*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="DeadReckonUsingMultipleVelocitySources" *n code=003D name="NavChart" *n code=003E name="UniversalFixResidualReporter" *n code=003F name="SBIT" *n code=0040 name="IBIT" *n code=0041 name="CBIT" *n code=0042 name="BuoyancyServo" *n code=0043 name="ElevatorServo" *n code=0044 name="DockingStepper" *n code=0045 name="MassServo" *n code=0046 name="RudderServo" *n code=0047 name="ThrusterServo" *n code=0048 name="CTD_Seabird" *n code=0049 name="CTD_Seabird ThreadHandler" *n code=004A name="PAR_Licor" *n code=004B name="WetLabsBB2FL" *n code=004C name="WetLabsBB2FL ThreadHandler" *n code=004D name="WetLabsUBAT" *n code=004E name="WetLabsUBAT ThreadHandler" *n code=004F name="MissionManager" *n code=0050 name="Reporter" *n code=0051 name="NavChartDb" *n code=0052 name="NavChartDb ThreadHandler" *n code=0053 name="DefaultWithUndock" *n code=0054 name="DefaultWithUndock:A.Wait" *n code=0055 name="DefaultWithUndock:LeaveDock" *n code=0056 name="DefaultWithUndock:LeaveDock:A_Timeout" *n code=0057 name="DefaultWithUndock:LeaveDock:A_Timeout:A" *n code=0058 name="DefaultWithUndock:LeaveDock:A." *n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock" *n code=005A name="DefaultWithUndock:SurfaceDefault" *n code=005B name="DefaultWithUndock:SurfaceDefault:A.GoToSurface" *n code=005C name="DefaultWithUndock:SurfaceDefault:CheckIn" *n code=005D name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS" *n code=005E name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium" *n code=005F name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout" *n code=0060 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=0061 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B" *n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait" *n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:D" *n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:E" *n code=0065 name="DefaultWithUndock:D" *n code=0066 name="DefaultWithUndock:E.Execute" *n code=0067 name="optimize_roll_speed" *n code=0068 name="optimize_roll_speed:NeedComms" *n code=0069 name="optimize_roll_speed:NeedComms:A" *n code=006A name="optimize_roll_speed:NeedComms:B.GoToSurface" *n code=006B name="optimize_roll_speed:NeedComms:C" *n code=006C name="optimize_roll_speed:NeedComms:C:A_Timeout" *n code=006D name="optimize_roll_speed:NeedComms:C:A_Timeout:A" *n code=006E name="optimize_roll_speed:NeedComms:D" *n code=006F name="optimize_roll_speed:NeedComms:D:A_Timeout" *n code=0070 name="optimize_roll_speed:NeedComms:D:A_Timeout:A" *n code=0071 name="optimize_roll_speed:NeedComms:E" *n code=0072 name="optimize_roll_speed:NeedComms:E:A_Timeout" *n code=0073 name="optimize_roll_speed:NeedComms:E:A_Timeout:A" *n code=0074 name="optimize_roll_speed:B" *n code=0075 name="optimize_roll_speed:C" *n code=0076 name="optimize_roll_speed:StandardEnvelopes" *n code=0077 name="optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope" *n code=0078 name="optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope" *n code=0079 name="optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope" *n code=007A name="optimize_roll_speed:E" *n code=007B name="optimize_roll_speed:F" *n code=007C name="optimize_roll_speed:G" *n code=007D name="optimize_roll_speed:BackseatDriver" *n code=007E name="optimize_roll_speed:BackseatDriver:A.BackseatDriver" *n code=007F name="optimize_roll_speed:PowerOnly" *n code=0080 name="optimize_roll_speed:PowerOnly:A" *n code=0081 name="optimize_roll_speed:PowerOnly:B" *n code=0082 name="optimize_roll_speed:PowerOnly:C" *n code=0083 name="optimize_roll_speed:PowerOnly:D" *n code=0084 name="optimize_roll_speed:PowerOnly:E.Wait" *n code=0085 name="optimize_roll_speed:StartingMission" *n code=0086 name="optimize_roll_speed:BuoyancyHold.Buoyancy" *n code=0087 name="optimize_roll_speed:MassHold.Pitch" *n code=0088 name="optimize_roll_speed:Transit" *n code=0089 name="optimize_roll_speed:Transit:A.Pitch" *n code=008A name="optimize_roll_speed:Transit:B.SetRollSpeed" *n code=008B name="optimize_roll_speed:Transit:Wpt1.Waypoint" *n code=008C name="optimize_roll_speed:Transit:PhoneHome" *n code=008D name="lineCaptureHoming" *n code=008E name="lineCaptureHoming:Science" *n code=008F name="lineCaptureHoming:Science:A" *n code=0090 name="lineCaptureHoming:Science:B" *n code=0091 name="lineCaptureHoming:Science:C" *n code=0092 name="lineCaptureHoming:Science:D" *n code=0093 name="lineCaptureHoming:Science:E" *n code=0094 name="lineCaptureHoming:Science:F" *n code=0095 name="lineCaptureHoming:Science:Read_Oil" *n code=0096 name="lineCaptureHoming:Science:OceanCurrent" *n code=0097 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0098 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0099 name="lineCaptureHoming:Science:PeakDetectChl:A.PeakDetectVsDepth" *n code=009A name="lineCaptureHoming:Science:PeakDetectChl:B" *n code=009B name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=009C name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=009D name="lineCaptureHoming:Science:PeakDetectNO3" *n code=009E name="lineCaptureHoming:Science:PeakDetectNO3:A.PeakDetectVsDepth" *n code=009F name="lineCaptureHoming:Science:PeakDetectNO3:B" *n code=00A0 name="lineCaptureHoming:Science:PeakDetectOil" *n code=00A1 name="lineCaptureHoming:Science:PeakDetectOil:A.PeakDetectVsDepth" *n code=00A2 name="lineCaptureHoming:Science:PeakDetectOil:B" *n code=00A3 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=00A4 name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00A5 name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=00A6 name="lineCaptureHoming:Science:PeakDetectFDOM:A.PeakDetectVsDepth" *n code=00A7 name="lineCaptureHoming:Science:PeakDetectFDOM:B" *n code=00A8 name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=00A9 name="lineCaptureHoming:Science:PeakDetectSalinity:A.PeakDetectVsDepth" *n code=00AA name="lineCaptureHoming:Science:PeakDetectSalinity:B" *n code=00AB name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=00AC name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00AD name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=00AE name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth" *n code=00AF name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B" *n code=00B0 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=00B1 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth" *n code=00B2 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B" *n code=00B3 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=00B4 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth" *n code=00B5 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B" *n code=00B6 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00B7 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth" *n code=00B8 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B" *n code=00B9 name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=00BA name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=00BB name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=00BC name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=00BD name="lineCaptureHoming:StandardEnvelopes" *n code=00BE name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=00BF name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=00C0 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=00C1 name="lineCaptureHoming:C" *n code=00C2 name="lineCaptureHoming:D" *n code=00C3 name="lineCaptureHoming:E" *n code=00C4 name="lineCaptureHoming:NeedComms" *n code=00C5 name="lineCaptureHoming:NeedComms:A" *n code=00C6 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=00C7 name="lineCaptureHoming:NeedComms:C" *n code=00C8 name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=00C9 name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=00CA name="lineCaptureHoming:NeedComms:D" *n code=00CB name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=00CC name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=00CD name="lineCaptureHoming:NeedComms:E" *n code=00CE name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=00CF name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=00D0 name="lineCaptureHoming:G" *n code=00D1 name="lineCaptureHoming:H" *n code=00D2 name="lineCaptureHoming:MicromodemComms" *n code=00D3 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=00D4 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=00D5 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=00D6 name="lineCaptureHoming:J" *n code=00D7 name="lineCaptureHoming:LineCapture" *n code=00D8 name="lineCaptureHoming:LineCapture:A" *n code=00D9 name="lineCaptureHoming:LineCapture:B" *n code=00DA name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=00DB name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=00DC name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=00DD name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=00DE name="lineCaptureHoming:LineCapture:D" *n code=00DF name="lineCaptureHoming:LineCapture:E" *n code=00E0 name="lineCaptureHoming:LineCapture:F" *n code=00E1 name="lineCaptureHoming:LineCapture:G" *n code=00E2 name="lineCaptureHoming:LineCapture:H" *n code=00E3 name="lineCaptureHoming:LineCapture:HoldMass" *n code=00E4 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=00E5 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=00E6 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=00E7 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=00E8 name="lineCaptureHoming:LineCapture:HomingSequence" *n code=00E9 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=00EA name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=00EB name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=00EC name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=00ED name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=00EE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=00EF name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=00F0 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=00F1 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=00F2 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=00F3 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=00F4 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=00F5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=00F6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=00F7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=00F8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=00F9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=00FA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=00FB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=00FC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=00FD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=00FE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=00FF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=0100 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=0101 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=0102 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=0103 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=0104 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=0105 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=0106 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=0107 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=0108 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=0109 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=010A name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=010B name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=010C name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=010D name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=010E name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=010F name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=0110 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=0111 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=0112 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=0113 name="lineCaptureHoming:LineCapture:L.Wait" *n code=0114 name="lineCaptureHoming:LineCapture:M" *n code=0115 name="lineCaptureHoming:L" *n code=0116 name="lineCaptureHoming:M" *n code=0117 name="lineCaptureHoming:N" *n code=0118 name="lineCaptureHoming:O" *n code=0119 name="lineCaptureHoming:P" *n code=011A name="lineCaptureHoming:Q" *n code=011B name="lineCaptureHoming:U" *n code=011C name="lineCaptureHoming:TrackAC." *n code=011D name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=011E name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=011F name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=0120 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=0121 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=0122 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=0123 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=0124 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=0125 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=0126 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=0127 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=0128 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=0129 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=012A name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=012B name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=012C name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=012D name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=012E name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=012F name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0130 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0131 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0132 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0133 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0134 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0135 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0136 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0137 name="lineCaptureHoming:restartDHCP" *n code=0138 name="lineCaptureHoming:restartDHCP:A" *n code=0139 name="lineCaptureHoming:restartDHCP:B.Execute" *n code=013A name="lineCaptureHoming:StartingMission" *n code=013B name="lineCaptureHoming:Z" *n code=013C name="lineCaptureHoming:BA.Execute" *n code=013D name="lineCaptureHoming:InitialDive" *n code=013E name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=013F name="lineCaptureHoming:InitialDive:B.Mass" *n code=0140 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0141 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0142 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0143 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0144 name="lineCaptureHoming:RepeatHack" *n code=0145 name="lineCaptureHoming:RepeatHack:A" *n code=0146 name="lineCaptureHoming:Lap" *n code=0147 name="lineCaptureHoming:Lap:A" *n code=0148 name="lineCaptureHoming:Lap:B" *n code=0149 name="lineCaptureHoming:Lap:C" *n code=014A name="lineCaptureHoming:Lap:D" *n code=014B name="lineCaptureHoming:Lap:E" *n code=014C name="lineCaptureHoming:Lap:Docked" *n code=014D name="lineCaptureHoming:Lap:Docked:A" *n code=014E name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=014F name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0150 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0151 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0152 name="lineCaptureHoming:Lap:Docked:C" *n code=0153 name="lineCaptureHoming:Lap:Docked:D" *n code=0154 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0155 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0156 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0157 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=0158 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=0159 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=015A name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=015B name="lineCaptureHoming:Lap:Docked:Detach" *n code=015C name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=015D name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=015E name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=015F name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=0160 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0161 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0162 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0163 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0164 name="lineCaptureHoming:Lap:Docked:Drift" *n code=0165 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=0166 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=0167 name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=0168 name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=0169 name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=016A name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=016B name="OnDock" *n code=016C name="OnDock:StandardEnvelopes" *n code=016D name="OnDock:StandardEnvelopes:A.AltitudeEnvelope" *n code=016E name="OnDock:StandardEnvelopes:B.DepthEnvelope" *n code=016F name="OnDock:StandardEnvelopes:C.OffshoreEnvelope" *n code=0170 name="OnDock:B" *n code=0171 name="OnDock:C" *n code=0172 name="OnDock:D" *n code=0173 name="OnDock:E" *n code=0174 name="OnDock:BackseatDriver" *n code=0175 name="OnDock:BackseatDriver:A.BackseatDriver" *n code=0176 name="OnDock:PowerOnly" *n code=0177 name="OnDock:PowerOnly:A" *n code=0178 name="OnDock:PowerOnly:B" *n code=0179 name="OnDock:PowerOnly:C" *n code=017A name="OnDock:PowerOnly:D" *n code=017B name="OnDock:PowerOnly:E.Wait" *n code=017C name="OnDock:dataRead" *n code=017D name="OnDock:dataRead:A" *n code=017E name="OnDock:dataRead:B.Wait" *n code=017F name="OnDock:science" *n code=0180 name="OnDock:science:Science" *n code=0181 name="OnDock:science:Science:A" *n code=0182 name="OnDock:science:Science:B" *n code=0183 name="OnDock:science:Science:C" *n code=0184 name="OnDock:science:Science:D" *n code=0185 name="OnDock:science:Science:E" *n code=0186 name="OnDock:science:Science:F" *n code=0187 name="OnDock:science:Science:Read_Oil" *n code=0188 name="OnDock:science:Science:OceanCurrent" *n code=0189 name="OnDock:science:Science:OceanCurrent:A." *n code=018A name="OnDock:science:Science:PeakDetectChl" *n code=018B name="OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth" *n code=018C name="OnDock:science:Science:PeakDetectChl:B" *n code=018D name="OnDock:science:Science:HighestChlPeakReport" *n code=018E name="OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=018F name="OnDock:science:Science:PeakDetectNO3" *n code=0190 name="OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth" *n code=0191 name="OnDock:science:Science:PeakDetectNO3:B" *n code=0192 name="OnDock:science:Science:PeakDetectOil" *n code=0193 name="OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth" *n code=0194 name="OnDock:science:Science:PeakDetectOil:B" *n code=0195 name="OnDock:science:Science:HighestOilPeakReport" *n code=0196 name="OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=0197 name="OnDock:science:Science:PeakDetectFDOM" *n code=0198 name="OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth" *n code=0199 name="OnDock:science:Science:PeakDetectFDOM:B" *n code=019A name="OnDock:science:Science:PeakDetectSalinity" *n code=019B name="OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth" *n code=019C name="OnDock:science:Science:PeakDetectSalinity:B" *n code=019D name="OnDock:science:Science:HighestSaltPeakReport" *n code=019E name="OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=019F name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI" *n code=01A0 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth" *n code=01A1 name="OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B" *n code=01A2 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI" *n code=01A3 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth" *n code=01A4 name="OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B" *n code=01A5 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms" *n code=01A6 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth" *n code=01A7 name="OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B" *n code=01A8 name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates" *n code=01A9 name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth" *n code=01AA name="OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B" *n code=01AB name="OnDock:science:Science:ChlThreshTrigger" *n code=01AC name="OnDock:science:Science:ChlThreshTrigger:A.ValueDetect" *n code=01AD name="OnDock:science:Science:ChlThreshTrigger:B" *n code=01AE name="OnDock:science:Science:ChlThreshTrigger:C" *n code=01AF name="OnDock:J." *n code=01B0 name="OnDock:K" *n code=01B1 name="OnDock:L.Execute" *n code=01B2 name="OnDock:PeriodicCheck" *n code=01B3 name="OnDock:PeriodicCheck:CheckIP" *n code=01B4 name="OnDock:PeriodicCheck:CheckIP:A.Execute" *n code=01B5 name="OnDock:PeriodicCheck:CheckIP:B.Wait" *n code=01B6 name="OnDock:N.Docked" *n code=01B7 name="OnDock:Detach" *n code=01B8 name="OnDock:Detach:A" *n code=01B9 name="OnDock:Detach:B.Undock" *n code=01BA name="PAM" *n code=01BB name="PAM:Science" *n code=01BC name="PAM:Science:A" *n code=01BD name="PAM:Science:B" *n code=01BE name="PAM:Science:C" *n code=01BF name="PAM:Science:D" *n code=01C0 name="PAM:Science:E" *n code=01C1 name="PAM:Science:F" *n code=01C2 name="PAM:Science:Read_Oil" *n code=01C3 name="PAM:Science:OceanCurrent" *n code=01C4 name="PAM:Science:OceanCurrent:A." *n code=01C5 name="PAM:Science:PeakDetectChl" *n code=01C6 name="PAM:Science:PeakDetectChl:A.PeakDetectVsDepth" *n code=01C7 name="PAM:Science:PeakDetectChl:B" *n code=01C8 name="PAM:Science:HighestChlPeakReport" *n code=01C9 name="PAM:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=01CA name="PAM:Science:PeakDetectNO3" *n code=01CB name="PAM:Science:PeakDetectNO3:A.PeakDetectVsDepth" *n code=01CC name="PAM:Science:PeakDetectNO3:B" *n code=01CD name="PAM:Science:PeakDetectOil" *n code=01CE name="PAM:Science:PeakDetectOil:A.PeakDetectVsDepth" *n code=01CF name="PAM:Science:PeakDetectOil:B" *n code=01D0 name="PAM:Science:HighestOilPeakReport" *n code=01D1 name="PAM:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=01D2 name="PAM:Science:PeakDetectFDOM" *n code=01D3 name="PAM:Science:PeakDetectFDOM:A.PeakDetectVsDepth" *n code=01D4 name="PAM:Science:PeakDetectFDOM:B" *n code=01D5 name="PAM:Science:PeakDetectSalinity" *n code=01D6 name="PAM:Science:PeakDetectSalinity:A.PeakDetectVsDepth" *n code=01D7 name="PAM:Science:PeakDetectSalinity:B" *n code=01D8 name="PAM:Science:HighestSaltPeakReport" *n code=01D9 name="PAM:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=01DA name="PAM:Science:PeakDetectPlanktivoreLMavgROI" *n code=01DB name="PAM:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth" *n code=01DC name="PAM:Science:PeakDetectPlanktivoreLMavgROI:B" *n code=01DD name="PAM:Science:PeakDetectPlanktivoreHMavgROI" *n code=01DE name="PAM:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth" *n code=01DF name="PAM:Science:PeakDetectPlanktivoreHMavgROI:B" *n code=01E0 name="PAM:Science:PeakDetectPlanktivoreDiatoms" *n code=01E1 name="PAM:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth" *n code=01E2 name="PAM:Science:PeakDetectPlanktivoreDiatoms:B" *n code=01E3 name="PAM:Science:PeakDetectPlanktivoreDinoflagellates" *n code=01E4 name="PAM:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth" *n code=01E5 name="PAM:Science:PeakDetectPlanktivoreDinoflagellates:B" *n code=01E6 name="PAM:Science:ChlThreshTrigger" *n code=01E7 name="PAM:Science:ChlThreshTrigger:A.ValueDetect" *n code=01E8 name="PAM:Science:ChlThreshTrigger:B" *n code=01E9 name="PAM:Science:ChlThreshTrigger:C" *n code=01EA name="PAM:NeedComms" *n code=01EB name="PAM:NeedComms:A" *n code=01EC name="PAM:NeedComms:B.GoToSurface" *n code=01ED name="PAM:NeedComms:C" *n code=01EE name="PAM:NeedComms:C:A_Timeout" *n code=01EF name="PAM:NeedComms:C:A_Timeout:A" *n code=01F0 name="PAM:NeedComms:D" *n code=01F1 name="PAM:NeedComms:D:A_Timeout" *n code=01F2 name="PAM:NeedComms:D:A_Timeout:A" *n code=01F3 name="PAM:NeedComms:E" *n code=01F4 name="PAM:NeedComms:E:A_Timeout" *n code=01F5 name="PAM:NeedComms:E:A_Timeout:A" *n code=01F6 name="PAM:C" *n code=01F7 name="PAM:D" *n code=01F8 name="PAM:StandardEnvelopes" *n code=01F9 name="PAM:StandardEnvelopes:A.AltitudeEnvelope" *n code=01FA name="PAM:StandardEnvelopes:B.DepthEnvelope" *n code=01FB name="PAM:StandardEnvelopes:C.OffshoreEnvelope" *n code=01FC name="PAM:F" *n code=01FD name="PAM:G" *n code=01FE name="PAM:H" *n code=01FF name="PAM:AbortDrift" *n code=0200 name="PAM:AbortDrift:A" *n code=0201 name="PAM:AbortDrift:B.AbortDrift" *n code=0202 name="PAM:AbortDrift:C.Execute" *n code=0203 name="PAM:AbortDrift.Redefine.AcousticTimeout" *n code=0204 name="PAM:BackseatDriver" *n code=0205 name="PAM:BackseatDriver:A.BackseatDriver" *n code=0206 name="PAM:K" *n code=0207 name="PAM:L" *n code=0208 name="PAM:M" *n code=0209 name="PAM:N" *n code=020A name="PAM:O" *n code=020B name="PAM:P" *n code=020C name="PAM:Q" *n code=020D name="PAM:U" *n code=020E name="PAM:R" *n code=020F name="PAM:S" *n code=0210 name="PAM:CommsAndOptionallyTransitBackToListeningLocation" *n code=0211 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsOnly" *n code=0212 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsOnly:SurfacingCommsOnly" *n code=0213 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsOnly:B" *n code=0214 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsOnly:C" *n code=0215 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsOnly:D" *n code=0216 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun" *n code=0217 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:LevelRunStartComms" *n code=0218 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:B" *n code=0219 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:C" *n code=021A name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:D.SetSpeed" *n code=021B name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:E.Mass" *n code=021C name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:F.Buoyancy" *n code=021D name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:G.Pitch" *n code=021E name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:H.Waypoint" *n code=021F name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:I" *n code=0220 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:J" *n code=0221 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:K" *n code=0222 name="PAM:CommsAndOptionallyTransitBackToListeningLocation:CommsAndLevelRun:L" *n code=0223 name="PAM:TurnOnFineTuneMode" *n code=0224 name="PAM:TurnOnFineTuneMode:FineTune" *n code=0225 name="PAM:TurnOnFineTuneMode:FineTune:A" *n code=0226 name="PAM:TurnOnFineTuneMode:FineTune:B" *n code=0227 name="PAM:TurnOnFineTuneMode:FineTune:C" *n code=0228 name="PAM:TurnOnFineTuneMode:FineTune:D" *n code=0229 name="PAM:TurnOnFineTuneMode:FineTune:E" *n code=022A name="PAM:TurnOnFineTuneMode:FineTune:F" *n code=022B name="PAM:TurnOnFineTuneMode:FineTune:G" *n code=022C name="PAM:V" *n code=022D name="PAM:X" *n code=022E name="PAM:Y" *n code=022F name="PAM:Z" *n code=0230 name="PAM:BA" *n code=0231 name="PAM:BB" *n code=0232 name="PAM:BC" *n code=0233 name="PAM:BD" *n code=0234 name="PAM:BE" *n code=0235 name="PAM:BF" *n code=0236 name="PAM:BG" *n code=0237 name="PAM:BH" *n code=0238 name="PAM:BI" *n code=0239 name="PAM:CheckTargetDepths" *n code=023A name="PAM:CheckTargetDepths:CheckDepth" *n code=023B name="PAM:CheckTargetDepths:CheckDepth:A" *n code=023C name="PAM:CheckTargetDepths:CheckDepth:B.Execute" *n code=023D name="PAM:CheckTargetDepths:B" *n code=023E name="PAM:StartingMission" *n code=023F name="PAM:StartingMission:A" *n code=0240 name="PAM:StartingMission:StartingMission" *n code=0241 name="PAM:InitialTransitToListeningLocation" *n code=0242 name="PAM:InitialTransitToListeningLocation:InitialYoYo" *n code=0243 name="PAM:InitialTransitToListeningLocation:InitialYoYo:A" *n code=0244 name="PAM:InitialTransitToListeningLocation:InitialYoYo:B" *n code=0245 name="PAM:InitialTransitToListeningLocation:InitialYoYo:C" *n code=0246 name="PAM:InitialTransitToListeningLocation:InitialYoYo:D.SetSpeed" *n code=0247 name="PAM:InitialTransitToListeningLocation:InitialYoYo:E.DepthEnvelope" *n code=0248 name="PAM:InitialTransitToListeningLocation:InitialYoYo:F.YoYo" *n code=0249 name="PAM:InitialTransitToListeningLocation:InitialYoYo:G.Pitch" *n code=024A name="PAM:InitialTransitToListeningLocation:InitialYoYo:H.Buoyancy" *n code=024B name="PAM:InitialTransitToListeningLocation:InitialYoYo:I.Waypoint" *n code=024C name="PAM:InitialTransitToListeningLocation:InitialYoYo:InitialYoYoReachedWaypoint" *n code=024D name="PAM:InitialTransitToListeningLocation:InitialYoYo:K" *n code=024E name="PAM:InitialTransitToListeningLocation:InitialYoYo:L" *n code=024F name="PAM:InitialTransitToListeningLocation:InitialLevelRun" *n code=0250 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:A" *n code=0251 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:B" *n code=0252 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:C" *n code=0253 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:D.SetSpeed" *n code=0254 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:E.Mass" *n code=0255 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:F.Buoyancy" *n code=0256 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:G.Pitch" *n code=0257 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:H.Waypoint" *n code=0258 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:InitialLevelRunReachedWaypoint" *n code=0259 name="PAM:InitialTransitToListeningLocation:InitialLevelRun:J" *n code=025A name="PAM:InitialTransitToListeningLocation:InitialLevelRun:K" *n code=025B name="PAM:PAM" *n code=025C name="PAM:PAM:SettingVariables" *n code=025D name="PAM:PAM:SettingVariables:A.Mass" *n code=025E name="PAM:PAM:SettingVariables:B.Buoyancy" *n code=025F name="PAM:PAM:SettingVariables:C" *n code=0260 name="PAM:PAM:SettingVariables:D" *n code=0261 name="PAM:PAM:SettingVariables:E" *n code=0262 name="PAM:PAM:SettingVariables:F" *n code=0263 name="PAM:PAM:SettingVariables:G" *n code=0264 name="PAM:PAM:SettingVariables:H" *n code=0265 name="PAM:PAM:SettingVariables:I" *n code=0266 name="PAM:PAM:Waits" *n code=0267 name="PAM:PAM:Waits:A.Mass" *n code=0268 name="PAM:PAM:Waits:B.Buoyancy" *n code=0269 name="PAM:PAM:Waits:WaitForSurfaceCommsCompletion" *n code=026A name="PAM:PAM:Waits:WaitForSurfaceCommsCompletion:A.Wait" *n code=026B name="PAM:PAM:Waits:WaitBuoyancyChange" *n code=026C name="PAM:PAM:Waits:WaitBuoyancyChange:A" *n code=026D name="PAM:PAM:Waits:WaitBuoyancyChange:B.Wait" *n code=026E name="PAM:PAM:C" *n code=026F name="PAM:PAM:ApproachDepthSettleAtDepth" *n code=0270 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth" *n code=0271 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn" *n code=0272 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:A.Mass" *n code=0273 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:B.Buoyancy" *n code=0274 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:C" *n code=0275 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:D" *n code=0276 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:E.Point" *n code=0277 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:F.SetSpeed" *n code=0278 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOn:G.Pitch" *n code=0279 name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff" *n code=027A name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:A.Mass" *n code=027B name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:B" *n code=027C name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:C" *n code=027D name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:D.Point" *n code=027E name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:E.SetSpeed" *n code=027F name="PAM:PAM:ApproachDepthSettleAtDepth:ApproachDepth:ApproachDepthPropellerOff:F.Pitch" *n code=0280 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle" *n code=0281 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:A.Mass" *n code=0282 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:B.Buoyancy" *n code=0283 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:VBSDepthLimit" *n code=0284 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:VBSDepthLimit:ShallowerThanVBSDepthLimit" *n code=0285 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:VBSDepthLimit:ShallowerThanVBSDepthLimit:A" *n code=0286 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:VBSDepthLimit:DeeperThanVBSDepthLimit" *n code=0287 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:VBSDepthLimit:DeeperThanVBSDepthLimit:A" *n code=0288 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth" *n code=0289 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:A" *n code=028A name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOn" *n code=028B name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOn:A.Point" *n code=028C name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOn:B.SetSpeed" *n code=028D name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOn:C.Pitch" *n code=028E name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOn:D.Wait" *n code=028F name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOn:E" *n code=0290 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOn:F" *n code=0291 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOff" *n code=0292 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOff:A.Point" *n code=0293 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOff:B.SetSpeed" *n code=0294 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOff:C.Pitch" *n code=0295 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOff:D.Wait" *n code=0296 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOff:E" *n code=0297 name="PAM:PAM:ApproachDepthSettleAtDepth:Settle:settle_at_depth:SettleAtDepthPropellerOff:F" *n code=0298 name="PAM:PAM:ApproachDepthSettleAtDepth:Hover" *n code=0299 name="PAM:PAM:ApproachDepthSettleAtDepth:Hover:A.Mass" *n code=029A name="PAM:PAM:ApproachDepthSettleAtDepth:Hover:B.Buoyancy" *n code=029B name="PAM:PAM:ApproachDepthSettleAtDepth:Hover:C.Pitch" *n code=029C name="PAM:PAM:ApproachDepthSettleAtDepth:Hover:D.Point" *n code=029D name="PAM:PAM:ApproachDepthSettleAtDepth:Hover:E.SetSpeed" *n code=029E name="PAM:PAM:ApproachDepthSettleAtDepth:Hover:F.Wait" *n code=029F name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound" *n code=02A0 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:A.Mass" *n code=02A1 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:B.Buoyancy" *n code=02A2 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:C" *n code=02A3 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:D" *n code=02A4 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:E" *n code=02A5 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:F" *n code=02A6 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:SurfacingDeeperThanDeepBound" *n code=02A7 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:SurfacingDeeperThanDeepBound:A" *n code=02A8 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:SurfacingDeeperThanDeepBound:B" *n code=02A9 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:SurfacingDeeperThanDeepBound:C" *n code=02AA name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:SurfacingDeeperThanDeepBound:CommsAndOptionalTransitBack" *n code=02AB name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:SurfacingDeeperThanDeepBound:E" *n code=02AC name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy" *n code=02AD name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta" *n code=02AE name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:A" *n code=02AF name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:B" *n code=02B0 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:C" *n code=02B1 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:D" *n code=02B2 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:E" *n code=02B3 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:F" *n code=02B4 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:G" *n code=02B5 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:H" *n code=02B6 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:I" *n code=02B7 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:J" *n code=02B8 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:K" *n code=02B9 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:L" *n code=02BA name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:M" *n code=02BB name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDecreaseDelta:N" *n code=02BC name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta" *n code=02BD name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:A" *n code=02BE name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:B" *n code=02BF name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:C" *n code=02C0 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:D" *n code=02C1 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:E" *n code=02C2 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:F" *n code=02C3 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:G" *n code=02C4 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:IncreaseNeutralBuoyancy:IncreaseNeutralBuoyancyDoNotChangeDelta:H" *n code=02C5 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:I" *n code=02C6 name="PAM:PAM:ApproachDepthSettleAtDepth:DeeperThanDeepBound:TurnOnFineTuneModeDeeperThanDeepBound" *n code=02C7 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound" *n code=02C8 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:A.Mass" *n code=02C9 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:B.Buoyancy" *n code=02CA name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:C" *n code=02CB name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:D" *n code=02CC name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:E" *n code=02CD name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:F" *n code=02CE name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:SurfacingShallowerThanShallowBound" *n code=02CF name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:SurfacingShallowerThanShallowBound:A" *n code=02D0 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:SurfacingShallowerThanShallowBound:B" *n code=02D1 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:SurfacingShallowerThanShallowBound:C" *n code=02D2 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:SurfacingShallowerThanShallowBound:CommsAndOptionalTransitBack" *n code=02D3 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:SurfacingShallowerThanShallowBound:E" *n code=02D4 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy" *n code=02D5 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta" *n code=02D6 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms" *n code=02D7 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:A" *n code=02D8 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:B" *n code=02D9 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:C" *n code=02DA name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:D" *n code=02DB name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:E" *n code=02DC name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:F" *n code=02DD name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:G" *n code=02DE name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:H" *n code=02DF name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:I" *n code=02E0 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:J" *n code=02E1 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:K" *n code=02E2 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:L" *n code=02E3 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:M" *n code=02E4 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:N" *n code=02E5 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaNotSurfaceComms:O" *n code=02E6 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaSurfaceComms" *n code=02E7 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaSurfaceComms:A" *n code=02E8 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaSurfaceComms:B" *n code=02E9 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaSurfaceComms:C" *n code=02EA name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaSurfaceComms:D" *n code=02EB name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDecreaseDelta:DecreaseNeutralBuoyancyDecreaseDeltaSurfaceComms:E" *n code=02EC name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta" *n code=02ED name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms" *n code=02EE name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:A" *n code=02EF name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:B" *n code=02F0 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:C" *n code=02F1 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:D" *n code=02F2 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:E" *n code=02F3 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:F" *n code=02F4 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:G" *n code=02F5 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:H" *n code=02F6 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaNotSurfaceComms:I" *n code=02F7 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaSurfaceComms" *n code=02F8 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaSurfaceComms:A" *n code=02F9 name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaSurfaceComms:B" *n code=02FA name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaSurfaceComms:C" *n code=02FB name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:DecreaseNeutralBuoyancy:DecreaseNeutralBuoyancyDoNotChangeDelta:DecreaseNeutralBuoyancyDoNotChangeDeltaSurfaceComms:D" *n code=02FC name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:I" *n code=02FD name="PAM:PAM:ApproachDepthSettleAtDepth:ShallowerThanShallowBound:TurnOnFineTuneModeShallowerThanShallowBound" *n code=02FE name="PAM:EndingMission" *n code=02FF name="keepstation" *n code=0300 name="keepstation:NeedComms" *n code=0301 name="keepstation:NeedComms:A" *n code=0302 name="keepstation:NeedComms:B.GoToSurface" *n code=0303 name="keepstation:NeedComms:C" *n code=0304 name="keepstation:NeedComms:C:A_Timeout" *n code=0305 name="keepstation:NeedComms:C:A_Timeout:A" *n code=0306 name="keepstation:NeedComms:D" *n code=0307 name="keepstation:NeedComms:D:A_Timeout" *n code=0308 name="keepstation:NeedComms:D:A_Timeout:A" *n code=0309 name="keepstation:NeedComms:E" *n code=030A name="keepstation:NeedComms:E:A_Timeout" *n code=030B name="keepstation:NeedComms:E:A_Timeout:A" *n code=030C name="keepstation:B" *n code=030D name="keepstation:StandardEnvelopes" *n code=030E name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=030F name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=0310 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=0311 name="keepstation:D" *n code=0312 name="keepstation:E" *n code=0313 name="keepstation:BackseatDriver" *n code=0314 name="keepstation:BackseatDriver:A.BackseatDriver" *n code=0315 name="keepstation:PowerOnly" *n code=0316 name="keepstation:PowerOnly:A" *n code=0317 name="keepstation:PowerOnly:B" *n code=0318 name="keepstation:PowerOnly:C" *n code=0319 name="keepstation:PowerOnly:D" *n code=031A name="keepstation:PowerOnly:E.Wait" *n code=031B name="keepstation:H.Pitch" *n code=031C name="keepstation:StartingMission" *n code=031D name="keepstation:TransitToStation" *n code=031E name="keepstation:TransitToStation:A.Buoyancy" *n code=031F name="keepstation:TransitToStation:B.Pitch" *n code=0320 name="keepstation:TransitToStation:C.SetSpeed" *n code=0321 name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=0322 name="keepstation:OnStation" *n code=0323 name="keepstation:KeepStation" *n code=0324 name="keepstation:KeepStation:A" *n code=0325 name="keepstation:KeepStation:B.Pitch" *n code=0326 name="keepstation:KeepStation:C.KeepStation" *n code=0327 name="keepstation:KeepStation:D.Wait" *e code=0000 elementURI="acoustic_receive_time" type=04 *e code=0001 elementURI="acoustic_transmit_time" type=04 *e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003 *e code=0003 elementURI="acoustic_contact_address" type=04 *e code=0004 elementURI="acoustic_contact_range" type=04 *e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04 *e code=0006 elementURI="depth" type=04 *e code=0007 elementURI="depth_rate" type=04 *e code=0008 elementURI="direction_of_sea_water_velocity" type=04 *e code=0009 elementURI="distance_from_shore" type=04 *e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04 *e code=000B elementURI="downward_sea_water_velocity" type=04 *e code=000C elementURI="eastward_sea_water_velocity" type=04 *e code=000D elementURI="fix_distance_made_good" type=04 *e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04 *e code=000F elementURI="fix_residual_distance" type=04 *e code=0010 elementURI="fix_residual_bearing" type=04 *e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04 *e code=0012 elementURI="grid_latitude" type=04 *e code=0013 elementURI="grid_longitude" type=04 *e code=0014 elementURI="height_above_sea_floor" type=04 *e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04 *e code=0016 elementURI="northward_sea_water_velocity" type=04 *e code=0017 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unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=1401 owner=031F element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1402 owner=031F element=04F4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1403 owner=031F element=04F5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1404 owner=031F element=04FA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1405 owner=031F element=04F9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1406 owner=031F element=04F6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1407 owner=031F element=04F7 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=1408 owner=031F element=04F3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1409 owner=0320 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=140A owner=0320 element=04FC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=140B owner=0320 element=04FB universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=140C owner=0321 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=140D owner=0321 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=140E owner=0321 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=140F owner=0321 element=0510 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1410 owner=0321 element=050A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1411 owner=0321 element=050B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=1412 owner=0321 element=050C universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=1413 owner=0324 element=047F universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1414 owner=0325 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1415 owner=0325 element=04F4 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1416 owner=0325 element=04F5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1417 owner=0325 element=04FA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1418 owner=0325 element=04F9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1419 owner=0325 element=04F6 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=141A owner=0325 element=04F7 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=141B owner=0325 element=04F3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=141C owner=0326 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=141D owner=0326 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=141E owner=0326 element=047D universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=141F owner=0326 element=050A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1420 owner=0326 element=050D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1421 owner=0326 element=04FC universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1422 owner=0326 element=04F8 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=1423 owner=0303 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1424 owner=0306 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1425 owner=0309 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 Y￧¥R i￧¥i¥5?¥m¥6￴¥1q¥?￧¥>񿧇¥t;񿧇¥;A񿧇¥[g;4?¥ 󿵇¥eB?¥¥X¥{>iX¥V>x,u?[A>?y>@9>Y>=>Ht޿`ߦ@? 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" < G < c;4y }{BykkkrkRkr\ z\ \ \  @ɛI)u^= uGiq)y}yi}X;ICʃ:VFezQ<ZAqM>IY)]?AHu@AHu@Ax,?[A2?y2@92Y2oy>2H޿`h? ]?Toa??@?2?ɨ2u2; 2SCB=BKDHJL HJn:< 8=YJQ > ɣ   G  >Y]];49]CM?ae;4Y]f i]>>aenƿqe?]-?]l:]:];4i vBkkkrkRkr\!z\!\!\% @ɛ1)== =Gi9)9=9iEۯ;AIICMŃ:G>GގCGDGJK>GGGG2<GFH HHHZ="HZ=*HN4^Dm8E}=E}=ZI bI jI KrI zI I 9I (4I I I I ;I ;VF 7:ZA M >tx,?[Ab'G?yb B@9b4SYbU>bH@߿ ?%U??@?w?Oq?b'G?ɨbW; bRCA=-0DH%MH%kk:}E }L=YüQ >ɣ G5=:J]JBJk9JJRJ/ZJ >];49DM?a;4Yk im>q?{?S:S:;4 -|B)kAkAkArkARkAr\z\\\҂@ɛ) Gi)Gi;IBMjABMiAC%:^D07Xx,j@[A] =]e"Diim;5&1?Zd;?V-?5=5y=5h>)1I1y5~jtI +?J +5Ľ594>5H 5)5BI5ڇBi5B15(BHE= HEg:= -=YQ >ɣ G >];49m@M?a;4Ym i>US>m;q??@:#:z;4I M~BIkakakarkRkiY>r\%>z\%>\%b'@\%@ɛ1)1 5Gi1)9=p~9i=<IC]с:^D(z=VF9 F AZA M% >ɂ x,G0@[AFm?yFC@9F-YFv>FH߿? p? ߿ d?@?_x??Fm?ɨFs; FSCnD=nMDHvHv:~\= =Y׍>Q  ? L?ɣ L?  G  h   ?GGG%>G%ߎCG%EG%i>G!G!G!G%<G%F]};49=M?a};4Yo i>q??:h<R:R;4 vBkkkrkRkr\z\\\@@ɛ)* > Gi)̕i@nx,3J@[A~@=~U&DH-H-":> >=YQ >ɣ GxF >];49s9M?a%;4Yq iz>!!q%??#;;$;;4i m}BuEEkkkrkRkr\z\\\ɛ1)5&O> 5Gi1)9=9i=/BM>C%:^DM$ӿ=VFm /:F) ZA1 M] >x,/f@[AF0?yF%@9FYF>FH> 2?cN?`h??@t?F0?ɨF㳉; FTCn=nWdDIp)pH-t H-:=Mo= EB=YEQ >ɣ GyFG = >];495M?a;4Ys ik>q??/$<a$<V;4 qBkIkIkIrkIRkQr\z\\\R@ɛ ) = Gi ) dɸiHE<II)Cud:^D5(=G>GގCGGG[=GGG<G|FVFU 7:F ZA! ME >;x,@[A2ڽ?y2z@92Y24>2H@?H? 4?`*@?nC?`T2?2ڽ?ɨ2MX; 2SCN=N DHZHZ\::JJBJ9JJRJ1ZJJ%? J%?5~= 5==Y=AQ =>9ɣA EGAEW; E>I];49M1M?a;4YMt iM^>rq?M?M3#E >E =ZI! bI% cjI% GrI! zI! I% x9I% c4I! q- @i- @u- @m- @VF /:zF iArF iAFZAM>T'x,@[AF ?yFi@9F}YFFHW QU?@A?X8?{P???F ?ɨF; DM=MD]=i]4<m?/$?"~j?n>&1>S=)Iy-ӿZd;?#~jĿ5y=% OB)7BIiۙBBHmOHmk:5; 5 =Y5=Q =>9ɣ9 =G=zFE= E>I]<49M\5M?a<4YMy iM=W>m;Cq ?M?MR Gi)+i~<IB=iAB9Cp}:G >G ߎCG EG s>G G G G Y<G F^D =VF }: 52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.i>iV>FZAM>$.x,%@[AJJ?yJC@9J,JH @?rf?0@? ;? fs?JJ?ɨJV ; JQCv>vDH=F H=:U˗= Ua=Y]Dr>Q ]>YɣY ]Ge{FeqI e>i]<49m7M?a<4Ym| im=q?m@m# iGi)隥 i4<ICP|:DAT read: BDAT read: Tx time:18:54:58.9775 $Ping request sent.C5x,rQ@[AFE?ZIZ\bIZNjIZQrIXzIZ=:IZ!9IZ4IXyF@9FڻYFlO=FHA *E?&?@ 跚?z? ?@?FE?ɨF?{; FSCn=n"qDH- H-ٴ:= =I=YEߨQ E>AɣA MGM|F= >]<49{;M?a<4Y iZ:q? @::&<4 nB checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246784kIkIkIrkIRkIr\z\\\G@ɛ)6 > Gi)i< I Cz:^DLc=F>F=?FZAM?> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498888;x,@[A6c?y6@96rY6=6H - F?@?,`$S??@o+?>?6c?ɨ6; 6RCGR>GPGRDGR A>GPGPGPGR<GRF^A=^-0DI`)`Hf?%Hf; O=Y ʼQ  > ɣ  G U>Y]m<49]>M?am<4Y] i]limqu?]@]';]';]x4<4 {BkkkrkRkr\)z\)\)\-!@ɛ) Gi)隅Givy<IC>BI?Cvy:^Dmi>-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751675FAZAIMm5>:JKBJ59JJRJ3ZJI9 )= @ABx, A[ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003402^?y^t@9^^Hkݽ@?0??,;?yo?^?ɨ^); ^UC}=}"qDH=S H=:%f= 2=Y=Q >ɣ %G%}FulƼ }>]-<49?BM?a-<4Y i. 151q5?@;A<;<hE<49 =nB9kkkrkRkr\z\\\:@ɛA)E#> EGiA)IMҷIiMBrF ZA! ME >Ix,"%A[A6?y6e@96Ki=Y6*q>6He5?D?`9߿?X%?@?6?ɨ6}; 6SCBܔ=B7D HzG?Gz?|?5^? => p=> R>) I y Cl?Zd;O?MbX? ;= j<> > B) щBI GBi   BH]RH]:m2o uO=Y=Q >ɣ G~FК >]<49=M?a<4Yv i>m;7@q? @]%<%<TR<4! %zB!kykykyrkyRkychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506948r\*>z\*>\$II@\ *@ɛ))-K3> -Gi)))51i5om<9IACEv:GG?AG>GGDG,>GGGG<GFHmߎC HmߎCHiHm[="Hm[=*Hm4^D #>F ZA M >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758731q-Ox,?A[A2I?y21 @92Z=Y2E>2H GB @?`5? ƕ?ǧ@x?@3T?2I?ɨ2G; 0>I[=>DF)>iFY>HJcHJ :r}] rg=Yv=Q v?tɣt zGxz&= z?9]E<49=7M?aE<4Y= i=ͤ=IM;@qM?=%@=:= :=^<4Q BkkkrkRkr\ z\ \ \ @ɛa)a eGia)aeHaim.<IBhABfA:JvKBJ89JJRJ4ZJCru:^DM`=(>F!ZAAM]4>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011683 5~GM;mA Y)y;mAB= e>i9 pVx,{YA[A2?y2e@92bqH2H`;f?.X?y?`3?@m??2?ɨ2; 2TCHNAAHNAAZITbIVMjIVIrITzITIV9IVF4ITZ=Z`CH%OH%:5P 5E=YQ >ɣ GF >]<49c1M?a<4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262752Yم ifO>TA@q?)@-f<Wf<Im<4! %B!kkkrkRkr\z\\\@ɛ!)-ހ> -Gi))隍|i?<ICms:^DmC2>F ZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519019M >=\x,XsA[AG&>G$G&aDG&=G$G$G$G&%<G&FF?yFUq@9F YF=FH**``?Ϙ?v,R?i?`?@ ?F?ɨF; FSCR@=RU&DHZ!HZf:}= %L=Y%Q %>)ɣ) -G)- 5>1]}<495m+M?a<4Y5… i5#>F@q?5s.@5:5:5z<4B ~BHEkkkrkRkr\Az\A\A\E⫨@ɛ)S> Gi)隝ޖiO`<ICr:^DoE->5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771412FaZAqM9>:J- XKBJ- 9JJ) RJ- 5ZJ- 8'cx,9A[ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022737N#?yNa @9N[*YN!>NH@^JC?'?jo?@??J?N#?ɨNċ; NTC^w.=^CI`)`Hf Hf:=Fk =H=YEQ E>AɣI MGMFM\= M>Q]]<49U%M?ae<4YUͅ iU>ae|Gqe?U2@U:U ;U(<4 BkikikrkRkr\z\\\(u@ɛ) > Gi!)!%)i-<)I1C=?B=?CEq:9=AEBDAT read: Rx Time:18:55:01.8186 UTRx dataTimestamp_ set to:1736535302.478079]@DAT read: $Low SNR acquisition ]2Received low SNR in chirpchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.295186^DE D->F! ZA) ME >I9 )9 VOix,o A[A6?y6f@96觅Y6'>6H ߿ Lt?h? u߿P??] ?N?6?ɨ6T; 6SCRC=RCD5@5 5@5 5@5  u@u -&1Dl?I +-н-O=-9))I)i-Mb@Mb@Mb@-©-- -)-hBI-i-B--.BH H:= 3=Yɣ GF >)]5<49-!M?a5<4Y-i i-?i=+:9m=:=8@q=?-q6@-:-y>-J<4A ExBIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526813kkkrkRkɛQ)]> ]GiY)Y]d˸Yi]=aIiCEdo:^Di>GE>GAGEHDGE=GEY=GAGAGE<GEFFZAMj>ZI \bI OjI rI zI =:I %9I I I o:q I t:i I &:u I m M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7792497px,A[A2%?y2@924]Y2a>2H޿`?@+2?@wݿ5? n?@$k?6q?2%?ɨ2; 2QCN=NDHV~HV :E= Eh=YE*=Q E>IɣI MGIUľ U>]<49OM?a<4Y i.4?i :m:6@q?k9@8:[R?s<4 cBk!k!k!rk)Rk)ɛ) Gi)i=I:J &`KBJ 9JJ RJ 6ZJ C2n:checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032590^DM_ >F) ZA1 MM >bvx,A[A6Y?y6jK@96ʽY6>6H|S޿k,?H? ޿}@R?k??6Y?ɨ6; 6UCRڄ=Ra#DV=iV4=HZvHZI:=  EJ=YEQ E>IɣI MGMFM< U>Y]e<49]M?ae<4Y] i]R?im9imm:mH@qm?]=@]:]o?]<4q ~Bkkkrkchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282833Rkɛq)}ϔ > }Giy)yyyiRf=IBBiACm:^DM>F]0?F]L?F!ZA)MM1> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534768= x>i= ]>G= >G= ގCG= DG= ,>G9 G9 G9 G= <G= F|x,A[AKs=DH- H-}:bS A=YQ >ɣ GF >]=<49M?a=<4Y is?iE9AmE:AqE?B@-;?<4I BkkkrkRkɛI)I UGiQ)QUPQiU g=YIYZI]bISjIFrIzI]:Iy69I4II<:IA:I{C:I~C:Ceak:checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787961^DmR>FI ZAQ :Jm JBJm 9JJi RJm 7ZJm J} ? J} >M >sx,S{B[A:checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040664J?yJu@9JtYJ=JH Gܿ D e? p?/ݿ`z@*?"??J?ɨJ; HbX=bDH~H~: L=YdQ %>)ɣ) uGy >)]5<49- M?a5<4Y- i-?i=99m=V:=&Hq=?-F@-{:-:@-k<4A EBEKEkYkYkYrkaRkaɛ) Gi )  ^з i =IC%i:C-hAC-hA^DP >FZAMi>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290827*x,W(B[A2M?y2}@92!Y2=b>2Hܿg?2? b޿@ڭ j?_?N?2M?ɨ2-; 2TCBzF=BCID)D55 55 55  5 5 5@5 5@5 5@5  ]@] 5E?5^I ˿`"?5F>5X5=)1I1i5Mb@Mb@Mb@111 1)5I5Bi515BHmý Hm:c0 M=YjQ >ɣ GF< >]<49M?a<4Y i)?io9m-:Fq?aJ@Q@<4 Bk)k)k)rk)Rk)ɛ) Gi)隝i˂=IC?B?checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544396Ch:GG=AG>GGDGJK>GZ=GGG<GF^D, >FiZAyM>ZI ^bI LjI JrI zI } :I q9I 4I I :I :I R:I U:- checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795818I9 )9 x,+4BB[A2]?y2@92PǒY2Zr>2H/޿@??n޿ު?T?O??2]?ɨ2; 2RCNC#=NCHZwHZW7:v7 vW=YvC>Q v>xɣx zGzFʪ= >!]%<49%hM?a-<4Y% i%l?i-B9)m- :-@@q-?%M@%A:%4@%<4Y ]BakqkkrkRkɛ) &> Gi) Iie'$=ICog:CCCC:JmKBJmk9JJiRJm8ZJmJuhAIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.048382F1ZAAM]v>x,| \B[A6.?y6$n@96Y6܋>6H ۿ.?F?uۿ??/`?`?6.?ɨ6:"; 6SCN=RKDHV{ HVBd:v= vJ=Yv=Q v>xɣx zGxz ~>!]-<49%L?a-<4Y%y i%?i-9)m-9-6@q-?%Q@%:%N@%<4Y ]wBYkqkqkqrkqRkchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.298881ɛ) Gi)i)*= I COf:FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550839G >G G @EG tU>G [=G G G ϱ<G FHގC HގCHHZ="HZ=*He65ڜx,1uB[AV?yV+?9VfYVo >VHٿ ??=sڿMG?@$?`?V?ɨVE|; VUCj=jI)DrYɣY ]G]F] e>a]m<49eL?am<4Ye] ie?iu8qmu9uE@qu?eV@eA;eIi@e<4 ~BkkkrkRkɛ))UF > UGiQ)QUMYi]xL0=YIaBiBmhACMd:ZIu\bIuNjIuFrIqzIu=:Iu!9Iu4IqIuo:Iut:Iu:Iu:FaZAqM>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802753:J KBJ h9JJ RJ 9ZJ J ? J ?E t>iE >Ii )i {G  )E #yA E !Bţx,ҏB[A*checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056760'?yS@9FuYB=H4ۿ cɣ GFR= >]%<49&L?a%<4Y8 i?i%8!m%9%TE@q%?[@;@@<41 5B1kikikirkiRkiɛ)h(> Gi)隽շiݛ7=ICb:FZAMe>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306858x,B[A6:?y6e@96,Q v?xɣx zGxz = z?]%<49>L?a%<4Y i"?i-8)m-r9->@q-?_@:@<45B 5B]NEkqkqkqrkRkɛ)D> Gi)iy<=ICa:]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559428*G"G<G>GGDG A>GY=GGGn<GDF^D >FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810973Ӱx,xB[A6e?y6Q@96;;Y6b<>6H`˸ܿ` ??0ܿ??CqPp?@hu?6e?ɨ6; 6TCBD=BCID)DHJqHJ:r&= rJ=Yv{Q v>tɣt vGvFzK z>|]<49~L?a<4Y~ i~v?i8m D9 :@q ?~d@~:~Ϛ@~$<4 Bk)k)k)rk)Rk1ɛq)*P7> Gi)隝HiC=IC ?B>Cu`:^D5G>zFEhArFEhAF ZA:J-uJBJ-C9JJ)RJ-:ZJ-M}>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.064271I9 )9 x,7TB[AH H ZI&[bI&MjI&ErI$zI&:I&9I&4I$q*@i*@u*@m*@B3g?yB&R@9B//BH;ݿٍ?]?'ܿ+?`兿v"?@{ ?B3g?ɨBh; @Rڄ=Ra#DHZ|, HZC:f+= fL=Yfhɣh jGhnc = ~>] <49sL?a <4Y i@i [8 m 9 5@q?6h@E:ç@<49 =B9kQkQkQrkQRkQchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.314781ɛ) Gi)~|i k.K= IC_:^Dtf:>FZAM>m checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566776G >G G DG =G Z=G G G <G F(x,1B[A2?y2Mm@92$=Y2>2H ݿKA?@Q?9ۿ7?ฎ ?1?2?ɨ2?; 2SC@@HJF HJ*:YrW=Q r>tɣt vGvFvu; z>x]<49zL?a%<4Yzb iz @i%18!m%9%.@q%?z9l@z;zɴ@z<4) 11kakakirkiRkiɛ)H> i)1iuR=IC]:ChAChAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.818833^D5+E>FZA)MU>:Je a3JBJe 9JJa RJe ;ZJe x,#C[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.0743846?y'@94HGܿC p??+ڿ` ?@X?g?6?ɨ%; RCݤ=JD=i<      @ @ @  @ E?l?)\(̿F>>Ga)IiMb@Mb@Mb@ )BIiBHHf:,< !ɣ! %G%F%% ->)]5<49-L?a5<4Y- i-@i]8Ym]8]h-@q]?-p@-;- @-<4i mwBikkkrkRkɛ)<> Gi)ik[=!I!C4\:IԺ4I 4I}1IIIZI]^bI]KjIYrIYzI]} :I]K9IYIYchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.322756^D PH>F ZA M >5 >i5 >:x,*C[A6?y6l@96R:Y6h>6H ۿ`C`?@8?MNڿz?OT?-?6?ɨ6g; 4b~n=bDHj Hju:딽 =Y Q  ? ɣ Gñ ?9]M<49=L?aM<4Y=, i=@iM7QmU8U'5@qU?=t@=;=@=<4y }BkkkrkRkɛ) Gi )  ɸ i Z`=I1C [:Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.576675^D AI>FZAM (>G!G%@AG)G)G-zDG-J=G)G)G)G-߱<G-F checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826785"x,DC[A2'k?y2 @92fY2=2HPWۿ@Z?n?@ۿ6s۬?(y?@?2'k?ɨ2; 2SCB =BPCHJp HJ:rD rM=YrQ r>tɣt vGvFz< z>|]<49~L?a<4Y~ i~O"@i7m8B@q ?~x@~:~r@~M<4 BQEkIkIkIrkIRkQɛ)()> Gi)隽t⸉icf=ICY::JuJBJ59JJRJ<ZJ]zFrFFZAM>VOx,^C[AZI]bIHjIGrIzI]:I9Ic4I> S?y>H@9> ߽Y>1 =>H`ۿ@_?~?'ܿ`v@ӻ?C??> S?ɨ>; >UCNw.=NCIP)PHV+: HVׂ:b< bL=Yb-Q f>dɣd fGfFj< >!]-<49%L?a-<4Y% i%)@i-7)m-]8-kHq-?%l}@%:%@%<4Y ]BYkkkrkRkɛ)*> Gi) iMl= IC?B:?C:X:^Dxj0>FZAM>G! G! G% DG% #>G% [=G! I1 )1 G! G% <G% Fvx,xxC[A~1=~~CH  H :%@: -D=Y-Q ->)ɣ1 5G15 ]>Y]m<49]qL?am<4Y] i]1@imw7qmu38qqu?]@]q+;]@]<4 kkkrkRkɛ!)! %Gi)))- )i-q=1IaCuV:BDAT read: Response Not Received *response not received-FiZAyM>:J KBJ 9JJ RJ =ZJ "&'$#   J > J >ox,ԚC[AMw?yMZ@9Mz/YM">MHݿ?6Z?ܿ@j? a?@_?ɤ?Mw?ɨM; MQCޅ=ޅ[cD== == ==  = = =@= =@= E@E  E@E E@E =(\?x&1?n?=z>=A>=>)9I9i=Mb@Mb@Mb@999 9)=I9i99=H}& H}إ:= &=Y/>Q >ɣ GF= >]<49ڹL?a%<4Yr i;@i-H7)m-8-4@q-?Y@;A$<49 =sB9kqkqkqrkqRkqɛ)[G> Gi)iGy=ICT:ZI!bI%JjI!rI!zI!I%&9I!I!^D*_>FqZAyM>Xx,I-C[A6o?y6D@96_{;Y6׺>6H{ۿ]6`u?@?ٿ(?@ko୧?@?6o?ɨ6f; 6RCBw >BVDFC=iFa=HJy{ HJ:rv^> r=Yr=Q r?tɣt vGvFz z?x]<49zɶL?a<4Yz izA@i"7m7)@q?z@zr;zAzD<4 QBk1k1k1rk1Rk1ɛ) _Gi)隥i3 =IBBCHT:*G<"G<G>GGDG">GZ=GGGh<GFH HHH"H*HĂ5^D6>FZAM>= >i= >sx,C[A2?y2@922H=nۿ@o%?@? Xڿm?4`|%?J?2?ɨ25H; 2SC>C>>gDHNM HN5:r rJ=Yv=Q v>tɣt vGtz >]%<49L?a%<4YV iI@i%7)m-7-2@q-?Ɔ@:Ah<4Q ]RBakkkrkRkɛ) bGi))-1N)i5E=1I9CR:^DQ3(> M}GY y:J/MBJж9JJRJ>ZJJI)#yBFZAM%,>1x,yC[AZITbIVOjIVErITzITIV%9IV4ITU?yU4?9U;YUDH+E H+:m S m4=YmӼQ m>qɣq uGuF}% }>]<49L?a<4Y~ iQ@i6m7?@q?։@:xA<4B _BTEk1k1k1rk1Rk1ɛ) zGi)xҷi@=ICP:^DaK>FZAMd>G >G G DG M>G [=G G G i<G x,MC[ArM=vDI)H r H :g̼ Y=YQ >ɣ GF >]<494L?a<4Y~ iQX@i6mz7q?K@:{A<4  dB kakikirkiRkiɛ) Gi)ix=!I!Cu?Bu%?CMO:^DG>F ZA M >:JE +KBJE ŷ9JJA RJE ?ZJE Iq )u ?AJ ? J >Px,D[A?y6?9=Y!>H2ڿ`{黼??`=ٿ&&?`??騥?ɨۋ; K=‹D-- -- --  - - 55 -"~?Fx?/$?->- ?-=))I)y-E?#~j?HzG?-F>->-= > -B))I-Bi-B--BH3 H0:ݞ "=Y>Q >ɣ G< >]<49L?a<4Y} i]@iT:U>m;C=@q?+@#;j;A<4 iBk)k1k1rkqRkqr\#>z\#>\{@\@ɛ)h> Gi)kRiv=1I1C N:CCCCF ZA M > x,hu-D[AJ#9?yJ;@9Jm]=YJ>JHۿ??`8?@ڿ@? ?`|?J#9?ɨJ(; JTCr=rDHz Hzf:E[= E=YMŠQ M?IɣQ UGUFUE= ?]<49XL?a<4YI} ia@S=@q?@::<4 dBWEk kkQrkQRkQr\iz\i\i\mԾ@ɛ) Y> Gi)}iW= ICL:GqGuAAG}>GyGyGyG}Z=GyGyG}<G}FFZA M5->ZI5 [bI5 PjI1 rI1 zI5 :I5 *9I1 I1 I5 :qE I5 :iE I5 -:uE I5 -:mM x,{kGD[A:?y:@9:!׺Y:bh>:H`ۿ[W? ?@ڿH?1Z?`?y-?:?ɨ:L; :UCJ~=JDDN=iN=HR  HR1:5B 5K=Y5 Q =>9ɣ9 =G9EqĻ E>I]<49ML?a<4YM| iMf@o?@q?Mݙ@Mj:Mv:M<4 jBkkkrkARkIr\z\\\ ¾@ɛ ) "sI> Gi ) Diѕ=IB!B!CK:FZA!M=/>:JQBJU9JJQRJU@ZJUU >iU Y>H- @AH- @Ax,,aD[A6]?y6;@96{Y6'2>6H@؎ۿvC`?`?@ ۿщ?˱??p?6]?ɨ6e; 6SC>v=BDHF@HF:0 M=Y%.Q %>!ɣ! -G-F-x<: ->1]}<495ftL?a}<4Y5a| i5k@B@q?5K@5a%<5%<5<4 BkkkrkRkr\Az\A\A\E@ɛ)7> Gi)隝i9=IC.J:FZAM>Gm >Gi Gm DGm #>Gi Gi Gi Gm ȱ<Gm Fx,{D[An`=n DHvW? Hv|:V D=YQ >ɣ GF >] =49gL?a =4Y{ iq@AAqE?@;A< =4MB MBMZEkkkrkZI\bILjIFrIzI=:Iq9I4IIo:It:IR:IU:Rk)r\z\\\ɛ)=B> Gi)隥ZTi=ICH:^D!E>F ZA M >:J JBJ JJ RJ AZJ  $x,&D[An =n'CIp)pm@m m@m m@m  m@m m+η?i|?5i|?5?mv=mmq>)iIiimMb@Mb@Mb@m©mm m)mBImimmmBHTH6:%. -3=Y)Q 5>1ɣ1 5G5F9 =>A]M=49EZL?aM=4YE{ iEJw@i+:m:q?E@Eg1E(=4 BkkkrkRkɛ) Gi)隽gҷiO7=I C?B>CTG:^DE 8B>FA IY )] @AZAa M} >Y%+x,ϿD[A) 2?y2,?92vCY2av>2Hr׿@3x@..?q? ٿ"?`_=??2?ɨ24; 2RCn=n7lDHvt HvB:E/> Eo=YE8Q E?IɣI MGIUA U?]=49qQL?a=4Y!{ i{|@i :m:?@q?@:K?-!=4 sBk k k rkQRkQɛ))+> Gi)iEh=ICZI [bI RjI DrI zI :I S29I 4I I :I :I Q<:I S<: 2x,[D[An=nDHv@ Hv:=y= =<=YEQ E>IɣI MGMFU ]>a]m=49eEL?am=4Yez ien@im9im:q?e)@e Gi)隅 Ri8=ICD::J#LBJͼ9JJRJBZJFZAM?>68x,sD[A6_C?y6w?96^Y6IK>6Hٿq ?`{!?|ڿU8?@#?=?6_C?ɨ6; 6SC>=B,DB!ɣ) -G)-= ->q]}=49u;L?a=4Yu+z iu@i9mc:A@q?u9@u:u?u.=4 hBkkkrkRkɛ)G> Gi)隝ɷiЦ=IBiABiACbC:FZAM$>G >G G @EG tU>G G G G :<G FH HHH"H*Ht4] i>i] t>x,7PD[A6e?y6?96=Y609?>6H[%ؿ@4?? 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P?`? ి`}ے?`{?@O?6QG?ɨ6~; 6SC>F=>OfD      ] /$?RQ?q= ףp?>>>)Iy!rh?zG?~jtÿl> = B)IBiBBHuHu|:ü @=YzH=Q >ɣ GԖF6 >]?49I?a?4Y] iiT:K>m ;?q?RA:: ?4 BkkkrkRkr\$?z\$?\~@\#@ɛ )  Gi)ifm>ICu9FZAM>>ie>|x,;N[A6?y6ֱ?96q Y6o>6H? =?6y?T]?}???6?ɨ6XŽ; 4N=RTDHZ HZ:f,= fW=Yfhɣh jGhn n>p]v?49rI?av?4Yr ir0tv?qv?rkAr:ry:rI-?4| ~B|kkkrkRkr\1z\1\1\5@ɛI)I MGiI)IUoQiU(n>QIYCUp9F9ZAIMe=:J-a3JBJ-ŷ9JJ)RJ-iZJ-J=? J=?*G<"G<G>GG EG_>GGGGϱ<GFRx,4N[A:?y:,?9:NY:7]>:H@ ??@? ).? rک?g?@_7?:?ɨ:/; :RC^t=bY%DHf5( Hf؁:nҽ rI=YrӽQ r>tɣt vGvՖFv0v= v>x]~?49ziIiCUFl9F1ZA9MU=fx,VdN[A2?y2?92Y2n=2H@?3?mn?@?,ĸ ]y?꺣?`?2?ɨ22; 2SC>D3=BvCID)DHJCHJ};n8^ nK=YnѽQ r>pɣp rGr֖FvW v>x]~?49zjI?a~?4Yz^ izU?q?zAz;zb;zI?4  B kkkrkRkr\z\\\F@ɛ) Gi)隽;Piq>IC?B6?Ce9zFrFhAFZAM>ZI[bIMjIIrIzI:I9IF4Iq@i@u@m@I)?A:J >`JBJ h9JJ RJ jZJ G >G G DG w>G [=G G G <G nFHގC HގCHH"H*H˴4 x,KO[AJa?yJ#?9J+սYJFc^JH#?I@Ჿ2?`?a ֯?(\?Ja?ɨJs; JVC^ <^%1CHfHfE:ς G=Y&Q > ɣ   G ߧ >]?49nI?a?4Y] i?q?A:W:X?4 BkkkrkRkr\yz\y\y\}=@ɛ) Gi)0Ϸi|7s>1I9CQ_9FYZAaM8>I%=)ːC  G1 i)-y)- B@B-x,7O[A6#?y66Y?96Y6B ;6Hy? %t@⪎O??}ݷ)?@Md? g?6#?ɨ6W; 6SCB |ɣ GזF%= %>)]5?49-I?a5?4Y- i-ƿi5+:1m]:]?q]?-A-W;->-c?4eB eBeEk9k9k9rk9Rk9ɛ) Gi)隭Ri8t>ICcZ9FZAM&>#Yx,7O[AZI bI"PjI"HrI zI I"*9I"Ժ4I R?yR%?9RyY@YRzF>RH@F?fE?|?`z?Q??`]?R?ɨRl; RUC^u=^Cbtɣt zGxz< >!]-?49%I?a-?4Y% i%w̿i- :)m5:5_?q5?%6A%/:%K?%l?4Y ]BakkkrkRkɛ) Gi)隵gKi"v>IBBiACU9F ?F?:JEBoIBJE9JJARJEkZJEFZAM$>GYG]?AGe>GaGeDGe">GeY=GaGeDGe<GeF?x,9QO[A2'?y2;í?92vۼY2qm>2H F?`F?C?@fd?@_@m?~?!?2'?ɨ2[; 2TCNG=NuDHZ HZ:_> =G=Y=gG=Q =>AɣA EGEؖFE=ǽ M>I]}?49MI?a?4YM: iMѿi9m:d?q?MfAMq;Mn?Mbt?4 BkkkrkRkɛ9)9 =Gi9)AEAiE`w>IIIHMC=HM=CN9FZAM>!ix,\kO[A:?y:)C?9:];Y:L>:H?Y0l?1? ?@:S`@K?@?:?ɨ:&; :SCR>VvDHW H:o= B=Y=Q >ɣ GٖF >]?495I?a?4YL i-׿i9ms:?q?A;?z?4 yBk1kQkQrkQRkYɛ) Gi)隭Niy>IIQC-I9FZAM-->ZIe^bIeOjIeJrIazIe} :Ie%9Ie4Ia:J JBJ 9JJ RJ lZJ Gm >Gm ݎCGm DGm 6>Gi Gi Gi Gm <Gi _x,ÅO[AJ?yJ?9Jŏ=YJNЍ>JH@???B?R??@3u?[?J?ɨJK; HB=5DI ) ) = B?H# H:E  EO=YM0>Q M>IɣQ UGQU[= U>]?49I?a?4Y i޿i9m%E:%?q%?Ai;d@?4) -B)kakakarkaRkaɛ) Gi)i){>IC C9F!ZAqM_>HQ HQ 3{x,`O[A) :3?y:p?9:Y=Y:w>:HP? 5D?T?<?@@?8<C5??:3?ɨ:; :TC^{=^yD      @ @ @  E@E \(\?I +?jtĿ>9< )IiMb@Mb@Mb@© )7~BIi3~BH}H}z:y= 9=YhQ >ɣ GږFo} >]?49I?a?4Y iio9m:?q?A;@?4 Bk9k9k9rk9RkAɛ) Gi)]OYi]u}>aIiCE=9FZA)MMR>x,FO[AZIZbIjIGrIzI9IIc4IV&?yVc?9V¬YVd=VH.(?`5???`S ?'? ?V&?ɨVs;; VSCA=-CH% H%ͨ:=# =b=Y=RQ =>AɣA EGEۖFM؈ M>Q]}?49UI?a}?4YU iUi}B9ym}:}}?q?UAU!;U4@UΆ?4 BkkkrkRkB*** querying acoustic contact ***iiɛ9)9 =Gi9)AEAiE>AIIC89FZA*G"G<G >G G DG =G [=G G G <G MF:Jm$JBJh9JJRJmZJM5.>  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.x,/O[A:^?y:?9::uY:Ծ>:H?*?`?"?Sȱ?[i??:^?ɨ:X; :UCJqɣq }Gy}l }>]?49I?a?4Y ii9m9A?q?A;N@x?4 BEkkkrkRkɛ9)A EGiA)imJiim]>iIqByByC39F?F>FYZAiM>DAT read: BDAT read: Tx time:18:55:59.2780 $Ping request sent.i>Xx,kO[A&JDAT read: TxSync time:18:55:59.2772 *checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252582~=~CHE H:e|< eJ=YeQ e>iɣi mGmܖFm u>]?49I?a?4Y ioi%8!m%9!q%?KA:i@?4) -B)kAkAkArkIRkIɛ) Gi)隽˷i0>ICS-9FZAM>A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505161G >G G DG #>G Z=G G G <G YF:J yJBJ 9JJ RJ nZJ J) I) x,!P[ARb?yRuǣ?9R`YRqܠ>RHY?@N\?5?@q?@1@m?`?Xc?Rb?ɨRŋ; RSCr=r 3DH%xb H%n:5Ю= ]M=Y] 4Q ]>aɣa eGeݖFm` m>q]?49uRI?a?4Yu$ iu i8m9?q?uhAud;u.@uN?4B BEkkkrkRkɛA)A EGiI)IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755348Mi>IC&9FZAM J>ZIU [bIU WjIQ rIQ zIU :IU G9IQ IQ IU :qe IU :ie IU %`:ue IU '`:me  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006983x, P[A2r?y2ꯣ?92~QY2?>2H ^j????@|O`-)? x?!?2r?ɨ2{; 2TCBߴ=Bo^DEE EE EE  E E Ei|?5?kt?B`"?E>E 0=EN>)AIAyEV-?/$ƿX9vοEh>E&1Es A)EzBIEBiE_BEEBH] H]`:m+= mF=Ym=Q u>qɣq uGq}? }>]?49I?a?4Yf iiT:`>m;2?q?eA2;;?4B BEkkkrkRkr\d?z\d?\@\`@ɛ) Gi)fIi>IC3"9FZAM>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259202I)@Aw x,:P[A) :Â?y:?9:!Y:LW>:H7?kA? I??@,9d?H??:Â?ɨ:U; 8BJ=BֆDHNY= HN:VJ= ZX=YZ=Q Z>Xɣ\ ^G^ޖF^Ž b>`]f?49bI?aj?4Yb ib` hjLi?qj?bOAbS:b:bǨ?4l rBpk|kkrkRkr\z\\\j@ɛ) Gi)隵K{ip>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511349IC9FiZAyM=GGGDG=GGGGi<G:FHuݎC HuݎCHqHq"Hq*Huăh5:Je>`JBJe9JJaRJeoZJeJ}> J}> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764626 M Ga y ) |"y Bx,ۊTP[A2Hw}?y2?92!;Y2)>2H`܌?`a??@G? x᫿`p? ?2Hw}?ɨ2,; 0F=FDHNFf HN:^z< ^H=Yb `ɣd fGfߖFfǝ f>h]n?49j~I?an?4Yj ijJprF?qr?jTAj\:j;j?4t vBxkkkrk Rk r\!z\!\!\%@ɛ1)9 =Gi9)AE}AiEn>IIICE9FZA)ZIEhbIEPjIEHrIAzIE(:IE*9IEԺ4IAIE*;IE*;IE-:IE-:Me=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932x, 8nP[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267116JWy?yJ?9JYJt=JHc?if<Hj,Hj /:v{ vI=YvlRQ v>xɣx zGxze" ~>]?49,I?a ?4Yl i  1?q ?fA:):G?4 Bk1k1k9rk9Rk9r\Qz\Q\Q\U@ɛi)i mGii)imدqiuF>qIyBhABCI9F?F?FZAM={>i>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519190G >G ގCG DG #>G ]=G G DG G >F:J jIBJ S9JJ RJ pZJ  """"  !x,P[A2|?y2妚?92 :Y2<2H@*? @!v?c?@ ?m}\{?`s?2|?ɨ2L; 0N>RDHZ HZH:9P= I=YD<=Q  > ɣ   GF= %>)]E?49- I?aE?4Y-3 i- IU -?qU?-zA-;-;-?4i mxBmEkkkrkRkr\z\\\@ɛ) }Gi)ɸi >IC 9=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771674FZAIM#>Hi Hm CAZIu ^bIu MjIq rIq zIu } :Iu 9Iq Iq Iu :Iu :Iu |:Iu : checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023091&(x,P[A:"~?y:$?9:_Y:ED=:H`L?@_??j/?᡿``?3??'?:"~?ɨ: ; :RCFI=FD@ @ @%  %@% %@% HzG?:v1Zd˿=*?T"[)IiMb@Mb@Mb@© )IiH5ͬ H50:M;t MF=YMQ M>QɣQ UGUFU< ]>a]e?49eSI?am?4Ye ie'im+:imm:m ;?qm?eAeI:e>e8?4y BkkkrkRkɛ) Gi)⸉iIC9FZAM>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275166A.x,GɻP[A=(DI!)!H5 H59:E= EK=YMQ M>IɣI UGQU ]>a]m?49e{J?am?4Ye ie*.im :imm:qqu?eAe:eP?e}?4y }~Bkkchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527096krkRkɛ) Gi)iIC?B?C_9zFrFiAFZAM>*GM<"GM<GU>GUߎCGUDGU,>GUZ=GQGQGU<GUxF:JxLBJ9JJRJqZJI)?AU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779030+5x,P[AZ!$|?yZ#O?9ZZH?`] ?Q?!N?5@?v?Z!$|?ɨZt; ZTCppH-C} H-:YEϞ=Q E>AɣI MGMFM M>Y]e?49]J?ae?4Y]5 i]5ie9amm:ma?qm?]A]:]!?]?4q qqkkkrkRkɛ) i)隽 iI UnManaging dock network, ignoring radio surface power offH)H-R=ZI5\bI5OjI5GrI1zI5=:I5%9I5c4I1I5o:I5t:I5&:I5&:CM8FAZAIMm>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031012] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282953[;x,ZP[A=DH%H%%:5\; 59ɣ9 =G9E E>]?495J?a?4Y i9=i9m_:q?zA ;6?9?4 |BkkkrkRkɛ) Gi)Ti ICM8FZA!ME>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535581G= >G9 G= DG= A>G9 G9 G9 G= ձ<G= F.;Bx,[ Q[A:J"jIBJ"59JJ RJ"rZJ"Fn?yF]?9F@YFX`@=FHt?@"9#? ??Q?@~?Z ?f?Fn?ɨF! ; FUC^=^UDb4=ibxɣ| ~G~Fx > ]?49 J?a?4Y ŵ i *Ci%9!m%5:%#?q%? |A >J; 1@ ?45B 5B5|EkYkYkYrkYRkaɛ) Gi)隭#iIC48checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787076FZAM >>ie>HI HM @A checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039648ueHx,z7#Q[A>Lw?y>?9>"Y>S8>H`?@A ?D?@@=߳?`@:?>Lw?ɨ>뽎; >SCv׌L=%)IiMb@Mb@Mb@ ){BIi{BH PHbO:* 0=YQ >ɣ GF= >]?49#J?a?4Y? i Iio9m:?q?A%;@t?4 Bk kkrkRkɛ9)9 =Gi9)9EAiAAIIC8FZAMA>%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291047IԺ4IA4I/IIIZI] [bI] PjI] HrIY zI] :I] *9I] Ժ4IY qm @im @um @mm @Nx,Q=Q[A6Dt?y64?96Y6:K6H`;p?`}t@]? `?@`?=T?6Dt?ɨ6; 4> <>BHFHF>:Rn Rq=YV½Q V?TɣT ZGXZ Z?\]b@49^+J?ab@4Y^O i^MifB9dmf9f^(?qf?^A^:^h4@^)@4h jBlktktktrkxRkxechecking for new query: numPingsReceived=0, elapsed TxPingTime=5.543047ɛ) Gi)>iICm8GG@AG>GGDGM>GGGG<GTFFIZAQMu>:JBJ 9JJRJsZJ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796283yUx,VQ[AB!v?yBM?9BRYB>BH9?p@0?`Ӓ?ݥ?~ɸ??@6?Q?B!v?ɨBi{; BTCNQ b>dɣd fGfFja< j>l]r@49nK3J?ar@4Yn inSir9pmr9r=?qv?nAn:nHN@n@4zB zBzxEk k k rk Rk ɛ1)9 =Gi9)9=9iAAIICM?BM>C'8zFrFhAFZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047168I)@A= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299146[x,SpQ[AJ w?yJ?9Jᙛ;YJo>JH ?ߑ`c?@?`? E`7ss@6?@?J w?ɨJ׍; JSC^}f=^ DHjM Hj: G=  F=Y >Q >ɣ GF=X< =>A]M@49E[:J?aM@4YE} iE>[iM8ImU9UV?qU?EAE:Eh@E@4 BkkkrkRkɛ) Gi)隍iICR8FZAM>ZI)bI-LjI-ErI)zI)I-q9I-4I)եAաchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.553079G G G DG 6>G G G G <G nFHߎC HߎCHH"H[=*HM5bx,Q[A:q?y:j1?9:4+"=Y:>:H 5?``?`b?@?> D@Nz?`p?:q?ɨ: َ; :TCR$>RD:J~yJBJ~ŷ9JJ|RJ~tZJ~J I HHlb9-O> 5H=Y5=Q ]>Yɣa eGam\ m>q]@49u#AJ?a@4Yu2 iubi8m|9 S?q?uAut;u@u@4 hBkkkrkRkchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.805563IA)A GA y).yBɛ )  [Gi )iIC 8Fa ZAi M > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055045hx,sQ[A62u?y6d֖?96W=Y6{6>6H #]?4@?@o??n^?!?]Z?62u?ɨ6pA; 6RCR;>VD      @ @ @  @ @ v/?/$ſE?x ?,F>)IiMb@Mb@Mb@ )Ii AAHF# H:SQ= 5=Y=Q >ɣ GF< >]@49]IJ?a@4Y i.ki8mL97?q?Ao:@B @4 \Bk!k)k)rk)RkQɛ) DGi)隝MiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.307234x>i]>C58F ZA M5 >ZIE ZbIA jIE GrIA zIE 9IA IE c4IA nx,_Q[A6v?y6?96x=Y6N=6Hm??{? @k??Ϲ @?@?6v?ɨ6 ; 6TC>x*>BDHFx HFC:echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.5593929 \=Y}ɣ GFq< >]@49'QJ?a@4Y1 iqi8m%9J ?q?A@N @4 B UdBUuEkikikirkiRki*G"GG>GގCGDGM>GGGG<G|Fɛ) UGi)隽˷iIFyZAM>>:J+KBJ9JJRJuZJ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811124`ux,4Q[AB m?yB?9B=YBF`DH7~HT:= C=YK!ɣ! %G!%< ->)]U@49-ZJ?aU@4Y-h i-xi][8Ym]9]?q]?-A-;-I@-< @4a e]BikkkrkRkɛa)i mGGi)隕iIzFrFiiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.063365FZAM$>% checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315399N|x,wQ[ARm?yR?9Ru=YR=RH@f ?]K?@??f?`ȼ~?`ŝ?Rm?ɨRH; RSC=x.>=DIA)EA)U= Ua=H% H%:v 7=YI;Q >ɣ GFҧ >]@49bJ?a@4Yd ii18m8?q?Aq;@ @4 bBk k k rk Rk ɛQ)Q UQGiY)Y]MYiYaIZI\bINjIErIzI=:I!9I4IFZAMmV>I) checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576802G>GGGGGGGϱ<GF7x, R[A&NTFailed to parse incomplete device message.mEv?ym5A?9m쩔=YmO>mHH7?{`T???C @}?`B?mEv?ɨm7; i5$>=Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.844183       ?/$?f>>L)Iy㥛 ?Q뱿K7ɿ>\I ɣ GFg= >1]=@495hiJ?a=@4Y5 i5˄i=T:=߷>m=;=?q=?5A5:5":5m!@4HHAA gBkkkrkRkr\ >z\ >\ @\ u@ɛ )  [Gi )  ta ia a Ii  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.103387F ZA ME >Xx,3'R[ATr?yzg?9=Ypm>H?Ƌ`?j?`M?@bt??騅Tr?ɨߋ; UC޵ >޵DHEHE|:UO U=YU(Q U5?ɣ Gb *?] @49^lJ?a@4Yߜ i5?qu?ADy<iy<*@4y iBkkkrkRkr\Az\A\A\E^@ɛ) %_Gi!)!%!i!5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.3550339I9BEBECEBEFyZAM>Fx,x(AR[AZI0bI0jI2FrI0zI0I0I24I0>k?y>?9>j >>Hm?`^ @φ? ?j? ??>k?ɨ>9; >VC~>~D=i<HHz:checking for new query: numPingsReceived=0, elapsed TxPingTime=9.610974= =]=YEFQ E>AɣA MGMFM M>GqGuAAG}>GyG}DG}#>GyGyGyG}DZ<G}F1]=@495pJ?a=@4Y5\ i5D9=Q?q=?5A5:5:57@4I MpBMrEkkkirkiRkir\)z\)\)\-G@ɛi)q umGiq)quTyiyI:J]^MBJ]C9JJYRJ]wZJ]+8=<;4.'!! ! .>F>,$)((/%  $*/7FiZAqM}> checking for new query: numPingsReceived=0, elapsed TxPingTime=9.873519x,N[R[Aro?yr ?9r:v;YrQ>rH@`?@ͫ?`K?D?  .p?T?ro?ɨr$; rSC~G=~uDH} H}: T=YԐQ >ɣ GF<= >]@49uJ?a@4Y i?q?cAG<\<D@4 BkkkrkRkr\9z\9\9\=Q@ɛ) Gi)隵iI(x,zruR[A6Cr?y64G?96Y6[=6H`0? Cܷ?j?`?,KBt?`3??6Cr?ɨ6%; 4z{=zyDHm H:x; G=Y Q >ɣ G< >]@49zJ?a@4Y7 iV?qM?^Ah<l<R@4Y ]BakkkrkRkr\z\\\@ɛ)a mGii)imPiiiqIqFZAMG=>G9G=aDG==G9G9G=DG=<G=[F(x,xR[A:JnMBJnȱ9JJlRJnxZJn/#'2-+($  "*5GVVE;5& j?yF?9!YiX=H? ?`? ?0$q? ? ?j?ɨ; Ks==DBDAT read: Response Not Received *response not received-=-==n)9I9i=Mb@Mb@Mb@=©== =)=9BI9i===8BH{ H:]Շ ] =Ye:Q e>aɣa eGeFmPW m>ZI]bIOjILrIzI]:I%9I4II;:q%I@:i%Iu-Im-1]E@495ރJ?aE@4Y5S i5AiE+:AmE:E;o?qE?5A5#;5?5Xd@4Q UBQkikikirkRkɛ ) Gi ) 隵 D෉ i A II ա ե AFY ZAi M >sx,9R[A}j?y}?9}UY}9=}Hி? @?`?g?c4z?@_?7?}j?ɨ}2; }QCޕI=ޕCHNHF:=- ==Y=ڑQ =:?AɣA EGEFMk< M:?I]u@49MJ?a}@4YM iM~i} :ym}:}tv?q}?M_AM;MU?MFi@4 BqEk1k1k1rk1Rk9ɛy) Gi)隭iIFZAML>ex,ùR[A6rn?y6{v?96DBY6r 8>6H3?@=W?+??0 ?@?2j?6rn?ɨ6f; 6TCzF=CHHz:*Gy"G}<GGGDGM>GGGG<GFHEގC HEގCHAHA"HEZ=*HE j45 N=Ysɣ G! = >]]@49@J?a]@4Y iܕi]9Ym]:]f?qe?XAU:?p@4i mBikkkrkRkɛ) Gi) Li!I1F! 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BS?T޿1? ??`L?6W>ɨ6Ċ; 6RCBO@BF)F= Fa=HJ`kHJ!9V> VX=YVQ Z>XɣX ZGZ;F^ ^>`]fC49bO?afC4Yb? ib df(?qj?blQBb2:b:b=~C4l n9Bpk|k|k|rkRkr\z\\\D5@ɛ))-H5q> 5?i1)111i52d>9IA^D5/E>FZAM5=ZI\bIPjIMrIzI=:I*9I 4II)?A:JE LBJE 9JJA RJE ZJE  #7<5-'$"  ]ڲx,^^[Ab>yb,5?9b YbZm>bH \?ĚFEֿ :?X?F߿@ܻ???b>ɨb; bTCj @jFHvKHv9~ > ~E=Y~Q ~>ɣ G\  > ]C49 ȨO?aC4Y g i 2 #%?q? QB ; ; C4! -B)kAkAkArkARkAMB*** querying acoustic contact ***iIiIr\z\\\Z<@ɛ) >i)隡i7>I %2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.G-w>G-ێCG- FG-9@G-Z=G)G)G-<G-:F^D5NB{>FZAM5r> ,DAT read: user:1000>  BDAT read: Tx time:18:56:59.3285  $Ping request sent. yF 1?9F@!YF >FHA?`y<ֿx? j?~߿?@%?`?F=M>ɨFE; DrW@rFHzOHzq8I> J=Y ?5Q  > ɣ G!]-C49%O?a-C4Y% i%15 ?q5?%XRB% ;%:%C4=B EBE߷EkQkQkQrkYRkYr\qz\q\q\uT%@ɛ) *>i)隉i >IC=C=^D(s>FZAM>-JDAT read: TxSync time:18:56:59.3277 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251750ZI _bI KjI IrI zI :I K9I F4I -x,e^[A2>y2-?92f"Y2-(>2H.?B`bֿ`,?9?߿`?)?>d?2>ɨ2m; 2SCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503708Fe%@JfFN ZO=Y^ۄQ ^>`ɣ` bG`bx f>d]jC49fO?anC4Yf iflnc?qn?fRBf8;f;fC4p vBtk k k rk Rk r\z\\\@ɛ) =i)iل> I :Je-MBJeػ9JJaRJeZJe^D]rZq>F1ZAAM|>x>it>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757394G- u>G) G- FG- M@G- [=G) G- DG- <G- [Fx,}_[A2C>y2EY)?92T$Y2z>2H@/?`=+ؿ`Yn?7?x޿ H9?\? L?2C>ɨ2; 2UCN-@NF5?Q?I +?5`?5\=594=)1I1y5?J +?/$?5,?5H>5,= 5YB)5BI5sBi5C15BBHMHM 8]> ]@=YmQ m>iɣi mGu=Fu- u>]C49iO?aC4Y iL B4?m : ۂ?q ?SBY;;C4 =Bk)k)k)rk)Rk1r\Mr>z\Mr>\M%@\M:J@ɛY)a e#=ia)aiiimx>qIyCCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006829FZA!M=r>E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967=x,V3_[AJ7O>yJ&?9J4'YJ=JH 7?vڿ? $?Nݿ 3r?b?@F:?J7O>ɨJ9; JSC^-6@b FHjHj8r> vR=YvQ v>xɣ| ~G~>F ޼  >!]5C49%IO?aEC4Y%B i%AE?qM?%TB%;%;%BC4Y eBakkkrkRkr\z\\\~I@ɛi)mf> myIyFiZAyM=I;4I;y4I;xE0I3I3I3ZIm[bImMjImJrIizIm:Im9Im4Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510902:J KBJ 9JJ RJ ZJ ,&x,T5M_[AV@>yVÃ%?9V(YVI=VH@1?Xۿ|?n?ۿ?@f?"5?V@>ɨV; VUCv:?@v,FIx)x)~> ~=HϨH8̰> G=Y(fQ >ɣ G!%\/ %>)]5C49-O?a5C4Y-l i-9=́?q=?-bUB-z ;-" ;-mC4A EBEܷEkakakarkaRkar\yz\y\y\}H@ɛ)  I H? J?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766618FZAM=GGڎCG GGmc@GGGDG<GHێC HێCHH[="HZ=*H5 G! A)ujyqu= BI)@A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015106Rx,g_[A2>y2^&?92)Y2a=2H@? 1@ ݿ??`ڿ ?A?:?2>ɨ25; 2SC>/H@B/FHJAHJ8b> bO=YbꍻQ f>dɣd fGf?Fj < j>p]vC49rIO?avC4Yr irOtv^?qv?r;VBr:r:rYIYFZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266968Hy H} %=H8x,_[A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519863B6>yB(?9B)YB&=BH?ijݿ`0? ?ٿ:?Mu?bB?B6>ɨBR; BQCbQ@bGHjHj؁8re> rI=Yv.m:Q v>xɣx zGz@Fzs< ~>] C49O?a C4Y ih  ;?q ?WB::zC4 $Bk1k1k1rk1Rk9r\Yz\Y\Y\]IH@ɛ) :i)隙iă>I:JBoJBJ59JJRJZJJgAIhA^DE~r>F?F>FZAMj>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774721G v>G ێCG LGG z@G G G G ı<G `Fax,DĚ_[A2ɳ>y2T)?92{(Y2H<2HX?)ݿ ??ٿ`j?Θ?C?2ɳ>ɨ29Չ; 2SCBY@BGFx>iFR=ZIAbIESjIEIrIAzIAIEy69IEF4IAIE:q]IE:i]IE{C:u]IE~C:m]Pn?p= ףп/$$?1)Iy(\?1Zd˿:vʿzT?"[T B)BITmBiBHH{8> ==Y9Q >ɣ G8< >]C49P?aC4Y ia?mp:>q?XBb;:C4 ܋BطEk k k rk Rk r\%zU>z\%zU>\%jyt>\%g?ɛ9)9 =`:i9)AAAiE/>AII}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023565^DOh>FZAM (>% =% %=% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275134x,'_[A6>y60)?96)Y6ٟ1=6H?g^4Tݿ ?`? uڿ@g?z?{-?6>ɨ6W; 6RCN+e@N GHZHZ8n> rZ=Yz'Q z>|ɣ| ~G~AFF; > ]D49 P?aD4Y ݣ i >q? YB < <  D4B BշEkkkrkRkr\z\\\ǒi?ɛ) 9i)iJM>I^DMwf>BDAT read: Rx Time:18:57:02.2269 TRx dataTimestamp_ set to:1736535423.036289checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529096FZA!M=r>:J BJ {9JJ RJ ZJ J5 ? J5 !?sx,y_[A2i>y2V)?92J,Y2P=2H `?@ܿ?@7Y?6ۿ@o?G?@?2i>ɨ2; 2TCRsn@VGHnLHn8z> zH=YzQ ~>|ɣ| GBF¹ > ]D49 -4P?a%D4Y ` i (!%m>q%? [B T; A; D4=B E6BEҷEkQkQkYrkYRkYr\qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778874z\q\q\u{k?ɛ) 9i)1i5] >AGw>GGP*GG}@GGGG<GFFIC)C)C1C1ZI]]bI]QjI]KrIYzI]]:I]-.9I](4IYI];:I]@:I]&5:I])5:FZAM> DAT read: 18:57:02.2269 LVL= 19440, 26097, 16338, 31155, AGC= 71, IDX= 482,-0.43, 1.474,-2.865,-2.578, 3.131, PHS=-1.570, 0.334, 0.571, RAW= 264.2, 6.6, CAL= 269.1, 9.1, ROT= 240.9, -9.1  Ygot valid direction response: 18:57:02.2269 LVL= 19440, 26097, 16338, 31155, AGC= 71, IDX= 482,-0.43, 1.474,-2.865,-2.578, 3.131, PHS=-1.570, 0.334, 0.571, RAW= 264.2, 6.6, CAL= 269.1, 9.1, ROT= 240.9, -9.1  8DAT read: $Error in header  *Received a bad header% X#Rx 1: Read direction message, but no range.- `direction in FSK: [-0.480214,-0.862775,0.158158]؍ NY؍ oG/Ի޿ٛ@\~>?9؉ ؍ K ٍ e)ٍ ?Iٍ yiٍ Gٍ ȿٍ >ٍ -?ٍ @ ڍ =)ڍ 6K@Iڍ ">iڍ @@ڍ "ډ ۍ bDX$?K;<[i?Iۍ 3!@iۍ (뽉ۍ 5 ۍ "lx,%X_[AJt^>yJ\'?9Jx2YJ=JH[o?Kܿ>? 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B  >; >; K4) -2B-EkAkAkArkARkAr\az\a\a\eҮ@ɛq)q uiq)yyyi}A~3>IFZAM=:JU }KNBJU ý9JJQ RJU ZJU " nbx,mqm[AZ@yZ@9ZdWYZ =ZH? ?@r`I ^?Gp?`?~?Z@ɨZY&; ZRCfoAjHn=ini>ppHz;Hz6> I=Y / ɣ  GFes m>i]}K49muY?a}K4Ym imbAy}1q}?mBm;m;m|#K4B Z2BEkkkrkRkr\z\\\@ɛ )  i)iE3>IFZA1M=HC=H4=ZIWbIHjIVrIzI;9I9I 5Ihx,@m[AG.>G.CG.HG.AG.=G,G.DG.-<G.F=A=Hv/?Mb?Mbx ?@=)IyMb?L7A`堿?C?+< S[B)=BIBiڴBeBH%$H%65q> 59=Y=Q =>9ɣA EGAE E>I]UK49M>Y?a]K4YM iMeA]\C?m]:]+q]?MBM;M&;M2K4i u1BqkkkrkRkr\x>z\x>\W!@\-B@ɛ)  i)i 3>IF?F>FZAM> ox,m[A:@y:@9:MY:@=:H?E? c踵 ?* ?N?@?:@ɨ:; :SCfCAfӎHHn0Hn[6v> vb=Yv|xɣx zGzF~D^ ~>] K49&Y?a K4Y etIi$hA "q?B=:I:;?K4 0B%Ek1k1k1rk9RkA]=Yr\iz\i\i\m.@ɛy)}%> }i)隁iW2>IFZAM=:Je0LBJeH9JJaRJeZJe#"$!   !$$" ux,m[A6>@y6@96 gY6=6H ?@!?gIF? ҫl?ٷ? ?6>@ɨ6 ; 4RARH)Z0> Zp=HZHZ16fP> fM=Yfhɣh jGhj n>p]vK49rY?avK4Yr irjAtve$qv?rBr:r%:r/MK4x ~O0B~EkkkrkRkB*** querying acoustic contact ***iir\z\\\$@ɛ) }i)i2>IFZA)MM=ZImXbImIjImPrIizIm{9Im 9Im^4Ii m2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.*GI"GIGU>GUCGUHGUAGU=GQGUDGU*<GUF DAT read: % BDAT read: Tx time:18:57:59.5791 % $Ping request sent.%  8=Y);Q >ɣ  G F   >9]=K49=Y?aEK4Y= i=mAAE'qE?=B=h:=:=\K4Q U/BQkakikirkiRkir\z\\\x@ɛ) Ni)隩in2>IzFrFFZAM=}JDAT read: TxSync time:18:57:59.5783 }checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252120:J aMBJ S9JJ RJ ZJ     x, n[Ab@yb͏@9bYb@=bH ? ?`s9`k?0_0F?`ܷ? w?b@ɨbc; bSCnAn"HH~H~6%h> -Y=Y5;Q =>AɣA EGEFMrɻ M>Q]]K49U!Y?aeK4YU iUpAae)qe?UBU+;UO+;UiK4mB m /BuEkkkrkRkr\z\\\@ɛ) ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505895)ia2>9IA^D<>FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7558911x,T&n[AG}>G}CG}HG}AG}=G}0DG}DG}O<G}FZuw@yZ@9ZJYZw=ZH?`Ŭ?`U]`Zͷ`?`Ť`3?ܞ??Zuw@ɨZȪ; ZTC~^A~H=i4>  AL7A`?V-?Mb?+?=<)IyX9v?S㥛Zd;O?=?/ݼj<= TB):BIKBi36BHHE6> A=Y ;Q >ɣ G+ >]K49OY?aK4Y isAq>?m:&q?B:e:xK4 _.BEk k k rkRkr\-5>z\-5>\-6@\-@ɛA)I MiI)IIi<2>I^D7%>FZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007199ZI ^bI GjI NrI zI } :I 9I |4I I :q I :i I 9u I 9m x,Mg@n[AnAnHHv=Hv6 >  W=Y Q  >ɣ GFEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259264 >]K49Z?aK4Y i>vAq?B; ; ;jK4 -BkkkrkRkr\z\\\ɛ) &i)i2>IC C CC:JOXTNF=4*JIfAFYZAaMY>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511131 M 4Ga y ) y ACx,EZn[A2Lo@y2~@92_Y2\=2Hq??G@ ?_`?@ж??2Lo@ɨ2K; 2RCNANHHV]HV6^> ^O=Yb`ɣ` fGfFfx% f>h]nK49j1Z?anK4Yj ijxApr'qr?jBjn;j;jK4vB v -BvEk k k rk Rkr\)z\)\)\-0@ɛ9)9 EiA)AAAiEf1>IIIFQZAYM}=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763189GGG>GCGHG"AG=GGGe<GFHœC HŔCHŕCH="H=*HPU6 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015650Umx,ytn[AJf@yJXu@9JYJFB=JH`C??>V@?I[D? Z??Jf@ɨJ׌; JSCRHAR_HIT)T)Z= Z%=H^7H^6f> fI=Yjx;Q j>hɣh nGln5 r>t]zK49v/Z?azK4Yv iv{Ax~)q~?vBve ;v ;vK4 i,B kk!k!rk!Rk!r\9z\9\9\=ߣ@ɛQ)Q UiQ)QYYi]M1>YIaF1ZAAM]=ZIM\bIMHjIMJrIIzIM=:IM9IM4IIIM8:IM=:IM9IM!9]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267106:J] @MBJ] 9JJY RJ] ZJ] "  Jm ? Jm ?Sx,^n[A2$]@y2jl@92VY2rF=2H@R?ī?a5 z ?` 6?? q?2$]@ɨ2m; 2TCRAR/HHZHZ6E> EC=YUx;Q }>ɣ GF& >]K49EZ?a%K4Y" i~A)-]*q5?Br<t<(K4 +BEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521999kAkAkArkIRkIr\z\\\@ɛ) fi)隹i1>IFZAM >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771073G >G CG jHG ;AG =G G DG $<G F@~x,5ѧn[A6ZJ@y6Y@96HY6=6HY?@?.r?:@m? ?`?6ZJ@ɨ6q; 6SCRARHmsh|??MbX9?Mb?m)?m!>i)iIiym-?+?i|?5?m?5?m=mq= mOB)m7BImrBiiim2BHH6> E=Y82;Q >ɣ GF >]K49XZ?aK4Y| iA&6?m:rq?BF;?; K4 +BEkkkrkRkr\ >z\ >\(!@\ @ɛ) i)!!!i%1>!I)FQZAYMu=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023746ZIm WbIm GjIm OrIi zIm ;9Im 9Im 4Ii Im ;:Im @:Im 9Im 9 ix,n[A2?@y2GN@92Y2\=2H`?mU?-(nlI?  ?]?`?2?@ɨ2׋; 0f"AfHj=ij zU=Yz?;Q ~>|ɣ| ~G|k  >BDAT read: Rx Time:18:58:02.4691 %TRx dataTimestamp_ set to:1736535483.063346%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276395]5K49jZ?a5K4Y iA9=xq=?xḆ;%;K4A Ez*BAkYkYkYrkaRkar\yz\y\y\}A@ɛ) ݚi)隡iz1>IFqZAyM=:J]LBJ] 9JJYRJ]ZJ]   ?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528101rx,Ln[A2%@y245@92>Y2=2H?? %m?`\@"?@=??2%@ɨ2y; 2TC^VA^{HHj Hj16J> H=Y%:Q %>!ɣ! -G-F- ->1]=K495q~Z?a=K4Y59 i5mAAEqE?5B5 ;5;5K4MB M)BMݶEkakakarkiRkir\z\\\o@ɛ) i)隩iB]1>IHAAHBAFZAMM=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.782278G|>GG^HGhAG=GGG)<G DAT read: 18:58:02.4691 LVL= 27056, 28225, 17602, 32755, AGC= 68, IDX= 454,-0.34,-1.068, 0.068, 1.185, 0.025, PHS=-1.005, 0.090, 1.157, RAW= 240.4, -2.6, CAL= 241.7, -6.3, ROT= 268.3, 6.3  Ygot valid direction response: 18:58:02.4691 LVL= 27056, 28225, 17602, 32755, AGC= 68, IDX= 454,-0.34,-1.068, 0.068, 1.185, 0.025, PHS=-1.005, 0.090, 1.157, RAW= 240.4, -2.6, CAL= 241.7, -6.3, ROT= 268.3, 6.3 - PDAT read: Bearing 268.3, 6.3 (Local) - ~Local bearing/azimuth received: Bearing 268.3, 6.3 (Local) ºx,9dn[A:R@y:'@9:˾Y:=:Hc?T?@!"u`?`?~??:R@ɨ:֊; :QC>DAT read: Range 10 to 50 : 364.4 m (Round-trip 485.9 ms) speed 0.1 m/s BR#Rx 1: Read range and direction messages.Fbdirection in FSK: [-0.029487,-0.993523,-0.109734]FFpublishing direction and range info Y @1\,= 3C9 i An) DI i D ף Q= ? 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YP?P? pg??V@ɨV%; VSCrABrDHHHC,6%g}> -W=Y-MH1٣9 =G9EZջ E>a]mS49e-d?auS4YeN ie Bq}=iq}?eBehH;eH;eiS4 AkQkQkQrkYRkaɛܽ) ȿivc9)im>IFZAM>ZIXbICjI4rIzI{9I=8I3I8x,˃|[ARu@yR@9R rO=YvOt٣t vGzFzy z>|]S49~d?aS4Y~U i~!B  iq ?~}B~2:~:~3wS4XB !AEk)k)k)rk)Rk15B*** querying acoustic contact ***i1i1ɛeݽ)a eieb9)iiqiu >IC=B=C=8F %2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.ZA9Mew>*G<"Gp<GA>GCG#HG?CBGGGGߴ<G-F?x,^|[ArwBBv.HIx)x)z= z=Mb@Mb@Mb@ )IybX9?Q?EV?L=  A)3AIAizAAHHD*6J> >=YQ >٣ G >]S49e?aS4Y[ i"BV?m}:6dq?)B; ;@S4 sAkkkrkRkɛ5)1 =i=}9)999i=ON>AIA},DAT read: user:1002> BDAT read: Tx time:18:58:59.8795 $Ping request sent.- JDAT read: TxSync time:18:58:59.8788 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251515Fx,:}[A2;˦@y2ڭ@92Y2=2H?` b[=Yfad٣d jGjFj" j>l]rS49ne?arS4Yna in|"Btv#eqv?nBn:n:nMS4x zA~EkkkrkRkɛ=.!)9 =iE}9)AAAiE>IIICZIUbIjI5rIzI9II4I^Dh{=FZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502810-Lx,3}[A:y@y:®@9:dY: =:H?Y?kѿ t@?`?ߑ?N?zL?:y@ɨ:^; :TCF1CBFHvchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7552865Mb@Mb@Mb@11 1)1I1y5GmG>GiGm6HGmDBGm =GiGiGmǴ<GmF }A=Y٣ GFL >]S49p)e?aS4Yh i"BS?m:fq?iB;;;S4 AkkkrkRkɛ颽) ߙi39)隙i>IBiABiAC8C=C=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846^D =F ZA M >*Sx,bL}[A:@y:@9:iY:R=:He?lj?`aѿL?=???`D?\X?:@ɨ:͈; :RCFCBFHJ=iJa>:JjߺMBJjý9JJhRJj ZJj  HvHv$6g> P=Y] ٣   G j >]%S4979e?a-S4Yo ij#B)-gq-?C ::دS49 =HA=EkIkIkQrkQRkQɛ}6)y }xi}9)隁i>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260225C8CCCC GkA A)5ݿy5kA=CAZI! bI% BjI! rI! zI! I% 8I! I! F9 ZAI Mm > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510622?Yx,df}[A2i@y2x@92ϙY2l=2H`p?@?gѿ@[5 5x? ?.?`?e?2i@ɨ2P; 0>CB>HHFHF(6R6o> RQ=YRTT٣T VGVFZ Z>\]bS49^He?abS4Y^[u i^#B`fhqf?^PC^;^ :^~S4jVB jAjEkkkrkRkɛ) Ăi9)i6S>IC=^8checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763438FZA!MEs>GYG]AAG]D>GYG]IHG]DBG] =GYGYG]ƴ<G]FH%C H%CH%ǓCH%Ǘ ="H%ǘ =*H%ǥ5(`x,z}[A2;j@y2y@92핾Y23+=2H??`%%ѿBt?@E?sy?@ .?gv?2;j@ɨ2׺; 2SCN:DBNXHMb@Mb@Mb@ )Iy(\?Q롿V-?N?\< ;A)bAI+AiApAHH+62> 6=Y  ٣ GF3A9 >!]-S49%Ze?a-S4Y%| i%O$B-hN?m-:-eiq5?%C% ;%;%;S49 =A=E]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014778kYkakarkaRkaɛ) nqib9)隙i<>IC>B?:JLBJ9JJRJ!ZJCǕ8FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266589Sfx,}[A:'h@y:pw@9:6Y:8=:H B?ʈ?$пPn?S?`?'>?h; 8FDBFHIH)HHNHNB-6V> Vc=YZX٣X ^G\^8 ^>`]fS49bhe?afS4YbD ib$Bhjmiqj?bCb:b:bS4p rApk|k|k|rkRkɛM4)Q UXiU9)QQQi]>aIaC08FiZAyM=m?m%=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520816|lx,|_}[A6\a@y6p@96񳎾Y6r=6Hy?@ڐ?Ɣп ae??@?qR??6\a@ɨ6z; 4fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771502jDBjHG 4>G CG CHG EBG  =G G DG Ӵ<G FMb@Mb@Mb@ )IyDl?l񢿚?OM?< QA)AIAAiA̾AHH,6)> 9=Y~٣ GFR >]S49]ze?aS4YS i%BM?m:)jq?EC;x;9S4 A Ekk!k!rk!Rk!ɛC#Q) Ii ͤ9)  iX>1I1C 8FZAM (>HH%=ZIVbI>jI4rIzI9Iľ8I3II,:qI1:iI39uI39muchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022663 dsx,.9}[A6W@y65g@96GY6=6H>?@?.Wп9r -[?x?@/2?9?ݤ?6W@ɨ6&; 6UC:J^BoHBJ^H9JJ\RJ^"ZJ^Jf> Jf?^=EBjHHr2Hr/6z> zZ=YzI٣I MGMFUC U>Y]eS49]e?aeS4Y] i]v%Bamojqm?]C]:]p:]S4q u߾AqkkkrkRkɛyeP) 0i9)隹iX>IC8FZAM>BDAT read: Rx Time:18:59:02.7644 TRx dataTimestamp_ set to:1736535543.352481checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281000 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530665`yx,;}[ANDA@yNP@9NYN=NH??ϿC?@?e?@_?پ?NDA@ɨN; NRCZEBZHj=ij<Hn+Hn.6vW<> vJ=Yv,=Q v>x٣x zGx~Z ~> ]T49 e?aT4Y  i %Bkq? C ; e; zT4%TB %AA%Ek9k9kArkARkAɛJ.) is9)ih>IC8F!ZAQM>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785820*G5<"G54=GU0>GUCGU$HGUFBGU =GQGUDGU״<GUFZI TbI CjI 5rI zI {9I =8I 4I I $w:I .w:I 19I 69{x,~[AZ.@yZ<>@9ZAYZ =ZH%? ?7GϿ z2??`?`+?`9?Z.@ɨZc; XbEBfBHeMb@Mb@Mb@aa a)aIaye(\?X9vZd;O?eN?eej< efA)eAIe=AieIAae(AH}2H}/6> @=Yg٣ GF` >]T49 e?aT4Y i0&BQN?m:iq?3C9;;JT4 ýAkkkrkRkɛ<)  }DAT read: 18:59:02.7644 LVL= 26528, 30193, 15090, 25395, AGC= 66, IDX= 267,-0.43, 1.542, 0.764, 2.659, 1.820, PHS=-0.190,-1.008, 0.836, RAW= 183.7, 4.6, CAL= 183.7, -4.1, ROT= 326.3, 4.1 Ygot valid direction response: 18:59:02.7644 LVL= 26528, 30193, 15090, 25395, AGC= 66, IDX= 267,-0.43, 1.542, 0.764, 2.659, 1.820, PHS=-0.190,-1.008, 0.836, RAW= 183.7, 4.6, CAL= 183.7, -4.1, ROT= 326.3, 4.1 PDAT read: Bearing 326.3, 4.1 (Local) ~Local bearing/azimuth received: Bearing 326.3, 4.1 (Local) DAT read: Range 10 to 50 : 360.5 m (Round-trip 480.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.829825,-0.553425,-0.071497]Fpublishing direction and range infoIYM`?n2kῡ MM@C9IMg Mu)M:IM3ciMBM\BM%MV?M1M@ Ml=)M1M@IMCiM=@MC=I IMG=?I?+젋h?IM]?iMpMMC=I Ii19)i ]> IC8FZAM&>:J-BoIBJ-ػ9JJ)RJ-#ZJ- %/1-J1I19x,y~[AZ!@yZ0@9Z.|YZUX=ZHG?`?οz#??`H??@[?Z!@ɨZ; XjFBjHHr@Hr?16zD> zU=Yz٣ GFŋ  > ]T49 ee?aT4Y  i &Biq? C w; ;  T4! -+A-EkAkAkArkARkIZj ^t?bjr% ii~[Aj@CjKC2jɚ@p:nr@*NBNh2#[9zp`?n2kῡ M"j*jC=p+h\F@WJvS#X7;@pTA¿?*7I(￲$S?iVj2Bi]rt?iɼW  jxBɛ $A )  8i9)19i=0>9IAC-+8F ZAM5 >ʌx,'5~[AddGpGpGrHGr7GBGr =GpGpGr<Gr6F^ @y^ @9^vY^3=^H3??@vCο@??NJ? !H?T?^ @ɨ^#b; ^TC%^FB-HI1)1Mb@Mb@Mb@ )Iy&1?lS㥛?P?/< 7A)AIlAiAAH]AH][16e%> m5=YmXi٣q uGq}- }>]T49ve?aT4Yk i&B9Q?m:lq?C;?;{0T4 AkkkrkRkɛ ) оi9)iwo>IC-e8F ZAM5->I[4I[3I[S}.ISISISZIibIijIirIizIiIiIiIiIiIiIiIi䴓x,O~[A:JRLBJH9JJRJ$ZJ,*'$#%$  %FB-`HH=3H=/6M_> M^=YMQ M>Q٣Q UGUF] ]>a]mT49e1e?amT4Ye ie;'Biiqu?e$Ce7:e;eX=T4}SB }A}EkkkrkRkɛü)s= i39)iT>ICV8FZAM=5ܙx,K[i~[A2p@y2@92חjY2"=2H?? aͿ ?`K?@|?Τ??2p@ɨ2O; 2RC>FB>HHF;HF06N$> NV=YRWP٣T VGTV. V>X]^T49Zje?abT4YZ޶ iZ'B`bmqb?ZqCZ;Z;ZJT4d fmAhkpkpktrktRkxɛ7) 3i9)隹i>IBhABCw8FZAM>GG?AG.>GGHGGBGGGGǴ<GFZI UbI jI 4rI zI 9I I 3I I ^:I c:I I àx,6~[A6`ۥ@y6@96adY6=6H@??̿@ @?.5?[? ۻ??6`ۥ@ɨ6i; 6TC>&GBBHB=iB<Mb@Mb@Mb@ )Iy"~? rhQ?S?C < A)7AIAiA\AH-HH-"26=#> =A=Y=\A٣A EGEFM M>]T49fe?aT4YW i'BIT?m:mq?C@::ZT4 A޵EkkkrkRkɛEnl)I M1YiM9)IIIiU] >YIYC 8FiZAyM>:JMBJ9JJRJ%ZJI1 )5 C nG ;mA ) |&y ;mA GBx,~[ARť@yRԬ@9Rp<_YRz=RHw?C?`̿`?V??I?0 ?Rť@ɨR; RRCnnGBrIHHzCHz164> N=Y$^ ٣   G F1ۻ >]%T49 f?a%T4Y i:(B!%mq-?C::XgT41 =oA9kQkQkQrkQRkQɛ}')y }i}}9)隁i >IC8^D]:_=Fm?Fm>F1ZAAM]v>x,~[AG6 >G6CG6HG6|HBG6 =G4G6DG6<G6'FHEC HECHAHE ="HE =*HEd5j@yjĬ@9j)YYj }=jH??\ ̿@x1ݽ?tH?`?m?@?j@ɨjZ; jTCvGBvHMb@Mb@Mb@ )IyCl?ktMb?d[? 0= KA)AIi1A=AHDH16> >=YN٣ G >]T49f?aT4Ye i(B[?mw:pq?vCi ;m ;ivT4RB A۵EkykykyrkRkɛ,() i9)i >IC:?BC28^D=FZAM J>Ux,\~[A6鞥@y63@96NTY6F=6H`?/-?ھ˿ zE C?ak?`c?~:??6鞥@ɨ68; 4RGBRHIT)THZ[HZ=46b6!> b]=YfqZd٣d jGjFj$ j>1]=T495V,f?aET4Y5* i5(BAEFqqE?5C5;5;5T4MQB MpAUܵEkakakirkiRki:J}BoHBJ}S9JJyRJ}&ZJ}ɛmź) 8iV9)隱iW >IC#8ChAChA^D6=FZAM>ZIUYbIUKjIQrIQzIU9IUK9IQIQqe@ie@ue@me@*x,~[A6@y6L@96UDOY6=@=6H`?>?`dY˿Z֔?}?X? `?@7%?6@ɨ6<[; 4B1HBB9HHJiHJ56R;0> RM=YVLVT٣T VGV FZJ Z>\]bT49^UIC}l8C}C}CC*Ge<"Ge4<Gm>GmCGmPHGmIBGm =Gm>DGm~DGm<GmFFZAM%o>x,σ[A6Tr@y6@96IY6|=6H@?@N?ʿ@n\?? ?p?`-?6Tr@ɨ6; 6QC>mHBBHMb@Mb@Mb@ )IyGz?{GzQ?p]?#\= ׼A)IƝAiAAH)H)E=> E@=YERI٣I MGIU» U>Y]eT49] Nf?aeT4Y] i])Be]?meu:mqqm?]vC]Q:]:]!T4q ujAyk@qQLCompleted lineCaptureHoming:RepeatHack1Q hAggregate::uninitialize lineCaptureHoming:RepeatHackQ VAggregate::initialize lineCaptureHoming:LapQiUs:)UUQiUYI]BaBaCM8F!ZA9M]>:J-BHBJ-ͼ9JJ)RJ-'ZJ-<x,p[[A: Y@y:Wh@9:)CY:4=:H?b?sʿ@ >j?j?`qX?=?6?: Y@ɨ:L; :TC^HB^Hb=ib<HjxHjs76rl(> rQ=Yvi|٣   G  Fg >!]=T49%^f?a=T4Y% i%)BAE}rqE?%C%s;%Ӂ;%T4Q UAUֵEkmXQm1Rm mZAggregate::initialize lineCaptureHoming:Lap:Bi)隙iIZI%SbI%AjI!rI!zI%;9I%8I!I!Cu'8zFrFFFE4=EC=FZA)MER>ex,18[AG>GCGHGIBGGGG<GFF<@yFK@9F^>YFy=FH ?v?ʿ`\XQ?`²?` ??=?F<@ɨF; FRCRHBV+HMb@Mb@Mb@ )Iyףp= ?I +Q?^?94 )"AIiA\AHvH:768$> ?=Y9٣ G >]T49pf?aT4Y i,*B/_?ms:|tq?(C::ҼT4OB RAյE5kfAggregate::initialize lineCaptureHoming:LineCapture6 mAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes6mJInitialize AltitudeEnvelopeComponent.17 n DInitialize DepthEnvelopeComponent.q7 n JInitialize OffshoreEnvelopeComponent.q8 8 8 q xAggregate::initialize lineCaptureHoming:LineCapture:HoldMass19 q9 r Initialize.9  s Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy9sNx,R[A6@y6@96 :Y6X0=6H`{t? ?(IBBhHHJHJU96R > R]=YRE1T٣T VGTVn Z>X]bT49ZNf?abT4YZx iZr*B`buqb?ZyCZ;Z;ZT4d jAhLz zAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalLz~Entering Terminal tracking update period 2.000000 s sec at 360.500000 m (mode 0.000000 count ).L~1Mee je Je :e @zčQ@q67r\z\\\R@:Jm$JBJػ9JJRJ(ZJJ ? J%?i!)))1i1YIaC8ZA M%o>ZI5UbI5BjI1rI1zI59I58I1I1Vxx,%k[A2@y2@92G5Y2>2Htf??? ʿ@J ?@\3? ?&?UIB>HI@)@HFHF86N= RJ=YRKT٣T VGTV Z>\]bT49^f?abT4Y^ i^*Bdfvqf?^C^l:^:^T4h jAh2kv@1MvqMvzB*** querying acoustic contact ***ixixe|e|je|Je|:er@"e@77r\!z\!\!\%09@i1)111i1AIAC58ZAQMm=G!G!G->G-CG-HG-'JBG- =G)G-}DG-ִ<G-FT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a`x,Ņ[A2ޤ@y2@920Y2 >2H@QW?;?7ʿ S?uF?:?@n?@ A?2ޤ@ɨ2`; 2SCVIBVH=Mb@Mb@Mb@99 9)9I9y=X9v?:vX9v?