52.9015 k_?k%6 k k`"@?Jk?Rk?P* K+_4@n tjP@Z͏gKW@| `J?|%?5t˫?"kVB*kAk ?k[W* 2kE#Ck4t|?k[W* kE#CkbBk? addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.778565 s, deltaX: -0.399994 m, approachRate: -0.105859 m/s, rangeRepo size: 4  Added new target pos. range: 115.800003 m, bearing: 72.765208 deg, lat: 36.904344 deg, lon: -122.119866 deg, deltaT: 3.778565 s, deltaX: -0.399994 m, approachRate: -0.105859 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 115.80 m.BjJj ProNav: ac range: 115.800003 m, nav range: 65.691597 m, bearing: 88.508015 deg, approach rate: 0.000000 m/s, LOS rate: 0.435303 deg/s, cmd heading: 337.381593 deg, new cmd heading: 337.839402 deg. 2jHeadingCmd: 5.896410 target range: 115.800003 and range: 115.80 m. jd@jjjihh!h!h!f!f)f)rf-@3\@bfM?ɛB = !<隝ph@I `@ɚiIdN=Ieƾiiğ)d@) E$?IAzKVOK9KK&K     BK:KE9=*F1 2F9 :F9 BF= 3JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.GU /jGU ?GU #?G)B1OU>+gw,wOAN+ܲ@YN@N%<9N>yNH?3?٠Ϳ(ܿ`?Kn?v??ɨN+ܲ@NԾ;NCyZLBZ,IEMb@Mb@Mb@AAA A)AYE-?ˡEMbp?yE5?E'E;E@ Es@)Em@IE@AyE…@ImXIm㔴٢}Y= },=9 G٣y< > Nusing accuracyPremultiplier from config594{?5Y iH™?:k ACE;Q;5 U@EZjYeFNOT Ignoring new targets: 115.80 m.Bj<Jj< ProNav: ac range: 115.800003 m, nav range: 65.833549 m, bearing: 88.725746 deg, approach rate: 0.307951 m/s, LOS rate: 0.471324 deg/s, cmd heading: 337.839407 deg, new cmd heading: 338.491161 deg. 2j<HeadingCmd: 5.907785 target range: 115.800003 and range: 115.80 m. j @jjjihhhhBfffWill construct direction to contact in vehicle frame from tetrahedron phase data.rfbf F?ɛUB]e= y=隅l@I H=ɚiI~=Io4ii ) @)JJBJJJ%;J:JJa@a@a@a@ 5$?I1Eg<*F 2F :F BF 1JF HU 2>IU C IU ,IIU BIU / =&IQ .IQ 6IU n<:IU 5 FG} D Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >w,AOA>@Y> @>y"89>$>y>H?@?@_ͿUܿ "?$ ???ɨ>@>);> CyFnBF,IiJC=IJi>IrxIrq٢ #/>  R=9 4 G٣XGy=< => MNusing accuracyPremultiplier from configIU59M |?U5YM iMH™y}}AMEEM;M;M5 P@ZjFNOT Ignoring new targets: 115.80 m.BjS<JjS< ProNav: ac range: 115.800003 m, nav range: 65.951477 m, bearing: 88.907539 deg, approach rate: 0.302994 m/s, LOS rate: 0.466249 deg/s, cmd heading: 338.491171 deg, new cmd heading: 339.035558 deg. 2j< HeadingCmd: 5.917287 target range: 115.800003 and range: 115.80 m. j jZ@j j jihhhhff!f!rf!bf%?ɛBt&= m<tp@I *:ɚiIG=I Wii0)jZ@) *E="E=EK5 =E*Fe?2Fa:FaBFeP0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAG 1 I1 Ga Bq O >tw,3OA>7X@Y>g@>r19>;*>y>H`D?1D?̿xۿ?O*#? ?P?ɨ>7X@>;>!CzKRuLKR 9KPKR&KR<M J R R  p  a + G Wz N_PpK-RKV?JKV>yZBZ,IIbbIb٢jT> jN=9n~wlp rG٣pyrX< r> vNusing accuracyPremultiplier from configtz59v |?z5Yv ivmH™|~~AvGEv ;v: ;vj5B K@ ~E]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 115.80 m.Bj<Jj< ProNav: ac range: 115.800003 m, nav range: 66.067818 m, bearing: 89.088958 deg, approach rate: 0.294019 m/s, LOS rate: 0.457677 deg/s, cmd heading: 339.035564 deg, new cmd heading: 339.578844 deg. 2j <HeadingCmd: 5.926769 target range: 115.800003 and range: 115.80 m. j@jjjihh!h)h)fQfYfirfbf/?ɛB8= u@I {}6ɚiI-=I 3|i i ]) @) Will construct direction to contact in vehicle frame from tetrahedron phase data.E 2=*F ?2F :F BF 5JF  $?I hJ% J% ZJ% 1J! J% <5;J% %:J% 3J! GмGGoAGBO?6Jw,OA>ͭ@Y>L@>*9>0>y>Hr? ?Ub̿yPۿ.?㕵;?t?@ ?ɨ>ͭ@>;>"CjHJ<bHJ<HN->INC INc-IINBIN2 =&IL.IN6D6IN=<:IN FWill construct direction to contact in vehicle frame from tetrahedron phase data.y%B%-IuMb@Mb@Mb@qqq q)qYu\(\?~jth?Mb`yu?uD;uu@ uj@)uf@Iu@qyu=@II:٢= =9CM G٣XGy< > Nusing accuracyPremultiplier from config59 6|?5Y i3H™?:T⾑AJE%g;e;5 +I@{EUB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 115.80 m.Bj<Jj< ProNav: ac range: 115.800003 m, nav range: 66.209618 m, bearing: 89.357876 deg, approach rate: 0.243478 m/s, LOS rate: 0.460756 deg/s, cmd heading: 339.578837 deg, new cmd heading: 340.383809 deg. 2j < HeadingCmd: 5.940818 target range: 115.800003 and range: 115.80 m. j/@jjjihhhhBf!f!f!rf!bf-`@ɛB|v= 隕x@I b2ɚiI=IJiip)/@)) =~GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. "YtAyBE= <*F 2F :F BF P5JF G qA G $?I GzKҭPK+9KK&Kwg^NHD=5*%  Kc1&:PI)   !.]GBO?w,fPA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504912^=@Y^@^$9^y^H@??L˿ڿ?A]y?`??ɨ^=@^7\;^CyjӌBj6-IIrIrT٢z&> z.=9~Q|| ~G٣|y< >  Nusing accuracyPremultiplier from config 59 K|?5Y  i H™%ݾ%A LE ; ; 5I UKD@QZj-FNOT Ignoring new targets: 115.80 m.Bj=;Jje;u ProNav: ac range: 115.800003 m, nav range: 66.324684 m, bearing: 89.579119 deg, approach rate: 0.231154 m/s, LOS rate: 0.443677 deg/s, cmd heading: 340.383816 deg, new cmd heading: 341.046362 deg. 2ju><}HeadingCmd: 5.952382 target range: 115.800003 and range: 115.80 m. j}y@jjjihhhhfffrfbf >@ɛ]B]8= Y]}@Ia e8.ɚaiaIe=Im_iiimΞ)my@)qEE*E"E-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-A5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757667*F 2F :F BF 2JF I *J- 4="J- C=J= 'J= iJ9 J9 J= d?;J= :J9 J9 G%GBO%>Ԙ w,@(PAH&>IC I-IIIBI5 =&IID.I5D6I8<:I FBIuCJIuCRIqZIu/ =bIu0 =jIu9}6^Will construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:23:58:55.4610 fTRx dataTimestamp_ set to:1736380736.653922jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011632,@Y@9rA>yH@N?p?ʿٿ ?Ӽ?` ?`?ɨ,@,;騅Cy޽B޽U-IMb@Mb@Mb@ )Y333333? rh?Mb`y?C<~@ f@)jd@Ih@yQ@IMIMa٢]= ]=9]` G٣y= > Nusing accuracyPremultiplier from config59Qf|?5Yz iG™?:ƾAOE; ;~5B :A@xEZjFNOT Ignoring new targets: 115.80 m.Bj=e<JjEe  $?I w,BPAV@YV@V89VD>yVH Z? 5?ɿٿ3?$ھ?F,?`?ɨV@V;TybBbi-IIjIjF٢r:= r}=9r ep<隵@I }'ɚiI=Iiiݺ)0@)*Fm?2Fq:FqBFuP0JFyzKPK9KK&KS nsvbH?9;=<7+  ><Will construct direction to contact in vehicle frame from tetrahedron phase data.=4=MDAT read: 23:58:55.4610 LVL= 16352, 26401, 28658, 30371, AGC= 60, IDX= 442,-0.36, 2.140, 1.221,-0.064, 0.896, PHS= 1.332, 0.372,-0.963, RAW= 54.6, -7.5, CAL= 61.0, -13.6, ROT= 89.0, 13.6 UYgot valid direction response: 23:58:55.4610 LVL= 16352, 26401, 28658, 30371, AGC= 60, IDX= 442,-0.36, 2.140, 1.221,-0.064, 0.896, PHS= 1.332, 0.372,-0.963, RAW= 54.6, -7.5, CAL= 61.0, -13.6, ROT= 89.0, 13.6 ]PDAT read: Bearing 89.0, 13.6 (Local) ]~Local bearing/azimuth received: Bearing 89.0, 13.6 (Local) mDAT read: Range 10 to 50 : 115.8 m (Round-trip 154.4 ms) speed 0.0 m/s m,DAT read: user:3547> uBDAT read: Tx time:23:58:56.5524 u$Ping request sent.u\direction in FSK: [0.120449,0.633515,0.764298]:publishing transmit ping timeqFpublishing direction and range info9Lվ?&rE?N) u?y?!g o)vI<i~?v>+vs?  {F?)sI?is>U#m?ּq)I>i2?"^:publishing transmit ping timeqFpublishing direction and range info9Lվ?&rE?N) u?y )IiG}ę )IiU#m?ּq)IiGaBOi>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:23:58:56.5516 w,[PAyzBzv-I}Mb@Mb@Mb@yyy y)yY}l?y&1|I +y}? I}`廹}94}$@ }Y@)}`@I}@yy}Qx@IIB٢3= -=9Q > G٣y >J (J vJ 0J J ,@;J :J ـ3J  MNusing accuracyPremultiplier from configIm59M|?m5YMM iMG™u?u:uӾuAMREM;M^;M5y }=@k 8M?k HS k  k "JPA:k Bk BZk 9,?" %f+@sƅWR@\ V@ Lվ?&rE?N) u?Jk 2?Rk "^* 9" X5@]sjI@]uY@ kE?K?x?#?"k SKB*k ĪAk 6?k ? 2k X,Ck  ?k k k Bk 6? addTargetRange:: Added new target pos. range: 115.800003 m, deltaT: 3.529641 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 115.800003 m, bearing: 67.220819 deg, lat: 36.904461 deg, lon: -122.119866 deg, deltaT: 3.529641 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjamFNOT Ignoring new targets: 115.80 m.BjuJjq ProNav: ac range: 115.800003 m, nav range: 67.838516 m, bearing: 79.194719 deg, approach rate: 0.000000 m/s, LOS rate: 0.488308 deg/s, cmd heading: 342.326049 deg, new cmd heading: 343.051075 deg. 2jHeadingCmd: 5.987371 target range: 115.800003 and range: 115.80 m. j@jjjihhhhBfffrfbf ?=p0Altitude envelope ACTIVE*eJe2e:ea0Altitude envelope ACTIVE____I15 ?)U ?]X*)]@ ] ȡ ]ɚ]i]I]p=Ietiaim)m@)iH >IC I .IIBI9 =&I.I4D6I<:IF FWill construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBFQJFYGu fGI BY Ou >w,J vPA6w@Y6@696!L>y6H Y? UK?)ȿ|ؿT?k8??_?ɨ6w@6 ;6 Cy^ B^y-I b=b=IfIfa٢n|b< nq=9n=Q r?pp rG٣pyvC= v? zNusing accuracyPremultiplier from configx~59z |?~5YzI ~tIizzG™˾AzTEz;z;zm5  =@ rE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 115.80 m.BjMT<JjMT<] ProNav: ac range: 115.800003 m, nav range: 67.879189 m, bearing: 79.355612 deg, approach rate: 0.128551 m/s, LOS rate: 0.508221 deg/s, cmd heading: 343.051087 deg, new cmd heading: 343.533465 deg. 2j]dĆ'  ɚiIȯ=I%ii|)ݿ@)Will construct direction to contact in vehicle frame from tetrahedron 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:FIBFMo0JFIG%ęGBO'> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985936zK ۘOK h9K K &K #w,PAyޕBޕ-IMb@Mb@Mb@ )Y`"?QMby?u@ /U@)[@I@yGq@I5hI5٢E @= E6=9EQ E>II UG٣UXGy] e> }Nusing accuracyPremultiplier from configq%59u|?-5Yu  iu_G™-?-:-oѾ-AuVEuVI C I 8.II BI > =&I .I 6I <:I - F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490937GԣG ?G ?GBO?z+w,itPAF@YF%@F_9F#K>yFH?k?%*ǿ ׿~?¿-? x?)%?ɨF@F;DyRBR-IIZSIZQ٢bI f,=9fhh nG٣lyn= n> rNusing accuracyPremultiplier from configpv59r|?v5Yr  irFG™|~Ⱦ~ArXErH;rhH;ry5B <@oEZj)-FNOT Ignoring new targets: 115.80 m.Bj5<Jj5$  ɚiI=Iii%)@)E- <Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743228*F?2F:FBF_0JF $?IJ8JJ1JJL;JS:J3JJa3w,0PA5`o@Y5~@5P95ӧK>y5H`p?@m?ƿ`b}ֿ? )¿7?W!?+?ɨ5`o@5Ğ;5!Cym Bm~-Iiu!>Iu>EMb@Mb@Mb@AAA A)AYES?qq uG٣qy}< }> Nusing accuracyPremultiplier from config59z|?5YQ i1G™?:ҾA[E;;ϥ5 2=@nEZj FNOT Ignoring new targets: 115.80 m.Bjk <Jjk <- ProNav: ac range: 115.800003 m, nav range: 68.073502 m, bearing: 80.070850 deg, approach rate: 0.139639 m/s, LOS rate: 0.487554 deg/s, cmd heading: 344.884036 deg, new cmd heading: 345.676981 deg. 2j-M<5HeadingCmd: 6.033202 target range: 115.800003 and range: 115.80 m. j5@j1j1j1ihhhhKBff<frfbf` @*eJe2e:e____I)?<" ! !ɚ!i!I%=I-i)i-#)m@)q*E}="E}=5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247018EM4*F2F:FBFP0JF 9 IA J J FA H >I C I D.II BI @ =&I .I 3D6I <:I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499275GGaBqO?l*<w,PAb@Yb$%@b{ý9bPM>ybH?`?ÿPտC?Ŀe?o`?W7?ɨb@b;bCyjBn-IIvIv&Q٢~:= ~%=9~ =Q ~> G٣XGy '=  > Nusing accuracyPremultiplier from config59|?5YU i#G™!%~Ⱦ%A]E:v:51 5!<@5kEZjY]FNOT Ignoring new targets: 115.80 m.Bj]3<Jje3 z  ɚiIR=Irii~4)y@)EMRWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750572*F5?2F1:F1BF1JF9Fm< $?IJ<JJJJO;J:JJJH<JI<J<J<G YG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.յ >ձ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002322zK KK 9K K &K OE > Cw, QAVLb@YVq@V9VpM>yVH&?p? ¿ Կ?@#Ŀz?_? A?ɨVLb@V;V#CynBn-III٢ؒ ;=9)9 EG٣AyUL< ]> }Nusing accuracyPremultiplier from configq59u }?5Yu iuG™þAu_Eu'm& q qɚqiqIuv=I}fiyi}Ǒ)}@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:23:58:59.1112 %TRx dataTimestamp_ set to:1736380740.433294%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255692 $?I *F% ?2F! :F! BF% 4JF! *J "J 4=F <Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509424H>IC I1.IIBIC =&I.I2D6I<:I9 FGuęGBO ?7qKw,/QA%ŷ@Y%Ծ@%]39%N>y%H"P??ꭿ`Կ?zſYð?@)) -G٣-XGy-< 5> =Nusing accuracyPremultiplier from config1E595 %}?E5Y5+ i5G™ED?E:E꾑MA5bE5|;5;5q5UB U;@UhE-NGAa k#YyLBZjFNOT Ignoring new targets: 115.80 m.Bj <Jj < ProNav: ac range: 115.800003 m, nav range: 68.301399 m, bearing: 80.826765 deg, approach rate: 0.175474 m/s, LOS rate: 0.481708 deg/s, cmd heading: 347.081773 deg, new cmd heading: 347.942006 deg. 2jK<HeadingCmd: 6.072733 target range: 115.800003 and range: 115.80 m. jS@jjj!i!h!h!h-h-+Bf)fM<fQrfQbfU@@*e]JeY2eY:e]_a_i_i_iIWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:58:59.1112 LVL= 25072, 27633, 26562, 28787, AGC= 63, IDX= 443, 0.19,-1.817,-2.721, 2.467,-3.026, PHS= 1.297, 0.352,-0.794, RAW= 56.8, -9.5, CAL= 65.3, -16.6, ROT= 84.7, 16.6 Ygot valid direction response: 23:58:59.1112 LVL= 25072, 27633, 26562, 28787, AGC= 63, IDX= 443, 0.19,-1.817,-2.721, 2.467,-3.026, PHS= 1.297, 0.352,-0.794, RAW= 56.8, -9.5, CAL= 65.3, -16.6, ROT= 84.7, 16.6 PDAT read: Bearing 84.7, 16.6 (Local) ~Local bearing/azimuth received: Bearing 84.7, 16.6 (Local) DAT read: Range 10 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.1 m/s ,DAT read: user:3548> BDAT read: Tx time:23:59:00.2024 $Ping request sent.ٵCKٵ}?ٵ) ڵ?)ڵVIڵ8?iڵV>ڱڱ۵l`II|?4E+Bg'D ſ)۵H#I۵)>i۵)0?۵&g۱۱E:publishing transmit ping timeEFpublishing direction and range infoر9صL L?g_4?&g?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵l`II|?4E+Bg'D ſ)۱I۱i۱۱۱۱)e?m i iɚiiiImBĐ=IuWiqi}f})}S@)y*F%?2F!:F!BF%4JF! aIaFd<J EJ J J J V;J ľ:J J J [<J \<J M<J M<G ve Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:23:59:00.2016 G B O >Sw,MQAzK:IK+9K K&K '9CC?CR^SD2&RK ?JK?Nk@YN$@N+>9N:M>yNH9q?`?/@ӿ-?~ƿ٧??@R?ɨNk@N-;N CyVBV-IIbIbxV٢z; zU=9~J=Q ~>| G٣y>< >  Nusing accuracyPremultiplier from config ]59 +7}?]5Y  i G™Y]徑eA dE 0< 0< 5i m<@meEkU y5?kU:V kQ kU;QA:kUBBkU0BZkUz'?"U6u1@"DdQ@!V@UL L?g_4?&g?JkU)0?RkU&g*UA #;@E@G;eY@UcWqb?;"?Dpz?"kU.B*kUAkUSAE?kUW 2kUK.CkU ?kQkQkUBkU!?5 addTargetRange:: Added new target pos. range: 115.900002 m, deltaT: 3.777624 s, deltaX: 0.099998 m, approachRate: 0.026471 m/s, rangeRepo size: 4  Added new target pos. range: 115.900002 m, bearing: 57.812426 deg, lat: 36.904512 deg, lon: -122.119866 deg, deltaT: 3.777624 s, deltaX: 0.099998 m, approachRate: 0.026471 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 115.90 m.BjJj ProNav: ac range: 115.900002 m, nav range: 69.483124 m, bearing: 76.388188 deg, approach rate: 0.000000 m/s, LOS rate: 0.481708 deg/s, cmd heading: 347.941994 deg, new cmd heading: 348.507372 deg. 2j%HeadingCmd: 6.082601 target range: 115.900002 and range: 115.90 m. j%@j!j!j!i!h)h)h5h1f9f=<farfe\@bfe_?*euJeq2ey:e}____I)>u  ɚ i I Œ=IeMii")@)A*F?2F:FBFO0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.F< $?I G- ԣG B! O= >rYw,hQAZH8RH:?AVk@YV${@V[ؼ9V0HN>yVH`ѐ?+?Gsҿ?`2~ǿ?,?W?ɨVk@V';TyjBj-IWill construct direction to contact in vehicle frame from tetrahedron phase data.H >IC I.IIBIE =&I.I6I<:IL FBI=CJI=CRI9ZI=@ =bI=@ =jI=6Mb@Mb@Mb@ )YMb?HzG:vy ?= Լ~@ C@)Il@y`@IhI٢%== --=9-s.=Q ->11 5G٣1y5k< => ENusing accuracyPremultiplier from configAM59EM}?M5YE! iE-G™MS$?M:M|MAEgEE3;E;E/5a eL;@aZjFNOT Ignoring new targets: 115.90 m.Bj#<Jj#< ProNav: ac range: 115.900002 m, nav range: 69.562073 m, bearing: 76.629349 deg, approach rate: 0.187551 m/s, LOS rate: 0.572251 deg/s, cmd heading: 348.507370 deg, new cmd heading: 349.229992 deg. 2j]<HeadingCmd: 6.095213 target range: 115.900002 and range: 115.90 m. j @jjjihhhh Bff<frfbf`Y?*eJe2e:e____I)}>} }Rۋ yɚyiIJj=I{@ii) @)E*FI2FQ:FQBFQJFQrFUoAjFUoAFG<"G=G=U Will construct direction to contact in vehicle frame from tetrahedron phase data.G I G B O >]`w,AQA^@Y^eѿ@^ʫ9^CP>y^H u??@M;ҿ0 ?^ȿYyu?@r? W?ɨ^@^;^Cyn#Br-Iiv>Iv??vAvAIz`Iz̍JHJJJJ+Y;J:JJJb<Jb<Jg<Jg<٢%< %^=9%Zl=Q ->)) -G٣-XGy5< 5> =Nusing accuracyPremultiplier from config9E59=_}?E5Y=$ i=@G™IM(UA=hE=J;=O;=ʱ5eB e:@ebEZjFNOT Ignoring new targets: 115.90 m.Bj<Jj< ProNav: ac range: 115.900002 m, nav range: 69.621834 m, bearing: 76.816657 deg, approach rate: 0.162017 m/s, LOS rate: 0.507370 deg/s, cmd heading: 349.230004 deg, new cmd heading: 349.791427 deg. 2j<HeadingCmd: 6.105012 target range: 115.900002 and range: 115.90 m. jB\@jjjihhhhff<frfbf{?*eJe2e:e____I  ) ؽ> (b  ɚiI3=Is6ii2)B\@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Fmݡ<zKkKMK9KK&K$A-tQ0Gm DGA BQ Om >fw,`QAWill construct direction to contact in vehicle frame from tetrahedron phase data.n@Yn(@n<9n'R>ynH ? i?`֤@[ѿ`7? ɿœ?`S?ɨn@n/;nCy~B-IMb@Mb@Mb@ )Yx&1?ףp= ÿkty!? 0-z@  G@)Y@I`@y^@IsIy٢= @=9N=Q > G٣y,< > Nusing accuracyPremultiplier from config59fs}?5Y( ieG™&?:bAkE;0;5 O;@_EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 115.90 m. }$?IyBj<Jj< ProNav: ac range: 115.900002 m, nav range: 69.695984 m, bearing: 77.034233 deg, approach rate: 0.174916 m/s, LOS rate: 0.512702 deg/s, cmd heading: 349.791418 deg, new cmd heading: 350.443423 deg. 2j<HeadingCmd: 6.116392 target range: 115.900002 and range: 115.90 m. j{@jjjihhhhBff<frfbf1?*eJe 2e:e____IQQ)]>]U Y YɚYiaIe=Ie*iiimӦ)m{@)*F!2F):F)BF-j0JF)FE#<HI I-IIwBI&I.I6I<:I- FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ge YG9 BI Om >lw,y>QAR @YR@R؜&=9RIT>yRH??& пl$?Nʿ"Ҥ@~_? NI?ɨR @R/;R"Cy^%B^-IIfIf=٢n = rZ=9r=Q r>tt vG٣tyv= v> ~Nusing accuracyPremultiplier from configx59zN}?5Yz+ izG™ AzmEzM;z\;zH5 |:@ZjFNOT Ignoring new targets: 115.90 m.BjJ <JjJ < ProNav: ac range: 115.900002 m, nav range: 69.759041 m, bearing: 77.225201 deg, approach rate: 0.159829 m/s, LOS rate: 0.483605 deg/s, cmd heading: 350.443428 deg, new cmd heading: 351.015795 deg. 2j<HeadingCmd: 6.126381 target range: 115.900002 and range: 115.90 m. jQ @jjjihhh h f f<frfbf e?*e%Je!2e!:e%_1_1_1_1III)M>MA U>b QɚQiQIU =I]: iYie-)eQ @)a5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003484 iIiEEEpA*FQ2FQ:FYBF]_0JFYFu=zFu=FM ڛ<GQ  GU oA Will construct direction to contact in vehicle frame from tetrahedron phase data. X? < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255678zK5 ]FOK5 9K1 K5 &K5 |Z'0zsjd^\XVUOJIFB@=;5421.+'(&$%("! Gm #mGQBO>Uuw,6=QAy-B-I) Mb@Mb@Mb@ )Yp= ף?KǿMby%?^:@Z|@ D@)=b@I\W@yII$٢< =9Q > G٣XGy  > Nusing accuracyPremultiplier from config%59%}?%5Y/ iG™%+?-:--ApE(;;51 59@5\EZjY]FNOT Ignoring new targets: 115.90 m.Bje"<Jje"M'|w,QA6@Y6r@6=96&[>y6H?K?O?@̿G?@Ϳ`b ?`?ɨ6@6;4yB8BB-IIRIR+٢V+f= VR=9ZG9>Q Z>\\ ^G٣\y^_= b> fNusing accuracyPremultiplier from config`f59b }?j5Yb3 ibH™ln nAbrEb'<;b8<;bg5rB r9@tZjFNOT Ignoring new targets: 115.90 m.Bj[ <Jj[ < ProNav: ac range: 115.900002 m, nav range: 69.936676 m, bearing: 77.713573 deg, approach rate: 0.168501 m/s, LOS rate: 0.494340 deg/s, cmd heading: 351.878341 deg, new cmd heading: 352.478891 deg. 2j<HeadingCmd: 6.151917 target range: 115.900002 and range: 115.90 m. j @j jjihhh%h!f!f%<f)rfbf ڕ@*eJe2e:e____III)M>M,2Ӿ Up QɚQiQIUp=I]BkiYi])]@)a}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:59:02.7609 TRx dataTimestamp_ set to:1736380743.976636checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028524 IEBa*F 2F :F BF X0JF F <"G =G =G ᷽Gi By O >.w,?X RABe@YB@B&>9B^>yBH?@v?s?(J˿P?οth??ɨBe@BB;B!CNWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279564yV@BV-IIbIbb(٢jg= jD=9nV=Q n>lp rG٣pyr< r> vNusing accuracyPremultiplier from configt~59vQ}?~5YvY6 ivOH™|~{~AvtEv ;v!;v95  8@ Zj)=FNOT Ignoring new targets: 115.90 m.BjM<JjM<zKUDNKUs9KQKU&KU    -z),+(  ProNav: ac range: 115.900002 m, nav range: 70.007637 m, bearing: 77.927727 deg, approach rate: 0.177210 m/s, LOS rate: 0.534261 deg/s, cmd heading: 352.478879 deg, new cmd heading: 353.120663 deg. 2jT<HeadingCmd: 6.163118 target range: 115.900002 and range: 115.90 m. jD8@jjjihihqhuhqfyf<frfbfr @*eJe2e:e_1_1_1_9I)A)M>MȾ Q aɚaiiIm k=Iii0)D8@)*E="E=E.*Fq2Fq:FyBF}x0JFyUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:59:02.7609 LVL= 21728, 25841, 20178, 26739, AGC= 62, IDX= 441,-0.27,-2.041, 2.916, 2.217, 3.027, PHS= 1.303,-0.065,-0.813, RAW= 69.6, -4.6, CAL= 77.2, -10.6, ROT= 72.8, 10.6 Ygot valid direction response: 23:59:02.7609 LVL= 21728, 25841, 20178, 26739, AGC= 62, IDX= 441,-0.27,-2.041, 2.916, 2.217, 3.027, PHS= 1.303,-0.065,-0.813, RAW= 69.6, -4.6, CAL= 77.2, -10.6, ROT= 72.8, 10.6 PDAT read: Bearing 72.8, 10.6 (Local) ~Local bearing/azimuth received: Bearing 72.8, 10.6 (Local) DAT read: Range 10 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.0 m/s ,DAT read: user:3549> BDAT read: Tx time:23:59:03.8524 $Ping request sent.?;?v`R??yUfBQUTUd UN)UshIU>iUȦ?UU PU|?Ul Uiw?)Uq=IU?iUq=>QQU/# T?5]Kh\=)U.aIU7=iUɽ?UaQQ :publishing transmit ping timeع Fpublishing direction and range infoQ9U&>?;?v`R??yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU/# T?5]Kh\=)QIQiQQQQF5 N< $?I J J J J J J :J J Gu GqBO>}w,X,RAH >IC I-II?BIC =&I.I6Iذ<:I] FFy@YF'@FL>9F0c>yFH`?`??ɿY?rϿ4ÿ`?P?ɨFy@FK;FCyRCBR-IiV>IV<eWill construct direction to contact in vehicle frame from tetrahedron phase data.e G٣XGy< >  Nusing accuracyPremultiplier from config 59 }?5Y : i H™/?:A wE ; %; 5! %D8@%YEk5΋?;?v`R??Jk5ɽ?Rk5a*5 l:@m\!5@|)C[@5 Bff<frf\@bf ?*e Je 2e :e ____IQQ)U?]~ Y YɚYiYIe|d=Ilսii?)*@) Will construct direction to contact in vehicle frame from tetrahedron phase data.E  U $?IQ *Fy 2Fy :Fy BF} P0JFy Fu d<G5 G B!O=>Xw,gIRA6@Y6@6:0>96U1h>y6H a?@?@?@[ǿwa?$'пſY? b?ɨ6@6 ;6"CyBHBB-IIJxIJq٢R< RQ=9VC=Q V>XX ZG٣XyZ= Z> bNusing accuracyPremultiplier from config\b59^}?b5Y^> i^I™dffA^yE^ ;^ ;^S5nB n7@rVEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 115.70 m.Bj3;<Jj3;<  ProNav: ac range: 115.699997 m, nav range: 55.623444 m, bearing: 72.149910 deg, approach rate: 0.110451 m/s, LOS rate: 0.654656 deg/s, cmd heading: 354.029195 deg, new cmd heading: 354.804452 deg. 2j <HeadingCmd: 6.192506 target range: 115.699997 and range: 115.70 m. j)@jjjihhhhffE<fIrfIbfMm?*eUJeQ2eQ:eU_i_i_i_iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I)>  ɚiI0O`=I*F}?2Fy:FyBF}_0JFyFU <5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994193 Q IQ G} J UJ J 0J J Sc;J 6:J ـ3J GYBaO}>ݗw,IC I-II*BIE =&I.I1D6I<:I F5Mb@Mb@Mb@111 1)1Y5Mb?xƿQy5 ?5K75u5@ 5MJ@)5Z@I5Q@1y5h@IMgIM٢]}< ]=9]Q e>aa eG٣eXGym m> uNusing accuracyPremultiplier from configq}59u ~?}5YuA iuI™}'?:羑Au{Eu;u';u5 (7@ZjY]FNOT Ignoring new targets: 115.70 m.mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246448Bj5<Jj5< ProNav: ac range: 115.699997 m, nav range: 55.670830 m, bearing: 72.486393 deg, approach rate: 0.089495 m/s, LOS rate: 0.634949 deg/s, cmd heading: 354.804449 deg, new cmd heading: 355.812929 deg. 2j<HeadingCmd: 6.210107 target range: 115.699997 and range: 115.70 m. j3@jjjihhhh{Bff<frfbf \?*eJe2e:e__ _ _ IAA)E?A I IɚIiIIM;Z=IU䩕iQiUׅ)U3@)Y*FQ2FY:FYBF]0JFYF-o<)y yG 5tA! U"YU5tAyUB Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499041GU мG] ?G] >  $?I G) B9 O] >w,RAb@Yb@bGqP>9bl>ybH??n?Ŀ`x?п1ɿm?@?ɨb@bD;b CyOB-II-eI-]٢=}b< =^=9=G=Q =>AA EG٣AyM = M> UNusing accuracyPremultiplier from configQ]59UE~?]5YUKD iUI™aeoܾeAU}EU;U;U@5i m6@uSEZjFNOT Ignoring new targets: 115.70 m.Bj=<Jj=< ProNav: ac range: 115.699997 m, nav range: 55.699463 m, bearing: 72.717354 deg, approach rate: 0.082407 m/s, LOS rate: 0.664367 deg/s, cmd heading: 355.812940 deg, new cmd heading: 356.505429 deg. 2j<HeadingCmd: 6.222194 target range: 115.699997 and range: 115.70 m. j6@jjjihhh=h9fAfE<farfibfm?*euJeq2eq:eu____I){>ܣ "| ɚiIsV=Iyi!i%晽)%6@))*F?2F:FBFP5JFF'<uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751028G27GBO>zKdZNK59KK&K  ZvlBK oA:K nAw,ޛRA2@Y2@2`>92-k>y2H ?`,?TN?:Qÿʈ?Uп@˿1?!h?ɨ2@2p;2Cy:ZB>-IMb@Mb@Mb@ )YV-?Qſi|?5y?(q3@ P@)@I/U@yr@IIJ٢E= B=9V=Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002407 G٣y< > Nusing accuracyPremultiplier from config592~?5YF iE( i iɚiiiIm@Q=I}xBii8)@)JUDJUJU1JQJU V;JU:JU3JQ*F92F9:FABFEH5JFAFF<H>IC I-IIBIG =&I.I6Im<:I FBIǕCJIǕCRIǓCZIE =bIE =jI5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255179G] #G9 BI Oe >֬w,ٵRABcn@YB}@Bp>9Bk>yBH;?<{?@z? D?пͿl?K?ɨBcn@B46;@yJVBJ-IiN>INa=IVIV[٢bu b\=9bI,=Q b>dd fG٣dyj = j> nNusing accuracyPremultiplier from configlr59nC~?r5Yn I inJ™prɾvAnEnH:n:n5x z#6@xZjFNOT Ignoring new targets: 115.70 m.Bj%><Jj%><5 ProNav: ac range: 115.699997 m, nav range: 55.747547 m, bearing: 73.199172 deg, approach rate: 0.064313 m/s, LOS rate: 0.667778 deg/s, cmd heading: 357.279682 deg, new cmd heading: 357.950189 deg. 2j5%  ɚiIN=Iii؟)@)*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506580F$< IGaGBOd>Xw,RA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758402B̽@YB(@B?>9Bl>yBH? ? ?s=@F? пϿq?.?ɨB̽@B;B CyN^BN-IIZIZ3٢b#= bK=9bW=Q f>dd fG٣fXGyj< j> nNusing accuracyPremultiplier from configlr59nUV~?r5YnuK inJ™pvjľvAnEnK ;nK ;nx5x z-5@zMEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 115.70 m.Bj% ,<Jj- ,F  ɚiIT[K=I?iiU)R@)zKPCMK9KK&K_VOOj~vj\OJG?'RK->JK->E}*F?2F:FBFe3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014944 $?IFv<G G ?G ?jH9 bH= <Gq By O >ρw,RAH>IC I|-II BI &I .I 6I<:Im FRϝ@YRO@R>;>9Rp>yRH@? 9?@Ώ?`?п`Onѿ`p? -?ɨRϝ@R;R#Cy^[B^-I5Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:23:59:06.4103 =TRx dataTimestamp_ set to:1736380747.760700=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267410Mb@Mb@Mb@ )Yx&1?q= ףp&1y!?뽹PВ@ Y@)@I\W@yp}@II;٢; =9+E=Q > G٣y@= >  Nusing accuracyPremultiplier from config 59p~?5YM iK™$?:AE{;;5B 5@JEZj FNOT Ignoring new targets: 115.70 m.BjJ'<JjJ' 5BDAT read: Tx time:23:59:07.5025 =$Ping request sent.= G٣XGy o> %Nusing accuracyPremultiplier from configM59~?M5YP iL™U?U:U NUAE3;;5Y ]5@]IEkwᅜ?k k kSA:kfBBkBZk)@""!1Ա9@*EA\@jpS泿a{?ksh"?Jk?Rkk@*8gwX6@XN'Jԓ3;\@ќ{Q?lRH^?"kR*kòAk ?kYȽ 2k7Ck ?kW kK.Ck*KBk? addTargetRange:: Added new target pos. range: 115.199997 m, deltaT: 3.786126 s, deltaX: -0.500000 m, approachRate: -0.132061 m/s, rangeRepo size: 4 M Added new target pos. range: 115.199997 m, bearing: 349.438558 deg, lat: 36.904603 deg, lon: -122.120134 deg, deltaT: 3.786126 s, deltaX: -0.500000 m, approachRate: -0.132061 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 115.20 m.BjUJjQm ProNav: ac range: 115.199997 m, nav range: 50.791500 m, bearing: 63.899335 deg, approach rate: 0.000000 m/s, LOS rate: 0.585026 deg/s, cmd heading: 359.683827 deg, new cmd heading: 0.975507 deg. 2jiuHeadingCmd: 0.017026 target range: 115.199997 and range: 115.20 m. juy<jqjqjqiqhqhyhhBff <f rf \@bf ?ɛ) 5 qGa>)5 < = t== w@IA E ɚE iE IE XG=I] yI)  I- c-II- BI- F =&I) .I) 6I- ϰ<:I- T Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.E 0*F2F:FBFP0JFF}n<"G=GWill construct direction to contact in vehicle frame from tetrahedron phase data. 5$?I1GfGqAGpAJe9Je{Je0JaJesM;Je@:Jeـ3JaJeB<JeB<Je<Je<GyBOO?"w,HSA:͹@Y:M@:>9:v>y:H`i?C??@T?`п@mӿ ?=?ɨ:͹@:(;:"CyFMBF-IININaO٢V- V=9Z^=Q Z>\\ ^G٣\y^l= ^> fNusing accuracyPremultiplier from config`j59b~?j5YbQ ibL™hne+nAbEb>J;bJ;b5p vL7@tZj FNOT Ignoring new targets: 115.20 m.Bj3<Jj3<% ProNav: ac range: 115.199997 m, nav range: 50.696758 m, bearing: 64.264507 deg, approach rate: -0.162850 m/s, LOS rate: 0.628854 deg/s, cmd heading: 0.975507 deg, new cmd heading: 2.072927 deg. 2j-<HeadingCmd: 0.036179 target range: 115.199997 and range: 115.20 m. j0=jjjihhhhfffrfbf ?ɛ9=Ή> 9=@IA Ewɟ;ɚAiAIEH=IM0=iIiMgY)U0=)QEehW<-Will construct direction to contact in vehicle frame from tetrahedron phase data.5>5@*F2F:FBFJFzKmBHKms9KiKm&KmF l<Gu rGQ By O > I h Will construct direction to contact in vehicle frame from tetrahedron phase data.:w,bSAR^@YR&@R)>9Ru>yRHz[?? f?`?yVп ӿ g?B?ɨR^@R;R!CyZ;BZ-IEMb@Mb@Mb@AAA A)AYE`"?Mb~jtyE?EEDE @ EKo@)Ef@IEjd@AyEz@IedIe@٢m+ u?=9uyy }G٣}XGy&< > Nusing accuracyPremultiplier from config59~?5YQ iL™?:AAE;;5 9@FE]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 115.20 m.Bju!<Jj!< ProNav: ac range: 115.199997 m, nav range: 50.608505 m, bearing: 64.515534 deg, approach rate: -0.197732 m/s, LOS rate: 0.563408 deg/s, cmd heading: 2.072927 deg, new cmd heading: 2.827275 deg. 2jT<HeadingCmd: 0.049345 target range: 115.199997 and range: 115.20 m. jBJ=jjjiJJBAhhhhBfffrfbf?ɛ}B/ӓ> 隅q@I ]4 <ɚiIr=I=IBJ=ii!)BJ=)IH >IC I7-IIԌBIC =&I.I2D6I*<:I FE l=*F2F:FBFJF=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.Fp<G w,{}SA6v@Y6?@6}>96Nu>y6HL?B? ?@O'?`п)`Կj? w?ɨ6v@6&f;4y>*B>-IIFIF٢r rK=9r}tt vG٣tyv< z> ~Nusing accuracyPremultiplier from config|59~~?5Y~DR i~NM™ h A~E~/:~:~\5 B ;@CEZj9EFNOT Ignoring new targets: 115.20 m.BjE0<JjM0<] ProNav: ac range: 115.199997 m, nav range: 50.523834 m, bearing: 64.751715 deg, approach rate: -0.220921 m/s, LOS rate: 0.617267 deg/s, cmd heading: 2.827275 deg, new cmd heading: 3.536967 deg. 2j] ?Y=隵[@I a=<ɚiI+aI=Ii|=ii9)i|=) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743178J0JrJJJlF;J:JJJ/<J/<J <J <EPڀ=*F2F:FBFJFF~v<G GpA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995075G 0ԪG ?G ?G B O >zK- JK- 9K) K- &K- w,NSA6;@Y6@6>96llw>y6H`B??(? 6 z?@пԿ 8?`kf?ɨ6;@64;6 CyN BN|-IIrIr;٢N G=9-U G٣y E< 5> eNusing accuracyPremultiplier from configY59]~?5Y]R i]M™5A]E]B<] <]R5 ?@Zj1=FNOT Ignoring new targets: 115.20 m.Bjm <Jjm UV=Uj@IQ ]~<ɚYiYI]XIJ=Ih=ii饽)h=) $?I-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249527E-tY=*F5?2F1:F1BF5^0JF1Fmy{<*JmR="JmR=H >I  I ,II BI A =&I .I 6I <:I ? FG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499168Gi Bq O >Vw,SAfO@Yf_@f>9f:{>yfH @? ??䔿?@#Ͽ`0Կf?Z?ɨfO@f;f"CynBrY-IMb@Mb@Mb@ )Y ףp= ?{Gz?yQ?#=@ -z@)G@Im@y@IIM}c~GtA٢ %= s#YtAyTB9x;Q > G٣XGy< > Nusing accuracyPremultiplier from config-59?-5Y;R iN™-?-:-@=5AE;;Z59 =JC@=@EZjFNOT Ignoring new targets: 115.20 m.Bj%<Jj%< ProNav: ac range: 115.199997 m, nav range: 50.305874 m, bearing: 65.279818 deg, approach rate: -0.265254 m/s, LOS rate: 0.580054 deg/s, cmd heading: 4.324155 deg, new cmd heading: 5.124602 deg. 2j <HeadingCmd: 0.089441 target range: 115.199997 and range: 115.20 m. j,=jjjihhhhBfffrfbf% i@ɛimM> qu@Iq ur<ɚqiqIuJ=I},=ii(),=) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752048EEgW=*F ?2F :F BF P0JF J] J] OJ] 1JY J] 2;J] q:J] 3JY J] <J] <J] ;J] ;F '<Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:59:10.0592 TRx dataTimestamp_ set to:1736380751.288829checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004337GGpAGGBO?rw,SAF@YF(i;FY>9F.}>yFH@ K?@]? ?k??GϿ$Կ?]?ɨF@FA;F!CyVBV -IIzIz٢H /=9PQ >    G٣ y'a= > %Nusing accuracyPremultiplier from configzK5BoJK5]9K1K5&K5N4E59?E5YQ iYN™IMD=MAEr;;Z5U B U4I@U=EZjFNOT Ignoring new targets: 115.20 m.Bj%<Jj%< ProNav: ac range: 115.199997 m, nav range: 50.181091 m, bearing: 65.539621 deg, approach rate: -0.277786 m/s, LOS rate: 0.579799 deg/s, cmd heading: 5.124602 deg, new cmd heading: 5.905898 deg. 2j<HeadingCmd: 0.103077 target range: 115.199997 and range: 115.20 m. j:=jjjihhhhfffrfbf@ɛB~M> >{@I / <ɚiIK=I:=ii г) :=)*E%="E%=Ep=*F?2F:FBF`0JFFe< )I)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256338G #mG B O >H- >I- C I- ,II- ZBI- ; =&I) .I- 3D6I- <:I- L FBIʖCJIʖCRIʔCZIC =bIB =jI<6o-w,SA|@Y.y<Eʥ>9M?}>yH^U?`)? ?? ?ο]Կ?i?ɨ|@=;騭 CyB,IWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:59:10.0592 LVL= 12464, 25169, 19634, 25619, AGC= 58, IDX= 423,-0.06,-0.462,-2.257,-2.216,-1.530, PHS= 1.156,-0.680,-0.689, RAW= 89.8, 2.3, CAL= 97.0, -0.3, ROT= 53.0, 0.3 Ygot valid direction response: 23:59:10.0592 LVL= 12464, 25169, 19634, 25619, AGC= 58, IDX= 423,-0.06,-0.462,-2.257,-2.216,-1.530, PHS= 1.156,-0.680,-0.689, RAW= 89.8, 2.3, CAL= 97.0, -0.3, ROT= 53.0, 0.3 PDAT read: Bearing 53.0, 0.3 (Local) ~Local bearing/azimuth received: Bearing 53.0, 0.3 (Local) MDAT read: Range 10 to 50 : 114.4 m (Round-trip 152.6 ms) speed 0.2 m/s U,DAT read: user:3551> UBDAT read: Tx time:23:59:11.1525 ]$Ping request sent.]YY ]G٣Yye+< e> mNusing accuracyPremultiplier from configiu59mN0?u5YmP imN™u?u:u>}AmEm;m;m5 O@:Eka?k} k kSA:kBBk7BZkMM@"r -k!5*@!,\@~ktnX/? ؄?Jkm@Rkh沿*+JB#5@_b|7-R4[@,uג?Dnn qXC/d"?"ki*kAk.m?kg7u 2k5CkSAE?k! kF5CkAkK? addTargetRange:: Added new target pos. range: 114.400002 m, deltaT: 3.525228 s, deltaX: -0.799995 m, approachRate: -0.226934 m/s, rangeRepo size: 4  Added new target pos. range: 114.400002 m, bearing: 326.410408 deg, lat: 36.904612 deg, lon: -122.120401 deg, deltaT: 3.525228 s, deltaX: -0.799995 m, approachRate: -0.226934 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 114.40 m.BjJj ProNav: ac range: 114.400002 m, nav range: 30.742310 m, bearing: 45.577575 deg, approach rate: 0.000000 m/s, LOS rate: 0.579799 deg/s, cmd heading: 5.905898 deg, new cmd heading: 6.835286 deg. 2j=HeadingCmd: 0.119298 target range: 114.400002 and range: 114.40 m. j=R=j9j9j9i9h9hAhAhE6BfAfIfIrfM\@bfMi?ɛB'> Lu@I R<ɚiIL=IR=ii 9)R=) $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:23:59:11.1517 EU xr=*F 2F :F BF O0JF J J NJ 0J J |";J :J ـ3J J Hz<J Hz<J 7;J 7;F<5Will construct direction to contact in vehicle frame from tetrahedron phase data.G 8G ?G'?GBO ?>qw,TAFK@YF<F!>9F?{>yFHb?e? ?w??ο` Կ`z?@{?ɨFK@FbT;DyNPBR,IIZIZZ٢bW f!=9f@Q j>hh nG٣nXGyn6< n> rNusing accuracyPremultiplier from configpv59rH?v5YrVO zKzMKz9KxKz&Kz6;& irO™4&>ArEr҉;r;r5 B nW@%8EUB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 114.40 m.BjeQ?<JjeQ?jyjyjihhhhfffrfbf?ɛB%χ> IUl@IY 6<ɚiIM=I >ii) >)EE*E"E M$?IMhWill construct direction to contact in vehicle frame from tetrahedron 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:FBF4JFF <He >Ie C Ie *,IIe BIe 6 =&Ia .Ie 4D6Ie <:Ie J F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991106Ge՜G9BIOu?", w,?7TA:s@Y:9=:D>9:f>y:H`?o? .?@(?@A?,ʿӿSG??ɨ:s@:G(;:CyJBJH,I%Mb@Mb@Mb@!!! !)!Y%K7A?bX9ȶ?Mb`y% "?%E=%%@ %@)%@I%@!y%@I=I=٢MLm M=9UQ U>QQ ]G٣Yy] = e> mNusing accuracyPremultiplier from configam59eKc?u5YeM ie_O™u#?u:u?>uAeEe;eM;e5 E_@5EZjAMFNOT Ignoring new targets: 114.40 m.BjM<<JjU<< ProNav: ac range: 114.400002 m, nav range: 30.244312 m, bearing: 46.253976 deg, approach rate: -0.489776 m/s, LOS rate: 0.660786 deg/s, cmd heading: 7.817163 deg, new cmd heading: 8.880936 deg. 2j<HeadingCmd: 0.155002 target range: 114.400002 and range: 114.40 m. j>jjjihhhhBfffrfbf h?ɛB̃> d@I  =ɚiI1N=I>iiCߣ)>) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243244*F?2F:FBFO0JFF=<G= ԣG B! O= > w,PTAVG@YVk=Vsѕ>9VaUh>yVHŖ?rƁ?~?@9?@i??@ʿvҿ??ɨVG@Vu;TyjNjBn+II~yI~Ho٢ O=9Q >!)uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503509 G٣XGy< > Nusing accuracyPremultiplier from config59x?5YpL iO™L>AE(;;5 B h@2EZj%FNOT Ignoring new targets: 114.40 m.BjEvG<JjevGjyjyjyihhhhfffrfbf?ɛB> S=[@I  #w=ɚiIN=I->iiwG)->)IEQEQzK]MK]H9KYK]&K] *F2F:FBFY0JFrFnAjFF< $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755138GU G1 B9 O] >.w,_jTAJJJJJ%;Jc:JJa@a@a"@a"@vBF@Yvy=vi>9v k>yvH`?us?p? 8?`}ʿѿK ?a?ɨvBF@vʎ;v"CH(>IC I+IIBI2 =&IHD.I5D6I<:IO Fy%B%+I -=)Mb@Mb@Mb@ )YGz?:v?{Gztyp?T=ף?@ v@)@I@yf@II٢ ?=9뤼Q > G٣y = > Nusing accuracyPremultiplier from config}59?5YkK iO™?:">AE<o<5 o@ZjFNOT Ignoring new targets: 114.40 m.Bj*@<Jj*@<5 ProNav: ac range: 114.400002 m, nav range: 29.843012 m, bearing: 46.815721 deg, approach rate: -0.452923 m/s, LOS rate: 0.672011 deg/s, cmd heading: 9.710912 deg, new cmd heading: 10.577326 deg. 2j5<=HeadingCmd: 0.184609 target range: 114.400002 and range: 114.40 m. j=0 =>j9jAjAiAhAhAhIhMمBfIffrfbfZ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007397ɛB>  T@I $=ɚiI1O=I0 =>iig.)0 =>)*F?2F:FBFP0JFFe<  $?I G M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261018G B O= >\!w,BzTAZ@YZ =ZH>9ZҶn>yZH@?}?F?V1?` ʿkXѿv??ɨZ@ZƇ;ZCyfIBfR+IInIn=س٢z zK=9zQ z>|| ~G٣|y= >  Nusing accuracyPremultiplier from config59?5YWJ i-P™/>AEM;;t5% B %gx@%/EZjIMFNOT Ignoring new targets: 114.40 m.BjUT<JjUTjjjihhhhfffrfbf@0@ɛ B y> {K@I U,=ɚiIO=I*L>ii%C)%*L>)!*F?2F:FBFs0JFF<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511112G Gy B zK KK K K &K BK oA:K oAO >-'w,KTA>Q@Y>==> >9>(o>y>H?ܟ\?A*?`,?_sʿ5п@w??ɨ>Q@>ی;> C \I\ybBb +IeMb@Mb@Mb@aaa a)aYe(\?Q?y&1|yez?e\=e`e@ eВ@)eM@Ie`@aye@II{٢с ;=9ȼQ > G٣XGy޸< >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763283 Nusing accuracyPremultiplier from config%59?%5YRI ipP™-?-:-9!>-AEV;;_51 =@=,EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 114.40 m.BjmA<JjmA<} ProNav: ac range: 114.400002 m, nav range: 29.457470 m, bearing: 47.391552 deg, approach rate: -0.440606 m/s, LOS rate: 0.677150 deg/s, cmd heading: 11.423765 deg, new cmd heading: 12.315949 deg. 2j}\<HeadingCmd: 0.214954 target range: 114.400002 and range: 114.40 m. j\>jjjihhhhBfffrfbf k@ɛBLy> .D@I U8=ɚiI5dO=I\>ii)\>)J3K3 K/.KK"KJmJmJm1JiJm:JmD:Jm3JiH%.>I%C I%*II%BI%+ =&I!.I%6D6I%g<:I%2 FE%[=E-e>E->*F ?2F :F BF R0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016308F =zF F ޘ<G  G qAGЭGBO?Uf0w,6TA $?IBJ@YB=Bt>9B6qp>yBH@?`v2?@p?&?7mʿпB? !?ɨBJ@B0;B"CyJϊBJ*IiN=INhh jG٣hyj< n> rNusing accuracyPremultiplier from configlv59n?v5Yn$H inP™tv1*>vAnEn" ;ne ;ny5x ~ك@|Zj%FNOT Ignoring new targets: 114.40 m.Bj-PC<Jj-PCjIjIjQiQhQhQhQhYfYfYfYrfYbfeN; @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:59:13.7079 TRx dataTimestamp_ set to:1736380755.084907checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276523ɛB Iw>  ;@I  S]C=ɚiICO=Im>iitŽ)m>)AEW=*F?2F:FBFo0JFF&<GeٲG!B1OUu>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527231e6w,YTA6z@Y6=6jgw>96o>y6H?\ék??"?Nʿ ο@m?`8?ɨ6z@6x';6CzKNVBJKNh9KLKN&KN$*+(#  RKV?JKV?yZBZ[*IIvIvm٢~¾ ~H=9Q > G٣y l<  > Nusing accuracyPremultiplier from config59?5YG iP™ 0>AE<<A5B %Ԉ@%)E 5$?I9ZjFNOT Ignoring new targets: 114.40 m.Bj&<Jj&<- ProNav: ac range: 114.400002 m, nav range: 29.062742 m, bearing: 47.995871 deg, approach rate: -0.377460 m/s, LOS rate: 0.583318 deg/s, cmd heading: 13.299894 deg, new cmd heading: 14.141085 deg. 2j-)<5HeadingCmd: 0.246808 target range: 114.400002 and range: 114.40 m. j5^|>j1j9j9i9h9h9hAhAfAfAfirfibfm<@ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 23:59:13.7079 LVL= 11312, 23393, 18706, 27123, AGC= 57, IDX= 425, 0.18, 1.459,-0.378,-0.136, 0.453, PHS= 1.094,-0.783,-0.592, RAW= 95.3, 3.2, CAL= 104.2, 1.2, ROT= 45.8, -1.2 ead> im1@Ii mN=ɚiiqIuO=Iu^|>iyi}ӽ)}^|>)yYgot valid direction response: 23:59:13.7079 LVL= 11312, 23393, 18706, 27123, AGC= 57, IDX= 425, 0.18, 1.459,-0.378,-0.136, 0.453, PHS= 1.094,-0.783,-0.592, RAW= 95.3, 3.2, CAL= 104.2, 1.2, ROT= 45.8, -1.2 PDAT read: Bearing 45.8, -1.2 (Local) ~Local bearing/azimuth received: Bearing 45.8, -1.2 (Local) DAT read: Range 10 to 50 : 113.4 m (Round-trip 151.2 ms) speed 0.1 m/s E,DAT read: user:3552> MBDAT read: Tx time:23:59:14.8025 M$Ping request sent.MIC IP*IIwBI' =&I.I7D6I<:IZ FE% lT=*F 2F :F BF O0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.F 9<) hCM~Gay %YygB ^@ ?BG%.qG!G!GBO?Q@w,WUAN@YN=N{H_>9N`o>yNH?`'O?? ? Eʿ ˿m?nc?ɨN@Nտ;N CyVEBV*I)\ \EMb@Mb@Mb@AAA A)AYEʡE?S㥛QyE-?E/ݼEuE@ E@)E\@IE@AyEf@I]I] ٢mmC m=9uQ u>qy }G٣}XGy}< }> Nusing accuracyPremultiplier from config59?5YfF iJQ™c?:Y=AEo;;5 @&Eke?kejQjQjQiQhQhYhYh]BfffrfY\@bfs?ɛBr(W> )@I ![=ɚiI*O=IK3>iiFܽ)K3>)EE*E"E*F! 2F! :F! BF! JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data.F w<G kʽG B O >vFw,~UA2@Y2@=2}aS>92mo>y2H6?@vȲ@??`?Sʿ?<ʿ?`v?ɨ2@2|;2"CyRBR)IIZIZ٢f! fV=9joQ j>hh jG٣lyv%< v>zKSMKKK&K    Nusing accuracyPremultiplier from config59 ?5YE iQ™=AE<<5I U#@y u$?IyZjFNOT Ignoring new targets: 113.40 m.BjJj ProNav: ac range: 113.400002 m, nav range: 19.430099 m, bearing: 346.457249 deg, approach rate: -0.490198 m/s, LOS rate: -0.478131 deg/s, cmd heading: 15.129707 deg, new cmd heading: 14.507981 deg. 2jHeadingCmd: 0.253212 target range: 113.400002 and range: 113.40 m. j>jjjihhh)h)f)f)f1rf1bf5@ ?ɛBW c> @I Hc=ɚi I #O=I >iio)>)]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFF<J]J]JYJYJ]:J]&:JYJYH5>IC I)IIBI% =&I.I6IK<:I) FBIȜCJIȜCRIȕCZI+ =bI- =jI^6G HνGy B O >Lw,5UA:Will construct direction to contact in vehicle frame from tetrahedron phase data.y-B-p)IMb@Mb@Mb@ )Y/$?Dly&?O̼@ A@)@I+@y @IIZ٢< 5=9Q > G٣XGy >  Nusing accuracyPremultiplier from config 59 !?5Y E i Q™\?:N<A E ; : 5%B %Ք@%#E=B*** querying acoustic contact ***j9j9ZjQUFNOT Ignoring new targets: 113.40 m.Bj]Jj]  ProNav: ac range: 113.400002 m, nav range: 19.200928 m, bearing: 346.283301 deg, approach rate: -0.617729 m/s, LOS rate: -0.474470 deg/s, cmd heading: 14.507981 deg, new cmd heading: 13.979923 deg. 2jϢHeadingCmd: 0.243996 target range: 113.400002 and range: 113.40 m. jy>jjjihhhihmBfqfqfqrfqbf}@[?ɛBOk> @I dk=ɚiI}O=Iy>iYi])]y>)a*F?2F:FBFo0JF %$?I!F <G` ǽG?G ?-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.GBO>Sw,UOUA @6BD@Y6|>62=>96m>y6Hn-?`Gd?`?d ?F(ʿ`}ǿ ? ?ɨ6BD@6e;6!CyRBV1)II^I^<٢j j_=9jtQ j>ll nG٣lyr< r> vNusing accuracyPremultiplier from configtz59v2?z5YvE ivQ™xz5<~AvEv& ;v ;v&5 @ EZj)-FNOT Ignoring new targets: 113.40 m.Bj5Jj5E ProNav: ac range: 113.400002 m, nav range: 19.005415 m, bearing: 346.125485 deg, approach rate: -0.535693 m/s, LOS rate: -0.436855 deg/s, cmd heading: 13.979924 deg, new cmd heading: 13.501616 deg. 2jM畼UHeadingCmd: 0.235648 target range: 113.400002 and range: 113.40 m. jUMq>jQjQjYiYhYhYhahafafafarfibfm??ɛBѲp> !=隝}@I q=ɚiIN=IMq>ii)Mq>)*F5?2F1:F1BF5@5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722944F  <zKUWLKU59KQKU&KUG5+m 1 I1 GQ B OE >E Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM A] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977079bYw,@KiUAy5hB=)IMb@Mb@Mb@ )Ykt?~jtÿV-y ?d@ @)7@I@y3@IIʳ٢+ 9=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 xG?5Y F i HR™y?:FA E ; <; 5H58>I1 I5$)II5BI5# =&I1.I16I5S<:I53 FI Mt@IZjquFNOT Ignoring new targets: 113.40 m.Bj}kJj}k ProNav: ac range: 113.400002 m, nav range: 18.759562 m, bearing: 346.034599 deg, approach rate: -0.549882 m/s, LOS rate: -0.205942 deg/s, cmd heading: 13.501616 deg, new cmd heading: 13.225387 deg. 2jV HeadingCmd: 0.230827 target range: 113.400002 and range: 113.40 m. j]l>jjjihhhhBfffrfbf"@ɛuBu(Q> }z:=} @Iy dz=ɚiIN=I]l>iª;i*8)]l>)*F)2F1:F1BF5P5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226788ePExceeded connect timeout, disconnecting.FmH<GEG B) OM >  $?I `w, UA6@Y6 >6'>96dn>y6H=?`n[`?`1??AʿaĿ?`?ɨ6@6;6 CyN?BR(IIZIZT߳٢^z` ba=9bFgQ b>dd fG٣dyfM< j> nNusing accuracyPremultiplier from confighr59jX?r5YjG ijR™pr߽rAjEj ;jK ;j5zB z @zEZj!%FNOT Ignoring new targets: 113.40 m.Bj-{Jj-{ ProNav: ac range: 113.400002 m, nav range: 18.556877 m, bearing: 345.949712 deg, approach rate: -0.563648 m/s, LOS rate: -0.238642 deg/s, cmd heading: 13.225387 deg, new cmd heading: 12.967946 deg. 2j#HeadingCmd: 0.226333 target range: 113.400002 and range: 113.40 m. jg>jjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478803rfbft-@ɛuBu_> uב =}?@Iy }7=ɚyiyI}M=Ig>ik;imd)g>)*Fe?2Fi:FiBFmO0JFiJJJJJ[:J,:JJJffw,!UA2@Y2.>2{>92k>y2H`C?y>? ??ɿÿ?` ?ɨ2@2m#;2!CyR!BR(I)T TIZIZʳ٢%  %D=9-ɼQ ->)) -G٣-XGy5k< 5>zK]KK]9KYK]&K]  mNusing accuracyPremultiplier from configi59ml?5YmG imR™ҽAmEmE;mK;m5 @ $?IZj!UFNOT Ignoring new targets: 113.40 m.Bje4Jje4 ProNav: ac range: 113.400002 m, nav range: 18.320429 m, bearing: 345.843468 deg, approach rate: -0.504063 m/s, LOS rate: -0.229414 deg/s, cmd heading: 12.967946 deg, new cmd heading: 12.645106 deg. 2jqHeadingCmd: 0.220699 target range: 113.400002 and range: 113.40 m. ja>jjjihhhhfff rf bf f@ɛUBUJ> Y]L@IY ]1=ɚYiYI]NM=Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:23:59:17.3568 TRx dataTimestamp_ set to:1736380758.616792checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983954Iea>iV};iRB)a>)H=9>I=C I=(II=(BI9&I9.I=8D6I=T<:I=5 FEm &V=*F ?2F :F BF 1JF F5 w< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235520G5 g ] nManaging dock network, ignoring radio surface power offG1BQOu>"nw, JUAj@Yj &>j->9jUpf>yjHI?⌾???!tɿR¿D?`9?ɨj@jJ,;jCyvBv(I}Mb@Mb@Mb@yyy y)yY}/$?M¿:vy}&?}n}Լ}@ y)}M@I}ߟ@yy}̴@II@ ٢}ս &=9Q > G٣y!< > Nusing accuracyPremultiplier from config59փ?5YTH iS™?:.AE;;5 @EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 113.40 m.BjվJjվ- ProNav: ac range: 113.400002 m, nav range: 18.047966 m, bearing: 345.699011 deg, approach rate: -0.619995 m/s, LOS rate: -0.333678 deg/s, cmd heading: 12.645106 deg, new cmd heading: 12.205200 deg. 2j-e-HeadingCmd: 0.213021 target range: 113.400002 and range: 113.40 m. j5)"Z>j1j1j1i9h9hhh:Bf!f)f1 Irfbf @ɛBiG> 隽@I -=ɚiI L=I)"Z>ip;i))"Z>)E=Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 23:59:17.3568 LVL= 13488, 28145, 21490, 32755, AGC= 61, IDX= 430,-0.30, 0.273,-1.475,-1.160,-0.665, PHS= 1.026,-0.763,-0.498, RAW= 97.9, 2.8, CAL= 107.7, 0.7, ROT= 42.3, -0.7 5Ygot valid direction response: 23:59:17.3568 LVL= 13488, 28145, 21490, 32755, AGC= 61, IDX= 430,-0.30, 0.273,-1.475,-1.160,-0.665, PHS= 1.026,-0.763,-0.498, RAW= 97.9, 2.8, CAL= 107.7, 0.7, ROT= 42.3, -0.7 =PDAT read: Bearing 42.3, -0.7 (Local) E~Local bearing/azimuth received: Bearing 42.3, -0.7 (Local) UDAT read: Range 10 to 50 : 112.5 m (Round-trip 150.0 ms) speed 0.3 m/s ],DAT read: user:3553> *Fa2Fa:FaBFe4JFarFejFeFmzFmBDAT read: Tx time:23:59:18.4526 $Ping request sent.uw,YUA2A%@Y2$>2>92pb>y2H`N?L!?bN??Qɿq?@?ɨ2A%@2܈;2!CyfBfp(IInIn-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:23:59:18.4518 ٢=޽ EO=9EռQ E> G٣XGyV< > Nusing accuracyPremultiplier from config59R?5YH i=S™AE';8;j5B @Ek M3?k a/" k  k UA:k BBk vBZk @"  i1HEk-`d[@ M^ÿ#ɛbQ?Jk =Rk M* pR`?X9@t;CE[@  ?ʇ<Ͽi> ?"k *k ?k 5?k > " 2k 1Ck ?k g7u k k CAk I@ addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.530678 s, deltaX: -0.900002 m, approachRate: -0.254909 m/s, rangeRepo size: 4  Added new target pos. range: 112.500000 m, bearing: 273.900396 deg, lat: 36.904603 deg, lon: -122.120812 deg, deltaT: 3.530678 s, deltaX: -0.900002 m, approachRate: -0.254909 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 112.50 m.BjJj ProNav: ac range: 112.500000 m, nav range: 22.033083 m, bearing: 317.433302 deg, approach rate: 0.000000 m/s, LOS rate: -0.333678 deg/s, cmd heading: 12.205201 deg, new cmd heading: 11.779951 deg. 2jHeadingCmd: 0.205599 target range: 112.500000 and range: 112.50 m. jR>jjjihhhhfffrf \@bf  ?ɛ}B}R> y}?I e=ɚiI݋K=IR>ii*ݼ)R>)EpAEpAzK5KK59K1K5'K5 $?IE =Will construct direction to contact in vehicle frame from tetrahedron phase data.*F1 2F9 :F9 BF= 05JF9 G B4.G B H :>I  I n(II BI " =&I .I 6I t<:I N FO >59{w,UAynBn\(Iiv=Iv=-Mb@Mb@Mb@))) )))Y-|?5^?/$ÿ G٣y > Nusing accuracyPremultiplier from config59N?5YuI ivS™%4?%:%ν%AE+;I;\5) m@qZjFNOT Ignoring new targets: 112.50 m.BjJjMWill construct direction to contact in vehicle frame from tetrahedron phase data.u ProNav: ac range: 112.500000 m, nav range: 21.833130 m, bearing: 317.040076 deg, approach rate: -0.450774 m/s, LOS rate: -0.894601 deg/s, cmd heading: 11.779951 deg, new cmd heading: 10.589649 deg. 2ju}}HeadingCmd: 0.184824 target range: 112.500000 and range: 112.50 m. j}B=>jyjjihhhhBBfffrfbf@?ɛ B  M> ?I Î=ɚiILJ=IB=>iiȉ)%B=>)QE}E}*E"E $?I *F 2F :F BF a4JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GoJ=J9J9J9J=l:J9J9J9aE@aE@aE@aE@GBO?w,6VAN΁@YN`.0>N=9NTP>yNH@RS?¿c?@? ? ǿ_B?#?ɨN΁@N߉;N CyZ׈BZP(IIbIb-٢jL' j2=9n2Q n>ll rG٣pyr< r> vNusing accuracyPremultiplier from configtz59v?~5YvJ ivS™|~s~AvEv;v=;vX5 @ EZj1=FNOT Ignoring new targets: 112.50 m.Bj=Jj=M ProNav: ac range: 112.500000 m, nav range: 21.631062 m, bearing: 316.623733 deg, approach rate: -0.460609 m/s, LOS rate: -0.957899 deg/s, cmd heading: 10.589649 deg, new cmd heading: 9.329167 deg. 2jUY$]HeadingCmd: 0.162825 target range: 112.500000 and range: 112.50 m. j]&>jYjYjYiYhYhahahafafifirfibfme?ɛ%B%8>P> MQeiYi]~<)]&>)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2Fa:FaBFe[0JFaG=wGBO%M>zKEk3IKE+9KAKE'KEBKq:KulA I U Will construct direction to contact in vehicle frame from tetrahedron phase data. w,!x*VAJg@YJ8>J"O=9J5N>yJH O?`ÿz???ƿbav?.?ɨJg@J߉;J!Cyr̈BrC(IH9>I IO(II׈BI# =&I.I7D6I<:IX F%Mb@Mb@Mb@!!! !)!Y%Cl?S㥛Mby%?%$%%&@ % @)%@I%@!y%@I=yI=Ho٢M C M5=9UQ U>YY ]G٣]XGy]< e> mNusing accuracyPremultiplier from configam59ez׀?u5Ye]J ieS™u?u:u4}AeEeK;e;eQ5B T@EZj5FNOT Ignoring new targets: 112.50 m.Bj5ɏJj5ɏE ProNav: ac range: 112.500000 m, nav range: 21.437191 m, bearing: 316.174140 deg, approach rate: -0.429774 m/s, LOS rate: -1.005663 deg/s, cmd heading: 9.329167 deg, new cmd heading: 7.968461 deg. 2jE,mHeadingCmd: 0.139076 target range: 112.500000 and range: 112.50 m. jmi>jijqjqiqhqhqhyh}LBfyfyfyrfbf@4?ɛ B  G>  ?I ̫=ɚiI6G=I%i>i!i%+2=)%i>)E E *F}?2Fy:FyBF}V0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.MNGGe0,.q 7"Yy&BGQBaO>  $?I w,RDVA>@Y>T<>>==9>.G>y>H N?@Ŀs?`K?`t?[ƿ0? >?ɨ>@>=;>"CyR͈BRD(I V=V=IZIZ)٢b; bg=9f!Q f>dd fG٣dyj'< j> nNusing accuracyPremultiplier from configlr59nr耜?r5YnJ inS™tv]&vAn¬En:nv:n5x ~D@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 112.50 m.Bj-SJj-S= ProNav: ac range: 112.500000 m, nav range: 21.286661 m, bearing: 315.814691 deg, approach rate: -0.425584 m/s, LOS rate: -1.023430 deg/s, cmd heading: 7.968462 deg, new cmd heading: 6.882623 deg. 2jE/EHeadingCmd: 0.120124 target range: 112.500000 and range: 112.50 m. jE=jIjIjIiIhIhIhQhQfQfQfYrfYbf]?ɛB`> 隵?I C=ɚiIF=I=ii*|=)=)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*Fm?2Fq:FqBFu0JFqJMJMJIJIJML:JM:JIJIG$GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. R? = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2036231w,+^VA6@Y6 S?>6Z=963@>y6H@N?O)ſ???@Hſ ?L?ɨ6@6蛉;6!CyRΈBRE(IIZIZ٢bv; bJ=9bAQ f>dd fG٣dyn; n> vNusing accuracyPremultiplier from configpv59r?z5YrJ irT™xz'zArĬEr:rH:r5 =@EZjFNOT Ignoring new targets: 112.50 m.Bj!Jj! ProNav: ac range: 112.500000 m, nav range: 21.115313 m, bearing: 315.394435 deg, approach rate: -0.404882 m/s, LOS rate: -1.001077 deg/s, cmd heading: 6.882623 deg, new cmd heading: 5.611846 deg. 2j+HeadingCmd: 0.097945 target range: 112.500000 and range: 112.50 m. j~=jjjihhh h f f f rfbfV@zK9K= 9K9K='K= $?Iɛ B5O> 9=?IA uA=ɚyiyI}E=I]~=ii=)~=)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455533ZHRHAAHI III&I.I6I{<:IR FBIǟCJIǟCRIǓCZI# =bI# =jIǓ4E P =*F9 2F9 :F9 BFE P0JFA G5 E< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708574G B! O] >w,6zVAj@Yj@>>j%=9j,>yjHzU?@cſI?y?`?[ÿ M`c?.o?ɨj@j;j"CyvшBvI(IMb@Mb@Mb@ )Ygfffff?sh|?Mb?y3?<@ 9@)I@y@II)٢L< .=9Q > G٣XGy= => MNusing accuracyPremultiplier from configAM59Et?M5YEJ iE2T™U?U:U9,=UAEƬEEj;E;E5]B ]@e EZjFNOT Ignoring new targets: 112.50 m.BjꭼJjꭼ ProNav: ac range: 112.500000 m, nav range: 20.925835 m, bearing: 314.834867 deg, approach rate: -0.408201 m/s, LOS rate: -1.216399 deg/s, cmd heading: 5.611846 deg, new cmd heading: 3.918462 deg. 2jPHeadingCmd: 0.068390 target range: 112.500000 and range: 112.50 m. j=jjjihhhhaBfffrfbf@ɛBP> ?I e=ɚiIF_C=I=ii=)=) E< I*FQ2FQ:FQBFU 1JFQG-A=GBOl>-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959362w,VAbu@Yb@#=>b6Y=9b!>ybHZ?ଜſ ?5n?@#?LŴ ?`?ɨbu@b2;bCyjЈBjH(IinR>In=IvIv٢z˻ ~X=9~Q > G٣y   > Nusing accuracyPremultiplier from config59 %?%5YGJ iET™!%o%=%AȬE;?;?;S 51 5(@1ZjFNOT Ignoring new targets: 112.50 m.BjꟼJjꟼ ProNav: ac range: 112.500000 m, nav range: 20.784550 m, bearing: 314.408408 deg, approach rate: -0.368047 m/s, LOS rate: -1.118468 deg/s, cmd heading: 3.918462 deg, new cmd heading: 2.630617 deg. 2j?HeadingCmd: 0.045913 target range: 112.500000 and range: 112.50 m. j2<=jjjih!h!h)h)f)f)f)rf1bf5 @ɛ]Bet[> e ^"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:59:21.0050 TRx dataTimestamp_ set to:1736380762.398836checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215124E8<E } $?IyzKK]9KK'K*Fq2Fy:FyBF0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.464906G {=H1 I1  I5 \(II5 BI1 &I1 .I1 6I5 3<:I5  FJy J} J} 1Jy Jy J} :J} 3Jy J} @ ٫w,VAyu͈BuD(I Mb@Mb@Mb@    ) Y (\?I +AA EG٣AyE E> UNusing accuracyPremultiplier from configQ]59U=?]5YU/I iUVT™e?e:e>eAUʬEU#;U;U 5i md@u EZjFNOT Ignoring new targets: 112.50 m.BjüJjü ProNav: ac range: 112.500000 m, nav range: 20.612408 m, bearing: 313.750723 deg, approach rate: -0.355202 m/s, LOS rate: -1.368388 deg/s, cmd heading: 2.630617 deg, new cmd heading: 0.641926 deg. 2jjHeadingCmd: 0.011204 target range: 112.500000 and range: 112.50 m. j׏7<jjjihhhhgBfffrfbfs @ɛJM> ;?I  ե=ɚ i I 6?=I؏7)׏7<)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 23:59:21.0050 LVL= 15920, 29137, 22850, 32755, AGC= 58, IDX= 427,-0.08,-2.432, 2.133, 2.507, 3.060, PHS= 0.880,-0.880,-0.556, RAW= 100.0, 6.9, CAL= 109.7, 5.6, ROT= 40.3, -5.6 %Ygot valid direction response: 23:59:21.0050 LVL= 15920, 29137, 22850, 32755, AGC= 58, IDX= 427,-0.08,-2.432, 2.133, 2.507, 3.060, PHS= 0.880,-0.880,-0.556, RAW= 100.0, 6.9, CAL= 109.7, 5.6, ROT= 40.3, -5.6 -PDAT read: Bearing 40.3, -5.6 (Local) 5~Local bearing/azimuth received: Bearing 40.3, -5.6 (Local) EDAT read: Range 10 to 50 : 111.2 m (Round-trip 148.3 ms) speed 0.4 m/s M,DAT read: user:3554> UBDAT read: Tx time:23:59:22.1026 U$Ping request sent.Uq BY)I:iGa?GaVf?Ϣ= x?)+=I4?i+Ƚ03L?Ijտ8d9ʾ?)Ii9L:publishing transmit ping timeQFpublishing direction and range info9OͿ3 `׃?y )Ii )Ii03L?Ijտ8d9ʾ?)IiEjZX<*FQ2FQ:FQBF]4JFYG-=GBO>  $?I} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ǀVA2@Y23>2ܓ=92>y2Hj?Ŀ?2?kP?Rmiͳ??ɨ2@2;2#CyN҈BRJ(IIZ{IZk٢v< vb=9vy,Q v>xx zG٣zXGyzQ > -Nusing accuracyPremultiplier from config!-59%BO?-5Y%qH i%aT™15x>5A%̬E%:%u;%!5Y ]@ak ܓ$|?k ! k  k VA:k fBBk BZk @" ҋ9R:< 8[@ OͿ3 `׃?Jk 9Rk L* ,Ȩ,+-N6dZ@ |_~G ?O}iHʿ)?"k *k dYk =wQ|?k ! 2k c0Ck ?k ! k 3Ck ɻAk I@ addTargetRange:: Added new target pos. range: 111.199997 m, deltaT: 3.780472 s, deltaX: -1.300003 m, approachRate: -0.343873 m/s, rangeRepo size: 4 - Added new target pos. range: 111.199997 m, bearing: 239.245206 deg, lat: 36.904526 deg, lon: -122.120901 deg, deltaT: 3.780472 s, deltaX: -1.300003 m, approachRate: -0.343873 m/s, posRepo size: 4 Zj)]FNOT Ignoring new targets: 111.20 m.Bj]JjYm ProNav: ac range: 111.199997 m, nav range: 23.473406 m, bearing: 283.412050 deg, approach rate: 0.000000 m/s, LOS rate: -1.368388 deg/s, cmd heading: 0.641926 deg, new cmd heading: 359.075655 deg. 2jiHeadingCmd: 6.267053 target range: 111.199997 and range: 111.20 m. j@jjjihhhhfffrf[@bf?ɛ B*X> 隭S?I =ɚiIQ==I(ii%>)@)E)E)*E-"E-Will construct direction to contact in vehicle frame from tetrahedron phase data.EEqA*F ?2F :F BF 0JF Ge V=G! B) OM > I zK BoIK h9K K 'K w,TWVAMWill construct direction to contact in vehicle frame from tetrahedron phase data.}V@Y} *>} =9}2=y}H v?Ŀ^? 0? j? 5q 죻?O?ɨ}V@}ˆ;} CyޝΈBޝE(I) AMb@Mb@Mb@ )Y`"?+?:v?y?=<@ ׫@) @It@yp@II3٢-z - =9-%5Q 5>11 5G٣1y=6 => ENusing accuracyPremultiplier from configAM59Eg?M5YEF iEiT™UH?U:Uh>UAEάEEl;E;EW5]B ]`@]E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 111.20 m.Bj}ּJj}ּ ProNav: ac range: 111.199997 m, nav range: 23.473286 m, bearing: 282.678151 deg, approach rate: -0.000246 m/s, LOS rate: -1.500179 deg/s, cmd heading: 359.075667 deg, new cmd heading: 356.875104 deg. 2jHeadingCmd: 6.228646 target range: 111.199997 and range: 111.20 m. jQ@jjjihhhhBfffrfbf@?jHbH4<HIC In(IIBI$ =&I.I6Ie<:IA FJiJmJm0JiJiJm :Jmـ3JiJiJiJmw;Jmw;ɛR> 隽)Q@)*F?2F:FBF5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G }=G B O >V w,3WA6@Y6#>6vS=96=y6H {?Zÿ?`L?`s|?&@e`G?@j?ɨ6@6;6#Cy<>D(IIJIJaO٢R R=9RRQ V?TT VG٣TyZ_ Z? ^Nusing accuracyPremultiplier from config\b59^v?b5Y^E i^nT™`f0b>fA^ϬE^;^m ;^5h jk@jEZj|FNOT Ignoring new targets: 111.20 m.BjvϼJj vϼ ProNav: ac range: 111.199997 m, nav range: 23.473911 m, bearing: 282.237060 deg, approach rate: 0.002058 m/s, LOS rate: -1.451020 deg/s, cmd heading: 356.875117 deg, new cmd heading: 355.552126 deg. 2jx%HeadingCmd: 6.205555 target range: 111.199997 and range: 111.20 m. j%@j!j!j!i!h!h)h)h)f)f1f1rf1bf5>?  $?Iɛx> Rv;$?I z=ɚiI g:=IiirEB>)@)*F2F:FBFU0JFGq=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242705GYBOA>'w,WA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494749>[@Y> >>4=9>=y>H@?[¿'r?`?6?鰿` %? |?ɨ>[@>!;>!CyJˈBJA(IIRIR6٢ZN ZK=9Ze;Q Z>\\ ^G٣^XGyb! b> fNusing accuracyPremultiplier from configdj59f?j5YfLD ifuT™hnW>nAfѬEf1;f2;fm5t v@tZjqFNOT Ignoring new targets: 111.20 m.Bj!ɼJj!ɼ ProNav: ac range: 111.199997 m, nav range: 23.474411 m, bearing: 281.652799 deg, approach rate: 0.001203 m/s, LOS rate: -1.406736 deg/s, cmd heading: 355.552136 deg, new cmd heading: 353.799967 deg. 2j[qHeadingCmd: 6.174974 target range: 111.199997 and range: 111.20 m. jd@jjjihhhhfffrfbf ?ɛy})8[> y}s?I <3=ɚiIr{8=Iݽii V]>)d@)EYE]>  $?I*F2F:FBF^0JFGw&>zKBoHK9KK'KGB)O~>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747727H I  I u(II BI &I .I 6I <:I g FJ5 J5 J1 J1 J5 :J5 :J1 J1 J5 <J5 <J5 u;J5 u;KRw,3WAyrňBr9(ImMb@Mb@Mb@iii i)iYml?l?~jt?ym?m=m G٣y > Nusing accuracyPremultiplier from config59?5Y|B i|T™?:>AӬE(;-;Q5B @EZjFNOT Ignoring new targets: 111.20 m.BjռJjռ  ProNav: ac range: 111.199997 m, nav range: 23.492846 m, bearing: 281.024043 deg, approach rate: 0.043862 m/s, LOS rate: -1.494815 deg/s, cmd heading: 353.799974 deg, new cmd heading: 351.915904 deg. 2j <HeadingCmd: 6.142091 target range: 111.199997 and range: 111.20 m. j@jjjihhh!h%}Bf!f!f)rf)bf-??ɛ\> ?I {w=ɚiI6=I%.2i!i%j>)%@))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999079*F?2F:FBF_0JF G=>GBOb> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250606:w, MWA:@Y:=:+^=9:a?=y:H i?j?6V??<_e`ԧ?m?ɨ:@:;:CyBBF+(IININ³٢V VZ=9ZXX ^G٣\ybP b> fNusing accuracyPremultiplier from configdj59fԱ?j5YfA ifT™hjNw>jAfլEfj:f& ;f5p r̥@rEZj  FNOT Ignoring new targets: 111.20 m.BjмJjм- ProNav: ac range: 111.199997 m, nav range: 23.504894 m, bearing: 280.479106 deg, approach rate: 0.032202 m/s, LOS rate: -1.455643 deg/s, cmd heading: 351.915907 deg, new cmd heading: 350.282403 deg. 2j-y5HeadingCmd: 6.113581 target range: 111.199997 and range: 111.20 m. j5u@j1j1j1i9h9hAhAhAfAfIfIrfIbfM`@ɛy}"h> y}?Iy &=ɚiI4=I!iijj>)u@)Et<eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503598*FU?2FY:FYBFYJFY $?I G =>G% ?G% 4?G B O- >zK1 K5 h9K1 K5 'K5  =sui]WQPPQY&dw,cgWAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758835-/@Y-=-F=9-g G٣XGy  > Nusing accuracyPremultiplier from config59́?5Y? iT™??:k>AجE2;g1;H5 <@J+ـ3K+m3 K+S}-K#K#"K#JJJJJ,:J(:JJJ<J<J;J;uB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 111.20 m.BjͼJjͼ ProNav: ac range: 111.199997 m, nav range: 23.522604 m, bearing: 279.685394 deg, approach rate: 0.032162 m/s, LOS rate: -1.440297 deg/s, cmd heading: 350.282399 deg, new cmd heading: 347.904497 deg. 2jwHeadingCmd: 6.072079 target range: 111.199997 and range: 111.20 m. jyN@jjjihhhh~Bfffrfbf=V@ɛL> g<隍?I j=ɚiId2=I+,Xiil>)yN@))a erCG = Y9 y= Bm Will construct direction to contact in vehicle frame from tetrahedron phase data.m >m <u BDAT read: Rx Time:23:59:24.6529 } TRx dataTimestamp_ set to:1736380765.924993} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008106E yb];E *F9 2F9 :F9 BF= P0JF9 "G] >G] =G5 U> $?I GB!OE> Gw,[WA2@Y2ϟ=2=92ujAbڬEb;b;b5nB nE@nEZj  FNOT Ignoring new targets: 111.20 m.Bj*Jj*༝% ProNav: ac range: 111.199997 m, nav range: 23.531786 m, bearing: 279.181182 deg, approach rate: 0.028563 m/s, LOS rate: -1.567831 deg/s, cmd heading: 347.904510 deg, new cmd heading: 346.392833 deg. 2j--HeadingCmd: 6.045695 target range: 111.199997 and range: 111.20 m. j-Vv@j1j1j1i1h1h1h9h9f9fAfArfAbfE`k @ɛ~m> (?I '=ɚiIN1=ItiiiN>)%Vv@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260077E<*Fi2Fi:FiBFmP5JFiGE d>GB!OEQ> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:59:24.6529 LVL= 13280, 23665, 20546, 27555, AGC= 55, IDX= 420, 0.48, 1.657,-0.420,-0.156, 0.434, PHS= 1.311,-0.806,-0.593, RAW= 95.3, 0.9, CAL= 104.0, -2.6, ROT= 46.0, 2.6  Ygot valid direction response: 23:59:24.6529 LVL= 13280, 23665, 20546, 27555, AGC= 55, IDX= 420, 0.48, 1.657,-0.420,-0.156, 0.434, PHS= 1.311,-0.806,-0.593, RAW= 95.3, 0.9, CAL= 104.0, -2.6, ROT= 46.0, 2.6  PDAT read: Bearing 46.0, 2.6 (Local)  ~Local bearing/azimuth received: Bearing 46.0, 2.6 (Local)  DAT read: Range 10 to 50 : 109.5 m (Round-trip 146.1 ms) speed 0.3 m/s  ,DAT read: user:3555>  BDAT read: Tx time:23:59:25.7526  $Ping request sent. ii mG٣iyu u> Nusing accuracyPremultiplier from config59N?5Y< iT™AܬE*:7:5  @E =$?I9k6?kqt: k k`WA:kBBkBZkF@";(Mo:?aW4[@'"/?Zl?JkC?@Rk^ĺ*58iv?O^[@L0aG?yjC?"k=*kk5?k @q: 2k1Ck5?kk1Ck%Ak@ addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.525872 s, deltaX: -1.699997 m, approachRate: -0.482149 m/s, rangeRepo size: 4  Added new target pos. range: 109.500000 m, bearing: 177.967072 deg, lat: 36.904474 deg, lon: -122.120901 deg, deltaT: 3.525872 s, deltaX: -1.699997 m, approachRate: -0.482149 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 109.50 m.Bj-Jj)= ProNav: ac range: 109.500000 m, nav range: 23.393393 m, bearing: 264.476078 deg, approach rate: 0.000000 m/s, LOS rate: -1.567831 deg/s, cmd heading: 346.392825 deg, new cmd heading: 344.225990 deg. 2j9EHeadingCmd: 6.007877 target range: 109.500000 and range: 109.50 m. jE@@jAjIjIiIhQhQhQhQfYfYfYrfe`[@bfe`?ɛ(T> ?I M=ɚiI/=zKMK+9KK'K\[TJ@. I)@@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:59:25.7518 HaIeC Ie<(IIeȈBIe# =&Ia.Ia6IeP<:Ie3 FBIǞCJIRIZI$ =bI$ =jIǟ4EoM<*F 2F :F BF `0JF G qA G  Will construct direction to contact in vehicle frame from tetrahedron phase data.G.i>GGqAGBO?w,KWAyUnB]'IieC=Ie<Mb@Mb@Mb@ )Y9v?333333?Mbpy?=@ 7@)\@IyQ@IMIM[٢ei e=9iQ m>iq uG٣uXGyq u> }Nusing accuracyPremultiplier from configy59} ?5Y}: i}T™:?:S>A}ެE};}p;}5 @ZjFNOT Ignoring new targets: 109.50 m.Bj μJj μ ProNav: ac range: 109.500000 m, nav range: 23.491201 m, bearing: 263.729229 deg, approach rate: 0.189530 m/s, LOS rate: -1.441145 deg/s, cmd heading: 344.225989 deg, new cmd heading: 341.995963 deg. 2jBwHeadingCmd: 5.968956 target range: 109.500000 and range: 109.50 m. j@jjjihhhhYBfffrfbf`?ɛ-B-P> )-g?I) 5|=ɚ1i1I5-=I=Ni9i9)=@)AEIEI*EI"EI}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFJJJJJJq:JJa@a@a@a@Ge Wt>G9 BA Oe >78w,<WA6R+@Y6ܫ;64=96ǡy6H?Ζ뚹?_u?n?Ӽ?{` r?ɨ6R+@6Y;6CyNOBN'InWill construct direction to contact in vehicle frame from tetrahedron phase data.r>r@IEIExV٢UU( U^=9]baa eG٣aye[J e> uNusing accuracyPremultiplier from configi}59m?}5Ym: imT™y}& >AmEm;m;m 5B @EZjFNOT Ignoring new targets: 109.50 m.BjļJjļ ProNav: ac range: 109.500000 m, nav range: 23.543896 m, bearing: 263.221812 deg, approach rate: 0.143069 m/s, LOS rate: -1.374579 deg/s, cmd heading: 341.995959 deg, new cmd heading: 340.477489 deg. 2jkHeadingCmd: 5.942453 target range: 109.500000 and range: 109.50 m. j(@jjjihhhhfffrfbf?ɛf^> ?I! %=ɚ!i!I%BA,=I-mhi)i))-(@)1*F?2F:FBF4JFGm-> $?IG!B1OM1>zK5LK5h9K1K5'K5RKE?JKE>Will construct direction to contact in vehicle frame from tetrahedron phase data.jH bH <H I  I 'II BI $ =&I .I 6I }<:I T FIew,WAr(@Yr@r=9r{yrH`W?? ?+A?uX?`|?ɨr(@r2;rCyz0Bz'IMb@Mb@Mb@ )Y|?5^?l?:vy?=Tz@ @)@Il@yG@IIZ٢ D=9 G٣y > Nusing accuracyPremultiplier from config593?5Y9 iU™I?:}<AEj;;v"5B q@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 109.50 m.BjJj ProNav: ac range: 109.500000 m, nav range: 23.578075 m, bearing: 262.649058 deg, approach rate: 0.078811 m/s, LOS rate: -1.318704 deg/s, cmd heading: 340.477499 deg, new cmd heading: 338.762270 deg. 2j@bHeadingCmd: 5.912517 target range: 109.500000 and range: 109.50 m. jW3@jjjihhh h +Bf f f rfbfA?ɛBWO> 隽P?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.ɚiI*=IE7ȽiIiI)MW3@)Q*F]?2FY:FYBF]5JFY"Ge>Ge> $?IG ^>G ?G 1?Gq B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751987O >Jw, XAFĿ@YFI@F=9FfyFH?ɰ??@1?dP?`ab,?ɨFĿ@F!;DyRBRj'I)T TIZIZ<٢fܽ f[=9jhh jG٣jXGyn n> rNusing accuracyPremultiplier from configpv59rE?v5Yr9 ir;U™xz฻zArEr:rQ:r$5 @Zj)-FNOT Ignoring new targets: 109.50 m.Bj5̼Jj5̼ ProNav: ac range: 109.500000 m, nav range: 23.605030 m, bearing: 262.136891 deg, approach rate: 0.075408 m/s, LOS rate: -1.431172 deg/s, cmd heading: 338.762274 deg, new cmd heading: 337.227915 deg. 2juHeadingCmd: 5.885737 target range: 109.500000 and range: 109.50 m. jW@jjjihhhhfffrfbf`*?J}J}JyJyJ}:J}B:JyJyɛ)-(nX> 15O?I1 5qN=ɚ1i1I=Ԧ)=I= Ǿi9iEDž>)EW@)A*FE?2FA:FABFEP0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003932Gm c>GA BI Oe > I v w,'XAJ˾@YJy@J=9J1yJH|?`?`?Hh?j?޾ W@?ɨJ˾@J\;J CyRBRO'IIbIbV٢r׽ vI=9~i  zKBoJKs9KK 'K!juZD3&'BKA:KEpA ]G٣Yym8 u> Nusing accuracyPremultiplier from config59Z?5Y/: i`U™AeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259137E2< <%5 #@EZjaFNOT Ignoring new targets: 109.50 m.Bj$Jj$ ProNav: ac range: 109.500000 m, nav range: 23.630810 m, bearing: 261.551705 deg, approach rate: 0.054024 m/s, LOS rate: -1.224960 deg/s, cmd heading: 337.227913 deg, new cmd heading: 335.474848 deg. 2j+RHeadingCmd: 5.855141 target range: 109.500000 and range: 109.50 m. jP]@jjjihhhhfffrfbfߖ@ɛMBMprM> QU?IQ U=ɚQiQI]y(=I](۾HI I'IIXBI&I.I6I><:I& Fii >)P]@)*F}?2Fy:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. > <- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512022G h>G B O >u[w,AXAy~B~+'I %$?I!MMb@Mb@Mb@III I)IYMX9v?{Gzy&1yM?M#M`eMM@ M@)M@IMƷ@IyM@ImIm٢} }3=9Q > G٣y > Nusing accuracyPremultiplier from config59o?5Y: iU™?:AEu ;;'5 @ZjiFNOT Ignoring new targets: 109.50 m.BjQּJjQּ ProNav: ac range: 109.500000 m, nav range: 23.639383 m, bearing: 260.946163 deg, approach rate: 0.021231 m/s, LOS rate: -1.498962 deg/s, cmd heading: 335.474850 deg, new cmd heading: 333.659525 deg. 2jHeadingCmd: 5.823457 target range: 109.500000 and range: 109.50 m. jY@jjjihhhhBfff rf bf @ɛeBeHP> AE?IA Mv=ɚIiIIMb'=IUtaiQiQ)UY@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760208)E*F?2F:FBFP0JFG%pA G!JJJJJJK:JJG c>G B O >w,}Z[XA6-@Y6@6RW>96=y6HP? ?`J?@ Ŀ@?Yu @.@v?ɨ6-@6;4yBԇBB'IIJIJԳfWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013719٢]o e^=9e=Q e>ii mG٣mXGym$ m> }Nusing accuracyPremultiplier from configq}59uZ?5Yu; iuU™5AuEu ;u:ux)5B E@EZjFNOT Ignoring new targets: 109.50 m.BjμJjμ ProNav: ac range: 109.500000 m, nav range: 23.636288 m, bearing: 260.439599 deg, approach rate: -0.008845 m/s, LOS rate: -1.447567 deg/s, cmd heading: 333.659522 deg, new cmd heading: 332.140007 deg. 2j\xHeadingCmd: 5.796937 target range: 109.500000 and range: 109.50 m. j@jjjihhhhfffrfbf@ɛ%B%X> )-?I) u `=ɚqiyI}$&=Iii)@) $?I*Fm?2Fq:FqBFu0JFqzK?MK9KK 'K{.j\OD?950/-)'! RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:59:28.3015 TRx dataTimestamp_ set to:1736380769.708775checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270603GG B O >ZH RH ?AH I  I ['II BI # =&I .I 6I e<:I D Fw,=uXAJ@YJJ@J]>9JTyJH??M?ǿo?@`O@͂| ?ɨJ@Jo;Hyb‡Bb&IMMb@Mb@Mb@III I)IYMm?Mby&1yM?MIMd@ M/@)M@IM@IyMz@IeIeT߳٢u }H=9}ςy G٣yb > Nusing accuracyPremultiplier from config59C?%5Y= iU™%?%:%(%AEi ;a;S+51 5k@5EMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 109.50 m.BjeJje𾼝u ProNav: ac range: 109.500000 m, nav range: 23.605047 m, bearing: 259.874057 deg, approach rate: -0.073674 m/s, LOS rate: -1.335447 deg/s, cmd heading: 332.139996 deg, new cmd heading: 330.441649 deg. 2j} e}HeadingCmd: 5.767295 target range: 109.500000 and range: 109.50 m. j}@jjjihhhhBfffrfbfT @ɛB&J> N<˯?I =ɚiI%=Idii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519753*Fq2Fq:FqBF}1JFy IG^>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:59:28.3015 LVL= 11584, 22097, 16834, 25843, AGC= 57, IDX= 423, 0.50,-0.009,-1.602,-2.005,-0.936, PHS= 1.015,-0.619,-1.073, RAW= 78.1, 7.2, CAL= 82.3, 8.9, ROT= 67.7, -8.9  Ygot valid direction response: 23:59:28.3015 LVL= 11584, 22097, 16834, 25843, AGC= 57, IDX= 423, 0.50,-0.009,-1.602,-2.005,-0.936, PHS= 1.015,-0.619,-1.073, RAW= 78.1, 7.2, CAL= 82.3, 8.9, ROT= 67.7, -8.9  PDAT read: Bearing 67.7, -8.9 (Local)  ~Local bearing/azimuth received: Bearing 67.7, -8.9 (Local) % DAT read: Range 10 to 50 : 108.6 m (Round-trip 144.8 ms) speed 0.0 m/s - ,DAT read: user:3556> - BDAT read: Tx time:23:59:29.4026 5 $Ping request sent.5 ڽ'ܷ?)ڽ>IڽE>?iڽڹڹ۽N PF?U07"Fr?)۽W;I۽l/i۽@۽ð۹۹j:publishing transmit ping timeajFpublishing direction and range infoع9ؽ#w\ɿr?/ݣ?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽N PF?U07"Fr?)۹I۹i۹۹۹۹@YL @71>92;yH^?@?1? ˿;?`s ¿Pc??ɨ@s;y=B=&IIMJYJ]JYJYJYJ]U:JYJYIMW٢Y9 3=9%I{!! -G٣)yM, M> ]Nusing accuracyPremultiplier from configQ]59UЦ?e5YU? iUU™aeeAUEU:Uv:UD-5 @k;?ke k kEgXA:k3BBkBZk*?"pDŽ5x&@@;(1;Y@#w\ɿr?/ݣ?Jk@Rkð*` :?C dA@-1LY@EZ~q?*$$?bKq_?"kB*kl?k?kW 2k*Ckkk1CkAkϐ@] addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.781640 s, deltaX: -0.900002 m, approachRate: -0.237992 m/s, rangeRepo size: 4  Added new target pos. range: 108.599998 m, bearing: 88.449600 deg, lat: 36.904474 deg, lon: -122.120901 deg, deltaT: 3.781640 s, deltaX: -0.900002 m, approachRate: -0.237992 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 108.60 m.BjJj ProNav: ac range: 108.599998 m, nav range: 23.567558 m, bearing: 259.284237 deg, approach rate: 0.000000 m/s, LOS rate: -1.335447 deg/s, cmd heading: 330.441656 deg, new cmd heading: 328.568266 deg. 2jHeadingCmd: 5.734598 target range: 108.599998 and range: 108.60 m. jԁ@jjjihhhhfffrf`f&[@bf?ɛBdD> 隍w?I {=ɚiI$=I9p ii)ԁ@)EEWill construct direction to contact in vehicle frame from tetrahedron phase data.=*FQ2FY:FYBF]0JFY"Gex>Ge> $?I G c>G B O% >)w,XAFt@YF @F%>9FI;yFH??a? Ͽ _?`Fa ~ÿ0yz? B?ɨFt@FA;DyjBj&I)t t z=zp=II$٢% %q=9-; G B O >00w,XA6)@Y69@6@">96 G٣y > Nusing accuracyPremultiplier from config59Oǂ?5Y{D iHV™?:ムAEc;;05 z@Zj!%FNOT Ignoring new targets: 108.60 m.Bj5Jj5伝E ProNav: ac range: 108.599998 m, nav range: 23.472843 m, bearing: 258.280826 deg, approach rate: -0.179611 m/s, LOS rate: -1.595442 deg/s, cmd heading: 327.211605 deg, new cmd heading: 325.552544 deg. 2jEވMHeadingCmd: 5.681964 target range: 108.599998 and range: 108.60 m. jMҵ@jIjIjIiIhQhQhQhUBfYfYfYrfYbfe,?ɛBX`S> 隕?I  K=ɚiI#=Iii)ҵ@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.E]<*F2F:FBF@5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G m>G B O%>P7w,:vXA6;@Y6eK@6(>96KB>&IIJIJF٢R R@=9RfTT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\f59^؂?f5Y^yG i^vV™dffA^E^=;^>;^r25h n@nEZjFNOT Ignoring new targets: 108.60 m.Bj Jj  ProNav: ac range: 108.599998 m, nav range: 23.405262 m, bearing: 257.723154 deg, approach rate: -0.158523 m/s, LOS rate: -1.311867 deg/s, cmd heading: 325.552552 deg, new cmd heading: 323.875210 deg. 2ja%HeadingCmd: 5.652689 target range: 108.599998 and range: 108.60 m. j%@j!j!j!i)h)h)h)h1f1f1f1rf1bf=qe? $?IɛEBMNxE> IM?II US=ɚQiQIUq#=I],iYi] >)]@)aEUc<*F?2F:FBFP0JFG GmAzK%K%9K!K% 'K%Will construct direction to contact in vehicle frame from tetrahedron phase data.jHqbHu<HI I&IIBI# =&I.I6I<:I` FBIȟCJIRIZIbIjI)4G ^>G G pAJ J J J J |:J :J J J &=w,nXAywB&Ii >I ?Mb@Mb@Mb@ )YʡE?I +y-?94E@ E@)@Iݸ@y@IIͳ٢z <=9Q > G٣XGy > Nusing accuracyPremultiplier from config59T난?5YJ iV™?:.Will construct direction to contact in vehicle frame from tetrahedron phase data.AEt</<]45y }/@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 108.60 m.BjuJju ProNav: ac range: 108.599998 m, nav range: 23.329588 m, bearing: 257.133223 deg, approach rate: -0.166749 m/s, LOS rate: -1.304119 deg/s, cmd heading: 323.875221 deg, new cmd heading: 322.100287 deg. 2j_HeadingCmd: 5.621710 target range: 108.599998 and range: 108.60 m. j @jj9j9i9h9h9hAhE BfAfIfqrfqbf} ?ɛBD> ?I d=ɚiI6 #=IA'ii >) @)EE*E"E $?I*F- ?2F) :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.Gm ڀ>GIBQOu>Ew,[YABi@YB]y@BjI:>9Bjdd fG٣dyf j> nNusing accuracyPremultiplier from configlr59n?r5YnpN inV™prrAnEn:n:nH65zB zA@zߵEZj!%FNOT Ignoring new targets: 108.60 m.Bj-ļJj-ļ= ProNav: ac range: 108.599998 m, nav range: 23.242878 m, bearing: 256.552521 deg, approach rate: -0.204763 m/s, LOS rate: -1.376399 deg/s, cmd heading: 322.100274 deg, new cmd heading: 320.352242 deg. 2j='lEHeadingCmd: 5.591201 target range: 108.599998 and range: 108.60 m. jE@jAjAjAiAhIhIhIhQfQfQfYrfYbf]`|@ɛBm)K> =隅Ϟ?I =ɚiI7"=I%1ii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247291*F 2F:FBF\0JFG/0>GBO#> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500177zK1 K5 9K1 K5 'K5 BKi :Ki HU 8>IQ  IU &IIU nBIU $ =&IQ .IQ 6IU l<:IU J FLw,Ad2YA:@Y:)@:#A>9:ό)) -G٣1yUM} U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]jR i]W™m?m:mmA]E];]:]F85uB }@}EZjFNOT Ignoring new targets: 108.60 m.Bj"Jj"- ProNav: ac range: 108.599998 m, nav range: 23.146170 m, bearing: 255.960227 deg, approach rate: -0.207132 m/s, LOS rate: -1.273868 deg/s, cmd heading: 320.352237 deg, new cmd heading: 318.568537 deg. 2j5Z5HeadingCmd: 5.560070 target range: 108.599998 and range: 108.60 m. j=@j9j9j9i9h9h9hAhEBBfAfAfIrfIbfmń@ɛBN9D> 隝?I Q^=ɚiIK"=Ip5ii>)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749624*F2F:FBFP0JF"Gt>G= }$?I}hG c>G B O >Rw,!@LYA6}@Y6@6?H>96$X\ ^G٣bXGyb b> fNusing accuracyPremultiplier from configdj59f?j5YfU if )-?I) - )=ɚ)i)I5"=I]+=iYi] >)]Q(@)a*F2F:FBFo0JFGT>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253502O > i Ii $Yw, )fYAj;@YjǺ@j*O>9jpQ UG٣Yy]R ]> eNusing accuracyPremultiplier from configam59e+?m5YeY ieqW™qu.uAeEe~$;e%;e;5 x@ZjFNOT Ignoring new targets: 108.60 m.BjJj ProNav: ac range: 108.599998 m, nav range: 22.969677 m, bearing: 254.961160 deg, approach rate: -0.227234 m/s, LOS rate: -1.263948 deg/s, cmd heading: 317.199258 deg, new cmd heading: 315.560476 deg. 2jX%HeadingCmd: 5.507569 target range: 108.599998 and range: 108.60 m. j%>@j!j!j!i!h)h1h9h9f9fAfArfAbfM @ɛB*J> 隥0?I <=ɚiI "=ImȎFiiii)m>@)qEWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: Range 10 to 50 : 108.6 m (Round-trip 144.8 ms) speed 0.0 m/s ],DAT read: user:3557> eBDAT read: Tx time:23:59:33.0527 m$Ping request sent.m QIQGaBqO>aw,YAybBMb@Mb@Mb@ )Ym?q= ףpy&1|y?뽹`@ @)-@I @y3@IIV٢ #=9Q > G٣y > Nusing accuracyPremultiplier from config59>?5Y] iW™?:'AEx;;=5 @ܵEEB*** querying acoustic contact ***jAjAe addTargetRange:: Added new target pos. range: 108.599998 m, deltaT: 3.526655 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Zja FNOT Ignoring new targets: 108.60 m.Bj nJj n ProNav: ac range: 108.599998 m, nav range: 22.866365 m, bearing: 254.326400 deg, approach rate: -0.210137 m/s, LOS rate: -1.296918 deg/s, cmd heading: 315.560477 deg, new cmd heading: 313.648345 deg. 2j^EHeadingCmd: 5.474196 target range: 108.599998 and range: 108.60 m. jM,@jIjIjIiIhIhIhQh]|BfYfYfarfabf?ɛBB> ?I ~=ɚ!i!I%"=I-Oi)i))-,@)1Ey=5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i15T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.*Fu?2Fq:FqBFu_0JFyG ^>G B O >Agw,+mYA6@Y6r@6)Y>96 qy G٣XGy9 > Nusing accuracyPremultiplier from config59K?5Ya iW™5AEA;;?5 @ZjFNOT Ignoring new targets: 108.60 m.BjεJjε ProNav: ac range: 108.599998 m, nav range: 22.775524 m, bearing: 253.831891 deg, approach rate: -0.232664 m/s, LOS rate: -1.271580 deg/s, cmd heading: 313.648352 deg, new cmd heading: 312.159260 deg. 2j+ZHeadingCmd: 5.448207 target range: 108.599998 and range: 108.60 m. jW@jj!j!i!h!h!h)h)f)f)f)rf1bf5M?ɛeBe2R> am?Ii m=ɚiiiIm #= $?II"Uii)W@)EE*E"E*F5?2F9:F9BF=`0JFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011386zKm BHKm 9Ki Km 'Km H9 I9  I= U&II= ;BI9 &I9 .I9 6I= <:I= e FBK pA:K oAJm Jm Ji Ji Jm ̶:Jm h:Ji Ji Jm ;Jm ;Jm Mi;Jm Ni;G G BO>Nnw,YA^eN@Y^]@^_>9^1^d G٣y > Nusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2599549.\?5Yf iX™c?:7AE;0;A5B ̼@ٵEZj)-FNOT Ignoring new targets: 108.60 m.Bj5Jj5E ProNav: ac range: 108.599998 m, nav range: 22.668938 m, bearing: 253.246725 deg, approach rate: -0.227679 m/s, LOS rate: -1.255825 deg/s, cmd heading: 312.159261 deg, new cmd heading: 310.396097 deg. 2jEwWMHeadingCmd: 5.417434 target range: 108.599998 and range: 108.60 m. jM[@jIjIjIiIhQhQhQhUBfYfafarfabfmz?ɛBF> >=隕?I =ɚiIl#=I]ii >)[@) $?I*F?2F:FBFO5JF"G%a>G%>GY>G?G> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511898G B O >s-uw,VYAyGB%d&II5I5٢E? ET=9EQ E>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam59e}i?m5Yei iePX™iimAeEe:e*:eHC5y }C@yZjFNOT Ignoring new targets: 108.60 m.Bj崼Jj崼= ProNav: ac range: 108.599998 m, nav range: 22.583208 m, bearing: 252.762182 deg, approach rate: -0.223007 m/s, LOS rate: -1.265202 deg/s, cmd heading: 310.396089 deg, new cmd heading: 308.937275 deg. 2j=YEHeadingCmd: 5.391973 target range: 108.599998 and range: 108.60 m. jE @jAjAjAiAhIhIhIhqfqfyfyrfybf}@?ɛBL> l?I =ɚiI#=I&dii >) @)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763770*F)2F):F)BF-D5JF)Gc> IGBOm>W{w,\YA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017155N(@YNµ@N|~g>9NAYa eG٣eXGJqJuAAy׽ > Nusing accuracyPremultiplier from config59-y?5Y~n iX™DAE;H;_E5JJJJJ\:J:JJJ<J<JZ;JZ; ½@ֵEZjimFNOT Ignoring new targets: 108.60 m.BjuJju ProNav: ac range: 108.599998 m, nav range: 22.467733 m, bearing: 252.172828 deg, approach rate: -0.233224 m/s, LOS rate: -1.196416 deg/s, cmd heading: 308.937270 deg, new cmd heading: 307.160720 deg. 2jEM) hC!HeadingCmd: 5.360966 target range: 108.599998 and range: 108.60 m. j5@j1=tAj1QjAiq }$YtAyBhqhhhfffrfbf 4@ɛ=BETgD> AEF?IA EB=ɚAiIIM@@$=IMliQiU8>)U@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268052*F]?2FY:FYBF]O5JFY $?I Gu >G} oAGy GQ BY O >aނw,5 ZA>@Y>h@>j>9>QEH:?o??`L?G¿Ϳ?;*?ɨ>@>,;> CyJ,BJC&I%Mb@Mb@Mb@!!! !)!Y%?A`"Mbpy%f?%Y%%@ %j@)%I@I%z@!y%z@I=I=٢Mtн MU=9Mb;Q M>YY ]G٣Yy] e> mNusing accuracyPremultiplier from configau59e?u5Yeq ieX™?:;AeEe 隕?I  =ɚiI$=Irii>)ͪ@)E7=*Fe ?2Fa :Fa BFe K2JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data. > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773693 I G .>GaByO>K3w,*ZAJ@YJ*@Jk>9JWhh jG٣hynqa n> rNusing accuracyPremultiplier from configpz59r?z5Yr"v irX™|~A~Ar Er[;re\;rI5B l@յEZj)FNOT Ignoring new targets: 108.60 m.BjJj ProNav: ac range: 108.599998 m, nav range: 22.291271 m, bearing: 251.175224 deg, approach rate: -0.225841 m/s, LOS rate: -1.259521 deg/s, cmd heading: 305.822950 deg, new cmd heading: 304.156653 deg. 2jXHeadingCmd: 5.308535 target range: 108.599998 and range: 108.60 m. jߩ@jjjihhhhfffrf bf `*@ɛUBUH> Y]?IY ]=ɚYiYI]%=Ieyiaim >)mߩ@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:59:35.6014 TRx dataTimestamp_ set to:1736380776.765486checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025747E==zKEKE9KAKE'H)I) I-&II- BI)KE  &I).I)6I-t<:I-P FBIUĞCJIUĞCRIQZIQbIQjIUıZ4*F2F:FBF(4JF*J4="J4=G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276089G B O >  I h6w,DZA RN@YRC^@Rl>9Rf G٣XGyzi > Nusing accuracyPremultiplier from config59?5Yy i1Y™?:2>A E%;};J5! -@)ZjFNOT Ignoring new targets: 108.60 m.BjJj ProNav: ac range: 108.599998 m, nav range: 22.205767 m, bearing: 250.668569 deg, approach rate: -0.190464 m/s, LOS rate: -1.132919 deg/s, cmd heading: 304.156657 deg, new cmd heading: 302.631219 deg. 2j`BHeadingCmd: 5.281911 target range: 108.599998 and range: 108.60 m. jk@jjjihhhhBfffrf bf y @ɛBF> 隝׉?I =ɚiI%=I)ii) k@) EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530978*F 2F :F BF D5JF JsK{ـ3 K{KsKs"KsJ% J% J! J! J% :J% :J! J! a5 @a5 @a5 @a5 @Gm c>Gu ?Gu > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 23:59:35.6014 LVL= 11520, 11713, 14578, 21459, AGC= 55, IDX= 437, 0.26, 1.155, 0.134,-1.302,-0.021, PHS= 1.264, 0.203,-1.283, RAW= 54.5, -1.7, CAL= 57.0, -5.1, ROT= 93.0, 5.1  Ygot valid direction response: 23:59:35.6014 LVL= 11520, 11713, 14578, 21459, AGC= 55, IDX= 437, 0.26, 1.155, 0.134,-1.302,-0.021, PHS= 1.264, 0.203,-1.283, RAW= 54.5, -1.7, CAL= 57.0, -5.1, ROT= 93.0, 5.1 PDAT read: Bearing 93.0, 5.1 (Local) ~Local bearing/azimuth received: Bearing 93.0, 5.1 (Local) GqByO>ew,e8cZA DAT read: Range 10 to 50 : 108.4 m (Round-trip 144.6 ms) speed 0.0 m/s ,DAT read: user:3558> BDAT read: Tx time:23:59:36.7027 $Ping request sent.R#Rx 1: Read range and direction messages.B\direction in FSK: [0.013304,0.646534,0.762769]r:publishing transmit ping timevFpublishing direction and range infoؙ9؝f%:??ih?>Eh?y؝Bؙ؝-؝- ٝ8)ٝSIٝ7iٝʡ?ٝ;O>ٝX9ٝ"s?ٝ ڝ~?)ڝKIڝ?iڝK=ڙڙ۝f?C[y/^ )۝UI۝kEh?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝f?C[y/^ )ۙIۙiۙۙۙۙyB%III(٢굽 =9Q > G٣y > %Nusing accuracyPremultiplier from config-59?-5Y{~ itY™11]A E;<;0M5a m@mҵEkW|?ksS k kFaZA:kBBkPBZkE?"C%?=eQ@=[RɫT@f%:??ih?>Eh?Jkm?Rk^*VaMGM@nAIaD@|Z8FT@}?ɡv?"R6?"k#B*kmBkN(1?k|L 2kCkk @q: kc0Ck@k3@ addTargetRange:: Added new target pos. range: 108.400002 m, deltaT: 3.783859 s, deltaX: -0.199997 m, approachRate: -0.052855 m/s, rangeRepo size: 4  Added new target pos. range: 108.400002 m, bearing: 34.528001 deg, lat: 36.904474 deg, lon: -122.120638 deg, deltaT: 7.310514 s, deltaX: -0.199997 m, approachRate: -0.027357 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 108.40 m.BjJj ProNav: ac range: 108.400002 m, nav range: 7.967991 m, bearing: 161.087290 deg, approach rate: 0.000000 m/s, LOS rate: -1.132919 deg/s, cmd heading: 302.631229 deg, new cmd heading: 300.766741 deg. 2jHeadingCmd: 5.249370 target range: 108.400002 and range: 108.40 m. j@jjj!i!h!h!h!h)fififirfu[@bfu`%?ɛB=> ?I B=ɚiI%i&=ITii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF5JFH!I%C I%%IzK]KK]}9KYK]'K] I%BI%# =&I%GD.I!6I%<:I%m FJ J GA G B O- >-w,~ZA-@Y-:DZ@-l>9-=Luu#ub@ u@)uAIu@qyuz@II%٢ <=9Q > G٣y > Nusing accuracyPremultiplier from config%59?%5Y5 iY™%>%:%J%AEp;; O5a e{@iZjFNOT Ignoring new targets: 108.40 m.BjԼJj Լ] ProNav: ac range: 108.400002 m, nav range: 8.146959 m, bearing: 160.466242 deg, approach rate: 0.438812 m/s, LOS rate: -1.489267 deg/s, cmd heading: 300.766752 deg, new cmd heading: 298.945187 deg. 2jeeHeadingCmd: 5.217578 target range: 108.400002 and range: 108.40 m. jmf@jijijiiihihihhBfffrfbf?ɛBdpE> 5z?I @=ɚiI^&=Ieii)f@)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >J J J J J :J 9:J J ٥w,㊘ZAV@YV @V ;j>9V:yVH?G?F?S?S? Ŀ0Ϳ@"^? *?ɨV@V*;TybBb%IIjIj٢r: rs=9vQ v?tt vG٣zXGyzO ~? Nusing accuracyPremultiplier from config 59Ń? 5Y; iY™PAE::P5 q@=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 108.40 m.BjU߼JjU߼e ProNav: ac range: 108.400002 m, nav range: 8.287509 m, bearing: 159.967898 deg, approach rate: 0.449119 m/s, LOS rate: -1.565408 deg/s, cmd heading: 298.945195 deg, new cmd heading: 297.475857 deg. 2jeJmHeadingCmd: 5.191933 target range: 108.400002 and range: 108.40 m. jmQ$@jijijiiihihqhqhqfffrfbfp?ɛ%߄B-8J> )-(k?I) -f>ɚ)i)I5:'=I5%i9i9)=Q$@)9*F?2F:FBF_0JFG GmAuWill 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. $?IGUh>G]pAG]qAG) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2264431w,{fZAH|I| I~%II~BI|&I|.I|6I~x<:I~T FzKJKKK'K#2983+#- @Y-A0@-P6h>9-;y-H9?'y?r?d?"ĿC̿ۛw? .?ɨ- @- ;-CyޝBޝ%IMb@Mb@Mb@ )Y`"?{GzMby>#@ b@)AI/@y@I-I-m?٢= ==9Ez{Q E>AI MG٣IyM< M> ]Nusing accuracyPremultiplier from configQ]59U҃?e5YU  iUZ™e>e:e\eAUEU;U;UR5uB u@uϵEZjFNOT Ignoring new targets: 108.40 m.BjؼJjؼ ProNav: ac range: 108.400002 m, nav range: 8.498243 m, bearing: 159.171145 deg, approach rate: 0.411221 m/s, LOS rate: -1.516158 deg/s, cmd heading: 297.475857 deg, new cmd heading: 295.146230 deg. 2jHeadingCmd: 5.151274 target range: 108.400002 and range: 108.40 m. j<פ@jjjihhhhBfffrfbf`?ɛ݄B9> Ub?I  ~>ɚiIm'=I-|␿i)i))-<פ@)1*F?2F:FBF\0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479198 yIyG c>GY Ba O >w,@ZA>q@Y>S@>YWf>9>2w;y>H^? ?6R? Y`J? ſ@̿z?r1?ɨ>q@>f;>!CybwBbd%IIvIv³٢뎾 =9%ƻQ -?)1 5G٣1ys ? Nusing accuracyPremultiplier from config59ۃ?5Yj i?Z™Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7304257b AE2<$3<MT51 5c@1ZjFNOT Ignoring new targets: 108.40 m.BjFͼJjFͼ ProNav: ac range: 108.400002 m, nav range: 8.641857 m, bearing: 158.627286 deg, approach rate: 0.385538 m/s, LOS rate: -1.435730 deg/s, cmd heading: 295.146244 deg, new cmd heading: 293.542226 deg. 2jUvHeadingCmd: 5.123278 target range: 108.400002 and range: 108.40 m. j@jjjihIhIhQhQfQfQfYrfYbf]&?ɛ%܄B%fT;> !%M?I) ->ɚ)i)I-d(=I5wi1i1)5@)9JJJJJ:J:JJ*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982151 I G G B O >^w,8LZA6E@Y6ƿ@6}e>96;y6H@;?@z??`$@?hoſgr̿@,{?2?ɨ6E@6j;6CyB\BBC%IININW٢VX VH=9V]Q V>XX ZG٣ZXGy^#n ^> bNusing accuracyPremultiplier from config`f59bl䃜?j5Yb iblZ™hjAhjAbEb-;b1.;bU5nB n@rѵEZj)5FNOT Ignoring new targets: 108.40 m.Bj=Jj=弝] ProNav: ac range: 108.400002 m, nav range: 8.787018 m, bearing: 158.068910 deg, approach rate: 0.424579 m/s, LOS rate: -1.606185 deg/s, cmd heading: 293.542215 deg, new cmd heading: 291.895238 deg. 2j]ɉHeadingCmd: 5.094533 target range: 108.400002 and range: 108.40 m. jj@jjjihhhhf!f!f!rf!bf-hP@ɛuڄBu <> qu@?Iq }>ɚyiyI}(=I%ii)j@)*FU?2FQ:FQBFUh2JFY"Get>Ge{>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234523jHM<bHM4<HU7>IQ IUN%IIUfBIQ&IQ.IQ6IU<:IUv FzKLKKK'K  U%Gr>G?G ?Gy B O >;w,/[AV@YV@Vc>9VB G٣yYV > Nusing accuracyPremultiplier from config59 ?5Y iZ™?:zAE(;;W5 [@ZjFNOT Ignoring new targets: 108.40 m.Bj%Jj%5 ProNav: ac range: 108.400002 m, nav range: 8.976558 m, bearing: 157.249848 deg, approach rate: 0.408398 m/s, LOS rate: -1.727495 deg/s, cmd heading: 291.895238 deg, new cmd heading: 289.491427 deg. 2j=2=HeadingCmd: 5.052578 target range: 108.400002 and range: 108.40 m. j=@jAjAjAiAhAhAhIhMЄBfIfQfQrfQbfU@ɛ}لB}1> 隅.?I >ɚiI)=I ii)@)!*F2F:FBF4JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiq}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738447G h>G B O >J J J J J L:J :J J ew,[AF6@YF @FWa>9F8 ?I M->ɚiIG*=Iԟii)3@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:59:39.2524 TRx dataTimestamp_ set to:1736380780.546632checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993948*Fi2Fi:FiBFm4JFi IhGGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242188w,4[AH4I4 I6$II6BI4&I4.I46I6=<:I6* FzK9<! %G٣%XGy% %> 5Nusing accuracyPremultiplier from config)559-?55Y- i-2[™=9 ?=:==A-E-;-;-[5I M@IZjiuFNOT Ignoring new targets: 108.40 m.BjuJju ProNav: ac range: 108.400002 m, nav range: 9.343702 m, bearing: 155.474735 deg, approach rate: 0.406291 m/s, LOS rate: -2.024588 deg/s, cmd heading: 287.732237 deg, new cmd heading: 284.285240 deg. 2jHeadingCmd: 4.961713 target range: 108.400002 and range: 108.40 m. j[ƞ@jjjihhhhBfffrfbf`+, @Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 23:59:39.2524 LVL= 16592, 16545, 16114, 22771, AIDX= 446, 0.41, 0.077, 0.019,-2.062,-0.697, PHS= 0.862, 0.763,-1.367, RAW= 32.3, -2.4, CAL= 32.2, -5.0, ROT= 117.8, 5.0 U!unknown deviceResponse_: 23:59:39.2524 LVL= 16592, 16545, 16114, 22771, AIDX= 446, 0.41, 0.077, 0.019,-2.062,-0.697, PHS= 0.862, 0.763,-1.367, RAW= 32.3, -2.4, CAL= 32.2, -5.0, ROT= 117.8, 5.0 ]PDAT read: Bearing 117.8, 5.0 (Local) ]~Local bearing/azimuth received: Bearing 117.8, 5.0 (Local) mDAT read: Range 10 to 50 : 109.2 m (Round-trip 145.6 ms) speed -0.4 m/s I,DAT read: user:3559> BDAT read: Tx time:23:59:40.3527 $Ping request sent. } ?I f>ɚiImN+=Ieii!)%[ƞ@)!*F ?2F :F BF 2JF G  G qAG G G pAGQBaO}>qw,S[A Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:59:40.3519 RE@YRƎ@RX>9R QU>IQ U>ɚQiQIU+=IeIiaia)e3@)i*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. e!$?IaG5 c>G B! OU >̫w,l[A2ϗ@Y2P@24BT>92\;y2H`ag? O?Y\??`4ƿ`WʿRq? P?ɨ2ϗ@2\r;2"Cy>B>`$IIJIJʴ٢Rt RT=9V;Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^W?f5Y^M i^[™dffA^E^:^:^^5h n@lZj FNOT Ignoring new targets: 108.40 m.Bj 5Jj5 ProNav: ac range: 108.400002 m, nav range: 9.617927 m, bearing: 154.055375 deg, approach rate: 0.397876 m/s, LOS rate: -2.045201 deg/s, cmd heading: 282.360758 deg, new cmd heading: 280.090645 deg. 2jsHeadingCmd: 4.888504 target range: 108.400002 and range: 109.20 m. jn@jjjihhhhfffrfbfϛ?ɛӄB5#> 隕>I {h>ɚiI(`,=I넲ii)n@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHH!I! I%z$II%BI!&I!.I!6I%X<:I%? FBIßCJIßCRIZI# =bI# =jIêw4*F?2F:FBFJFzKPK9KK'Kc`^XROIEFD@=:95411//*,''($&$%##$&%'&$#%%''%&$%"!RK >JK ?J]JYJYJYJ],:JYJYJYJ];aJ];aJ]I;aJ]I;aGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii w,[A6z@Y6ͨ@6|P>96ai mG٣mXGym~ m> }Nusing accuracyPremultiplier from configq59u?5Yu? iu[™?:AuEu;u;u`5 @˵EZjFNOT Ignoring new targets: 108.40 m.Bj!Jj! ProNav: ac range: 108.400002 m, nav range: 9.789905 m, bearing: 153.072065 deg, approach rate: 0.402637 m/s, LOS rate: -2.261585 deg/s, cmd heading: 280.090649 deg, new cmd heading: 277.195150 deg. 2j½HeadingCmd: 4.837968 target range: 108.400002 and range: 109.20 m. jК@jjjihhhhtBfffrfbf@l?ɛ҄BZ> 隥\>I ]>ɚiI-=I)yii)К@)*F?2F:FBF_0JF"G>G>=Will construct direction to contact in vehicle frame from tetrahedron phase data.G^>G?G?G B O >w,yy[A6@Y67@6pwL>96tx zG٣xyzW z> Nusing accuracyPremultiplier from config|59~? 5Y~ i~\™   A~ E~:~X:~b5 ^@͵E5B*** querying acoustic contact ***j1j1ZjIMFNOT Ignoring new targets: 108.40 m.BjUa JjUa m ProNav: ac range: 108.400002 m, nav range: 9.945118 m, bearing: 152.183821 deg, approach rate: 0.398255 m/s, LOS rate: -2.243444 deg/s, cmd heading: 277.195141 deg, new cmd heading: 274.573932 deg. 2jmtmHeadingCmd: 4.792219 target range: 108.400002 and range: 109.20 m. juY@jqjqjqiqhqWill construct direction to contact in vehicle frame from tetrahedron phase data.՝I?՝V?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. Ihhhhfff!rf!bf% p?ɛmЄBm> quӖ>I >ɚiI-=Ix1ii)Y@)*F2F:FBF`0JFG c>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737910G B H 8>I  I $II mBI &I .I 6I 4<:I & FO >Jq Ju Ju 1Jq Jq Ju :Ju 3Jq Jq Jq Ju yE;Ju zE;zK N*w, k[AKiKiKm'Km BKL:KLR@YR(@RlJ>9R] AA EG٣AyMke M> UNusing accuracyPremultiplier from configQ]59Un!?]5YU iUc\™e?e:e)eAU#EU@;U;Ud5i m@qZjFNOT Ignoring new targets: 108.40 m.BjL*JjL* ProNav: ac range: 108.400002 m, nav range: 10.141746 m, bearing: 151.058042 deg, approach rate: 0.424326 m/s, LOS rate: -2.382197 deg/s, cmd heading: 274.573932 deg, new cmd heading: 271.265968 deg. 2j\̽HeadingCmd: 4.734484 target range: 108.400002 and range: 109.20 m. j倗@jjjihhhheBfffrfbf@R?ɛ΄B> ^z>I! %+>ɚ!i!I%w.=I-;ƿi)i))5倗@)1-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990821 iIq*F2F:FBF0JFG^>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241936w,[AJ9@YJhI@J'H>9J.xx zG٣zXGyz ~> Nusing accuracyPremultiplier from config 59&? 5Y+ i\™   A$E":":f5 :@ZjIMFNOT Ignoring new targets: 108.40 m.BjU )JjU )e ProNav: ac range: 108.400002 m, nav range: 10.290826 m, bearing: 150.202482 deg, approach rate: 0.418092 m/s, LOS rate: -2.364548 deg/s, cmd heading: 271.265963 deg, new cmd heading: 268.738202 deg. 2jeʽmHeadingCmd: 4.690366 target range: 108.400002 and range: 109.20 m. jm{@jijijiiihqhqhqhqfffrfbf @ɛM̄BMU> M6c=Md9>II MN>ɚQiQIU/=I˿ii){@)*F?2F:FBF O1JF G G]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493851 yIyGI G! B9 O] >+w,/[AnU@Ynfe@nE>9ni\)) -G٣)y54 5> =Nusing accuracyPremultiplier from config9E59=*?E5Y= i=\™IM#MA=&E=:=L:=g5Q ]j@YZjyFNOT Ignoring new targets: 108.40 m.Bj(Jj( ProNav: ac range: 108.400002 m, nav range: 10.461823 m, bearing: 149.213956 deg, approach rate: 0.415483 m/s, LOS rate: -2.362507 deg/s, cmd heading: 268.738192 deg, new cmd heading: 265.823746 deg. 2jʽHeadingCmd: 4.639500 target range: 108.400002 and range: 109.20 m. jv@jjjihhhhfffrfbf@ɛʄB> ,>I Lm>ɚiIc/=IKdҿii)v@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745991jH]<bH]<He:>Ia Ie#IIe+BIa&Ia.Ia6IeL<:Ie9 F*F?2F:FBFE5JFJJJ/JJ:J:J(N3JJ6;J8;zKLK9KK'KRK=?JK= ?JDG;JEG;Gi G9 BI e "$?Ia m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:23:59:42.9046 u TRx dataTimestamp_ set to:1736380784.074278} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000521O >Uw,.\Ay~B~#IMb@Mb@Mb@ )Y'1Z?~jtI +y"?Ľ9@ @) AIS@y(@II@٢謽 B=9Q > G٣y > Nusing accuracyPremultiplier from config591?5Y' i]™$?:EA(E;;i5 @ʵEZj FNOT Ignoring new targets: 108.40 m.BjwJjw- ProNav: ac range: 108.400002 m, nav range: 10.659967 m, bearing: 148.266991 deg, approach rate: 0.469646 m/s, LOS rate: -2.202698 deg/s, cmd heading: 265.823750 deg, new cmd heading: 263.037985 deg. 2j-5HeadingCmd: 4.590879 target range: 108.400002 and range: 109.20 m. j5{@jjjihhhh-Bfffrfbfh @ɛUȄBUz > QUp=IQ ]=>ɚYiYI]0=IeFֿiaia)e{@)i*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249904G c>G B O ><w,m"\A6Ҕ@Y6S@6ː@>96d~??~?ƿ ǿ;?Mn?ɨ6Ҕ@62;6!CyZBZ#I IhWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: Range 10 to 50 : 110.7 m (Round-trip 147.7 ms) speed -0.7 m/s -,DAT read: user:3560> -5X#Rx 1: Read range message, but no direction.yfB=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.IMIMM٢ek eO=9eHQ e>ii mG٣mXGyub u> Nusing accuracyPremultiplier from config59'7?5Y i^]™@A*E::k5B @͵EB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 110.699997 m, deltaT: 3.526341 s, deltaX: 1.500000 m, approachRate: 0.425370 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 108.40 m.Bj5< Jj5< u ProNav: ac range: 108.400002 m, nav range: 10.856014 m, bearing: 147.275090 deg, approach rate: 0.451186 m/s, LOS rate: -2.241447 deg/s, cmd heading: 263.037989 deg, new cmd heading: 260.118698 deg. 2j}IHeadingCmd: 4.539927 target range: 108.400002 and range: 110.70 m. jG@jjjihhhhfffrf̬[@bf?ɛmƄBu > qu=Iq u՜>ɚqiqI}3S1=I}`m޿ii)G@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:23:59:44.0028 $Ping request sent.G?G ?GaBiO?w,C\ARⳛ@YRcâ@R=>9RU G٣yGY > Nusing accuracyPremultiplier from config59j;?5Y i]™)?M:MMA-Eژ<<m5Y ]@YZjFNOT Ignoring new targets: 108.40 m.Bj'Jj' ProNav: ac range: 108.400002 m, nav range: 11.066273 m, bearing: 146.084787 deg, approach rate: 0.422631 m/s, LOS rate: -2.346946 deg/s, cmd heading: 260.118684 deg, new cmd heading: 256.620228 deg. 2jVɽHeadingCmd: 4.478868 target range: 108.400002 and range: 110.70 m. jR@jj j ihhhhEBfffrfbf%@c?ɛÄBI* > 隥d=I >ɚiI2=Iii)R@)E \c=*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503728G= h>G B! O= >w,G\\A2ǚ@Y2֡@2@;>92`TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b59^>?b5Y^U i^]™`ffA^/E^ ;^ ;^]o5h j(@hZj FNOT Ignoring new targets: 108.40 m.Bj 6Jj 6% ProNav: ac range: 108.400002 m, nav range: 11.226047 m, bearing: 145.176409 deg, approach rate: 0.456425 m/s, LOS rate: -2.557919 deg/s, cmd heading: 256.620234 deg, new cmd heading: 253.935963 deg. 2j%o۽-HeadingCmd: 4.432019 target range: 108.400002 and range: 110.70 m. j-Ӎ@j)j)j)i)h)h1h1h1f1f1f9rf9bfE _P?ɛBOl > pF=I >ɚiI٨2=I ii)Ӎ@)E E *E"E I Will construct direction to contact in vehicle frame from tetrahedron phase data. = 8?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755719*F?2F:FBF4JFG c> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008191ZH! RH% AAH- <>I)  I- Z#II- τBI) &I) .I) 6I- x<:I- ] FG B O >bw,!x\A)x x5tAzKMKMŷ9KIKM'KM)* #7bm*4?GC3i 8'Y5tAyBRܙ@Y@7>9N G٣XGyO > EbBottom track data is 0.6 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=rA?M5Y= i=>^‘M+:IM:MeUA=2E=(;=u?=dq5y }@yZjFNOT Ignoring new targets: 108.40 m.Bj((Jj(( I5 ProNav: ac range: 108.400002 m, nav range: 11.471865 m, bearing: 143.780526 deg, approach rate: 0.423343 m/s, LOS rate: -2.352218 deg/s, cmd heading: 253.935969 deg, new cmd heading: 249.845423 deg. 2j=ɽ=HeadingCmd: 4.360625 target range: 108.400002 and range: 110.70 m. jE>@jAjAjAiAhAhAhIhIuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259482fyfyfyrfbf`8?ɛ=B=> 9=(=IA E>ɚAiAIE,3=I-ui1i1)5>@)A*F 2F :F BF @5JF -Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512902G9GqGunAGABaO?%w, \AJ@YJ)@J2>9J hh jG٣hynP n> zbBottom track data is 0.9 s old, using for 20.0 s. zNusing accuracyPremultiplier from configp~59r{B?~5Yr? irv^‘~ :|R:i¿Ar4Erst;rq?rqr5 @ϵEZj9=FNOT Ignoring new targets: 108.40 m.BjE0JjE0U ProNav: ac range: 108.400002 m, nav range: 11.622747 m, bearing: 142.877127 deg, approach rate: 0.418892 m/s, LOS rate: -2.475422 deg/s, cmd heading: 249.845424 deg, new cmd heading: 247.172460 deg. 2jU[Խ]HeadingCmd: 4.313973 target range: 108.400002 and range: 110.70 m. j] @jYjYjYiahahahihifqfqfyrfybf}ι?JJJ1JJ:J9J3Ja@a@a@a@ɛB> 3ɚiI 4=IgOii) @)*F ?2F :F BF P0JF IiMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763389G%^>GB O= >^,w,c\A>E@Y>'U@>91>9>@Hk?@"?N?ݦt?ſ ƿ?,?ɨ>E@>I;\\ ^G٣\yb9 b> jbBottom track data is 1.3 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59f C?r5Yf if^‘r9tv*:vſvAf6EfH;fΫ?f^s5x z@xB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 108.40 m.Bj-,Jj-,E ProNav: ac range: 108.400002 m, nav range: 11.785175 m, bearing: 141.898929 deg, approach rate: 0.407304 m/s, LOS rate: -2.419003 deg/s, cmd heading: 247.172470 deg, new cmd heading: 244.280920 deg. 2jEϽMHeadingCmd: 4.263506 target range: 108.400002 and range: 110.70 m. jMn@jIjIjIiIhIhIhQhQfQfQfYrfabfeo @ɛBW> 隕QɚiIЕ4=Iiii)n@)H@>IC I;#IIBI&I.I6I"<:I FBIJIRIZI! =bI" =jI5%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028928*FQ2FQ:FQBFU_0JFQzK}]OK9KK'KHE(~zvqlgdb^XXWURMJKGEBA?=9443121/++)***Gh> IGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2810322w,@\A 6mk@Y6z@6/>96 G٣XGyz > Nusing accuracyPremultiplier from config59C?5Y8 i^‘T:$?:dĿA8E;';Eu5 @Zj  FNOT Ignoring new targets: 108.40 m.Bj`"Jj`"% ProNav: ac range: 108.400002 m, nav range: 11.963254 m, bearing: 140.899626 deg, approach rate: 0.410897 m/s, LOS rate: -2.271344 deg/s, cmd heading: 244.280923 deg, new cmd heading: 241.330401 deg. 2j%½-HeadingCmd: 4.212010 target range: 108.400002 and range: 110.70 m. j-Ȇ@j)j)j)i)h1h1h9h=tBf9fAfIrfIbfM@ɛ5B5 > 157ɚ9i9I=,5=IEii)Ȇ@)E*F2F :F BF ^0JF eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.539615JJJ0JJ:J=9Jـ3JG c>G ?G >G B O > I 9w,*\A6S@Y6ԣ@6 ->96BB6#IIJIJ㔳٢Vc V\=9VQ Z>XX ZG٣Xy^bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.791948 f> jNusing accuracyPremultiplier from confighr59jD?r5Yjb ij!_™prǿrAj:Ej!;jD";jv5x z@xZjFNOT Ignoring new targets: 108.40 m.BjJj5 ProNav: ac range: 108.400002 m, nav range: 12.114051 m, bearing: 140.047947 deg, approach rate: 0.380877 m/s, LOS rate: -2.124284 deg/s, cmd heading: 241.330391 deg, new cmd heading: 238.808881 deg. 2j5 I %>ɚ!i)I-G5=Ibii)D`@)!*F2F:FBF_0JFjHbHp<HJ>IC I.#IIBI =&I.I8D6IE<:IA FuWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiuA}BDAT read: Rx Time:23:59:46.5571 }TRx dataTimestamp_ set to:1736380787.872837checking for new query: numPingsReceived=0, elapsed TxPingTime=3.044648G Gq By O >zK= NK= ŷ9K9 K= 'K= '###    @w,]A~;@Y~ś@~*>9~EܺYY ]G٣Yy](r ]> mNusing accuracyPremultiplier from configam59e8D?u5Ye ie[_™u?u:uWȿuAe RI 6>ɚiI%Q+6=I5U i1i9)=Ń@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295968*F]?2Fa:FaBFe0JFaG h>GY Bi O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 112.5 m (Round-trip 150.1 ms) speed -0.4 m/s  ,DAT read: user:3561>  BDAT read: Tx time:23:59:47.6528  $Ping request sent. 9vTP9a eG٣eXGyeU m> uNusing accuracyPremultiplier from configiu59mC?}5Ym im_™˿Am>Em;mW;mz5B @ѵE addTargetRange:: Added new target pos. range: 112.500000 m, deltaT: 3.799890 s, deltaX: 1.800003 m, approachRate: 0.473699 m/s, rangeRepo size: 4 Zj%FNOT Ignoring new targets: 108.40 m.Bj%Jj%5 ProNav: ac range: 108.400002 m, nav range: 12.449881 m, bearing: 138.211451 deg, approach rate: 0.378764 m/s, LOS rate: -2.054329 deg/s, cmd heading: 235.936946 deg, new cmd heading: 233.378844 deg. 2j5;EHeadingCmd: 4.073229 target range: 108.400002 and range: 112.50 m. jEW@jAjAjAiAhIhIhIhIfQffrf \@bf4?ɛBK> I 5>ɚ1i1I56=I= i9iA)EW@)A !I%i*F?2F:FBF,2JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:59:47.6520 G c>G G pAG B O >QLw,ͬ3]A6@Y6$@6Z&>96vTT VG٣TyZ" Z? bNusing accuracyPremultiplier from config\b59^B?f5Y^w i^_™dfpϿfA^@E^S*;^;^.|5h nj@l~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 108.40 m.Bj0Jj0- ProNav: ac range: 108.400002 m, nav range: 12.581062 m, bearing: 137.477735 deg, approach rate: 0.387167 m/s, LOS rate: -2.142836 deg/s, cmd heading: 233.378849 deg, new cmd heading: 231.201758 deg. 2j-ӷ5HeadingCmd: 4.035232 target range: 108.400002 and range: 112.50 m. j5 @j1j1j1i1HQ>IC I#IIBI =&I.I:D6I<:I+ Fh9hhhfffrfbf@|?ɛ-B5ϫ>=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. 1UjIQ ]>ɚYiYI]7=Ieiaia)e @)i*F?2F:FBF3JF*JR="J%=zK3MKK9KK'KPExceeded connect timeout, disconnecting. !I)G5^>G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752972G:Sw,M]A:@Y:@:">9:纎II UG٣QyU+ U> eNusing accuracyPremultiplier from configYe59]}A?m5Y] i]_™m?m:mҿmA]BE]w;];] ~5y }@yZjFNOT Ignoring new targets: 108.40 m.BjX JjX  ProNav: ac range: 108.400002 m, nav range: 12.732803 m, bearing: 136.627795 deg, approach rate: 0.357263 m/s, LOS rate: -1.977199 deg/s, cmd heading: 231.201767 deg, new cmd heading: 228.684049 deg. 2jHeadingCmd: 3.991290 target range: 108.400002 and range: 112.50 m. jJq@jjjihhhQhUBfYfYfYrfYbf]6?ɛB> 0I >ɚiI u7=Ilii)Jq@)*F?2F:FBFO0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006120JJJ1JJ}:J9J3JGG B O > ! I! "eYw,gg]A6@Y6o+@6a>96)6mhh jG٣jXGyn瓽 r> vNusing accuracyPremultiplier from configtz59v??5Yv& iv`™տ AvCEvu;vu;v5 ^@ZjamFNOT Ignoring new targets: 108.40 m.BjU4 JjU4 e ProNav: ac range: 108.400002 m, nav range: 12.869485 m, bearing: 135.848958 deg, approach rate: 0.345408 m/s, LOS rate: -1.947238 deg/s, cmd heading: 228.684050 deg, new cmd heading: 226.373679 deg. 2je mHeadingCmd: 3.950966 target range: 108.400002 and range: 112.50 m. jm|@jijijiiihhhhfffrfbf-5?ɛBI> 15( I1 5>ɚ1i1I57=I=TQi9i9)E|@)A*F%?2F!:F!BF%P0JF!"G->G->ZHRH@AH\>IC I#IIBI =&I.I;D6Id<:Ii FUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509173GA GM ?GM #?G! B1 OM >P`w,R]A nManaging dock network, ignoring radio surface power offzKJJ3KKHKHKJ'KJ   IyB#IMb@Mb@Mb@ )Yoʡ?V-   G٣ y   > Nusing accuracyPremultiplier from config59=?5Yr- i@`™%=?%:%0Կ%AEE;;с5) 5@1ZjQ]FNOT Ignoring new targets: 108.40 m.Bj]Jj]m ProNav: ac range: 108.400002 m, nav range: 13.035576 m, bearing: 134.961335 deg, approach rate: 0.354695 m/s, LOS rate: -1.871335 deg/s, cmd heading: 226.373684 deg, new cmd heading: 223.746689 deg. 2juHeadingCmd: 3.905116 target range: 108.400002 and range: 112.50 m. jmy@jjjihh-Will construct direction to contact in vehicle frame from tetrahedron phase data.-3?-  (PI >ɚiI7I8=II2ii)my@)*F12F1:F1BF1JF1GU c> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029823GI BY Ou >fw,k]A:2}@Y:@:O>9:5ˁaa eG٣aye m> uNusing accuracyPremultiplier from configq}59u;?}5Yu2 iuc`™y}ڿ}AuGEu:u:u]5B u@ӵEZjFNOT Ignoring new targets: 108.40 m.Bj3Jj3= ProNav: ac range: 108.400002 m, nav range: 13.153469 m, bearing: 134.289009 deg, approach rate: 0.332163 m/s, LOS rate: -1.877250 deg/s, cmd heading: 223.746684 deg, new cmd heading: 221.748640 deg. 2j= }HeadingCmd: 3.870244 target range: 108.400002 and range: 112.50 m. j}w@jyjyjyiyhhhhfffrfbf@/@ɛuBu> quzIy }>ɚyiyI}8=Imii)w@) I*F]?2FY:FYBF]_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281811G GY Ba O >Jlw,D]A2H@Y2ɱ@26>92цtB>"I)D FA Fa=Fp=IJIJT٢n nS=9r|5Q r>pp vG٣vXGyv v> ~Nusing accuracyPremultiplier from config| 59~8? 5Y~ 8 i~`™  ޿ A~IE~1;~ 2;~5Hc>IC I#IIBI =&I.IɚiI8=IUii)v=u@)E}Will construct direction to contact in vehicle frame from tetrahedron phase data.}Aiychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.535572tA9*Fq2Fq:FyBF}1JFy }(Y}tAy}N!BJmJmJm0JiJmm:Jm9Jmـ3JiJm;aJm;aJm' ;aJm' ;azK}LK}9KyK}'K}  yIyGGiBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785046ۙsw,]A27ɍ@Y2ؔ@2,>92;֔fB>"I Mb@Mb@Mb@    ) Y S㥛?ʡE~jtxy ?  Ļ   A) EAI -@ y (AI%I%ʴ٢5 5E=9=Q =>9A EG٣AyE E> MNusing accuracyPremultiplier from configI59M4?5YM= iM`™S?:㿑AMJEMɚiIb9=IMiIiI)Mr@)Q*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:23:59:50.2093 TRx dataTimestamp_ set to:1736380791.417401checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038850Gh>G B O > a Ie iyw,r]AnWill construct direction to contact in vehicle frame from tetrahedron phase data.n9jYY ]G٣Yye< e> mNusing accuracyPremultiplier from configiu59m0?u5YmB im`™qu|翑}AmLEmu ;m ;m5 u@ZjFNOT Ignoring new targets: 108.40 m.BjJjm ProNav: ac range: 108.400002 m, nav range: 13.521010 m, bearing: 132.046852 deg, approach rate: 0.304847 m/s, LOS rate: -1.909515 deg/s, cmd heading: 217.303274 deg, new cmd heading: 215.087192 deg. 2jmϣuHeadingCmd: 3.753980 target range: 108.400002 and range: 112.50 m. ju4Ap@jqjqjyiyhyhyhyhfffrfbf @ɛBd;= I X>ɚiI9=Ix ii!)-4Ap@))*F?2F:FBF@5JFjHbH<H-l>I-C I-"II-oBI- =&I-FD.I-=D6I-/<:I-Q FBIƤCJIƤCRIƕCZI =bI =jIV6Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 114.3 m (Round-trip 152.4 ms) speed -0.4 m/s ,DAT read: user:3562> BDAT read: Tx time:23:59:51.3028 $Ping request sent.G B O >J J J 1J J y:J ľ9J 3J J ;J ;J ;J ;}w,^AzK. KK.@9K,K. 'K. Iy HB "Ii >Ip;AMb@Mb@Mb@ )YS㥛?{Gzty$?̽ףMA A)AI@ypAIIʴ٢%@ %0=9-Q ->)1 5G٣5XGy5 5> =Nusing accuracyPremultiplier from config9E59=*?M5Y=(I i=`™M?M:M쿑MA=NE=;=p;=5Q U @]ֵE addTargetRange:: Added new target pos. range: 114.300003 m, deltaT: 3.544000 s, deltaX: 1.800003 m, approachRate: 0.507902 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 108.40 m.BjJj ProNav: ac range: 108.400002 m, nav range: 13.651856 m, bearing: 131.176460 deg, approach rate: 0.282151 m/s, LOS rate: -1.858816 deg/s, cmd heading: 215.087192 deg, new cmd heading: 212.502897 deg. 2jvHeadingCmd: 3.708875 target range: 108.400002 and range: 114.30 m. j6^m@jjjihhhh܄Bfffrf@3\@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:23:59:51.3020 ɛUB]= Y0%I 2>ɚiIC:=IUP$ii)6^m@)*Fq2Fq:FqBFu45JFqG] h>G] ?G] ?G1 B9 Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.dӆw,^A6@Y6S/@6`>960`Qƹ¿`9{¿ÿX??ɨ6@6';6#Cy>6BB"IININ&٢Ͻ t=9%˻Q %?!! -G٣)y-( -? 5Nusing accuracyPremultiplier from config1E595 &?E5Y5M i5a™IMMA5OE5B;5;C;5&5Q U6@QZjFNOT Ignoring new targets: 108.40 m.BjJj ProNav: ac range: 108.400002 m, nav range: 13.740250 m, bearing: 130.534828 deg, approach rate: 0.261872 m/s, LOS rate: -1.888616 deg/s, cmd heading: 212.502895 deg, new cmd heading: 210.591131 deg. 2jHeadingCmd: 3.675508 target range: 108.400002 and range: 114.30 m. j;k@jjjihhhhfffrfbf?ɛBx= ,EI !>ɚiI:=I-%ii);k@) *F?2F:FBFO0JF !$?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>w,~6^A:(@Y:>8@:W>9:dӇXX ZG٣\Hbt>IbC Ib"IIbPBIb =&I`.Ib>D6Ib <:Ib? Fyn n> rNusing accuracyPremultiplier from configpz59r?z5YrR ir8a™|~ArQErp;rMq;rߍ5 B @ صE-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 108.40 m.BjEJjEU ProNav: ac range: 108.400002 m, nav range: 13.840652 m, bearing: 129.780068 deg, approach rate: 0.254254 m/s, LOS rate: -1.897406 deg/s, cmd heading: 210.591125 deg, new cmd heading: 208.344488 deg. 2jUŢ]HeadingCmd: 3.636297 target range: 108.400002 and range: 114.30 m. j]h@jYjYjaiahahahahifififqrfybf}]?ɛBh= 隭lI H>ɚiI";=I-`)ii)h@)]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.*F92F9:F9BF=^0JF9Jm}JmxJm0JiJm[j:Jm9Jmـ3JiJm;Jm;Jm&:Jm':zKUKK9KK!'K%30///1BRVVRRQLE@:52/*# $-23/'  IGqG9BAO]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255522hw,dP^A69@Y60I@6 >96 G٣XGyI > Nusing accuracyPremultiplier from config59$?5Y#X i`a™?:ASE;V;ȏ5 .@Zj)5FNOT Ignoring new targets: 108.40 m.Bj5Jj=E ProNav: ac range: 108.400002 m, nav range: 13.943376 m, bearing: 128.947386 deg, approach rate: 0.235579 m/s, LOS rate: -1.895467 deg/s, cmd heading: 208.344484 deg, new cmd heading: 205.866476 deg. 2jMUHeadingCmd: 3.593048 target range: 108.400002 and range: 114.30 m. jUe@jQjQjYiYhYhYhYheBfafafarfabfmҢ?ɛB= 隝uI m>ɚiI/;=IT+ii)e@)El>E*Fe?2Fa:FaBFm_0JFiGuqA GqeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508327Gc>Ga Bq O > I *w,=j^AV_@YV"o@V+>9Vw|| G٣y >  Nusing accuracyPremultiplier from config 59 (?5Y \ i a™%A TE 2;  3; m5) 5@1ZjY]FNOT Ignoring new targets: 108.40 m.BjeJjeu ProNav: ac range: 108.400002 m, nav range: 14.029408 m, bearing: 128.231703 deg, approach rate: 0.228234 m/s, LOS rate: -1.886923 deg/s, cmd heading: 205.866478 deg, new cmd heading: 203.733636 deg. 2juߡ}HeadingCmd: 3.555823 target range: 108.400002 and range: 114.30 m. j}c@jyjyjihhhhfffrfbfͧ?ɛBe= ۧI a>ɚiIm <=I.ii)c@)*FM?2FI:FQBFU0JFQZHRHHz>IC I"IIBI =&I.I?D6I<:I/ FG^>mWill construct direction to contact in vehicle frame from tetrahedron phase data.iimAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011719GyBO>Je |Je zJe 1Ja Je ;g:Je 9Je 3Ja Je ֊;Je ׊;Je Q:Je R:\w,*^A LILzKvMKv9KtKv"'Kv r@Y@d>9S G٣y%<] -> ENusing accuracyPremultiplier from config9E59=&?M5Y=b i=a™M?M:MMA=WE=;=;=5UB ]u@]۵EZjyFNOT Ignoring new targets: 108.40 m.Bj7Jj7 ProNav: ac range: 108.400002 m, nav range: 14.142214 m, bearing: 127.265529 deg, approach rate: 0.237441 m/s, LOS rate: -2.017360 deg/s, cmd heading: 203.733642 deg, new cmd heading: 200.860787 deg. 2jHeadingCmd: 3.505682 target range: 108.400002 and range: 114.30 m. j]`@jjjihhhhBfffrfbfo!@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263700ɛB\= QI >ɚiIk<=IHk0ii)]`@)*FI2FI:FIBFM_0JFIu Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515562G Gi B O >pw,4^A6@Y65@6G?>96Uɚ1i9I=?==I= 2iAiA)E^@)A  $?I*F?2F:FBFO5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767616Gc>GB O- >H% ~>I!  I% 5"II% BI%  =&I! .I! 6I% #<:I% Z Fw, ^A6؅@Y6:@6>96XX ZG٣Xyb΅ b> fNusing accuracyPremultiplier from configdj59f;?j5Yfll if b™lnnAfZEf ;f ;fŖ5t v@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 108.40 m.Bj Jj - ProNav: ac range: 108.400002 m, nav range: 14.311502 m, bearing: 125.754912 deg, approach rate: 0.235057 m/s, LOS rate: -2.112986 deg/s, cmd heading: 198.775389 deg, new cmd heading: 196.358416 deg. 2j-C5HeadingCmd: 3.427101 target range: 108.400002 and range: 114.30 m. j5U[@j1j1j1i9hAhAhAhAfIfIfIrfIbfMy@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019678ɛB= I +I>ɚi!I%==I%6i)i))-U[@))*JC="Ja=*F2F:FBF5JF IzKcKKK9KK#'K  BKoA:KGm>GB O! M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271465遴w,^A6@Y6'@6ݭ>96=9}*Q }>y G٣yQ > Nusing accuracyPremultiplier from config59냜?5Y)r iBb™c?:A\EH;F;5B @EZjFNOT Ignoring new targets: 108.40 m.BjuJju ProNav: ac range: 108.400002 m, nav range: 14.416962 m, bearing: 124.845804 deg, approach rate: 0.245959 m/s, LOS rate: -2.104666 deg/s, cmd heading: 196.358417 deg, new cmd heading: 193.653170 deg. 2jHeadingCmd: 3.379885 target range: 108.400002 and range: 114.30 m. j PX@jjjihhhhrBfff rf bf  @ɛ=B== AE IA Ee>ɚAiAIE>=IM=9iIiQ)U PX@)Y*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524444JzJsJ0JJ`:J9Jـ3Ja@a@a@a@Gc>GBO> Ii] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775600ʳw,^ARU @YR@RM>9R- aa eG٣eXGym% m> }Nusing accuracyPremultiplier from configy59}Lნ?5Y}yw i}vb™A}^E}#;}a#;}g5 @ZjFNOT Ignoring new targets: 108.40 m.BjJj ProNav: ac range: 108.400002 m, nav range: 14.513609 m, bearing: 123.991106 deg, approach rate: 0.239855 m/s, LOS rate: -2.106952 deg/s, cmd heading: 193.653171 deg, new cmd heading: 191.107921 deg. 2jHeadingCmd: 3.335462 target range: 108.400002 and range: 114.30 m. j7xU@jjjihhAhIhIfIfIfQrfQbfU@@ɛBd8= ExIA EE>ɚAiIIMn?=IM~I I!IIBI&I.I6Ib<:I F)y yGI u&Yyy}}BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027572G G B O > I Yw,_AzKZ:LKZŷ9KXKZ$'KZ!@Y0@_>9u)11 5G٣1y5\ => ENusing accuracyPremultiplier from config9M59=;Ճ?M5Y=5~ i=b™M&?M:M4UA=`E=];=;=l5Y ]@YZjFNOT Ignoring new targets: 108.40 m.BjJj ProNav: ac range: 108.400002 m, nav range: 14.647851 m, bearing: 122.967759 deg, approach rate: 0.290811 m/s, LOS rate: -2.196465 deg/s, cmd heading: 191.107914 deg, new cmd heading: 188.069024 deg. 2jmHeadingCmd: 3.282424 target range: 108.400002 and range: 114.30 m. j;R@jjjihhhh9Bfffrfbf`<@ɛB=  U.I  >ɚiI1M@=It>ii);R@)*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532706G G B O >w,x _AJ6yJ6tJ4J4J6]:J69J4J4Z5@YZAE@Z>9Zl]ɚiiiImXA= $?II@ii)iO@)*F)2F):F)BF5^0JF1%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783477GGBO >H >I C I y!II HBI  =&I .I @D6I e<:I FBI˪CJI˪CRI˔CZI =bI =jI}+69w,T:_A6G@Y6PW@6oM >96Ks?@?ɨ6G@6z;6#Cy>Bb!IIjIj٢   J=9 G٣XGy% %> 5Nusing accuracyPremultiplier from config)559-f?55Y- i-+c™9==A-dE-;-W;-5A M"AIeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 108.40 m.}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.036131BjcJjc ProNav: ac range: 108.400002 m, nav range: 14.853726 m, bearing: 121.330928 deg, approach rate: 0.275189 m/s, LOS rate: -2.201597 deg/s, cmd heading: 185.873503 deg, new cmd heading: 183.196148 deg. 2jݼHeadingCmd: 3.197376 target range: 108.400002 and range: 114.30 m. jϡL@jjjihhhhfffrfbf`2@ɛBl= "KI %z>ɚiIA=IoDii)ϡL@) *F?2F:FBF0JF IzKyJK9KK%'KGm>GBO% >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2876706w, AT_AFS@YF2c@F >9Fzaa eG٣aym@ m> uNusing accuracyPremultiplier from configq}59u?5Yu iunc™3?:AufEu';u&;ut5 AZjFNOT Ignoring new targets: 108.40 m.Bjf$Jjf$ ProNav: ac range: 108.400002 m, nav range: 14.985680 m, bearing: 120.370276 deg, approach rate: 0.318695 m/s, LOS rate: -2.299643 deg/s, cmd heading: 183.196151 deg, new cmd heading: 180.342067 deg. 2jGŽHeadingCmd: 3.147563 target range: 108.400002 and range: 114.30 m. jqI@jjjihhhhBfffrfbf;@ɛB= 隥5YI lw=ɚiI~B=IMGii)qI@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.539576*F?2F:FBF0JFJ}xJyJ}1JyJ}Z:JyJ}3Jy $?IGG B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791843Jw,gn_A2~@Y2p@2' >92z߿ "C@?`ز?ɨ2~@2R;0y>łBn II~I~(٢   P=9 PQ > G٣y > -Nusing accuracyPremultiplier from config!-59%?-5Y% i%c™15j 5A%hE%:%;%-5=B EAEEZjiuFNOT Ignoring new targets: 108.40 m.BjuI$Jj}I$ ProNav: ac range: 108.400002 m, nav range: 15.108073 m, bearing: 119.458192 deg, approach rate: 0.310914 m/s, LOS rate: -2.298079 deg/s, cmd heading: 180.342061 deg, new cmd heading: 177.630116 deg. 2j$ŽHeadingCmd: 3.100230 target range: 108.400002 and range: 114.30 m. j-jF@jjjihhhhfffrfbf@i@ɛB(y= _I =ɚiIC=IxHG@ii)-jF@)ZHqRHu?AHI I"!IIBI =&I.I6I<:I; FEQf=E!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043660*F?2F:FBF0JF I iG c>G G Gy B O >?w,zo_AzK"K"9K K"&'K"|@Yp@ >9E G٣XGy > Nusing accuracyPremultiplier from config59ޘ?5YG ic™GBO?J!w, }_ARx@YRp@Re>9R6pp vG٣tyv+ v> ~Nusing accuracyPremultiplier from configx~59z?5Yz izAd™ AznEz;z;zE5 AEZjFNOT Ignoring new targets: 108.40 m.BjS.JjS.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799754 ProNav: ac range: 108.400002 m, nav range: 15.418313 m, bearing: 117.207144 deg, approach rate: 0.324028 m/s, LOS rate: -2.438514 deg/s, cmd heading: 174.419863 deg, new cmd heading: 170.953262 deg. 2j1ѽHeadingCmd: 2.983697 target range: 108.400002 and range: 114.30 m. j>@jjjihhhhf!f!f!rf!bf-A@ɛBKw= uI l=ɚiIF=I1V@@ii)>@)EE*E"EHE>IA IE IIEBIE =&IA.IA6IE<:IE5 F*F)2F1:F1BF5n0JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051516GU ^> 5 $?I1 G9 BQ O >jw,t&_Av@Y`l@>9l G٣yU > Nusing accuracyPremultiplier from config59Iu?5Y id™B?: AqE;I;}5 AB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 108.40 m.Bj- 0Jj- 0= ProNav: ac range: 108.400002 m, nav range: 15.598514 m, bearing: 115.976876 deg, approach rate: 0.364947 m/s, LOS rate: -2.462599 deg/s, cmd heading: 170.953256 deg, new cmd heading: 167.310285 deg. 2j=AӽEHeadingCmd: 2.920115 target range: 108.400002 and range: 114.30 m. jE+:@jAjIjIiIhIhIhQhUǃBfQfQfYrfYbf] 4@Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս=Չchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.303890ɛ%~BMrw,2_A Vt@YVh@VH>9VH G٣XGy > Nusing accuracyPremultiplier from config59g?5Y id™ AsEn::5B AEZjFNOT Ignoring new targets: 108.40 m.Bj-Jj- ProNav: ac range: 108.400002 m, nav range: 15.725208 m, bearing: 115.092615 deg, approach rate: 0.349797 m/s, LOS rate: -2.421629 deg/s, cmd heading: 167.310279 deg, new cmd heading: 164.680820 deg. 2jϽHeadingCmd: 2.874223 target range: 108.400002 and range: 114.30 m. jC7@jjj!i!h!h!h!h)f)f)f)rf)bf5i@ɛ]|B]l4= Y]恿Ia eR=ɚaiaIe2H=Im 8@iiii)mC7@ }$?Iy)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.808154GG B O >jH <bH <H >I  I II BI &I .I 6I ׯ<:I * Fw,_A6r@Y6v_@6 >96$!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595&X?E5Y5 i5e™AEEA5uE5;5l;5ˬ5I U"AQZjFNOT Ignoring new targets: 108.40 m.Bj+Jj+ ProNav: ac range: 108.400002 m, nav range: 15.856379 m, bearing: 114.147018 deg, approach rate: 0.334824 m/s, LOS rate: -2.393645 deg/s, cmd heading: 164.680820 deg, new cmd heading: 161.869881 deg. 2jWͽHeadingCmd: 2.825162 target range: 108.400002 and range: 114.30 m. jv4@jjjihhhhfffrfbf y @ɛyBA= I U=ɚiIW8I=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059656I;6@i i ) v4@) *F?2F:FBFP0JF iImiGh>zKUBHKQKQKU('KUGBO- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311564Uw,̲`Ay~kB~j IMb@Mb@Mb@ )Yx&1?Zd;O? ףp= yA?j<Q8 A  A)AIAyQ AII<٢ƍ >=9Q > G٣y > Nusing accuracyPremultiplier from config59wG?5Y> i>e™A?:L AxEH;;5B <A%EZjFNOT Ignoring new targets: 108.40 m.BjB$JjB$ ProNav: ac range: 108.400002 m, nav range: 16.006762 m, bearing: 113.133009 deg, approach rate: 0.344009 m/s, LOS rate: -2.297688 deg/s, cmd heading: 161.869883 deg, new cmd heading: 158.859367 deg. 2jŽHeadingCmd: 2.772619 target range: 108.400002 and range: 114.30 m. jr1@jjjihhhh܃Bfffrfbf @ɛwBp O= ڂI =ɚiITJ=I2@ii)r1@) Ei>E> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563795*FA2FA:FABFAJFIGQ GUpA U$?IYG c>Gi B O >} w,.`A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2=06checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815856>nn@Y>q|@><>9>H ?"v`%1'@OF??ɨ>nn@>Ñ;>"CyRlBP)X X Z=XIEIE[٢MR: UT=9UQ U>YY ]G٣]XGye' e> mNusing accuracyPremultiplier from configiu59mK7?u5Ym imue™q}W}AmzEm ;m ;mZ5 :AZjFNOT Ignoring new targets: 108.40 m.Bj-Jj- ProNav: ac range: 108.400002 m, nav range: 16.130093 m, bearing: 112.207777 deg, approach rate: 0.326630 m/s, LOS rate: -2.431541 deg/s, cmd heading: 158.859367 deg, new cmd heading: 156.107131 deg. 2jнHeadingCmd: 2.724583 target range: 108.400002 and range: 114.30 m. j_.@jjjihhhhfffrfbf!@ɛuB47= :I %=ɚ!i!I%UK=I-؃0@i1i9)=_.@)9*F2F:FBF_0JFH>I I II}BI =&I.I6I <:IR FU~Gi `YyBGm>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069011GBO>*J R="J J vJ qJ 0J J {T:J q9J ـ3J J Hu;a J Ju;a J :a J :a A IA w,jH`A=l@Y@z@6 >9O G٣y؍ > Nusing accuracyPremultiplier from config59#?5Y" ie™l??:7A}E;;S5B FAEeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.319582zKk3IKKK)'K"$" @YVI:-'  BKpA:KoAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 108.40 m.BjJj ProNav: ac range: 108.400002 m, nav range: 16.264687 m, bearing: 111.130870 deg, approach rate: 0.281948 m/s, LOS rate: -2.237107 deg/s, cmd heading: 156.107129 deg, new cmd heading: 152.906664 deg. 2j%鿽%HeadingCmd: 2.668725 target range: 108.400002 and range: 114.30 m. j-c*@j)j)j)i)h)h)h1h5Bf1fYfYrfYbf]M"@ɛqBIJX= 隽I ;=ɚiId}L=IZ+@ii)c*@)*FI2FQ:FQBFU]0JFQGu c> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572324GI BY Ou >+w,Fb`AR{j@YR~x@RU"=9R9 G٣y > Nusing accuracyPremultiplier from config59f?5Y ie™5AE/;b;5 A $?IiZj1=FNOT Ignoring new targets: 108.40 m.Bj=R0Jj=R0M ProNav: ac range: 108.400002 m, nav range: 16.369068 m, bearing: 110.268895 deg, approach rate: 0.300602 m/s, LOS rate: -2.466423 deg/s, cmd heading: 152.906666 deg, new cmd heading: 150.339050 deg. 2jUӽ}HeadingCmd: 2.623911 target range: 108.400002 and range: 114.30 m. j}*'@jyjyjyiyhhhhfffrfbfe#@ɛ]oBe0= aeT~Ii 5m=ɚiIqM=Im)@iiii)m*'@)q*F=?2F9:F9BFE_0JFA"GM>GM{>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824350Ge ^>Gm ?Gm ?G9 BI Oe >ZHy RH} @AH >I  I y II xBI  =&I .I 6I <:I ? FBIM˫CJIM˫CRIM˓CZIM =bIM =jIME4:fw,(e|`AJ:h@YJ=v@Jn=9Jlp rG٣rXGyr7 r> zNusing accuracyPremultiplier from configtz59v?z5Yv iv f™|~!~AvEv;v_;v5 B A EZj9=FNOT Ignoring new targets: 108.40 m.BjE.JjE.U ProNav: ac range: 108.400002 m, nav range: 16.477034 m, bearing: 109.346223 deg, approach rate: 0.287562 m/s, LOS rate: -2.441295 deg/s, cmd heading: 150.339048 deg, new cmd heading: 147.591396 deg. 2jUnѽ]HeadingCmd: 2.575956 target range: 108.400002 and range: 114.30 m. j]v$@jYjYjYiYhahahahafififirfibfm#$@Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.m =m %=u  G٣y > Nusing accuracyPremultiplier from config59킜?5Y i9f™3?:AE<;;5 AEZj!%FNOT Ignoring new targets: 108.40 m.Bj- Jj- = ProNav: ac range: 108.400002 m, nav range: 16.579056 m, bearing: 108.363886 deg, approach rate: 0.235153 m/s, LOS rate: -2.250168 deg/s, cmd heading: 147.591399 deg, new cmd heading: 144.665213 deg. 2j=EHeadingCmd: 2.524884 target range: 108.400002 and range: 114.30 m. jE!@jAjAjAiIhIhIhIhM2BfQfQfQrfYbfez%@ɛjBH= xI D=ɚiI pO=Im#@iqiq)u!@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.xw+w,@`AWill construct direction to contact in vehicle frame from tetrahedron phase data.dd fG٣dyfB' j> nNusing accuracyPremultiplier from confighe59j ܂?e5Yj ij_f™ae!eAjEjI I IIBI&I.I6I<:IA FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:3563> BDAT read: Tx time:00:00:02.2530 $Ping request sent.GGJ uJ pJ 0J J [Q:J ^9J ـ3J J o;J o;J }:J ~:G B O > $?I _2w,x`AE(b@YE+ q@E'=9E G٣XGy%{ %> -Nusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:00:00:02.2522 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251187)M59-Ă?M5Y-/ i-f™U.?U:U 'UA-E- ;-S;-55eB mGAmEzKLKKK+'K**)#!  '*(''&'%$$" B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 108.40 m.Bj"Jj"M ProNav: ac range: 108.400002 m, nav range: 16.730227 m, bearing: 106.442327 deg, approach rate: 0.159410 m/s, LOS rate: -2.274406 deg/s, cmd heading: 142.146933 deg, new cmd heading: 138.931888 deg. 2jMýUHeadingCmd: 2.424819 target range: 108.400002 and range: 114.30 m. jU<0@jQjQjQiQhYhYhYh]xBfafafarfbf&@ɛ dBR\=  nI =ɚiI~Q=I@iAiA)E<0@)I*F?2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502723G h>G B O- >-8w, `A:q`@Y:to@:l=9:bGa Bq O >jH <bH <H >I C I II BI  =&I .I 6I <:I Z F>w,)`A6 _@Y6;m@6V=96NTX ZG٣XyZǓ Z> bNusing accuracyPremultiplier from config\b59^?f5Y^F i^f™df*fA^E^q:^:^m5p vAvEeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006794ZjIuFNOT Ignoring new targets: 108.40 m.BjuuJjuu ProNav: ac range: 108.400002 m, nav range: 16.834902 m, bearing: 104.788540 deg, approach rate: 0.134762 m/s, LOS rate: -2.188589 deg/s, cmd heading: 136.658712 deg, new cmd heading: 133.989336 deg. 2jHeadingCmd: 2.338555 target range: 108.400002 and range: 114.30 m. j@jjjihhhhfffrfbf@7(@ɛM_BUB= aemiIi mA =ɚqiqIJS=Ilv@ii)@)1E=p>E=>JuwJunJu1JqJuW:Ju99Ju3JqJuz;Juz;JuR:JuT: $?I*F?2F:FBF^0JF"G>G> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257865G zK MK 9K K ,'K   8z'iviYK>7$ _+|WC0vG B1 Ou >jEw,aA2 b]@Y2k@2 8=92=I>=MMb@Mb@Mb@III I)IYMv/?&1=9uehQ u>yy }G٣}XGy}| > Nusing accuracyPremultiplier from config59D?5Y ig™+?:u0AElK;I;Q5B AEZjFNOT Ignoring new targets: 108.40 m.Bj'"Jj'"  ProNav: ac range: 108.400002 m, nav range: 16.873400 m, bearing: 103.823111 deg, approach rate: 0.090661 m/s, LOS rate: -2.268251 deg/s, cmd heading: 133.989337 deg, new cmd heading: 131.102240 deg. 2j ½HeadingCmd: 2.288166 target range: 108.400002 and range: 114.30 m. jOq@jjjihhhhBf!f!f!rf!bf%@ )@ɛ=\B=RL= 9EgIA M=ɚIiiIm?T=Iu@-@iqiq)}Oq@)yuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511359*FE?2FA:FIBFM_0JFI $?IG m>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761995Kw,S1aAyB II5I5٢3 H=9Q > G٣y > Nusing accuracyPremultiplier from config59"t?5Y i0g™AE::5 aAZjFNOT Ignoring new targets: 108.40 m.BjYJjY ProNav: ac range: 108.400002 m, nav range: 16.914118 m, bearing: 102.915973 deg, approach rate: 0.100298 m/s, LOS rate: -2.229021 deg/s, cmd heading: 131.102244 deg, new cmd heading: 128.389525 deg. 2j8%HeadingCmd: 2.240820 target range: 108.400002 and range: 114.30 m. j-i@j)j)j)i)h)h1h1h1f1f9f9rf9bf=)@ɛeZBm*7= imMkIi u=ɚqiqIu\*U=I}i@iyiy)}i@)*F2F:FBF0JFHyIy I} II}BIy&Iy.Iy6I}&<:I}g FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014310Gc>GBO>*Je C="Je R= $?I iARw,KaAY@Yh@^4=9-<11 5G٣1y=^ => ENusing accuracyPremultiplier from configAM59E\?M5YE, iE_g™M*(?U:U5UAEEE;E;E5Y ]^A] E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 108.40 m.BjJj ProNav: ac range: 108.400002 m, nav range: 16.942520 m, bearing: 101.922983 deg, approach rate: 0.062149 m/s, LOS rate: -2.169081 deg/s, cmd heading: 128.389525 deg, new cmd heading: 125.418362 deg. 2jHeadingCmd: 2.188963 target range: 108.400002 and range: 114.30 m. j @jjjihhzKPKŷ9KK-'KhVA3--( zwtmgb][WSSSRQOHGEB<998734110,hIhMBfYfYfarfbf*@ɛWBQ= iI H=ɚiI7V=I`| @ii) @)*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518020G G G qAG B O >Xw,eaAJvJqJJJ{T:Jq9JJa@a@a@a@ $I$y=xB=y IIMIM̍٢e~ em=9eQ m?ii mG٣iyu u? Nusing accuracyPremultiplier from config59I?5Y ig™ AE[;[;5 B AEZjYeFNOT Ignoring new targets: 108.40 m.Bjm?Jjm? ProNav: ac range: 108.400002 m, nav range: 16.968639 m, bearing: 101.138346 deg, approach rate: 0.071937 m/s, LOS rate: -2.157640 deg/s, cmd heading: 125.418365 deg, new cmd heading: 123.069468 deg. 2jHeadingCmd: 2.147967 target range: 108.400002 and range: 114.30 m. jLx @jjjihhhhfffrfbf+@ɛUB<= nI 2=ɚiIAW=I Lx @ii)Lx @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771620*F92F9:F9BF=P5JF9ZHi RHi Hu >Iq  Iu IIu BIq &Iq .Iq 6Iu <:Iu F F) G iG 1 } Yy y} PBGQ Ba O} >4_w,aABtV@YB d@B=9Bjޘdd fG٣fXGyj j> nNusing accuracyPremultiplier from configlr59n5?r5Yn ing™tv8vAnEn:n:nJ5x zA|Will construct direction to contact in vehicle frame from tetrahedron phase data.i%BDAT read: Rx Time:00:00:04.8211 -TRx dataTimestamp_ set to:1736380806.033827-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024188ZjAEFNOT Ignoring new targets: 108.40 m.BjMJjM] ProNav: ac range: 108.400002 m, nav range: 16.985979 m, bearing: 100.321051 deg, approach rate: 0.046514 m/s, LOS rate: -2.190109 deg/s, cmd heading: 123.069463 deg, new cmd heading: 120.621654 deg. 2j]ỽeHeadingCmd: 2.105245 target range: 108.400002 and range: 114.30 m. jeV@jajajaiahihihihifqfqfqrfqbf}?,@ɛSBB$= 隵nI =ɚiI X=Ib@ii)V@) $?I*FM?2FI:FIBFMP0JFIGGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277824B O= >zK] NK] 9KY K] .'K] $'&$%$!!"    RKm ?JKm ?fw,aA:T@Y:b@:=9:;$ G٣y` > Nusing accuracyPremultiplier from config59Y?5Yb ig™('?:0:AE$;;*5 !AEZj FNOT Ignoring new targets: 108.40 m.Bj Jj U ProNav: ac range: 108.400002 m, nav range: 17.002632 m, bearing: 99.391716 deg, approach rate: 0.038904 m/s, LOS rate: -2.168817 deg/s, cmd heading: 120.621660 deg, new cmd heading: 117.838699 deg. 2j]uHeadingCmd: 2.056673 target range: 108.400002 and range: 114.30 m. ju@jyjyjyihh hhBf!fIfQrfYbfe.-@ɛPB<= sI =ɚiI9 Y=I@-Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: Range 10 to 50 : 123.0 m (Round-trip 164.0 ms) speed -0.6 m/s =,DAT read: user:3564> EBDAT read: Tx time:00:00:05.9030 E$Ping request sent.EG5 ?G5 ?G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:00:05.9022 Dlw,raARR@YR`@R=9Rtx zG٣xyz ~> Nusing accuracyPremultiplier from config|59~ ? 5Y~ i~h™  ; A~E~:~:~5 B wAEM addTargetRange:: Added new target pos. range: 123.000000 m, deltaT: 14.616121 s, deltaX: 8.699997 m, approachRate: 0.595233 m/s, rangeRepo size: 4 ZjIMFNOT Ignoring new targets: 108.40 m.BjU4Jj4 ProNav: ac range: 108.400002 m, nav range: 17.014538 m, bearing: 98.562071 deg, approach rate: 0.031379 m/s, LOS rate: -2.185037 deg/s, cmd heading: 117.838699 deg, new cmd heading: 115.353152 deg. 2jrHeadingCmd: 2.013292 target range: 108.400002 and range: 123.00 m. j@jjjihh!h!h!f!f)f)rf-^@bf-`%?ɛOB@~= =xI xE=ɚiIFZ=I@ii)@)H>I I IIBI&I.I6Iԯ<:I- FBIìCJIìCRIZI =bI =jI)4*F2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I G% c>G B O >*sw,GaAVIQ@YVL#_@V=9V:[ G٣XGWill construct direction to contact in vehicle frame from tetrahedron phase data.y > Nusing accuracyPremultiplier from config59?5Y i9h™=AEt;6;5 AeB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 108.40 m.BjJjzK^mMK9KK/'K 1MwY w]D/  BK:KpA ProNav: ac range: 108.400002 m, nav range: 17.025032 m, bearing: 97.570860 deg, approach rate: 0.021866 m/s, LOS rate: -2.063918 deg/s, cmd heading: 115.353152 deg, new cmd heading: 112.384161 deg. 2jMHeadingCmd: 1.961474 target range: 108.400002 and range: 123.00 m. jM?jIjIjIiIhQhQhQhQfYfYfYrfYbf] C?ɛELBE--= IM|II M[W=ɚIiIIM7[=IU?iQiY)]?)Y*F92FA:FABFAJFAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.G h>  I JA JE lJA JA JA JE 9JA JA Gy B O >}yw,aA6O@Y62]@6{=967AB>6 IMb@Mb@Mb@ )Y'1Z?|?5^ii mG٣iyu u> Nusing accuracyPremultiplier from configy59}܁?5Y} i}hh™1%?:8?A}E}p;};}5 XAEZj%FNOT Ignoring new targets: 108.40 m.Bj%Jj-5 ProNav: ac range: 108.400002 m, nav range: 17.032640 m, bearing: 96.696063 deg, approach rate: 0.019050 m/s, LOS rate: -2.189214 deg/s, cmd heading: 112.384158 deg, new cmd heading: 109.762872 deg. 2j]λeHeadingCmd: 1.915724 target range: 108.400002 and range: 123.00 m. jmn6?jijijiiihihihqhuBfffrfbff?ɛJB = _I %=ɚiID\=I!?i i ) n6?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257015*F?2F:FBF_0JFjH <bH <H >I  I l II nBI &I .I 6I <:I  FG c>G G mAG B O >[w,bAFKM@YFj[@F/=9F"[ WDq??ɨFKM@F^;DyR)BR IIZIZK!fWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510211٢n ne=9rQ r>pp vG٣tyv{ v> zNusing accuracyPremultiplier from configx~59z8ʁ?5Yz izh™AAzEzA;z;z(5  B AEZj1=FNOT Ignoring new targets: 108.40 m.Bj=JjE] ProNav: ac range: 108.400002 m, nav range: 17.036131 m, bearing: 95.944461 deg, approach rate: 0.010305 m/s, LOS rate: -2.218475 deg/s, cmd heading: 109.762875 deg, new cmd heading: 107.509758 deg. 2j]PeHeadingCmd: 1.876399 target range: 108.400002 and range: 123.00 m. je-?jajajiiihihihihqfqfqfqrfybf}`?ɛIB<< 隥I -T=ɚiI|.]=I?ii)=-?)9 m$?IiE[=*F12F9:F9BF9JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.Յ4?Յ$?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765606zKE e;OKE 9KA KE 0'KE ytqn^YSONIGD>;874//-)'&&%"  G9 G B O= >w,8bABK@YBY@BVY=9B& G٣XGy=v > Nusing accuracyPremultiplier from config59?5Y ih™o#?:>AE;;.5 AZj9EFNOT Ignoring new targets: 108.40 m.Bj]{Jje{ ProNav: ac range: 108.400002 m, nav range: 17.054611 m, bearing: 94.968003 deg, approach rate: 0.039618 m/s, LOS rate: -2.090971 deg/s, cmd heading: 107.509759 deg, new cmd heading: 104.586242 deg. 2j`HeadingCmd: 1.825374 target range: 108.400002 and range: 123.00 m. jݥ?jjjihhhhBfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013939ɛGB^W= 隽芿I \=ɚiIRm^=Iݥ?ii)ݥ?) m$?IiJJmJ1JJJ&9J3JEP=*Fq2Fy:FyBF}0JFy Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264792G Gy B O >w,7bA6I@Y6W@65=96֬tx zG٣xyz% z> Nusing accuracyPremultiplier from config 59R? 5Y ih™  @ AE:.:5 VAEZjIMFNOT Ignoring new targets: 108.40 m.BjUJjUe ProNav: ac range: 108.400002 m, nav range: 17.066559 m, bearing: 94.178029 deg, approach rate: 0.032125 m/s, LOS rate: -2.122533 deg/s, cmd heading: 104.586240 deg, new cmd heading: 102.219401 deg. 2jemHeadingCmd: 1.784065 target range: 108.400002 and range: 123.00 m. jm?\?jijijiiqhqhqhqhyfyfyfyrfbf@ɛFB }< 隭_I =ɚiI|_=Ik?ii)?\?)EE*E"EH}>Iy I}: II}EBI} =&Iy.I}AD6I}Я<:I}- FEWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517504*F=?2F9:F9BF=?1JF9"GE>GE> m $?IiGe r>Gy G} ?GY B O >Lw,%RbAnWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771441m F@Ym,T@m$=9m* G٣y > Nusing accuracyPremultiplier from config59?5Y i#i™#?:9AAEa;;5 B A"EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 108.40 m.BjJj- ProNav: ac range: 108.400002 m, nav range: 17.084269 m, bearing: 93.162187 deg, approach rate: 0.036842 m/s, LOS rate: -2.111004 deg/s, cmd heading: 102.219402 deg, new cmd heading: 99.178053 deg. 2j-5HeadingCmd: 1.730984 target range: 108.400002 and range: 123.00 m. j5ߐ?j1j1j1i1h9h9h9hEzBfAfAfArfAbfM`@ɛuDBu< quIq }?=ɚyiyI}8`=Iߐ?ii)ߐ?)*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020919Gu m> I GQ Ba O >ow,kbAZ 3D@YZRR@Z(=9ZY?`?ɨZ 3D@ZS;Xyb΁BbIInIni٢rD vn=9vQ v?xx zG٣zXGy~@ ~? Nusing accuracyPremultiplier from config 59r? 5Yc iIi™CAE<ѐ<l5  AZjFNOT Ignoring new targets: 108.40 m.BjJj ProNav: ac range: 108.400002 m, nav range: 17.093987 m, bearing: 92.434493 deg, approach rate: 0.027044 m/s, LOS rate: -2.023919 deg/s, cmd heading: 99.178056 deg, new cmd heading: 96.997327 deg. 2jHeadingCmd: 1.692923 target range: 108.400002 and range: 123.00 m. j?jjjihhhhfffrfbf @ɛ-BB-xy < )-I1 5o=ɚ1i1I5b=I=Y?i9i9)=?)A*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:00:08.4736  TRx dataTimestamp_ set to:1736380809.815841checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277150Gc>ZHRH?AH>I I IIBI =&I.I6I<:IN FGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528922Uw,gbA 6 $?I4fTB@YfsP@fJ=9fY=9H Q >!) -G٣)yE E> Nusing accuracyPremultiplier from configy59}Z?5Y} i}zi™DA}E}O<}M<}e51 5 A5$EZjFNOT Ignoring new targets: 108.40 m.Bj(Jj( ProNav: ac range: 108.400002 m, nav range: 17.102627 m, bearing: 91.479572 deg, approach rate: 0.018763 m/s, LOS rate: -2.072481 deg/s, cmd heading: 96.997326 deg, new cmd heading: 94.136523 deg. 2jʱHeadingCmd: 1.642992 target range: 108.400002 and range: 123.00 m. jM?jjjihhhhf f f rfbfy @ɛ]AB]< Y]IY eJ=ɚaiaIelc=IM?ii)M?)EEpAEA*F?2F:FBFJFGpA G%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:00:08.4736 LVL= 17136, 16641, 13058, 22643, AGC= 58, IDX= 452, 0.14, 2.875,-1.178,-1.213,-1.923, PHS=-1.397, 0.792, 0.707, RAW= 272.0, -1.0, CAL= 274.2, -2.5, ROT= 235.8, 2.5 Ygot valid direction response: 00:00:08.4736 LVL= 17136, 16641, 13058, 22643, AGC= 58, IDX= 452, 0.14, 2.875,-1.178,-1.213,-1.923, PHS=-1.397, 0.792, 0.707, RAW= 272.0, -1.0, CAL= 274.2, -2.5, ROT= 235.8, 2.5  PDAT read: Bearing 235.8, 2.5 (Local) 5~Local bearing/azimuth received: Bearing 235.8, 2.5 (Local) EDAT read: Range 10 to 50 : 124.8 m (Round-trip 166.5 ms) speed -0.4 m/s E,DAT read: user:3565> MBDAT read: Tx time:00:00:09.6030 $Ping request sent.G B O >w,\tbAZk@@YZN@Z-Z=9Z| G٣XGy v  > Nusing accuracyPremultiplier from configE59@?M5Y ii™M%?U:U|BUAE<8<5 B  A'Ek]S4$?k]zX kY k] bA:k]BBk]BZk]j?"]vd3᱘*@*"ټ^^]FG?q4MOnJk]NIRk][^?*] lAտ7~?@wY!.(_]`eyQ9?{|"k]@*k] k]֞$?k]+kW 2k]9okYkYk]*Ck] Ak] ?e addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.785698 s, deltaX: 1.800003 m, approachRate: 0.475475 m/s, rangeRepo size: 4 u Added new target pos. range: 124.800003 m, bearing: 93.011947 deg, lat: 36.904474 deg, lon: -122.120638 deg, deltaT: 32.801716 s, deltaX: 16.400002 m, approachRate: 0.499974 m/s, posRepo size: 4 ZjqFNOT Ignoring new targets: 124.80 m.BjJj ProNav: ac range: 124.800003 m, nav range: 17.129417 m, bearing: 90.439093 deg, approach rate: 0.000000 m/s, LOS rate: -2.072481 deg/s, cmd heading: 94.136522 deg, new cmd heading: 91.073094 deg. 2jHeadingCmd: 1.589525 target range: 124.800003 and range: 124.80 m. ju?jjjihhh h SBf f f rf@33_@bf`\?ɛe?Beu< ae5Ia mc=ɚiiiImd=Iuu?ii)u?)*Fm ?2Fi :Fi BFq JFq 5 Will construct direction to contact in vehicle frame from tetrahedron phase data. GG m> sAH I  I II ߁BI  =&I .I 6I ?<:I  F-A ])Y]sAyeu!BGBO >w,GbA2y>@Y2L@2'l=92[@2U;0yBBBWIININͳ٢R* Vg=9VRQ V>XX G٣y z  > Nusing accuracyPremultiplier from config590-?%5Y' ii™!%mD%AE::5) - A5*EZjY]FNOT Ignoring new targets: 124.80 m.Bje$Jje$} ProNav: ac range: 124.800003 m, nav range: 17.145910 m, bearing: 89.668659 deg, approach rate: 0.049402 m/s, LOS rate: -2.305451 deg/s, cmd heading: 91.073094 deg, new cmd heading: 88.765331 deg. 2j}ŽHeadingCmd: 1.549247 target range: 124.800003 and range: 124.80 m. jM?jjjihhhhfffrfbf?ɛ>Ba ,=I =ɚiI%f=I?ii)M?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fi:FiBFm^0JFi  $?I*J"JJـ3K(3 KKK"KJsJjJJJK:J9JJJe;Je;J:J:GiG)B1OM> Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,bA6<@Y6J@6V=96NI=Mb@Mb@Mb@999 9)9Y=MbX?Mb?~jty=*?===9 =A)=#AI=I A9y=AIMIM?٢]G ]@=9edQ e>aa mG٣iym m> }Nusing accuracyPremultiplier from configq}59u&?5Yu iuj™9+?:.DAuEu;u;u5  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 124.80 m.BjJj ProNav: ac range: 124.800003 m, nav range: 17.170553 m, bearing: 88.756810 deg, approach rate: 0.059275 m/s, LOS rate: -2.190075 deg/s, cmd heading: 88.765330 deg, new cmd heading: 86.035891 deg. 2j໽HeadingCmd: 1.501610 target range: 124.800003 and range: 124.80 m. j4?jjjihhhh5Bfffrfbf?ɛ=B`k?; UI X.=ɚiIbg=I=?i)i))-4?)1*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. IG% c>G- ?G- ?G B O= >tw,bA 6N:@Y6QH@6"=96]BBIIJIJn٢Z7  ^V=9b Q b>`d fG٣dyfR f> nNusing accuracyPremultiplier from confighr59j?r5Yj ij.j™prFrAjEj;j);j5vB z[ Az-EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.457485ZjFNOT Ignoring new targets: 124.80 m.BjJj  ProNav: ac range: 124.800003 m, nav range: 17.189959 m, bearing: 87.914500 deg, approach rate: 0.048237 m/s, LOS rate: -2.091339 deg/s, cmd heading: 86.035890 deg, new cmd heading: 83.513534 deg. 2j hHeadingCmd: 1.457586 target range: 124.800003 and range: 124.80 m. j5/?j1j1j9i9h9h9hAhAfAfIfIrfIbfM@?ɛ=GA BQ Ou >J J mJ J J J &9J J J J J :J :w, cA>8@Y>G@>c=9>&H`0??@ع@:? y?ɨ>8@>ˋ;>"CyFOBJ IIRIR٢Z ZJ=9^Q ^>\` bG٣bXGyb b> jNusing accuracyPremultiplier from configdj59fgꀜ?n5Yf' ifYj™lnGrAfEf;fI;f\5t v Av0EZjFNOT Ignoring new targets: 124.80 m.Bj$Jj$- ProNav: ac range: 124.800003 m, nav range: 17.206600 m, bearing: 87.029421 deg, approach rate: 0.043440 m/s, LOS rate: -2.308030 deg/s, cmd heading: 83.513536 deg, new cmd heading: 80.862865 deg. 2j-Ž5HeadingCmd: 1.411323 target range: 124.800003 and range: 124.80 m. j5=?j1j1j9i9h9hAhAhAfAfIfIrfIbfM@?ɛu;BuHY  I ϥ=ɚiIaSj=IB6?i i ) =?) ]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.963955Eem(=zK!LK}9KK4'KRK?JK?*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212882G } $?Iy G B O >w,(cA6 7@Y6+E@6=9699BBIMb@Mb@Mb@ )Yx&?V-?ly7)?h= CA)M"AI Ay AIIb1٢K .=91Q > G٣yZ >  Nusing accuracyPremultiplier from config59dЀ?5Y ij™s*?:EAEj;;j5! %xAZjFNOT Ignoring new targets: 124.80 m.BjJj= ProNav: ac range: 124.800003 m, nav range: 17.240274 m, bearing: 86.007493 deg, approach rate: 0.068636 m/s, LOS rate: -2.078736 deg/s, cmd heading: 80.862862 deg, new cmd heading: 77.806132 deg. 2jESMHeadingCmd: 1.357973 target range: 124.800003 and range: 124.80 m. jMҭ?jQjQjQiQhQhQhYh]BfYfafarfabfeP@ɛ9B@ 隕(I =ɚiIk=Iҭ?ii)ҭ?)E벫=*F=?2F9:F9BF=0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465103H- >I- C I- :II- uBI-  =&I) .I) 6I- ٯ<:I- 7 FGU |>GY G] qAG1 B9 OU >jw,AcA6;5@Y6ZC@6=96;\\ ^G٣\ybà b> fNusing accuracyPremultiplier from configdj59fV?j5Yf ifj™hjGjAfEf;fT;f5zB }A3EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717188Zj=FNOT Ignoring new targets: 124.80 m.Bj=Jj=M ProNav: ac range: 124.800003 m, nav range: 17.263226 m, bearing: 85.220643 deg, approach rate: 0.061282 m/s, LOS rate: -2.098108 deg/s, cmd heading: 77.806134 deg, new cmd heading: 75.450125 deg. 2jM ]$?Ia}HeadingCmd: 1.316853 target range: 124.800003 and range: 124.80 m. j}?jyjyjihhhhfffrfbf>P@ɛ8B~  ĿI  +=ɚ i I wm=IUY?iQiQ)U?)aEqEq*Eq"EqJJnJJJJ99JJJJJS:JT:*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:00:12.1759  TRx dataTimestamp_ set to:1736380813.349184 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976333zK JQJK K9K K 5'K  !*488860/+'($   BK oA:K G5 h>G BO5>ԃw,_cANa3@YNA@N=9N  G٣XGyl > Nusing accuracyPremultiplier from config59֟?5Y ij™0.?:GAEx5;;05  zA6E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 124.80 m.BjE)JjE)U ProNav: ac range: 124.800003 m, nav range: 17.302452 m, bearing: 84.106703 deg, approach rate: 0.083473 m/s, LOS rate: -2.364904 deg/s, cmd heading: 75.450122 deg, new cmd heading: 72.119845 deg. 2jUʽ]HeadingCmd: 1.258729 target range: 124.800003 and range: 124.80 m. j]?jYjYjYiYhahahaheBfififirfibfu @ɛ6BU 隵ǿI D=ɚiIo=-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220956 m$?IiIu?iqiq)u?)y*FE?2FA:FABFMA5JFIGa G9 Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475882Cw,PycAJ1@YJ?@Ja=9J\Yll nG٣lyr r> vNusing accuracyPremultiplier from configtz59vՊ?z5Yv ivk™xzH@zAvEv :vt;v5B FA9EZj)5FNOT Ignoring new targets: 124.80 m.Bj5Jj=M ProNav: ac range: 124.800003 m, nav range: 17.328362 m, bearing: 83.286323 deg, approach rate: 0.070203 m/s, LOS rate: -2.219479 deg/s, cmd heading: 72.119845 deg, new cmd heading: 69.663973 deg. 2jMfUHeadingCmd: 1.215866 target range: 124.800003 and range: 124.80 m. jU}?jQjQjQiQhQhYhahafafafarfibfm@[ @ɛ5Bl6 隥ͿI ٴ=ɚiI(p=IC?ii)}?)ZHRH@AH>I IIIGBI =&I.I6I<:IL F*FM?2FQ:FQBFUO0JFQEWill construct direction to contact in vehicle frame from tetrahedron phase data. qIyDAT read: 00:00:12.1759 LVL= 19136, 15521, 14530, 24435, AGC= 59, IDX= 444, 0.08, 1.333, 2.824,-2.413, 2.728, PHS=-1.307, 0.144, 1.139, RAW= 246.1, 0.2, CAL= 249.2, 0.9, ROT= 260.8, -0.9 Ygot valid direction response: 00:00:12.1759 LVL= 19136, 15521, 14530, 24435, AGC= 59, IDX= 444, 0.08, 1.333, 2.824,-2.413, 2.728, PHS=-1.307, 0.144, 1.139, RAW= 246.1, 0.2, CAL= 249.2, 0.9, ROT= 260.8, -0.9 PDAT read: Bearing 260.8, -0.9 (Local) ~Local bearing/azimuth received: Bearing 260.8, -0.9 (Local) DAT read: Range 10 to 50 : 126.5 m (Round-trip 168.7 ms) speed -0.3 m/s ,DAT read: user:3566> BDAT read: Tx time:00:00:13.3031 $Ping request sent.Eʑ?Er@Ed; E-@)EG?G?GBO>w,-cA6F/@Y6I=@6=96(] G٣y=b E> eNusing accuracyPremultiplier from configYWill construct direction to contact in vehicle frame from tetrahedron phase data.59] s?5Y] i].k™F@%A]­E]<]9<]5I MAqkuv0?kuU8# kq kuIfcA:kuBBkuRBZku`?"uv$-@AY.O%|Y[uYE??e߿aJku5YRku8?*uv٨/@k؁L@Uq[u-{s?|?eQ="kuDeB*ku~Akue5۰?ku!n 2ku<ku?kuW kuCkuNBku&? addTargetRange:: Added new target pos. range: 126.500000 m, deltaT: 3.778335 s, deltaX: 1.699997 m, approachRate: 0.449933 m/s, rangeRepo size: 4  Added new target pos. range: 126.500000 m, bearing: 74.474434 deg, lat: 36.904522 deg, lon: -122.120256 deg, deltaT: 3.778335 s, deltaX: 1.699997 m, approachRate: 0.449933 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 126.50 m.Bj%Jj!U ProNav: ac range: 126.500000 m, nav range: 51.732052 m, bearing: 81.534935 deg, approach rate: 0.000000 m/s, LOS rate: -2.219479 deg/s, cmd heading: 69.663975 deg, new cmd heading: 66.419700 deg. 2jQ]HeadingCmd: 1.159243 target range: 126.500000 and range: 126.50 m. j]b?jYjYjYiahahhhfffrf_@bf j?zKyMK9KK6'K ɛ3BXN`  ϿI  q=ɚ i I _r=I;#?ii)b?)*F?2F:FBFJFM Will construct direction to contact in vehicle frame from tetrahedron phase data. m $?Iq G m>J5 vJ5 iJ5 1J1 J5 {T:J5 ڈ9J5 3J1 aM @aM @aM @aM @G1 BA O] >$w,PcAyBIMb@Mb@Mb@ )Y/$?ʡE?=9Q > G٣XGy > Nusing accuracyPremultiplier from config59Z?5Y iXk™.?:H@AĭE;#;{5 AG B) OE > U $?IQ ] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,#cA:J+@Y:M9@:=9:jsX\ ^G٣\y^( ^> fNusing accuracyPremultiplier from configdj59fE?j5Yf& ifzk™hj E@jAfƭEf:fi:f5rB r Ar?EZj  FNOT Ignoring new targets: 126.50 m.BjUJjU% ProNav: ac range: 126.500000 m, nav range: 51.797642 m, bearing: 80.946800 deg, approach rate: 0.062943 m/s, LOS rate: -0.747226 deg/s, cmd heading: 65.480921 deg, new cmd heading: 64.656588 deg. 2j%4HeadingCmd: 1.128470 target range: 126.500000 and range: 126.50 m. jq?jjjihhhhfffrfbf?ɛ 0BL ӿI N=ɚiITu=IE"?iaia)eq?)yEN>E*FQ2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.Gh>G B O >zK ƒLK 59K K 7'K BK pA:K w,úcAB4)@YB77@Bc=9Bn`XA )AIAyAIIk٢x <=9%Q > G٣y > Nusing accuracyPremultiplier from config59@-?5Y utIik™uv.?}:} E@}AɭE<Ƿ<5 MABEB*** querying acoustic contact ***jjZj $?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.UFNOT Ignoring new targets: 126.50 m.BjU\IJj]\Ie ProNav: ac range: 126.500000 m, nav range: 51.826408 m, bearing: 80.623472 deg, approach rate: 0.062686 m/s, LOS rate: -0.704172 deg/s, cmd heading: 64.656586 deg, new cmd heading: 63.687239 deg. 2jm񼝊HeadingCmd: 1.111552 target range: 126.500000 and range: 126.50 m. jVG?jjjihhhhBfffrfbfD|?ɛ.Bм !%ԿI u=ɚiIv=IVG?ii)VG?)JrJjJ0JJG:J9Jـ3J*F%?2F!:F!BF!JF!GE m> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744897G9 BI Om >Nw,cA)@ Dt%tAy5ҀB5sI=A e(YetAyew!BIuIuTjHbH<H>I III BI&I.I6I<:IZ F٢/ L=9Q > G٣XGy %>% (@% B 5Nusing accuracyPremultiplier from config1=595g?=5Y52 i5k™AAEA5˭E5;:5:55I UAQZjq}FNOT Ignoring new targets: 126.50 m.BjaJja ProNav: ac range: 126.500000 m, nav range: 51.855732 m, bearing: 80.311788 deg, approach rate: 0.074357 m/s, LOS rate: -0.789903 deg/s, cmd heading: 63.687238 deg, new cmd heading: 62.752800 deg. 2jHeadingCmd: 1.095243 target range: 126.500000 and range: 126.50 m. j0?jjjihhAhAhIfIfIfIrfIbfUx?ɛ,B  |ֿI }鿦=ɚyiyI%x=I0?ii)0?) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996387*F5?2F1:F1BF50JF1G 恃>Gq By O >w,tdA:%@Y:4@:=9:tt vG٣tyz, z>  Nusing accuracyPremultiplier from config%59?%5Yd ik™)-A@-AͭEԱ;;h55B 5A=EEZjaeFNOT Ignoring new targets: 126.50 m.BjmJSJjmJS}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248160 ProNav: ac range: 126.500000 m, nav range: 51.867283 m, bearing: 80.040360 deg, approach rate: 0.031452 m/s, LOS rate: -0.738901 deg/s, cmd heading: 62.752800 deg, new cmd heading: 61.938758 deg. 2jHeadingCmd: 1.081035 target range: 126.500000 and range: 126.50 m. j]_?jjjihhhh fff!rf)bf5`S@ɛ*B2p )-տI) -=ɚ1i1I5! z=IE]_?iAiA)m]_?)qEzKjIKKK8'K 5oaF- RK?JK?*F92F9:F9BF=m2JFA"GM>GM> I5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500506G w>G ?G >G B J5 qJ1 J5 1J1 J5 D:J1 J5 3J1 OE > w,nL.dAyr̀BrlIiv!>Iv=Mb@Mb@Mb@ )YK7?M?~jtyI,?n>ļ(A A) AI/AyAIIm?٢S ;=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yx ik™=0?:A@AϭE(;;N5  A HEZj1=FNOT Ignoring new targets: 126.50 m.Bj=YJj=YU ProNav: ac range: 126.500000 m, nav range: 51.884781 m, bearing: 79.712190 deg, approach rate: 0.040638 m/s, LOS rate: -0.761890 deg/s, cmd heading: 61.938758 deg, new cmd heading: 60.954681 deg. 2jU]HeadingCmd: 1.063860 target range: 126.500000 and range: 126.50 m. j],?jYjajaiahahahihm҃Bfififirfqbf}`V@ɛ(B&e8 隥ֿI p=ɚiI`}{=I,?ii),?)*Fm?2Fi:FiBFme3JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753870H>I IIIBI =&I.I6I <:Ic FBIeǭCJIeǭCRIaZIe =bIe =jIeǾ5Gc>Gi By O > $?I = Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:00:00:15.8768 E TRx dataTimestamp_ set to:1736380817.124617M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005076 w,(HdA:$"@Y: C0@:#=9:QAؿ`H|?@f`“?`,u??ɨ:$"@:@Ċ;:#CyBԀBBtIININ٢Vt= V`=9ZOQ Z>X\ ^G٣^XGy^# b> fNusing accuracyPremultiplier from config`f59b%?j5YbO ibl™hj=@jAbѭEb.:b:b5p rApZjFNOT Ignoring new targets: 126.50 m.BjJJjJ*Ja="Ja= ProNav: ac range: 126.500000 m, nav range: 51.886143 m, bearing: 79.435506 deg, approach rate: 0.003490 m/s, LOS rate: -0.708988 deg/s, cmd heading: 60.954685 deg, new cmd heading: 60.124717 deg. 2jI󼝊HeadingCmd: 1.049374 target range: 126.500000 and range: 126.50 m. j Q?j j j i h h hhf!f!f!rf!bf-@ɛ&B"1 隥ԿI  =ɚiI|=IQ?ii)Q?)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258960G1 G B O- >zK ?YMK K9K K 9'K BK :K : w,bdAy@Y{,@u=9}uCq uA)uAIuAqyuAII٢; .=94Q > G٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 127.2 m (Round-trip 169.6 ms) speed 0.0 m/s ,DAT read: user:3567> BDAT read: Tx time:00:00:16.9531  $Ping request sent. G G pAGq B O >=w,K}dAZHHRHHHN>INC ILILIN =&IL.INBD6IN<:INR Ffڽ@Yf*@fӅ=9f G٣y > Nusing accuracyPremultiplier from config59:?5Y iKl™a8@A֭E:P:5 ANEZj15FNOT Ignoring new targets: 126.50 m.Bj=VJj=Vm ProNav: ac range: 126.500000 m, nav range: 51.854362 m, bearing: 78.802529 deg, approach rate: -0.045952 m/s, LOS rate: -0.748737 deg/s, cmd heading: 59.083650 deg, new cmd heading: 58.225392 deg. 2juvuHeadingCmd: 1.016225 target range: 126.500000 and range: 127.20 m. ju?jyjyjyiyhyhhhfffrfbf?ɛ!BtL IԿI =ɚ!i!I%r=I-?i)i))-?)) $?I*FQ2FQ:FQBFQJFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506819Gu c>GQ BY O} >|%w,dA6 @Y6)@6f~=96^ـB>{IIJIJƳ٢R95= R\=9RQ R>XX bG٣bXGyj n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756873 zNusing accuracyPremultiplier from configtz59v3?~5Yv iv`l™|~6@~AvحEv;vO;vO5  PA Zj1EFNOT Ignoring new targets: 126.50 m.BjUSJjUS- ProNav: ac range: 126.500000 m, nav range: 51.831799 m, bearing: 78.529604 deg, approach rate: -0.061193 m/s, LOS rate: -0.740490 deg/s, cmd heading: 58.225396 deg, new cmd heading: 57.406322 deg. 2j5HeadingCmd: 1.001929 target range: 126.500000 and range: 127.20 m. j8??jjj i h!h)hihifqfqfqrfqbf}k?ɛBڕ ѿI [=ɚ i I =I8??ii)8??)zK%K%s9K!K%:'K% .F<1$ RK=>JK=>*F?2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009377G G B O- >J rJ J J J G:J J J +w, 6dAyBIMb@Mb@Mb@ )YMb?B`"۹? G٣y > Nusing accuracyPremultiplier from config59y?5YB ivl™ %?:)3@AڭE";;>5B AQEZj9=FNOT Ignoring new targets: 126.50 m.BjEIJjEIU ProNav: ac range: 126.500000 m, nav range: 51.792252 m, bearing: 78.217586 deg, approach rate: -0.089246 m/s, LOS rate: -0.704665 deg/s, cmd heading: 57.406319 deg, new cmd heading: 56.469638 deg. 2j]񼝊]HeadingCmd: 0.985581 target range: 126.500000 and range: 127.20 m. je O|?jajajaiahahhhBfffrfbf'?ɛB,5 ͿI 1=ɚiIzE=I O|?ii) O|?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261605*F?2F:FBF0JFH}>Iy I}II}BI} =&I}ED.Iy6I}<:I}S FG^>G?G ?Gy B O > } $?I u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5129992w,dA6jZ@Y6ly%@6Kh=96AA EG٣AyE" M> UNusing accuracyPremultiplier from configI]59Mf?e5YM iMl™ae/@eAMܭEMrB;MB;M5i uAuTEZjFNOT Ignoring new targets: 126.50 m.BjHJjH ProNav: ac range: 126.500000 m, nav range: 51.745842 m, bearing: 77.950882 deg, approach rate: -0.121644 m/s, LOS rate: -0.699680 deg/s, cmd heading: 56.469637 deg, new cmd heading: 55.668862 deg. 2j𼝊HeadingCmd: 0.971605 target range: 126.500000 and range: 127.20 m. jx?jjjihhhhfffrfbf`.?ɛB7 ͿI )=ɚi I =I x?ii)x?)*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764678Gc>GB O= >zK} LK} 9Ky K} ;'K} m8w,dA2Lu@Y2N#@2d=92Q > G٣XGy > Nusing accuracyPremultiplier from config59Q?5Y il™$?:F+@AޭEV;;5  A RE=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017837MB*** querying acoustic contact ***jIjIZjiFNOT Ignoring new targets: 126.50 m.BjgBJjgB ProNav: ac range: 126.500000 m, nav range: 51.677631 m, bearing: 77.657999 deg, approach rate: -0.158124 m/s, LOS rate: -0.679847 deg/s, cmd heading: 55.668863 deg, new cmd heading: 54.789129 deg. 2jI鼝HeadingCmd: 0.956251 target range: 126.500000 and range: 127.20 m. jt?jjjihhhhBfffrfbfHU@ɛB! 6ʿI m0=ɚiI=It?ii)t?)*Fy2F:FBFJFG h> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268830Gy B O >>w,dAjHbH<H>I IIIBI&I.I6Iկ<:I? Fb@Yb!@b#^=9bW)) 5G٣1y5Ք 5> ENusing accuracyPremultiplier from config9E59=??M5Y=x i=l™IM)@MA=E=:=&:=n5Q ]^A]UEZjFNOT Ignoring new targets: 126.50 m.BjHJjH ProNav: ac range: 126.500000 m, nav range: 51.611053 m, bearing: 77.396615 deg, approach rate: -0.177928 m/s, LOS rate: -0.699445 deg/s, cmd heading: 54.789127 deg, new cmd heading: 54.004014 deg. 2j𼝊HeadingCmd: 0.942548 target range: 126.500000 and range: 127.20 m. jJq?jjjihhhhfffrfbfC@ɛBI ȿI p=ɚiI(=IJq?ii)Jq?)*Fm?2Fi:FqBFuP0JFq $?IiPExceeded connect timeout, disconnecting.EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520918J%oJ%gJ%0J!J%>:J%9J%ـ3J!J%~O;a5J%O;a=J%>:a=J%@:a=GUm>GYG]qAG)B9O]>Ew,heA2)@Y2+ @2^W=92֖`` bG٣`yb f> jNusing accuracyPremultiplier from configdr59fy-?v5Yf/ ifl™|~'@AfEf>;f;f"5 B BAXEZj1=FNOT Ignoring new targets: 126.50 m.BjE.AJjE.AU ProNav: ac range: 126.500000 m, nav range: 51.537300 m, bearing: 77.130548 deg, approach rate: -0.187000 m/s, LOS rate: -0.675571 deg/s, cmd heading: 54.004014 deg, new cmd heading: 53.204726 deg. 2jU缝]HeadingCmd: 0.928598 target range: 126.500000 and range: 127.20 m. j]m?jYjYjYiYhYhahihifyffrfbfQt@ɛB ƿI =ɚiIу=Im?ii)m?)zKEKE9KAKE<'KE*F?2F:FBFO0JF IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:00:00:19.5272 eTRx dataTimestamp_ set to:1736380820.657823mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027368G c>G B O% >Lw,Ee2eAy~B~IMb@Mb@Mb@ )YL7A`?/$?~jthy+'?,=DA A)|!AICAyAII@٢< :=9Q > G٣XGy > Nusing accuracyPremultiplier from config593?5Y il™'?:$$@AER;; 5 2AZj!-FNOT Ignoring new targets: 126.50 m.Bj-EJj5EE ProNav: ac range: 126.500000 m, nav range: 51.438976 m, bearing: 76.830472 deg, approach rate: -0.226195 m/s, LOS rate: -0.691643 deg/s, cmd heading: 53.204725 deg, new cmd heading: 52.302855 deg. 2jEUMHeadingCmd: 0.912857 target range: 126.500000 and range: 127.20 m. jMi?jIjIjIiIhIhQhQhURBfYfYfYrfabfeC @ɛBeC 隥ſI =ɚiIj=Ii?ii)i?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277679*F-?2F):F)BF-P0JF)1y 'YyI BH->I-C I-II-)BI- =&I).I)6I-د<:I-C FG|>GBO > $?I  nManaging dock network, ignoring radio surface power offe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528702Rw,rQLeAJlJlJn1JlJlJlJn3JlJlJlJn?:Jl~i@Y~@~%TI=9~9A EG٣AyE: E> UNusing accuracyPremultiplier from configI]59M?]5YM$ iMl™Y] @]AMEMD;M;M 5i mAmZEZjFNOT Ignoring new targets: 126.50 m.Bj?Jj? ProNav: ac range: 126.500000 m, nav range: 51.341057 m, bearing: 76.571700 deg, approach rate: -0.253490 m/s, LOS rate: -0.671175 deg/s, cmd heading: 52.302857 deg, new cmd heading: 51.525110 deg. 2jO漝HeadingCmd: 0.899283 target range: 126.500000 and range: 127.20 m. jf7f?jjjihhhhffIfIrfQbfU @ɛB, 隭ÿI  .=ɚiI=If7f?ii)f7f?) EE*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 127.5 m (Round-trip 170.0 ms) speed 0.0 m/s ,DAT read: user:3568> BDAT read: Tx time:00:00:20.6031 $Ping request sent.G B O >zK BHK 9K K ='K    Yw,GfeA2 @Y2@2lA=92:99 =G٣9yE} E> ENusing accuracyPremultiplier from configIE59M~?M5YMF iMl™M&?M:M@MAMEMK=M=;M 5Y ]AYB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 127.500000 m, deltaT: 3.785811 s, deltaX: 0.300003 m, approachRate: 0.079244 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 126.50 m.Bjd,Jjd, ProNav: ac range: 126.500000 m, nav range: 51.212036 m, bearing: 76.289148 deg, approach rate: -0.274596 m/s, LOS rate: -0.602871 deg/s, cmd heading: 51.525110 deg, new cmd heading: 50.675384 deg. 2jμHeadingCmd: 0.884452 target range: 126.500000 and range: 127.50 m. jwkb?jjjihhhhgBff)f)rf5_@bf5Ud?ɛ]B]Q Y]ZÿIa eI=ɚaiaI¦=Iwkb?ii)wkb?)*F}?2Fy:FyBFyJF Will construct direction to contact in vehicle frame from tetrahedron 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 c>G B ZH RH H% >I!  I% II% 8BI! &I! .I! 6I% <:I% V FBIˮCJIˮCRIZI =bI =jI8n5O} >S`w,LeAB @YB $@B37=9B=yBHjo? Re_?`??L?ɨB @Bo;B$CyNBNIIVIVỳ٢^29 ^a=9bۻQ b>`` fG٣fXGyf f> nNusing accuracyPremultiplier from configlr59n.~?r5Yn inl™pv @vAnEnA;n0;n8 5zB z=Az]EZjFNOT Ignoring new targets: 126.50 m.Bj%KJj%K= ProNav: ac range: 126.500000 m, nav range: 51.100582 m, bearing: 76.056945 deg, approach rate: -0.340969 m/s, LOS rate: -0.711922 deg/s, cmd heading: 50.675383 deg, new cmd heading: 49.977291 deg. 2j=JEHeadingCmd: 0.872268 target range: 126.500000 and range: 127.50 m. jEL_?jAjAjAiAhAhIhIhIfffrfbf?ɛ% B%b 隭ſI S~=ɚiIH4=IL_?ii)L_?) u$?Iq*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748916J J BAJ 3K O3 KKK"KJnJeJJJ|;:J9JJJJ;JJ;J:J:Gh>G B O >38fw,+eA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000480:c @Y:@:2=9:=y:He$jZ? P?WZ??ɨ:c @:1F;:"CyFBFIININV٢V~ VL=9ZyXX ZG٣\yb( b> fNusing accuracyPremultiplier from configdj59f;~?j5Yf` ifm™lni@nAfEfh;f;f5p rDAtZj1=FNOT Ignoring new targets: 126.50 m.BjEs4JjEs4U ProNav: ac range: 126.500000 m, nav range: 50.972061 m, bearing: 75.801730 deg, approach rate: -0.316988 m/s, LOS rate: -0.631054 deg/s, cmd heading: 49.977290 deg, new cmd heading: 49.209765 deg. 2jUؼ]HeadingCmd: 0.858872 target range: 126.500000 and range: 127.50 m. j][?jYjajaiahahahihifififirfqbfu ?ɛ B "  ĿI  x=ɚiI*Ն=I[?ii)[?)!EU]>EU>zKKK59KK>'K*F?2F:FBF31JF e$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253044G- m>G B) OE >alw,eA>z@Y>|@>K*=9>HF<܃?dB@Ԩ?G s??ɨ>z@>΋;>#CyJBJI%Mb@Mb@Mb@!!! !)!Y%Zd;O?y&1|y&1y%~*?%`廹%`e%A %A)% AI!!y%AI=I=W٢M4< MA=9UQ U>QQ UG٣Yy]Ry ]> mNusing accuracyPremultiplier from configam59e~?m5Ye iem™u*?u:u8@uAeEe;e;e5}B 2A^EZjFNOT Ignoring new targets: 126.50 m.Bjt7Jjt7 ProNav: ac range: 126.500000 m, nav range: 50.822613 m, bearing: 75.533321 deg, approach rate: -0.356165 m/s, LOS rate: -0.641551 deg/s, cmd heading: 49.209764 deg, new cmd heading: 48.402226 deg. 2j%ܼHeadingCmd: 0.844778 target range: 126.500000 and range: 127.50 m. jbCX?jjjihhhh\BfffrfbfW?ɛ% B-O )UÿIQ UOs=ɚYiYI]g=IebCX?iaia)ebCX?)auWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504713*F!2F!:F)BF-?5JF)H>I III=BI&I.ICD6I<:I& F Q IQ GY GA BQ Ou >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756549OLsw,IeAf @Yf+@fKg&=9f)1 5G٣5XGy5߆ => ENusing accuracyPremultiplier from config9E59=ݷ~?M5Y= i=#m™IM@MA=E=L:=:=5Y ]&AYZjFNOT Ignoring new targets: 126.50 m.Bj4Jj4 ProNav: ac range: 126.500000 m, nav range: 50.676449 m, bearing: 75.282436 deg, approach rate: -0.365712 m/s, LOS rate: -0.629542 deg/s, cmd heading: 48.402224 deg, new cmd heading: 47.647442 deg. 2jؼHeadingCmd: 0.831605 target range: 126.500000 and range: 127.50 m. j T?jjjihhhhfffrfbf`?ɛ B6 [ /ÿI 9o=ɚiIR=I T?ii) T?)*F2F:FBFP0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008567G-c>G) BY O >zK BIK @9K K ?'K BK :K 9 I= iuyw,eAyrBrIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261509=Mb@Mb@Mb@999 9)9Y=w/?Mb?{Gzy=&?=<=ף=lA 9)9I=A9y=AII<٢㔽 5=9Q > G٣y > 5Nusing accuracyPremultiplier from config1=595@~?=5Y5 i59m™='?=:=@EA5E5;5;55mB mAmaEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 126.50 m.Bj0Jj0- ProNav: ac range: 126.500000 m, nav range: 50.516388 m, bearing: 74.989443 deg, approach rate: -0.336457 m/s, LOS rate: -0.617836 deg/s, cmd heading: 47.647444 deg, new cmd heading: 46.765755 deg. 2j-Լ5HeadingCmd: 0.816216 target range: 126.500000 and range: 127.50 m. j5P?j1j1j9i9h9h9h9hEfBfafafarfibfm`z@ɛB\' 隵ƿI h=ɚiI=IP?ii!)%P?))*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513289G jH bH <H >I  I I I =&I .I 6I Ư<:I 7 FG B O >n[w,|fA6@Y6º@6q=96A!! -G٣)y-@ -> 5Nusing accuracyPremultiplier from config1E595?~?E5Y5 i5Hm™IM@UA5E5iz;5z;55Y ]AaZjFNOT Ignoring new targets: 126.50 m.Bj1Jj1 ProNav: ac range: 126.500000 m, nav range: 50.391464 m, bearing: 74.783608 deg, approach rate: -0.376572 m/s, LOS rate: -0.622010 deg/s, cmd heading: 46.765755 deg, new cmd heading: 46.146745 deg. 2jpռHeadingCmd: 0.805413 target range: 126.500000 and range: 127.50 m. j/N?jjjihhhhfffrfbf@"T@ɛBhD #ɿI d=ɚiIF,=I/N?ii)/N?)  $?I*Fq2Fq:FqBFu_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764702GGiByO>w,ZfA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:00:00:23.1769 &TRx dataTimestamp_ set to:1736380824.436803*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017822F @YF@F=9Fhh jG٣jXGyn n> rNusing accuracyPremultiplier from configpv59r~?v5YrJ irZm™tz@zArErz:r":r5| ~SAdEZj)-FNOT Ignoring new targets: 126.50 m.Bj5,Jj5,E ProNav: ac range: 126.500000 m, nav range: 50.240955 m, bearing: 74.547440 deg, approach rate: -0.384132 m/s, LOS rate: -0.604556 deg/s, cmd heading: 46.146746 deg, new cmd heading: 45.436158 deg. 2jEsϼMHeadingCmd: 0.793011 target range: 126.500000 and range: 127.50 m. jMK?jIjQjQiQhQhQhahafififqrfbf@u@ɛB j 9=˿IA _=ɚiIȉ=IMK?iIiI)MK?)Q $?I*F?2F:FBFJFzKBoHK9KK@'K  RK>JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270960G h>J oJ eJ 1J J >:J 9J 3J a- @a- @a5 @a5 @G B O5 >Pw,D5fAE?YE @E=9E G٣yx > Nusing accuracyPremultiplier from config59|~?5Y ipm™%?:8@AE;;5 {A Zj1=FNOT Ignoring new targets: 126.50 m.Bj=~,Jj=~,MWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 00:00:23.1769 LVL= 21904, 27121, 12274, 27795, AGC= 59, IDX= 437, 0.20, 2.231, 2.502,-1.881, 3.118, PHS=-0.799,-0.569, 1.282, RAW= 215.8, 0.9, CAL= 215.9, -5.1, ROT= 294.1, 5.1 Ygot valid direction response: 00:00:23.1769 LVL= 21904, 27121, 12274, 27795, AGC= 59, IDX= 437, 0.20, 2.231, 2.502,-1.881, 3.118, PHS=-0.799,-0.569, 1.282, RAW= 215.8, 0.9, CAL= 215.9, -5.1, ROT= 294.1, 5.1 PDAT read: Bearing 294.1, 5.1 (Local) ~Local bearing/azimuth received: Bearing 294.1, 5.1 (Local) DAT read: Range 10 to 50 : 127.2 m (Round-trip 169.6 ms) speed 0.0 m/s ,DAT read: user:3569> BDAT read: Tx time:00:00:24.3032 $Ping request sent. ̿I Y=ɚiIw=I 1G?i i ) 1G?)HIII IMIIM)BIM =&II.II6IM<:IMs F*F 2F :F BF JF  Ii Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:00:24.3024 Gu c>G1 BA O] >:w,(OfAB:?YB< @B =9B =Nusing accuracyPremultiplier from config9E59=q~?E5Y=Y i=m™IM[@MA=E=;=;=e5q }A}bEk};Z?k} ky k}( I w,[hfAzKLK}9KKA'KR?YRq @Rh=9R{99 =G٣=XGy=$ E> MNusing accuracyPremultiplier from configAM59Ec~?U5YE iEm™}!?}:}@AEEEf;E;EM5 gAeE%B*** querying acoustic contact ***j!j!ZjFNOT Ignoring new targets: 127.20 m.Bj?Jj? ProNav: ac range: 127.199997 m, nav range: 56.540623 m, bearing: 66.892878 deg, approach rate: -0.298835 m/s, LOS rate: -0.528927 deg/s, cmd heading: 43.920285 deg, new cmd heading: 43.194726 deg. 2jJrJiJ0JJG:Jڈ9Jـ3JHeadingCmd: 0.753890 target range: 127.199997 and range: 127.20 m. j@?jjjihhhh#Bfffrfbfී?ɛBfq 隭ӿI RN=ɚiI=I@?ii)@?)*F?2F:FBF1JF)9 9 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 ******} Querying Benthos address 50 with one ping in standard two-way mode. sA e %Ye sAye BG m>ZHA RHA HQ IQ  IU IIU BIU =&IQ .IQ 6IU ɯ<:IU 9 FG B O >Lw,y΂fAyB>II5I5٢Eo EZ=9MQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]W~?e5Y] i]m™iimA]E]b;];]5q }AyZjFNOT Ignoring new targets: 127.20 m.Bj0Jj0 ProNav: ac range: 127.199997 m, nav range: 56.424183 m, bearing: 66.684934 deg, approach rate: -0.345588 m/s, LOS rate: -0.618440 deg/s, cmd heading: 43.194728 deg, new cmd heading: 42.569636 deg. 2j7ԼHeadingCmd: 0.742980 target range: 127.199997 and range: 127.20 m. j3>?jjjihhhhfffrfbfc?ɛB  O  VֿI  I= =$?I9ɚ iIqX=I3>?ii)3>?)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249429Gc>GG?G B O >Ӧw,bfAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499198>m?Y>8@><9>:†H߿ R 6@E? K߿@0?`<֐?a?ɨ>m?>܉;>!CyJBJ(IiR=IR<IVIV٢^ ^T=9bQ b>`d fG٣dyf  f> jNusing accuracyPremultiplier from confighn59jK~?r5YjT ijm™pr @rAjEj ;jq ;j 5vB vPAzhEZj!%FNOT Ignoring new targets: 127.20 m.Bj-5Jj-5= ProNav: ac range: 127.199997 m, nav range: 56.293491 m, bearing: 66.476473 deg, approach rate: -0.337306 m/s, LOS rate: -0.539273 deg/s, cmd heading: 42.569636 deg, new cmd heading: 41.942825 deg. 2j= EHeadingCmd: 0.732040 target range: 127.199997 and range: 127.20 m. jEg;?jAjAjAiAhIhIhIhIfQfQfQrfQbfU?ɛ%B% !%ڿI) -i2D=ɚ)i)I- =I5g;?i1i9)=g;?)I IIIzKk3IKKKB'KE"=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752586*F2F:FBFP5JFJ lJ lJ 1J J <5:J 9J 3J G h>G B O >w,(efAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003078yBIMMb@Mb@Mb@III I)IYMS?+?y&1yM?M=M`I I)MAIMAIyIHI IIIBI =&I.I6I<:IT FBIUïCJIUïCRIQZIU =bIU =jIUÊ4I]I]̍٢Ƽ =9Q > G٣XGy > Nusing accuracyPremultiplier from config59}:~?5YY im™?:?@AE;;#5 =AAZjFNOT Ignoring new targets: 127.20 m.Bj Jj ] ProNav: ac range: 127.199997 m, nav range: 56.132046 m, bearing: 66.179392 deg, approach rate: -0.280040 m/s, LOS rate: -0.516789 deg/s, cmd heading: 41.942826 deg, new cmd heading: 41.049097 deg. 2j]UeHeadingCmd: 0.716442 target range: 127.199997 and range: 127.20 m. jeh7?jajajaiahihihihmBfqfqfrfbf`'@ɛ%B-T^] qu8ܿIq u<=ɚqiyI}΍=I}h7?ii)h7?) $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255377E I=E *F 2F :F BF 0JF GEm>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507096GIBaO?,w,fA^?Y^?^=9^R3)) 5G٣1y5D 5> =Nusing accuracyPremultiplier from config959=@-~?5Y= i=m™?@A=E=f<=m<=&%5B -AiEZjiFNOT Ignoring new targets: 127.20 m.Bj] Jj]  ProNav: ac range: 127.199997 m, nav range: 55.965790 m, bearing: 65.928170 deg, approach rate: -0.319268 m/s, LOS rate: -0.483865 deg/s, cmd heading: 41.049099 deg, new cmd heading: 40.293238 deg. 2j HeadingCmd: 0.703250 target range: 127.199997 and range: 127.20 m. j,4?jjjihhh1h1f1f1f9rf9bf=#Y@ Iiɛ9= 9=3I9 Em4=ɚAiAIEܞ=IM,4?ii),4?)EE*E"EzKMKM9KIKMC'KM @U^^\VNH?85/)$# eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759056J} oJ} cJ} 0Jy J} >:J} x9J} ـ3Jy *F- ?2F) :F) BF- _0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.><%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011780Gmr>GIBiO ?-w,<gAjHbH<H>I IxII׀BI&I.I6I<:IM F ?Y ? FM=9 Xex   G٣y=W => ENusing accuracyPremultiplier from configAM59EF~?M5YEp iEn™M?U:U @UAE EE-;E;E'5Y ]}Aa}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 127.20 m.Bj$$Jj$$ ProNav: ac range: 127.199997 m, nav range: 55.791489 m, bearing: 65.634663 deg, approach rate: -0.339823 m/s, LOS rate: -0.574015 deg/s, cmd heading: 40.293239 deg, new cmd heading: 39.410042 deg. 2jļHeadingCmd: 0.687835 target range: 127.199997 and range: 127.20 m. j0?jjjihhhhBfffrfbf8M @ U$?IQɛBꐽ 隕I a-=ɚiI-n=I0?ii)0?)*F-?2F):F)BF-k1JF)]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:00:00:26.8761 eTRx dataTimestamp_ set to:1736380828.220463mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267976G) G B O- >Xw,fgA:?Y: 1?::=9:6`` bG٣bXGybT f> jNusing accuracyPremultiplier from configdn59f~?n5YfԂ ifn™ln @rAf Ef;f;f8)5t vAtZj!-FNOT Ignoring new targets: 127.20 m.Bj-SJj-SE ProNav: ac range: 127.199997 m, nav range: 55.678761 m, bearing: 65.455027 deg, approach rate: -0.313901 m/s, LOS rate: -0.501223 deg/s, cmd heading: 39.410041 deg, new cmd heading: 38.870060 deg. 2jEMHeadingCmd: 0.678411 target range: 127.199997 and range: 127.20 m. jMP-?jIjIjIiIhQhQhQhQfYfYfYrfYbfe* @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515185ɛBU 隥)I  (=ɚiI\'=I5P-?i1i1)5P-?)9*F?2F:FBF4JF AIAzK  BDAT read: Tx time:00:00:28.0032  $Ping request sent. M .)M 3bII iM 5^M 9hM ?M G]@M Q = M k]@)M AIM @iM A=I I M fbC?8;?qEH?)M R?IM iM .ڿM >I I  :publishing transmit ping timeة  Fpublishing direction and range infoI 9M _*SZgWIB ѿyI I I I I )I II iI I I I I I )I II iI I I M fbC?8;?qEH?)I II iI I I I G B OE >cw,s4gAyWBIeMb@Mb@Mb@aaa a)aYeQ?p= ף?Zd;Oye?e>eja eA)e AIe(AayeAIIM٢ V #=9Q > G٣y > Nusing accuracyPremultiplier from config-59~?55Y| i"n™5 ?5:5k @5A El<l<h+5=B =>AElEWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:00:28.0024 k}ng֤?k}" ky k}.gA:k}3BBk}BZk}`>"}^P0V<5^|@=$@}_*SZgWIB ѿJk}.ڿRk}>*}դ<]@P@ff:@^ɠA}EV=?Y#?uyѿ"k}3A*k}aBk}@l?k}ҫY 2k}RAk}N(1?kykyk}-Bk}=?5 addTargetRange:: Added new target pos. range: 126.599998 m, deltaT: 3.780134 s, deltaX: -0.599998 m, approachRate: -0.158724 m/s, rangeRepo size: 4 m Added new target pos. range: 126.599998 m, bearing: 12.539928 deg, lat: 36.905075 deg, lon: -122.120209 deg, deltaT: 3.780134 s, deltaX: -0.599998 m, approachRate: -0.158724 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 126.60 m.BjuJjq ProNav: ac range: 126.599998 m, nav range: 91.589516 m, bearing: 33.402107 deg, approach rate: 0.000000 m/s, LOS rate: -0.501223 deg/s, cmd heading: 38.870060 deg, new cmd heading: 38.064684 deg. 2jHeadingCmd: 0.664354 target range: 126.599998 and range: 126.60 m. j*?jjjihhhH%>I! I%LII%BI% =&I!.I!6I%<:I% Fh׃BfYfYfYrfe`f_@bfe?ɛB 8I =ɚiI~=I*?ii) *?) *F2F:FBF 2JF 9 I9 m Will construct direction to contact in vehicle frame from tetrahedron phase data.G r>G B O >8w,ĴQgAJ>nJ>gJ>1J<J>|;:J>9J>3J<Jtt vG٣tyz~% z> Nusing accuracyPremultiplier from config|59~}? 5Y~Yx i~0n™  @ A~E~X:~:~-5 ~AZjAMFNOT Ignoring new targets: 126.60 m.BjMڻJjMڻe ProNav: ac range: 126.599998 m, nav range: 91.582809 m, bearing: 33.276262 deg, approach rate: -0.020386 m/s, LOS rate: -0.382584 deg/s, cmd heading: 38.064685 deg, new cmd heading: 37.687127 deg. 2jeHmHeadingCmd: 0.657764 target range: 126.599998 and range: 126.60 m. jm@c(?jijijiiihqhqhqhqfyfyfyrfybf}@\?ɛB M n=隭IY ]+=ɚYiYI]đ=Ie@c(?iai)@c(?)*FE?2FA:FABFEP0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.GaGI B O > $?I _w,kgA6?Y6#?6o<96R%\>%! %A)!I%A!y%QAI=I=m٢M( MD=9UQ U>QY ]G٣]XGy]҅ ]> eNusing accuracyPremultiplier from configam59e6}?m5Yes ie I '=ɚiIѨ=I7&?ii)7&?)*F?2F:FBFO0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH AAH I  I 4II BI &I .I 6I <:I - FG c>G B O >Fw,6ZgA>b1?Y>eo?>T<9>5Hп {?$?Ͽ ޠ? I??ɨ>b1?>X;>CyJCBJIIVIV٢Z ^T=9^fQ ^>`` bG٣`yf꙽ f> jNusing accuracyPremultiplier from confighn59j}?5Yj,o ijFn™@ AjEjp;j;j05 A !I!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 126.60 m.BjUûJjUûe ProNav: ac range: 126.599998 m, nav range: 91.570007 m, bearing: 33.021202 deg, approach rate: -0.024816 m/s, LOS rate: -0.342514 deg/s, cmd heading: 37.289305 deg, new cmd heading: 36.921907 deg. 2jekmHeadingCmd: 0.644409 target range: 126.599998 and range: 126.60 m. jm$?jijijqiqhqhqhyhyfffrfbf?ɛB 隽I O=ɚiI[b=I$?ii)$?)*FA2FA:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JmJeJ0JJ\8:J9Jـ3JJD;JD;J:J:Gm>GiByO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755829uw,IgA:V?Y:?:,<9:t| G٣yP > Nusing accuracyPremultiplier from config 59 N}?5Y Pj i Rn™@A E z: X: P25! -A)ZjFNOT Ignoring new targets: 126.60 m.Bj`Jj` ProNav: ac range: 126.599998 m, nav range: 91.554634 m, bearing: 32.889951 deg, approach rate: -0.036730 m/s, LOS rate: -0.313644 deg/s, cmd heading: 36.921906 deg, new cmd heading: 36.528091 deg. 2j@WHeadingCmd: 0.637535 target range: 126.599998 and range: 126.60 m. j5#?jjjihhhhfffrfbfZ?ɛB| 隥I NK=ɚiI==I5#?i i)5#?) !I-izKMNKM9KIKMF'KM YEr"1BKN; Rtd]QLD@=:850.++(&$"#RK?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008327E(=*FM ?2FI :FQ BFU P0JFQ G G ?G >autAGB %YtAyBO >nw,gA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259984rA?YrDA?r;<9r 7 >lA =A) AIAyAIIF٢< =9:Q > =G٣=XGyEu E> MNusing accuracyPremultiplier from configIU59M}?U5YMc iM]n™U?U:U?]AMEM;M;M45 AZjFNOT Ignoring new targets: 126.60 m.BjcJjc  ProNav: ac range: 126.599998 m, nav range: 91.515884 m, bearing: 32.723628 deg, approach rate: -0.073047 m/s, LOS rate: -0.313667 deg/s, cmd heading: 36.528091 deg, new cmd heading: 36.028926 deg. 2jDW=HeadingCmd: 0.628823 target range: 126.599998 and range: 126.60 m. j= ?j9j9j9i9h9hAhAhEɃBfAfIfIrfIbfM<@ɛB)  LI  e$?Ia |D=ɚqiqIu3=I} ?ii) ?)EEO)=*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513282J lJ gJ J J <5:J 9J J J K?;J N?;J ?:J @:G G B O > w,~gA2rڼ?Y2u?2h<92Ěll nG٣lyrS r> vNusing accuracyPremultiplier from configp~59r}?~5YrQ_ irdn™|~?~ArEr)G;rmG;rF65  A Zj15FNOT Ignoring new targets: 126.60 m.Bj=FJj=FM ProNav: ac range: 126.599998 m, nav range: 91.483246 m, bearing: 32.607933 deg, approach rate: -0.089388 m/s, LOS rate: -0.316969 deg/s, cmd heading: 36.028927 deg, new cmd heading: 35.681723 deg. 2jMYUHeadingCmd: 0.622764 target range: 126.599998 and range: 126.60 m. jUom?jQjQjQiYhYhYhYhYfafafarfabfm@@ɛB#߽ 隝jI <ɚiI=Iom?ii)om?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764115 I*F?2F:F!BF%Y0JF!zKU 4(OKU }9KQ KU G'KU       BKe oA:Ke pA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:00:30.5750  TRx dataTimestamp_ set to:1736380831.748768 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017100G} c>Gy B O >w,gAbҸ?Yb?b<9b=ף A) AIXAyAIIƲ٢ = 3=9EQ > G٣y[ > Nusing accuracyPremultiplier from config59}?5YY iln™w>:?AE;g;D85 AoEZj)FNOT Ignoring new targets: 126.60 m.BjجJjج- ProNav: ac range: 126.599998 m, nav range: 91.430626 m, bearing: 32.470416 deg, approach rate: -0.115578 m/s, LOS rate: -0.302227 deg/s, cmd heading: 35.681724 deg, new cmd heading: 35.268942 deg. 2j-jO5HeadingCmd: 0.615559 target range: 126.599998 and range: 126.60 m. j5I?j1j1j1i1h9h9h9h=уBfAfAfarfibfm @ɛB!t 隵I S<ɚiI=II?ii)I?)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268308*F}?2Fy:FyBF}`0JFyG GjH]<bH]4=He>IeC IeIIeBIa&Ia.Ia6Ie<:Iea FBI!JI!RI!ZI% =bI% =jI% 4 I II G m>G G pAG B O >zw,hAfWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523688 徴?Y ? <9 lQQ UG٣UXGy] ]> eNusing accuracyPremultiplier from configam59ep}?m5YeyT iesn™qu?uAeEe? ;e ;e:5y }uAyB*** querying acoustic contact ***jjJnJbJJJ|;:Jt9JJJJ;JJ;JU:JV:ZjMFNOT Ignoring new targets: 126.60 m.BjUJjmu ProNav: ac range: 126.599998 m, nav range: 91.376312 m, bearing: 32.344869 deg, approach rate: -0.129322 m/s, LOS rate: -0.299108 deg/s, cmd heading: 35.268942 deg, new cmd heading: 34.892083 deg. 2j}FM}HeadingCmd: 0.608982 target range: 126.599998 and range: 126.60 m. j:?jjjihhhhfffrfbf` @ɛB-HȽ !%IA E]<ɚAiIIMɗ=IM:?iQiQ)U:?)Q*F}?2Fy:FyBF}p0JFymWill construct direction to contact in vehicle frame from tetrahedron phase data.m=iDAT read: 00:00:30.5750 LVL= 26752, 26977, 14482, 31635, AGC= 65, IDX= 433,-0.17,-2.311, 3.043,-0.948,-2.028, PHS=-0.196,-1.165, 1.077, RAW= 184.5, 3.0, CAL= 184.5, -5.3, ROT= 325.5, 5.3 Ygot valid direction response: 00:00:30.5750 LVL= 26752, 26977, 14482, 31635, AGC= 65, IDX= 433,-0.17,-2.311, 3.043,-0.948,-2.028, PHS=-0.196,-1.165, 1.077, RAW= 184.5, 3.0, CAL= 184.5, -5.3, ROT= 325.5, 5.3 8DAT read: $Error in header *Received a bad header X#Rx 1: Read direction message, but no range. bdirection in FSK: [-0.136003,-0.990010,-0.037193]q9u+hg{):" quhuai u8)u{IuAiu9Huu#ۉ?uN@uPwV= uN@)uqIu"˵@iuq=qu˹A? Ҍ?d\?)u ?IuRiu_ڿu`=% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseG= c>G B O} > w,z(hA I  Ѱ?Y ?.<9U|= )AI(AyzKLKŷ9KKH'K RK>JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseII?1٢%< 2=9sQ >! %G٣!y% %> 5Nusing accuracyPremultiplier from config)559-}?=5Y-N i-zn™=%>=:=g?}A-E-)<-)<-<5 MAmEZjFNOT Ignoring new targets: 126.60 m.BjJj  ProNav: ac range: 126.599998 m, nav range: 91.302933 m, bearing: 32.208836 deg, approach rate: -0.154533 m/s, LOS rate: -0.286707 deg/s, cmd heading: 34.892083 deg, new cmd heading: 34.483664 deg. 2j DHeadingCmd: 0.601853 target range: 126.599998 and range: 126.60 m. j?jjjihhh9h=ۃBfAfAfArfAbfEV@ɛBذ 隥I <ɚiI=I?ii)?)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG He >Ia  Ie 'IIe BIe =&Ia .Ia 6Ie <:Ie 7 FG B O >w,'ChA6Qʬ?Y6R?6<96JWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG= h>GE ?GE ?G B1 O >w,C\hA2V٨?Y2W?2eܱ<92v#cBBIiF=IFR=IJIJ٢R< R[=9RػQ V>TT VG٣VXGyZ. Z> bNusing accuracyPremultiplier from config\b59^`}?f5Y^E i^n™dfo?fA^E^:^P:^5?5h jAlZj FNOT Ignoring new targets: 126.60 m.Bj ƧJj Ƨ% ProNav: ac range: 126.599998 m, nav range: 91.176437 m, bearing: 32.004666 deg, approach rate: -0.188951 m/s, LOS rate: -0.293363 deg/s, cmd heading: 34.192829 deg, new cmd heading: 33.870735 deg. 2j%UI-HeadingCmd: 0.591156 target range: 126.599998 and range: 126.60 m. j-U?j)j)j)i)h)h)h1h1f1f1frfbf*@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseɛ-B-5ؽ )-I) 5l<ɚ1iQIU3=I]U?iYiY)]U?)a*F2F:FBFP0JF IGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezK KK 9K K I'K ! BK pA:K J[ـ3K[3 K[.KSKS"KSJ lJ `J J J <5:J bl9J J a @a @a @a @w,vhA2Ƥ?Y2?2)<92ϰiBBI%Mb@Mb@Mb@!!! !)!Y%Zd;?sh|??Mb`?y%>%=%;%=A !)% AI!!y%pAI}I}F٢R< 8=9Q > G٣yV > Nusing accuracyPremultiplier from config59q}?5Y? in™ ?? : $? A!E;+;'A5 AZj9EFNOT Ignoring new targets: 126.60 m.BjEJjM] ProNav: ac range: 126.599998 m, nav range: 91.077545 m, bearing: 31.877670 deg, approach rate: -0.222587 m/s, LOS rate: -0.286154 deg/s, cmd heading: 33.870734 deg, new cmd heading: 33.489337 deg. 2j]bDeHeadingCmd: 0.584499 target range: 126.599998 and range: 126.60 m. je?jajajaiahahihihmBfifqfqrfqbfu@@ɛBʽ 隵I <ɚiI=IM?iQiQ)U?)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*F2F:FBFJFZH?ARH?AH>I I:IIBI&I.I6Iԯ<:IH F IGI G! B) OM >#w,=hA2Will 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 elapseyoBIII٢< I=9Q > G٣y   > Nusing accuracyPremultiplier from config59}?5YP: in™!!%A#Eh;;B5) -A)B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 126.60 m.BjJj ProNav: ac range: 126.599998 m, nav range: 90.987740 m, bearing: 31.761598 deg, approach rate: -0.212307 m/s, LOS rate: -0.274673 deg/s, cmd heading: 33.489336 deg, new cmd heading: 33.140781 deg. 2j<HeadingCmd: 0.578416 target range: 126.599998 and range: 126.60 m. j?jjjihhhhf f f rf bfW@ɛ=B=Tʽ AE޿IA E&ߠ<ɚAiIIM՛=IU?iQiY)]?)Y*F?2F:FBF^0JFGqA 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 elapseGI GQ GU qAG! B1 Om > I #*w,hAy{BI) Mb@Mb@Mb@ )YE?333333?~jth?y?=D; )AIAyAII٢U= <=9Q > G٣XGy > Nusing accuracyPremultiplier from config59&}?5Y?4 in™ ? : !? A%E;;D5 %AZjAMFNOT Ignoring new targets: 126.60 m.BjMJjM] ProNav: ac range: 126.599998 m, nav range: 90.882187 m, bearing: 31.632134 deg, approach rate: -0.252009 m/s, LOS rate: -0.309457 deg/s, cmd heading: 33.140781 deg, new cmd heading: 32.751944 deg. 2j]`TmWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiuT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse}HeadingCmd: 0.571629 target range: 126.599998 and range: 126.60 m. j}LV?jyjyjyiyhyhhhBfffrfbf =@zKLKŷ9KKJ'KɛBzɽ lۿI <ɚiI=ILV?ii)LV?)*F]?2FY:FYBFe_0JFaJnJeJ1JJ|;:J9J3JG c>GY Ba 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 elapseH I  I SII BI &I .I 6I <:I 3 F1w,QhA1?Y2?9<9sQQ UG٣Qy]n ]> eNusing accuracyPremultiplier from configam59ed}?m5YeU/ ien™iu?uAe&Eem ;eH@;e\F5B AkEZjFNOT Ignoring new targets: 126.60 m.BjJj ProNav: ac range: 126.599998 m, nav range: 90.782066 m, bearing: 31.532894 deg, approach rate: -0.284854 m/s, LOS rate: -0.282660 deg/s, cmd heading: 32.751946 deg, new cmd heading: 32.453900 deg. 2jAHeadingCmd: 0.566427 target range: 126.599998 and range: 126.60 m. jc?jjjih1h1h9h9f9f9fArfAbfE @ $?IiɛBܽ 隵ؿI <ɚiI[\=Ic?ii)c?)*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGm>G B O >}17w,+hA6Ӕ?Y6?6 <96OFdd fG٣dyj: j> rNusing accuracyPremultiplier from configpv59r0}?v5Yr) iptv/?vAr(Er:r:r H5| ~A|Zj!%FNOT Ignoring new targets: 126.60 m.Bj-Jj-= ProNav: ac range: 126.599998 m, nav range: 90.666672 m, bearing: 31.425297 deg, approach rate: -0.298866 m/s, LOS rate: -0.279025 deg/s, cmd heading: 32.453900 deg, new cmd heading: 32.130702 deg. 2j=~?EHeadingCmd: 0.560787 target range: 126.599998 and range: 126.60 m. jE?jAjAjAiAhIhIhIhIfQfQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsefrfbf6C@ɛmBmϽ imտIi un<ɚqiI=I?ii)?)EqAE*F2F:FBFl2JF"G>G> $?IGh> Will construct direction to contact in vehicle frame 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 >zKe LKe }9Ka Ke K'Ke fasJ.&$$3LdxzzvHeJ J bJ J J J t9J J ]=w,|hAB͐?YB ?B6;9Bq G٣XGy > Nusing accuracyPremultiplier from config59}?5Y# i?:?A*E;;I5 ?AZj%FNOT Ignoring new targets: 126.60 m.Bj-Jj-)A McC ProNav: ac range: 126.599998 m, nav range: 90.522514 m, bearing: 31.302096 deg, approach rate: -0.330299 m/s, LOS rate: -0.282733 deg/s, cmd heading: 32.130702 deg, new cmd heading: 31.760515 deg. 2j B ] YayeBHeadingCmd: 0.554326 target range: 126.599998 and range: 126.60 m. jH ?jjjihhhh7Bfffrfbf-*@ɛuBu]ϼ y}ӿIy }vf<ɚyiyI}՞=IH ?ii)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 elapseH]>IY I]xII]׀BIY&IY.I]DD6I]<:IY*FY2FY:FYBF]%3JFY IG c>GY Bq O >kCDw,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>?Y>(?>Z,;9>9&H`?`? ?@ ?@lXUe@Đ??ɨ>?>/;>"CyTTI^I^㔳9}|Q }> G٣y˜ > Nusing accuracyPremultiplier from config59A}?5Y i?A,ER;S;K5 >AZjFNOT Ignoring new targets: 126.60 m.BjJj ProNav: ac range: 126.599998 m, nav range: 90.385704 m, bearing: 31.191680 deg, approach rate: -0.346066 m/s, LOS rate: -0.279722 deg/s, cmd heading: 31.760516 deg, new cmd heading: 31.428772 deg. 2j?HeadingCmd: 0.548536 target range: 126.599998 and range: 126.60 m. jl ?jjjihhh h f f f rfbf@ɛEBM IMҿII M݊T<ɚIiIIUjw=JqJuAAIl ?ii)l ?)*Fm?2Fi:FiBFm1JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGGi B O > I txJw,+iA?Y$?#x9wIMb@Mb@Mb@ )Y> ףp=?)) -G٣)y5\ 5>=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 MNusing accuracyPremultiplier from configAU59E}?U5YE iEn™U?:*F%?2F!:F!BF%5JF!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 elapseH= >I9  I= II= BI9 &I9 .I9 6I= <:I= 1 FBIʰCJIʰCRIZI =bI =jIʤ4Gq Gq Gu pAGA BI Om >7jQw,=EiAV. ?YV/J?Vch9VVr;Ww,_iA:?Y:P?:̻9:,thl nG٣lyn[ r> vNusing accuracyPremultiplier from configpz59r}?z5Yr irn™xzg?zAr1Er\:r\:rP5B AiEZj1Will construct direction to contact in vehicle frame 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: 126.60 m.BjcJjc ProNav: ac range: 126.599998 m, nav range: 89.930679 m, bearing: 30.865416 deg, approach rate: -0.393756 m/s, LOS rate: -0.266454 deg/s, cmd heading: 30.765392 deg, new cmd heading: 30.448317 deg. 2j6HeadingCmd: 0.531423 target range: 126.599998 and range: 126.60 m. j] ?jjjihhhhfffrf bf  !@ɛuB}/ͽ y}KͿIy }<ɚyiIul=I] ?ii)] ?)*FI2FI:FQBFU_0JFQ IGmh>U Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapseGY B O >zK QK 9K K M'K ? dyfR@2"{urojfdeky~}z~{BK :K %]w,yiAJ0J2aJ0J0J0J2p9J0J0yqq5Mb@Mb@Mb@111 1)1Y5x?333333? G٣y > Nusing accuracyPremultiplier from config59}?5Y in™?:?A3E;;R5 ZjFNOT Ignoring new targets: 126.60 m.BjtJjt ProNav: ac range: 126.599998 m, nav range: 89.743088 m, bearing: 30.737742 deg, approach rate: -0.408809 m/s, LOS rate: -0.278815 deg/s, cmd heading: 30.448317 deg, new cmd heading: 30.064501 deg. 2jY?HeadingCmd: 0.524725 target range: 126.599998 and range: 126.60 m. jYT?jjjihhh h TBf f f rfbf"@ɛ=B=̽ 9=ͿIA E;ɚAiAIM1=I]YT?iYia)mYT?)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 elapseZH@ARH@AH>I IIIBI&I.ICD6I<:IX F*F?2F:FBFJF"G>Gp> IG ^>G ?G ?G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapsedw,iA6Tr?Y6?6(G96Ď 5Nusing accuracyPremultiplier from config1=595}?=5Y5 i1AE?EA55E5:5:5zT5I evAefEZjFNOT Ignoring new targets: 126.60 m.BjnJjn ProNav: ac range: 126.599998 m, nav range: 89.588013 m, bearing: 30.643712 deg, approach rate: -0.418653 m/s, LOS rate: -0.254292 deg/s, cmd heading: 30.064502 deg, new cmd heading: 29.781924 deg. 2j. HeadingCmd: 0.519793 target range: 126.599998 and range: 126.60 m. j!?jjjihhhhfff!rf!bf%N#@ɛ߃Bkg۽ 隕&˿I ;ɚiI=I!?ii)!?)*F}?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.խ=թT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGc>G B O > I jw,ƾiAٶj?Yn?q9k G٣y > Nusing accuracyPremultiplier from config59I}?5Y in™ ?:?A7EQ;;xV5 uAWill construct direction to contact in vehicle frame from tetrahedron phase data.I  I II BI &I .I 6I <:I z FG G B O >qw,jiA2$b?Y2?2dž92s6GqGqGA BQ Om >Nww,?iA6[?Y6?6Sܛ962(tx zG٣zXGyz ~> Nusing accuracyPremultiplier from config 59}? 5Y i ?A;E::Y5]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Response Not Received m*response not receivedu,DAT read: user:3572> }BDAT read: Tx time:00:00:38.9533 }$Ping request sent.}G B O= >zK MK 9K K O'K :W  !eBr{rcO>1(BK :K ~w,iAV\kS?YV?V᫼9VH G٣y > Nusing accuracyPremultiplier from config59}?5Y& i?:?A=EU;;[5 AZjuFNOT Ignoring new targets: 126.60 m.BjuRJj}R ProNav: ac range: 126.599998 m, nav range: 88.868019 m, bearing: 30.254904 deg, approach rate: -0.464391 m/s, LOS rate: -0.238364 deg/s, cmd heading: 28.899575 deg, new cmd heading: 28.613135 deg. 2j#HeadingCmd: 0.499393 target range: 126.599998 and range: 126.60 m. j>jjjihhhh.Bfffrfbf֖&@ɛ9= 9E̿IA EMޝ:ɚAiAIE=IM>ii)>)H]>IY I]II]BI] =&IY.IY6I]<:I]] FuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501819*F2F:FBFP0JF YIYG r>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752541w,jA6sL?Y6@?6$963V\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59f}?j5Yf ifn™hj?jAf>Efa:f:fA]5p rAraEZj  FNOT Ignoring new targets: 126.60 m.BjzJjz ProNav: ac range: 126.599998 m, nav range: 88.699112 m, bearing: 30.172978 deg, approach rate: -0.449789 m/s, LOS rate: -0.218580 deg/s, cmd heading: 28.613136 deg, new cmd heading: 28.366890 deg. 2jHeadingCmd: 0.495096 target range: 126.599998 and range: 126.60 m. j-}>jjjihhhhfffrfbf`BV'@JmJhJJJ\8:JȆ9JJJD;JD;JԬ:Jլ:ɛ)5 QU ͿIQ ]7ɚYiYI]x=Ie-}>iaia)e-}>)i*F?2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008234G5c>G1G5>?G B O5 > Q IQ c/w,.jAD?Y}?׼9Ax^Mb@Mb@Mb@ )YJ +?~jt?~jty?=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256764A A)(AI=Ay(AII ٢6 +=9ȻQ > G٣XGyx > Nusing accuracyPremultiplier from config 59 Q}?5Y  i n™* ?:?A @E ; ; Y_5) - A)ZjQUFNOT Ignoring new targets: 126.60 m.Bj]*cJj]*c ProNav: ac range: 126.599998 m, nav range: 88.486244 m, bearing: 30.077887 deg, approach rate: -0.443523 m/s, LOS rate: -0.198605 deg/s, cmd heading: 28.366891 deg, new cmd heading: 28.080933 deg. 2jL=HeadingCmd: 0.490105 target range: 126.599998 and range: 126.60 m. j=>j9j9j9i9hAhAhAhE BfIfIfIrfIbfUN(@zKNKKKP'KukZQONJGDCC>8666340-,)(('%#"  ɛ܃Bӽ οI mͺɚiIB=I >i i ) >)*F?2F:FBF P0JF ec~G}5tA  Y5tAy&B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513417HU >IQ  IQ IQ IQ &IQ .IQ 6IU <:IQ G- h>G B ) I1 OE >w,JjA2=?Y2v?2m92:pB>8IIFIFb(٢N; Nd=9RػQ R>PP VG٣TyV V> ZNusing accuracyPremultiplier from configX^59Z~?^5YZO iZn™`b-?bAZBEZ ;Ze ;Z`5d fAdvB*** querying acoustic contact ***jtjtZjFNOT Ignoring new targets: 126.60 m.BjZJj Z ProNav: ac range: 126.599998 m, nav range: 88.324463 m, bearing: 30.009402 deg, approach rate: -0.451024 m/s, LOS rate: -0.191274 deg/s, cmd heading: 28.080933 deg, new cmd heading: 27.875105 deg. 2jDHeadingCmd: 0.486512 target range: 126.599998 and range: 126.60 m. j&>jjjihhhhfffrfbf[)@ɛY 隥sοI H2ɚiIΦ=I&>ii)&>)*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765176JrJeJJJG:J9JJJ_;J_;J:J:Gc>G B O >w,!djA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016613>W5?Y>m?>`9>|H%?`r@t`H?l$?`ܘ@?`??ɨ>W5?>7;> CyRBR3IIZIZF٢bǔ bH=9bQ b>dd fG٣dyj3 j> rNusing accuracyPremultiplier from configpv59r ~?v5Yr3 irn™tv?vArDEr:r*:rb5| ~A|Zj!%FNOT Ignoring new targets: 126.60 m.Bj-QJj-Q= ProNav: ac range: 126.599998 m, nav range: 88.135742 m, bearing: 29.934649 deg, approach rate: -0.462168 m/s, LOS rate: -0.183459 deg/s, cmd heading: 27.875105 deg, new cmd heading: 27.650367 deg. 2j=EHeadingCmd: 0.482590 target range: 126.599998 and range: 126.60 m. jE>jAjAjAiIhIhIhIhQfQfQfYrfabfe)@ɛq} y}bϿIy bɚiIc=I>ii)>) $?IE*FU?2FQ:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269360GIGQGQG) B1 OU >zKe NKe @9Ka Ke Q'Ke    w,A}~jAF8-?YFմe?F9FB?[?ɨF8-?Fy;FCyRBR-I)T T Z=Z=-Mb@Mb@Mb@))) )))Y-Mb?Q?Zd;Oy-?-\=-j) )))I))y)IUIUq٢u` }?=9}+9Q }> G٣XGy > Nusing accuracyPremultiplier from config59~?5Y2 in™l?:S?AEE;;d5B NA[EZjq}FNOT Ignoring new targets: 126.60 m.Bj}3Jj3 ProNav: ac range: 126.599998 m, nav range: 87.943146 m, bearing: 29.864217 deg, approach rate: -0.429371 m/s, LOS rate: -0.157364 deg/s, cmd heading: 27.650366 deg, new cmd heading: 27.438608 deg. 2j׻HeadingCmd: 0.478894 target range: 126.599998 and range: 126.60 m. j1>jjjihhhhBfH>IC III&I.I6I<:Ii FBIJIRIZI =bI =jI45f)f1rf1bf=ڸ*@uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521378ɛS пI ̳ɚiI=I1>ii)1>)*F?2F:FBF1JF IG h>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772455$̥w,PjAf$?Yf]]?f9f0 G٣y > Nusing accuracyPremultiplier from config59 ~?5Y~ in™%?AGE: ;[f5 kAZjFNOT Ignoring new targets: 126.60 m.Bj <Jj <% ProNav: ac range: 126.599998 m, nav range: 87.755089 m, bearing: 29.800290 deg, approach rate: -0.483967 m/s, LOS rate: -0.164870 deg/s, cmd heading: 27.438608 deg, new cmd heading: 27.246416 deg. 2j%L⻝-HeadingCmd: 0.475540 target range: 126.599998 and range: 126.60 m. j-y>j1j1j1i1h1h1h9h9f9f9fArfAbfE@w+@ɛiu?b quѿIq u>~ڻɚqiyI}=I}y>ii)y>)*F 2F :F BF  5JF }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024544G9 IhGA BQ O >w,C:jAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:00:41.5180 TRx dataTimestamp_ set to:1736380842.844614checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277532yB5Mb@Mb@Mb@111 1)1Y5v?)\(?{Gzy5>5Ga=5ף1 1)1I11y1IIII٢]: ]1=9]Q e>aa mG٣iym m> uNusing accuracyPremultiplier from configq59u^+~?5Yu iun™>:Zz?AuIEua;uG_;u^h5 hAzK=LK=}9K9K=R'K=""   ZjYeFNOT Ignoring new targets: 126.60 m.BjeJjeu ProNav: ac range: 126.599998 m, nav range: 87.552895 m, bearing: 29.735071 deg, approach rate: -0.423256 m/s, LOS rate: -0.136840 deg/s, cmd heading: 27.246417 deg, new cmd heading: 27.050308 deg. 2juһHeadingCmd: 0.472117 target range: 126.599998 and range: 126.60 m. jP>jjjihhhhBfffrfbfo,@ɛ݃B%i$ !%zѿI! %[wɚ)i)I-K@=I-P>i1i1)5P>)*Fi2Fi:FiBFmP5JFi"GqGu>H >I  I II BI =&I .I 6I <:I ] F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529907Gu ^>G} ?G} ? $?I GQ By O >"w,g'jAyB#Ii>I<IIM٢ Ӽ  X=9 Q > G٣XGy > %Nusing accuracyPremultiplier from config!-59%4~?-5Y% i%n™)15A%JE%: ;%:%j59 =A=YE]B*** querying acoustic contact ***jYjYZjFNOT Ignoring new targets: 126.60 m.Bj"Jj"% ProNav: ac range: 126.599998 m, nav range: 87.387352 m, bearing: 29.681424 deg, approach rate: -0.438533 m/s, LOS rate: -0.142382 deg/s, cmd heading: 27.050309 deg, new cmd heading: 26.889065 deg. 2j%nû-HeadingCmd: 0.469303 target range: 126.599998 and range: 126.60 m. j-rH>j)j)j)i)h1h1h1h1f9f9fyrfybf@3-@]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:00:41.5180 LVL= 29040, 28577, 22242, 32755, AGC= 64, IDX= 376, 0.40,-0.838,-2.404,-1.285,-1.492, PHS= 0.742,-0.865, 0.204, RAW= 130.8, -1.2, CAL= 136.6, -10.3, ROT= 13.4, 10.3 Ygot valid direction response: 00:00:41.5180 LVL= 29040, 28577, 22242, 32755, AGC= 64, IDX= 376, 0.40,-0.838,-2.404,-1.285,-1.492, PHS= 0.742,-0.865, 0.204, RAW= 130.8, -1.2, CAL= 136.6, -10.3, ROT= 13.4, 10.3 PDAT read: Bearing 13.4, 10.3 (Local) ~Local bearing/azimuth received: Bearing 13.4, 10.3 (Local) DAT read: Range 10 to 50 : 120.4 m (Round-trip 160.6 ms) speed 0.4 m/s ,DAT read: user:3573> BDAT read: Tx time:00:00:42.6033 $Ping request sent.e@e ek@)eX8Ie|o>ieX8>aaey;m?8D?P)eWA>Iei9i9)=rH>)9*F?2F:FBF4JFG c>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:00:42.6025 Jw,jA~R ?Y~T=?~9~jYY eG٣ayel m> }Nusing accuracyPremultiplier from configy59}j>~?5Y}Ѽ i}n™Z?A}LE}r];}];}k5 A Ik?}?kL& k kKjA:kBBk6BZk@"Y@(UQu,X@D3?RF)7 ?Jk2߿RkPn*GB@? PusW@m^,?pῬ?"kb*kBkf?kn)W& 2kCkf?kҫY kk)BkZ> addTargetRange:: Added new target pos. range: 120.400002 m, deltaT: 14.628248 s, deltaX: -6.199997 m, approachRate: -0.423837 m/s, rangeRepo size: 4  Added new target pos. range: 120.400002 m, bearing: 300.593235 deg, lat: 36.904734 deg, lon: -122.120479 deg, deltaT: 14.628248 s, deltaX: -6.199997 m, approachRate: -0.423837 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 120.40 m.BjJj5 ProNav: ac range: 120.400002 m, nav range: 42.492168 m, bearing: 26.726410 deg, approach rate: 0.000000 m/s, LOS rate: -0.142382 deg/s, cmd heading: 26.889065 deg, new cmd heading: 26.719667 deg. 2j1=HeadingCmd: 0.466346 target range: 120.400002 and range: 120.40 m. j=>j9j9j9iahahahihifififirfu^@bfu`7?ɛIM IU$ӿIQ U2ɚQiQIUk=I>i܇;iW>)>)mWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO0JFJ nJ dJ J J |;:J |9J J a @a @a @a @zK5 gAMK5 @9K1 K5 S'K5    BKA :KA G G B O >row,okA:lx>Y:886?:2(9:R:;8yJBJ!I=Mb@Mb@Mb@999 9)9Y=(\? ףp= ?~jty=>=Q8===A =(A)=XAI=lA9y=3AIMIM٢] eB=9eՆQ e>ai mG٣qy}r >jHbH4<H>I IIIBI =&I.I6Iϯ<:I= F Nusing accuracyPremultiplier from config59J~?5Y inMWill construct direction to contact in vehicle frame from tetrahedron phase data.c>U:UO?UAME:<<m5a eAaZj FNOT Ignoring new targets: 120.40 m.Bj vJj v ProNav: ac range: 120.400002 m, nav range: 42.303516 m, bearing: 26.635261 deg, approach rate: -0.443215 m/s, LOS rate: -0.215098 deg/s, cmd heading: 26.719668 deg, new cmd heading: 26.445004 deg. 2jEHeadingCmd: 0.461552 target range: 120.400002 and range: 120.40 m. jEP>jIjIjIiIhIhIhQhU܃BfQfQfYrfYbf]D?ɛ wӿI JHɚiIO =IP>io)P>) 5$?I9*F?2F:FBFJFG GGqGyG}oAG1BAO]v> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,kA2>Y2f.?2h92B2܌;2"CyNBR I)T TIZIZ٢b^ bU=9b Q b>dd fG٣fYGyj3 j> nNusing accuracyPremultiplier from configlr59nT~?r5Yn inn™pvG?vAnOEn:na:n1o5zB zAzVEZjFNOT Ignoring new targets: 120.40 m.Bj hJj h ProNav: ac range: 120.400002 m, nav range: 42.137295 m, bearing: 26.561388 deg, approach rate: -0.454688 m/s, LOS rate: -0.202873 deg/s, cmd heading: 26.445003 deg, new cmd heading: 26.222510 deg. 2j: HeadingCmd: 0.457669 target range: 120.400002 and range: 120.40 m. jS>jjjihhhhfffrfbfZ?ɛ%ރB%B )-ӿI) -s{[ɚ)i)I-r=I5S>i5>)=S>)9*F2F:FBFo0JFGgji>eWill construct direction to contact in vehicle frame from tetrahedron phase data.e4>e=GiBqO9> )I1w,95kAZWill construct direction to contact in vehicle frame from tetrahedron phase data.z>Yzl&?zz9zVz;z CyB'IMb@Mb@Mb@ )Yv/?L7A`?:vyx>+=TA \A)AIpAy AII ٢ < 6=9<:Q > G٣y* > -Nusing accuracyPremultiplier from config)559-{a~?55Y-+ i-n™5->=:=9?=A-PE-a;-;-'q5A EAAZjquFNOT Ignoring new targets: 120.40 m.Bj}8BJj}8B ProNav: ac range: 120.400002 m, nav range: 41.939110 m, bearing: 26.488891 deg, approach rate: -0.462001 m/s, LOS rate: -0.169800 deg/s, cmd heading: 26.222510 deg, new cmd heading: 26.003993 deg. 2j黝HeadingCmd: 0.453855 target range: 120.400002 and range: 120.40 m. j_>jjjihhhhfffrfbf8?J3K 3 KS}-KK"KJmJJ0JJ\8:JJـ3JɛK LҿI arɚ i I La=I _>i)_>)zK.ELK9KKT'KRK?JK ?*F2F:FBFx0JFH>I III&I.I6I:IeWill construct direction to contact in vehicle frame from tetrahedron phase data.GU X>GY G] (?  I G1 B9 O] >w,YOkA6b>Y62O?6:96ُ6;6"CyBBB#IIJIJ%x٢R Rf=9R;Q V>TT VG٣TyZݬ Z> ^Nusing accuracyPremultiplier from config\b59^k~?f5Y^m i^n™dj1?jA^RE^1;^1;^r5l nArSEZj FNOT Ignoring new targets: 120.40 m.Bj 0&Jj 0& ProNav: ac range: 120.400002 m, nav range: 41.780968 m, bearing: 26.437450 deg, approach rate: -0.444989 m/s, LOS rate: -0.145294 deg/s, cmd heading: 26.003994 deg, new cmd heading: 25.849089 deg. 2jmǻHeadingCmd: 0.451152 target range: 120.400002 and range: 120.40 m. j[>jjjihhhhfffrfbf p9?ɛ!5 15(ӿI1 =ɚ9i9I==IE[>iE)E[>)IEYWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JF"Gp>G;>G4S>GBO=> Will construct direction to contact in vehicle frame from tetrahedron phase data.(w,#1ikA dId>Yw?2V9{3y;y%B%-Ii50>I5p<99IEIE#٢U= U@=9];Q ]>YY eG٣eYGye e> mNusing accuracyPremultiplier from configiu59mx~?u5YmB imn™y}#*?}AmSEm ;m ;mt5B aAPEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 120.40 m.BjJj ProNav: ac range: 120.400002 m, nav range: 41.590019 m, bearing: 26.383250 deg, approach rate: -0.447257 m/s, LOS rate: -0.127536 deg/s, cmd heading: 25.849088 deg, new cmd heading: 25.685741 deg. 2j HeadingCmd: 0.448301 target range: 120.400002 and range: 120.40 m. j>jjjihhhhfffrfbf@G@ɛu  ѿI %Kɚ!i!I%f=I->i-ߎ)*Fq2Fq:FqBF}05JFyG_.>GBOd>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JoJcJ1JJ>:Jx9J3J) hC ~GzK BHK }9K K U'K .:<<>@ tABKM oA:KI Q "Y tAy Bw, kA>)>Y>?>4[9>H?@S$,-?? -;@Aj?`(??ɨ>)>>;IQ IQIQIQ&IQ.IUBD6IU<:IU FMb@Mb@Mb@ )YV-?S㥛?/$y>/<A -A)AIAAyAIIm?٢ n: ?=9%c:Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=595~?E5Y5 i5n™E>E:E?EA5UE5;5 ;5rv5I U`AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762933YZjFNOT Ignoring new targets: 120.40 m.Bj2Jj2 ProNav: ac range: 120.400002 m, nav range: 41.379913 m, bearing: 26.336284 deg, approach rate: -0.488749 m/s, LOS rate: -0.109807 deg/s, cmd heading: 25.685741 deg, new cmd heading: 25.544128 deg. 2jHeadingCmd: 0.445829 target range: 120.400002 and range: 120.40 m. jC>jjjihhhh҃BfffrfbfJN@ɛq}| y}пIy }̙ɚiIb=IC>i ) $?Ih*FE?2FA:FABFE4JFAGM Q)>GI GM qA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:00:45.1659  TRx dataTimestamp_ set to:1736380846.377676 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016992GA BQ Om >w,CkA:A>Y: ?:*9:?,=y:H 7v? l{|f?`Fp?z?~b? 2?ɨ:A>:#;:!Cy^Bb0IIjIj٢rR< r`=9rf:Q r>tt vG٣xyz, z> Nusing accuracyPremultiplier from config 59~? 5YV in™  +? AVEU:: x5 %QA%MEZjAMFNOT Ignoring new targets: 120.40 m.BjM$պJjM$պ] ProNav: ac range: 120.400002 m, nav range: 41.201168 m, bearing: 26.302584 deg, approach rate: -0.492047 m/s, LOS rate: -0.093172 deg/s, cmd heading: 25.544127 deg, new cmd heading: 25.442588 deg. 2jeeHeadingCmd: 0.444057 target range: 120.400002 and range: 120.40 m. jmn[>jijijiiihihqhyhyfffrfbf@o8 @ɛ 隵RпI ɚiI =In[>i0)*FQ2FQ:FQBFUO0JFQG]pA GYG-+#>GBB(JO)>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266883 $?I5w,ӶkAbWill construct direction to contact in vehicle frame from tetrahedron phase data.difADAT read: 00:00:45.1659 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.15,-1.857, 2.886,-2.701,-2.455, PHS= 0.686,-0.895,-0.248, RAW= 114.0, 6.7, CAL= 123.9, 3.4, ROT= 26.1, -3.4 Ygot valid direction response: 00:00:45.1659 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 418, 0.15,-1.857, 2.886,-2.701,-2.455, PHS= 0.686,-0.895,-0.248, RAW= 114.0, 6.7, CAL= 123.9, 3.4, ROT= 26.1, -3.4 5PDAT read: Bearing 26.1, -3.4 (Local) 5~Local bearing/azimuth received: Bearing 26.1, -3.4 (Local) EDAT read: Range 10 to 50 : 118.7 m (Round-trip 158.3 ms) speed 1.0 m/s E,DAT read: user:3574> U~>YU>?UY9U5+=yUH?\߿ocu/}??6`]?@b?>?ɨU~>Uሌ;U#CymBm;I)q qBDAT read: Tx time:00:00:46.2534 $Ping request sent.ijshhj<՛?"\QUC)׽?)jսIjDij jhh]:publishing transmit ping timeؑeFpublishing direction and range infoh9j=Ӵ0ϿGWӿ\5Sp}?yhhhh h)hIhihhhhh h)hIhihhhj<՛?"\QUC)׽?)hIhihhhhzK LK9KKV'K><9663.+((%!!  Mb@Mb@Mb@ )Yy&1?y&1?{Gzy`>`e<#lA A)AIAyAI-I-@٢< =9t#Q > G٣YGy. > Nusing accuracyPremultiplier from config59~?5Y in™>: ?AXE;;wz5  AkjZ"|?kjYB$ kh kjnkA:kjfBBkjBZkj5ȑ@"jY=<5AķX[@j=Ӵ0ϿGWӿ\5Sp}?Jkj Rkj*j')N C~IPۿZ@ji+ip_q/N}ۿSm?"kjK*kjkjcA{?kjx#$ 2kj6+CkhkhkjRAkj#Bkj> addTargetRange:: Added new target pos. range: 118.699997 m, deltaT: 3.534944 s, deltaX: -1.700005 m, approachRate: -0.480914 m/s, rangeRepo size: 4  Added new target pos. range: 118.699997 m, bearing: 261.021762 deg, lat: 36.904734 deg, lon: -122.120479 deg, deltaT: 3.534944 s, deltaX: -1.700005 m, approachRate: -0.480914 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 118.70 m.BjJjH1I5C I5II5BI5 =&I1.I16I5<:I5] FBIƯCJIƯCRIZI =bI =jI V5m ProNav: ac range: 118.699997 m, nav range: 40.952896 m, bearing: 26.272035 deg, approach rate: 0.000000 m/s, LOS rate: -0.093172 deg/s, cmd heading: 25.442588 deg, new cmd heading: 25.278392 deg. 2ji}HeadingCmd: 0.441191 target range: 118.699997 and range: 118.70 m. j>jjjihhhh΃Bfffrf̬]@bf?ɛ݃B$X )-ͿI) -ꩳɚ)i)I5=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:00:00:46.2526 IE>i*) I *F ?2F :F BF% ?5JF! G Nr=G B O >w,ܜkA:c>Y:a>:#9: @=y:H1?@fG޿r 7?&?iwE?`?>?ɨ:c>::;:!CyBBB=IININ4٢fM< f=9jm&Q j3?hh nG٣ly -? -Nusing accuracyPremultiplier from config!559%v~?55Y%g i%n™y}3?}A%YE%V5<%x5<%{5 AZj  FNOT Ignoring new targets: 118.70 m.Bj5EJj=EM ProNav: ac range: 118.699997 m, nav range: 40.837944 m, bearing: 26.261424 deg, approach rate: -0.467515 m/s, LOS rate: -0.043274 deg/s, cmd heading: 25.278392 deg, new cmd heading: 25.246471 deg. 2jMHeadingCmd: 0.440634 target range: 118.699997 and range: 118.70 m. jɚ>jjjihhhhfffrfbf@?ɛ15, 5 ==ͿI9 E幼ɚIiIIM:j=Will construct direction to contact in vehicle frame from tetrahedron phase data.Iɚ>iW =)ɚ>)*F?2F:FBFV0JFGM P=G! B) OM >} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,skA (I(r'>Yr>r 9r̄=yrHx?6ݿ>I"?e?v?M?@F?ɨr'>r;pyzBzCII I T߳٢%< %E=9%Q %>)) -G٣)y5q@ 5> =Nusing accuracyPremultiplier from config9E59=~?E5Y= i=n™AMi?MA=[E=n:=@:=\}5UB UAUJEuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 118.70 m.Bj Jj  ProNav: ac range: 118.699997 m, nav range: 40.656105 m, bearing: 26.249329 deg, approach rate: -0.471223 m/s, LOS rate: -0.031484 deg/s, cmd heading: 25.246471 deg, new cmd heading: 25.210023 deg. 2j۬HeadingCmd: 0.439998 target range: 118.699997 and range: 118.70 m. jhG>jjjihhhhff9f9rfAbfEN?ɛ܃BE 隍/̿I ;ļɚiI=IhG>i )*Fi2Fi:FiBFmo0JFi"Gu>Gu >GM!{=GABqO`>Will construct direction to contact in vehicle frame from tetrahedron 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 XMK 9K K W'K #$$+9Mekhd^WOIIE?::5-(#$!  #$'- w,^lAHn>Il InIInBIl&Il.Il6In˯<:In8 Fy15DIi=4=I=]>Mb@Mb@Mb@ )Y!rh?Q?I +yl>u<94 A)AIAyAI%I%5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.200126٢E: E9=9EQ M>II UG٣QyU U> ]Nusing accuracyPremultiplier from configYe59]~?e5Y] i]n™m>m:m?mA]\E]B;]:;]K5q uAyZjFNOT Ignoring new targets: 118.70 m.BjJj ProNav: ac range: 118.699997 m, nav range: 40.456314 m, bearing: 26.235331 deg, approach rate: -0.452132 m/s, LOS rate: -0.031835 deg/s, cmd heading: 25.210023 deg, new cmd heading: 25.167821 deg. 2jɮHeadingCmd: 0.439261 target range: 118.699997 and range: 118.70 m. j>jjjihhhhƃBfffrfbfࠄ? 5$?I1ɛ9=З ===˿I9 E6ϼɚAiAIEDZ=IM>iM!)Q*F?2F:FBF0JFGY`n=GBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452285J nJ dJ J J |;:J |9J J J J;a J J;a J :a J :a 2w,40lA20]>Y2>292)=y2H0?3ۿkt?`?v??0ݲ??ɨ20]>2纍;2#Cy>BBHIIJIJ$٢fB< ff=9fpmQ f>II MG٣MYGy]ý ]> eNusing accuracyPremultiplier from configam59e<~?m5Ye ien™qu>uAe^Ee@:eq';e5 AHEZjFNOT Ignoring new targets: 118.70 m.Bjo*Jjo* ProNav: ac range: 118.699997 m, nav range: 40.288170 m, bearing: 26.231884 deg, approach rate: -0.452412 m/s, LOS rate: -0.009313 deg/s, cmd heading: 25.167821 deg, new cmd heading: 25.157438 deg. 2j̹HeadingCmd: 0.439080 target range: 118.699997 and range: 118.70 m. j>jjjihhhhfffrfbf cg?ɛ ۃB ʿI BؼɚiIf=I%>i%t!))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.704308 )I)Eh=*F5?2F9:FABFEo0JFAGY G]pAG A= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958805G B O >w,:;lARpN>YRj0>R[%9RG=yRHk*?Tڿ-v4?X? @ ?4?`m?ɨRpN>RM;R"CyllMb@Mb@Mb@ )Y/$?t<tA A)AIpAyAIIM9\Q > G٣y/ > Nusing accuracyPremultiplier from config59~?5Y in™A>:>A`E;;5 Zj)-FNOT Ignoring new targets: 118.70 m.Bj5iJj5iM ProNav: ac range: 118.699997 m, nav range: 40.071163 m, bearing: 26.230390 deg, approach rate: -0.461423 m/s, LOS rate: -0.003195 deg/s, cmd heading: 25.157438 deg, new cmd heading: 25.152930 deg. 2jMP UHeadingCmd: 0.439001 target range: 118.699997 and range: 118.70 m. jU>jQjQjQiQhYhYhYh]σBfafafirfibfm@@ɛڃB; 隝ʿI oɚiI=I>i(5!)zKNK9KKX'K14/.+'    Hm>Ii ImIImBIm =&ImFD.Ii6Im<:ImG FE=Will construct direction to contact in vehicle frame from tetrahedron phase data.:?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217145 $?I*F?2F:FBFn0JFG AC =Gq By O > w,TlA:nRB>Y:8!>:39:2ٟ=y:HyP?@}ٿRx?5?Ŷy?@? 0?ɨ:nRB>:;:!CyFBFOI)H H J=J=IRIRͳ٢ZfJ< ^<9^AQ ^>`` bG٣`yf4 f> jNusing accuracyPremultiplier from confighn59jk~?n5Yj ijn™lr>rAjaEj ;jT ;j5vB vAvEEZjFNOT Ignoring new targets: 118.70 m.Bj8Jj85 ProNav: ac range: 118.699997 m, nav range: 39.902149 m, bearing: 26.232079 deg, approach rate: -0.461697 m/s, LOS rate: 0.004635 deg/s, cmd heading: 25.152930 deg, new cmd heading: 25.158020 deg. 2j5K9=HeadingCmd: 0.439090 target range: 118.699997 and range: 118.70 m. j=q>jAjAjAiAhAhAhIhIfIfIfQrfQbfUc@ɛy 隅ɿI _ɚiI汳=Iq>i )=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.461236J5oJ5gJ1J1J5>:J59J1J1J5}O;J5O;J5>:J5@:El9=*F?2F:FBF2JFG^n;Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712800 I h-w,PnlA2]9>Y22>2PQH92V=y2Hi?4ٿ@Q?`O?@?@ݟ? ?ɨ2]9>2;0yJBNVIIVIVM٢^< ^I=9bIQ b>`` bG٣fYGyf f> -Nusing accuracyPremultiplier from configh559j?55Yj ijn™1=>=AjbEj ;j ;jX5A EgAAeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 118.70 m.Bju549Jj}549 ProNav: ac range: 118.699997 m, nav range: 39.715275 m, bearing: 26.236163 deg, approach rate: -0.448473 m/s, LOS rate: 0.009847 deg/s, cmd heading: 25.158020 deg, new cmd heading: 25.170329 deg. 2j@9HeadingCmd: 0.439305 target range: 118.699997 and range: 118.70 m. j>jjjihhhhfffrfbfK:@ɛكB oǿI GɚiIEL=I>i)EE*E"EMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966782*F2F:FBF 5JFzK |MK 9K K Y'K BK) :K) GU 1;ZHY RH] AAHe >Ia  Ie IIe #BIe =&Ia .Ie AD6Ie <:Ie J FGQ Ba O >4"w,@lA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2BDAT read: Rx Time:00:00:48.8135 2TRx dataTimestamp_ set to:1736380850.1565712checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217083Rn3>YR:>R[`9R=yRHy?ؿu╿˪?b?@!`?`2??ɨRn3>Rg;R"C ~$?I|yBYIUMb@Mb@Mb@QQQ Q)QYU-?y&1?MbyU?>U`e G٣y?N > Nusing accuracyPremultiplier from config59+?5Yg i~n™}>:>AdEx;,;m5  XA BEZj9EFNOT Ignoring new targets: 118.70 m.Bj9Jj9 ProNav: ac range: 118.699997 m, nav range: 39.486866 m, bearing: 26.246101 deg, approach rate: -0.484213 m/s, LOS rate: 0.021190 deg/s, cmd heading: 25.170330 deg, new cmd heading: 25.200317 deg. 2jh: HeadingCmd: 0.439828 target range: 118.699997 and range: 118.70 m. j 31>j jjihhAhIhM̓BfIfIfQrfQbf]9 @ɛE׃BES IMƿIQ 6ɚiI;=I31>i)*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469235GҸG B J mJ eJ 1J J \8:J 9J 3J J D;J D;J :J :O >[(w, lA6o0>Y60>62}96o=y6H&?@϶ؿgu?`j?K 7??h?ɨ6o0>6|;6#Cyb€Bb^Iif=If=dfAIjIji٢v.< vi=9vQQ v>xx zG٣xyz ~? Nusing accuracyPremultiplier from config 59 ?5Y iyn™h>AfEg1;P;5% B %;A%?EZjIMFNOT Ignoring new targets: 118.70 m.BjU9JjU9e ProNav: ac range: 118.699997 m, nav range: 39.321922 m, bearing: 26.254145 deg, approach rate: -0.486471 m/s, LOS rate: 0.023822 deg/s, cmd heading: 25.200316 deg, new cmd heading: 25.224548 deg. 2je˂:mHeadingCmd: 0.440251 target range: 118.699997 and range: 118.70 m. jmh>jijijiiqhqhqhyhyfyfyfrfbf @ɛ'# 隽GſI ɚiI@a=Ih>i!)*F92F9:F9BF=_0JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.u=qDAT read: 00:00:48.8135 LVL= 23968, 32753, 32434, 32755, AGC= 63, IDX= 410, 0.38,-1.719, 2.978,-2.592,-2.290, PHS= 0.660,-0.968,-0.304, RAW= 113.9, 8.7, CAL= 123.3, 5.5, ROT= 26.7, -5.5 Ygot valid direction response: 00:00:48.8135 LVL= 23968, 32753, 32434, 32755, AGC= 63, IDX= 410, 0.38,-1.719, 2.978,-2.592,-2.290, PHS= 0.660,-0.968,-0.304, RAW= 113.9, 8.7, CAL= 123.3, 5.5, ROT= 26.7, -5.5 $?IPDAT read: Bearing 26.7, -5.5 (Local) ~Local bearing/azimuth received: Bearing 26.7, -5.5 (Local) DAT read: Range 10 to 50 : 117.0 m (Round-trip 156.0 ms) speed 0.1 m/s %,DAT read: user:3575> G-S.BDAT read: Tx time:00:00:49.9034 $Ping request sent.9}>f :ZѿIr0ėҿ6?y}By}]y }~)yI}?i}(?}w}㥛}~t?}|> }9 @)} =I}>i} Ľyy}w,t?7ilźFlmO?)}ٽI}i}}Ayy:publishing transmit ping timeFpublishing direction and range infoy9}>f :ZѿIr0ėҿ6?yyyyy y)yIyiyyyyy y)yIyiyyy}w,t?7ilźFlmO?)yIyiyyyy- Will construct direction to contact in vehicle frame from tetrahedron phase data..w,llAVNGbsAnA k"YsAyB5*/>Y5L>5<295Β=y5H L?ؿ_?i?_±?`??ɨ5*/>5´;5"CyޕǀBޕeIMb@Mb@Mb@ )YZd;O?~jtx?y&1yj>;`eA )AIyAII̍٢< /=9ЃQ > G٣YGy). > -Nusing accuracyPremultiplier from config5592?55Y8 ion™=>=:=>=AgE;;5E B EAEf :ZѿIr0ėҿ6?zK&6MKs9KKZ'K   RK>JK>JkRkA*Km4B֏KV.JY@Xƿ;4'޿x\ݪ?"k~\*khk˞hyx?k}9% 2k%Ckkx#$ kCk6zBkԩ@ addTargetRange:: Added new target pos. range: 117.000000 m, deltaT: 3.777745 s, deltaX: -1.699997 m, approachRate: -0.450003 m/s, rangeRepo size: 4  Added new target pos. range: 117.000000 m, bearing: 249.668045 deg, lat: 36.904734 deg, lon: -122.121256 deg, deltaT: 3.777745 s, deltaX: -1.699997 m, approachRate: -0.450003 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 117.00 m.BjJj5 ProNav: ac range: 117.000000 m, nav range: 62.552940 m, bearing: 304.083054 deg, approach rate: 0.000000 m/s, LOS rate: 0.023822 deg/s, cmd heading: 25.224548 deg, new cmd heading: 25.259184 deg. 2j1=HeadingCmd: 0.440856 target range: 117.000000 and range: 117.00 m. j=޷>j9j9j9i9hAhAhahm̃Bfififirfm@]@bfu@?ɛՃBoH>IC III3BI =&I.I6Iѯ<:I5 F %=%ÿI! % ɚ!i!I%=I-޷>i-w)1Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F2F:FBF\0JF PExceeded connect timeout, disconnecting.G o>G B O% >Bl5w,ƾlA6V/>Y6x>696~=y6H{?ؿ@٦]?k?y@X?`? "?ɨ6V/>6D;6#Cy>΀B>mIIFIF٢N.= Rw=9VQ V?TT ZG٣XyZ: Z? bNusing accuracyPremultiplier from config\b59^P??b5Y^ i^fn™df>fA^iE^o;^k;^k5l nApZjFNOT Ignoring new targets: 117.00 m.BjXJjXWill construct direction to contact in vehicle frame from tetrahedron phase data.- ProNav: ac range: 117.000000 m, nav range: 62.522461 m, bearing: 303.935814 deg, approach rate: -0.091655 m/s, LOS rate: -0.442985 deg/s, cmd heading: 25.259184 deg, new cmd heading: 24.817255 deg. 2j-]HeadingCmd: 0.433143 target range: 117.000000 and range: 117.00 m. j]>jYjYjaiahahahihifffrfbf`?ɛԃB (  I  MdɚQiQIU F=I]>iYi]U)]>)aJnJiJ0JJ|;:Jڈ9Jـ3JJJ;JJ;Jh:Jj:*F?2F:FBFn0JFGsxмGqBO~> Will construct direction to contact in vehicle frame from tetrahedron phase data. I w;w,AlA6d3>Y66>6ـ96'=y6Hh? ٿ Dᨿ >?R?ż?Q?]?ɨ6d3>6hh nG٣lynt(< n> vNusing accuracyPremultiplier from configpv59rN?z5Yre irZn™xz?>zArjEr:rX:r55 A%B*** querying acoustic contact ***j!j!Zj)=FNOT Ignoring new targets: 117.00 m.BjEJjEU ProNav: ac range: 117.000000 m, nav range: 62.486362 m, bearing: 303.754023 deg, approach rate: -0.092277 m/s, LOS rate: -0.464969 deg/s, cmd heading: 24.817255 deg, new cmd heading: 24.271586 deg. 2jUHeadingCmd: 0.423619 target range: 117.000000 and range: 117.00 m. j>jjjihhhhff f rf bf `3?ɛӃBg 隥I 1ɚiI=I>iiP0)>)Will construct direction to contact in vehicle frame from tetrahedron 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]\1JFG ɨzKE :LKE 9KA KE ['KE     BKQ :KU oAG H I  I II GBI  =&I .I 6I <:I g FBIʮCJIʮCRIZI =bI =jI5B O >~Bw,v mA 6$?I46Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474882y}ڀB}|IMb@Mb@Mb@ )Yx&1?Mby&1y?A 3A)AIAyQAI-I-٢== E5=9EQ E>II MG٣MYGyM U> ]Nusing accuracyPremultiplier from configYe59]`?e5Y]& i]Ln™m?m:m>uA]lE]l;]$;].5 A:EZj1=FNOT Ignoring new targets: 117.00 m.Bj=QJj=Q UnManaging dock network, ignoring radio surface power offu ProNav: ac range: 117.000000 m, nav range: 62.439991 m, bearing: 303.549115 deg, approach rate: -0.098582 m/s, LOS rate: -0.435941 deg/s, cmd heading: 24.271586 deg, new cmd heading: 23.656430 deg. 2j}HeadingCmd: 0.412883 target range: 117.000000 and range: 117.00 m. jYe>jjjihhhh˃Bf)f)f)rf1bf5 3;?ɛ҃B& ߽I ɚiI?=IYe>iip9)Ye>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725349E e=E *F ?2F :F BF _0JF "G =G )>G} _GY Bi O >Hw,ݲ$mA6?>Y6x>6tڽ96 =y6H5?(ٿ`倫?? ?;¿ BA?@Vܻ??ɨ6?>6 ;6 Cy>BBIiININ٢V[= Zd=9ZNQ Z>\\ ^G٣\y^= ^> jNusing accuracyPremultiplier from configdj59fn?n5YfO if=n™ln[>nAfnEf:f:f5p rAtZjFNOT Ignoring new targets: 117.00 m.Bj Jj - ProNav: ac range: 117.000000 m, nav range: 62.405922 m, bearing: 303.385532 deg, approach rate: -0.100303 m/s, LOS rate: -0.481868 deg/s, cmd heading: 23.656430 deg, new cmd heading: 23.165425 deg. 2j-Y5HeadingCmd: 0.404313 target range: 117.000000 and range: 117.00 m. j5>j1j1j1i1h9h9h9h9f9fAfArfAbfMwE?ɛуB`H I NɚiIf6=I>i!i-Ҟ|<)->)) 5$?I1E=I=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.978243*F2F:FBF5JFG ]=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233512Oe >FNw,>mAJ>rJ>fJ<J<J>G:J>9J<JYnX>n29np=ynH$?-ڿeIc??!ÿj?/?2?ɨnB>nZ;n$CyzBzIi~>I||~AMb@Mb@Mb@ )YL7A`?{Gzty&1|y+?ף`!A A)AI AyII٢5a=  7=9 hQ > G٣y ; > %Nusing accuracyPremultiplier from config!-59% ?-5Y% i%%n™5/?=:=Q>=A%oE%I;%H;%5E B EAE7EZjiuFNOT Ignoring new targets: 117.00 m.BjuJju ProNav: ac range: 117.000000 m, nav range: 62.364365 m, bearing: 303.173234 deg, approach rate: -0.092702 m/s, LOS rate: -0.473890 deg/s, cmd heading: 23.165425 deg, new cmd heading: 22.528133 deg. 2jHeadingCmd: 0.393190 target range: 117.000000 and range: 117.00 m. j6P>jjjihhhhBfffrfbf% X@ɛЃBv -=隭I S%ɚiIZ=I6P>ii<)6P>)HIII IM'IIMfBII&II.II6IM<:IM? FzKܗLK59KK\'K%\k(   I]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.484011E :=*F 2F :F BF =5JF Gu ;GQ Ba O > Uw,|HXmA6E>Y6>696W>y6H@?nڿ ? :?ſK?D?@P?ɨ6E>6ѷ;6#Cy>B>IIJIJF٢R N= Ve=9VX˼Q V>TX ZG٣ZYGyZ; Z> bNusing accuracyPremultiplier from config\b59^?f5Y^ i^n™df>fA^qE^:^:^C5h nqAlZjFNOT Ignoring new targets: 117.00 m.BjJj ProNav: ac range: 117.000000 m, nav range: 62.332348 m, bearing: 303.003543 deg, approach rate: -0.085601 m/s, LOS rate: -0.453921 deg/s, cmd heading: 22.528132 deg, new cmd heading: 22.018813 deg. 2j›Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733461HeadingCmd: 0.384301 target range: 117.000000 and range: 117.00 m. j>jjjihhhhfffrfbf&<@ɛ σB   I  +)ɚiI{=I>i!i%W =)%>))E%:_=*F?2F:FBFP0JF  $?I G% mo<u Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:00:00:52.4613  TRx dataTimestamp_ set to:1736380853.689596 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989063G B O- >}[w,$rmAyBIIIn٢% = %C=9%Q %>)) -G٣)y5 5> uNusing accuracyPremultiplier from configiu59m?5Ym~ imm™AmsEmA;mA;m5 :A4EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 117.00 m.Bjm Jjm  ProNav: ac range: 117.000000 m, nav range: 62.295425 m, bearing: 302.803938 deg, approach rate: -0.090138 m/s, LOS rate: -0.487580 deg/s, cmd heading: 22.018814 deg, new cmd heading: 21.419668 deg. 2jOHeadingCmd: 0.373844 target range: 117.000000 and range: 117.00 m. jrh>jjjihhhhfffrfbf@e| @ɛ%΃B%w )-{I) --ɚ)i)I-=I5rh>i9i=Y.=)=rh>)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241127JoJgJJJ>:J9JJE =*F12F1:F1BF1JF1"G==G==G !<G B O >ZHQ RHU @AHm >Ii  Im MIIm BIi &Ii .Ii 6Im <:Im N FzK% H MK% 9K! K% ]'K%    I bw,mAWill construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: 00:00:52.4613 LVL= 27504, 32753, 32754, 32755, AGC= 61, IDX= 419, 0.10, 0.490,-1.051,-0.364,-0.099, PHS= 0.677,-0.904,-0.268, RAW= 113.6, 7.2, CAL= 123.4, 4.0, ROT= 26.6, -4.0 BYgot valid direction response: 00:00:52.4613 LVL= 27504, 32753, 32754, 32755, AGC= 61, IDX= 419, 0.10, 0.490,-1.051,-0.364,-0.099, PHS= 0.677,-0.904,-0.268, RAW= 113.6, 7.2, CAL= 123.4, 4.0, ROT= 26.6, -4.0 NPDAT read: Bearing 26.6, -4.0 (Local) R~Local bearing/azimuth received: Bearing 26.6, -4.0 (Local) ZDAT read: Range 10 to 50 : 115.3 m (Round-trip 153.8 ms) speed 0.4 m/s ,DAT read: user:3576>  BDAT read: Tx time:00:00:53.5534  $Ping request sent.   @)5=I,>i5Ru?ޫy ?)I^i.U:publishing transmit ping time ]Fpublishing direction and range info9\7п %ҿdN?y )Ii )IiRu?ޫy ?)IiuG>Yu>u9ux>yuH`?Աڿ-ಿ ? ?ƿ? ?@h?ɨuG>uw;u!CyBI)! !Mb@Mb@Mb@ )Y/$?I +y ?94#A  A)M AI"#Ay(AIUIU٢= =9 CQ  >  G٣yDe; 5> ENusing accuracyPremultiplier from config9E59=?M5Y={ i=m™M ?M:Mw>MA=uE=3;=^;=5} B }A}1Ek2y?kH% k kFmA:kBBkBZk@"6;7=g/@u"Z@\7п %ҿdN?JkRk.*S14tNG\W@OҜjƿsS '?"ks*kkJby?kKRN% 2kV CkcA{?k}9% kV CkcBk#e@Will construct direction to contact in vehicle frame from tetrahedron phase data.iJDAT read: TxSync time:00:00:53.5526  addTargetRange:: Added new target pos. range: 115.300003 m, deltaT: 3.530760 s, deltaX: -1.699997 m, approachRate: -0.481482 m/s, rangeRepo size: 4 % Added new target pos. range: 115.300003 m, bearing: 251.658839 deg, lat: 36.904332 deg, lon: -122.121293 deg, deltaT: 3.530760 s, deltaX: -1.699997 m, approachRate: -0.481482 m/s, posRepo size: 4 Zj!MFNOT Ignoring new targets: 115.30 m.BjMJjI] ProNav: ac range: 115.300003 m, nav range: 56.931061 m, bearing: 258.538380 deg, approach rate: 0.000000 m/s, LOS rate: -0.487580 deg/s, cmd heading: 21.419668 deg, new cmd heading: 20.537571 deg. 2jaeHeadingCmd: 0.358448 target range: 115.300003 and range: 115.30 m. je>jijjihhhhBfffrf@3\@bf?ɛ̓B T ϩ= lI 4ɚ i I m_=I >i i g=) >) EA EA *EA "EA *F2F:FBFB5JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GG&=GG?G!B1OM*?nmw,kmAJ،D>YJp>>J9Jt>yJHf?`ڿ.Y??ƿ ?`DC?@@Y?ɨJ،D>JLC;J"CyR2BRII^I^=٢fQ= f%=9f%Q j>hh jG٣jYGynaŻ n> vNusing accuracyPremultiplier from configpz59r9?z5Yrx irm™xz>zArwEr ;rO;r5 AZj)-FNOT Ignoring new targets: 115.30 m.Bj5 Jj5 E ProNav: ac range: 115.300003 m, nav range: 57.079525 m, bearing: 258.317613 deg, approach rate: 0.331364 m/s, LOS rate: -0.491456 deg/s, cmd heading: 20.537571 deg, new cmd heading: 19.877025 deg. 2jEMHeadingCmd: 0.346920 target range: 115.300003 and range: 115.30 m. jMp>jIjIjIiQhQhQhQhQfYfYfYrfYbfe^?ɛ̃B< 隕pI -M9ɚiI?7=Ip>ii%5=)p>)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF%P0JF!G5+=JpJfJJJA:J9JJGB O-,>HM>II IMIIMBIM =&II.II6IM<:IMJ FzK] KK] +9KY K] ^'K] $''%  )(&# I  Will construct direction to contact in vehicle frame from tetrahedron phase data.sw,YmA6K>>Y6>6j'96:>y6H*?`Qڿ@x? n?2ǿ@? #?`zP?ɨ6K>>6 M;4yRMBR I}Mb@Mb@Mb@yyy y)yY}/$?~jthMb?y}&?}D}=9Q > G٣yi > Nusing accuracyPremultiplier from config59?5Ydv ium™+?:s>AyE; ;5  A.EZjFNOT Ignoring new targets: 115.30 m.BjbJjb ProNav: ac range: 115.300003 m, nav range: 57.215725 m, bearing: 258.120115 deg, approach rate: 0.317609 m/s, LOS rate: -0.459456 deg/s, cmd heading: 19.877025 deg, new cmd heading: 19.285962 deg. 2jHeadingCmd: 0.336604 target range: 115.300003 and range: 115.30 m. jMW>j!j!j!i!h)h)h9h=3BfAfAfIrfQbfU;?ɛM˃BUpD QUIQ U=ɚQiYI]=IeMW>iiim =)MW>)*Fe?2Fi:FiBFiJFiGuqA GuqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G $g=Ga Bq O >zw,;mA F$?IDfL8>Yfh>fO.9f=yfH@Q ?Eٿ仿E?@?XIƿ ??YQ?ɨfL8>fڊ;f#CynbBn#Iir=Ir8?tvAIzIzm?٢= U=9Q >    G٣  YGyy > Nusing accuracyPremultiplier from config%59?%5Y9t iLm™)->-A{E:;G5= B =X A=+E]Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjiuFNOT Ignoring new targets: 115.30 m.Bj}pJj}p ProNav: ac range: 115.300003 m, nav range: 57.337177 m, bearing: 257.943466 deg, approach rate: 0.314292 m/s, LOS rate: -0.456159 deg/s, cmd heading: 19.285963 deg, new cmd heading: 18.757156 deg. 2jHeadingCmd: 0.327374 target range: 115.300003 and range: 115.30 m. j>jjjihhhhfffrfbf`fX?ɛvm ?I AɚiIo=I>ii=)>)*Fm?2Fi:FiBFu_0JFqGE{=G!B)OM1> Will construct direction to contact in vehicle frame from tetrahedron phase data.)Y e rC G- tAm A @ Y tAy EBJ;ـ3K;3 K;.K3K3"K3J oJ gJ 1J J >:J 9J 3J w,8nA @61>Y6H>6396Ѫ=y6H?ٿ`,M2?@{#?aſE?,z?R?ɨ61>6{8;4yByBB@I-nonly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,  n@n n@n n@n  n@n IrIrʳ٢z= zK=9~>Q ~>| G٣y > }bBottom track data is 0.4 s old, using for 20.0 s. }Nusing accuracyPremultiplier from config 59 ?5Y r i !m‘+::5>A }E < > 5  AB*** querying acoustic contact ***HI IIIBI =&I.I6Iǯ<:I+ FjjZjAEFNOT Ignoring new targets: 115.30 m.BjM`JjM`} ProNav: ac range: 115.300003 m, nav range: 57.463348 m, bearing: 257.759046 deg, approach rate: 0.292982 m/s, LOS rate: -0.427301 deg/s, cmd heading: 18.757156 deg, new cmd heading: 18.205130 deg. 2j}HeadingCmd: 0.317739 target range: 115.300003 and range: 115.30 m. j>jjjihhhhfffrfbf ]?ɛʃBO] 9I Eɚ i I d=I>iiq=)>)zK-;OMK-h9K)K-_'K- BK9:K9 u$?I}hmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.EA=*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238199G x\=G ?G ?G B O >sw,!nA2B*>Y2>2792=y2H)?ٿ@l$?E?aĿ?`)? 7U?ɨ2B*>2Ȋ;2$CyRBRZIIZIZ̍٢b= b7=9b Q b>dd fG٣dyj j> nbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlr59nr?v5Yno inl‘v :tvu:v>zAnEnW;n8Z?n5B  A&EZj!-FNOT Ignoring new targets: 115.30 m.Bj5! Jj5! E ProNav: ac range: 115.300003 m, nav range: 57.603077 m, bearing: 257.553696 deg, approach rate: 0.334260 m/s, LOS rate: -0.490049 deg/s, cmd heading: 18.205130 deg, new cmd heading: 17.590598 deg. 2jE(MHeadingCmd: 0.307014 target range: 115.300003 and range: 115.30 m. jM0>jIjIjIiIhQhQhQhQfQfYfYrfYbf] @ɛ 隕⎿I "iIɚiI =I0>iii=)0>)E=*F=?2F9:FABFEo0JFA IG=GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490364OI>w,:nA:">Y:O>:w;9:=y:H`9?ؿDWP?g?`Zÿ`M?Ŷ? V?ɨ:">:t;:#CyFBFwI)H H Np=N=IRIRỳ٢Z = ZL=9Z2Q Z>\\ ^G٣b YGyb{ b> jbBottom track data is 1.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdj59f&?n5Yfnm ifl‘n9lrF:r>rAfEfEo;fg?f5x zB AxZjAEFNOT Ignoring new targets: 115.30 m.BjM-JjM-]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.742568u ProNav: ac range: 115.300003 m, nav range: 57.727184 m, bearing: 257.370193 deg, approach rate: 0.306186 m/s, LOS rate: -0.451748 deg/s, cmd heading: 17.590599 deg, new cmd heading: 17.041290 deg. 2ju}HeadingCmd: 0.297427 target range: 115.300003 and range: 115.30 m. j}MH>jyjyjyihhhhfffrfbf0@@ɛɃB ]=隵I eMɚiIo=IMH>ii=)MH>)H>I I II,BI&I.I6I<:IX FBIEƭCJIEƭCRIAZIE =bIE =jIEƻ4 $?IE1zKLK+9KK`'KVnZG;0(").,*($! RK?JK? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994979*F 2F :F BF U0JF GMq=G)B1OM?Vlw,ZnAN{>YN5>NB9Ni=yNH^?׿ ÿ`[??@I4? l?T?ɨN{>N͊;N"CyZBZIuWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:00:00:56.1094 }TRx dataTimestamp_ set to:1736380857.468726}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247401        Mb@Mb@Mb@ )Y|?5^?Q? rh?y?\=C<AA M A)AI%AyAII(٢g= =9[Q > G٣y > Nusing accuracyPremultiplier from config59=?5Y-j i|l‘T:G?:>AEH;F;@5  A#EZjFNOT Ignoring new targets: 115.30 m.Bj%Jj%5 ProNav: ac range: 115.300003 m, nav range: 57.907990 m, bearing: 257.132583 deg, approach rate: 0.341489 m/s, LOS rate: -0.447373 deg/s, cmd heading: 17.041290 deg, new cmd heading: 16.330726 deg. 2j5=HeadingCmd: 0.285025 target range: 115.300003 and range: 115.30 m. j=>j9j9jAiAhAhAhIhMXBfIfIfQrfQbfUQp @ɛJMrJMpJM0JIJMG:JM^9JMـ3JIJM_;aUJM_;aUJM}:a]JM~:a]] 隅郿I RtQɚiI=I>iiܓ=)>)E=*F2F:FBF`0JFG= $?IGBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498278jw,tnAyBII-I-m٢=F> =S=9=Q E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]N?e5Y]g i]Il™aamA]E]:]:]5q us AqZjFNOT Ignoring new targets: 115.30 m.BjeJje ProNav: ac range: 115.300003 m, nav range: 58.039425 m, bearing: 256.961596 deg, approach rate: 0.340006 m/s, LOS rate: -0.441320 deg/s, cmd heading: 16.330726 deg, new cmd heading: 15.818940 deg. 2joHeadingCmd: 0.276093 target range: 115.300003 and range: 115.30 m. j\>jjjihhhhfqfqfqrfqbfu @ɛaeE a隍tI TɚiIz=I\>ii%9=)\>)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:00:56.1094 LVL= 23792, 32753, 32754, 32755, AGC= 60, IDX= 415,-0.24,-0.408,-1.942,-1.352,-1.026, PHS= 0.706,-0.869,-0.329, RAW= 109.7, 7.2, CAL= 120.0, 4.5, ROT= 30.0, -4.5 -Ygot valid direction response: 00:00:56.1094 LVL= 23792, 32753, 32754, 32755, AGC= 60, IDX= 415,-0.24,-0.408,-1.942,-1.352,-1.026, PHS= 0.706,-0.869,-0.329, RAW= 109.7, 7.2, CAL= 120.0, 4.5, ROT= 30.0, -4.5 MPDAT read: Bearing 30.0, -4.5 (Local) m~Local bearing/azimuth received: Bearing 30.0, -4.5 (Local) DAT read: Range 10 to 50 : 113.8 m (Round-trip 151.8 ms) speed 0.4 m/s ,DAT read: user:3577> BDAT read: Tx time:00:00:57.2035 $Ping request sent.I C I l II nBI &I .I 6I <:I ? F I zK KMK 9K K a'K  5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= 4== =G :=G B O >JKw,nAn>Ynoޱ>nrG9nz^=ynH~?ֿ@1Ŀ`??T@޺?@ S?R?ɨn>n&;ly BIi=I<)-AMb@Mb@Mb@ )Y9v?㥛 ? rh?y?=-A )$AIyAII٢= *=9 Q >  G٣  YGy { > %Nusing accuracyPremultiplier from config!-59%\c?-5Y%d i%l™-8?5:5A>5A%E%;%;% 5=B =A= Ek-Q-Wu?k-KB$ k) k-Y~nA:k-BBk-BZk-d @"-UF2<{9;e;Z@-ϿjE)Ϳԓ"?Jk-zRk-*-bYj@dOG[쩦 lX@-G<ӿ@Sڿ&/x?"k-h>*k-$k-HDu?k-zJ$ 2k-"Ck-Jby?k)k-"Ck-zsBk-֊@% addTargetRange:: Added new target pos. range: 113.800003 m, deltaT: 3.782392 s, deltaX: -1.500000 m, approachRate: -0.396574 m/s, rangeRepo size: 4 e Added new target pos. range: 113.800003 m, bearing: 234.634274 deg, lat: 36.904252 deg, lon: -122.121293 deg, deltaT: 3.782392 s, deltaX: -1.500000 m, approachRate: -0.396574 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 113.80 m.BjmJjq ProNav: ac range: 113.800003 m, nav range: 60.869457 m, bearing: 248.589720 deg, approach rate: 0.000000 m/s, LOS rate: -0.441320 deg/s, cmd heading: 15.818940 deg, new cmd heading: 15.151262 deg. 2jHeadingCmd: 0.264439 target range: 113.800003 and range: 113.80 m. jd>jjjihhhhYBfffrf@3s\@bfL?ɛ15d& 15}kI1 ]^zXɚYiYI]fҳ=Ied>iaie~\=)ed>)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F:FBF0JFG=GBJ@AJJoJgJJJ>:J9JJJ}O;JO;J>:J?:O> 5 $?I9 pw,ǫnA2=Y2!>2iI92I=y2H?fտqĿI??4?^?ZR?ɨ2=2;2#CyNBNIIVIVB٢f= f_=9f˻Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rr?v5Yrb irk™xzE>~ArErmb;ro;r5  PA E-B*** querying acoustic contact ***j)j)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ZjFNOT Ignoring new targets: 113.80 m.Bj%λJj%λ ProNav: ac range: 113.800003 m, nav range: 61.023521 m, bearing: 248.459946 deg, approach rate: 0.429002 m/s, LOS rate: -0.360451 deg/s, cmd heading: 15.151262 deg, new cmd heading: 14.762930 deg. 2j_wHeadingCmd: 0.257662 target range: 113.800003 and range: 113.80 m. j=>jjj i h h1h1h1f1f9f9rf9bf=` ?ɛ 隝aI V[ɚiI`=I=>ii=)=>)*Fa2Fa:FaBFe:5JFiGJ= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.939449G B O >Vw,nAyB IHI I IIBI =&I.I6I߯<:I8 FMb@Mb@Mb@ )Y-?{Gz?y&1?y??ף=`e<A x A)~AI#AyfAI|Ii٢}= 9=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 ?5Y _ i k™?:u>A E 6; 4; 5! -A)ZjQUFNOT Ignoring new targets: 113.80 m.Bj]ѻJj]ѻu ProNav: ac range: 113.800003 m, nav range: 61.214409 m, bearing: 248.304249 deg, approach rate: 0.450852 m/s, LOS rate: -0.366589 deg/s, cmd heading: 14.762930 deg, new cmd heading: 14.297306 deg. 2j}{}HeadingCmd: 0.249535 target range: 113.800003 and range: 113.80 m. j}>jjjihhhhNB $?Iff)f)rf1bf5`|?ɛʃBZ #WI L^ɚiIV=zKLK+9KKb'K"NB :a  Sh \sN(|jZJ9(I>ii9d=)%>mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.190624)yEEpA*F?2F:FBFP5JF!G-pA G-mAG= N=GA GE pAG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.442692O- >w,snAJpJJ1JJA:JJ3JJT;JT;JJy5B' I) I I <٢m= mC=9iQ m>qq uG٣u YGyy }> Nusing accuracyPremultiplier from config59ݗ?5Y\ i`k™AE ; ;d5B AEZjFNOT Ignoring new targets: 113.80 m.BjeȻJjeȻ ProNav: ac range: 113.800003 m, nav range: 61.396122 m, bearing: 248.157271 deg, approach rate: 0.434493 m/s, LOS rate: -0.350397 deg/s, cmd heading: 14.297306 deg, new cmd heading: 13.857687 deg. 2jypHeadingCmd: 0.241862 target range: 113.800003 and range: 113.80 m. jw>jjjihhhhfffrfbfx?ɛ15S 15JI1 =u`ɚ9i9I=6=IEw>iAiE5=)Ew>)Q*F ?2F :F BF P0JF IGƠ=GBOg>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}F?}x?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694659w,QnA>-=Y>">>MH9>;m=y>H?@vԿ Rſ n?C?{`?@?DV?ɨ>-=>/;tt vG٣tyzg z> ~Nusing accuracyPremultiplier from config|59~??5Y~Y i~0k™> A~E~*:~:~5 4AZjAMFNOT Ignoring new targets: 113.80 m.BjM˻JjU˻e ProNav: ac range: 113.800003 m, nav range: 61.546661 m, bearing: 248.030303 deg, approach rate: 0.423062 m/s, LOS rate: -0.355948 deg/s, cmd heading: 13.857687 deg, new cmd heading: 13.477719 deg. 2jeHtmHeadingCmd: 0.235231 target range: 113.800003 and range: 113.80 m. jmHp>jijijiiihihqhqhqfyfyfyrfybfŅ?ɛB 隽O@I sbɚiIҸ=IHp>iibt=)Hp>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947270*F]?2FY:FaBFe_0JFiG=jHbHH>I I !IIBI&I.I6Iɯ<:I& FGB IO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198233zK PK 9K K c'K 0B;#~}{{}ztqopoked`[VUUPLJJE@;520BK :K w,6oAZ=YZ'>Z,G9Zd=yZH?qӿgſ?`:`? r?`?@4Y?ɨZ=Z.;XyfVBfP I}Mb@Mb@Mb@yyy y)yY}d;O?/$? G٣y > Nusing accuracyPremultiplier from config59?5YV ij™L?:>AE;;Բ5B AEZjFNOT Ignoring new targets: 113.80 m.Bj%̻Jj%̻5 ProNav: ac range: 113.800003 m, nav range: 61.730946 m, bearing: 247.875287 deg, approach rate: 0.427060 m/s, LOS rate: -0.358162 deg/s, cmd heading: 13.477719 deg, new cmd heading: 13.014069 deg. 2j5u=HeadingCmd: 0.227138 target range: 113.800003 and range: 113.80 m. j=h>j9j9j9i9hAhAhAhUGBfYfafirfqbfu@?@ɛ˃Bֽ -W:I) -Ueɚ)i)I-+=I5h>i1i5=)5h>)9*F?2F:FBFJFG=G?G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452353GyBO^>JqJpJJJD:J^9JJJIZ;JKZ;J}:J~: $?I *w,-oA6u=Y6>6KE96_=y6H ? :ӿaſE?9y?@y`?@Lu?`g\?ɨ6u=6;6 CyBkBBi IiF?>IF<IJIJV٢R= R_=9V;Q V>TT ZG٣Z YGyZQӼ Z> bNusing accuracyPremultiplier from config\b59^'ʀ?f5Y^T i^j™df>fA^E^:^:^o5h j.Al~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 113.80 m.Bje̻Jje̻% ProNav: ac range: 113.800003 m, nav range: 61.886150 m, bearing: 247.743248 deg, approach rate: 0.421154 m/s, LOS rate: -0.357391 deg/s, cmd heading: 13.014069 deg, new cmd heading: 12.618955 deg. 2j%Fu-HeadingCmd: 0.220242 target range: 113.800003 and range: 113.80 m. j-3a>j)j)j)i1h1h1h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.702485h1fIfIfIrfIbfU,@ɛvؽ /0I |gɚiI =I 3a>iib=)3a>)*F?2F:FBF0JFG8r=GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:00:59.7570 TRx dataTimestamp_ set to:1736380860.996680checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955437B O= > E |!YA yE sBϣw,FoAyr|Br~ IHM>II IMG!IIM BIM =&II.II6IM<:IM5 FMb@Mb@Mb@ )YI +?Dl?~jthy9?O=DA  A)h@I!Ay3AII&ѳ٢= 7=9Q > G٣y > Nusing accuracyPremultiplier from config 59݀? 5YQ ij™ F? : >AE#;b;a5 AE =$?I9ZjYeFNOT Ignoring new targets: 113.80 m.BjeϻJjeϻ} ProNav: ac range: 113.800003 m, nav range: 62.070023 m, bearing: 247.580117 deg, approach rate: 0.410921 m/s, LOS rate: -0.363488 deg/s, cmd heading: 12.618955 deg, new cmd heading: 12.131023 deg. 2j}uyHeadingCmd: 0.211726 target range: 113.800003 and range: 113.80 m. jX>jjjihhhhIBfffrfbf @ɛ̃B}Ͻ -='I iɚiI=IX>ii=)X>)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207724zKmPNKiKiKmd'Km.+,(&#  RKu ?JKu!?*Fy2Fy:FyBF}0JFyGOa=Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 00:00:59.7570 LVL= 20064, 32753, 27442, 32755, AGC= 60, IDX= 422, 0.12,-1.726, 2.863,-2.911,-2.513, PHS= 0.875,-0.860,-0.401, RAW= 104.8, 5.0, CAL= 115.4, 2.8, ROT= 34.6, -2.8 = Ygot valid direction response: 00:00:59.7570 LVL= 20064, 32753, 27442, 32755, AGC= 60, IDX= 422, 0.12,-1.726, 2.863,-2.911,-2.513, PHS= 0.875,-0.860,-0.401, RAW= 104.8, 5.0, CAL= 115.4, 2.8, ROT= 34.6, -2.8 E PDAT read: Bearing 34.6, -2.8 (Local) E ~Local bearing/azimuth received: Bearing 34.6, -2.8 (Local) U DAT read: Range 10 to 50 : 112.0 m (Round-trip 149.4 ms) speed 0.4 m/s sw,`oA,DAT read: user:3578> BDAT read: Tx time:00:01:00.8535 $Ping request sent.*?п.iY?)-釾I-% i-!-xߨ))*:publishing transmit ping time*Fpublishing direction and range info)9-P ɿ!W¿[BT?y)))) )))I)i))))) )))I)i)))-">*?п.iY?))I)i))))br_=Yb>bqB9bY Z=ybH=? ѿ]ſ?)?@8(?? [a?ɨbr_=b2Ӊ;b"CyjBj IIvIvV٢z?= z[=9~;Q ~> G٣yvZ  > Nusing accuracyPremultiplier from config 59 e?5Y O i mj™>A E = = 55B ](A]EJJkJJJs:J9JJJ;J;J:J:k-Au?k-5z" k) k-?_oA:k-BBk-BZk-Xy@"- r6%jjjihhhhfffrf\@bf`?ɛY]ɽ aeIa lɚiIi7=INtP>i) 1I=hEi*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:00:01:00.8527 G=GGqAGBO>3w,ܛzoA2^3=Y2c>2.A92:[=y2HV?RѿXſ.n?r? ȿ7??!c?ɨ2^3=2,;2#CyNBN I)P PIZIZ@ ٢]s= ]D=9eA;Q e>aa mG٣mYGymӼ m> Nusing accuracyPremultiplier from configq59u?5YuHM iu>j™F>AuEu;u;uչ5 AEZjFNOT Ignoring new targets: 112.00 m.BjJj%컝- ProNav: ac range: 112.000000 m, nav range: 60.107670 m, bearing: 244.461899 deg, approach rate: 0.475748 m/s, LOS rate: -0.414400 deg/s, cmd heading: 11.663625 deg, new cmd heading: 11.202817 deg. 2j]3eHeadingCmd: 0.195526 target range: 112.000000 and range: 112.00 m. je7H>jajajaiahihihihifffrfbfS?Will construct direction to contact in vehicle frame from tetrahedron phase data.յAiձɛ̓BXѽ mI mɚiI)=I%7H>i!i%lS=)%7H>))*F ?2F :F BF 5JFHE>IA IEy!IIEHBIA&IA.IA6IEï<:IE FBIǬCJIǬCRIZI =bI =jI]25 $?IG- B=G B O- >e Will construct direction to contact in vehicle frame from tetrahedron phase data.zK `MK 9K K e'K  BK% pA:K% pA2w,PsoA2X =Y2*>2zA92L=y2Hk?Gпſ@? q? u ?/!?@'d?ɨ2X =2%;2"CyVBV I]Mb@Mb@Mb@YYY Y)YY]X9v?&1?~jty]?]P=]D]3A ] A)];@I]AYy] AIuIu٢0= B=95Q > G٣yƼ > Nusing accuracyPremultiplier from config%59%?%5Y$K ij™-Q?-:-t>-AEf;;5=B =|A= EZjaeFNOT Ignoring new targets: 112.00 m.BjmݻJjmݻ} ProNav: ac range: 112.000000 m, nav range: 60.278851 m, bearing: 244.301022 deg, approach rate: 0.413963 m/s, LOS rate: -0.387942 deg/s, cmd heading: 11.202817 deg, new cmd heading: 10.721567 deg. 2j}HeadingCmd: 0.187127 target range: 112.000000 and range: 112.00 m. j!?>jjjihhhh.Bfffrfbf?ɛ΃BU˽ ZI noɚiI =I!?>ii/R=)!?>)Will construct direction to contact in vehicle frame from tetrahedron phase data.E ̓=EpAEmA*F 2F :F BF b1JF "G =G =G B= $?I Gy B O > w,LoA:O:e@9:!S=y:H}?x'пſ@ҙ??x@?C?`d?ɨ:O<:!O;8yFBF IININ&Q٢V< V`=9Z';Q Z>XX ZG٣Xy^߼ b> fNusing accuracyPremultiplier from configdj59f$?j5YfUI ifi™ln(>nAfEf;f5;fD5p vMAtB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 112.00 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.Bj#ݻJj5#ݻU ProNav: ac range: 112.000000 m, nav range: 60.426235 m, bearing: 244.161271 deg, approach rate: 0.408787 m/s, LOS rate: -0.386668 deg/s, cmd heading: 10.721567 deg, new cmd heading: 10.303346 deg. 2jU]HeadingCmd: 0.179827 target range: 112.000000 and range: 112.00 m. j]$8>jYjYjYiYhahahahafififirfibfmQ?ɛσBSν 隝I ~qɚiIa=I$8>ii;=)$8>)EdŇ=*FM?2FI:FIBFMP0JFIG5҉=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496613G B O5 >J sJ pJ 0J J K:J ^9J ـ3J a @a @a @a @nw,X;oAH%>I%C I%!II%gBI% =&I!.I%@D6I%!<:I%a Fy=B= IiE=IE> IMb@Mb@Mb@ )Y|?5^?Mb? rhy?<C A A)@IAy AII?1٢= 6=9 Q  > G٣YGy > %Nusing accuracyPremultiplier from config559U9?=5YG ii™=?=:=>=AE;a;95A MAU EZjq}FNOT Ignoring new targets: 112.00 m.Bj}pJj}p㻝5 ProNav: ac range: 112.000000 m, nav range: 60.595448 m, bearing: 243.981546 deg, approach rate: 0.375473 m/s, LOS rate: -0.397686 deg/s, cmd heading: 10.303346 deg, new cmd heading: 9.765692 deg. 2j5v=HeadingCmd: 0.170443 target range: 112.000000 and range: 112.00 m. j=.>j9j9jAiAhahahihmBfififqrfqbfu?ɛЃBVd  I ZsɚiI1߬=I.>ii6=).>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747812)9zKoKKh9KKf'K "('       E% Pڀ=*F ?2F :F BF 75JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000249Gm=GyBO?>w,oA @fz;Yf Lh>fa<9fG[=yfH@l? 7Ϳz=ſ@M?? O᷿`@j??4j?ɨfz;fM;dyzɂBz III٢-Dž= -)= = $?IA9UQQ UG٣Yy] ]> eNusing accuracyPremultiplier from configam59eO?m5YeE iei™qub>uAeEe ;e;e\5y }QAyZjFNOT Ignoring new targets: 112.00 m.BjJj軝 ProNav: ac range: 112.000000 m, nav range: 60.776684 m, bearing: 243.783456 deg, approach rate: 0.373107 m/s, LOS rate: -0.406587 deg/s, cmd heading: 9.765692 deg, new cmd heading: 9.173216 deg. 2jHeadingCmd: 0.160103 target range: 112.000000 and range: 112.00 m. j#>jjjihhhhf f f rf bf `2@ɛуB* 隽"I uɚiI.)=I#>iiz~=)#>)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252170*F!2F!:F!BF%4JF!G uX=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503804w,tpAJ=yJ=xJ9J9J=]:J=9J9J9yтB IMb@Mb@Mb@ )YI I!IIBI =&I.I6I<:I F9Q > G٣y > Nusing accuracyPremultiplier from config59f?5YED ini™ ? : B> AE&@;=;}5B AE - $?I)ZjQUFNOT Ignoring new targets: 112.00 m.Bj] Jj] 򻝊m ProNav: ac range: 112.000000 m, nav range: 60.944897 m, bearing: 243.574974 deg, approach rate: 0.342429 m/s, LOS rate: -0.423231 deg/s, cmd heading: 9.173216 deg, new cmd heading: 8.549524 deg. 2ju:uHeadingCmd: 0.149217 target range: 112.000000 and range: 112.00 m. jun>jyjyjyiyhyhhhBfffrfbf@@ɛUӃB]D y}Iy §wɚiIl=In>ii)=)n>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757353*Fq2Fq:FqBFuP0JFqzK 5=MK 9K K g'K   &<N]o~{rkgd_ZUSQNLKFA<40/)"! G =G G pAGq By O > w,:pA2@Y2T>2692e=y2H ?`˿2Ŀ?2?c H?8?@p?ɨ2@2};0y>B> I)@ @ Ba=Bp=ININ=س٢^O= b=9fՊA~E~<~<~5 AEZjFNOT Ignoring new targets: 112.00 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007962m ProNav: ac range: 112.000000 m, nav range: 61.051334 m, bearing: 243.438831 deg, approach rate: 0.317563 m/s, LOS rate: -0.405484 deg/s, cmd heading: 8.549524 deg, new cmd heading: 8.141812 deg. 2jm#uHeadingCmd: 0.142101 target range: 112.000000 and range: 112.00 m. ju >jqjqjqiqhyhyhyhyfffrfbfa@ɛ%-Ž AEII MxɚIiIIM=IU >iYi]Yu=)] >)YE*F=?2F9:F9BF=_0JF9 IG= 2= Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:01:03.4049  TRx dataTimestamp_ set to:1736380864.777345 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261937G9 BA Oe >- w,7pA6M@Y6I>6P496Ak=y6H?@Bʿ`ĿL?RD?2Rl?N?s?ɨ6M@6̈;6 CyRBR !II^I^{٢fI= fJ=9j;Q j>hh nG٣lynټ n> vNusing accuracyPremultiplier from configpv59rሁ?z5YrB ir3i™xzE$>zArEr:r:r5 :AB*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 112.00 m.Bj=Jj=M ProNav: ac range: 112.000000 m, nav range: 61.185104 m, bearing: 243.265209 deg, approach rate: 0.355243 m/s, LOS rate: -0.460066 deg/s, cmd heading: 8.141812 deg, new cmd heading: 7.622100 deg. 2jMޝUHeadingCmd: 0.133031 target range: 112.000000 and range: 112.00 m. jU69>jQjQjQiQhhh1h9fAfAfArfAbfEx @ɛ%ԃB%˽ !%*I) U@szɚQiQIU#k=I]69>iaieAw=)m69>)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512812*Fe?2Fa:FaBFeo0JFaGEt=J=J=yJ9GaJ9J=p:J=9J9J9BOU>H >I C I !II BI  =&I .I ?D6I <:I 1 F $?I w, PpA6@Y6?>6/t196q=y6He?[ ɿ@>Ŀu?@{S?/$?ʷ?Gw?ɨ6@6̈;6"CBWill construct direction to contact in vehicle frame from tetrahedron phase data.^DAT read: 00:01:03.4049 LVL= 19296, 32753, 32722, 32755, AGC= 60, IDX= 417, 0.49,-1.763, 2.873,-3.091,-2.579, PHS= 0.904,-0.784,-0.514, RAW= 98.5, 5.1, CAL= 108.2, 3.5, ROT= 41.8, -3.5 bYgot valid direction response: 00:01:03.4049 LVL= 19296, 32753, 32722, 32755, AGC= 60, IDX= 417, 0.49,-1.763, 2.873,-3.091,-2.579, PHS= 0.904,-0.784,-0.514, RAW= 98.5, 5.1, CAL= 108.2, 3.5, ROT= 41.8, -3.5 fPDAT read: Bearing 41.8, -3.5 (Local) f~Local bearing/azimuth received: Bearing 41.8, -3.5 (Local) nDAT read: Range 10 to 50 : 110.4 m (Round-trip 147.3 ms) speed 0.3 m/s n,DAT read: user:3579> rBDAT read: Tx time:00:01:04.5035 r$Ping request sent.vJK?yB&!I-monly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,  u@u u@ @  @ II۳٢= .=9F;Q > G٣yަ > %bBottom track data is 0.5 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!m59%?u5Y%lA i% i‘u+:qu:uc>uA%E%s5<%>%L5B AEkBZu?kBa<! k@ kBQpA:kBBBkBSBZkBKne@"BbZss5O'r %7D#[@B]Kȿ`<뇟N^?JkB,=RkB*BFBdě1j[ڞY@BJտAfjĿUw?"kBތ*kBZkBAju?kB7T! 2kB'CkBsu?kBzJ$ k@kBTuBkB@ addTargetRange:: Added new target pos. range: 110.400002 m, deltaT: 3.779816 s, deltaX: -1.599998 m, approachRate: -0.423301 m/s, rangeRepo size: 4  Added new target pos. range: 110.400002 m, bearing: 205.397162 deg, lat: 36.904153 deg, lon: -122.121191 deg, deltaT: 3.779816 s, deltaX: -1.599998 m, approachRate: -0.423301 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 110.40 m.BjJj- ProNav: ac range: 110.400002 m, nav range: 61.332809 m, bearing: 232.924590 deg, approach rate: 0.000000 m/s, LOS rate: -0.460066 deg/s, cmd heading: 7.622100 deg, new cmd heading: 6.904522 deg. 2j)5HeadingCmd: 0.120507 target range: 110.400002 and range: 110.40 m. j50=j1j9j9i9hahahihifififqrfu[@bfu`ض?ɛՃB>Ӳ оI K|ɚiIZ=I0=iicp=)0=)!*F2F:FBFj0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:00:01:04.5027 G )s=G% ?G% > I G B O >lw,+OlpAyuBu>!III;٢= R=9Q > G٣YGy > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59ű?5Y@ ih‘ :q:AE?];\?e5 @EZjFNOT Ignoring new targets: 110.40 m.Bj Jj   ProNav: ac range: 110.400002 m, nav range: 61.489189 m, bearing: 232.782633 deg, approach rate: 0.459847 m/s, LOS rate: -0.416373 deg/s, cmd heading: 6.904522 deg, new cmd heading: 6.479743 deg. 2j%HeadingCmd: 0.113093 target range: 110.400002 and range: 110.40 m. j%9=j!j!j!i!h!h)h)h)f1f1f1rf1bf5?ɛeփBm$ im Ii uG}ɚqiqIuK=I}9=iyi}s=)}9=)EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO5JF GqA GpAGF}=GBOD>) c~G 5tA% A U sYU 5tAyU &B} Will construct direction to contact in vehicle frame from tetrahedron phase data.0y!w, .pAJLJNJLJLJLJNy9JLJL=c @Y=!>=^+9=p=y=HK)?Mſ`ÿ ??ER?`播??ɨ=c @=6;= CyU+BUU!IHu|>IuC Iu"IIuƒBIu =&Iq.Iq6Iu<:Iu F $?I ] ] ]] ]]  ] ] ]Mb@Mb@Mb@YYY Y)YY]d;O?ʡE/$y]?]-]]hA ]@)]Z@I]3AYy](AI}I}Գ٢= /=9P G٣y߀ > Nusing accuracyPremultiplier from config59ȁ?5Y|@ ih‘T:}?:d+<AE; ;q5 @ZjFNOT Ignoring new targets: 110.40 m.BjJj ProNav: ac range: 110.400002 m, nav range: 61.657230 m, bearing: 232.581892 deg, approach rate: 0.359512 m/s, LOS rate: -0.428299 deg/s, cmd heading: 6.479743 deg, new cmd heading: 5.879185 deg. 2j  HeadingCmd: 0.102611 target range: 110.400002 and range: 110.40 m. j %=jjjihhhhBff!f)rf)bf-@}?ɛQUr Q]IY ]W~ɚYiYI]=Ie%=iaimΞ'w,EpAf!@Yf>f *9f}=yfH 4?bĿÿ`S??`a(? (D?`?ɨf!@ft;f#C=Will construct direction to contact in vehicle frame from tetrahedron phase data.ym@Bmp!IIIaO٢= q=9z;Q ? G٣y ? Nusing accuracyPremultiplier from config59oف?5Yx@ ih™?;AE;p;5B Z@EZjFNOT Ignoring new targets: 110.40 m.Bj0Jj0 ProNav: ac range: 110.400002 m, nav range: 61.777740 m, bearing: 232.436922 deg, approach rate: 0.357080 m/s, LOS rate: -0.428718 deg/s, cmd heading: 5.879184 deg, new cmd heading: 5.445131 deg. 2jHeadingCmd: 0.095035 target range: 110.400002 and range: 110.40 m. j=jjj!i!h!h!h!h)f)f)f)rf)bf5 z?ɛ]׃B] q YeIa e(ɚaiaIe4=Im=iiimp[=)m=)q*F?2F:FBFP0JFGs= $?IGBO@>Will construct direction to contact in vehicle frame from tetrahedron phase data.0-w,ֹpA2}@Y2@>2ű%92=y2HE?%ÿ@ÿީ?Փ?. ?̯??ɨ2}@2։;0yB[BB!IIJIJk٢b> fX=9f$8hh jG٣jYGyjҼ j> zNusing accuracyPremultiplier from configx~59z*쁜?5Yz@ izh™ڻAzEz;z;z5  @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 110.40 m.BjJj軝  ProNav: ac range: 110.400002 m, nav range: 61.912331 m, bearing: 232.273024 deg, approach rate: 0.335247 m/s, LOS rate: -0.407361 deg/s, cmd heading: 5.445131 deg, new cmd heading: 4.954519 deg. 2j ȋuHeadingCmd: 0.086473 target range: 110.400002 and range: 110.40 m. j}=jyjyjyiyhyhyhhfffrfbfO?ɛQ]qo Y]xIY ]ɚYiaIeI=I=ii$~V=)=)EV>E>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FA:FABFAJFA"GM=GM= $?IHv>IC IA"IIBI =&I.I>D6I<:I6 FBI=ȪCJI=ȪCRI=ȔCZI= =bI= =jI=ȱK6G YW=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0040784w,pA6$'@Y6 >6c"96 Ȅ=y6H :U?`¿ Z? ??r6?@`?6?ɨ6$'@6;6!Cy oB !IzK]JK] 9KYK]j'K]RKe?JKe?Mb@Mb@Mb@ )YzG?B`"۹Qy ?νuA $@)@IAyAIIͳ٢m= :=9<;Q > G٣yż > Nusing accuracyPremultiplier from config59?5Y@ iyh™I?:AE;;{5  o@ EZj1FNOT Ignoring new targets: 110.40 m.BjJj ProNav: ac range: 110.400002 m, nav range: 62.062992 m, bearing: 232.078443 deg, approach rate: 0.362894 m/s, LOS rate: -0.467541 deg/s, cmd heading: 4.954519 deg, new cmd heading: 4.372216 deg. 2joHeadingCmd: 0.076310 target range: 110.400002 and range: 110.40 m. j/H=jjjihhhhBfffrfbf`@ɛE؃BMK qupPIy }XɚiI=I/H=ii_V=)/H=)*FA2FA:FABFET0JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256393Gm W=JK(3 K(.KK"KJ J J 1J J :J 9J 3J J n;a J o;a J ;a J ;a GA BY O > I :w,ۇpA6@Y6@ =6>Q96=y6H 4b? jb¿@q?P?@?)?d?ɨ6@6>;6#CyVBV!II^I^ỳ٢fl= f]=9fhh jG٣hynȼ n>  Nusing accuracyPremultiplier from config 59 ?5Y A i ^h™DA E * ; & ; 5-B -@-EZjFNOT Ignoring new targets: 110.40 m.BjTJjT򻝊E ProNav: ac range: 110.400002 m, nav range: 62.191727 m, bearing: 231.910537 deg, approach rate: 0.325543 m/s, LOS rate: -0.423721 deg/s, cmd heading: 4.372215 deg, new cmd heading: 3.869552 deg. 2jEeMHeadingCmd: 0.067536 target range: 110.400002 and range: 110.40 m. jMP=jIjIjIiIhQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507859hhhfffrfbf.@ɛE 隝#I xɚiIq=IP=iiT=)P=)*Fa2Fa:FaBFe_0JFaG YW=e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759544Gq B O >sAw,iqAg@Y=O9K=yHn?̾f¿ =ͻ??]3?zϱ??ɨg@,;騥!CyB!IHMm>IMC IMy"IIMBIM =&II.IM=D6IM#<:IMH F ]$?IYi)>I=UMb@Mb@Mb@QQQ Q)QYUbX9?Zd;OMbyUE?UjUUA U@)U@IUd AQyUAIuIuʳ٢> &=9q;Q > G٣YGy׮ > Nusing accuracyPremultiplier from config59-?5YfA i8h™?:]9AE;;B5 @ZjFNOT Ignoring new targets: 110.40 m.Bj[Jj[ ProNav: ac range: 110.400002 m, nav range: 62.359596 m, bearing: 231.694844 deg, approach rate: 0.358482 m/s, LOS rate: -0.459366 deg/s, cmd heading: 3.869552 deg, new cmd heading: 3.224244 deg. 2jHeadingCmd: 0.056274 target range: 110.400002 and range: 110.40 m. j;f=jjjihhhhBfffrfbf` @ɛh ȲI ƀɚiI=I;f=iiTX=);f=)!E)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:01:07.0535 TRx dataTimestamp_ set to:1736380868.306187checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014932*F2F:FBFJFGpA GqAzKBoHK+9KKk'KG W=G B O >'Gw,>!qA2v:@Y2=292=y2H y?􀼿,¿}z?@?yC?!}?@ ?ɨ2v:@2%L;2"Cy:ǃB:"IIFIFԳ٢J1> N=9Nd;Q R?PP VG٣TyZ Z? fNusing accuracyPremultiplier from configdn59ff 5 BDAT read: Tx time:00:01:08.1536 5 $Ping request sent.5 gYP}?w:=?yB5as U)c|I:in?+?9= cl?);I\W?igYP}?w:=?y )Ii )IiNw,;qA27@Y27=2U92Eɗ=y2H ?Xu?1?@T`?? H?ɨ27@2P;2$CyRBR5"II=I=ỳ٢UV= U?=9};Q }> G٣y > Nusing accuracyPremultiplier from config59Q?5YB ih™AE;E;}5 |@Ek_Ax?k? k kB3qA:kBBk!BZk T@"agȋ.*@[@>gYP}?w:=?Jk3@Rk*ޗlP>eQZ *jM/Z@)|Jҿ԰/-j)?"k*k:k0x?kk 2k*Ckk6" k&CkbMBk6v@ addTargetRange:: Added new target pos. range: 109.300003 m, deltaT: 3.528046 s, deltaX: -1.099998 m, approachRate: -0.311787 m/s, rangeRepo size: 4  Added new target pos. range: 109.300003 m, bearing: 189.905932 deg, lat: 36.904153 deg, lon: -122.121016 deg, deltaT: 3.528046 s, deltaX: -1.099998 m, approachRate: -0.311787 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 109.30 m.BjJj ProNav: ac range: 109.300003 m, nav range: 51.345860 m, bearing: 220.421790 deg, approach rate: 0.000000 m/s, LOS rate: -0.412147 deg/s, cmd heading: 2.813517 deg, new cmd heading: 2.281156 deg. 2jHeadingCmd: 0.039814 target range: 109.300003 and range: 109.30 m. j#=jjj i h h h1h1f1f1f1rf=@3S[@bf=`K?ɛ*} 隅IC I"IIUBI =&IGD.I;D6I<:I FG JR=GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Tw,TqAJ@YJ=J$9J<=yJH ?y``??n?,? ?ɨJ@J ;J"CyfBfa"IzKKh9KKl'KMb@Mb@Mb@ )YQ?)\(MbP?y?Ga: @)@I Ay@II=٢> 3=9(;Q > G٣YGyF > MNusing accuracyPremultiplier from config U59 g?U5Y *B i g™]k?]:]Y<]A E P(< ; w5a e?@aB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 109.30 m.BjJj ProNav: ac range: 109.300003 m, nav range: 51.544655 m, bearing: 220.229436 deg, approach rate: 0.443632 m/s, LOS rate: -0.427600 deg/s, cmd heading: 2.281156 deg, new cmd heading: 1.706341 deg. 2jHeadingCmd: 0.029781 target range: 109.300003 and range: 109.30 m. j<jjjihhhh̃Bfffrfbf ?ɛIUmj Y]=I 6ɚiI^"=I50[w,[nqA2X@Y2 =2n92=y2H@/?`W `7? ??塯? ?ɨ2X@2ZH;2!Cy>&B>"IIJIJ ٢NvN> Rx=9R);Q R?TT VG٣TyZ\ Z? ^Nusing accuracyPremultiplier from config\b59^ x?b5Y^FB i^g™`b׮bA^E^f:^f:^5mB m'@uEZjFNOT Ignoring new targets: 109.30 m.BjPJjP ProNav: ac range: 109.300003 m, nav range: 51.688511 m, bearing: 220.088744 deg, approach rate: 0.427259 m/s, LOS rate: -0.416699 deg/s, cmd heading: 1.706341 deg, new cmd heading: 1.285447 deg. 2j-HeadingCmd: 0.022435 target range: 109.300003 and range: 109.30 m. j-5ʷ<j)j)j)i)h)h1h1h1f1f9f9rf9bf=?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999711ɛAO >I FpɚiI=I5ʷU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251460bw,ÈqAB/@YB=B;9B=yBHh?@p߳@@J?? fv? ??ɨB/@BI;B CZHRHHV>IC I#IIBI =&I.I:D6II<:IN F iIqy5>B5"IMb@Mb@Mb@ )YzG?V-Mb`?y ?;A -@)x@I Ay3@II4٢ =  =9 ;Q > G٣yH > %Nusing accuracyPremultiplier from config!-59%s?-5Y% B i%g™59?5:5<5A%E%;%i:%)5 @EZjFNOT Ignoring new targets: 109.30 m.Bj2Jj2뻝% ProNav: ac range: 109.300003 m, nav range: 51.923073 m, bearing: 219.879267 deg, approach rate: 0.462590 m/s, LOS rate: -0.411251 deg/s, cmd heading: 1.285447 deg, new cmd heading: 0.659882 deg. 2j--HeadingCmd: 0.011517 target range: 109.300003 and range: 109.30 m. j-M<<j1j1j1i1hyhyhyh؃Bfffrfbf(?Will construct direction to contact in vehicle frame from tetrahedron phase data.ս>սj?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503960ɛQURM QUL>IQ ] ɚYiYI]!آ=IeM<hw,@qAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757396rf@Yr=r9r=yrH?@𸲿}??N#?X? ?ɨrf@r;r!Cy kB "Ii%=I%t>)-AIEIE٢M> Um=9UO;Q U?YY ]G٣Yyee e? mNusing accuracyPremultiplier from configiu59mq?u5Ym B imtg™y}Na<}AmEm:m?I 3ɚiI@=I;ii k=);) }$?Iy*Fi2Fi:FiBFmS0JFiGEva=GB!OUu>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007538 nw,)qAJNGVtAbA vYvtAyvB}@Y}n=}L9}8=y}H%?S{`:?`:?ʹ?ؓ??ɨ}@}R;}#CyޕBޕ"III ٢= F=9v;Q > G٣YGyN > Nusing accuracyPremultiplier from config59ʶ?5YA iQg™@ <AETE;E;x5B ^@EZjFNOT Ignoring new targets: 109.30 m.BjJj򻝊- ProNav: ac range: 109.300003 m, nav range: 52.266968 m, bearing: 219.571895 deg, approach rate: 0.476366 m/s, LOS rate: -0.424603 deg/s, cmd heading: 0.241500 deg, new cmd heading: 359.740850 deg. 2j-=HeadingCmd: 6.278662 target range: 109.300003 and range: 109.30 m. j=@j9j9j9iAhAhAhAhAfIfIfIrfIbfU`@ɛLz 隅ϫ>I 2~ɚiI=I4i1i5ϐw=)5@)1UWill construct direction to contact in vehicle frame from tetrahedron phase data.UAiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259971*F2F :F BF _0JF HEO>IEC IEs#IIEBIE =&IA.IE9D I6IEp<:IEc FG-  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512395һuw,| qAzKK9KKn'KRK?JK>yޭBޭ #IUMb@Mb@Mb@QQQ Q)QYUi|?5?{Gzt?yU?UUף;UlA U@)Ub@IUAQyUQ@mBAiImImͳ٢}"> }>=9Q > G٣y > Nusing accuracyPremultiplier from config59/˂?5YA i,g™?:l=AîE;:Z5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 109.30 m.BjhϻJjhϻ ProNav: ac range: 109.300003 m, nav range: 52.462612 m, bearing: 219.415266 deg, approach rate: 0.454688 m/s, LOS rate: -0.362657 deg/s, cmd heading: 359.740845 deg, new cmd heading: 359.272721 deg. 2jxHeadingCmd: 6.270492 target range: 109.300003 and range: 109.30 m. jߧ@jjjihhh h  Bf ffrfbf,Y@ɛAMp QU>IQ ]|ɚYiYIe=IuOiyi}=)ߧ@)!E1*F2F:FBFl0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764697G z= $?I G B O- >{w,qABZ]@YB.=B;& 9B}:=yBH?j ɚ??``W?t? ?ɨBZ]@BȊ;B"CyJBJ?#IIZIZ ٢b-> bl=9bu?I {ɚiIK=Iuii4m=);q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015667Ep=*F2F:FBFo0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:00:01:10.7018 u TRx dataTimestamp_ set to:1736380872.088686} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268683J J J J J ̝:J 9J J a @a @a @a @G [=jH bH p<H= J>I= C I= #II= +BI= ! =&I9 .I= 8D I 6I= <:I= FBỊCJỊCRI̕CZI =bI =jI6G BaO>Ww,IrAZ@YZ4=Z 9Z =yZH?f`?@?ȴ?o??ɨZ@ZM;Z CyrʄBvT#IuMb@Mb@Mb@qqq q)qYu|?5^?:v?MbP?yu?u G٣YGy~ > Nusing accuracyPremultiplier from config59?5Y@ if™?:'=AǮEOJ;H;5B @ߵEZjFNOT Ignoring new targets: 109.30 m.Bj ǻJj ǻ ProNav: ac range: 109.300003 m, nav range: 52.855862 m, bearing: 219.109469 deg, approach rate: 0.468076 m/s, LOS rate: -0.349320 deg/s, cmd heading: 358.890569 deg, new cmd heading: 358.358888 deg. 2jo%HeadingCmd: 6.254542 target range: 109.300003 and range: 109.30 m. j%6%@j!j!j!i!h)h)h)h-Bf1f1f1rf1bf5`- @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519525ɛكBv: >I yɚiIf=I=ie = BDAT read: Tx time:00:01:11.8036 E $Ping request sent.E  m%=9m;Q > G٣y_ > Nusing accuracyPremultiplier from config59 ?5YF@ if™=AʮE<<C5  @ kmWV{?km.  Will construct direction to contact in vehicle frame from tetrahedron phase data.ki km%rA:kmBBkmBZkm6@"mݳu!NXJo.@1sGZ@mn\vzܴÐ\?: Q?Jkmؗ@Rkmس*mpn7a@HoSZ@m{OD˿N?;z3?"km@*km kmy{?km,ԍ 2km+Ckikm7T! km'Ckm3Bkmb@m addTargetRange:: Added new target pos. range: 108.000000 m, deltaT: 3.785053 s, deltaX: -1.300003 m, approachRate: -0.343457 m/s, rangeRepo size: 4 } Added new target pos. range: 108.000000 m, bearing: 163.594793 deg, lat: 36.904153 deg, lon: -122.120839 deg, deltaT: 3.785053 s, deltaX: -1.300003 m, approachRate: -0.343457 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 108.00 m.BjJj ProNav: ac range: 108.000000 m, nav range: 44.911537 m, bearing: 203.143976 deg, approach rate: 0.000000 m/s, LOS rate: -0.349320 deg/s, cmd heading: 358.358879 deg, new cmd heading: 357.789902 deg. 2jHeadingCmd: 6.244612 target range: 108.000000 and range: 108.00 m. j@jjjihhhhfffrf[@bf?ɛaeݼ imv ?Ii mwɚiiiIm|=Iu]iqiuz=)}@)EE*E"E*F ?2F :F BF P0JF = Will construct direction to contact in vehicle frame from tetrahedron phase data.Ju Ju Jq Jq Ju :Ju 9Jq Jq H G>I C I $II mBI " = E$?IA&I .I 6I .<:I + FGvpx=GBO?Nw,RrAyE BE#IMb@Mb@Mb@ )Y G٣YGy > Nusing accuracyPremultiplier from config59\&?5Y[? if™?:=A̮Ef;;5 @ܵEZjFNOT Ignoring new targets: 108.00 m.BjJj  ProNav: ac range: 108.000000 m, nav range: 45.215603 m, bearing: 203.027229 deg, approach rate: 0.594077 m/s, LOS rate: -0.226565 deg/s, cmd heading: 357.789897 deg, new cmd heading: 357.442014 deg. 2j }HeadingCmd: 6.238540 target range: 108.000000 and range: 108.00 m. j@jjjihh!h!h%Bf!f)f)rf)bf-7`?ɛ]ڃB] Y]?IY e+tɚaiaIe=Im6im ?"mw,+krA2@Y2U @2PD9211z=y2HϾ?j|7E`?6??`?ɨ2@25;0yBBB#IIJIJJ٢Rj= Re=9R i^yf™dfg=fA^ήE^$1;^:^*5jB n@nٵEzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 108.00 m.Bj 퀻Jj퀻% ProNav: ac range: 108.000000 m, nav range: 45.399925 m, bearing: 202.950495 deg, approach rate: 0.543729 m/s, LOS rate: -0.225436 deg/s, cmd heading: 357.442022 deg, new cmd heading: 357.212757 deg. 2j%-HeadingCmd: 6.234539 target range: 108.000000 and range: 108.00 m. j-W@j)j)j)i)h)h1h1h1f1f9f9rf9bf=? e$?Iaɛ  L  "?I  rɚiaIe=IuAGi}i#E>*FQ2FY:FYBF]0JFYG%٘=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.GB O%M>|Uw,JrA6\@Y6@696aE=y6HW?0EE}? ? &??ɨ6\@6e5;6 CyB2BB#IIJIJ=٢R= VJ=9V;Q V>XX ZG٣XyZ1 Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.`i`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.486148 ENusing accuracyPremultiplier from config9E59=J?M5Y=r> i=Yf™IM=MA=ЮE=:=:=5 @ZjFNOT Ignoring new targets: 108.00 m.Bj~Jj~ ProNav: ac range: 108.000000 m, nav range: 45.628880 m, bearing: 202.853998 deg, approach rate: 0.531612 m/s, LOS rate: -0.222934 deg/s, cmd heading: 357.212746 deg, new cmd heading: 356.924710 deg. 2j%HeadingCmd: 6.229511 target range: 108.000000 and range: 108.00 m. j%(X@j!j!j!i!h!h)h)h)f)f1f1rfIbfM?ɛۃBhW 隥|+?I pɚiI+=IP[ig$<JJJJJ<:J:JJi@=)(X@)HE>I Ia$I iIqIBI# =*F2F:FBFQ5&I.I6I<:I FJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.737874Gu {=Ga Bi O >zK BHK K K q'K w,6srA>@Y>@>m9>jY=y>H?[s?`u᾿N^ }?᰿`?'?8?ɨ>@>l;>#CyF;BJ#I%Mb@Mb@Mb@!!! !)!Y%d;O?/$?I +y%?%,=%94%@ %x@)%@I%A!y%@I5I5ͳ٢Ui0= ]@=9eo;Q e>qq uG٣}YGy}[ > Nusing accuracyPremultiplier from config591_?5Y> i?f™&?:x=AѮED;;5 @ֵEZjFNOT Ignoring new targets: 108.00 m.BjJj ProNav: ac range: 108.000000 m, nav range: 45.856049 m, bearing: 202.754208 deg, approach rate: 0.530476 m/s, LOS rate: -0.231869 deg/s, cmd heading: 356.924704 deg, new cmd heading: 356.626822 deg. 2j!HeadingCmd: 6.224312 target range: 108.000000 and range: 108.00 m. j-@jjjihh1h1h5Bf1f9f9rf9bf=@ɛ܃BDWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990874 M/?II MOnɚIiIIMwf=IU$qiU0 & Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241923w,MrAFf]@YFl@Fm9F4=yFH^?`A?):? $0? ?`m?ɨFf]@F;F"CyVHBV#II^I^<٢fv= fS=9j hh nG٣lyrԓ r> vNusing accuracyPremultiplier from configtz59vq?z5Yv= iv(f™xzO\=zAvӮEvQ:v:v|5B N@ӵEZj)5FNOT Ignoring new targets: 108.00 m.Bj5%Jj=%M ProNav: ac range: 108.000000 m, nav range: 46.064217 m, bearing: 202.661666 deg, approach rate: 0.581379 m/s, LOS rate: -0.257287 deg/s, cmd heading: 356.626825 deg, new cmd heading: 356.350456 deg. 2jU0UHeadingCmd: 6.219489 target range: 108.000000 and range: 108.00 m. jU @jYjYjYiYhYhahahafafafirfibfm`@ɛ1= 9=5?I9 =kɚ9iAIEԾ=IEysiM'H I  I $II ͅBI &I .I 6I {<:I a F I IQ *w,Ibp;Mb@Mb@Mb@ )YX9v?Zd;O?Qy?j<u@ K@)@Ih@yz@II٢v= <=9;Q > G٣yش > Nusing accuracyPremultiplier from config59φ?5Y= if™?:H<AծE4;;a5 w@ZjFNOT Ignoring new targets: 108.00 m.Bj%Jj%5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745963E ProNav: ac range: 108.000000 m, nav range: 46.295681 m, bearing: 202.546206 deg, approach rate: 0.531986 m/s, LOS rate: -0.264041 deg/s, cmd heading: 356.350449 deg, new cmd heading: 356.005804 deg. 2jE55MHeadingCmd: 6.213473 target range: 108.000000 and range: 108.00 m. jU@jQjQjQiQhYhYhYh]Bfffrfbf@n@ɛm݃Bm$ im ˻w,rA2@Y2Y@2292u=y2H?B8?