=]?=T=< =/A)=AI=Ai=\A9=¯AHUHU96eI/> e>=YexSi٣i mGiu u>y]T49}"f?aT4Y} i} +B~^?mt:yq?}/C};}:}T4 AҵE:k@qMMeejeJe:e s*@*eR@718r\~^?z\~^?\%@\֩@i)iI],DAT read: user:1003> eBDAT read: Tx time:18:59:09.9795 e$Ping request sent.eRH@P?@?lʿr:??a?e?cF?RAϤ@ɨR}8; PnIBnBHHvOHv265 > 5M=Y59٣9 =G9ED M>Y]mT49]2f?amT4Y]X i]M+BquDzq}?]C];]3;]T4 AϵEBkMrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalL Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminaleejeJe:e@@2e181: tAggregate::initialize lineCaptureHoming:LineCapture:HomingSequenceq:tAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock: uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:uInitialize.udInitializing internal variables to default values.1< xAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq<xAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide= {Initialize.={Initialize.<1A Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqAAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideB Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBInitialize.1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCInitialize.CCAZIbICjIrIzII=8IIr\!z\!\!\%Aǩ@i9)999i9AIACM8ZAaM}=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502820G% >G% CG% DHG% JBG% =G! G! G% <G% Fx,V}[A2@y2`@92#Y2=2H`u=? ?aȿc??@f? S? X?2@ɨ2p; 0BIBBhHF=iF=\\bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754920%Mb@Mb@Mb@!! !)!I!y%e;O?i|?5Q?%T?%q%< %A)%dAI!i%tA!%AH=NH=26M4= MI=YU\Q٣Q G, >] U49Ff?a U4Y  i+BhU?m~:}q?CM;;U45NB =HA=еE1A} }Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqA}}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideA}B} }Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlB}}Uninitialize.1C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCCC1< xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq<xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide<= {Uninitialize.=q:uInitialize.udInitializing internal variables to default values.uPDetached from dock at depth 50.492329 m.ZfBfJf:feejeJe:e@r\hU?z\hU?\5@\Q@i )-)111i19I9C-8"5 ResumeZAAM]>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007708)x,%Z[A:@y:_@9:Y:Y>:HA?u?ȿ?9?@?/S?W\?:@ɨ:; :RCb.JBbHHjHjB-6r6 > rQ=YvDt٣t zGxz z>|]U49~Hf?aU4Y~ i~+B  ~q ?~-C~:~):~U4 ڴA2fEZfABfIJfI:fIeIeIjeIJeQ:eU@r\iz\i\i\mO@i))隁iI:JUk3IBJU 9JJQRJU*ZJU /Lsuf]WRD)Je? Je(?C<8"ResumingZAYMu=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259300 TG%kA 9)u yukAuB checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510705sx,1[A2̱@y2@92rY2Y >2HH? |?]ɿ ?@2?b?`.? ]?2̱@ɨ2k; 2SCRWJBRHHZHZE)6zL= zJ=YzĒ|٣| ~G|B: > ]U49 f?aU4Y $ i ,B}q? C ; X%; U4-MB -A-͵EEB*** querying acoustic contact ***iAiA2fQZfQBfQJfQ:fQeQeQjeYJeY:e]`@r\yz\y\y\}P@i))隑iIC?B?C-8" Start "4Initializing EZServoServo. "8Initializing DockingStepper.ZA M5=*G"G<G%>G!G%HG%%KBG% =G!G!G%<G%FHC HCHŔCHŢ ="HŢ =*Hő6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763147ZI% TbI% FjI% 5rI! zI% {9I% 9I% 4I! I% w:q5 I% *w:i5 I% -9u5 I% 29m5 خx,[A2@y2Ы@92 Y2>2H`[??ȿ?@?l??b?2@ɨ2”; 2TCBJBB'HID)DMb@Mb@Mb@ )IyˡE?)\(Zd;O?G?Gaj< ^A)AIAi^AAH-H-_,6 > @=Ydz٣ Gؒ; >]U49f?aU4Y_+ i9,BH?m:}q?CP';a';-U4 A2fZf!Bf!Jf!:f!e!e)je)Je):e5`~& @Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015704r\uH?z\uH?\u@\uwm@i))隙iIC8^D ~="StartingZA)MM>:JNBJ+9JJRJ+ZJ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266751!x,t ![A2Ĥ@y2Eԫ@928RY2>2Hd?? *eȿ U?F?`?? :B?Hi?2Ĥ@ɨ2$a; 0VJBZOHHf!Hf-6r^= rV=Yvt٣x zGxz": z>|]U49~f?aU4Y~1 i~f,B  |q ?~" C~;~;~;U4LB ˳A˵E2f9Zf9Bf9Jf9:f9e9eAjeAJeA:eE @r\az\a\a\eaq@iq)q)qyyiyyIC8^DТ="StartingZAM>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518913G >G CG WHG KBG =G G G ش<G Fx,:[AJ,Ƥ@yJvի@9J[YJ5>JHGk?|?@ǿ'?`?@|?`?n?J,Ƥ@ɨJ^; JSCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770819ZJBZHEMb@Mb@Mb@AA A)AIAyES?:vQ?E:?ETEu< A)EAIEAiEAAEpAH]$H]%.6m = mC=Yupq٣q }Gy}9 >]U49 g?aU4Y8 i,B#;?m:|q?p C:w:IU4 lA2fZfBfJf:feejeJe:e\!@r\#;?z\#;?\@\v@i))隡iIBBC08C=C=^DM+="UStartingZIbIBjIrIzII8III!w:I+w:Iے9I9" BInit string: /1z16368aE13561N3m50ZAiM{>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023214x,sT[A6-@y6wͫ@96ܽY6>6Hj?@6?@vǿ@3ݷ?@ |?? t?6-@ɨ6g; 4R KBRHVt>iV<HZ4HZ/6f= fU=Yfh٣h jGhj' n>9]EU49= g?aEU4Y=> i=,BIM}qM?= C=:=:=WU4Q UA]ȵE2fyZfyBfyJfy:feejeJe:e"@r\z\\\ro@i))iI:JyJBJ9JJRJ,ZJCBDAT read: Rx Time:18:59:12.8566 TRx dataTimestamp_ set to:1736535553.443979checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276641^DqZ;"StartingZAMe>e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526789x,n[A2Ĥ@y2ӫ@92o'ĽY2:a>2Hu?B?ƿ7?≒@V{?a?{?2Ĥ@ɨ2>; 0B3KBBHHJ+HJ.6b= bJ=Yfd٣d jGhj: j>l]rU49nI$g?arU4YnE in,Btv|qv?n Cn:n:n=eU4x z˲A|B*** querying acoustic contact ***ii2f!Zf!Bf!Jf!:f!e)e)je)Je):e5NQ#@r\Iz\I\I\Mqv@i))i!I!C8GqGqG>GCGHGKBG =GG|DG<GFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781328^D" StartingZAAM}>ZI UbI jI 7rI zI 9I I 4I I ^:I c:I ܒ9I 9W!x,SX[A:ˤ@y:eګ@9:OY:H>:H ?3?ſ ;@?l? ?:?:ˤ@ɨ:; :RC^QKB^HUMb@Mb@Mb@QQ Q)QIQyUCl? ףp= Mbp?U/?UQ8U; U+A)UKAIU3AiUгAQUAH}<H}06= >=Yh=Q >٣ G: >]U49?2g?aU4YK i,B@0?m:~zq?O C(O;T;ZtU4 AŵE]DAT read: 18:59:12.8567 LVL= 28368, 30193, 15154, 32755, AGC= 68, IDX= 227,-0.13, 2.958, 2.033,-1.903,-2.941, PHS=-0.296,-1.262, 1.035, RAW= 185.2, 5.3, CAL= 185.2, -3.5, ROT= 324.8, 3.5 mYgot valid direction response: 18:59:12.8567 LVL= 28368, 30193, 15154, 32755, AGC= 68, IDX= 227,-0.13, 2.958, 2.033,-1.903,-2.941, PHS=-0.296,-1.262, 1.035, RAW= 185.2, 5.3, CAL= 185.2, -3.5, ROT= 324.8, 3.5 }PDAT read: Bearing 324.8, 3.5 (Local) }~Local bearing/azimuth received: Bearing 324.8, 3.5 (Local) DAT read: Range 10 to 50 : 354.6 m (Round-trip 472.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.815621,-0.575358,-0.061049]Fpublishing direction and range infoYG`*?:+Ti⿟.xALC9n )2;IiDP7z?N@ q=)N@I5zi g@5z= >?Y?~?Ig?iuF5z= T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Zj%kn?bj%#f ii[AjLCjWC2j˘@pq*r@|qji ץ5zpG`*?:+Ti⿟.xA"juF*j5z=pfY!6@Ks v:_<p*kٯ?qkۮz) Y봿i\jyAiݡun?iZuK  jҮA2fZfBfJf:feejeJe)v@:e?r\@0?z\@0?\@\@ii)i)iiqiqyIyC1?B3?C48CCCC:J% JBJ% 9JJ! RJ% -ZJ% "M StartingZAY Mu > ,DAT read: user:1004>  BDAT read: Tx time:18:59:14.2796  $Ping request sent. :H?`?Ŀ ;?@88??@?:Zפ@ɨ:R; 8^KBbRHI`)`HjJHjZ26rc > rV=Yr*=Q r>t٣t vGtz ; z>|]U49~>g?aU4Y~JQ i~,Bzq ?~ C~<;~F:~U4KB  AǵE2fZfBfJf:feejeJe:el?r\z\\\̩@i)!)!))i)9IACU8"]Starting"-LSent speed cmd:/1V10000 Response:/0@ ZA9M>-JDAT read: TxSync time:18:59:14.2789 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251930G G G HG #LBG =G G G <G F1P.x,[A6mܤ@y6@966JY60 >6H`?T?`ÿ?? `R? ?`.?6mܤ@ɨ6Ɗ; 6SCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503086>KBFeHMb@Mb@Mb@ )IyJ +?Mb{Gzt(?ף )xAIԡAiAשAH=H=+6M~= MD=YU!=Q U>Q٣Q UGQ]b: ]>a]mU49eKg?amU4Ye9W ie-Bu(?mu:uuqu?e Ce:e:e-U49 =AA2fZfBfJf:feejeJe:ewd?r\(?z\(?\`@\l@i))iI C8"StartingZAM >ZITbI@jI5rIzI{9I[8I4II w:I*w:Ial9Ikl9=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755767G95x,Հ[A:ߤ@y:f@9:0Y:.a>:H??A?R@Ԡ?`v?H?:ߤ@ɨ:; :RCFKBFHHRFHR16V= ZU=YZ0=Q Z>\٣\ ^G\bJ_: b>d]jU49f.Xg?ajU4Yf\ if-Bhjuqn?f Cf:f#;fU4rJB rArĵE2f Zf Bf Jf :feejeJe:e`?r\1z\1\1\5n@iI)I)IIIiIQIQCU78"e&Changing to mode: 3"eDetach mode.:JmBoIBJm9JJiRJm.ZJmJ}? J}?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011572"M2Commanding negative:54593DE?DADAEM5 EIZAqM:>e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262955b;x,[A6y@y6@96uY6a >6H$? ? 8?ĕl??К?6y@ɨ6; 4NKBRHV=iVp<HXHX~= ~E=Y0=Q >٣   G  ;  >]U49weg?a%U4Yb i!%_tq%?_ C ; ;U4) -A1MB*** querying acoustic contact ***iIiI2fQZfQBfQJfY:fYeYeYjeaJea:eezy?r\z\\\܃@i))隙iIC8DM=DIDIEMp5 EIZAYM>*G<"G<G->G-CG-EHG-LLBG)G)G)G-<G-Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514885JBx, [A6@y6(@96eŎ;Y6#>6H ?`?LL`&!`?qx\??6@ɨ6H; 4NKBRHMb@Mb@Mb@ )Iy'1Z?ˡE~jt"?' A)IAiҪA\AHHF6{= ==Yq7=Q >٣ G0< >]U49rg?aU4Yh i,B9#?m:Gvq? CT;:+U4  aA Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7669662f9Zf9Bf9JfA:fAeAeAjeAJeI:eM}4@r\m9#?z\m9#?\m|@\mF@iy)y)隁iICU8Dl;DDEo5 EZAM*>I]ż=)]֐C GlA )5 y5 lA5 B:J jIBJ JJ RJ /ZJ J gAI gA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018991tHx,:w#[A2<@y2K@92G2H@?? J `?@Z0?ג?2<@ɨ2K[; 2SCBLBBHHJHJI6RS= R`=YV h=Q V>T٣T ZGXZ?< Z>`]jU49b~g?ajU4Ybm entIib,Bpr/uqr?b Cb;b;bU4x z#Ax2fZfBfJf:fee!je!Je!:e%7#@r\Az\A\A\Ei@iQ)Q)QQQiQYIaCm7?Bm?I3I3I/IIIZIUbICjIrIzI9I=8IIq@i@u@m@CU8DYD-9D)D)E) E)ZAAM]>-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270902G- >G) G- ^HG- `LBG- =G) G- {DG- ״<G- FHC HCHHʡ ="Hʡ =*Hz5Nx,b=[A<<Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523242b6U@ybd@9b8=YbA'>bH 7??^ċ?0k@??b6U@ɨb_; bTCnLBnHIp)pmMb@Mb@Mb@ii i)iIiymʡE?V-y&1m?mm` mZA)mAImҪAimAim3AH:HL6]< ;=Y^;=Q >٣ G; >]U49dg?aU4Y/s i,B?m:boq?% C::(U4IB AµE2fZfBfJf:feejeJe:eR@r\?z\?\z@\#@i)A)IIIiIQIQCE:8DS6DDE1 EZAMK>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775261ӆUx,4.W[A25s@y2@92>Ʉ=Y2c*>2H ?z?@콶`P?|ÿ-`'?}?25s@ɨ2e; 2SC>"LB>HHJSHJO6RCF= R\=YRX[=Q V>T٣T VGTZ!< Z>\]U49^Ֆg?aU4Y^w i^,B%lnq%?^_ C^Z<^ [<^ U4) -A-E2fIZfIBfQJfQ:fQeQeQjeQJeY:e] @r\z\\\;B@i))隑iICt8checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027299:JBJŷ9JJRJ0ZJJ? J>D  4D DE0 EZA)Mu>ZIbIFjIrIzII9IIE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278954ٰ[x,q[A2@y2ɕ@92V=Y2.,>2H^?V?೿"?ſCX?`o?2@ɨ2; 2QCN+LBRHHZHZxU6b< bH=YbE=Q b>d٣d fGdjܼ; j>p]vU49rug?avU4YrF} ir,Btvmqz?r Cr:r-:rmU4| ~ϰA|B*** querying acoustic contact ***ii2fZfBfJf:feejeJe:e @r\z\\\yU@i ) )iIB%gAB%hAC8D1DDE0 EZAG?AGG>GCGGG =GGG <G FM*>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533048kbx,抁[ABW@yB@9Bv=YB,>BH?;?`@Y?@ǿ`ea?_?BW@ɨB9݊; BSCn;LBr1Hv>iv=Mb@Mb@Mb@ )Iy^I +?y&1~jtX?` ȼA)vAIXAiA̪AHHvX6= 9=Yw6=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782990Q >٣ G  ;  >]V49ϰg?aV4Yɂ i`,B%?m-:-0lq5? C;õ;V4Q UA]E2fyZfyBfyJfy:fyeyejeJe:e6@r\?z\?\3@\͉@i))隹iICC9De/DaDaEe5 EaZAqM:>թ թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035142:J% BHBJ% @9JJ! RJ% 1ZJ% W'({dhx,[AB@yB¬@9BM=YBC->BH`?[?GG z?@ɿP\^?jM?B@ɨB; @JGLBJ?HHRHR[6Z$< Za=Y^\=Q ^>`٣` bG`b,; f>d]jV49fg?ajV4YfC if5,Blnkqn?f Cf;f;fV4p vAt2f Zf Bf Jf :f eejeJe:eN@r\Qz\Q\Q\U@ii)i)iiiiiqZIbIGjIrIzII9IIIqC9D},DDE4 EZAM!>%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.290252G >G G 8HG ALBG G G G δ<G Fnx,e[ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.543033=KLB=EHMb@Mb@Mb@ )Iyn?!٣) -G) >]V49g?aV4Y i+B?m:nq?] Cj;:V4 A2fZfBfJf:feejeJe:e~@r\?z\?\9@\7@i))iI!C-2?B-)?C%9D*DDEb5 EZAMF>-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794849vux,x؁[A6 @y6U@96'>Y60>6H )?@T?XMLq?ͿGĿ??6 @ɨ6; 4N_LBN]HIP)PHZHZb6bZ= bd=Yb=Q f>d٣d fGdjr< n?p]vV49r g?avV4Yr ir+Btz+mqz?r Cr:rL:r*V4HB bAE2fZfBfJf:feejeJe:eN@r\z\\\fj@i ))iIC9checking for new query: numPingsReceived=0, elapsed TxPingTime=5.048342&MTFailed to parse incomplete device message.D['DDE`5 EZAM%>ZIbIDjIrIzII8IIE checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298872{x,N[A6@y6@96;>Y6$2>6H`60? E?pi@I#`r?FϿ @ǿ{? ?6@ɨ6; 6RCB`LBB^HHJHJb6R@; RM=YRG=Q V>T٣T VGTZ < Z>`]fV49bg?afV4Ybؕ ib+Bdf7lqj?b Cb@:b:b8V4l n_AlzB*** querying acoustic contact ***ixix2f Zf BfJf:fe!e1je1Je1:e5.@r\Qz\Q\Q\U߈@i))iIC9Gu>GqGuHGu#LBGu =GqGqGuݴ<GuFD$DDE EZAM'>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.553318ix,. [AR %@yRU4@9RN>YRej2>RH`4?`?dFv R@u?пɿ@V?@w?R %@ɨRtn; RUCZRLB^NHmMb@Mb@Mb@ii i)iIiymm?~jty&1m?mm`e mA)mAImAimGAim=AH!Hf6 <=Y2=Q >٣ Gt < >]V49g?aV4Y i:+B?m:&lq?CA;&:HV4 zAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.802967q2fZfBfJf:feejeJe:e S@r\%?z\%?\%@\%@iI)Q)QQQiQYIYBehABaPExceeded connect timeout, disconnecting.Ce9DiD!DDEm5 EZA!M=Q> checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054857:Je ؉LBJe U9JJa RJe 3ZJe <x,Z&[Abp@ybY@9bs>Yb[Q2>bH@nA??g?` `L?@?ҿ4ο? ??bp@ɨb?; bSCrWLBrTHz=izC=H FH j6-T< -Q=Y52=Q =>A٣A EGAMӿ< M>a]uV49e2g?a}V4Ye ie*Biq?e;Ce{;e;eUV4GB oAE2fZfBfJf:feejeJe:e@ZIbIEjI4rIzII8I3Ir\z\\\Ы@i))iIC" 9  =checking for new query: numPingsReceived=0, elapsed TxPingTime=6.308398D]LDYDYEea5 EaZAqM<>GE >GE CGE HGE KBGE =GA GE zDGE <GE FAx,?[A6checking for new query: numPingsReceived=0, elapsed TxPingTime=6.560975v:@yv@9v>Yvk4>vHJ?V?K?b@ɓ?_ӿ)пz?{?v:@ɨv; vTC[LBXHMb@Mb@Mb@ )Iy/$?I +x&1?947 A)AI~AiҘA\AH>Hi6< <=Y!=Q >٣ G%CG< %>)]5V49- h?a5V4Y- i-*B= ?m=:=okq=?-rC-:-:-dV4A EhAI2fqZfqBfqJfq:fqeqeyjeyJey:e} @r\ ?z\ ?\k@\ᡫ@i))隱iICF 9H]4=H]a=DDDE1 EZAMD> checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810831  nManaging dock network, ignoring radio surface power off(x,xY[A_LB =G%]HU;mA i)Oy;mA@BH:HMi6< Q=YQ >٣ G >]V49L h?aV4Y i>*B!!q%?Cj::rV4) -aA1u]ZDetected possible detachment. Starting timer.ZfYBfYJfY:fYeYeYjeaJea:ee*!@r\z\\\i))隙iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.070912C%c 9:J}RIBJ}ж9JJyRJ}4ZJ}J? J?DDDE0 EZAM}Y>m checking for new query: numPingsReceived=0, elapsed TxPingTime=7.324895Lx,s[A6#@y6m@96u >Y6Y5>6H.Y?? ?P? .Կ#ҿ]?4?6#@ɨ6; 6SCrULBrQHIt)tHz=Hzi6H W=Y o=Q  > ٣  G< >!]-V49%h?a-V4Y% i%)B)-iq-?%C%:%-:%V49 =sA=EUB*** querying acoustic contact ***iQiQZfaBfaJfa:faeaeijeiJei:em *@r\z\\\@i))隡iIC 9G>GGHGKBGGGG<GFHC HCHÓCHã ="Hã =*HÁs5DDDE0 EZA1MM>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.577254ZI VbI jI 5rI zI 9I I 4I I (:q I -:i I ؽ9u I ݽ9m (6x,`x[A2s@y2&@92>Y23>2H"_?@??`?iտ@$ӿX?@z?2s@ɨ29'; 0BMLBBHH=Mb@Mb@Mb@99 9)9I9y=K7A?&1/$= ?=P= = A)=AI=Ai99==AHUHUe6e eD=Ym =Q m>i٣i mGquA< u>y]V49}~h?aV4Y} i})Bu?m:kq?}C};}};}qV4 AZfBfJf:feejeJe:e# @r\u?z\u?\-@\@i))i I checking for new query: numPingsReceived=0, elapsed TxPingTime=7.827012CM 9DDDE0 EZAM%> checking for new query: numPingsReceived=0, elapsed TxPingTime=8.079000:J BJBJ 9JJ RJ 5ZJ 3G9& J hAI hA|^x,K[A:FB@y:Q@9:rk>Y:X}4>:H`g?`C??1`X? ֿHӿV?`?:FB@ɨ:9; 8NNLBRIHHbHbQc6j; jT=YjR=Q j>l٣l nGlrt^< r>x] V49z&h?a V4Yz/ iz#)B iq?z1Cz2`;z`;zV4FB }AEZfABfAJfI:fIeIeIjeIJeI:eU S @r\z\\\jӫ@i!))))))i)1IYC59DDDE0 EZAM&>-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330889G G G WHG KBG =G G G <G FfKx,><[AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.585039-l@y-{@9-ҧ>Y-6>-H o?{?#?5^? ҢֿԿE??-l@ɨ-֋; )ECLBE;HM=iM=%Mb@Mb@Mb@!! !)!I!y%Q?EԸ%>%L%ƽ %A)%AI%IAi%A!%AH= H=4d6M=ż U4=YUY٣Y ]GY]:< e>a]uV49ez0h?auV4Ye% ie(B}>m}:} hq}?ebCeZ4;e :eV4 AEZfBfJf:feejeJe:e9!@r\>z\>\@\@i))iIC9ZIMUbIMDjIM4rIIzIM9IM8IM3IIIM\:IMa:IM9IM9D}DyDyE}Q5 EZAM@>-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834883sqx,Kۂ[A6-@y6x@96&>Y6C9>6Hz?`hk?] ?)@z?3׿Lտ-? ?6-@ɨ6w; 6RC>?LB>5HHFHFd6jF jg=Yj=Q j>l٣l nGlrY< r>t]zV49v@8h?azV4Yv6 ivP(Bxzfq~?vCv ;vv";v"V4 A Zf1Bf1Jf1:f1e1e1je9Je9:e=@"@r\Yz\Y\Y\]=@ii)i)iqqiqqIyC%9checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087277DeDaDiEm@5 EiZAyM>:JMLBJ`9JJRJ6ZJJ> J>E checking for new query: numPingsReceived=0, elapsed TxPingTime=9.338883qx,[A -LB  HHHe6-% -E=Y-Q 5>1٣1 5G1= =>A]MV49E]Ah?aMV4YEϽ iE'BIIqU?ECE:E:EV4Y ]Aa}B*** querying acoustic contact ***iyiyZfBfJf:feejeJe:e[#@r\z\\\i))iIC&?B*?C-9*G"G<G>GG HGNKBG =GGG<GFDDDE5 EZAM(>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593254ZIi bIi jIm 6rIi zIi Ii Im 4Ii Im ]:Im b:Ii Ii x,[A2@y2>@92nq>Y294>2H@)?YC?? }1?׿cqֿ"?`H?2@ɨ2Ɗ; 0N)LBNHIP)P5Mb@Mb@Mb@11 1)1I1y5ˡE?Zd;O)\(5>5j<5G 5A)5AI5pAi5-A15AHE6HEh6U+ ]G=Y]Y>=Q ]>a٣a mGim< m>q]}V49uIh?a}V4Yu iur'B>m:aq?uCu:u :uV4 ǰAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.843001Zf9Bf9JfA:fAeAeAjeAJeI:eMO6$@r\>z\>\@\Ԭ@i))隙iICf9D%D!D!E%5 E!ZA1MU1>ե Aա  @y6(@96?>Y6?3>6H?@/??EK?Nؿ`5ֿ U?@Vm?6>@ɨ6Ph; 4NLBRHHZKHZ/k6b2 bT=Yf h٣l rGpvP< v>|] V49~Qh?aV4Y~ i~'B`q?~C~e;~T;~V4) -A5EZfaBfaJfa:fieieqjeqJeq:e}?$@r\z\\\@i))隩iIC9DDDE4 EZAM> G G HG KBG =G G yDG <G F!x,~B[A6Querying Benthos address 50 with one ping in standard two-way mode.eB@yQ@9P>YR5>H@'?@?,?`z \?Sؿ>׿?`nX?騭eB@ɨ ;  LBH}Mb@Mb@Mb@yy y)yIyy})\(?L7A`堿Zd;}G>}+} }A)}AI}(Aiyy}fAH?Hi6 /=YR٣ G0< >]V49\[h?aV4YS i&Bc>m:Uq?/C%L;I;V4 AZfIBfQJfQ:fQeQeYjeYJeY:ee`J%@r\c>z\c>\@\\@i))iIBiABiAZI-TbI-CjI-4rI)zI-{9I-=8I-3I)I- w:I-*w:I-/9I-49C9DiAzDiADuDyDyE}0 EyZAM^>BDAT read: Response Not Received *response not received,DAT read: user:1005> BDAT read: Tx time:18:59:25.2297 %$Ping request sent.%Y6P7>6H?W?̿?S2t?`7ؿ`ͅ׿`C?@H?6xo@ɨ6i҉; 6QCZLBZH^=i^=HfOHfk6n nm=Yr}]:JjIBJ۵9JJRJ8ZJ -wo_OC6+!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502071x,)v[A:@y:@9:#>Y:69>:HM?@m? ?;`؂? ؿ<׿o?)??:@ɨ:; :RCFLBFHHR HRd6VE1 ZN=YZq;Q Z>\٣\ ^G\b*< b>d]fW49fjh?ajW4Yf if%BhjSqj?fsCf:f%:f W4p rApB*** querying acoustic contact ***iiZf Bf Jf:feejeJe:e@]'@r\1z\1\1\5C@iA)I)IIIiIQIQCP9G=ڿ>G=CG=HG=JBG= =G9G9G=<G=FDDDE EZAM >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756287.x,[AJȤ@yJ@9Jh>YJt:>JH?@?`6J?`)5? ؿ׿{?D;?JȤ@ɨJ,; HbKBbHMb@Mb@Mb@ )Iy$C?p= ף>̼ A)ʧAI&AiAQAHcHm6뙼 ;=Ym!;Q >٣ Gp; >]W49sh?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006300aW4Yb i1%Bf>m:Kq?C;ތ;W4 #AEZfBfJf:feejeJe:e yJ(@r\%f>z\%f>\%/@\%*@iQ)Y)YYYiYaIaCu)?Bu?CMp9DU>DU>I)ːCDDDE0 E ZA)ElA YMuX>)ylAA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258039:J MBJ 9JJ RJ 9ZJ x,ک[A2;Ǩ@y2֯@92[>Y2M8>2H`?G???=ؿ~׿RD?A?2;Ǩ@ɨ2➉; 2SC:KB:HI<)<HF5HFh6N N^=YNSP٣P RGPV;< V>X]^W49Z6{h?a^W4YZ iZ$BZIUbIDjI5rIzI9I8I4Iq @i @u @m @\=JqE?ZCZ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511741DEDADAEI EIZAYMu6>G5 ٿ>G1 G5 QHG5 JBG1 G1 G1 G5 <G5 FHC HCHHȢ ="HȢ =*H#5Bx,)Ã[A*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764078@y@9&>Yp2>HU?@?i?`Y?`KUؿ ׿ަ?aF?騵@ɨ8ډ; TCKBH]Mb@Mb@Mb@YY Y)YIYy]@5^I ?]t]7 ]A)]AI]Ai]AY]3AHulHun6u .=Y:Q >٣ GF< >]W49h?a%W4Y iB$B->m-:-Dq-?C<<49W41 5bA1ZfYBfYJfY:fYeYeajeJe:e)@r\>z\>\ʥ@\@HH=i)!)!))i)AIIC=9DDDEp5 EZAMj>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015365 x,Ք݃[A~KB~HH zH dp6%ފ %e=Y%Q %>)٣) -G)- 5>1]=W495h?aEW4Y5 i5#BAAqE?5C5;5:5EW4I UAQZfBfJf:feejeJe:e*@r\z\\\i)))))))i)1I9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265971C]9DaDDDE`5 EZAM+>:JJBJ9JJRJ:ZJJ? J>I4IIA.IIIZI!bI!jI%4rI!zI!I!I%3I! checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519432g7x,o[A:G@y:KV@9:(<>Y:#r3>:HZQ?u??`"? ؿ`x׿?P?:G@ɨ:; :RC@@F>iF;HNxHN+p6YVQ V>X٣X ZGXZ< ^>`]fW49bh?afW4Yb ibp#BdjiAqj?b!CbD;b;b@SW4nDB rArE~B*** querying acoustic contact ***i|i|ZfBfJf :f e e je Je:e Ag+@r\)z\)\)\-@i9)A)AAAiAIIIC]!9Gڿ>GGHGJBGGGG<GFD D D E [5 E ZAM= >}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772265Ax,J[A6p@y6@96[>Y60o7>6H #t? [?`?ٳ Y8?ؿ@׿??*V?6p@ɨ6/; 6SC>KB>H=Mb@Mb@Mb@99 9)9I9y= r? rhHzG=>=C== =A)9I=&Ai99=AHUqHUeo6e ei٣q uGquA< u>y]W49}h?aW4Y}a i}"B>m;b>q?}CC}:}:}8bW4 Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022662ZfBfJf:feejeJe:eC,@r\>z\>\@\C@i ) )   iIC"9DDDE5 EZAM&>u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274150:J JQJBJ k9JJ RJ ;ZJ J I iA`I x,-%+[A2ܖ@y2'@92λ>Y2J:>2H???@ߡ?E`kP?׿ֿ` ? `?2ܖ@ɨ24; 2UCNKBRHHZHZbr6b8 bV=Yb9UQ b>d٣d fGdfIH< j>hZIrVbIrBjIr5rIpzIr9Ir8Ir4Ip]zW49jh?azW4Yjw ij"B|~<q~?jaCj#;jw;joW4 A ZfBfJf:feejeJe:e`-@r\az\a\a\e!s@i))隉iIC%?B>Cm,$9DuhAzDqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526604DD D E  4 E ZA1M]3>Gۿ>GGHGnJBG =GGG<GFQ6x,E[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780835,@ywȰ@9>Y9>H?"?d?`@p?׿@ֿ?q?,@ɨ-; RC KB UHI)Mb@Mb@Mb@ )Iyv?QHzGԸ>u A)AI3AiGAHHq6l -=YEQ >٣ G\< >]W49h?aW4Y i"B{>m ;9q?CZ<e<!W4 AZf)Bf)Jf):f)e1e1je1Je1:e5E .@r\u{>z\u{>\u@\uױ@i))隩iICl&9DDDE0 EZA!M=r>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030142[x,^[A2ש@y2@92s>Y2u7>2H@Q?@q?&?``ّ? N׿5ֿ]t?8?2ש@ɨ2; 2UCRKBVRHH^sH^o6rA rp=YvQ v?t٣t vGtz[3< z?|]W49~h?aW4Y~ i~!B   9q ?~C~:~:~W4 AEZf1Bf9Jf9:f9e9eAjeAJeA:eE.@r\iz\i\i\m)@iy)y)y隁iIC&95checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282027DDDE&1 EZAM>:Jk3IBJ9JJRJ<ZJ J) J- ?ZIUbIEjIrIzI9I8II checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534096x,x[A2@y2@92Ʊ>Y26>2H`X???`2?Oֿ2տ` Z?`?2@ɨ2ר; 2RCNzKBRDHHZyHZGp6b bL=YfQ f>d٣h jGhj< j>)]5W49-h?a=W4Y- i-X!BAER8qE?-C- J;-`J;-RW4I MAImB*** querying acoustic contact ***iiiiZfqBfqJfy:fyeyeyjeyJe:ex/@r\z\\\}@i))隱iIBBhAC(9G@AG@AGܿ>GCGHGZJBGGGGm<GFDiDiDiEm0 EiZAyM>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.786239m$x,[A6@y6D!@96z>Y6~7>6H? ??l?@=?zֿ /Lտ@?@i?6@ɨ6O; 4NpKBR7HV5C57 5A)5ƧAI5Ai5A15AHHp6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038770ֹ >=YޖQ >٣ Gc< >]W49h?aW4Y i Bֺ>m;8q?C::W4 1AZfBfJf:feeje Je :e \(0@r\-ֺ>z\-ֺ>\-du@\-@iA)A)AAAiAIIIC(9DDDE0 EZAM%>I M AU checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290447:J] KBJ] 9JJY RJ] =ZJ] 3Z #;N`qy}v?*x,[A6+@y6;@96h>Y6k5>6H@??`? )`;?-ֿ@Կ_??6+@ɨ6JO; 6QC>oKB>6HHJpHJHo6N RZ=YRQ R>T٣T ZGXZ < Z>\]bW49^ph?abW4Y^ i^ Bdf?8qf?^C^;^@;^$W4h j3AlZf|Bf|Jf|:f|e|ejeJe:eć0@r\!z\!\!\%@i1)1)999i99IACM*9DDDE EZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542208Gۿ>GGHGEJBGGGGK<GoFM checking for new query: numPingsReceived=0, elapsed TxPingTime=5.7940241x,_Ƅ[AeKB*HMb@Mb@Mb@ )Iy"~j?t A)ҦAIAizAAHgHIn6ZIbIjI4rIzIII3II\:qIa:iIٽ9uI޽9mU U=Y]Q ]>a٣a mGim m>q]}W49uh?aW4Yu iu B>m;:q?uCu ;u ;u}W4 GAEZfBfJf:feejeJe:e`O1@r\>z\>\B@\@i))iI C 7?B &?C/-9DDDEP5 Eյ=յ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047562ZAM> nG ;mA ) 7y ;mA ! B7x,d#[A6X@y6h@96e>Y64>6H@??@??@@?=cտ ӿb?`*?6X@ɨ6&; 6SCBdKBB(HID)DHJMHJhk6R V=YVQ V?X٣X ZGXZ8< Z?d]jW49fh?ajW4Yf9 ifBhj9qj?f+CfG:f:fZW4p rJApZfBfJf:feejeJe:eZ1@r\z\\\_ڱ@i))i I checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298348C-S-9DDDE0 EZA M-,>:JhNBJ9JJRJ>ZJl^O?-!xtjd]UQLGEC?<;950/.,,,4>DGGB><93-,+($"  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551073=x,[A), ,Zq@yZ@9Z1ٛ>YZ%7>ZHp?:i?*=?j.?$տ}.ӿ?` ?Zq@ɨZf; ZRCfCKBfHHrZHrl6v zE=YzίQ z>|٣| ~G|; > ] W49 h?aW4Y $ i B8q? GC T ; v"; W4! -A)EB*** querying acoustic contact ***iAiAZfIBfQJfQ:fQeQejeJe:e1@r\1z\1\1\5@iA)A)IIIiIGyGyGyGyG} =GyGyG}<G}FHA HECHAHA"HA*HEe5ICp/9DD!D!E%5 E!ZA9M]3>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.806172ZI TbI CjI rI zI {9I =8I I I !w:I +w:I 09I 59Dx,Q[A6t@y6@963>Y6E8>6H`E?@]N?ķ?E|BG?aԿ@^ҿ?t?6t@ɨ6hc; 4bIKBbHUMb@Mb@Mb@QQ Q)QIQyUS?Cl绿U>U̼U;߽ UA)UߥAIUAiQQUGAHm?Hmi6uE< }B=YmQ >٣ G; >checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058264]W49uh?aW4Y i2B>m$;@q?cCL ;a;W4 AZfBfJf:feejeJe:e22@r\>z\>\@k@\-@i))i!!I)B1B5iAC19DiAzDjADDDEm5 EZAM?>U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310041Jx,-[A6@y6ˮ@96>Y6 6>6H@?.5? Ŷ?-|c?LԿ`jҿ ?6?6@ɨ6G]; 6QC:JbͺNBJb#9JJ`RJb?ZJb    Fetsmgc]XPICvQKBvHz=iz=H)Hkg6  < Q=YQ >٣ G%; %>)]-W49-h?a5W4Y- i-B15P@q5?-|C-:-:-#W4ECB EkAEEZfaBfaJfa:faeieijeiJei:eu`я2@r\z\\\@i))隡iIC19DDDEn5 EZAխ=խ4=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562447M!>GqGqGqGqGqGqGqGu<GuF] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814239Qx,PG[AR趪@yR3Ʊ@9Ry>YRl4>RH>? ??`"y`}?>ӿ`ѿz?M?R趪@ɨRV; RSC޵;KB޽HHE-HEg60? 1=YQ >٣ G; >]X49h?aX4Y iB?q?C;;@ X4 AEZfBfJf:feeje!Je!:e%@3@r\Iz\I\I\M@iY)Y)YYYiaaIiHHp=ZIUbIIjI5rIzI9I 9I4II]:Ib:I-9I29Ce39DDDEc5 EZAM5O>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066092&Wx,ha[A~7KBHMb@Mb@Mb@ )IyV-?~jtZd;Oh>Dj tA);AIAinAAHHb6 [=YQ >٣ G >]X49h?aX4Y iMB>m1;5q?Ci ;a;>X4 AZf)Bf1Jf1:f1e1e9je9Je9:e=We3@r\]>z\]>\]@\]S@ii)i)iiiiiqIychecking for new query: numPingsReceived=0, elapsed TxPingTime=8.318325C949DEDADAEE3 EAZAYMu6>:JMBJ9JJRJ@ZJ:532,+'"#   J ? J> checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570144#^x,M{[AB@yB3@9BK >YB1>BH5?|? d?Bp b]=Yb@Q b>d٣d fGdf~< j>h]nX49jh?arX4Yj7 ijBpr4qr?jCj%:j:j%'X4t zAxB*** querying acoustic contact ***iiZfBfJf!:f!e!e!je!Je):e-3@r\Az\A\A\EOz@iQ)Y)YYYiYaIaG%ڿ>G%CG%HG%OJBG% =G!G!G%u<G%FCuV69DADADAEEq5 EIZAYMu>%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822325ZI VbI BjI 4rI zI 9I 8I 3I I ):I .:I ے9I 9 ex,O![A6@y6 @96Ȁ>Y6t3>6HaR?@F?dɱ?is? »ҿ``Ͽ`?~?6@ɨ6Q; 6UCB?KBBH=Mb@Mb@Mb@99 9)9I9y= rh?y&1|ˡE=C>=`=什 =A)=jAI=Ai=?A9=AHUHUb6e< m@=Ym;Q m>q٣q uGqchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.074228; >]X49i?aX4Y iB>m:;?0q?C;;6X4 AZfBfJf:feejeJe:e@514@r\>z\>\=@\@i))iI!C5+89DDDEU1 EZAM5.>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.3262653kx,[A6 @y6X(@96^y>Y64>6H=o?ಱ?^?`"?`Erҿ 6ο)?`ؒ?6 @ɨ6>; 6SCB%KBBHHJHJ_6V VW=YVάQ V>X٣X ZGXZ_ < ^>`]fX49bi?ajX4Yb~ ibBhj_/qj?bCb ;b;bECX4p r²Ap:J~dZMBJ~۵9JJ|RJ~AZJ~ J I hAZfBfJf:feejeJe:e4@r\z\\\#@i))iIC89DiDiDiEu1 Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.579379ZAM>Gٿ>GGHGdJBG =GGG<GF= A= AE checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830308rx,jȅ[AV/@yVM>@9VMHq>YV3>VHЈ?@?м?Z`? ҿ@Ϳ??V/@ɨV; VTCv'KBvHU%=iU=HHT_6; 0=YQ >٣ GӺ; >]X495i?aX4Yl iQB.q?C:W:SX4 AEZfqBfqJfy:fyeyeyjeyJe:e@ 5@r\z\\\4@i))隹iIC:9DYDYDYE]0 EYZAiM[>Y:,\2>:H {?`?'?@hR'?7ѿ ̿q?Ҳ?:F@ɨ:; :PCFKBJH%Mb@Mb@Mb@!! !)!I!y%p= ף?y&1|/$%>!% %/A)%AI%Ai%A!%AH=H=V]6M9 M`=YMצQ M>Q٣Q ]GY]J< ]>a]mX49ei?amX4Ye ieBm>muB;uo-qu?e0Ce;e;eC`X4y }ٲAZfBfJf:feejeJe:e@Ff5@r\M>z\M>\MZ3@\Ma@iY)a)aaaiaiIZIUbIFjI5rIzI9I9I4Iq@i@u@m@:J-KBJ-9JJ)RJ-BZJ-J= ? J=? YN 2>NHB?ag?A?yI`X)?nѿ̿A??NN^@ɨNʼn; NSC^KB^HHfHf[6rD rR=YvQ v>x٣x zGxz; z>]X49i?a X4YQ iB  ,q ?GC:G:mX4 A5B*** querying acoustic contact ***i1i1ZfABfAJfA:fAeAeAjeIJeI:eM5@r\az\a\a\ey@iy))隁iIC1?B>*G<"G<Gؿ>GGHGnJBGGGG<GFC<9DIDIDIEI EIZAYM}>BDAT read: Response Not Received *response not received,DAT read: user:1006> -Y2w3>2H?N?@? J> >?1ѿB˿?r?2fw@ɨ2͉; 0R KBRHIT)TeBDAT read: Tx time:18:59:36.1798 e$Ping request sent.eD½ A)AIAiݜAQAHH Y6ټ 9=Y eqQ  > I=)C٣ %G -G1A Y]; e>)GyA]X49R#i?aX4Y? iBҎ>m>; /q?eC::X4 AZfiBfiJfi:fieieqjeqJeq:eu@ L6@r\Ҏ>z\Ҏ>\@\+@i))iIC5?9D1D1D9E=4 E9ZAIMmx>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251517x,(D0[A6I@y6@96&U>Y6S3>6H?8?@?5R?пsʿd? I?6I@ɨ64; 4>KBZIFVbIFEjIF6rIDzIF9IF8IF 4IDJHHVpHVR6^ ba=YbQ b>d٣d fGdf< f ?h]nX49j"(i?arX4Yjw ijlBpr}.qr?jxCj;j<;jX4t vAx:JEuJBJEk9JJARJECZJE  JaIaZfBfJf:feejeJe:e@6@r\z\\\4@@i)!)!!!i!)I)CY?9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503775DDDE0 EZAM#>G׿>GGHGxJBGGGG<GFHC HHHǠ ="HǠ =*H?4% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755817ix,}J[AJB HHMHMY6" 1=YQ >٣ G >]X49q/i?aX4YR i%Bq?C;;tX4y }'AZfBfJf:feejeJe:e7@r\z\\\i))iIBBhACeA9DDDEA5 EZAM k>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007264Jx,Kd[AJBH%=i%L?Mb@Mb@Mb@ )IyK7?S㥛!rh>/ݼl A)IAi³AHHxU6I V=YQ >٣ G >]]X495i?a]X4Y iB]>m]5;e:qe?Ct<bs<sX4i m0AuEZfBfJf:feejeJe:e s7@r\>z\>\Z@\5@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259446i))iICEC9DDDE 5 EZAM K>ZIUbIBjI4rIzI9I8I3I:JLBJ#9JJRJDZJ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511267x,}[AF@yF@9Fe=>YF'(2>FH>?? ? ,?`Ͽ 9ǿ??F@ɨF; DZJBZHH%H%Y6-8 5V=Y5yxQ 5>9٣9 =G9EV< E>I]UX49M:i?aUX4YM Geտ>GaGaGaGaGaGaGe<GeFiMBy}58q}?MCM;M;MӴX4 9AB*** querying acoustic contact ***iiZfBfJf:feejeJe:e7@r\z\\\ @i))iICC9DDDE4 EZAM%>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763940H H @Ax,[AF%@yFp@9FR$:>YF?4>FH@^J? ?L?< ?HϿ@#ǿ ??F%@ɨF; DRJBRHUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017650uMb@Mb@Mb@qq q)qIqyu&1?S㥛u>uLu$ uA)u"AIuZAiuAquQAHH[6Kּ C=Y.Q >٣ Gm; >]X49>Ai?aX4Y iTB>m(;Jq?CZ::yX4 OAZfBfJf:feejeJe:e<8@r\%>z\%>\%Jw@\%Ƴ@i9)9)999iAAIICM-?BM5?CuE9DyDDDEP5 E ZAM5.>% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273067Ыx,X[AI+3I+c3I+Ϛ.I#I#I#ZI4bI6DjI4rI4zI4I68I4I4B@yB? @9Bf6>YBBg4>BH8T?? ٣   GK; >!]%X49%Gi?a-X4Y%W i% B)-|Jq-?%C%h:%:%X41 =lA9ZfYBfaJfa:faeaeajeaJei:em 8@:JKBJ9JJRJEZJr\!z\!\!\%D@iQ)Q)YYYiYYIaCMF9m>m%=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.524279DDDEa5 EZAM)>GeԿ>GaGaGaGaGaGaGe<GeF checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775417x,kˆ[Aj@yj- @9jʐ3>Yju3>jHW?`m?Y?@?:ϿTƿ`p?@m?j@ɨj/; jRC~JBHHHV]6%.< %H=Y%Q %>)٣) -G)5 5>9]EX49=}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027304x,A[Ar4@yr@9rx0>Yr&3>rH`X?@?xE?@Թ?ο`ſ@)?t ?r4@ɨrc; rWCޝJBޝHBDAT read: Rx Time:18:59:39.0454 TRx dataTimestamp_ set to:1736535579.675964checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281178Mb@Mb@Mb@ )IyQ?l@5^I ¿(>b CA)AIAiAHHZ6 [; /=Y6ԻQ >٣ GW %>!]5X49%\Ti?a5X4Y% i%^B5)>m5;5\q=?%3C%;%;%pX4A EPAEEZfiBfiJfi:fqeqeqjeqJeq:e}9@r\)>z\)>\q@\s@i))隩iIBhABiACyJ9D]DaDaEe1 EaZAMa>ZI9bI=CjI9rI9zI9I==8I9I9:J5uJBJ5k9JJ1RJ5FZJ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532627x,_'[A:@y:e@9:->Y:l1>:HFU??, ?c ?ڐοXſ??:@ɨ:; :RC^JB^Hb>ibR=HfHf\6nf< nv=YrQ r?p٣p vGtvZ v?GAGAGAGAGAGAGAGEO<GEnFx]X49zqYi?aX4Yz izBN]q?zKCzm]DAT read: 18:59:39.0454 LVL= 17648, 22721, 8754, 18723, AGC= 69, IDX= 114, 0.32, 0.901, 0.617, 2.383, 1.777, PHS=-0.789,-1.113, 0.603, RAW= 199.7, 16.2, CAL= 198.3, 19.6, ROT= 311.7, -19.6 eYgot valid direction response: 18:59:39.0454 LVL= 17648, 22721, 8754, 18723, AGC= 69, IDX= 114, 0.32, 0.901, 0.617, 2.383, 1.777, PHS=-0.789,-1.113, 0.603, RAW= 199.7, 16.2, CAL= 198.3, 19.6, ROT= 311.7, -19.6 mPDAT read: Bearing 311.7, -19.6 (Local) ~Local bearing/azimuth received: Bearing 311.7, -19.6 (Local) DAT read: Range 10 to 50 : 346.0 m (Round-trip 461.4 ms) speed 0.1 m/s ,DAT read: user:1007> BDAT read: Tx time:18:59:40.1298 $Ping request sent.)Ԁ]@I%>i @% WY210>2HP? a?b?` ?`Eο8Qſ@?P?2a@ɨ2o; 2TCBJBBH==9EJDAT read: TxSync time:18:59:40.1291 uMb@Mb@Mb@qq q)qIqyuQ?Dlu>u̽uO uA)qIuCAiqqu=AHH]6(w< :=YǪQ >٣ G  B  >9]EY49=R`i?aEY4Y= i=BE)>mE;EoqE?=nC=:=:= Y4I u5AqZj3l?bjsJ iit [AjCj C2ji@pfHk@*PknOK=]@zp9# ?g* x?"juW*j%pceD!@C)u2NHA@p+*?S4N?ij# AiY7l?i:-|  jBZfBfJf :f eejeJeu@:e/?r\=)>z\=)>\=|@\=@ii)i)qqqiqyIyCeL9DDDE1 EZAMUT>_x,J2[A6Iǫ@y6ֲ@96f(>Y6ӑ1>6H A??A?4 ? .οĿ?E?6Iǫ@ɨ6v; 6RC^JB^HHfHf=Y6rg< r^=YrQ r>t٣t vGtvN z>] Y49ei?a Y4Y ioB  )pq ?C::VY4  AZfBfJf:feejeJe:e?r\z\\\ @i))i I C.?B&?:JUk3IBJU`9JJQRJUGZJUJYIYC&M9DDDE1 EZAM!>G=ӿ>G9G9G9G9G9G9G=<G=F9 x,L[A>@y>㼲@9>&>Y>2>>H=3?!?ą?`I@?]&ο@ڹĿ@C??>@ɨ>; >QCFJBFHIH)HHRHR=X6V < ZM=YZeQ ^>\٣\ ^G\b b>d]jY49fli?anY4Yf ifBlnpqn?fCf-;f.;f=%Y4p vAtZf)Bf)Jf1:f1e1e1je9Je9:e= ?r\Yz\Y\Y\]@ii)i)iiqiqqIyCO9ZImVbImGjIirIizIm9Im9IiIiIiqIiiIm9uIm9mDADADAEE`1 EAZAQMu> EGlA )M/yMlAM1B/x,f[A>ɖ@y>@9>b$>Y>4>>H &?? |?\l?0οuĿ@7?@?>ɖ@ɨ>Ry; >UCbKBfH]Mb@Mb@Mb@YY Y)YIYy]/$?v/X9v]&>]x] ]A)]AI]AiYY]pAHuHu#U6W< >=Y?Q >٣ GԻ >]Y49ri?aY4Y iB>m ; zq?CE:b:H4Y4 AEuDetached at range: 346.00 m. Transitioning docking module to standby.ZfBfJf:feejeJeq:eu` ?r\>z\>\@\NΩ@i))iICMP9DDDE0 EZAM J>:Jm$JBJ9JJRJHZJ<Xnz}zwtniaYSOIA8/)J? J ?x,d[A2@y2@92$>Y2|=5>2H$?`^?RT|?E^@~?;ο`}Ŀ` ???2@ɨ2C; 2RCGtGvAAGzҿ>GxGzHGzJBGxGxGxGz~<GzFH HHH"H*H,G4E*KBEHHH\6޷= H=Y:Q >٣ Gr >]Y49Ayi?aY4Y irB  !zq ?CL;;BY4 A=B*** querying acoustic contact ***i9i92fEZfABfAJfI:fIeIeIjeIJeI:eUp?r\z\\\˩@i!)!))))i)1I1B9B=hACmQ9"u&Changing to mode: 1"uStandby mode.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode."]2Commanding positive:54593DDDE0 EZA)MMt>ZI UbI AjI rI zI 9I 8I I I ]:I b:I 9I 9aCx,E[A2B@y2@92%>Y23>2H#???:^`%?οĿ ?~?2B@ɨ2+; 2SCB7KBBHF>iF%=Mb@Mb@Mb@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235618 )Iyd;O?S㥻EԸ>/ݽƽ nA)ٜAIAiٜA3AH5H5[6< F=Y:Q >٣ G   >]Y49i?aY4Y! i+B%k>m% ;%.wq%?C::QY4) -A)2fQZfQBfQJfQ:fQeYeYjeYJeY:e]@w@r\}k>z\}k>\}@\})@i))隙iIC}S9D%D!D!E%0 E!ZA1MU1>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487796dnx,#[A6ڎ@y6%@96[%>Y6~/>6H ?=?R?Ma`?ͿĿ@?@?6ڎ@ɨ6S; 6TC^_KB^#HHf!Hff6r= r]=YrP:Q v>t٣t vGtzl z>|]Y49~i?aY4Y~$ i~Bwq ?~6C~:~:~]Y4 HA2f9Zf9Bf9Jf9:f9e9eAjeAJeA:eEMj@r\az\a\a\eb@iy)y)yyiI:JMBJ#9JJRJIZJ%"  JgAICM1T95checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740637D "DDE0 EZA1MIGGGQHGJBGGGG<G>F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992025+Tx,@͇[AF@yF+@9FT%>YFt.>FH b?`?6?b?zͿĿ#k? ?F@ɨFnM; FSCn|KBnFHHv)Hvkg6v= I=Y7:Q > ٣   G  D >]%Y49i?a%Y4Y' iB!%wq%?ZC;(:'lY41 5A12faZfiBfiJfi:fieqejeJe:e@r\z\\\@i))隹iIC)?B>CU9DzDhAZIQbIUFjIU5rIQzIQIU9IU4IQIQIQIU.9IU39D$DDE0 EZAM&>=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243621~x,[A2@y2]@92\ &>Y2;f0>2H??*?Dd +?ͿĿ%?@?2@ɨ2Ɉ; 0RKBRmHIT)TeMb@Mb@Mb@aa a)aIayeV-?kt rhe>e eC eA)aIeAiaae̮AH} H}d6= B=Y:Q >٣ GwT >]Y49i?aY4Y* ijBk>m;lq?~C6;* ;zY4AB бAE2fZfBfJf:feejeJe:e+ @r\k>z\k>\@\q@i))))111i19I9BDAT read: Rx Time:18:59:42.9936 TRx dataTimestamp_ set to:1736535583.707290checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496698CMW9D%R'D!D!E%0 E!ZA9M]3>:J- dLBJ) JJ) RJ- JZJ- 4N^fmruyxwz{yM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7474862fx,[AGBѿ>G@GBHGBJBGB =G@G@GBs<GBF>@y>Ϡ@9>F&>Y>Yj3>>H!?)?? ^~?=ο`ĿM?`?>@ɨ> ; |٣| ~G|?; >]5Y49&i?a=Y4Y1- i5BIMlqU?C;<dY41 =AAB*** querying acoustic contact ***ii2f!Zf!Bf!Jf!:f!e!e)je)Je):eMɣ@r\iz\i\i\mM~@i))隡iICY9DAT read: 18:59:42.9936 LVL= 25584, 26449, 11058, 28787, AGC= 64, IDX= 431,-0.11, 1.456, 1.102, 3.019, 2.073, PHS=-0.529,-0.924, 0.943, RAW= 198.4, 6.0, CAL= 199.0, -2.2, ROT= 311.0, 2.2 Ygot valid direction response: 18:59:42.9936 LVL= 25584, 26449, 11058, 28787, AGC= 64, IDX= 431,-0.11, 1.456, 1.102, 3.019, 2.073, PHS=-0.529,-0.924, 0.943, RAW= 198.4, 6.0, CAL= 199.0, -2.2, ROT= 311.0, 2.2 PDAT read: Bearing 311.0, 2.2 (Local) ~Local bearing/azimuth received: Bearing 311.0, 2.2 (Local)  DAT read: Range 10 to 50 : 344.7 m (Round-trip 459.6 ms) speed 0.2 m/s ,DAT read: user:1008> }BDAT read: Tx time:18:59:44.0798 }$Ping request sent.٥l٥Dl٥shq?٥k]@ ڥPw=)ڥH^@IڥnFiڥ@ڥnF=ڡ ۡۥ?xr,?@^?Iۥ]1?iۥ׽ۥ%ZۥnF=ۡ ܡ:publishing transmit ping timeyFpublishing direction and range infoءYإry? g".ء9ءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡ ۡۥ?xr,?@^?Iۡiۡۡۡۡ ܡHQ HU AAZIa bIe EjIe 4rIa zIa Ie 8Ie 3Ia Ia Ia Ie ڽ9Ie ߽9rx,6@y6K@96CC'>Y6"!4>6HE"??z?@[~?Vο`Ŀ`!? 9?6@ɨ6; 4NKBNH~JDAT read: TxSync time:18:59:44.0791 Mb@Mb@Mb@ )IyʡE?y&1I +>`e94 A)IAiHH_6u= u'=YuSW:Q }>y٣y }Gy@#: >]Y492i?aY4Y0 iBۡ>m';,\q?C::}Y4@B LAEZjai?bjB ii~ [AjYCjgC2jd–@p\sB?l@/JN?p|4?v*zpry? g"."j%Z*jnF=p"'mؿnt)WWp mFRZ3b5ѿijľiˁi?iޅM  j.2fqZfqBfqJfq:fqeqeyjeyJe}@3u@:e} Wx?r\ۡ>z\ۡ>\~N@\X@i))iIB!B!CcZ9D-?D?D-DDE0 EZAM>߹ x,`5[A6@y6ᡲ@96o&>Y6Z3>6H!? <??Y]?9οĿ`??6@ɨ6-s; 6PCRLBRHV=iV=HZHZ[6f= j=YjٺQ j ?h٣l nGlr r ?t]zY49vUi?azY4Yv1 ivBxz=\qz?vCv:v:vjY4 A2f!Zf)Bf)Jf):f)e)e)je1Je1:e5.?r\Qz\Q\Q\U@ii)i)iiiiiqIqC\9:JMBJ9JJRJKZJuqnifd_YSPLIE?<;952/' <4=D$0DDE0 EZAM>GGGHG9KBG =GGGƳ<GFx,?O[A2@y2F@92/'>Y24>2H *?;??@R?/]ο`'Ŀ`i&??2@ɨ2.; 2SCBLBBHHJHJX[6fq= fJ=Yfő:Q j>h٣h jGhnɎ; 5>9]EY49=*i?aEY4Y=t4 i=BAE[qM?=C=:=l:=Y4Q UѰAQ2fqZfyBfyJfy:fyeyeyjeJe:e"9?r\z\\\旭@i))iIH5C=H5%=CE4]9D%1D!D!E! E!ZA9MU2>fx,`!i[A2|@y2DZ@92t?'>Y2Y"4>2H`}+?@*?]?P,?EUο +ĿJ?@<?2|@ɨ2D; 2PC:?LB>5HMb@Mb@Mb@ )IyFx?~jtQƋ>D A)IAiAAH-H-@U6}= }?=Y9Q >٣ G9 >]Y49/i?aY4Ye6 iB>mA;L9q?C{::Y4 AE2f9Zf9BfAJfA:fAeAeAjeAJeI:eM?r\>z\>\@\J@i))隹iICA?B7?C^9DD]4DaDaEe0 EaZAqM9>ZIEXbIEHjIArIAzIE{9IE9IAIAqM@iM@uM@mM@:J MBJ 9JJ RJ LZJ ͵ x,[AGGGGGJHGKBG =GGG<GFJٸ@yJ$Ȳ@9JPS)>YJ^3>JH7??@ɉ? B>j? kο`ſ ?@?Jٸ@ɨJ; JRCVRLBZMHIX)X)^p= ^a=HbHbU^6jH= jV=Ynݭ;Q n>l٣p rGpr;; r>t]zY49vi?azY4Yv!8 ivwB|~8q~?v1Cv';v3;vY4 ^A2f)Zf)Bf)Jf):f)e1e1je9JeA:eE V?r\iz\i\i\m@i))隉iICDy6DDE0 EZAM#>IA )E C&x,ݜ[A :G@ L)fNfydfTBǫ@yֲ@9+>Yg3>H-?? ?>? 1?`ο/Iſ?@F?ǫ@ɨ; QC%qLB%sHMb@Mb@Mb@ )IyV-?I +?Mbm>9< ?A)AInAiٜAHH\6= :=Y;Q e>i٣i mGiu~; u>y]Y49}i?aY4Y}9 i}XBp>ma;q?}LC};};}Y4  AB*** querying acoustic contact ***ii2fZfBfJf:feejeJe:e`;@r\p>z\p>\=\@i))iICEa9D09DDE0 EZAM J>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.-x,*[AZIUbIEjIrIzI9I8IIBkܫ@yB@9B,>YBU4>BHJ?@$?? ?@ο@yſ?@?Bkܫ@ɨBzk; BRC~LB~HH H  Z6= Y=Yƀ;Q %>!٣! %G!-; 5>9]EY49=i?aEY4Y=: i=@BAE!qE?=aC=I;=$:=\Y4Q UAQ2fqZfqBfqJfy:fyeyeyjeJe:e @r\z\\\˶@i))隹iIBgABC&a9DhAzDgA:JuXKBJqJJqRJuMZJuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748467Dn;DDE0 EZAM>G]п>GYG]HG]KBGYGYGYG]3<G]VFH HHHş ="Hş =*HY4 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0001543x,Ј[A2@y2)@92->Y2d4>2HQ??)?`P?.οAſ? ?2@ɨ2R; 2QCBLBBHF0>iFp;HLHLV`= VR=YV$a;Q V>X٣X ZGX^; ^>`]fY49bi?afY4Yb< ib%Bdfqj?bwCb~:b:bY4l nʯAl2f|ZfBfJf:feeje Je :e @@r\z\\\ٶ@i))iICBc9D=DDE0 EZAM%>%BDAT read: Rx Time:18:59:46.9425 %TRx dataTimestamp_ set to:1736535587.491356-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253945~:x,d[A6d@y6@96.>Y6=2>6H@8Y?\?x^? ?οſ?>?6d@ɨ6.; 6SCRLBRHMb@Mb@Mb@ )IyNbX9? ףp= ?ktE>Q8= 0 nA)IAiAHH[6 < 9=Y ;Q >٣ Gdt; >]Z49Vi?aZ4Y< iBO>m;ZԾq?C::pZ4  A E2f1Zf1Bf1Jf1:f1e9e9je9Je9:e=f2 @r\]O>z\]O>\]ڐj>\]9ʻ@ii}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504796)i)隁iICe9D?DDE0 EZAME>ZI]VbI]CjIYrIYzI]9I]=8IYIY:J RIBJ #9JJ RJ NZJ J ? J ?- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756151*GM <"GM <Ax,A[AGGGHGLBGGGGv<GFR@@yR @9Rm/>YR/>RH|[?`?Е? J?ο`Kſ`??R@@ɨR~ ; RRC^LB^HHfXHfDP6r A= r[=Yv?:Q z>٣ GF: %>!]-Z49%i?a5Z4Y%= i%B15;Ծq5?%C%u;%ew;%Z4Y ]AYu4Docking module at standby.ZfBfJf:feejeJe:e U@r\z\\\(̻@i))))qqqiqyIyCD?B$?Cme9D ?D D E 0 E ZAMe3>DAT read: 18:59:46.9425 LVL= 26976, 30545, 12242, 32755, AGC= 62, IDX= 436, 0.20,-0.164,-0.499, 1.447, 0.506, PHS=-0.581,-0.958, 0.938, RAW= 199.2, 7.0, CAL= 200.1, -1.3, ROT= 309.9, 1.3 Ygot valid direction response: 18:59:46.9425 LVL= 26976, 30545, 12242, 32755, AGC= 62, IDX= 436, 0.20,-0.164,-0.499, 1.447, 0.506, PHS=-0.581,-0.958, 0.938, RAW= 199.2, 7.0, CAL= 200.1, -1.3, ROT= 309.9, 1.3 PDAT read: Bearing 309.9, 1.3 (Local) ~Local bearing/azimuth received: Bearing 309.9, 1.3 (Local) DAT read: Range 10 to 50 : 343.8 m (Round-trip 458.5 ms) speed 0.1 m/s ,DAT read: user:1009> BDAT read: Tx time:18:59:48.0298 $Ping request sent.مjم}?uم p?م/^@ څ5=)څ_@Iڅ޹iڅ@څ޹<ځ ہۅ _?/o2?l& +?Iۅ?iۅuۅU_ۅ޹<ہ ܁:publishing transmit ping time-Fpublishing direction and range info؁Y؅Fng?vBNGY;؁9؁؁ ف)فIفiففففف ځ)ځIځiځځځ ہۅ _?/o2?l& +?Iہiہہہہ ܁,Gx,e[A2@y2@92 ?0>Y2xV/>2H`a?@+? ?`~Z?`яοſ@|??2@ɨ2*; 0RLBRHIT)T}Mb@Mb@Mb@yy y)yIyy}Q?A`"?Dl}(>}Y=}O y)}ٜAI}nAi}ٜAy}AH_H Q6Q ?=Y:Q >٣ GAW; >]Z49i?aZ4Y4> iB?>m;q?C:R:v$Z4 AZj˕h?bja16 ii\[AjCjC2j@p_1'k@:TzpFǮ23zpFng?vBNGY;"jU_*j޹<p$gr_4tr`FfVp`#@/ob٭пijg6iih?irf  j½u8Undocking sequence complete.:;ee!je!Je%|u@:e%?r\E?>z\E?>\Eu!>\EͿ@iY)YYYiYaIaC5g9D?DDE0 EZAM&>ՑՕAZIe TbIa jIe 3rIa zIe {9Ia Ie (3Ia _cMx,p'8[A2@y2@92W.>Y21>2HST??_? %f?οſ6?``?2@ɨ2q; 2PC>LB>HHJEHJ)N6R< RZ=YVQ V>T٣T ZGXZ Z>\]bZ49^i?abZ4Y^> i^Bdfqf?^C^&:^T:^1Z4h jAhzB*** querying acoustic contact ***ixixwHTransitioning to midcourse guidance.;;e e je Je :e @H?r\)z\)\)\-m@i9)9iICj9" PauseDzDDDZAM=:JBoHBJJJRJOZJT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JhAIGϿ>GCG,HG7LBG =GGxDG]<GtF checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995063>Tx,)Q[A2E@y2@92O7->Y23>2H W?`R??$?pοſt??2E@ɨ2ȇ; 2SC^LBbHHjHjI6~ ~G=Y~ /Q >٣ G I:  >]Z49i?aZ4Y0? iB%q%?C~:2:?Z4) -A)jfM@;MuUCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:U uUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guidetUCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockeQeQjeYJeY:e]6?r\yz\y\y\}彿@i)隑iIBhABC)j9ZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247089iZx,k[A2@y2K@92f0,>Y25>2H[?-??` ?@οlſ@B? ?2@ɨ25; 2QCBLBBHF>iF>DDMMb@Mb@Mb@II I)IIIyMMbX9?~jt?KM!>M=M^ MA)IIMAiMAIM̮AHmHmX6}E< }B=Y}dQ }>٣ G,: >]Z49*i?aZ4Y? iTB>>m;#q?C;;NZ4 AE1< xAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq<xAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide= {Initialize.={Initialize.<1<=ff=f<yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1=zrTransitioning to terminal guidance at range 343.799988 m 1=q=yNavigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )<1> |:Initialize WaypointComponent.=|ZNavigating to waypoint: 36.903300,-122.119000eejeJe:e$?r\%>>z\%>>\%*q>\%@51HBɛ=C=)=]< =?i9)==9iEzC9AIMAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500030CMjl9ZAM= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751053:J BHBJ 9JJ RJ PZJ G G G QHG VLBG G G G <G F[Qax,[ABd@yB@9B%,>YB86>BH@3b??ʏ?e? wοƁſU?` ?Bd@ɨBv; BSCNLBNHHZHZa6z6 zS=Yz.:Q ~>|٣| Gkk; > ]Z49 i?aZ4Y :@ i )B.q? C  ; ;  \Z4! %A!|ZNavigating to waypoint: 36.903300,-122.119000ffnfIMֿ MֿIQCUn9ZAM=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003136I{3I{3I{ .IsIsIsZI= VbI= IjI= 4rI9 zI= 9I= 9I= 3I9 I= ):qM I= .:iM I= -9uU I= 29mU zgx,_[A61 @y6|@96->Y6:5>6H@f??{?`=D<` )AIAifAHH`6ko ?=Y:Q >٣ G; >]Z49i?aZ4Y@ iB J>m;q?C;;kZ4 AH ~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalH1A  Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqA  Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideB  Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlB  Initialize.1C  Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCInitialize.CCUAU1A]C]g]h7C]g]h71Ce eAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCeBeBebgajgeBm$Terminal guidance.Am1Dm mInitialize. mdInitializing internal variables to default values.mZTransitioning guidance mode to: UNINITIALIZEDiiDRollout timeout set to 300.00 sec.=VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCEi?1< xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq<xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide= {Uninitialize.=1> |>Uninitialize WaypointComponent.eejeJe:e2@r\ J>z\ J>\Tm=\ !@=LB=->)= =Pi9)=i:AE}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507557,mx,?[A2 @y2@92& ->Y2w5>2H@wh??А?j?ο`Ԇſ`Y>? ?2 @ɨ2|; 2PCBLBBHID)D)F= F=HJHJa6b^b fZ=YfpQ f>h٣h jGhjU: j>A]MZ49Ei?aMZ4YEA iEBQUqU?ECE:E2:ExZ4Y ]ޯAY}B*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 343.799988 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 i"i Added new target pos. range: 343.799988 m, bearing: 269.508022 deg, lat: 36.905269 deg, lon: -122.117881 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2iFNOT Ignoring new targets: 343.80 m.i"i ProNav pure pursuit: ac range: 343.799988 m, nav range: 264.382660 m, bearing: 306.957083 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 320.676507 deg, new cmd heading: 306.957083 deg. HeadingCmd: 5.357412 target range: 343.799988 and range: 343.80 m.ho@hhhhggbgjgeejeJe:e@r\ z\ \ \ e!@ɛ4+)k"2= xi!)%e:!%i%1C:i- -Z)-L?-(kpHeading = 0.800000I5;5(kiHeading = 0.0040005=>I5o@I=AC5p9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760074:JMRIBJMu9JJIRJMQZJMGGGGGGGG<GF^D9" ResumeZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011126tx,Ӊ[A2[ @y2@929R,>Y2+6>2Hi??{֏?E?οIpſO? ?2[ @ɨ2LJ; 2RCRLBRHHZHZX6b bK=YbQ f>d٣d fGdjbи j>p]vZ49rj?avZ4YrMB irBtvqv?rCr:rG:rIZ4| ~Aq2iFNOT Ignoring new targets: 343.80 m.iu"i ProNav pure pursuit: ac range: 343.799988 m, nav range: 264.331818 m, bearing: 306.951631 deg, approach rate: -0.125130 m/s, LOS rate: nan deg/s, cmd heading: 306.957089 deg, new cmd heading: 306.951631 deg. HeadingCmd: 5.357316 target range: 343.799988 and range: 343.80 m.h#o@hhhhggbgjgeejeJe:e@r\z\\\#@ LBɛ я)  i)C_:iڣ:iJzQm>I%#o@I!ZIebIDjIrIzI\:I8III;I;I9I9C%q9PExceeded connect timeout, disconnecting. eG};mA^D0< "Resuming)UUy;mAEBBDAT read: Rx Time:18:59:50.8916 TRx dataTimestamp_ set to:1736535591.524027checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265021VFE ;F AZA) ME >zx, [A~LBH-only read 2 of 4 data items for bottom velocity. Device response is::BS, -8, -125,A @ @ @  @ HyHS6 :=YQ >L?٣L? G F >]Z49j?aZ4Y C iHBi+:mY;q?/C;L>Z4 A2i%FNOT Ignoring new targets: 343.80 m.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515773i="i9M ProNav pure pursuit: ac range: 343.799988 m, nav range: 264.274841 m, bearing: 306.945521 deg, approach rate: -0.135081 m/s, LOS rate: nan deg/s, cmd heading: 306.951625 deg, new cmd heading: 306.945521 deg. UHeadingCmd: 5.357210 target range: 343.799988 and range: 343.80 m.hUDn@hQhQhQhYgYgYbgYjgaeaeajeaJei:em I @雑ɛ4) 'i)΋V:隙i;iF*o]E>IDn@IBBiACs9^D)=" Start "4Initializing EZServoServo. "8Initializing DockingStepper.VFuRe<F1ZAAM]T> DAT read: 18:59:50.8916 LVL= 25808, 30129, 12498, 31715, AGC= 66, IDX= 425, 0.10,-1.939,-2.347,-0.228,-1.341, PHS=-0.511,-0.959, 1.110, RAW= 198.1, 3.9, CAL= 198.3, -4.0, ROT= 311.7, 4.0  Ygot valid direction response: 18:59:50.8916 LVL= 25808, 30129, 12498, 31715, AGC= 66, IDX= 425, 0.10,-1.939,-2.347,-0.228,-1.341, PHS=-0.511,-0.959, 1.110, RAW= 198.1, 3.9, CAL= 198.3, -4.0, ROT= 311.7, 4.0 % PDAT read: Bearing 311.7, 4.0 (Local) % ~Local bearing/azimuth received: Bearing 311.7, 4.0 (Local) - DAT read: Range 10 to 50 : 343.2 m (Round-trip 457.6 ms) speed 0.0 m/s } ,DAT read: user:1010>  BDAT read: Tx time:18:59:51.9798  $Ping request sent. ?8A>?I !?i uW 5=  :publishing transmit ping time؁  Fpublishing direction and range info Y yiJ?8A>?I i *Gu <"Gu p<Gy Gy G} 8HG} ALBGy Gy Gy G} <G} DFH=C H=CH9H=ˠ ="H=ˠ =*H=4v4x,[ARh@yR@9ROn)>YR%4>RH}_?? ;?@ ~?`ο`ſH$?@?Rh@ɨR; RSCjyLBj}H=i;H!H!5~X 5U=Y=dQ =>9٣A EGAEϻ E>I]UZ49M j?aUZ4YMC iMBi} :ym}0;}q}?M=CMy;MT?M}Z4 AZj6l?bj ii[AjCjC2j@p xl@Uyo*7zpyiJZp9w*}?^pIue1ӿiTj1@ip&%l?iV  joWzjY7l?jrf jjjCrjI@IMJDAT read: TxSync time:18:59:51.9791 Cmu9C=C>ZI UbI VjI rI zI 9I B9I I I ]:I b:I X:I X:^D ·3=" StartingVFu g=  nManaging dock network, ignoring radio surface power offF ZA M >ˇx,ձ [AN=N<]fLB]fH      Mb@Mb@Mb@ )Iy:v?S㥫p= ףT>/] SA)3AISAibAAH =H FM60 <=Y%Q %>!٣) 5G= FM U>a]eZ49ej?amZ4YeUE ieBimT:m>mmS;mtZqu?eRCey;e`;e۪Z4y }6A2iFNOT Ignoring new targets: 343.20 m.iʹ"iʹ ProNav: ac range: 343.200012 m, nav range: 331.701324 m, bearing: 271.133415 deg, approach rate: -0.153151 m/s, LOS rate: -0.022177 deg/s, cmd heading: 271.321779 deg, new cmd heading: 271.294694 deg.  isHeadingCmd: 4.734986 target range: 343.200012 and range: 343.20 m.h@hhhhggbgjgeejeJe:e@6?LBɛd) i) =:i,[;i j \Lĸ 29>I @ICCCC C "StartingVF )=FY ZAi M >x,s:[A:@y:Rв@9:#>Y:D.>:H@X٣\ ^G^ FbҜ b>d]fZ49fj?ajZ4YfF ifBhj]qj?fcCf:f:f Z4p rLAvEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 343.20 m.i*"i*- ProNav: ac range: 343.200012 m, nav range: 331.650818 m, bearing: 271.126252 deg, approach rate: -0.144191 m/s, LOS rate: -0.020454 deg/s, cmd heading: 271.294704 deg, new cmd heading: 271.273210 deg.  i-`5HeadingCmd: 4.734611 target range: 343.200012 and range: 343.20 m.h5@h1h1h1h1g9g9bgAjgAeAeAjeAJeI:eM`!?}LBɛ}")y }(iy){W0:隁idAx;imA>I@IC1?BB?CUw9"]StartingT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode."BInit string: /1z16336aE13561N3m50:JJBJ9JJRJSZJG)G)G-,HG-7LBG)G)G)G-<G-9FVF2>FqZAM~>e Aa e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238775cޔx,kT[Ab1@yb|@9bݷ!>Yb)>bH5??T? Or?@b̿!Ŀ ?O+?b1@ɨb; `rPLBrKHIt)t)v= va=H-NH-(O6Exļ EA=YEQ E>I٣I MGIU׻ U>Y]eZ49]_j?aeZ4Y]I5=~@I9ZIbIFjIrIzII9IIIII.9I39Cw9"StartingVF@>F!ZA)MMR>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490652gx,>n[A6W@y6@96>Y6#>6H0-?|??$^?5̿@ÿI? 5?6W@ɨ6C; 4BULBBPHMb@Mb@Mb@ )IyZd;?{GzK7Ay>ף  ߻A)bAIAi\AH5~H5yT6E.< EJ=YMQ M>I٣I MGMF]즻 ]>]Z49j?aZ4Y>J iB>m9;*vq?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742395C<u<8Z4) -XA)2iq}FNOT Ignoring new targets: 343.20 m.i}M"iM ProNav: ac range: 343.200012 m, nav range: 331.512207 m, bearing: 271.108712 deg, approach rate: -0.179803 m/s, LOS rate: -0.020797 deg/s, cmd heading: 271.247384 deg, new cmd heading: 271.220572 deg.  i\dHeadingCmd: 4.733692 target range: 343.200012 and range: 343.20 m.hhz@hhhhggbgjgeejeJe:e- 6?雽LBɛh) ֱi):iV;i >Ihz@ICy9"StartingVF}f>F9ZAAMeU> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995093:J RIBJ 9JJ RJ TZJ J% ? J% !?G1 G5 ?AG1 G1 G5 HG5 #LBG1 G1 G1 G5 <G5 DFWx,[A=GLB=@HHMHMU6e eI=YeQ m>i٣q uGuF >]Z49_ j?aZ4YDL iBq?C?;-J;Z4 sA2iIMFNOT Ignoring new targets: 343.20 m.i]CϹ"i]CϹu ProNav: ac range: 343.200012 m, nav range: 331.434387 m, bearing: 271.099707 deg, approach rate: -0.195690 m/s, LOS rate: -0.022651 deg/s, cmd heading: 271.220583 deg, new cmd heading: 271.193560 deg.  iuxHeadingCmd: 4.733221 target range: 343.200012 and range: 343.20 m.hv@hhhhggbgjgeejeJe:e`uy@LBɛG) Ͻi)c}9i;i Iv@IC |9"%Starting-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246746VFUk>F) ZA9 MU >x,[A6@y6@965>Y6Y>6HB!?F?zw?n?@ʿ`ÿGB?I?6@ɨ6; 4Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498640FaLBF`HMb@Mb@Mb@ )Iy-?EԸV-5>ƽ =A)IAizAHHxU6yy= D=Y}IQ >٣ GSƻ >]Z49&j?aZ4YN ifB">m;-yq?CD;B;Z4 ?A2i!%FNOT Ignoring new targets: 343.20 m.i-"i ProNav: ac range: 343.200012 m, nav range: 331.333282 m, bearing: 271.088294 deg, approach rate: -0.252711 m/s, LOS rate: -0.028536 deg/s, cmd heading: 271.193563 deg, new cmd heading: 271.159313 deg.  iHeadingCmd: 4.732623 target range: 343.200012 and range: 343.20 m.hq@h h h h g g bgjgeejeJe:e@LBɛ%흻) i)"_9i<;i֛Iq@I!CS|9"Starting"LSent speed cmd:/1V10000 Response:/0@ E 0>E ,>VFx>zFhArFhAFZAM>-A-A5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750744ZI VbI EjI 3rI zI 9I 8I (3I q @i @u @m @@x,Cǻ[A:d@y:t@9:,>Y:8>:H@#???؇?Eʿÿ ?@IO?:d@ɨ:g; 8ZbLBZaHHf{Hf$T6n9 ; n[=Yr.hQ r>t٣t vGvFzB* z>|]Z49~Q+j?aZ4Y~RQ i~#B{zq?~C~b;~;~Z4?B 9AE-B*** querying acoustic contact ***i)i)2i9EFNOT Ignoring new targets: 343.20 m.iM"iM] ProNav: ac range: 343.200012 m, nav range: 331.240051 m, bearing: 271.077879 deg, approach rate: -0.249469 m/s, LOS rate: -0.027877 deg/s, cmd heading: 271.159302 deg, new cmd heading: 271.128048 deg.  i] eHeadingCmd: 4.732077 target range: 343.200012 and range: 343.20 m.he-m@hahihihigigibgqjgqeqeqjeqJe:e@T@]LBɛe嵻)a eTia)eV29iiim;imGqI-m@ICup~9"}Startingchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005199VFM>GGGHGLBGGGG<GF:J:IBJ9JJRJUZJF ZAM=.>e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258500(x,DՊ[AJf@yJ@9J >YJ] >JH@Q? Z??o?+ɿ%ÿ j?V?Jf@ɨJ; HVkLBVmHHbHb>W6j< jK=YjQ j>l٣l nGlr: r>t]z[49v0j?az[4YvS ivBxz}qz?vCv:v:v [4a e&AeE2iFNOT Ignoring new targets: 343.20 m.i"i ProNav: ac range: 343.200012 m, nav range: 331.138763 m, bearing: 271.066867 deg, approach rate: -0.241692 m/s, LOS rate: -0.026284 deg/s, cmd heading: 271.128047 deg, new cmd heading: 271.095003 deg.  iNHeadingCmd: 4.731500 target range: 343.200012 and range: 343.20 m.hsh@hhhhggbgjgeeje Je :e  @=LBɛ=U)9 =(iA)EvR9AAiES;iM:IIIMsh@IQCX9"&Changing to mode: 1"Standby mode.DDIDIDQEUa5 EYBDAT read: Rx Time:18:59:54.8412 TRx dataTimestamp_ set to:1736535595.559919checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512345VFi Fu *?Fu L?FA ZAQ Mm >^[x,b[A> Ī@y>kӱ@9>U>Y>3>>H?? ? =K?6ɿ@¿?`]?> Ī@ɨ>; >TCJrLBJuH%Mb@Mb@Mb@!! !)!I!y%RQ?1ZdB`"۹%>%"۽%ν %ʷA)%3AI%lAi!!%AH=H=[V6M< MB=YUTWQ U>Q٣Q ]G]F] ]>a]m[49e08j?am[4Ye`W ieBu>mu;uzqu?e)CeB;eA;e[4 A2iFNOT Ignoring new targets: 343.20 m.i%"i% ProNav: ac range: 343.200012 m, nav range: 331.007477 m, bearing: 271.052186 deg, approach rate: -0.323750 m/s, LOS rate: -0.036216 deg/s, cmd heading: 271.094989 deg, new cmd heading: 271.050930 deg.  iƺHeadingCmd: 4.730731 target range: 343.200012 and range: 343.20 m.h&b@hhhhggbgjgee checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762623jeaJea:ee $]@雵LBɛ!) ,i)>cU9隹il;igI&b@ICDYDYDaEeX5 EaE}hAE}hAZIUbIDjIrIzI9I8II DAT read: 18:59:54.8413 LVL= 32752, 32753, 18610, 32755, AGC= 67, IDX= 438, 0.15,-1.683,-2.085,-0.202,-1.148, PHS=-0.448,-0.890, 0.943, RAW= 196.6, 4.8, CAL= 196.9, -3.3, ROT= 313.1, 3.3  Ygot valid direction response: 18:59:54.8413 LVL= 32752, 32753, 18610, 32755, AGC= 67, IDX= 438, 0.15,-1.683,-2.085,-0.202,-1.148, PHS=-0.448,-0.890, 0.943, RAW= 196.6, 4.8, CAL= 196.9, -3.3, ROT= 313.1, 3.3  PDAT read: Bearing 313.1, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 313.1, 3.3 (Local) VF1 *G <"G <G G G HG #LBG G G G H<G cF- DAT read: Range 10 to 50 : 342.9 m (Round-trip 457.2 ms) speed 0.2 m/s 5 ,DAT read: user:1011> = BDAT read: Tx time:18:59:55.9299 = $Ping request sent.= Yؽ A_?=S`8.yع 9ع ع ٹ )ٹ Iٹ iٹ ٹ ٹ ٹ ٹ ڹ )ڹ Iڹ iڹ ڹ ڹ ۹ ۽ w?4?2#?I۹ i۹ ۹ ۹ ۹ ܹ :x,Z [ABz@yB @9B;>YB>BHwz?@?u? &:d%?@ȿ¿`?e?Bz@ɨBD; BRCEvLBEzHHeHe?V6< B=Y'Q >٣ GFc >]%[49?j?a%[4YZ iIB)-I}q-?QC::)[4Q ]AYZj3j?bj(.#Z ii[AjsCjC2j@p^'iox3zpA_?=S`8.y"jQ*jk=pR?^rt_cEUp8 p?lb(esϿijJ?iڶj?ie  jzjڶj?jjjjiCrj@ addTargetRange:: Added new target pos. range: 342.899994 m, deltaT: 4.036017 s, deltaX: -0.300018 m, approachRate: -0.074335 m/s, rangeRepo size: 3  Added new target pos. range: 342.899994 m, bearing: 270.244299 deg, lat: 36.903859 deg, lon: -122.119236 deg, deltaT: 4.036017 s, deltaX: -0.300018 m, approachRate: -0.074335 m/s, posRepo size: 3 2iFNOT Ignoring new targets: 342.90 m.i"i ProNav: ac range: 342.899994 m, nav range: 330.822876 m, bearing: 270.246416 deg, approach rate: 0.000000 m/s, LOS rate: -0.036216 deg/s, cmd heading: 271.050921 deg, new cmd heading: 271.002264 deg.  iHeadingCmd: 4.729882 target range: 342.899994 and range: 342.90 m.h1[@hhhhggbgjgeejeJe`fnu@:eq?雅LBɛS) i)X 9隩iT fx,$[A5LB5HMb@Mb@Mb@ )Iy)\(?|?5^~jtG>ҽ )AIAiAAH-IH-N6=A= =>=YEQ E>A٣I MGMFM M>Q]][49U}Hj?a][4YU^ iUBe>me:mlsqm?UCU>+;U(;Ut8[4q uAq2iFNOT Ignoring new targets: 342.90 m.iQ"iQ ProNav: ac range: 342.899994 m, nav range: 330.673004 m, bearing: 270.228048 deg, approach rate: -0.372575 m/s, LOS rate: -0.045683 deg/s, cmd heading: 271.002263 deg, new cmd heading: 270.947133 deg.  iHeadingCmd: 4.728920 target range: 342.899994 and range: 342.90 m.hOS@hhhhggbgjgeejeJe:e 7?=LBɛemZ)a eCia)ep8iiim zF rF ZIy bI} CjI} 4rIy zIy I} =8I} 3Iy F ZA M >x, =[A6>@y6˰@96p>Y6:=6H?@?4E?`{?"ȿ`s}¿@f?k?6>@ɨ6'S; 6UC>LBfHHrTHrO6v:= zc=YzzQ z>|٣| ~G|Y > ][49 Oj?a[4Y /b i Buyq? C : ^; E[4! %ůA!EB*** querying acoustic contact ***iAiA2iQUFNOT Ignoring new targets: 342.90 m.ie?"ie?u ProNav: ac range: 342.899994 m, nav range: 330.543823 m, bearing: 270.212976 deg, approach rate: -0.359216 m/s, LOS rate: -0.041928 deg/s, cmd heading: 270.947129 deg, new cmd heading: 270.901895 deg.  iu2}HeadingCmd: 4.728130 target range: 342.899994 and range: 342.90 m.h}L@hyhyhhggbgjgeejeJe:e@?雽LBɛ )  i)*8iTGG,HG7LBGGGG<GFH HHH"H*H,4DIDIDIEU.2 EQE]J>E]]>:JRIBJ۵9JJRJWZJVF5>F ZA M5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212419x,W[A6K@y6Z@96(,>Y6?=6H??t? `f? YǿRU¿Vh?t?6K@ɨ6]; 6QCBLBBHHJZHJ|P6R< RO=YVMQ V>X٣X ZGZF^ ^>`]f[49bWj?af[4Ybe ibBdjW}qj?bCb:b:bR[4l rArE2i  FNOT Ignoring new targets: 342.90 m.i;"i; ProNav: ac range: 342.899994 m, nav range: 330.400513 m, bearing: 270.196778 deg, approach rate: -0.362902 m/s, LOS rate: -0.041034 deg/s, cmd heading: 270.901886 deg, new cmd heading: 270.853273 deg.  iJHeadingCmd: 4.727282 target range: 342.899994 and range: 342.90 m.hE@hhhhggbgjgeejeJe:e?LBɛT)! %޼i!)%v]~8!!i%GF! ZA1 MM >x,q[A:٨@y:G@9:>Y:/`=:H ea??3?`g?}ƿ ``¿ һ?z?:٨@ɨ:@; :SCRLBRH5Mb@Mb@Mb@11 1)1I1y5Zd;?+ηi|?55>5v5q 5A)5ԜAI5ʷAi115AHMHMxV6]|B= e?=YeP:Q e>i٣i mGim m>y][49}aj?a[4Y}gj i}WBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7180335?m5:=8wq=?}C}<} <}a[4I MAq2iFNOT Ignoring new targets: 342.90 m.iH"iH ProNav: ac range: 342.899994 m, nav range: 330.231140 m, bearing: 270.176602 deg, approach rate: -0.368285 m/s, LOS rate: -0.043894 deg/s, cmd heading: 270.853283 deg, new cmd heading: 270.792722 deg.  iHeadingCmd: 4.726224 target range: 342.899994 and range: 342.90 m.h;=@hhhhggbg jg e e!je!Je!:e%?-LBɛ-\")1 50(i1)5V811i=!:J BHBJ 9JJ RJ XZJ F 8?F &?FQ ZAi M >x,ڋ[AZl@yZg{@9Za>YZ)=ZH?&??`?qƿ`j¿ q?~?Zl@ɨZ5; ZRCrLBvHHHT6-p< -J=Y-@:Q ->1٣1 5G5F= =>A]U[49Ejj?a][4YEn iEBimzqm?E:CE%;E?;Eo[4q }oAy2iFNOT Ignoring new targets: 342.90 m.ikd"ikd ProNav: ac range: 342.899994 m, nav range: 330.069336 m, bearing: 270.157880 deg, approach rate: -0.431270 m/s, LOS rate: -0.049925 deg/s, cmd heading: 270.792712 deg, new cmd heading: 270.736520 deg.  i HeadingCmd: 4.725244 target range: 342.899994 and range: 342.90 m.h25@hhhhggbgjgeejeJe:e u@雅LBɛ誃) ii)./T8隉i(FI ZAy M >5 ?5 =x,-[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.481461J&@yJq @9JK>YJ=JH`?q?f?A ?Tſ@j¿??J&@ɨJ; JQCbLBbHUMb@Mb@Mb@QQ Q)QIQyUMbX9?p= ףˡEU?UU' Q)QIUAiUbAQUAHmHmU6}|= }F=Y 8Q >٣ GF >][49 uj?a[4Ys iBF?m:koq?oC/:o:N~[4M>B M7AME2iFNOT Ignoring new targets: 342.90 m.iX_"iX_ ProNav: ac range: 342.899994 m, nav range: 329.903625 m, bearing: 270.136765 deg, approach rate: -0.382916 m/s, LOS rate: -0.048816 deg/s, cmd heading: 270.736514 deg, new cmd heading: 270.673137 deg.  iHeadingCmd: 4.724137 target range: 342.899994 and range: 342.90 m.h",@hhhhggbgjge)e)je)Je):e5@}LBɛ':) pFq ZA M >ZIM VbIM DjII rII zIM 9IM 8II II j"x,xz[ALBHH%H%U65= 5O=Y5Q =>9٣9 =G9E E>I][49M~j?a[4YM1w iMBq?MCMSx,C:ً[A: @y:d@9:->Y:d=:H`?W ?ട?r@? ?ſq¿@r? ?: @ɨ:; :TCFLBF HHNHNU6V VT=YZ:Q Z>X٣X ^G^F^` b>`]f[49bj?af[4Yb[{ ibBhjwqj?bCb>:bl:b[4l r!Ap2i FNOT Ignoring new targets: 342.90 m.ig"ig% ProNav: ac range: 342.899994 m, nav range: 329.586548 m, bearing: 270.097542 deg, approach rate: -0.422152 m/s, LOS rate: -0.050615 deg/s, cmd heading: 270.612368 deg, new cmd heading: 270.555409 deg.  i- -HeadingCmd: 4.722083 target range: 342.899994 and range: 342.90 m.h-M@h1h1h1h1g1g1bg9jg9e9eAjeAJeA:eE` @mLBɛmA:)q uE-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483241VF- >F ZA M- >>/x, 6g@y6@96?>Y6z=6H ?^?4? ?}Ŀbw¿??6g@ɨ6K; 6RCBMBB6HMb@Mb@Mb@ )Iy~jt?ktS㥛? 0/ݼ A)IAIʷAiAHUHUU6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736882= /=Y9Q >٣ GF >!]M[49%\j?aM[4Y% i%XBM>?mU:UoqU?%C%%;%;%j[4Y ]ڮAeE2iFNOT Ignoring new targets: 342.90 m.ii"ii  ProNav: ac range: 342.899994 m, nav range: 329.388428 m, bearing: 270.072317 deg, approach rate: -0.400844 m/s, LOS rate: -0.051067 deg/s, cmd heading: 270.555404 deg, new cmd heading: 270.479684 deg.  i / HeadingCmd: 4.720761 target range: 342.899994 and range: 342.90 m.hy@hhhhggbgjge!e!jeAJeY:ee @-LBɛ-  BDAT read: Tx time:18:59:59.8799  $Ping request sent. )5 U@I5 l$>i5 T@5 l$1 1 5 .}?`F?&?I5 '?i5 Ki5 u55 l$1 1  :publishing transmit ping time  Fpublishing direction and range info1 Y5 S?EFČsv?1 91 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 1 5 .}?`F?&?I1 i1 1 1 1 1 VF >:J BoHBJ JJ RJ ZZJ J ? J ?F ZA M >aKx,c [A]MBeDHHsHAS6 < P=YQ >٣  G    >][49j?a[4Y i/B!!q%?CC::̷[4y îAZjڌj?bj"*sj iiW[AjCjC2j<Ŗ@p un@JkLj?yJ@zpS?EFČsv?"ju5*jl$pE7ѿi*tlc%p k"'J @1F liji mj?i-F  jHBzj mj?jjjjCrj[Ŗ@u addTargetRange:: Added new target pos. range: 331.200012 m, deltaT: 4.036184 s, deltaX: -11.699982 m, approachRate: -2.898773 m/s, rangeRepo size: 4  Added new target pos. range: 331.200012 m, bearing: 269.953458 deg, lat: 36.903854 deg, lon: -122.119236 deg, deltaT: 4.036184 s, deltaX: -11.699982 m, approachRate: -2.898773 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 331.20 m.i"i ProNav: ac range: 331.200012 m, nav range: 329.230927 m, bearing: 269.954291 deg, approach rate: 0.000000 m/s, LOS rate: -0.051067 deg/s, cmd heading: 270.479671 deg, new cmd heading: 270.417677 deg.  iHeadingCmd: 4.719679 target range: 331.200012 and range: 331.20 m.h@hhhhggbgjgeejeJe]@3t@:ee@?LBɛS!;) }=i)e9i PF -?F #?F ZA M > x,([A6Gv@y6@96>Y6t=6H?@ ?@ۮ?@R?`܏Ŀc¿@.׳??6Gv@ɨ6; 6TC>MB>HHMMb@Mb@Mb@II I)IIIyM{Gz?Zd;O{GzM?MjMף MAA)MAIMlAiIIMGAHeTHeO6uc; uG=YuúQ u>y٣y }G}F >][49ej?a[4Y iB?m:oq?xCqF;E;[4 A2iFNOT Ignoring new targets: 331.20 m.i"i ProNav: ac range: 331.200012 m, nav range: 329.065735 m, bearing: 269.932983 deg, approach rate: -0.443825 m/s, LOS rate: -0.057278 deg/s, cmd heading: 270.417680 deg, new cmd heading: 270.353723 deg.  i=HeadingCmd: 4.718563 target range: 331.200012 and range: 331.20 m.hw@hhhhggbgjge e je Je:e`r?雽LBɛ^;) {=i)!9iVFq ZA M >%x,@B[A:@y:,@9:>Y:s}=:H y? `?`)?2W?`Ŀc¿{v? ?:@ɨ:n; :RCFMBFGHHNPHNaO6V1J VX=YZ7Q Z>\٣\ ^G^F^4 b>`]f[49bͱj?aj[4Yb0 ibBhjcsqj?bCb;b;b5[4p rArEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 331.20 m.ik"ik- ProNav: ac range: 331.200012 m, nav range: 328.909576 m, bearing: 269.913507 deg, approach rate: -0.412800 m/s, LOS rate: -0.051508 deg/s, cmd heading: 270.353723 deg, new cmd heading: 270.295268 deg.  i-e 5HeadingCmd: 4.717542 target range: 331.200012 and range: 331.20 m.h5@h9h9h9h9g9g9bgAjgAeAeAjeIJeI:eM?uLBɛuT=;)y }4g=iy)}䀟9yi7]G9G=HG=LBG9G9G9G=<G=9FIiCMn9DUa>DU>:JBJ9JJRJ[ZJD?DDE EVF!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238960F! ZA9 M x,\[AF \@yFWk@9F71>YF=FH?`?@U͘?SQ?@ɉĿU¿@m?@l? jGF \@HlHnR=I#I+3I+(.I#I#I#ZItbIvCjItrItzItIv=8ItItItIv,w:Iv09Iv59ɨF؇; FSC ))<^yLBMB;HHKHN6  7=Y ;|Q  > ٣ G # >]%[49j?a-[4Y iB)-wq-?C::[4==B =ήA=E2iaeFNOT Ignoring new targets: 331.20 m.imXf"imXf} ProNav: ac range: 331.200012 m, nav range: 328.722931 m, bearing: 269.891068 deg, approach rate: -0.418520 m/s, LOS rate: -0.050346 deg/s, cmd heading: 270.295256 deg, new cmd heading: 270.227899 deg.  i5 HeadingCmd: 4.716367 target range: 331.200012 and range: 331.20 m.hz@hhhhggbgjgeejeJe:e@?%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493410雥LBɛZB;) +=i)t9隩iwfkx,x[A6ۣ@y6d@96}>Y6=6H ?`6?r?ϛ{?4Ŀ ݄¿?དྷ?6ۣ@ɨ6ߣ; 6RCBMBBCH]Mb@Mb@Mb@YY Y)YIYy]}?5^I?{Gzt/$]M?]ף] Y)]AIYiYY]AHuaHuCQ6b< @=YP_;Q >٣ GF >][49j?a[4Y iBk?m:rq?CW;'W;[4 ®A2iFNOT Ignoring new targets: 331.20 m.ih"ih ProNav: ac range: 331.200012 m, nav range: 328.550354 m, bearing: 269.869402 deg, approach rate: -0.404921 m/s, LOS rate: -0.050862 deg/s, cmd heading: 270.227910 deg, new cmd heading: 270.162879 deg.  i  HeadingCmd: 4.715232 target range: 331.200012 and range: 331.20 m.h .@h h hhggbgjgeejeJe:e%?]LBɛ]`Lg;)Y ]2=iY)]9aaiedmGGHGLBGGGG/<GOFH HHH"H*Hƅj4VF] >:J BHBJ 9JJ RJ \ZJ +D[o}tnF1 ZAA M] >m$x,S[ABO@yB _@9B<>YBa=BH@-?R?p?`u@?qcĿ _¿`?`i?BO@ɨBA ; BNCJMBJAHHVnHVR6Z+ ZY=Y^;Q z>x٣x zGzF~5 ~>] [49?j?a [4YҚ ihBTwq?KC::[4! %ĮA%~E2iFNOT Ignoring new targets: 331.20 m.iB_"iB_ ProNav: ac range: 331.200012 m, nav range: 328.392975 m, bearing: 269.850332 deg, approach rate: -0.402525 m/s, LOS rate: -0.048797 deg/s, cmd heading: 270.162887 deg, new cmd heading: 270.105652 deg.  iHeadingCmd: 4.714233 target range: 331.200012 and range: 331.20 m.hږ@hhhhggbgjgeeje Je :e K@IMA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279552LBɛ;D;) =i))9it% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534035F ZA M >*x,m[A2T@y2é@92m>Y2Y=2H`f?`է?"?`d@ ?P4Ŀ¿@D?@ٕ?2T@ɨ2U; 2RCBMBB6HMb@Mb@Mb@ )Iy r?I٣Q UGQU; U>]\49j?a\4Y i;B?m:tq?C6H;R;5\4  ֮A 2i9=FNOT Ignoring new targets: 331.20 m.iEem"iEemM ProNav: ac range: 331.200012 m, nav range: 328.214539 m, bearing: 269.828258 deg, approach rate: -0.419206 m/s, LOS rate: -0.051887 deg/s, cmd heading: 270.105650 deg, new cmd heading: 270.039392 deg.  iUp]HeadingCmd: 4.713077 target range: 331.200012 and range: 331.20 m.h]і@hYhYhYhYgYgabgajgaeaeijeiJei:emd@雥LBɛE;) F5 '?F5 ?F ZA M- >g1x,Hƌ[A6V@y6%@96Ã>Y6x=6H@B+? ??Z`E?`$Ŀ@r¿Z?\?6V@ɨ6X\; 6PC>LBRHHZHZ\U6GdGdGf&HGfMBGdGdGdGf<Gf!Frgʽ rQ=Yv1;Q v>t٣t zGzFzI z>|]\49~j?a \4Y~ i~B  yq ?~C~d:~p:~G\4 %A5B*** querying acoustic contact ***i9i92iAMFNOT Ignoring new targets: 331.20 m.iMc"iMcm ProNav: ac range: 331.200012 m, nav range: 328.058533 m, bearing: 269.809718 deg, approach rate: -0.418212 m/s, LOS rate: -0.049725 deg/s, cmd heading: 270.039397 deg, new cmd heading: 269.983750 deg.  imuHeadingCmd: 4.712105 target range: 331.200012 and range: 331.20 m.huɖ@hqhqhyhygygybgjgeejeJe:ed@雵LBɛfchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.034847)Q.[= i)9i=;6441-+(''%$$"   Du?DyDyE}0 EVF w܃>} BDAT read: Rx Time:19:00:02.7386  TRx dataTimestamp_ set to:1736535603.408993 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291147F ZA M) ZI UbI @jI 3rI zI 9I [8I (3I I ]:I b:I cl9I ml97x,#[A:o@y:~@9:f>Y:͕l=:H ?T?c?@'?%Ŀ%ÿb9?S?:o@ɨ:s; :RCBLBFHHNHNxU6q H=Y B;Q  > ٣   G FcL >]%\49.j?a%\4Y3 i B!-5q-?C::)\41 5ZA12iamFNOT Ignoring new targets: 331.20 m.im&\"im&\ ProNav: ac range: 331.200012 m, nav range: 327.886169 m, bearing: 269.790103 deg, approach rate: -0.422596 m/s, LOS rate: -0.048117 deg/s, cmd heading: 269.983745 deg, new cmd heading: 269.924868 deg.  iHeadingCmd: 4.711078 target range: 331.200012 and range: 331.20 m.h&@hhhhggbgjgeejeJe:e` @MBɛO) @Qi)9i4F ZA M >=x,[A*DAT read: 19:00:02.7386 LVL= 32752, 30961, 16626, 32755, AGC= 71, IDX= 47, 0.43, 2.238, 1.219,-3.031, 2.397, PHS=-0.072,-1.131, 0.852, RAW= 177.7, 4.1, CAL= 177.8, -4.7, ROT= 332.2, 4.7 2Ygot valid direction response: 19:00:02.7386 LVL= 32752, 30961, 16626, 32755, AGC= 71, IDX= 47, 0.43, 2.238, 1.219,-3.031, 2.397, PHS=-0.072,-1.131, 0.852, RAW= 177.7, 4.1, CAL= 177.8, -4.7, ROT= 332.2, 4.7 6PDAT read: Bearing 332.2, 4.7 (Local) 6~Local bearing/azimuth received: Bearing 332.2, 4.7 (Local) :DAT read: Range 10 to 50 : 340.8 m (Round-trip 454.5 ms) speed 0.5 m/s >,DAT read: user:1013> BBDAT read: Tx time:19:00:03.8299 B$Ping request sent.B1٣9 ]GYe e>i]m\49mj?au\4Ym im Bu?mu:uL|qu?m2Cm]:m;m=\4 }A{E*G<"GGGG HGLBGGGG <G5FZjbq?bj5| iiE[AjfCjwC2j8@pefw9r@dsc@d;zptE6?<:ݿ"jJl*j=p]pZ3@_Gt~Nd$cTp*cv?(y/x@H οi&jAi]Lq?ig  jzjڶj?je jjjCrj@ addTargetRange:: Added new target pos. range: 340.799988 m, deltaT: 3.811421 s, deltaX: 9.599976 m, approachRate: 2.518739 m/s, rangeRepo size: 4 JDAT read: TxSync time:19:00:03.8291  Added new target pos. range: 340.799988 m, bearing: 273.457394 deg, lat: 36.903859 deg, lon: -122.119251 deg, deltaT: 3.811421 s, deltaX: 9.599976 m, approachRate: 2.518739 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 340.80 m.i"iE ProNav: ac range: 340.799988 m, nav range: 328.996155 m, bearing: 269.860889 deg, approach rate: 0.000000 m/s, LOS rate: -0.048117 deg/s, cmd heading: 269.924869 deg, new cmd heading: 269.836488 deg.  iAuHeadingCmd: 4.709535 target range: 340.799988 and range: 340.80 m.hu@hqhqhqhygygybgjgeejeJeLu@:en?= MBɛ= W)A E iA )m k9i i im κzFqrFqF9ZAAM]?CGx,w[AJL@yJ\@9J>YJ&[=JH@t?^??`i? PĿIcÿ? ?JL@ɨJ98; JPCVLBVHHbEHb)N6j] jO=Yj;Q n>l٣l nGnFr]/ r>t]\49vk?a \4Yv ivy Bq?vdCv;vs;vVK\4F ZA M >Y6Nx,V;[A2ە@y2&@924>Y20X=2H@N??@>?@ H`|$?uĿ@Άÿ?ה?2ە@ɨ2; 0>pLB>rHEMb@Mb@Mb@AA A)AIAyE#~j?Q?E?Eu٣ G F? >]\49 k?a\4Y i: B?m:=q?C:,:\\4 A2iFNOT Ignoring new targets: 340.80 m.iD"iD ProNav: ac range: 340.799988 m, nav range: 328.613068 m, bearing: 269.823536 deg, approach rate: -0.449957 m/s, LOS rate: -0.043028 deg/s, cmd heading: 269.785505 deg, new cmd heading: 269.724353 deg.  i<HeadingCmd: 4.707578 target range: 340.799988 and range: 340.80 m.h{@hhhhggbg jg eejeJe:e`k?ZI1bI5BjI54rI1zI1I58I53I1q=@i=@u=@m=@MBɛ&) &i)8 8iDwD>G-Ϳ>G)G-HG-LBG)G)G)G-<G->FDQDQDQEQ EQVF ?>:J rKBJ ж9JJ RJ _ZJ F ZA M >?Ux,bU[AbH۝@yb@9b>Yb\V=bH a?J?cn? ۗ?Ŀ5ÿǀ??bH۝@ɨbB; bSCzGLBz@HHHDϽ R=Y:Q >٣! %G%!F%o %>)]5\49-Xk?a5\4Y-W i- B9=)q=?-C-q ;-\ ;-i\4A MaAMyEeB*** querying acoustic contact ***iaia2iquFNOT Ignoring new targets: 340.80 m.i}n;"i}n; ProNav: ac range: 340.799988 m, nav range: 328.436737 m, bearing: 269.807564 deg, approach rate: -0.452022 m/s, LOS rate: -0.040966 deg/s, cmd heading: 269.724362 deg, new cmd heading: 269.676420 deg.  iHeadingCmd: 4.706741 target range: 340.799988 and range: 340.80 m.h@hhhhggbgjgeejeJe:e?MMBɛUm6v)q uTiq)}_yyi}gF ZA M >[x,W%r[A6.@y6 >@96| >Y6P=6H?.H?}?'?Ŀÿ@?`?6.@ɨ6?; 6RC>!LB>HMMb@Mb@Mb@II I)IIIyMm?:v?MbM?MT٣ G: >]\49k?a\4YD i B?m:oq?C::y\4 A2iFNOT Ignoring new targets: 340.80 m.i@="i@= ProNav: ac range: 340.799988 m, nav range: 328.212280 m, bearing: 269.788462 deg, approach rate: -0.485697 m/s, LOS rate: -0.041364 deg/s, cmd heading: 269.676414 deg, new cmd heading: 269.619067 deg.  iHeadingCmd: 4.705740 target range: 340.799988 and range: 340.80 m.hm@hhhhggbgjgee jeJe:e! ?=#MBɛ=\)=q= EiA)E|AAiEĞF ZA M >G G >AG G G HG ~LBG G G G <G 9F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256787bx,[An{@yn@9nc">YnG=nH@,?&??,W?-ſ 6Ŀ ??n{@ɨn; nTCvKBzH |~DAHH]6ν Q=Y;Q >٣ %G%"F%e %>)]=\49-$k?a=\4Y-T i- B9EBqE?-KC-:-:-o\4I MAI2iq}FNOT Ignoring new targets: 340.80 m.i}5"i}5 ProNav: ac range: 340.799988 m, nav range: 328.020477 m, bearing: 269.773019 deg, approach rate: -0.491140 m/s, LOS rate: -0.039566 deg/s, cmd heading: 269.619067 deg, new cmd heading: 269.572712 deg.  i;ٺHeadingCmd: 4.704931 target range: 340.799988 and range: 340.80 m.h̎@hhhhggbgjgeejeJe:e@*MBɛ^) fi)%>!!i%yFY ZAi M >Kix,ť[A6›@y6Ң@96i$>Y64==6H '/??@?`qb@? 5/ſ vĿV?@?6›@ɨ6; 6QC>KB>HB)>iB%=HJHJr]6R  VR=YVV;Q V>X٣X ZGXZm Z>`]b\49b+k?af\4Ybj ibH Bdf/qf?bCb2:b:b\4h jjAl2iFNOT Ignoring new targets: 340.80 m.i""i"m ProNav: ac range: 340.799988 m, nav range: 327.827759 m, bearing: 269.758408 deg, approach rate: -0.469468 m/s, LOS rate: -0.035612 deg/s, cmd heading: 269.572704 deg, new cmd heading: 269.528847 deg.  imúHeadingCmd: 4.704166 target range: 340.799988 and range: 340.80 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762786h@hhhhg!g)bgjgeejeJe:eH@2MBɛ )  i ) f;w  iqEx>Ձ Յ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012410VFY F9 ZAA Me >1ox,麿[AZI^TbI^BjI^3rI\zI^{9I^8I^(3I\%KB%^HMb@Mb@Mb@ )Iy`"?y&1|?l񲿙?`; A)I|AiGAHHp`6 7=YQ >٣ G#F >] \49*4k?a \4Y i B ?m:q?Cq ; ;\4;B ͱAxE2iAMFNOT Ignoring new targets: 340.80 m.iM:;"iU:;] ProNav: ac range: 340.799988 m, nav range: 327.591461 m, bearing: 269.741023 deg, approach rate: -0.555801 m/s, LOS rate: -0.040922 deg/s, cmd heading: 269.528854 deg, new cmd heading: 269.476661 deg.  iemHeadingCmd: 4.703255 target range: 340.799988 and range: 340.80 m.hm@hihihihigqgybgyjgyeejeJe:e x @-8MBɛ5n)1 5Ծi1)599i=ܭGqGuHGu#LBGqGqGqGuݳ<GuFH1 H1H1H1"H1*H53checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268663^De|^=:J BoIBJ K9JJ RJ aZJ  #$"  J I D ?D D E O5 E  BDAT read: Rx Time:19:00:06.6844  TRx dataTimestamp_ set to:1736535607.439015 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517076VFYFYZAaM?$wx,>[Aj;@yj\J@9j\'>Yju[/=jH W?V?5?k@y,?nſĿ4?Nj?j;@ɨj:; jSCraKBr$HHzHza6Ľ *=Y 7;Q  >٣ G$Fn̽ >]%\49F ZA M >}x,[A:vs@y:‚@9:i(>Y:+=:H?P??n H?`ˉſ`6Ŀ@2/?ߊ?:vs@ɨ:BS; :QCR'KBRHUDAT read: 19:00:06.6844 LVL= 25072, 26481, 13266, 32755, AGC= 69, IDX= 400, 0.04, 0.299,-0.745, 0.742, 0.086, PHS= 0.301,-0.785, 0.653, RAW= 163.6, -2.6, CAL= 166.1, -10.6, ROT= 343.9, 10.6 ]Ygot valid direction response: 19:00:06.6844 LVL= 25072, 26481, 13266, 32755, AGC= 69, IDX= 400, 0.04, 0.299,-0.745, 0.742, 0.086, PHS= 0.301,-0.785, 0.653, RAW= 163.6, -2.6, CAL= 166.1, -10.6, ROT= 343.9, 10.6 ePDAT read: Bearing 343.9, 10.6 (Local) m~Local bearing/azimuth received: Bearing 343.9, 10.6 (Local) uDAT read: Range 10 to 50 : 337.7 m (Round-trip 450.3 ms) speed 0.3 m/s },DAT read: user:1014> }BDAT read: Tx time:19:00:07.7799 $Ping request sent.%H%+'?%36@ %9)%9@I%q=i%@%q=>! !% (?anO ?feډI%B?i%_<=%ޏ%q=>! !:publishing transmit ping time؁Fpublishing direction and range info!Y%YUd8?qѿ =ηǿ!9!! !)!I!i!!!!! !)!I!i!!! !% (?anO ?feډI!Mb@Mb@Mb@ )Iy{Gz?~jt?#~j#?D<㥽 )AI AiAQAi!!!! !HHc65\ =,=Y=:Q =>A٣A EGE%FER E>q]}\49u Dk?a}\4Yu iuN B},%?m}:}q}?uUCua:u:u\4 AZI]bICjIrIzI]:I=8IIZj%IPm?bj%eVK i!i%U[Aj%٨Cj%C2j%[@p%̑ұs@XHDWdphOzp%YUd8?qѿ =ηǿ"j%ޏ*j%q=>p%˒=:@.AsԥUqH]p%/ِ? O?A2ֿi%Wj%ѱ@i%Om?i%Ky  j%zj%p&%l?j!j!jj%Crj%+@ addTargetRange:: Added new target pos. range: 337.700012 m, deltaT: 4.032227 s, deltaX: -3.099976 m, approachRate: -0.768800 m/s, rangeRepo size: 4 5 Added new target pos. range: 337.700012 m, bearing: 271.005261 deg, lat: 36.903909 deg, lon: -122.119251 deg, deltaT: 4.032227 s, deltaX: -3.099976 m, approachRate: -0.768800 m/s, posRepo size: 4 2i15FNOT Ignoring new targets: 337.70 m.i="i9 ProNav: ac range: 337.700012 m, nav range: 327.071991 m, bearing: 270.670709 deg, approach rate: 0.000000 m/s, LOS rate: -0.034391 deg/s, cmd heading: 269.427166 deg, new cmd heading: 269.373716 deg.  iHeadingCmd: 4.701458 target range: 337.700012 and range: 337.70 m.hYr@hhhhggbgjgeejeJe@3u@:e ڎ?JMBɛ ){= i)!99i=(ֺIMYr@II*G=<"G9GAGAGEHGEKBGAGAGAGEγ<GE FCe9CaCaCaCaJDAT read: TxSync time:19:00:07.7791 D D D E 0 E :J z1MBJ }9JJ RJ bZJ VF6>F!?F*?FZAM?~x,Xo[A)@ @UJB]HHmHm]6(ý =YQ >٣ G&F >]\49Lk?a\4Y i Bq?C::\4 A2iaeFNOT Ignoring new targets: 337.70 m.im:#"im:#} ProNav: ac range: 337.700012 m, nav range: 326.761230 m, bearing: 270.652845 deg, approach rate: -0.620048 m/s, LOS rate: -0.035676 deg/s, cmd heading: 269.373727 deg, new cmd heading: 269.320086 deg.  i}úHeadingCmd: 4.700522 target range: 337.700012 and range: 337.70 m.hj@hhhhggbgjgeejeJe:eG?SMBɛA') i) 58i=Ij@ICE9D?DDE0 EVFFZAM>ʥx,>9[A~JB~[HMb@Mb@Mb@ )IyQ?Mb?(\µ\/?< ʮA)IMAi/A«AHHb6 I=YQ >٣ G >]\49_Tk?a\4Y i B0?m:lq?C::\4:B qAvE2i!%FNOT Ignoring new targets: 337.70 m.i-~-"i-~-= ProNav: ac range: 337.700012 m, nav range: 326.505127 m, bearing: 270.637865 deg, approach rate: -0.647763 m/s, LOS rate: -0.037920 deg/s, cmd heading: 269.320096 deg, new cmd heading: 269.275119 deg.  iE1кEHeadingCmd: 4.699738 target range: 337.700012 and range: 337.70 m.hE@d@hIhIhIhIgIgIbgjgeejeJe:e?%[MBɛ%+E)) -'iI)U[QQiUI]@d@IaBiBmgACYGGGHG9KBGGGG<GFD?DDE0 Em p>m ?VF5 G>F ZA! M= >x,%U[A2o@y2+@92%>Y2"2=2H@?a? m?@Mſ3Ŀ`?@B?2o@ɨ2W; 0BJBB%H:JF>`JBJF@9JJDRJFcZJFHRHRQc6Z0ؽ ZL=Y^ Q ^>\٣\ bGb'Fb b>d]j\49foYk?aj\4Yf ifJ Blnëqn?f1Cf:fl:f\4p rdzAp2i FNOT Ignoring new targets: 337.70 m.i"i% ProNav: ac range: 337.700012 m, nav range: 326.246582 m, bearing: 270.627815 deg, approach rate: -0.648600 m/s, LOS rate: -0.025232 deg/s, cmd heading: 269.275126 deg, new cmd heading: 269.244953 deg.  i-5HeadingCmd: 4.699211 target range: 337.700012 and range: 337.70 m.h5_@h1h1h1h1g1g1bg9jg9e9eAjeAJeA:eE ?bMBɛ_) #4i)ʥ~i`I_@IC%9DDDE0 EEl>EN>VF/0>FiZIuWbIuDjIu4rIqzIu;9Iu8Iu3IqIu:qIu:iIu9uIu9mZAM`>'x,n[AZW@yZg@9ZK&>YZ/,=ZH`? /?D`m? ~[ſ|Ŀ`7Q?l?ZW@ɨZVR; ZRCpJBH)%a= !Mb@Mb@Mb@ )IyOn??+8?< A)Ii^AHMHhk6 :=YJ;Q >٣ G(Fy_ >]]49^k?a]4Yl i B9?m:vq?CH::*]4   A %B*** querying acoustic contact ***i!i!2i9=FNOT Ignoring new targets: 337.70 m.iEt"iEtU ProNav: ac range: 337.700012 m, nav range: 325.945251 m, bearing: 270.616818 deg, approach rate: -0.683508 m/s, LOS rate: -0.024966 deg/s, cmd heading: 269.244964 deg, new cmd heading: 269.211944 deg.  iU]HeadingCmd: 4.698635 target range: 337.700012 and range: 337.70 m.h]7[@hYhYhahagagibgijgieqeqjeqJeq:eu`;?=kMBɛ=Y)A E>iA)蕻隁iI7[@IC!9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^DS=Dy Dy Dy E} 0 Ey G G @AG Ͽ>G G vHG JBG G G G γ<G Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255853VF>F?F$?FyZAM?ǣx,'؏[Ab@yb:@9b9Y'>Ybܥ%=bH=? ˤ?폿@j7 Y? oYſXĿl?٣  G  N  >]]49rdk?a%]4YD i B!%q%?C::>]41 5aA12iYeFNOT Ignoring new targets: 337.70 m.ieFʹ"imFʹ} ProNav: ac range: 337.700012 m, nav range: 325.608948 m, bearing: 270.606047 deg, approach rate: -0.689439 m/s, LOS rate: -0.022105 deg/s, cmd heading: 269.211933 deg, new cmd heading: 269.179585 deg.  irHeadingCmd: 4.698070 target range: 337.700012 and range: 337.70 m.hV@hhhhggbgjgeejeJe:ea@tMBɛ&i)|W= Li)5[隉iحIV@IC-?B>CE9:JBoIBJ59JJRJdZJ^DE=DDDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508228VF%>FZAM>ZI= TbI= AjI9 rI9 zI= {9I= 8I9 I9 I= !w:I= +w:I= 9I= 9x,[A6c@y6˚@966'>Y6=6H`]|?x?}k@SK?@?ſĿ x??6c@ɨ6NN; 4BJBBHHJTHJ.l6R] RQ=YRQ R>T٣T VGV)FZ Z>X]b]49Z9hk?ab]4YZ[ iZE B`fqf?Z CZ^7;Z8;Z"]4h nAl2i%FNOT Ignoring new targets: 337.70 m.i-"i- ProNav: ac range: 337.700012 m, nav range: 325.339355 m, bearing: 270.598654 deg, approach rate: -0.683868 m/s, LOS rate: -0.018769 deg/s, cmd heading: 269.179586 deg, new cmd heading: 269.157389 deg.  iNchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7625935HeadingCmd: 4.697683 target range: 337.700012 and range: 337.70 m.h]kS@hYhahahagigbgjgeejeJe:ev@~MBɛ'y) vYi)ȻiF ZA M >2x, Ǝ[AJB H%0>i%<Gп>GGHGdJBGGGG<G!FMb@Mb@Mb@ )IyX9v?~jt?l񲿙=?= )I Ai/A(AH]H-m6ƭ $=YQ >٣ G*F   >]]49mk?a]4Y iB$??m:ѱq?} Cq;Y;5]4 ˴AxE2iY]FNOT Ignoring new targets: 337.70 m.ieRùBDAT read: Rx Time:19:00:10.6320 TRx dataTimestamp_ set to:1736535611.219408checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265089"ieRù ProNav: ac range: 337.700012 m, nav range: 324.970612 m, bearing: 270.587415 deg, approach rate: -0.699570 m/s, LOS rate: -0.021345 deg/s, cmd heading: 269.157401 deg, new cmd heading: 269.123648 deg.  ibjHeadingCmd: 4.697094 target range: 337.700012 and range: 337.70 m.hN@hhhhggbgjgeejeJe:e V @UMBɛUO)Q U^iY)]FYYi]9CgACgA^D}ا=DDDE_5 E:JBJ9JJRJeZJVF J!>F ZA M >9 = AE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516557 G ) oYy  HB-x,d[AB@yB&@9BE&>YBh$=BHӓ?%? ՜@~'? JĿ+ĿF? ?B@ɨBl; BRCNIBNVHHzaHzm6%'Ľ %Z=Y%LQ %>)٣) -G)5+ 5>9]E]49=pk?aE]4Y= i=BAE`qM?= C=W:=:=bA]4Q UAUuEH}4=H}=ZIbIEjIrIzII8IIIIIٽ9I޽92iFNOT Ignoring new targets: 337.70 m.ia"ia ProNav: ac range: 337.700012 m, nav range: 324.716766 m, bearing: 270.582008 deg, approach rate: -0.714536 m/s, LOS rate: -0.015232 deg/s, cmd heading: 269.123660 deg, new cmd heading: 269.107426 deg.  iB'HeadingCmd: 4.696811 target range: 337.700012 and range: 337.70 m.hFL@h h h h g g bgjgeejeJe:e%_ @雍MBɛJ) ii)[隑i5F ?F ?DAT read: 19:00:10.6320 LVL= 21104, 25617, 16498, 32755, AGC= 67, IDX= 422,-0.36, 1.599,-0.132, 1.647, 1.032, PHS= 0.656,-1.117, 0.613, RAW= 148.8, -1.8, CAL= 152.7, -10.6, ROT= 357.3, 10.6 Ygot valid direction response: 19:00:10.6320 LVL= 21104, 25617, 16498, 32755, AGC= 67, IDX= 422,-0.36, 1.599,-0.132, 1.647, 1.032, PHS= 0.656,-1.117, 0.613, RAW= 148.8, -1.8, CAL= 152.7, -10.6, ROT= 357.3, 10.6 PDAT read: Bearing 357.3, 10.6 (Local) ~Local bearing/azimuth received: Bearing 357.3, 10.6 (Local) DAT read: Range 10 to 50 : 335.8 m (Round-trip 447.8 ms) speed 0.8 m/s ,DAT read: user:1015> BDAT read: Tx time:19:00:11.7300 $Ping request sent.2x,[A=`direction in FSK: [0.981844,-0.046303,-0.183951]E:publishing transmit ping timeIEFpublishing direction and range infoYmmDk?'9 =ηǿC9pR d)r@IiC'??6&@ )J*@IiЍ@ J`?FuN?(ėeIg?i6YE=H? ?@o` ?_dĿ x@Ŀ`a?@g?騭d@ɨ; QCIBIH )Ii J`?FuN?(ėeIi Mb@Mb@Mb@ )Iy)\(?:v?p= ףGA?T= )AAIiAHuqHueo6D =YkQ >٣ G+Fդ >] ]49ktk?a ]4Y* i.BsB?m:q?,!C:4:U]4 *AZj~8j?bj@ iif[AjCjC2j#j@p@t@Ep5/NzpmmDk?'9 =ηǿ"jQA*jp-Z(MV~YsNt\p'ʭt1տijBqim6j?ij  jo}zjڶj?jjjj$Crj8@*G<"GGGG|HGJBGGGG<G0FH HHH"H*HĐ4- addTargetRange:: Added new target pos. range: 335.799988 m, deltaT: 4.032279 s, deltaX: -1.900024 m, approachRate: -0.471204 m/s, rangeRepo size: 4 e Added new target pos. range: 335.799988 m, bearing: 269.316302 deg, lat: 36.903859 deg, lon: -122.119251 deg, deltaT: 4.032279 s, deltaX: -1.900024 m, approachRate: -0.471204 m/s, posRepo size: 4 2iimFNOT Ignoring new targets: 335.80 m.i"i ProNav: ac range: 335.799988 m, nav range: 324.281372 m, bearing: 269.603633 deg, approach rate: 0.000000 m/s, LOS rate: -0.015232 deg/s, cmd heading: 269.107432 deg, new cmd heading: 269.080492 deg.  iHeadingCmd: 4.696341 target range: 335.799988 and range: 335.80 m.hlH@hhhhggbgjgeejeJe%t@:e%_?MBɛ*z) oi)=7inVFU ? >F ZA! M= >x,|[A:JBJ}9JJRJfZJF;@yF@9Fi>YFaZ=FH Ɨr?@? 몿۝Amÿ@ɾÿ5?q?F;@ɨF; DRIBRHHZ<HZi6bT b=YfSQ f?d٣d fGf,FjӘ j?p]v]49ruk?av]4Yr0 irBtvݾqv?re!Cr:r:r)`]4~9B ~mA~vEB*** querying acoustic contact ***ii2i!-FNOT Ignoring new targets: 335.80 m.i-^"i-^= ProNav: ac range: 335.799988 m, nav range: 324.061188 m, bearing: 269.600253 deg, approach rate: -0.792007 m/s, LOS rate: -0.012169 deg/s, cmd heading: 269.080493 deg, new cmd heading: 269.070344 deg.  iEEHeadingCmd: 4.696164 target range: 335.799988 and range: 335.80 m.hEF@hIhIhIhIgIgIbgQjgQeQeQjeYJeY:e]N?雅MBɛ˽)4= yi)隉i= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744889=x,X3[A><@y>[K@9>q>Y>pq=>H@ď?R ÿz;ÿ ǭ??><@ɨ>; >PCbIBbHeMb@Mb@Mb@aa a)aIaye'1Z?p= ף?eB?e=eL e=A)epAIeAieМAae\AH}3H}h62 >=YQ >٣ G@A >]]49wk?a]4Y79 iBC?m:tq?!C`;(;(o]4 pA2iFNOT Ignoring new targets: 335.80 m.iF"iF ProNav: ac range: 335.799988 m, nav range: 323.741089 m, bearing: 269.595593 deg, approach rate: -0.744934 m/s, LOS rate: -0.010855 deg/s, cmd heading: 269.070357 deg, new cmd heading: 269.056364 deg.  i d HeadingCmd: 4.695920 target range: 335.799988 and range: 335.80 m.hD@hhhhggbgjge!e!je!Je!:e%? MBɛ!) |i)+%id@=i+˿%Bd;%z:I%D@I!C-0?B-'?C9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995070DDDE_5 EVF\Ȓ=zFrFFiZAyM>G G CG 1HG IBG G G G ³<G Fk%x,+2M[ABj@yB@9B>YB{=BHa?Tڣ| G¿`V¿ݰ?Ɩ?Bj@ɨBsϋ; BQCJIBJHHV@HVi6^1 bX=YbMNQ b>d٣d fGf-Ff~O j>hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246978]v]49jEyk?av]4Yj@ ijuBtzqz?j"Cjd;je;jY|]4| ~A2i)-FNOT Ignoring new targets: 335.80 m.i5y"i5yE ProNav: ac range: 335.799988 m, nav range: 323.458801 m, bearing: 269.592418 deg, approach rate: -0.745099 m/s, LOS rate: -0.008386 deg/s, cmd heading: 269.056369 deg, new cmd heading: 269.046838 deg.  iE+MHeadingCmd: 4.695753 target range: 335.799988 and range: 335.80 m.hMC@hIhIhIhQgQgQbgQjgYeYeYjeaJea:eeWk?-MBɛ5B)q uiq)}1yyi}l=i0˿nb;^IC@ICÞ9DD!D!D!E%P5 E!E1E5eA:JyBJ}+9JJyRJ}gZJ}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499886VFM mԍ=F! ZA1 MU >H C=H a=Rx,Lg[A)&@ $^`A@y^P@9^F>Y^Ag=^H_s`?`'`@¿`5??^`A@ɨ^Pq; ^RCjIBnHHvvHvo6~I ~F=Y1Q >٣  G .F   >a]m]49e{zk?am]4YeI ie3BquCÿq}?eQ"Ce7;ek8;e#]4 A2iFNOT Ignoring new targets: 335.80 m.i5"i5 ProNav: ac range: 335.799988 m, nav range: 323.141876 m, bearing: 269.589467 deg, approach rate: -0.751643 m/s, LOS rate: -0.007005 deg/s, cmd heading: 269.046834 deg, new cmd heading: 269.037973 deg.  iٙHeadingCmd: 4.695599 target range: 335.799988 and range: 335.80 m.hXB@hhhhggbgjgeejeJe:e )?MBɛ8) di)%5u?!!i%v=i- 6˿-c_;-夰I-XB@I1Cm/9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755229^D-=D D D E 0 E VF 0P=F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002841(Hx,.[A6%@y6q@96>Y6=6H`v\@0?P@X; +?@?6%@ɨ6֊; 6QCBIBBHMb@Mb@Mb@ )IyMb?~jt?:v@?=Լ A)AIAitAAH-mH-n6Ef< EE=YEQ E>I٣I MGIU\ U>Y]e]49]{k?ae]4Y]P i]BeA?me:m¿qm?]"C]:],:]T]4u8B uAZIUbIEjIrIzI9I8IIq@i@u@m@wE2iYeFNOT Ignoring new targets: 335.80 m.ieW"ieW ProNav: ac range: 335.799988 m, nav range: 322.839417 m, bearing: 269.586472 deg, approach rate: -0.703715 m/s, LOS rate: -0.006976 deg/s, cmd heading: 269.037982 deg, new cmd heading: 269.028987 deg.  i4HeadingCmd: 4.695442 target range: 335.799988 and range: 335.80 m.hA@hhhhggbgjgeejeJe:e`4@%MBɛ%})! %i!)-N隉iO =i0;˿Z;ȹIA@IGGGӿ>GGHGIBG =GGyDG<GFCҟ9^D=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255578DDDE2 EVFR<F?F7?FZAM > qx,[A:J"BoIBJ"9JJ RJ"hZJ">ש@y>#@9># >Y>ҧ=>Hm? OQ]FĴ?f?>ש@ɨ>R/; >RCFIBJHHR]HR-m6Zxh ZT=YZ_Q Z>\٣\  G /FͶ >]%]49|k?a%]4YX iB!%ÿq-?"C:):$]41 5A1MB*** querying acoustic contact ***iQiQ2iYeFNOT Ignoring new targets: 335.80 m.ie"ieu ProNav: ac range: 335.799988 m, nav range: 322.544586 m, bearing: 269.584011 deg, approach rate: -0.794353 m/s, LOS rate: -0.006636 deg/s, cmd heading: 269.028994 deg, new cmd heading: 269.021605 deg.  i}}HeadingCmd: 4.695313 target range: 335.799988 and range: 335.80 m.h@@hhhhggbgjgeejeJe:e@@雽MBɛ/) LJi)5[i =ig?˿lV;GpI@@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508225C9^D$ӿ=DDDE0 EE>E= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760105VF SF ZA M >^x,M[A6~@y6@96h>Y6a:=6H`Ʊ ?@๩`3ݾA?`?6~@ɨ6É; 6QCfIBfH]Mb@Mb@Mb@YY Y)YIYy]1Zd?㥛 ?MbP?]";?]=]: ]A)]ΥAI]Ai]EAY]AHuSHul6b )=YV_Q >٣ G0F7 >]-]49}k?a-]4Ya iB5G G HG IBG =G G G ڳ<G FD= ?D9 D9 EE 0 EA VF5 nμF ZA M= >u BDAT read: Rx Time:19:00:14.5776 u TRx dataTimestamp_ set to:1736535615.251130} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263861>x, я[A2*f@y2vu@92t=Y2V=2H?1L5` ȼ ڏ>?@?2*f@ɨ2*; 2RC>nIBBHHJNHJk6vs vW=YvRQ z>|٣| ~G| %>)]-]49-3~k?a5]4Y-@hhhhggbgjg!e!e!je!Je!:e-v @uMBɛ=Ľ) gi),z隙i=i5F˿I;+IM>@IC$9DE?DADAEE`5 EA:JeV$KBJe9JJaRJeiZJeVF%jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515472FZA M5q>lx,k[AbNb@ybq@9bo=Yb=bH@z?pgN3YC'K?@?bNb@ɨb; bSCntIBrHr=ir ٣ G1F蘺 >]%]49~k?a-]4Yq igB)-ſq-?#C6: :;]4 AyEDAT read: 19:00:14.5776 LVL= 22080, 26769, 24658, 32755, AGC= 68, IDX= 392, 0.20,-2.472, 1.980,-2.705, 3.018, PHS= 0.882,-0.990, 0.557, RAW= 140.7, -5.2, CAL= 146.3, -14.7, ROT= 3.7, 14.7 Ygot valid direction response: 19:00:14.5776 LVL= 22080, 26769, 24658, 32755, AGC= 68, IDX= 392, 0.20,-2.472, 1.980,-2.705, 3.018, PHS= 0.882,-0.990, 0.557, RAW= 140.7, -5.2, CAL= 146.3, -14.7, ROT= 3.7, 14.7 2i FNOT Ignoring new targets: 335.80 m.-PDAT read: Bearing 3.7, 14.7 (Local) 5~Local bearing/azimuth received: Bearing 3.7, 14.7 (Local) iM"iM}DAT read: Range 10 to 50 : 332.5 m (Round-trip 443.4 ms) speed 0.9 m/s ,DAT read: user:1016> BDAT read: Tx time:19:00:15.6800 $Ping request sent.1 15ݭ?wy?ҟ5[I5ۈ>i5C!=5 A=5G\>1 1:publishing transmit ping timeeje9Je=t@:eE螹?؉Fpublishing direction and range info1Y5+RW?wk?N=п1911 1)1雽MBɛܡ)Ŭ= ki)5(iu=iOx, [A6l@y6{@96=Y6 =6H@d@^? N`Թ !?,?6l@ɨ6; 4>hIB>H*G`"Gb<Mb@Mb@Mb@ )Iykt?V-?I +? 0?m=9< )AIMAiA3AHHb6Gڿ>GCGHGzIBG =GGG<GF l #=YۛQ >٣ G2F.#; %>!]5]49%k?a5]4Y%!z i%RB50?m5:5ȿq5?%/$C%;%;%]49 EAAZjms m?bjmdbr iiimsI[Ajm@CjmWC2jmI}@pm u#t@>14@ Uzpm+RW?wk?N=п"jm A=*jmG\>pmFr@.:sqq\pmbՔ?^dpyտim-jm{@imj*m?imqW  jm}zjmOm?jmj jmo}jjmwCrjm-K@= addTargetRange:: Added new target pos. range: 332.500000 m, deltaT: 3.779460 s, deltaX: -3.299988 m, approachRate: -0.873137 m/s, rangeRepo size: 4 m Added new target pos. range: 332.500000 m, bearing: 271.240725 deg, lat: 36.903924 deg, lon: -122.119157 deg, deltaT: 3.779460 s, deltaX: -3.299988 m, approachRate: -0.873137 m/s, posRepo size: 4 2iiuFNOT Ignoring new targets: 332.50 m.iu"iq ProNav: ac range: 332.500000 m, nav range: 312.929810 m, bearing: 270.890241 deg, approach rate: 0.000000 m/s, LOS rate: -0.004167 deg/s, cmd heading: 269.004432 deg, new cmd heading: 268.998163 deg.  iHeadingCmd: 4.694904 target range: 332.500000 and range: 332.50 m.h<@hhhhggbgjge e je Je :e N?雽NBɛĽ) 5i)i,=iL˿<;3'I<@ICS9DDDE EVF,&Fa ZAq M >I ) :J k3IBJ h9JJ RJ jZJ  E EG] SkA q ) 3Ry SkA :ABEtx,u#[AebIBeHHH[6 R=YQ >٣ G% %>)]5]49-Gk?aU]4Y-t i-@BYYq]?-v$C-;-;-]4a eAaB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 332.50 m.i7"i7 ProNav: ac range: 332.500000 m, nav range: 312.651764 m, bearing: 270.890612 deg, approach rate: -0.720221 m/s, LOS rate: 0.000963 deg/s, cmd heading: 268.998176 deg, new cmd heading: 268.999291 deg.  i&)8HeadingCmd: 4.694923 target range: 332.500000 and range: 332.50 m.h<@hhhhg!g!bgQjgYeaejeJe:eOW?5 NBɛ5zɽ)1 5vi1)=r隁i=i*L˿6;8(I<@IBBhAe=ep=eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.Cw9D1D9D9EE0 EAVF F ZA M >s x,@[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.183394R@yRE@9RT=YR"=RHsʹ?Y⽿z壳-%U~?@?R@ɨRS; RRC^LIB^HI`)`)b= `Mb@Mb@Mb@ )IyE?+?S㥛?&?=/< A)AI׻Ai&AAHHV6: 0=YDQ >٣ G3F N < >]%^49~k?a%^4Y9 i7B-'?m-:-ʿq-?$C;;^41 5GA12iYeFNOT Ignoring new targets: 332.50 m.ie 8"ie 8u ProNav: ac range: 332.500000 m, nav range: 312.357056 m, bearing: 270.892187 deg, approach rate: -0.664071 m/s, LOS rate: 0.003553 deg/s, cmd heading: 268.999296 deg, new cmd heading: 269.004026 deg.  iu9}HeadingCmd: 4.695006 target range: 332.500000 and range: 332.50 m.h}}=@ZIUbIBjIrIzI9I8IIhyhhhggbgjg e e je Je:e?雅NBɛbԽ) i)(֞隉ijE=iuI˿0;I}=@ICt9Gmۿ>GiGiGiGiGiGiGmͳ<GmFHC HCHHş ="Hş =*HC;5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438802^D=D1 D1 D9 E= 0 E9 VF]&:JBoHBJ59JJRJkZJJ%fAI%fAF1ZAAM]?x,`[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.686866>dڍ@y>@9>Kl=Y>] >>H ? %@'`Ж@k? ?>dڍ@ɨ>#; >PCF2IBJvHHRHRW6kW ,=Y%y4Q %>!٣) -G-4F-< 5>1]=^495~k?aE^4Y5b i54BAEɿqE?5%C5:5:5@^4M7B UxAUzE2iFNOT Ignoring new targets: 332.50 m.i68"i68 ProNav: ac range: 332.500000 m, nav range: 312.047333 m, bearing: 270.893371 deg, approach rate: -0.649992 m/s, LOS rate: 0.002487 deg/s, cmd heading: 269.004022 deg, new cmd heading: 269.007578 deg.  i8HeadingCmd: 4.695068 target range: 332.500000 and range: 332.50 m.h=@hhhhggbgjgeejeJe:e@Y#?=%NBɛ=ebν)9 =SiA)EGAAim1=impG˿u;[+;uIu=@IqC]9^D==DDDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.938846VF F ZA M- >x,0z[Ar"IBrbHMb@Mb@Mb@ )Iyjt?Q?٣ G5F >]^49t~k?a^4Ya i.B!?m: ˿q?T%C?;=;"^4 A2i%FNOT Ignoring new targets: 332.50 m.i%8"i%85 ProNav: ac range: 332.500000 m, nav range: 311.781952 m, bearing: 270.894886 deg, approach rate: -0.629863 m/s, LOS rate: 0.003597 deg/s, cmd heading: 269.007574 deg, new cmd heading: 269.012121 deg.  i=9=HeadingCmd: 4.695147 target range: 332.500000 and range: 332.50 m.hE>@hAhAhAhAgAgAbgIjgIeIeIjeQJeQ:eU@雅1NBɛ"޽) ԡi)ϰ隉i !=iD˿C';gI>@IC'?B>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191734C9CCCCG1G5?ADDDE5 EGm ݿ>Gi Gm HGm pIBGi Gi Gm zDGm <Gm FVF ЋzF rF Fa ZAq M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443164$x,\[AJD@yJS@9JY=YJk>JH y?|ÿI3e⟿`ʽV?͛?JD@ɨJ; JQCRHBR/HHZdHZQ6foڽ f[=YjSQ j>h٣l nGln= r>p]v^49re~k?az^4Yr ir-Bxztɿqz?r%Cr:r:r/^4| A2i)-FNOT Ignoring new targets: 332.50 m.i58"i58M ProNav: ac range: 332.500000 m, nav range: 311.546814 m, bearing: 270.895692 deg, approach rate: -0.630992 m/s, LOS rate: 0.002165 deg/s, cmd heading: 269.012109 deg, new cmd heading: 269.014530 deg.  iM78UHeadingCmd: 4.695189 target range: 332.500000 and range: 332.50 m.hU>@hQhQhQhYgYgYbgajgaeaeajeiJei:em}@雕;NBɛW) Bi)ظ隙i#=irC˿ju$;%YI>@IC9DzDDDDE0 EEEhA:JKBJ9JJRJlZJechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.694818VFGH@AHZIbIAjIrIzII8III^:q Ic:i I9u I9m F ZA M >+x,]7[A2t@y2B@92}2Hv I?`0ÿ`~n?`ݚ?2t@ɨ2'; 0bHBbHHjVHj P6r rI=YvżQ v>t٣x zGz6Fzm< z>|]^49~t~k?a ^4Y~Q i~/B  ȿq ?~%C~:~:~L=^4 A=B*** querying acoustic contact ***i9i92iIMFNOT Ignoring new targets: 332.50 m.iU7"iU7e ProNav: ac range: 332.500000 m, nav range: 311.290802 m, bearing: 270.896298 deg, approach rate: -0.627251 m/s, LOS rate: 0.001486 deg/s, cmd heading: 269.014541 deg, new cmd heading: 269.016360 deg.  ie8mHeadingCmd: 4.695221 target range: 332.500000 and range: 332.50 m.hmA?@hihihihigqgqbgqjgqeyeyjeyJe:e` "@雵GNBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.946910ɛX)ʚ= pi)i%=ieB˿""; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2023091x,Ȑ[A2 @y2W@9242H@"`?ÿ@`ܢGQF? ?2 @ɨ2c; 2RCNHBRH]Mb@Mb@Mb@YY Y)YIYy]Zd;O?y&1?Mb`]j?]`<] ]1A)]AI]Ai]ߩAY]AH}8H}L6Y @=YQ >٣ G7FiW< >]^49~k?a^4Y9 i+B?m:ǿq?&C;p;GL^4 4A 2iAMFNOT Ignoring new targets: 332.50 m.iU7"i]7u ProNav: ac range: 332.500000 m, nav range: 311.028687 m, bearing: 270.896502 deg, approach rate: -0.601009 m/s, LOS rate: 0.000467 deg/s, cmd heading: 269.016371 deg, new cmd heading: 269.016983 deg.  i}-7HeadingCmd: 4.695232 target range: 332.500000 and range: 332.50 m.hW?@hhhhgG>GCGHGQIBGGGG<G,Fgbg1jg1e1e1je9Je9:e=` @雍UNBɛ" ) i)3̼隙ie'=iB˿K;.BDAT read: Rx Time:19:00:18.5250 TRx dataTimestamp_ set to:1736535619.283371checking for new query: numPingsReceived=0, elapsed TxPingTime=3.452049IW?@IBgABiACը9DDDE0 EE=E=VF F ?F )? checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703137:J /KBJ 9JJ RJ mZJ F ZA M >x8x,[AZmǎ@yZ֕@9ZHLZH⣞`Z?ÿԷ`Vrwɂ%?@?Zmǎ@ɨZQ; ZPCbHBfHHn>HnbM6vz vI=Yve¼Q v>|٣| G.2< >9]e^49= k?am^4Y=߲ i=*By ǿq?=V&C=:<=S<=Z^4ZIVbIEjI5rIzI9I8I4II*:I/:Iڽ9I߽9U6B ]iA]|E2iFNOT Ignoring new targets: 332.50 m.i%ϴ"i%ϴU ProNav: ac range: 332.500000 m, nav range: 310.776337 m, bearing: 270.896491 deg, approach rate: -0.552839 m/s, LOS rate: -0.000022 deg/s, cmd heading: 269.016973 deg, new cmd heading: 269.016942 deg.  iUky]HeadingCmd: 4.695231 target range: 332.500000 and range: 332.50 m.h]V?@hYhYhYhYgagabgjgeejeJe:e6d@ bNBɛ H) *i)ŗּi)=iB˿Ec;EPIEV?@IACE9D?DDE E=<UDAT read: 19:00:18.5250 LVL= 21840, 29681, 23010, 32755, AGC= 70, IDX= 415,-0.06, 0.245,-1.176, 0.174,-0.408, PHS= 0.742,-0.720, 0.580, RAW= 144.2, -8.7, CAL= 150.7, -17.7, ROT= 359.3, 17.7 eYgot valid direction response: 19:00:18.5250 LVL= 21840, 29681, 23010, 32755, AGC= 70, IDX= 415,-0.06, 0.245,-1.176, 0.174,-0.408, PHS= 0.742,-0.720, 0.580, RAW= 144.2, -8.7, CAL= 150.7, -17.7, ROT= 359.3, 17.7 uPDAT read: Bearing 359.3, 17.7 (Local) u~Local bearing/azimuth received: Bearing 359.3, 17.7 (Local) DAT read: Range 10 to 50 : 330.6 m (Round-trip 440.9 ms) speed 0.5 m/s VF:_,DAT read: user:1017> FZA5 BDAT read: Tx time:19:00:19.6300 = $Ping request sent.M >  yR?W9#d?926JfÿI?>i>D+H2+>  :publishing transmit ping time9  Fpublishing direction and range infoYϞ{?Ưևz0Guӿ9 )Ii )Ii yR?W9#d?926JfÿIi b>x,xa[A6@y6i@96UY6ܧ>6H.? `ÿ`RFٙ p?`*?a??6@ɨ6<; 6RCNHBRH=Mb@Mb@Mb@99 9)9I9y=jt?Q?:v= ?=\==Լ 9)9I=|Ai="A9=ױAH}H}I6 /=Y礼Q >٣ G8F*< >]^49k?a^4Yt i B'!?m:}Ŀq?&C;;j^4! %ڷAAZjE.愙l?bjE iAiE2Y[AjELCjEfC2jE<#@pE\wҮs@t4F喐 YzpEϞ{?Ưևz0Guӿ"jED+H*jE2+>pExc @T+s XpE NЄ?u΀UӿiEjE W@iEl?iEa (  jEFzjAjAjAjjE>CrjEK@ addTargetRange:: Added new target pos. range: 330.600006 m, deltaT: 4.032211 s, deltaX: -1.899994 m, approachRate: -0.471204 m/s, rangeRepo size: 4  Added new target pos. range: 330.600006 m, bearing: 270.610895 deg, lat: 36.903924 deg, lon: -122.119157 deg, deltaT: 4.032211 s, deltaX: -1.899994 m, approachRate: -0.471204 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 330.60 m.iE"iAU ProNav: ac range: 330.600006 m, nav range: 310.488373 m, bearing: 270.895423 deg, approach rate: 0.000000 m/s, LOS rate: -0.000022 deg/s, cmd heading: 269.016945 deg, new cmd heading: 269.016917 deg.  iQ]HeadingCmd: 4.695231 target range: 330.600006 and range: 330.60 m.h]U?@hYhYhYhYggbgjgeejeJet@:eN?oNBɛ) 彿i)i8+=i B˿ n; |I U?@IC*G<"Gp<G>GGiHG)IBG =GGG<G.F^D= =D ?D D E 2 E VFf AzFrFFZAM ?Gx, [A6ߎ@y6@965Y6>6H?¿ (??æ? ?6ߎ@ɨ6; 6QC>DHB>PHHj HjG6n r(=YrȷQ r>t٣t vGv9Fz< z>|]^49~ʀk?a^4Y~ i~BĿq?~&C~i;~;~{^4! %RA!:J-N KBJ-+9JJ)RJ-nZJ-AlZNC7,#  2iYeFNOT Ignoring new targets: 330.60 m.ie%"ie%u ProNav: ac range: 330.600006 m, nav range: 310.182465 m, bearing: 270.894377 deg, approach rate: -0.658605 m/s, LOS rate: -0.002255 deg/s, cmd heading: 269.016918 deg, new cmd heading: 269.013776 deg.  i}Ƹ}HeadingCmd: 4.695176 target range: 330.600006 and range: 330.60 m.h}>@hhhhggbgjgeejeJe:e`?雽}NBɛ) ǿi)pi\F-=iC˿L;$I>@IC)?B"?C9ZISbIAjI4rIzI;9I8I3IIa:Ia:I9I9^DX=D1D9D9E=P5 E9VF FZAMi>sMx,8M:[Af@yf7@9fͩYfM >fHMS?pR@%`ǘ?P9???f@ɨf; fPCr"HBr&HMb@Mb@Mb@ )IyK7?Q?I +I,?u=94 `A)AIhAiA A AAHHD6 ;=YQ >٣ G%: >] ^49k?a^4YI iBV-?m:q?:'C;;^4 %A!=B*** querying acoustic contact ***i9i92iIUFNOT Ignoring new targets: 330.60 m.iU"iUe ProNav: ac range: 330.600006 m, nav range: 309.887115 m, bearing: 270.891390 deg, approach rate: -0.681665 m/s, LOS rate: -0.006901 deg/s, cmd heading: 269.013776 deg, new cmd heading: 269.004805 deg.  ieHeadingCmd: 4.695020 target range: 330.600006 and range: 330.60 m.h=@hhhhggbgjgeejeJe:eW?NBɛ ) Ϳi)-ih.=iI˿8;U4I=@-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.IaC=69CACACACAG >G CG HG HBG =G G {DG <G FD ?D D E 0 E  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441305VFTF?F.?FZAM?sVx,I[[AHBHH%H%F6  GlA )ULy]lA]M=BmX u=Y}Q }>٣ G:F >]^49k?a^4Y iBq?'C6;Ά;ޝ^4 ϸA}E2iFNOT Ignoring new targets: 330.60 m.i"i- ProNav: ac range: 330.600006 m, nav range: 309.521515 m, bearing: 270.887683 deg, approach rate: -0.669577 m/s, LOS rate: -0.006796 deg/s, cmd heading: 269.004815 deg, new cmd heading: 268.993683 deg.  i-=5HeadingCmd: 4.694826 target range: 330.600006 and range: 330.60 m.h5<@h1h1h1h1g9g9bg9jg9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693485eAejeJe:e_?:J$MBJs9JJRJoZJ5NBɛ=: )9 =ҿi)۞!!i%:0=i%_O˿-;-)衻I-<@I)B=hAB=gACD9ZIETbIAjIArIAzIE{9IAIAIAIE&w:IE0w:IE9IE9D?DDE0 EEEEE] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946080F) ZA9 MU >ܾ\x,muu[A^ @y^@9^5.Y^>^H4L?Jz`?