(2H?,`? ?;?ɨ2@2`H;2%CyN_BR $IIZIZ٢bM= b[=9f;Q f>dh jG٣jYGyjƼ j> v$?It zNusing accuracyPremultiplier from configx~59z?~5Yz= ize™|S;Az׮Ez!;zu;z5  @ еE-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 108.00 m.Bj=YJj=YM ProNav: ac range: 108.000000 m, nav range: 46.495541 m, bearing: 202.444925 deg, approach rate: 0.534867 m/s, LOS rate: -0.269886 deg/s, cmd heading: 356.005797 deg, new cmd heading: 355.703261 deg. 2jU89UHeadingCmd: 6.208193 target range: 108.000000 and range: 108.00 m. jU@jYjYjYiYhYhahihifififqrfqbfuB @ɛ]ރB]|к Y]e@?IY e$gɚaiaIeN=IKi)  ?Yy y} qB )@ Bw,"sA6փ@Y6W@6ގ߽96R=y6H`u?+?С:?Po?@?`?ɨ6փ@6D@;6"CRWill construct direction to contact in vehicle frame from tetrahedron phase data.rDAT read: 00:01:14.3504 LVL= 12864, 22257, 16658, 23699, AGC= 56, IDX= 434, 0.06, 0.476,-1.092,-1.370,-0.562, PHS= 1.126,-0.483,-0.811, RAW= 80.9, 1.9, CAL= 86.2, -1.5, ROT= 63.8, 1.5 vYgot valid direction response: 00:01:14.3504 LVL= 12864, 22257, 16658, 23699, AGC= 56, IDX= 434, 0.06, 0.476,-1.092,-1.370,-0.562, PHS= 1.126,-0.483,-0.811, RAW= 80.9, 1.9, CAL= 86.2, -1.5, ROT= 63.8, 1.5 zPDAT read: Bearing 63.8, 1.5 (Local) z~Local bearing/azimuth received: Bearing 63.8, 1.5 (Local) DAT read: Range 10 to 50 : 107.0 m (Round-trip 142.7 ms) speed 0.0 m/s ,DAT read: user:3582>  BDAT read: Tx time:00:01:15.4536  $Ping request sent.  G٣y" > Nusing accuracyPremultiplier from config 59ᯃ? 5Y= ie™ UUAٮE1<2<5a e@ijH<bH<HI I$IIBI" =&I $?I.I6Ix<:I_ FkRC|?kR  kP kR-sA:kRBBkRBZkRM@"Rg]ܽ&?*#<@#fqyY@RPGs(V?hHj?JkR6?RkRCL*R855c5@ݷiY@Rɿ&X9?{C?"kRA*kRkRB|?kR< 2kR?)CkR0x?kRk kR?)CkR{ BkR!S@ addTargetRange:: Added new target pos. range: 107.000000 m, deltaT: 3.534912 s, deltaX: -1.000000 m, approachRate: -0.282892 m/s, rangeRepo size: 4  Added new target pos. range: 107.000000 m, bearing: 135.022411 deg, lat: 36.904228 deg, lon: -122.120702 deg, deltaT: 3.534912 s, deltaX: -1.000000 m, approachRate: -0.282892 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 107.00 m.Bj Jj = ProNav: ac range: 107.000000 m, nav range: 35.370953 m, bearing: 189.014619 deg, approach rate: 0.000000 m/s, LOS rate: -0.269886 deg/s, cmd heading: 355.703275 deg, new cmd heading: 355.228736 deg. 2j9EHeadingCmd: 6.199911 target range: 107.000000 and range: 107.00 m. jEe@jAjAjAiIhIhIhIhIfQfqfqrf}Z@bf}?ɛB? B?I jcɚiI _=IiSv*>>Xzqhb]VNGA973/)&# G #=G ?G 0?GBO>\w,Y%sAR:@YRJ@R۽9RX=yRH`T?%?@ay.?ݱ@wo? ?ɹ?ɨR:@R;R$Cy^oB^$I) =Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}`"? G٣y >  Nusing accuracyPremultiplier from config 59 ȃ?5Y = i e™?:A ۮE  ; F; 25%B %@%εEJ1J5J1J1J1J5:J1J1J5;aEJ5;aMJ5yE;aMJ5zE;aMZjquFNOT Ignoring new targets: 107.00 m.Bj}]Jj}] ProNav: ac range: 107.000000 m, nav range: 35.652309 m, bearing: 188.925028 deg, approach rate: 0.749226 m/s, LOS rate: -0.236689 deg/s, cmd heading: 355.228740 deg, new cmd heading: 354.962091 deg. 2jp"HeadingCmd: 6.195257 target range: 107.000000 and range: 107.00 m. j?@jjjihhhhBfffrfbf?ɛB6; %G?I &aɚiIú= U$?IYIimP8+ 1w,Է?sAyrB"$IIIԳ٢-Mn< 5j=95Q 5?99 =G٣=YGyE E? MNusing accuracyPremultiplier from configIU59MKك?U5YM.> iMe™QQUAMݮEM ;M ;M5a e@e˵EZjFNOT Ignoring new targets: 107.00 m.BjzRJjzR ProNav: ac range: 107.000000 m, nav range: 35.853481 m, bearing: 188.861847 deg, approach rate: 0.589214 m/s, LOS rate: -0.184012 deg/s, cmd heading: 354.962090 deg, new cmd heading: 354.773612 deg. 2jHeadingCmd: 6.191967 target range: 107.000000 and range: 107.00 m. j$@jjjihhhhfffrfbf W?ɛ  x;   H?I ^ɚiI=Iкi,HC>I I$IIBI&I.I6I4<:I+ FBIƠCJIƠC AIARIƓCZI" =bI# =jIeU4 Will construct direction to contact in vehicle frame from tetrahedron phase data.w,YsA2!@Y2@2٪׽92J=y2H?/?}5C#?I?&'??ɨ2!@2?;2 Cy^~B^2$IeMb@Mb@Mb@aaa a)aYeCl?y&1y&1yed?e`ee`eeZ@ e@)aIe@ayef@I}I}Z٢u= D=9;Q > G٣y~! > Nusing accuracyPremultiplier from config59p?5Y> ie™y?:A߮ED;*C;5 @Zj FNOT Ignoring new targets: 107.00 m.Bj Jje ProNav: ac range: 107.000000 m, nav range: 36.097874 m, bearing: 188.763771 deg, approach rate: 0.586046 m/s, LOS rate: -0.233592 deg/s, cmd heading: 354.773604 deg, new cmd heading: 354.481369 deg. 2jeO mHeadingCmd: 6.186867 target range: 107.000000 and range: 107.00 m. jm@jijijiiihihhh˃Bfffrfbf?ɛBG9 M?I p\ɚiI#Y=IoBŽi,`Bw,LkssA6~@Y6@6Kӽ96!=y6H`A?@~ޱ?Kۻ?=yh?`,}?޹?ɨ6~@6 ;6"Cy>B>8$IiB;>IB>IJIJ³٢j1< jW=9n ;Q n>pp rG٣pyvK v> zNusing accuracyPremultiplier from configx~59z?~5Yzf? ize™˽AzEz;z;z15 B @ ȵE-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 107.00 m.BjEŇJjEŇU ProNav: ac range: 107.000000 m, nav range: 36.320900 m, bearing: 188.672995 deg, approach rate: 0.586866 m/s, LOS rate: -0.237398 deg/s, cmd heading: 354.481381 deg, new cmd heading: 354.210729 deg. 2jU"UHeadingCmd: 6.182144 target range: 107.000000 and range: 107.00 m. j]@jYjajaiahihihihifqfqfqrfqbf}`m?ɛB; 隥P?I YɚiI$=Iνi8C-e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002817-w,3RsA2_D@Y2S@2ͽ92=y2H ?v? J˼`?` ??`?ɨ2_D@2aˉ;0yNBNB$I `I`HjB>Ih Ij$IIj BIj# =&Ih.Ih6Ij<:Ij FIZIZ٢za$= ~H=9~ ;Q ~> G٣YGy  > Nusing accuracyPremultiplier from config 59 y?5Y @ i e™SڽA E  ;  ; 5% B -?@-ŵEZjauFNOT Ignoring new targets: 107.00 m.BjJj򈻝 ProNav: ac range: 107.000000 m, nav range: 36.560120 m, bearing: 188.574099 deg, approach rate: 0.583023 m/s, LOS rate: -0.239453 deg/s, cmd heading: 354.210742 deg, new cmd heading: 353.915995 deg. 2jU$HeadingCmd: 6.177000 target range: 107.000000 and range: 107.00 m. j@jjjihhhhfffrfbf@ɛB@b; 隥S?I lVɚiI =I%xٽiM+-Tw,"sAF@YF}#@FCɽ9FŪ=yFH@?`1? ٺ =@? 3?8?8?ɨF@FK;F#CyRBP%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507609eMb@Mb@Mb@aaa a)aYeCl?ktI +ye;?e 0e94e-@ e@)eE@Iep@aye@IIV٢k @=9c;Q > G٣yb > Nusing accuracyPremultiplier from config59,?5Y3A ile™?:"AE<<5 B@JK|3 KS}-KK"KJ%J%J%/J!J%|:J%:J%(N3J!J%;J%;J%C;J%C;Zjy}FNOT Ignoring new targets: 107.00 m.BjJj "$?I ProNav: ac range: 107.000000 m, nav range: 36.813320 m, bearing: 188.448565 deg, approach rate: 0.536252 m/s, LOS rate: -0.264038 deg/s, cmd heading: 353.916005 deg, new cmd heading: 353.542001 deg. 2j45HeadingCmd: 6.170472 target range: 107.000000 and range: 107.00 m. jt@jjji!h)h)h1h5Bf1f9f9rf9bf=\@ɛB#: 隭gS?I ySɚiI51=I*i.f>w,sA2 ھ@Y2@2"^Ž927"=y2H?@? 2 @-?X?yõ?@1?ɨ2 ھ@2;2"Cy>BB]$I)D DIJIJ%٢R= R[=9V;Q V>TT ZG٣XyZ6 Z> Nusing accuracyPremultiplier from config%59W@?%5YI I$IIBI" =&I.I6I_<:IJ FG<Gi B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262536fw,sA6@Y6,@6L-½96?=y6H ,?`Q?^r ?y@[ G٣YGyN > Nusing accuracyPremultiplier from config59IV?5YC iHe™?:NAE;.;a5!B @EZj)-FNOT Ignoring new targets: 107.00 m.Bj5DJj=DE ProNav: ac range: 107.000000 m, nav range: 37.289669 m, bearing: 188.196226 deg, approach rate: 0.593182 m/s, LOS rate: -0.327446 deg/s, cmd heading: 353.203972 deg, new cmd heading: 352.789879 deg. 2jM`MHeadingCmd: 6.157345 target range: 107.000000 and range: 107.00 m. jM@jQjQjQiQhQhYhYh]BfYfafarfabfe` @ɛl < 隵V^?I NɚiISՒ=I^i/ w,˹sA>W@Y>؎@>9>z=y>H?.?#ڻ?`Uz G׷?`P?`ͺ?ɨ>W@>;\\ ^G٣\yb^t b> jNusing accuracyPremultiplier from configdj59fXi?n5YfD if8e™ln)TnAfEf;fl;f5p v@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 107.00 m.BjJj- ProNav: ac range: 107.000000 m, nav range: 37.506805 m, bearing: 188.075102 deg, approach rate: 0.589599 m/s, LOS rate: -0.326990 deg/s, cmd heading: 352.789871 deg, new cmd heading: 352.428606 deg. 2j-i`5HeadingCmd: 6.151040 target range: 107.000000 and range: 107.00 m. j5Q@j1j1j9i9h9h9h9hAfAfIfIrfIbfMc @ɛ}B}[< y}Ig?Iy $KɚiI7=I2QiiF<)Q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:01:17.9996 LVL= 16560, 32689, 25906, 27891, AGC= 61, IDX= 425, 0.27,-0.971,-2.332,-2.943,-1.931, PHS= 1.048,-0.354,-1.015, RAW= 71.7, 3.6, CAL= 74.6, 1.7, ROT= 75.4, -1.7 *F!2F!:F!BF%p0JF!MYgot valid direction response: 00:01:17.9996 LVL= 16560, 32689, 25906, 27891, AGC= 61, IDX= 425, 0.27,-0.971,-2.332,-2.943,-1.931, PHS= 1.048,-0.354,-1.015, RAW= 71.7, 3.6, CAL= 74.6, 1.7, ROT= 75.4, -1.7 UPDAT read: Bearing 75.4, -1.7 (Local) ]~Local bearing/azimuth received: Bearing 75.4, -1.7 (Local) eDAT read: Range 10 to 50 : 106.3 m (Round-trip 141.8 ms) speed 0.0 m/s ,DAT read: user:3583> BDAT read: Tx time:00:01:19.1036 $Ping request sent.E Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,tA I$jH2<bH2<H6@>I6C I6%II6)BI6$ =&I4.I67D6I6<:I6 FN Z@YNi@N<9N?=yNHR?vݺ?P`I? `#?`e??ɨN Z@N{ۈ;N!Cy^Bbz$Iif=If=IjIjJ٢e < e?=9m9:;Q m>ii mG٣iyu/ u> Nusing accuracyPremultiplier from configy59}9?5Y}\F i}&e™XA}E}:}3:}5 @Ekqt4~?kS k k*sA:kBBk%BZk/@"{J)uD@E@4įFX@wt3p=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.թiթEm Ba=zK KK 9K K w'K *F ?2F :F BF P0JF U Will construct direction to contact in vehicle frame from tetrahedron phase data.GE<JIJMAA $$?IG9BQOu ? w,1tAyzɅB~$IMb@Mb@Mb@ )Y/$?L7A`尿I +y?+@ @)@Iy@II٢%l= =9Q > G٣YGy > Nusing accuracyPremultiplier from config59󚄜?5YKH ie™?:`AEj; ;B 5"B @EZj FNOT Ignoring new targets: 106.30 m.BjV-:JjV-:- ProNav: ac range: 106.300003 m, nav range: 28.631357 m, bearing: 165.688197 deg, approach rate: 0.626419 m/s, LOS rate: 0.037886 deg/s, cmd heading: 351.999345 deg, new cmd heading: 352.060486 deg. 2j-:5HeadingCmd: 6.144615 target range: 106.300003 and range: 106.30 m. j5@j1j1j1i1h9h9h9h=BfAfAfArfAbfM`?ɛquX< quRq?I ?*DɚiI=Iz i w71lw,JtAWill construct direction to contact in vehicle frame from tetrahedron phase data.V[@YV,@Vʹ9Vܽ=yVH5??@;˹㾿 ?빴51??G?ɨV[@V;V"Cy^ׅB^$IIfIf;٢n"= r[=9ri;Q r>tt vG٣tyvs v> ~Nusing accuracyPremultiplier from config|59~ҭ?5Y~I i~e™  eh A~E~:~@:~ 5 @Zj9EFNOT Ignoring new targets: 106.30 m.BjE9JjM9U ProNav: ac range: 106.300003 m, nav range: 28.861145 m, bearing: 165.698616 deg, approach rate: 0.614873 m/s, LOS rate: 0.027659 deg/s, cmd heading: 352.060489 deg, new cmd heading: 352.091499 deg. 2j]ۗ:eHeadingCmd: 6.145156 target range: 106.300003 and range: 106.30 m. je@jajajaiahahihihififqfqrfqbfu?ɛf(< 隭ax?I 1AɚiI=IW i1zw,dtAzK*]KK*ػ9K(K*x'K*>@Y>z@>h9>=y>HR?0?DRW`T?@-u1? 9N??ɨ>@>$\;>#CyJ߅BJ$I)L LeMb@Mb@Mb@aaa a)aYe$C?Dl~jtye?eOeDe@ e@)e@Ie@aye@IIW٢= ?=9;Q > G٣yB > Nusing accuracyPremultiplier from config59 Ä?5Y?K id™&?:pAE;;5 3@EZjFNOT Ignoring new targets: 106.30 m.Bj9Jj9 ProNav: ac range: 106.300003 m, nav range: 29.120068 m, bearing: 165.706020 deg, approach rate: 0.605231 m/s, LOS rate: 0.017152 deg/s, cmd heading: 352.091498 deg, new cmd heading: 352.113511 deg. 2jU<: HeadingCmd: 6.145540 target range: 106.300003 and range: 106.30 m. j D@jjjihhhhBfff!rf!bf% ?ɛ u<  G|?I  =ɚ iIN=I i>2 Will construct direction to contact in vehicle frame from tetrahedron phase data. i 6w,/m~tAJ@YJ)@J 9J=yJHT??`Ȳ 9?䵿`dڵ?J??ɨJ@J'g;J"CyrBr$IIzIz٢= U=9;Q >    G٣ YGy > Nusing accuracyPremultiplier from config%59ք?%5YL id™)-s-AE"::p55#B 5@5EeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 106.30 m.Bjuw9Jj}w9 ProNav: ac range: 106.300003 m, nav range: 29.352455 m, bearing: 165.711293 deg, approach rate: 0.601369 m/s, LOS rate: 0.013538 deg/s, cmd heading: 352.113518 deg, new cmd heading: 352.129213 deg. 2j:HeadingCmd: 6.145814 target range: 106.300003 and range: 106.30 m. j@jjjihhhhfffrfbf@@ɛ< ?I {:ɚiIh=I i^M2Ia IeB%IIe\BIa&Ia.Ie7D6Ie|<:Ie] FBI%ȟCJI!RI!ZI%# =bI!jI%H5G) B1 OU >%w,ttA>PExceeded connect timeout, disconnecting.jA˽@Yj@j9j 7=yjH '?`tT?L?@J?@?>?ɨjA˽@jB;hyrBr$I}Mb@Mb@Mb@yyy y)yY}333333?i|?5~jthy}?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491360}q}Dy }@)yI}@yy}(@II@ ٢= 3=9);Q > G٣yA > Nusing accuracyPremultiplier from config59서?5YVN id™W?:@jAE[;;q5 @Zj15FNOT Ignoring new targets: 106.30 m.Bj]9Jju9 ProNav: ac range: 106.300003 m, nav range: 29.628315 m, bearing: 165.722296 deg, approach rate: 0.594281 m/s, LOS rate: 0.023483 deg/s, cmd heading: 352.129201 deg, new cmd heading: 352.161902 deg. 2j:HeadingCmd: 6.146385 target range: 106.300003 and range: 106.30 m. j/@jjjihhhhBfffrfbf`e@ɛY]䛿< Y]?Ia eN6ɚaiaIe~=Imj imx2r+w,1tAVG@YVȼ@Vv9Vx~=yVH@?a$?0?`g?@o?`ü?ɨVG@V;V%CybBb$Iif%>If4<IjIj٢r= rk=9v65Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:00:01:21.6488 =TRx dataTimestamp_ set to:1736380882.955309Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.002842u2w,&tA6ׇ@Y6X@6.96=y6Hj??dF@;????ɨ6ׇ@61;6$CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255066y^$B^$IIjIj٢%N= -F=9-;Q ->11 5G٣5YGy516 ]> mNusing accuracyPremultiplier from configiu59ma?u5Ym'Q imd™qrAmEmZ;m|;m5 @E ($?IhJJJ/JJ:J 9J(N3JH@>I In%IIBI&I.I8D6I<:I FZjAEFNOT Ignoring new targets: 106.30 m.BjMyq9JjMyq9 ProNav: ac range: 106.300003 m, nav range: 30.087791 m, bearing: 165.734843 deg, approach rate: 0.574903 m/s, LOS rate: 0.013194 deg/s, cmd heading: 352.182012 deg, new cmd heading: 352.199248 deg. 2j:HeadingCmd: 6.147037 target range: 106.300003 and range: 106.30 m. j@jjjihhhhfffrfbf @ɛ# =  ?I  5+O/ɚ1i1I5=I=j i=d2  BDAT read: Tx time:00:01:22.7537  $Ping request sent. X8w,tAFj@YFy@FGj9Fw=yFH࢔?5?׶;¿`?@h? ? ?ɨFj@F15;F!Cyb3Bb%IzK- OK)K)K-z'K-XWVRRTKIFFFDB?<<=:;87435111.-.0/+*,#6VecXH:/&Mb@Mb@Mb@ )Yx? ףp= Mb`yK?Q8@ @)@Ib@y@I%I%٢={= =.=9m;Q m>qy G٣y > Nusing accuracyPremultiplier from config59)?5YR id™?:`AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:01:22.7529 E;;5 @kDL?k{ k k*stA:kfBBkBZk?"MƐMp;6K@}򬯔V@Zka:y?"W3yCX?JkT?Rk9'*h缦Ӂq8BG@1tW@+Vwh/J*?n+?"k:B*kkRÑ?k+ 2k!CkB|?k< kkp Bk@ addTargetRange:: Added new target pos. range: 105.699997 m, deltaT: 3.551340 s, deltaX: -0.600006 m, approachRate: -0.168952 m/s, rangeRepo size: 4  Added new target pos. range: 105.699997 m, bearing: 99.610270 deg, lat: 36.904348 deg, lon: -122.120397 deg, deltaT: 3.551340 s, deltaX: -0.600006 m, approachRate: -0.168952 m/s, posRepo size: 4 *$?IZjFNOT Ignoring new targets: 105.70 m.BjJj% ProNav: ac range: 105.699997 m, nav range: 34.359913 m, bearing: 139.364721 deg, approach rate: 0.000000 m/s, LOS rate: 0.013194 deg/s, cmd heading: 352.199251 deg, new cmd heading: 352.218002 deg. 2j!-HeadingCmd: 6.147364 target range: 105.699997 and range: 105.70 m. j-4@j1jAjIiIhIhhh҃BfffrflZ@bf@W?ɛB4< |?I 4*ɚiI@=I i&2u Will construct direction to contact in vehicle frame from tetrahedron phase data.!?w, utA:N@Y:,^@:Q9:=y:H?ԡ?D¿@? Ā@?z?I?ɨ:N@:݈;8ybCBb#%I)d dIjIjb(٢vB= v{=9v;Q z ?xx zG٣xy~- ~ ? Nusing accuracyPremultiplier from config 598? 5YS id™gcAE::<5$B @E]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 105.70 m.Bju><Jju>< ProNav: ac range: 105.699997 m, nav range: 34.524837 m, bearing: 139.509608 deg, approach rate: 0.544950 m/s, LOS rate: 0.476455 deg/s, cmd heading: 352.217993 deg, new cmd heading: 352.650571 deg. 2j~<HeadingCmd: 6.154913 target range: 105.699997 and range: 105.70 m. j @jjjihhhhfffrfbf?ɛu=  =x?I (ɚiI]=IYii) @)*F]?2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.==T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G2< IH%?>I! I%%II%BI!&I!.I!6I%<:I%x FJeJeJe0JaJe :Je :Jeـ3JaJe;a}Je;a}Je9P;aJe:P;aGBO>I Fw,]uAE&@@YEO@E9Er=yEH? >?eε@6¿ࠊ? p@,?ݷ??ɨE&@@EF-;E%CyURBU6%IMb@Mb@Mb@ )Y9v?I +y?94 z@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967805)@I=@y@IEIE?1٢U= U5=9];Q ]>YY ]G٣e YGye e> uNusing accuracyPremultiplier from configiu59mqN?u5YmaU imd™}j?}:}e}AmEm;m;m55  @ZjFNOT Ignoring new targets: 105.70 m.Bjf;Jjf; ProNav: ac range: 105.699997 m, nav range: 34.757751 m, bearing: 139.710745 deg, approach rate: 0.520621 m/s, LOS rate: 0.446578 deg/s, cmd heading: 352.650563 deg, new cmd heading: 353.249907 deg. 2j=<HeadingCmd: 6.165374 target range: 105.699997 and range: 105.70 m. jJ@jjjihhhh׃Bfffrfbf?ɛB%= a?I! -#ɚ)i)I-Չ=I5Gi1i5u)5J@)9*F?2F:FBF0JFG GyBO^>zKm{3NKmػ9KiKm{'Km   RK}?JK}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221082 +$?I h3Lw,,3uANJ@YNGZ@N09N8|=yNH$? ?`*¿5?@ ? ?_?ɨNJ@Ň;N"Cy ]B D%IIyIHo٢-/= -`=95';Q 5>19 =G٣9y=`h; E> MNusing accuracyPremultiplier from configAM59E_?U5YEV iEvd™QUcUAEEE;Eh;E5a el@eEZjFNOT Ignoring new targets: 105.70 m.Bj ;Jj ; ProNav: ac range: 105.699997 m, nav range: 34.946693 m, bearing: 139.872211 deg, approach rate: 0.516466 m/s, LOS rate: 0.438974 deg/s, cmd heading: 353.249898 deg, new cmd heading: 353.731664 deg. 2j<HeadingCmd: 6.173782 target range: 105.699997 and range: 105.70 m. j@jjjihhhhfffrfbf \?ɛB&qS= {?I ɚiI =I i i a) @)E!E%%>*F2F:FBFO5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.471792GXGiByO>^Sw,MuA:w`@Y:o@:9:1=y:H੗?d?. d¿?͸4}? ?=?ɨ:w`@:;8RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.723701yVhBZQ%IiZ>IZ>IbIb(*٢jS= jP=9j;Q n>pp rG٣pyv; v> zNusing accuracyPremultiplier from configx~59zr?~5YzW izhd™|`AzEz;zJ;z5 %B @ E u,$?IqZjyFNOT Ignoring new targets: 105.70 m.Bjr;Jjr; ProNav: ac range: 105.699997 m, nav range: 35.149815 m, bearing: 140.044738 deg, approach rate: 0.506145 m/s, LOS rate: 0.427424 deg/s, cmd heading: 353.731672 deg, new cmd heading: 354.246247 deg. HI I%IIBI&I.I6I7<:I) FJUJUJQJQJU:JU :JQJQJU6;JU8;JUU;JUU;2j<HeadingCmd: 6.182764 target range: 105.699997 and range: 105.70 m. j3@jjjihhhhfffrfbfuZ?ɛ1=<= 9=I?I9 =KRɚ9iAIEZF=IEͽiIiM2kͼ)m3@)qEU;6=eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.978962*F?2F:FBF0JFG gG B O >DYw,fuAy~yB~f%IzKoLK9KK|'K  Mb@Mb@Mb@ )Yd;O?~jtMb`y?ļ@ M@)I@yQ@I I ٢-= -7=95Q 5>99 =G٣E!YGyE M> Nusing accuracyPremultiplier from configI59MY?5YM2Y iMXd™?:=AMEMe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479755) H~G% tA9 ?`w,x uA 2Y2tAy2:Bbxv@Yb@b49bnN=ybH? ?@Qwu¿@{?:c?cƾ??ɨbxv@bf;b!CyjBnr%IIvIv٢~S= ~]=9h> G٣yg; > %Nusing accuracyPremultiplier from config!-59%*?-5Y%9Z i%Kd™)5:5A% E%7 ;% ;%"59 ='@=E]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 105.70 m.Bjm=<Jjm=< ProNav: ac range: 105.699997 m, nav range: 35.564804 m, bearing: 140.420958 deg, approach rate: 0.526458 m/s, LOS rate: 0.472939 deg/s, cmd heading: 354.862478 deg, new cmd heading: 355.368204 deg. 2jI<5HeadingCmd: 6.202345 target range: 105.699997 and range: 105.70 m. j5y@j1j1j1i1h9h9h9h9fAfAfArfAbfE @ɛBl= Y?I )ɚiI孆=I|i iK)y@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734582 =-$?I9EM =ZHRH?AHI I%IIBI&I.I6I<:I F*F2F:FBFA5JFG G B O >_kfw,uAUۄ@YU\@UO4}9U>yUHE?2?`>v?`1a?`ZH?@?ɨUۄ@U_E;U"Cy}B}u%IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:01:25.2982 TRx dataTimestamp_ set to:1736380886.485126checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985225Mb@Mb@Mb@ )Yd;O?:v{GztyԼף@  @)@I@y\@II٢%< -,=9-;Q ->11 5G٣1y5 s; 5> ENusing accuracyPremultiplier from config9M59=?M5Y=[ i=>d™M?M:M;UA= E=;=9;=*$5]&B ] @]EZjFNOT Ignoring new targets: 105.70 m.Bjo;Jjo;- ProNav: ac range: 105.699997 m, nav range: 35.805481 m, bearing: 140.634849 deg, approach rate: 0.505969 m/s, LOS rate: 0.446635 deg/s, cmd heading: 355.368213 deg, new cmd heading: 356.005547 deg. 2j-B<5HeadingCmd: 6.213469 target range: 105.699997 and range: 105.70 m. j5@j1j1j1i1h1h9hYh]Bfafafarfabfe@ɛr|P=  ?I  ɚiIЅ=Idǎii>)@)E E *E "E zKFLK9KK}'KaNY _ \ } ; * 9 )&[9XX-  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238323 5 .$?I1 *F9 2F9 :F9 BF= 05JF9 J J J /J J :J :J (N3J a @a @a @a @G  G qAGOGBO=?Nnw, uAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:01:25.2982 LVL= 11696, 26545, 18482, 28403, AGC= 55, IDX= 442,-0.07,-0.541,-1.502,-2.552,-1.522, PHS= 1.069, 0.067,-1.033, RAW= 58.4, -1.1, CAL= 61.4, -4.6, ROT= 88.6, 4.6 Ygot valid direction response: 00:01:25.2982 LVL= 11696, 26545, 18482, 28403, AGC= 55, IDX= 442,-0.07,-0.541,-1.502,-2.552,-1.522, PHS= 1.069, 0.067,-1.033, RAW= 58.4, -1.1, CAL= 61.4, -4.6, ROT= 88.6, 4.6 PDAT read: Bearing 88.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 88.6, 4.6 (Local)  DAT read: Range 10 to 50 : 105.3 m (Round-trip 140.4 ms) speed 0.0 m/s ,DAT read: user:3585> BDAT read: Tx time:00:01:26.4037 $Ping request sent.yH ¦?)?]S@n?| ??`c?L7=X9w?nF >+?)lI.?il=B>}?w 쿊 y)c|Iˣ}?w 쿊 y)Ii騕!CyeBe%III٢< =9u;Q > G٣"YGy; > ]Nusing accuracyPremultiplier from configQ]59U[̅?]5YU] iU/d™aen7eAU EU:U:U&5 @kqK#?kC\'. k k+PuA:kBBk)BZkp?"w߿ddO@f<"U@Jrsb?GY?Jk?Rkn*Bʞ?[G[I@U-W@[4?$¢?_@ ?"kJB*k?k#?kYw% 2kCkd@~?kwsJ| k%Ck-Bk@ addTargetRange:: Added new target pos. range: 105.300003 m, deltaT: 3.529114 s, deltaX: -0.399994 m, approachRate: -0.113341 m/s, rangeRepo size: 4  Added new target pos. range: 105.300003 m, bearing: 88.826563 deg, lat: 36.904405 deg, lon: -122.120229 deg, deltaT: 3.529114 s, deltaX: -0.399994 m, approachRate: -0.113341 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 105.30 m.BjJj- ProNav: ac range: 105.300003 m, nav range: 43.454033 m, bearing: 119.863510 deg, approach rate: 0.000000 m/s, LOS rate: 0.446635 deg/s, cmd heading: 356.005551 deg, new cmd heading: 356.806345 deg. 2j15HeadingCmd: 6.227446 target range: 105.300003 and range: 105.30 m. j5>I  I &II BI &I .I 6I o<:I Q FBIiJImɟCRIiZIibIijImF4G5 6G B O >luw,uAyrBr%IIzIz٢E=f= Mz=9MQ M?y G٣y  ? Nusing accuracyPremultiplier from configm59ۅ?5Y] i'd™AEz=\=(5 @E-Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj FNOT Ignoring new targets: 105.30 m.Bj <Jj yV|w,uAyUBU%IaeA=Mb@Mb@Mb@999 9)9Y=bX9?Qy&1|y=E?==`9 =@)=@I=@9y=@I]I]R٢e\< m'=9iQ m>qq uG٣qyq }> Nusing accuracyPremultiplier from configy59}? 5Y}R_ i}d™ z? : b= A}E}]<}<}*5'B @EZj9EFNOT Ignoring new targets: 105.30 m.BjME<JjME<] ProNav: ac range: 105.300003 m, nav range: 43.756237 m, bearing: 120.327490 deg, approach rate: 0.456456 m/s, LOS rate: 0.691330 deg/s, cmd heading: 357.370797 deg, new cmd heading: 358.193214 deg. 2j]:Ew,Ǹ vA6%@Y6*5@6l`96qV>y6H r?`D?`,vm?¿ ?~?W?ɨ6%@6ۻ;6"CyBBB%IIRIRJ٢Z! Zj=9Zh\\ ^G٣^#YGy^h6= b> fNusing accuracyPremultiplier from configdj59f?j5Yf;` ifd™hj*-nAfEf;f;f+5p r@pB*** querying acoustic contact *** Will construct direction to contact in vehicle frame from tetrahedron phase data.jjZj!%FNOT Ignoring new targets: 105.30 m.Bj--<Jj--<= ProNav: ac range: 105.300003 m, nav range: 43.888638 m, bearing: 120.532921 deg, approach rate: 0.393158 m/s, LOS rate: 0.608177 deg/s, cmd heading: 358.193206 deg, new cmd heading: 358.807615 deg. 2j=< M0$?IIUHeadingCmd: 6.262374 target range: 105.300003 and range: 105.30 m. jU_e@jYjYjYiYhYhYhahafafifirfibfm`W?jHbHHI I&IIBI&I.I7D6II<:I5 Fɛ1== Y]?IY eXSɚaiaIeĊ=Im|iiim{o)m_e@)q*F?2F:FBF`0JFG 1|GBO K>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. fw,k'vAJZ@YJi@JY9J*$>yJHL?固?{  j?@[ÿ`-?^b? ?ɨJZ@Jw;J!Cy^B\ Mb@Mb@Mb@    ) Y 1Zd?X9v:vy "?  T @ @) r@I @ y p@I%I%[٢5` 55=95t;Q =>99 =G٣9yE"h< E> MNusing accuracyPremultiplier from configI]59M?]5YMca iMd™e_?e:e$eAMEMX_;M];M-5i u@uEzKnTOK9KK'K942//.%&$"    Zj-FNOT Ignoring new targets: 105.30 m.Bj5'<Jj5' Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983301Kw,>AvA6ᙾ@Y6b@64O96*>y6H `?`A?1`_h?@lĿ?@1?R?ɨ6ᙾ@6Pƈ;4yBBB%I)D D Jp=J=IJIJʳ٢R = Vh=9V;Q V>XX ZG٣XyZ< ^> bNusing accuracyPremultiplier from config`f59b,?f5Yb?b ib d™dffAbEb3:b:b)/5l n]@lZj FNOT Ignoring new targets: 105.30 m.Bj 5<Jj5<% ProNav: ac range: 105.300003 m, nav range: 44.200920 m, bearing: 121.020401 deg, approach rate: 0.407808 m/s, LOS rate: 0.636071 deg/s, cmd heading: 359.624404 deg, new cmd heading: 0.264736 deg. 2j%C<-HeadingCmd: 0.004621 target range: 105.300003 and range: 105.30 m. j-g;j)j)j)i)h)h1h1h1f1f9f9rf9bf=[@ɛ= ?I  _ɚ i I =I5g;i1i5{)=g;)9*F?2F:FBFM5JFG҆GABIOm5> =1$?I9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.235454H?>I I&II BI&I.I8D6I_<:IF Fxw,$[vABȾ@YB7@BJ9B/>yBH ?@-?@f?ſ@=? ?@~?ɨBȾ@B;B$CyNBN%IIVIV&ѳ٢b|,= bH=9fK;Q f>ll rG٣r$YGyvc< z> Nusing accuracyPremultiplier from configi59mB?5Ym?c imd™AmEm/J3K3 K;L.K3K3"K3J J J 0J J :J :J ـ3J &w,tvAJe@YJ@JSE9J$7>yJHA?s%?,U@د /a?ƿ?`?s?ɨJe@JQ;J#Cy``mMb@Mb@Mb@iii i)iYm1Zd?J +MbyimHmm@ m@)mz@Im@iym@II?19m;Q > G٣y,< > Nusing accuracyPremultiplier from config59V?5YYd id™?:u+AE;;25 @EZjFNOT Ignoring new targets: 105.30 m.BjS4<JjS4< ProNav: ac range: 105.300003 m, nav range: 44.530128 m, bearing: 121.522134 deg, approach rate: 0.426756 m/s, LOS rate: 0.630615 deg/s, cmd heading: 1.036073 deg, new cmd heading: 1.764267 deg. 2jd<HeadingCmd: 0.030792 target range: 105.300003 and range: 105.30 m. j@<jjjihhhh΃Bfff rf bf @ɛUރB]"= Y]?IY ]ϼɚYiaIeR~=Ie@"w,gԎvA6@@Y6KP@6?D96=>y6Hu? T?` !ﵿ[? pǿ? ?-j?ɨ6@@6Ј;6!Cy>BB%IiF0>IF4=HHIRIR<٢V~; Z<9Zv:Q Z>\\ ^G٣\ybe< b> fNusing accuracyPremultiplier from configdj59fi?j5YfNe ifd™hj!$nA 4$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:01:28.9479 TRx dataTimestamp_ set to:1736380890.267116checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245549ZHyRHyHI I#&IIBI&I.I6I<:I FfEfGشw,1vA @Y @ B9 (E>y H`T?I?h@U?@ȿ`Z??^?ɨ @ ƅ; y-B5%I Mb@Mb@Mb@    ) Y ףp= ?/$Mby ? ,  @ V@) @I  y (@II%٢5< 54=95&&:Q 5>99 =G٣=%YGy=< E> MNusing accuracyPremultiplier from configAU59Ei?U5YEUf iEc™U"?]:] ]AEEE|;E ;Eq65e)B ez@eEZjFNOT Ignoring new targets: 105.30 m.Bj<<Jj<< ProNav: ac range: 105.300003 m, nav range: 44.859707 m, bearing: 122.020847 deg, approach rate: 0.431504 m/s, LOS rate: 0.659511 deg/s, cmd heading: 2.427109 deg, new cmd heading: 3.254751 deg. 2jN<HeadingCmd: 0.056806 target range: 105.300003 and range: 105.30 m. jh=jjjihhhhڃBfffrfbf @zK KK 9K K 'K fEkM4  ɛ݃B]= 隕?I 9ɚiI{w{=Ih=iiƽ)h=)EE I-Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 00:01:28.9479 LVL= 15632, 25377, 14610, 20147, AGC= 59, IDX= 438, 0.14, 0.695,-0.338,-1.311,-0.401, PHS= 1.185, 0.110,-0.913, RAW= 60.8, -4.3, CAL= 66.5, -9.4, ROT= 83.5, 9.4 uYgot valid direction response: 00:01:28.9479 LVL= 15632, 25377, 14610, 20147, AGC= 59, IDX= 438, 0.14, 0.695,-0.338,-1.311,-0.401, PHS= 1.185, 0.110,-0.913, RAW= 60.8, -4.3, CAL= 66.5, -9.4, ROT= 83.5, 9.4 PDAT read: Bearing 83.5, 9.4 (Local) ~Local bearing/azimuth received: Bearing 83.5, 9.4 (Local) DAT read: Range 10 to 50 : 105.0 m (Round-trip 140.1 ms) speed 0.1 m/s ,DAT read: user:3586> BDAT read: Tx time:00:01:30.0537 $Ping request sent.))-1Y?zcgJ))-5I-r=i-; ?-,Sy)):publishing transmit ping timeرGU Fpublishing direction and range info)9-2_# ¨?w M?w?y)))) )))I)i))))) )))I)i)))-1Y?zcgJ)))I)i))))GBO5>U NGi y Y y  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:01:30.0529 w,QvA6ҿ@Y6o@6hA96K>y6H? X?@Sb@P?ȿ@=5?`I? 4U?ɨ6ҿ@6o;6#CyBBB%IIJIJd٢%F %^=9%IH:Q %>)) -G٣)y-t< 5> }Nusing accuracyPremultiplier from config1595?5Y5g i5c™SA5!E5:5:585*B @Ek].DF?k]{G kY k]gvA:k]BBk]BZk]Ǿ?"]x/O@Őf fM@,U@]2_# ¨?w M?w?Jk]; ?Rk],Sy*]h ([ @*T*D@חA8X@]~5q?fb?MM?"k]T!B*k]O@k]$?k]!@ 2k]:$Ck]RÑ?k]!@ k]:$Ck](Bk]?m addTargetRange:: Added new target pos. range: 105.000000 m, deltaT: 3.782697 s, deltaX: -0.300003 m, approachRate: -0.079309 m/s, rangeRepo size: 4  Added new target pos. range: 105.000000 m, bearing: 85.397861 deg, lat: 36.904511 deg, lon: -122.120204 deg, deltaT: 3.782697 s, deltaX: -0.300003 m, approachRate: -0.079309 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 105.00 m.BjJj ProNav: ac range: 105.000000 m, nav range: 42.132824 m, bearing: 106.810085 deg, approach rate: 0.000000 m/s, LOS rate: 0.659511 deg/s, cmd heading: 3.254751 deg, new cmd heading: 4.041107 deg. 2jHeadingCmd: 0.070531 target range: 105.000000 and range: 105.00 m. j]r=jjjihhh!h!f!f)f)rfM@Z@bfUk ?ɛ܃B= 隥7?I ɚiIy=I]r=iihͽ)]r=)*F?2F:FBFX0JF 5$?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.HyIy IyIyIy&Iy.Iy6I}<:I}| FJJJJJ,:J:JJJ;aJ;aJDG;aJEG;aGm 5GA BI Om >aĶw, bvA6!@Y6m1@6FG96]>y6HO?@Tէ?@h٭8?˿`?x?$7?ɨ6!@6;6CyBBB%I)D FA F=DIVIVF٢v= vN=9vqQ v>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 59:? 5Yg ic™A#E::95 @!Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 105.00 m.BjR<JjRzK )MK 9K K 'K Zh=)BK :K oA I E Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,Gy2H?m?+@0~j6? }˿jA??>2?ɨ2g@2;2"CyRBR%IMMb@Mb@Mb@III I)IYMCl?A`"QyM;?MYMuMZ@ M(@)Mz@IIIyMz@ImImd٢Ǒ; :=9BQ > G٣ &YGy &<  > Nusing accuracyPremultiplier from config59?5Yh ic™%?%:%%A%E#; ;;5) -@-EZjQ]FNOT Ignoring new targets: 105.00 m.Bjeiv<Jjeiv< ProNav: ac range: 105.000000 m, nav range: 42.346394 m, bearing: 107.454503 deg, approach rate: 0.291918 m/s, LOS rate: 0.861712 deg/s, cmd heading: 4.959909 deg, new cmd heading: 5.969271 deg. 2j=HeadingCmd: 0.104183 target range: 105.000000 and range: 105.00 m. j!^=jjjihhhhBfffrfbf!?ɛۃBؕ= C?I 4 ɚ i I 6kv=I !^=i i)!^=)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JF!Ge cOȽGA BI Oe >Zw,HwA B6$?IDF/@YF@Fs.O9Fta>yFH ?g?T٥6?@Ө˿?K? 0?ɨF/@Fl;DyRBR%IIZIZ&Q٢b^< ba=9b@^Q f>dd fG٣dyjq< j> nNusing accuracyPremultiplier from configlr59n ӆ?r5Yni inc™tvvAn'En;n?';nK=5Will construct direction to contact in vehicle frame from tetrahedron phase data.+B @ EjH<bH<H%>>I! I%)&II%BI!&I!.I!6I%<:I%v FBIJIRIZIbIjI4ZjY]FNOT Ignoring new targets: 105.00 m.BjeV<JjeVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zw,H)wAJ@YJI@JGK9J`>yJH?5b?y9?ͨ˿q?@ ?J1?ɨJ@JË;J#CybʆBb%Iij>Ij>Mb@Mb@Mb@ )Y+?&1y&1y?P`ep@ @)M@Ir@y@II)٢3= ;=9;Q > G٣y< > Nusing accuracyPremultiplier from config59ꆜ?5YNj ic™Q ?:߽A)EU;;4?5 @B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 105.00 m.Bj%_<Jj%_<= ProNav: ac range: 105.000000 m, nav range: 42.552662 m, bearing: 108.070819 deg, approach rate: 0.260754 m/s, LOS rate: 0.781723 deg/s, cmd heading: 6.805743 deg, new cmd heading: 7.813525 deg. 2j==EHeadingCmd: 0.136372 target range: 105.000000 and range: 105.00 m. jE >jAjAjAiAhAhIhIhMBfQfQfYrfYbf]`?ɛڃBç= 隍?I - *ɚ)i)I-Mr=I5 >i1i5)= >)9 u7$?IqzK5=MK9KK'KWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF@5JF"G >G )>GE cG! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250099w,CwA6+@Y6:@6>K96Ua>y6H?Í?9`[9?z˿@u?@o?/?ɨ6+@6n;6"Cy>ІB>%IIFIF٢N< R_=9R-Q R>TT VG٣TyZ< Z> bNusing accuracyPremultiplier from config\f59^Z?f5Y^j ftIi^c™df6νfA^+E^G ;^G ;^@5l n@%EZjyFNOT Ignoring new targets: 105.00 m.BjR<JjR< ProNav: ac range: 105.000000 m, nav range: 42.646156 m, bearing: 108.353500 deg, approach rate: 0.244135 m/s, LOS rate: 0.736523 deg/s, cmd heading: 7.813525 deg, new cmd heading: 8.659644 deg. 2j<HeadingCmd: 0.151139 target range: 105.000000 and range: 105.00 m. jC>jjjihhhhfffrfbf`e@ɛAEе= AM?II M,ɚIiIIMH&q=IuC>iyi)C>)EI*F2F:FBF J1JF G m8$?IiGBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502049H)I) I-6&II-"BI)&I).I)6I-O<:I-9 FJuJuJu1JqJuL:Ju :Ju3JqJuP;JuQ;JuS;JuS;~w,%]wA6*@Y6@6GgL96%f>y6H?~k?@,Ao2?`n̿2?}?`(?ɨ6*@6;4y^҆B^%IIfIf٢v9< vE=9¹Q >    G٣'YGy&< > %Nusing accuracyPremultiplier from config!-59%I?-5Y%k i%c™15ն5A%-E%';%y;%B5=,B =@=EZjaeFNOT Ignoring new targets: 105.00 m.Bj^d<Jj^djjjihhh1h1f9fAfArfqbf} Vq@ɛ= +?I rɚiI:(o=I+>ii V ) +>) E  Q IQ *F 2F :F BF P5JF % Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:00:01:32.5971 - TRx dataTimestamp_ set to:1736380893.7966885 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007692zK= BoHK= 9K9 K= 'K=   G wGBO>3yw,|wA^@Y^@^iM9^(i>y^H? ⁿJ`m9fs+?Y̿ƺ?`[?%!?ɨ^@^;\yjBj%I]Mb@Mb@Mb@YYY Y)YY]$C?:vQy]?]T]uY ]@)]r@I]S@YyYIuIu٢= "=9AQ > G٣y2< > Nusing accuracyPremultiplier from config59,?5Y-l ic™?:֥A/E_; ;D5 i@ZjaFNOT Ignoring new targets: 105.00 m.BjL<JjL< ProNav: ac range: 105.000000 m, nav range: 42.871799 m, bearing: 109.046880 deg, approach rate: 0.233532 m/s, LOS rate: 0.716753 deg/s, cmd heading: 9.620986 deg, new cmd heading: 10.734030 deg. 2j<HeadingCmd: 0.187344 target range: 105.000000 and range: 105.00 m. j&?>jjjihhhh Bff Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259159frfAbfMD @ɛ= 隝?I :[ɚiI%m=I%&?>i)i-X)-&?>))EF<*F?2F:FBFe4JFG},G1B9O]> 9$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 00:01:32.5970 LVL= 18000, 27121, 16802, 22195, AGC= 57, IDX= 430,-0.09, 2.821, 1.463, 0.788, 1.521, PHS= 1.388,-0.011,-0.736, RAW= 70.4, -6.9, CAL= 79.5, -14.1, ROT= 70.5, 14.1 = Ygot valid direction response: 00:01:32.5970 LVL= 18000, 27121, 16802, 22195, AGC= 57, IDX= 430,-0.09, 2.821, 1.463, 0.788, 1.521, PHS= 1.388,-0.011,-0.736, RAW= 70.4, -6.9, CAL= 79.5, -14.1, ROT= 70.5, 14.1 E PDAT read: Bearing 70.5, 14.1 (Local) E ~Local bearing/azimuth received: Bearing 70.5, 14.1 (Local) U DAT read: Range 10 to 50 : 104.4 m (Round-trip 139.2 ms) speed 0.0 m/s ] ,DAT read: user:3587> ] BDAT read: Tx time:00:01:33.7037 e $Ping request sent.e OL&?ZԐ ?y B PF i A) VI 9i ? X94 j< nF? Ϣ Κ?) d{I ?i d{> m %?{0:[2D_Xz̾) ]I =i ? ː  :publishing transmit ping timea  Fpublishing direction and range info 9 {i?u>OL&?ZԐ ?y  ) I i ) I i m %?{0:[2D_Xz̾) I i ZH RH @AH I  I O&II 6BI &I .I 6I <<:I + FJ J J 0J J :J :J ـ3J J ;J ;J nN;J oN;y]w,ÀwA2Z@Y265<2{Q92/Ho>y2H?1??@Ϳ ?`??ɨ2Z@2;2&CynBn%IIzIz٢EF.= EO=9MQ M>II UG٣QyUx= U> Nusing accuracyPremultiplier from configy59}@?5Y}l i}c™&A}1E}:}*:}F5 @}Ek2?k4Q k kVwA:kBBk_BZkJ?"({HB @0uVE@TW@{i?u>OL&?ZԐ ?Jk?Rkː*˂ @f[R4@?DtY@+ڦA?OGF?[?"kA*k_8@kLn3?kd~M 2k)Ck#?kkk"Bk÷? addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.530208 s, deltaX: -0.599998 m, approachRate: -0.169961 m/s, rangeRepo size: 4  Added new target pos. range: 104.400002 m, bearing: 82.044570 deg, lat: 36.904609 deg, lon: -122.120204 deg, deltaT: 3.530208 s, deltaX: -0.599998 m, approachRate: -0.169961 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 104.40 m.Bj Jj = ProNav: ac range: 104.400002 m, nav range: 40.681572 m, bearing: 94.769825 deg, approach rate: 0.000000 m/s, LOS rate: 0.716753 deg/s, cmd heading: 10.734030 deg, new cmd heading: 11.624118 deg. 2j9EHeadingCmd: 0.202879 target range: 104.400002 and range: 104.40 m. jEO>jAjAjAiAhIhihihqfqfqfqrf}Z@bf@U?ɛ= ?I &FɚiISk=IO>ii%u5)-O>))E1E1*E1"E1-Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:00:01:33.7029 *Fm ?2Fi :Fq BFu 5JFq :$?I G  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK qLK 9K K 'K GBO>ɴw,+KwAy=B= &IMb@Mb@Mb@ )Yx?+I +yK?94@ Ʒ@)\@Ij@yII٢%q= % =9-Q ->)1 5G٣5(YGy5 5> ENusing accuracyPremultiplier from config9E59=*Z?M5Y=l i=c™M?M:MGMA=4E=;=;=H5]-B ]@]zEuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 104.40 m.Bj{<Jj{< ProNav: ac range: 104.400002 m, nav range: 40.722057 m, bearing: 95.187461 deg, approach rate: 0.085471 m/s, LOS rate: 0.880811 deg/s, cmd heading: 11.624118 deg, new cmd heading: 12.875570 deg. 2j=HeadingCmd: 0.224721 target range: 104.400002 and range: 104.40 m. jIf>jjjihhhh!Bfffrfbf(?ɛp[= ?I .ɚ!i!I%h=I-If>i)i-\&)-If>)1*F?2F:FBFP0JF"GV>G{>G 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.;w,wA:NF@Y:"=:5Z9:.l>y:H?륿@rV?? ~ͿQ?5?@?ɨ:NF@:R];:$Cy^ B^&Iib4=Ib=dfAIjIjV8 !I!٢== =[=9=OͻQ E>AA EG٣AyM֝= M> UNusing accuracyPremultiplier from configQ]59Ul?]5YUm iUc™aeeAU5EU;U;UfJ5q u@qZjFNOT Ignoring new targets: 104.40 m.Bjk<Jjk< ProNav: ac range: 104.400002 m, nav range: 40.747025 m, bearing: 95.495994 deg, approach rate: 0.066741 m/s, LOS rate: 0.824244 deg/s, cmd heading: 12.875570 deg, new cmd heading: 13.800516 deg. 2jj =HeadingCmd: 0.240864 target range: 104.400002 and range: 104.40 m. j,v>jjjihhhhfffrfbfH?ɛ  = Q_< ?I  `ɚiI3g=I,v>ii),v>)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.990427HI In&IIPBI&I.I6Ig<:IJ F*F?2F:FBF_0JFG# GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241740w,SwAy]B],&IMb@Mb@Mb@ )Y7A`?YY ]G٣])YGye e> mNusing accuracyPremultiplier from configiu59m?u5Ym m imc™u?}:}n<}Am7Em;mx;mQL5 C@wEZjFNOT Ignoring new targets: 104.40 m.Bjk<Jjk< ProNav: ac range: 104.400002 m, nav range: 40.770206 m, bearing: 95.857517 deg, approach rate: 0.052937 m/s, LOS rate: 0.825084 deg/s, cmd heading: 13.800517 deg, new cmd heading: 14.884330 deg. 2j =HeadingCmd: 0.259781 target range: 104.400002 and range: 104.40 m. j>jjjihhhh8Bfffrfbf?ɛ= ?I UɚiId=I%>i!i-6K+)->)) =$?I*F?2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491451G%GGpAzKBoHK9KK'KGyBJJJJJ:J :JJa@a@a@a@Oa>) = u c~G Y y Bw,xABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743259y%#B%8&II5I5<٢E1T= EY=9AQ E>II MG٣IyQ U> ]Nusing accuracyPremultiplier from configYe59]?e5Y]l i]c™aamA]9E] ;]C ;]M5u.B u@utEZj1]FNOT Ignoring new targets: 104.40 m.Bj]^<Jj]^jjjihhhhfffrfbf Q?ɛY]q= Y]=?IY e+ݻɚaiaIeЬb=Im5>iiimI-8)m5>)*FA2FI:FIBFM0JFIGQ GUoA I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=?==Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996100HI I&IIiBI" =&I.I6I+<:I FG 5G B O >=w,sxAB@YB@=BD|Y9Bp>yBH@?Uú T#?@?= пC,?? A?ɨB@B;@yN4BNM&I)T VA Vp=VR=IZIZ٢b= bU=9f]D:Q f>dd fG٣hyj> j> nNusing accuracyPremultiplier from configlr59n?r5Ynl inc™tv#=vAn;EnX:nL:nO5x z@xZj!%FNOT Ignoring new targets: 104.40 m.Bj- x<Jj- x<= ProNav: ac range: 104.400002 m, nav range: 40.801586 m, bearing: 96.480548 deg, approach rate: 0.028630 m/s, LOS rate: 0.867433 deg/s, cmd heading: 15.802237 deg, new cmd heading: 16.752535 deg. 2j==EHeadingCmd: 0.292387 target range: 104.400002 and range: 104.40 m. jE>jAjAjAiIhIhIhIhQfQfQfQrfQbf]`n@ɛ%ۃB% = !%t?I! -Ƚɚ)i)I-G`=I5>i1i])e>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250420E*F?2F:FBF`0JFG U# >$?I Ga Bi O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499163zK K 9K K 'K RK% ?JK% > w,}6xAJ6J6J4J4J6L:J6:J4J4Fu@YF=F;2T9Fa>yFH?K@aN@??Aп=??1?ɨFu@F@;F"Cy^@B^\&IMb@Mb@Mb@ )Yi|?5?~jthMbPy?D@ @)\@Iy@I-I-٢=HT= =5=9E";;Q E>AA EG٣E*YGyMn= M> UNusing accuracyPremultiplier from configQ]59U?]5YUk iUc™e?e:e5=eAU=EU#;UM;UQ5i m@mqEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 104.40 m.Bjw^<Jjw^jyjyjyiyhyhhhUBfffrfbf`l@ɛaeϳ= a隅P?I "&~ɚiIv(^=I\a>ii-W)\a>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751344EoM<*FQ2FQ:FQBFU0JFQGu z/G ?G 9? I Gy B O >w,k-SxA6#@Y6 >6=N96Z>y6H?lQÿ{VE? X?Mп`թ? H??ɨ6#@6l[;6$CyBKBBi&IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.003365IJIJ³٢5 I= 5E=95R;Q 5>99 =G٣9yE= E> MNusing accuracyPremultiplier from configIU59M&ч?U5YMk iMcHaIa Ie&IIeBIa&Ia.Ia6Ie <:Ie FBI)JI)RI)ZI)bI)jI-a4Q>AM?EMg4jjjihhhhfff rf bf @ɛ܃B= ?I 8_%ɚiIF[=I<>ii )<>)EE*E"E*F)2F1:F1BF511JF1"G=>G=>}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:01:36.2460 TRx dataTimestamp_ set to:1736380897.580605checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262408G5 g.G) Ba O} >λw,!mxA2+,@Y2@z%>2hM92o>y2H?\ſ+x?`o?пR?@V?`H?ɨ2+,@25;2%CyBOBBn&IiF=IF;Mb@Mb@Mb@ )Y/$?~jt?~jth?y&?D<D;@ )/@IS@y@I-I-@ ٢5< =J=9=U:Q =>AA EG٣AyM8= M> UNusing accuracyPremultiplier from configQ]59U$䇜?]5YUi iUc™e/?e:m9>mAUAEU1M;UK;U-U5q u@q ?$?IZj)-FNOT Ignoring new targets: 104.40 m.BjU ]<JjU ]jjjihhhh^Bfffrfbf\ @ɛ9== AE?IA E錺ɚAiAIEhY=Iuڰ>iqiu3 )uڰ>)yEEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507479zKk3IKػ9KK'K4[nO9+" J-J)J)J)J-,:J)J)J)*F92F9:F9BF=P0JF9G@vGB OMt> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 00:01:36.2460 LVL= 14448, 28465, 19186, 29283, AGC= 56, IDX= 435, 0.19, 1.278,-0.350,-0.565,-0.030, PHS= 1.396,-0.273,-0.538, RAW= 82.7, -6.5, CAL= 91.8, -14.7, ROT= 58.2, 14.7  Ygot valid direction response: 00:01:36.2460 LVL= 14448, 28465, 19186, 29283, AGC= 56, IDX= 435, 0.19, 1.278,-0.350,-0.565,-0.030, PHS= 1.396,-0.273,-0.538, RAW= 82.7, -6.5, CAL= 91.8, -14.7, ROT= 58.2, 14.7  PDAT read: Bearing 58.2, 14.7 (Local)  ~Local bearing/azimuth received: Bearing 58.2, 14.7 (Local)  DAT read: Range 10 to 50 : 103.5 m (Round-trip 138.1 ms) speed 0.2 m/s  ,DAT read: user:3588>  BDAT read: Tx time:00:01:37.3538  $Ping request sent. ڑ ڑ ە X1N?Mlw?:])ە z&Iە W>=iە ꎬ?ە oۑ ۑ - :publishing transmit ping time - Fpublishing direction and range infoؑ 9ؕ Q ܩ?/ip?'I&?yؑ ؑ ؑ ؑ ّ )ّ Iّ iّ ّ ّ ّ ّ ڑ )ڑ Iڑ iڑ ڑ ڑ ە X1N?Mlw?:])ۑ Iۑ iۑ ۑ ۑ ۑ !w,xA2K@Y2@~9>2CJ92->y2H(p?ǿM?@0?@2G? 6ѿH@???ɨ2K@2y#;2"Cyn\Br~&IIzIz ٢x= C=9':Q > G٣+YGy?= > Nusing accuracyPremultiplier from config59?5Yh ic™L>ACE;;W50B 9@kEkeD?k k kJxA:kBBkBZk@"'fda@ ]7@T,'l0Y@Q ܩ?/ip?'I&?Jkꎬ?Rko*Plu?*>ZB28Y@>YV7?Xut#>Xe:?"k*kk?k vE?k^ 2k+Ck$?kkk!Bk"? addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.780502 s, deltaX: -0.900002 m, approachRate: -0.238064 m/s, rangeRepo size: 4 = Added new target pos. range: 103.500000 m, bearing: 282.044439 deg, lat: 36.904650 deg, lon: -122.120204 deg, deltaT: 3.780502 s, deltaX: -0.900002 m, approachRate: -0.238064 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 103.50 m.BjEJjI} ProNav: ac range: 103.500000 m, nav range: 40.404026 m, bearing: 91.375484 deg, approach rate: 0.000000 m/s, LOS rate: 0.773292 deg/s, cmd heading: 19.790960 deg, new cmd heading: 20.764627 deg. 2jyHeadingCmd: 0.362411 target range: 103.500000 and range: 103.50 m. j>jjjihhhhfffrfY@bf ?ɛ݃BO= 隍?I `9ɚiI4EW=I>iiy)>) @$?I *Fa2Fa:FaBFeO0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:01:37.3530 ZHYRH]?AHiIi Im&IImBIi&Ii.Ii6Im<:Im FGE PG B Ou >'w,xA>e@Y>L>>5L9>w*>y>H@R?(ʿ^w?`a?`$?!Uѿ? j ?`?ɨ>e@>;>#CyR_BV&II^jI^٢f< fY=9j-Q j>hl nG٣lynK= r> vNusing accuracyPremultiplier from configpv59r6 ?z5Yr}g irzc™xz#`>zArDEr;r;rX5 @Zj1=FNOT Ignoring new targets: 103.50 m.BjMsk<JjMskjjjihhhhfffrfbf ?ɛރBMWill construct direction to contact in vehicle frame from tetrahedron phase data.fh> _s;隥Y?I z:ɚiIZLU=Im>i!i%S)-m>)*F2F:FBFQ0JFG GpAG]"GB!OMt> I Will construct direction to contact in vehicle frame from tetrahedron phase data.zK NK 9K K 'K *d|slhga\YYVTOKHE=66442JE JA JA JA JE l:JA JA JA o-w,uxA26|6:Y2b>26J92@>y2Hi.?̿Ή???pѿ@!D?@,?`A?ɨ26|6:2;2$CybdBb&IMb@Mb@Mb@ )YB`"?~jt?y?<@ l@)I&@yII٢X< ;=9:Q > G٣yI= > Nusing accuracyPremultiplier from config59 ?5Ye ilc™?:#>AFE ;-;Z5 @hE%B*** querying acoustic contact ***j!j!ZjIMFNOT Ignoring new targets: 103.50 m.BjU[<JjU[jijijqiqhqhqhyh}tBfyfyfrfbfC?ɛ߃B= 隵\?I K;ɚiIR=IIy>ii)B)Iy>)Ei>E>*Fm?2Fi:FqBFu_0JFqMWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.GG B O > A$?I 4w,zrxA>Vu>>SK9>8B>y>H ?ο@?@`??Dmѿ`!^?@!,? (?ɨ><>9h;>"CyFlBJ&IRWill construct direction to contact in vehicle frame from tetrahedron phase data.R>RT?Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.244944IZqIZv}٢b,= b]=9b Q b>dd fG٣dyjM= j> nNusing accuracyPremultiplier from configlr59n-?v5Ynjd in_c™xz>zAnHEnf;n}f;n,\5HI I&IIBI&I.I6I <:I F! %>@!ZjIMFNOT Ignoring new targets: 103.50 m.BjUv[<JjUv[jqjyjyiyhyhyhhfffrfbf?ɛB;T> 隽"?I B;ɚiIP=I% >ii)% >)*F ?2F :F BF 0JF GGBOA>UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496623- ;w,MxAyvkBv&I IMb@Mb@Mb@ )YV-?y&1?~jtxyh?`e<Ļ@ V@)I@yG@II<٢_ <=9Q > G٣,YGy > Nusing accuracyPremultiplier from config59A?5Yb iTc™u?:t>AJE;;^51B a@eEZj FNOT Ignoring new targets: 103.50 m.Bjd<Jjd<- ProNav: ac range: 103.500000 m, nav range: 40.207382 m, bearing: 92.633900 deg, approach rate: -0.127514 m/s, LOS rate: 0.799810 deg/s, cmd heading: 23.514273 deg, new cmd heading: 24.544150 deg. 2j-9 =-HeadingCmd: 0.428376 target range: 103.500000 and range: 103.50 m. j5!T>j1j1j1i1h1h9h9h=eBf9fAfArfAbfEo?ɛB2> t?I ;ɚiI.N=I!T>i i _R) !T>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749857zKNK]9KK'K,&#     BK:KE <E*F?2F:FBF`0JF"GY>G>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000598Gu GQ BY Ou >Bw,L yA6_=Y6ی>6n496>y6HH?|ѿʧ?^?ș?ѿ⋦?`]?!?ɨ6_=6E;4yBnBB&IIjIj@ ٢rƊ< rE=9vYtt zG٣xyz= z> Nusing accuracyPremultiplier from config|59~T?5Y~` i~Jc™w>A~LE~v;~v;~_5! %0@%bEZjIUFNOT Ignoring new targets: 103.50 m.BjU_<JjU_jijqjqiqhqhqhyhyfyfyfrfbf`7 @ɛB4> 隽?I j;ɚiIyK=IQ>iiu)Q>)Er< UB$?IQ*FY2Fa:FaBFeP5JFaG=PWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253729jH<bH<GBOL>HI I'IIɇBI&I.I6I<:I FJJJJJ<:J :JJJ5;aJ7;aJU;aJU;apHw,T$yA 2(=Y2>2'92>y2H@?S}ҿvy?v?v? п?@?@ ?ɨ2(=2 ;0yllIzIz Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507693٢]o: eD=9m;Q m> G٣y{*= > Nusing accuracyPremultiplier from config59eh?5Y^ iAc™ >]ANE*<~<a5 -@ZjFNOT Ignoring new targets: 103.50 m.BjbH<JjbH< ProNav: ac range: 103.500000 m, nav range: 40.084339 m, bearing: 93.296659 deg, approach rate: -0.132887 m/s, LOS rate: 0.700752 deg/s, cmd heading: 25.521222 deg, new cmd heading: 26.535264 deg. 2ju<HeadingCmd: 0.463128 target range: 103.500000 and range: 103.50 m. j>jjjihhh)h)f)f)f)rf1bf5@ɛ}B}i= y}?Iy CZ<ɚiI4I=I>iig)>) EC$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757561E;*F ?2F :F BF h0JF G  G qAzK EMK 9K K 'K Ex< kUC6%xpfYPG<& NG GM$ U#YQy]mBGiGiGABIO?:Qw,(EyAF=YFs>F9F@>yFHu?mӿv?`;z?U?п堣??@?ɨF=F;F$CyRiBR&I)T T^Will construct direction to contact in vehicle frame from tetrahedron phase data.^BDAT read: Rx Time:00:01:39.8950 bTRx dataTimestamp_ set to:1736380901.104785bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009852MMb@Mb@Mb@III I)IYM(\?Mb`?99 =G٣=-YGyE< E> Nusing accuracyPremultiplier from config59@?5YH\ i9c™?:8>APE;;9;d52B @_EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 103.50 m.BjJz<JjJzjYjYjYiYhYhYhhJBfffrfbf8@ɛ%B%%D= )-?I) -2<ɚ)i)I-F=I5y>i1i=)=y>)9EaEa*Ei"Ei D$?ImWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260650H=>I III&I.I6Ie<:IH F*F ?2F :F BF _0JF JKm3 KS}-KK"KJ J J J J ܫ:J :J J J ;J ;J I;J I;G} G1 BI Oe >`Ww,k^yA2#=Y2A>292>>y2H@J?!cԿT ?=?@a0?6Uпݡ???ɨ2#=2Q؉;2!Cy>oBB&IIJIJ ٢R< Rh=9Ro TT VG٣TyZ9H= Z>  Nusing accuracyPremultiplier from config\59^?5Y^Z i^5c™>A^RE^(Q<^;^e5! %;@-\EZjIUFNOT Ignoring new targets: 103.50 m.BjUd<JjUd 隽?I CE<ɚiID=I/?iiE)/?)*FU?2FY:FYBF]P0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.iDAT read: 00:01:39.8950 LVL= 24800, 32753, 32754, 32755, AGC= 62, IDX= 424, 0.31, 2.506, 1.009, 1.140, 1.605, PHS= 0.988,-0.549,-0.469, RAW= 92.7, 0.4, CAL= 100.8, -3.5, ROT= 49.2, 3.5 EYgot valid direction response: 00:01:39.8950 LVL= 24800, 32753, 32754, 32755, AGC= 62, IDX= 424, 0.31, 2.506, 1.009, 1.140, 1.605, PHS= 0.988,-0.549,-0.469, RAW= 92.7, 0.4, CAL= 100.8, -3.5, ROT= 49.2, 3.5 PDAT read: Bearing 49.2, 3.5 (Local) ~Local bearing/azimuth received: Bearing 49.2, 3.5 (Local) 5DAT read: Range 10 to 50 : 102.8 m (Round-trip 137.1 ms) speed 0.0 m/s =,DAT read: user:3589> EBDAT read: Tx time:00:01:41.0038 E$Ping request sent.Ei|?D  ?; z0?)5zI[?i5z=ի'l?LgݿZ3G|?)`gIiK$@H:publishing transmit ping timeGAFpublishing direction and range info96H׸!lȯ?uqv?y )Ii )Iiի'l?LgݿZ3G|?)IiGqByO> I Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:01:41.0030 ]w,xyAynjBr&IzKuOKuh9KqKu'KuMb@Mb@Mb@ )Y7A`?qq uG٣u.YGyu }> Nusing accuracyPremultiplier from configy59}⦈?5Y}RX i}2c™?:Ԣ>A}TE};};}g5 }@k;?kM! k kngyA:kBBk2BZk k@"sKy#)ކ@f~fY@6H׸!lȯ?uqv?JkK$@RkH*a}ɶp7KX@B9HA.ͿsK?"k*kkq?k! 2k'Ckkd~M k'CkAk? addTargetRange:: Added new target pos. range: 102.800003 m, deltaT: 3.528069 s, deltaX: -0.699997 m, approachRate: -0.198408 m/s, rangeRepo size: 4  Added new target pos. range: 102.800003 m, bearing: 254.998716 deg, lat: 36.904650 deg, lon: -122.120428 deg, deltaT: 3.528069 s, deltaX: -0.699997 m, approachRate: -0.198408 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 102.80 m.BjJje ProNav: ac range: 102.800003 m, nav range: 20.077311 m, bearing: 98.728301 deg, approach rate: 0.000000 m/s, LOS rate: 0.799575 deg/s, cmd heading: 28.654170 deg, new cmd heading: 29.814901 deg. 2jimHeadingCmd: 0.520368 target range: 102.800003 and range: 102.80 m. ju6?jqjqjqiqhqhyhh#Bfffrf@3Y@bf ?ɛB?L=  ?I  #Zd<ɚ i I A=I6?iir)6?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JF F$?I G YG G >G B O >New,CyA6N>Y6>696܅>y6H`m?@-Iֿ а?@?@? п@? >? j?ɨ6N>6;6$C>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHDRHDHHIH IHIHIJ# =&IJHD.IH6IJ<:IJ FBIQJIQRIQZIU" =bIU" =jIUxt4ynpBn&IIv~Ivkf٢< C=9~  G٣y= > %Nusing accuracyPremultiplier from config!-59%4?-5Y%V i!)-~>-A%VE%:%U:%qi53B )@YEJJJJJ:J :JJJi;Jj;JR;JR;ZjFNOT Ignoring new targets: 102.80 m.Bj %<Jj %<} ProNav: ac range: 102.800003 m, nav range: 20.030163 m, bearing: 99.413149 deg, approach rate: -0.116804 m/s, LOS rate: 1.700590 deg/s, cmd heading: 29.814899 deg, new cmd heading: 31.873343 deg. 2j}=HeadingCmd: 0.556295 target range: 102.800003 and range: 102.80 m. jVi?jjjihhhhfffrfbfwS?ɛB On> )-?I1 5l=z<ɚ1i1I5?=I=4 ?i9i=)=Vi?)A*F?2F:FBFP0JFGGBOa>=Will construct direction to contact in vehicle frame from tetrahedron phase data.wkw,CyA2#>Y2n>2ϼ926>y2H`y? /U׿`a?ഹ??@dzϿ?P??ɨ2#>24;2"C PIPyVuBV&IEMb@Mb@Mb@AAA A)AYE\(\?y&1/$yE?E`弹EE-@ E@)E@IE@AyE@I]I]4٢m< uD=9};Q }>y G٣y7= > Nusing accuracyPremultiplier from config59FΈ?5YS i7c™#?:&>AXE;;Dk5 @ZjFNOT Ignoring new targets: 102.80 m.Bj=Jj= ProNav: ac range: 102.800003 m, nav range: 19.986479 m, bearing: 100.126756 deg, approach rate: -0.110021 m/s, LOS rate: 1.801143 deg/s, cmd heading: 31.873344 deg, new cmd heading: 34.017790 deg. 2j=HeadingCmd: 0.593722 target range: 102.800003 and range: 102.80 m. j2?jjjihhhhBfffrfbf?ɛB > F?I! %<ɚ!i!I%T==I-2?iIiM')U2?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFGzKBHKKK'K    GBOe>M Will construct direction to contact in vehicle frame from tetrahedron phase data.u_rw,yAy=tB=&IIMuIM_v٢e~ eK=9eQ e>ii mG٣m/YGyu u> Nusing accuracyPremultiplier from configy59}ሜ?5Y}Q i} ?I q<ɚiI 5o;=I _?ii7)O@!?)E! G$?I*F?2F:FBF]0JFGqA GpAHI III&I.I6I<:Io 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.JJJJJL:JJJJP;JQ;JJGGGqAG B O >Ήxw,yA6,G>Y6>6(ʒ96>y6H F?@U8ٿ7f?@ ?>?`οY?pe?=?ɨ6,G>6(;6'CyNsBR&I V=Vp=I^I^٢fL fU=9fhh jG٣hyjǻ= n> rNusing accuracyPremultiplier from configpv59r?v5YrjO irCc™tv9>vAr\Er:r:rn5~5B @QEZj!-FNOT Ignoring new targets: 102.80 m.Bj-C<Jj-C AM?I <ɚiIP9=I*?iiA)*?) H$?Ih*FQ2FQ:FQBF]Z0JFYG-Q!G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.155049zKU LKU 9KQ KU 'KU ~w,UyABKoA:KpA6uW>Y6>6S96ք>y6H? ڿ`L?`?`3?ীο@w?`j?@)?ɨ6uW>6z{;6 CyBzBB&I5Mb@Mb@Mb@111 1)1Y5^I +?{Gzy5X?5#5̼1 5@)5@I5d@1y53@IMIM{٢]d= ]A=9]Aaa eG٣aye= m> Nusing accuracyPremultiplier from config59?5YL iOc™?:.>A^E;<;p51 =@9ZjFNOT Ignoring new targets: 102.80 m.Bj<Jj< ProNav: ac range: 102.800003 m, nav range: 19.859795 m, bearing: 102.224277 deg, approach rate: -0.099675 m/s, LOS rate: 1.672051 deg/s, cmd heading: 38.066072 deg, new cmd heading: 40.320716 deg. 2jp=HeadingCmd: 0.703729 target range: 102.800003 and range: 102.80 m. j'4?jjjihhhhfffrfbfL@ɛuBu/> y}*?Iy }@<ɚyiyI}07=IEj/?iIiMG)M'4?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.409494*F?2F:FBFo0JFG2GiBqO}> a Ia vw,„zAjHbH<H<>I I&IIćBI&I.I6IE<:I/ F2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.659107]jx>Y]8>]p9], >y]HD?Ͱۿ`?V?`C?`Ϳ~q??@q?ɨ]jx>];]%Cym~Bm&III%٢< E=9ԩ G٣0YGy= > Nusing accuracyPremultiplier from config 59F?}5YMJ i\c™>A`E"<,<dr5 y@NEJJJJJ:J:JJJ;J;J.Y;J/Y;ZjFNOT Ignoring new targets: 102.80 m.Bj  <Jj  <= ProNav: ac range: 102.800003 m, nav range: 19.813837 m, bearing: 102.913249 deg, approach rate: -0.109870 m/s, LOS rate: 1.650894 deg/s, cmd heading: 40.320717 deg, new cmd heading: 42.391477 deg. 2j==EHeadingCmd: 0.739871 target range: 102.800003 and range: 102.80 m. jE-h=?jAjAjAiAhAhIhihifqfqfqrfqbfu .@ɛB> ?I ;<ɚiI,5=I:?iiP)-h=?))*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.911997G) GA GE ?G B) OM > ] I$?IY a͋w,1zAyMBU&Ii]0>I]=Mb@Mb@Mb@ )Y +? ףp= {Gzy?Q8ףC@ )@I7@yI I d٢p= C=9Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=7.?E5Y=G i=hc™MO?M:M>MA=bE=F;=D;=1t5Y ]@YZjFNOT Ignoring new targets: 102.80 m.Bj<Jj< ProNav: ac range: 102.800003 m, nav range: 19.773308 m, bearing: 103.609314 deg, approach rate: -0.103862 m/s, LOS rate: 1.787383 deg/s, cmd heading: 42.391477 deg, new cmd heading: 44.482971 deg. 2jU=HeadingCmd: 0.776374 target range: 102.800003 and range: 102.80 m. jwF?jjjihhhh$Bfffrfbf ! @ɛBv> @?I S<ɚiI:3=IwF?ii{)wF?)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:00:01:43.5433 mTRx dataTimestamp_ set to:1736380904.884817uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.164322*F2F:FBF35JFG9zKBoHK+9KK'KGQBYO}X> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.415011w,.9KzAM>YM>Mr;9MO>yMH?ࢀݿT?@?.?`Ϳ`pXnO??ɨM>M]w;M$Cyqu&III٢M D=9| G٣y<= > Nusing accuracyPremultiplier from config59@?5YE ivc™>AdE;;v56B @KEB*** querying acoustic contact ***jj J$?IZjFNOT Ignoring new targets: 102.80 m.Bj <Jj < ProNav: ac range: 102.800003 m, nav range: 19.726501 m, bearing: 104.309166 deg, approach rate: -0.111828 m/s, LOS rate: 1.675987 deg/s, cmd heading: 44.482970 deg, new cmd heading: 46.586507 deg. 2jƏ=%HeadingCmd: 0.813088 target range: 102.800003 and range: 102.80 m. j%&P?j!j!j!i)h)h)h1h1f1f1f1rf9bf=[ @ɛmBm{/> iu?Iq u<ɚqiqIuB1=I}DN?iyi}Ɵn)}&P?)*FY2FY:FaBFe3JFaHAIA IE'IIEɇBIA&IA.IE7D6IE<:IE F}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:01:43.5433 LVL= 17616, 31329, 25682, 32755, AGC= 63, IDX= 424,-0.34, 1.598,-0.045, 0.386, 0.816, PHS= 0.870,-0.813,-0.432, RAW= 102.5, 5.0, CAL= 112.8, 3.0, ROT= 37.2, -3.0 Ygot valid direction response: 00:01:43.5433 LVL= 17616, 31329, 25682, 32755, AGC= 63, IDX= 424,-0.34, 1.598,-0.045, 0.386, 0.816, PHS= 0.870,-0.813,-0.432, RAW= 102.5, 5.0, CAL= 112.8, 3.0, ROT= 37.2, -3.0 PDAT read: Bearing 37.2, -3.0 (Local) ~Local bearing/azimuth received: Bearing 37.2, -3.0 (Local) DAT read: Range 10 to 50 : 101.5 m (Round-trip 135.4 ms) speed 0.4 m/s ,DAT read: user:3590> BDAT read: Tx time:00:01:44.6538 $Ping request sent.w,;VezA2a>Y2,?2I;92>y2H?@]޿$?? [?ͿS}Bg??ɨ2a>2d;2!CyRBR&IIZIZ)٢vy= vg=9v8 xx zG٣xyl= %> -Nusing accuracyPremultiplier from config)559-P?55Y-B i-c™15w>5A-eE-:-6;-w5a e@eHEkى?kXH# k kXzA:kBBkBZk+ @"4 9S%)X@s2DNɿ s亿X)0?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:01:44.6530 Jk)Rk!)*dN"?ɔ3D:jSW@ z?[d,jڿ,$?"k'*k?kcډ?ksJH# 2k: CkLn3?k^ kk@kʅ@- addTargetRange:: Added new target pos. range: 101.500000 m, deltaT: 3.777183 s, deltaX: -1.300003 m, approachRate: -0.344173 m/s, rangeRepo size: 4  Added new target pos. range: 101.500000 m, bearing: 272.233075 deg, lat: 36.904665 deg, lon: -122.120706 deg, deltaT: 3.777183 s, deltaX: -1.300003 m, approachRate: -0.344173 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 101.50 m.BjJj= ProNav: ac range: 101.500000 m, nav range: 6.680875 m, bearing: 239.554946 deg, approach rate: 0.000000 m/s, LOS rate: 1.675987 deg/s, cmd heading: 46.586507 deg, new cmd heading: 48.463292 deg. 2j9uHeadingCmd: 0.845844 target range: 101.500000 and range: 101.50 m. ju 隍?I $y<ɚiI'/= K$?IIE>*F?2F:FBF4JFGUGI BY m Will construct direction to contact in vehicle frame from tetrahedron phase data.O} >J J J /J J :J K:J (N3J a @a @a @a @w,8~zAzK,K.9K,K.'K.% (gaeB I g]  :N`>Y:5, ?:<9:>y:Hb?߿W?3?Y?<Ϳ@ G?`?ɨ:N`>:;:#CyNB)T TV&I%G) =sAUA }Y}sAy}^B}Mb@Mb@Mb@yyy y)yY}M?/$~jty}n?},}}@ }@)} @I} @yy}=@II[٢=< 1=9;Q > G٣1YGyVP= > Nusing accuracyPremultiplier from config59yd?5Yp? ic™?:>AhE;:y5 @ZjFNOT Ignoring new targets: 101.50 m.Bj%4Jj%45 ProNav: ac range: 101.500000 m, nav range: 6.903725 m, bearing: 238.410038 deg, approach rate: 0.509115 m/s, LOS rate: -2.531018 deg/s, cmd heading: 48.463293 deg, new cmd heading: 45.143382 deg. 2j5 ٽ=HeadingCmd: 0.787901 target range: 101.500000 and range: 101.50 m. j=ܳI?j9j9j9i9hAhAhAhE&BfIfIfIrfIbfU`̈?ɛ}B})> y}?Iy  <ɚiIZi-=I[?iiv)ܳI?)Will construct direction to contact in vehicle frame from tetrahedron phase data.i*F92F9:F9BF=Q0JF9G$eGBOj> IH I  I 'II χBI $ =&I .I 6I .<:I  Fw,ɘzA"Will construct direction to contact in vehicle frame from tetrahedron phase data.^)|>Y^#?^(<9^<>y^H?Z]|s?@?$? ?`Ϳ`? }?ɨ^)|>^T;\yrBr&II~{I~k٢ B*=  k=9 i;Q  ? G٣y= ? %Nusing accuracyPremultiplier from config!-59%+s?-5Y%< i%c™15?5A%iE%:%:%{5=7B E:@EEEZjiuFNOT Ignoring new targets: 101.50 m.BjuJj% ProNav: ac range: 101.500000 m, nav range: 7.077757 m, bearing: 237.615613 deg, approach rate: 0.498431 m/s, LOS rate: -2.219229 deg/s, cmd heading: 45.143384 deg, new cmd heading: 42.820060 deg. 2j%a-HeadingCmd: 0.747351 target range: 101.500000 and range: 101.50 m. j-fR??j)j)j1i1h1hqhyhyfyfyfyrfbf@TL?ɛ B "> 5.?I1 =(<ɚ9i9I=+=IEZ?iE* I |w,zA6s>Y65?6AT<96ѕ>y6Hy?`???Ϳ`u?!?ɨ6s>6 k;6$CyBBB&IMMb@Mb@Mb@III I)IYMV-?I +~jtyM ?M9MDM-@ M@)Md@IM @IyM@IeIe[٢m< uD=9uU;Q u>yy }G٣yyax= > Nusing accuracyPremultiplier from config59?5Y9 ic™ ?:?AkE;;|5 ݸ@ZjFNOT Ignoring new targets: 101.50 m.BjJj ProNav: ac range: 101.500000 m, nav range: 7.286486 m, bearing: 236.831874 deg, approach rate: 0.500509 m/s, LOS rate: -1.825428 deg/s, cmd heading: 42.820061 deg, new cmd heading: 40.537478 deg. 2jHeadingCmd: 0.707512 target range: 101.500000 and range: 101.50 m. j5?jjjihhh h =Bf f f rfbf``?ɛMBM{&> QU ?IQ ]<ɚYiYI])=Ie? U?iaie; 5)e5?)aEqUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JF"G>G>JJJ0JJ:J :Jـ3JGeGBO%M>zK}OK}9KyK}'K}szR@ocXQOPRNGB>;620-+&'# !   Will construct direction to contact in vehicle frame from tetrahedron phase data.w,zA22>Y2r?2G<92)>y2H(?~ 0?l?`?@u~Ϳψ!?@.?ɨ22>2n;0yBBB&IiF;>IF>DFAIJIJd٢-v< R=9    G٣ 2YGyQq= > Nusing accuracyPremultiplier from config-59ϒ?-5Y6 ic™)-?-AmE1;.;~51 =@=BEZjaeFNOT Ignoring new targets: 101.50 m.BjmJjm꼝} ProNav: ac range: 101.500000 m, nav range: 7.484478 m, bearing: 236.174747 deg, approach rate: 0.508468 m/s, LOS rate: -1.642910 deg/s, cmd heading: 40.537477 deg, new cmd heading: 38.619005 deg. 2j}HeadingCmd: 0.674029 target range: 101.500000 and range: 101.50 m. j',?jjjihhhhfffrfbf?ɛBe&> +?I =ɚiI%'=IJ?ii\-)',?) ]L$?IY*FQ2FQ:FQBFUP5JFQHI I'IIهBI&I.I6Ih<:IH FBIJIRIZI# =bI# =jI{4]Will construct direction to contact in vehicle frame from tetrahedron phase data.G5^G)B9O]>'w,ezA2W>Y2#?2{a<92A>y2H?@??|?`ͿK`??ɨ2W>2Έ;2%CyRBR&IIZIZ٢b< bN=9f;Q f>dd fG٣dyj= j> nNusing accuracyPremultiplier from configlr59n?r5YnB3 inc™tv?vAnnEn:n:nX5x z@|B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 101.50 m.Bj5мJj5мE ProNav: ac range: 101.500000 m, nav range: 7.689221 m, bearing: 235.579431 deg, approach rate: 0.515471 m/s, LOS rate: -1.458859 deg/s, cmd heading: 38.619006 deg, new cmd heading: 36.881177 deg. 2jELzMHeadingCmd: 0.643698 target range: 101.500000 and range: 101.50 m. jMd$?jIjIjIiIhQhQhYhYfYfYfarfabfe'@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛeBm"> 隕?I j =ɚiI/%=Iz7?iiR&)d$?)*FI2FQ:FQBF]O5JFY ]M$?IaGTGyBO-o>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506415J J J J J l:J :J J w,:{A2>Y2)?2U<92r>y2H Z2?@??,?̿b@)!??ɨ2>2݈;2$CzKB OKB9K@KB'KB  :UkcZn.oy^B^&IMb@Mb@Mb@ )Y?I +?Mb`?y ?94<;@ ׫@)@I@y@IIK!٢i= ==9f;Q > G٣yi= > Nusing accuracyPremultiplier from config59?5YO/ ic™ ?:.?ApE;:<59B @=EZjFNOT Ignoring new targets: 101.50 m.BjJj ProNav: ac range: 101.500000 m, nav range: 7.917604 m, bearing: 235.090261 deg, approach rate: 0.529882 m/s, LOS rate: -1.102194 deg/s, cmd heading: 36.881177 deg, new cmd heading: 35.456308 deg. 2j=HeadingCmd: 0.618829 target range: 101.500000 and range: 101.50 m. j%k?j!j!j!i!h!h!h)h-Bf)f)f1rf9bf= |@ɛm Bu(> y}^?I =ɚiI#=I+?iiܛ_<)k?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760947*F2F:FBF4JFGpA GGbi'GBOf> QIQH I  I #'II BI # =&I .I 8D6I 7<:I $ F7w,M{AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:01:47.1913 TRx dataTimestamp_ set to:1736380908.412692checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011509R@t>YR/0?R#<9RM>yRH`?D@-?^??˿` 3?P?ɨR@t>Rp݉;R!CybBb&I)h hIrIr@ ٢ <  U=9I;Q > G٣3YGy@= > Nusing accuracyPremultiplier from config59ҿ?5Y}+ ic™P5?ArE;;5  @ ZjFNOT Ignoring new targets: 101.50 m.Bj Jj  ProNav: ac range: 101.500000 m, nav range: 8.133623 m, bearing: 234.696796 deg, approach rate: 0.513017 m/s, LOS rate: -0.909605 deg/s, cmd heading: 35.456308 deg, new cmd heading: 34.307426 deg. 2jHeadingCmd: 0.598778 target range: 101.500000 and range: 101.50 m. j|I?jjjihhhhfffrfbf@ɛm Bm%> qu?Iq u=ɚqiqI}!=I}?ii=)|I?)*FE?2FA:FABFEP0JFAGGBO%n>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263260 ] N$?Ie hmbw,3{A6->Y6&6?6|j<96Ix>y6H-?@L?U?`'D?hʿL:?`&?ɨ6->6C;6%CyLPMb@Mb@Mb@ )YHzG?l?y&1|?y= ?=`; @)@Iy @IIT߳9Z;Q > G٣yX= > Nusing accuracyPremultiplier from config 59 TΉ?5Y  ' i c™ ?:F?A tE w; ; 5! !)=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 00:01:47.1913 LVL= 22928, 32753, 31346, 32755, AGC= 62, IDX= 416, 0.07, 2.481, 0.960, 1.705, 1.958, PHS= 0.610,-0.952,-0.256, RAW= 116.4, 8.9, CAL= 125.4, 5.4, ROT= 24.6, -5.4 }Ygot valid direction response: 00:01:47.1913 LVL= 22928, 32753, 31346, 32755, AGC= 62, IDX= 416, 0.07, 2.481, 0.960, 1.705, 1.958, PHS= 0.610,-0.952,-0.256, RAW= 116.4, 8.9, CAL= 125.4, 5.4, ROT= 24.6, -5.4 PDAT read: Bearing 24.6, -5.4 (Local) ~Local bearing/azimuth received: Bearing 24.6, -5.4 (Local) DAT read: Range 10 to 50 : 99.9 m (Round-trip 133.3 ms) speed 0.4 m/s ,DAT read: user:3591> BDAT read: Tx time:00:01:48.3039 $Ping request sent.i=(?=Fs=o="@=> = @)==I=>i=99=#/?~iV^zP?)=τI=4ti=+=d99:publishing transmit ping timeعFpublishing direction and range info99=0MPҿ:+Y%տRp?y999JJJJJܫ:J :JJZjMFNOT Ignoring new targets: 101.50 m.BjU3+JjU3+9 9)9I9i99999 9)9I9i999=#/?~iV^zP?)9I9i9999 ProNav: ac range: 101.500000 m, nav range: 8.371002 m, bearing: 234.402624 deg, approach rate: 0.497212 m/s, LOS rate: -0.598695 deg/s, cmd heading: 34.307425 deg, new cmd heading: 33.450003 deg. 2jpͼHeadingCmd: 0.583813 target range: 101.500000 and range: 101.50 m. jt?jjjihhhhBfffrfMX@bfM`ؚ?ɛBT>zKNK+9KK'Kw  R Z e  a  ( a8_ySd`d.t_J9$RK ?JK? ?I =ɚiI9=I$ ?ii>)t?)*F?2F:FBF4JF"GY>G= Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:01:48.3031 G ӋG B O > w, P{A ybHH?lf?v?? zȿ`!$?t?ɨb?b4;b"Cy~ŇB~&III#٢%9< %<9-;Q ->11 5G٣1y=a= => ENusing accuracyPremultiplier from configAM59Eډ?m5YE# iEc™qu*L?uAEvEE5;E;E5y }I@}:Ek!?kżR% k kW:{A:kBBkoBZk)@"6<]S@>vӪeV@0MPҿ:+Y%տRp?Jk+Rkd* A4*3@WiCN[\`HS@#̎? ƹNcz30?"kr*kUAk *?k]% 2kCk vE?k! kkKAkѐ@5 addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.529330 s, deltaX: -1.599998 m, approachRate: -0.453343 m/s, rangeRepo size: 4 E Added new target pos. range: 99.900002 m, bearing: 287.571104 deg, lat: 36.904667 deg, lon: -122.120914 deg, deltaT: 3.529330 s, deltaX: -1.599998 m, approachRate: -0.453343 m/s, posRepo size: 4 ZjAmDNOT Ignoring new targets: 99.90 m.BjmJji} ProNav: ac range: 99.900002 m, nav range: 25.912004 m, bearing: 259.299033 deg, approach rate: 0.000000 m/s, LOS rate: -0.598695 deg/s, cmd heading: 33.450005 deg, new cmd heading: 32.788132 deg. 2jyHeadingCmd: 0.572261 target range: 99.900002 and range: 99.90 m. j?jjjihhhhfffrfbf`?ɛ%B%:> !%?I) -$=ɚ)i)I-s-=I5?i1i57>)5?)9HI I)'IIBI&I.I6IJ<:I3 FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFGGBOa>/w,j{AWill construct direction to contact in vehicle frame from tetrahedron phase data.fL ?Yf A?fZ<9f >yfH@@?@W?$??`ǿ!?` ?ɨfL ?fމ;f CyB&Ii%=I%4=-AA-BAI5I5?1٢E EI=9Eb;Q M>II MG٣M4YGyUW= U> eNusing accuracyPremultiplier from configYe59]牜?m5Y] iYimQ?mA]xE]:]:]s5y @B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 99.90 m.Bj=Jj= ProNav: ac range: 99.900002 m, nav range: 26.097946 m, bearing: 259.040594 deg, approach rate: 0.481320 m/s, LOS rate: -0.664215 deg/s, cmd heading: 32.788132 deg, new cmd heading: 32.018387 deg. 2j㼝HeadingCmd: 0.558826 target range: 99.900002 and range: 99.90 m. j=?jjjihhhhfffrfbf ?ɛB .> !%+?I) P$?I *=ɚiI-[=I?i-1)5=?)9*F?2F!:F!BF%Q0JF!GҟWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GqBO>zK RPK 9K K 'K xp]G;61-***)'%$$!"   BK pA:K mA=w,{AfT ?YfE?f=9f|Ȋ>yfH?@S ?S?D?<ſ叠 ? ?ɨfT ?f;f$CyrɇBr'IMb@Mb@Mb@ )Y%C?Mb?{Gzt?yZ?=ף;@ )r@I@y@II]٢xH= A=9;Q > G٣ym-= u> }Nusing accuracyPremultiplier from configy59}?5Y} i}c™^?:c?A}yE};}j;}`5:B @7EZjDNOT Ignoring new targets: 99.90 m.BjMJjM ProNav: ac range: 99.900002 m, nav range: 26.300552 m, bearing: 258.805006 deg, approach rate: 0.461600 m/s, LOS rate: -0.532606 deg/s, cmd heading: 32.018387 deg, new cmd heading: 31.317104 deg. 2j¶HeadingCmd: 0.546587 target range: 99.900002 and range: 99.90 m. j ?jjjihhhhBfffrfbf ?-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243272ɛMBM-> IM?IQ U31=ɚQiQIUbx=I] ?iYi]{D>)] ?)a*F?2F:FBF_0JFG IGBO_>ZH RH AAH I  I 0'II BI " =&I .I 6I ?<:I + F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495034J= J= J9 J9 J= L:J= :J9 J9 J= P;aM J= Q;aM J= U;aM J= U;aM Aw,o{AFW?YFfoI?F=9F疃>yFH@i?0?`J?P?wÿrA? ?ɨFW?FwЊ;F#CyRBR&IIZrIZ{٢ElG ET=9MII MG٣QyU= U> eNusing accuracyPremultiplier from configam59e?m5Ye iec™iuKg?uAe{Ee:e":e5 @ZjDNOT Ignoring new targets: 99.90 m.Bj[Jj[  ProNav: ac range: 99.900002 m, nav range: 26.471497 m, bearing: 258.616329 deg, approach rate: 0.453974 m/s, LOS rate: -0.497831 deg/s, cmd heading: 31.317104 deg, new cmd heading: 30.754746 deg. 2j ԪHeadingCmd: 0.536772 target range: 99.900002 and range: 99.90 m. ji ?jjjihhh!h!f!f!f)rf)bf-?ɛB!4> 隝?I 6=ɚiI=IJ ?i7)i ?)*Fm?2Fi:FiBFm0JFiGEY=<GB1EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747959O]> I Akw,H{A:=?Y:$K?:}T,=9:lu>y:H _?K`?W??` ^??ɨ:=?:;8ybBb&I)d d j=ja=UMb@Mb@Mb@QQQ Q)QYUS㥛?Zd;?{Gzt?yU$?Uy=QU-@ Q)U@IU@QyU@ImImԳ٢}貼 G=9,p G٣5YGy< >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000040 Nusing accuracyPremultiplier from config59 ?5Y ic™?:g?A}EQ;O;ʎ5 @ZjquDNOT Ignoring new targets: 99.90 m.Bj} Jj}  ProNav: ac range: 99.900002 m, nav range: 26.666409 m, bearing: 258.405880 deg, approach rate: 0.461891 m/s, LOS rate: -0.495063 deg/s, cmd heading: 30.754747 deg, new cmd heading: 30.128042 deg. 2j੼HeadingCmd: 0.525834 target range: 99.900002 and range: 99.90 m. j?jjjihhhhYBfffrfbfl@ɛ=B=,> 9=?I9 EH&==ɚAiAIE`=IM?iIi]k>)]?)qtAA jY tAy B*F?2F:FBF+3JFzKMKh9KK'K   +5::92*" G}z=GBOn>U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252537Sw,%{A Q$?I6?Y6AM?6dH=96[a>y6H:?3S?? b?@ ?`0?ɨ6?6g;6"CyNBR&IIZIZk٢f%< fV=9j@hh jG٣ly5y< 5> ENusing accuracyPremultiplier from config9E59=?M5Y=O  i=c™IMi?MA=~E=2:=:=~5U;B ]@]2EZjDNOT Ignoring new targets: 99.90 m.BjJj ProNav: ac range: 99.900002 m, nav range: 26.851374 m, bearing: 258.212631 deg, approach rate: 0.494976 m/s, LOS rate: -0.513581 deg/s, cmd heading: 30.128043 deg, new cmd heading: 29.552310 deg. 2j;HeadingCmd: 0.515785 target range: 99.900002 and range: 99.90 m. j~ ?jjjihhhhfffrfbfb@ɛ"B8> E?I x~B=ɚiIj=I~ ?iiw>)~ ?) HI I6'IIBI# =&I.I6I<:Im F*F2F:FBFU4JFG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506048GaBiO8>JJJJJ:JJJJi;Jj;JJ}w,{AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759099:b?Y:n3M?:ve=9:vG>y:HE9?PP@?@G?)?@Ua?QX?ɨ:b?:w;:$CyB&II-I-٢=ݼ EC=9EII MG٣IyM M> ]Nusing accuracyPremultiplier from configQe59U?m5YU iUc™imi?mAUEUaB;U2;UE5q }@yB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 99.90 m.Bj& Jj&  ProNav: ac range: 99.900002 m, nav range: 27.044634 m, bearing: 258.014192 deg, approach rate: 0.473894 m/s, LOS rate: -0.483116 deg/s, cmd heading: 29.552309 deg, new cmd heading: 28.961268 deg. 2jǥHeadingCmd: 0.505470 target range: 99.900002 and range: 99.90 m. jsf?jjjihhhhfffrfbf@ɛ %B0> 隵?I |H=ɚiI=Isf?iia5>)sf?) 1I9*FQ2FQ:FYBF]P0JFaGeS>GABqO[>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011053ew,|AzK&.MK&9K$K&'K&>ܓ?Y>L?>Ă=9>I+>y>HP?U_? *?J?@BU D?`2}?ɨ>ܓ?>0;If%=hjAMMb@Mb@Mb@III I)IYMˡE?yy G٣6YGyk1 > Nusing accuracyPremultiplier from config59)?5Y1 ic™/ ?:m?AE ;;5 @ZjiDNOT Ignoring new targets: 99.90 m.BjWJjW ProNav: ac range: 99.900002 m, nav range: 27.244514 m, bearing: 257.820140 deg, approach rate: 0.465722 m/s, LOS rate: -0.448823 deg/s, cmd heading: 28.961269 deg, new cmd heading: 28.383406 deg. 2jHeadingCmd: 0.495384 target range: 99.900002 and range: 99.90 m. j>jjjihhhh*Bfffrfbf- @ɛ-(B5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:00:01:50.8390 ETRx dataTimestamp_ set to:1736380912.197549Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265058M94,> QU?IQ UiN=ɚQiYI]X=I>ii>)>)*F-?2F):F)BF1JF1 -R$?I-hG- .>H I  I )'II BI &I .I 6I <:I FBIQJIQRIQZIQbIQjIUɛg4G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515830JK|3 KKK"KJ! J% J! J! J! J% :J! Cw,|AJIJIJIJMcW;JMdW;M"?YM.I?M9=9MEt >yMH?O>??`ޗ?@Y+o@4U??ɨM"?Mc+;M"Cy}B}&III%٢ۈ 8=9 G٣y > Nusing accuracyPremultiplier from config595?5Y4 ic™k?AE ; ;5j)j)j)i1h1h1h1h1f9f9f9rf9bfE`z @ɛm+Bu0> qu?Iq uT=ɚyiyI}v=I}a >ii>)a >)*F%?2F!:F!BF!JF!G1 G5qAGJ!>=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:01:50.8390 LVL= 23536, 32753, 21730, 32755, AGC= 65, IDX= 426, 0.38, 2.236, 0.767, 1.437, 1.669, PHS= 0.655,-0.855,-0.235, RAW= 114.1, 6.7, CAL= 124.0, 3.4, ROT= 26.0, -3.4 Ygot valid direction response: 00:01:50.8390 LVL= 23536, 32753, 21730, 32755, AGC= 65, IDX= 426, 0.38, 2.236, 0.767, 1.437, 1.669, PHS= 0.655,-0.855,-0.235, RAW= 114.1, 6.7, CAL= 124.0, 3.4, ROT= 26.0, -3.4 PDAT read: Bearing 26.0, -3.4 (Local) ~Local bearing/azimuth received: Bearing 26.0, -3.4 (Local) DAT read: Range 10 to 50 : 98.2 m (Round-trip 131.0 ms) speed 0.7 m/s ,DAT read: user:3592> BDAT read: Tx time:00:01:51.9539 $Ping request sent.`direction in FSK: [-0.243358,-0.303789,0.921135]U:publishing transmit ping timeUFpublishing direction and range info99=^&ϿoFqӿ!bTy?y=fB9=[9 =T)9I=Ai='?=HZ=ףp=?=|= =c @)=s=I=V>i=s99=?d?/]྽?)=ҽI=i==╿99m:publishing transmit ping timeuFpublishing direction and range info99=^&ϿoFqӿ!bTy?y9999 9)9I9i99999 9)9I9i999=?d?/]྽?)9I9i9999 ) I1 / w,9|A2 ?Y2:F?2=927,=y2H?@U?M??}q0?@9?ɨ2 ?2 _;0yBBB&I}Mb@Mb@Mb@yyy y)yY}oʡ?J +?{Gzty} ?}H=}ף}@ }@)}@I} @yy}@Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:01:51.9531 II{٢@3 Z=9? G٣y > Nusing accuracyPremultiplier from config 59hA? 5Y ic™  ?5:5 ]?5AE;;59 =@9kut??ku # kq ku ,|A:kufBBkuBZku@"u27!=y%V@u^&ϿoFqӿ!bTy?JkuRku╿*u>VÍ.@@8C ՜V@uLp֯?pdٿ`qe?"ku*kuntAkuAH?ku-&# 2kuLCkucډ?ku-&# ku: Cku$BkuЕ@ addTargetRange:: Added new target pos. range: 98.199997 m, deltaT: 3.782941 s, deltaX: -1.700005 m, approachRate: -0.449387 m/s, rangeRepo size: 4 % Added new target pos. range: 98.199997 m, bearing: 291.014590 deg, lat: 36.904710 deg, lon: -122.121058 deg, deltaT: 3.782941 s, deltaX: -1.700005 m, approachRate: -0.449387 m/s, posRepo size: 4 Zj)MDNOT Ignoring new targets: 98.20 m.BjUJjQe ProNav: ac range: 98.199997 m, nav range: 39.786060 m, bearing: 268.243744 deg, approach rate: 0.000000 m/s, LOS rate: -0.492462 deg/s, cmd heading: 27.756743 deg, new cmd heading: 27.164477 deg. 2jaHeadingCmd: 0.474110 target range: 98.199997 and range: 98.20 m. j}>jjjihhhhBfffrf̌X@bfx[?ɛ.B/> !%@?IA M޶Z=ɚIiIIM=IU}>iQiUh>)U}>)YzKa3JK+9KK'K     "*F=?2F9:F9BF=^0JF9GP>GBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.  I w,]jS|A2A ?Y2M4B?2=92;6=y2H#?,Խ?@`?M?0&a?)<?.?ɨ2A ?2;0yBBB&I)D D Fp=F=IJIJ@ ٢V V^=9Z[XX ZG٣Z7YGy^/ b> jNusing accuracyPremultiplier from confighn59jL?n5Yj  ijd™Y?%AjEj'jjjihhhhfffrfbfS?ɛ]0B]z:> Ye?Ia e_=ɚaiaImU=I >ii2{>) >)HAIA IE'IIEهBIA&IA.IA6IE9<:IE& F*F)2F):F)BF-0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.G-Wt>JJJJJL:J :JJJP;JQ;JS;JS;GB)O]T>PExceeded connect timeout, disconnecting.] Will construct direction to contact in vehicle frame from tetrahedron phase data.w,Ym|AF?YFF>?F=9FHV=yFH u?`Tl??e?@\?Ƨ??ɨF?F֊;DyjBj&IIvIv$٢< C=9c %G٣!y%3 %> -Nusing accuracyPremultiplier from config)E59-Y?E5Y- i-d™AE-U?EA-E-qe;-)f;-5Q U@U,EuB*** querying acoustic contact ***jqjqZjy}DNOT Ignoring new targets: 98.20 m.BjJj ProNav: ac range: 98.199997 m, nav range: 40.116447 m, bearing: 267.847253 deg, approach rate: 0.431580 m/s, LOS rate: -0.520519 deg/s, cmd heading: 26.613969 deg, new cmd heading: 25.979978 deg. 2jHeadingCmd: 0.453436 target range: 98.199997 and range: 98.20 m. j(>jjjihhhhfffrfbf?ɛ3B!4> Ct<?I -"e=ɚ1i1I5 =I5(>i9i==ix>)=(>)A S$?Ih*F92FA:FABFEq3JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G>>G B O >3!w,\!|AzK>ؐLK>@9K<K>'K>yB&IMb@Mb@Mb@ )YK7?:v?~jtxyI ?<Ļ@ 7@)@IyIIm?٢|p @=9Q > G٣y > Nusing accuracyPremultiplier from config59hg?5Y8 i0d™t ?:J?AE;;5=B @*EZj!%DNOT Ignoring new targets: 98.20 m.Bj-Jj5e ProNav: ac range: 98.199997 m, nav range: 40.288151 m, bearing: 267.623880 deg, approach rate: 0.405029 m/s, LOS rate: -0.524664 deg/s, cmd heading: 25.979979 deg, new cmd heading: 25.312747 deg. 2jm }HeadingCmd: 0.441791 target range: 98.199997 and range: 98.20 m. j}g2>jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494619h)h5ՃBf1f1f1rf1bf= B?ɛ6B +> 隅?I Lk=ɚiI~z =Ig2>ii܁>)g2>) I*F2F:FBF4JFGAPx>GBO>H1 I1  I5 'II5 ɇBI1 &I1 .I5 7D6I5 <:I5 F Will construct direction to contact in vehicle frame from tetrahedron phase data. ? *? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746852'w,u|A nManaging dock network, ignoring radio surface power offNf>YN@1?Nb=9N ;yNH}n?yb?`? ?`"?`f@?`F?ɨNf>Nȣ;LyVBZ&Ii^>I^>``IfIfn٢n& nZ=9n=Q r>pp rG٣r8YGyv v> zNusing accuracyPremultiplier from configx~59zt?5Yz izId™5>? AzEz:;z;;z5 |@'EZj9=DNOT Ignoring new targets: 98.20 m.BjE=JjE=U ProNav: ac range: 98.199997 m, nav range: 40.432388 m, bearing: 267.419473 deg, approach rate: 0.384453 m/s, LOS rate: -0.542885 deg/s, cmd heading: 25.312748 deg, new cmd heading: 24.701739 deg. 2jUI]HeadingCmd: 0.431127 target range: 98.199997 and range: 98.20 m. j]>jajajaiahahahihifififirfqbfu?ɛ8B;> r?Iq }o=ɚiI~ =I>iiҩ^>)>)*Fy2Fy:FyBF}3JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999795GM2Fx> T$?IG) BY O >.w,غ|A6 ,>Y6*?6=968#y6H?Z/l?? !? _?AD@?ɨ6 ,>6J:;4yPPeMb@Mb@Mb@aaa a)aYe(\?{Gzt?Mbye?eף;ee@ e@)e@Ie@ayep@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250829II9n G٣yL > Nusing accuracyPremultiplier from config59?5Y ihd™?:,?AE #;!;p5 ZjDNOT Ignoring new targets: 98.20 m.Bj=&Jj=& ProNav: ac range: 98.199997 m, nav range: 40.588093 m, bearing: 267.169622 deg, approach rate: 0.363685 m/s, LOS rate: -0.581348 deg/s, cmd heading: 24.701739 deg, new cmd heading: 23.955104 deg. 2j|ǼHeadingCmd: 0.418095 target range: 98.199997 and range: 98.20 m. j%>j!j!j!i!h!h!h)h-ÃBf)f)f1rf1bf5sT@ɛe:Be/> ae?Ia mru=ɚiiqIu- =I}>iyi}6T>)}>)JQJQJ]JYJ]1JYJ]l:JYJ]3JYae@ae@ae@ae@E]r;zKBHK9KK'KRK>JK>*F?2F:FBF@5JFG@g>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503905G B O > I 4w,ij|AysB&II-I-@ ٢=d9 =<9EQ E>AA MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]ʑ?e5Y]$ i]d™iimA]E]7:]:](5u>B u@}$EZjDNOT Ignoring new targets: 98.20 m.Bj%Jj% ProNav: ac range: 98.199997 m, nav range: 40.731956 m, bearing: 266.941551 deg, approach rate: 0.366917 m/s, LOS rate: -0.579627 deg/s, cmd heading: 23.955104 deg, new cmd heading: 23.273342 deg. 2jƼHeadingCmd: 0.406196 target range: 98.199997 and range: 98.20 m. j>jjjihhhhfffrfbfx@ɛ=B0> 隍~?I d{=ɚiI =I>iiKb>)>)H;>I I&IIBI&I.I6IL<:I4 FEmt[<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755925*F2F:FBFP0JF G'_>GBOi>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:00:01:54.4870 U TRx dataTimestamp_ set to:1736380915.726411] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010017I);w,S|AyޅxBޅ&I) II(٢*< A=9Q > G٣9YGy > Nusing accuracyPremultiplier from config59?5YQ id™AE ;: ;5 f@ U$?IB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 98.20 m.Bj-"Jj-"= ProNav: ac range: 98.199997 m, nav range: 40.886986 m, bearing: 266.698691 deg, approach rate: 0.364708 m/s, LOS rate: -0.569162 deg/s, cmd heading: 23.273342 deg, new cmd heading: 22.547566 deg. 2jENüEHeadingCmd: 0.393529 target range: 98.199997 and range: 98.20 m. jE|>jIjIjIiIhIhIhihfffrfbf`O@ɛ?B 590>  +?I  X=ɚiI@ =IM|>iQiUVl>)U|>)aEpAEpA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}=}4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259026)&= rC 1 *JM R="JM %=JU JU JQ JQ JU :JU :JQ JQ a Em u< Y y B*F ?2F :F BF% 5JF! zK BoJK K K 'K 5Will construct direction to contact in vehicle frame from tetrahedron phase data.GDAT read: 00:01:54.4870 LVL= 19152, 25873, 28194, 32755, AGC= 67, IDX= 421, 0.20, 0.453,-1.699,-0.904,-0.602, PHS= 1.143,-1.050,-0.305, RAW= 109.5, 2.2, CAL= 120.4, -1.4, ROT= 29.6, 1.4 Ygot valid direction response: 00:01:54.4870 LVL= 19152, 25873, 28194, 32755, AGC= 67, IDX= 421, 0.20, 0.453,-1.699,-0.904,-0.602, PHS= 1.143,-1.050,-0.305, RAW= 109.5, 2.2, CAL= 120.4, -1.4, ROT= 29.6, 1.4 PDAT read: Bearing 29.6, 1.4 (Local) ~Local bearing/azimuth received: Bearing 29.6, 1.4 (Local) DAT read: Range 10 to 50 : 96.7 m (Round-trip 129.0 ms) speed 0.4 m/s ,DAT read: user:3593> BDAT read: Tx time:00:01:55.6039 $Ping request sent.Y= ?= >9=8Oy=H`*?u?@}x?G?nC?sϗE?ɨ=->=;=#CynB&IHI I&IIBI$ =&I.I6I)<:I FMb@Mb@Mb@ )YI +?~jtxMby9?Ļ@ \@)=@I @yQ@IIm٢- -<9- =Q ->QQ UG٣Qy]p; ]> eNusing accuracyPremultiplier from configam59eC?u5YeE ied™u??u:u ?}AeEeS;ei_;eݦ5?B @!EkM]/*?kMkr kI kMi}A:kMfBBkMBZkMQ @"MuC9- lv6 p}P7W@M]ÿ!OX0Ϳ,6?JkM RkM㤿*M0 b!@6gڽc2СW@M$p"??WȿH?"kM*kM AkM;J9?kMw¾ 2kM>"CkM;J9?kIkIkM'BkM݋@% addTargetRange:: Added new target pos. range: 96.699997 m, deltaT: 3.528770 s, deltaX: -1.500000 m, approachRate: -0.425077 m/s, rangeRepo size: 4 U Added new target pos. range: 96.699997 m, bearing: 295.524489 deg, lat: 36.904813 deg, lon: -122.121058 deg, deltaT: 3.528770 s, deltaX: -1.500000 m, approachRate: -0.425077 m/s, posRepo size: 4 ZjY]DNOT Ignoring new targets: 96.70 m.BjeJjauWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:00:01:55.6031  ProNav: ac range: 96.699997 m, nav range: 41.940132 m, bearing: 282.085631 deg, approach rate: 0.000000 m/s, LOS rate: -0.569162 deg/s, cmd heading: 22.547566 deg, new cmd heading: 21.408076 deg. 2jHeadingCmd: 0.373641 target range: 96.699997 and range: 96.70 m. jM>jjjihhhhڃBfffrf,X@bf?ɛUBBUV> U]=U?IQ ]=ɚYiYI] =IeM>iaieY>)M>)EE*E"E*F ?2F :F BF 0JF G zj>% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ʕKw,l0}A6Y}>Y6?6>96s6RՉ;4y>hBB&IIJIJM٢R Ro=9V[jjjihhhhfffrfbf@-?ɛeDBel@> mMii >)>)1*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJJ/:Jـ3JG! G B O >5nRw,1J}AzK"K"9K K"'K"B䉋>YB>B{>9BayBH ?@h޿@?@?\'?垴?@~¿fA?ɨB䉋>B D;B$CyLN&IiR%=IR;-Mb@Mb@Mb@))) )))Y-Q?YY ]G٣]:YGyeu e> mNusing accuracyPremultiplier from configiu59m܊?u5Ym im&e™u?u:uh>}AmEm;m;m/5 t@EZjDNOT Ignoring new targets: 96.70 m.BjXJjX]Will construct direction to contact in vehicle frame from tetrahedron phase data.U ProNav: ac range: 96.699997 m, nav range: 42.062984 m, bearing: 281.513487 deg, approach rate: 0.156156 m/s, LOS rate: -0.757255 deg/s, cmd heading: 20.650370 deg, new cmd heading: 19.694314 deg. 2juHeadingCmd: 0.343731 target range: 96.699997 and range: 96.70 m. jv>jjjihhhhBfffrfbf@YF?ɛ5FB5D1> 1=t?I9 ==ɚ9i9I==IEv>iAiE>)Ev>)I =W$?I9*F!2F):F)BF-P0JF)Ge>GBOg>H%<>I! I%&II%BI%# =&I!.I!6I%P<:I%7 FBIJIRIZIbIjIɐ4 Will construct direction to contact in vehicle frame from tetrahedron phase data.ԘXw,d}A>~>Y>W>>j>9>L9y>Hl8?ܿ`???/?ÿ V1??ɨ>~>>.;>#CyJ]BJ&IIVIVJ٢^R\ ^T=9b=`d fG٣dyf| f> nNusing accuracyPremultiplier from confighn59j튜?r5YjF ijLe™pr[>rAjEji ;j ;jޫ5t z@xZjDNOT Ignoring new targets: 96.70 m.BjUPJjUP ProNav: ac range: 96.699997 m, nav range: 42.119144 m, bearing: 281.220727 deg, approach rate: 0.139945 m/s, LOS rate: -0.728553 deg/s, cmd heading: 19.694314 deg, new cmd heading: 18.817275 deg. 2jHeadingCmd: 0.328423 target range: 96.699997 and range: 96.70 m. j'>jjjihhhhfffrfbf F]?ɛ%HB%8> !%c?I) -=ɚ)i)I-=I5'>i9i==)='>)9*F?2F:FBF`0JFG?>GamWill construct direction to contact in vehicle frame from tetrahedron phase data.BqO:> I%h@^w,}}AVJh>YV@>Vp>9V[<Vʎ;V$CyfYBfz&IMb@Mb@Mb@ )YʡE?~jtx? G٣ycN > Nusing accuracyPremultiplier from config59S?5Yc iwe™3?:>AE:;+;˭5@B |@E5B*** querying acoustic contact ***j1j1Zj9=DNOT Ignoring new targets: 96.70 m.BjEYJjEYU ProNav: ac range: 96.699997 m, nav range: 42.184124 m, bearing: 280.895354 deg, approach rate: 0.152413 m/s, LOS rate: -0.761999 deg/s, cmd heading: 18.817275 deg, new cmd heading: 17.842760 deg. 2jU]HeadingCmd: 0.311415 target range: 96.699997 and range: 96.70 m. j]q>jYjajaiahahahihmBfifqfqrfqbf}@z?JJJJJl:J :JJɛIB:1> ?I =ɚiIl=Iq>iiQ=)q>)zKBHK9KK'KE5Hu<E=qAE=pAuWill construct direction to contact in vehicle frame from tetrahedron 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:FBFS0JF"G=G> X$?I G # >G9 BA Oe >ew,З}AzP>Yz>z>$>9zbzI;z"CHI I&IIsBI&I.I6I<:I FymSBus&I)y yII٢Yɼ >=9i G٣;YGy] > Nusing accuracyPremultiplier from config59?5Y ie™>AE;n ;5AB ۾@EZjDNOT Ignoring new targets: 96.70 m.BjSJjS- ProNav: ac range: 96.699997 m, nav range: 42.243679 m, bearing: 280.575444 deg, approach rate: 0.138140 m/s, LOS rate: -0.740991 deg/s, cmd heading: 17.842759 deg, new cmd heading: 16.884478 deg. 2j-D5HeadingCmd: 0.294690 target range: 96.699997 and range: 96.70 m. j5>j1j1j1i1h9h9h9h9fAfAfArfAbfMN@ɛuKB}1> y}?Iy }'@=ɚiI==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242732I%>i!i-5=)->))E<*Fy2Fy:FyBF}o0JFyG  >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495592G B O >kw,}A67>Y6&>6c)>96=y6H@T?xؿ`?@ד? ?@$?ſ ݠ?@i?ɨ67>6%;6$CyBMBBk&IIJ PITIJ)٢Zq bp=9bayvAnEn:n:n*5x z>@xZjDNOT Ignoring new targets: 96.70 m.BjGJjG ProNav: ac range: 96.699997 m, nav range: 42.286949 m, bearing: 280.323509 deg, approach rate: 0.120033 m/s, LOS rate: -0.698158 deg/s, cmd heading: 16.884479 deg, new cmd heading: 16.129493 deg. 2j=HeadingCmd: 0.281513 target range: 96.699997 and range: 96.70 m. jq">jjjihhhhfffrfbf @ɛ-MB-;> )-?I) 5w=ɚ1i1I5 =I=q">iAiEfn=)Mq">)IEiEi*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749356*F}?2F:FBF0JFGMo@=G) B1 O] >ڼrw,{}A6Z!>Y6F>65.>9604=y6HM?@1׿@X4?@Q?@?k ?ſ%D?ށ?ɨ6Z!>6/S;4yVDBV`&IzK~BoHK~9K|K~'K~D; rHm(X}Mb@Mb@Mb@yyy y)yY}Cl?S㥛?~jthy}?}/<}D}@ }@)}x@I}M@yy}@IIԳ٢- <=9+ G٣yH > Nusing accuracyPremultiplier from config59 4?5Y ie™ ?:>AE8;;5 ٿ@EZjDNOT Ignoring new targets: 96.70 m.BjeZJjeZ ProNav: ac range: 96.699997 m, nav range: 42.346371 m, bearing: 280.008690 deg, approach rate: 0.144358 m/s, LOS rate: -0.763742 deg/s, cmd heading: 16.129493 deg, new cmd heading: 15.186450 deg. 2j% =Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:00:01:58.1346 ETRx dataTimestamp_ set to:1736380919.253267Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.000344MHeadingCmd: 0.265054 target range: 96.699997 and range: 96.70 m. jU>jQjQjQiQhQhYhYh]DBfafafarfabfe:@ɛNBr2> q=隕\?I K=ɚiI=I>ii=)>)QEeY>Ee> Z$?I*F?2F:F BF 4JF G GpAHI Iz&IIZBI" =&IGD.I6I:<:I) FG- qe= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250713G B O >J J J J J :J :J J J ;a J ;a J 9P;a J :P;a xw,j}A2=>Y2>22>92B T=y2H?@ տ`k?`-?`?‰?`;ƿ?x?ɨ2=>2-;2#CyB3BBL&IiF=IFR=ININ<٢V V[=9VCXX ZG٣Z bNusing accuracyPremultiplier from config`f59bD?f5Yb ibf™dj+>jAbEb;bx;b5l n@pZjDNOT Ignoring new targets: 96.70 m.BjEJjE ProNav: ac range: 96.699997 m, nav range: 42.394737 m, bearing: 279.736967 deg, approach rate: 0.122838 m/s, LOS rate: -0.689311 deg/s, cmd heading: 15.186451 deg, new cmd heading: 14.372271 deg. 2j켝HeadingCmd: 0.250843 target range: 96.699997 and range: 96.70 m. jn>jjjihhh!h!f!fIfirfqbfu { @ɛPB1> ?I "r=ɚiI=In>ii"4=)n>)*F?2F:FBFP0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.503323Gi= IGBO}>hw,"3}ARWill construct direction to contact in vehicle frame from tetrahedron phase data.jDAT read: 00:01:58.1346 LVL= 15600, 24769, 20946, 27059, AGC= 58, IDX= 412,-0.15, 1.823,-0.378,-0.063, 0.469, PHS= 1.442,-0.800,-0.535, RAW= 96.2, -1.0, CAL= 104.8, -6.2, ROT= 45.2, 6.2 vYgot valid direction response: 00:01:58.1346 LVL= 15600, 24769, 20946, 27059, AGC= 58, IDX= 412,-0.15, 1.823,-0.378,-0.063, 0.469, PHS= 1.442,-0.800,-0.535, RAW= 96.2, -1.0, CAL= 104.8, -6.2, ROT= 45.2, 6.2 zPDAT read: Bearing 45.2, 6.2 (Local) z~Local bearing/azimuth received: Bearing 45.2, 6.2 (Local) %DAT read: Range 10 to 50 : 94.8 m (Round-trip 126.5 ms) speed 0.4 m/s -,DAT read: user:3594> 5BDAT read: Tx time:00:01:59.2540 5$Ping request sent.5 G٣y > Nusing accuracyPremultiplier from config-59Z?-5Y iPf™-?-:->-AE2<[2<5=BB =@=EkR(ώ?kR, kP kR~A:kRBBkRMBZkR@"RNsxXy}Ŀ$W@Rv|O8s[c?JkRpGRkRp*Rl8|%!%@RUXW@RS}?찵D֎h ?"kR*kR )AkR=>Վ?kR& 2kR!CkR=>Վ?kPkPkR,BkRò@- addTargetRange:: Added new target pos. range: 94.800003 m, deltaT: 3.778948 s, deltaX: -1.899994 m, approachRate: -0.502784 m/s, rangeRepo size: 4 e Added new target pos. range: 94.800003 m, bearing: 352.305292 deg, lat: 36.904846 deg, lon: -122.121058 deg, deltaT: 3.778948 s, deltaX: -1.899994 m, approachRate: -0.502784 m/s, posRepo size: 4 Zji}DNOT Ignoring new targets: 94.80 m.BjJj ProNav: ac range: 94.800003 m, nav range: 43.222210 m, bearing: 284.148203 deg, approach rate: 0.000000 m/s, LOS rate: -0.689311 deg/s, cmd heading: 14.372272 deg, new cmd heading: 13.234099 deg. 2jHeadingCmd: 0.230979 target range: 94.800003 and range: 94.80 m. jl>jjjihhhhTBfffrf@3W@bf?ɛQBpQ#> (?IzKVOK}9KK'KvC?+ wN!\7vU1BK:KpA =ɚiI%D=Il>ii=)l>)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:00:01:59.2532 [$?I *F ?2F :F BF% @5JF! jH bH <H I  I U&II ;BI # =&I .I 6I <:I ] FGM-=GU?GQG BO5>gw,~AjWill construct direction to contact in vehicle frame from tetrahedron phase data.y~B&III:٢0 %U=9!Q %>)) 5G٣1y1 5> =Nusing accuracyPremultiplier from config9E59=.k?E5Y=. i=wf™IIMA=E= ;=` ;=5Q U@YB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 94.80 m.BjbJjb ProNav: ac range: 94.800003 m, nav range: 43.262772 m, bearing: 283.872168 deg, approach rate: 0.116555 m/s, LOS rate: -0.792448 deg/s, cmd heading: 13.234099 deg, new cmd heading: 12.406828 deg. 2jHeadingCmd: 0.216540 target range: 94.800003 and range: 94.80 m. j]>jjjihhhhfffrfbf($?ɛURBUB:> QUw?IQ ]z=ɚYiYI]I/=Ie]>iaiei>)e]>)iJJJJJܫ:J :JJJ;J;JR;JR;E<*F2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G} h@= % \$?I! G) B9 O] >w,S8~AB$=YBEA>B9>9B}=yBH ?@ҿ Y?9D??woFǿ@)?Wj?ɨB$=B;B%CyjBj%I)q qIIJ٢ˎ 4=9 q G٣=YGyڽ > Nusing accuracyPremultiplier from config59~?5Y if™>AE::5 @ EZjDNOT Ignoring new targets: 94.80 m.BjQJj%Q5 ProNav: ac range: 94.800003 m, nav range: 43.300488 m, bearing: 283.540117 deg, approach rate: 0.083421 m/s, LOS rate: -0.733795 deg/s, cmd heading: 12.406829 deg, new cmd heading: 11.411650 deg. 2j5=HeadingCmd: 0.199171 target range: 94.800003 and range: 94.80 m. j=rK>j9j9j9i9h9hAhAhAfAfIfIrfIbfU ڜ?ɛ}TBf)> 隅?I 3ڟ=ɚiINi=IrK>iiA=)rK>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990439EU< 5tA%A eYm5tAymB*F2F:FBFP0JFG S=G B O >zK} PK} 9Ky K} 'K} oUA0mP?)v:tJ;5/,%!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241954rw,R~A2TT=Y20>23:>92!^=y2H ? ҿ3?@[?෧?EP?8ǿJ?`8l?ɨ2TT=25Ŋ;2!Cy:ۆB:%I hIlMb@Mb@Mb@ )Y rh?)\(?~jthyC ?Ga=D@ @)Z@I@y@ItI%x٢=A ER=9UB;Q ]>iq uG٣yy > Nusing accuracyPremultiplier from config59y?5Yy if™ ?:>AE0;.;f5 n@ZjQ]DNOT Ignoring new targets: 94.80 m.Bj]@Jje@ ProNav: ac range: 94.800003 m, nav range: 43.335350 m, bearing: 283.262692 deg, approach rate: 0.084716 m/s, LOS rate: -0.673600 deg/s, cmd heading: 11.411650 deg, new cmd heading: 10.580104 deg. 2j$缝HeadingCmd: 0.184658 target range: 94.800003 and range: 94.80 m. j=>jjjihhhhBBfffrfbf?ɛUUB]4(> Ye?HI I#&IIBI" =&I.I6ID<:I1 FI W =ɚiIw=I=>iiy=)=>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494247JJJJJL:J:JJJP;JQ;JZ;JZ;E- =*F 2F :F BF 63JF G B=G G oAGq B O >w,im~AyB%II%I%٢U  ]U=9eQ e>aa eG٣iym u> }Nusing accuracyPremultiplier from configq}59u@?5Yue iuf™AuEun:u:u 5CB @ EZjDNOT Ignoring new targets: 94.80 m.BjaNJjaN ProNav: ac range: 94.800003 m, nav range: 43.369602 m, bearing: 282.998062 deg, approach rate: 0.093490 m/s, LOS rate: -0.721719 deg/s, cmd heading: 10.580104 deg, new cmd heading: 9.786897 deg. 2jHeadingCmd: 0.170814 target range: 94.800003 and range: 94.80 m. j .>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746042jjjihh!h!h!f!f)f)rf)bf5>J?ɛY]-> aeߚ?Ia eΣ=ɚaiaIm=Im.>iqiu3-=)u.>)qEyEy*E"E ]$?I*F2F:FBF\0JFG G"GG Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997949Gi Bq O 7ˡw,~A2%3L=Y2~>2{;<>92690=y2H !Q?ʙп ? 5??M~?eǿo?`n?ɨ2%3L=2;2$CyBBB%IiF!>IF]>Mb@Mb@Mb@ )YPn?~jt?~jtxy?D=Ļ@ @)@I@y3@II<٢  >=9XU;Q > G٣>YGyt > Nusing accuracyPremultiplier from config59c?5YX i!g™?:>AEG;`F;5  @EZj9=DNOT Ignoring new targets: 94.80 m.BjE.@JjE.@U ProNav: ac range: 94.800003 m, nav range: 43.400204 m, bearing: 282.713357 deg, approach rate: 0.072288 m/s, LOS rate: -0.672064 deg/s, cmd heading: 9.786897 deg, new cmd heading: 8.933449 deg. 2jU漝]HeadingCmd: 0.155918 target range: 94.800003 and range: 94.80 m. j]>jYjYjYiYhahahihm=Bfififirfqbfu @ɛVB#> 隭%?I ˥=ɚiI#=I>ii=)>)*F}?2Fy:FyBF}0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250133zKjOKh9KK'K     GQBaO}7> 1I1H I  I %II BI # =&I .I 6I <:I FBIJIRIZIbIjIr4!w,B~A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501989:g=Y:>:P<>9:l'=y:H i?Ͽ??-?~?`.hǿN?)o?ɨ:g=:a;:%CyNBNx%IIZIZ٢  N=9U9Q > G٣y{ > Nusing accuracyPremultiplier from config59\?5Y iIg™>AE ; ;5 @B*** querying acoustic contact ***jjJJJ1JJJ:J3JJJJnN;JoN;Zj)5DNOT Ignoring new targets: 94.80 m.Bj=>Jj=>E ProNav: ac range: 94.800003 m, nav range: 43.427223 m, bearing: 282.449078 deg, approach rate: 0.068015 m/s, LOS rate: -0.664842 deg/s, cmd heading: 8.933449 deg, new cmd heading: 8.141160 deg. 2jM#伝MHeadingCmd: 0.142090 target range: 94.800003 and range: 94.80 m. j>jjjihhhh!f!f!f!rf!bf-`@ɛ-WB5> 15?I1 =!ͧ=ɚ9i9I=(=Im>iiimGD=)m>)q*F=?2F9:F9BF=1JF9GM?GM>GQBaO}z>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753964 5 ^$?I1 w,~AyaB%H%IMb@Mb@Mb@ )YV-?l?:vy|>=T5@ S@)@I@y@II?٢ ?+  6=9Q > G٣y %> -Nusing accuracyPremultiplier from config!559%ы?55Y% i%xg™5#?=:=>=A%E%] ;%;%5EDB E6@EEUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:00:02:01.7828 eTRx dataTimestamp_ set to:1736380923.033566echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007944ZjDNOT Ignoring new targets: 94.80 m.BjV6JjV6 ProNav: ac range: 94.800003 m, nav range: 43.453720 m, bearing: 282.160928 deg, approach rate: 0.058671 m/s, LOS rate: -0.637648 deg/s, cmd heading: 8.141160 deg, new cmd heading: 7.277306 deg. 2jڼHeadingCmd: 0.127013 target range: 94.800003 and range: 94.80 m. j>jjjihhhh(BfffrfbfM@ɛ-XB5 > 15'?I1 56x=ɚ1i9I= =I>iid=)>)*FQ2FQ:FQBF]2JFYG)B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257955zK] LK] 9KY K] 'K]    I! w,~AF;YFňi>F7>9F$=yFH?:̿i?Sy?2?V?`ƿ`,?u?ɨF;Fl;DyN7BN%I)T TI-I-٢Eq Ml=9UKQ ]?YY eG٣e?YGye e? mNusing accuracyPremultiplier from configiu59mߋ?u5Ym? img™y}>}AmEm!;mD";m!5 @ZjDNOT Ignoring new targets: 94.80 m.Bj9Jj9 ProNav: ac range: 94.800003 m, nav range: 43.469746 m, bearing: 281.937495 deg, approach rate: 0.046647 m/s, LOS rate: -0.650131 deg/s, cmd heading: 7.277306 deg, new cmd heading: 6.607285 deg. 2j߼HeadingCmd: 0.115319 target range: 94.800003 and range: 94.80 m. jN,=jjjihhhhfffrfbf$ @ɛ(> $o?I 'Ȫ=ɚiIA =I%N,=i!i%o}=)-N,=))H*F?2F:FBFP0JFI I%IIBI&I.I6Ik<:IN F]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:02:01.7828 LVL= 16064, 27729, 21298, 27299, AGC= 55, IDX= 425,-0.22,-0.360,-2.378,-2.326,-1.526, PHS= 1.254,-0.806,-0.804, RAW= 90.0, 3.5, CAL= 97.3, 1.6, ROT= 52.7, -1.6 Ygot valid direction response: 00:02:01.7828 LVL= 16064, 27729, 21298, 27299, AGC= 55, IDX= 425,-0.22,-0.360,-2.378,-2.326,-1.526, PHS= 1.254,-0.806,-0.804, RAW= 90.0, 3.5, CAL= 97.3, 1.6, ROT= 52.7, -1.6 PDAT read: Bearing 52.7, -1.6 (Local) ~Local bearing/azimuth received: Bearing 52.7, -1.6 (Local) DAT read: Range 10 to 50 : 93.5 m (Round-trip 124.7 ms) speed 0.1 m/s ,DAT read: user:3595> BDAT read: Tx time:00:02:02.9040 $Ping request sent.'(?@D@o?yeBae>eQl e2S)ejIe7ie?eVNeMe?e5z= e^?)e'(?@D@o?yaaaa a)aIaiaaaaa a)aIaiaaaeRղ?B߿ d=?)aIaiaaaaG5=G B! JIKM(3 KM(.KIKI"KIJ- J- J) J) J- l:J- :J) J) J- ;J- ;J- 9P;J- :P;O] >(w,~AJ@YJ_>Jq5>9J )=yJH*? ʿ&?@:?`wD?r4bƿ ?ˤ? x?ɨJ@J7<;J$CybBb$IIrIrW٢  N=9ƻQ >9 =G٣9yEѼ E> MNusing accuracyPremultiplier from configIU59M[?U5YM iMg™QU>UAMEM''(?@D@o?Jk @Rk*b t?KMQT@OOW@7;ʂ?w}1촲?MU?"k@*k[?k m7?kɿ 2kN Ckkw¾ kN CkAk@ _$?I addTargetRange:: Added new target pos. range: 93.500000 m, deltaT: 3.528072 s, deltaX: -1.300003 m, approachRate: -0.368474 m/s, rangeRepo size: 4  Added new target pos. range: 93.500000 m, bearing: 82.842924 deg, lat: 36.904846 deg, lon: -122.120804 deg, deltaT: 3.528072 s, deltaX: -1.300003 m, approachRate: -0.368474 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 93.50 m.Bj5Jj1E ProNav: ac range: 93.500000 m, nav range: 21.820444 m, bearing: 293.795295 deg, approach rate: 0.000000 m/s, LOS rate: -0.650131 deg/s, cmd heading: 6.607285 deg, new cmd heading: 5.764620 deg. 2jAMHeadingCmd: 0.100612 target range: 93.500000 and range: 93.50 m. jmt =jijqjqiqhqhqhyhyfyfyfyrf`W@bf ?ɛMYBM#> M,=Ub?IQ U w=ɚQiQIU =I]t =iYi]H|=)]t =)a*F?2F!:F!BF!JF!m Will construct direction to contact in vehicle frame from tetrahedron phase data.GE ܭ=GI GM pAG B O- >(w,A6d@Y6`aT>6)1>96]=y6H ?Q'ɿ? ?@jT?tꑿ@ ƿ`B? y?ɨ6d@6?;6"CyEBE$IMb@Mb@Mb@ )YZd;?~jth?~jty>D;Db@ @)@IE@y@IIM٢5 -=9fQ >!! %G٣!y- -> UNusing accuracyPremultiplier from configQ]59U?]5YU| iUg™]>e:e-\>eAUEU;UD;U5EB @EZjDNOT Ignoring new targets: 93.50 m.BjJj  ProNav: ac range: 93.500000 m, nav range: 21.776711 m, bearing: 293.213964 deg, approach rate: -0.097947 m/s, LOS rate: -1.304555 deg/s, cmd heading: 5.764620 deg, new cmd heading: 4.017694 deg. 2j_HeadingCmd: 0.070122 target range: 93.500000 and range: 93.50 m. j=jjjihhh!h%BfAfIfIrfIbfMư?ɛZBv> 隝L?I %ݭ=ɚiID =Will construct direction to contact in vehicle frame from tetrahedron phase data.I=ii=)=)zKMK9KK'K `$?I*F?2F:FBFJF"GR=Ga=G^=GiByO>jH <bH <H I  I 5%II RBI &I .I 6I p<:I R F;w,"AWill construct direction to contact in vehicle frame from tetrahedron phase data.:7@Y:F>:.>9:?T=y:H ?@ǿ`?`Y?`i? ſ#? ?ɨ:7@:;:%CyfͅBf$Iin=In=ppIvIvJH٢~e ~u=9\Q ?  G٣ @YGy 3!  ? Nusing accuracyPremultiplier from config59?%5Y ih™!%N>%AE ;& ;`5) -@1ZjYeDNOT Ignoring new targets: 93.50 m.BjeJjeu ProNav: ac range: 93.500000 m, nav range: 21.745310 m, bearing: 292.805703 deg, approach rate: -0.097261 m/s, LOS rate: -1.266371 deg/s, cmd heading: 4.017694 deg, new cmd heading: 2.791342 deg. 2juFY}HeadingCmd: 0.048718 target range: 93.500000 and range: 93.50 m. j}G=jjjihhhhfffrfbf`?ɛd> 9?I >ɮ=ɚiI7 =IG=iiS9>)G=)*F?2F:FBFo0JFGqWill construct direction to contact in vehicle frame from tetrahedron phase data.GIBYO}> Ihdow,<A:@Y:9>:^Z*>9:H=y:H~ ?ƿ &??@ |?ǒ/2ſS?6?ɨ:@:;:#CybBfy$II I B٢=s̽ EE=9UQ ]>ii uG٣qy} > UNusing accuracyPremultiplier from configIu59M ?u5YM iM=h™MA>AMEMJh .?I !=ɚ i I [ =I#)#<)JJJ0JJL:J:Jـ3Ja@a@a@a@Ey=*Fm ?2Fi :Fq BFu P0JFq G} pA G} pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751540GU >Ge ?Ge 7? u a$?Iq zK >`JK K K 'K Ga Bi O >pw,VA2]@Y2`+>2}(>92>=y2H`s?I_Ŀ?`?Վ? ſ{?@?ɨ2]@2;0yjBjI$IMb@Mb@Mb@ )YI +?ˡE:vy9>'T@ @)3@I\@y@II ٢5 >=9RQ > G٣y > Nusing accuracyPremultiplier from config59_0?5Y0 ich™7>:?=AEl;;5 U@EZjDNOT Ignoring new targets: 93.50 m.BjըJjը ProNav: ac range: 93.500000 m, nav range: 21.646233 m, bearing: 291.781884 deg, approach rate: -0.139103 m/s, LOS rate: -1.180846 deg/s, cmd heading: 1.129526 deg, new cmd heading: 359.713727 deg. 2jJHeadingCmd: 6.278189 target range: 93.500000 and range: 93.50 m.HI I$IIBI&I.I6IW<:I@ F jM@jIjIjIiIhIhQhQhUBfQfYfrfbf`?ɛ> H?I "=ɚiI@ =Iii\>)@) EZ%=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004499*Fu?2Fq:FqBFuo0JFqG T>Gq B O >nw,pA6X@Y6>6+N'>96d2=y6HT3?¿h?@.]?`[?@.Ŀ?TX ZG٣^AYGy^ ^> fNusing accuracyPremultiplier from config`f59b>?j5Yb ibh™hj=jAbEb;bI;b5p rO@pZj  DNOT Ignoring new targets: 93.50 m.BjܳJjܳ]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255478 ProNav: ac range: 93.500000 m, nav range: 21.593990 m, bearing: 291.347424 deg, approach rate: -0.150902 m/s, LOS rate: -1.257965 deg/s, cmd heading: 359.713716 deg, new cmd heading: 358.407424 deg. 2jWHeadingCmd: 6.255390 target range: 93.500000 and range: 93.50 m. j',@jjjihhhh Ifffrfbf =I@ɛAEF> AEm ?II M=ɚIiIIM =Iu iyi}״!>)}',@)yES,=)= c~GtA- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511803= A*F= ?2F :F BF p0JF Y tAy BG >J J J J J ܫ:J :J J Gy B O >\~w,yuAN@YN>Nѵ$>9N<&=yNHyF?< ?J?@?`7@Ŀ`z??ɨN@Nf;N$CyZ\BZ$I  @ @ @  @ I!I!٢-ʽ 5B=95ĻQ 5>99 =G٣9yE E> MbBottom track data is 0.4 s old, using for 20.0 s. MNusing accuracyPremultiplier from configIU59M}O?U5YM iMh‘]+:Y]:](_=eAMEME;M>M&5i m@iZjDNOT Ignoring new targets: 93.50 m.Bj*Jj* ProNav: ac range: 93.500000 m, nav range: 21.532927 m, bearing: 290.847352 deg, approach rate: -0.144922 m/s, LOS rate: -1.190168 deg/s, cmd heading: 358.407428 deg, new cmd heading: 356.903321 deg. 2j3LHeadingCmd: 6.229138 target range: 93.500000 and range: 93.50 m. jUU@jQjQjQiQhYhYhYhYfafafarfabfe<@ɛ[B#= ?I ]Ȳ=ɚiI =I`]i io,>)U@)E!E!*E!"E!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763308 c$?IzKuk3IKu9KqKu'KuBK:K*FU?2FQ:FQBFU/1JFQZH RH @AH I  I a$II BI " =&I .I 6I N<:I ; FG= 5>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M BDAT read: Rx Time:00:02:05.4321 M TRx dataTimestamp_ set to:1736380926.565917U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017682GY GY G1 B9 O >7Jw,Af<@Yf`>f!>9f=yfHX?澿`7??þ?,%Ŀ;g??ɨf<@f{Ȍ;f"Cy~=B#II5I5̍٢M6  m6=9uʻQ u>yy G٣y< > bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59a?5Y^ ih‘ ::r&=AE <c?x5-GB -@5EZjyDNOT Ignoring new targets: 93.50 m.BjJj񤼝 ProNav: ac range: 93.500000 m, nav range: 21.465216 m, bearing: 290.299979 deg, approach rate: -0.142261 m/s, LOS rate: -1.153639 deg/s, cmd heading: 356.903312 deg, new cmd heading: 355.256493 deg. 2jEHeadingCmd: 6.200396 target range: 93.500000 and range: 93.50 m. ji@jjjihhhhf)f)f)rf)bf5i @ɛ ZB n = >I =ɚiI]; =I]iyi}l8>)}i@)*F?2F:FBF25JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267803 qIyGe>GBO>y0w,OA@Y=ht>9X=yH ll?  + ?k??DZVÿa?@*?ɨ@<;騅!Cyޝ"Bޝ#Iia>I<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519585JJJ1JJl:J:J3J e e ee ee  e e mMb@Mb@Mb@iii i)iYm?`"~jtxym?mmĻm@ m@)m`@Im@iym @II)٢ֽ  =9ջQ > G٣BYGyU > Nusing accuracyPremultiplier from config59v?5Y: ii‘T:?:A¯E~C;,7;5 [@EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.50 m.BjӲJjӲ  ProNav: ac range: 93.500000 m, nav range: 21.348476 m, bearing: 289.697772 deg, approach rate: -0.241141 m/s, LOS rate: -1.250719 deg/s, cmd heading: 355.256498 deg, new cmd heading: 353.440639 deg. 2j VHeadingCmd: 6.168703 target range: 93.500000 and range: 93.50 m. jf@jjjihhh!h%yBf!f!f)rf)bf-) @ɛYe:= aet>Ia e b=ɚiiiImx =Imuiqiu!F>)uf@)q*F?2F:FBF 5JFG GqA m d$?Ii u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iu A DAT read: 00:02:05.4321 LVL= 13616, 24369, 19810, 28611, AGC= 58, IDX= 434,-0.17, 1.864, 0.288, 0.043, 0.969, PHS= 0.984,-0.633,-0.928, RAW= 81.8, 6.5, CAL= 87.0, 7.2, ROT= 63.0, -7.2  Ygot valid direction response: 00:02:05.4321 LVL= 13616, 24369, 19810, 28611, AGC= 58, IDX= 434,-0.17, 1.864, 0.288, 0.043, 0.969, PHS= 0.984,-0.633,-0.928, RAW= 81.8, 6.5, CAL= 87.0, 7.2, ROT= 63.0, -7.2  PDAT read: Bearing 63.0, -7.2 (Local)  ~Local bearing/azimuth received: Bearing 63.0, -7.2 (Local)  DAT read: Range 10 to 50 : 93.0 m (Round-trip 124.0 ms) speed 0.1 m/s  ,DAT read: user:3596>  BDAT read: Tx time:00:02:06.5540  $Ping request sent. Iu L?iu q q u ?JY)t>Z?)u *Iu Qiu {@u şq q 5 :publishing transmit ping time 5 Fpublishing direction and range infoq 9u MȿyV?,{Y?yq q q q q )q Iq iq q q q q q )q Iq iq q q u ?JY)t>Z?)q Iq iq q q q zK} K} 9Ky K} 'K} G V+>G B O >w,N*AH`I` Ib $IIb^BI`&I`.I`6IbG<:Ib7 FBIJIRIZIbI" =jI`4@Y@=9>9Ii m=ɚiiiImZP=Iu iqiu*K>)}@)yEJ@AJ@A*F2F:FBFO0JFG}n3>GIBQO}> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A2r@Y2@=2>92 hh jG٣hynI r> vNusing accuracyPremultiplier from configpv59rΔ?z5Yr ir?i™xz'zArįEr:r:r5HB 7@EZj15DNOT Ignoring new targets: 93.00 m.Bj*zJj*z ProNav: ac range: 93.000000 m, nav range: 3.850571 m, bearing: 325.501073 deg, approach rate: -0.504007 m/s, LOS rate: -3.499369 deg/s, cmd heading: 352.060024 deg, new cmd heading: 348.502459 deg. 2jHeadingCmd: 6.082515 target range: 93.000000 and range: 93.00 m. j@jjjihhhhf!f!f!rf!bf-!?ɛy}= y}>I Wn=ɚiI=Ih2ii[>)@)*F)2F):F)BF-^0JF)G|C>GBOUT>EWill construct direction to contact in vehicle frame from tetrahedron phase data.M=M8?JM JM JI JI JM ܫ:JM :JI JI & w,AyrBr#I)t tuMb@Mb@Mb@qqq q)qYuL7A`?nyu+?uVuu@ ub@)uI@Iu@qyu@II4٢t ==9Q > G٣CYGy > Nusing accuracyPremultiplier from config59?5YЯ ici™ ?:2<AƯED;;5  @ZjDNOT Ignoring new targets: 93.00 m.BjJj  ProNav: ac range: 93.000000 m, nav range: 3.638990 m, bearing: 324.011265 deg, approach rate: -0.490959 m/s, LOS rate: -3.657586 deg/s, cmd heading: 348.502452 deg, new cmd heading: 343.784391 deg. 2j%HeadingCmd: 6.000170 target range: 93.000000 and range: 93.00 m. j%d@j!j!j!i)h)h)h)h5^B =e$?I=hfAfAfArfIbfM&?uWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ5YB5= 15>I1 5l=ɚ9i9I=-7=IEayiAiE >)Ed@)AzKK9KK'K*F!2F!:F!BF%_0JF!jHbH<HI I#II!BI&I.I6I;<:I/ FGM TE>G! - Will construct direction to contact in vehicle frame from tetrahedron phase data.B9 O] >*J R="J a= w,)AZ 0@YZ=Zy>9Z G٣yiѽ > %Nusing accuracyPremultiplier from config-599?-5Y ii™)-)d5AȯE 7;^7;P59 =b@AZjauDNOT Ignoring new targets: 93.00 m.BjuJju ProNav: ac range: 93.000000 m, nav range: 3.448512 m, bearing: 322.646286 deg, approach rate: -0.494230 m/s, LOS rate: -3.736955 deg/s, cmd heading: 343.784403 deg, new cmd heading: 339.471854 deg. 2jJ HeadingCmd: 5.924901 target range: 93.000000 and range: 93.00 m. j˘@jjjihhhhfffrfbf %?ɛ{G= ɘ>I 4i=ɚiI=IZii)˘@)*F?2F:FBF1JFG}\J> -f$?I)G9BIO]4>Will construct direction to contact in vehicle frame from tetrahedron phase data. w,CArWill construct direction to contact in vehicle frame from tetrahedron phase data.5X@Y5<5! >95!;y5Hӱ? Aֆ?@:8??2!Lc?ײ?ɨ5X@5;5$CyMBM#I%Mb@Mb@Mb@!!! !)!Y%|?5^?ʡE~jth?y% ?%ケ%D;%@ %@)%AI%j@!y%@I=I=Ƴ٢Ud; U7=9]惻Q ]>aa eG٣ayeGA m> uNusing accuracyPremultiplier from configq}59u͌?}5YuM iui™}?}:}F}AuʯEu;u;uC5 U@ZjDNOT Ignoring new targets: 93.00 m.BjtJjt ProNav: ac range: 93.000000 m, nav range: 3.225305 m, bearing: 320.674471 deg, approach rate: -0.499054 m/s, LOS rate: -4.712825 deg/s, cmd heading: 339.471849 deg, new cmd heading: 333.173764 deg. 2j%JHeadingCmd: 5.814979 target range: 93.000000 and range: 93.00 m. jO@jjajaiahahihihmBfqfqfqrfqbfu`?ɛXB= <>I =ɚiI=I]ƾii)O@)!*F2F:FBF0JFGCx>GqByO> IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK] JK] @9KY K] 'K] %>;2+#  ' w,1z]AH2=>I0 I2#II2BI0&I0.I06I2h<:I2P FyUB]#Iiu>Iu>}AyII٢ U=9Q > G٣DYGy > Nusing accuracyPremultiplier from config59ߌ?5Yd ii™A̯E;;5) 5k@5EuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 93.00 m.Bj綽Jj綽 ProNav: ac range: 93.000000 m, nav range: 3.037782 m, bearing: 318.759400 deg, approach rate: -0.472008 m/s, LOS rate: -5.116981 deg/s, cmd heading: 333.173759 deg, new cmd heading: 327.097907 deg. 2j{[HeadingCmd: 5.708935 target range: 93.000000 and range: 93.00 m. j@jj j i hhhh!fafifirfibfm@Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ1=lx= 9] >Ia eN=ɚaiaIeZ\=Im0Uiiii)m@)qJAAJJJJ/JJ:J:J(N3JJ;aJ;aJnN;aJoN;a*F=?2F9:F9BF=3JF9G} >  g$?I Gq B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499054O >, w,AwA6@Y6Q@6>96Xly6H$???`螿'?vu?@pႿ ?ɨ6@6;6"Cy<<I I W٢%: %T=9-Q ->)) 5G٣1y5) 5> ENusing accuracyPremultiplier from configAM59Ez?M5YE iEi™QUuUAEͯEEL:E:E5]IB ]p@]EZjDNOT Ignoring new targets: 93.00 m.BjsϽJjsϽ ProNav: ac range: 93.000000 m, nav range: 2.847211 m, bearing: 316.745871 deg, approach rate: -0.514946 m/s, LOS rate: -5.803782 deg/s, cmd heading: 327.097896 deg, new cmd heading: 320.681283 deg. 2jxHeadingCmd: 5.596944 target range: 93.000000 and range: 93.00 m. j+@jjjihhhhfffrfbf@ɛWB:= >I Y=ɚiI=I ii)+@)*F2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754548G5 >G B O= >$ w,Ay IMb@Mb@Mb@ )YQ?ˡEQ?y\?什u<@ C@)I@y@IIʴ٢] ?=9Q > G٣y > Nusing accuracyPremultiplier from config59o? 5Yܵ ii™ ? : 4 AϯE!;;|5 w@ZjAEDNOT Ignoring new targets: 93.00 m.BjM%JjM%]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYeBDAT read: Rx Time:00:02:09.0814 eTRx dataTimestamp_ set to:1736380930.345143mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004475u ProNav: ac range: 93.000000 m, nav range: 2.649066 m, bearing: 313.899439 deg, approach rate: -0.462505 m/s, LOS rate: -7.138095 deg/s, cmd heading: 320.681288 deg, new cmd heading: 311.584265 deg. 2j}HeadingCmd: 5.438171 target range: 93.000000 and range: 93.00 m. j@jjjihhhhBfffrfbf>@ɛVBR= `>I r=ɚiI=In!ii)@)zK WMK 59K K 'K    *F2F:FBFJF ZHiRHiHqIq Iu#IIuBIq&Iq.Iq6Iu_<:IuJ FGm > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255843Gi By O >J J J 0J J ,:J :J ـ3J J ;J ;J J;J J;?* w,ABhW@YBf@B[>9BpmռyBHԞ?b??V=?!?ΗIs?ɨBhW@B;@yNBN#I)P P V=V=IZIZ٢^L= b^=9b5$Q b>dd fG٣fEYGyf j> rNusing accuracyPremultiplier from configpv59r|?v5Yr irj™tzizArѯErP:r:r5}FB }@}EZjDNOT Ignoring new targets: 93.00 m.BjJj= ProNav: ac range: 93.000000 m, nav range: 2.477475 m, bearing: 311.281354 deg, approach rate: -0.442604 m/s, LOS rate: -7.218316 deg/s, cmd heading: 311.584269 deg, new cmd heading: 303.248268 deg. 2jEΚ}HeadingCmd: 5.292681 target range: 93.000000 and range: 93.00 m. j}]@jyjyjyiyhhhhfffrfbf6w @ɛUB= >I r=ɚiI%:%=I%d7i)i))-]@)I i$?I*F?2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 92.4 m (Round-trip 123.2 ms) speed 0.1 m/s ,DAT read: user:3597> BDAT read: Tx time:00:02:10.1541 $Ping request sent.GA BI Om >E NGY q Y y 5B^=1 w,"3ŀARWill construct direction to contact in vehicle frame from tetrahedron phase data.^JDAT read: TxSync time:00:02:10.1533 yށށ-Mb@Mb@Mb@))) )))Y-Cl?/$~jt?y-?--<-C@ -@)-~AI-@)y-@IEIE٢Mк M&=9UQ U>QY ]G٣Yye e> mNusing accuracyPremultiplier from configiu59m-?u5Ym im#j™u ?u:u1}AmӯEm;mb;m?5 @ addTargetRange:: Added new target pos. range: 92.400002 m, deltaT: 3.526331 s, deltaX: -0.599998 m, approachRate: -0.170148 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 93.00 m.Bj=Jj= ProNav: ac range: 93.000000 m, nav range: 2.279500 m, bearing: 306.650296 deg, approach rate: -0.418511 m/s, LOS rate: -10.628540 deg/s, cmd heading: 303.248269 deg, new cmd heading: 288.499535 deg. 2j㾝HeadingCmd: 5.035267 target range: 93.000000 and range: 92.40 m. j @jjjihhhhBfffrfW@bfP1?ɛ%TB-B= )-b>I) -=ɚ)i1I5Qg=I5zOi9i9)= @)A*F?2F:FBFZ0JF QIQEWill construct direction to contact in vehicle frame from tetrahedron phase data.G >zK F5LK 9K K 'K  &'('&#"    )2:CDIT]eipty|~RK >JK >G B O >H5 >>I5 C I5 #II5 BI5 ! =&I1 .I1 6I5 R<:I5 A F d7 w,ހA5H@Y5ʮ@5X>95T!ռy5H`q?@ ? Ë?@R[?R??9l`?ɨ5H@5;5!CyM BM#II]I]b(٢mP= mp=9mQ u?qq }G٣yy}! }? Nusing accuracyPremultiplier from config59k=?5Yָ i6j™1AկE#;ƒ;5GB @EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.00 m.BjAJjA ProNav: ac range: 93.000000 m, nav range: 2.144720 m, bearing: 303.139999 deg, approach rate: -0.391459 m/s, LOS rate: -10.829332 deg/s, cmd heading: 288.499541 deg, new cmd heading: 277.452804 deg. 2j@辝 HeadingCmd: 4.842465 target range: 93.000000 and range: 92.40 m. j y@j jjihhhhfffrf!bf%?ɛ]SB]== ae>Ii =ɚ i I "=IOcii)y@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF`0JFJmJmJiJiJm\:Jm:JiJiJmj;Jmk;JmDG;JmEG;GA G! B) E j$?IA OU >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003797Z= w,AFۼ@YF_@Fk>9FͼyFHIV??d?`QĿ?}s?@~@q?ɨFۼ@F;F"CyRBR#IiVC=IVx>IZIZ٢b bV=9fSQ f>dd jG٣jFYGyj j> vNusing accuracyPremultiplier from configpv59rO?z5Yr irJj™xzJzAr֯Er;rD;rh5| +@Zj)-DNOT Ignoring new targets: 93.00 m.Bj5Q]Jj5Q]=ProNav REINIT: LOS rate is -12.383343 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.EHeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. jEV?jAjAjAiAhIhIhIhIfQfQfQrfQbfUS?ɛRB= ˱>I %=ɚ!i!I%=I-kri)i))-V?))*F?2F:FBF1JFG GpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259622G>GBO>sD w,ũA>>"@Y>1@>a>9>Syy>H@s7??_?`'ǿx?`}&?ɨ>>"@>TG;>#CyFBF#I pIp5Mb@Mb@Mb@111 1)1Y5K7?Q?~jt?y5I ?5<15p@ 5@)5 AI5@1y5@IUIU?1٢e4= e@=9mҺQ m>ii uG٣qyuZ }> Nusing accuracyPremultiplier from config59b?5Y i_j™ ?:AدE;;C5 @EZjDNOT Ignoring new targets: 93.00 m.BjJjProNav REINIT: LOS rate is -14.432055 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. jjjjihhhh,BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507723fffrfbft?ɛQBM= >I N=ɚiI=I0~ii))zKmNKms9KiKm'Km~zrfO>31.,++)'$$&&#!!#!"! ! +>DD@>BFV/578BKy:Ky*F?2F:FBFP5JFjHbH<HI I#II BI&I.I6I<:I FBIJIRIZI" =bIjI25G>G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761186B O >J J J J J ̝:J 9J J J ;J ;J Z5;J [5;pJ w,,A6qd@Y6s@6>96Ny6H?o#?^?@ ʿ .S?k@)`J|:?ɨ6qd@6AQ;6!CyBBB#IIJIJ٢V VW=9ZRV;Q Z>X\ ^G٣\y^Yy b> fNusing accuracyPremultiplier from config`f59bs?j5Yb ibsj™hjjAbگEb:b:b5rHB r@r޴EZjamDNOT Ignoring new targets: 93.00 m.Bjm Jjm uProNav REINIT: LOS rate is -15.448081 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. jjjjihhhhfffrfbf?ɛ}PB}= y}`>Iy ޻=ɚiIc=Iii)) k$?I*F?2F:FBF5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013204GG B O >DQ w,HmFAFWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266867@Y@It>9S:yH3?o?`nͿ?o+Ϳ@i$? ζb \Y??ɨ@f;#CyB#I) Mb@Mb@Mb@ )Y{Gz?x&?~jt?y?7=D<@ @)AIK@yf@II=س٢ -=9Gs;Q > G٣GYGy7[ > Nusing accuracyPremultiplier from config59T?5Y4 ij™?:нAܯE;g;5 @ZjDNOT Ignoring new targets: 93.00 m.BjJjProNav REINIT: LOS rate is -16.513636 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. jjjjih hhhLBfffrfbf@.@ɛNB<= 隕ʰ>I =ɚiI-=Iii)) m$?I*F2F:FBF05JF"GV>GR>-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-A5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515885G >zK ̄NK 9K K 'K 64/&{wwtnkhb\YURQPLHHGFEC?<:;84310/--+.-+G B H @>I  I #II BI =&I .I 6I <:I  FO >RW w,X7`Ab ʹ@Yb@b>9bɒy G٣y͌ > Nusing accuracyPremultiplier from config59㗍?5YӼ ij™AݯET ; ;5 @۴EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.00 m.BjקJjקProNav REINIT: LOS rate is -18.782602 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. jjjjihhhhf1f1f9rf9bf=&@ɛMBz= 隥>I j=ɚiIA=Ic}ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768330*F2F:FBFP0JFJJGI I G! B1 OM >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:00:02:12.6805 M TRx dataTimestamp_ set to:1736380933.872626M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020719H] w,zAN@YN@Nע>9NVpp vG٣tyvˍ v> zNusing accuracyPremultiplier from configx~59zm?~5Yz izj™+Az߯Ez& ;z ;z>5  +@ ZjDNOT Ignoring new targets: 93.00 m.BjɢJjɢProNav REINIT: LOS rate is -18.216909 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 92.40 m. jjjjihhhhfff rf bf  @ɛLB== 隥l>I j=ɚiI=Irii))*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275916JJJJJJ9JJa@a@a@a@GG B O >d w,kA &n$?I$:#@Y:w3@:/ >9:uI4<Mb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 91.7 m (Round-trip 122.3 ms) speed -0.1 m/s  ,DAT read: user:3598> BDAT read: Tx time:00:02:13.7541 $Ping request sent.=;@ @)AIx@yG@II³٢ ,=9=;Q >   G٣ HYGyUS U> ]Nusing accuracyPremultiplier from configYe59]?e5Y] i]j™e>e:e2mA]E];];]Y5IB 4@شE addTargetRange:: Added new target pos. range: 91.699997 m, deltaT: 3.527951 s, deltaX: -0.700005 m, approachRate: -0.198417 m/s, rangeRepo size: 4 ZjMDNOT Ignoring new targets: 93.00 m.BjM֘JjM֘UProNav REINIT: LOS rate is -17.103466 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.]HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. jYjYjYjYiYhahahhPBfffrfV@bfi?ɛKB= >I =ɚ i I =I]ii))zK%NK%}9K!K%'K%')(### !!"   $f=ZHRHHI I#II BI =&I.I8D6I<:I F*F?2F:FBFW0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:02:13.7533 G] >*J C="J p=G1 BA O} >aj w,\A6vI@Y6X@6A >96'EXI O=ɚiI%=I-/OMi)i))1)1E9 o$?I*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G>GBO>q w,ǁA&Will construct direction to contact in vehicle frame from tetrahedron phase data. $@Y @ >9  h}=ףI@ @) AI@y@II٢޽ *=9 6 G٣yM > %Nusing accuracyPremultiplier from config-59ۍ?-5Y ik™->-:-5AEK;;59 =J@=մEZjimDNOT Ignoring new targets: 93.00 m.Bju6Jju6}ProNav REINIT: LOS rate is -16.026503 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.}HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. jyjyjjihh!h)h-IBf)f)f)rf1bf5S?ɛIB= 隅6>I =ɚiI=I"3iiy>)) I *F92F9:F9BF=0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >zKU QNKU K9KQ KU 'KU 7eJ"+BerfTF:-# Hm C>Ii  Im #IIm BIm =&Ii .Ii 6Im <:Im FV x w,Ay B "I)  a=a=I]I]#٢m^= mi=9uQ > G٣y > Nusing accuracyPremultiplier from config59=鍜?5Y i'k™AE;;l5 ]@B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.00 m.Bj߈Jj߈ProNav REINIT: LOS rate is -15.316799 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. jjjj i h h hhfffrfbf?ɛIU= Y](=IY eվ=ɚaiaIe50=IulF!iyi}GF>)y)yUWill 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.*F12F1:F1BF=05JF9G%>JIJMBAGB O%M> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508799i6~ w,A:æ@Y:E@:>9:.tt vG٣vIYGyzp z> Nusing accuracyPremultiplier from config| 59~? 5Y~F i~Ck™A~E~>J;~|j;~5%JB %9@-ҴEZjq}DNOT Ignoring new targets: 93.00 m.Bj}}Jj}}ProNav REINIT: LOS rate is -14.193475 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. jjjjihhhhfffrfbf'?ɛHB3= q=I =ɚiI=I ii=))) &= G5tA*F2F:FBFP0JF HY5tAyBuX!@u+BmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763387GUy>JJJ1JJ:Jb9J3JG) B9 OU > p$?I  w,zA2׳@Y2@2S>92J/et G٣yr > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.01286959 ?5YR ikk™>:nξAE7z;x;5 @Zj  DNOT Ignoring new targets: 93.00 m.BjzJjzProNav REINIT: LOS rate is -14.035413 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.%HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. j!j!j!j!i!h!h!h)h-Bf)f)f1rf1bf=-A@ɛeGBe= ae`RjH<bH4=zKmMKm9KiKm'Km !7HH>2$ HE>IC IA#IIBI =&I.I6IF<:I? FGBOD>u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827#J w,Z/A6@Y6@6v>96`)Ibp=jAhInIn٢ E  T=9 J G٣yy > -Nusing accuracyPremultiplier from config!-59%?-5Y%H i%k™15۾5A%E%X ;% ;%59 E,@EϴEZjiuDNOT Ignoring new targets: 93.00 m.Bj}jJj}j}ProNav REINIT: LOS rate is -13.144166 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. jjjjihhhhf1f1f1rf1bf=@}@ }q$?Iyɛ\= V=隥XvI پ=ɚiIU=I2ii +))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516838G^E>GYBiO\>4 w,?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773157J=J=J9J9J= :J=9J9J9y B _"IMb@Mb@Mb@ )Y +?ktV-y> 0v@ v@) AI@y @IIʴ٢%A -!=9-Q ->)1 5G٣5JYGyE E> MNusing accuracyPremultiplier from configIU59M%?U5YM iMk™U5>U:U]AMEM3;M;M5a ex@aZjDNOT Ignoring new targets: 93.00 m.BjfJjfProNav REINIT: LOS rate is -12.919731 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. jjjjihhhhڃBfffrfbf@_e@ɛEB>= I =ɚiI]=Iii))  I*F?2F:FBFJFG >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023674GiBqO>H J>I  I "II tBI &I .I 6I B<:I BIʠCJIʠCRIZI =bI =jIu5zK gAMK 9K K 'K "$#$#!$$%&#"#!  RK ?JK ?Z w, cAF@YF,ͷ@FF!>9F?k qIq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524799l w,3}Ay5B5"I)9 9IEIE%x٢}ֽ }/=9}Q > G٣y > Nusing accuracyPremultiplier from config59Q>?5Y/ il™AE:z:)5 @δEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 93.00 m.BjUJjUProNav REINIT: LOS rate is -11.946851 deg/s. Setting heading cmd to target acoustic bearing of 107.133356 deg.HeadingCmd: 1.869830 target range: 93.000000 and range: 91.70 m. jjjjihhhhfffrfbf} @ɛCBg= 隽#I pͽ=ɚiIr=I%Zi)i)))))%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:02:16.2812 LVL= 16560, 16881, 17506, 19891, AGC= 57, IDX= 440, 0.16,-0.159,-0.786,-2.563,-1.110, PHS= 1.039, 0.371,-1.456, RAW= 45.0, 0.4, CAL= 44.8, -1.4, ROT= 105.2, 1.4 Ygot valid direction response: 00:02:16.2812 LVL= 16560, 16881, 17506, 19891, AGC= 57, IDX= 440, 0.16,-0.159,-0.786,-2.563,-1.110, PHS= 1.039, 0.371,-1.456, RAW= 45.0, 0.4, CAL= 44.8, -1.4, ROT= 105.2, 1.4 PDAT read: Bearing 105.2, 1.4 (Local) ~Local bearing/azimuth received: Bearing 105.2, 1.4 (Local) DAT read: Range 10 to 50 : 92.2 m (Round-trip 123.0 ms) speed -0.4 m/s %,DAT read: user:3599> EBDAT read: Tx time:00:02:17.4041 M$Ping request sent.MEu.=-5^-I?-; -+H?)-+ȼI-?i-+<))-G?Ω$.8}?)-”I-K7i->?-d5)) :publishing transmit ping timeA Fpublishing direction and range info)9-Տb_x K?qG5 >))I)i)))-G?Ω$.8}?))I)i)))) E r$?IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:02:17.4033 GE7E=G!B)OE? w,T:A6:@Y6@64#>96[=y6HT?`?`W?x ?``PĿ<??ɨ6:@6W;6$Cy>BB!IMb@Mb@Mb@ )YˡE?A`"ly?ٽQA I@) AIyQAI-I-<٢=u =2=9EW;Q E>AA EG٣MKYGHT>IC Iy"IIBI =&I.I:D6Id<:Ic FyS > Nusing accuracyPremultiplier from config59M?5Y iRl™ ?:UEAE;R;>5 <@kme¾?kmǡ ki kmYA:kmfBBkm%BZkm[?"m5w PQ@8M@zKmMKm9KiKm'KmBKq:KuoAmՏb_x K?q?Rkmd5*m)JXF@]QnI@B̒xO@m2٩?u?˓ަ?"kmwKB*km0Bkm؜?km 2kmCkikmɿ kikmFAkmT? addTargetRange:: Added new target pos. range: 92.199997 m, deltaT: 3.781605 s, deltaX: 0.500000 m, approachRate: 0.132219 m/s, rangeRepo size: 4  Added new target pos. range: 92.199997 m, bearing: 49.027707 deg, lat: 36.904813 deg, lon: -122.120502 deg, deltaT: 10.835887 s, deltaX: -0.800003 m, approachRate: -0.073829 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 92.20 m.BjJjProNav REINIT: LOS rate is -11.946851 deg/s. Setting heading cmd to target acoustic bearing of 49.027707 deg.HeadingCmd: 0.855695 target range: 92.199997 and range: 92.20 m. j%[?j!j!j!i)h)h)h)h5Bf1f1f1rf5 W@bf=?ɛBBz= 隥I  =ɚiI=Iii)[?)E X==Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFU_0JFQG-i'=GBO5>JMJMJM0JIJM̈́:JM9JMـ3JIJM;a]JM;a]JM\ ;a]JM\ ;a] 9 I= h w,A6>@Y6$N@6ݘ!>96&*=y6H`S?? K? #{?Ŀ?9?ɨ6>@6ɘ;6#CyRqBR!IIZIZ(٢(< N=9Q >! %G٣!y% %> -Nusing accuracyPremultiplier from config)=59-Y?=5Y- i-l™9EHEA-E-/;-/;-5MKB M@M˴EZjquDNOT Ignoring new targets: 92.20 m.Bj}=Jj}= ProNav: ac range: 92.199997 m, nav range: 8.627740 m, bearing: 104.764475 deg, approach rate: 0.478449 m/s, LOS rate: 1.860028 deg/s, cmd heading: 49.027706 deg, new cmd heading: 51.044273 deg. 2j=HeadingCmd: 0.890891 target range: 92.199997 and range: 92.20 m. jid?jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.ihhhhfffrfbf@7?ɛAB|= .}=ϾI =ɚiIg=I=ii)id?)EE*E"E*F?2F:FBFl0JFGg\=GBO >M Will construct direction to contact in vehicle frame from tetrahedron phase data. w,ЂA:@Y:V@: >9:/X=y:H`3"?@ 1?l?E?3ÿ@٭?`%?ɨ:@:}ה;:"CyBVBF!IiJa=IJC=-Mb@Mb@Mb@))) )))Y-M?(\¿I +y-n?-z-94-A -@))I-@)y-A9=BAIEIE+٢M& UG=9UQ U>YY ]G٣Yye޼ e> mNusing accuracyPremultiplier from configiu59mf?u5Ym9 iml™u{?}:} Y}AmEm;m;m 5 R@ZjDNOT Ignoring new targets: 92.20 m. s$?IBju?<Jju?< ProNav: ac range: 92.199997 m, nav range: 8.839986 m, bearing: 105.453076 deg, approach rate: 0.515216 m/s, LOS rate: 1.631371 deg/s, cmd heading: 51.044275 deg, new cmd heading: 53.059597 deg. 2j=HeadingCmd: 0.926065 target range: 92.199997 and range: 92.20 m. jm?jjjihhhhoBfffrfbf:?ɛ5?B5z= 1=I9 ==ɚ9i9I=1Z=IER!>iAiA)Em?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JFG|t<GBOd>H^>IC I "IIBI =&I.I;D6I<:I9 FzK- uJK) K) K- 'K- RK5 ?JK5 ?e Will construct direction to contact in vehicle frame from tetrahedron phase data.? w,A^7@Y^ʵ@^>9^a=y^H?@X?!?d p$?ÿm?Ȏ?ɨ^7@^;^$Cyn4Bn`!IIzIz٢p*  M=9 vQ  > G٣LYGyF > %Nusing accuracyPremultiplier from config!-59%ss?-5Y% i%l™15Z5A%E%:%*:%s 59 =AEȴEZjamDNOT Ignoring new targets: 92.20 m.BjmN<JjmN<} ProNav: ac range: 92.199997 m, nav range: 9.047256 m, bearing: 106.084577 deg, approach rate: 0.519950 m/s, LOS rate: 1.547839 deg/s, cmd heading: 53.059597 deg, new cmd heading: 54.910017 deg. 2jȄ=HeadingCmd: 0.958361 target range: 92.199997 and range: 92.20 m. jWu?jjjihhhhfffrfbf ?J@AJ?AJJ~J1JJs:Jf9J3JJ;J;J:J:ɛ>B\= 隝8I =ɚiI=IAu>ii)Wu?)*Fm?2Fi:FiBFm4JFi IGEGGB O%M>Will construct direction to contact in vehicle frame from tetrahedron phase data. w,:A:Ը@Y:Vȵ@:>9:=y:H ?a?@S?~?¿@ÿ;#?`?ɨ:Ը@:;;:"CyF)BFT!IININ٢VV VS=9VQ Z>XX ZG٣Xy^7E ^> bNusing accuracyPremultiplier from config`f59b?f5Yb/ ib/m™djYjAbEb :b:b$ 5p rApB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 92.20 m.Bj*<Jj*<% ProNav: ac range: 92.199997 m, nav range: 9.249277 m, bearing: 106.671297 deg, approach rate: 0.519906 m/s, LOS rate: 1.476930 deg/s, cmd heading: 54.910018 deg, new cmd heading: 56.631185 deg. 2j%f}=-HeadingCmd: 0.988401 target range: 92.199997 and range: 92.20 m. j-}?j)j1j1i1h1h1h9h9f9f9fArfAbfE F?ɛu=BuyV= y} 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.*F)2F):F1BF5O0JF1GzGBO! t$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230084B w,qA:ɮ@Y:ٵ@:>9:o=y:H?`X?? ?dÿ¿` ??ɨ:ɮ@:F;:$Cy^B^=!IHUe>IUC IU!IIUgBIU =&IUFD.IU G٣y; > Nusing accuracyPremultiplier from config59?5Y ium™"?:^AE90;|;15 AzKK@9KK'KZjDNOT Ignoring new targets: 92.20 m.Bj%<Jj%<5 ProNav: ac range: 92.199997 m, nav range: 9.515247 m, bearing: 107.366633 deg, approach rate: 0.564101 m/s, LOS rate: 1.433494 deg/s, cmd heading: 56.631185 deg, new cmd heading: 58.657991 deg. 2j5u==HeadingCmd: 1.023775 target range: 92.199997 and range: 92.20 m. j= ?j9j9j9i9hAhAhAhEnBfIfIfIrfQbfU`$i@ɛ};B}_i[= y}Iy =ɚiIA!=I>ii) ?)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483486ElT=Ee>E!>JE|JExJE0JAJE;g:JE9JEـ3JAJEՊ;JE֊;JE%:JE':*FI 2FI :FI BFM 05JFI "GU >GU ,>G% 4pG) G) I G B! OE >q w,Ad8A6@Y6,@6>96G=y6H5?@ D?? D ?|Ŀ0`]?݆?ɨ6@6;6#Cy>BB!IININq٢V{ Vp=9ZHQ Z?X\ ^G٣^MYGy^*< ^? fNusing accuracyPremultiplier from config`f59b ?j5Yb7 ibm™hjA]jAbEb` ;b ;b5l reApZj DNOT Ignoring new targets: 92.20 m.Bj/<Jj/<% ProNav: ac range: 92.199997 m, nav range: 9.708792 m, bearing: 107.853273 deg, approach rate: 0.573864 m/s, LOS rate: 1.414119 deg/s, cmd heading: 58.657992 deg, new cmd heading: 60.088493 deg. 2j%r=-HeadingCmd: 1.048742 target range: 92.199997 and range: 92.20 m. j5.=?j1j1j1i1h1h1h9h9f9f9fArfAbfE @uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiquchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.734384ɛ}9B}i0= 隅}I  =ɚiIU"=I T&>i i ) .=?))El=*F2F:FBF_0JFMGetAyG. /!YtAy)BGiByO\>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% 2DAT read: Rx Time:00:02 - TRx dataTimestamp_ set to:1736380941.180488- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986968T w,*RA6_"@Y61@6>96 =y6H\??#?@٢?ƿ  X?}?ɨ6_"@6;6"Cy^B^!I AIA]Mb@Mb@Mb@YYY Y)YY]ףp= ?Sſ+y]?]/]]3 A ]@)]AI]@Yy](AImImb٢VA >=9kQ > G٣y< > Nusing accuracyPremultiplier from config59?5Y im™$?:ZAE;^;5 AZjDNOT Ignoring new targets: 92.20 m.Bj<Jj< ProNav: ac range: 92.199997 m, nav range: 9.958425 m, bearing: 108.465736 deg, approach rate: 0.578770 m/s, LOS rate: 1.384364 deg/s, cmd heading: 60.088494 deg, new cmd heading: 61.879205 deg. 2jm=HeadingCmd: 1.079996 target range: 92.199997 and range: 92.20 m. jN=?jjjihhhh`Bfffrfbf@ @ɛ%7B-D= IM!II U=ɚQiQIU,#=I] ?iYiY)]N=?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239138H=l>I=C I=T!II=*BI= =&I9.I==D6I=P<:I=m FE~=*Fi 2Fi :Fq BFu P0JFq zK K 9K K 'K Kn|xkaZV^m|pVHCEJOTVSOKJFB<62.&"" G >nG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.;} w,kADAT read: 00:02:19.9333 LVL= 16688, 15633, 16530, 20595, AGC= 56, IDX= 444,-0.28, 3.081, 2.992, 0.883, 2.216, PHS= 0.954, 0.823,-1.335, RAW= 32.9, -4.0, CAL= 33.3, -7.5, ROT= 116.7, 7.5 "Ygot valid direction response: 00:02:19.9333 LVL= 16688, 15633, 16530, 20595, AGC= 56, IDX= 444,-0.28, 3.081, 2.992, 0.883, 2.216, PHS= 0.954, 0.823,-1.335, RAW= 32.9, -4.0, CAL= 33.3, -7.5, ROT= 116.7, 7.5 &PDAT read: Bearing 116.7, 7.5 (Local) *~Local bearing/azimuth received: Bearing 116.7, 7.5 (Local) .DAT read: Range 10 to 50 : 93.7 m (Round-trip 125.0 ms) speed -0.2 m/s 2,DAT read: user:3600> 6BDAT read: Tx time:00:02:21.0541 6$Ping request sent.:R#Rx 1: Read range and direction messages.J\direction in FSK: [0.101037,0.864482,0.492404]N:publishing transmit ping time4Fpublishing direction and range infoi9mRݹ? >4y֩??ymfBim0Am= m@)msPIm8imX9t?m!R?mHᪿm?m5 m,?)m ImZ@im >iiJzJ{JJJ`:J-9JJJo;Jp;J:J:mh?QbCG챿)mc¿Im=im[+?m7iiM:publishing transmit ping time4MFpublishing direction and range infoi9mRݹ? >4y֩??yiiii i)iIiiiiiii i)iIiiiiimh?QbCG챿)iIiiiiii]@Y]@]=9]Bd>y]H ?l?R?`P8?&>ȿ𪿿`k?i?ɨ]@]ϋ;]!CyB!I  15AAI5I5V٢EE E1=9M0Q M> G٣yU< > Nusing accuracyPremultiplier from config59?5Yo  5v$?IMhi(n™IMVMAEL<X<5]LB ]A]ŴEkmK!V?kmh ki kmHkA:kmfBBkm#BZkmE?"m@4"@}[ @T@qG@mRݹ? >4y֩??Jkm[+?Rkm7*m4uJ@e@J@[K@m‘_ d?$??}?"kmRB*kmgWBkm%t?km g 2kmBkm=>Վ?kmc6y kmCkmAkmX?e addTargetRange:: Added new target pos. range: 93.699997 m, deltaT: 3.526302 s, deltaX: 1.500000 m, approachRate: 0.425375 m/s, rangeRepo size: 4 u Added new target pos. range: 93.699997 m, bearing: 44.275952 deg, lat: 36.904846 deg, lon: -122.120347 deg, deltaT: 3.526302 s, deltaX: 1.500000 m, approachRate: 0.425375 m/s, posRepo size: 4 Zjy}DNOT Ignoring new targets: 93.70 m.BjJj ProNav: ac range: 93.699997 m, nav range: 23.457930 m, bearing: 89.232168 deg, approach rate: 0.000000 m/s, LOS rate: 1.384364 deg/s, cmd heading: 61.879205 deg, new cmd heading: 64.006868 deg. 2jHeadingCmd: 1.117131 target range: 93.699997 and range: 93.70 m. j#?jjjihhhhfffrflW@bf?ɛ%5B%!D= !%=&I) -e=ɚ)i)I-Q$=I)0?ii)#?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:02:21.0534 *F ?2F :F BF JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.G3GBOU? w,Ay%B- IMb@Mb@Mb@ )Y+?MbX9Ŀy?!̼A @)EAI@yAII٢: =9Q > G٣NYGy >  Nusing accuracyPremultiplier from config 59 Ύ?5Y  i nn™$?:RA E &@; f=; 5) ->A)MB*** querying acoustic contact ***jIjIZjY]DNOT Ignoring new targets: 93.70 m.Bje~<Jje~h@= n'I LI=ɚiI&=ICJ?ii)FԒ?)*FI2FQ:FQBFU\0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZHRHAAH%r>I%C I%"!II%BI% =&I!.I%>D6I%<:I%) FBIǦCJIǦCRIǕCZI =bI =jIK6Gu :G) B9 OU >zK WNK K K 'K Q w,1Avn@Yv;~@vg=9v#u>yvH7?@?l|߿?Ͽ EM =? ENusing accuracyPremultiplier from configAM59E܎?M5YE iEn™QU@UAEEE:E:E5Y ]hA]´EZjAEDNOT Ignoring new targets: 93.70 m.BjM<JjM<} ProNav: ac range: 93.699997 m, nav range: 23.857851 m, bearing: 90.192748 deg, approach rate: 0.406966 m/s, LOS rate: 1.039889 deg/s, cmd heading: 65.724165 deg, new cmd heading: 66.862369 deg. 2j}j2=HeadingCmd: 1.166968 target range: 93.699997 and range: 93.70 m. j9_?jjjihhhhfffrfbf@B?ɛ 1B u#= b@= (I CD=ɚiI&=ImTs_?iiii)m9_?)qE}pAEy 5w$?I1*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=1.243017Ge 3GA BI Om >_ w,ăAVH@YVXX@Vn=9Vꮇ>yVH$?3? `޿`-? п?D?ɨVH@Vn;V$CybނBb I fp=dIjIj6٢v vN=9vkQ v>xx zG٣xyz= ~> Nusing accuracyPremultiplier from config 59뎜? 5Yg  in™  "9AE::?5! %sA!ZjIMDNOT Ignoring new targets: 93.70 m.BjU<JjU Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747040" w,-݃AF'@YF^7@Fnv=9F+>>yFHސ?@t?زܿ`;?.ѿ`ɮ@c?[?ɨF'@Fq7;F&Cy^Bb I}Mb@Mb@Mb@yyy y)yY}n?L7A`/$y}?}+}}A }Z@)yI}v@yy} AII³٢&< ?=9Q > G٣OYGy\= > Nusing accuracyPremultiplier from config59?5Y in™?:8+A E;0;5MBHu>IC I !IIBI =&I.I6I<:I RAEZj!%DNOT Ignoring new targets: 93.70 m.Bj-<Jj-<= ProNav: ac range: 93.699997 m, nav range: 24.185995 m, bearing: 91.108467 deg, approach rate: 0.371855 m/s, LOS rate: 1.076670 deg/s, cmd heading: 68.196154 deg, new cmd heading: 69.590294 deg. 2j=8=EHeadingCmd: 1.214580 target range: 93.699997 and range: 93.70 m. jEYw?jAjIjIiIhIhIhQhUBfQfQfYrfYbf]?ɛ-B0= 隕 %I '=ɚiIwT'=I2c?ii)Yw?)zKRKK+9KK'KRK ?JK?*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000768G G B) OU >  I 'L w, Ay9= IIeIem٢~ L=9Q > G٣y > Nusing accuracyPremultiplier from config59 ?5Yy io™A E;:5LB SAEZj DNOT Ignoring new targets: 93.70 m.Bj ך<Jjך<% ProNav: ac range: 93.699997 m, nav range: 24.339117 m, bearing: 91.544819 deg, approach rate: 0.382444 m/s, LOS rate: 1.082986 deg/s, cmd heading: 69.590291 deg, new cmd heading: 70.890876 deg. 2j%9=-HeadingCmd: 1.237279 target range: 93.699997 and range: 93.70 m. j-*_?j)j)j)i)h)h1h1h1f9f9f9rf9bf=@@ɛm*Bmi(=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267177 Y]O$IY e=ɚaiaIe'=I?ii)*_?)E|=Ea>E>*Fi 2Fi :Fi BFm 0JFi Gq  Gq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519231JU xJU qJQ JQ JU Z:JU q9JQ JQ G y$?IGBO>!w,YAyMb@Mb@Mb@ )YS㥛?RQMby$?½(A C@)I7Ay AII٢: #=9Q > G٣PYGy > Nusing accuracyPremultiplier from config59k?5Y i8o™d?:! A E;F; 5MB TAE=B*** querying acoustic contact ***jAjAZjIUDNOT Ignoring new targets: 93.70 m.BjU<JjUII IM!IIMBIM =&II.II6IM<:IMN F*F12F1:F1BF5P5JF1zKk3IKs9KK'K   &5Gb   PExceeded connect timeout, disconnecting.G G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:02:23.5842 % TRx dataTimestamp_ set to:1736380944.724750% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024224O= >V !w,0A*J2R="J0vCǵ@Yvּ@v?K<9vY>yvHï??7`׿/?@\ҿ@?t?ɨvCǵ@v;v#Cy~ނB~ IIIͳ٢E: UV=9UʽQ U> G٣yS> > Nusing accuracyPremultiplier from config59-? I 55Yl iNo™9=K =AEOJ<hJ<!5A EsAAZjDNOT Ignoring new targets: 93.70 m.Bj<Jj< ProNav: ac range: 93.699997 m, nav range: 24.616407 m, bearing: 92.442610 deg, approach rate: 0.283386 m/s, LOS rate: 0.997463 deg/s, cmd heading: 72.340043 deg, new cmd heading: 73.568302 deg. 2j#+=HeadingCmd: 1.284009 target range: 93.699997 and range: 93.70 m. jiZ?jjjihhhhfffrfbf l @l5JTimed out from 2025-01-08T23:52:24.8Zq65l=fCompleted lineCaptureHoming:MicromodemComms:CheckIn16= l=Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInk=VCompleted lineCaptureHoming:MicromodemCommsɛ}%B}<&= }8=}#Iy =ɚiIԐ'=I R?ii)iZ?)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275085Ee?=*F 2F :F BF 0JF G G G qA-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526973GBO>!w,GPAJvwJvJv1JtJvW:Jv9Jv3JtIY]@Y] @]s.<9]>y]H?v?ʸtTֿ@i?ۂҿ@3څd? y?ɨ]@];]"CyލBލ IMMb@Mb@Mb@III I)IYMT㥛 ?v/~jtxyM?MxiMĻMt-A M-@)M/AIM AIyMAI]I]٢}; } =9}Q }> G٣y3= > Nusing accuracyPremultiplier from config59C?5Y i_o™?:뾑AE; ;V$5 lAEZjDNOT Ignoring new targets: 93.70 m.Bj<Jj< ProNav: ac range: 93.699997 m, nav range: 24.759718 m, bearing: 93.039956 deg, approach rate: 0.252545 m/s, LOS rate: 1.046545 deg/s, cmd heading: 73.568302 deg, new cmd heading: 75.349361 deg. 2j3=HeadingCmd: 1.315094 target range: 93.699997 and range: 93.70 m. jU?jjjihhhhƄBff!f!rf!bf% @5k nAggregate::initialize lineCaptureHoming:MicromodemComms16  l ~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6 ɛm#Bm9B= ium!Iq u0=ɚyiyI}p&=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 94.4 m (Round-trip 125.9 ms) speed -0.1 m/s ,DAT read: user:3601>  BDAT read: Tx time:00:02:24.7041  $Ping request sent. I I!IIBI&I.I6I<:I? F*F 2F :F BF 0JF zK% ɰNK% 9K! K% 'K% {jPA;98211.**&%""    = nManaging dock network, ignoring radio surface power offG=3Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:02:24.7034 G BJ-AAJ-@A z$?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.O>?9!w,IA:1@Y:XA@:+9:Y>y:H ?J?XܸNӿ9?`ѿ@}?ȑ??ɨ:1@:OH;8yBBB IININʳ٢~^; =9 Q > G٣QYGy*= > %Nusing accuracyPremultiplier from config!)9 9=59%\?U5Y%9  i%jo™q}UҾ}AG%E%<sA%6<%'5ANB 2YsAyG*B `AE addTargetRange:: Added new target pos. range: 94.400002 m, deltaT: 3.796179 s, deltaX: 0.700005 m, approachRate: 0.184397 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 93.70 m.Bj<Jj< ProNav: ac range: 93.699997 m, nav range: 24.903984 m, bearing: 93.695918 deg, approach rate: 0.219599 m/s, LOS rate: 0.992686 deg/s, cmd heading: 75.349363 deg, new cmd heading: 77.305048 deg. 2jQ*=HeadingCmd: 1.349228 target range: 93.699997 and range: 94.40 m. j~?jjjihhhhfffrfW@bf@r?ɛ5 B5I= 9=I9 =ዪ=ɚAiAIE%=IMN?iIiI)M~?)IEUEU*EY"EYUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFJ3K3 K/.KK"KJvJoJJJ{T:JK9JJ U {$?IY G% :G% ?G% ?G BO%>'!w,yA6t@Y6@6Κ96 >y6He?I?Z;Sѿx?@gKѿ?]?˥?ɨ6t@6x;6#CyBނBB InWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YʡE?S㥛~jthy->/ݼDG+A @) AI Ay3AIIaO٢E )=9Q > G٣y:= > Nusing accuracyPremultiplier from config59n?5Y8" iko™>:AE;;2)5 AB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 93.70 m.Bj<Jj<% ProNav: ac range: 93.699997 m, nav range: 24.994469 m, bearing: 94.179384 deg, approach rate: 0.198401 m/s, LOS rate: 1.056219 deg/s, cmd heading: 77.305051 deg, new cmd heading: 78.749874 deg. 2j%75=5HeadingCmd: 1.374445 target range: 93.699997 and range: 94.40 m. j5?j1j1j9i9h9h9hAhEBfAfAfArfIbfM`?ZHiRHiHu{>IuC Iu.!IIu BIu =&Iq.Iu?D6IuJ<:Iuv FɛBz(= 隝I i=ɚiI$=I$?i!i!)-?))*F?2F:FBF_0JFzKU&NKUh9KQKU'KUWill construct direction to contact in vehicle frame from tetrahedron 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 > y Iy ,-!w,hBAyr؂Br IttIzIzF٢Eݼ EQ=9EQ M>II MG٣MRYGyU U> ]Nusing accuracyPremultiplier from configYe59]l}?e5Y]# i]lo™iimA]E]:]&:]*5q uAuEZjDNOT Ignoring new targets: 93.70 m.Bj<Jj< ProNav: ac range: 93.699997 m, nav range: 25.068638 m, bearing: 94.566253 deg, approach rate: 0.190464 m/s, LOS rate: 0.990517 deg/s, cmd heading: 78.749875 deg, new cmd heading: 79.906882 deg. 2j)=HeadingCmd: 1.394638 target range: 93.699997 and range: 94.40 m. j?jjjihhhhfffrfbf?ɛBչ= !I Rk=ɚ i I $=IME?ii)?)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509227G3GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7595091*4!w,wфAJJqJ0JJJq9Jـ3J |$?I}C@Y}Ǝ@}9}}:>y}H?_?vɷ_Ϳ? п?ϊ?`?ɨ}C@}7;yy޵B޵ IMb@Mb@Mb@ )Ye;O?~jth?~jthy>D;1*A C@)3 AI AyAII۳٢ = '=9-¼Q > G٣yt= > Nusing accuracyPremultiplier from config59?5Y7% ieo™>:0hAE`F;D; -5OB fAEZjDNOT Ignoring new targets: 93.70 m.Bj%ԓ<Jj%ԓ<5 ProNav: ac range: 93.699997 m, nav range: 25.140247 m, bearing: 95.074900 deg, approach rate: 0.145982 m/s, LOS rate: 1.033952 deg/s, cmd heading: 79.906882 deg, new cmd heading: 81.428100 deg. 2j5e1=EHeadingCmd: 1.421188 target range: 93.699997 and range: 94.40 m. jE?jAjAjAiAhAhIhIhMBfIfQfQrfQbfUm?ɛ%B-3= -<-I) -#=ɚ)i1I5]"=I]?iYiY)]?)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012615*F ?2F :FBF`0JFHIII IMG!IIM BII&II.II6IM<:IM FBIȩCJIȩCRIȓCZI =bI =jI>(5GU :GY G] oAG) BA Ou >f:!w,A6_]@Y6l@6V 96DL>y6HK?4?3FWʿ5?ʂпf? N??ɨ6_]@6W;6"Cy>тB> IzKF2KKF9KDKF'KF IRIR٢Zֽ Z=9ZU)Q Z?\\ ^G٣\y^= b? fNusing accuracyPremultiplier from config`j59b؜?j5Yb% ibao™hjqLjAbEb. ;bP ;bc.5p rApZjDNOT Ignoring new targets: 93.70 m.Bj<Jj< ProNav: ac range: 93.699997 m, nav range: 25.182638 m, bearing: 95.397162 deg, approach rate: 0.128936 m/s, LOS rate: 0.978534 deg/s, cmd heading: 81.428101 deg, new cmd heading: 82.393162 deg. 2j'= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263655mHeadingCmd: 1.438032 target range: 93.699997 and range: 94.40 m. jmn?jijijiiqhqhqhqhyfyfyfyrfbfLm@ɛeBm= im#Ii m18=ɚiiqIur!=Iu?iyi)n?) }$?I*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516918G G B O >EA!w,~VA:6.@Y:=@:9:^<>y:H )s??3#ǿ@_?`}п@:?-?a?ɨ:6.@:8;8yF҂BF I)H H N=N=I^I^@٢f{; fJ=9jQ j>hh jG٣hynր= n> rNusing accuracyPremultiplier from configpv59r?v5Yr& irZo™xzX2zArErs:r:r)05 A Zj)5DNOT Ignoring new targets: 93.70 m.Bj5<Jj= pG!w,'2A:o @Y:@:$9:<ɋ>y:H??@q`Qÿ@?пU?5>?/?ɨ:o @: j;8BWill construct direction to contact in vehicle frame from tetrahedron phase data.FBDAT read: Rx Time:00:02:27.2348 FTRx dataTimestamp_ set to:1736380948.504659Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020607ybׂBb IUMb@Mb@Mb@QQQ Q)QYU\(\?I +?~jtxyU>U94I IZ!II/BI&I.I6Iү<:I FIuV٢}4< }2=9Q > G٣SYGyq= > Nusing accuracyPremultiplier from config59?5Y' iRo™>:AE;;+25 AEB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 93.70 m.BjMH<JjMH<] ProNav: ac range: 93.699997 m, nav range: 25.287296 m, bearing: 96.317859 deg, approach rate: 0.112311 m/s, LOS rate: 1.058098 deg/s, cmd heading: 83.662782 deg, new cmd heading: 85.148961 deg. 2j]5=eHeadingCmd: 1.486130 target range: 93.699997 and range: 94.40 m. jm9?jjjihhhhvBfffrfbf* @ɛB.$&= !%I! %=ɚ!iIIM=IM9?iQiQ)U9?)QzKKKh9KK'K   BK:KpA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272753EiJ {J J J J d:J J J J #;a J $;a J :a J :a *F ?2F :F BF 0JF ~$?I GiGu ?Gu>GABQOm?&O!w,X?A:Will construct direction to contact in vehicle frame from tetrahedron phase data.VDAT read: 00:02:27.2348 LVL= 17248, 25249, 25010, 32755, AGC= 57, IDX= 428, 0.10,-1.070,-1.916, 2.942,-2.258, PHS= 1.276, 0.389,-1.086, RAW= 51.8, -5.7, CAL= 56.2, -10.8, ROT= 93.8, 10.8 ^Ygot valid direction response: 00:02:27.2348 LVL= 17248, 25249, 25010, 32755, AGC= 57, IDX= 428, 0.10,-1.070,-1.916, 2.942,-2.258, PHS= 1.276, 0.389,-1.086, RAW= 51.8, -5.7, CAL= 56.2, -10.8, ROT= 93.8, 10.8 bPDAT read: Bearing 93.8, 10.8 (Local) b~Local bearing/azimuth received: Bearing 93.8, 10.8 (Local) jDAT read: Range 10 to 50 : 94.8 m (Round-trip 126.5 ms) speed -0.1 m/s j,DAT read: user:3602> nBDAT read: Tx time:00:02:28.3541 n$Ping request sent.nó ?@Y??cCσ?y>B<>`C>b >a)>I>9i>S?>+>> >qg?>%˽ >{?)>AI>?i>A><<>Jnm?|(20&<)>*PI>G5=i>?>oOS<<%:publishing transmit ping timel%Fpublishing direction and range info<9>ó ?@Y??cCσ?y<<<< <)Jnm?|(20&<)yeH?ص?@乿B? ѿզ?@.g??ɨe@evӉ;e%Cy}΂B} III٢ +=9Q > G٣yf= > Nusing accuracyPremultiplier from config59yӏ?5Y( iIo™AEM;^;C45PB AEk>7ڒ?k>8oG k< k>@A:k>BBk>UBZk>2 ?">|v0!@\:+O@kjQ@>ó ?@Y??cCσ?Jk>?Rk>oOS*>b,"@\D@1IZ+U@>*?H?ޯE?"k>m&B*k>Ak>mߒ?k> 2k>Ck>mߒ?k> k>Ck>~*Bk> ?} addTargetRange:: Added new target pos. range: 94.800003 m, deltaT: 3.527833 s, deltaX: 0.400002 m, approachRate: 0.113384 m/s, rangeRepo size: 4  Added new target pos. range: 94.800003 m, bearing: 77.458402 deg, lat: 36.904957 deg, lon: -122.120162 deg, deltaT: 7.324012 s, deltaX: 1.100006 m, approachRate: 0.150192 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 94.80 m.BjJj- ProNav: ac range: 94.800003 m, nav range: 42.623619 m, bearing: 77.458255 deg, approach rate: 0.000000 m/s, LOS rate: 1.058098 deg/s, cmd heading: 85.148963 deg, new cmd heading: 86.785711 deg. 2j15HeadingCmd: 1.514696 target range: 94.800003 and range: 94.80 m. j5?j9j9j9iyhyhhhfffrf@3W@bf?ɛ%B-'= )-V#I) -=ɚ)i1I5Va=I=?i9i9)=?)A*EU="EU=E5}<*F?2F:FBFs1JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-=-==JDAT read: TxSync time:00:02:28.3534 I G G B O >U_V!w,MZA2@Y2 @2@92CՌ>y2H?VY? )ڰ@ü?$ѿ Z?`']?a?ɨ2@2<;0yuɂBu IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data. )YZd;O?~jtxQyj>Ļub&A )dAIAy AII³٢- -,=95Q 5>11 =G٣=TYGy=R= => MNusing accuracyPremultiplier from configAM59E珜?U5YE( iEEo™U>U:UUAE!EE8;E0;ET65a e4AaZj H1I1 I5`!II54BI5 =&I1.I16I5<:I5L FDNOT Ignoring new targets: 94.80 m.BjeH<JjeH< ProNav: ac range: 94.800003 m, nav range: 42.592022 m, bearing: 77.769113 deg, approach rate: -0.071270 m/s, LOS rate: 0.701681 deg/s, cmd heading: 86.785709 deg, new cmd heading: 87.718889 deg. 2j<HeadingCmd: 1.530983 target range: 94.800003 and range: 94.80 m. jD?jjjihhhhTBfffrfbfr?ɛeBe-{= ae$Ii m1=ɚiiiIm6=ID?ii)D?)EE*E"EzK pMK s9K K 'K    RK >JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.*F1 2F9 :F9 BFE q0JFA J5 wJ5 nJ1 J1 J5 W:J5 99J1 J1 J5 z;J5 z;J5 R:J5 S: E $?II Gu3GIBYOu ?^!w,.8}A6B_@Y6n@62.E96Ή>y6H ?@B?'(?`qп`V?`??ɨ6B_@6;6$CyB͂BB IIJIJ4٢rw< r0=9r2Q r>tt vG٣tyz{e= z> ~Nusing accuracyPremultiplier from config|59~P?5Y~( i~Bo™s_ A~#E~:~:~[85QB AEZj9=DNOT Ignoring new targets: 94.80 m.BjEB<JjEB<] ProNav: ac range: 94.800003 m, nav range: 42.556431 m, bearing: 78.073129 deg, approach rate: -0.079603 m/s, LOS rate: 0.680526 deg/s, cmd heading: 87.718890 deg, new cmd heading: 88.631618 deg. 2j] Will construct direction to contact in vehicle frame from tetrahedron phase data. A II xe!w,AyMłBM IMb@Mb@Mb@ )YS㥛?I +/$y$?9x'A -@)MAI Ay AII-٢] e(=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}?5Y}z) iy^?:=A}%E} ;};}z:5 [AZjDNOT Ignoring new targets: 94.80 m.BjG<JjG< ProNav: ac range: 94.800003 m, nav range: 42.524769 m, bearing: 78.413833 deg, approach rate: -0.064912 m/s, LOS rate: 0.699016 deg/s, cmd heading: 88.631615 deg, new cmd heading: 89.654374 deg. 2j<HeadingCmd: 1.564764 target range: 94.800003 and range: 94.80 m. j0J?jjjihhhh@Bfffrfbf?ɛ-B-= )-%I1 5C)=ɚ1i1I5=IE0J?iIiI)M0J?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF/5JFH }>I  I Z!II /BI &I .I 6I <:I A FG G B O >zK vLK 9K K 'K $,2=?GPU[]bjqqqruvutyyzyz{{{{xy||{ywwvuusokjicbb`]^^^^^[\BK oA:K mA'k!w,ܰA"Will construct direction to contact in vehicle frame from tetrahedron phase data.6@Y6l;6ԘB96 ݇>y6H ?@AP uzm? ?@yпP??Y?ɨ6@6>;6!CyNƂBR IIZIZ㔳٢bo; b=9bx;Q b ?dd fG٣fUYGyj;0> j ? nNusing accuracyPremultiplier from confighr59j?r5Yj) ihpr׼vAj&Ej ;j ;j;5x zYAzEJvJJJJ{T:JJJJGu;JJu;JJ%B*** querying acoustic contact ***j!j!ZjquDNOT Ignoring new targets: 94.80 m.Bj}3<Jj}3< ProNav: ac range: 94.800003 m, nav range: 42.495998 m, bearing: 78.634543 deg, approach rate: -0.081963 m/s, LOS rate: 0.629200 deg/s, cmd heading: 89.654374 deg, new cmd heading: 90.316923 deg. 2j<HeadingCmd: 1.576328 target range: 94.800003 and range: 94.80 m. j?jjjihhhhff 5$?I9frfbfs?ɛBt= %I m=ɚiIM=I]?iYiY)]?)a*F?2F:FBFh4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. |uA- A 5Y |uAy ".BG 3G B O% >r!w,ʅA6c@Y6 <65967>y6HC? ⡿v?k?пV?O??ɨ6c@66;6 Cy^͂Bb IIfIf٢r = rH=9r;Q r>tt vG٣tyv= z> Nusing accuracyPremultiplier from config 59/? 5Y) iCo™ A(E:H:=5 "AZjDNOT Ignoring new targets: 94.80 m.Bj2O<Jj2O< ProNav: ac range: 94.800003 m, nav range: 42.454151 m, bearing: 78.919030 deg, approach rate: -0.106480 m/s, LOS rate: 0.724584 deg/s, cmd heading: 90.316923 deg, new cmd heading: 91.171157 deg. 2j<HeadingCmd: 1.591237 target range: 94.800003 and range: 94.80 m. j?j j j i h h hhfffrfbf`@ɛEBM< IM-!II M7=ɚIiQIU=I]?iYiY)]?)YUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256479*F ?2F :FBFZ0JF E$?IIGM:G) B1 O > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507646H ~>I  I T!II *BI  =&I .I 6I ߯<:I ) Fx!w,\Ay]ȂBe IMb@Mb@Mb@ )Y/$?kt99 =G٣9yE E> UNusing accuracyPremultiplier from configI]59MC?e5YM) iMFo™m?m:mmAM*EM{;Mx;M?5}RB RAEZjDNOT Ignoring new targets: 94.80 m.Bj$R<Jj$R< ProNav: ac range: 94.800003 m, nav range: 42.418152 m, bearing: 79.237083 deg, approach rate: -0.083109 m/s, LOS rate: 0.734880 deg/s, cmd heading: 91.171155 deg, new cmd heading: 92.126029 deg. 2j+<HeadingCmd: 1.607903 target range: 94.800003 and range: 94.80 m. j?jj j i h hhhBfffrfbf z@ɛ)- = )-|#I) 5/=ɚ1i1I5=I=?i9i9)=?)AzKNK9KK'K]\Z[\ZQNIDCBA@A==<==A>=>@@?>?@C@CCC?::96541100-*+++*'('%&&&'*F?2F:FBFR0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759579JJ?AJuJoJJJ[Q:JK9JJJo;Jo;J:J: A IA G! G B OM >~!w,jABӘ@YB=B9B*>yBH8?@6? ?-п@*_?@ul??ɨBӘ@Bi;B"CyJԂBJ IIVIVͳ٢Zl= bf=9f=lp rG٣rVYGyr|> r> vNusing accuracyPremultiplier from configtz59vT?z5Yv) ivIo™|~B<Av+Evd*;v*;v*A5 SB A EZj15DNOT Ignoring new targets: 94.80 m.Bj=N<Jj=N Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271356 % $?I! &ʅ!w,HAch@Y= 9&>yH?&w@/? ?Ӗп?wr? ?ɨch@3;騩yقB I) Mb@Mb@Mb@ )Yq= ףp?)\(/$y ?Ga A )II Ay= AIIԳ٢=C< E(=9E;Q E>II MG٣IyUV= U> ]Nusing accuracyPremultiplier from configYe59]`j?e5Y]) i]Qo™eT ?e:e><mA]-E]0;]:]GC5q uAqZjDNOT Ignoring new targets: 94.80 m.BjP<JjP< ProNav: ac range: 94.800003 m, nav range: 42.328045 m, bearing: 79.842171 deg, approach rate: -0.108661 m/s, LOS rate: 0.727698 deg/s, cmd heading: 92.888032 deg, new cmd heading: 93.943103 deg. 2j<HeadingCmd: 1.639616 target range: 94.800003 and range: 94.80 m. j?jjjihhhhBfffrfbf @ɛ B<==  I  =ɚ i I=I?ii)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527243jH<bH<HI III*F 2F :FBFx0JF&I.I6I<:I; FBIuŪCJIuŪCRIqZIu =bIu =jIu']4G :GY Bi O >zK5 NNK5 s9K1 K5 'K5 '''%$$&)++)*''&&$!   f!w,>$2A2Will construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 00:02:30.8858 LVL= 19264, 23985, 21906, 26451, AGC= 61, IDX= 437,-0.01, 2.651, 1.830, 0.557, 1.470, PHS= 1.269, 0.407,-0.916, RAW= 53.1, -8.0, CAL= 59.5, -14.3, ROT= 90.5, 14.3 ^Ygot valid direction response: 00:02:30.8858 LVL= 19264, 23985, 21906, 26451, AGC= 61, IDX= 437,-0.01, 2.651, 1.830, 0.557, 1.470, PHS= 1.269, 0.407,-0.916, RAW= 53.1, -8.0, CAL= 59.5, -14.3, ROT= 90.5, 14.3 bPDAT read: Bearing 90.5, 14.3 (Local) b~Local bearing/azimuth received: Bearing 90.5, 14.3 (Local) jDAT read: Range 10 to 50 : 95.5 m (Round-trip 127.4 ms) speed 0.1 m/s n,DAT read: user:3603> rBDAT read: Tx time:00:02:32.0042 r$Ping request sent.r2~j2@m?25 2?)2rI2-?i2r>0023>Ub?|Y'=0_)2I2Oe>i2&?2X00 :publishing transmit ping timepFpublishing direction and range info092 M?7<+?ɳ, ?y0000 0)0I0i00000 0)0I0i00023>Ub?|Y'=0_)0I0i0000yB II=I=&ѳ٢MR= M[=9uQ u>yy }G٣yy} > Nusing accuracyPremultiplier from config5 $?I9{?5Y) iWo™A/E <K <D5 ~AEk2Sg;?k2n7 k0 k22A:k2BBk2BZk2n?"2)@ۃO@#ZQ@2 M?7<+?ɳ, ?Jk2&?Rk2X*2p͎c@QGaEE@lٗPZUU@24Y5Y?[?U?"k2+*B*k2@k2i>?k2 2k2Ck0k2 k0k2,Bk2kn? addTargetRange:: Added new target pos. range: 95.500000 m, deltaT: 3.787835 s, deltaX: 0.699997 m, approachRate: 0.184801 m/s, rangeRepo size: 4  Added new target pos. range: 95.500000 m, bearing: 82.835539 deg, lat: 36.904957 deg, lon: -122.120152 deg, deltaT: 3.787835 s, deltaX: 0.699997 m, approachRate: 0.184801 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 95.50 m.BjJj! ProNav: ac range: 95.500000 m, nav range: 43.156750 m, bearing: 80.317634 deg, approach rate: 0.000000 m/s, LOS rate: 0.727698 deg/s, cmd heading: 93.943105 deg, new cmd heading: 94.818181 deg. 2jIMHeadingCmd: 1.654889 target range: 95.500000 and range: 95.50 m. jUk?jQjQjQiQhQhQhYhYfYfYfrfW@bf7?ɛ Bm= I S=ɚiI =I k?ii)k?)Y*F2F:FBFp0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >/!w,^MAF @YF`l!>FJ9F|>yFH d?wKĿ?@@?q?п[?@??ɨF @F7;F#CybBb!IIzIzV8٢< U=9 ^ ! -G٣-WYGy-4 > 5> ENusing accuracyPremultiplier from config9E59=g?E5Y=%) i=^o™IM =MA=1E=;=;=F5Q ]^AYuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 95.50 m.BjWW<JjWW< ProNav: ac range: 95.500000 m, nav range: 43.107456 m, bearing: 80.588198 deg, approach rate: -0.137042 m/s, LOS rate: 0.753059 deg/s, cmd heading: 94.818182 deg, new cmd heading: 95.630744 deg. 2j4=HeadingCmd: 1.669071 target range: 95.500000 and range: 95.50 m. j!?jjjihhhhfffrfbf*?ɛT< 5I 4=ɚiI6=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.*Fm?2Fi:FiBFm5JFiJ5vJ5rJ51J1J5{T:J59J53J1a=@a=@a=@a=@ IGm3G)B1OM> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744103H I  I Z!II /BI &I .I 6I ǯ<:I  FqT!w,!gA6@Y6:>6Ǽ96&<>y6H@uu?5ǿC? a;?F?-ѿs?~/??ɨ6@6\<;4yNBR!IiV=IVp<Mb@Mb@Mb@ )Y/$?:v~jty1?T @)AI3 Ay AIIỳ٢V= ==9^;Q > G٣ y l= > %Nusing accuracyPremultiplier from config-59?-5Y( igo™5?=:=U==A2E?;;|H5ETB MAMEZjiuDNOT Ignoring new targets: 95.50 m.Bju8D<Jj}8D< ProNav: ac range: 95.500000 m, nav range: 43.048141 m, bearing: 80.884780 deg, approach rate: -0.137048 m/s, LOS rate: 0.686200 deg/s, cmd heading: 95.630742 deg, new cmd heading: 96.521641 deg. 2jw<HeadingCmd: 1.684620 target range: 95.500000 and range: 95.50 m. j?jj1j1i1h1h1h9h=Bf9f9fArfAbfE@?ɛ B=(=  I 3-=ɚiIjE=I%?i!i!)%?)zK?YMK59KK'KWill construct direction to contact in vehicle frame from tetrahedron phase data. > @checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997549*F%?2F!:F!BF%25JF! $?IGe :G9 BI Ou >>!w,_A27@Y2{V>292>y2HJ?]ʿF??@:?@-Kѿ {?b??ɨ27@2i;0y:B:!IIJIJJH٢jM j]=9n;Q n>ll rG٣pyr= r> vNusing accuracyPremultiplier from configt~59v?5Yv' ivoo™  e>Av4EvQ;v;vJ51 5A=E]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.249399ZjDNOT Ignoring new targets: 95.50 m.BjK=<JjK=< ProNav: ac range: 95.500000 m, nav range: 42.993683 m, bearing: 81.134833 deg, approach rate: -0.143989 m/s, LOS rate: 0.661977 deg/s, cmd heading: 96.521638 deg, new cmd heading: 97.272701 deg. 2j'<HeadingCmd: 1.697729 target range: 95.500000 and range: 95.50 m. j.O?jjjihhhhfffrfbf`?ɛ BV=  I a=ɚiI3=I.O?ii).O?)*F2F:FBFP0JFG3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501717G B O >JE wJE qJE 0JA JE W:JE q9JE ـ3JA I j!w,ꚆA-yx9ᯎ>yH?``Ϳ` G٣XYGyg= > Nusing accuracyPremultiplier from config59Ő?5Y& iuo™ ?:3>A6E#;;L5 AZj9EDNOT Ignoring new targets: 95.50 m.BjMC<JjMC<] ProNav: ac range: 95.500000 m, nav range: 42.913933 m, bearing: 81.447867 deg, approach rate: -0.174228 m/s, LOS rate: 0.685147 deg/s, cmd heading: 97.272699 deg, new cmd heading: 98.213457 deg. 2j]<]HeadingCmd: 1.714148 target range: 95.500000 and range: 95.50 m. je5i?jajjihhhh=Bfffrfbf |?eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752417ɛ Bv!= 隍1I g_=ɚiI6=I5i?ii)5i?ZHRH@AHI I`!II4BI&I.I6IJ<:Ix F)*FQ2FQ:FQBFQJFQG G! G% pAG B O >zK JQJK @9K K 'K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004229ې!w,xA2+=Y2 w>2p^92>y2H`?2п@U]?1??@Uѿ͋?H? Ѿ?ɨ2+=2.$;2#CyBBB2!I)D DIJIJ?٢M= Mf=9]|Pai mG٣i $?IyK= > Nusing accuracyPremultiplier from config59Ր?5Y% i{o™MO>A8EG;;M5UB 8AEZj DNOT Ignoring new targets: 95.50 m.Bj/@<Jj/@<% ProNav: ac range: 95.500000 m, nav range: 42.847336 m, bearing: 81.691966 deg, approach rate: -0.183078 m/s, LOS rate: 0.672078 deg/s, cmd heading: 98.213455 deg, new cmd heading: 98.946846 deg. 2j-<-HeadingCmd: 1.726948 target range: 95.500000 and range: 95.50 m. j- ?j)j1j1i1h1h1h9h9f9f9fArfAbfE @ɛam= 隽II =ɚiI =I  ?ii) ?)*F?2F:FBF]0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256212G :Ga Bi O >z!w,JΆA6[e=Y6Q>6O!96C>y6H@خ?`ѿ?`/)?q?`Dѿ@pp vG٣tyv= v> ~Nusing accuracyPremultiplier from configx~59zM搜?~5Yz$ izo™i>Az9Eze ;z :zaO5  A 5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 95.50 m.BjM><JjM><] ProNav: ac range: 95.500000 m, nav range: 42.774197 m, bearing: 81.944034 deg, approach rate: -0.193250 m/s, LOS rate: 0.667158 deg/s, cmd heading: 98.946847 deg, new cmd heading: 99.704299 deg. 2j] Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760238H I  I s!II CBI &I .I 6I <:I + F!w,niA6~=Y6->6e ػ96֐>y6HEm?#ӿM?`?)3?@ѿ{?-?9?ɨ6~=65D;6#CyNBN>!IMb@Mb@Mb@ )YS㥛?MbMby?5$A )MAI Ay AII٢¯< ;=9;Q > G٣YYGyB}= > Nusing accuracyPremultiplier from config 59? 5Y" io™ ?::>A;EK;I;KQ5! %A%EZjDNOT Ignoring new targets: 95.50 m.Bj[/<Jj[/< ProNav: ac range: 95.500000 m, nav range: 42.679909 m, bearing: 82.221406 deg, approach rate: -0.207999 m/s, LOS rate: 0.613232 deg/s, cmd heading: 99.704301 deg, new cmd heading: 100.538194 deg. 2jm< HeadingCmd: 1.754722 target range: 95.500000 and range: 95.50 m. j ?j j j i hhh!h%PBf!f!f)rf)bf-M@ɛB'= 隽I `=ɚiI=I?ii)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:02:34.5355 TRx dataTimestamp_ set to:1736380955.825355checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014382*F2F:FzKK9KK'KBFo0JFG GqAJJAA IG Gy B O >!w,_A)"F= "wCP\h 3Y y 7,B5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264270-i=Y-Kd>-29->y-HR)?Կ Ķ?7a? ?`пo?ȶ??ɨ-i=-%;-"CyMBMB!II]I]Ƴ٢u< uQ=9u;Q }>yy }G٣yy^= > MNusing accuracyPremultiplier from configAM59E ?U5YE! iEo™QUi>UAE=EE:E*:ES5Y eAaZjDNOT Ignoring new targets: 95.50 m.Bj9<Jj9< ProNav: ac range: 95.500000 m, nav range: 42.586491 m, bearing: 82.482148 deg, approach rate: -0.232345 m/s, LOS rate: 0.649924 deg/s, cmd heading: 100.538192 deg, new cmd heading: 101.322080 deg. 2j<HeadingCmd: 1.768404 target range: 95.500000 and range: 95.50 m. j[?jjjihhhhfff rf bf  @ɛq}c= y}Iy F=ɚiI)K=I[?ii)[?)*Fy2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 00:02:34.5355 LVL= 17792, 31937, 16866, 23283, AGC= 57, IDX= 434, 0.11,-0.729,-2.215,-2.649,-2.048, PHS= 1.407,-0.120,-0.604, RAW= 76.7, -7.6, CAL= 86.4, -15.7, ROT= 63.6, 15.7 E Ygot valid direction response: 00:02:34.5355 LVL= 17792, 31937, 16866, 23283, AGC= 57, IDX= 434, 0.11,-0.729,-2.215,-2.649,-2.048, PHS= 1.407,-0.120,-0.604, RAW= 76.7, -7.6, CAL= 86.4, -15.7, ROT= 63.6, 15.7 M PDAT read: Bearing 63.6, 15.7 (Local) M ~Local bearing/azimuth received: Bearing 63.6, 15.7 (Local) ] DAT read: Range 10 to 50 : 95.3 m (Round-trip 127.1 ms) speed 0.2 m/s u ,DAT read: user:3604>  BDAT read: Tx time:00:02:35.6542  $Ping request sent. ?^ْj1)ԙAI-9>iBW?=  :publishing transmit ping timeؙ  Fpublishing direction and range info9mi?*av?x75?y )Ii )Ii?^ْj1)IiJ! J% qJ% 0J! J! J% q9J% ـ3J! G1 ] $?IY G B O >!w,!A42>Y@>n:9>yH? /׿`??=r?*ϿM>?`?ɨ42>1;騭#Cy#BL!IMb@Mb@Mb@ )YK7A?Mb?{Gzy ?MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:00:02:35.6535 jHe<bHe<HiIi Im!IImWBIi&Ii.Ii6Im<:ImA F<# @)IzAy AII@ ٢=  =9X G٣y'= > Nusing accuracyPremultiplier from config59? 5Yo io™ ? : > A?E;a;;U5VB AEk-Ғ?k-T k) k-A:k-BBk-SBZk-<~y?"-od@^x>@B}V@-mi?*av?x75?Jk-BW?Rk-= *-'i@`MŹ;@$W@- -?Pt&?F?"k-@*k-m@k-Ւ?k-~UNS 2k-i Ck)k)k)k-)Bk-S? addTargetRange:: Added new target pos. range: 95.300003 m, deltaT: 3.533558 s, deltaX: -0.199997 m, approachRate: -0.056599 m/s, rangeRepo size: 4 % Added new target pos. range: 95.300003 m, bearing: 55.839459 deg, lat: 36.904957 deg, lon: -122.120152 deg, deltaT: 3.533558 s, deltaX: -0.199997 m, approachRate: -0.056599 m/s, posRepo size: 4 Zj)-DNOT Ignoring new targets: 95.30 m.Bj-Jj1m ProNav: ac range: 95.300003 m, nav range: 42.458481 m, bearing: 82.767161 deg, approach rate: 0.000000 m/s, LOS rate: 0.649924 deg/s, cmd heading: 101.322079 deg, new cmd heading: 102.314589 deg. 2jiuHeadingCmd: 1.785726 target range: 95.300003 and range: 95.30 m. ju?jjjihhhhGBfffrf@3W@bfk?ɛim3= 隕&I wN=ɚiINj=I?ii)?)EEqA*F 2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. = <zK= k3IK= +9K9 K= 'K=  Y IY G GBO>!w,;A2>M>Y2>2:92j>y2Hg4?`yBٿ!7?(? M>2b;2"Cy: B:I!IIBIB٢J Jk=9N :;Q N?PP RG٣RZYGyR= V? ZNusing accuracyPremultiplier from configTZ59Vn*?^5YVs iVo™9=>=AV@EV!w,8TA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:pk>Y:ix>:Ur;9:?>y:H ?~ڿ? t? ?ͿJn%??ɨ:pk>:œ;:!CyB'BFQ!I HJp=ININB٢Zt= ZI=9ZԐ;Q Z>\\ ^G٣`yb = b> fNusing accuracyPremultiplier from configdj59f9?j5Yf ifo™ln>nAfBEf ;f;fX5p ryArEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 95.30 m.Bj ,< $?IJj ,< ProNav: ac range: 95.300003 m, nav range: 42.248409 m, bearing: 83.201377 deg, approach rate: -0.297400 m/s, LOS rate: 0.601665 deg/s, cmd heading: 102.920132 deg, new cmd heading: 103.620432 deg. 2ju<HeadingCmd: 1.808518 target range: 95.300003 and range: 95.30 m. j}?jjjihhhhfffrfbf?ɛ2#= 隝>I 9=ɚiII =I}?ii)}?)*F=?2FA:FABFuP0JFqH}>I I!IIbBI =&I.I6Iʯ<:I FBIWill construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JIRIZIbIjIg4G3G B O >.)!w,nA6ͩ>Y6>6;96>y6H[? ՂܿJ?@v?[?`Ϳs?X?ɨ6ͩ>6;6"Cy^&B^P!I}Mb@Mb@Mb@yyy y)yY}Q??y&1|y}>}<}`}f A }@)}dAI}Ayy}AII;٢ ;=9/;Q > G٣y?= > Nusing accuracyPremultiplier from config59,I?5Y( io™>:& ?ACE1;;oZ5 AZj  DNOT Ignoring new targets: 95.30 m.Bj<Jj<- ProNav: ac range: 95.300003 m, nav range: 42.121143 m, bearing: 83.427615 deg, approach rate: -0.292105 m/s, LOS rate: 0.520836 deg/s, cmd heading: 103.620431 deg, new cmd heading: 104.301160 deg. 2j-<-HeadingCmd: 1.820399 target range: 95.300003 and range: 95.30 m. j5?j1j1j9i9h9h9hAhE+BfAfAfIrfIbfM`?ɛq}]!= y}NIy }A=ɚyiIA =I?ii)?)EN>E>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.489809zKBHK9KK'K#(('%#"! *FM?2FI:FIBFIJFI }$?IyJـ3K3 K.KK"KJJpJ1JJJ^9J3JJGu;aJJu;aJ|:aJ~:aGiGI Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740510_!w,XA2O>Y2#?2^;92>y2H@?޿ ?~^? 0? qeͿ`P} H? ?ɨ2O>2[;2#CyB!BBJ!IIJIJW٢R R]=9V;Q V>TT VG٣Z[YGyZ-= Z> ^Nusing accuracyPremultiplier from config\b59^U?b5Y^ i^o™df?fA^EE^:^@:^ \5jWB jAjEZjDNOT Ignoring new targets: 95.30 m.Bjp <Jjp < ProNav: ac range: 95.300003 m, nav range: 42.009350 m, bearing: 83.616156 deg, approach rate: -0.288366 m/s, LOS rate: 0.487626 deg/s, cmd heading: 104.301162 deg, new cmd heading: 104.868271 deg. 2jS<HeadingCmd: 1.830297 target range: 95.300003 and range: 95.30 m. j)G?jjjihhhhfffrfbf ?ɛR,= I }=ɚiIj =I)G?ii ) )G?) *F2F:FBFR0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.992616 YIYG:Gq By O >R>!w,SA>P>Y>l ?> <9>ċ>y>Hwk?߿P?`~?@zq?ͿpA?`]?ɨ>P>>朓;>"Cy^B^B!IZHyRH}?AH~>I I!IIgBI&I.I6I<:I) FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244643Mb@Mb@Mb@ )YtV?/$?~jtxy>,=Ļ"A @)zAIMAyp AII٢ ټ -=9<;Q > G٣yS~= > Nusing accuracyPremultiplier from config59e?5Y( io™>:L!?AGE6;94;^5 AZjDNOT Ignoring new targets: 95.30 m.Bj<Jj<- ProNav: ac range: 95.300003 m, nav range: 41.858047 m, bearing: 83.842788 deg, approach rate: -0.332245 m/s, LOS rate: 0.499460 deg/s, cmd heading: 104.868272 deg, new cmd heading: 105.550594 deg. 2j5c<=HeadingCmd: 1.842205 target range: 95.300003 and range: 95.30 m. j=c?j9j9j9iAhAhAhIhU/BfQfYfYrfYbfe6@ɛIM= QURIQ ]=ɚYiYI]Cc =Ic?ii)c?)*FA2FA:FIBFM^0JFIe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496513 I IQ zK] LK] @9KY K] 'K] !1L[VNLLNOSUTRPKHC=92/+%%" Gi J J qJ 0J J J q9J ـ3J J J J :J :G1 BA O] >Vh!w,nA>>Y>?>i(<9>>y>H? L?@@??@_̿ e??ɨ>>>;>$CyJBJ@!IIRIRʴ٢Z& Zq=9v);Q v?xx zG٣xy~Y= ~? Nusing accuracyPremultiplier from config 59p? 5Y i p(?AHEj: ;_5XB AEZjYeDNOT Ignoring new targets: 95.30 m.Bjm<Jju< ProNav: ac range: 95.300003 m, nav range: 41.744164 m, bearing: 84.005709 deg, approach rate: -0.327961 m/s, LOS rate: 0.470454 deg/s, cmd heading: 105.550595 deg, new cmd heading: 106.040677 deg. 2jo<HeadingCmd: 1.850759 target range: 95.300003 and range: 95.30 m. j?jjjihhhhfffrfbf@vW@ɛ= |<I =ɚiI% =I?ii)?)E*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749335Gm3GqGurAGIBYOu>FO!w,5EևAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:02:38.1842 TRx dataTimestamp_ set to:1736380959.352788checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001775BS&>YBA?Ba=<9B䚍>yBH`p{?1?@?? ̿@y?@'?ɨBS&>B|;B CyNBN5!IIVIV٢^) bJ=9bR;Q b>dd fG٣dyf= j> r$?Ip vNusing accuracyPremultiplier from confighv59jt|?v5YjY  ihxz4/?zAjJEj:j ;j\a5| <A%B*** querying acoustic contact ***j!j!Zj15DNOT Ignoring new targets: 95.30 m.Bj=5<Jj=5Iy I}!II}bBIy&Iy.Iy6Iy:IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252387G:G B OE >w!w,~A6,>Y6d?6YR<96i>y6H`3?H`?? ? V˿Tud??ɨ6,>6ُ;6%CyF BF.!I)H HMb@Mb@Mb@ )YV-?I +? rhy>94=Cf A )AI7AyzAI5I5V٢E+ EC=9EJ;Q E>II MG٣M\YGyM-= U> ]Nusing accuracyPremultiplier from configQe59U҈?e5YU iUo™e>e:m89?mAUKEU;U;U2c5q }nAyZjDNOT Ignoring new targets: 95.30 m.Bj_;Jj_;= ProNav: ac range: 95.300003 m, nav range: 41.466320 m, bearing: 84.373107 deg, approach rate: -0.343967 m/s, LOS rate: 0.441279 deg/s, cmd heading: 106.593797 deg, new cmd heading: 107.146517 deg. 2j=l u BDAT read: Tx time:00:02:39.3042 u $Ping request sent.u  JDAT read: TxSync time:00:02:39.3035  R#Rx 1: Read range and direction messages.- ^direction in FSK: [-0.148227,0.028436,0.988545]- :publishing transmit ping timeq 5 Fpublishing direction and range info 9 ?b ¿']??jgf*(?y B_"w, AA 2d)I:is?x) ԏ?4QO= 8?)Y=%?=. f<9=b>y=H X?@{@m}?P?y?DʿÌ{? ?ɨ=>==I;= CymBm(!III(٢ >=95;Q  >    G٣ ys= ]> mNusing accuracyPremultiplier from configam59er?m5YeC ieo™??AeMEeJk?ɛc= 隝I ]=ɚiIE6 =I?ii)?)=Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IE ԅ<*F ?2F :F BF o0JF G  G jHu <bHu <H} |>Iy  I} !II} WBIy &Iy .Iy 6I} <:I} C F Will construct direction to contact in vehicle frame from tetrahedron phase data.GGG>GBO?b "w,+AB'>YB-?Bh<9B܎>yBH`?`u&k?0?`5?hʿ ?^?ɨB'>Bԍ;B"CyNBN"!I5Mb@Mb@Mb@111 1)1Y5 rh?~jt? rhy5>5=15 A 5@)1I5A1y5AIEIEd٢U ]"=9]9Q ]>aa eG٣e]YGyelc= m> uNusing accuracyPremultiplier from configq}59u^?}5Yu iuo™}>:C?AuOEu;u;uEg5 AZjDNOT Ignoring new targets: 94.30 m.Bj<Jj+_"w,EA 2YtAy*!+BjWill construct direction to contact in vehicle frame from tetrahedron phase data.yEBE!IiUC=IUl>UAQI]I]=X٢mp6 uF=9uQ u>yy }G٣yy} }> Nusing accuracyPremultiplier from config59?5Y io™APE: :i5  AZjDNOT Ignoring new targets: 94.30 m.BjK;JjK; ProNav: ac range: 94.300003 m, nav range: 40.107727 m, bearing: 84.994648 deg, approach rate: -0.350894 m/s, LOS rate: 0.437649 deg/s, cmd heading: 108.408182 deg, new cmd heading: 108.947733 deg. 2j-<HeadingCmd: 1.901497 target range: 94.300003 and range: 94.30 m. j>d?jjjihhhhfffrf bf /?ɛ15< 15I9 ==ɚ9i9I= =IE>d?iAiA)M>d?)IEYEY*EY"EY*F?2F:FBF2JF}Will construct direction to contact in vehicle frame from tetrahedron phase data. IG G B O >_"w,aA0/?YH:?o<9>yH@Q?`f? bQ?=?`ɿ ⍿ ? .?ɨ0/?쭍;騹yB!IH{>IC Is!IICBI&I.I6I<:IA FMb@Mb@Mb@ )Y?:v? rhyf>T<"A )I7AyAII&Q٢%X -=9QV:Q > G٣y= > Nusing accuracyPremultiplier from config59滑?5Y io™>:pD?ARE;3";#k5  (A~E-Will construct direction to contact in vehicle frame from tetrahedron phase data.=B*** querying acoustic contact ***j9j9ZjIUDNOT Ignoring new targets: 94.30 m.Bje;Jjm; ProNav: ac range: 94.300003 m, nav range: 39.947483 m, bearing: 85.194952 deg, approach rate: -0.336682 m/s, LOS rate: 0.422539 deg/s, cmd heading: 108.947733 deg, new cmd heading: 109.551033 deg. 2j<HeadingCmd: 1.912026 target range: 94.300003 and range: 94.30 m. jF?jjjihhhhBfffrfbfu?ɛn=  Iy +v=ɚiIkv =IF?ii)F?)*F?2F:FBF@5JFG G G oA Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.  $?I G B O >)"w,0h{A @zK.PLK.9K,K.'K. Z?YZ+=A?Z<9Zp>yZH`N?a?@0?~?U<ȿȞ??ɨZ?ZE;Z$CyB!III٢%u -R=9- ;Q U>QY ]G٣]^YGy]= ]> mNusing accuracyPremultiplier from configa59e`Ƒ?5Yea ieo™K?AeSEe;e;el5 /AZj%DNOT Ignoring new targets: 94.30 m.BjM;JjM; ProNav: ac range: 94.300003 m, nav range: 39.811440 m, bearing: 85.358040 deg, approach rate: -0.335208 m/s, LOS rate: 0.403217 deg/s, cmd heading: 109.551030 deg, new cmd heading: 110.041952 deg. 2j\<HeadingCmd: 1.920594 target range: 94.300003 and range: 94.30 m. j ?jjjihhhhfffrfbfc)?ɛae(< am Ii m=ɚiiiImI =Iu ?iqiq)u ?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.Ai checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998977*Fq2Fy:FyBF}O0JFyG Gq B O >%"w,5A>"?Y>G?>i<9>4u>y>HW?`9?~? Q?`u)ǿ U?@?ɨ>"?>h;>"CyJBN !I)h h n=n=IrIr٢z͸ za=9z9;Q z>| G٣y= > Nusing accuracyPremultiplier from config%59ϑ?%5YD io™!%[Q?%ATE@;;nn51 5PA1]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249810ZjamDNOT Ignoring new targets: 94.30 m.Bjm;Jjm; Ih ProNav: ac range: 94.300003 m, nav range: 39.684788 m, bearing: 85.503646 deg, approach rate: -0.367073 m/s, LOS rate: 0.423354 deg/s, cmd heading: 110.041950 deg, new cmd heading: 110.480153 deg. 2jE<HeadingCmd: 1.928242 target range: 94.300003 and range: 94.30 m. j?jjjihhhhfffrfbf B@ɛ$<  I ƅ=ɚiI : =I?ii)?)JJ~J1JJJf9J3Ja@a@a@a@*F2F:FBF_0JFG:H]y>IY I]`!II]4BI] =&IY.I]>D6I]ׯ<:I] FBIJIRIZI =bI =jIȫN5GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501721:+"w,A2?Y2FN?2Kݓ<92>y2H(?Gd? o?@t?@ƿg{8?q?ɨ2?2i;2#Cy>B>!I=Mb@Mb@Mb@999 9)9Y=y&1?~jt?Qy=`>=<=u=OA 9)=AI99y=3AIUIU&ѳ٢e+= eC=9m5:Q u> G٣yv= > Nusing accuracyPremultiplier from config59dڑ?5Yk io™>: [?AVEH;KG;Pp5[B A xEZj)5DNOT Ignoring new targets: 94.30 m.Bj=;Jj=;u ProNav: ac range: 94.300003 m, nav range: 39.529556 m, bearing: 85.670200 deg, approach rate: -0.359648 m/s, LOS rate: 0.387394 deg/s, cmd heading: 110.480154 deg, new cmd heading: 110.981763 deg. 2ju<}HeadingCmd: 1.936997 target range: 94.300003 and range: 94.30 m. j}?jyjyjyihhhhŃBfff rf bf@ɛQ]&9< Y]-IY ]w̄=ɚYiaIeB =Ie?ii)?) }$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758039*F ?2F :F BF ]0JF *JC="J=zK>KKh9KK'K  ! BK%pA:K%qAGA GA Ba O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:00:02:41.8330 E TRx dataTimestamp_ set to:1736380963.136723E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010816 2"w,|ȈA6O?Y6T?69o<96>y6H .?Ƭ?`?`?qfſ@J? ?ɨ6O?6;6%Cy@@IJIJ)9R:Q R>TT VG٣V_YGyV= Z> ^Nusing accuracyPremultiplier from configXb59Z*㑜?b5YZ iZo™`ba?bAZWEZh;Z;Zq5h llZjDNOT Ignoring new targets: 94.30 m.Bj`;Jj`; ProNav: ac range: 94.300003 m, nav range: 39.395927 m, bearing: 85.807359 deg, approach rate: -0.346983 m/s, LOS rate: 0.357358 deg/s, cmd heading: 110.981763 deg, new cmd heading: 111.394629 deg. 2j@u<HeadingCmd: 1.944203 target range: 94.300003 and range: 94.30 m. j?jjjihhhhfffrfbf%`h@ɛuBu< y}Iy }=ɚyiyI} =I?ii)?)*F-?2F):F)BF-o0JF) YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261594Gm3JzJuJ0JJ`:J9Jـ3JGI BQ Ou >$T8"w,AHz>I IT!II*BI&I.I6I<:I5 FyޅBޅ!Ii>Ip=AWill construct direction to contact in vehicle frame from tetrahedron phase data.iAeDAT read: 00:02:41.8330 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.35,-2.880, 1.753, 2.373, 2.746, PHS= 0.746,-0.946,-0.376, RAW= 109.4, 7.8, CAL= 119.4, 5.3, ROT= 30.6, -5.3 mYgot valid direction response: 00:02:41.8330 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 424, 0.35,-2.880, 1.753, 2.373, 2.746, PHS= 0.746,-0.946,-0.376, RAW= 109.4, 7.8, CAL= 119.4, 5.3, ROT= 30.6, -5.3 }PDAT read: Bearing 30.6, -5.3 (Local) }~Local bearing/azimuth received: Bearing 30.6, -5.3 (Local) DAT read: Range 10 to 50 : 93.4 m (Round-trip 124.6 ms) speed 0.5 m/s U,DAT read: user:3606> ]BDAT read: Tx time:00:02:42.9542 e$Ping request sent.e?-rf?'g > ^@)q=Iܸ?iqIc(?瘹yǿF,R?)r>I i8:publishing transmit ping timeYFpublishing direction and range info9ف'пaq=,̿f?y )Ii )IiIc(?瘹yǿF,R?)Ii )Ykt?{Gz?Qy >#< @)dAI AyAI9I9٢Mۺ M<9Q > G٣y > Nusing accuracyPremultiplier from config 59? 5Y io™N>:?\?AZE;;lt5 AvEkVd?kܘ# k kA:k̺BBkBZk@"H/8at4& ?U@ف'пaq=,̿f?JkRk8*"4m0@ p MFAS@kn.?߿؁C?"k7*kCAkm?ko# 2kCkk~UNS kk@km? addTargetRange:: Added new target pos. range: 93.400002 m, deltaT: 3.531960 s, deltaX: -0.900002 m, approachRate: -0.254816 m/s, rangeRepo size: 4 e Added new target pos. range: 93.400002 m, bearing: 289.916544 deg, lat: 36.904956 deg, lon: -122.120539 deg, deltaT: 3.531960 s, deltaX: -0.900002 m, approachRate: -0.254816 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 93.40 m.BjmJjq} ProNav: ac range: 93.400002 m, nav range: 6.179829 m, bearing: 64.051091 deg, approach rate: 0.000000 m/s, LOS rate: 0.357358 deg/s, cmd heading: 111.394628 deg, new cmd heading: 112.021314 deg. 2jHeadingCmd: 1.955141 target range: 93.400002 and range: 93.40 m. j B?jjjihhhhσBfffrfYW@bf?ɛ)5f= 15I1 5専=ɚ1i1I=Ԫ =I B?ii) B?) A IA *Fq 2Fq :Fq BFu P0JFq  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:02:42.9535 J J zK LK 9K K 'K GGBO?s@"w,Av;0?YvUGi?v<9v>yvHޚ?@ >@?H?@?nÿ&2W??ɨv;0?vW;v$Cy%B%%!IIUIU:٢e}q= eQ=9mu:Q m>ii G٣y]X> > Nusing accuracyPremultiplier from config59?5Y io™p?A[E:[;v5 AUB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 93.40 m.uWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.Bjp<Jjp< ProNav: ac range: 93.400002 m, nav range: 6.005134 m, bearing: 64.350158 deg, approach rate: -0.477660 m/s, LOS rate: 0.841507 deg/s, cmd heading: 112.021311 deg, new cmd heading: 112.944527 deg. 2ja=HeadingCmd: 1.971254 target range: 93.400002 and range: 93.40 m. j R?jjjihhhhfffrfbf`?ɛB< 隍I =ɚiI =I R?ii) R?)*F]?2FY:FYBF]`0JFYG : $?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.708146GY Ba O >JE JE zJA JA JE p:JE 9JA JA "G"w,AB7?YB3p?B<9B{>yBH? ??@f?s ~??ɨB7?B;B!Cy^B\IfIf+٢n(; nT=9rQ r>pp vG٣v`YGyv"= v> ~Nusing accuracyPremultiplier from config|59~d?5Y~  i~o™  w? A~\E~;:~:~w5 AZjAEDNOT Ignoring new targets: 93.40 m.BjM\<JjM\<] ProNav: ac range: 93.400002 m, nav range: 5.828217 m, bearing: 64.623763 deg, approach rate: -0.483001 m/s, LOS rate: 0.769638 deg/s, cmd heading: 112.944527 deg, new cmd heading: 113.790193 deg. 2j] =eHeadingCmd: 1.986014 target range: 93.400002 and range: 93.40 m. je5?jajajaiahihihihifqfqfqrfybf} h?ɛB.z< 隭_I 8=ɚiI =I5?ii)5?)!*F?2F:FBF1JFjHu<bHu<Hy>I III&I.I6I<:IL FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.961249GiGI BQ Om >KM"w,a7A $I$:??Y:7x?:<9:7>y:H?@]_?`??5-`ϒ?t?ɨ:??:@d;:$CyFBF G٣y= > Nusing accuracyPremultiplier from config59 ?5Y io™x?: ? A^E+;;;y5 (AZj9EDNOT Ignoring new targets: 93.40 m.BjEJB<JjEJBEe>*F2F:FBF?5JFGqA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.466883G3G B O >u3T"w,˞QA2zF?Y2k?2p<929>y2HX?`%?? f?M/??ɨ2zF?2;2"Cy>#B>L!IIFIFW٢N= Ra=9R%:Q R>TT VG٣TyV= V> bNusing accuracyPremultiplier from configXb59Z?f5YZ iZp™df.?fAZ`EZ+;Z&:Z<{5j\B jAnsEZjyDNOT Ignoring new targets: 93.40 m.Bj<Jj< ProNav: ac range: 93.400002 m, nav range: 5.417783 m, bearing: 65.107302 deg, approach rate: -0.492613 m/s, LOS rate: 0.541970 deg/s, cmd heading: 114.678562 deg, new cmd heading: 115.295358 deg. 2j<HeadingCmd: 2.012284 target range: 93.400002 and range: 93.40 m. jA@jj j i hhhqhyfyfyfrfbf}? 9I9ɛuBu= y}Iy } F=ɚyiyI_$ =IA@ii)A@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718069JJJ1JJy:Jy9J3J*F=?2F9:F9BF=P5JF9GQ GI H t>I C I `!II 4BI =&I .I 6I <:I P FB) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968319_Z"w,kAyU6B]c!IMb@Mb@Mb@ )YQ?I +?Mb`?y?9<;A @)AIy=AII٢%= %4=9-Q ->)1 =G٣=aYGy= => ENusing accuracyPremultiplier from configAM59E, ?U5YE@ iEp™U ?U:U?UAEbEE;E;E:}5Y e5AepEZjDNOT Ignoring new targets: 93.40 m.Bj 8<Jj 8< ProNav: ac range: 93.400002 m, nav range: 5.175142 m, bearing: 65.376953 deg, approach rate: -0.553455 m/s, LOS rate: 0.643898 deg/s, cmd heading: 115.295355 deg, new cmd heading: 116.142171 deg. 2j<HeadingCmd: 2.027063 target range: 93.400002 and range: 93.40 m. jh@jjjihhhhBfffrfbf @ɛB = 'ξI {}=ɚiIW=Ih@ii)h@) *F?2F:FBFP0JF %$?I%hWill construct direction to contact in vehicle frame from tetrahedron phase data.V?4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219788G:zKe Ke 59Ka Ke 'Ke   G B O >)y y ~G `wA1 Ea"w,TVA 600Y:`wAy:A*B:ZT?Y:9?:<9:(>y:H?Ww???`+Ts+k?`?ɨ:ZT?:%;8yFEBFu!IiR,>IRpll nG٣pyrz> r> vNusing accuracyPremultiplier from configtz59v'?z5Yv ivp™|~}?~AvcEv* ;v ;v~5 AZj)-DNOT Ignoring new targets: 93.40 m.Bj5q;Jj5q;E ProNav: ac range: 93.400002 m, nav range: 4.982984 m, bearing: 65.490338 deg, approach rate: -0.534822 m/s, LOS rate: 0.327747 deg/s, cmd heading: 116.142176 deg, new cmd heading: 116.495443 deg. 2jM`y:H^?`? )?ੈ? üTr? ?ɨ: [?:M;8y^NB^!IIjIj٢r#1= rI=9r9Q v>tt vG٣tyzK|= z> ~Nusing accuracyPremultiplier from config|59~/?5Y~ i~p™  ? A~eE~:~:~5 uA5B*** querying acoustic contact ***j1j1ZjAEDNOT Ignoring new targets: 93.40 m.BjMY;JjMY;] ProNav: ac range: 93.400002 m, nav range: 4.765445 m, bearing: 65.564210 deg, approach rate: -0.534461 m/s, LOS rate: 0.189777 deg/s, cmd heading: 116.495447 deg, new cmd heading: 116.727178 deg. 2j]>IA IE!IIEMBIE =&IA.IE=D6IE<:IEJ FmWill construct direction to contact in vehicle frame from tetrahedron phase data.iii}BDAT read: Rx Time:00:02:45.4813 TRx dataTimestamp_ set to:1736380966.667411checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979827GGBO> I )m"w,= A6Aa?Y6!?6 Ť<96;>y6H`?(g?`??@Fb?:?ɨ6Aa?6!;6#CyVZBV!IbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.228145MMb@Mb@Mb@III I)IYM?y&1?{Gzt?yM ?M`eyy }G٣}bYGyi= > Nusing accuracyPremultiplier from config5918?5Y ip™ ?:?AgE""; ;j5]B AmEZjJJJ0JJv:Jľ9Jـ3JJU;aJV;aJ;aJ;aDNOT Ignoring new targets: 93.40 m.Bjx$;Jjx$;  ProNav: ac range: 93.400002 m, nav range: 4.533362 m, bearing: 65.622004 deg, approach rate: -0.549297 m/s, LOS rate: 0.143793 deg/s, cmd heading: 116.727182 deg, new cmd heading: 116.909442 deg. 2j ];HeadingCmd: 2.040455 target range: 93.400002 and range: 93.40 m. jϖ@jjjihhhh'Bfffrfbf @ɛ=B="= 9=I9 Euz=ɚAiAIEA=zKmqKKm9KiKm'KmIϖ@ii)ϖ@)*FE?2FA:FABFE_0JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481773G :G B O >t"w,҉A6wh?Y6y?6,<96X>y6H _?0??`^?@)@J"R?@?ɨ6wh?6;6$Cy>aB>!I Fp=Fa=IJIJԳ٢R = RX=9VT8Q V>TT VG٣XyZō= Z> bNusing accuracyPremultiplier from config\f59^T??f5Y^ i^p™dfL?fA^hE^:^~:^5n\B n@lZjDNOT Ignoring new targets: 93.40 m.Bj 0>Jj 0> ProNav: ac range: 93.400002 m, nav range: 4.325694 m, bearing: 65.607050 deg, approach rate: -0.550815 m/s, LOS rate: -0.041569 deg/s, cmd heading: 116.909438 deg, new cmd heading: 116.862421 deg. 2j9亝HeadingCmd: 2.039634 target range: 93.400002 and range: 93.40 m. j]@jjjihhhhfffrfbf@& @ɛeBe= ae;Ii mCy=ɚiiiIm=I]@ii)]@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:02:45.4813 LVL= 32128, 32753, 30914, 32755, AGC= 65, IDX= 420, 0.20, 0.786,-0.626, 0.119, 0.238, PHS= 0.636,-0.817,-0.122, RAW= 118.6, 4.9, CAL= 128.4, 0.8, ROT= 21.6, -0.8 %Ygot valid direction response: 00:02:45.4813 LVL= 32128, 32753, 30914, 32755, AGC= 65, IDX= 420, 0.20, 0.786,-0.626, 0.119, 0.238, PHS= 0.636,-0.817,-0.122, RAW= 118.6, 4.9, CAL= 128.4, 0.8, ROT= 21.6, -0.8 5PDAT read: Bearing 21.6, -0.8 (Local) =~Local bearing/azimuth received: Bearing 21.6, -0.8 (Local) MDAT read: Range 10 to 50 : 92.1 m (Round-trip 122.8 ms) speed 0.4 m/s U,DAT read: user:3607> UBDAT read: Tx time:00:02:46.6043 ]$Ping request sent.]id?/c{?)7ͼIR᭽iF:publishing transmit ping timeYFpublishing direction and range info9S,F˿(aayؿG"^V?y )Ii )Ii?/c{?)Ii*Fm?2Fi:FiBFm0JFiG} 3G ?G >H5 n>I5 C I5 !II5 lBI5  =&I1 .I1 6I5 (<:I5 P FBIʨCJIʨCRIZI =bI =jIʦ 6G)  Will construct direction to contact in vehicle frame from tetrahedron phase data.B O >z"w,ARo?YR?RO<9RmX>yRH ?`%`:?@qq }G٣yy}t= }> Nusing accuracyPremultiplier from config59I?5Y i p™?:1?AkEE;b;5 @kq?kM," k k9ډA:k3BBkBZkJ@"(F3_i #AdVT@S,F˿(aayؿG"^V?JkRkF*Egi F@yJyCQ Q@Gf?oAEVۿG?"k[*kK0Bk ˠ?kE&#" 2k^Ckk ! kkAkb@ addTargetRange:: Added new target pos. range: 92.099998 m, deltaT: 3.780431 s, deltaX: -1.300003 m, approachRate: -0.343877 m/s, rangeRepo size: 4  Added new target pos. range: 92.099998 m, bearing: 318.248186 deg, lat: 36.904956 deg, lon: -122.120906 deg, deltaT: 3.780431 s, deltaX: -1.300003 m, approachRate: -0.343877 m/s, posRepo size: 4 Zj DNOT Ignoring new targets: 92.10 m.BjJjM ProNav: ac range: 92.099998 m, nav range: 28.987326 m, bearing: 273.304667 deg, approach rate: 0.000000 m/s, LOS rate: -0.041569 deg/s, cmd heading: 116.862419 deg, new cmd heading: 116.800541 deg. 2jIUHeadingCmd: 2.038554 target range: 92.099998 and range: 92.10 m. jUw@jQjQjQiQhQhYhYh]9BfYfafrf`fW@bfZ?ɛB-= I [x=ɚiIɩ=I w@i i)w@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFJJJJJ1JJ}:J9J3JJ;J;J' ;J( ;zK BoHK 9K K 'K G] :G1 BY Ou >k"w,A2Jv?Y21?2(P<92Iq>y2H>?`???`˴钿*??ɨ2Jv?29;2!Cy:uB:!IIBIB٢J2J= Jk=9ncQ r>tt zG٣xyџ= > %Nusing accuracyPremultiplier from config%597P?-5Y ip™)-͓?-AlE::55]B =@=hEZjYeDNOT Ignoring new targets: 92.10 m.Bje"Jje"} ProNav: ac range: 92.099998 m, nav range: 29.174351 m, bearing: 273.116501 deg, approach rate: 0.569322 m/s, LOS rate: -0.569120 deg/s, cmd heading: 116.800538 deg, new cmd heading: 116.239679 deg. 2j}JüHeadingCmd: 2.028765 target range: 92.099998 and range: 92.10 m. jJ@jjjihhhhfffrfbf?ɛB^ = I w=ɚiIs=IJ@ii)J@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFB5JFG3 QIYGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.x·"w,/ Ay~zB~!II I M٢< %B=9-Q ->)) 5G٣5cYGy5 5> uNusing accuracyPremultiplier from configq}59ugX?5Yu٩ iup™AunEu;u;u{5 3@B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 92.10 m.BjJj ProNav: ac range: 92.099998 m, nav range: 29.388765 m, bearing: 272.904105 deg, approach rate: 0.515484 m/s, LOS rate: -0.506907 deg/s, cmd heading: 116.239684 deg, new cmd heading: 115.607169 deg. 2j񭼝HeadingCmd: 2.017726 target range: 92.099998 and range: 92.10 m. jk"@jjjihhhhfffrfbf@}?ɛ!-D-= )5I1 5v=ɚ9i9I= =I=k"@iAiA)Ek"@)AEU]>EU>jH<bHHm>I I!IIBI =&I.I6I<:IF F*F 2F:FBF$4JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.G:GBO A IE h"w,:A2n?Y2ܬ?2<92f>y2HT?9 P? tV??@Ԑ Z?Q?ɨ2n?2o;2$C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bk?BN?Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495798yJBJ!I%Mb@Mb@Mb@!!! !)!Y%S?y&1?Q?y%/?%`e=%\=%f A !)%zAI!!y%AI=I=٢M < MG=9UɢQ U>QQ ]G٣Yy] > ]> eNusing accuracyPremultiplier from configam59e]?m5Ye ie p™u?u:*J4="JJK(3 K(.KK"KJJJ0JJs:J9Jـ3JJ;J;J2;J3;u?5AepEeG"w,sTA2 ?Y2H?2<92C>y2H?y`??p6?`گ@?`I?ɨ2 ?2r;2"Cy>B>!IIFIF)٢NU< NV=9R8Q R>PT VG٣TyVz= V> ZNusing accuracyPremultiplier from configX^59Za?b5YZ{ iZo™`b?bAZrEZe ;Z ;Z5d f@hZj|DNOT Ignoring new targets: 92.10 m.BjJj ProNav: ac range: 92.099998 m, nav range: 29.852169 m, bearing: 272.641147 deg, approach rate: 0.641080 m/s, LOS rate: -0.338870 deg/s, cmd heading: 115.183532 deg, new cmd heading: 114.824461 deg. 2jhHeadingCmd: 2.004065 target range: 92.099998 and range: 92.10 m. jB@jjjihhhhfffrfbfS? Iɛ)5}.= Q]qIY ]13u=ɚYiYI]`k=IeB@iaia)eB@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999272*F2F:FBFP0JFGH I  I !II BI  =&I .I 6I <:I - FG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iU A] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253586 "w,SnA:iʊ?Y:t?:R<9:9Š>y:H`??5?v?p@#J !??ɨ:iʊ?:);:#CyFBF!I J=J=%Mb@Mb@Mb@!!! !)!Y%)\(?zG?YY ]G٣]dYGyed= e> mNusing accuracyPremultiplier from configiu59md?u5YmY imo™}#?}:}p?}AmtEm";mj!;mŎ5 y@ZjDNOT Ignoring new targets: 92.10 m.Bj5[Jj5[E ProNav: ac range: 92.099998 m, nav range: 30.121284 m, bearing: 272.558368 deg, approach rate: 0.630909 m/s, LOS rate: -0.192331 deg/s, cmd heading: 114.824455 deg, new cmd heading: 114.578338 deg. 2jEMHeadingCmd: 1.999769 target range: 92.099998 and range: 92.10 m. jUp?jQjQjQiQhYhYhYh]lBfafafarfabfm` @ɛBvt3= mI +ft=ɚiI=Ip?ii)p?)E*FU?2FY:FYBF]]0JFY $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503407JJJJJJJv:Jy9JJJT;JV;J::J;:GGi By O >zK gKK @9K K 'K "w,+ABR?YB]?B[y<9B>yBH3 ?= ?J?p? @-+`:??ɨBR?B4;B$CyJ|BN!IIjIj٢r< rQ=9vOQ v>tt vG٣xyz!= z> ~Nusing accuracyPremultiplier from config|59~]f?5Y~Џ i~o™  !? A~vE~:~:~y5^B @fEZjIUDNOT Ignoring new targets: 92.10 m.Bje0Jje0} ProNav: ac range: 92.099998 m, nav range: 30.368044 m, bearing: 272.497486 deg, approach rate: 0.630874 m/s, LOS rate: -0.154389 deg/s, cmd heading: 114.578336 deg, new cmd heading: 114.397174 deg. 2j}ӻHeadingCmd: 1.996607 target range: 92.099998 and range: 92.10 m. jԐ?jjjihhhhfffrfbfr@ɛ|)= I ݢs=ɚiI =IԐ?ii)Ԑ?) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757796*Fq2Fq:FqBFum0JFqGB IGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:02:49.1283  TRx dataTimestamp_ set to:1736380970.444615 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007930s"w,A2Q?Y2?2m<92&>y2H,O?? v?4P?@"?!ovuJ? w?ɨ2Q?2>^;2#Cy>uB>!IIJIJd٢b fL=9fUQ f>dh jG٣hyz= ~> Nusing accuracyPremultiplier from config 59g?5Y 5tIio™15?5AxEh;;>5A E@A}B*** querying acoustic contact ***jyjyZj!-DNOT Ignoring new targets: 92.10 m.BjM/JjM/] ProNav: ac range: 92.099998 m, nav range: 30.625164 m, bearing: 272.449616 deg, approach rate: 0.621252 m/s, LOS rate: -0.114691 deg/s, cmd heading: 114.397172 deg, new cmd heading: 114.254769 deg. 2j]leHeadingCmd: 1.994122 target range: 92.099998 and range: 92.10 m. jec??jajijiihhhhfffrfbf @ZH1RH5@AHEo>IA IE"IIEBIE =&IA.IA6IE<:IE FɛiuQ,= y}I ?r=ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262828I0L=Ic??ii)c??)E rAE sA*Fu?2Fy:FyBF_0JF"G>G> I hG : Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 00:02:49.1283 LVL= 26688, 32753, 28642, 32755, AGC= 63, IDX= 406, 0.43, 0.413,-1.173,-0.046,-0.248, PHS= 0.749,-0.879, 0.199, RAW= 130.6, -1.0, CAL= 136.5, -10.0, ROT= 13.5, 10.0  Ygot valid direction response: 00:02:49.1283 LVL= 26688, 32753, 28642, 32755, AGC= 63, IDX= 406, 0.43, 0.413,-1.173,-0.046,-0.248, PHS= 0.749,-0.879, 0.199, RAW= 130.6, -1.0, CAL= 136.5, -10.0, ROT= 13.5, 10.0  PDAT read: Bearing 13.5, 10.0 (Local)  ~Local bearing/azimuth received: Bearing 13.5, 10.0 (Local)  DAT read: Range 10 to 50 : 89.8 m (Round-trip 119.8 ms) speed 0.4 m/s  ,DAT read: user:3608>  BDAT read: Tx time:00:02:50.2043  $Ping request sent. ٵ @ٵ 5 ڵ x@)ڵ ¸2Iڵ :Fq>iڵ ¸2>ڱ ڱ ۵ K:r?|#?uظi)۵ 8=>I۵ O "wY :publishing transmit ping timeFpublishing direction and range infoY9](x⿔?yYYYY Y)YIYiYYYYY Y)YIYiYYY]K:r?|#?uظi)YIYiYYY,K AJ:J:~J:1J8J:s:J:f9J:3J8J:;J:;J::J::Y]?Y]T?]5]<9]ً>y]Hœ?N #? f~? "Ia=zK}K}59KyK}'K} "%&+*-0126887:<<??=8.iG 2Yy,BMb@Mb@Mb@ )YRQ?`"?{Gz?y"?=ף<=A @)AI AyAII۳٢?  =9Q >)) 5G٣5eYGy5TK= 5> =Nusing accuracyPremultiplier from config9E59=g?E5Y=~ i=o™m%?m:m{?mA={E=;=p;=Ք5q }@yk]Ik?k]H kY k]A:k]BBk]dBZk]b@"]* #h`pf6J$R@](x⿔?Jk]!Rk]o*].uv P@A5K@]l^?V0Ϳ w?"k]*k]Bk]Yd?k]LE 2k]Bk]m?kYk]Ck]# Bk]q@e addTargetRange:: Added new target pos. range: 89.800003 m, deltaT: 3.527026 s, deltaX: -2.299995 m, approachRate: -0.652106 m/s, rangeRepo size: 4 u Added new target pos. range: 89.800003 m, bearing: 342.675171 deg, lat: 36.905081 deg, lon: -122.120906 deg, deltaT: 3.527026 s, deltaX: -2.299995 m, approachRate: -0.652106 m/s, posRepo size: 4 Zjq}DNOT Ignoring new targets: 89.80 m.Bj}JjyWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAJDAT read: TxSync time:00:02:50.2036  ProNav: ac range: 89.800003 m, nav range: 34.534603 m, bearing: 296.225509 deg, approach rate: 0.000000 m/s, LOS rate: -0.114691 deg/s, cmd heading: 114.254769 deg, new cmd heading: 114.046347 deg. 2jHeadingCmd: 1.990484 target range: 89.800003 and range: 89.80 m. j0?jjjihhhhGBf9fAfArfE@3sV@bfE@?ɛ0= 隕֋I 2Sq=ɚiI[=I0?ii)0?)*F ?2F :F BF P0JF ) I) G= 3GB)=Will construct direction to contact in vehicle frame from tetrahedron phase data.OM>/"w,݊AB?YB/?BhP<9BuJ>yBH,?Wp`]?p??`v@o?@j?ɨB?B:j;B$CyZ\BZ!IIvIv٢~ ~r=9~GQ ~?!) -G٣)y=%= e? mNusing accuracyPremultiplier from configiu59m?g?u5Ymy imo™y}O?}Am}Em*:m:mU5 AZjDNOT Ignoring new targets: 89.80 m.Bj%Jj% ProNav: ac range: 89.800003 m, nav range: 34.735699 m, bearing: 296.072541 deg, approach rate: 0.620298 m/s, LOS rate: -0.469111 deg/s, cmd heading: 114.046346 deg, new cmd heading: 113.590109 deg. 2j  HeadingCmd: 1.982521 target range: 89.800003 and range: 89.80 m. j C?jjjihhhhf9f9fArfAbfE ?ɛBt = 隕I p=ɚiI}=IC?ii)C?)*Fq2Fq:FqBFu~0JFyHn>I III&I.I6I!<:IJ FWill construct direction to contact in vehicle frame from tetrahedron phase data.GGq B O >{ "w,/A pIpyvNBv!IMb@Mb@Mb@ )YS㥛?Q?I +?y$&?=94< A @)IyQAII3A٢ ==9Q > G٣fYGy >  Nusing accuracyPremultiplier from config 59f? 5Yq io™(?:!?AE$;";+5! %xA!ZjIMDNOT Ignoring new targets: 89.80 m.BjUBJjUBm ProNav: ac range: 89.800003 m, nav range: 34.987820 m, bearing: 295.882804 deg, approach rate: 0.605022 m/s, LOS rate: -0.452035 deg/s, cmd heading: 113.590110 deg, new cmd heading: 113.025020 deg. 2jmuHeadingCmd: 1.972659 target range: 89.800003 and range: 89.80 m. j}?jyjyjyiyhyhyhh?Bfffrfbf`ʲ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛeBm= i隭I ^o=ɚiI2=I?ii)?)EV>E)>*F?2F:FBF0JFGsA GoAzK5WMK59K1K5'K5          G G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >"w,ART"?YR^`?RS<9R>yRH ^X? `$??@U9?[ӊ`6&? ?ɨRT"?RnE;R!Cyr;Bri!I)t t z=z=I|I|٢ н  Z=9 Q  > G٣y.> > %Nusing accuracyPremultiplier from config!-59%d?-5Y%Pk i%o™)-]?=A%E%A;%B;%ϙ5A EAEdEZjimDNOT Ignoring new targets: 89.80 m.Bju<ػJju<ػ ProNav: ac range: 89.800003 m, nav range: 35.219151 m, bearing: 295.739739 deg, approach rate: 0.615409 m/s, LOS rate: -0.378094 deg/s, cmd heading: 113.025021 deg, new cmd heading: 112.598655 deg. 2jHeadingCmd: 1.965217 target range: 89.800003 and range: 89.80 m. j=?jjjihhhhfffrfbf@ ?ɛ8< I Fn=ɚiI=I=?ii)=?) I*F?2F :F BF A5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.JQJQJU0JQJQJQJUـ3JQa]@ae@ae@ae@G)G B O- >H o>I  I !II BI &I .I 6I <:I 6 FBI˧CJI˧CRIZI =bI =jI`5v#"w,'*AWill construct direction to contact in vehicle frame from tetrahedron phase data.y+BV!IuMb@Mb@Mb@qqq q)qYuZd;?S㥻? G٣y > Nusing accuracyPremultiplier from config59b?5Y8c iwo™`!?:!?AEF;;5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 89.80 m.Bj лJj л% ProNav: ac range: 89.800003 m, nav range: 35.506687 m, bearing: 295.559577 deg, approach rate: 0.587174 m/s, LOS rate: -0.364925 deg/s, cmd heading: 112.598653 deg, new cmd heading: 112.062561 deg. 2j%qz-HeadingCmd: 1.955861 target range: 89.800003 and range: 89.80 m. j-Y?j)j)j)i)h1h1h1h5Bf9f9f9rf9bfE?ɛiu^= qu.оIq ul=ɚqiyI}d=IY?i!i!)%Y?)) $?Ih*F2F:FBF\5JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.G :G B O >"w,QDAF1r?YFyFH t`o??@SaF? Z@_? ?ɨF1r?FE#;F"CyRBR=!IIZIZ٢b b=9f9Q f?dd jG٣hyjo> j? rNusing accuracyPremultiplier from configlr59n`?v5Yn)^ inmo™tvt?vAnEn*:n*:nL5x 9AzK]z1MK]s9KYK]'K]  ZjDNOT Ignoring new targets: 89.80 m.Bj]Jj] ProNav: ac range: 89.800003 m, nav range: 35.693890 m, bearing: 295.473519 deg, approach rate: 0.574943 m/s, LOS rate: -0.262919 deg/s, cmd heading: 112.062559 deg, new cmd heading: 111.805739 deg. 2jp4HeadingCmd: 1.951378 target range: 89.800003 and range: 89.80 m. j?jjjihhhhfffrf!bf%@ @ɛIM4< IMII umk=ɚqiqIus=I}?iyiy)}?)E*Fm?2Fi:FiBFmP0JFi"Gu>GqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257066GGrAGsAGi By O > I M Will construct direction to contact in vehicle frame from tetrahedron phase data.Q4"w,7^A}>}<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516394:] ?Y:hI?:33#<9:}V>y:H5堿`6 ?!?j؝ؒ?@Pf?f?ɨ:] ?:$;:$CyF BF/!IiJ;>IJ;ININ٢Vk VK=9Z:Q Z>\\ ^G٣^gYGy^== b> fNusing accuracyPremultiplier from config`f59b[?j5YbW ib`o™ln ?nAbEbD;bE;b 5p vAtJJJJJ}:J9JJZjDNOT Ignoring new targets: 89.80 m.BjlJjl ProNav: ac range: 89.800003 m, nav range: 35.939041 m, bearing: 295.374004 deg, approach rate: 0.600349 m/s, LOS rate: -0.242039 deg/s, cmd heading: 111.805737 deg, new cmd heading: 111.509230 deg. 2j&HeadingCmd: 1.946203 target range: 89.800003 and range: 89.80 m. j0?jjjih h h1h1f1f1f9rf9bf=o@ɛBr< 隅3I i=ɚiI@=I0?i-I I!IIbBI&I.I6I<:I" FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761756GBGa Bi O >["w,xA $I$:!?Y:,?:E$<9:M%>y:H ` ??0 ǚ? ?`7?ɨ:!?:L;8yFBF!I%Mb@Mb@Mb@!!! !)!Y%ʡE?kt?I +?y%?% =%94<% A %@)!I%A!y%=AI5I5)٢Mս MA=9M!9Q M>QQ UG٣Qy]7= ]> eNusing accuracyPremultiplier from configam59eW?m5YenQ ieTo™uR?u:u?uAeEe;e;e5 LAZjIMDNOT Ignoring new targets: 89.80 m.BjUsJjus ProNav: ac range: 89.800003 m, nav range: 36.172302 m, bearing: 295.283839 deg, approach rate: 0.554622 m/s, LOS rate: -0.213002 deg/s, cmd heading: 111.509231 deg, new cmd heading: 111.240482 deg. 2j.HeadingCmd: 1.941513 target range: 89.800003 and range: 89.80 m. j}?jjjihhhhBfffrfbfa%@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:02:52.7256 TRx dataTimestamp_ set to:1736380973.972736checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012407ɛam@@< iGI h=ɚiI=I}?i$C"w,⑋A2L?Y2?2)<92Ҋ>y2H  ??Yb@a_?@7#?J?ɨ2L?2~;2"Cy^B^ IIfIfn٢n< nQ=9r`:Q r>pt vG٣tyv~= v> zNusing accuracyPremultiplier from configx59zS?5YzK izIo™ ? AzEz+;z,;z5_B AbEZj9=DNOT Ignoring new targets: 89.80 m.BjE_JjE_U ProNav: ac range: 89.800003 m, nav range: 36.388458 m, bearing: 295.211241 deg, approach rate: 0.585644 m/s, LOS rate: -0.195525 deg/s, cmd heading: 111.240484 deg, new cmd heading: 111.023985 deg. 2jU/]HeadingCmd: 1.937734 target range: 89.800003 and range: 89.80 m. j]?jYjYjaiahahahihqfyfyfrfbfB @ɛ<  I qf=ɚiI=I?iWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 00:02:52.7256 LVL= 25152, 24497, 18482, 28531, AGC= 67, IDX= 412,-0.01,-2.947, 2.073,-2.742, 3.123, PHS= 0.301,-1.003, 0.415, RAW= 154.2, 4.3, CAL= 155.6, -4.8, ROT= 354.4, 4.8 EYgot valid direction response: 00:02:52.7256 LVL= 25152, 24497, 18482, 28531, AGC= 67, IDX= 412,-0.01,-2.947, 2.073,-2.742, 3.123, PHS= 0.301,-1.003, 0.415, RAW= 154.2, 4.3, CAL= 155.6, -4.8, ROT= 354.4, 4.8 M8DAT read: $Error in header M*Received a bad headerX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.200381,-0.857790,0.473333]9cɿ0MBsT;K?@b_ 2H)soICi>Nbz>9>,@`= -@)I.@i=jh?w?O3?)=?Ijio濉sT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJJJ1JJ̈́:J9J3JEn"w,쿫AB?YB5?Bt*<9B_ӊ>yBH77?G?``h`$I?@P@#?G?ɨB?B);B CHJl>IH IJ`!IIJ4BIJ =y ԂB I&IH.IH6IJl<:IJ F)I ImWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseII ٢! :=98Q  > G٣%hYGy-= > Nusing accuracyPremultiplier from config59M?5YE iU"w,pŋA6U{?Y6_?6|.<96f>y6HV¿@? ?pF?}υ F?f?ɨ6U{?6,;6"CyBȂBB I Mb@Mb@Mb@    ) Y oʡ?EԸ?~jt?y  ? = < A @) AI v@ y AI%I%۳٢5m 5W=95v(:Q > G٣y= > Nusing accuracyPremultiplier from config59H?5Y? i-o™N?: ?AE;;@5 AZjDNOT Ignoring new targets: 89.80 m.Bj Jj - ProNav: ac range: 89.800003 m, nav range: 36.852283 m, bearing: 295.094329 deg, approach rate: 0.586804 m/s, LOS rate: -0.122487 deg/s, cmd heading: 110.802703 deg, new cmd heading: 110.675545 deg. 2j-5HeadingCmd: 1.931653 target range: 89.800003 and range: 89.80 m. j5e@?j1j1j1i1h9h9h9h=HBfAfAfArfAbfE@@ɛy}({!< y隅6I 7{b=ɚiI)=Ie@?ix 1 I1 % Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse"w,1|ߋAb?YbR?b1<9bR>ybH%ƿ_{?`?Ŀ? 0<3??ɨb?b!͊;`JrJpJr0JpJry:JpJrـ3JpyޕBޕ III٢ B=9=9Q > G٣y= > Nusing accuracyPremultiplier from config59[B?5Y%: io™?AE:: 5  AZjyDNOT Ignoring new targets: 89.80 m.BjgʺJjgʺ ProNav: ac range: 89.800003 m, nav range: 37.080593 m, bearing: 295.057067 deg, approach rate: 0.545466 m/s, LOS rate: -0.088478 deg/s, cmd heading: 110.675545 deg, new cmd heading: 110.564446 deg. 2jrHeadingCmd: 1.929714 target range: 89.800003 and range: 89.80 m. j?jjjihhhhf fifirfibfm@ɛBj< 隽I A`=ɚiI=I?iX G>H=m>I9 I=4!II=BI= =&I9.I96I=T<:I=o FGFG sAG Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGBAPExceeded connect timeout, disconnecting.O>  I ͩ"w,NA6r?Y6ð?6?<96o>y6Htɿ@A}? [?@.(ȿ`U?3??ɨ6r?6q;6#CyRBR IiV5<5A 5@)1I5A1y5fAIMIMm٢܇ I=9 ;Q > G٣iYGyք= > Nusing accuracyPremultiplier from config59:?5Y4 i o™?:C?AE*;);̩5 UAZj)5DNOT Ignoring new targets: 89.80 m.Bj=\Jj=\M ProNav: ac range: 89.800003 m, nav range: 37.304691 m, bearing: 295.052290 deg, approach rate: 0.569524 m/s, LOS rate: -0.012066 deg/s, cmd heading: 110.564445 deg, new cmd heading: 110.550202 deg. 2jMUHeadingCmd: 1.929465 target range: 89.800003 and range: 89.80 m. jU?jQjQjYiYhYhYhYhegBfafafarfabfm@ɛئ; 隝"I Z^=ɚiI=I?iGi Bq zK BoIK 9K K 'K O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse#w,)A6?Y6?6.}L<96>y6He̿%k?.?-S˿o߱?@z@? ?ɨ6?6Ŋ;4yRBR IIfIfԳ٢j< j[=9n ;Q n>pp rG٣pyrŎ= v> zNusing accuracyPremultiplier from configt~59v2?~5Yv/ ivn™|U@AvEvV;v;vm5 _B =A bEZj15DNOT Ignoring new targets: 89.80 m.Bj=`G9Jj=`G9M ProNav: ac range: 89.800003 m, nav range: 37.512779 m, bearing: 295.056359 deg, approach rate: 0.560310 m/s, LOS rate: 0.010894 deg/s, cmd heading: 110.550204 deg, new cmd heading: 110.562342 deg. 2jM@9mHeadingCmd: 1.929677 target range: 89.800003 and range: 89.80 m. jm?jijijqiqhyhyhyhyfffrfbf(@ɛB < a I l\=ɚiI[=I?iWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsejH bH 4<H I  I !II BI &I .I 6I <:I $ F #w,YL-A6?Y6?6c<96<>y6H͸Ͽ@@@5??n@ο@Fk?cs`9??ɨ6?6MU;6"CyVBV IInInV٢v| vG=9z`;Q z>xx-Will construct direction to contact in vehicle frame 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 MG٣QyFh= > Nusing accuracyPremultiplier from config59)? 5 %nManaging dock network, ignoring radio surface power offY* in™Q]@]AED<<U5 AeEUB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 89.80 m.Bj/:Jj/: ProNav: ac range: 89.800003 m, nav range: 37.756187 m, bearing: 295.070218 deg, approach rate: 0.506854 m/s, LOS rate: 0.028673 deg/s, cmd heading: 110.562342 deg, new cmd heading: 110.603651 deg. 2jl:HeadingCmd: 1.930398 target range: 89.800003 and range: 89.80 m. jG?jjjihhhhfffrfbf Nj@ɛMBUD< Q]b&IY ]Y=ɚYiYI]=IG?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 elapseJ J J 1J J :J 9J 3J J n;a J o;a J \ ;a J ] ;a #w,FA2 ?Y2*?2{|<92e~>y2H``Kѿ@`?:?п@Ǹ??|?ɨ2 ?2;2$CyBBB I)D DMMb@Mb@Mb@III I)IYMgfffff?K7?~jt?yM3>MI >My G٣jYGyUm= > Nusing accuracyPremultiplier from config59L!?5Y% in™i>:@AEn$;/#; 5 AZjDNOT Ignoring new targets: 89.80 m.Bj`:Jj`: ProNav: ac range: 89.800003 m, nav range: 37.948471 m, bearing: 295.098368 deg, approach rate: 0.550336 m/s, LOS rate: 0.080160 deg/s, cmd heading: 110.603651 deg, new cmd heading: 110.687673 deg. 2j \;HeadingCmd: 1.931864 target range: 89.800003 and range: 89.80 m. jUG?jjjihhhh VBf f f rf bfK@ɛ9=;; 9=7'IA EX=ɚAiAIEh=IUUG?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#w,`A }?Y ? W<9 u>y H`Տҿ ?@?Hѿݵ?@ q?@?ɨ }? kU; #CyB IIEIEb٢U!= UM=9U;Q U>YY ]G٣YyeS= e> mNusing accuracyPremultiplier from configiu59m?u5YmV! imn™q}@}AmEm ;m ;mʰ5 AZjDNOT Ignoring new targets: 89.80 m.Bj:Jj: ProNav: ac range: 89.800003 m, nav range: 38.143932 m, bearing: 295.133095 deg, approach rate: 0.489597 m/s, LOS rate: 0.086542 deg/s, cmd heading: 110.687676 deg, new cmd heading: 110.791325 deg. 2jm;HeadingCmd: 1.933673 target range: 89.800003 and range: 89.80 m. j?jjjihhhhfffrfbfҁ@ɛB < #I kU=ɚiI9=I?i;iyl7)?)*F?2F:FBF`0JFGei۽HI I!IIBI =&I.I6I<:I) FBIJIRIZI =bIjIU05GABYOY>mWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse $?I }#w,zA2C?Y2N?2ը<92~n>y2Hӿ@$T?r? ҿ.?]@p? !?ɨ2C?2;2$CyZBZ IuMb@Mb@Mb@qqq q)qYuX9v?n?X9v?yu>uV>u G٣y.= > Nusing accuracyPremultiplier from config59%?5Y in™b>:H @AE;;5^B tAhEZjDNOT Ignoring new targets: 89.80 m.Bj :Jj: ProNav: ac range: 89.800003 m, nav range: 38.347389 m, bearing: 295.174577 deg, approach rate: 0.490916 m/s, LOS rate: 0.099559 deg/s, cmd heading: 110.791324 deg, new cmd heading: 110.915108 deg. 2j%;%HeadingCmd: 1.935834 target range: 89.800003 and range: 89.80 m. j%g?j)j)j)i)h)h1h1h5?Bf1f9f9rf9bf=*@ɛeBe+;Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ~"I S=ɚiIf=Ig?i;i)g?)!EMsAEIJJJ0JJ}:JJـ3JJ;J;JJ*F2F:FBF0JF"G;>G>G<GGGqByO^>zK BoJK s9K K 'K  m&+'%8#n&++(%"iZ_~O;l] Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******e R****** received valid ping request ******e received new query, but waiting for acoustic response period to elapse$#w,IA6y6HnԿA?G?ӿj?@|痿 ?,?ɨ6pp rG٣rkYGyv;3= v> ~Nusing accuracyPremultiplier from configx 59zZ?5Yz izn™c @AzEz;z ;zB5) -'A)ZjQ]DNOT Ignoring new targets: 89.80 m.Bj]:Jj]:m ProNav: ac range: 89.800003 m, nav range: 38.532356 m, bearing: 295.216751 deg, approach rate: 0.483703 m/s, LOS rate: 0.109759 deg/s, cmd heading: 110.915107 deg, new cmd heading: 111.041022 deg. 2jm;uHeadingCmd: 1.938031 target range: 89.800003 and range: 89.80 m. juj?jqjyjyiyhyhyhhfffrfbf@ð@ɛBo; 'I ]Q=ɚiI8=Ij?i;i I)j?)*FE?2FA:FABFE4JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGESQwG! B1 OM >Hu k>Iq  Iu !IIu BIu  =&Iq .Iu y6H`տzA?@G&?~ԿS?웿H?i2?ɨ6m?6;6#CyB‚BB IIJIJƳ٢R1= RN=9Vs"TT ZG٣XyZ< Z> bNusing accuracyPremultiplier from config\f59^?f5Y^t i^}n™hj/ @jA^E^2;^3;^5l rAp%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseZj1=DNOT Ignoring new targets: 89.80 m.BjE;JjE;U ProNav: ac range: 89.800003 m, nav range: 38.725513 m, bearing: 295.264007 deg, approach rate: 0.483950 m/s, LOS rate: 0.117807 deg/s, cmd heading: 111.041022 deg, new cmd heading: 111.182080 deg. 2j];eHeadingCmd: 1.940493 target range: 89.800003 and range: 89.80 m. jeb?jajajaiahahihihififqfrfbf%Ca@ɛB|A< 隥I kO=ɚiI=Ib?i;ifl)b?) I*F92F9:F9BF=_5JF9GIGBOl>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJ J J J J :J H9J J J !;J ";J Q;J R;{1#w,+3ȌA2?Y2'?2G <92?a>y2Hֿbk?:?%տ |? # ?`6?ɨ2?2ڊ;2$Cy>ڂB> I Mb@Mb@Mb@    ) Y  r?Pn?V-?y ? > < A @) AI hA y QAI%I%٢u-= }==9} G٣yF< > Nusing accuracyPremultiplier from config59q?5Ym ikn™?: @AE;F;߷5_B #AfEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 89.80 m.Bj:Jj:] ProNav: ac range: 89.800003 m, nav range: 38.951523 m, bearing: 295.310606 deg, approach rate: 0.521862 m/s, LOS rate: 0.106974 deg/s, cmd heading: 111.182079 deg, new cmd heading: 111.321065 deg. 2j]Ԓ;eHeadingCmd: 1.942919 target range: 89.800003 and range: 89.80 m. je?jajajaiahahihhKBfffrfbf @ɛB=< : I M=ɚ i I=I?iB;i)?)zKQK+9KK'K-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse*F2F:FBF4JFG GsAGͿG?G>GYBiOZ> -$?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 elapse8#w,A6?Y6 /?6=96,\>y6H +ֿ`DV?D?տ@nr?֡W?=?ɨ6?6ן;6"CyRBR I)T TI^I^d٢%i?= -P=9-,*11 5G٣5lYGy5V< => ENusing accuracyPremultiplier from configAM59E葜?M5YE  iE[n™IM4 @MAEEEq:E:E5}^B }A}iEZjDNOT Ignoring new targets: 89.80 m.Bj;Jj; ProNav: ac range: 89.800003 m, nav range: 39.157524 m, bearing: 295.355203 deg, approach rate: 0.523613 m/s, LOS rate: 0.112761 deg/s, cmd heading: 111.321066 deg, new cmd heading: 111.454155 deg. 2jƚ; HeadingCmd: 1.945242 target range: 89.800003 and range: 89.80 m. j ?j j j i hhhhf!f!f!rf!bf-N!@ɛBXS< "=隽I 7L=ɚiI"\=I?i^;iK)?)*F2F:FBFP0JFHi>IC I"!IIBI =&I.I6I<:I4 F=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 elapseGG B O > ! I% hF>#w,AyB!IMb@Mb@Mb@ )YDl?Q?X9v?yO ?=<A @)7AIAyzAIuIuWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse٢J}= 4=9Q > G٣y > Nusing accuracyPremultiplier from config59Bݑ?5Y! iJn™?:6@AE;u;5 `AZjDNOT Ignoring new targets: 89.80 m.Bj%j:Jj%j:5 ProNav: ac range: 89.800003 m, nav range: 39.412415 m, bearing: 295.397997 deg, approach rate: 0.569765 m/s, LOS rate: 0.095039 deg/s, cmd heading: 111.454153 deg, new cmd heading: 111.581703 deg. 2j5r;=HeadingCmd: 1.947468 target range: 89.800003 and range: 89.80 m. j=F?j9j9j9i9hAhAhAhEhBfIfIfQrfQbfUF1"@ɛBv< 隅IJJJK3 K.KK"KJJJJJ}:J59JJJ;J;J;J; EwJ=ɚIiIIMV=IMF?iUe;iUk)UF?)Q*F2F:FBFJFG#)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 elapsezK K }9K K 'K z0D8RK ?JK >3E#w,ARP?YR?R:.=9RWK>yRHt/׿ AU@Л?`? nm=9nH j>I  I M!II %BI  =&I .I 6I <:I  FWK#w,:/AyrBr5!Iiv!! %G٣%mYGy% %> ENusing accuracyPremultiplier from config9]59=ɑ?e5Y= i=3n™aaeA=E=;=;=5i mgAulEZjDNOT Ignoring new targets: 89.80 m.Bj:Jj: ProNav: ac range: 89.800003 m, nav range: 39.836708 m, bearing: 295.475596 deg, approach rate: 0.555164 m/s, LOS rate: 0.100449 deg/s, cmd heading: 111.687690 deg, new cmd heading: 111.813244 deg. 2j߉;eHeadingCmd: 1.951509 target range: 89.800003 and range: 89.80 m. je?jajijiihhh!h)fQfYfarfibf@5#@ɛUBU>3< QUپIQ ]gG=ɚYiYI]C=Ie?ieYx;ie)e?) IE?<Will construct direction to contact in vehicle frame from tetrahedron phase data.ս<ս4=y6H׿_ O?1?HֿDU?@``?`t?ɨ65?6{;6"CyB#BBL!INWill construct direction to contact in vehicle frame from tetrahedron phase data.N!! %G٣!y-P< -> 5Nusing accuracyPremultiplier from config1=595¼?=5Y5 i56n™= ?E:E@EA5E5;5';5G5I MAImB*** querying acoustic contact ***jijiZjq}DNOT Ignoring new targets: 89.80 m.Bj}n9Jjn9 ProNav: ac range: 89.800003 m, nav range: 40.177425 m, bearing: 295.488962 deg, approach rate: 0.624962 m/s, LOS rate: 0.024308 deg/s, cmd heading: 111.813243 deg, new cmd heading: 111.853000 deg. 2ju:=HeadingCmd: 1.952203 target range: 89.800003 and range: 89.80 m. jE?jAjijiiihihqhqhuBfqfyfyrfybf}g$@ɛ B \<  ažI E=ɚiI=I?i?; )I)iѫ;)=?)AE=*F?2F:FBFJFG >UWill construct direction to contact in vehicle frame from tetrahedron phase data.]J J J J J :J 9J J a @a @a @a @Z#w,vjA^r?Y^ɰ?^4mX=9^R ,>y^HT׿ g@Vh?E?ֿcA?m &`?^?ɨ^r?^-;^$Cyj5Bjc!IIrIr۳٢z= z`=9z(H~l>I~C I~y!II~HBI~ =&I|.I~=D6I~<:I~3 F G٣y%k; -> uNusing accuracyPremultiplier from configq}59u?}5Yu# iu8n™@AuEu ;u ;u5 FAjEZjDNOT Ignoring new targets: 89.80 m.Bj9Jj9 ProNav: ac range: 89.800003 m, nav range: 40.412273 m, bearing: 295.498803 deg, approach rate: 0.619250 m/s, LOS rate: 0.025798 deg/s, cmd heading: 111.853002 deg, new cmd heading: 111.882353 deg. 2j:HeadingCmd: 1.952715 target range: 89.800003 and range: 89.80 m. j?jjjihhhhfffrfbf!%@ɛ-B-< )-7I) 5OD=ɚ1i1IP=I?i&;i.z;)?)E)E)*E)"E)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:3610> BDAT read: Tx time:00:03:01.1544 $Ping request sent.G B O >a#w,A6?Y6?6b=96">y6H`{׿Qk[-??׿@?R7?u?ɨ6?6);6"CyFEBFv!I)H HEMb@Mb@Mb@AAA A)AYEK7A`?{Gz?Zd;O?yE+?Eף=Ej G٣nYGy; > Nusing accuracyPremultiplier from config59h?5Yl i9n™T,?:/@AE;;5\B AmEZjDNOT Ignoring new targets: 89.80 m.BjdU:JjdU:E ProNav: ac range: 89.800003 m, nav range: 40.744492 m, bearing: 295.521971 deg, approach rate: 0.674277 m/s, LOS rate: 0.046640 deg/s, cmd heading: 111.882351 deg, new cmd heading: 111.951290 deg. 2jE;EHeadingCmd: 1.953919 target range: 89.800003 and range: 89.80 m. jM?jIjIjIiIhIhIhQhUBfQfyfyrfbf&@ɛBG< I %RC=ɚ!i)I-{=Iu?i};i} ;)}?)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500507zK9PK}9KK'K  *F?2F:FBF_0JFG}CQ;GYBa $?IhO>*g#w,>A2r?Y2{@?2)}k=92Ʀ>y2HS׿m@|??3׿`,?~k}Y?@*?ɨ2r?2̕;2#Cy>VB>!IIJIJ(*٢R= Rb=9V;Q V>TT VG٣XyZ*; Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.``nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754339 zNusing accuracyPremultiplier from configp~59rA?~5Yr% ir;n™T@ArErF;r2*;r5  -A Zj15DNOT Ignoring new targets: 89.80 m.JJJJJp:J*9JJBj W:Jj W:] ProNav: ac range: 89.800003 m, nav range: 40.972084 m, bearing: 295.538343 deg, approach rate: 0.658743 m/s, LOS rate: 0.047123 deg/s, cmd heading: 111.951288 deg, new cmd heading: 112.000130 deg. 2j]\;eHeadingCmd: 1.954771 target range: 89.800003 and range: 89.80 m. je5?jajijiiihihhhfffrfbf qP'@ɛ B W< )5~I1 5B=ɚ1i1I5=I=5?i=;i=*V;)=5?)AZHRHH m>I  I !II qBI &I .I 6I <:I F FBIAJIARIAZIE =bIE =jIEŝ5*F)2F):F)BF50JF1uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004322Gm t;Gi B O- > I !n#w,eA6??Y6}?69n=96[=y6H`ؿ``??~׿B?@­ї?k?ɨ6??6;;6"CyB`BF!ImMb@Mb@Mb@iii i)iYmS?p= ף?I +?ym:?m=m94 G٣y; > Nusing accuracyPremultiplier from config59?5Y iEn™b;?:@AES;5;x5 @ZjDNOT Ignoring new targets: 89.80 m.Bj&9Jj&9  ProNav: ac range: 89.800003 m, nav range: 41.289883 m, bearing: 295.550192 deg, approach rate: 0.741830 m/s, LOS rate: 0.027447 deg/s, cmd heading: 112.000131 deg, new cmd heading: 112.035405 deg. 2j :HeadingCmd: 1.955387 target range: 89.800003 and range: 89.80 m. jMJ?jIjQjQiQhYhYhYh]˃Bfafafarfabfe@(@ɛ BU< ׀I A=ɚiIb6=IJ?i%3;i%H!<)%J?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257326*F2F:FBF,5JF"G=G=G*;GGsAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508656yt#w,ԍAzK".oMK"59K K"'K" b?Yb?b$s=9b{=ybH;0ؿz`|ȷ??@׿ ?oѿ??ɨb?bV;b CyjfBj!IinC=In=IvIv3٢z = ~U=9~`;Q > G٣oYGy  ;  > Nusing accuracyPremultiplier from config599?5Y iOn™%@%AEu ; ;&5-[B -I@-pEMB*** querying acoustic contact ***jIjIZjQDNOT Ignoring new targets: 89.80 m.Bj:Jj: M$?IIU ProNav: ac range: 89.800003 m, nav range: 41.571072 m, bearing: 295.561342 deg, approach rate: 0.732276 m/s, LOS rate: 0.028840 deg/s, cmd heading: 112.035402 deg, new cmd heading: 112.068624 deg. 2j]V:mHeadingCmd: 1.955966 target range: 89.800003 and range: 89.80 m. jm]?jijijiiihhhhfffrfbf9(@ɛ߃BsX< FpI  t1A=ɚiIt=I]?iG^;i%<)]?)!*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760452J~J{JJJ{m:J-9JJG 1X<G B O >H p>I  I !II BI  =&I .I 6I D<:I e F-{#w,AN"?YN+?N%t=9N>yNH.ؿ Pw }??@$׿ q?{k??ɨN"?N ;N"CyVoBV!IIbIb٢j+= jL=9n`r9Q n>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz59vz?z5Yv< ivXn™|~@~AvEv ;v ;v5 \B @nEZj9=DNOT Ignoring new targets: 89.80 m.BjE:JjE:U ProNav: ac range: 89.800003 m, nav range: 41.863750 m, bearing: 295.572703 deg, approach rate: 0.728920 m/s, LOS rate: 0.028097 deg/s, cmd heading: 112.068624 deg, new cmd heading: 112.102469 deg. 2jUC:]HeadingCmd: 1.956557 target range: 89.800003 and range: 89.80 m. j]wp?jYjYjYiYhYhahahafafifirfibfm )@ɛ݃B< 隭[I @=ɚiI=Iwp?i{;i̐<)wp?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012862*FU?2FY:FYBF]P0JFa )I)Gjx<GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264342%#w,ȳA2g?Y2?28t=92~Z>y2H<"ؿbv[?`q?0~׿ߺ??@?ɨ2g?2 L;2%Cy^uB^!IMMb@Mb@Mb@III I)IYM{Gz?&1?yMC?MP=MMA M@)M AIIIyMzAIeIe%٢u"< u@=9}$9Q }>y G٣y6 > Nusing accuracyPremultiplier from config59n?5Y iin™FD?:@AE==5[B h@qEZjDNOT Ignoring new targets: 89.80 m.Bj 8Jj8 ProNav: ac range: 89.800003 m, nav range: 42.188450 m, bearing: 295.575843 deg, approach rate: 0.702715 m/s, LOS rate: 0.006743 deg/s, cmd heading: 112.102467 deg, new cmd heading: 112.111815 deg. 2j%9%HeadingCmd: 1.956720 target range: 89.800003 and range: 89.80 m. j-u?jjjihhhhBfffrfbfڜ*@ɛEۃBM = IMLII M$?=ɚQiQIUfV=IUu?i];i] <)]u?)YEiEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517347*F?2F:FBFO0JFGrA GzKc{LK9KK'K #&&%'%    !I-hG l<G B O > ;#w,"A:?Y:?:s=9: >y:Hs6ؿ3p@Q??Վ׿ ?`^ rE??ɨ:?:r;:#CyBtB@IJIJWRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768402٢Z ZX=9ZQ ^>\\ bG٣bpYGybCe; b> jNusing accuracyPremultiplier from configdn59f;d?n5Yf ifxn™pr@rAfEf3";f-;fg5t vn@tZjDNOT Ignoring new targets: 89.80 m.Bj.9Jj.9- ProNav: ac range: 89.800003 m, nav range: 42.478485 m, bearing: 295.579116 deg, approach rate: 0.852686 m/s, LOS rate: 0.009558 deg/s, cmd heading: 112.111818 deg, new cmd heading: 112.121571 deg. 2j-95HeadingCmd: 1.956891 target range: 89.800003 and range: 89.80 m. j5d{?j1j9j9i9h9h9hAhAfAfAfIrfIbfM@bD+@ɛ}ڃB}}= 隅JI >?=ɚiIc=Id{?i;i<<)d{?)JJJJJJJJ*F5?2F1:F1BF5_0JF1Hq>IC I!IIBI =&I.I6I,<:IT FGU1X<G1BAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:00:03:03.6675 ]TRx dataTimestamp_ set to:1736380984.812714echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021472O > = $?IA Ie#w,5a G٣y > Nusing accuracyPremultiplier from config59W?5Ya in™M?:@AE;M;N5 @ZjDNOT Ignoring new targets: 89.80 m.Bj  Jj   ProNav: ac range: 89.800003 m, nav range: 42.827435 m, bearing: 295.578275 deg, approach rate: 0.803513 m/s, LOS rate: -0.001920 deg/s, cmd heading: 112.121571 deg, new cmd heading: 112.119069 deg. 2j%HeadingCmd: 1.956847 target range: 89.800003 and range: 89.80 m. j%y?j!j!j)i)h)h)h1h5Bf9f9f9rf9bf=3#,@ɛm؃Bm= imNIi m>=ɚqiI =Iy?i;iK<)y?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273540*F?2F:FBFJFG <G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526076R#w,QVAzKR+MKRh9KPKR'KR]?Y]E?]o=9]U >y]Halؿ d4??׿@? ߭Xl??ɨ]?]5i;YyuhBu!III٢. K=9Q > G٣y< > Nusing accuracyPremultiplier from config59K?5Y in™6@AE;u;5 7@ IhB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 89.80 m.Bj8Jj8% ProNav: ac range: 89.800003 m, nav range: 43.149868 m, bearing: 295.579027 deg, approach rate: 0.797345 m/s, LOS rate: 0.001846 deg/s, cmd heading: 112.119072 deg, new cmd heading: 112.121311 deg. 2j%$8=HeadingCmd: 1.956886 target range: 89.800003 and range: 89.80 m. j=>{?jAjAjAiIhQhQhYhYfaffrfbf ,@ɛm׃Bmh.= imr]Ii m?==ɚqiqIuHd =Iu>{?i}+.;i}kQ<)}>{?)yErAE*F?2F:FBF`0JF!"G%=G%=Will construct direction to contact in vehicle frame from tetrahedron phase data.ձյ<DAT read: 00:03:03.6675 LVL= 24736, 23233, 13298, 28947, AGC= 66, IDX= 360, 0.09, 1.697, 0.738, 2.749, 1.890, PHS=-0.105,-1.105, 0.856, RAW= 179.3, 4.2, CAL= 179.4, -4.6, ROT= 330.6, 4.6 Ygot valid direction response: 00:03:03.6675 LVL= 24736, 23233, 13298, 28947, AGC= 66, IDX= 360, 0.09, 1.697, 0.738, 2.749, 1.890, PHS=-0.105,-1.105, 0.856, RAW= 179.3, 4.2, CAL= 179.4, -4.6, ROT= 330.6, 4.6 PDAT read: Bearing 330.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 330.6, 4.6 (Local)  DAT read: Range 10 to 50 : 81.6 m (Round-trip 108.9 ms) speed 0.4 m/s ,DAT read: user:3611> BDAT read: Tx time:00:03:04.7544 $Ping request sent.nв?)۵V?I۵7i۵j޿۵>J۱۱:publishing transmit ping timeFpublishing direction and range infoر9صoYſGT?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵UE?@os?>nв?)۱I۱i۱۱۱۱GE )<G9 BA O] >H I  I I I &I .I 6I :<:I _ Fx#w,pA2BK?Y2J?2]k=92i9 >y2H`0ؿ*]F?~?׿uߺ?}g`q??ɨ2BK?2]k;2$Cy>`BB!IiF=IF=DDIJIJ ٢n\( rW=9r#Q r>tt vG٣vqYGyz; z> Nusing accuracyPremultiplier from config|59~@? 5Y~y i~n™  X@ A~İE~:~":~5 -@)kb6?k k k_dA:k3BBkBZk8[a>"dޅu+:DuT&@oYſGT?Jkj޿Rk>J*𱍝S@]41@t'/Hݍ#?gl?Ώ%Y"kA*kΞBkc?kǁ 2knBk ˠ?kk^CkruBk@ addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 14.620487 s, deltaX: -8.200005 m, approachRate: -0.560857 m/s, rangeRepo size: 4  Added new target pos. range: 81.599998 m, bearing: 12.609342 deg, lat: 36.905337 deg, lon: -122.120906 deg, deltaT: 14.620487 s, deltaX: -8.200005 m, approachRate: -0.560857 m/s, posRepo size: 4 Zj DNOT Ignoring new targets: 81.60 m.Bj Jj Will construct direction to contact in vehicle frame from tetrahedron phase data.= ProNav: ac range: 81.599998 m, nav range: 61.361965 m, bearing: 320.300229 deg, approach rate: 0.000000 m/s, LOS rate: 0.001846 deg/s, cmd heading: 112.121312 deg, new cmd heading: 112.123505 deg. 2jAEHeadingCmd: 1.956924 target range: 81.599998 and range: 81.60 m. jE|?jIjIjIiIhIhIhhfffrf`ffT@bfR_?ɛ-ՃB-q< 15jI1 5==ɚ1i1I5v =I=|?i=;iEi<)E|?)A $?I*Fe?2Fi:FiBFu0JFqG- ܸ<<) F=  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >e ~G} vAJ J @AJ J ~J J J J f9J J J ;;a J =;a J :a J :a ! U YU vAyU zB^#w,A6t?Y6?6a=96@=y6H5ؿb,?{?ؿ`(?:M?`?ɨ6t?6;6!CybVBb!IMb@Mb@Mb@ )Yoʡ?kt?:vyM? 0=TA )3 AIQAyAII٢= >=9UQ > G٣yA; > Nusing accuracyPremultiplier from config593?5YS in™`M?:d@AǰE|4;N3;5 -AZj  DNOT Ignoring new targets: 81.60 m.Bj1Jj1% ProNav: ac range: 81.599998 m, nav range: 61.674889 m, bearing: 320.168044 deg, approach rate: 0.758009 m/s, LOS rate: -0.318573 deg/s, cmd heading: 112.123504 deg, new cmd heading: 111.728968 deg. 2j-Z-HeadingCmd: 1.950038 target range: 81.599998 and range: 81.60 m. j5ۚ?j1j1j1i1h1h9h9h=Bf9fAfArfAbfE`&?ɛuԃBu< qu|Iq }<<=ɚyiyI} =Iۚ?i_};ie<)ۚ?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm2JFizK}VBJK}9KyK}'K}RK>JK> IG Re<Gi By O >q#w,hΣA6q?Y6x?6rZ=96':>y6Hnؿ Z?`Tw?(ؿ?[6?ABFp!IININB٢~۽ V=9Q >    G٣ y +; > Nusing accuracyPremultiplier from config%59(?%5Y in™!%@%AɰE;;E51 5A5tEZjamDNOT Ignoring new targets: 81.60 m.BjmJjm} ProNav: ac range: 81.599998 m, nav range: 61.953659 m, bearing: 320.052036 deg, approach rate: 0.728193 m/s, LOS rate: -0.301667 deg/s, cmd heading: 111.728965 deg, new cmd heading: 111.382512 deg. 2jOHeadingCmd: 1.943992 target range: 81.599998 and range: 81.60 m. j?jjjihhhhfffrfbf n?ɛӃBC< HI [W;=ɚiIsp =I?i;i<)?)*FQ2FQ:FQBF]2JFYG-Z<G1G5:?Hep>IeC Ie!IIeBIe =&Ia.Ia6Ie8<:Ie] FGBO (>5Will construct direction to contact in vehicle frame from tetrahedron phase data. I #w,iA:U?Y:\?:R=9:Ⱦ>y:H`ͼؿCW`Hu?w?+ؿڸ?@ G٣rYGy9 > Nusing accuracyPremultiplier from config59g?5YH in™(J?:@A̰E:;8;5 ArEZjDNOT Ignoring new targets: 81.60 m.BjJj ProNav: ac range: 81.599998 m, nav range: 62.256058 m, bearing: 319.929363 deg, approach rate: 0.721557 m/s, LOS rate: -0.291291 deg/s, cmd heading: 111.382511 deg, new cmd heading: 111.016282 deg. 2j}GHeadingCmd: 1.937600 target range: 81.599998 and range: 81.60 m. jD?jjjihhhhރBfffrfbf?ɛ҃B 8<  I) 5L(:=ɚ1i1I5z =I=D?i=d;i=)?=)=D?)9Will construct direction to contact in vehicle frame from tetrahedron phase data.Օ>Օ7?JJJJJJy9JJJJJ::J;:*F?2F:FBFO0JFG <G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,׎A2z?Y2?24P=92_>y2H5ؿ[ #?`|?ؿ|? `l?`?ɨ2z?2D&;2"CzKNRIKNh9KLKN'KNBKVqA:KVqAyZBZ7!IIbIb?٢j jU=9jźQ n> G٣y=s => ENusing accuracyPremultiplier from configAM59E?M5YE iEo™QU@UAEΰEEX:EC:E5y }NAy $?IhB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 81.60 m.BjJj ProNav: ac range: 81.599998 m, nav range: 62.540379 m, bearing: 319.814702 deg, approach rate: 0.708295 m/s, LOS rate: -0.284340 deg/s, cmd heading: 111.016283 deg, new cmd heading: 110.673870 deg. 2j#CHeadingCmd: 1.931623 target range: 81.599998 and range: 81.60 m. j p??j j j i h h hhQfQfYfYrfYbf]?ɛуB < 15I1 =8=ɚ9i9I=C =IEp??iE?;iEG=)Ep??)I*F2F:FBFP0JFG}"<Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GQBaO}z>HM o>II  IM !IIM bBII &II .II 6IM 0<:IM V FBI JI RI ZI  =bI  =jI c5ƻ#w,#eA67?Y6u?6QN=96>y6H`ؿbb{??`s׿@em?XǩKn?࿱?ɨ67?6s;6#CyBBB!IIJIJỳ٢^j ^L=9^vQ b>`` bG٣`yfɫ f> jNusing accuracyPremultiplier from confighr59j?r5Yj ij*o™pr@vAjѰEjC;jiD;j5x zAzuEZjDNOT Ignoring new targets: 81.60 m.Bj%Jj%5 ProNav: ac range: 81.599998 m, nav range: 62.821266 m, bearing: 319.701909 deg, approach rate: 0.734519 m/s, LOS rate: -0.293636 deg/s, cmd heading: 110.673872 deg, new cmd heading: 110.337008 deg. 2j5I=HeadingCmd: 1.925744 target range: 81.599998 and range: 81.60 m. j=~?j9jAjAiAhAhAhIhIfIfIfIrfQbfU+@ɛЃBv_< 隕׾IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254996 7=ɚiI =I~?i;i =)%~?)!E)*F?2F:FBF^0JF IGme[=GurAGqGI BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506876J J J J J p:J 9J J J ;J ;J ;J ;H#w,G: A6?Y6T?6'J=96.>y6H@vؿgU?@ ?`|׿?]B?@?ɨ6?6Χ;6$CyBނBB IiF?>IFII MG٣MsYGyU U> Nusing accuracyPremultiplier from config59?5Yy iAo™zC?:@AӰE;;g5 AZjDNOT Ignoring new targets: 81.60 m.Bj Jj = ProNav: ac range: 81.599998 m, nav range: 63.125355 m, bearing: 319.591881 deg, approach rate: 0.702042 m/s, LOS rate: -0.252794 deg/s, cmd heading: 110.337007 deg, new cmd heading: 110.008518 deg. 2j=}-MHeadingCmd: 1.920011 target range: 81.599998 and range: 81.60 m. jM?jIjIjIiIhQhQhhBfffrfbf@@ɛσBHf\< I 5=ɚiI 8 =IM?iUA;iU|0=)U?)QWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758889*F?2F:FBF_0JFG=GBOb>zK5JK559K1K5'K5!  RKE ?JKE> $?I#w,[(%A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2BDAT read: Rx Time:00:03:07.2650 2TRx dataTimestamp_ set to:1736380988.5925962checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011861Ze?YZm ?ZG=9Z1=yZH`Uؿ`p4O?@N?`׿i?U Z?~?ɨZe?ZS;Z#CyjBj IIrIr)٢z ~O=9~ϳQ ~> G٣y! > Nusing accuracyPremultiplier from config 59 쐜?5Y 1r i Uo™!%@%A ְE \,; -; 5-ZB -A-xEZjY]DNOT Ignoring new targets: 81.60 m.BjeJjeu ProNav: ac range: 81.599998 m, nav range: 63.399246 m, bearing: 319.493096 deg, approach rate: 0.714344 m/s, LOS rate: -0.256532 deg/s, cmd heading: 110.008516 deg, new cmd heading: 109.713442 deg. 2ju0}HeadingCmd: 1.914861 target range: 81.599998 and range: 81.60 m. j})?jyjyjyiyhhhhfffrfbfM@ɛ΃B; \I `4=ɚiI =I)?i;i19=))?)HI IT!II*BI =&I.I6I<:I) F*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264138GE=GA BI Oe > I 4#w,%?AFՐ?YF?F^+D=9F=yFHK9ؿ@nyi?b?`׿`Ƽ???'?ɨFՐ?Ff;DyRBR IMb@Mb@Mb@ )YbX9?Zd;O?:vyE6?j=Լ I@)IAyAII٢xԽ 9=9Q > G٣!y%} %> -Nusing accuracyPremultiplier from config)559-ߐ?55Y-j i-lo™=7?=:=@=A-ذE-r;-;-5E[B EAMvEZjDNOT Ignoring new targets: 81.60 m.BjvJjv ProNav: ac range: 81.599998 m, nav range: 63.696823 m, bearing: 319.397525 deg, approach rate: 0.672957 m/s, LOS rate: -0.215119 deg/s, cmd heading: 109.713445 deg, new cmd heading: 109.428074 deg. 2jHeadingCmd: 1.909880 target range: 81.599998 and range: 81.60 m. jv?jj!j!i)h)h)h)h-jBf1f1f1rf1bf=+ @mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:03:07.2650 LVL= 25488, 27169, 14914, 27299, AGC= 67, IDX= 413,-0.15,-1.026,-1.944, 0.053,-0.796, PHS=-0.142,-1.101, 0.846, RAW= 180.5, 4.8, CAL= 180.4, -4.1, ROT= 329.6, 4.1 Ygot valid direction response: 00:03:07.2650 LVL= 25488, 27169, 14914, 27299, AGC= 67, IDX= 413,-0.15,-1.026,-1.944, 0.053,-0.796, PHS=-0.142,-1.101, 0.846, RAW= 180.5, 4.8, CAL= 180.4, -4.1, ROT= 329.6, 4.1 PDAT read: Bearing 329.6, 4.1 (Local) ~Local bearing/azimuth received: Bearing 329.6, 4.1 (Local) DAT read: Range 10 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.4 m/s ,DAT read: user:3612> BDAT read: Tx time:00:03:08.3545 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:00:03:08.3538 .#w,XA68?Y6v?6A=96[=y6H`lؿ, R??@h׿ ?f6`4?9?ɨ68?6P;6$Cy>BB I)D DIJIJԳ٢f4 fc=9fԺQ f>hh jG٣jtYGy~ ~> Nusing accuracyPremultiplier from config 59Ԑ? 5Yd i~o™@AڰE.::5zKbMKs9KK'K) -A) $?IhkBG?k= k k#FA:kfBBkTBZkQ>"R##,aڜS5"q@v6QØƿ'ϻ{│j3 ?Jk߿Rk*uS@M0@2l ,??B?{I"kA*kBkUs?k`Gc 2kgmBkYd?kLE kBkBk~λ@% addTargetRange:: Added new target pos. range: 79.699997 m, deltaT: 3.527635 s, deltaX: -1.900002 m, approachRate: -0.538605 m/s, rangeRepo size: 4 5 Added new target pos. range: 79.699997 m, bearing: 11.699101 deg, lat: 36.905549 deg, lon: -122.120794 deg, deltaT: 3.527635 s, deltaX: -1.900002 m, approachRate: -0.538605 m/s, posRepo size: 4 Zj9=DNOT Ignoring new targets: 79.70 m.BjEJjAU ProNav: ac range: 79.699997 m, nav range: 78.772026 m, bearing: 336.266455 deg, approach rate: 0.000000 m/s, LOS rate: -0.215119 deg/s, cmd heading: 109.428073 deg, new cmd heading: 109.176285 deg. 2jQ]HeadingCmd: 1.905486 target range: 79.699997 and range: 79.70 m. j]?jYjYjYiYhYhahahafafifirfmS@bfmf?ɛ%˃B-`c IM"II UH80=ɚQiQIU =I]?i]I C I II BI  =&I .I 6I <:I J FG! B) OM >#w,rA:?Y:*?:$8=9:=y:H2׿`$?`ۤ?׿[:?B? o?ɨ:?:R;:%CybgBbd IIjIj٢r& rI=9v.Q v>tt vG٣xyz z> Nusing accuracyPremultiplier from config|59~Ȑ?5Y~]^ i~o™  @ A~ܰE|~ :~_5 AyEUB*** querying acoustic contact ***jQjQZjamDNOT Ignoring new targets: 79.70 m.BjmJjm} ProNav: ac range: 79.699997 m, nav range: 79.003700 m, bearing: 336.141149 deg, approach rate: 0.609416 m/s, LOS rate: -0.328648 deg/s, cmd heading: 109.176285 deg, new cmd heading: 108.801475 deg. 2jaHeadingCmd: 1.898944 target range: 79.699997 and range: 79.70 m. j?jjjihhhhfffrfbf?ɛʃB` D=1IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. $.=ɚiI&=I?ivJ {J |J J J d:J @9J J J ";J #;J z:J |: #w,ʌA2/g?Y26?2̜5=92%=y2H x׿࣠@t? |?`LU׿@? 5m?f?ɨ2/g?2憎;2"CyNKBNB IEMb@Mb@Mb@AAA A)AYEw/?rh|?Zd;OyE&?E=EjEvA E`@)E AIAAyEAI]I]3٢m m@=9mKQ m>q G٣y > Nusing accuracyPremultiplier from config59?5YW io™)?:@A߰E;;H5 {AZj!%DNOT Ignoring new targets: 79.70 m.Bj-ZJj-Z= ProNav: ac range: 79.699997 m, nav range: 79.244957 m, bearing: 336.025550 deg, approach rate: 0.557669 m/s, LOS rate: -0.266397 deg/s, cmd heading: 108.801478 deg, new cmd heading: 108.455740 deg. 2j=6EHeadingCmd: 1.892910 target range: 79.699997 and range: 79.70 m. jEJ?jAjAjAiIhIhIhYh]Bfafafarfabfm`?ɛȃB` 隝>I |+=ɚiIa=IJ?i&4#w,񝦏AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499338b?Yb?bD3=9buq=ybH_׿@J?? R׿?`tݸ?`W?ɨb?b;b$Cyj.Bj IAEAAIMIMb(٢m  mJ=9uQ u> G٣y[ > Nusing accuracyPremultiplier from config59ݯ?5YR io™@AE|;\};5ZB \ A|EZj!-DNOT Ignoring new targets: 79.70 m.Bj5Jj5M ProNav: ac range: 79.699997 m, nav range: 79.463905 m, bearing: 335.920170 deg, approach rate: 0.542638 m/s, LOS rate: -0.260451 deg/s, cmd heading: 108.455741 deg, new cmd heading: 108.140477 deg. 2jU2HeadingCmd: 1.887407 target range: 79.699997 and range: 79.70 m. j?jjjihhhh!f!f!f!rf!bf-C?H}t>Iy I} II}BI} =&Iy.Iy6I}<:I}F FɛǃBD$F %LI ȝ(=ɚiI/=Im?imcx #w,/A 46@R?YR?R;=9R\=yRHֿ A?F?Eֿy?n?@X?ɨR?RG;R#Cy^BbIUMb@Mb@Mb@QQQ Q)QYUQ?ʡE?~jtyU(?U>UDQ Uv@)U AIUAQyU=AIIV٢  F=9&;Q > G٣uYGy > Nusing accuracyPremultiplier from config59a?5YL io™!?: @AEx;;5[B K AzEq`wA QY`wAy BZjDNOT Ignoring new targets: 79.70 m.-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002501Bjmk{Jjmk{} ProNav: ac range: 79.699997 m, nav range: 79.685051 m, bearing: 335.825556 deg, approach rate: 0.515196 m/s, LOS rate: -0.219808 deg/s, cmd heading: 108.140480 deg, new cmd heading: 107.857427 deg. 2j}HeadingCmd: 1.882467 target range: 79.699997 and range: 79.70 m. j?jjjihhhhBfffrfbfzD@ɛŃBe^哼 aeYIa mP%=ɚiiiIm=Iu?iuY G٣y6 %> -Nusing accuracyPremultiplier from config!559%̔?55Y%E i%o™15C @5A%E% ;%P ;%5A E AAZjamDNOT Ignoring new targets: 79.70 m.BjuJju󌻝 ProNav: ac range: 79.699997 m, nav range: 79.945534 m, bearing: 335.712791 deg, approach rate: 0.571164 m/s, LOS rate: -0.246456 deg/s, cmd heading: 107.857430 deg, new cmd heading: 107.520240 deg. 2j#)HeadingCmd: 1.876582 target range: 79.699997 and range: 79.70 m. j3?jjjihhhhfffrfbf@ɛÃB( eI f"=ɚiI~=I3?i= IY I]M II]TBI] =&IY.I]>D6I]?<:I]i FO}Y> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758514#w,A pIrhyr݁BrII=I=@٢m  mE=9}Q > G٣vYGy > Nusing accuracyPremultiplier from config59?5Y&@ io™  AEH<<55ZB = AE}EUB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 79.70 m.BjmpJjmp} ProNav: ac range: 79.699997 m, nav range: 80.175095 m, bearing: 335.614131 deg, approach rate: 0.490679 m/s, LOS rate: -0.210278 deg/s, cmd heading: 107.520244 deg, new cmd heading: 107.225115 deg. 2j}OHeadingCmd: 1.871431 target range: 79.699997 and range: 79.70 m. j?jjjihhhhfffrfbf@ɛBB )--uonly read 2 of 4 data items for bottom velocity. Device response is::BS, +168, +561,  u@u u@u u@u  u@u I}I}٢q* =9c;Q > G٣y% > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59x?5Y 9 io‘+:: @AEs:;M?5 E AZjDNOT Ignoring new targets: 79.70 m.BjJj ProNav: ac range: 79.699997 m, nav range: 80.449059 m, bearing: 335.491653 deg, approach rate: 0.579071 m/s, LOS rate: -0.257998 deg/s, cmd heading: 107.225118 deg, new cmd heading: 106.858940 deg. 2j1 HeadingCmd: 1.865040 target range: 79.699997 and range: 79.70 m. j ?j j jihhhhfffrf!bf%H @ɛBF@Ǽ IUvIQ ]'=ɚYiI8=I]?i]hj BDAT read: Tx time:00:03:11.9545 $Ping request sent.5*Fy 2Fy :F BF E5JF m Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:00:03:11.9538 G '\=GBO>[$w,v:A^+?Y^1B?^tF=9^= dIhy^HԿ@7` ?@=?gԿU?ۨ?z?ɨ^+?^;\ynBnII5I5٢= E-=9 aQ > G٣ylY > bBottom track data is 1.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59j?5YO2 io‘ :]: @AE*;@?5  AEk`j?k+ k k^'A:kfBBk[BZk7>"ee0'#h)Sa4@ÿW',?Jk GܿRk{*+y S@`K+@0ExkoFGf|?/s?<%}"k]A*kBkfQ?kS( 2kBkfQ?kǁ kBk7BkY1>u addTargetRange:: Added new target pos. range: 77.699997 m, deltaT: 3.528291 s, deltaX: -2.000000 m, approachRate: -0.566847 m/s, rangeRepo size: 4  Added new target pos. range: 77.699997 m, bearing: 10.275557 deg, lat: 36.905577 deg, lon: -122.120266 deg, deltaT: 3.528291 s, deltaX: -2.000000 m, approachRate: -0.566847 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 77.70 m.BjJj ProNav: ac range: 77.699997 m, nav range: 77.609184 m, bearing: 9.907456 deg, approach rate: 0.000000 m/s, LOS rate: -0.257998 deg/s, cmd heading: 106.858938 deg, new cmd heading: 106.426279 deg. 2j HeadingCmd: 1.857489 target range: 77.699997 and range: 77.70 m. j-3?j)j)j)i)h1h1h1h1f9f9f9rf=lS@bfE ?ɛBv ~I %2r=ɚ!iAIE=IM3?iM$w,rTA>?Y>?>9=9>^=y>H &ԿF<`հ?!F?`?Կ/?+.@?*?ɨ>?>1;>#CybBbI U U UU UU  U U UMb@Mb@Mb@QQQ Q)QYUJ +?ʡE?y&1|?yU?U-2>U`;U A Q)QIUAQyQI}I} ٢|q G=9Q > G٣wYGyo޻ > Nusing accuracyPremultiplier from config59_?5Y- io‘T:?:w @AEl;k;5 > A~EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 77.70 m.BjGJjG񻝊 ProNav: ac range: 77.699997 m, nav range: 77.709953 m, bearing: 9.760361 deg, approach rate: 0.289392 m/s, LOS rate: -0.421885 deg/s, cmd heading: 106.426280 deg, new cmd heading: 105.985576 deg. 2jĐHeadingCmd: 1.849797 target range: 77.699997 and range: 77.70 m. j(?jjjihhhhaBfffrf!bf% ?ɛBW6) 'm=隥I e=ɚiI'=I(?iigD=)(?) $?IhzK!K%9K!K%'K%Xd P]lX gQ tCiUK:.BK5rA:K5rA*Fa2Fa:FaBFeP0JFa Will construct direction to contact in vehicle frame from tetrahedron phase data.G '=G G ?G B J yJ }J J J ]:J S9J J O= > $w,sLnAHw>I IIIBI&I.I6I <:ID FF?YF ?Fh7=9F =yFH ԿM?W?ӿ@.? 릿 ?@?ɨF?F;F!CyNBRI)T TIZIZW٢b¼ bX=9bgQ f>hl nG٣lyr9 r> vNusing accuracyPremultiplier from configtz59vU?z5Yv) ivo™xz @zAvEv:v:vb5 c AZj)-DNOT Ignoring new targets: 77.70 m.Bj-4Jj54⻝E ProNav: ac range: 77.699997 m, nav range: 77.805275 m, bearing: 9.619955 deg, approach rate: 0.268853 m/s, LOS rate: -0.395528 deg/s, cmd heading: 105.985575 deg, new cmd heading: 105.564880 deg. 2jEMHeadingCmd: 1.842455 target range: 77.699997 and range: 77.70 m. jU?jQjQjihhhhfffrfbf?ɛ}B}]! 隅I =ɚiIn=I?iizC=)?)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FY:FYBF]_0JFYG%‹9= IGB O%o>!$w,*A"Will construct direction to contact in vehicle frame from tetrahedron phase data.y%B-IMb@Mb@Mb@ )YHzG?V-? rh?y= ?|?>C< A)IAy3AII#٢*; 8=9Q > G٣y   > Nusing accuracyPremultiplier from config 59 %H?5Y # i o™[?:%@%A E 9; ; P5) -W A-EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 77.70 m.BjлJjл- ProNav: ac range: 77.699997 m, nav range: 77.922676 m, bearing: 9.455297 deg, approach rate: 0.260764 m/s, LOS rate: -0.365177 deg/s, cmd heading: 105.564877 deg, new cmd heading: 105.071659 deg. 2j-z5HeadingCmd: 1.833846 target range: 77.699997 and range: 77.70 m. j5{?j9j9j9i9hAhAhh|BfffrfbfU` ?ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ʪǼ 15I1 5_ =ɚ1i1I5=I={?i=0:88533320,'&(&##!RK ?JK >GmC=GABQOm?)$w,~AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003831?Y??Â1=9=yH QEӿ`os?{?gҿ ?@.TƵ??ɨ?;#CyޭBޭIIIJ J wJ J J J 9J J ٢m`= m=9u|5Q u>qq }G٣}xYGy}4޼ }> Nusing accuracyPremultiplier from config59G9?5Yu io™3 @AE/<:5  AZH RH Hx>I IIIBI =&I.I6IQ<:Iz FZjQ]DNOT Ignoring new targets: 77.70 m.Bj]NѻJj]Nѻ ProNav: ac range: 77.699997 m, nav range: 78.057877 m, bearing: 9.260793 deg, approach rate: 0.254837 m/s, LOS rate: -0.365980 deg/s, cmd heading: 105.071662 deg, new cmd heading: 104.489184 deg. 2j+{HeadingCmd: 1.823680 target range: 77.699997 and range: 77.70 m. j[n?jjjihhhhfffrfbf@ɛMBMT IMzIQ U=ɚQiQIU=I][n?iyi}R=)[n?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255793EB= I *F ?2F :F BF P0JF G}va=GyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507810O?8;2$w,[ɐA6)?Y6/?6?1=96Ѯ=y6H`9ҿ`Ģ? C? wtҿ? &.ε? ?ɨ6)?6;6$CyBBBIMb@Mb@Mb@ )YʡE?S??y-?/><` A ) AI AyAII=س٢< $=91Q > G٣y > Nusing accuracyPremultiplier from config 59+? 5Y io™?: @AEQ;;5%YB % A%EZjIMDNOT Ignoring new targets: 77.70 m.BjU>JjU>컝e ProNav: ac range: 77.699997 m, nav range: 78.179703 m, bearing: 9.062524 deg, approach rate: 0.254211 m/s, LOS rate: -0.413076 deg/s, cmd heading: 104.489183 deg, new cmd heading: 103.895326 deg. 2jemHeadingCmd: 1.813316 target range: 77.699997 and range: 77.70 m. jm?jijqjqiqhqhqhyh}Bfyfyfrfbf@ɛ-B- 15vI1 5=ɚ9i9I==IE?iAiEX=)E?)IE5h=*F?2F:FBFJFGS=GaBiO|>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759786 9 I9 Y8$w,AzKNK9KK'K   "*++'#!BK:KJb?YJg6?J=-=9JAV=yJHLҿ? L?ҿґ?`{*?Q?ɨJb?J;J#CyVЁBVIIrIrq٢zQ= z]=9z%Q ~>| G٣y > Nusing accuracyPremultiplier from config 59 f!?5Y  i o™i @A E ; ; _5! -K A)ZjIUDNOT Ignoring new targets: 77.70 m.BjUQJjUQ仝e ProNav: ac range: 77.699997 m, nav range: 78.269402 m, bearing: 8.915164 deg, approach rate: 0.243285 m/s, LOS rate: -0.399219 deg/s, cmd heading: 103.895326 deg, new cmd heading: 103.453759 deg. 2jmmHeadingCmd: 1.805609 target range: 77.699997 and range: 77.70 m. jm0?jqjqjqiqhqhqhyhyfyffrfbfG@ɛ}B[ 隕nI =ɚiI3=I0?ii%Z=)0?)Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:00:03:14.4594 5TRx dataTimestamp_ set to:1736380995.650481Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016656HI IIIBI&I.I6I;<:Ii FEfm=EsAEtA*F?2F:FBFO0JFGrA G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264146 ] $?I] hG JR=G B O > @$w,.A] ?Y]^?]m"=9]=y]Hjѿ Q?? 2+ѿ? VL3?e?ɨ] ?]O;]"CyޥށBޭI) )Y ]wC -Y)y5=B%@QBWill construct direction to contact in vehicle frame from tetrahedron phase data.ե=ե<UDAT read: 00:03:14.4594 LVL= 28016, 27345, 15938, 32755, AGC= 63, IDX= 404, 0.39,-1.008,-2.022,-0.140,-0.904, PHS=-0.015,-1.071, 0.762, RAW= 175.0, 4.1, CAL= 175.1, -4.7, ROT= 334.9, 4.7 ]Ygot valid direction response: 00:03:14.4594 LVL= 28016, 27345, 15938, 32755, AGC= 63, IDX= 404, 0.39,-1.008,-2.022,-0.140,-0.904, PHS=-0.015,-1.071, 0.762, RAW= 175.0, 4.1, CAL= 175.1, -4.7, ROT= 334.9, 4.7 PDAT read: Bearing 334.9, 4.7 (Local) ~Local bearing/azimuth received: Bearing 334.9, 4.7 (Local) DAT read: Range 10 to 50 : 75.5 m (Round-trip 100.7 ms) speed 0.5 m/s ,DAT read: user:3614> BDAT read: Tx time:00:03:15.5545 JJJ1JJJ9J3JJ;aJ;aJ;aJ;a%$Ping request sent.%)٩I٭?i٭u٭٭oC?٭zC@٭C= ڭC@MMb@Mb@Mb@III I)IYMX9v?/$?L7A`?yM?M>M+=M A MA)M3 AIMAIyMQA)ڭIڭ @iڭ=ککۭwX;Q? i#? Z?)ۭu?Iۭiۭʃ߿ۭG۩۩:publishing transmit ping time!Fpublishing direction and range infoة9حmf)ƿsJCᅪoR?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiککII٢'= <9%Q %>!) -G٣-yYGy-g -> =Nusing accuracyPremultiplier from configکۭwX;Q? i#? Z?)۩I۩i۩۩۩۩1M595?M5Y5z i5o™M"?M:Ud@UA5E5n;5l;5>5mZB m AmEk"S㕨?k< k kp A:kBBkBZk="Հ.%*W-y:pR"@mf)ƿsJCᅪoR?Jkʃ߿RkG*Wα R@C2:(@ِl@%g?/i?jtVʩ?"kE@*kBk??ki@; 2kyBkkkk՜Bk8>% addTargetRange:: Added new target pos. range: 75.500000 m, deltaT: 3.530949 s, deltaX: -2.199997 m, approachRate: -0.623061 m/s, rangeRepo size: 4 5 Added new target pos. range: 75.500000 m, bearing: 5.929564 deg, lat: 36.905577 deg, lon: -122.120266 deg, deltaT: 3.530949 s, deltaX: -2.199997 m, approachRate: -0.623061 m/s, posRepo size: 4 ZjQ]DNOT Ignoring new targets: 75.50 m.Bj]JjYm ProNav: ac range: 75.500000 m, nav range: 78.416832 m, bearing: 8.629008 deg, approach rate: 0.000000 m/s, LOS rate: -0.399219 deg/s, cmd heading: 103.453761 deg, new cmd heading: 102.647651 deg. 2jiHeadingCmd: 1.791539 target range: 75.500000 and range: 75.50 m. j*Q?jjjihhhh΂BfffrfR@bf ?ɛ% B% ; ! % eI! - ;<ɚ) i) I- 6=I *Q?i i ,X=) *Q?) E E *E "E E Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:00:03:15.5538 I *F?2F:FBFY5JFzKRIMK9KK'K  RK ?JK ?GU@Z=Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B9O}+?MJJ$w,)+A:f?Y:?:=9:hL=y:Hѿ` ~?`m?п F?@?k?ɨ:f?:ޔ;:$Cy~B~III³٢%> %,=9-QQ ->)) -G٣1y5JC 5> =Nusing accuracyPremultiplier from config9M59=?M5Y= i=o™IM @MA=E=-;=!.;=R5]YB ] A]E}B*** querying acoustic contact ***jyjyZjDNOT Ignoring new targets: 75.50 m.Bj Jj  ProNav: ac range: 75.500000 m, nav range: 78.523186 m, bearing: 8.422146 deg, approach rate: 0.230515 m/s, LOS rate: -0.447753 deg/s, cmd heading: 102.647648 deg, new cmd heading: 102.027927 deg. 2jHeadingCmd: 1.780723 target range: 75.500000 and range: 75.50 m. j?jjjihhhhjH<bH<HEw>IA IE IIEBIA&IA.IA6IE<:IE9 Ffffrfbf^?ɛBƼ TI o<ɚiI$=I?ii "l=) ?) *F2F:FBFP0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. }$?IGG B O >q(Q$w,^DA=?Y=>?=Q=9=+=y=HQп7@? g? п@#??@?ɨ=?=5[;9yMBU IMb@Mb@Mb@ )YCl?S㥛?X9v?y/?$><vA )I7AyAII&٢ >  ==9]"Q e>iq uG٣uzYGyu u> Nusing accuracyPremultiplier from configy59}R?5Y}) i}o™73?:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.973129^@MA}E}n<}B<}A5Q U AQZjDNOT Ignoring new targets: 75.50 m.Bj Jj JzJzJ0JJ`:J9Jـ3JJo;Jq;JP:JQ:U ProNav: ac range: 75.500000 m, nav range: 78.616371 m, bearing: 8.206644 deg, approach rate: 0.198404 m/s, LOS rate: -0.458285 deg/s, cmd heading: 102.027925 deg, new cmd heading: 101.382215 deg. 2jUB]HeadingCmd: 1.769453 target range: 75.500000 and range: 75.50 m. j]s}?jYjYjYiYhahhhBfffrfbf?ɛBm Y]EIa e]<ɚaiaIed=Ims}?iiimQ=)ms}?)qE}a>E}>*F?2F:FBFO0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224855G= ̨i= I G B! O >rW$w,)>_A6He?Y6N?6<96=y6HȖп9?@a?_пn?_T?`??ɨ6He?6;6!CyB'BB IiF=IF:?IJIJ3A٢R= R_=9VSQ V>TT ZG٣XyZ [ ^> bNusing accuracyPremultiplier from config`f59bH?f5Yb@ ibo™df@fAbEb:b:b5l n ArEZj DNOT Ignoring new targets: 75.50 m.Bj Jj % ProNav: ac range: 75.500000 m, nav range: 78.690857 m, bearing: 8.033846 deg, approach rate: 0.227341 m/s, LOS rate: -0.526905 deg/s, cmd heading: 101.382212 deg, new cmd heading: 100.864322 deg. 2j%δ%HeadingCmd: 1.760414 target range: 75.500000 and range: 75.50 m. j-CU?j)j)j)i)h)h)h1hfff1rf1bf5@y?ɛ]Be  amT?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477927G!BqO[>HI IA IIJBI =&I.I6I9<:If FBIǩCJIǩCRIZI =bI =jIǨ5]$w,yA6?Y6 ?6:<96,=y6HBXп #??`H)п&?l]?`?ɨ6?6}Ŋ;6$Cy>/ IIFIF٢R{= RK=9R>Q R>TT VG٣TyZ! Z> ^Nusing accuracyPremultiplier from configXb59Z 叜?b5YZ iZo™df@fAZEZ);Z:Z5jZB jAjEZj|DNOT Ignoring new targets: 75.50 m.Bj Jj  ProNav: ac range: 75.500000 m, nav range: 78.775078 m, bearing: 7.838315 deg, approach rate: 0.209224 m/s, LOS rate: -0.485222 deg/s, cmd heading: 100.864320 deg, new cmd heading: 100.278376 deg. 2jHeadingCmd: 1.750188 target range: 75.500000 and range: 75.50 m. j%(?j!j!j!i!h!h!h)h)f)f)f1rf1bf5@?h?=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.729778 IhɛB 0I <ɚiIg* =I(?ii>=)(?)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980776G I@=J J AAJ }J xJ J J [j:J 9J J J ;J ;J &:J ':G B O- >d$w,璑A6?Y6!?6"<96Q=y6H :Ͽh`Hn?@ ?fϿ:? ?S?ɨ6?6;6#CyRMBRE IMb@Mb@Mb@ )YQ?~jt?Q?y( G٣{YGy$ > Nusing accuracyPremultiplier from config59ۏ?5Y io™=?:F?AEL$<#<| 5) -bA)ZjQUDNOT Ignoring new targets: 75.50 m.Bj]Jj]m ProNav: ac range: 75.500000 m, nav range: 78.853096 m, bearing: 7.608423 deg, approach rate: 0.174503 m/s, LOS rate: -0.513687 deg/s, cmd heading: 100.278379 deg, new cmd heading: 99.589422 deg. 2jmEuHeadingCmd: 1.738163 target range: 75.500000 and range: 75.50 m. ju#|?jyjyjyiyhyhyhh{Bfffrfbf@@ɛBJ G=O&I <ɚiIg =I#|?ii=)#|?)EMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.233317*F?2F:FBFy0JFG GrA ~$?IGeW=GABIOeV>zKM KKM 9KI KM 'KM      Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484887լj$w,TƬA $&@FL?YFP0?Fm<9F]=yFHkο e ?9 ?Sο?v`"?Y?ɨFL?F`;F!CyRaBR^ IIZIZV٢=  V=9ϻQ >ZHyRHyHv>IC I IIBI&I.I6IB<:Ik FA EG٣AyMk M> UNusing accuracyPremultiplier from configQ]59Uя?]5YU iUo™aeY?eAU EU:UX:US 5m[B mAiB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 75.50 m.BjdJjd ProNav: ac range: 75.500000 m, nav range: 78.926949 m, bearing: 7.387877 deg, approach rate: 0.175107 m/s, LOS rate: -0.522432 deg/s, cmd heading: 99.589424 deg, new cmd heading: 98.928435 deg. 2jEHeadingCmd: 1.726627 target range: 75.500000 and range: 75.50 m. j%?j!j!j!i!h!h!h)h)fifqfqrfqbfu A@ɛB^ I <ɚiI:!=I?ii=)?)*F2F!:F!BF%p0JF!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736913 IGe }ܒ=Ga Ga G9 BI O >q$w,ƑAykBj IWill construct direction to contact in vehicle frame from tetrahedron phase data.յ>յ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990514JJyJJJp:J9JJJ;J;J:J:=Mb@Mb@Mb@999 9)9Y=V-?㥛 ?~jt?y=M?===<9 =7A)= AI=zA9y= AIuIu٢>= =9Q  >    G٣y  > Nusing accuracyPremultiplier from config%59ŏ?%5YA io™%N?-:-t?-AEL;{;5ZB wAEZjY]DNOT Ignoring new targets: 75.50 m.BjeJje ProNav: ac range: 75.500000 m, nav range: 79.013794 m, bearing: 7.084708 deg, approach rate: 0.157127 m/s, LOS rate: -0.547908 deg/s, cmd heading: 98.928433 deg, new cmd heading: 98.020005 deg. 2jHeadingCmd: 1.710772 target range: 75.500000 and range: 75.50 m. j?jjjihhhhBfffrfbf`C @ɛB\ %I! %"N<ɚ!i!I%r!=I-?i)i5<=)5?)1] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:00:03:18.0565 m TRx dataTimestamp_ set to:1736380999.445547u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243221 I *F ?2F :F BF _0JF G=zKuYmLKu 9KqKu'Ku%tBK:KGBO?y$w,Z~A^e?Y^ˣ?^C<9^=y^HV̿@w"`۰?4?*̿Vכ??.?ɨ^e?^$;^$Cyn~Bn II~I~ʳ٢= %L=9-0Q ->19 =G٣=|YGyM[ U> mNusing accuracyPremultiplier from configau59e ?u5Ye ieo™y}?}AeEekS;ea;eD5[B AEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492777ZjAmDNOT Ignoring new targets: 75.50 m.Bj})Jj})HI I IIBI&I.I6I9<:Id FE ProNav: ac range: 75.500000 m, nav range: 79.070595 m, bearing: 6.870383 deg, approach rate: 0.157291 m/s, LOS rate: -0.593073 deg/s, cmd heading: 98.020004 deg, new cmd heading: 97.377519 deg. 2jM˼UHeadingCmd: 1.699558 target range: 75.500000 and range: 75.50 m. jU!?jQjYjYiyhhhhfffrfbf , @ɛEBM{& IM0 II M|<ɚIiQIU&"=I!?ii =)!?) Will construct direction to contact in vehicle frame from tetrahedron phase data. I h DAT read: 00:03:18.0565 LVL= 26224, 27281, 18162, 32243, AGC= 63, IDX= 405,-0.20,-0.647,-1.667, 0.131,-0.574, PHS= 0.015,-1.047, 0.701, RAW= 172.9, 4.4, CAL= 173.0, -4.6, ROT= 337.0, 4.6 E= el=M Ygot valid direction response: 00:03:18.0565 LVL= 26224, 27281, 18162, 32243, AGC= 63, IDX= 405,-0.20,-0.647,-1.667, 0.131,-0.574, PHS= 0.015,-1.047, 0.701, RAW= 172.9, 4.4, CAL= 173.0, -4.6, ROT= 337.0, 4.6 } PDAT read: Bearing 337.0, 4.6 (Local)  ~Local bearing/azimuth received: Bearing 337.0, 4.6 (Local)  DAT read: Range 10 to 50 : 73.2 m (Round-trip 97.7 ms) speed 0.5 m/s  ,DAT read: user:3615>  BDAT read: Tx time:00:03:19.1546  $Ping request sent. A@)ڭ lIڭ `7@iڭ l=ک ک ۭ t!}$w,>A%?Y%?% <9%=y%HO~˿0 ?{@?4]˿?``Tΰ?`?ɨ%?%%(;%%CyUBU Ii]=I]=%Will construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y l?kt?/$?y W?  0= < A A) I  A y  AI5I5V٢m<< m=9mPQ m>qq G٣yA > Nusing accuracyPremultiplier from config59a?5Ys io™W?{:?AE)<)<5 Ak?k|~ k k|A:kfBBkkBZk ="x^Z*"Q:>ךk'@-5 7ǿ 9!z?JkնRkp$*q/3R@8@6׋@f C=?)8]?^zc^?"k@*kBkKת?kb ~ 2k̐BkkkkHBkY<= addTargetRange:: Added new target pos. range: 73.199997 m, deltaT: 3.793460 s, deltaX: -2.300003 m, approachRate: -0.606307 m/s, rangeRepo size: 4  Added new target pos. range: 73.199997 m, bearing: 1.952828 deg, lat: 36.905577 deg, lon: -122.120266 deg, deltaT: 3.793460 s, deltaX: -2.300003 m, approachRate: -0.606307 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 73.20 m.Bj5Jj1 ProNav: ac range: 73.199997 m, nav range: 79.142090 m, bearing: 6.525109 deg, approach rate: 0.000000 m/s, LOS rate: -0.593073 deg/s, cmd heading: 97.377522 deg, new cmd heading: 96.350465 deg. 2jHeadingCmd: 1.681633 target range: 73.199997 and range: 73.20 m. j??jjjihhhhBff!f!rf-LR@bf-@7?ɛuB}+ y}4Iy }r<ɚyiIR"=I??iiHn=)??)EE=*FQ 2FQ :FQ BFQ JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data. }$?I G=GG>GqByO?J$w,&AzK.̟LK.9K,K.'K.4RK2>JK2>B)?YB-?Bj;9B }=yBH?ʿh>d?M?@Xʿ H0?JtΞ?B?ɨB)?B@ڈ;B"CyNBN IIVIV=س٢^j< ^Q=9^DQ b>`` bG٣`yf f> nNusing accuracyPremultiplier from confighr59j\?r5Yj( ijzo™pr-?rAjEj:ji:js5vZB zwAzEZjDNOT Ignoring new targets: 73.20 m.Bj0Jj0 ProNav: ac range: 73.199997 m, nav range: 79.189735 m, bearing: 6.291989 deg, approach rate: 0.126303 m/s, LOS rate: -0.617599 deg/s, cmd heading: 96.350467 deg, new cmd heading: 95.651565 deg. 2jӼHeadingCmd: 1.669435 target range: 73.199997 and range: 73.20 m. j ?jjjihhh)h)f1f1f1rf9bf=r?ɛB EWill construct direction to contact in vehicle frame from tetrahedron phase data.  qI  <ɚ i I  "=I ?ii=) ?)E!E!*E!"E!JzJwJ1JJ`:J9J3Ja @a @a @a @HI I II؂BI =&I.I6IL<:Iq F*Fa2Fa:FaBFeZ0JFi I  Will construct direction to contact in vehicle frame from tetrahedron phase data.GI G) B1 OU >$w,BA6X?Y6[?6;:96r V=y6HPɿ`hPv?B[?rɿ? S o??ɨ6X?6;6!CyfBf IInInaO٢v:< v9=9zQ z>x| ~G٣~}YGy~: ~> Nusing accuracyPremultiplier from config59?5Y ipo™Y]!?eAEf<rx<vAb5 YvAyB[B _A-EB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 73.20 m.BjJj ProNav: ac range: 73.199997 m, nav range: 79.242897 m, bearing: 6.025053 deg, approach rate: 0.102895 m/s, LOS rate: -0.516309 deg/s, cmd heading: 95.651567 deg, new cmd heading: 94.851351 deg. 2j+HeadingCmd: 1.655468 target range: 73.199997 and range: 73.20 m. jc?jjjihhhhfffrfbfr ?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛB8 隵I <ɚiI;"=Ic?iiQ=)c?)*F?2F:FBF_0JFG = I G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467640O >1$w,,^A8,?Y;j?#v9n?=yH 99ǿ`n(?w?@k8ǿs?qn???ɨ8,?n; CyB I)! ! M@M M@M M@M  M@M IUyIUHo٢0 5=9C2Q > G٣y%' > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59/?5Y ido‘+:K:?AE;>5 AZj!%DNOT Ignoring new targets: 73.20 m.Bj-VJj-V= ProNav: ac range: 73.199997 m, nav range: 79.292068 m, bearing: 5.752079 deg, approach rate: 0.135453 m/s, LOS rate: -0.751495 deg/s, cmd heading: 94.851349 deg, new cmd heading: 94.032993 deg. 2j=EHeadingCmd: 1.641185 target range: 73.199997 and range: 73.20 m. jE\?jAjIjIiIhIhIhQhQfQfQfYrfYbf]?ɛB(p 隕uI )<ɚiI^"=I\?ii=)\?)*F2F:FBF1JFG!=zK%JK!K!K%'K%5O[ eGBOG>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719401JQJU{JU0JQJQJU-9JUـ3JQHx>IC I IIBI&I.I6IM<:Is F_[$w,xAF?YF?F 9FХ6=yFHſu?`.?~ſi?Dr?@Ҧ??ɨF?FIi;F"Cy{B} III³٢%O %T=9%Q ->)) -G٣-~YGy5 5> MbBottom track data is 0.8 s old, using for 20.0 s. MNusing accuracyPremultiplier from config9U59=8?U5Y= i=Yo‘U :Y]%:],?]A=E=;=mW?=5a eAiZjDNOT Ignoring new targets: 73.20 m.Bj,Jj, ProNav: ac range: 73.199997 m, nav range: 79.331352 m, bearing: 5.519210 deg, approach rate: 0.102047 m/s, LOS rate: -0.604619 deg/s, cmd heading: 94.032990 deg, new cmd heading: 93.334765 deg. 2jxϼHeadingCmd: 1.628999 target range: 73.199997 and range: 73.20 m. j ?jjjihhhhfffrfbf@?ɛBdX hI 8<ɚiI "=I  ?i ip=) ?) }|$?I}hWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971702*F)2F):F1BF5?5JF1GU=G) B1 OU >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224869D$w,)瑒AB?YBN?B~9BW +=yBH5)Ŀ`ᒥ??p,ĿFP? /w?\b?`?ɨB?BM;B!CyfkBfi I ] e ee ee  e e eMb@Mb@Mb@aaa a)aYe ףp= ?)\(?~jtxyeQX?eGa=eĻevA eA)e AIaaye AI}I}٢; D=9 G٣y > Nusing accuracyPremultiplier from config59?5Yh iT:X?z:?A"E;(;5 AZjDNOT Ignoring new targets: 73.20 m.Bj.Jj.  ProNav: ac range: 73.199997 m, nav range: 79.377121 m, bearing: 5.265051 deg, approach rate: 0.109680 m/s, LOS rate: -0.608712 deg/s, cmd heading: 93.334767 deg, new cmd heading: 92.572778 deg. 2j мHeadingCmd: 1.615700 target range: 73.199997 and range: 73.20 m. j@?jjjihh!h)h-Bf)ffrfbfS[@ɛBY ^ I @<ɚi I "=I5@?i1i58=)=@?)9*F2F:FBF5JF iImhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476024GM =G! B) OU >zK &OK 9K K 'K AI/n[D0# |xqokgc_[]XSPOm$w,AyzYB~S Ii )>I 4<-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729536AEAIUIUV٢ K=9Q > G٣y > Nusing accuracyPremultiplier from config59/?5Y iXo™A%E::5 AZjDNOT Ignoring new targets: 73.20 m.BjH-JjH- ProNav: ac range: 73.199997 m, nav range: 79.422859 m, bearing: 5.019595 deg, approach rate: 0.112984 m/s, LOS rate: -0.605983 deg/s, cmd heading: 92.572778 deg, new cmd heading: 91.836876 deg. 2jϼHeadingCmd: 1.602856 target range: 73.199997 and range: 73.20 m. ja*?jjjih!h!h!h!f)f)f)rf)bf5r@JcKk3 Kk.-KcKc"KcJ=yJ=uJ9J9J=]:J=9J9J9Hy>I I II݂BI =&I.I6I=<:Ii FBI=¨CJI9RI9ZI= =bI9jI=5ɛ]Be& im2Iq u[<ɚqiqI}1!#=Ia*?ii=)a*?)*Fa2Fa:FaBFeO0JFa QIYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:03:21.6535 TRx dataTimestamp_ set to:1736381002.972582checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980313G >=G ?G ?G B O >W$w,ƢŒA6u?Y6x\?6496D=y6H ???fEʨcmF?蛣? ?ɨ6u?6_;6#CyBQBBJ IIJIJ㔳٢RY* RZ=9RŬQ V>TT VG٣TyZ| Z> fNusing accuracyPremultiplier from config`r59bㄏ?v5Ybo ibWo™tz?zAb'Eb;b;bQ5| ~OA|Zj!-DNOT Ignoring new targets: 73.20 m.Bj-}+Jj-}+= ProNav: ac range: 73.199997 m, nav range: 79.459015 m, bearing: 4.793288 deg, approach rate: 0.095856 m/s, LOS rate: -0.599709 deg/s, cmd heading: 91.836873 deg, new cmd heading: 91.158295 deg. 2j=ͼEHeadingCmd: 1.591012 target range: 73.199997 and range: 73.20 m. jEK?jAjIjIiIhQhhhfff rf bf= @ɛ}B 隥(I |1<ɚiIC#=IK?ii=)K?)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232363*Fy2F:FBFP0JFG GtAG]m=GBIO|> A IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 00:03:21.6535 LVL= 30624, 30193, 20338, 32755, AGC= 65, IDX= 406,-0.10, 0.697,-0.327, 1.358, 0.724, PHS= 0.061,-1.004, 0.631, RAW= 170.1, 4.4, CAL= 170.3, -4.7, ROT= 339.7, 4.7  Ygot valid direction response: 00:03:21.6535 LVL= 30624, 30193, 20338, 32755, AGC= 65, IDX= 406,-0.10, 0.697,-0.327, 1.358, 0.724, PHS= 0.061,-1.004, 0.631, RAW= 170.1, 4.4, CAL= 170.3, -4.7, ROT= 339.7, 4.7 % PDAT read: Bearing 339.7, 4.7 (Local) - ~Local bearing/azimuth received: Bearing 339.7, 4.7 (Local) = DAT read: Range 10 to 50 : 71.0 m (Round-trip 94.7 ms) speed 0.6 m/s = ,DAT read: user:3616> E BDAT read: Tx time:00:03:22.7546 E $Ping request sent.E @ :>@) I j@i = x?,x?E?) g_?I ۜi yΈ yJW >:publishing transmit ping timeq>Fpublishing direction and range info 9 E3ǿMT?y  ) I i ) I i x?,x?E?) I i  ?Y ?  9 K=y HwV??*n1?!??ɨ  ? ; y}7B}* IMb@Mb@Mb@ )Y|?5^?x&?QyM?7=u A zA)I Ay AII٢Խ %(=9%QͺQ %>II UG٣UYGyUǼ U> eNusing accuracyPremultiplier from configYe59]~?5Y]Cw i]Zo™N?:?A]*E] <]\ <]t 5  Ak ֩O?k n k  k OtޒA:k BBk BZk I@" }S* Z Q/J-@ E3ǿMT?Jk yRk yJW* :rQ@z&}\{bX(@ _}bIt?;E?"k #*k Bk q w?k n] 2k Bk ??k i@; k yBk Bk < addTargetRange:: Added new target pos. range: 71.000000 m, deltaT: 3.527211 s, deltaX: -2.199997 m, approachRate: -0.623721 m/s, rangeRepo size: 4  Added new target pos. range: 71.000000 m, bearing: 356.128284 deg, lat: 36.905554 deg, lon: -122.120311 deg, deltaT: 3.527211 s, deltaX: -2.199997 m, approachRate: -0.623721 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 76.767548 m, bearing: 1.700280 deg, approach rate: 0.000000 m/s, LOS rate: -0.599709 deg/s, cmd heading: 91.158293 deg, new cmd heading: 90.231593 deg. 2jHeadingCmd: 1.574838 target range: 71.000000 and range: 71.00 m. jN?jj!j!i!h)h)h1h5pBf1f9farfeQ@bfe?zK}?sOKyKyK}'K}LHFB>=973/-,(%$$#! !    ɛE{BM QU!IQ UL<ɚyiyI}l#=IN?iiO=)N?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.==9EJDAT read: TxSync time:00:03:22.7539 JUuJUtJQJQJU[Q:JU9JQJQ*Fm?2Fi:FiBFiJFiH}>I I IIBI =&I.I?D6II<:Iv FG5 q=G B O% >7$w,Afj?YfmU?fh9fq=yfH {hm??@ Ww???ɨfj?fk;f"C IyB I)! %A M=M=IeIeD٢> W=9VQQ > G٣yW > Nusing accuracyPremultiplier from config59y?5Yro i\o™ ?A-E": :"5Will construct direction to contact in vehicle frame from tetrahedron phase data.\B  AEEB*** querying acoustic contact ***jAjAZjQUDNOT Ignoring new targets: 71.00 m.Bj}1Jj1 ProNav: ac range: 71.000000 m, nav range: 76.817947 m, bearing: 1.477873 deg, approach rate: 0.140977 m/s, LOS rate: -0.621702 deg/s, cmd heading: 90.231594 deg, new cmd heading: 89.564841 deg. 2jUռHeadingCmd: 1.563201 target range: 71.000000 and range: 71.00 m. j?jjjihhhhfffrfbf yg?ɛEzBEٳ IML0II MC<ɚIiIIMH#=IU?iyi}A=)}?)y*F?2F:FBF_0JFGq'=GBO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J @AJ '$w, A:?Y:?:.9: G٣yּ > Nusing accuracyPremultiplier from config 59 s?5Y ig i bo™@?:?A /E ;  ; #5) - A)ZjY]DNOT Ignoring new targets: 71.00 m.BjeW"JjeW"u ProNav: ac range: 71.000000 m, nav range: 76.875847 m, bearing: 1.249368 deg, approach rate: 0.143961 m/s, LOS rate: -0.567725 deg/s, cmd heading: 89.564844 deg, new cmd heading: 88.879880 deg. 2ju¼}HeadingCmd: 1.551247 target range: 71.000000 and range: 71.00 m. j}??jyjyjyiyhhhh=Bfffrfbf?ɛxB 隽8zK= 6MK= 59K9 K= 'K= +QKyvkYJ:,& |uj`[UI?7-'# RKM ?JKM ?n$w,ҍ.A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246663C?Yԁ?:9iqq uG٣uYGy}D }> Nusing accuracyPremultiplier from config59n?5Y_ igo™?A2EL::%5[B  AEjH<bHH>IC I IIBI =&I.I6I]<:I FZjDNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 76.927795 m, bearing: 1.035856 deg, approach rate: 0.133506 m/s, LOS rate: -0.548347 deg/s, cmd heading: 88.879879 deg, new cmd heading: 88.239804 deg. 2j)HeadingCmd: 1.540075 target range: 71.000000 and range: 71.00 m. j.!?jjjihhhhfff rf bf5?ɛvB 隵}GI <$<ɚiI;$=I.!?iiݡ=).!?)*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498510G ^=G B O >T$w,iHAF>?YF|?Fv*9F~?FC;F#CyRρBRIiV=IV{>IZIZ%٢b fU=9fj";Q f>hh jG٣hyj( n> Nusing accuracyPremultiplier from config59j?5YW imo™?A4EP<~<Z'5) ]b AYUWill construct direction to contact in vehicle frame from tetrahedron phase data.UA?Uq?]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750916ZjA]DNOT Ignoring new targets: 71.00 m.BjeJjeu ProNav: ac range: 71.000000 m, nav range: 76.978607 m, bearing: 0.811950 deg, approach rate: 0.113182 m/s, LOS rate: -0.498412 deg/s, cmd heading: 88.239801 deg, new cmd heading: 87.568560 deg. 2j}}HeadingCmd: 1.528360 target range: 71.000000 and range: 71.00 m. j}J?jjjihhhhfffrfbf`l?ɛtB5 qRI <ɚiI$=JmtJmsJm1JiJm;N:Jm9Jm3JiJm{j;a}Jm}j;a}Jm<:a}Jm=:aIJ?ii=)J?)*F]?2FY:FaBFe0JFa I G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003362Gy B O >+$w,EbAZ2(?YZ4f?ZaF9Z=9$;Q > G٣y > Nusing accuracyPremultiplier from config59e?5YP iso™,?:?A6E;;")5  AZjaeDNOT Ignoring new targets: 71.00 m.Bjm'Jjm' ProNav: ac range: 71.000000 m, nav range: 77.025688 m, bearing: 0.610758 deg, approach rate: 0.125412 m/s, LOS rate: -0.535594 deg/s, cmd heading: 87.568558 deg, new cmd heading: 86.965375 deg. 2jɷHeadingCmd: 1.517832 target range: 71.000000 and range: 71.00 m. jSH?jjjihhhh܂Bfffrfbf =@ɛ5rB=P1 9=\I9 ='<ɚAiAIE]%=IESH?iIiMp=)MSH?)zKEH OKE9KAKE'KEBKY:K]sA*F?2F:FBFP5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255334H>IC I: IIEBI =&I.I6Id<:I FG IQ=G G G B O >[$w,8|A PIPnI?YnKT?nl9nE G٣YGy%) %> -Nusing accuracyPremultiplier from config)559-b?55Y-J i-zo™1=?=A-8E-l;-;-*5E\B EAMEZjquDNOT Ignoring new targets: 71.00 m.Bj}Jj} ProNav: ac range: 71.000000 m, nav range: 77.067429 m, bearing: 0.418022 deg, approach rate: 0.111448 m/s, LOS rate: -0.514333 deg/s, cmd heading: 86.965377 deg, new cmd heading: 86.387501 deg. 2j}HeadingCmd: 1.507746 target range: 71.000000 and range: 71.00 m. j?jjjihhhhfffrfbfs&@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506638ɛpBI iI $<ɚiI#%=I?ii1x=)?)*F?2F:FBFO0JF)q uCG=~GM`wAiGqBO;> PY`wAy/Be Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758745J vJ rJ 0J J {T:J 9J ـ3J J Gu;J Ju;J :J :>$w,A6-?Y6k?6QD96ii uG٣qyu > Nusing accuracyPremultiplier from config59]?5Y$C io™ ? :  ? A:Er;;,5A EAAB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 71.00 m.BjJj ProNav: ac range: 71.000000 m, nav range: 77.117912 m, bearing: 0.222551 deg, approach rate: 0.115029 m/s, LOS rate: -0.445096 deg/s, cmd heading: 86.387502 deg, new cmd heading: 85.801494 deg. 2jHeadingCmd: 1.497519 target range: 71.000000 and range: 71.00 m. j?jjjihhhhBfffrfbf ӻ@ɛ}mB}9 隅rI ٪<ɚi IhI&=I?iiȳ=)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:03:25.2506 TRx dataTimestamp_ set to:1736381006.501621checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012966*FM?2FI:FIBFMP0JFIGi GA BY O} >zK JK 9K K 'K nrZZ6" RK >JK ?g$w,կAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262585:4?Y:r?:ڻ9:Iq IuIIuBIq&Iq.Iq6Iu<:IuN FyޝgBޝ*III٢C A=9%;Q > G٣y   > Nusing accuracyPremultiplier from configM59Y?M5Y< io™im?mAWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 00:03:25.2506 LVL= 23280, 32033, 17186, 32755, AGC= 63, IDX= 409, 0.01,-2.446, 2.725,-2.041,-2.565, PHS= 0.207,-0.947, 0.520, RAW= 161.7, 3.3, CAL= 162.6, -5.7, ROT= 347.4, 5.7 Ygot valid direction response: 00:03:25.2506 LVL= 23280, 32033, 17186, 32755, AGC= 63, IDX= 409, 0.01,-2.446, 2.725,-2.041,-2.565, PHS= 0.207,-0.947, 0.520, RAW= 161.7, 3.3, CAL= 162.6, -5.7, ROT= 347.4, 5.7 PDAT read: Bearing 347.4, 5.7 (Local) ~Local bearing/azimuth received: Bearing 347.4, 5.7 (Local) -DAT read: Range 10 to 50 : 68.8 m (Round-trip 91.8 ms) speed 0.7 m/s 5,DAT read: user:3617> BDAT read: Tx time:00:03:26.3546 $Ping request sent.nr?4@k= >5@)%˽IW@i%=ڌVs?2A>?@}b?)A:?IEmi[;ΈE :publishing transmit ping timeؑE Fpublishing direction and range info9YEzƿyۃh0ܖ?y )Ii )IiڌVs?2A>?@}b?)IiT$w,.ɓA>zP?Y>|?>»9>H+p?Nʟ??Un?x Yx?_П??ɨ>zP?>z;>"CyJcBN%IIfIf٢ Y=9%i:Q %>!! -G٣-YGy=] E> Nusing accuracyPremultiplier from configa59eV?5Ye_6 ieo™3?Ae>Eeey$w,ʋAV?YV?V'ͻ9Vs=yVH`(?`UK?`? ?`{y? ?@K?ɨV?V;V#CybPBb Iif=If4=lnAeMb@Mb@Mb@aaa a)aYeB`"?V-?{Gzye?e=eףe3 A edA)e AIezAayeAIuIuR٢t D=9QGQ > G٣y1 > Nusing accuracyPremultiplier from config59R?5YQ0 io™?:G?A@E;;159 =aA9ZjDNOT Ignoring new targets: 68.80 m.Bj_ Jj_  ProNav: ac range: 68.800003 m, nav range: 74.012741 m, bearing: 357.715447 deg, approach rate: 0.145828 m/s, LOS rate: -0.487393 deg/s, cmd heading: 84.644724 deg, new cmd heading: 84.115605 deg. 2j?HeadingCmd: 1.468094 target range: 68.800003 and range: 68.80 m. j?jjjihhhhUBfffrf bf .?ɛfB z|  I  xn<ɚiI(=I?iiR=)?)zK8MK9KK'K*F?2F:FBF_0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.GR=Hm>Ii ImIImˁBIm =&Ii.Im@D6Im)<:Imh FBI%ǫCJI%ǪCRI!ZI% =bI% =jI%G6GBO> % nManaging dock network, ignoring radio surface power off$w,gA I:S?Y:?:O̻9:-+=y:H@6?@_??`?&1~։y?Mw?@?ɨ:S?:]C;: CyVEBZIIfIf&ѳ٢nvf nV=9r8Q r>pp vG٣tyv v> zNusing accuracyPremultiplier from configx~59zO?~5Yz* izo™?AzBEzC ;z ;z35  AEZj9EDNOT Ignoring new targets: 68.80 m.BjEJjEU ProNav: ac range: 68.800003 m, nav range: 74.060295 m, bearing: 357.551049 deg, approach rate: 0.131483 m/s, LOS rate: -0.454256 deg/s, cmd heading: 84.115603 deg, new cmd heading: 83.622737 deg. 2jU]HeadingCmd: 1.459492 target range: 68.800003 and range: 68.80 m. j]к?jajajaiahahahihifififqrfqbfu ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛdB 隭LJI Yb<ɚiI²(=Iк?ii=)к?)*FU?2FQ:FQBFU@5JFQG}=GBO% >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Jm rJm jJi Ji Jm G:Jm 9Ji Ji Jm _;Jm _;Jm :Jm :%w,FBAy;BIMb@Mb@Mb@ )Y"~j?X9v?MbyS?= A )I AyIIF٢^1 ==9Q > G٣YGy > =Nusing accuracyPremultiplier from config9E59=K?E5Y=$ i9M?M:M?MA=DE=n;=;=55Q UAYuB*** querying acoustic contact ***jqjqZjDNOT Ignoring new targets: 68.80 m.BjJjờ ProNav: ac range: 68.800003 m, nav range: 74.117348 m, bearing: 357.374846 deg, approach rate: 0.127772 m/s, LOS rate: -0.394310 deg/s, cmd heading: 83.622737 deg, new cmd heading: 83.094551 deg. 2jNHeadingCmd: 1.450274 target range: 68.800003 and range: 68.80 m. j?jjjihhhh@Bfffrfbf/?ɛaBm nI W3S<ɚiIu)=I ?i i = z$?Ih) ?)!Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF`5JFG=G ?G>G B O >zK BIK +9K K 'K (12-] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740605 %w,71A2?Y2 .?292~62=y2Hn?"??@`?D~ t?`D?$?ɨ2?2V;2"Cy:8B>I)@ @IFIFi٢N[ N^=9NMP;Q R>PP RG٣PyVD V> ZNusing accuracyPremultiplier from configX^59ZH?^5YZ iX\bi?bAZEEZe:Z:Z 75d fAdH~>I| I~rII~BI|&I|.I|6I~4<:I~r FZjDNOT Ignoring new targets: 68.80 m.BjֻJjֻ ProNav: ac range: 68.800003 m, nav range: 74.158493 m, bearing: 357.233751 deg, approach rate: 0.109477 m/s, LOS rate: -0.375208 deg/s, cmd heading: 83.094551 deg, new cmd heading: 82.671510 deg. 2jHeadingCmd: 1.442890 target range: 68.800003 and range: 68.80 m. j?j)j)j)i)h)h)h1h1f1f1f9rf9bf=f?ɛ^B, I 6sE<ɚiI'7*=I?i i &=) ?)*F2F:FBF$5JFG= IGBO`>Will construct direction to contact in vehicle frame from tetrahedron phase data.խAiխAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.992919,%w,JA6?Y6R?6Wx969=y6Hv?_ ? ?g?@L%| o?:??ɨ6?6(;4yB?BBIIJIJԳ٢R = RJ=9VN;Q V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b59^F?f5Y^7 i\df?fA^GE^X:^7:^85p rApZj1=DNOT Ignoring new targets: 68.80 m.Bj=JjE뻝M ProNav: ac range: 68.800003 m, nav range: 74.202835 m, bearing: 357.072901 deg, approach rate: 0.113651 m/s, LOS rate: -0.412022 deg/s, cmd heading: 82.671510 deg, new cmd heading: 82.189259 deg. 2jUb]HeadingCmd: 1.434473 target range: 68.800003 and range: 68.80 m. j]ќ?jajajaiahahahihifififqrfqbf} @Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247401ɛ[B/v 隭I <6<ɚiI+=Iќ?ii4=)ќ?)*FM?2FI:FQBFU3JFQ"Gm=Gm> I G 2=G G tAGY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496680%w,dA>@?Y>~?>$9>o==y>H >?r{???Syd?@?7?ɨ>@?>߲;>%CyFABJI%Mb@Mb@Mb@!!! !)!Y%x&1?X9v?{Gzt?y%?!%ף;%I A %A)%zAI%zA!y%AI5I5٢U; U@=9UD;Q ]>aa eG٣eYGye m> uNusing accuracyPremultiplier from configi}59mTC?}5Ymq imo™}?:?AmIEmD";mn ;m:5 AZjDNOT Ignoring new targets: 68.80 m.BjUJjU仝u ProNav: ac range: 68.800003 m, nav range: 74.246933 m, bearing: 356.905270 deg, approach rate: 0.105092 m/s, LOS rate: -0.399252 deg/s, cmd heading: 82.189258 deg, new cmd heading: 81.686678 deg. 2juHeadingCmd: 1.425701 target range: 68.800003 and range: 68.80 m. jc}?jjjihhhhABfffrfbfgM@ɛeXBe>~ im݅I 0(<ɚiI+=Ic}?ii%n=)c}?)*Fe?2Fi:FiBFmO0JFizKӂLKs9KK'K   %Will construct direction to contact in vehicle frame from tetrahedron phase data.%>%4=5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749868GE=H >I  I fII BI &I .I 6I h<:I  FG1BAO]v>JeqJaJaJaJeD:JaJaJaJeIZ;JeKZ;JaJa  I 7%w,O~A2ɥ?Y2?292 uA=y2HN? @N??A?@>z_? Q,??ɨ2ɥ?2&;0yBKBBIiF]>IFp=IJIJʴ٢f=W= fS=9f:Q j>hh jG٣hyn 5> ENusing accuracyPremultiplier from config9E59=@?M5Y=  i=o™IM^?MA=KE=:=X:=}<5U]B UA]E}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:03:28.8477 TRx dataTimestamp_ set to:1736381010.028788checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001923ZjDNOT Ignoring new targets: 68.80 m.BjA߻JjA߻ ProNav: ac range: 68.800003 m, nav range: 74.286072 m, bearing: 356.748748 deg, approach rate: 0.097666 m/s, LOS rate: -0.390372 deg/s, cmd heading: 81.686679 deg, new cmd heading: 81.217373 deg. 2j􅼝HeadingCmd: 1.417511 target range: 68.800003 and range: 68.80 m. jp?jjjihhhhfffrfbf`!H@ɛUB3 Dan=I <ɚi I ,=I p?iima=)p?)