ť? ?`˦?^ @ɨ^ ; ^RCvGBvHH59H5L6m mY=Y}pQ }>٣ G;FXa< >]^49Pk?a^4Y iBfq?'C<]<^4 @A2iIMFNOT Ignoring new targets: 330.60 m.iU>"iU>e ProNav: ac range: 330.600006 m, nav range: 309.268219 m, bearing: 270.884864 deg, approach rate: -0.623551 m/s, LOS rate: -0.006946 deg/s, cmd heading: 268.993695 deg, new cmd heading: 268.985230 deg.  ieHeadingCmd: 4.694678 target range: 330.600006 and range: 330.60 m.h:@hhhhggbgjgeejeJe:e)U@-NBɛ-)) -ۿi))55 11i5i2=i=6T˿=l;=5KI=:@IAC%i9D?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.198471FZAM>G G AAG >G G HG HBG =G G G <G FHC HCH˔CH˜ ="H˜ =*H6Bcx,=[A~GB~HMb@Mb@Mb@ )Iyrh|?㥛 ?Mb;?=@ A)IAi9AfAH>HbM6q D=YQ >٣ G]^49{k?a^4Y~ iB6=?m:"q?&(C;;:^4 sAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4495922iAMFNOT Ignoring new targets: 330.60 m.iMu?"iMu?e ProNav: ac range: 330.600006 m, nav range: 308.967285 m, bearing: 270.880953 deg, approach rate: -0.804180 m/s, LOS rate: -0.010462 deg/s, cmd heading: 268.985226 deg, new cmd heading: 268.973481 deg.  iemHeadingCmd: 4.694473 target range: 330.600006 and range: 330.60 m.hm9@hihihihigqgqbgyjgyeyeyjeJe:eD@5NBɛ5C()1 5Li1)= [99i==3=iEZ˿E;EUIE9@IIC-w9D?DDE0 EzFgArFFZAMc> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702402 PExceeded connect timeout, disconnecting.:J JBJ 9JJ RJ pZJ  (! ix,Y[AZI0bI2DjI0rI0zI0I28I0I0I2'w:I21w:I29I29}GB}HHaHCQ6A J=YQ >٣ G >]^49k?a^4YY iBq?r(C. ;* ;`^4 A2iFNOT Ignoring new targets: 330.60 m.iA1"iA1 ProNav: ac range: 330.600006 m, nav range: 308.668793 m, bearing: 270.877067 deg, approach rate: -0.743138 m/s, LOS rate: -0.009685 deg/s, cmd heading: 268.973478 deg, new cmd heading: 268.961807 deg.  iԹHeadingCmd: 4.694269 target range: 330.600006 and range: 330.60 m.ht7@hhhhggbgjgeejeJe:e@NBɛR") yi)vin5=i a˿ q;cٹIt7@IC+?B!?C 9 > %=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954463DDDE 1 EFyZAM_>Upx,^‘[A6n @y6@96\xY6~>6HU: v?:!¿ W h%?? wD?`?6n @ɨ6:; 6QCBBDAT read: Rx Time:19:00:22.4711 FTRx dataTimestamp_ set to:1736535623.063089Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.206324J~GBJ]HMb@Mb@Mb@ )IyS?Zd;O?l񢿙O?j= A)AIAi۲AAHgHQ6g H=YZ5Q > ٣   G =F Թ >]%^49Yk?a%^4Y iB%P?m-:-q-?(C:,:^455B 5۹A5EUB*** querying acoustic contact ***iQiQ2iaeFNOT Ignoring new targets: 330.60 m.iea"ima ProNav: ac range: 330.600006 m, nav range: 308.336395 m, bearing: 270.872020 deg, approach rate: -0.811074 m/s, LOS rate: -0.012327 deg/s, cmd heading: 268.961812 deg, new cmd heading: 268.946656 deg.  i[HeadingCmd: 4.694005 target range: 330.600006 and range: 330.60 m.hI5@hhhhggbgjgeeje!Je!:e%@+ @}NBɛ}()y }Yiy)I隁i6=iGj˿V;3II5@IC9GE>GAGEHGE|HBGE =GAGAGE<GE@FDD!D!E%0 E!=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457512VF F ?F >F ZA M >uvx,ܑ[A6@y6 @96dY6Y>6HJ?M&¿`?e ?P?@\?6@ɨ6; 4R{GBRYHHZrHZ%S6b%  ba=YfAQ f>h٣h jGhj n>p]r^49rk?av^4Yr irBtvqv?r)Cr):ry:re^4x ~A|2i!-FNOT Ignoring new targets: 330.60 m.i-\"i5\ ProNav: ac range: 330.600006 m, nav range: 308.041107 m, bearing: 270.867638 deg, approach rate: -0.811354 m/s, LOS rate: -0.012052 deg/s, cmd heading: 268.946649 deg, new cmd heading: 268.933490 deg.  iWHeadingCmd: 4.693775 target range: 330.600006 and range: 330.60 m.hg3@hhhhggbgjgeejeJe:e @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.711381雍NBɛtr1) Qi)V@ i 8= 5nManaging dock network, ignoring radio surface power offimq˿u;usI}g3@:JǑLBJ 9JJRJqZJ IC9DU?DQDQE]0 EYVF54F ZA ME >} DAT read: 19:00:22.4711 LVL= 28816, 32753, 25282, 32755, AGC= 67, IDX= 402, 0.21,-0.770,-1.994,-0.801,-1.445, PHS= 0.762,-0.502, 0.641, RAW= 145.0, -14.8, CAL= 151.5, -23.0, ROT= 358.5, 23.0  Ygot valid direction response: 19:00:22.4711 LVL= 28816, 32753, 25282, 32755, AGC= 67, IDX= 402, 0.21,-0.770,-1.994,-0.801,-1.445, PHS= 0.762,-0.502, 0.641, RAW= 145.0, -14.8, CAL= 151.5, -23.0, ROT= 358.5, 23.0  PDAT read: Bearing 358.5, 23.0 (Local)  ~Local bearing/azimuth received: Bearing 358.5, 23.0 (Local)  DAT read: Range 10 to 50 : 327.7 m (Round-trip 437.0 ms) speed 0.4 m/s  ,DAT read: user:1018>  BDAT read: Tx time:19:00:23.5800  $Ping request sent. A A E [ ?ƎG-? ,lQпIE `>iE '>E wּE >A A  :publishing transmit ping timeة  Fpublishing direction and range infoA YE <1r?U_-8dKٿA 9A A A )A IA iA A A A A A )A IA iA A A A E [ ?ƎG-? ,lQпIA iA A A A A p }x,:[A6@y6K@96~&Y6I>6H@4? 4C@uE??@-?X?6@ɨ6[ډ; 4kGBEHI ) HHT6% %6=YUQQ ]>i٣i G>F` >Q]]^49UŒk?a]^4YU6 iU%BYeDqe?Ux)CU:U6:US^4 A|EZjmG`Ll?bjm < iiim`[Ajm٣CjmC2jmb@pm's¼r@&ѕ\`zpm<1r?U_-8dKٿ"jmwּ*jm>pmSr@ jibsRU%nZpmf{?;GI؆ZԿimjm @imӨdMl?im  jm_zjml?jijijjmЙCrjm@e addTargetRange:: Added new target pos. range: 327.700012 m, deltaT: 4.031708 s, deltaX: -2.899994 m, approachRate: -0.719297 m/s, rangeRepo size: 4 u Added new target pos. range: 327.700012 m, bearing: 270.409094 deg, lat: 36.903911 deg, lon: -122.119157 deg, deltaT: 4.031708 s, deltaX: -2.899994 m, approachRate: -0.719297 m/s, posRepo size: 4 2iy}FNOT Ignoring new targets: 327.70 m.i"i ProNav: ac range: 327.700012 m, nav range: 307.629059 m, bearing: 270.585188 deg, approach rate: 0.000000 m/s, LOS rate: -0.012052 deg/s, cmd heading: 268.933480 deg, new cmd heading: 268.915076 deg.  iHeadingCmd: 4.693453 target range: 327.700012 and range: 327.70 m.h0@hhhhgg!bg!jg!e)e)je)Je-@3{t@:e5/L?雝NBɛ6!)-= i)(隡i9=iY|˿;I0@IBBhACʰ9DM?DQDQEU0 EQE]hAE]hAII3I/IIIZI1 bI5 GjI1 rI1 zI1 I5 9I1 I1 qE @iE @uE @mE @G9 G= CG= oHG= ^HBG= =G9 G= zDG= <G= 2FVFU ݻF1 ZA9 M] >vx,[A6@y6ʕ@96dY6 >6HE?ű@?`G'?@W??6@ɨ6s; 6RCRfGBR@HeMb@Mb@Mb@aa a)aIayeCl?(\µ?~jte;_?e=eD eA)aIeAiaaeAH}[H}P6' C=Yo}Q >٣ G?FK >]_49k?a_4Y i@BO`?mr:}q?)Co::_4  A2iFNOT Ignoring new targets: 327.70 m.i)5"i)5  ProNav: ac range: 327.700012 m, nav range: 307.294556 m, bearing: 270.581643 deg, approach rate: -0.933074 m/s, LOS rate: -0.009899 deg/s, cmd heading: 268.915066 deg, new cmd heading: 268.904420 deg.  i dٹHeadingCmd: 4.693267 target range: 327.700012 and range: 327.70 m.h?/@hhhhggbgjge!e!je!Je):e-l?UNBɛU?)Q UiY)]C-YYi]:=ip˿~;3AI?/@IC9DiDqDqEu 1 EqVFM%XF!ZA)MMt>:J eKBJ +9JJ RJ rZJ J ? J $?Qx,|,[ABF@yB@9BBYB>BH`Y3J? d ??@ ?@?BF@ɨB; BQCZlGB^FHHbRHbO6n[< nX=YnQ n>p٣p rGpv5 v>t]~_49vhk?a~_4Yv iv\Bq ?v#*Cv9j;vπ;v _4! %A-}E2iQ]FNOT Ignoring new targets: 327.70 m.i]d"i]dm ProNav: ac range: 327.700012 m, nav range: 306.964172 m, bearing: 270.578392 deg, approach rate: -0.861938 m/s, LOS rate: -0.008491 deg/s, cmd heading: 268.904411 deg, new cmd heading: 268.894647 deg.  imxuHeadingCmd: 4.693097 target range: 327.700012 and range: 327.70 m.hu-@hyhyhyhygygybgjgeejeJe:e?雵OBɛ\8) i)73i;=iU˿U;U:IU-@IYC-9D1zD1DDDEE2 EVF% ԑF ZA M- >ձ յ Ax,HF[A~tGB~QHi>?Mb@Mb@Mb@ )Iy(\?~jt?~jt?g?=< IA)IAi|AAHNH(O6< <=YQ >٣ G@F >ZIVbIBjIrIzI9I8II] _49k?a_4Y! iBh?mi:Jÿq?*Cq;K;5_4! %A!EB*** querying acoustic contact ***iAiA2iYeFNOT Ignoring new targets: 327.70 m.im׸"im׸ ProNav: ac range: 327.700012 m, nav range: 306.571106 m, bearing: 270.575818 deg, approach rate: -0.899766 m/s, LOS rate: -0.005901 deg/s, cmd heading: 268.894658 deg, new cmd heading: 268.886924 deg.  iHeadingCmd: 4.692962 target range: 327.700012 and range: 327.70 m.h,@hhhhggbgjgeejeJe:e z?OBɛ 0GqGqGqGqGu =GqGqGu<GuDF) hi)2:隱ic4==in˿.;I0I,@IC9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^D=D D D E 0 E VFhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752703FZAM?Tx,"g[A:JJBHBJJ9JJHRJJsZJJ6QJRgAIP^H@y^X@9^ýY^F >^H ұ?ƪ} x@@? W?@e'?ঐ?^H@ɨ^[; ^RCzGBztHHHT6 h= '=YQ >!٣! %G%AF% ->1]=_4957k?a=_4Y5, i5B9=Ŀq=?5*C5:5:5J._4A MAI2iquFNOT Ignoring new targets: 327.70 m.i}"i} ProNav: ac range: 327.700012 m, nav range: 306.130798 m, bearing: 270.573722 deg, approach rate: -0.911267 m/s, LOS rate: -0.004343 deg/s, cmd heading: 268.886926 deg, new cmd heading: 268.880630 deg.  i>HeadingCmd: 4.692852 target range: 327.700012 and range: 327.70 m.h+@hhhhggbgjgeejeJe:e?)OBɛ\-) i) Ai[>=i ˿;$I+@IiCE9^D z=DDDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003062VF 2.F ZA M= >Dx,S![AH,@y;@9k̽YHJ >H ⨿ ?@9 Dޡ?`?oE??H,@ɨϐ; OCGBHMb@Mb@Mb@ )Iyv/?V-?X9v?xi?h=}= xA)IȥAiMAfAHHT6 F=  ;=Y #,Q  >٣ GBF%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255261% %>)]5_49-k?a=_4Y-7 i-B=j?m=g:=ƿq=?-^+C-;-;-=_4I UlAUE2iy}FNOT Ignoring new targets: 327.70 m.i1"i1 ProNav: ac range: 327.700012 m, nav range: 305.735016 m, bearing: 270.572993 deg, approach rate: -0.899755 m/s, LOS rate: -0.001661 deg/s, cmd heading: 268.880642 deg, new cmd heading: 268.878450 deg.  iꑸHeadingCmd: 4.692814 target range: 327.700012 and range: 327.70 m.h+@hhhhggbgjgeejeJe:eK@9OBɛy2) i) ]Hizn?=iH˿ ;|I+@IC=9CCCCZITbIDjI3rIzI{9I8I(3IG >G G HG HBG G G G <G FD}>D}>D) D) D1 E5 0 E1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507858VFU S.I!)%CF9ZAi GM>*x,#[A ,)4 6@)FHyDF9Bj@yjF@9jO_ֽYjj >jH<?yRE?d?-?࢈?j@ɨj; jQCGBH)a= p=H%WH%'P65= 53=Y=.Q =>9٣I MGIU U>Y]e_49]sk?ae_4Y]A i][Bimƿqm?]+C]#;];]M_4q u"Aq2i%FNOT Ignoring new targets: 327.70 m.i%]"i%]5 ProNav: ac range: 327.700012 m, nav range: 305.323303 m, bearing: 270.572490 deg, approach rate: -0.873437 m/s, LOS rate: -0.001068 deg/s, cmd heading: 268.878456 deg, new cmd heading: 268.876946 deg.  i5;eHeadingCmd: 4.692788 target range: 327.700012 and range: 327.70 m.heR+@hahahahagigibgijgieqeqjeqJeq:eu@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759561JOBɛT-) 7i)Ois@=i#˿;ȼIR+@IC99:J0LBJ9JJRJtZJr-=~B' J ? J?DDDE0 EVFFyZAM>u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011676íx,[A6@y6@96߽Y6( >6H4a?k@UФt?@Ի?`{?p?6@ɨ6; 6PCRHBRHHnKHnN6v> zQ=Yg1Q >٣ %G%CF-n ->1]E_495ؚk?aE_4Y5VK i5BAMbǿqM?5",C5";5";5j[_4Q UAQ2iFNOT Ignoring new targets: 327.70 m.i!"i! ProNav: ac range: 327.700012 m, nav range: 304.966431 m, bearing: 270.572279 deg, approach rate: -0.932030 m/s, LOS rate: -0.000550 deg/s, cmd heading: 268.876954 deg, new cmd heading: 268.876322 deg.  iSHeadingCmd: 4.692777 target range: 327.700012 and range: 327.70 m.h;+@hhhhggbgjgee!je!JeQ:eU - @[OBɛ]2) )i)O3Vi cA=i~˿]n;|G G HG HBG G G G <G IFHq HqHuɓCHq"Huɛ =*HuɂK5VF ~FF% ?F% .?F ZA M% >x,'Ӓ[ANZύ@yNޔ@9NIYNLZ >NH^?`2?Ľ? d?@W?NZύ@ɨN; LV9HBVCHEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515347MMb@Mb@Mb@II I)IIIyMMb?~jt?bX9ȶ?M`?MD=ME= I)MAIMAiMAIM̮AHe$HeJ6= :=YQ >٣ GDF \'  >]%_49Ak?a%_4Y(U iB%a?m%p:-v˿q-?,CS.;;j_454B 5`A5EUB*** querying acoustic contact ***iQiQ2iaeFNOT Ignoring new targets: 327.70 m.ie8"im8} ProNav: ac range: 327.700012 m, nav range: 304.593781 m, bearing: 270.574293 deg, approach rate: -0.863436 m/s, LOS rate: 0.004671 deg/s, cmd heading: 268.876325 deg, new cmd heading: 268.882373 deg.  i}&M9HeadingCmd: 4.692883 target range: 327.700012 and range: 327.70 m.h,@hhhhggbgjgeejeJe:e @iOBɛ=) i)[i+6B=i ˿:I,@ICz9DDDDE0 EE=E=VFϼFZAM>% DAT read: 19:00:26.4174 LVL= 25392, 32753, 22754, 32755, AGC= 68, IDX= 399, 0.35, 2.257, 0.926, 2.254, 1.544, PHS= 0.802,-0.571, 0.708, RAW= 146.5, -14.0, CAL= 153.1, -22.1, ROT= 356.9, 22.1 - Ygot valid direction response: 19:00:26.4174 LVL= 25392, 32753, 22754, 32755, AGC= 68, IDX= 399, 0.35, 2.257, 0.926, 2.254, 1.544, PHS= 0.802,-0.571, 0.708, RAW= 146.5, -14.0, CAL= 153.1, -22.1, ROT= 356.9, 22.1 5 PDAT read: Bearing 356.9, 22.1 (Local) 5 ~Local bearing/azimuth received: Bearing 356.9, 22.1 (Local) M DAT read: Range 10 to 50 : 324.9 m (Round-trip 433.2 ms) speed 1.1 m/s M ,DAT read: user:1019> U BDAT read: Tx time:19:00:27.5301 U $Ping request sent.U   td?ˮ%?wMOϿIe>i'z>Q]|> } :publishing transmit ping timeQ } Fpublishing direction and range infoY|%?l*ؿ9 )Ii )Ii  td?ˮ%?wMOϿIi :J MNBJ ػ9JJ RJ uZJ ׺x,w[A%gō@y%Ԕ@9%=Y%M >%HS4'?`e ܦ /??"q٣q uGq}Y> }>]_49k?a_4Y^ iLB˿q?,CP;;'y_4 AZj+te?bj`v] iiL[AjsCjC2jp@pbOkr@3)~G0ߕ^zp|%?l*ؿ"jQ]*j|>p2͂Ūs@ưpjUp!ǖSF/HkU ѿiMj5igke?i\R  jzjӨdMl?j j_jjcCrj@} addTargetRange:: Added new target pos. range: 324.899994 m, deltaT: 3.780029 s, deltaX: -2.800018 m, approachRate: -0.740740 m/s, rangeRepo size: 4  Added new target pos. range: 324.899994 m, bearing: 266.562711 deg, lat: 36.903903 deg, lon: -122.119186 deg, deltaT: 3.780029 s, deltaX: -2.800018 m, approachRate: -0.740740 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 324.90 m.i"i ProNav: ac range: 324.899994 m, nav range: 306.779297 m, bearing: 270.399423 deg, approach rate: 0.000000 m/s, LOS rate: 0.004671 deg/s, cmd heading: 268.882363 deg, new cmd heading: 268.888512 deg.  iHeadingCmd: 4.692990 target range: 324.899994 and range: 324.90 m.h,@hhhhg)g)bg9jg9e9e9jeAJeE`fNt@UJDAT read: TxSync time:19:00:27.5293 :eEn?{OBɛ-) ti){rbiqB=i˿,:I,@I CD?DDE0 EVF ռzF hArF F ZA M >x,[A~HB~HMb@Mb@Mb@ )Iy-?Q?B`"۹??U?<= A)AIiAAHH@65d> 5@=Y=Q =>9٣9 =G=EFE E>I]U_49Mpk?aU_4YMg iMB]V?m]|:]hοq]?M6-CM ;M ;Mۇ_4a eAa2i*G<"G<G޿>GGHGfIBGGGGͳ<GFFNOT Ignoring new targets: 324.90 m.i\9"i\9 ProNav: ac range: 324.899994 m, nav range: 306.436890 m, bearing: 270.402542 deg, approach rate: -0.858852 m/s, LOS rate: 0.007833 deg/s, cmd heading: 268.888510 deg, new cmd heading: 268.897879 deg.  i9HeadingCmd: 4.693153 target range: 324.899994 and range: 324.90 m.hP.@hhhhggbgjgeejeJe:e 0V?OBɛ6) &ܿi) giҺC=i-+˿-:-I-P.@I9CE9DDDE EVF~FiZAyM>JGx,"[A6t@y6@96}Y6/>6HS?'X`O?@=W?`? j?6t@ɨ6; 6QCBHBB HHJHJQ?6Rk > Rg=YVĿQ V>T٣T VGZFFZ Z>\]b_49^Vk?ab_4Y^6o i^Bdfοqf?^-C^:^:^5_4h jAh2i FNOT Ignoring new targets: 324.90 m.i 9"i9 ProNav: ac range: 324.899994 m, nav range: 306.149902 m, bearing: 270.405360 deg, approach rate: -0.812066 m/s, LOS rate: 0.007981 deg/s, cmd heading: 268.897881 deg, new cmd heading: 268.906343 deg.  iE9HeadingCmd: 4.693301 target range: 324.899994 and range: 324.90 m.h/@hhhhggbgjgeejeJe:e?雅OBɛ9) ׿i)mi5^D=iR˿:I/@ICDzD:JERIBJE9JJARJEvZJE *DKE9.'! ZIUbIAjI3rIzI9I8I(3II^:qIc:iI9uI9mDe?DaDaEa EaEiEmgAVF ս >ս =Fy ZA M > px,L<[A2ō@y2:Ք@92HY2>2H6 ?w>  `? ?@#?`e?2ō@ɨ2; 0B IBBGHIP)PHZHZ:6= E=YQ  >٣ %G!-; 5>Q]u_49Uk?au_4YU=x iUK Bοq?U-CU1;U;U_4 AE2iIFNOT Ignoring new targets: 324.90 m.i9"i9U ProNav: ac range: 324.899994 m, nav range: 305.807281 m, bearing: 270.408547 deg, approach rate: -0.768184 m/s, LOS rate: 0.007155 deg/s, cmd heading: 268.906351 deg, new cmd heading: 268.915924 deg.  iU!9]HeadingCmd: 4.693468 target range: 324.899994 and range: 324.90 m.h]0@hYhahahagagabgijgieejeJe:e@n?OBɛ,)\Xi= ӿi)si4D=i-{˿-b=:5I50@I1C%͹9DDDE EGݿ>GCGcHGIBG =GGG<GFVF F ZA M >Wx,hV[A:ݍ@y:l@9:UY:/)>:HE ? p @ڣ^??J?b?:ݍ@ɨ: ʈ; :RCBDIBFH-Mb@Mb@Mb@)) )))I)y-~jt?Mb`?~jt?-D?-;-= )))I-&Ai-dA)-̮AHH996> <=YyQ > ٣  GGF; >]%_49k?a-_4Y i B-#F?m-:-ҿq-?).C::_49 =HA9]B*** querying acoustic contact ***iYiY2iimFNOT Ignoring new targets: 324.90 m.iu]9"iu]9 ProNav: ac range: 324.899994 m, nav range: 305.486145 m, bearing: 270.413465 deg, approach rate: -0.787779 m/s, LOS rate: 0.012077 deg/s, cmd heading: 268.915913 deg, new cmd heading: 268.930683 deg.  i:HeadingCmd: 4.693726 target range: 324.899994 and range: 324.90 m.h3@hhhhggbgjgeejeJe:ef?OBɛEl6)Q UοiQ)] wYYi]zuE=iehs˿e3W:eIe3@IiCM'9DDDE ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.:J MBJ h9JJ RJ wZJ J fAI ZI TbI CjI 5rI zI {9I =8I 4I I $w:I -w:I 19I 69VF F ZA M >ہx,Cp[AZ @yZm @9Z YZ>ZH?`v`Ѱ !? 2?Cg?@_?Z @ɨZ]; ZPCn~IBnHHvHv86~> \=Y9Q >٣   G HF ,<  >]_49qk?a%_4Y i B!%ҿq%?p.C;I;_4) 5ԵA12iQ]FNOT Ignoring new targets: 324.90 m.ieH9"ieH9u ProNav: ac range: 324.899994 m, nav range: 305.210052 m, bearing: 270.417505 deg, approach rate: -0.748338 m/s, LOS rate: 0.010958 deg/s, cmd heading: 268.930694 deg, new cmd heading: 268.942822 deg.  iu9}HeadingCmd: 4.693938 target range: 324.899994 and range: 324.90 m.h}4@hyhyhyhygygbgjgeejeJe:e@#@雵OBɛ4) .ɿi)|iE=iwl˿:NܼI4@ICۺ9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255156DiDiDiEm0 EiVFGF ZA M >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506554lx,*[A2 @y2m/@92 Y2KX>2Hɥ?ǩi`?Cc?U?\?2 @ɨ2܈; 0bIBb Hj=ij;Mb@Mb@Mb@ )IyQ?y&1|㥛 ?5?`= A)AIi5A\AHuH76[= >=Y(dQ >٣ G"< >]_49k?a_4YՏ i6 B6?m:ҿq?.C~ ;;_4 {AG1G5?AG=ܿ>G9G=HG=JBG= =G9G9G=<G=F2iFNOT Ignoring new targets: 324.90 m.i*;9"i*;9% ProNav: ac range: 324.899994 m, nav range: 304.912231 m, bearing: 270.422158 deg, approach rate: -0.653822 m/s, LOS rate: 0.010227 deg/s, cmd heading: 268.942824 deg, new cmd heading: 268.956799 deg.  i%9MHeadingCmd: 4.694182 target range: 324.899994 and range: 324.90 m.hM6@hIhIhQhQgQgQbgYjgYeYeYjeYJea:ee`]@OBɛx&) ſi)Yi^F=ivd˿:"¼I6@IC4?BA?C9}{>}<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759061^D i=Dy Dy Dy E} O5 Ey -checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010607VF ݼF:J BoHBJ ػ9JJ RJ xHAAHZIbIDjI4rIzII8I3II#w:II9I9ZA9MU?x,0[AZJ= IB BHH%YH%46e= e=YmQ m>i٣i mGuIFu u>]_49k?a_4Y i Bq? /C?;;h_4 AE2iFNOT Ignoring new targets: 324.90 m.iM9"i M9 ProNav: ac range: 324.899994 m, nav range: 304.528046 m, bearing: 270.428176 deg, approach rate: -0.714364 m/s, LOS rate: 0.011203 deg/s, cmd heading: 268.956812 deg, new cmd heading: 268.974886 deg.  i9HeadingCmd: 4.694498 target range: 324.899994 and range: 324.90 m.hS9@hhhhggbgjgeejeJe:e @OBɛI )  ÿi) ﹄  i F=i!Z˿Jy:%<]ɼI%S9@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264438C.9^Dm Xf=D D D E 0 E = BDAT read: Rx Time:19:00:30.3633 E TRx dataTimestamp_ set to:1736535631.127342E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515816VF%ͿGGGHGJBG =GGG<GFFZA M%?x,dXГ[A) @nz@ynǚ@9n2Ynd>nH`ࢿ3? ZM¿ʨ@eYʃ?`?5?T?nz@ɨn; nQCz JBzHMb@Mb@Mb@ )Iy/$?y&1|{Gz?,?#= IA)AIAi׻AH;H06= =YQ >٣ GJF4< >]_49bk?a_4YM i BX,?m:Rпq?z/C;,:6_4 A2iquFNOT Ignoring new targets: 324.90 m.i}s9"i}s9 ProNav: ac range: 324.899994 m, nav range: 304.173645 m, bearing: 270.432465 deg, approach rate: -0.651419 m/s, LOS rate: 0.007893 deg/s, cmd heading: 268.974899 deg, new cmd heading: 268.987781 deg.  iW9HeadingCmd: 4.694723 target range: 324.899994 and range: 324.90 m.h+;@hhhhggbgjgeejeJe:e@=PBɛ=F )9 =}i9)EaaieG=imR˿m:mVIu+;@IqByBychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766837Cv9CCCC }G )Ry$BBD ?D D E 0 E  DAT read: 19:00:30.3633 LVL= 22000, 27825, 17650, 32755, AGC= 68, IDX= 256, 0.39, 0.538,-0.904, 0.301,-0.150, PHS= 0.776,-0.707, 0.448, RAW= 137.8, -7.7, CAL= 143.9, -18.1, ROT= 6.1, 18.1  Ygot valid direction response: 19:00:30.3633 LVL= 22000, 27825, 17650, 32755, AGC= 68, IDX= 256, 0.39, 0.538,-0.904, 0.301,-0.150, PHS= 0.776,-0.707, 0.448, RAW= 137.8, -7.7, CAL= 143.9, -18.1, ROT= 6.1, 18.1  PDAT read: Bearing 6.1, 18.1 (Local)  ~Local bearing/azimuth received: Bearing 6.1, 18.1 (Local)  DAT read: Range 10 to 50 : 321.8 m (Round-trip 429.1 ms) speed 0.7 m/s  ,DAT read: user:1020> ] BDAT read: Tx time:19:00:31.4801 ] $Ping request sent.] #;x,3*^direction in FSK: [0.945134,0.101006,-0.310676].:publishing transmit ping time1.Fpublishing direction and range infoQYU]>?i۹?\ӿUC9QUU Ul)UDIQiQUF?U4UB`>U@ U )U @IU?iU^ =U?>Q QU{K(,8/?]o?%!/IUsz>V@yVϻ@iU >U^ =U?>Q QZ:publishing transmit ping time1ZFpublishing direction and range infoQYU]>?i۹?\ӿQ9QQ Q)QIQiQQQQQ Q)QIQiQQQ QU{K(,8/?]o?%!/IQiQQQQ Q9VYV>VHVԠ?t¿`@L쇿`{?0? ? gR?V@ɨV; VPC]+JB]HH0Hy/6= '=Y/5Q >I٣I UGUKF]< e>!]-`49%؊k?a-`4Y%k i%& B15Ͽq5?%/C%:%l:%`49 =zAaZjUvHw?bjUR" iQiU\[AjUCjUC2jU,|@pU79Ns@Mgv@@@s.\qXzpU]>?i۹?\ӿ"jU^ =*jU?>pU JHB@PmsHpU2ʌ?hpgᅩO*ÿiUjUBBiU+w?iU2,  jU3?zjUl?jUa ( jUFjjUCrjU"@- addTargetRange:: Added new target pos. range: 321.799988 m, deltaT: 4.032228 s, deltaX: -3.100006 m, approachRate: -0.768807 m/s, rangeRepo size: 4 e Added new target pos. range: 321.799988 m, bearing: 276.604410 deg, lat: 36.903911 deg, lon: -122.119210 deg, deltaT: 4.032228 s, deltaX: -3.100006 m, approachRate: -0.768807 m/s, posRepo size: 4 2iamFNOT Ignoring new targets: 321.80 m.im"ii ProNav: ac range: 321.799988 m, nav range: 305.968506 m, bearing: 270.605963 deg, approach rate: 0.000000 m/s, LOS rate: 0.007893 deg/s, cmd heading: 268.987794 deg, new cmd heading: 269.000361 deg.  iHeadingCmd: 4.694942 target range: 321.799988 and range: 321.80 m.h<@hhhhggbgjgeejeJet@:e?PBɛ5Wh!)9 =tiA)E"NAIiMEG=i]K˿eo:er2Im<@ICmO9D?DDE0 EVFAF ZA! Me >x,[A^q@y^@9^EWY^>^H` P?¿E?`??`M?^q@ɨ^; ^RCvXJBvHmMb@Mb@Mb@ii i)iIiymˡE?~jtx?y&1|?m'?m;m`; mA)mAIiiiiiHHE)6= >=Y0Q >٣ G >]`49Hk?a`4Y/ iP B'?m:a̿q?0C::k`4*G<"GGۿ>GG%HGbKBGGGG<GFHC HCHH ="H =*Ha#5Q UAUEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 321.80 m.i8"i8 ProNav: ac range: 321.799988 m, nav range: 305.711761 m, bearing: 270.607719 deg, approach rate: -0.657478 m/s, LOS rate: 0.004499 deg/s, cmd heading: 269.000362 deg, new cmd heading: 269.005632 deg.  iE9HeadingCmd: 4.695034 target range: 321.799988 and range: 321.80 m.h=@hhhhggbgjgeejeJe:e`?E/PBɛE]2)i m޺ii)m iiiu~G=iuH˿u@H:}OT>I}=@IyCmo9DDDE0 ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF שhF ZA M >Gx,b"[A6AŽ@y6ѕ@96Y6@>6H?¿ nဿ@| ???@K?6AŽ@ɨ66; 4NiJBNHHVHV'6bJ= bq=YbsQ b?d٣d fGfLFfq < j?h]r`49j݉k?ar`4Yj ijt Bpr̿qr?jL0Cj:j:j `4t zAx2iFNOT Ignoring new targets: 321.80 m.i8"i8 ProNav: ac range: 321.799988 m, nav range: 305.495148 m, bearing: 270.609084 deg, approach rate: -0.636366 m/s, LOS rate: 0.004014 deg/s, cmd heading: 269.005634 deg, new cmd heading: 269.009733 deg.  iJ09HeadingCmd: 4.695106 target range: 321.799988 and range: 321.80 m.hN>@hhhhggbgjgeejeJe:e [$? =PBɛ~:) i)iH=i%5F˿%S:%YI%N>@I)C5/?B5@?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946089CIDDDE1 E:JuBJuػ9JJqRJuzZJuVF KF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198215px,2<[AzJB HH-H- )6=#= EC=YEQ E>I٣I MGMMFM U>Q]`49UVk?a`4YU iU Bq?U0CUWx,hV[A6@y6k@96 xY6>6H*?A¿\P`??`z?P?6@ɨ6'R; 4>{JBV H5Mb@Mb@Mb@11 1)1I1y5ʡE?Q?/$5/?5\=5 1)5AAI5Ai115̮Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.702238HU=HU06u:; uG=YuG9Q }>y٣y }G< >]`49k?a`4Yn i B/?m:Ŀq?0C7 ;;#=`4 سA2iFNOT Ignoring new targets: 321.80 m.i R"i R ProNav: ac range: 321.799988 m, nav range: 304.943268 m, bearing: 270.609641 deg, approach rate: -0.692424 m/s, LOS rate: -0.002869 deg/s, cmd heading: 269.014896 deg, new cmd heading: 269.011415 deg.  i HeadingCmd: 4.695135 target range: 321.799988 and range: 321.80 m.h>@hhhhggbgjgee je Je :e  V?aPBɛ0) üi)㉔iҲH=i ;E˿ : I >@I1C 9D]>D>D?DDE0 E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954207VF -,F ZA M >x,=Dp[A:Jk3IBJh9JJRJ{ZJ>"@y>_1@9>_Y>H>>H:?>¿6 mc???@ f?S?>"@ɨ>h; `٣` bGbNFf"< f>d]j`49fk?an`4YfA entIif BlnfĿqr?f1Cf* ;f ;fkJ`4t v³At2iFNOT Ignoring new targets: 321.80 m.ir"i%r- ProNav: ac range: 321.799988 m, nav range: 304.684143 m, bearing: 270.608383 deg, approach rate: -0.682942 m/s, LOS rate: -0.003317 deg/s, cmd heading: 269.011426 deg, new cmd heading: 269.007650 deg.  i55HeadingCmd: 4.695069 target range: 321.799988 and range: 321.80 m.h5>@h9h9h9h9g9gAbgAjgAeAeIjeIJeI:eM HS@uqPBɛu8B;) Zi) i#I=i%bG˿%o:%g :I%>@I)Cmd9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207625D?DDE1 EVFg{FZAMb> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458114k"x,$'[AF1@yF@@9FtYF>FH _3L?;¿ KZp?|?E^? Z?@U?F1@ɨFUŇ; FQCVJBV"HMb@Mb@Mb@ )Iyףp= ?:v?X9v>?T= xA)pAIAiA­AHH>< 5=Y%?;Q %>!٣! -G-OF-v; ->1]=`495k?a=`4Y5 i5 BEY??mE:EqE?5r1C5:5 :5)Z`4M3B UAUE2iy}FNOT Ignoring new targets: 321.80 m.i+"i+GGGݿ>GGHGKBGGGG<GFZIbICjIrIzII=8IIIII19I69 ProNav: ac range: 321.799988 m, nav range: 304.350037 m, bearing: 270.605372 deg, approach rate: -0.742398 m/s, LOS rate: -0.006698 deg/s, cmd heading: 269.007656 deg, new cmd heading: 268.998613 deg.  i%HeadingCmd: 4.694911 target range: 321.799988 and range: 321.80 m.h%<@h!h!h!h!g!g)bg1jg1e1e1je1Je9:e=@雅PBɛH/) i)隩ivI=iL˿4:E:I<@IC9D%?D!D!E%0 E!}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710180VFE *FM ?FM ?F ZA! MM >(x,"[A2 6@y2mE@92<Y2O>2H?@7¿@>r? d?H?`S?V?2 6@ɨ2; 2RCBJBB!HHJrHJ66RX Rf=YR:Q V>T٣T VGTZ: Z>\]b`49^ۍk?ab`4Y^ i^* B`fqf?^1C^:^:^f`4h jAhB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 321.80 m.io"io- ProNav: ac range: 321.799988 m, nav range: 304.086731 m, bearing: 270.602967 deg, approach rate: -0.736499 m/s, LOS rate: -0.006733 deg/s, cmd heading: 268.998613 deg, new cmd heading: 268.991392 deg.  i-ܓ5HeadingCmd: 4.694786 target range: 321.799988 and range: 321.80 m.h5;@h1h1h1h1g9g9bgAjgAeAeAjeAJeI:eM@k@MPBɛMF?)Q u(iq)}؛yyi}:J=iP˿j:;I;@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.962234C9DDADADAEE3 EAEU=EU=VF.r::JBHBJ+9JJRJ|ZJ   :Tdlnh]RD7/(! FZAM%n>Յ %=Յ 4= BDAT read: Rx Time:19:00:34.3090  TRx dataTimestamp_ set to:1736535634.907432 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215456>.x,Rֽ[A25@y2D@92LY2E>2HI? ¿np?FV?9?(?X?25@ɨ2ms; 2OCbJBb3HjC>ihhjAHnHn86v>= vF=Yz:Q z>x٣x ~G~PF3 > ]`49 ak?a`4Y  i M Bq? 2C : ;  u`4! %A!2iIUFNOT Ignoring new targets: 321.80 m.i]"i]m ProNav: ac range: 321.799988 m, nav range: 303.779449 m, bearing: 270.600162 deg, approach rate: -0.746908 m/s, LOS rate: -0.006825 deg/s, cmd heading: 268.991400 deg, new cmd heading: 268.982977 deg.  imᕹuHeadingCmd: 4.694639 target range: 321.799988 and range: 321.80 m.hu{:@hqhqhqhqgygybgyjgyeejeJe:e @雽PBɛؾ=) ~i)39iʜJ=iU˿9:";I{:@ICDDDEU5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.466936Gۿ>GGHGKBG =GGG<G5FII 3I g.IIIZIXbI@jI5rIzI{9I[8I4IIæ:IȦ:Iel9Iol9VF }:F ZA M >5x,vה[Ab0@yb?@9b8Yb>bH`ZO?pEj?V?=7?A?Z?b0@ɨb䛇; bQCjJBn9H=DAT read: Range 10 to 50 : 318.6 m (Round-trip 424.8 ms) speed 0.5 m/s E,DAT read: user:1021> -MX#Rx 1: Read range message, but no direction.15LC91MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )IyʡE?Mb?L7A`堿O?=+ ׻A)AIpAi5AAHH86?1< ==Y)9Q >٣ GQF >]`49~k?a`4Y ix BnP?m:xq?d2C;l;+`4 AEu addTargetRange:: Added new target pos. range: 318.600006 m, deltaT: 3.779834 s, deltaX: -3.199982 m, approachRate: -0.846593 m/s, rangeRepo size: 4 2iq}FNOT Ignoring new targets: 321.80 m.i}"i} ProNav: ac range: 321.799988 m, nav range: 303.406647 m, bearing: 270.596168 deg, approach rate: -0.784714 m/s, LOS rate: -0.008418 deg/s, cmd heading: 268.982986 deg, new cmd heading: 268.970987 deg.  iูHeadingCmd: 4.694429 target range: 321.799988 and range: 318.60 m.h8@hhhhggbgjgeejeJes@:e?mPBɛm@3)i mÿii)uRqqiu"K=i}Z\˿}}s:1:I8@IC9DaDaDaEe0 EaBDAT read: Tx time:19:00:35.4301 $Ping request sent.;x,[A69(@y67@96Y6>6H s["?@jC_?`N?_*?n?k]?69(@ɨ6H; 6PC>JBB@HHJHJ96Rgq< R\=YR˗:Q R?:JVMBJVh9JJTRJV}ZJV\٣\ ^G\bND b?1]=`495k?a=`4Y5 i5 B9=q=?52C5:5B:5`4I MAME2iquFNOT Ignoring new targets: 321.80 m.i}!"i}! ProNav: ac range: 321.799988 m, nav range: 303.117584 m, bearing: 270.593124 deg, approach rate: -0.839637 m/s, LOS rate: -0.008850 deg/s, cmd heading: 268.970992 deg, new cmd heading: 268.961851 deg.  i\¹HeadingCmd: 4.694270 target range: 321.799988 and range: 318.60 m.hu7@hhhhggbgjgeejeJe:e@#?PBɛ+L) Ŀi)(]iK=ia˿s:ݖ:Iu7@IC 9DzD-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253060DDDEO5 EEEhAVFF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504439Bx,Ω [AJA @yJ@9J2YJ>JH?_gZ`)u?`k@? ?\?JA @ɨJp; JOCZJBZAHIp)p)p r=Mb@Mb@Mb@ )Iyrh|?333333? rh[?=C A)ΜAIAiAAHtH76 : :=YʺQ >٣ GRF >]`49/k?a`4Y i B\?mv:Zq? 3C;;`4 ~A 2i)5FNOT Ignoring new targets: 321.80 m.G=ٿ>G9G=HG=KBG= =G9G=yDG=<G=,Fi]*"i]*m ProNav: ac range: 321.799988 m, nav range: 302.754730 m, bearing: 270.589156 deg, approach rate: -0.852394 m/s, LOS rate: -0.009333 deg/s, cmd heading: 268.961839 deg, new cmd heading: 268.949921 deg.  im̹ZI}TbI}HjI}4rIyzI}{9I}9I}3IyI}#w:I}-w:I}9I}9uHeadingCmd: 4.694062 target range: 321.799988 and range: 318.60 m.h5@hhhhggbgjgeejeJe:e@Zq?PBɛE>)I M^ǿiQ)U!QQiUYL=iehh˿e:e-Ie5@IiCM9DDDEP5 E=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755501IU ż=)] ѐC TG kA )- Ny- kA- n>BVFE ?:F ZA M% >Hx,k%[A6@y6@96 Y6{>6H`6x@S?l¿@Qg?YE?X?`S?6@ɨ6; 4nJBnVHHvuHv761= X=YҹQ  > ٣   G kλ >]%`49k?a%`4Y i B!%q-?]3C::`41 =\A9UB*** querying acoustic contact ***iQiQ2iamFNOT Ignoring new targets: 321.80 m.im#"im# ProNav: ac range: 321.799988 m, nav range: 302.432922 m, bearing: 270.585770 deg, approach rate: -0.850210 m/s, LOS rate: -0.008954 deg/s, cmd heading: 268.949927 deg, new cmd heading: 268.939760 deg.  iĹHeadingCmd: 4.693884 target range: 321.799988 and range: 318.60 m.hM4@hhhhggbgjgeejeJe:e@?PBɛyG) xǿi)iL=i7n˿:uhIM4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008421C@9DIDIDIEM35 EQ:J KBJ]9JJRJ~ZJJ? J)?VFïF?F?Fi ZA M >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259442|Ox,e?[AJT@yJ@9J*YJ>JHo嘿K?4Rn ?`R?>? W?JT@ɨJs; HVJBVlHH^oH^t66f5= fN=YjQ j>h٣h nGnSFn/ n>p]v`49r֘k?av`4Yrw ir) Bxzqz?r3Cr\:r:r`4| ~8AE2i)5FNOT Ignoring new targets: 321.80 m.i1"i1E ProNav: ac range: 321.799988 m, nav range: 302.093475 m, bearing: 270.582220 deg, approach rate: -0.855073 m/s, LOS rate: -0.008954 deg/s, cmd heading: 268.939764 deg, new cmd heading: 268.929101 deg.  iAMHeadingCmd: 4.693698 target range: 321.799988 and range: 318.60 m.hM2@hIhQhQhQgQgYbgajgaeaeajeiJeq:e} ?QBɛD)Q UǿiQ)UQQi]bM=i]Nt˿e6K:edIe2@IaCUR9DDDE@5 EE>E=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513119G9G9G=HG=LBG= =G9G=zDG=ٳ<G=FH HHHǞ ="HǞ =*HT4VF _vFy ZA M >Vx,:Y[A2h@y2@92 "Y2դ>2H?V  v z?f4?T?[?2h@ɨ2; 2PCRJBRHV>iV>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763659Mb@Mb@Mb@ )Iyv/?Q?Mb?xi?\=< A)IΜAiAzAHH<6B= <=Y ;Q >٣ GTF$ >]`49}k?a`4Y ik B*j?mh:¿q?4C{::`4  A2i!-FNOT Ignoring new targets: 321.80 m.i-"i5E ProNav: ac range: 321.799988 m, nav range: 301.700653 m, bearing: 270.579249 deg, approach rate: -0.901570 m/s, LOS rate: -0.006828 deg/s, cmd heading: 268.929109 deg, new cmd heading: 268.920184 deg.  iEMHeadingCmd: 4.693542 target range: 321.799988 and range: 318.60 m.hM1@hIhIhIhIgIgQbgQjgQeYeYjeYJeY:e]|@雍QBɛB) ǿi)ѭ隙iKN=iiy˿ҡ:I1@IC"?B2?C`9D?DDEO5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015929VF V'SFa ZAq M >ZI bI AjI 3rI zI I 8I (3I q @i @u @m @-\x,#s[AJَ@yJ @9JtYJ+B>JH@j?8/s?}$?ԋ?`*_?Jَ@ɨJV'; JOCVJBVHHbHb<6fx}= j[=YnU:Q n>p٣p rGpvM v>x]~`49zڛk?:J~BoJBJ~9JJ|RJ~ZJ~J gAI gAa `4Yz% iz B¿q?zo4Cz;z;z`4 ޲A!2iAMFNOT Ignoring new targets: 321.80 m.iM)"iM)e ProNav: ac range: 321.799988 m, nav range: 301.363617 m, bearing: 270.576821 deg, approach rate: -0.898610 m/s, LOS rate: -0.006479 deg/s, cmd heading: 268.920175 deg, new cmd heading: 268.912885 deg.  ieKmHeadingCmd: 4.693415 target range: 321.799988 and range: 318.60 m.hmu0@hihihihigqgqbgqjgyeyeyjeyJe:e~@雭.QBɛ:-K) ƿi)Q4隱iN=i}˿Z:ĻIu0@ICr9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268563D?DDE4 EVFzFrFF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519989,cx,[AR@yRQЕ@9RRYR >RH3 ?Mѩ@:9 u??`?jc?R@ɨR; RPCZ KB^HeMb@Mb@Mb@aa a)aIayeʡE?i|?5?Mb?eo?eq=e= eA)eAIeAieAaeGAHuHu;6$= ?=Y8:Q >٣ GUF >]`49ǜk?a`4Y 0 i B;p?mb:zſq?4CM::`4GGGؿ>GGHG-LBG =GGyDG|<GFy }A}E2iFNOT Ignoring new targets: 321.80 m.iY"iY ProNav: ac range: 321.799988 m, nav range: 300.970337 m, bearing: 270.575475 deg, approach rate: -0.867459 m/s, LOS rate: -0.002973 deg/s, cmd heading: 268.912880 deg, new cmd heading: 268.908837 deg.  i HeadingCmd: 4.693345 target range: 321.799988 and range: 318.60 m.h /@h h h h g1g1bg1jg1e9e9je9Je9:eE@~/@雵EQBɛ,A) ǿi)0.隹iO=i˿;: I/@IC9D?DDEO5 EEE-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772585VF 4λF ZA M > @ix,Ș[A66@y6@96Y6>6H nX? Y@p? ?2? f?66@ɨ6x; 6NCVGKBZHI\)\HbHb:6j!> jV=YnB:Q n>l٣p rGrVFr r>t]z`49vk?az`4YvO9 iv1B|~ſq~?v.5Cvf;vQ;v`4 @A -B*** querying acoustic contact ***i)i)2iAEFNOT Ignoring new targets: 321.80 m.iMT"iMT] ProNav: ac range: 321.799988 m, nav range: 300.618591 m, bearing: 270.574448 deg, approach rate: -0.993323 m/s, LOS rate: -0.002903 deg/s, cmd heading: 268.908837 deg, new cmd heading: 268.905753 deg.  i]eHeadingCmd: 4.693291 target range: 321.799988 and range: 318.60 m.hep/@hahahahagigibgijgieqeqjeqJeq:e} @雥VQBɛ4P)= i)~L隩icP=i˿U:0/Ip/@IBgAB}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024132C9D?DDE3 EZIibImBjIm4rIizIiIm8Im3Ii:JuBoHBJu 9JJqRJuZJuVFJF ZA M >- BDAT read: Rx Time:19:00:38.2564 - TRx dataTimestamp_ set to:1736535638.9392115 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276600'px,[AJ@yJ@9JxYJ>JH@,?`ɨ}{? ??i?J@ɨJU_; JOCZdKBZ)HHfHf:6j~= nJ=Ynu8Q n>p٣p rGpvI v>x]~a49z:k?aa4Yz"C izxB9ƿq?z5Cz 3;z3;z?a4  A2i1=FNOT Ignoring new targets: 321.80 m.iE"iEU ProNav: ac range: 321.799988 m, nav range: 300.245636 m, bearing: 270.573581 deg, approach rate: -0.926397 m/s, LOS rate: -0.002157 deg/s, cmd heading: 268.905750 deg, new cmd heading: 268.903144 deg.  iUUHeadingCmd: 4.693245 target range: 321.799988 and range: 318.60 m.h]/@hYhYhYhYgYgabgajgaeieijeiJei:em`* @雝kQBɛzE) i)᷽隡iQ=i%˿ƭ::1ZI/@IC9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531063DDDE5 EGڿ>GGwHGtLBGGGzDG<GFHqHqVF -,F ZA M- >Qvx,ڕ[ADAT read: 19:00:38.2564 LVL= 26096, 32753, 25746, 32755, AGC= 64, IDX= 411,-0.03,-2.634, 2.296,-2.736, 2.763, PHS= 0.974,-0.420, 0.781, RAW= 142.6, -19.9, CAL= 148.2, -27.4, ROT= 1.8, 27.4 Ygot valid direction response: 19:00:38.2564 LVL= 26096, 32753, 25746, 32755, AGC= 64, IDX= 411,-0.03,-2.634, 2.296,-2.736, 2.763, PHS= 0.974,-0.420, 0.781, RAW= 142.6, -19.9, CAL= 148.2, -27.4, ROT= 1.8, 27.4 %PDAT read: Bearing 1.8, 27.4 (Local) %~Local bearing/azimuth received: Bearing 1.8, 27.4 (Local) 5DAT read: Range 10 to 50 : 316.5 m (Round-trip 422.0 ms) speed 0.8 m/s 5,DAT read: user:1022> =BDAT read: Tx time:19:00:39.3802 =$Ping request sent.=p pr \?PEj1?G\տIr}>ir\H>r=rG>p pm:publishing transmit ping time9mFpublishing direction and range infopYrbiee?e?^θsݿp9pp p)pIpippppp p)pIpippp pr \?PEj1?G\տIpipppp pލKBލYHMb@Mb@Mb@ )Iykt?y&1?Zd;? p?`e=y= MA)+AIi|A=AHH;6Ħ= ,=YQ > ٣   G-WF5 5>9]Ea49=Ȟk?aEa4Y=N i=BEq?mEa:M$ǿqM?=5C=Q:=:=a4q uAqZjrq?bjr~ ipirUܕ[Ajr@CjrbC2jr@prgq@j!@}:4bzprbiee?e?^θsݿ"jr=*jrG>pr:0@d8NrfQFYpr0?ԫ8c}x,&[A2h@y2w@92Y2>2H@1?忿`6K@;?B ? ?h?2h@ɨ2; 0:KB:HHF\HFY46Jl:> NU=YNQ N>P٣P RGRXFV|M V>X]^a49Zk?a^a4YZW iZ'B\^ǿq^?ZX6CZu:Z:ZF a4d f&AfE2ixzFNOT Ignoring new targets: 316.50 m.i~Y_"i~Y_  ProNav: ac range: 316.500000 m, nav range: 299.454926 m, bearing: 270.573143 deg, approach rate: -1.064567 m/s, LOS rate: -0.000048 deg/s, cmd heading: 268.899712 deg, new cmd heading: 268.899665 deg.  i HeadingCmd: 4.693184 target range: 316.500000 and range: 316.50 m.h.@hhhhggbgjg!e!e)je)Je):e-A?QBɛrS) ]i)ixR=i '˿W :\I=.@IQCE9^D}fm=D D! D! E% 1 E) G ٿ>G G HG LBG =G G G <G 0FVFU *UF1ZAIM}>u_x,[A:1@y:-A@9:6Y:9>:Hg`?,@T @^?`V?O? g?:1@ɨ:a; :PCF LBFHMb@Mb@Mb@ )IyuV? ףp= ?~jt?rh?Q8== |A)IZAi۲A3AHcH56= !=YQ >٣ GYF]W >]a49k?aa4Yc iBi?mh:4ʿq?6C;(;2a4 A2iimFNOT Ignoring new targets: 316.50 m.iue8"iue8 ProNav: ac range: 316.500000 m, nav range: 299.002930 m, bearing: 270.574780 deg, approach rate: -0.864528 m/s, LOS rate: 0.003135 deg/s, cmd heading: 268.899657 deg, new cmd heading: 268.904575 deg.  i 9HeadingCmd: 4.693270 target range: 316.500000 and range: 316.50 m.hE/@hhhhggbgjgeejeJe:e?mQBɛm8)q uiq)uqqiuS=iV˿:*:IE/@IC9^Di=Du ?Dq Dq Eu 0 Eq ZI TbI FjI 3rI zI {9I 9I (3I VFňFyZAM?O1x,uU7[A:JFJBJF9JJDRJFZJFJJ? JJ?F@yFl @9FYF>FH@6l&? f@v@Ѡ`@=?@n?X?^d?F@ɨF; DZGLBZ@HHb*Hb.6j`> j(=YjcQ n>l٣l nGlr r>t]za49vEk?aza4Yv8o ivBxzʿq~?v:7CvK:v:v Ca4 >A%B*** querying acoustic contact ***i!i!2i)5FNOT Ignoring new targets: 316.50 m.i5ٓ8"i5ٓ8M ProNav: ac range: 316.500000 m, nav range: 298.572388 m, bearing: 270.576685 deg, approach rate: -0.911796 m/s, LOS rate: 0.004039 deg/s, cmd heading: 268.904575 deg, new cmd heading: 268.910297 deg.  iMk19MHeadingCmd: 4.693370 target range: 316.500000 and range: 316.50 m.hU0@hQhQhQhQgQgQbgYjgYeYeYjeaJea:eex?雍QBɛt<>) i)½隑i/S=i˿}|: ԼI0@IC9CCCCT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D?DDE EVFVF ZA M% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755626x,Q[AG$G$G&HG&^MBG& =G$G$G&<G&FB@yBT.@9B~CYBM>BH ? `@`#?w? T?@b?B@ɨBI2; BNCZLBZHMb@Mb@Mb@ )IyS?S㥛?ˡE?/]?/<= )ZAI+AiApAHaH463> ==Y:Q >٣ GZF; >]a49Lk?aa4Yx i[BI^?mt:Ϳq?7C;:+Ra4 AE2i!-FNOT Ignoring new targets: 316.50 m.i-F8"i-F8= ProNav: ac range: 316.500000 m, nav range: 298.207703 m, bearing: 270.579606 deg, approach rate: -0.842184 m/s, LOS rate: 0.006756 deg/s, cmd heading: 268.910285 deg, new cmd heading: 268.919061 deg.  iE]9EHeadingCmd: 4.693523 target range: 316.500000 and range: 316.50 m.hMW1@hIhIhIhIgIgYbgYjgYeaeajeaJea:emm?雍QBɛ@g=) ?i)Ž隙iCT=iz˿8n:MƼIW1@ID!D!D)E-0 E)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005059 MGmlA )]LylA9x,j[A6)/@y6v>@968+Y6W >6H?@fڠ`B?t? ? _?6)/@ɨ6\; 4>LB>HHF;HF06N5> R_=YR<9Q R>T٣X ZGZ[FZ¯; Z>\]ba49^k?afa4Y^ i^Bdf̿qf?^7C^:^:^^a4h nAlEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2562202iYeFNOT Ignoring new targets: 316.50 m.ie68"ie68u ProNav: ac range: 316.500000 m, nav range: 297.898682 m, bearing: 270.581986 deg, approach rate: -0.816052 m/s, LOS rate: 0.006290 deg/s, cmd heading: 268.919055 deg, new cmd heading: 268.926200 deg.  i 9HeadingCmd: 4.693648 target range: 316.500000 and range: 316.50 m.h]2@hhhhggbgjgeejeJe:e F@EQBɛE\?)A E{iI)MǽIIiMT=i}u˿a:FI]2@IDDDE2 EZISbIjIrIzI;9III:JBoHBJ]9JJRJZJ JfAIfAVF8F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510214ZA M5 >x$x,ʄ[AB.D@yB{S@9BoYBe~ >BHNEװ?`L@;@?^}?`r?\?B.D@ɨB2; BPCNMBN+HHV,HV/6^?= ^H=Yb+(Q b>`٣` fGdfG; f>h]-a49jk?a-a4Yj ijB15̿q5?j>8CjN > < checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012574YKx,9[AY@yh@9YO>Hlx? : $$???Z?Y@ɨb; NCWMBHMb@Mb@Mb@ )IyS? =(=YEQ E>A٣A MGM\FMd; M>Q]]a49UAk?a]a4YU iU`BeP?me:eοqe?U8CU:U4:U1~a4i u AuE2i9=FNOT Ignoring new targets: 316.50 m.iE9"iE9U ProNav: ac range: 316.500000 m, nav range: 297.172974 m, bearing: 270.588576 deg, approach rate: -0.772459 m/s, LOS rate: 0.008280 deg/s, cmd heading: 268.933699 deg, new cmd heading: 268.946003 deg.  iUԵ9]HeadingCmd: 4.693993 target range: 316.500000 and range: 316.50 m.h]15@hYhYhYhYgagabgijgieieijeiJeq:eu`q @雥#RBɛ3) i)˽隩ipU=ij˿aI:pI15@IDYDYDYEe0 Eaechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264648VFE F1 ZA9 MU >ux,hu[A6n@y6,~@96JY6>6H ;?I`=`2?`0??@iW?6n@ɨ6Ty; 6PC>MBBHHJHJ*6R;> R=YRQ R ?T٣T VGV]FZ< Z ?X:J~LBJ~9JJ|RJ~ZJ~J%? J%>]Ea49ZYk?aMa4YZ iZBIMοqM?Z8CZ!)a eia)<ͽ隉i-JV=i5x,lӖ[AZIbRbIbCjIb4rI`zIb9Ib=8Ib3I`IbK:qfIbK:ifIb19ufIb69mfm@ymP@9mYm]T>mHx"E?`c z@C?N? ? U?m@ɨm; mNCޕMBޝHI)%Mb@Mb@Mb@!! !)!I!y%{Gz?{Gz?V-?%C?%#<%m= !)!I!i%A!% AHMHMb(6]= ]+=Y]Q ]>a٣a eGam; m>q]}a49uGk?a}a4Yu" iuBkD?m:Ϳq?u<9Cu:u:ua4 MA2iFNOT Ignoring new targets: 316.50 m.if9"if9 ProNav: ac range: 316.500000 m, nav range: 296.564636 m, bearing: 270.594314 deg, approach rate: -0.809778 m/s, LOS rate: 0.007180 deg/s, cmd heading: 268.953725 deg, new cmd heading: 268.963233 deg.  i9HeadingCmd: 4.694294 target range: 316.500000 and range: 316.50 m.h7@hhhhggbgjgeejeJe:e@6@%MRBɛ%7) i)|*Ͻ隩i?V=i`˿F8:ZqI7@I}DAT read: 19:00:42.2019 LVL= 22496, 32753, 19010, 32755, AGC= 63, IDX= 399, 0.27,-0.383,-1.772,-0.385,-1.153, PHS= 0.858,-0.573, 0.765, RAW= 146.7, -15.0, CAL= 153.1, -22.9, ROT= 356.9, 22.9 Ygot valid direction response: 19:00:42.2019 LVL= 22496, 32753, 19010, 32755, AGC= 63, IDX= 399, 0.27,-0.383,-1.772,-0.385,-1.153, PHS= 0.858,-0.573, 0.765, RAW= 146.7, -15.0, CAL= 153.1, -22.9, ROT= 356.9, 22.9 PDAT read: Bearing 356.9, 22.9 (Local) ~Local bearing/azimuth received: Bearing 356.9, 22.9 (Local) D?DDE1 EDAT read: Range 10 to 50 : 313.1 m (Round-trip 417.5 ms) speed 1.1 m/s ,DAT read: user:1023> BDAT read: Tx time:19:00:43.2802 $Ping request sent. A AE:_k?-O ?9WпIET>iE>EQ]E>A A:publishing transmit ping timeFpublishing direction and range infoAYEX[No? `i+hؿA9AA A)AIAiAAAAA A)AIAiAAA AE:_k?-O ?9WпIAiAAAA AVF 'F ZA M >Ǻx,Y4[A6@y6孕@96XuY6^>6H ?9@ɋ K??@?S?6@ɨ6; 6QC>MBB\HHJHJ&6b1> bi=YfQ f>d٣d fGf^Fj< j>1]=a495k?a=a4Y5A i51B9E@ͿqE?59C57;5;5a4I MЬAIZj}(h?bj}G) iyi}nޖ[Aj}Cj}C2j}@p}"!r@{1/d}ku^zp}X[No? `i+hؿ"j}Q]*j}>p},ޙl Q!ߢ:MhrP+6Sp}>WPQ^* J'пi}kj} i}Yh?i}#  j}@zj}ӨdMl?j}\R j}jj}Crj}@ addTargetRange:: Added new target pos. range: 313.100006 m, deltaT: 4.032807 s, deltaX: -3.399994 m, approachRate: -0.843084 m/s, rangeRepo size: 4  Added new target pos. range: 313.100006 m, bearing: 268.362301 deg, lat: 36.903903 deg, lon: -122.119252 deg, deltaT: 4.032807 s, deltaX: -3.399994 m, approachRate: -0.843084 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 313.10 m.i"i ProNav: ac range: 313.100006 m, nav range: 299.986176 m, bearing: 270.413203 deg, approach rate: 0.000000 m/s, LOS rate: 0.007180 deg/s, cmd heading: 268.963233 deg, new cmd heading: 268.971109 deg.  iHeadingCmd: 4.694431 target range: 313.100006 and range: 313.10 m.h8@hhhhggbgjgeejeJes@:e ?aRBɛ%;:)! %Qi!)%н!)i-W#W=i-J\˿51:5&LI58@I9DDDEP5 E:JBoIBJ 9JJRJZJ 'JhAIhAVF-JiF ZA! M= >#x,[AR*@yRx@9RYR>RH^P? 84??%?`? a?R*@ɨRE; RNCZ2NBZHHbHbg!6j= jI=YnҴQ n>l٣p rGr_FrL r>t]~a49vk?a~a4Yv ivwBBͿq?v9Cv6;v7;v~a4  iA E2i1=FNOT Ignoring new targets: 313.10 m.i={8"i={8M ProNav: ac range: 313.100006 m, nav range: 299.690521 m, bearing: 270.415464 deg, approach rate: -0.754913 m/s, LOS rate: 0.005778 deg/s, cmd heading: 268.971101 deg, new cmd heading: 268.977890 deg.  iU}9]HeadingCmd: 4.694550 target range: 313.100006 and range: 313.10 m.h]9@hYhYhYhYgYgabgajgaeaeijeiJei:emP?雝vRBɛA6) |i)qҽ隡iW=imX˿*:hI9@ID5?D9D9E=05 EAE]=E]=*Ge<"GaGmؿ>GiGmHGmOBGiGiGiGm<Gm)FZITbILjI3rIzI{9Iq9I(3II#w:I-w:I:I:VFUKFU?FU?F ZA!M=>x, [A6Y@y6@96]Y6>6H`@?@ ? ZD?e? X]?6Y@ɨ6; 6OCR_NBRHV%=iVp>5Mb@Mb@Mb@11 1)1I1y5S?{Gz?5:?55#= 1)5AI5Ai5|A15̦AHHM6-= ?=YfQ >٣ G)>; >]a49k?aa4Y iB:?m:xοq?:C;;wa4 A2iFNOT Ignoring new targets: 313.10 m.i8"i8 ProNav: ac range: 313.100006 m, nav range: 299.384674 m, bearing: 270.418361 deg, approach rate: -0.713759 m/s, LOS rate: 0.006769 deg/s, cmd heading: 268.977877 deg, new cmd heading: 268.986578 deg.  i9HeadingCmd: 4.694701 target range: 313.100006 and range: 313.10 m.h:@hhh!h!g!g!bg)jg)e)e)je)Je1:e5 ?eRBɛe;2)i m慿ii)mZԽiiimW=i}tS˿":UI:@IDDD E P5 E չսAVF- UF ZA M- >x,:[A6C@y6@96hY6 >6H0`?;y1?l?@$? W?6C@ɨ6*Ë; 4BNBB HHJHJ06R6= V[=YVBWQ V>X٣X ZGZ`FZ); ^>d]ja49fk?aja4Yf& ifBhn_οqn?f`:Cf:f;fa4p rAp:J~KBJ~9JJ|RJ~ZJ~EOKD<611.*$"&&  J  ? J '?B*** querying acoustic contact ***ii2i!-FNOT Ignoring new targets: 313.10 m.i-68"i-68 ProNav: ac range: 313.100006 m, nav range: 299.117340 m, bearing: 270.420860 deg, approach rate: -0.710115 m/s, LOS rate: 0.006645 deg/s, cmd heading: 268.986565 deg, new cmd heading: 268.994069 deg.  i9HeadingCmd: 4.694832 target range: 313.100006 and range: 313.10 m.h<@hhhhggbgjgeejeJe:ee?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.eRBɛm43)i mӂii)m ֽiiiu"X=i'O˿3:KI<@IDIDIDIEM85 EIEUEUEUEUFZAM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740201Gm ׿>Gi Gm _HGm OBGi Gi Gi Gm <Gm F`x,T[AH0H2@AZI6UbI6IjI4rI4zI69I6 9I4I4I6^:I6c:I6.9I639B8@yB͕@9BYBx%>BHcl?*i8?g?@? mS?B8@ɨB̋; BPC^NB^CHMb@Mb@Mb@ )Iy5^I ?/$?8?< MA)IAi۲AfA HH#6N= 7=Y!9Q >٣ GaF; >] a49“k?a a4Ym i-B$8?m:Ϳq?:C ; ;a4! %YA!2iIUFNOT Ignoring new targets: 313.10 m.i]8"i]8m ProNav: ac range: 313.100006 m, nav range: 298.803345 m, bearing: 270.423419 deg, approach rate: -0.710215 m/s, LOS rate: 0.005793 deg/s, cmd heading: 268.994078 deg, new cmd heading: 269.001761 deg.  imm~9uHeadingCmd: 4.694966 target range: 313.100006 and range: 313.10 m.hu*=@hqhqhqhqgygybgyjgyeejeJe:e?雵RBɛm2) /i)¿׽隹ioX=iJ˿: ($I*=@IDDDE/5 E5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991270FaZAiM9>x,~n[A) @2؎@y2@92Y2N>2Hj'?`RWAy? d?@ ?iP?2؎@ɨ2X; 2NCBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.242417FNBFkHHrHr"6-= -W=Y5#9Q 5>9٣9 =G9E= < E>I]Ua49Mk?aUa4YM iM_BY](Ϳq]?M:CM;MO;M_a4a eAeE2iFNOT Ignoring new targets: 313.10 m.i8"i8 ProNav: ac range: 313.100006 m, nav range: 298.534454 m, bearing: 270.425451 deg, approach rate: -0.707333 m/s, LOS rate: 0.005351 deg/s, cmd heading: 269.001755 deg, new cmd heading: 269.007858 deg.  i k9HeadingCmd: 4.695073 target range: 313.100006 and range: 313.10 m.h >@hhhhggbgjgeejeJe:e:y@RBɛV5) }i)JٽiX=i EG˿ ~: ԤI  >@IDDDE 4 EFZAM (>:J5ђMBJ5ػ9JJ1RJ5ZJ5 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494158x,iU[AR@yR@9R YR >RH И?uPf ­?`o??N?R@ɨR; PrNBrHHzHzh 6= M=Y ejQ  > ٣   G bF< >y]a49}Tk?aa4Y}( i}B̿q?}@;C};;};}a4 A2iFNOT Ignoring new targets: 313.10 m.i8"i8 ProNav: ac range: 313.100006 m, nav range: 298.244324 m, bearing: 270.427466 deg, approach rate: -0.698257 m/s, LOS rate: 0.004854 deg/s, cmd heading: 269.007847 deg, new cmd heading: 269.013897 deg.  i.U9%HeadingCmd: 4.695178 target range: 313.100006 and range: 313.10 m.h%>@h!h)h)h)g)g1bgAjgIeQeYjeYJea:ee@@雍RBɛZ2) }i)[۽隙i3 Y=iC˿ds:򢠻I>@IաեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750163DDDE5 EGGG!G%CG%HG%PBG!G!G!G%<G%FFZAMI>H}R=H}=I 3I 3I /.IIIZITbI@jI4rIzI{9I[8I3II#w:I-w:Iel9Iol9I) )- ːCM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999224 VG ;mA ) -y% ;mA% n B&x,1[A2d @y2@92Y2c>2H㕿C?@; uH+=???@R%?L?2d @ɨ2Y%; 2OCBOBBHUMb@Mb@Mb@QQ Q)QIQyUv?:v?Mbp?U8?UT٣ G; >]b499k?ab4Y iB8?m:ɿq?;C-;; b4 A2iFNOT Ignoring new targets: 313.10 m.i 7"i 7 ProNav: ac range: 313.100006 m, nav range: 297.954773 m, bearing: 270.428123 deg, approach rate: -0.721176 m/s, LOS rate: 0.001640 deg/s, cmd heading: 269.013885 deg, new cmd heading: 269.015860 deg.  i8HeadingCmd: 4.695212 target range: 313.100006 and range: 313.10 m.h.?@hhhhggbg jg e e je Je:e2 @雽SBɛH3) zi)ܽipZY=iB˿= :~0I.?@IDu?DqDqEu3 EqBDAT read: Rx Time:19:00:46.0977 TRx dataTimestamp_ set to:1736535646.751092checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251195VFKF?F?Fi ZAq M >Px, [A:F#@y:2@9:xY:l)>:H@ ~?3k?r?d٣d jGjcFj; j>l]rb49n0k?arb4Yn inBtv?ɿqv?n;Cn:n:n<b4x zwAxB*** querying acoustic contact ***ii2i)5FNOT Ignoring new targets: 313.10 m.i57"i57E ProNav: ac range: 313.100006 m, nav range: 297.683044 m, bearing: 270.428589 deg, approach rate: -0.711629 m/s, LOS rate: 0.001221 deg/s, cmd heading: 269.015852 deg, new cmd heading: 269.017251 deg.  iMoV8MHeadingCmd: 4.695237 target range: 313.100006 and range: 313.10 m.hUa?@hQhQhQhQgQgQ:J]~KBJ]S9JJYRJ]ZJ]bgijgieieqjeqJeq:eu T @雝SBɛS8) zi)޽隡i5Y=iA˿ :1Ia?@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519574Du?DqDqE}0 EyVFmF!ZA1MM1>G% Կ>G! G% &IG% bPBG! G! G! G% <G% FH HCHH"H*H`4 DAT read: 19:00:46.0977 LVL= 23248, 32753, 24690, 32755, AGC= 65, IDX= 418, 0.19,-2.079, 2.996,-2.007,-2.820, PHS= 0.829,-0.421, 0.810, RAW= 149.2, -19.2, CAL= 154.8, -26.3, ROT= 355.2, 26.3  Ygot valid direction response: 19:00:46.0977 LVL= 23248, 32753, 24690, 32755, AGC= 65, IDX= 418, 0.19,-2.079, 2.996,-2.007,-2.820, PHS= 0.829,-0.421, 0.810, RAW= 149.2, -19.2, CAL= 154.8, -26.3, ROT= 355.2, 26.3  PDAT read: Bearing 355.2, 26.3 (Local)  ~Local bearing/azimuth received: Bearing 355.2, 26.3 (Local)  DAT read: Range 10 to 50 : 309.9 m (Round-trip 413.3 ms) speed 0.1 m/s  ,DAT read: user:1024> X:x,l՗[A2c0@y2?@92iY2Ϟ>2HPΫ?,¿u?Q?`?@J?`I?2c0@ɨ2; 2NCBHOBBHNBDAT read: Tx time:19:00:47.1802 R$Ping request sent.Ra ae`?٧?:wԿIeS?ie>ee>a a :publishing transmit ping timeP Fpublishing direction and range infoaYepB?@4j3,G[ܿa9aa a)aIaiaaaaa a)aIaiaaa ae`?٧?:wԿIaiaaaa a=Mb@Mb@Mb@99 9)9I9y=Gz??Mb`=p=?=<= 9)=AI=Ai=A9=¥AHHM6c= #=YQ >٣ GdFQ; >]b49k?ab4Y i/B=?m:ƿq?-peP~b ~Vnr9Wpe ZNbsg[ ӿierjeiei]h?ieJ  jeW,zjei]h?jajajjeCrje\@ addTargetRange:: Added new target pos. range: 309.899994 m, deltaT: 3.796620 s, deltaX: -3.200012 m, approachRate: -0.842858 m/s, rangeRepo size: 4  Added new target pos. range: 309.899994 m, bearing: 268.408702 deg, lat: 36.903809 deg, lon: -122.119252 deg, deltaT: 3.796620 s, deltaX: -3.200012 m, approachRate: -0.842858 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 309.90 m.iE"iAU ProNav: ac range: 309.899994 m, nav range: 297.421631 m, bearing: 268.422613 deg, approach rate: 0.000000 m/s, LOS rate: 0.001221 deg/s, cmd heading: 269.017246 deg, new cmd heading: 269.019140 deg.  iQJDAT read: TxSync time:19:00:47.1794 ]HeadingCmd: 4.695270 target range: 309.899994 and range: 309.90 m.h?@hhhhggbgjgeejeJe`f^s@:e#?=6SBɛ=4,)=Sg= ={i9)EVAAiEtY=iM@˿Mo :M6:IM?@IQD ?DDEO5 EVF5 xF ZA MU >/x, [A2O<@y2K@92xY2>2H`ɭ??A¿@0|???W? F?2O<@ɨ2; 0>eOB>HHF^HF66N= Nt=YRwQ R?P٣T VGTV); V?\]bb49^k?abb4Y^ i^WB`bƿqb?^l@h!h!h)h)g)g)bg1jg1e1e1je9Je9:e=`E?eGSBɛe C)i mxii)wv!i%d@ID?DDE3 EVF˴F:JJQJBJ9JJRJZJZAM k>tx,? [AR@yR!/@9R"YR2 >RH X@=?APse?e?@?@?@M?R@ɨRw<; RMC~qOB~%HI)A) = a=HH6%< %C=Y%Q %>)٣) -G-eF5 5>9]Eb49=~k?aEb4Y=" i=BAE ǿqE?=GGRIGPBG =GGyDGV<GFmeSBɛm$1)i m|iq)uhzqqiuMwZ=i}H˿}^ :}&I}=@ID9D9D9E=4 E9VF FY ZAy M >x,Q%[A>@y>E+@9>έ$Y> N>>H=ѓ?\T`df?r?@ ??VH?>@ɨ>e; >PCFOBJY٣Y ]GefFe e>i]b49mgk?ab4YmF imBC?m:Ŀq?m =Cm;m;muQb4 ũA2iFNOT Ignoring new targets: 309.90 m.i"i ProNav: ac range: 309.899994 m, nav range: 296.561493 m, bearing: 268.414161 deg, approach rate: -0.705289 m/s, LOS rate: -0.008558 deg/s, cmd heading: 269.004979 deg, new cmd heading: 268.993746 deg.  iHeadingCmd: 4.694827 target range: 309.899994 and range: 309.90 m.h<@hhhhggbgjgeejeJe:ex?zSBɛH=) O}i)fiÿZ=iVO˿ :UI<@I ^DUz=DYZI}SbI}DjI}3rIyzI};9I}8I}(3IyDDDER5 EEhAEiA:J BoHBJ 9JJ RJ ZJ VF >F ZA M>Ըx,:C[AJ?@yJ+@9J<%YJXl>JH|Ǔձ?@Sw@Zцi?`?D??E?J?@ɨJIP; HROBR[HHZHZ 6b_= b8=YfhQ f>d٣h jGhju8 n>t]b49vek?a b4Yv ivB Ŀq?v`=Cvϼ;vu;vab49 =A=EUB*** querying acoustic contact ***iYiY2iyFNOT Ignoring new targets: 309.90 m.i."i. ProNav: ac range: 309.899994 m, nav range: 296.226593 m, bearing: 268.410091 deg, approach rate: -0.784827 m/s, LOS rate: -0.009550 deg/s, cmd heading: 268.993750 deg, new cmd heading: 268.981524 deg.  iѹHeadingCmd: 4.694613 target range: 309.899994 and range: 309.90 m.hF:@hhhhggbgjgeejeJe:e`yP?SBɛm7)i m}ii)uyyi}Z=iQV˿ :bgIF:@I^D8k=D9D9D9E=4 E9Y]AmT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.Gѿ>GGqIGPBGGGG@<GFVF 'HFY ZAi M >vx,\[A:5@y:+@9:%Y:lv>:H`ȓ@ʱ?xVi?o? ? ?E?:5@ɨ:; :NCROBRHV;>iV>TVA5Mb@Mb@Mb@11 1)1I1y5Q?+?Mbp5\O?5=1 5 A)5tAI5tAi5 A15£AHUHU."6e= eA=YmWѷQ m>i٣q uGugFu= u>y]b49};k?ab4Y} i}/BO?m:Lſq?}=C}E:},:}ob4 XA2iaeFNOT Ignoring new targets: 309.90 m.im "im } ProNav: ac range: 309.899994 m, nav range: 295.889954 m, bearing: 268.406359 deg, approach rate: -0.778105 m/s, LOS rate: -0.008636 deg/s, cmd heading: 268.981538 deg, new cmd heading: 268.970329 deg.  i}HeadingCmd: 4.694418 target range: 309.899994 and range: 309.90 m.h8@hhhhggbgjgeejeJe:e@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.176170SBɛ7) |i ) q  i--@[=i5\˿=@ :=AI=8@I9^D}Xh=D) D) D) E- N3 E) m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.428218ZI UbI FjI rI zI 9I 9I I VFU F)ZA1MU>jx,{z[AB@yB"@9B&YB>BHٔr?}Òa? ?x?`b?D?B@ɨB; BPCNOBNzHHVHV"6b/+ b6=Yb@2Q f>d٣d fGfhFj@ j>l]rb49nk?arb4Ynp# inlBpvnſqv?n>Cn:n:nib4x zaA|2i%FNOT Ignoring new targets: 309.90 m.i%Q'"i%Q'= ProNav: ac range: 309.899994 m, nav range: 295.531799 m, bearing: 268.402452 deg, approach rate: -0.837157 m/s, LOS rate: -0.009142 deg/s, cmd heading: 268.970336 deg, new cmd heading: 268.958602 deg.  i=ȹEHeadingCmd: 4.694213 target range: 309.899994 and range: 309.90 m.hE6@hAhAhAhIgIgIbgQjgQeQeYjeYJeY:e] @雅SBɛ,<) i)_1隉i3[=ioc˿u.:ɺI6@ICCCC:Jek3IBJeh9JJaRJeZJechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.680153DDDEZ5 EVF > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934529G G AAG Ͽ>G CG IG QBG G G G <G FFQ ZA M >b6%x,ܕ[Av@yv@9v&Yv>vH@JI?`[@ۑ&3? N? ͹?Ȗ?"E?v@ɨv|; vOC~OB~HMb@Mb@Mb@ )Iyx?Q?KW?u= hA)IғAi9AAHH#6_e= 1=YO|Q >٣ GiF >]b49k?ab4Y- iBW?m{:¿q?t>C*$;;b4! -,A)2iIUFNOT Ignoring new targets: 309.90 m.i]c"i]cm ProNav: ac range: 309.899994 m, nav range: 295.150330 m, bearing: 268.396736 deg, approach rate: -0.827123 m/s, LOS rate: -0.012409 deg/s, cmd heading: 268.958615 deg, new cmd heading: 268.941446 deg.  imCuHeadingCmd: 4.693914 target range: 309.899994 and range: 309.90 m.hu4@hqhqhqhqgygybgyjgeejeJe:eE7 @雽SBɛB:) Ri)i[=i>m˿?::I4@IDqDqDqEu5 EqMBDAT read: Rx Time:19:00:49.9945 MTRx dataTimestamp_ set to:1736535650.547409Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.185387VFpFi ZAy M >DT+x,[A2x@y2@92&Y2+>2H Θh٣h jGhjϻ n>p]vb49rޙk?avb4Yrr5 irBtv ÿqv?r>Cr`:rK:r3b4| ~A~E2iFNOT Ignoring new targets: 309.90 m.i\T"i\Tchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.436230 ProNav: ac range: 309.899994 m, nav range: 294.849426 m, bearing: 268.392339 deg, approach rate: -0.793210 m/s, LOS rate: -0.011604 deg/s, cmd heading: 268.941458 deg, new cmd heading: 268.928252 deg.  i%%HeadingCmd: 4.693684 target range: 309.899994 and range: 309.90 m.h-2@h)h)h)hqgygybgjgeejeJe:e } @雽SBɛ<) _i)i#\=it˿1:NI2@IZI5WbI5BjI54rI1zI5;9I58I53I1DyDDE@5 Em checking for new query: numPingsReceived=0, elapsed TxPingTime=3.688143:Ju BoHBJu 9JJq RJu ZJu VF iF ?F >F ZA M ><2x,aɘ[A2f@y2@92ڝ&Y2Bv >2H? k`Yq]?`٣` bGfjFf_ j>l]rb49n"k?avb4YnD> in"BtzRÿqz?n?Cn9;n9;nNb4 AMB*** querying acoustic contact ***iIiI2iamFNOT Ignoring new targets: 309.90 m.iui\"iui\ ProNav: ac range: 309.899994 m, nav range: 294.515076 m, bearing: 268.387586 deg, approach rate: -0.846166 m/s, LOS rate: -0.012044 deg/s, cmd heading: 268.928262 deg, new cmd heading: 268.913985 deg.  i?HeadingCmd: 4.693434 target range: 309.899994 and range: 309.90 m.h0@hhhhggbg!jg!e!e!je)Je):e-e@TBɛ:B) i)/piEx\=i|˿*}:,VĻI 0@I  DAT read: 19:00:49.9945 LVL= 18416, 18017, 14578, 21891, AGC= 67, IDX= 242,-0.02, 0.925,-0.543, 0.720, 0.188, PHS= 0.825,-0.683, 0.529, RAW= 139.3, -9.7, CAL= 145.9, -20.0, ROT= 4.1, 20.0 GE̿>GAGEIGEBQBGE =GAGAGE<GE}FYgot valid direction response: 19:00:49.9945 LVL= 18416, 18017, 14578, 21891, AGC= 67, IDX= 242,-0.02, 0.925,-0.543, 0.720, 0.188, PHS= 0.825,-0.683, 0.529, RAW= 139.3, -9.7, CAL= 145.9, -20.0, ROT= 4.1, 20.0 PDAT read: Bearing 4.1, 20.0 (Local) ~Local bearing/azimuth received: Bearing 4.1, 20.0 (Local) D!D!D)E-4 E)eDAT read: Range 10 to 50 : 307.5 m (Round-trip 410.1 ms) speed 0.6 m/s ,DAT read: user:1025> BDAT read: Tx time:19:00:51.0802 $Ping request sent.% U0E?k ?wi->C=¸> :publishing transmit ping timeFpublishing direction and range infoYB?0_3?Kjտ9 )Ii )Ii U0E?k ?w } G lA ) s!y lA 6Be8x,e9[A:ʎ@y:ٕ@9:Ӈ&Y:B% >:H@ڝJ? @a?~ : ???tJ?:ʎ@ɨ:e; 8N+PBNI}Mb@Mb@Mb@yy y)yIyy} r?&1?~jt?}c?}P=}< }A)}ғAI}Ai}hAy}GAHHg"6W= ,=Y99Q >٣  G kFl >]%b49k?a%b4YAI itB%d?m%n:%ſq-??C:4:b4Q ]{AYZj9 t?bj f* ii\Ә[AjCjC2jZ@pOtr@ǝڨ4@C9JZzpB?0_3?Kjտ"jC=*j¸>pqlж9@ rIcjJpp͚Sh??IH^>x,.[A6X@y6@96&Y6{=6HVɠ@e?` ^A ?9??W?6X@ɨ6f; 6MC>LPB>IHFHF6Rξ= Rk=YVQ V?T٣T ~G|* > ]b49 k?ab4Y fQ i B=ƿq? ?C  ; ? ; Ub4) -:A-E2iQ]FNOT Ignoring new targets: 307.50 m.i]78"i]78u ProNav: ac range: 307.500000 m, nav range: 297.006165 m, bearing: 273.241424 deg, approach rate: -0.916265 m/s, LOS rate: 0.006098 deg/s, cmd heading: 268.896406 deg, new cmd heading: 268.902575 deg.  iu9}HeadingCmd: 4.693235 target range: 307.500000 and range: 307.50 m.h}.@hyhyhyhyggbgjgeejeJe:e?雽HTBɛ:J) ~i)i!]=iz˿F99I.@I:JBJͼ9JJRJZJDDDE0 EVF];3zFeiArFeeAFZA!MM1>*G "G 4=G ȿ>G G IG QBG G G xDG D<G FH}C H}CHyH}ʟ ="H}ʟ =*H}5Ex,[AZIBTbIBLjIB3rI@zIB{9IBq9IB(3I@IB"w:qJIB,w:iJIB:uJIB:mJ^;@y^@9^''Y^=^H?@_đ8?@F?/?U?^;@ɨ^6; ^NC5fPB5(IMb@Mb@Mb@ )Iyv/?l?Q?xi?=\= "A)AI^AiĮAAH H 16%b= %5=Y%&Q %>)٣) -G-lF5\# 5>9]Eb49=k?aEb4Y=[ i=BEi?mEh:E=ɿqM?=6@C={:=:=b4Q UAQ2iy}FNOT Ignoring new targets: 307.50 m.i79"i79 ProNav: ac range: 307.500000 m, nav range: 296.611511 m, bearing: 273.245844 deg, approach rate: -0.895791 m/s, LOS rate: 0.010047 deg/s, cmd heading: 268.902581 deg, new cmd heading: 268.915860 deg.  i9HeadingCmd: 4.693467 target range: 307.500000 and range: 307.50 m.h0@hhhhggbgjgeejeJe:e P?dTBɛC>) i)σiu]=i{˿U9wI0@ID!D!D!E! E!VFE F! ZA) MM >Kx,1[A2j@y21z@92'Y2>2H"Ѥ$?@$`c?`??@P?2j@ɨ2fW; 0RPBRJIHZHZ"6b> bd=Yb*Q b>d٣d fGdj# j>l]rb49njk?arb4Yn?d inKBprɿqv?n@Cnw;n/;nMb4x ~A|2i)-FNOT Ignoring new targets: 307.50 m.i5$B9"i5$B9E ProNav: ac range: 307.500000 m, nav range: 296.291931 m, bearing: 273.249665 deg, approach rate: -0.886508 m/s, LOS rate: 0.010608 deg/s, cmd heading: 268.915858 deg, new cmd heading: 268.927331 deg.  iE9MHeadingCmd: 4.693667 target range: 307.500000 and range: 307.50 m.hM2@hIhIhQhQgQgQbgYjgYeYeYjeaJea:eeT?雕{TBɛMD) wi)隙i]=iTu˿!p9DI2@IDzDgAD1D1D1E1 E1VF KFZAM%>:Je BHBJe S9JJa RJe ZJe J} ? J} ?Rx,K[AN%a@yNsp@9Nb'YN>NH`2k` ? 9 Y rZ??:?O?N%a@ɨN; LzPBzcIHH"6%= %D=Y- :Q 5>9٣9 EGEmFE9 E>I]]b49M6k?a]b4YM"n iMBYeɿqe?M@CM;MZ:Mb4i mHAiB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 307.50 m.i-@9"i-@9 ProNav: ac range: 307.500000 m, nav range: 295.917480 m, bearing: 273.254243 deg, approach rate: -0.861200 m/s, LOS rate: 0.010544 deg/s, cmd heading: 268.927333 deg, new cmd heading: 268.941087 deg.  i9HeadingCmd: 4.693907 target range: 307.500000 and range: 307.50 m.h}4@hhhhggbgjgeejeJe:eV?UTBɛ]ϭ;)Y ]tiY)]{Yaie^=iwm˿Oγ9cI}4@I-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.GeĿ>GeCGeIGeQBGe =GaGaGe_<GeFDDDE EEiAEhAZIbICjIrIzII=8III w:I*w:I/9I49VF= שhFE ?FE ?F1 ZAA M] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197365; Yx,e[A PB IMb@Mb@Mb@ )Iyv/?~jt?J +?<H= |A)AIAiA3AHH"6O= ==YQ >٣ GnF >]c49zk?ac4Y=x iBi?mh:˿q?JAC::c4 5B A E2i1=FNOT Ignoring new targets: 307.50 m.i=9"i=9U ProNav: ac range: 307.500000 m, nav range: 295.534943 m, bearing: 273.260155 deg, approach rate: -0.924860 m/s, LOS rate: 0.014311 deg/s, cmd heading: 268.941075 deg, new cmd heading: 268.958833 deg.  iU$:]HeadingCmd: 4.694217 target range: 307.500000 and range: 307.50 m.h]7@hYhYhYhYgagabgajgaeieijeiJei:emz@雥TBɛv@) ni)8隩ied^=iNc˿89I7@IPExceeded connect timeout, disconnecting.Du?DqDqE}0 EyVF]5FIZAQMuW> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449354*_x,A[A6^@y6#n@96M&Y6H>6H@=?@ \*J??@Z?hL?6^@ɨ6; 6MCb=QBbIHjHj/!6r?> r]=Yve:Q v>t٣t vGt~G ~>] c49Ӛk?a c4Y i?B ̿q?AC`:: c4 ZA!2iIMFNOT Ignoring new targets: 307.50 m.iU}9"iU}9e ProNav: ac range: 307.500000 m, nav range: 295.204803 m, bearing: 273.265302 deg, approach rate: -0.889278 m/s, LOS rate: 0.013879 deg/s, cmd heading: 268.958834 deg, new cmd heading: 268.974291 deg.  iee:mHeadingCmd: 4.694487 target range: 307.500000 and range: 307.50 m.hm=9@hihihihqgqgqbgyjgeejeJe:e @雵TBɛTW?) :ci)隹i^=iyZ˿8K9ᠼI=9@ID>D>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702161:JUk3IBJU]9JJQRJUZJUDe?DaDaEe0 EaVF<FqZAM>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954248G9 G= ?AGE ¿>GA GE RIGE JRBGE =GA GA GE A<GE F|fx,􌙙[AZI*SbI(jI(rI(zI*;9I(I(I(I*a:I*a:I(I(^`@y^7p@9^&Y^ >^Ho`?oL`WΔ@@??q?J?^`@ɨ^ ; ^OCjlQBnIr!>ir٣ GoFZ: >!]-c49%1k?a-c4Y%) i%B-f?m5k:5˿q5?%BC% ;%;%mc49 =A92iiuFNOT Ignoring new targets: 307.50 m.iu n9"iu n9 ProNav: ac range: 307.500000 m, nav range: 294.818848 m, bearing: 273.271044 deg, approach rate: -0.873071 m/s, LOS rate: 0.013007 deg/s, cmd heading: 268.974298 deg, new cmd heading: 268.991547 deg.  i:HeadingCmd: 4.694788 target range: 307.500000 and range: 307.50 m.h;@hhhhggbgjgeejeJe:eu @TBɛs9) ^i)$i^=iP˿l9I;@IDDDE0 EBDAT read: Rx Time:19:00:53.8911 TRx dataTimestamp_ set to:1736535654.580336checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207590VFݗzFhArFiA  nManaging dock network, ignoring radio surface power offF ZA M >>lx,\Y[A6e@y6=u@96}&Y6΄ >6H Y `?@"c`C??`?I?6e@ɨ6; 6NCBQBBIHJHJ6R> Re=YV޹Q V>T٣T VGZpF^: ^>`]fc49bk?afc4Ybo ibBhjz˿qj?bSBCb:b:b)c4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.457508t vAvE2iFNOT Ignoring new targets: 307.50 m.i%Al9"i%Al95 ProNav: ac range: 307.500000 m, nav range: 294.505554 m, bearing: 273.275682 deg, approach rate: -0.871182 m/s, LOS rate: 0.012909 deg/s, cmd heading: 268.991537 deg, new cmd heading: 269.005464 deg.  i5 :HeadingCmd: 4.695031 target range: 307.500000 and range: 307.50 m.h=@hhhhggbgjgeejeJe:e`{ @EUBɛEV<)I MWiI)MzyIIiM%7_=iH˿ B9bI=@IDDDE0 EDAT read: 19:00:53.8911 LVL= 23200, 26609, 24738, 32643, AGC= 66, IDX= 400,-0.21,-1.085,-2.515,-1.029,-1.937, PHS= 0.940,-0.531, 0.905, RAW= 148.8, -17.7, CAL= 154.6, -25.1, ROT= 355.4, 25.1 Ygot valid direction response: 19:00:53.8911 LVL= 23200, 26609, 24738, 32643, AGC= 66, IDX= 400,-0.21,-1.085,-2.515,-1.029,-1.937, PHS= 0.940,-0.531, 0.905, RAW= 148.8, -17.7, CAL= 154.6, -25.1, ROT= 355.4, 25.1 PDAT read: Bearing 355.4, 25.1 (Local) ~Local bearing/azimuth received: Bearing 355.4, 25.1 (Local) DAT read: Range 10 to 50 : 304.9 m (Round-trip 406.6 ms) speed 0.7 m/s ,DAT read: user:1026>  BDAT read: Tx time:19:00:54.9803 % $Ping request sent.- ڑ ۑەmٵ?y o_?V[{ӿIە?iە\>ەlەK>ۑ ܑU :publishing transmit ping time! U Fpublishing direction and range infoؑYؕ<{T?oqe&ۿؑ9ؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑ ۑەmٵ?y o_?V[{ӿIۑiۑۑۑۑ ܑVF S.Fa ZAq M >:J BJ 9JJ RJ ZJ J- ? J- ?'sx,<͙[A:l@y: |@9:}j&Y:y >:HV=?`C`7?? 64?`H?:l@ɨ:T; :PC5QB5 IHEHE6]> e?=Ym>:Q u>٣ G: >]c49k?ac4Y iLBc˿q?BCy;;;9c4 !AZjPAf?bj$W iiFř[AjsCjC2j&@p 3q@Y$6 8*`zp<{T?oqe&ۿ"jl*jK>piLQ0Sa \9Fr~.8Up5k@gꑎ]ۯ o%ѿi1jiz9f?iM  jzji]h?jM jjj@Crjq@ addTargetRange:: Added new target pos. range: 304.899994 m, deltaT: 3.779855 s, deltaX: -2.600006 m, approachRate: -0.687859 m/s, rangeRepo size: 4 - Added new target pos. range: 304.899994 m, bearing: 266.805506 deg, lat: 36.903809 deg, lon: -122.119270 deg, deltaT: 3.779855 s, deltaX: -2.600006 m, approachRate: -0.687859 m/s, posRepo size: 4 2i)5FNOT Ignoring new targets: 304.90 m.i="iA ProNav: ac range: 304.899994 m, nav range: 292.506042 m, bearing: 268.381210 deg, approach rate: 0.000000 m/s, LOS rate: 0.012909 deg/s, cmd heading: 269.005470 deg, new cmd heading: 269.023491 deg. JDAT read: TxSync time:19:00:54.9795 G>GCGIGRBG =GGwDG<GF ieHeadingCmd: 4.695346 target range: 304.899994 and range: 304.90 m.hmF@@hihihihigqgybgjgeejeJe`fs@:e?!UBɛYx4) Qi) io_=iR>˿ 9VIF@@ID ZIuUbIuBjIqrIqzIu9Iu8IqIqIu]:Iub:Iuے9Iu9DDDE0 EVF ݗF ZA M >yx,4[ABzr@yBȁ@9By&YB0 >BHZ ?`ˠjC 6?@ͷ?=?VH?Bzr@ɨB!; BOCNRBN6I5Mb@Mb@Mb@11 1)1I1y5+?~jt? rh?5_?5D<5C= 5ҪA)5AI5GAi5A15AHM+HM6]> ]B=Y]Q ]>a٣a eGeqFm|: u>y]c49}k?ac4Y}Ħ i}Bp`?mr:Ϳq?}CC}m ;}? ;}Gc4 AB*** querying acoustic contact ***ii2ieFNOT Ignoring new targets: 304.90 m.ie7"im7 ProNav: ac range: 304.899994 m, nav range: 292.155090 m, bearing: 268.381826 deg, approach rate: -0.917184 m/s, LOS rate: 0.001611 deg/s, cmd heading: 269.023502 deg, new cmd heading: 269.025352 deg.  i8HeadingCmd: 4.695378 target range: 304.899994 and range: 304.90 m.h@@hhhhggbgjgeejeJe:e ?]9UBɛ]@1:) 'Gi)&i~_=iE=˿28{I@@IDDDE0 EEEiA}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.VF1 F9 F= ?F ZA M= >?ux,[ABd@yBjs@9B'YB >BH <n?` Ɠal? ? H?E?Bd@ɨB; BNCJBRBNNIHVIHV6^3= ^V=YbzQ b>`٣` bGfrFf f>h]nc49jk?arc4YjH ijBprοqr?jaCCj ;j!;jTc4v6B zRAx2iFNOT Ignoring new targets: 304.90 m.i%z8"i%z85 ProNav: ac range: 304.899994 m, nav range: 291.831635 m, bearing: 268.382508 deg, approach rate: -0.850662 m/s, LOS rate: 0.001796 deg/s, cmd heading: 269.025360 deg, new cmd heading: 269.027409 deg.  i5Ɲ8=HeadingCmd: 4.695414 target range: 304.899994 and range: 304.90 m.h=@@h9h9hAhAgAgAbgAjgIeIeIjeIJeI:eU@?雅PUBɛ0;) {Ci)隉iT_=i<˿N8߫I@@I>@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990043DDDE0 E:JUBHBJUS9JJQRJUZJU "+-,)('#  VF5PFZAM5>GU >GU CGU IGU \SBGU =GU ?DGU uDGU S<GU F checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242086H 4=H =x,nj@ynDz@9no(Yn~ >nHϤ? f@>`k?`L? ?G?nj@ɨn; nQC~RBrIMb@Mb@Mb@ )IyʡE? rh?p= ף?-R?C<= $A)IiAHHt6> 7=YmQ >٣ G :  >I)%CI }}GkA]c49Mk? )esyekAe Baec4YMɸ iMSB}R?m: Ϳq?MCCF@n7BM*=M1==Mdc4 ݣAE2iFNOT Ignoring new targets: 304.90 m.iE6"iE6] ProNav: ac range: 304.899994 m, nav range: 291.470673 m, bearing: 268.382710 deg, approach rate: -0.717162 m/s, LOS rate: 0.000401 deg/s, cmd heading: 269.027409 deg, new cmd heading: 269.028015 deg.  i]7HeadingCmd: 4.695425 target range: 304.899994 and range: 304.90 m.h@@hhhhggbgjgeejeJe:e" ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494129EtUBɛE0)A M{=iI)UXyQQiU`=i;˿ɮ7pI@@ID1D1D1E50 E1VFu `6zFy rF} gAFI ZAY  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745854M >x,jK6[A:N@y:@9:'Y:9 >:H o@? a`N???\I?:N@ɨ: ; :NCBRBBIHNGHN6Rk#> V]=YVN:Q Z>X٣X ZGZsF^q; ^>`]fc49bMk?afc4Ybu ibBhj̿qj?bDCbhH;bI;bqqc4p reAp2iFNOT Ignoring new targets: 304.90 m.ij4"ij4- ProNav: ac range: 304.899994 m, nav range: 291.179474 m, bearing: 268.382714 deg, approach rate: -0.927568 m/s, LOS rate: 0.000013 deg/s, cmd heading: 269.028010 deg, new cmd heading: 269.028022 deg.  i- 55HeadingCmd: 4.695425 target range: 304.899994 and range: 304.90 m.h1h1h1h1h1g9g9bg9jg9eAeAjeAJeA:eM?UBɛ_:) %3i!)-))i-6`=iU;˿ZIybI}FjI}2rIyzIyI}9I}c3Iyq@i@u@m@](˶}IyIDDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997854:J5 pMBJ5 ]9JJ1 RJ5 ZJ5 UlWF=3)"VFU 圼F1 ZAA Mm >Гx,P[AF˟@yF@9Fq%YFe >FHq ?Pgm@?"?q?@L?F˟@ɨḞ; FMCNSBNIHVFHV6^A> bJ=YbZ;Q b>d٣d fGftFf< j>h]=c49jk?aEc4Yj ijBAE4̿qE?j[DCjgGCGRIGSBG =GGrDG<GFHC HCH–CH¢ ="H¢ =*H>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249921I@@ID1D1D9E=0 E9HAAHBAVF 'Fa ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501883Ex,i[A(SBIMb@Mb@Mb@ )Iyw/?Q?v/?F?u<xi= rA)CAIAiΪAAH-=H-6E]= E4=YEQ E>I٣I MGIU U>Y]ec49]k?aec4Y] i]DBe{G?mm:mI̿qm?]DC]:]b:]pc4u7B uAuEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 304.90 m.iV "iV  ProNav: ac range: 304.899994 m, nav range: 290.512299 m, bearing: 268.382271 deg, approach rate: -0.793611 m/s, LOS rate: -0.000479 deg/s, cmd heading: 269.027300 deg, new cmd heading: 269.026677 deg.  ihHeadingCmd: 4.695401 target range: 304.899994 and range: 304.90 m.h@@hhhhggbgjgeejeJe:eS@ UBɛ /) &i)Y i{`=i<˿%a% jI%@@I!D?DDE0 E%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754156I(3I3I.IIIZIVbIJjIrIzI9I&9IIVF:_F?FF ZA M >x,߿[A6ݎ@y6\@96 "Y6@f >6Hખ? Gbx`u?`o.?`?P?6ݎ@ɨ6 ; 6NC>fSBBI)Jp= Ja=HR0HR6V/> Zh=YZ3\٣\ bGbuFb,< b>d]jc49fk?ajc4Yf ifBlnU˿qn?fDCfH%;f&;fɛc4t vAt2i%FNOT Ignoring new targets: 304.90 m.i%"i-= ProNav: ac range: 304.899994 m, nav range: 290.244476 m, bearing: 268.381715 deg, approach rate: -0.753873 m/s, LOS rate: -0.001569 deg/s, cmd heading: 269.026671 deg, new cmd heading: 269.024999 deg.  i=щEHeadingCmd: 4.695372 target range: 304.899994 and range: 304.90 m.hE}@@hAhAhAhAgAgIbgIjgIeIeQjeQJeQ:e](@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007872=UBɛ=0)A EiA)EhAAiE^`=iMw=˿MI}@@I:J-`NBJ-ػ9JJ)RJ-ZJ- %;M[ju~{qlgbD ?DDE<1 EVFMJiGGAAGg>GCGIGyTBG =GGoDGг<GFF ZA 5 BDAT read: Rx Time:19:00:57.7704 = TRx dataTimestamp_ set to:1736535658.360109= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259806MM >H H a=x,[AV@yV]@9V YV>VH ?ωјej@M????PS?V@ɨVJ=; VOC^SB^ IMb@Mb@Mb@ )Iy'1Z? rh?;Q >٣ GvF; >]c49Fk?a c4Y iB C?m : ʿq ?MEC; ;Qc4 A2i9EFNOT Ignoring new targets: 304.90 m.iM["iM[] ProNav: ac range: 304.899994 m, nav range: 289.913055 m, bearing: 268.380390 deg, approach rate: -0.749553 m/s, LOS rate: -0.002999 deg/s, cmd heading: 269.025005 deg, new cmd heading: 269.021027 deg.  i]mHeadingCmd: 4.695302 target range: 304.899994 and range: 304.90 m.hm?@hihihihigigqbgqjgqeqeyjeyJey:e} @雥UBɛ-) |i)9 隩i`=i?˿B¸,粻I?@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510391D)D)D)E50 E1VF;3FZAMi>E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7638999x,x[Ae$@yel3@9eYedQ>eHԒA?@R`]?c?˪?P?&X?e$@ɨeać; eJC}SB};IH7H6= O=Y;Q >٣ GJj< >]c497k?ac4Y i B^ɿq?ECa#;);c4ZIYbI]DjIYrIYzIYI]8IYIYI eRAa2iFNOT Ignoring new targets: 304.90 m.i"i ProNav: ac range: 304.899994 m, nav range: 289.619232 m, bearing: 268.378883 deg, approach rate: -0.711027 m/s, LOS rate: -0.003650 deg/s, cmd heading: 269.021016 deg, new cmd heading: 269.016491 deg.  iP HeadingCmd: 4.695223 target range: 304.899994 and range: 304.90 m.hE?@hhhhggbgjgeejeJe:e@VBɛ=w-) i) iMa=i YB˿ DǸ /E I E?@IDDDE2 EE=E=DAT read: 19:00:57.7704 LVL= 19584, 24081, 18674, 23283, AGC= 63, IDX= 406, 0.09,-0.666,-2.015,-0.586,-1.373, PHS= 0.795,-0.595, 0.784, RAW= 149.6, -14.1, CAL= 156.3, -21.7, ROT= 353.7, 21.7 Ygot valid direction response: 19:00:57.7704 LVL= 19584, 24081, 18674, 23283, AGC= 63, IDX= 406, 0.09,-0.666,-2.015,-0.586,-1.373, PHS= 0.795,-0.595, 0.784, RAW= 149.6, -14.1, CAL= 156.3, -21.7, ROT= 353.7, 21.7 PDAT read: Bearing 353.7, 21.7 (Local) ~Local bearing/azimuth received: Bearing 353.7, 21.7 (Local) DAT read: Range 10 to 50 : 289.4 m (Round-trip 385.9 ms) speed 0.4 m/s ,DAT read: user:1027> BDAT read: Tx time:19:00:58.8803 $Ping request sent.ڑ ۑەy??@&?"~1ϿIەG?iە|>ەi0Ὡە>ۑ ܑ5:publishing transmit ping time5Fpublishing direction and range infoؑYؕw|?=3`׿ؑ9ؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑ ۑەy??@&?"~1ϿIۑiۑۑۑۑ ܑVF >uzF rF iAF ZA :J sNBJ JJ RJ ZJ [VROKE>:54430-+,++'%&(&#$%!!    M5 >x,Lњ[AnSBrTIz=iz<H~*H~s6E= EP=YMQ M>I٣I UGUwFU U>]c49(k?ac4Yb iJBq?EC; ;c4 AEG]O>G]CG]IG]TBG] =G]@DG]lDG]<G]xFZjI>d?bj* iinRǚ[AjCjޏC2j)z@pooFp@ 諁==MZzpw|?=3`׿"ji0*j>p $~`4,VyqBmԧPpVǀs;>\iͿiTjiJ d?i^r  jizjYh?jj@jjCrjQؕ@ addTargetRange:: Added new target pos. range: 289.399994 m, deltaT: 4.032004 s, deltaX: -15.500000 m, approachRate: -3.844242 m/s, rangeRepo size: 4 M Added new target pos. range: 289.399994 m, bearing: 265.847378 deg, lat: 36.903806 deg, lon: -122.119270 deg, deltaT: 4.032004 s, deltaX: -15.500000 m, approachRate: -3.844242 m/s, posRepo size: 4 2iQUFNOT Ignoring new targets: 289.40 m.iU"iYe ProNav: ac range: 289.399994 m, nav range: 289.334290 m, bearing: 268.296411 deg, approach rate: 0.000000 m/s, LOS rate: -0.003650 deg/s, cmd heading: 269.016481 deg, new cmd heading: 269.011878 deg.  iiHeadingCmd: 4.695143 target range: 289.399994 and range: 289.40 m.h>@hhhhggbgjgeejeJe`fr@:e? 6VBɛ T,) Li)P iwCa=iD˿̸b՚I%>@I!DU?DYDYEe0 EaVF= <F ZA! M= >>x,[A6-@y6=@96fY6D>6H`M?d`.Uf?`??Ή?@Y?6-@ɨ6; 6NCV TBVhI=Mb@Mb@Mb@99 9)9I9y=jt??:v?=@?=<=T< =hA)=AI9i=ĨA9=AHH 6= C=Yr:Q >٣ GB7; >]c49k?ac4Yy iB@?m:Oǿq?2FC;;tc4 ĠA -B*** querying acoustic contact ***i)i)2i9=FNOT Ignoring new targets: 289.40 m.iE"iE] ProNav: ac range: 289.399994 m, nav range: 289.027496 m, bearing: 268.293767 deg, approach rate: -0.821502 m/s, LOS rate: -0.007087 deg/s, cmd heading: 269.011891 deg, new cmd heading: 269.003950 deg.  i]eHeadingCmd: 4.695004 target range: 289.399994 and range: 289.40 m.hez=@hahahahagagibgijgieqeqjeqJeq:eud?雥OVBɛ.0) i)s隱iza=iI˿̸H7Iz=@IDe?DaDaEeP5 EaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFpZIbIjIrIzIIIIFY ZAi M >!x,M[AN#@yNC3@9NYNfE>NH 'ڒX?Q ϝJ?-?$?ٿ? ^?N#@ɨNs; NLCZ.TBZ|I `b@AHfHf> 6jC= n]=Yn߹Q n>p٣p rGrxFvR v>x]~c49z͓k?a~c4Yz izB|sǿq?zyFCz ;zm ;zcc4  Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9943332iFNOT Ignoring new targets: 289.40 m.iB۸"iB۸ ProNav: ac range: 289.399994 m, nav range: 288.753052 m, bearing: 268.291456 deg, approach rate: -0.710832 m/s, LOS rate: -0.005990 deg/s, cmd heading: 269.003941 deg, new cmd heading: 268.997002 deg.  iHeadingCmd: 4.694883 target range: 289.399994 and range: 289.40 m.h|<@hhhhggbgjge e je Je:e5`Ђ?}lVBɛ".) ]i)隁iða=izM˿5и5}&I=|<@I9:J%MBJS9JJRJZJ D?DDEO5 EEEeA*G"G<GF>GCG3IGYUBG =GGkDG<GkFVF ˴F ?F ?M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249766F ZA M >2Rx,[AmQTBmIIq)qMb@Mb@Mb@ )IyPn?:v?MbPD?< A)AIAihAAHH 6-= -6=Y5Q 5>1٣9 =G=yF= =>A]Mc49E@k?aMc4YE iEBU5D?mU:UǿqU?EFCE:EA:Ec4Y ];Aa2iFNOT Ignoring new targets: 289.40 m.i"i ProNav: ac range: 289.399994 m, nav range: 288.413391 m, bearing: 268.288386 deg, approach rate: -0.784622 m/s, LOS rate: -0.007100 deg/s, cmd heading: 268.997001 deg, new cmd heading: 268.987780 deg.  i훹HeadingCmd: 4.694722 target range: 289.399994 and range: 289.40 m.h*;@hhhhggbgjgeejeAJeA:eE?雍VBɛBn,) wi)i隑ida=iR˿3ԸW_I*;@IՅ?Յ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499859D9D9D9E=P5 E9VF] ïF1 ZAA M] >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750428-vx,Ov8[A6V@y6@f@96sY6֟=6H ?b%`^@Ŗy?`G?;?@WC?d?6V@ɨ6 ; 4BTBBIHJ9HJ6R > Rh=YVN T٣X ZGXZ< Z>\]bc49^k?afc4Y^ i^BdfDƿqj?^GC^%;^&;^gc4n8B rܟArE2i  FNOT Ignoring new targets: 289.40 m.i "i% ProNav: ac range: 289.399994 m, nav range: 288.146759 m, bearing: 268.285641 deg, approach rate: -0.756643 m/s, LOS rate: -0.007798 deg/s, cmd heading: 268.987767 deg, new cmd heading: 268.979523 deg.  i%A-HeadingCmd: 4.694578 target range: 289.399994 and range: 289.40 m.h-9@h)h)h)h)g)g1bg1jg1e1e9je9JeA:eE`@?VBɛ/) i)!i%8#b=ie|W˿mĸm3;Im9@IZI-XbI)jI)rI)zI-{9I)I)I)Dm?DiDiEm 5 Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002345VF˴Fi ZAy M >:J% .KBJ% ]9JJ! RJ% ZJ% J- ? J- ?Iax,_R[ABp@yB$@9BYB.=BH 02?L ͤς?? ?aL?f?Bp@ɨBPs; BJCNTBNIHV3HVr6^< ^I=Y^;Q b>`٣` bGbzFf); f>h]nd49jck?ard4Yj ijEBprſqr?jcGCjj!;j!;j d4t vßAx2iFNOT Ignoring new targets: 289.40 m.i"i%- ProNav: ac range: 289.399994 m, nav range: 287.838684 m, bearing: 268.282269 deg, approach rate: -0.757237 m/s, LOS rate: -0.008297 deg/s, cmd heading: 268.979516 deg, new cmd heading: 268.969389 deg.  i55=HeadingCmd: 4.694401 target range: 289.399994 and range: 289.40 m.hE8@hAhAhAhIgIgQbgajgaeaeijeiJei:eu@雝VBɛ.)  i) <隡i kb=iG]˿-';I8@IG}B>GyG}eIG}UBGyGyG}jDG}ȳ<G}Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255152D-?D1D1E50 E1VF .A;zFrFFZAM )> G;mA )y;mA B checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506347Ax,,l[A2Z@y2@92)Y2=2H z?J!`/?8?/? ? Di?2Z@ɨ2;ׇ; 2LCVTBVIZ=iZ%=--only read 2 of 4 data items for bottom velocity. Device response is::BS, +34, +791, -@- -@- -@-  -@5 H56H56M5~= MB=YU;Q U>Q٣Q ]G]{F]; ]>a]md49e"k?amd4Ye?! iewBiu+:qmu`:uſqu?eGCe:e >ed4 AB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 289.40 m.i"i ProNav: ac range: 289.399994 m, nav range: 287.519409 m, bearing: 268.278599 deg, approach rate: -0.752817 m/s, LOS rate: -0.008663 deg/s, cmd heading: 268.969380 deg, new cmd heading: 268.958358 deg.  i?HeadingCmd: 4.694209 target range: 289.399994 and range: 289.40 m.h6@hhhhggbgjgeejeJe:e@雥VBɛ-)  i)պ隩i1b=ic˿Ɛz,px,:[ARŒ@yR@9RYRI=RHt>?dO??`?2?j?RŒ@ɨRv; PZTB^IHfGHf6nC= nR=Yn;Q r>p٣p rGpv6; v>|]d49~ۖk?ad4Y~) i~Bi :m 5: Uſq ?~HC~x;~}P?~!d4 PA2i9EFNOT Ignoring new targets: 289.40 m.iE$"iE$U ProNav: ac range: 289.399994 m, nav range: 287.224335 m, bearing: 268.275111 deg, approach rate: -0.760854 m/s, LOS rate: -0.009004 deg/s, cmd heading: 268.958370 deg, new cmd heading: 268.947894 deg.  iUŹechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010587mHeadingCmd: 4.694026 target range: 289.399994 and range: 289.40 m.hmw5@hihihihigqgqbgyjgyeejeJe:e2<@雵VBɛ0)  i)&隹i c=ii˿hs'0G<>GCGIGUBG =GGG<GuFHC HCHǕCHǹ ="HǶ =*H+6 BDAT read: Rx Time:19:01:01.6665  TRx dataTimestamp_ set to:1736535662.391161 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263412ZI VbI QjI rI zI 9I -.9I I I :q I $:i I 4:u I 4:m x,3[A-@y-B@9-Y- =-HSl?`JQ;?H?`ݬ?r̾?0l?-@ɨ-$; -MCETBMI      Mb@Mb@Mb@ )Iy@5^I ?V-?bP?< A)AI/AiAAHIH6-)= -5=Y5:Q =>9٣9 =G=|FEh; E>I]Ud49Mٗk?aUd4YM2 iMBiUT:]P?m]:]Ŀq]?M^HCM":M@:MV1d4e9B e,AeE2iFNOT Ignoring new targets: 289.40 m.i7"i7 ProNav: ac range: 289.399994 m, nav range: 286.860748 m, bearing: 268.270573 deg, approach rate: -0.804279 m/s, LOS rate: -0.010049 deg/s, cmd heading: 268.947906 deg, new cmd heading: 268.934277 deg.  iܹHeadingCmd: 4.693789 target range: 289.399994 and range: 289.40 m.h3@hhhhggbgjgeejeJe:e @WBɛG.) i) ifc=i\q˿U Ix,[A6DAT read: 19:01:01.6665 LVL= 20032, 24913, 17298, 30259, AGC= 66, IDX= 404, 0.07,-2.092, 2.504,-2.293,-2.824, PHS= 0.821,-0.908, 0.529, RAW= 140.9, -5.6, CAL= 146.7, -15.0, ROT= 3.3, 15.0 :Ygot valid direction response: 19:01:01.6665 LVL= 20032, 24913, 17298, 30259, AGC= 66, IDX= 404, 0.07,-2.092, 2.504,-2.293,-2.824, PHS= 0.821,-0.908, 0.529, RAW= 140.9, -5.6, CAL= 146.7, -15.0, ROT= 3.3, 15.0 >PDAT read: Bearing 3.3, 15.0 (Local) >~Local bearing/azimuth received: Bearing 3.3, 15.0 (Local) FDAT read: Range 10 to 50 : 286.5 m (Round-trip 382.0 ms) speed 0.4 m/s J,DAT read: user:1028> JBDAT read: Tx time:19:01:02.7803 N$Ping request sent.Ni im]"?1?MpָIm8>im=mk=m >i i:publishing transmit ping timeHFpublishing direction and range infoiYmM?w?V!}пi9ii i)iIiiiiiii i)iIiiiii im]"?1?MpָUBII!)!Iiiiiii iH5NH5p6U+= U\=YU:Q U>Y٣Y ]G]}Fe9k: e>i]ud49mk?aud4Ymy: im Bq}Ŀq}?mHCm;m;mF>d4 AZjmB js?bjm=-E iiim[Ajm@CjmkC2jm{@pmI=vDq@H(;/@ϗŴRzpmM?w?V!}п"jmk=*jm >pm\T7@(qlX>pmfZ? Wzsimjm/Aimvs?imvp  jm7Azjmi]h?jmvp jmijjmCrjmݕ@ addTargetRange:: Added new target pos. range: 286.500000 m, deltaT: 3.784008 s, deltaX: -2.899994 m, approachRate: -0.766382 m/s, rangeRepo size: 4 M Added new target pos. range: 286.500000 m, bearing: 274.812674 deg, lat: 36.903809 deg, lon: -122.119240 deg, deltaT: 3.784008 s, deltaX: -2.899994 m, approachRate: -0.766382 m/s, posRepo size: 4 2iQUFNOT Ignoring new targets: 286.50 m.i]"iYm ProNav: ac range: 286.500000 m, nav range: 283.964050 m, bearing: 268.333494 deg, approach rate: 0.000000 m/s, LOS rate: -0.010049 deg/s, cmd heading: 268.934273 deg, new cmd heading: 268.921845 deg.  iiHeadingCmd: 4.693572 target range: 286.500000 and range: 286.50 m.h1@hhhhggbgjgeeje Je q@:e 2o?雕?WBɛl/) i)^1 隙ikc=iwx˿7N1x,1ӛ[ARۗ@yR*@9RFYR%=RH`*r ?`bԊ?V?q?@;}?`m?Rۗ@ɨRK; RMCr%UBvIH~H~!6 =  O=Y ZQ  >٣ G][ >!]-d49%k?a-d4Y%B i%=B)-ſq-?%HC%-:%9:%Ld49 =A92iaeFNOT Ignoring new targets: 286.50 m.imbI"imbI} ProNav: ac range: 286.500000 m, nav range: 283.646759 m, bearing: 268.329618 deg, approach rate: -0.899926 m/s, LOS rate: -0.011004 deg/s, cmd heading: 268.921842 deg, new cmd heading: 268.910202 deg.  i}HeadingCmd: 4.693368 target range: 286.500000 and range: 286.50 m.h0@hhhhggbgjgeejeJe:em?WWBɛ5) m i) id=i˿_c8<G1G5IG58VBG1G1G1G50<G5FDqDyDyE}0 EyHAHAZIIbIMEjIIrIIzIIIM8IIIIIIIIIMн9IMս9VFYF1ZAAM]>x,;q[A6~@y6؍@96/UY6&=6H`~@? '? ?b??Uk?6~@ɨ6/; 6NCVEUBV(IEMb@Mb@Mb@AA A)AIAyEbX9?{Gz?q٣q uGu~F} >]d49k?ad4YK iwBV?m}: Ŀq?TIC~ ;q ;Zd4 XAB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 286.50 m.iP"iP ProNav: ac range: 286.500000 m, nav range: 283.302673 m, bearing: 268.324857 deg, approach rate: -0.823382 m/s, LOS rate: -0.011408 deg/s, cmd heading: 268.910203 deg, new cmd heading: 268.895901 deg.  iHeadingCmd: 4.693119 target range: 286.500000 and range: 286.50 m.h.@hhhhggbg jg e e je Je:e?wWBɛ/) ~ i)S i%rd=i%I˿-:Re8-Xcx,zT[A6t@y6Q@96qY6=6H?@S@.?z? ?S?k?6t@ɨ60; 6MCBYUBB4IFR=iF<HNHN6VR= VW=YVFaQ V>X٣X ZGZF^^ ^>`]fd49bk?afd4Yb,T ibBdf6Ŀqj?bICbG:b;bgd4p r3ArE2i FNOT Ignoring new targets: 286.50 m.iM"iM% ProNav: ac range: 286.500000 m, nav range: 282.990021 m, bearing: 268.320599 deg, approach rate: -0.823769 m/s, LOS rate: -0.011230 deg/s, cmd heading: 268.895914 deg, new cmd heading: 268.883128 deg.  i--HeadingCmd: 4.692896 target range: 286.500000 and range: 286.50 m.h-4,@h1h1h1h1g1g9bg9jg9eAeAjeAJeA:eE@?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241807雅WBɛx4) Ei) r 隉id=i˿5V 85D G!G%IG%VBG% =G!G%iDG%<G%FF ) - A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494023ZA1 MU >ZIa bIe DjIe 3rIa zIa Ie 8Ie (3Ia Ia Ie %:Ie {9Ie 9x,D1![Autr@yuÁ@9uYu5=uHTv?ソ8`|?N?@#??n?utr@ɨu/; uOCޅ~UBލKIMb@Mb@Mb@ )Iyv?J +?:v?X?H=< )ҊAI$AiAfAHE'HE6U= U&=Y] ;Q ]>Y٣a eGaeZʹ e>i]ud49m8k?a}d4Ym^ imB}KY?m}z:}9ÿq}?m JCm:m:myd4 A2iFNOT Ignoring new targets: 286.50 m.ih"ih ProNav: ac range: 286.500000 m, nav range: 282.580872 m, bearing: 268.314370 deg, approach rate: -0.834144 m/s, LOS rate: -0.012718 deg/s, cmd heading: 268.883128 deg, new cmd heading: 268.864414 deg.  i HeadingCmd: 4.692569 target range: 286.500000 and range: 286.50 m.h)@hhhhggbgjgeejeJe:e?WBɛ.) ci!)%. !!i%)e=i-O˿-Z85zx,;[A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009772R|@yR7@9R?WYRs=RH`? ʨW???+?@Np?R|@ɨR ; RNCnUBraIHv7Hv6~= z=Y6x;Q ? ٣   G F ; ?]%d49Kk?a%d4Y&f i.B!-ÿq-?SJC;:d41 5A12iaeFNOT Ignoring new targets: 286.50 m.imk"imk} ProNav: ac range: 286.500000 m, nav range: 282.308899 m, bearing: 268.310149 deg, approach rate: -0.829337 m/s, LOS rate: -0.012884 deg/s, cmd heading: 268.864413 deg, new cmd heading: 268.851738 deg.  i}y HeadingCmd: 4.692348 target range: 286.500000 and range: 286.50 m.h'@hhhhggbgjgeejeJe:e U@WBɛ`6)  i)^ ie=i˿} 8K&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262548:J kMBJ ]9JJ RJ ZJ x,[U[A2@y2M@92vlY2=2H@{ 2?`Xǽ?v?|? ط? r?2@ɨ2j; 2LCJUBJxIIP)PHbHb6= I=Y  ;Q  >٣ G ; >!]-d49%k?a5d4Y%o i%nB15¿q5?%JC%2:%>:%Òd49 =VAA2iamFNOT Ignoring new targets: 286.50 m.imp"iup} ProNav: ac range: 286.500000 m, nav range: 281.969116 m, bearing: 268.304803 deg, approach rate: -0.834640 m/s, LOS rate: -0.013149 deg/s, cmd heading: 268.851737 deg, new cmd heading: 268.835678 deg.  ibG2>GCGIGVBG =GGG<GF-HeadingCmd: 4.692068 target range: 286.500000 and range: 286.50 m.h-k%@h)h1h1h1g1g1bg9jg9e9e9jeAJeA:eE@2@雍WBɛt11)  i) 隑iPe=i˿E9%64 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765694k$x,n[A6}@y6@96Y6=6H(!@? ڽ? g?`&k?jҽ?ar?6}@ɨ6D; 6OCNUBRI5Mb@Mb@Mb@11 1)1I1y5S?i٣i mGmFuf u>]d49k?a d4Yx iB Z?m x: ,ſq ?KCQ:8:šd4:B AE=B*** querying acoustic contact ***i9i92iAMFNOT Ignoring new targets: 286.50 m.iM;"iM;m ProNav: ac range: 286.500000 m, nav range: 281.608856 m, bearing: 268.300399 deg, approach rate: -0.837890 m/s, LOS rate: -0.010254 deg/s, cmd heading: 268.835672 deg, new cmd heading: 268.822445 deg.  im3uHeadingCmd: 4.691837 target range: 286.500000 and range: 286.50 m.hu#@hqhqhqhqgygybgyjgyeejeJe:e!P@雵XBɛ2)  i)K 隹iSNf=iP˿:9*echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.017698R "x,)[AFmx@yF@9FȴYF=FH@܀?l l? e?`9f??s?Fmx@ɨFy; FNCb VBbIHj HjW6ra= rR=Yrc9Q v>t٣t vGvFzQغ z>|]d49~_k?ad4Y~Ԁ i~B  ?ſq ?~WKC~{:~:~d4 ؜A2iIUFNOT Ignoring new targets: 286.50 m.i]9"i]9u ProNav: ac range: 286.500000 m, nav range: 281.297699 m, bearing: 268.296625 deg, approach rate: -0.835445 m/s, LOS rate: -0.010145 deg/s, cmd heading: 268.822449 deg, new cmd heading: 268.811114 deg.  i}޹HeadingCmd: 4.691639 target range: 286.500000 and range: 286.50 m.h!@hhhhggbgjgeejeJe:eR @BDAT read: Rx Time:19:01:05.5793 TRx dataTimestamp_ set to:1736535666.192423checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272027/XBɛ4)  i) 隙if=i˷˿39G$GGLIG"WBG =GGG<GFVF;zFrFhA} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522900F ZA M >I =) C VG>(x,}[A @)f yhjBo@y~@9RYҢ=H`s? ~?!e?a??0s?o@ɨ%"; LCCVBI-C>i-=Mb@Mb@Mb@ )IyOn?~jt?l?X?== A)$AIvAiAAHEHE6u= }'=Y9Q >٣ GF >]d49sk?ad4YƋ iC BY?m z: ſq ?KC;;0d41 5dA9-DAT read: 19:01:05.5793 LVL= 19872, 21729, 16434, 18387, AGC= 62, IDX= 55,-0.36, 2.036, 0.767, 2.034, 1.230, PHS= 0.894,-0.416, 0.800, RAW= 146.3, -19.6, CAL= 151.8, -26.9, ROT= 358.2, 26.9 =Ygot valid direction response: 19:01:05.5793 LVL= 19872, 21729, 16434, 18387, AGC= 62, IDX= 55,-0.36, 2.036, 0.767, 2.034, 1.230, PHS= 0.894,-0.416, 0.800, RAW= 146.3, -19.6, CAL= 151.8, -26.9, ROT= 358.2, 26.9 EPDAT read: Bearing 358.2, 26.9 (Local) M~Local bearing/azimuth received: Bearing 358.2, 26.9 (Local) UDAT read: Range 10 to 50 : 296.1 m (Round-trip 394.9 ms) speed 0.7 m/s ],DAT read: user:1029> eBDAT read: Tx time:19:01:06.6803 e$Ping request sent.e/d?ԾL?.k#@ %))@Ivai@va> kذ?X>^?WjտI >i>ѭva> :publishing transmit ping timeaFpublishing direction and range infoY:"?,O&5ܿ9 )Ii )Ii kذ?X>^?WjտIi Zjok7m?bj߅> ii슬[Aj Cj0C2j Y@pM3~p@Q=T :`zp:"?,O&5ܿ"jѭ*jva>p>U@]qGWpPy?Ch\P7rvHyԿi?j@iE9m?ii  j$zjE9m?jjjjfCrjY@} addTargetRange:: Added new target pos. range: 296.100006 m, deltaT: 3.797565 s, deltaX: 9.600006 m, approachRate: 2.527937 m/s, rangeRepo size: 4  Added new target pos. range: 296.100006 m, bearing: 270.987275 deg, lat: 36.903928 deg, lon: -122.119240 deg, deltaT: 3.797565 s, deltaX: 9.600006 m, approachRate: 2.527937 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 296.10 m.i"iU ProNav: ac range: 296.100006 m, nav range: 280.799225 m, bearing: 270.987312 deg, approach rate: 0.000000 m/s, LOS rate: -0.010145 deg/s, cmd heading: 268.811111 deg, new cmd heading: 268.793624 deg.  iQ]HeadingCmd: 4.691334 target range: 296.100006 and range: 296.10 m.h]h@hYhYhYhYgYgabgjgeejeJer@:eP?M_XBɛU{+)Q UiQ)Uy` YYi] .g=i˿P9?  A=Y H#:Q  >1٣1 5G1=, =>A]Md49EXk?amd4YE iE Bqu'ſqu?ELCE;EG;Ed4;B AE2iFNOT Ignoring new targets: 296.10 m.iTF"iTFM ProNav: ac range: 296.100006 m, nav range: 280.450653 m, bearing: 270.986363 deg, approach rate: -0.994351 m/s, LOS rate: -0.002709 deg/s, cmd heading: 268.793625 deg, new cmd heading: 268.790776 deg.  iMUHeadingCmd: 4.691284 target range: 296.100006 and range: 296.10 m.hU@hQhQhQhYgYgYbgYjgaeaeajeaJe:e?xXBɛݝ4) i)0 iIg=im˿_91 JM ?VFF ZA M >G ->G G IG WBG G G hDG <G SFHeC HeCHeʓCHeʺ ="Heʺ =*He56x,ܜ[AFDS@yFb@9F0 YFo=FH` `?`Inũep?@?s??r?FDS@ɨFz=; FMCRVBRI XXHZHZ 6fk= fO=YjQ j>h٣h jGnFn n>p]vd49rk?avd4Yr ir Bxzſqz?rmLCr:r:r{d4Y eAa2iFNOT Ignoring new targets: 296.10 m.iy"iy- ProNav: ac range: 296.100006 m, nav range: 280.125702 m, bearing: 270.985689 deg, approach rate: -0.797368 m/s, LOS rate: -0.001656 deg/s, cmd heading: 268.790784 deg, new cmd heading: 268.788759 deg.  i-|5HeadingCmd: 4.691249 target range: 296.100006 and range: 296.10 m.h5@h1hQhQhQgYgYbgYjgYeaeajeaJea:em@!?雥XBɛ/) i)w*igg=iU˿Uep9Ul;IU@IYD1D9D9E=0 E9EEp=EE=VFY Fe ?Fe Q?F1 ZAA M] ><x,Wz[AVBII!)!Mb@Mb@Mb@ )IyQ?~jt?Q?U?D=\= )vAIȈAi=AAHH" 6= 9=Y=Q =>A٣A MGMFM M>Q]]d49UZk?a]d4YUK iU!BeLV?me}:eÿqe?ULCU:U:UId4i uNAqB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 296.10 m.ip"ip ProNav: ac range: 296.100006 m, nav range: 279.754272 m, bearing: 270.983936 deg, approach rate: -0.869514 m/s, LOS rate: -0.004110 deg/s, cmd heading: 268.788762 deg, new cmd heading: 268.783495 deg.  i4HeadingCmd: 4.691157 target range: 296.100006 and range: 296.10 m.h@hhhhggbgjgeejeJe:e? XBɛ (2) i)DŽi\Gh=i˿H|9%;I%@-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.I1DDDE0 EZIVbIIjIrIzI9I 9IIVF&;FqZAM\> ? = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492265Cx,[A2bD@y2S@92fY2v=2H`>?e??`??o?2bD@ɨ2̊; 2KCNWBNAIHVHV6^*> ^]=YbQ b>`٣d fGdf f>h]rd49jMk?ard4Yj ijO!Bpr'Ŀqv?jMCj:jW:jd4x zКAx2i!%FNOT Ignoring new targets: 296.10 m.i-"i-= ProNav: ac range: 296.100006 m, nav range: 279.460022 m, bearing: 270.982656 deg, approach rate: -0.819014 m/s, LOS rate: -0.003566 deg/s, cmd heading: 268.783489 deg, new cmd heading: 268.779646 deg.  i=EHeadingCmd: 4.691090 target range: 296.100006 and range: 296.10 m.hEh@hAhAhIhIgIgIbgQjgQeYeYjeYJeY:ee@? XB:JBHBJͼ9JJRJZJɛ M/)1 5i1)511i=h=i=˿=S9E;IEh@IAG=,>G=CG=IG=WBG9G9G9G=<DiDiDiEm1 EqG=F%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742699HR=Hp=VF;Fi ZA M > Jx,,(*[A2D@y2S@92Y2I=2H@t?lbc??`?`?q?2D@ɨ2j; 2NC:i٣i uGuFu8 u>y]e49}:k?ae4Y} i}!B!S?m:Ŀchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.994686q?}oMC}%;};}e4Ic3I3IS}-IIIZI% WbI% DjI! rI! zI% ;9I% 8I! I! Px, C[A2M@y2.]@921Y2=2H;d@?`_2Ū"j?Bi?V? b?t?2M@ɨ2 ; 2KCRhWBRxIV%>iVa=HZHZ 6b= fU=YfȐ;Q f>h٣h jGhj@; n>p]ve49rk?ave4Yr4 ir!BxzĿqz?rMCr/#;r#;re4|  A2i)-FNOT Ignoring new targets: 296.10 m.i5 F"i5 FM ProNav: ac range: 296.100006 m, nav range: 278.808258 m, bearing: 270.980573 deg, approach rate: -0.812734 m/s, LOS rate: -0.002705 deg/s, cmd heading: 268.776468 deg, new cmd heading: 268.773367 deg.  iMMHeadingCmd: 4.690980 target range: 296.100006 and range: 296.10 m.hU@hQhQhQhQgQgQbgYjgYeYeajeaJea:emJ@雕YBɛ3{.) ־i)隙i\?i=i`˿bM9;I@IDDDEP5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498816VF~q;FZAM>:JBJػ9JJRJZJGM +>GI GM IGM gXBGI GI GI GM <GM Fe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750839$Wx,][AN|Q@yN`@9NYN=NHp? 3k?A?/? 6?`v?N|Q@ɨNԊ; L^WBbIHnHn> 6rv= rG=Yv+=;Q v>x٣x zGzFz: ~>|]e49~ k?a e4Y~ i~"B  Ŀq?~NC~ ;~ ;~A#e4 әA2iAMFNOT Ignoring new targets: 296.10 m.iUK"iUKe ProNav: ac range: 296.100006 m, nav range: 278.476318 m, bearing: 270.979435 deg, approach rate: -0.810786 m/s, LOS rate: -0.002783 deg/s, cmd heading: 268.773381 deg, new cmd heading: 268.769963 deg.  ieumHeadingCmd: 4.690921 target range: 296.100006 and range: 296.10 m.hm@hihihihqgqgqbgqjgyeyeyjeyJey:eܐ@H-@AH-@A雕9YBɛp,) Aվi)H隙ibi=iS˿9\~;I@IDDDEQ5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.002580VF &;F ZA M >G]x,w[A~WBIMb@Mb@Mb@ )IyQ?~jt? rh?\O?=C = A)ȈAIi3AAHH 6= ==YQ >٣ GF >]e49k?ae4Y iT"BO?m : Mſq ?lNC: :q2e4=B kAE=B*** querying acoustic contact ***i9i92iIMFNOT Ignoring new targets: 296.10 m.iU"iUe ProNav: ac range: 296.100006 m, nav range: 278.130035 m, bearing: 270.978556 deg, approach rate: -0.795484 m/s, LOS rate: -0.002021 deg/s, cmd heading: 268.769966 deg, new cmd heading: 268.767326 deg.  ieHeadingCmd: 4.690875 target range: 296.100006 and range: 296.10 m.h@hhhhggbgjgeejeJe:e`_ @[YBɛ`N,) 1˾i)Aii=i˿L9I@-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256529I)ZIU\bIUFjIQrIQzIU=:IU9IQIQD?DDE4 EE=E=VF F ?F ? BDAT read: Rx Time:19:01:09.4764  TRx dataTimestamp_ set to:1736535670.223938 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509047F ZA M >0dx,[A60K@y6Z@96Y6L=6H`}?@c? ?`?@?`y?60K@ɨ6lj; 6MCNWBRIIT)THZHZ@ 6n = r[=Yrd;Q r>t٣t vGtv z>x]e49zk?ae4Yz iz"Bdſq ?zNCzL?;z';zf?e4 #A2iAEFNOT Ignoring new targets: 296.10 m.iM "iM ] ProNav: ac range: 296.100006 m, nav range: 277.834412 m, bearing: 270.977848 deg, approach rate: -0.797429 m/s, LOS rate: -0.001911 deg/s, cmd heading: 268.767315 deg, new cmd heading: 268.765191 deg.  i]קeHeadingCmd: 4.690837 target range: 296.100006 and range: 296.10 m.heW@hahahihigigibgqjgqeqeqjeyJey:e}) @雭yYBɛ-)  Ⱦi)Ì隹iNj=i˿69I$;IW@I:JBoHBJ9JJRJZJDM?DQDQEU4 EQGGGGG_IGXBGGGG<GkFEAEA]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765094VFqFYZAM>Zjx,m[A2NA@y2P@92LY2=2H`E ?@ἿS??`N?!? y?2NA@ɨ2; 2LCB XBBIMb@Mb@Mb@ )IyQ?L7A`?Q?+=< כA)lAIlAiAH)H)== =E=Y=E[:Q =>A٣A EGEFM>> M>Q]]e49U8k?a]e4YU iU"B]O?m]:]Gƿqe?U OCUm ;U;UMe4i uߘAqDAT read: 19:01:09.4764 LVL= 21728, 25953, 17858, 30451, AGC= 62, IDX= 232,-0.19,-2.864, 1.928,-3.075, 2.696, PHS= 0.811,-0.721, 0.509, RAW= 139.3, -8.6, CAL= 145.6, -18.7, ROT= 4.4, 18.7  Ygot valid direction response: 19:01:09.4764 LVL= 21728, 25953, 17858, 30451, AGC= 62, IDX= 232,-0.19,-2.864, 1.928,-3.075, 2.696, PHS= 0.811,-0.721, 0.509, RAW= 139.3, -8.6, CAL= 145.6, -18.7, ROT= 4.4, 18.7 PDAT read: Bearing 4.4, 18.7 (Local) ~Local bearing/azimuth received: Bearing 4.4, 18.7 (Local) DAT read: Range 10 to 50 : 293.9 m (Round-trip 391.9 ms) speed 0.6 m/s %,DAT read: user:1030> -BDAT read: Tx time:19:01:10.5803 -$Ping request sent.-ڙ ۙ۝:so?"&R?Mܯ'ÿI۝@>i۝4#>۝nF=۝>ۙ ܙ:publishing transmit ping time)Fpublishing direction and range infoؙY؝4@_8?ilp?C.jԿؙ9ؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ ۙ۝:so?"&R?Mܯ'ÿIۙiۙۙۙۙ ܙ addTargetRange:: Added new target pos. range: 293.899994 m, deltaT: 4.034566 s, deltaX: -2.200012 m, approachRate: -0.545291 m/s, rangeRepo size: 4 2i-FNOT Ignoring new targets: 296.10 m.i5sL"i5sLE ProNav: ac range: 296.100006 m, nav range: 277.502869 m, bearing: 270.977527 deg, approach rate: -0.719574 m/s, LOS rate: -0.000698 deg/s, cmd heading: 268.765184 deg, new cmd heading: 268.764219 deg.  iEWuHeadingCmd: 4.690821 target range: 296.100006 and range: 293.90 m.hu4@hyhyhyhyggbgjgeejeJe`f^r@:eZ?]YBɛeΕ*) .˾i)<隉ij=i˿94;I4@ID?DDEO5 EM JDAT read: TxSync time:19:01:10.5796 VF ;zF rF F ZA M >Bqx,{Iŝ[AB8@yB H@9BYB=BH`|Qe?@ n"?? ?  M=Y :Q  >٣ %G%F%+ ->9]Me49=ǫk?aMe4Y= i= #BY]jƿq]?=_OC=`;=Վ;=[e4a mnAiZjޑt?bjd ii@[AjCjC2j4֙@p8yYq@䂟ր[5@>yh/Wzp4@_8?ilp?C.jԿ"jnF=*j>px+_ws;@fr&G5Ip˽G G IG QYBG =G G G <G FFy ZA M >nwx,-ߝ[AB@yB=(@9B1YB+=BHb@ K?#@ˬin 0?%?`?@;y?B@ɨB5; BKCNkXBNIR%=iRp=TTHZHZ6bg= bO=YbQ b>d٣d fGdj! j> GlAt )k!ylA.BZI%VbI%IjI!rI!zI%9I% 9I!I!I% :qMI%%:iMI%#9uUI%(9mU] e49v9k?ame4YvP ivD#Biuƿqu?vOCv.=vtB !AE2iFNOT Ignoring new targets: 296.10 m.i5"i5 ProNav: ac range: 296.100006 m, nav range: 276.867676 m, bearing: 270.977299 deg, approach rate: -0.746620 m/s, LOS rate: 0.000031 deg/s, cmd heading: 268.763518 deg, new cmd heading: 268.763556 deg.  i5HeadingCmd: 4.690809 target range: 296.100006 and range: 293.90 m.h@h h h h ggbgjgeejeJe:e/w?雅YBɛ+) i)Ӊ隩ijk=i˿R9 :I@ID?DDE5 EVF 1;F ZA M >}x,[A-XB-4IMb@Mb@Mb@ )Iykt?ˡE?y&1? P?'=`< &A)IAiAGAH}H5= 7=Y%Q %>!٣! %G%F- ->1]=e495k?a=e4Y5 i5#BEP?mE:EſqE?5 PC5:5:5Gye4I MŗAQmB*** querying acoustic contact ***iiii2iyFNOT Ignoring new targets: 296.10 m.iM"iM ProNav: ac range: 296.100006 m, nav range: 276.511627 m, bearing: 270.976572 deg, approach rate: -0.903661 m/s, LOS rate: -0.001848 deg/s, cmd heading: 268.763545 deg, new cmd heading: 268.761361 deg.  i\HeadingCmd: 4.690771 target range: 296.100006 and range: 293.90 m.h@hhhhggbgjgeejeJe:e ?ZBɛr+) i)ikk=iA˿9t@:I@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D?DDE0 EVF7:F?F?F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494599M}x,[A2@y2@92ոY2ױ=2HP 6?v1wZ?a'? ?x?2@ɨ2̹; 2LCRXBRKIHZHZ6rw= v`=Yv=Q v>x٣x ~G~Fǻ > ] e49 k?ae4Y i i #Bſq? VPC : : e4! %yA!2iIMFNOT Ignoring new targets: 296.10 m.iU"iU] ProNav: ac range: 296.100006 m, nav range: 276.218567 m, bearing: 270.976107 deg, approach rate: -0.804048 m/s, LOS rate: -0.001277 deg/s, cmd heading: 268.761360 deg, new cmd heading: 268.759963 deg.  i]T`eHeadingCmd: 4.690746 target range: 296.100006 and range: 293.90 m.he@hahahahigigibgijgqeejeJe:eZ`?$ZBɛy*) i:J-k3IBJ-S9JJ)RJ-ZJ-*G<"G<GGGIGYBG =GGG<G_FH]C H]CHYHY"HY*H]O4)隱il=i ˿^9ٹI@IDaDaDaEa Ea%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745927ZI1bI5HjI1rI1zI1I59I1I1I5:I5$:I59I59VF :F ZA M >'x,,[A~XB~ZII)) = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997620Mb@Mb@Mb@ )Iy rh?l?I +?L?=9< A)I`AiכAfAHH 6aW= :=YQ >٣ G > ]e49 Ak?ae4Y } i #BL?m:Wƿq? PC ?; ; Ye4! %JA)2iIUFNOT Ignoring new targets: 296.10 m.i]IL"i]ILm ProNav: ac range: 296.100006 m, nav range: 275.873932 m, bearing: 270.975802 deg, approach rate: -0.787939 m/s, LOS rate: -0.000698 deg/s, cmd heading: 268.759966 deg, new cmd heading: 268.759051 deg.  im$}HeadingCmd: 4.690730 target range: 296.100006 and range: 293.90 m.h}v@hyhyhyhggbgjgeejeJe:e`h@eGZBɛe+)a eⷾia)mhiiigkl=i˿p9иIv@IDADADAEA EI= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250235VFm zQFA ZAI Mm >x,F[AJ @yJ>@9J[YJ=JH`?` ~u@\??)?@{?J @ɨJƈ; HVYBVsIHvHv6~m= ~[=Y٣  G F ;  >]e49ͮk?ae4Y8 i1$B!%?ƿq%?PC;;[e4-?B -A-E2iYeFNOT Ignoring new targets: 296.10 m.ien"ien} ProNav: ac range: 296.100006 m, nav range: 275.580475 m, bearing: 270.975499 deg, approach rate: -0.785735 m/s, LOS rate: -0.000815 deg/s, cmd heading: 268.759037 deg, new cmd heading: 268.758124 deg.  i}%HeadingCmd: 4.690714 target range: 296.100006 and range: 293.90 m.hU@hhhhggbgjgeejeJe:e@ab@eZBɛ;-)= i)i]l=i˿9u %:IU@IDDDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502181VF!zFrFiAFZAM>G G G !IG ZBG =G G G ֳ<G F:J BHBJ 9JJ RJ ZJ M AM Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758350Ix,`[ARf@yR@9RB YR}=RH`{ ?Xg2qx@?