*F?2F:FBF^0JFGm=GBO >= Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255856Je AAJe BA;%%w,lA2N?Y2O2?2Ҟ92C/H=y2H 6?N`ͨ??2?.zSR?Z?6?ɨ2N?2P;0yBXBBIMb@Mb@Mb@ )Yp= ף?q= ףp?Mb?y?=< A 7A) AIyI-I-㔳٢=t= =C=9=:Q =>AA EG٣AyMf M> UNusing accuracyPremultiplier from configQ]59U??]5YU`  iUo™]e?e:e?eAULEU;U;UD>5i m&Ai5B*** querying acoustic contact ***j1j1ZjIeDNOT Ignoring new targets: 68.80 m.BjmmܻJjmmܻ I ProNav: ac range: 68.800003 m, nav range: 74.321831 m, bearing: 356.583999 deg, approach rate: 0.083697 m/s, LOS rate: -0.385425 deg/s, cmd heading: 81.217370 deg, new cmd heading: 80.723373 deg. 2jAHeadingCmd: 1.408889 target range: 68.800003 and range: 68.80 m. jwV?jjjihhhh-XBf)f)f)rf1bf5 @ɛRBCd )-}I1 = <ɚ9i9Iea-=I}wV?Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:03:28.8477 LVL= 20032, 25329, 18274, 27731, AGC= 62, IDX= 410,-0.17, 2.310, 1.010, 2.553, 2.090, PHS= 0.308,-1.033, 0.460, RAW= 155.3, 3.8, CAL= 156.8, -5.3, ROT= 353.2, 5.3 iyi]Q=)]wV?)aYgot valid direction response: 00:03:28.8477 LVL= 20032, 25329, 18274, 27731, AGC= 62, IDX= 410,-0.17, 2.310, 1.010, 2.553, 2.090, PHS= 0.308,-1.033, 0.460, RAW= 155.3, 3.8, CAL= 156.8, -5.3, ROT= 353.2, 5.3 PDAT read: Bearing 353.2, 5.3 (Local) ~Local bearing/azimuth received: Bearing 353.2, 5.3 (Local) DAT read: Range 10 to 50 : 66.6 m (Round-trip 88.8 ms) speed 0.8 m/s ,DAT read: user:3618> BDAT read: Tx time:00:03:29.9547 $Ping request sent.iٝ->ٝX9ٝ>ٝx-@ٝԇ= ڝ%/@)ڝqIڝC@iڝq=ڙڙ۝ް?ԉ 2rt?8RѰ?)۝H?I۝ji۝俉۝ۙۙ:publishing transmit ping timeFpublishing direction and range infoؙ9؝'BWȿy\뿩{<%1?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝ް?ԉ 2rt?8RѰ?)ۙIۙiۙۙۙۙ*FE?2FA:FABFEP0JFAGva=GBO% >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:00:03:29.9540 ,%w,hA2?Y2ѹ?292N=y2H@k?ॻɘ??]?@|`єP?cש? ?ɨ2?2;0zK>,MK>h9K<K>'K>  RKF ?JKF>yJkBJ.IZHPRHRAAHV>IT IVrIIVBIV =&IT.IT6IV<:IVA FIbIbƳ٢rR= vP=9v#9Q v>xx zG٣zYGyzJ!J%iJ!J!J!J%ڈ9J!J!J!J!J%h:J%j: 5> ]Nusing accuracyPremultiplier from configYe59]D=?e5Y] i]o™imt?mA]NE]:]:] @5q AkB?k;# k k2A:k3BBkPBZka@"٦T) Lm(`>@'BWȿy\뿩{<%1?JkRk*c L@qH37ag;@X[?nҿ9tU?"k@*keBk1v$?k  2k9Bkq w?kn] kBkIBk!@ addTargetRange:: Added new target pos. range: 66.599998 m, deltaT: 3.530233 s, deltaX: -2.200005 m, approachRate: -0.623190 m/s, rangeRepo size: 4  Added new target pos. range: 66.599998 m, bearing: 341.105577 deg, lat: 36.905492 deg, lon: -122.120389 deg, deltaT: 3.530233 s, deltaX: -2.200005 m, approachRate: -0.623190 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 66.60 m.BjJj ProNav: ac range: 66.599998 m, nav range: 71.143471 m, bearing: 352.644128 deg, approach rate: 0.000000 m/s, LOS rate: -0.385425 deg/s, cmd heading: 80.723376 deg, new cmd heading: 80.247780 deg. 2j HeadingCmd: 1.400588 target range: 66.599998 and range: 66.60 m. j xF?j)j)j)i)h1h1h1h1f9f9f9rf=`fP@bf= z?ɛOB4m rI E<ɚiI".=I xF?i i [J=)xF?) Ih*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. H~GG vA% A U PYU vAyU xBG B O >2%w,)@̔A6O?Y6?696qZ=y6H{v?~e??m? W?`J? X?ɨ6O?6j;6"CyJBNLI)h hIrIr3٢  =  H=9 rQ > G٣yż > %Nusing accuracyPremultiplier from config!-59%;?-5Y%. i%yo™15,?5A%PE%:%a:%A59 =AAZjDNOT Ignoring new targets: 66.60 m.BjJj ProNav: ac range: 66.599998 m, nav range: 71.188850 m, bearing: 352.478143 deg, approach rate: 0.122012 m/s, LOS rate: -0.446000 deg/s, cmd heading: 80.247783 deg, new cmd heading: 79.750157 deg. 2j HeadingCmd: 1.391903 target range: 66.599998 and range: 66.60 m. j)?jjjihhhhfffrfbfY?Will construct direction to contact in vehicle frame from tetrahedron phase data.==ɛLB];k hdI ;ɚiI.=I)?ii XG=)%)?)1EO= I*F 2F :F BF \0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GU }M=G)BIOu>(:%w,9ANx?YNyҷ?N :9Ncw=yNH@0?@2!n?ǵ?v"?Y\Ag?`??ɨNx?Nb;Ly^B^bI}Mb@Mb@Mb@yyy y)yY}Zd;O?)\(?:v?y}~ ?}G=}<}I A }MA)}zAI} Ayy}AIID٢= %=97Q > G٣y= > Nusing accuracyPremultiplier from config59G:?5Y iho™| ?:?ARE;o;C5 @AZjDNOT Ignoring new targets: 66.60 m.BjJj5 ProNav: ac range: 66.599998 m, nav range: 71.242058 m, bearing: 352.262504 deg, approach rate: 0.108214 m/s, LOS rate: -0.438241 deg/s, cmd heading: 79.750156 deg, new cmd heading: 79.103753 deg. 2j5a=HeadingCmd: 1.380621 target range: 66.599998 and range: 66.60 m. j=0?j9j9j9i9hAhAhAhEBfIfIfIrfIbfUN?ɛHB FD YI ;ɚiI#/=I 0?i i \=) 0?)Will construct direction to contact in vehicle frame from tetrahedron phase data.Em=HIC IIIƁBI&I.I6I<:I; FzKLKs9KK'KBK:KJ!J!J!J!J!J!J!J!J!J!J!J!*F2F:FBF0JF a Ii Gu 5PK=GQ BY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս AiՍ AA%w,RA2zm?Y2{?2-%92w~=y2H&T?/6?@?B?Ôp?9ׯ??ɨ2zm?2`;0y>B>IIFIF3A٢N > N_=9ReQ R>PP RG٣VYGyVɼ V> ZNusing accuracyPremultiplier from configXf59Z]9?f5YZ iZ[o™dj?jAZSEZ~;Z;ZE5l nv AlZj  DNOT Ignoring new targets: 66.60 m.BjJj ProNav: ac range: 66.599998 m, nav range: 71.280235 m, bearing: 352.103012 deg, approach rate: 0.103902 m/s, LOS rate: -0.433835 deg/s, cmd heading: 79.103754 deg, new cmd heading: 78.625545 deg. 2jޔHeadingCmd: 1.372275 target range: 66.599998 and range: 66.60 m. j?jjjihhhhfffrfbfp?ɛ%DB->FS )-OKI) -};ɚ)i1I50=I]?iYi]tW=)]?)YEaEa*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG .H_= a Ie hG B O >G%w,{AJg?YJ?J9Jɂ=yJHW?@o?ڡ?@D?6DCq?@^V?`:?ɨJg?Jٛ;HyRƁBRI=Mb@Mb@Mb@999 9)9Y= ףp= ?A`"? rh?y=Q?===C == A 9)= AI= A9y= AWill construct direction to contact in vehicle frame from tetrahedron phase data.II³٢== E+=9EFQ E>II UG٣QyU U> ]Nusing accuracyPremultiplier from configYe59]8?e5Y]  i]Fo™?:?A]VE]'<]2'<]G5  AEB*** querying acoustic contact ***jjZj  DNOT Ignoring new targets: 66.60 m.BjJj% ProNav: ac range: 66.599998 m, nav range: 71.326546 m, bearing: 351.873281 deg, approach rate: 0.094380 m/s, LOS rate: -0.467883 deg/s, cmd heading: 78.625545 deg, new cmd heading: 77.936834 deg. 2jMMHeadingCmd: 1.360254 target range: 66.599998 and range: 66.60 m. jM?jQjQjQiQhQhQhYh]BfYfYfarfbf @ɛ@BMb, =I {G;ɚiI0=I?iif=)?) *F2F:FBF_5JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.G R`U=H >I  I II BI &I .I 6I ٯ<:I 1 FBIJIɫCRIZI =bI =jIɇ4zK} K} 9Ky K} 'K} G RK ?JK ?J J lJ J J J 9J J J J J (:J ):B O >M%w,O9AR*5?YR+s?RFA9R0=yRH ݅?`ń~??wq?+`%Hq?`? ?ɨR*5?Rڎ;R$Cy^BbIIjIj٢5`> 5^=9E>Q E>IQ uG٣qy}˼ }> Nusing accuracyPremultiplier from config598?5Y i5o™?AXEa::DI5  AZjDNOT Ignoring new targets: 66.60 m.Bj,Jj, ProNav: ac range: 66.599998 m, nav range: 71.361435 m, bearing: 351.693610 deg, approach rate: 0.096593 m/s, LOS rate: -0.497188 deg/s, cmd heading: 77.936837 deg, new cmd heading: 77.398104 deg. 2jHeadingCmd: 1.350852 target range: 66.599998 and range: 66.60 m. j?jjjihhhhfff rf bf#m@ɛE=BM@; IM,II M쯗;ɚQ YIYiQIe/1=Ie?iaimþe=)m?)i*F2F:FBFP0JFGva=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474296GaBqO9>T%w,:SAFWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.738157yUB]IMb@Mb@Mb@ )YL7A`?&1?)) -G٣-YGy5 5> =Nusing accuracyPremultiplier from config9E59=8?E5Y= i= o™Mr)?M:M?MA=ZE=!;=Q;=HK5Q U. AQZjy}DNOT Ignoring new targets: 66.60 m.BjJj ProNav: ac range: 66.599998 m, nav range: 71.403053 m, bearing: 351.451621 deg, approach rate: 0.090247 m/s, LOS rate: -0.524429 deg/s, cmd heading: 77.398105 deg, new cmd heading: 76.672603 deg. 2jHeadingCmd: 1.338189 target range: 66.599998 and range: 66.60 m. jI?jjjihhhh0Bfffrfbf \@ɛ9Bή  I Aۄ;ɚiI1=II?iiB=)I?) III*F2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:00:03:32.4443 5TRx dataTimestamp_ set to:1736381013.568789=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988819G $g=G- sAG- sAG B OM >Z%w,mA59N?Y5:?595 =y5Ha?@c@?@u?`A?lQ?? ?ɨ59N?5;1yMBM II]I]٢u":> uk=9}g0Q }?yy G٣y] ? Nusing accuracyPremultiplier from config599?5Y io™?A\E ;q ;L5B  AZjDNOT Ignoring new targets: 66.60 m.Bj\Jj\ ProNav: ac range: 66.599998 m, nav range: 71.430115 m, bearing: 351.268507 deg, approach rate: 0.077738 m/s, LOS rate: -0.525820 deg/s, cmd heading: 76.672603 deg, new cmd heading: 76.123486 deg. 2jnHeadingCmd: 1.328606 target range: 66.599998 and range: 66.60 m. j?jjjihhhh f f f rf bf @ɛ6Bk I ƽn;ɚiI2=I ?i i +[=)M?)QE]rAEYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239867H>I I. II;BI&I.I6IH<:I FzK BHK 9K K 'K JyK}m3 K}S}-KyKy"KyJJkJJJJ9JJJJJ:J:*F 2F :F BF JF "G=Gp=GA~=GBOb> 1I9E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491563a%w,UA?Y?'%98r=yH t)?YZ?Ll?/??^ʱ?@?ɨ?g;騥%Cy޽(B޽ III٢T= C=9⧻Q > G٣yur > Nusing accuracyPremultiplier from config59p:?5Y in™  ? A^E~ ;;N5  AEZjAMDNOT Ignoring new targets: 66.60 m.BjUJjUe ProNav: ac range: 66.599998 m, nav range: 71.461990 m, bearing: 351.047868 deg, approach rate: 0.075786 m/s, LOS rate: -0.524346 deg/s, cmd heading: 76.123490 deg, new cmd heading: 75.461898 deg. 2jemHeadingCmd: 1.317059 target range: 66.599998 and range: 66.60 m. jm`?jijijiiihqhqhqhqfyfyfyrfybf} > @ɛM3BM M#0H=UIQ UytR;ɚQiQIUU2=I]`?iYi]x=)]`?)*Fm?2Fi:FiBFu^0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 00:03:32.4443 LVL= 21072, 23889, 17282, 27891, AGC= 62, IDX= 406, 0.17, 0.719,-0.742, 0.752, 0.279, PHS= 0.528,-0.973, 0.470, RAW= 148.0, -0.3, CAL= 151.6, -9.3, ROT= 358.4, 9.3 Ygot valid direction response: 00:03:32.4443 LVL= 21072, 23889, 17282, 27891, AGC= 62, IDX= 406, 0.17, 0.719,-0.742, 0.752, 0.279, PHS= 0.528,-0.973, 0.470, RAW= 148.0, -0.3, CAL= 151.6, -9.3, ROT= 358.4, 9.3 PDAT read: Bearing 358.4, 9.3 (Local) ~Local bearing/azimuth received: Bearing 358.4, 9.3 (Local) DAT read: Range 10 to 50 : 64.0 m (Round-trip 85.4 ms) speed 0.6 m/s ,DAT read: user:3619> BDAT read: Tx time:00:03:33.5547 $Ping request sent.٥MQ%@٥ ڥV)@)ڥ6&Iڥ+@iڥ6&>ڡڡۥ})=?],4?@Mx)ۥD>Iۥ;iۥ.Dۿۥo^ۡۡ:publishing transmit ping timeرFpublishing direction and range infoء9إhzyϕt?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ})=?],4?@Mx)ۡIۡiۡۡۡۡG [=G ?G ?Gy B O >  I hCg%w,ŠAb?Ybԯ?bE9bߌ=ybH?O ?@`???ᙿ;?? ?ɨb?bp;`y55B=( IWill construct direction to contact in vehicle frame from tetrahedron phase data.MMb@Mb@Mb@III I)IYMI +?:v? G٣YGyV > Nusing accuracyPremultiplier from config59;?5Y in™i6?:!?AaE2I;G;P5  Ak)d?k  k k۔A:kBBkL~BZk+@"hzIyϕtB@hzyϕt?Jk.DۿRko^*z)I@JE26ymQ@@z)?JEҿ6ymQ?"k**k]NBkkN7?kH 2kBk_?kE~ kۭBkBk@ addTargetRange:: Added new target pos. range: 64.000000 m, deltaT: 3.791610 s, deltaX: -2.599998 m, approachRate: -0.685724 m/s, rangeRepo size: 4  Added new target pos. range: 64.000000 m, bearing: 340.498733 deg, lat: 36.905435 deg, lon: -122.120449 deg, deltaT: 3.791610 s, deltaX: -2.599998 m, approachRate: -0.685724 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 64.00 m.BjJj% ProNav: ac range: 64.000000 m, nav range: 66.357979 m, bearing: 345.419003 deg, approach rate: 0.000000 m/s, LOS rate: -0.524346 deg/s, cmd heading: 75.461897 deg, new cmd heading: 74.756024 deg. 2j!5HeadingCmd: 1.304739 target range: 64.000000 and range: 64.00 m. j5?j9j9j9i9h9h9hihmsBfqfqfqrf}P@bf}cD?ɛ%/B-ƺ )-LI) 5@4;ɚ1i1I=2=Ie?iaie=)e?)i*F?2F:FBFU0JFH >I  I s II sBI &I .I 6I <:I ? F Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K 9K K 'K G s=G B O >>n%w,AJ?YJB?Ja~x9J(=yJH`? I?7Y?p? ~? >?t?ɨJ?J҈;J#CyRHBV? IInIn&٢~V= ~\=9 5Q  > %G٣! AIAyMuA M> eNusing accuracyPremultiplier from configYm59]%=?u5Y] i]n™y}?}A]cE]p;]3{;]&R5  AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 64.00 m.Bj3Jj3u ProNav: ac range: 64.000000 m, nav range: 66.410652 m, bearing: 345.192423 deg, approach rate: 0.146161 m/s, LOS rate: -0.628226 deg/s, cmd heading: 74.756024 deg, new cmd heading: 74.076859 deg. 2ju׼}HeadingCmd: 1.292885 target range: 64.000000 and range: 64.00 m. j}B}?jyjyjyihhhhfffrfbf`@?ɛU,BU% QUIQ ]vy;ɚYiYI]2=IB}?iilY=)B}?)Ee>E%>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBFe0JFGsA GsAG꤁=GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9736145u%w,ՕA*JJ4="JHJ^pJ^iJ\J\J^A:J^ڈ9J\J\ar@ar@ar@ar@T?Y?9T=yHK?A@?O?V?? ư? ?ɨT? Ј;"CyMBD IMb@Mb@Mb@ )YV-?)\(?y&1?y|??G=`<A A) AI Ay3 AIIZ٢< -=9`ϻQ > G٣y =  > Nusing accuracyPremultiplier from config59??5Y| in™A?:%?%AeE;;,T5) - A)ZjQ]DNOT Ignoring new targets: 64.00 m.BjeD8JjeD8u ProNav: ac range: 64.000000 m, nav range: 66.479286 m, bearing: 344.896704 deg, approach rate: 0.149713 m/s, LOS rate: -0.644392 deg/s, cmd heading: 74.076858 deg, new cmd heading: 73.190691 deg. 2juݼ}HeadingCmd: 1.277418 target range: 64.000000 and range: 64.00 m. j}s?jyjjihhhhBfffrfbf?ɛ)B޼ ۾I X;ɚiI2=Is?ii e=)s?) I }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225920Enp=*F ?2F :F BF ]0JF Ge Pă=G9BAOe>f|%w,OA62w?Y63?6ʪ96 ؂=y6H#?7?C??W`X??W??ɨ62w?6sC;H<I< I> II>BI<&I<.I<6I><:I>a F4yRZBRU I^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475111IbIbB٢j= jL=9nۻQ n>ll nG٣nYGyr r> vNusing accuracyPremultiplier from configtz59v@?z5Yv ivn™|~?~AvhEv ;v. ;vU5 | A~EzKK9KK'KBK:KrAZj%DNOT Ignoring new targets: 64.00 m.Bj%^)JjM^)] ProNav: ac range: 64.000000 m, nav range: 66.538139 m, bearing: 344.640916 deg, approach rate: 0.136400 m/s, LOS rate: -0.592296 deg/s, cmd heading: 73.190688 deg, new cmd heading: 72.424050 deg. 2j]>˼eHeadingCmd: 1.264038 target range: 64.000000 and range: 64.00 m. je̡?jajajaiahhhhfffrfbf@^A?ɛ%B|Dȼ ˾I -:ɚ!i!I%2=Ie̡?iiim=)m̡?)iE}BJ= Ih*F?2F:FBF0JFGq=GBO>mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728846) wC% ~G] `wA} A  Y `wAy BWK%w,9 AybB_ II-I-٢== =D=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59UB?]5YUF iUn™YYeAUjEUe ;U ;UW5i m< AiZjDNOT Ignoring new targets: 64.00 m.Bj DJj D ProNav: ac range: 64.000000 m, nav range: 66.600632 m, bearing: 344.375882 deg, approach rate: 0.161874 m/s, LOS rate: -0.685870 deg/s, cmd heading: 72.424047 deg, new cmd heading: 71.629745 deg. 2jZ뼝HeadingCmd: 1.250175 target range: 64.000000 and range: 64.00 m. j?jjjihhhhfffrfbf`(.?ɛ"Bbrμ 9=.I9 ES:ɚQiQI]3=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983401I?ii%=JJgJJJJ9JJ)=?)AEIEI*EI"EI IE*F} ?2F :F BF _0JF "G =G =} Will construct direction to contact in vehicle frame from tetrahedron phase data.y iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231282GƠ=GyBO?%w,+.A644?Y65r?6ֺ96D=y6H`:X?@'q?#?@?X@eB>b IMMb@Mb@Mb@III I)IYMx&1?S㥻? rh?yMA?M/=MCyy }G٣yy$ > Nusing accuracyPremultiplier from config59E?5Yݛ iwn™C?:j?AnE";;Z5 % AZjDNOT Ignoring new targets: 64.00 m.Bj8Jj8 ProNav: ac range: 64.000000 m, nav range: 66.673470 m, bearing: 344.040547 deg, approach rate: 0.139967 m/s, LOS rate: -0.643682 deg/s, cmd heading: 71.629744 deg, new cmd heading: 70.624947 deg. 2jܼHeadingCmd: 1.232638 target range: 64.000000 and range: 64.00 m. jǝ?jjjihhhhBfff rf bf @ɛ=B=Xұ AE乾IA E:ɚAiAIM%2=IUǝ?iQiUc=)Uǝ?)YH5>I1 I5 II5ĂBI5 =&I1.I16I5k<:I5 FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484517*F2F:FBF4JFG=zKBoHKs9KK'KRK>JK?GyBO<> qIq5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734963%w, jHA2-?Y2k?2Pü92Pv=y2H&W? ? $??@!i?@î?`?ɨ2-?2a҈;2#CyBiBBg IININT߳٢bӰ< bW=9fQ2Q f>dd jG٣jYGyjq j> rNusing accuracyPremultiplier from configlr59nH?r5Yn@ infn™tvf?vAnpEnL:n:n[5x z A|B*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 64.00 m.Bj->8Jj->8E ProNav: ac range: 64.000000 m, nav range: 66.725952 m, bearing: 343.795237 deg, approach rate: 0.137955 m/s, LOS rate: -0.644308 deg/s, cmd heading: 70.624948 deg, new cmd heading: 69.889639 deg. 2jEݼMHeadingCmd: 1.219804 target range: 64.000000 and range: 64.00 m. jM"?jIjIjIiIhIhIhQhQfQfQfrfbf@ɛB)ļ I  M:ɚiI|2=I"?iiZ6=)"?)*F2F:FBF!5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:03:36.0413 TRx dataTimestamp_ set to:1736381017.353628checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995234JJmJJJJ&9JJGe%=GI BQ Ou > i Ii -%w,LbA2?Y2F?2 ɼ92k=y2HNs?pm?N?;?@n`5?j??ɨ2?2ψ;2%Cy^bB^^ IddMMb@Mb@Mb@III I)IYM{Gz?kt?/$?yMC?M 0=M G٣y- > Nusing accuracyPremultiplier from config59nM?5Yȋ iTn™9D?:A?AsE;#;]5B < A|EZjDNOT Ignoring new targets: 64.00 m.Bj ;Jj ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239235  ProNav: ac range: 64.000000 m, nav range: 66.755890 m, bearing: 343.515101 deg, approach rate: 0.069967 m/s, LOS rate: -0.654400 deg/s, cmd heading: 69.889637 deg, new cmd heading: 69.049672 deg. 2j ༝HeadingCmd: 1.205144 target range: 64.000000 and range: 64.00 m. j*B?jjjihhhhBfffrfbff @ɛ=B=p{ 9=~I9 E9ɚAiAIEX2=I*B?ii=)*B?)EsAE*FM?2FQ:FQBFU 5JFYH= >I= C I= II= ΂BI9 &I9 .I9 6I= `<:I= FBIȬCJIȬCRIZIbIjI5G] 7= Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 00:03:36.0413 LVL= 20624, 32753, 20978, 32755, AGC= 64, IDX= 408, 0.14,-2.509, 2.374,-2.661,-2.999, PHS= 0.578,-0.864, 0.335, RAW= 141.0, -0.8, CAL= 145.5, -9.8, ROT= 4.5, 9.8 = Ygot valid direction response: 00:03:36.0413 LVL= 20624, 32753, 20978, 32755, AGC= 64, IDX= 408, 0.14,-2.509, 2.374,-2.661,-2.999, PHS= 0.578,-0.864, 0.335, RAW= 141.0, -0.8, CAL= 145.5, -9.8, ROT= 4.5, 9.8 E PDAT read: Bearing 4.5, 9.8 (Local) E ~Local bearing/azimuth received: Bearing 4.5, 9.8 (Local) U DAT read: Range 10 to 50 : 61.8 m (Round-trip 82.4 ms) speed 0.5 m/s U ,DAT read: user:3620> ] BDAT read: Tx time:00:03:37.1547 e $Ping request sent.e TQִ?y 3wB P  Q) I @i ? /] > @ d j"@) %/G B I |٠=i %/> i?O X? V' ) *>I AT  :publishing transmit ping timeY  Fpublishing direction and range info 9 9QX>TQִ?y  ) I i O > ) I i i?O X? V' ) I i zK K h9K K 'K    BK :K sA?V%w,!"|A>?Y>'?>Ѽ9>|^=y>HUD? `Ɣ?2?@)?34?Ы?7?ɨ>?>,I; G٣y# > Nusing accuracyPremultiplier from config59R?5Y iBn™&?AuEp;;[_5B % A%yEk%W?k% k! k%$wA:k%3wBBk%uBZk%<@"%;#eXrF0"D@%9QX>TQִ?Jk%hܿRk%>*%tE@x3{?曝C@%q05?qAԿY//_P?"k%}*k%=.Bk%Bƈ?k%d 2k%Bk%1v$?k%d k%9Bk%qBk%e@ addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.535707 s, deltaX: -2.200001 m, approachRate: -0.622224 m/s, rangeRepo size: 4  Added new target pos. range: 61.799999 m, bearing: 335.817010 deg, lat: 36.905374 deg, lon: -122.120452 deg, deltaT: 3.535707 s, deltaX: -2.200001 m, approachRate: -0.622224 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 61.80 m.Bj%Jj!] ProNav: ac range: 61.799999 m, nav range: 60.428234 m, bearing: 341.112675 deg, approach rate: 0.000000 m/s, LOS rate: -0.654400 deg/s, cmd heading: 69.049674 deg, new cmd heading: 68.194342 deg. 2jYHeadingCmd: 1.190216 target range: 61.799999 and range: 61.80 m. jX?jjjihhhhfffrf`fN@bf?2?ɛB%$Aּ !MƾII UR 9ɚQiQIUY2=IX?iif=)X?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:00:03:37.1540 *F=?2F9:F9BFE4JFAGe P=G! B) OE >gB%w,9AVWill construct direction to contact in vehicle frame from tetrahedron phase data.J}qJ}iJyJyJ}D:J}ڈ9JyJy] ?Y] Ӧ?]1ռ9]63M=y]H?`5?? O?@@w?n??ɨ] ?];]"CyuLBuC I-Mb@Mb@Mb@))) )))Y-zG?{Gz?{Gzt?y- 7?-ף=-ף;-vA -7A)-zAI))y-= AIMIM=٢]މ ]0=9]rQ e>aa eG٣mYGymຼ m> uNusing accuracyPremultiplier from configq}59uW?}5Yu{ iu5n™/8?:?AuxEu+;u);uYa5  A {$?IhZjDNOT Ignoring new targets: 61.80 m.BjEJjE  ProNav: ac range: 61.799999 m, nav range: 60.485592 m, bearing: 340.806746 deg, approach rate: 0.129908 m/s, LOS rate: -0.692230 deg/s, cmd heading: 68.194344 deg, new cmd heading: 67.277509 deg. 2jHeadingCmd: 1.174214 target range: 61.799999 and range: 61.80 m. jL?jjjihhh!h%zBf!f)f)rf)bf-?ɛ]BeUܼ aeȾIa eZeKɚaiiImj2=ImL?iqiu\=)uL?)q*F2F:FBFP0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.G L=G ?G >Gq By O >g%w,xկA:he?Y:h?:9:7-=y:Hz?`?T?5f?\k ???ɨ:he?:5;8yR>BR3 IIZIZB٢bݪ f=9fQ f ?hh jG٣hyj n ? rNusing accuracyPremultiplier from configpv59rHZ?v5Yr!u ir,n™tvܳ?vArzEr:r:rb5| ~] AyZjDNOT Ignoring new targets: 61.80 m.BjV7JjV7 ProNav: ac range: 61.799999 m, nav range: 60.524590 m, bearing: 340.593153 deg, approach rate: 0.117135 m/s, LOS rate: -0.641144 deg/s, cmd heading: 67.277507 deg, new cmd heading: 66.637169 deg. 2jܼHeadingCmd: 1.163038 target range: 61.799999 and range: 61.80 m. jnޔ?jjjihhhhff f rf bf @c{?ɛMBM5u IMӾIQ UɚQiQIU 3=I]nޔ?iYi];=)enޔ?)aEiEm!>H>I I IIĂBI&I.I6IQ<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JF"G=G>G/=zKeKKe9KaKe'Ke  LcSy:b GBO=> Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.O%w,ɖABA?YB?B}a9BNy#=yBH?WM3???a@k?k?R?ɨBA?Bk;B!Cy^0B^! IIjIjF٢rd rI=9rVbQ r>tt vG٣tyz z> Nusing accuracyPremultiplier from config 59^? 5Ym i n™?A|E::d5! % A%wE=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 61.80 m.BjUJJjUJe ProNav: ac range: 61.799999 m, nav range: 60.573299 m, bearing: 340.319040 deg, approach rate: 0.125987 m/s, LOS rate: -0.708416 deg/s, cmd heading: 66.637170 deg, new cmd heading: 65.815552 deg. 2je󼝊mHeadingCmd: 1.148698 target range: 61.799999 and range: 61.80 m. jm?jijijiiqhqhqhhfffrfbfs?ɛBJ I SɚiIR3=I?ii+F=)?)*FI2FI:FIBFMw0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G =GBO > I y%w,"A6Udž?Y6U?68T96|n=y6H? v?@? ?us ?@ ?@ ?ɨ6Udž?6NZ;6#CyR"BR I5Mb@Mb@Mb@111 1)1Y5Q?+η?Mby5\/?5v=55` A 5MA)5dAI5 A1y5p AIMIM³٢e' eB=9mQ m>ii uG٣uYGyu u>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748922 %Nusing accuracyPremultiplier from config!-59%b?-5Y%e i%n™51?5:5c?5A%~E%;%;%sf59 =A AAZjy}DNOT Ignoring new targets: 61.80 m.Bj6Jj6 ProNav: ac range: 61.799999 m, nav range: 60.629196 m, bearing: 340.035807 deg, approach rate: 0.126293 m/s, LOS rate: -0.639341 deg/s, cmd heading: 65.815553 deg, new cmd heading: 64.966703 deg. 2jcۼHeadingCmd: 1.133883 target range: 61.799999 and range: 61.80 m. j#?jjjihhhh6Bfffrfbf ?ɛ B I n㟺ɚiI#3=I#?iis=)#?)*F?2F:FBFo0JFHI I IIBI =&I.I6II<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001699G =G rAG qAJm tJm jJi Ji Jm ;N:Jm 9Ji Ji Jm {j;a Jm ~j;a Jm :a Jm :a G B O- >zKU ɧOKU h9KQ KU (KU uA[CuGkE, vojfc`ZUTSQNIFFC?@=>;%w,A ,I.h>ք?Y>?>ټ9> =y>H ?Dq MM?p?}?zaD9?@V?7?ɨ>ք?>t;\\ bG٣`yb." b> fNusing accuracyPremultiplier from configdj59fif?j5Yf_ ifn™lnq?nAfEf? ;f ;fh5p r ApZj DNOT Ignoring new targets: 61.80 m.Bj@9Jj@9% ProNav: ac range: 61.799999 m, nav range: 60.672405 m, bearing: 339.803250 deg, approach rate: 0.120453 m/s, LOS rate: -0.647834 deg/s, cmd heading: 64.966703 deg, new cmd heading: 64.269565 deg. 2j%M޼-HeadingCmd: 1.121716 target range: 61.799999 and range: 61.80 m. j-`?j1j1j1i1h1h1h9h9f9f9f9rfAbfE@ɛm Bʝ I IAͺɚiIBF3=I5`?i1i5®=)5`?)AEq*F?2F:FBF_5JF G%rA G%rA%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254886Gw'=GBO >%w, BAFWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507585J!J%AAyBI QIYMb@Mb@Mb@ )YJ +?~jt?/$y(?= A dA)IyAII٢ "=9Q > G٣y > Nusing accuracyPremultiplier from config59k?5YtV i)?:?AE]$;!;;j5 l AZj15DNOT Ignoring new targets: 61.80 m.Bj=:0Jj=:0 ProNav: ac range: 61.799999 m, nav range: 60.725269 m, bearing: 339.491388 deg, approach rate: 0.104559 m/s, LOS rate: -0.616285 deg/s, cmd heading: 64.269567 deg, new cmd heading: 63.334882 deg. 2jyӼHeadingCmd: 1.105402 target range: 61.799999 and range: 61.80 m. j}?jjjihhhhBfffrf bf T@ɛU BUQK QUGIQ ] ɚYiYI]Dg3=I}?iix>)}?)*F2F:FBF 1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774298G ?=G B O >%w,1AynBrIIzIz٢%Tǽ -=9)Q - ?11 5G٣5YGy1 5 ? Nusing accuracyPremultiplier from configy59}wo?5Y}P i}n™A}E}l,;};}k5  AZjDNOT Ignoring new targets: 61.80 m.Bj0Jj0 ProNav: ac range: 61.799999 m, nav range: 60.760269 m, bearing: 339.290800 deg, approach rate: 0.107859 m/s, LOS rate: -0.617794 deg/s, cmd heading: 63.334883 deg, new cmd heading: 62.733490 deg. 2jӼHeadingCmd: 1.094906 target range: 61.799999 and range: 61.80 m. j%?jjjihhhhff frf!bf%l@ɛMBMr? QUm IQ U.!ɚQiYI]֚3=I]%?iaieF>)e%?)ajHu<bHu4=H>I I IIBI =&I.I6I^<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:03:39.6384 TRx dataTimestamp_ set to:1736381020.901791%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027057J5rJ5pJ1J1J5G:J5^9J1J1J5_;J5_;J5}:J5~:*FI2FI:FIBFMO0JFIG%ܥ=G- ?G-?GBOI> AIEhzK}ܦOK}+9KyK}(K}:;6556200/.-*()*)'$! !  u NG Y y _B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278293H%w,]JA6}?Y6&?6*96dd fG٣dyf j> nNusing accuracyPremultiplier from configlr59nt?r5Yn_J inn™tv?vAnEn:n:nTm5x zZAzrEB*** querying acoustic contact ***jjZjamDNOT Ignoring new targets: 61.80 m.Bjm-Jjm- ProNav: ac range: 61.799999 m, nav range: 60.790897 m, bearing: 339.052320 deg, approach rate: 0.078122 m/s, LOS rate: -0.607972 deg/s, cmd heading: 62.733491 deg, new cmd heading: 62.018449 deg. 2jмHeadingCmd: 1.082426 target range: 61.799999 and range: 61.80 m. j?jjjihhhhfff!rf!bf%' @ɛB?&/ CI n@ɚiI3=I?ii=)?)EEsA*F2F:FBFP0JF"G=G=%Will construct direction to contact in vehicle frame from tetrahedron phase data.*J9"J=R=DAT read: 00:03:39.6385 LVL= 24256, 32753, 22914, 32755, AGC= 66, IDX= 411, 0.14,-2.935, 1.793, 2.891, 2.742, PHS= 0.695,-0.902, 0.146, RAW= 130.2, 0.9, CAL= 136.3, -7.3, ROT= 13.7, 7.3 Ygot valid direction response: 00:03:39.6385 LVL= 24256, 32753, 22914, 32755, AGC= 66, IDX= 411, 0.14,-2.935, 1.793, 2.891, 2.742, PHS= 0.695,-0.902, 0.146, RAW= 130.2, 0.9, CAL= 136.3, -7.3, ROT= 13.7, 7.3 G%> 9 I9 = PDAT read: Bearing 13.7, 7.3 (Local) E ~Local bearing/azimuth received: Bearing 13.7, 7.3 (Local) M DAT read: Range 10 to 50 : 59.6 m (Round-trip 79.5 ms) speed 0.8 m/s U ,DAT read: user:3621> ] BDAT read: Tx time:00:03:40.7548 ] $Ping request sent.] %>%Oo@%< %?@)%wI%Gt>i%w>!!%_1|? ?l?)%e6>I%h{i%u迉%ۻo!! :publishing transmit ping timeY  Fpublishing direction and range info!9%"m4¿~Mi⿿+3_?y!!!! !)!I!i!!!!! !)!I!i!!!%_1|? ?l?)!I!i!!!!U%w,bdA6y?Y6B?6.96LՁB>IMb@Mb@Mb@ )Y1Zd?X9v?~jty"?}=ļ MA)AI AyAII٢-l1 -5=9U9;Q U>YY eG٣aye m>uWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:03:40.7541 Nusing accuracyPremultiplier from config59{?5Y:C i!n™?:E?AE;;Xo5 AkU)C*?kU_~ kQ kUYA:kUfnBBkUlBZkU@"U| 0%A)лH@U"m4¿~Mi⿿+3_?JkUuRkUۻo*UO=@Ov54}pG@U2)`#?u׿@z+?"kUƮ*kUAkU:?kU@͂ 2kUBkUkN7?kQkUBkU]BkU@ addTargetRange:: Added new target pos. range: 59.599998 m, deltaT: 3.543946 s, deltaX: -2.200001 m, approachRate: -0.620777 m/s, rangeRepo size: 4  Added new target pos. range: 59.599998 m, bearing: 323.587111 deg, lat: 36.905321 deg, lon: -122.120452 deg, deltaT: 3.543946 s, deltaX: -2.200001 m, approachRate: -0.620777 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 59.60 m.Rj Powering the camera and arming the capture device at range: 59.60 m."j Bj Jj  ProNav: ac range: 59.599998 m, nav range: 55.399162 m, bearing: 336.596514 deg, approach rate: 0.000000 m/s, LOS rate: -0.607972 deg/s, cmd heading: 62.018452 deg, new cmd heading: 61.147849 deg. 2j!MHeadingCmd: 1.067231 target range: 59.599998 and range: 59.60 m. jM ?jIjQjQiQ"jQhQhQhYh]ՂBfYfYfarfM@bf c?ɛMBM& IU IQ ]fɚYiI.4=I ?ii_=) ?)#&Changing to mode: 2#Armed mode.#2Commanding negative:54371*Fu?2Fq:FqBFuO0JFqHI IS IIYBI =&I.I6I2<:Io FGM y=G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.O5 >JM pJM kJI JI JM A:JM 9JI JI JM T;JM T;JM :JM :  |$?I %w,~AzK.MK,K,K.(K.    BK4:K4>5]u?Y>?>))9>H |m?̒?@?@Be?]ܜĔ? S??ɨ>5]u?>|;>#CyNǁBNIIVIV-٢^ߜ be=9bzt;Q b>dd fG٣fYGyf F f> nNusing accuracyPremultiplier from configh~59j?5Yj= ij%n™?AjEj;j;jp5  AZjDNOT Ignoring new targets: 59.60 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBj8Jj8 ProNav: ac range: 59.599998 m, nav range: 55.424698 m, bearing: 336.380273 deg, approach rate: 0.076349 m/s, LOS rate: -0.646240 deg/s, cmd heading: 61.147849 deg, new cmd heading: 60.499454 deg. 2jݼHeadingCmd: 1.055915 target range: 59.599998 and range: 59.60 m. j6(?jjji"jhhhhfffrfbft?ɛBT 隝7I GɚiI$4=I6(?ii=)6(?)*FUM>2FQ:FQBFU\0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.GMX=GUsAGUsAG) B1 OU >%w,훘AvWill construct direction to contact in vehicle frame from tetrahedron phase data.y޵ˁB޵I I5Mb@Mb@Mb@111 1)1Y5Gz?~jt?Mby5?5=55 A 1)5AI5 A1y5AIM<IM3٢]l< ]&=9eQ > G٣y > Nusing accuracyPremultiplier from config59?5Y6 i'n™?:?AE;; s5 AZjDNOT Ignoring new targets: 59.60 m.RjPowering the camera and arming the capture device at range: 59.60 m."j!Bj%*Jj%*5 ProNav: ac range: 59.599998 m, nav range: 55.450497 m, bearing: 336.087751 deg, approach rate: 0.052723 m/s, LOS rate: -0.597520 deg/s, cmd heading: 60.499452 deg, new cmd heading: 59.622368 deg. 2j5 ͼEHeadingCmd: 1.040607 target range: 59.599998 and range: 59.60 m. jE2?jAjAjAiA"jAhIhIhIhMBfQfQfQrfQbfU`?ɛB1 隍I VɚiI4=I2?iif=)2?)E]>E>*F=;2F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉG =G B O% >%w,=eAy~B~II I̍2٢%>ν %x=9!Q %?)) -G٣)y1 5 ? uNusing accuracyPremultiplier from config9}59=?5Y=M2 i=(n™A=E=$<=;=pt5 AZjDNOT Ignoring new targets: 59.60 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBjQ#JjQ# ProNav: ac range: 59.599998 m, nav range: 55.467632 m, bearing: 335.902117 deg, approach rate: 0.052737 m/s, LOS rate: -0.571137 deg/s, cmd heading: 59.622367 deg, new cmd heading: 59.065654 deg. 2jüHeadingCmd: 1.030890 target range: 59.599998 and range: 59.60 m. j5?jjji"jhhh h H->I) I-( II-6BI- =&I).I)6I-\<:I- FBICJICRIZI =bI =jI3fafifirfibfu a?ɛBrV 隍M!I ɚiI:5=I5?ii>)5?)Will construct direction to contact in vehicle frame from tetrahedron phase data.JtJmJJJ;N:J&9JJJ{j;J~j;J:J: I*FG92F:FBF0JFGy=zKXLK9KK(KRK ?JK>GyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,%A̗Af}"e?Yf>ώ?fx.9fɲ   G٣ YGy {"  > Nusing accuracyPremultiplier from config59?%5Y, i*n™!%z?%AE\ ; ;/v5-B -ZA5mEUB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 59.60 m.RjamPowering the camera and arming the capture device at range: 59.60 m."jiBjm)Jjm)} ProNav: ac range: 59.599998 m, nav range: 55.475613 m, bearing: 335.668495 deg, approach rate: 0.020292 m/s, LOS rate: -0.593939 deg/s, cmd heading: 59.065652 deg, new cmd heading: 58.364925 deg. 2j˼HeadingCmd: 1.018660 target range: 59.599998 and range: 59.60 m. jtc?jjji"jhhhhfffrfbfj?ɛBM I unɚqiqIu5=I}tc?iyi}5L=)tc?)*F- 72F1:F1BF515JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Gu}=G? IhG>G B O >%w,/ABj`?YB|s?B>rt9B G٣y3 > Nusing accuracyPremultiplier from config59T?5Y/' i ?:?AEX;c;x5 UAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195614ZjDNOT Ignoring new targets: 59.60 m.RjPowering the camera and arming the capture device at range: 59.60 m."jBjJj  ProNav: ac range: 59.599998 m, nav range: 55.481407 m, bearing: 335.430157 deg, approach rate: 0.012816 m/s, LOS rate: -0.527095 deg/s, cmd heading: 58.364923 deg, new cmd heading: 57.650023 deg. 2j ޴HeadingCmd: 1.006183 target range: 59.599998 and range: 59.60 m. jʀ?jjji"jhhhAhMBfIfIfIrfQbfU`e@ɛBAg: 隝 I 6»ɚiI(6=Iʀ?ii\å=)ʀ?)E*FN42F:FBF 5JF"G=G=Gu=G1BAO]v>H>I I II!BI&I.I6I,<:Ik F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446266 }$?I 8 &w,*AF[?YF2?F=5V9Fpp rG٣pyv5; v> zNusing accuracyPremultiplier from configx~59z?~5Yz'" ix|~f?~AzEz:z ;zy5  jA Zj15DNOT Ignoring new targets: 59.60 m.Rj15Powering the camera and arming the capture device at range: 59.60 m."j9Bj=.Jj=.M ProNav: ac range: 59.599998 m, nav range: 55.483810 m, bearing: 335.214274 deg, approach rate: 0.006812 m/s, LOS rate: -0.611886 deg/s, cmd heading: 57.650020 deg, new cmd heading: 57.002428 deg. 2jUѼUHeadingCmd: 0.994880 target range: 59.599998 and range: 59.60 m. jUv~?jYjYjYiY"jYhYhahahafafifirfibfm%@ɛ5B5qR 15<I1 =śлɚ9i9I=6=IEv~?iAiEe=)Ev~?)I*FA32F:FBFP0JFG=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.699146GBOEQ>(&w,AFW?YFT?F^B9Fs G٣YGy  > -Nusing accuracyPremultiplier from config! YIq59% ?5Y%k i!D?A%E%Ӫ<%u<%{5 8AZjI}DNOT Ignoring new targets: 59.60 m.Rjy}Powering the camera and arming the capture device at range: 59.60 m."jBjJj ProNav: ac range: 59.599998 m, nav range: 55.483532 m, bearing: 334.966331 deg, approach rate: -0.000593 m/s, LOS rate: -0.527958 deg/s, cmd heading: 57.002430 deg, new cmd heading: 56.258640 deg. 2j*-HeadingCmd: 0.981898 target range: 59.599998 and range: 59.60 m. j-]{?j)j)j)i)"j)h1h1h1h1f9f9f9rf9bf=`o @ɛB6 隵I WɚiI7=I]{?ii#Е=)]{?)*FG/2F:FBFJFG! G!uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203044G= Υ=GE qAGE rAG B) OE >J &w,3AyƁB%IMb@Mb@Mb@ )Y rh?Q?MbP?y\=: A )dAIzAyAH>I I IIBI =&I.I6I9<:Is FI2I?3٢a(< D=9 Q  >    G٣y > Nusing accuracyPremultiplier from config%59򲏜?%5Y7 i'n™- ?-:-F?-AE|;;a}51 5,A=jEZjamDNOT Ignoring new targets: 59.60 m.RjimPowering the camera and arming the capture device at range: 59.60 m."jqBj -Jj - ProNav: ac range: 59.599998 m, nav range: 55.482494 m, bearing: 334.740649 deg, approach rate: -0.002782 m/s, LOS rate: -0.605131 deg/s, cmd heading: 56.258639 deg, new cmd heading: 55.581615 deg. 2jϼHeadingCmd: 0.970082 target range: 59.599998 and range: 59.60 m. jNWx?jWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 00:03:43.2353 LVL= 19936, 32753, 22386, 32755, AGC= 59, IDX= 410,-0.10,-1.138,-2.563,-1.664,-1.528, PHS= 0.479,-0.988,-0.138, RAW= 125.2, 10.2, CAL= 132.3, 5.5, ROT= 17.7, -5.5 eYgot valid direction response: 00:03:43.2353 LVL= 19936, 32753, 22386, 32755, AGC= 59, IDX= 410,-0.10,-1.138,-2.563,-1.664,-1.528, PHS= 0.479,-0.988,-0.138, RAW= 125.2, 10.2, CAL= 132.3, 5.5, ROT= 17.7, -5.5 uPDAT read: Bearing 17.7, -5.5 (Local) u~Local bearing/azimuth received: Bearing 17.7, -5.5 (Local) DAT read: Range 10 to 50 : 57.2 m (Round-trip 76.3 ms) speed 0.7 m/s ,DAT read: user:3622> BDAT read: Tx time:00:03:44.3548 $Ping request sent.|O  @K6> @) =I2+>i Ľ=@ ]?z^?j?)F=I:5iF v :publishing transmit ping timeءfrf5L@bf5M?UFpublishing direction and range info9[}8Կqymo޿ lBE?y )Ii )Ii=@ ]?z^?j?)Ii yIyɛB? 隥I ɚiI7=INWx?ii=)NWx?)ErAErAzKMKM59KIKM(KM  *F,2F:FBFJFGe =G! BA O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:03:44.3541 *&w,kHMA dP?Y Dp? %9  a=y HKX?dii mG٣iyu嗽 u> }Nusing accuracyPremultiplier from configy59}뺏?5Y}V i}$n™?A}E}:}:} 5 Ak- TÔ?k-5 k) k-;A:k-dBBk-FcBZk-7@"-*2 }3;kpzG@-[}8Կqymo޿ lBE?Jk-F Rk-v*-6E6.@ ʨ1>wJtF@-D8?P$ -9p?"k-*k-EvAk-O7˔?k-3s[; 2k-KBk-Bƈ?k-H k-Bk-DBk-R@m addTargetRange:: Added new target pos. range: 57.200001 m, deltaT: 3.528377 s, deltaX: -2.399998 m, approachRate: -0.680199 m/s, rangeRepo size: 4  Added new target pos. range: 57.200001 m, bearing: 296.621853 deg, lat: 36.905251 deg, lon: -122.120466 deg, deltaT: 3.528377 s, deltaX: -2.399998 m, approachRate: -0.680199 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 57.20 m.RjPowering the camera and arming the capture device at range: 57.20 m."jBjJj ProNav: ac range: 57.200001 m, nav range: 49.216591 m, bearing: 329.313079 deg, approach rate: 0.000000 m/s, LOS rate: -0.605131 deg/s, cmd heading: 55.581614 deg, new cmd heading: 54.851671 deg. 2j HeadingCmd: 0.957342 target range: 57.200001 and range: 57.20 m. j bu?j j j)i)"j)h1h1h1h1f9f9f9rf9bf=`V&w,c(gA:M?Y:5?:L99:+ ,=y:H ?UR?Y?? )0?L? @?ɨ:M?:^ ;8y^ׁB^I Mb@Mb@Mb@    ) Y S?:v?Mbp?y ? T= ;  A A) MAI  A y AI5I5#3٢E< E==9M5Q M>UWill construct direction to contact in vehicle frame from tetrahedron phase data.IY ]G٣]YGye e> mNusing accuracyPremultiplier from configi59mÏ?5Ym  imn™?: ?AmEm;I I II'BI&I.I6IT<:I FGBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ~$?I h> &w,AyBII-I- 2٢== =]=9EQ E>AA EG٣IyM M> UNusing accuracyPremultiplier from configQ]59Uˏ?]5YU iUn™aaeAUEUe:U.:U5i mAizKuMKu9KqKu(Ku ;nB`.?LQI>1~dZjDNOT Ignoring new targets: 57.20 m.RjPowering the camera and arming the capture device at range: 57.20 m."jBjBCJjBC ProNav: ac range: 57.200001 m, nav range: 49.255692 m, bearing: 328.790295 deg, approach rate: 0.052562 m/s, LOS rate: -0.682831 deg/s, cmd heading: 54.003427 deg, new cmd heading: 53.284052 deg. 2jO꼝HeadingCmd: 0.929982 target range: 57.200001 and range: 57.20 m. jOn?jjji"jhhhhfffrfbf`K?) G|uAEAɛB7 隝>I ^ ZY|uAyQBɚiI8=IOn?iiZ=)On?)E ?E ?mWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237219*FN%2F:FBF85JFG G B O >i&&w,暘A6QcI?Y6?6@96~N=y6HQ?@P? ? ?ޢ?̩?`?ɨ6QcI?6S;4yBBBIIJ IJ(2٢R= RT=9VtQ V>TXfWill construct direction to contact in vehicle frame from tetrahedron phase data.fu?fQ?rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490937 vG٣tJxJxJJmJJJJ&9JJyz*9  > Nusing accuracyPremultiplier from config59ԏ?5Yp in™!%?%AE.::J5-B - A-eE )I1ZjDNOT Ignoring new targets: 57.20 m.Rj5Powering the camera and arming the capture device at range: 57.20 m."j1Bj&Jj& ProNav: ac range: 57.200001 m, nav range: 49.272518 m, bearing: 328.532562 deg, approach rate: 0.038119 m/s, LOS rate: -0.583661 deg/s, cmd heading: 53.284051 deg, new cmd heading: 52.511167 deg. 2jGȼHeadingCmd: 0.916493 target range: 57.200001 and range: 57.20 m. jEj?jjji"jhhhhfff!rf!bf% ?ɛmBm& q}Iy _vɚiIK9=I Ej?i i n=) Ej?)*F]"2F:FBF35JFG=GiBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745921,&w,A6ԕF?Y6?6&-96&X=y6Hb?@?@?$Y?{8 ?7? #?ɨ6ԕF?6;6$CyBBBIMb@Mb@Mb@ )Yi|?5?Dl?Mb?y?O=< A  A)dAIzAyI-MI-{4ZHyRH}?AH>I I4 II@BI =&I.I?D6I<:IX F٢z= 8=91.;Q > G٣y+μ > Nusing accuracyPremultiplier from config59:ݏ?5Y i n™?:ǎ?AE;2 ;,5 E A1ZjyDNOT Ignoring new targets: 57.20 m.RjPowering the camera and arming the capture device at range: 57.20 m."jBjOJjO ProNav: ac range: 57.200001 m, nav range: 49.296314 m, bearing: 328.246413 deg, approach rate: 0.060462 m/s, LOS rate: -0.726707 deg/s, cmd heading: 52.511167 deg, new cmd heading: 51.653203 deg. 2j]HeadingCmd: 0.901518 target range: 57.200001 and range: 57.20 m. jf?jjji"jhhhh߂Bfffrfbf@?ɛEBE ) IM߾II mɚqiqIu9=I}f?iyi}T=)}f?)y Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998898 )I)*FM 2FI:FIBFMO0JFIzKOK59KK(KF.uiYG>1! ~zwspplhcca]Z[[XTSUUSQQRTG ޯ=G G pAGa Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250747x3&w,ΘA2MD?Y2|?2 *92 L^=y2H?A??Ε?1+B?ū?`?ɨ2MD?2|;2!CyRBRIi^,>I^]>IjZIj4٢~4= Z=9 :Q >qq uG٣uYGy} }> Nusing accuracyPremultiplier from config59叜?5YU im™?AE:.:5  AZjDNOT Ignoring new targets: 57.20 m.RjPowering the camera and arming the capture device at range: 57.20 m."jBjcAJjcA ProNav: ac range: 57.200001 m, nav range: 49.316841 m, bearing: 327.988296 deg, approach rate: 0.053805 m/s, LOS rate: -0.676287 deg/s, cmd heading: 51.653203 deg, new cmd heading: 50.879224 deg. 2j輝HeadingCmd: 0.888010 target range: 57.200001 and range: 57.20 m. jTc?jjji"jhhhhfffrf bf @ɛ=߂B= AEϾIA EɚAiAIM:=IMTc?iIiU=)UTc?)QEa*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502750*J!"J%=J-vJ-J)J)J-{T:J-9J)J) 5$?I9GE=G B O >9&w,iA:bB?Y:z?:I-9:x,b=y:H@? s? ?@p?`<N?yA? ?ɨ:bB?:;:$CyNBN IMb@Mb@Mb@ )Yx?kt? rh?yK? =C< A ;A)QAI Ay(AIIT3٢4= ==9Q > G٣y4 > Nusing accuracyPremultiplier from config59?5Yb im™ ? : ? AE;;5! % A!ZjIMDNOT Ignoring new targets: 57.20 m.RjIMPowering the camera and arming the capture device at range: 57.20 m.UlFinal approach. Armed for intercept at range: 57.20 m.U\Transitioning guidance mode to: FINAL_APPROACH*jU@Bj]DJj]Dm ProNav: ac range: 57.200001 m, nav range: 49.345135 m, bearing: 327.699243 deg, approach rate: 0.067397 m/s, LOS rate: -0.688146 deg/s, cmd heading: 50.879223 deg, new cmd heading: 50.012632 deg. 2jm"}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755056HeadingCmd: 0.872885 target range: 57.200001 and range: 57.20 m. jfu_?jjjihhhhBfffrfbfD@ɛ܂B 隵¾I  $ɚiI_:=Ifu_?ii/1=)fu_?)*Fe2Fa:FaBFeW0JFiH}>I}C I}Z II}^BI} =&Iy.Iy6I}<:I}G FBIIJIIRIIZIM =bIM =jIML5GM =% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:00:03:46.8323 5 TRx dataTimestamp_ set to:1736381027.964603= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008123GI BQ Ou > ! I) w@&w,'MA2u@?Y2x?2D.92'a=y2H0?`4i@.?@Yp??Veȅ?@ ?)?ɨ2u@?2p;2!Cy^ B^ IIfIf٢n@= n\=9rQ r>pp vG٣tyz ~> Nusing accuracyPremultiplier from config|59~? 5Y~! i~m™  ? A~E~@:~:~U5 \ A%`E=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 57.20 m.RjIBjU EJjU Ee ProNav: ac range: 57.200001 m, nav range: 49.369614 m, bearing: 327.442958 deg, approach rate: 0.065850 m/s, LOS rate: -0.689080 deg/s, cmd heading: 50.012633 deg, new cmd heading: 49.244207 deg. 2jet켝mHeadingCmd: 0.859474 target range: 57.200001 and range: 57.20 m. jmv\?jqjyjyiyhyhyhhfffrfbf7 @zK-/OKs9KK(K[`^Y[n rWIFC>82,($%!ɛUڂBU QU\IY ]q(ɚYiYI]:=Iev\?iaiew=)ev\?)i*F2F:FBF{0JF"GG=GX~=G?G?GyBO<>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264225δF&w, A6>?Y6Iw?62968b=y6H1? ?6Չ;6$CyB0BB! I)D DIJIJ)٢f= fL=9j_1Q j>ll rG٣rYGyr r> zNusing accuracyPremultiplier from configtz59v?z5Yv{ ivmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516017%?%AvEvv  BDAT read: Tx time:00:03:47.9548  $Ping request sent. ڵȴ@)ڵ=Iڵa?iڵڱڱ۵8G?[Beſ s?G g=)۵F/I۵o'i۵۵۱۱ :publishing transmit ping time  Fpublishing direction and range infoر9ص}I=ҿM/Ϳ]8?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵8G?[Beſ s?)۱I۱i۱۱۱۱G B O >L&w,6A6hI! I% II%}BI% =&I!.I!6I%S<:I% FMb@Mb@Mb@ )YX9v?1Zd?~jt?y?"=< $A)IyAI-I-٢]m< ]3=9eQ e>aa mG٣iym m> Nusing accuracyPremultiplier from config59 ?5Yi im™%b ?%:%j?%AE;;)5) - A1kS?k( k kXW.A:k[BBk"ZBZkHh@"'+_ /+c)IڝI@}I=ҿM/Ϳ]8?JkRk*茼 @&\6q}jI@ .CB?ZyscڿR)?"k*kO@kL&?k`, 2kFBk:?kd kKBkBk0@ addTargetRange:: Added new target pos. range: 54.900002 m, deltaT: 3.790134 s, deltaX: -2.299999 m, approachRate: -0.606839 m/s, rangeRepo size: 4 JJtJ1JJJ9J3JJGu;aJJu;aJ:aJ:a Will construct direction to contact in vehicle frame from tetrahedron phase data. Added new target pos. range: 54.900002 m, bearing: 278.255783 deg, lat: 36.905130 deg, lon: -122.120452 deg, deltaT: 3.790134 s, deltaX: -2.299999 m, approachRate: -0.606839 m/s, posRepo size: 4 Zj%DNOT Ignoring new targets: 54.90 m.Rj!BjeJjiu ProNav: ac range: 54.900002 m, nav range: 38.005638 m, bearing: 317.259611 deg, approach rate: 0.000000 m/s, LOS rate: -0.566879 deg/s, cmd heading: 48.416172 deg, new cmd heading: 47.735746 deg. 2jy}HeadingCmd: 0.833146 target range: 54.900002 and range: 54.90 m. j IU?jjjihhhhBfffrf@3sK@bf?ɛ-ԂB-y )-I1 51ɚ1i1I5)L;=I= IU? M$?IQi9iee=)e IU?)a*F2F:FBF0JFGS=zKOK9KK (K K>* RK?JK?GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.6S&w,*OA6&r;?Y6$s?6&}I96[=y6H É?a??~? {/?l??ɨ6&r;?6R ;6$CyNABN6 IIVIVB٢z= ~d=9~_Q >    G٣y%z > =Nusing accuracyPremultiplier from config)E59-?E5Y-S i-m™IM?MA-E-wT;--;-5UB U[ A]]EZjDNOT Ignoring new targets: 54.90 m.RjBj|Jj|5 ProNav: ac range: 54.900002 m, nav range: 38.069084 m, bearing: 316.951406 deg, approach rate: 0.182384 m/s, LOS rate: -0.884495 deg/s, cmd heading: 47.735745 deg, new cmd heading: 46.812754 deg. 2j5=HeadingCmd: 0.817037 target range: 54.900002 and range: 54.90 m. j=Q)Q?j9j9j9iAhAhAhAhIfIfIfirfqbfuQ?ɛ҂B0 隽搾I 4ɚiI;=IQ)Q?ii0=)Q)Q?)*F2F:FBF5JFG GsAWill construct direction to contact in vehicle frame from tetrahedron phase data. QIYGub=G- rAG- rAG BQ O >eY&w,)iAROh9?YRLq?R-M9R&6=yRH`¾? -^???`y?q¦?A?ɨROh9?R;R%CybCBb9 Iij4=Ij%>Mb@Mb@Mb@ )YGz?X9v?=9Q > G٣YGy > Nusing accuracyPremultiplier from config59?5Y im™ ?:Q?AE; ;5 I AZj!-DNOT Ignoring new targets: 54.90 m.Rj)Bj-Jj5E ProNav: ac range: 54.900002 m, nav range: 38.154812 m, bearing: 316.571388 deg, approach rate: 0.209579 m/s, LOS rate: -0.926940 deg/s, cmd heading: 46.812754 deg, new cmd heading: 45.675417 deg. 2jE MHeadingCmd: 0.797186 target range: 54.900002 and range: 54.90 m. jMiL?jIjIjIiIhIhQhQhUBfYfYfYrfYbfe@?uWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=ЂB=& 9=CI9 =8ɚAiAIEb;=IMiL?iIiU_>)UiL?)QEen?Ee>*F2F :F BF P0JF G=GBOj>H}>I I IIBI =&I.I6IH<:Iv FJ yJ zJ J J ]:J 9J J J ;J ;J P:% Will construct direction to contact in vehicle frame from tetrahedron phase data.J R: A IE hN`&w,?A:I8?Y:p?:pZ9:<=y:H?@0 ? q??i@@?ś??ɨ:I8?:ፉ;:$CynKBnB IIzIzJH٢$= X=9bQ  >    G٣ y< > Nusing accuracyPremultiplier from config%59D$?%5Y> im™)-?-AEz::+55B 5 A5[EUB*** querying acoustic contact ***jQjQZjaeDNOT Ignoring new targets: 54.90 m.RjiBjm}Jjm}} ProNav: ac range: 54.900002 m, nav range: 38.231514 m, bearing: 316.234159 deg, approach rate: 0.202390 m/s, LOS rate: -0.888036 deg/s, cmd heading: 45.675418 deg, new cmd heading: 44.665873 deg. 2j\HeadingCmd: 0.779567 target range: 54.900002 and range: 54.90 m. jG?jjjihhhhfffrfbf`2#?ɛ΂B ܂I ;ɚiI;=IG?ii}>)G?)zKLK9KK (KBK%rA:K%pA*Fu2Fq:FqBFqJFyWill construct direction to contact in vehicle frame from tetrahedron 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>g&w,fArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.727559y=LBEC II]I]̍٢Yr; A=9Q > G٣y > Nusing accuracyPremultiplier from config59-?5Y im™AE!.; /;5  A $?IZj9MDNOT Ignoring new targets: 54.90 m.RjqBjlfJjlf ProNav: ac range: 54.900002 m, nav range: 38.318768 m, bearing: 315.859016 deg, approach rate: 0.187849 m/s, LOS rate: -0.805802 deg/s, cmd heading: 44.665872 deg, new cmd heading: 43.543156 deg. 2j @ HeadingCmd: 0.759971 target range: 54.900002 and range: 54.90 m. j}B?jjjihhhhf!f!f!rf!bfm@c?ɛ˂B 隕~I K?ɚiI/<=I}B?ii!>)}B?)*F2F:FBFJF"GG>G>G ?G2?GQBaO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979564,m&w,NBA:-4?Y:l?:q=9:I=y:HfE? ?@9?IbC Ib IIbBIb =&I`.Ib>D6IbF<:Ibq FUMb@Mb@Mb@QQQ Q)QYU/$?T㥛 ?Mb`?yU?U>U;UI A UA)UMAIUzAQyUAImImk٢}= }L=9};Q }> G٣YGy\$ > Nusing accuracyPremultiplier from config596?5Y im™?:F?AEB;DA;ė5B  AXEZjDNOT Ignoring new targets: 54.90 m.RjBjfJjfu ProNav: ac range: 54.900002 m, nav range: 38.399723 m, bearing: 315.505817 deg, approach rate: 0.225553 m/s, LOS rate: -0.981979 deg/s, cmd heading: 43.543156 deg, new cmd heading: 42.485920 deg. 2ju{(}HeadingCmd: 0.741519 target range: 54.900002 and range: 54.90 m. j}4=?jyjyjyiyhhhh9Bfffrfbf@3@ɛɂB `lI [BɚiIdc<=I4=?ii>)4=?)E)JzJvJ0JJ`:Jϣ9Jـ3Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232756JJo;Jp;J:J: I*F2F:FBF_0JFG`wAA U8Y]`wAy]2BzKyJK9KK (K   G >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483598t&w,љA>1?Y>&j?>C89>==y>HZ?V-o?Z?|?@?@ՠ? ?ɨ>1?>+ˉ;>#CyJUBJN IIVIVͳ٢^< ^W=9b|a:Q b>`` bG٣`yfӼ f> jNusing accuracyPremultiplier from confighn59jm??n5YjT ijm™pr?rAjEj ;je ;jm5t v AtZjDNOT Ignoring new targets: 54.90 m.RjBj|Jj| ProNav: ac range: 54.900002 m, nav range: 38.475697 m, bearing: 315.170912 deg, approach rate: 0.200803 m/s, LOS rate: -0.883421 deg/s, cmd heading: 42.485921 deg, new cmd heading: 41.483299 deg. 2jHeadingCmd: 0.724020 target range: 54.900002 and range: 54.90 m. jcY9?jjjihhhhfffrfbf`0@ɛMǂBMD QUdI -EɚiI}<=IcY9?ii{1&>)cY9?)*F2F:FBFp0JFG)>GYBaOY>*JR="J4=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735417 IAz&w,\ABi.?YBgg?B/,9B,=yBHH?@.??2?@˛?뒥?D?ɨBi.?B6u;B$Cy^OB^G IMb@Mb@Mb@ )YS?&1?{Gzy?=#7 A ;A)AI Ay(AIIW٢ <=9^:Q > G٣y > Nusing accuracyPremultiplier from config599J?5Y( i?:?AEf;Oe;T5  AZjDNOT Ignoring new targets: 54.90 m.RjBjxJjx- ProNav: ac range: 54.900002 m, nav range: 38.550880 m, bearing: 314.789649 deg, approach rate: 0.171805 m/s, LOS rate: -0.869531 deg/s, cmd heading: 41.483301 deg, new cmd heading: 40.341900 deg. 2j50=HeadingCmd: 0.704099 target range: 54.900002 and range: 54.90 m. j=?4?j9j9j9i9h9h9hAhE:BfAfAfIrfIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:00:03:50.4299 eTRx dataTimestamp_ set to:1736381031.749519mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.989867bfm@7@ɛ5łB5 1=2mI9 =yHɚ9i9I=S<=IE?4?iAim,>)m?4?)i*F2F:FBF0JFG  G Hz>I I IIBI&I.I6IO<:Ix FG% 1V>G) G- tAJ |J yJ /J J ;g:J 9J (N3J J ֊;J ׊;J : Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240173J :G B) OE > I &&w,AUm+?YUc?U&9U!=yUH "?] ֘??@?ۄ?1?`3?ɨUm+?U;QyޝZBޝU Ii!>I<II%٢`= F=9h:Q > G٣YGyz > Nusing accuracyPremultiplier from config 59 T?5Y [ i m™o?A E ̦< ئ< "5B  AUEzK^LKh9KK (K&14<ES][UROFB?:76510.,)(%"#! B*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 54.90 m.RjBjDnJjDn  ProNav: ac range: 54.900002 m, nav range: 38.620575 m, bearing: 314.429078 deg, approach rate: 0.161349 m/s, LOS rate: -0.833241 deg/s, cmd heading: 40.341901 deg, new cmd heading: 39.262276 deg. 2j HeadingCmd: 0.685256 target range: 54.900002 and range: 54.90 m. jl/?jjjihhh!h!f!f!f!rf)bf- @ɛ]ÂB]Sڼ Y]HRIY ] 7KɚaiaIe==Iml/?iiim1>)ml/?)qE}rAE}sA*F2F :F BF S5JF eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:03:50.4300 LVL= 21312, 22289, 24178, 32659, AGC= 59, IDX= 417, 0.30, 3.069, 1.394, 2.138, 2.516, PHS= 0.641,-1.075,-0.381, RAW= 113.7, 10.9, CAL= 122.5, 8.0, ROT= 27.5, -8.0 Ygot valid direction response: 00:03:50.4300 LVL= 21312, 22289, 24178, 32659, AGC= 59, IDX= 417, 0.30, 3.069, 1.394, 2.138, 2.516, PHS= 0.641,-1.075,-0.381, RAW= 113.7, 10.9, CAL= 122.5, 8.0, ROT= 27.5, -8.0 PDAT read: Bearing 27.5, -8.0 (Local) ~Local bearing/azimuth received: Bearing 27.5, -8.0 (Local) DAT read: Range 10 to 50 : 53.1 m (Round-trip 70.9 ms) speed 0.4 m/s ,DAT read: user:3624> BDAT read: Tx time:00:03:51.5549 $Ping request sent. eu@)e5>Ie >ie5aaeo;?b .q >9?GEZ.'>)e'IeBie>Oe aa:publishing transmit ping timeFpublishing direction and range infoa9etԿvhXfҿ ?yaaaa a)aIaiaaaaa a)aIaiaaaeo;?b .q >9?)aIaiaaGB)OEs>aaR&w,A6'?Y6c`?6T96 =y6HKB>B IJLJN@AIFIF۳^Will construct direction to contact in vehicle frame from tetrahedron phase data.^=^=bJDAT read: TxSync time:00:03:51.5541 ٢j j_=9j?;Q n>ll nG٣pyr~ r> vNusing accuracyPremultiplier from configtz59v2^?z5Yv; ivm™|~?~AvEvy-;v-;v5 B  A SEkE?k$K&  E$?IEhk k A:kfTBBkRBZk8@"  1F;.Z̆G@tԿvhXfҿ ?Jk>ORk * =s?3 zmD8;rFG@+X6?2<]?ݿiep?"k#*k?kWO?k* 2kBkO7˔?k@͂ kBkAkM@u addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 3.527910 s, deltaX: -1.800003 m, approachRate: -0.510218 m/s, rangeRepo size: 4  Added new target pos. range: 53.099998 m, bearing: 274.337726 deg, lat: 36.905009 deg, lon: -122.120450 deg, deltaT: 3.527910 s, deltaX: -1.800003 m, approachRate: -0.510218 m/s, posRepo size: 4 Zj9uDNOT Ignoring new targets: 53.10 m.RjqBjJj ProNav: ac range: 53.099998 m, nav range: 30.719288 m, bearing: 295.975084 deg, approach rate: 0.000000 m/s, LOS rate: -0.833241 deg/s, cmd heading: 39.262277 deg, new cmd heading: 38.378263 deg. 2j)eHeadingCmd: 0.669827 target range: 53.099998 and range: 53.10 m. jey+?jajajiiihihihqhqfqfqfqrf}̌J@bf}0?ɛB `lI dNɚiIvW==Iy+?ii772>)y+?)*F2F:FBFP5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.G X,,>G B O >{&w,8AjH0bH2<H6w>I6C I4I4I6 =&I4.I46I6V<:I6z FBI-CJI-CRI)ZI- =bI- =jI-= 6Jm$?YJi]?JO.9Jv=yJH`G?@Q ?` S??1 ?Y?@?ɨJm$?J0y;J$CyVNBVF IMb@Mb@Mb@ )Y ףp= ?S㥻?{GzyQ?/= A $A)QAIhAy AIIM٢M< ;=9ՏQ > G٣y > Nusing accuracyPremultiplier from config59bi?5Y9 i?:?AE;K;5   A Zj1=DNOT Ignoring new targets: 53.10 m.Rj9Bj=ΆJjEΆM ProNav: ac range: 53.099998 m, nav range: 30.866951 m, bearing: 295.568057 deg, approach rate: 0.343701 m/s, LOS rate: -0.942856 deg/s, cmd heading: 38.378263 deg, new cmd heading: 37.163216 deg. 2jU!]HeadingCmd: 0.648620 target range: 53.099998 and range: 53.10 m. j] &?jYjYjYiYhYhahaheBfafifirfibfm`Q?ɛB4 %cI! %-Qɚ!i!I%==I- &?iQiU:>)U &?)YWill construct direction to contact in vehicle frame from tetrahedron phase data. 9I9*F2F:FBFP0JFJJJ0JJp:J9Jـ3JJ;J;J;J;Gc/>GBOd>zKMKKK (K 0} Will construct direction to contact in vehicle frame from tetrahedron phase data.r&w,RAyrJBrB IIzIz٢- -S=9-Q 5>11 5G٣5YGy= => ENusing accuracyPremultiplier from configAM59EKs?M5YE iAIQUAEEE:E:ET5]B ] AePEZj5DNOT Ignoring new targets: 53.10 m.Rj1Bj={Jj={U ProNav: ac range: 53.099998 m, nav range: 30.999008 m, bearing: 295.210857 deg, approach rate: 0.327130 m/s, LOS rate: -0.881075 deg/s, cmd heading: 37.163216 deg, new cmd heading: 36.096312 deg. 2ju+}HeadingCmd: 0.630000 target range: 53.099998 and range: 53.10 m. j}G!?jyjyjyiyhhhhfffrfbf?ɛB` !%gI! %u5Tɚ!i!I-==IG!?iiJ>)G!?)Ea>E*F]2Fa:FaBFeO0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGm u0>G B O >&w,-ClA6i?Y6eGV?696" G٣y > Nusing accuracyPremultiplier from config59j~?5Y im™>?:x{?A±E;5;#5 N AZjDNOT Ignoring new targets: 53.10 m.RjBjJj  ProNav: ac range: 53.099998 m, nav range: 31.122351 m, bearing: 294.836044 deg, approach rate: 0.311223 m/s, LOS rate: -0.941991 deg/s, cmd heading: 36.096313 deg, new cmd heading: 34.976480 deg. 2j !HeadingCmd: 0.610455 target range: 53.099998 and range: 53.10 m. jF?jjjihhh!h%Bf!f!f)rf)bf-`*?=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛeBm impqIi mWɚqiqIu>=I}F?iyi}W B>)}F?)*F)2F):F)BF-P0JF)G7>GBOI>Hes>Ia IaIaIe =&Ia.Ie=D6Ie<:IeD F Will construct direction to contact in vehicle frame from tetrahedron phase data. 1? o? I u&w,A2a?Y2Q?2.A924ɮhh jG٣hyn: n> mNusing accuracyPremultiplier from configYu59]K?u5Y]Ǖ i]m™w?A]ıE]<]<]ܥ5 [ AZjQ]DNOT Ignoring new targets: 53.10 m.RjYBj]=uJj]=um ProNav: ac range: 53.099998 m, nav range: 31.237921 m, bearing: 294.477483 deg, approach rate: 0.277453 m/s, LOS rate: -0.857618 deg/s, cmd heading: 34.976480 deg, new cmd heading: 33.904911 deg. 2jm$HeadingCmd: 0.591752 target range: 53.099998 and range: 53.10 m. j}?jjjihhhhfffrfzK`LK+9KK(KcN# bf ?ɛB 隵qI <|ZɚiIf>=I}?iiC>)}?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF[0JFG AG>G B O >堧&w, AJF}JFzJDJDJF[j:JF9JDJDaJ@aJ@aJ@aJ@ PIPVWill construct direction to contact in vehicle frame from tetrahedron phase data.yb>Bb2 IddIjIj=س٢rI rH=9vQ v>tt vG٣zYGyz z> Nusing accuracyPremultiplier from config| 59~? 5Y~ i~m™A~űE~;~u:~5B  A%ME=B*** querying acoustic contact ***j9j9ZjIMDNOT Ignoring new targets: 53.10 m.RjIBjUCJjUCe ProNav: ac range: 53.099998 m, nav range: 31.354038 m, bearing: 294.123600 deg, approach rate: 0.313881 m/s, LOS rate: -0.953046 deg/s, cmd heading: 33.904912 deg, new cmd heading: 32.847320 deg. 2je#mHeadingCmd: 0.573294 target range: 53.099998 and range: 53.10 m. jmc?jijijiiihqhqhhf f1f1rf1bf5W@ɛBX -xI1 =Mz]ɚ9i9IEܲ>=Ic?ii7_U>)c?)*F2F:FBF_0JFG}^E>G1BAO]v>MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.ZHQ RHQ HY IY  I] II] BI]  =&IY .IY 6I] $<:I] P F[٭&w,LAyIB@ IMb@Mb@Mb@ )Y(\?V-? G٣y > Nusing accuracyPremultiplier from config59+?5Y im™A?:r?ADZE;;|5B , AKEZj)5DNOT Ignoring new targets: 53.10 m.Rj1Bj5m{Jj=m{E ProNav: ac range: 53.099998 m, nav range: 31.477840 m, bearing: 293.737941 deg, approach rate: 0.283370 m/s, LOS rate: -0.879253 deg/s, cmd heading: 32.847319 deg, new cmd heading: 31.695056 deg. 2jMHeadingCmd: 0.553183 target range: 53.099998 and range: 53.10 m. jh ?jjjihhhhBfffrfbf @ɛ=B=J 9=_IA E`ɚAiAIE?= u$?IuhIMh ?iyi}f>)h ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753543*Fe2Fa:FaBFm0JFizK- LK- 9K) K- (K- RK5 ?JK5 ?G {]C>G sAG sAGa Bi O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:00:03:54.0275 e TRx dataTimestamp_ set to:1736381035.279439m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010017&w,pӚABĜ ?YBC?BD9BzQBJ2 IIVIVʴ٢Zf ^^=9^`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59j?n5Yjr ijm™lnc?rAjɱEj ;j%;j5t v AtZjQ}DNOT Ignoring new targets: 53.10 m.RjyBj}{Jj{ ProNav: ac range: 53.099998 m, nav range: 31.572500 m, bearing: 293.405959 deg, approach rate: 0.251615 m/s, LOS rate: -0.879788 deg/s, cmd heading: 31.695056 deg, new cmd heading: 30.702202 deg. 2jHeadingCmd: 0.535855 target range: 53.099998 and range: 53.10 m. j- ?jjjihhhhfffrfbfP@ɛ}B}5h 隅rI cɚiIb?=I- ?iiڶ<>)- ?)*F2F:FBFO5JF"G%>G%?>G_G>GBOE> aIaJJ~J1JJv:Jf9J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257398&w,VAf9?Yf6*>?fb:9f3 MBDAT read: Tx time:00:03:55.1549 M$Ping request sent.M  @)l=IK>il H?^qMr}?)AIi~%u:publishing transmit ping timeI}Fpublishing direction and range info9#5C@ѿ9ԿW9,H?y )Ii )Ii H?^qMr}?)Ii٢xZ .=9;Q > G٣YGyE( > Nusing accuracyPremultiplier from config59?5Y. i#?:W?A˱E ;F;#5B  AHEkgk:?k k kA:k3MBBkKBZk@"Pӧ+ƺ0N J=G@#5C@ѿ9ԿW9,H?JkRk~%*Њ?&E5Df(G@Y| ?W$pۿNo?"k*k@U addTargetRange:: Added new target pos. range: 51.299999 m, deltaT: 3.528077 s, deltaX: -1.799999 m, approachRate: -0.510193 m/s, rangeRepo size: 4 e Added new target pos. range: 51.299999 m, bearing: 273.987195 deg, lat: 36.904912 deg, lon: -122.120414 deg, deltaT: 3.528077 s, deltaX: -1.799999 m, approachRate: -0.510193 m/s, posRepo size: 4 ZjimDNOT Ignoring new targets: 51.30 m.RjiBjmJjq ProNav: ac range: 51.299999 m, nav range: 25.945480 m, bearing: 273.387609 deg, approach rate: 0.000000 m/s, LOS rate: -0.879788 deg/s, cmd heading: 30.702202 deg, new cmd heading: 29.377715 deg. 2jHeadingCmd: 0.512738 target range: 51.299999 and range: 51.30 m. jB?jjjihhhhBfffrf`fI@bf ?Hr>I I IIBI =&I.I6I<:I< FɛBs qI %%gɚ!i!I%-?=I-B?i)i-ƷE>)-B?)1E9E9*F2F:FBF.2JF = $?IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:03:55.1541 G :d>)  C c~GG B O >y+&w, A&vA8 RYRvAyR9BV.`?YV,8?V];9V2;yVHU?S& %5?&? `?gkp 11 5G٣1y=a => MNusing accuracyPremultiplier from configIU59MsƐ?U5YM~ iIQUvR?UAMͱEM:Mv:Mɮ5a  AZjDNOT Ignoring new targets: 51.30 m.RjBjJj%5 ProNav: ac range: 51.299999 m, nav range: 26.094797 m, bearing: 273.045797 deg, approach rate: 0.427490 m/s, LOS rate: -0.972993 deg/s, cmd heading: 29.377716 deg, new cmd heading: 28.358262 deg. 2j5&5HeadingCmd: 0.494945 target range: 51.299999 and range: 51.30 m. j=pi>j9j9j9i9hYhahahafafifirfibfm;?zK}KK}9KyK}(K}BK:KrAɛ vI jɚiI1L@=Ipi>ii/C>) pi>) eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO0JFG\`>GBOa> I J#K+3 K+S}.K#K#"K#J ~J J 0J J {m:J y9 Will construct direction to contact in vehicle frame from tetrahedron phase data.J ـ3J K&w,"A2>Y23?2;92;y2Hk?>?@?$k?@^t@U{? ?ɨ2>2~;2!CyB3BB% IIJIJ3A٢f fR=9f:;Q j>hh jG٣hynK n> rNusing accuracyPremultiplier from configpv59rmӐ?v5Yry irm™xzM?zArϱEr;r;r|5B  AEEB*** querying acoustic contact ***jjZj)DNOT Ignoring new targets: 51.30 m.RjBjvJj v ProNav: ac range: 51.299999 m, nav range: 26.246315 m, bearing: 272.691632 deg, approach rate: 0.371377 m/s, LOS rate: -0.863058 deg/s, cmd heading: 28.358262 deg, new cmd heading: 27.302028 deg. 2j5HeadingCmd: 0.476510 target range: 51.299999 and range: 51.30 m. j5(>j1j1j9i9hAhAhihifififqrfqbfu?ɛB I mɚiIj@=I(>iiA>)(>)*F2F:FBFJFGsA GGu7G>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G9BAOe>jHA bHE <HI II  IM IIM BII &II .II 6IM 4<:IM \ Ft&w,Y64.?6S;96:R6];6"Cyf9Bf- IeMb@Mb@Mb@aaa a)aYeJ +?S㥫?{Gztye?e/]=eףeA eMA)aIeMAayeAI}I}Z٢C< ?=9m";Q > G٣YGy`T > Nusing accuracyPremultiplier from config592ᐜ?5Yu im™h ?: H?AѱE';&;[5  AZjDNOT Ignoring new targets: 51.30 m.RjBj!Jj! ProNav: ac range: 51.299999 m, nav range: 26.401104 m, bearing: 272.320912 deg, approach rate: 0.391076 m/s, LOS rate: -0.931131 deg/s, cmd heading: 27.302028 deg, new cmd heading: 26.196532 deg. 2j E$?IAHeadingCmd: 0.457216 target range: 51.299999 and range: 51.30 m. j.>jjjihhhhBfffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247429rfbf6?ɛ=B= 9EtIA EpɚAiAIEQJA=IM.>iiim9'@>)u.>)qE}l>E}>*F2F:FBFJF zK- BHK) K) K- (K- GM E>GU rAGU oAG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499356^&w,]VA> Y>Y>(?>g;9>(H@YM? _6??@M?Be~`餂?m?ɨ> Y>> ܉;>$CyJ8BJ+ IIRIRR٢Z@˻ ZX=9c;Q > G٣9yE(b E> MNusing accuracyPremultiplier from configIU59M?u5YMq iMm™y}{B?}AMұEMF;My;M5  AZj15DNOT Ignoring new targets: 51.30 m.Rj1Bj=OkJj=OkM ProNav: ac range: 51.299999 m, nav range: 26.540485 m, bearing: 271.978440 deg, approach rate: 0.336680 m/s, LOS rate: -0.822901 deg/s, cmd heading: 26.196531 deg, new cmd heading: 25.174627 deg. 2jM/ ]HeadingCmd: 0.439380 target range: 51.299999 and range: 51.30 m. j]o>jYjYjYiYhYhahahafafifirfibfu`_k?ɛB. 隥uI sɚiIA=Io>iic<>)o>)*FE2FA:FIBFM_0JFI 1I9G=uzA>*J"Ja=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752976GB!J=J=J9J9J=}:J=9J9J9OMS>&w,F]pA2K>Y2̡"?2N,<922v;2"CyR4BR& I5Mb@Mb@Mb@111=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003378 1)1Y5S㥛?X9v?y&1|y5$?5}=5`5A 5QA)5AI5A1y5=AI]I]٢m\ m?=9m;Q u>qq }G٣yyMi > Nusing accuracyPremultiplier from config59?5Ym im™?:@?AԱE";!;5  A@EZjDNOT Ignoring new targets: 51.30 m.RjBj~Jj~ ProNav: ac range: 51.299999 m, nav range: 26.685633 m, bearing: 271.623405 deg, approach rate: 0.366277 m/s, LOS rate: -0.891048 deg/s, cmd heading: 25.174628 deg, new cmd heading: 24.115442 deg. 2jHeadingCmd: 0.420894 target range: 51.299999 and range: 51.30 m. jg>jjjihhhhBfffrfbf@ɛ=B=} EiiiuZ8>)ug>)q*F2F:FBFg0JFHI I IIBI&I.I6I&<:IR FBIĨCJIĨCRIZI =bI =jIp#5"G=G= IPExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256283G- @>G B O >n&w,3A6>Y6o?6if<96o&6rY;6%Cy@@HJBAIJIJm9RTT VG٣VYGyZfz Z> bNusing accuracyPremultiplier from config`f59b?f5YbNj ibm™df:?jAbֱEbU:b:b5l llZjDNOT Ignoring new targets: 51.30 m.RjBjUkJjUk ProNav: ac range: 51.299999 m, nav range: 26.813274 m, bearing: 271.301893 deg, approach rate: 0.328291 m/s, LOS rate: -0.822978 deg/s, cmd heading: 24.115443 deg, new cmd heading: 23.155594 deg. 2j3 HeadingCmd: 0.404141 target range: 51.299999 and range: 51.30 m. j>jjjihhhhfffrfbf@ɛ!- )-{I) -zɚ)i)I5eB=I5>i9i=.2>)=>)AEzK1K59K1K5(K5 BpR4 *F)2F):F)BF-1JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508610G H:>GBOK>  $?I hJ J BA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759267٘&w,A6>Y6?6=<96K6ݧ;6$Cy>2B># IIJIJ@ ٢Vϣ V<9VXX ZG٣XyZM ^> bNusing accuracyPremultiplier from config`f59b?f5Ybf ibm™df5?fAbױEb:b:bJ5nB n An=EB*** querying acoustic contact ***jjZj!-DNOT Ignoring new targets: 51.30 m.Rj)Bj-jJj-j ProNav: ac range: 51.299999 m, nav range: 26.948923 m, bearing: 270.951767 deg, approach rate: 0.319431 m/s, LOS rate: -0.820337 deg/s, cmd heading: 23.155593 deg, new cmd heading: 22.110624 deg. 2j -HeadingCmd: 0.385903 target range: 51.299999 and range: 51.30 m. j->j1j1j9i9hAhqhyhfffrfbfฅ@ɛuBu6 q}L~Iy }E~ɚyiyI}C=I>iiV1>)>)*FQ2FQ:FYBF]0JFY}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:03:57.6249 TRx dataTimestamp_ set to:1736381038.809538checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017289ZH RH H I  I II BI &I .I 6I /<:I X FG= 8>GI GM rAG B! O= >;&w,A6>Y6{w?6I<96Y6oI;6#CyB0BB" IuMb@Mb@Mb@qqq q)qYu"~j?S㥫?~jthyuS?u/]=uDuhA uA)u~AIu;AqyuAII٢r ==9;Q > G٣y; I > Nusing accuracyPremultiplier from config59H$?5Yb im™?:W-?AٱE;B;/5  AZj DNOT Ignoring new targets: 51.30 m.Rj BjJj% ProNav: ac range: 51.299999 m, nav range: 27.086929 m, bearing: 270.577589 deg, approach rate: 0.347642 m/s, LOS rate: -0.937757 deg/s, cmd heading: 22.110623 deg, new cmd heading: 20.993958 deg. 2j% -HeadingCmd: 0.366414 target range: 51.299999 and range: 51.30 m. j->j1j1j1i1h1h1h9h=Bf9f9fArfAbfE @ɛiu qunIq u`ɚqiyI} OD=I}>ii2>)>) 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=3.267385JUJU~JQJQJUp:JUf9JQJQJU;aeJQaeJU:aeJU:amE E=*F2F:FBF0JFzK qLK 9K K (K G z2>G  Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 00:03:57.6249 LVL= 14048, 22961, 22002, 28947, AGC= 56, IDX= 414,-0.02,-1.448, 2.849,-3.008,-2.466, PHS= 1.106,-0.921,-0.545, RAW= 100.0, 3.9, CAL= 110.3, 2.0, ROT= 39.7, -2.0 M Ygot valid direction response: 00:03:57.6249 LVL= 14048, 22961, 22002, 28947, AGC= 56, IDX= 414,-0.02,-1.448, 2.849,-3.008,-2.466, PHS= 1.106,-0.921,-0.545, RAW= 100.0, 3.9, CAL= 110.3, 2.0, ROT= 39.7, -2.0 Ba  PDAT read: Bearing 39.7, -2.0 (Local)  ~Local bearing/azimuth received: Bearing 39.7, -2.0 (Local)  DAT read: Range 10 to 50 : 49.3 m (Round-trip 65.8 ms) speed 0.4 m/s  ,DAT read: user:3626>  BDAT read: Tx time:00:03:58.7049  $Ping request sent. &w, כA":publishing transmit ping time"Fpublishing direction and range info99JxdRƿYET*Aq?y3EB6Y U)qI8ih?k f?'g= i?)5=Ia1?i5.s&?5˫տ>h?)ZI[iȞ2'.:publishing transmit ping time.Fpublishing direction and range info99JxdRƿYET*Aq?y )Ii )Ii.s&?5˫տ>h?)IiMA>YM?ME<9M@M;M$Cy޹޽! Ii=Ip=II٢d 6=9@ ! -G٣-YGy5 5> =Nusing accuracyPremultiplier from config9E59=3?E5Y=K_ i=m™AE#?EA=۱E=:=a:='5UB U A]:Ek[זȏ?kk) k kԛA:k3EBBkCBZkP@"1,1!zr;( /?8H@9JxdRƿYET*Aq?JkȞ2Rk'*]C7K{FKH@W4GR]D¿Mtvq?"k*kkS!Ə?kQm 2k\BkL&?k* kBk5Akv@5 addTargetRange:: Added new target pos. range: 49.299999 m, deltaT: 3.534122 s, deltaX: -2.000000 m, approachRate: -0.565911 m/s, rangeRepo size: 4 u Added new target pos. range: 49.299999 m, bearing: 238.701007 deg, lat: 36.904908 deg, lon: -122.120413 deg, deltaT: 3.534122 s, deltaX: -2.000000 m, approachRate: -0.565911 m/s, posRepo size: 4 ZjquDNOT Ignoring new targets: 49.30 m.RjyBj}Jjy $?I ProNav: ac range: 49.299999 m, nav range: 27.151043 m, bearing: 269.403231 deg, approach rate: 0.000000 m/s, LOS rate: -0.937757 deg/s, cmd heading: 20.993958 deg, new cmd heading: 19.689368 deg. 2jHeadingCmd: 0.343644 target range: 49.299999 and range: 49.30 m. j%>jjjihhhhfffrf`fH@bf@?ɛBn 隅րI pɚiI=E=I%>iiP#>)%>)Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:03:58.7041 En=EE*F2F:FBFP5JFG x1>G B O >}$&w,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Zv>YZT?ZfV<9Z!Z;Xy*B IMb@Mb@Mb@ )YMb?)\(?Mby?Ga=A MA)dAI7AyfAIIR٢ɼ ?=9;Q >   G٣ yM M> ]Nusing accuracyPremultiplier from configQ]59U+C?e5YU[ iUm™e?e:e4 ?eAUݱEU;UQ;U 5 : AZjDNOT Ignoring new targets: 49.30 m.RjBj%zJj%zHs>I I IIBI =&I.I6I<:I9 F= ProNav: ac range: 49.299999 m, nav range: 27.283747 m, bearing: 269.027629 deg, approach rate: 0.310580 m/s, LOS rate: -0.874779 deg/s, cmd heading: 19.689368 deg, new cmd heading: 18.568191 deg. 2j=EHeadingCmd: 0.324076 target range: 49.299999 and range: 49.30 m. jEM>jAjajaiahihihihm݂Bfqfqfqrfqbfu?ɛ] I .0ɚiIF=IM>ii(>)M>)E!E!*E!"E! IUWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJy9JJJJJ::J;:*F 2F :F BF 1JF G} eU%>G G >Gq B O >1'w,0e A6i>Y60?6`<966T;6"CyZ!BZ IIbIb㔳٢ M[ i=9;Q > G٣yS %? -Nusing accuracyPremultiplier from config!559%VO?55Y%7Y i%m™15?=A%ޱE%?;%?;%5A M AIZjquDNOT Ignoring new targets: 49.30 m.RjqBj}~Jj}~ ProNav: ac range: 49.299999 m, nav range: 27.387093 m, bearing: 268.729140 deg, approach rate: 0.308785 m/s, LOS rate: -0.888481 deg/s, cmd heading: 18.568192 deg, new cmd heading: 17.676180 deg. 2jpHeadingCmd: 0.308508 target range: 49.299999 and range: 49.30 m. j>jjjihhhhfffrfbf@9_?ɛ wI ɚiIF=I>iiq&>)>)zK&(KK]9KK(KeWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fi:FiBFmP0JFiGx$>GaBiO> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.ZT 'w,y!'A:9>Y:0>:G<9::҆;:%Cyll)p pIzIz=X٢~: L=9_;Q >   G٣y. > 5Nusing accuracyPremultiplier from config)559-]?=5Y-,V i-m™AEO?MA-E-;-%;-K5q u Au7EB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.30 m.RjBjbtJjbt ProNav: ac range: 49.299999 m, nav range: 27.506910 m, bearing: 268.376051 deg, approach rate: 0.291281 m/s, LOS rate: -0.854627 deg/s, cmd heading: 17.676181 deg, new cmd heading: 16.621656 deg. 2jHeadingCmd: 0.290103 target range: 49.299999 and range: 49.30 m. jU>jQjYjYiYhahahhfffrfbf ?ɛ15< 9=/I9 =ׇɚ9iAIE5G=ImU>iiimc'>)mU>)iE}Y>E}>*F2F!:F!BF!JF!Will 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.H q>I C I y II xBI  =&I .I 6I <:I A FG F%>G B O% >8>'w,AA IF!z>YFp>FD=9F/F1;F"CyVBV I=Mb@Mb@Mb@999 9)9Y=}?5^I?J +?~jty=M?=H==D=A =A)=zAI99y=AI]I]?1٢e  mD=9m;Q m>iq uG٣uYGyu$0 }> Nusing accuracyPremultiplier from configy59}l?5Y}1S i}m™?:?A}E}P;}O;}5  AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728124J=J9J9J9J=y:J9J9J9J=;J= ;J9J9ZjDNOT Ignoring new targets: 49.30 m.RjBjqJjq ProNav: ac range: 49.299999 m, nav range: 27.625570 m, bearing: 268.010770 deg, approach rate: 0.275554 m/s, LOS rate: -0.844611 deg/s, cmd heading: 16.621656 deg, new cmd heading: 15.530659 deg. 2jHeadingCmd: 0.271061 target range: 49.299999 and range: 49.30 m. jȊ>j)j)j9iAe~Gy YYyBhhhhׂBfffrfbf@?ɛimjU imIi uɚqiqIuH=I}Ȋ>iyi}(>)}Ȋ>)*F]2FY:FYBF]X0JFYzK% jIK% 9K! K% (K% RK5 ?JK5 ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979971G +'>G G sAG B O >eh'w,PZAFQj>YF`>F-=9FF ;F#CyNBNIIZIZq٢jq nT=9n<;Q n>pp rG٣pyv0' v> Nusing accuracyPremultiplier from config|59~5{? 5Y~{P i~m™   ? A~E~:~:~5B  A4EZj9EDNOT Ignoring new targets: 49.30 m.RjABjMVJjMV] ProNav: ac range: 49.299999 m, nav range: 27.734756 m, bearing: 267.669050 deg, approach rate: 0.301398 m/s, LOS rate: -0.939566 deg/s, cmd heading: 15.530660 deg, new cmd heading: 14.509650 deg. 2j]4!eHeadingCmd: 0.253241 target range: 49.299999 and range: 49.30 m. jeӨ>jajajaiahihihihififqfqrfqbf}":@ɛ&<( 8=隥I :RɚiI&rI=IӨ>iij +>)Ө>) $?I*F 2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232473GMMf(>Gy B O >>'w,tA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484569yBIi%]>I%%=))Mb@Mb@Mb@ )YMb?X9v?Mby?<~A A)~AIAyI5I5?٢E5 E5=9EQ M>II MG٣QyU ]> eNusing accuracyPremultiplier from configYe59]‹?m5Y]M i] n™m?m:m6?mA]E];]J;]5y } A}2EZjDNOT Ignoring new targets: 49.30 m.RjBjzJjz ProNav: ac range: 49.299999 m, nav range: 27.853846 m, bearing: 267.274567 deg, approach rate: 0.265138 m/s, LOS rate: -0.874510 deg/s, cmd heading: 14.509649 deg, new cmd heading: 13.331433 deg. 2j HeadingCmd: 0.232677 target range: 49.299999 and range: 49.30 m. jBn>jjjihhhh˂Bfffrfbf @HYIY I]f II]iBIY&IY.IY6I];<:I]a FɛF+ I ɚiI@~J=IBn>i i G=>) Bn>) EI*F2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736013JUJUJQJQJUv:JU9JQJQJUU;JUV;JU2;JU3;G U*>G B O >y#'w, A6K>Y6>6C=966m;6&Cy>BBIIJIJ٢R Ri=9RK;Q V>XX ZG٣ZYGy^ ^> bNusing accuracyPremultiplier from config`f59b협?f5YbjK ibn™hj >jAbEbU:bU:bL5l n An/EZjDNOT Ignoring new targets: 49.30 m.RjBjgrJjgr ProNav: ac range: 49.299999 m, nav range: 27.943451 m, bearing: 266.962499 deg, approach rate: 0.244189 m/s, LOS rate: -0.847704 deg/s, cmd heading: 13.331433 deg, new cmd heading: 12.398321 deg. 2jqHeadingCmd: 0.216392 target range: 49.299999 and range: 49.30 m. j]>jjjihhhhfffrfbf@zKBHKŷ9KK(K0BKqA:KqAɛ%B%y* )UWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:00:04:01.1732 ]TRx dataTimestamp_ set to:1736381042.336769]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989185-OIa eTҏɚaiaIe|K=I]>ii->)]>)*F2F:FBFO5JFG1>GBOj> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240076)'w,{kABR>>YB">B=9B>B8F;B!Cyb BbIIlIl٢zA= ~E=9ʴ:Q >   G٣yU > -Nusing accuracyPremultiplier from config!559%?55Y%H i%%n™9=>EA%E%Z;% u;%5Q U? AQB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 49.30 m.RjBj(Jj( ProNav: ac range: 49.299999 m, nav range: 28.048265 m, bearing: 266.592272 deg, approach rate: 0.254720 m/s, LOS rate: -0.896358 deg/s, cmd heading: 12.398321 deg, new cmd heading: 11.291934 deg. 2jHeadingCmd: 0.197081 target range: 49.299999 and range: 49.30 m. jI>jjjihhhhfffrfbf 6 @ɛIM ! IMII U.ɚQiQIUєL=I]I>iYi])4>)]I>)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495449Emnp=EqEurAZH RH AAH o>I  I S II YBI  =&I .I 6I 2<:I X FBI%ɧCJI%ɧCRI!ZI!bI!jI%ɢ5*F% 2F! :F! BF- 0JF) I h Will construct direction to contact in vehicle frame from tetrahedron phase data.<<]DAT read: 00:04:01.1732 LVL= 13200, 23025, 18098, 25715, AGC= 53, IDX= 428,-0.08, 2.804, 0.756, 0.910, 1.630, PHS= 1.262,-0.828,-0.723, RAW= 92.5, 2.9, CAL= 100.6, 0.8, ROT= 49.4, -0.8 Guw|<>Ygot valid direction response: 00:04:01.1732 LVL= 13200, 23025, 18098, 25715, AGC= 53, IDX= 428,-0.08, 2.804, 0.756, 0.910, 1.630, PHS= 1.262,-0.828,-0.723, RAW= 92.5, 2.9, CAL= 100.6, 0.8, ROT= 49.4, -0.8 PDAT read: Bearing 49.4, -0.8 (Local) ~Local bearing/azimuth received: Bearing 49.4, -0.8 (Local) GABQOu?2'w,hȜA DAT read: Range 10 to 50 : 48.0 m (Round-trip 64.0 ms) speed 0.2 m/s ,DAT read: user:3627> %BDAT read: Tx time:00:04:02.2550 m$Ping request sent.mY> =9K;'CyBI) I-Mi-v-@-))m:publishing transmit ping timeimFpublishing direction and range info)9-3]Nb¿|t?w?y)))) )))I)i))))) )))I)i)))-\?/Huݿ C?))I)i))))Mb@Mb@Mb@ )Y+?{Gz? rhyv>#<C ;A) AIyIMIM٢>! =9,9Q > G٣YGyyм > Nusing accuracyPremultiplier from config59}?5YE i;n™>:>AE=;f;5B  A,Ek-65O?k-IK k) k-ŜA:k-@BBk->BZk->K@"-̋eWк.a @ٶG@-3]Nb¿|t?w?Jk-v-@Rk-*-(P kw˿r\2&G@-'6\s]GOrC{C?"k-[*k-k--?k-SK 2k-[Bk-WO?k- k-[Bk-?Ak-M@ addTargetRange:: Added new target pos. range: 48.000000 m, deltaT: 3.778406 s, deltaX: -1.299999 m, approachRate: -0.344060 m/s, rangeRepo size: 4 5 Added new target pos. range: 48.000000 m, bearing: 182.225486 deg, lat: 36.904905 deg, lon: -122.120370 deg, deltaT: 3.778406 s, deltaX: -1.299999 m, approachRate: -0.344060 m/s, posRepo size: 4 Zj15DNOT Ignoring new targets: 48.00 m.Rj1Bj=Jj9zKMLKIKIKM(KM@<5478/(" ]Will construct direction to contact in vehicle frame from tetrahedron phase data.m ProNav: ac range: 48.000000 m, nav range: 24.406240 m, bearing: 264.442538 deg, approach rate: 0.000000 m/s, LOS rate: -0.896358 deg/s, cmd heading: 11.291934 deg, new cmd heading: 9.579209 deg. 2jquHeadingCmd: 0.167189 target range: 48.000000 and range: 48.00 m. ju3+>jyjyjyiyhyhyhhBfffrfH@bfv?ɛB I ɚiIA N=I%3+>i)i-T+A>)-3+>))EU := $?I *F 2F :F BF P0JF %Will construct direction to contact in vehicle frame from tetrahedron phase data.*Ja"JaJqJuJqJqJqJu9JqJqa}@a}@a}@a}@G5>GBO?E;'w,u=Ap>Y\0>[=9Eɺ;#CyeBeIMb@Mb@Mb@ )Yrh|?Mb` rhy>A $A) AIy=AI-I-B٢E E=9E|Q E>II MG٣IyUg U> eNusing accuracyPremultiplier from configYe59]yՑ?m5Y]:C i]Nn™m>m:m>mA]E];]<;]25}B } A})EZjDNOT Ignoring new targets: 48.00 m.RjBjJj ProNav: ac range: 48.000000 m, nav range: 24.523821 m, bearing: 263.884404 deg, approach rate: 0.227904 m/s, LOS rate: -1.076617 deg/s, cmd heading: 9.579209 deg, new cmd heading: 7.913333 deg. 2j8HeadingCmd: 0.138114 target range: 48.000000 and range: 48.00 m. jm >jjjihhhhBfffrfbf9?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ.!( ׵I! %Q{ɚ!i!I%BO=I-m >i)i-+>>)m >)EE*E"EHn>I IA IIJBI =&I.I>G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >A'w,AN=YNฯ>N=9N AzEz8;z8;z5   AZj9=DNOT Ignoring new targets: 48.00 m.Rj9BjE풼JjM풼] ProNav: ac range: 48.000000 m, nav range: 24.592718 m, bearing: 263.551238 deg, approach rate: 0.213108 m/s, LOS rate: -1.027634 deg/s, cmd heading: 7.913333 deg, new cmd heading: 6.916741 deg. 2j]P0eHeadingCmd: 0.120720 target range: 48.000000 and range: 48.00 m. je<=jijijiiihihihqhqfqfqfyrfybf}`_G?ɛ8> 隭ⴾI +WɚiIP=I5<=i1i5[?>)5<=)9EEi>EE>*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-MK-9K)K-(K-G-?>GI BQ Ou > 9 I9 OH'w,!AJ=YJv>J<=9J2OIbIbF٢f> jK=9js9Q j>ll nG٣nYGyr7 r> vNusing accuracyPremultiplier from configtz59v?z5Yv0@ ivfn™y}>AvEv8)5=)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.u?uJ?JJJJJ}:J"9JJ*F2F:FBF3JFGU?>G! B1 OU >% Will construct direction to contact in vehicle frame from tetrahedron phase data.7N'w,o;A:R=Y:R5>:h=9:YyID IF: IIFEBID&ID.IF=D6IF<:IFF Fɨ:R=:*;8yZBZIEMb@Mb@Mb@AAA A)AYEK?I +I +yE^>E9E94EA EA)E AIE$AAyEAI]I]ͳ٢e"= mA=9m2Q m>qq uG٣qy}. }> Nusing accuracyPremultiplier from config59?5Y> irn™>:[>AEoR;cQ;75 x AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 48.00 m.RjBj}Jj} ProNav: ac range: 48.000000 m, nav range: 24.754587 m, bearing: 262.689834 deg, approach rate: 0.191321 m/s, LOS rate: -1.087516 deg/s, cmd heading: 5.671205 deg, new cmd heading: 4.341440 deg. 2j:uHeadingCmd: 0.075772 target range: 48.000000 and range: 48.00 m. j}.=jyjyjyiyhyhyhhȂBfffrfbf? $?Iɛy- mI %ɚiI9/R=I.=i i |G>) .=)1*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ge A>GA BI Om >xU'w,xUA2b5=Y2VE>2y=929XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`f59b?f5Yb= ib}n™dfz>jAbEb:b:b5nBrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.180837zK=BoHK=}9K9K=(K==:@RKM?JKI y}#EZjDNOT Ignoring new targets: 48.00 m.RjBjJj ProNav: ac range: 48.000000 m, nav range: 24.822599 m, bearing: 262.291668 deg, approach rate: 0.169746 m/s, LOS rate: -0.991018 deg/s, cmd heading: 4.341439 deg, new cmd heading: 3.150395 deg. 2j*HeadingCmd: 0.054985 target range: 48.000000 and range: 48.00 m. j7a=jjjih h h h f ff1rf1bf= S@ɛb1 7I `ɚiI+S=I7a=ii%wI>)%7a=))EY*F2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434227JJJJJJ9JJG- E>GI BY O >SH['w,RoAFTM=YF訊>Fw<9FF[ G٣YGyB" > Nusing accuracyPremultiplier from config59$?5Y8< in™g>AE;;5 U A Zj)5DNOT Ignoring new targets: 48.00 m.Rj1Bj=䝼Jj=䝼E ProNav: ac range: 48.000000 m, nav range: 24.905479 m, bearing: 261.792015 deg, approach rate: 0.183794 m/s, LOS rate: -1.104324 deg/s, cmd heading: 3.150395 deg, new cmd heading: 1.656782 deg. 2jMx=UHeadingCmd: 0.028916 target range: 48.000000 and range: 48.00 m. jU<jQjQjQiQhQhYhahififqfqrfqbf}`@ɛBh, 隽TI ɚiI3T=I)<)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:04:04.7221 TRx dataTimestamp_ set to:1736381045.869074checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686334*F2F:FBFP0JFGrA GHn>I IA IIJBI =&I.IG B O- >)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.937491 % `wA9 0b'w,Q-A > YB`wAyBB~=Y~Uȁ>~<9~ChA A) AIAyAIIƳ٢-< -S=9-kzQ ->11 =G٣9yE8 E> MNusing accuracyPremultiplier from configIU59MN4?U5YM&; iMn™]>]:]_>]AMEMN;M;M5eB e) Am EZjDNOT Ignoring new targets: 48.00 m.RjBj(Jj( ProNav: ac range: 48.000000 m, nav range: 24.972214 m, bearing: 261.391267 deg, approach rate: 0.174190 m/s, LOS rate: -1.043230 deg/s, cmd heading: 1.656782 deg, new cmd heading: 0.457936 deg. 2j2HeadingCmd: 0.007992 target range: 48.000000 and range: 48.00 m. j<jjjihhhh͂Bfffrfbf% @ɛ1  I ˽ɚi I .U=I)<)*F2F:FBF_0JFGe5L>G!B)OER> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191408zKNK9KK(K-qR5Z;"xdN>-h]UQNMJGDAA@<7574+&%# BKrA:KrA I Zh'w, A Z_<9.LAA EG٣AyMJS M> UNusing accuracyPremultiplier from configQ]59UHC?]5YU4: iUn™ae:L>eAUEU;Ut;U?5i m AiZjDNOT Ignoring new targets: 48.00 m.RjBj\Jj\ ProNav: ac range: 48.000000 m, nav range: 25.034920 m, bearing: 261.001372 deg, approach rate: 0.168432 m/s, LOS rate: -1.044649 deg/s, cmd heading: 0.457936 deg, new cmd heading: 359.291350 deg. 2j;3HeadingCmd: 6.270817 target range: 48.000000 and range: 48.00 m. j@jjjihhhhfffrfbfI% @ɛ%B%t, )-qI) - ɚ)i)I-zU=]Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJy:J9JJDAT read: 00:04:04.7221 LVL= 11824, 24417, 17762, 26259, AGC= 54, IDX= 433,-0.27,-0.985,-2.562,-2.894,-1.847, PHS= 0.950,-0.668,-1.050, RAW= 79.6, 8.4, CAL= 84.3, 11.1, ROT= 65.7, -11.1 Ygot valid direction response: 00:04:04.7221 LVL= 11824, 24417, 17762, 26259, AGC= 54, IDX= 433,-0.27,-0.985,-2.562,-2.894,-1.847, PHS= 0.950,-0.668,-1.050, RAW= 79.6, 8.4, CAL= 84.3, 11.1, ROT= 65.7, -11.1 PDAT read: Bearing 65.7, -11.1 (Local) ~Local bearing/azimuth received: Bearing 65.7, -11.1 (Local) DAT read: Range 10 to 50 : 47.1 m (Round-trip 62.9 ms) speed 0.1 m/s ,DAT read: user:3628> BDAT read: Tx time:00:04:05.8050 $Ping request sent. ]S?)]aF>I]tƒ?i]aFYY] ?fPP?)]X4I]i]@]]{YYU:publishing transmit ping time]Fpublishing direction and range infoY9]ͯ۞̿yQ?&8?yYYYY Y)YIYiYYYYY Y)YIYiYYY] ?fPP?)YIYiYYYYIZJii"AS>)@)EEsA*F2F:FBFJFG N> Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG B O >΅n'w,鼝AZHRHHm>I IS IIYBI =&I.I6I<:I+ FF@YFK^>FP<9FDA A)IAy3AI%I%J =$?I9٢= 5=9Q > G٣YGy > Nusing accuracyPremultiplier from config59U?5Y8 in™_>:X>AEA;>;95-B 5 A5Ekml?kjR' k kA:kf)@)*FQ2FQ:FQBFYJFYG Q>G B O >Glu'w,۾֝A6o@Y6M>6oG<965;y6H` Y?ఉɿ@ї?@?@[?ZZap薿{??ɨ6o@6髊;6#Cy>-BB IIJIJb٢RFV= Rs=9VkQ V?TT ZG٣XyZC Z?bWill construct direction to contact in vehicle frame from tetrahedron phase data. fNusing accuracyPremultiplier from config`f59b'c?j5Yb$8 ibn™h=G>=AbEb/vB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.10 m.RjBjּJjּ  ProNav: ac range: 47.099998 m, nav range: 11.399924 m, bearing: 229.178912 deg, approach rate: 0.380588 m/s, LOS rate: -1.500456 deg/s, cmd heading: 357.801973 deg, new cmd heading: 356.270280 deg. 2j HeadingCmd: 6.218090 target range: 47.099998 and range: 47.10 m. j@j9j9j9i9h9h9hAhAfAfAfIrfIbfM@K?ɛf* 隍I 'QɚiIީW=IPiid>)@)*Fm2Fi:FiBFmO5JFi 1I1GEϮU>GB)OEQ>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.Ж{'w,A6|@Y6 ?>6ܠ<96a xx zG٣|y  > 5Nusing accuracyPremultiplier from config)M59-t?U5Y--7 i-n™ae[9>mA-E-T;-a<-5MB M AuEZj9EDNOT Ignoring new targets: 47.10 m.RjABjMƼJjMƼ] ProNav: ac range: 47.099998 m, nav range: 11.559524 m, bearing: 228.545508 deg, approach rate: 0.354017 m/s, LOS rate: -1.385566 deg/s, cmd heading: 356.270290 deg, new cmd heading: 354.397018 deg. 2jemeHeadingCmd: 6.185395 target range: 47.099998 and range: 47.10 m. je@jijijiihhhhfffrfbf`?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243632ɛMBMQ" QU0}IQ U'ɚQiQI]X=I]FȽiYiePst>)e@)EE>H!I! I%s II%sBI% =&I!.I!6I% <:I%; FBIJIRIZI =bI =jI84*FA2FI:FIBFMP5JFI $?IhGe `Y>G9 BI Om >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495382JKـ3 KKK"KJ J J J J :J 9J J J !;a J ";a J g;a J h;a ~'w,6w AFy@YF@/>F/<9F}hj<t<~A A)~AI;AyII٢6= >=9!Q > G٣YGy > Nusing accuracyPremultiplier from config59G?5Y5 tIi>:^>AE ;;_5  AZj  DNOT Ignoring new targets: 47.10 m.Rj BjJj輝- ProNav: ac range: 47.099998 m, nav range: 11.729296 m, bearing: 227.943203 deg, approach rate: 0.465364 m/s, LOS rate: -1.627054 deg/s, cmd heading: 354.397015 deg, new cmd heading: 352.616862 deg. 2j5=HeadingCmd: 6.154325 target range: 47.099998 and range: 47.10 m. j=;@j9j9j9i9h9hAhAhEBfAfIfIrfIbfM"?ɛBTS 隅LkI {|ɚiI+Y=I ii>);@)*F2F:FBFP0JFG]>G9BIOeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747828zKLK9KK(KBKqA:KqA  I m'w,m$A2W@Y2>28E<92͝  G٣y> %> -Nusing accuracyPremultiplier from config)559-?55Y-4 i)9=L>=A-E-1;-c;-5A Ea AEEZjiuDNOT Ignoring new targets: 47.10 m.RjqBj}ȼJj}ȼ-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9996145 ProNav: ac range: 47.099998 m, nav range: 11.882619 m, bearing: 227.397617 deg, approach rate: 0.398299 m/s, LOS rate: -1.399000 deg/s, cmd heading: 352.616849 deg, new cmd heading: 351.001662 deg. 2j5p=HeadingCmd: 6.126135 target range: 47.099998 and range: 47.10 m. j=L @j9jAjAiAhAhhhfffrfbf@tH@ɛMBMXG QUT^IQ ]ɚYiYI]FY=Irviiz>)L @)*FU2FQ:FQBFUO0JFYG= #>s>GE ?GE -? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252281G1 BA O] >jH <bH <H l>I  I II BI  =&I .I 6I ʯ<:I F&Ҏ'w,)>Ay~WBQ IMb@Mb@Mb@ )Y^I +?Zd;?y&1|?yX>y= $?I`;A ;A) AIyAII?٢q= >=9Q > G٣y > Nusing accuracyPremultiplier from config59㥒?5Y}3 iQ>:>AE5;N3;5  AZj!-DNOT Ignoring new targets: 47.10 m.Rj)Bj-/Jj-/ ProNav: ac range: 47.099998 m, nav range: 12.060952 m, bearing: 226.879783 deg, approach rate: 0.418524 m/s, LOS rate: -1.197304 deg/s, cmd heading: 351.001673 deg, new cmd heading: 349.471524 deg. 2jlMHeadingCmd: 6.099429 target range: 47.099998 and range: 47.10 m. j.@jjjihhhhBfffrfbf@ɛMBM I隕FI KɚiIѣZ=I4ii >).@)EyMWill construct direction to contact in vehicle frame from tetrahedron phase data.M>Ma=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504901JJJJJ:J9JJJn;Jo;J;J;*F2F!:F!BF!JF!GCx>GBO>'w, XA:r@Y:=:<9:eIZ4<\^AIfIfn٢ H  W=9 Q  > G٣YGy̽ > %Nusing accuracyPremultiplier from config!-59%/?-5Y%S2 i!)-t>5A%E%8;%j;%5=B = AEE]B*** querying acoustic contact ***jajaZjimDNOT Ignoring new targets: 47.10 m.RjqBjuñJjuñ ProNav: ac range: 47.099998 m, nav range: 12.217785 m, bearing: 226.400241 deg, approach rate: 0.411906 m/s, LOS rate: -1.243288 deg/s, cmd heading: 349.471519 deg, new cmd heading: 348.051667 deg. 2jPUHeadingCmd: 6.074647 target range: 47.099998 and range: 47.10 m. jc@jjjihhhhfffrfbf5p@ɛB 隭IzKoKK@9KK(KI ɚiIK[=IUii)c@)*F}2Fy:FyBF}]0JFy $?IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:00:04:08.2712 uTRx dataTimestamp_ set to:1736381049.651923}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012245G*JC="JG B O >'w,qA6u @Y6=6j<96(   G٣yMK > %Nusing accuracyPremultiplier from config-59yŒ?-5Y01 i)5m`>5AEc;;V59 = A9ZjDNOT Ignoring new targets: 47.10 m.RjBj#Jj# ProNav: ac range: 47.099998 m, nav range: 12.382764 m, bearing: 225.889900 deg, approach rate: 0.394467 m/s, LOS rate: -1.203957 deg/s, cmd heading: 348.051660 deg, new cmd heading: 346.541405 deg. 2j%NeHeadingCmd: 6.048288 target range: 47.099998 and range: 47.10 m. je@jijijiiihhhhfffrfbf0 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260094ɛ5B5X 9=FI9 =ɚ9i9I=\=IE52aiiiu/>)}@)Hm>I I IIBI&I.I6I<:I5 F yIy*F2F:FBFP0JFGmւ>GqGqGI BQ Om >e Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: Range 10 to 50 : 46.5 m (Round-trip 62.1 ms) speed 0.1 m/s  ,DAT read: user:3629>  BDAT read: Tx time:00:04:09.3550  $Ping request sent. ^=; A 7A) AIAyAII%٢=!< =+=9=!Q =>AA EG٣AyM= M> uNusing accuracyPremultiplier from configq}59uؒ?}5Yu/ iq}(>:]>AuEu8;u;uo5  AE addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 3.527688 s, deltaX: -0.599998 m, approachRate: -0.170083 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 47.10 m.RjBjJjU ProNav: ac range: 47.099998 m, nav range: 12.585977 m, bearing: 225.333958 deg, approach rate: 0.432870 m/s, LOS rate: -1.165091 deg/s, cmd heading: 346.541395 deg, new cmd heading: 344.900973 deg. 2jUG]HeadingCmd: 6.019658 target range: 47.099998 and range: 46.50 m. j] @jYjYjYiYhahahhABfffrf@G@bfQ?ɛB  z>I  qGɚiIs\=Iii >) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=g0JF9zKMk3IKMŷ9KIKM(KM  } $?Iy G] >G1 BA O] >'w,AB.@YBiS=Bp<9B[vAnEn:nH:n5x z A|Zj-DNOT Ignoring new targets: 47.10 m.Rj)Bj5Jj5 ProNav: ac range: 47.099998 m, nav range: 12.720214 m, bearing: 224.960672 deg, approach rate: 0.425916 m/s, LOS rate: -1.171878 deg/s, cmd heading: 344.900975 deg, new cmd heading: 343.793081 deg. 2jI HeadingCmd: 6.000321 target range: 47.099998 and range: 46.50 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.%=p= j @j)j)j1i1h1h1h9h9fAfAfArfibfm}?ɛ B / GI `ZɚiIQ]=IӐii)@)!*F2F:FBFP5JFG> Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >ZH RH @AH I  I II BI  =&I .I 6I <:I ) F 'w,tAy~XBR I !I!Mb@Mb@Mb@ )Ykt?&1?Mb`y >= A )IMAy\AIIy/٢ 0=9Q > G٣YGy > Nusing accuracyPremultiplier from config59?5Y- in™>:>A E;;5B  A EZjDNOT Ignoring new targets: 47.10 m.RjBjJj5 ProNav: ac range: 47.099998 m, nav range: 12.915527 m, bearing: 224.467066 deg, approach rate: 0.417948 m/s, LOS rate: -1.040274 deg/s, cmd heading: 343.793091 deg, new cmd heading: 342.334999 deg. 2j5{2=HeadingCmd: 5.974873 target range: 47.099998 and range: 46.50 m. j=)2@j9jAjAiAhAhAhIh*Bfffrfbf '?a}vA YvAy%Bɛ‚Bh hSI ɚiI^=I۝i-Will construct direction to contact in vehicle frame from tetrahedron phase data.i)-)2@)1JJJJJ:Jľ9JJJ!;J";J;J;*F2F:FBFJFG >G ?G 2?G B O >'w,NٞA>G@Y>4<BWill construct direction to contact in vehicle frame from tetrahedron phase data.>OLi<9>KgH@?Y|i? ??`c@I))?`Y?ɨ>G@>"=;>!CyNQBNJ IIZIZT٢bl bo=9bQ b?dd fG٣dyj* j? nNusing accuracyPremultiplier from configlr59nE?r5Yn, inn™tvMd>vAn En;n;n[5x z4 AxB*** querying acoustic contact ***jjZj-DNOT Ignoring new targets: 47.10 m.Rj)Bj-EJj-EE ProNav: ac range: 47.099998 m, nav range: 13.054304 m, bearing: 224.091742 deg, approach rate: 0.408476 m/s, LOS rate: -1.092978 deg/s, cmd heading: 342.335010 deg, new cmd heading: 341.221156 deg. 2jE;MHeadingCmd: 5.955432 target range: 47.099998 and range: 46.50 m. jM璾@jIjIjIiIhQhQhQhQfYfYfYrfYbfe n?ɛÂB&& 隍bI 'ɚiI^=I>ϧii)璾@)zKLK9KK(K *F52F1:F1BF5P0JF1 $?IGGB O->=Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.B'w,+lA2@Y2"@2$Ӏ<92e^If>fAfAIjIj%٢zC zE=9Bj;Q  > G٣y -Nusing accuracyPremultiplier from config!-59%?-5Y% + i%n™15P>5A% E%:%H:%/5=B =b AE EZjamDNOT Ignoring new targets: 47.10 m.RjiBjuJju ProNav: ac range: 47.099998 m, nav range: 13.223983 m, bearing: 223.625443 deg, approach rate: 0.406719 m/s, LOS rate: -1.103361 deg/s, cmd heading: 341.221143 deg, new cmd heading: 339.840479 deg. 2jN=HeadingCmd: 5.931335 target range: 47.099998 and range: 46.50 m. jͽ@jjjihhh h ff!f!rf)bf?}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759522ɛłBP qI ߺɚiIy_=I%ii)ͽ@)HQIQ IU IIUBIU =&IQ.IQ6IU<:IU= F*F}2Fy:FyBFJF IG G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0089103'w,n AJ6J6J4J4J6y:J69J4J4J6;J6 ;J6\ ;J6] ;b @Yb@b<9bHm9=m`em A mQA)m AImAiym(AIId٢ ?=9;Q > G٣YGyL > Nusing accuracyPremultiplier from config592&?5Y;* in™>E:E">EA Es<O< 5I M AIZjDNOT Ignoring new targets: 47.10 m.RjBjJj ProNav: ac range: 47.099998 m, nav range: 13.386596 m, bearing: 223.148309 deg, approach rate: 0.365577 m/s, LOS rate: -1.059622 deg/s, cmd heading: 339.840488 deg, new cmd heading: 338.426777 deg. 2j5HeadingCmd: 5.906662 target range: 47.099998 and range: 46.50 m. j_@jjjihhhh'Bff f rf bf  B@ɛ}ǂB- 隅RI ɚiI~?`=Iii)_@)E*Fi2Fq:FqBFqJFqmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261082zKQJKKK (KBKrA:KrAG >G G $?I G B O >T'w,F"'A6D@Y6S@6j֦<96pt vG٣tyvn v> ~Nusing accuracyPremultiplier from configx59z4?5Yz) izn™ >AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514073zEzk=z=z5 %m A%EZjDNOT Ignoring new targets: 47.10 m.RjBj Jj  ProNav: ac range: 47.099998 m, nav range: 13.530174 m, bearing: 222.719200 deg, approach rate: 0.357279 m/s, LOS rate: -1.056448 deg/s, cmd heading: 338.426776 deg, new cmd heading: 337.153330 deg. 2jB5HeadingCmd: 5.884436 target range: 47.099998 and range: 46.50 m. jLM@jjjihhhhfffrfbf5`Ă@ɛɂB(+6 隥 I 篾ɚiIa=I(̾ii)LM@)*F2F:FBFV0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764787Ge >jHA bHE <HM n>II  IM IIM BII &II .IM =D6IM <:IM " FBI JI RI ZI bI  =jI 4Gi Bq O >UL'w,)@AA $I$J(w@YJ@JC<9J`/]=ף ) AIQAyII٢w <=9c;Q > G٣ykk > Nusing accuracyPremultiplier from config59[E?5Yb) in™C>:+=AE;O;5  AZjDNOT Ignoring new targets: 47.10 m.RjBjJj- ProNav: ac range: 47.099998 m, nav range: 13.680355 m, bearing: 222.187594 deg, approach rate: 0.383765 m/s, LOS rate: -1.343509 deg/s, cmd heading: 337.153328 deg, new cmd heading: 335.576440 deg. 2j-f5HeadingCmd: 5.856914 target range: 47.099998 and range: 46.50 m. j5k@j9j9j9i9h9h9hAhEBfAfAfIrfIbfM`Љ@ɛ}˂B}F y}vI :ɚiIka=IF@ھii)k@)*F-2F):F)BF-0JF)G9 G9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:04:11.8209 TRx dataTimestamp_ set to:1736381053.178066checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019848GU>G) BA Ou >v'w,[AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268868:y@Y:@:<9:ʰYa eG٣eYGyeEx e> Nusing accuracyPremultiplier from config59XT?5YL) in™<AEC;;O5B  AEB*** querying acoustic contact ***jjZj DNOT Ignoring new targets: 47.10 m.RjBj^Jj^- ProNav: ac range: 47.099998 m, nav range: 13.814812 m, bearing: 221.702210 deg, approach rate: 0.333328 m/s, LOS rate: -1.191579 deg/s, cmd heading: 335.576428 deg, new cmd heading: 334.134770 deg. 2j-qL5HeadingCmd: 5.831752 target range: 47.099998 and range: 46.50 m. j5@j1j1j1i1h9h9h9h9fAfAfArfAbfE @zKK+9KK!(KRK?JK>ɛ ͂BPM ľI düɚiIc=IP"i!i!)%@)! 5$?I9E9E=rA*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 46.2 m (Round-trip 61.7 ms) speed 0.0 m/s  ,DAT read: user:3630> BDAT read: Tx time:00:04:12.9051 %$Ping request sent.%a'w,tA2@Y2@2<92hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59rb?v5YrT) irn™tv⻑zArEr:r]:r5| };AyE addTargetRange:: Added new target pos. range: 46.200001 m, deltaT: 3.529640 s, deltaX: -0.299999 m, approachRate: -0.084994 m/s, rangeRepo size: 4 ZjIuDNOT Ignoring new targets: 47.10 m.RjyBjJj=Will construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:00:04:12.9043  ProNav: ac range: 47.099998 m, nav range: 13.943559 m, bearing: 221.225992 deg, approach rate: 0.320643 m/s, LOS rate: -1.175054 deg/s, cmd heading: 334.134767 deg, new cmd heading: 332.719607 deg. 2jIHeadingCmd: 5.807053 target range: 47.099998 and range: 46.20 m. j`ӹ@jjjihhhhfffrfG@bf  m?ɛ=ςB=VX AEcܾIA E-ƼɚiI0d=Iii)`ӹ@)Ho>I Iy IIxBI =&I.I6I<:IA F %$?I!*FA2FA:FABFE2JFAGe > Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi By O >'w,ҎA60 @Y6/@6<96^mmԼm A m;A)m AImAiymAII3A٢e >=9;Q > G٣ye > Nusing accuracyPremultiplier from config59r?5Y* in™@>:PAE2;0;5B AEZjDNOT Ignoring new targets: 47.10 m.RjBjѼJjѼ ProNav: ac range: 47.099998 m, nav range: 14.068156 m, bearing: 220.627910 deg, approach rate: 0.308395 m/s, LOS rate: -1.467189 deg/s, cmd heading: 332.719606 deg, new cmd heading: 330.941855 deg. 2j{%HeadingCmd: 5.776025 target range: 47.099998 and range: 46.20 m. j%2ո@j!j!j!i!h!h)h)h-Bf)f1f1rf9bf=$?ɛeтBes e=eIa m%ɼɚiiiIm2e=IuBiqiq)u2ո@)y*F2F:FBFO0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G8U>GBzKBoHK}9KK"(KBK:KO >  I ['w,AVbJ@YVY@V-w=9V/!! -G٣-YGy-S 5> ENusing accuracyPremultiplier from configAM59E\?U5YE* iEo™Y]5]AEEE.a;E ^;E5i mAiWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjDNOT Ignoring new targets: 47.10 m.RjBjļJjļ ProNav: ac range: 47.099998 m, nav range: 14.178952 m, bearing: 220.082961 deg, approach rate: 0.281949 m/s, LOS rate: -1.375908 deg/s, cmd heading: 330.941844 deg, new cmd heading: 329.320230 deg. 2jlHeadingCmd: 5.747722 target range: 47.099998 and range: 46.20 m. jW@jjjihhhhfffrfbf V?J%J%J!J!J%v:J%9J!J!ɛӂBhv :I ̼ɚiIGyf=I%qi)i))-W@))*F2F:FBFJFU Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge @Z>Gy G} oAGy B O >ZH RH H p>I  I : II EBI  =&I .I 6I ޯ<:I  F I ӛ'w,ŸAyBIMb@Mb@Mb@ )YʡE?)\( rhy>GaC  A QA) AI;AyAII3A٢B ?=9Q > G٣y > Nusing accuracyPremultiplier from confige59{?m5Yk, io™m>m:m\mAE<m<o5y }A}EZjDNOT Ignoring new targets: 47.10 m.RjBj1ڼJj1ڼ ProNav: ac range: 47.099998 m, nav range: 14.289066 m, bearing: 219.411445 deg, approach rate: 0.252191 m/s, LOS rate: -1.526067 deg/s, cmd heading: 329.320221 deg, new cmd heading: 327.322052 deg. 2jꂽHeadingCmd: 5.712848 target range: 47.099998 and range: 46.20 m. j϶@jjjihhhhBfffrfbf@G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,tܟAyByI) I-I-̍٢=̽ ES=9AQ E>II MG٣Iy > Nusing accuracyPremultiplier from config59?5Y- i.o™AE::+5 AB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.10 m.RjBjJj伝 ProNav: ac range: 47.099998 m, nav range: 14.393640 m, bearing: 218.793720 deg, approach rate: 0.272809 m/s, LOS rate: -1.599769 deg/s, cmd heading: 327.322063 deg, new cmd heading: 325.483019 deg. 2j=HeadingCmd: 5.680750 target range: 47.099998 and range: 46.20 m. jȵ@jjji!h!h!h!h!f)f1f1rf1bf=]?ɛeׂBe̋ aeIi mԼɚiiiImi=Iu*9iqiq)uȵ@)y $?IzKmBHKm9KiKm#(KmEP=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F12F1:F1BF9JF9*JI"JM%=JeJeJaJaJes:Jey9JaJaG G B O >'w,2AB@YB@B+t'=9BTy G٣YGy > Nusing accuracyPremultiplier from config59?5Y0 iJo™AE::L5B DAH o>I  I II  BI  =&I .I 6I <:I * FEZjDNOT Ignoring new targets: 47.10 m.RjBjݼJjݼ ProNav: ac range: 47.099998 m, nav range: 14.509986 m, bearing: 218.012499 deg, approach rate: 0.232741 m/s, LOS rate: -1.550184 deg/s, cmd heading: 325.483021 deg, new cmd heading: 323.159498 deg. 2jHeadingCmd: 5.640197 target range: 47.099998 and range: 46.20 m. j|@jjjihhhhfff rf bf @@ %$?I!ɛقBQ 隅"I xټɚiIj=Iii)|@)E=) *FM2FI:FIBFQJFQ`wA M/ YM`wAyMBm"@B] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511396GM (K>G! B1 OM >>(w,AyBOIMb@Mb@Mb@ )YCl?1Zd"۽t A A) AI AyIIʴ٢ V >=9Q > G٣y% %> 5Nusing accuracyPremultiplier from config1=595?=5Y5A2 i5ao™=?=:=)EA5E5;5;55I MAIZjquDNOT Ignoring new targets: 47.10 m.RjqBj}Jj} ProNav: ac range: 47.099998 m, nav range: 14.592416 m, bearing: 217.337289 deg, approach rate: 0.224341 m/s, LOS rate: -1.827229 deg/s, cmd heading: 323.159500 deg, new cmd heading: 321.146186 deg. 2jHeadingCmd: 5.605058 target range: 47.099998 and range: 46.20 m. j\@jjjihhhh]Bfffrfbf͟@ɛڂByv H*I GPݼɚiI*l=I\'ii)\@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763199 I!*F2F:FBFO0JFzK BoHK K K $(K  ;JJHD;3.'# G5 0P>u Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:00:04:15.3712  TRx dataTimestamp_ set to:1736381056.705716 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018212G J J @AJ J J J J v:J J J BQ O >Y (w,0/A DF@M@YMw@M7K=9MP G٣y. > Nusing accuracyPremultiplier from config59}Г?5Y-5 i}o™ AE:*:5B /AEZjDNOT Ignoring new targets: 47.10 m.RjBjJj ProNav: ac range: 47.099998 m, nav range: 14.673935 m, bearing: 216.553923 deg, approach rate: 0.188617 m/s, LOS rate: -1.802407 deg/s, cmd heading: 321.146178 deg, new cmd heading: 318.810504 deg. 2j%HeadingCmd: 5.564293 target range: 47.099998 and range: 46.20 m. j%@j!j!j!i!h)h)h)h)f1f9f9rf9bf=[ @ɛe܂Bm% mw=mk2Ii O@ɚiIm=IQ 8ii)@)*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270498jHbHp<Hq>I IIIځBI&I.I6Iׯ<:I F $?IG>G B O >D(w,EIAyzpBz4IMb@Mb@Mb@ )Yp= ף?ףp= ÿX9vy?zA 7A)Iy AII٢, H=9Q > G٣YGy >Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 46.5 m (Round-trip 62.0 ms) speed -0.1 m/s ,DAT read: user:3631> BDAT read: Tx time:00:04:16.4551 $Ping request sent.G B I hO >j(w,+McA2@Y2O @2X=92=y2H?X?Y?r׿ ?g?6?ɨ2@2;2$CyBkBB.IIJIJ-٢R;ټ R^=9VTX ZG٣XyZ Z>zK^$0MK^}9K\K^%(K^    jNusing accuracyPremultiplier from confighn59j쓜?n5Yj; ijo™ln2*rAj"Ej ;j ;j? 5t vAtB*** querying acoustic contact ***j j ZjVStarting intercept timer at range: 46.50 m.DNOT Ignoring new targets: 47.10 m.RjBj/Jj/ ProNav: ac range: 47.099998 m, nav range: 14.801266 m, bearing: 214.998823 deg, approach rate: 0.153992 m/s, LOS rate: -2.002895 deg/s, cmd heading: 316.351631 deg, new cmd heading: 314.168166 deg. 2jҫHeadingCmd: 5.483269 target range: 47.099998 and range: 46.50 m. jv@jjjihhhhfffrfbf?ɛ߂Bq 隭 :I ʳɚiITq=ILii)v@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBF[5JFG G B O >ؘ(w,u9}A"Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756013H}t>I}C I}II}BI} =&Iy.Iy6I}<:I}; FBIJIRIZI =bI =jI5 YIYu1,@Yu;@uWJ\=9u #=yuH@k?@?W?ؿ`i?`R八`Nj??ɨu1,@u;qyލdBލ'IeMb@Mb@Mb@aaa a)aYeHzG?(\ſS㥛ye= ?e.e/ݼe A eA)e AIe~AayaI}I}$٢qƼ #=9:Q > G٣yN > Nusing accuracyPremultiplier from config 59U? 5Y@ io™?:4A$Ef;;y5B %A%EZjEMTStopped intercept timer at range: 46.50 m.MDNOT Ignoring new targets: 47.10 m.RjIBjUZJjUZm ProNav: ac range: 47.099998 m, nav range: 14.876260 m, bearing: 213.927937 deg, approach rate: 0.147057 m/s, LOS rate: -2.089212 deg/s, cmd heading: 314.168157 deg, new cmd heading: 310.975191 deg. 2jm9uHeadingCmd: 5.427541 target range: 47.099998 and range: 46.50 m. juj@jqjqjqiyhyhyhh,Bfffrfbfo?ɛBҜ 隽=I zɚiI0is=IeTii)j@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005685J}~J}}J}1JyJ}{m:J}S9J}3JyJ}<;aJ}=;aJ}:aJ}:aE `=*F} 2Fy :Fy BF} c0JFy G sA G rAGe>G9BIOe? '(w,=AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257002>d@Y>At@>o`=9>/=y>H1?@H??\ڿ?@QE`g??ɨ>d@>2;dd fG٣fYGyj;q j> rNusing accuracyPremultiplier from configlr59n ?r5YnD ino™tv:vAn&En:n;n:5| ~A|ZjVStarting intercept timer at range: 46.50 m.DNOT Ignoring new targets: 47.10 m.RjBjfJjf ProNav: ac range: 47.099998 m, nav range: 14.933531 m, bearing: 213.087760 deg, approach rate: 0.137267 m/s, LOS rate: -2.005942 deg/s, cmd heading: 310.975180 deg, new cmd heading: 308.466010 deg. 2jHeadingCmd: 5.383748 target range: 47.099998 and range: 46.50 m. jG@jjjihhhhff =$?I9fArfQbfU_C?ɛBe |;I NɚiI0Xu=I2ebii)G@))zKMK9KK&(Kq(E%ܶ=*F2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508886G >G B O >,-(w,|BA>@Y>o@> g=9>=y>H@?4?`?`ۿ`?㿭P쬿 ?>?ɨ>@>Bs;`` fG٣dyfB f> jNusing accuracyPremultiplier from confighn59jd?n5YjH ijp™pr:ArAj(Ej ;j" ;j5t vAvEZjDNOT Ignoring new targets: 47.10 m.RjBj%`Jj%`5 ProNav: ac range: 47.099998 m, nav range: 14.988510 m, bearing: 212.248600 deg, approach rate: 0.142927 m/s, LOS rate: -2.173450 deg/s, cmd heading: 308.466014 deg, new cmd heading: 305.959458 deg. 2j5sEHeadingCmd: 5.340000 target range: 47.099998 and range: 46.50 m. jEH@jAjAjAiAhAhAhIhIfIfIfQrfQbfU K-?ɛ}B} 隅c3I  ɚiIv=Itqii)H@)EE*E"EeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765112ZHQRHU?AHw>I IrIIBI&I.I6I<:I) F -$?I1*F2F:FBFR5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014051G JsK{m3 K{S}-KsKs"KsJ |J tJ 0J J ;g:J 9J ـ3J J Պ;J ׊;J :J :G B! O >UH4(w,ZѠA6ʲ@Y6ڹ@6em=96#=y6Hg?b?? =ݿ@g?~`?'?ɨ6ʲ@6A6;6"CyRBRMIeMb@Mb@Mb@aaa a)aYex&?I +ƿ{Gzye7 ?e94eףe A a)aIaaye3AI}I}٢ = 8=9dT;Q > G٣yf > Nusing accuracyPremultiplier from config590*?5YiM ip™?:JA*E;Y;5 AZjTStopped intercept timer at range: 46.50 m.DNOT Ignoring new targets: 47.10 m.RjBjJj  ProNav: ac range: 47.099998 m, nav range: 15.043960 m, bearing: 211.317929 deg, approach rate: 0.124452 m/s, LOS rate: -2.081033 deg/s, cmd heading: 305.959471 deg, new cmd heading: 303.180054 deg. 2jHeadingCmd: 5.291490 target range: 47.099998 and range: 46.50 m. jS@jjj!i!h!h!h)h-PBf1f1f1rf1bf5 }(@ɛ]Be\ ae0Ia e ɚiiiImdx=Iu}iqiq)uS@)yE*F2F:FBFO0JF"G N>G l>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264814 IhGe>GiGmrAGA BI Oe >zK= QOK= 9K9 K= '(K= T (+]>% *-*% 8q:(w,KA>@Y>@>p=9>=y>H ?`?r? ޿?@1Ѯ'@?@a?ɨ>@>r;>$CyFBFdIIRIR=س٢Z= ZY=9Z;Q Z>\\ ^G٣^YGyb~ b> fNusing accuracyPremultiplier from configdj59fO6?j5YfrQ if3p™hn#QnAf+Ef ;f` ;f5rB rGApB*** querying acoustic contact ***jjZj%VStarting intercept timer at range: 46.50 m.-DNOT Ignoring new targets: 47.10 m.Rj1Bj=Jj=M ProNav: ac range: 47.099998 m, nav range: 15.088593 m, bearing: 210.537140 deg, approach rate: 0.118569 m/s, LOS rate: -2.067951 deg/s, cmd heading: 303.180049 deg, new cmd heading: 300.845974 deg. 2jMf]Will construct direction to contact in vehicle frame from tetrahedron phase data.]*?]<]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517331eHeadingCmd: 5.250753 target range: 47.099998 and range: 46.50 m. je+@jajajaiahihihihif ffrfbf`Z@ɛ]B]X ae='Ia eu2ɚaiaIe4z=Iii)+@)*FA2FA:FABFEP0JFAGa Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772309GI Bq O >H |>I C I II BI =&I .I >D6I ͯ<:I  F $?I >WA(w,AV?@YVbO@Vr=9VW=yVH`m? ??`߿?``CZ`a?@M?ɨV?@V;Ty^B^oIMb@Mb@Mb@ )Yoʡ?㥛 ¿y&1|y ?`3 A A)` AI AyQAII㔳٢k%= <=9:Q > G٣y_ > Nusing accuracyPremultiplier from config59E?5Y V iGp™?:^HA-EA;;v5 AZj  TStopped intercept timer at range: 46.50 m.DNOT Ignoring new targets: 47.10 m.RjBjqJjq- ProNav: ac range: 47.099998 m, nav range: 15.152910 m, bearing: 209.632077 deg, approach rate: 0.148197 m/s, LOS rate: -2.076483 deg/s, cmd heading: 300.845982 deg, new cmd heading: 298.144435 deg. 2j-"5HeadingCmd: 5.203602 target range: 47.099998 and range: 46.50 m. j5胦@j9j9j9i9h9h9hAhEBfAfAfIrfIbfM@@ɛ}B}󲜽 隅-#I )SɚiI|=I7#iYiY)]胦@)YuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:00:04:18.9221 }TRx dataTimestamp_ set to:1736381060.234301checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024311JwJqJJJW:Jq9JJJz;Jz;J:J:*F2F:F!BF!JF!GA G! B) OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272960G(w,sA2߀@Y2_@2 r=92==y2H6I??.\?G?`8gR@ I?b?ɨ2߀@2,;0yRBRI)T TIZIZ@٢fL9> fZ=9j#Q j>hl nG٣lyn;~ r> vNusing accuracyPremultiplier from configpv59rQ?z5YrZ irXp™xzVNzAr/Er:r:r5B AE IZjVStarting intercept timer at range: 46.50 m.DNOT Ignoring new targets: 47.10 m.RjBjZ JjZ  ProNav: ac range: 47.099998 m, nav range: 15.206647 m, bearing: 208.852140 deg, approach rate: 0.135752 m/s, LOS rate: -1.963283 deg/s, cmd heading: 298.144424 deg, new cmd heading: 295.814236 deg. 2j lHeadingCmd: 5.162932 target range: 47.099998 and range: 46.50 m. j6@jj!j!i!h!h!h)h)f)f)f)rf1bf5 @zK !OK 9K K ((K  2!ɛ& 隕9I ɚiII~=Irdii)6@)EEsA*F%2F!:F!BF)JF)G=rA G9Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:04:18.9221 LVL= 16240, 18689, 20098, 23187, AGC= 53, IDX= 431, 0.05,-0.995,-0.606,-2.956,-1.420, PHS= 0.512, 0.861,-1.539, RAW= 22.3, 1.5, CAL= 21.7, 0.9, ROT= 128.3, -0.9 Ygot valid direction response: 00:04:18.9221 LVL= 16240, 18689, 20098, 23187, AGC= 53, IDX= 431, 0.05,-0.995,-0.606,-2.956,-1.420, PHS= 0.512, 0.861,-1.539, RAW= 22.3, 1.5, CAL= 21.7, 0.9, ROT= 128.3, -0.9 PDAT read: Bearing 128.3, -0.9 (Local) ~Local bearing/azimuth received: Bearing 128.3, -0.9 (Local)  DAT read: Range 10 to 50 : 47.0 m (Round-trip 62.7 ms) speed -0.4 m/s ,DAT read: user:3632> BDAT read: Tx time:00:04:20.0052 $Ping request sent.ٍPw< ڍ>)ڍ\M(w,/Q9AFů@YFnն@FyGr=9F`=yFH@j?@M?`?`f:@ G٣YGy[ > Nusing accuracyPremultiplier from config59}_?5Y^ ilp™/TA1E<<5 Ak?k˴ k kIC IIIЁBI =&I.I?D6I<:I F }$?Iykk_?k ` 2kcBkkSK kBkXAkE@ addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 3.530141 s, deltaX: 0.500000 m, approachRate: 0.141637 m/s, rangeRepo size: 4  Added new target pos. range: 47.000000 m, bearing: 54.843245 deg, lat: 36.904876 deg, lon: -122.120099 deg, deltaT: 14.113881 s, deltaX: -0.099998 m, approachRate: -0.007085 m/s, posRepo size: 4 ZjDNOT Ignoring new targets: 47.00 m.RjBjJjm ProNav: ac range: 47.000000 m, nav range: 13.504857 m, bearing: 176.853168 deg, approach rate: 0.000000 m/s, LOS rate: -1.963283 deg/s, cmd heading: 295.814236 deg, new cmd heading: 292.899735 deg. 2jiuHeadingCmd: 5.112065 target range: 47.000000 and range: 47.00 m. ju @jqjqjqiqhyhyhhfffrfG@bfZ,?ɛMBM QUIQ UjɚQiQIUA=I]瓿iaia)e @)a~GvAA*F2F:FBFQ0JF 5/&Y5vAy=. B Will construct direction to contact in vehicle frame from tetrahedron phase data.J J rJ J J J 9J J J J z;J :J :G= >G B O >T(w,TA6 @Y6&@6m=96o =y6H??@o? z?zҮ %??ɨ6 @6d;6#CyRBRIMb@Mb@Mb@ )Yy&1?zGếy&1|?y`? ׽`;I A 7A)vAIAyAII٢> -7=9-Q ->11 5G٣1y5ZL => ENusing accuracyPremultiplier from config9u59=m?u5Y=Mc i=xp™u?u:}J}A=3E=;=8;=5 AZjTStopped intercept timer at range: 47.00 m.DNOT Ignoring new targets: 47.00 m.RjBjIJjI- ProNav: ac range: 47.000000 m, nav range: 13.681396 m, bearing: 176.186133 deg, approach rate: 0.471242 m/s, LOS rate: -1.757530 deg/s, cmd heading: 292.899740 deg, new cmd heading: 290.925283 deg. 2j-Ŗ5HeadingCmd: 5.077604 target range: 47.000000 and range: 47.00 m. j5{@j1j1j1i1h1h9h9h=Bf9fafarfabfm T?ɛB # 隵I g ɚiI =IWii){@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JF IzK KK 9K K )(K G >G B O >[(w,7nABWill construct direction to contact in vehicle frame from tetrahedron phase data.*J|"J~R=yBIII٢%s= %[=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=$y?E5Y=f i=p™IIMA=4E=:=:=5Q UAUEuB*** querying acoustic contact ***jqjqZjVStarting intercept timer at range: 47.00 m.DNOT Ignoring new targets: 47.00 m.RjBj ̼Jj ̼ ProNav: ac range: 47.000000 m, nav range: 13.828825 m, bearing: 175.647191 deg, approach rate: 0.396001 m/s, LOS rate: -1.432162 deg/s, cmd heading: 290.925296 deg, new cmd heading: 289.326147 deg. 2ju%HeadingCmd: 5.049694 target range: 47.000000 and range: 47.00 m. j%@j!j!j!i!h)h)h)h)f1fQfQrfYbf]@ ?ɛB, !%qI! %t ɚ!i!I-Á=IMٜiQiQ)U@)Q*F2F:FBFQ5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.H >I CG5 >GA GE oA I II BI  =&I .I 6I ׯ<:I ) F I G B O >Nb(w,hA:H@Y:ȵ@:nk=9:MC=y:Hd?`l?zM? n?`tf??ɨ:H@:T;:$CybBbIUMb@Mb@Mb@QQQ Q)QYUK?Mb~jt?yU^>U@U G٣YGyԽ > Nusing accuracyPremultiplier from config59*?5Yj ip™>:;A6EQ;;f 5 d AZjTStopped intercept timer at range: 47.00 m.%DNOT Ignoring new targets: 47.00 m.Rj!Bj%^Jj-^= ProNav: ac range: 47.000000 m, nav range: 13.994059 m, bearing: 175.126621 deg, approach rate: 0.405213 m/s, LOS rate: -1.261536 deg/s, cmd heading: 289.326158 deg, new cmd heading: 287.783281 deg. 2j=qXEHeadingCmd: 5.022766 target range: 47.000000 and range: 47.00 m. jE@jAjAjAiAhAhIhIhM-BfIfQfQrfYbf]_?ɛBق վI  ɚiI/=InUii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492648*F2F:FBF4JFGG B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744990+h(w,EA2 @Y2@2xj=929.=y2H@??e? ?@`08?̗UL@ʥ?$?ɨ2 @2n;0yF+BF I R$?ITININ%٢^= ^\=9bXQ b>`` bG٣dyfv f> jNusing accuracyPremultiplier from confighn59jX?n5Yjm ijp™prArAj8Ej ;j& ;j"5vB z AzEZj%%VStarting intercept timer at range: 47.00 m.-DNOT Ignoring new targets: 47.00 m.Rj)Bj-﮼Jj5﮼ ProNav: ac range: 47.000000 m, nav range: 14.137328 m, bearing: 174.666414 deg, approach rate: 0.384805 m/s, LOS rate: -1.223524 deg/s, cmd heading: 287.783272 deg, new cmd heading: 286.416915 deg. 2jQHeadingCmd: 4.998918 target range: 47.000000 and range: 47.00 m. j#@jjjihhhhfffrfbf ?ɛmBmkz im⿾Ii ɚiIKN=I9ii)#@)zKBoIK}9KK*(K^C;w0&k?(y/wL*F]2FY:FYBF]P0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995493J)J-tJ)J)J)J-9J)J)aE@aE@aE@aE@GG B O >Un(w,\A:(@Y:&8@:'h=9:|'=y:HY?9?b? 3'@G?`B {?@?ɨ:(@:9:;:#CyF\\ ^G٣\yb'k b> fNusing accuracyPremultiplier from configdr59f4?r5Yfq ifp™prGrAf9Efx;fx;f#5x z, AzEZjDNOT Ignoring new targets: 47.00 m.RjBj%氼Jj%氼5 ProNav: ac range: 47.000000 m, nav range: 14.290947 m, bearing: 174.163234 deg, approach rate: 0.381838 m/s, LOS rate: -1.237255 deg/s, cmd heading: 286.416907 deg, new cmd heading: 284.923950 deg. 2j5GT=HeadingCmd: 4.972861 target range: 47.000000 and range: 47.00 m. j=!@j9j9j9i9hAhAhAhAfIfIfIrfIbfUE@ɛByLt 隥I ɚiI=IBii)!@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249714)ZHRHH>IC I. II;BI =&I.I6I|<:I FBIeªCJIeªCRIe”CZIe =bIe =jIeL6 Ih*F2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499720G G ?G ?G B O5 >>u(w,z֡Ay~IB@ IMb@Mb@Mb@ )Yx&1?MbP{Gz?yA>ף<` A A)AIyf AIIT߳٢`r= 9=9Q > G٣YGy > Nusing accuracyPremultiplier from config59ԩ?5Yt ip™}>:/A;E;8;%5   A Zj5=TStopped intercept timer at range: 47.00 m.EDNOT Ignoring new targets: 47.00 m.RjABjMJjM] ProNav: ac range: 47.000000 m, nav range: 14.452900 m, bearing: 173.739161 deg, approach rate: 0.367405 m/s, LOS rate: -0.951259 deg/s, cmd heading: 284.923937 deg, new cmd heading: 283.666188 deg. 2j]5#eHeadingCmd: 4.950909 target range: 47.000000 and range: 47.00 m. jem@jajajaiahihihihm|Bfqfqfqrfybf}@}@ɛBg 隥I 5ɚiIք=IjҨii)m@)*F)2F):F1BF5P0JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752971 $?IGG B zK NNK 9K K +(K (uf\SLG=50'&!   O >g{(w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:00:04:22.4739 6TRx dataTimestamp_ set to:1736381063.760966:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004961*Jl"Jn4=JpJrnJpJpJpJr99JpJp}R˪@Y}ڱ@}a=9}^=y}H`1?@B?@;?@1a?@_m0bâ?@?ɨ}R˪@}a;}&CyލPBލI III³٢= M=9Q > G٣yڽ > Nusing accuracyPremultiplier from config59Ҵ?5Yw ip™:AIuC Ius IIusBIu =&Iq.Iq6IuƯ<:Iu F I G5 >GA BI O >EP(w,) A ,,N(@YNZ8@NA#^=9N=yNH`|?`O? Ft?`Hw?J@@?`?ɨN(@N;LyV\BZW IEMb@Mb@Mb@AAA A)AYEK7?I +?Mb?yE>E9qq G٣yL > Nusing accuracyPremultiplier from config59?M5Yz ip™M5>M;M0MA=E<D<3)5y . AZjTStopped intercept timer at range: 47.00 m.-DNOT Ignoring new targets: 47.00 m.Rj)Bj5eJj5eE ProNav: ac range: 47.000000 m, nav range: 14.728449 m, bearing: 173.006365 deg, approach rate: 0.322198 m/s, LOS rate: -0.802609 deg/s, cmd heading: 282.481461 deg, new cmd heading: 281.488816 deg. 2jE uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 48.3 m (Round-trip 64.5 ms) speed -0.4 m/s ,DAT read: user:3633> BDAT read: Tx time:00:04:23.5552 $Ping request sent.GeG>G >G G sA% Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:00:04:23.5544 G B O >y(w,#A $I$N@YN@NpY=9NЎ =yNH} ?{3?AQ? "$>?@L`*J??ɨN@N4;N#CyXXIbIb٢jF nU=9vIBQ z>|| G٣YGy X  > -Nusing accuracyPremultiplier from config)559-Ȕ?}5Y-4} i-p™6A-?E-M<-+<-*5 3 A- addTargetRange:: Added new target pos. range: 48.299999 m, deltaT: 3.526020 s, deltaX: 1.299999 m, approachRate: 0.368687 m/s, rangeRepo size: 4 Zj-5VStarting intercept timer at range: 48.30 m.uDNOT Ignoring new targets: 47.00 m.RjqBjutJjutu ProNav: ac range: 47.000000 m, nav range: 14.855894 m, bearing: 172.678531 deg, approach rate: 0.335212 m/s, LOS rate: -0.854881 deg/s, cmd heading: 281.488816 deg, new cmd heading: 280.513851 deg. 2juHeadingCmd: 4.895890 target range: 47.000000 and range: 48.30 m. j"@jjjihhhhfffrfbf /?zKM8NKMŷ9KIKM,(KMVM"WL[8$ ɛeBef 隅SI  JɚiI3 =I㒱ii)"@)*F!2F):F)BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.JJAAJ rJ lJ J J G:J 9J J Ga G9 BI Oe >(w,==A6Ө@Y6@6P=96=y6H x??@~??@7? >?ɨ6Ө@6;6$CyBUBBO IIJIJ3A٢RH RM=9R2Q R>XX ZG٣\y^[ ^> bNusing accuracyPremultiplier from config`f59bҔ?f5Yb ibp™hjw;jAb@Eb;b;b,5nÓB nm ArEZj DNOT Ignoring new targets: 47.00 m.Rj Bj Jj ProNav: ac range: 47.000000 m, nav range: 14.983702 m, bearing: 172.341614 deg, approach rate: 0.344413 m/s, LOS rate: -0.900166 deg/s, cmd heading: 280.513847 deg, new cmd heading: 279.511827 deg. 2j%q%HeadingCmd: 4.878402 target range: 47.000000 and range: 48.30 m. j%@j)j)j)i1h9h9h9h9fAfAfArfAbfE?ɛuBu!x quIq }ɚyiyI}˰=Iϳii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I IIBI =&I.I@D6I<:I F M$?IQ*F2F:FBF05JFGAG B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.(w,hBWAyLB%C IMb@Mb@Mb@ )Y`"?y&1?Mb`?yη>`e<;A  A)IMAy AIIK٢$ 7=9Q > G٣y  > Nusing accuracyPremultiplier from config 59 mܔ?5Y ˂ i p™%>-;-v?=A AE ; ; .5Q ] AYZj}TStopped intercept timer at range: 48.30 m.DNOT Ignoring new targets: 47.00 m.RjBjj[Jjj[ ProNav: ac range: 47.000000 m, nav range: 15.114477 m, bearing: 171.992746 deg, approach rate: 0.290145 m/s, LOS rate: -0.767314 deg/s, cmd heading: 279.511831 deg, new cmd heading: 278.474402 deg. 2jHeadingCmd: 4.860295 target range: 47.000000 and range: 48.30 m. j@jjjihhhhBfffrfbfS ?ɛBt_i 隽@I lɚiI픈=Will construct direction to contact in vehicle frame from tetrahedron phase data.IE!ii ) @)  III*F2F:FBFP5JFGsA GsAG >G ?G 8?zK 5NK }9K K -(K .951-,+((':6vX1y_C+nR9|qlG B O >y(w,$qA&Will construct direction to contact in vehicle frame from tetrahedron phase data.&/?&?JbsJbmJb1J`JbK:Jb&9Jb3J`@Y@ :=9#/QY ]G٣]YGy]Խ ]> eNusing accuracyPremultiplier from configam59e䔜?m5Ye\ iep™quIuAeBEe+;eK,;e805 . AZjVStarting intercept timer at range: 48.30 m.DNOT Ignoring new targets: 47.00 m.RjBjhJjh} ProNav: ac range: 47.000000 m, nav range: 15.224236 m, bearing: 171.680791 deg, approach rate: 0.287619 m/s, LOS rate: -0.811565 deg/s, cmd heading: 278.474408 deg, new cmd heading: 277.545378 deg. 2j> HeadingCmd: 4.844080 target range: 47.000000 and range: 48.30 m. j@jjjihhhhfffrfbf@/q?ɛ BZ I rvɚiI5=I4i!i!)%@)!*F2F:F BF O0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I IIBI =&I.I6I<:I F A II GU >Ga B O >)1 1 .~G A !Y y "Bw(w,"A65@Y6@655=96R=EECEzA E A)EAIEAAyE AI]I]ʴ٢u~ uH=9}J=Q }>y G٣y9 > Nusing accuracyPremultiplier from config59씜?5YS ip™>;rYACE;;25  AB*** querying acoustic contact ***jjZj TStopped intercept timer at range: 48.30 m. DNOT Ignoring new targets: 47.00 m.Rj BjYzJjYz% ProNav: ac range: 47.000000 m, nav range: 15.338871 m, bearing: 171.318014 deg, approach rate: 0.278730 m/s, LOS rate: -0.875482 deg/s, cmd heading: 277.545365 deg, new cmd heading: 276.465302 deg. 2j%5-HeadingCmd: 4.825230 target range: 47.000000 and range: 48.30 m. j-Hh@j)j)j)i)h1hhhBfffrfbf @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.ɛB낽 隵}ǾI &ɚiI=IKii)Hh@)*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=2.264014 = $?I9 Ȩ(w,ԤA6e@Y6#u@6X4=96ITIZIZm?٢f0 fV=9fQ f>hh jG٣hynK= n> rNusing accuracyPremultiplier from configpv59r?v5Yr$ irp™xz]zArDEr:r7:r35  AEZjVStarting intercept timer at range: 48.30 m.DNOT Ignoring new targets: 47.00 m.RjBjqJjqm ProNav: ac range: 47.000000 m, nav range: 15.444983 m, bearing: 170.976828 deg, approach rate: 0.264698 m/s, LOS rate: -0.845245 deg/s, cmd heading: 276.465294 deg, new cmd heading: 275.448882 deg. 2jm5HeadingCmd: 4.807490 target range: 47.000000 and range: 48.30 m. j5֙@j9j9j9i9h9hAhIhifqfqfqrfqbf}e@zKOK9KK.(Kgc]YURJGDEA>87743355985320-+)(&$!!"!ɛB|D 隥PI sɚiI=I㼿ii)֙@)*F=2F9:F9BFAJFA"GMV>GMV>mWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518903Ge >G9 BI Oe >(w,ɾA6\ҥ@Y6@64=96]\\ ^G٣^YGyb6 b> fNusing accuracyPremultiplier from configdj59fw?j5Yf& ifp™hnbnAfFEfT ;f ;fo55p rhApZj1=DNOT Ignoring new targets: 47.00 m.Rj9Bj=bJj=bM ProNav: ac range: 47.000000 m, nav range: 15.555506 m, bearing: 170.615523 deg, approach rate: 0.289572 m/s, LOS rate: -0.939891 deg/s, cmd heading: 275.448880 deg, new cmd heading: 274.372799 deg. 2jUB!UHeadingCmd: 4.788709 target range: 47.000000 and range: 48.30 m. jU=@jYjYjYiYhYhYhahafafafirfibfm@@H>I I II}BI&I.I6Iկ<:I+ FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771301ɛ5B5n 15XI1 =yɚ9i9I=Fj=IEKiAiA)E=@)i I*FA2FA:FIBFM_0JFQG>GY Bi } Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:04:26.0259  TRx dataTimestamp_ set to:1736381067.292739 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024603O >J qJ kJ 0J J D:J 9J ـ3J J IZ;a J KZ;a J :a J :a Eܵ(w,آA2-@Y2=@2g/=92}}t}A } A)yI}hAyy} AII%٢Ľ <=9 Q > G٣ya= > Nusing accuracyPremultiplier from config59=?5Y ip™x>;~AGE1;;U75ēB AEZjTStopped intercept timer at range: 48.30 m.DNOT Ignoring new targets: 47.00 m.RjBj%Jj% ProNav: ac range: 47.000000 m, nav range: 15.670266 m, bearing: 170.156939 deg, approach rate: 0.265706 m/s, LOS rate: -1.053977 deg/s, cmd heading: 274.372797 deg, new cmd heading: 273.007393 deg. 2j4HeadingCmd: 4.764878 target range: 47.000000 and range: 48.30 m. jy@jjjihhhhBBfffrfbf @ɛB-7㚽 )-I1 5ɚ1i1I5A=I=W¿i9i9)=y@)A*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281460 !I%hG >G B O >zK NK ж9K K /(K -qfYK@/ ~pid[TKD?:62/,*'%$%$!!(w,dA6Will construct direction to contact in vehicle frame from tetrahedron phase data.*JRR="JRR=ZDAT read: Range 10 to 50 : 49.9 m (Round-trip 66.6 ms) speed -0.4 m/s b,DAT read: user:3634> bBDAT read: Tx time:00:04:27.1052 f$Ping request sent.f >=9$Q > G٣yѽ > Nusing accuracyPremultiplier from config59 ?5Yŕ ip™AHE?(<:>95! -^A) addTargetRange:: Added new target pos. range: 49.900002 m, deltaT: 3.537117 s, deltaX: 1.600002 m, approachRate: 0.452346 m/s, rangeRepo size: 4 ZjDNOT Ignoring new targets: 47.00 m.RjBj6Jj6M ProNav: ac range: 47.000000 m, nav range: 15.780996 m, bearing: 169.685065 deg, approach rate: 0.244972 m/s, LOS rate: -1.036605 deg/s, cmd heading: 273.007388 deg, new cmd heading: 271.601996 deg. 2jM1UHeadingCmd: 4.740349 target range: 47.000000 and range: 49.90 m. jU@jYjYjYiYhYhYhahafaffrf@3H@bfcA?ɛBf- #I 7ɚiI)=I{ſi i ) @) *F2F:FBFJFH>IC I: IIEBI&I.I6I:I- FBIǫCJIǫCRIǓCZI =bI =jINJI5Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:04:27.1044  $?I G >G ?G ?G B O >w(w,K AR@YR, @R&=9RG=yRHb??d?Z3{]? !%Ѣ@9? ?ɨR@R;R#CyZB^]IMMb@Mb@Mb@III I)IYMˡE?(\µS㥫yM>MM/]M A M~A)MzAIMAIyM3 AIeIeK٢uS u]=9}KQ }>yy G٣YGy > Nusing accuracyPremultiplier from config59<?5Yə iq™>:nAJE";j!;:5 AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.00 m.RjBjʼJjʼu ProNav: ac range: 47.000000 m, nav range: 15.875610 m, bearing: 169.188037 deg, approach rate: 0.271510 m/s, LOS rate: -1.417779 deg/s, cmd heading: 271.602008 deg, new cmd heading: 270.120161 deg. 2ju@s}HeadingCmd: 4.714486 target range: 47.000000 and range: 49.90 m. j}ݖ@jyjyjyiyhhhh݂Bfffrfbf|b?ɛB- 5=5H8I1 5A!ɚ1i1I5=I="ȿi9i9)Eݖ@)AmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.JJjJ1JJJ9J3JJJJ:J:*F%2F!:F!BF%P5JF!GE >G B) OU > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743485 I (w,b,&A60@Y6`@@6f =96@pp vG٣tyv v> ~Nusing accuracyPremultiplier from configx~59z?5Yz iz5q™AzKEz:z.:z<5  `AZjDNOT Ignoring new targets: 47.00 m.RjBjJj= ProNav: ac range: 47.000000 m, nav range: 15.973451 m, bearing: 168.659193 deg, approach rate: 0.240303 m/s, LOS rate: -1.290906 deg/s, cmd heading: 270.120157 deg, new cmd heading: 268.543763 deg. 2j={]MHeadingCmd: 4.686973 target range: 47.000000 and range: 49.90 m. j@jjjihhhhfffrfbf`N?ɛ=B= 9=wEI9 E#ɚAiAIE=IP̿ii)@)zK'OKK9KK0(K  *Fy2Fy:FyBF} 5JFyuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995609G} >GY By O >(w,e@A2i@Y2x@2<92? =y2H`$?E>?݊: ]?@Stz3}?i?ɨ2i@2;2$CyNUBNIiR=IR;?IVIVM٢b1 bL=9bQ f>dd fG٣dyjy j> nNusing accuracyPremultiplier from configlr59n?r5Yn inRq™tvvAnMEn;no;nC>5x z}AxZj!-DNOT Ignoring new targets: 47.00 m.Rj)Bj-~ϼJj5~ϼE ProNav: ac range: 47.000000 m, nav range: 16.072931 m, bearing: 168.107716 deg, approach rate: 0.263424 m/s, LOS rate: -1.451245 deg/s, cmd heading: 268.543750 deg, new cmd heading: 266.900035 deg. 2jExMHeadingCmd: 4.658284 target range: 47.000000 and range: 49.90 m. jM@jIjIjIiIhIhQjHYbH]<HaIa IeIIeBIe =&Ia.Ia6Ie<:Ie FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247680hhfffrfbf@F? IɛBϽ 隥#XI ww&ɚiI=IϿi)i1)=@)i%PExceeded connect timeout, disconnecting.*F2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500352G >G G J rJ kJ 0J J G:J 9J ـ3J J _;J _;J :J :G B O >$((w,YAyv5BvIMb@Mb@Mb@ )YZd;O?T㥛 y&1y~ ?`ed A )d AIhAy AII٢ ==9Q > G٣YGy > Nusing accuracyPremultiplier from config59#?5Y itq™?:PAOE;;(@5 zAZj}DNOT Ignoring new targets: 47.00 m.RjyBj}Jj} ProNav: ac range: 47.000000 m, nav range: 16.196215 m, bearing: 167.377519 deg, approach rate: 0.284393 m/s, LOS rate: -1.671571 deg/s, cmd heading: 266.900024 deg, new cmd heading: 264.727208 deg. 2jeHeadingCmd: 4.620361 target range: 47.000000 and range: 49.90 m. jړ@jjjihhhhrBfffrfbf6?ɛBѽ 隕hI )ɚiI=IkԿii)ړ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753035 IEm=*F 2F :F BF O5JF zK "LK ж9K K 1(K &9IPSRTUSPKJE>84.()&%!.L[^^\YVSTRPLP]dedb`RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003571*J "J a=G)GBO->(w,yAV~@YV@V6<9Vp=yVH[?`?h7?@U@e@??ɨV~@Vݓ;V#Cy^B^IIjIjỳ٢rн r-=9rQ r>tt vG٣tyzɽ z> ~Nusing accuracyPremultiplier from config|59~)?5Y~, i~q™. A~QE~L:~L:~7B5 ?AZj9=DNOT Ignoring new targets: 47.00 m.Rj9BjE\JjM\򼝊u ProNav: ac range: 47.000000 m, nav range: 16.322964 m, bearing: 166.574572 deg, approach rate: 0.269683 m/s, LOS rate: -1.695106 deg/s, cmd heading: 264.727204 deg, new cmd heading: 262.338529 deg. 2jujHeadingCmd: 4.578671 target range: 47.000000 and range: 49.90 m. jy@jjjihhhhfffrfbfA@ɛ BNֽ 隭)vI 5d-ɚiI=I-ڿii)y@)E=HI IyIIBI =&I.I6I<:IH F*F2F:FBFO0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260406 I UnManaging dock network, ignoring radio surface power offG} >GY Bq O >Š(w,IiARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511467JK3 K.-KK"KJfqJfhJdJdJfD:JfȆ9JdJdJfIZ;JfKZ;JfӬ:JfԬ:yB%IEMb@Mb@Mb@AAA A)AYE'1Z?l¿:vyE"?EETE A EA)EI AIEdAAyE AI]I]@٢eW e5=9mQ u>yy }G٣yy} }> Nusing accuracyPremultiplier from config59/?5Y iq™'?:>ASE&;#;2D5œB EAEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.00 m.RjBjm Jjm  ProNav: ac range: 47.000000 m, nav range: 16.469957 m, bearing: 165.681488 deg, approach rate: 0.323918 m/s, LOS rate: -1.950373 deg/s, cmd heading: 262.338523 deg, new cmd heading: 259.685190 deg. 2jPHeadingCmd: 4.532362 target range: 47.000000 and range: 49.90 m. j @jjjihhhh Bff f rf bf @@ɛ B I 1ɚiI=Iii)  @)EE*E"EEeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766126 $?Ih*F 2F :F BF 4JF G!  G! Gu >Gu ?Gu ?GIBQOu>(w,ĵAFR@YFb@FWL<9FV=yFH*?@?й`6?h)? ?ɨFR@FX;DyRBRIzKZ4KNKZ 9KXKZ2(KZ][ZVSPJDB?;9976331-)'$"   IbIbM٢nKн nA=9njFQ n>pp rG٣rYGyr4 v> zNusing accuracyPremultiplier from configt~59v75?~5Yv ivq™|~AvUEv;v;v F5  A EZj15DNOT Ignoring new targets: 47.00 m.Rj1Bj= Jj= M ProNav: ac range: 47.000000 m, nav range: 16.598333 m, bearing: 164.841244 deg, approach rate: 0.305064 m/s, LOS rate: -1.981182 deg/s, cmd heading: 259.685186 deg, new cmd heading: 257.185627 deg. 2jMUHeadingCmd: 4.488736 target range: 47.000000 and range: 49.90 m. jU@jQjQjQiYhYhYhYhYfafafarfabfm6+@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:04:29.5786 TRx dataTimestamp_ set to:1736381070.828686checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016643ɛ Bܩ JJ@A隭}I p4ɚiIu=Iii)@)*F2F:FBFP0JFGHu>Iq Iu!IIu`BIu =&Iq.Iq6Iu<:IuF FGBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267384 i Ii NG `wA +(w,wˣA J$YJ`wAyJ<Bnօ@YnW@n><9nMp=ynH`X?`?@ݫ?@6u%? ?ɨnօ@nxz;lyzـBz{III٢ x F=9vQ >!! %G٣!y%w -> 5Nusing accuracyPremultiplier from config1=5959?=5Y5 i5q™9EٮEA5WE5L:5:5G5I M`AIZjyDNOT Ignoring new targets: 47.00 m.RjBj Jj m ProNav: ac range: 47.000000 m, nav range: 16.721889 m, bearing: 164.018099 deg, approach rate: 0.298407 m/s, LOS rate: -1.973267 deg/s, cmd heading: 257.185637 deg, new cmd heading: 254.736025 deg. 2jmGuHeadingCmd: 4.445982 target range: 47.000000 and range: 49.90 m. ju}E@jqjqjqiqhqhyhyhyfyffrfbf @ɛBV I 8ɚiIw=Iӈii)}E@) *F2F:FBFT0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.535375GG B O > I II U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773014(w,֋A6,@Y6£@6w<9637!=y6H8? d?h`+?`o@G`$??ɨ6,@6X;6"Cy>րBBxIIJIJV٢Rze RR=9VQ V>TT VG٣XyZ Z> ^Nusing accuracyPremultiplier from config\b59^=?b5Y^5 i^r™dffA^YE^ ;^ ;^I5h jwAhZjDNOT Ignoring new targets: 47.00 m.RjBjJj ProNav: ac range: 47.000000 m, nav range: 16.835791 m, bearing: 163.243012 deg, approach rate: 0.278464 m/s, LOS rate: -1.882047 deg/s, cmd heading: 254.736031 deg, new cmd heading: 252.427822 deg. 2jt HeadingCmd: 4.405696 target range: 47.000000 and range: 49.90 m. j w@jjjihhhAhAfAfIfIrfIbfU@%@ɛB, I ^<ɚiIU`=Iwi i ) w@) EYE]tA*F2F:FBF_0JF"GY>Ge>zKMK@9KK3(K Will construct direction to contact in vehicle frame from tetrahedron phase data.՝%=՝%=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023722JoJjJ1JJ>:J9J3Ja@a@a@a@G>GGG B O >(w,>A:.@Y:@:o?<9:|2=y:H෸??N~`?@IiM?`?ɨ:.@:;:#CyF΀BFmIININW٢V& VK=9Z Q Z>\\ ^G٣^YGy^ b> fNusing accuracyPremultiplier from config`f59bA?j5Yb  ib.r™hjKjAb[Eb;b4;bNK5rƓB rAvEZj DNOT Ignoring new targets: 47.00 m.RjBjJj- ProNav: ac range: 47.000000 m, nav range: 16.950956 m, bearing: 162.442403 deg, approach rate: 0.300093 m/s, LOS rate: -2.071945 deg/s, cmd heading: 252.427809 deg, new cmd heading: 250.043754 deg. 2j--HeadingCmd: 4.364087 target range: 47.000000 and range: 49.90 m. j5@j1j1j1i1h1h9h9h9f9fAfArfAbfE@ɛuB} y}{Iy }?ɚyiyI05=Iii)@)H>I III3BI&I.I6I<:I" F I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275863*F)2F):F)BF-[3JF)G->GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.527589{)w,AJ @YJ7@J|<9JN5=yJH g*?n?tأ f? РڀO?`?ɨJ @Jb<;J$CyVڀBV}I e@e e@e e@e  e@e ImIm٢`b= :=9lQ > G٣y@s > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59&D?5Y iJr‘+::A^E(;X>L5 YAB*** querying acoustic contact ***j!j!Zj)-DNOT Ignoring new targets: 47.00 m.Rj)Bj5 Jj5 M ProNav: ac range: 47.000000 m, nav range: 17.073551 m, bearing: 161.571203 deg, approach rate: 0.278609 m/s, LOS rate: -1.965600 deg/s, cmd heading: 250.043745 deg, new cmd heading: 247.450783 deg. 2jM]HeadingCmd: 4.318831 target range: 47.000000 and range: 49.90 m. j]3@jYjYjYiYhYhahahafafifirfibfma@ɛB> 隝I (CɚiI%=ICii)3@)*F52F1:F1BF5[5JF1 Ih%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779784GM>G) B1 OM ># )w, 2A:F=@Y:L@:΋;9:;=y:H`? !C?]`J@?@tqt p?O?ɨ:F=@:G;:"CyBBBIIHIH٢V3= Z]=9ZQ Z>\zK^cLK^ 9K\K^4(K^\ fG٣dyjt j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlr59n?F?v5Yn inbr‘v :tvT:v׻vAn`En*;nP?nM5x ~A|Zj!%DNOT Ignoring new targets: 47.00 m.Rj!Bj-6 Jj-6 = ProNav: ac range: 47.000000 m, nav range: 17.174633 m, bearing: 160.836351 deg, approach rate: 0.273329 m/s, LOS rate: -1.975314 deg/s, cmd heading: 247.450787 deg, new cmd heading: 245.260334 deg. 2j=tEHeadingCmd: 4.280601 target range: 47.000000 and range: 49.90 m. jE@jAjAjAiAhIhIhIhIfQfQfQrfQbf]&@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031789ɛB 隕؊IJqJfJJJD:J9JJ IFɚiI=IY*ii)@)*Fi2Fi:FqBFu3JFqGy GyG >G?G ?HI III)BI =&I.I6I<:I FBIǬCJIǬCRIZI =bI =jIDŽ4GB IO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.283380)w,tLA~ k@Y~z@~3;9~ &=y~H??~ ڋ ?@C{`俤?@?ɨ~ k@~a;|yBI        Mb@Mb@Mb@ )Yv?q= ףpMb`y8?뽹 MA)3 AIAy AII٢= 9=9=ڻQ > G٣YGy o > Nusing accuracyPremultiplier from config59(J?5Y< ier‘T:);?:AbE;;O5 9A Zj15DNOT Ignoring new targets: 47.00 m.Rj1Bj=Jj=M ProNav: ac range: 47.000000 m, nav range: 17.325171 m, bearing: 159.893391 deg, approach rate: 0.342340 m/s, LOS rate: -2.125673 deg/s, cmd heading: 245.260345 deg, new cmd heading: 242.458408 deg. 2jMZUHeadingCmd: 4.231698 target range: 47.000000 and range: 49.90 m. jUj@jQjQjYiYhYhYhaheBfafafarfibf `^@ɛUBU QU9IY ]JɚYiYI]cژ=Ietii)j@)Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս<Ս<checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537519*F2F:FBF3JFG% >G B O% > I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.7881644)w,sfA]ę@Y]E@]+719]&=y]H ??}? 2q@&F?Ѥ?9?ɨ]ę@]n;]!CyޅBޅIIIV٢= H=9rڻQ >    G٣y > -Nusing accuracyPremultiplier from config!559%+M?=5Y% i%hr™9=ʹEA%eE%\;%?];%Q5Q UAuEZjDNOT Ignoring new targets: 47.00 m.RjBj Jj  ProNav: ac range: 47.000000 m, nav range: 17.463276 m, bearing: 159.015100 deg, approach rate: 0.328421 m/s, LOS rate: -2.072019 deg/s, cmd heading: 242.458410 deg, new cmd heading: 239.846288 deg. 2jHeadingCmd: 4.186108 target range: 47.000000 and range: 49.90 m. j@jjjihhh h f f1f1rf1bf5@ɛBм AI APNɚiI=Ijii)@)*F2F:FBFO0JFzKuBoHKuŷ9KqKu5(KuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.039690JpJeJJJA:J9JJGi GA BI Ou > )w,yAZ˗@YZ{۞@ZK9Z=yZH@L? ?ak?xti?_??ɨZ˗@Z ;Z#Cyf*BfIij z]=9z׻Q z>|| ~G٣|ya >  Nusing accuracyPremultiplier from config 59 LO?5Y % i ir™A gE . ;  ; >S5! %A!ZjQUDNOT Ignoring new targets: 47.00 m.RjQBj]Jj]m ProNav: ac range: 47.000000 m, nav range: 17.584419 m, bearing: 158.230034 deg, approach rate: 0.338544 m/s, LOS rate: -2.178746 deg/s, cmd heading: 239.846300 deg, new cmd heading: 237.508697 deg. 2jm躽uHeadingCmd: 4.145309 target range: 47.000000 and range: 49.90 m. ju_@jqjyjyiyhyhyhhfffrfbf@]@ɛB-NH>I IIIBBI&I.I6I<:IK F uuI PɚiI[U=Iii)_@) YI]hWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.293087*F2F:FBFQ0JF"GV>GV>GGsAGtAGQBYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.5435921G&)w, UA:'@Y: @:ӳ9:e=y:H?@(? ϳ[.%?{f[zv? ? ?ɨ:'@:*;:%CybDBbIUMb@Mb@Mb@QQQ Q)QYU rh?RQ:v?yU,?U½UT G٣YGy@u > Nusing accuracyPremultiplier from config59`Q?5Y idr™H.?: AiE; ;U5ǓB AEB*** querying acoustic contact ***jjZjyDNOT Ignoring new targets: 47.00 m.RjBjJj ProNav: ac range: 47.000000 m, nav range: 17.715221 m, bearing: 157.400743 deg, approach rate: 0.295621 m/s, LOS rate: -1.860349 deg/s, cmd heading: 237.508709 deg, new cmd heading: 235.040819 deg. 2jHeadingCmd: 4.102236 target range: 47.000000 and range: 49.90 m. jE@jjjihhhhhBf!fQfQrfQbfU`3@ɛB 隥hI xTɚiI#=Im iiii)uE@)q QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.795491*F2F:FBF%O0JF!Ge >G B O >r,)w,&5A6|7@Y6F@6G96=y6H?@Q?@QXXe?Bh~?`H??ɨ6|7@6F;6#CyfbBf#IInIn٢v> vT=9vQ z>xx zG٣xy~ ~>  Nusing accuracyPremultiplier from config59R?5Y i^r™%%%AkE x;[;V5) -(A)ZjQUDNOT Ignoring new targets: 47.00 m.]Will construct direction to contact in vehicle frame from tetrahedron phase data.YYechecking for new query: numPingsReceived=0, elapsed TxPingTime=7.047905RjQBjm Jjm zK}&`KK}9KyK}6(K}JsJcJJJK:Jx9JJ ProNav: ac range: 47.000000 m, nav range: 17.832491 m, bearing: 156.643259 deg, approach rate: 0.320549 m/s, LOS rate: -2.056856 deg/s, cmd heading: 235.040825 deg, new cmd heading: 232.784551 deg. 2jsHeadingCmd: 4.062857 target range: 47.000000 and range: 49.90 m. j@jjjihhhhfffrfbfI@ɛg ]ZI VɚiI›=I# ii)@)*F2F:FBF0JFZHRH@AH>IC I@IIzBI =&I.IAD6I<:IG> 1I9GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299584\3)w,ΤArl@Y{@b9&=yH`\?`w?sV ~?`??,?@iѤ??ɨrl@?;%Cy-wB-=IMb@Mb@Mb@ )Yףp= ?I + rh?y?9C<  A) AIy AIIm٢= 9=9!Q  >   G٣ynf > Nusing accuracyPremultiplier from config%59S?%5Y  iUr™-^ ?-:-|Ŀ-AmE;B;X51 =~A9ZjYeDNOT Ignoring new targets: 47.00 m.RjaBjeJjm  ProNav: ac range: 47.000000 m, nav range: 17.952557 m, bearing: 155.848009 deg, approach rate: 0.273409 m/s, LOS rate: -1.798745 deg/s, cmd heading: 232.784540 deg, new cmd heading: 230.416171 deg. 2j NHeadingCmd: 4.021521 target range: 47.000000 and range: 49.90 m. jL@jjjihhh!h%Bf!f!f)rf)bf-M@ɛ}B}%ڽ 隅PI YɚiI|=Iii)L@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.552747*FY2FY:FYBF]0JFaG G ?G ?GY Bq O > % $?I!  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.804491S9)w,}AV@YV@VM+9V2'=yVHb?"?x@J? Fp?p??@?ɨV@Vf;V#CyjBjiIIzIzT߳٢M>> \=9BQ %>!) -G٣)y5~ 5> ENusing accuracyPremultiplier from configAU59ES?U5YE iENr™Q]vǿ]AEoEE ^;En;EUZ5i mfAmEZjuDNOT Ignoring new targets: 47.00 m.RjqBj}rJj}r ProNav: ac range: 47.000000 m, nav range: 18.052568 m, bearing: 155.171775 deg, approach rate: 0.254268 m/s, LOS rate: -1.709681 deg/s, cmd heading: 230.416158 deg, new cmd heading: 228.399575 deg. 2jHeadingCmd: 3.986325 target range: 47.000000 and range: 49.90 m. j@jjjihhhhfffrfbf`@ɛQ]eJڽ Y]>IY e5R\ɚaiaIe=Imii)@)*F!2F!:F!BF%2JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.*J4="Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.057846zKjIKKK7(KJlJhJ0JJ<5:JȆ9Jـ3JGI G B! OE > k@)w,A2v@Y2@2I;92OJ(=y2Hګ?ڲ?朥@ɷ?xx?`i?l?@?ɨ2v@2RB;0y>B>IIVIV<٢f> fO=9nQ r>pp rG٣rYGyvw v> zNusing accuracyPremultiplier from configx~59zS?~5Yz izEr™ʿAzqEz`;z;z\5  A He>Ia IeIIeBIe =&Ia.Ia6Ie<:IeZ F IhZjDNOT Ignoring new targets: 47.00 m.RjBj)Jj)% ProNav: ac range: 47.000000 m, nav range: 18.154942 m, bearing: 154.461823 deg, approach rate: 0.272154 m/s, LOS rate: -1.876681 deg/s, cmd heading: 228.399572 deg, new cmd heading: 226.282744 deg. 2j%%HeadingCmd: 3.949379 target range: 47.000000 and range: 49.90 m. j-|@j)j)j)i)h)h)hQhQfYfYfYrfYbfe] @ɛBӽ 隭N1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307686I u^ɚiI{=I]ii)|@)) G) eYiymdA*F2F:FBF5JFGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559595F)w,ÝA6$@Y6>4@6,J96&(=y6H5?J?P?^,?qE??y?ɨ6$@6;4y>ɁBBIMb@Mb@Mb@ )Yv/?I + G٣yc > Nusing accuracyPremultiplier from config59rR?5Y iL)w,}u5A>jc@Y>r@>0"Q9>s+=y>H@1?@\? k䥿5 !P??$?hl?@(?ɨ>jc@>`;>$CyJBJIIRIRͳ٢Z%> Z\=9^Q ^>\` bG٣`ybf b> jNusing accuracyPremultiplier from configdj59fQ?j5Yf% if4r™lnhӿnAfuEf;f4;f_5t vAtZjDNOT Ignoring new targets: 47.00 m.RjBj%jJj%jἝ5 ProNav: ac range: 47.000000 m, nav range: 18.320576 m, bearing: 153.191563 deg, approach rate: 0.202933 m/s, LOS rate: -1.576575 deg/s, cmd heading: 224.228991 deg, new cmd heading: 222.490873 deg. 2j5?=HeadingCmd: 3.883198 target range: 47.000000 and range: 49.90 m.EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.063616 j=Rx@jIjIjIiIhIhQhQhQfQfYJaJeBAfrfbf+"@zKk3IK9KK8(Kɛɽ GI .bɚiI>̞=Ibii)Rx@)*F=2F9:FABFEP0JFAGQHe>Ia IeIIe BIe =&Ia.IeBD6Ie<:IeD F IGQBYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.315507S)w,`OAyBIMb@Mb@Mb@ )Ygfffff?)\({Gz?y3>Gό#<zA ~A) AIy3 AIIm٢= -=9Q > G٣YGy > Nusing accuracyPremultiplier from config59CN?5Y+ i/r™>:ۿAwE;;a5ǓB 8AEZj)-DNOT Ignoring new targets: 47.00 m.Rj)Bj5ͼJj5ͼE ProNav: ac range: 47.000000 m, nav range: 18.395067 m, bearing: 152.509419 deg, approach rate: 0.157660 m/s, LOS rate: -1.437866 deg/s, cmd heading: 222.490871 deg, new cmd heading: 220.453633 deg. 2jEvMHeadingCmd: 3.847642 target range: 47.000000 and range: 49.90 m. jM?v@jIjIjIiQhQhQhYh]MBfafafarfbf"#@ɛ5B5̹ 15a I9 =dɚ9i9I=j=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.567838JiJmeJiJiJiJm9JiJiJmK?;auJmM?;auJm:a}Jm:a}I ii)?v@)*F92F9:F9BF=O0JF9GA GAGY I Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.820240bY)w,-iAy}B}I) II̍٢= `=9Q > G٣y > Nusing accuracyPremultiplier from config59L?5Y/ i*r™AxE:C::c5  AZjDNOT Ignoring new targets: 47.00 m.RjBj˼Jj ˼ ProNav: ac range: 47.000000 m, nav range: 18.454260 m, bearing: 151.987371 deg, approach rate: 0.162022 m/s, LOS rate: -1.424346 deg/s, cmd heading: 220.453631 deg, new cmd heading: 218.892919 deg. 2jat%HeadingCmd: 3.820402 target range: 47.000000 and range: 49.90 m. j%xt@j!j!j!i!h!h)h)h)f)f1f1rfbf Y#@ɛ* ,I %Dfɚ!i!I%=I-./i)i9)=xt@)Q*F2F:FBF _0JF ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]=]=e`)w,A6f'@Y66@6L96%0=y6H@?? `ҋ?V???`?ɨ6f'@6';4yRBVII^I^&ѳ٢f%< fY=9jsT:Q j>hl nG٣lyr< v> )I1H >I C I A II JBI  =&I .I 6I <:I R FBICJICRIZI =bI =jIL5 uNusing accuracyPremultiplier from configi}59mH?}5Ym4 im&r™俑AmzEmg1;m1;md5  AEZjDNOT Ignoring new targets: 47.00 m.RjWill construct direction to contact in vehicle frame from tetrahedron phase data.f)w,朥AjA@Yj@j?9j$=yjH!?Hh7p@Q?Z??@?ɨjA@j;hyv!Bv IMb@Mb@Mb@ )Y'1Z?p= ף~jtxy>Ļ )M AI7 Ay AIIͳ٢ G٣YGywֽ > Nusing accuracyPremultiplier from config59C?5Yy9 i(r™f>:A{EN;SM;f5  6 A -B*** querying acoustic contact ***j)j)Zj9=DNOT Ignoring new targets: 47.00 m.Rj9BjEvּJjEvּU ProNav: ac range: 47.000000 m, nav range: 18.543163 m, bearing: 150.825269 deg, approach rate: 0.091843 m/s, LOS rate: -1.499976 deg/s, cmd heading: 217.177763 deg, new cmd heading: 215.416084 deg. 2jU]HeadingCmd: 3.759720 target range: 47.000000 and range: 49.90 m. j]@p@jYjajaiahahahihm}Bfififirfqbfuu%@ɛ׾ 隭I iɚiI=IUt!iQiQ)U@p@)Y 9I=h*F2F:FBF0JF"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Response Not Received *response not received,DAT read: user:3636> -m)w,ѶA>)@Y>@>79>!=y>H f@#?`JףF@k? u?@0??ɨ>)@>;`` bG٣`ybF f> nNusing accuracyPremultiplier from confighn59j>?r5Yj= ij+r™prrAj|Ej:j.:jfh5t v1 AxWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:00:04:38.0554 %$Ping request sent.%IC Is IIsBI&I.I6I<:Ii F IGAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252008GA BI O >s)w,~ХAy%B% IMb@Mb@Mb@ )Y}?5^I?/$ÿZd;OyM>jA A) AI Ay AIIm?٢g! ,=9Q > G٣y > Nusing accuracyPremultiplier from config597? 5YC i6r™ > :  A~E;};xj5 E AZjIMDNOT Ignoring new targets: 47.00 m.RjIBjUͼJjUͼe ProNav: ac range: 47.000000 m, nav range: 18.602999 m, bearing: 149.629104 deg, approach rate: 0.064668 m/s, LOS rate: -1.438051 deg/s, cmd heading: 213.862225 deg, new cmd heading: 211.834665 deg. 2jevHeadingCmd: 3.697212 target range: 47.000000 and range: 49.90 m. j!l@jjjihhhhvBfffrfbf-'@%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503373JIJMjJM1JIJIJM9JM3JIJIJIJM:JM:ɛB8 隝I  mɚiI=I%ii)!l@)*F2F:FBFQ5JFG GrA  I GU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757132GY Bq O >uz)w,A6F@Y68V@6L__96=y6Hힻ`u?JĞi_??:?@?ɨ6F@6B;6%CyBBB IININa٢RPѼ Rh=9VQ V>XX ZG٣ZYGyZ ^> bNusing accuracyPremultiplier from config\b59^1?f5Y^ G i^>r™   A^E^'<^(<^l5 i AZjYeDNOT Ignoring new targets: 47.00 m.RjaBjmiƼJjiƼ ProNav: ac range: 47.000000 m, nav range: 18.618593 m, bearing: 149.125122 deg, approach rate: 0.042976 m/s, LOS rate: -1.387720 deg/s, cmd heading: 211.834670 deg, new cmd heading: 210.324358 deg. 2jnHeadingCmd: 3.670853 target range: 47.000000 and range: 49.90 m. j@j@jjjihhhhfffrfbf['@ɛ=BEҷĽ 隥$I PznɚiIr=Iu0'ii)@j@)*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007771zKKKж9KK;(KG>GY Ba O > I IQ &[)w, AH>I I IIBI =&I.IAD6I+<:Is Fn~@Yn@n9h9n - =ynH@k?`Q m?@?@^$??ɨn~@n|u;n#CyBI a=R=I%I%-٢5t  5B=9=[Q =>99 =G٣9yEm E> MNusing accuracyPremultiplier from configIU59M]*?]5YMK iMHr™Ye7eAMEM.B;MB;Mm5i m AmEZjDNOT Ignoring new targets: 47.00 m.RjBjqҼJjqҼ ProNav: ac range: 47.000000 m, nav range: 18.634407 m, bearing: 148.520810 deg, approach rate: 0.038550 m/s, LOS rate: -1.471863 deg/s, cmd heading: 210.324365 deg, new cmd heading: 208.513605 deg. 2j|HeadingCmd: 3.639249 target range: 47.000000 and range: 49.90 m. jth@jjjihhhhfffrfbf%(@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259428ɛý 隍KI +pɚiI3=IB6)ii)th@)*F=2FA:FABFEP0JFAGE>G! B9 Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512490J lJ hJ 0J J <5:J Ȇ9J ـ3J J K?;J M?;J Ӭ:J լ:C)w,)vA2P͊@Y2ܑ@2K92 =y2Hÿ?@9*2`ӗÿ`ۑ?_?`W??ɨ2P͊@2;2$CyRBRIe@e eMb@Mb@Mb@aaa a)aYei|?5?ףp= ÿMbye>eeezA ehA)e7 AIe7 AaieI}I}W٢ג E=9;Q > G٣yU > Nusing accuracyPremultiplier from config59"?5YP iUr™>:AE;;o5 AEB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.00 m.RjBj ټJj ټ  ProNav: ac range: 47.000000 m, nav range: 18.652077 m, bearing: 147.890517 deg, approach rate: 0.042596 m/s, LOS rate: -1.517979 deg/s, cmd heading: 208.513600 deg, new cmd heading: 206.625233 deg. 2j 8HeadingCmd: 3.606291 target range: 47.000000 and range: 49.90 m. jwf@jjjihhh!h!f!f!f!rf)bf-)@ɛ]B]3ƽ Yeh Ia e rɚaiaIe'=Im?R+iiii)mwf@)q $?I*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764303G>GGrAGBO>̩)w,N9A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015343>@Y>X*@>C19>O=y>H#hƿ|?` Wƿ2z?`T(?Ȣ??ɨ>@>k݉;hh jG٣jYGynk n> rNusing accuracyPremultiplier from configpv59r ?v5YrT irbr™xzzArErX:r:rPq5| AZj)5DNOT Ignoring new targets: 47.00 m.Rj1Bj5ټJj5ټE ProNav: ac range: 47.000000 m, nav range: 18.666164 m, bearing: 147.313811 deg, approach rate: 0.037212 m/s, LOS rate: -1.522187 deg/s, cmd heading: 206.625230 deg, new cmd heading: 204.896973 deg. 2jMMHeadingCmd: 3.576127 target range: 47.000000 and range: 49.90 m. jUCd@jQjQjQiQhQhQhYhYfafafarfabfeG*@ɛ  B ͽ <IzK5k3IK5ŷ9K1K5<(K5 EsɚAiAIE:=IMr@-iIiI)UCd@)*F-2F):F)BF-_0JF) IH%>I! I% II%}BI% =&I!.I!6I%گ<:I%7 F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269547=~GUvAqG YvAyzAGI BY Ou >)w,@SA^@Yzn@&9!=yH`nJɿX?`Ϣ^8ɿ6?ۄ?~AA EG٣AyMA M> UNusing accuracyPremultiplier from configQ]59U?]5YU[ iUur™] ?e:eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519365uuAUEUL;U;Uns5y }AyZjDNOT Ignoring new targets: 47.00 m.RjBjPJjP켝 ProNav: ac range: 47.000000 m, nav range: 18.690248 m, bearing: 146.506886 deg, approach rate: 0.049397 m/s, LOS rate: -1.652819 deg/s, cmd heading: 204.896973 deg, new cmd heading: 202.480831 deg. 2jʍHeadingCmd: 3.533957 target range: 47.000000 and range: 49.90 m. j[,b@jjjihhhhBfffrfbf`nA+@ɛ%!B%L̽ !%I! %Nvɚ)i)I-G=I-[/i1i1)5[,b@)1EA*F2F:FBF`0JF IhG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:00:04:40.5370 - TRx dataTimestamp_ set to:1736381081.6659545 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7743325)w,mA6B@Y6ì@6296ME.=y6H"@̿ z/?&'5 ,̿@8?@Ҹ?ƥ?5?ɨ6B@6;6$Cy>́BBIIJIJ㔳٢RP  R=9V:Q V ?TT VG٣TyZS Z ? ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^ _ i^r™df%fA^E^e:^:^t5h jAjEZjy}DNOT Ignoring new targets: 47.00 m.RjyBjJj伝 ProNav: ac range: 47.000000 m, nav range: 18.704006 m, bearing: 145.977923 deg, approach rate: 0.041625 m/s, LOS rate: -1.599217 deg/s, cmd heading: 202.480835 deg, new cmd heading: 200.895539 deg. 2j0HeadingCmd: 3.506289 target range: 47.000000 and range: 49.90 m. jg`@jjjihhhhfffrfbfA+@ɛAEb AE*IA E*xɚIiIIMk}=IUF0iyiy)}g`@)y*F 2F :F BF Y1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024064*JR="J%=J3K(3 KϚ.KK"KJnJkJJJ|;:J9JJa@a@a@a@GG?G(?GBzKyJK9KK=(KO > $?I H% >I!  I% Z II% ^BI! &I! .I! 6I% <:I% ? F!)w,ꆦA2eׇ@Y2@2g92*4=y2HAϿ?ϻ`m-ϿT99 =G٣=YGyEi E> MNusing accuracyPremultiplier from configIU59M?]5YMCd iMr™Y]]AMEM,;MF-;Mv5a mAiZjDNOT Ignoring new targets: 47.00 m.RjBjIJjIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277523 ProNav: ac range: 47.000000 m, nav range: 18.719259 m, bearing: 145.274048 deg, approach rate: 0.037360 m/s, LOS rate: -1.722566 deg/s, cmd heading: 200.895534 deg, new cmd heading: 198.786635 deg. 2jœ HeadingCmd: 3.469481 target range: 47.000000 and range: 49.90 m. j  ^@j j j i hhhhfffrfbf%,@ɛ"B|۽  /I zɚiI.=I%3i!i!)% ^@)I*F2F:FBF_5JFG- > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 58.0 m (Round-trip 77.4 ms) speed -0.5 m/s  ,DAT read: user:3637>  BDAT read: Tx time:00:04:41.6554  $Ping request sent. ͧ)w,,A6j @Y6@6996߲-=y6H/ѿ? O@B%ѿ0?`6?v?@L?ɨ6j @6,;6$CyBBB|IMb@Mb@Mb@ )Y(\?p= ף/$yz?,A A) AI AyI-I-㔳٢M D=99Q > G٣y5w > Nusing accuracyPremultiplier from config59?5Y j ir™?:AE+;;~x5 AB*** querying acoustic contact ***jj= addTargetRange:: Added new target pos. range: 58.000000 m, deltaT: 14.618705 s, deltaX: 8.099998 m, approachRate: 0.554085 m/s, rangeRepo size: 4 ZjAEDNOT Ignoring new targets: 47.00 m.RjABjMJjM YI]h} ProNav: ac range: 47.000000 m, nav range: 18.749918 m, bearing: 144.519275 deg, approach rate: 0.072752 m/s, LOS rate: -1.788063 deg/s, cmd heading: 198.786632 deg, new cmd heading: 196.527253 deg. 2j}dHeadingCmd: 3.430048 target range: 47.000000 and range: 58.00 m. j[@jjjihhhhBfffrfM@bf@v3?ɛ]#B] Y]G! B) OM >)w,횺A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500081J0J2AAJ6oJ6gJ4J4J6>:J69J4J4y%B%fII5I5:٢E EP=9MQ M>II MG٣QyU U> eNusing accuracyPremultiplier from configam59e씜?m5Yexo ier™iiuAeEee:e:e5z5}ƓB }mA}EZjDNOT Ignoring new targets: 47.00 m.RjBjJj ProNav: ac range: 47.000000 m, nav range: 18.781607 m, bearing: 143.813996 deg, approach rate: 0.081591 m/s, LOS rate: -1.812813 deg/s, cmd heading: 196.527260 deg, new cmd heading: 194.416002 deg. 2jHeadingCmd: 3.393199 target range: 47.000000 and range: 58.00 m. j.*Y@jjjihhhhfffrfbf?ɛ $BuP quEIq u]ɚyiyI}=I7ii).*Y@)zKBoHKKK>(K*F)2F):F)BF-O0JF)"G5Y>G5Y> IIIZHRHH>IC I II,BI =&I.I6Iů<:I& FBIJIRIZI =bIjI 5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753613GiGI BQ Ou >!)w,ԦAy BLIMb@Mb@Mb@ )YS㥛? ףp= ly$&?Q A MA) AIyp AII?1٢p 4=9)Q ->11 5G٣5YGy9 => ENusing accuracyPremultiplier from configAMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004175U59Ec├?]5YEv iEr™](?]:]*]AEEE;EQ;E>|5i uAuEZjDNOT Ignoring new targets: 47.00 m.RjBjt Jjt  ProNav: ac range: 47.000000 m, nav range: 18.851902 m, bearing: 142.909566 deg, approach rate: 0.150009 m/s, LOS rate: -1.922763 deg/s, cmd heading: 194.416007 deg, new cmd heading: 191.714950 deg. 2j򤽝HeadingCmd: 3.346057 target range: 47.000000 and range: 58.00 m. j%V@jjjihhhhBfffrfbfRi?ɛ   3  PI  =@ɚiI[=Ir;ii)%V@)*F2F:FBFJF 5$?I1G >GY Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256770 )w,nLA6q@Y6*@6[WS96[j0=y6Hֿ?h@mֿ@՞?`j?` ??ɨ6q@6;6%CyRpBR5IiV=IV4=IZIZn٢Խ l=9 4Q  ?   G٣yTx %? =Nusing accuracyPremultiplier from config1M595ٔ?M5Y5{ i5r™QeeA5E5;5;5}5q }AyZjDNOT Ignoring new targets: 47.00 m.RjBjJj ProNav: ac range: 47.000000 m, nav range: 18.888067 m, bearing: 142.250368 deg, approach rate: 0.105083 m/s, LOS rate: -1.911673 deg/s, cmd heading: 191.714954 deg, new cmd heading: 189.741970 deg. 2jHeadingCmd: 3.311622 target range: 47.000000 and range: 58.00 m. jS@jjji!h!h!h!h)f)f)f)rf)bf5?ɛ%BԽ =EZI wɚ!i!I%=I% =i)i))-S@)*Fa2Fa:FaBFeP0JFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.e!?e?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508607JpJhJJJA:JȆ9JJzK- jIK- 9K) K- ?(K-  GM >G! B1 OM > 9 I9 H >I  I II BI  =&I .I 6I :I $ F)w,k'AF&@YF@FG9F9=yFH׿9? IH`ӿ`~׿;??2? ?ɨF&@F;DyNcBN$IIVIVƳ٢^ bO=9b:Q b>dd fG٣dyf{ f> nNusing accuracyPremultiplier from confighn59jϔ?r5Yj ijr™prNrAjEj ;j ;jl5t zAzEZj15DNOT Ignoring new targets: 47.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760010RjBj2Jj2  ProNav: ac range: 47.000000 m, nav range: 18.927355 m, bearing: 141.480576 deg, approach rate: 0.102447 m/s, LOS rate: -2.003101 deg/s, cmd heading: 189.741972 deg, new cmd heading: 187.438700 deg. 2j ֫mHeadingCmd: 3.271422 target range: 47.000000 and range: 58.00 m. jm^Q@jqjjihhhhfffrfbf?ɛQ] Y]JaIY ]+ɚYiaIeh˩=IeZ@iiii)m^Q@)*Fa2Fa:FaBFeW0JFau Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012872G G B O >)w,"AyZBIMb@Mb@Mb@ )Y"~?x&X9vy3?7 A QA)~AI Ay AIIF٢`  := I9Q =>AA EG٣EYGyE M> UNusing accuracyPremultiplier from configI]59M”?]5YMb iMr™]4?e:eeAMEMC*;M';Mf5i m]AiB*** querying acoustic contact ***jjZjDNOT Ignoring new targets: 47.00 m.RjBj)Jj) ProNav: ac range: 47.000000 m, nav range: 18.994143 m, bearing: 140.536212 deg, approach rate: 0.148093 m/s, LOS rate: -2.086540 deg/s, cmd heading: 187.438696 deg, new cmd heading: 184.617976 deg. 2jHeadingCmd: 3.222192 target range: 47.000000 and range: 58.00 m. jc8N@jjjihhhhdBfffrfbf @ɛ&B  eI  .}ɚiI=I)Bi!i!)%c8N@)!*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265516GG B O >HF)w,+;AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516076J&oJ&iJ$J$J&>:J&ڈ9J$J$~@Y~7@~e?9~1=y~Hآڿ k?0`YڿkY?`?3? ?ɨ~@~YB;~"CyLBI %=%=I-I-٢5 =U=9=R:Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59Uڷ?]5YU` iUr™aeeAUEU;U9;U5i mAiZjDNOT Ignoring new targets: 47.00 m.RjBjJj ProNav: ac range: 47.000000 m, nav range: 19.039391 m, bearing: 139.757424 deg, approach rate: 0.122031 m/s, LOS rate: -2.095292 deg/s, cmd heading: 184.617978 deg, new cmd heading: 182.288522 deg. 2jHeadingCmd: 3.181535 target range: 47.000000 and range: 58.00 m. jEK@jjj i h h h hfffrfbf`L@ɛae? imlIi mCɚiiiImQP=I1Eii)EK@)zK.LK9KK@(K $?IhHm>Ii ImIImЁBIi&Ii.Im@D6Im<:Imc FEo=EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769651*F2F:FBF_0JFG G G sAG BOU>-)w,YA6"@Y61@6I1>96n0=y6HS3ܿ ?,=%ܿ@Z? Ƈ? ??ɨ6"@6C;6%CyBIBBI5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:00:04:44.1394 =TRx dataTimestamp_ set to:1736381085.444661Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021130uMb@Mb@Mb@qqq q)qYurh|?I +/$yu;?u9uq u;A)qIu~AqyuAIIq٢)G )=91 9Q > G٣yf > Nusing accuracyPremultiplier from config59񩔜?5Y ir™R)w,%sA:?@Y:N@:.E9:j/=y:Hݿ 'N?eUR@"ݿ^?^? ?@?ɨ:?@: ;:"CyDDININM9VXQ V>XX ZG٣ZYGyZ˜ ^> bNusing accuracyPremultiplier from config`f59b?j5Yb ibs™hjXjAbEb^7;b7;b5p ppZj  DNOT Ignoring new targets: 47.00 m.Rj BjJj% ProNav: ac range: 47.000000 m, nav range: 19.176987 m, bearing: 137.923478 deg, approach rate: 0.156501 m/s, LOS rate: -2.141402 deg/s, cmd heading: 179.196706 deg, new cmd heading: 176.811500 deg. 2j%-HeadingCmd: 3.085943 target range: 47.000000 and range: 58.00 m. j-E@j)j)j1i1h1h1h1hfffrfbf @ɛ5 15nI9 =:ɚ9i9I==IEE@iAiA)EE@)IEE*E"EMWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: Range 10 to 50 : 59.8 m (Round-trip 79.8 ms) speed -0.4 m/s m,DAT read: user:3638> uBDAT read: Tx time:00:04:45.2554 u$Ping request sent.uG B! O= >;)w,pA :~@Y h@ + K9 kn=y H\߿_?L= P߿@v?c?&̣?`>?ɨ :~@ ; &Cy%GB%I)-AI5I5٢E઻ M<9MUDQ U>QQ UG٣Qy]g} ]> eNusing accuracyPremultiplier from configam59e-?m5Yen ies™qu'uAeEe ;e ;e5y }Ay- addTargetRange:: Added new target pos. range: 59.799999 m, deltaT: 3.528098 s, deltaX: 1.799999 m, approachRate: 0.510190 m/s, rangeRepo size: 4 Zj)5DNOT Ignoring new targets: 47.00 m.Rj55ZTarget missed at range: 59.80 m. Rolling out."j55NTransitioning guidance mode to: ROLLOUT*j5@ jAjIjIjIiU"jQhQhQhQhYfYfYfYrf]`fM@bfe?ɛ+ K 隭oI ɚiII{D@ii))E#]&Changing to mode: 1#]Standby mode.#}2Commanding positive:54389*FM2FI:FQBFUP5JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.JJjJ1JJJ9J3JJ|O;aJO;aJ:aJ:aG1 I G) B9 OU >)w,+AR|@YRn@R/)b9R=yRHun?@0 @pIprb?D? ?J?ɨR|@R;R%CybPBb IMb@Mb@Mb@ )YZd;?{Gzt?y&1|y>?ף;` A 7A)zAIdAy(AII&٢3= C=9[Q >Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y+ > Nusing accuracyPremultiplier from config59?5Y is™>?:AE5;;5  A EL% %Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseL-5Entering Midcourse tracking update period 60.000000 s sec at 59.799999 m (mode 5.000000 count ).L51M=EB*** querying acoustic contact ***jAjAUDNOT Ignoring new targets: 47.00 m. jQjYjYjYiY"jYhYhYhaheG]G]G]G] Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս >Ս = T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G B O% >H)w, çA>F{@Y>Ȳ@>`Mu9>1=y>H %?W eb?`? IF{@>;>$CyNXBNIIVIV2٢^1= ^^=9bqOQ b>bf fG٣dyf f> jNusing accuracyPremultiplier from confighn59j~v?r5Yj ijs™prErAjEj ;jC ;j-5t vfAzE2lN@1MqM%DNOT Ignoring new targets: 47.00 m. j!j!j!j!i!"j!h)h)h)h)f1f1rf1bf5`,7?]U>?]U>?]UD;]U@ e$?Iehu`Mu quRI}i9 yɚ}di}SIyIE@ii))zK]LK 9KKB(KHAIA IEIIEBIA&IA.IA6IE<:IE F*F5"2F1:F1BF1JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255362G>BAOmx>)w,?ܧA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507309J6pJ6hJ60J4J6A:J6Ȇ9J6ـ3J4J6T;J6T;J6Ӭ:J6Ԭ:Jy@YJ@JQˋ9J%2=yJH`.?@do믣?2y?U??ɨJy@J˒;Hy=jB=.I Ea=Ea=Mb@Mb@Mb@ )YZd;O?Mb`?Mb`yj)) 5G٣1y5b 5> =Nusing accuracyPremultiplier from config9E59=g?E5Y= i=r™MjG R>G->B9OU>)w,jAJhv@YJC@JTO9Jkx=yJH@%Ĝ?עh? )??@Z?ɨJhv@J Z;HyV~BVFII~DI~3٢߱=  ;=9?ŻQ > G٣y] > %Nusing accuracyPremultiplier from config!-59%V?-5Y% i%r™15h 5A%E%. ;%P ;% 59 =5A9UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011509*JmC="Jm4=BlqMuutCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseLu uAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseDNOT Ignoring new targets: 47.00 m. jjjji"jhhhhffrfbf4@]]]][@TO ҾI߸9 ɚPiIIii))E:=*F'2F:FBFO0JF E$?IAH5>I1 I5II5BI1&I1.I16I5<:I5L FBIŬCJIŬCRIZI =bI =jId4zKmBoHKmŷ9KiKmC(KmRKyJK}?G} >BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263230*w,AF.t@YFi@F[W9Fa=yFH`6?@TGd?ʔ???ɨF.t@F;DyNBRYIIZQIZ4٢^Ğ= bP=9b̺Q b>dd jG٣hyj7 j> rNusing accuracyPremultiplier from configlr59nG?v5Yn inr™tvvAnEn:n:n‘5x zA~ E%DNOT Ignoring new targets: 47.00 m. j!j)j)j)i)"j)h)h)h1h1f1f1rfbf`s@]]]]ခ@[W eþI9 ɚm iI!IYiaia)i)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515276JsJjJJJK:J9JJJe;Je;J:J:DU9 1I9E=@%=*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=2.767305G B O > *w,R1A> s@Y>蔀@>x9>gw=y>H`+x@?5 O_#? ? H??ɨ> s@>;>&CyJBJsIMb@Mb@Mb@ )Ym?{Gzt?~jtx?y.?ף;; A ;A)AI~Ay(AI=XI=4٢M= M-=9URk;Q U>QY ]G٣Yy]Za ]> eNusing accuracyPremultiplier from configau59e6?u5Ye8 ier™u.?u:uuAeEe";ej!;eГ5 ADNOT Ignoring new targets: 47.00 m. jjjji"jhhhhBffrfbf@@].?].?]D;;]ˀ@x 隽I9 ɚ,iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:04:47.7416 TRx dataTimestamp_ set to:1736381088.972549checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020243D-9E] ; I *F `.2F :F BF JF jH <bH H >I  I II ځBI &I .I 6I گ<:I 3 FzK RIK K9K K D(K  Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iխ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271986G >B O >6*w,NA2Nrq@Y2P@2|92ٮ=y2H? @nW?_?ӵ?0?ɨ2Nrq@2Ò;2$Cy>ÁB>IIFSIF4٢(> 7=9 I;Q  >)1 5G٣1y5tb => ENusing accuracyPremultiplier from config9E59=%?M5Y=Z i=r™IM"MA=E=;=;=ȕ5}ÓB AEmDNOT Ignoring new targets: 47.00 m. jijqjqjqiy"jyhyhhhffrfbf @]]]]@U| QU˾IUŻ9 Yɚ]iYIYIii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 61.5 m (Round-trip 82.0 ms) speed -0.4 m/s ,DAT read: user:3639> JvJpJJJ{T:J^9JJJHu;JJu;J}:J~:BDAT read: Tx time:00:04:48.8554 $Ping request sent. G٣yY* > Nusing accuracyPremultiplier from config59?5Yd ir™?:AE/#;!;e5 AE addTargetRange:: Added new target pos. range: 61.500000 m, deltaT: 3.527868 s, deltaX: 1.700001 m, approachRate: 0.481878 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 47.00 m. jjjji"jhhhh҂BffrfN@bf?]?]?]=@]z.|@-! 15I59 1ɚ5Di1I1IYiaia)a)aBDm=:Dm{>D=9E9E9*EA"EAWill construct direction to contact in vehicle frame from tetrahedron phase data. e$?Ii*F 52F :F BF 4JF H >I C I II BI &I .I 6I ӯ<:I + FzK BoHK K K E(K  "'(**.6>A?=862-+'$   Will construct direction to contact in vehicle frame from tetrahedron phase data.G BO>:E$*w,S鑨A l@Y z@;9B=yHN ZP?F@mq`7`?@rI? ?ɨ l@j;%CyUBUIIm#Im%x3٢> /=9 G٣yy׽ > Nusing accuracyPremultiplier from config59?5Y ir™ AE;;s5 A-DNOT Ignoring new targets: 47.00 m. j)j)j1j1i1"j1h1h1h9h9f9f9rfAbfE@?]a]a]a]ex@u; quPIu[9 yɚ}i}IyIii))MWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F`72F:FBFO0JF I G B O >s**w,c)A:,>k@Y:.]y@:b<9:F=y:HO ?`tX5?Xh??ɨ:,>k@:Ώ;:$CyB BBIzWill construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}V-?Mb~jt?y}h?}@}D<}A }A)}7 AI}Ayy} AIIF2٢= A=9 G٣y[ > Nusing accuracyPremultiplier from config59퓜?5Y ir™?:(AE;W;J5“B  AE DNOT Ignoring new targets: 47.00 m. j j j ji"jhhhhBffrfbf%?]=?]=?]=k@]=s@Ub< QUIUղ9 QɚYi]SIYIiiiii)q)qD9E ?E ?*F:2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.GrA GsAJyJvJ1JJ]:Jϣ9J3Ja@a@a@a@ I G B O >2*w,ȨAZHRH AAH>I  I! II1BI =&I .I?D6I'<:Ie F~GvA!zK-SMK-۵9K)K-F(K- UfQY]vAy]IBzAi@YzCw@zO<9z\=yzH@ (9? ڭiްv?@iq??ɨzAi@zд;xyuBu Iy}AII2٢= >=9 G٣yK > Nusing accuracyPremultiplier from config59Pݓ?5Y ir™AET::/5) - A)DNOT Ignoring new targets: 47.00 m. jjjji"jhhhhffrfbf?]]]]r@MWill construct direction to contact in vehicle frame from tetrahedron phase data.mO< imoIm9 qɚu_iu̲IqIyiyiy))D9*F <2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. m? ??G >B O > 9*w,]A $?I :h@Y:v@: =9: ;=y:H"@? n ؠ?O??ɨ:h@:ڪ;8yF6BF( I]Mb@Mb@Mb@YYY Y)YY]E?~jty]?]]]A ]A)] AI]AYy] AI}AI}k3٢= 4=9o G٣yL! > Nusing accuracyPremultiplier from config59^̓?5Y ir™ ?:i$AE_;Mu;'5B ] AEMDNOT Ignoring new targets: 47.00 m. jIjIjQjQiQ"jYhYhYhihmYBfqfqrfybf}@@]- ?]- ?]-[x@]-m@E = AEIM+9 IɚMiMB O#@*w,`ABՋg@YBתu@BrV=9B@=yBH>?@ŗ' /~ @?`7˪ W+?`?ɨBՋg@B4;@yJDBN: IIROIR 4٢^= ^<=9bj`` bG٣dyf / f> jNusing accuracyPremultiplier from confighn59j?n5Yj ijr™pr%rAjEj:j:j 5x z Ax%DNOT Ignoring new targets: 47.00 m. j!j!j!j!i!"j!h!h)h)h)f1f1rf1bf5@ ]$?IY]]]]ӆl@rV=  I9 ɚE״iIC IS IIYBI =&I.I6I;<:Iq FD9E*F]?2FY:FYBFeo0JFezKeBoHKeU9KaKeG(Ke "G}]>G}]>Will construct direction to contact in vehicle frame from tetrahedron phase data.iGE >BQO}>F*w,4AeWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:04:51.3434 TRx dataTimestamp_ set to:1736381092.507304mf@Yt@$=9n=yH@? 5`` 0?M޽?@]?ɨmf@ ;%CyލNBޕE I)  ==-Mb@Mb@Mb@))) )))Y-rh|?A`"y&1y->-ٽ-`e-\A -~A)-AI-A)y- AI=I=ͳ٢M= U'=9UQY ]G٣ayN > Nusing accuracyPremultiplier from config59񨓜?5Y% is™?:*AE;k;@5   AE5DNOT Ignoring new targets: 47.00 m. j9j9j9j9i9h9 IIIhQhQhUBfYfYrfYbf} @]?]?]|E@]0g@$= 隵I{9 ɚBiIIii))D9*Fq2Fq:FqBFu_0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu >B O >M*w,7A6Qe@Y6ps@6DF=96Z=y6H(M? `>>;?|!?ϭ?ɨ6Qe@6B;6"CyB_BB[ IIJIJʳ٢v= v|=9v!=Q v ?xx zG٣xyzg ~? Nusing accuracyPremultiplier from config 59W? 5Y i#s™  , A²E:;:5  AMDNOT Ignoring new targets: 47.00 m. jIjIjIjIiIhQhQhQhQfQfYrfYbf]el @]]]])f@DF= 隕I*9 ɚiIIii))D}9uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFU5JFJ{ـ3Ks K{(.KsKs"KsJJJJJJJJ =$?I9jH<bHH~>I Is IIsBI =&I.I6I<:I= FBI}ȫCJI}ȫCRI}ȔCZI} =bI} =jI}*6Gm >Bq O >zK KK 9K K H(K 4CHJGGC<;8430-,-)'%"   Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 00:04:51.3434 LVL= 20912, 18865, 13218, 24547, AGC= 56, IDX= 453, 0.24, 0.175, 2.550, 2.324, 1.824, PHS=-1.561, 0.772, 0.497, RAW= 276.2, 2.7, CAL= 278.9, 3.1, ROT= 231.1, -3.1 T*w,6PAYgot valid direction response: 00:04:51.3434 LVL= 20912, 18865, 13218, 24547, AGC= 56, IDX= 453, 0.24, 0.175, 2.550, 2.324, 1.824, PHS=-1.561, 0.772, 0.497, RAW= 276.2, 2.7, CAL= 278.9, 3.1, ROT= 231.1, -3.1 2PDAT read: Bearing 231.1, -3.1 (Local) 6~Local bearing/azimuth received: Bearing 231.1, -3.1 (Local) >DAT read: Range 10 to 50 : 62.7 m (Round-trip 83.7 ms) speed -0.3 m/s B,DAT read: user:3640> FBDAT read: Tx time:00:04:52.4555 F$Ping request sent.FMZB@MA= Mcě@)Mk]=IM@iMk]IIygBd IMnʦ>`E?Էԓ?)Mw.@IMMW?iMNN=MH?II :publishing transmit ping timeD Fpublishing direction and range infoII&ѳ٢=Q = =6=9EAA MG٣IyM I9Ma'"?`dWi?FMyIIII I)III > Nusing accuracyPremultiplier from configiIIIII I)IIIiIIIMnʦ>`E?Էԓ?)IIIiIIII%59?%5Y| iEs™)5%-5AòECF<KF<5=B = A= EkMTѕ?kMRye kI kM5aPA:kMzBBkMyBZkM#Y@"M睖@^F?&y9ROMa'"?`dWi?FMJkMNN=RkMH?*MN a+@FM-W 1OMWoGC_?/y/,"kMl*kM]@kM>Օ?kMf 2kMLB@kIkIkMBkM\AkM? @} addTargetRange:: Added new target pos. range: 62.700001 m, deltaT: 3.780037 s, deltaX: 1.200001 m, approachRate: 0.317457 m/s, rangeRepo size: 4  Added new target pos. range: 62.700001 m, bearing: 328.283677 deg, lat: 36.904876 deg, lon: -122.120099 deg, deltaT: 32.517845 s, deltaX: 15.700001 m, approachRate: 0.482812 m/s, posRepo size: 4 DNOT Ignoring new targets: 62.70 m. jjjjihhhhffrfYO@bfܙ?]y]y]y]}d@M= 隕7I9 ɚB*iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 D O9E E sA*FU ?2FQ :FY BF] P0JFY %Will construct direction to contact in vehicle frame from tetrahedron phase data.G}>BO ?X\*w,msAymBm I!%AMb@Mb@Mb@ )YGz?ʡEy&1y>ケ`A  A)\AIAy AII٢5< ==9=Q =>II MG٣IyM U> ]Nusing accuracyPremultiplier from configQ]59Ux?e5YU iUss™ee>e:e/eAUŲEU;U;U5q u AqDNOT Ignoring new targets: 62.70 m. jjjjihhhhԃBffrfbfl?]e>]e>]1A@]c@ 33IY9 ɚiIIii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.J}~JyJ}0JyJ}{m:JyJ}ـ3JyD9 $?Ih*F 2F :F BF R0JF Hm |>Im C Im  IIm }BIm =&Ii .Im >D6Im <:Im J FzK MK #9K K I(K RK ?JK >G >B O >c*w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.>?a@Y>^o@>0=9>r>y>H@;p? ƿ@Is?`% Z?y?ɨ>?a@>p;>"CyfiBjg II}I}3A٢_ @=9Ý=Q > G٣y > Nusing accuracyPremultiplier from config59.h?5Y is™ 2ADzE;;ʫ5  A#E]DNOT Ignoring new targets: 62.70 m. jYjajajaiahihihqhqfyfrfbf?]]]]`@0= L5I 9 ɚ W i I Iii))D=͹9*F?2F:FBF!1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G >B O > Y IY j*w,G;AJE`@YJdn@Ja >9Jh` >yJH@w? ǿvF ?V0?k?ɨJE`@Jݯ;J%Cy^gB^d IEMb@Mb@Mb@AAA A)AYE!rh?"~j/$yEl>ES㽹E,E/A EA)EAIEAAyEp AII(*٢; G=9h G٣y > Nusing accuracyPremultiplier from config59}Y?5Y is™D>:2AɲEv";{!;5  A%DNOT Ignoring new targets: 62.70 m. j!j)j)j)i)h)h)h1h5Bf1f9rfAbfE??]eD>]eD>]e$[@]e;_@ua > qu=JI}9 yɚ}0=iyIyIii))BD<:D;MWill construct direction to contact in vehicle frame from tetrahedron phase data.DU9*F?2F:FBF?5JFG >BO> Will construct direction to contact in vehicle frame from tetrahedron phase data.p*w,ĩAVd_@YVm@VG>9V>yVH ඖ?ȿ@) ?m? ¿`?`mb?ɨVd_@V0;V"Cy\`IjIjʳ٢r rZ=9vitt vG٣xyz z> $?I  Nusing accuracyPremultiplier from config 59 K?5Y ' i s™3A ʲE S.; d.; :5%B - A-&EUDNOT Ignoring new targets: 62.70 m. jQjQjQjYiYhYhYhYhafafarfabfe?]]]]Ő^@G> 隥WJI9 ɚniIIii))ZHRH@AHI Iy IIxBI&I.I6I<:I= FDl9*Fa2Fa:FaBFeO0JFazK}BHKyKyK}J(K}]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYGA>BO>;%w*w,YݩA2n^@Y2l@2ʝ>92}>y2H$?@ɿO?`sÿ@?@ V?ɨ2n^@23b;2$Cy-hB5f IWill construct direction to contact in vehicle frame from tetrahedron phase data.IJ}J|JJJ[j:J@9JJJ;a]J;aeJ{:amJ|:auI٢ ; 2=9T G٣y > Nusing accuracyPremultiplier from config59z;?5Y i:t™4A̲E:T::5  A5DNOT Ignoring new targets: 62.70 m. j1j1j9j9i9h9h9hAhAfAfArfabfm`@]]]]]@ʝ> II9 I ɚ璵iIIii))DM9EQm Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF ^5JF G 7>BO5>?~*w,*A2|]@Y2k@2'>92 >y2H@T f\?ʿ%:?Ŀ@F?`F?ɨ2|]@2f ;2#Cy>]BBY IEMb@Mb@Mb@AAA A)AYE}?5^I?|?5^v/yEM>EҽExiE\A E$A)EAIAAyE AI]I]٢mM m?=9mLqq uG٣qy}K }> Nusing accuracyPremultiplier from config59,?5Yi ixt™1>:}4AͲE;;5B  A)EDNOT Ignoring new targets: 62.70 m. jjjjihhhh%BffrfbfA@]1>]1>]T@]]@'> cIϚ9 ɚiI!I!i)i)))))2D5rA*D5sAWill construct direction to contact in vehicle frame from tetrahedron phase data.>4= $?IHI I` IIdBI =&I.I6I<:I5 F) D%9 `wA! e Ye`wAymB*F2F:FBFO5JFzK k3IK 9K K K(K  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:04:54.9448  TRx dataTimestamp_ set to:1736381096.280699G >B O- >*w,`[Aj^w\@Yj`j@j6/>9jZ>yjH@M4\?˿߿dl? ſ`?7?ɨj^w\@jL8;j&Cy XB R Ii%=I%=!!I-I-٢=Ҽ =@=9E AA EG٣IyM M> UNusing accuracyPremultiplier from configQ]59U?]5YU iUt™ae5eAUϲEU:U:U5i m6 AqDNOT Ignoring new targets: 62.70 m. jjjjihhhhffrfbfN @]]]]i\@]6/> Y]fI]қ9 aɚeiεiaIaIii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.JyJ}{JyJyJyJ}-9JyJyJyJyJ}:J}: ID59*F?2F:FBF 5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 00:04:54.9448 LVL= 21200, 15681, 11426, 21619, AGC= 56, IDX= 436,-0.14,-2.474,-0.246,-0.155,-0.808, PHS=-1.577, 0.609, 0.650, RAW= 269.1, 2.9, CAL= 272.0, 3.7, ROT= 238.0, -3.7  Ygot valid direction response: 00:04:54.9448 LVL= 21200, 15681, 11426, 21619, AGC= 56, IDX= 436,-0.14,-2.474,-0.246,-0.155,-0.808, PHS=-1.577, 0.609, 0.650, RAW= 269.1, 2.9, CAL= 272.0, 3.7, ROT= 238.0, -3.7  PDAT read: Bearing 238.0, -3.7 (Local)  ~Local bearing/azimuth received: Bearing 238.0, -3.7 (Local) Ge <>Bq O >X*w,3A.DAT read: Range 10 to 50 : 63.8 m (Round-trip 85.1 ms) speed -0.2 m/s 2,DAT read: user:3641> 2BDAT read: Tx time:00:04:56.0555 6$Ping request sent.69rR.>yrH`~ t?@̿@?޿ ; ?@ҩƿ*? M*?ɨr[@r헐;r"C!+j뿜*l??0 ?)&@IPiܫj0?:publishing transmit ping time0Fpublishing direction and range info9\u?ؾ9y )Ii )Ii!+j뿜*l??0 ?)IiyޝNBޥF I5Mb@Mb@Mb@111 1)1Y5ףp= ?MbX9x&y5>5ʡ575A 1)5AI5VA1y5AII٢* =9V G٣y > ]Nusing accuracyPremultiplier from confige59A ?e5Y i u™e>e:e2mAвE<;A5q u| Au,Ekw?kx k k62A:k3BBk}}BZk>"FT?Jd̰O\u?ؾ9JkܫRkj0?*Օ?kkcBkAk? addTargetRange:: Added new target pos. range: 63.799999 m, deltaT: 3.528650 s, deltaX: 1.099998 m, approachRate: 0.311734 m/s, rangeRepo size: 4 e Added new target pos. range: 63.799999 m, bearing: 20.108058 deg, lat: 36.905037 deg, lon: -122.120099 deg, deltaT: 3.528650 s, deltaX: 1.099998 m, approachRate: 0.311734 m/s, posRepo size: 4 eDNOT Ignoring new targets: 63.80 m. jijijijiihhhh0Bffrf`fO@bf@M?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:04:56.0547 ]>]>]'P@],_@=D6> 9EpIE9 AɚEiAIAIiiiii)i)qBD}=:Dy $?IjH <bH p<H }>I  I A II JBI =&I .I 6I <:I L FD H9E sAE tA*F ?2F :F BF 0JF "G R>G N>zKKk9KKL(KWill construct direction to contact in vehicle frame from tetrahedron phase data.G >BO5?78*w,<ZAVY@YVg@V?>9VP>yVH@?̿ ܿ.?`ǿ y?+?ɨVY@VA;V%Cy^:B^. I)` `IjIjb(٢r r =9rtt vG٣tyz[ z> ~Nusing accuracyPremultiplier from configx59zP?5Yz izZu™,5 AzҲEz;z:zt5  AuDNOT Ignoring new targets: 63.80 m. jyjjjihhhhffrfbfD?]]]]\@?> zIr9 ɚ iIIii))D(9%Will construct direction to contact in vehicle frame from tetrahedron phase data.JiJmzJiJiJi*F?2F:FBF!4JFJm9JiJiJiJiJmP:JmQ: IG>BO > Will construct direction to contact in vehicle frame from tetrahedron phase data.{Q*w,sA6CxX@Y6Ef@6M^C>96b >y6HL"?"9Ϳ@ۿb?Eȿ? !?ɨ6CxX@6Y%;6#CyB/BB IeMb@Mb@Mb@aaa a)aYeʡE?y&1e`eeteA eA)e"#AIeAayeAIuIu@ ٢RM B=9| G٣y< > Nusing accuracyPremultiplier from config59풜?5Y iu™>:2AӲE<;D;K5B m A/EDNOT Ignoring new targets: 63.80 m. jjjjihhhh5Bffrfbfj?]%>]%>]%;@]%^z_@5M^C> 9=GI= 9 9ɚ=i9I9IAiAiI)I)ID/9*F%?2F!:F!BF-O0JF)=Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IGM >BY O} >H ~>I  I  II 'BI &I .I 6I <:I FBIʩCJIʩCRIʓCZI =bI =jID%5:*w,ӈA6kTW@Y6mse@6,F>96>y6H@]`?@ͿOڿ?ȿ?`?ɨ6kTW@6H;6&CyB"BB IIJIJ?1٢n# rV=9r;Q r>tt vG٣tyv> v> ~Nusing accuracyPremultiplier from configx59zᒜ?5Yzz izu™3AzղEz;zI;z5  AEDNOT Ignoring new targets: 63.80 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfU7?] ] ] ] xd^@e,F> aeIe9 aɚmh+iiIiIizKuJKu9KqKuM(KuWill construct direction to contact in vehicle frame from tetrahedron phase data.ii))2DsA*DpADZ9Ea>E!>*F%?2F!:F!BF!JF!G-sA G-rAGI Ba Oy U Will construct direction to contact in vehicle frame from tetrahedron phase data.J {J xJ J J d:J 9J J J ";J $;J &:J ': I hd*w,eAyB Ii->I-4>11Mb@Mb@Mb@ )Y$C?{Gzly>ף+A $A)9$AIVAypAI5I5(٢E# E6=9EQ E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configYe59] Ӓ?e5Y]m  i]&v™e>e:e+.mA]ֲE];];]5  ADNOT Ignoring new targets: 63.80 m. jjjjihhhh0Bffrfbf`4?]>]>]@]c@ I9 ɚ%ְ*w,0êAJJ?A:0U@Y:Oc@:K>9:P>y:HM`h?xοٿe^5?aNɿ`Hy??ɨ:0U@:/ы;:'CyF BFIININ۳٢Vw VS=9VhXX ZG٣Xy^Ͱ ^> bNusing accuracyPremultiplier from config`f59bƒ?f5Yb  ibev™dj90jAbײEb:b.:b5rB r Ar2E m$?IiDNOT Ignoring new targets: 63.80 m. jjjjihhhhffrfbf`@]]]]a@ K> EIV9 ɚNiIIQiQiQ)Q)iH}>I}C I}II}BI} =&Iy.I}?D6I}ȯ<:I} FD$9*F)2F):F)BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.zKk3IK-9KKN(KBK:KGi By O >*w,%ݪA6'VT@Y6)ub@6ZM>96 >y6H ?Έο!=ؿgq?bɿkq??ɨ6'VT@6So;6"CyRBRIIjIj%x٢zy zG=9 s;Q  >   G٣y > %Nusing accuracyPremultiplier from config%59߹?-5Y  iv™)-1-AٲE7::l51 5 A9eDNOT Ignoring new targets: 63.80 m. jajajajiiihihihihqfqfqrfqbf@]]]] a@ZM> 隝I9 ɚ`iI%Will construct direction to contact in vehicle frame from tetrahedron phase data.I9iAiI))BD p<:D 4<JMzJMyJIJIJM`: IJM9JIJIJMo;JMq;JM:JM:Dҟ9*FY2FY:FYBFe]0JFa"GuN>GuY>G >B  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:04:58.5456  TRx dataTimestamp_ set to:1736381099.808719O >$*w,A:|S@Y:a@:M>9:>y:H `E? }οw׿`Ƴ`u*?ɿ ?T?ɨ:|S@:;:%CyBBBI)D FA]Mb@Mb@Mb@YYY Y)YY]l?I +?~jty]>]94<]]A ]A)]%AI]~@Yy]=AIqIq٢ A=9j):Q > G٣y< > Nusing accuracyPremultiplier from config59?5Yt iv™>:,AڲE ;H;B5  A5EDNOT Ignoring new targets: 63.80 m. jjjjihhhh+Bffrfbf  @]%>]%>]%Q<]%I)e@=M> 9=I=s9 AɚEaqiIIIIQiQiQ)Q)YDU9*F?2F:FBF0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data. yIyG >BO >H >I C I II ߁BI  =&I .I @D6I J<:I F*w,AnPExceeded connect timeout, disconnecting.yrBrIIzIzͳ٢ Q  R=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-A?55Y-2 }Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:04:58.5456 LVL= 16112, 13201, 13986, 20931, AGC= 56, IDX= 428, 0.09,-3.029,-1.142,-0.546,-1.459, PHS=-1.481, 0.364, 0.910, RAW= 257.4, 1.9, CAL= 261.2, 3.1, ROT= 248.8, -3.1 Ygot valid direction response: 00:04:58.5456 LVL= 16112, 13201, 13986, 20931, AGC= 56, IDX= 428, 0.09,-3.029,-1.142,-0.546,-1.459, PHS=-1.481, 0.364, 0.910, RAW= 257.4, 1.9, CAL= 261.2, 3.1, ROT= 248.8, -3.1 PDAT read: Bearing 248.8, -3.1 (Local) ~Local bearing/azimuth received: Bearing 248.8, -3.1 (Local) DAT read: Range 10 to 50 : 64.4 m (Round-trip 85.9 ms) speed -0.1 m/s ,DAT read: user:3642> BDAT read: Tx time:00:04:59.6555 $Ping request sent.}3 }6)}QIyi}h}5^>}h?}`@}= }@)}k]=I}@i}k]yi-*w™QQUA-۲E-=-=-5Y eAe7Ey}z)0h[??,yA?)}s~@I} i}<}۽?yy}:publishing transmit ping time}Fpublishing direction and range infoy9}Q{?r?(I+;ԿXyyyyy y)yIyiyyyyy y)yIyiyyy}z)0h[??,yA?)yIyiyyK5!] E|]E6&lL'zZ;{phb]XTORK?JK ?k}bQ?yk}S(2 ky k}sA:k}̀BBk}BZk}ۇ?"}/)?:٦f[4MwLhN}Q{?r?(I+;ԿXJk}<Rk}۽?*}&@,@Ѱ=O}r'۷?z?e "k}}fA*k}@k}C ?k}ʞ 2k}@kyk}ʞ k}LB@k}Ak} z?ye addTargetRange:: Added new target pos. range: 64.400002 m, deltaT: 3.527334 s, deltaX: 0.600002 m, approachRate: 0.170101 m/s, rangeRepo size: 4  Added new target pos. range: 64.400002 m, bearing: 67.381039 deg, lat: 36.905037 deg, lon: -122.120131 deg, deltaT: 3.527334 s, deltaX: 0.600002 m, approachRate: 0.170101 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.40 m. jjjjihhhhffrfP@bf+׳?]]]]  +I 9 ɚ i I Iii))D5 B9U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:00:04:59.6547 $?I *F 2F :F BF O0JF! Ge>BqO?*w,z1A6Q@Y6`@6+M>96t>y6H\ y?2οֿP ? yɿn??ɨ6Q@6D;6$CyBBBIEMb@Mb@Mb@AAA A)AYE"~?L7A`?~jtyE>E+=AEQ"A A)E(AIEAAyEAuWill construct direction to contact in vehicle frame from tetrahedron phase data.I}I}㔳٢ =9`Q > G٣yA > Nusing accuracyPremultiplier from config59?5Y i{w™+>:*AݲE;N;@5 ADNOT Ignoring new targets: 64.40 m. jjjjihhhhCBffrfbf?]%+>]%+>]%=]%s&g@5+M> 1=QI=9 9ɚ=i9I9IAiAiI)I)ID ݗ9*F?2F:FBFP0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.JM sJM kJM 1JI JM K:JM 9JM 3JI ae @ae @ae @ae @ 9 I9 jHQ bHQ H] >I] C I] II] BI]  =&IY .IY 6I] <:I]  Fm c~G} vA AG B O >*w,gLA YvAy"{A>Q@Y>-_@>ZJ>9>*T>y>H`Q@~?@oͿ@տ@ ?+ɿ ? ?ɨ>Q@>z;II MG٣IyU U> ]Nusing accuracyPremultiplier from configQ]59UZ?e5YU iUw™ae+eAU޲EU:U.:U5uB u!Au:EDNOT Ignoring new targets: 64.40 m. jjjjihhhhffrfbf?]]]]Df@ZJ> ޚI~9 ɚiIIii))D9 nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.izK}OK}-9KyK}P(K}KFB=;930/,)&!   *F?2F:FBFO5JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.(*w,kfA .$?I,}9P@Y}X^@}#xH>9} >y}H R? uͿ0~Կ@6`?@ȿޒ? ?ɨ}9P@}G;}"Cyޝ΁BޝIeMb@Mb@Mb@aaa a)aYeFx?Zd;O?~jtye>ej<=ae@ a)e7'AIaaye(AII٢;' 2=9Q > G٣y  > Nusing accuracyPremultiplier from config59Cx?5Y iw™>;8*AE;;5) -nA)UDNOT Ignoring new targets: 64.40 m. jQjQjYjYiYhYhYhahe9Bfafarfibfm@ue?]>]>]t=]g@#xH> 隥 WI9 ɚPiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DM9*F 2F :F BF l0JF G>BO5>_*w,/A6lO@Y6]@6y]F>:Will construct direction to contact in vehicle frame from tetrahedron phase data.96H>y6H`r?1CͿhӿP@vĵ?ȿ,??ɨ6lO@6.;6$CyBǁBFIJNpJNhJLJLJNA:JNȆ9JLJLXZAAI^I^ʳ٢b$ fP=9fQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configlv59nl?v5Yn~ in9x™tv*zAnEn;ny;n5| ~A~=E qIqDNOT Ignoring new targets: 64.40 m. jjjjihhhhffrfbf8?]!]!]!]%&g@y]F> 隭>dI9 ɚ+iIIii))BD<:Dp;H>I IyIIBI =&I.I6I<:IO F*F12F1:F1BF5O5JF9%Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMK9KKQ(KG} >B O >!*w,靫AF N@YF\@F!E>9F >yFH6`a^?-Ϳӿgb?`Rȿ@9?@ ?ɨF N@F$;F#CyRBRI)T VA Z=Zp=I^I^٢j} nK=9rQ r>tx zG٣xyz z> Nusing accuracyPremultiplier from config| 59~Ea?5Y~N i~tx™+A~E~>+;~U;~5! %A!MDNOT Ignoring new targets: 64.40 m. jQjQjQjQiQhQhQhYhYfafarfabfe`@]]]]rf@!E> 隕}I9 ɚiIIii))*F5?2F1:F1BF5O0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.*JR="Ja= $?IGqBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.L*w,ȷA6M@Y6 \@6D>96 ">y6H" ? ̿B^ҿ 5? kȿ@?`>?ɨ6M@61;4y>BBI Mb@Mb@Mb@    ) Y ~jt?kt?333333y >  0=  @ QA) |'AI lA y AImIm4٢} @=9 Q > G٣y > Nusing accuracyPremultiplier from config59eU?5Y ix™>;,AE+;D;j5  ADNOT Ignoring new targets: 64.40 m. jj!j!j!i!h)h)h1h5Bf9f9rfAbfE@@]}>]}>]}a=]}e@D> 隥BI9 IɚMiiIqIqiqiy)y)yWill construct direction to contact in vehicle frame from tetrahedron phase data.JqJJJJD:JJJ*FU?2FQ:FQBFU4JFQ IZH RH ?AH >I  I fII BI &I .I AD6I <:I ; FBI]ɬCJI]ɫCRI]ɔCZI] =bI] =jI]ɝZ6G B O >:*w,ѫA6GGM@Y6If[@6B>96">y6H@$(?`̿ѿ*Za?6-ȿ??ɨ6GGM@6c;6%CyBBBIIJIJV٢R RY=9RiQ R>TT VG٣Ty^ܼ ^> bNusing accuracyPremultiplier from config`f59bJ?f5Yb ibx™hj@-jAbEbC;bC;b5rB rAr@E DNOT Ignoring new targets: 64.40 m. jjjjihhhhf!f!rf!bf%@]I]I]I]MMd@eB> ae(FIey9 aɚe0iaIaIqiqiq)q)y Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:05:02.1461 TRx dataTimestamp_ set to:1736381103.344545zKJK`9KKR(K  *F?2F:FBFO0JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.ս Y>ս = I _*w,EA>_L@Y>aZ@>l@>9>">y>H A`? 8̿ ѿ@*? oǿ@j?i ?ɨ>_L@>%΋;>$Cy^B^Iibe>Ib=dfAuMb@Mb@Mb@qqq q)qYux&1??S㥫yu>u>u/]u\@ uA)uf&AIqqyufAII٢ ;=9@Q > G٣y5ڼ > Nusing accuracyPremultiplier from config59/??5Y5! iy™>;D!AE;#;5 MADNOT Ignoring new targets: 64.40 m. jjjjihhhhdBffrfbf@ @]U>]U>]U->]Upp@el@> a隍3Iһ9 ɚ=iIIii))5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:05:02.1461 LVL= 19376, 12705, 12402, 23187, AGC= 54, IDX= 433,-0.05, 0.803, 2.533,-2.859, 2.342, PHS=-1.451, 0.237, 1.078, RAW= 250.9, 1.2, CAL= 254.7, 2.2, ROT= 255.3, -2.2 Ygot valid direction response: 00:05:02.1461 LVL= 19376, 12705, 12402, 23187, AGC= 54, IDX= 433,-0.05, 0.803, 2.533,-2.859, 2.342, PHS=-1.451, 0.237, 1.078, RAW= 250.9, 1.2, CAL= 254.7, 2.2, ROT= 255.3, -2.2 PDAT read: Bearing 255.3, -2.2 (Local) ~Local bearing/azimuth received: Bearing 255.3, -2.2 (Local) *F2F:FBFP0JFDAT read: Range 10 to 50 : 64.8 m (Round-trip 86.4 ms) speed -0.2 m/s  ,DAT read: user:3643> BDAT read: Tx time:00:05:03.2556 $Ping request sent.5?5!@5< 5V@@)5nF=I5 @i5nF115%H >h*?)E3$?)5D@I5i5_5_?11E:publishing transmit ping timeEFpublishing direction and range info195=A{?xQڿ}f y1111 1)1I1i11111 1)1I1i1115%H >h*?)E3$?)1I1i1111G B O- >H+w,ccAFWill construct direction to contact in vehicle frame from tetrahedron phase data.FJDAT read: TxSync time:00:05:03.2548 RK@YRY@Rn>>9Rk !>yRHZz?˿lrпk@?y?Ǫǿ`y?f?ɨRK@Rz;R#CJCKC KCKCKC"KCJjrJhJhJhJjG:JhJhJh =$?IAyUBUIIeIei٢} }M=9Q > G٣yԼ > Nusing accuracyPremultiplier from config59C4?5Y# i@y™!AE:&:5 mAkeFȓ?keMC% ka keakA:keBBkeBZke?"eg?{!;jMe=A{?xQڿ}f Jke_Rke_?*e$C Q@X}3@*Ne2h?o??rl"keA*ke@keV4˓?ke"" 2keN@kakakakeAkeӷp? addTargetRange:: Added new target pos. range: 64.800003 m, deltaT: 3.538387 s, deltaX: 0.400002 m, approachRate: 0.113046 m/s, rangeRepo size: 4  Added new target pos. range: 64.800003 m, bearing: 76.083517 deg, lat: 36.905037 deg, lon: -122.120131 deg, deltaT: 3.538387 s, deltaX: 0.400002 m, approachRate: 0.113046 m/s, posRepo size: 4 DNOT Ignoring new targets: 64.80 m. jjjjihhhhf f rf @33P@bf1^?H5>I5C I5SII5BI5 =&I1.I16I5ׯ<:I55 F]I]I]I]M-p@en>> ae3Ie9 ɚ"iIIii))*F]?2FY:FYBFe_0JFa"GmV>GmR>-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)zK \LK 9K K S(K G >B O >o+w,1A2,%K@Y2.DY@2;>92!>y2Hu@ ?A[˿ xϿ@ED?[ǿ??ɨ2,%K@2;2&CyrBv}IxzBAI~I~٢ $  R=9 ϻQ  > G٣y %> -Nusing accuracyPremultiplier from config!559%)?55Y%% i%gy™AE"EA%E%;%ݖ;%h5]B ]xA]CEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf?]]]]-oo@;> 3Iҷ9 ɚާiIIii4>))Will construct direction to contact in vehicle frame from tetrahedron phase data.*J"Jp= 1I1*F12F9:F9BF=?1JF9G>BO=>E Will construct direction to contact in vehicle frame from tetrahedron phase data., +w,J 9AN,I@YN.W@Nߐ5>9N>yNH`?!ʿ,̿m`?ƿ`?#?ɨN,I@N2+;N$CyZBZIuMb@Mb@Mb@qqq q)qYu^I +?ʡE?i|?5yuX>u-=uquE@ uA)u%AIqqyuAII٢< A=9pQ > G٣y_ > Nusing accuracyPremultiplier from config59?5Y' iy™> ;P)AEQ;Z8;A5 NADNOT Ignoring new targets: 64.80 m. jjjjih h h h NBffrfbf?]5>]5>]5ڄq>]5h@Mߐ5> QUIU9 QɚUliQIYIYiYiep>)a)a*F2F:FBFQ5JFG->BOF>Will construct direction to contact in vehicle frame from tetrahedron phase data. I!jH5 <bH5 <HM >II  IM MIIM BIM  =&II .II 6IM į<:IM ) Fǂ+w,}RAJ:H@YJ9J>yJH ?ɿW˿`a?:ƿג?!?ɨJ:H@J;HyVBVII^I^@ ٢fi= fY=9jQ j>hh jG٣lyn r> vNusing accuracyPremultiplier from configpv59r|?z5Yrb) iry™xz(*zArEr:r&:r5 A5DNOT Ignoring new targets: 64.80 m. j1j1jjihhhhffrfbf?]]]]g@Will construct direction to contact in vehicle frame from tetrahedron phase data. 2>  RI 9 ɚiII9i9i= f>)9)9zKmjIKm9KiKmT(Km Dˍ9E]>E>*Fi2Fi:FiBFm0JFqGy G}sA Will construct direction to contact in vehicle frame from tetrahedron phase data.J J AAJ nJ lJ J J |;:J 9J J J J;a J J;a J (:a J ):a $?I Gu ‚>B O >8+w,UgmAy-B-IMb@Mb@Mb@ )Yq= ףp?y&1?`<t\@ ;A)$AIAyAII<٢F 5=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 ?5Y * i y™>;m3A E ; j; 5! %A%FEUDNOT Ignoring new targets: 64.80 m. jQjQjQjQiQhYhYhYh]]Bfafarfabfe@?]>]>]tǪ=]^@ 隝ףI9 ɚdiIIiih>))DyWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFx3JFG!>BO5O>H!+w,!AWill construct direction to contact in vehicle frame from tetrahedron phase data. 4I4ZNG@YZmU@ZM0>9Z#>yZH?7*ɿ 7ȿ+@?ſ??ɨZNG@Zٗ;Z"CydjIIrIr³٢zN z]=9~һQ ~>| G٣y{ >  Nusing accuracyPremultiplier from config 59 z?5Y + i 'z™4A E ; ; }5) -A1]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhahahahafafirfibfmMu@]]]]m?]@)= CMNGe`wA}A}M0>HI ISIIBI&I.I6I^<:I F 隽pI9 ɚᱶiI WY`wAyAIiif%R>))2D*DD9*F2F:FBFP0JFG}8i>BOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JK -9K K U(K Z'+w,A2F@Y2T@2K.>92%>y2H@=@5?Qȿǿ 85`^?ſZV?@ ?ɨ2F@2;0yvBvII~I~̍٢ ^=  I=9 Q > G٣y > %Nusing accuracyPremultiplier from config!-59%?-5Y%, i%Zz™15r55A%E%:% :%D59 =AADNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`@]]]]\@K.> I޼9 ɚ_iIIiisL>))5Will construct direction to contact in vehicle frame from tetrahedron phase data.JEpJEqJE0JAJEA:JEq9 U$?I]hJEـ3JAJET;JET;JE:JE:=?=<D]9Ey*F?2F:FBFO0JF"G>G= Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:05:05.7470  TRx dataTimestamp_ set to:1736381106.872675G= g>BI Oe >.+w,AF8!F@YF:@T@F,>9F'>yFHx?|ȿ ſ?>@?Axſ@?@ ?ɨF8!F@F;F$Cy^ǁB^IMb@Mb@Mb@ )YS㥛??V-yݤ>L=m A )"#AIAy AII٢ = ?=9Q > G٣y > Nusing accuracyPremultiplier from config59aꑜ?5Y- iz™v> ;1AEL;;"5B AIEDNOT Ignoring new targets: 64.80 m. jjjjihhh!h%Bf)f)rf)bf-V" @]Mv>]Mv>]M>]M=F`@],> Ye둿Ie9 iɚmԽiiIiIqiqiu-E>)q)y 1I1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Dό9*Fe?2Fa:FaBFaJFaZHRHAAH>I I`IIBI =&I.I6I<:I FG= ^>BI Oe >4+w,ԬA6׬E@Y6S@6r*>96Wp'>y6H`h?ȿſ0F ?@/5ſx?#?ɨ6׬E@6;6!CyRցBRIIZIZn٢b= b\=9b5Q f>dh jG٣hyjf n> rNusing accuracyPremultiplier from configpv59rᑜ?v5Yr. irz™xzP2zArEr^;rM;r5 A-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h1h1h1h1f1f9rf9bf=@ @]a]a]a]eg_@Will construct direction to contact in vehicle frame from tetrahedron phase data.ur*> Y]^Ie9 iɚmyƶiiIIiiju?>))zKBoHK9KKV(K*F?2F:FBFm0JFGN>BOD> 1 I1 JU qJU hJU 1JQ JU D:JU Ȇ9JU 3JQ JU IZ;JU LZ;JU Ӭ:JU լ:m Will construct direction to contact in vehicle frame from tetrahedron phase data.} DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.3 ms) speed -0.1 m/s  ,DAT read: user:3644>  BDAT read: Tx time:00:05:06.8556  $Ping request sent. 9:N(>y:H+`? zǿ>ÿ@M)v?ĿF?#?ɨ:E@:̊;:#CyׁBI]Mb@Mb@Mb@YYY Y)YY]Cl?S㥫?A`"y];>]/]=]Y]@ ]$A)YI]AYy]pAIIi٢E; /=9Q > G٣yJ > Nusing accuracyPremultiplier from config59Ց?5YR0 iz™>%;1AE;;5 AKE addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.781115 s, deltaX: 0.599998 m, approachRate: 0.158683 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 64.80 m. j j j j i hhhhlBffrfYP@bf ?]E>]E>]E 0>]EnH`@Uz(> Y]zI]9 Yɚ]ȶiYIYIaiaimG8>)i)iEurAEurAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:05:06.8548 *F?2F:FBF0JFG6N>B O% >  I B+w,bgAWill construct direction to contact in vehicle frame from tetrahedron phase data.VD@YVñR@V%>9V>yVH@e:i?*ǿ¿b`A?ĿD? 57?ɨVD@V;TybBbIIjIj@ ٢r= rl=9vQ v?tx zG٣xyz ȼ z? Nusing accuracyPremultiplier from config|59~͑? 5Y~H1 i~z™  ~2 A~E~0;~Z;~N5! %wA%NEMDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf]j?]y]y]y]}M_@%> 隕I(9 ɚʶiIIii0>))HIII IMrIIMBII&II.II6IMׯ<:IM7 FBI­CJI­CRI“CZI =bI =jI!T5*FQ2FQ:FQBFU05JFQG-$I>B9OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK! K% u9K! K% W(K% J.H+w,P"A6fC@Y6hR@6Χ">96t >y6H`8H \?ޜƿpg u??Ŀ`7?5?ɨ6fC@6ދ;6$CyBBBIiFp=IFi>FAFAIfIfD٢rK; rJ=9rbQ v>tt vG٣tyz z> Nusing accuracyPremultiplier from config|59~Ñ?5Y~b2 i~"{™%3%A~E~;~;~59 EoAADNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`?]]]]{_@ $?IΧ"> I9-Will construct direction to contact in vehicle frame from tetrahedron phase data.J=pJ=dJ=0J9J=A:J=|9J=ـ3J9J=T;J=T;J=:J=: ɚ]ͶiYIYIiiqiu)>)q)*FE?2FI:FIBFM@5JFQG u9>B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.hN+w,l9:#>y:HV?&ƿ zzl@?``ÿ$?4?ɨ:NUC@:'Q;:&CyBBBIMb@Mb@Mb@ )YQ?:v?v/y(>T<xi A A)"AI~AyAI1I1٢Et= EB=9MлQ M>II UG٣QyUyƼ ]> eNusing accuracyPremultiplier from configYe59]?m5Y] 3 i]N{™m>m*;m;mA]E];]<;]5  A]DNOT Ignoring new targets: 64.80 m. jajajajaiahahahihm4Bffrfbf&i?]>]>]iz.=] I%k9 !ɚ%Xֶi!I!I)i1i5&!>)1)92DE*DEBDE:DE*F]?2FY:FYBF]1JFY IWill construct direction to contact in vehicle frame from tetrahedron phase data.G]T0>BiOZ>jH <bH <HI IIIBI =&I.I6Iί<:I1 F=U+w,UA:B@Y:P@:<>9:&>y:HWa@UD?ſ` p@>?ÿ S?1?ɨ:B@:n;:"CyRBRII^I^=س٢vF= vS=9z]޺Q z>xx zG٣|yǼ >  Nusing accuracyPremultiplier from config 59 ?5Y 3 i v{™v<A E  ; m ; 5! % A!UDNOT Ignoring new targets: 64.80 m. jQjQjYjYiYhYhahahafafirfibfm`!?]]]]jU@Will construct direction to contact in vehicle frame from tetrahedron phase data.<> 隭I!9 ɚ޶iIIiiR>))*FU?2FQ:FQBFUO0JFQzKiJK9KKX(KGue*>BO> $?IU Will construct direction to contact in vehicle frame from tetrahedron phase data.U =?U <j[+w,oAVIB@YVhP@V~B>9V)>yVHi s? ſTrY?,ÿ? V/?ɨVIB@V;V%Cy^ B^I)` ` f=dMb@Mb@Mb@ )YOn?QQy>uu=A OA) AIyAII%٢c< >=9%Q > G٣y? > Nusing accuracyPremultiplier from config59ȥ?5Y3 i{™ӛ>.;BAE ;f;|5B c AQEDNOT Ignoring new targets: 64.80 m. jjjji!h!h!h!h%Bf)f)rf)bf5 g@]Uӛ>]Uӛ>]Us@]UNO@e~B> aeIe19 aɚeiiIiIiiI)>))*Fa2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.GMD>BYOu6> y Iy J] rJ] gJ] 1JY J] G:J] 9J] 3JY ae @ae @ae @ae @m Will construct direction to contact in vehicle frame from tetrahedron phase data.ab+w,A:+A@Y:-P@:V>9:P+>y:H p ?qſ `s ? ÿ`I?@.?ɨ:+A@:;:&CyBBB IININ٢V= V[=9VъQ V>XX ZG٣Xy^p b> fNusing accuracyPremultiplier from config`f59b֜?n5Yb64 ib{™pr$CrA`bj;b;b5t z AxDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfC@H>I IIIځBI&I.I6I<:I F]]]]xN@EV> AE~IE9 IɚM)iIIIIQiQiU>)Q)Y*F2F:F BF _0JF G GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.GM6>BQO>zK] k3IK] 89KY K] Y(K] "#AZ ? p O 9 ZM:lRKm ?JKm ?h+w,w٣A @BA@YBO@BG(>9BD,>yBHzv߼?@*ſ@W>Fv`^W?Rÿ@/?/?ɨBA@Bho;@yN'BN IIVIV٢^c= ^I=9biQ b>`` fG٣dyfX f> nNusing accuracyPremultiplier from confighn59j?r5Yjz4 ij{™przCrAjEj* ;j;j5t v} AxDNOT Ignoring new targets: 64.80 m. jjjjihh!h!h!f!f)rf)bf-`p@]Q]Q]Q]UN@ IG(> !%vI%o9 )ɚ5i1I1IQiQiUZ >)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:00:05:09.3476 5TRx dataTimestamp_ set to:1736381110.664019*F2F:F BF 0JF Gc>BOK> Will construct direction to contact in vehicle frame from tetrahedron phase data.+n+w,A6dA@Y6 O@6L>96d,>y6HD{7?Ŀ)x`wq?4ÿ "5?`1?ɨ6dA@6N;6"Cyb-Bb Iif>If<Mb@Mb@Mb@ )YzG?lX9vy >}A $A)AISAyAII̍٢5< 9=9Q > G٣y > Nusing accuracyPremultiplier from config 59? 5Y4 i,|™>.;HAE <ͪ<5B G ATEDNOT Ignoring new targets: 64.80 m. jjjjihhhh%GBf!f)rf1bf5 ~ @]U>]U>]U@]UI@eL> aefIe9 iɚmiiIiIqiqiuO& >)y)y $?I*F%?2F!:F!BF%0JF!JsJoJ0JJK:JK9Jـ3J%Will construct direction to contact in vehicle frame from tetrahedron phase data.%=%<5DAT read: Range 10 to 50 : 65.8 m (Round-trip 87.8 ms) speed 0.0 m/s U,DAT read: user:3645> BDAT read: Tx time:00:05:10.4556 $Ping request sent.c~GB9 OU >ϛu+w,8׭A2A@Y22O@2i>92 .>y2Hʱ?Ŀ~=@rx?¿-j?y1?ɨ2A@2wU;2%CyB5BB' IIJIJk٢f%= f_=9jVQ j>hh jG٣lynZ r> vNusing accuracyPremultiplier from configpv59r?z5Yr4 irU|™xzHzArEr:r:rn5  A 5 addTargetRange:: Added new target pos. range: 65.800003 m, deltaT: 3.532877 s, deltaX: 0.400002 m, approachRate: 0.113223 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 64.80 m. j9jAjAjAiAhAhAhIhIfIfIrfU@3sP@bfU{?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:05:10.4548 ]]]]PI@i>  I lj9 ɚ iIIiiE>))!zKE:7320.+)&(D}ݍ9 I*F?2F:FBFo0JFJ J ?A5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GE >By O >b|+w,3A6@@Y6O@6>961.>y6Hφ9?,Ŀiy(?S¿`q?@4?ɨ6@@6;6$CyB6BB( IMb@Mb@Mb@ )YQ?&1 rhy(>PC SA) AIAypAI%I%٢5.; 5;=9=Q =>AA EG٣AyMλ M> UNusing accuracyPremultiplier from configQ59Ut?5YUb4 iU|™>';F@AUEU]>]@]F@> I9 ɚKiIIiiV>))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF@5JFG7>BOG> ) I) J J jJ J J J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,@ AZy@@YZN@Z0b>9Z<->yZH #$[?ÿ⵿@}?U<¿@T?`8?ɨZy@@Z<;Z&CyfHBf? I)h hHr>Ip IrIIrBIp&Ip.Ip6Ir<:IrM F ~p=~=II٢= N=9Q >!! %G٣!y%։ -> 5Nusing accuracyPremultiplier from config)559-9k?=5Y->4 i-|™9=F@=A-E-2;-;-5I Ml AUWE}DNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhhhhffrfbf@=?]]]]F@0b> xIw9 ɚ+ iIIiQiUj=)Q)Y*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOe>zKe %OKe 9Ka Ke [(Ke &$"##   +w,T&ABG@@YBfN@B>9B5:0>yBHPȭ? qÿ`N{^??@N7?ɨBG@@B ;B$CyNABN6 I pIpInInD٢z ~L=9~Q ~> G٣y   > Nusing accuracyPremultiplier from config 59 Sa?5Y 4 i |™E@%A E ; -; 5) - A)uDNOT Ignoring new targets: 64.80 m. jqjqjqjqiqhyhyhhffrfbf@?]]]]E@> QI9 ɚMiIIii=))}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F}?2Fy:FyBFyJFG]Q=ByO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,_@AyFB%< IMb@Mb@Mb@ )Y1Zd?)\(333333y">Ga A)AAISAyAII٢Q< ==9Q > G٣y > Nusing accuracyPremultiplier from config59V?5Y3 i"}™G>';IE@AE[;#;5  | A =DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9h9hAhAhEFBfAfIrfIbfM ?]mG>]mG>]mP@]m'IE@y y}I$9 ɚviIIii-{=))I $?I*F?2F:FBFJFJmqJmlJm1JiJmD:Jm9Jm3JiWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<HI I II,BI&I.I6Iޯ<:I8 FBIƬCJIRIZIbI =jIƣ5GE /=BI Om >/(+w,YA>?@Y>M@>m>9>,Y1>y>H@Ҙ?m ÿ .|?H?7?ɨ>?@>7(;>&CyRDBR9 IiVa>IV=VAVAIZIZͳ٢ba f^=9fQ f>hh jG٣hyj n>rWill construct direction to contact in vehicle frame from tetrahedron phase data. zNusing accuracyPremultiplier from configx59zM?5Yz3 izQ}™D@ AzEzv=;zD=;zT5B  AZE=DNOT Ignoring new targets: 64.80 m. j9j9j9j9iAhAhAhAhAfIfIrfIbfM@@]y]y]y]} 隍I]9 ɚ]iIIii-=))2D*DBD:D*F?2F:FBF_0JFzK%LK%k9K!K%\(K% BK1:K1 IG=BO->Will construct direction to contact in vehicle frame from tetrahedron phase data.@V+w,sAV˳?@YVM@Vj! >9VAv0>yVH@ߛv?`¿ ٲ~??@":?ɨV˳?@V+;V#CynEBn; ImMb@Mb@Mb@iii i)iYmCl?{Gz#~jym;>m#m㥽mA mA)m+AImAiyiII̍٢; ==9@Q > G٣yȻ > Nusing accuracyPremultiplier from config59B?5Y3 i}™Х>#;RH@AE;; ;35  ADNOT Ignoring new targets: 64.80 m. jjjjihhhhEBff rf bf @]-Х>]-Х>]-@]-RH@=j! > 9=IE9 AɚEiAIIii==))EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFn0JFG?=BOA> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:00:05:12.9478  TRx dataTimestamp_ set to:1736381114.188556T9+w,AHJ>IH IJ( IIJ6BIJ =&IH.IH6IJί<:IJ+ F}?@Y}M@}L$ >9}H/>y}H v@JO?q¿`4_ G٣y8 > %Nusing accuracyPremultiplier from config!-59%7?-5Y%3 i%}™&H@A%E%7<%<%,5  ADNOT Ignoring new targets: 64.80 m. jjjjihhhhf!f!rf!bf%fu @]a]a]a]e&H@L$ > 隝YI9 ɚ iIIii8=))*FY2FY:FYBFeg0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.' TFailed to parse incomplete device message.G X=B O >dd+w,dA (I,nSc?@YnUM@n >9nk/>ynH`F?}¿@` 1? QD?->?ɨnSc?@n;lyz8Bz+ I)Q Q ]=]p=ImIm٢N  d=9 Q > G٣ysٻ > Nusing accuracyPremultiplier from config59.?5Y3 i}™G@AE/;Q;5B  A]E%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i)h)h)h)h)J=zJ=J9J9J=`:J=[9J9J9J=p;aMJ=q;aMJ=;aMJ=;aMf1UWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 65.9 m (Round-trip 87.9 ms) speed 0.0 m/s ,DAT read: user:3646> BDAT read: Tx time:00:05:14.0557 $Ping request sent. &I΋9 ɚ%iIIIiIiM=)Q)Q*F?2F:FBF%/1JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:05:14.0549 GE j=BQ Om >1L+w,?A6)?@Y6HM@6ױ >960>y6Haુ?+Q¿d V?( ?=?ɨ6)?@6";6%CyR1BR" I-Mb@Mb@Mb@))) )))Y-S?:v/$y-/>-T--AA -A))I-A)y-QAIEIE?٢U UM=9Q > G٣y > Nusing accuracyPremultiplier from config59$?5Y3 i(~™>&;|DAEV;T;5  A5 addTargetRange:: Added new target pos. range: 65.900002 m, deltaT: 3.527781 s, deltaX: 0.099998 m, approachRate: 0.028346 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9hAhAhAhE!BfIfIrfIbfM߾?]m>]m>]m+@]mM@ױ > 隍QxI9 ɚ(iIIii=)) 9IA*F)2F):F)BF-4JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH?AHI I! II1BI =&I.I@D6I̯<:I) FGm?=ByO>_x+w,S#ۮA>?@Y>$M@>9>9><1>y>H`+@?@{+ీ0?`L?>?ɨ>?@>';>&CyN(BN IIVIVV^Will construct direction to contact in vehicle frame from tetrahedron phase data.٢bx> fT=9jһQ j>hl nG٣lynSû n> rNusing accuracyPremultiplier from configpv59r]?z5Yr4 irX~™xzDzArEr;r-;r&5| f A-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h1h1h9h9f9f9rf9bfE`m?]a]a]a]eM@}9> y}|I}9 yɚ},iIIii=))*F ?2F:FBFO0JFGFM=BO >zKbLK9KK^(K %$?I!J3K3 K/.KK"KJUuJUlJU0JQJU[Q:JU9JUـ3JQmWill construct direction to contact in vehicle frame from tetrahedron phase data.m>m!@JUo;JUo;JU(:JU):N+w,Az>@YzL@z4F>9z/>yzH|Q?|鬿 ??y@?IB?ɨz>@z;z%Cy ,B  IiR=Il>AMb@Mb@Mb@ )Y$C?Mb?{Gzy>=ףA lA)AIAyAII(*٢g< ;=9n Q > G٣y}~ > Nusing accuracyPremultiplier from config59?5Y4 i~™M>);z;AE;; 5 F A%DNOT Ignoring new targets: 64.80 m. j!j!j!j)i)h)h1h9h= Bf9f9rf9bfE@Y?]M>]M>]=]ŤV@4F> pI9 ɚ0iIIii%K=)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFGi=B I O >) C ~G vA E {YE vAyE RA Will construct direction to contact in vehicle frame from tetrahedron phase data. @ SB+w,AH>I I II,BI =&I.I6I<:I FR->@YR/L@R >9Rg0>yRHrڠ?2g?R҃ ?Ur?hC?ɨR->@R1;R$CyZBZ IIfIf$٢j n[=9rQȻQ r>pt vG٣tyvO v> zNusing accuracyPremultiplier from configx59z?5YzO5 iz~™;AzEz;z;z 5  A}`EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf S?]9]9]9]=ВV@M > IMxIU9 qɚuc4iqIyIyiit=))D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fi2Fq:FqBFuO0JFqGM b=BQ Ou >zK LK 9K K _(K *AS^efelv{|{zz{xrolke`[RG=<:854/'   I =+w,C(AyB II-I-٢Eֻ MC=9MQ U>QY ]G٣Yye e> uNusing accuracyPremultiplier from configq59u?5Yu5 iu~™AuEuh- Will construct direction to contact in vehicle frame from tetrahedron phase data.R+w,vBA>>@Y>!L@>M>9>3>y>HC?`V`Y@`?J,?@e>?ɨ>>@>;>&CyRBRI)T T V=V=5Mb@Mb@Mb@111 1)1Y55^I ?V-?333333y5>5h=55A 5A)5AI5A1y5 AIMIM٢e{ eH=9e>:Q m>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}?5Y}7 i}™>(;3A}E};}U;}J5  ADNOT Ignoring new targets: 64.80 m. jjjjihhhh܃Bfqfqrfybf}m@ $?I]>]>]Hp>]`-^@M> cI9 ɚI! I% II%BI!&I!.I!6I%ϯ<:I%) FG5=BO>+w,^d\A6ŷ=@Y6K@6>963>y6H࠳x?>``(?o+?g>?ɨ6ŷ=@6;6$CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yRBVIII(٢%P %O=9%8Q %>)) -G٣)y-= 5> ENusing accuracyPremultiplier from configAM59Eꐜ?M5YE8 iE6™IM=4MAAEi:Ei:E5]B ] A]cEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfm@]]]]>]@> dIs9 ɚx?iIIii=))*FU?2FQ:FQBF]3JFYGerA GesAG-=B1OU>zK%KNK%89K!K%`(K% $%##%!"#"$'&"   IJ5vJ1J1J1J5{T:J1J1J1J5Hu;J5Ju;J1J1UWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:00:05:16.5480 ]TRx dataTimestamp_ set to:1736381117.716574+w,XWvAs=@YK@fJ>9J2>yH rȀ?8@ ꣿ?C`3?_??ɨs=@;%CyUBUIMb@Mb@Mb@ )YM?q= ףp?Zd;yn>=y+A VA)AIAyIIk٢B <=9 :Q  > G٣y@ > %Nusing accuracyPremultiplier from config!-59%?-5Y%9 i%X™5>5(;5+5A% E%;%;%59 = AAmDNOT Ignoring new targets: 64.80 m. jijijijqiqhqhyhh׃Bffrfbf @]E>]E>]E>]E\f@UfJ> Y]cI]!9 Yɚ]KCiYIyIii=))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F12F1:F9BF=53JF9 iIiG] ^=Bi O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: Range 10 to 50 : 66.0 m (Round-trip 88.1 ms) speed 0.0 m/s -e X#Rx 9: Read range message, but no direction.Q yU BQ H >I C I II BI  =&I .I 6I A<:I | FBIJIˬCRIZI =bI =jI*5M+w,5FA-f3=@Y-hRK@-c>9-r2>y-H7?%B졿 ?S:?@@?ɨ-f3=@- ;-&Cy= B=IiM>IMp;IIIUIU³٢mEǼ mT=9m39Q u>qq uG٣qy}B' }> Nusing accuracyPremultiplier from config59א?5Y: iw™,A::5 F Au addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 3.527832 s, deltaX: 0.099998 m, approachRate: 0.028346 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 64.80 m. jqjqjqjyiyhhhhffrfP@bf@?]]]]f@c> 隽=fIؔ9 ɚFiIIiiq=))2D*DBD:D*F ?2F :F BF P5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G뜮=BO-p> U $?IQ zKm {MKm k9Ki Km a(Km +w,AJ<@YJK@J.5>9J@2>yJH`H?%`%0?\???ɨJ<@J;J$CyZBZIIEIE٢ue= }M=9}4;Q > G٣y; > Nusing accuracyPremultiplier from config59kΐ?5YR< i™N,A E ::^5B  AfEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrf%Will construct direction to contact in vehicle frame from tetrahedron phase data.bf  S?]]]]e@U.5> QUbIUÓ9 Qɚ]|JiYIYIYiaie=)a)*FE?2FA:FABFEN0JFAGe Z=Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.+w,ïA:<@Y:J@:p>9:}1>y:H'p?|d~?`?@$??ɨ:<@:;:'CybBbI}Mb@Mb@Mb@yyy y)yY}Fx?L7A`?y}Ƌ>}+>}L}A }~@)}AI}Ayy} AII٢-:; F=9:Q > G٣yo > Nusing accuracyPremultiplier from config59>Ő?5Y= i™Z>,;( IA E{;zz;,5   A 5DNOT Ignoring new targets: 64.80 m. j1j9j9j9i9h9hAhAhEBfIfIrfIbfM F?]mZ>]mZ>]mm>]mli@p> 隅QIy9 ɚMiIIiik=))*FM?2FI:FIBFMO0JFQJwJmJJJW:J&9JJa@a@a@a@%Will construct direction to contact in vehicle frame from tetrahedron phase data.G-ό=B9O]3>ZHRHAAH>I IIIBI&I.I6I<:I F+w,ݯA6Y<@Y6xJ@6L>96z1>y6H 8Q|\ ?@T?>?ɨ6Y<@6;6&CBWill construct direction to contact in vehicle frame from tetrahedron phase data.@iBAyRBR I)T TIZIZm٢b6*= fY=9fQ;Q f>hh jG٣hyj[ j> rNusing accuracyPremultiplier from configpv59r?v5YrR? ir™tv)vAr Er:r":r5| ~ A|-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h)h1h1f1f9rf9bf=L?]q]q]q]ui@-L> )-MI-9 QɚUPiQIQIYiYi]N=)Y)a*F 2F :F BF JF  IzK}VBJKyKyK}b(K}G=B!5Will construct direction to contact in vehicle frame from tetrahedron phase data.OE>A+w,cAyB IMb@Mb@Mb@ )YPn?S㥛?/$y>$>, )\AIy AII=س٢h< /=9Q > G٣y > Nusing accuracyPremultiplier from config59'?5YA i™>5;(A E,;;5  A DNOT Ignoring new targets: 64.80 m. j jjjihhhhBffrfbf%@{?]=>]=>]=>]=j@Q QULIUD9 Qɚ]PTiYIYIYiaie;=)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFG}ܒ=BOE> $?IJ% uJ% pJ! J! J% [Q:J% ^9J! J! 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I I I  =&I .I 6I 9<:I s FR$,w,N_Ay~,B~ II I ٢5= 5f=99Q =>AA EG٣AyA M> UNusing accuracyPremultiplier from configIU59M?e5YMeB iM™aamAMEMX_;M_;Mb5q u0 AuiEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf @]]]] EIz9 ɚ?WiIIii=))D}9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F12F1:F1BF1JF1 I zK BoHK K K c(K G] =Bi O > j ,w,+AJkP;@YJmoI@Jq >9J5>yJH` pp`#w1 l?`G`P?e6?ɨJkP;@JA;HyVll nG٣lyn& n> vNusing accuracyPremultiplier from configpz59r3?z5YrC ir™xz)zArEr\:r :r5|  AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjih!h!h!h!f)f)rf)bf-D@]I]I]I]M` i@q > 隅L=Iў9 ɚRZiIIiioe=))D9*F-?2F):F)BF-0JF)GU =Bi } Will construct direction to contact in vehicle frame from tetrahedron phase data.O >F,w,WZEAJ|!;@YJ~@I@J V >9J4>yJH@>)i(Bh!o? ]G?@ 6?ɨJ|!;@J;HyVFBV= I AIA5Mb@Mb@Mb@111 1)1Y5\(\?T㥛 ?5>5t5A 1)1I5~@1y5 AI]I]٢m>= mB=9m:Q u>qq G٣ymֻ >  Nusing accuracyPremultiplier from config 559 P?=5Y ZE i ™=A>=?;=!)=A E /; <;  !5A MY AIDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf@eNG`wA ҿY`wAyA]A>]A>]4>]h@- V > )5p=I5\9 1ɚ5]i1I1I9i9i= zc=)9)AJwJsJJJW:J9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.jHE<bHE4<HM>II IM IIMBIM =&II.II6IMݯ<:IM/ FD- 9E1 *F 2F :F BF P0JF G i=B O >p,w,5_A"Will construct direction to contact in vehicle frame from tetrahedron phase data.V:@YVI@VC* >9V,5>yVH` 1 .C?i? Jw`N?4?ɨV:@V>;V"Cyn\BrW IIzIzͳ٢= Q=9 ;Q  >   G٣y > Nusing accuracyPremultiplier from config%59?%5YF i™)-Z)-AE::"51 5 A9eDNOT Ignoring new targets: 64.80 m. jajajijiiihihihqhqfyfyrfybf} 9 @]]]]h@C* > 隵2Iʡ9 ɚiIIiiHV=))BD=:Dt> 5$?I1zKlLK9KKd(K  D*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=<G KXi=BI O >^,w,vyAylBk I)  ==}Mb@Mb@Mb@yyy y)yY}q= ףp?RQ?~jty}k>}=}}A }h@)}AI}@yyyII[٢= .=9Q > G٣y > Nusing accuracyPremultiplier from config59ى?5YG i$™>R;I.AE;;$5B $ AkEWill construct direction to contact in vehicle frame from tetrahedron phase data. DNOT Ignoring new targets: 64.80 m. jjjjihhhhBff!rf!bf%`G@]E>]E>]E>]Ec@Q QUp=I]9 Yɚ]oNiYIYIaiaie2Y=)a)i ID9*F ?2F :F BF 0JF J |J uJ J J ;g:J 9J J  Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I ( II 6BI &I .I 6I <:I FG YW=B O >p%,w,A6|:@Y6ߛH@61 >965>y6H/< `@|? ~-?SZ?E2?ɨ6|:@6;6#CyB{BB} IIjIjW٢r= rL=9vR;Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|59~9?5Y~H i~/™  . A~E~z:~X:~w&5  AMDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf]@]y]y]y]}nc@1 > 隕V6I9 ɚôiIIii^x@=))eWill construct direction to contact in vehicle frame from tetrahedron phase data.aiaDIE]sAE]tA*F?2F:FBFQ5JFGsA GrA IzKU LKU -9KQ KU e(KU    Will construct direction to contact in vehicle frame from tetrahedron phase data.G- \&Y=BA O] >+,w,lA>B:@Y>aH@>>9>5>y>Hയ`塿 N@C?} i?`I?@1?ɨ>B:@>;>$CyJBJ IIPIP٢Zd= ZM=9^0;Q ^>\\ ^G٣`yb b> jNusing accuracyPremultiplier from configdj59fz?j5YfI if:™ln.nAdfP:f.:f5(5) -" A1DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfh@])])])]-q5c@=> Y]V-Ie79 aɚeiaIaIiiiimK6=)i)qDB9eWill construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBF]05JFYGE F=BQ Om > I 2,w,(ʰA23!:@Y25@H@2S>923>y2H <@jآL?`J ,?`?3?ɨ23!:@2M;2%CyBBB IiF`e=94rA )EAIyQ AI5I5٢Ep= EC=9M:Q M>IQ UG٣QyU% U> Nusing accuracyPremultiplier from config59r?5YJ iH™k>f;s7AEn;;*5 %A!Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH?AH>I IS IIYBI =&I.I?D6I<:IH FBI«CJI«CRIZI =bI =jIbZ5J5}J5zJ1J1J5[j:J59J1J1J5;a=J5;a=J5Q:aEJ5R:aE]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhahahaheBfifirfbfDA@]k>]k>]->]Z@S> R8Iا9 ɚ@iIIiir0=))Df9*FE ?2FA :FA BFE 45JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data. I GuA=BO>:,w,*Ay-B- II=I=٢}= %=9Q > G٣y >zKKK9KKf(K 0RK?JK? Nusing accuracyPremultiplier from config59%j?5YdK iX™AE ; ;8,5B AnEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`v@]]]]1 15/I59 1ɚ5mi1I9I9i9iEl1=)A)AJ)J-AAD59]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO0JFG/7=BO@> Will construct direction to contact in vehicle frame from tetrahedron phase data.@,w,5AB~9@YBG@BP@>9B3>yBH>P ?`h}@ߩ?%? 2?ɨB~9@B;B$CyNłBN I-Mb@Mb@Mb@))) )))Y-}?5^I?{Gz?A`"y-Mb>-ף<-Y-A -Q@)-AI-h@)y- AIMIMỳ٢UǮ= ]M=9]p;Q ]>aa eG٣ayen, m> uNusing accuracyPremultiplier from configi $?I59mc?5YmK imh™i>h;tAAmEm]i>]ո=]P@5P@> 9=p=I=+9 9ɚ=i9IAIiiqiu!=)q)qBD}?:D}?eWill construct direction to contact in vehicle frame from tetrahedron phase data.Hu>IuC Iu IIuBIu =&Iq.Iq6Iu<:IuA FD9*FM ?2FI :FI BFQ JFQ G 1=B O >7G,w,- A*Will construct direction to contact in vehicle frame from tetrahedron phase data.V9@YVG@V>9V5>yVH`@pgS?y?`. ¿`?@.?ɨV9@V7;;Tyf؂Bf I)h h n=n=IrIrW٢ẕ= z;=9z:Q ~>|| ~G٣|y/ >  Nusing accuracyPremultiplier from config 59 ?[?5Y K i z™AA  ; ; /5! %A!]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhYhahahafafirfibfmW@]]]]P@> 隥3I+9 ɚkiIIii=)) IDm9zKMLKM89KIKMg(KM<930)$ #//+($%   $" *JC="Ja=JJ}J0JJJS9Jـ3JJJJ:J:*F2F:F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GM #=B O >N,w,$;A 9@Y G@ >9 6>y H|D=Mv? 2x`? ¿|?i-?ɨ 9@ e ; y]B]!III٢t= 8=9N8Q > G٣y2 > Nusing accuracyPremultiplier from config59R?5Y@L i™AAE::15 RA Will construct direction to contact in vehicle frame from tetrahedron phase data.MDNOT Ignoring new targets: 64.80 m. jIjIjQjQiQhYhYhhffrfbfhP@]]]]P@%> )-,I-٫9 )ɚ-i)I)I1i1i5[=)9)9D}ݍ9 !I)*F?2F:FBFJFjH bH <H }>I  I II BI  =&I .I 6I K<:I x F Will construct direction to contact in vehicle frame from tetrahedron phase data.G= ; =BA O] >T,w,TA6 9@Y6"G@6v>966>y6HH٧ ;@A?w? ¿*w?-?ɨ6 9@6";4yRBR!IeMb@Mb@Mb@aaa a)aYeZd;O?MbZd;ye~j>eeyerA e$@)eAIaaye AIuIu٢= P=9mQ > G٣y > Nusing accuracyPremultiplier from config59L?5Y;L i™r>_;H@AEV;AU;35 AqEDNOT Ignoring new targets: 64.80 m. jjjjihhhh]Bffrf bf @]-r>]-r>]-@]-H@=v> AE33IE&9 AɚEӵiAIAIIiIiM=)Q)Q2D]sA*D]sADmˍ9*F2F:FBF 0JF %Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I G- =B1 O] >*)[,w,nA69@Y6G@6x>9655>y6Hu`ӧ;i? yu?P¿@O?/?ɨ69@6);6"CzKN&zMKN9KLKNh(KN %$$##%%#$yZ BZ.!Ii^=I^;^A^AIfIf㔳٢j = jW=9nQ n>pp rG٣pyrKչ v> zNusing accuracyPremultiplier from configtz59vE?~5Yv6L ~tIiv™|~|H@AvEvp;v;v.55 B 2A 5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h9h9hAhAfAfArfAbfM@6@]a]a]a]e|H@JJJJJJy9JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.x> 3)I9 ɚiII!i!i%U=)!))Dَ9*F ?2F :FBF0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.G +=B O >  I Bb,w,ޫAy~B~*!I)mF= mCGvA -Y-vAy-AAMMb@Mb@Mb@III I)IYMtV?L7A`堿㥛 yMr>M+MMA M;@)MAIM;@IyM AIIT߳٢=n =)=9=Q E>Ya eG٣aye m> Nusing accuracyPremultiplier from config59;?5YK ì™>T; B@A;;R75 OADNOT Ignoring new targets: 64.80 m. jjjjih!h!h!HU{>IUC IU IIUӂBIU =&IQ.IU>D6IU <:IUV Fh%^Bfifirfibfm @Will construct direction to contact in vehicle frame from tetrahedron phase data.]>]>]|@]T B@ +I`9 ɚCiIIiix=))D9*F?2F:FBF0JFG {=B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.@h,w,A6[9@Y6zG@6a>967>y6H VU;x ?t@WH?>m?z-?ɨ6[9@6;;6$CyBBB:!IININ٢R)= V=9VvQ V ?XX ZG٣Xy^I ^ ? bNusing accuracyPremultiplier from config\f59^5?j5Y^K i^ހ™lnA@nA^E^$o;^o;^85p rApDNOT Ignoring new targets: 64.80 m. jjjjihh!h!h!f!f)rf)bf- @]I]I]I]MA@ma> im%ImA9 ɚiIIii=))BDW?:Dk? IDU 9'UTFailed to parse incomplete device message.J;3K;3 K;.Will construct direction to contact in vehicle frame from tetrahedron phase data.K3K3"K3JJJJJp:J9JJ*F?2F:FBFY5JFGu ^S=B O >2n,w,KXA-E9@Y-dG@-ug>9-9>y-H@(@᩿`2>n?xryu? B@%?,?ɨ-E9@-k;)yuB}D!I)  ===a=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝AMb@Mb@Mb@ )YZd;?sh|?y~>LA )AIy AII٢== $=9uQ }>yy }G٣yy& > Nusing accuracyPremultiplier from config59+?5Y%K i™͈>F;>@AE;B;:5B AtE5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h9h9h9h=ZBfAfArfAbfE`!@]͈>]͈>]w@]>@ug> II9 ɚiIIi i =) ) 9I9ZH RH @AH z>I  I !II BI =&I .I 6I <:I ) FD% 9U Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF G=BO?Ww,w,ޱA:#9@Y:BG@:F >9:7>y:H@Z #?`s3T?qQ?@%1?ɨ:#9@:W;:"CyFBFB!IIRIR̍٢Z鬻 Z7=9^'Q ^>\\ bG٣`ybz b> jNusing accuracyPremultiplier from configdn59fq#?n5YfJ if™ln=@rAfEf-;f:f<5t vAtDNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h!h)h)f)f1rf1bf5"@]Q]Q]Q]Uf=@eF > amRIm9 ɚ+iIIiiw[<))Will construct direction to contact in vehicle frame from tetrahedron phase data. $?ID>9*Fe?2Fi:FiBFm_5JFizK} DNK} k9Ky K} j(K} 3<520.+%$$!J J J 1J  Will construct direction to contact in vehicle frame from tetrahedron phase data. < =J :J 9J 3J GU z =By O >z},w,"A69@Y61G@6A >96I#6>y6H@E@m,_?ux"?P`sp? 4?ɨ69@6,;6%CyBBB>!IIPIP٢b\} bJ=9f(Q f>dd fG٣dyj' j> nNusing accuracyPremultiplier from configlr59n?r5Yn=J in3™tv=@vAnEn\:nP:n>5x zAxDNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h!h)h)f)f)rf1bf5g#@]i]i]i]m=@A > 隅 I 9 ɚSiIIiir<))2D*D=Will construct direction to contact in vehicle frame from tetrahedron phase data.D%,9 I*F2F:FBF@5JFG <B O >HI II  IM (!I/c,w,fAI}BI} =&Iy.Iy6I}<:I}P FBI5CJI5CRI1ZI5 =bI5 =jI5e5BWill construct direction to contact in vehicle frame from tetrahedron phase data.J9@YJ/G@J>9J~4>yJHO%ո?`w?>?8?ɨJ9@J;J$CyR"BVK!IXZAMb@Mb@Mb@ )YL7A`?Zd;O ףp= y+>j<QA @)Iy AIIW٢3= 8=9 Q  >   G٣yÒ > %Nusing accuracyPremultiplier from config%592?%5YI iQ™->-;;-?@-A;;@59 =qAAmDNOT Ignoring new targets: 64.80 m. jijijjihhhheBffrfbfT$@]E>]E>]E@]E?@> 隝G!I^9 ɚiIIii<))DP9E*F=?2F9:F9BF=O0JF95Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai1G 7<B O5 > i Ii ጊ,w,O@,A68@Y6G@6>9624>y6He`⿿L? wL?#j6?:?ɨ68@6;4yR BRI!IIZIZ٢f  fa=9frQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r ?v5YrsI iri™tv?@zArErn:rn:rB5| ~yA~wE%DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h)h1h1f1f1rfbf %@]]]]?@> 9="I=L9 9ɚ=;iAIAIAiIiM<)Q)QWill construct direction to contact in vehicle frame from tetrahedron phase data.zK`PMK9KKk(K  6O_jrswvuVQB*gP?4/(" DM9*Fm?2Fq:FqBFqJFqM Will construct direction to contact in vehicle frame from tetrahedron phase data.G <B O >0,w,>GA 964>y6Ha9UIk?x?˟2?j=?ɨ68@6C;6#CyZBZ@!I}Mb@Mb@Mb@yyy y)yY}(\?X9vMby}>}}}/A y)}AI}@yy}p AII³٢ 5=9LQ > G٣yx} > Nusing accuracyPremultiplier from config59?5Y1I i™Ր>;;{C@AEQ;8;D5 ADNOT Ignoring new targets: 64.80 m. jjjjihhh!h-.Bf)f1rf1bf5 %@]UՐ>]UՐ>]UU@]U{C@e^> am= Im]9 iɚmOiiIiIqiqiu<)q)yjHU<bHQH]x>IY I]4!II]BIY&IY.IY6I]<:I]; FJJJJJ:JH9JJJ";aJ#;aJR;aJR;a Will construct direction to contact in vehicle frame from tetrahedron phase data.D *F?2F:FBFJFGm <Bq O >8,w,>aA68@Y6F@6&~>96r5>y6H @@@Ⱦ@?quS?6dn`?V=?ɨ68@6q;6$CyBBB9!IIJIJƳ٢Rr RY=9RpQ V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\f59^-?f5Y^H i^™hjjC@jA^ E^IW;^W;^E5l nAp DNOT Ignoring new targets: 64.80 m. j j j j ihhhhffrfbf&@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]jC@&~> $ I9 ɚ涵iIIi i z<) )  -$?I)D5m9E9E=sA*F?2F:FBFP0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.zKm NKm 9Ki Km l(Km  &8N^q~upjea]YYWSTNLLHD?;7214/G <B O >&,w,Z{AJ8@YJ F@J>9J`6>yJH @I?s 6?`'`?@=?ɨJ8@Jv;J"CyVBV5!II^I^٢fZ fH=9jQ j>hh jG٣lynJ n> rNusing accuracyPremultiplier from configpv59r?v5YrH ir™xzkC@zAr!Er:r":rG5 A MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhIhQhQhQfQfYrfYbf]'@]]]]kC@=> AMIM̮9 yɚȵiIIiibT<)) MWill construct direction to contact in vehicle frame from tetrahedron phase data. !I!D9*FI 2FI :FI BFI JFI H% v>I!  I! I! I% =&I! .I! 6I% N<:I% s FJ J J J J ̈́:J [9J J J ;J ;J ; Will construct direction to contact in vehicle frame from tetrahedron phase data.J ;G5 o<BA O] >I,w,F^AB8@YBF@B=9Bk98>yBH@%& `Q?Yp Cq?㿿?@=?ɨB8@B@;B#CyR BR.!IUMb@Mb@Mb@QQQ Q)QYUL7A`?y&1|?bX9ȶyU+>U`;UEQ U@)UAIQQyUAImImƳ٢}ɼ }1=9hkQ > G٣y > Nusing accuracyPremultiplier from config59揜?5YH i؁™>>;EA"EF;!E;I5B #AzEDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfak(@]%>]%>]%Q)<]%sL@5= 15I=9 9ɚ=ٵi9I9IAiAiEɢ<)A)ID%9*F?2F:FBF1JFUWill construct direction to contact in vehicle frame from tetrahedron phase data. I Gl<BO- > ,w,A28@Y2F@2r&=928>y2H j4@Т?n?op ?=?ɨ28@2>;2$CyBBB(!IiFXX ZG٣\y^ ^> bNusing accuracyPremultiplier from config`f59bޏ?f5Yb I ib™hjEjA`b:b:b(K5l nHAp DNOT Ignoring new targets: 64.80 m. j j j jihhhhffrf!bf%+)@]9]9]9]=;L@Ur&= QUzIUH9 Qɚ]5iYIYIaiaie<)a)iWill construct direction to contact in vehicle frame from tetrahedron phase data.zKNK9KKm(K%Di9*F}?2Fy:FyBF}0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.  ~$?I G <B O >,w,<ʲAht 5Y1y5AEXw8@YEYF@E=9Ed`8>yEH@`q`3@?@nG~?羿M?@@?ɨEXw8@Eq;AyUBU!!I=Mb@Mb@Mb@999 9)9Y=p= ף?p= ף?MbX9y=>===ʡ=A =@)=`AI=@9y=AIMIMʴ٢]ü ]2=9e Q m>ii mG٣iy}]h }> Nusing accuracyPremultiplier from config59Տ?5YI i™ >=;*8A#E&;]$;+M5 uADNOT Ignoring new targets: 64.80 m. jjjjihhhh܃Bffrfbf *@] >] >]z>]Y@= (ܾI9 ɚiII!i!i%K<)!))ZHRHAAHt>IC I.!II BI =&I.I6I<:IK FJJJWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ}:J9JJJ;J;J|;J};Du9PExceeded connect timeout, disconnecting.*F- ?2F) :F) BF- 0JF) } Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu <By O >8l,w,A ,I,:G8@Y:fF@:=9:m7>y:H`ӯ %?nEi?O? fC?ɨ:G8@:v;:%CyHHIRIR٢ZɄ ZQ=9^wQ ^>\\ ^G٣\ybr b> fNusing accuracyPremultiplier from configdj59f̏?j5YfJ if™lna8nAf$Ef!;fD";fN5-B 5qA5}EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf*@]9]9]9]=rY@= 隕\ܾI9 ɚ9iIIiiC<))BD;?:DW?Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9zK}غKK}k9KyK}n(K}*F 2F :F BF K1JF! GE <By O ><%,w,A*Will construct direction to contact in vehicle frame from tetrahedron phase data.fs$8@YftCF@fJ=9f5>yfH P=9?@oM=?`~u?uG?ɨfs$8@f麊;f&CyrBr!I)t t v=v= IMb@Mb@Mb@ )Y)\(?Zd;O?p= ףyGa>j=A p@)3AI@yAI5I5n٢E E!=9M|Q M>QQ UG٣Qy]䇻 ]> eNusing accuracyPremultiplier from configam59e_Ï?m5YeK ie,™m}>mV;mA/uAe%EeQ;eY;eQ5y }AyDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf@W+@]}>]}>]->]lb@J= 隝RI9 ɚ iIIii6<<))H r>I  I "!II BI &I .I =D6I 4<:I ] FJJJ0JJ:Jm9Jـ3JJ;J;J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.D9E *F ?2F :F BF 0JF  nManaging dock network, ignoring radio surface power offG Fթ<B O >(,w,C9"AV7@YVE@V=9V4>yVHw`1@?0o`]!?BMM?@,L?ɨV7@Vs;TybBb!IIjIj@٢r ؼ rE=9vhQ v>tt zG٣xyzX ~> Nusing accuracyPremultiplier from config 59? 5YL i<™/A&E::R5 A!MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiQhQhQhQhQfYfYrfabfe0,@]]]]zb@= Will construct direction to contact in vehicle frame from tetrahedron phase data.隝콾I9 ɚiIIiiZ<)) }$?ID*F2F:FBFP0JFG<BO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.F,w,i;AbY7@YbZE@b=9b=5>ybH { ?_k P? q?K?ɨbY7@b;b;b$CyjBj!IIrIrk٢z`Z= zK=9~GQ ~> G٣y > Nusing accuracyPremultiplier from config 59 [?5Y M i K™/A 'E %; ; T5! -A)UDNOT Ignoring new targets: 64.80 m. jQjQjQjQiQhYhYhYhafafarfabfe-@]]]]|:b@= 첾I9 ɚAiIIiiK*<))Dҕ9*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gjhn<B IOG>HE p>IA  IE !IIE BIE =&IA .IA 6IE <:IE FBI˨CJI˨CRIZI =bI =jI˜5K.,w,UAWill construct direction to contact in vehicle frame from tetrahedron phase data.Bkf7@YBlE@Bx=9B5>yBH`d` "?jV?Mt?L?ɨBkf7@B>;B#CyJBN#!IMb@Mb@Mb@ )Yy&1?/$?V-y`e>1>mA Z@)AIyAIIʴ٢x< ;=9bQ >   G٣y > 5Nusing accuracyPremultiplier from config)=59-󫏜?E5Y-CO i-X™E>MF;M'MA-(E-;-;-V5a e`AeEDNOT Ignoring new targets: 64.80 m. jjjjihhhhMBfIfQrfQbfUt.@]>]>]* ?].j@x= Ix9 ɚiIIiiP`<))DΖ9*F]?2FY:FYBF]P0JFY"Gm=Gm=Will construct direction to contact in vehicle frame from tetrahedron phase data. IGE l o<BY O >W,w,%oA>q7@Y>r;E@>b/=9>6>y>H" in? fso?W?BM?ɨ>q7@>);>&CyFBJ3!IIRIR٢Z0= ^b=9^Q ^>`` bG٣`yfL f> jNusing accuracyPremultiplier from confighn59j?n5YjxP ijc™lr<(rAhj;j;j*X5t vAvEDNOT Ignoring new targets: 64.80 m. jjjjihh!h!h!f!f)rf)bf-n/@]Q]Q]Q]UJi@eb/= amPImǽ9 iɚmiiIiIqiqiu ;)q)UWill construct direction to contact in vehicle frame from tetrahedron phase data.QU<JJJ1JJ:J9J3Ja@a@a@a@zKBHK9KKp(KD(9*Fq2Fq:FqBFuO0JFy% Will construct direction to contact in vehicle frame from tetrahedron phase data.G '<B I hO >?,w,nAy] B]0!IMb@Mb@Mb@ )YB`"?t>j<A -@)d AI@yzAI%I%<٢5) 54=9=Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M.?U5YMR iMl™]->]R;]#]AM)EM;M,;M$Z5a e AaDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf0@]->]->]??],n@ kI9 ɚ"iIIiiN;))BD=?:D*?Ho>IC I"!IIBI =&I.I6IB<:Ie F]Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F- ?2F) :F) BF) JF) GU CQ;Ba O} >,w,fAJWill construct direction to contact in vehicle frame from tetrahedron phase data.yz BzH!I 1I1II٢u= uD=9qQ }>yy }G٣yy > Nusing accuracyPremultiplier from config59㕏?5YS iu™A*E~:i:[5 nADNOT Ignoring new targets: 64.80 m. jjjjihhhhffrf bf o0@]9]9]9]9Q Y]NDI]9 aɚe%iiIiIqiqiq)y)yD9EV>E>EWill construct direction to contact in vehicle frame from tetrahedron phase data.EAiA*FY2Fa:FaBFeP0JFaGi GmsAJJJJJ:J9JJzK K 9K K q(K G ;B O >-",w,XABPm6@YBQD@BLV=9BDW5>yBH@Q﷿_?`@ts?j? P?ɨBPm6@B);B#CyJ6BJc!IIVIV٢^= ^O=9^Q ^>`` bG٣`ybݼ f> jNusing accuracyPremultiplier from configdn59f񎏜?n5Yf U if~™ln7$nAf+Efu;f;f]5vB vAvEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf0@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]]m@ |$?I%LV= )-I59 1ɚ=iIIIIiiꐻ))HE n>IA  IE 4!IIE BIA &IA .IA 6IE a<:IE z FD} !9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF O0JF GB)OE>D,w,2AB.6@YBMD@B9=9B6>yBHc`N?\? j?kP?ɨB.6@BYe;B"CyNCBNs!I%Mb@Mb@Mb@!!! !)!Y%bX9?(\? rhy%E6>%z>%C %A !)!I%@!y%QAI=I=T߳٢UH= U=9]źQ ]>YY eG٣aye e> uNusing accuracyPremultiplier from configiu59m†?u5YmV im™}m>}d;} }Am,Em;m;m_5 RADNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfM ]1@]m>]m>]c.?]k.q@9= 隝FaI9 ɚtiIIii ջ))2D*DuWill construct direction to contact in vehicle frame from tetrahedron phase data.D9 I*F2F!:F!BF%o0JF!G']?;BOL> Will construct direction to contact in vehicle frame from tetrahedron phase data.Jy J} ?AJ J J J J -:J J J ,w,!XAzK.BHK.9K,K.r(K.>n5@Y>oD@>=9>hH6>y>H@AFڣ?Z/?GH?? P?ɨ>n5@>Q;>$CyF[BJ!II~I~m٢ =  P=9Q > G٣y > -Nusing accuracyPremultiplier from config!-59%?55Y%JX i%™15!!5A%-E%:%G:%a59 EAAmDNOT Ignoring new targets: 64.80 m. jijijijiiihihqhqhqfyfyrfybf}x1@]]]]p@= 隭D1Ig9 ɚiIIii>))DE*FE?2FI:FIBFM4JFI"GQGU=Will construct direction to contact in vehicle frame from tetrahedron phase data. IGmg{) c~GB E YA yE AO] >He k>Ia  Ie Z!IIe /BIa &Ia .Ia 6Ie <<:Ie ] F-w,yAy%gB%!IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data. )Ysh|??rh|?L7A`堿y)>=+3A @) AI@y\AII٢X= <=9Q > G٣y > Nusing accuracyPremultiplier from config 59,z? 5YY i™>V>};#AA;;c5 4A!MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiQhQhQhQh]BfYfYrfYbf]`]-2@]>V>]>V>]?#?]3Hn@1 15#I5 9 1ɚ5~,i1I9I9i9iEa )A)ADM09*F?2F:FBF^5JFGBOe>m Will construct direction to contact in vehicle frame from tetrahedron phase data. I -w,L.A6ǎ5@Y6ȭC@6,=96,6>y6Hޖ?c?Tp?@?(Q?ɨ6ǎ5@6B;6%CyRBR!I)T T Vp=V=IZIZW٢b) > b^=9fwQ f>hh nG٣lyn n> vNusing accuracyPremultiplier from configpv59rt?v5YrZ ir™xzJ$zAr.Erq:r:r1e5 jA-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h1h1h1h1f9f9rf9bf=:2@]]]]m@-,= 15IU9 Yɚ]iYIaIiiiies))BD:?:DY?DmT9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFJJJ0JJ:J9Jـ3JzKBoHKk9KKs(KGM ׹BY Ou >-w,;HAWill construct direction to contact in vehicle frame from tetrahedron phase data. .{$?I,1X5@Y2wC@@=987>yH`M`:@ 9=A ) AIp@yAIIԳ٢O= -=9պQ > G٣y! > Nusing accuracyPremultiplier from config59;n?5Y[ i™>>;,A/E;;Bg5  A E=DNOT Ignoring new targets: 64.80 m. j9jAjAjAiAhAhIhIhMуBfIfQrfQbfUi3@]u>>]u>>]uW?]uwe@@= 隅HI+9 ɚiIIii))DP9Hj>I I!II\BI =&I.I-w,bA65@Y65C@6a=967>y6H@1@m굿j??L?ޟਸ?P?ɨ65@6;6'CyRBR"IIZIZV٢b?> bu=9bQ b?dd fG٣dyjC j? nNusing accuracyPremultiplier from confighr59ji?r5YjY\ ij™pr,vAhj;j>;jh5x zD@xDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf^3@]]]]u5e@a= BI9 ɚiII i i %:) )5Will construct direction to contact in vehicle frame from tetrahedron phase data. QIYD]p9*F?2F:FBFP0JFG ňB O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.QF-w,P{A64@Y6C@64=966>y6H1@RƷ?L`v? 5l ?R?ɨ64@6;6&CyBăBB"IiHIJC=zKN]JKNu9KLKNt(KN #(&#$#! @raA.# ININʴ٢^!n= ^K=9bQ b>`` bG٣dyf稻 f> jNusing accuracyPremultiplier from confighn59jc?n5Yj+] ij™pr-rAj0Ej ;j ;jzj5t v@tDNOT Ignoring new targets: 64.80 m. jjjjihhh!h!f!f!rf)bf-3@]I]I]I]MZe@]4= Y]żI]%9 aɚe?±iaIaIiiiim!)i)i2D*DrAD9*F?2F:FBFO0JF YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>H i>I C I !II BI &I .I 6I T<:I k FBI˧CJI˧CRIZI =bI =jIL5-%-w,IA^04@Y^1B@^Bv=9^h26>y^HF}Z`l?@J?@B?"T?ɨ^04@^ⵊ;^#CyfBf>"IeMb@Mb@Mb@aaa a)aYesh|??:v?+ye)>eT=eezA e@)e AIe@ayeAI}I}T߳٢X$> >=9Q > G٣y< > Nusing accuracyPremultiplier from config59]?5Y] i™6>;;9AWill construct direction to contact in vehicle frame from tetrahedron phase data.`;_;\l5 M@JK KKK"KJJJJJ:Ju9JJJ9;a=J:;a=J/;a=J/;a=DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf44@]6>]6>]m>]:X@Bv= ԣI%9 !ɚ%i!I!I)i)iMǼ)Q)QDu9El>E>*F) 2F) :F) BF) JF) "G1 G5 > a Ia u Will construct direction to contact in vehicle frame from tetrahedron phase data.GU BY O} >l+-w,fA6+4@Y6,B@6=965>y6H9N ?I?;@9}?wU?ɨ6+4@6͌;6"CyBBBF"IIJIJʴ٢R= VF=9VQ V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config\f59^X?f5Y^^ i^™dfX9fA^1E^ ;^. ;^)n5l n@lDNOT Ignoring new targets: 64.80 m. jjjj i h h hhffrf!bf%4@]]]]X@= ԇI9 ɚiIIiiM,Ѽ))Will construct direction to contact in vehicle frame from tetrahedron phase data.zK OK9KKu(K !"   DUǝ9*F ?2F :F BFP0JF 9 I9 m Will construct direction to contact in vehicle frame from tetrahedron phase data.G nBA O >3-w,̴AjF}4@YjGB@j=9j86>yjH۬齿^?@$F? pѹ?T?ɨjF}4@jZM;j%Cyv Bvi"I)x xMb@Mb@Mb@ )Ykt?{Gzt?Zd;Oy 0>ף;j<A ) AIZ@yABAII٢= 0=9Q >  G٣ y O  > Nusing accuracyPremultiplier from config59Q?5Y^ i͂™%c6>%;%G@%A;;0p5) 5@1]DNOT Ignoring new targets: 64.80 m. jYjYjYjaiahahahihm%Bfifirfqbfu@5@]c6>]c6>]Q<]lG@= 隭LI9 ɚiIIiii0))Hg>I I"IIǃBI =&IGD.I6I<:IA FD9*F?2F:FBFo0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.J]J]J]1JYJ]m:J]9J]3JYJ];J];J]';J]';G ˼B O >L79-w,A6]4@Y6|B@6;=967>y6H ʫWck3?@B?<`?S?ɨ6]4@6%;6$CyBBBw"IILIL٢RF}= Vc=9VQ V>XX ZG٣XyZK ^> bNusing accuracyPremultiplier from config`f59bL?f5Yb^ ib؂™dfG@jAb2Eb:b:bq5nB nY@nE DNOT Ignoring new targets: 64.80 m. jj!j!j)i)h9h9h9hAfAfArfIbfMm5@ ez$?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]„G@];= Y]0I]9 aɚeiaIaIii))DqE*F?2F:FBF%2JFG  G rAG% N޼B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MK K K v(K     @-w,yAy~(B~"II I <٢'= C=9%Q %>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=595F?=5Y5] i5™AAEA15 ;5K ;5s5Q U<@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@r5@]]]] 隝;I#9 ɚ%iIIiiB))Duҟ9 iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF%G5JF!Gm 6By O >H e>I  I Z"II BI  =&I .I 6I <:I 6 FGF-w,WAJJJJJ:JO9JJJ9;J:;Jf,;Jf,;"Will construct direction to contact in vehicle frame from tetrahedron phase data.b4@Yb=B@b{=9bf8>ybH`L3`[@m?@>?Ÿ@o? U?ɨb4@bɉ;`yj;Bj"IppMb@Mb@Mb@ )Y> ףp=? rhQyQ>C u @)Ip@yII%٢:= ;=9Q > %G٣!y%= %> =Nusing accuracyPremultiplier from config)=59-z??E5Y-y] i-™Ez]>Eu;E:@EA-3E-SI;-;-}u5I U @YDNOT Ignoring new targets: 64.80 m. jjjjihhhhUBff rfbf`J6@]Uz]>]Uz]>]Up@]U:@e{= aeLIm9 ɚiIIii))2D*DsA aIaDΠ9ErAEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF "G =G =G ^B O >;M-w,7A24@Y2$B@2K=92I7>y2Hª``$?@U>?V?W?ɨ24@2믉;2%Cy:KB>"IIJIJm٢R= RH=9VP+Q V>TT ZG٣XyZ@| Z> bNusing accuracyPremultiplier from config\f59^8?f5Y^] i^ ™df:@jA^4E^c2;^~:^Fw5l n@l DNOT Ignoring new targets: 64.80 m. j j j j i hhhhffrfbf%6@]A]A]A]EH:@UK= QUIUo9 QɚUiYIYIaiaiea)a)i*J"JR=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKLK9KKw(KRK?JK?DE9*F2F:FBFS5JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.} NG `wA M YU `wAyU LBG GB O >T-w,dQAyRB"I @ @ @  @ II٢B= <=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config591?5Y\ i‘+:F;A8;>x5 @Hb>IC I"II2BI =&I.I6IH<:IZ F=DNOT Ignoring new targets: 64.80 m. j9jAjAjAiAhAhAhIhIfIfIrfIbfU{7@ @IZ9 ɚrʲiII!i!i-)))QD-9Will construct direction to contact in vehicle frame from tetrahedron phase data.J5J5J1J1J5̝:J59J1J1J5;J5;J53;J53;*F?2F:FBFO0JFG oB O5 > I ?Z-w,jA"Will construct direction to contact in vehicle frame from tetrahedron phase data.J3@YJ B@J钾=9J7>yJHmK8ۻ?`]>c?ɷ?Z?ɨJ3@Jz;J"CyRZBR"IIZIZ㔳٢f$'= f[=9fQ f>hh jG٣hyjn r> vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configtz59v+?z5Yv\ iv-‘~ :|~!;~:@Av5EvG;vO?vy5 B @ E5DNOT Ignoring new targets: 64.80 m. j1jjjihhhhffrfbf 7@U钾= Y] zK KK -9K K x(K 70a-w,AN3@YNB@N =9N7>yNHZn౿?7>c? [ ?[?ɨN3@Nn;N#CyV[BZ"IIrIr٢z9; zF=9~Q ~>|| ~G٣|y#: > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 $?5Y [ i >‘9;:@%A 6E (; ? z5) - @)UDNOT Ignoring new targets: 64.80 m. jQjQjQjYiYhYhYhYhafafarfibfm Z7@  = @3I I"IIUBI =&I.I;D6Iί<:I FG # B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J BAJ J J J J :J *9J J J ;J ;J (;J (;Pg-w,A63@Y6A@6=965r9>y6H``*^-0?9)??}Y?ɨ63@6ͣ;6$CyRcBR"I m m mm mm  m m mMb@Mb@Mb@iii i)iYmZd;?L7A`尿{Gzymy>m+mףmd A m@)mAImC@iym(AII٢~= B=9dQ > G٣yᄻ > Nusing accuracyPremultiplier from config59?5YZ iW‘T:>H;j4@A7E);*(;|5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhNBff rf bf  {S8@]5>]5>]5ƛ@]5?j4@E= AM#=IM.9 IɚMiIIIIQiQiU)Y)YD39*F?2F:FBFn0JF QIQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.G BO>{m-w,A23@Y2A@25=92ݳ9>y2H@oǿ簿?I:*?0?|Z?ɨ23@2؊;0yNWBR"IIZIZԳ٢bu bX=9b}Q f>dd fG٣dyj: j> rNusing accuracyPremultiplier from configlr59np?v5YnY inl™tvt4@vAln:nP:nU~5x zA@|-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h1h1h1h1f9f9rf9bf=`>8@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]t4@5= } Will construct direction to contact in vehicle frame from tetrahedron phase data.GU W Ba O >`|t-w,ҵA23@Y2A@2Ұ=92Q:>y2HZ0 ah?{8 1?Po ?5[?ɨ23@2g;2#Cy>YB>"I Mb@Mb@Mb@    ) Y rh|?y&1ʡEy {> `e - M A b@) AI  y f@I%I%ͳ٢=; =@=9=c~Q E>AA EG٣IyMs M> UNusing accuracyPremultiplier from configQ]59U& ?]5YU=Y iU™e>eF;eZ7@eAU8EUh;U:;U15i m@uEH^>I I"IIjBI =&I.I6Iٯ<:I FBIUCJIUCRIQZIU =bIU =jIU5uDNOT Ignoring new targets: 64.80 m. jqjqjqjqiqhyhyhh&Bffrfbf)9@]>]>]A@]Z7@-Ұ= 15=I59 1ɚ5>2i1I1Iyiyi}))Will construct direction to contact in vehicle frame from tetrahedron phase data.Dw9*F ?2F :F BF _0JF I E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >\{-w,A63@Y6A@6=9649>y6H@ Y ?`9`M?= 0?q]?ɨ63@6;6%CyRSBR"II^I^³٢f^Լ f;=9jlQ n>ll nG٣lyrc r> vNusing accuracyPremultiplier from configtz59v?z5Yv{X iv™|~P7@~Av9EvR;vs;v5 y@5DNOT Ignoring new targets: 64.80 m. j1j9j9j9i9h9h9hAhAfAfArfAbfM`9@]i]i]i]mhP7@}= y}=IT9 ɚy33iIIiiU))DѤ9EWill construct direction to contact in vehicle frame from tetrahedron phase data.J]J]JYJYJ]:J]b9JYJYae@ae@ae@ae@*F?2F:FBF0JFzK uJK -9K K z(K  "()'%%## G _B O- >?-w,n A x$?I6D3@Y6EA@6)=968>y6H`?`' L?E8`r ?@> ?`^?ɨ6D3@66Ê;6'CyBFBB"I DFp=HJAAININ?٢Z| ZM=9^Q b>dh jG٣hynђ n> eNusing accuracyPremultiplier from configYu59]?u5Will construct direction to contact in vehicle frame from tetrahedron phase data.Y]W i]™37@A]:E]<]<]5Q ]B@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf:@]i]i]i]m37@})= y隅8=IS9 ɚe}3iIIii))BDF?:D6?H[>IC I"IIoBI&I.I6I<:I FM Will construct direction to contact in vehicle frame from tetrahedron phase data.DU t9*F 2F :F BF _0JF G  G rAGBO >tlj-w,>)A 0I0Will construct direction to contact in vehicle frame from tetrahedron phase data.3@YA@=98>yH@x@`I?@6P?`ݴ ?A`?ɨ3@=w;$CyAB"I-Mb@Mb@Mb@))) )))Y-K7A?Mb(\µy- >--- A -=@)-AI--@)y-@I I  ٢M M=9M Q M>QQ UG٣Qy]\ e> mNusing accuracyPremultiplier from configam59eJ?u5YeMW ieك™ua>uE;u~A@uAe;Eea;e;e5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf:@]a>]a>] @]~A@U= QU>IU9 QɚU3iYIYIaiaim#)i)iD9*F} ?2Fy :Fy BF} j0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.թ խ %=J J J 0J J ̝:J :J ـ3J zK% MK% k9K! K% {(K% RK5 >JK5 >G B O >y-w,/FA2ni3@Y2oA@2=927>y2H`rї].@d?`6?`l@?b?ɨ2ni3@2~(;2&Cy:-B:"IIBIBԳ٢v vm=9vVQ v?xx zG٣xy~ ~? Nusing accuracyPremultiplier from config 591鎜? 5YW i™  cA@AI) I-"II-eBI- =&I).I)6I-<:I- F- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >t-w,/_A2j73@Y2kVA@2֠=92k7>y2H W@cA%B>"IEMb@Mb@Mb@AAA A)AYEtV?ˡE?~jtyEr>E'=EE A A)E$AIE@AyE@I]I]k٢m  mC=9m@PQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config59?5YQW i™%>R;BAW;+V;ۉ5 K@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBff rf bf X;@]-%>]-%>]-Zi/>]-~P@E֠= AEHa>IEU9 AɚEf3iAIIIIiQiUc2)Q)Y2Da*DesA w$?I}Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBF3JF"G=G>G w!B O >)-w,+zAy%B%~"II=I=%MWill construct direction to contact in vehicle frame from tetrahedron phase data.*JmR="Jm%=JuJuJu1JqJuL:Ju9Ju3Jq٢ ) <=9Q > G٣y > Nusing accuracyPremultiplier from config59.؎?5YW i™A=Ec; ;Ë5  @=DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9hAhAhIhIfIfIrfIbfU;@]]]]   N>I9 ɚ}3iIIi9i=>P1)9)AzK5]JK59K1K5|(K5 Oimmf]VQ 9I9DM9)i mC~G Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF Q5JF ] vAi Y vAy AG= 0BI Oe >-w,#AH"U>I"C I""II"PBI" =&I .I":D6I")<:I"9 Ff٧2@Yf@@fQ=9ff6>yfHU`z?-??1h?ɨf٧2@f˜;f%Cyn Brj"I @ @ @  @ I%I%٢5͘ 5C=9=*)Q =>AA EG٣AyE M> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configQ]59Uώ?]5YUW iU#‘e+:ae*;eBeAU>EU);Uf>U>5mB u@uEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf2<@Q= .>I9 ɚ4iIIiiiiu-XR)q)qMWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBF@5JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ګ-w,طABd2@YBŃ@@B^ٕ=9B6>yBHT`k¿`k?=(ڸ?䶲$?h?ɨBd2@B;B$CyJBNd"IIVIVԳ٢z#̼ zH=9~&Q ~>|| G٣y$ > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 ǎ?5Y X i 5‘ : ;B%A ?E 88; S? i5) -&@)UB*** querying acoustic contact ***jQjQeDNOT Ignoring new targets: 64.80 m. jajajajaiahahihihifqfqrfqbfu`<@^ٕ= 隥x$>I9 ɚF4iIIii]))BD9?:DS?D*F2F!:F!BF%O0JF!G) G)G%:BO8>Will construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.JJJ0JJJ :Jـ3JzK LMK k9K K }(K GDA;85*(%#!#('%   I -w,|˶A>-2@Y>L@@>i=9>QF6>y>H@!¿e@l?$ñ? ~ߚ?}i?ɨ>-2@>};\| G٣y8 > %bBottom track data is 1.2 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-59?-5YXX iG‘-9)-:55C5A@E[;?Y5I U@QeWill construct direction to contact in vehicle frame from tetrahedron phase data.m,DAT read: user:3647> mBDAT read: Tx time:00:05:46.4560 u$Ping request sent.uI9 ɚZm4iIIii=h)) HS>I I"II7BI =&I.I6I<:I FDƧ9*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:00:05:46.4552  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834G _NB O >-w, [A21@Y2@@2=926>y2H 9ÿ?@O a??i?ɨ21@2;2"Cy:B>Y"I               Mb@Mb@Mb@ )YʡE?t>@ A @)AI@y @I-I-M٢I 8=9]Q > G٣y > Nusing accuracyPremultiplier from config 59 ?5Y Y i N‘%T:%;l>%f;%($-A  b; a; @5 Ev$?IAI M@QDNOT Ignoring new targets: 64.80 m. jjjjihhhhUBffrfbf s=@]=;l>]=;l>]=w0?]= m@u= qu>Iuf9 qɚuף4iqIyIyiiNs))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503264DM9*F 2F :F BF P0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753942G cB O >פ-w,cAN1@YN@@Nw=9N]%D>yNH dÿ礿`V? [?`}ұ8O?V?ɨN1@Nb;N&CyfBfV"IIvIv³٢2  >=9,Q > G٣!y- -> =Nusing accuracyPremultiplier from config1M595?M5Y5/[ i5U™QU2$UA5AE5T;5N;5"5Y ]@YDNOT Ignoring new targets: 64.80 m. j j j j i h h hhffrfbf`=@]9]9]9]=8m@mw= qu>Iu9 qɚuL4iqIqzK}cMKyKyK}~(K}Iiiu))2DrA*DrA IDEsAErA*F?2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006704G!rBO}X>H5 R>I1  I5 "II5 #BI5  =&I1 .I5 9D6I5 <:I5  FBIɣCJIɣCRIZI =bI =jIɮ6#-w,aA:>1@Y:?@@:.=9:@>y:H`XQÿ@A ?u?ט@?G\?ɨ:>1@:ǎ;:$CyRBRX"I-Mb@Mb@Mb@)))EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258467 )))Y-On?x?Mby->-K7>--A -@))JaJeJe1JaJaJe:Je3JaJeQ;amJeR;auJeDG;auJeEG;auI-@)y-@I}I}m?٢; C=9i Q > G٣y(: > Nusing accuracyPremultiplier from config59?5Y\ iV™p>a;tABE90;>/;5B @EDNOT Ignoring new targets: 64.80 m. jjjjihhhh5BffrfbfO>@]p>]p>]_i`?]x@ .=  >IM9 QɚUn5iQIQIYiYi]%Wt)Y)aD-ѩ9*F2F:FBF0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512924G qB O >-w,`?6A6w1@Y6x?@6!=96<>y6H@zÿ@&!?{?`m?a?ɨ6w1@6(;6"CyBBB_"IININm٢V<< VZ=9Zǫ:Q Z>XX ZG٣\y Qb  > Nusing accuracyPremultiplier from config%59?-5Y^ iX™)--ACE_m;m;51 =[@9eDNOT Ignoring new targets: 64.80 m. jajajajiiihihihihqfqfqrfybf}@>@]]]]8x@!= 隵{>I9 ɚ5iIIii-oy))D9*FA2FI:FIBFMP5JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767190GoBO>zKBHK9KK(K-^pR7t0 i Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017876R-w,XPAy% B-j"IIuIu(٢#= +=9Q >! %G٣)y= E> eNusing accuracyPremultiplier from configYe59]?e5Y]` i]Z™iimA]DE];]N;]5q }@yDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfN'?@]]]]HN>IC Iy"IIBI&I.I6Ie<:I` F I>I9 ɚ75iII!i!i%Vx))))BD5=?:D5i?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269884JKw3 K.-KK"KJJJJJ:J :JJJ;J;JdW;JdW;DM9EUJ>EU>*F ?2F :F BF o0JF G rA G e t$?Ia G )wB O >9-w,ImA6K1@Y6j?@6=96O7>y6H&`~ĿB+??r ?h?ɨ6K1@6;4yBBB|"IMb@Mb@Mb@ )Yy&1?B`"?Qy`=N>uhA @)@I@y(@I-I-³=Will construct direction to contact in vehicle frame from tetrahedron phase data.=?=<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522302٢U= UK=9]!;Q ]>YY eG٣aye\ e> mNusing accuracyPremultiplier from configiu59mR?=5Ymmb imX™=m>=e;==Aim&]m>]B?]@=  >I9 ɚIS5iII i i :) )1DWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775158*Fe ?2Fi :Fi BFm 0JFi I G wB zK NK K K (K  BK :K O>>-w,峊Ay3B"II-I-ʴ٢=\= =3=9EQ E>AI MG٣IyM M> UNusing accuracyPremultiplier from configQ]59Uڔ?e5YUd iUU™aaeAUEEU ;U ;Un5i m[@q=DNOT Ignoring new targets: 64.80 m. j9j9j9jAiAhAhAhAhIfIfIrfIbfM @@]]]]Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:05:48.9510 TRx dataTimestamp_ set to:1736381150.252718checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027112 >Iq9 ɚiIIii)) D569HK>I I"II#BI =&I.I6I)<:I1 F*FY2FY:FYBF] 3JFYG5҆B9O]>*JA "JE 4=JM JM JI JI JM <:JM :JI JI JM 6;JM 7;JM oN;JM oN;e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281859-w,NAF0@YF>@FPː=9F<6>yFHGſ@? ? @]?xj?ɨF0@F;F#CyRCBR"IMb@Mb@Mb@ )YzG??I +y =L>94;A @)Ix@y=@II٢ם= E=9%u:Q %>!) -G٣)y-Ѽ -> =Nusing accuracyPremultiplier from config1=595収?E5Y5f i5Q™Eg>Ej;EYEA5FE5;5 ;5N5I MJ@UEDNOT Ignoring new targets: 64.80 m. jjjjihhhhMBff Irfbf 8@@]g>]g>]C.?]@Pː= !%>I%{9 !ɚ-W3i)I)I9i9i=W)9)A2D*DsADEWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 68.1 m (Round-trip 90.9 ms) speed 0.0 m/s - X#Rx 1: Read range message, but no direction.y3B*Fy2Fy:FyBF}4JFy"G=G=G B O >-w, ,A6/R0@Y60q>@6L=96)6>y6Hn{aƿ`+??@@%?j?ɨ6/R0@6;6&CyV`BV"II^I^٢f> f[=9f#/Q j>hh jG٣hyn@ r> vNusing accuracyPremultiplier from configtz59v?z5YvWh ivN™xz~AvGEv;v;v5 }@EWill construct direction to contact in vehicle frame from tetrahedron phase data.E addTargetRange:: Added new target pos. range: 68.099998 m, deltaT: 32.540629 s, deltaX: 2.099998 m, approachRate: 0.064535 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhQhQhQhQfYfYrf]`fQ@bfe\?]]]]|@L= 隝H ?I9 ɚiIIii))D 9*Fm?2Fi:FiBFmO0JFiGE펓BQOm5> IzK=hLK=u9K9K=(K= RKM?JKM?u~G sYyBWill construct direction to contact in vehicle frame from tetrahedron phase data.-w,2طAZH,RH.@AH6J>I6C I6"II6ABI6 =&I4.I46I6s<:I6f Fjq/@Yjr >@j=9ju7>yjHr-ǿ=w?@?`=?`h?ɨjq/@jSs;j"Cyv{Bv"IMb@Mb@Mb@ )YʡE?ʡE?Mbpy-=-2>hA r@)Q@Ib@y@I I ٢-= 55=9==:Q =>AA EG٣IyU/d U> eNusing accuracyPremultiplier from configYu59]:?u5Y]/j i]I™u?G>u;u uAY]lK;]/t;]ޡ5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfU?]?G>]?G>] ?] @= >I9 ɚiIIiiMͮ))J%J%J!J!J%:J%:J!J!UWill construct direction to contact in vehicle frame from tetrahedron phase data.J%;J%;J%L;J%L;D=i9 I*F 2F :F BF 4JF G sA G  Will construct direction to contact in vehicle frame from tetrahedron phase data.G vBO%>-w,_A6/@Y6=@6=967>y6H0lǿX좿2u? ??h?ɨ6/@6;6#Cy>B> #IIFIF%٢N-> NF=9RQ R>PT VG٣TyV5 V> ^Nusing accuracyPremultiplier from configXb59Z,?b5YZk iZD™`fTfAZHEZ-/;Z.;Z5h n@lDNOT Ignoring new targets: 64.80 m. jjjj ih!h)hhffrfbf-?]]]]@ =  X?I9 ɚiIIii9嵽))!BDm9?:DmR?Will construct direction to contact in vehicle frame from tetrahedron phase data.՝AiՙDw9*Fa2Fa:FaBFeO0JFiG= BI Oe > I zK eLK 9K K (K BK :K <.w,ArWill construct direction to contact in vehicle frame from tetrahedron phase data.yEBEG#IIQIQ٢eo> e>=9mQ m>ii mG٣qyu u> }Nusing accuracyPremultiplier from configy59}~?5Y}m i}@™A}IE}<}ʤ<}5! %@!uDNOT Ignoring new targets: 64.80 m. jjjjihh hhffrfbft?H}I>Iy I}"II}yBIy&Iy.I}8D6I}U<:I}N F]]]]  r?I 9 ɚ iIIii۴))Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9*FI 2FI :FI BFU |4JFQ I GЭBO? .w,0A>Will construct direction to contact in vehicle frame from tetrahedron phase data.J.@YJ<@J&=9JT/6>yJHYJɿz}K?.?#᱿ ?k?ɨJ.@JƉ;J$CyVBVv#I=Mb@Mb@Mb@999 9)9Y=)\(?T㥛 ?=t=$A 9)9I=@9y=@IUIUW٢e> e=9eܳQ m>iq uG٣qyulɼ u> Nusing accuracyPremultiplier from configy59}y?5Y}n i}>™+>;Ay}J;});}ͧ5 &@eDNOT Ignoring new targets: 64.80 m. jajajjihhhhۃBffrfbf@]+>]+>]/dZ?]>m.w,bNAB.@YB<@B-=9BN6>yBH@S˿ɿƇ? ?б?@j?ɨB.@B뎉;B%CyNBN#IiRp b:=9bQ b>dd fG٣dyf# j> nNusing accuracyPremultiplier from configlr59n7t?r5Yn*p in=™pr rAnJEn:nL:n5t zB@zEDNOT Ignoring new targets: 64.80 m. jjjjih!h!h!h!f)f)rf)bf-@]Q]Q]Q]Ur@-= 隕m?I9 ɚiIIiiн))2D*DrAWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F 2F :F BFR0JFG2B1jHE<bHE<HeH>Ia IeH#IIeBIe =&Ia.Ia6Ie}<:Iei FBIšCJIŢCRIZI =bI =jIŞ5O J>JA JE AA Will construct direction to contact in vehicle frame from tetrahedron phase data..w,*hA:.@Y:<@:͖=9:o)6>y:H R Vɿl`?x?@Q`Ә? k?ɨ:.@:P@;:#CyF:BJ#I tItuMb@Mb@Mb@qqq q)qYuu=utuA uE@)u;@IuK@qyu @II ٢M1> ==9Q > G٣y > Nusing accuracyPremultiplier from config59n?5Yp iA™i">;9A5;;5B @EDNOT Ignoring new targets: 64.80 m. jjjjihhh!h%Bf!f!rf)bf-`@]mi">]mi">]m}!>]mRTX@͖= 隝{?I@9 ɚiIIiiѽ))DEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFG  G sAGe G}ɽBi O >{ .w,AJJJJJ:J:JJ"Will construct direction to contact in vehicle frame from tetrahedron phase data.FaV.@YFbu<@Fy=9Ff7>yFH@ O@T*ʿHs? ?k?@Fj?ɨFaV.@Fv;F%CyR[BR$IIZIZ{٢u&$> }N=9}mQ }> G٣yۻ > Nusing accuracyPremultiplier from config59|i?5Yp iD™9AKE2;;$;X5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf @] ] ] ] (X@%y= !%$?I%9 )ɚ)i)I)I1i1i5kֽ)1)9D-9 I*F?2F:FBF0JFzKVBJK-9KK(K;*Will construct direction to contact in vehicle frame from tetrahedron phase data.%=R=GkʽBO >He G>Ia  Ie #IIe BIe  =&Ia .Ia 6Ie <:Ie x F]&.w,ۛA2ZJ.@Y2[i<@2=92R7>y2H@XN<ʿ r ^?@ 0?a2`? j?ɨ2ZJ.@2=;0yBvBB($I)D D J=J=Mb@Mb@Mb@ )YʡE?V-y-2>A \@)@Ix@yImIm ٢C> J=9Q > G٣y > Nusing accuracyPremultiplier from config59c?5Yp iL™4>;W>@Ae;;5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhMBffrfbf` @]4>]4>]/3]W>@-= )-{?I-9 )ɚ1i1I1I9i9iEf.׽)A)A*J5C="J5a=UWill construct direction to contact in vehicle frame from tetrahedron phase data. IDʰ9*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G `KҽB O >#-.w,A6^1.@Y6_P<@6s-=968>y6H Lfʿ@ĜE?`w !)?ⰿ? si?ɨ6^1.@6;4y>BBJ$IIJIJ٢R0 > RN=9RIQ R>TT ZG٣Xy^M{ ^> bNusing accuracyPremultiplier from config`f59b^?f5Yb^p ibT™df@>@fAbLEb@s-= b"?I9 ɚiIIii'ٽ))Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:J9JJDر9*FA2FA:FABFEo0JFA I zK LK 9K K (K   Gi Bq O >(4.w,rѸA2R.@Y2S><@2Mτ=92\8>y2H@\K ʿ@bi?&?@@?i?ɨ2R.@2;2&Cy:B>f$IIBIBT߳٢J8= NG=9N8Q N>PP RG٣PyR^0 R> VNusing accuracyPremultiplier from configTZ59V/X?^5YVp iV]™\^.>@^AVMEV ;V ;V5` b@dnWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`L@])])])]-.>@=Mτ= AE-?IE-9 AɚAiAIAIqiyi}d۽)y)D9ZHRHH)I) I-$II-cBI- =&I).I)6I-a<:I-R F*FE?2FI:FIBFMF5JFQG5%ֽBAO]U>Je@AJe@AWill construct direction to contact in vehicle frame from tetrahedron phase data. I LO:.w,>Ay=B=$IiM%=IM=MAMAMb@Mb@Mb@ )Y"~?A`" ףp= yS>YQ8A )@IK@y@II٢= 5=9Q >!! %G٣!y% %> 5Nusing accuracyPremultiplier from config)559-P?=5Y-o i-l™=_>=s;=.@=A)-[;-;-5I Mw@UE}DNOT Ignoring new targets: 64.80 m. jyjyjyjyihhhhBffrfbfV@]_>]_>] @]-.@ ?I9 ɚ#4iIIii(R۽))2DsA*DsAWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F2F:FBF/5JFG GrAJ J J 0J J |:J :J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.G kֽB O >jA.w,A^.@Y^=<@^F}=9^p8>y^H@Lsʿ@@Zm?/ 4??l?ɨ^.@^;^$Cyj˅Bj$IIrIr٢zog= ~W=9~Q ~> G٣yZ  > Nusing accuracyPremultiplier from config 59 J?5Y 8n i y™A NE : : G5-B -@-E]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiahahahahafifirfibfu`@]]]]\.@F}= 隥9$?I=9 ɚn4iIIiim۽)) r$?I)q uCH~G EWYIyM}BzK=<LK=9K9K=(K=D1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF5JFH I  I m$II BI &I .I 6I <:I g FG- 9ֽB9 OU >]G.w,yAyzօBz$IMb@Mb@Mb@ )YQ?MbT㥛 yu> E@)@Iyp@@AII)٢M= ?=9Q > G٣y >*J"Jp= Nusing accuracyPremultiplier from config59C?5Yl i™ڇ>H;&@AOEL;f;&5Will construct direction to contact in vehicle frame from tetrahedron phase data.  @%DNOT Ignoring new targets: 64.80 m. j!j!j)j)i)h)h)h1h5Bf1f9rf9bf=(<@]]ڇ>]]ڇ>]]@]]&@ H!?I.9 ɚ4iIIiif|۽)) IDM+9*F2F:FBFd4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G %ֽB O5 >'-N.w,u;A>!.@Y>@<@>p=9>p:>y>HN@\ʿB@g?@%6?#g*?`[j?ɨ>!.@>G;>%CyJׅBJ$IIVIVʴ٢^; ^L=9bmQ b>`` fG٣dyf : f> nNusing accuracyPremultiplier from confighn59j;?r5Yjvk ij™pr&@rAjPEj\:j:j5x z@xDNOT Ignoring new targets: 64.80 m. jjjjih!h!h)h1f1f1rf1bf5 @]Q]Q]Q]U&@ep= im!?Im9 iɚm$5iiIqIqiyi}۽)y)yBDI?:D>?%Will construct direction to contact in vehicle frame from tetrahedron phase data.D9 I*F2F:FBFO0JF"G!>G>zKu k3IKu -9Kq Ku (Ku  Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 OU >U.w,\XUAV1.@YVP<@VPbh=9V)-;>yVH"Qa2ʿ$H? 8?L@:?`j?ɨV1.@Vۉ;V#Cy~ۅB~$II I d٢X< D=9uQ %>!! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=595[4?=5Y5j i5™9E'@EA15 :5:55I U@Q}DNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhyhhhffrfbf X~@]]]]K'@Pbh= $?Ir9 ɚ QN5iII1i9i=@ٽ)9)AjHqbHu=HF>I I$IIBI =&I.I6IJ<:I? FJJJJJ:J:JJJ4\.w,rAjWill construct direction to contact in vehicle frame from tetrahedron phase data.yUЅBU$IMb@Mb@Mb@ )Y r?zGế~jty> ׽A )@Iyz@IIb(٢= '=9 Q > G٣y > %Nusing accuracyPremultiplier from config!-59%*?-5Y%Oh i%Є™-_>58;5n&@5A%QE%;%;%ܽ59 Ea@EEmDNOT Ignoring new targets: 64.80 m. jqjqjqjqiqhqhqhyh}~Bfyfyrfbft@]=_>]=_>]=y@]= n&@q y}(?I}9 yɚ}e~5iyIIiivٽ))DE'9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF O0JF  q$?I G kֽB O >uc.w,ޯA6?.@Y6^<@6Q=96٦9>y6HT#ɿm/?@ ?k; ?&o?ɨ6?.@6գ;6"Cy>ȅB>$IIJIJ ٢RP VI=9Z[Q Z>XX ^G٣\y^; ^> bNusing accuracyPremultiplier from config`f59b #?f5Ybf ib™hj&@jAbREb ;b;b5l n@l DNOT Ignoring new targets: 64.80 m. j j j j i hhhhffrfbf@]A]A]A]E&@zKMKM9KIKM(KMeQ= ae)%?Im9 ɚ 5i I IiiL׽))2D!*D!mWill construct direction to contact in vehicle frame from tetrahedron phase data.DK9E E sA*F2F:FBF`0JFGrA GsAHQIUC IU$IIUBIU =&IQ.IQ6IUc<:IUQ FBIJIšCRIZI =bI =jIţ4G= %ֽBI Oe >J 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.|i.w,uA $I$f"M.@Yf#l<@f;J=9f 9>yfHV@ɿC ??D`?p?ɨf"M.@fS;f$CyvBvv$IMb@Mb@Mb@ )YK7?#~j(\µy>㥽 @)@I=@y(@II٢ :=9Q > G٣y^: > Nusing accuracyPremultiplier from config59?5Ye i™F>4;-@ASE;;5 @DNOT Ignoring new targets: 64.80 m. jjjj i h hhh_Bffrfbf%>@]eF>]eF>]eܳ@]ei-@;J= 隵+?I9 ɚ5iIIiiֽ))DWill construct direction to contact in vehicle frame from tetrahedron phase data.*FY2FY:FYBFYJFYGy B O >}p.w,MùA2B.@Y2a<@2xC=92w9>y2H`Vmɿk*?`C?l? mp?ɨ2B.@2|;2#Cy>B>U$IIFIF٢R^ R_=9RQ V>TT VG٣TyZG Z>Will construct direction to contact in vehicle frame from tetrahedron phase data.  Nusing accuracyPremultiplier from config\ 59^Y?5Y^ed i^™-@A^TE^0;^;^(5A E@ADNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfa @] ] ] ] m-@=xC= 9=?I=9 AɚEiAIAIIiIiM׽)I)I 9I9DM~9*F?2F :F BF h2JF zKBoHK9KK(KWill construct direction to contact in vehicle frame from tetrahedron phase data.G) BA Ou >ZHA RHE AAHY IY  I] $II] BI] ! =&IY .IY 6I] +<:I] ' Fv.w,6ݹAH.@Yg<@L<=9:>yHWɿ??~%?p?ɨH.@>;騹yB7$ImMb@Mb@Mb@iii i)iYmT㥛 ?Q(\µym>mimlA m@)m@Im@iym=@II(٢vν .=9tQ > G٣yuN: > Nusing accuracyPremultiplier from config59?5Yc i,™>F;8@AUE<;;55eB m)@mEDNOT Ignoring new targets: 64.80 m. jjjjihhhh BfJJJ1JJ\:J:J3JJ<J<JnN;JoN;Will construct direction to contact in vehicle frame from tetrahedron phase data.f!rf!bf%@!@]e>]e>]e/E@]e8@uL<= y}:?I}9 yɚiIIiie(׽))BD:?:Dy?Dz9El>E> %p$?I!*FM?2FI:FIBFMH1JFQ"G]>G]=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >/}.w,NAB3.@YBR<@B6=9B$|:>yBH`TVɿ|H?@n? (?p?ɨB3.@Bz/;B%CyNgBN$IIZIZ۳٢b bk=9b6Q f?dd fG٣dyjq j? nNusing accuracyPremultiplier from configlr59n?r5Yn c in>™pv8@vAnVEn:n:n5x z@x%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf=`8I"@]Q]Q]Q]U8@e6= im,?Im: iɚiiiIiIiijٽ))D9*F!2F!:F)BF-O0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.G kֽBO5> I.w,AyKB#II-I-%٢= =C=9EQ E>AI MG٣IyM M> UNusing accuracyPremultiplier from configQ]59UY?]5YUZb iUS™aaeAUWEU ;U: ;U5i m@izKKu9KK(KBK:KDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfB!#@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]] ?I9 ɚiIIiiNٽ))HE>I I$II҅BI =&I.I6I<:I FD9*F?2F:FBFP5JFGsA GJK3 K.KK"KJ J J J J J :J J J J J DG;J EG; Will construct direction to contact in vehicle frame from tetrahedron phase data. I G %ֽB O >煊.w, #,A> .@Y>)<@>A+=9>0z9>y>HS1'ʿ.q(?x? y ?r?ɨ> .@>ނ;>$CyJ)BJ#IiLIN==Mb@Mb@Mb@999 9)9Y=5^I ?J +?+y=X>=H===A =@)=C@I=@9y= @IUIU٢eZ m?=9m)Q m>qq uG٣qyu }> Nusing accuracyPremultiplier from configy59}?5Y}b i}d™k>f;YCAy};}8;}l5 @EDNOT Ignoring new targets: 64.80 m. jajajajaiahihihihmBfqfqrfqbfu$@]k>]k>]ʨi>]N@A+= {T?I: ɚiIIiiP޽))2DrA*DrAWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F ?2F :F BF 05JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս AiՉ GY Bi O >y .w,iHA2-@Y2<@2D )=928>y2H3Orʿk ?`E?~"?s?ɨ2-@2;0y> B>#IIJIJ=س٢R RC=9R\кQ R> XIX\\ ^G٣\y^» b> fNusing accuracyPremultiplier from config`=59b鍜?=5Ybb ibt™9=C=AbXEb JK}?Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FQBFUO0JFQG]kֽBO>H I  I N$II BI &I .I 6I <:I | Ff/.w,TbAF-@YF;@Fq%=9F=58>yFH@ L"ʿb`&-? @u?@ˬ!?-h>-u-@ -@)-@I-r@)y-@IIm٢ ;=9Q > G٣yw > Nusing accuracyPremultiplier from config59⍜? 5Yd i}Will construct direction to contact in vehicle frame from tetrahedron phase data. @d>%n;%%%AYEY;|;/59 E@AJJJJJ̶:J:JJJ;J;JI;JI;DNOT Ignoring new targets: 64.80 m. jjjjihhhh Bfifirfqbfu%@ o$?I]@d>]@d>]9?]Cl@5q%= 9=ff?I=: aɚaiaIaIiiqiuz)q)yDE ͹9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 4JF "G =G >GoS׽B!O=>v.w,#MAB@{-@YBA;@B%=9BX8>yBHE`%1˿$V@?`y?`Ơ`m?u?ɨB@{-@Bط;@y^̄B^W#I)` `IfIf٢n r,=9rKQ r>tt vG٣tyz ~> Nusing accuracyPremultiplier from config|59~ۍ? 5Y~e i~™   & A~ZE~:~:~;5 @EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhIhIhIhIfQfQrfQbf]@L&@]y]y]y]}k@%= 隍LV?ID: ɚiIIiiL))BD[?:D`?5Will construct direction to contact in vehicle frame from tetrahedron phase data. ID9*F?2F:FBFO0JFGmwByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JK u9K K (K H D>I  I #II IBI &I .I 6I 0<:I - F.w,\!A6-L-@Y6.k;@6x#=967>y6H(@މ˿3G?@@.d?hz` ?@ v?ɨ6-L-@6؉;6%CyRBR9#IIZIZW٢b޽ ==91Q > G٣y ֻ  > 5Nusing accuracyPremultiplier from config)M59-ԍ?U5Y-f i-™Q&A)-y<-<-)5  @!UPExceeded connect timeout, disconnecting.uDNOT Ignoring new targets: 64.80 m. jqjqjqjyiyhyhyhyhffrfbf'@]]]]k@x#= LJ?I9 ɚiIIii<))!*JR="JEWill construct direction to contact in vehicle frame from tetrahedron phase data. IDMۺ9*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5>+ͭ.w,.㹺Ay~B~/#IMb@Mb@Mb@ )YQ?y&1?t;@ d@)@Iy@II(*٢U /=9Q > G٣y > Nusing accuracyPremultiplier from config59.΍?5Y3i ih>N;UA[EN3;;)5 @E=DNOT Ignoring new targets: 64.80 m. j9j9j9jAiAhAhAhIhMBfIfIrfQbfU\p(@]}h>]}h>]}??]}d@ 隕q}?I: ɚo4iIIii{))D*F?2F:FBFP0JF!GeBJ9J=J9J9J9J=:J9J9aE@aE@aE@aE@O]U>uWill construct direction to contact in vehicle frame from tetrahedron phase data. I±.w,ӺAV9e,@YV::@V%=9VC7>yVH`&BFͿX?Q?`W?@y?`v?ɨV9e,@V;V#Cy^Bb*#Iif=If<IrIrԳ٢z zZ=9zA:Q ~>|| G٣y >  Nusing accuracyPremultiplier from config 59 ȍ?5Y k i <A \E  ; X; 5! %@)eDNOT Ignoring new targets: 64.80 m. jajajajaiahahihihififqrfqbfu.0)@]]]]@%= 隭q{?Il : ɚ4iIIiiB))2DsA*DzKUyJKU-9KQKU(KUNd."*QH3 Jq3 $E#-k&ef  K bWill construct direction to contact in vehicle frame from tetrahedron phase data.D9ZHRHH I  I #II BI &I .I 6I R<:I F FBIàCJIàCRIZIbI =jI4*FM?2FI:FIBFMp0JFI nManaging dock network, ignoring radio surface power offGsBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data. I ۺ.w,AFe,@YFf/:@FGW'=9F_6>yFH@Ϳ ]? 4v?mJ?k餿`?5w?ɨFe,@Fщ;F&CyfBj&#IeMb@Mb@Mb@aaa a)aYe㥛 ?5^I ?ete@ a)e@Ie\@aye@I}I}٢t A=9:Q > G٣yxH > Nusing accuracyPremultiplier from config59Í?5Yn i™>-;XA]Ec;a;5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf*@]%>]%>]%R6?]%c@GW'= ׃?I : ɚB5iIIiiõ)) Will construct direction to contact in vehicle frame from tetrahedron phase data.Du9*F ?2F :F BF O0JF G XB O >Je Je Je 0Ja Je \:Je 9Je ـ3Ja .w,A2+@Y29@2+(=92S46>y2H}οb?"?@ =?}?w?ɨ2+@2;0y>BB-#IIJIJ&ѳ٢R= RX=9RՁ:Q V>TT VG٣TyZj Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data. ^Nusing accuracyPremultiplier from config\f59^\?j5Y^p i^™hjjA^^E^wo;^go;^K5 %n$?I!Y ]@]EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf$*@]]]]Q7@5+(= 9=d?I=: : 9ɚ=5i9IAIAiAiMX7 )I)ID59zKuPKu9KqKu(Kuh G]&rBj`WJ>&Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFH I  I g#II ڄBI &I .I 6I ;<:I 5 FG Bi O >d.w,$Ay B ?#I)  ==Mb@Mb@Mb@ )Y~jt?)\(?I +?yD=G>94< 7@)x@IE@y\@IIV٢En= $=9Q > G٣y >  Nusing accuracyPremultiplier from config 59 ??5Y t i o™=>&;cA _E ; Y; x5! -@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.}DNOT Ignoring new targets: 64.80 m. jy Ihjyjjihhhhffrfbf@+@]=>]=>]?] @  ?I D: ɚ5iIIiiF ))D9*Fy 2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9 B O>.w, BAB+@YB.9@B/=9B4>yBH@Ͽ{c?i?zz@?@ߥv?Cy?ɨB+@Bq;B%CyNڄBRh#IIZIZ³٢b> bB=9b j;Q b>dd fG٣dyjOȼ j> nNusing accuracyPremultiplier from configlr59nӵ?r5Ynw ina™prrAn`En@:n:nN5x z@x%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i)h)h1h1h1f1f9rf9bf=,@]Y]Y]Y]]@m/= qu)?Iu : qɚuiqIqIyiyi}3))JJJ1JJ:J9J3JWill construct direction to contact in vehicle frame from tetrahedron phase data. IDI*F2F:FBF0JFG GtAU Will construct direction to contact in vehicle frame from tetrahedron phase data.zK QOK k9K K (K G) B1 OU >[.w,[AjH<bH<H I  I"a#II"ԄBI &I .I 6I"]<:I"N FBf*@YBg8@B:1=9B$5>yBH`EпƸf?E?n`M+?`5`/?x?ɨBf*@BfV;@yB#IIMIM@ ٢]#> ]A=9]X:Q ]>aa eG٣ayeL m> }Nusing accuracyPremultiplier from configq59uO?5Yuz iuS™mAuaEu;u;u'5 v@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@y-@]]]]}t@:1= ϙ?I: ɚiII!i!i%)!)D.9*F92F9:F9BF="5JF9G7 B!O=P> IWill construct direction to contact in vehicle frame from tetrahedron phase data.Ai.w,uA6y6H;п.h?H?`oe@? 5 ?w?ɨ65`<5@ 5/@)55@I5&@1y5p@IMIM<٢eU> eJ=9e*:Q m>ii mG٣iyu# u> }Nusing accuracyPremultiplier from configy59}?5Y}} i}D™Ò>9;QA}bE};};}55Will construct direction to contact in vehicle frame from tetrahedron phase data.=B =@=EDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfPT.@]Ò>]Ò>]ݸ?]@4= ?I : ɚiIIii"))DU=9*F2F:FBFW5JFJJJJJJ:JJ"G C>G ?> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.)i m C ~G  5 Y1 y5 BG5 B9 OU >9.w,A63*@Y6R8@68=96 b7>y6Hglпyk? RF=9V;Q V>TT VG٣Xy^! ^> bNusing accuracyPremultiplier from config`f59bک?f5Yb` ib4™djjAbcEb;b;b5l n@lDNOT Ignoring new targets: 64.80 m. j j j j i h hhhffrfbf/@]]]]8׉@8= )-?I-;: )ɚ)i)I1I1i9i=r )A)A=Will construct direction to contact in vehicle frame from tetrahedron phase data.E I  Will construct direction to contact in vehicle frame from tetrahedron phase data.].w,yAV{*@YV|78@V~9=9V~7>yVH1пk?`?U`?0i?&t?ɨV{*@Vܑ;V#CybBbB$IUMb@Mb@Mb@QQQ Q)QYUV-?v/?Q?yUm=Uxi>U u>=9}`:Q }> G٣y} > Nusing accuracyPremultiplier from config59?5Y i%™r>_;AdE ;};5 {@DNOT Ignoring new targets: 64.80 m. jjjjihhhh?Bffrfbf0@]r>]r>]D-?]@=~9= 9E3?IE : AɚAiAIAIIiQiU!)Q)i]Will construct direction to contact in vehicle frame from tetrahedron phase data.DuK9*F 2F :F BF 4JF G1 BA O] >.w,ǻA2)@Y2 8@2h<=92i8>y2H@ ѿPk?T? N@? ⊧1?r?ɨ2)@2E;2&Cy>B>$I F=Fa=IJIJ٢R!v> RG=9R4:Q V>XX ZG٣Xy^ɻ ^> bNusing accuracyPremultiplier from config`f59b?f5Yb ib™djjAbeEb ;b ;be5l nQ@l 5m$?I1DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`h0@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]ꒅ@h<= ڟ?I: ɚiIIi!i%#)!)ADo9E*FY2Fa:FaBFeP0JFaGi GmsA] Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K 9K K (K  ZH9 RH= ?AH9 I9  I= #II= SBI9 &I9 .I9 6I= )<:I= & FG Q!B O >90.w,2XAyޥBޥ$III=س٢b> /=9Q %>19 =G٣AyU ]> }Nusing accuracyPremultiplier from configq 59u? 5Yu% iu™  AufEuעr.w,RA 6)@Y67@6:>=968>y6H 9ѿҊm?T?G`?(ŧ? ;r?ɨ6)@6;4yF-BF %IMb@Mb@Mb@ )YMbX?X9v?Zd;O?y==j<p@ 7@)K@IE@y@I-I-٢=N> =S=9:Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i™@ >;f$A;;05 a@%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h)h)h)h-Bf1f1rf1bf5C1@]U@ >]U@ >]U{`?]Um@e:>= im?Im: iɚiiiIiIqiqiu&)y)yD}9*F-?2F):F)BF-_0JF) IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.G5 {ZBA O] >\/w,~Aj)@Yj7@j<=9jr9>yjH;?ѿq?`H? F ?`?q?ɨj)@j;j"Cy[BB%II!I!٢5Ee> 5M=95ƱQ =>99 EG٣AyE E> MNusing accuracyPremultiplier from configIU59M?U5YMӈ iM™Y]n$]AMgEM;M4;M5a m@iDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf 1@]A]A]A]Em@uWill construct direction to contact in vehicle frame from tetrahedron phase data.<= 隍_?I: ɚiIIii4&))2D*DsAzK GLK K K (HMC>II IM$IIMȅBII&II.II6IMh<:IMS FBIJIRIZIbIjIq3K D=9E]rAE]rA*F ?2F :F BF P0JF "G% x>G% > Q IY JE JE JE 1JA JE :JE :JE 3JA JE 4<JE 4<JE I;JE I;- Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- AGU LBY Ou > /w,2A2)@Y27@2;X;=92;>y2H`@bFѿt?A?`B?`h_9?Qo?ɨ2)@2iˇ;2$Cy>B>~%I Mb@Mb@Mb@    ) Y n?Mbp?y V>  ; @ ) =@I @ y II٢-l^> 9=9ҹQ > G٣y > Nusing accuracyPremultiplier from config59l?5Y^ i™e>;y7@A;;5 i@E-DNOT Ignoring new targets: 64.80 m. j)j)j1j1i1h1h1h9h=DBf9f9rfAbfE22@]}e>]}e>]}/3]}y7@;X;= 隕?I: : ɚiIIii%&))eWill construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F2F:FBF[0JF  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G ܖB O5 >qn/w,sdNA6.)@Y6/7@6J7=96<>y6H@6ѿx?|?@?C?`]禿 Z? #n?ɨ6.)@6K;4y>BB%IIzIzn٢x:> ?=9 Q  > G٣ym; > %Nusing accuracyPremultiplier from config%59֊?-5Y i)-7@-A ;%;59 =@9mDNOT Ignoring new targets: 64.80 m. jijijijqiqhqhqhqhyfyfyrfybf} K2@]]]]7@J7= 隵ߛ?Iy: ɚiIIii%))D9*F2F:FBF?5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.jH-<bH-p<H1I1 I5)%II5GBI1&I1.I16I5H<:I5; FzKBoHK#9KK(KBe@) GBO >/w,GhAJJJJJ :J&:JJJ<J<J\;J\; )I1)@Y8@`1=9}:>yH ѿz?b?L`? T*@?q?ɨ)@0; CyކB%IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YE?+η:vyF>vԼ  @)&@Iyz@II٢8> 2=9NQ > G٣y=; E> MNusing accuracyPremultiplier from configAU59EU?U5YEH iE™U]>Ut;U@]AEhEE` ;E ;E5 E@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf2@]E]>]E]>]E@]EF@U`1= QU{?IUJ : yɚyiyIyIii|#))BD;?:DW?D9E]>E> Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fq 2Fq :Fq BFu _0JFq G} rA G} rAGdBO >y6H@,п?|?? Rۚ?3?Js?ɨ6*@6@;6#Cy>B>&IIbIbỳ٢j=> n==9n.9Q n>pp vG٣tyv ; v> zNusing accuracyPremultiplier from configx~59z~?~5Yzτ iz™@AziEz,;z,;z5 @=DNOT Ignoring new targets: 64.80 m. j9j9j9jAiAhIhIhIhIfQfQrfQbfUg3@ mk$?Ii]]]]f@^,= 隥?I&: ɚiIIiiy"))EWill construct direction to contact in vehicle frame from tetrahedron phase data.EAiADE9*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Hq Iq  Iu %IIu BIq &Iq .Iq 6Iu <:Iu  FzKE MKE k9KA KE (KE BKQ :KU qAG J<B O >S'/w,AF**@YFI8@FT%=9F9>yFHTпBJ?Y?V@? ?`r?ɨF**@FRj;F"CyNBN)&IIVIVW٢^= bM=9bQ b>`d fG٣dyj; j> vNusing accuracyPremultiplier from configp59r!y?5Yrg ir™"@ArjErC0/w,A:2E*@Y:3d8@:l=9:R;>y:Hп+?`x?W?ࣿT?p?ɨ:2E*@:ۋ;:&CyJ'BJ=&I%Mb@Mb@Mb@!!! !)!Y% +?MbX9Ŀ:vy%v>%!%T%@ % @)!I!!y%@I=I=y/٢Ms= U=9UCQ U>YY ]G٣Yy]-T; ]> mNusing accuracyPremultiplier from configam59ep?u5Ye ie0™u>u5;u*@uAekEe};ed;e5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhڄBffrfbfET4@]e>]e>]e~@]e*@l= 隝3?I : ɚ)(5iIIii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.H~G D%9E19 } Yyy}B*F2F:FBF0JF"G>Gx>G B O >6/w,ۿۼAZWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH @AHI I6&II"BI&I.I6IT<:IA Fy-/B-G&II=I=٢Mu!= UD=9UQ U>YY ]G٣Yy] e> mNusing accuracyPremultiplier from configiu59m!j?u5Ymx~ imC™qquAmlEm:m2:mX5}B '@EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffzK%K%89K!K%(K%#!)@FC;4*" RK5?JK5?rfabfe>4@]]]] 隵M?Ih : ɚ"u5iIIii))  iIqD9eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F] ?2FY :Fa BFe 0JFa G B O >=/w,eA2*@Y28@2&'=92K`>>y2H Mп?@M,? _?㡿M?m?ɨ2*@2;2%Cy>&B>;&IUMb@Mb@Mb@QQQ Q)QYU?KǿMbX9yU>U^:UʡU@ U@)UK@IU&@QyUp@ImIm٢}Z+ }3=9 Q > G٣y9-< > Nusing accuracyPremultiplier from config59b?5Y{ i_™i>&;@AmER;;X5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf)05@]i>]i>]@]n@-&'= )-?I- : 1ɚ5}5i1I1I9i9i=)9)AMWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBF2JF IJSK[w3 K[.-KSKS"KSJ- J) J) J) J- L:J) J) J) aE @aE @aE @aE @ Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm YBy O >XD/w,A6{*@Y6|8@6!=96=>y6H@AпR`?@? f ?ؠ`? /o?ɨ6{*@6;6$Cy>B>,&I F=F=IJIJ)٢Ru VU=9VQ V>XX ZG٣Xy^; ^> bNusing accuracyPremultiplier from config\f59^)\?f5Y^y i^w™df5@jA^nE^;^;^5l n@lDNOT Ignoring new targets: 64.80 m. jjj j i hhhhffrfbf`5@]]]]5@!= ?I_ : ɚU5iII!i)i-))))D]9*F?2F:FBFP0JFGsA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.HaIa Iez&IIeZBIe! =&Ia.Ia6Ie<:Ie FGQ!BOG>zK%.MK%9K!K%(K%BK1:K5rA j$?I ZJ/w,l-A2Will construct direction to contact in vehicle frame from tetrahedron phase data.B'*@YB(8@Bc=9B<>yBHϿ??l ʶ?^t?)q?ɨB'*@BCW;B%Cy^ B^&IMMb@Mb@Mb@III I)IYMp= ף?Sÿ+ηyM>MMvM@ M@)M@IIIyMz@IeIe٢u˕ ==9VQ >    G٣ y~; > Nusing accuracyPremultiplier from config%59S?%5YMw i™%#>-(;-@-AoE;8;51 5@9eDNOT Ignoring new targets: 64.80 m. jajajajaiahahahihmBfqfyrfybf}@6@]#>]#>]9@]s@c= 隭{?I : ɚ5iIIiiC))D9*F2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G =4B O >?Q/w,FA:+@Y:09@:<9::>y:H ɑϿ r~?g? rvmt?;?6t?ɨ:+@:d;:&CyRBR%IIZIZ٢b  bY=9bdd fG٣dyjl< j> nNusing accuracyPremultiplier from confighr59jsM?v5Yju ij™tz@zAjpEj_;j`;j5~B @E-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=b6@]Y]Y]Y]]@u< qu?I}$: yɚ}iyIyIii0R)) YIYDe9JJJ0JJ:J :Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFGCBO$>E Will construct direction to contact in vehicle frame from tetrahedron phase data.jHa bHe <Hm D>Ii  Im &IIm _BIi &Ii .Ii 6Im f<:Im N FBI)JI)RI)ZI)bI)jI-˴P4'W/w,y`Ay~ΆB~%II I K!zKK9KK(K٢- -D=95Q 5>19 =G٣9yE E> MNusing accuracyPremultiplier from configIU59ME?U5YMfs iMDž™QY]AMqEM ;M;Mc5a e/@aDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf6@]]]] ?I : ɚiIIii)) iImhDeV9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5O0JF1"G==G==Gu 3B O >^/w,zA2@+@Y2_9@2<92QX9>y2HU@%Ͽ`?R ?@<)??`[w?ɨ2@+@2~;2%Cy>B>%IUMb@Mb@Mb@QQQ Q)QYUX9v?/$MbyUs>UUU@ U@)U@IU@QyU@IuIu٢y( @=9Q > G٣yj; > Nusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.թխ<9<>?5Y r i߅™>E;'@A< <>5 l@DNOT Ignoring new targets: 64.80 m. jjjj!i!h!h!h)h-/Bf)f1rf1bf5;7@]>]>]^4@]'@< 9E?IE : AɚAiAIAIIiIiM')I)QD@9 I JJJ1JJ:J:J3J*FY 2FY :FY BF] P0JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data.G% "B1 OM >qe/w,I֖AV))+@YV*H9@V<9V9>yVHBϿ@ٕ?@;?H} ?$_?Ew?ɨV))+@Vk;V"CybBf{%IIrIrb(٢v zD=9z6лQ ~>|| ~G٣|yb >  Nusing accuracyPremultiplier from config 59 6?5Y p i ™'@A rE  ;  ; 5! %y@!MDNOT Ignoring new targets: 64.80 m. jIjQjQjQiQhYhYhYhYfafarfabfe57@]]]]'@< 隝?I: ɚiIIii))DR9Will construct direction to contact in vehicle frame from tetrahedron phase data.HC>I IU&II;BI&I.I6I<:I F*F%?2F!:F!BF%_1JF!G+BOE/>zK5VBJK5-9K1K5(K5BK9:K9  i$?I!  Will construct direction to contact in vehicle frame from tetrahedron phase data.k/w,pAJ%+@YJD9@JYP<9Jr9>yJHBϿ%S?C? }V ?ɖ} ?x?ɨJ%+@J;HyRcBRK%IMb@Mb@Mb@ )YJ +? rh?{GzyH>C<ףZ@ @)@I@y@II=س٢6 ?=9mQ > G٣y > Nusing accuracyPremultiplier from config59/?5Yp i ™yY>y;oC@AsE;9;5B @E DNOT Ignoring new targets: 64.80 m. j jjjihhhhăBff!rf!bf%8@]MyY>]MyY>]Mt0=]MtoC@YP< ?IC: ɚiII i i ) )DN9E*Fa2Fa:FaBFe2JFaGmrA GmrAWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >r/w,OʽA:5*@Y:69@:װ<9:cJ8>y:H`FϿ`=?`?y~?%?y?ɨ:5*@:*;:#CyF4BF%IIRIRỳ XI\٢bu bY=9bQ b>dd fG٣dyj  j> nNusing accuracyPremultiplier from configlr59n)?r5YnYp in™pr6C@rAln:n3:n 5x z@x%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h)JUJUJU0JQJU:JU:JUـ3JQhhffrfbf`v8@]]]]6C@Eװ<MWill construct direction to contact in vehicle frame from tetrahedron phase data. Ae!?Ie: aɚiiiIiIiis))De`9*F?2F:FBF15JFG .,B) OM >ZH RH AAH I  I %II BI =&I .I 6I P<:I ? F Will construct direction to contact in vehicle frame from tetrahedron phase data.Ǭx/w,bAzKKKK(KN: *@Y: 8@:4[<9:i6>y:HEϿ`4ژ?? w? k%?|?ɨ: *@:ec;:$CyFBF$IININm٢V VL=9VQۺQ V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b"?f5Yb'p ib)™dfC@jAbtEb:b ;bP 5l n@lDNOT Ignoring new targets: 64.80 m. jjj j i h h hhffrfbf`8@]9]9]9]=C@M4[< QUT?IU#: QɚQiQIYIYiYie"x)a)a ID]9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF@5JFG5 5BI Oe >~/w,V+AJ$*@YJ%8@J <9Jt_5>yJH#п?`&?@es`v? `v?`3~?ɨJ$*@JI;J%CyRBV$IZAZAWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYEl?S㥛?y&1yE>E$>E`eE-@ EM@)Ej@IE@AyE@I]I]٢m+ m?=9uQ u>yy }G٣yy > Nusing accuracyPremultiplier from config59?5Y@q i0™[R>;)AuE;g;/ 5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhh$Bffrfbf@E9@] [R>] [R>] {9?] "i@ < 隽3?I: ɚiIIii)) IDqEsAE)ſ= C~G1QWill construct direction to contact in vehicle frame from tetrahedron phase data.չiսA yYyA*F= ?2F9 :F9 BF= A5JF9 "G] =G] = = @ WBG G[B O >m/w,QA6V*@Y6u8@6e9<96P5>y6H 9aп ԟ?^j? jq?Ц`?F~?ɨ6V*@6Vh;6$Cy>ͅB>$IIJIJ٢R'& RA=9Rv8Q R>TT VG٣TyZd% Z> ^Nusing accuracyPremultiplier from config\b59^*?b5Y^Sr i^8™`bM)fA\^X:^:^ 5l n4@lDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf9@]]]]h@e9< f?IB: ɚiIIii HI I%IIBI&I.I6I(<:I" F))iWill construct direction to contact in vehicle frame from tetrahedron phase data.zKLK9KK(K\&D9*F-?2F):F1BF54JF9 aIi*J a="J a=J= J= J= 1J9 J= :J= :J= 3J9 J= /w,U6AynBnw$ImMb@Mb@Mb@iii i)iYmy&1?}?5^I?y&1ym`=mMb>m`m@ m7@)m&@Iiiym@y}BAII٢Ž /=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yt i6™R>T;AvE;;5 @ôEDNOT Ignoring new targets: 64.80 m. jjjjihhhh˂Bffrfbf`-:@]R>]R>]?]@ ?I%: !ɚ%4i!I!I)i)i-JE)))1Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F9 2F9 :F9 BF= 4JF9 ] h$?I] hm Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge Q!Bi O >/w, USA2)@Y27@2ͣ<927>y2Hп@P?@? X` ? _y?`{?ɨ2)@2I;2#Cy>BB`$IIJIJ٢Rر RE=9R۹Q V>TT ZG٣XyZ Z> ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^v i^4™dffA^wE^ ;^\ ;^5h j@h DNOT Ignoring new targets: 64.80 m. j j j j i h hhhffrfbf˓:@]]]]+~@Mͣ< IMG?IMg: QɚUC5iQIQIiiiiu %)q)AD59E=i>E=>*F?2F:FBFP0JFjH<bH<HI I%II8BI&I.I6IP<:I@ FGsA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.zKu MKu 9Kq Ku (Ku Gm BB O >  I S/w,mAJnJnJlJlJn:Jn9JlJlJn;Jn;Jn8;Jn8;U)@YV7@Ԣ<96>yHh@ѿ7C? ? Qۗ?BZ۾?{?