@? 䔽?z?Rf@ɨRu; RMCfYBf{IHnHn'6v< vJ=Yz~:Q z>x٣x ~G~F~q ~>] e49^k?a e4Y ii$B[ƿq?KQCo;;ye4 A2iAMFNOT Ignoring new targets: 296.10 m.iMqG"iUqG} ProNav: ac range: 296.100006 m, nav range: 275.262024 m, bearing: 270.975225 deg, approach rate: -0.790982 m/s, LOS rate: -0.000681 deg/s, cmd heading: 268.758136 deg, new cmd heading: 268.757313 deg.  i}THeadingCmd: 4.690700 target range: 296.100006 and range: 293.90 m.h7@hhhhggbgjgeejeJe:e@@ZIbIFjIrIzII9IIIII$9I)9ZBɛ5G,) i)!!i%2m=i-˿- 9--RI-7@I)D9D9DAEE0 EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005568VFu ':FQ ZAY M} >2x,Cz[A6@y6i@96: Y6=6H t?QS}{?`?ٽ?@y?6@ɨ6; 6LCREYBRITVA=Mb@Mb@Mb@99 9)9I9y=Fx?L7A`?Mb?=K?=+==< =ʙA)=AI9i=xA9=AHUHU|6eA> eD=Ye@9Q m>i٣i mGiu u>]e49Яk?ae4YD& i$BK?m:ƿq?QCQ::e4 sA2iFNOT Ignoring new targets: 296.10 m.i^6"i^6] ProNav: ac range: 296.100006 m, nav range: 274.933319 m, bearing: 270.975281 deg, approach rate: -0.785907 m/s, LOS rate: 0.000135 deg/s, cmd heading: 268.757316 deg, new cmd heading: 268.757486 deg.  i] 6eHeadingCmd: 4.690703 target range: 296.100006 and range: 293.90 m.he=@hahahahagagibgijgieqeqjeqJeq:e}" @ZBBDAT read: Rx Time:19:01:13.3545 TRx dataTimestamp_ set to:1736535674.007242checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259114ɛ2,)  ೾iI)MHQQiUm=iUx˿]S9]/sI]=@IYD!D!D!E! E!VFM !F! ZA1 MM > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5101796ˤx,L:@y:@9: Y:==:H ś?@ 8Hq?[?`*?`w?:@ɨ:; 8FjYBFIHNHN6V= VW=YZ9Q Z>X٣X ZG^F^C ^>`]fe49b1k?afe4Yb". ib$Bhj$ǿqj?bQCb8;b<;b]e4p r'AvE B*** querying acoustic contact ***i i 2iFNOT Ignoring new targets: 296.10 m.i%ƾ6"i%ƾ65 ProNav: ac range: 296.100006 m, nav range: 274.634552 m, bearing: 270.975405 deg, approach rate: -0.782348 m/s, LOS rate: 0.000326 deg/s, cmd heading: 268.757480 deg, new cmd heading: 268.757853 deg.  i5d7=HeadingCmd: 4.690710 target range: 296.100006 and range: 293.90 m.h=K@h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eM @}ZBɛ}-) i)8隁im=i?˿|t9BIK@IGQGQGu)>GqGuSIGumZBGqGqGqGu<GumF:JBJ]9JJRJZJ^DUDAT read: 19:01:13.3545 LVL= 19056, 18545, 18530, 23859, AGC= 65, IDX= 216, 0.13,-0.367,-1.691,-0.350,-1.250, PHS= 0.971,-0.394, 0.897, RAW= 147.2, -21.4, CAL= 152.4, -28.4, ROT= 357.6, 28.4 eYgot valid direction response: 19:01:13.3545 LVL= 19056, 18545, 18530, 23859, AGC= 65, IDX= 216, 0.13,-0.367,-1.691,-0.350,-1.250, PHS= 0.971,-0.394, 0.897, RAW= 147.2, -21.4, CAL= 152.4, -28.4, ROT= 357.6, 28.4 uPDAT read: Bearing 357.6, 28.4 (Local) u~Local bearing/azimuth received: Bearing 357.6, 28.4 (Local) DAT read: Range 10 to 50 : 277.5 m (Round-trip 370.0 ms) speed 0.6 m/s ,DAT read: user:1031> BDAT read: Tx time:19:01:14.4304 $Ping request sent.   SV}?hmfE?H[׿I d>i C> Q+ >  m:publishing transmit ping timemFpublishing direction and range info Y ^?ܢyp޿ 9   ) I i      ) I i     SV}?hmfE?H[׿I i     ZIbIGjIrIzII9IIIIIy9I~9VF 'HF% ?F% >F ZA M5 >x,x[AB@yBS@9B YBt=BHY3? }ʽ@^w@^?๢?@`?`nw?B@ɨBb/; @NxYB~IJDAT read: TxSync time:19:01:14.4296 -Mb@Mb@Mb@)) )))I)y-Q? ףp= ?:v?-\O?-Q8=-T< ))-AI-Ai-ʙA)- AHHE6J< /=Y):Q >٣ GFۣ >]e49k?ae4Y7 i%BO?m:Yſq?KRC;h;e4@B AEZj]h9nk?bj] iYi][Aj]Cj]C2j]벖@p]Swm|n@kq$s`zp]^?ܢyp޿"j]Q+*j]>p]\X鿅2$=pqTYXp]Хag,m=cvֿi]j]Ji][nk?i]  j],zjYj]i jYjj]Crj]YW@ addTargetRange:: Added new target pos. range: 277.500000 m, deltaT: 3.780969 s, deltaX: -16.399994 m, approachRate: -4.337511 m/s, rangeRepo size: 4 M Added new target pos. range: 277.500000 m, bearing: 269.825348 deg, lat: 36.903928 deg, lon: -122.119238 deg, deltaT: 7.815535 s, deltaX: -18.600006 m, approachRate: -2.379876 m/s, posRepo size: 4 2iIUFNOT Ignoring new targets: 277.50 m.iU"iQ ProNav: ac range: 277.500000 m, nav range: 274.002045 m, bearing: 270.975388 deg, approach rate: 0.000000 m/s, LOS rate: 0.000326 deg/s, cmd heading: 268.757862 deg, new cmd heading: 268.758341 deg.  iHeadingCmd: 4.690718 target range: 277.500000 and range: 277.50 m.h]@hhhhggbgjgeejeJeXq@:eD? ZBɛ+) i)i tn=i˿]'9eIe]@Ia) ) ^D 8=DI DQ DQ E] 4 Ea VFpFyZAM ?x,О[A:ڎ@y:i@9:_Y:Ó>:H`Ca? @`? ?@?n?:ڎ@ɨ: ; :KCFYBFIIH)H)Ja= JR=HNxHNv5Z= Z*=YZ Q ^>\٣\ ^G\b, b>d]je49fk?aje4Yf!B ifQ%Bhnſqn?fRCf:f>:fe4p rAp2iFNOT Ignoring new targets: 277.50 m.i"i- ProNav: ac range: 277.500000 m, nav range: 273.616119 m, bearing: 270.974655 deg, approach rate: -0.843957 m/s, LOS rate: -0.001604 deg/s, cmd heading: 268.758354 deg, new cmd heading: 268.756153 deg.  i-5HeadingCmd: 4.690680 target range: 277.500000 and range: 277.50 m.h5 @h1h9h9h9g9gAbgAjgAeIeIjeIJeI:eM Z?[Bɛ-) fi)kCin=i 9˿ r9 0I  @IC9C9C9C9G(>GGIGZBG =GGG<GF:JBJ 9JJRJZJJ? J?D?DDE4 EVFe w*F9 ZAI Me >.x,[A}Վ@y}M@9})Y}%>}H쉜??1ڬ+L G$? V?? o?}Վ@ɨ}g; }ICYBIMb@Mb@Mb@ )IyGz?y&1?5ӆ= *=YሺQ >٣   G F Ĉ  >]e49=k?ae4YWL i%B%%Q?m%:%Ŀq-?SCFL;:K;Le41 =zA92iamFNOT Ignoring new targets: 277.50 m.im|"iu|} ProNav: ac range: 277.500000 m, nav range: 273.228455 m, bearing: 270.972835 deg, approach rate: -0.804472 m/s, LOS rate: -0.003784 deg/s, cmd heading: 268.756141 deg, new cmd heading: 268.750672 deg.  i.&HeadingCmd: 4.690584 target range: 277.500000 and range: 277.50 m.hD@h h h h g g bgjgeejeJe:e?雍J[Bɛ/,) Rþi)隑i]o=i\˿.9j͝ID@ID]?DYDYEe0 EaEmiAEmiAVF g{zF rF hAFq ZA M >x,>{[AZIVWbITjITrITzIV;9ITITITqZ@iZ@uZ@mZ@ޭYBޭIHqH5W= \=YQ  > ٣   G F >]%f49;k?a%f4Y7T i%B))q-?]SC2:;C f4=AB =VA=E2iamFNOT Ignoring new targets: 277.50 m.im"im ProNav: ac range: 277.500000 m, nav range: 272.929260 m, bearing: 270.971426 deg, approach rate: -0.809250 m/s, LOS rate: -0.003814 deg/s, cmd heading: 268.750677 deg, new cmd heading: 268.746447 deg.  i'HeadingCmd: 4.690510 target range: 277.500000 and range: 277.50 m.h@hhhhggbgjgeejeJe:e`qM?h[Bɛ(3) sȾi)~iAo=i˿Dc9hI@ID?DDE0 EVFxF ZA M >G $>G G IG [BG G G G <G `F:J5 k3IBJ5 9JJ1 RJ5 ZJ5 L<x,Y[A2׎@y2@92sY2t=2HY@?Vܾ$TQ ??iB>@BAHFHF6N̩= Nd=YRc{9Q R>P٣T VGTV: V>X]^f49Z1k?a^f4YZ[ iZ%B`bÿqb?ZSCZ;Z;Zf4d fAdIi)mC nG ;mA 9)uyu;mAu'BB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 277.50 m.ilt"ilt ProNav: ac range: 277.500000 m, nav range: 272.640594 m, bearing: 270.970051 deg, approach rate: -0.700358 m/s, LOS rate: -0.003339 deg/s, cmd heading: 268.746442 deg, new cmd heading: 268.742314 deg.  iHeadingCmd: 4.690438 target range: 277.500000 and range: 277.50 m.h@hhhh g g bg1jg9eAeAjeIJeY:e]`@HHa= [Bɛ E0) ̾i)Ki lx,N8[A6ю@y6@96Y6`A=6H``,?W̾ !??ڃ?sq?6ю@ɨ60; 4>ZBBIMb@Mb@Mb@ )Iy`"?T㥛 ?~jt?W?=D< A)VAIVAiʙAAH-H-)6=!= =@=Y=m9Q =>A٣A EGEFMܺ M>Q]]f49Uk?a]f4YU*e iU-&B]nX?me{:e\ÿqe?UTCU/;U.;U&f4q uAq2iFNOT Ignoring new targets: 277.50 m.i%ø"i%øU ProNav: ac range: 277.500000 m, nav range: 272.285553 m, bearing: 270.967987 deg, approach rate: -0.915409 m/s, LOS rate: -0.005330 deg/s, cmd heading: 268.742317 deg, new cmd heading: 268.736115 deg.  i]j]HeadingCmd: 4.690330 target range: 277.500000 and range: 277.50 m.h]/@hahahahggbgjgeejeJe:eޞ@[Bɛs4) Ծi )   i p=i˿枎9$ꦻI/@IDDDE0 EE=E >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500422ZIbIHjIrIzII9IIVF_vF?F>F ZA M >!Nx,R[A><checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751065(ZB)IH-H-6=ɢ= EK=YEQ E>A٣I MGMFU U>Y]ef49]ʷk?aef4Y] n i]f&Biiqm?]YTC]:]d:]4f4q uAq2i1=FNOT Ignoring new targets: 277.50 m.i=]"iE]M ProNav: ac range: 277.500000 m, nav range: 271.948730 m, bearing: 270.966023 deg, approach rate: -0.830199 m/s, LOS rate: -0.004846 deg/s, cmd heading: 268.736115 deg, new cmd heading: 268.730217 deg.  iUT]HeadingCmd: 4.690227 target range: 277.500000 and range: 277.50 m.h]W@hYhYhYhagagabgajgieieijeiJei:eu@@雝[Bɛ4) վi)隡i&q=i˿LM9ѡIW@IDM?DIDIEM0 EIG >GCGIGC[BGGGG<GFHQ HQHQHUĹ ="HUĹ =*HUĚ5:JjIBJJJRJZJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005673VFuFI ZAQ Mm >zx,bk[AJ칎@yJ;ɕ@9JYJ8>JHMZ?u 6&6=?`?k?`*o?J칎@ɨJ և; HnFZBr;II))= p=H5H56e= mH=YuNƺQ }>٣ Gn >]f49k?af4Y9w i&Bÿq?TCo<<cCf4BB }AE2i5BDAT read: Rx Time:19:01:17.2006 =TRx dataTimestamp_ set to:1736535677.791967Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256652EFNOT Ignoring new targets: 277.50 m.i횸"i횸 ProNav: ac range: 277.500000 m, nav range: 271.599731 m, bearing: 270.964199 deg, approach rate: -0.808739 m/s, LOS rate: -0.004233 deg/s, cmd heading: 268.730214 deg, new cmd heading: 268.724734 deg.  i9HeadingCmd: 4.690131 target range: 277.500000 and range: 277.50 m.h@hhhhggbgjgeejeJe:e@p @[Bɛ%62)! %$۾i!)%Z!)i-Ǭq=i-3˿5'95XI5@I9DU?DQDQEU0 EQ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510150VF} BhzF rF iAFQ ZAa M >xx,Z,[AZI*XbI*OjI(rI(zI*{9I*%9I(I(Bs@yB¸@9Bv6YB>BH`ƾ? R@@[?`??@n?Bs@ɨB9; @NhZBNPI}Mb@Mb@Mb@yy y)yIyy}On?)\(?Mb?}X?}Ga=}< }A)}AI}Ai}nAy} AHH6s= C=YӺQ >٣ GF䟻 >]f49۹k?af4Y7 i&BY?mz:Oſq? UC;;Qf4 9A2i  FNOT Ignoring new targets: 277.50 m.i/"i/% ProNav: ac range: 277.500000 m, nav range: 271.258331 m, bearing: 270.963297 deg, approach rate: -0.904647 m/s, LOS rate: -0.002392 deg/s, cmd heading: 268.724722 deg, new cmd heading: 268.722014 deg.  i%Ҹ-HeadingCmd: 4.690084 target range: 277.500000 and range: 277.50 m.h-+@h)h)h)h1g1g1bg1jg9e9e9je9Je9:eED @雅\Bɛ]7) پi)1隑i6r=i˿2p9I+@I!DDDE0 EVF}~Ի5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762573FIZAM%o>GQ GU ?AG] >G] CG] IG] [BG] =GY G] gDG] I<G] F:J% RIBJ! JJ! RJ% ZJ%  x,T⟟[A6˛@y6@96 Y6f>6H vݡ`þ?7`@`y?F?`?@bm?6˛@ɨ6; 6JCBZBBaIHJHJ6Rѕ= R^=YVQ V>T٣T ZGZFZB Z>\]bf49^k?abf4Y^T i^'Bdfſqf?^XUC^:^S:^^f4h jAh2i|FNOT Ignoring new targets: 277.50 m.i1 "i1  ProNav: ac range: 277.500000 m, nav range: 270.950195 m, bearing: 270.962590 deg, approach rate: -0.838646 m/s, LOS rate: -0.001929 deg/s, cmd heading: 268.722018 deg, new cmd heading: 268.719892 deg.  inHeadingCmd: 4.690047 target range: 277.500000 and range: 277.50 m.h@h!h!h!h!g!g!bg)jg)e)e)je1Je1:e5`@]<\Bɛ]I7)a ebܾia)eaaier=im˿m5\9m|d)Im@IqDAT read: 19:01:17.2006 LVL= 18672, 22625, 16802, 28563, AGC= 66, IDX= 401,-0.22,-2.240, 2.612,-2.440,-2.960, PHS= 0.808,-0.664, 0.517, RAW= 139.3, -9.8, CAL= 145.8, -20.1, ROT= 4.2, 20.1 Ygot valid direction response: 19:01:17.2006 LVL= 18672, 22625, 16802, 28563, AGC= 66, IDX= 401,-0.22,-2.240, 2.612,-2.440,-2.960, PHS= 0.808,-0.664, 0.517, RAW= 139.3, -9.8, CAL= 145.8, -20.1, ROT= 4.2, 20.1 PDAT read: Bearing 4.2, 20.1 (Local) ~Local bearing/azimuth received: Bearing 4.2, 20.1 (Local) DAT read: Range 10 to 50 : 274.5 m (Round-trip 366.1 ms) speed 0.9 m/s ,DAT read: user:1032> BDAT read: Tx time:19:01:18.2804 $Ping request sent.y y}1FN?d?tanſI}>i}/>}Q =}>y y:publishing transmit ping timeFpublishing direction and range infoyY}r_tf?lyh?"?տy9yy y)yIyiyyyyy y)yIyiyyy y}1FN?d?tanſIyiyyyy yD?DDEr1 EVFU- %=) F ZA M >Kx,Xƹ[A6@y6Ϟ@96@zY6>6H@.? W ? ? ?il?6@ɨ6@; 6LC^ZB^rIbp=ib=ddUMb@Mb@Mb@QQ Q)QIQyUS?p= ף?I +?UZ?U=U9< UdA)UAIUKAiUAQU(AHmUHm5}{= }==YQ >٣ Gc >]f49k?af4YI iW'BT[?mw:%dĿq%?UC:Z:5nf4-CB -ГA-EZjˊr?bj ii[Aj@CjrC2jE@pllp@_u!#2@ 2iWzpr_tf?lyh?"?տ"jQ =*j󆝳>pvf4@Kap[7&Jpzmg?6ѨH"V4ɿi-jsAi8 r?i^B0  jH?zj8 r?jjH?jjCrj@@e addTargetRange:: Added new target pos. range: 274.500000 m, deltaT: 4.034873 s, deltaX: -3.000000 m, approachRate: -0.743518 m/s, rangeRepo size: 4  Added new target pos. range: 274.500000 m, bearing: 274.433395 deg, lat: 36.904074 deg, lon: -122.119238 deg, deltaT: 4.034873 s, deltaX: -3.000000 m, approachRate: -0.743518 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 274.50 m.i"i  ProNav: ac range: 274.500000 m, nav range: 271.332855 m, bearing: 274.398767 deg, approach rate: 0.000000 m/s, LOS rate: -0.001929 deg/s, cmd heading: 268.719887 deg, new cmd heading: 268.717106 deg.  i HeadingCmd: 4.689998 target range: 274.500000 and range: 274.50 m.hw@hhhhggbgjge!ejeJe(q@:e@S/?k\Bɛ3) \i) )u  i  s=i˿<9:x,Fyӟ[A6@y6됕@96Y6>6Hz?  @8ғ?G?`=?e?6@ɨ6T; 6JCJZBJIHVzHV5^6= ^Y=YbUQ b>`٣` bGbFw >)]5f49-k?a5f4Y- i-'B15Ŀq5?- VC-:-):-1{f4A E{AAeB*** querying acoustic contact ***iaia2iquFNOT Ignoring new targets: 274.50 m.i}9"i}9 ProNav: ac range: 274.500000 m, nav range: 271.019897 m, bearing: 274.401556 deg, approach rate: -0.919050 m/s, LOS rate: 0.008200 deg/s, cmd heading: 268.717100 deg, new cmd heading: 268.725477 deg.  i9HeadingCmd: 4.690145 target range: 274.500000 and range: 274.50 m.h@hhhhggbgjgeejeJe:eh?\Bɛۘ;) ޾i)iۅs=i˿(9JUI@ID?DDE@5 EG%>G!G%.IG%[BG% =G!G!G%ݳ<G%}FVF{#FQZAaMu6>:JMjIBJMػ9JJIRJMZJMաաT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.,x,0[AJ;p@yJ@9JYJO>JH69٣A EGIU ]>q]f49uk?af4Yu iu'BĿq?ubVCu;u$;uf4 YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2460042i!%FNOT Ignoring new targets: 274.50 m.i-(9"i-(9 ProNav: ac range: 274.500000 m, nav range: 270.673462 m, bearing: 274.404801 deg, approach rate: -0.758320 m/s, LOS rate: 0.007112 deg/s, cmd heading: 268.725487 deg, new cmd heading: 268.735235 deg.  i09 HeadingCmd: 4.690315 target range: 274.500000 and range: 274.50 m.h @h h hhggbgjgeejeJe!:e?雵\Bɛ?5) i)n2隹i t=i .˿ 9 tI @I D?DDE1 E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498545VF &f*F ZA M >x, [AIIc3IIIIZIXbIGjIrIzI{9I9IImCo@ym~@9mYmI>mH` ?`@/?@ή?\?@Rd?mCo@ɨmj; mKCޥ[BޥI) Mb@Mb@Mb@ )Iy\(\?~jt?V-?Z?D=< A)AIAiAHHG6= &=Y(Q >٣ GF~ >]f49k?af4Yd i (BY[?mw:ǿq?VC>;;zf4 A2iFNOT Ignoring new targets: 274.50 m.ic9"ic9 ProNav: ac range: 274.500000 m, nav range: 270.267029 m, bearing: 274.410446 deg, approach rate: -0.894654 m/s, LOS rate: 0.012445 deg/s, cmd heading: 268.735241 deg, new cmd heading: 268.752202 deg.  i:HeadingCmd: 4.690611 target range: 274.500000 and range: 274.50 m.h|@hhhhggbgjgeejeJe:e"?U\BɛU7)Q UiQ)]uYYi]́t=iey˿e=8e#wIe|@Ii-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750777DDDE93 EE%hAE%hA*G- <"G) G5 >G1 G5 `IG5 "\BG5 =G1 G5 fDG5 <G5 ~FVF} ɡcFQ ZAa M} >x,BA![A:J*BoIBJ* 9JJ(RJ*ZJ*>q@y>m@9>ˡY>%w>>H}}#?쿿B"#?3?lu?c?>q@ɨ>$X; >LCF8[BJIHRHR6~= ~=Y:Q  ?٣  G F ::   ?]f49Ak?af4Yq iT(B!%ǿq%?WC::f4-EB -A5EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0020322iaeFNOT Ignoring new targets: 274.50 m.im`9"im`9} ProNav: ac range: 274.500000 m, nav range: 270.000031 m, bearing: 274.414153 deg, approach rate: -0.883723 m/s, LOS rate: 0.012283 deg/s, cmd heading: 268.752207 deg, new cmd heading: 268.763340 deg.  i}:HeadingCmd: 4.690805 target range: 274.500000 and range: 274.50 m.h@hhhhggbgjgeejeJe:e3@\BɛX=) ޾i)Bit=i ˿8>vI@IDDaDaDaEeu0 EiVF΄eFZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2538283x,;[AFk@yF:{@9FYF>FH`Ϥ~?ۿ7< .?«??c?Fk@ɨF; FKCRa[BRI=Mb@Mb@Mb@99 9)9I9y=Cl??X9v?=d[?=L==< =dA)9I=Ai=A9=3AHUHUG6e= e@=Ye&Q e>i٣i mGiuKȺ u>y]f49}k?af4Y} i}(B[?mw:iǿq?}hWC}:}8:}f4 QA2iFNOT Ignoring new targets: 274.50 m.iR9"iR9 ProNav: ac range: 274.500000 m, nav range: 269.650330 m, bearing: 274.418924 deg, approach rate: -0.842923 m/s, LOS rate: 0.011513 deg/s, cmd heading: 268.763327 deg, new cmd heading: 268.777656 deg.  i9HeadingCmd: 4.691055 target range: 274.500000 and range: 274.50 m.h@hhhhggbgjgeejeJe:e`ھ@= ]BɛEϴ6)A E߾iA)E?AAiMCZu=im˿u>8uIu@Iquchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506740D!D!D!E%4 E!VFM iFU ?FU .?F) ZAi M >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757915Wx,T[AJa@yJp@9J|YJ@F>JHs ?L޿li`MF? L?K? b?Ja@ɨJ; JLCV[BV IH^H^u5fg> fT=YjºQ j>h٣h jGnFn%X n>p]vf49rk?avf4Yr: ir(Bxzǿqz?rWCrG:ru:rf4 A%B*** querying acoustic contact ***i!i!2i15FNOT Ignoring new targets: 274.50 m.i=V9"i=V9M ProNav: ac range: 274.500000 m, nav range: 269.326294 m, bearing: 274.423444 deg, approach rate: -0.840017 m/s, LOS rate: 0.011732 deg/s, cmd heading: 268.777643 deg, new cmd heading: 268.791219 deg.  iM:UHeadingCmd: 4.691292 target range: 274.500000 and range: 274.50 m.hU@hQhYhYhYgYgYbgajgaeaeijeiJei:em@雝A]BɛJ9) 2Ծi)隡i!u=i*˿|F6I@IG >GߍCGIG\BG =GGG<G>FDM?DIDIEM0 EIEU>EU= mG )H!yuB:JBoHBJJJRJZJ}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009759VFFi ZIq bIq jIq rIq zIq Iq Iq Iq Iu :q Iu :i Iq u Iq m ZA M >%x,n[AB_[@yBj@9BYBS>BH`Pԥ@j?  ᗿZ?`?@ϼ?_?B_[@ɨBF; @R[BR$IHZHZ6b= bK=YbwQ f>d٣d fGfFj j>l]vf49nCk?azf4Yn2 in)Bǿq ?nXCnж;nZ;nf4-FB -A5E4=C=BDAT read: Rx Time:19:01:21.0472 TRx dataTimestamp_ set to:1736535681.827789checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2694322i)-FNOT Ignoring new targets: 274.50 m.i5#A9"i5#A9E ProNav: ac range: 274.500000 m, nav range: 268.986603 m, bearing: 274.428252 deg, approach rate: -0.744573 m/s, LOS rate: 0.010553 deg/s, cmd heading: 268.791221 deg, new cmd heading: 268.805665 deg.  iE9mHeadingCmd: 4.691544 target range: 274.500000 and range: 274.50 m.hm!!@hihqhqhqgqgqbgyjgyeyeyjeyJe:e@c @ m]Bɛ  {5)  t־i)%&!aie4v=iu˿u%uAIu!!@IyDzDiAD=?D9D9EE3 EAVF}  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515203Fy ZA M >W "x,o[A[B:IMb@Mb@Mb@ )Iyn??l?V?<= A)z~AIz~AiAQAHkH5= -=YQ >٣ G >]f49k?af4Yi ik)BRV?m}:{˿q?vXC:M:*f4  QA2i9=FNOT Ignoring new targets: 274.50 m.iE9"iE9] ProNav: ac range: 274.500000 m, nav range: 268.600555 m, bearing: 274.436195 deg, approach rate: -0.923313 m/s, LOS rate: 0.019023 deg/s, cmd heading: 268.805674 deg, new cmd heading: 268.829536 deg.  i]P:]HeadingCmd: 4.691960 target range: 274.500000 and range: 274.50 m.he$@hahahahagagabgijgqeqeqjeqJeq:e}\ @雥]Bɛ8) ׾i)--L))i-rv=i5D˿5D5,I5$@I9DAT read: 19:01:21.0472 LVL= 18864, 28401, 15954, 24979, AGC= 64, IDX= 414,-0.30,-0.971,-2.667,-1.303,-1.769, PHS= 0.887,-0.850, 0.464, RAW= 136.5, -6.4, CAL= 142.3, -16.9, ROT= 7.7, 16.9 Ygot valid direction response: 19:01:21.0472 LVL= 18864, 28401, 15954, 24979, AGC= 64, IDX= 414,-0.30,-0.971,-2.667,-1.303,-1.769, PHS= 0.887,-0.850, 0.464, RAW= 136.5, -6.4, CAL= 142.3, -16.9, ROT= 7.7, 16.9 %PDAT read: Bearing 7.7, 16.9 (Local) %~Local bearing/azimuth received: Bearing 7.7, 16.9 (Local) -DAT read: Range 10 to 50 : 271.9 m (Round-trip 362.6 ms) speed 0.9 m/s E,DAT read: user:1033> ]BDAT read: Tx time:19:01:22.1304 e$Ping request sent.eIai@oc?Yh>x@ )\@Ii >> e0}? eҕ?Ij>i1@= >> :publishing transmit ping timeaFpublishing direction and range infoY7W?R(Lh?Tcݚҿ9 )Ii )Ii e0}? eҕ?Ii G G @AG >G ލCG IG \BG =G G eDG г<G dFHuC HuߍCHuɔCHuɻ ="Huɻ =*HuYf5VF ňzF rF hAFy ZA M >r7(x,}v[A6L@y6_[@96Y6>6HĦ` ?@_t???@]?6L@ɨ6 ; 6MC>)\B>eIHJwHJ>5V3Q> Zv=YZbƻQ Z?:J^BoIBJ^9JJ\RJ^ZJ^\٣p vGvFvҴ v?x]f49z)k?af4Yz iz)B!%˿q%?zXCz;z;zf4) -ƐA)Zjtv?bjk6D iiu攠[AjCj&C2j@p4p@XVhmA@h,iSzp7W?R(Lh?Tcݚҿ"j >*j>p Ʒ@@#.źptg`.x,4M[A2G@y2jV@92/VY2>2H@? ක@V?8? y?[?2G@ɨ2Dj; 0:O\B:|ImMb@Mb@Mb@ii i)iIiymQ?Mb?{Gz?mU?m٣ GF] >]f491k?af4Y i)B V?m}:?Ϳq?YC5;3;f4 zA2iFNOT Ignoring new targets: 271.90 m.i b9"i b9 ProNav: ac range: 271.899994 m, nav range: 267.975677 m, bearing: 274.450250 deg, approach rate: -0.855324 m/s, LOS rate: 0.020260 deg/s, cmd heading: 268.850070 deg, new cmd heading: 268.874826 deg.  iv^:HeadingCmd: 4.692751 target range: 271.899994 and range: 271.90 m.h+@hhhhggbgjgeejeJe:e`4?%]Bɛ%n6)! %5Ǿi!)-u))i-^w=iUZ˿UX"U\IU+@IYDe]>DaD!D!D!E! E!VFM `6F! ZAA M] >G5x,$֠[A6<@@y6O@965Y6G#>6H@|?{ `<'`F?;m?@G?]?6<@@ɨ6; 6KC>\B>IHFHF5R"> R\=YRQ R>T٣T VGTZ Z>\]rg49^Vk?avg4Y^ i^,*BtvTͿqv?^eYC^;^;^g4zGB zA~EB*** querying acoustic contact ***ii2i!-FNOT Ignoring new targets: 271.90 m.i-9"i-9= ProNav: ac range: 271.899994 m, nav range: 267.672852 m, bearing: 274.457473 deg, approach rate: -0.804849 m/s, LOS rate: 0.019221 deg/s, cmd heading: 268.874823 deg, new cmd heading: 268.896518 deg.  iES:EHeadingCmd: 4.693130 target range: 271.899994 and range: 271.90 m.hM.@hIhIhIhIgIgIbgQjgQeQeQjeYJe:e`[F?M^BɛMh26)I M亾iI)Uh5QQiUhw=i}˿}6M}LI}.@IGe>Ge܍CGe.IGer]BGe =GeADGedDGe<GerFDDDE0 E:J5jIBJ5 9JJ1RJ5ZJ5eT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.VF5LF5?F5?F) ZIe ZbIe IjIa rIa zIe 9Ie 9Ia Ia Ie O:Ie T:Ie !9Ie &9ZAy M >'r;x,[A}\BޅI=i>AH!H05D= 6=YQ >)٣) -G5FM m>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497922)]Eg49-Ek?a]g4Y- i-|*BYaqe?-YC-;-;--g4q uAq2iFNOT Ignoring new targets: 271.90 m.i9"i9 ProNav: ac range: 271.899994 m, nav range: 267.294739 m, bearing: 274.466516 deg, approach rate: -0.773768 m/s, LOS rate: 0.018531 deg/s, cmd heading: 268.896515 deg, new cmd heading: 268.923681 deg.  i{K:HeadingCmd: 4.693604 target range: 271.899994 and range: 271.90 m.h2@hhhhggbgjg eejeJe:e>?}/^Bɛ3) ⼾i)隩i= x=ilw˿>9I2@ID9DADAEE0 EAm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747689VFu ~FF9 ZAI Me >j\Bx, [A5\B=IMb@Mb@Mb@ )IyB`"?Mbp?/$?N?;,= A)I{AiGAH?H5-> 5G=Y1Q 5>9٣9 =G=F9 E>A]Ug49Ek?aUg4YE= iE*B]!O?m]:]<Ͽq]?EZCE0;E.;E%g4a e2Aa2iFNOT Ignoring new targets: 271.90 m.ig9"ig9 ProNav: ac range: 271.899994 m, nav range: 266.984222 m, bearing: 274.474969 deg, approach rate: -0.847720 m/s, LOS rate: 0.023103 deg/s, cmd heading: 268.923672 deg, new cmd heading: 268.949060 deg.  i}:HeadingCmd: 4.694046 target range: 271.899994 and range: 271.90 m.h5@hhhhggbgjgeejeJe:e@ڸ?Q^BɛP5) i)iVx=ih˿ޖI5@IDD%?D!D!E%0 E!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000190*GM <"GM <GU >GU ۍCGU IGU ]BGU =GQ GU cDGU <GU FFVFe F9 ZAQ Mm >ԇHx,#[A:w@y:W@9:Y:Ќ>:HJ?8B3[??@? T?:w@ɨ:>; :JCF ]BFIHRDHR5Zs= Zf=YZ1#Q ^>\٣\ ^G\b< b>d]jg49fk?ajg4Yf if*Bhniοqn?f^ZCf';f3;fi2g4p rݎApchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2521442i!-FNOT Ignoring new targets: 271.90 m.i- 9"i- 9M ProNav: ac range: 271.899994 m, nav range: 266.704681 m, bearing: 274.482201 deg, approach rate: -0.780817 m/s, LOS rate: 0.020223 deg/s, cmd heading: 268.949053 deg, new cmd heading: 268.970773 deg.  iM^::JUk3IBJU]9JJQRJUZJUeHeadingCmd: 4.694426 target range: 271.899994 and range: 271.90 m.he8@hahahahagigibgijgieqeqjeqJeq:e}=@雥t^BɛH 5) ݩi)V隩ix=iz\˿API8@IZIYbIKjIrIzI9IK9III:I:I :I :D?DDE_1 EVF euPExceeded connect timeout, disconnecting.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506145FZA! ME >Nx,=[A2J@y2@92H0 Y2# >2HGx?V@lIa?`'?i?S?2J@ɨ26; 2KCBM]BBIEMb@Mb@Mb@AA A)AIAyEFx?~jt?ˡE?EK?ED٣ GFu; >]g490k?ag4Y iE+BL?m:̿q?ZC;D;|Ag4IB AE2iFNOT Ignoring new targets: 271.90 m.iM9"iM9  ProNav: ac range: 271.899994 m, nav range: 266.370300 m, bearing: 274.489925 deg, approach rate: -0.781012 m/s, LOS rate: 0.018065 deg/s, cmd heading: 268.970773 deg, new cmd heading: 268.993976 deg.  i \F:HeadingCmd: 4.694830 target range: 271.899994 and range: 271.90 m.h <@hhhhgg!bg!jg!e!e)je)Je):e-@^Bɛ#3) i)XiLx=i5O˿c@I <@I =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756781DDDE0 EEhAEVFnFYZAiM\> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007742,Ux,rW[AFH@yF@9F(!YFS >FH8? uЕ勿w?@??@Q?FH@ɨF~; Df]Bf9IH~H~5 = >  S=YQ >٣ GF%; %>)]5g49-k?a5g4Y-z i-+B15|̿q=?-[C-;-;-Og4A EAAmB*** querying acoustic contact ***iiii2iyFNOT Ignoring new targets: 271.90 m.if9"if9 ProNav: ac range: 271.899994 m, nav range: 266.069275 m, bearing: 274.496762 deg, approach rate: -0.770998 m/s, LOS rate: 0.017529 deg/s, cmd heading: 268.993968 deg, new cmd heading: 269.014501 deg.  i{@:HeadingCmd: 4.695189 target range: 271.899994 and range: 271.90 m.h>@hhhhggbgjgeejeJe:eq@}^Bɛ} 3)y }\iy)z隁iy=ixC˿ǹ@kI>@IDzDGݾ>GٍCGIGz^BG =GGaDGԳ<GHFD-?D)D)E-3 E)15A=BDAT read: Rx Time:19:01:24.8746 ETRx dataTimestamp_ set to:1736535685.603376Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260984:JjIBJJJRJZJFHt"2:<;6*kXD1"VF'F ZA M >[x,TWq[Ab@ybM@9b!Yb >bHs'?2ҕ@ц~? 8 ?`?P?b@ɨbfM; bJC ]B XIH= H=5M= MF=YU0Q U>Q٣Y ]GY]?; ]>a]mg49eٶk?amg4Ye% ie+Bqu-̿qu?eT[Ce;eQ;eu]g4 A nManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5141902iYFNOT Ignoring new targets: 271.90 m.i9"i9 ProNav: ac range: 271.899994 m, nav range: 265.749725 m, bearing: 274.503870 deg, approach rate: -0.686638 m/s, LOS rate: 0.015292 deg/s, cmd heading: 269.014514 deg, new cmd heading: 269.035863 deg.  i':HeadingCmd: 4.695561 target range: 271.899994 and range: 271.90 m.h B@hhhhggbgjge e je Je :e W @U^BɛUW1)Y ]ꞾiY)]YiOy=iC7˿׹ PI B@IDm?DqDqE}0 Ey} DAT read: 19:01:24.8747 LVL= 24848, 30961, 24786, 32755, AGC= 64, IDX= 213, 0.43, 1.814, 0.146, 1.591, 1.013, PHS= 0.889,-0.820, 0.575, RAW= 140.1, -8.2, CAL= 146.4, -18.1, ROT= 3.6, 18.1  Ygot valid direction response: 19:01:24.8747 LVL= 24848, 30961, 24786, 32755, AGC= 64, IDX= 213, 0.43, 1.814, 0.146, 1.591, 1.013, PHS= 0.889,-0.820, 0.575, RAW= 140.1, -8.2, CAL= 146.4, -18.1, ROT= 3.6, 18.1  PDAT read: Bearing 3.6, 18.1 (Local)  ~Local bearing/azimuth received: Bearing 3.6, 18.1 (Local) VF Ji DAT read: Range 10 to 50 : 255.0 m (Round-trip 340.0 ms) speed 0.6 m/s ] ,DAT read: user:1034> e BDAT read: Tx time:19:01:25.9805 e $Ping request sent.e  ^direction in FSK: [0.948640,0.059683,-0.310676] :publishing transmit ping timea  Fpublishing direction and range infoA YE q)B[?,ю?\ӿE C9A E a E x)E `ZI= [bI= JjI9 rI9 zI= :I= &9I9 I9 qM @iM @uM @m] @cbx,#.[AIuiquc?uQu33?uC~@ uC)uƇ#@Iu?iu=u?>q quRE ӿ?]7?evN¿IuHF>iu>u=u?>q qZ:publishing transmit ping timeؑ=Fpublishing direction and range infoqYuq)B[?,ю?\ӿq9qq q)qIqiqqqqq q)qIqiqqq quRE ӿ?]7?evN¿Iqiqqqq qˎ@yiڕ@9X"Yp>H^͝?.h @〿? W5?`?`Q?騽ˎ@ɨ; ]BsIMb@Mb@Mb@ )IyFx? rh?Q?C<\= VA)fzAI yAiAHHm5 =  %=Y VQ  >٣ GF%; ->I]Ug49Mek?aUg4YM/0 iM ,BUL?mU:UʿqU?M[CM:M:Mng4eJB hAEZju0q?bju= iqiuц[AjuCjuz}C2ju@puH=puǞG32@gkyro|pyBpu*E?mᅴ5F¿iu{juAiup5q?iuk  juAzjqju^B0 juc)@jjuCrjuHV@M addTargetRange:: Added new target pos. range: 255.000000 m, deltaT: 3.779972 s, deltaX: -16.899994 m, approachRate: -4.470931 m/s, rangeRepo size: 4 JDAT read: TxSync time:19:01:25.9797  Added new target pos. range: 255.000000 m, bearing: 274.137889 deg, lat: 36.904074 deg, lon: -122.119213 deg, deltaT: 3.779972 s, deltaX: -16.899994 m, approachRate: -4.470931 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 255.00 m.i"i ProNav: ac range: 255.000000 m, nav range: 263.191528 m, bearing: 274.548897 deg, approach rate: 0.000000 m/s, LOS rate: 0.015292 deg/s, cmd heading: 269.035851 deg, new cmd heading: 269.057256 deg.  iHeadingCmd: 4.695935 target range: 255.000000 and range: 255.00 m.hE@hhh hggbgYjgYeYeYjeaJeeo@:ee#?"_Bɛh1) i)6iky=i+˿义k-IE@IDDDE0 EE=Ep=GGAAG;>G֍CG IG^BG =GG_DGy<GFI ) u nG kA ) y kA BVF KF ZA M >Vix,槡[A:JkOBJJJRJZJ}ytphc`\VTQMIGG?=<84311-+'%'$##! ^BIH%H%5] > ]b=YeQ e>a٣a eGeFm m>q]}g49uk?a}g4Yu7 iu[,Bq?u[Cu:ul:uR{g4 A2iQ]FNOT Ignoring new targets: 255.00 m.imr9"imr9 ProNav: ac range: 255.000000 m, nav range: 262.914917 m, bearing: 274.554532 deg, approach rate: -0.784838 m/s, LOS rate: 0.016004 deg/s, cmd heading: 269.057243 deg, new cmd heading: 269.074165 deg.  i/:HeadingCmd: 4.696230 target range: 255.000000 and range: 255.00 m.hG@hhhhggbgjgeejeJe:e W?B_Bɛ4) i)hiy=iY!˿6IG@ID e>D >D?DDEP5 EVF .-F ZA M >yfpx,ͭ[ABߎ@yB@9B$YBך>BHK@?sz?`'?@?IT?Bߎ@ɨB; BICJ>^BJIUMb@Mb@Mb@QQ Q)QIQyUJ +?y&1?X9v?UH?U`٣ G; >]g49-k?ag4Y? i,BH?m:ȿq?O\CH::g4 A2iFNOT Ignoring new targets: 255.00 m.i\s9"i\s9 ProNav: ac range: 255.000000 m, nav range: 262.602356 m, bearing: 274.559685 deg, approach rate: -0.805634 m/s, LOS rate: 0.013298 deg/s, cmd heading: 269.074155 deg, new cmd heading: 269.089632 deg.  i:HeadingCmd: 4.696500 target range: 255.000000 and range: 255.00 m.hI@h h h h g g bgjgeejeJe!:e%=?i_Bɛ2) i) iy=i˿EcII@I!ZIbIPjI1rIzII*9I3ID?DDEO5 EVF- :Q1F ZA M5 >Avx,ۡ[A6@y6@96j&Y6>6H |KԼ? o`??`Y?` P?6@ɨ6Z; 6JCBm^BBIID)DHJHJ\5R4= RZ=YV|Q V>T٣T ZGZFZb; Z>\]bg49^Rk?abg4Y^]G i^,BdfOȿqf?^\C^S:^:^g4h jOAh~B*** querying acoustic contact ***i|i|2i  FNOT Ignoring new targets: 255.00 m.ia9"ia9% ProNav: ac range: 255.000000 m, nav range: 262.314545 m, bearing: 274.564325 deg, approach rate: -0.763845 m/s, LOS rate: 0.012329 deg/s, cmd heading: 269.089646 deg, new cmd heading: 269.103582 deg.  i%`:-HeadingCmd: 4.696743 target range: 255.000000 and range: 255.00 m.h-K@h)h)h)h1g1g1bg1GEƾ>GEՍCGEg IGEn_BGE =GAGE^DGE<GESFH ٍC H ٍCH CH ="H =*H 6jg9eejeJe:e)? _Bɛ2) 쐾i9)=99i=z=iE˿EyEIEK@IID D D E 4 E EEhAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.:J$NBJػ9JJRJZJ    VF9"FZA M5 >|x,Gr[AF@yF @9F$&YFB>FH ?m`1H^ ?@K??M?F@ɨFҋ; Dn^BnI5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729410H HP53= -=Y:Q >٣ GF_; >]g49k?ag4YP i*-Bȿq?\C::8g4KB *AE2iFNOT Ignoring new targets: 255.00 m.i$_9"i$_9- ProNav: ac range: 255.000000 m, nav range: 261.952179 m, bearing: 274.570062 deg, approach rate: -0.769036 m/s, LOS rate: 0.012193 deg/s, cmd heading: 269.103579 deg, new cmd heading: 269.120815 deg.  i-:5HeadingCmd: 4.697044 target range: 255.000000 and range: 255.00 m.h50N@h1h1h1h1g9g9bgAjgAeIeIjeIJeI:eMb?u_Bɛuv2)y }Ӝiy)}&yyi}?z=i˿u߻I0N@IDM?DIDIEU 5 EQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.979035VF JF ZI ZbI LjI 2rI zI 9I q9I c3I ZA MU >7x,=[A> @y>@9>ڠ%Y> >>H?@߿* 4???`?`K?> @ɨ>; >KCV^BVI=Mb@Mb@Mb@99 9)9I9y=K7A`?A`"?:v?=K?=Y==< =KA)=wAI=QvAi99=3AHUHU5e(> ec=Ye:Q m>i٣i mGiu; u>y]g49}k?ag4Y}NX i}e-BK?m:ÿq?}>]C}o:}(:}ȳg4 A2iFNOT Ignoring new targets: 255.00 m.i8"i8 ProNav: ac range: 255.000000 m, nav range: 261.672394 m, bearing: 274.572420 deg, approach rate: -0.775843 m/s, LOS rate: 0.006545 deg/s, cmd heading: 269.120819 deg, new cmd heading: 269.127899 deg.  i9HeadingCmd: 4.697168 target range: 255.000000 and range: 255.00 m.h3O@hhhhggbgjgeejeJe:e`y@_Bɛ+3) i))5e`11i5Ejz=i=˿=/=ϳI=3O@IA=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231960DDD E N4 E *G=<"G=4<GE>GEԍCGE IGE_BGE =GAGAGE<GE;FVF- >uF ZA M- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482985$͉x,)[AV@yV#@9VA%YV >VH `~?@[@@X?O? ??xJ?V@ɨV ; VJC:J^LBJ^h9JJ\RJ^ZJ^j^Bj In)>in=HrHr5z<= zQ=Y~/zQ ~>٣ GFJ;  > ]g49 k?ag4Y N` i -Bÿq? ]C ; Y; kg4! -A)2iIUFNOT Ignoring new targets: 255.00 m.i]D8"i]D8m ProNav: ac range: 255.000000 m, nav range: 261.368652 m, bearing: 274.574908 deg, approach rate: -0.780559 m/s, LOS rate: 0.006400 deg/s, cmd heading: 269.127895 deg, new cmd heading: 269.135367 deg.  im9uHeadingCmd: 4.697298 target range: 255.000000 and range: 255.00 m.huDP@hqhqhqhqggbgjgeejeJe:e@F@- `Bɛ-4)) -i1)UQQiUz=i]\ʿ] ]IeDP@IaD?DDE~0 EE=E=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.737682VF5,ɻF ZA ME >õx,]B[A~^B~ IMb@Mb@Mb@ )IyB`"?㥛 ?I +?N?=9< A)QvAIsAiAׅAHH5]= ==YQ >٣ G >]g49k?ag4Ybi i-BO?m:q?]C:A:g4  OA2i9=FNOT Ignoring new targets: 255.00 m.iE&8"iE&8U ProNav: ac range: 255.000000 m, nav range: 261.023376 m, bearing: 274.575895 deg, approach rate: -0.795226 m/s, LOS rate: 0.002277 deg/s, cmd heading: 269.135353 deg, new cmd heading: 269.138319 deg.  iU8]HeadingCmd: 4.697350 target range: 255.000000 and range: 255.00 m.h]P@hYhYhahagigibgijgqeqeqjeqJey:e}@.*@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9871094`Bɛ4) ⡾i)eiwz=iʿE bI P@IZI[bIMjIrIzI:I9IIDaDaDaEey0 EaVF ԑzF rF M BDAT read: Rx Time:19:01:28.7208 U TRx dataTimestamp_ set to:1736535689.383985] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241197F ZA M >%ߖx,c\[A6*@y6<:@96B&Y6z} >6Hw?`@q?/?? ^'?^I?6*@ɨ6~ʉ; 6ICb_Bb. IHjHj5Gr>GpGr IGr/`BGr =GpGr]DGr<GrF)= Y=YKQ > ٣   G F>; >]%g49Lk?a%g4Yx,tv[AV5@yV`D@9V&YV >VH@`Ե?,w??׾?+?H?V5@ɨVœ; VJCr(_Bm< II)DAT read: 19:01:28.7208 LVL= 26848, 32657, 21490, 32755, AGC= 61, IDX= 397, 0.50,-2.503, 2.180,-2.682, 3.016, PHS= 0.852,-0.789, 0.582, RAW= 141.2, -8.5, CAL= 147.7, -18.2, ROT= 2.3, 18.2 HmHmk5Ygot valid direction response: 19:01:28.7208 LVL= 26848, 32657, 21490, 32755, AGC= 61, IDX= 397, 0.50,-2.503, 2.180,-2.682, 3.016, PHS= 0.852,-0.789, 0.582, RAW= 141.2, -8.5, CAL= 147.7, -18.2, ROT= 2.3, 18.2 PDAT read: Bearing 2.3, 18.2 (Local) ~Local bearing/azimuth received: Bearing 2.3, 18.2 (Local) DAT read: Range 10 to 50 : 252.0 m (Round-trip 336.1 ms) speed 0.4 m/s ,DAT read: user:1035> L= 1==BDAT read: Tx time:19:01:29.8305 =$Ping request sent.E| |~2ς??0r¿I~7>i~>~l$=~>| |u:publishing transmit ping time9uFpublishing direction and range info|Y~_?7?IKӿY]hQ }>y٣y GF&; >]g49k?ag4|9|| |)|I|i||||| |)|I|i||| |~2ς??0r¿I|i|||| |Ye{ i{.B  q?^Co<<g4Y ]AYZj~_Kq?bj~7t i|i~kx[Aj~|Cj~zzC2j~ݘ@p~~8gm@SI6#@ 1qVSzp~_?7?IKӿ"j~l$=*j~>p~20@6vo–qBp~dL\?zіv{ܼ¿i~xj~րAi~[a q?i~,5  j~1Azj~p5q?j~,5 j~Ajj~lyCrj~&@ addTargetRange:: Added new target pos. range: 252.000000 m, deltaT: 3.781549 s, deltaX: -3.000000 m, approachRate: -0.793326 m/s, rangeRepo size: 4  Added new target pos. range: 252.000000 m, bearing: 273.704135 deg, lat: 36.904050 deg, lon: -122.119092 deg, deltaT: 3.781549 s, deltaX: -3.000000 m, approachRate: -0.793326 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 252.00 m.i"i ProNav: ac range: 252.000000 m, nav range: 249.422134 m, bearing: 274.163303 deg, approach rate: 0.000000 m/s, LOS rate: 0.001799 deg/s, cmd heading: 269.140353 deg, new cmd heading: 269.143209 deg.  i%HeadingCmd: 4.697435 target range: 252.000000 and range: 252.00 m.h%dQ@h!h!h!h!gigibgijgieqeqjeqJeuo@:e}1 ?`BɛJh5) i)EAAiED{=iMʿM[ MܺIMdQ@IQJDAT read: TxSync time:19:01:29.8297 D= ?D9 D9 E= 5 E9 VF] ?Fe ?Fe ?FZA)ME>Lx, [AMQ_BMU IMb@Mb@Mb@ )Iygfffff?MbX9?~jt?3S?ʡ=< AA)tAIpAi3AHH5-= -6=Y-Q 5>1٣1 5G5F= =>A]Mg49Ek?aUg4YEx iE.BU8T?mU:U>qU?E^CE*;EK(;Eg4Y eAa2iFNOT Ignoring new targets: 252.00 m.ix"ix ProNav: ac range: 252.000000 m, nav range: 249.076660 m, bearing: 274.162979 deg, approach rate: -0.906045 m/s, LOS rate: -0.000849 deg/s, cmd heading: 269.143222 deg, new cmd heading: 269.142250 deg.  i:HeadingCmd: 4.697418 target range: 252.000000 and range: 252.00 m.h@Q@hhhhggbgjgeejeJe:e ?`Bɛ:) i)~i|{=ilʿ  I @Q@I D?DDE0 EGGG>GG IGv`BG =GGG<GFVF*F ZA M >:J yJBJ 9JJ RJ ZJ  $&)))*)**(%## ZI ZbI LjI 1rI zI 9I q9I 3I I J:q I O:i I :u I :m x,v[AV'@yV+7@9V )YV͍>VH /V @?JN5d?@'? ?N? Q?V'@ɨVو; VIC^y_B^n IHfHfv5n_= rc=YrϻQ r>p٣t vGtv v>x]h49zk?a h4Yz% iz.B eq?z7_Cz;z!;z! h4) 5CA12iq}FNOT Ignoring new targets: 252.00 m.i"i ProNav: ac range: 252.000000 m, nav range: 248.784500 m, bearing: 274.162786 deg, approach rate: -0.796669 m/s, LOS rate: -0.000529 deg/s, cmd heading: 269.142238 deg, new cmd heading: 269.141657 deg.  iHeadingCmd: 4.697408 target range: 252.000000 and range: 252.00 m.h+Q@hhhh1g9g9bg9jg9eAeAjeAJeA:eE :/?雍`Bɛ˼)< ɲi)iYy=iʿN6OXI+Q@ID?DDE EVFF ZA M >hx,iTȢ[A6 @y6/@96\*Y6>6H95?ſa?zI?'? ?M?6 @ɨ6; 4F_BF IMb@Mb@Mb@ )IyV-?ʡE?{Gz?\?=ף< 5A)=rAIiAAAHuHu5= @=YQ >٣ GFu >]h49k?ah4Y iJ/B]?mu:\q?_C;^;@;h4OB AE2i!-FNOT Ignoring new targets: 252.00 m.i57"i57M ProNav: ac range: 252.000000 m, nav range: 248.420471 m, bearing: 274.163175 deg, approach rate: -0.853156 m/s, LOS rate: 0.000914 deg/s, cmd heading: 269.141664 deg, new cmd heading: 269.142835 deg.  iM 8eHeadingCmd: 4.697429 target range: 252.000000 and range: 252.00 m.heVQ@hihihihigigibgyjgyeyeyjeyJe:e.?雭aBɛx˼) ii)IQQiUw=i]ʿ]]h`I]VQ@IYDDDE EE=E=VF }zF rF iAF ZA M >G >G G ; IG `BG =G G G <G F(x,6[A :HGD P)jyhn" Br@y@9*Y>Hxv`? bk ;?l?A?@$V?LJ?r@ɨ'; KC-_B- IHEHE95Uy= UN=Y]QQ ]>Y٣Y ]Gae e>i]uh49mk?a}h4Ym im/By}q}?m_Cmm(;m(;m&h4 ׉AB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 252.00 m.i7"i7U ProNav: ac range: 252.000000 m, nav range: 248.084991 m, bearing: 274.163712 deg, approach rate: -0.859920 m/s, LOS rate: 0.001377 deg/s, cmd heading: 269.142839 deg, new cmd heading: 269.144451 deg.  iUq8]HeadingCmd: 4.697457 target range: 252.000000 and range: 252.00 m.h]Q@hYhYhYhagagabgajgieieijeiJeq:euE?雽2aBɛZռ) i)iBu=i%ʿoUkIQ@IՑՑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DDDE E:J}-HMBJ}]9JJyRJ}ZJ} IsI{<3I{.-IsIsIsZI\bINjI2rIzI=:I!9Ic3II:I:Ib:Ie:VFg{F ZA M >M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.941733Sx,[AU @yU@9U*YU>UH@Y޹?| ;?`i?1٣1 =G=F=6 =>A]Mh49E@k?ah4YE6 iE/B]?mu:}ƿq?EH`CE]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446194F!ZA)MM?=x,4/[ANe@yN@9N +YN->NH@ ?@E_@ڋ8 2`Oz?@J??G?Ne@ɨNJo; NHCZ`BZ IHb Hb5nc= n2=Yn$wQ n>p٣p rGrFr? v>x]~h49zk?a~h4Yzx iz&0B|~ƿq~?z`Cz:z:zFh4PB GӍCGm IGaBG =GBDGG<GFHUԍC HUԍCHUCHU ="HU =*HU'd5"iEGJ9 ProNav: ac range: 252.000000 m, nav range: 247.329147 m, bearing: 274.172978 deg, approach rate: -0.893889 m/s, LOS rate: 0.011053 deg/s, cmd heading: 269.157866 deg, new cmd heading: 269.172292 deg.  i9mHeadingCmd: 4.697943 target range: 252.000000 and range: 252.00 m.hmU@hqhqhqhqgygbgjgeejeJe:e`{&@]aBɛu˼)y Ǿi)i5Rq=i=;ʿ=[EIEU@IA^D\J=DDDEz0 EEEEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.696941ZI[bI]jI1rIzI:I_9I3II:I:Io:Ip::JKBJS9JJRJZJ #4:::520-*+),+&"  F ZA! ME >x,5[ARv@yR@9R+YR [>RHg?@a/E@?XX?N?F?Rv@ɨRZM; RKC^;`B^ IHvHv15~ > ~I=YQ  > ٣ GF> %>1]=h495rk?a=h4Y5 i5k0B9=ƿqE?5aC5;5;5YTh4I M̈AI2iquFNOT Ignoring new targets: 252.00 m.i}C9"i}C9 ProNav: ac range: 252.000000 m, nav range: 246.981140 m, bearing: 274.177326 deg, approach rate: -0.851944 m/s, LOS rate: 0.010659 deg/s, cmd heading: 269.172291 deg, new cmd heading: 269.185353 deg.  i9HeadingCmd: 4.698171 target range: 252.000000 and range: 252.00 m.hjW@hhhhggbgjgeejeJe:e@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950886雕aBɛO׼) i)io=i5ʿ5d5ʤI5jW@I9^D-}<DDDE~0 EFZAM> BDAT read: Rx Time:19:01:32.5664  TRx dataTimestamp_ set to:1736535693.163101 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201224x,O[A6^@y6@96u6*Y6=>6H93?>`R8`?@-? _?I?6^@ɨ6AΈ; 4Rd`BR I]Mb@Mb@Mb@YY Y)YIYy])\(?:v?Q?]Ga?]T=]\= ]pA)]oAI]XmAi]AY]fAH} H}P5^= B=YL;Q >٣ Gd >]h49hk?ah4Y' i0Ba?mp:ſq?aaC::bh4 zA2iFNOT Ignoring new targets: 252.00 m.iQ9"iQ9  ProNav: ac range: 252.000000 m, nav range: 246.620514 m, bearing: 274.180792 deg, approach rate: -0.859057 m/s, LOS rate: 0.008268 deg/s, cmd heading: 269.185350 deg, new cmd heading: 269.195763 deg.  i 9HeadingCmd: 4.698352 target range: 252.000000 and range: 252.00 m.hX@hhhhggbg!jg!e!e!je!Je):e-m @UaBɛUrݼ)Y ]꿾iY)YYYi]n=ieʿmf m`ImX@IqCyCyCyCy-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.452283D!D%>G>GG IGtaBGGG\DG<G;FD?DDE0 EFZAM>x,zi[A}DAT read: 19:01:32.5664 LVL= 22992, 32753, 21634, 32755, AGC= 63, IDX= 401,-0.35, 2.374, 0.821, 2.111, 1.625, PHS= 0.837,-0.757, 0.483, RAW= 137.8, -7.8, CAL= 143.8, -18.2, ROT= 6.2, 18.2 Ygot valid direction response: 19:01:32.5664 LVL= 22992, 32753, 21634, 32755, AGC= 63, IDX= 401,-0.35, 2.374, 0.821, 2.111, 1.625, PHS= 0.837,-0.757, 0.483, RAW= 137.8, -7.8, CAL= 143.8, -18.2, ROT= 6.2, 18.2 PDAT read: Bearing 6.2, 18.2 (Local) ~Local bearing/azimuth received: Bearing 6.2, 18.2 (Local) =DAT read: Range 10 to 50 : 248.7 m (Round-trip 331.7 ms) speed 0.8 m/s =,DAT read: user:1036> ]@y]. @9]'Y]q>]H,=?<)@>o`??Rm?M?]@ɨ]0Ї; ]ICm`BZIu]bIu\jIu2rIqzIu]:Iu[9Iuc3IqIu:Iu:Iuځ:Iuہ:BDAT read: Tx time:19:01:33.6805 $Ping request sent.F@ F'g )FK @IDiFk=DD DH5= 3=YJ;Q >٣ %G%F%)v %>F(ij/?f_?^IhiIF>iFܷ >Fk=DD DM:publishing transmit ping timeؑUFpublishing direction and range infoDYF5 8? XC?IKӿD9DD D)DIDiDDDDD D)DIDiDDD DF(ij/?f_?^IhiIDiDDDDi]uh49mtk?auh4Ym im1By}ſq}?maCm:m:m*sh4 -A DZjF9&u?bjFO iDiFj[AjFxCjF1wC2jF©@pFSX \m@Pؐ9@-mZ_kSzpF5 8? XC?IKӿ"jFk=*jDpF6~܂=@RJnM017ApFy 6?fu D iFtjFAiF$Su?iFa  jFAzjF8 r?jDjF1AjjFnvCrjFz@] addTargetRange:: Added new target pos. range: 248.699997 m, deltaT: 3.780097 s, deltaX: -3.300003 m, approachRate: -0.872994 m/s, rangeRepo size: 4  Added new target pos. range: 248.699997 m, bearing: 276.923242 deg, lat: 36.904074 deg, lon: -122.119092 deg, deltaT: 3.780097 s, deltaX: -3.300003 m, approachRate: -0.872994 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 248.70 m.i"i ProNav: ac range: 248.699997 m, nav range: 246.430176 m, bearing: 274.803360 deg, approach rate: 0.000000 m/s, LOS rate: 0.008268 deg/s, cmd heading: 269.195760 deg, new cmd heading: 269.207744 deg.  i-HeadingCmd: 4.698562 target range: 248.699997 and range: 248.70 m.h-Z@h)h)h)h)g1g1bg1jg1e9e9jeiJeu`fo@:eu?bBɛż) Ⱦi)   i jk=iʿ4&#IZ@IDDDE EEJDAT read: TxSync time:19:01:33.6797 FZAM >x,yy[A6@y6 @967F$Y60>6HXʗ ?`~eࡨ?Br?`~c?R?6@ɨ6߇; 6JCn`Bn4 IMb@Mb@Mb@ )Iy-? rh?J +?5^?C =H= ΊA)nnAIAlAiApAHHo5= K=Y٣ %G%F%R %>Q]Uh49Uk?a]h4YU iU`1B]^?m]t:]ǿq]?UbCUQ:U:U#h4eRB mӇAEB*** querying acoustic contact ***ii2iY]FNOT Ignoring new targets: 248.70 m.il9"il9 ProNav: ac range: 248.699997 m, nav range: 246.091751 m, bearing: 274.809289 deg, approach rate: -0.837343 m/s, LOS rate: 0.014690 deg/s, cmd heading: 269.207753 deg, new cmd heading: 269.225565 deg.  iO!:HeadingCmd: 4.698873 target range: 248.699997 and range: 248.70 m.h*]@hhhhggbgjgeejeJe:eƄ?=DbBɛe߼)a e^ľia)aaiimI j=imʿu:*uIu*]@IqD?DDE E] T****** received valid address query ******e R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.VFu nʻF F >Fq ZA M >!x,ꝣ[A6H@y6@96 Y6#=6H`ӳ?Tソ}`=?Z??`?6H@ɨ6ֈ; 6IC>`BB\ IHFHF5n\=> np=Yn/G~ҍCG~ IG~aBG~ =G|G|G~U<G~F]h49k?ah4Y: i1B%?ȿq%?hbC::h4) -RA)2iYeFNOT Ignoring new targets: 248.70 m.ieM9"imM9} ProNav: ac range: 248.699997 m, nav range: 245.803818 m, bearing: 274.814506 deg, approach rate: -0.911637 m/s, LOS rate: 0.016535 deg/s, cmd heading: 269.225567 deg, new cmd heading: 269.241234 deg.  i}5:HeadingCmd: 4.699146 target range: 248.699997 and range: 248.70 m.hg_@hhhhggbgjgeejeJe:e=?dbBɛ4) !i)ih=iʿP. ?Ig_@IDD?DDED5 EVF}RFYZAaM8>]A]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.941460:J LBJ 9JJ RJ ZJ +*+**($"     $$##&%''&Fx,\[AaB%o II))))-= -=H=H=x5M= MD=YUQ U>Q٣Y ]G]F] e>a]mh49e k?amh4Yez ie1Bqqqu?ebCe~:e:euh4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.192964! -AQ2iIUFNOT Ignoring new targets: 248.70 m.iUi9"iUi9e ProNav: ac range: 248.699997 m, nav range: 245.453827 m, bearing: 274.820862 deg, approach rate: -0.702218 m/s, LOS rate: 0.012773 deg/s, cmd heading: 269.241221 deg, new cmd heading: 269.260319 deg.  i@ :HeadingCmd: 4.699479 target range: 248.699997 and range: 248.70 m.h"b@hhhhggbgjgeejeJe:e+?bBɛ馾) i)if=iʿPx5 Nx,Vң[A:َ@y:m@9:Y:l >:H - %?@_@@:0?b??d?:َ@ɨ:s; :HCBSaBB IMb@Mb@Mb@ )Iy333333?L7A`?&1?Y?+=P= )XmAIjAiZAzAH-H-~5E|> EG=YESI٣I MGIUqY U>]h49(k?ah4Y i@2B'Z?my:ȿq?cC:A:ch4TB AE2i!%FNOT Ignoring new targets: 248.70 m.i-@9"i-@9= ProNav: ac range: 248.699997 m, nav range: 245.099106 m, bearing: 274.827538 deg, approach rate: -1.039387 m/s, LOS rate: 0.019589 deg/s, cmd heading: 269.260319 deg, new cmd heading: 269.280375 deg.  i=W:EHeadingCmd: 4.699829 target range: 248.699997 and range: 248.70 m.hEe@hAhAhAhIgIgIbgQjgYeYeYjeYJeY:ee?雍bBɛ޼) i)隑i=e=ilʿz:sVIe@IDiDiDiEmP5 Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.698071G>GG) IGIbBG =GGG<<GiFVFf AF ZA M >= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948201nx,j[AJQ@yJ@9JYJ<>JH [?Q|U??5E?j?JQ@ɨJd; JICVaBV IH^H^5j= jS=Ynl٣p rGrFr; r>t]~h49vRk?a~h4Yv iv2B|~Dȿq~?vlcCvl:v:vYh4 HA 2i15FNOT Ignoring new targets: 248.70 m.i={9"i={9U ProNav: ac range: 248.699997 m, nav range: 244.790680 m, bearing: 274.833182 deg, approach rate: -0.832005 m/s, LOS rate: 0.015243 deg/s, cmd heading: 269.280372 deg, new cmd heading: 269.297324 deg.  iUa':]HeadingCmd: 4.700125 target range: 248.699997 and range: 248.70 m.h]lg@hYhYhYhagagabgajgieieijeqJeq:eu&@雝bBɛUͼ) i)隡ic=iʿ]?n0Ilg@IDzDhA:J%MBJ%9JJ!RJ%ZJ%&$"$%&  DADADIEM4 EIVFm|`checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200257FIZAqM>pPx,[A:@y:2@9:S Y:u>:H`? @q"?`R?q{?`o?:@ɨ:.; :HC^aBb IddUMb@Mb@Mb@QQ Q)QIQyUgfffff?V-?J +?U3S?U٣ GF<; >]h49{k?ah4Y i2BS?m:Yȿq?cC ;U:*h4 A2iFNOT Ignoring new targets: 248.70 m.i9"i9u ProNav: ac range: 248.699997 m, nav range: 244.448105 m, bearing: 274.839519 deg, approach rate: -0.806701 m/s, LOS rate: 0.014945 deg/s, cmd heading: 269.297311 deg, new cmd heading: 269.316350 deg.  iu$:}HeadingCmd: 4.700457 target range: 248.699997 and range: 248.70 m.h}%j@hhhhggbgjgeejeJe:e " @%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453068雥cBɛB) ²i)ib=i֖ʿ D I%j@IZI[bIMjIrIzI:I9IIDD!D!E%P5 E!VF .-F ?F /? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704633F ZA M >{x,5`[A6!@y61@96ϵY6>o>6H/?ٹY@ζ? ي?`~?Ms?6!@ɨ6T; 6GC*GB<"GB<GJ>GHGJm IGJbBGJ =GHGHGJг<GJFRaBV IH^H^X5f= fV=Yf`h٣h jGhn< n>p]vh49rk?avh4Yr6 ir3Btzǿqz?rdCr:r:rh4Y ]AIm=)mC pG;mA )5y5;mA5?BUB*** querying acoustic contact ***iQiQ2iaeFNOT Ignoring new targets: 248.70 m.imo9"imo9 ProNav: ac range: 248.699997 m, nav range: 244.139420 m, bearing: 274.845031 deg, approach rate: -0.733200 m/s, LOS rate: 0.013108 deg/s, cmd heading: 269.316353 deg, new cmd heading: 269.332909 deg.  i:HeadingCmd: 4.700746 target range: 248.699997 and range: 248.70 m.hl@hhhhggbgjgeejeJe:e@TS@MCcBɛU5Zɼ)Q UݲiQ)QQYi]`=i]aʿewGeKʻIel@IaDADADAEE5 EI-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957214:JM -%MBJM 9JJI RJM ZJM QA(VFm FA ZAI Mm >̤ x,99[A6?@y6RN@96jY6( >6H& Ҷ?iV?Wտ??? w?6?@ɨ6_J; 6ICBbBB IHZHZ5b(= bK=YfAnd٣d fGjFj< j>l]rh49nk?arh4Yn inF3Btvǿqv?ngdCnS:n:nh4zUB z9AzµE2i%FNOT Ignoring new targets: 248.70 m.i%29"i%295 ProNav: ac range: 248.699997 m, nav range: 243.812881 m, bearing: 274.850611 deg, approach rate: -0.901705 m/s, LOS rate: 0.015431 deg/s, cmd heading: 269.332910 deg, new cmd heading: 269.349674 deg.  i5p):EHeadingCmd: 4.701039 target range: 248.699997 and range: 248.70 m.hMn@hIhIhIhQgQgYbgajgaeieijeiJei:em- @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209117雭icBɛ>μ) di)隱i_=iȃʿ@IhIn@IDi>D>DYDYDaEmp0 EiVF= BDAT read: Rx Time:19:01:36.4311 = TRx dataTimestamp_ set to:1736535697.196046E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.462539Fq ZA M >ZI \bI JjI rI zI =:I &9I I x,:S[A2rX@y2g@929Y2m >2H`ۈ`>?(ln?@H?#?`!?`|?2rX@ɨ2k; 0n7bBn IIp)p)v= vp=uMb@Mb@Mb@qq q)qIqyuB`"??X9v?uN?u٣ GFy; >]h49mk?ah4Y i3BO?m:Sǿq?dC::h4 A2iFNOT Ignoring new targets: 248.70 m.it9"it9 ProNav: ac range: 248.699997 m, nav range: 243.468567 m, bearing: 274.856379 deg, approach rate: -0.795105 m/s, LOS rate: 0.013338 deg/s, cmd heading: 269.349685 deg, new cmd heading: 269.367013 deg.  iw:HeadingCmd: 4.701341 target range: 248.699997 and range: 248.70 m.hcq@hhhhggbgjgeejeJe:e` @=cBɛ=)A EXiA)AAAiE.^=iuyʿuIuMIucq@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.713191DDDE0 EG>GG IGcBGGGG<GFHEҍC HEҍCHAHE ="HE =*HEƟ5VF ԑzF hArF iAF ZA M >E DAT read: Range 10 to 50 : 259.8 m (Round-trip 346.4 ms) speed 0.4 m/s E ,DAT read: user:1037> M BDAT read: Tx time:19:01:37.5305 x,l[A$Ping request sent.r@y>A@9>Y>Ƀ >>HJ ?`[1x?૿?>??@?>r@ɨ>҈; >HCJRbBJ. IHRHR5^/= ^Z=Yb0w`٣` fGdfH < f>h]nh49jk?anh4Yj% ij3Bprƿqr?j eCj0;j;jh4t vAt= addTargetRange:: Added new target pos. range: 259.799988 m, deltaT: 4.030261 s, deltaX: 11.099991 m, approachRate: 2.754162 m/s, rangeRepo size: 4 2iAEFNOT Ignoring new targets: 248.70 m.iMj9"iMj9] ProNav: ac range: 248.699997 m, nav range: 243.169662 m, bearing: 274.861170 deg, approach rate: -0.798823 m/s, LOS rate: 0.012818 deg/s, cmd heading: 269.367006 deg, new cmd heading: 269.381395 deg.  i] :eHeadingCmd: 4.701592 target range: 248.699997 and range: 259.80 m.hers@hahahahagigibgijgieqejeJe!x,)ˆ[A6H@y6@96ڽY6* >6H@`{h?@}?@L? N??y?6H@ɨ6J; 6ICbbBbM IMMb@Mb@Mb@II I)IIIyM rh?+? rh?MCK?M=MC< MA)MhAIM"kAiMAIMQ|AH}H}5= <=YrN٣ GFD; >]i49k?ai4Y. i3BK?m:Ŀq?eeCE;d; i4 OA 2iFNOT Ignoring new targets: 248.70 m.i 9"i-9= ProNav: ac range: 248.699997 m, nav range: 242.825592 m, bearing: 274.864864 deg, approach rate: -0.737317 m/s, LOS rate: 0.007927 deg/s, cmd heading: 269.381404 deg, new cmd heading: 269.392502 deg.  iE9EHeadingCmd: 4.701786 target range: 248.699997 and range: 259.80 m.hEu@hIhIhIhIgigibgqjgqeqeqjeyJey:e} ?cBɛ1ɼ) i)i[=i-Mkʿ-gG-5 ;I5u@I1D9ZIm[bImPjIm1rIizIm:Im*9Im3IiDDDEq0 EVF zQF ZA M ><'x,;[AGGAAG>GэCG IGzcBG =GG[DG<G+FJ@yJ@9JTнYJ'$>JH@}l?`Fo7x?? ??ܐ?J@ɨJm; JJCnbBn] IHvHv<5U'= UP=Y]aVa٣a eGeFe( m>i]}i49mk?ai4Ym7 im4BĿq?meCm2;m2;mi4WB !AĵE2iFNOT Ignoring new targets: 248.70 m.i)9"i)9 ProNav: ac range: 248.699997 m, nav range: 242.517761 m, bearing: 274.868207 deg, approach rate: -0.849791 m/s, LOS rate: 0.009240 deg/s, cmd heading: 269.392496 deg, new cmd heading: 269.402537 deg.  i9HeadingCmd: 4.701962 target range: 248.699997 and range: 259.80 m.hxv@hhhhggbgjgeejeJe:e ?%dBɛ%t)%L= %i!))))i- [=i5eʿ5GF5@x:I5xv@I9D?DDE0 EVF?:F ?F>FZAM>:J BoIBJ JJ RJ ZJ -x,=[A2@y2ב@92ѻƽY2v>2H| ?SA`v?Ӹ?`͸??`N?2@ɨ2D+; 2GC:bB:s IHFHF5NB= RW=YRIT٣T VGTZ: Z>\]bi49^k?abi4Y^> i^.4B`b Ŀqb?^fC^;^;^(i4h jڃAhB*** querying acoustic contact ***ii2i%FNOT Ignoring new targets: 248.70 m.i%9"i%95 ProNav: ac range: 248.699997 m, nav range: 242.217926 m, bearing: 274.871457 deg, approach rate: -0.780459 m/s, LOS rate: 0.008471 deg/s, cmd heading: 269.402550 deg, new cmd heading: 269.412314 deg.  i5 9EHeadingCmd: 4.702132 target range: 248.699997 and range: 259.80 m.hEw@hAhAhAhAgAgIbgIjgIeIeQjeQJeQ:eU@$?eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.]JdBɛ]ڼ)Y eWľia)aaaieZ=im_ʿmDmJ:Imw@IqD?DDE0 E A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509316VF F ZA M- >ZIQ bIU MjIU 2rIQ zIQ IU 9IU c3IQ 4x,vԤ[A6@y6O@96u Y6>6H7r?ß~?`]L?@=Y?`>?T?6@ɨ6-; 6IC>bB> I]Mb@Mb@Mb@YY Y)YIYy]/$?{Gz?Mb`?]&Q?]#=]; ]A)]eAI]9lAi]AY]GyAHuHuV5G`= <=YW٣ GFe; >]i49Nk?ai4Y8H iS4BgQ?m:oÿq?[fCD=;8<;67i4 AE2iFNOT Ignoring new targets: 248.70 m.iK9"iK9 ProNav: ac range: 248.699997 m, nav range: 241.864136 m, bearing: 274.874898 deg, approach rate: -0.820716 m/s, LOS rate: 0.007994 deg/s, cmd heading: 269.412304 deg, new cmd heading: 269.422642 deg.  i9 HeadingCmd: 4.702312 target range: 248.699997 and range: 259.80 m.h Wy@h h h hggbgjgeejeJe:e%@k ?zdBɛ) оi)i6Y=iZʿ%jB%;I%Wy@I)D9zD=gAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762392D?DDE0 EG>GЍCG IGcBG =GGG<GFVF9 F ZA! M= > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013091a;x,9[A%bB% I)-p= -a=H5H55ml= mM=YmQ m>q٣q uGuF} }>]i49k?ai4YP it4Bq?fC:::*Ei4YB AµE2iFNOT Ignoring new targets: 248.70 m.id9"id9 ProNav: ac range: 248.699997 m, nav range: 241.539474 m, bearing: 274.878064 deg, approach rate: -0.813441 m/s, LOS rate: 0.007945 deg/s, cmd heading: 269.422631 deg, new cmd heading: 269.432144 deg.  iy9HeadingCmd: 4.702478 target range: 248.699997 and range: 259.80 m.hz@hhhH5AAH5AAhgqgqbgyjgyeyeyjeyJe:e@dBɛ) ھi)隙ijX=:JBIBJJJRJZJ ;2J ? J?iTʿ?w;l;Iz@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265505^D<D D D E s0 E VF .A;zF rF hAFZAM>j>Cx, [Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517201:ˏ@y:ۖ@9:Y:b>:H@/^??@u@] ??3;?c??:ˏ@ɨ:; 8F cBF I=Mb@Mb@Mb@99 9)9I9y=5^I ?Mb?Mb`=X?=@== =A)9I9i=tA9=wAHH5>8= "=Y٣ GM< >]i49k?ai4Y[ i4BfX?m{:q?gC ; ;Vi4  RA 2i15FNOT Ignoring new targets: 248.70 m.i=8"i=8U ProNav: ac range: 248.699997 m, nav range: 241.114822 m, bearing: 274.880850 deg, approach rate: -0.843104 m/s, LOS rate: 0.005539 deg/s, cmd heading: 269.432139 deg, new cmd heading: 269.440509 deg.  iUOs9]HeadingCmd: 4.702624 target range: 248.699997 and range: 259.80 m.h]{@hYhYhYhagagabgijgieqeqjeqJeq:e} @雥dBɛ5) 0i)隱iW=iOʿcf:G ύCG / IG cBG =G G ZDG '<G IFVF RuN;F ZA M >_Ix,3N'[A6fُ@y6@96UY6>6Hl?׼?Y @k?b?`H?E? ?6fُ@ɨ6+A; 6JCB%cBB IHJHJ5R= Ra=YRkT٣T VGVFZ; Z>\]bi49^k?abi4Y^c i^4B`b}qf?^igC^;^a;^lci4h jAl2iFNOT Ignoring new targets: 248.70 m.i8"i8 ProNav: ac range: 248.699997 m, nav range: 240.810333 m, bearing: 274.882733 deg, approach rate: -0.798874 m/s, LOS rate: 0.004948 deg/s, cmd heading: 269.440499 deg, new cmd heading: 269.446156 deg.  iOY9HeadingCmd: 4.702723 target range: 248.699997 and range: 259.80 m.h|@hhhhggbgjgeejeJe:e@eBɛ| ) wi)  i W=i Lʿ%54%D>DyDyDyEy Ey:JLBJ9JJRJZJ% BDAT read: Rx Time:19:01:40.2972 - TRx dataTimestamp_ set to:1736535700.979199= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279314VF 3V;F ZA M= >UPx,&C[AS@y@9Y>Hxr?`? ~y`J|?@S??j? ?騥S@ɨЈ; IC޽@cB޽ Ix>i=AMb@Mb@Mb@ )IyV-?S㥫?{Gzt|_?/]=ף ZA)cAIiAvA AAHHO= !=Y ٣ GF ; >]i49k?ai4Yo i4B_?mr:q?gC ;:.ui4  A -B*** querying acoustic contact ***i)i)2i9=FNOT Ignoring new targets: 248.70 m.iE8"iE8] ProNav: ac range: 248.699997 m, nav range: 240.367050 m, bearing: 274.884680 deg, approach rate: -0.906448 m/s, LOS rate: 0.003989 deg/s, cmd heading: 269.446154 deg, new cmd heading: 269.452007 deg.  i]9/9eHeadingCmd: 4.702825 target range: 248.699997 and range: 259.80 m.he}@hahahahagagibgijgieieqjeJe:eZ @雥BeBɛ) i)izV=iBIʿ O-@0HVx,\[A:]@y:@9:BoY:>:H`t?@?rO.?@>?@? =BDAT read: Tx time:19:01:41.3806 E$Ping request sent.Mp pr#?{Hj?lۻ˿Ir ?ir_>r0 r¸>p pm:publishing transmit ping timeAuFpublishing direction and range infopYrQr?m,Kjտp9pp p)pIpippppp p)pIpippp pr#?{Hj?lۻ˿Ipipppp p٣ GV: > ] i49 hk?ai4Y x i 4B15tq5? -hC ; ; #i4E[B EAEĵEGm>GiGmH IGmdBGm =GiGmYDGm*<GmHF mm}G )$yBZjruJd?bjrA ipir^[AjrCjrC2jr"@prLրo@H``A2l$$=WzprQr?m,Kjտ"jr0 *jr¸>prD<@5?-p4{FTpr:/lAܭxyҿirhjrzirzd?ir?l  jr&zjrp5q?jpjpjjroCrjr+@u addTargetRange:: Added new target pos. range: 271.799988 m, deltaT: 3.780106 s, deltaX: 12.000000 m, approachRate: 3.174514 m/s, rangeRepo size: 4  Added new target pos. range: 271.799988 m, bearing: 265.210739 deg, lat: 36.904050 deg, lon: -122.119092 deg, deltaT: 7.810367 s, deltaX: 23.099991 m, approachRate: 2.957606 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 271.80 m.i"i  ProNav: ac range: 271.799988 m, nav range: 239.831085 m, bearing: 274.250983 deg, approach rate: 0.000000 m/s, LOS rate: 0.003989 deg/s, cmd heading: 269.452001 deg, new cmd heading: 269.457269 deg.  i HeadingCmd: 4.702917 target range: 271.799988 and range: 271.80 m.hK~@hhhhggbgjgee!jeJep@:ew?veBɛ+ ):9= %i!)!!!i%V=i=Fʿ&15]x,y[AB_@yB@9BwwYB>BH`s??!`@q? i?@???B_@ɨBQ; BJCZrcBZ IHb%Hb5-< -3=Y5P1٣9 =G=F= =>A]mi49Evk?ami4YE iE4Bqu|qu?EhCE;E;Ei4y }Ay2iEFNOT Ignoring new targets: 271.80 m.iMt7"iMt7] ProNav: ac range: 271.799988 m, nav range: 239.467087 m, bearing: 274.251608 deg, approach rate: -0.994132 m/s, LOS rate: 0.001711 deg/s, cmd heading: 269.457274 deg, new cmd heading: 269.459153 deg.  i]F8HeadingCmd: 4.702950 target range: 271.799988 and range: 271.80 m.h~@hhhhggbgjgeejeJe:e? eBɛ  ()  i)iU=i,Eʿ{ ![0Y}dx,Ԓ[A) 2ӏ@y2B@92jY2>2HTg?@P? z?`*?P??.?2ӏ@ɨ2B; 2ICRcBR I)^= ^=Mb@Mb@Mb@ )Iy"~j?X9v?~jtx?Sc?}=; CA)nbAIi|AtAHH52= B=Y[;Q >٣ GF1 >]i49k?ai4Y i5Bc?mn:q?hC:A:ni4 aA2i!%FNOT Ignoring new targets: 271.80 m.i-87"i-87= ProNav: ac range: 271.799988 m, nav range: 239.093155 m, bearing: 274.251862 deg, approach rate: -0.928292 m/s, LOS rate: 0.000631 deg/s, cmd heading: 269.459159 deg, new cmd heading: 269.459922 deg.  i=7EHeadingCmd: 4.702963 target range: 271.799988 and range: 271.80 m.hE~@hAhIhIhIgIgIbgQjgQeYeYjeYJeY:ee@@?雍eBɛao$) i)隙iU=iDʿa:GAGEg IGEOdBGE =GAGAGE̳<GEFH ύC H ЍCH ǔCH ="H =*H :6VFml<zFqrFqF) ZA9 MU >jx,[AJ@yJA@9Jc:SYJg=JH`af?`Zj?@`?Md?瑽? 4?J@ɨJM; JHC^cB^ IHjHj5r= vY=Yvxx٣x zGxz[t ~>] i49k?a i4YM i25B  q ?@iC::i4\B )AŵE2iIUFNOT Ignoring new targets: 271.80 m.i]58"i]58m ProNav: ac range: 271.799988 m, nav range: 238.758881 m, bearing: 274.252531 deg, approach rate: -0.887609 m/s, LOS rate: 0.001779 deg/s, cmd heading: 269.459924 deg, new cmd heading: 269.461934 deg.  im?8uHeadingCmd: 4.702998 target range: 271.799988 and range: 271.80 m.hu~@hqhyhyhygygybgjgeejeJe:e\Q?雵eBɛ<*) i)隹iwU=iCʿn/;I~@III3I(.IIIZI\bIjI2rIzI=:IIc3II:I:I <:I^DDzD:JBJ]9JJRJZJDU?DQDQEU0 EY4>!>VF n<F ZA M% >qx,Iȥ[A%cB% IMb@Mb@Mb@ )IyRQ?~jt?~jt?b?D=< A)Ii1xAsAH%H%5E= E,=YMQ M>Q٣Q UGUFe e>i]ui49mKk?a}i4Ymj imT5B}b?m}o:}¿q}?miCm%;m ;mHi4 ÁAB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 271.80 m.i`8"i`8 ProNav: ac range: 271.799988 m, nav range: 238.336700 m, bearing: 274.255117 deg, approach rate: -0.883418 m/s, LOS rate: 0.005420 deg/s, cmd heading: 269.461946 deg, new cmd heading: 269.469716 deg.  i n9HeadingCmd: 4.703134 target range: 271.799988 and range: 271.80 m.h@hhhhggbgjgeejeJe:e`@?,fBɛ%|)! %i!)!!!i->U=i-%?ʿ-S5;I5@I1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^D-;6=D?DDE/1 EVF;FAZAIMmx> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023592xx,[AG>GG IGdBG =GGGٳ<G Fbِ@yb*@9bo7YbpL=bH@hu`m?#` ? u???'?bِ@ɨb; `~cB* I  HH5%[= %`=Y-͘)٣1 5G5F5 5>9]Ei49=k?aEi4Y=է i=l5BIM,ÿqM?=iC=:=:=i4Q UAQ2iFNOT Ignoring new targets: 271.80 m.iR8"iR8 ProNav: ac range: 271.799988 m, nav range: 238.016953 m, bearing: 274.257290 deg, approach rate: -0.884599 m/s, LOS rate: 0.006019 deg/s, cmd heading: 269.469705 deg, new cmd heading: 269.476232 deg.  i19HeadingCmd: 4.703248 target range: 271.799988 and range: 271.80 m.h@hhhhggbgjgeejeJe:e`@EWfBɛM3)I MiI)IIIiU;U=iUh;ʿ]J]L ;I]@IaCiCiCiCiEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.276559D?DDE0 EZI bI JjI 1rI zI I &9I 3I I :I :I :I ::J BHBJ 9JJ RJ ZJ VF5 ;FE ?FE ?F ZA M= >ɲ~x,D[A6@y6 @96,Y6=6Hez` ?@GV3إ?ؚ?'?ಽ?6@ɨ6=; 6GCRdBVB IHbHb5j= jA=Yn|;Q n>l٣p rGpz+ z>] i49k?ai4Y i5BQÿq?^jC;;i4%^B %WA%ǵE2iIMFNOT Ignoring new targets: 271.80 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527753i8"i8% ProNav: ac range: 271.799988 m, nav range: 237.640823 m, bearing: 274.259956 deg, approach rate: -0.884333 m/s, LOS rate: 0.006279 deg/s, cmd heading: 269.476234 deg, new cmd heading: 269.484246 deg.  i%9MHeadingCmd: 4.703387 target range: 271.799988 and range: 271.80 m.hU&@hQhQhQhQgQgQbgYjgYeYeYjeaJea:ee@@fBɛ5') _i)i07U=i6ʿ%<-`:I-&@I)D=a>D9D?DDEO5 EVFe :m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780202F9 ZAA Me >Px,*o[A:@y:䒖@9:vw#Y:_V=:H`-z|`h?Qž`GO5a3?@m?HѾ?ڽ?:@ɨ:L; :HCB%dBFN IMb@Mb@Mb@ )Iy)\(?~jt?S㥛?Ga?/< )XaAI|oAi(tAH-H-5=G<= ED=YE ;Q E>I٣I UGUFUԟ U>Y]ei49]Kk?ami4Y]T i]5Bma?mmp:m|ÿqm?]jC]s;]&:]Ji4q }/Ay2iFNOT Ignoring new targets: 271.80 m.id8"id8 ProNav: ac range: 271.799988 m, nav range: 237.276459 m, bearing: 274.262663 deg, approach rate: -0.878993 m/s, LOS rate: 0.006540 deg/s, cmd heading: 269.484239 deg, new cmd heading: 269.492373 deg.  i9HeadingCmd: 4.703529 target range: 271.799988 and range: 271.80 m.hP@hhhhggbgqjgqeyeyjeyJey:e}5@fBɛ7) S%i)YYi] HU=ie*2ʿeueOg:IeP@Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.032434DADADAEE@5 EA*Gm<"GiGu>Gu͍CGu IGudBGu =GqGuXDGuγ<GuFVFm ?:Fa ZAi M >.x,jM1[ABDAT read: Rx Time:19:01:44.1233 TRx dataTimestamp_ set to:1736535704.776038checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285565>3@y>@9>Q=Y>;=>H{?.`@aj?F?H?Ľ?>3@ɨ>; >IC^LdB^f IHf Hf5r= rP=YrC;Q r>t٣t vGvFz: z>x]i49zk?ai4Yza iz5Bwÿq ?zkCzX:z:zi4 A2iAEFNOT Ignoring new targets: 271.80 m.iMQ8"iMQ8= ProNav: ac range: 271.799988 m, nav range: 236.932816 m, bearing: 274.265210 deg, approach rate: -0.877059 m/s, LOS rate: 0.006511 deg/s, cmd heading: 269.492381 deg, new cmd heading: 269.500034 deg.  i=9EHeadingCmd: 4.703663 target range: 271.799988 and range: 271.80 m.hEh@hAhAhAhAgIgIbgIjgIeqeqjeqJeq:e}P @fBɛ؎:)^^= X'i)ibU=i=-ʿ=*=D:I=h@I9:J2KBJػ9JJRJZJ DDDE5 EE=E=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535535VF }:zF rF iAF) ZA M > x,x(K[A~˃@y~@9~rY~=~HG_|`?ݚd? Lm?;?@B?~˃@ɨ~^; ~LC=jdBEx IMb@Mb@Mb@ )Iy`"?y&1?V-?W?`e=< -A)nbAIiwAsAHH}= -=Ye;Q >٣ Gu  >]j49hk?a%j4Y i5B%iX?m%{:% ¿q%?zkC:4:j411mDAT read: 19:01:44.1233 LVL= 25200, 21281, 22946, 32755, AGC= 63, IDX= 202,-0.40,-1.527,-2.689,-1.461,-2.316, PHS= 0.877,-0.326, 0.852, RAW= 149.0, -22.6, CAL= 153.7, -29.4, ROT= 356.3, 29.4 uYgot valid direction response: 19:01:44.1233 LVL= 25200, 21281, 22946, 32755, AGC= 63, IDX= 202,-0.40,-1.527,-2.689,-1.461,-2.316, PHS= 0.877,-0.326, 0.852, RAW= 149.0, -22.6, CAL= 153.7, -29.4, ROT= 356.3, 29.4 }PDAT read: Bearing 356.3, 29.4 (Local) }~Local bearing/azimuth received: Bearing 356.3, 29.4 (Local) DAT read: Range 10 to 50 : 253.8 m (Round-trip 338.5 ms) speed 1.2 m/s ,DAT read: user:1039> BDAT read: Tx time:19:01:45.2306 $Ping request sent.+@I5G\i5@5G\?1 15k?+{?:=ؿI5b?i5>5)A5G\?1 1:publishing transmit ping timeرFpublishing direction and range info1Y58v?dɬxފj߿1911 1)1I1i11111 1)1I1i111 15k?+{?:=ؿI1i1111 1! %A!Zj5wk?bj5 i1i5Q[Aj5}Cj5=|C2j5@p5GZk@ir,>( %_zp58v?dɬxފj߿"j5)A*j5G\?p5o%' llz;LX]p5uc4_$Wjݿi5aj5i5ϐǵk?i55!A  j5qzj5[a q?j5k j5Ajj5]lCrj5@ addTargetRange:: Added new target pos. range: 253.800003 m, deltaT: 3.800242 s, deltaX: -17.999985 m, approachRate: -4.736537 m/s, rangeRepo size: 4  Added new target pos. range: 253.800003 m, bearing: 269.844004 deg, lat: 36.904032 deg, lon: -122.119092 deg, deltaT: 3.800242 s, deltaX: -17.999985 m, approachRate: -4.736537 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 253.80 m.i"iZI ]bI OjI rI zI ]:I %9I I q@i@u@m@% ProNav: ac range: 253.800003 m, nav range: 236.366928 m, bearing: 273.784269 deg, approach rate: 0.000000 m/s, LOS rate: 0.006511 deg/s, cmd heading: 269.500031 deg, new cmd heading: 269.510113 deg.  i!-HeadingCmd: 4.703839 target range: 253.800003 and range: 253.80 m.h-م@h)h)h1h1g1g1bg9jg9e9e9jeaJeeo@:eeyV?%gBɛ|b.) .i)i~U=i(ʿ=U=8:I=م@IADD?DD!E%O5 E) JDAT read: TxSync time:19:01:45.2298 GA GA GE IGE eBGE =GA GA GE <GE FVFu 7:F1 ZAA Me >Xx,4g[ARH@yR@9Rz YR=RHA{??\`0idY?`? ?T?RH@ɨRϝ; RGCލdBލ IHH5= L=Yuc;Q >٣ GF:9 >] j49k?a j4Y i5B¿q?kC:6:j4`B pAȵE=B*** querying acoustic contact ***i9i92iquFNOT Ignoring new targets: 253.80 m.i}58"i}58 ProNav: ac range: 253.800003 m, nav range: 236.027161 m, bearing: 273.785174 deg, approach rate: -0.931809 m/s, LOS rate: 0.002485 deg/s, cmd heading: 269.510112 deg, new cmd heading: 269.512830 deg.  iB8HeadingCmd: 4.703886 target range: 253.800003 and range: 253.80 m.h<@hhhhggbgjgeejeJe:e x?UOgBɛUR)Q U1iQ)Q隙iU=i{&ʿĩTc:I<@I5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.Du?DqDqEup4 EqVF ĝ::J- BJBJ- h9JJ) RJ- ZJ- q*Fi ZAy M >9x,[AR=R:?Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.739987Zy@yZ@9Z5 YZ\=ZH`?@ iq`? ?`㗼??Zy@ɨZ; XfdBf IhjAHvHvy5 = %W=Y-9Q ->)٣) 5G5˜F='q E>I]]j49Mok?a]j4YM6 iM6Bae$¿qm?M"lCMbp;Mf;M j4 VA2iFNOT Ignoring new targets: 253.80 m.iC18"iC18 ProNav: ac range: 253.800003 m, nav range: 235.707962 m, bearing: 273.786103 deg, approach rate: -0.830675 m/s, LOS rate: 0.002422 deg/s, cmd heading: 269.512817 deg, new cmd heading: 269.515608 deg.  i8HeadingCmd: 4.703935 target range: 253.800003 and range: 253.80 m.h@hhhhggbgjgeejeJe:e?gBɛO) O:i)隉iU=i$ʿɆ2KI@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.991301^DE l;=ZI1 bI5 PjI1 rI1 zI1 I5 *9I1 I1 D ?D D E 31 E VF!F- ?F->F checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244074ZA!I-=))GIGMAAGU>GQGU IGUNeBGU =GQGQGU`<GUF TGkA M ?x,i[A)#ykABBup@yB@9B_ YBb=BH6?0v@Bu鱡?C?@??Bup@ɨBT*; BHCEdBE IMb@Mb@Mb@ )IyV-?V-?:v?hQ?m=< )IpAivAHHD5J=  =Y R:Q  > ٣  GØF >]j49k?aj4Y i56B R?m:q?lC::5j4 A2iFNOT Ignoring new targets: 253.80 m.i7"i7  ProNav: ac range: 253.800003 m, nav range: 235.232880 m, bearing: 273.787093 deg, approach rate: -0.807391 m/s, LOS rate: 0.001685 deg/s, cmd heading: 269.515604 deg, new cmd heading: 269.518579 deg.  i 8HeadingCmd: 4.703987 target range: 253.800003 and range: 253.80 m.h@hhhhggbg!jg!e!e!je!Je):e-J?]gBɛ]~9)Y eeCia)aaaie)V=im-#ʿmmAIm@IqAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495869^D`=HH=D ?D D E 0 E :J= MBJ= 9JJ9 RJ= ZJ= oh}WE<5(VF zQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749034FZAM>gx,Ħ[AV|@yV͔@9Vc YVM=VH{@?۾Ig_?y@??@?V|@ɨVՋ; VEC^dBb IHjHj5r3j= r2=YrM;Q v>t٣t zGxz; z>|]j49~k?aj4Y~ i~P6B fq ?~lC~:~:~ Ej4bB AǵE2iQeFNOT Ignoring new targets: 253.80 m.i)7"i)7= ProNav: ac range: 253.800003 m, nav range: 234.858002 m, bearing: 273.787662 deg, approach rate: -0.790812 m/s, LOS rate: 0.001203 deg/s, cmd heading: 269.518582 deg, new cmd heading: 269.520293 deg.  ieeS8HeadingCmd: 4.704017 target range: 253.800003 and range: 253.80 m.hN@hhhhgg!bg)jg)e)e1jeyJey:e}@?ehBɛe=B)a ezMia)aiiimgV=i4"ʿR3":IN@ICCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999199ZI[bIRjIrIzI:IS29IID D D E z0 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251318VFïzFrFhAG>G̍CG) IGeBG =GGG߳<GFH͍C H͍CHH ="H =*Hy5FZAM?۸x,$[An&@ynw@9nMYn^=nHQio?70@0?aH?@+4??n&@ɨn; nICzdBz IMb@Mb@Mb@ )IyK7?&1?{Gz?I?P=ף< A)IqAitA(tAHH51< =Y$;Q >٣ GĘF; >A]Mj49Ek?aMj4YE$ iEm6BM7J?mM:MqU?EmmCE<:E:EXj4Y ]AY2iFNOT Ignoring new targets: 253.80 m.i8"i8 ProNav: ac range: 253.800003 m, nav range: 234.418015 m, bearing: 273.788604 deg, approach rate: -0.839223 m/s, LOS rate: 0.001800 deg/s, cmd heading: 269.520303 deg, new cmd heading: 269.523134 deg.  i!8HeadingCmd: 4.704066 target range: 253.800003 and range: 253.80 m.h@hhhhggbgjgeejeJe:e@!@8hBɛkh) Yi)i*V=i  ʿ k X;I @IDDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503259HHVF7:F ZA M >x,o[A:JNBJ 9JJRJZJ  :~@y:Ͼ@9:rY:E=:H2'Z@?WIa?@Є?.?"?S?:~@ɨ: [; :GCFdBF IHjHj5rN = vY=Yv:Q v>x٣x zGzŘFz; z>]j49,k?a j4Y i6B  rq ?mC::;ej4 A5B*** querying acoustic contact ***i1i12iAEFNOT Ignoring new targets: 253.80 m.iM7"iM7] ProNav: ac range: 253.800003 m, nav range: 234.133850 m, bearing: 273.789063 deg, approach rate: -0.789517 m/s, LOS rate: 0.001277 deg/s, cmd heading: 269.523144 deg, new cmd heading: 269.524523 deg.  i]]`8eHeadingCmd: 4.704090 target range: 253.800003 and range: 253.80 m.he臖@hahahihigigibgijgqeqeqjeqJeq:e} t@雥chBɛf) `i)隩i1W=iʿrz ;I臖@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756917DQDQDQEU2 EQVFU.A;F1ZA9MU> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008605ZI \bI WjI rI zI =:I G9I I ix,[AN4@yNϖ@9NCYN>NH=?$?[C"q? :?@U???N4@ɨN:; NFC^dB^ IMMb@Mb@Mb@II I)IIIyME?i|?5?{GztMF?Mq=Mף M-A)IIIiMsAIMsAHeHeu5u{ uB=Yu]8Q }>y٣y }GN; >]j49Jk?aj4Y< i6B;G?m:Bq? nC ;;sj4dB AɵE2iQ]FNOT Ignoring new targets: 253.80 m.i] "i] m ProNav: ac range: 253.800003 m, nav range: 233.805634 m, bearing: 273.788221 deg, approach rate: -0.776388 m/s, LOS rate: -0.001995 deg/s, cmd heading: 269.524510 deg, new cmd heading: 269.521980 deg.  im?HeadingCmd: 4.704046 target range: 253.800003 and range: 253.80 m.h@hhhhggbgjgeejeJe:e@Í @hBɛ}) oi)i`W=i%=!ʿ%Q-Wz;I-@I-BDAT read: Rx Time:19:01:47.9895 5TRx dataTimestamp_ set to:1736535708.5553535checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260518*G=<"G9GAGE͍CGE< IGEeBGE =GAGAGEv<GEFDaDaDaEe0 EaVF t;F ?F >F ZA M >x,C2[A6pɏ@y6ؖ@96RY6>6H@޸Y? ?`Z5Su?+? ? 1?x?6pɏ@ɨ6ȉ; 4Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511110FdBJ IHRHR5Z; ZW=Y^vQ ^>\٣` bGbƘFbB; b>d]jj49f8k?ajj4Yf if6Blnqn?fUnCf;f;f?j4p rAt2iFNOT Ignoring new targets: 253.80 m.i%J""i%J"5 ProNav: ac range: 253.800003 m, nav range: 233.510300 m, bearing: 273.787380 deg, approach rate: -0.777194 m/s, LOS rate: -0.002217 deg/s, cmd heading: 269.521969 deg, new cmd heading: 269.519442 deg.  i5¸=HeadingCmd: 4.704001 target range: 253.800003 and range: 253.80 m.h=.@h9h9hAhAgAgAbgIjgIeIeIjeIJeQ:eUn @hBɛ)%X= %Dzi!)!!!i%)X=i-"ʿ-n-+;I5.@IqD ?D D E O5 E :J}LBJ}9JJyRJ}ZJ}VF;E=E<mDAT read: Range 10 to 50 : 266.0 m (Round-trip 354.7 ms) speed 0.4 m/s },DAT read: user:1040> -X#Rx 1: Read range message, but no direction.QUC9QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.F ZA ME >Ex,1}L[AvQϏ@yvޖ@9vdYvmM>vHb? ?`@- y?=?`/?`٣ GǘFL: >]j497k?aj4Y2# i6B5K?m:eq?nC:;&;j4 A = addTargetRange:: Added new target pos. range: 266.000000 m, deltaT: 3.783535 s, deltaX: 12.199997 m, approachRate: 3.224497 m/s, rangeRepo size: 4 2i9=FNOT Ignoring new targets: 253.80 m.iE"iEU ProNav: ac range: 253.800003 m, nav range: 233.160309 m, bearing: 273.787240 deg, approach rate: -0.793943 m/s, LOS rate: -0.000318 deg/s, cmd heading: 269.519429 deg, new cmd heading: 269.519008 deg.  iUW_]HeadingCmd: 4.703994 target range: 253.800003 and range: 266.00 m.h]@hYhYhahagagabgijgieqeqjeqJe}p@:e} P?hBɛ%)! %܄i!)AIIiMX=iM"ʿU+UwG% >G% ̍CG% B IG% eBG% =G! G! G% <G% F= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251446 x,^Hf[A6ɏ@y6%ٖ@96Y6x>6H Z~Z?`?`K9`%w?`F?@Y?5?ֹ?6ɏ@ɨ6^; 6FCRdBR IHZHZ5bྼ b^=YbQ f>d٣h jGhn n>p]vj49rk?avj4Yr* ir6Btv{qz?rnCr:r :rj4| ~A|2i!-FNOT Ignoring new targets: 253.80 m.i-["i-[= ProNav: ac range: 253.800003 m, nav range: 232.866852 m, bearing: 273.787171 deg, approach rate: -0.795855 m/s, LOS rate: -0.000188 deg/s, cmd heading: 269.519019 deg, new cmd heading: 269.518811 deg.  iEEHeadingCmd: 4.703990 target range: 253.800003 and range: 266.00 m.hM@hIhIhIhIgIgQbgYjgYeYeYjeaJea:ee?雍'iBɛl) Si)隑iKY=i#ʿB;I@IDzDiAD1D1D1E52 E1E==E==ՙՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503540VFqFIZAYZIybI}MjI}2rIyzIyI}9I}c3IyI}:qI}:iI}6:uI}8:mM>" x,N&[A:J.FKBJ.]9JJ,RJ.ZJ.>ď@y>#Ԗ@9>G Y>5=>H@l{P??U@Z#;t?@?`ď@ɨ>D; <^dB^ II`)`HjHj#5rE rH=YrQ r>t٣t vGvȘFzĺ z>x]j49zk?aj4Yze3 iz6B q ?zLoCzy:zl:z̫j4fB AʵE5B*** querying acoustic contact ***i1i12iFNOT Ignoring new targets: 253.80 m.i3"i3checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755653 ProNav: ac range: 253.800003 m, nav range: 232.543945 m, bearing: 273.787155 deg, approach rate: -0.762232 m/s, LOS rate: -0.000038 deg/s, cmd heading: 269.518800 deg, new cmd heading: 269.518752 deg.  iֵ%HeadingCmd: 4.703990 target range: 253.800003 and range: 266.00 m.h%@h!h!h!h!g)g)bg)jg)e1eQjeYJea:eeH?^iBɛK) i)隉iY=i#ʿsi칉%Y;I@I^D 5[=D D D E 0 E  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008432VF *;FiZAyM>Rx,̷[A%dB% IMb@Mb@Mb@ )Iy> ףp=?S㥫?V-Q?/]= A)9`AIKmAisAqAHH5Cϼ  =YQ >٣ GɘF >]j49*l?aj4Yn> i6BR?m :  q ?oC` ;i ;j4 2A2iQ]FNOT Ignoring new targets: 253.80 m.i}ф"i}фGG@A8>[?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260864G>G͍CG< IGeBG =GGG<GF ProNav: ac range: 253.800003 m, nav range: 232.124054 m, bearing: 273.786705 deg, approach rate: -0.845509 m/s, LOS rate: -0.000907 deg/s, cmd heading: 269.518746 deg, new cmd heading: 269.517394 deg.  iaHeadingCmd: 4.703966 target range: 253.800003 and range: 266.00 m.h䆖@hhhhggbgjgeeje!Je!:e%s?uiBɛu)q i)隙iZ=i#ʿG⹉;I䆖@I^DS=D D D E s2 E } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511372VFI F ZA M= >Cox,OY[AHHZI]bIOjI1rI zI]:I%9I3I I:I:I&:I&:R৏@yR2@9RBYRx=RH.d?%a?⩣? ?%? ?R৏@ɨR; RHCrdBr IHzHzp5Zּ [=Y IOQ  >٣ GP >!]-j49%l?a-j4Y%|F i%6B)-|q-?%pC%;%;%j49 =FA92iimFNOT Ignoring new targets: 253.80 m.iub"iub ProNav: ac range: 253.800003 m, nav range: 231.817627 m, bearing: 273.786633 deg, approach rate: -0.825949 m/s, LOS rate: -0.000194 deg/s, cmd heading: 269.517407 deg, new cmd heading: 269.517191 deg.  i HeadingCmd: 4.703962 target range: 253.800003 and range: 266.00 m.h܆@hhhhggbgjgeejeJe:e?EiBɛMν)I MiI)IIQiUF[=iU#ʿ]LB޹]z;I]܆@ICCCC:J}\KBJ9JJRJZJJgAIfAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763327D?DDEP5 EVF &;F ?F ?F ZA M >Tx,Jӧ[A6(@y6z@96N%Y6i=6Hcn ?gE׋U?令? b?`? A?6(@ɨ6uT; 6FCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015438BdBF IMb@Mb@Mb@ )Iy`"?Q?Zd;OW?\=j A)I5lAitAqAH5H55ESj< E;=YMqQ M>I٣I MGUʘFU 2 U>Y]j49])l?aj4Y]0P etIi]6BX?m{:ÿq?]epC]A;];]j4%hB %AA%̵E2iIMFNOT Ignoring new targets: 253.80 m.iUP8"iUP8m ProNav: ac range: 253.800003 m, nav range: 231.449249 m, bearing: 273.788934 deg, approach rate: -0.804842 m/s, LOS rate: 0.005036 deg/s, cmd heading: 269.517188 deg, new cmd heading: 269.524103 deg.  im-]9uHeadingCmd: 4.704083 target range: 253.800003 and range: 266.00 m.huه@hqhqhqhqgygybgjgeejeJe:e@iBɛ) i)i[=i ʿٹK;Iه@IDIDIDIEM4 EIVF%)o;FZA M%o> HGG>GG/ IGeBG =GGGX<GF=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267327;mA ) Q#y% ;mA% XB<x,_|[A6@y6ꢖ@96/Y6w>6H4xt A?d _t;? ?`=???6@ɨ6; 4NdBN IHVHV5X2 O=YϻQ >٣ %G%˘F%U %>)]5j49-Fl?a5j4Y-X i-6B9=ÿq=?-pC-;-;-j4A EdAA2ii}FNOT Ignoring new targets: 253.80 m.i}8"i}8 ProNav: ac range: 253.800003 m, nav range: 231.115906 m, bearing: 273.791126 deg, approach rate: -0.894114 m/s, LOS rate: 0.005888 deg/s, cmd heading: 269.524100 deg, new cmd heading: 269.530686 deg.  iN9HeadingCmd: 4.704198 target range: 253.800003 and range: 266.00 m.hʈ@hhhhggbgjgeejeJe:e@-jBɛ(Ͻ) Ɀi)i\=iAʿ{׹;Iʈ@IDm?DiDqEup0 Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519537HyH}@AZIbIPjIrIzII*9III:I:I-:I-:VFU!j;FIZAQMu>:J= BHBJ= 9JJ9 RJ= ZJ= JM ? JM *?e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771340:x,[ARĈ@yR@9RPRHy?$1 .5=O??H6?L?RĈ@ɨRy; RGCZdB^ IHfHf5nǼ nL=YnQ n>p٣p rGprmX v>t]~j49v]l?a~j4Yva iv6B)Ŀq?vqCv!;v3";vj4  xA -B*** querying acoustic contact ***i)i)2i9=FNOT Ignoring new targets: 253.80 m.i=B8"iEB8m ProNav: ac range: 253.800003 m, nav range: 230.778320 m, bearing: 273.793461 deg, approach rate: -0.841225 m/s, LOS rate: 0.005826 deg/s, cmd heading: 269.530685 deg, new cmd heading: 269.537699 deg.  iu9HeadingCmd: 4.704320 target range: 253.800003 and range: 266.00 m.hˉ@hhhhggbgjge!eQjeYJeY:eeW @djBɛ%}ƽ) i)隡ij]=i@ʿ5Nչ=iT:I=ˉ@IqDu?DyDyE}3 Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024621VF :zF rF iAFq ZA M >Dx,c*![A>w@y>X@9>JY>Z/>>H@]`?, TaD? S?5? ?>w@ɨ>; >ECJdBJ I%Mb@Mb@Mb@!! !)!I!y%+?Y٣Y ]G]̘Fe e>i]mk49mjl?auk4Ymgk im6Bu_?mur:uĿqu?mmqCmV5;m4;m9k4 ~A*G<"G4<G>G̍CG# IGeBG =GGG˳<GFHq HqHuCHu ="Hu =*Hu5BDAT read: Rx Time:19:01:51.8358 %TRx dataTimestamp_ set to:1736535712.587062%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2762902iyFNOT Ignoring new targets: 253.80 m.i#8"i#8 ProNav: ac range: 253.800003 m, nav range: 230.415833 m, bearing: 273.796326 deg, approach rate: -0.821761 m/s, LOS rate: 0.006506 deg/s, cmd heading: 269.537706 deg, new cmd heading: 269.546316 deg.  i9HeadingCmd: 4.704471 target range: 253.800003 and range: 266.00 m.h@hhhhggbgjgeejeJe:eEm @MjBɛUԽ)Q UiQ)QYYi]&^=iuSʿul2ֹu9Iu@IyD!D!D!E-o0 E)VF ?: A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528973F ZA M >ZI \bI MjI rI zI =:I 9I I I :I :I 6:I 8:Kx, ;[Amd@ymt@9mZYm]>mHS? ``p !? ??*??md@ɨmxb; mDCލdBޕ IHH5; A=YQ >٣ G͘Fg >]k49jl?ak4Y$u i6BĿq?qC::k4jB A͵E2iAEFNOT Ignoring new targets: 253.80 m.iM9"iM9] ProNav: ac range: 253.800003 m, nav range: 230.046280 m, bearing: 273.799463 deg, approach rate: -0.931264 m/s, LOS rate: 0.007917 deg/s, cmd heading: 269.546312 deg, new cmd heading: 269.555737 deg.  i]ۭ9eHeadingCmd: 4.704635 target range: 253.800003 and range: 266.00 m.he_@hahahahagigibgqjgqeqeqjeyJey:e}@@雭jBɛ) vƿi)隱iL^=i ʿع;II_@I:JejIBJe9JJaRJeZJeDu?DqDqE}0 Ey]DAT read: 19:01:51.8358 LVL= 19568, 27281, 17602, 29395, AGC= 64, IDX= 406, 0.24,-2.082, 3.031,-2.048,-2.886, PHS= 0.893,-0.319, 0.835, RAW= 147.6, -22.8, CAL= 152.4, -29.6, ROT= 357.6, 29.6 eYgot valid direction response: 19:01:51.8358 LVL= 19568, 27281, 17602, 29395, AGC= 64, IDX= 406, 0.24,-2.082, 3.031,-2.048,-2.886, PHS= 0.893,-0.319, 0.835, RAW= 147.6, -22.8, CAL= 152.4, -29.6, ROT= 357.6, 29.6 mPDAT read: Bearing 357.6, 29.6 (Local) u~Local bearing/azimuth received: Bearing 357.6, 29.6 (Local) DAT read: Range 10 to 50 : 263.2 m (Round-trip 351.0 ms) speed 1.2 m/s ,DAT read: user:1041> BDAT read: Tx time:19:01:52.9306 $Ping request sent.[>i%>%Q+% A?! !:publishing transmit ping time؉Fpublishing direction and range info!Y%6x?<bci߿!9!! !)!I!i!!!!! !)!I!i!!! !% %?2UM??ؿI!i!!!! !VF'HF ZA M >x,XT[A2N@y26^@928?iY28<>2H`_?kyĭ?#?@??2N@ɨ2v; 0BJDAT read: TxSync time:19:01:52.9298 RdBR IMb@Mb@Mb@ )IyNbX9?V-?Mb`?e?<; A)"_AIhAioAH]H]Q5m< mB=YuQ u>q٣y }GyXλ >]k49l?ak4Y i6Be?ml:ƿq?-rC;;!k4 lAZj]{=m?bj]} iYi]kE[Aj]Cj]ɂC2j]zL@p]Bϔl@? F*#FI"-@`zp]6x?<bci߿"j]Q+*j] A?p]y @{Lxm=]p])!̌?~w%ն@pܿi]kj]l@i]?m?i] L  j]1ozj]?m?j],5 j]&jj]8eCrj]FP@] addTargetRange:: Added new target pos. range: 263.200012 m, deltaT: 4.028701 s, deltaX: -2.799988 m, approachRate: -0.695010 m/s, rangeRepo size: 4  Added new target pos. range: 263.200012 m, bearing: 270.899347 deg, lat: 36.903929 deg, lon: -122.119092 deg, deltaT: 7.812236 s, deltaX: 9.400009 m, approachRate: 1.203242 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 263.20 m.i"i ProNav: ac range: 263.200012 m, nav range: 229.219193 m, bearing: 270.925897 deg, approach rate: 0.000000 m/s, LOS rate: 0.007917 deg/s, cmd heading: 269.555738 deg, new cmd heading: 269.566157 deg.  iHeadingCmd: 4.704817 target range: 263.200012 and range: 263.20 m.h܍@hhhhggbgjgeejeJe@3sp@:e L?]kBɛ]ս)Y ]{̿ia)aai_=iʿ;޹UI܍@ID9D9D9E=u0 EAG>G͍CGGG =GGG۳<GFVF% *F- ?F- +?F ZA M= >$x,n[A: :@y:]I@9:xY:X>:H H@?@@Ҁ ߯?-???: :@ɨ:@; :ECFdBF IHRHR5V< Zl=YZ5Q Z?X٣\ ^G^ΘF^ b?`]fk49bkl?ajk4YbD ib7Bhjǿqj?b|rCb:b;b-k4t v_At2i9EFNOT Ignoring new targets: 263.20 m.iElb5"iElb5U ProNav: ac range: 263.200012 m, nav range: 228.909500 m, bearing: 270.925913 deg, approach rate: -0.924000 m/s, LOS rate: 0.000048 deg/s, cmd heading: 269.566147 deg, new cmd heading: 269.566196 deg.  iU6eHeadingCmd: 4.704818 target range: 263.200012 and range: 263.20 m.heލ@hahahahagigibgijgieqeqjeqJeq:e}@?雥*kBɛ;) пi)隩iJ`=iʿ;㹉~Iލ@IDqDqDqEu0 EqVFg{FZAM>:J k3IBJ JJ RJ ZJ  "x,[AN@yN..@9NsYN.=NH`6?<ц $?m?@?@5?N@ɨNWD; LZdBZ IHrHr5~.= ~F=YM-Q >٣ GϘF l  >]k49l?a%k4Y i*7B!%qǿq%?rC0;1;Q}\(x,[AJC@yJ@9JmYJٗ>JH 8X?K~?O??H?JC@ɨJ{*; JGCRdBR IGxGzAAG~>G|G~/ IG~eBG~ =G|G|G~D<G~Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502494Mb@Mb@Mb@ )Iyy&1?/$??`e?<< ) ^AIivAH-H-56= $=YHQ >٣ G >]k49l?ak4Y iZ7Be?ml:ɿq?OsC;;Nk4  A2i1=FNOT Ignoring new targets: 263.20 m.iE8"iE8U ProNav: ac range: 263.200012 m, nav range: 228.086304 m, bearing: 270.928528 deg, approach rate: -0.947464 m/s, LOS rate: 0.004800 deg/s, cmd heading: 269.567185 deg, new cmd heading: 269.574069 deg.  iUR9]HeadingCmd: 4.704955 target range: 263.200012 and range: 263.20 m.h]@hYhahahagagibgijgieieqjeqJeq:e}`K?雽kBɛMݽ) ڿi)i~a=irʿmfI@ID?DDE E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754902VF ZFi ZAq M H.x,[A>@y>1@9>C✽Y>>>H8 ͼ?@ 6?_?@B?`i?>@ɨ>e; >FCJdBJ IIL)LHVHV5Z4= ^=Y^vQ ^ ?`٣` bGbИFf7v f?h]jk49jl?ank4Yj? ijy7Blnɿqn?jsCj:j:jXk4t vAx2iFNOT Ignoring new targets: 263.20 m.i%/8"i%/85 ProNav: ac range: 263.200012 m, nav range: 227.809631 m, bearing: 270.929956 deg, approach rate: -0.889204 m/s, LOS rate: 0.004595 deg/s, cmd heading: 269.574070 deg, new cmd heading: 269.578359 deg.  i5I9=HeadingCmd: 4.705030 target range: 263.200012 and range: 263.20 m.h=@h9h9h9h9gAgAbgAjgIeIeIjeIJeI:eUN?}kBɛ̢)͓= .ݿi)隉ib=iʿω$eI@ID)D1D1EUO5 EQVF5f A:JUBoIBJU 9JJQRJUZJUՕG?Օ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006957F ZAM-->{5x,,ר[A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266775Bt@yB@9B6eYB;>BH Θ@o?`;@X3? g?Nn??Bt@ɨBӈ; BECNdBN I-Mb@Mb@Mb@)) )))I)y-)\(?L7A`?l?-Ga?-+=-= )))I-gAi-wA))HEHE5U= UB=YUQ ]>Y٣Y eGeјFe׹ m>q]}k49ul?ak4Yu iu7Ba?mp:ȿq?usCu ;u;ugk4 jAZI^bIOjIrIzI} :I%9II2i1=FNOT Ignoring new targets: 263.20 m.i= 8"i= 8M ProNav: ac range: 263.200012 m, nav range: 227.440598 m, bearing: 270.930749 deg, approach rate: -0.876438 m/s, LOS rate: 0.001886 deg/s, cmd heading: 269.578359 deg, new cmd heading: 269.580742 deg.  iM8uHeadingCmd: 4.705071 target range: 263.200012 and range: 263.20 m.hu@hqhqhyhygygybgjgeejeJe:eh@kBɛv)  i)iĦb=i ɿ  KgI @I1D ?D D E n3 E EhAEiAGGGO IGeBG =GGGq<GFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518639VFM :_FU ?FU >F! ZA1 MM >y;x, [A6@y6@96zݩY6>6H`꘿`)?bg`!@յ?`t5?ږ??6@ɨ6ӈ; 6GCNeBR IHVHV5bDd= fT=YfQ f>h٣h jGhj# n>p]vk49r l?avk4Yrٶ ir7Bxzȿqz?rKtCr9:r:r&uk4~nB ~"A~еE2i!-FNOT Ignoring new targets: 263.20 m.i- 8"i- 8E ProNav: ac range: 263.200012 m, nav range: 227.103500 m, bearing: 270.931489 deg, approach rate: -0.873481 m/s, LOS rate: 0.001920 deg/s, cmd heading: 269.580736 deg, new cmd heading: 269.582960 deg.  iE8MHeadingCmd: 4.705110 target range: 263.200012 and range: 263.20 m.hUC@hQhQhQhQgQgYbgYjgYeYeajeaJea:ee`@雍-lBɛ) i)隙i67c=i_ɿ(jIC@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771411DaDaDaEe5 EaPExceeded connect timeout, disconnecting.VFqFZAM>:J BoHBJ 9JJ RJ ZJ      checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022600~Bx,G [Ar@yr@9r䎰YrK>rH@@l?@{,@ډR? ? v?@c?r@ɨr8>; rEC 6eB  I%4>i%;H5H5^5T= <=YQ >٣ GҘF9 >]k49B l?ak4Y i 8Bȿq?tCG ; ;xk4  ~A EB*** querying acoustic contact ***iAiA2iQUFNOT Ignoring new targets: 263.20 m.i] 8"i] 8m ProNav: ac range: 263.200012 m, nav range: 226.720551 m, bearing: 270.932328 deg, approach rate: -0.865304 m/s, LOS rate: 0.001900 deg/s, cmd heading: 269.582949 deg, new cmd heading: 269.585471 deg.  imަ8}HeadingCmd: 4.705154 target range: 263.200012 and range: 263.20 m.h@hhhhggbgjgeejeJe:e$W @glBɛw)v܁= i)iG G z IG fBG =G G G <G F &@ ;Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526534VF)zF1rF5iAFZAM->/Jx,*[A6@y6@96VY6 >6H*@?oA?@?@3?@?6@ɨ6' ; 6DCRKeBR IEMb@Mb@Mb@AA A)AIAyE~jt?kt?{Gz?E[?E 0=E#= EA)AIEfAiE-xAAEpAH]H]_5et1= m(=Ym߻Q u>q٣q uGuӘF}F }>]k49 l?ak4Y iF8B)\?mv:ƿq?uC ; ;Yk4 E~A2iFNOT Ignoring new targets: 263.20 m.ivL"ivL ProNav: ac range: 263.200012 m, nav range: 226.309311 m, bearing: 270.931994 deg, approach rate: -0.857517 m/s, LOS rate: -0.000698 deg/s, cmd heading: 269.585463 deg, new cmd heading: 269.584458 deg.  iZHeadingCmd: 4.705136 target range: 263.200012 and range: 263.20 m.hz@hhhhggbgjgeejeJe:e # @lBɛ) i) i 1d=i-ɿ-$$-8CiI-z@I1C9C9CYCYDAT read: 19:01:55.6821 LVL= 19584, 22737, 19154, 27219, AGC= 62, IDX= 399, 0.33,-2.591, 2.380,-2.532, 2.779, PHS= 1.002,-0.352, 0.969, RAW= 148.8, -23.2, CAL= 153.5, -29.9, ROT= 356.5, 29.9 Ygot valid direction response: 19:01:55.6821 LVL= 19584, 22737, 19154, 27219, AGC= 62, IDX= 399, 0.33,-2.591, 2.380,-2.532, 2.779, PHS= 1.002,-0.352, 0.969, RAW= 148.8, -23.2, CAL= 153.5, -29.9, ROT= 356.5, 29.9 PDAT read: Bearing 356.5, 29.9 (Local) ~Local bearing/azimuth received: Bearing 356.5, 29.9 (Local) DAT read: Range 10 to 50 : 260.4 m (Round-trip 347.2 ms) speed 0.3 m/s ,DAT read: user:1042> BDAT read: Tx time:19:01:56.7807 $Ping request sent.ٕA?ٕX9ٕbx?ٕ6&@ ڕ4QϾ)ڕv+@Iڕ0iڕo@ڕ0?ڑ ۑەMy?"c`)S?ٯ-ٿIەt?iە>ە5zە0?ۑ ܑ%:publishing transmit ping time%Fpublishing direction and range infoHYH]a=ؑYؕYJ_?F9߿ؑ9ؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑ ۑەMy?"c`)S?ٯ-ٿIۑiۑۑۑۑ ܑ % nManaging dock network, ignoring radio surface power offD D D E 0 E VF :J`LBJ9JJRJZJJ-hAI-hAMJDAT read: TxSync time:19:01:56.7799 FZAM1ƈRx,'J[A)( (V@yVH@9VYV >VH?d! A@p6?F?W?`??V@ɨV |; VFCfpeBf IHH5-= -'=Y-Q 5>1٣1 G9 >]k49 l?ak4Y i8Bƿq?uC;;k4pB }AҵEZj/|k?bjw1 iixz8[Aj3CjfC2j?@pf*4*l@nO+5pm9`zpYJ_?F9߿"j5z*j0?p!iYM=FmP(yI[p*6zFq TFqڿijljؿi|k?i܀+  j&Ozjϐǵk?j L j&OjjlhCrj@% addTargetRange:: Added new target pos. range: 260.399994 m, deltaT: 3.791446 s, deltaX: -2.800018 m, approachRate: -0.738509 m/s, rangeRepo size: 4 5 Added new target pos. range: 260.399994 m, bearing: 269.589833 deg, lat: 36.903887 deg, lon: -122.119166 deg, deltaT: 3.791446 s, deltaX: -2.800018 m, approachRate: -0.738509 m/s, posRepo size: 4 2i1=FNOT Ignoring new targets: 260.40 m.i="i9M ProNav: ac range: 260.399994 m, nav range: 232.422455 m, bearing: 269.752536 deg, approach rate: 0.000000 m/s, LOS rate: -0.000698 deg/s, cmd heading: 269.584452 deg, new cmd heading: 269.583387 deg.  iIUHeadingCmd: 4.705118 target range: 260.399994 and range: 260.40 m.hUS@hQhYhYhYgYgabgijgieqeyjeJe`fFp@:e@s?雝lBɛ) #i)id=i% ɿUCP-UngI]S@IDDDE0 EZIybI}QjIyrIyzIyI}-.9IyIyVF F ZA M >Xx,.Gr̍CGr IGr`fBGpGpGpGr۳<GrFH HHH ="H =*H)5eB3 IMb@Mb@Mb@ )Iygfffff?Zd;O?{Gz?3S?j<= )[AIdAiCyA3oAHH5= @=YQ >٣ GԘF > ]k49 X l?ak4Y  i 8BS?m:ſq? uC >; Y<; \k4) -}A)2i-FNOT Ignoring new targets: 260.40 m.i5eθ"i5eθE ProNav: ac range: 260.399994 m, nav range: 232.085938 m, bearing: 269.750102 deg, approach rate: -0.778559 m/s, LOS rate: -0.005639 deg/s, cmd heading: 269.583386 deg, new cmd heading: 269.576075 deg.  iEwMHeadingCmd: 4.704990 target range: 260.399994 and range: 260.40 m.hMG@hIhIhQhQgYgYbgYjgaeaeajeaJea:em`Ao?雝mBɛ_) i)隡ie=iOʿ4,fIG@IDaDaDaEe1 EaEmiAEmhAVF F ?F (?Fa ZAq M >,^x,%~[A6@y6@96ɽY6>6H ߩ?8¿M4޹?0? u?4?6@ɨ6=; 6GCNeBNG IHZfHZ5b%= b_=YfQ f>d٣d jGj՘Fj j>l]rk49n l?ark4Yn in8Btvƿqv?n'vCnG:nS:n,k4x ~|A|2iFNOT Ignoring new targets: 260.40 m.iи"iи ProNav: ac range: 260.399994 m, nav range: 231.786392 m, bearing: 269.748076 deg, approach rate: -0.839312 m/s, LOS rate: -0.005685 deg/s, cmd heading: 269.576065 deg, new cmd heading: 269.569977 deg.  iyHeadingCmd: 4.704884 target range: 260.399994 and range: 260.40 m.hh@hhhhggbgjgeejeJe:e@??OmBɛ! ) i)i~e=iʿ[; |Ih@ID?DDE@5 E:J}BJ}ػ9JJyRJ}ZJ}6KMH:750--%    ՝>՝p=VFF ZA M >-ex,[A2@y2f@92,ѽY2L>2H &?1`k? ??@h?2@ɨ2V~; 2FC>eB>^ IRp=iR٣ GW; >]k49D l?ak4Y i9BN?m:ÿq?~vC: :k4rB |AԵEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 260.40 m.i>"i>  ProNav: ac range: 260.399994 m, nav range: 231.446213 m, bearing: 269.743766 deg, approach rate: -0.821936 m/s, LOS rate: -0.010428 deg/s, cmd heading: 269.569972 deg, new cmd heading: 269.557024 deg.  iHeadingCmd: 4.704658 target range: 260.399994 and range: 260.40 m.h@hhhhggbgjgeejeJe:ea?emBɛef*)iZIm^bIijIirIizIm} :IiIiIi mi)隡iDe=i5 ʿBIaI@ID?DDEP5 EG~>GG IGfBG =GGG<GFT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF F ZA M >kx, ѱ[AeBg I HH5-= -P=Y-Q 5>1٣1 5G5֘F= =>A]Mk49El?aMk4YE iEM9BIIqU?EvCE:ES:Ek4Y ]{AY2iFNOT Ignoring new targets: 260.40 m.i9"i9 ProNav: ac range: 260.399994 m, nav range: 231.134186 m, bearing: 269.739802 deg, approach rate: -0.796764 m/s, LOS rate: -0.010136 deg/s, cmd heading: 269.557022 deg, new cmd heading: 269.545113 deg.  i޹HeadingCmd: 4.704450 target range: 260.399994 and range: 260.40 m.hڊ@hhhhggbgjgeejeJe:eJ?mBɛk5)   i )   i ]f=iʿHaIڊ@ID?DDEo0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014845HeC=HeR=VFFZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266653:J MBJ 9JJ RJ ZJ J gAI gArx,e˩[Avs@yv"@9v׽Yv; >vH`z`t?d_@AWx+e????vs@ɨv; vECfB~ IHH5%= %K=Y-.Q ->)٣) -G5טF5< 5>9]Ek49=l?aEk4Y=v i=~9BIM¿qM?= wC=";=H%;=k4a eE{Ai2iFNOT Ignoring new targets: 260.40 m.i%Y>"i%Y>] ProNav: ac range: 260.399994 m, nav range: 230.813934 m, bearing: 269.735421 deg, approach rate: -0.759257 m/s, LOS rate: -0.010401 deg/s, cmd heading: 269.545110 deg, new cmd heading: 269.531949 deg.  i]keHeadingCmd: 4.704220 target range: 260.399994 and range: 260.40 m.he@hahahahagagibgijgieiejeJe:e@mBɛ) i)Yaaimlf=iʿ\N(I@Ia%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519280DDDEH5 EVF \G |>G G IG gBG =G G WDG <G FF ZA M >Tyx,"[A) @2C@y2$@92Y۽Y2 >2H`ʔG?e 6v@?q?@??2C@ɨ2Y͈; 0>5fBB IID)D)F= F=յ>յR=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770934Mb@Mb@Mb@ )Iy|?5^? rh?:v?M?C=< A)ZAIOaAiCyAmAH H 5= 1=Y%Q %>!٣! -G)5A9 5>9]Uk49=l?a]k4Y=& i=9BN?m:pq?=~wC=<=֗<= k4 zAѵE2iFNOT Ignoring new targets: 260.40 m.iE i"iE iU ProNav: ac range: 260.399994 m, nav range: 230.446396 m, bearing: 269.729547 deg, approach rate: -0.795515 m/s, LOS rate: -0.012734 deg/s, cmd heading: 269.531941 deg, new cmd heading: 269.514292 deg.  iU ]HeadingCmd: 4.703912 target range: 260.399994 and range: 260.40 m.h]r@hYhahhggbgjgeejeJe:e@-nBɛta) i)ig=i%ʿ_TIr@IDDDE 5 Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022616VF 0,.ZI ]bI jI 2rI zI ]:I I c3I I :q I :i I 4:u I 4:m Fq ZAy M >E7x,[A>@y>%@9>CY>>>H`n?x@_qt x??` ? ?>@ɨ>و; `٣` bGbؘFb'9 f>d]rl49f"l?arl4Yf if9Bprnqr?fwCfGH;fH;f l4vtB zOzAzҵE2i!-FNOT Ignoring new targets: 260.40 m.i- J]?VF{#FiZAyM>&cx,O[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526632>@y>n@9>Y>#>>H k?_hu? &? [?@3~?>@ɨ>׈; >GCFqfBF I-Mb@Mb@Mb@)) )))I)y-n?L7A`?i٣i mGm٘FmҺ m>y]l49}l?al4Y} i}:BO?m:q?}xC}Z:}:}jl41 =yA9}B*** querying acoustic contact ***iyiy2iFNOT Ignoring new targets: 260.40 m.i>X"i>X ProNav: ac range: 260.399994 m, nav range: 229.821823 m, bearing: 269.719686 deg, approach rate: -0.757312 m/s, LOS rate: -0.011816 deg/s, cmd heading: 269.500632 deg, new cmd heading: 269.484677 deg.  iHeadingCmd: 4.703395 target range: 260.399994 and range: 260.40 m.h6@hhhhggbg jg e)e)je1Je1:e5@ @雥nBɛM) _i)ig=i6ʿ8^J,I6@I*G"Gp<G}>GGIIG^gBGGGXDG_<GFDDD E p0 E  DAT read: 19:01:59.5290 LVL= 20400, 19697, 18610, 22483, AGC= 61, IDX= 415, 0.44,-0.577,-1.782,-0.523,-1.524, PHS= 1.035,-0.211, 0.998, RAW= 148.5, -27.7, CAL= 152.3, -33.6, ROT= 357.7, 33.6 ]Ygot valid direction response: 19:01:59.5290 LVL= 20400, 19697, 18610, 22483, AGC= 61, IDX= 415, 0.44,-0.577,-1.782,-0.523,-1.524, PHS= 1.035,-0.211, 0.998, RAW= 148.5, -27.7, CAL= 152.3, -33.6, ROT= 357.7, 33.6 ePDAT read: Bearing 357.7, 33.6 (Local) e~Local bearing/azimuth received: Bearing 357.7, 33.6 (Local) uDAT read: Range 10 to 50 : 258.0 m (Round-trip 344.1 ms) speed 0.7 m/s },DAT read: user:1043> }BDAT read: Tx time:19:02:00.6307 $Ping request sent.i]>Ql$Q ? :publishing transmit ping time؁Fpublishing direction and range infoY3fHˡ?c%pEf )bῙ9 )Ii )Ii |?)D ?2]ݿIi VF ^%F ZA M >)x,Ǡ4[A6@y6O@96Y6>6H 4n౱?sԧt`2?`1?פ?@{?6@ɨ6$; 6ECBfBB I^=i^p;HfHf5n= -S=Y-Q ->1٣1 5G1]H ]>a]ml49eWl?aml4Ye$ ieH:Bq?epxCeʿ*c (I.@IZI\bIMjI1rIzI=:I9I3II:I:I6:I9:DDDE EVF -,F ZA < =M >:J} QJBJ} 9JJy RJ} ZJ} ;p'F   T'#IbQiVJ=1*#rx,wN[A2 @y2@92Y2 >2H`|P?`^ u *?ױ? ?z?2 @ɨ2sŇ; 2GC>fB> IHF?HF5N!= NN=YRJQ R>P٣P VGVژFVv V>X]^l49Zl?a^l4YZ, iZw:B`bqb?ZxCZ3;Z;Z3l4d fyAd2ix%FNOT Ignoring new targets: 258.00 m.i5t"i=te ProNav: ac range: 258.000000 m, nav range: 229.465225 m, bearing: 269.710298 deg, approach rate: -0.859747 m/s, LOS rate: -0.013365 deg/s, cmd heading: 269.470470 deg, new cmd heading: 269.456263 deg.  iemHeadingCmd: 4.702899 target range: 258.000000 and range: 258.00 m.hm&~@hihihihigqgqbgqjgqeejeJe:e?MnBɛMEz)Q Uaiq)qqyi}3h=i}Fʿg׷-I&~@IDYDYDaEe0 EiVF"zFrFF ZA M > u pG lA ) y lA BG {>G G {IG gBG =G G G m<G FSx,Wh[A6@y62@96Y6p>6HȘ?`Ғ 0%t`6;?0@? E??6@ɨ6܇; 6DC^fB^ IMb@Mb@Mb@ )Iy(\?X9v?~jt?N?}=< A)YAI ^AiZzAzlAHH5< 9=YQ >٣ GۘFλ >]l49Gl?al4YO5 i:BN?m:¿q?yCD;&D; Cl4vB xAԵE2iFNOT Ignoring new targets: 258.00 m.i?"i? ProNav: ac range: 258.000000 m, nav range: 229.114166 m, bearing: 269.705500 deg, approach rate: -0.765790 m/s, LOS rate: -0.010483 deg/s, cmd heading: 269.456263 deg, new cmd heading: 269.441846 deg.  i6HeadingCmd: 4.702647 target range: 258.000000 and range: 258.00 m.h|@hhhhggbgjgeejeJe:e@?]8oBɛe)i Ri)隩ii=iOʿnqSI|@ID?DDE EI I VFE .-ZI ^bI PjI 2rI zI } :I *9I c3I I y:I ~:I -:I -:F9 ZAI Me >x,-[AFZߎ@yF@9FYFW >FHr?c z`s? 0о?n?Vz?FZߎ@ɨFW; FFCbfBb IId)d)jp= jR=Hn\Hn5v= vX=YvQ z>x٣x zGx~ ~>)]5l49-{l?a5l4Y-Z= i-:B1=ÿq=?-gyC-(;-y);-Pl4I MpxAI2iquFNOT Ignoring new targets: 258.00 m.imG"imG  ProNav: ac range: 258.000000 m, nav range: 228.808929 m, bearing: 269.701521 deg, approach rate: -0.834941 m/s, LOS rate: -0.010897 deg/s, cmd heading: 269.441838 deg, new cmd heading: 269.429886 deg.  i P5HeadingCmd: 4.702439 target range: 258.000000 and range: 258.00 m.h5az@h9h9h9h9g9g9bgIjgIeIeIjeIJeQ:eU`?UkoBɛ])Y ] iY)YYaieNti=ieUʿmYumV&tImaz@IDADIDIEM0 EI:JOBJ=9JJRJZJ VFUFZAMn>Ex,][AV>Ŏ@yVԕ@9VYV >VH? i q}0R?@?`M?Yt?V>Ŏ@ɨV4; VEC^fBbIMb@Mb@Mb@ )IyK7? ףp= ?I +?IL?Q8=9< pA)XAI[AilAHH+5= ==Y"Q >٣ GܘF" >]l49l?al4Y6F i;BL?m:.ƿq?yC::g_l4 wAeB*** querying acoustic contact ***iaia2iq}FNOT Ignoring new targets: 258.00 m.i}ø"i}ø ProNav: ac range: 258.000000 m, nav range: 228.472717 m, bearing: 269.699181 deg, approach rate: -0.767338 m/s, LOS rate: -0.005348 deg/s, cmd heading: 269.429898 deg, new cmd heading: 269.422868 deg.  ijHeadingCmd: 4.702316 target range: 258.000000 and range: 258.00 m.h`y@hhhhggbgjgeejeJe:e ?5oBɛ57)9 =l i9)999i=_i=iEYʿe~m߰Im`y@IiD?DDE0 EG9G=?AGEx>GAGEIGEgBGE =GAGEWDGE<GEFH̍C H̍CHH ="H*HŚ5T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF! F- ?F- ?F ZA M >ܬx,[ABŽ@yB)ҕ@9BYBf >BH? S@t?`n?@p?r?BŽ@ɨBe; BCCNgBNIHVHVg5b= b\=Yb53Q b>d٣d fGdfN j>l]rl49nl?arl4YnM inG;Bpr8ƿqr?nzCn:n:nill4x zuwAx2iFNOT Ignoring new targets: 258.00 m.iø"iø ProNav: ac range: 258.000000 m, nav range: 228.179031 m, bearing: 269.697155 deg, approach rate: -0.771722 m/s, LOS rate: -0.005330 deg/s, cmd heading: 269.422877 deg, new cmd heading: 269.416792 deg.  ij%HeadingCmd: 4.702210 target range: 258.000000 and range: 258.00 m.h%x@h!h)h)h)g)gIbgQjgQeQeQjeYJeY:e]`@雥oBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.246420ɛ:L )I M iI)IIIiU])j=iUf]ʿ]]_]ဍI]x@IYZIm]bIijIm1rIizIm]:IiIm3IiIm:Im:IiIiD]?DYDYE]O1 EYVF% ňF ZA M5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498780:J LBJ 39JJ RJ ZJ 7u|x_MA5-(#x,Ϫ[A2@y23Е@920Y2S >2H3ଲ?9 Ŧ? E?w?Cp?2@ɨ2; 2DC:$gB:&I^0>i^<`bAHfHf5jH= nI=YnuQ n>p٣p rGrݘFvW v>x]~l49zCl?a}l4YzeV iz};B@ƿq?zZzCzGE w>GE ˍCGE IGE >hBGE =GA GA GE y<GE FGx,[A}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002030ޅ>gBޅ5I]Mb@Mb@Mb@YY Y)YIYy]Dl?l?Zd;O?]OM?]=]j< ]}A)YI]ZAiYY]jAHusHu5B_= 2=YQ >٣ GޘF >]l49l?al4Y_ i;BM?m:ǿq?zCf::l4 vA2iFNOT Ignoring new targets: 258.00 m.i"i ProNav: ac range: 258.000000 m, nav range: 227.495132 m, bearing: 269.693412 deg, approach rate: -0.843755 m/s, LOS rate: -0.003594 deg/s, cmd heading: 269.410173 deg, new cmd heading: 269.405529 deg.  iHeadingCmd: 4.702013 target range: 258.000000 and range: 258.00 m.hv@hhhh g g bgjgeejeJe:e@EJpBɛE)Q UiQ)QQQiUj=i]cʿ]]Iev@IaD?DDE EM BDAT read: Rx Time:19:02:03.3741 M TRx dataTimestamp_ set to:1736535723.954124U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258108VF zF rF hAF ZA M >x,:w[A6ѻ@y6#˕@96Y6v>6H`П? t9`6{?f? o?k?6ѻ@ɨ6 Y; 6ECRPgBRAIHZxHZ5bT= bl=YfQ f?d٣h jGhj n?x]l49zl?al4YzCg iz;Bǿq?zzCz=zQ=zؖl4 vA2iimFNOT Ignoring new targets: 258.00 m.iuxV"i}xV ProNav: ac range: 258.000000 m, nav range: 227.218353 m, bearing: 269.692277 deg, approach rate: -0.713008 m/s, LOS rate: -0.002930 deg/s, cmd heading: 269.405528 deg, new cmd heading: 269.402116 deg.  iHeadingCmd: 4.701954 target range: 258.000000 and range: 258.00 m.hhv@hhhhggbgjgeejeJe:e@ @]pBɛ]-e$)Y ]iY)aaaiecJk=imeʿmtuwIuhv@IqՕ%=Օ<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507829D?DDE 5 E :JNBJ9JJRJZJVF- 'F ZA MM >x,d[A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769738ZI=\bI=QjI=2rI9zI==:I=-.9I=c3I9qE@iE@uE@mE@-tgB-WII1)1)== ==Mb@Mb@Mb@ )Iyi|?5?L7A`?{Gz?Q?+=ף< ~A)WAIXAi$xAiAH`Hm5= ,=YQ >٣ GߘF > ]l49  l?al4Y bq i )GGIGzhBGGGG<GFi=gʿ=q=IEu@IADDDE65 EDAT read: 19:02:03.3741 LVL= 20448, 26225, 16370, 26723, AGC= 66, IDX= 398,-0.02,-0.457,-1.599,-0.364,-1.369, PHS= 1.000,-0.183, 1.002, RAW= 150.1, -28.5, CAL= 153.6, -34.3, ROT= 356.4, 34.3 Ygot valid direction response: 19:02:03.3741 LVL= 20448, 26225, 16370, 26723, AGC= 66, IDX= 398,-0.02,-0.457,-1.599,-0.364,-1.369, PHS= 1.000,-0.183, 1.002, RAW= 150.1, -28.5, CAL= 153.6, -34.3, ROT= 356.4, 34.3 PDAT read: Bearing 356.4, 34.3 (Local) ~Local bearing/azimuth received: Bearing 356.4, 34.3 (Local) DAT read: Range 10 to 50 : 254.4 m (Round-trip 339.2 ms) speed 0.7 m/s ,DAT read: user:1044> BDAT read: Tx time:19:02:04.4807 $Ping request sent.ە)ە@?ۑ ܑ=:publishing transmit ping time=Fpublishing direction and range infoؑYؕ@ b?"㎪ʩg⿙ؑ9ؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑ ۑە[@T?0?0 &޿Iۑiۑۑۑۑ ܑVFU ňF ZA! M= > x,9 7[AޭgBޭ_IHZH5? = ^=YQ >٣ GF E>I]Ul49M2l?aUl4YMey iM[x,P[A:JBoJBJS9JJRJZJJhAIhA:紎@y:9ĕ@9: Y:$ >:H`R8?&`Ưa*@m?e? ?Lk?:紎@ɨ:Ê; :GCFgBFdIHNHN5V < Vb=YZQ Z>X٣\ ^G\^p b>`]fl49bPl?ajl4Yb ibG u>G G IG hBG G G G <G FB*x,j[AF@yF鴕@9F YFOU >FH@&D˴? @ǎ? ?h2?f?F@ɨFr; FECNgBR|IVR=iVt>mMb@Mb@Mb@ii i)iIiym"~?~jt?Mb?mS?}>}=m٣ GF݌ >]l49l?al4YE i x,ׅ[A6蠎@y6:@96VY6, >6HI?SB\?B?k^?`b?6蠎@ɨ6 D; 6CC>gBBIHJHJ5R= V[=YVEQ V>X٣X ZGZFZɺ ^>`]fl49bl?afl4YbM ib8=HeadingCmd: 4.701934 target range: 254.399994 and range: 254.40 m.h=>v@h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eU}?qBɛ?;) i)iim=i rfʿ  ^ `I >v@I1DDDE0 E:JuBJu9JJqRJuZJuJ? J*?VFS.FZAM >GAx,m[Ab@yb@9bYb >bH  `Q?GC l???`?b@ɨb; bACjgBnIZI=^bI=QjI9rI9zI=} :I=-.9I9I9Mb@Mb@Mb@ )Iy^I +?Zd;O?y&1?XY?j<`e< QzA)&SAI=TAiwA=fAH^H5; 9=YǺQ >٣ Gf; >]l49Hl?al4Y i8=BtY?my:ʿq?|C@:;#9;l4 tA IE=)C ;mA ))]y];mA]$B2iaeFNOT Ignoring new targets: 254.40 m.im7"im7} ProNav: ac range: 254.399994 m, nav range: 225.211548 m, bearing: 269.928496 deg, approach rate: -0.770165 m/s, LOS rate: 0.001358 deg/s, cmd heading: 269.400966 deg, new cmd heading: 269.402923 deg.  i}n8HeadingCmd: 4.701968 target range: 254.399994 and range: 254.40 m.hv@hhhhggbgjgeejeJe:ef;?%qBɛ%%)! % i!))))i-m=i5Ueʿ55ZԝI5v@I9GG@AGv>GGCIGhBGGGG<GFDDDE EVF= `6F ZA! M= >tfx,]4[ABg@yBʕ@9BHYB.>BH џ 4?$ a?`="?z?`T_?Bg@ɨB ; BECJgBJIIP)PHVYHV5^= ^^=Y^Q b>`٣` bGbFfL; f>h]nl49jl?anl4Yj. ijk=Bprɿqr?jN}Cj ;j ;jfl4x z9tAxB*** querying acoustic contact ***ii2i)5FNOT Ignoring new targets: 254.40 m.i507"i507M ProNav: ac range: 254.399994 m, nav range: 224.903000 m, bearing: 269.928909 deg, approach rate: -0.928408 m/s, LOS rate: 0.001244 deg/s, cmd heading: 269.402933 deg, new cmd heading: 269.404174 deg.  iMZ8MHeadingCmd: 4.701990 target range: 254.399994 and range: 254.40 m.hUv@hQhQhQhQgQgQbgYjgYeaeajeaJea:ee@@雕rBɛH) I!i)隡iLn=idʿYƒIv@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DDDE?1 EVFUᆝF1ZA9MU>ե >ե < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5063166Nx,ҫ[A:Ž@y:Zѕ@9:8Y:>:H?$2^~࢟?D?Y?]?:Ž@ɨ:; :DCBhBBIHJ^HJ5:JNBoHBJNػ9JJLRJNZJNZa= ^J=Y^)Q ^>`٣` bGbFfS; f>h]nm49jl?anm4Yj ij=Blnɿqr?j}Cj;j;jm4t vsAt2iFNOT Ignoring new targets: 254.40 m.iԌ7"iԌ7% ProNav: ac range: 254.399994 m, nav range: 224.564529 m, bearing: 269.929294 deg, approach rate: -0.845082 m/s, LOS rate: 0.000962 deg/s, cmd heading: 269.404162 deg, new cmd heading: 269.405318 deg.  i%(8-HeadingCmd: 4.702010 target range: 254.399994 and range: 254.40 m.h-v@h)h)h1h1gygybgjgeejeJe:e@V@雍ArBɛ_A*) #i)隑iʥn=icʿS}Iv@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767098DqDqDqE0 EZIe]bIeNjIarIazIe]:Ie!9IaIaG u>G G hIG 1iBG =G G G <G FHmˍC HmˍCHiHm ="Hm =*Hmʥ{4VF N얼F ZA M >xx,5[A6}ʎ@y6ٕ@96'Y6U3>6HV?Ka'炿S?df??[?6}ʎ@ɨ67; 6ECn'hBnIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014152uMb@Mb@Mb@qq q)qIqyu r?/$? rh?uc?u٣ G"; >]m49l?am4Y= i=Bc?mn:'ʿq?~C::m4B `sAڵE2i!%FNOT Ignoring new targets: 254.40 m.i-[7"i-[7E ProNav: ac range: 254.399994 m, nav range: 224.179474 m, bearing: 269.930011 deg, approach rate: -0.876846 m/s, LOS rate: 0.001635 deg/s, cmd heading: 269.405310 deg, new cmd heading: 269.407464 deg.  iE8MHeadingCmd: 4.702047 target range: 254.399994 and range: 254.40 m.hM,w@hIhIhIhQggbgjgeejeJe:e@雕zrBɛk8) 1%i)隙i6o=ibʿi폈I,w@IDaDaDaEee1 Ea5 BDAT read: Rx Time:19:02:07.2213 5 TRx dataTimestamp_ set to:1736535727.987197= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267197VF ՒF ZA M >`x,z[A-PhB-I50>i5a=H=oH=5M= MR=YUQ U>Q٣Y ]G]F] e>a]mm49eml?amm4Ye6 ie!>Bqqqu?e^~Ce~:e:em$m4y rA2iFNOT Ignoring new targets: 254.40 m.i7"i7 ProNav: ac range: 254.399994 m, nav range: 223.838928 m, bearing: 269.930646 deg, approach rate: -0.875200 m/s, LOS rate: 0.001637 deg/s, cmd heading: 269.407468 deg, new cmd heading: 269.409379 deg.  iȏ8HeadingCmd: 4.702081 target range: 254.399994 and range: 254.40 m.hrw@hhhhggbgjgeejeJe:e @erBɛe8)a e3&ii)隩i}o=iaʿIrw@IՍAՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519489DaDaDaEeO5 Ea:JBHBJ9JJRJZJVF ^F ZA M } DAT read: Range 10 to 50 : 252.3 m (Round-trip 336.5 ms) speed 0.4 m/s 2x,o. [A},DAT read: user:1045> "BDAT read: Tx time:19:02:08.3307 &$Ping request sent.*H ? uI@?M?g?!W?騥͎@ɨ=; BC=thB=I*G <"G <G s>G G IG niBG  =G G G <G FEMb@Mb@Mb@AA A)AIAyEv/?S㥛?~jt?Exi?E/q٣q uGuF}B: }>]m49Ml?am4Y~ iw>Bi?mh:wɿq?~C:Z:6m4 +rA5 addTargetRange:: Added new target pos. range: 252.300003 m, deltaT: 3.785270 s, deltaX: -2.099991 m, approachRate: -0.554780 m/s, rangeRepo size: 4 2i1EFNOT Ignoring new targets: 254.40 m.iE7"iM7U ProNav: ac range: 254.399994 m, nav range: 223.372864 m, bearing: 269.930878 deg, approach rate: -0.885322 m/s, LOS rate: 0.000440 deg/s, cmd heading: 269.409381 deg, new cmd heading: 269.410076 deg.  i]7eHeadingCmd: 4.702093 target range: 254.399994 and range: 252.30 m.hew@hahahahagagibgijgieqeqjeqJeuo@:eu#?rBɛP*) 5(i)ieo=i @aʿ 5º ʋIw@IeJDAT read: TxSync time:19:02:08.3299 D)D)D)E-0 E1VFU ňF) ZAA Me >gx,j<[AhB IH%<H%s557= 5s=Y=Q =?9٣9 EGAE E?I]Um49M9l?aUm4YMX iM>BYYq]?M"CM:M:M&Bm4eB eqAeܵEB*** querying acoustic contact ***ii2i  FNOT Ignoring new targets: 254.40 m.iR7"iR7% ProNav: ac range: 254.399994 m, nav range: 223.074738 m, bearing: 269.931026 deg, approach rate: -0.879013 m/s, LOS rate: 0.000438 deg/s, cmd heading: 269.410064 deg, new cmd heading: 269.410509 deg.  i-75HeadingCmd: 4.702100 target range: 254.399994 and range: 252.30 m.h5w@h1h1h1h1g9g9bg9jg9eAeAjeIJeI:eM`0?u&sBɛutN)}{= }(iy)y隁i~p=i`ʿźIw@IZIbIRjI2rIzIIS29Ic3II:qI:iI <:uI <:mD=?D9D9EE5 EAVF%'FZA M% >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.:J BoHBJ 9JJ RJ ZJ Hx,)V[A2Ԏ@y2Q@92EY2.>2H?Qi¿+ xg?@W?`?K?2Ԏ@ɨ2/; 2CCfhBfIIh)hHrcHr5zD[= zO=Y~tQ ~>|٣ GF; > ]m49 &l?am4Y  i >B%aɿq%? }C (; ~(; Om4) -FqA)2iQUFNOT Ignoring new targets: 254.40 m.i].6"i].6 ProNav: ac range: 254.399994 m, nav range: 222.720871 m, bearing: 269.931141 deg, approach rate: -0.934602 m/s, LOS rate: 0.000303 deg/s, cmd heading: 269.410501 deg, new cmd heading: 269.410844 deg.  iT7HeadingCmd: 4.702106 target range: 254.399994 and range: 252.30 m.hw@hhhhggbgjgeejeJe:e,? \sBɛ A) *i)iq=i`ʿ%fɺ%I%w@I!D?DDE4 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.989150Gq>GGIGiBGGGGm<GFVF ňFa ZAq M >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239453{x,_)p[A6,Ԏ@y6@96cY6>6H 1@?¿`x?gY?j? K?6,Ԏ@ɨ6Q ; 6DC>hB>DImMb@Mb@Mb@ii i)iIiym? rh?l?ml?mC =m= muA)iImOAiiim3cAHHy5b!> @=YQ >٣ GFkv >]m49=l?am4Y i>?B&m?me:ȿq?C>/;;^m4 3pA2iFNOT Ignoring new targets: 254.40 m.i܇"i܇ ProNav: ac range: 254.399994 m, nav range: 222.333389 m, bearing: 269.930745 deg, approach rate: -0.907402 m/s, LOS rate: -0.000928 deg/s, cmd heading: 269.410856 deg, new cmd heading: 269.409667 deg.  i#HeadingCmd: 4.702085 target range: 254.399994 and range: 252.30 m.h|w@hhhhgg!bg!jg!e)e)je)Je):e-]K?]sBɛef:)a e)ia)iiiimmq=iu}aʿu>YͺuLIu|w@IyDD=?D9D9E=p0 E9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490661VF}k}F?F>ZI\bIQjIrIzI=:I-.9III:I:I4:I4:FY ZAa M >Y"x,jۉ[A6ю@y6a@96G"Y6>6Hɫ?dz`??I?`J?6ю@ɨ6`; 6EC^;iBboIHnTHnļ5zW4> zV=Y~Q >٣   G 5 >)]=m49-Ol?a=m4Y- i-?BAEȿqE?-C-8S;-#T;-Klm4UB U2oA]ݵE2iFNOT Ignoring new targets: 254.40 m.iv"iv ProNav: ac range: 254.399994 m, nav range: 221.983475 m, bearing: 269.930416 deg, approach rate: -0.895096 m/s, LOS rate: -0.000843 deg/s, cmd heading: 269.409654 deg, new cmd heading: 269.408665 deg.  iHeadingCmd: 4.702068 target range: 254.399994 and range: 252.30 m.hXw@hhhhggbgjgeejeJe:e? sBɛ  ?)  )i )iq=i bʿ^Ѻ?IXw@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742792I!:JBJ9JJRJZJ^DS=D D D E O5 E  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997126VF FZAM>u)x,`[AGp>GʍCGIG/jBGGGG<GF^ Ԏ@y^_@9^C<Y^>^Hg? ;x?g?>9?I?^ Ԏ@ɨ^'و; ^CCjbiBjIn4>in?ppeMb@Mb@Mb@aa a)aIayeZd;O?+??e~j?e=eL= a)eMAIeMAierAae`AH}PH}5W= #=Y Q >٣ GF?: >]m49l?am4Y i?Bk?mg:7ȿq?VCv=;{<;}m4 nA2iimFNOT Ignoring new targets: 254.40 m.iu"iu ProNav: ac range: 254.399994 m, nav range: 221.537720 m, bearing: 269.929511 deg, approach rate: -0.878576 m/s, LOS rate: -0.001787 deg/s, cmd heading: 269.408670 deg, new cmd heading: 269.405950 deg.  iHeadingCmd: 4.702021 target range: 254.399994 and range: 252.30 m.hv@hhhhggbgjgeejeJe:e@:@MtBɛU')Uz= U+iQ)QQQi]r=i]cʿDֺIv@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247022^Dei=D?DDE4 EVF ^F ZA M >u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4986990x,p¬[AZI6]bI6OjI61rI4zI6]:I6%9I63I4I6:I6:I6&:I6&:FЎ@yFߕ@9F5YF*%>FH@#R?әAUy*#?2? $;?H?FЎ@ɨF=[; FDCViBVIH^GH^5f/> fX=Yj%Q j>h٣h jGnFMB M>Q]]m49Ul?a]m4YU iU8@BYeDȿqe?UCU;UM;UZm4i mmAiB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 254.40 m.i~"i~ ProNav: ac range: 254.399994 m, nav range: 221.186157 m, bearing: 269.928833 deg, approach rate: -0.936671 m/s, LOS rate: -0.001810 deg/s, cmd heading: 269.405938 deg, new cmd heading: 269.403900 deg.  iHeadingCmd: 4.701985 target range: 254.399994 and range: 252.30 m.hv@hhhhggbgjgeejeJe:e @EtBɛH)  *i)   i ~r=idʿqٺIv@I^D]=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750906DDDE/5 EE=E=:J k3IBJ ػ9JJ RJ ZJ VF zF rF iAF ZA M >!#7x,ݬ[AR#̎@yRvە@9R'^ YRm>RH@@?@BzI?@?0C?@F?R#̎@ɨR3L; RACchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004939ޥiB޵IH7HW5> %=YQ >٣ G >] m49l?a%m4Yt i@B1=WȿqE?C Y ^<wsGyG}VIG}jBG} =G}CDG}VDG}s<G}F^D(z=DiDiDiEm4 Ei% BDAT read: Rx Time:19:02:11.0459 - TRx dataTimestamp_ set to:1736535731.767219- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255763VF F ZA M >,}=x,[A -jBII))a= a=Mb@Mb@Mb@ )IyRQ?/$?T㥛 ?b?,== sA)LAIi(`AH.HY5&> R=YQ >٣ GF > ]m49 -l?am4Y N i @Bcc?mo:ȿq? C : : m4! %kA!2iQUFNOT Ignoring new targets: 254.40 m.i]Q."i]Q. ProNav: ac range: 254.399994 m, nav range: 220.419312 m, bearing: 269.927230 deg, approach rate: -0.962253 m/s, LOS rate: -0.002381 deg/s, cmd heading: 269.401567 deg, new cmd heading: 269.399073 deg.  i.Ѹ HeadingCmd: 4.701901 target range: 254.399994 and range: 252.30 m.hu@hhhhgAgIbgQjgQeQeYjeJe:e @tBɛB) D)i)  i s=igʿ⺉Iu@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506764CCCCHYHYZIabIePjIarIazIaIe*9IaIaIaIaIe-:Ie-:D D D E @5 E  DAT read: 19:02:11.0459 LVL= 22240, 22385, 18514, 27507, AGC= 67, IDX= 408,-0.39, 0.906,-0.201, 0.926,-0.074, PHS= 1.068,-0.080, 0.997, RAW= 146.8, -32.2, CAL= 150.0, -37.1, ROT= 360.0, 37.1  Ygot valid direction response: 19:02:11.0459 LVL= 22240, 22385, 18514, 27507, AGC= 67, IDX= 408,-0.39, 0.906,-0.201, 0.926,-0.074, PHS= 1.068,-0.080, 0.997, RAW= 146.8, -32.2, CAL= 150.0, -37.1, ROT= 360.0, 37.1  PDAT read: Bearing 360.0, 37.1 (Local)  ~Local bearing/azimuth received: Bearing 360.0, 37.1 (Local) % DAT read: Range 10 to 50 : 233.3 m (Round-trip 311.1 ms) speed 0.5 m/s - ,DAT read: user:1046> 5 BDAT read: Tx time:19:02:12.1307 5 $Ping request sent.5 &)zM㿙 LiC9 V qW) RHI ski C 9? ף d;? (#@ ) 6'@I %i @ %? x>h )?*5vr?bI )>i ? .;4 %? ] :publishing transmit ping time1 ] Fpublishing direction and range info Y K˽΅??p>&)zM㿙 9 ) I i ) I i x>h )?*5vr?bI i VF (FaZAiM>~Ex,g [A:JJBJJ]9JJHRJJZJJJN ? JN%?ǎ@y֕@9m3$Y">H':?`<J{?o? ?@C?ǎ@ɨ; ECxjB2IHH5M > M'=YMQ U>Q٣Q UGUF]Ε ]>a]mm49etl?amm4Yee% ieTABiuȿqu?eCe:e2:eǺm4 PjAZjqΞp?bjgB iiN[AjLiCjgC2j@p=DTqBg@ed?ܲ?OazpK˽΅??p>&)zM"j.;4*j%?pO.+@00_iZpw-{ݰ?ժ\Pݑ,ݿipNj_Aisp?id  jDzj?m?jjejj\CrjL@-maddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 233.300003 m, deltaT: 3.777664 s, deltaX: -19.000000 m, approachRate: -5.029563 m/s, rangeRepo size: 42iquFNOT Ignoring new targets: 254.40 m.i} "i}  ProNav: ac range: 254.399994 m, nav range: 219.998291 m, bearing: 269.926233 deg, approach rate: -0.823333 m/s, LOS rate: -0.001954 deg/s, cmd heading: 269.399081 deg, new cmd heading: 269.396083 deg.  iHeadingCmd: 4.701849 target range: 254.399994 and range: 252.30 m.hu@hhhhggbgjgee jeJe=)m@:e=3?uBɛ0))JDAT read: TxSync time:19:02:12.1299 (iq)y隁i9s=i?iʿ纉֍Iu@ID!D!D!E%05 E!E-E-E-E-Gk>GGIGLkBG =GGG^<GFHʍC HʍCHH"H =*H5F ?F ?F ZA M >Kx,91[AB)@yB|ȕ@9B &YB} >BH ?q {@~???`F?H?B)@ɨB6; BDCVjBV]IEMb@Mb@Mb@AA A)AIAyEzG?Mb?T㥛 ?E W?E@=A EqA)EnJAIEKAiAAE^AH]H]5mR6> mR=YuQ u>y٣y }Gy >]m49l?am4Y- iABW?m{:.ǿq?CCZ::am4 5iA2iFNOT Ignoring new targets: 254.40 m.i"ie ProNav: ac range: 254.399994 m, nav range: 219.679718 m, bearing: 269.924903 deg, approach rate: -0.873789 m/s, LOS rate: -0.003653 deg/s, cmd heading: 269.396075 deg, new cmd heading: 269.392080 deg.  imv mHeadingCmd: 4.701779 target range: 254.399994 and range: 252.30 m.hmt@hqhqhqhqgqgybgjgeejeJe:e?6uBɛ/D) m'i)ips=i%kʿ%뺉%_{I%t@I)D?DDEp0 EFZAMB>hRx,"mK[AR@yR̕@9R&YR<=RHs@? C?`|?f?@T?R@ɨRb; RCCbkBbIf4=ifl>hhHrHr.5z'> zT=Y~Q ~>٣ GF :  >]m49Hl?am4Y6 iABƿq%?lC;;m4-B -DhA-EMB*** querying acoustic contact ***iIiI2iY]FNOT Ignoring new targets: 254.40 m.ieʼn"ieʼn} ProNav: ac range: 254.399994 m, nav range: 219.363831 m, bearing: 269.923449 deg, approach rate: -0.816671 m/s, LOS rate: -0.003764 deg/s, cmd heading: 269.392087 deg, new cmd heading: 269.387719 deg.  i}S%HeadingCmd: 4.701703 target range: 254.399994 and range: 252.30 m.hYt@hhhhggbgjgeejeJe:e`?guBɛC) q&i)i`s=iU nʿU ﺉUPIUYt@IYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D D D E x0 E F!ZA)ME0>:JBoHBJػ9JJRJZJJIgA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250044ZI- _bI) jI) rI) zI- :I) I) I) qM @iM @uM @mM @Xx,9Be[A6@y6RΕ@96'Y6,>6H@9D7?@辿Sڄ@5? ?ƿ? Q?6@ɨ6; 4b/kBbIuMb@Mb@Mb@qq q)qIqyuv/?Q?S㥫?uxI?u\=u/]= q)qIunJAiuqAqu^AHH5M= @=YQ >٣ GF9 >]m49nl?am4Y> iFBB$J?m:]ȿq?C ; ;m4 gA2iFNOT Ignoring new targets: 254.40 m.i  ȷ"i  ȷ ProNav: ac range: 254.399994 m, nav range: 219.038147 m, bearing: 269.922869 deg, approach rate: -0.766776 m/s, LOS rate: -0.001367 deg/s, cmd heading: 269.387715 deg, new cmd heading: 269.385973 deg.  i'p%HeadingCmd: 4.701672 target range: 254.399994 and range: 252.30 m.h%t@h!h!h!h!g!g)bg)jg)e1e1G=i>G=ɍCG=IG=kBG9G9G9G=L<G=}FjeYJeY:e]8?雅uBɛ4) 'i)隉i0s=ioʿ.qIt@ID!D?DDE0 EzFrFFZAM=>%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499635( _x,[A:HŎ@y:ԕ@9:E(Y:>:HY}?ٿ` A??V?M?:HŎ@ɨ:5; 8bnkBbIHjHjC5rT&> rW=YrُQ r>t٣t vGtvO; z>x]m49zl?am4Yz`F izBBMȿq?zCz;zQ;zm4 fA2iAEFNOT Ignoring new targets: 254.40 m.iM׷"iM׷] ProNav: ac range: 254.399994 m, nav range: 218.746536 m, bearing: 269.922310 deg, approach rate: -0.768225 m/s, LOS rate: -0.001474 deg/s, cmd heading: 269.385967 deg, new cmd heading: 269.384288 deg.  i]}eHeadingCmd: 4.701643 target range: 254.399994 and range: 252.30 m.hes@hahahahagigibgijgieqeqjeqJeqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751969:eC?uBɛO?) W&i)iT- A) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003872ex,[A6Ǝ@y6Օ@96(Y6 >6H`Q?[q}@h%M??@?H?6Ǝ@ɨ69; 6BC>kBBIID)D)J= J=:JLBJNS9JJLRJNZJNJV? JV?HVHV5b$= bL=YbyQ b>d٣d fGfFf9 j>h]rm49jl?arm4YjuN ijBBprQȿqr?jCjA;j;jm4t zeAx2iFNOT Ignoring new targets: 254.40 m.i%Է"i%Է5 ProNav: ac range: 254.399994 m, nav range: 218.439758 m, bearing: 269.921732 deg, approach rate: -0.769689 m/s, LOS rate: -0.001453 deg/s, cmd heading: 269.384300 deg, new cmd heading: 269.382562 deg.  i5W=HeadingCmd: 4.701612 target range: 254.399994 and range: 252.30 m.h=s@h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eMK@ vBɛ78) &i)ipt=i%pʿ%f%:I%s@I)D?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256685ZIbIQjIrIzII-.9IIVFՒG1G1G=e>G9G={IG=lBG= =G9G9G=<G=FFZAM >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508261lx,cѲ[A2͎@y2"ݕ@92 )Y2 >2H Po?6`/zV? * ?-?@wE?2͎@ɨ2l; 2CC>kB>ImMb@Mb@Mb@ii i)iIiym?ˡE?/$?m@?m'=m,= i)mXIAImAHAimpAim\AHH 5k= ==YlgQ >٣ GF; >]n498l?an4YV i&CB@?m:ƿq? C3;2; n4B "eAE2iFNOT Ignoring new targets: 254.40 m.iŋ"i ŋ ProNav: ac range: 254.399994 m, nav range: 218.123383 m, bearing: 269.920079 deg, approach rate: -0.729745 m/s, LOS rate: -0.003819 deg/s, cmd heading: 269.382552 deg, new cmd heading: 269.377585 deg.  i'%HeadingCmd: 4.701526 target range: 254.399994 and range: 252.30 m.h%r@h!h!h!h)g)g)bg)jg1e1e1je9Je9:e= @eBvBɛeO7)a eV'ia)iiiimt=i}sʿ}}冼I}r@IyD-?D)D)E51 E1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760929VF=5FE?FE)?F) ZA1 MU >sx,ݴ̭[AFڎ@yF@9Fc)YF>FH@?ݛ@O?tr@Z?@? v?B?Fڎ@ɨF; FBCnlBn#IHvHve5~Q> ~U=Y+`Q >٣  G  t;  >]n49l?an4Y6^ iiCB!%ƿq%?/CT:b;yn4) -QdA)MB*** querying acoustic contact ***iIiI2iaeFNOT Ignoring new targets: 254.40 m.im"im} ProNav: ac range: 254.399994 m, nav range: 217.841736 m, bearing: 269.918498 deg, approach rate: -0.732835 m/s, LOS rate: -0.004117 deg/s, cmd heading: 269.377579 deg, new cmd heading: 269.372832 deg.  i}4HeadingCmd: 4.701443 target range: 254.399994 and range: 252.30 m.h8r@hhhhggbgjgeejeJe:e@uvBɛ#6?) @'i)it=ivʿ9lwI8r@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012599Dm?DiDiEmD5 EqE}R=E}=:J5BHBJ59JJ1RJ5ZJ5VFk}FQZAYM> BDAT read: Rx Time:19:02:14.8421  TRx dataTimestamp_ set to:1736535735.551542 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271356ZI ^bI VjI rI zI } :I B9I I Dyx,[ABJ@yB@9B)YB}>BH?`1WCaX??` ?@?BJ@ɨB; B@CZ&lBZ:I^)>i^<`bAGc>GGIGmBG =GGUDG<GFEMb@Mb@Mb@AA A)AIAyECl?ˡE?Zd;O?Ed;?AEj< ECmA)EAHAIE+GAiEZnAAEZA QQH]H]5m5= m3=YuHQ u>q٣q uG}F}; }>]n49nl?an4Yf iCB;?m:ſq?YC<;:;g,n4 cA2i FNOT Ignoring new targets: 254.40 m.i"iM ProNav: ac range: 254.399994 m, nav range: 217.514404 m, bearing: 269.916075 deg, approach rate: -0.706381 m/s, LOS rate: -0.005237 deg/s, cmd heading: 269.372825 deg, new cmd heading: 269.365545 deg.  iMfUHeadingCmd: 4.701316 target range: 254.399994 and range: 252.30 m.hU.q@hQhQhQhQgYgYbgYjgYeaejeJe:e: @vBɛ;-) (i)it=i zʿ  XI .q@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516891D5?D1D1E5 2 E1VF] ZszFi rFm hAF1 ZAA Mu >'x,[A2;@y2@92)Y2k>2H ?c`@?@O??П?@?2;@ɨ2R; 2CCbQlBfTIHnHn+5vR= vg=YvPQ z>|٣ GF ;  >]n49 l?an4Ym iCB!%Nſq%?yC ;G;8n4) -cA)mDAT read: 19:02:14.8421 LVL= 27120, 32753, 22242, 32755, AGC= 61, IDX= 405, 0.30,-1.548,-3.131,-1.695,-2.309, PHS= 0.849,-0.775, 0.611, RAW= 142.2, -9.1, CAL= 148.9, -18.5, ROT= 1.1, 18.5 Ygot valid direction response: 19:02:14.8421 LVL= 27120, 32753, 22242, 32755, AGC= 61, IDX= 405, 0.30,-1.548,-3.131,-1.695,-2.309, PHS= 0.849,-0.775, 0.611, RAW= 142.2, -9.1, CAL= 148.9, -18.5, ROT= 1.1, 18.5 PDAT read: Bearing 1.1, 18.5 (Local) ~Local bearing/azimuth received: Bearing 1.1, 18.5 (Local) DAT read: Range 10 to 50 : 230.4 m (Round-trip 307.2 ms) speed 0.6 m/s ,DAT read: user:1047> BDAT read: Tx time:19:02:15.9308 $Ping request sent.9 9=h( B?3?'ĿI=pe>i=0!>=nF<=MQ>9 9:publishing transmit ping timeءFpublishing direction and range infoFNOT Ignoring new targets: 254.40 m.iѸ"iѸ9Y=b{YD>DDDE@5 EJDAT read: TxSync time:19:02:15.9300 VF ]F ZA M >Qx,[A>@y>'@9>)Y>Ω>>HT5?`zLj? wF? ?M?<@?>@ɨ>bٍ; >BC^xlBblIHfHf5v= vJ=Yz_zQ z>x٣x ~G|~; >] n49 l?a n4Y,u i"DBĿq?C::Fn4:JBJػ9JJRJZJ#3<A;37Xb7=/ 1XnJ-> J->5B 5bA5EZjmoȥWo?bjm, iiim;[AjmffCjmdC2jmb-@pm2Nk@r0@paFRzpmb{Ypm*0~#@Ѯql,`Apmzoե?쵚MpGȍCGIGmBGGGGy<GF)my lA | BVF} 0,.Fq ZA M >x,4[A2@y2,@92+Y2 >2HӴ?e @hm? l?HI? K?@A?2@ɨ2m; 2@C>ulBBkI-Z-only read 0 of 1 data item for BIT error. Device response is::TS,25011011032480,35.0, +11.4, 0.0, 0 0.00, 147.61, 123.80, 123.12, 148.29 ^@^ ^@^ ^@^  ^@^ HbHbj5jǻ jH=Y~(EQ ~>٣ GF*:  > ]n49 !l?an4Y } i aDBi+:mj:Ŀq? ĂC < ^> Rn4 bA2i15FNOT Ignoring new targets: 230.40 m.i=GG"i=GGm ProNav: ac range: 230.399994 m, nav range: 217.029297 m, bearing: 271.663129 deg, approach rate: -0.682561 m/s, LOS rate: -0.000681 deg/s, cmd heading: 269.352553 deg, new cmd heading: 269.351664 deg.  im"}HeadingCmd: 4.701073 target range: 230.399994 and range: 230.40 m.h}1o@hyhyhhggbgjgeejeJe:e`?=RwBɛE@)A -i)!!!i%u=i-ʿ-- I-1o@I1DDDE4 EVF ׹F% ?F% ?F ZA M5 >x,N[A6g"@y61@96+Y6>6H ?[`!r? }? f]?y?>?6g"@ɨ6 ; 6CC>lBBIHJHJP5R= RM=YRNϺQ R>T٣T VGVFZ: Z>\]bn49^u"l?abn4Y^t i^DBib :`mf=:jĿqj?^C^=;^O?^[n4l nbAl~B*** querying acoustic contact ***i|i|2i FNOT Ignoring new targets: 230.40 m.i"i% ProNav: ac range: 230.399994 m, nav range: 216.746429 m, bearing: 271.662806 deg, approach rate: -0.771980 m/s, LOS rate: -0.000881 deg/s, cmd heading: 269.351652 deg, new cmd heading: 269.350683 deg.  i%-HeadingCmd: 4.701056 target range: 230.399994 and range: 230.40 m.h-o@h)h)h)h)g1g1bg1jg1e9e9je9Je9:eE@?mwBɛm΁R)q uy.iq)qqqi}m4v=i}3ʿ}"1Io@IDiimT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.D?DDEp0 E:J OOBJ 9JJ RJ ZJ \wzk^QH>3,% Ks"  xFJ!I!VFFZAM >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502037%x,ުh[A^{7@y^F@9^+Y^>^Hf 5?ozE}?p?[? ?r>?^{7@ɨ^; ^@CflBfIG^>GGPIGmBG =GGGl<GFHɍC HɍCHH ="H =*H5      Mb@Mb@Mb@ )Iy}?5^I?l?~jth?MB?=D; -lA)DAIBAiCmAQXAHHm5= 8=Y8Q >٣ GŽ; >]n49[#l?an4Y3 iDBiT:B?m:Ŀq ?C ; ;-kn4 aA2iIMFNOT Ignoring new targets: 230.40 m.iU:"iU:e ProNav: ac range: 230.399994 m, nav range: 216.414200 m, bearing: 271.662524 deg, approach rate: -0.746711 m/s, LOS rate: -0.000636 deg/s, cmd heading: 269.350696 deg, new cmd heading: 269.349847 deg.  ieP߷HeadingCmd: 4.701042 target range: 230.399994 and range: 230.40 m.hn@hhhhggbgjgeejeJe:e ?mwBɛm96)q u?0iq)qqqiu\v=i}ʿ}'}[In@ID9D9D9E=o0 E9EM=EM=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751083VFY F9 ZAA Mu >vx,r[A6YU@y6d@96)Y6A >6H4s1?j`@q#?r&?!?o?'B?6YU@ɨ65t; 6CCBlBBIFe>iF>HNHN5Vz= Za=YZ:;Q Z>\٣\ ^G^Fb"$< b>d]jn49f.$l?ajn4Yf_ if EBhjyĿqj?f6Cf:r?r=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003313fu:fwn4zB zMx,L[A:J OBJ 9JJ RJ ZJ J> J?%lB%IH5H5C5EP: EA=YMQ M>I٣I MGQU U>Y]en49]"%l?aen4Y] i]GEBiiqm?]^C]:]2:]n4q u9aAq2iFNOT Ignoring new targets: 230.40 m.iȷ"iȷ ProNav: ac range: 230.399994 m, nav range: 215.825638 m, bearing: 271.661453 deg, approach rate: -0.751008 m/s, LOS rate: -0.001371 deg/s, cmd heading: 269.348373 deg, new cmd heading: 269.346642 deg.  ipHeadingCmd: 4.700986 target range: 230.399994 and range: 230.40 m.hzn@hhhhggbgjgeejeJe:e@xBɛN) 4i)   i b?w=iʿvFIzn@ID?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507035GE[>GEǍCGEuIGE(nBGAGAGAGEa<GEFVFd/XFqZAyM> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758925Gx,W'[AlBIMb@Mb@Mb@ )Iy|?5^?Mb?~jth?M?= hA)CAIAAijAVAHH5ӈ= B=YQ >٣ GF >]n49%l?an4Y iEBM?m:ſq?C;m ;kn4 `A2i)-FNOT Ignoring new targets: 230.40 m.i7"i7 ProNav: ac range: 230.399994 m, nav range: 215.491272 m, bearing: 271.661638 deg, approach rate: -0.792162 m/s, LOS rate: 0.000440 deg/s, cmd heading: 269.346652 deg, new cmd heading: 269.347210 deg.  i7UHeadingCmd: 4.700995 target range: 230.399994 and range: 230.40 m.hUn@hQhYhYhYgYgYbgajgaeaeajeJe:e[@5]xBɛ5{;)9 =6i9)999i=/w=iE3ʿm iIun@IqDADADAEA EAEMhAEMhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011875ZI9bI=RjI=0rI9zI9I=S29I=ـ3I9I9I9I= <:I= <:VFe g{F9 ZAI Me >)ѳx,Ю[A6r@y6@96'Y6U>6HP:ѹ? ߑ Ǹ?@? ?)?@K?6r@ɨ6; 6ACR mBRIIT)T)Vp= Vp=HZHZ%5f= f\=Yf=;Q f>h٣h jGjFn"< n>p]vn49r&l?avn4Yr; irEBtv(ſqv?rCr:rl:r[n4| ~U`A|B*** querying acoustic contact ***ii2i!-FNOT Ignoring new targets: 230.40 m.i-n"i5n ProNav: ac range: 230.399994 m, nav range: 215.197815 m, bearing: 271.661519 deg, approach rate: -0.791734 m/s, LOS rate: -0.000323 deg/s, cmd heading: 269.347199 deg, new cmd heading: 269.346839 deg.  iQcHeadingCmd: 4.700989 target range: 230.399994 and range: 230.40 m.hn@hhhhggbgjgeejeJe:e/ @-xBɛ-/X`)5٘= 57]BDAT read: Rx Time:19:02:18.6387 eTRx dataTimestamp_ set to:1736535739.327323echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264161i1)iiiimS!x=ifʿT9In@IDIDIDIEU0 EQ:JJBJ 9JJRJZJJIhAVFF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516238x,-[AGfY>GdGfIGfZnBGdGdGfTDGf<GfMF=s@y=V@9='Y=1>=H$q?] -N?@? ?T?N?=s@ɨ=3; 9emBmIuMb@Mb@Mb@qq q)qIqyu7A`?X9v?{Gz?uV?uAiueAquRAHHy5 $=Y9Q >٣ GF²8 >]n49'l?an4Y iFBV?m}:ſq?CK ;. ;n4B v`AE2iFNOT Ignoring new targets: 230.40 m.i7"i7 ProNav: ac range: 230.399994 m, nav range: 214.787231 m, bearing: 271.661765 deg, approach rate: -0.825798 m/s, LOS rate: 0.000498 deg/s, cmd heading: 269.346843 deg, new cmd heading: 269.347586 deg.  i׮7HeadingCmd: 4.701002 target range: 230.399994 and range: 230.40 m.hn@h!h!h!h!g)g)bg1jg1e1e1je1Je9:e= @xBDAT read: 19:02:18.6387 LVL= 22816, 28401, 19890, 30515, AGC= 64, IDX= 403,-0.43,-0.712,-1.940,-0.509,-1.597, PHS= 0.974,-0.296, 1.085, RAW= 154.2, -25.1, CAL= 158.1, -31.6, ROT= 351.9, 31.6 Ygot valid direction response: 19:02:18.6387 LVL= 22816, 28401, 19890, 30515, AGC= 64, IDX= 403,-0.43,-0.712,-1.940,-0.509,-1.597, PHS= 0.974,-0.296, 1.085, RAW= 154.2, -25.1, CAL= 158.1, -31.6, ROT= 351.9, 31.6 PDAT read: Bearing 351.9, 31.6 (Local) ~Local bearing/azimuth received: Bearing 351.9, 31.6 (Local) DAT read: Range 10 to 50 : 227.8 m (Round-trip 303.8 ms) speed 0.8 m/s ,DAT read: user:1048> BDAT read: Tx time:19:02:19.7308 $Ping request sent.,@ ]K)]r0@I]0 i]@]0 ?Y Y]  ?1h?DC?~잔+-ۿI]?i]T>]]0 ?Y Y-:publishing transmit ping time-Fpublishing direction and range infoYQiUzx=i]ʿ]p]aHI]n@IaY])\?HF~࿙Y9YY Y)YIYiYYYYY Y)YIYiYYY Y]  ?1h?DC?~잔+-ۿIYiYYYY YD?DDEp0 EE=E> JDAT read: TxSync time:19:02:19.7300 VF U F ZA M >x,f[AZI.abI.TjI.2rI,zI.:I.:9I.c3I,I.;I.;I.^J:I.`J:Rq@yR@9R(YR >RHz5?NE` q?`?`?@n=?N?Rq@ɨR;; R>CM3mBUIHeHeC5u= uR=YuQ u>y٣y }Gy >]n49J(l?an4Y i@FBſq? C%;;Xn4 _AZjg?bj_zI( iiR([AjcCjabC2jf@p'h@V;(_K]zp)\?HF~"j*j0 ?pBY+3Y)jYm7Vpdazf!fhOiؿiMQjZig?i2J  jzjjX jDjj3VCrjϹ@% addTargetRange:: Added new target pos. range: 227.800003 m, deltaT: 3.780064 s, deltaX: -2.599991 m, approachRate: -0.687817 m/s, rangeRepo size: 4 5 Added new target pos. range: 227.800003 m, bearing: 266.261697 deg, lat: 36.903955 deg, lon: -122.119169 deg, deltaT: 3.780064 s, deltaX: -2.599991 m, approachRate: -0.687817 m/s, posRepo size: 4 2i1=FNOT Ignoring new targets: 227.80 m.i="i9m ProNav: ac range: 227.800003 m, nav range: 214.201126 m, bearing: 271.664028 deg, approach rate: 0.000000 m/s, LOS rate: 0.000498 deg/s, cmd heading: 269.347581 deg, new cmd heading: 269.348208 deg.  iquHeadingCmd: 4.701013 target range: 227.800003 and range: 227.80 m.h}n@hyhyhyhygygybgjgeejeJeyl@:e?}yBɛ8H) :JM jIBJM ]9JJI RJM ZJM x,0K![A6l@y6{@96(Y6`>6HI`?L,-??`D?`'?|N?6l@ɨ6t; 6ECR5mBRIV=iVph٣h jGjFnkҺ n>p]vn49r(l?avn4Yr ir{FBxzſqz?r5Cr^;rI;rn4| ~_A|2i!%FNOT Ignoring new targets: 227.80 m.i-CW7"i-CW7= ProNav: ac range: 227.800003 m, nav range: 213.884811 m, bearing: 271.664287 deg, approach rate: -0.898353 m/s, LOS rate: 0.000735 deg/s, cmd heading: 269.348209 deg, new cmd heading: 269.348986 deg.  i=(8EHeadingCmd: 4.701026 target range: 227.800003 and range: 227.80 m.hEn@hAhAhAhIgIgQbgQjgQeQeYjeYJeY:e]`R|?雅(yBɛ-t) /?i)隉iy=i/ʿ5֣bIn@IGW>GGIGnBG =GGGR<GoF^D5Pz=D?DDE0 EVF zQF ZA M >ex,R`<[A2c@y2pr@92u)Y2\>2H`? EcbY?`? ?`E?@wL?2c@ɨ2=; 2?CJImBNI]Mb@Mb@Mb@YY Y)YIYy]+?٣ GM& >]n49)l?an4Y5 iFB`?mr:ſq?gCWg;f;n45B 5|_A=E2i  FNOT Ignoring new targets: 227.80 m.iE6"iE6% ProNav: ac range: 227.800003 m, nav range: 213.490616 m, bearing: 271.664476 deg, approach rate: -0.811782 m/s, LOS rate: 0.000390 deg/s, cmd heading: 269.348974 deg, new cmd heading: 269.349542 deg.  iE7MHeadingCmd: 4.701036 target range: 227.800003 and range: 227.80 m.hMn@hIhIhIhQgQgQ]DReached init depth of 59.321468 m.bgYjgYeYeYjeaJe:eV?雍hyBɛ"A) Ai)隑iZz=iڃʿ&fIn@IZI_bIRjI0rIzI :IS29Iـ3IIB:IG:I <:I <:^D~=Dm?DqDqEu0 EqEEdAVF {5 Fi ZAy M >qx,V[A6gU@y6d@96 +Y6>6Hnǿ?տ`;|?R?`J??@ M?6gU@ɨ6+; 6BC>nmB>IHJHJ5R = RV=YV~Q V>X٣X ZGZFZ ^>\]fn49^*l?afn4Y^ i^GBdfſqf?^C^<;^;^n4h n^AlzB*** querying acoustic contact ***i|i|2i FNOT Ignoring new targets: 227.80 m.it7"it7% ProNav: ac range: 227.800003 m, nav range: 213.170883 m, bearing: 271.664766 deg, approach rate: -0.921197 m/s, LOS rate: 0.000836 deg/s, cmd heading: 269.349548 deg, new cmd heading: 269.350419 deg.  i-8UHeadingCmd: 4.701052 target range: 227.800003 and range: 227.80 m.hUo@hYhYhYhYgYgYbgajgaeaeijeiJei:em )?UyBɛU% f)Q UyBiQ)YYYi]mz=ie]ʿeCeWIeo@IiCqCqCqCq:JMJBJM9JJIRJMZJM %VGUT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.=;mA D?DDE0 E) by ;mA BGE Y>GA GE IGE nBGE =GA GA GE f<GE FVF% >F ZA M% >x,hr[AVh@yVFx@9V~{*YV=VHo@h?{ O_?S5?E6?zx?`O?Vh@ɨVH; TbmBbIId)d)f= dUMb@Mb@Mb@QQ Q)QIQyUNbX9?Mb?Q?Ue?U=U\= U_A)Uv>AIQiUxcAQU\OAHmHmפ5}'= }2=Y9:Q >٣ GF; >]n49J+l?an4Y< ieGBe?ml:`ƿchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007410q-?ĄC<<n41 5E^A12iFNOT Ignoring new targets: 227.80 m.i8"i8% ProNav: ac range: 227.800003 m, nav range: 212.768265 m, bearing: 271.665640 deg, approach rate: -0.822778 m/s, LOS rate: 0.001789 deg/s, cmd heading: 269.350422 deg, new cmd heading: 269.353049 deg.  i%285HeadingCmd: 4.701097 target range: 227.800003 and range: 227.80 m.h5do@h1h1h1h1g9g9bg9jg=BeAejeJe:ev@=mBɛ=)Eś< E|iA)E֟|AAiEx=iM܁ʿMM-vIUdo@IQD1D1D1E5O5 E9 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259369VF }ZI5 `bI5 TjI5 1rI1 zI5 :I5 :9I5 3I1 I5 :I5 :I5 ]J:I5 `J:Fq ZAy M >x,,[AN{o@yN~@9N}*YN=NHo? <Í@P? @?D? 1?5P?N{o@ɨNw; LZmB^+IHfHf)5nK= nV=YrQ r>p٣t vGtv; v>x]~o49z+l?ao4Yz izGBDƿq?zCz8;z;z1 o4 ]A2iAEFNOT Ignoring new targets: 227.80 m.iEn8"iMn8] ProNav: ac range: 227.800003 m, nav range: 212.432602 m, bearing: 271.666294 deg, approach rate: -0.954436 m/s, LOS rate: 0.001864 deg/s, cmd heading: 269.353045 deg, new cmd heading: 269.355011 deg.  i]8eHeadingCmd: 4.701132 target range: 227.800003 and range: 227.80 m.heo@hahahahagagibgijgieieqjeqJeq:eu`aA@雡ɛ,:)  FZA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511497M*>:J BoIBJ 9JJ RJ ZJ x,[A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763365Vbq@yV@9V+YV?B=VH?/Ό?V?[?N"?wO?Vbq@ɨV(; VACmBKIH-H-5]= eB=Ye(ߺQ e>i٣i mGmFm: u>q]o49u,l?ao4Yu iuGB<ƿq?uCud:u:uo4B +]AE2iAMFNOT Ignoring new targets: 227.80 m.i;7"i;7GW>GGIGnBG =GGG]<GxFHǍC HǍCHH ="H =*H?5 ProNav: ac range: 227.800003 m, nav range: 212.063309 m, bearing: 271.666992 deg, approach rate: -0.845330 m/s, LOS rate: 0.001600 deg/s, cmd heading: 269.355012 deg, new cmd heading: 269.357109 deg.  i8HeadingCmd: 4.701169 target range: 227.800003 and range: 227.80 m.h-o@h1h1h1h9gAgibgqjgqeqeqjeyJey:e}G@ mBɛ B;)  =i )࿹8ihs=iʿϹIo@I!D1D9D9E=?5 E9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016057VF i"F ZA M= >-x,[A>mq@y>@9>,Y>1?=>H%?@?`.t?`!y?f?`N?>mq@ɨ>; >?CJnBJaIR>iRa٣a eGeFu[7 u>y]o49}C-l?ao4Y}0 i}SHB-i?mi:4ƿq?}LC}:}:}%o4 \A2i9=FNOT Ignoring new targets: 227.80 m.iE7"iE7u ProNav: ac range: 227.800003 m, nav range: 211.706924 m, bearing: 271.667642 deg, approach rate: -0.891493 m/s, LOS rate: 0.001629 deg/s, cmd heading: 269.357116 deg, new cmd heading: 269.359070 deg.  i}!8}HeadingCmd: 4.701203 target range: 227.800003 and range: 227.80 m.h}Ap@hhhhggbgjgsBeejeJe:e} @BDAT read: Rx Time:19:02:22.4338 TRx dataTimestamp_ set to:1736535743.111420checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268683ɛͤ<) =i)O/9i7Eq=ii~ʿF|IAp@I^D Ԙ=D D D E o1 E M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520715VF >FyZAM ?Xhx,C[A:J"uJBJ"9JJ RJ"ZJ"  J0I0^m@y^}@9^-Y^=^H ll?< .@)? ?@?1?L?^m@ɨ^V.; ^@Cf-nBfyIH%H%55= ==Y=|Q =>A٣A EGEFEV E>I]Uo49M).l?a]o4YM iMHBY]Dƿq]?MCM;M<;M%9o4a m[AiB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 227.80 m.i8"i8 ProNav: ac range: 227.800003 m, nav range: 211.218292 m, bearing: 271.668602 deg, approach rate: -0.913541 m/s, LOS rate: 0.001799 deg/s, cmd heading: 269.359083 deg, new cmd heading: 269.361969 deg.  i8HeadingCmd: 4.701253 target range: 227.800003 and range: 227.80 m.hp@hhhhggbgjgeejeJe:e@4:@%DAT read: 19:02:22.4338 LVL= 18032, 21265, 16850, 26323, AGC= 62, IDX= 395, 0.17,-0.190,-1.026,-0.018,-1.227, PHS= 1.124, 0.248, 1.206, RAW= 154.4, -44.7, CAL= 157.5, -45.8, ROT= 352.5, 45.8 -Ygot valid direction response: 19:02:22.4338 LVL= 18032, 21265, 16850, 26323, AGC= 62, IDX= 395, 0.17,-0.190,-1.026,-0.018,-1.227, PHS= 1.124, 0.248, 1.206, RAW= 154.4, -44.7, CAL= 157.5, -45.8, ROT= 352.5, 45.8 5PDAT read: Bearing 352.5, 45.8 (Local) =~Local bearing/azimuth received: Bearing 352.5, 45.8 (Local) ]DAT read: Range 10 to 50 : 224.1 m (Round-trip 298.9 ms) speed 0.4 m/s ,DAT read: user:1049> BDAT read: Tx time:19:02:23.5308 $Ping request sent.ZIbbIWjIrIzI:IG9IIq=@i=@u=@m=@;ߏ?}>5^?iw,@ G)/@ILi@L?EmBɛy<) >i $?:'F?ZI?iZG? ):9  i+en=L? -:publishing transmit ping time5Fpublishing direction and range infoYqQ?lK[GS>GƍCG+IGNoBG =GGGij<GFi|ʿ mFgIp@I!9 )Ii )Ii $?:'F?ZIi ^D]XR=DDDE1 E JDAT read: TxSync time:19:02:23.5300 VF u4F ZA M >x,Dk[AB$m@yBx|@9B.YB=BH!?ਈ@ ?? ?@I?`K?B$m@ɨB; B?CNwnBNIMb@Mb@Mb@ )IyHzG?kt?:v?=j? 0=T= XA)I7Ai_A KAHHJ57%> 7=Y Q >٣ G]) >]o493/l?ao4Y i&IB j?mg:ſq?Co;n;Ho4B ZAEZjyavk?bj ii*T[Aj`Cj^C2jg@p)\c@\y鸉d4W1 dzpqQ?lK["j *jL?px[@3+8OOf$>l`pքe+3׸Nii"4j? iD8uk?ibE  j[zjXl?j2J jjjMCrj·@ addTargetRange:: Added new target pos. range: 224.100006 m, deltaT: 3.783926 s, deltaX: -3.699997 m, approachRate: -0.977820 m/s, rangeRepo size: 4 M Added new target pos. range: 224.100006 m, bearing: 269.298042 deg, lat: 36.903895 deg, lon: -122.119115 deg, deltaT: 3.783926 s, deltaX: -3.699997 m, approachRate: -0.977820 m/s, posRepo size: 4 2iQUFNOT Ignoring new targets: 224.10 m.i]"iYm ProNav: ac range: 224.100006 m, nav range: 205.922150 m, bearing: 269.859196 deg, approach rate: 0.000000 m/s, LOS rate: 0.001799 deg/s, cmd heading: 269.361979 deg, new cmd heading: 269.364534 deg.  iiuHeadingCmd: 4.701298 target range: 224.100006 and range: 224.10 m.hu q@hqhqhqhygygybgyjgBeejeJe@3l@:ek ?e%=e=mBɛ$a<) \>i) :iBk=iG{ʿwI  q@I ^Dԅ<DDDE2 EVF 'HF ?F /?F ZA M x,¦[AMnBMIIQ)Q)U= UR=H]H]5u > uF=YuQ u>y٣y }G}F >]o49(0l?ao4Y8# iIBq?C::Wo4 ZAE2iFNOT Ignoring new targets: 224.10 m.i>#"i># ProNav: ac range: 224.100006 m, nav range: 205.554840 m, bearing: 269.855772 deg, approach rate: -0.955301 m/s, LOS rate: -0.008920 deg/s, cmd heading: 269.364547 deg, new cmd heading: 269.354258 deg.  iùHeadingCmd: 4.701118 target range: 224.100006 and range: 224.10 m.ho@hhhhggbgjgeejeJe:e ?5mBɛ5?<)5< 5?>i9)=nA@:AAiMh=iM*ʿUU?GIUo@IQ:J,LBJ]9JJRJZJ       ^D5%<ZI`bIYjI0rIzI:I[O9Iـ3IG= Q>G9 G= oIG= oBG= =G9 G9 G= K<G= eFD ?D D E 1 E VF FZAM >{ x,<9[A2J@y2WY@92'/Y2H=2H 8@N?b{?`?`??`M?2J@ɨ2lʉ; 2AC>nB>I Mb@Mb@Mb@   ) I y E?kt?S㥫? f?  /]= ZA) :AI 7Ai ^A  JAH%H%S55= 5(=Y=vcQ =>A٣A EGEFE E>I]Uo49M"1l?a]o4YMv. iMIB]Tg?m]j:]ſq]?M#CM ;M ;Mho4a m YAi2i1=FNOT Ignoring new targets: 224.10 m.i=T"i=TM ProNav: ac range: 224.100006 m, nav range: 205.128204 m, bearing: 269.852231 deg, approach rate: -0.842974 m/s, LOS rate: -0.007012 deg/s, cmd heading: 269.354247 deg, new cmd heading: 269.343601 deg.  iM}HeadingCmd: 4.700933 target range: 224.100006 and range: 224.10 m.h} n@hyhyhyhygygbgjgBeejeJe:e?mBɛ> <) >i)匉:ie=i5Eʿ5G5a2I5 n@I9^D <D?DDEE5 EEEEEH1H5a=Fa ZAi M >8}x,,R[A޽JoB޽(IHH5y[> B=YQ >٣ G >]o491l?ao4Y98 iCJBq?RC::vo4B WAE2iFNOT Ignoring new targets: 224.10 m.i"i ProNav: ac range: 224.100006 m, nav range: 204.757690 m, bearing: 269.849143 deg, approach rate: -0.894389 m/s, LOS rate: -0.007467 deg/s, cmd heading: 269.343592 deg, new cmd heading: 269.334312 deg.  iHeadingCmd: 4.700770 target range: 224.100006 and range: 224.10 m.hl@hhhhggbgjgeejeJe:el_? mBɛI<) [>i):i]3c=iʿ%%%I%l@I!C)C)C1C1DQDQDQEUd2 EQF) :J- 7LBJ- 9JJ) RJ- ZJ- ZAA M] >ZIu dbIu VjIu 1rIq zIu <:Iu B9Iu 3Iq %x,yl[AG"O>G G"IG"BpBG G G G""<G"EFoBSIMb@Mb@Mb@ )Iy+?&1?S㥫?_?P= VA)G9AI6Ai^\AHAHHJ5> 1=YQ >٣ GF >]o49<3l?ao4YB iJB`?mr::Ŀq?C ;;o4 VAB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 224.10 m.i5"i5 ProNav: ac range: 224.100006 m, nav range: 204.364334 m, bearing: 269.844682 deg, approach rate: -0.873370 m/s, LOS rate: -0.009924 deg/s, cmd heading: 269.334303 deg, new cmd heading: 269.320894 deg.  iٹHeadingCmd: 4.700536 target range: 224.100006 and range: 224.10 m.hj@hhhhggbgjg€BeejeJe:e?@-mBɛ5=)1 5>i1)5:11i=`=i=?ʿemtImj@IiDyzD}hAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D?DDE/5 EFZAM>T!x,犆[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.492222%oB%IH=H=5Mz> Mz=YQQ U?Q٣Q ]G]FY ]?a]mo49e 4l?amo4YeI ieJBqqqu?eCe:e\:eio4y QUA2iFNOT Ignoring new targets: 224.10 m.i2"i2 ProNav: ac range: 224.100006 m, nav range: 204.085754 m, bearing: 269.841512 deg, approach rate: -0.856773 m/s, LOS rate: -0.009762 deg/s, cmd heading: 269.320889 deg, new cmd heading: 269.311366 deg.  icֹHeadingCmd: 4.700370 target range: 224.100006 and range: 224.10 m.hni@hhhhggbgjgeejeJe:ee@HHAAmBɛ!:=)& ?i ) j; IiU]=iUʿ]]VlI]ni@IYD?DDE o0 E FZAM J>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741395*'x,y[A6b@y6\q@96`Y6>6Hb?lL? C? k?ɽ?e?6b@ɨ6n; 4>pB>IHbHb5ji= jR=Yjl=Q n>l٣l nGlr; r>t]zo49v@5l?azo4YvR iv7KB|~ÿq~?vӆCv ;v ;vo4B TA E2i1=FNOT Ignoring new targets: 224.10 m.i=<"i=<U ProNav: ac range: 224.100006 m, nav range: 203.752579 m, bearing: 269.837488 deg, approach rate: -0.852694 m/s, LOS rate: -0.010316 deg/s, cmd heading: 269.311354 deg, new cmd heading: 269.299262 deg.  iU]HeadingCmd: 4.700159 target range: 224.100006 and range: 224.10 m.h]g@hYhYhYhYgagabgajgaeieijeiJei:eu@G@Iż=)ېC }~G A)%yBmBɛD;=) ?i)V/;iA[=iʿFe:Ig@I:JE"KBJEͼ9JJARJEZJE9 M m9   46checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994979DDDE EZIMcbIIjIIrIIzIM:IIIIIIGM>GōCGIGpBG =GGSDG <G@FVFXF ZA M > BDAT read: Rx Time:19:02:26.2556  TRx dataTimestamp_ set to:1736535746.892522 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247881v-x,@[AJr@yJG@9JYJP>JH=?! ? r?9?v?v?Jr@ɨJz͉; J=C=ipBEIMb@Mb@Mb@ )Iyjt?+?)\(?`?=Ga= )v8AIiYAGAHH56J> 9=Y=Q >٣  G F y;  >]o49$6l?ao4Y\ iKB%na?m%q:%ſq%?CE::oo4) -FSA12iFNOT Ignoring new targets: 224.10 m.i"i ProNav: ac range: 224.100006 m, nav range: 203.371994 m, bearing: 269.834204 deg, approach rate: -0.847365 m/s, LOS rate: -0.007325 deg/s, cmd heading: 269.299251 deg, new cmd heading: 269.289381 deg.  iޠHeadingCmd: 4.699986 target range: 224.100006 and range: 224.10 m.hJf@hhhhggbgjg BeejeJe:e, @%mBɛ% XK=)-u$< -S0?i))mpV;iiim8X=iDʿw~hu:IJf@IDl>D!>DADADAEA EImPExceeded connect timeout, disconnecting.<<%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497700VF ˴Fa ZAi M >b4x,h$԰[Am~@ym@9mpYm>mH~ڽ?@m4C???`2?~?m~@ɨm); m@CޭpBޭ IHH51H> I=Y =٣ GFf; >!]-o49%7l?a-o4Y%e i%KB)-Vſq-?%1C%;%Y;%o49 =RA92iamFNOT Ignoring new targets: 224.10 m.DAT read: 19:02:26.2556 LVL= 22960, 29473, 17122, 18627, AGC= 61, IDX= 159,-0.42, 2.939, 1.711,-3.137, 1.978, PHS= 1.049,-0.220, 1.165, RAW= 154.3, -27.9, CAL= 157.7, -34.0, ROT= 352.3, 34.0 Ygot valid direction response: 19:02:26.2556 LVL= 22960, 29473, 17122, 18627, AGC= 61, IDX= 159,-0.42, 2.939, 1.711,-3.137, 1.978, PHS= 1.049,-0.220, 1.165, RAW= 154.3, -27.9, CAL= 157.7, -34.0, ROT= 352.3, 34.0 PDAT read: Bearing 352.3, 34.0 (Local) ~Local bearing/azimuth received: Bearing 352.3, 34.0 (Local)  DAT read: Range 10 to 50 : 240.4 m (Round-trip 320.6 ms) speed 0.4 m/s ,DAT read: user:1050> BDAT read: Tx time:19:02:27.3309 $Ping request sent.u u?q q=:publishing transmit ping timeEFpublishing direction and range infohhAgAgIbgIjgIeIeQjeQJeU n@:eU .r?qYuY3vGE ƍCGE |IGE sqBGA GA GE TDGE <GE FHƍC HƍCHH ="H =*H˚|5VF%zQzF9rF=iAFZA M=?<x,^*[A~qB~:IMb@Mb@Mb@ )IyOn?{Gz?~jt?X?#=D= 5TA)6AI6AiQADAHH> =YQ >٣ GF >]o4958l?ao4Yq i LB*Y?mz:Ŀq?iC`+;);o4 B PA EZj{+h?bjÖ`5 ii9Dٰ[AjfpCjnC2j&@p9;h@:EG`zpY3vIBTWvݿiTj6/iNgh?ijX  jLzjD8uk?jjjjJCrjln@m addTargetRange:: Added new target pos. range: 240.399994 m, deltaT: 3.780277 s, deltaX: 16.299988 m, approachRate: 4.311850 m/s, rangeRepo size: 4  Added new target pos. range: 240.399994 m, bearing: 267.054426 deg, lat: 36.903880 deg, lon: -122.119115 deg, deltaT: 3.780277 s, deltaX: 16.299988 m, approachRate: 4.311850 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 240.40 m.i"i ProNav: ac range: 240.399994 m, nav range: 202.595947 m, bearing: 269.346273 deg, approach rate: 0.000000 m/s, LOS rate: -0.007994 deg/s, cmd heading: 269.279880 deg, new cmd heading: 269.267169 deg.  iHeadingCmd: 4.699599 target range: 240.399994 and range: 240.40 m.hc@hhhhggbgjgBeejeJe:eX?mBɛA-p=) iDx,,[A6b@y6@96ܽY6>6Hrx ?@rP^?G~??*M?j?6b@ɨ6; 6ACZJqBZdIHbHb5nM> n;=YrC=Q r>p٣p vGtvi; v>|]o49~B9l?ao4Y~"{ i~`LBĿq?~C~>:~):~Do4 OA5B*** querying acoustic contact ***i1i12i9EFNOT Ignoring new targets: 240.40 m.iEG"iMG] ProNav: ac range: 240.399994 m, nav range: 202.230606 m, bearing: 269.341557 deg, approach rate: -0.844304 m/s, LOS rate: -0.010919 deg/s, cmd heading: 269.267176 deg, new cmd heading: 269.253001 deg.  ieeHeadingCmd: 4.699351 target range: 240.399994 and range: 240.40 m.hea@hihihihigigqbgqjgqeyeyjeyJey:e} 4?雥mBɛm=) {f?i)H;隱iP=iʿr:y;Ia@IDT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DIDIDIEMo0 EIVFu?:FAZAQMu>e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239031:Je YNBJe 9JJa RJe ZJe $&# #2:=Ju ? Ju ?*GA "GA Jx,-[AGM>GōCGIGrBG =GGSDGh<GtFRu@yRɏ@9R-ͽYR>RH }?MLv? '?`?P?ē?Ru@ɨR*; R@CnqBnIHvHvq5~c@> ~I=Y٣   G F vV  >]o492:l?a%o4Y iLB!%Ŀq%?ÇC;l:|o4) -NA12iFNOT Ignoring new targets: 240.40 m.iU7+"i]7+ ProNav: ac range: 240.399994 m, nav range: 201.890335 m, bearing: 269.337283 deg, approach rate: -0.743576 m/s, LOS rate: -0.009356 deg/s, cmd heading: 269.252997 deg, new cmd heading: 269.240153 deg.  iu͹HeadingCmd: 4.699127 target range: 240.399994 and range: 240.40 m.h@_@hhhhggbgjgeejeJe:e`1?%mBɛM=)I M)y?iI)Mx4;QQiUN=iUlʿ]u]);I]@_@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492863DDDE EE%=E%>VFE 7eD;FE ?FE ?F ZA! ME >~Qx,G[AF@yFݥ@9F﻽YF>FH@ r q?w&q|?k?@u?`"??F@ɨFG; F?CRqBVI%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743267EMb@Mb@Mb@AA A)AIAyEʡE?~jt?~jt?EO?E mD=Yuy٣y }G}F; >]o49:l?ao4Y iLBO?m:ƿq?CR;Q;%o4ZIAbIE[jIArIAzIAIEW9IAIAIAIAIE|:IE|: NMA2iFNOT Ignoring new targets: 240.40 m.i!"i!- ProNav: ac range: 240.399994 m, nav range: 201.553146 m, bearing: 269.334351 deg, approach rate: -0.835271 m/s, LOS rate: -0.007275 deg/s, cmd heading: 269.240156 deg, new cmd heading: 269.231346 deg.  i-ŸUHeadingCmd: 4.698974 target range: 240.399994 and range: 240.40 m.hU]@hQhQhQhYgYgYbgYjgeLBeaeajeaJea:em'k?mBɛ⯦=) |?i)Y;iK=i sʿ & ȯ;I ]@IDDDEp0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.995287VF D0;F ZA M >AXx,a[A2԰@y2(@92Y2>2HcW?`"`E T?@? ??@?2԰@ɨ2d; 2>CFrBFIHRHR5V = ZW=YZJ\٣\ ^G\b < b>d]jp49fO;l?ajp4Yf ifLBhj8ƿqn?fCf;f;fb p4rB rLArE2iFNOT Ignoring new targets: 240.40 m.il"il ProNav: ac range: 240.399994 m, nav range: 201.248337 m, bearing: 269.331415 deg, approach rate: -0.885835 m/s, LOS rate: -0.008547 deg/s, cmd heading: 269.231359 deg, new cmd heading: 269.222535 deg.  iHeadingCmd: 4.698820 target range: 240.399994 and range: 240.40 m.h\@hh!h!h!g!g!bg)jg)e)e)je1JeQ:eU`@雽mBɛ=) ڋ?i)+<iI=i ~ʿal<<;73/,*&$" JgAIgA=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248662DDDE0 EGL>GG8IGrBG =GGG<GFVF{;F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499062u1^x,Ӈ{[A2ˏ@y29ۖ@92ԕY2+>2H`Д^?@??р?Q?}?+?2ˏ@ɨ2I; 2?C>DrB>IeMb@Mb@Mb@aa a)aIayeRQ?Q?X9v?eB?e\=e< ePA)aIeG9AiejJAaefBAHuHu5= ==Yw٣ GFe; >]p49zex,e[A6ߏ@y6@96"Y6>6H`q? ?`<@ ?/? )?m???6ߏ@ɨ6}; 6٣ G V;  >]p49=l?ap4YI i=MBKÿq%?dC;^;%p4) -IKA)MB*** querying acoustic contact ***iIiI2iYeFNOT Ignoring new targets: 240.40 m.ie`"ie`u ProNav: ac range: 240.399994 m, nav range: 200.631317 m, bearing: 269.321629 deg, approach rate: -0.754554 m/s, LOS rate: -0.012278 deg/s, cmd heading: 269.207371 deg, new cmd heading: 269.193130 deg.  i}}HeadingCmd: 4.698307 target range: 240.399994 and range: 240.40 m.h}X@hhhhggbgjgeejeJe:e @mBɛk@=) ?i)X"<iE=iPʿPuVM BDAT read: Rx Time:19:02:30.0022 M TRx dataTimestamp_ set to:1736535750.671143U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256111:J %MBJ ͼ9JJ RJ ZJ J ? J $?G I>G G IG sBG G G G O<G ^FBkx,;[A@yE@9cY2=H@|?b?|ʿ@)O?ë?`m?ि?`p?@ɨZ; AC=rB=8IHMHM5]I= e@=Yei٣i mGm FmG; u>q]}p49u>l?ap4Yu iu^MB¿q?uCu;u:u4p4 ~JA2iYeFNOT Ignoring new targets: 240.40 m.iR"iRM ProNav: ac range: 240.399994 m, nav range: 200.316299 m, bearing: 269.316247 deg, approach rate: -0.672935 m/s, LOS rate: -0.011515 deg/s, cmd heading: 269.193137 deg, new cmd heading: 269.176965 deg.  iUUHeadingCmd: 4.698024 target range: 240.399994 and range: 240.40 m.h]7V@hYhYhYhYgYgYbgajgaeaejeJe:e` @mBɛ"ٱ=) ?i)u?6<i%A[C=i5ʿ5я53 Fy ZA M >arx,jɱ[AnDAT read: 19:02:30.0022 LVL= 24752, 32753, 19234, 32755, AGC= 63, IDX= 411, 0.19,-0.593,-1.926,-0.531,-1.057, PHS= 0.551,-0.822, 0.523, RAW= 148.9, -3.7, CAL= 153.5, -12.4, ROT= 356.5, 12.4 vYgot valid direction response: 19:02:30.0022 LVL= 24752, 32753, 19234, 32755, AGC= 63, IDX= 411, 0.19,-0.593,-1.926,-0.531,-1.057, PHS= 0.551,-0.822, 0.523, RAW= 148.9, -3.7, CAL= 153.5, -12.4, ROT= 356.5, 12.4 zPDAT read: Bearing 356.5, 12.4 (Local) ~~Local bearing/azimuth received: Bearing 356.5, 12.4 (Local)  DAT read: Range 10 to 50 : 200.3 m (Round-trip 267.1 ms) speed 0.9 m/s ,DAT read: user:1051> BDAT read: Tx time:19:02:31.1309 %$Ping request sent.%L LN ?Fu?OINUy?iN =N5zNk]>L L:publishing transmit ping time!Fpublishing direction and range infoLYN1?&0h`r|˿L9LL L)LILiLLLLL L)LILiLLL LN ?Fu?OILiLLLL L}B @y}@9}5@Y}W=}H'??sʎ?`??}?M?@o?}B @ɨ}; }?CErBEGIMb@Mb@Mb@ )Iy-??t=< QA)3AI;AiEAAAH5H5M5E+= E =YEti٣i mGm Fu; u>y]p49}@l?ap4Y} i}MB~>?m:¿q?}ĈC};};}Hp4B -JAEZjN+5j?bjNP  iLiN4˱[AjNLHCjN GC2jN@pN9`ghh@'8PxEzpN1?&0h`r|˿"jN5z*jNk]>pN䙠~h&lËxApNir=fڒ|HTƿiN+EjNiNVAj?iN,  jNAzjNVAj?jLjNjjNGCrjN @-}addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 200.300003 m, deltaT: 3.780264 s, deltaX: -40.099991 m, approachRate: -10.607722 m/s, rangeRepo size: 42iy}FNOT Ignoring new targets: 240.40 m.iC"iC ProNav: ac range: 240.399994 m, nav range: 199.885254 m, bearing: 269.308035 deg, approach rate: -0.779985 m/s, LOS rate: -0.014891 deg/s, cmd heading: 269.176963 deg, new cmd heading: 269.152275 deg.  i#HeadingCmd: 4.697593 target range: 240.399994 and range: 240.40 m.hR@hhhhggbgjgxBeejeJe i@:eQ?MJDAT read: TxSync time:19:02:31.1301 mmBɛm=)i m#?iq)uKW@y>*@9>fY>=>H@?H?`9+? ɝ? v?%?W?>W@ɨ> ; >ACFrBFXIIL)L)R= R=HVHV5b= bw=YbH=Q f?d٣d fG:J MKBJ 9JJ RJ ZJ JhAIhA- F5; 5?9]Ep49= Bl?aEp4Y= i=MBAEqE?=C=:=:=Tp4q uIAyGC>GčCGIGysBG =GGG]<GbF2iFNOT Ignoring new targets: 240.40 m.i"i ProNav: ac range: 240.399994 m, nav range: 199.633591 m, bearing: 269.303066 deg, approach rate: -0.774079 m/s, LOS rate: -0.015303 deg/s, cmd heading: 269.152265 deg, new cmd heading: 269.137339 deg.  i (%HeadingCmd: 4.697333 target range: 240.399994 and range: 240.40 m.h-P@h)h)h)h)g)g)bg1jg1e1e1je9Je9:e=0?雥mBɛnQ=) ?i)LY<隩i-?=i9ʿd뺉Ƣvx,z[A@y*@9Y >HÇ??u F'?`??@ l??騕@ɨM`; ?CޭrBޭ^I=Mb@Mb@Mb@99 9)9I9y=On?{Gz?{Gzt?=8?=#==ף; = PA)9I=q٣q uGqu8 u>y]p49}Dl?ap4Y}@ i}MB8?m:q?}C}9;}88;}fp4 IA2iY]FNOT Ignoring new targets: 240.40 m.ie"ieu ProNav: ac range: 240.399994 m, nav range: 199.267212 m, bearing: 269.294854 deg, approach rate: -0.704014 m/s, LOS rate: -0.015808 deg/s, cmd heading: 269.137348 deg, new cmd heading: 269.112668 deg.  iu-}HeadingCmd: 4.696902 target range: 240.399994 and range: 240.40 m.h}M@hyhyhyhggbgjgvBeejeJe:e@ ;?mBɛk=)< ?i)n<i^==iT ˿;争ۭ_x,[AF@yF-@9FHzYFǻ>FHG?m?``w -?^܋?Q?@?=?F@ɨF?Џ; FBCNrBN]IHVHV5bi f=YfeHeadingCmd: 4.696650 target range: 240.399994 and range: 240.40 m.heJ@hahahahagagibgijgieqeqjeqJeq:eu?雝mBɛn(=) ?i)y<隩i:X<=i-˿5_6ຉ5茧x,*8[AJj? Jj>)-Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746440Mb@Mb@Mb@ )Iy-?S㥫??5?/]= OOA)2AI>AipAA@AHH5 d 7=YQ >٣ G F %>1]=p495Gl?a=p4Y5. i5MB=5?mE:E὿qE?5WC5:5M:5sp4MB MIAME2iq}FNOT Ignoring new targets: 240.40 m.i}U"iU ProNav: ac range: 240.399994 m, nav range: 198.739075 m, bearing: 269.280955 deg, approach rate: -0.708329 m/s, LOS rate: -0.020473 deg/s, cmd heading: 269.098224 deg, new cmd heading: 269.070921 deg.  i`HeadingCmd: 4.696174 target range: 240.399994 and range: 240.40 m.hG@hhhhggbgjgjBeejeJe:eh?mBɛ:=) P?i) <aie:=im2#˿mmٺm̪_mx,R[A6J@y6Z@96W:Y6[=6H!ő??p`)?Ri*Qذ?`?6J@ɨ6; 6>C>rB>ZIHbHb/5ff jb=Yjq9=Q j>l٣l nGlrx< r>t]zp49vIl?azp4Yv ivMBxz*qz?vxCv:v:vp4 IA2i15FNOT Ignoring new targets: 240.40 m.i=LŹ"i=LŹM ProNav: ac range: 240.399994 m, nav range: 198.484436 m, bearing: 269.273171 deg, approach rate: -0.704430 m/s, LOS rate: -0.021561 deg/s, cmd heading: 269.070931 deg, new cmd heading: 269.047549 deg.  iMlUHeadingCmd: 4.695765 target range: 240.399994 and range: 240.40 m.hUC@hQhQhQhQgYgYbgajgaeaeajeiJei:emI@雝mBɛ=) ?i) 9<隡if9=i0˿FӺ/-x,8l[A6\@y6ik@960rB>HIHFHF)5Nj NJ=YRT٣T VGVFZ; Z>`]fp49bKl?afp4Ybt i`hj㼿qj?bCbU;b:b=p4l n>JAlG@>GGIGsBG =GGRDG<GFHōC HōCHCH ="H =*H5ZI-ebI-ijI)rI)zI-\:I-ڈ9I)I)I)q=I-;i=I-k:u=I-m:m=:JEBHBJE+9JJARJEZJE=VqM1  2iFNOT Ignoring new targets: 240.40 m.i"i ProNav: ac range: 240.399994 m, nav range: 198.197906 m, bearing: 269.264207 deg, approach rate: -0.668122 m/s, LOS rate: -0.020932 deg/s, cmd heading: 269.047544 deg, new cmd heading: 269.020614 deg.  ie%HeadingCmd: 4.695295 target range: 240.399994 and range: 240.40 m.h%?@h!h!h!h!g!g)bg)jg)e)e1je1Je1:e5@雝mBɛ=) Ú?i)<隡iA8=i?˿kʺՁՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754709x,[A6g@y6 w@96PAY]@AHqHq0 <=Y٣ GFV; >]p49aOl?ap4Y iMB=?m:tq?ƉC]:o:Xp4 sJA2iFNOT Ignoring new targets: 240.40 m.i"i ProNav: ac range: 240.399994 m, nav range: 197.881271 m, bearing: 269.251043 deg, approach rate: -0.774665 m/s, LOS rate: -0.032259 deg/s, cmd heading: 269.020606 deg, new cmd heading: 268.981050 deg.  i%HeadingCmd: 4.694605 target range: 240.399994 and range: 240.40 m.h-4:@h)h)h)h)g1gbgjg>BeejeJe:e $@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007191UmBɛU`y=)Q Ux?iQ)]8"mx,W[A:e@y:t@9:!t\٣\ ^G\b& b>d]jp49fRl?ajp4Yf ifMBln|qn?fCf;fw;fp4rB rJArEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 240.40 m.i| "i| 5 ProNav: ac range: 240.399994 m, nav range: 197.573822 m, bearing: 269.238243 deg, approach rate: -0.731147 m/s, LOS rate: -0.030487 deg/s, cmd heading: 268.981046 deg, new cmd heading: 268.942587 deg.  i5a=HeadingCmd: 4.693933 target range: 240.399994 and range: 240.40 m.h=4@h9h9h9h9gAgAbgAjgAeejeJe:e | @mBɛF=) a?i)J<i5=i-l˿-¹-GÍCGIGsBG =GGG<GFZIdbI[jI2rIzI<:IW9Ic3II;I!;I|:I|:MH>:JmMBJm]9JJiRJmZJm:9ZwWQJugAIqVx,[A:DAT read: 19:02:33.8232 LVL= 25712, 26481, 22066, 29299, AGC= 64, IDX= 146, 0.13, 1.999, 0.837, 2.225, 1.104, PHS= 0.984,-0.219, 1.118, RAW= 155.2, -27.6, CAL= 158.6, -33.8, ROT= 351.4, 33.8 >Ygot valid direction response: 19:02:33.8232 LVL= 25712, 26481, 22066, 29299, AGC= 64, IDX= 146, 0.13, 1.999, 0.837, 2.225, 1.104, PHS= 0.984,-0.219, 1.118, RAW= 155.2, -27.6, CAL= 158.6, -33.8, ROT= 351.4, 33.8 BPDAT read: Bearing 351.4, 33.8 (Local) B~Local bearing/azimuth received: Bearing 351.4, 33.8 (Local) JDAT read: Range 10 to 50 : 216.0 m (Round-trip 288.1 ms) speed 0.4 m/s J,DAT read: user:1052> RBDAT read: Tx time:19:02:34.9309 R$Ping request sent.R"t"?  :publishing transmit ping timeP Fpublishing direction and range info Y"wUcJ?JϿ6z,Ῑ 9 ) I i ) I i "{`,?z( =\?~MݿI i 5P`@y5o@95AHHa5 *=Y YNI٣I UGUFU2 U>Y]ep49]Vl?aep4Y] i]MBF?m:q?]C]}i<]Fi<]p4 KAZj"%i?bj"w i i"[Aj"XCj"VC2j""@p"g//f@<.:4<; ^zp"wUcJ?JϿ6z,"j"t*j"?p"6w#eZzu_p"8˱! Ͱ"+ x,KYٲ[A6[Q@y6`@960[ =Y6`=6HX??Pd{?!Pj@??6[Q@ɨ6|*; 6?C>BrB>IB=iBT٣T ZGZFZO Z>\]bp49^Yl?abp4Y^ i^qMBdfʸqf?^AC^;^;^tp4h j?LAl2i FNOT Ignoring new targets: 216.00 m.iI"iI% ProNav: ac range: 216.000000 m, nav range: 194.468445 m, bearing: 267.043917 deg, approach rate: -0.828317 m/s, LOS rate: -0.044087 deg/s, cmd heading: 268.895504 deg, new cmd heading: 268.852201 deg.  i% -HeadingCmd: 4.692356 target range: 216.000000 and range: 216.00 m.h-'@h)h1h1h1g1g1bg9jg9e9e9je9JeA:eEX?mBɛ\=) |?i)Z)<i4=iL˿<FZAM>G G G IG 2sBG =G G G $<G 3FH R=H R=ZI fbI `jI 1rI zI |":I bl9I 3I I ;I ;I ,:I .::J (NBJ +9JJ RJ ZJ 3] {]H9+J > J >-x,[A2*@y2k9@922{=Y2?=2H\?@s?f ? ̣@.%?`?2*@ɨ2?; 2P٣P RGPVD V>X]^p49Z\l?a^p4YZ iZZMB\^hqb?ZiCZ;XZsp4d fLAd2ixzFNOT Ignoring new targets: 216.00 m.i~5"i~5m ProNav: ac range: 216.000000 m, nav range: 194.162735 m, bearing: 267.028068 deg, approach rate: -0.764959 m/s, LOS rate: -0.039722 deg/s, cmd heading: 268.852201 deg, new cmd heading: 268.804577 deg.  iuںHeadingCmd: 4.691525 target range: 216.000000 and range: 216.00 m.h @hhhhgg!bg)jg1eYeajeiJe:e`bs?nBɛ/ع=) Ȅ?i);<iI3=i ˿ >S*"x, $ [A64@y6@96M(=Y6]=6H`h?@?`&d @w?!}y??64@ɨ65; 6=CBrBBI%Mb@Mb@Mb@!! !)!I!y%i|?5?#~j?ˡE%Q?!%' %;KA)!I%ABAi%v8A!%=>AH=H=C5M M>=YM Q٣Q UGUF]? ]>a]mp49e\`l?amp4Ye\ ie=MBmR?mu:uqu?eCe:e:ezp4}B }EMAE2iamFNOT Ignoring new targets: 216.00 m.imX-"imX- ProNav: ac range: 216.000000 m, nav range: 193.814362 m, bearing: 267.010875 deg, approach rate: -0.766308 m/s, LOS rate: -0.037887 deg/s, cmd heading: 268.804581 deg, new cmd heading: 268.752909 deg.  iкHeadingCmd: 4.690623 target range: 216.000000 and range: 216.00 m.h@hhhhggbgjgBeejeJe:eD? nBɛ\=) ~?i)y(<i̜2=i˿&x, )[A6a@y6@96:=Y6-=6Hy??@Z`a?b[? wAU??6a@ɨ6U; 4^qB^II`)`)b= b=HfHf|5r@ r;=Yr t٣t vGvFz1 z>|]q49~cl?aq4Y~! i~MBq ?~ĊC~`:~K:~q4 MA=B*** querying acoustic contact ***i9i92iAMFNOT Ignoring new targets: 216.00 m.iM="iU=e ProNav: ac range: 216.000000 m, nav range: 193.460556 m, bearing: 266.993757 deg, approach rate: -0.855866 m/s, LOS rate: -0.041484 deg/s, cmd heading: 268.752917 deg, new cmd heading: 268.701471 deg.  ieeHeadingCmd: 4.689725 target range: 216.000000 and range: 216.00 m.hm;@hihihihigigqbgqjgqeyeyjeyJey:e}?雵nBɛ=) 5t?i)<隹i=2=i}˿͓CGGQIGrBGGGGn<GjF^D<:JMNBJIJJIRJMZJMDiDiDqEu0 EqVF N<F  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006474ZA M% >x,ϺC[A2@y2@92WP=Y2Z=2H`qu? ?GKN? *`P?3?2@ɨ2ۈ; 2>CRqBRI5Mb@Mb@Mb@11 1)1I1y5S?V-?+5/]?5h=5 5 LA)53AI5DAi5G9A15\?AHUVHU65e> eC=YeTi٣i mGiuf7 u>y]q49}ufl?aq4Y}@+ i}LB'^?mt:[q?}C}y-;}l,;}cq4 NA2iFNOT Ignoring new targets: 216.00 m.i("i( ProNav: ac range: 216.000000 m, nav range: 193.101990 m, bearing: 266.978336 deg, approach rate: -0.855540 m/s, LOS rate: -0.036864 deg/s, cmd heading: 268.701472 deg, new cmd heading: 268.655122 deg.  idʺHeadingCmd: 4.688916 target range: 216.000000 and range: 216.00 m.h @hhhhggbgjgBeejeJe:e[H@MnBɛ=) xe?iI)MMir<HzZHz5~9٣A EGEFEH M>I]Uq49Mil?a]q4YM'7 iMLBY],q]?M-CM:M:M#q4mB m1OAmE2iFNOT Ignoring new targets: 216.00 m.i:""i:" ProNav: ac range: 216.000000 m, nav range: 192.653015 m, bearing: 266.959816 deg, approach rate: -0.857593 m/s, LOS rate: -0.035457 deg/s, cmd heading: 268.655109 deg, new cmd heading: 268.599420 deg.  iºHeadingCmd: 4.687944 target range: 216.000000 and range: 216.00 m.h@hhhhggbgjgeejeJe:ez@!nBɛ5=)7= [?i)%<iy&1=i 0̿ J :jGGIGgrBGGGG<GF:JBJ9JJRJZJ <DADADIEI EIVF q<= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013474Fi ZA M >x,Xq[A:d@y:@9:y=Y:PR=:H u?@@ή5bԸ??:d@ɨ:!@; :?CJ~qBJIMb@Mb@Mb@ )IyE?L7A`? rhf?+=C jJA)35AIEAiv8AHbH޿5> 6=Y;Q >٣ GF@ >]q49ll?aq4YA iLBpg?mj:%翿q%?`Ch;yg;*3q4) -vOA2iFNOT Ignoring new targets: 216.00 m.i"i  ProNav: ac range: 216.000000 m, nav range: 192.258270 m, bearing: 266.945076 deg, approach rate: -0.859039 m/s, LOS rate: -0.032142 deg/s, cmd heading: 268.599429 deg, new cmd heading: 268.555120 deg.  i xHeadingCmd: 4.687171 target range: 216.000000 and range: 216.00 m.hN@hhhh!g!g!bgIjgMBeIeIjeIJeQ:eU8 @雽)nBɛߤ=) 6U?i)4<i 0=i2J̿WځpZIUebIUWjIU2rIQzIU\:IUG9IUc3IQUBx,@[A::r@y:@9:$=Y:Kk=:H@?4(c@ A'! u? ?::r@ɨ:; :>CB_qBFpIHJlHJ5b b`=Yb{;Q f>d٣d fGdjF0 j>l]rq49nml?arq4Yn=J inLBpvfqv?nCn:n>:n?q4| ~OA|2i!-FNOT Ignoring new targets: 216.00 m.i-"i-E ProNav: ac range: 216.000000 m, nav range: 191.932190 m, bearing: 266.933240 deg, approach rate: -0.936122 m/s, LOS rate: -0.034038 deg/s, cmd heading: 268.555115 deg, new cmd heading: 268.519545 deg.  iEẺMHeadingCmd: 4.686550 target range: 216.000000 and range: 216.00 m.hM8@hIhIhIhIgQgQbgQjgQeYeYjeYJeY:ee @雕/nBɛ=) *L?i)!<隙i0=i^̿l~D= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769420G G G <>G G IG rBG =G G G Y<G \FHMÍC HMÍCHMʓCHM ="HM =*HM#5@lx,[A:J2LMBJ2h9JJ0RJ2ZJ26&JncH#z8IUqBjII!)!H5iH5k5E4Ƽ EC=YEQ E>I٣I MGMFM U>Q]q49Upl?aq4YU-T iUiLBq?UCU:U:UNq4B ,PAEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 216.00 m.i"i ProNav: ac range: 216.000000 m, nav range: 191.556900 m, bearing: 266.919567 deg, approach rate: -0.874769 m/s, LOS rate: -0.031934 deg/s, cmd heading: 268.519544 deg, new cmd heading: 268.478443 deg.  iS HeadingCmd: 4.685833 target range: 216.000000 and range: 216.00 m.h X@h h h h g gbgjgeejeJe:e%}]@E6nBɛM=)I MG?iI)M5r BDAT read: Tx time:19:02:38.7309 $Ping request sent.IمCiمAم|_?مEم C?م"@ څ|)څ)@IڅKiڅ3@څK>ځ ہۅ=>w?(Gq?--*ӿIۅ)O>iۅ>ۅۅK>ہ ܁m:publishing transmit ping time؉mFpublishing direction and range info؁Y؅*QW?*qe&ۿ؁9؁؁ ف)فIفiففففف ځ)ځIځiځځځ ہۅ=>w?(Gq?--*ӿIہiہہہہ ܁VFzQ<FI ZAY Mu >Tx,ͳ[A>6@y>HF@9>2=Y>J}=>H`o?@j`A d8㰿@>??>6@ɨ>z; >=CޝFqBޝaII#I+ş3I+.-I#I#I#ZI%dbI%^jI%1rI!zI%<:I%d9I%3I!EMb@Mb@Mb@AA A)AIAyEK7A`?/$?L7A`堿Ek?E,=E+ A)Eb4AIE&GAiE6AAE3?AHNHp5 )=Y;Q >٣ GFt > ]q49 `ql?aq4Y  ` i 9* iiʧ[AjLhCjfC2j@ptGj@;rIoXzp*QW?*qe&ۿ"j*jK>pgx⿪Bhtcii2S\p0_P [d ޿iKKji@l?i}K  jWPzjVAj?jjWPjj>Crj@= addTargetRange:: Added new target pos. range: 232.300003 m, deltaT: 4.031999 s, deltaX: 16.300003 m, approachRate: 4.042661 m/s, rangeRepo size: 4  Added new target pos. range: 232.300003 m, bearing: 269.837314 deg, lat: 36.903859 deg, lon: -122.119085 deg, deltaT: 4.031999 s, deltaX: 16.300003 m, approachRate: 4.042661 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 232.30 m.i"i ProNav: ac range: 232.300003 m, nav range: 190.903336 m, bearing: 268.404407 deg, approach rate: 0.000000 m/s, LOS rate: -0.031934 deg/s, cmd heading: 268.478453 deg, new cmd heading: 268.429434 deg.  iHeadingCmd: 4.684978 target range: 232.300003 and range: 232.30 m.hV@hhhhggbgjgpBe!e!je)Je- m@:e- 8?u@nBɛu=) vA?i)$<隙iU)0=i̿o ;IV@I^D <D hAzD iADq Dq Dq E} o0 Ey E iAE iAG=>GGIGqBGGGGU<GZFVF+eX<FyZAM?(x,[AN#@yNZ2@9N0=YN=NH% ?@`g]`9&? ?N#@ɨN; N>CZ=qBZ[I^R=i^{>HfjHf5nҐ n(=Yr,2;Q r>t٣t vGvFv죻 z>x]~q49zrl?a~q4Yzk izLB ſq?z,Cz;z;zpq4 PA2i9=FNOT Ignoring new targets: 232.30 m.iEz"iEzU ProNav: ac range: 232.300003 m, nav range: 190.467087 m, bearing: 268.396706 deg, approach rate: -0.972649 m/s, LOS rate: -0.017210 deg/s, cmd heading: 268.429440 deg, new cmd heading: 268.406283 deg.  iU<:JeNBJaJJaRJeZJeuHeadingCmd: 4.684573 target range: 232.300003 and range: 232.30 m.hu@hqhyhyhygygybgjgeejeJe:e`F?雵HnBɛ=) D=?i)C<隹iM/=iER̿EkE;IE@II^D;=DDDE0 EVF9)x,: [A>@y>J@9>xŊ=Y>8=>H^Ŗ@?Z+3@IUe? ?>@ɨ>l; >٣ G >]q49;sl?aq4Yu iKBi?mh:Aƿq?^Ck;N;q4B xPAE2i)-FNOT Ignoring new targets: 232.30 m.i58{"i58{E ProNav: ac range: 232.300003 m, nav range: 190.073898 m, bearing: 268.390785 deg, approach rate: -0.909714 m/s, LOS rate: -0.013727 deg/s, cmd heading: 268.406272 deg, new cmd heading: 268.388473 deg.  iEMHeadingCmd: 4.684263 target range: 232.300003 and range: 232.30 m.hM{@hIhIhIhIgQgYbgYjg]BeYeajeaJea:ee 5?雍PnBɛ=) ~=?i)ay<隑i/=i}̿:i_;I{@ICCCCZIufbIu\jIqrIqzIu|":Iu[9IqIqDDDEo0 EEE=VF P <zF rF gAF ZA M5 > x,j([A6A@y6 @96Ԯ=Y6k=6H  ?@h@-vRx??6A@ɨ6P; 6=CZTqBZjIHb_Hb45n= nK=YrrQ r>p٣t vGvFv@ v>I]]q49Msl?a]q4YM iMKBaeiƿqe?MCMP ;M ;Mq4i uBPAq2iFNOT Ignoring new targets: 232.30 m.iu"iu ProNav: ac range: 232.300003 m, nav range: 189.697617 m, bearing: 268.385233 deg, approach rate: -0.907287 m/s, LOS rate: -0.013415 deg/s, cmd heading: 268.388486 deg, new cmd heading: 268.371795 deg.  iNHeadingCmd: 4.683971 target range: 232.300003 and range: 232.30 m.h@hhhhggbgjgeejeJe:e+'?YnBɛ }5=)  >?i )<i/=i ̿gV B;I@IDDDE1 E*G"G<G G G IG qBG G G G I<G QFVF%;FZAMF>:J k3IBJ 9JJ RJ ZJ J$'8rC&  \HIZ 7x,u=B[ANt@yN@9N`=YN =NH ?@I.hH?@?Nt@ɨN'; N;CZWqB^kII`)`)b= bp=MMb@Mb@Mb@II I)IIIyM'1Z?Q?~jtxMb?Mu٣ GF-! >]q49sl?aq4Yʼn iKBb?mo: ɿq ?C::q4 5PA5B*** querying acoustic contact ***i1i12iAMFNOT Ignoring new targets: 232.30 m.iMи"iUи] ProNav: ac range: 232.300003 m, nav range: 189.321243 m, bearing: 268.382813 deg, approach rate: -0.884338 m/s, LOS rate: -0.005697 deg/s, cmd heading: 268.371793 deg, new cmd heading: 268.364518 deg.  ie>zeHeadingCmd: 4.683845 target range: 232.300003 and range: 232.30 m.he@hihihihigigqbgqjguBeqeyjeyJey:e} @雥anBɛǧ=) =?i)X=隩igk/=i3̿lLe;I@ID?DDE2 ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF=͚;F ?F?ZI% dbI% ZjI% 2rI! zI% <:I% S9I% c3I! F ZA M >x, \[A6@y6@96ۊ=Y6F=6H Y̙ ?5@b| %Xո?R?6@ɨ6G; 6d٣d fGhj+ j>l]rq49nvsl?arq4YnL inKBtv ʿqv?nCn:n:nq4zB zOAzE2iFNOT Ignoring new targets: 232.30 m.i"i ProNav: ac range: 232.300003 m, nav range: 188.997589 m, bearing: 268.380793 deg, approach rate: -0.843537 m/s, LOS rate: -0.005273 deg/s, cmd heading: 268.364526 deg, new cmd heading: 268.358455 deg.  igHeadingCmd: 4.683739 target range: 232.300003 and range: 232.30 m.h0@hhhhggbgjgeejeJe:e @ inBɛ "a=) VA?i)=!!i%h0/=i-̿-8c-NK:I-0@I1D9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.488135D?DDE@5 EEhAE pG;mA 9)m"ym;mAmBVF-']?;F ZA ME > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738271G <>G G G G G G G 5<G BF x,u[A2@y2 @926=Y2Z0=2H`񊚿 ?-Ȼ `E砿h8H??2@ɨ2; 0NvqBN~IHVHHV5^< ^J=YběQ b>`٣` fGfFfl f>h]nq49j5sl?anq4Yj ijKBpr"ʿqr?jCjQ;j ;jٷq4t vOAt:JNBJJJRJZJ 2i)5FNOT Ignoring new targets: 232.30 m.i=˸"i=˸E ProNav: ac range: 232.300003 m, nav range: 188.640869 m, bearing: 268.378636 deg, approach rate: -0.918479 m/s, LOS rate: -0.005563 deg/s, cmd heading: 268.358460 deg, new cmd heading: 268.351979 deg.  iMVtMHeadingCmd: 4.683626 target range: 232.300003 and range: 232.30 m.hUC@hQhQhQhYgYgYbgYjgaeaeajeaJei:em@&@雕qnBɛUǰ=)Q UA?iQ)UG=QYi]~.=i]]̿e?bem.:ImC@IDU?DYDYEe 5 EauBDAT read: Rx Time:19:02:41.4409 }TRx dataTimestamp_ set to:1736535762.021623checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994281VFE ;F! ZA1 MU >#x,[Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.242498~~qB~I4>i< A Mb@Mb@Mb@ )IyzG?y&1?Mbp? W?`e<; ~NA)6AI LAi=BAH=H5< :=YQ >٣ GF >]q49rl?aq4Yh ilKBW?m|:Sʿq?EC;,;6q4  OA 2iFNOT Ignoring new targets: 232.30 m.i"i ProNav: ac range: 232.300003 m, nav range: 188.272293 m, bearing: 268.376569 deg, approach rate: -0.806892 m/s, LOS rate: -0.004535 deg/s, cmd heading: 268.351985 deg, new cmd heading: 268.345771 deg.  i,GHeadingCmd: 4.683517 target range: 232.300003 and range: 232.30 m.h `ߕ@h h h h ggbgjgBeejeJe:e% @雍{nBɛ=) @?i)=隑i.=i̿aa:I`ߕ@IDDDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.496656VFi FA ZAQ Mm >)x,,[A6F@y6@96 =Y6H=6HP?ׅƳ@ Aް ?ʼ?6F@ɨ6%U; 6;CRqBRIHZ&HZ5f< f]=YftQ f>h٣h jGhj/: n>p]vq49rrl?avq4Yr irYKBxzFʿqz?rlCr:r:r$q4y }OAy2iFNOT Ignoring new targets: 232.30 m.i"i ProNav: ac range: 232.300003 m, nav range: 187.962051 m, bearing: 268.374784 deg, approach rate: -0.848188 m/s, LOS rate: -0.004890 deg/s, cmd heading: 268.345784 deg, new cmd heading: 268.340418 deg.  iVHeadingCmd: 4.683424 target range: 232.300003 and range: 232.30 m.hޕ@hhhhggbgjgeejeJe :e @d @=nBɛ=(U=)9 =T@?i9)E/: =AIiM@q.=iM̿UW`U:IUޕ@IYGGAADAT read: 19:02:41.4409 LVL= 23520, 24049, 19570, 27955, AGC= 66, IDX= 406, 0.29, 2.257, 0.804, 2.320, 1.390, PHS= 0.955,-0.539, 0.927, RAW= 149.1, -17.8, CAL= 154.9, -25.1, ROT= 355.1, 25.1 Ygot valid direction response: 19:02:41.4409 LVL= 23520, 24049, 19570, 27955, AGC= 66, IDX= 406, 0.29, 2.257, 0.804, 2.320, 1.390, PHS= 0.955,-0.539, 0.927, RAW= 149.1, -17.8, CAL= 154.9, -25.1, ROT= 355.1, 25.1 PDAT read: Bearing 355.1, 25.1 (Local) ~Local bearing/azimuth received: Bearing 355.1, 25.1 (Local) -DAT read: Range 10 to 50 : 229.2 m (Round-trip 305.7 ms) speed 0.4 m/s -,DAT read: user:1054> 5BDAT read: Tx time:19:02:42.5310 5$Ping request sent.=GGIGqBGGGGe<GeF]`direction in FSK: [0.902259,-0.077351,-0.424199]]:publishing transmit ping time1]Fpublishing direction and range infoY ܢN?k/pCͳqe&ۿ3eC9[ ])rLI3miBzt? Om?ۋ&@ )c-@IiDS@ 4>g?!?efӿI?in>% }:publishing transmit ping time1}Fpublishing direction and range infoY ܢN?k/pCͳqe&ۿ9 )Ii )Ii 4>g?!?efӿIi DDDEo0 EE>E=ZIfbI`jI1rIzI|":Ibl9I3IIqIiI-:uIm:J̭KBJ 9JJRJZJVFFi ZA M >0x,dxô[AnqBnIMb@Mb@Mb@ )Iy(\?Mb?{Gz?N?<#< PA)6AIMAi:ADAH H b5Uy= ]3=Y]Q ]>a٣a eGeFe m>i]q49m!rl?aq4Ym5 imEKBN?m:=˿q?mCm;m#:mq4B 4OAEZjh?bj  iil[Aj3eCjcC2jݔ@pi@EJ)1r"NXzp ܢN?k/pCͳqe&ۿ"j%*jp Q!(c,FWhX*[p; _몿^-&etC76x,Tݴ[A2܎@y2t@92v=Y2"=2H`? ! 刡`N" `j?R?2܎@ɨ2,; 2=C:qB:IID)FA)Fp= Fa=HJ"HJ5R7< Rk=YVQ V?T٣T ZGXZ Z?] q49ql?a q4Yƾ i7KB  {˿q?C6:6:q49 =$OA9B*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 229.20 m.i "i  ProNav: ac range: 229.199997 m, nav range: 199.589508 m, bearing: 267.038425 deg, approach rate: -0.815731 m/s, LOS rate: -0.007685 deg/s, cmd heading: 268.333680 deg, new cmd heading: 268.325569 deg.  iȨ HeadingCmd: 4.683165 target range: 229.199997 and range: 229.20 m.h |ܕ@h h hhg1g1bg9jg9e9e9jeAJeA:eEK9?}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.enBɛu:=)y C?i)ω=隁i-=iy̿]:9I|ܕ@IDDDEo0 EG G G IG qBG G G G @<G IFHy HyHyH} ="H} =*H}l4VF ;5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003649F ZA M >H H =ZI gbI \jI rI zI %:I [9I I I Q$;I T$;I ؁:I ف:9=x,x[A6Ў@y6?@96N&x=Y6{=6He 5?B. #e?@>?6Ў@ɨ6p; 6٣ GFT >!]-q49%ql?a-q4Y% i%'KB)5˿q5?%C%S:%:%q49 E'OAA2iiuFNOT Ignoring new targets: 229.20 m.:JuBoHBJu]9JJqRJuZJuJ? J>if "if  ProNav: ac range: 229.199997 m, nav range: 199.257538 m, bearing: 267.035423 deg, approach rate: -0.834941 m/s, LOS rate: -0.007562 deg/s, cmd heading: 268.325566 deg, new cmd heading: 268.316546 deg.  iHeadingCmd: 4.683007 target range: 229.199997 and range: 229.20 m.h2ە@hhhhggbgjgeejeJe:e^?MnBɛM~=)q uTA?iq)u =qqiut-=i}̿}~Q]}I2ە@ID5?D1D9E=p0 EAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255175VF:F ZA M >FDx,#J[A6@y6Е@96k=Y6=6H`P?a@vx1xn4?ؼ?6@ɨ6"; 6;CBqBBIfchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507718Mb@Mb@Mb@ )IyNbX9?V-?{Gz?E?< `SA)r8AIi;AGEAHH%5< ?=YQ >٣ GFA >]r49@ql?ar4Y: iKBE?m:eȿq?CU:o; r4B OAE2i)5FNOT Ignoring new targets: 229.20 m.i=ch"i=chM ProNav: ac range: 229.199997 m, nav range: 198.927612 m, bearing: 267.030003 deg, approach rate: -0.771689 m/s, LOS rate: -0.012698 deg/s, cmd heading: 268.316550 deg, new cmd heading: 268.300264 deg.  iMn ]HeadingCmd: 4.682723 target range: 229.199997 and range: 229.20 m.h]ؕ@hYhYhYhYgYgYbgajgegBeaeijeiJei:em/?nBɛ=) B?i)_i=i% -=i%̿%-]%I%ؕ@I)D?DDE}0 Eqq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759265VF9F ZA M "LJx,0+[A~A@y~@9~?h=Y~T"=~H`%^?/ ~#Eƽ?$?~A@ɨ~glj; ~>CqBI,>i>AH%H%5=y׼ =T=Y=Q E>A٣A EGAMM< M>Q]]r49Uql?a]r4YU iU KBY]ǿqe?U;CU):U:Ucr4i m2OAi2iFNOT Ignoring new targets: 229.20 m.i|"i| ProNav: ac range: 229.199997 m, nav range: 198.630234 m, bearing: 267.024689 deg, approach rate: -0.769631 m/s, LOS rate: -0.013774 deg/s, cmd heading: 268.300267 deg, new cmd heading: 268.284300 deg.  i@HeadingCmd: 4.682445 target range: 229.199997 and range: 229.20 m.h֕@hhhhggbgjgeejeJeI:eU@՚?}nBɛ}h=)y }=?iy)S=隁i,=i̿E\ N;I֕@I*G1"G5<G=:>G9G=IG=rBG= =G9G=QDG=-<G=;Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012173DIDIDIEM0 EIZIEfbIEbjIArIAzIE|":IEt9IAIAIE;IE;IEW:IEX::JjIBJ9JJRJZJ  VFm'HFa ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2653316Qx,E[A>5@y>@9>xEd=Y>=>H}`?\`O퟿Ҫ 焬@v?@ܺ?>5@ɨ>*; >=CFqBJIMb@Mb@Mb@ )IyZd;?Zd;O?Mb?>?j<=< UA)IiX=AFAH HЬ5E B=YmQ >٣ G F^; >]r49nrl?ar4YY iKBY??m:Ŀq?cC[;*;*r4 OA2iFNOT Ignoring new targets: 229.20 m.i"i- ProNav: ac range: 229.199997 m, nav range: 198.317291 m, bearing: 267.016797 deg, approach rate: -0.744647 m/s, LOS rate: -0.018810 deg/s, cmd heading: 268.284312 deg, new cmd heading: 268.260597 deg.  i5N5HeadingCmd: 4.682031 target range: 229.199997 and range: 229.20 m.h=2ӕ@h9h9h9h9g9g9bgAjgEqBeAeIjeIJeI:eM @}nBɛ}=)y Z5?i)00=隁i3,=i̿Yv;I2ӕ@ID?DDE _1 E VF M5;FZAM@>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514924[Wx,<^[ArqBvIHzHz|5-= -T=Y5Q 5>1٣1 =G=!F= =>I]Ur49MHsl?aUr4YM iMJBQYq]?MCM;M;M7r4a eSOAaB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 229.20 m.in"in ProNav: ac range: 229.199997 m, nav range: 198.030319 m, bearing: 267.009538 deg, approach rate: -0.743894 m/s, LOS rate: -0.018844 deg/s, cmd heading: 268.260597 deg, new cmd heading: 268.238789 deg.  iNHeadingCmd: 4.681650 target range: 229.199997 and range: 229.20 m.hЕ@hhhhggbgjgeejeJe:e @nBɛ6 =) 6?i)o=iA+=i ̿ TW Kǁ;I Е@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768616D?DDE@5 EVF.A;FZAM>G5 ;>G1 G5 IG5 rBG5 =G1 G5 RDG5 :<G5 EF BDAT read: Rx Time:19:02:45.2382  TRx dataTimestamp_ set to:1736535765.808928 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021774ZIe ebIe ZjIa rIa zIe \:Ie S9Ia Ia Ie ;Ie ;Ie [u:Ie ^u:]x,x[A: @y:a@9:iiW=Y: =:H?~ľ`(矿/骿^f?࠺?: @ɨ:+; :;C``Id)fA)f= f=HjHjͰ5Yv=Q v>t٣x zGxz/ z>|]r49~%tl?a r4Y~ i~JB  Ŀq ?~C~:~:~[Er4 2iIUFNOT Ignoring new targets: 229.20 m.iU-"iU-e ProNav: ac range: 229.199997 m, nav range: 197.736664 m, bearing: 267.002113 deg, approach rate: -0.743113 m/s, LOS rate: -0.018816 deg/s, cmd heading: 268.238795 deg, new cmd heading: 268.216489 deg.  ieNmHeadingCmd: 4.681261 target range: 229.199997 and range: 229.20 m.hm̕@hihqhqhqgqgqbgyjgyeyejeJe:e@,I @雽nBɛ=) 3?i)=ioR+=i ͿrTG;I̕@I:JKBJS9JJRJZJDqDqDyE}?5 Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274857VF- 1;F ZA M- >ndx,[A^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525072@y@9P=Y>=H@e@?徿 oğ`#Y ^슾?ƺ?騕@ɨ}; :ClqBxIMb@Mb@Mb@ )Iy1Zd?Q?~jtx?";?\=; UA)Ii(>AFAH0Hʴ5c !٣! %G%"F%b ->1]=r495+vl?a=r4Y5 i5JB=;?m=:=CqE?5ڎC5;5:5Ur4MB M,PAME2iq}FNOT Ignoring new targets: 229.20 m.i}s"i}s ProNav: ac range: 229.199997 m, nav range: 197.389679 m, bearing: 266.989859 deg, approach rate: -0.730401 m/s, LOS rate: -0.025840 deg/s, cmd heading: 268.216502 deg, new cmd heading: 268.179675 deg.  iߍHeadingCmd: 4.680618 target range: 229.199997 and range: 229.20 m.hǕ@hhhhggbgjgnBeejeJe:e @nBɛݤ=) &$?i)3!=隁ix*=i Ϳ_Q ;IǕ@IDYDYDYE]C5 EYEeiAEaDAT read: 19:02:45.2382 LVL= 25392, 32753, 23586, 32755, AGC= 63, IDX= 412,-0.23,-2.556, 2.584,-2.457, 2.946, PHS= 0.869,-0.315, 0.876, RAW= 150.3, -23.1, CAL= 154.9, -29.8, ROT= 355.1, 29.8 Ygot valid direction response: 19:02:45.2382 LVL= 25392, 32753, 23586, 32755, AGC= 63, IDX= 412,-0.23,-2.556, 2.584,-2.457, 2.946, PHS= 0.869,-0.315, 0.876, RAW= 150.3, -23.1, CAL= 154.9, -29.8, ROT= 355.1, 29.8 PDAT read: Bearing 355.1, 29.8 (Local) ~Local bearing/azimuth received: Bearing 355.1, 29.8 (Local) DAT read: Range 10 to 50 : 227.3 m (Round-trip 303.1 ms) speed 0.4 m/s ,DAT read: user:1055> BDAT read: Tx time:19:02:46.3310 $Ping request sent.IM%?I I:publishing transmit ping timeرFpublishing direction and range infoIYMI}&?ٮkk߿I9II I)IIIiIIIII I)IIIiIII IMJ0l?wj޳?fdAٿIIiIIII IIY )Y *G  VFe ;)u yy 'BFa ZAq M >3jx,o[A2@y2\@923H=Y2!=2H -h?@}<= ϧ?2?2@ɨ2; 0^eqB^tIHf"Hf5n nw=Yr"λQ r?t٣t vGz#Fz: z?]%r49wl?a%r4Y\ iJB)-[q-?C::ar41 5IPA1ZjWZi?bjVC| iiL[AjLcCjaC2jo@pwh@x0z_\=\zpI}&?ٮkk߿"j*j%?p
ji'3i?iPٛ  j"}zj'3i?jPٛ jWPjj>Crjo@u addTargetRange:: Added new target pos. range: 227.300003 m, deltaT: 3.787468 s, deltaX: -1.899994 m, approachRate: -0.501653 m/s, rangeRepo size: 4  Added new target pos. range: 227.300003 m, bearing: 267.564275 deg, lat: 36.903834 deg, lon: -122.119150 deg, deltaT: 3.787468 s, deltaX: -1.899994 m, approachRate: -0.501653 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 227.30 m.i"i ProNav: ac range: 227.300003 m, nav range: 190.736206 m, bearing: 267.564919 deg, approach rate: 0.000000 m/s, LOS rate: -0.025840 deg/s, cmd heading: 268.179673 deg, new cmd heading: 268.151344 deg.  iHeadingCmd: 4.680124 target range: 227.300003 and range: 227.30 m.hÕ@hhhGG@AGGGIGrBGGGGh<GgFh ggbgjgeejeJeil@:ex?enBɛej=)i ?i)0#=隑igi*=i1ͿuNč;IÕ@Iխ=խ%=D?DDE4 E:JMBoHBJMػ9JJIRJMZJM VF @;F ZA MU >qx,SƵ[A=NqB=fIUR=iU4a٣a eGim u>y]r49}yl?ar4Y} i}JB7=?m:᾿q?}$C}-e;}P;}nqr4 PA2iFNOT Ignoring new targets: 227.30 m.iG"iG ProNav: ac range: 227.300003 m, nav range: 190.406921 m, bearing: 267.552763 deg, approach rate: -0.775896 m/s, LOS rate: -0.028693 deg/s, cmd heading: 268.151342 deg, new cmd heading: 268.114810 deg.  iHeadingCmd: 4.679486 target range: 227.300003 and range: 227.30 m.hZ@h!h!h!h!g!g)bg1jg5Be1e9je9Je9:eE?unBɛuʿ=)y }?iy)}g)%=yyie)=iFͿ8K;I Z@I D?DDEo0 EZIudbIuYjIu0rIqzIu<:Iu[O9Iuـ3Iqq}@i}@u}@m}@VF 1;Fy ZA M >}wx,#[A6uݎ@y6@96:3=Y6R9=6H`ۛ@? ` v@o@nν?@\?6uݎ@ɨ6; 6GGIGqBG =GGG<G}FVFm {/; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247521FA ZAI M >}x,[A>͎@y>4ݕ@9>-)=Y>=>HjΝ`?2qM`:5$? ?>͎@ɨ>; >=CN"qBNKIHVHV5b: bI=Yb˻Q b>d٣d fGf%FjF j>h]rr49jk}l?arr4Yj ijJBprNqr?jlCj:jb;jŋr4vB zeQAzE2i)-FNOT Ignoring new targets: 227.30 m.i5"i5E ProNav: ac range: 227.300003 m, nav range: 189.854111 m, bearing: 267.532673 deg, approach rate: -0.730992 m/s, LOS rate: -0.026445 deg/s, cmd heading: 268.086810 deg, new cmd heading: 268.054453 deg.  iE1MHeadingCmd: 4.678433 target range: 227.300003 and range: 227.30 m.hM@hIhIhIhIgQgQbgQjgQeYeYjeYJea:ee7?雍oBɛ04=) ?i)w(=隙i)=ihͿXG$@;I@I:J5J3KBJ5+9JJ1RJ5ZJ5?~W(  ? pDqDqDqEu{0 EqMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502903VFu!j;FQZAyM>ƻx,[A2gȎ@y2ו@92 =Y2<`=2H`}?#¾ b~!Pxs?z?2gȎ@ɨ2KD; 2;CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751528FqBF;IIH)H)N= Np=%Mb@Mb@Mb@!! !)!I!y%)\(?K?{Gzt%GA?%^=%ף %tWA)%:AI%LAi%lAA!%HAH4H5 n 8=Y"Q > ٣   G  ĺ >ZIbIajI1rIzIIp9I3I)]Ur49-l?a]r4Y- i-JB]B?m]:]q]?-C-d;-;-kr4a mQAi2iFNOT Ignoring new targets: 227.30 m.i "i  ProNav: ac range: 227.300003 m, nav range: 189.516815 m, bearing: 267.519007 deg, approach rate: -0.746008 m/s, LOS rate: -0.030279 deg/s, cmd heading: 268.054462 deg, new cmd heading: 268.013392 deg.  i=HeadingCmd: 4.677716 target range: 227.300003 and range: 227.30 m.hگ@hhhhggbg)jg-jBe1e1je1Je1:e=`b?oBɛ9=) _>i)Y*=i(=iͿEAM;Iگ@IDDDEp0 E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003517VFm e;Fa ZAi M >{x, -[A:bŽ@y:ѕ@9:8=Y:=:H>ſ?`͡`4??:bŽ@ɨ:*W; :=C^pBbIHn1Hn5v v]=YvҺQ z>x٣x zGz&F~ ~>] r49l?a r4Y& iJB q?C::6r4 RA!2iAMFNOT Ignoring new targets: 227.30 m.iM "iU m ProNav: ac range: 227.300003 m, nav range: 189.240997 m, bearing: 267.507859 deg, approach rate: -0.766444 m/s, LOS rate: -0.031024 deg/s, cmd heading: 268.013399 deg, new cmd heading: 267.979906 deg.  imTuHeadingCmd: 4.677132 target range: 227.300003 and range: 227.30 m.hu@hqhqhqhygygybgjgeejeJe:e@雵oBɛ2=) >i)!+=隹i(=i,Ϳ|rCE;I@I*Gu<"Gu4<G<>GGIGqBGGGGr<GoFH9 H9H9H9"H9*H=-5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255696D?DDE0 EEhAEhAVF']?;F:J9[OBJ9JJRJZJsR&~A |dI4$ysojd_\WSQMLIGDB?<:662ZAM>] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509972Fx,jG[Afƿ@yfϕ@9f=Yf=fHܒ? ס@埿i`0?@?fƿ@ɨfD8; f;CrpBrIMb@Mb@Mb@ )Iyw/?K?i٣q uGu'F,6 >]r49l?ar4Yd0 iJBHH?m:q?CPx;"w;Sr4B SAE2iFNOT Ignoring new targets: 227.30 m.i "i  ProNav: ac range: 227.300003 m, nav range: 188.883514 m, bearing: 267.493699 deg, approach rate: -0.769379 m/s, LOS rate: -0.030532 deg/s, cmd heading: 267.979904 deg, new cmd heading: 267.937344 deg.  iHeadingCmd: 4.676389 target range: 227.300003 and range: 227.30 m.h@hhhhggbgjgi1)5&-=11i5'=i=Ϳ=@= `;I=@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759847D?DDE0 EZIebIZjIrIzI\:IS9IIVF 7eD;F ZA M >x,ka[A6@y6Cʕ@96\=Y6=6H`#@?ӡz꠿]??6@ɨ6; 4>pB>IBe>iBp ٣  Gۺ >!]-r49%l?a-r4Y%7 i%JB15q5?% C%:%:%r49 =SAA]B*** querying acoustic contact ***iYiY2iimFNOT Ignoring new targets: 227.30 m.iu "iu  ProNav: ac range: 227.300003 m, nav range: 188.611206 m, bearing: 267.482927 deg, approach rate: -0.783166 m/s, LOS rate: -0.031026 deg/s, cmd heading: 267.937338 deg, new cmd heading: 267.904975 deg.  iXHeadingCmd: 4.675824 target range: 227.300003 and range: 227.30 m.hY@hhhhggbgjgeejeJe:e[@2oBɛ1O=) S>i)G.=i 6'=iͿ[?Z\;IY@IBDAT read: Rx Time:19:02:48.9821 TRx dataTimestamp_ set to:1736535769.587242checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012590Du?DqDqEuC5 EqVFg;FiG}=>GyG}|IG}sqBGyGyGyG}*<G};FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263444HE 4=HE a='x,)^{[A2@y2ŕ@92erpB>IHJMHJ75R) RK=YRcQ R>T٣T VGV(FVx Z>\]br49^l?abr4Y^? i^JB`b'qf?^3C^:^>:^Ir4h j9TAh2iFNOT Ignoring new targets: 227.30 m.i ; "i ;  ProNav: ac range: 227.300003 m, nav range: 188.307404 m, bearing: 267.470921 deg, approach rate: -0.774335 m/s, LOS rate: -0.030650 deg/s, cmd heading: 267.904963 deg, new cmd heading: 267.868887 deg.  i%G%HeadingCmd: 4.675194 target range: 227.300003 and range: 227.30 m.h%1@h)h)h)h)g)g)bg1jg1e1e9je9Je9:e= > @e>oBɛm(=)q u0>iq)u /=qyi}&=i}ͿO<c;I1@I:JOBJ9JJRJZJ0.*))$  0hA) J? J>D?DDE/5 E]DAT read: 19:02:48.9821 LVL= 19728, 32753, 18610, 26787, AGC= 65, IDX= 380, 0.15,-0.750,-2.047,-0.773,-1.069, PHS= 0.407,-0.931, 0.293, RAW= 145.6, 3.6, CAL= 148.5, -5.0, ROT= 1.5, 5.0 eYgot valid direction response: 19:02:48.9821 LVL= 19728, 32753, 18610, 26787, AGC= 65, IDX= 380, 0.15,-0.750,-2.047,-0.773,-1.069, PHS= 0.407,-0.931, 0.293, RAW= 145.6, 3.6, CAL= 148.5, -5.0, ROT= 1.5, 5.0 mPDAT read: Bearing 1.5, 5.0 (Local) u~Local bearing/azimuth received: Bearing 1.5, 5.0 (Local) DAT read: Range 10 to 50 : 185.1 m (Round-trip 246.9 ms) speed 0.8 m/s ,DAT read: user:1056> BDAT read: Tx time:19:02:50.0810 $Ping request sent.ٝVnٝ>ٝ"@ ڝ=)ڝH%@Iڝ¸iڝPw<ڝ¸=ڙ ۙ۝Dt^?`85? [t=?I۝T>i۝۝Pw<۝¸=ۙ ܙ:publishing transmit ping timeؑFpublishing direction and range infoؙY؝ ?{?Oؙ9ؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ ۙ۝Dt^?`85? [t=?Iۙiۙۙۙۙ ܙVF9 F ZA! M= >x,v7[AF@yF•@9FJ1٣1 5G5)F=V =>A]Mr49E׊l?aMr4YE?I iE|JBMBN?mU:UqU?EbCE:;E9;E%r4a eTAaZjl?bj@q iij[Aj9Cj7C2jj@p0B| g@*N@;[!0zp ?{?O"jPw<*j¸=pBA.^?2{fdo4p>(p?KBi Pi7j:?i>`l?i~I6  j"Bzjjjjj;Crj`@-=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 185.100006 m, deltaT: 3.548164 s, deltaX: -42.199997 m, approachRate: -11.893475 m/s, rangeRepo size: 42i9EFNOT Ignoring new targets: 227.30 m.im"im} ProNav: ac range: 227.300003 m, nav range: 187.944122 m, bearing: 267.458959 deg, approach rate: -0.763876 m/s, LOS rate: -0.025201 deg/s, cmd heading: 267.868900 deg, new cmd heading: 267.832945 deg.  i}\HeadingCmd: 4.674567 target range: 227.300003 and range: 227.30 m.h @hhhhggbgjg BeejeJe@3#g@:e}?LoBɛ=o=)A E y>iA)ES0=AAiEP&=iM8ͿM:UV:r;IU @IQD?DDE;5 EVF F F ?F ZA M% >\3x,[A6h@y6@96)X٣X ZGX^  >]r49dl?ar4YP irJBq%?C;;r4-’B -IUA-E2iY]FNOT Ignoring new targets: 227.30 m.iee"ieeu ProNav: ac range: 227.300003 m, nav range: 187.652954 m, bearing: 267.449385 deg, approach rate: -0.852102 m/s, LOS rate: -0.028063 deg/s, cmd heading: 267.832946 deg, new cmd heading: 267.804178 deg.  iu}HeadingCmd: 4.674065 target range: 227.300003 and range: 227.30 m.h}@hyhhhggbgjgeejeJe:e=?VoBɛzt=) \>i)š0=i%=iͿo<8 q;I@IGG?AG%;>G!G%PIG%,qBG% =G!G!G%Q<G%XFDu?DqDqEuo0 EqVFFZAM >:J MBJ ]9JJ RJ ZJ ; x,ȶ[Aj@yjÕ@9jjgjH|@߭?r$`(-l M?P?j@ɨj@; j7CpBIEMb@Mb@Mb@AA A)AIAyEGz?&1? rhEP?EP=EC A)E:AIAiAAE(HAHe"He5u+ u0=Yu0(Q }>y٣y }G}*F: >]r49hl?ar4YZ idJBQ?m:Ŀq?CS.;6-;r4 UA2iFNOT Ignoring new targets: 227.30 m.iM"iM ProNav: ac range: 227.300003 m, nav range: 187.283722 m, bearing: 267.440657 deg, approach rate: -0.813491 m/s, LOS rate: -0.019267 deg/s, cmd heading: 267.804177 deg, new cmd heading: 267.777942 deg.  iSHeadingCmd: 4.673607 target range: 227.300003 and range: 227.30 m.h0@hhhhggbgjgBeejeJe:er?eoBɛZ=) ">i);1=i׆%=iο4S6;I0@IDqDqDqEuA4 EqVF] ;F9 ZAI Me >Ex,N[A>@y>fЕ@9>N$ ] >>Hl?PT?j 㘿@ɨ>;; >9CJoBJIHRHR^5Z Zm=YZQ ^?\٣\ ^G`b; b?d]js49f8l?ajs4Yf b ifYJBhjĿqn?fېCf:f(;f s4t vVAt B*** querying acoustic contact ***i i 2iFNOT Ignoring new targets: 227.30 m.i%೹"i%೹5 ProNav: ac range: 227.300003 m, nav range: 187.002609 m, bearing: 267.433860 deg, approach rate: -0.811754 m/s, LOS rate: -0.019657 deg/s, cmd heading: 267.777949 deg, new cmd heading: 267.757527 deg.  i5W=HeadingCmd: 4.673251 target range: 227.300003 and range: 227.30 m.h=E@hAhAhAhAgAgAbgIjgIeIeIjeQJeQ:eU?雅ooBɛT=) =i)01=隉iy=%=iUο/%2;IE@I}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. GD?DDEp0 E%kA 9)uyukAu BVFqzFyrF}hAG%<>G!G%IG%pBG% =G!G!G%<G%FFQZAYM}>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732875ZI- ebI- ZjI- 1rI) zI- \:I- S9I- 3I) I) q5 I) i= I) u= I) m= px,[A6Ŏ@y62Օ@966HҞ?`۠@: ?>?6Ŏ@ɨ6; 6=CNoBNyIR?>iR> TTHZQHZ5bi! bI=Yf ѺQ f>d٣d jGj+Fj: j>p]vs49r/l?avs4Yrj irMJBtvĿqv?rCr:r:rs4x ~VA|2iFNOT Ignoring new targets: 227.30 m.i容"i容 ProNav: ac range: 227.300003 m, nav range: 186.671539 m, bearing: 267.425774 deg, approach rate: -0.781231 m/s, LOS rate: -0.019113 deg/s, cmd heading: 267.757540 deg, new cmd heading: 267.733241 deg.  iQHeadingCmd: 4.672827 target range: 227.300003 and range: 227.30 m.ḣ@hhhhggbgjgeejeJe:eJb?|oBɛGH=) p=i!)%51=!!i%$=i-< ο---G;I-̇@I1:JJBJػ9JJRJZJD?DDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.987893VF;FqZAM>Wx,i[A6@Ȏ@y6ו@966H؆ҹ? Gc @-i@`w2?'?6@Ȏ@ɨ6I ; 6;C>oB>cIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.236578MMb@Mb@Mb@II I)IIIyMl? ףp= ? rhMW?MQ8=I MtWA)M;AIMfJAiMDAIMHAHeXHe5m u@=YuVQ u>y٣y }G},FG3: >]s49l?as4YOt i@JBW?m{:ſq?4C*;X);'s4ŒB WAE2iFNOT Ignoring new targets: 227.30 m.i讹"i讹 ProNav: ac range: 227.300003 m, nav range: 186.313950 m, bearing: 267.417990 deg, approach rate: -0.876390 m/s, LOS rate: -0.019115 deg/s, cmd heading: 267.733252 deg, new cmd heading: 267.709854 deg.  iQHeadingCmd: 4.672419 target range: 227.300003 and range: 227.30 m.ht@hhhhggbg jg πBe e je Je:e t@oBɛ:=) =i)1=i$=i-οd)X;It@IDDDE}0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.489158VF&;F ZA M >x,RD0[A: ǎ@y:`֕@9:\٣\ bG`bT˹ b>d]js49fl?ajs4Yf| if5JBlnſqn?f]Cf;f;f%5s4p rXAvE2i FNOT Ignoring new targets: 227.30 m.ig"ig5 ProNav: ac range: 227.300003 m, nav range: 185.994507 m, bearing: 267.411030 deg, approach rate: -0.843253 m/s, LOS rate: -0.018404 deg/s, cmd heading: 267.709866 deg, new cmd heading: 267.688950 deg.  i5J=HeadingCmd: 4.672053 target range: 227.300003 and range: 227.30 m.h=v@h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eM,}@}oBɛ}њ,=)y }Бi)m1=隁ivK$=i9ο}%;Iv@I*G"Gp<GGGIGpBGGGG<GFDDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.740752ZIdbIjIrIzI<:IIII;I!;IIVF1X<F ?F>FZAM>:J BoHBJ 9JJ RJ ZJ #6BD:-#  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995080ox,z8J[AUߺ@yU4ʕ@9UQ9٣9 EGE-FMU M>a]us49el?a}s4YeA ie(JBl_?m%s:% ȿq%?eCex,c[A6)@y6~@96kmoB>>IHFKHFƺ5N Ri=YRQ R>T٣T VGV.FVT Z>X]bs49Z l?abs4YZA iZJB`fTȿqf?ZCZ;Z;ZKQs4h jrXAhuB*** querying acoustic contact ***iqiq2iFNOT Ignoring new targets: 227.30 m.i"i ProNav: ac range: 227.300003 m, nav range: 185.292892 m, bearing: 267.399775 deg, approach rate: -0.894603 m/s, LOS rate: -0.014156 deg/s, cmd heading: 267.669513 deg, new cmd heading: 267.655115 deg.  iqHeadingCmd: 4.671463 target range: 227.300003 and range: 227.30 m.h|@hhhhggbgjgeejeJe!:e%`+ @]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496724雭oBɛ=) 2i)1=i#=iLο9ѵ;I|@IDDDE*3 EG>>GčCGIGBpBGGGG <G6FH HHH ="H =*H4VF&;F ZA M > DAT read: Range 10 to 50 : 201.5 m (Round-trip 268.7 ms) speed 1.0 m/s  ,DAT read: user:1057> % BDAT read: Tx time:19:02:53.8311 % $Ping request sent.- ٣ GO >]s49/l?as4YQ iJBȿq?C?;+;`s4ǒB XAE addTargetRange:: Added new target pos. range: 201.500000 m, deltaT: 7.328784 s, deltaX: -25.800003 m, approachRate: -3.520366 m/s, rangeRepo size: 4 2iFNOT Ignoring new targets: 227.30 m.i."i%.- ProNav: ac range: 227.300003 m, nav range: 184.911362 m, bearing: 267.393892 deg, approach rate: -0.906667 m/s, LOS rate: -0.014008 deg/s, cmd heading: 267.655115 deg, new cmd heading: 267.637431 deg.  i5=HeadingCmd: 4.671154 target range: 227.300003 and range: 201.50 m.h=z@h9h9h9h9g9gAbgQjgQeYeajeiJem0i@:ec?oBɛba=) ٽi)%S*1=!!i%,L#=i-Wο-M5(;IMz@IQ:JDDDE@5 EJDAT read: TxSync time:19:02:53.8303 VF{/;F ZA M >ܥx,`[AMoB*IMb@Mb@Mb@ )IyMbX9?:v?Mba?< UA)IfJAi(HAHH5J G=YQ >٣ G/F >]s49l?as4Y٢ iJBa?mp:ɿq?C~ ;e;ns4  YA 2i9=FNOT Ignoring new targets: 227.30 m.iEP"iEPU ProNav: ac range: 227.300003 m, nav range: 184.549957 m, bearing: 267.389239 deg, approach rate: -0.881135 m/s, LOS rate: -0.011366 deg/s, cmd heading: 267.637438 deg, new cmd heading: 267.623452 deg.  iU]HeadingCmd: 4.670910 target range: 227.300003 and range: 201.50 m.h]x@hYhYhYhYgagabgajgeBeieijeiJei:em F?雝oBɛ1 =) &i)0=隡iX#=i_οk4;Ix@IDiDiDiEm4 EiVF@;Fi ZAq M >x,[A6䏎@y69@96nm ?dL.(@LJrX٣X ZGZ0F^ϻ ^>`]fs49bl?afs4Yb[ ib JBdjɿqj?b?Cb:b:b{s4l nYAp2iFNOT Ignoring new targets: 227.30 m.iD"iD- ProNav: ac range: 227.300003 m, nav range: 184.227173 m, bearing: 267.385304 deg, approach rate: -0.880654 m/s, LOS rate: -0.010755 deg/s, cmd heading: 267.623450 deg, new cmd heading: 267.611624 deg.  i-/5HeadingCmd: 4.670704 target range: 227.300003 and range: 201.50 m.h5hv@h1h9h9h9g9g9bgAjgAeAeAjeIJeI:eM?GYG]@AGe=>GaGeIGepBGaGaGaGe><GeLFoBɛ_=) i)T0=i"=ieο:L;Ihv@ID)D)D)E-o0 E1HHZIbIZjIrIzIIS9IIII;I[u:I^u:VFm{/;F) ZA1 M] >:J BJ 9JJ RJ ZJ   J hAI Լx,|{˷[A]@y]@9];Y]=]H`O?{@^]y>?`l?]@ɨ]̖; ]:CmDoBm$I=Mb@Mb@Mb@99 9)9I9y=w/?S㥛?=f?=/<= =tWA)=:AI9i=EA9=HAHUHU5] e1=Ye&Q e>i٣i mGiu u>y]}s49}l?as4Y}O i}JBg?mk:0ʿq?}tC}" ;}X ;}Ћs4ɒB =YAE2iFNOT Ignoring new targets: 227.30 m.id="id= ProNav: ac range: 227.300003 m, nav range: 183.811783 m, bearing: 267.380533 deg, approach rate: -0.898871 m/s, LOS rate: -0.010349 deg/s, cmd heading: 267.611620 deg, new cmd heading: 267.597273 deg.  iE%HeadingCmd: 4.670454 target range: 227.300003 and range: 201.50 m.h%[t@h!h)h)h)g)g)bg1jg5Be1e1je1Je9:e=K?eoBɛm_=)i m %ii)uJ/=qqiu'S"=i}nο}rB};I}[t@ID%?D!D!E! E)VFE EmI;FI FM >F ZA) ME >x,)B[A:xm@y:|@9:و;Y:7=:H錄 ?Լ@s |=?`:qϼ?`?:xm@ɨ:Fd; :;CBFoBB&IHJNHJp5VU; Vl=YVQ V?X٣X ZGZ1F^ݻ ^?`]js49bHl?ajs4Yb ibJBhj}ʿqj?bCb ;b=:bs4p r3YApB*** querying acoustic contact ***ii2i FNOT Ignoring new targets: 227.30 m.iW3"iW3- ProNav: ac range: 227.300003 m, nav range: 183.499054 m, bearing: 267.377155 deg, approach rate: -0.905920 m/s, LOS rate: -0.009799 deg/s, cmd heading: 267.597277 deg, new cmd heading: 267.587128 deg.  i-5׹-HeadingCmd: 4.670277 target range: 227.300003 and range: 201.50 m.h5r@h1h1h1h1g1g1bg9jg9e9eAjeAJeA:eM&?uoBɛ}xv<)y }.iy)}@/=隁i "=isο{<Ǽ8Ir@IDT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D?DDE EVF5;Gu>>GqGuIGuoBGqGqGqGu<GuFFZAM=>% ?% 4=- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020449! x,[A6n@y6 ~@96&2`;Y6i=6Hܤ?@#&r줿OT? Al ??6n@ɨ6R; 6:C>MoB>*IHDHDN6< RK=YRQ V>T٣X ZGZ2FZb9 Z>\]bs49^l?afs4Y^% i\dfyʿqf?^˒C^:^:^ s4h jYAnE2iFNOT Ignoring new targets: 227.30 m.i 4"i 4 ProNav: ac range: 227.300003 m, nav range: 183.135132 m, bearing: 267.373195 deg, approach rate: -0.904737 m/s, LOS rate: -0.009867 deg/s, cmd heading: 267.587141 deg, new cmd heading: 267.575234 deg.  iع%HeadingCmd: 4.670069 target range: 227.300003 and range: 201.50 m.h%4q@h!h!h!h)g)g1bg1jg1e1e9je9Je9:e=J@%pBɛ%}F<)) -v6i))5.=1Yi]!=i]zοeer@:Ie4q@Ia:JLBJ]9JJRJZJD D D E  E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274509VFM9F) ZAA M} >x,&[Archecking for new query: numPingsReceived=0, elapsed TxPingTime=2.524180XoB1IZIdbI\jI1rIzI<:I[9I3Iq@i@u@m@Mb@Mb@Mb@ )Iy{Gz?ˡE?~jtx?c?'=; UA);AIHAiQFA(HAH_H45s< 7=YQ >٣ G >]s49l?as4Y i JBd?mn:ȿq?C;: ;Ps4˒B XAE2iFNOT Ignoring new targets: 227.30 m.i&"i& ProNav: ac range: 227.300003 m, nav range: 182.720642 m, bearing: 267.366680 deg, approach rate: -0.888978 m/s, LOS rate: -0.014005 deg/s, cmd heading: 267.575229 deg, new cmd heading: 267.555640 deg.  iHeadingCmd: 4.669727 target range: 227.300003 and range: 201.50 m.hgn@hh h h ggbgjgBeejeJe!:e%@MpBɛM <)I U;iQ)U-=QQiUaE!=i]ͅο]C?]X:I]gn@IaD%?D!D!E%p0 E!Iż=)ېC R}G ;mA 9)mym;mAmLB;@EBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.776292VF- }:F ZA M% > x,^2[A6 a@y6_p@96.:Y6L=6H ?`4@m?`ET??6 a@ɨ6; 68CNhoBN;IHVNHVp5^e*= ^_=YbQ b>`٣d fGf3Ff7 f?h]ns49j(l?ars4Yj0 ijJBprȿqv?j'CjR6;jC*;jcs4x zXA*G~<"G~<G=>GGIGoBG =GGG-<G@F2iFNOT Ignoring new targets: 227.30 m.ij"ij ProNav: ac range: 227.300003 m, nav range: 182.413193 m, bearing: 267.361992 deg, approach rate: -0.839335 m/s, LOS rate: -0.012820 deg/s, cmd heading: 267.555640 deg, new cmd heading: 267.541552 deg.  i HeadingCmd: 4.669481 target range: 227.300003 and range: 201.50 m.hcl@hhhhggbg jg e e je1Je1:e5`@雅!pBɛH<) 9i)g-=隉i~ =iο yŹIcl@I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031799D?DDE0 EE=E=VF)F ZA! MM >:J= JBJ9 JJ9 RJ= ZJ=  BDAT read: Rx Time:19:02:56.5004  TRx dataTimestamp_ set to:1736535777.176063 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282574x,IM[AZ@y9j@95Y)=H?@]m!u?`|&???@"?Z@ɨÈ; ٣ G4Fκ >]s49Vl?as4Y; iJBa?mp:iȿq?]C* ;;s4 XA2iFNOT Ignoring new targets: 227.30 m.i"i ProNav: ac range: 227.300003 m, nav range: 181.994598 m, bearing: 267.355244 deg, approach rate: -0.877713 m/s, LOS rate: -0.014180 deg/s, cmd heading: 267.541542 deg, new cmd heading: 267.521254 deg.  i HeadingCmd: 4.669127 target range: 227.300003 and range: 201.50 m.h |i@h h hhggbg9jg=̀Be9e9je9JeA:eE @雍3pBɛ2<) /Ai)|,=隱is =i{ο9 I|i@ID?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.532360ZIbIXjIrIzII5K9IIVF !F ZA M >[Dx,af[AjQ@yj*a@9j!Yj8s=jH?<@py? 9S?@+??jQ@ɨj6; j8CroBrUIH~+H~5 Һ=  l=YCQ ?٣ GP ?!]-s49%pl?a-s4Y%J i%#JB15ȿq5?%C%;%;%&s4A EXAA]B*** querying acoustic contact ***iYiY2iiuFNOT Ignoring new targets: 227.30 m.iuA"iuA ProNav: ac range: 227.300003 m, nav range: 181.689072 m, bearing: 267.350409 deg, approach rate: -0.939207 m/s, LOS rate: -0.014890 deg/s, cmd heading: 267.521243 deg, new cmd heading: 267.506711 deg.  i#HeadingCmd: 4.668873 target range: 227.300003 and range: 201.50 m.hhg@hhhhggbgjgeejeJe:e)@>pBɛ<) o,i)<,=i$ =iʡοAIhg@eDAT read: 19:02:56.5004 LVL= 23024, 28481, 23106, 30707, AGC= 60, IDX= 407, 0.49,-1.682,-2.798,-1.578,-2.602, PHS= 1.008,-0.150, 1.021, RAW= 150.6, -29.7, CAL= 153.8, -35.4, ROT= 356.2, 35.4 mYgot valid direction response: 19:02:56.5004 LVL= 23024, 28481, 23106, 30707, AGC= 60, IDX= 407, 0.49,-1.682,-2.798,-1.578,-2.602, PHS= 1.008,-0.150, 1.021, RAW= 150.6, -29.7, CAL= 153.8, -35.4, ROT= 356.2, 35.4 uPDAT read: Bearing 356.2, 35.4 (Local) u~Local bearing/azimuth received: Bearing 356.2, 35.4 (Local) DAT read: Range 10 to 50 : 198.9 m (Round-trip 265.2 ms) speed 0.4 m/s ,DAT read: user:1058> BDAT read: Tx time:19:02:57.5811 $Ping request sent.>GGIGpBGGGGV<G^FVF! F- ?F- M? JDAT read: TxSync time:19:02:57.5803 F! ZA) MM >( x,ū[A2mN@y2]@92ԑY2v*=2H@ি ? ԙt}?9`? ??2mN@ɨ2; 0BoBBgIID)D)Fp= Fa=HJ4HJ5f = fO=YfQ f>h٣h jGj5Fn쉺 n>p]vs49rl?azs4Yrs ir.JB|~ȿq?rCrm;rm;rs4 ΒB WA EZjmk?bjm. iiim6rk[AjmFCjmEC2jm@pm: 8d@X]}%]\zpmr'?j {yx"jmӇ*jm2+?pmE9d->dxB+ \pm+IHeO)Gim!jmkim%k?im}  jm]zjm%k?jijijjm45Crjm@ addTargetRange:: Added new target pos. range: 198.899994 m, deltaT: 3.787727 s, deltaX: -2.600006 m, approachRate: -0.686429 m/s, rangeRepo size: 4  Added new target pos. range: 198.899994 m, bearing: 268.392846 deg, lat: 36.903869 deg, lon: -122.119150 deg, deltaT: 11.116511 s, deltaX: -28.400009 m, approachRate: -2.554759 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 198.90 m.i"i- ProNav: ac range: 198.899994 m, nav range: 181.203903 m, bearing: 268.563567 deg, approach rate: 0.000000 m/s, LOS rate: -0.014890 deg/s, cmd heading: 267.506708 deg, new cmd heading: 267.487950 deg.  i)=HeadingCmd: 4.668545 target range: 198.899994 and range: 198.90 m.h=d@h9h9h9h9g9g9bgAjgAeAeAjeIJeMh@:eMW?}NpBɛ=) Xi)+=隁i=iοLId@ID D D E ?5 E :J=BHBJ=h9JJ9RJ= ZJ=  #$%$(,,*(())(')),,,*mPExceeded connect timeout, disconnecting.VFFZAM> R&x,[A6>?@y6N@96\DZY6R=6Hҧ?໦`vԁ?@Hk?`?`?6>?@ɨ6_ȇ; 67CVoBVqI=Mb@Mb@Mb@99 9)9I9y=+?Q?~jt?=v^?=u==< =YA)=٣ G& >]s49!l?as4YA i|,x,_[AG@G@GDGDGFIGF8pBGDGDGDGF,<GF@FHMčC HMčCHIHM ="HM =*HM4roBrIHz Hz 5= %Q=Y%Q %>)٣) -G-6F- 5>A]Mt49El?aMt4YEB iEJJBIIqM?E CE:EW:E t4Y ]VAY2iFNOT Ignoring new targets: 198.90 m.i_"i_ ProNav: ac range: 198.899994 m, nav range: 180.490616 m, bearing: 268.553636 deg, approach rate: -0.872050 m/s, LOS rate: -0.012190 deg/s, cmd heading: 267.472394 deg, new cmd heading: 267.458074 deg.  iHeadingCmd: 4.668024 target range: 198.899994 and range: 198.90 m.ht`@hhhhggbgjgeejeJe:e )?lpBɛG=) i)*=i=iοHI t`@I խ>խa=D?DDEo0 EVF >zFrFeAFZAM >:J jMBJ 9JJ RJ ZJ ()&$$%" !!  &-6@KQOM ] nManaging dock network, ignoring radio surface power offw3x,θ[A{$@y3@9]ӻYQ=H@[~? ܼ?|z? ? .?騥{$@ɨ͈; 8C޽pB޽I>i>AMb@Mb@Mb@ )Iy7A`?V-?L7A`?V?h=+= EXA);AI7KAi"GAIAHH5jk= 1=YK޻Q >Q٣Q ]G]7FmT޻ m>]t49l?at4Y iaJBvW?m|:@ſq?@C;Ҩ;zt4ВB eVAE2i)5FNOT Ignoring new targets: 198.90 m.i5k"i5kM ProNav: ac range: 198.899994 m, nav range: 180.085480 m, bearing: 268.546535 deg, approach rate: -0.817573 m/s, LOS rate: -0.014362 deg/s, cmd heading: 267.458077 deg, new cmd heading: 267.436727 deg.  iMMHeadingCmd: 4.667652 target range: 198.899994 and range: 198.90 m.hUg]@hQhQhQhQgQgQbgYjg]Bee!je!Je!:e% jw?pBɛ =)< i)D*=i=iοhIg]@IZI]gbI]XjIYrIYzI]%:I]5K9IYIYD?DDE"5 EVF F ZA M >9x,[A6)'@y66@96ɻY69C=6H@S߿?Z˨.?=y?@w?d?6)'@ɨ6ň; 6:C>*pB>IHFHF#5R= Rg=YR`:Q R>T٣T VGTV: Z?\]bt49^el?aft4Y^Q i^qJBdf8ſqf?^dC^:^K:^&t4h nUAl~B*** querying acoustic contact ***i|i|QQ]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.2iFNOT Ignoring new targets: 198.90 m.i:"i: ProNav: ac range: 198.899994 m, nav range: 179.805862 m, bearing: 268.541595 deg, approach rate: -0.822786 m/s, LOS rate: -0.014560 deg/s, cmd heading: 267.436740 deg, new cmd heading: 267.421896 deg.  iHeadingCmd: 4.667393 target range: 198.899994 and range: 198.90 m.hH[@hhhhggbgjgeejeJe:e`|J@EpBɛE| =)I Ži)*=隑i=iIοㅻIH[@IDDDEo0 EVFOPGGGIGpBGGGG<GFFqZAyM\> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254752@x,hu[A1@y@@9YmĻYI=H ⫨?۽ V$?x?\??1@ɨ; 8CMHpBMIHeHeͰ5m= u1=Yuy9Q }>y٣y }G}8F}5; >]t49jl?at4Y& iJBſq?C;;?6t4 `UA2iFNOT Ignoring new targets: 198.90 m.i1"i1 ProNav: ac range: 198.899994 m, nav range: 179.418686 m, bearing: 268.534582 deg, approach rate: -0.874122 m/s, LOS rate: -0.015867 deg/s, cmd heading: 267.421905 deg, new cmd heading: 267.400820 deg.  i;.HeadingCmd: 4.667025 target range: 198.899994 and range: 198.90 m.hDX@hhhhggbgjgeejeJe :e `3@=pBɛ=ݍ=)9 =fiA)Ea)=AAiE =iM\οM)/IDX@I:JMBJ9JJRJ ZJLJF?;820.*%#"   }checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507308DDDE EVF V'SF ZA M >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758694Fx,S[A), .@z9@yzH@9zEYzk9=zH ,? zD?w?4??z9@ɨz{; z7CfpBI)%a= %p=ZI}fbI}^jIyrIyzI}|":I}d9IyIy%Mb@Mb@Mb@!! !)!I!y%/$?ʡE?l?%1H?%=%= %YA)%Q٣Y ]G]9F]@; ]>a]mt49el?amt4Ye. ieJBubI?mu:uVÿqu?eCe ;e ;e6Dt4y }TA2iFNOT Ignoring new targets: 198.90 m.ih"ih ProNav: ac range: 198.899994 m, nav range: 179.105820 m, bearing: 268.527531 deg, approach rate: -0.781351 m/s, LOS rate: -0.017639 deg/s, cmd heading: 267.400813 deg, new cmd heading: 267.379624 deg.  iAUHeadingCmd: 4.666655 target range: 198.899994 and range: 198.90 m.hUeNx,cb<[A.BDAT read: Rx Time:19:03:00.2754 2TRx dataTimestamp_ set to:1736535780.9551142checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263688B<@yBK@9B㻻YBa=BH?_ x,?p|w?`y??B<@ɨBCY; B8CJqpBNIHVHV5^-< ^<=Y^y9Q ^>`٣` bG`fY: f>h]nt49jl?ant4Yj7 ijJBlnLÿqr?jCj:j:j^St4vҒB vTAv E2i!