ɨU)@7;騅!CWill construct direction to contact in vehicle frame from tetrahedron phase data. i Ay}B޵T$IMb@Mb@Mb@ )YQ?M?{Gzt?yu=n>ף;@  @)@Ir@yG@II{٢ "=9$wQ > G٣y > Nusing accuracyPremultiplier from config59(?5Yz i&™>5;AxE;};5 `@%DNOT Ignoring new targets: 64.80 m. j!j!j!j)i)h)h)h1h5Bf1f1rf9bf=;@]U>]U>]U?]UJ@mԢ< imG?Im: qɚu5iqIqIyiiN`'))D 9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF O0JF G!!BO>/w,A I >KQ)@Y>Lp7@>p<9>%6>y>H%Yѿ@{?e??F ?o㔿 ~?[|?ɨ>KQ)@>Ŋ;>%CyNBNN$IIVIVʴ٢^ ^N=9b:Q b>`d fG٣dyfY f> jNusing accuracyPremultiplier from confighn59j?n5Yj| ij™prrAjyEj;j;j5x z@xDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`;@EWill construct direction to contact in vehicle frame from tetrahedron phase data.]A]A]A]E@}p< y}!?I}f: yɚ5iIIiia+))2D*DD}9*F ?2F :F BF JF H- B>I)  I- $II- BI) &I) .I) 6I- /<:I- ) FBIJIRIZIbIjI4 Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K k9K K (K !%$%'% G% P!B1 OU > /w, A:)@Y:47@:(<9:X5>y:H`gѿ? >?@]?`n??`}?ɨ:)@:;8yvBvV$Ii~4=I~R=I-I-٢M}< M4=9U9Q U>QY ]G٣Yy > Nusing accuracyPremultiplier from config5 I 9[? 5Y i™=AzE/<Y<5A EC@AEDNOT Ignoring new targets: 64.80 m. jIjIJuJuJqJqJu:Ju 9JqJqJu;Ju;JuO>;JuP>;jIjihhhhf!eWill construct direction to contact in vehicle frame from tetrahedron phase data.fqrfybf<@]]]][@(< ?I: ɚ%f6i!IAIQiQi]P.)Y)aD 9E *F ?2F :F BF 5JF "G =G > Will construct direction to contact in vehicle frame from tetrahedron phase data.G`&BO?"e/w, ʾABK(@YBL6@B 0<9B6>yBHT7ҿ@0o?#?* ?E?9|?ɨBK(@Bщ;@yNBNm$I-jonly read 0 of 1 data item for BIT error. Device response is::TS,25010816072402,35.0, +10.9, 0.0,1493  j@j j@j n@n  n@n InIn٢vY= z =9z09Q z>|| ~G٣|y~Շ >  bBottom track data is 0.5 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config59~?5Y i‘+:;A{EC;c?5! %@) YIYeDNOT Ignoring new targets: 64.80 m. jajajajaiahihihqhqfqfqrfqbf}q<@ 0< 隥n?I: ɚ6iIIii5))Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F?2F:FBFO0JFZHy RH} @AH I  I $II ҅BI ! =&I .I 6I <:I Fu Will construct direction to contact in vehicle frame from tetrahedron phase data.G i)B O >k/w,OAyvɅBv$II~I~٢-> -G=9-Q 5>11 5G٣1y= E> MbBottom track data is 0.9 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU59E?U5YEɅ iE‘] :Y]:Y]AE|EE/>;Ei?E5eB e^@mƴEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf ><@ !?I2: ɚiIIiig'5))BD*?:D>zKKLK9KK(KD59 eg$?Ia*F2F:FBF[0JFGm/+JJJJJ:J :JJJ;J;JR;JR;BaO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.Q/w,~A2z(@Y2{46@2k<92:8>y2HAҿ|? Ȕ?` n? I?z?ɨ2z(@2);2#CyVBV$I)X ZA = = == ==  = = =Mb@Mb@Mb@999 9)9Y=V-?(\?Q?y=m==z>=\==K@ =@)=@I=E@9y=@IUIU٢e> eG=9e :Q m>ii mG٣iyuÐ u> }Nusing accuracyPremultiplier from configy59}ꌜ?5Y}| i}‘T:z>2;A}}E} ;};}5 a@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf@C=@]z>]z>]˯?]ᜆ@ k< \?I:=Will construct direction to contact in vehicle frame from tetrahedron phase data.===%= ɚiIIiiN<))D9EE*FA2FA:FABFM_0JFI YIYGm 0Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ԛ/w,MA2'@Y26@2<<92-8>y2H0@ҿ~?k? bU=9bCQ b>dd fG٣dyj( j> 5Nusing accuracyPremultiplier from configl559np挜?=5Yn in҅™9==An~EnWzKk3IK-9KK(K  BK:K I II /w,:v1AVWill construct direction to contact in vehicle frame from tetrahedron phase data.u'@Yu5@uf<9u8>yuH @ҿ[1??@`?gT@C?y?ɨu'@uщ;u#Cyޅ/Bލ %IMMb@Mb@Mb@III I)IYMʡE?Cl?y&1?yM-=M;_>M` G٣yϻ > Nusing accuracyPremultiplier from config59?5Y i…™r>`;QAE;;F!5 @DNOT Ignoring new targets: 64.80 m. jjjjihhihihmBfifqrfqbfu>@]r>]r>]Xu?]f@f< ?I: ɚiIIii%U@)!)!2D)*D-rAMWill construct direction to contact in vehicle frame from tetrahedron phase data.D#9EV>E>*FY 2FY :FY BF] ^0JFY "Ge >Ge > ) I) AGM6YBaO}>p/w,OA4J@JBJB0J@J@JB:JBـ3J@aF@aF@aF@aF@ ^ Y`ybBfB'@YfC5@f#P<9f8>yfHhҿ@΋? ?r?ɔ ?@y?ɨfB'@f];f$CynVBn;%Iir ?=9Q >    G٣ y p >}Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config59Aی?5Y& i™hAE::6#5 @EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhIhIhIfafarfabfmِ>@]]]][@#P< ?I%: !ɚ!i!I!IIiIiMvA)I)QHI I$IIBI&I.I6I<:I FD-Y9- Will construct direction to contact in vehicle frame from tetrahedron phase data.- <- <*F 2F :F BF \0JF zKM KKM k9KI KM (KM G =: I B O>/w,kmA2cr'@Y2d5@2<928>y2H`T aӿߡ?0?CZ?`{&?yy?ɨ2cr'@21C;2%Cy:B:|%IIDID٢Nj> N6=9NɹQ N>PP RG٣PyRJ V> ZNusing accuracyPremultiplier from configX^59ZՌ?b5YZ iZ™`ffAZEZm};Z};Z%5l rM@rȴE5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h1h9h9h9fAfrfbf ?@]]]]]G@Will construct direction to contact in vehicle frame from tetrahedron phase data.< !%?I-a: 1ɚ9iYIaIqiiC))DC9*F2F:FBF0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.G} (:B O >6/w,h!A:K^'@Y:L}5@:<9:9>y:Hu*ӿ?C? ? q ? lx?ɨ:K^'@:;:"CyFBF%IMb@Mb@Mb@ )Y`"?/$?Q?y=1>u<5@ )@Iyp@I=I= ٢Mhj> M@=9UNQ U>QQ ]G٣Yy]= e> mNusing accuracyPremultiplier from configam59e_Ќ?u5Ye ie™u8>u;u(uAae;e);e&5 0@DNOT Ignoring new targets: 64.80 m. jjjjihhhhzBffrfbf@h?@]e8>]e8>]e%U?]edi@}< y}?I}: ɚiIIiidD))BDA?:DN? IDEJJJ1JJ:JB:J3J*F%?2F!:F!BF%@5JF!G1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9B O5 >HA IA  IE [%IIE pBIE ! =&IA .IA 6IE ^</w,YA:IuJ F6jF'@Y6ke5@6<96e:>y6H~`(>ӿ@4!?`Z?@`?`I`*?@Ew?ɨ6jF'@6;6$Cy>BB%I)D FAININ۳٢zY7> zP=9~4ͺQ ~> G٣ys  > Nusing accuracyPremultiplier from config59=ˌ?%5Y i™!%(%AE;;(5) 5@5˴E=Will construct direction to contact in vehicle frame from tetrahedron phase data.eDNOT Ignoring new targets: 64.80 m. jajijijiiihihihqhqfqfqrfybf}?@]]]]GLi@< 隵?IS : ɚiIIiiE))Dd9*F?2F:FBFO0JFzKuk3IKuu9KqKu(Ku*  -KuV;)  f$?IGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O] >/w,غA @@6B'@Y6a5@6B<96:>y6Hm~ ?ӿ͌?^?E? `?w?ɨ6B'@6;4y^B^%&IMb@Mb@Mb@ )Y(\?Mb?{Gzt?yz>@=ף;b@ )@Iyf@II{٢o> ?=9Q > G٣y! > Nusing accuracyPremultiplier from config59Ō?5Y i™+>;H@A#;+;*5 @ DNOT Ignoring new targets: 64.80 m. j j j j i hhhhBffrfbf% 5@@]=+>]=+>]=|>]=ѽH@UB< QU?IU5: QɚYiYIYIYiaiepE)a)a]Will construct direction to contact in vehicle frame from tetrahedron phase data.D]v9*F?2F:FBF5JF IJKO3 K(.KK"KJ J J 0J J \:J J ـ3J  Will construct direction to contact in vehicle frame from tetrahedron phase data.G /w,>ԿA^('@Y^G5@^dm<9^Q:>y^H`z Uӿ "?@;w?d@Ѵ?w-(?w?ɨ^('@^^P;^Cyn6BnN&IIvIv ٢~1> ~U=9~Q > G٣y ڄ  > Nusing accuracyPremultiplier from config59?5Y i™%H@%AE.: :5,5) -@)DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfO@@]]]]DH@%dm< IMM?IU: QɚQiQIQIYiYi],G)Y)a2D*DZHRHAAHI I%IIۆBI&I.I6I<:I FBIJIRIZI! =bI! =jIŃ4D 9MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFw1JF I zK wOK 9K K (K G 2AB O >|/w,+A23'@Y2R5@2Fm~<9259>y2H@|Gӿ?@l?V?U͏E?`x?ɨ23'@2/;2$CyJ]BN&IiV nA=9n@Q r>pp rG٣pyv: v> uNusing accuracyPremultiplier from configq}59u;?}5Yu iu™yH@AquPx;u;u!.5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.iADNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@@]q]q]q]uH@Fm~< 隭@?I: ɚiIIiinF))D} 9 Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM ?2FI :FI BFM '5JFI I Gmy:H {XFӿ ͼ?r?zn?@?@y?ɨ:-'@:|݊;:#CyFzBF&IJfJfJdJdJf:Jf:JdJd5Mb@Mb@Mb@111 1)1Y5Cl?QQy5d;>55u1 5@)5@I5E@1y5@IUIUWWill construct direction to contact in vehicle frame from tetrahedron phase data.٢]1= =9_Q >    G٣ y [.  > Nusing accuracyPremultiplier from config59γ?%5Y̑ i™%>>%;%+@-AEqF;D;s051 5E@9DNOT Ignoring new targets: 64.80 m. jjjjihhhhBBffrfbf@@]>>]>>]@]+@FU< !%?I%: !ɚ!i!I!I1iQi]*F)Y)YD9HI Ih&IIJBI&I.I6I <:I F*F5 ?2F1 :F1 BF5 5JF1 u Will construct direction to contact in vehicle frame from tetrahedron phase data. I G B O >p 0w,x-A>:'@Y>Y5@>6<9>8:>y>H ~ "4ӿǵ?/f?|?`x߆@%?hx?ɨ>:'@>K׊;<zKF:IKDKDKF(KF  yRBR&IIZIZ٢bR2> b<=9bQ f>dd jG٣hyj: j> nNusing accuracyPremultiplier from configlr59n?r5Yn in™pv ,@vAnEn;ny;nC25zB zͿ@zδEDNOT Ignoring new targets: 64.80 m. jj!j!j!i!h!h!h)h)f)f1rf1bf5|@@]Q]Q]Q]U ,@e6< ae?Im5: iɚiiiIiIqiqiuE)q)yBDK?:Da?D9MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JFG2ABO> Will construct direction to contact in vehicle frame from tetrahedron phase data.0w,GA2&='@Y2'\5@26 <92@;>y2H`~{-ӿ? -d?@L[?vF?w?ɨ2&='@2Z;2%Cy>B>&I)@ @UMb@Mb@Mb@QQQ Q)QYU:v? ףp= L7A`堿yUT>UQU+Q U @)U@IU@QyU@ImIm&٢w= @=9QQ > G٣y9 > Nusing accuracyPremultiplier from config59̧?5YS i™j>g;$@AE;;45 @̴EDNOT Ignoring new targets: 64.80 m. jjjjihhhhgBffrfbf@(6A@]j>]j>]@]i$@-6 < )-?I-_: )ɚ-d4i1I1I9i9i9)9)A e$?IJJJ2JJ:J 9Jc3J]Will construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F?2F:FBFO0JFG5 b0w,maA6RS'@Y6Sr5@6<96:>y6HJӿ@-?@O?q?j7? w?ɨ6RS'@6;6$CyZBZ&IIbIb<٢j= jS=9jQ n>ll nG٣lyrd; r> mNusing accuracyPremultiplier from configtm59v&?u5Yv iv™qu;@uAtvhM0w,f}A2Q'@Y2p5@2n;92=:>y2Hȁtӿ`?P?>`?{2?%x?ɨ2Q'@2W҉;0yVÇBV&IMb@Mb@Mb@ )Y!rh?v/ylg>x齹LK@ ݸ@)@IE@yp@IIK!٢d< 0=96Q > G٣yz > Nusing accuracyPremultiplier from config59񚌜?5Y؋ i™>M;@AE3;;75 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf A@]->]->]-@]-@En; ae?Ieo: aɚm5iiIiIiiqiuD)q)q2D}rA*DyWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F?2F:FBF^0JF QIQ) C Yy BGy B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.%0w, A2wi'@Y2x5@2~;92x9>y2Hw:ҿ9?:?T8?@ur?y?ɨ2wi'@2|;2%Cy:ȇB>'IiB=IBp=DFAIJIJ٢R< R_=9R댻Q V>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b59^>?f5Y^= i^ͅ™df@fA^E^#;^T;^s95h jW@lDNOT Ignoring new targets: 64.80 m. jjjjihhhhff rf bfEA@]I]I]I]Mk@~; 隅 ?I: ɚ5iIIii\|C))Dm9HI I0'IIBI&I.I6I`<:IH F*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G2ABO > I II zK a3JK 9K K (K T+0w,^A2j'@Y25@2ݩw;929>y2H`ҿC?8?4$?6n?@y?ɨ2j'@2;2!Cy>ˇB>'IIFIF ٢NSn< NK=9R-oQ R>PP VG٣TyVio9 V> ZNusing accuracyPremultiplier from configX^59Z?^5YZy iZ܅™`b@bAZEZ ;Z ;Z6;5fB f@fϴEzDNOT Ignoring new targets: 64.80 m. jxj|j|j|i|h|hhhff rf bf B@*JC="JJ%J%J%1J!J%̶:J%:J%3J!J%;a5J%;a5J%DG;a5J%EG;a5]]]]@%Will construct direction to contact in vehicle frame from tetrahedron phase data.eݩw; im?Ix: ɚ6iIIiiϢC))DI*F2F:FBF3JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >620w,9A:3v'@Y:45@: ;9:9>y:H@vҿ o?.? #`X ?c ?@z?ɨ:3v'@: ;:$CyFBF&I pIt-Mb@Mb@Mb@))) )))Y-}?5^I?1Zdv/y-Mb>-"۽-xi) -Ʒ@)-@I-/@)y-@IEIE@ ٢U U?=9]VQ ]>aa eG٣aym: m> uNusing accuracyPremultiplier from configi}59mi?}5Ym im™}>}R;}@Aimt;m;m=5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhnBffrfbf`]m>]m@]m@} ; 隅3?I: ɚ"6iIIiiB))BDB?:Dm?%Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F ?2F :F BF 0JF "G i>G ;>ZH RH @AH I  I U'II BI &I .I 6I a<:I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B! OU >V90w, ,A6j'@Y6lj5@6:96q9>y6Hą`pҿ`/?8?? >qQ@ ?@z?ɨ6j'@6;4yBBB&IIJIJ#٢Vk VE=9ZPQ Z>X\ ^G٣\y^Lܺ ^> fNusing accuracyPremultiplier from config`f59b ?f5Yb ib™hj@jAbEb :bs;b>5p r@pDNOT Ignoring new targets: 64.80 m. jjjjihh!h!h)f)f)rf1bf5qB@]!]!]!]%@]: Y]M?I]: YɚeP=6iaIaIaiiimC)i) d$?IzK=BoHK9K9K=(K= JeJeJe0JaJeܫ:Je:Jeـ3JaJe;Je;JenN;JeoN;D59EWill construct direction to contact in vehicle frame from tetrahedron phase data.EUt>EQ*F2F:FBF1JFG) B9 OQ I@0w,A2g'@Y25@2k92`9>y2H@MoҿL߫?;?v g?`2?7?y?ɨ2g'@2 ;2"Cy>B>&IEMb@Mb@Mb@AAA A)AYE:v?㥛 i|?5yET>EEqE@ A)Er@IAAyE@I]I]٢mb׽ m1=9mP@Q m>qq uG٣qy}ع }> Nusing accuracyPremultiplier from config59 {?5Y Will construct direction to contact in vehicle frame from tetrahedron phase data.i ™i>h;8#@AE;;@5 "@DNOT Ignoring new targets: 64.80 m. jjjjihhhh:Bffrfbf B@] i>] i>] B@] 8#@%k !%R?I%a: !ɚ%i-{E Will construct direction to contact in vehicle frame from tetrahedron phase data.F0w,A2a'@Y25@2rӺ929>y2HN ҿ?@"B?`?WnZ? ?_y?ɨ2a'@2;2%Cy^B^&IIfIfW٢nN rT=9rtaQ r>tt vG٣tyv" z> Nusing accuracyPremultiplier from config| 59~3u? 5Y~K i~™  5#@ A~E~;~:~B5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfB@]]]]5#@-rӺ )-?I-: )ɚ)i-zK :LK 89K K (K    Je Je Je 1Ja Je :Je :Je 3Ja Je ;Je ;Je A;Je A;e Will construct direction to contact in vehicle frame from tetrahedron phase data.M0w,6AyuB&IMb@Mb@Mb@ )Y+?~jt:vyv>>T@ @)\@I@y@II&٢%v %=9-Q ->)1 5G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=m?E5Y=k i=)™MF>M;MN2@MA=E=n$;=3;=D5]B ]t@]ҴEDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfC@]F>]F>]@]N2@ ?I: ɚs4i%U0w,UABS'@YBr5@Bv9B9>yBH`>ҿ?N? ?n?? Uy?ɨBS'@B|Ί;B$CyJNBNl&IZWill construct direction to contact in vehicle frame from tetrahedron phase data.IVIVn٢bS b^=9bQ f>dd jG٣hyj j> nNusing accuracyPremultiplier from configlv59n8h?v5Ynɀ in4™xzA2@zAlnN;nN;nqF5| ~@]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhYhahahififqrfqbfu OC@]]]]A2@v 隭??I: ɚi9I9 I=<'II=BI9&I9.I96I=U<:I=? FD*F!2F!:F!BF%O0JF!eWill construct direction to contact in vehicle frame from tetrahedron phase data. 1 I9 G! B1 OM >xM[0w,hoA6uD'@Y6vc5@6듻96%9>y6H``Jҿ !?@f]?` ?k}r?@?Yy?ɨ6uD'@61 ;6"CyB9BBS&IIfIf٢iȽ G=9Q >    G٣ yy > Nusing accuracyPremultiplier from config%59*b?%5Y i?™!%12@%AEC::=H51 5-@9DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`C@]]]]12@zK LK u9K K (K JJJ0JJ|:JJـ3JJ<J<JJ듻 ?I: ɚ4iG8>u Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >tb0w,AF('@YFG5@F`ƻ9F9>yFH {ӿ@?@w?`R?"x??@y?ɨF('@FU;F#Cyb)Bf?&I)h h c$?I }Mb@Mb@Mb@yyy y)yY}sh|??J +?~jty})>}H=}}@ }l@)}E@Iyyy}Q@II4٢ 5=9ZbQ > G٣y"u > MNusing accuracyPremultiplier from configU59[?U5Y iE™]t5>];]^H]A<;5J5a e4@iDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfC@]t5>]t5>]>]I@`ƻ ?I@: ɚf5iyZi0w,%;AWill construct direction to contact in vehicle frame from tetrahedron phase data.< G٣y > Nusing accuracyPremultiplier from config59T?5Y  iL™AEr;Nm;+L5 J@MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiQhQhQhQhQfYfYrfYbf]C@]y]y]y]y Ii im?Im: qɚuiu5=@ V@)@I@y@II٢dֽ K=9Q > G٣y > Nusing accuracyPremultiplier from config59IO?5Y iK™:>;-AE;F;M5 @մE-DNOT Ignoring new targets: 64.80 m. j)j)j1j1i1h1h1h9h=:Bf9fArfAbfE *D@]e:>]e:>]ek;?]eӅd@q qu?Iu%&: yɚyi}gJ J J J J :J :J J a= @a= @a= @a= @ Will construct direction to contact in vehicle frame from tetrahedron phase data.fv0w,A:&@Y:4@:[9:}9>y:H%o`[ӿL4?@?` ?q?`?y?ɨ:&@:v;:%CyB߆BF%IININ٢Vν V_=9VɮQ Z>XX ZG٣Xy^\ ^> bNusing accuracyPremultiplier from config`f59b$J?f5Yb i`dj-jA`b\:b~:bO5l n@l DNOT Ignoring new targets: 64.80 m. j jjjihhhhff!rf!bf% YD@]A]A]A]E5d@U[ QUT?IU0%: YɚYi]e+I I&IIBI" =&I.I6I<:I FD9Ee>E>eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF IG} 2AB O >|0w,A6ͱ&@Y64@6I967#9>y6H    G٣ yX > Nusing accuracyPremultiplier from config%59QD?%5Yx iJ™!-.-AEC:C:VQ51 5@1DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`D@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]d@I !%G?I% : !ɚ%o4i%;I!I)i)i5A"0w,`A2&@Y24@2928>y2Hb@Чӿ[??t?Cۀ?8?@{?ɨ2&@2];2#Cy>ÆB>%I]Mb@Mb@Mb@YYY Y)YY]v/?MbX9?Mby]x=]!>]]@ ]?@)]@I]@Yy]@IuIu@ ٢}U @=9Q > G٣yɻ > Nusing accuracyPremultiplier from config59>?5Y iF™G>;!A;o;3S5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf`D@]G>]G>]7r?]}q@5 15\?I5#: 1ɚ=`r5i=:I9I9iAiEgO)A)IJJJ1JJ:J:J3JDWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fq:FqBF}3JFyG B H I  I h&II JBI &I .I 6I X<:I A FO >M Will construct direction to contact in vehicle frame from tetrahedron phase data.0w,+(A>oa&@Y>p4@> 9>28>y>H\ӿ6?@(5?v$c? ?\?{?ɨ>oa&@>^;>"CyNBN%II^I^n٢f fW=9nzQ n>pp rG٣pyv=û ~> Nusing accuracyPremultiplier from config599?5Y iA™B!AEV;'W;T5) -@9 5a$?I1=DNOT Ignoring new targets: 64.80 m. j9j9jAjAiAhAhAhIhififqrfybf}uD@]]]]p@ ?Ic": ɚ5i3IIii~FQ))*J"Jp=zKBHKu9KK(K #',+&! DM9EYWill construct direction to contact in vehicle frame from tetrahedron phase data.թiթ*F?2F:FBFE5JFGE HBQ Om >+0w,ODA6|&@Y6}<4@6r 96A9>y6H@Q Կ"?u?@@w?4.? ?@M;Mj@ MV@)IIM@IyMz@IeIeT߳٢m< u1=9u9Q u>yy }G٣yy}& > Nusing accuracyPremultiplier from config593?5Y i8™_>s;AE};;V5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf@Z0E@Will construct direction to contact in vehicle frame from tetrahedron phase data.]_>]_>]Ԋ?]7'y@-r 15{?I5$: 1ɚ55i5I1IAiAiET)A)I I D*FA2FA:FIBFM4JFIJJJ2JJ :Jh:Jc3J Will construct direction to contact in vehicle frame from tetrahedron phase data.Gi By O >qv0w,L_A6,%@Y6-4@696K9>y6HLD$Կ@?`I? !l?@? &?`Vz?ɨ6,%@6{4;6&CyJBJ%IIRIR٢Z< ZR=9^Q ^>\` bG٣`yb b> jNusing accuracyPremultiplier from configdn59fg.?n5Yf$ if0™prrAdf{<;f-;fX5vB v@z״EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf;eE@jH <bH p<H?>IC I6&II"BI&I.I6Ix<:IX FBIJIRIZI" =bI" =jI4]1]1]1]5 y@E im?Im%: iɚmQ6im}?IiIqiqiu!V)y)y2D*DrADe9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFG rA G sAGMPExceeded connect timeout, disconnecting.B!OEQ> IzK LK K K (K J0w, yAWill construct direction to contact in vehicle frame from tetrahedron phase data.6%@Y63@6 96F9>y6H C8ZԿ@V?`?x?߁?0?ly?ɨ6%@6c;6 CyBBB%IIJIJ٢R# RL=9R9Q V>TT VG٣TyZ5 Z> bNusing accuracyPremultiplier from config\b59^)?f5Y^ i^'™dfQfA^E^/;^;^QZ5h n@lDNOT Ignoring new targets: 64.80 m. jjjjih h h h ffrfbf=E@]1]1]1]5x@E  IU?IU(: aɚe76imʀIiIi!i-8Y)))9D=9EYEY*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 > I 0w,An[%@Yn\3@nw9n9>ynH@a>vԿ)8?>?@9o?>z?H?@}y?ɨn[%@n0ˆ;n!Cy цB %IMb@Mb@Mb@ )Y ףp= ?K7? rh?yQ=I>C<@ @)@Iy@II4٢(= 8=9L.Q > G٣JKw3 K.KK"KJ=J=J=1J9J=:J= :J=3J9yЌ > Nusing accuracyPremultiplier from config59U#?5Y i™w^>t;AE;;Z\5 @%DNOT Ignoring new targets: 64.80 m.5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9 j!j9j9jAiAhAhAhAhMBfIfIrfQbfUZE@]w^>]w^>]5?]h5|@w 隥R?I!: ɚ-Z6iAIIiiZ))D9HI I&II BI&I.I6Id<:IJ F*Fi 2Fi :Fi BFm O0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.  nManaging dock network, ignoring radio surface power off I G -RB O >]0w,ɬAB8n%@YB93@B'9B8:>yBHV5 XԿf? S?K{?_?@%?x?ɨB8n%@B̴;B#CyjBj%IIrIr٢51= 5@=9=:8Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configQ]59UE?]5YU$ iU™Ye"eAUEUL:U:U!^5i m@iDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@F@]]]]{@' ?I(: ɚy6iSѼIIii]))BDM?:D$?zKK-9KWill construct direction to contact in vehicle frame from tetrahedron phase data.K(K,>P^o~D 9*F)2F1:F1BF=P0JF9Gm TBq  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >h0w,.A>Y%@Y>x3@>V9>9>y>H 1࿻Կ?.? f?8?b?`;y?ɨ>Y%@>I;}<}S@ }@)}z@I}z@yy}@II@ ٢= >=9_Q > G٣y> > Nusing accuracyPremultiplier from config59?5Y i™S>;At2;;`5 u@DNOT Ignoring new targets: 64.80 m. jjjjihh!h!h%Bf)f)rf)bf-;F@]MS>]MS>]M?]MPx@eV im?Im&: iɚmp6imIiIqiqiuT^)y)yD9EY>E,>Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fy2Fy:FyBF_0JFH I  I #&II BI &I .I 6I :<:I + FG B O- >u0w,4A6.,%@Y6/K3@696 :>y6HY*Կ`? Y??h?mY? ?x?ɨ6.,%@6~;4yBBB&IIzIz٢= F=9%Q %>!! -G٣)y52ݻ 5> =Nusing accuracyPremultiplier from config1=595?E5Y5 i5™AE<EA5E5@:5:5a5Q UA@UڴEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfpF@]]]]w@ @I^): ɚ 6iIIii`)) 5Will construct direction to contact in vehicle frame from tetrahedron phase data. `$?ID-)9*F2F:FBFp0JFJJJJJ,:Jq:JJJd$0w,ÂA]%@Y^03@99>yH@%`HԿ? r?uW?E??Vy?ɨ]%@M;騭"CyB0&IeMb@Mb@Mb@aaa a)aYeS㥻? rh?et11 5G٣1y=Ud => ENusing accuracyPremultiplier from configAm59E?m5YE- iE™u2>u;u&uAEEE;E;Ec5y }@}ݴEDNOT Ignoring new targets: 64.80 m. jjjjihhhh'Bffrfbf HF@]52>]52>]5Of?]5k@M QUp?IU`#: QɚU6iQIYIii b))2D*DsAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Dy I*F2F:FBFr3JF)y }CNG ! M.YQyU BG5 2CTBA O] >0w,NA6$@Y6 3@6$969>y6H@տ@Y?`? lKS?L??`y?ɨ6$@6K ;6$CyB=BBW&IiDIF%=IJRWill construct direction to contact in vehicle frame from tetrahedron phase data.IJ4٢ZB> ^}=9^Q ^ ?`` bG٣`yf f ? jNusing accuracyPremultiplier from confighn59j ?n5Yj ij™pr&rAhj;j;jEe5t v@tDNOT Ignoring new targets: 64.80 m. jjjjihhh!h!f!f)rf)bf5 .F@]Q]Q]Q]U3vk@$ @I2: ɚiIIiic))DE*Fm?2Fi:FiBFmN0JFiHYIY I]O&II]6BI]# =&IY.IY6I]k<:I]N FUWill construct direction to contact in vehicle frame from tetrahedron phase data.GTBO> I 40w,23A:l$@Y:m2@:]*9::>y:H`<տ '??Ԡ`aO?`V??x?ɨ:l$@:;:&CyFTBFs&IIRIR٢V = ZK=9Z9qQ Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from config`f59b?j5YbՒ ib݅™hj&jA`b,;b-;bg5p ro@pDNOT Ignoring new targets: 64.80 m. jjjjihh!h!h!f!f)rf)bf-@ G@]I]I]I]MjUk@]]* Ye@Ie*: aɚaiaIaIiiiime)i)q*JC="JR=JJJJJ:J :JJJ'<J(<J9P;J:P;Will construct direction to contact in vehicle frame from tetrahedron phase data.zKNK9KK(K BK:KqADJ9*Fu?2Fy:FyBF}4JF] Will construct direction to contact in vehicle frame from tetrahedron phase data.G ^B O >0w,MA I:$@Y:2@:[89:p9>y:H`@տ`^U?`?`f8?R ?@?`Oy?ɨ:$@:;:$CyFmBF&IUMb@Mb@Mb@QQQ Q)QYU?bX9ȶ?:v?yU>UE=UT=9{Q > G٣yx > Nusing accuracyPremultiplier from config59?5YB iׅ™>;8AE;8;h5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf`mAG@]>]>]_e?]BY@[8 ?Iy#: ɚiIIiie))BD @?:D H?Will construct direction to contact in vehicle frame from tetrahedron phase data.D\9*F ?2F :F BF 4JF HA IA  IE &IIE iBIA &IA .IA 6IE <:IE a FG ^B O >`0w,=djA:Will construct direction to contact in vehicle frame from tetrahedron phase data. qIyr$@Yr2@rF]K9r9>yrH@e"[տѣ?@??~k??@ z?ɨr$@ry;r%Cy޵B޵&I) IID٢> .=9!Q > G٣yo > Nusing accuracyPremultiplier from config59?5Y iυ™8AE";";j5  @ =DNOT Ignoring new targets: 64.80 m. j9j9j9jAiAhAhAhAhIfIfIrfIbfM}G@]i]i]i]mz&Y@F]K d@IO%: ɚiIIiiAtg))DX9ErAE*F?2F:FBFO0JFJ-J-J-2J)J-<:J- :J-c3J)J-5;J-7;J-S;J-S;Will construct direction to contact in vehicle frame from tetrahedron phase data.zKLK9KK(KG B O >j0w,PAyUB]&I=Mb@Mb@Mb@999 9)9Y=S?Zd;O?Mb?y=>=j<==<=j@ 9)9I99y=3@IUIU-٢el= eC=9eQ m>ii mG٣qyu u> }Nusing accuracyPremultiplier from configy59}|?5Y} i}˅™!>;D@Ay};}[;}l5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf`G@]!>]!>]f>]D@Will construct direction to contact in vehicle frame from tetrahedron phase data. 隕?Ib%: ɚ5iIIiiH5g)) u_$?IqD|9*F=?2F9:F9BF=P0JF9G] m_Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.&"0w,lAJ~$@YJ֝2@Jd9J9>yJH `zտ?f?`~?@?0? y?ɨJ~$@J2/;J#CyVBV&II\I\٢f > jh=9jQ j>hl nG٣lyrܻ r> vNusing accuracyPremultiplier from configpv59r?z5Yr irȅ™xzD@zArEr:r:rUn5B @ E5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h9h9hAhAfAfArfAbfM G@]a]a]a]eD@}d y}?I[,: ɚiIIiiMci))2D*DrAD]x9H]>>IY I]&II]BIY&I]HD.IY6I]~<:I]Z FBI-ßCJI-ßCRI)ZI-# =bI-# =jI-å4*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. YIYGBO>L0w,vŷA6d$@Y62@6Epr969>y6H` տk??@y@? M?`5?x?ɨ6d$@6b;6"CyRЇBR 'IiTIV<IZIZ+JJJ1JJ:J :J3JJ;J;J9P;J:P;٢%= %E=9-Q ->)) -G٣)y5y 5> =Nusing accuracyPremultiplier from config9E59=^ꋜ?E5Y=d i=ą™IMD@MA9=P:=.:=%p5Q U@QDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfH@]]]]RD@Epr @It(: ɚiIIiij))Will construct direction to contact in vehicle frame from tetrahedron phase data.izKK9KK(KD9E-i>E->*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I II GU c_Ba O} >G0w,AJ[$@YJz2@J/9J9>yJH b&տ˭?@?\n?`%? Z?x?ɨJ[$@J;HyVBV#'I-monly read 0 of 1 data item for altitude. Device response is::BD, +3.79, .00  m@m m@m m@m  m@m IuIuk٢٬= B=9PQ > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59䋜?5YE i‘+:;D@AES;>q5 {@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`JH@-/ 15@I5<): 1ɚ5G 5i1I1I9i9i=j)9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*FA2FI:FIBFMo0JFIZH) RH- >AH1 I1  I5 0'II5 BI1 &I1 .I1 6I5 <:I5 q FGi By  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >0w,jjA 8I8>Hb$@Y>I2@>)9>9>y>HJIտ`f?`?-`??`?x?ɨ>Hb$@>R;>$CyJBJ/'IIPIP٢^LN= ^S=9^uQ ^>`` bG٣`yfu: f> jbBottom track data is 0.8 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighn59jߋ?r5Yj) ij‘r :pr\;rD@vAhj)G;jO?jr5x zۺ@xDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@~H@%) )-@@IE*: AɚE5iIIIIIiQiU-j)Q)QBD]G?:D]E?D9*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G}m_BzKUKK9KK(KO>hx1w,*AfcS$@Yfdr2@f?9f+:>yfH`@տH?$?8? ? ?w?ɨfcS$@fZ;dyrBr8'I)t t m m mm     Mb@Mb@Mb@ )Y ףp= ?Mb~jtyQ8>D @)d@I@y=@II+٢ = 7=9"Q >! %G٣!y%] -> 5Nusing accuracyPremultiplier from config1=595ً?=5Y5 i5‘ET:E;>E;E"(@EA5E5* ;5v;5t5MB U@Q}DNOT Ignoring new targets: 64.80 m. jyjyjjihhhhBffrfbf H@];>];>]n@]f"(@? p?I&: ɚ5iIIii mk)) Will construct direction to contact in vehicle frame from tetrahedron phase data. yIyD )9E*F2F:FBFR5JFGsA GJ J J 0J J :J &:J ـ3J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ G X_B O >1w,!A2i$@Y2ʈ2@2-929>y2H<@}տz? ?ŕ?e%? ?@>x?ɨ2i$@21;2&Cy>B>N'IIJIJ4٢R= R[=9RfQ V>TT ZG٣XyZo; Z> ^Nusing accuracyPremultiplier from config\b59^ԋ?b5Y^8 i^řdf8(@fA\^ ;^G;^Uv5h jz@hDNOT Ignoring new targets: 64.80 m. jj j j i h hhhffrfbf{H@]9]9]9]=c8(@- @I+: ɚ6iIIiii)HI It'II%BI&I.I6Il<:IL F))Will construct direction to contact in vehicle frame from tetrahedron phase data. ID9*F%?2F!:F!BF%%5JF!G c_B O5 >1w,:AB_$@YB~2@B,9B:>yBH@K տi?"?@]?E??`xw?ɨB_$@Bl;B#CyJBNL'IIRIR٢^Z ^K=9^2Q ^>`` bG٣`yf(̺ f> jNusing accuracyPremultiplier from confighn59jJϋ?n5YjD ijŅ™lr.(@rAjEj;j;jx5t v@vE Will construct direction to contact in vehicle frame from tetrahedron phase data.-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=:I@]Y]Y]Y]].(@m, iu@Iu(: qɚuW%6iqIqIyiiZj))2D*DzKBoHK-9KK(KD*F!2F!:F)BF-O0JF1G}m_BO>Will construct direction to contact in vehicle frame from tetrahedron phase data.ս<չ ^$?IM Ga y rY y B1w,PrTA2l$@Y22@2929>y2H@m@ntտ?`X ? {?kw?q?w?ɨ2l$@2;2!CybBbQ'IifQUU&@ Q)U@IQQyQImImd٢}~< ?=9Y3Q > G٣y: > Nusing accuracyPremultiplier from config59ɋ?5Y9 iʅ™{I>;s)@AE ;;y5B K@EDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf OI@]{I>]{I>]@]s)@% )-p?I-&: )ɚ-q@1w,r1oA6d$@Y62@696O9>y6HwտDs??@NE?@З? ?@w?ɨ6d$@6/;6$Cy>B<IxIx٢: K=9 vVQ  > G٣yx > %Nusing accuracyPremultiplier from config!-59%AË?-5Y%= i%υ™)-l)@5A!% ;%: ;%{59 =E@9eDNOT Ignoring new targets: 64.80 m. jajijijiiqhqhqhqhqfyfyrfybf}>I@]]]]l)@ 隵?IZ(: ɚ>f6iIIii|j))D-9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFzK}K}9KyK}(K}G m_B OU >,"1w,ABf$@YB2@B$ɼ9B :>yBHrտ%µ??$O?#??@v?ɨBf$@B;B"CyJBJK'IMb@Mb@Mb@ )YE?Zd;OyF>̼j=@ @)z@Iy@II#٢/ ;=9 AQ  >   G٣ )I)y5ih9 5>EWill construct direction to contact in vehicle frame from tetrahedron phase data. ]Nusing accuracyPremultiplier from configQm59U?u5YU: iUԅ™uI>u;u+@uAUEU;U߼;U}5 @=DNOT Ignoring new targets: 64.80 m. j9jAjAjAiAhAhIhQhUBfqfqrfybf}hI@]I>]I>]@]+@$ɼ ?I#: ɚ6iIIii%mj)!)!BD-H?:D-?D9JJJ0JJ:JJـ3J Will construct direction to contact in vehicle frame from tetrahedron phase data.*FM ?2FI :FI BFI JFI H I  I 'II gBI &I .I 6I V<:I ; FGuN_BO>7~)1w,ѧA6r$@Y62@6Լ969>y6Hcտ@ ??`( ?@??`v?ɨ6r$@6;6$CyFBFG'I)H H N=LIRIR٢T 5=9%2OQ E>II UG٣QyU: ]> Nusing accuracyPremultiplier from config59?5Y2 iم™+@AE;V;5 ¹@EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfUI@]]]]]+@ IԼ ?I{%:Will construct direction to contact in vehicle frame from tetrahedron phase data. ɚ {6i I I!i!i%i)!))De 9EmY>Em>*F2F:FBFO0JFG rA G  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK} k3IK} 9Ky K} (K} G D_B O >h01w,AFzh$@YF{2@F~ݼ9F$:>yFH@iտ`8Y????!? v?ɨFzh$@F ;F#CyzB~5'IIEIE٢}n :=98Q > G٣y > Nusing accuracyPremultiplier from configa59e;?5Ye* ieޅ™+@Aae* 71w,WA6r$@Y62@6nB96:>y6H&_\տѦ? ?8 z?K'?`i? u?ɨ6r$@6Y;4yrBr0'IuMb@Mb@Mb@qqq q)qYuRQ?{GzyuB>uuףuj@ q)qIu@qyu=@II٢ー 1=9LQ > G٣y: > Nusing accuracyPremultiplier from config59?5Ys i™C>;3@AE_;;5 @DNOT Ignoring new targets: 64.80 m. jjjj i h h h hBffrfbf hJ@]C>]C>]/3]~3@HI III&I.I6I,<:I FBIJIRIZI$ =bIjI^4 nB  p?I t': ɚ 6iIIiii))A2DI*DMsA QIQWill construct direction to contact in vehicle frame from tetrahedron phase data.De,9*F?2F :F BF Y0JF G B O >,>1w,sAy5߇B5'Ii==I=p=IEIE+٢U UE=9]Q ]>YY ]G٣aye e> uNusing accuracyPremultiplier from configiWill construct direction to contact in vehicle frame from tetrahedron phase data.59m[?5YmƉ tIim™AmEm9E I*F 2F! :F! BF% _0JF! "G- ?G- >M Will construct direction to contact in vehicle frame from tetrahedron phase data.I M <GE m_BQ Om >1E1w,˜AJ._$@YJ.~2@JLj9J@:>yJH beտv??BZ?h0?`<$?t?ɨJ._$@J;J$CyV·BV 'ImMb@Mb@Mb@iii i)iYmʡE?{Gz?:vym-2>m#=mTm@ m@)mM@IiiymQ@II-٢ 6=9Q > G٣yd. > Nusing accuracyPremultiplier from config59?5Y iN7>;A@A;I;L5 Ӽ@DNOT Ignoring new targets: 64.80 m. jjjjihh h h BffrfbfJ@]5N7>]5N7>]5ag>]5aA@]Lj Y]@Ie): aɚe6iaIaIyiij))Will construct direction to contact in vehicle frame from tetrahedron phase data.D,9HI I'IIXBI&I.I6Ir<:IP F*Fe?2Fa:FaBFep0JFa y Iy 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >yK1w,N2A2d$@Y22@29249>y2H@ ]տ`"?n?@K B??`I? 1u?ɨ2d$@2;0yBćBB&IININ٢R@K VT=9V6Q V>XX ZG٣XyZ!f: ^> bNusing accuracyPremultiplier from config\f59^ؕ?f5Y^P i\dfA@fA^E^e ;^ ;^5l np@lDNOT Ignoring new targets: 64.80 m. jjjjihhhhf!f!rf!bf`$ K@]]]]A@ U@I|*: ɚ&6iII i i cj) )BD9?:D?D=;9*F?2F:FBF5JFJJJ0JJL:J :Jـ3JJ@ R1w,PKAFS$@YFr2@Fi 9F:>yFH`jտ@Y?6"?@g=?c,?`?t?ɨFS$@F;F#CyRBR&I)T T V=V= dIdUMb@Mb@Mb@QQQ Q)QYU/$?333333?{GztyU,>U=UףUS@ Q)U @IU@QyU@II{Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ՠ 1=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Yu i™w<>;DA';Q;5 @EDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf /CK@]5w<>]5w<>]5>]5 EM@Ei AMG@IMX': IɚM\6iIIIii yk))Du_9U Will construct direction to contact in vehicle frame from tetrahedron phase data.*F! 2F! :F) BF- 1JF) H ?>I  I 'II CBI # =&I .I 6I i<:I J FG)BAOm>sZ1w,>jA^O$@Y^n2@^ 9^H9>y^H `llտa ?`%?@\,?@??t?ɨ^O$@^ȉ;^"CyjBj&IIrIr٢z" zB=9=Q E>AA EG٣AyMc M> UNusing accuracyPremultiplier from configQ]59U?]5YU iUޅ™aeDeAUEU:U.:U5i m@i \$?IDNOT Ignoring new targets: 64.80 m. jjjjihhhQhQfYfYrfYbf] }K@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]AM@ )?Iz%: ɚH7iII i i a1w,HABTE$@YBTd2@B'9B 9>yBH#sտg?Z/?A"?#?b?@:t?ɨBTE$@B,];B$CyޕBޕ&II I b(٢m =9Q > G٣y > =Nusing accuracyPremultiplier from configE59,?E5Y iڅ™IMDMAEI;:5Q U>@QDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@"K@]]]]7M@' ?I$: ɚ 7iIIii?*l))%Will construct direction to contact in vehicle frame from tetrahedron phase data. c~G)2D Yy/B*DrAD m9*F 2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G"w_BO>bybH`>@Fտ܋?`@? G?@W?Y?t?ɨb2$@b^;b#CyjBn&Iir=ף;@ ) @I@y\@II ٢' 2=9M!ZQ M>QQ UG٣Qy]# ]> Nusing accuracyPremultiplier from config59x?5YD iӅ™OF>;I;AE ;;/5 ^@DNOT Ignoring new targets: 64.80 m. QIY jjjjihhhhaBffrfbf@ K@}Will construct direction to contact in vehicle frame from tetrahedron phase data.]uOF>]uOF>]uT?]uGV@4 隥z@I$: ɚv7iIIii5m))D 9E E *J "J J% J% J! J! J% \:J% :J! J! J% <J% <J% I;J% I;*Fm ?2Fi :Fq BFu o0JFq "G} ?G} ?5 Will construct direction to contact in vehicle frame from tetrahedron phase data.zKgQNK9KK(KG_BO?q1w,A $@Y(2@9Y:>yHտ?g?} 7?? S&? 6s?ɨ $@;"Cy=sB=&IMb@Mb@Mb@ )Y@5^I ? rh?~jt?yb>C >D<@ ׫@) @Iz@y@II٢=Du ==9M Q M>II MG٣QyU ]> Nusing accuracyPremultiplier from config59_p?5Y] iDž™H>;/A ;/;5Will construct direction to contact in vehicle frame from tetrahedron phase data.  t@ B*** querying acoustic contact ***jjDNOT Ignoring new targets: 64.80 m. jjjjihhhhEBffrfbfBL@]H>]H>]qD?]b@E AE@IMo$: IɚM=!7iIIIIii/ho))D 9 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.*F ?2F :F BF [0JF H>>I IH'IIBI&I.I6I<:Ix FGkdBO?y1w,YPAv$@Yv#2@v9v:>yvH`տ"?`Pk?k?Z??Ps?ɨv$@vf;v&Cy rB&II%I%ͳ٢= =3=9=Q E>AA EG٣AyMO& M> UNusing accuracyPremultiplier from configQ]59Ui?]5YU: iU™ae/eAUEU:U:U5mB u@uEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`[xL@]]]]yb@ I  隅@I,: ɚ)7iIIiijNo))Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:3648> BDAT read: Tx time:00:06:46.9566 $Ping request sent.1w,-A>#@Y>2@>9>1:>y>H@տ@[?W? ?ؔ?N.?rr?ɨ>#@>MF;>#CyJlBJ&I)L L Ra=Rp=IVIVZ٢^+ּ ^J=9bđQ b>`` bG٣`yfw f> jNusing accuracyPremultiplier from confighn59jc?n5Yj ij™pr/rAjEjz:j:jQ5t v@x%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h)h)h)f1f1rf1bf5`L@]Q]Q]Q]Uwib@e ae@zKmiJKm9KiKm(KmI}%-: yɚ}$27iyIyIiiq))D9 [$?I*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503451G B O >)"1w,yA6#@Y61@696.>y6Hf`տi?`?`݂?@0? j??ɨ6#@6";6$CyBoBB&IEMb@Mb@Mb@AAA A)AYEL7A`?M?En>Etii uG٣qyu u>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755511 Nusing accuracyPremultiplier from config59]?5Y i™!H>;#,A<;3;45 @DNOT Ignoring new targets: 64.80 m. jjjji h hhhABffrfbf%ZL@]=!H>]=!H>]=KS?]=e@U QU@IU+: Yɚ]:7iYIYIaiaieěr)a)aHI I)'IIBI&I.I6I<:I~ FBIQJIQRIQZIU# =bIQjIU4DU9 I*F2F:FBF1JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007526G jB! OM >Xȍ1w,9AB#@YB1@B#9B0>yBH ֿ?? L?@t?@v??ɨB#@B*;B%CyVgBZ&IIbyIbHo٢j jD=9jQ j>ll nG٣lyrꋻ r> zNusing accuracyPremultiplier from configt~59vW?~5Yv؎ iv™C,AvEv%-;v(;v5  6@ =DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfMM@]i]i]i]me@# 隍@I,: ɚYC7iIIii- t))JJJJJ̶:J :JJJ;J;JcW;JdW;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258890D%9zKk3IK9KK(K ={NaE }rpiTHG:<*F?2F:FBFP5JF I M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511959G B! OM >1w,SA6#t#@Y6#1@6|$96Z3>y6HW0ֿz?`?y}K?$? Z?`i{?ɨ6#t#@6;6$CyBjBB&IiF)>IF>HJAmMb@Mb@Mb@iii i)iYmZd;?@5^I ?I +?ym=mb>m9 G٣y > Nusing accuracyPremultiplier from config59Q?5YǏ i™@@>;*AE5;l;ܜ5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBff rf bf gNM@]-@@>]-@@>]-/[?]-g@|$  @I.: ɚIL7iIIiiv))D9*Fq2Fq:FqBFuP0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762862G jH <bH <H I  I 'II ԇBI &I .I 6I b<:I F FB O >S˚1w,9FmA6#@Y6>1@6#96p6>y6H@ 9{ֿ?OA?j#^?`??3w?ɨ6#@6{̊;6%C DIDyFlBF&IIRIR٢Z_< Z\=9^+:Q ^>\` bG٣`ybd b> jNusing accuracyPremultiplier from confighn59jL?r5Yj ij™pr*rAhj;j;j}5t v@zEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfM@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014977]!]!]!]%R8g@]# Y] @I]s0: aɚeT7iaIaIiiiimp{)i)qBD>?:Dk?Dm9*F2F:FBFJFG;mBO-N> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2666831w,{-AF~#@YF%1@F V$9FD@8>yFHЎֿ/!? X?e@{?Z??Bu?ɨF~#@FyE;F"CyNtBN&IzK^Q>OK^C9K\K^(K^IZIZ٢j= nH=9nEQ n>lp rG٣pyro r> zNusing accuracyPremultiplier from configt 59vRG? 5Yvv iv™+AvEv6;vy;vF5 %]@!MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhIhQhQhQfYfYrfYbf]ੲM@]y]y]y]}g@ V$ 隍 @I2: ɚ-]7i1I1I1i9i=N)|)9)9D9 I*F2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.->-<5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520519GBO >J J J 0J J :J &:J ـ3J a @a @a @a @ܧ1w,A:"@Y:1@:$9:f9>y:H4ֿ@I?`t?+^֗?ـ??`s?ɨ:"@BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770852:z;:&CyN{BN&I)P P V=V=UMb@Mb@Mb@QQQ Q)QYU1Zd?Mb?I +?yU"=U>QU@ U׫@)Uݸ@IUz@QyU@IuIud٢U< U5=9U9Q U>YY ]G٣Yyez e> mNusing accuracyPremultiplier from configiu59mA?u5YmZ imu™}P,>};}*}Aim$;me";m?5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBBffrfbf`M@] P,>] P,>] _?] eh@HYIY I] 'II]χBI]$ =&IY.IY6I]<:I] F$ 隥 @I**: ɚf7iIIii})) Z$?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:00:06:49.4566 ETRx dataTimestamp_ set to:1736381210.785000Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024134DU9*F ?2F :F BF P0JF G-HKrB9O]>U 1w,wA2"@Y21@2$92,q9>y2HֿLR?s?W^?'??s?ɨ2"@2ơ;2$CyBBB&IIJIJ{٢RY< RE=9RզQ V>XX ZG٣XyZ9 ^> bNusing accuracyPremultiplier from config\b59^1w,`xA6"@Y61@6%9689>y6Ht ֿj?\v? ]?O??s?ɨ6"@6؇;4y>B>&I=@= =Mb@Mb@Mb@999 9)9Y=&1?Cl?Zd;O?y===;==j<=@ 9)=@I=d@9i=IUIU٢e}= e/=9mQ u> G٣yǹ > Nusing accuracyPremultiplier from config597?5Y i_™>;-Ai@;>; 5 @ addTargetRange:: Added new target pos. range: 71.800003 m, deltaT: 60.527370 s, deltaX: 3.700005 m, approachRate: 0.061129 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrf @3Q@bf ?]5>]5>]5?Q?]52/d@E%JIJMJIJIJIJM^:JIJI Y]] @I]>+: Yɚex7iaIaIii}}))mWill construct direction to contact in vehicle frame from tetrahedron phase data.D*Fu?2Fq:FqBFuo0JFqZHRH@AH%=>I! I%'II%ԇBI%# =&I!.I!6I%z<:I%V F I IQ GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,K9A6"@Y60@6U%96V:>y6H@` ֿp?'?\Ze???r?ɨ6"@6/;6%CyBBB&IiF=IF;HJAIRIR3٢Z = ZW=9Z:Q Z>\\ ^G٣\ybB) b> fNusing accuracyPremultiplier from configdj59f3?j5Yf~ ifW™hj.jAfEf:f ;fħ5p r@p DNOT Ignoring new targets: 64.80 m. j j jjihhh!h!f!f!rf!bf-?]]]]d@U%  @I2: ɚ7iIIii~))D09*FE?2FI:FIBFMf3JFIJaJe@A}Will construct direction to contact in vehicle frame from tetrahedron phase data.GiByO>zK K u9K K (K RK ?JK >X1w, A 0I4Will construct direction to contact in vehicle frame from tetrahedron phase data.ymBm&I Mb@Mb@Mb@ )YB`"۹?RQ?~jt?y==<@ )ݸ@Iz@y½@II ٢-< -(=9-Q 5>11 5G٣1y= => UNusing accuracyPremultiplier from configI59Mi.?5YM iMK™>; Z2 AIM]>]G:A?]_@ !%@I%(: !ɚ%s7i!I!I)i)i-~)))1BD]\?:D]\?D*F?2F:FBF0JFJqJuJu1JqJqJu:Ju3Jq Will construct direction to contact in vehicle frame from tetrahedron phase data.G 7ArB O >H I  I )'II BI &I .I 6I 9<:I & FV1w,(Ay-B5&IIMIMK!٢e= em=9iQ m?ii mG٣iyq u? }Nusing accuracyPremultiplier from configy59}*?5Y} i}D™A}E}:}C:}d5 ;@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfY?]]]]    @I :: ɚ=7iIIiiG~))!DP9 YIY*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GHKrBO>1w,;BA"Will construct direction to contact in vehicle frame from tetrahedron phase data.VҶ"@YV0@VUb&9V%H:>yVH`õ@5ֿ靺? ?Tՠ?ʤ?M#? -r?ɨVҶ"@V5;V$CybBf&I)h h j=j=InIn ٢vV= vR=9zbQ z>xx ~G٣|y] ]> eNusing accuracyPremultiplier from configam59e&?m5Ye ie:™quy2uAaez:e:e%5 ½@DNOT Ignoring new targets: 64.80 m. jjjjihhhhf1fQrfYbf]P?]]]]_@Ub& 隭 @I/: ɚ7iIIii))zKBoHKKK(K YIaDub9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF Q5JF GQ Bi O >8v1w, L_AVf"@YVf0@Vi[(9V:>yVHֿ??6W@? ?`?Cr?ɨVf"@Va;V"CybȇBb'IJ~J~J~0J|J~l:J~:J~ـ3J|mMb@Mb@Mb@iii i)iYm?Zd;?{Gz?ym=my=mףQ > G٣y: > Nusing accuracyPremultiplier from config59@"?5Y/ i2™^=;@AE;';!5 @ Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfV@]^=]^=]8 ?]R@Ui[( QU @IUZ+: QɚUR7iQIQIYiiFe))jHybH}<HI IH'IIBI$ =&I.I6IQ<:I7 FBIIJIIRIIZIIbIIjIM.4 I D q9*F ?2F :F BF P5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >z1w,4|A6"@Y60@6?(967:>y6Hֿ@ź?+?T/??*?q?ɨ6"@697;6$Cy>܇B>'IIJIJ3٢R~= R>=9VqQ V>TT ZG٣|yź > Nusing accuracyPremultiplier from config 59 ?5Y ^ i *™%@%A   ; :  5) -ջ@)]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhYhYhahafafarfibfm@]]]]R@?( 隭 @I31: ɚ7iIIii/))D9mWill construct direction to contact in vehicle frame from tetrahedron phase data.iimA*F=?2F9:FABFEP0JFAzK%K%9K!K%(K%G7ArBO> U X$?IY % Will construct direction to contact in vehicle frame from tetrahedron phase data.d^1w,A2"@Y20@2*92s8:>y2Hֿ{Ӻ??Xౕ?H[?`!?@q?ɨ2"@2k;0yNBN#'IiR=IR G٣y ; > Nusing accuracyPremultiplier from config59?5Y3 i$™=;@@A9;;5 h@-DNOT Ignoring new targets: 64.80 m. j)j1j1j1i1h1h1h9h=Bf9f9rfAbfE~ @]e=]e=]eM}>]ev@@u* qu@I}-: yɚ} 7iIIii5~))}Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F]?2FY:FYBFeO0JFaHI It'II%BI&I.I6IE<:I/ F Y IY G HKrB O >G1w,8A6"@Y60@6T-96wg:>y6HL`ֿ??uY@? ?`&?gq?ɨ6"@6s;6#CyBBB:'IIJIJb(٢R= RW=9VQ V>XX ZG٣XyZ0: ^> bNusing accuracyPremultiplier from config\b59^W?f5Y^  i^™df@@fA^E^=;^;^5l nB@l DNOT Ignoring new targets: 64.80 m. j j j j ihhhhffrfbf# @]9]9]9]=@@uWill construct direction to contact in vehicle frame from tetrahedron phase data.T- @I2: ɚ57iIIii$~))Dm9*F2F:FBFP0JFJIJMJIJIJIJM:JIJIJM;aUJM;a]JML;a]JML;a]% Will construct direction to contact in vehicle frame from tetrahedron phase data.G #rB O >N1w,vA>"@Y>0@>()/9>z@:>y>H@_ֿ@ ?Ɔ?Z@?o? !? q?ɨ>"@>;>"CyJBJH'IIRIRd٢Za= ZJ=9Z}jQ Z>\\ ^G٣`yb!: b> fNusing accuracyPremultiplier from configdj59fz?j5Yf if™hn@@nAdf ;f ;f[5t v@tDNOT Ignoring new targets: 64.80 m. jjjjihh!h!h!f!f)rf)bf-%_@]I]I]I]M@@]()/ ae| @Ie1: iɚm7iiIiIqiqzKyK}k9KyK}(K}i w~)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F2F:FBFJF!G= qBI Ou >= Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,A2"@Y20@2 292EK:>y2H@&ֿ =?!}?@;]?`[?`"?q?ɨ2"@2;0y>B>O'I Bp=Bp=mMb@Mb@Mb@iii i)iYmX9v?y&1?Q?ym=m`e G٣yP: > Nusing accuracyPremultiplier from config59M?5Y i™N=;6@AF;F;A5B &@E DNOT Ignoring new targets: 64.80 m. j j j j i hhZHRHAAH!I! I%'II%CBI%# =&I!.I!6I%&<:I% Fhh؃Bffrfbf@[~@]N=]N=]=]u6@U 2 Y]@I]+: Yɚ]7iYIYIaiaie ~)i)i IWill construct direction to contact in vehicle frame from tetrahedron phase data.D*F 2F :F BF JF G 7ArB O >jq2w,A6g"@Y6g0@6496w:>y6Hֿ̤^?M|?k] }?\?G(?`p?ɨ6g"@60;6$CyB BBX'IJNJNJLJLJN:JN :JLJLJN;JN;JNcW;JNdW;I^I^d٢f = f@=9fmQ j>hh nG٣lynS8 n> rNusing accuracyPremultiplier from configpv59r7 ?v5Yr% ir™xxzArEr ;r ;r5| ~@5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h1h9h9h9f9fArfAbfE @]a]a]a]e6@uWill construct direction to contact in vehicle frame from tetrahedron phase data.4 @I71: ɚM7iIIiiU}))2D*DD9*F]?2FY:FYBF]1JFYzKmBoHKm#9KiKm(Km)  I}NG =%Y9yEBGB- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 %=5 R=Ou >2w,|A2"@Y21@2992A:>y2H@ֿ6?`? zcuv? 7?@:!? p?ɨ2"@2Ta;2&CybBb^'IUMb@Mb@Mb@QQQ Q)QYUDl?{Gzt:v?yUO >UףUT G٣y; > Nusing accuracyPremultiplier from config59?5Y i ™>;-@A.B;z@;5 c@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf$@] >] >] ,@] -@%9 !%z@I-.: )ɚ-7i)I)IiiQ|))Will construct direction to contact in vehicle frame from tetrahedron phase data.Du9H>>I I'IIvBI&I.I6I~<:IY F*F- ?2F) :F) BF- _0JF) I = Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ B O >l 2w,N8A^$"@Y^$1@^s<9^`:>y^H*ֿsĻ?b?bY?@@?C3?o?ɨ^$"@^˗;^#CyfBhlnAIrIr<٢zS1; z==9zLĺQ ~>|| ~G٣y= >  Nusing accuracyPremultiplier from config 59 1?5Y ܓ i ™-@A E V; 1; ڽ5) -Y@)DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@] ] ] ] ȴ-@Es< AE@IE?,: IɚM7iIIIIqiqiu1|)q)yJ3K3 K/.KK"KJeJaJe1JaJe:JaJe3JaJe;Je;JaJa=Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBFp0JFzK} K} 9Ky K} (K}  I G B OE >2w,6TAzWill construct direction to contact in vehicle frame from tetrahedron phase data.u#@Yu;1@uiIB9u:>yuH) bֿ?_A?i2r?`F?`c.?@+o?ɨu#@u ~;qyލBލY'IUMb@Mb@Mb@QQQ Q)QYUʡE?Mbp{Gz?yU>UU# G٣y; > Nusing accuracyPremultiplier from config59V?5Y i™>;.@A;;5 @=DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9h9hAhAhEBfAfIrfIbfM @]>]>];@]L.@iIB 隽z@I*: ɚ7iIAIIiIiM5z)I)QBD]E?:D]Iy  I} 'II} BIy &Iy .Iy 6I} <:I} v F W$?I GBO>E;2w,MsANU@#@YNU_1@NJ9N+:>yNH @s;ֿ i?@?ph?`^P?4?n?ɨNU@#@N,;LyZBZP'IIbIb$٢j jA=9nQ n>ll nG٣lyrs; r> zNusing accuracyPremultiplier from configtz59vL?~5Yvb iv™.@AvEvJ0;vJ0;v5  @=DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9h9hAhAhAfAfIrfIbfM79@mWill construct direction to contact in vehicle frame from tetrahedron phase data.]q]q]q]uy.@J 隕@I.: ɚԽ7iIIiivx))D9Ep>E>JJJJJJ :JJJJJS;JS;*F)2F1:F1BF50JF1G9 G=rA% Will construct direction to contact in vehicle frame from tetrahedron phase data.GA BQ Ou >!1#2w,IcAJP#@YJo1@JEO9JI;>yJH C)ֿݦ??t d??+:?Xm?ɨJP#@Js;J$CyR BRS'I)X X Z=XIbIbd٢jK< jI=9j1Q n>ll nG٣lyr; r> vNusing accuracyPremultiplier from configtz59vv?z5Yv iv™|~/@~Atv;vU;v5 @5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h1h9h9h9fAfArfAbfM@]i]i]i]m/@}EO y}@I}/: ɚ7iI IIii,x))zK BHK K K (K  De9*F2F :F BFO0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.G HKrB1OM1> Will construct direction to contact in vehicle frame from tetrahedron phase data.T)2w,"A6.b#@Y6.1@6R96 ;>y6H)qֿ@Ѽ??w@]?X?u8? m?ɨ6.b#@6>8;6#CybBbB'IMb@Mb@Mb@ )Yw/?y&1MbP?y&>`弹:=@ @)ݸ@I@y@I=I=V8٢MK| M5=9M(Q M>QQ UG٣Qy] ; ]> eNusing accuracyPremultiplier from configam59e슜?m5Ye ie™m\)>u;HqIq Iu'IIu{BIq&Iq.Iq6Iu.<:Iu FBIQJIQRIQZIQbIQjIUu4&@AeEes]\)>]>@]&@R 隽3@I*: ɚ7iIIiiZw))2D*D I}Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9E*F 2F :F BF 3JF "G >G >G 7ArB O >12w,vlA2O#@Y2O1@2fbY92:>y2H[@bտ|? ?h kK?)?/?l?ɨ2O#@2;0yBBB/'IIJIJ%٢R֔ RK=9RCQ R>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b59^:犜?b5Y^֏ i^™`f&@fA^E^:^:^_5h j@jEDNOT Ignoring new targets: 64.80 m. jjjji h h hhffrfbfD@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]A]A]A]E&@fbY S@I0: ɚw7iIIii-u))! IDm%9zK}KKk9KK(K '/322-*F?2F:FBF%?5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G- HKrBA Ou >H72w,HA>w#@Y>w1@>0]9>8;>y>Hn`|տQ? ?Ā@O? ? =?`k?ɨ>w#@>0;>&CyJۇBJ'IiLILNANA%Mb@Mb@Mb@!!! !)!Y%w/?S㥛?I +?y!%/<%94<%@ %׫@)%@I%@!y% @I=I=&٢M埽 M>=9U Q U>QQ ]G٣Yy]͗: ]> eNusing accuracyPremultiplier from configam59eoኜ?m5Yeq ie™u)>u;uP;@uAaeF;e;e@5y }@EDNOT Ignoring new targets: 64.80 m. jAjAjIjIiIhIhIhQhUBfQfQrfQbf] @])>])>](>]P;@0] @I`-: ɚ7iIIiiA u)J J J 0J J l:J :J ـ3J a@a@a@a@)Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I'IIgBI&I.I6IR<:I9 FDe!9 I*F2F :F BF 5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G 7ArB O5 >=2w,=A6 #@Y6 1@6!Hc96:>y6H@Aտk?4?s ??He?E4? rk?ɨ6 #@6 ;6#Cy>ʇB>'IIJIJ ٢R RG=9RFmQ V>TT VG٣XyZ; Z> bNusing accuracyPremultiplier from config`f59bۊ?f5Yb ib™hjx;@jAbEb;b;b 5l n˼@l DNOT Ignoring new targets: 64.80 m. j j j j i h hhhffrfbfP!@]9]9]9]=lx;@!Hc  @I/: ɚ7iIIiiEr)A)IBDM:?:DME?MWill construct direction to contact in vehicle frame from tetrahedron phase data.D%E9*F2F:FBFN0JFG GsA I zK% LK! K! K% (K% )# G B O% >c5E2w,A-Will construct direction to contact in vehicle frame from tetrahedron phase data.=/#@Y=/1@=(Lg9=H;>y=H@ տ@gɽ?k?`K[@? ?8>?j?ɨ=/#@= ;=$CyUBU&I5Mb@Mb@Mb@111 1)1Y5w/?y&1?y&1?y15`e=5`e<5&@ 5@)1I5@1y5@IUIU{٢m\ m=9mQ m>qq uG٣qy}S: }> Nusing accuracyPremultiplier from config59nԊ?5Y i™1>;F@A;;T5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf["@]1>]1>]n>]F@(Lg 隽3@I(: ɚ7iIIiir))D*F-?2F):F)BF-P0JF)JuJuJu1JqJu:Ju/:Ju3JqWill construct direction to contact in vehicle frame from tetrahedron phase data.H >>I  I 'II >BI &I .I 6I <:I Z FG- HKrB9 Om >XK2w,/A6#@Y62@6l96;>y6H `!տ@??`9`0?@? 5? Kj?ɨ6#@6;4yRBR&I)T T V=V= bV$?IdI^I^٢j"R n=9nvQ n ?pp rG٣pyvy; v ? zNusing accuracyPremultiplier from configx~59zϊ?~5Yz iz™'F@AzEz;z;z5 B @ E5DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf` #@]]]]'F@ml im ?Im-: iɚmiiIqIiisp))DS9MWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FaBFe_0JFaG 7ArB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.TR2w,IA22#@Y22 2@2q92+U;>y2H%տR??@u|?@0? ?>?[i?ɨ22#@2j׈;2!Cy>BB&IIJIJ٢Rf RK=9R Q R>TT VG٣TyV-: Z> ^Nusing accuracyPremultiplier from config\b59^#ʊ?b5Y^ώ i^ل™`f0F@fA\^:^n:^z5h jv@hDNOT Ignoring new targets: 64.80 m. jjjjihh h h ffrfbf#@]1]1]1]50F@Eq IM&?IMq): IɚM4iQIQIQiYi]^]p)Y)Y2Da*DesADi IG*F2F:FBF0JF9 m YiymBzKu"KKu89KqKu(KuMWill construct direction to contact in vehicle frame from tetrahedron phase data.GEO0oBQOm>CjX2w,KcA2#@Y22@2l~t92?;>y2Hpտf?@l?(?`(? &I-Mb@Mb@Mb@))) )))Y-+?+η?{Gz?JEJEJAJAJEܫ:JE :JAJAy->-v=-ף<) -׫@)-ݸ@I))y-\@I]I]٢m m@=9m[Q u>qq uG٣yy; > Nusing accuracyPremultiplier from config59Ê?5Y! iτ™;>;>AE;;U5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhXBffrfbf`$@];>];>]G ?]~[S@Will construct direction to contact in vehicle frame from tetrahedron phase data.l~t z@I(: ɚ5iIIiijo))jHbHH I  I ['II BI &I .I 6I -<:I  F IDu9*F 2F :F BF _0JF e Will construct direction to contact in vehicle frame from tetrahedron phase data.G 1oB O >^2w,~A>$@Y>%2@>Kx9>/;>y>H]cտ`?c? (?%?`D?%h?ɨ>$@>Z%;`d fG٣dyfP: f> nNusing accuracyPremultiplier from confighn59j?r5Yjn ijƄ™pr>rAjEj:j:j5t z@xDNOT Ignoring new targets: 64.80 m. jjjji!h!h!h!h!f)f)rf)bf5lt%@]Q]Q]Q]UfS@eKx im@Imz): iɚuo5iqIqIqiyi} o)y)yJJBA-Will construct direction to contact in vehicle frame from tetrahedron phase data.D*F2F:FBF0JF IzK5 K5 k9K1 K5 (K5 RK= ?JK= ?G voB O >Ve2w,UAFWill construct direction to contact in vehicle frame from tetrahedron phase data.$@Y;2@P|9 C;>yHlNտ@Oľ?N? @?`2~?;?%h?ɨ$@;$CyNBm&IMb@Mb@Mb@ )Y rh?p= ף?S㥛?yC >>/<@ @)I@y@I%I%٢=޽ =)=9=KݺQ =>AA EG٣AyMr0; M> UNusing accuracyPremultiplier from configQ]59U"?]5YUO iU™]B>];e0eAQU;U;U55mB m@mEDNOT Ignoring new targets: 64.80 m. jjjjihQhQhYh] Bffrfbf~&@]B>]B>]IC?]ob@P|  @I ": ɚ i I Iiin))JJJJJJ!:JJ-Will construct direction to contact in vehicle frame from tetrahedron phase data.Ha Ia  Ie #'IIe BIa &Ia .Ia 6Ie \<:Ie A FD 9*F 2F :F BF _0JF I G=?&oBIOm?5m2w,A2K&$@Y2KE2@292b;>y2H @YBտ?D?> $??R?? g?>Will construct direction to contact in vehicle frame from tetrahedron phase data.ɨ2K&$@2;0yB=BFW&IININ٢V/ VB=9ZQ Z>XX ZG٣\y^5: ^> bNusing accuracyPremultiplier from config`f59b3?f5Yb ib™hj0jAbEb ;b ;b 5l n@lDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf Q'@]]]]db@M QU@IU(: QɚU5iQIYIYiYiem))D9%Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)*F?2F:FBF0JF U$?I G +mB O >[t2w,AJ<$@YJ[2@Ju 9J:>yJH`m +տ? /?(`5?>?-?g?ɨJ<$@J;J"CyV)BV?&I)X X ^a=^%=IbIb&٢= =9=9=^!Q E>zKU+KKU9KQKU(KUIi uG٣qy(G; > Nusing accuracyPremultiplier from config59ު?5Y i™/AE: :5B @EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf i*(@]Y]Y]Y]],8b@Will construct direction to contact in vehicle frame from tetrahedron phase data.}u 隝@I6%: ɚ5iII!i!i%bl)!))D%?:*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I &II BI &I GD.I 6I 2<:I # FBIqJIqRIqZIqbIqjIu3G IMmB O >{2w,A I:$$@Y:C2@:D9:V;>y:H`D@տ7?@E? ?;@?`q=? g?ɨ:$$@:=Z;:%CyFBF3&I%Mb@Mb@Mb@!!! !)!Y%ʡE?ʡE?Q?y%=%>%\=! %@)%Ʒ@I!!y!I=I=W٢E_+ E3=9M=Q M> G٣yL > Nusing accuracyPremultiplier from config59?5Y i™ CI> ; % A;F; 5 q@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf- )@]CI>]CI>]k?]~l@5D 15@I5i': 1ɚ55i9I9I9iAiE$m)A)IeWill construct direction to contact in vehicle frame from tetrahedron phase data.DZ:*FE ?2FA :FA BFE 0JFA "G] =G] =J J J J J L:J :J J J P;a J Q;a J u;a J u;a  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge d~kBq O >p/2w,1\ A6-$@Y6L2@6996];>y6H`7տ`L?@#=?Ӡ #?Ud?@2?@>g?ɨ6-$@6;6$CyRBV-&II^I^<٢j j>=9nQ n>ll nG٣lyr: r> vNusing accuracyPremultiplier from configtz59vM?z5Yv" iv~™|~%~AvEvs;vs;v5 @5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h1h9h9h9f9fArfIbfM)@]i]i]i]m‹l@}9 y隅<@I],: ɚI 6iIIiim)) IDc:*F]?2FY:FYBFeP0JFazKRIK9KK(KEWill construct direction to contact in vehicle frame from tetrahedron phase data.GE8lBQO>IT2w,2!'A:$@Y:;2@:v9:WS;>y:H`Fտd?UM? ?k?'=&@ )I@y@II ٢   9=9 7Q >)) -G٣)y= => ENusing accuracyPremultiplier from configAM59E?M5YEz iEl™MMH>M;MUAAE;E/;E5i m@iH=>I I&IIBI&IHD.I6Ip<:IO FuDNOT Ignoring new targets: 64.80 m. jqjyjyjyiyhyhyhhBffrfbf*@]MH>]MH>]9?]%u@v 3@I$: ɚ-6iII)i)i-bFn)1)1 IEPExceeded connect timeout, disconnecting.D:U Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F) :F) BF- 4JF) GMmBYOu>M2w,BwEA> $@Y>?2@>e⃽9>;>y>HACտ`zi?` J?@@?by?4?f?ɨ> $@>;>'CyJBJ&IIRIR(*٢~G ~:=9~Q > G٣*J R="J a=JJJ0JJܫ:J%:Jـ3JJ;J;JK;JL;y v9 -> 5Nusing accuracyPremultiplier from config1=595픊?=5Y5Ζ i5[™9=EA5E5:5:55I M@I}DNOT Ignoring new targets: 64.80 m. jyjyjyjihhhhffrfbf b+@]]]]*u@e⃽ F@I): ɚ1N6iIIiim))Will construct direction to contact in vehicle frame from tetrahedron phase data. IDi*F?2F:FBF?5JFzKu Ku -9Kq Ku (Ku BK :K rAe Will construct direction to contact in vehicle frame from tetrahedron phase data.G% /mB1 OM >&u2w,G_A>$@Y>42@><9>M;>y>H /Kտ ~?`_S? ??@;?f?ɨ>$@>B;>$CyRBR$&IMb@Mb@Mb@ )Y(\µ?{Gz?J +?y=#>H=@ ׫@)@IyII%٢xh= ?=9ӹQ > G٣yV > Nusing accuracyPremultiplier from config59k?5Y  iI™0@>;AE%;;5 -@ DNOT Ignoring new targets: 64.80 m. j j j jihhhhBffrfbf,,@]]0@>]]0@>]]!?]]!'w@< 隕3@I(: ɚLp6iIIii8|n))!Will construct direction to contact in vehicle frame from tetrahedron phase data.Hu>>Iq Iu&IIuBIq&IuGD.Iq6Iu<:Iu FDM: T$?Ih*F ?2F :F BF 4JF  nManaging dock network, ignoring radio surface power offG% mB1 OU >2w,@2{AWill construct direction to contact in vehicle frame from tetrahedron phase data.V$@YV32@V 9VF;>yVH VMտt?lT?Μ5?~?m4? f?ɨV$@VT;V#CybBb(&I)d dInIn ٢vZ< vG=9vj9Q z>xx ~G٣|y~) ~> Nusing accuracyPremultiplier from config 59?5Y? i8™A;;]5B %@%EUDNOT Ignoring new targets: 64.80 m. jQjQjQjQiQhQhYhYhYfYfarfabfe+]-@]]]] &w@ 隝@I*: ɚ׈6iIIii:qn))D5z:J1J5AAJ9J=J9J9J9J=":J9J9J9J9J=7{;J=8{;EYWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP0JF)a i I = Y9 yE AG *9mB O >2w,kA6i$@Y6i52@6(96 :>y6H1Kտ}? R?\ U??H/?g?ɨ6i$@6J;6"CyBBB+&IIJIJ)٢Rs< RP=9VQ V>TX ZG٣Xy^v9 ^> bNusing accuracyPremultiplier from config`f59bч?f5Ybf ib'™hjjAbEb:b:b59 =@9DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`1.@]]]])w@ (  @I ): ɚΙ6iI1IAiAiE^n)A)IzKK9KK(KRK?JK?D1uWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFGm mBq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I &II BI &I .I 6I <:I ] F.)2w,ϮAy~%B~:&I !I!Mb@Mb@Mb@ )Y#~j?M?:v?y=n>T= @)I@yII٢T= 8=9Q > G٣y > Nusing accuracyPremultiplier from config59u?5Y i™0>;A;;5  @ =DNOT Ignoring new targets: 64.80 m. j9j9j9jAiAhAhAhIhM BfIfIrfIbfU /@]m0>]m0>]m!?]m0u@ 隅3@I): ɚ6iIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.D:*Fq2Fq:FqBFuO0JFyJe Je Ja Ja Je ,:Je :Ja Ja Je ;Je ;Je t;Je t;G lB O >3W2w,9A2 $@Y2+2@2-M92m:>y2H`GSտ?[? `l??@+?g?ɨ2 $@2bp;2#Cy>-B>D&IiBXX ZG٣XyZ-κ ^> bNusing accuracyPremultiplier from config\b59^?f5Y^ i^™dffA^E^m ;^ ;^5h n@l DNOT Ignoring new targets: 64.80 m.-Will construct direction to contact in vehicle frame from tetrahedron phase data.5<5< j jjjihhhhffrfbf`/@]]]]B*u@ -M  F@I+: ɚg6iIIiin))! IDm :*F?2F :FBF_0JFzK5BoHK5k9K1K5(K5BKI:KIWill construct direction to contact in vehicle frame from tetrahedron phase data.G% mB1 OU >>2w,AR#@YR2@R29R';>yRH@`fտ?vo??i?*7?@f?ɨR#@R҇;R$CyZ?B^Z&IuMb@Mb@Mb@qqq q)qYuI +?"~j?S㥫?yu9=uS=u/]=u@ q)qIu@qyqII٢u= ;=9Y9Q > %G٣!y%j8 %> 5Nusing accuracyPremultiplier from config)559-h{?=5Y-A i-™=;>=;=(=A)-+;-D;-5A Me@I}DNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhyhhh%BffrfbfPZ0@];>];>]f?] j@2 3@I(: ɚ6iIIiinp))DEWill construct direction to contact in vehicle frame from tetrahedron phase data.H1I1 I5&II5BI1&I1.I16I5<:I5i F*Fu?2Fq:FyBF}1JFy qIyG 8lB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ӣ2w,gA6E $@Y6E*2@6r96:>y6HTտ@?` ]? ?@]?)? f?ɨ6E $@6؇;4yrGBrd&IIzIzT߳٢/= V=9Q  >    G٣ yT; > Nusing accuracyPremultiplier from config%59w?%5Yߝ i™)-'-A³E:":D51 5@1eDNOT Ignoring new targets: 64.80 m. jijijijiiihihihqhqfqfqrfybf}`F0@]]]]&j@r 隭@@I/: ɚ{6iIIiin))D:*F)2F):F)BF-4JF)"G5=G5=J3KO3 K(.KK"KJJJ1JJܫ:J$:J3JJ;J;J~;J~;uWill construct direction to contact in vehicle frame from tetrahedron phase data.GMnBO=> q Iq 2w,_BA6&#@Y6&2@6ۅ96:;>y6H``^bտӼ?'l?Ƙ?`m?C9??f?ɨ6&#@6ć;6&CyBPBBo&I)D DIJIJ٢VI7= VP=9Z9Q Z>XX ZG٣\y^'$ ^> bNusing accuracyPremultiplier from config`f59b2t?f5Yb ibԃ™hj (jA`b:b:b59 =N@ADNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@!1@]]]]6j@ۅ `@Ik+: ɚ%6i!I)I9i9i=Ko)9)AzKUBHKU-9KQKU(KUWill construct direction to contact in vehicle frame from tetrahedron phase data.D=:*F?2F:FBFP5JFH) I)  I- &II- BI) &I- HD.I) 6I- t<:I- R FBIJIRIZIbIjI4e Will construct direction to contact in vehicle frame from tetrahedron phase data.G5 =nBA a Ia Om > 2w,aQ1A2$@Y292@2*i92:>y2H@@Cտ`Ϳ?DN?`?@?@)?f?ɨ2$@2;2"CyNcBN&I%Mb@Mb@Mb@!!! !)!Y%:v?p= ף??y%=%=%L=%j@ %@)!I%@!y%=@I=I=+٢Mۯ= M?=9UJQ U>QQ UG٣Yy]; ]> uNusing accuracyPremultiplier from configiu59m!p?}5Ym imљ}>};}?Aim ;m;m5 "@DNOT Ignoring new targets: 64.80 m. jjjjihhhhmBffrfbf1@]>]>]_?]gR@*i p?I8): ɚ6iIIiim))Will construct direction to contact in vehicle frame from tetrahedron phase data.խ<խ<D+:*F2F:FBF@5JFG B O >,2w,l_LA:Will construct direction to contact in vehicle frame from tetrahedron phase data.F$@YF32@F$9F)G;>yFHGտ?`S???g:? e?ɨF$@F몇;F$CyNnBN&ITV@AIZIZm?٢bU= bI=9fW;Q f>hh jG٣hyjXl n> rNusing accuracyPremultiplier from configlr59nIl?v5Yn in™tv?vAnóEn;ny;n5| ~i@~E%DNOT Ignoring new targets: 64.80 m. j!j!j!j)i)h1h1h1h1f9f9rfAbfE;1@]]]]._R@$ 隥@I): ɚ7iIIii+vn)) ]S$?IaD4:*F?2F:FBFP0JFG%sA G%rAGMnBO+>%Will construct direction to contact in vehicle frame from tetrahedron phase data.zKK9KK(K 3CD@5( 2w,F'fA:5$@Y:T2@:Љ9:z:>y:H@^~'տL? q4?`?`6?)?e?ɨ:5$@:;:#Cy^xB^&Iib=Ib=JJJJJ:J&:JJa@a@a@a@Mb@Mb@Mb@ )Yq= ףp?~jt?Mb?y=<@=@ (@)7@I/@y(@IEIE3٢]3= ]4=9eQ e>ii mG٣yԍ; > Nusing accuracyPremultiplier from config59g?5Y i™>;:@A;;5 @H9I9 I='II=އBI=$ =&I9.I96I=<:I= F}DNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhhWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAhhBffrfbf m2@]>]>]*R>]?:@%Љ !%?I-": )ɚ-x7i)I)I9i9i=)l)9)9 aIaD:*F ?2F! :F! BF% 3JF! = Will construct direction to contact in vehicle frame from tetrahedron phase data.GE:CmBQOu>2w,tA:lZ$@Y:ly2@:Hጽ9:j:>y:Hտ@$??V??'?,e?ɨ:lZ$@:i;8yBBB&IININ٢RR= VD=9vjQ z>x| ~G٣|y~:; ~> Nusing accuracyPremultiplier from config 59&d?5YT i™;@AijE;;x5 @!MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhQhQhQhQfYfYrfYbf]u2@]]]];@Hጽ 隝?I@): ɚ:7iIIii4j))BDD?:D?}Will construct direction to contact in vehicle frame from tetrahedron phase data. 1I1Dm:*F?2F:FBFP0JFG- *9m5 Will construct direction to contact in vehicle frame from tetrahedron phase data.B9 zKm LKm u9Ki Km (O >=T2w,AKeJ_$@YJ~2@Jm#9J%;>yJHy)Կ9? ?X? ?5?`,d?ɨJ_$@JG`;J&CyޕBޝ&II I ٢T= ,=9Q > G٣yd5: > Nusing accuracyPremultiplier from config59_?5Y i™;@AP::5 #@]DNOT Ignoring new targets: 64.80 m. jYjYjajihhhhffrfbf`,O3@]]]];@ m# O?I$: ɚ7iIIIIIiQiU j)Q)QJJJ0JJL:J(:Jـ3JHI IH'IIBI# =&I.I6I<:Ii FUWill construct direction to contact in vehicle frame from tetrahedron phase data. ID B:E sAE *F ?2F :F BF O0JF "G =G =G3jBO>2w,k A Will construct direction to contact in vehicle frame from tetrahedron phase data.V*$@YV*2@V(܏9V/:>yVH@sԿE?`?? ?@\+?"d?ɨV*$@V]ć;V#Cy^B^&I)` `]Mb@Mb@Mb@YYY Y)YY]K7A?{Gzl?y] >]ף]=]@ ]?@)YIYYy]z@I}I}y/٢ 3=9Q > G٣y]; > Nusing accuracyPremultiplier from config59[?5Y: i™>;@%@A;<;}5 3@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf*3@]>]>]I@]@%@ (܏ {?I#: ɚ=(7iIIiYi]Nh)a)a*JC="J=Will construct direction to contact in vehicle frame from tetrahedron phase data.DT: I II *F ?2F :F BF JF c~G  Y! y% BG jB O%>#2w,VA>$@Y>2@>ߑ9>6;>y>HkgԿU_?`??8?2?4c?ɨ>$@>8;>%CyLLIVIV٢^m ^;=9bQ b>`` fG٣dyfV; f> nNusing accuracyPremultiplier from confighn59jW?n5Yjs ij|™prV%@rAjųEj*:j :jf5x z6@x%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h)h)h)f1f1rf1bf55/4@eWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]QV%@ߑ 隝n?I': ɚ07iIzKBoHK9KK(K3MX\^[VROIDC?;832/,+,(! BK:KIiixg))D*F}?2Fy:FyBF}_0JFyG].}iByO:>J]J]J]1JYJ]:J] :J]3JYZHyRH}?AH?>I I['IIBI" =&I.I6I<:Ix F Will construct direction to contact in vehicle frame from tetrahedron phase data. Y IY 2w,%zA2$@Y22@2|92:>y2H`Կpk? ?@?@k?,?c?ɨ2$@2B;0yNBR&I]Mb@Mb@Mb@YYY Y)YY]@5^I ?ˡEL7A`?y]b>]']+=]j@ ]l@)YI]@Yy]@I}I}٢:Q= ?=9Q > G٣y; > Nusing accuracyPremultiplier from config59S?5Ym it™>;?@A;';E5 @DNOT Ignoring new targets: 64.80 m. jjjjihh h h Bf frfbf@4@]5>]5>]5@]5&?@E| IM?IM%: IɚM77iIIIIQiYi]e)Y)YmWill construct direction to contact in vehicle frame from tetrahedron phase data.D=:EMe>EM>*F?2F:FBFP0JFG GG hB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.~3w,SA:u$@Y:u2@: 9::@;>y:HqցԿ??(??6? a?ɨ:u$@:D;8yFBF&IiJ\\ ^G٣`yb; b> fNusing accuracyPremultiplier from configdj59fO?r5Yf ifm™prW@rAfƳEfl;f,m;f5zB zt@zE I-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=4@]]]]?W@ !?I_&: ɚ?7iII!i!i%d)!))D}Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5[MK5u9K1K5(K5I& <4?@:sR4" RKM?JKM ?*FQ2FQ:FQBFU]0JFQG $eB O >& 3w,*Aj$@Yj 3@j9jyjH #kԿڡ?@2?@?`d?`=?a?ɨj$@j;j$CyvBv&IJvJvJtJtJvܫ:Jv":JtJtHqIq IqIqIq&Iq.Iq6Iu=<:Iu+ FMb@Mb@Mb@ )YDl?QV-?yO ><@ V@)Iyf@I I 4٢%>-Will construct direction to contact in vehicle frame from tetrahedron phase data. %-=951Q 5>19 =G٣9y=4; => MNusing accuracyPremultiplier from configAM59EPK?U5YE iEe™U>U;U#@UAAEn;ED;E5Y ]@aDNOT Ignoring new targets: 64.80 m. jjjjihhhhՃBff IIIrfIbfM1|5@]>]>]E6@]#@ ?I!: ɚCG7iIIiinc))!Del: Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF T0JF G 2 eBO->3w,MHA6j%@Y6j73@6&~96X+;>y6H p =Կ`?\?`]?K?@/3?``?ɨ6j%@6Oʈ;4y>{BB&IIJIJW٢RDz VE=9VSQ Z>XX ZG٣Xy^y; ^> bNusing accuracyPremultiplier from config`f59b>G?f5Yb ib^™dj.#@jAbdzEb2 ;bT ;b5l n@lDNOT Ignoring new targets: 64.80 m. j j j j i h hhhffrfbf5@]A]A]A]E.#@&~ ?I$: ɚN7iII!i)i-a)))1]Will construct direction to contact in vehicle frame from tetrahedron phase data. ]R$?IYDu:E*F=?2F9:F9BFE_0JFA"GU=GU= Will construct direction to contact in vehicle frame from tetrahedron phase data. < zK NK 89K K (K )8<;;840.+($#$ G  eB Oe >3w,~dA]R%@Y]q3@]襞9]G";>y]H`Կ #?@;%? '?ϳ?&1?m_?ɨ]R%@];YymnBu&I)y yMb@Mb@Mb@ )Yl? rhy&1?y>C`<@ l@)M@Iy\@I5I5٢EI E&=9M冻Q M>QQ UG٣Qy]); ]> mNusing accuracyPremultiplier from configiu59mA?}5Ym˗ imU™8>;)@Aim]]8>]]f@]]))@m襞H@>I IH'IIBI# =&I.I6I<<:I* FBIYJIYRIYZIYbIYjI]J5 i隭?I : ɚW7iIIii~H^))UWill construct direction to contact in vehicle frame from tetrahedron phase data.D )I1*FA2FA:FIBFM0JFIG ,bB O >&3w,)~AR$f%@YR$3@R̠9R;>yRH}@ӿ? ?l?O?xx zG٣xyzZ; z> Nusing accuracyPremultiplier from config| 59~=? 5Y~' i~N™  *@ A~ȳE~:~:~5 @EDNOT Ignoring new targets: 64.80 m. jAjAjAjIiIhIhIhIhQfQfQrfQbfU6@]]]]*@5̠ 15?IU/': Qɚ]iYIYIaiaieXF])a)iDU:*F?2F:FBF05JFG`BOE>JJJJJJ :JJJaJaJw;aJw;auWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiq 1 I5 hٺ%3w,hAN%@YN3@N$9N;>yNH #Rӿ?B?@1 ?_?),?9^?ɨN%@Nh;LyVKBZh&IIfIf{٢j& jK=9n:Q r>pp rG٣pyv(; v> zNusing accuracyPremultiplier from configx~59z9?~5Yzm izG™|1*@Axz ;zm ;zE 5  @ 5DNOT Ignoring new targets: 64.80 m. j1j1j1j9i9h9h9hIhIfIfIrfIbfUQ!7@]i]i]i]m)1*@$ 隅?I!: ɚA4iIIiiZ))DEErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*FI2FI:FIBFMP0JFIzKEMKE9KAKE(KE   Gu`BO>H I  I #'II BI " =&I GD.I 6I <:I l F} Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! +3w,HAJ%@YJ3@JA 9Jh;>yJH@%̩ӿ.??ŵ? ?L8?@ ]?ɨJ%@Jk;J%Cyr8BrQ&IuMb@Mb@Mb@qqq q)qYuQ?I +?Q?yu\>u94=9 Q > G٣yB ; > Nusing accuracyPremultiplier from config594?5Y i=™ >;F6@AɳEQ;j;% 5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhh Bf f rf bf @7@]= >]= >]==]=F6@MA IM?IM: Qɚe5iIIii8Z))Will construct direction to contact in vehicle frame from tetrahedron phase data.DU:*F2F:FBF@5JFG \J J J J J J J J J J J J B O >*33w,(IAR%@YR3@R򥦽9Rj;>yRH'@)ӿE?g?`H஺?@δ?5A?\?ɨR%@R[+;R$CyZ!BZ5&IIjIj4٢r`߽ rJ=9rQ v>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|59~G0?5Y~ i~5™  T6@ A|~q:~q:~ 5 .@EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhIhQhQfYfYrfYbfe@7@}Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]T6@򥦽 隝x?I: ɚiIIiiJ[Y)) ID]:*F?2F:FBFO0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.zK 1LK u9K K (K  GY B O >ח93w,y-H- sӿX?`?@]?? V6?@[?ɨ-(%@-;-"CyuBu&I]Mb@Mb@Mb@YYY Y)YY]p= ף?+?L7A`?y]>]=]+=Y Y)]z@IYYy]@IuIud٢M ,=9Q > G٣y; > Nusing accuracyPremultiplier from config59+?5Yn i(™>;D@AʳE;;5B R@ EDNOT Ignoring new targets: 64.80 m. jjjjiZHRH@AHA>IC I&IIBI&I.I6I?<:I. Fh!h)h1h=Bf9fArfIbfM`r8@]>]>]9>]D@Will construct direction to contact in vehicle frame from tetrahedron phase data.%ި )-?I-=: )ɚ-$4i)I)I9 aIiiiimOW)i)q2Dy*D}rAD:*FY 2FY :FY BF] 4JFY "Ge =Ge > Will construct direction to contact in vehicle frame from tetrahedron phase data.GABQOu>-A3w,A2%@Y23@2̩92A;>y2H,@rӿ`j? ? 8@?`3?`E?@Z?ɨ2%@2";2$CyNBN&I)P PIVIV٢^L ^E=9^fQ b>`` bG٣`yfB f> jNusing accuracyPremultiplier from confighn59j&?n5YjQ ij™prD@rAhj:j:j5vFB v@x%DNOT Ignoring new targets: 64.80 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf=z8@]Q]Q]Q]UD@m̩ im?Im : qɚum5iqIqIyiiW))JEJEJAJAJEL:JE!:JAJAJEP;JEQ;JEmy;JEny;Will construct direction to contact in vehicle frame from tetrahedron phase data. =Q$?I9)U= UCDe&:~G 5 Y1y5<B@6B*F?2F:FBF O0JF G YB O >îG3w,29 A2Will construct direction to contact in vehicle frame from tetrahedron phase data.02<>%@Y>4@>p9>Z;>y>H0Vӿv??@@#?`g?4?[?ɨ>%@>Ĉ;>"CyrچBv%IIIW٢ $ F=9Q > G٣y%l; %> -Nusing accuracyPremultiplier from config!559%"?55Y%5 i%™15#D@5A%˳E%7:%8;%5A E@I}DNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhyhhhffrfbf D9@]]]]+#D@p u?I: ɚiIIiiV))zKUnLKU89KQKU(KUD/:HI I&IIBI! =&I.I6Ic<:IJ F*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data. 9IAG YB) OE >hM3w,9A2=%@Y2= 4@292=;>y2H .\ӿ@??@`?ଉ?`XH?@Y?ɨ2=%@2[;2&Cy>džB>%I Mb@Mb@Mb@    ) Y p= ף?㥛 ? ףp= ?y  = Q8=  @) M@I  y G@I%I%)٢i B=9Q > G٣y~ > Nusing accuracyPremultiplier from config59?5Yn i™y>;?AS;;o5 @ DNOT Ignoring new targets: 64.80 m. j j j j ihhhhABffrfbf9@]=y>]=y>]=?]=v7R@U QUG?IUs: QɚU4iYIYIYiyi}wV)y)BDQ?:DZU3w,IUA6b &@Y6b+4@6(96W;>y6H W3>ӿ f? s?tQ? /? 4?/Z?ɨ6b &@6G;6!CyBBB%IiF=IFp<ININk٢V; VO=9ZQ Z>X\ ^G٣\y^; ^> bNusing accuracyPremultiplier from config`f59b?f5Yb ib™Y]?]A`b) G٣yQ >  Nusing accuracyPremultiplier from config59o?5YS i™&>;.A̳E|;;25! %@!MDNOT Ignoring new targets: 64.80 m. jIjIjIjQiQhQhQhYh]+Bfafarfabfe:@]&>]&>]*C?]4c@ )?I: ɚiII!iIiMVU)I)IDMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF JF G% WB1 OU >b3w,YA>&@Y>:4@>A39>C;>y>H5u-ӿ@?d?V@?t? 1?`Y?ɨ>&@>f;>"CyJBJ%IIRIR@ ٢Z ZN=9^'źQ b>`` bG٣`yfj&; f> jNusing accuracyPremultiplier from confighn59j?n5Yj ijӂ™pr.rAhj:j:j5t v@z EDNOT Ignoring new targets: 64.80 m. jjj!j!i!h!h!h)h)f)f)rf1bf5`:@]Q]Q]Q]UJc@eA3 imu?Im: qɚu4iqIqIyiyi}HT)y)2DsA*DsA qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.D=:*F92F9:FABFEP5JFA"GM%>GM>GeWBqO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Qi3w,@2AzK*BoIK*9K(K*(K*yUBUp%I)y yII٢qd 9=9Q >  G٣y% %> Nusing accuracyPremultiplier from config59 ?5Y i™AͳEx;;5 S@5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i9h9h9h9h9fafarfabfm`k;@]]]] O?I]: ɚ#`5iIJ J J 0J J :J %:J ـ3J a@a@a@a@Ii!i%T)!)!HU@>IQ IU6&IIU"BIQ&IQ.IQ6IU@<:IU1 FBI ĠCJI ĠCRI ZI " =bI " =jI Ĭ4 YIehWill construct direction to contact in vehicle frame from tetrahedron phase data.AiDEO:*F 2F :F BF o0JF } Will construct direction to contact in vehicle frame from tetrahedron phase data.G%WB)OM>p3w,'A6#&@Y6B4@696C;>y6H5`"ӿt? \?@=?I?x0?X?ɨ6#&@6&;6!CyBjBBS%I}Mb@Mb@Mb@yyy y)yY}A`"?T㥛 ?Zd;?y}=}>}y=}K@ }@)}@I}&@yy}@II٢Ž 1=9"Q > G٣yz: > Nusing accuracyPremultiplier from config59L?5Yx i™3>;;'AD"; ;5 @DNOT Ignoring new targets: 64.80 m. jjj j i h h hhBffrfbf%;@]E3>]E3>]E_?]Ej@U QU3?IUD: Yɚ]5iYIYIaiaieT)a)i QIYD:Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFE0JFAG WB O5 >w3w,A6\&@Y6\>4@6p96x;>y6H4`$ӿ`-?@_? k?1k?6?%X?ɨ6\&@6;6%Cy>eB>N%IIJIJd٢RoѼ R_=9RQ R>TT VG٣Ty^i: ^> bNusing accuracyPremultiplier from config`f59bL?f5Yb3 ib™df='jAbγEb;b;by 5l n @lDNOT Ignoring new targets: 64.80 m. jjj j i hhh1h1f9f9rfAbfE`7<@]a]a]a]ej@p ?I': ɚ5iIIi)i-FT))))BD56?:D5I?UWill construct direction to contact in vehicle frame from tetrahedron phase data.D*Fy2Fy:FBFP0JFG GsAzKUKK9KK(KZHiRHmAAHuA>Iq Iu &IIuBIq&Iq.Iq6Iu<:Iu FJK3 K.KK"KJ]J]JYJYJ]l:J]@0:JYJYJ];aJ];aJ]@;aJ]A;a e P$?Ia G WB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.<}3w,AyzTB~9%Ii =@ Ʒ@)@I=@y(@II٢A ;=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y- i™6>;"AS;;b"5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfr<@]6>]6>]xp?]o@9 9=?I=: AɚE 6iAIAIIiIiMRMT)i)qDImWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG WB O5 >JY J] @A Y IY G+3w,||A6 &@Y6?4@6^ﴽ96g;>y6H`T4"ӿM?@h^??`d?L4?W?ɨ6 &@6>Ӈ;6!CyNUBR:%IZWill construct direction to contact in vehicle frame from tetrahedron phase data.I%I%ỳ٢5¤; 5R=95IߺQ 5>99 =G٣9yEPM9 E> MNusing accuracyPremultiplier from configAU59E?]5YE  iEp™Y]|"]AEϳEEi@;EY@;E$5a m @iDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf` =@]]]]%o@^ﴽ ?Ia!: ɚ;#6iIIii#T))D] :*F}?2Fy:FyBFyJFyuWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO >zKU BoHKU u9KQ KU (KU  RK ?JK >=R3w,ZJ+AyPB4%IHI I%IIBI&I.I6Ib<:IJ FJ1J5J51J1J1J5$:J53J1J1J1J5~;J5~; IEMb@Mb@Mb@AAA A)AYE ףp= ?Pn?Dl?yEQ=E>EO=Eb@ E@)E@IAAyEf@ImIm4٢u& }+=9}Q }>y G٣y > Nusing accuracyPremultiplier from config59?5Y iX™/>;!A;;,&5 V@Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf`=@]/>]/>]-v?]wq@ ?I: ɚ?6iIIiiKNT)) 2D*DrADe o :*F ?2F :F BF 3JF "G 4>G G>} Will construct direction to contact in vehicle frame from tetrahedron phase data.GYBiO?ג3w,KA2P&@Y2P"4@2]92$<>y2H /}9ӿ@ ?`y?'Ջ?`Ͷ?`K?@V?ɨ2P&@2,;2%CyBJBB-%I)H HININ ٢V ZC=9Z1Q Z>\\ ^G٣\y^ b> fNusing accuracyPremultiplier from config`j59b?j5Yb ibC™hj!jAbгEbe:b:b'5l r@pDNOT Ignoring new targets: 64.80 m. jjjjihhh!h!f!f)rf)bf-@=@]I]I]I]MXq@]] Ye@?I/: ɚY6iIIiiVU)) I9IaWill construct direction to contact in vehicle frame from tetrahedron phase data. OYy~BD :*F]?2FY:FYBF]O0JFYM Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >A3w,EfA:3&@Y:314@:ⷽ9:;>y:H 1`%+ӿ(?Tk?Ry? w?9?}V?ɨ:3&@:;:#CyNOBN3%II^I^@ ٢f< jA=9j$Q n>ll rG٣pyr ; r> zNusing accuracyPremultiplier from configtz59v쉜?z5Yv iv-™|~!~Atvn:vn:v)5 EB [@ EzKvKKKK(K!%)-;fv|~{zwromkllljifd`YVYXWTTTQMBKQ:KQUDNOT Ignoring new targets: 64.80 m. jQjQjQjQiYhYhYhahafifqrfbfo>@]]]]q@ⷽ !%?I%: !ɚ%v6i!I!HQIQ IU%IIUֆBIQ&IQ.IQ6IU<:IUe FJuJuJu0JqJuL:Ju:Juـ3JqJuP;JuQ;Jun;Jun;IiiiXT)) !I!%Will construct direction to contact in vehicle frame from tetrahedron phase data.D :*Fm ?2Fi :Fi BFi JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.GWBO>j3w,(Ay%MB%0%IMb@Mb@Mb@ )YI +?Q? G٣y > Nusing accuracyPremultiplier from config 59?牜? 5Y i™G)>;"AѳE;;",5 @!UDNOT Ignoring new targets: 64.80 m. jQjQjQjQiYhYhYhYh]$Bfafarfabfm*>@]G)>]G)>]#p?]=Fo@ 隝=?I: ɚ6iIIAiIiMT)I)QBD]N?:D]W? yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.DEEsA*F ?2F! :F! BF% P0JF! G)  G) GE WBQ Om >#3w,S$A>&@Y>$4@>-9>i;>y>H.i5ӿ` A?`mw? Fr?@?`S&@>Ɇ;`` fG٣dyj j> nNusing accuracyPremultiplier from configlr59n㉜?r5Yn in™pr"vAlzWill construct direction to contact in vehicle frame from tetrahedron phase data.n:nX_;n-5| ~@|5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h9h9h9h9f9fArfAbfE@]I?@]a]a]a]e>o@u- y}?I}: yɚ}d6iyIyIiioU))De :*F?2F:FBF_0JFzK]NK]9KYK](K]LMLLJJIGFC<;;8778777789;:988888898;;<<:;;;<;:<<;:98;96889678HI III&I.I6I<:Is F IIIG%WBWill construct direction to contact in vehicle frame from tetrahedron phase data.աաO>0F3w,޻A2%@Y24@292;>y2H,E;ӿfR?`~?8r?8?C?4U?ɨ2%@2;2"CyNTBR9%I]Mb@Mb@Mb@YYY Y)YY]kt?+η? rh?y] =]v=]C=Y ] @)]@I]@Yy]@IuIu٢= ?=9Q > G٣y > Nusing accuracyPremultiplier from config59߉?5YD i™7>;X+AҳE;;/5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhDBffrfbf?@]%7>]%7>]%kS?]%f@5 9=?I=:: 9ɚ=6i9I9IAiAiM V)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.D :*F?2F:FBFP0JFJ J J 1J J <:J :J 3J a @a @a @a @ I II  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >3w,A6&@Y64@6*n96;>y6HE-18ӿU? {?@l?E?E>?OU?ɨ6&@6w;6$CyRVBR<%II^I^n٢b?< fL=9fqQ f>hh jG٣hynX9 n> rNusing accuracyPremultiplier from configpv59r܉?v5Yrˠ irׁ™tzR+zApr:;r;;r15 @-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i1h1h9h9hAfAfArfAbfE@@]a]a]a]e f@}*n y}p?I}: ɚ~6iIIii\U))2DrA*DDu :}Will construct direction to contact in vehicle frame from tetrahedron phase data.}Aiy*F?2F :F BF \0JF zK} PNKy Ky K} (K} 86564110/10/),--,))*)$''&&(&$$#"!"!   H! I!  I% %II% ۆBI! &I! .I! 6I% 8<:I% + FBIJIRIZIbIjIh4GU WBY N$?I O >"һ3w,A2&@Y2&4@292;>y2H .G/ӿ@f?`]t?d%i?m?@>?`T?ɨ2&@2^;0y:]B:D%IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ysh|??Q?p= ף?y=\==@ 7@)Iy@IIW٢= 6=9˳Q > G٣y: > Nusing accuracyPremultiplier from config598ى?5Y% iā™ > ;4Ab<<z35 z@EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhAhIhM]BfIfQrfQbfuL@@]>]>]\3?]w]@ ?I: ɚػ6iIIiiS|U))D*F2F:FBF0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G] WB O >3w,7 A6T%@Y6T4@696<>y6H@+9;ӿ l?@? n?k?bG?qT?ɨ6T%@6s;6#Cy>cB>K%IIJIJ#٢R< Rc=9Rj8Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\f59^։?f5Y^m i^™hj4jA^ӳE^n;^o;^ 55p r!@xDNOT Ignoring new targets: 64.80 m. jjjjih!h!h!h!f)f)rf)bf-@uv@@]Q]Q]Q]Ug]@ f?I: ɚ$6iII9i9i=*V)9)A IJ J J J J :J 9:J J D :*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GrA GrAGBO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.43w,)%A: &@Y:(4@:9:;>y:H-+ӿw? +r?`?? &;? T?ɨ: &@:;:&CyfdBfM%IInIn ٢v\; vE=9vʺQ v>x| ~G٣|y~; ~> Nusing accuracyPremultiplier from config 59ZӉ? 5Y i™4A\ ; ;65! %@!UDNOT Ignoring new targets: 64.80 m. jQjYjYjYiYhYhYhahafafarfabfm`Q@@]]]]M]@ ?I: ɚ@6iIIQiQiU^;U)Q)YBDA?:DK?zKWMKC9KK(K    HI I%I IIBI&I.I6IV<:IA FD :Will construct direction to contact in vehicle frame from tetrahedron phase data.*F)2F):F)BF-3JF)GM WBY Ou >3w,N?A6%@Y64@696z;>y6H +Z4ӿ }?!|?e`??WB?S?ɨ6%@6Ά;6#Cy>nB>Y%ImMb@Mb@Mb@iii i)iYmkt?Zd;O?T㥛 ?ym =mj<=m=m@ mM@)mE@Im@iym@II4٢== >=9hQ > G٣yȺ > Nusing accuracyPremultiplier from config59?Љ?5Yӡ i™=;7DAf;;85 n@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBf frfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.]=]=]y>]$M@E AE ?IMS: IɚM6iIIIIQiQiUV)Q)YD7 : IJJJJJ :JK:JJJ3w,x\A:X%@Y:X4@:񀿽9:;<>y:Hv)<ӿ??V?1?FD?!S?ɨ:X%@:\w;:%CyBrBB]%IININ3٢Rv< V@=9ZvQ Z>\\ ^G٣\yb0ٺ b> fNusing accuracyPremultiplier from configdj59f*͉?j5Yf if™hn?DnAfԳEfl;f;f:5p r.@rE DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`A@]]]]M@񀿽 ?Iq: ɚU6iIIiiَV))ID!E)E-rAmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO0JF"G>G >GBO@>zKKK9KK(K+>P_mxjH <bH 4<H I  I %II BI ! =&I .I 6I l<:I R F ! I!  Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,?vA27%@Y274@2o92=;>y2H)` 8ӿ@ز? ?@ WL?@|?=? S?ɨ27%@2B;2$CyPR^%I)T TMMb@Mb@Mb@III I)IYM/$?I +?i|?5?yM=M9=9ȓQ > G٣yN : > Nusing accuracyPremultiplier from config59Pʉ?5Y iq™=;<@A ;9;<5 %@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf8SA@]=]=]E&>]<@o {?I: ɚ/6iIIii FV) )i}Will construct direction to contact in vehicle frame from tetrahedron phase data.D :*F2F:FBF 5JF  I G5 W)A A Ji Jm AAJ} Jy J} 0Jy J} :Jy J} ـ3Jy a @a @a @a @B ~G -`Y)y-|BOu>3w,eAN%@YN4@N9N;>yNH%)@k6ӿt??4I?@2?@8A?]R?ɨN%@N;LZWill construct direction to contact in vehicle frame from tetrahedron phase data.y^qBb\%IIjIj{٢rq r4=9zúQ z>xx zG٣|y~k ~> Nusing accuracyPremultiplier from config 59klj? 5Y ia™<@AA;s;v>5 >@!MDNOT Ignoring new targets: 64.80 m. jIjIjIjIihhhhffrfbf A@]]]]<@U QU?IU: Yɚ]7iYIYIaiaieK[V)a)DeWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JFGm WBy O >aO3w,pAzKjNKj9KhKj( 1I1HMB>II IM&IIMBII&II.II6IMr<:IMV FKjud[WUOOQROKH@2$=%@Y=4@=^½9=;>y=H\(7ӿ??`F?@M?C?@Q?ɨ=%@=Ƈ;9y]xB]e%I5Mb@Mb@Mb@111 1)1Y5+η?Mbp?i|?5?y5v=5;15@ 5@)5r@EWill construct direction to contact in vehicle frame from tetrahedron phase data.I5@1y5@II٢< =9SQ > G٣yJ > Nusing accuracyPremultiplier from config59É?5Y iO™=; /@ AճE; ;@5 %@!MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhIhQhQhUʃBfYfYrfYbf]GA@]}=]}=]})0=]} /@^½ 隕?Il: ɚ7iIIiiV))DO :E ]>E )>*F ?2F :F BF 05JF G sA G sA Will construct direction to contact in vehicle frame from tetrahedron phase data.GWBO>D~3w,ҦA2%@Y24@2zĽ92;>y2H )*ӿ?y?`>b:?$?zB>g%IiB=IBp=IJIJk٢NA; RU=9R> Q V>TX ZG٣Xy^: ^> bNusing accuracyPremultiplier from config`f59bX?f5Yb ibB™df/@jA`b-;b-;bdB5l n@p DNOT Ignoring new targets: 64.80 m. j j j j i  IhhhhffrfbfA@]]]]/@*J R="J a=zĽ !%ޫ?I%^: !ɚ% 7i)I)I1i9i=MU)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.DX :*FA2FA:FABFMO0JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 Ou >3w,&AylBW%II5I5٢es e==9eQ > G٣y > Nusing accuracyPremultiplier from config59f?5YW i3™A%;%;LD5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf4B@]]]]) 15?I5: 1ɚ5p7i1I1I9i9i=U)A)AD yIHI I&IIBI&IzK>NJJJ1JJ:J^:J3JJ44w,AymB X%IMb@Mb@Mb@ )Y"~j? G٣y > Nusing accuracyPremultiplier from config59D?5Y i&™>;s#@A~C;A;F5 u@Will construct direction to contact in vehicle frame from tetrahedron phase data.%DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h)h1h5كBf1f9rf9bf=iB@]e>]e>]e@]es#@q qu?Iu: qɚu7iyIyIiiU)) M$?ID :E*Fm ?2Fi :Fi BFm P0JFi "Gu >Gu > Will construct direction to contact in vehicle frame from tetrahedron phase data.GU WBY O} >U4w,/A>S%@Y>S 4@>HȽ9>+<>y>H$7ӿ3?܌?M*? ?F? lO?ɨ>S%@>8;>$CyNjBNT%I)P PIZIZԳ٢b[ bH=9bDQ b>dd fG٣dyjO j> nNusing accuracyPremultiplier from configlr59n$?r5Yn  in™prW#@vAnֳEnn:n:nG5x z@x%DNOT Ignoring new targets: 64.80 m. j!j!j!j)i)h)h)h1h1f1f1rf9bf=@B@]a]a]a]eW#@}HȽ y}k?I}: yɚ7iIIiit W))2DsA*DsAWill construct direction to contact in vehicle frame from tetrahedron phase data.DU :*F?2F:FBFJF Y Ia zK 49MK K K (K Hq J J J J J :J :J J a= @a= @a= @a= @Iq  Iu &IIu BIu =&Iq .Iq 6Iu <:Iu FBIAJIARIAZIE! =bIE! =jIEɬ5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >z 4w,n8A2%@Y24@2ʽ92e;>y2H`&"'ӿH? }?}?N?]6?]O?ɨ2%@2;0yRdBRM%IMb@Mb@Mb@ )Y:v?Mb&1?y=P=p@ @)@Ix@y=@II4٢ټ 9=9Q > G٣y; >  Nusing accuracyPremultiplier from config 59 #?5Y 7 i  ™=;!@A  ; ; I5! %@!MDNOT Ignoring new targets: 64.80 m. jIjQjQjihhhhBffrfbf!B@]U=]U=]U@]U#!@mʽ imp?Iu: qɚuH"7iqIqIiiV))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9:*F 2F :F BF JF Y Ia Gq By O > 4w,(UAJA%@YJA 4@JWa̽9J/+<>yJHL#2ӿ@i??s?@Q?E?N?ɨJA%@Jq;HyV`BVH%I\\IbIb(*٢j jG=9jQ j>ll nG٣lyn r> vNusing accuracyPremultiplier from configtz59vY?z5Yvt iv™xz @zAv׳Ev:v:vK5 H@ =Will construct direction to contact in vehicle frame from tetrahedron phase data.mDNOT Ignoring new targets: 64.80 m. jijijijiiihihqhqhqfqfyrfybf} C@]a]a]a]ef @uWa̽ quW?Iu: qɚK'7iIIiiW))*Fm?2Fi:FqBFuf2JFqGWBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.(4w,FnAV"%@YV"4@Vcν9VH;>yVH %oӿԁ?w?7?`˹?T5? M?ɨV"%@V^w;V"Cy^RBb7%Iifx| G٣y M; %> MNusing accuracyPremultiplier from config9]59=?e5Y= i=™im@uA9=#;=H<=dM5jHbH< IHzK}IKK}ȱ9KyK}(JJJ0JJL:J9:Jـ3JK}    I I%IIBI! =&I.I6IW<:ID F%DB %@%EmDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfGC@]]]]@ cν ?I}: ɚd,7iIIiiPU)!)!]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F!:F!BF%3JF!GE WBQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.J"4w,Ay=EB='%IMb@Mb@Mb@ )Y)\(?y&1J +?yG=`弹H= @)@I@y@II-٢fi :=9Q > G٣y   > Nusing accuracyPremultiplier from config59\?5Y i™3=%;%@%A;w;GO5) -@)UDNOT Ignoring new targets: 64.80 m. jQjYjYjYiYhYhYhaheBfafarfibfmvC@]%3=]%3=]%@]%@Q Y]R?I]H: Yɚ]17iYIYIaiaieU)i) I*FE?2FA:FABFE4JFAJJ]Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm WBq O >;(4w,ۈAb|%@Yb| 4@bHԽ9b)<>ybH &ӿ O?҇?`V?|?=C?J?ɨb|%@b'Ԉ;b#Cyn,Bn%IIvIv٢~? [=9KQ >    G٣ y H  > Nusing accuracyPremultiplier from config%59?%5Y> i߀™!%@%AسE,;o;P51 5@1DNOT Ignoring new targets: 64.80 m. jjjjihhhhff rf bf C@])])])]-~@EHԽ AE?IE: AɚMiIIIIIiQiUV)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :FBFP0JF IGHI I%IIۆBI&I.I6I`<:IJ FzK"KK9KJK KKK"KBJJJ1JJ|:J/:J3JJe Will construct direction to contact in vehicle frame from tetrahedron phase data.e.4w,bAn3%@Yn34@n\ֽ9n~P<>ynH`&k,ӿh??l1? ?[G?I?ɨn3%@n;lyzBz$I)| |}Mb@Mb@Mb@yyy y)yY}"~j?I +Mb?y}S=}9}@=}@ }@)yI}@yy}@II4٢ ==9Q >i mG٣iymJ m> }Nusing accuracyPremultiplier from configq}59u0?5Yu iuӀ™=;9"@Aqu;uj;uR5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhh̃Bffrfbf C@]=]=]@]9"@ \ֽ  3?I U : ɚ4iIIii9lW))!2D%*D%BD%:D%*Fe?2Fa:FaBFeO0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.iG B O > I ~G `wA 5 Y5 `wAy5 ZAN54w,B@AF%@YF 4@Fؽ9F;>yFH@!ӿ ?`?`@?` ?:?`LI?ɨF%@Ftˉ;F!CyV BV$IIvIvk٢~ ~Z=9VQ >  G٣ y n:  >%Will construct direction to contact in vehicle frame from tetrahedron phase data. -Nusing accuracyPremultiplier from config-59t?55Y iɀ™15B"@5A;;nT5A E@AmDNOT Ignoring new targets: 64.80 m. jijijijiiqhqhqhyhyfyfyrfybf D@]]]]B"@ؽ 隽s?I: ɚ_5iIIiiV))*F?2F:FBF_0JFGWBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.w;4w,A yIHI I%IIBI =&I.I6Ij<:IR F5%@Y53@5ڽ95<>y5H@<ӿ@?Υ??3?L?G?ɨ5%@5d5;5$CyB%$IIIzKBHKKK(K  >RK8" BKA:KEsAJJJJJ:J :JJJ'<J(<JU;JU;٢r %=9Q > G٣yP > Nusing accuracyPremultiplier from config-Will construct direction to contact in vehicle frame from tetrahedron phase data.59?55Y i™15"@5AٳE,;E;V59 E@ADNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf OD@]A]A]A]Es"@]ڽ Y]?I]*: Yɚ}`5iIIiiX))*F12F1:F1BF=P0JF9G] WBi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.cB4w, A2o%@Y2o3@2۽92. <>y2Hi9ӿ0X??`o?~p???G?ɨ2o%@2;2#Cy>مB>$I Mb@Mb@Mb@    ) Y Q?;$*@A ; ;X5 @DNOT Ignoring new targets: 64.80 m. jjjjihhh h Bf f rfbf qyD@]5>]5>]5@]5$*@E۽ AE=?IE: IɚMiIIIIQiQiUKX)Q)Y I *F?2F:FBF0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G]?WBiO>H4w,^$A2Է%@Y23@2ݽ92i<>y2HiIӿy?`϶?`@?@? +H?F?ɨ2Է%@2Y;2$Cy>B>y$IIFIF٢N02 N]=9RdQ R>PP VG٣TyV^ V> ZNusing accuracyPremultiplier from configX^59Z?b5YZ iZ™`b *@bAXZ;Zb;ZY5d j@hDNOT Ignoring new targets: 64.80 m. jj j j i h h hhffrfbfD@]9]9]9]=. *@Mݽ IM?IM : QɚQiQIQIYiaieY)a)i=Will construct direction to contact in vehicle frame from tetrahedron phase data.=Ai=A*F 2F:FBFP5JFHI Ig%IIzBI! =&I.I6I:I IGucXBO~>zKLK9KK(KRK?JK? Will construct direction to contact in vehicle frame from tetrahedron phase data.N4w,%y>AF}%@YF}3@F߽9F" <>yFHK Lӿ_??ܤ?ѻ? P G٣y > Nusing accuracyPremultiplier from config59񕉜?5Yї i™!=;:@AڳE;/;[5 @ DNOT Ignoring new targets: 64.80 m. jjj j i h h hhBffrfbf D@]=!=]=!=]=JB>]=:@M߽ QU?IU~: QɚUW4iQIQIYiYi]Y)a)a*F2F:FBFR5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.GYBO > L$?I JE JE JE 0JA JE |:JE /:JE ـ3JA aM @aM @aM @aM @U4w,GXA6%@Y63@69b96o<>y6H`6 cӿ6?E???H?eE?ɨ6%@6pE;4y>B>G$IIJIJ٢R R[=9VQ V>TX ZG٣XyZ Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.`` fNusing accuracyPremultiplier from configdj59f𒉜?j5Yf if™ln:@nAdfi[4w,-rA2|%@Y2ś3@2h^92<>y2H@ `{ӿZ?4? ^I? A?M?D?ɨ2|%@2^;0 DIDHHIH IJ#%IIJBBIH&IH.IH6IJ<:IJg FBIJIRIZIbIjI}4yjuBj'$IIrIr٢zG ~E=9~헺Q ~> G٣y e  > Nusing accuracyPremultiplier from config59?5Y] i™!%:@%A;!;_5ECB E@MEzKBHKC9KK(K" BK:KrA5DNOT Ignoring new targets: 64.80 m. j1j1j9j9i9hAhAhQhQfQfYrfYbf]ME@]]]]z:@Will construct direction to contact in vehicle frame from tetrahedron phase data.h^ x?I: ɚiIIii=\))*F2F:FBFO0JFBOA>} Will construct direction to contact in vehicle frame from tetrahedron phase data.Ib4w,mA2m%@Y23@292Xt<>y2H@6ӿW??`?K?@G?OD?ɨ2m%@2;2#Cy^_Bb $IMMb@Mb@Mb@III I)IYMMb?V-?:v?yM=Mm=MT=M@ M/@)M@IIIyMQ@IeIen٢}ͽ }B=9}uߺQ }> G٣yf > Nusing accuracyPremultiplier from config59'?5Y ip™=;v>A۳E};;`5 @@DNOT Ignoring new targets: 64.80 m. jjjjihhhhKBffrfbf&{E@] =] =]  ?] FS@ 隅?I : ɚiIIii4]))Ei>E> yIy*FM?2FI:FIBFMP0JFIBO>J J J J J ,:J :J J Will construct direction to contact in vehicle frame from tetrahedron phase data.Ei4w,٥A6'F%@Y6'e3@6o96E<>y6Hjmӿa??`sz}?@_? N?C?ɨ6'F%@6I8;4y>@BB#IiFTT ZG٣XyZ5ӻ Z> bNusing accuracyPremultiplier from config\f59^?f5Y^ i^b™dj>jA\^.;^.;^b5Y ]4@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfOE@]]]]6S@o !%z?I%: )ɚ)i)I)=Will construct direction to contact in vehicle frame from tetrahedron phase data.IAiIiMt_)Q)Y*F=?2F9:F9BFEO0JFABQ iIiHI I$IIBI&I.I6IC<:I7 FO]>zKM ̘LKM ȱ9KI KM (KM RK >JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.e2o4w,A>90%@Y>9O3@>$I9>J<>y>Hoȿӿ?"4?f?@z?90%@>;>$CyN.BN#ImMb@Mb@Mb@iii i)iYmsh|??(\µ?v/?ym=m=mxi=i mE@)m@Imp@iym@IIͳ٢2 <=9yQ > G٣yI > Nusing accuracyPremultiplier from config59?5Y6 iP™>;%-A5;;td5 Z@DNOT Ignoring new targets: 64.80 m. jjjjihhhh =Bffrfbf%`~E@]m>]m>]mL?]m[d@$I 隕Rx?I;: ɚ4iIIiii`))*Fa2Fa:FaBFe_0JFaEWill construct direction to contact in vehicle frame from tetrahedron phase data.GmYByO> Q IQ J% J% J% 1J! J% |:J% :J% 3J! (v4w,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.F$@YF3@Fn9F<>yFH @ӿ@? lc?@\?~?J? tC?ɨF$@F;F"CyNBN#IIVIV۳٢b? bW=9bFQ b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighr59j?r5Yj ij@™prY-vAjܳEj 2;jv=;jf5| ~@|%DNOT Ignoring new targets: 64.80 m. j!j)j)j)i)h)h)h1h1f1f1rf9bf=@F@]Y]Y]Y]]d@mn q8m?I: ɚiIIiis)c))E*F2F:FBF0JFGe^BqO>5Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! B|4w,jlAZHRHHI I$IIÅBI&I.I6I\<:IJ FyޥBޥ#I) IIT߳٢ݽ -=zKezKK9KK(K**,*,+$## !*,--,*(&   9MQ U>aa mG٣y > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data. 59~? 5Y7 i,™A>h<ph<Ch5 a@PExceeded connect timeout, disconnecting.DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfZVF@]]]] `?I%: !ɚ!i!I!I)i)i-b)))1*F2F:FBF`0JFGtA GsA Will construct direction to contact in vehicle frame from tetrahedron phase data.G% _B1 OM >&4w,7 A6$@Y62@6Ĵ96J<>y6H -:ԿZ,?? ??d?eI?dC?ɨ6$@6 ;4y>B>y#IEMb@Mb@Mb@AAA A)AYEx&?T㥛 ?Mb?yE7=E>E=E3@ E\@)E&@IEC@AyE@I]I]٢m mh=9u.ǹQ u>qy }G٣yy}u ? Nusing accuracyPremultiplier from config59 |?5Y i™' >;A;u:i5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf{}F@]' >]' >]s?]:y@Ĵ u?I~ : ɚiII!i!i%|g)))) I) G 2¿YyAJJJJJ,:JJJ*F?2F:FBFW5JFGaBOK>Will construct direction to contact in vehicle frame from tetrahedron phase data.D4w,v&A6qt$@Y6q2@6G96:<>y6H`mԿ6??@4?y? dO?NC?ɨ6qt$@6t;6!CyB܄BBj#IIJIJ٢Rx RZ=9R:Q V>TT VG٣TyZZ Z> ^Nusing accuracyPremultiplier from config\b59^"y?b5Y^њ i^ ™dfjA^ݳE^M;^BM;^[k5l n}@lDNOT Ignoring new targets: 64.80 m. j j j j i h h hhffrfbfqF@]I]I]I]My@G vo?I: ɚHj4iIIi!i%j)!))E9E=tA}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO0JF IHAIA IEH$IIEBIA&IA.IA6IE1<:IE+ FG  aB)OE>zK MK ȱ9K K (K 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.  nManaging dock network, ignoring radio surface power off-4w,@@Ay~؄B~e#IiI4<Mb@Mb@Mb@ )YQ?M?㥛 ?yu=n>=`@ @)@Ip@y(@II<٢e 9=9Q > G٣y > Nusing accuracyPremultiplier from config59u?5Y i™/>;nA*<b<Jm5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhh Bf f rfbf@oF@]-/>]-/>]-6?]-N@A IMk?IMF: IɚM4iQIQIQiYi]i)Y)YWill construct direction to contact in vehicle frame from tetrahedron phase data.D: I*F ?2F :F BF -5JF "G =G =E Will construct direction to contact in vehicle frame from tetrahedron phase data.G  eB O>5?4w,Me^Ar6$@Yr652@rv9r<>yrH`DԿG? ;? @Y?j?@J? C?ɨr6$@ra;r"Cy~ƄB~O#II I K!٢ 9=9%:Q %>)) -G٣)y-U -> =Nusing accuracyPremultiplier from config1=595rr?E5Y54 i5™AEMA5޳E5Z8;5Y<;57o5Q U@QDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfG@]]]]P@v kb?I: ɚ45iIIii o))D:*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G"eBO> K$?I jHi bHm 4<Hq Iq  Iu $IIu mBIq &Iq .Iq 6Iu P<:Iu A F[4w,OxAJJJJJ|:J":JJJyH`K sԿI?d?@j?_?=?@|D?zKBoIKC9KK(KEWill construct direction to contact in vehicle frame from tetrahedron phase data.M=Iɨo#@Z;#CymDŽBmP#IuMb@Mb@Mb@qqq q)qYu)\(?(\?{Gz?yuGa=uz>uף=uI@ q)u=@Iu@qyu@II٢; )=9a9Q > G٣yw > Nusing accuracyPremultiplier from config59n?5Y i™2>;OA;;Sq5 @EDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf_G@]2>]2>]?]9@-w )5ff?I5: 1ɚ5$v5i1I1I9i9i=p)9)D]:EiEm>*F2F:FBFA1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G 7gB O >jC4w,A6Ԫ#@Y61@696{A<>y6H[+տ1S?`۟?`&?L?`A?D?ɨ6Ԫ#@6 ;6$Cy<< F=Fp=IJIJ TIT9Zx:Q Z?\\ ^G٣\ybdN b? fNusing accuracyPremultiplier from configdj59fl?j5Yfa if]™hjnAf߳Ef':f:fr5p pp DNOT Ignoring new targets: 64.80 m. j j j jihhhhffrf!bf%G@]A]A]A]Emƀ@U I : ɚ?5iIIiiIAt))J1J1MWill construct direction to contact in vehicle frame from tetrahedron phase data.D :*F5?2F9:F9BF=P0JF9G} 6lB O >o4w,ūA:v#@Y:1@:H9:I;>y:H`]տ`S?D?̙?X:?@4?oE?ɨ:v#@:d;8yFфBJ]#INWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPIZIZ٢^p< b<9b7:Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighr59ji?r5Yj~ ij/™prrAhj:jL:jqt5t z@x%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h)h)h)h)f1f1rf1bf=G@]Y]Y]Y]]!@mH imk?Imc: iɚm"5iqIqIyiyi}лv)y)y*F?2F:FBF0JF IGVlBH1I1 I5 $II5^BI1&I1.I16I5<:I5 FBIJIRIZIbIjIî3O]>JEJEJE0JAJE:JE:JEـ3JAJE'<JE(<JEn;JEn;]Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK9KK(K3RK ?JK >U4w,pA @B6#@YBU1@B9B;>yBH@vտL_?@ ?@?4.? e5?E?ɨB6#@B׌;B!Cy^քBbc#IMb@Mb@Mb@ )Yy&1?HzG?kt?y`e== > =A @)j@Ip@yf@II٢< :=9}9Q > G٣y   > Nusing accuracyPremultiplier from config%59f?%5Y i~™%->%;%-AE;;cv51 @DNOT Ignoring new targets: 64.80 m. jjj j i h hIhQhU#BfQfQrfYbf]VG@]->]->]?]@Will construct direction to contact in vehicle frame from tetrahedron phase data. Y?I:: ɚ 5iIIiiz))*F?2F:FBFo0JF IG =nB O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.4w,sA6"@Y61@6|96TA<>y6H@`<տd?BX?/? 2?VB?E?ɨ6"@6$;6$CyBۄBBj#IIJIJ٢Vt< V`=9V?:Q V>XX ZG٣XyZ;d ^> bNusing accuracyPremultiplier from config`j59b'd?j5Ybw ib~™hnvnA`b-i;bj;bw5p rx@p}DNOT Ignoring new targets: 64.80 m. jyjyjyjyihhhhffrfbf H@]]]]S~@ |  3\?I : ɚ5iIIaiaieIS~)a)a*F 2F :F BF ^5JF G9rBO*>Will construct direction to contact in vehicle frame from tetrahedron phase data. y Iy ZH) RH- @AH1 I1  I5 $II5 cBI1 &I1 .I1 6I5 .<:I5 ) FJu Ju Ju 1Jq Ju :Ju :Ju 3Jq Ju <Ju <Ju u;Ju u;ƽ4w,AZB"@YZB0@Zik9Z@;>yZHֿ i?z?]y? ?`3?PF?ɨZB"@Z;Z'Cy B u#IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK*LK9KK(Khl o{^:NxcQ@2% zBKa:KaII)٢= '=98Q > G٣!y%ج %> -Nusing accuracyPremultiplier from config)559-`?55Y- i-~™9==A)-X ;-z ;-z5A E@AuDNOT Ignoring new targets: 64.80 m. jqjqjqjqiqhyhyhyhyffrfbf`j]H@]]]]~@ik `?Iq: ɚ6iIIii ))*F2F:FBF_5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > ) I1 š4w,zmA>-e"@Y>-0@>z޽9> R<>y>H]ֿ@m??@iU?ʻ?D?AF?ɨ>-e"@>^;>$CyFBJ#I%Mb@Mb@Mb@!!! !)!Y%Q?~jt?ʡE?y%u=%=%-=%QA %@)%@I%@!y%@I=I=(*٢M> Mo=9M?;Q M?QQ UG٣Qy]x ]? eNusing accuracyPremultiplier from configam59e^?m5Ye' ieq~™}3>};}z }AeEe];e\;e{5 u@DNOT Ignoring new targets: 64.80 m. jjjjihhhhqBffrfbfSH@]]3>]]3>]]?]]q@z޽ 隵E?I: ɚiIIiiUd))2D*DBD:D*F?2F:FBF4JFGsA GWill construct direction to contact in vehicle frame from tetrahedron phase data.GJrBOE>b4w,xF-A2Will construct direction to contact in vehicle frame from tetrahedron phase data.yB#III<٢%p< %M=9-Q ->)) 5G٣1y5 5> =Nusing accuracyPremultiplier from config9E59= \?E5Y= i=D~™IIMA9=I;=-;=W}5a e@aDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfoH@]]]] H?I: ɚ3E4iIIii`)) I*Fu?2Fq:FqBFuO0JFqHI I)$IIwBI =&I.I6IU<:IF FJJJJJL:JJJJ@ <JA <JJG*wxB%Will construct direction to contact in vehicle frame from tetrahedron phase data.!%4=Ou>zKOKu9KK(Krnic]YVOKHC?=;:9>FIIIMNF=50,&#"  u4w,p"GA2k!@Y2k0@2jܽ92g;>y2H`jֿk?`:?Tr??@z:?G?ɨ2k!@21;2%CyRBR#IeMb@Mb@Mb@aaa a)aYe#~j?/$?ʡE?ye=e,=aeA e@)aIe@aye@IuIub(٢&= D=9;Q > G٣yx > Nusing accuracyPremultiplier from config59`Y?5Y i~™>;3F@AKG;6;05 @%DNOT Ignoring new targets: 64.80 m. j!j!j!j)i)h)h)h)h5Bf1f9rf9bf=H@]]>]]>]]>]]3F@mjܽ imR8?Iu9 qɚu$4iqIqIyiyi} g)y)}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF P0JF  ImG eʿYyAGIxBO>*J C="J p=% Will construct direction to contact in vehicle frame from tetrahedron phase data.+4w,`A6!@Y6/@6B۽96R;>y6Hb ֿ@_?e? M@V?`h? &?I?ɨ6!@6d;6"CyBBB#IININ?1٢VG= VZ=9Vt:Q V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b W?f5Yb ib}™djF@jA`b:b:b̀5l n8@pDNOT Ignoring new targets: 64.80 m. j j j j i h hhhff!rf!bf%!I@]A]A]A]E F@UB۽ QU??IU: Yɚ]35iYIYIaiaie )a)i*Fu?2Fq:FqBFu_0JFqGM]vBaO>Will construct direction to contact in vehicle frame from tetrahedron phase data. IjH bH <H I  I T$II BI &I .I 6I C<:I 8 F4w,zAJa}!@YJa/@J]ڽ9J;>yJHU9׿ qa?`? ?@P?v>?l0?"I?ɨJa}!@J;HyV*BV#IijYY eG٣aym!" u> Nusing accuracyPremultiplier from config59RT?5Y i}™=Will construct direction to contact in vehicle frame from tetrahedron phase data.E@AEH = =5zK NK9KK(K"$ "-344. @=DNOT Ignoring new targets: 64.80 m. j9j9jAjAiAhAhAhAhIfIfQrfYbf]^I@]]]]kE@]ڽ 隽lD?I 9 ɚzE5iIIii))*F2F:FBFJFG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. I ]4w,Ay~7B~#IMb@Mb@Mb@ )Y+η?{Gzt+?yv=ף=~A )@I@yz@II?1٢w= C=9Q > G٣y > Nusing accuracyPremultiplier from config59Q?5Y i}™=;Y!@A:G;E;z5 @DNOT Ignoring new targets: 64.80 m. jjjjihh!hhBffrfbf I@J@AJJK KKK"KJJJJJ|:J:JJa @a @a @a @]=]=]W@]-Y!@) )-(?I-r9 QɚU;o5iQIQIYiaia)a)aEWill construct direction to contact in vehicle frame from tetrahedron phase data.D. :E*FM ?2FI :FI BFM P0JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu ]vB O >}4w,RFAB!@YB0/@B׽9B1;>yBH A׿@SZ?`u?q+`;?`P?1?"J?ɨB!@B;B$Cyb| G٣y~  > Nusing accuracyPremultiplier from config59bO?5Y i}}™ @A*:*:S5-BB -l@-EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf I@H I  I z$II BI &I .I 6I v<:I ] F]I]I]I]M @׽ 隥C+?IJ9 ɚ5iIIii))D*F-?2F1:F1BF50JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.zK 4MK 9K K (K *$"!! GU NBa O} >ӝ4w,rAN @YN.@NKս9N;>yNH`U/j׿R?`c?`/`-?@J?6? J?ɨN @N~;N"Cy^DB^#I)h hMb@Mb@Mb@ )Yv/?㥛 rh?yx=C=A j@)@I3@y@II۳٢= ?=97;Q > G٣y=g` => ENusing accuracyPremultiplier from configAM59EL?M5YE iE_}™M >M;M`@MAEEE;E;E@5uWill construct direction to contact in vehicle frame from tetrahedron phase data. @DNOT Ignoring new targets: 64.80 m. jjjjihhhh%Bffrfbf I@]e >]e >]eֶ@]e`@}Kս y}\?I}9 yɚ}5iyIIii)) J$?ID :*F2F:FBF0JF!JJJ2JJ :J:Jc3J- Will construct direction to contact in vehicle frame from tetrahedron phase data.GE ]vBQ Om >4w,AF @YF.@Fӽ9F;>yFH &(ؿHE??@'?Jo?5?K?ɨF @FS;F#CyRGBR#IIZIZT߳٢~j< ~V=9 ;Q > G٣ y   > Nusing accuracyPremultiplier from config59J?5Y iG}™!%6@%A;;؉5) -@)eDNOT Ignoring new targets: 64.80 m. jajajajaiihihihihifqfqrfqbfu*J@]]]]6@ӽ 隭?I9 ɚ}5iIIii))2DsA*DrAWill construct direction to contact in vehicle frame from tetrahedron phase data.D: I*F?2F:FBF"1JF"G ?G#?ZH?ARHHC>I I$IIͅBI&I.I6I=<:I4 FBIJIRIZI =bI =jIQ3G% NBY O >i*4w,ABWill construct direction to contact in vehicle frame from tetrahedron phase data.zKMLKM9KIKM(KM9RWOH?93,)%! ye;Be#IMb@Mb@Mb@ )YHzG?&1)\(?y= >нGa=A @)5@I`@yG@IId٢ A (=9Q > G٣y% %> -Nusing accuracyPremultiplier from config!-59%G?55Y% i%/}™5/6>5;5@5A%E%;%P ;%5A Mx@IDNOT Ignoring new targets: 64.80 m. jjjjihhhh6BffrfbfjJ@]e/6>]e/6>]e>[@]e@ 隝?I9 ɚ 5iIIii))%Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia Du =:*F ?2F :F BF o0JF Je AAJa Jm Jm Jm 0Ji Jm |:Jm q:Jm ـ3Ji G5]vB9O]?g5w,A67 @Y6V.@6m'ѽ96;>y6H$ nؿ@0??o`?L?5? L?ɨ67 @6b;>Will construct direction to contact in vehicle frame from tetrahedron phase data.6$CyF4BF#IiJ`` bG٣`yb+ f> jNusing accuracyPremultiplier from configdn59f0E?n5YfA if}™lnw@rAdfA;fs;fՍ5t v@tDNOT Ignoring new targets: 64.80 m. jjjjihhh!h!f)f)rf)bfJ@]]]]w@m'ѽ >I9 ɚ5iIIIiIiI)Q)QDu:*F?2F :F BF 0JF =Will construct direction to contact in vehicle frame from tetrahedron phase data. I II H I  I I I ! =&I .I 6I &<:I " FGU nBa O} >T 5w,9A6g" @Y6gA.@6-н96y;>y6H@:@ؿ@B%?'?@VE?C?.?M?ɨ6g" @6{;6%Cy>"B>#IIJIJn٢R RI=9VA:Q V>XX ZG٣XyZP ^> bNusing accuracyPremultiplier from config\b59^B?f5Y^ i^}™dfd@fA^E^e ;^ ;^5l n@l DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrf!bf%J@]A]A]A]E[d@U-н Y]>I]>9 aɚe(5iaIIii))BD>:Dp;mWill construct direction to contact in vehicle frame from tetrahedron phase data.zKBMK9KK(KD:*F}?2F:FBFP5JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data.G MlB O >  I 5w,SAR>@YR>.@RXν9R;>yRHa xؿ!?@ ??\M?ɨR>@R҇;R$Cy^Bb#IUMb@Mb@Mb@QQQ Q)QYUQ?1Zd/$?yU\>U"۽U,=UMA Q)Ux@IUv@QyU@ImIm٢} }?=9}:Q > G٣y > Nusing accuracyPremultiplier from config59??5Y̙ i|™}9>;@]AE<B<~5i m@qDNOT Ignoring new targets: 64.80 m. jjjjihhhh'Bffrf bf LK@]M}9>]M}9>]M-@]M$@eXν am>Im`9 ɚ25iIIii))JJJ1JJ̶:J:J3JD:*F?2F:FBF%P0JF!}Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ<Յ<G ]vB O >5w,߇mA6E@Y6E.@6ͽ96Z;>y6H@( !ؿ} ?X!?@???@7? eN?ɨ6E@6t;6"CyfBf#I)h hIrIr ٢z zS=9~;Q ~> G٣y w  > Nusing accuracyPremultiplier from config596=?5Y/ i|™%@%AB;t;-5) -@)]DNOT Ignoring new targets: 64.80 m. jYjYjajaiahahahihififirfibfu.IQ9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. ID5u:H9I9 I=t$II=BI9&I9.I96I=G<:I=; F*F?2F:FBFJFGB! Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= k3IK= 9K9 K= (K=  BKI :KI !5w,bA2[@Y2[-@2O˽92s;>y2H `ؿ?@?_`"?M_?9\=dA )@IQAyz@II(٢Kܽ ==9:Q > G٣y > Nusing accuracyPremultiplier from config599?5Y i|™.>;B@AEc;;5 @EDNOT Ignoring new targets: 64.80 m. jAjAjIjIiIhQhQhYh]BfYfarfabfe@sK@].>].>]N@]B@O˽ >Im9 ɚiII!i!i))))Q2DY*D]sAD5T:Will construct direction to contact in vehicle frame from tetrahedron phase data. Ih*F?)  Cmc~G YyA2F:FBFR0JF"G?G?G= nB O >E'5w,`?A"Will construct direction to contact in vehicle frame from tetrahedron phase data.6E@Y6E-@6IȽ96:<>y6HmٿX?@l?`,??H?FO?ɨ6E@6;6"CyRńBRO#IIZIZ&ѳ٢bS b]=9bfR;Q b>dd fG٣dyj3 j> nNusing accuracyPremultiplier from confighr59j;7?r5Yj. ij|™pv@vAhj;j;j5| ~@|-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h1h1h1h1f9f9rf9bfE ѢK@]]]]@IȽ >I9 ɚiIIii))D+:*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm]vBy IO>H) I)  I- 5$II- BI- =&I) .I) 6I- <:I- i F#.5w,nAJpJrJpJpJpJrU:JpJpJr;azJr;azJre;azJre;a~y=BE&#IiMqq uG٣qy} }> Nusing accuracyPremultiplier from config594?5Y i|™AE@::5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhQhQfYfarfabfeQK@]]]] >Iq9 ɚiIIii)!)!eWill construct direction to contact in vehicle frame from tetrahedron phase data.D5:zK=LK=89K9K=(K=RK} ?JK}>*F2F:FBF0JFG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. I 45w,A6bG@Y6bf-@6ý96$<>y6H `Wٿ,?`?U!3?,t?bG?@IQ?ɨ6bG@6F;6$Cy>{B>"I Mb@Mb@Mb@    ) Y K7A?/$y&1?y  > , `< zA @) I  y @I%I%n٢-R 5N=9;Q > G٣yO1 > Nusing accuracyPremultiplier from config590?5Y i|™ >;@A;;V5 y@B*** querying acoustic contact ***jj DNOT Ignoring new targets: 64.80 m. j j j j i hhhhBffrfbf% L@]E >]E >]Eq׾@]Er@]ý Y]>I]9 aɚaiaIaIiiiii)i)qBD}C=:D}=eWill construct direction to contact in vehicle frame from tetrahedron phase data. e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.Dc:*F2F:FBFl0JFG GG B O >;5w,6rA6+@Y6J-@696;>y6Htٿ ?n?Q 4?@&?@\A?`R?ɨ6+@6";6"Cy>XB>"IIFIF&ѳ٢NX+ NG=9R=;Q R>PT VG٣TyV V> ^Nusing accuracyPremultiplier from configX^59Z-?b5YZ iZ|™`bw@bAZEZ*:Z*:Z5zWill construct direction to contact in vehicle frame from tetrahedron phase data.~,DAT read: user:3649> ~BDAT read: Tx time:00:07:47.0072 $Ping request sent.Im9 qɚqiqIqIii))J=J=J9J9J=:J=S:J9J9J=i;J=j;J=;J=;Det9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:00:07:47.0064  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257019*F 2F :F BF `0JF zKU KU C9KQ KU (KU %!GB)OE>mC5w,aA>@Y>-@>ͽ9>k<>y>H @ٿx??abH??Q?%S?ɨ>@>;>$CyN1BN"I)P P=Mb@Mb@Mb@999 9)9Y=|?5^?S㥛?Mb?y===/<=== A =@)=@I99y=@IIM٢" !=93i;Q > G٣yh߻ > Nusing accuracyPremultiplier from config59{)?5YD i|™=;;:@AW;;F5 @ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502873 eI$?IaDNOT Ignoring new targets: 64.80 m. jjjjihhhhxBffrfbf`߂L@]=]=]B>]9;:@ͽ R>I(9 ɚiIIAiAiA)A)IJIJMBADE9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756008*F 2F :F BF _0JF GYBiO>}J5w,q,AN @YN)-@N9N$B>yNH@tٿ(~? ?@˷?'?"?`:L?ɨN @NF;N%CyZBZZ"IIbIbm?٢na r7=9rg;Q r>tt vG٣tyzS; z> Nusing accuracyPremultiplier from config|59~%?5Y~ i~w|™/:@A|~s<~<~:5 4@eDNOT Ignoring new targets: 64.80 m. jajajajiiihihihqhqfqfqrfqbf} IEA9 AɚAiAIAIIiIiI)I)Q2DY*DYHI Ig#IIڄBI! =&I.I6IE<:I; FBIJIRIZI! =bIjIĸ4J-J-J-0J)J-:J-h:J-ـ3J)J-;J-;J-Ni;J-Ni;D=9*F ?2F :F BF JF "G ?G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260324zK LK 9K K (K G B O%>R5w,JA> @Y>,-@>9>rx>>y>Hບٿ? ?`?T{??S?ɨ> @>I;>&CyJ׃BJ)"I%Mb@Mb@Mb@!!! !)!Y%㥛 ?EԸ?ˡE?y%=%=%'=%zA %@)%@I%@!y%p@IIK٢ l #=9;Q > G٣y9 %> -Nusing accuracyPremultiplier from config!559%!?55Y% i%V|™56>5;5n*5A%E%;%;%j5A E@AmDNOT Ignoring new targets: 64.80 m. jijijijiiqhqhqhqh}Bfyfyrfybf}L@]6>]6>]Cl?]&g@ 隽>I@9 ɚiIIii)) )I)5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512676D-9*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763027G nB O- >Y5w,+fA2@Y2,@292;^<>y2HٿY?`(1? :?`3q?`T?|Y?ɨ2@2_;2%Cy>B>!IiB=IB{>IJIJʳ٢R ? RT=9V,-TX ZG٣Xy^ fNusing accuracyPremultiplier from config`f59be?j5Yb- ib=|™hj*jA`b;b6;b5l r@p DNOT Ignoring new targets: 64.80 m. j j j jihhhhffrfbfq.M@]]]]Mg@e ae>Ie9 iɚiIIii)) AIAmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020086DM9jH1bH5p<H9I9 I="II=yBI= =&I9.I96I=<:I=g F*F?2F:FBF0JFJ J J 1J J \:J :J 3J J <J <J .Y;J /Y;Gi By O >`5w,עA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266915bS]@YbS|,@b9bCQ;>ybHF'Vڿ?E?`Q?kq?`5?@]?ɨbS]@b;b#CyB!II]I]%٢r ,=9 G٣y+B > Nusing accuracyPremultiplier from config59?5Yے i|™M+AE::Z5 @MDNOT Ignoring new targets: 64.80 m. jIjIjIjQiQhQhYhhffrfbf 2oM@zK>`JK89KK(K]]]]`f@ (>I9 ɚi!I!I!i)i)))))BD5<:D5p;D=9EA*F2F:FBF_5JFGrA G I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518848G ]vB O5 >f5w,^A6B@Y6B!,@6V96b:>y6H6ڿ`? ?À? ??6a?ɨ6B@6;6$CyB|BB!IEMb@Mb@Mb@AAA A)AYE{Gz?Q?&1?yE#=E(>EP=E A E@)E-@IEv@AyE@I]I]ỳ٢mk mN=9m{qq uG٣qyu]{ }> Nusing accuracyPremultiplier from config59*?5Y i{™5>;]Aw;;5 Z@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf`M@]5>]5>]r?]`@ V >I9 ɚiIIi!i!)!)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770839D=9*F?2F:FBFP5JF I E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA M BDAT read: Rx Time:00:07:49.5125 M TRx dataTimestamp_ set to:1736381270.812898U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024165G] nBa O >m5w,ؚAH<I< I>"II>#BI<&I<.I<6I>a<:I>R Fb@Yb+@bp͔9br9>ybH@hۿj???@h ?}?b ?@Cd?ɨb@b;b!CyhB!I)  I=I=㔳٢Uƽ UI=9U,YY ]G٣Yy] e> mNusing accuracyPremultiplier from configau59e?}5YeQ ie{™y}}AeEes:;e:;e5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@M@]]]]B@p͔ f>I9 ɚq3iI I ii))Dm9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275674*F12F9:F9BFE4JFAzK BoIK 9K K (K GI BY Ou >s5w,A24@Y2S+@2OÍ92Y9>y2H`ۿ]?`C?@Qz?ʴ??f?ɨ24@2=3;2"Cy>^B>!I 1I9eMb@Mb@Mb@aaa a)aYeMbp?A`"?L7A`?ye;eY>e+=e A e@)aIaaye\@II&ѳ٢CWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 75.8 m (Round-trip 101.1 ms) speed -0.1 m/s -X#Rx 1: Read range message, but no direction.رyصBر C=9  G٣!E~Gy5i M>UvAi {YvAyB eNusing accuracyPremultiplier from configye59}?m5Y}b i}{™mfc>mo;m?mAy} ;};}5y }A@y addTargetRange:: Added new target pos. range: 75.800003 m, deltaT: 60.028149 s, deltaX: 4.000000 m, approachRate: 0.066635 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 64.80 m. jjjjihhhhBff!rf%@3R@bf%?]efc>]efc>]e?]e>p@uOÍ quף>Iu9 ɚ4iIIii))*J"J4=JJJ0JJ|:J:Jـ3Ja@a@a@a@D9e Will construct direction to contact in vehicle frame from tetrahedron phase data.*F1 2F9 :F9 BF= $5JF9 GBO>]{5w,ɫA6@Y6*@6g[968>y6Htۿ@f?@?8 ?WȰ?`E?i?ɨ6@6[0;6$Cy>TB>!IIFIF ٢n  n2=9rpt vG٣tyv%m v> ~Nusing accuracyPremultiplier from config|59~n ?5Y~h i~~{™A~E~:~u:~5AB @$E=DNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhAhIhIfQfQrfQbfU@6?]q]q]q]u+@g[ 隍>I9 ɚk4iIIii)) IhMWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH@ARH?AHD>I I;"IIBI&I.I6I2<:I1 FD9*FE?2FA:FABFEp2JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]vB O >5w, A6f@Y6؅*@6}96U8>y6H ^Iܿ@s?>V? !?)??(l?ɨ6f@6;6#CyNYBR!IiVp=IVp<zKvBoHKv9KtKv(Kv =Mb@Mb@Mb@999 9)9Y=Mbv/?#~j?y==xi>===3 A =@)=C@I=@9y=@IUIU=س٢eU< e:=9m$iq uG٣qyud u> }Nusing accuracyPremultiplier from configy59} ?5Y} i}I{™Ox>Z;A}E};}u;}n5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhh΂Bffrfbf?]Ox>]Ox>]?]@} >>I9 ɚ&4iIIii )) I!D%9Will construct direction to contact in vehicle frame from tetrahedron phase data.iA*F?2F:FBFO0JFG B J J @AJ J J 1J J <:J h:J 3J O] >5w,Z$AWill construct direction to contact in vehicle frame from tetrahedron phase data.68@Y68*@62o96g8>y6H (Hܿ *?]?(?`?#? m?ɨ68@6D;6$Cy^ZB^!IIfIf{٢nF; nT=9rpp rG٣pyvZ v> zNusing accuracyPremultiplier from configx59z$?5Yz iz{™AxzI9 ɚ4iIIi)i))))1 H$?I!D>9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F) BF) JF) G5 sA G1 H E>I  I "II ǃBI ! =&I .I 6I <:I  FGm nBy O >L25w,@A6@Y6)@6`96?8>y6Hb2ݿ ??[??`?o?ɨ6@6;6%CyBeBB!IIjIjV٢rQ>= r7=9rXtt vG٣tyz_ z> ~Nusing accuracyPremultiplier from config|59~/?5Y~ i~z™ A~E~:~:~5 @mDNOT Ignoring new targets: 64.80 m. jqjqjqjqiqhqhqhyhyfyfyrfbfn?]]]]@` 隽?>I9 ɚ4iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9zK5NJLK59K1K5(K5/=A@<90,**($$!  *9?@=97*F?2F:FBFP0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]vB O >V5w,pZA61@Y6P)@68R968>y6H .sݿ@?k? ?'D??`p?ɨ61@6s;6$Cy>}BB!I)D D}Mb@Mb@Mb@yyy y)yY}QQ? ףp= ?y}u}(\>}Q=} A }5@)}p@I}v@yy}=@IId٢= ?=9 G٣yis > Nusing accuracyPremultiplier from config59?5Y iz™*o>c;AE;:5 >@DNOT Ignoring new targets: 64.80 m. jjj j i h h hhBffrfbf]X@]=*o>]=*o>]=K?]=n@M8R QUk>IU9 QɚUiQIYIYiYia)a)a*J"J%=JKw3 KS}.KK"KJJJJJJ:JJ*F2F:FBF1JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BAO]> I 25w,rtA24@Y24(@2jC92f8>y2H$ݿ@_Q?? u{??j??@q?ɨ24@2a;2#CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yFBF!IIZIZ٢j= jY=9jDll nG٣lyrE r> vNusing accuracyPremultiplier from configtz59v?~5Yvң iv{z™|Atv5L;vL;v5  K@ =DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfMS]@jHbH<HG>I I""IIуBI" =&I.I6I7<:I5 FBIJIRIZI =bI! =jIU5]1]1]1]5*@EjC IM>IM9 IɚMc3iIIIIyiyiy))*F)2F):F)BF-R5JF)5Will construct direction to contact in vehicle frame from tetrahedron phase data.GQBYOu>?h5w,wJAzK"MK"9K K"(K"510.+'  6Pk~ YIaWill construct direction to contact in vehicle frame from tetrahedron phase data.}@Y}>(@}O'9}a9>y}H`y޿?&_?C`?ޤ??ls?ɨ}@}Ï;yyޝBޝ!Ii=I<=Mb@Mb@Mb@999 9)9Y=y&1|?sh|??+η?y=`;=)>=v== A 9)=@I=`@9y=@IUIU٢eQ= e =9mAqq }G٣y > Nusing accuracyPremultiplier from config59g?5Yѥ i1z™B>;=AEc;};/5 @%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h)h)h-,Bf)f1rf1bf5$ @]UB>]UB>]U?]U@eO' imu>Ime9 iɚm" 4iqIqIyii))JJJ0JJ̶:J :Jـ3J*F?2F:FBF~0JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.E 4=A G B) OM > 5w,+Ay5уB5""IIUIU%٢> =9Q !? G٣y (? Nusing accuracyPremultiplier from config59?5Y iz™A:i:X5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf (E @]!]!]!]!1 9=>I=9 AɚEiAIAIIiQiQ)Q)Y*F2F:FBF0JF YIaWill construct direction to contact in vehicle frame from tetrahedron phase data.HH>IC IN"IIBI! =&I.I6IF<:IA FGnBO>5w,lA: @Y: '@:9::>y:H{߿@־?`?a@? G?N.?Xs?ɨ: @:;:&CyFBF5"IININn٢VΧ= V\=9VMpXX ZG٣Xy^˼ ^> jNusing accuracyPremultiplier from configdj59fb?n5Yf ify™lrrAfEfH!;f'!;f5t v@tDNOT Ignoring new targets: 64.80 m. jjjji%Will construct direction to contact in vehicle frame from tetrahedron phase data.h!h!h)h)f)f)rf1bf5 }A@]a]a]a]e4@u qu>Iu9 qɚ}13iyIyIii))2D*DBD:DEEsA*F2F:FBFO0JFzK#NKKK(Kwri_UJ@93.$       RK ?JK> yIyG]vBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,ŮA6Q@Y6p'@6096:>y6H@D;߿ ?`W ?R@/?Q?`1?s?ɨ6Q@6;6$CyNBRW"I)T T5Mb@Mb@Mb@111 1)1Y5A`"?EԸ? ףp= ?y5Y=5=5Q=53 A 5x@)5@I5@1y5@IMIM٢]> ]?=9e;Q e>ii mG٣qy} }> 5Nusing accuracyPremultiplier from configE59g?E5Yn iy™U>U;U)UAB<;ٽ5i mK@JuJuJqJqJu :Ju&:JqJqiDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfI@]>]>] ?]4h@50 9=\>I=9 9ɚ=i9I9IAiAiI)I)-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F!:F!BF!JF!Ge MlBq O > i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.>5w,A2r @Y2r('@2+ 92=;>y2H``}߿B?)?`>@??`C?s?ɨ2r @2z;2!Cy>B>~"IZHLRHN@AHRJ>IP IR"IIR7BIP&IP.IP6IR<:IRs FIJIJ ٢ G>  O=9;Q >99 =G٣9y=4 E> MNusing accuracyPremultiplier from configAM59E?U5YE iEy™Qu[*uAAE;EF;E5 X@DNOT Ignoring new targets: 64.80 m. jjjjihhhhf f rf bf5`=~@]i]i]i]mg@+ 隍M>I9 ɚiIIii))*Fe?2Fa:FaBFeV0JFa5Will construct direction to contact in vehicle frame from tetrahedron phase data.5%=5%=GM]vBYO}>zK I NK ȱ9K K (K  U$5w,[_A2@Y2&@292;>y2H`c ߿)???@0 f.?̟?>? Lt?ɨ2@2_ĉ;2"CyN;BR"I I5Mb@Mb@Mb@111 1)1Y5~jt?I +?+?y5=59<5=5 A 5@)1I5QA1y5f@IMIM ) C)E`wA٢M > M8=Q hY`wAyqAWill construct direction to contact in vehicle frame from tetrahedron phase data.9~;Q > G٣yݻ > Nusing accuracyPremultiplier from config59h?5Yb i_y™>; ,@AEQU;l;5 \@'EDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfL@]>]>]f>] ,@5 15=I59 9ɚ9i9I9IAiAiA)A)iEqEu>*F?2F:FBF[0JFG) M Will construct direction to contact in vehicle frame from tetrahedron phase data.BQ Om >O5w,?+A>F@Y>E&@>ݼ9>-;>y>H~`#߿? SZ?vM??`O?s?ɨ>F@>-;>%CyJQBJ"IIRIR٢Z= Zg=9Z;Q ?   G٣ y L2  ? Nusing accuracyPremultiplier from config59순?%5Y iBy™!%+@%AC ;2 ;5) -@1eDNOT Ignoring new targets: 64.80 m. jajajajaiihihihihifqfqrfqbf}@]]]])+@ݼ 隭>I9 ɚiIIii))*FQ2FQ:FQBFU1JFQ IWill construct direction to contact in vehicle frame from tetrahedron phase data.HL>I I"IIyBI =&I.I9D6I<:I FGMlBO>J J J J J :J :J J J 'y6Hqu@.i?`ti?@Z??J?@t?ɨ6pv@6M;4yBeBB"IIJIJԳ٢f= fI=9j~;Q j>hh nG٣lyr r> vNusing accuracyPremultiplier from configtz59vꈜ?z5Yv iv y™xz+@zAtv:v:Will construct direction to contact in vehicle frame from tetrahedron phase data.v5  @ DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrf bf |Q@]!]!]!]%ȣ+@Eм AEl:>IE9 AɚE@3iAIIIIiIiQ)Q)Y*F?2F:FBF_5JFzK]LKC9KK(K$+(("     RK  ?JK ? IGB)OE>Will construct direction to contact in vehicle frame from tetrahedron phase data.d5w,_A2:J@Y29i&@2ü92;>y2HZjc6?`|? t?y?U?@Vt?ɨ2:J@2;2$CyBzBB"IMb@Mb@Mb@ )Y7A`?&1)\(?y>PGa=vA @)v@IhAyAI-I-٢=t= =C=9=,v;Q =>AA EG٣AyMNӻ M> UNusing accuracyPremultiplier from configQ]59U戜?]5YU+ iU y™](>];e_ @eAUEU;U;U5i mh@i=DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9h9hAhAhEzBfAfIrfibfmZ@](>](>]-`@]_ @ü I ɚi I Iii)) Will construct direction to contact in vehicle frame from tetrahedron phase data.D9E*FI 2FQ :FQ BF] k0JFa Gy  G} rA I  Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH 4<H N>I C I ;#II BI  =&I .I 6I <:I FG ]vB O >i;5w,{A6z<@Y6y[&@6^96͋;>y6Hfx?? z? Ev?iN?`t?ɨ6z<@6)@;4y>BB"I)D FA J=JR=ININͳ٢V:= V>=9V;Q Z>xx ~G٣|y~ ~> Nusing accuracyPremultiplier from config559U㈜?E5Y ix™IMT @MA<?$<5Y ]@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf8@]]]]T @^ 25w,l͕A~Will construct direction to contact in vehicle frame from tetrahedron phase data.y=B="IMb@Mb@Mb@ )YZd;O?A`"X9v?yj<>ٽ<A @)QAI~AyAII٢~ǻ 6=9Q > G٣y > %Nusing accuracyPremultiplier from config!-59%߈?55Y%~ i%x™5[>5w;5@5A%E%;% ;%59 =@AmDNOT Ignoring new targets: 64.80 m. jijijijiiihqhqhqhuBfyfyrfybf}*l@][>][>]LV@]@9 9=\IE9 aɚe3iaIaIiiiii)q)qD9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF G NB O >A,5w,A Iy  I%I%٢5c0; 5<=91Q 5>99 =G٣9yA E> MNusing accuracyPremultiplier from configIU59Mۈ?U5YM[ iMx™QQ]AMEMC:M:M`5a e@a-DNOT Ignoring new targets: 64.80 m. j)j1j1j1i1h1h1h9h9f9f9rfAbfE8@eWill construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]Yy y隅I9 ɚz2iIIii))BD=:D>H=P>I=C I=g#II=ڄBI= =&I9.I=:D6I=<:I= FBI¡CJI¢CRI”CZI =bI =jI^6D)9EErA*FY2FY:FaBFe4JFi"G}?G}?JJJJJ<:J :JJJ6;J8;JU;JU;G ]vB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,QAjX@YjW5&@jn9j;>yjHY]`}1ʼ?? @? n?;U?@t?ɨjX@j;j%Cy}B%"IiE G٣yA > Nusing accuracyPremultiplier from config59؈?5Y ix™@ AE<t<Y5 8@ )I)zKeKKe9KaKe(Ke  DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf` @]]]]y@En AEĥIM9 IɚMֱiIIIIQiQiQ)Q)YDE 9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFW4JFG NB *J "J <O >R55w,QA2k@Y2j&@2g92D<>y2HU=Ѽ?k?c? l?`_e?+t?ɨ2k@2;2"Cy>iBB"IrWill construct direction to contact in vehicle frame from tetrahedron phase data.MMb@Mb@Mb@III I)IYM(\?~jtx?yMG>MM;MA M@)MhAIM AIyMfAImIm?٢ڽ ]=9:Q > G٣y% %> 5Nusing accuracyPremultiplier from config)59-Ԉ?5Y- i-x™Cm>e;@A)-|<-9<-5 |@MDNOT Ignoring new targets: 64.80 m. jQjQjQjQiQhQhQhYh]BfYfYrfabfe @]Cm>]Cm>]Ҷ@]@g 隵̽IF9 ɚiIIii))DE9 )I)*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH) RH- AAH5 Q>I1  I5 m#II5 ߄BI5  =&I1 .I1 6I5 O<:I5 R FG DB O- >6w,_yA6@Y6#&@696;>y6H X29`Ӽ? Ԛ?1?Е?Y? t?ɨ6@6 ;6$CyRUBR"IIfIf٢vԽ vU=9zQ z>xy }G٣yy}: > Nusing accuracyPremultiplier from config59}ш?5Y ix™@AE;;5JJJ0JJ\:J :Jـ3JJ<J<J:P;J:P; @%DNOT Ignoring new targets: 64.80 m. j!j!j)j)i)h)h)h1h1fQfYrfYbf]M!@]]]]v@ 隭2I9 ɚiIIii))2D5sA*D5sAWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F?2F:FBFJFG GsA  I zK LK ȱ9K K )K  G ~B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Y6w,{A2@Y2 &@292[<>y2H R@-Bp?@J? ? ?h?s?ɨ2@2 ;0y:;B>"I)@ BA%Mb@Mb@Mb@!!! !)!Y%x&1?zGế~jty%A>% ׽%D%/A %@)%AI!!y%3AI=I=ͳ٢E EB=9MK9Q M>IQ UG٣QyeZ e> Nusing accuracyPremultiplier from config 59 ͈?5Y ؗ i x™]>u;@A E Q; ; 5-@B -M@-*EDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf`"@]]>]]>]ո@]۷@ I%9 !ɚ!i!I!IIiIiI)I)QD-F9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=<G ~B O% > I r 6w,34A6@Y6&@696 <>y6H@Se@@~????^?`ct?ɨ6@6*;6"CyBBB~"IININ٢n$ nT=9nqQ r>pp rG٣pyvL: v> zNusing accuracyPremultiplier from configx~59z7ʈ?~5Yz izy™|@Axzq ;z ;z$5  F@ EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhIhIhIfIfQrfQbfU #@]q]q]q]u\@ 隅XIi9 ɚiIIii))]Will construct direction to contact in vehicle frame from tetrahedron phase data.D9HR>I IA#IIBI =&I.I6I7<:IC F*F-?2F):F)BF-0JF)GmByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.eY6w,, NAB@YB%@Bt9Bi<>yBHNZHR??`-@?.?`i?s?ɨB@B;B%CyNBNT"IIVIVm٢vS' zI=9mQ m> G٣y: > 5Nusing accuracyPremultiplier from config M59 *ƈ?U5Y  }tIi  y™@A E Ih < < 5 f@EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhIhIhhNGzKALKu9KK)K ! UiYQyU6AfAfQrfYbf]@^$@]y]y]y]}R@t hIC9 ɚiIIii))ABDM=:DM;mWill construct direction to contact in vehicle frame from tetrahedron phase data.qiqD%9*F2F:FBFo0JF"G?G!?J J J J J ̶:J :J J a @a @a @a @G |~B O% >6w,gA6@Y6%@696ێ<>y6HHQR)??`@Z?4?rn?s?ɨ6@6|;6!Cy>σB>"IiB`ej\A @)~AIyAIId٢-}@ -8=9-F5:Q ->11 5G٣1y=]Y => ENusing accuracyPremultiplier from configAM59E|ˆ?M5YE iEy™Me*>U;U@UAEEE.;E?;E5a e@aDNOT Ignoring new targets: 64.80 m. jjjjihhhh&Bffrfbf$@]e*>]e*>]@]@U QU.IU<9 YɚYiaIaIii)) ID-g9uWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbHHS>IC I"IItBI&I.I6I<:I| F*F ?2F :F BF JF G  DBO]>p!6w,( A6ſ@Y6%@6$௼96P<>y6HFYU ??v{??f?t?ɨ6ſ@6W;6#Cy>B>!IIJIJ٢R- RB=9VQ V>TX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b?f5Yb2 ib&y™hj@jA`b;b;b5l nZ@lDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`%@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]@$௼ vI9 ɚiIIi!i!)!)!D#9*Fu?2Fq:FqBFu@5JFq F$?IzK vKK -9K K )K G9BO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.'6w,A>@Y>%@>O9><>y>H :qi??Pe?DW?Sw?@Ys?ɨ>@>Q; G٣y(ػ > Nusing accuracyPremultiplier from config559;?=5Y i/y™===;=-@=AE<<5I M@IJJJJJ\:J :JJDNOT Ignoring new targets: 64.80 m. jjjjihhhhɃBffrfbf J&@]=]=]t=]-@5O 9=\I=]9 9ɚ9i9I9IAiAiA)I)Q2DY*DYWill construct direction to contact in vehicle frame from tetrahedron phase data.Du9EyEy*F ?2F :F BF 21JF G  G I u Will construct direction to contact in vehicle frame from tetrahedron phase data.y i} AH T>I  I y"II BI  =&I .I 6I z<:I v FGm By O >dj.6w,vA:A@Y:`%@:&9:<>y:H%`l?`?@?`?@w?s?ɨ:A@:A;8yBQBB!I)D DILIL٢Vi VE=9ZK;Q ^>\\ ^G٣\yb? b> fNusing accuracyPremultiplier from configdj59f귈?j5Yf9 if7y™hnk-@nAdf ;f ;fk5p r@p DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf \'@]]]]k-@& ,pI9 ɚiIIi!i!)!)!*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GE]vBYOu> Y Ia eM56w,S=A28@Y273%@2.떼92{c<>y2H >Ѽ?@?̴@]?ݒ?xi?ct?ɨ28@2Cڈ;2$Cy>.B>Y!IzK~/KK~9K|K~)K~RK ?JK >MMb@Mb@Mb@III I)IYM)\(?RQ?I +yMGa=M=M94MA I)M~AIIIyMAIeIeW٢u`# u?=Will construct direction to contact in vehicle frame from tetrahedron phase data.9$;Q >!) -G٣)y-yǻ -> eNusing accuracyPremultiplier from configYm59]1?u5Y]א i]3y™=;)AY]<]<]g5 A}DNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhyhhhfBffrfbf`M(@]=]=]Y?]0Th@.떼 HIM9 ɚiII)i)i))))1*F2F:FBFO0JFJ}J}JyJyJ}:J}/:JyJy Will construct direction to contact in vehicle frame from tetrahedron phase data.G! B9 OU >nw;6w,A2=@Y2<$@2.92h<>y2Hp?4"?ਫ਼ ?E?@^x?s?ɨ2=@2V;2"Cy> BR-!IIZIZ&ѳ٢b< bV=9b;Q f>dd fG٣dyjX j> nNusing accuracyPremultiplier from configlr59nI?r5YnR in0y™pv*vAnEn ;n\:n5x zAx5DNOT Ignoring new targets: 64.80 m. j1j9j9j9i9h9hAhAhAfAfIrfIbfMc(@]i]i]i]mh@. 隅8I 9 ɚiIIii))ER>E> I*F5?2F1:F1BF5_0JF1"G=?G=?Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH!RH%?AH-U>I) I-"II-BI- =&I).I)6I-v<:I)BIĤCJIĤCRIēCZI =bI =jIƘ5GB)OEs>_B6w,N A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:$@:0x9:<>y:H <+a? 8? $A?W?z_? Ou?ɨ:@:j;: CyRBR!IiV=IV=IZIZ³٢b| bJ=9f;Q f>dd jG٣hyj j> UNusing accuracyPremultiplier from configQe59Uխ?e5YU iU-y™amR*mAQU B;UaB;U5q upAu-EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf` )@]]]]g@0x iI9 ɚiIIii))*F2F:FBF`0JF IzK=k3IK=9K9K=)K=Will construct direction to contact in vehicle frame from tetrahedron phase data.iAGMlB)OE>EH6w,#AJ=@AJ=?AJـ3K3 K.KK"KJMJMJM1JIJMܫ:JM:JM3JIyޕ؂Bޝ I-Mb@Mb@Mb@))) )))Y-{Gzoʡ?:v?y-#-->-T<) -@)-hAI-@)y-AIEIE=س٢U ]3=9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configiu59m媈?}5Ym imy™}->};}}AmEm9;m;m5 =ADNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf$*@uWill construct direction to contact in vehicle frame from tetrahedron phase data.]->]->]?]?@  LI 9 ɚ i I Iii))2D%*D%BD%:D%*F2F:FBF_0JF IG ]vB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.H- V>I)  I- !II- \BI) &I) .I) 6I- <:I- FRN6w,=AZN@YZM $@Za)"9Z:>yZH (fq?@>~?@aҼ?`E?0?x?ɨZN@Zv;Z%CyfBf IInIn٢v ve=9vqxx zG٣xy~ ~> Nusing accuracyPremultiplier from config 59u? 5Y i y™{A*::E5 % A!MDNOT Ignoring new targets: 64.80 m. jIjQjQjQiQhQhQhahafafarfabfmb+@]]]]XR@a)" 隝dνI9 ɚiIIii))E9*F2F:FBFo2JFG G}Will construct direction to contact in vehicle frame from tetrahedron phase data.} I U6w,WAB@YB#@B?=9B/:>yBH@wR??F`X? |? %?x?ɨB@B;B$CyJBN I)P P]Mb@Mb@Mb@YYY Y)YY]A`")\(?Mb?y]Y]Ga>]=]A ]@)]AI]QAYy]AzKuBHKu9KqKu)KuII٢ @=9E;Q > G٣y[ > Nusing accuracyPremultiplier from config59䥈?5Y3 ix™j>h;AE;;!5 =AWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihhhhׂBff rf bf  <,@]-j>]-j>]-ZR?]-@=?= 9=uIE9 AɚEViAIAIIiIiI)I)Q*F?2F:FBFP5JFG-MlB1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data.[6w,_qA67@Y6V#@696 9>y6H`z??-B?_q??y?ɨ67@6׉;4yNBR IIZIZ%٢b(; bY=9b;Q b>dd fG٣dyj`f j> nNusing accuracyPremultiplier from configlv59n?v5Yn: inx™tvvAnEn=;n#=;n5x ~A|%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i)h)h)h)h)f1f1rf1bf5?,@]Q]Q]Q]U݋@ Ih I9 ɚ i I Iii1)1)9*F?2F:FBF3JFjH<bHp<HW>I IA!IIBI =&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.G]vBO>Jm Jm Ji Ji Jm :Jm :Ji Ji Jm ;au Jm ;au Jm A;a} Jm A;a} b6w,=A"Will construct direction to contact in vehicle frame from tetrahedron phase data.R@YR"@R/S9R9>yRH ˢf,???`eW?`?@y?ɨR@R%;R#CyZBZ IIfIf@٢n  rH=9r;Q r>tt vG٣tyv` z> ~Nusing accuracyPremultiplier from configx59z ?5Yzl izx™AxzG ;z ;z5  A=DNOT Ignoring new targets: 64.80 m. j9j9jAjAiAhIhIhIhIfQfQrfQbfU?-@]q]q]q]u@/S 隍HI9 ɚ`iIIii))EEsA*F2F:FBFP0JF"G?G? I) CGvA EWYEvAyMAGBO%n>zKRIKu9KK)KWill construct direction to contact in vehicle frame from tetrahedron phase data.h6w,A2ʂ@Y2ɡ"@2u~:92|9>y2Hf`??` $?͏Z'?y?ɨ2ʂ@2Yω;0yzBz Ii~=I~ u@u u@u }@}  }@} I}I}d٢p= @=9;Q > G٣y?Q > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59R?5Y ix‘+:<;oAEY<;Y>5 ,ADNOT Ignoring new targets: 64.80 m. jjjjihhhhff rf bf X.@u~: 0dIG9 ɚ:iII!i!MWill construct direction to contact in vehicle frame from tetrahedron phase data.U=QiQ)Q)Y*F=?2FA:FABFAJFA IG -XB O >H Y>I C I "!II BI &I FD.I ;D6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.$o6w,Ay~ςB~ III٢5= =P=9=Q =>AA EG٣AyE E> UbBottom track data is 0.8 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configIe59Mԛ?e5YMҟ iMvx‘e :ae;amAMEM-e;MR?M25q uAqDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@r/@ pI9 ɚi%IIii))-PExceeded connect timeout, disconnecting.*F?2F:FBFY0JFJ5J1J1J1J5ܫ:J1J1J1J5;J5;J1J1]Will construct direction to contact in vehicle frame from tetrahedron phase data.G]vBO> D$?I u6w,+A^F@Y^E!@^;9^w9>y^H@g7U?` Y?X@p?~R?y?ɨ^F@^";^$CyjBj I m m mm mm  m m zKuBHKu89KqKu)KuRK}?JK}?mMb@Mb@Mb@iii i)iYmS㥫!rh?X9v?ym/]mlg>m}=mA i)iIm@iymAIIƳ٢= C=98fWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣y0Ƽ > Nusing accuracyPremultiplier from configm59?u5Y iJx‘uT:uCv>u\;uuA&<<5y ADNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf@{+0@]=Cv>]=Cv>]=H?]=)@u; y}LI9 ɚZiżIIii))E i>E *F2F:FBF_0JFe Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >|6w, A2{@Y2z!@2'<92%9>y2H!`6#?w?@?:@?Zy?ɨ2{@2";0yNBR!I)T TIZIZʳ٢r= rX=9r;Q v>tt vG٣tyzF z> !I! Nusing accuracyPremultiplier from config|59~?5Y~ i~#x™YA~E~G:~:~5 =ADNOT Ignoring new targets: 64.80 m. jjjj!i!h!h!h!h)f)f)rf)bf-0@]]]]t@'< 隥?I9 ɚiyIIii))ZHqRHuAAH}Z>Iy I}.!II} BIy&Iy.Iy6I}w<:I}| F*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GMlBO> - nManaging dock network, ignoring radio surface power offJM JM JI JI JM L:JM :JI JI JM Q;JM S;JM C;JM C;h6w,' AWill construct direction to contact in vehicle frame from tetrahedron phase data.<>B@Y>a!@>R<9>:>y>H X8??b?v(?3Z`!? kx?ɨ>B@>At; ^M=9b;Q b>`d fG٣dyfD f> jNusing accuracyPremultiplier from confighn59j铈?r5Yj7 ijw™prrAjEj ;j ;jk5t vAxDNOT Ignoring new targets: 64.80 m. jjjjih!h!h!h!f)f)rf1bf50@]Q]Q]Q]UȊ@eR< aeq=Ie9 iɚiim@[IiIqiqiq)q)*Fm?2Fi:FiBFm_5JFq IGnBWill construct direction to contact in vehicle frame from tetrahedron phase data.zKK9KK)KBK:KOE>%6w,)^&A:@Y:1!@:t<9: :>y:H nv?@? `?9?Gx?ɨ:@:;8yF8BFf!I]Mb@Mb@Mb@YYY Y)YY]I ++?Dl?y]94]v>>]O=]A ]@)] AIYYy]=AII٢?> ==9ۙ;Q > G٣y߻ > Nusing accuracyPremultiplier from config59?5Yݧ iw™uK>;A`;h;Q5 8ADNOT Ignoring new targets: 64.80 m. jjjjihhhhgBffrfbf`1@5Will construct direction to contact in vehicle frame from tetrahedron phase data.]UuK>]UuK>]U~?]U0@et< amPImx9 ɚi闻IIii))E*Fa2Fa:FaBFe4JFa IG >bB O >Hm [>Ii  Im m!IIm >BIm  =&Ii .Ii 6Im t<:Im z FBI-ʥCJI-ʥCRI)ZI- =bI- =jI-ʄ5 Will construct direction to contact in vehicle frame from tetrahedron phase data. i A 6w,P9@A6F@Y6E @6M<96V:>y6HǷ?4?@n 3 ?zI C5?w?ɨ6F@6 ;6 CyB[BB!IiDIF=DDIJIJͳ٢V8> V[=9V;Q V>XX ZG٣XyZ[" ^> bNusing accuracyPremultiplier from config`f59b?f5YbD ibw™df& jAbEb :b:b5n?B B@%0EDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@1@]Y]Y]Y]]t|@M< 隕I59 ɚilS;IIii))JJJJJ,:J:JJJ;J;JI;JI;*FI2FI:FIBFM4JFIEWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm]vByO> I hd:6w,\ZAz!@Yz @zJ"<9z1;>yzH@@Ӛ?`?`-?䒿C? !v?ɨz!@z;z$Cy yB !IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y+??Zd;?y=>y=A -@) AIQAyAII٢m> 6=9d;Q  >    G٣y > Nusing accuracyPremultiplier from config%59?%5Y iw™%>-;- #-AD;zK-k3IK--9K)K- )K-RK= ?JK=?o;5A M\@IuDNOT Ignoring new targets: 64.80 m. jqjqjqjqiqhyhyhyh}Bffrfbf@,2@]>]>]Y?]o@J"< 隽DI9 ɚi"QE Will construct direction to contact in vehicle frame from tetrahedron phase data. c6w,MsA @I@y~B~!II I ỳ٢b> Z=9%Q %>!) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E59=ц?E5Y= i=`w™IIMA=E=.:=:=5Q U@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfD2@]Q]Q]Q]Qa ae޼Im9 iɚiimٲU Will construct direction to contact in vehicle frame from tetrahedron phase data.P6w,ANq{@YNp @NҮ<9N<>yNHI? ?O]?}<`?t?ɨNq{@N;N"CyZ˃BZ"I)\ \IbIb?٢jE> nN=9n֒;Q n>lp rG٣pyr r> zNusing accuracyPremultiplier from configtz59v?~5Yvg iv>w™|~S#~AtvL:vL:vD5 B@=DNOT Ignoring new targets: 64.80 m. j9j9j9jAiAhAhAhAhIfQfQrfQbfU2@]q]q]q]uen@Ү< 隕XJ=I9 ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.թiթzKBoHKKK )K   v6w, ABk@YB @B.<9B<>yBH??YJl?`o?s?ɨBk@B;B$CyNBN;"IJnAAJlJvJvJtJtJv:Jv:JtJta~@a~@a~@a~@%Mb@Mb@Mb@!!! !)!Y%+η?Mb?Zd;O?y%v=%@=%j<=%A %C@)%AI%A!y%AI=I=T߳٢M= M5=9C":Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i&w™F=;8@A;;D5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.UDNOT Ignoring new targets: 64.80 m. jQjQjQjQiQhQhYhYh]]8@.< .I9 ɚiII i i ) ) YIa*F)2F):F)BF-P0JF)H I  I ;"II BI  =&I .I 6I m<:I u F Will construct direction to contact in vehicle frame from tetrahedron phase data.G) BI Om >Vh6w,A6\@Y6{ @6<96=>y6H= ? 6?@(E0v? ?@s?ɨ6\@6;6#Cy>BBb"IIJIJ㔳٢Rz4> Rh=9RUQ V>TT VG٣TyZ5 Z? bNusing accuracyPremultiplier from config`f59b|?f5Ybު ibw™dj8@jAbEbl;bG:b5l n@l DNOT Ignoring new targets: 64.80 m. j j j j i h h hhffrfbf 3@]9]9]9]=s8@< ܽIU9 ɚiII9i9iA)A)I*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G5MlBAOu> 9 IA  5 EY1 y5 AԈ6w,ZhA-p@Y- @-=<9-R<>y-H`cڲ`?`?vLe^?@i'`np?s?ɨ-p@-ɑ;-$CyMBM}"IiU4=IU<uWill construct direction to contact in vehicle frame from tetrahedron phase data.=Mb@Mb@Mb@999 9)9Y=l?=t=<=A =-@)=7AI99y=AIUIU٢eǿ= e2=9eQ e>iq uG٣qyu1; }> Nusing accuracyPremultiplier from configy59}x?5Y} zK0LK89KK )K  i} w™->;T@Ay};}&;}5 B@DNOT Ignoring new targets: 64.80 m. jjjjihhhhwBffrfbf 54@]->],>]f0@]]T@=< R8I9 ɚ%Bi!I!I)i)i)))))*F2F:FBF 1JFJJJJJ:J9JJG]vBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data. = C$?I9 6w,6A6^^@Y6]} @6/<961=>y6H `C`k?i?FTd? ݓ@? s?ɨ6^^@6;6#Cyb2Bb"IInIn٢v> vf=9vJOQ v>xx zG٣xyzCM ~> Nusing accuracyPremultiplier from config 59u? 5Y iw™  A@ AE::T5! %@!MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhQhQhQhQfYfYrfYbfe@X4@]y]y]y]}A@/< 隕 I9 ɚiIIii))*F?2F:FBF5JFZHRHHI I"II7BI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.G1BAO]w>= Will construct direction to contact in vehicle frame from tetrahedron phase data.46w,kA6Yz@Y6X @60<96y=>y6H@@?C?UP`I?ek}?s?ɨ6Yz@6;6$CyBABB"IIJIJ٢R= RO=9VmQ V>TT ZG٣XyZ; Z> ^Nusing accuracyPremultiplier from config\b59^r?b5Y^ i^w™df]@fA\^: ;^:^ 5h j@hDNOT Ignoring new targets: 64.80 m. j j j j i h h hhffrfbfp4@]]->]]]@ 0< ׽I<9 ɚ=ݲi9I9IAiAiA)A)I Ih*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKKKu9KK )KGQ Ba O} >6w,(AFWx@YFV @F7<9F=>yFH _Fy?-? PB??r?ɨFWx@Fǁ;F"CJfJfJf2JdJf|:Jf:Jfc3JdyrLBr"I)x x ~=~=%Mb@Mb@Mb@!!! !)!Y%x?QMb`y%K7>%u%! %C@)%MAI%A!y%zAI=I=(٢UG?= U2=9]22Q ]>aa eG٣aymf m> uNusing accuracyPremultiplier from configq}59um?}5Yu iu w™}TA>};}P @Au Eu;uM;u5 #@3EDNOT Ignoring new targets: 64.80 m. jjjjihhhh„Bffrfbf_j5@Will construct direction to contact in vehicle frame from tetrahedron phase data.]TA>]TA>]Z@]P @m7< imkIm9 qɚuoiqIqIyiyiy)y)*F2F:FBFP0JF IGMlBO >H Y>I  I "II tBI  =&I GD.I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,BAyWB"II5I5@ ٢Ea= E^=9EQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]Zj?e5Y]/ i]w™aimAY]P:]:] 5q u|@qDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`X5@]y]y]y]y 隍VI49 ɚiIIii))BD=:D=Will construct direction to contact in vehicle frame from tetrahedron phase data.Do9EE I*F) 2F) :F) BF- @5JF) G BI O >z6w,`_A Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai>/@Y>. @>[<9>=>y>H@S,?e?@Z` ?@a?r?ɨ>/@>ʉ;`EA )IyII٢j< 0=9yQ > G٣yfV; > Nusing accuracyPremultiplier from config59e?5Y i%w™]>u; @A E;; 5 F@MDNOT Ignoring new targets: 64.80 m. jQjQjQjQiQhYhYhaheЄBfifirfqbfu@6@]%]>]%]>]%\@]% @][< Y]kI]:9 Yɚ]OiaIaIqii))*F?2F:FBFP0JFJJJJJl:J9JJWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O > Q IQ 6w,+yA @6$@Y6# @65<96=>y6H ow? ?d-?򺆿N?s?ɨ6$@6[;4yBIBB"IDFAIJIJ٢Ro R`=9V̻Q V>TX ZG٣XyZO; Z> bNusing accuracyPremultiplier from config\f59^\b?f5Y^L i^6w™hj( @jA^ E^-;^-;^J 5l nV@p DNOT Ignoring new targets: 64.80 m. j j j j i h hhhffrfbf6@]9]9]9]=( @U5< Q]ÆI]9 Yɚ]iYIYIaiaia)a)iH%V>I%C I%#II%BI% =&I!.I%:D6I%V<:I%] FBIJIRIZI =bI =jIy6*F2F:FBF_0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.G]vB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data.6w,KA6 @Y6 @6<96=>y6Hm? (?f ?? Zs?ɨ6 @6z;4ybCBb"IIjIj³٢r rF=9v͚Q v>tx zG٣xyz>: z> I  Nusing accuracyPremultiplier from config 59 [^?5Y [ i Iw™1 @A  X; ; 5! %@)]DNOT Ignoring new targets: 64.80 m. jYjYjYjaiahahahahififirfibfm7@]]]]1 @< 隥I9 ɚΪiIIii))E]>E!>*F=?2F9:F9BF=0JF9GA GEsAEWill construct direction to contact in vehicle frame from tetrahedron phase data.GU DBaO}z>zKK9KK)K/2-("   6w,ӬAR;@YR: @R;9R[f=>yRHǃ?7??mӒ?L}%?t?ɨR;@R;R#Cy^0B^"IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YRQ?ʡE ףp= yB>Q8A )IhAyQAII#٢A 8=9,Q %>!! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=595Z?=5Y5l i5dw™=V>E|;E @EA5 E5#;5M;55I M@IDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrf!bf-|7@]eV>]eV>]e@]e @u; y}FaI}9 yɚ}bɴiyIyIii)) I*F92F9:F9BF=q0JF9HP>IC III =&I.I6I<:I FE Will construct direction to contact in vehicle frame from tetrahedron phase data.E AiE AGM 9BY Ou >6w,MA2@Y2 @2ᆤ;92_=>y2H@@ ?? p`o?֐t?s?ɨ2@2͊;2"CyBBB"I)D D J=Ja=ININ ٢Vн Vf=9VQ V>XX ZG٣Xy^5: ^> bNusing accuracyPremultiplier from config`f59bV?f5Ybݚ ibyw™hj @jAb Eb:b:b5l n@p DNOT Ignoring new targets: 64.80 m. j jjjihhhhf!f!rf!bf% 7@]]]] @ᆤ; =Io9 ɚiIIii))2D*DBD :D JJJ1JJL:J:J3JJQ;aJR;aJA;aJA;a*F?2F:FBFX5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IG DBO%>e Will construct direction to contact in vehicle frame from tetrahedron phase data.26w,3mAB@YB @BcM;9BJ?=>yBH} K?? &rD?i`w?ut?ɨB@B;B$CyNBN^"I}Mb@Mb@Mb@yyy y)yY}/$?Mby}>}@}Ly }@)}AIyyy}AIIzK< MK89KK)KRK?JK?٢ 4=9Q > G٣yRe8 > Nusing accuracyPremultiplier from config59R?5Yo iw™+>;@A;W;5 @DNOT Ignoring new targets: 64.80 m. jjjjihhh!h%^Bf!f!rf)bf-F8@]E+>]E+>]EP@]E_@]cM; Y]R8I]9 aɚaiaIaIiiiii)i)i*F2F:FBF@5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G]]vBaO> B$?I 6w,HA6@Y6 @6fӍ:96*=>y6H; !|g?`? |s??lQ?t?ɨ6@6ME;6&CyRBVB"III٢ W=98Q >! %G٣!y%O %> -Nusing accuracyPremultiplier from config)559-O?55Y-< i-w™99=A-E- ;- ;-:5E>B E*@M5EHmM>ImC Im"IImtBIm =&Ii.Im9D6Im@<:ImD FDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfi8@]]]]ج@fӍ: eIj9 ɚ i I Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFO0JFGBO>J3Kş3 K.-KK"KJUJUJQJQJU|:JU:JQJQJU;JU;JUDG;JUEG;e Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,A I)< yHJ ??q`?mb? /m?u?ɨ-@u;%CyуB""Ii%=Ip; A IIV٢% %:=9-Q ->)) -G٣)y=/ E> MNusing accuracyPremultiplier from configIU59MK?U5YMז iMw™Y]@]AIM;M;M'5a e@aDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf9@]Y]Y]Y]]Z@x 隝ŌI9 ɚi`x!5<CDBCFC:0% {gZI>:3-GA BQ O >Ji Jm AA- 7w,7.ABi@YBh @B v9B<>yBH`q``cn? ?i`?1n?`r?`Mu?