%FNOT Ignoring new targets: 198.90 m.i- "i- = ProNav: ac range: 198.899994 m, nav range: 178.766190 m, bearing: 268.519817 deg, approach rate: -0.783022 m/s, LOS rate: -0.017819 deg/s, cmd heading: 267.379612 deg, new cmd heading: 267.356426 deg.  i=CEHeadingCmd: 4.666250 target range: 198.899994 and range: 198.90 m.hEQ@hAhAhAhAgIgIbgIjgeejeJe:e@ @MpBɛM=)I MiQ)U]2)=QQiU =i]ο]M*]JKI]Q@Ia^DE8<D?DDEo0 E:JkMBJJJRJ ZJ$$))))%%!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515822VF pF ZA M >IUx,-V[AypBIMb@Mb@Mb@ )IyʡE?+?Q?=?=\= )X=AILAiIA3KAH&H5< .=YQ >٣ G:F >]t49hl?at4Y@ iJB>?m:p¿q?C1;/;ct4 TA2iFNOT Ignoring new targets: 198.90 m.i$"i%$5 ProNav: ac range: 198.899994 m, nav range: 178.418701 m, bearing: 268.511142 deg, approach rate: -0.743343 m/s, LOS rate: -0.018594 deg/s, cmd heading: 267.356417 deg, new cmd heading: 267.330341 deg.  i5,L=HeadingCmd: 4.665795 target range: 198.899994 and range: 198.90 m.h=1N@h9h9h9h9g9gAbgAjgEBeAeIjeQJeQ:eU5@DAT read: 19:03:00.2754 LVL= 17232, 23473, 15090, 20243, AGC= 65, IDX= 184,-0.03,-0.049,-1.070,-0.037,-1.011, PHS= 1.050,-0.012, 0.971, RAW= 146.1, -34.7, CAL= 149.0, -39.0, ROT= 1.0, 39.0 Ygot valid direction response: 19:03:00.2754 LVL= 17232, 23473, 15090, 20243, AGC= 65, IDX= 184,-0.03,-0.049,-1.070,-0.037,-1.011, PHS= 1.050,-0.012, 0.971, RAW= 146.1, -34.7, CAL= 149.0, -39.0, ROT= 1.0, 39.0 PDAT read: Bearing 1.0, 39.0 (Local) ~Local bearing/azimuth received: Bearing 1.0, 39.0 (Local) uDAT read: Range 10 to 50 : 217.6 m (Round-trip 290.2 ms) speed 0.8 m/s u,DAT read: user:1059> }BDAT read: Tx time:19:03:01.3811 }$Ping request sent.}imx(?m5GIGM>IGM qBGM =GIGIGM<GM.FzFrFhAFYZAaM ?]x,x[A6H@y6 X@96K#Y6<=6H;@?˾q5 E!?`bv?y??6H@ɨ6Ó; 69CVpBVIH^H^^5fH< f+=YjD:Q j>l٣l nGn;FnBK; r>p]vt49rl?azt4YrHJ irJBxzC¿q~?rCCr;r;rrtt4 TAZjupp?bju}?^ iqiuSY][AjuYCju;XC2juo@pu1@"e@qBuO@w6azpuh?Ƌ?h/d#"ju5<*ju@.?pu~ߠt'@h}Pe|*j`puX3??qfiu*ju;Aiu_TDvp?iu v  juzjqju~I6 ju]jju;.Crju@] addTargetRange:: Added new target pos. range: 217.600006 m, deltaT: 3.779731 s, deltaX: 18.700012 m, approachRate: 4.947445 m/s, rangeRepo size: 4 u Added new target pos. range: 217.600006 m, bearing: 273.934485 deg, lat: 36.903869 deg, lon: -122.119107 deg, deltaT: 3.779731 s, deltaX: 18.700012 m, approachRate: 4.947445 m/s, posRepo size: 4 2iquFNOT Ignoring new targets: 217.60 m.i}"iy ProNav: ac range: 217.600006 m, nav range: 174.233963 m, bearing: 268.469128 deg, approach rate: 0.000000 m/s, LOS rate: -0.018594 deg/s, cmd heading: 267.330353 deg, new cmd heading: 267.303395 deg.  iHeadingCmd: 4.665324 target range: 217.600006 and range: 217.60 m.hVJ@hhhhggbgjgeejeJe@33k@:e?pBɛ =) ѽi)wv(=iâ=iϿ{:IVJ@ICCCCIsI{w3I{.-IsIsIsZIdbIWjIrIzI<:IG9III;q%I";i-I_:u-I_:m-D-?D)D)E5m0 E1:J TLBJ 9JJ RJ ZJ   J ? J >VF GRF1 ZAa M >"dx,xϓ[A>rD@y>S@9>(ƻY>>>H ?@h\7`r覿R? x? i?8?>rD@ɨ>|a; >6CVpBZI=Mb@Mb@Mb@99 9)9I9y= ףp= ?kt?~jt?=Q8?= ==< =ZA)=A٣ G]t49כl?at4YR iJB9?m:aq?mC::t4ԒB HTA EB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 217.60 m.izƹ"izƹ ProNav: ac range: 217.600006 m, nav range: 173.912521 m, bearing: 268.459085 deg, approach rate: -0.692937 m/s, LOS rate: -0.021690 deg/s, cmd heading: 267.303387 deg, new cmd heading: 267.273202 deg.  i,nHeadingCmd: 4.664797 target range: 217.600006 and range: 217.60 m.hF@hhhhggbgjgee!je!Je!:e%?mpBɛmI=) Ƚi)-(=隱i=iW'ϿKE:IF@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D?DDEo0 EVF 7:F ZA M >Mjx,Ct[A*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226660jS@yj'c@9jU)Yj>jHމ?`Q`"?#u?? s?jS@ɨjt; h~pB~IHmHmڠ5}Ǽ L=Y:Q >٣ G; >]t49l?at4YbZ iKBq?CE:s:t4 pTA2iFNOT Ignoring new targets: 217.60 m.i"i ProNav: ac range: 217.600006 m, nav range: 173.624130 m, bearing: 268.449849 deg, approach rate: -0.765676 m/s, LOS rate: -0.024564 deg/s, cmd heading: 267.273198 deg, new cmd heading: 267.245442 deg.  i݆ HeadingCmd: 4.664313 target range: 217.600006 and range: 217.60 m.h  B@h h h h g g bgjgeejeJe:e%q"?M qBɛM,=)I MNiI)U'=QQiU=i]67Ͽ]C0]XA;I] B@IaDiD?DDEx0 EGIGMAAGQGQGUWIGU6qBGQGQGQGU <GU(Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.478239VF>|:F?F ?ZIcbIXjIrIzI:I5K9III;I;Ig:I g:FZAM >߽qx,Nǹ[A:i@y:Gy@9:8Y:=:H2(`k?䑿 `B?u?@??:i@ɨ:#; :7CRspBRIHZHZ5b  bW=YbX8Q f>d٣d jGj=Fn; n>p]vt49r@hIhIhIhIgQgYbgYjgaeaeajeaJea:em W8?雕qBɛ<) O(i)4'=隙i!=iFϿ_O^8;I&>@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729766DaDaDaEe0 Ei:JLBJ9JJRJZJ5CMSRPJHEB>>7521/-)(&# VF;FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981881wx,)[A2r@y2ș@92"OY2[=2H @?W=@Ȣ?`Ai?d? ?2r@ɨ2G; 28CNrpBP5Mb@Mb@Mb@11 1)1I1y5tV?㥛 ?I +?52?5=594< 5[A)5(>AI5LAi5fJA15LAH} H} 57m >=YУ;Q >٣ G>F_< >]t49ܠl?at4Yi iKB3?m:q?ܕCS*;6);Lt4 TA2iFNOT Ignoring new targets: 217.60 m.i2¹"i2¹ ProNav: ac range: 217.600006 m, nav range: 173.049896 m, bearing: 268.431679 deg, approach rate: -0.698197 m/s, LOS rate: -0.021223 deg/s, cmd heading: 267.218147 deg, new cmd heading: 267.190833 deg.  i i HeadingCmd: 4.663360 target range: 217.600006 and range: 217.60 m.h >:@h hhhggbgjgBeeje!Je!:e% @U.qBɛU<)Y ]8;iY)]<&=YYi]_=ietVϿee:W:@IiD-?D)D)E-0 E)echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.233620VFmO;FI ZAY Mu >GU @>GQ GU ]IGU @qBGQ GQ GQ GU -<GU @FH HHH ="H*Hʎ4(~x,[A6$@y6z@96NqԺY6T=6H? Y0 Iw?)Z?$b?2?6$@ɨ6P; 67CbVpBbIHjHj(5r rV=Yr;Q r>t٣t vGtz< z>|]t49~`l?at4Y~p i~#KB rq ?~C~ ;~:~t4גB _UA E2iAMFNOT Ignoring new targets: 217.60 m.iM%ɹ"iM%ɹ] ProNav: ac range: 217.600006 m, nav range: 172.783310 m, bearing: 268.423284 deg, approach rate: -0.696987 m/s, LOS rate: -0.021982 deg/s, cmd heading: 267.190826 deg, new cmd heading: 267.165602 deg.  ie`qeHeadingCmd: 4.662920 target range: 217.600006 and range: 217.60 m.he6@hihihihigigibgqjgqeqeqjeyJey:e}Y@雭>qBɛ<) Qhichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.485673)%=i,]=idϿ zFi i u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737795:J .MBJ ػ9JJ RJ ZJ dx,R[AN@yNɕ@9NEDYNA#=NH-g?g `Gwp?(??u?N@ɨNp; LVDpBZI^=i^4٣ G?Fd; >!]-t49%l?a-t4Y%?y i%!KB-~=?m-:-/q5?%(C%':%E:%0t49 eUAaB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 217.60 m.iŹ"iŹe ProNav: ac range: 217.600006 m, nav range: 172.455246 m, bearing: 268.413551 deg, approach rate: -0.724534 m/s, LOS rate: -0.021537 deg/s, cmd heading: 267.165609 deg, new cmd heading: 267.136354 deg.  ie|luHeadingCmd: 4.662409 target range: 217.600006 and range: 217.60 m.hut2@hqhhhggbgjgeBeejeJe:e@MTqBɛM<)q uЇiy)}$=yyi}I=iuϿ]ɖn'$x,˺.[A&BDAT read: Rx Time:19:03:04.0157 &TRx dataTimestamp_ set to:1736535784.739236*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246647>Ȏ@y>!ؕ@9>"P9:Y> a=>H;w5?` _[T`g? *G ?`?>Ȏ@ɨ>0; >6CJpBJIH=$H="5mG$ uM=Yu;Q u>y٣y }G}@F; >]t49l?at4Y i KBq?LC;r;t4 VA2iFNOT Ignoring new targets: 217.60 m.ikҹ"ikҹ ProNav: ac range: 217.600006 m, nav range: 172.173859 m, bearing: 268.404999 deg, approach rate: -0.755374 m/s, LOS rate: -0.022995 deg/s, cmd heading: 267.136348 deg, new cmd heading: 267.110650 deg.  i|HeadingCmd: 4.661960 target range: 217.600006 and range: 217.60 m.h.@hhhhggbgjgeejeJe :e @ @cqBɛp^<) i)P#=iV=iMϿ񹉡0>GGJIG"qBG =GGG<G,FD?DDE@5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.498779ZIdbIjIrIzI<:IIII;I";II|:VF Re<F ZA MM > x,H[AB׎@yB@9B:YB>=BH ?`䖜 ^? \ZX@ⴾ??B׎@ɨBX; @JoBJIHR)HR=5Zu ZW=Y^;Q b>`٣` bG`fߛ; f>h]nt49j#l?ant4Yj ijKBlnqr?jpCj;j;jt4t vWAt2iFNOT Ignoring new targets: 217.60 m.iEƹ"iEƹ  ProNav: ac range: 217.600006 m, nav range: 171.893509 m, bearing: 268.396280 deg, approach rate: -0.695588 m/s, LOS rate: -0.021668 deg/s, cmd heading: 267.110639 deg, new cmd heading: 267.084440 deg.  i meHeadingCmd: 4.661503 target range: 217.600006 and range: 217.60 m.hm+@hihhhggbgjgeejeJe:e@ vqBɛ.2]<) ži)3}"=i3=iLϿ%ݹ%F BDAT read: Tx time:19:03:05.1311 $Ping request sent.UuU->U!@ UPwV=)U4%@IU%˽iUQ =U%=Q QUY% ?R?Hj^K՚?IUb9>iU7TUQ =U%=Q Q:publishing transmit ping timeرFpublishing direction and range infoQYUeH?5~R7?hܸmQ9QQ Q)QIQiQQQQQ Q)QIQiQQQ QUY% ?R?Hj^K՚?IQiQQQQ QDt>D>DDDE15 EEEiA JDAT read: TxSync time:19:03:05.1303 VF `L<F ZA M >6x,`sb[AB@yBn@9B);YBf|=BH-?@~ @TMDC?a٣a mGmAFm(X; m>q]}t49ul?a}t4Yu iuKBD?m:q?uCu* ;u;ut4ْB WAEZj׭m?bj;& iifO[Aj,Cj+C2j}@p8mdze@3@%)1zpeH?5~R7?hܸm"jQ =*j%=p P @솮N~ev=0p"g"%?w4ݐ)(B˸i+j/o@iFPm?iϰB  j,Bzj>`l?jjjj+Crjݖ@-eaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 172.800003 m, deltaT: 3.784123 s, deltaX: -44.800003 m, approachRate: -11.838940 m/s, rangeRepo size: 42iamFNOT Ignoring new targets: 217.60 m.imQʹ"imQʹ ProNav: ac range: 217.600006 m, nav range: 171.568222 m, bearing: 268.386933 deg, approach rate: -0.767978 m/s, LOS rate: -0.022110 deg/s, cmd heading: 267.084439 deg, new cmd heading: 267.056344 deg.  irHeadingCmd: 4.661013 target range: 217.600006 and range: 217.60 m.h'@hhhhggbgjg7BeejeJee@:eN?UqBɛeL<)a e޾ia)mc!=iiiҔ=i[Ͽ ȹoG G %IG pBG =G G G 7<G FFFa ZAi M >bx,V|[A2َ@y2J@92;Y2=2H`QR? [轿@fO?/b`'?@?2َ@ɨ2s; 25C^oB^_IHfHfC5nν nR=YrPQ r>p٣t vGtvH< v>|]u49~'l?au4Y~ i~ KB  q ?~C~:~):~Gu4 =XA2iAEFNOT Ignoring new targets: 217.60 m.iM.ӹ"iM.ӹ ProNav: ac range: 217.600006 m, nav range: 171.269867 m, bearing: 268.378447 deg, approach rate: -0.809986 m/s, LOS rate: -0.023079 deg/s, cmd heading: 267.056353 deg, new cmd heading: 267.030850 deg.  ij}HeadingCmd: 4.660568 target range: 217.600006 and range: 217.60 m.h_#@h h h h g g1bg9jg9e9HQHQe9jeJe:e)?qBɛx;) i) l=i=i%Ͽ%mA% Ϛ:J} < LBJ} 9JJy RJ} ZJ} J  J ?Lx,9[AzƎ@yzՕ@9z>3:Yz/B=zHఽ?|;@KÞ V?f]@ ;??zƎ@ɨz[; z7CvoBCIMb@Mb@Mb@ )Iy(\?A`"?~jtzT?Y= XA)AQ٣Q UGUBF] ]>q]}u49u]l?a}u4Yup iuJB}"U?m}:*Ŀq?uCuM;u:uu4 XAB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 217.60 m.i"i ProNav: ac range: 217.600006 m, nav range: 170.894714 m, bearing: 268.370063 deg, approach rate: -0.829409 m/s, LOS rate: -0.018576 deg/s, cmd heading: 267.030863 deg, new cmd heading: 267.005656 deg.  iKHeadingCmd: 4.660128 target range: 217.600006 and range: 217.60 m.h@hhhhggbgjgԀBeejeJe:e4?qBɛ:8)T =  i)4=i%=i5YϿ5U=Drx,m[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499212:@y:˕@9::Y:>q=:H?`u7`?@b2V`)? ?:@ɨ:; :9CFLoBF)IJ=iJ=HR HR&5Z Zi=YZ쯺Q Z>\٣` bGbCFbc f>d]ju49fFl?anu4Yf ifJBprPĿqr?fCf;fM ;fIu4t vYAt2iFNOT Ignoring new targets: 217.60 m.i"i ProNav: ac range: 217.600006 m, nav range: 170.604691 m, bearing: 268.363668 deg, approach rate: -0.829348 m/s, LOS rate: -0.018319 deg/s, cmd heading: 267.005646 deg, new cmd heading: 266.986427 deg.  i(IHeadingCmd: 4.659792 target range: 217.600006 and range: 217.60 m.h@hhhhggbgjgeejeJe:e"?]qBɛ]Hλ)Y eia)eϮ=aaie=imXϿmgmZx,Lɺ[A6@y6P•@965;Y6Z=6H~=?`_J?:f`I??6@ɨ6; 67Cb&oBbIHrYHr5%ܱ %C=Y-\;Q 5>1٣1 =G9E7 E>Q]eu49UUl?amu4YUM iUJBimuĿqu?UCCU&;Uz;U,u4 ےB BZAE2iFNOT Ignoring new targets: 217.60 m.i"i ProNav: ac range: 217.600006 m, nav range: 170.255585 m, bearing: 268.356073 deg, approach rate: -0.775210 m/s, LOS rate: -0.016898 deg/s, cmd heading: 266.986439 deg, new cmd heading: 266.963609 deg.  i9HeadingCmd: 4.659394 target range: 217.600006 and range: 217.60 m.h@hhhhggbgjgeejeJe:e@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004238:JmBoHBJm9JJiRJmZJmk2 &JugAIugA雥qBɛ5) +i)&=i'=i gϿ Dv Ux,[AJȫ@yJ@9J ;YJK=JH ?.d+5wp)?`5?Jȫ@ɨJ; J6Cj oBjIeMb@Mb@Mb@aa a)aIayeK7A?~jt?~jte b?eD=a eYA)eS=AIebJAieGAae=JAH}iH}k5x C=YpE;Q >٣ GDF> >]u49l?au4Y iJBb?mo:ſq?rC(;q';;u4 ZA2iFNOT Ignoring new targets: 217.60 m.i}"i} ProNav: ac range: 217.600006 m, nav range: 169.888611 m, bearing: 268.349369 deg, approach rate: -0.952256 m/s, LOS rate: -0.017435 deg/s, cmd heading: 266.963599 deg, new cmd heading: 266.943442 deg.  is?HeadingCmd: 4.659042 target range: 217.600006 and range: 217.60 m.h@hhhhggbgjgBeejeJe:eIJ@=qBɛ= )A E6iA)E=AAiE =iMϿM#QYUC@>G G IG $pBG G G G <G FVF Ӕ<F ?F ?F  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759812ZAM>SQx,U[A) >ʉ@y> @9>;Y>`H=>H` +`Y?Ѣ@&`V?Qot /??>ʉ@ɨ>ˆ; >5CJnBJIIP)PHZ}HZ5bB b;=Yb%;Q f>d٣d fGjEFj j>l]ru49nϮl?aru4Yn# inJBtvYƿqv?nCn;n;nJu4x zZA|2i!-FNOT Ignoring new targets: 217.60 m.i-ň"i5ň= ProNav: ac range: 217.600006 m, nav range: 169.503464 m, bearing: 268.342852 deg, approach rate: -0.881440 m/s, LOS rate: -0.014947 deg/s, cmd heading: 266.943436 deg, new cmd heading: 266.923843 deg.  iE $HeadingCmd: 4.658700 target range: 217.600006 and range: 217.60 m.h@hhhhggbgjgeejeJe:el@-qBɛ-tw)) 5@i1)5S=11i5P=i=!Ͽ]6 J% >F ZA M >px,-nB-IMb@Mb@Mb@ )IyS?~jt?y&1o?` UA)٣ G >)]Eu49-fl?aMu4Y- eMtIi-JBUo?mUb:UƿqU?-ؗC-;-;-BZu4]ݒB ][AeE}B*** querying acoustic contact ***iyiy2iFNOT Ignoring new targets: 217.60 m.i4"i4 ProNav: ac range: 217.600006 m, nav range: 169.088715 m, bearing: 268.336415 deg, approach rate: -0.928517 m/s, LOS rate: -0.014448 deg/s, cmd heading: 266.923847 deg, new cmd heading: 266.904487 deg.  iBDAT read: Rx Time:19:03:07.7612 TRx dataTimestamp_ set to:1736535788.519037checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2640175HeadingCmd: 4.658362 target range: 217.600006 and range: 217.60 m.h5M@h1h1h9h9g9g9bg9jgEpBeAeAjeAJeI:eMJ @ZIdbIajIrIzI<:Ip9II雵rBɛP=) bNi)W=隹i=i8Ͽ|Wx,%:[A6S@y63c@96 U;Y6"v=6H`"?[``'! t?{?6S@ɨ6B; 66C>nB>IHFvHFM5N R5=YRAQ R>P٣T VGVFFVp V>]u49įl?au4YX iJBǿq%?CW::?ju4) -[A)2iY]FNOT Ignoring new targets: 217.60 m.ief"iefu ProNav: ac range: 217.600006 m, nav range: 168.661163 m, bearing: 268.330705 deg, approach rate: -0.940988 m/s, LOS rate: -0.012599 deg/s, cmd heading: 266.904477 deg, new cmd heading: 266.887304 deg.  iuX }HeadingCmd: 4.658062 target range: 217.600006 and range: 217.60 m.h}@hyhhhggbgjgeejeJe:e @雽&rBɛk) Ui)_=i=i пWA r;I@IDAT read: 19:03:07.7612 LVL= 25392, 29937, 22802, 32179, AGC= 64, IDX= 389, 0.12, 0.885,-0.605, 0.818, 0.494, PHS= 0.479,-1.052, 0.321, RAW= 144.6, 3.5, CAL= 147.7, -5.1, ROT= 2.3, 5.1 Ygot valid direction response: 19:03:07.7612 LVL= 25392, 29937, 22802, 32179, AGC= 64, IDX= 389, 0.12, 0.885,-0.605, 0.818, 0.494, PHS= 0.479,-1.052, 0.321, RAW= 144.6, 3.5, CAL= 147.7, -5.1, ROT= 2.3, 5.1 PDAT read: Bearing 2.3, 5.1 (Local) ~Local bearing/azimuth received: Bearing 2.3, 5.1 (Local) DAT read: Range 10 to 50 : 169.4 m (Round-trip 225.9 ms) speed 0.4 m/s ,DAT read: user:1061> BDAT read: Tx time:19:03:08.8811 $Ping request sent.M𧆿MZ>I M5z=)M$@IMKiMl$=MK=I IM(Qٞ ?N?ZD8?IM>iMyMl$=MK=I I:publishing transmit ping timeرFpublishing direction and range infoIYMù?lTw?I9II I)IIIiIIIII I)IIIiIII IM(Qٞ ?N?ZD8?IIiIIII IVFP<FZAM> JDAT read: TxSync time:19:03:08.8803 x,T[A:J:NBJ:9JJ8RJ:ZJ:F9@yFZH@9F;YF2=FH`D6&?␻`K1Q?@1p(?`]?F9@ɨFN; F5C~nB~I=i=H H -5%< -A=Y5Q =>A٣I UGUGFe e>!]eu49%l?amu4Y%< i%JB+ȿq?%DC%<% <%yu4 [AEZjeX{El?bjeY) iaie){A[Ajef)CjeU(C2jeޖ@peINe@#@Dx/ .zpeù?lTw?"jel$=*jeK=pe̳Qb?oze-ped䝖 b?}Ώie(je#>ie|xl?ierzE  je#3Bzje|xl?jaje"Bjje-(Crje(ޖ@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 169.399994 m, deltaT: 7.564565 s, deltaX: -48.200012 m, approachRate: -6.371816 m/s, rangeRepo size: 42iFNOT Ignoring new targets: 217.60 m.i 2A"i%2A5 ProNav: ac range: 217.600006 m, nav range: 168.248154 m, bearing: 268.325622 deg, approach rate: -0.855766 m/s, LOS rate: -0.010557 deg/s, cmd heading: 266.887292 deg, new cmd heading: 266.872008 deg.  i5=HeadingCmd: 4.657795 target range: 217.600006 and range: 217.60 m.h= @h9hAhAhAgAgAbgIjgIeIeIjeQJeU,e@:eU 4?>rBɛś) Xi )| =ig=i5 п5r5@;I5 @IaZIfbI\jI0rIzI|":I[9Iـ3ID1D9D9E=0 E9VF] *;Fe ?Fe ?F1 ZAA Me >x,n[A>@y>)@9>A;Y> >>H`N+?A@#`o?>h??>@ɨ>?o; >8CJnBJIUMb@Mb@Mb@QQ Q)QIQyU5^I ?kt?QUx?U 0=Uu UVA)QIULAiUGAQUIAHu\Hu5 D=Y/Q >٣ GHF >]u49ٯl?au4Y0 iJBVx?mZ:ɿq?tC;;Mu4B  \AE2iFNOT Ignoring new targets: 217.60 m.i $"i $ ProNav: ac range: 217.600006 m, nav range: 167.870453 m, bearing: 268.322512 deg, approach rate: -1.086040 m/s, LOS rate: -0.008964 deg/s, cmd heading: 266.872020 deg, new cmd heading: 266.862668 deg.  i ĹHeadingCmd: 4.657632 target range: 217.600006 and range: 217.60 m.hS @hhhhggbgjgxBee!je!Je!:e%`?OrBɛ)@= hdi)|=i/=i%!п%{급%6;I%S @I)GGGPIGoBGGGGز<GFDDDE@5 EVF;Fy ZA M >H C=H p=x,R[A: @y:S@9:H&;Y:[>:H媿`-? 4@ ժr?`d?@?: @ɨ:i{; :5CFnBFIHNFHN5VH= VZ=YZQ Z>X٣X ZGX^Cz ^>`]fu49bl?afu4Yb ibJBhjɿqj?bCb;b;b[u4p v[At2iFNOT Ignoring new targets: 217.60 m.i "i - ProNav: ac range: 217.600006 m, nav range: 167.508286 m, bearing: 268.319695 deg, approach rate: -0.966205 m/s, LOS rate: -0.007532 deg/s, cmd heading: 266.862676 deg, new cmd heading: 266.854207 deg.  i-g5HeadingCmd: 4.657485 target range: 217.600006 and range: 217.60 m.h5 @h1h1h1h1g9gAbgAjgAeIeIjeQJeQ:eUe?雕brBɛC) ai)=隩i;=iп㸉Uc[:I] @IaD D D E4 EVF7eD;FZAME>:J}BHBJ}9JJyRJ}ZJ}  J ? J>*x,lA[A) 6@y6"@96-4;Y6>6H?@eq?Cfu??6@ɨ67; 4NnBNI-Mb@Mb@Mb@)) )))I)y-:v?I +?~jtx?-t?-94=-; -AXA))I-bJAi-MFA)-GIAHu;Hu:5/1; ==Y:Q >٣ GIFa >]u49Rl?au4Y iJBAu?m]:Aʿq?ؘC<;<;~u4 [AB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 217.60 m.iZ"iZ ProNav: ac range: 217.600006 m, nav range: 167.093369 m, bearing: 268.316846 deg, approach rate: -0.957981 m/s, LOS rate: -0.006594 deg/s, cmd heading: 266.854207 deg, new cmd heading: 266.845639 deg.  iϐ HeadingCmd: 4.657335 target range: 217.600006 and range: 217.60 m.h @hhhhggbgjg}Beeje!Je!:e%+N?}wrBɛ$K) fi)=隁iE=iпฉؤ:I@IDDDE3 ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF`;zFrFgAF ZA M >G G ?AG =>G G DIG woBG G G G Ͳ<G F+Rx,[A6@y6t@96B?;Y6p>6H`ES@Ǭ?`kFq?Sg?[?6@ɨ6; 4>oBBIHNtHN5V= VZ=YVa9Q V>X٣X ZGX^d ^>`]fu49bl?afu4Yb$ ibJBhjkʿqj?bCb:bB:bu4nB r[ArE2i  FNOT Ignoring new targets: 217.60 m.i ]"i]% ProNav: ac range: 217.600006 m, nav range: 166.733749 m, bearing: 268.314526 deg, approach rate: -0.960711 m/s, LOS rate: -0.006212 deg/s, cmd heading: 266.845628 deg, new cmd heading: 266.838652 deg.  i%k-HeadingCmd: 4.657213 target range: 217.600006 and range: 217.60 m.h-@h)h)h1h1g1g1bg9jg9e9eAjeAJeA:eEM?mrBɛm)q uzbiq)u¾4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003484ZIdbIWjI1rIzI<:IG9I3IIqIiI_:uI_:m^Dy=DDDE 5 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256139VF x:F ZA M >x,]P׻[A:J*LBJ* 9JJ(RJ*ZJ*%),/2235:OCJ4I6hAV@yVe@9V*;YV>VH@ a?`b ⬿[s?_e`d??V@ɨV; V4C5oB=IHu[HuQ5M<= 2=Y 0Q >٣ GJF5) =>y]u49}l?au4Y}J i}JBʿq?}AC}l<} <}pu4 ZA2iaeFNOT Ignoring new targets: 217.60 m.im̸"im̸ ProNav: ac range: 217.600006 m, nav range: 166.272629 m, bearing: 268.311726 deg, approach rate: -0.917569 m/s, LOS rate: -0.005588 deg/s, cmd heading: 266.838661 deg, new cmd heading: 266.830237 deg.  imuHeadingCmd: 4.657066 target range: 217.600006 and range: 217.60 m.h@hhhhggbgjgeejeJe:eh@]rBɛebȼ)i mcii)u9٣ GKF0 >]u49l?au4Y( iJBm?md:˿q?}C ; ;.u4 ZA2i)-FNOT Ignoring new targets: 217.60 m.i5r,"i5r,E ProNav: ac range: 217.600006 m, nav range: 165.801163 m, bearing: 268.310579 deg, approach rate: -0.965525 m/s, LOS rate: -0.002356 deg/s, cmd heading: 266.830246 deg, new cmd heading: 266.826796 deg.  iEθMHeadingCmd: 4.657006 target range: 217.600006 and range: 217.60 m.hM2@hIhIhIhIgQgQbgQjgUπBeYeYjeYJeY:e]F@=rBɛE1׼)A E^iA)El x,[A:JNMBJN9JJLRJNZJNgoS5ycH0 }yspjca^ZSOLLHDDA@85352JV? JV"?ލdoBޕ9IHIHT55= =)=YmQ m>٣ GLF >]u49¬l?a=u4Y5 iJB99qE?C;R;u4MB MYAME2iFNOT Ignoring new targets: 217.60 m.iR$"iR$ ProNav: ac range: 217.600006 m, nav range: 165.330612 m, bearing: 268.309427 deg, approach rate: -0.914820 m/s, LOS rate: -0.002245 deg/s, cmd heading: 266.826804 deg, new cmd heading: 266.823340 deg.  i0ŸHeadingCmd: 4.656946 target range: 217.600006 and range: 217.60 m.h@hhhhggbgjgeejeJe:e @ @雅rBɛļ) 1]i)Q<隉iv=i(пi I@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516298DDDE@5 EVF ˴F ZA M >= x,q0[AroBrdIuDAT read: 19:03:11.5356 LVL= 17088, 23537, 18290, 22387, AGC= 60, IDX= 175,-0.06,-0.181,-1.420,-0.087,-1.216, PHS= 1.122,-0.157, 1.126, RAW= 150.1, -30.0, CAL= 153.4, -35.6, ROT= 356.6, 35.6 }Ygot valid direction response: 19:03:11.5356 LVL= 17088, 23537, 18290, 22387, AGC= 60, IDX= 175,-0.06,-0.181,-1.420,-0.087,-1.216, PHS= 1.122,-0.157, 1.126, RAW= 150.1, -30.0, CAL= 153.4, -35.6, ROT= 356.6, 35.6 PDAT read: Bearing 356.6, 35.6 (Local) ~Local bearing/azimuth received: Bearing 356.6, 35.6 (Local) DAT read: Range 10 to 50 : 187.6 m (Round-trip 250.2 ms) speed 0.6 m/s ,DAT read: user:1062> BDAT read: Tx time:19:03:12.6312 $Ping request sent.AILAiGA KAH5H5]> 8=YQ >*G<"G<G ;>G G |IG oBG  =G G QDG <G F!٣A MGMMFI M>Q]]u49UNl?a]u4YUV? iUJBe`?mer:eʿqe?UCU;U;Umu4 wXAZj=uKk?bj=A i9i=[3[Aj=;Cj=k:C2j= @p=@pc@t"<z3M[zp=yT}2?&v%I"j=s*j=?p=wɟc9Xp[p=@'T~3 ,i=j=͆i=nQIk?i=  j=^Gzj9j= v j=^Gjj=6!Crj=,@ addTargetRange:: Added new target pos. range: 187.600006 m, deltaT: 11.343854 s, deltaX: -30.000000 m, approachRate: -2.644604 m/s, rangeRepo size: 4  Added new target pos. range: 187.600006 m, bearing: 268.413341 deg, lat: 36.903917 deg, lon: -122.119066 deg, deltaT: 11.343854 s, deltaX: -30.000000 m, approachRate: -2.644604 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 187.60 m.i"i ProNav: ac range: 187.600006 m, nav range: 161.214264 m, bearing: 270.148847 deg, approach rate: 0.000000 m/s, LOS rate: -0.002245 deg/s, cmd heading: 266.823334 deg, new cmd heading: 266.820195 deg.  iHeadingCmd: 4.656891 target range: 187.600006 and range: 187.60 m.h@@hhhhggbgjgBeejeJe@3sg@:e?%rBɛ%Ƽ)) -!Ri))-{\<))i-=iUj*пU]>R I]@@IYDiDDDE E JDAT read: TxSync time:19:03:12.6304 IsI{ 3I{S}-IsIsIsZI dbI jI rI zI <:I I I I ;I ";I I VF pzF rF iAF ZA M >>x,M[AB@yBNŔ@9BYBT=BH1`(?/诿k?`yq?@??B@ɨBsˌ; B6C^oB^rIHvHv+5~= ~_=Y~Q ~>٣ G-{ 5?1]=v495ҫl?aEv4Y5ZG i5JBAEw˿qu?5C5<5@<5v4 XAB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 187.60 m.i 9"i 9 ProNav: ac range: 187.600006 m, nav range: 160.910080 m, bearing: 270.151163 deg, approach rate: -0.924754 m/s, LOS rate: 0.007052 deg/s, cmd heading: 266.820192 deg, new cmd heading: 266.827151 deg.  iݚ9HeadingCmd: 4.657012 target range: 187.600006 and range: 187.60 m.h?@hhhhgAgAbgAjgAeIeIjeIJeI:eM@b?雽sBɛ) >Pi)7U<i7=im&пt VI?@I  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DqDqDyE}o0 Ey:J\OBJ9JJRJZJ.-+)'''$#"    VFpF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747563 _x,YNg[AnoBrIMb@Mb@Mb@ )IyʡE?X9v?ˡE?O?}= YA)>AIiHAKAH1H5h= A=YQ >٣ GNF >]v49l?av4YUP iJB|P?m:8ȿq?>C#=;+;;Cv4B WAE2i  FNOT Ignoring new targets: 187.60 m.i嬷"i嬷% ProNav: ac range: 187.600006 m, nav range: 160.569092 m, bearing: 270.150681 deg, approach rate: -0.834718 m/s, LOS rate: -0.001181 deg/s, cmd heading: 266.827159 deg, new cmd heading: 266.825712 deg.  i%yO-HeadingCmd: 4.656987 target range: 187.600006 and range: 187.60 m.h- @h)h1h1h1g1g1bg9jg=PBe9e9jeAJeA:eEyU?usBɛu )q u%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999656G<>GÍCGIG.pBG =GGG<GFHY HYHYHY"H] =*H])5I x,n5[A:+@y:@9:%Y:W=:Hﰿ?!NU??`R ?Z??:+@ɨ:; :5CNpBNIHZHZ5bϮ= bZ=Yf[Q f>d٣d jGhj j>l]rv49nl?arv4Yn^X inKBtvȿqv?neCn:n:n`v4| ~WA|2i!%FNOT Ignoring new targets: 187.60 m.i-1ֶ"i-1ֶE ProNav: ac range: 187.600006 m, nav range: 160.264160 m, bearing: 270.150544 deg, approach rate: -0.813963 m/s, LOS rate: -0.000366 deg/s, cmd heading: 266.825711 deg, new cmd heading: 266.825300 deg.  iEMHeadingCmd: 4.656980 target range: 187.600006 and range: 187.60 m.hM@hIhIhIhIgIgQbgQjgYeYeYjeYJea:ee-?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251683雕,sBɛ7 ) Ii)P<隙i=i'п*I@IDzDhAZIfbI^jI0rIzI|":Id9Iـ3II;I;I:I:D)D)D)E) E1E9E=fAVFM4λF)ZAAM>- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503578:J5 $tMBJ5 9JJ1 RJ5 ZJ5 mt&x,[A@yD@9v~"Y{|=H`? ( nG?O?=?>?@ɨ*; 6C pB I=i>!%AMb@Mb@Mb@ )IyʡE?+?+?=?== [A)S=AILAiKIA  AAH H %5#= *=Y%Q ->1٣9 =G=OFMJ; M>Y]ev49]l?aev4Y]a i]/KBm??mm:mĿqm?]C]\ ;]` ;]X-v4q uVAq2iFNOT Ignoring new targets: 187.60 m.i"i ProNav: ac range: 187.600006 m, nav range: 159.903076 m, bearing: 270.146637 deg, approach rate: -0.743793 m/s, LOS rate: -0.008067 deg/s, cmd heading: 266.825301 deg, new cmd heading: 266.813553 deg.  i'HeadingCmd: 4.656775 target range: 187.600006 and range: 187.60 m.hM@hhhhggbgjgjBeejeJe:e??GsBɛ ͼ) Ji)%<))i-G =i56.п5>5I5M@I1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755437DYDYDYEY EYVF Fq ZA M >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007570,x,Tᴼ[AB,@yBΔ@9B +YBa=BHnЯ? ﮿`P?y???B,@ɨBẄ; B5CJGGIGpBGGGG<GFD?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260371VFFZAM>3x,μ[A6Ӎ@y6R@969Y6'=6H`?U` ?|6?`? ?6Ӎ@ɨ6p; 66CN=pBRIHV HV 5^C; bP=Yb] Q b>d٣d fGdf; j>l]rv49nˮl?arv4Ynp inYKBtv/Ŀqv?nؚCn:n:nFv4zB zOVA~E2i!%FNOT Ignoring new targets: 187.60 m.i-."i-.= ProNav: ac range: 187.600006 m, nav range: 159.363159 m, bearing: 270.139943 deg, approach rate: -0.743101 m/s, LOS rate: -0.009535 deg/s, cmd heading: 266.804702 deg, new cmd heading: 266.793427 deg.  i=fѹEHeadingCmd: 4.656424 target range: 187.600006 and range: 187.60 m.hEl@hAhAhAhAgIgIbgIjgIeQeYjeYJeY:ee@EpsBɛE Z)A MLiI)M2QDu>D?DDE EE =E >:JKBJػ9JJRJZJVFE TF! ZA) MM >ե >ե %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763873ZIm ebIm ]jIm 1rIi zIm \:Im _9Im 3Ii q} @i} @u @m @9x,[AN@yN@9N*_NYN.n>NH%=?@1ʿ ?ˉ?`? ?N@ɨN; N3CVVpBVII\)\)` ba=MMb@Mb@Mb@II I)IIIyMX9v?~jt?y&1?M3?M=M`< I)IIIiMbJAIMLAH]H]^5ml= m@=Yu'BQ u>q٣q }G}QF}; >]v49l?av4Yw imKB4?m:Dÿq?C:v;Uv4 UAB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 187.60 m.iG"iG ProNav: ac range: 187.600006 m, nav range: 159.063660 m, bearing: 270.135319 deg, approach rate: -0.703232 m/s, LOS rate: -0.010877 deg/s, cmd heading: 266.793418 deg, new cmd heading: 266.779520 deg.  iHeadingCmd: 4.656181 target range: 187.600006 and range: 187.60 m.ho@hhhhqgqgybgyjg}BeyejeJe:e*O@sBɛ() [Li)Ϳ<i=iAпvOvOɹIo@I DDDE3 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015626GGGIGpBG =GGG<GFVF*F ZA M >e@x,r[AFQ@yF @9FrcYF">FH ߫4?j =ª?b?'?ಽ?FQ@ɨF.; F6CRUpBTH^H^y5z  zR=Y~TQ ~>٣ GRF  ;  >]v49 l?a%v4Y5 iKB!%¿q%?"C_3;(4;+cv4) -UA5EeBDAT read: Rx Time:19:03:15.2823 eTRx dataTimestamp_ set to:1736535796.083447mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2689182iQuFNOT Ignoring new targets: 187.60 m.iu;S"iu;S ProNav: ac range: 187.600006 m, nav range: 158.789688 m, bearing: 270.130840 deg, approach rate: -0.704819 m/s, LOS rate: -0.011542 deg/s, cmd heading: 266.779512 deg, new cmd heading: 266.766052 deg.  izHeadingCmd: 4.655946 target range: 187.600006 and range: 187.60 m.h@hhhhggbgjgeejeJe:eQ @sBɛvX) Qi)к<i=ibIпmL:I@IHR=H%=DqDqDqEu5 EqVF'HFZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519574:JU JBJQ JJQ RJU ZJU Fx,d[AJ ? J?@y$@9VrYA>H-y ?2%K ?@J?@P? F?騍@ɨsɇ; 4CU?pBUI%Mb@Mb@Mb@!! !)!I!y%V-?333333?~jt?%h1?%=%D< !)!I%xKAi%xKA!!H=H=|5M": M*=YMmQ M>Q٣Q UGQ]{; ]>a]mv49el?amv4Ye ieKBmx2?mm:mD¿qu?eLCe:e:esv4y }HVAy2iFNOT Ignoring new targets: 187.60 m.i^h"i^h ProNav: ac range: 187.600006 m, nav range: 158.454941 m, bearing: 270.124685 deg, approach rate: -0.689030 m/s, LOS rate: -0.012697 deg/s, cmd heading: 266.766043 deg, new cmd heading: 266.747537 deg.  ik HeadingCmd: 4.655623 target range: 187.600006 and range: 187.60 m.h@hhhhggbgjgBeejeJe:el-@DAT read: 19:03:15.2823 LVL= 20688, 32753, 23586, 32755, AGC= 65, IDX= 412, 0.34,-2.359, 2.619,-2.434,-2.810, PHS= 0.539,-0.808, 0.372, RAW= 143.5, -1.6, CAL= 148.0, -10.7, ROT= 2.0, 10.7 Ygot valid direction response: 19:03:15.2823 LVL= 20688, 32753, 23586, 32755, AGC= 65, IDX= 412, 0.34,-2.359, 2.619,-2.434,-2.810, PHS= 0.539,-0.808, 0.372, RAW= 143.5, -1.6, CAL= 148.0, -10.7, ROT= 2.0, 10.7 PDAT read: Bearing 2.0, 10.7 (Local) ~Local bearing/azimuth received: Bearing 2.0, 10.7 (Local) DAT read: Range 10 to 50 : 185.1 m (Round-trip 246.9 ms) speed 0.5 m/s ,DAT read: user:1063> BDAT read: Tx time:19:03:16.3812 $Ping request sent.mJ @ m)mMQ%@%;I@IImt;?im5=mt;?>i im0.W?S(z?VyLOIm>imi i:publishing transmit ping timeFpublishing direction and range infoiYm}l?Aώ? &K{ǿi9ii i)iIiiiiiii i)iIiiiii im0.W?S(z?VyLOIiiiiii iDe?DaDaEe?1 EiVF :F ?F ?FI ZAQ Mm >{Mx,Ί8[AF<)@yF8@9F%YF>FH1b?)J@?d?@Qh?\?F<)@ɨF7; DbJpBfIH~H~5 <  _=Y ZQ  >*G"G4<G9>GG7IGqBGGGG!<G3FQ٣Q UGUSF]; ]>a]mv49el?amv4Ye ieKBiuqu?enCeT&;e?';ev4 VAZj@%Cm?bjiB: ii%[Aj9Cj7C2j@pȌf@-Xc@ S.Azp}l?Aώ? &K{ǿ"j5=*jt;?>pz?xtf3Z>p|{?\үBrdBĿi6j?ijzDm?i1Y  jAzjjzDm?jϰB jAjjN"Crj"@M addTargetRange:: Added new target pos. range: 185.100006 m, deltaT: 3.786043 s, deltaX: -2.500000 m, approachRate: -0.660320 m/s, rangeRepo size: 4 ] Added new target pos. range: 185.100006 m, bearing: 270.538909 deg, lat: 36.903929 deg, lon: -122.119112 deg, deltaT: 3.786043 s, deltaX: -2.500000 m, approachRate: -0.660320 m/s, posRepo size: 4 2iYeFNOT Ignoring new targets: 185.10 m.ie"i ProNav: ac range: 185.100006 m, nav range: 162.306702 m, bearing: 270.606820 deg, approach rate: 0.000000 m/s, LOS rate: -0.012697 deg/s, cmd heading: 266.747547 deg, new cmd heading: 266.732868 deg.  iHeadingCmd: 4.655367 target range: 185.100006 and range: 185.10 m.h@hhhhggbgjgeejeJe@3#g@:e?-sBɛ-`^;)1 5)ai1)5<11i5A=i=\\п=5=;IE@ID?DDE 5 EVFe ;F9 ZAA Me >]Tx,PR[A:c@y:@9:4Y:=:HCު?3 H6Ù?C?=?`}?:c@ɨ:ƈ; 8b0pBfIHnHn+5v9 vM=YzQ z>x٣| ~G~TF, > ]v49 l?av4Y  i KBR¿q? C u: : v4%B %VA%E2iQUFNOT Ignoring new targets: 185.10 m.i]E"i]Em ProNav: ac range: 185.100006 m, nav range: 162.034378 m, bearing: 270.602766 deg, approach rate: -0.724456 m/s, LOS rate: -0.010801 deg/s, cmd heading: 266.732875 deg, new cmd heading: 266.720694 deg.  im7uHeadingCmd: 4.655154 target range: 185.100006 and range: 185.10 m.hu@hqhqhqhygygybgjgeejeJe:e@?sBɛZI bI `jI 2rI zI I bl9I c3I Zx,NEl[Az pBzIMb@Mb@Mb@ )Iy9v?l?y&1|4?=` _A)ILAiLApMAHH5L <=YQ >٣ G >]v49Rl?av4Y- iKB5?m:`¿q?C::v4  VA -B*** querying acoustic contact ***i)i)2i9=FNOT Ignoring new targets: 185.10 m.iEB@"iEB@U ProNav: ac range: 185.100006 m, nav range: 161.725876 m, bearing: 270.598202 deg, approach rate: -0.708736 m/s, LOS rate: -0.010505 deg/s, cmd heading: 266.720690 deg, new cmd heading: 266.706972 deg.  iU]HeadingCmd: 4.654915 target range: 185.100006 and range: 185.10 m.h]@hYhYhYhYgagabgijgmBeieijeiJeq:eu ?雥sBɛT8) vi)ϡ<隩izl =i*kпt%{;I@IDe?DaDaEeo0 EaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G6>GG>IG qBG =GGG޲<GFVF:zFrFFY ZAi M >oax,_[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.493947: @y:J@9:Y:@=:H K?*zjOU@?՗?`Ҿ?@+?: @ɨ:; 8FpBFI)J= J=HNHN^5V V`=YZP7Q Z>X٣\ ^G^UFb b>d]jv49fvl?ajv4Yf ifKBhne¿qn?fٛCf;f;fv4p rVWAt2iFNOT Ignoring new targets: 185.10 m.i@"i@- ProNav: ac range: 185.100006 m, nav range: 161.466141 m, bearing: 270.594362 deg, approach rate: -0.711209 m/s, LOS rate: -0.010532 deg/s, cmd heading: 266.706975 deg, new cmd heading: 266.695436 deg.  i5M5HeadingCmd: 4.654714 target range: 185.100006 and range: 185.10 m.h5j@h9h9h9h9g9gAbgAjgAeAeAjeIJeI:eM`?tBɛB\)1 5Yi1)=Cg<99i= =iEqпEAIEj@IID?DDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746348VF 1;FZAM >:J JQJBJ 9JJ RJ ZJ    J ? J &?ʝgx,[AS@y,@9QüYc=H !? e`'@`݌?i?@U?@ ?S@ɨ>; 6CoBIMb@Mb@Mb@ )Iy/$?H5d ,=Y Q >٣ GVF; >]v49l?av4Y] iKB=?m%:%¿q%?C:5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997996o:{v49 =WA92iaeFNOT Ignoring new targets: 185.10 m.im6"im6} ProNav: ac range: 185.100006 m, nav range: 161.111191 m, bearing: 270.589572 deg, approach rate: -0.739131 m/s, LOS rate: -0.009997 deg/s, cmd heading: 266.695446 deg, new cmd heading: 266.681044 deg.  i}۹HeadingCmd: 4.654462 target range: 185.100006 and range: 185.10 m.h[@hhhhggbgjgcBeejeJe:e;@ZIdbIZjI1rIzI<:IS9I3I.tBɛwR)  -i)O/<隡i:!=izп;I[@IDDDE E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250497VF F ZA M >mx,Z[A><(@y>7@9>2˼Y>=>H@?쾿j@ Y?`e?C?#?><(@ɨ>l; GfCGf+IGfpBGf =GdGdGf <Gf.FHÍC HÍCHH ="H =*H}~5t٣t vGtz; z?x]v49zl?av4Yz޴ izKB¿q?z'Cz;zY;z%v4B 2XAE2iAEFNOT Ignoring new targets: 185.10 m.iMZ>"iMZ>] ProNav: ac range: 185.100006 m, nav range: 160.864197 m, bearing: 270.586109 deg, approach rate: -0.740689 m/s, LOS rate: -0.010401 deg/s, cmd heading: 266.681048 deg, new cmd heading: 266.670642 deg.  i]leHeadingCmd: 4.654281 target range: 185.100006 and range: 185.10 m.he@hahahahigigibgijgqeqeqjeqJeq:e}@\@雥AtBɛN) i)?<隱i!=iп֖`;I@IDU?DQDQEU0 EQEYE]iAVF-;F5 ?F5 ?FZAM-,>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503110tx,ӽ[AB%4@yB{C@9BռYB=BH` 1?P¾ַ`.?롚???B%4@ɨBѾ; B3CRoBRcIV=iV=HZ:HZ5f fI=Yj_BQ j>h٣h jGnWFn[m; n>p]vv49r8l?avv4Yr irKBxz¿qz?rMCr:r:r/v4| ~XA2i15FNOT Ignoring new targets: 185.10 m.i=E"i=EM ProNav: ac range: 185.100006 m, nav range: 160.566986 m, bearing: 270.581773 deg, approach rate: -0.739078 m/s, LOS rate: -0.010801 deg/s, cmd heading: 266.670639 deg, new cmd heading: 266.657608 deg.  iM4UHeadingCmd: 4.654053 target range: 185.100006 and range: 185.10 m.hU@hQhQhYhYgYgYbgajgaeaeajeiJei:em@@ՙ՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754501雭YtBɛ ) i)܅<隹iD9"=ifп!㸉h ] BDAT read: Rx Time:19:03:19.0287 m TRx dataTimestamp_ set to:1736535799.613285u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010220ZI ebI \jI rI zI \:I [9I I zx,u[A25@y2E@92fY2z=2H>iԻ?@·?K?@?`?25@ɨ2; 25CNoBRRI5Mb@Mb@Mb@11 1)1I1y5MbX?a٣a eGam9 m>y]v49}~l?av4Y} i}KBK?m:Qÿq?}xC}<:}Z:}v4 /YAB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 185.10 m.ia5"ia5 ProNav: ac range: 185.100006 m, nav range: 160.230301 m, bearing: 270.577590 deg, approach rate: -0.796006 m/s, LOS rate: -0.009911 deg/s, cmd heading: 266.657607 deg, new cmd heading: 266.645031 deg.  iٹHeadingCmd: 4.653834 target range: 185.100006 and range: 185.10 m.h5@hhhhggbgjgBeejeJe:e @雭stBɛo,) i)Hfy<i"=iпf m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511771Ӂx,[Am8@ymH@9m$Ym=mH,9A?@W W?A ?@ڝ??`?m8@ɨm4; m3CޅroBޅAIHHH5= B=YmQ >٣ GXFb: >]v49Žl?amv4Yb iKBquEÿqu?CS<<v4 YA2iFNOT Ignoring new targets: 185.10 m.io-"io- ProNav: ac range: 185.100006 m, nav range: 159.895279 m, bearing: 270.573366 deg, approach rate: -0.750057 m/s, LOS rate: -0.009477 deg/s, cmd heading: 266.645039 deg, new cmd heading: 266.632340 deg.  i й HeadingCmd: 4.653612 target range: 185.100006 and range: 185.10 m.h d@hhhhggbgjgeeje!Je!:e% @UtBɛUS<)Y ]WiY)]\g BDAT read: Tx time:19:03:20.1312 $Ping request sent.ٍ&I@ ڍ<)ڍ#@Iڍ0 iڍs=ڍ0 >ډ ۉۍq1!?+~C?ex?Iۍi>iۍ_ۍs=ۍ0 >ۉ ܉-:publishing transmit ping time-Fpublishing direction and range info؉Y؍Ej??yjȗ؉9؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډ ۉۍq1!?+~C?ex?Iۉiۉۉۉۉ ܉VF 1X<F ZA M >:J OBJ 9JJ RJ ZJ qe[UKC=82-*.:A@DINPMJD>83*!!"%*-)" 0;?B?7./00+x,s![A-2@y-AB@9-Y-4=-H˔,?}?y?@?@B?-2@ɨ-͍; -1CeZoBe2IIi)i)= a=Mb@Mb@Mb@ )Iy`"?)\(? rhW?Ga= YA)S=AI5HAiLAJAHM(HM5]DG ]'=YSQ >٣ GYF >]w49pl?aw4YW iKBOX?m{:ƿq?؜C!;;w4B ZAEZj 5]n?bj}Ag iis[Ajf6Cj?5C2j{@pH8:f@QIm%@J39zpEj??yjȗ"js=*j0 >p=;G/@/f 2płΛ?y9ᅮF4Qip5j@i_n?iIj  j3'BzjjrzE j3'BjjCrj@ addTargetRange:: Added new target pos. range: 182.399994 m, deltaT: 3.777960 s, deltaX: -2.700012 m, approachRate: -0.714675 m/s, rangeRepo size: 4  Added new target pos. range: 182.399994 m, bearing: 271.563800 deg, lat: 36.903929 deg, lon: -122.119113 deg, deltaT: 3.777960 s, deltaX: -2.700012 m, approachRate: -0.714675 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 182.40 m.i"i  ProNav: ac range: 182.399994 m, nav range: 159.596588 m, bearing: 270.571592 deg, approach rate: 0.000000 m/s, LOS rate: -0.009477 deg/s, cmd heading: 266.632335 deg, new cmd heading: 266.618246 deg.  i=HeadingCmd: 4.653366 target range: 182.399994 and range: 182.40 m.h=`@h9h9h9h9g9gAbgAjgEBeAeIjeIJeMf@:eM@/?雵tBɛ׎) Bi)(Q<隹i $=iпS GAG G IG upBG G G G <G *FVF Mh <F ZA M >/ӎx,'.>[AF#@yF2@9FzAYFy=FH'9? G g@MY.?`jǠ??`?F#@ɨF͇; DR=oBR!IH^H^5f fw=YfɻQ f?h٣l rGp~ ? ]w49 ؾl?aw4Y  i KBƿq%? C 2; =3; w4) -ZA)2iFNOT Ignoring new targets: 182.40 m.iU)"iU) ProNav: ac range: 182.399994 m, nav range: 159.315369 m, bearing: 270.570861 deg, approach rate: -0.888131 m/s, LOS rate: -0.002313 deg/s, cmd heading: 266.618237 deg, new cmd heading: 266.616040 deg.  i3˸HeadingCmd: 4.653328 target range: 182.399994 and range: 182.40 m.h@hh h hggbgjge!e!je!Je!:e%`?雵tBɛý) Pi)lB<隹i$=i*п;VǕ;I@I DDDE5 EH9H9ZIEfbIE[jIArIAzIE|":IEW9IAIAIAq]IE;i]IE|:ueIE|:meVFP <FY ZAi M >Kx,MW[A:@y:P@9:Y:=:HѪ)?H@`w+?`?ƾ?@n?:@ɨ:^; :5CF"oBFIHvHv5~† G=Y λQ  > ٣   GZF˻ >]%w49Dl?a%w4Y iKB)-/ǿq-?(C)::w41 5ZA12iYeFNOT Ignoring new targets: 182.40 m.ie ڷ"im ڷ} ProNav: ac range: 182.399994 m, nav range: 158.973190 m, bearing: 270.570278 deg, approach rate: -0.872813 m/s, LOS rate: -0.001489 deg/s, cmd heading: 266.616052 deg, new cmd heading: 266.614300 deg.  i}҂HeadingCmd: 4.653297 target range: 182.399994 and range: 182.40 m.h@hhhhggbgjgeejeJe:e9?tBɛǽ) i)91<if%=i-пyٷz;I@IDDDEo0 E:J9NBJ 9JJRJ ZJ'!#mS<*$(+*&! VF;F?F? G5kA i)!ykABFZAM= >ߛx,q[AN|@yN@9NZW"YN$4=NH@w ?`2``ݩ? I? ??N|@ɨNj; N2CVoBVIEMb@Mb@Mb@AA A)AIAyEx&1?J +?MbPEA`?EH=E EZA)E$>AIEGAiEMAAE\KAHH5y߼ >=YZ#Q >٣ G[F >]w49Dl?aw4Y iKB`?mr:ɿq?XCS;R;,w4B 0[AE%B*** querying acoustic contact ***i!i!2i)5FNOT Ignoring new targets: 182.40 m.i5f8"i=f8E ProNav: ac range: 182.399994 m, nav range: 158.597351 m, bearing: 270.571627 deg, approach rate: -0.873517 m/s, LOS rate: 0.003143 deg/s, cmd heading: 266.614303 deg, new cmd heading: 266.618360 deg.  iM 9MHeadingCmd: 4.653368 target range: 182.399994 and range: 182.40 m.hMe@hQhQhQhQgQgYbgYjg]܀BeYeajeaJea:ee?雝tBɛԶ) ti)<隡i&=i؝пR6;Ie@I5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.D1D1D1E9 E9G2>GGIG8pBGGGPDGݲ<GFVFmG;F) ZA9 Me > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754163H] C=H] a=ZIe gbIe \jIa rIa zIe %:Ie [9Ia Ia Ie Q$;Ie T$;Ie ؁:Ie ف:Ȣx,[Ab@ybT@9bk$Yb*=bH NX? Խ ħ??l?K?b@ɨb; b1CroBrIH~@H~V5 N9  W=Y )Q >٣ G= =>I]Uw49MCl?aUw4YM iM LBaeɿqe?MCM,7;M,3;M':w4y }y[Ay2iFNOT Ignoring new targets: 182.40 m.ih8"ih8 ProNav: ac range: 182.399994 m, nav range: 158.259995 m, bearing: 270.572866 deg, approach rate: -0.863821 m/s, LOS rate: 0.003178 deg/s, cmd heading: 266.618374 deg, new cmd heading: 266.622097 deg.  i  9 HeadingCmd: 4.653433 target range: 182.399994 and range: 182.40 m.h @hhhQhQgYgYbgYjgYeaeajeaJea:emN? uBɛ5Ľ) i)v<iY&=iп|;I@IDADADAEA EAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006266VFm :Fi ZA M >:J MBJ 9JJ RJ !ZJ  .Xw5   J ? J ?x,v[A@y'@9i)Y~i=H@e!`l?3Me~?+?@0Ӿ?W?@ɨ; 4CoBIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258409Mb@Mb@Mb@ )IyK7?Zd;O?٣ G\F" >]w49l?aw4Y i$LB j?mh:ʿq?C]:Z:(Jw4 i[A 2i)5FNOT Ignoring new targets: 182.40 m.i5n8"i=n8E ProNav: ac range: 182.399994 m, nav range: 157.842072 m, bearing: 270.575611 deg, approach rate: -0.926985 m/s, LOS rate: 0.006104 deg/s, cmd heading: 266.622090 deg, new cmd heading: 266.630346 deg.  iM9UHeadingCmd: 4.653577 target range: 182.399994 and range: 182.40 m.hU@hQhQhQhQgQgYbgYjg]BeYeajeaJea:eeܥ@雭&uBɛý) ÿi),;隹i'=i%п-mG-o:I-@I)DDDE EU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510710VF= ;zFA rFA G G G 3>G G IG pBG G G G <G $FF ZA) ME >]x,{i[ANJ܍@yN@9N.YNM =NH`?`tH)29?"ϥ?8Ǿ??NJ܍@ɨN; N1Cf oBjIHz;Hz:5 P; ^=Y%=]Q %>)٣) -G-]F= =>I]]w49Ml?a]w4YM iM7LBYeOʿqe?MCM~;Mu;MeVw4y d[A2iFNOT Ignoring new targets: 182.40 m.i(8"i(8 ProNav: ac range: 182.399994 m, nav range: 157.522552 m, bearing: 270.577910 deg, approach rate: -0.894686 m/s, LOS rate: 0.006452 deg/s, cmd heading: 266.630341 deg, new cmd heading: 266.637253 deg.  i9HeadingCmd: 4.653698 target range: 182.399994 and range: 182.40 m.h@hhhhggbgjgeejeJe:eI@>uBɛ Aٽ)h= ƿi);ih(=i пYwEYZI@IDaDiDiEm0 Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762365ZI)bI-]jI-2rI)zI)I-_9I-c3I)I)I)I-m:I-n:VFL:Fi ZAy M >] BDAT read: Rx Time:19:03:22.7741 ] TRx dataTimestamp_ set to:1736535803.395126e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015255Sx,fپ[A:9э@y:@9:Ⱥ3Y:=:H `n? @fī?u?\Ǿ? ?:9э@ɨ:P; :2Cj oBjIHv4Hv5~< ~K=Y~MOQ ~>٣! -G)-Z ->1]=w495^l?a=w4Y5 i5MLBAE{ʿqE?5C5;5;5dw4mB mf[AmE2iFNOT Ignoring new targets: 182.40 m.i9"i9 ProNav: ac range: 182.399994 m, nav range: 157.154312 m, bearing: 270.580753 deg, approach rate: -0.910062 m/s, LOS rate: 0.007042 deg/s, cmd heading: 266.637253 deg, new cmd heading: 266.645801 deg.  i9HeadingCmd: 4.653847 target range: 182.399994 and range: 182.40 m.hQ@hhhh!g!g!bg!jg)e)e)je)Je):e5J@}WuBɛoٽ) Bɿi)6;隡iz6)=i(пkƖIQ@IDDDE0 E:J MBJ9JJRJ"ZJ      JIhAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267618VFU !F) ZA9 Me >-x,[A:@y:є@9:3h9Y:g=:H ?`S@ӝa̪?*???:@ɨ:j; 8BoBF I=Mb@Mb@Mb@99 9)9I9y=Q?kt?~jt?=\o?= 0==< =YA)=EDAT read: 19:03:22.7742 LVL= 29792, 32753, 24050, 32755, AGC= 58, IDX= 393, 0.01,-0.092,-1.368,-0.222,-0.567, PHS= 0.563,-0.754, 0.342, RAW= 141.0, -2.5, CAL= 146.0, -11.7, ROT= 4.0, 11.7 UYgot valid direction response: 19:03:22.7742 LVL= 29792, 32753, 24050, 32755, AGC= 58, IDX= 393, 0.01,-0.092,-1.368,-0.222,-0.567, PHS= 0.563,-0.754, 0.342, RAW= 141.0, -2.5, CAL= 146.0, -11.7, ROT= 4.0, 11.7 ePDAT read: Bearing 4.0, 11.7 (Local) e~Local bearing/azimuth received: Bearing 4.0, 11.7 (Local) uDAT read: Range 10 to 50 : 179.0 m (Round-trip 238.7 ms) speed 0.6 m/s },DAT read: user:1065> }BDAT read: Tx time:19:03:23.8813 $Ping request sent.@ ¸2)e#@IQi5=Q> j%O?oY/?l^ZI>ij2=5=Q> :publishing transmit ping time؁Fpublishing direction and range infoY@B?x|? ɿ9 )Ii )Ii ٣ G^F| >j%O?oY/?l^ZIi ]w49l?aw4Y% ioLBo?mb:r˿q?KCH::uw4) -;[A)GGGIGoBGGGG<GFH]C H]CHYH] ="H] =*H]Ķ4Zjɍn?bj}= iiI[Aj3Cj1C2jϗ@p^6Se@P:6t(@*C&Bzp@B?x|? ɿ"j5=*jQ>p9Xq=w@BfuI:pqs?S#P=ÿi0j@in?iZ  jBzjj1Y jBjj0Crj@ addTargetRange:: Added new target pos. range: 179.000000 m, deltaT: 3.532082 s, deltaX: -3.399994 m, approachRate: -0.962603 m/s, rangeRepo size: 4  Added new target pos. range: 179.000000 m, bearing: 271.818244 deg, lat: 36.903929 deg, lon: -122.119340 deg, deltaT: 3.532082 s, deltaX: -3.399994 m, approachRate: -0.962603 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 179.00 m.i"iu ProNav: ac range: 179.000000 m, nav range: 176.865173 m, bearing: 270.518927 deg, approach rate: 0.000000 m/s, LOS rate: 0.007042 deg/s, cmd heading: 266.645804 deg, new cmd heading: 266.656484 deg.  iqHeadingCmd: 4.654034 target range: 179.000000 and range: 179.00 m.h@hhhhggbgjgBeejeJe`f@:e`K?=zuBɛ=)A EU̿iA)E8;AAiEI*=iM пM8MGIU@IqDD) D) D) E- p0 E) E1 E1  JDAT read: TxSync time:19:03:23.8805 II23IL.IIIZI ebI \jI 1rI zI \:I [9I 3I I ;I ;I ؁:I ف:VF ˴F ?F ?F ZA M> x,[AB)@yB”@9B>YBo=BHC?@|Ai ?Hק?@!E?@?B)@ɨB<; B1C54oB5I==i=٣ G_F >]w49l?aw4Y^/ iLB˿q?zC;;Nw4  ZA EB*** querying acoustic contact ***iIiI2iQUFNOT Ignoring new targets: 179.00 m.i](9"i](9 ProNav: ac range: 179.000000 m, nav range: 176.501633 m, bearing: 270.522403 deg, approach rate: -0.961313 m/s, LOS rate: 0.009212 deg/s, cmd heading: 266.656486 deg, new cmd heading: 266.666938 deg.  iQ9HeadingCmd: 4.654216 target range: 179.000000 and range: 179.00 m.hW@hhhhggbgjgeejeJe:e?EuBɛMG)I Mi˿iI)M):IQiU*=iUп];]_ɘI]W@IeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.^DSE=D9 D9 D9 EA  EA :J5 }LBJ5 ػ9JJ1 RJ5 #ZJ5 5G]eWcE({od[SMIB>850.**%"jm!5,rJe ? Je > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742341VFe $AF9ZAAMe>(x,O.[AuA٣A MGM`FU U>Y]ew49]]l?aew4Y]O; i]LBmGGIGoBGGGG;<GBFDE0 EVF g{F ZA M > x,H[A6ꃍ@y6A@96tOY6$=6H?4 }? ?"??6ꃍ@ɨ6; 4BboBB7IHJHJb5bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2465168= `=Y6Q >!٣! %G!-l ->I]Uw49Ml?aUw4YM=D iMLBYe˿qe?MߞCM#T;MT;MMw4q u$ZAq2iFNOT Ignoring new targets: 179.00 m.i.9"i.9 ProNav: ac range: 179.000000 m, nav range: 175.709641 m, bearing: 270.529833 deg, approach rate: -0.908831 m/s, LOS rate: 0.009537 deg/s, cmd heading: 266.678616 deg, new cmd heading: 266.689283 deg.  ip9HeadingCmd: 4.654606 target range: 179.000000 and range: 179.00 m.h@hhhhggbgjg e e jeJe:e`?uBɛ+) ̿i)i,=i%Luп%Nr%&I%@I!CCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499492D) D) D) E- o0 E) E5 =E5 =VF PzF rF F ZA M>8x,B%f[A:JZ/OBJZ9JJXRJZ$ZJZ`>! %+($ q@y@9N]X-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752958Y=H@L?chHB?q?#c?`?q@ɨ̇; MxoBMDIIQ)QZIbIjIrIzIIIIq@i@u@m@Mb@Mb@Mb@ )IyK7?V-?l?i?m== ZA);AIDAiHH5S= =YAQ >٣ GaF >q]}w49u!l?a}w4YuQ iuMB}cj?mg:ʿq?u!Cu;u:uw4B YA"E2iFNOT Ignoring new targets: 179.00 m.ie8"ie8 ProNav: ac range: 179.000000 m, nav range: 175.194504 m, bearing: 270.533646 deg, approach rate: -0.910518 m/s, LOS rate: 0.006759 deg/s, cmd heading: 266.689271 deg, new cmd heading: 266.700743 deg.  i%p9%HeadingCmd: 4.654806 target range: 179.000000 and range: 179.00 m.h-,@h)h)h)h)g)g)bgQjgUBeQeYjeYJeY:e]?雥uBɛʽ) οi)7隩i]f-=inп62=I,@ID!D!D!E%0 E!VFZ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002776F ZA M >G 1>G G IG $pBG G G G <G *Fw:x,Y[AFim@yF|@9F YYF[=FHYn?@P@#[?4?@?@j?Fim@ɨFx; DޝoBޝaIH)H=5> s=Y}Q ?٣ GbFͺ ? ]w49 Ⱥl?aw4Y Y i %MBʿq? GC #; L$; ^w4) -$YA)2iYeFNOT Ignoring new targets: 179.00 m.ie9"ie9u ProNav: ac range: 179.000000 m, nav range: 174.900085 m, bearing: 270.535891 deg, approach rate: -0.922201 m/s, LOS rate: 0.007044 deg/s, cmd heading: 266.700746 deg, new cmd heading: 266.707492 deg.  i}9}HeadingCmd: 4.654924 target range: 179.000000 and range: 179.00 m.h#@hhhhggbgjgeejeJe:ex@雽vBɛ) d˿i)wi)..=ijпZ{߸CI#@IDDDE:5 E-_?-<=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255564HR=H4=VFF ZA M >'x,Rљ[AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507927fg@yf4w@9f{]Yf>fHP? ־`Vð ??1?@.?fg@ɨfr; f3CoBlIH"H55= J=YQ >٣ G@ۺ >]w49Sl?aw4YHc iKMBʿq?vC; ; ;w4! %XA!MB*** querying acoustic contact ***iIiI2iY]FNOT Ignoring new targets: 179.00 m.ie9"ie9u ProNav: ac range: 179.000000 m, nav range: 174.531494 m, bearing: 270.538798 deg, approach rate: -0.909709 m/s, LOS rate: 0.007190 deg/s, cmd heading: 266.707494 deg, new cmd heading: 266.716234 deg.  i}9}HeadingCmd: 4.655077 target range: 179.000000 and range: 179.00 m.h}c@hhhhggbgjgeejeJe:ex@雕vBɛ̖) z̿i)XN隙iU/=ieп6 %VOI%c@I!DDDE05 EI)֐C:JLBJ9JJRJ%ZJ %j@"D :`||ztmja^_WQJFD@=: nG;mAJ> -checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758480)8%y;mAB J?ZI fbI [jI rI zI |":I W9I I VF -,Fy ZA M >Ox,n[AVTb@yVq@9VeYVl>VHŲ?`bհ@F?@沬?@;?ް?VTb@ɨVN; TboBbI--only read 0 of 1 data item for water mass range. Device response is::WD, +41.9 +69.60, +22.19, 20.00,302.49 5@5 5@5 5@5  5@5 H=)H==5M= MV=YMJQ M>Q٣Q UGUcF] ]>a]mw49e߹l?amw4Yetl ieqMBim+:imm;:m ˿qu?eCe;e>eVw4y }7XAy2iFNOT Ignoring new targets: 179.00 m.i9"i9 ProNav: ac range: 179.000000 m, nav range: 174.183411 m, bearing: 270.541644 deg, approach rate: -0.912486 m/s, LOS rate: 0.007475 deg/s, cmd heading: 266.716237 deg, new cmd heading: 266.724791 deg.  i(9HeadingCmd: 4.655226 target range: 179.000000 and range: 179.00 m.h@hhhhggbgjgeejeJe:e1@5vBɛ~) ʿi)ͻi/=i%`п%6$%ZI%@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015025GGGGGIGapBGGGG<GDDDEo0 EVFI6F ZA M >e BDAT read: Rx Time:19:03:26.5209 m TRx dataTimestamp_ set to:1736535807.180004u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268642H @AH 4x,rͿ[ARc@yREs@9RnYRE>RH ?`⿿W`.?`[ڭ?\? ?Rc@ɨR ; R1C^pB^IHf Hf_5n= rR=Yr߽Q r>t٣t vGtz: z>]w49il?a w4Yu iMBi  : m : ˿q ?ПC:[F?Kw4B WA$E2iAEFNOT Ignoring new targets: 179.00 m.iM9"iM9 ProNav: ac range: 179.000000 m, nav range: 173.827896 m, bearing: 270.544550 deg, approach rate: -0.912671 m/s, LOS rate: 0.007475 deg/s, cmd heading: 266.724788 deg, new cmd heading: 266.733524 deg.  i)9HeadingCmd: 4.655378 target range: 179.000000 and range: 179.00 m.h@hhhhggbgjgeejeJe:e` @雥RvBɛ) kɿi)RG隩i0=i[пQ]A2XI@IDDDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518348VFUKF) ZA1 MU >gx,q[A:J lNBJ JJ RJ &ZJ 84/++'#"   J9I9ZIebIYjI2rIzI\:I[O9Ic3Izc@yr@9txY>%DAT read: 19:03:26.5209 LVL= 28608, 32753, 27426, 32755, AGC= 62, IDX= 407, 0.48,-0.597,-2.116,-0.820,-1.195, PHS= 0.685,-0.875, 0.372, RAW= 139.0, -2.6, CAL= 144.2, -11.9, ROT= 5.8, 11.9 -Ygot valid direction response: 19:03:26.5209 LVL= 28608, 32753, 27426, 32755, AGC= 62, IDX= 407, 0.48,-0.597,-2.116,-0.820,-1.195, PHS= 0.685,-0.875, 0.372, RAW= 139.0, -2.6, CAL= 144.2, -11.9, ROT= 5.8, 11.9 5PDAT read: Bearing 5.8, 11.9 (Local) =~Local bearing/azimuth received: Bearing 5.8, 11.9 (Local) Hz?`L3`LDZ? ?@?-?MDAT read: Range 10 to 50 : 176.6 m (Round-trip 235.5 ms) speed 0.2 m/s U,DAT read: user:1066> zc@ɨ'; 2CBDAT read: Tx time:19:03:27.6313 $Ping request sent.)\/?`v>C@ 9)!@IȭTi4Q=ȭT> |6?E%E?NnKIZf>iDB8=4Q=ȭT> :publishing transmit ping timeةUFpublishing direction and range infoYH9&?/ ~P?Fa5dʿ9 )Ii )Ii |6?E%E?NnKIi       Mb@Mb@Mb@ )IyOn?Mb?kt?X?= 0= [A):AICAivNAHH5xV= =YD|Q > ٣   GdFɸ >]Mw497l?aMw4Y iMBiUT:UyY?mUy:UɿqU?CG;;Ww4 6WAZjSo?bj b ii[Aj0Cj|/C2j@p6 q}e@]av1@^P45BzpH9&?/ ~P?Fa5dʿ"j4Q=*jȭT>pڛ"@1ejKXErW7p"#?\rlzi.jAidGo?i!  jBzj_n?jZ jjjy-Crjظ@ addTargetRange:: Added new target pos. range: 176.600006 m, deltaT: 3.785497 s, deltaX: -2.399994 m, approachRate: -0.633997 m/s, rangeRepo size: 4 % Added new target pos. range: 176.600006 m, bearing: 273.046857 deg, lat: 36.903959 deg, lon: -122.119341 deg, deltaT: 3.785497 s, deltaX: -2.399994 m, approachRate: -0.633997 m/s, posRepo size: 4 2i!%FNOT Ignoring new targets: 176.60 m.i-"i)= ProNav: ac range: 176.600006 m, nav range: 173.474701 m, bearing: 271.657277 deg, approach rate: 0.000000 m/s, LOS rate: 0.007475 deg/s, cmd heading: 266.733531 deg, new cmd heading: 266.747424 deg.  iamHeadingCmd: 4.655621 target range: 176.600006 and range: 176.60 m.hm@hihihihigigqbgqjgu@BeqeyjeyJe@3f@:e? |vBɛ ʽ) ʿi ) ~  i ?[1=i Tп= k= ]I= @I9 DI  JDAT read: TxSync time:19:03:27.6305 G G G IG pBG =G G G <G FD ?D D E @5 E E =E =VFqDFZAM?x,o[Avi@yv y@9vfYv >vH@?`x)?`ة?19??vi@ɨv; v1CRpBIHUHUj5mY= m`=YuMQ u>y٣y }GeF; >]x49l?ax4Y iMBɿq?6C;ݯ;-x4 VA2iFNOT Ignoring new targets: 176.60 m.i%<9"i-<9E ProNav: ac range: 176.600006 m, nav range: 173.165283 m, bearing: 271.660668 deg, approach rate: -0.939075 m/s, LOS rate: 0.010308 deg/s, cmd heading: 266.747437 deg, new cmd heading: 266.757626 deg. HMC=HM= iE`9]HeadingCmd: 4.655799 target range: 176.600006 and range: 176.60 m.h]N@hYhYhYhagagabgijgieieijeqJeq:eu ?雝vBɛ ) ǿi)2,隡i2=i1NпiNoTIN@IDDDEm0 EVF KF ZA M >&x,0"[A>]o@y>~@9>=ӉY>|>>HZ ?@`Sj?7?m??>]o@ɨ>E%; >0CJfpBJIHRHRM5^R= ^W=YbaQ b>`٣d fGffFf: f>h]nx49jl?arx4Yj ij%NBprxɿqr?j_Cjr;j ;j`x4vB vDVAz%E B*** querying acoustic contact ***i i 2i!%FNOT Ignoring new targets: 176.60 m.i-'9"i-'9E ProNav: ac range: 176.600006 m, nav range: 172.847183 m, bearing: 271.664060 deg, approach rate: -0.857875 m/s, LOS rate: 0.009166 deg/s, cmd heading: 266.757628 deg, new cmd heading: 266.767825 deg.  iEN9MHeadingCmd: 4.655977 target range: 176.600006 and range: 176.60 m.hM@hIhIhIhIgIgQbgQjgQeQeYjeYJeY:e]?MvBɛM$)I MȿiI)W@隉i 2=:J--MBJ-9JJ)RJ-'ZJ-Ju ? Ju?i`Hп玹NT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ZIfbI[jI1rIzI|":IW9I3II@IDm ?Di Di Em 5 Ei  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214519*GQ "GQ GY GY G] >IG] qBGY GY GY G] <G] FH HHH"H*HI4VF KF ?F ?FiZAyM>.x, @[A pB IMb@Mb@Mb@ )IyDl?x&?~jt?OM?7== V\A)IiGOAJAHHo=  =YQ >٣ G% %>9]Ex49=3l?aEx4Y=" i=[NBMAN?mM:MiȿqM?=C=R;=9;="x4Q UnUAQ2iFNOT Ignoring new targets: 176.60 m.i%8"i%8 ProNav: ac range: 176.600006 m, nav range: 172.428848 m, bearing: 271.667391 deg, approach rate: -0.798147 m/s, LOS rate: 0.006370 deg/s, cmd heading: 266.767819 deg, new cmd heading: 266.777834 deg.  i9HeadingCmd: 4.656152 target range: 176.600006 and range: 176.60 m.h2@hhhhggbgjgBeejeJe:e?vBɛJG) Yƿi)zYi(z3=iBпdfcRI2@I DDDEo0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.467490VFF ZA M > PExceeded connect timeout, disconnecting.Qx,Z[A65v@y6@96ΨY6V >6H" 3?@US??q?`#;?`?65v@ɨ6$; 63CBpBBIHNHNa5V= V_=YV\Q Z>X٣X ZGZgF^; ^>`]fx49bUl?ajx4Yb ibNBhjVȿqn?bCb%;b&;b/x4p r>UAp=>=?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7186632iiuFNOT Ignoring new targets: 176.60 m.iu8"i8 ProNav: ac range: 176.600006 m, nav range: 172.145782 m, bearing: 271.669597 deg, approach rate: -0.773621 m/s, LOS rate: 0.006040 deg/s, cmd heading: 266.777845 deg, new cmd heading: 266.784476 deg.  i9HeadingCmd: 4.656268 target range: 176.600006 and range: 176.60 m.h%@hhhhggbgjgeejeJe:eĝ?}vBɛ})y }'ȿiy)}m隁iq(4=i>п GI%@IDIDIDIEI EIVF}K&TFailed to parse incomplete device message.JgAIgA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973056HU AAHQ F ZA M >~{x,Zt[AvpBvIuMb@Mb@Mb@qq q)qIqyu'1Z?#~j?Mb?uB?u=u= q)u?9AIqiuPAqqHH5]= :=YQ >٣ GhF >]x49(l?ax4Yw iNBD?m:Xſq?C':M:>x4 TA2iAEFNOT Ignoring new targets: 176.60 m.iM4"iM4] ProNav: ac range: 176.600006 m, nav range: 171.808853 m, bearing: 271.669607 deg, approach rate: -0.782448 m/s, LOS rate: 0.000023 deg/s, cmd heading: 266.784484 deg, new cmd heading: 266.784513 deg.  i]0~5eHeadingCmd: 4.656268 target range: 176.600006 and range: 176.60 m.he&@hahahahagagibgijgmBeqeqjeJe:e @EwBɛẸ)A MȿiI)M\ʁIiim4=iu>пuj*}AII}&@IyUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.223004GGGvIGiqBGGGG<G FDM?DIDIEMp0 EIVF zF rF hAFa ZAy M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474556ZI] dbI] ZjI] 0rIY zI] <:I] S9I] ـ3IY I] ;qu I] !;iu I] [u:uu I] ]u:mu #x,&[AF@yFY@9FYF$ >FHD?Nsl ?? 0? v?U?F@ɨF`; F/CVpBVIIX)XHbHb5jz= jT=YjܻQ n>l٣p rGprw< r>t]zx49vl?azx4Yv ivNBĿq?v CvXD;vD;vKx4 B |TA'E2iAEFNOT Ignoring new targets: 176.60 m.iMo"iMo ProNav: ac range: 176.600006 m, nav range: 171.518784 m, bearing: 271.669293 deg, approach rate: -0.756345 m/s, LOS rate: -0.000819 deg/s, cmd heading: 266.784512 deg, new cmd heading: 266.783569 deg.  iHeadingCmd: 4.656251 target range: 176.600006 and range: 176.60 m.h@hhhhggbgjgeejeJe:e@@"wBɛ%\)! %ȿi!)%M!)i-5=i-`?п5<5:(I5@IYD?DDE0 E nManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.726938VFFZAM>})x,;T[AFe@yF@9F]YFp >FH ɰ`?s Q~?l?t٣t zGziF;  >!]x49%ջl?ax4Y%( i%NBĿq?%0C%<%<%Yx4I M-TAq:J"bLBJ 9JJRJ)ZJchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.986025HH4=J? J?%B*** querying acoustic contact ***i!i!2iQUFNOT Ignoring new targets: 176.60 m.i]g"i]gm ProNav: ac range: 176.600006 m, nav range: 171.212814 m, bearing: 271.668764 deg, approach rate: -0.660079 m/s, LOS rate: -0.001143 deg/s, cmd heading: 266.783555 deg, new cmd heading: 266.781965 deg.  imHHeadingCmd: 4.656224 target range: 176.600006 and range: 176.60 m.h@hhhhggbgjgeejeJe:ei@-BwBɛ-X)1 5^ʿi1)5T11i5;6=i=G@п=IɹEIIE@IAD!D!D)E-0 E)VFE G G AAG G G IG qBG =G G G ײ<G F BDAT read: Rx Time:19:03:30.2686  TRx dataTimestamp_ set to:1736535810.979033 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243418F ZA) Me >g0x,/[A6@y6@96 Y6 >6HS?S|m?ܳ?u??6@ɨ6Љ; 61CnpBn4IuMb@Mb@Mb@qq q)qIqyuZd;O?{Gz?y&1?uj=YQ >٣ GjFt; >]x49Ӽl?ax4YW i'OB=?m:5Ŀq?XC::hx4 SA2iFNOT Ignoring new targets: 176.60 m.i _:"i _: ProNav: ac range: 176.600006 m, nav range: 170.901978 m, bearing: 271.667847 deg, approach rate: -0.861094 m/s, LOS rate: -0.002546 deg/s, cmd heading: 266.781971 deg, new cmd heading: 266.779214 deg.  i߸HeadingCmd: 4.656176 target range: 176.600006 and range: 176.60 m.hd@hhhhggbgjgBeejeJe:eϏ @]]wBɛ]:] )Y ]̿ia)e;Caaie6=imAпmCйmIud@IqDE?DIDIEMV2 EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.487907ZI fbI ]jI 1rI zI |":I _9I 3I I ;I ;I m:I n:VFM Fe ?Fe ?FI ZA M >6x,( [A:ó@y:Ô@9: 1Y: >:H6?`$ L ? ?4{??:ó@ɨ:NӉ; :/C^ qBb>If=if=HjHj5rp(= rW=Yri5Q v>t٣t vGtzi; z>|]x49~l?ax4Y~ i~LOB Ŀq ?~{C~:~`:~ vx4 SAUDAT read: 19:03:30.2686 LVL= 22288, 29377, 18242, 26467, AGC= 65, IDX= 415, 0.35,-2.301, 2.696,-2.396,-2.838, PHS= 0.625,-0.703, 0.439, RAW= 142.6, -5.8, CAL= 148.4, -15.1, ROT= 1.6, 15.1 ]Ygot valid direction response: 19:03:30.2686 LVL= 22288, 29377, 18242, 26467, AGC= 65, IDX= 415, 0.35,-2.301, 2.696,-2.396,-2.838, PHS= 0.625,-0.703, 0.439, RAW= 142.6, -5.8, CAL= 148.4, -15.1, ROT= 1.6, 15.1 ePDAT read: Bearing 1.6, 15.1 (Local) m~Local bearing/azimuth received: Bearing 1.6, 15.1 (Local) uDAT read: Range 10 to 50 : 174.9 m (Round-trip 233.2 ms) speed 0.6 m/s ,DAT read: user:1067> BDAT read: Tx time:19:03:31.3813 $Ping request sent.%&I@ %4QϽ)%%@I%Vi%<%V>! !%!Phi%G%=%<%V>! !:publishing transmit ping time؉Fpublishing direction and range info!Y%/n?fCiĚ?QfJ0п!9!! !)!I!i!!!!! !)!I!i!!! !%!Php%k|㖿EQe$ݪe?p% L 8mF}(L$oƿ! !i%,j%i%ݻl?i%M~.  j%|Azj!j%! j!jj%,Crj%G@ addTargetRange:: Added new target pos. range: 174.899994 m, deltaT: 3.791056 s, deltaX: -1.700012 m, approachRate: -0.448427 m/s, rangeRepo size: 4  Added new target pos. range: 174.899994 m, bearing: 269.992559 deg, lat: 36.903959 deg, lon: -122.119356 deg, deltaT: 3.791056 s, deltaX: -1.700012 m, approachRate: -0.448427 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 174.90 m.i"iAU ProNav: ac range: 174.899994 m, nav range: 172.023514 m, bearing: 271.653330 deg, approach rate: 0.000000 m/s, LOS rate: -0.002546 deg/s, cmd heading: 266.779211 deg, new cmd heading: 266.775685 deg.  iY]HeadingCmd: 4.656114 target range: 174.899994 and range: 174.90 m.h]@hahahahaggbgjgeejeJee@:e?ewBɛm9)i mBοii)miqius7=iuCп}h׹}ƻI}@I eG )yBDU?DQDYE]/1 EYAAJDAT read: TxSync time:19:03:31.3805 :J% BIBJ% ػ9JJ! RJ% *ZJ%  $4?KU^dfc`_\WSVFe ;3F9 ZAA Me ><x,$[AqB@I-Mb@Mb@Mb@)) )))I)y-/$?333333?{Gz?-Y٣Y ]G]kFe m>q]}x49uƾl?ax4Yu) iuxOB=?m:Ŀq?uCu:u{:u!x4B SA)EZj5&@l?bj5 q i1i1j1j12j1p5zBse@⣬ @AFzp5/n?fCiĚ?QfJ0п"j1*j1p5k|㖿EQe$ݪe?p5 L 8mF}(L$oƿi1j1i54l?i5ը  j5Azj1j5M~. j1jj5+Crj5@2iFNOT Ignoring new targets: 174.90 m.iշ"iշ ProNav: ac range: 174.899994 m, nav range: 171.663559 m, bearing: 271.652731 deg, approach rate: -0.876099 m/s, LOS rate: -0.001461 deg/s, cmd heading: 266.775687 deg, new cmd heading: 266.773886 deg.  iQHeadingCmd: 4.656083 target range: 174.899994 and range: 174.90 m.h@hhhhGGGIGqBGGGQDG<GFg1g1bg1jg5Be9e9je9Je9:e=@N?5wBɛ5e )1 5ѿi1)=`99i=k8=ieDпeݹe7̻Ie@IiDDDEB5 EVF F ZI ebI \jI rI zI \:I [9I I I ;I ;I ؁:I ف:ZA) ME >ZCx,^[A-qB5GIHEHE5U< U^=YYQ ]>Y٣a eGelFa m>q]}x49ul?a}x4YuK iuOByyq}?u̡CuG:u:ux4 SA2iFNOT Ignoring new targets: 174.90 m.im"im ProNav: ac range: 174.899994 m, nav range: 171.392700 m, bearing: 271.652279 deg, approach rate: -0.744942 m/s, LOS rate: -0.001246 deg/s, cmd heading: 266.773884 deg, new cmd heading: 266.772525 deg.  iZHeadingCmd: 4.656059 target range: 174.899994 and range: 174.90 m.ho@hhhhggbgjgeejeJe:e`?wBɛ) "ӿi)%!!i%:39=i-Eп-⹉)I5o@I1D?DDEk0 EVF4λzF rF F ZA M >_Ix,)[Af@C fQlAdf;Fɮdj@CjZlAIjף)j9Fih)@CI flA /ɯ CF ɰ  ZlA WixCFiLCvlA)X9 4@FI C)lAɱ/ݽhYF!%Cɲ%vlAi!I))IECiEKA AI)II]3Cia eDi)iC ÍzlA•+•UF¡í&CñIù)ùiù)I(lAmSF fClmAiJFi )  I %3C)!)))=3C=1AiEIAII:JdMBJh9JJRJ+ZJPGA@:1)# % qBUIIIY)Y)e= e=EMb@Mb@Mb@AA A)AIAyEʡE?Q?~jt?E=?E\=ED< E[A)E:AIE?AiEPAAEIAHuHuS5< ,=YQ >٣ G >]x49`l?ax4Y iOB>?m:yſq?C; <x4) -|SA1MB*** querying acoustic contact ***iIiI2iFNOT Ignoring new targets: 174.90 m.i]6"i]6 ProNav: ac range: 174.899994 m, nav range: 171.041672 m, bearing: 271.652372 deg, approach rate: -0.708497 m/s, LOS rate: 0.000189 deg/s, cmd heading: 266.772518 deg, new cmd heading: 266.772799 deg.  i7HeadingCmd: 4.656064 target range: 174.899994 and range: 174.90 m.hy@hhhhgg9bg9jg=BeAeAjeAJeA:eM?wBɛڄ) j׿i)мiR :=iEп6깉Iy@IDDDE$5 EG) G) G- IG- rBG- =G) G- PDG- <G- FE T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.VF ̻F ZA M >Qx,cF[ABE̍@yB۔@9B®YBH=BH@⮿?W8{?@ѵ??>?BE̍@ɨB^; B0CޕqBޕDIHHe5- 5\=Y=xQ =>I٣Q UGUmF]9< e>q]}x49ul?ax4Yu iuOBſq?uCus;ut;uƱx4 SA2iFNOT Ignoring new targets: 174.90 m.i mM"i mM% ProNav: ac range: 174.899994 m, nav range: 170.762177 m, bearing: 271.652116 deg, approach rate: -0.764141 m/s, LOS rate: -0.000702 deg/s, cmd heading: 266.772791 deg, new cmd heading: 266.772021 deg.  i-5HeadingCmd: 4.656050 target range: 174.899994 and range: 174.90 m.h5]@h1h1h9h9g9gbg!jg!e)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753175e9jeYJea:eeH?ZIfbIjIrIzI|":IIII;I;IIwBɛ) ܿi)ڼi:=i%Eп% V% bI%]@I)D?DDEh0 EVF F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003149{Wx, #`[A:͍@y:Lݔ@9:beY:=:H`Ǯ? E@r?`?|?@d?:͍@ɨ:yЕ; :2Cޝ#qBޝKIHH5< S=YQQ >٣ GnF : >]x49l?ax4Y\ iPBſq?AC`:K:*x4B SA+E2i%FNOT Ignoring new targets: 174.90 m.i%\T"i%\TE ProNav: ac range: 174.899994 m, nav range: 170.478821 m, bearing: 271.651845 deg, approach rate: -0.756527 m/s, LOS rate: -0.000725 deg/s, cmd heading: 266.772026 deg, new cmd heading: 266.771211 deg.  iEMHeadingCmd: 4.656036 target range: 174.899994 and range: 174.90 m.hM?@hIhIhIhIgIgQbgQjgQeYeYjeYJeY:e]@雅xBɛԎ%) ݿi))'隉iD;=ipFп/񹉡oI?@IDIDIDIEMo0 EIEQEUgAVF%s7]FZA MEQ>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257048:J-MBJ]9JJRJ,ZJ]x,z[A:ō@y:pԔ@9: Y:>:H@TN?= ?R? C? ?:ō@ɨ:%B; 8^"qB\b >ib<Mb@Mb@Mb@ )IyMbX9?&1?{Gzt?A?P=ף; AXA)7AI$>AiGOA\GAHH5> K=Y]Q >٣ G/ >]x49l?ax4Y\ i!PBյ%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506933HeadingCmd: 4.656165 target range: 174.899994 and range: 174.90 m.hM@hhhhggbgjgbBeejeJe:eC=@u0xBɛu]Z)y }iy)}-yyi}<=i7BпgIM@IDe?DaDaEa EaVF ]Um checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758576F ZA M >$dx,[AN@yNʔ@9NСYNΝ>NH꯿H? @婿I?l? Ѷ?@?N@ɨNE; N1CZqBZFIHbHbԨ5j jY=YnrYQ n>l٣l rGroFv/J v>x]~x49zl?a~x4Yz iz?PB|ȿq?zCz):z:zix4  SA 2i1=FNOT Ignoring new targets: 174.90 m.i=8"iE8U ProNav: ac range: 174.899994 m, nav range: 169.890503 m, bearing: 271.656734 deg, approach rate: -0.754116 m/s, LOS rate: 0.006447 deg/s, cmd heading: 266.778583 deg, new cmd heading: 266.785886 deg.  iU9]HeadingCmd: 4.656292 target range: 174.899994 and range: 174.90 m.h]X@hYhYhYhYgYgabgajgieieqjeqJeq:eu@KxBɛ% &)! %i!)%Y))iMIq==iU >пUUOIUX@IYD%?D!D!E%0 E!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010357VF TFZA M5 >jx,[A=BDAT read: Rx Time:19:03:34.0142 MTRx dataTimestamp_ set to:1736535814.754507ZIuebIu^jIqrIqzIu\:Iud9IqIqq@i@u@m@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268584:JBJ 9JJRJ-ZJ *7=X= iMگ@yM1@9MYMc>MH Q`n?O@Oe ʸ?ڶ?+?j?Mگ@ɨM; M.CeqBeEIMb@Mb@Mb@ )Iy/$?A`"?{Gzt?1H?Y= )6AIY٣Y ]G]pFer5 m>y]x49}*l?ax4Y} i}kPBH?m:ȿq?}C}A;}4;}x4B SA,EB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 174.90 m.i18"i18 ProNav: ac range: 174.899994 m, nav range: 169.486084 m, bearing: 271.660340 deg, approach rate: -0.776998 m/s, LOS rate: 0.006945 deg/s, cmd heading: 266.785878 deg, new cmd heading: 266.796722 deg.  i9HeadingCmd: 4.656481 target range: 174.899994 and range: 174.90 m.h@hhhhggbgjgJBeejeJe:e: @-pxBɛ51)1 5i1)5<19i=d>=i=7пEEIE@IIDQDDDE|0 EE=E=G0>GGIG>rBG =GGG<GFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514565VF zF rF iAF ZA M >qx,͑[A:@y:ڿ@9:j]Y: >:HNLc?pP9 ?#?q#?f?:@ɨ:6 ; :/CnqBn:IIp)pHvHv5~t =YwQ ? ٣   G  )9 ?]x497l?a%x4Y iPB!%ȿq%?ݢC;:x41 5SA92iaeFNOT Ignoring new targets: 174.90 m.im8"im8} ProNav: ac range: 174.899994 m, nav range: 169.258286 m, bearing: 271.662373 deg, approach rate: -0.779838 m/s, LOS rate: 0.006970 deg/s, cmd heading: 266.796724 deg, new cmd heading: 266.802832 deg.  i}9HeadingCmd: 4.656588 target range: 174.899994 and range: 174.90 m.h@hhhhggbgjgeejeJe:e @xBɛ">)S= i) iQ?=iX4п4.I@I =DAT read: Range 10 to 50 : 171.6 m (Round-trip 228.8 ms) speed 0.7 m/s E,DAT read: user:1068> MBDAT read: Tx time:19:03:35.1313 M$Ping request sent.M JDAT read: TxSync time:19:03:35.1305 wx,l[A6@y6L@96!-Y6 >6H>Hw?@So Lm?,}?$?`X?6@ɨ6o\; 6-CzqBzDIH H 5E= EF=YMYQ M>I٣Q UGUqFU 9 U>a]ey49eJl?amy4Ye iePBimȿqm?eCel:ey:e7y4y }SAy addTargetRange:: Added new target pos. range: 171.600006 m, deltaT: 3.779464 s, deltaX: -3.299988 m, approachRate: -0.873136 m/s, rangeRepo size: 4 2iFNOT Ignoring new targets: 174.90 m.i8"i8 ProNav: ac range: 174.899994 m, nav range: 168.936188 m, bearing: 271.665250 deg, approach rate: -0.780321 m/s, LOS rate: 0.006984 deg/s, cmd heading: 266.802844 deg, new cmd heading: 266.811492 deg.  i_9HeadingCmd: 4.656739 target range: 174.899994 and range: 171.60 m.h@hhhhggbgjgeejeJe@3se@:e ?xBɛ)) i)%1 !!i%O@=i-c/п--I-@I1D?DDE/5 EISI[3I[ .ISISISZIbIZjIrIzIIS9IIVF;3:JOBJ9JJRJ.ZJ w &)0\bY"F ?F>F ZA M >!~x,F[AFW@yF@9FYFz >FH`qd@?vym5wι?`ڷ?@.?@?FW@ɨFw9; DRqBRCIMb@Mb@Mb@ )Iy&1?kt?y&1|?P? 0=`; TA)IiPAFAHH5 B=Y^Q >٣ Go >]y49l?ay4Y( iPB1Q?m:ʿq?2C#::y4 SAGGGGGGGG<GF2iiuFNOT Ignoring new targets: 174.90 m.i}P9"i}P9 ProNav: ac range: 174.899994 m, nav range: 168.594772 m, bearing: 271.670137 deg, approach rate: -0.795184 m/s, LOS rate: 0.011404 deg/s, cmd heading: 266.811504 deg, new cmd heading: 266.826193 deg.  iq95HeadingCmd: 4.656996 target range: 174.899994 and range: 171.60 m.h5@h1h1h9h9g9g9bgAjgE3BeAeAjeAJeI:eM?雽xBɛ&) i)~ViZA=iM&пM U IU@IQDazDeiAD?DDE05 EEiAEhAVFe >uF9 ZAI Me > x,:![ABa@yB@9B/½YBo>BH4*`?@S `4Ϋ`>?HVHV5byϻ b]=YbIQ b>d٣d fGfrFf  j>p]vy49rl?avy4Yr/ irPBxz˿qz?rYCr>:rK:r y4| ~SA|2i!-FNOT Ignoring new targets: 174.90 m.i-j9"i-j9E ProNav: ac range: 174.899994 m, nav range: 168.293427 m, bearing: 271.674774 deg, approach rate: -0.832822 m/s, LOS rate: 0.012839 deg/s, cmd heading: 266.826203 deg, new cmd heading: 266.840139 deg.  iE :MHeadingCmd: 4.657239 target range: 174.899994 and range: 171.60 m.hM@hIhIhIhIgIgIbgQjgYeYeajeaJea:ee`?雍xBɛ@G@) ii)隑i^B=iпV0I@I^Dh=DDDE65 EI] =)] ːC R}G kA )- y- kA- BVF Fa ZAq M >-Sx,/[AHHZI!bI!jI!rI!zI!I!I!I!:JpOBJ]9JJRJ/ZJޭqBޭCI=Mb@Mb@Mb@99 9)9I9y=On?a٣a mGmsFm m>q]}y49ul?a}y4Yu: iu QBX?mz:̿q?uCu:uV:u<2y4B SA.E2iFNOT Ignoring new targets: 174.90 m.i9"i9 ProNav: ac range: 174.899994 m, nav range: 167.876633 m, bearing: 271.682758 deg, approach rate: -0.839890 m/s, LOS rate: 0.016129 deg/s, cmd heading: 266.840137 deg, new cmd heading: 266.864148 deg.  i1:HeadingCmd: 4.657658 target range: 174.899994 and range: 171.60 m.h @hhhhggbgjgBeeijeiJei:em`_?雽yBɛ=&) i) %iC=iHп@70I @I^D#=D?DDE4 EG/>GGGGGGG<GFVF5 {#F ZA! MM >x,oK[AZ!|@yZx@9Z ʽYZ >ZH豿?`Yج@w?T?0?8?Z!|@ɨZB; Z-C0qBSIH%H%E5U= U]=YU0>Q ]>Y٣Y eGam m>q]}y49uǿl?a}y4Yu*C iuFQB̿q?uCu :u-:u2?y4 jSAB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 174.90 m.i9"i9 ProNav: ac range: 174.899994 m, nav range: 167.565399 m, bearing: 271.689066 deg, approach rate: -0.837419 m/s, LOS rate: 0.017006 deg/s, cmd heading: 266.864152 deg, new cmd heading: 266.883112 deg.  i::HeadingCmd: 4.657989 target range: 174.899994 and range: 171.60 m.h?@hhhhggbgjgeejeJe:e ?%yBɛ-G!B)) -i))5!*11i5D=i=oп==abI=?@I9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^DU=D?DDE4 EE=E= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263988VF .-F ZA M >%x,5]f[A6|@y6R@96&ͽY6" >6H᱿F?Vg n@Ȼ?`?K@??6|@ɨ6E; 60CB.qBBRIHJHJפ5R RM=YVLQ V>T٣T VGZtFZ9 Z>`]fy49bl?afy4YbK ibpQBhj̿qj?bCb;b;bMy4l nqSAp2iFNOT Ignoring new targets: 174.90 m.i9"i9 ProNav: ac range: 174.899994 m, nav range: 167.231171 m, bearing: 271.695855 deg, approach rate: -0.808495 m/s, LOS rate: 0.016456 deg/s, cmd heading: 266.883112 deg, new cmd heading: 266.903520 deg.  i4:HeadingCmd: 4.658345 target range: 174.899994 and range: 171.60 m.h*@hhhQhQgQgYbgajgAeAeIjeIJeQ:eU@雽>yBɛR1) i)ډ2iE=iϿ)%F_I*@ICCCCechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516438ZIgbI^jI0rIzI%:Id9Iـ3I:Jk3IBJ9JJRJ0ZJ%0uo@ lZH4)! DA DA DA EE 4 EA Ge ->Ge CGe IGe HrBGe =Ga Ga Ge <Ge F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768230VFe _FAZAIM>$x,˄[ABNv@yB@9BѽYB- >BH@? `欿@P?@!%?@B`?`?BNv@ɨB; B/CNBqBR_I-Mb@Mb@Mb@)) )))I)y-Mb?L7A`?I +?-`?-+=-9< -VA)-Z4AI-?9Ai-LA)-QDAHEHE 5U#= ]$=Y]Q ]>a٣a eGeuFewֺ e>i]y49ml?ay4Ym_W imQB`?mq:Ϳq?mCmFfKx,,[A>q@y>@9>v\׽Y>>>Ht8-?۽լ? ޺? ??>q@ɨ>3; >.CJXqBJlIHRHRH5Zf= ZV=Y^ Q ^>`٣` bG`b- f>d]jy49fl?any4Yf$` ifQBlrͿqv?fCCfa];f^;fky4x zRAx2i!%FNOT Ignoring new targets: 174.90 m.i-9"i-9= ProNav: ac range: 174.899994 m, nav range: 166.467209 m, bearing: 271.713447 deg, approach rate: -0.900031 m/s, LOS rate: 0.020929 deg/s, cmd heading: 266.933246 deg, new cmd heading: 266.956428 deg.  i=e:EHeadingCmd: 4.659269 target range: 174.899994 and range: 171.60 m.hE@hAhAhAhIgIgIbgIjgQeQeQjeQJeQ:e]@# @雍wyBɛO) i)?隑i%G=BDAT read: Rx Time:19:03:37.7609 TRx dataTimestamp_ set to:1736535818.531241checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273193iϿ4P4 I@IDiDiDiEmp0 EiE}hAE}jAVF_m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526163Fy ZA M >:J NBJ 9JJ RJ 1ZJ ux,)u[A>wl@y>{@9><ݽY>>>H `? %@}欿ؽ?ҙ? ? ?>wl@ɨ>; >/C-nqB-zIMb@Mb@Mb@ )IyE?kt?V-?f? 0=< -TA)3AI7AiMA3CAHHפ5E= 7=YӻQ >٣ GvF  > ]y49 l?ay4Y j i RB g?mk:̿q%? vC h; ; k{y4) -RA)2iFNOT Ignoring new targets: 174.90 m.iw9"iw9 ProNav: ac range: 174.899994 m, nav range: 166.070572 m, bearing: 271.721531 deg, approach rate: -0.895760 m/s, LOS rate: 0.018301 deg/s, cmd heading: 266.956441 deg, new cmd heading: 266.980752 deg.  iH:HeadingCmd: 4.659693 target range: 174.899994 and range: 171.60 m.h5@hhhhggbgjgBeejeJe:e# @}yBɛg9) i)G隉iI=iϿp=7I5@IG,>GGIGgrBG =GGG<GFH HHH ="H =*HÎ5Dm?DiDiEmo0 EiDAT read: 19:03:37.7609 LVL= 24528, 30193, 19554, 28899, AGC= 65, IDX= 399, 0.47, 1.036, 0.095, 1.235, 0.013, PHS= 1.111, 0.129, 1.220, RAW= 155.2, -39.9, CAL= 157.6, -43.1, ROT= 352.4, 43.1 Ygot valid direction response: 19:03:37.7609 LVL= 24528, 30193, 19554, 28899, AGC= 65, IDX= 399, 0.47, 1.036, 0.095, 1.235, 0.013, PHS= 1.111, 0.129, 1.220, RAW= 155.2, -39.9, CAL= 157.6, -43.1, ROT= 352.4, 43.1 PDAT read: Bearing 352.4, 43.1 (Local) ~Local bearing/azimuth received: Bearing 352.4, 43.1 (Local) DAT read: Range 10 to 50 : 168.9 m (Round-trip 225.3 ms) speed 0.5 m/s ,DAT read: user:1069> BDAT read: Tx time:19:03:38.8814 $Ping request sent.ٵ(?ٵ-\-@ ڵaF2)ڵx 0@Iڵ@iڵ:@ڵ@?ڱ ۱۵Nh?yoO?I۵J?i۵42?۵۵@?۱ ܱ:publishing transmit ping timeFpublishing direction and range infoرYص(?Q!巸?`忙ر9رر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ ۱۵Nh?yoO?I۱i۱۱۱۱ ܱVF |Fa ZAy M >Y ] Ae JDAT read: TxSync time:19:03:38.8806 8gx,w[AZIfbI_jI1rIzI|":I=h9I3IIq"Ii"I:u"I:m"Bb@yBq@9BbYB>BH ۠?`B&@8& ʾ?}?@?z?Bb@ɨB#t; B.C qB IH%H%5Ui= UT=YUQ U>Y٣Y ]G]wFe&L e>]y49l?ay4Ys iKRB̿q?C;;y4 B QA1EZjCi?bj{* iixD[Aj(Cj'C2j(@p{>m^@}xO0Uw\zp(?Q!巸?`"j*j@?pO# *&^`YYp&D6ah鿂^ijxi.i?i@  jF'zj4l?j! jAjj%CrjF͖@U addTargetRange:: Added new target pos. range: 168.899994 m, deltaT: 3.780896 s, deltaX: -2.700012 m, approachRate: -0.714120 m/s, rangeRepo size: 4  Added new target pos. range: 168.899994 m, bearing: 265.882329 deg, lat: 36.903915 deg, lon: -122.119356 deg, deltaT: 7.560360 s, deltaX: -6.000000 m, approachRate: -0.793613 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 168.90 m.i"i ProNav: ac range: 168.899994 m, nav range: 165.648407 m, bearing: 270.009666 deg, approach rate: 0.000000 m/s, LOS rate: 0.018301 deg/s, cmd heading: 266.980757 deg, new cmd heading: 267.003035 deg.  iHeadingCmd: 4.660082 target range: 168.899994 and range: 168.90 m.hd@hhhhggbgjgeejeJee@:e@I?雍yBɛC) Zi)̊N隙iKJ=iϿF Id@IDE?DADAEE0 EAVFe ňF) ZA9 M >x,7[A2J\@y2k@92vY2>2H`+ݲi?@>`?`?`և?yr?2J\@ɨ2O; 20CBqBBIHJHJ5R= RW=YVM.Q V>T٣T ZGXZ Z>\]by49^ɹl?aby4Y^| i^RBdfͿqf?^ͤC^:^:^,y4h n8QAlzB*** querying acoustic contact ***ixix2i FNOT Ignoring new targets: 168.90 m.i[99"i[99% ProNav: ac range: 168.899994 m, nav range: 165.313095 m, bearing: 270.013318 deg, approach rate: -0.927827 m/s, LOS rate: 0.010128 deg/s, cmd heading: 267.003023 deg, new cmd heading: 267.014004 deg.  i-m9-HeadingCmd: 4.660274 target range: 168.899994 and range: 168.90 m.h- @h1h1h1h1g1g9bg9jg9e9eAjeAJeA:eEI?-yBɛMͅM)Q UiQ)U jTQQi]2K=i]Ͽ]SOOeIe @Ia%T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.DM?DIDIEU2 EQE}=E}=:J5BoJBJ1JJ1RJ52ZJ5-MbliXLE?60($ VF͍F ZA G )>G G +IG rBG =G DDG G <G FM > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972290ox,[[A:N@y:D^@9:Y:>:HD@?@Z񋭿@??nl?`3o?:N@ɨ:J#; :.CFqBFIIH)HMb@Mb@Mb@ )Iy~jt?Mb?ˡE?d?@='= )1AIiBAH5H5ƕ5EK= EA=YM+*Q M>I٣I MGUxFUg| U>a]my49eظl?auy4Yep ieRBu*e?mum:u̿qu?eCe+;e;;ey4 PA2iFNOT Ignoring new targets: 168.90 m.ib)9"ib)9 ProNav: ac range: 168.899994 m, nav range: 164.939255 m, bearing: 270.017227 deg, approach rate: -0.883347 m/s, LOS rate: 0.009255 deg/s, cmd heading: 267.014006 deg, new cmd heading: 267.025757 deg.  iB9HeadingCmd: 4.660479 target range: 168.899994 and range: 168.90 m.h"@hhhhggbgjg/BeejeJe:e@?yBɛEC) i) m[  i  L=iܴϿ Z⯥I"@I!DDDE@5 E%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223018ZIabIe\jIe0rIazIaIe[9Ieـ3IaIaIaIeׁ:Ieف:VFF ZA M >x,[A6C@y6S@967Y6l>6H`횳%?`X`筿 ??w?j?6C@ɨ6 ; 6+CRrBRIHZHZ5b> bS=Yf/Q f>h٣h jGjyFng n>p]vy49rl?avy4Yro irSBtvͿqv?r)Cr:ru:ry4| ~OA|checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4749612iFNOT Ignoring new targets: 168.90 m.i>'9"i>'9 ProNav: ac range: 168.899994 m, nav range: 164.597763 m, bearing: 270.020974 deg, approach rate: -0.831036 m/s, LOS rate: 0.009138 deg/s, cmd heading: 267.025754 deg, new cmd heading: 267.037019 deg.  i9HeadingCmd: 4.660675 target range: 168.899994 and range: 168.90 m.h@$@hhhhgg bg jg e ejeJe:e`~?=zBɛEwI)A E!iA)E aIIiM$L=i]kϿ]I1d]*I]@$@IYD?DDE4 EVF圼F?F>FZA5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726986M5 >:J xMBJ 9JJ RJ 3ZJ &x,Z9[A2?@y2 O@92ЙY2>2H@?`2`@ ܭA?G??qf?2?@ɨ2; 2-CN8rBRI-Mb@Mb@Mb@)) )))I)y--?A`"?J +?-5^?-Y=-H= -\SA))I-5Ai))-=BAHeHe5+= 6=Y%Q %>!٣! -G)-J ->1]=y495&l?a=y4Y5 i5NSBE^?mEs:E;̿qE?5ZC5 :5H:50y4M B MwOAU3E2iy}FNOT Ignoring new targets: 168.90 m.i9"i9 ProNav: ac range: 168.899994 m, nav range: 164.215210 m, bearing: 270.024325 deg, approach rate: -0.902305 m/s, LOS rate: 0.007922 deg/s, cmd heading: 267.037010 deg, new cmd heading: 267.047087 deg.  i9HeadingCmd: 4.660851 target range: 168.899994 and range: 168.90 m.h%@hhhhggbgjgJBeejeJe:e kF?!zBɛ_+C) *i)hiM=*Gu<"Gup<G}'>GyG}]IG}rBG} =GyGyG}̲<G}FiϿoyӳI%@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.981339DqDqDqE}4 EyEEgAVF ~FF ZA M >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2309180x,-S[AZIbI[jI1rIzIIW9I3II;II|:I|:BWA@yBP@9BYB3>BH`&@X?k @;x?}???b?BWA@ɨB !; B,CRrrBVIZ=iZ<H^H^h5f > fc=YfQ j>h٣h jGjzFn: n>p]vy49rl?avy4Yr irSBtz4̿qz?rCr:r:ry4| ~NA2i)5FNOT Ignoring new targets: 168.90 m.i5~9"i5~9 ProNav: ac range: 168.899994 m, nav range: 163.907059 m, bearing: 270.027015 deg, approach rate: -0.852818 m/s, LOS rate: 0.007458 deg/s, cmd heading: 267.047091 deg, new cmd heading: 267.055176 deg.  iˣ9HeadingCmd: 4.660992 target range: 168.899994 and range: 168.90 m.h&@hhhhggbgjgeejeJe!:e%@m;zBɛmxI)i u*i)niЭN=i ϿzzI&@IDDDE m0 E ՝ ?՝<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483322VF Fi ZA TG ;mA M >) /y ;mA Bx,!wm[A2>@y2N@92( Y2A->2Hm?s.V6]?@.#??@]?2>@ɨ2٥; 2/CFrBF(IHNHN5Vo= VL=YZ Q Z>X٣X ZGZ{F~K ~>] y49ȵl?a y4YѪ iSB?̿q?CW::y4 /NA!]B*** querying acoustic contact ***iYiY2iiFNOT Ignoring new targets: 168.90 m.i 9"i 9 ProNav: ac range: 168.899994 m, nav range: 163.558395 m, bearing: 270.030109 deg, approach rate: -0.846239 m/s, LOS rate: 0.007526 deg/s, cmd heading: 267.055178 deg, new cmd heading: 267.064481 deg.  iJ9HeadingCmd: 4.661155 target range: 168.899994 and range: 168.90 m.h.(@hhhhggbgjgeejeJe:e ]@]VzBɛ]rI)Y ]iY)efuaaie}O=imϿm܂m/%Im.(@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.736097H9H=@AD5?D1D9E=o0 EA:JBJJJRJ4ZJkVFFi Gu %>Gu CGu IGu FsBGu =Gq Gu ODGu <Gu FZA M > BDAT read: Rx Time:19:03:41.4736  TRx dataTimestamp_ set to:1736535822.059168 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987966x,U[A:4=@y:L@9: Y:i>:H 'ųݚ?q௙'`? ?ݭ?Y?:4=@ɨ:W; :,C^rB^GIMMb@Mb@Mb@II I)IIIyMOn?V-?A`"?MX?Mh=MY= MRA)ME0AIMZ4AiIIMAAHeHe5u= }>=Y}7Q }>٣ G >]y49l?ay4Y i!TBY?my:oɿq?ۥC ; ;y4 B xMA5E2iFNOT Ignoring new targets: 168.90 m.iu7"i}7 ProNav: ac range: 168.899994 m, nav range: 163.207611 m, bearing: 270.030532 deg, approach rate: -0.834362 m/s, LOS rate: 0.001008 deg/s, cmd heading: 267.064495 deg, new cmd heading: 267.065766 deg.  i18HeadingCmd: 4.661177 target range: 168.899994 and range: 168.90 m.h](@hhhhggbgjg hBe1e1je1Je1:e5 x @}tzBɛB) i)-|隉i?P=iϿ  I](@ID}?DDE EE=E>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239334ZIMibIM]jIIrIIzIM+:IM_9IIIIIM/;IM/;IMm:IMn:VF NF ZA M >x,-[A6l;@y6J@96CnY6 >6H гj?^ҕ@v `7?@y?š?`V?6l;@ɨ6; 6+C^rBbiI}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493085I)HH5= :=YQ >٣ G|F >]y49l?ay4Y isTBtɿq? C3&; ';-y4 LA2iFNOT Ignoring new targets: 168.90 m.i7"i7  ProNav: ac range: 168.899994 m, nav range: 162.842194 m, bearing: 270.030992 deg, approach rate: -0.836211 m/s, LOS rate: 0.001056 deg/s, cmd heading: 267.065779 deg, new cmd heading: 267.067163 deg.  i 98HeadingCmd: 4.661201 target range: 168.899994 and range: 168.90 m.h(@hhhhggbgjgee!je!Je!:e%@G @]zBɛ] I)Y ]RiY)e1aaieP=im*ϿmmIm(@IqD?DDE EHQ HQ } DAT read: 19:03:41.4736 LVL= 25680, 26865, 20722, 26291, AGC= 64, IDX= 66,-0.09, 0.166,-1.567,-0.161,-0.587, PHS= 0.841,-0.933, 0.423, RAW= 137.0, -4.2, CAL= 142.5, -14.0, ROT= 7.5, 14.0  Ygot valid direction response: 19:03:41.4736 LVL= 25680, 26865, 20722, 26291, AGC= 64, IDX= 66,-0.09, 0.166,-1.567,-0.161,-0.587, PHS= 0.841,-0.933, 0.423, RAW= 137.0, -4.2, CAL= 142.5, -14.0, ROT= 7.5, 14.0  PDAT read: Bearing 7.5, 14.0 (Local)  ~Local bearing/azimuth received: Bearing 7.5, 14.0 (Local)  DAT read: Range 10 to 50 : 141.0 m (Round-trip 188.0 ms) speed 0.7 m/s  ,DAT read: user:1070>  BDAT read: Tx time:19:03:42.5814  $Ping request sent. @ Q ) ,@I 5zi > 5z> mjV?ŀ?31虲I >i = > 5z>  :publishing transmit ping timeع  Fpublishing direction and range info M >4:x,[AYš!?1(6?79Kο9 )Ii )Ii mjV?ŀ?31虲Ii m.sBmIG$>GGIGsBGGGG<GFMb@Mb@Mb@ )Iyoʡ?V-?V-?M?m=m= \SA)I1AiGOAHH56= 1=YQ  > ٣   G }F >!]-z49%l?a-z4Y%B i%TB- N?m5:5˿q5?%8C%':%,:%X z4Y ]KAYZjUup?bj ii"[Aj Cj C2jz@p=$'`@F61ͅ1@]4Azpš!?1(6?79Kο"j >*j5z>pՓ '@Yay'p`Z]?̅ >Oi jHAx,I[AR=@yRQM@9R{YRu>RH@`Λ?dZX?@?`P?N?R=@ɨR; R.CbsBbIHj}Hj"5rq> rm=Yv}Q v?t٣x zGx~Vl: ~?]z49l?a z4Y] iUB  ˿q ?[C:<;_z4 %cJA!2iAMFNOT Ignoring new targets: 168.90 m.iU+8"iU+8m ProNav: ac range: 168.899994 m, nav range: 162.209076 m, bearing: 270.034657 deg, approach rate: -0.844157 m/s, LOS rate: 0.004840 deg/s, cmd heading: 267.073538 deg, new cmd heading: 267.078179 deg.  imT9uHeadingCmd: 4.661394 target range: 168.899994 and range: 168.90 m.hu#*@hqhqhyhygygybgjgeejeJe:e?5zBɛ5m[)1 5ji1)=xS99i=HR=iEϿE+oE IE#*@IID!D!D!E%0 E!E-iAE-hAVFEįF! ZA1 MM >x, [A6:@y6WJ@96}+Y6_>6H`i̳@7? @N :n ?tR?zd?`L?6:@ɨ6z~; 4BsBFIJR=iJe>HNqHNy5VzJ= VO=YZKQ Z>X٣X ZG^~F^Dq ^>d]jz49fWl?ajz4Yf ifSUBhn˿qn?fCf):f:f5%z4rB r"JAv7EB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 168.90 m.i8"i8- ProNav: ac range: 168.899994 m, nav range: 161.898972 m, bearing: 270.036454 deg, approach rate: -0.783737 m/s, LOS rate: 0.004550 deg/s, cmd heading: 267.078182 deg, new cmd heading: 267.083583 deg.  i-G95HeadingCmd: 4.661488 target range: 168.899994 and range: 168.90 m.h5*@h1h1h1h1EAEAMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.g9gbgjgeejeJe:e w?zBɛp!C) i )599iER=ieǓϿ:J;MBJ9JJRJ6ZJ-3-0I-*@I1D?DDE0 EG">GG>IGOtBGGGGò<GFHEC HECHAHE ="HE =*HEǺI5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239462VF NFy ZA M >Rx, [A=sB=IMb@Mb@Mb@ )IyS㥛?)\(?~jt?D?Ga=D= PA).AIt/Ai?AHZH`5@> 7=YQ >٣ GF > ]z49 l?az4Y _ i UBE?m:˿q? C & ; ; 4z4! %=IA)2iFNOT Ignoring new targets: 168.90 m.i_8"i_8 ProNav: ac range: 168.899994 m, nav range: 161.563599 m, bearing: 270.038347 deg, approach rate: -0.721452 m/s, LOS rate: 0.004081 deg/s, cmd heading: 267.083592 deg, new cmd heading: 267.089283 deg.  i>39 HeadingCmd: 4.661587 target range: 168.899994 and range: 168.90 m.h +@hhhhggbg!jg%Be1e9jeIJeI:eM@?uzBɛuLB)y }iy)}yyi}bS=iϿ?ԾI+@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491477^D{=D ?D D E p0 E  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742311VF ?;zF rF gAFZAM>Z x,Ym+[AJb@yJXq@9JD#YJy>JH?`y€ Jd?@AL?%M?C?Jb@ɨJy~; J/CZsBZIHbHb5jҭ= j3=YzʼnQ z>|٣| ~G|)< > ]z49 l?az4Y x i UBdʿq? ڦC ; ; Dz4! %HA!2iIUFNOT Ignoring new targets: 168.90 m.iU7b8"i]7b8u ProNav: ac range: 168.899994 m, nav range: 161.218323 m, bearing: 270.039702 deg, approach rate: -0.786208 m/s, LOS rate: 0.003090 deg/s, cmd heading: 267.089275 deg, new cmd heading: 267.093346 deg.  iu9HeadingCmd: 4.661658 target range: 168.899994 and range: 168.90 m.hN,@hhhhggbgjgeejeJe:ez?}{Bɛ}@) i)隁i>S=i1Ͽ'%IN,@I^D|=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995394ZIbIhjI2rIzIIȆ9Ic3Iq@i@u @m @DQDYDaEe71 EiEu>Eu >:JMBJMػ9JJIRJM7ZJMVF :XFy ZA M >G >G CG IG tBG =G G G <G Fm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248172Tx,E[Ar!tBv"II)Mb@Mb@Mb@ )IyCl? ףp= ?/$?;??Q8=,= PA)-AI.Ai>AHHv5= 8=YQ >٣ GF >]z49 l?az4Y i?VB ??m : ˿q ?C ; ;2Tz4B HA8E2iFNOT Ignoring new targets: 168.90 m.i8"i 8 ProNav: ac range: 168.899994 m, nav range: 160.896790 m, bearing: 270.042176 deg, approach rate: -0.694237 m/s, LOS rate: 0.005353 deg/s, cmd heading: 267.093345 deg, new cmd heading: 267.100784 deg.  i"k9HeadingCmd: 4.661788 target range: 168.899994 and range: 168.90 m.h^-@hhhhgg1bg1jg5ӁBe9e9je9Je9:e}-[@雥={Bɛ`>) i)#隱i;T=iϿ{ BI^-@IC C C C ՉՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498598DY DY DY E] o0 EY VF圼F?F"?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751902FaZAyM?]&x,`f[ARK@yR@9R&YRL>RH`Uz? Y4?D?@I:?>?RK@ɨRG; R+CWtBCIHH5= =YXŻQ >٣ GF%; %>)]5z49-il?a5z4Y- i-VB1=.˿q=?-Fi ZAy M >- x,俀[AGb>G`GbIGbWuBGb =G`GbNDGb<GbFp prDpɮpxxI|)~9Fi|)I lA ɯ CF ɰlAii~lA)# I !)%lAɱ%t!!!ɲ!i)I))I-Ci-MA 11)1I1i5SmA 5T9)99 =VlA=-=xUF9AAIA)AiA)IIMjlAMMqSF IQQQiQQiQ]\mA)Y YIY Y)YYaaae/AiaIaaiutBueIm=m%=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254447Mb@Mb@Mb@ )Iy$C?l?~jt?:?=< LA)I1,AivNAG=AHtH#5 >  j=Y Q ?٣ GF ?A]Mz49El?aMz4YE^ iEVBMt:?mM:U˿qU?E\CE:E:Euz4Y ]RFAYB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 168.90 m.i 8"i 8E ProNav: ac range: 168.899994 m, nav range: 160.197327 m, bearing: 270.047051 deg, approach rate: -0.695423 m/s, LOS rate: 0.005862 deg/s, cmd heading: 267.109109 deg, new cmd heading: 267.115420 deg.  iE9MHeadingCmd: 4.662044 target range: 168.899994 and range: 168.90 m.hMv/@hQhQhQhQgQgQbgyjg}ՁBeejeJe:e @{{BɛBM) ݿi)^Ci-T=i Ͽ - ¬I v/@I1DDDE0 EEhAEM DAT read: 19:03:45.1698 LVL= 21792, 23473, 18162, 26771, AGC= 66, IDX= 395,-0.03, 1.031,-0.628, 0.730, 0.260, PHS= 0.859,-0.841, 0.467, RAW= 137.3, -6.4, CAL= 143.1, -16.6, ROT= 6.9, 16.6 u Ygot valid direction response: 19:03:45.1698 LVL= 21792, 23473, 18162, 26771, AGC= 66, IDX= 395,-0.03, 1.031,-0.628, 0.730, 0.260, PHS= 0.859,-0.841, 0.467, RAW= 137.3, -6.4, CAL= 143.1, -16.6, ROT= 6.9, 16.6 } PDAT read: Bearing 6.9, 16.6 (Local)  ~Local bearing/azimuth received: Bearing 6.9, 16.6 (Local)  DAT read: Range 10 to 50 : 138.1 m (Round-trip 184.2 ms) speed 0.7 m/s 5 ,DAT read: user:1071> = BDAT read: Tx time:19:03:46.2830 E $Ping request sent.E  ]@  ) @I Vi Ϣ= V>   M^?Fe?,>KI Gk>i Y= Ϣ= V>   :publishing transmit ping timeA % Fpublishing direction and range info Y S0q?p5tN&y?WԷHҿ 9  FI ZAY Mu >h&x, [A )))I)i))))) )))I)i))) )-M^?Fe?,>KI)i)))) )6@y6ױ@96)Y6.r>6Hb h?@cX~@??a٣ G< >]z49}l?az4Y  iWB˿q?Ch:\;oz4 EAZj-ͷp?bj-$þ i)i-%[Aj- Cj-8 C2j-@p-YXl`@k/@FdCzp-S0q?p5tN&y?WԷHҿ"j-Ϣ=*j-V>p-2J(@ہL[a6̢!-p-k #?+Vnᅯd7i-j-GAi-tgp?i-c  j-l:Bzj)j-V0 j)jj-u Crj-Ԗ@u addTargetRange:: Added new target pos. range: 138.100006 m, deltaT: 7.307048 s, deltaX: -30.799988 m, approachRate: -4.215107 m/s, rangeRepo size: 4  Added new target pos. range: 138.100006 m, bearing: 275.215268 deg, lat: 36.903915 deg, lon: -122.119104 deg, deltaT: 7.307048 s, deltaX: -30.799988 m, approachRate: -4.215107 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 138.10 m.i"i ProNav: ac range: 138.100006 m, nav range: 137.460495 m, bearing: 270.056865 deg, approach rate: 0.000000 m/s, LOS rate: 0.005862 deg/s, cmd heading: 267.115421 deg, new cmd heading: 267.122370 deg.  iHeadingCmd: 4.662165 target range: 138.100006 and range: 138.10 m.ht0@hhhhggbgjgee!je!Je%@3Ca@:e%VD?u{Bɛ(K) ܿi)隹ikU=i}Ͽk#[It0@IeJDAT read: TxSync time:19:03:46.2822 DU?DQDQEU?5 EQIż=)ƐC }HG ) yQBVF5 ^zF9 rF= hAF ZA M >4,x,[AIsI{ 3I{L.IsIsIsZIbI[jIrIzIIW9II޵tB޽IH#Hbr5t= M=YQ >٣  G F   >]%z49 l?a%z4Y iSWB!!q-?C::z45B 5uEA5:E2iFNOT Ignoring new targets: 138.10 m.i8"i8u ProNav: ac range: 138.100006 m, nav range: 137.184586 m, bearing: 270.059187 deg, approach rate: -0.741955 m/s, LOS rate: 0.006259 deg/s, cmd heading: 267.122360 deg, new cmd heading: 267.129342 deg.  i}s9HeadingCmd: 4.662287 target range: 138.100006 and range: 138.10 m.ht1@hhhhggbgjge1e9jeAJei:eu?:JBoHBJ9JJRJ9ZJ  " {BɛHJ) % ݿi!)%!!i%1U=i-yϿ-!5dI5t1@I1GGG>GCG,IGuBG =GGG<<G(FD?DDE@5 EVF _F ZA M% >s3x,z[AB}@yBս@9B)-YB>BH 1 ?z"t?݊?v*?7?B}@ɨBy; B-CNtBNI-Mb@Mb@Mb@)) )))I)y-?Q?a٣a eGeFez; e>i]}z49ml?az4YmH imWBC@?m:˿q?mǧCmN;mM;mMz4 EA2i1=FNOT Ignoring new targets: 138.10 m.i=8"iE8M ProNav: ac range: 138.100006 m, nav range: 136.903595 m, bearing: 270.061739 deg, approach rate: -0.711945 m/s, LOS rate: 0.006477 deg/s, cmd heading: 267.129354 deg, new cmd heading: 267.137023 deg.  iU>9}HeadingCmd: 4.662421 target range: 138.100006 and range: 138.10 m.h}2@hhhhggbgjg BeejeJe:e`:;?]{Bɛ]NT)Y ]ݿia)eӂaaieNV=im7uϿ eĺzPI2@IDDDE`0 EE=E=VF wqF ZA M >} >} @79x,GW[A6ܯ@y64@967Q/Y6>>6HN%E? w@`???5?6ܯ@ɨ6: ; 4FtBFIIH)H)Np= Np=HR2HRy5VT= ZU=YZQ Z>\٣\ ^G\b9 b>d]jz49fl?anz4Yf  ifWBln˿qn?fCf06;f6;fz4t vDAt2iFNOT Ignoring new targets: 138.10 m.i8"i8 ProNav: ac range: 138.100006 m, nav range: 136.621719 m, bearing: 270.064282 deg, approach rate: -0.736135 m/s, LOS rate: 0.006655 deg/s, cmd heading: 267.137031 deg, new cmd heading: 267.144677 deg.  i)9HeadingCmd: 4.662554 target range: 138.100006 and range: 138.10 m.h3@hhhhggbgjgeejeJe:eb? {Bɛ U) tݿi)iV=ipϿ%Ǻ%"SI%3@I!D?DDEo0 EZIkbI_jIrIzI2:I=h9IIVF TFZAMM >:J% ^LBJ% ػ9JJ! RJ% :ZJ%   2@x, 7[AG">G G"^IG""vBG" =G G G"<G"FBͼ@yB%̔@9B0YB>BH@}?@@qwh7?@?? O5?Bͼ@ɨB\; B*CN uBRIMb@Mb@Mb@ )Iyy&1?Mb?:v?`E?=T< 3KA)*AI(AivNA\;AHpH@5j= 8=YܺQ >٣ GFi; >]z49jl?az4Y) i XBE?m:̿q?C:,:,z4 \DA=E2iAMFNOT Ignoring new targets: 138.10 m.iU9"iU9} ProNav: ac range: 138.100006 m, nav range: 136.286392 m, bearing: 270.067690 deg, approach rate: -0.785624 m/s, LOS rate: 0.008005 deg/s, cmd heading: 267.144681 deg, new cmd heading: 267.154932 deg.  i}ϯ9HeadingCmd: 4.662733 target range: 138.100006 and range: 138.10 m.h5@hhhhggbgjg؁BeejeJe:e`gn?{BɛѦL) ݿi)i+#W=ijϿ3ɺ>I5@IDiDiDqEq EqVFKF ZA M >Fx,J [A>΍@y>mݔ@9>!s0Y>>>H@m4?~w` *?}? ?`4?>΍@ɨ>A; >,CRuBRIHZgHZB5bu?= f^=YfQ f>h٣h jGhj; n>p]vz49rl?avz4Yr0 irDXBtz˿qz?r:Cr:r1:r z4~B ~$DA?E-B*** querying acoustic contact ***i)i)2i1=FNOT Ignoring new targets: 138.10 m.iE9"iE9U ProNav: ac range: 138.100006 m, nav range: 136.007645 m, bearing: 270.070288 deg, approach rate: -0.754661 m/s, LOS rate: 0.007048 deg/s, cmd heading: 267.154926 deg, new cmd heading: 267.162736 deg.  iUŚ9]HeadingCmd: 4.662869 target range: 138.100006 and range: 138.10 m.h]:6@hYhYhYhagagabgajgaeieijeiJei:eu c#@雝|Bɛl:X) }޿i)մ隩i6W=ifϿa ̺0#I:6@IDm?DiDqEu0 EqEyEyMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.VFzGFiZAyM>Lx,5[A2׍@y2N@92~(1Y2>2H.ѭ?ww4x@????`3?2׍@ɨ2$-; 2-CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.482672V9uBVIZ0>iZ=HbxHb5fl= jJ=YjߺQ j>l٣l rGrFrB; r>t]zz49vil?a~z4Yv8 ivXB˿q?vaCvD;vuE;v2z4  CA 2i1=FNOT Ignoring new targets: 138.10 m.iEY8"iEY8U ProNav: ac range: 138.100006 m, nav range: 135.701019 m, bearing: 270.073001 deg, approach rate: -0.758934 m/s, LOS rate: 0.006730 deg/s, cmd heading: 267.162740 deg, new cmd heading: 267.170898 deg.  iUϓ9]HeadingCmd: 4.663012 target range: 138.100006 and range: 138.10 m.h]e7@hahahahagagabgijgieieijeqJeq:eu_@U.|BɛU2uQ)Q ]޿iY)] YYi]X=ieaϿe\<κeIee7@IiDDD!D!EU0 EQ:JeLBJeh9JJaRJe;ZJe  _   }pe\VTK0*GE<"GE4<GE>GAGEIGEsvBGAGAGAGEѲ<GEFHƾC HƿCHH ="H =*Hp5U>U<]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735035VF'F ZA M5 >tSx,O[A:!@y:y@9:1Y:a>:Hᬿ@? w`?h??`3?:!@ɨ:; 8FSuBJI%Mb@Mb@Mb@!! !)!I!y%(\?X9v?I٣Q UGUFU ; U>a]mz49eϭl?amz4YeA ieXBuHN?mu:u˿qu?eCe:e8:ez4 TCA2iFNOT Ignoring new targets: 138.10 m.i 9"i 9E ProNav: ac range: 138.100006 m, nav range: 135.369888 m, bearing: 270.076213 deg, approach rate: -0.790294 m/s, LOS rate: 0.007684 deg/s, cmd heading: 267.170909 deg, new cmd heading: 267.180567 deg.  iE9MHeadingCmd: 4.663181 target range: 138.100006 and range: 138.10 m.hM8@hIhIhIhIgQgqbgqjg}ÁBeyeyjeyJey:e@@J|BɛV6Q) ޿i)i$wX=i%N\Ͽ% к%I-8@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.989456ZIhbIajIrIzI(:Ip9III);qI);iI:uI“:mD!D!D!E-0 E)VFM F! ZA1 MM > BDAT read: Rx Time:19:03:48.8676  TRx dataTimestamp_ set to:1736535829.623975 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245649Yx,i[Ar @yrx@9r2Yr>rH# ֬? w ?8?\?%3?r @ɨr; r,CbuBIH|H5%&= %L=Y-* Q ->)٣) -G15p; 5>A]Mz49EEl?aUz4YEJ iE YBQU˿qU?ECE:E:Ez4a eCAa2iFNOT Ignoring new targets: 138.10 m.i9"i9 ProNav: ac range: 138.100006 m, nav range: 135.054413 m, bearing: 270.079088 deg, approach rate: -0.789253 m/s, LOS rate: 0.007210 deg/s, cmd heading: 267.180581 deg, new cmd heading: 267.189226 deg.  iV9HeadingCmd: 4.663332 target range: 138.100006 and range: 138.10 m.h:@hhhhggbgjgeejeJe:e$ @Ub|Bɛ]GA GE IGE vBGE =GA GA GE в<GE F`x,ux[A2@y2Z@92 3Y2q>2H ի?`6u`fӞq?@0W?@?@1?2@ɨ2^; 0>yuB>IID)DMb@Mb@Mb@ )IyI +?{Gz?S㥛?9T?#=/< GA)K'AI$A}DAT read: 19:03:48.8677 LVL= 29760, 31041, 26434, 32755, AGC= 63, IDX= 405,-0.31,-2.399, 2.273,-2.658, 3.128, PHS= 0.844,-0.809, 0.494, RAW= 138.4, -7.1, CAL= 144.4, -17.2, ROT= 5.6, 17.2 Ygot valid direction response: 19:03:48.8677 LVL= 29760, 31041, 26434, 32755, AGC= 63, IDX= 405,-0.31,-2.399, 2.273,-2.658, 3.128, PHS= 0.844,-0.809, 0.494, RAW= 138.4, -7.1, CAL= 144.4, -17.2, ROT= 5.6, 17.2 PDAT read: Bearing 5.6, 17.2 (Local) ~Local bearing/azimuth received: Bearing 5.6, 17.2 (Local) DAT read: Range 10 to 50 : 135.3 m (Round-trip 180.5 ms) speed 0.8 m/s ,DAT read: user:1072> BDAT read: Tx time:19:03:49.9815 $Ping request sent.=#@ =)=K!@I=`i=+==`>9 9=H!??>K~I=r>i=.==+=i3KA7AHqHy5 B= 1=YQ >٣ GF: >]{49l?a {4YS i]YB T?m-:-{ʿq-?Cy;;{4EB=`>9 9U:publishing transmit ping timeة]Fpublishing direction and range info9Y=jJl? x0ݷ?-ҿ9999 9)9I9i99999 9)9I9i999 9=H!??>K~I9i9999 9 MBA@EZj='0p?bj=.  i9i="[Aj=LCj=pC2j=Z@p=;e;`@^9)@ X0Dzp=jJl? x0ݷ?-ҿ"j=+=*j=`>p=Kz%@Ii`A"-p=`Q?մX5i=j=+Ai=G5p?i=`  j=D:Bzj=G5p?j=` j=D:Bjj=|Crj=Z@ addTargetRange:: Added new target pos. range: 135.300003 m, deltaT: 3.784657 s, deltaX: -2.800003 m, approachRate: -0.739830 m/s, rangeRepo size: 4  Added new target pos. range: 135.300003 m, bearing: 274.580234 deg, lat: 36.904010 deg, lon: -122.119097 deg, deltaT: 3.784657 s, deltaX: -2.800003 m, approachRate: -0.739830 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 135.30 m.i"iE ProNav: ac range: 135.300003 m, nav range: 134.487915 m, bearing: 274.580690 deg, approach rate: 0.000000 m/s, LOS rate: 0.007210 deg/s, cmd heading: 267.189214 deg, new cmd heading: 267.200802 deg.  iAMHeadingCmd: 4.663534 target range: 135.300003 and range: 135.30 m.hM;@hIhIhIhQgQgQbgQjg]BeejeJe`@:ek?|BɛkF) i)i LY=i%PϿ%FӺ%شڻI%;@I!DzDhADM ?DI DI EM 0 EI  JDAT read: TxSync time:19:03:49.9807 ZI ibI ^jI rI zI +:I d9I I I /;I /;I :I :VF >uF ZA M>gx,Ԡ[A6@y6l @964Y6>6H`T?X_tM 9?~?%?30?6@ɨ6H߉; 4BuBB IHJHJ+p5R= RT=YfMQ f>d٣d jGjFn}|: n>p]-{49rl?a-{4Yr-\ irYB)5oʿq5?r Cr:rd:r{49 =6BA9B*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 135.30 m.i*:"i*: ProNav: ac range: 135.300003 m, nav range: 134.173248 m, bearing: 274.592905 deg, approach rate: -0.959326 m/s, LOS rate: 0.037328 deg/s, cmd heading: 267.200798 deg, new cmd heading: 267.237529 deg.  i:HeadingCmd: 4.664175 target range: 135.300003 and range: 135.30 m.h@@hhhhggbgjge e je Je :e`?U|BɛUk)Y }^߿iy)꽺隁iY=i;ϿYԺLI@@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D9D9D9E=5 E9VF;3FY ZAi M >M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741849jmx,g[AJg@yJ@9Jf6YJ>JH J¬?`@ q`Z vn? ??-?Jg@ɨJ; HZuBZ!IHb8Hb{5v = zG=Y~ mQ ~>٣ G Q  >]{49Ml?a{4Yd iYBʿq%?6C;;{4) -AA)2iQeFNOT Ignoring new targets: 135.30 m.im|:"iu|: ProNav: ac range: 135.300003 m, nav range: 133.844666 m, bearing: 274.605906 deg, approach rate: -0.834776 m/s, LOS rate: 0.033110 deg/s, cmd heading: 267.237517 deg, new cmd heading: 267.276615 deg.  iȵ:HeadingCmd: 4.664857 target range: 135.300003 and range: 135.30 m.hF@hhhhggbgjgee jeAJeA:eM?|BɛzT) ޿i)iwFZ=ib%Ͽ|bֺ[IF@IGIGM@AGU>GQGUIGUvBGQGQGQGU<GUF:JuOBJu 9JJqRJu=ZJuD9DADAEE5 EAEMiAEIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994800VF >uFy ZA M >?tx,^[AvuBvBIz=izF?}Mb@Mb@Mb@yy y)yIyy}$C?kt?L7A`?}Z?} 0=}+= }|EA)}z&AI}$Ai}GAy}5AHHm5c= ?=YQ >٣ GF >]{49l?a{4Y9n iAZBZ?mx:kʿq?dC::-{4 @A2iFNOT Ignoring new targets: 135.30 m.i *:"i *:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245936- ProNav: ac range: 135.300003 m, nav range: 133.490997 m, bearing: 274.619756 deg, approach rate: -0.830324 m/s, LOS rate: 0.032603 deg/s, cmd heading: 267.276613 deg, new cmd heading: 267.318274 deg.  i-:ZIEkbIAjIE2rIAzIE2:IAIEc3IAIE9;IE9;IAIE:mHeadingCmd: 4.665584 target range: 135.300003 and range: 135.30 m.hmwL@hqhqhqhqgqgqbgyjg}BeyeyjeJe:eC?-|Bɛ-0Y)) -4ۿi1)5R11i5HZ=i= ϿEhغEw@IwL@IDY>D>D9DADAEE_0 EA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498043VF5  pG ) F1 y E BZAI Mm >V{x,9[A vB]IH-aH-5== EQ=YAQ E>I٣I MGMFI M>Q]]{49Ul?ae{4YUv iUZBaaqe?UCU#;UW:UR;{4mB m<@AuBE2iFNOT Ignoring new targets: 135.30 m.iE:"iE: ProNav: ac range: 135.300003 m, nav range: 133.167267 m, bearing: 274.632498 deg, approach rate: -0.826887 m/s, LOS rate: 0.032625 deg/s, cmd heading: 267.318277 deg, new cmd heading: 267.356596 deg.  i:HeadingCmd: 4.666253 target range: 135.300003 and range: 135.30 m.hQ@hhhhggbgjgeejeJe:ek?|Bɛ _) ؿi ) gý 1i53:[=i=ο=[ں=I I=Q@IADDDEo0 E5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751190HAHEAAVF- jGM >GM CGM IGM 4wBGI GI GM MDGM <GM FFa ZAi M >:J BJ 9JJ RJ >ZJ J) I) x,[A2@y2$@929Y2>2H`̬î?zRln(?L?`?@+?2@ɨ29A; 2*CNchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003597Z=vBZoIMb@Mb@Mb@ )IyCl?J +?I +?d[?H=94= 9BA)$AI!AiGA3AHEcHE_5]= ]:=YewQ e>i٣i mGiu }>y]{49}~l?a{4Y} i}ZB \?mw:ɿq?}C}:}M:}J{4 ?A2iYeFNOT Ignoring new targets: 135.30 m.ie :"ie : ProNav: ac range: 135.300003 m, nav range: 132.799759 m, bearing: 274.646368 deg, approach rate: -0.797296 m/s, LOS rate: 0.030174 deg/s, cmd heading: 267.356608 deg, new cmd heading: 267.398334 deg.  i:HeadingCmd: 4.666981 target range: 135.300003 and range: 135.30 m.hW@hhhhggbgjgzBeejeJe:es@雭}Bɛ3>U) ؿi)ƽ隱i[=iο*ݺN9IW@I DDDEn0 EE=E==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253892ZI]jbI]djI]1rIYzI].:I]|9I]3IYI]4;I]4;I]:I]:VF "F ZA M >x,![AwvBII!)!)%= !H-YH-(5=> =^=YEQ E>A٣I MGMFM U>Y]e{49]Tl?ae{4Y] i]6[Biqq?]C];]v;]W{4 >AB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 135.30 m.i:"i: ProNav: ac range: 135.300003 m, nav range: 132.494095 m, bearing: 274.657963 deg, approach rate: -0.865840 m/s, LOS rate: 0.032920 deg/s, cmd heading: 267.398327 deg, new cmd heading: 267.433192 deg.  i:HeadingCmd: 4.667590 target range: 135.300003 and range: 135.30 m.h\@hhhhggbgjgeejeJe :e  S@5}Bɛ5Cg)1 =ӿi9)=Ƚ99i=[\=iEοE2FߺE A@IE\@IIDYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506546DD D E 0 E VF-f AF ZA M- >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757735Ax,W;[AJU@yJ@9J:YJ'>JH?#gkힿ C?@3?;k?*?JU@ɨJ4; J-CfvBfIHvTHv 5~ > ~O=YsQ >٣  G F {i;  >]5{491l?aE{4YC i[BQUɿqU?C<6<be{4eB e>AeDE2iFNOT Ignoring new targets: 135.30 m.i:"i: ProNav: ac range: 135.300003 m, nav range: 132.166245 m, bearing: 274.670249 deg, approach rate: -0.829484 m/s, LOS rate: 0.031162 deg/s, cmd heading: 267.433188 deg, new cmd heading: 267.470138 deg.  i:HeadingCmd: 4.668234 target range: 135.300003 and range: 135.30 m.h-b@hhhhggbgjgqeyejeJe:e z+@1}BɛR) rпi)(˽iu\=G>GG?IGwBGGGG~<GFi ο ⺉ H3I-b@I:J:IBJ+9JJRJ?ZJD?DDE EBDAT read: Rx Time:19:03:52.5620 TRx dataTimestamp_ set to:1736535833.151286checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010968VF hAF ZA M >(x,U[AzvB~IMb@Mb@Mb@ )IyZd;?ˡE?&1?Y?'=P= @A)b"AIAiCA1AHHHd5= >=YQ >٣ G >]{49l?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261882a{4Y i[BZ?mx:˿q?;Ccl;(j;ut{4 ]=A2iAEFNOT Ignoring new targets: 135.30 m.iM :"iM :] ProNav: ac range: 135.300003 m, nav range: 131.810989 m, bearing: 274.685237 deg, approach rate: -0.830950 m/s, LOS rate: 0.035150 deg/s, cmd heading: 267.470126 deg, new cmd heading: 267.515209 deg.  i]:eHeadingCmd: 4.669021 target range: 135.300003 and range: 135.30 m.heh@hahahihigigibgijguBeqeqjeyJey:e}U @雭G}Bɛ_) {Ϳi)s7ν隱iY\=iοBs争LtAIh@IDM?DIDQEU2 EQEmhAEmiAVF5I6F ZA9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516610M >Rx,}o[AwBI %>i p=HJHՁ5%*> -V=Y)Q ->)٣1 5G5F1 5>A]M{49ESl?aM{4YE iE7\BIIqU?EdCEu:E:Eҁ{4Y ]Y BDAT read: Tx time:19:03:53.6815 $Ping request sent.  ?+;}?V}ÿI稳>i]>s=> :publishing transmit ping timeةFpublishing direction and range infoYL=?1?ɜLԿ9 )Ii )Ii  ?+;}?V}ÿIi VFf AF ZAA M >G >G G IG xBG =G G G m<G FHɽC HɽCHH ="H =*HɈ)5:J} BoHBJ} 9JJy RJ} @ZJ}   ";x,[[AN@yN/@9NNH ?G`h,?`no?S?(?N@ɨN; N*C~XwBI]Mb@Mb@Mb@YY Y)YIYy]Q? ףp= ?A`"?]U?]Q8=]Y= ]>A)]!AI]|Ai]9BAY]0AHNH5> 4=Y_Q >٣ GFV >]{49l?a{4Y i\BV?m}:pʿq?CM::{4 j;AZj=Vn?bj=Q i9i=z[Aj=3Cj=[C2j=6@p=[ɿO;_@Ae!%@TF@MEzp=L=?1?ɜLԿ"j=s=*j=>p=>E 8@B`\`;*1p=W=bH{?76+ * K i=j=@i=T'n?i=%  j=0Bzj9j9j9jj=!Crj=m@ addTargetRange:: Added new target pos. range: 132.199997 m, deltaT: 3.780309 s, deltaX: -3.100006 m, approachRate: -0.820040 m/s, rangeRepo size: 4  Added new target pos. range: 132.199997 m, bearing: 272.539265 deg, lat: 36.904010 deg, lon: -122.119097 deg, deltaT: 3.780309 s, deltaX: -3.100006 m, approachRate: -0.820040 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 132.20 m.i"i ProNav: ac range: 132.199997 m, nav range: 131.130890 m, bearing: 274.713431 deg, approach rate: 0.000000 m/s, LOS rate: 0.035181 deg/s, cmd heading: 267.555367 deg, new cmd heading: 267.604821 deg.  iHeadingCmd: 4.670585 target range: 132.199997 and range: 132.20 m.hou@hhhhggbg)jg-Be1e1je9JeE`f`@:eE0?|}Bɛ2N) hĿi)ӽi]=iiο꺉)dIou@IDDDE EVF yJF ZA M >"ix,F[AF/@yF@9FFHT Ҫ?Rqh66?,v? ?7"?F/@ɨFN%; F+CRwBR;IH^ H^h5fu > fm=YjQ j?l٣l nGln: n?p]v{49rl?av{4Yr ir\Bxzoʿqz?rCrD;r/;r{4~B :AFEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 132.20 m.i:"i:M ProNav: ac range: 132.199997 m, nav range: 130.852371 m, bearing: 274.724804 deg, approach rate: -0.790543 m/s, LOS rate: 0.032351 deg/s, cmd heading: 267.604817 deg, new cmd heading: 267.639010 deg.  iU:UHeadingCmd: 4.671182 target range: 132.199997 and range: 132.20 m.h]Sz@hYhYhYhYgYgYbgajgaeaeajeiJei:em"?}Bɛ _) i)սi]=i%!Vο-)I-Sz@I)mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.D?DDE`0 EE=Ep=VFBdF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987396ZIq bIu ejIu 0rIq zIq Iu 9Iu ـ3Iq vx,[A6@y6<@96N=Y6>6H ꫿q?}ht@?_?ʁ?&?6@ɨ6[; 4nwBr^IIt)tHzHza5 > G=YΪQ > ٣   G F; >!]%{49%xl?a-{4Y%̼ i%<]B)-Kʿq-?%C%:%:%{41 =9A92iamFNOT Ignoring new targets: 132.20 m.i}:"i: ProNav: ac range: 132.199997 m, nav range: 130.520966 m, bearing: 274.738236 deg, approach rate: -0.858210 m/s, LOS rate: 0.034872 deg/s, cmd heading: 267.639023 deg, new cmd heading: 267.679421 deg.  iu:HeadingCmd: 4.671887 target range: 132.199997 and range: 132.20 m.h@hhhhggbgjgeejeJe:e?}BɛY) ui)T$ؽiyD^=i?ο<𺉡bI@IDMx>DM!>GG?AG >GGIGxBG =GGGͲ<GFD%?D!D!E-f0 E)E5E5E=E=:JE?LBJAJJARJEAZJE}\?}Q?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239727F ZA M >4wx,[A2@y2\@92h2H`Ϊ? zUie?&?x?xL?`(?2@ɨ2; 2*CBwBBIMb@Mb@Mb@ )IyV-?+?A`"?hQ?= S=A)AIAihAA.AH-H-i55E > =G=Y= :Q =>A٣A EGEFM_; M>Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491314]{49Ul?a{4YU` iU]BR?m:ʿq?U CU3 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743383x,[A>@y>2'@9>;Y>- >>H@Nש@?R`ki? X? Q=?*?>@ɨ>׉; >)CJ?xBJIHV>HVY~5Z/> ^S=Y^_$;Q ^>`٣` bG`fr; f>h]n{49jȨl?an{4Yj} ij]Bprʿqr?j2Cj@;jA;j{4x z7Ax2iFNOT Ignoring new targets: 132.20 m.i%":"i%":5 ProNav: ac range: 132.199997 m, nav range: 129.890335 m, bearing: 274.764895 deg, approach rate: -0.847008 m/s, LOS rate: 0.035601 deg/s, cmd heading: 267.720958 deg, new cmd heading: 267.759602 deg.  i5u:=HeadingCmd: 4.673286 target range: 132.199997 and range: 132.20 m.h=@hAhAhAhAgAgAbgIjgIeIeIjeIJeQ:eU[?雅}BɛUY) i)ܽ隉i^=i*ο=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996513ZI-jbI-bjI-1rI)zI-.:I-t9I-3I)G >G G ,IG yBG G G G t<G F:J BHBJ ػ9JJ RJ BZJ x, [A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248042N%@yN 5@9N:YN >NH`?iFn䘿@X?5?@H?+?N%@ɨNB; N*CfpxBfIj,>ijA9=,AHUHUen5e= e2=Ymi;Q m>i٣i uGuFuBq; u>y]{49}Il?a{4Y} i}?^BBK?m:3˿q?}`C}o:}:}{4B &7AGE2i)5FNOT Ignoring new targets: 132.20 m.i5:"i5:E ProNav: ac range: 132.199997 m, nav range: 129.538406 m, bearing: 274.780490 deg, approach rate: -0.751686 m/s, LOS rate: 0.033400 deg/s, cmd heading: 267.759589 deg, new cmd heading: 267.806501 deg.  iE`:mHeadingCmd: 4.674105 target range: 132.199997 and range: 132.20 m.huE@hqhqhqhqgqgqbgyjg}BeyeyjeJe:e@}Bɛ*I) ᯿i)M߽i^_=imUͿmm2ImE@IqDDDEo0 EFZAMk>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499443x,$[A64@y6D@96x9Y6 >6H ?KU&p3T`?n? :)? (.?64@ɨ6y; 4BxBFIHN)HN u5VWI> Vk=YZ;Q Z?X٣X ^G\b; b?d]f{49fl?aj{4Yf if^Bhjʿqj?fCf:f:f{4p r6Ap2i FNOT Ignoring new targets: 132.20 m.i:"i:- ProNav: ac range: 132.199997 m, nav range: 129.271622 m, bearing: 274.792143 deg, approach rate: -0.788201 m/s, LOS rate: 0.034499 deg/s, cmd heading: 267.806499 deg, new cmd heading: 267.841530 deg.  i-i:5HeadingCmd: 4.674716 target range: 132.199997 and range: 132.20 m.h5G@h1hhhggbgjgeejeJe:e@I=)C  )MUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751342yY]B7"@B~BɛEV) i)\eig_=iPͿKkp!IG@IDDDE0 EVF I6F ZA M > BDAT read: Rx Time:19:03:56.2578  TRx dataTimestamp_ set to:1736535836.931250 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004506ZIM lbIM ijII rII zIM <5:IM ڈ9II II x,6Z>[A6A@y6P@96}8Y6. >6HJ r?Tu`'r@ i?`?>?.?6A@ɨ6%; 4VxBVIH^0H^%x5rB= rG=Yr;Q r>t٣t vGvFzz; z>x]-{49zl?a5{4Yz0 iz^B15ʿq5?zCzbG]CG]IG]yBGYGYGYG]<G]FDDDEA5 E:JBJ9JJRJCZJmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256169VF{#FZAM >[x,z4X[ABVO@yB^@9Bm8YB >BHr?g}s#A1x??&? g0?BVO@ɨB; B,CRyBR$I)V= V=5Mb@Mb@Mb@11 1)1I1y5?:v?l?5fF?5<5= 5:A)5AI5hAi5S=A15\+AHM+HMu5U= ]C=Y]/:Q ]>i٣i mGmFm ; u>DAT read: 19:03:56.2578 LVL= 24368, 32753, 20530, 32755, AGC= 65, IDX= 399,-0.41, 2.382, 0.796, 2.139, 1.627, PHS= 0.843,-0.784, 0.509, RAW= 138.8, -7.7, CAL= 145.0, -17.8, ROT= 5.0, 17.8 Ygot valid direction response: 19:03:56.2578 LVL= 24368, 32753, 20530, 32755, AGC= 65, IDX= 399,-0.41, 2.382, 0.796, 2.139, 1.627, PHS= 0.843,-0.784, 0.509, RAW= 138.8, -7.7, CAL= 145.0, -17.8, ROT= 5.0, 17.8 PDAT read: Bearing 5.0, 17.8 (Local)  ~Local bearing/azimuth received: Bearing 5.0, 17.8 (Local) DAT read: Range 10 to 50 : 129.0 m (Round-trip 172.1 ms) speed 0.8 m/s ,DAT read: user:1074> %BDAT read: Tx time:19:03:57.3815 %$Ping request sent.%?ќӿؽC9عؽ0_ ٽ)ٽ2PIٹiٽAٽW?ٽ9HٽM?ٽ @ ڽ )ڽp!@Iڽiڽ¸=ڽ>ڹ ۹۽ؤ?>n?ݓI۽^>i۽JU >۽¸=۽>۹ ܹM:publishing transmit ping time!MFpublishing direction and range infoعYؽFN)Z?]9h>?ќӿع9عع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ ۹۽ؤ?>n?ݓI۹i۹۹۹۹ ܹ]|49l?a|4YE i'_BF?m:B˿q?׫Cf::d|4 4AZj)p?bj~ ii[[[AjCj,C2j^@pKޖ^@Oܢh%@ CzpFN)Z?]9h>?ќӿ"j¸=*j>pu$@jΕ_*.p 4Փn?yx￸vΤifj$Ai p?iu  jx,ܻr[ARm\@yRk@9RQy7YR >RH@ ?4u@iuS? ?o*? 1?Rm\@ɨRcC; R*CbHyBbNIHjHjKk5r *> rL=Y ;Q  >٣ G؁; >]M|49l?aM|4Y ij_BIM˿qM?C;;8|4UB ]3A]IE2iFNOT Ignoring new targets: 129.00 m.i):"i): ProNav: ac range: 129.000000 m, nav range: 128.338104 m, bearing: 274.833544 deg, approach rate: -0.830188 m/s, LOS rate: 0.037154 deg/s, cmd heading: 267.930590 deg, new cmd heading: 267.967653 deg.  i:HeadingCmd: 4.676918 target range: 129.000000 and range: 129.00 m.hP@hhhh g g bg jg eejeJe:eK?雅H~BɛZ) i)隑i<@`=i)ͿEIP@IDqDqDqEu4 EqVF׹G>GCGIG/zBG =GGLDG<GFF ZA) M >:J JBJ h9JJ RJ DZJ J hAI hA@x,Ul[A=fyB=`IMb@Mb@Mb@ )IyˡE?~jt?V-?G?=< 5A)AIAi?9A(AH-H-Z5}= }4=Y}Q }>٣ GF >]|49Ŧl?a|4Y i_BOH?m:ȿq?&CX::|4 ]3A2iFNOT Ignoring new targets: 129.00 m.ik:"ik: ProNav: ac range: 129.000000 m, nav range: 127.996857 m, bearing: 274.846278 deg, approach rate: -0.773553 m/s, LOS rate: 0.028942 deg/s, cmd heading: 267.967664 deg, new cmd heading: 268.005967 deg.  i:HeadingCmd: 4.677587 target range: 129.000000 and range: 129.00 m.hʮ@hhhhggbgjgBee!je!Je):e5 ?]`~Bɛ]J)a e;ia)e5aaie{`=imDͿm u Iuʮ@IqD D D E_0 EII3I .IIIZInbIejIrIzI|;:I9IIIJ;qIJ;iI:uI:mVFu JFA ZAQ Me >#x,zR[A6$E@y6}T@96#8Y6A>6H@j?@Os`7# n??\? C4?6$E@ɨ6'; 4^yB^~IHjHjM5r > rh=YrĺQ r>t٣t vGvFz z>|]|49~l?a|4Y~ i~_BAɿq ?~HC~:~:~;+|4 2A2i9EFNOT Ignoring new targets: 129.00 m.iM$:"iM$:] ProNav: ac range: 129.000000 m, nav range: 127.728630 m, bearing: 274.856662 deg, approach rate: -0.761374 m/s, LOS rate: 0.029537 deg/s, cmd heading: 268.005968 deg, new cmd heading: 268.037185 deg.  i]+:eHeadingCmd: 4.678132 target range: 129.000000 and range: 129.00 m.heA@hahahihigigibgijgqeqeyjeyJey:e}f?%t~Bɛ%`=Q)! %i!)-))i-`=i5grͿ5$5?I5A@I9DDDEo0 EVF zFrFiAFZAM- > A x,*9[A6X@y6Xh@96 6Y6= >6Hܥ@O?<YvUGCG&IGzBG =GGJDGݲ<GFH}¼C H}¼CH}”CH} ="H} =*H}25:JBJS9JJRJEZJ-yB-IMb@Mb@Mb@ )Iyv/?V-?y&1?xI?<`< +5A)9AI$Ain8A'AH-H- Y5E#= MY٣Y eGeFmt; m>q]}|49uFl?a}|4Yu iuj`B}I?m}:}vʿq}?uCuw:u;uA|4 B =2AKEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 129.00 m.i:"i: ProNav: ac range: 129.000000 m, nav range: 127.231506 m, bearing: 274.878150 deg, approach rate: -0.759381 m/s, LOS rate: 0.032953 deg/s, cmd heading: 268.037196 deg, new cmd heading: 268.101913 deg.  i: HeadingCmd: 4.679261 target range: 129.000000 and range: 129.00 m.h @h h h h g g bg jg Be e je Je :e ?E ~BɛE H<)A E iA )E I I iM `=iM bMͿU _U &IU @Ia D D D E B5 E  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ZIqbIrjIrIzID:I9IIIMZ;IOZ;I:I:VFhAFQZAaM} ?Lx,[A>yt@y>҃@9>s4Y> >>H .$?@c z CR? <?`?6?>yt@ɨ>Ո;  5=Y5i;Q =?9٣9 =G9E3< E?I]U|49Ml?aU|4YM iM`BQ] ʿq]?MCM:M:ML|4a e1Aa2iiuFNOT Ignoring new targets: 129.00 m.i}! :"i}! : ProNav: ac range: 129.000000 m, nav range: 126.996780 m, bearing: 274.888000 deg, approach rate: -0.712935 m/s, LOS rate: 0.029972 deg/s, cmd heading: 268.101918 deg, new cmd heading: 268.131523 deg.  i:HeadingCmd: 4.679778 target range: 129.000000 and range: 129.00 m.h@hhhhggbgjge!ejeJe:e:@~BɛP) ĕi)  i Ba=i%u<Ϳ%Z%I%@I)F?<%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264484DDDE3 EVF {#F ZA M% >ox,[A6Q@y6@969G3Y6 >6H `?r@H}?K? ?8?6Q@ɨ6K; 4Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.515083HDHFBA}zB}I)= =H&Hs5j= D=Y{;Q >٣ GF; >]|49l?a|4Y" i`Bɿq?ϬCl:6:)[|4 0A2iFNOT Ignoring new targets: 129.00 m.i J:"i J: ProNav: ac range: 129.000000 m, nav range: 126.677841 m, bearing: 274.900985 deg, approach rate: -0.820912 m/s, LOS rate: 0.033505 deg/s, cmd heading: 268.131534 deg, new cmd heading: 268.170585 deg.  i:%HeadingCmd: 4.680459 target range: 129.000000 and range: 129.00 m.h%Sƕ@h!h!h!h!g)g)bg)jg)e1e1je1Je9:e=@m~BɛmQ)i mii)mqqiua=i} &Ϳ}A }hI}Sƕ@ID?DDEn0 EG׽>GCGkIG{BG =GEDGGDG<GtF:JBJ]9JJRJFZJ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767313VFJFi ZA M >cYx,o[A) "@F#@yF|@9F{T2YF. >FH GaH?sK; ?@-??:?F#@ɨFʇ; Dޕ4zBޕIUMb@Mb@Mb@QQ Q)QIQyUkt?:v??U P?UT=U< U3A)UAIQiU+5AQU%AHeHej5u= }==Y}n ;Q }>٣ GFt; >]|49¦l?a|4Y+ i3aBP?m:ſq?C#::Cj|4 10A2iFNOT Ignoring new targets: 129.00 m.i49"i49 ProNav: ac range: 129.000000 m, nav range: 126.334137 m, bearing: 274.910271 deg, approach rate: -0.795483 m/s, LOS rate: 0.021551 deg/s, cmd heading: 268.170575 deg, new cmd heading: 268.198510 deg.  il:HeadingCmd: 4.680947 target range: 129.000000 and range: 129.00 m.hQʕ@hhhhggbg jg Be ejeJe:e`"@=~BɛEI)A E듿iI)MIIiMYa=iU'ͿU6aUvҊI]Qʕ@IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020540 PExceeded connect timeout, disconnecting.ZI%pbI%fjI%0rI!zI%A:I%9I%ـ3I!I%T;I%T;I%:I%:D?DDEo0 EVF% ̻F ZA M5 >E BDAT read: Rx Time:19:03:59.9538 E TRx dataTimestamp_ set to:1736535840.719351M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272300 x,pD0[A6@y6M@96K1Y6] >6Hx5?47łf? ?>?@;?6@ɨ6*; 6(CBkzBBIHJHJn5V> Vm=YZb@;Q Z?X٣X ZG\^ޫ; ^?`]f|49bfl?af|4Yb2 iboaBhjſqj?bCb:b :bQv|4n"B ne/ArME2iIMFNOT Ignoring new targets: 129.00 m.iU9"iU9e ProNav: ac range: 129.000000 m, nav range: 126.059792 m, bearing: 274.917496 deg, approach rate: -0.778018 m/s, LOS rate: 0.020533 deg/s, cmd heading: 268.198497 deg, new cmd heading: 268.220219 deg.  iexa:mHeadingCmd: 4.681326 target range: 129.000000 and range: 129.00 m.hml͕@hihihihigqgqbgqjgqeejeJe:e @~Bɛ nO) i ) ?  i Ib=i Ϳ%+-GKI-l͕@I9DDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523466VFXFZAM5 >*Gu <"Gu p<G} ɽ>G} CG} IG} t{BG}  =Gy G} EDG} <G} Fox,8J[A~u@y~Е@9~O0Y~}9>~Hꞿ?MR`????`??~u@ɨ~8; ~'C%{zB% I5=i54<Mb@Mb@Mb@ )IyʡE?y&1?Q?O?`e=< t/A)SAIAiZ4A%DAT read: 19:03:59.9539 LVL= 27760, 32753, 26962, 32755, AGC= 66, IDX= 406,-0.07,-1.978, 2.769,-2.153,-2.697, PHS= 0.807,-0.770, 0.541, RAW= 140.9, -7.9, CAL= 147.3, -17.6, ROT= 2.7, 17.6 5Ygot valid direction response: 19:03:59.9539 LVL= 27760, 32753, 26962, 32755, AGC= 66, IDX= 406,-0.07,-1.978, 2.769,-2.153,-2.697, PHS= 0.807,-0.770, 0.541, RAW= 140.9, -7.9, CAL= 147.3, -17.6, ROT= 2.7, 17.6 =PDAT read: Bearing 2.7, 17.6 (Local) =~Local bearing/azimuth received: Bearing 2.7, 17.6 (Local) DAT read: Range 10 to 50 : 126.0 m (Round-trip 168.1 ms) speed 0.6 m/s ,DAT read: user:1075> BDAT read: Tx time:19:04:01.0816 $Ping request sent. .B?} I ?!wRI>in/>A=nF> :publishing transmit ping timeؑFpublishing direction and range infoYPw?M0Q?-JZӿ9:JBJ9JJRJGZJ  )Ii )Ii .B?} I ?!wRIi  #AHu.HuBw5\< !=Y:Q >٣ GF=; >!]]|49%l?a]|4Y%= i%aBe@P?me:eĿqe?%SC%;%;%[|4i m%/AqZjF<*n?bj ii>N[AjBjYB2ja@p]@;\@ة- CzpPw?M0Q?-JZӿ"jA=*jnF>ps[@`6w3_/p ʫ?&A￟))ij@in?i˟  j:Bzj p?jc jjjBrjbk@E addTargetRange:: Added new target pos. range: 126.000000 m, deltaT: 3.788129 s, deltaX: -3.000000 m, approachRate: -0.791948 m/s, rangeRepo size: 4  Added new target pos. range: 126.000000 m, bearing: 273.136787 deg, lat: 36.904005 deg, lon: -122.119096 deg, deltaT: 3.788129 s, deltaX: -3.000000 m, approachRate: -0.791948 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 126.00 m.i"i ProNav: ac range: 126.000000 m, nav range: 125.530113 m, bearing: 274.696485 deg, approach rate: 0.000000 m/s, LOS rate: 0.020533 deg/s, cmd heading: 268.220217 deg, new cmd heading: 268.253169 deg.  iHeadingCmd: 4.681901 target range: 126.000000 and range: 126.00 m.h"ҕ@hhhhggbgjgBeejeJe_@:e nN?雕Bɛ@) Ei)gib=i̿%%dcI-"ҕ@I)D1zD5hA JDAT read: TxSync time:19:04:01.0808 ZI obI hjI rI zI >:I Ȇ9I I I }O;I O;I Ӭ:I լ:D D D E m0 E E =E >  nManaging dock network, ignoring radio surface power offVF FyZAM>x,h[A MGekA }A)ykAwBi@yƕ@9-0Yj#>H`L?ȿ$=S?1?@Y?`B?i@ɨg; (CzB*IH5H5T5E= E>=YMQ m>i٣q uGuFuQ< u>y]|49}l?a|4Y}}F i}bBĿq?}~C}J;}t;}7|4 U.AB*** querying acoustic contact ***ii2i)-FNOT Ignoring new targets: 126.00 m.i59"i59E ProNav: ac range: 126.000000 m, nav range: 125.192871 m, bearing: 274.704019 deg, approach rate: -0.819420 m/s, LOS rate: 0.018354 deg/s, cmd heading: 268.253166 deg, new cmd heading: 268.275828 deg.  ieI:mHeadingCmd: 4.682296 target range: 126.000000 and range: 126.00 m.hm_Օ@hihqhqhqgqgqbgyjgyeyeyjeyJe:e`? Bɛ P)  i )•iSb=iE̿EDERKpIE_Օ@IIDDDEo0 EVF _ve T****** received valid address query ******e R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.F ZA M >L x,[AJ@yJJ@9J1YJ=JH@F`?J hqֈ`\??@K?^K?J@ɨJl; J&CVzBZ<IHb(Hbt5j= jf=Yj>Q j>l٣l nGprW r>t]z|49vKl?a~|4YvM ivXbB|Ŀq?vCv:;v:;v|4  -A 2iFNOT Ignoring new targets: 126.00 m.i9"i9 ProNav: ac range: 126.000000 m, nav range: 124.914070 m, bearing: 274.710369 deg, approach rate: -0.795000 m/s, LOS rate: 0.018149 deg/s, cmd heading: 268.275815 deg, new cmd heading: 268.294909 deg.  iIG:HeadingCmd: 4.682630 target range: 126.000000 and range: 126.00 m.GŽ>GCGIG{BG =GGG<GFhؕ@hhhhggbgjgeejeJe:e`8?5*Bɛ]sQ)Y ]iY)e'aaieOc=i̿`Iؕ@ID1D1D1E=1 E9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987311:J=KBJ=9JJ9RJ=HZJ= taQB6*!  JIIMgAVFV'SFi ZAq M >&x,[AB@yBޱ@9B#L1YB=BH \?I @ i?`6 ? 5?>H?B@ɨBx; B(CNzBNNI)R= Ra=-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240884EMb@Mb@Mb@AA A)AIAZIMrbIMijIIrIIzIMG:IMڈ9IIIIIM_;IM_;IMh:IMj:yECl?I +? rh?EO?E94=EC = E.A)EAIE?AiEt/AAE AHuHu Y5v}= 1=YQ >٣ GFUF >]|49êl?a|4YzW ibB[P?m:ǿq?ѭC ;;|4$B ~-ANE2iFNOT Ignoring new targets: 126.00 m.i9"i9 ProNav: ac range: 126.000000 m, nav range: 124.549057 m, bearing: 274.721617 deg, approach rate: -0.812762 m/s, LOS rate: 0.025117 deg/s, cmd heading: 268.294912 deg, new cmd heading: 268.328753 deg.  i:mHeadingCmd: 4.683220 target range: 126.000000 and range: 126.00 m.hmܕ@hihihihigigqbgqjguyBeqeyjeyJey:e}k?ABɛ6H)  i)f0ic=i̿ޥCԻIܕ@IaDDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.490990VF ԑF ZA M% >,x,h[A6@y6F@96/Y6J>6H1 *?@ǾO7? ?@[ÿ?JG?6@ɨ6q; 6)CR'{BRtIHZ HZq5fS5> fl=Yf;Q j?h٣h jGhnp; n?p]v|49r%l?av|4Yr^ irbBtzƿqz?rCrS:r:r|4 ,A2iFNOT Ignoring new targets: 126.00 m.i|9"i|9 ProNav: ac range: 126.000000 m, nav range: 124.274467 m, bearing: 274.729980 deg, approach rate: -0.749974 m/s, LOS rate: 0.022893 deg/s, cmd heading: 268.328763 deg, new cmd heading: 268.353908 deg.  ia{:HeadingCmd: 4.683659 target range: 126.000000 and range: 126.00 m.h@hhhhggbgjgeejeJe:ez?-SBɛ-0O)) 5|i1)511i5c=iEI̿M MϞIM@II5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742968D=?D9D9E= 5 E9GGAAG>GGIG+|BGGGDDGݲ<GFVFm4λFq ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996974e3x,[A:J&NBJ&ػ9JJ$RJ&IZJ& "#)*+,)'$#'/6665/**(%    J.? J.>B @yBfǕ@9B.YBo>BH` )? a@%@  ??%?F?B @ɨBM=; @n6{Bn~IMb@Mb@Mb@ )Iy|?5^?~jt?L7A`?R?D=+= -A)AIi.A( AHHn5@ = 8=Y[2;Q >٣ GFH; >]|49Ϋl?a|4Y"h i;cBxS?m : >ƿq ?"C‡;;-|4! %F,A)2iquFNOT Ignoring new targets: 126.00 m.i}^9"i}^9 ProNav: ac range: 126.000000 m, nav range: 123.917969 m, bearing: 274.739970 deg, approach rate: -0.829723 m/s, LOS rate: 0.023318 deg/s, cmd heading: 268.353898 deg, new cmd heading: 268.383954 deg.  i:HeadingCmd: 4.684184 target range: 126.000000 and range: 126.00 m.h@hhhhggbgjgBeejeJe:e`@hBɛd I) Ki)i~]d=i̿uߞI@ID=?DADAEE5 EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247453VF XFY ZAi M > :x,[A:Ŏ@y:nԕ@9:-Y:o'>:H{?xc@-?v?O?@!H?:Ŏ@ɨ: ; :(CJz{BJIHPHPZ;> Zb=Y^;Q ^>`٣` bGbFb͏; f>d]j|49fcl?aj|4Yfo if}cBl= ƿq=?fGCfeM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751001ZI lbI cjI rI zI <5:I x9I I q @i @u @m @@x,[A6ˎ@y6qڕ@96?-Y6y)>6H?Cm`@U? ??H?6ˎ@ɨ6ݟ; 4R{BRIHZHZen5bd= bI=Yb :Q f>d٣d fGdj<: j>p]v|49rl?av|4Yrxx ircBtvſqv?rqCr:r:r |4z%B ~*A~PEB*** querying acoustic contact ***ii2i!-FNOT Ignoring new targets: 126.00 m.i-@9"i-@9E ProNav: ac range: 126.000000 m, nav range: 123.298706 m, bearing: 274.756889 deg, approach rate: -0.845687 m/s, LOS rate: 0.023086 deg/s, cmd heading: 268.408020 deg, new cmd heading: 268.434827 deg.  iE}:MHeadingCmd: 4.685071 target range: 126.000000 and range: 126.00 m.hM@hIhIhIhIgIgIbgQjgQeQGm>GmCGmFIGm||BGiGiGiGm=<GmFH%C H%CH!H% ="H% =*H% 6eQjeJe:e.3@-Bɛ5MI)9 =ii9)=:^99i=e=iE̿EMvIM@IID?DDEo0 EBDAT read: Rx Time:19:04:03.6500 TRx dataTimestamp_ set to:1736535844.247250checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004126:JMBJ9JJRJJZJJIVF5g{F ZA! ME >VGx,=[A6Ў@y6V@96,Y6/>6H?ܚ b'|@?c}?@[0?H?6Ў@ɨ6ǵ; 6%CB{BBIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255085%Mb@Mb@Mb@!! !)!I!y%m??Q?%N?%L=%\= %*A)%?AI%Ai%,A!%AHHo5J= 9=Y:Q >٣ GF: >]|49l?a|4Y idB.O?m:nſq ?C8::m|4 _*A2iAMFNOT Ignoring new targets: 126.00 m.iMq9"iMq9e ProNav: ac range: 126.000000 m, nav range: 122.951645 m, bearing: 274.765735 deg, approach rate: -0.788569 m/s, LOS rate: 0.020157 deg/s, cmd heading: 268.434822 deg, new cmd heading: 268.461436 deg.  ieU]:eHeadingCmd: 4.685536 target range: 126.000000 and range: 126.00 m.hm@hihihihigigibgyjg}BeyeyjeyJe:el @雭Bɛ;H) |i)7隱ite=i̿"jI@IDDDEi0 E DAT read: 19:04:03.6500 LVL= 26912, 32753, 21106, 32755, AGC= 64, IDX= 397, 0.33,-2.284, 2.617,-2.446,-2.931, PHS= 0.735,-0.689, 0.482, RAW= 140.4, -8.1, CAL= 146.7, -17.8, ROT= 3.3, 17.8  Ygot valid direction response: 19:04:03.6500 LVL= 26912, 32753, 21106, 32755, AGC= 64, IDX= 397, 0.33,-2.284, 2.617,-2.446,-2.931, PHS= 0.735,-0.689, 0.482, RAW= 140.4, -8.1, CAL= 146.7, -17.8, ROT= 3.3, 17.8  PDAT read: Bearing 3.3, 17.8 (Local)  ~Local bearing/azimuth received: Bearing 3.3, 17.8 (Local)  DAT read: Range 10 to 50 : 123.1 m (Round-trip 164.2 ms) speed 0.7 m/s  ,DAT read: user:1076>  BDAT read: Tx time:19:04:04.7316  $Ping request sent. ٽ @ ڽ)ڽ#@Iڽiڽk=ڽ>ڹ ۹۽ Z?CXc?VxI۽Pn>i۽N>۽k=۽>۹ ܹ :publishing transmit ping time  Fpublishing direction and range infoعYؽ j?KG4?ќӿع9عع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹVF% yڹ ۹۽ Z?CXc?VxI۹i۹۹۹۹ ܹF ZA M- >uGMx,[7[A6iώ@y6ޕ@96B~,Y6>6H7`>?hɿ |?u?NH?H?6iώ@ɨ6; 6'Cb{BbIHj'Hj(t5 A=  Y=Y y%:Q  >٣ GF- =>A]M}49El?aM}4YE iE[dBQUvſqU?EĮCE:E:E}4Y ])AYZjyNo?bjN  iiA(0[Aj3BjB2j @pT@]@ @sBzp j?KG4?ќӿ"jk=*j>p+ @;Ip^,O0pOJf?!,N},ijiAiܼRo?i  j:BzjܼRo?j˟ j:Bjj^Brjm@E addTargetRange:: Added new target pos. range: 123.099998 m, deltaT: 3.529919 s, deltaX: -2.900002 m, approachRate: -0.821549 m/s, rangeRepo size: 4 u Added new target pos. range: 123.099998 m, bearing: 273.771459 deg, lat: 36.903985 deg, lon: -122.119092 deg, deltaT: 3.529919 s, deltaX: -2.900002 m, approachRate: -0.821549 m/s, posRepo size: 4 2iq}FNOT Ignoring new targets: 123.10 m.i}"iy ProNav: ac range: 123.099998 m, nav range: 122.185265 m, bearing: 273.766589 deg, approach rate: 0.000000 m/s, LOS rate: 0.020157 deg/s, cmd heading: 268.461432 deg, new cmd heading: 268.485506 deg.  iHeadingCmd: 4.685956 target range: 123.099998 and range: 123.10 m.hZ@hhhhggbgjgee je Je `f^@:e-@]?UBɛ]F)Y ]uiY)] Yaieme=ier̿mimIZ@IDzDiAJDAT read: TxSync time:19:04:04.7308 ZIgbI\jIrIzI%:I[9IID!D!D!E%p0 E!E5hAE5iA*G]<"G]<GaGaGeIGe|BGe =GaGaGe/<GeFVFe xFu ?Fu >FI ZA M >"/Tx,Q[A2JĎ@y2ӕ@92-Y2^>2Hԕ`̼?Dѿ3@o?`ʅ?S?xG?2JĎ@ɨ2; 2&CB|BFI:JrN KBJrS9JJpRJrKZJrMb@Mb@Mb@ )IyʡE?y&1?Q?O?`e<< (A)AI+ Ai*AAHHK5= ?=YNQ >٣ GO >]}49l?a}4Yj idBO?m:T˿q?Cb::}4'B (ARE2i!%FNOT Ignoring new targets: 123.10 m.i- :"i- := ProNav: ac range: 123.099998 m, nav range: 121.849831 m, bearing: 273.779780 deg, approach rate: -0.826548 m/s, LOS rate: 0.032594 deg/s, cmd heading: 268.485502 deg, new cmd heading: 268.525184 deg.  i=:EHeadingCmd: 4.686648 target range: 123.099998 and range: 123.10 m.hE@hAhAhAhIgIgIbgIjgUkBeejeJe:e`?eBɛe|F)i mmiq)u'qqiuz&f=iS[̿It ĻI@ID!D!D!E%0 E)VF ćF ZA M >XZx,wfk[A6踎@y6Aȕ@96-Y6O>6HG?_T@҃@?? A?G?6踎@ɨ6g; 6(CBN|BB*IHJHJkf5R> V_=YVQ V>X٣X ZGZFZ&x ^>`]f}49bl?af}4Yb ibdBdf˿qf?bCb`:b:b`"}4h n'Al2iFNOT Ignoring new targets: 123.10 m.i0 :"i0 : ProNav: ac range: 123.099998 m, nav range: 121.559311 m, bearing: 273.791453 deg, approach rate: -0.749970 m/s, LOS rate: 0.030204 deg/s, cmd heading: 268.525172 deg, new cmd heading: 268.560272 deg.  iӥ:HeadingCmd: 4.687261 target range: 123.099998 and range: 123.10 m.h @hhhhggbgjgeejeJe:e?BɛnH) ci)B{!!i%uf=i%>G̿- -9I- @I)DDDE2 EVF4λFZAM >ZI fbI YjI 1rI zI |":I [O9I 3I @ax,1B[A2廎@y2>˕@92k.Y2>2H ?@Hʿ @=??rV?D?2廎@ɨ2R; 0Rj|BR;IV=iVI?TTHZHZ-I5f-= fH=Yf.Q j>h٣h jGjFnj: r>p]v}49rl?az}4Yr ir)eBxzu˿qz?r>Cr:r:r0}4G>GGIGG}BG =GGG<<GF %'A!=B*** querying acoustic contact ***i9i92iQUFNOT Ignoring new targets: 123.10 m.i:"i:% ProNav: ac range: 123.099998 m, nav range: 121.235764 m, bearing: 273.804465 deg, approach rate: -0.821401 m/s, LOS rate: 0.033123 deg/s, cmd heading: 268.560279 deg, new cmd heading: 268.599420 deg.  i-۵:-HeadingCmd: 4.687944 target range: 123.099998 and range: 123.10 m.h-@h1h1h1hQgQgYbgYjgYeYeajeaJea:ee@?5Bɛ5C)1 5ai9)=?99i= f=iM0̿P I5@IAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D!D!D!E%S1 E!:J5a3JBJ5 9JJ1RJ5LZJ5VFe FA ZAa M >Bgx,q[AF|Ȏ@yFו@9FS-YFIn>FH"J?Wp\@??d?xF?F|Ȏ@ɨF; DR|BRYI^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727356MMb@Mb@Mb@II I)IIIyMHzG?Q٣Q ]GY][; ]>a]m}49eŬl?am}4Ye ieweBupJ?mu:uʿqu?elCea;e;e@}4y }&A2iFNOT Ignoring new targets: 123.10 m.i/:"i/:- ProNav: ac range: 123.099998 m, nav range: 120.882668 m, bearing: 273.817570 deg, approach rate: -0.764433 m/s, LOS rate: 0.028454 deg/s, cmd heading: 268.599429 deg, new cmd heading: 268.638859 deg.  i-8:-HeadingCmd: 4.688632 target range: 123.099998 and range: 123.10 m.h5G @h1h1h1h1g1g1bg9jg=Be9eAjeAJea:ee?雭BɛLA) Zi)隱iXg=iP̿~ eIG @I Imż=)mCD?DDE@5 E nG;mA =A)u yu;mAuBmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.979341VF F ZA M >mx,y=[A6ڎ@y6v@96ص+Y6>6H`8盿ۺ?9pv? ]??@G?6ڎ@ɨ6և; 6*CR|BRsIHZHZX[5b5= fh=Yf;Q f>h٣h jGjFj; j>p]v}49rl?av}4Yr- ireBxzLʿqz?rCr3&;r ;rM}4~)B ~4&ATE2i)-FNOT Ignoring new targets: 123.10 m.i5t:"i5t:E ProNav: ac range: 123.099998 m, nav range: 120.610138 m, bearing: 273.827465 deg, approach rate: -0.789515 m/s, LOS rate: 0.028732 deg/s, cmd heading: 268.638853 deg, new cmd heading: 268.668607 deg.  iE:MHeadingCmd: 4.689152 target range: 123.099998 and range: 123.10 m.hM @hIhIhIhIgQgQbgQjgYeYeYjeYJea:ee/~@雕 BɛEH)  Ti)D隩iIUg=iK ̿_ ⦱I @IDU?DQDQEU`0 EQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.232885ZIUebIU[jIU0rIQzIU\:IUW9IUـ3IQGGG>GCGIG}BG =GGCDGв<GFVFU4λF)ZA9MU>} M?} %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483736(tx,M[A>@y>u@9>׺*Y>V>>H`.ں? E`o@|?>??VH?>@ɨ>-3; >(CN|BNIIP)P)V= V=:JrBJr9JJpRJrMZJrEMb@Mb@Mb@AA A)AIAyEsh|??MbPX9v?EI?EE< E$A)EZ AIE AiEC'AAEAHUHU\5m= m?=Ym;Q m>q٣q uGuFuւ; }>]%}49l?a%}4YK ieB-#J?m-:-8Ϳq-?Cn::\}41 =%A92iaeFNOT Ignoring new targets: 123.10 m.im':"im':} ProNav: ac range: 123.099998 m, nav range: 120.265594 m, bearing: 273.843814 deg, approach rate: -0.770229 m/s, LOS rate: 0.036653 deg/s, cmd heading: 268.668606 deg, new cmd heading: 268.717793 deg.  i}<:HeadingCmd: 4.690010 target range: 123.099998 and range: 123.10 m.h@hhhhggbgjgwBeejeJe:e9@Bɛ ?) yNi)Sig=iu*˿uw uIu@IyD DDEb0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.735827VF TF ZA M >\zx,|[A:f@y:@9:2)Y:YJ>:Hш~?`Ys@Όib?&??G?:f@ɨ:7; :$CF}BFIHNHNa5Z= ZY=YZ:Q ^>\٣\ bG`b: b>d]j}49f۪l?aj}4Yf if7fBhn$Ϳqn?fޯCf ;f ;f+i}4p r$At2i!-FNOT Ignoring new targets: 123.10 m.i5&:"i5&:E ProNav: ac range: 123.099998 m, nav range: 119.990593 m, bearing: 273.856852 deg, approach rate: -0.763861 m/s, LOS rate: 0.036298 deg/s, cmd heading: 268.717783 deg, new cmd heading: 268.756986 deg.  iEI:MHeadingCmd: 4.690694 target range: 123.099998 and range: 123.10 m.hM+@hIhIhIhQgQgQbgYjgYeYeYjeYJea:ee@雍BɛiD) Ii)隑ig=i˿ ߗI+@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987440DQDQDQEUo0 EQVFuM.FQZAqM> A  BDAT read: Rx Time:19:04:07.2960  TRx dataTimestamp_ set to:1736535848.027633 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240824x,[A6@y6/@96)Y6K>6H @?w`uc`U??? WH?6@ɨ6; 6%CGJ>GHGJFIGJ~BGJ =GJFDGHGJ<GJpFr=}BvIH H `5%= -C=Y-@:Q 5>9٣9 =GEFM: M>Y]m}49]l?au}4Y], i]|fBq Ϳq?]C]*<]T<]w}4 T$A ]B*** querying acoustic contact ***iaia2iFNOT Ignoring new targets: 123.10 m.i:"i: ProNav: ac range: 123.099998 m, nav range: 119.665558 m, bearing: 273.872216 deg, approach rate: -0.719104 m/s, LOS rate: 0.034084 deg/s, cmd heading: 268.756988 deg, new cmd heading: 268.803206 deg.  i!:HeadingCmd: 4.691501 target range: 123.099998 and range: 123.10 m.h @hhhh!g!g!bg)jg1e9e9jeAJei:emK @M'BɛU';)Y ]Dechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.493848ia)} yi95h=iP˿%T !I% @I):JUBoHBJU9JJQRJUNZJUJiImhAD?DDE`0 EVF TF ZA M >x,A![A"DAT read: 19:04:07.2960 LVL= 29168, 32753, 23634, 32755, AGC= 65, IDX= 406, 0.20,-0.480,-1.913,-0.645,-1.128, PHS= 0.736,-0.738, 0.480, RAW= 140.6, -7.1, CAL= 146.7, -16.7, ROT= 3.3, 16.7 &Ygot valid direction response: 19:04:07.2960 LVL= 29168, 32753, 23634, 32755, AGC= 65, IDX= 406, 0.20,-0.480,-1.913,-0.645,-1.128, PHS= 0.736,-0.738, 0.480, RAW= 140.6, -7.1, CAL= 146.7, -16.7, ROT= 3.3, 16.7 .PDAT read: Bearing 3.3, 16.7 (Local) .~Local bearing/azimuth received: Bearing 3.3, 16.7 (Local) 6DAT read: Range 10 to 50 : 120.2 m (Round-trip 160.3 ms) speed 0.5 m/s :,DAT read: user:1077> :BDAT read: Tx time:19:04:08.3816 >$Ping request sent.>R#Rx 1: Read range and direction messages.B^direction in FSK: [0.956234,0.055136,-0.287361]B:publishing transmit ping time<ZIJzbIJ\jIHrIHzIJ`:IJ[9IHIHIJp;qNIJq;iNIJԁ:uRIJՁ:mRbFpublishing direction and range infoY Jx?W#:?gdҿ fB9 q ) R\Ii A j = @ )I ;i ;>  V-?Li o= ;> r:publishing transmit ping time<vFpublishing direction and range infoY Jx?W#:?gdҿ9 )Ii )Ii  V-?L٣  G F- ->1]=}495bl?a=}4Y5I i5fBEH?mE:EI˿qE?5>C5:58:5}4M*B Uq#AUUEZj Zo?bj ^w ii ![Aj fBj B2j @p CU^\@fx}j@S16EAzp Jx?W#:?gdҿ"j*j ;>p Ѫhoy @ˬ]T+p hk?TS# i 5j Ai ;_o?i 9%  j EBzjjj :Bjj }Brj @ addTargetRange:: Added new target pos. range: 120.199997 m, deltaT: 3.778463 s, deltaX: -2.900002 m, approachRate: -0.767508 m/s, rangeRepo size: 4 5 Added new target pos. range: 120.199997 m, bearing: 273.956240 deg, lat: 36.903985 deg, lon: -122.119092 deg, deltaT: 3.778463 s, deltaX: -2.900002 m, approachRate: -0.767508 m/s, posRepo size: 4 2i9=FNOT Ignoring new targets: 120.20 m.iE"iA ProNav: ac range: 120.199997 m, nav range: 119.245186 m, bearing: 273.889417 deg, approach rate: 0.000000 m/s, LOS rate: 0.034084 deg/s, cmd heading: 268.803215 deg, new cmd heading: 268.857336 deg.  iHeadingCmd: 4.692446 target range: 120.199997 and range: 120.20 m.h(@hhhhggbgjgBeejeJe ^@:e?U3BɛU7)Y ];iY)]"w yirsh=i[˿6 tGI(@IJDAT read: TxSync time:19:04:08.3808 Du ?Dq Dq Ey  Ey E E E E F ZA M >x,)?[A6@y6h@96~)Y6>6H֘ϸ?`@ߺcP???G?6@ɨ6︆; 4Z}B^IHfHf0E5n#> n}=Yng :Q r ?p٣p rGpv1 v ?x]~}49zl?a~}4Yz izgB|M˿q?z]Cz/;z;z;}4  "A 2i9EFNOT Ignoring new targets: 120.20 m.iE:"iM:] ProNav: ac range: 120.199997 m, nav range: 119.001396 m, bearing: 273.899463 deg, approach rate: -0.794504 m/s, LOS rate: 0.032805 deg/s, cmd heading: 268.857337 deg, new cmd heading: 268.887535 deg.  i]:eHeadingCmd: 4.692973 target range: 120.199997 and range: 120.20 m.he,@hahihihigigibgqjgyeyejeJe:e},?雵9BɛF) [1i)w 隹iYh=i˿; ;һI,@IDDDE0 E*GM<"GM4<GU>GQGUIGU~BGU =GQGQGUŲ<GUsFH İC H İCH H  ="H  =*H =6FqZAM>:Jq BJu 9JJq RJu OZJu J ? J ?`x,X[A2b@y2@92*Y2>2HÚ I?P`kGs@?@>?i?I?2b@ɨ2; 2&CB}BBIMb@Mb@Mb@ )IyK7???IL?<< ) AIEAi/#AAHHY5џ= >=Y:Q >٣ GF >]}49 l?a}4Y iMgB}L?m:ȿq?C ; ;J}4 "A2i  FNOT Ignoring new targets: 120.20 m.i9"i9% ProNav: ac range: 120.199997 m, nav range: 118.664925 m, bearing: 273.910369 deg, approach rate: -0.783589 m/s, LOS rate: 0.025470 deg/s, cmd heading: 268.887527 deg, new cmd heading: 268.920338 deg.  i%׋:-HeadingCmd: 4.693545 target range: 120.199997 and range: 120.20 m.h-1@h)h)h1h1g1g1bg9jg=Be9e9jeAJeA:eE@?mCBɛul:)q un-iq)}Er yyi}:h=iQy˿ pu I1@IDm?DiDiEu0 EqF ?F?I{ـ3I{3I{.-IsIsIsZI%hbI!jI!rI!zI%(:I!I!I!I%);I%);I!I!FZAMB>ux,r[A2Ύ@y2.ޕ@92 ,Y202>2H~J?Y #z@?4j? 0?4E?2Ύ@ɨ2l; 0^~B^:IHfHfs75n:> rX=YviQ v>t٣x zGzFzjٻ z>|]}49~l?a }4Y~j i~gB  Cɿq ?~C~:~:~}4 6!A2iFNOT Ignoring new targets: 120.20 m.i9"i9 ProNav: ac range: 120.199997 m, nav range: 118.369637 m, bearing: 273.920363 deg, approach rate: -0.746518 m/s, LOS rate: 0.025331 deg/s, cmd heading: 268.920339 deg, new cmd heading: 268.950398 deg.  i:HeadingCmd: 4.694070 target range: 120.199997 and range: 120.20 m.h5@hhhhggbgjgeejeJe :e @EG?5KBɛ5 :)9 =#i9)=C 99i=li=iE$h˿EŌE6IM5@IID ?D D E ,2 E FZAM (>H H @AGM >GI GM IGM ~BGI GI GI GM <GM Fx,[A^Ҏ@y^@9^,Y^:U >^H`ӜR?`TNw@?h??C?^Ҏ@ɨ^w; \z&~BzLIH H  Y5= G=Y8Q >!٣! %G!-: ->1]5}495l?a=}4Y5 i5gB9=6ɿqE?5ذC5 ;5 ;5}4U,B ] AeWEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 120.20 m.i|9"i|9 ProNav: ac range: 120.199997 m, nav range: 118.049751 m, bearing: 273.931187 deg, approach rate: -0.803578 m/s, LOS rate: 0.027265 deg/s, cmd heading: 268.950392 deg, new cmd heading: 268.982952 deg.  i:HeadingCmd: 4.694638 target range: 120.199997 and range: 120.20 m.hz:@hhhhg T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.gbgqjgyeejeJe:e@P?=UBɛE +6)A E,!iA)m iqiuT@i=iU˿)1Iz:@I:JeBJaJJaRJePZJeJIfAD!D!D!E-1 E)VF U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004248ZI- gbI- ^jI) rI) zI- %:I- d9I) I) I- J$;I- L$;I- :I- :Fa ZA M >0x,[A6'ݎ@y6@96 +Y6Q >6H `Q?``ߊEr]?J??:C?6'ݎ@ɨ6Z; 6%CnR~BnhImMb@Mb@Mb@ii i)iIiymMbX?~jt?Q?mJ?m٣ GFI; >]}49l?a}4Yw ihBJ?m:Lɿq?Cz ;:}4  A2iFNOT Ignoring new targets: 120.20 m.i9"i9  ProNav: ac range: 120.199997 m, nav range: 117.724068 m, bearing: 273.942374 deg, approach rate: -0.783552 m/s, LOS rate: 0.026989 deg/s, cmd heading: 268.982958 deg, new cmd heading: 269.016612 deg.  i-:HeadingCmd: 4.695226 target range: 120.199997 and range: 120.20 m.hJ?@hhhhggbgjgBeejeJe:e`N@]Bɛ U:) i) iwmi=i BB˿  'I J?@I1DDDE05 EVFzGchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254980FZAMf>x,l[A:@y:@9:*Y: >:Hoॶ?@8@_fp?A?E?C?:@ɨ:-; 8J~BJIN%>iNp=HVHVZ5Z|> ^Y=Y^vB:Q ^>`٣` bGbFf`: f>h]n}49jl?an}4Yj# ijUhBln:ɿqn?j'Cj;j;j}4t vAAt2iFNOT Ignoring new targets: 120.20 m.i%9"i%95 ProNav: ac range: 120.199997 m, nav range: 117.433556 m, bearing: 273.952326 deg, approach rate: -0.771930 m/s, LOS rate: 0.026508 deg/s, cmd heading: 269.016617 deg, new cmd heading: 269.046546 deg.  i5:=HeadingCmd: 4.695748 target range: 120.199997 and range: 120.20 m.h=C@h9h9hAhAgAgAbgAjgIeIeIjeIJeI:eUw%@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507287雍eBɛC68) ai)n 隙ii=i%1˿V^(IC@IGG@AGGGIGbBGGGG<GoFD D DE`0 EEhAEiAVF=?43- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761665F9 ZAy M >:J BJ 9JJ RJ QZJ J ? J *?;Bx,>@[A2ގ@y2@92,*Y2g >2HZ?``_Eq؃? ??4?B?2ގ@ɨ25; 2&Cj~BjI-@- 5@5 5@5  5@5 H=H=X5M= MB=YM*9Q M>Q٣Q UGQU&g ]>a]m}49e٨l?am}4Ye iehBiu+:qmuX:uGɿq}?eQCenu;e>e}4 A2iFNOT Ignoring new targets: 120.20 m.i9"i9  ProNav: ac range: 120.199997 m, nav range: 117.106926 m, bearing: 273.963640 deg, approach rate: -0.761020 m/s, LOS rate: 0.026434 deg/s, cmd heading: 269.046534 deg, new cmd heading: 269.080570 deg.  i !:%HeadingCmd: 4.696342 target range: 120.199997 and range: 120.20 m.h%oH@h!h!h!h!g!g)bg)jg)e)e1je1Je:e@T@enBɛ x1)  j i )3 iïi=i˿|17IoH@IuBDAT read: Rx Time:19:04:10.9422 uTRx dataTimestamp_ set to:1736535851.555348}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012225ZI ibI jI rI zI +:I I I I /;I /;I I DDDE E ]HGq )7yBVF {#Fa ZAi M >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263809mx,X[A6ގ@y6@96*Y67. >6H Vi?-Eq@P?"B?9?B?6ގ@ɨ6cƇ; 4B~BBIHJHJJ5V+= VU=YVhVQ V>X٣X ZGZF^!8 ^>`]j}49bΨl?aj}4Yb ibhBij :hmj/:hqn?bwCb(;bO?bk}4r.B rArYE2i  FNOT Ignoring new targets: 120.20 m.i9"i9 ProNav: ac range: 120.199997 m, nav range: 116.809761 m, bearing: 273.973987 deg, approach rate: -0.789228 m/s, LOS rate: 0.027551 deg/s, cmd heading: 269.080575 deg, new cmd heading: 269.111697 deg.  iC:HeadingCmd: 4.696885 target range: 120.199997 and range: 120.20 m.hL@hhhhggbgjgeejeJe:e @-vBɛ-4)) -Fi))5TYYi]i=ie ˿e?e@>IeL@IiD)D)D)E-o0 E)DAT read: 19:04:10.9422 LVL= 24384, 30593, 21138, 32755, AGC= 64, IDX= 398, 0.27, 0.071,-1.304,-0.087,-0.627, PHS= 0.786,-0.630, 0.537, RAW= 140.5, -10.6, CAL= 147.3, -20.4, ROT= 2.7, 20.4 Ygot valid direction response: 19:04:10.9422 LVL= 24384, 30593, 21138, 32755, AGC= 64, IDX= 398, 0.27, 0.071,-1.304,-0.087,-0.627, PHS= 0.786,-0.630, 0.537, RAW= 140.5, -10.6, CAL= 147.3, -20.4, ROT= 2.7, 20.4 PDAT read: Bearing 2.7, 20.4 (Local) ~Local bearing/azimuth received: Bearing 2.7, 20.4 (Local) VFK7=DAT read: Range 10 to 50 : 117.3 m (Round-trip 156.5 ms) speed 0.5 m/s E,DAT read: user:1078> EBDAT read: Tx time:19:04:12.0316 M$Ping request sent.Mځ ہۅzHu?d}fd ? ǿIۅ;`>iۅk=>ۅA=ۅK>ہ ܁}:publishing transmit ping timeIFpublishing direction and range info؁Y؅̸?=?<Oֿ؁9؁؁FZA) ME > ف)فIفiففففف ځ)ځIځiځځځ ہۅzHu?d}fd ? ǿIہiہہہہ ܁G >G CG SIG BG G G G <G FUx,D [A:z׎@y:@9:#+Y:/ >:H;?t? J?L?A?:z׎@ɨ:1U; :$CVBZIIl)nAHvHvDP5~= ~E=Y@-Q >٣   G    >]E}49l?aE}4Y  i"iBiE9AmE:EeɿqM?C:?}4Q U!AQZj] o?bj,. ii|[AjBj B2j@p;VUet[@5=sT@SSqDzp̸?=?<Oֿ"jA=*jK>pԫt@o~5F\ 4p' h? #jE ƿiTj@iM7"o?iR-  j4+Bzjju jjjBrj@JDAT read: TxSync time:19:04:12.0308  addTargetRange:: Added new target pos. range: 117.300003 m, deltaT: 3.529046 s, deltaX: -2.899994 m, approachRate: -0.821750 m/s, rangeRepo size: 4 m Added new target pos. range: 117.300003 m, bearing: 273.734699 deg, lat: 36.903985 deg, lon: -122.119092 deg, deltaT: 3.529046 s, deltaX: -2.899994 m, approachRate: -0.821750 m/s, posRepo size: 4 2iimFNOT Ignoring new targets: 117.30 m.iu"iq ProNav: ac range: 117.300003 m, nav range: 116.412712 m, bearing: 273.987975 deg, approach rate: 0.000000 m/s, LOS rate: 0.027551 deg/s, cmd heading: 269.111694 deg, new cmd heading: 269.151609 deg.  iHeadingCmd: 4.697582 target range: 117.300003 and range: 117.30 m.hR@hhhhggbgjgeejeJe@3S]@:ed?-Bɛ--)1 5i1)511i5i=ieʿeeUIeR@Ia:Jk3IBJͼ9JJRJRZJ .]yrlDDDEi0 EEp=Ep=Ձ Ձ VF f AF ZA M >J~x,_'[Ae>BeI      Mb@Mb@Mb@ )Iyoʡ?x&?kt?M?7= 0= IA)AI`AiIAGAH-H-s75= = = =Y=Q =>A٣A EGEFM M>Q]]~49Udl?a]~4YU* iUiBi]T:]N?m]:]¿q]?UӱCU:Un:U ~4i mvAiB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 117.30 m.ix&9"ix&9 ProNav: ac range: 117.300003 m, nav range: 116.013542 m, bearing: 273.991977 deg, approach rate: -0.904186 m/s, LOS rate: 0.009096 deg/s, cmd heading: 269.151609 deg, new cmd heading: 269.163656 deg.  i9HeadingCmd: 4.697792 target range: 117.300003 and range: 117.30 m.hPT@hhhhggbgjgBeejeJe:e@?BɛY/)  2H؈ ?`E@V߁???iD?2@ɨ2; 2&CEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.981330ZIfbIjI1rIzI|":II3Iq@i@u@m@I9i9 99)9A EvlAEAAIIII)IiQ)QIUQlAUp=Q QY]lmAYiYYiaa)a aIa a)iiiiiu1AiqIqqqޅBލ#I*G<"Gp<G>GGIG BG =GGG<GFHH65/> R=Y^Q >٣ GF >]~49l?a~4Y2 iiB!ÿq?C;+;~4/B qA[E2i!-FNOT Ignoring new targets: 117.30 m.i5O9"i5O9u ProNav: ac range: 117.300003 m, nav range: 115.708336 m, bearing: 273.995501 deg, approach rate: -0.723622 m/s, LOS rate: 0.008377 deg/s, cmd heading: 269.163658 deg, new cmd heading: 269.174258 deg.  iu9}HeadingCmd: 4.697977 target range: 117.300003 and range: 117.30 m.h}U@hhhhggbgjgeejeJe:eLp?Bɛwm+)! %Ͼi!)%ߎ!!i%i=i-ʿ-M-C9I5U@I1D?DD!E! E! checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236680:Ju .NBJu ػ9JJq RJu SZJu c\WTOI@97332..-,))'#"  VF UFQ ZAY M} >#x,=][A2᥎@y2;@92.Y2 >2Hn)d?0t 5@?`? ?@?2᥎@ɨ2D; 2#C8 :VlA:D8ɮ8<)٣ GFܻ >]~49l?a~4Y*; ijBO?m:r¿q?$C(;';&~4 A5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486219!2iaeFNOT Ignoring new targets: 117.30 m.im 9"im 9} ProNav: ac range: 117.300003 m, nav range: 115.383926 m, bearing: 273.998410 deg, approach rate: -0.845336 m/s, LOS rate: 0.007600 deg/s, cmd heading: 269.174258 deg, new cmd heading: 269.183008 deg.  i}9HeadingCmd: 4.698130 target range: 117.300003 and range: 117.30 m.hW@hhhhggbgjgBeejeJe:eVf?UBɛ},)y }ľiy)6隁iCi=iʿOlIW@IDDDE0 EEiAEhAVFU 0; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738192Fi ZAq M >Gx,w[A>e@y>@9>u/Y>y >>H༵?刿`A?D? ?@e@ɨ>䋈; >$C]B]RIHmHmQ5T= c=YkQ >٣ G# >]~491l?a~4YB iajB¿q?HC_;J;3~4 ?A2iFNOT Ignoring new targets: 117.30 m.i9"i9 ProNav: ac range: 117.300003 m, nav range: 115.099869 m, bearing: 274.001212 deg, approach rate: -0.801189 m/s, LOS rate: 0.007923 deg/s, cmd heading: 269.183001 deg, new cmd heading: 269.191428 deg.  i9HeadingCmd: 4.698277 target range: 117.300003 and range: 117.30 m.hHX@hhhhggbgjgeejeJe:eq?Bɛ*) 4i) c   i i=iJʿOIHX@IDDDEA5 EVFeՒFm?Fm ?F9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990248ZAQMmW>ZIibIcjI0rIzI+:Ix9Iـ3IG}>GyG}IG}]BG} =GyGyG}P<G}FH=ȯC H=ȯCH=ȓCH= ="H= =*H=nP5w/x, [AJۢ@yJ5@9J^.YJn >JHXC?`х ?`? l?٣ GF-7F; ->Q]~49Ul?a~4YUzK iUjB¿q?UsCUXx,f[AN+@yN@9NL.YN>NH@T[?  ڄ@w??े?@I;?N+@ɨN2; N%CZ B^~II`)bAMMb@Mb@Mb@II I)IIIyMm?l?/$?IIM,= M~A)MAIMxAiMAIMAHmHm-I5}= }K=Y;9Q >٣ GZ8 >]~49l?a~4Y]S ijBO?m:¿q?C ;? ;O~41B +AYE2iFNOT Ignoring new targets: 117.30 m.i9"i9 ProNav: ac range: 117.300003 m, nav range: 114.464310 m, bearing: 274.007162 deg, approach rate: -0.902361 m/s, LOS rate: 0.008462 deg/s, cmd heading: 269.200896 deg, new cmd heading: 269.209327 deg.  i׹9HeadingCmd: 4.698589 target range: 117.300003 and range: 117.30 m.hZ@hhhhggbg jg āBe e jeJe:e*|@雽BɛR)) 2i)fi_i=i ʿ" IZ@IDDDE3 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746634VFD&F ZA M >e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997646Hx,`[AZI>fbI>_jI<rI<zI>|":I>=h9I<I<VĢ@yV@9Vy.YV>VHZ L?j `_Ys ?? k?@:?VĢ@ɨVm; V#Cf&BfIHnHnS5vN> vS=YzDdQ z>x٣| ~G~F~ ~>] ~49?l?a~4Yj[ iGkB¿q?C6;;/]~4 %WA!EB*** querying acoustic contact ***iIiI2iQ]FNOT Ignoring new targets: 117.30 m.i]9"i]9u ProNav: ac range: 117.300003 m, nav range: 114.158417 m, bearing: 274.010046 deg, approach rate: -0.785037 m/s, LOS rate: 0.007420 deg/s, cmd heading: 269.209338 deg, new cmd heading: 269.218011 deg.  iu9}HeadingCmd: 4.698740 target range: 117.300003 and range: 117.30 m.h}\@hyhyhyhyggbgjgeejeJe:e@H@G G G>GG'IGBGGGG?<GFuBɛu#/%)q uQiy)}yyi}i=iʿ$"ƜI\@ID9D9D9EE`0 EABDAT read: Rx Time:19:04:14.5883 TRx dataTimestamp_ set to:1736535855.338732checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255841VFFǓzFhArFF ZA M >:Jm qKBJm +9JJi RJm UZJm kx,`[A2袎@y2B@92.Y2x>2HW?@! @-x@l$?L?G~?`:?2袎@ɨ26; 2$CR4BRIMb@Mb@Mb@ )Iyn?X9v?Q?VN?}=\= A)bAI@i~A AHHI5D= ==Y_Q >٣ GF&8 >]~49Rl?a~4Ydd ikB#O?m:GĿq?C ;;Jl~4  A 2i15FNOT Ignoring new targets: 117.30 m.i=n9"i=n9M ProNav: ac range: 117.300003 m, nav range: 113.817635 m, bearing: 274.015643 deg, approach rate: -0.792404 m/s, LOS rate: 0.013055 deg/s, cmd heading: 269.217999 deg, new cmd heading: 269.234842 deg.  iMZ:UHeadingCmd: 4.699035 target range: 117.300003 and range: 117.30 m.hU~^@hQhQhQhQgYgYbgYjg]BeaeajeaJea:em`C @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501359 Bɛ #)  i)!in\i=irʿC'UI~^@I!DzDhADDDE E DAT read: 19:04:14.5884 LVL= 23792, 25361, 19378, 32099, AGC= 64, IDX= 407, 0.05, 0.422,-1.058, 0.272,-0.285, PHS= 0.795,-0.726, 0.554, RAW= 141.5, -8.8, CAL= 148.1, -18.4, ROT= 1.9, 18.4  Ygot valid direction response: 19:04:14.5884 LVL= 23792, 25361, 19378, 32099, AGC= 64, IDX= 407, 0.05, 0.422,-1.058, 0.272,-0.285, PHS= 0.795,-0.726, 0.554, RAW= 141.5, -8.8, CAL= 148.1, -18.4, ROT= 1.9, 18.4 VF5 ݗU PDAT read: Bearing 1.9, 18.4 (Local) e ~Local bearing/azimuth received: Bearing 1.9, 18.4 (Local) u DAT read: Range 10 to 50 : 114.4 m (Round-trip 152.6 ms) speed 0.7 m/s u ,DAT read: user:1079> FA ZAa M} >Ix,|H[ABDAT read: Tx time:19:04:15.6817 "$Ping request sent." [+j?U[3?s7 ÿIV>i)>=l> Z:publishing transmit ping time ZFpublishing direction and range infoY4/X?_N? \ 3Կ9 )Ii )Ii [+j?U[3?s7 ÿIi Mm@yMƶ@9M-/YMM>MHS?̓T@*? V? x?:?Mm@ɨM;; IޝMBޥI=iC=HH-I5D= <=Y<)Q >٣ G: >]~49ml?a~4Y}m ikB5Ŀq?CS:>:{~4) 5#A1ZjrAn?bjww iih[AjBjJB2j#@p"x[@Ɂ[ @_#Bzp4/X?_N? \ 3Կ"j=*jl>p|@ ޺H\&5G0p,9?'@¦,6¿iEj×@ipDn?i(  j{?BzjM7"o?j( jjjBrjy@} addTargetRange:: Added new target pos. range: 114.400002 m, deltaT: 3.778926 s, deltaX: -2.900002 m, approachRate: -0.767414 m/s, rangeRepo size: 4  Added new target pos. range: 114.400002 m, bearing: 272.400427 deg, lat: 36.903980 deg, lon: -122.119091 deg, deltaT: 3.778926 s, deltaX: -2.900002 m, approachRate: -0.767414 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 114.40 m.i"i  ProNav: ac range: 114.400002 m, nav range: 113.376724 m, bearing: 273.731922 deg, approach rate: 0.000000 m/s, LOS rate: 0.013055 deg/s, cmd heading: 269.234856 deg, new cmd heading: 269.253725 deg.  i HeadingCmd: 4.699364 target range: 114.400002 and range: 114.40 m.h1a@hhhhggbg9jg9eAeAjeAJeE\@:eE@gD?雕ǀBɛN!) nui)]im%i=iʿC)TI1a@IZIgbI\jIrIzI%:I[9IIDDDE EG>GGlIG̀BG =GGG<GFVF S.F ZA M >x,6[A6㢎@y6<@96aG0Y6j >6H`W@?`%lyO?@?_?9?6㢎@ɨ6i; 6#CVaBVIHbHby/5n= r`=YrAQ r>t٣t vGvFz?Ǻ z>|] ~49~Rl?a~4Y~t i~*lB!%EĿq%?~=C~o;~y;~.~43B A[E2iAMFNOT Ignoring new targets: 114.40 m.iU>9"iU>9 ProNav: ac range: 114.400002 m, nav range: 113.092896 m, bearing: 273.735906 deg, approach rate: -0.740223 m/s, LOS rate: 0.010415 deg/s, cmd heading: 269.253734 deg, new cmd heading: 269.265715 deg.  i9HeadingCmd: 4.699574 target range: 114.400002 and range: 114.40 m.hb@hhhhggbgjgeejeJe:e0?΀Bɛ/a!) :Zi)$9i=h=iE̳ʿE+EIEb@II:J&~JBJ9JJRJVZJJIhAD5?D1D1E5o0 E1VF F I ) ZA) e G} lA ) y lA YBM >3 x,-[AvnBvI}Mb@Mb@Mb@yy y)yIyy}&1?&1?~jt?}P?}P=}= }A)}@I}j@i} Ay} AHH?5w= ?=YQ >٣ GF >]~49l?a~4Y} i{lBQ?m:1ƿq?hC::~4 "A2iFNOT Ignoring new targets: 114.40 m.i9"i9 ProNav: ac range: 114.400002 m, nav range: 112.752281 m, bearing: 273.743313 deg, approach rate: -0.945353 m/s, LOS rate: 0.020622 deg/s, cmd heading: 269.265728 deg, new cmd heading: 269.288018 deg.  ipb:%HeadingCmd: 4.699963 target range: 114.400002 and range: 114.40 m.h%f@h!h!h!h!g!g)bg)jg-ρBe)e9je9Je9:e=@x?eԀBɛm!)i mnLii)miiiuh=i ʿ.If@ID%?D!D!E%~0 E)VFm 圼FI ZAy M >x,G[A6䰎@y6>@96k1Y6v{>6H ry?v`@3In?? |? ;7?6䰎@ɨ6Kч; 6%CBBB IIH)HHbHb,5v= vV=YzNQ ~>٣ G ^;  >*G%<"G%4<G5>G5CG5IG5BG1G1G5BDG5<G5F]~49l?a~4Ym ilBſq?C0;;$;;~4 A]B*** querying acoustic contact ***iYiY2iiFNOT Ignoring new targets: 114.40 m.ig9"ig9 ProNav: ac range: 114.400002 m, nav range: 112.430550 m, bearing: 273.750077 deg, approach rate: -0.769280 m/s, LOS rate: 0.016218 deg/s, cmd heading: 269.288022 deg, new cmd heading: 269.308370 deg.  i2:HeadingCmd: 4.700318 target range: 114.400002 and range: 114.40 m.hi@hhhhggbgjgeejeJe:e?]܀Bɛ]])eT= e:ia)e0aaieOh=ifʿ4;0Ii@IDE?DADAEM0 EIEU=EU=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFI F! ZA) M] >:J BJ +9JJ RJ WZJ  **'%'$$ J ? J >Gx,ua[A~BIMb@Mb@Mb@ )IyV-?Q?y&1?hQ?\=`< A)j@I&@i;A AHHD5 ɋ=  9=YQ >٣ GF >!]-~49%ȶl?a-~4Y%< i%mB5Q?m5:5Rȿq5?%C% ;%~ ;%Գ~49 E"AA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.6999502iq}FNOT Ignoring new targets: 114.40 m.i}9"i}9 ProNav: ac range: 114.400002 m, nav range: 112.096748 m, bearing: 273.760268 deg, approach rate: -0.824113 m/s, LOS rate: 0.025236 deg/s, cmd heading: 269.308376 deg, new cmd heading: 269.339041 deg.  i:HeadingCmd: 4.700853 target range: 114.400002 and range: 114.40 m.hcm@hhhhggbgjgBeejeZI1bI5]jI1rI1zI1I5_9I1I1I5I$;qEI5L$;iMI5i:uUI5j:mUJe:e?Bɛe) &+i)ivBh=i%ʿ%2M ZIMcm@IQD=?D9DAEE0 EA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951854VF FY ZAi M >1x,{[A6@y6Z@96*/Y6,>6H]l\?D…D8b'?`??@9?6@ɨ6; 6&CBBB4IHJHJG5V= Vd=YVd;Q Z>X٣X ZGZF^3< ^>`]f~49bl?af~4Yb͖ ibPmBhjǿqj?bCbC*;b*;b\~4r4B rAr]E2i  FNOT Ignoring new targets: 114.40 m.iv9"iv9% ProNav: ac range: 114.400002 m, nav range: 111.809875 m, bearing: 273.768126 deg, approach rate: -0.801704 m/s, LOS rate: 0.022016 deg/s, cmd heading: 269.339030 deg, new cmd heading: 269.362664 deg.  i%q:-HeadingCmd: 4.701265 target range: 114.400002 and range: 114.40 m.h-p@h)h1h1h1g1g1bgjgeejeJe:eI8@ Bɛ Vn)  i)5d11i5h=i=\|ʿ=63EȝdIEp@IADQD D D E 4 E mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.204700G%>G!G%IG%)BG!G!G!G%*<G%FVFQF) ZA1 M} >6%x,tb[A6@y6l@96A.Y6>6H "Sw? M S(2@?\?@?:?6@ɨ6; 6#CBBBNIF)>iF=HJHJdK5bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.455973ud= }>=Yb:Q >٣ G; >]~49l?a~4Y imB!-;ǿq-?C<'<~4 A2iFNOT Ignoring new targets: 114.40 m.i9"i9 ProNav: ac range: 114.400002 m, nav range: 111.456680 m, bearing: 273.777478 deg, approach rate: -0.722493 m/s, LOS rate: 0.019190 deg/s, cmd heading: 269.362662 deg, new cmd heading: 269.390806 deg.  iR:HeadingCmd: 4.701756 target range: 114.400002 and range: 114.40 m.ht@hhhh)g)g)bg1jg1e1e1je1Je9:e=@@雍Bɛ) i)2隑ig=iClʿ,5ZIt@I:Je,MBJe 9JJaRJeXZJeqq}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.708127ZI] hbI] `jI] 1rIY zI] (:I] bl9I] 3IY I] );I] );I] (:I] *:^D Pz=D! D! D! E% 0 E! E- hAE- iAVFE_F!-BDAT read: Rx Time:19:04:18.2342 5TRx dataTimestamp_ set to:1736535858.8638835checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961641ZAAM] ?F-x,y[A>@y>u@9>-Y>? >>HYj? dkU?@3?c?X?`]=?>@ɨ>G; >"CJɀBJgIMb@Mb@Mb@ )IyGz?I +?Mb?P?9<= lA)@I@iAAHH85= =YE:Q >٣ %G%F-^i; ->1]=~495}l?a=~4Y5 i5mBEP?mE:EɿqE?5FC5:5:5~4I MXAQ2iy}FNOT Ignoring new targets: 114.40 m.i< :"i< : ProNav: ac range: 114.400002 m, nav range: 111.022560 m, bearing: 273.792344 deg, approach rate: -0.872498 m/s, LOS rate: 0.029995 deg/s, cmd heading: 269.390802 deg, new cmd heading: 269.435575 deg.  i:HeadingCmd: 4.702538 target range: 114.400002 and range: 114.40 m.h1{@hhhhggbgjgBeejeJe:e W@Bɛ) Ži)9Kilg=iRʿ37eMI1{@I^D&V=DE?DADAEM@5 EI}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211851G G G% >G% CG% IG% VBG%  =G! G! G% <G% vFHȮC HȮCHH ="H =VF *Hȴ5Fa ZAi M >/4x,[A63@y6$@96n-Y6 >6H@ҝ?g ؞f?ॼ?$?%5? 6??63@ɨ6\; 6#CFBFIHbHbJH5z> z_=Y:Q  >٣ G%F-ȗ; 5>I]m~49Ml?au~4YMs iM?nBy}ȿq?MlCM;M;M~46B A_EDAT read: 19:04:18.2342 LVL= 23920, 23425, 21154, 32755, AGC= 66, IDX= 396, 0.17,-2.762, 1.988,-2.885, 2.820, PHS= 0.789,-0.785, 0.575, RAW= 142.8, -7.9, CAL= 149.2, -17.1, ROT= 0.8, 17.1 Ygot valid direction response: 19:04:18.2342 LVL= 23920, 23425, 21154, 32755, AGC= 66, IDX= 396, 0.17,-2.762, 1.988,-2.885, 2.820, PHS= 0.789,-0.785, 0.575, RAW= 142.8, -7.9, CAL= 149.2, -17.1, ROT= 0.8, 17.1 PDAT read: Bearing 0.8, 17.1 (Local) ~Local bearing/azimuth received: Bearing 0.8, 17.1 (Local) -DAT read: Range 10 to 50 : 111.3 m (Round-trip 148.4 ms) speed 0.7 m/s E,DAT read: user:1080> ]BDAT read: Tx time:19:04:19.3317 e$Ping request sent.e  8?L?iZj-m?bj% Iƽ>iK >d<Θ> :publishing transmit ping timeiaFpublishing direction and range infoY}?%1sT?ҿ9iu[AjBj B2jܗ@p.Z@6~?R (]@zp}?%1sT?ҿ"jd<*jΘ>p-r @ E)[Rړ+pXy? ?6|ȿijk@i/m?iVe  jJB )Ii )Ii  8?L?iIi zjj j{?Bjj_Brj@ addTargetRange:: Added new target pos. range: 111.300003 m, deltaT: 3.527675 s, deltaX: -3.099998 m, approachRate: -0.878765 m/s, rangeRepo size: 4  Added new target pos. range: 111.300003 m, bearing: 271.910138 deg, lat: 36.903980 deg, lon: -122.119090 deg, deltaT: 3.527675 s, deltaX: -3.099998 m, approachRate: -0.878765 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 111.30 m.i"i- ProNav: ac range: 111.300003 m, nav range: 110.686302 m, bearing: 273.803659 deg, approach rate: 0.000000 m/s, LOS rate: 0.029995 deg/s, cmd heading: 269.435581 deg, new cmd heading: 269.481061 deg.  i)5HeadingCmd: 4.703332 target range: 111.300003 and range: 111.30 m.h5@h1h1h1h9gYgYbgajgaeaeajeaJem@3[@:em ?Bɛw=) i)%\!!i%g=i-8ʿ-8-ߤ@I-@I1CCCC:JJBJ9JJRJYZJ JDAT read: TxSync time:19:04:19.3309 DI zDM iAZI ibI bjI 0rI zI +:I t9I ـ3I I /;I /;I S:I T:D ?D D E o0 E VFKFZAM?(.=x,=H[A>+@y>A;@9>,Y>_ >>H@ZґT?HN u?|???A?>+@ɨ>; >!CRBRIIT)TuMb@Mb@Mb@qq q)qIqyutV?/$?S㥛?uR?u٣ GF; >]49l?a4YC inBR?m:ȿq?C::4 AZj]n?bj]#x iYiYjYjY2j]@p].Z@6~?R (]@zp]}?%1sT?ҿ"jY*jYp]v@"xBl[>+p]Z?F[6i]j]{@i]Mpn?i]|  j]\JBzj]pDn?j]( j]EBjj]0Brj]*@2i1=FNOT Ignoring new targets: 111.30 m.i=:"i=:M ProNav: ac range: 111.300003 m, nav range: 110.200928 m, bearing: 273.819512 deg, approach rate: -1.011650 m/s, LOS rate: 0.033187 deg/s, cmd heading: 269.481070 deg, new cmd heading: 269.528838 deg.  iU5:]HeadingCmd: 4.704165 target range: 111.300003 and range: 111.30 m.h]@hYhahahagagbg jg Be e jeJe:e?雅 Bɛs) @ i)Qe隑iJf=iTʿ9'I@ID9D9D9E=0 E9VFhAGm >Gi Gm MIGm BGm  =Gi Gm ADGm <Gm FF ZA M- >Dx,B[A:0@y:&@@9:!,Y:[ >:H 7?n@\0;x?@?`Ɓ?"?@?:0@ɨ:&N; :$CVBVIHbHbm?5j> jY=YnQ n>l٣p rGpr: r>t]z49vȷl?az4YvF ivnB|~ȿq~?vѴCvw;va;v/4 A %B*** querying acoustic contact ***i!i!2i15FNOT Ignoring new targets: 111.30 m.i9"i9 ProNav: ac range: 111.300003 m, nav range: 109.897453 m, bearing: 273.829406 deg, approach rate: -0.821611 m/s, LOS rate: 0.026863 deg/s, cmd heading: 269.528827 deg, new cmd heading: 269.558593 deg.  i|:=HeadingCmd: 4.704685 target range: 111.300003 and range: 111.30 m.h=Ȍ@h9h9h9h9gAgIbgIjgIeIeQjeJe:e? Bɛ y)  -8 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243941H H BAIcIk3Ik.IcIcIcZI hbI djI 1rI zI (:I |9I 3I I );I );I }:I ~:9Jx,~*[Aj4@yj-D@9j-Yj >jH `?@Xz?`?`?? @?j4@ɨj7; j#Cv2BvIMb@Mb@Mb@ )IyʡE?~jtx?V-?-R?;< A)@I\@i(AAHH-5= 9=Y6Q >٣   G F ɑ:  >]49\l?a%4Y i3oB-PR?m-:-ʿq-?C-;,;!457B =,A=`E2iYeFNOT Ignoring new targets: 111.30 m.im:"im:} ProNav: ac range: 111.300003 m, nav range: 109.542961 m, bearing: 273.844432 deg, approach rate: -0.801255 m/s, LOS rate: 0.034073 deg/s, cmd heading: 269.558607 deg, new cmd heading: 269.603830 deg.  i}:HeadingCmd: 4.705474 target range: 111.300003 and range: 111.30 m.h?@hhhhggbgjgBeejeJe:em6?Bɛk) N=i)UXQQiUe=i]nɿ]o;])/.I]?@IaD?DDE/5 EEEEEechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494363F?F>Fi ZAq M >!Qx,D[A2C@y2S@925,Y2q >2H@nō@?IG?`G{? l?`h?B?2C@ɨ2w; 2$CnLBr Iv8>iv>HzHz:5 >  [=Y  |;Q  >٣ GF?; >!]-49% l?a-4Y% i%soB15ʿq5?%%C%:%:%.49 EWAA2iamFNOT Ignoring new targets: 111.30 m.iu:"iu: ProNav: ac range: 111.300003 m, nav range: 109.243713 m, bearing: 273.856904 deg, approach rate: -0.803978 m/s, LOS rate: 0.033600 deg/s, cmd heading: 269.603822 deg, new cmd heading: 269.641341 deg.  iy:HeadingCmd: 4.706129 target range: 111.300003 and range: 111.30 m.h@hhhhggbgjgeejeJe:e@f.?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746483Bɛ ) =i)Fie=iɿ<FI@I*G"G<D?DDE`0 EGm>GmCGmIGmBGm =GiGiGm0<GmFFZAM >u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998309pMWx,^[A2\@y28l@92*Y2`>2H 1`ڸ? # Yj?@9?B7?`?F?2\@ɨ2; 2"CV[BVIEMb@Mb@Mb@AA A)AIAyEʡE?=Y*};Q >٣ G; >]49ݶl?a4Y ioBO?m:ɿq?QC;;=4 A2i)5FNOT Ignoring new targets: 111.30 m.i5a :"i5a :E ProNav: ac range: 111.300003 m, nav range: 108.904167 m, bearing: 273.870137 deg, approach rate: -0.790459 m/s, LOS rate: 0.030901 deg/s, cmd heading: 269.641334 deg, new cmd heading: 269.681155 deg.  iE:MHeadingCmd: 4.706824 target range: 111.300003 and range: 111.30 m.hMN@hQhQhQhQgQgYbgYjg]BeYeajeiJei:eu`]@雕$Bɛ ) 0=i).隡i:e=i4ɿu=IN@:JBoHBJ]9JJRJ[ZJJ ? J>ID?DDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253505FZAMC>ZIabIe_jIe/rIazIaIe=h9Ie(N3IaIaIaIe:Ie: HG;mA )%k"y%;mA%B%v]x,.vx[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502437:j@y:4z@9:)Y: >:H$`"?> ?`?m??cH?:j@ɨ:!; :#CbBbGIHjHj85v=> vZ=Yz|;Q z>x٣x ~G~F]P; ]>a]m49el?am4Ye iepBquɿqu?exCe:e:e2K4  A2iFNOT Ignoring new targets: 111.30 m.iy:"iy:= ProNav: ac range: 111.300003 m, nav range: 108.597816 m, bearing: 273.881874 deg, approach rate: -0.776379 m/s, LOS rate: 0.029829 deg/s, cmd heading: 269.681167 deg, new cmd heading: 269.716478 deg.  i=ţ:EHeadingCmd: 4.707440 target range: 111.300003 and range: 111.30 m.hMZ@hIhIhIhIgQgQbgQjgYeYeYjeYJeY:ee`@雍+BɛR) '>i)L iiimd=iuɿu>}ݻI}Z@IyDDDDEj0 E zFrFFZAMI>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754321G% >G! G%  IG% !BG! G! G! G% <G% oF]dx,P[A65y@y6@96''Y6`>6H &???@F?෵?5K?65y@ɨ6Z; 6!CBfII )  HHm?5-= -F=Y5@;Q 5>1٣9 =G=FEh; E>I]M49Ml?aU4YM iMGpBQUwɿqU?MCM~:MX&i)i&d=iɿ1s>mIz@ID?DDEn0 E:JBJػ9JJRJ\ZJJ gAI hAVF -, BDAT read: Rx Time:19:04:21.8803  TRx dataTimestamp_ set to:1736535862.646297 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263055Fy ZA M >jx,.[AB@yBu@9BT&YB->BHZ{??ա?`4? ?`M?B@ɨB^; B#C^B^IMb@Mb@Mb@ )Iysh|??S㥛?~jt?I?/<=  A)/@I@iZ AAHH95V> A=Y\;Q >٣ G`; >]49>l?a 4Y ipB VJ?m:Sƿq?˵C;~;h4) - A12iy}FNOT Ignoring new targets: 111.30 m.i9"i9- ProNav: ac range: 111.300003 m, nav range: 107.952492 m, bearing: 273.901905 deg, approach rate: -0.784055 m/s, LOS rate: 0.019450 deg/s, cmd heading: 269.752311 deg, new cmd heading: 269.776742 deg.  i-U:EHeadingCmd: 4.708492 target range: 111.300003 and range: 111.30 m.hE@hAhAhAhIgIgYbgajgeBeejeJe:e@ @58Bɛ5t)1 5>i1)=ҧ99i=]c=iEɿE>eIe@IiD?DDEo0 EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510459VF̻FZAM >Ioqx,[A6@y6@96$Y6i >6H t$?V`?Ni?!?e?xM?6@ɨ6i; 6$CFсBFIHNHN75Z > ^]=Y^;Q ^>`٣` bGbFfF; f>h]n49jʷl?an4Yj ijpBlr ƿqr?jCj ;j';jt4x z= Ax2i%FNOT Ignoring new targets: 111.30 m.i%&9"i%&95 ProNav: ac range: 111.300003 m, nav range: 107.669266 m, bearing: 273.908715 deg, approach rate: -0.789511 m/s, LOS rate: 0.019032 deg/s, cmd heading: 269.776735 deg, new cmd heading: 269.797218 deg.  i5P:EHeadingCmd: 4.708850 target range: 111.300003 and range: 111.30 m.hE殖@hAhAhAhAgIgIbgIjgIeQeQjeQJeQ:e]*@՝AՙDAT read: 19:04:21.8803 LVL= 23024, 23329, 18082, 28467, AGC= 63, IDX= 404, 0.11, 1.893, 0.363, 1.844, 1.238, PHS= 0.742,-0.828, 0.603, RAW= 145.4, -6.9, CAL= 151.3, -15.8, ROT= 358.7, 15.8 Ygot valid direction response: 19:04:21.8803 LVL= 23024, 23329, 18082, 28467, AGC= 63, IDX= 404, 0.11, 1.893, 0.363, 1.844, 1.238, PHS= 0.742,-0.828, 0.603, RAW= 145.4, -6.9, CAL= 151.3, -15.8, ROT= 358.7, 15.8 PDAT read: Bearing 358.7, 15.8 (Local) ~Local bearing/azimuth received: Bearing 358.7, 15.8 (Local) DAT read: Range 10 to 50 : 108.3 m (Round-trip 144.5 ms) speed 0.6 m/s ,DAT read: user:1081> BDAT read: Tx time:19:04:22.9817 $Ping request sent.ڙ ۙ۝}Z?C?+`?۾I۝^>i۝x=۝޹۝0>ۙ ܙ-:publishing transmit ping time-Fpublishing direction and range infoؙY؝$rv?^Z ^ mѿؙ9ؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ ۙ۝}Z?C?+`?۾Iۙiۙۙۙۙ ܙZI}ibIyjI}0rIyzI}+:IyI}ـ3Iyq@i@u@m@GG=Bɛ)! %>i!)%8p))i-3)c=ieԃɿm>m'Im殖@G>GGf IGiBGGGG<GFIDzDDDDE0 EU JDAT read: TxSync time:19:04:22.9809 VF VFi ZAq M >ڡwx, [A~@y~N@9~0#Y~K >~H@˃u`9?l Mۏ?2K?Rc??M?~@ɨ~; |BI!%AMb@Mb@Mb@ )Iy?/$?l?fF?<=  A)@I@iC A@HyH'5-= -4=Y- ;Q ->1٣1 5G5F5 =>I]U49M>l?aU4YM4  iMqB]F?m]:]ǿq]?MCM":M:MDŽ4a m| AiZjXm?bj?/  iigd[AjBj)B2jE@p D~ Z@i>d|=zp$rv?^Z ^ mѿ"j޹*j0>pj?3 Zĝ")pd Y?8oE:ΰ@oi j?i5.m?i  jQBzjMpn?jj\JBjj^Brj@:JBJJJRJ]ZJ'}o\J8+   addTargetRange:: Added new target pos. range: 108.300003 m, deltaT: 3.780186 s, deltaX: -3.000000 m, approachRate: -0.793612 m/s, rangeRepo size: 4 5 Added new target pos. range: 108.300003 m, bearing: 270.562172 deg, lat: 36.903950 deg, lon: -122.119091 deg, deltaT: 3.780186 s, deltaX: -3.000000 m, approachRate: -0.793612 m/s, posRepo size: 4 2i15FNOT Ignoring new targets: 108.30 m.i="i9m ProNav: ac range: 108.300003 m, nav range: 107.184036 m, bearing: 272.099602 deg, approach rate: 0.000000 m/s, LOS rate: 0.019032 deg/s, cmd heading: 269.797226 deg, new cmd heading: 269.823411 deg.  iiuHeadingCmd: 4.709307 target range: 108.300003 and range: 108.30 m.hu@hqhqhqhqgygybgjgBeejeJe@3[@:eJ?DBɛ ) >i)%iJb=i%tɿ%V,?%I-@I)H}R=H}%=DDDE0 EVF QpF ZA M% >}x,[Avę@yv@9v~-#Yvg>vH`*q@6? "cF? s0?O?ҏ?I?vę@ɨvC; v#CB%IH=H=15M > MZ=YU:Q U>Y٣Y ]GY];; e>a]m49el?am4Ye ieYqBq}ƿq}?e@Ce#;e#;eԑ4:B  AdE2iFNOT Ignoring new targets: 108.30 m.i9"i9 ProNav: ac range: 108.300003 m, nav range: 106.900658 m, bearing: 272.102679 deg, approach rate: -0.766323 m/s, LOS rate: 0.008342 deg/s, cmd heading: 269.823399 deg, new cmd heading: 269.832653 deg.  i09HeadingCmd: 4.709468 target range: 108.300003 and range: 108.30 m.h@hhhhggbgjgeejeJe:e.?雭IBɛ) O>i)隱i b=ioɿL? |I@IDDDE15 EZIhbIyjI/rIzI(:I9I(N3IVFTG G G IG BG G G G <G OFHɬC HɬCHH ="H =*Hd4F ZA M >x,@[A2@y2@92"Y2y >2HlD?[ }?` ?`xA?5?nM?2@ɨ21; 2"CB BB IHJ]HJ5Z > ZU=Y^:Q ^>\٣` bGbFb(: b>d]j49fl?an4YfZ ifqBlnƿqn?feCf;f;fA4p rAtB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 108.30 m.i 9"i 9 ProNav: ac range: 108.300003 m, nav range: 106.609055 m, bearing: 272.105726 deg, approach rate: -0.724465 m/s, LOS rate: 0.007592 deg/s, cmd heading: 269.832661 deg, new cmd heading: 269.841828 deg.  i9HeadingCmd: 4.709629 target range: 108.300003 and range: 108.30 m.hG@hhhhggbgjgeejeJe:e`?NBɛC) 3>i):iwa=i%Qjɿ%_?%bI%G@I!D5Y>D5>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DD D E `0 E VFԑzFrFiAFZAM>:Je MBJe 9JJa RJe ^ZJe   checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498940֊x,s-[A6"@y6|Ė@96 Y6 >6H(CM ?FR?`v? k??`#Q?6"@ɨ6Ň; 6!Cj7Bj) IIl)l}Mb@Mb@Mb@yy y)yIyy}"~j?L7A`?L7A`?}SC?}+=}+= }A)}@Iyi}Ay}@H}H(5c= <=YX;Q >٣ GF; >]49l?a4Y# iqBC?m:XĿq?C; ;u4 A2iFNOT Ignoring new targets: 108.30 m.i="i= ProNav: ac range: 108.300003 m, nav range: 106.283539 m, bearing: 272.105708 deg, approach rate: -0.742847 m/s, LOS rate: -0.000040 deg/s, cmd heading: 269.841841 deg, new cmd heading: 269.841788 deg.  iHeadingCmd: 4.709628 target range: 108.300003 and range: 108.30 m.hE@hhhhggbg jg Be)e1je1Je1:e5?雅UBɛA) >i)%隩i`=iXjɿ '?)IE@IDDDE3 E%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751084VF F ZA M5 >潑x,@96Y6Z>6Hd?@ ? `g?mr?ϩ?@?@W?6Џ@ɨ6; 4jPBjI IH H v35> T=Y%;Q %>!٣) -G)-< ->1]=495 l?aE4Y5+ i5rBAEÿqE?5C5-;5;54Q UPAQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0030542iFNOT Ignoring new targets: 108.30 m.i"i ProNav: ac range: 108.300003 m, nav range: 105.994881 m, bearing: 272.105149 deg, approach rate: -0.789972 m/s, LOS rate: -0.001535 deg/s, cmd heading: 269.841786 deg, new cmd heading: 269.840104 deg.  iԆHeadingCmd: 4.709598 target range: 108.300003 and range: 108.30 m.h@hhhhggbgjgeejeJe:e 9@-ZBɛ-eֽ)- /= 5>i1)599i=X7`=iEOkɿEШ>M#:IM@II*GY"GYZIibI\jI0rIzI+:I[9Iـ3IGGG!IGBGGGGԲ<G`FD?DDEg0 EVFp- ?) 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255342F ZA M >^x,;a[A@y_@9qY2>Hr?k?`ඡ?i?%[?`Q?Z?@ɨ; #C%eB-b IMb@Mb@Mb@ )IyRQ?~jt?y&1?B?D=`< A)d@Id@iA@HH35k= ==Y;Q >٣ GF ;  >]49ּl?a4YZ4 i_rBC?m:q?߶C:8:4?B AfE2iFNOT Ignoring new targets: 108.30 m.i{B"i{BU ProNav: ac range: 108.300003 m, nav range: 105.659042 m, bearing: 272.100328 deg, approach rate: -0.737839 m/s, LOS rate: -0.010627 deg/s, cmd heading: 269.840092 deg, new cmd heading: 269.825582 deg.  iU`]HeadingCmd: 4.709345 target range: 108.300003 and range: 108.30 m.h]@hYhYhYhYga:JeqKBJe 9JJaRJe_ZJe 2@,I" IYE%W?cfgabgjgՁBeejeJe:eb@5`Bɛ=|۽)9 =W?i9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507294)L隉i6_=isɿƶ=>[;I@ID!D?DDE`0 EVF :F ZA M >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758989dx,{[A6r@y6@96WY6>6H*y?`Ϸ?* a?@f?? ?^?6r@ɨ68; 6!CUxBUz IHeHe995= 2=Y;Q >٣ G™F{; >]49l?a4Y = irBq? C;;4 4A2iuFNOT Ignoring new targets: 108.30 m.iuW"i}W ProNav: ac range: 108.300003 m, nav range: 105.328270 m, bearing: 272.095230 deg, approach rate: -0.761759 m/s, LOS rate: -0.011776 deg/s, cmd heading: 269.825585 deg, new cmd heading: 269.810245 deg.  iNHeadingCmd: 4.709077 target range: 108.300003 and range: 108.30 m.hð@hhhhggbgjgeejeJe:ewm@fBɛTҽ) O ?i)i^=i]|ɿ0<;Ið@IDDDEo0 EE=E=BDAT read: Rx Time:19:04:25.5268 TRx dataTimestamp_ set to:1736535866.174829checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016419ZIybI}^jIyrIyzIyI}d9IyIyG>GCGG!IG BG =GGG<GNFVFe ;FA ZAI Me >:x,~[A2@y2@92jY2>2HLL{??Bk@m?k??k?@a?2@ɨ2L; 2 CIiOmA ) jlA1[UFI)i)IjlATSF ii) checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263855I Ƒ)ƑőőőƑƕ/AiƙIƙƙޥBޥ IHHV85= I=Y';Q >٣ Gj: >]49Tl?a4YE etIirBq?0Ch;;[4 A%B*** querying acoustic contact ***i!i!2i15FNOT Ignoring new targets: 108.30 m.i=W"i=WM ProNav: ac range: 108.300003 m, nav range: 105.023338 m, bearing: 272.090413 deg, approach rate: -0.744298 m/s, LOS rate: -0.011793 deg/s, cmd heading: 269.810258 deg, new cmd heading: 269.795763 deg.  iMUHeadingCmd: 4.708824 target range: 108.300003 and range: 108.30 m.hU@hQhQhYhYgYgYbgYjgaeaeajeiJei:em @雝kBɛ˽) ?i)`隡!i%v?^=i-ɿ-.;-k;I-@I1^DU `T=Da zDe hA:J >NBJ 9JJ RJ `ZJ H- I =) CDM ?DQ DQ EU `0 EQ U pGi ) /!y ^B DAT read: 19:04:25.5268 LVL= 22256, 25697, 18578, 30963, AGC= 61, IDX= 399,-0.38, 0.049,-1.286, 0.051,-0.527, PHS= 0.665,-0.712, 0.575, RAW= 146.7, -8.0, CAL= 152.7, -16.6, ROT= 357.3, 16.6  Ygot valid direction response: 19:04:25.5268 LVL= 22256, 25697, 18578, 30963, AGC= 61, IDX= 399,-0.38, 0.049,-1.286, 0.051,-0.527, PHS= 0.665,-0.712, 0.575, RAW= 146.7, -8.0, CAL= 152.7, -16.6, ROT= 357.3, 16.6 % PDAT read: Bearing 357.3, 16.6 (Local) - ~Local bearing/azimuth received: Bearing 357.3, 16.6 (Local) e DAT read: Range 10 to 50 : 105.6 m (Round-trip 140.9 ms) speed 0.5 m/s e ,DAT read: user:1082> m BDAT read: Tx time:19:04:26.6318 m $Ping request sent.m y WԷHҿح 3B9ة ح V ٭ ad)٭ HI٭ xi٭ =٭ q=*?٭ E6٭ 33?٭ #@ ڭ 5)ڭ J*@Iڭ Viڭ Ѝ@ڭ V>ک ۩ ۭ *S? 2@En?ƎHIۭ +(>iۭ W>ۭ QAۭ V>۩ ܩ  :publishing transmit ping timei  Fpublishing direction and range infoة Yح 08ݡ?>y WԷHҿة 9ة ة ٩ )٩ I٩ i٩ ٩ ٩ ٩ ٩ ک )ک Iک iک ک ک ۩ ۭ *S? 2@En?ƎHI۩ i۩ ۩ ۩ ۩ ܩ VF;FyZAM ?Kx,ŷ[A| ~QlA~|ɮ||^lAIף)i)IlAlɯ  ɰ  lA xi [CFilA)x @FI !)%jlAɱ%v>%KYF!)ɲ)i)I))I1i1 11)11JDAT read: TxSync time:19:04:26.6310 B IMb@Mb@Mb@ )Iy?/$?/$?fF?,=< 1A)M@I @iGAp@H-H-75="= ==YEQ e>a٣i mGmÙFm m>q]}49uLl?a}4YuO iu+sBF?m:q?udCu;u;u4  AZjTMl?bj( ii2[Aj3BjB2jVŖ@pHEY@>7CJ/+>zp08ݡ?>y WԷHҿ"jQA*jV>p_X%=eZ#< .pvIZZ{d`n?¿ij)iAl?ip  jHBzj/m?jjjj7BrjB@e addTargetRange:: Added new target pos. range: 105.599998 m, deltaT: 3.528229 s, deltaX: -2.700005 m, approachRate: -0.765258 m/s, rangeRepo size: 4 u Added new target pos. range: 105.599998 m, bearing: 269.954170 deg, lat: 36.903947 deg, lon: -122.119091 deg, deltaT: 3.528229 s, deltaX: -2.700005 m, approachRate: -0.765258 m/s, posRepo size: 4 2iq}FNOT Ignoring new targets: 105.60 m.i"i ProNav: ac range: 105.599998 m, nav range: 104.608917 m, bearing: 271.946922 deg, approach rate: 0.000000 m/s, LOS rate: -0.011793 deg/s, cmd heading: 269.795751 deg, new cmd heading: 269.776570 deg.  iHeadingCmd: 4.708489 target range: 105.599998 and range: 105.60 m.h@hhhhggbgjgہBeejeJe`ffZ@:e?erBɛe>ս)a e?ii)m iiimn]=iuɿuY:dغ;I@I^D m,=G G ?AG} >Gy G} !IG} MBG}  =Gy G} @DG} <G} lFD ?D D E !5 E E hAE iAVF 1;FZAM?x,[A:B@y:@9:!Y:=:HKu?? wT?@G?`R? ?n?:B@ɨ:^; :!C޽B޽ IHH)5== E=Yui٣ GęF+ >]49Cl?a4YZ ivsBq?C<<a4@B dAgE2iFNOT Ignoring new targets: 105.60 m.i!"i! ProNav: ac range: 105.599998 m, nav range: 104.196983 m, bearing: 271.941807 deg, approach rate: -0.709636 m/s, LOS rate: -0.008845 deg/s, cmd heading: 269.776572 deg, new cmd heading: 269.761167 deg.  iB¹HeadingCmd: 4.708220 target range: 105.599998 and range: 105.60 m.h@hhhhgg bg jg e ejeJe:eu ?yBɛн)q u?iq)uG qqi}\=i}rɿ8'Y;I@ICCCC:J "LBJ  9JJ RJ aZJ !"$&*),13589<@GKNTWZbbadiggfcZIbIajIrIzIIp9III/;qI/;iI:uI:mD] p>D] >D ?D D E 0 E VF5CQ;FZAM=?@2x,[A6ُ@y6l@96Y6z=6H >l?G? 񚿿 Df?p?'?b)?o?6ُ@ɨ6 ; 4B IMb@Mb@Mb@ )IyK7?~jt?Zd;O?IL?D=j< A) @I@iA=@HQHT5R = =Y;Q >٣ GřF` >]49il?a4Ye isBL?m:Sq?ϷC:;4  A2iFNOT Ignoring new targets: 105.60 m.it`"i t` ProNav: ac range: 105.599998 m, nav range: 103.775009 m, bearing: 271.935618 deg, approach rate: -0.832796 m/s, LOS rate: -0.012265 deg/s, cmd heading: 269.761163 deg, new cmd heading: 269.742519 deg.  iHeadingCmd: 4.707895 target range: 105.599998 and range: 105.60 m.h%@h!h!h!h!g!g)bg)jg-ȁBe)e1je1Je1:e5 ?雅Bɛ@Ƚ) ?i) Z 隉i[=iɿ7na;I@ID=?D9D9E="5 E9G>GG!IGqBGGGG<GBFVF g;F ZA M% >x,~[A:̏@y:Yܖ@9:,Y:w=:H jK`?=?@߿Mٓ?ο??*}?@}p?:̏@ɨ:y; :CFׂBF IHNHN=5Z > Z`=Yb;Q f>h٣l nGlr( v>x]49zl?a 4YzVm izsB  q?zCzC`;z`;z64) -KA)2iFNOT Ignoring new targets: 105.60 m.iwJ"iwJ ProNav: ac range: 105.599998 m, nav range: 103.483986 m, bearing: 271.931568 deg, approach rate: -0.792748 m/s, LOS rate: -0.011063 deg/s, cmd heading: 269.742530 deg, new cmd heading: 269.730346 deg.  i%HeadingCmd: 4.707683 target range: 105.599998 and range: 105.60 m.h%V@h!h!h)h)g)g)bg)jg1eQeqjeqJeq:e}@q?雥Bɛ}) n)?i)z 隩iWK[=iɿ6;IV@IDDDE`0 EE>E>:JNBJh9JJRJbZJfhhjc]daeea\XVOLKLNKGA<;=8942.,+*('''% !VF.A;F ZI gbI jI rI zI %:I I I I I$;I K$;I I ZA MU >g=x,qV3[A6֏@y6V@96z Y6'=6H`2j??Ff`l?F?Uu?!?v?6֏@ɨ6; 6#CRBR!IZ>iZx>\^A=Mb@Mb@Mb@99 9)9I9y=|?5^?J +?~jt?=M?=H==< =A)=@I=@i=bA9= @HUHUV85e= e@=Ye i٣i mGmƙFu=; }>]49l?a4Y.v i3tBCN?m:/q?C<<4}BB }A}iEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 105.60 m.iPY"iPY= ProNav: ac range: 105.599998 m, nav range: 103.147736 m, bearing: 271.926367 deg, approach rate: -0.765230 m/s, LOS rate: -0.011874 deg/s, cmd heading: 269.730345 deg, new cmd heading: 269.714692 deg.  i=cEHeadingCmd: 4.707409 target range: 105.599998 and range: 105.60 m.hE@hAhAhIhIgIgibgqjguBeqeqjeyJey:e}@Bɛ) e.?i)t: iZ=iɿ5;I@UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.IDDD!D!E! E!VFE ']?;F ZA) MM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462561*GY "G] <-x,*UM[A2;؏@y2@92RY2b=2Hqk??'Em??]?`ľ?h{?2;؏@G:>G:CG:!IG:BG: =G8G8G:r<G:FH5C H5CH1H1"H5 =*H5b5ɨ2έ; 2CRBV!IH^H^.5f< fS=Yjh٣l nGnǙFn(9 n>p]M49r/l?aU4Yr7~ irgtBQU*qU?rFCrtiOx, g[AB!IMb@Mb@Mb@ )Iy㥛 ?/$?I +?U?,=9< S@)@I@ij@@HHV855W= =7=YMQ U>a٣a mGi} }>]49l?a4Y itBU?m~:¿q?vC ; ;F-4 GABDAT read: Rx Time:19:04:29.1730 TRx dataTimestamp_ set to:1736535869.699257checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966901:J4:NBJػ9JJRJcZJ      2iFNOT Ignoring new targets: 105.60 m.i"i ProNav: ac range: 105.599998 m, nav range: 102.467690 m, bearing: 271.917975 deg, approach rate: -0.844957 m/s, LOS rate: -0.008172 deg/s, cmd heading: 269.700292 deg, new cmd heading: 269.689425 deg.  iz HeadingCmd: 4.706968 target range: 105.599998 and range: 105.60 m.h |@h h h hggbgjgBeejeJe:e%%L@MBɛM)I M43?iI)U QQiUiY=i]}ɿ]$4]nd;I]|@IaZIibI_jIrIzI+:I=h9III/;I/;I:I:D?DDEo0 EEEhAVF m 0>m <u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218755F ZA M >\7x,2[A= B=,!IIA)AHUHU65= V=YQ >٣ GșF >]49l?a4Y5 itBq?C::34CB AkE2iFNOT Ignoring new targets: 105.60 m.i "i  ProNav: ac range: 105.599998 m, nav range: 102.158524 m, bearing: 271.914976 deg, approach rate: -0.778940 m/s, LOS rate: -0.007579 deg/s, cmd heading: 269.689418 deg, new cmd heading: 269.680393 deg.  itHeadingCmd: 4.706811 target range: 105.599998 and range: 105.60 m.h2@hhhhggbgjgeejeJe:eЀ @mBɛu)q u9?iq)uw qqi}?X=i}ɿ+/3R;I2@IDzDDE?DIDIEMy0 EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.470748G >G CG !IG BG  =G G G <G (FVF s;Fa ZAi M >cax,š[A~B=!IHHV85UDAT read: 19:04:29.1730 LVL= 25888, 25921, 18850, 32755, AGC= 64, IDX= 408, 0.13,-2.282, 2.652,-2.294,-2.827, PHS= 0.633,-0.757, 0.531, RAW= 146.2, -6.1, CAL= 151.7, -14.9, ROT= 358.3, 14.9 eYgot valid direction response: 19:04:29.1730 LVL= 25888, 25921, 18850, 32755, AGC= 64, IDX= 408, 0.13,-2.282, 2.652,-2.294,-2.827, PHS= 0.633,-0.757, 0.531, RAW= 146.2, -6.1, CAL= 151.7, -14.9, ROT= 358.3, 14.9 mPDAT read: Bearing 358.3, 14.9 (Local) m~Local bearing/azimuth received: Bearing 358.3, 14.9 (Local) uDAT read: Range 10 to 50 : 102.8 m (Round-trip 137.1 ms) speed 0.9 m/s },DAT read: user:1083> BDAT read: Tx time:19:04:30.2818 $Ping request sent. opԊ?ꃊ?m8KIZ>i=%> :publishing transmit ping time؁Fpublishing direction and range infoYx?[br[Fhtп9 )Ii )Ii opԊ?ꃊ?m8KIi o= 7=YQ >٣ GəF >]49l?a4Y iuBq?͸C:;4! -dA)Zj(m?bjG iiv[AjBj;B2j@p .X@RדkDn:zpx?[br[Fhtп"j*j%>p=Ҫ?a6|Y6ER*pux?n/cij?iOm?i3  jQBzj5.m?j3 jJBjjBrj` @ addTargetRange:: Added new target pos. range: 102.800003 m, deltaT: 3.779514 s, deltaX: -2.799995 m, approachRate: -0.740835 m/s, rangeRepo size: 4  Added new target pos. range: 102.800003 m, bearing: 270.350872 deg, lat: 36.903924 deg, lon: -122.119093 deg, deltaT: 3.779514 s, deltaX: -2.799995 m, approachRate: -0.740835 m/s, posRepo size: 4 2iFNOT Ignoring new targets: 102.80 m.ie"ia} ProNav: ac range: 102.800003 m, nav range: 101.955078 m, bearing: 270.437036 deg, approach rate: 0.000000 m/s, LOS rate: -0.007579 deg/s, cmd heading: 269.680402 deg, new cmd heading: 269.670188 deg.  iyHeadingCmd: 4.706633 target range: 102.800003 and range: 102.80 m.h@hhhhggbgjgeejeJe@3Y@:e?EBɛEӵ)I M٣ Ga >]49Ql?a4Y iYuBX?m{:¿q?C;;s:;C4DB KAhEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 102.80 m.iĹ"iĹ ProNav: ac range: 102.800003 m, nav range: 101.576126 m, bearing: 270.427822 deg, approach rate: -0.880326 m/s, LOS rate: -0.021484 deg/s, cmd heading: 269.670185 deg, new cmd heading: 269.642440 deg.  ikHeadingCmd: 4.706148 target range: 102.800003 and range: 102.80 m.hĘ@hhhhggbgjgBeejeJe:e*?MBɛU)Q UG CG "IG ǃBG  =G G G <G ,FF ZA ME >ux,Z[A6@y6@96KY6 =6Hӿuy?ɻ?M/?@e7? -? ?6@ɨ6r; 6 CR1BR]!IVR=iV4<HZsHZe$5bp= bX=YfE;Q f>d٣d fGjʙFjѻ j>1]=495l?a=4Y5 i5uBAE¿qE?5(C5<;5^;5qJ4I MAI2iq}FNOT Ignoring new targets: 102.80 m.i}/"i/ ProNav: ac range: 102.800003 m, nav range: 101.251328 m, bearing: 270.420296 deg, approach rate: -0.837691 m/s, LOS rate: -0.019473 deg/s, cmd heading: 269.642427 deg, new cmd heading: 269.619776 deg.  iUHeadingCmd: 4.705753 target range: 102.800003 and range: 102.80 m.h@hhhhggbgjgeejeJe:e$?Bɛ"%) *F?i)@iV=iMɿr1jzI@IDl>DDDDE@5 EM>Ma=]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996605VF}:FZAM>>PExceeded connect timeout, disconnecting. G kA A) "y kA ;B checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247537x,cz[A:J"BoHBJ"9JJ RJ"eZJ":'@y:@9:ThY:=:H a{?ۼ`z?ڻ?һ?ۼ??:'@ɨ:8p; :CJ=BJk!I%Mb@Mb@Mb@!! !)!I!y%Zd;?I +?/$?%Y?%9<%< !)%V@I%V@i%@!%@H5nH5."5E\= EB=YM;Q M>I٣Q UGU˙FU]49$l?a4Y iuBY?my:ƿq?UCU::Q4EB %BA%jE2iFNOT Ignoring new targets: 102.80 m.i"iU ProNav: ac range: 102.800003 m, nav range: 100.892708 m, bearing: 270.418433 deg, approach rate: -0.796662 m/s, LOS rate: -0.004153 deg/s, cmd heading: 269.619778 deg, new cmd heading: 269.614169 deg.  i]k6]HeadingCmd: 4.705655 target range: 102.800003 and range: 102.80 m.h]@hahahahagagabgijgBeejeJe:e9A?Bɛ6ҥ) I?i)7iDnV=iɿo1G5I@IID?DDE1 E]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499497VF% i{F ZA M- >\x,7T[A>ׄ@y>1@9>Y>J=>H{N? 5tuqy?`? ?8?Õ?>ׄ@ɨ>a; > CJOBJ!IHnHn55v= vP=Yzn x٣x zG|~չ ~>] 49l?a 4YS iuBƿq?~C::tX4 %\@!2iYeFNOT Ignoring new targets: 102.80 m.imާ"imާ ProNav: ac range: 102.800003 m, nav range: 100.575333 m, bearing: 270.416811 deg, approach rate: -0.894622 m/s, LOS rate: -0.004586 deg/s, cmd heading: 269.614177 deg, new cmd heading: 269.609296 deg.  iqIHeadingCmd: 4.705570 target range: 102.800003 and range: 102.80 m.h@hhhhggbgjgeejeJe:e|?BɛW) Q?i ) @  i U=iOɿo1%0I%@I)GGG;"IGBGGGG<G5Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.755907ZIgbI`jIrIzI%:Ibl9IIII$;IK$;I(:I):DDDE5 EVFb(F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007609 &x,{-"[A:Y@y:@9:Y:-=:Hm{d?Q?y?b+?@X)?@?}?:Y@ɨ:zd; :"CFaBF!IIH)H)N= Np=HRHR95ZY= ^N=Y^n;Q ^>`٣` bGb̙Ff#9 f>h]j49jl?an4Yj& ij vBlrƿqr?jCj};jh;je_4t vE@t2i-FNOT Ignoring new targets: 102.80 m.iE"iEU ProNav: ac range: 102.800003 m, nav range: 100.240395 m, bearing: 270.415089 deg, approach rate: -0.847672 m/s, LOS rate: -0.004373 deg/s, cmd heading: 269.609287 deg, new cmd heading: 269.604102 deg.  iU@]HeadingCmd: 4.705479 target range: 102.800003 and range: 102.80 m.h]I@hahahahagagabgijgieieijeqJeq:eu @雝Bɛ) W?i)͒隩iFoU= enManaging dock network, ignoring radio surface power offiFɿDj1('II@IDID ?D D E 0 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260017:J}BJ} 9JJyRJ}fZJ}VF- *F ZA M= >cWx,&<[Ab@yb@9b,qܽYb=bH y?@`ml[z?@?`?? Z?b@ɨb)I; b CnrBn!I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511594}Mb@Mb@Mb@yy y)yIyy}\(\?Q?~jt?}Z?}<}< }@)} @I}M@i}j@y}@HH:5= ;=YM;Q >٣ G͙Fqx: >]49l?a4Y iSvB[?mx:ſq?عC ;;g4GB @@lEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 102.80 m.io!"io! ProNav: ac range: 102.800003 m, nav range: 99.870087 m, bearing: 270.411068 deg, approach rate: -0.809441 m/s, LOS rate: -0.008821 deg/s, cmd heading: 269.604096 deg, new cmd heading: 269.591989 deg.  iHeadingCmd: 4.705268 target range: 102.800003 and range: 102.80 m.h@hhhhggbgjgBeejeJe!:e%@mBɛm)i mk^?iq)uqqiu T=i}1ɿ}R1I@ID5?D9D9E=`0 E9*G<"G4<G>GGf"IG BG =GGGͲ<GQFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765195VF ICIKcw3IK.-ICICICZI hbI ^jI rI zI (:I d9I I I );I );I :I :F ZA M >o9x,U[A2@y2ڙ@92FW׽Y2Q=2Hx ?- z? ݺ?8޺?,?T?2@ɨ2; 0^B^!IHfHf95= U=Y;Q >!٣! %G!-: ->)]=49-l?a=4Y-{ i-vB9=ſq=?-C-;-;-m4I M@I2iq}FNOT Ignoring new targets: 102.80 m.ia6"ia6 ProNav: ac range: 102.800003 m, nav range: 99.544510 m, bearing: 270.407471 deg, approach rate: -0.899065 m/s, LOS rate: -0.009966 deg/s, cmd heading: 269.591993 deg, new cmd heading: 269.581166 deg.  iڹHeadingCmd: 4.705079 target range: 102.800003 and range: 102.80 m.h@hhhhggbgjgeejeJe:e@ۊ@Bɛ z|) f?i)ihT=idɿ}616ݺI@ID?DDEn0 EUBDAT read: Rx Time:19:04:32.8188 ]TRx dataTimestamp_ set to:1736535873.484010]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017800VF˴FZAI M > A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267709bx,o[A:JNBoHBJNh9JJLRJNgZJN  $,   B!I%8>i%%=Mb@Mb@Mb@ )Iy7A`?l?Zd;O?V?=j< j@)@I7@i&@Q@HH-5>^= ==YQ >٣ GΙF > ]49 l?a4Y  i vBV?m}:Ŀq? 0C 7; 4; Fu4! -9@)2iIUFNOT Ignoring new targets: 102.80 m.i]t"iet ProNav: ac range: 102.800003 m, nav range: 99.185814 m, bearing: 270.401725 deg, approach rate: -0.829529 m/s, LOS rate: -0.013336 deg/s, cmd heading: 269.581173 deg, new cmd heading: 269.563874 deg.  ipHeadingCmd: 4.704777 target range: 102.800003 and range: 102.80 m.h@hhhhggbgjg~BeejeJe:e @Bɛ <) j?i)D隑iS=iG ʿ>1 I@IDzDiAD?DDE EDAT read: 19:04:32.8188 LVL= 21232, 30001, 18466, 32755, AGC= 63, IDX= 397, 0.32,-2.269, 2.735,-2.283,-2.769, PHS= 0.588,-0.732, 0.483, RAW= 145.9, -5.4, CAL= 151.2, -14.3, ROT= 358.8, 14.3 Ygot valid direction response: 19:04:32.8188 LVL= 21232, 30001, 18466, 32755, AGC= 63, IDX= 397, 0.32,-2.269, 2.735,-2.283,-2.769, PHS= 0.588,-0.732, 0.483, RAW= 145.9, -5.4, CAL= 151.2, -14.3, ROT= 358.8, 14.3 PDAT read: Bearing 358.8, 14.3 (Local) ~Local bearing/azimuth received: Bearing 358.8, 14.3 (Local) DAT read: Range 10 to 50 : 99.6 m (Round-trip 132.9 ms) speed 0.5 m/s ,DAT read: user:1084> BDAT read: Tx time:19:04:33.9318 $Ping request sent.o?kVǔ⩝Ͽ]3B9Y]R ]1u)]"HIYi]?]+?]Zd;]K>]"@ ])][(@I]ri]Hd@]r>Y Y]f2ը?! ?J I]i>i]=]]r>Y Y:publishing transmit ping timeعFpublishing direction and range infoYY]w>o?kVǔ⩝ϿY9YY Y)YIYiYYYYY Y)YIYiYYY Y]f2ը?! ?J IYiYYYY YVF :F ZA M >OK"x,Z[A6Ē@y6@96ͽY6 =6H@t? 1@´|?`?`? ̦?s?6Ē@ɨ6P@; 6!CfBf!IHrHr/5= [=YL ٣ GϙF]0; ]>i]u49ml?a4YmS imvB|Ŀq?mYCmaC8zpw>o?kVǔ⩝Ͽ"j*jr>p`_?P Xe؉-G]>GYG]"IG]-BG] =GYGYG]˲<G]LFHªC HªCHH"H*HQ4p$3r?0gP2￰ЩÿijJ>il?i   jKBzjOm?jjKBjjBrj@JDAT read: TxSync time:19:04:33.9310  addTargetRange:: Added new target pos. range: 99.599998 m, deltaT: 3.531930 s, deltaX: -3.200005 m, approachRate: -0.906022 m/s, rangeRepo size: 4  Added new target pos. range: 99.599998 m, bearing: 270.262813 deg, lat: 36.903922 deg, lon: -122.119093 deg, deltaT: 3.531930 s, deltaX: -3.200005 m, approachRate: -0.906022 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 99.60 m.i "i)E ProNav: ac range: 99.599998 m, nav range: 98.866074 m, bearing: 270.307912 deg, approach rate: 0.000000 m/s, LOS rate: -0.013336 deg/s, cmd heading: 269.563879 deg, new cmd heading: 269.547390 deg.  iAZIqbIu\jIqrIqzIqIu[9IqIqIqIqIuӁ:IuՁ:HeadingCmd: 4.704489 target range: 99.599998 and range: 99.60 m.h-@hhhhggbgjgeejeJe`fX@:e~P?-Bɛ-,)1 5r?i1)5j11i5US=i=ʿ=U0=IE-@IiDDDEo0 EE E VFE ïF ZA) MM >t(x,w[A:F@y:@9:jʽY:=:Hx?@㾿- y?A?B?@??:F@ɨ:,; :CFBF"IHV[HV5^= ^O=Yb;Q b>`٣` bG`f f>h]n49jl?a=4Yj ij wBAEĿqE?jCjxj .x,W[AJ@yJ@9JvǽYJ=JHFz?@%s?F??X?`?J@ɨJ; JCZ̃BZ"II\)\MMb@Mb@Mb@II I)IIIyM:v?٣ GЙFO >]49l?a4Y i9wBKU?m~:Ŀq?C/::14 @MB*** querying acoustic contact ***iIiI2iq}DNOT Ignoring new targets: 99.60 m.iw"iw ProNav: ac range: 99.599998 m, nav range: 98.192078 m, bearing: 270.296622 deg, approach rate: -0.825082 m/s, LOS rate: -0.013543 deg/s, cmd heading: 269.530821 deg, new cmd heading: 269.513386 deg.  iHeadingCmd: 4.703896 target range: 99.599998 and range: 99.60 m.hQ@hhhhggbgjgBeejeJe:e?EȁBɛE>ae)I Mր?iQ)UQQiUBR=i](&ʿ]F0]PI]Q@IaD]>D>D!D!D!E% 3 E!Ge>GaGe"IGeUBGaGaGe?DGeŲ<GeGFT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFE 'HZI fbI ]jI rI zI |":I _9I I I ;I ;I i:I j:F! ZA1 MM >5x,-[A6#@y6}@96īŽY6 =6HGz?@s?_?`??@d?6#@ɨ6; 4BكBF,"IHNlHNK!5n= rU=Yr;Q r>t٣t vGvљFv:9 z>x]49zhl?a4Yzl izdwBĿq?zغCzL;z;z搀4  @2i9=DNOT Ignoring new targets: 99.60 m.iE"iEU ProNav: ac range: 99.599998 m, nav range: 97.875320 m, bearing: 270.291415 deg, approach rate: -0.871718 m/s, LOS rate: -0.014377 deg/s, cmd heading: 269.513391 deg, new cmd heading: 269.497719 deg.  iUeHeadingCmd: 4.703622 target range: 99.599998 and range: 99.60 m.he@hahahahagigibgijgieqeqjeqJeq:e}`!?雥ˁBɛE) |?i)!隩iQ=i/ʿ0gBCI@IDU?DQDQEU`4 EQ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499950VF}ïFQZAM- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751310հ;x,[A:JrpOBJr9JJpRJriZJrBA"IMb@Mb@Mb@ )Iy|?5^?/$?Zd;O?R?,=j< &@)@I@i@(@HH25= :=YQ >٣ G > ]49 l?a4Y  i wBLS?m:ÿq? C  ;  ; 4! %@!2iIMDNOT Ignoring new targets: 99.60 m.iU0"iU0e ProNav: ac range: 99.599998 m, nav range: 97.516090 m, bearing: 270.283762 deg, approach rate: -0.818708 m/s, LOS rate: -0.017506 deg/s, cmd heading: 269.497709 deg, new cmd heading: 269.474665 deg.  ie:@mHeadingCmd: 4.703220 target range: 99.599998 and range: 99.60 m.hmȀ@hihihqhqgqgqbgyjg}BeyeyjeJe:e?雭ρBɛ[) ҆?i)L隱iQ=iJ<ʿ/*4۹IȀ@ID?DD E k4 E =j?=;?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004126VFm u4FA ZAI M} >'Bx, [AJ@yJ믖@9JYJK =JH`k>?ھ@6@X~?a%?5?;? ~?J@ɨJD; HbBb^"If%>if{>hjAHUHU35e-= eS=Ymri٣i mGuҙFu; u>y]49}l?a4Y}7 i}wBjÿq?}.C}:}:}S4IB ~@oE2iDNOT Ignoring new targets: 99.60 m.iƬ"iƬ ProNav: ac range: 99.599998 m, nav range: 97.199883 m, bearing: 270.276456 deg, approach rate: -0.814578 m/s, LOS rate: -0.018881 deg/s, cmd heading: 269.474677 deg, new cmd heading: 269.452689 deg.  iTOHeadingCmd: 4.702837 target range: 99.599998 and range: 99.60 m.G>GCG"IG~BG =GGG<G:Fh}@hhhhggbg!jg!e)e)je1Je1:e5 @]ҁBɛ]z=)Y e݋?ia)eaaieP=imHʿm@/u-/;Iu}@IqDchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.272551D)D)D1E5`0 E1VFm >FI ZAQ Mu > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523710Hx,i$[A:ȭ@y:#@9:;Y:t=:Hd]`?>??ϟ?@ܾ??:ȭ@ɨ:; :CJ BNk"IHVHV/5^j= ^V=Y^ ;Q b>`٣` bG`fR; f>h]n49j l?an4Yjs ijwBpr6ÿqr?jVCj;j~ ;j4t v@t2i!%DNOT Ignoring new targets: 99.60 m.i-̵"i-̵E ProNav: ac range: 99.599998 m, nav range: 96.887215 m, bearing: 270.268890 deg, approach rate: -0.818404 m/s, LOS rate: -0.019868 deg/s, cmd heading: 269.452684 deg, new cmd heading: 269.429913 deg.  iE)ZEHeadingCmd: 4.702439 target range: 99.599998 and range: 99.60 m.hMbz@hIhIhIhIgIgIbgQjgQeQeYjeYJeY:e]@%ՁBɛ%\6)) -?i))-))i-@O=i5Uʿ='B.=g ;I=bz@I9I)C }HG;mA AD?) y;mABDDEo0 E-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775929ZIeibIajIarIazIe+:IaIaIaqm@im@um@mm@:JUJBJU]9JJQRJUjZJU L #"}vuoic][XRPKDDDB@<:644442, J]gAI]hAVF;F ZA M >Nx,>[AZ%@yZÖ@9ZYZ!\=ZH%P?`KjM?`?`2?@uھ?{?Z%@ɨZY; Xj!Bj"Ie@m eMb@Mb@Mb@aa a)aIayem?S㥫?٣ GәF: >]49l?a4Y( ixBO?m:q?C::4 @B*** querying acoustic contact ***ii2i DNOT Ignoring new targets: 99.60 m.iU"iU ProNav: ac range: 99.599998 m, nav range: 96.539299 m, bearing: 270.256831 deg, approach rate: -0.802105 m/s, LOS rate: -0.027904 deg/s, cmd heading: 269.429926 deg, new cmd heading: 269.393616 deg.  i3 HeadingCmd: 4.701806 target range: 99.599998 and range: 99.60 m.h 1u@h hhhggbgjgeejeJe!:e%S@雭فBɛ<) ?i)=隱i3ZO=ijʿ-:A;I1u@IDe?DaDaEa Ea*G<"G<G>GG(#IGBG =GGG <GvF5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279403VF !j;F ZA M >Ux,dxX[A6f@y6ɖ@966Y6w=6H 1@R?@}? 7y?(?? X٣X ZGZԙFZ{; ^>`]f49bl?af4Yb|0 ib2xBhjqj?bCb:b:b4eKB e|@eqE2iDNOT Ignoring new targets: 99.60 m.i3"i3 ProNav: ac range: 99.599998 m, nav range: 96.240395 m, bearing: 270.246269 deg, approach rate: -0.771438 m/s, LOS rate: -0.027343 deg/s, cmd heading: 269.393616 deg, new cmd heading: 269.361834 deg.  iHeadingCmd: 4.701251 target range: 99.599998 and range: 99.60 m.hp@hhhhggbgjgeejeJe:e@ @-ہBɛ5@ )1 5?i9)=NAAiMN=i]|ʿe,ev;Iep@IiD!zD%hAե%=ե4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536138D?DDEp0 EVFM 9;FA ZAQ Mu >\x,W]r[AHHZIhbIajIrIzI(:Ip9II*DAT read: 19:04:36.4647 LVL= 25440, 25825, 19602, 32755, AGC= 66, IDX= 402,-0.22, 0.712,-0.665, 0.735, 0.236, PHS= 0.564,-0.854, 0.496, RAW= 147.6, -3.0, CAL= 152.0, -11.9, ROT= 358.0, 11.9 >Ygot valid direction response: 19:04:36.4647 LVL= 25440, 25825, 19602, 32755, AGC= 66, IDX= 402,-0.22, 0.712,-0.665, 0.735, 0.236, PHS= 0.564,-0.854, 0.496, RAW= 147.6, -3.0, CAL= 152.0, -11.9, ROT= 358.0, 11.9 BPDAT read: Bearing 358.0, 11.9 (Local) F~Local bearing/azimuth received: Bearing 358.0, 11.9 (Local) JDAT read: Range 10 to 50 : 96.5 m (Round-trip 128.7 ms) speed 0.7 m/s R,DAT read: user:1085> VBDAT read: Tx time:19:04:37.5819 V$Ping request sent.Ve$@ ePwV)e)@IeȭTie@eȭT>a aefH-T??@V ᪿIeVO>ie'W=eQeȭT>a a:publishing transmit ping timeTFpublishing direction and range infoaYeK? |Fa5dʿa9aa a)aIaiaaaaa a)aIaiaaa aefH-T??@V ᪿIaiaaaa a:JbNBJS9JJRJkZJޕABޕ"I Mb@Mb@Mb@ )Iy rh?Mb??L?=< @)?@Ii\@@HH95%zB= %=Y%Q %>)٣) -G-ՙF5 5>9]49=Kl?a4Y=; i=jxBLM?m:Zq?=C=#<=j"<=4 @Zje?ʚl?bje%HL iaiewr[AjeBjeB2je@pe?W@bkf ] V>kh3zpeK? |Fa5dʿ"jeQ*jeȭT>pe8h`'5ӀWC<;97(peh tآ'q.fiewje`ie`Ll?ie!"  jeXBzjel?je!" jeQBjjewBrje@ addTargetRange:: Added new target pos. range: 96.500000 m, deltaT: 3.796012 s, deltaX: -3.099998 m, approachRate: -0.816646 m/s, rangeRepo size: 4  Added new target pos. range: 96.500000 m, bearing: 269.474467 deg, lat: 36.903922 deg, lon: -122.119093 deg, deltaT: 3.796012 s, deltaX: -3.099998 m, approachRate: -0.816646 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 96.50 m.i "i E ProNav: ac range: 96.500000 m, nav range: 95.733841 m, bearing: 270.180433 deg, approach rate: 0.000000 m/s, LOS rate: -0.027343 deg/s, cmd heading: 269.361842 deg, new cmd heading: 269.315194 deg.  iAMHeadingCmd: 4.700437 target range: 96.500000 and range: 96.50 m.hi@hhhhggbgjgBeejeJe X@:ef?%Bɛ%^Q)! %1?iI)MIIiMN=iU}ʿUA*]č;I]i@IYD} ?Dy D E `0 E E =E =G%>G!G%Z#IG%τBG!G!G!G%{<G% FVFw;FZAM?odx,l[A6λ@y6)˖@96SϧY6=6HN5?`߾?uʹ??@ž??6λ@ɨ6; 6CBbBF"IHRdHR5Z1> Z\=Y^;Q ^>\٣\ ^G`bI9 b>d]549f/l?a54YfC ifxB1=Tq=?fCfeBjx,#J[A]#@y]~@9]CY]E=]HWa@?`q`uP?ߴ?`?a?z?]#@ɨ]ى; ]CuiBu"I}=i}=5Mb@Mb@Mb@11 1)1I1y5K7A`?V-?I +?5K?5h=59< 5@)1I5@i5/@15@HM;HM 5]@= ]2=Y]Q ]>a٣a eGZIjbIcjIrIzI.:Ix9IIe֙F >]49l?a4YM ixBK?m:Zq?7C::}̀4! -@)2iquDNOT Ignoring new targets: 96.50 m.i}2"i}2 ProNav: ac range: 96.500000 m, nav range: 95.065048 m, bearing: 270.149270 deg, approach rate: -0.794737 m/s, LOS rate: -0.038918 deg/s, cmd heading: 269.276328 deg, new cmd heading: 269.221392 deg.  iպHeadingCmd: 4.698800 target range: 96.500000 and range: 96.50 m.h\@hhhhggbgjgˁBeejeJe:e}?:J]iKBJ]ػ9JJYRJ]lZJ] "+6?DHIHHFB@@?;2.+*&"#% BɛH) ?i)iL=i 'ʿ '  ;I \@ID?DDEp0 EVF O;F ZA M >qx, [A) ~{B~"IH YH 5= %b=Y%Q %>!٣) -G-יF- -?1]=495l?aE4Y5T i5xBAAqE?5ZC5r;5L ;5Ҁ4MLB M@UsE-B*** querying acoustic contact ***i)i)2iAMDNOT Ignoring new targets: 96.50 m.iU("iU(m ProNav: ac range: 96.500000 m, nav range: 94.792442 m, bearing: 270.135882 deg, approach rate: -0.749706 m/s, LOS rate: -0.036925 deg/s, cmd heading: 269.221386 deg, new cmd heading: 269.181107 deg.  iuʺ}HeadingCmd: 4.698097 target range: 96.500000 and range: 96.50 m.hV@hhhhggbgjgeejeJe:e?Bɛ) ?i)UQQiUL=i].ʿ]&];IeV@IaG1G1G=>G9G=#IG=BG9G9G9G=<G=1FHéC HéCHH"H*H 4DDDE1 ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF) F ZA M5 >wx,[A6@y6H@96ťY6#=6Hth`?`$Z{?? ٲ?@?֨?6@ɨ6y1; 4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738534B#IIi)mAHH(*5E@= M=Y]=:Q e>q٣ Gƺ >]49l?a4Y` iyBuq?C<<܀4 }?@y2iDNOT Ignoring new targets: 96.50 m.i2"i2 ProNav: ac range: 96.500000 m, nav range: 94.332085 m, bearing: 270.113331 deg, approach rate: -0.793222 m/s, LOS rate: -0.039047 deg/s, cmd heading: 269.181116 deg, new cmd heading: 269.113131 deg.  iaֺHeadingCmd: 4.696910 target range: 96.500000 and range: 96.50 m.hM@hhhhggbgjgeejeJe:e ?BɛY) B?i)Ri:K=i% ˿%$%;I%M@I)D9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995570ZInbIbjI/rIzI|;:It9I(N3ID D D E p0 E :J VMBJ JJ RJ mZJ VF ;FZAM>[&x,[A>Ώ@y>sݖ@9>ʵY>g=>H ja?E?@)ھep?؛?@ѳ?@? ?>Ώ@ɨ>J; <echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.246631Ii )! %ZlA%33!!!)I)))i)))I-IlA5%1 1119i99i99)9 9IA A)AAAAIM1AiIIIIIB#IeMb@Mb@Mb@aa a)aIayex&?Dl?~jt?e7I?eO=e< e@)e@Ie@ie@ae @HHB-5= :=Y٣ GؙFhC< >]49hl?a4Yi iAyBJ?m:q?C::;4MB @pE2iq}DNOT Ignoring new targets: 96.50 m.i9:"i9: ProNav: ac range: 96.500000 m, nav range: 93.997078 m, bearing: 270.096143 deg, approach rate: -0.790507 m/s, LOS rate: -0.040702 deg/s, cmd heading: 269.113142 deg, new cmd heading: 269.061394 deg.  iwߺHeadingCmd: 4.696007 target range: 96.500000 and range: 96.50 m.hE@hhhhggbgjgBeejeJe:e_@雅BɛPü) ?i)隉i.uJ=i(˿"UGaGe#IGeBGe =GaGaGey<GeFDYDYDYE]z0 Ea checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499454VF} O;FQ ZAa M} >yx,[A6ڏ@y6O@96GY6(=6H:Tn??H便mX?uB?` ? ?࿬?6ڏ@ɨ6; 4< <>D<ɮ<@BZlAI@)@i@)@IFzlAF+ɯFCF DɰDFlADiJLCFHiHNlA)N LIL L)NlAɱN1PPPɲPiTITTIXiX XX)XXB$#IHvH%5]< ]]=Y]R;Q e>a٣a mGmٙFm,; m>q]}49ul?a}4YuWq iucyByܽq?uCu:u:u4NB @qE2iDNOT Ignoring new targets: 96.50 m.iIA"i%IA5 ProNav: ac range: 96.500000 m, nav range: 93.708572 m, bearing: 270.080966 deg, approach rate: -0.800584 m/s, LOS rate: -0.042246 deg/s, cmd heading: 269.061396 deg, new cmd heading: 269.015724 deg.  i=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750673eHeadingCmd: 4.695210 target range: 96.500000 and range: 96.50 m.hm)?@hihihihigigibgqjgqeqeqjeyJey:e}@C@雥BɛP_) ?i)g隱iVI=iB˿| [n BDAT read: Rx Time:19:04:40.1109  TRx dataTimestamp_ set to:1736535880.811167 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003638x,~6[A:JR KBJR]9JJPRJRnZJR#@4!>/UBU5#I]=i]4<Mb@Mb@Mb@ )Iy/$?x&?/$?1H?7=< r@)I@i@@H5H5\05U= U<=YUQ ]>Y٣Y ]GYe e>i]49ml?a4Ym:z imyBH?m:q?mCmHvG= }>G9 G= #IG= 5BG9 G9 G9 G= <x,ۇP[AGmF2e@y2@92ߗY2:5=2H_x?G?оU_??`???2e@ɨ2;; 0ޅBޅ>#IHH.5= j=Y ;Q >٣ GڙFZImbIfjI0rIzI\8:I9Iـ3IID;qID;iI:uI:m DAT read: 19:04:40.1109 LVL= 19648, 30849, 17058, 32243, AGC= 64, IDX= 395,-0.44, 0.306,-0.998, 0.341,-0.131, PHS= 0.526,-0.820, 0.469, RAW= 147.9, -2.7, CAL= 152.2, -11.5, ROT= 357.8, 11.5 Ygot valid direction response: 19:04:40.1109 LVL= 19648, 30849, 17058, 32243, AGC= 64, IDX= 395,-0.44, 0.306,-0.998, 0.341,-0.131, PHS= 0.526,-0.820, 0.469, RAW= 147.9, -2.7, CAL= 152.2, -11.5, ROT= 357.8, 11.5 PDAT read: Bearing 357.8, 11.5 (Local) %~Local bearing/azimuth received: Bearing 357.8, 11.5 (Local) -DAT read: Range 10 to 50 : 93.6 m (Round-trip 124.9 ms) speed 0.6 m/s =,DAT read: user:1086> EBDAT read: Tx time:19:04:41.2319 E$Ping request sent.Eٽ4%@ ڽA)ڽP*@IڽMiڽM@ڽM>ڹ ۹۽.B?З?5DI۽~>i۽'@=۽F۽M>۹ ܹm:publishing transmit ping timeAmFpublishing direction and range infoعYؽEHU?j۲Biɿع9عع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ ۹۽.B?З?5DI۹i۹۹۹۹ ܹ; ?]49+l?a4Y iyBŽq?6Cd: :4 e@ZjS/l?bjo ii`!T[Aj3BjB2j@pOkaV@-z7+ "+,2zpEHU?j۲Biɿ"jF*jM>phX"*濣Y3W(06(pLB7P~],4-ijW1i8p˼l?i  jYBzj8p˼l?jp jjjBrjӎ@E addTargetRange:: Added new target pos. range: 93.599998 m, deltaT: 3.532099 s, deltaX: -2.900002 m, approachRate: -0.821042 m/s, rangeRepo size: 4  Added new target pos. range: 93.599998 m, bearing: 269.572352 deg, lat: 36.903915 deg, lon: -122.119090 deg, deltaT: 3.532099 s, deltaX: -2.900002 m, approachRate: -0.821042 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 93.60 m.i"i- ProNav: ac range: 93.599998 m, nav range: 92.864326 m, bearing: 269.572898 deg, approach rate: 0.000000 m/s, LOS rate: -0.040060 deg/s, cmd heading: 268.962959 deg, new cmd heading: 268.913787 deg.  i15HeadingCmd: 4.693431 target range: 93.599998 and range: 93.60 m.h=0@h9h9h9h9g9gbgjgeejeJe`ffW@:eB? Bɛ q)  ?i)i5H=iE}˿E4@E6Hnx,k[A pG5lA Q)!ylAmB]@y]^ @9]EY]:=]H'?b?/ľ@?@O?ǭ?N? }?]@ɨ]; ]CޕBޕH#I@ @ @  @ HH<55= "=Y;Q  > ٣   G ۙFH; >]-49l?a-4Y iyBi-+:)m5[:5q5?fCdE;>49 E@IB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 93.60 m.ih"ih ProNav: ac range: 93.599998 m, nav range: 92.495712 m, bearing: 269.550634 deg, approach rate: -0.836611 m/s, LOS rate: -0.050732 deg/s, cmd heading: 268.913782 deg, new cmd heading: 268.846724 deg.  iD HeadingCmd: 4.692261 target range: 93.599998 and range: 93.60 m.h'@hhhhgg!bg!jg!e!e)je)Je):e-q7?BɛR) H?i)I߽iGG=il˿=&Gfvx,W"[AVҏ@yV(@9V𨗽YV>VHG4f?? ???? ?Vҏ@ɨVT; VCnńBnN#IIp)rA)vp= va=HzoHz"5< =YUQ ? ٣   G ?]%49l?a%4Y iyBi% :!m-1:-;q-?C:~L?.4u'B u!@usE2iDNOT Ignoring new targets: 93.60 m.iN"iN ProNav: ac range: 93.599998 m, nav range: 92.251625 m, bearing: 269.536575 deg, approach rate: -0.783325 m/s, LOS rate: -0.045237 deg/s, cmd heading: 268.846737 deg, new cmd heading: 268.804449 deg.  i]HeadingCmd: 4.691523 target range: 93.599998 and range: 93.60 m.h @h h h h ggbgjgeejeJe:e5?BɛN:) ?i)nݽi|F=i ˿ @F FTGCG#IGIBG =GGDG>DG<G7Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.991508ZIpbIijI/rIzIA:Iڈ9I(N3IIT;IT;Ig:Ih:^De·3=D D D E 5 E VFE <FM ?FM ?FZAM5>x,[A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242752:.ԏ@y:@9:ZY:=:Hg??@3 @@] ?์?Ʋ?`?٭?:.ԏ@ɨ:R; :CJDŽBJQ#IHREHR5Z< Z3=Y^{:Q ^>\٣` bGbܙFb9 f>d]j49fAl?aj4Yfp ifzBin9lmn:n0qn?fCfg;f?fi4t z@x2i%DNOT Ignoring new targets: 93.60 m.i-R"i-R= ProNav: ac range: 93.599998 m, nav range: 91.897659 m, bearing: 269.515982 deg, approach rate: -0.788815 m/s, LOS rate: -0.046069 deg/s, cmd heading: 268.804444 deg, new cmd heading: 268.742426 deg.  i==HeadingCmd: 4.690440 target range: 93.599998 and range: 93.60 m.h@hhhhggbgjgeejeJe:e ?eBɛel)i iii)uڽqqiu|E=i}˿}\}{A%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494981:J JBJ ]9JJ RJ pZJ ߭x,[A>ӏ@y>@9>Y>=>H f?@M?`Z?@o?=β?`? ?>ӏ@ɨ>; >C^˄B^U#I      Mb@Mb@Mb@ )IyMbX?)\(?I +?J?Ga=94< @)@I?@iz@G@HYH5ń< <=Y慹Q >٣ GݙF2 >]49Im?a4Ys i2Mx,;n[A6@y6L@96Y6:=6H`w? ?轿 D?D?<;???6@ɨ6L; 6C@@HJHJ?15RQz RE=YVC;Q V>T٣X ZGXZm; Z>\]%49^Pm?a%4Y^ i^[zB)-q-?^ C^f<^f<^A41 5@12iamDNOT Ignoring new targets: 93.60 m.im7"im7} ProNav: ac range: 93.599998 m, nav range: 91.228271 m, bearing: 269.482169 deg, approach rate: -0.771569 m/s, LOS rate: -0.040003 deg/s, cmd heading: 268.691555 deg, new cmd heading: 268.640603 deg.  i}ۺHeadingCmd: 4.688663 target range: 93.599998 and range: 93.60 m.h @hhhhggbgjgeejeJe:e4@BɛhV) ?i)ֽiC=iP̿X %lx,~[A6@y6@96KꍽY6-=6H2{?@? Aa &C?h?@?0?