ɨBi@B[,;@ybBb!I%Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YCl?Mbp?Mby;=;@EA )AIAy3AII㔳٢#2 O=9nQ > G٣yA > Nusing accuracyPremultiplier from config59H?5YG iw™<=;'@AE;;5  @DNOT Ignoring new targets: 64.80 m. jjjjih IhhhhBf!f!rfAbfM9@]<=]<=]>=]'@ v 隝IO9 ɚieIa Ie"IIeS7w,&HAy B !III٢- -W=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59EE?M5YE iEw™IQUAAE:E:E5Y ]@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfD9@]]]] 2MI9 ɚi# Will construct direction to contact in vehicle frame from tetrahedron phase data.B7w,"bAyUvBU!I)Y Y ep=ep=Mb@Mb@Mb@ )YX9v?Zd;?)) -G٣1y1 5> =Nusing accuracyPremultiplier from config9E59=7B?E5Y= i=w™M=M *e7w,`|A:U9@Y:TX @:9:y;>y:H#L#??NUR:?r|?@cQ?v?ɨ:U9@:>e;:#CyFUBF!IIRIR٢V8 Vf=9Z Q Z>\\ bG٣`ybo b> fNusing accuracyPremultiplier from configdj59f??j5Yf ifw™lnW=nAfEfK;f;f5p v@tjH<bH<H L>I  I T"II BI &I .I 6I r<:I g F5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h9h9hAhAfAfArfIbfML:@]i]i]i]m T@} y}(I9 ɚiLbBAOew>J=J=J=1J9J=<:J==9J=3J9J=;J=;J=*;J=*;M Will construct direction to contact in vehicle frame from tetrahedron phase data. I #M%7w,> G٣y > %Nusing accuracyPremultiplier from config!-59%f"w+7w,A>@Y> @>Ga 9>A;>y>H ֤)m?`#?? ?,?F?w?ɨ>@>5ˉ;>"CyJ2BN^!IiRYY ]G٣Yye<6 e> mNusing accuracyPremultiplier from configi yIy59m9?5YmE iiE=;+Aim;m1;m"5 `ADNOT Ignoring new targets: 64.80 m. jjjjihhh!h%[Bf!f!rf!bf-Љ;@]E=]E=]੽?]~@Ga ԣI9 ɚ̑i1:I I!IIBI =&I.I6I|<:Io FBIƢCJIƢCRIZI =bI =jIfs6Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >@`27w,/A:@Y:@:E9::>y:H`P`⨽?J2?%5`? 9?;?w?ɨ:@:;:$Cy^"B^K!IIjIj٢r粽 vd=9vQ z>xx zG٣xy~˻ ~> Nusing accuracyPremultiplier from config 59;7? 5Y iOAE:j:S$5 %A!eDNOT Ignoring new targets: 64.80 m. jajijijiiihqhh h f1f9rfAbfE ;@JUJUJQJQJU:JUO9JQJQJU;JU;JUe,;JUf,;]]]]~@E 隽IU9 ɚȳi;IIii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFV3JF aImhGm9ByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i 87w,1A(@Y'@29v:>yH׌幽? C?@(? [?0?x?ɨ(@6L;#Cy-B-6!IMb@Mb@Mb@ )YI +ˡE?~jtxy9'>ĻA @)hAI@yGAII٢̔ 9=9pQ > G٣ y Ļ > Nusing accuracyPremultiplier from config59C4?%5Y iw™%)>%;zKeqLKe9KaKe)Ke;TK"?LR\hlk  =j-{:Ast2x!_I-Aܘ<<@&5 cADNOT Ignoring new targets: 64.80 m. jjjjiAhIhIhQhU!BfQfYrfYbf]`Z<@])>])>]y!?]Ky@2 I9 ɚٳi;II i i ) ) *F ?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. QIYGU /Bi O >V>7w,A66q@Y65@696f:>y6H@ͽ?&S?3?j? +?Rx?ɨ66q@6Ⱦ;6$Cy@@ F=F=IJHZS>IZC IZ!IIZBIZ =&IX.IX6IZ<:IZ FIJƳ9jIQ j>ll nG٣lyrAֻ r> vNusing accuracyPremultiplier from configtz59v1?z5Yv ivw™xzSzAvEv:v:v'5y DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfC<@]9]9]9]=e@M IIIU9Will construct direction to contact in vehicle frame from tetrahedron phase data. Qɚi6ںIIii))*Fm?2Fi:FiBFmQ0JFiG]vBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data. U A$?IQ E7w,%A2@@Y2_@2K92:>y2H``r ?@f?@ ?R)?`P3?w?ɨ2@@2̒;2'CyN BN/!IIVIVỳ٢^Wr ^<9bb9Q b>`` bG٣dyf f> jNusing accuracyPremultiplier from confighn59j/?n5Yj ijw™prrAhj ;j:j)5v=B vAv8E%DNOT Ignoring new targets: 64.80 m. j!j!j!j)i)h)h)h)h1f1f1rf1bf= =@]Y]Y]Y]]aM@mK imP)Im9 iɚ(iIIii))2D1*D1BD1:D1EErA*F%?2F!:F!BF%_0JF!"G-?G-?Will construct direction to contact in vehicle frame from tetrahedron phase data.G)B1OU>zKh3PKk9KK)K, +{5jWVxlcZPICB><;J J J 0J J m:J =9J ـ3J a- @a- @a- @a- @K7w,Uj1AJ=(@YJyJHkݽ?1p?` M?@?@#?`x?ɨJ=(@J妈;J$Cyj Bj,!I~Will construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYmmT G٣y0a > Nusing accuracyPremultiplier from config59+?5 IY iw™{I>; AE{<<|+5 ADNOT Ignoring new targets: 64.80 m. jj j j i h hhhBffrfbf`=@]]{I>]]{I>]]?]]O @Bx 隕#=I9 ɚi3IIii))*F?2F:FBFJFHT>I I!IIbBI =&I.I:D6Iz<:Iv FWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >R7w,:y6H@]`T%?? ?Y?b/?1x?ɨ6@6dQ;6"CyBBB8!IiF=IF=IJIJ&ѳ٢V@= V[=9VG:Q Z>XX ZG٣Xy^i > %Nusing accuracyPremultiplier from config%593)?%5YJ iw™)-6-A.: :)-51 5WA1mDNOT Ignoring new targets: 64.80 m. jijijijiiihihqhqhqfyfyrfybf}j=@]]]]@ 隭k=I9 ɚ8ʳioIIii))*FQ2FQ:FQBFUo1JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. I.~G Yy AG!B1OMt> Will construct direction to contact in vehicle frame from tetrahedron phase data.X7w,-#eA=@Y=@=9=-P:>y=H`S@2q? ? 8F?I?@(? x?ɨ=@=G;=#CyM#BML!IMb@Mb@Mb@ )YZd;OJ +?Zd;O?yjH>j< A x@)@I@y@IId٢K= 6=9Rr:Q >!! %G٣)y- 5> =Nusing accuracyPremultiplier from config9E59=%?M5Y=1 i=w™UrK>U;UUA=E=^;=?];=/5a eAa-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h1h1h1h5Bf9f9rf9bf=^>@zKMBOKM9KIKM)KM82/,']}rK>]}rK>]}?]}h@ 隝u=I%9 ɚɨiyIIii))JJJ1JJ :J9J3J*F?2F:FBFX1JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IG nB O- >@_7w,~AH"V>I  I"!II"\BI" =&I .I 6I"1<:I"@ FJJ@YJI@J9J:>yJH 9I+@?@/?H _?]?W1?`'x?ɨJJ@J̥;J&CyR1BR]!II^I^k٢bJ= bb=9fq:Q f>dh jG٣hyjv n> rNusing accuracyPremultiplier from configlr59n"?v5Yn inw™tvvAnEn:n:n05x ~dA|-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h)h1h1f1f9rf9bf=F>@]Y]Y]Y]]x@m quL=Iu9 qɚ}i}ոIyIyii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM?2FI:FIBFM74JFIGmNByO~>% Will construct direction to contact in vehicle frame from tetrahedron phase data. I e7w,̘A6@Y6@6E9679>y6H EE{Խ???`(~?@?y?ɨ6@6|;6#CyR@BRo!I)T TIZIZm٢bȔ= bK=9fj:Q f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlv59n]?v5Ynz inzw™xzzAlnt.;n.;nl25| @-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h1h1h1h1f1f9rf9bf=?@]Y]Y]Y]]E@uE q}P=I}9 yɚ}0i}<׼IyIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DR9*F?2F:FBFY5JFzKE 8oLKE 9KA KE )KE BKQ :KQ J J @AJ J J J J :J J J G5 ]vBA O] >'l7w,AnWill construct direction to contact in vehicle frame from tetrahedron phase data.y=YB=!I YIaMb@Mb@Mb@ )YMbpMb?Mb?y@>= A @)Iv@yQAIIʳ٢= 7=9Q >  G٣y% -> ENusing accuracyPremultiplier from config9M59=U?U5Y=/ i=\w™]RC>];]1 ]A=E=;=ȗ;=c45 >@=DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9h9hAhAhEJBfQfQrfQbf]ݕ?@]RC>]RC>]?]v@ IEC IE!IIE{BIE =&IA.IE;D6IER<:IE_ F*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Mr7w,A67@Y66@6һ96t5:>y6H9{U }½??k?@HVz?%? x?ɨ67@6,;6$CyBtBB!IIJIJͳ٢R> Rd=9V*;Q V>XX ZG٣Xy^Ի ^> bNusing accuracyPremultiplier from config`f59b%?f5Yb ibDw™df] jA`b:b:b55l n@lDNOT Ignoring new targets: 64.80 m. jj j j i h h hhffrfbf3?@]]]]9a@һ =IN9 ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. QIQD}@9*F?2F:FBFO0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.GA B O >Vy7w,-A DDRw@YQ@Ȼ9G:>yH`5`h[ Խ?C??9y?+:?w?ɨRw@A;y%B%!IMb@Mb@Mb@ )Y/$?jt?X9v?y,= >< @)I@yzKK9KK)KII ٢T= =97:Q > G٣y= >  Nusing accuracyPremultiplier from config 559 ?55Y ʩ i %w™5k)>=;=x =A E ; ; 885A E@AJuJqJu0JqJu:JqJuـ3JqDNOT Ignoring new targets: 64.80 m. jjjjihhhhBff)rf)bf-];@@]mk)>]mk)>]mu?]mq@}Ȼ 隅Will construct direction to contact in vehicle frame from tetrahedron phase data. IhD 9E E sAH [>I  I !II BI  =&I .I 6I :I BIʣCJIʤCRIʔCZI =bI =jI@w6*F= ?2F9 :FA BFE P5JFA GI  GI U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ GenBqO?W7w,c A:{@Y:@:𵾻9:!:>y:Ht6Yý? v?@@? w?:?w?ɨ:{@:T2;:#CyFBF!IInIn<٢r> r5=9v.:Q z>xx zG٣xy~%: ~> Nusing accuracyPremultiplier from config 59? 5Yܪ i w™u AE-;>;(:5 @;EMDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhIhQhQhQfQfYrfYbf]p@@]]]]q@𵾻 隭x=I 9 ɚiIIii))uWill construct direction to contact in vehicle frame from tetrahedron phase data. @$?ID 9*F?2F:FBFX4JFG ]vB O >{7w,ѕ#AvWill construct direction to contact in vehicle frame from tetrahedron phase data.~y@Y~@~2̶9~Q;>y~H`5Zɽ?=?fs?~v?@H?`1w?ɨ~y@~4;~%CyMɃBU"IIIT߳٢> .=9:Q >  G٣ y5 5> ENusing accuracyPremultiplier from config9u59= ?u5Y= i=v™q}z }A9=v;=;=<<5 <@%DNOT Ignoring new targets: 64.80 m. j!j!j!j)i)h)h)h)h1f1f1rf1bf5 V@@]Q]Q]Q]Uq@u2̶ qu$>Iu9 yɚyiyIyIii))zKAKAKAKE)KE BKQ:KUqA IWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F ?2F :F BF 05JF "G ?G ?H I  I A"II BI  =&I .I :D6I $<:I 9 FGnBO >7w,%CA:b@Y:a@:19:W<;>y:Hv<Ri? ά? ?_u?@!F?Sw?ɨ:b@:䍉;:"CyBBBB"IUWill construct direction to contact in vehicle frame from tetrahedron phase data.eMb@Mb@Mb@aaa a)aYe(\µ?Q?:v?ye=e=e 7=98:Q > G٣yA; > Nusing accuracyPremultiplier from config59?5Yq iv™>;8AE;';*>5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhh܃Bffrfbf  M@@]5>]5>]5Zt?]5%Z@U1 QU7w,]A61@Y60@6:96<>y6H@:@oTe?ܮ? ?t?^?2v?ɨ61@6S͉;6&CyBBB\"IININʴ٢V= VS=9Z3s:Q Z>XX ^G٣\y^!W ^> bNusing accuracyPremultiplier from config`f59b?f5YbѬ ibv™hj8jA`b ;b\ ;b?5l n@l DNOT Ignoring new targets: 64.80 m. j j j j i hhhhf!f!rf!bf%`A@]]]]Z@-: )-=I-9 )ɚ1i1I1I1i9i9)9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.iAD*F2F:FBFO0JFzKKK89KK)K  #6LYfox`ODCBBEB?@<99<:887 Q IY  Will construct direction to contact in vehicle frame from tetrahedron phase data.G nB O > 7w,xA2Ŧ@Y2@2 92;>y2HCIɘ??  ?s?hU?v?ɨ2Ŧ@2oN;2%Cy:!B:"IMb@Mb@Mb@ )Y?t=`e<` A )@I`@y@II٢> 1=9\9Q > G٣yv; > Nusing accuracyPremultiplier from config59?5Y iv™h>;>@AEV;;A5  @ 5DNOT Ignoring new targets: 64.80 m. j1j1j9j9i9h9h9hAhEBfIfIrfQbfU*SA@]Eh>]Eh>]E+?]EK>@} y}u=I}/9 ɚiIIii))H]>IC I"II2BI =&I.I;D6Iv<:Iz FmWill construct direction to contact in vehicle frame from tetrahedron phase data.D.9E*F] ?2FY :FY BF] P0JFY J J J J J ̝:J 9J J J ;J ;J 3;J 3;G ]vB) OE >7w,ȔA ,I,RE@YRD@Rp9R<>yRHeLR>?T??s? `? $v?ɨRE@R0*;R$C)b= `y^7BvWill construct direction to contact in vehicle frame from tetrahedron phase data.b"I-NGAa  YyBIId٢}= >=9Q > G٣y; > Nusing accuracyPremultiplier from config59?5YI iv™>@A]?;?;C5 _@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`A@]]]]>@p =I9 ɚ2iIIii!)!)ABDM2?:DM?DR9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F1 2F1 :F9 BF= O0JF9 GI BQ Ou >7w,AzKNKu9KK)K666465798997669;8856799:8411/)&% "!J8J:AABK<:K>rAy JB"I Mb@Mb@Mb@    ) Y /$?Q?Mb`?y > \= ;  A x@) I v@ y \@ 9I9IMIM٢]= ]0=9]Q e>aa mG٣iym m> uNusing accuracyPremultiplier from configq}59uh?}5Yuy iuv™ >;,@AuEu(;u;uE5EDNOT Ignoring new targets: 64.80 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.hh&BffrfbfLA@] >] >]:If>],@ 隍\=I9 ɚ83iIIii))H^>I I"IIoBI&I.I6I<:I5 FDN9*F} ?2Fy :Fy BF} P0JFy } Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >T7w,AB@YB@B9B5<>yBH]`v(k?߁?`@2?[vr?d?u?ɨB@Bf;B#CyN`BN"IIVIV<٢^9= ^L=9^PO:Q b>`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn59jꇜ?n5Yjƪ ijv™lr-@rAhj:j :jG5t v@tDNOT Ignoring new targets: 64.80 m. jjj!j!i!h!h!h)h)f)f)rf1bf5iA@]Q]Q]Q]U,-@e ae=Im9 iɚmiiIiIqiqiq)q)yJcKkO3 Kk(.KcKc"KcJJJ0JJ\:J=9Jـ3JJl;Jm;J*;J*; ?$?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.D`9ErAErA*F!2F!:F!BF%_0JF!"G-?G-?G MlB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Lv7w,ٯAF@YF%@F9F<>yFH@`I$`;94vA @)v@I`@y@I5I5W٢= = E)=9ED1:Q E>II MG٣IyU: U> ]Nusing accuracyPremultiplier from configYe59]䇜?e5Y] i]v™e0>m;m[!@mA]E];];]I5q u@@yDNOT Ignoring new targets: 64.80 m. jjjjihhhhJBffrfbf~6B@]0>]0>]Qz<]q[!@m imu=Im!9 qɚu12iqIqIii))zK NK-9KK)K    IuWill construct direction to contact in vehicle frame from tetrahedron phase data.D'9*F] ?2Fa :Fa BFe P0JFa ZH RH ?AH! I!  I% "#II% BI! &I! .I! 6I% <:I% 1 FG]vBO>7w,1}A:Will construct direction to contact in vehicle frame from tetrahedron phase data.y-|B-"II=I=@ ٢M= UD=9UQ U>QY ]G٣Yy] ]> eNusing accuracyPremultiplier from configam59e߇?u5Yee iev™qquAeEe;e;euK5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@kB@]]]] 隵L=I9 ɚ.3iIIii))JJJJJ:J*9JJJ9;J:;J(;J(; )I5hD59-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFG B O- >M%7w,c*"A2+B@Y2*a@292<>y2Hs@ @BF?` f?K`\? p? z?t?ɨ2+B@2 ;0y>B>"IIJIJͳ٢R= RG=9R|9Q V>TT ZG٣XyZm< Z> ^Nusing accuracyPremultiplier from config\b59^ۇ?b5Y^Q i^v™df!@fA\^ ;^;^@M5h j@lDNOT Ignoring new targets: 64.80 m. jjj j i h hhhffrfbf`tB@]Y]Y]Y]]!@ P=I9 ɚ3iIIii ) )!Will construct direction to contact in vehicle frame from tetrahedron phase data.D!EEl>EE>*F2F:FBF1JFG-rA G-rAzKLK9KK)K#$""!   A IA GQ Ba O} >] Will construct direction to contact in vehicle frame from tetrahedron phase data.G7w,C;A2e@Y2@2Ĉ92s<>y2H}@4(?+X?B {W?~q?sl?u?ɨ2e@2S;2%CyNBN#IiR`eļ` A @)`@Iy\@IIT߳٢; 9=9ʓQ > G٣y; > Nusing accuracyPremultiplier from config59Zև?5Y  iv™^.>;@AED;B;-O5  l@ =DNOT Ignoring new targets: 64.80 m. j9j9j9j9iAhAhAhAhEbBfIfIrfIbfMB@]m^.>]m^.>]mf@]m@Ĉ 隍\=I 9 ɚ3iH]>I IN#IIńBI =&I.I6I*<:I@ FBIe¥CJIe¥CRIe“CZIe =bIe =jIe6IIQiQiQ)Q)YWill construct direction to contact in vehicle frame from tetrahedron phase data.Du9*F ?2F :F BF o0JF 9 I9 G1 BQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >7w,@hXAZ}@YZ@Zg9Z<>yZHN ?`N?TVt?l?@Az?`t?ɨZ}@Z-a;Z#CybBb"IInInV8٢vk  vE=9v:Q z>xx zG٣xy~ h; ~> Nusing accuracyPremultiplier from config 59ч? 5Yܤ iv™ @A;;P5! %@!UDNOT Ignoring new targets: 64.80 m. jQjQjQjQiQhQhYhYhYfYfarfabfeC@]]]] @g 隥,=I%9 )ɚ-|3i)I)I1i1i1)1)1D9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FaBFe0JFiG nB O >3)7w,sAJJJ1JJ:J9J3Ja"@a"@a"@a"@zK*MK*9K(K*)K*  >mRK2?JK2?rE@YrD@rh9r<>yrH@1i?B? "bw?,m?`u?,u?ɨrE@rF-;r%Cy~xB~"I 1I9Mb@Mb@Mb@ )Yףp= ?Mb rhy>C I A x@)@II@yf@IIm٢N 9=9JQ > G٣y; > Nusing accuracyPremultiplier from config59r͇?5Y iv™Q#>;@AE;';R5y }7@}AEWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihh h h EBf frfbf`fJC@]UQ#>]UQ#>]U6@]Uu@h 隅=I9 ɚJ 4iIIii))D9*FQ2FQ:FQBFU25JFYjH<bHH^>I IZ#IIτBI =&I.I6I<:I2 F= Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu ]vB O > 7w,PÌABW@YBV@BB9B^<>yBH@Ӽ? B?!@h?Sh? Ks?`Ou?ɨBW@BӉ;B&CyrwBr"I)t vAIzIz٢ X=9 :Q  > %G٣!y%=7 %> -Nusing accuracyPremultiplier from config)559-ɇ?55Y- i-v™99=A)-;-;-T5A MT@IuDNOT Ignoring new targets: 64.80 m. jqjqjqjqiqhyhyhyhffrfbfiwC@]]]]@B =ID9 ɚ 4iIIii))D9 1I1*F?2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>[57w,wA2B@Y2A@2މI921[<>y2H@?]9?`>){? 91i?`pi? u?ɨ2B@2ړ;2$CyJlBJ"IIRIRԳ٢ZwW ZP=9^#Q ^>\` bG٣`ybt; b> jNusing accuracyPremultiplier from configdj59fŇ?j5Yf ifv™ln@nAf Efy;f;fMV5p v@tWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihhh!h!f)fQrfYbfe`ŮC@]]]]@މI  4=I &9 ɚ54iIIii))JeJeJaJaJe-:Jeb9JaJazKfMK9KK)KX`C q`UI?8.'& BK:K >$?I!Will construct direction to contact in vehicle frame from tetrahedron phase data.D9EEsA*F 2F :F BF G5JF H I  I T#II ʄBI  =&I .I 6I W<:I a FGiBqO>;7w,o)A6@Y6@696Zn<>y6H %`H?4=?`% ?Zc?k?u?ɨ6@6Ɖ;4yBgBB"IMMb@Mb@Mb@III I)IYMrh|?~jtyM=MMM` A I)M`@IM@IyM@IeIe٢u u#=9u :Q u>yy }G٣yy > Nusing accuracyPremultiplier from config59k?5Y iw™>;d#@A;;~X5 J@Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihhhh/BffrfbfC@]>]>]/3]0d#@% )-H=I-9 )ɚ5R4i1I1I1i9i9)9)9D9 I*Fq2Fq:FqBFu3JFqc~G  U !YQ yU B Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >J7w,A69@Y68@6Q96;>y6HF?:?(? ib?\?^v?ɨ69@6ۉ;6#Cy>TB>"Ii@IB<IjIj٢rM rG=9r:Q v>tt vG٣xyzH: z> ~Nusing accuracyPremultiplier from config|59~߽?5Y~ i~w™ h#@ A~!E~;~ ;~IZ5 z@EDNOT Ignoring new targets: 64.80 m. jAjAjIjIiIhIhIhQhQfQfQrfYbf]WD@]y]y]y]}h#@Q 隍@=IW9 ɚe4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBFO0JFJ J J J J M:J 9J J  I zKU tNKQ KQ KU )KU   Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >7w,l=AF@YF@F@غ9F=<>yFHz@1?D?@J?[?e?u?ɨF@FD;F$CyRDBR"IMb@Mb@Mb@ )YˡE?X9v?ly=< K@)I@yz@IIʴ٢d ?=9|:Q > G٣y^j > Nusing accuracyPremultiplier from config59?5Yß i#w™= <:@At;;(\5 w@5DNOT Ignoring new targets: 64.80 m. j1j1j1j9i9h9h9hAhEBfIfQrfQbfUUD@]u=]u=]u>]u:@@غ 隕#>I9 ɚR4iII!i)i))))1ZHRHAAH]>I I;#IIBI =&I.I6I<:I3 FMWill construct direction to contact in vehicle frame from tetrahedron phase data.D9Ee>E!>*F 2F :F BF P0JF "G% ?G% ? ) I) G= nBI Oe >Q8w,PAB@YB@B+m9B ;>yBH `q_?4E?` ?-W?VR?v?ɨB@B0;@yN7BN"IIVIV٢^  bI=9b:Q b>`d fG٣dyfc f> nNusing accuracyPremultiplier from confighn59j?r5Yj ij/w™pr:@rAhj:j:j]5t zG@x%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h!h)h)f)f1rf1bf5 ,D@]Q]Q]Q]U:@e+m am >ImJ9 iɚm4iiIyIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ՝<Di*F?2F:FBFo0JFGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.} 8w,10AVQy@YVP@Vl9V;>yVH ΃ `k?P?Dc?@4S?Y?v?ɨVQy@V;Tyf+Bj"I)l nAeMb@Mb@Mb@aaa a)aYe?T㥛 ?MbyeL=e=ee3 A e5@)e3@Ie@aye@IIW٢\_ ;=9c:Q > G٣yy > Nusing accuracyPremultiplier from config59?5Yӟ i8w™G=<6A"E;;_5  @-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i1h1h1h1h=Bf9f9rf9bf=JD@JJJJJ0JJJ=9Jـ3J I]%G=]%G=]%gbf?]%ro[@5l 9= W>I=$9 9ɚ=ٶ4i9I9zKErLKAKAKE )KE*|IQiQiY)Y)YD]9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFH\>I I#IIBI =&I.I6IC<:IR FG /B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.d8w,JAyEBEw"II]I]٢2ҽ N=9Q > G٣y > Nusing accuracyPremultiplier from config59?5Y i@w™A;!;a5 W@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@D@]!]!]!]!1 15n->I=9 9ɚ=i9I9IAiAiA)A)I ID59EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F):F)BF-i0JF)G1 G1GM BY Ou >8w,R(dA6pO@Y6on@6>96_;>y6H`&w Z?``? z? G?J?`\` bG٣`ybۻ b> jNusing accuracyPremultiplier from configdj59fj?n5YfP ifHw™ln6nAdf[;f[;f=c5r;B v@vDEDNOT Ignoring new targets: 64.80 m. jjj!j!i!h!h!h)h)f1f1rf1bf5 $E@]]]]E[@> >Ip9 ɚp3iII i i))Will construct direction to contact in vehicle frame from tetrahedron phase data.Du#9*F!2F!:F!BF%0JF) iIi*JR="J%=zK ZNK K K !)K tk`VKA12M7&=/81$p3GQ!vcT?-  Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 OU >8w,P}A :Z1@Y:YP@:ѿ9:;>y:HneU?l?`r???B?w?ɨ:Z1@:Z;:#CyJBJ_"I=Mb@Mb@Mb@999 9)9Y=Mb?EԸ?Zd;Oy=<===j9 =@)9I=@9y==@ImIm@٢}\X }>=9:Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595?=5Y5" i5Kw™==EIeC Ie"IIetBIe =&Ia.Ia6Ie8<:IeJ FBI!JI!RI!ZI% =bI!jI%†*5 @DNOT Ignoring new targets: 64.80 m. jj!j!j!i!h!h)h)h-Bf)f1rf1bf5``E@]=]=]#?]Ny@=ѿ AEk>IE9 AɚE3iAIAIIiIiI)Q)QDC9Will construct direction to contact in vehicle frame from tetrahedron phase data.*FI2FI:FIBFUP5JFQ a Ia Gu |~By J J J 1J J :J 9J 3J J ;a J ;a J %7;a J &7;a O >%8w,PƗA6h@Y6g7@6a96:>y6Hsf`v#BV?v?@ c?2??@7?"x?ɨ6h@6s;6!CyBW"II-I-٢E EO=9Ey5Q M>II MG٣IyU넻 U>]Will construct direction to contact in vehicle frame from tetrahedron phase data. mNusing accuracyPremultiplier from configiu59mP?}5Ymӡ imLw™y}Am#Em ;m'!;mf5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf gE@]]]]Py@a R^>I9 ɚk4iIIii))D*F2F:FBFP0JF"G?G% Will construct direction to contact in vehicle frame from tetrahedron phase data.G k~B O >4+8w,A^@Y^ @^a9^:>y^H`X@4`n? G?`g[a?>,5?Y G٣yϻ > Nusing accuracyPremultiplier from config59?5Y iIw™=; %A;;h5) -R@)eDNOT Ignoring new targets: 64.80 m. jajajajaiahihih h ]Bf frfbfE@]]=]]=]]l-?]]6P@zKPK9KK")K|tqngb^akxytkd`[XU^c``_]XSNKJGDB:410-+++)%%$##a >I9 ɚ!m4iIIii))eWill construct direction to contact in vehicle frame from tetrahedron phase data.Dd9*Fq2Fq:FyBFyJFyHQIQ IU"IIUUBIQ&IQ.IQ6IUJ<:IUV FG} |~B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.^28w,yA6@Y6@6"96:>y6HQP?O?k?M? BD?2? Xx?ɨ6@67;4yBBBK"I)D DININ٢ZR Za=9Z*UQ Z>\\ ^G٣\ybw f> jNusing accuracyPremultiplier from configdj59f{?n5Yf٣ ifGw™ln nAdf ;f ;fKj5t v@tDNOT Ignoring new targets: 64.80 m. jjjjihhhhf!f!rf!bf-NE@]I]I]I]MFB@e" aeΕ>Ie9 aɚeš4iaIiIiiiiq)q)Duv9 I*F2F:FBF\0JFJuJuJqJqJuݒ:Ju9JqJqJu;Ju;Ju';Ju';}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>88w,nAyBO"II-I-@٢=b< =A=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]59U㢇?]5YU iUDw™YY]AU$EU:UC:U#l5i m^@iDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf-F@Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]] 隭Θ>I9 ɚ4iIIii)) =$?IDr9*F 2F :F BF P0JF G  G zK ŠNK k9K K #)K     } Will construct direction to contact in vehicle frame from tetrahedron phase data.G k~B O >@8w,AHRZ>IP IR"IIRFBIR =&IP.IP6IR<:IR F@Y@պ9Tq:>yH`p8\Wڼ?!?5$?Z??-?@x?ɨ@( ;"CyBL"IMb@Mb@Mb@ )Yy&1|V-?Mby`廙h> @)@Iy @IIn٢- -*=95 Q 5>19 =G٣9y=X" => ENusing accuracyPremultiplier from configA59E?5YEd iE;w™>; AAE]>]]?]:,@-պ )->I-9 1ɚ5O4i1I1I9i9i9)Y)aWill construct direction to contact in vehicle frame from tetrahedron phase data.D9 i Ii ) F= CJ) J- J- 2J) J) J- 9J- c3J) J- ;J) J- p#;J- q#;*FY 2FY :FY BF] O0JFY ~G  %Y y B5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>H8w,)!AB3@YBR@Bd9BE:>yBH7 `4y@^??S?l?'?x?ɨB3@B;B!CyLLiR=IR=IVIVW٢^i b8=9bQ b>dd jG٣hyj/ n> rNusing accuracyPremultiplier from configlr59n?v5Yn in3w™tv vAn%En:n@:n.p5| ~@|%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h)h)h)h1f1f1rf1bf=@F@]Y]Y]Y]]@ud qu¨>Iu9 qɚ} 5iyIyIyii))BDL?:DA?DM9*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G-k~BYO> I zKM #MKM -9KI KM $)KM   \,N8w,qr;AWill construct direction to contact in vehicle frame from tetrahedron phase data.=yZH@`v?@?`@?@9s?? 3y?ɨZ@ZМ;Z%CyfBfY"IUMb@Mb@Mb@QQQ Q)QYU{Gz?Mb`?yUU#>U;U A U@)U@IU@QyUf@IeIed٢uOF= }?=9}8Q }> G٣ye > Nusing accuracyPremultiplier from config59?5Y! i%w™#>;QA&;r; r5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhKBffrfbfF@]#>]#>]?] g@-?ș 154>I59 1ɚ5,&5i1I1I9i9i9)A)iHY>I I"IIABI =&I.I:D6I[<:Ia FDy*F?2F:FBFk0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G) Ba O >U8w,5UA $I$FI@YFH @Fi»9FF/:>yFH` Z?=?``?CTx? %?@x?ɨFI@F`;F$CyRBR^"IIZIZ<٢b< fW=9f WQ f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlr59n畇?v5Yn\ inw™tvzvAn&En:n:ns5x z@|JAJEJE1JAJAJE9JE3JAJAJAJE!;JE!;DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf G@]y]y]y]}R@i» 隕h>I!9 ɚ<5iIIii))UWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBF1JFG \~B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.89[8w,'oA2A@Y2@@2E92e9>y2H ``Z?f? v?@?? y?ɨ2A@2[;2"CyRBRn"IIZIZ(٢b}= bJ=9bюQ f>dd fG٣dyjrP j> nNusing accuracyPremultiplier from configlv59n?z5Yn in w™  Aln;n.;nwu5 @EDNOT Ignoring new targets: 64.80 m. jAjAjIjIiIhIhIhQhQfQfQrfQbfd=G@]]]]J@ QIUhE 隭4>I9 ɚ(V5iIIii))2DrA*DD9*F=?2F9:F9BF=3JF9zKe}KKe9KaKe%)KeuWill construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H X>I  I "II KBI  =&I .I 6I E<:I P FG% k~B9 O] > b8w,%A:&@Y:%@:9:R:>y:H@Ѿ?@?V T?a?@?)?jx?ɨ:&@:*ɉ;:!CyF BF"IMb@Mb@Mb@ )Y~jt?{Gz?{Gzt?y<ף;zA )@Ip@y@I-I-㔳٢= = =C=9EtQ E>AI MG٣IyM8 M> UNusing accuracyPremultiplier from configQe59Uw?e5YUڬ iUv™e%>e;mpmAU'EUS.;U},;ULw5q u@uGEDNOT Ignoring new targets: 64.80 m. jjjjihhhhXBffrfbfjpG@Will construct direction to contact in vehicle frame from tetrahedron phase data.]PExceeded connect timeout, disconnecting.]%>]%>]?]ox@ 隭>I9 ɚn5iIIii))D9EE*FA2FA:FABFE4JFAGI GI AIAJaKe 3 KeL.KaKa"KaJJJJJ:JJJJ;J;JJG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս <Ս <Jh8w,TǢA6@Y6@618969>y6H_ .? ?o0??@?x?ɨ6@6;4y>'B>"IIZIZm٢f= fR=9jQ j>hh jG٣lyrR r> vNusing accuracyPremultiplier from configtz59v?z5Yv ivv™xz}zAtv:v@:vy5 6@-DNOT Ignoring new targets: 64.80 m. j)j)j1j1i1h1h1h9h9fAfArfAbfE `G@]a]a]a]e$x@u18 y}G>I}9 yɚ}5iIIii))D9*F-?2F):F)BF-O0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.GQBO> I IQ Ji Jm @Aun8w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.zK. KK.-9K,K.&)K.y=;B="IIMAMb@Mb@Mb@ )YA`"?㥛 ?{Gzt?yY=>dA @)@I@yz@IIԳ٢= 9=9Q > G٣y >  Nusing accuracyPremultiplier from config 59Ʌ?5Yܮ iv™!>;&A(E{;;z5) -@)DNOT Ignoring new targets: 64.80 m. jjjjihhh h iBf)f1rf1bf53G@]u!>]u!>]uY}?]uk@ HW>I I"IIeBI&I.I6I6<:ID FBI]äCJI]äCRIYZI] =bI] =jI] {5隍>I9 ɚ:5iII!i)i)))))Will construct direction to contact in vehicle frame from tetrahedron phase data. UnManaging dock network, ignoring radio surface power offDm9*F ?2F :F BF @5JF "G ?G ? 9 I9 GIBYOu>nv8w,A6S@Y6r@6\969>y6Hx?'?\*?`j ??yx?ɨ6S@6.%;6#Cy>PBB"IIJIJ٢R= R==9R&Q R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b59^ ?b5Y^ i^v™`f&fA-Will construct direction to contact in vehicle frame from tetrahedron phase data.^)E^<^<^|5y }@yDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfH@] ] ] ] !jk@%\ !%>I%9 )ɚ-C5i)I)I1i1i1)1)9D&9*F}?2Fy:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G |~B ! I! OU >}8w,A*JC="J<J J J 0J J  :J 9J ـ3J a@a@a@a@-W0@Y-VO@-ֈ9-/A:>y-H@(^ [?P5?wˉ?0?@g&?`w?ɨ-W0@-s;-$CyEeBE"I5Mb@Mb@Mb@111 1)1Y5#~j?K7A?{Gzt?y5=5 >15A 1)5p@I5@1y5@IUIU=س٢e= e%=9mΊQ m>ii mG٣iyu> u> Nusing accuracyPremultiplier from config59){?5YV iv™U>;!5A;';~5:B Q@IEDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfQH@]U>]U>]c?]\@ֈ )>I_9 ɚA5iII!i!i)))))5Will construct direction to contact in vehicle frame from tetrahedron phase data.zKqkKK9KK')K       RuT. RK?JK>HiIi Im #IImBIi&Ii.Ii6ImQ<:ImX FD89*Fi 2Fq :Fq BFu 4JFq  Will construct direction to contact in vehicle frame from tetrahedron phase data.G k~B O >jń8w,A27(@Y26G@2@929>y2HE@ Ӗ?@48?fwG? ??@w?ɨ27(@2;2%Cy>xB>"IIFIF٢n = rJ=9r(ջQ r>tt vG٣tyvԠ z> ~Nusing accuracyPremultiplier from config|59~^v?5Y~Ѱ i~v™  "5 A~*E~:~:~5 @ =;$?I9UDNOT Ignoring new targets: 64.80 m. jQjQjYjYiYhYhYhahafafarfabfm eH@]]]]\@@ 隝>I9 ɚk5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DuF9Ey*F2F :F BF P0JF G GG) B9 OU >X8w,-A Will construct direction to contact in vehicle frame from tetrahedron phase data. iA:5 @Y:4)@:)9:Jh:>y:H{9@?C?o !?$?*?`v?ɨ:5 @:Uo;:$CyFBF#IININ%٢V> VM=9ZQ Z>X\ ^G٣\y^ ^> bNusing accuracyPremultiplier from config`j59bq?j5YbJ ibv™hj:5jA`bI;b9;b{5l r~@pDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfԺH@] ] ] ] \@) !%?I%q9 iɚmiqIqIii))D AIA*F?2F:FBF_0JFJJJ1JJ}:J9J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.zK}CMK}9KyK}()K}G|~BO >H V>I  I A#II BI &I .I 6I <:I Ftґ8w,rGAJ@YJ@J̼9J:>yJHHH%? fJ?k`?Ř?0?@u?ɨJ@J;HyfBf(#IuMb@Mb@Mb@qqq q)qYu|?5^?Cl?y&1|?yu=u;=u`;uA u@)qIu@qyu3@IIn٢d= 6=9HQ > %G٣!y%p$ %> -Nusing accuracyPremultiplier from config)559-"l?=5Y-} i-v™=>=;=A=A-+E-;-d;-p5E9B E2@MLEmDNOT Ignoring new targets: 64.80 m. jqjqjqjqiyhyhhhBffrfbfqH@]>]>]'NP?]wP@̼ g>I#9 ɚ3iIIii))5Will construct direction to contact in vehicle frame from tetrahedron phase data. 9I9DEX9NGvA aYevAye(B*F?2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G k~B O >Q8w,bA6@Y6@6Dh96:>y6Hह@@g? K?@Cm6q?`L?v/?Nu?ɨ6@6{;6 CyJBJ4#IIRIR٢^M= ^V=9^Q ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59jng?n5Yj ijv™lrArAhjX:jz:j5t v@xDNOT Ignoring new targets: 64.80 m. jjjjihhh!h!f!f!rf)bf-("I@]Q]Q]Q]U]zP@eDh ae4>Im<9 ɚ-m4iIIii))BDG?:D!?Will construct direction to contact in vehicle frame from tetrahedron phase data.Dg9*FE?2FA:FABFE_0JFA I J5 J5 J1 J1 J5 :J5 =9J1 J1 G- |~B1 OU >xz8w,|AR@YR@R89R#;>yRH@U?U?Af%&?z?@? t?ɨR@RV;R&CyZƄBZO#IzWill construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUT㥛 ?sh|??Mbp?yU>U=U;UMA U@)UC@IU@QyQIIƳ٢= <=zKBoHK-9KK))K9Q > G٣yM,q M> UNusing accuracyPremultiplier from configQ]59Ua?]5YUu iUv™]>e;eA@eAU,EU;U;U5i m<@iDNOT Ignoring new targets: 64.80 m. jjjjihhhh߃Bffrfbf+]I@]->]->]-?]-SA@=8 9=g>I=*9 9ɚE4iaIaIiiiii)i)qHI I#IIBI =&I.I6I <:I" FDy9Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fy 2Fy :Fy BF JF I G k~B O >Y8w,AJ@YJ@J!( 9J;>yJH`@?_?a@h?(d?`>?`r?ɨJ@JJ2;J$CyVӄBZ`#II^I^(٢jހ= jB=9j8$Q j>ll nG٣lyrڈ r> vNusing accuracyPremultiplier from configtz59v\?z5YvE ivv™xzA@~Atvq:v:v؉5 b@5DNOT Ignoring new targets: 64.80 m. j1j1j9j9i9h9h9hAhffrfbfI@]]]]A@!( Y]>I]x9 aɚeZ4iaIaIiiiii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.D9*F}?2Fy:FyBF}n0JFyG GsAM Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge Bq O >Y8w,ͳA64@Y63@6y96x:>y6H `D? ^?e?6n?.?`!s?ɨ64@6ۈ;4yRBRv#I)T TI^I^ʴ٢j$= jG=9nˡQ n>ll nG٣pyrE9 r> vNusing accuracyPremultiplier from configtz59vW?z5Yv ivuv™|~A@~Av-EvP:v:v5 E@! :$?IDNOT Ignoring new targets: 64.80 m. j!j!j)j)i)h)h)h1h1f9fyrfbf@I@JJJJJ}:J9JJ]]]]BA@ y  ?I9 ɚ5iIIii!)!)!2D)*D)DuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFU5JFzKBHKk9KK*)K   HMU>IMC IM#IIM!BIM =&II.II6IMM<:IMR FG |~B O >]=8w,A>@Y>@><9>W);>y>H@%@zy?ui?@z\ν?n&??? q?ɨ>@> ;>"CyFBF#InWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%K7?x&?y%I >%7=%%A %@)!I!!y!IMIM٢]7= eB=9e[Q e>ii mG٣iym m> }Nusing accuracyPremultiplier from configq}59ueR?5Yu iunv™*>;9@Aqu;u;uz5 h@DNOT Ignoring new targets: 64.80 m. jjjjihhhh Bffrfbf@jI@]u*>]u*>]u>]u 9@< 隍g>I29 ɚ85iIIii))D9 I*F%?2F!:F!BF-P0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.G k~B O- >d8w,cA6[@Y6Z@696D;>y6H@@? n? 'Y`ԑ? ޣ?B?Rq?ɨ6[@6&;6$CyBBB#IIRIRỳ٢VpV= VW=9ZtqQ Z>X\ ^G٣\yc > Nusing accuracyPremultiplier from configE59M?E5YM igv™IM}9@MA.E;w;/5y @OEDNOT Ignoring new targets: 64.80 m. j j j j i h hhQhQfYfYrfYbf]+0J@]]]]p}9@ >I]9 ɚkW5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D]9 I*F?2F:F BF @5JF "G- ?G- ? Will construct direction to contact in vehicle frame from tetrahedron phase data.zK "TLK K K +)K $%"  dc:,%%&$%&(*,++*,GU ~BY O >8w,wA2@Y2@2$929;>y2H`]?p?`X,Q?G? A?@p?ɨ2@2M9;2#Cy: B:#IiB%=IBa=ZH\RH^?AHbT>I` Ib#IIbIBIb =&I`.I`6Iba<:Ib_ FBIJICRIZIbIjI_5-Mb@Mb@Mb@))) )))Y-HzG?J +?~jtxy-= >-H=-Ļ-A -@)-@I-@)y-@IUIU%٢V= %&=9%o?Q %>)) -G٣)y5= 5> =Nusing accuracyPremultiplier from config9E59=H?E5Y= i=cv™E1>E;E3@EA9=;=;=J5U:B U@UME}DNOT Ignoring new targets: 64.80 m. jyjyjyjihhhhBffrfbf vjJ@]1>]1>]%D>]3@5$ 15>I59 1ɚ5'y5i9I9I9iAiA)A)aBDm8?:Dm]?Will construct direction to contact in vehicle frame from tetrahedron phase data.D i Iq *F ?2F :F BF JF J= J= J= 0J9 J= :J= *9J= ـ3J9 J= S;aM J= T;aM J= (;aM J= (;aU u Will construct direction to contact in vehicle frame from tetrahedron phase data.q q G ]vB O >8w, A6m@Y6@6%(96d;>y6H@E?|? jO@%?`0?`-F?kp?ɨ6m@67c;6"CynBn#IIvIvƳ٢~< F=9Q >    G٣ y\ > Nusing accuracyPremultiplier from config%59aC?%5Y* i_v™!%2@%A/E::51 5@1mDNOT Ignoring new targets: 64.80 m. jijijijiiihqhqhqhqfyfyrfybf}ߞJ@]]]]2@%( 隵?I9 ɚՌ5iIIii))D9*F2F:FBF%P0JF!mWill construct direction to contact in vehicle frame from tetrahedron phase data.GE DBQO> I 8w,d:AJLJNBA=ba@Y=a@=,9=:>y=H ?`N?L|ݼ?=?`5?p?ɨ=ba@=9R;=$CyMBM#IMb@Mb@Mb@ )Y!rh?I +? G٣yj > %Nusing accuracyPremultiplier from config!-59% ??-5Y% i%]v™5=5;54@5A!%A;%z@;%5A Ew@AWill construct direction to contact in vehicle frame from tetrahedron phase data.]DNOT Ignoring new targets: 64.80 m. jYjYjYjaiahahihihmBfqfqrfqbfuJ@]=]=]m>]4@, 隭>I;9 ɚ5iIIii))zKe%NKe-9KaKe,)Ke-)*+**$$!#"  BKy:KyDHmS>Ii Im$IImcBIm =&Ii.Ii6Im"<:Im/ F*F2F:FBFJFG= /BI Om >} Will construct direction to contact in vehicle frame from tetrahedron phase data.!8w,/TAy~B~#II I <٢% < %Z=9-Q ->)) 5G٣1y5 5> uNusing accuracyPremultiplier from configq}59ul;?}5YuX iu\v™yAqu ;u` ;u5 $@ IDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfK@]]]]  >IJ9 ɚY5iII!i!i!)!))2D1*D1DE9JJJ1JJm:J9J3JJ;J;J;J;*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G]vBO>m8w,+nAy~B~#II I ỳ٢%< %J=9!Q %>)) -G٣)y) 5>=Will construct direction to contact in vehicle frame from tetrahedron phase data. ENusing accuracyPremultiplier from configAM59E7?M5YE iEZv™IIUAE0EE.:E:Eg5Y ]@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf Ie C Ie )$IIe wBIe  =&Ia .Ia 6Ie <:Ie  FG1 BQ Om >p8w,~;AyMb@Mb@Mb@ )YJ +?~jt?:vy=D=T @)@I@yG@IIʳ9Q > G٣y > Nusing accuracyPremultiplier from config 59[3? 5Y i =;r:@A;1;o5 EDNOT Ignoring new targets: 64.80 m. jAjIjIjIiIhIhQhQhUBfQfYrfYbf]@uK@]=]=]0>]r:@-Will construct direction to contact in vehicle frame from tetrahedron phase data.A AE?IEi9 ɚw5iIIii)))A I aIaGvA -"Y-vAy-BD 9JJJ0JJݒ:J9Jـ3JJ;J;Jp#;Jq#;*Fe ?2Fi :Fi BFm Z0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.GM nBY Oy x-8w,c~A: @Y:@:B)9::>y:H]n1`?r? m#?!? -?`yq?ɨ: @:;: Cy^B^#IIfIf۳٢nZ n<9r:Q r>pp vG٣tyv z> ~Nusing accuracyPremultiplier from configx59z/?5Yz] ix  9@ Az1Ez@;z3A;z659B @PEEDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhAhIhQfQfQrfQbf] K@]]]]9@B) 隵>I#9 ɚ5iIIiAiI)I)QBD]J?:D]R?DA*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiA )I)GNB O- > 8w,*6A2 @Y2 @2(%92?;>y2HKG? ? ?Q?A?`p?ɨ2 @2g;2$CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yFBJ#ImMb@Mb@Mb@iii i)iYm~jt?i|?5?~jtym=mq=mDi i)m@IiiyiII%٢< @=9`:Q > G٣yo > Nusing accuracyPremultiplier from config597,?5YS i=<F@Ab;;5 R@DNOT Ignoring new targets: 64.80 m. jjjjihhhh Bf f rf bf  K@]-=]-=]-c(?]-F@E(% AE?IE9 IɚM5iIIIIQiQzKRIK9KK.)KHI I/$II|BI =&I.I9D6I-<:I3 Fi))DM9*Fe?2Fa:FaBFeP5JFa=Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]vB O > ) I) 98w,6AZ @YZ@Z#9Z:>yZH`?`U?^?%$?R|?9?Uq?ɨZ @ZJ;Z"CyfBf#IInIn٢vl; vU=9z:Q z>x| ~G٣|y~ ~>  Nusing accuracyPremultiplier from config 59)? 5YI iYv™F@A ; ;5 %>@!J]J]J]1JYJ]}:J]9J]3JYJ];J];J];%;J];%;B*** querying acoustic contact ***jjDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfL@]a]a]a]e F@# 隭)?I9 ɚ5iIIii))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.Dm;9*F ?2F :F BF 1JF = Will construct direction to contact in vehicle frame from tetrahedron phase data.E ,DAT read: user:3650> E BDAT read: Tx time:00:08:47.0078 M $Ping request sent.M 8w,oA 0I0bL @Ybk@b%j 9bP;>ybH@.i ?`;?`xż? ? +D?@%q?ɨbL @b{;b%Cyn Bn#I)p pIzIz%٢" 5=9:Q >    G٣ y[ > Nusing accuracyPremultiplier from config%59h%?%5Y< iXv™!%LF@-A2E::51 5@1eDNOT Ignoring new targets: 64.80 m. jajajajaiahihihqhqfqfqrfqbf}YKL@]]]]LF@%j 隭>I9 ɚ6iIIii)i)y2D*D=Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:00:08:47.0070 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251703Dm\9ZHRHAAHI I)$IIwBI =&I.I6I<:I FzK&~JKKK/)K%(&$! *F ?2F :F! BF% 1JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505216G- ]vBQ Ou >9w,,A~ @Y~=@~c9~N A>y~H Ito??d@qƽ?4??@h?ɨ~ @~;|y B #IMb@Mb@Mb@ )Y/$?/$?~jtxy,==Ļ A j@)@Ip@y @IwIr٢ -=9 :Q > G٣y >  Nusing accuracyPremultiplier from config 59 !?5Y  i Rv™= </A  )I) _; ; ǣ51 =b@9eDNOT Ignoring new targets: 64.80 m. jajajajaiahihihihmڃBfqfqrfqbfuL@]=]=] ?] >b@c 隵{?Ib9 ɚ6iII9i9i9)A)AD*F?2F:FBFO0JF"G?G?-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755973G B O > 9w,,AR+ @YRJ@R9R>>yRHW$5s*??@v? ??l?ɨR+ @R94;R"CyZ BZ#IIbIb$٢j] = j`=9n:Q n>pp rG٣pyrg ; r> zNusing accuracyPremultiplier from configtz59vS?z5Yv ivNv™|~/~Atv;vV;v_5  @ =DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9hAhAhAhAfIfIrfIbfMrL@]i]i]i]m0Jb@ 隅?I9 ɚ56iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007627D9*F-?2F):F)BF-P0JF) )I)J5J5J1J1J5-:J5*9J1J1a]@a]@a]@a]@GnBOM >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M T?M X?M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259047Ha Ia  Ie $IIe mBIe  =&Ia .Ie :D6Ie 3<:Ie 9 FBI%̢CJI%̢CRI!ZI% =bI% =jI%69w,VFAzK.- @Y>L@>59><>y>Hd%@jv V?K?a@K?@?j?p?ɨ>- @>Z";>!CyJBJ#IiNR=IN>PRAMb@Mb@Mb@ )Y rh?ˡE? G٣y 9 > Nusing accuracyPremultiplier from config59d?5Y} iKv™=<5+A;;I5 u@DNOT Ignoring new targets: 64.80 m. jjjjihhhhɃBf!f!rf!bf%@]L@]E=]E=]E!?]E%f@5 )?I^9 ɚ%6iIIii)) }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510829D|9 I*F?2F:FBFJFG ]vB O >J9w,bA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762900y~B~#II I ٢%Wm %J=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E59=?E5Y= i=Hv™IIMA=3E=:=\:= 5Q U5@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf`/"M@]]]] )?I9 ɚ.6iIIii))Dx9*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015188 I II G >bB O >DF9w,{AF2 @YF0@F!9F4;>yFHW.z?`.?`[@s?u?%B? :s?ɨF2 @Fډ;F$CyNBR#IIZIZ)٢^< bQ=9b8dd fG٣dyfk j>*J%C="J%p=JK3 K.KK"KJ=J=J9J9J=̈́:J= 9J9J9 Nusing accuracyPremultiplier from config59?5YY iEv™+=A<T<5y @-DNOT Ignoring new targets: 64.80 m. j)j)UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266950j)jYiYhYhYhahafafarfibfm]M@]]]]Rf@! ?I9 ɚm96iII ii))jHAbHAHIII IM$IIMcBIM =&II.II6IMP<:IMO FzK]LK]9KYK]1)K]D9*F 2F :F BF O0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518826 Q IQ G ]vB O >-%9w,"AB,T @YB*s@B9BD;>yBH`Ya?J?`0 ۘ?`v?kD?s?ɨB,T @B.!;B"CyJBJ#I%Mb@Mb@Mb@!!! !)!Y%~jt?EԸ?~jthy%<%=%D! %=@)!I%C@!y%@I=I=W٢MaW U,=9U{t;Q U>YY ]G٣Yy]o ]> mNusing accuracyPremultiplier from configam59e?u5Ye  ie>v™u=u-9w,ABr @YBq0@B9Bw:> N8$?ILyBHz@??@c? }??;? nt?ɨBr @Ba-;B$CyVBV#II^I^۳٢f< j8=9jc;Q j>ll nG٣lyn> n> rNusing accuracyPremultiplier from configpz59r?~5Yr ir7v™|~~Ar4ErN;rO;rǮ5 @ 5DNOT Ignoring new targets: 64.80 m. j1j1j1j9i9h9h9h9hAfAfArfAbfE M@]i]i]i]m{r@ 隅!?I9 ɚN6iIIii))D9JJJ0JJ}:J:Jـ3J*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275136HT>IC I$IIYBI =&I.I6I<:I FGBO >zK BoIK k9K K 2)K  )7863/()$! 39w,XA2h @Y2g@2692D:>y2H w,?x?n@Ƚ?`E?`x:? t?ɨ2h @2;2#CyFBJ#I}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 79.4 m (Round-trip 105.9 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.yy}̞ByMb@Mb@Mb@ )Y~jt?|?5^?Mb`?y=; A )I-@y@II٢ <=9G;Q > G٣y > Nusing accuracyPremultiplier from config59 ?5Yr i-v™=;.A3;o;5 @UE% addTargetRange:: Added new target pos. range: 79.400002 m, deltaT: 59.987942 s, deltaX: 3.599998 m, approachRate: 0.060012 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 64.80 m. j)j1j9j9i9hAhAhIhMBfYfYrfeS@bfe9?]=]=]w?]Hr@56 9=#?I=9 9ɚ=X6i9I9IAiAiI)I)q I ! U)=YQyUS6BDA*F2F:FBFo0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >:9w,7AVڎ @YV٭@VpԼ9VB;>yVH`1??T@ ?ɞ?D?@t?ɨVڎ @V湉;V$CyfBf#IInIn۳٢v;= vY=9zy;Q z>xx ~G٣|y~'C ~>  Nusing accuracyPremultiplier from config 59t ? 5Y i%v™}A::Q5! %@!UDNOT Ignoring new targets: 64.80 m. jQjQjQjYiYhYhYhahafafarfabfm !?]]]]Mr@pԼ 隥'?Ip9 ɚc6iIIii))D-9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JF IGBO >J J J 2J J ]:J :J c3J E Will construct direction to contact in vehicle frame from tetrahedron phase data.M =M =A@9w,AAynBn#ImMb@Mb@Mb@iii i)iYmMb??~jtx?ym=m=m;mA i)m@ImC@iym@IIZHRH?AHU>IC I#IISBI =&I.I;D6I@<:IJ F٢% ==9Q > G٣y > Nusing accuracyPremultiplier from config59:?5Y iv™a=;'A5E;;35 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfD?]a=]a=]k?]>j@) IM?IU9 QɚUm6iQIQIYiYiY)Y)azKm .MKm9KiKm3)Km DI*F?2F:FBF?5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I G B O5 >:#G9w,A2+ @Y2J@2Aü92O;>y2H _|zC?ĸ?1@?g?@F? u?ɨ2+ @2♈;0y>B>#IIJIJ۳٢R< R_=9R;Q R>TT VG٣TyZ Z> bNusing accuracyPremultiplier from configXb59Zy?f5YZ iZv™dfL(fAXZ5;Z:Zε5h j@Q}DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf!?]]]]i@ Aü 5!?I59 1ɚ5hw6i9I9I9iAiA)A)AWill construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBFO0JFGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.ILM9w,7A I>| @Y>{6@>Q9>:>y>H~uKj?@O?+V?@:?u;?`u?ɨ>| @>nև;>%CyFBF#IIRIRԳ٢Z< ZI=9Z:Q Z>\\ ^G٣\yb$I b> fNusing accuracyPremultiplier from configdj59fl?j5Yf ifv™hjb(nAdfa:fT;f5t v>@tDNOT Ignoring new targets: 64.80 m. jjjjihhh!h!f!f!rf)bf-j?]]]]3i@Q 8$?I49 ɚڀ6iIIii))DF9E p>E )>-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFJFHT>IC III =&I.I:D6I<:I+ FzK KK u9K K 4)K G B O5 >[&T9w,gQAy B#IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ykt?EԸ?99 =G٣9yE E> MNusing accuracyPremultiplier from configIU59M?U5YM! iMu™U=];]/]AM6EM ;M);M5a e@aDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfm@]=]=]֦?]`b@  (?Iw9 ɚj6iI 9I9I9iAiA)A)AJJJ0JJ :J9Jـ3JJS;a JT;aJ1;aJ1;aDM 9M Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF 3JF G B O >[9w,anA6/ @Y6.@6K96{:>y6H_1d .??^?@?7?v?ɨ6/ @6 };6#Cy> B<IFIF<٢n rG=9r^ ;Q r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from config|59~?5Y~ i~u™/ A|~7:~X:~U5 @=DNOT Ignoring new targets: 64.80 m. j9j9jAjAiAhAhAhIhIfQfQrfYbf]B@]y]y]y]}DPb@K 隕(?I9 ɚ‹6iIIii))DT9-Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFe_0JFa IGnBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga9w,%AjH<bH4=HX>IC I $II^BI =&I.I;D6IN<:IT FBI=CJI=CRI9ZI= =bI= =jI=fD6J\ @YJ[@Jݷ9J!;>yJH9Vm@?? }?`#?sA?u?ɨJ\ @J;J"CyVBV#IiZ G٣ym > MNusing accuracyPremultiplier from configAm59E ?m5YE iEu™u==u;uI9uAE7EE;E;Ek5y }@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf @]==]==]٬?]X@ݷ +?Ik9 ɚ6iIIii))BD M?:D 6?EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEA IDU>9Ea*F 2F :F BF O0JF G  G rAJ J J 1J J J b9J 3J J J J 0.;J 1.; Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]vBO5> i9w,AA2! @Y2 @2M92:>y2H QQsN?C?@w?2I?5? v?ɨ2! @2;2$Cy>BB#IIJIJ٢R = RP=9R GQ R>TT VG٣TyZ- Z> ^Nusing accuracyPremultiplier from config\b59^s?f5Y^1 i^u™dfU9fA\^1.;^d.;^5| ~8@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrf bf-@ @]]]]]X@M .?I9 ɚ`6iIIi i ) ) uWill construct direction to contact in vehicle frame from tetrahedron phase data.D,9 I*F- ?2F) :F) BF) JF1 J J @AGM MlB O5>p9w,AvWill construct direction to contact in vehicle frame from tetrahedron phase data.y#IH]Y>IY I]$II]cBI] =&IY.IY6I]!<:I]5 FMb@Mb@Mb@ )Y/$?RQ?I +?y==94< A @)@I@y@II٢ =9%Q %>!) -G٣)y- 5> =Nusing accuracyPremultiplier from config1=595톜?E5Y5U i5u™EW>E;EDEA15V;5U;5|5]7B ]5@]XEDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf@]W>]W>]'X?]N@ .?I~9 ɚ}6iIIii))zK%rMK%9K!K%6)K%D-M9Will construct direction to contact in vehicle frame from tetrahedron phase data. 7$?I *F 2F :F BF JF G ]vB JJJ0JJJ9Jـ3JJJJ3;J3;O5>sx9w,5AB9{ @YB8@Bȼ9BJ8;>yBH ?`9?0?P?? C?@ u?ɨB9{ @B8y;B#CyNBN#IIVIV٢^5= ^S=9bQ b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr59n醜?v5Ynm inu™tvGDvAn8En ;n';n.5| ~@|%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h)h) Will construct direction to contact in vehicle frame from tetrahedron phase data.hhffrfbfn(@]Y]Y]Y]]M@ȼ 隵z2?I9 ɚN6iIIii))2D*DDm_9EqEurA*F 2F :F BF P0JF "G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. I G! B1 OM >~9w,VA6i @Y6@6*μ96h;>y6H 9@ S?`?7`t? ڙ?I?t?ɨ6i @6QX;6"Cy> B>#IIFIF<٢j,< n:=9nJߺQ n>pp rG٣pyr! r> zNusing accuracyPremultiplier from configtz59v*农?~5Yv ivu™|~WD~Atv;v:v5 o@ =DNOT Ignoring new targets: 64.80 m. j9jAjAjAiAhAhAhIhIfQfQrfQbfU1@]q]q]q]u*M@*μ 隍G4?I: ɚ6iIIii))Dm95Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FiBFm0JFiHW>I I"$IIrBI =&I.I6Ik<:Ii FzKBHK9KK7)KGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.9w,xBA)( ( @I@p|) ]#YYy]Bq @Y@ڼ9MQ;>yH Q<@q?^? 4?@Y?F?@rt?ɨq @P=;騅&Cyi=I Mb@Mb@Mb@    ) Y kt?RQ?99 =G٣9yEÆ: E> MNusing accuracyPremultiplier from configAU59E?U5YE iEu™U>U;UD]AE9EE|;E;E05a aaDNOT Ignoring new targets: 64.80 m. jjjjihhhhɃBffrfbf`@]>]>]U?]a.M@ڼ +?I9 ɚܮ6iIIiiA)I)IJJJJJ:Ju9JJJ;J;J/;J/;MWill construct direction to contact in vehicle frame from tetrahedron phase data.Dm9*F% ?2F! :F! BF% P0JF) GIBaO}>=Ɍ9w,5A:Will construct direction to contact in vehicle frame from tetrahedron phase data.6-g @Y6,@696 ;>y6H8`@???? +N?@s?ɨ6-g @6G;6!CyB$BF#IININ٢V; V<9ZNQ Z>X\ ^G٣\y^kԺ ^> bNusing accuracyPremultiplier from config`-59bۆ?-5Yb ibu™15D5A`bgIe C Ie )$IIe wBIe  =&Ia .Ie :D6Ie L<:Ie O FzK BoIK 9K K 8)K G B O5 >!9w,PUQABn @YB@B9B/;>yBH`:??@@n?>3?@A?t?ɨBn @B;B"CyN!BN#I%Mb@Mb@Mb@!!! !)!Y%Zd;O?MbX?~jtx?y%j=%=%;% A !)%@I%C@!y%@I5I5?٢Mn7 M4=9U_Q U>QQ UG٣Yy]: ]> eNusing accuracyPremultiplier from configau59eֆ?u5Ye͵ ieu™ >;EAe:Ee;e ;e5 b@eDNOT Ignoring new targets: 64.80 m. jijijijiiihihihqhuكBfqfyrfybfi1@Will construct direction to contact in vehicle frame from tetrahedron phase data.] >] >]pR?]L@ #?I59 ɚ6i9I9I9iAiA)A)A qIqD}9*F ?2F :F BF JF M Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ Ba O} >9w,MmA6 [ @Y6 z@6A96z;>y6H 3 2??|{?b~?`K?Es?ɨ6 [ @66;6$CyJBJ#I)L LIVIVn٢^- bA=9b`CQ b>`d fG٣dyf9 f> nNusing accuracyPremultiplier from confighn59j1҆?r5Yj ijvu™prErAhjL:jL:j5t z@xDNOT Ignoring new targets: 64.80 m. jjjjihhhhf f rfbf@@]Y]Y]Y]]uL@A 隕V ?I9 ɚ)6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. AIADi*F ?2F :F BF _0JF *J R="J R=J J J J J }:J :J J a @a @a @a @U Will construct direction to contact in vehicle frame from tetrahedron phase data.G) He S>Ia  Ie /$IIe |BIe  =&Ia .Ia 6Ie 7<:Ie ? FB O >n9w,4AzDJ @YzCi@z$ 9z;>yzH{-O`,?b ?b`?c? Q?@r?ɨzDJ @z>;z#Cy B #IMb@Mb@Mb@ )YʡE?Cl?~jtx?y=;=A @)I@y3@IIW٢%i< %&=9-ջQ ->)) -G٣)y5Z 5> =Nusing accuracyPremultiplier from config9M59=̆?M5Y=2 i=hu™M>M;U=UA=;E=T;=S;=5Y ]@e[EDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf@4@]>]>]t?]yU@$ 33?I9 ɚ46iIIii))zKK89KK9)KRK?JK>D9*Fa2Fi:FiBFm4JFqEWill construct direction to contact in vehicle frame from tetrahedron phase data. 6$?IG B O >嘨9w,9AJS @YJr@JH49J=;>yJH`N0`b N??`@?`e?@B?:r?ɨJS @Jŋ;J"CyZBZ#IIbIbƳ٢jl jc=9jIJQ j>ll nG٣lyr : r> vNusing accuracyPremultiplier from configtz59vȆ?z5Yvn iv]u™xz<~AtvH:v ;vv5 @5DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h9hAhAhAfAfIrfIbfM4@]i]i]i]mA/U@}H4 y隅M1?I: ɚ~6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F?2F:FBF4JFGBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ I ɮ9w,A:D @Y:c@:-9:;>y:H*@?@ ?Q1C?\A?UM?@7q?ɨ:D @:5;:#CyFBF#IiJ=IJ<ININk٢Vq< ZL=9Z숻Q ^>\\ ^G٣\ybT b> fNusing accuracyPremultiplier from configdj59fĆ?j5Yf ifQu™hn<nAdf ;f ;f75p r|@pDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@]]]]$U@- 3?I: ɚL6iII i i))JmJmJm1JiJm:Jm:Jm3JiWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I5$IIBI&I.I6I:<:I@ FBIaJIaRIaZIe =bIe =jIe6Dm9*F2F:FBFP5JFzK BHK 9K K :)K BK qA:K G5 nU Will construct direction to contact in vehicle frame from tetrahedron phase data.BY Ou >dµ9w, (A I:FF @Y:De@:!9:;>y:H*@`A?` ?@1@3ܺ?3?=?@Uq?ɨ:FF @:;:$CyBBB#I-Mb@Mb@Mb@))) )))Y-p= ף?!rh?y&1|?y-=-l=-`;-~A -@)-@I--@)y)IEIE٢ , 7=90Q > G٣yt9 > Nusing accuracyPremultiplier from config 59 ?5Y  i Du™>;6A ]M>]M>?]M8[@! 隅33?I^9 ɚN6iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.DE9*F ?2F :F BF R5JF G]vB)OE>9w,A61 @Y6P@6+(96[;>y6H#݊? ? ??E? |p?ɨ61 @6,;6#Cy@B#IIHIH٢Rh2; R?=9VlQ V>XX ^G٣\y^= ^> bNusing accuracyPremultiplier from config`f59b?j5Yb ib7u™hj6jA`b;b;b 5l r@pzWill construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihh!h!h!f!f)rf) 9I9bf=@)!@]Y]Y]Y]])[@+( 3?I: ɚ6iIIii))D*F}?2Fy:FyBF}P0JFyJuJuJu0JqJu:Ju&:Juـ3JqWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOE >ZH RH AAH U>I  I I I  =&I .I 6I ,<:I 9 F/9w,AyB%#I)) )Mb@Mb@Mb@ )YJ +?V-?~jtx?yH==;A @zK K 89K K ;)K )x@I@y=@I%I%k٢5a 54=9=Q =>99 =G٣AyE E> MNusing accuracyPremultiplier from configI]59MY?]5YM iM)u™]>];e.eAM=EMB;M7@;M5i m@iDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbft"@]>]>]4?]s4c@ :?I: ɚ56iIIii)) Will construct direction to contact in vehicle frame from tetrahedron phase data. 9I9D9*F1 2F1 :F9 BFE 3JFA  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm nB O >9w,],A6 @Y6)@6`496nN;>y6HP?@? |?쓦?@B?o?ɨ6 @6P;6$CyJ#BJ#IIRIR%٢Z5= ZN=9ZQ ^>`` bG٣`yfû f> MNusing accuracyPremultiplier from configtU59v?U5Yv ivu™Y]/]Atv,l]9w,FAWill construct direction to contact in vehicle frame from tetrahedron phase data.=4=HIC III =&I.I;D6I:<:IF F @Y@^;9S;>yH #)G?%?蝹?6a?@B?n?ɨ @s;騁yޕ(Bޝ#I}Mb@Mb@Mb@yyy y)yY}{Gz?i|?5?:v?y}#=}=}T G٣yD7 > Nusing accuracyPremultiplier from config59?5YV i u™G>;^*A>E;;56B @^EDNOT Ignoring new targets: 64.80 m. jjj j i h h hhBffrfbf;#@]=G>]=G>]=f:?]=g@M^; IM:?IM9 ɚ6iIIii))zKBHK9KK<)K  "'$!    IWill construct direction to contact in vehicle frame from tetrahedron phase data. c~G5 vAA D] 9 u !Y} vAy} OB*F ?2F :F BF 3JF GBO>:-9w,_}fA: @Y:@:< B9:7;>y:H :Рo?+?mA?5??@>?mn?ɨ: @:;:"CyJ)BJ#IIRIR ٢^; ^L=9^ϊQ ^>`` bG٣`yf1 f> jNusing accuracyPremultiplier from confighn59jm?n5Yj ijt™lrg*rAhj:j:j5t v@tDNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h!h)h)f)f1rf1bf5`/$@MWill construct direction to contact in vehicle frame from tetrahedron phase data.]Y]Y]Y]]ͷg@}< B 隅a;?I5: ɚ6iIIii))D*Fe?2Fa:FaBFmP0JFi IWill construct direction to contact in vehicle frame from tetrahedron phase data.G MlB O > 9w,8A2 @Y2@2HVG92h;>y2H?C8?]?D? D?m?ɨ2 @21ې;0yR3BR#IIZIZ٢>= G=9MQ  >    G٣ yG > %Nusing accuracyPremultiplier from config%59?-5Y it™)-*-A::51 57@9eDNOT Ignoring new targets: 64.80 m. jajajajaiihihihqhqfyfyrfybf}@~%@]]]]vg@HVG 隽H@?I: ɚ6iIIii))BD:?:DN?JJJ1JJJJ3JD}Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFg0JFjHbH4<HT>IC IB$IIBI =&I.I:D6I<:I FG]vBO >zKM d7MKM 89KI KM =)KM   5$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.;9w,!Ay=6B=#IMb@Mb@Mb@ )Y/$?&1?Mb?y,==< @)5@I-@y@II@ ٢ h<  :=9Q > %G٣!y- 5> ENusing accuracyPremultiplier from configAM59E ?M5YE iEt™UF=U;U.]AE?EEZ;E[;Es5a e@iDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfxa&@]F=]F=]q?]Kc@ @?I: ɚ7iIIii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9EEsA*F ?2F :F BF P0JF "G ?G ?G B O >>39w,]A6 @Y6@6]S96C;>y6H-l?@K?fG?@fw?(??l?ɨ6 @6;6$CyBBBB#I)D DININW٢Va= VG=9V \I\Q ^>`` bG٣`yb f> jNusing accuracyPremultiplier from configdn59fʠ?n5Yfu ift™ln.nAdf;f;f=5t vJ@tDNOT Ignoring new targets: 64.80 m. jjjjih!h!h!h!f)f)5Will construct direction to contact in vehicle frame from tetrahedron phase data.rf9bf=3'@]Y]Y]Y]]%c@]S E?IU: ɚ7iIIii))Dm09JAAJAA*F ?2F :FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.He P>Ie C Ie T$IIe BIe # =&Ia .Ie 9D6Ie !<:Ie & FGi Bq O >99w,(ABo @YB@BDY9B:>yBH<?`S?`?U%?3? l?ɨBo @B_;@yNNBN#I]Mb@Mb@Mb@YYY Y)YY]kt?kt?~jt?y] 0=] =]<]hA Y)]K@IYYy]=@IuIu٢]= :=9EQ > G٣y%c > Nusing accuracyPremultiplier from config59?5Y̻ it™=<4A;;'5 @zKezKKk9KK>)K <C)RdkBKrA:KDNOT Ignoring new targets: 64.80 m. jjjjihhhh؃Bffrfbf`!(@]=]=] ?]W^@-DY )-:?I5: 1ɚ57i1I1I9i9i9)9)A qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.DB9Ju Ju Ju 0Jq Ju :Ju 9Ju ـ3Jq Ju k;a Ju l;a Ju %7;a Ju %7;a *F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOe>l9w,:AZ8 @YZW@Zd9Z+:>yZH I?@f?`@C?? m.?k?ɨZ8 @Z3M;XyfVBf$IInInͳ٢v = v5=9vɻQ v>x| ~G٣|y~ ~> Nusing accuracyPremultiplier from config 59T?5Y$ it™!%64%A@E+;E; 5) -@1]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhahahahafifirfibfm@(@]]]]]@d 隵>?I9: ɚ 7iIIii)) AIIWill construct direction to contact in vehicle frame from tetrahedron phase data.DUb9EYE]>*F?2F:FBFd0JFG GG- MlB9 O] >>X:w, A*Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHHRHJ?AHRL>IRC IRm$IIRBIR =&IP.IP6IR<:IR FBIJIRICZIbI =jI6 , @Y +6@ j9 ';>y H@ Bt?q?Ġ@?`O??7?j?ɨ , @ f; !Cy^B $Ii G٣y >  Nusing accuracyPremultiplier from config 59 Ö?5Y < i t™=<C%A  $; @#; T5) -@)DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf*@]}=]}=]}^a?]}CN@j :?I9 ɚ%o 7i!I!IIiQiQ)Q)QzKmNK9KK?)Kkku{p]F) o_PC5&}wnf_WPI?6 )I)D5P9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF~0JFGe ]vJi Jm Jm 1Ji Ji Jm :Jm 3Ji Jm l;Jm m;Jm L;Jm L;B O >~/ :w,&A2 @Y2@2#o92:>y2H C?@y? ?E?`,?\j?ɨ2 @2Џ;2$CyfjBf$IInIn٢v:= vj=9vyQ z>xx zG٣|y >  Nusing accuracyPremultiplier from config 59 I?5Y L i t™CA  : : 5! -@)]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhahahihifqfqrfqbf}*@]]]]M5N@#o @?I$: ɚ%7iIIii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.D]9*F?2F:FBF@5JF IG5 nBA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. :w,6@A2G@Y2F@2wt92;>y2H ??@ Ce?$?-7?@Ai?ɨ2G@2;;2#Cy>kB>$IIJIJ٢N< RQ=9RWQ R>TT VG٣TyVo Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ] iZ|t™`bDbAZAEZ ;Z ;Z5d j@hDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf +@]]]]N@wt A?IP: ɚ57iIIii))D5q9E9*F2F:FBFO0JF"G?G?uWill construct direction to contact in vehicle frame from tetrahedron phase data.HK>I I$IIȅBI =&I.I6I<:I FG- ]vB9 OQ I zK ZOK k9K K @)K 30,,($!  7:w,<ZA2@Y2@2Syy92D5;>y2HN?q?k@!?;*?K:?h?ɨ2@2;2$Cy:oB:$I)@ @bWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y 㥛 ??I +?y = L=  ~A @) 5@I @ y @I=I=٢< 8=9c&Q > G٣y%Ê %> -Nusing accuracyPremultiplier from config)559-f?U5Y-& i-kt™]=]<]$;@]A)-;-;-5a ek@eaEDNOT Ignoring new targets: 64.80 m. jjjjihhh!h%Bf!f!rf!bf-i,@]e=]e=]e?]ed$;@Syy 0?I9 ɚ47iIIii))JJJJJJ9JJJJJ3;J3;uWill construct direction to contact in vehicle frame from tetrahedron phase data.D}9*F% ?2F! :F! BF% R5JF! GIBYOu>Qp:w,]xA ,I0>@Y>@>~9>U:>y>H 6?`M?ʃ3е?ү?0?Rh?ɨ>@>=W;pp rG٣pyr v> zNusing accuracyPremultiplier from configt~59vg?~5Yv iv\t™|~;@~Atv;vA;vm5  @ Will construct direction to contact in vehicle frame from tetrahedron phase data.DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf"G-@]]]]_;@~ W5?I: ɚ57iIIii)) D*F! 2F! :F! BF% P5JF! jHE <bHA u Will construct direction to contact in vehicle frame from tetrahedron phase data.HQ IU C IU $IIU ݅BIU " =&IQ .IQ 6IU #<:IU $ FGa Bq O >E$:w,˔A>@Y>@>V9>9;>y>HL ? ?`v?? :?g?ɨ>@>V;>"CyJ|BJ0$I%Mb@Mb@Mb@!!! !)!Y%ˡE?V-? G٣y˰ > Nusing accuracyPremultiplier from config59x?5Yu iNt™=<!*@A) 94;;w5 I~GzK5MK9KKA)KRK>JK?vA @ YvAyVB=DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9hahahahmBfifirfibfmD.@Will construct direction to contact in vehicle frame from tetrahedron phase data.]=]=]] >]x!*@V 0?Ir9 ɚ<7iIIii))DM9EYEYJJJJJJ:JJJk;Jl;JC;JC;*F ?2F :F BF Q5JF 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GyBO>J,:w,AN}@YN@N9N-:>yNH`( %?N?sU?`?-?g?ɨN}@N;LyZBZ8$IIbIbW٢j< j2=9j'Q n>ll rG٣pyr6ͺ v> zNusing accuracyPremultiplier from configx~59z?~5Yz izAt™|~*@~AzBEzz:z:zx5  .@ 5DNOT Ignoring new targets: 64.80 m. j1j9j9j9i9h9h9hAhAfAfArfAbfM/@]q]q]q]u"*@ 隅3?I: ɚ7iIIii))BDW?:DU? 4$?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.D-9*F?2F:FBF5JFH I  I $II BI # =&I .I 6I <:I  F Will construct direction to contact in vehicle frame from tetrahedron phase data. < <G B O- >*-3:w,RAB@Ya@3݅9(;>yH n U??[`o??7?`Yf?ɨB@d;;騙y޵B޵<$IEMb@Mb@Mb@AAA A)AYEkt?qy }G٣yy}V }> Nusing accuracyPremultiplier from config59?5YZ i7t™=<!@A&;a;5 @MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhIhQhQhQfYfrfbfc 0@]=]=]FS>]X!@3݅ %5?I%?9 !ɚ%R"7i!I!I)i)i))))1 IzK:KKC9KKB)KBKqA:KqAUWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*FQ 2FY :FY BF] P5JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data.GyBO?];:w,g_A>%@Y>D@>9>N;>y>Hd*)i??VPִ?@P۰?`;? e?ɨ>%@>B; G٣y%U %> -Nusing accuracyPremultiplier from config)559-?55Y-ǹ i-.t™9=!@=A)- ;- ;-5A E@AuDNOT Ignoring new targets: 64.80 m. jqjqjyjyiyhyhyhhffrfbf`dx0@]]]]!@ 隽0?II: ɚ'%7iIIii)) !I!D59Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF5JFJ J J 2J J M:J :J c3J a- @a- @a- @a- @G1 B9 O] >FA:w,CAy%wB-)$I ====IEIE٢u]Ǽ uD=9}Q }>yy }G٣yy > Nusing accuracyPremultiplier from config59}?5Y; i%t™ACEP::V5 @ZHRH@AHM>IC I$IIBI =&I.I6I<:I FDNOT Ignoring new targets: 64.80 m. jjjjihhhhff rf bf J0@])])])])A AMWill construct direction to contact in vehicle frame from tetrahedron phase data.UB.?IU: QɚU'7iQIQIYiYiY)Y)a2Di*DiD9 I*F!2F):F)BF-O0JF)zK BoIK k9K K C)K RK ?JK ? Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B1 OQ H:w,"A2@Y2@2o92";>y2HL{@8x??@`?`?`5?e?ɨ2@2;0y:pB:!$IMb@Mb@Mb@ )Y+?~jt?Mb?y=<< A )Ip@y@I5I5٢=  EN=9EvQ E>II MG٣Iyz > Nusing accuracyPremultiplier from config59E{?5Y¸ it™:=$<$@A;;)5) 5T@1DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf`gS1@]]:=]]:=]]t>]]$@o 隥.?I`: ɚ*7iIIii))]Will construct direction to contact in vehicle frame from tetrahedron phase data.De9Ei*F 2F :F BF JF G  G I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G%MlB1OU>P:w, @AF@YF@F9F;>yFH%=WOl? r? 1W?@?wA?ke?ɨF@F ;F%CyNlBR$IIZIZ٢bu b4=9bN9Q f>dd fG٣dyj4˻ j> nNusing accuracyPremultiplier from configlr59nx?r5YnC int™tv#@vAlnP ;n ;n 5x z@x-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i1h1h1h1h1f9f9rf9bf=@1@]]]]#@ +?I: ɚ-7iIIAiAiA)A)IJJJ0JJ-:J :Jـ3JHL>I I$IIBI =&I.I6IG<:ID FBIŢCJIšCRIœCZI =bI =jIo6mWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*F?2F:FBFJF PExceeded connect timeout, disconnecting. I G B O% >aV:w,[A6'@Y6&@6U96;>y6HW4`uX??( E]??2?f?ɨ6'@69;6"CyB[BB$IiJ=IJ4=LLzKjBHKj-9KhKjD)KjBKl:KnrAzWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YMb?y&1?y&1|?y=`<`;A )I@y@II<٢} /=9Q > G٣yR > Nusing accuracyPremultiplier from config59ev?5Y it™ȏ==</@A3;M;5  @ 5DNOT Ignoring new targets: 64.80 m. j1j1j1j9i9h9h9h9hEBfAfArfAbfE32@]eȏ=]eȏ=]eu'>]e/@}U y}0?I}: yɚ}07iyIIii))D 9*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G nB O >]:w,xvA IyHB%#II5I5W٢E峽 EJ=9EQ E>II MG٣IyU U> eNusing accuracyPremultiplier from configYe59]@t?m5Y] i]t™iquA]DE]!;]H!;]5y }@yDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfܛ2@]]]] '?I: ɚ737iIIii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.Du9*F2F :F BF Q0JF "G?G?JJJ1JJm:J9J3JjH] <bH] 4=He J>Ie C Ie $IIe ݅BIe ! =&Ia .Ia 6Ie g<:Ie V F Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O 1Jd:w,&ALP@YKo@D79#;>yHt? ? I?ð?`f6?`If?ɨLP@;騭#Cy޽BB޽#I}Mb@Mb@Mb@yyy y)yY}A`"?J +?{Gz?y}Y=}H=}#<}~A y)yI}@yy}@II٢ nManaging dock network, ignoring radio surface power off .=9:Q > G٣y) > Nusing accuracyPremultiplier from config59q?5Y is™<=6<?D@A;;5 A@ DNOT Ignoring new targets: 64.80 m. j jjjihhhhBffrf!bf- 3@]E<=]E<=]E#??]E?D@]D7 Y].?I]9 iIi Yɚm/67iiIiIqiqiq)q)yWill construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK K K E)K D-9*F?2F:FBFV0JFG ]vB O- >j:w,IA.Will construct direction to contact in vehicle frame from tetrahedron phase data.B@YB:@Bi9B;>yBH`6y~?I ?`@Y?֏?B?@-f?ɨB@B8;B!Cyj3Bj#I)l nAIrIr³٢z˜ ~Y=9~ ;Q ~> G٣y(  > Nusing accuracyPremultiplier from config 59 Ro?5Y  i s™D@A   ; : 5-5B -&@5dE]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhYhahahafafirfibfmmt3@]]]]&D@i 隝&?Id: ɚ87iIIii))*F?2F:FBF[4JF yIyGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.q:w,jAJpJrJpJpJpJr9JpJpy%)B%#II5I5n٢EA EF=9EQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]l?e5Y]w i]s™aimAY]:]:]\5q u@yDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfi3@]]]] !?I9 ɚO;7iIIii))HI I$IIÅBI# =&I.I8D6IW<:IJ FuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF!5JFG GGBO> qIqH~GvA @!Y vAy B Will construct direction to contact in vehicle frame from tetrahedron phase data.zKu JKu 89Kq Ku F)Ku  '~ U"w{[B.  w:w,A>y@Y>w@>9>:g;>y>H@@k?I;? [?;?`|??`f?ɨ>y@>;>%CyJ#BJ#IMMb@Mb@Mb@III I)IYMl? rh?y&1?yM=MC=M`e G٣y4 > Nusing accuracyPremultiplier from config59[j?5Y is™=(<8AEE;;: 5 @MDNOT Ignoring new targets: 64.80 m. jIjQjYjYiahihihyh}ƒBfyfrfbf\M4@]=]=] G?][Y@ 0?I: ɚ5>7iIIii))*Fu?2Fy:FyBF}x4JFy]Will construct direction to contact in vehicle frame from tetrahedron phase data.e=aGnBO> A IA ~:w,#A6 @Y6@6,\96)";>y6H`[?I?@JIX?@?@M7?@g?ɨ6 @6(;6$CyRBR#IiVll nG٣lyru׻ r> vNusing accuracyPremultiplier from configtz59v*h?z5Yvٷ ivs™xz8~Atv: ;v ;v 5 @-DNOT Ignoring new targets: 64.80 m. j)j)j1j1i1h1h1h9h9f9f9rfAbfE'4@]a]a]a]e^0Y@},\ y}*?I}: ɚ@7iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FI2FI:FIBFMP0JFI*J"J4=GqByO~>HL>I Ig$IIBI =&I.I9D6IT<:IL F Will construct direction to contact in vehicle frame from tetrahedron phase data.:w, A5i@Y5@5|95O;>y5H@q^? [^?@x?`t?L?Hg?ɨ5i@5;5"CyM BM#I IMb@Mb@Mb@ )Y~jt?K?{Gz?y<^=ף<~A )IZ@y3@I-I-٢=Kb =5=9E ;Q E>II MG٣IyM U> ]Nusing accuracyPremultiplier from configQ]59UWe?e5YUf iUs™e=e *F?2F:FBFJFJk3Kk 3 KkL.KcKc"KcJ J J J J :J u9J J J Q;a% J R;a- J /;a- J /;a- G5 ]vBI Ou > ):w,J.A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:MB@Y:Ka@:~y9:;>y:H`M?`l?@MYu?*?@C?h?ɨ:MB@:/;:#CyRBR#IIZIZ٢bĽ bg=9f;Q f>dd fG٣hyj@޻ j> nNusing accuracyPremultiplier from configlr59nc?r5YnԸ ins™tv%vAln7:nn:nX5x z@x%DNOT Ignoring new targets: 64.80 m. j!j!j)j)i)h)h)h1h1f1f1rf1bf= w5@]Q]Q]Q]Ul@~y *?I: ɚOF7iIIii))*F?2F:FBF_0JF IGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.:w,}HA6@Y6<@6~v96;>y6HTsC?@x?fy?ˮ?@D?kh?ɨ6@6;6%CyFBF#I)H JAIRIR@ ٢V| ZL=9Z:Q Z>X\ ^GJ\J^BA٣`yb f> jNusing accuracyPremultiplier from configdj59f`?n5YfQ ifs™ln%nAfFEf ;f: ;f5t v@t%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h)h)h)f)f1rf1bf55@]y]y]y]}shl@~v 隕(?I]: ɚH7iIIii))H9I9 I=B$II=BI= =&I9.I96I=;<:I=9 FUWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JFGB 3$?IO> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BoIK C9K K H)K BK! :K! ;:w,bAyB #IMb@Mb@Mb@ )Y~jt?X9v?l?yD===A &@)x@Ip@y@I I <٢]Jü ]2=9eQ e>aa mG٣iym m> }Nusing accuracyPremultiplier from configy59}M\?5Y}ӹ i}s™>;1Ay};};}5 Y@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfS6@]>]>]?]RB`@! !%.?I%: )ɚ-K7i)I)I1i1i1)9)9JJJJJ<:J9JJJ;J;J8;J8;*F2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.GM nBQ Ou > I e:w,9b|A6@Y6@6Ңp96&;>y6H -%?h???@49?i?ɨ6@69;6$CyNBRw#III ٢F b=9S;Q >!! %G٣!y%1- -> 5Nusing accuracyPremultiplier from config)559-X?=5Y-9 i-ss™AE&2EA)->;-?;-5I M@Q}DNOT Ignoring new targets: 64.80 m. jyjyjyjyihhhhffrfbf 6@]]]]>_@Will construct direction to contact in vehicle frame from tetrahedron phase data.Ңp )?I: ɚcN7iIIii))*F?2F:FBFQ5JFGMljH5<bH5<H=J>I9 I=$II=mBI= =&I9.I96I=O<:I=H FBIǡCJIRIZI =bI =jI6ByO5 >m Will construct direction to contact in vehicle frame from tetrahedron phase data.S:w,WA YIYy ܄B j#Ii~A )Iy(@II٢3 -=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1=595T?E5Y5 i5Vs™Ek >E;E&EA5GE5[;5;55Q U@QDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf *7@]k >]k >]?]k@! )-+?I-9 )ɚ5ZQ7i1I1IAiIiI)I)IWill construct direction to contact in vehicle frame from tetrahedron phase data.zKK9KKI)KRK?JK>D% S9J J J 0J J J :J ـ3J J J J zE;J zE;*F ?2F :F BF _0JF } Will construct direction to contact in vehicle frame from tetrahedron phase data.G]vBO>Ȭ:w,A2h@Y2܇@2Dh92;>y2Hh!?@? hT@:? ?Q?~i?ɨ2h@2p<;2"Cy>ׄB>d#IIbIb٢nϼ rD=9r;Q v>xx zG٣xyzٍ z> Nusing accuracyPremultiplier from config|59~Q? 5Y~ i~;s™  ' A|~;~:;~5 @EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhIhIhIhIfQfQrfQbfU7@]y]y]y]} k@Dh 隍(?IH: ɚT7iIIii)) I*F=?2FA:FABFE?5JFA5Will construct direction to contact in vehicle frame from tetrahedron phase data.GaBiO|>JQ JU AAH I  I $II YBI  =&I .I 6I Q<:I B:w,RA6[@Y6z@6Rg96Z;>y6Hc`&?8? O{?@?\@?Yj?ɨ6[@6r.;4RWill construct direction to contact in vehicle frame from tetrahedron phase data.yVԄBV`#II\I\٢f` fM=9fq9Q f>hh jG٣hyvz v> ~Nusing accuracyPremultiplier from configx}59zM?}5YzS iz"s™"'AzHEzczK K K K J)K BK rA:K tAӹ:w,5AF6@YFU@Fe9FLr;>yFH@uV3/ ?`?A@?f?yC?zj?ɨF6@F;F%CyZ҄BZ^#IJ%J%J%1J!J%:J%:J%3J!J%;J%;J%C;J%C; Mb@Mb@Mb@    ) Y +? 94=  A ) I  y z@I%I%٢5  55=9=:Q =>99 EG٣AyEϢ E> MNusing accuracyPremultiplier from configIU59MH?U5YM iMs™]F>];]*]AIM;M;MF5a e-@iDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfn8@]F>]F>]5?]*rg@e (?I: !ɚ%Y7i!I!I)Will construct direction to contact in vehicle frame from tetrahedron phase data.ii))*FY2Fa:FaBFed2JFa IG- >bB9 OU >] Will construct direction to contact in vehicle frame from tetrahedron phase data.:w, A6"@Y6A@6 e96i;>y6HO n: ?k?k:A?@F?bB?j?ɨ6"@6;6#Cy`dInIn³9~9Q ~> G٣y ]  > Nusing accuracyPremultiplier from config59"E?%5Y ir™!%*%AIEDA;vA;5) 11]DNOT Ignoring new targets: 64.80 m. jYjYjYjYiYhahahahafifirfibfm78@]]]]!]g@ e 隩I: ɚ\7iIIii))*F12F1:F1BF5P0JF1ZHIRHIHUH>IQ IU#IIUIBIU! =&IQ.IU8D6IU2<:IU/ FWill construct direction to contact in vehicle frame from tetrahedron phase data.<=Gu]vBO~>)y I y M NGm vA Y vAy B @ !B:w,yA2@Y20@2d92;>y2HH@@^? ?4??zE?zj?ɨ2@2;2"CyRЄBR\#I-eonly read 2 of 4 data items for bottom velocity. Device response is::BS, +43, +42,A  e@e e@e e@e  e@e ImIm@ ٢} <9I9Q > G٣yE! > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59@?5Y_ ir‘+:;*A);>[5 G@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf [69@Will construct direction to contact in vehicle frame from tetrahedron phase data.=d 9=)(?I=: AɚE^7iAIAIIiIiI)I)I2DQ*DQBDY:DYzKK9KKK)KRK?JK?*Fe?2Fi:FiBFm\0JFiGMlBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.u :w,6A2@Y2@2b92a;>y2H:= vJ`?@?(@4?`HY?M?Wj?ɨ2@2~;2#CyLPIXIX٢b2 bW=9ba:Q b>dd fG٣dyjs j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59nJM JM JM 0JI JM :JM :JM ـ3JI aU @aU @aU @aU @HI II  IM #IIM ?BIM " =&II .II 6IM 8<:IM 4 F/:w,PA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:#@Y:!@:8d9:l;>y:H W=fJT? S?(?K? B?j?ɨ:#@::;:"CyB̄BFW#IININ٢V야 ZI=9Z{OQ Z>X\ ^G٣\ybٮ8 b> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from configdj59f8?j5Yf ifr‘n9ln5;n*nAdf{8;fԚ?fb 5p v@t-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=@9@e8d am)&?Im: iɚmc7iiIiIqiqiq)q)*F2F:FBF0JF 9IAWill construct direction to contact in vehicle frame from tetrahedron phase data.GmMlByO>zKE BoHKA KA KE L)KE BKI :KM rA:w,vjAR@YR@R Nc9R;>yRH2T?p?@T?`f?`EO?1j?ɨR@R;Py^΄B^Y#I u u uu u}  } } }Mb@Mb@Mb@yyy y)yY}Q?Pn?/$?y}\=}>},=}~A y)}b@I}@yy}(@II٢; >=9:Q > G٣y > Nusing accuracyPremultiplier from config594?5YK iqr‘T:x>;+A. ; ;C"5 p@}DNOT Ignoring new targets: 64.80 m. jjjjihhhhvBffrfbf r:@]x>]x>]O&?]Bg@- Nc QU+?IU: Qɚ]f7iYIYIaiaii)i)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF AIAG) B1 OU >E Will construct direction to contact in vehicle frame from tetrahedron phase data.: :w,qXA2@Y2@2ANd92p;>y2H50@U@?@?h??@bC?j?ɨ2@2-;2 CyNӄBN_#IIVIVd٢^< bY=9b^*Q b>dd fG٣dyfO j> =Nusing accuracyPremultiplier from confighE59j%1?E5Yj ijWr™IM+MAjKEj& ;jz;j#5Q U@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@:@]]]]g@ANd 9.?I: ɚki7iIIii))EV>E>*F?2F:FBF05JFGsA GJJJJJ:J:JJjHbHHG>IC III&I.I6I-<:I+ FWill construct direction to contact in vehicle frame from tetrahedron phase data.G]vBO> Q IY 1:w,,A6@Y6@6/d96;>y6H%@^#? B?f?0?`O?j?ɨ6@6&;6"CyRԄBR`#IuMb@Mb@Mb@qqq q)qYuV-?`"?/$?yu G٣y쁻 > Nusing accuracyPremultiplier from config59-?5Yw i;r™y>;$)A";< ;%54B @jEWill construct direction to contact in vehicle frame from tetrahedron phase data.i DNOT Ignoring new targets: 64.80 m. j jjjihhhhBf!f!rf!bf%`<;@]Ey>]Ey>]E?]ESh@U/d Y] ?I]?9 Yɚ]k7iYIYIaiaia)a)q*F?2F:FBF3JFzKMk3IKM9KIKMM)KM7EJJHFBCA?;:9:<5/-+'$$#$GB!O=> Will construct direction to contact in vehicle frame from tetrahedron phase data.[:w,A:Z@Y:X@:d9:W;>y:H" sb?e?tQG? 錬? 9@?j?ɨ:Z@:;:#CyFBFq#IININ%٢V= V[=9ZfQ Z>XX ^G٣\y^3ͺ ^> jNusing accuracyPremultiplier from configdj59fU*?n5Yf ntIif"r™ln,)rAfLEf;f$;fm'5t v.@t I-DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h1h1h9h9f9fArfAbfEǜ;@]i]i]i]m h@}d 隅?I: ɚCn7iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9E*Fu?2Fq:FqBFu?5JFy"G?G?J1 J5 J1 J1 J1 J5 :J1 J1 H I C I #II DBI ! =&I .I 6I <:I  FBIJIRIZI! =bI! =jIe5GY Bi O >C:w,*A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2=2%=:@Y:@::d9:;>y:H@.k@=#?l?7mC??G?tj?ɨ:@:;:"CyBu#III<٢MJq< MA=9U"}9Q U>QQ UG٣Qy]b e> mNusing accuracyPremultiplier from configam59e&?u5Ye ier™quI)uAae7:e:eG)5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfz<@]]]]h@:d q?I=: ɚp7iIIii) )  I*FI2FI:FIBFUO0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>zK FMK K K N)K    !m:w,#AZD@YZB@Zze9Z7;>yZHm?B?`B? ? 6?)k?ɨZD@Z N;XyfBf#IMb@Mb@Mb@ )YV-?Mb?+?y== A =@)@I@y@II٢%= %==9-Q ->)) -G٣)y5X 5> =Nusing accuracyPremultiplier from config9E59=#?E5Y= i=q™M=M;M-MA9=3;=o;=)+5Q ]@Y-DNOT Ignoring new targets: 64.80 m. j1j1j1j1i1h1h1h9h=Bf9f9rfAbfEQ|<@}Will construct direction to contact in vehicle frame from tetrahedron phase data.]=]=]&¢?]\d@ze )?I9 ɚ}s7iII!i!i!)I)I*F?2F:FBFP0JF IG B O- >% Will construct direction to contact in vehicle frame from tetrahedron phase data.U;w,A6o@Y6@6(e96Wi;>y6H @tu@)? ?@8?L?iB?`j?ɨ6o@6@;4yRBV#IIjIj٢z; z`=9~n`Q >   G٣y > Nusing accuracyPremultiplier from config59,!?5Yg iq™-Ae:":,5 @%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h)h)h)f)f1rfQbfU<@]]]]Bd@(e 隭?Im: ɚu7iIIii))JJJ1JJJ:J3JZHRHHI I#IINBI&I.I6I1<:I/ F*F2F:FBF`0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.GnBO > I ǁ;w,|A6$R@Y6"q@6Sd96o;>y6H @< ,? m?B ?@~?'C?j?ɨ6$R@6S;6#Cy^B^#I)` `eMb@Mb@Mb@aaa a)aYey&1?Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣y > %Nusing accuracyPremultiplier from config!-59%?-5Y% i%q™U*=U Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս <Ս < ;w,{N9A:@@Y:_@:bie9:;x;>y:Hg`3??!?U? 8D?wj?ɨ:@@:;8 DIDyJBJ#IIVIV٢^$i= bX=9b Q b>dd fG٣dyf@ j> nNusing accuracyPremultiplier from confighr59j?r5Yj ijq™pr<3rAhje ;jC ;jA05t z{@xDNOT Ignoring new targets: 64.80 m. jIjIjIjIiIhIhQhQhQfQfYrfYbf]=@]y]y]y]}P^@bie 隕?I: ɚXz7iIIii))2D*DBD:D*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G-XBO>J J @AH I>I  I $II YBI &I .I 6I L<:I D FV;w,,SA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:>@:d9:k;>y:H !6?@#?`;?&?E? {j?ɨ:@:ć;:"CyBBF#IIRIR٢Z%= ZK=9Z9Q Z>\1 5G٣1y=ɝ => ENusing accuracyPremultiplier from configAM59E?M5YE iEq™IM_3MAAE:Ei:E25Y ]@YDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfk >@]]]]^@d C?Il9 ɚ|7iIIii))*Fe? 0$?IG2F %HY1y5A:FBFE 5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.G MlB O5 >zK= KK= 89K9 K= P)K=   ;w,mA2@Y28@2xf92=;>y2H e 9? %?`ȳ?`,ˬ?=9Q > G٣yOa > Nusing accuracyPremultiplier from config59i?5Y_ i}q™A::35 @DNOT Ignoring new targets: 64.80 m. j!j!j!j!i)h)hQhQhYfYfYrfYbf] z>@]]]]}^@xf C?I9 ɚU7iIIii)!)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF4JF IG]vBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.!;w,iA @60@Y6.@6Aaf96G;>y6H``UI?1? ó?@EȬ?K? j?ɨ60@64;6#CyRBR#IIZIZ<٢b=< bW=9bt8Q f>dd jG٣hyj˶ n> rNusing accuracyPremultiplier from configpv59rX?v5Yr irhq™tv3zArNEr:pr55| Q@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf@>@])])])]-ƛ^@}Aaf 隅*?I: ɚ7iIIii))jH)bH)H1I1 I5$II5mBI5 =&I1.I16I5<:I5 F*FM?2FI:FIBFMP0JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.GnBO q Iq *';w,~ɠA: @Y:@:^h9:m;>y:H:N?1? ? L? B?-j?ɨ: @:;8yFBF#I-zonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 82.92, 67.97, 72.73,  z@z z@~ ~@~  ~@~ I~I~ỳ٢ <  E=9II MG٣QyU6 ]> ebBottom track data is 0.4 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm59]?m5Y] i]Qq‘m+:iu;u3uAY]9;]>] 75y }@yDNOT Ignoring new targets: 64.80 m. jjjjWill construct direction to contact in vehicle frame from tetrahedron phase data.ihhhhffrfbfKD?@u^h q}*!?I}$: yɚ}-7iyIyIii))*F)2F1:F9BF=O0JFIGY G]sAzKLKKKQ)KJJJJJ:J :JJJQ;JR;JU;JU;GM]vBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IY -;w,VA2@Y2@2&i92;>y2H9̢c?8?? 4?R?Si?ɨ2@2އ;0y>B>#I)D DIJIJ٢R< RQ=9V$EQ V>tt zG٣xyz.U z> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|U59~?U5Y~ i~;q‘U :Q];]3]A|~D<~JS?~+85a e@aDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf|?@-&i )-w#?I-: 1ɚ5u7i1I1I9i9i9)9)9*F]?2FY:FYBF]^0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչG%>bB1OU>H J>I  I 5$II BI  =&I .I 9D6I <:I F4;w,rAWill construct direction to contact in vehicle frame from tetrahedron phase data.6@Y6@6Cgl96x;>y6H@gf?7?c?`?C?i?ɨ6@6;6"CyF!BF#IININ<٢V= VK=9Z\кQ Z>XX ^G٣\y^y9 ^> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b?j5YbP ib%q‘j9hj;n3nA`ba';b?b95r3B r(@rmEDNOT Ignoring new targets: 64.80 m. jjjjihhhhff rf bf @ @@uCgl q}*'?I}: ɚȄ7iIIii)) I*FU?2FQ:FYBF]`0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.GMlBO>zK] BoHK] C9KY K] R)K]  ;;w, MA2!@Y2 @2:n92-;>y2H ]w?`II UG٣QyU5 U> ]Nusing accuracyPremultiplier from configYe59] ?e5Y] i]q‘mT:m=m]@ :n  >I 9=Will construct direction to contact in vehicle frame from tetrahedron phase data. ɚͅ7iIIii))*Fa2Fa:FaBFeo0JFa"Gu?Gu? IG ]vB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.A;w,'A:E@Y:D@:Qp9:b;>y:H@ 0}?$hh jG٣hyn n> rNusing accuracyPremultiplier from configpv59r ?v5Yr; irq™xz@zApr3:r:r<5| ~"@eDNOT Ignoring new targets: 64.80 m. jijijijiiihihihqhqfqfqrfybf}`o@@]]]]̼@Qp 隭>IL9 ɚ†7iIIii))*Fu?2Fq:FqBFuP5JFqZHRH?AHN>IC IB$IIBI =&I.I6I\<:IT FBIJIRIZI =bI =jIû 6EWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> IzH;w,"AR@YR@R7t9R;>yRH@qϔ?d G٣y | > Nusing accuracyPremultiplier from config59 ?5Yw ip™=;L@A/;-;>5 @DNOT Ignoring new targets: 64.80 m. jjjjihhh!h%1Bf!f!rf)bf-<@@]M=]M=]M#.>]ML@]7t YeH>Ie 9 iɚm7iiIqIyii))*F]?2FY:FYBF]_5JFYzK}JK}9KyK}S)K}RK ?JK?JJJJJJ :JJJJ;JS;JS;GE >bM Will construct direction to contact in vehicle frame from tetrahedron phase data.BY Ou > I JFN;w,3;A2@Y2@2v92;>y2H:` ?V>?@?̮?tH?`?h?ɨ2@2;0y> B>#IIFIFd٢NhC R^=9RhʺQ R>TT VG٣TyV: V> ^Nusing accuracyPremultiplier from configX^59Z^?b5YZ iZp™`bE@bAXZ ;Z ;Z#@5d j@h~DNOT Ignoring new targets: 64.80 m. j|jjjihhh h f f rfbf>@@]]]]E@v G>I{9 ɚ7iIIii))*F-?2F):F)BF-1JF)G1 G5rAWill construct direction to contact in vehicle frame from tetrahedron phase data.G5MlBAO]>H I  I I I  =&I .I 6I <:I " F] Will construct direction to contact in vehicle frame from tetrahedron phase data.3U;w,UAN @YN @NA{9Nw;>yNH 4`R?O9?@@?c?H?g?ɨN @NUI;N!CyZBZ#I)\ \IbIbԳ٢n& nF=9rd6Q r>pp rG٣pyv; v> ~Nusing accuracyPremultiplier from configx~59z?~5Yz izp™T@AzPEz:zv:zA5  /@!MDNOT Ignoring new targets: 64.80 m. jIjIjIjIiQhQhYhYhYfYfarfabfey A@]]]]T@A{ 隝>I9 ɚR7iIIii)) aIa*F)2F):F)BF-O0JF)GiByO~>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JQJK u9K K T)K  X[;w,poA@Y@ψ}9B<>yH#`m?S>? U?뫯?`Z? f?ɨ@;#CJ]J]J]0JYJ]̝:J] :J]ـ3JYau@au@a}@a}@yޝBޝ#IMb@Mb@Mb@ )YT㥛 ?y&1?`<t= @)@I@yz@IIK!٢z /=9wQ > G٣y^ >  Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.59?5Y ip™7 >;@%AGc;`;C5) -@)UDNOT Ignoring new targets: 64.80 m. jQjQjQjYiYhYhYhahe BfafarfabfmwFA@]7 >]7 >]_>]@ψ} 隵>I)9 ɚ67iIIii)) iIq*F12F1:F1BF5=4JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge ]vBq O >dcb;w,\AB@YB@B#9B;>yBH@ox?6? !`/o?@!?O?pf?ɨB@Bp݈;B CyJBJp#IIRIR<٢Zǽ ^m=9^\Q ^?`` bG٣`yb~; f? jNusing accuracyPremultiplier from configdv59f[?v5Yfc ifp™tv@zAdf;fխ;f|E5| ,@-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i1h1h1h9h9f9f9rf9bfENrA@]]]]@# >I9 ɚ7iIIii)) jH-<bH-<H=O>I9 I=5$II=BI9&I9.I96I=<:I=) F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.)Y ]wCG IB9 EiYIyMAOe>bh;w,A=Will construct direction to contact in vehicle frame from tetrahedron phase data.yU҄BU^#Ii]II UG٣QyU U> ]Nusing accuracyPremultiplier from configYm59]?m5Y] i]p™u> >u;u'@uA]QE]G;]&D;]zG5y }@yDNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbfЬA@] > >] > >] >] X'@) 15q>I5j9 1ɚ57i9I9IAiIiI)I)Q*FU?2FQ:FQBFQJFQzK}a3JK}ȱ9KyK}U)K}Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Oe >  I ]n;w,A2@@Y2?@2;f92;>y2Hl?3?@a'?ԉ?oO?e?ɨ2@@2%!;2$CybBfA#III٢v߽ A=9wQ > G٣y: > Nusing accuracyPremultiplier from config59+?5Y isp™ '@ AC::RI5 @EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiIhIhIhQhQfQfQrfQbf]bA@]q]q]q]u '@;f 隍ץ>I9 ɚiIIii))EsAEMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F!:F!BF%o0JF)H= P>I9  I= $II= hBI9 &I9 .I= :D6I= <:I=  FGU MlBa Jq Ju Jq Jq Jq Ju :Jq Jq Ju ;a} Ju ;a} Jq a Jq a O > Will construct direction to contact in vehicle frame from tetrahedron phase data.3u;w, A /$?IyB$#II I ³٢= =U=9EQ E>AI MG٣IyM m> }Nusing accuracyPremultiplier from configq}59u?5YuE iu`p™AuREu0;u;uK5 @DNOT Ignoring new targets: 64.80 m. jjjj ihhhhffrfbfB@]]]]i qup>Iu9 ɚiII)i1i1)y)yuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFzK KK u9K K V)K     BKQ :KQ G >bB O >|;w,AN@YN@N'9NF<>yNH`m@&-?@5? Ph?7?@Y?@d?ɨN@Ni;N#CynBn#IMb@Mb@Mb@ )Y1Zd?333333?Q?y"==<zA @)@I`@y@II ٢  H=9Q > G٣y > Nusing accuracyPremultiplier from config Will construct direction to contact in vehicle frame from tetrahedron phase data.59x?5Y iKp™H >;.7@A<͸<L5 @pEDNOT Ignoring new targets: 64.80 m. jj j j i h h hhσBffrfAbfE9LB@]H >]H >]?]4.7@' R>I[9 ɚiIIii)) I*Fu?2Fy:FyBF}2JFyG ]vB  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >Y;w, A>@Y>@>qq9> ;>y>H*?b3?n@Vı? ?PM?d?ɨ>@>_; G٣y :  > Nusing accuracyPremultiplier from config59ꅜ?5Y i8p™%77@%ASE;y;nN5) -@1]DNOT Ignoring new targets: 64.80 m. jajajajaiahahahihififirfqbfuxB@]]]]77@qq 隥>I9 ɚ3iIIii))ZH9RH=@AHEQ>IEC IE#IIE:BIE =&IA.IA6IE<:IE+ FJJJJJ:JJJJ;J;JJ%Will construct direction to contact in vehicle frame from tetrahedron phase data.D}e9Ep>E> I*F?2F:FBF1JF"G?G?G= nBq O >tM;w,'AWill construct direction to contact in vehicle frame from tetrahedron phase data.y-^B5"IMb@Mb@Mb@ )YV-??V-?yh==< A @)@II@yI%I%٢5 =3=9=Q =>II MG٣IyU U> ]Nusing accuracyPremultiplier from configY59]F慜?5Y] i] p™ >;CAY]<]<]lP5 J@DNOT Ignoring new targets: 64.80 m. jjjji!h!h!h!h-Bf)f)rf)bf-iB@]U >]U >]Ugt?]UYDN@i imR>Im9 iɚmZ14iiIqIqiqiy)y)yDzKiLK9KKW)K*F)2F):F)BF-5JF)Will construct direction to contact in vehicle frame from tetrahedron phase data. y I Ge NB O >,;w,̸@A>@Y>@>}9>];>y>H Aɛs/?`=7?%x??M?d?ɨ>@>o;>$CyFBBF"IiHIHLLIPIP٢^" ^h=9^U̹Q b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn59j⅜?n5YjĽ ij p™prCrAhj$;jx;jQ5t v@tDNOT Ignoring new targets: 64.80 m. jjjjihh!h!h!f!f)rf)bf-_B@]]]]9N@} >I9 ɚi I I ii))DE9UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP0JFHIC I#IIBI =&I.I9D6Iy<:Im FBIǢCJIǢCRIZI =bI =jIǛ5J}J}J}1JyJ}<:J}:J}3JyJ};J};J}I;J}I;G~BO> Will construct direction to contact in vehicle frame from tetrahedron phase data. I Px;w,#[A6@Y6@6!t96c<>y6HWv8*?B?ؿ?@[?`Q? d?ɨ6@6!Ƈ;6#Cyf.Bf"IIvIv)٢~ ~B=9~,:Q > G٣y ˤ  > Nusing accuracyPremultiplier from config59ޅ?5Yݽ io™ D%ATE2 ;2 ;S5) -J@)DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfEC@]]]]]N@!t %Q>I%9 !ɚ%3i!I!I)i)iQ)Q)YDM9Ea*F!2F):F)BF)JF1GQ GQ=Will construct direction to contact in vehicle frame from tetrahedron phase data.GE -XBQ Ou >zKu BHKu u9Kq Ku X)Ku  =l%xԀ;w,?qtAF@YF@F‰9F<>yFHog%?`K?7@ı?ΰ?S?d?ɨF@F;F"CyRBR~"IeMb@Mb@Mb@aaa a)aYe?Mb?Q?yee G٣yV~ > Nusing accuracyPremultiplier from config59ۅ?5Y io™ >;*'A;;U5Will construct direction to contact in vehicle frame from tetrahedron phase data. p@DNOT Ignoring new targets: 64.80 m. jjjjihhhhdBffrfbfMC@] >] >]k_?]j@ I5‰ 15R>I59 9ɚ=*&4i9I9IAiAiA)A)ID9*FI 2FI :FI BFI JFI  Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu /B O >);w,uAjH<bH HT>IC IT#IIʄBI =&I.I:D6I'<:I5 FJ^J^J^0J\J^:J^:J^ـ3J\J^8;J^:;J^DG;J^EG;yBm"I) II٢eh .=9Q > G٣!y% %> -Nusing accuracyPremultiplier from config)559-օ?55Y-N i-o™99=A-UE-X:-C:-W5A EJ@ADNOT Ignoring new targets: 64.80 m. jjjjihhh h ffrfbfC@]1]1]1]1A AM>IMb9 IɚM&4iIIIIQiQiQ)Q)YuWill construct direction to contact in vehicle frame from tetrahedron phase data. IDmT9*F! 2F! :F! BF) JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data. i AG]MlBiO>m;w,A6V@Y6u@696;>y6H V" ?[b?`?]?P?@e?ɨ6V@6ׇ;6#Cy>B>V"IUMb@Mb@Mb@QQQ Q)QYUI +7A`?~jt?yU9U>U=U A Q)U-@IUI@QyU@IeIe@ ٢u5 }3=9}v;Q }> G٣yF > Nusing accuracyPremultiplier from config59Ӆ?5Y io™>;(AD;W-;Y5 t@DNOT Ignoring new targets: 64.80 m. jjjzK9NK9KKY)K 036\"LV)z^E0 ~vqmie`^XTQPjihhhhNBffrf bf wC@]>]>]?]@ 隽>I9 ɚ 4iIIii))MWill construct direction to contact in vehicle frame from tetrahedron phase data. IIQD 9*F?2F:FBFO0JF"G?G? Will construct direction to contact in vehicle frame from tetrahedron phase data.G NB O >;w,AN@YN;@N 9N1<>yNH@b? ku?@?(?`Fc? e?ɨN@N.;N"CyZBZ>"IIbIb٢j<ƽ nJ=9rj;Q r>pp rG٣tyv z> ~Nusing accuracyPremultiplier from config|59~Ѕ?5Y~ i~o™jA|~:~:~m[5 @=DNOT Ignoring new targets: 64.80 m. j9j9j9j9iAhAhAhAhAfifirfqbfu GC@]]]]ڀ@ 隥>I9 ɚD4iIIii))HIII IM#IIMBIM =&II.II6IMQ<:IMV FD9Will construct direction to contact in vehicle frame from tetrahedron phase data. .$?I*F2F:FBFP0JFG FYyAG DBA O >;w,oA@Y @#{9*<>yH@?~?Fw1? n_?@X?f?ɨ@tƇ;騕#CyޥBޥB"Ii j<= zA @) I  y I%I%٢5'Q< 5'=9=";Q =>99 =G٣9yEj] E> MNusing accuracyPremultiplier from configIU59Mͅ?U5YM iMlo™],>];]]AMVEM{;M ;M]5m2B mx@msEDNOT Ignoring new targets: 64.80 m. jjjjihhh!h%=BfAfArfAbfM`5D@],>],>]cy?]@#{ >I9 ɚ5iII i i ) )D9JJJ1JJ:J:J3Ja@a@a@a@zKOK9KKZ)KMKFA?=;630/0.*)(%""#"!  *F?2F:FBF]0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. A IA G B O5 >S;w,A F@YF@Fs9FD<>yFHi ^? ?`_e?t?`\?@g?ɨF@F<݇;F$Cy^B^9"IIfIf٢n- n}=9nI;Q r ?pp rG٣pyvX3 v ? 5Nusing accuracyPremultiplier from config1=595˅?=5Y5 i5Uo™9=,EA5WE5n:5L:5_5I M@IDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf ^D@]]]]y@s >IO9 !ɚ%5i!I!I)iIiI)I)QWill construct direction to contact in vehicle frame from tetrahedron phase data.DU9*F?2F:FBF`0JFG GsAZH) RH- AAH5 U>I1  I5 "II5 oBI5  =&I1 .I1 6I5 p<:I5 m FG B! O= >E;w,A2V@Y2T@28k922<>6Will construct direction to contact in vehicle frame from tetrahedron phase data.y2HU @Ц? ?H?v?Z?h?ɨ2V@2;!;0yBBFB"IININd٢V= VO=9V ;Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59bɅ?f5Yb. ib9o™djojA`b ;b ;b`5l nt@l IDNOT Ignoring new targets: 64.80 m. jjjjih!h!h!h)f)f)rf)bf5 cD@]I]I]I]MW@e8k aeH>Ie9 ɚ+5iIIii))*F2F:FBF5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBO>#;w,Af2A:V@Y:u@:lc9:<>y:H? !`%?@?08Ӳ?`i?W?`i?ɨ:V@:%;:"CyBBFD"I)H HJrJpJr0JpJr:JpJrـ3Jp5Mb@Mb@Mb@111 1)1Y5ʡE㥛 ?S㥫?y55>5/]=5 A 5@)5Z@I5`@1y5@IMIM٢U; ]A=9];Q ]>aa eG٣aym m> }Nusing accuracyPremultiplier from configy59}Dž?5Y} i}o™1>;RA}XE};}U;}b5 [@zKƺMKȱ9KK[)KRK>JK?DNOT Ignoring new targets: 64.80 m. jjjjQiQhQhQhYh]SBfYfarfabfeD@]1>]1>]|@]O@lc >I9 ɚ<@5iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data. I!*F2F:FBF0JFG]vBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.;w,1@LA6_$@Y6]C@6([96;>y6H,3X? ?@i?@a?M?(k?ɨ6_$@6*/;6#Cy>B>I"IIJIJʴ٢n< nS=9n;Q r>pp rG٣pyvS v> zNusing accuracyPremultiplier from configx~59z0ƅ?~5YzU izn™Axz ;zX;z=d5  @ 5DNOT Ignoring new targets: 64.80 m. j1j1j1j9i9h9h9hAhAfAfArfIbfM@D@]i]i]i]mxڋ@([ 隅>Ih9 ɚ'S5iIIii))H X>I C I "II [BI  =&I .I 6I D<:I N F*F12F1:F1BF5P0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data. IGuMlBO>;w,4fA@Y@Q9 <>yHy`J@;? o?`IW?g6?W?k?ɨ@@.;騵%CWill construct direction to contact in vehicle frame from tetrahedron phase data.y%B%c"I]Mb@Mb@Mb@YYY Y)YY]x&T㥛 ?X9v?y]7]>]}=] A ]@)]p@I]I@Yy]@I}I}4٢= %=9ח;Q > G٣yR > Nusing accuracyPremultiplier from config59gą?5Y in™S>;AYEWH;F;ef5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhvBffrfbf R6E@]S>]S>]!@]0Q@Q ]>I9 ɚg5iIIii))*Fi2Fq:FqBFqJFqJJJ1JJJ:J3JzK%KK%M9K!K%\)K% !"   Will construct direction to contact in vehicle frame from tetrahedron phase data. I G ]vB O >3@;w,fA6ԫ@Y6@6OH96;>y6H*] ?? G`œ??BO?@m?ɨ6ԫ@6,;4y>B>n"IiB=IBp;IJIJ٢Ry= R=9V;Q V?TX ZG٣XyZ. Z? bNusing accuracyPremultiplier from config\b59^GÅ?f5Y^ i^n™dffA\^:^:^g5l r4@pEDNOT Ignoring new targets: 64.80 m. jAjIjIjIiIhIhIhQhQfQfQrfbf `E@]]]]+@-OH )->I-59 1ɚ5x5iQIQIqiyiy)y)y2D*DBD:D*F2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBHY>I III =&I.I6IB<:IBIȣCJIȣCRIZI =bI =jIm5O >*J C="J R=!(;w,ҙA2Will construct direction to contact in vehicle frame from tetrahedron phase data.>n@Y>@>1>9><>y>H@r\??@?@ħ?`Y?`m?ɨ>n@>(;>#CyJBJ"I PITIZIZk٢b= bH=9b;Q f>dd fG٣dyj~ j> nNusing accuracyPremultiplier from configlr59n?r5YnW inn™pv0vAln ;n;ni5| ~a@-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h1h1h1f1f9rf9bf=E@]Y]Y]Y]]@m1> q}*>I},9 yɚ}5iyIyIii))*F?2F:FBF0JFG]MlBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.R;w,dA6D7@Y6BV@6'496;>y6H`C? ?UI??` V?n?ɨ6D7@6s;6"Cy>'BN"IJ3K3 K/.KK"KJbJbJ`J`Jb:Jb :J`J`MMb@Mb@Mb@III I)IYM G٣y > Nusing accuracyPremultiplier from config59Z?5YC itn™=;GAZE);;ck5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBzK*MK9KK])Kffrf bf E@]=]=]Nm?]Al@'4 k>I9 ɚa5iIIii)) IhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG>bBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ i՝ AY9;w,…A6 @Y6)@6*96;>y6Hb?6#?@ `?@O?#R?o?ɨ6 @6!;6$Cy>@BB"I)D DIJIJ(*٢R> RY=9R;Q V>TT VG٣Xy^ ^> bNusing accuracyPremultiplier from config`f59b?f5Yb ibTn™dfjA`b:b:b m5l n+@lDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbfE@]9]9]9]=E@M* QU+>Iu`9 yɚ}iyIyIii))HZ>I I"IItBI =&I.I;D6IC<:IO FJJAA*FU?2FQ:FQBFU_5JFQ IWill construct direction to contact in vehicle frame from tetrahedron phase data.GU-XBaO>d;w, cA?@Y=@ 9;>yH @>@p?3? ?`?`S?gp?ɨ?@e};&Cy]JBe"IIEeWill construct direction to contact in vehicle frame from tetrahedron phase data.IE@ ٢}2= }0=9ݨ;Q > G٣yܻ > Nusing accuracyPremultiplier from config59?5Y i-n™A:":o5 y@uEeDNOT Ignoring new targets: 64.80 m. jajajajaiahahihhffrfbf@6F@]]]]@   >IG9 ɚ3iIIii)))*F?2F:FBFT5JFzKuBoIKu9KqKu^)Ku y Iy G ]vB O > Will construct direction to contact in vehicle frame from tetrahedron phase data.KyJH U@kG?@`>?g|@??M? Vq?ɨJ@Jtԉ;J$CyV[BV"I-Mb@Mb@Mb@))) )))Y-y&1?Dl?L7A`?y-`e<-O=)- A ))-@I-@)y-3@IUIU٢uZ= }]=9;Q > G٣y > Nusing accuracyPremultiplier from config59컅?5YR in™= <V+A;;p5 s@DNOT Ignoring new targets: 64.80 m. jjjjihhhhBffrfbf@fF@]=]=]Rp?]8f@5S. 15L>I59 9ɚ= 4i9I9IAiAiA)A)A*F2F:FBF 3JF eWill construct direction to contact in vehicle frame from tetrahedron phase data.H[>I I#IIBI =&I.I6IA<:IGM >bBY Ou >J J J 0J J m:J :J ـ3J J ;a J ;a J A;a J A;a ) C5 H~GI a Ii i yJHeo(?M?g@? ?`U?q?ɨJ@Jf;HVWill construct direction to contact in vehicle frame from tetrahedron phase data.yZhBZ"Ii^ G٣yO > Nusing accuracyPremultiplier from config592?5Y im™+A[EP;;ur5 @DNOT Ignoring new targets: 64.80 m. j9j9j9j9i9hAhAhIhIfIfQrfQbfU_F@]]]]if@ g>I9 ɚ'>4iIIii)) DeQ9*F 2F :F BF Q5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GM MlBa O >F yFH z@ ? ^?@M6?1?a? r?ɨFPP@FQ;F"CyRiBR"I=Mb@Mb@Mb@999zKERIKE9KAKE_)KE0  >R `RKU>JKU> 9)9Y=㥛 ?~jt?i|?5?y=====q==3 A 9)=@I=A9y=@ImIm3٢u; u0=9}3;Q }>y G٣y > Nusing accuracyPremultiplier from config59˷?5Y im™b=<a%@A; I'v;et5 @}DNOT Ignoring new targets: 64.80 m. jyjjjihhhh!Bffrfbf+F@]b=]b=]>]a%@%Will construct direction to contact in vehicle frame from tetrahedron phase data. AE^>IE9 IɚM}d4iIIIIyiyiy)y)Du>9*F 2F :F BF P0JF G %B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.$y2H@y-`? R_? CL@d?~̞? O?Bs?ɨ2(O@2v;2%Cy^tB^"IIfIfH\>IC I;#IIBI =&I.I6Is<:Iu F٢UzQ= UN=9K^;Q > G٣y7 > Nusing accuracyPremultiplier from config59?5Y im™A:.:'v5 @sEDNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfbf $G@]!]!]!]%=a%@5xm 9=*$>I=@9 9ɚ=:4i9I9IAiAiA)A)IJJJJJ:J9JJJ9;J:;J:;J:; IEWill construct direction to contact in vehicle frame from tetrahedron phase data.D 9*FQ2FQ:FQBFUO0JFQG} ~B O >y Hr ?`e?@^B?@D[?ia?r?ɨ  ;@ T; "Cy-zB-"IMb@Mb@Mb@ )YZd;?I +? ףp= ?y=9<Q8=` A x@)@IAy@II{٢< 7=9Q;Q > G٣y6 >  Nusing accuracyPremultiplier from config 59 ~?5Y  i m™ >;p@A  3; ^; x5 @ DNOT Ignoring new targets: 64.80 m. j j jjihhh9h=[Bf9f9rfAbfE @G@] >] >]:6>]ip@_ 隽u=IO9 ɚ4iIIii))2DsA*DrA IzK-OK-9K)K-`)K-, ; dIj7 '/]lNX h[X;NTR&D]9EaEesAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF JF "G ?G ?GU]vBiO>"yNH>v@4@?b? E`׶?@k?Q?@s?ɨN)E@N*,;LyVrBZ"IIfIf ٢nR n8=9n;Q n>pp rG٣pyr: v> zNusing accuracyPremultiplier from configx~59zY?~5Yz izm™|@Az\Ez:z":zz5  @vE=DNOT Ignoring new targets: 64.80 m. j9j9jAjAiAhAhAhIhIfQfQrfQbfUMuG@]q]q]q]u|@|f 隅5=I9 ɚl4iIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.iAD|9*F2F:FBF_0JFH-^>I) I-Z#II-τBI- =&I).I)6I-<<:I-N F*J4="JJJJJJ:JU:JJJ;J;Je;Je; -$?IG DB!OE>e Will construct direction to contact in vehicle frame from tetrahedron phase data.(y6Hv@Uo?b?DA?F?`Z?@zs?ɨ6'F@6;6$CyNmBN"IIZIZƳ٢fϼ fL=9f~ ;Q j>hh jG٣hyn9 %> 5Nusing accuracyPremultiplier from config1=595r?E5Y5 i5qm™AE{@EA15-;5-;5{5I MP@Q}DNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhhhhffrfbf G@]]]]{@Qܼ ( =I9 ɚ4iIIii))D\9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFG- ~B1 OU > I hzK `PK 9K K a)K g3   p/y6Hz@F? _?G,?F?R?s?ɨ6P@6^;4y>hBB"IMb@Mb@Mb@ )YMbX9?S㥛?L7A`?y!>/<+= @)3@IhAyII³٢˶ ;=9ܿ:Q > G٣y: > Nusing accuracyPremultiplier from config59i?5Yr i_m™'>;@A]E;h;}5 @ UDNOT Ignoring new targets: 64.80 m. jQjjjihhhhIBffrfbf`|G@]5'>]5'>]5*P->]5@E׼ AEu=IEg9 AɚM4iIIIIQiQiQ)Y)YBDe>:Dea=Will construct direction to contact in vehicle frame from tetrahedron phase data.D 9Et>E>*F 2F :F BF P0JF G  G rAH _>I  I a#II ԄBI  =&I .I ;J% P>; y Iy G ~B O >6yRH`Fzx?Y`?`F@j?@?c?hs?ɨRN@R1;R"CyZZBZ"IIbIb٢j̈́ nB=9n;Q n>pp rG٣pyr_ v> ~Nusing accuracyPremultiplier from configx~59zn?5Yz3 izMm™@Axz:z:z5 @=DNOT Ignoring new targets: 64.80 m. j9j9j9jAiAhAhAhAhIWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbfGH@]I]I]I]M<@]<м Y]=I]9 aɚer4iaIIii))D-9*F?2F:FBF[0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.G ]vB O5 >F=y:Hp{p?_?7Ff?@9?Oa?s?ɨ:;Q@:;:#CyFEBF"I]Mb@Mb@Mb@YYY Y)YY]w/?l?~jt?y]&>]=]<]vA Y)]I@IYYy]QAIuIu٢ 3=9:Q > G٣y¼9 > I Nusing accuracyPremultiplier from config59?5Y i?m™B,>;=@A^EN;;5 @=DNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhAhIhM6BfIfIrfQbfU@$RH@]uB,>]uB,>]ud>]u=@ ɼ 隝# .T_T ɚ4iII!i!i!)!))Will construct direction to contact in vehicle frame from tetrahedron phase data.D9*F2F:FBF0JFG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.j$DyBH`a@@ze?`7[?ZK`Q??{c? s?ɨB`@B;B"CyJ1BN"IIVIV<٢^8ڽ ^[=9^:Q b>`` bG٣`yf; f> jNusing accuracyPremultiplier from confighn59j?n5Yj ij4m™lrK@rAj_Ej.';j';j&5x z@|%DNOT Ignoring new targets: 64.80 m. j!j!j!j!i!h!h)h)h)f)f1rf1bf5ҀH@]Q]Q]Q]UK@ZH]?ARHYHiIi ImN#IImńBIm =&Ii.Ii6Imr<:Imx Fż 15`!I59 9ɚ=i9I9IAiAiA)A)A2DI*DMsADg9E! I*F?2F:FBFQ5JF"G?G?PExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.=<G- %B9 OU >OJyFH+{ ]?@C`?vC? h? q?3s?ɨFP@F;DyfBf}"IIrIrͳ٢zӽ zF=9~2;Q ~> G٣y C  > Nusing accuracyPremultiplier from config 59 Z?5Y  i (m™9@A  %; #9; 59 Es@IeWill construct direction to contact in vehicle frame from tetrahedron phase data.%DNOT Ignoring new targets: 64.80 m. j!j!jijiiihihihqhqfqfqrfybf} H@]]]]9@ %VI%9 )ɚ)i)I)I1i1i1)1)9JJJ1JJ:J9J3Ja@a@a@a@ ID9zKE hOKE 89KA KE c)KE kDl#@VeF) qbR@3&xtoRK] ?JK] ? Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F! :F! BF% t0JF! GmNBO>%|Ry:H@oqD?`Z? @J| ? ?dc?@s?ɨ:?b@:.;:#CyBBFa"IMb@Mb@Mb@ )YV-?p= ף?Mb?yh>=<A @)@IQAyAIIIUIU ٢ee e#=9m;:Q m>ii mG٣iyu9; u>  Nusing accuracyPremultiplier from configy59}?5Y} i}m™ >;(@A}`E}<}$;}#5! -@)]DNOT Ignoring new targets: 64.80 m. jYjYjYjaiahahahahmBfifirfibfmH@] >] >]5>](@S 隥I ɚiIIii))Will construct direction to contact in vehicle frame from tetrahedron phase data.iAD9H`>I I(#IIBI&I.I6I'<:IA F*Fa2Fa:FiBFmP5JFi~G !I!! ]WYYy]AG B O > M nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data.XyJH {`8?`? =A`I?`ϕ?n?s?ɨJ`O@Jw;J!CyVBVG"IiZ=IZpp rG٣pyr9G r> zNusing accuracyPremultiplier from configtz59vb?~5Yv iv m™|~}(@~Atv;v;vˈ5 1B '@ yEeDNOT Ignoring new targets: 64.80 m. jajajajiiihihihihqfqfqrfybf}@&I@]]]][}(@|{ 隭)I9 ɚiIIii))*F]?2FY:FYBF]P0JFa-Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>Jm Jm Jm 0Ji Jm <:Jm :Jm ـ3Ji A IA i^y6H@*x`?7c?=u?P?d?Wt?ɨ6G@6#s;6#CyRփBR("IzK~PK~u9K|K~d)K~je`][YQOIC==<8761.**,,(%%##"2ELLIB?:BK :K }Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yy&1?bX9ȶ?y&1?y`=E=`e< A @)`@IyAII@ ٢  :=9a1;Q > G٣y7 > Nusing accuracyPremultiplier from config59d?5Y{ il™ 0> ; 8@ AaE;;5 @=DNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhAhIhMBfIfIrfQbfU^I@]u0>]u0>]u/+?]u8@U]Ť Q]L=I]9 YɚYiaIaIaiiii)i)*F%?2F):F)BF)JF)G- ]v5 Will construct direction to contact in vehicle frame from tetrahedron phase data.BA Oe >jH bH <H a>I  I "II tBI &I .I 6I <:I 3 Fey2Hg@?p? u*ʸ?MΒ?Ev?`s?ɨ2Q@2;2"Cy^ƃB^"IIfIf³٢nv n\=9nn;Q n>pp rG٣pyr0߻ v> zNusing accuracyPremultiplier from configt59v,?5Yv ivl™%7@%Atv+;v+;vS5) -@) ,$?IDNOT Ignoring new targets: 64.80 m. jjjjihhhhf f rf bfӐI@]1]1]1]57@Et AEМE Will construct direction to contact in vehicle frame from tetrahedron phase data.k G٣y > -Nusing accuracyPremultiplier from config!-59%K?55Y%i i%l™5T>5;5=5A%bE%];%8;%h59 =@AuDNOT Ignoring new targets: 64.80 m. jqjqjqjqiqhqhyhyh}BfyfrfbfI@J-J-J-1J)J- :J-u9J-3J)]ET>]ET>]E!~?]EU@Q QUE> I*F5?2F1:F1BF5U0JF1"G=?G=?zK-%!NK-9K)K-e)K-3.++'% Will construct direction to contact in vehicle frame from tetrahedron phase data.G= MlBI Oe >ryRH?`?`?-?h?p?@t?ɨRp?R;R CyvBv!IIIʴ٢ q=9 Will construct direction to contact in vehicle frame from tetrahedron phase data.՝ <ՙ xyHy0Q#??@ J?aՅ?`g?hu?ɨ#?{;"CyB!IIeIe٢uv uE=9~;Q > G٣y > Nusing accuracyPremultiplier from config59w?5Y il™=A;:5 4@DNOT Ignoring new targets: 64.80 m. jjjjihhhhffrfqbfu1J@]]]]jT@. `@I9 ɚ-Qi)I)I1i1i9)9)9*F ?2F :FBF0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.JM JM JM 0JI JM ,:JM 9JM ـ3JI I G MlB O >y:H4g?? ,&M??k?@ru?ɨ:=?:;:$Cy^B^!IzK!LKKKf)K]Mb@Mb@Mb@YYY Y)YY]~jt?@5^I ?y&1?y]D<]b>]`<]` A ]@)]@I]@Yy](AuWill construct direction to contact in vehicle frame from tetrahedron phase data.I}I}ͳ٢q H=9;Q > G٣y > Nusing accuracyPremultiplier from config59s?5Y il™>;%AcEF;;}5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhtBffrfbfcJ@]U>]U>]U1?]Ul@L 隽#=I39 ɚ1iIIii))*F}?2F:FBF&3JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.GE ]vBQ Om >ZH @ARH H I  I `"II BI  =&I .I 6I G<:I \ FBIaJIaRIaZIe =bIe =jIe5Hy2H@ {C;?f?ŧ?w?`(c?u?ɨ2g?2;0y^Bb!IIjIjn٢rP vV=9v;Q z>xx zG٣xy >  Nusing accuracyPremultiplier from config 59 o?5Y N i l™%A  Ӝ; s; )5 AIA1 E@E|EuDNOT Ignoring new targets: 64.80 m. jqjyjyjyiyhyhyhhffrfbfJ@]]]]Dl@G 隽yH `U[?? @?`j?8h?@u?ɨ ?;騭#CyzB!III٢ ;=9d;Q > G٣y > Nusing accuracyPremultiplier from config 59k? 5Y i{l™#&AdE ;K ;5 h@EDNOT Ignoring new targets: 64.80 m. jIjQjQjQiQhYhYhYhYfafarfabfe`zJ@]]]]k@W 隅U`y2H @f?y?m?@gHG?h^?Pv?ɨ2ږ?2TŠ;2%CyBxBB!IIZIZ)٢jhQ j_=9n%;Q r>pp rG٣pyvN v> zNusing accuracyPremultiplier from configx~59z)h?~5Yz izgl™e&Axz;z ;z5  @ EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhIhIhIhIfIfQrfQbfUJ@]q]q]q]ubk@;C:  Will construct direction to contact in vehicle frame from tetrahedron phase data.&y:H0{?6?s ?`h` Ik?u?ɨ:b?:Pڊ;:#CyR}BR!IIZIZT߳٢bs< bK=9f$;Q f>dd jG٣hyj j> rNusing accuracyPremultiplier from configlr59nCd?r5Yn inQl™tv&vAlne:ne:nn5x z5@|-DNOT Ignoring new targets: 64.80 m. j)j)j)j)i)h)h1h1h1f9f9rfAbfE+K@]a]a]a]ehk@D; 隅 - +$?I) y6H Ƌ^?`V?]`A? r n]? Fv?ɨ6?6;6!CybBb!IWill construct direction to contact in vehicle frame from tetrahedron phase data. @ @ @  @ IIzKBoHKu9KKh)K٢%z= %6=9-#;Q -> G٣yϻ > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59_?5YV i8l‘+:;&AeE:;>5 @DNOT Ignoring new targets: 64.80 m. j j j j i hhhhffrfbffK@E); AM=IM9 IɚM2iM׼IIIQiQiQ)Y)Y*F?2F:FBF^0JFGBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.jHA bHE 4<HM d>II  IM "IIM ̃BIM  =&II .II 6IM <:IM < F7aa mG٣iym m> }bBottom track data is 0.9 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq59u[?5Yu  iu"l‘ :q;Aqu*;u\?u55 8@DNOT Ignoring new targets: 64.80 m.Resuming propulsion at range: 79.40 m and bearing: 23.172745 deg. Not drifting fast enough.bj> j6b@jjjiL?hhhqhqfyfyrfybf}@ћK@ `; ᛭=xM=I9 ɚf3iI=IG@ii)6b@)AE-]>E-!>Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG GsAG B O= >M Will construct direction to contact in vehicle frame from tetrahedron phase data.dyH`$V?? .D ?[?@v?ɨx?z;#Cy%B%!I        Mb@Mb@Mb@ )Y ףp= !rh?I +?yQ8l=94= A @)hAI`@yAII٢9= A=9@ G٣y1p > Nusing accuracyPremultiplier from config 59Y? 5Y il‘ T: r>;}AfEP#;";5 @MDNOT Ignoring new targets: 64.80 m. jIjIjQjQiQhQhQhYh]B:]u]Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1;] v]]Er>]EB?]EIQ@ɛUB]%a9 Y]@;I]9 H6ɚiI =I Hii))*FU?2FQ:FQBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.zK=K=9K9K=i)K=RKm?JKm ?G MlB O >eKy6Hev:? U"? l?`b_?u?ɨ6?6ʉ;6 Cy>BB!IIJIJk٢j> jt=9jf;Q j?lp rG٣tyz ~?  Nusing accuracyPremultiplier from config 59 #X?%5Y  i k™)-5A  e; ; 5I MB@IuDNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhyhyhhfffrfbf#K@]]]]/@ɛB-m<; =I 7ɚiI=I Eii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm!5JFiHI III =&I.I6IX<:Ik F IJ%J%J%0J!J%:J%9J%ـ3J!J%;J% ;J%[5;J%[5;G BO=> Will construct direction to contact in vehicle frame from tetrahedron phase data.ty2H`gR?D,?ű? / OX?u?ɨ2{E?2-c;2#CyNBN"I)P PIZIZ٢bJ= bK=9bF;Q f>dh jG٣hynǮ n> vNusing accuracyPremultiplier from configt]59v&V?e5Yv ivk™aemAtv>y2H`#] ?3?`. ?@^\? tu?>Will construct direction to contact in vehicle frame from tetrahedron phase data.>,DAT read: user:3651> BBDAT read: Tx time:00:09:47.3083 B$Ping request sent.B G٣ypO > MNusing accuracyPremultiplier from configA}59ES?}5YE iEk™=;B AEgEEwXy6HdW@K ?`7??vb?`&u?ɨ6?6҈;6#CyVڃBV-"II^I^B٢f= jU=9jM:Q j>ll nG٣lyn n> vNusing accuracyPremultiplier from configtz59v\R?z5Yv ivk™x~S ~Atv=;v=;v#5  r@ 5DNOT Ignoring new targets: 64.80 m. j1j1j1j9i9h9h9h9hAfffrfbf̠L@]]]]@ɛB%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502276); )-=I) 5;9ɚ1i1I5S=I=4i9iY)Y)aE=t=*F?2F:FBFO0JFGG AB  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754290O >t=9Q >L?L? G٣YGy > Nusing accuracyPremultiplier from config59mP?5Y ik™ =+<)AS;;5 @DNOT Ignoring new targets: 64.80 m. jjjjihhhhBfffrfbf@L@ɛEBEB; AE=IA M@?9ɚIiIIMd=Iu1ii))E"=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007051*F2F:FBF!JF!zK=LK=89K9K=k)K=     Ga Gu rAGu rAG9 BI Oe >ΰy6H2Y`?6?r`*c?`؋)-? w?ɨ6M?67;6%CyBBBI"IIJIJ;RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258055٢Z~q= Z\=9ZNQ Z>\\ MG٣QHaIa Ie`"IIeBIa&Ia.Ia6Ie-<:IeL FBI-CJI-CRI)ZI- =bI- =jI-G4y%: > Nusing accuracyPremultiplier from config59N?5YC ixk™(A-;;50B @EDNOT Ignoring new targets: 64.80 m. jjjjihhhhfffrfbfkM@ɛB:3< p=I %m9ɚ!i!I%hm=I-0i)i)))))E9E9*E9"E9 IJAAJAAJEJEJAJAJE<:JEb9JAJAJE;JE;JE0.;JE1.;*F2F:FBFP0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510547G -XG B O >ry6H`V;?z8?@/?@`?x?ɨ6?6/;6!Cy>B>W"IIFIF٢nM= r?=9rgQ r>tt vG٣tyzbv z> ~Nusing accuracyPremultiplier from config|59~L?5Y~ i~dk™ ( A~hE~:~ :~5 C@EDNOT Ignoring new targets: 64.80 m. jAjAjAjAiAhAhIhIhQfQfQfQrfQbf];M@ɛÃB$< 隅=I k9ɚiIu=I-/ii))-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764569*F]?2FY:FaBFe`0JFa 9I9GM]vG!B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014828zK- .SLK- 9K) K- l)K-     G٣YGy > %Nusing accuracyPremultiplier from config-59J?=5Yy iTk™Ek=E7IC I"II(BI =&IGD.I;D6I<:I F 9 I9 Gm nGA BQ Ou >+y6H+KXX ZG٣Xy^a ^> jNusing accuracyPremultiplier from configdr59fH?v5Yfd ifFk™xz@@@zAdf;f*;f5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519722DNOT Ignoring new targets: 64.80 m. jjjj i h h h hfffrfbf`iM@ɛeЃBe4< im>Ii m\':ɚiiiIm邭=I-/ii))*FQ2FY:FYBF]/1JFaG]vM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770174G B O > ) I) UyJH?d?˺?$PA??ɨJ?JȒ;J"CyVBV|"IJ!J%J!J!J!J%:J!J!a-@a-@a-@a-@UMb@Mb@Mb@QQQ Q)QYUbX9ȶ? ףp= ?y&1?yUE=UQ8=U`e G٣y > Nusing accuracyPremultiplier from config59E?5Y i=k™?=<''@A;';5 _@}DNOT Ignoring new targets: 64.80 m. jyjyjyjyiyhhhhNBfffrfbf@M@ɛփBz < >I wD:ɚiI=I-/ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:00:09:49.8236 TRx dataTimestamp_ set to:1736381391.092620checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023180*F?2F:FBFT5JFzKJ3KKu9KKm)KRK- ?JK-?GG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274126[CH>a>I>C I>"II>FBI> =&I<.I<6I>R<:I>Z Fy6H# ~?n?@`8j?`2??ɨ63r?6[;6#CyBy"I)-AI=I=@٢M0 MM=9MbQ U>QQ UG٣UYGy] ]> eNusing accuracyPremultiplier from configam59eB?m5YeM ie5k™qu'@uAeiEe: ;e ;e5y }@yDNOT Ignoring new targets: 64.80 m. jjjjihhhhfffrfbf@ N@ɛ܃B\|< =I [:ɚiIN=I-/ii))E *$?I5c~GMvAi*Fu?2Fq:FqBFu3JFq  YvAyBGrA GrAGMlWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 00:09:49.8236 LVL= 26096, 32065, 14786, 30147, AGC= 54, IDX= 493, 0.07, 0.925, 1.256,-3.067, 2.054, PHS=-1.041,-0.751, 1.159, RAW= 217.0, 6.2, CAL= 219.9, 2.5, ROT= 290.1, -2.5 Ygot valid direction response: 00:09:49.8236 LVL= 26096, 32065, 14786, 30147, AGC= 54, IDX= 493, 0.07, 0.925, 1.256,-3.067, 2.054, PHS=-1.041,-0.751, 1.159, RAW= 217.0, 6.2, CAL= 219.9, 2.5, ROT= 290.1, -2.5 PDAT read: Bearing 290.1, -2.5 (Local) ~Local bearing/azimuth received: Bearing 290.1, -2.5 (Local) DAT read: Range 10 to 50 : 83.2 m (Round-trip 111.0 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.132372,-0.824870,-0.549607]Fpublishing direction and range infoر9ص+ߩnTe꿳ayصfBرصeصA} ٵ9)ٵuIٱiٵ}?ٵA@ٵZ?ٵ.dr@ٵk= ڵru@)ڵ¸2=Iڵ@iڵ¸2ڱڱ۵~l#྿=}f?5p?)۵à?I۵ܽi۵mݿ۵?۱۱GBOE >4hy6H1?@@w?` ?? \q@p?k?ɨ6c7?6+‡;6$Cy`bz"IIjIjԳ٢m: O=9 lPQ  >  G٣yX > ENusing accuracyPremultiplier from config9E59=??M5Y= i=-k™IM'@MA9=:=C:=]5q }@ykaڗ?koJ k k/A:kfBBkFBZk>"5&]D(QtFF+ߩnTe꿳aJkmݿRk?*rʎ8tL@>D8@TܾKX:@??|u?΃W"kA*kcBk\?k1 F 2k(Akkkk3[Bk>  addTargetRange:: Added new target pos. range: 83.199997 m, deltaT: 60.292651 s, deltaX: 3.799995 m, approachRate: 0.063026 m/s, rangeRepo size: 4 = Added new target pos. range: 83.199997 m, bearing: 23.365611 deg, lat: 36.905037 deg, lon: -122.120131 deg, deltaT: 287.746346 s, deltaX: 18.399994 m, approachRate: 0.063945 m/s, posRepo size: 4 EDNOT Ignoring new targets: 83.20 m. jAjAjAjAiAhIhIhIhIfqfqfyrf}T@bf}ҩ?ɛBh< L=I ?s:ɚiI~=I-/Will construct direction to contact in vehicle frame from tetrahedron phase data.i1i1)1)9*F2F:FBFO0JF IJEJEJE0JAJE\:JE9JEـ3JAG ]vG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Q=w,I A62?Y6 @6 <96s>y6H0?`&x?}?`Oa?3?ɨ62?6F|;4zK>m$JK>9K<K>n)K>   yJBJ{"IMb@Mb@Mb@ )Y~jt?v/?Mbp?y>xi=; A @)IyAI5I5%٢E; EF=9EQ M>II MG٣IyU4ι U> ]Nusing accuracyPremultiplier from configYe59]R;?e5Y] i])k™mH&>m;m2!@mAY]U;];]%5q ui@yDNOT Ignoring new targets: 83.20 m. jjjjihhhh>Bfffrfbf?ɛBA< =I !*:ɚiIp=I-/iii)i)q*F?2F :F BF P0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHyRH}?AHIC I"II`BI =&I.Iy=w,&#A6F?Y6U @6;96 >y6HH&?gu?@?@svz?ݚ?ɨ6F?6x;4yJBJt"I)P PIVIV{٢^ T=9Q >    G٣ YGy : > Nusing accuracyPremultiplier from config%596?%5Y i$k™!%7!@%AjE" ;:߷51 5@1]DNOT Ignoring new targets: 83.20 m. jYjYjajaiahihihihifqfqfq}Will construct direction to contact in vehicle frame from tetrahedron phase data.}=}%=rfqbf[!?ɛB; 隵=I ъ:ɚiI֖=I-/ii))ErAErA*FU?2FQ:FQBF]^0JFYGGqBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data. I [=w,Sv=AJ~J~J|J|J~<:J~=9J|J|y  B g"IMb@Mb@Mb@ )Y)\(?Q?{GztyGa>u=ף A C@)AI@yAII٢0 7=9Q > G٣y  > Nusing accuracyPremultiplier from config590?5Y i#k™i>h;@AkE;3;ǹ5) -l@)]DNOT Ignoring new targets: 83.20 m. jYjYjYjYiahahahahm#Bfififirfqbfu@ ?ɛBu ; ,=I a:ɚiI=I-/ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2FY:FYBF]]0JFYzKMKk9KKo)K    RK>JK?GE >bG! B1 OM >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,lCWAH^>I I"IIjBI =&I.I;D6II<:IX Fj?YjX @j ^9j*>yjH?@`?ɷ?@bK?9*?`;?ɨj?ja;j%CyvBvV"I@AII ٢ [=9Q >! %G٣!y-PE< -> 5Nusing accuracyPremultiplier from config1E595+?E5Y5 i5!k™AE@MA15-/;5p/;5j5Q UJ@UE}DNOT Ignoring new targets: 83.20 m. jyjyjyjyihhhhfffrfbf{?ɛBx}: ;I :ɚiI=I-/ii)) iIi*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G]vGBO>׷=w,>&qA2lB?Y24@ @2G292˼)>y2H;3@t?Q?`]?`Ds???ɨ2lB?2I;2$Cy^B^W"Iibtt vG٣vYGyz< z> Nusing accuracyPremultiplier from config| 59~9%? 5Y~ i~k™ K@A~lE~ 3;~=3;~'5 7@EDNOT Ignoring new targets: 83.20 m. jAjAjIjIiIhIhIhQhQfQfafarfabfe@W@ɛB4+M: 隝@I I:ɚiI=I-/ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFY5JF aIiGJ%J%J%1J!J%:J%9J%3J!GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.R"=w,A @6e?Y6 @6962'>y6H`TS`?L;? , ?`Á?P?དྷ?ɨ6e?6f;6"CzKNLKN9KLKNp)KNyVBVE"IUMb@Mb@Mb@QQQ Q)QYUL7A`?kt?MbyU+>U =UUvA U@)QIUAQyUAImIm٢}o }'=9} Q }> G٣y < > Nusing accuracyPremultiplier from config59?5Y ik™7>?;@AmEY;;I5  @DNOT Ignoring new targets: 83.20 m. jjjjihhhhBfffrfbf "@ɛ5B=H: 9=I=C I="II=`BI= =&I9.I=(=w,xӤA6)?Y6 @6XP96,&>y6H@t)?V#?nD@T?@?`#??ɨ6)?6;6%Cy>؃Bb*"IInInm٢vf v=9v8NQ v ?xx zG٣xy~< ~ ? Nusing accuracyPremultiplier from config 59? 5Y ik™  @AnE::5 }@!MDNOT Ignoring new targets: 83.20 m. jIjIjQjQiQhQhQWill construct direction to contact in vehicle frame from tetrahedron phase data.hhfffrfbf?@ɛ B0Tֻ ƽI r:ɚiIx=I-/ii))*F?2F:FBFO0JFG>bGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data. Y IY .=w,۾AVA?YV? @V9Vm(>yVH@2!M?`|?m?!? ?`?ɨVA?Vp;V#CybσBb"I)d dMb@Mb@Mb@ )Y~jt?|?5^?y&1|y>=` A @)AIAyAII³٢( ;=9\Q > G٣YGyX< > Nusing accuracyPremultiplier from config59 ?5Ya ik™`> %; !@ AoE;w;5/B @EEDNOT Ignoring new targets: 83.20 m. jAjIjIjIiIhIhIhQhUكBfQfQfYrfYbf]O @ɛB I &f:ɚiIAh=IE-/iIiI)I)QEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF!JF!"G-?G-?zKBoHK`9KKq)KGE nG9 BA Om >H% k>I% C I% "II% KBI%  =&I% FD.I% =D] Will construct direction to contact in vehicle frame from tetrahedron phase data.6I% .<:I% Q F6=w,ARyRH`VG@?`˻?r?`?? M?ɨRp) -G٣)y5 != 5> =Nusing accuracyPremultiplier from config9E59=?E5Y=z i= k™IM"@MA=pE= ;=: ;=O5Q Ux@Q}DNOT Ignoring new targets: 83.20 m. I jyjjjihhhhfffrfbf9@ɛBD >9I A:ɚiIR=I-/ii))J}J}J}0JyJ}-:J}9J}ـ3JyJ};aJ};aJ}F;aJ}G;a*F2F:FBFP0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.G]vGBO>e<=w,$cAyrBr!IIzIz{٢-. -M=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E'?M5YE iEk™QQUAEqEE:E&:E5Y ]@aDNOT Ignoring new targets: 83.20 m. jjjjihhhhfffrfbf @ɛmBm oW 隕JI J:ɚiI==I-/ii))Will construct direction to contact in vehicle frame from tetrahedron phase data.*FU?2FQ:FYBF]Z0JFa '$?IGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.B=w,C AjN@Yjm@j 9j6>yjHxy`D? ^?QS ???O?=` A @)v@IhAyAII٢y >=9iQ > G٣YGy0= >  Nusing accuracyPremultiplier from config 59?5Y ij™ >;%@ArE;;5! %@!I-JTimed out from 2025-01-08T21:09:55.9Z(->lineCaptureHoming is completed.(-PUninitializing Mission lineCaptureHoming$5 I5RAggregate::uninitialize lineCaptureHoming$5I=bAggregate::uninitialize lineCaptureHoming:Scienceq%=%=1&=q&=&=M=|Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent1'=0= a=vAggregate::uninitialize lineCaptureHoming:StandardEnvelopes0=a=NUninitialize AltitudeEnvelopeComponent.11= b=Uninitialize.q1EbENUninitialize OffshoreEnvelopeComponent.5EkErAggregate::uninitialize lineCaptureHoming:MicromodemComms16E lEAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInq6E17E nEjAggregate::uninitialize lineCaptureHoming:LineCapture7EoEAggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes18E pMNUninitialize AltitudeEnvelopeComponent.q8MpMUninitialize.8M qMNUninitialize OffshoreEnvelopeComponent.9M9M1:M tM|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMassq:M:M uMUninitialize.:MuMAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy1;U v@Uninitialize Buoyancy Component.q;vAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence; wAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockqBAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1D Uninitialize.D1EqEZTransitioning guidance mode to: UNINITIALIZED*jqHHUninitializing TrackAcousticContact.IAggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalRZAggregate::uninitialize lineCaptureHoming:LapqS^Aggregate::uninitialize lineCaptureHoming:Lap:Ba[5UT#T#T#T#=bgot command load ./Missions/Engineering/OnDock.tlWill construct direction to contact in vehicle frame from tetrahedron phase data.!i!aE#-aE#-aE#-aE}#-aEy#-aEu#-aEq#-aEm#5aEE5aEI5a?-a?)a?=!?!?>)a mCNGvA I EYEvAyEB7i#]7e#]7a#]7]#]!7Y#!7U#!7Q#!7M#!7I#!7E#!7A#!7=#!79#!75#!71#!7-#!7)#!7%#!7!#!7#!7#!7#!7#!7 #!7 #!7#!7#!7"!7"!7"!7"!7"!7"!7"!7"!7"5"5"a2" a2" a2" a2" a2" a2" a2" a2" a11 0" 0" 0" 0" & Powering downJ J *J "J (m%m !'" !'" !'" !'" !'" !'" $"e $"e $"m $}"m $y"m $u"m $q"m $m"m $i"m $e"m $a"m $]"m $Y"m $U"m $Q"u $M"u $I"u $E"u $A"u $="u $9"u $5"u $1"u $-" $)" $%" $!" $" $" $" $" $ " $ " $" $" $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $! $}! $y! $u! $q! $m! $i! $e! $a! $]! $Y! $U! $Q! $M! $I! $E! $A! $=! $9! $5! $1! $-! $)! $%! $!! $! $! $! $! $ ! $ ! $! $! $ $  $  $  $  $  $  $  $  $  $  $  $  $  $  $  $  $ % $ % $ % $ % $ % $ % $ % $ % $ % $ % $ % $ % $ % $ % $ % $} % $y - $u - $q - $m - (- vLoading Mission from file: ./Missions/Engineering/OnDock.tl(- jTethyslAPI: loading: ./Missions/Engineering/OnDock.tl(m TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tlI s: ɚ i I i ) E E ' Powering downBK :K RK JK  Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fq:FqBFu5JFqG GGnGIBYOu"?L=w,5Ab7@Yb5@b 9bW9>ybHK` s? )?@B`? i`?d? ht?ɨb7@bg;`yB!II%I%٢} }=9}ڻQ }> G٣yÈ< > Nusing accuracyPremultiplier from config590ᄜ?5Y ij™d&@AtE:2:5 Will construct direction to contact in vehicle frame from tetrahedron phase data. -<@-EI9 AɚAiAIAiA)# PauseEEEE IGGGGG Will construct direction to contact in vehicle frame from tetrahedron phase data. G B O >dS=w,JNAy~B~!IMb@Mb@Mb@ )Yoʡ?K7?Mbp?y>I >;A @)I~AypAII)٢- -@=95Q e>ee eG٣aym m> Nusing accuracyPremultiplier from config59Մ?5Y ij™>;W'@AuE;w;5 C@I ɚiIi)G+mBO>}@u@q@y@m@i@@@ZHRHjHbH%Will construct direction to contact in vehicle frame from tetrahedron phase data. &$?IY=w,%hA2Y@Y2W@2TA92A^B>y2HT Z4k?R?K5Ŋ?9?`?c?ɨ2Y@2fC;2"CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yrBv!I)x x z=z=I~sI~K4٢ s<  ^=9fӼQ > =G٣9y=o= E> MNusing accuracyPremultiplier from configAM59E=̄?U5YE iEj™QU(@UAEvEE:E;E5}.B  @EI ɚiIi)"G?G ?G~BBO=5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1 I `=w,y2H 4C?2_?j۷??/?"G?ɨ2l@2+;2$Cy>BB!IMMb@Mb@Mb@III I)IYMI +?/$?I +?yM9>M1>M94 G٣y= > Nusing accuracyPremultiplier from config59?5Y ij™> ;(@AxE);_;5 @@ I9 9ɚ9i9I9iA)AWill construct direction to contact in vehicle frame from tetrahedron phase data.G%h BO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.f=w,dA 0I06@Y69@6;h96`>y6HX`a?{%?ι?}?@?.?ɨ6@6;6#CyNBN!IIVvIV&Q4٢r vV=9v.Q v>xx zG٣xyz< ~> %Nusing accuracyPremultiplier from config!-59%K?-5Y% i%j™)-(@-A%yE%;:%:%5 s@I ɚiIi)GIJBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙՙl=w,FA2@Y2@2^u92c>y2H@3/_? ;? bE?@?0? '?ɨ2@2;2%Cy>B>!IiB=IB4=DFAIJxIJT4٢n`Z= nK=9rPQ r>pp vG٣tyv< v> Nusing accuracyPremultiplier from configx59zP?%5Yz= izrj™!%R)@%AzzEzb;z:zW5) -@1IY aɚaiaIaii)iWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm1ByO= U%$?IQ Will construct direction to contact in vehicle frame from tetrahedron phase data.s=w,A2\@Y2{@2~92n^>y2H`b `? ?v=m?໾?`p?0?ɨ2\@2;2"CyBBB!IMb@Mb@Mb@ )Yv/?K7A?~jt?yx> ><A b@)IAyAInIB4٢%< :=9pQ > G٣y<  > Nusing accuracyPremultiplier from config 59 ?5Y X i Rj™>;)@A {E = = B5 i@IQ QɚQiQIQiY)YWill construct direction to contact in vehicle frame from tetrahedron phase data.i IIIG}i"BO>z=w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6z@Y6@6Џ96zV>y6Hm ??O? 6/?@?xx zG٣xyzʟ; ~> Nusing accuracyPremultiplier from config59ߕ?5Y i6j™)@A|E;;5 @I ɚiIi)(%)OTethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . !\#EpE @(MPDefineArg OnDock.DockedTime = 8.000000 h!\#]pY(e\DefineArg OnDock.DetachedTimeout = 30.000000 s!\#m qi(uXDefineArg OnDock.RangeTimeout = 600.000000 s!\#q(hDefineArg OnDock.TrackingUpdatePeriod = 2.000000 min!\#*q(^DefineArg OnDock.NumberOfPings = 1.000000 countG]ïBiOZ>!\#Bq(VDefineArg OnDock.TransponderCode = 50 count!\#Zq(PDefineArg OnDock.MaxDepth = 215.000000 m!\#=jq9(ERDefineArg OnDock.MinAltitude = 5.000000 m!\#MzqI(TDefineArg OnDock.MinOffshore = 2.000000 km!\#q(HDefineArg OnDock.StayOnDock = 0 bool!\#q(\DefineArg OnDock.IfconfigInterval = 2.000000 h!\#q(HDefineArg OnDock.RunScience = 0 bool!\#q @( XDefineArg OnDock.MissionTimeout = 8.000000 hWill construct direction to contact in vehicle frame from tetrahedron phase data.(~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl(rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl(%TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 1 I1 =w,A.N@Y.L@.9.èN>y.H @U?ؕ?Ep˶?BO??nI?ɨ.N@.i;."Cy^B^!I)` ` fa=f%=(TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 0 200 2000 a\#%q!(-vDefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m Mb@Mb@Mb@    ) Y %C?y&1?Q?y Z> `= < /A ) @I A y AIEqIEJH4a\#eqa(m|DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 0.000000 m٢u= }4=9}Q }> G٣y < >a\#qi@(tDefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m Nusing accuracyPremultiplier from configa\#5q1(=|DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m E6Construct AltitudeEnvelope.mWill construct direction to contact in vehicle frame from tetrahedron phase data.qu<u59/?}5Y˩ ij™}>};}(@}A}E<8<5 @EI ɚiIi)"G4>G >0Construct DepthEnvelope. 6Construct OffshoreEnvelope.!]1(UxInserting Stack from file: Missions/Insert/BackseatDriver.tl(UlTethyslAPI: loading: Missions/Insert/BackseatDriver.tl(]TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl(TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: a^#zs(nDefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2Construct BackseatDriver.( nInserting Stack from file: Missions/Insert/PowerOnly.tl( bTethyslAPI: loading: Missions/Insert/PowerOnly.tl(5zTethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tlGBO5>( qTethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 ^# s ( ZDefineArg OnDock:PowerOnly.SampleAll = 0 bool^# s ( ^DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool^# s ( ^DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool% Will construct direction to contact in vehicle frame from tetrahedron phase data.^#- s) (5 ^DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool^#E sA (M hDefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool } Construct Wait. Construct Wait.( jInserting Stack from file: Missions/Insert/Science.tl( ^TethyslAPI: loading: Missions/Insert/Science.tl( vTethyslAPI: mission file loaded: Missions/Insert/Science.tl  $$?I! lA=w,nA2z @Y2x,@292*H>y2HN~?|?` ?4?@?ES?ɨ2z @2Qp;2%Cyln!IIzhIzV84٢e eW=9m:Q m>iq uG٣qyuB< > Nusing accuracyPremultiplier from config59?5Y  ii™u(@A~E::51 =@9II IɚIiIIIi)%Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOn>k=w,J8A2}/@Y2{N@2hz92SlD>y2H#^;?q?]?@?Z?Z?ɨ2}/@28;2$Cy^B^ "IIffIf44٢Ɉ=  Q=9 x";Q  > G٣y; > ENusing accuracyPremultiplier from configAM59Ex?M5YEx iEi™IM(@MAEEE :E:EA5}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiy  @I ɚiIi)  YI]hG1BAO]v>- Will construct direction to contact in vehicle frame from tetrahedron phase data.S=w,%RA2?P@Y2=o@2z92A>y2HP?8g?zt}?=?`? _?ɨ2?P@2׍;0yBރBB2"IiDIF=A )@I Ay(AIeI34٢ > ;=95YC;Q 5>99 =G٣9yE3; E> MNusing accuracyPremultiplier from configIU59Mm?5YM iMi™0>;w&@AMEMry2H|ex?_?@?zT??bc?ɨ2rh@2y;2"Cy>B>6"IIJdIJ?14٢rc< r`=9r;Q r>tt vG٣tyz; z> Nusing accuracyPremultiplier from config-59 e?5Y ii™&@AE<<5 @I! !ɚ!i!I!i)))D}C9Will construct direction to contact in vehicle frame from tetrahedron phase data. 1I9G ˴B O5 >Ke=w,څAy]B]Q"IeMb@Mb@Mb@aaa a)aYem?l?Q?ye>e=ae A e@)aIe AayaIVIn4٢P= 1=9Q > G٣y > Nusing accuracyPremultiplier from config59Z?5Yn ii™P>;Will construct direction to contact in vehicle frame from tetrahedron phase data. !@AE;;5 a@I) ɚiIi)D9GïBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I! =w,AynBnb"I)p pIz^Iz&4٢ ġ=  i=9 Q  > G٣y =? ENusing accuracyPremultiplier from configAM59EQ?M5YE iEqi™IIMAEEE;EM;EQ5y }~@yI ɚiIi)2DtA*DtADuC9"G=G>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOa>( CTethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 5 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN _.planktivore_LM_AvgRois _.planktivore_HM_AvgRois _.planktivore_diatoms _.planktivore_dinoflagellates Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). aa#e ta (e zDefineArg OnDock:science:Science.PeakDetectChlActive = 0 boolaa#u tq (u ~DefineArg OnDock:science:Science.TimeWindowPeakReport = nan minaa$ "t ( DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 boolaa$ 2t ( DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool;=w,AJ>@YJ<@JȡP9J27>yJHI+?BK?$ 0׵? V?@?r?ɨJ>@Jb;J$Cy^B^u"IIjQIj4aa $Bt(DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 boolaa $ Rt(nDefineArg OnDock:science:Science.PatchTracking = 0 boolaa$EbtA(EDefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 countaa$UrtQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.٢} = }C=9 G٣y!< >(DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 countaa$t(DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %aa$t I Nusing accuracyPremultiplier from config59G?5YU iWi™d!@AEG::*5 @E(zDefineArg OnDock:science:Science.PeakDetectNO3Active = 0 boolaa!$ t IY aɚaiaIaii)i(uzDefineArg OnDock:science:Science.PeakDetectOilActive = 0 boolaa%$}ty(|DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 boolaa)$t(DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 boolaa-$t(DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 boolaa1$ t (5DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 boolaa5$EtADu59(MDefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 boolaa9$u(DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 boolaa=$u( DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 boolaaA$%*u!(MvDefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 boolaaE$]BuY(tDefineArg OnDock:science:Science.EnabledNeilBrown = 0 boolaaI$Zu(pDefineArg OnDock:science:Science.EnabledSeabird = 1 boolaaM$ru(zDefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 boolaaQ$uuq(DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 boolaaU$u(xDefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 boolaaY$u(DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 countaa]$%u)(-DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 countaaa$]ua(mrDefineArg OnDock:science:Science.PeakShallowBound = nan mGݻBO>aae$u(lDefineArg OnDock:science:Science.PeakDeepBound = nan maai$u(DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 maam$v(DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 boolaaq$UvQ(]tDefineArg OnDock:science:Science.ChlLowerThresh = nan ug/laau$e"va(mtDefineArg OnDock:science:Science.ChlUpperThresh = nan ug/laay$2v(DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 countaa}$:v(lDefineOutput OnDock:science:Science.PeakChl = nan ug/laa$Jv(pDefineOutput OnDock:science:Science.PeakChlDepth = nan maa$ Will construct direction to contact in vehicle frame from tetrahedron phase data. < Zv( DefineOutput OnDock:science:Science.PeakChlTemperature = nan degCaa$% jv! (M DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdegaa$] zvY (e DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdegaa$ v ( pDefineOutput OnDock:science:Science.PeakNO3 = nan umol/laa$ v ( pDefineOutput OnDock:science:Science.PeakNO3Depth = nan maa$ v ( DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdegaa$ v (= DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdegaa$ v ( nDefineOutput OnDock:science:Science.PeakOil = nan kg/m3aa$ v ( pDefineOutput OnDock:science:Science.PeakOilDepth = nan maa$ v ( DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdegaa$ v (e DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdegaa$m  wi (u lDefineOutput OnDock:science:Science.PeakFDOM = nan ppbaa$ w ( rDefineOutput OnDock:science:Science.PeakFDOMDepth = nan maa$ *w ( DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degCaa$ :w ( DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdegaa$ Jw ( DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdegaa$- Zw) (5 lDefineOutput OnDock:science:Science.PeakSalt = nan psu=w,DA:@Y:@:G9:7>y:H@( ?E?@ d?r??@r?ɨ:@:a;:"CyJBJ"Iaa$5jw1(=rDefineOutput OnDock:science:Science.PeakSaltDepth = nan maa$EzwAuMb@Mb@Mb@qqq q)qYuQ?Q?V-?yuµ>uu=u    G٣y%; > Nusing accuracyPremultiplier from configaa$MwI(UDefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan maa$]wYe59=?e5Y i?i™m>m;m@mAE(<G(<5q u@q(DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degCaa$w(DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdegI ɚiIi)aa$w( DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdegaa$w(DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/saa$m xi(uDefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan maa$x(DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degCaa$*xD#9(DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdegaa$%:x)(5DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdegeWill construct direction to contact in vehicle frame from tetrahedron phase data.aa%uJxq(DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml "$?Iaa%Zx(DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan maa %jx(EDefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degCaa %MzxI(uDefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdegaa%}xy(DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdegaa%x(-DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/mlaa%=x9(EDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan maa%MxI(uDefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degCaa!%}xy(DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdegaa%%x(DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdegaa)%x( nDefineOutput OnDock:science:Science.PatchChl = nan ug/laa-%x(rDefineOutput OnDock:science:Science.PatchChlDepth = nan maa1% y(DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdegG!B)OM>aa5%eya(mDefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdegaa9%u*yq(xDefineOutput OnDock:science:Science.PatchChlDistance = nan maa=%:y(nDefineOutput OnDock:science:Science.PatchSalt = nan psuaaA% Jy ( tDefineOutput OnDock:science:Science.PatchSaltDepth = nan maaE% Zy (= DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdegaaI%E jyA (M DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdegaaM%U zyQ ( zDefineOutput OnDock:science:Science.PatchSaltDistance = nan maaQ% y ( lDefineOutput OnDock:science:Science.PatchOil = nan psuaaU% y ( rDefineOutput OnDock:science:Science.PatchOilDepth = nan maaY% y ( DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdegaa]% y ( DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdegaaa% y! (- xDefineOutput OnDock:science:Science.PatchOilDistance = nan maae%5 y1 ( vDefineOutput OnDock:science:Science.TriggeredOnChl = 0 boolaai% y ( xDefineOutput OnDock:science:Science.ChlTriggering = nan ug/lc" c" c" c" c" c" % Will construct direction to contact in vehicle frame from tetrahedron phase data.7̺=w,IA2@Y2@2>92x8>y2H6`F?@ ??@Y?`Oҧ?@?r?ɨ2@2Ua;2#Cy>/BB"IIJcIJy/4 r8Construct PeakDetectVsDepth.٢== =T=9E;Q E>AA EG٣IyMh; M> UNusing accuracyPremultiplier from configQ59U5?5YU iU*i™@AUEU'Construct PeakDetectHorizontal.I ɚi1I1i9)9BDE=:DE>D59G GM8Construct PeakDetectVsDepth. ]8Construct PeakDetectVsDepth.u>Construct PeakDetectHorizontal.M8Construct PeakDetectVsDepth.G5ïBAO]v>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}Aiy Ѝ8Construct PeakDetectVsDepth. I>Construct PeakDetectHorizontal. 8Construct PeakDetectVsDepth.C=w,:A2@Y2@2?592s:9>y2H`e@?v8?@1?`?C?tr?ɨ2@2a;2"CyJBBJ"I %8Construct PeakDetectVsDepth.}Mb@Mb@Mb@yyy y)yY}Cl?I +?I +?y}d>}94=}9<}I A y)}@I}Ayy}@I]I$4٢= D=9ӳ;Q > G٣ y -C;  > Nusing accuracyPremultiplier from config59*?%5Y ii™%>%;%@%AE58Construct PeakDetectVsDepth.;K(<5m,B u@uEI ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.i)DC9 e8Construct PeakDetectVsDepth.%,Construct ValueDetect. ۍ$Construct Execute.ܽ$Construct Execute. Construct Wait.Construct.dInitializing internal variables to default values.nGϳBO > Construct. dInitializing internal variables to default values.(5 a< # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } =] bLoaded ./Missions/Engineering/OnDock.tl id=OnDock y I h Will construct direction to contact in vehicle frame from tetrahedron phase data.=w, A2p@Y2m@2=,929>y2H@`e b?:2?g?? ?r?ɨ2p@28`;2#CyBIBB"IIJqIJJH4٢ = V=9e;Q >    G٣ yU; > =Nusing accuracyPremultiplier from configE59:"?E5Y ii™AE@EAE0;:5Q U6@Q(}BStarted mission DefaultWithUndockKyq}*}NAggregate::initialize DefaultWithUndock} +}4Initialize Wait Component.I ɚiIi)D}d9Will construct direction to contact in vehicle frame from tetrahedron phase data.GïBOh>=w,4:A2_@Y2\-@2G$929>y2H`8?,??`?a?s?ɨ2_@2_;0yBTBB"IIJ[IJK!4٢e= J=9;Q >    G٣ y1; > %!$?I!=Will construct direction to contact in vehicle frame from tetrahedron phase data. ENusing accuracyPremultiplier from configM59?M5Y8 ih™QU @UAE::5Y ]|@aIq qɚqiqIqiy)yDv9G˴BO-o>Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,STA.@Y./@.%9.?~:>y.H @k ?,,?@? v? *?r?ɨ.@.6}_;."CyB]BB"IMb@Mb@Mb@ )YZd;?X9v?Mb?y><< A )@IhAy\@IsIK4٢= <=9;Q > G٣y j9  > Nusing accuracyPremultiplier from config E59 ?M5Y X i h™MϿ>M ;M@MA E < '< 5Q ]@]EIi iɚiiiIii)Du9 IMWill construct direction to contact in vehicle frame from tetrahedron phase data.MAiIGݻBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,nAF@YF8@Fh9F:>yFH@ `?y)?kv? k?4?r?ɨF@Fr_;F!CyNaBR"IIZpIZF4٢/< [=9/;Q >    G٣ y6: > =Nusing accuracyPremultiplier from configE59?E5Y ih™AE@EAE:;:i5Q U@QI ɚiIi)D9 I G5ïBA]Will construct direction to contact in vehicle frame from tetrahedron phase data.Oew>=w,ANq)@YNoH@NT 9NE:>yNH@ J?$?@ҹ?뀡?4?gs?ɨNq)@NP_;N#CyXXi^=#< A x@)@IAyf@IlIm?4٢d1; <=9{;Q > G٣y; > Nusing accuracyPremultiplier from config59?5Y ih™>Will construct direction to contact in vehicle frame from tetrahedron phase data. ;e@AEJ =: =O5  @IA AɚAiAIAiI)IBDUf?:DUD?D=9GMsA GMsAGaBqO>)i i NG `wA $?I  e Will construct direction to contact in vehicle frame from tetrahedron phase data. } 4`Y} `wAy} XA+=w,FA27@Y2V@292]:>y2H@, Ő?@?`^? E?'?zt?ɨ27@2s_;2$CyBfBB"IIJ_IJb(4٢r< r]=9rZ;Q r>tt vG٣tyz; z> ]Nusing accuracyPremultiplier from config|e59~?e5Y~ i~h™aet@mA~E~A;~:~5q ue@qI ɚiIi)DU9Will construct direction to contact in vehicle frame from tetrahedron phase data.G}˴BO]>= Pgot command set OnDock.DockedTime 1 hourp @= got command run= Running oU=w,A2HI@Y2Fh@292v2:>y2H@d?.?@um?w?"?#u?ɨ2HI@2ț_;0 PITy~gB"IWill construct direction to contact in vehicle frame from tetrahedron phase data.ImI3A4٢n; ?=9z;Q > G٣y%; > Nusing accuracyPremultiplier from config59郜?5Yނ ih™@AE ; ;5 P@Eq*RAggregate::uninitialize DefaultWithUndock +8Uninitialize Wait Component.(,Started mission OnDockK1\ 8Aggregate::initialize OnDockq\\Aggregate::initialize OnDock:StandardEnvelopes\ JInitialize AltitudeEnvelopeComponent.\DInitialize DepthEnvelopeComponent.1] JInitialize OffshoreEnvelopeComponent.q^VAggregate::initialize OnDock:BackseatDriver^^LAggregate::initialize OnDock:PowerOnly1_q___1` 4Initialize Wait Component.q`JAggregate::initialize OnDock:dataRead`1a HAggregate::initialize OnDock:scienceqaXAggregate::initialize OnDock:science:Scienceaa1bqbbb1cctAggregate::initialize OnDock:science:Science:PeakDetectChl1d Initialize.d Aggregate::initialize OnDock:science:Science:HighestChlPeakReportdInitialize.1e  tAggregate::initialize OnDock:science:Science:PeakDetectNO3qe  Initialize.aem%etAggregate::initialize OnDock:science:Science:PeakDetectOil1f Initialize.f% %Aggregate::initialize OnDock:science:Science:HighestOilPeakReportf%-Initialize.1g- -vAggregate::initialize OnDock:science:Science:PeakDetectFDOMqg--Initialize.g]]~Aggregate::initialize OnDock:science:Science:PeakDetectSalinity1h] ]Initialize.he eAggregate::initialize OnDock:science:Science:HighestSaltPeakReportheeInitialize.1im mAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROIqimmInitialize.mNo ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.iu}Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI1j} }Initialize.}No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.j ՅAggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatomsjՅInitialize.ՍNo ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.qk֍Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellatesk וInitialize.וNo ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.1l ؝zAggregate::initialize OnDock:science:Science:ChlThreshTriggerql؝Initialize.qcƥrAggregate::initialize OnDock:science:Science:OceanCurrentcǥyfH) r4?L?0?`}?`B?at?ɨfgd@fIh_;dypB "I) =Mb@Mb@Mb@999 9)9Y=`"?Q?Mbp?y=η>=\==;= A 9)=3@I=QA9y=\@Iu{IuZ4٢˨< <9Td;Q V> G٣y; U> Nusing accuracyPremultiplier from config59Ճ?5Y} ih™>;@AE=<<<q5  @ Zs%j@]%]%IY YɚYiYIYia)a2DsA*DsAD9"G=G= $?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.GݻBO>A>w,v AydB"I}Mb@Mb@Mb@yyy y)yY}V-?/$?y}>},=}} A }@)}@I}@yy}f@IeI34٢e[ H=Will construct direction to contact in vehicle frame from tetrahedron phase data.9Q > G٣y > Nusing accuracyPremultiplier from config59̃?5Y]{ ih™>;G@AE;;:5+B m@Ebs]1^I! !ɚ)i)I)i1)1D9G% ïB1 OM > I u Will construct direction to contact in vehicle frame from tetrahedron phase data.q iq j>w,J#A2kk@Y2h@2ϼ92?,;>y2H,`?B?~?@&? QB? t?ɨ2kk@2|r_;2!Cy:\B:"IIFcIFy/4٢JG Ns=9N;Q N?PP RG٣PyV: V? ZNusing accuracyPremultiplier from configX^59ZWŃ?^5YZwy iZh™`bN@bAZEZg;Z;Z5d f@hjsrx@1^rqmrIx xɚ|i|I|i)D&9Will construct direction to contact in vehicle frame from tetrahedron phase data.G=ݻBIOeV>>w,2=A I @:Lm@Y:I@:Ǽ9:y:>y:H,ƕf?? I??,?$v?ɨ:Lm@:K_;:#CyF^BF"IINnINB4٢V0< VI=9V;Q Z>XX ^G٣\y^9 ^> bNusing accuracyPremultiplier from config`f59bD?f5Yb'w ibh™hjP@jAbEbI;b;bx5p r@pvRestarting logsqmvmvI ɚ i I i)BDc?:DJ?EWill construct direction to contact in vehicle frame from tetrahedron phase data.DuF9Gy G}tAGïBO-p>Will construct direction to contact in vehicle frame from tetrahedron phase data.=%={>w,VA:m@Y:@:><9:9>y:H`-4@4? ?m»?&?@?w?ɨ:m@:P_;:"CyFSBF"IMb@Mb@Mb@ )Y-?V-?y5>m= x@)I`@y@I-qI-JH4٢=-I =B=9E:Q E>AA EG٣IyM8 M> UNusing accuracyPremultiplier from configQ]59U5?]5YUu iUh™e>e(;e>!@eAUEU9;U;UO5i m}@q}