`ȶ?6@ɨ6ވ; 6 CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502571TVV#IMMb@Mb@Mb@II I)IIIyM|?5^?Q?:v?MM?M٣ GޙFz; >]49m?a 4Yj i|zB M?m : ÿq ?6C::4(B @uE5B*** querying acoustic contact ***i9i92iAMDNOT Ignoring new targets: 93.60 m.iU"iU ProNav: ac range: 93.599998 m, nav range: 90.874290 m, bearing: 269.470726 deg, approach rate: -0.823660 m/s, LOS rate: -0.026729 deg/s, cmd heading: 268.640602 deg, new cmd heading: 268.606141 deg.  iHeadingCmd: 4.688062 target range: 93.599998 and range: 93.60 m.h@hhhhggbgjgeejeJe:e`*@BɛU ) ?i)/ӽi C=i-̿ ފTx,Q [Ab@yb2@9bYb==bH {?`d?`0:&?? ٣   G ߙF j >]49m?a%4YQ izB!%ÿq%?\C0;:$49 =@92iamDNOT Ignoring new targets: 93.60 m.im"iuGGG$IGYBGGGG<GFHEC HECHAHA"HA*HEm5 ProNav: ac range: 93.599998 m, nav range: 90.574486 m, bearing: 269.461003 deg, approach rate: -0.798077 m/s, LOS rate: -0.025970 deg/s, cmd heading: 268.606150 deg, new cmd heading: 268.576883 deg.  iHeadingCmd: 4.687551 target range: 93.599998 and range: 93.60 m.hk@hhhhggbgjgeejeJe:e`l@Bɛ7ʺ) w?i)mѽi\:B=i =̿ A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270666x,'[A!!H5H5)5E{: EF=YMQ M>I٣I UGQU U>a]m49em?am4Ye  iezBiiqm?eCe:el:e+4y }@y2iDNOT Ignoring new targets: 93.60 m.ik"ik ProNav: ac range: 93.599998 m, nav range: 90.243317 m, bearing: 269.450186 deg, approach rate: -0.801505 m/s, LOS rate: -0.026274 deg/s, cmd heading: 268.576890 deg, new cmd heading: 268.544322 deg.  i@HeadingCmd: 4.686983 target range: 93.599998 and range: 93.60 m.h@hhhhggbgjgee je Je :e @Bɛhw) ?i) ν  i  `A=iUaP̿UUaix,bA[AńBO#IMb@Mb@Mb@ )IyI +? ףp= ?~jtx?9T?Q8=; @)I?@iM@@H5{H5'5E2 E;=YAQ E>I٣I MGMFQ U>Y]e49]m?ae4Y] i]zBeT?me:efqe?]C]:DAT read: 19:04:43.7573 LVL= 19792, 28881, 16946, 27507, AGC= 64, IDX= 405, 0.31,-0.831,-2.254,-0.807,-1.310, PHS= 0.567,-0.897, 0.500, RAW= 147.7, -2.4, CAL= 151.9, -11.3, ROT= 358.1, 11.3 Ygot valid direction response: 19:04:43.7573 LVL= 19792, 28881, 16946, 27507, AGC= 64, IDX= 405, 0.31,-0.831,-2.254,-0.807,-1.310, PHS= 0.567,-0.897, 0.500, RAW= 147.7, -2.4, CAL= 151.9, -11.3, ROT= 358.1, 11.3 PDAT read: Bearing 358.1, 11.3 (Local) ~Local bearing/azimuth received: Bearing 358.1, 11.3 (Local) DAT read: Range 10 to 50 : 90.9 m (Round-trip 121.2 ms) speed 0.5 m/s ]:]a34,DAT read: user:1087> BDAT read: Tx time:19:04:44.8819 $Ping request sent.x_ɿu̵B9quPM up)u2BIuskiqu&?uˡeu?u$@ u+)u)@IuIiu3@uI>q quwEP?Pҳ?ix`yIuS>Zju^0l?bju iqiu=F[Aju̵BjuB2ju,@puIEV@%r䒤þ1zpu5a\?}"p>x_ɿ"ju*juI>puVw7ԿVHq'puwlaV8Xyiu5juiupnl?iu+=uuI>q qE:publishing transmit ping time؉EFpublishing direction and range infoqYu5a\?}"p>x_ɿq9qq q)qIqiqqqqq q)qIqiqqq quwEP?Pҳ?ix`yIqiqiue  juYBzjupnl?ju!" juXBjju0Brju6@qqq q addTargetRange:: Added new target pos. range: 90.900002 m, deltaT: 3.791984 s, deltaX: -2.699997 m, approachRate: -0.712027 m/s, rangeRepo size: 4 5 Added new target pos. range: 90.900002 m, bearing: 269.799136 deg, lat: 36.903920 deg, lon: -122.119093 deg, deltaT: 3.791984 s, deltaX: -2.699997 m, approachRate: -0.712027 m/s, posRepo size: 4 2i1DNOT Ignoring new targets: 90.90 m.i"i ProNav: ac range: 90.900002 m, nav range: 90.095406 m, bearing: 269.799418 deg, approach rate: 0.000000 m/s, LOS rate: -0.026274 deg/s, cmd heading: 268.544323 deg, new cmd heading: 268.504713 deg.  iHeadingCmd: 4.686291 target range: 90.900002 and range: 90.90 m.h@hhhhgg!bg!jg%Be!e)je)Je-V@:e-_?雕BɛXNw) ?i)̽隡i|@=ig̿ 6GyGyGyGyGyGyG}<G} FD?DDE0 EZI pbI njI 0rI zI A:I 99I ـ3I I T;I T;I Q:I R:VF s<Fi ZAy M >KEx,~^[An!@yn|@9nA~Ynq=nHZk?@Q -:m?q?@¯?2Q?ڽ?n!@ɨn:; nC~ɄBS#IHVH5%< %F=Y-R)٣) 5G5F5ż 5>9]E49= m?aE4Y= i=zBim¿qu?=C=;=;=:4y }@Zj=;l?bj=󿤘  i9i9j9j92j=X@p=IEV@%r䒤þ1zp=5a\?}"p>x_ɿ"j9*j9p=˞:(/ VY(p=)m|gn6Ʊi=j=֡i=1l?i=y  j=WBzj=8p˼l?j9j9jj=Brj=Ty@2i1=DNOT Ignoring new targets: 90.90 m.i= "i= m ProNav: ac range: 90.900002 m, nav range: 89.754013 m, bearing: 269.787768 deg, approach rate: -0.925394 m/s, LOS rate: -0.031700 deg/s, cmd heading: 268.504708 deg, new cmd heading: 268.469624 deg.  iu HeadingCmd: 4.685679 target range: 90.900002 and range: 90.90 m.h@hhhhggbgjgeejeJe:eR?%Bɛ%Pz;)) -?i))- ʽ))i-?=i5{̿5=j Atfx,]4x[A6@y6l@96(|Y6=6H.{@f?ʻMP? ?? "ػ?ɿ?6@ɨ6e; 6CF̄BFW#IJ٣ Go >]49j m?a4Y i {BX?mz:3ÿq?C::A4 @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 90.90 m.i"i  ProNav: ac range: 90.900002 m, nav range: 89.404472 m, bearing: 269.776671 deg, approach rate: -0.888505 m/s, LOS rate: -0.028318 deg/s, cmd heading: 268.469628 deg, new cmd heading: 268.436208 deg.  i yHeadingCmd: 4.685096 target range: 90.900002 and range: 90.90 m.hN@hhhhg!g!bg!jg%Be)e)je)Je):e-@?]Bɛ]b:)Y ] ?iY)]ǽaaie>=:Juc$OBJu9JJqRJusZJulk uF61/-+$   6:0Mr[E4i2̿^j=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.G% x>G! G% #IG% SBG! G! G! G% <G% FNx,R[A2i@y27y@92xY2b=2H`r ?@rmk? ?`$??2i@ɨ2<; 2C^ՄBba#IHjDHj5~-=  S=Y 1;Q  >٣ GF >!]%49% m?a-4Y%X i%'{B)-ÿq-?%7C%2:%:%H41 =7@92iamDNOT Ignoring new targets: 90.90 m.iuH"iuH ProNav: ac range: 90.900002 m, nav range: 89.078201 m, bearing: 269.766946 deg, approach rate: -0.844923 m/s, LOS rate: -0.025275 deg/s, cmd heading: 268.436215 deg, new cmd heading: 268.406935 deg.  iĊHeadingCmd: 4.684585 target range: 90.900002 and range: 90.90 m.h@hhhhggbgjgeejeJe:e -? Bɛ z<;) ۲?i)Ži)#>=i̿E񺉡CM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475567Sxx,[AI4):C dZh@yZ7x@9Znr;mAYZ=ZHℿJ?ế`ip@4?]ҭ?k? _? |Zh@ɨZ*Q; ZC)-!y-;mA-B=؄B=e#IHMHM\05]v< ]E=Ye.;Q e>a٣i mGmFm4 m>q]49u m?a4Yu iuC{Bÿq?udCuu':I9IIq@i@u@m@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728275D%?D!D!E! E!:J {OBJ 9JJ RJ tZJ '  8E7% VFE E<F) ZAI M >`x,[AB^@yB8n@9BsfYB=BHca?1{WvE?Ь?@޺??B^@ɨBa~; BCN݄BNk#IIP)P)V= V=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979705UMb@Mb@Mb@QQ Q)QIQyUS?i|?5?y&1|?U/]?Uq=U`; Q)Ut@IU(@iU@QU@HH95< B=Y;Q >٣ G <  >!]=49%m?a=4Y%= i%^{BE]?mEu:MqM?%C%;%};%NW4q u@q2iDNOT Ignoring new targets: 90.90 m.iT"iT ProNav: ac range: 90.900002 m, nav range: 88.361206 m, bearing: 269.742175 deg, approach rate: -0.874346 m/s, LOS rate: -0.034169 deg/s, cmd heading: 268.375399 deg, new cmd heading: 268.332320 deg.  iuHeadingCmd: 4.683282 target range: 90.900002 and range: 90.90 m.husݕ@hqhqhqhygygybgjgBeejeJe:e`r@ Bɛ9) E?i)iL<=i-̿-8麉-nIGG$IGYBGGGG<G7FD?DDEl0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.231798VF P<zF rF F ZA ME >x,0[A> T@y>hc@9>t`Y>=>Ho? ĺ T|? 5?@? A?> T@ɨ>; >CRBRq#IHZHZv35b< b^=Yb;Q f>d٣d fGfFjTm j>l]v49nm?av4Ynw inu{Bxz¿qz?nCnb:;n0:;n]4| q@2i!-DNOT Ignoring new targets: 90.90 m.i5"i5E ProNav: ac range: 90.900002 m, nav range: 88.049019 m, bearing: 269.730202 deg, approach rate: -0.885539 m/s, LOS rate: -0.034082 deg/s, cmd heading: 268.332314 deg, new cmd heading: 268.296269 deg.  iEMHeadingCmd: 4.682653 target range: 90.900002 and range: 90.90 m.hMLؕ@hIhIhIhIgQgQbgQjgQeYeYjeYJea:eeu@雑ɛ<) G?i)Dξ隙i;=i:̿溉k@ZI rbI ljI rI zI G:I 9I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735612~x,{[AB#IMb@Mb@Mb@ )IyZd;O?T㥛 ?Q?j\?=u< z@)^@I@i@@HH45 = :=YQ >٣ GF >]49m?a4Yi i{B ]?mu:q?C] ;;Oe4 _@ wE%B*** querying acoustic contact ***i)i):JLBJ9JJRJuZJ dS6#C x`M@6-$ 2iDNOT Ignoring new targets: 90.90 m.i "i % ProNav: ac range: 90.900002 m, nav range: 87.671600 m, bearing: 269.714647 deg, approach rate: -0.818701 m/s, LOS rate: -0.033887 deg/s, cmd heading: 268.296278 deg, new cmd heading: 268.249413 deg.  i% -HeadingCmd: 4.681836 target range: 90.900002 and range: 90.90 m.h-ѕ@h)hIhIhQgQgQbgQjg]BeYeYjeYJeY:ee6@雭 Bɛ~:) y?i)i:=i̿ẉX|N<%BDAT read: Rx Time:19:04:47.4031 %TRx dataTimestamp_ set to:1736535888.131457-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988973VFM F<FY ZAi M >G x>G G $IG cBG G G G Ӳ<G DF?x,PV[AJ/@yJD?@9JUWYJD=JH? ^z@vt??Q? ?J/@ɨJe; JCZBXbY>ibp=`bAHfHfY45n܋: n\=YrO;Q r>p٣p vGtvRB v>x]~49zJm?a~4Yz iz{B-¿q?zCz:z;zk4  [@ 2i9EDNOT Ignoring new targets: 90.90 m.iE!"iE!U ProNav: ac range: 90.900002 m, nav range: 87.351959 m, bearing: 269.702308 deg, approach rate: -0.913830 m/s, LOS rate: -0.035407 deg/s, cmd heading: 268.249423 deg, new cmd heading: 268.212269 deg.  iUeº]HeadingCmd: 4.681187 target range: 90.900002 and range: 90.90 m.heI̕@hahahahagagabgijgieieijeqJeq:eu @雝Bɛ<) [?i)g隡i:=iHͿ9ߺ=H] DAT read: 19:04:47.4031 LVL= 22112, 32145, 15586, 31987, AGC= 65, IDX= 394, 0.27, 0.348,-0.947, 0.374,-0.109, PHS= 0.545,-0.791, 0.480, RAW= 147.5, -3.6, CAL= 152.1, -12.4, ROT= 357.9, 12.4 e Ygot valid direction response: 19:04:47.4031 LVL= 22112, 32145, 15586, 31987, AGC= 65, IDX= 394, 0.27, 0.348,-0.947, 0.374,-0.109, PHS= 0.545,-0.791, 0.480, RAW= 147.5, -3.6, CAL= 152.1, -12.4, ROT= 357.9, 12.4 m PDAT read: Bearing 357.9, 12.4 (Local) m ~Local bearing/azimuth received: Bearing 357.9, 12.4 (Local) } DAT read: Range 10 to 50 : 87.6 m (Round-trip 116.9 ms) speed 0.8 m/s } ,DAT read: user:1088>  BDAT read: Tx time:19:04:48.4820  $Ping request sent. % S$@ % )% )@I% k]i% @% k]>! ! %  R? ^?/H3I% O>i% v=% Q % k]>! !  :publishing transmit ping time؁  Fpublishing direction and range info! Y% ;?SRh`r|˿! 9! ! ! )! I! i! ! ! ! ! ! )! I! i! ! ! ! %  R? ^?/H3I! i! ! ! ! ! x,K;-[AV#@yV2@9VBTYV;W=VH@}?%`̨n?:?@T??V#@ɨV; TB#IHH<55w= :=YM:Q U>Q٣Q UG]F]hZ ]>a]m49em?a4Ye# ie{B^¿q?eFCe;e;es4 @ZjUp1l?bjUXe iQiU([AjU3BjUB2jUʕ@pU_U@R& t2zpU;?SRh`r|˿"jUQ *jUk]>pU<_Y)S=WUG&-pU*rǟ39̉↑'Q^LſiUjU-iUd/l?iU  jUOBzjU1l?jQjQjjUBrjU~G@} addTargetRange:: Added new target pos. range: 87.599998 m, deltaT: 3.527853 s, deltaX: -3.300003 m, approachRate: -0.935414 m/s, rangeRepo size: 4 % Added new target pos. range: 87.599998 m, bearing: 268.196351 deg, lat: 36.903911 deg, lon: -122.119093 deg, deltaT: 3.527853 s, deltaX: -3.300003 m, approachRate: -0.935414 m/s, posRepo size: 4 2i)=DNOT Ignoring new targets: 87.60 m.ZI]qbI]mjIYrIYzI]D:I]&9IYIYJDAT read: TxSync time:19:04:48.4812 i"i ProNav: ac range: 87.599998 m, nav range: 86.973900 m, bearing: 269.073992 deg, approach rate: 0.000000 m/s, LOS rate: -0.035407 deg/s, cmd heading: 268.212267 deg, new cmd heading: 268.158938 deg.  iHeadingCmd: 4.680256 target range: 87.599998 and range: 87.60 m.h%ĕ@h!h!h!h!g!g)bg)jg)e)e1je1Je5`fU@:e},+?雽BɛD) ?i)`ir)9=i,Ϳ&0ۺfHBx,}yI[AB@yB @9B%MVYB@$=BH@zҗ?2 ?ƪ?M??B@ɨB$; BCRBR#IMb@Mb@Mb@ )IyʡE?p= ף?S㥛?]?=/< @)@I@i@HJH:5 w=  7=Y~oQ >٣ GF/ >!]-49%m?a-4Y%, i%{B5m^?m5t:5¿q5?%vC%.:%:%E{49 =@A2iDNOT Ignoring new targets: 87.60 m.i7"i7% ProNav: ac range: 87.599998 m, nav range: 86.599915 m, bearing: 269.058061 deg, approach rate: -0.939631 m/s, LOS rate: -0.040199 deg/s, cmd heading: 268.158937 deg, new cmd heading: 268.110937 deg.  i%ܺ-HeadingCmd: 4.679419 target range: 87.599998 and range: 87.60 m.h-̽@h)h)h)h)g)g1bg1jg5Be1e9je9Je9:e]?Bɛ <) ׿?i)oiDJ8=GEw>GAGE)$IGEwBGE =GAGAGEβ<GE@FH HHH ="H =*H4i}:HͿUٺ!};I̽@ID-?D1D1E5@5 E1VFQ F1 ZAA M] >ex,5c[A:T@y:@9:USY:<=:H@Q]?0iU?g? ٣ G >]%49m?a-4YS5 i |B)-ÿq-?C:l:4=*B =@EyE2iquDNOT Ignoring new targets: 87.60 m.i,"i, ProNav: ac range: 87.599998 m, nav range: 86.281418 m, bearing: 269.044736 deg, approach rate: -0.898345 m/s, LOS rate: -0.037722 deg/s, cmd heading: 268.110934 deg, new cmd heading: 268.070813 deg.  iϺuHeadingCmd: 4.678718 target range: 87.599998 and range: 87.60 m.h}@hyhyhyhygygybgjgeejeJe:e&?雹ɛ}<) ?i)׼iiV7=i-_Ϳj׺_;I@IDDDE5 EZIa bIe jjIa rIa zIa Ie 9Ia Ia VF o;zF rF fAF ZA M >.x,}[Az/Bz#IMb@Mb@Mb@ )IyCl?S㥫?{Gz?d[?/]=ף< d@)^@I@i@@HFHt5 = @=YQ >٣ GF >]49m?a4Y> i+|B[?mw:Ŀq?C ; ;'4 @B*** querying acoustic contact ***ii2i DNOT Ignoring new targets: 87.60 m.i"i%5 ProNav: ac range: 87.599998 m, nav range: 85.917458 m, bearing: 269.032097 deg, approach rate: -0.857984 m/s, LOS rate: -0.029921 deg/s, cmd heading: 268.070800 deg, new cmd heading: 268.032722 deg.  i5F=HeadingCmd: 4.678053 target range: 87.599998 and range: 87.60 m.h=@h9h9hAhAgAgAbgAjgMBeIeIjeIJeQ:eUR?:JuKLBJu9JJqRJuwZJu Bɛl =)< ?i)+iWh6=i tͿ պ ;I @IDD?DDE`0 EE=E=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF;F ZA M >GI GI GM N$IGM BGM  =GI GI GM ղ<GM DF5w%x,[A2@y2@92LY2=2H K?ӻ@` '??y"??2@ɨ2; 2CB9BB#IHJHJ<55R`= R]=YV;Q V>T٣T VGXZlg Z>\]b49^m?ab4Y^?G i^E|BdfĿqf?^C^:^ :^4h j@hEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7519002iDNOT Ignoring new targets: 87.60 m.i4"i4 ProNav: ac range: 87.599998 m, nav range: 85.601562 m, bearing: 269.021316 deg, approach rate: -0.810986 m/s, LOS rate: -0.027781 deg/s, cmd heading: 268.032715 deg, new cmd heading: 268.000252 deg.  iHeadingCmd: 4.677487 target range: 87.599998 and range: 87.60 m.h@hhhhggbgjgeejeJe:e`?)ɛ-xƸ<)1 5?i1)5|ެ11i=_d5=i=Ϳ=ӺE;IE@IAD?DDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004027VF o;F ZA M >Ţ+x,Ͱ[A6 @y6e@96CEY6=6H? ֻF? ?e? ?6 @ɨ6Z); 6CBLBF#IJR>iJ=HJAHNHN/5Vb= VI=YZ;Q Z>X٣X ^G^F^%; b>`]f49bm?aj4YbgP iba|BlnĿqn?b#CbK;bK;b4t v@v{E2iDNOT Ignoring new targets: 87.60 m.i"i- ProNav: ac range: 87.599998 m, nav range: 85.254387 m, bearing: 269.009136 deg, approach rate: -0.898422 m/s, LOS rate: -0.031647 deg/s, cmd heading: 268.000258 deg, new cmd heading: 267.963571 deg.  i-5HeadingCmd: 4.676847 target range: 87.599998 and range: 87.60 m.h5@h1h9h9h9g9g9bgAjgAeAeAjeAJeI:eM`\@yɛ}@=)y ?i)隁ih4=iͿJѺ;I@IDDD!E%o0 E)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258395:J&KBJ]9JJRJxZJ+ VFF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507994>2x,[AJX@yJ@9J s=YJ|=JH @:?@~TK@?@8?`k??JX@ɨJы; JC-UB-#IMb@Mb@Mb@ )Iygfffff? rh?Q٣Q GF: >]49m?a4YZ i|BS?m:¿q?TC ;;Ԟ4 M@2iDNOT Ignoring new targets: 87.60 m.i 9"i 9  ProNav: ac range: 87.599998 m, nav range: 84.871552 m, bearing: 268.990401 deg, approach rate: -0.822686 m/s, LOS rate: -0.040443 deg/s, cmd heading: 267.963566 deg, new cmd heading: 267.907106 deg.  i  ޺HeadingCmd: 4.675861 target range: 87.599998 and range: 87.60 m.h@hhhhggbg!jg%Be!e!je!Je):e-@Yɛ]X5<)Y ]?ia)eXsaaieU3=imͼͿmκu|G9G=z$IG=BG= =G9G9G=<G=,FZI%obI!jI!rI!zI%>:I!I!I!I%zO;q-I%|O;i-I%:u5I%:m5uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.763399^D- =D D D E `0 E VF FZAM>9x,ձ[ABDAT read: Rx Time:19:04:50.9990 "TRx dataTimestamp_ set to:1736535891.659267"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013181r@yr@9r<6Yr =rH@1?Xuzlk?զ?@N?x?r@ɨrs; rC~_B $IHUHU/5u+= u2=Y}"j;Q }>y٣y }GF : >]49Lm?a4Y@d  *GIi|BIU aq]?C<<4 @2iDNOT Ignoring new targets: 87.60 m.)"yBi f."i f. ProNav: ac range: 87.599998 m, nav range: 84.501816 m, bearing: 268.972087 deg, approach rate: -0.766200 m/s, LOS rate: -0.038118 deg/s, cmd heading: 267.907094 deg, new cmd heading: 267.851911 deg.  i%HѺ-HeadingCmd: 4.674898 target range: 87.599998 and range: 87.60 m.h-Ø@h)h)h)h)g)g1bg9jg9e9e9jeAJeA:eM@l@雱ɛ<) _?i)&i92=i`Ϳn˺\@x,t[A:Jg3LBJ 9JJRJyZJ  @y @9H1Y=H<? `쓿g?!? E??騝@ɨQ݊; CkB$II9)9)Ea= ER=EMb@Mb@Mb@AA A)AIAyEv/?T㥛 ?~jt?ExI?E=E<DAT read: 19:04:50.9990 LVL= 21824, 24529, 16530, 28147, AGC= 66, IDX= 400,-0.40, 0.283,-1.139, 0.252,-0.172, PHS= 0.543,-0.920, 0.421, RAW= 145.7, -0.6, CAL= 149.6, -9.7, ROT= 0.4, 9.7 Ygot valid direction response: 19:04:50.9990 LVL= 21824, 24529, 16530, 28147, AGC= 66, IDX= 400,-0.40, 0.283,-1.139, 0.252,-0.172, PHS= 0.543,-0.920, 0.421, RAW= 145.7, -0.6, CAL= 149.6, -9.7, ROT= 0.4, 9.7 PDAT read: Bearing 0.4, 9.7 (Local) ~Local bearing/azimuth received: Bearing 0.4, 9.7 (Local) DAT read: Range 10 to 50 : 84.6 m (Round-trip 112.8 ms) speed 0.7 m/s ,DAT read: user:1089> BDAT read: Tx time:19:04:52.0820  $Ping request sent.U"@ U+)U'@IU-\-iU;U-\->Q QUtpk? ?$?kӚIU'>iUE5Q Q:publishing transmit ping time Fpublishing direction and range infoQYU)~?|jӹ/|?RVſQ9QQ Ed@)AIE@iEl@AEG@HH)5== %= Q)QIQiQQQQQ Q)QIQiQQQ QUtpk? ?$?kӚIQiQQQQ QY(;Q >٣ G{+ >!]-49%7 m?a54Y%o i%|B5,J?m=:=]¿q=?%C%0;%X;%W4a e@aZjU'+m?bjU4 iQiUf [AjU3BjUB2jU.ٖ@pU?T@$?ok&,zpU)~?|jӹ/|?RVſ"jU;*jU-\->pUuJzn??)T;s$pU>2_Z?qsYqiUjUs >iUzϱ+m?iUx_  jU`BzjU8p˼l?jUx_ jUYBjjUBrjUX@} addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 3.528156 s, deltaX: -3.000000 m, approachRate: -0.850303 m/s, rangeRepo size: 4  Added new target pos. range: 84.599998 m, bearing: 270.092947 deg, lat: 36.903915 deg, lon: -122.119091 deg, deltaT: 3.528156 s, deltaX: -3.000000 m, approachRate: -0.850303 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 84.60 m.GGG$IG؅BGGGGGi"i ProNav: ac range: 84.599998 m, nav range: 83.956711 m, bearing: 269.195072 deg, approach rate: 0.000000 m/s, LOS rate: -0.038118 deg/s, cmd heading: 267.851906 deg, new cmd heading: 267.789744 deg.  iHeadingCmd: 4.673813 target range: 84.599998 and range: 84.60 m.h@hhhhggbg!jg%Be!e!je)Je-`f&U@:e- N? ɛ <)  {?i ) j&  i t 1=i% Ϳ% 3Ǻ% Ye @y>i@9>*Y>s=>H f7?b wmĦ? Y??@ ?> @ɨ>w:; <ޭrBޭ#$IHYH5< =Y|4;Q >٣ GF6 >]49!m?a4Yz i|B¿q?C;v;4  @ }E-B*** querying acoustic contact ***i)i)2i1EDNOT Ignoring new targets: 84.60 m.iE&"iE&U ProNav: ac range: 84.599998 m, nav range: 83.534065 m, bearing: 269.176504 deg, approach rate: -0.824402 m/s, LOS rate: -0.036401 deg/s, cmd heading: 267.789751 deg, new cmd heading: 267.733767 deg.  iUǺeHeadingCmd: 4.672836 target range: 84.599998 and range: 84.60 m.he߇@hahahahigigibgijgieqeqjeqJeq:e}?雡ɛ=) D?i)霽隩i5/=iο} ĺWI :J >LBJ ]9JJ RJ zZJ  ZQx,GF[A2RŎ@y2ԕ@92](Y2#x=2H@ޞ?и`Z@ʝ@#r?`3 ?/??2RŎ@ɨ2싍; 2CI9٣9 EGEFED M>Q]]49Ux#m?a]4YU iU|B] L?me:eE¿qe?UCU:U:U4i m@i2iDNOT Ignoring new targets: 84.60 m.i)"i) ProNav: ac range: 84.599998 m, nav range: 83.205490 m, bearing: 269.161224 deg, approach rate: -0.794001 m/s, LOS rate: -0.037070 deg/s, cmd heading: 267.733771 deg, new cmd heading: 267.687751 deg.  i˺HeadingCmd: 4.672033 target range: 84.599998 and range: 84.60 m.hK@hhhhggbgjgBeejeJe:e?雁ɛA=) {?i)隉i!.=iA:οKtW;IK@IGw>GG$IGBG =GGG<G.FDDDE_0 EZI ubI qjI rI zI [Q:I q9I I I o;I o;I :I : checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237033VF Mh <Fy ZA M >Wx,4`[A6Q@y6Ǖ@96hZ Y65'=6H?? ` JM? ? X?z?6Q@ɨ6 ; 6C=B=;$IHMJHM:5]=< eB=YeK;Q e>i٣i mGmFmw u>y]49}$m?a4Y}M i} }B|¿q?}FC}:}:}Oȁ4 O@2iDNOT Ignoring new targets: 84.60 m.iT&"iT& ProNav: ac range: 84.599998 m, nav range: 82.872391 m, bearing: 269.146001 deg, approach rate: -0.792301 m/s, LOS rate: -0.036354 deg/s, cmd heading: 267.687763 deg, new cmd heading: 267.641911 deg.  iǺHeadingCmd: 4.671233 target range: 84.599998 and range: 84.60 m.hz@hhhhggbgjgeejeJe:e`?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488496ɛ}<=) (?i)іi.-=i%xTο%-S];Imz@IqDDDEe0 EE E VF o;F ?F ?F ZA M >p]x,z[A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742537@yĕ@93Yw=HXz@*?^Ȝ ߤ? OE? ǫ?`?騵@ɨco;  MlAɮI)i)IflA$ɯxCF ɰQlAZiilA)  @FI )lAɱ뽩٣ GY >]49A&m?a4Yf i"}BI?m:)ÿq?sC::ρ4B @E2i  DNOT Ignoring new targets: 84.60 m.ir"irE ProNav: ac range: 84.599998 m, nav range: 82.527405 m, bearing: 269.131368 deg, approach rate: -0.777132 m/s, LOS rate: -0.033102 deg/s, cmd heading: 267.641919 deg, new cmd heading: 267.597835 deg.  iMMHeadingCmd: 4.670463 target range: 84.599998 and range: 84.60 m.hMot@hQhQhQhQgQgybgyjgBeejeJe:e?:JN KBJ 9JJRJ{ZJBɛ֏8=) 6?i)͓in,=imο}5;Iot@I D?DDEo0 Ed?p=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993654VF GI GI GM $IGM BGM  =GI GI GM <GM 1FH HHH"H*H̳=5Fq ZA M >ex,[[A6@y6<ѕ@96 Y6M=6HN4?` YO ?o?W?`?6@ɨ6?; 6CޅBލ6$IHH(*5Z w=Y ;Q  ? ٣  GF; ?]%49M'm?a%4Y@ i1}B)-¿q-?C+;;Ձ41 5!@12iYDNOT Ignoring new targets: 84.60 m.iD "iD  ProNav: ac range: 84.599998 m, nav range: 82.267494 m, bearing: 269.119981 deg, approach rate: -0.797049 m/s, LOS rate: -0.035029 deg/s, cmd heading: 267.597823 deg, new cmd heading: 267.563555 deg.  iRZItbIsjI/rIzI;N:I9I(N3IIyj;I{j;I;:I<:HeadingCmd: 4.669865 target range: 84.599998 and range: 84.60 m.ho@hhhhggbg jg e e jeJe:e !@%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244518iɛm>z=)q uu?iq)usqqia+=iFοaV  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496326)$kx,Ժ[A>WЎ@y>ߕ@9>C|Y>=>H@2u? ִ`@?`n?f?@?>WЎ@ɨ>ܐ; <}B1$II!)!)-= -=H5H515Ez EY=YMI٣I UGUF]; ]>a]m49e(m?am4Ye ieB}Bqu¿qu?eCeS:e`:eb܁4y }g@2iDNOT Ignoring new targets: 84.60 m.i""i" ProNav: ac range: 84.599998 m, nav range: 81.970734 m, bearing: 269.106537 deg, approach rate: -0.783133 m/s, LOS rate: -0.035605 deg/s, cmd heading: 267.563563 deg, new cmd heading: 267.523086 deg.  i{úHeadingCmd: 4.669158 target range: 84.599998 and range: 84.60 m.hi@hhhqhqgygybgyjgyeejeJe:e3@BɛX=) |?i)ŽikP*=iqο+:J BoHBJ 9JJ RJ |ZJ  B<K5)" Eftwsonidb\YUROJD;81+&#J hAI rx,[AB@yBq@9BYB7=BHꚿK?`Z3p~Q!?@v?#d?` ?B@ɨB; BCJxBN*$IBDAT read: Rx Time:19:04:54.5955 TRx dataTimestamp_ set to:1736535895.188271checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002869Mb@Mb@Mb@ )IyFx?S㥫?Mb`?K?/]=; 7@)@Ii?@@H H -5%Q %==Y-Q;Q ->1٣1 =G9=ѿ; =>A]M49E)m?aM4YE' iEP}BU>L?mU:Uÿq]?ECE(;Eq';E4a e@a=B*** querying acoustic contact ***i9i92iImDNOT Ignoring new targets: 84.60 m.iu6 "iu6  ProNav: ac range: 84.599998 m, nav range: 81.626480 m, bearing: 269.092897 deg, approach rate: -0.753679 m/s, LOS rate: -0.029990 deg/s, cmd heading: 267.523074 deg, new cmd heading: 267.481978 deg.  iHeadingCmd: 4.668441 target range: 84.599998 and range: 84.60 m.hc@hhhhggbgjgفBeejeJe:e`@9ɛ=$5=)9 =]?i9)EfAAiE<)=iMοMIcMVGG$IGBGGGG<G'FD?DDE?5 EU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252311VFe 9)<FA ZAQ M >i6xx,&r[A6@y6@969(ҼY6=6H`ܘ@P?` Õ?@JD??v?6@ɨ6_Y; 6CBuBB'$IHRHR+5V Ze=YZ\٣\ ^GF;  > ]%49 *m?a%4Y ʹ i Z}B!%ÿq%?  C 5; ; O41 5@5E2iY]DNOT Ignoring new targets: 84.60 m.iep!"iep!u ProNav: ac range: 84.599998 m, nav range: 81.336411 m, bearing: 269.080905 deg, approach rate: -0.850524 m/s, LOS rate: -0.035285 deg/s, cmd heading: 267.481983 deg, new cmd heading: 267.445881 deg.  i}}HeadingCmd: 4.667811 target range: 84.599998 and range: 84.60 m.h^@hhhhggbgjgeejeJe:e`wl @Bɛ=) ?i)Zi E(=iο1򰺉y>DAT read: Range 10 to 50 : 81.9 m (Round-trip 109.3 ms) speed 0.8 m/s ,DAT read: user:1090> BDAT read: Tx time:19:04:55.6821 $Ping request sent.ٹ ڽPw<)ڽۋ&@Iڽ Aiڽ<ڽ A>ڹ ۹۽Kp?s&?4?I۽P>i۽lм۽<۽ A>۹ ܹ:publishing transmit ping timeFpublishing direction and range infoعYؽ3^@ĺ?1)q?OZ_|ع9عع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ ۹۽Kp?s&?4?I۹i۹۹۹۹ ܹRs~x,[A}JDAT read: TxSync time:19:04:55.6813 II|3IS}-IIIZIMybIMujIM0rIIzIM]:IM9IMـ3IIq-@i-@u-@m-@E@y@9MYμ=H q? z듿`u??Ƽ??騽E@ɨTE; CsB$$I=i<AMb@Mb@Mb@ )Iy:v? rh?~jthT?C=D )Ii@ @HHv35M )=Y;Q > ٣   G F '; >]49,m?a%4Y< if}B%U?m%~:%wq%?>C;;41 5@1ZjIcm?bj% iiX[Aj̣BjB2jj @p1)jMMT@+ߕSi?w_%zp3^@ĺ?1)q?OZ_|"j<*j A>pn T?]T:!p J?Fo$Ђij&?iۧcm?i20!  jhBzjpnl?je jYBjjBrjy@ addTargetRange:: Added new target pos. range: 81.900002 m, deltaT: 3.530382 s, deltaX: -2.699997 m, approachRate: -0.764789 m/s, rangeRepo size: 4  Added new target pos. range: 81.900002 m, bearing: 270.458282 deg, lat: 36.903920 deg, lon: -122.119093 deg, deltaT: 3.530382 s, deltaX: -2.699997 m, approachRate: -0.764789 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 81.90 m.i"i ProNav: ac range: 81.900002 m, nav range: 81.048317 m, bearing: 269.465517 deg, approach rate: 0.000000 m/s, LOS rate: -0.035285 deg/s, cmd heading: 267.445892 deg, new cmd heading: 267.395164 deg.  iHeadingCmd: 4.666926 target range: 81.900002 and range: 81.90 m.huW@hhhhggbgjgʁBeejeJeyT@:eLM?雥 Bɛm(=) s?i)eⅽ隩i:'=iοʪؐD>:J[NBJ]9JJRJ}ZJ JX.}cSC5-$ DDDE_0 EVF 5[<G u>G CG $IG BG G G G <G OFF ZA M >^Yx,o[A6@y6; @96Y6Ǻ=6H "S`?qļ q?`ו???6@ɨ6s; 4BjBB$IHJsHJe$5R\ Rz=YVo;Q V?T٣T ZGX^ȣ ^?`]f49b.m?af4Ybk ibm}Bdfqj?baCb:b:bV4l n@l2iDNOT Ignoring new targets: 81.90 m.i|/"i|/ ProNav: ac range: 81.900002 m, nav range: 80.775795 m, bearing: 269.452539 deg, approach rate: -0.802699 m/s, LOS rate: -0.038356 deg/s, cmd heading: 267.395158 deg, new cmd heading: 267.356092 deg.  iҺHeadingCmd: 4.666244 target range: 81.900002 and range: 81.90 m.hQ@hhhhggbgjgeejeJe:e? BɛO=) _?i)iL&=iοI E=) C U cGu kA A) !y kA B  @ B݁x,C0[A64@y6@96uyY6,=6H5蚿?`` WN?n?x?`?64@ɨ6fz; 6CFhBF$IHRfHR5V- ZJ=YZr:Q Z>\٣\ ^G^FbT̻ b>d]j49f/m?aj4YfL ifv}Bhjqn?fCf:f>:fh4p r@p2i  DNOT Ignoring new targets: 81.90 m.i8"i8- ProNav: ac range: 81.900002 m, nav range: 80.438934 m, bearing: 269.436982 deg, approach rate: -0.870803 m/s, LOS rate: -0.040385 deg/s, cmd heading: 267.356089 deg, new cmd heading: 267.309222 deg.  i-ݺ5HeadingCmd: 4.665426 target range: 81.900002 and range: 81.90 m.h5,K@h1h1h9h9g9g9bgAjgAeAeAjeIJeI:eMs?qɛu.g=)q  ?i)!!i%Q%=i-Ͽ--:w:J YNBJ ػ9JJ RJ ~ZJ  ix,J[A6@y6A@96ٖY6 =6H`2? ꗿ⬕?ڒ?`Ƽ??6@ɨ6⩑; 4FYBJ$I)= a=Mb@Mb@Mb@ )IyʡE?Mb?MbP]?= @)I@i @f@H-gH-5u u1=Yu;Q }>y٣y }Gyi: >]49C1m?a4Y i}BL^?mt:¿q?C/;;w4B @EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 81.90 m.i$"i$ ProNav: ac range: 81.900002 m, nav range: 80.039200 m, bearing: 269.420453 deg, approach rate: -0.865715 m/s, LOS rate: -0.035976 deg/s, cmd heading: 267.309234 deg, new cmd heading: 267.259399 deg.  iźHeadingCmd: 4.664557 target range: 81.900002 and range: 81.90 m.h D@hhhhggbgjgBeeje Je :e ?U Bɛ];=)Y ]?iY)]f{YYieLV$=ie;/Ͽm {mWG9G=$IG=҅BG9G9G9G=<G=1F T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.VF% y<F ZA M5 >瓘x,Hc[A64@y6@96 Y6,=6H虿? =dӗ?@ ?Լ? ?64@ɨ6&; 4^VB^$IHjHj15v#Y vg=Yv;Q z>x٣x zGzF~P: ~>] 492m?a 4Y i}B ¿q?C:: 4 @2iDNOT Ignoring new targets: 81.90 m.i"i ProNav: ac range: 81.900002 m, nav range: 79.732346 m, bearing: 269.407590 deg, approach rate: -0.825017 m/s, LOS rate: -0.034715 deg/s, cmd heading: 267.259401 deg, new cmd heading: 267.220665 deg.  iHeadingCmd: 4.663880 target range: 81.900002 and range: 81.90 m.h>@hhhhggbg jg e e jeJe:e?= Bɛ=!v=)A EB?iA)EvAAiEh#=iMbEϿMqMˎ@IQD-?D)D)E-2 E)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985032VFUE<F) ZA1 M >H C=H a=ZI xbI yjI 0rI zI Z:I 9I ـ3I 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231812ix,}[A@y$@9iYL=H V? f@\`? p٣ GFb: > ]49 4m?a4Y  i }Bb?mp:q? C : M: 4! %@!2iY]DNOT Ignoring new targets: 81.90 m.ieK"imKu ProNav: ac range: 81.900002 m, nav range: 79.317146 m, bearing: 269.387430 deg, approach rate: -0.912492 m/s, LOS rate: -0.044537 deg/s, cmd heading: 267.220660 deg, new cmd heading: 267.159864 deg.  i}}HeadingCmd: 4.662819 target range: 81.900002 and range: 81.90 m.h}5@hhhhggbg jg Be e jeJe:eA@雍BɛsC=) 9?i)K2p隑in"=i%hϿG! G% $IG% ÅBG! G! G! G% <G% ,FF ZA M >쥥x,[A2W@y2@924JGY2=2H䙿?@x _Q@?@?`S??2W@ɨ2; 2CB[BB$IHJHJ75V' Vy=YV;Q V?X٣X ZGX^غ ^?`]f49b5m?af4Yb} ib}Bdfqf?bACb:b:b4l n@nE2iDNOT Ignoring new targets: 81.90 m.i E"i E% ProNav: ac range: 81.900002 m, nav range: 79.028076 m, bearing: 269.373385 deg, approach rate: -0.886136 m/s, LOS rate: -0.043213 deg/s, cmd heading: 267.159871 deg, new cmd heading: 267.117581 deg.  i%A-HeadingCmd: 4.662081 target range: 81.900002 and range: 81.90 m.h-/@h)h)h)h)g)g1bg1jg1e1e9jeJe:e^@雅BɛSW=) ?i)k隉iN!=iXϿPEBՅ >Յ < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985976ѫx,?[A2@y2V@92,Y2D=2H? `j@~?`ė?? ?2@ɨ2; 2C^fBb$IHjHj35rU= rG=Yr;Q v>t٣t vGvFz" z>|]49~7m?a 4Y~ i~}B  q ?~pC~K:~y:~"4 @2iAEDNOT Ignoring new targets: 81.90 m.iM1C"iM1C] ProNav: ac range: 81.900002 m, nav range: 78.665031 m, bearing: 269.355869 deg, approach rate: -0.880183 m/s, LOS rate: -0.042663 deg/s, cmd heading: 267.117579 deg, new cmd heading: 267.064788 deg.  i];eHeadingCmd: 4.661160 target range: 81.900002 and range: 81.90 m.he9(@hahahahigigibgijgieqeqjeyJey:e}. @雭Bɛ@p=) )?i)~ff隱iޗ =iϿJk:J= WNBJ= 9JJ9 RJ= ZJ=  "JI II x,m[AJ֎@yJ[@9JYJ=JHޯ)?op s@X?'‚?`ü??J֎@ɨJ; JCvoBv$IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.489933Mb@Mb@Mb@ )Iy#~j?Dl?Mbp?e?O=; @)@I@i@HHs75#= >=Y"S;Q >٣ GF >]499m?a4Y: i}Bf?mk:¿q?C;P;S*4 `@B*** querying acoustic contact ***ii2iI]DNOT Ignoring new targets: 81.90 m.i%"i%M ProNav: ac range: 81.900002 m, nav range: 78.279343 m, bearing: 269.339208 deg, approach rate: -0.834732 m/s, LOS rate: -0.036236 deg/s, cmd heading: 267.064795 deg, new cmd heading: 267.014566 deg.  iMƺ]HeadingCmd: 4.660284 target range: 81.900002 and range: 81.90 m.h] !@hYhYhYhaggbgjgBeejeJe:e`P @GGGGGGG =GG=DG<GSFHħC HħCHH ="H =*HĿ5%Bɛ%0bQ=)! %?i!)-5_))i-+=i5>Ͽ5Ⴚ51  BDAT read: Tx time:19:04:59.2821  $Ping request sent. B`eK>1#@ <)<&@I i5<VF <zF! rF!  > ?@>?>F?I7>i05< > m :publishing transmit ping time u Fpublishing direction and range infoY\Dӵ?0?L`u&9 )Ii )Ii ?@>?>F?Ii F ZA M >x,5B[AyB+$IHH/5U68= ]@=Y]Q ]>a٣a eGae e>i]49m:m?a4YmP im}Bq?mCma$pZ<BԿZGxuS0_#pjqN GS=mi3jriqm?i (  j3dBzjqm?j ( j`Bjj4Brj@ addTargetRange:: Added new target pos. range: 78.699997 m, deltaT: 3.777487 s, deltaX: -3.200005 m, approachRate: -0.847125 m/s, rangeRepo size: 4  Added new target pos. range: 78.699997 m, bearing: 269.760079 deg, lat: 36.903925 deg, lon: -122.119095 deg, deltaT: 3.777487 s, deltaX: -3.200005 m, approachRate: -0.847125 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 78.70 m.i"i ProNav: ac range: 78.699997 m, nav range: 78.101585 m, bearing: 269.760343 deg, approach rate: 0.000000 m/s, LOS rate: -0.036236 deg/s, cmd heading: 267.014580 deg, new cmd heading: 266.968881 deg.  i5HeadingCmd: 4.659486 target range: 78.699997 and range: 78.70 m.h5@h1h1h1h1g9g9bg9jg9eAeAjeAJem̬S@:ema?雵Bɛ~=) ?i)Y隹i=iaϿ̛{y x,k-[A:@y@9ŮY=H`S?- `͠`?U~?@A??:@ɨ @; CB9$IMb@Mb@Mb@ )Iy)\(?{Gz?y&1|?Ga?ף=`; )@I@iHjHh 5;[= A=Y;Q >٣ GFda >] 49f"iUH> ProNav: ac range: 78.699997 m, nav range: 77.727829 m, bearing: 269.743905 deg, approach rate: -0.941099 m/s, LOS rate: -0.041589 deg/s, cmd heading: 266.968872 deg, new cmd heading: 266.919321 deg.  iV HeadingCmd: 4.658621 target range: 78.699997 and range: 78.70 m.h l@h h h hggbgjgǁBeejeJeA:eEC?BɛZ=) ?i)dSi=i]Ͽ]r]SlDG <G &FVF l<F ZA M5 >Cx,[AB7t@yB@9BoYB=BH@?ֻ *?b4| ~@|2iDNOT Ignoring new targets: 78.70 m.i"i ProNav: ac range: 78.699997 m, nav range: 77.436714 m, bearing: 269.732332 deg, approach rate: -0.853426 m/s, LOS rate: -0.034055 deg/s, cmd heading: 266.919312 deg, new cmd heading: 266.884463 deg.  iHeadingCmd: 4.658012 target range: 78.699997 and range: 78.70 m.hp@hhhhggbgjgeejeJe:eiC?eBɛeB=)e9^^< e7?ia)m OZIzbIjI0rIzI`:IIـ3IIo;qIp;iI:uI:miiӂ=iп n2FZAMi>ex,ܝ2[AB_$IH-[H-5=_= =C=Y=Q =>A٣A EGAM M>Q]]49U$?m?a]4YU- iU}Baaqe?UWCU!;Uv";U>F4i m$@i2iDNOT Ignoring new targets: 78.70 m.i&"i& ProNav: ac range: 78.699997 m, nav range: 77.067780 m, bearing: 269.717540 deg, approach rate: -0.904353 m/s, LOS rate: -0.036433 deg/s, cmd heading: 266.884451 deg, new cmd heading: 266.839862 deg.  iȺHeadingCmd: 4.657234 target range: 78.699997 and range: 78.70 m.h@hhhhggbgjgeejeJe:e? Bɛ =)  f?i)s0IiTb=i*пW h8Ix,tL[A:J>PBJ>h9JJ<RJ>ZJ>    N>@yN1N@9NϻYN=NHا?w\@*? y?`Z?/?N>@ɨN=; NCZBZl$IMMb@Mb@Mb@II I)IIIyMS?~jt?~jt?MZ?M=MD< I)M@IM @iM@IM@HeHe/5mjR= uG=Y};Q >٣ GFz >]-49b@m?a-4Y?7 i}B5[?m5w:5ÿq5?CD;;M4=B =|@EE]B*** querying acoustic contact ***iYiY2iyDNOT Ignoring new targets: 78.70 m.iJ"iJ ProNav: ac range: 78.699997 m, nav range: 76.700035 m, bearing: 269.705141 deg, approach rate: -0.853511 m/s, LOS rate: -0.028914 deg/s, cmd heading: 266.839863 deg, new cmd heading: 266.802489 deg.  iHeadingCmd: 4.656582 target range: 78.699997 and range: 78.70 m.h@hhhhggbgjgBeejeJe:e@?GGG$IGBG =GGG<G,F雭Bɛ;=) ?i)A隹i)=i4пCKc6;I@IDDDE0 EZI{bI{jIrIzId:I-9III";I#;I:I:T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF} ܸ<<FY ZAa M >c x,Gf[A6h<@y6K@96SY6W=6H *? Ǜ`\?yp?ׯ??6h<@ɨ6tÑ; 6CvƅBv$IH~H~-5 =  Q=Y;Q >٣ GN >!]-49%uAm?a-4Y%? i%}B15ÿq5?%C%:%:%@T49 =@A2iiuDNOT Ignoring new targets: 78.70 m.iu"i} ProNav: ac range: 78.699997 m, nav range: 76.381287 m, bearing: 269.694372 deg, approach rate: -0.861853 m/s, LOS rate: -0.029239 deg/s, cmd heading: 266.802489 deg, new cmd heading: 266.770048 deg.  iHeadingCmd: 4.656016 target range: 78.699997 and range: 78.70 m.h@hhhhggbgjgeejeJe:e5s@BɛѲ=) ?i)<i =iGп /` L>;I @I  pG ;mA %A]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236871)eye;mAe*B^D=e<DAzDEhAD?DDE?1 EVFo;zFrFF ZA M- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489877x,$[A޵؅B޵$II)MMb@Mb@Mb@II I)IIIyMq= ףp?V-?Q?MK?Mh=Mu< M\@)IIIiM@IM@HepHe#5u0= u)=YuQ }>y٣y }G}F >]49Bm?a4YJ i}B]L?m: ÿq ?C ;" ;\4 @2iIMDNOT Ignoring new targets: 78.70 m.iU"iUe ProNav: ac range: 78.699997 m, nav range: 75.985283 m, bearing: 269.680929 deg, approach rate: -0.796622 m/s, LOS rate: -0.027184 deg/s, cmd heading: 266.770059 deg, new cmd heading: 266.729519 deg.  ie@mHeadingCmd: 4.655308 target range: 78.699997 and range: 78.70 m.hmI@hihihihigqgqbgqjgu>BeyeyjeyJey:e}m@雭BɛƎ=) ?i)z 5隹iк=iG^п8Z;II@I^DhW<:JkKMBJ9JJRJZJ    ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739494D?DDE@5 EG G G $IG BG  =G G G β<G 9FVF ;F ZA M >Wx,b[Az߅Bz$IHHB-55.= 5h=Y1Q =>9٣9 =G=FA E>I]U49MCm?aU4YM+Q iM}BQYq]?MCM ;M:Mb4a mr@mE2iDNOT Ignoring new targets: 78.70 m.i"i ProNav: ac range: 78.699997 m, nav range: 75.716270 m, bearing: 269.671716 deg, approach rate: -0.797305 m/s, LOS rate: -0.027402 deg/s, cmd heading: 266.729515 deg, new cmd heading: 266.701779 deg.  irHeadingCmd: 4.654824 target range: 78.699997 and range: 78.70 m.hR@hhhhggbgjgeejeZIzbIxjI/rIzI`:I9I(N3IIo;Ip;I%:I&:Je:e`D)@BDAT read: Rx Time:19:05:01.7868 TRx dataTimestamp_ set to:1736535902.495319checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992495-Bɛ5~?=)1 5?i1)5/19i==i="nпEWE?;IER@IACICICQCQDDDE!5 EE PExceeded connect timeout, disconnecting. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243330VF &;F ZA M >x,[A-@y<@9ޒ;Y,=H@[쨿?һ4`hzfK?`[rͻ?w?騕-@ɨߒ; CޭB޵$IHH/5\M= 5=Yq٣ GF >]49Dm?a4YZ i}B9Ŀq?2C4;;j4  @ 2iDNOT Ignoring new targets: 78.70 m.i"i ProNav: ac range: 78.699997 m, nav range: 75.355888 m, bearing: 269.659777 deg, approach rate: -0.769983 m/s, LOS rate: -0.025631 deg/s, cmd heading: 266.701784 deg, new cmd heading: 266.665795 deg.  iHeadingCmd: 4.654196 target range: 78.699997 and range: 78.70 m.h-@hhhhggbgjgeejeJe:e@x @Bɛó=) %0?i!)%v(!!i->=i-п5bxR5A;I5-@I1DAT read: 19:05:01.7868 LVL= 18048, 21489, 13954, 24691, AGC= 64, IDX= 401, 0.36, 1.008,-0.467, 0.982, 0.577, PHS= 0.520,-0.997, 0.402, RAW= 146.0, 1.0, CAL= 149.5, -7.9, ROT= 0.5, 7.9 Ygot valid direction response: 19:05:01.7868 LVL= 18048, 21489, 13954, 24691, AGC= 64, IDX= 401, 0.36, 1.008,-0.467, 0.982, 0.577, PHS= 0.520,-0.997, 0.402, RAW= 146.0, 1.0, CAL= 149.5, -7.9, ROT= 0.5, 7.9 PDAT read: Bearing 0.5, 7.9 (Local) ~Local bearing/azimuth received: Bearing 0.5, 7.9 (Local) DAT read: Range 10 to 50 : 75.3 m (Round-trip 100.5 ms) speed 0.6 m/s DDDE`0 EEEhAe,DAT read: user:1092> eBDAT read: Tx time:19:05:02.8821 m$Ping request sent.mMe#@ M5<)IIM0 iIM0 >I IM˴J?#t˳ ?a'#?IMRA>iM/IM0 >I I:publishing transmit ping timeiFpublishing direction and range infoIYMm~?h˳?yjȗI9II I)IIIiIIIII I)IIIiIII IM˴J?#t˳ ?a'#?IIiIIII IVF 1X<F ?F ?F ZA M >:J 2NBJ JJ RJ ZJ  p  mD/  JDAT read: TxSync time:19:05:02.8813 x,[A2X(@y27@92h_;Y2^=2H=@? $xS {W??2X(@ɨ29; 0>BB$IF=iF=Mb@Mb@Mb@ )IyRQ?MbX9?y&1?B?ʡ=`e< /@)@Ii@\@HH05%$*= -E=Y-;Q ->)٣1 G@ź >]49>Fm?a4YGG%IG=BG =GGGӲ<G=F\C;;-r4 ,@ZjTl?bjJ{ ii[AjBjB2j3@pHR@ U+?^u$zpm~?h˳?yjȗ"j*j0 >pe'}`(R~j%p&c.љ+a'@s4¿iji3Bl?i?  jaBzjjx_ jaBjjiBrj@e addTargetRange:: Added new target pos. range: 75.300003 m, deltaT: 3.528965 s, deltaX: -3.399994 m, approachRate: -0.963454 m/s, rangeRepo size: 4  Added new target pos. range: 75.300003 m, bearing: 268.540396 deg, lat: 36.903925 deg, lon: -122.119091 deg, deltaT: 3.528965 s, deltaX: -3.399994 m, approachRate: -0.963454 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 75.30 m.i "i M ProNav: ac range: 75.300003 m, nav range: 74.706383 m, bearing: 269.643929 deg, approach rate: 0.000000 m/s, LOS rate: -0.025631 deg/s, cmd heading: 266.665803 deg, new cmd heading: 266.633159 deg.  iI]HeadingCmd: 4.653626 target range: 75.300003 and range: 75.30 m.he@hahahhggbgjgOBeejeJe @3R@:e d?雅Bɛh=) ?i); 隉i=idп\M;I@IZI-ybI-wjI-0rI)zI-]:I-9I-ـ3I)I-;I-;I-:I-:D]?DYDaEa EaVF o;Fq ZA M >"Vx,Z[A6@y6b@96 ;Y6+ =6H@?u`īK@vy? ?6@ɨ6bÔ; 6CFBF$IHNXHNn5V%= V_=YZ9Q Z>X٣X ^G^F^R ^>`]f49bSGm?af4Yb]j ib ~Bhjÿqj?bCb:b):b_x4l n@lB*** querying acoustic contact ***ii2i DNOT Ignoring new targets: 75.30 m.i"i- ProNav: ac range: 75.300003 m, nav range: 74.435913 m, bearing: 269.632779 deg, approach rate: -0.795569 m/s, LOS rate: -0.032918 deg/s, cmd heading: 266.633155 deg, new cmd heading: 266.599582 deg.  i-5HeadingCmd: 4.653040 target range: 75.300003 and range: 75.30 m.h5@h1h1h1h1g1g9bg9jg9eAeAjeAJeA:eM?uBɛu>)y }@iy nManaging dock network, ignoring radio surface power off)~i=iпL >G;I @I eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.D?DDEo0 EVFFZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9716736x,7[A@y @9٣ GF %>!]549%&Hm?a54Y%s i% ~B5\x,[A6@y6:@96[wAh٣h jGvchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.476224x~2; ~>]%49Hm?a%4Y!z i ~B)- ſq-?CI;#;4A E@A2iDNOT Ignoring new targets: 75.30 m.iȿ"iȿ- ProNav: ac range: 75.300003 m, nav range: 73.837570 m, bearing: 269.615768 deg, approach rate: -0.720915 m/s, LOS rate: -0.020958 deg/s, cmd heading: 266.571874 deg, new cmd heading: 266.548327 deg.  i-#fUHeadingCmd: 4.652146 target range: 75.300003 and range: 75.30 m.hUaޔ@hQhQhQhYgYgYbgYjgaeaeajeaJea:em 7?Bɛ=) @i)G iG=iп\%GF;Iaޔ@IDDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.727373VF !j;F ZA M= > x,Զ8[A:|@y:@9:!qp٣p rGrFr;: v>t]z49vIm?a~4Yvځ it|~ ſq?vCv;v;v4  <@ 2iAEDNOT Ignoring new targets: 75.30 m.iM]˹"iM]˹] ProNav: ac range: 75.300003 m, nav range: 73.544571 m, bearing: 269.607063 deg, approach rate: -0.745079 m/s, LOS rate: -0.022224 deg/s, cmd heading: 266.548324 deg, new cmd heading: 266.522105 deg.  ie teHeadingCmd: 4.651688 target range: 75.300003 and range: 75.30 m.heڔ@hihihihigigibgqjgqeqeqjeyJey:e}?雭BɛM=) E@i)&}隹i=iпDD3;Iڔ@ID=?D9D9E=05 E9HHAAZIbIvjIrIzIIϣ9IIq@i@u@m@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980133VF==͚;F1ZA9M]> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230968:J :IBJ 9JJ RJ ZJ  Q ai3 0 B?o'\$  J I `mx,R[AR@yR8!@9Rky٣y }G0; >]4*G"Gp<G1G1G1G1G1G1G1G5Ȳ<G54F9BJm?a4Y i ~B:?m:ſq?C == 4 @2iDNOT Ignoring new targets: 75.30 m.iY"iY ProNav: ac range: 75.300003 m, nav range: 73.233360 m, bearing: 269.599486 deg, approach rate: -0.685374 m/s, LOS rate: -0.016759 deg/s, cmd heading: 266.522096 deg, new cmd heading: 266.499267 deg.  i8 HeadingCmd: 4.651289 target range: 75.300003 and range: 75.30 m.h ]ה@h h hhg!g!bgijgmVBeqeqjeqJeq:eu`:@雭Bɛ$B=) ?i)9`隱i} =iп-?A;I]ה@IDDDE+5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.483070VF ~q;F ?F >F ZA M >ȗx, nl[A6 @y60@96CibC=HjHj,5- -O=Y5 1٣1 =G=FE; E>I]U49MJm?aU4YM iM~BQUſqU?M=CM;M ;M盂4a m@mEB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 75.30 m.iູ"iູ ProNav: ac range: 75.300003 m, nav range: 72.946564 m, bearing: 269.592040 deg, approach rate: -0.783574 m/s, LOS rate: -0.020422 deg/s, cmd heading: 266.499256 deg, new cmd heading: 266.476831 deg.  i@`HeadingCmd: 4.650898 target range: 75.300003 and range: 75.30 m.h(Ԕ@hhhhggbgjgeejeJe:e @ Bɛ I=)  ?i)\i =iп`;W ZI vbI qjI rI zI {T:I q9I I  BDAT read: Rx Time:19:05:05.3835  TRx dataTimestamp_ set to:1736535906.024505 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989455!x,Ad[Ae +@ye|:@9e$٣ GF; >]49Km?a4Y i}B@?m: ƿq?pC ;r;4 @2i)-DNOT Ignoring new targets: 75.30 m.i5֧"i5֧E ProNav: ac range: 75.300003 m, nav range: 72.553764 m, bearing: 269.582522 deg, approach rate: -0.752835 m/s, LOS rate: -0.018342 deg/s, cmd heading: 266.476825 deg, new cmd heading: 266.448115 deg.  iMhIechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.239591eHeadingCmd: 4.650397 target range: 75.300003 and range: 75.30 m.he Д@hihihihigigibgqjgu % BDAT read: Tx time:19:05:06.4822 - $Ping request sent.- i(x,I[Af<@yfSL@9fA٣A EGAh; >]49GLm?a4Y\ i}Bſq?C::4 L@ addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 3.527086 s, deltaX: -2.400002 m, approachRate: -0.680449 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 75.30 m.iE"iEU ProNav: ac range: 75.300003 m, nav range: 72.272964 m, bearing: 269.575165 deg, approach rate: -0.733820 m/s, LOS rate: -0.019299 deg/s, cmd heading: 266.448111 deg, new cmd heading: 266.425957 deg.  iUS]HeadingCmd: 4.650010 target range: 75.300003 and range: 72.90 m.h]̔@hYhYhYhaggbgjgeejeJe9R@:e@A)?ɛH=) ?i)׼ie =i ѿ A.\F!.x,[A67K@y6Z@96F=Y6=6H=?@XŨ@``E? ?67K@ɨ6m; 6CIIـ3I.IIIZI%pbI!jI%/rI!zI%A:I!I%(N3I!]AYލBޕW$II)HbH5 5=Y٣ GF; >]49 Mm?a4Y i}Bſq?Cd;^<`4 @2iAUDNOT Ignoring new targets: 75.30 m.imS"imS% ProNav: ac range: 75.300003 m, nav range: 71.940521 m, bearing: 269.565917 deg, approach rate: -0.701175 m/s, LOS rate: -0.019597 deg/s, cmd heading: 266.425954 deg, new cmd heading: 266.398079 deg.  i-1WHeadingCmd: 4.649524 target range: 75.300003 and range: 72.90 m.hȔ@hhhhggbgjgeejeJe:e?雍Bɛ:,=)Q U?iQ)UǼQYi] =i]ѿe$ebG G $IG BG  =G G G Ѳ<G =FVFMF<F)ZAIMm?7x,h[A2M@y2+@92'=Y2j=2HO@Һ?匾 ǫ`!ᚿ8['??2M@ɨ2[; 2C8 :VlA::QFɳ8<>lAI>ף)>5Fi<)BCIBlABɴBxCF @ɵFCFvlAFiFZFDiDFmA)H J>FIH H)JlAɶNnNIFLNَCɷNflAiLIN:FPIR CiP RףP)PPuBu6$IMb@Mb@Mb@ )IyK7?i|?5?~jtI?q= )@I@i@@HH+5u .=YۃQ >٣ GFRG >]49Mm?a4Y i}BYJ?m:ſq?C;T;4 R@E2i  DNOT Ignoring new targets: 75.30 m.iչ"iչ% ProNav: ac range: 75.300003 m, nav range: 71.569550 m, bearing: 269.555847 deg, approach rate: -0.856655 m/s, LOS rate: -0.023374 deg/s, cmd heading: 266.398087 deg, new cmd heading: 266.367721 deg.  i%T-HeadingCmd: 4.648994 target range: 75.300003 and range: 72.90 m.h-Ĕ@h)h)h)h1g1g1bg1jg5Be9e9je9Je9:eE?yɛ=) P?i)漼隙i=i.-ѿlA p=F ZA M >$*=x,e7[A:)"@y:1@9:p=Y:=:H |?1 ؝@) ý?P?:)"@ɨ:a; :ClB$IHEQHET5m mb=Y}?;Q }>y٣y GFy; >!]-49%Nm?a-4Y%ܽ i%}B15ſq5?%C%;%;%I‚49 =@9eB*** querying acoustic contact ***iaia2iquDNOT Ignoring new targets: 75.30 m.i}qʹ"i}qʹ ProNav: ac range: 75.300003 m, nav range: 71.267288 m, bearing: 269.547393 deg, approach rate: -0.787730 m/s, LOS rate: -0.022124 deg/s, cmd heading: 266.367733 deg, new cmd heading: 266.342266 deg.  irHeadingCmd: 4.648550 target range: 75.300003 and range: 72.90 m.h@hhhhggbgjgeejeJe:eU?ɛ=) 0?i)i:=i;ѿ-Dx,- [Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760271]RB]#IaeA:JoMBJJJRJZJ6 $ =Mb@Mb@Mb@99 9)9I9y=i٣i mGiu u>y]49}NOm?a4Y} i}}B T?m:ſq?}@C}:}:}ɂ4 L@2iDNOT Ignoring new targets: 75.30 m.iй"iй ProNav: ac range: 75.300003 m, nav range: 70.924232 m, bearing: 269.538043 deg, approach rate: -0.830171 m/s, LOS rate: -0.022738 deg/s, cmd heading: 266.342270 deg, new cmd heading: 266.314082 deg.  iyHeadingCmd: 4.648057 target range: 75.300003 and range: 72.90 m.h㼔@hhhhggbgjgׁBeejeJe:ea?G=r>G9G=$IG=ȅBG= =G9G9G=<G=FUBɛ]=)Y e?ia)z隩i=iKѿHK29Jx,*[A6T3@y6B@96N'=Y6}=6H n?h@ \ʪ@j %??6T3@ɨ6=ƕ; 6CB9BB#IHJHJ65V Vk=YZt checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517104ZI vbI njI 0rI zI {T:I 99I ـ3I !Qx,ӿD[A21=@y2L@92 4=Y2(z=2H@9`?o !]붣`??@?21=@ɨ2]; 2CB'BF#IHNHN>5V= VJ=YZX٣X ^G\^)C; ^>`]f49bPm?af4YbE ib{}BhjVſqj?bCb:b|:bւ4nB r@rE2i DNOT Ignoring new targets: 75.30 m.i"iM ProNav: ac range: 75.300003 m, nav range: 70.303040 m, bearing: 269.519500 deg, approach rate: -0.825015 m/s, LOS rate: -0.025223 deg/s, cmd heading: 266.288831 deg, new cmd heading: 266.258210 deg.  iM{UHeadingCmd: 4.647082 target range: 75.300003 and range: 72.90 m.hU洔@hQhQhQhQgQgbgjgeejeJe:e@雵BɛU=) A?i)Ȑiy=ikѿLt mKWx,^[A-B-#IMb@Mb@Mb@ )IyPn?Dl?I +d?O=9 @)V@Ii@@UBDAT read: Rx Time:19:05:08.9800 ]TRx dataTimestamp_ set to:1736535909.554613]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024231HmHm?5}Sݽ }1=Y}Q }>٣ GF >]49Qm?a4Y# ib}Bd?mm:Ŀq?C::ނ4 @2i DNOT Ignoring new targets: 75.30 m.i"i% ProNav: ac range: 75.300003 m, nav range: 69.890686 m, bearing: 269.505527 deg, approach rate: -0.821222 m/s, LOS rate: -0.027992 deg/s, cmd heading: 266.258204 deg, new cmd heading: 266.216038 deg.  i%-HeadingCmd: 4.646347 target range: 75.300003 and range: 72.90 m.h-߮@h)h1h1h1g1g1bg9jg=Be9e9je9JeA:eE׹@雅Bɛi=)  ?i)隉i=iѿ.zuDQDQDYEY EYEaEa checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271632VF g&m<F ZA M% >u]x,dux[A6@@y63P@96J=Y6=6H@2? CV`>@h`e@s@f? #?6@@ɨ6W; 6CBBB#IHJHJE5V Vm=YV~u`dx,Z[A>a8@y>G@9>$zQ=Y>=>H7 ?X@@X,޹?{?>a8@ɨ>P; BDAT read: Tx time:19:05:10.0822 $Ping request sent. ROR$>Ri"@ Rz0=)R$@IRQ iRl$=RQ =P PR[]?]ꑈR?`Y?IRK>iRtཉRl$=RQ =P PE:publishing transmit ping timeEFpublishing direction and range infoPYRY2?#?(א¢P9PP P)PIPiPPPPP P)PIPiPPP PR[]?]ꑈR?`Y?IPiPPPP P:J5"bLBJ5+9JJ1RJ5ZJ5J=> J=>GGG#IGSBG =GG=DGв<G=FMb@Mb@Mb@ )IyB`"?i|?5?y&1n?q=` )l@I@i@@H%H%m?5U' U=Y]`;Q >٣ G F >]49Sm?a4YF i(}Bno?mc: ƿq ?+Cg<_g<4 @EZjR6@m?bjRWm iPiRv[AjRfBjRuB2jRJ@pRY*Q@Jۅ@+=@zpRY2?#?(א¢"jRl$=*jRQ =pRͿN}Ql+GpR5}=jdSTˋt9iRjRhiRUu@m?iR9Z*  jRrBzjRzϱ+m?jR ( jR3dBjjRҊBrjR @ addTargetRange:: Added new target pos. range: 70.199997 m, deltaT: 3.780463 s, deltaX: -2.700005 m, approachRate: -0.714199 m/s, rangeRepo size: 4 = Added new target pos. range: 70.199997 m, bearing: 269.813954 deg, lat: 36.903927 deg, lon: -122.119095 deg, deltaT: 7.307549 s, deltaX: -5.100006 m, approachRate: -0.697909 m/s, posRepo size: 4 2i9=DNOT Ignoring new targets: 70.20 m.iE"iAU ProNav: ac range: 70.199997 m, nav range: 69.411713 m, bearing: 269.609329 deg, approach rate: 0.000000 m/s, LOS rate: -0.035050 deg/s, cmd heading: 266.183892 deg, new cmd heading: 266.124306 deg.  iQHeadingCmd: 4.644745 target range: 70.199997 and range: 70.20 m.h@hhhhggbgjgBeejeJěQ@:e~?EBɛEm=)E< E?iI)M]IIiM=iUgѿUѹUu\kx,r[Am߄Bmn#Iu=iu%=H}H}:5- ^=YQ >٣ G >]49#Tm?a4Y0 i}Bq?WC%: ;d4 @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 70.20 m. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.i%A˹"i%A˹5 ProNav: ac range: 70.199997 m, nav range: 69.073540 m, bearing: 269.602112 deg, approach rate: -1.035825 m/s, LOS rate: -0.022212 deg/s, cmd heading: 266.124305 deg, new cmd heading: 266.102550 deg.  i5s=HeadingCmd: 4.644366 target range: 70.199997 and range: 70.20 m.h=@h9h9h9hAgAgAbgIjgIeIeIjeIJeQ:eUk?雅BɛZ*=):< ?i)e&O隉i=iѿLĹɸ%;rx,[[Af֍@yf@9fTxW=Yfx"=fH$Mp?(ԼJ፰b몿 ?I?f֍@ɨfڔ; fC5ބB5m#IHH/5P <=YA\;Q >٣ G F= >]49`Tm?a4Y i|B,ȿq?C{;;4 @2i1=DNOT Ignoring new targets: 70.20 m.i=C"i=Cu ProNav: ac range: 70.199997 m, nav range: 68.669327 m, bearing: 269.597432 deg, approach rate: -0.915219 m/s, LOS rate: -0.010659 deg/s, cmd heading: 266.102558 deg, new cmd heading: 266.088435 deg.  iu}HeadingCmd: 4.644119 target range: 70.199997 and range: 70.20 m.h}@hyhyhyhygygbgjgeejeJe:e*?BɛG=) %?i).;9i=iѿ(Hq;I@I)=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997222DDDE`0 E:J5BJ59JJ1RJ5ZJ5+,('"   JMhAIIGet>GaGe#IGe+BGe =GaGe>DGe<Ge&FVF w<F ZA M >khxx,C[AZI(bI*kjI(rI(zI(I*9I(I(I(I(I*:I*:Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250915f@yfJҔ@9fPZ=YfW=fH?^c.Mݻ?`?f@ɨfӔ; fCrلBrg#IMb@Mb@Mb@ )IyM?L7A`?~jtnr?+= @)V@I@iz@H H (*5ݼ R=Y%:Q %>!٣) -G)-x˻ 5>9]E49=Tm?aE4Y= i=|BMs?mM_:MǿqM?=C=: ;= ;=4Q ]@]E2iDNOT Ignoring new targets: 70.20 m.i{"i{ ProNav: ac range: 70.199997 m, nav range: 68.299271 m, bearing: 269.592214 deg, approach rate: -0.969482 m/s, LOS rate: -0.013745 deg/s, cmd heading: 266.088433 deg, new cmd heading: 266.072694 deg.  iHeadingCmd: 4.643845 target range: 70.199997 and range: 70.20 m.h`@hhhhggbgjgBeejeJe:e@2V?BɛM+W=)I M ?iI)MW'IQiUz=iUѿ]]ф;I]`@IY lA )@"ylAB^Dmu<]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504376D ?D D E _0 E VF ;F ?F ?F ZA M >!~x,[A:V@y:˔@9:(c=Y:Y:=:H#ռ?`ljoIao?L?:V@ɨ:; :CRۄBRi#IIT)THZHZJ5b< bd=Yf0;Q f>d٣d jGj Fj j>l]r49nTm?ar4Yn in|Btvǿqv?nCnh:nS:n 4x z@x2i)-DNOT Ignoring new targets: 70.20 m.i5k"i5kE ProNav: ac range: 70.199997 m, nav range: 67.960060 m, bearing: 269.587610 deg, approach rate: -0.944224 m/s, LOS rate: -0.012878 deg/s, cmd heading: 266.072697 deg, new cmd heading: 266.058817 deg.  iEi MHeadingCmd: 4.643602 target range: 70.199997 and range: 70.20 m.hMd@hIhIhIhQgQgQbgQjgYeYeYjeaJea:ee?雍BɛK=) ?i)+隑i[=iѿ$;Id@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754984^Dm<D?DDE`0 Ee a?e <m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007318VF O;F ZA M >Ʌx, F[AG2u>G2CG2#IG2BG2 =G0G0G2<G2F:JJdMBJJ 9JJHRJJZJJV@yV@9V0k=YVd=VH L\?2Ƽ Աx`ٻ??V@ɨV; VC~B~u#IeMb@Mb@Mb@aa a)aIayeV-?l?Qehq?e=eu e@)e@IeE@ie@aef@HHjC5= '=Y;Q >٣ G F, >]49Um?a4Y) i|B.r?m`:ǿq ?!C%;;4B 4@2i9=DNOT Ignoring new targets: 70.20 m.i©"i© ProNav: ac range: 70.199997 m, nav range: 67.497299 m, bearing: 269.578526 deg, approach rate: -0.938551 m/s, LOS rate: -0.018552 deg/s, cmd heading: 266.058818 deg, new cmd heading: 266.031376 deg.  iKHeadingCmd: 4.643124 target range: 70.199997 and range: 70.20 m.hx@hhhhgg bgjgBeeAjeAJeA:eE @雍BɛF=) ?i)[7隑iX}=iѿ0;Ix@ICyCyCyCyZInbIejIrIzI|;:I9IIIJ;IJ;I:I:-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260135D D D E  E  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510752VF~q;zFrFFZAM?x,9[A6a@y6@96]s=Y6=6H?@L*`4gmĻ? ?6a@ɨ6*͕; 4BBBy#IHNHNB5Rc< V5=YVH;Q V>X٣X ZG^ F^~% b>`]f49bVm?aj4Yb4 ib|Bln+ǿqn?bWCb&;b&;b4p r@rEB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 70.20 m.i#"i# ProNav: ac range: 70.199997 m, nav range: 67.070656 m, bearing: 269.570452 deg, approach rate: -0.913263 m/s, LOS rate: -0.017391 deg/s, cmd heading: 266.031388 deg, new cmd heading: 266.007014 deg.  i>HeadingCmd: 4.642698 target range: 70.199997 and range: 70.20 m.h@hhhhggbgjgeejeJe:eo9@BɛQ=) ?i)D̻i=i}ѿϧ ^;I@I!D?DDEp0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762843VFm@;FIZAqM>Px,VS[A6@y6@96xy=Y6h=6H ?;`1+(*`r?@?6@ɨ6 ; 6CBBB#IF4>iF=DFABDAT read: Rx Time:19:05:12.5754  TRx dataTimestamp_ set to:1736535913.335251 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015982EMb@Mb@Mb@AA A)AIAyE/$?p= ף?Mb`E1h?E=E E@)E@IEr@iE @AEQ@H]H]D5m< m?=Ymd;Q m>q٣q uGq=Q =>A]M49E@Vm?aM4YE? iEl|BMh?mUi:Uuȿqu?ECE;E1;Eg!4y }@y2iDNOT Ignoring new targets: 70.20 m.i3Gv>GGGGGFDGG6<GF"i3 ProNav: ac range: 70.199997 m, nav range: 66.660973 m, bearing: 269.566149 deg, approach rate: -0.929991 m/s, LOS rate: -0.009829 deg/s, cmd heading: 266.007017 deg, new cmd heading: 265.994028 deg.  i׹%HeadingCmd: 4.642472 target range: 70.199997 and range: 70.20 m.h%!@h!h)h)h):JMBoHBJMh9JJIRJMZJM  " gYgabgajgeفBeaeijeiJe:e@ ߁Bɛ ;=) ?i)KHiw=iҿ%^;I%!@I!D?DDEo0 EZI]mbI]gjIYrIYzI]\8:I]9IYIYI]D;I]D;I]=:I]>:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268696VF A~;F ZA M- >Țx,X8m[A) @2@y2a@92b~=Y2i=2Ho ??a$ߢ ǯ@KP?ٽ?2@ɨ2oΕ; 2C>B>#IHJHJ3A5VA= VW=YVN;Q V>X٣X ZGZF^ ^>`]f49bVVm?af4Yb@H ibZ|Bdjȿqj?bCb:bf:b'4l n@l2iDNOT Ignoring new targets: 70.20 m.i"i ProNav: ac range: 70.199997 m, nav range: 66.338417 m, bearing: 269.563157 deg, approach rate: -0.888708 m/s, LOS rate: -0.008283 deg/s, cmd heading: 265.994040 deg, new cmd heading: 265.985021 deg.  i浹HeadingCmd: 4.642314 target range: 70.199997 and range: 70.20 m.h׍@hhhhggbgjgeejeJe:e`7 @ށBɛx=) (?i)si BDAT read: Tx time:19:05:13.6822 $Ping request sent.^>| @ =)Y3$@I AiPwV= A= n/$?? ?Ij2>iPwV= A= E:publishing transmit ping timeEFpublishing direction and range infoY`.?Dz?P09 )Ii )Ii n/$?? ?Ii VF pX;F ZA M > JDAT read: TxSync time:19:05:13.6814 x, [AV}@yV @9VLׁ=YV(=VH鱿`x٣x ~G~F > ]49 `Vm?a4Y R i D|Bȿq? C 8: #: .4! %.@%EZjEam?bjE3 iAiE-u[AjEBjEB2jEYu@pE~6qP@%g @V|7>zpE`.?Dz?P0"jEPwV=*jE A=pE_ZcjZUfPU4 pEy'(Y iEjES3iEfzYm?iE$  jEiBzjEqm?jE20! jEhBjjETBrjEz@} addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 3.532270 s, deltaX: -3.399994 m, approachRate: -0.962552 m/s, rangeRepo size: 4  Added new target pos. range: 66.800003 m, bearing: 269.394697 deg, lat: 36.903925 deg, lon: -122.119097 deg, deltaT: 3.532270 s, deltaX: -3.399994 m, approachRate: -0.962552 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 66.80 m.i"i ProNav: ac range: 66.800003 m, nav range: 66.165375 m, bearing: 269.432122 deg, approach rate: 0.000000 m/s, LOS rate: -0.008283 deg/s, cmd heading: 265.985024 deg, new cmd heading: 265.975039 deg.  iHeadingCmd: 4.642140 target range: 66.800003 and range: 66.80 m.hj@hhhhggbgjgeejeJe@3P@:ej?雵݁Bɛm=) ?i)i-GG#IG+BGGGDGG<G.FHȨC HHH ="H =*HȑT5:J "bLBJ 9JJ RJ ZJ VF :F9 ZAI Mu >1٧x,)[A2KM@y2\@92=Y2a=2Hakd?`3@j~e믿t?6?2KM@ɨ2; 2C: B>#II@)@)Bp= Bp=eMb@Mb@Mb@aa a)aIaye/$?Q?Mbp?e\?e\=e; a)e@Ie@ie @ae@H}H}*5c= A=YQ >٣ Gc >]49Vm?a4Y[ i1|Bf]?mu:ȿq?C::G64 @2i DNOT Ignoring new targets: 66.80 m.i D"i D% ProNav: ac range: 66.800003 m, nav range: 65.796608 m, bearing: 269.427620 deg, approach rate: -0.872350 m/s, LOS rate: -0.010710 deg/s, cmd heading: 265.975052 deg, new cmd heading: 265.961470 deg.  i%3-HeadingCmd: 4.641903 target range: 66.800003 and range: 66.80 m.h-y@h)h)h)h)ggbgjg Be ejeJe:e`?雅܁Bɛ=) ?i)隩ic|x,º[A667@y6F@96=Y6=6H*৳?|@`rBV`믿@LE?\?667@ɨ6K"; 6CVBZ#IHfkHf 5n= nV=YrQ r>p٣p rGrFvM v>x]~49zVm?a~4Yzqd iz!|Bȿq?z>Cz5;z1;z<4  @ 5B*** querying acoustic contact ***i1i12iAMDNOT Ignoring new targets: 66.80 m.iM"iMe ProNav: ac range: 66.800003 m, nav range: 65.469948 m, bearing: 269.424365 deg, approach rate: -0.861134 m/s, LOS rate: -0.008626 deg/s, cmd heading: 265.961474 deg, new cmd heading: 265.951658 deg.  ienmHeadingCmd: 4.641732 target range: 66.800003 and range: 66.80 m.hm@hihihihigigqbgqjgqeqeyjeyJey:e}`g ?雥ہBɛi=) ?i)]8隹iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.x,/[A6)@y68@96=Y6=6HsZ?`o^b`~5U``?&?6)@ɨ6; 4b&Bb#Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.478212Mb@Mb@Mb@ )Iyn?V-?Mbp?VN?h= &@)@IiM@3@HjHh 5k= ;=YZ:Q >٣ Gey >]49Vm?a4Ym i|B#O?m:<ȿq?kC::D4 $@2i9EDNOT Ignoring new targets: 66.80 m.iEX"iEX] ProNav: ac range: 66.800003 m, nav range: 65.116531 m, bearing: 269.419234 deg, approach rate: -0.810482 m/s, LOS rate: -0.011830 deg/s, cmd heading: 265.951666 deg, new cmd heading: 265.936190 deg.  i]eHeadingCmd: 4.641462 target range: 66.800003 and range: 66.80 m.he܆@hahahahagagabgijgm?BGqGuAAGyGyG}#IG}?BGyGyGyGyGyeiejeJe:e@?ځBɛ/=) ?ii)uȪ:yyi}3x,Bz[A6.@y6.>@96˃=Y6\=6HS]?  @v@YѼ?@ݺ?6.@ɨ6~O; 6Cb0Bb#If=if]>dfAHjHj>5rV= v[=YzA;Q z>x٣| ~GMFM!: M>Q]]49UVm?ae4YUu iU|Bae(ȿqe?UCU;Up:U;K4q u@}E2iDNOT Ignoring new targets: 66.80 m.ia"ia ProNav: ac range: 66.800003 m, nav range: 64.806717 m, bearing: 269.414525 deg, approach rate: -0.807873 m/s, LOS rate: -0.012338 deg/s, cmd heading: 265.936202 deg, new cmd heading: 265.922007 deg.  i{HeadingCmd: 4.641214 target range: 66.800003 and range: 66.80 m.hԄ@hhhhggbgjgeejeJe:eQ)?-فBɛ5/<=)9 =?i9)=6;AAiE*uFZAM >HY H] =ZIe qbIe jjIe 0rIa zIe D:Ie 9Ie ـ3Ia  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234723x,T[A]?B]#IH}H}35= @=YQ >٣ GF >]49Wm?a4Y~ i{BQq]?C< <R4a e@a2iDNOT Ignoring new targets: 66.80 m.inY"inY ProNav: ac range: 66.800003 m, nav range: 64.469391 m, bearing: 269.409346 deg, approach rate: -0.769848 m/s, LOS rate: -0.011881 deg/s, cmd heading: 265.921995 deg, new cmd heading: 265.906378 deg.  iu}HeadingCmd: 4.640942 target range: 66.800003 and range: 66.80 m.h}@hyhhhggbgjgeejeJe:e@YɛD=) {?i)D;iVF9 zFI rFM iAF ZA! M= >ox,$[A>T@y>Fd@9>k=Y>h=>H-`S?`Ύ`:` @`J I?ࢳ?>T@ɨ>\; >CN5BN#Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.738260Mb@Mb@Mb@ )Iyx&1?x&?~jtx?A?7=; j@) @I@id@@HH85/ :=Y;Q >٣ G[.< >]49rWm?a4Y i{BLB?m:ǿq?C:,:%Z4 /@2iDNOT Ignoring new targets: 66.80 m.i%א"i%אU ProNav: ac range: 66.800003 m, nav range: 64.138855 m, bearing: 269.402820 deg, approach rate: -0.797644 m/s, LOS rate: -0.015829 deg/s, cmd heading: 265.906368 deg, new cmd heading: 265.886690 deg.  iU-mHeadingCmd: 4.640598 target range: 66.800003 and range: 66.80 m.hm@hihihihigqgybgjg%xBe!e!je!Je):e-@u؁Bɛu>)q u7?iq)} ;yyi}-% %=% BDAT read: Rx Time:19:05:16.1708 - TRx dataTimestamp_ set to:1736535916.863511- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991529VF F ZA M >/x,=[A6f@y6u@96&=Y6=6H8?¦n[`1;??6f@ɨ6\; 6CR=BR#IIT)T)V= V=H^H^\05fz#= f\=YjY;Q j>h٣h jGjFn; n>p]v49rWm?av4Yr ir{BxzHǿqz?r Cr:r:r`4| @B*** querying acoustic contact ***ii2i)-DNOT Ignoring new targets: 66.80 m.i5ܗ"i5ܗM ProNav: ac range: 66.800003 m, nav range: 63.856918 m, bearing: 269.396664 deg, approach rate: -0.756702 m/s, LOS rate: -0.016596 deg/s, cmd heading: 265.886697 deg, new cmd heading: 265.868147 deg.  iM<6UHeadingCmd: 4.640275 target range: 66.800003 and range: 66.80 m.hU!}@hQhQhQhQgYgYbgajgaeaeajeaJei:ema @ ɛj>) U;?iQ)];YYi]m DAT read: 19:05:16.1708 LVL= 24096, 24481, 19746, 27043, AGC= 65, IDX= 398,-0.42,-2.244, 2.723,-2.307,-2.501, PHS= 0.345,-1.012, 0.191, RAW= 144.0, 7.4, CAL= 146.4, -0.7, ROT= 3.6, 0.7 } Ygot valid direction response: 19:05:16.1708 LVL= 24096, 24481, 19746, 27043, AGC= 65, IDX= 398,-0.42,-2.244, 2.723,-2.307,-2.501, PHS= 0.345,-1.012, 0.191, RAW= 144.0, 7.4, CAL= 146.4, -0.7, ROT= 3.6, 0.7  PDAT read: Bearing 3.6, 0.7 (Local)  ~Local bearing/azimuth received: Bearing 3.6, 0.7 (Local)  DAT read: Range 10 to 50 : 63.3 m (Round-trip 84.5 ms) speed 0.8 m/s x,1X[A,DAT read: user:1096> BDAT read: Tx time:19:05:17.2837 $Ping request sent.-7-C>) - A>)-Ƈ#@I-+Hi-=-+H<) )-M?I 3? br/?I-^>i-'-=-+H<) )*:publishing transmit ping time*Fpublishing direction and range info)Y-=9?Ek?I:)9)) )))I)i))))) )))I)i))) )-M?I 3? br/?I)i)))) )ba~@yb@9ba=Yb=bH 0Ɀf?@aD /`q豿-J?\?ba~@ɨbr; bCn;Br#IG5v>G1G5$IG5hBG5 =G1G1G5v<G5F:JVBJBJJJRJZJJIMb@Mb@Mb@ )Iy(\? rh?Mb?z4?C=< @)7@IS@i@@H H :5u u=Y} ;Q }>y٣y GF/; >]49Xm?a4Y i{BT5?m:ſq?=C::j4 @EZj-8m?bj-  i)i- rW[Aj-3}Bj-{B2j-F@p-ķΕO@´+Pt@Utm+zp-=9?Ek?I:"j-=*j-+H<p-9/8wؿJkOYp-^Lkx,`v[A:z@y:]@9:&Ҍ=Y:"m=:Hr+?``E/@Rූ4ſ?`)?:z@ɨ:Yݒ; :CF2BF#IHj_Hj5vV vj=YziQ z>x٣x zGx~Ⱥ ~>]%49Ym?a%4Y` i{B)-ƿq-?\C;K; p41 5f@12iYeDNOT Ignoring new targets: 63.30 m.imع"imع} ProNav: ac range: 63.299999 m, nav range: 63.033318 m, bearing: 269.375267 deg, approach rate: -0.756884 m/s, LOS rate: -0.023660 deg/s, cmd heading: 265.840197 deg, new cmd heading: 265.817267 deg.  i}恺HeadingCmd: 4.639387 target range: 63.299999 and range: 63.30 m.hu@hhhhggbgjgeejeJe:e`?ɛw>) ?i).y"<i*III .IIIZIMnbIMejIIrIIzIM|;:IM9IIIIx,/[AMx@yM@9M\k=YMf >MH`??"=`Z` J ? A?Mx@ɨMܮ; MC-B#Ia=iR=  AMb@Mb@Mb@ )IyX9v?l?~jth3?=D @)M@I@i=@HH05) /=Y$Q >٣ GFmɥ u>y]}49}Zm?a4Y}T i}{B4?m:Ŀq?}C}:}j:}|x4 @2iDNOT Ignoring new targets: 63.30 m.i"i ProNav: ac range: 63.299999 m, nav range: 62.693520 m, bearing: 269.361295 deg, approach rate: -0.708200 m/s, LOS rate: -0.029279 deg/s, cmd heading: 265.817275 deg, new cmd heading: 265.775130 deg.  iHeadingCmd: 4.638651 target range: 63.299999 and range: 63.30 m.ho@hhhhggbgjgBeejeJe:e-?)ɛ5=)1 5?i1)5<<99i=(x,~ B~#IH iH 5E Mi=YMQ M>I٣Q UGUFU U?a]m49eZm?am4Ye ie{Biiqu?eCe:e:eZ~4y }@y2iDNOT Ignoring new targets: 63.30 m.id"id ProNav: ac range: 63.299999 m, nav range: 62.457203 m, bearing: 269.351488 deg, approach rate: -0.705147 m/s, LOS rate: -0.029374 deg/s, cmd heading: 265.775119 deg, new cmd heading: 265.745587 deg.  iEHeadingCmd: 4.638135 target range: 63.299999 and range: 63.30 m.hk@hhhhggbgjgeejeJe:e?ցBɛ  >)  J?i ) >N< ii|x,w[A6@y6@96c=Y6>6H`?i d?j?6@ɨ6:c; 4^ Bb#IHjHj"25rtȽ rQ=Yr:Q v>t٣t vGtzr7< z>|]49~[m?a4Y~͵ i~{B "Ŀq ?~C~:~/:~-4 @E=B*** querying acoustic contact ***i9i92iIMDNOT Ignoring new targets: 63.30 m.iU"iU ProNav: ac range: 63.299999 m, nav range: 62.182392 m, bearing: 269.338864 deg, approach rate: -0.700399 m/s, LOS rate: -0.032316 deg/s, cmd heading: 265.745585 deg, new cmd heading: 265.707546 deg.  imHeadingCmd: 4.637472 target range: 63.299999 and range: 63.30 m.h+f@hhhhggbgjge1e9je9Je9:e=@+?]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.雁ɛj=) i?i)d<隉i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999796GM w>GI GM #IGM SBGI GI GI GM x<GM FH H˨CHH"H =*H˓4x,S[A=B=#IIA)A)M= M=:JBoHBJ 9JJRJZJMb@Mb@Mb@ )IyzG?㥛 ?~jtx 7?=Ļ 5@)z@I@i@@HHS<5-H -7=Y-Q 5>1٣1 =G=F= =>A]M49E\m?aM4YE; iEk{BM7?mU:U{ĿqU?ECEG;EP ;E4Y ]t@a2iDNOT Ignoring new targets: 63.30 m.i"i ProNav: ac range: 63.299999 m, nav range: 61.862549 m, bearing: 269.324833 deg, approach rate: -0.719244 m/s, LOS rate: -0.031715 deg/s, cmd heading: 265.707555 deg, new cmd heading: 265.665244 deg.  i HeadingCmd: 4.636733 target range: 63.299999 and range: 63.30 m.h`@hhhhggbgjgBeejeJe:eqs@ɛ=) ?i)8rz<i'x,-[A6Ǎ@y6ה@969=Y6>>6H3?@n`űa@v??6Ǎ@ɨ6ޑ; 6Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503776Bv#IHH650 >=Y;Q >٣ GF GH<  >]49]m?a4Y^ iV{B!%ÿq%?C::4) 5-@12iQ]DNOT Ignoring new targets: 63.30 m.ie?""ie?"} ProNav: ac range: 63.299999 m, nav range: 61.553940 m, bearing: 269.309632 deg, approach rate: -0.716374 m/s, LOS rate: -0.035462 deg/s, cmd heading: 265.665235 deg, new cmd heading: 265.619404 deg.  i}ºHeadingCmd: 4.635933 target range: 63.299999 and range: 63.30 m.hY@hhhhggbgjgeejeJe:e @雹ɛ^=) ?i)<i)x, [Afڍ@yfo@9fO=Yf/=fH`@b?`a -9NaY@d?ګ?fڍ@ɨf[; fCI%sCi! ))))A MlAM(\ULFQȁȁIȁ)ȉiȉ)ɡIɥrlAȥxȩ ɩɹiiʑʕ$lA)ʕF ʕC@FIʑ ˙)˙ʙʙʙ˙˥AiˡIˡˡӄB_#IMb@Mb@Mb@ BDAT read: Rx Time:19:05:19.7691 TRx dataTimestamp_ set to:1736535920.391406checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009091)IyS?X9v?y&1:?}=`e )@I@i@@HHB5Q ;=YE;Q > ٣   G F; >]%49\^m?a%4Y i<{B%T;?m-:-|ſq-?CC;;&41 5T@12iaeDNOT Ignoring new targets: 63.30 m.im"im} ProNav: ac range: 63.299999 m, nav range: 61.235138 m, bearing: 269.297696 deg, approach rate: -0.727747 m/s, LOS rate: -0.027389 deg/s, cmd heading: 265.619391 deg, new cmd heading: 265.583395 deg.  i}`HeadingCmd: 4.635304 target range: 63.299999 and range: 63.30 m.hjT@hhhhggbgjgBeejeJe:eg@ׁBɛ5=) ?i)%<io< x,*[AޥBޭ;#I4>iAHHs75 M=YQ >٣ G >]49 _m?a4Yi i${Bq?hCu::4 $@E2iDNOT Ignoring new targets: 63.30 m.i"i ProNav: ac range: 63.299999 m, nav range: 60.945316 m, bearing: 269.286736 deg, approach rate: -0.704432 m/s, LOS rate: -0.026765 deg/s, cmd heading: 265.583382 deg, new cmd heading: 265.550346 deg.  iHeadingCmd: 4.634728 target range: 63.299999 and range: 63.30 m.hO@hhhhggbgjgeejeJe:e| @雉ɛ2=) 5?i9)Eœ MBDAT read: Tx time:19:05:20.8823 M$Ping request sent.MX9>?!@  =)S$@I4QOi¸2=4QO= ,x\?խpw?#9z?I>i"Ľ¸2=4QO= u:publishing transmit ping timeIuFpublishing direction and range infoYJSԸ? BeXM?|rQ穿9 )Ii )Ii ,x\?խpw?#9z?Ii D ?D D E `0 E VF O<HIHIJDAT read: TxSync time:19:05:20.8815 FZAM>[ox,6J[AY YYYɳYaelAIa)iii)qIulAulɴuiCF qɵy}lA}`i}ZFyiCmA) I )ɶ,IF鶉ɷiIIi Ļ鷙)MBM!#IH]H]:5m½ m8=YyQ }>y٣y }G}F >]49_m?a4Y i {Bq?CS:ު4 ~@ZjuH^%2m?bju8n/  iqiuB9[Aju3sBjuqB2ju⁖@pu\h) UN@wPu0@*zpuJSԸ? BeXM?|rQ穿"ju¸2=*ju4QO=puuD]1N BpueH`^BO, F\iuqju iuo1m?iuy  julBzjuo1m?ju julBjjuqBrju@ addTargetRange:: Added new target pos. range: 60.799999 m, deltaT: 3.528373 s, deltaX: -2.500000 m, approachRate: -0.708542 m/s, rangeRepo size: 4  Added new target pos. range: 60.799999 m, bearing: 269.482388 deg, lat: 36.903927 deg, lon: -122.119093 deg, deltaT: 3.528373 s, deltaX: -2.500000 m, approachRate: -0.708542 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 60.80 m.i"i!5 ProNav: ac range: 60.799999 m, nav range: 60.468834 m, bearing: 269.483283 deg, approach rate: 0.000000 m/s, LOS rate: -0.026765 deg/s, cmd heading: 265.550351 deg, new cmd heading: 265.515325 deg.  i1=HeadingCmd: 4.634117 target range: 60.799999 and range: 60.80 m.h=J@h9h9h9h9ggbgjgeejeJe`ffN@:e@!?IɛU&=)Q U5?iQ)UGqGu#IGuBGqGuFDGqGu<GuFVF 3Z<F ZA :J >`JBJ 9JJ RJ ZJ J I M >x,c[A2]Ӎ@y2@92̒=Y2R=2Hy ?T`f V\UD?\?2]Ӎ@ɨ29; 2C}B"IMb@Mb@Mb@ )Iy?I٣I MGIUd U>Y]e49]`m?ae4Y] i]zBe@?mm:m(Ŀqm?]C]Z:]V:]˱4ZIybI}ejI}1rIyzIyI}9I}3IyIyIyI}:I}: @B*** querying acoustic contact ***iiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.2iq}DNOT Ignoring new targets: 60.80 m.i}"i} ProNav: ac range: 60.799999 m, nav range: 60.171490 m, bearing: 269.469870 deg, approach rate: -0.711173 m/s, LOS rate: -0.032239 deg/s, cmd heading: 265.515326 deg, new cmd heading: 265.474888 deg.  iHeadingCmd: 4.633411 target range: 60.799999 and range: 60.80 m.hD@hhhhggbgjg^BeejeJe:e?雍؁Bɛ%=) X?i)ǯ<隑iI#x,}[AB@yBoȔ@9B᭏=YB=BH '?n@`@_???B@ɨBY; BC=jBE"III)IHU|HUb(5enʽ eZ=YmQ m>i٣i mGmFu u>y]49}am?a4Y}7 i}zBĿq?}C}:}:}Z4 @2iDNOT Ignoring new targets: 60.80 m.iq"iq] ProNav: ac range: 60.799999 m, nav range: 59.889759 m, bearing: 269.457930 deg, approach rate: -0.808159 m/s, LOS rate: -0.034412 deg/s, cmd heading: 265.474891 deg, new cmd heading: 265.438902 deg.  i]ZeHeadingCmd: 4.632783 target range: 60.799999 and range: 60.80 m.he?@hahahahagigibgijgieejeJe:e?ɛ {N=)  z?i )uhjAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246753VF Qd<Fa ZA M >Ҩ%x,˼[AJ@yJǔ@9Jq]=YJ=JHd ?皽d믿 籿]x?`?J@ɨJj; JCZOBZ"I%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498190Mb@Mb@Mb@ )Iy rh?p= ף?I +L?=9 C@)@Ii/@Q@HH-5 C=YQ >٣ GFiʹ >GGGH#IGBGGGG~<GF] 491bm?a4Y izBLM?m:aƿq?C;;4! %@-E2iQUDNOT Ignoring new targets: 60.80 m.i]Թ"i]Թm ProNav: ac range: 60.799999 m, nav range: 59.555653 m, bearing: 269.448151 deg, approach rate: -0.790508 m/s, LOS rate: -0.023267 deg/s, cmd heading: 265.438910 deg, new cmd heading: 265.409408 deg.  im}uHeadingCmd: 4.632268 target range: 60.799999 and range: 60.80 m.hu;@hqhqhqhygygybgyjg};BeejeJe:e8?雽فBɛ=) ?i)`<i#+x,[A2&@y2Ɣ@92=Y22?=2H`r?} Z`YL? ?2&@ɨ2#; 0^4B^"IHfHfF5P W=Y<7:Q >!٣! %G!-LI ->1]=495bm?a=4Y5 i5zB9=cƿqE?5-C5;5;5Nƃ4I M>@I2iquDNOT Ignoring new targets: 60.80 m.i۹"i۹ ProNav: ac range: 60.799999 m, nav range: 59.252216 m, bearing: 269.439194 deg, approach rate: -0.809291 m/s, LOS rate: -0.024012 deg/s, cmd heading: 265.409403 deg, new cmd heading: 265.382394 deg.  iՃHeadingCmd: 4.631796 target range: 60.799999 and range: 60.80 m.h7@hhhhggbgjgeejeJe:e?ɛi=) ?i)<i- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2535782x,m[A^!@y^~Ȕ@9^=Y^=^Hɸ? %@| = d.9u?`i?^!@ɨ^ ; ^CrBry"IHzHzB58  K=Y ;Q  > ٣  GF: >]%49Lcm?a%4Yw izB)-[ƿq-?VC`:l:S̓41 =@92iamDNOT Ignoring new targets: 60.80 m.im[ܹ"im[ܹ ProNav: ac range: 60.799999 m, nav range: 58.931450 m, bearing: 269.429549 deg, approach rate: -0.796526 m/s, LOS rate: -0.024081 deg/s, cmd heading: 265.382383 deg, new cmd heading: 265.353290 deg.  i6HeadingCmd: 4.631289 target range: 60.799999 and range: 60.80 m.h3@hhh h g g bg jg1e1e1je9Je9:e=@雅ځBɛh=) j?i)n<隉iVGG"IGBGGGG^<GFVF5[<zFrFhAF ZA M >:J5 BIBJ5 9JJ1 RJ5 ZJ5    18x,B[AB`"IMb@Mb@Mb@ )Iy7A`?Q?y&1V?u=` K@)@I@i@HH-I5  ==YQ >٣ GF  >!]-49%cm?a-4Y% i%^zB-2W?m-|:-ǿq5?%C%]:% ;%ԃ49 =K@=EՑՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757781B*** querying acoustic contact ***ii2i9MDNOT Ignoring new targets: 60.80 m.iu"iu ProNav: ac range: 60.799999 m, nav range: 58.565872 m, bearing: 269.421640 deg, approach rate: -0.788019 m/s, LOS rate: -0.017153 deg/s, cmd heading: 265.353286 deg, new cmd heading: 265.329413 deg.  iZ<HeadingCmd: 4.630872 target range: 60.799999 and range: 60.80 m.h0@hhhhggbgIjgMBeIeQjeYJeY:e]ལ@ہBɛV=) ?i)*<i͓7%?x,8[A2ӹ@y20ɔ@92k=Y2t=2H@? I`YW? Ҹ?2ӹ@ɨ2 ; 2CBBBB"IHNHNB5R R]=YVv;Q V>X٣X ZGXZr9 ^>\]b49^cm?af4Y^$ i^?zBdfǿqf?^C^;^;^Vۃ4h n@l2i  DNOT Ignoring new targets: 60.80 m.iB"iB% ProNav: ac range: 60.799999 m, nav range: 58.260689 m, bearing: 269.414944 deg, approach rate: -0.903027 m/s, LOS rate: -0.019918 deg/s, cmd heading: 265.329408 deg, new cmd heading: 265.309214 deg.  i%Z-HeadingCmd: 4.630519 target range: 60.799999 and range: 60.80 m.h-7-@h)h)h)h)g1g1bg1jg1e9e9je9Je9:e= @m܁Bɛu=)q u?iy)}Fx,E[A^_@y^Ô@9^\=Y^G=^H@y3`)?@\(@- k ? 3?^_@ɨ^;~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516688 ^C%׃B-)"III)I)]p= ]=Gz>GG"IGABGGGG}<G FH9 H9H9H9"H9*H=4Mb@Mb@Mb@ )Iy+?T㥛 ?V-v^?= @)@Ib@i@@HHaO5A "=Y@9Q >٣ GF >]49qdm?a4Y$ izB+_?ms:yǿq?C);o:-4 @ 2i)5DNOT Ignoring new targets: 60.80 m.i5e"i=e] ProNav: ac range: 60.799999 m, nav range: 57.822018 m, bearing: 269.405104 deg, approach rate: -0.867441 m/s, LOS rate: -0.019605 deg/s, cmd heading: 265.309218 deg, new cmd heading: 265.279475 deg.  i]FWeHeadingCmd: 4.630000 target range: 60.799999 and range: 60.80 m.he(@hahahahagigibgqjguBeqeyjeyJey:e}`w, @雭݁BɛȚ=) |?i)%<iJ  BDAT read: Tx time:19:05:24.4823  $Ping request sent. ?>L?_2q?ؕhB9ؑؕ@N ٕ)ٕ2DIٕiٕCٕ>ٕGٕy&>ٕJ @ ڕ| >)ڕ"@Iڕ4*??Iەq>iە(g ەC=ەۑ ܑ :publishing transmit ping time؉  Fpublishing direction and range infoؑYؕ+>?>L?_2q?ؑ9ؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑ ۑە? ?5>4*??Iۑiۑۑۑۑ ܑVF mo<F ZA M >A.Lx,3[Aj @yjg@9j=Yjs=jH@`?Be$`a lg.?`i?j @ɨj; jC޽B޽"IHH?5]6 ]e=Ye9Q e>a٣i mGm Fm\~ m>q]}49udm?a4Yu, iuyBǿq?u Cu:uK:ug4 @Zj0xm?bjLh iiA+[AjhBj=gB2jt@p(M@x6@iBg?zp+>?>L?_2q?"jC=*jp3v?V_MZ:)kpF7@(Dp?8ǂ Ytihjl>i5xm?iwd(  j7}Bzj]T8m?j$ jrBjjhBrj@m addTargetRange:: Added new target pos. range: 58.200001 m, deltaT: 3.781180 s, deltaX: -2.599998 m, approachRate: -0.687616 m/s, rangeRepo size: 4  Added new target pos. range: 58.200001 m, bearing: 270.227756 deg, lat: 36.903928 deg, lon: -122.119099 deg, deltaT: 3.781180 s, deltaX: -2.599998 m, approachRate: -0.687616 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 58.20 m.*iPowering the camera and arming the capture device at range: 58.20 m.hi"i ProNav: ac range: 58.200001 m, nav range: 58.003239 m, bearing: 269.479687 deg, approach rate: 0.000000 m/s, LOS rate: -0.019605 deg/s, cmd heading: 265.279466 deg, new cmd heading: 265.257305 deg.  i-HeadingCmd: 4.629613 target range: 58.200001 and range: 58.20 m.h-%@h)h)h)h)h)g)g1bg1jg1e1e9je9Je=M@:eE?雽ށBɛ-=) k?i)H<iXSx,N[A6@y6@96M}=Y6=6H@b?@5])K 屼?`K?6@ɨ6-; 6CBBB!IHJHJMD5V V`=YVZQ Z>|٣| ~G|' > ]49 dm?a4Y f5 i yB!ȿq? 5C ; ; 4) -@-E2iQUDNOT Ignoring new targets: 58.20 m.*iY]Powering the camera and arming the capture device at range: 58.20 m.hYie"ieu ProNav: ac range: 58.200001 m, nav range: 57.678623 m, bearing: 269.474415 deg, approach rate: -0.916843 m/s, LOS rate: -0.014974 deg/s, cmd heading: 265.257309 deg, new cmd heading: 265.241404 deg.  iul$}HeadingCmd: 4.629336 target range: 58.200001 and range: 58.20 m.h}#@hyhyhyhyhyggbgjgeejeJe:e5?߁Bɛ;=) g?i)<i+DiDiEm5 Ei*G<"Gp<G}>GGf"IG BGGGG<GFVF)F ZAM->:J BJ H9JJ RJ ZJ J I gAY~Yx,g[A2?[@y2j@92=Y2H=2H@`? 3@ N!ծ }챿{0? ?2?[@ɨ25; 0>B>!IDD Mb@Mb@Mb@   ) I y (\?T㥛 ?I + g?  9 @) I -@i r@  @ !%BAH%H%T_55! 5B=Y5cQ =>9٣9 EGE!FEwa E>I]U49Mdm?aU4YM3? iMyB]Oh?m]i:]Wɿq]?MeCM~ ;Ma;M!4a et@iB*** querying acoustic contact ***ii2iAEDNOT Ignoring new targets: 58.20 m.*iAMPowering the camera and arming the capture device at range: 58.20 m.hIiMLݸ"iMLݸ} ProNav: ac range: 58.200001 m, nav range: 57.306644 m, bearing: 269.471813 deg, approach rate: -0.858629 m/s, LOS rate: -0.006046 deg/s, cmd heading: 265.241408 deg, new cmd heading: 265.233550 deg.  iDŽHeadingCmd: 4.629199 target range: 58.200001 and range: 58.20 m.he"@hhhhhggbgjgŁBeejeJe:e?BɛTf=)  `?i ) 0r< 1i5Vf`x,:[AL@ya[@9|`=Y=H_s? ̿|uNw Rz??L@ɨ3; CB!IH=H=T5A5 5=YuQ >٣ G"FD >]49dm?a4YI iyBɿq?C^;_;4 @2iDNOT Ignoring new targets: 58.20 m.*iPowering the camera and arming the capture device at range: 58.20 m.hi䬸"i䬸= ProNav: ac range: 58.200001 m, nav range: 56.898216 m, bearing: 269.469702 deg, approach rate: -0.907273 m/s, LOS rate: -0.004724 deg/s, cmd heading: 265.233540 deg, new cmd heading: 265.227160 deg.  i=xOEHeadingCmd: 4.629087 target range: 58.200001 and range: 58.20 m.hE|!@hIhIhIhIhIgIgIbgQjgQeQeYjeYJeY:ee??checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484506ZI%jbI%]jI!rI!zI%.:I%_9I!I!=Bɛ=) bZ?i)<隉i>fx,Uۛ[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.735913GB~>GBCGB."IGB܃BGB =G@G@GB<GB.FvH@yvX@9vS=Yv=vH͍`k?+Mi<ڮ汿q??vH@ɨvD+; vCB!IMb@Mb@Mb@ )IyJ +?Dl?:vh?O=Լ @)E@IZ@i@p@H+Hu5* U=Y";Q >٣ Gj >]49dm?a4YS ipyBwi?mh:ȿq?C{::4  @ E2iDNOT Ignoring new targets: 58.20 m.*iPowering the camera and arming the capture device at range: 58.20 m.hiG"iG  ProNav: ac range: 58.200001 m, nav range: 56.550674 m, bearing: 269.465655 deg, approach rate: -0.930555 m/s, LOS rate: -0.010903 deg/s, cmd heading: 265.227174 deg, new cmd heading: 265.214958 deg.  ipHeadingCmd: 4.628874 target range: 58.200001 and range: 58.20 m.h@hhhhhggbg!jgÉBeIeIjeIJeI:eM?Bɛ=) U?i)=i8E8;IM@IID6DDE_0 E:J BJ 9JJ RJ ZJ J%? J%$? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991359I =) C cG kA ) !y kA BVFM {/;F1 ZAQ M >vlx,䡵[A:`L@y:[@9:W=Y:>=:Hto@?9`,㯿f׽?β?:`L@ɨ:%;; :CFBF!IHV.HVBw5^ ^_=Yb%;Q b>`٣` fGf#Ff: f>h]r49jdm?ar4Yj[ ijQyBprȿqr?jCj;j<;j 4x z@x2iDNOT Ignoring new targets: 58.20 m.*iPowering the camera and arming the capture device at range: 58.20 m.hiH"iH ProNav: ac range: 58.200001 m, nav range: 56.218124 m, bearing: 269.461579 deg, approach rate: -0.886713 m/s, LOS rate: -0.010932 deg/s, cmd heading: 265.214961 deg, new cmd heading: 265.202662 deg.  iHeadingCmd: 4.628660 target range: 58.200001 and range: 58.20 m.h@hhhhhggbgjgeejeJe:e@@)ɛ5=)1 5~R?i1)==99i=S checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492506H H ZI- ibI- ZjI- /rI) zI- +:I- S9I- (N3I) sx,e[ANaA@yNP@9N=YN^b=NHƳ@?o۵ 2/ʦ?`?NaA@ɨN; NCVBZ!IHb6Hbz5n rF=Yr7-;Q r>t٣t vGv$Fv!U z>x]49zdm?a4Yze iz-yBȿq?z Cz;z:zQ4  d@2i9EDNOT Ignoring new targets: 58.20 m.*iAEPowering the camera and arming the capture device at range: 58.20 m.hAiMB"iMBm ProNav: ac range: 58.200001 m, nav range: 55.843330 m, bearing: 269.457446 deg, approach rate: -0.957438 m/s, LOS rate: -0.010628 deg/s, cmd heading: 265.202667 deg, new cmd heading: 265.190185 deg.  imjmHeadingCmd: 4.628442 target range: 58.200001 and range: 58.20 m.hu2@hqhqhqhqhqggbg)jg)e)e)je)Je1:e5$#@eBɛm=)i mN?ii)mѠ=隱i'GG "IGBGGG?DG<GFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746551VFM;F) ZA1 MU >:J5 BoHBJ5 9JJ1 RJ5 ZJ5  V-x$o5[D:) vJFp@ Fl_O<7DB0! JE fAIE fAyx,[A2,@y2;@92?s=Y2 =2H`k?k:ʲ?`Ȳ?2,@ɨ2; 2C>vB>!IEMb@Mb@Mb@AA A)AIAyEJ +?y٣y }Gy}Ļ >]49dm?a4Yo i yByi?mh:ȿq?BDAT read: Rx Time:19:05:26.9599 TRx dataTimestamp_ set to:1736535927.704072checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997907QCܵ;;4 $@%B*** querying acoustic contact ***i!i!2i1=DNOT Ignoring new targets: 58.20 m.*i9=Powering the camera and arming the capture device at range: 58.20 m.hAiM>-"iM>-m ProNav: ac range: 58.200001 m, nav range: 55.459534 m, bearing: 269.453344 deg, approach rate: -0.879650 m/s, LOS rate: -0.009466 deg/s, cmd heading: 265.190181 deg, new cmd heading: 265.177791 deg.  iuϹHeadingCmd: 4.628225 target range: 58.200001 and range: 58.20 m.hl@hhhhhggbgjgҁBeeje Je :e  @雵Bɛ9Ӯ=) nH?i)y=隹iU$րx,,[A*@y&@95ޕ=Y=H 8%?྿)%  >]? ܳ?*@ɨ; C5B5!IHE(HEt5UG= ]K=Y]x9Q ]>a٣a eGe%Fmջ >]49dm?a4Yy ixBIɿq?C>::"4 @E2iDNOT Ignoring new targets: 58.20 m.*iPowering the camera and arming the capture device at range: 58.20 m.hii "ii  ProNav: ac range: 58.200001 m, nav range: 55.089241 m, bearing: 269.450344 deg, approach rate: -0.940478 m/s, LOS rate: -0.007672 deg/s, cmd heading: 265.177778 deg, new cmd heading: 265.168715 deg.  i~HeadingCmd: 4.628067 target range: 58.200001 and range: 58.20 m.h @hh h h h g g bgjgeejeJe:e @ɛ.=) &M?i) =i mBDAT read: Tx time:19:05:28.0823 m$Ping request sent.mٽٽDٽ@ ڽ D>)ڽC~@Iڽ=iڽ;0>ڽڹ ۹۽}9?Z?T'{?I۽`>i۽E۽;0>۽۹ ܹ:publishing transmit ping timeiFpublishing direction and range infoعYؽ5i?Hϡ?U]k?ع9عع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ ۹۽}9?Z?T'{?I۹i۹۹۹۹ ܹVF']?;F ZA M >u JDAT read: TxSync time:19:05:28.0815 G >G G !IG BG G G G B<G FU2x,M/[A2@y2=@92Qx=Y2=2H@¥?#@`ʲ`b?@ڲ?2@ɨ2>Z; 2CXX Mb@Mb@Mb@   ) I y x&1?i٣i mGm&Fu̐ u>y]}49}dm?a4Y} i}xBNb?mp:Qɿq?}C};};}*4 @Zjwn?bj  iiZd [Ajf\BjZB2j.?@p~9zi K@nVP"@V6oNq@zp5i?Hϡ?U]k?"j;0>*jp,:W3@̱vFtKsoW?p%R ?w~)t ^?i[jц@i*n?i/*  jBzjjjwBjjZBrj|@ addTargetRange:: Added new target pos. range: 55.099998 m, deltaT: 3.533361 s, deltaX: -3.100002 m, approachRate: -0.877352 m/s, rangeRepo size: 4  Added new target pos. range: 55.099998 m, bearing: 274.387324 deg, lat: 36.903928 deg, lon: -122.119099 deg, deltaT: 3.533361 s, deltaX: -3.100002 m, approachRate: -0.877352 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 55.10 m.*iPowering the camera and arming the capture device at range: 55.10 m.hi"i  ProNav: ac range: 55.099998 m, nav range: 54.697086 m, bearing: 269.447222 deg, approach rate: 0.000000 m/s, LOS rate: -0.007672 deg/s, cmd heading: 265.168707 deg, new cmd heading: 265.157864 deg.  i HeadingCmd: 4.627878 target range: 55.099998 and range: 55.10 m.h@hhhhhgg9bgAjgEBeAeAjeAJeM̌K@:eM?雕BɛD=) L?i)i=隩i@| J  ?Du-+DqDqEu5 EqVF ?:Fq ZAy M >Vx,7[A2[@y2@92b=Y2r=2HZຢ? ^@ mد Ƚ? p?2[@ɨ2E; 2CFBJ!IHZHZ+p5b bi=Yf/ƺQ f>d٣h jGhj j>1]=495dm?a=4Y5U i5xBAEɿqE?5C5;5;504I M@I2iyDNOT Ignoring new targets: 55.10 m.*iPowering the camera and arming the capture device at range: 55.10 m.hi"i ProNav: ac range: 55.099998 m, nav range: 54.379025 m, bearing: 269.445660 deg, approach rate: -0.949866 m/s, LOS rate: -0.004691 deg/s, cmd heading: 265.157861 deg, new cmd heading: 265.153149 deg.  i NHeadingCmd: 4.627796 target range: 55.099998 and range: 55.10 m.h@hhhhhggbgjgeejeJe:e@F?BɛZ=) %L?i)!=iNN?x,}Q[AJ~@yJ͓@9Jٞ=YJx=JH ط?s @B׹ "`ս?@?J~@ɨJ(; JCfBf!IIh)jAHrHr7`5v< zH=Yz3Q z>|٣| ~G~'Fi > ]49 [dm?a4Y  i xBsʿq?  C ; ; 74! %2@%E2iIMDNOT Ignoring new targets: 55.10 m.*iQUPowering the camera and arming the capture device at range: 55.10 m.hQi]87"ie87 ProNav: ac range: 55.099998 m, nav range: 54.027348 m, bearing: 269.446096 deg, approach rate: -0.882081 m/s, LOS rate: 0.001101 deg/s, cmd heading: 265.153162 deg, new cmd heading: 265.154479 deg.  ivA8HeadingCmd: 4.627819 target range: 55.099998 and range: 55.10 m.h@hhhhhggbgjgeejeJe:e ?BɛT5=) N?i)=i g:J] BJ] 9JJY RJ] pxx,k[AZJmJ0I0:2@y:ȓ@9:**=Y:=:H ? <@@45a!?`?:2@ɨ:m; 8FBF!IUMb@Mb@Mb@QQ Q)QIQyU333333?x&?MbpUY?U7=U UQ@)QIU@iU@QU@HmHmR5IcIcIcIcIcIcZIibI`jIrIzI+:Ibl9IIIqIiIuI*:m= <=YJ :Q >٣ G >] 49cm?a 4Ys ixB GZ?m y:˿q?9C3: ;?4 @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 55.10 m.*iPowering the camera and arming the capture device at range: 55.10 m.hi8"i8  ProNav: ac range: 55.099998 m, nav range: 53.653221 m, bearing: 269.448350 deg, approach rate: -0.818102 m/s, LOS rate: 0.004963 deg/s, cmd heading: 265.154473 deg, new cmd heading: 265.161283 deg.  iZ9HeadingCmd: 4.627937 target range: 55.099998 and range: 55.10 m.h@hhhhhggbgjg0BeejeJe:eh?uBɛ}=)y }Q?iy)}`=隁ifM T****** received valid address query ******U R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.Px,f[A2=Ɍ@y2ؓ@92=Y2_=2H ?`ޮs`!e??2=Ɍ@ɨ2; 2CJBJ!IHV$HVr5v4= v[=Yv[;Q v>x٣x zGz(Fz; ~>] 49cm?a 4Y imxB  ʿq?aC>:):E4 @!2iDNOT Ignoring new targets: 55.10 m.*iPowering the camera and arming the capture device at range: 55.10 m.hi5{8"i5{8E ProNav: ac range: 55.099998 m, nav range: 53.340721 m, bearing: 269.449601 deg, approach rate: -0.851940 m/s, LOS rate: 0.003429 deg/s, cmd heading: 265.161276 deg, new cmd heading: 265.165050 deg.  iE9MHeadingCmd: 4.628003 target range: 55.099998 and range: 55.10 m.hM@hIhQhQhQhQgQgYbgYjgYeYeajeaJea:ee{G?雝Bɛ=) W?i)o=隩iv/G >G G "IG BG G G G <G Fs~x,n[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265274ޕBޕ!I=Mb@Mb@Mb@99 9)9I9y=|?5^?i|?5?MbP=R?=q== =@)=@I=$@i==@9=f@HUHUm5e e4=YeQ e>i٣i mGm)Fu u>y]49}bm?a4Y} i}TxB{S?m:˿q?}C};?;}!;}M4 8@E2iDNOT Ignoring new targets: 55.10 m.*iPowering the camera and arming the capture device at range: 55.10 m.hi@9"i@9 ProNav: ac range: 55.099998 m, nav range: 52.967316 m, bearing: 269.454174 deg, approach rate: -0.854850 m/s, LOS rate: 0.010543 deg/s, cmd heading: 265.165046 deg, new cmd heading: 265.178862 deg.  i9HeadingCmd: 4.628244 target range: 55.099998 and range: 55.10 m.h@hhhhhggbgjgaBeejeJe :e  @雥BɛL2=) T?i)1b=隩i:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514722VF 4λF ZA M >x,;9[A2)@y2@92M=Y2P>2H`ȋU?x"ȸgOŲ@??2)@ɨ2); 2CBBB!IHJHJ.l5RF= Rl=YRn;Q V?T٣T VGTZ2< Z?\]b49^sbm?ab4Y^ i^AxB`fC˿qf?^C^f;^;^S4h j@h2iDNOT Ignoring new targets: 55.10 m.*iPowering the camera and arming the capture device at range: 55.10 m.lFinal approach. Armed for intercept at range: 55.10 m.\Transitioning guidance mode to: FINAL_APPROACHi@i8"i8 ProNav: ac range: 55.099998 m, nav range: 52.682468 m, bearing: 269.456552 deg, approach rate: -0.784066 m/s, LOS rate: 0.006581 deg/s, cmd heading: 265.178871 deg, new cmd heading: 265.186043 deg.  i9HeadingCmd: 4.628370 target range: 55.099998 and range: 55.10 m.h@hhhhggbgjgeejeJe:e@BɛA=) X?i ) =  i   BDAT read: Rx Time:19:05:30.5554  TRx dataTimestamp_ set to:1736535931.251370 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019846x,r[A:M@y:@9:=Y:->:HE#+?fEWв)>? q?:M@ɨ: ; :CbBb!IHjHjKk5rox; rF=Yv9Q v>t٣t vGz*Fz~; z>|]49~bm?a4Y~ i~*xB  ˿q ?~C~G:~:~#[4 @2iAMDNOT Ignoring new targets: 55.10 m.*iIiM18"iM18e ProNav: ac range: 55.099998 m, nav range: 52.342144 m, bearing: 269.458833 deg, approach rate: -0.863426 m/s, LOS rate: 0.005825 deg/s, cmd heading: 265.186056 deg, new cmd heading: 265.192943 deg.  ie9mHeadingCmd: 4.628490 target range: 55.099998 and range: 55.10 m.hm@hihihihigigibgqjgqeyeyjeyJey:e  @雥Bɛ=) NX?i) =隩i$DGG"IGƒBGGGG<G}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272958DDDE?5 EVF r2F ZA M% >x,[A:J"BoJBJ"h9JJ RJ"ZJ"    J&gAI&hA>R@y>@9>ז=Y>>>H׫?=#M]ֲ\?l?>R@ɨ>/A; >CJBJ!I)P Ra=ZIjbIejI0rIzI.:I9Iـ3II{4;I~4;I:I:DAT read: 19:05:30.5554 LVL= 22832, 32753, 18850, 32755, AGC= 64, IDX= 399, 0.04, 0.298,-1.085,-0.018, 0.020, PHS= 0.366,-1.058,-0.041, RAW= 133.9, 11.5, CAL= 138.6, 5.7, ROT= 11.4, -5.7 Ygot valid direction response: 19:05:30.5554 LVL= 22832, 32753, 18850, 32755, AGC= 64, IDX= 399, 0.04, 0.298,-1.085,-0.018, 0.020, PHS= 0.366,-1.058,-0.041, RAW= 133.9, 11.5, CAL= 138.6, 5.7, ROT= 11.4, -5.7 PDAT read: Bearing 11.4, -5.7 (Local) ~Local bearing/azimuth received: Bearing 11.4, -5.7 (Local) DAT read: Range 10 to 50 : 51.7 m (Round-trip 69.0 ms) speed 0.7 m/s ,DAT read: user:1100> BDAT read: Tx time:19:05:31.6324 $Ping request sent.٥l٥'٥W@ ڥM>)ڥT@Iڥ%=iڥ%K>ڥ%˽ڡ ۡۥHo?Y%_c?A?Iۥ Fx>iۥNۥ%K>ۥ%˽ۡ ܡ%:publishing transmit ping time-Fpublishing direction and range infoءYإJ6?U,?hܸm?ء9ءء ١)١I١i١١ *G;mA )ly;mAj[B١١١ ڡ)ڡIڡiڡڡڡ ۡۥHo?Y%_c?A?Iۡiۡۡۡۡ ܡ-Mb@Mb@Mb@)) )))I)y-/$?~jt?-1H?-D=- -A)-@I-h@i-K@)-G@He He1h5>P &=Y>M9Q >٣ G+F`t; >]499am?a4Y ixBH?m:$̿q?C*::c4 @Zj4t o?bj]I  ii;V[AjNBjkMB2j@ph*6I@Q3V$@8V&@zpJ6?U,?hܸm?"j%K>*j%˽p3vU@_BIHR6sV@p{+? 1W}HҢBj?iMj@i o?i  jBzj5xm?j j7}BjjMBrjU@] addTargetRange:: Added new target pos. range: 51.700001 m, deltaT: 3.546013 s, deltaX: -3.399998 m, approachRate: -0.958823 m/s, rangeRepo size: 4  Added new target pos. range: 51.700001 m, bearing: 275.650338 deg, lat: 36.903935 deg, lon: -122.119093 deg, deltaT: 3.546013 s, deltaX: -3.399998 m, approachRate: -0.958823 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 51.70 m.*ii"i ProNav: ac range: 51.700001 m, nav range: 51.465187 m, bearing: 270.303845 deg, approach rate: 0.000000 m/s, LOS rate: 0.005825 deg/s, cmd heading: 265.192941 deg, new cmd heading: 265.202333 deg.  iHeadingCmd: 4.628654 target range: 51.700001 and range: 51.70 m.h@hhh1h1g1g1bgyjg}BeejeJeI@:er?Bɛ=X4=)A EU?iA)M=$=IIiM̰[ax, [A:@y:4@9:y=Y:>:HP?A@^~??:@ɨ:.T; : CvBz!IH5H5 +5}(< }X=YQ >٣ Gm; >]49`m?a4Y iwB˿q?8CT}<}<j4I M@MEB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 51.70 m.*ii9"i9 ProNav: ac range: 51.700001 m, nav range: 51.162521 m, bearing: 270.313324 deg, approach rate: -0.828681 m/s, LOS rate: 0.026107 deg/s, cmd heading: 265.202339 deg, new cmd heading: 265.230945 deg.  iV:HR=H%= HeadingCmd: 4.629153 target range: 51.700001 and range: 51.70 m.h "@h h hhgg%T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.bgAjgAeAeAjeIJeI:eMC?雕Bɛ+=) V?i)&=iG CG "IG ǃBG G G G m<G F checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746846F ZA9 M} >x,#[A2@y2#@92Z=Y2-.>2H\+ b?@` o؆`FG5??2@ɨ2M; 2CBBB!IEMb@Mb@Mb@AA A)AIAyEx&1?J +?EA?EH=A A)AIE~@iEx@AE@H]H]35m mI=YuyQ u>y٣ G,Fe: >]49+`m?a4Y iwBA?m:u˿q?_C;;zq4 @2iDNOT Ignoring new targets: 51.70 m.*iiv9"iv9 ProNav: ac range: 51.700001 m, nav range: 50.860569 m, bearing: 270.321549 deg, approach rate: -0.799505 m/s, LOS rate: 0.021907 deg/s, cmd heading: 265.230944 deg, new cmd heading: 265.255765 deg.  ip: HeadingCmd: 4.629587 target range: 51.700001 and range: 51.70 m.h %@h h h h g g bgjgBeejeJe:e?MBɛM-=)I MT?iI)MR)=QQiU]BZI%kbI%djI%1rI!zI%2:I%|9I%3I!I%9;I%9;I%}:I%~:Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995921zFyrF}dAFiZAyM>[x,=[A%B%!IH5H5(*5E EM=YEQ E>I٣I MGM-FU U>a]e49e_m?am4Ye iewBiiqm?eCe:e:enx4q }-@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2478642iDNOT Ignoring new targets: 51.70 m.*ii9"i9 ProNav: ac range: 51.700001 m, nav range: 50.559700 m, bearing: 270.329842 deg, approach rate: -0.757149 m/s, LOS rate: 0.020994 deg/s, cmd heading: 265.255779 deg, new cmd heading: 265.280806 deg.  if:HeadingCmd: 4.630023 target range: 51.700001 and range: 51.70 m.h')@hhhhggbgjgeejeJe:e ?雵Bɛr=) P?i)?,=隹iH) H) U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4997395x,nW[A6yO@y6^@96‘=Y6%U>6HWl?@ ிo4??6yO@ɨ6W; 6CޥBޥ!IHH:50 4=Y&Q >٣ Go< >]49\_m?a4Y iwBʿq?C;f;]4 @2i1=DNOT Ignoring new targets: 51.70 m.*iAiUY9"iUY9e ProNav: ac range: 51.700001 m, nav range: 50.216492 m, bearing: 270.336609 deg, approach rate: -0.756147 m/s, LOS rate: 0.015010 deg/s, cmd heading: 265.280804 deg, new cmd heading: 265.301243 deg.  ie$:uHeadingCmd: 4.630380 target range: 51.700001 and range: 51.70 m.hu,@hqhqhqhqgqgybgyjgyeyejeJe:e ?GGG"IG̃BGGGG+<GF Bɛe=) )L?i)%X/=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754373!i=:J} NBJ} 9JJy RJ} ZJ} J I gA] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003724x,q[A2y@y20@92@O=Y22>2H9?&`Zد`…@,??2y@ɨ2'; 0I8i:mA 88)<< >kA><<@@I@)@i@)DIF$lAF;_F;F DHJlAHiHHiHJ=lA)N LIL |)| AiI5B5!IPExceeded connect timeout, disconnecting.Mb@Mb@Mb@ )Iy^I +?&1?~jthX9?P=D A)&@IVAi@@HH75Uk ]2=Ye1;Q e>٣ G.F3< >]49Z_m?a4Y iwB 9?m : ɿq?Cs;;4! -@-E2iDNOT Ignoring new targets: 51.70 m.*iiW8"iW8 ProNav: ac range: 51.700001 m, nav range: 49.875057 m, bearing: 270.339001 deg, approach rate: -0.702328 m/s, LOS rate: 0.004954 deg/s, cmd heading: 265.301240 deg, new cmd heading: 265.308466 deg.  iY9HeadingCmd: 4.630506 target range: 51.700001 and range: 51.70 m.h-@hhhhg9g9bgAjgEBeAeAjeIJeI:eM@@Bɛ=)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259662 "G?i)82=iZ,Fa ZAi M >kx,*[AJi@yJǯ@9JPk=YJR>JH`#ҰM? )5U`ɲ?R?Ji@ɨJ+; H%}B%!IH5H5S<5E_ E=YMa;Q M?I٣I UGU/FUˆ< U?Y]e49]n_m?ae4Y]y i]wBim|ȿqm?]C]G:]:]4q @2iDNOT Ignoring new targets: 51.70 m.*ii7"i7 ProNav: ac range: 51.700001 m, nav range: 49.667576 m, bearing: 270.339343 deg, approach rate: -0.763043 m/s, LOS rate: 0.001263 deg/s, cmd heading: 265.308453 deg, new cmd heading: 265.309483 deg.  i]8HeadingCmd: 4.630524 target range: 51.700001 and range: 51.70 m.hA-@hhhhggbgjgeejeJe:e@Bɛ%=)! %^B?i!)%F3=!)i-DE>ZIibIcjI0checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509029rIzI+:Ix9Iـ3Iq-@i5@u5@m5@DDDE?5 EVF FZAM- >G >G G "IG BG  =G G G 0<G FHmɪC HiHiHi"Hi*Hm:4 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762029x,[AޕsBޕ!I%Mb@Mb@Mb@!! !)!I!y% ףp= ?y&1?Mb%Q8?%`e=% %A)%b@I!i%@!%@H=H=:5M M"=YUQ U>Q٣Y ]GY] ]>a]u49e_m?a}4Ye ie~wB}8?m}:}pǿq}?e&Ce*;e;eg4 D@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 51.70 m.*iiи"iи ProNav: ac range: 51.700001 m, nav range: 49.305180 m, bearing: 270.336492 deg, approach rate: -0.719628 m/s, LOS rate: -0.005703 deg/s, cmd heading: 265.309491 deg, new cmd heading: 265.300875 deg.  i|zHeadingCmd: 4.630374 target range: 51.700001 and range: 51.70 m.h,@hhhhggbgjgBeejeJe:e@ @:JBJ9JJRJZJ   "EUUKHA;:87J? J?Bɛj=) & x,ݾ[AN@yNd@9NB=YN>NH ^̦? Y]~ # j?&?N@ɨN; LT TTTɳTZCXIZ`)XiX)XI^IlA^Fɴ\ \ɵdfzlAfiddidd)h hIh h)jlAɶjjIFl9ɷEjlAiAIAAIIiMA M`Q)QQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263790ލ[Bލ!IHHA5; =Y4;Q  ?٣ G0F<  ?] 49<`m?a 4Y3 ilwB  ]ƿq ?DC::49 =@92iDNOT Ignoring new targets: 51.70 m.*iie"ie ProNav: ac range: 51.700001 m, nav range: 49.070641 m, bearing: 270.332328 deg, approach rate: -0.703381 m/s, LOS rate: -0.012547 deg/s, cmd heading: 265.300885 deg, new cmd heading: 265.288334 deg.  i HeadingCmd: 4.630155 target range: 51.700001 and range: 51.70 m.h;*@hhhhggbgjge e je JeQ:eU@ @%Bɛ%H=)! %6/?iI)MD8=QQiU߁  BDAT read: Tx time:19:05:35.1824  $Ping request sent. - ^- L=- E@ ) )- @I- =i- =- ) ) VF 8P<zF rF hA- 4|?ͮ5وW?``U|?I- =Ʊ>i- AM- =- ) ) % :publishing transmit ping time % Fpublishing direction and range info) Y- WTة?4?U]k?) 9) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) ) - 4|?ͮ5وW?``U|?I) i) ) ) ) ) F ZA M >x,[AUJBU{!I]=i]=HeHeMD5 K=YQ >٣ G1F >]49`m?a4Y iUwBq?iC|::&45B 5@5EZjUP(n?bjUG iQiU@[AjUDBjUBB2jURZ@pUڠ >H@\3 @f@zpUWTة?4?U]k?"jU=*jUpUnh @`9vHzNQ?pU3}}?*Ӳ⸕"ʘ?iUCjUk@iU^p)n?iU+  jUBzjU^p)n?jU+ jUBjjUCBrjUXZ@ addTargetRange:: Added new target pos. range: 49.000000 m, deltaT: 3.527223 s, deltaX: -2.700001 m, approachRate: -0.765475 m/s, rangeRepo size: 4  Added new target pos. range: 49.000000 m, bearing: 272.786661 deg, lat: 36.903954 deg, lon: -122.119095 deg, deltaT: 3.527223 s, deltaX: -2.700001 m, approachRate: -0.765475 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 49.00 m.*ii"iG5>G5CG5!IG5BG5 =G1G1G5|<G5F ProNav: ac range: 49.000000 m, nav range: 48.985630 m, bearing: 272.786826 deg, approach rate: 0.000000 m/s, LOS rate: -0.012547 deg/s, cmd heading: 265.288345 deg, new cmd heading: 265.272873 deg.  iHeadingCmd: 4.629885 target range: 49.000000 and range: 49.00 m.h(@hhhhggbgjgeejeJeH@:e?JDAT read: TxSync time:19:05:35.1816 EBɛM8D=)y D%?i)*;=隉i\:J MMBJ h9JJ RJ ZJ 411/-*$"DwzsjdZUNH?72,'%" J hAI hA1 1 x,[AB@yB7@9Bt=YB>BH;Dʬ? W R@ &Y? 0?B@ɨBۉ; B C=?B=o!I]Mb@Mb@Mb@YY Y)YIYy] ףp= ?A`"?y&1Y]Y=]`e ]VA)]j@I]pAi]@Y]\@HmtHm$5}< ==YúQ >٣ G< >]49Ram?a4Y i;wB8?m:8ƿq?CZ:w:4 @2iDNOT Ignoring new targets: 49.00 m.*iiD9"iD9 ProNav: ac range: 49.000000 m, nav range: 48.681034 m, bearing: 272.796310 deg, approach rate: -0.747422 m/s, LOS rate: 0.023416 deg/s, cmd heading: 265.272881 deg, new cmd heading: 265.301509 deg.  i:HeadingCmd: 4.630385 target range: 49.000000 and range: 49.00 m.h,@hhhhg g bgjgBeejeJe!:e%@U?eBɛe =)a e7?ii)m <=iiimx,uv [AB@yB*@9B%є=YB^=BHU@K?T k˯췰 ? q?B@ɨBE; B CN$BNN!IHVHV,5^ ^l=YbQ b?`٣d fGf2Ff f?h]r49jam?ar4Yjt! ij&wBtv>ƿqv?jCjK(;j ;j4x z/@|2i%DNOT Ignoring new targets: 49.00 m.*i!i-9"i-9= ProNav: ac range: 49.000000 m, nav range: 48.431652 m, bearing: 272.804215 deg, approach rate: -0.718742 m/s, LOS rate: 0.022902 deg/s, cmd heading: 265.301514 deg, new cmd heading: 265.325352 deg.  i=z{:EHeadingCmd: 4.630801 target range: 49.000000 and range: 49.00 m.hE/@hAhAhAhAgIgIbgIjgIeQeQjeJe:er=iP x,^H&[A6s@y6@96=Y60Y=6H ?@OeA~P p??6s@ɨ6X; 4vBv=!IIx)zAMb@Mb@Mb@ )Iy-?V-?~jt5>?m= )@Ii@Q@HH+5z <=Y Q >٣ G3F8C; >]49bm?a4Y* i wB>?m:jſq?C::=4 A2i!%DNOT Ignoring new targets: 49.00 m.*i!i-9"i-9= ProNav: ac range: 49.000000 m, nav range: 48.107258 m, bearing: 272.812114 deg, approach rate: -0.743006 m/s, LOS rate: 0.018214 deg/s, cmd heading: 265.325365 deg, new cmd heading: 265.349221 deg.  i=G:EHeadingCmd: 4.631217 target range: 49.000000 and range: 49.00 m.hM2@hIhIhQhggbgjgBeejeJe:e?-Bɛ-u =)1 5?i1)5@=99i=Wx,"@[A6j@y6-@96=Y6~=6H ͩ@ƴ?@:EB, ᴰ*r'?`?6j@ɨ6F; 6 CBBB!IHJHJD5V V\=YV:Q V>X٣X ZGXZė; ^>`]f49bBcm?af4Yb21 ibvBdf3ſqf?bCb9:b:b4l nAnEzB*** querying acoustic contact ***ixix]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.2iDNOT Ignoring new targets: 49.00 m.*iiI9"iI9 ProNav: ac range: 49.000000 m, nav range: 47.834034 m, bearing: 272.818300 deg, approach rate: -0.692472 m/s, LOS rate: 0.015768 deg/s, cmd heading: 265.349216 deg, new cmd heading: 265.367880 deg.  i$-:HeadingCmd: 4.631543 target range: 49.000000 and range: 49.00 m.h%5@h!h!h!h!g)g)bg1jg1eYeYjeYJeY:eeN?雥Bɛ=) G>i)8B=i~{4x,Z[AB!IH-H-dK5= =A=Y=Q E>A٣A EGE4FM M>Q]]49Udm?a]4YUw9 iUvBYYqe?U%CU;U;UƄ4i mAi2iDNOT Ignoring new targets: 49.00 m.*ii29"i29 ProNav: ac range: 49.000000 m, nav range: 47.520000 m, bearing: 272.825498 deg, approach rate: -0.791932 m/s, LOS rate: 0.018272 deg/s, cmd heading: 265.367876 deg, new cmd heading: 265.389612 deg.  iH:HeadingCmd: 4.631923 target range: 49.000000 and range: 49.00 m.h8@hhhhG>GG!IGMBGGGG]<GFgIgIbgQjgQeQeQjeQJeY:e]E@ BɛZ=) >i)C=i: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494391\x,#s[A:J"LBJ"h9JJ RJ"ZJ"ւB IMb@Mb@Mb@ )Iy"~j?X9v?S㥛SC?}=/ݼ )@IAiG@HHD5S A=YQ >٣ G >] 49em?a 4YA ivB%D?m%:%Ŀq%?NCp; ;ÿ́4A EAI2i)-DNOT Ignoring new targets: 49.00 m.*i)i5hj9"i5hj9E ProNav: ac range: 49.000000 m, nav range: 47.196545 m, bearing: 272.831279 deg, approach rate: -0.711823 m/s, LOS rate: 0.012808 deg/s, cmd heading: 265.389623 deg, new cmd heading: 265.407083 deg.  iE :MHeadingCmd: 4.632227 target range: 49.000000 and range: 49.00 m.hM5;@hIhIhIhQgQgQbgQjg]QBeYeYjeYJeY:ee`b@雥 Bɛ=) >i)D=隱iD>DaDaDiEm35 EiE>E>u>u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746605VFm <FA ZAI Mm > F#x,[AB2E@yBT@9B%=YBz=BH@c?@k參@=n@*??B2E@ɨB; B C^łB^ IHnHnJ5r  vZ=YvQ;Q v>x٣x zGz5FzRO< ~>] 49em?a 4YyI ivB   Ŀq ?sC2:`:ӄ4 A2iAMDNOT Ignoring new targets: 49.00 m.*iQiU>9"iU>9e ProNav: ac range: 49.000000 m, nav range: 46.912029 m, bearing: 272.834830 deg, approach rate: -0.830860 m/s, LOS rate: 0.010434 deg/s, cmd heading: 265.407081 deg, new cmd heading: 265.417800 deg.  im#9mHeadingCmd: 4.632414 target range: 49.000000 and range: 49.00 m.hm<@hqhqhqhqgqgybgyjgyeejeJe:e @-Bɛ-r=)) ->iQ)]E=YYi] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252769n)x,搧[A2E@y2T@92o=Y2a1=2Ht\?F+\a??2E@ɨ2AY; 2 CRBV IeMb@Mb@Mb@aa a)aIayeV-? rh?y&1eM?eC=e` eA)e@Iaie5@aaH}H}^S5( A=YVQ >٣ G6FL8 >]49)gm?a4YqR iuvBmN?m:ÿq?C{;;jۄ4 AE2iDNOT Ignoring new targets: 49.00 m.*ii8"i8 ProNav: ac range: 49.000000 m, nav range: 46.571392 m, bearing: 272.837738 deg, approach rate: -0.797305 m/s, LOS rate: 0.006856 deg/s, cmd heading: 265.417791 deg, new cmd heading: 265.426578 deg.  i9%HeadingCmd: 4.632568 target range: 49.000000 and range: 49.00 m.h%=@h!h!h!h!g!g)bg1jg50Be1e9je9Je9:e=D @EBɛE~=)I ]Ƣ>iY)e G=aaimݗ MBDAT read: Tx time:19:05:38.7324 M$Ping request sent.MI#qi@G>C== @  D>) @IC=iz0=C wci?kK?,0`Q?I>iCz0=C u:publishing transmit ping timeIuFpublishing direction and range infoI=:u}I>:m}Y~? lC$? M?9 )Ii )Ii wci?kK?,0`Q?Ii :J"KBJ+9JJRJZJ       J? J>DDDE_0 EVF -<F F >F ZA M >LY0x,v[AnBn IHvHvDP5̽ Q=YQ %>!٣! %G!- ->=JDAT read: TxSync time:19:05:38.7316 1]]495Hhm?au4Y5Z i5UvBqqq}?5C5J<5;5;4 AZj EK=n?bj  i i ;[Aj :Bj 8B2j @p ^jF G@*[@^/ؘ @zp ~? lC$? M?"j z0=*j Cp 7kTAj@Z/6G\tr?p z0 ?Z%Dxnņ?i 9j R#@i S?n?i !  j Bzj S?n?j ! j jj 9Brj @ addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 3.528075 s, deltaX: -2.500000 m, approachRate: -0.708602 m/s, rangeRepo size: 4 U Added new target pos. range: 46.500000 m, bearing: 273.146121 deg, lat: 36.903956 deg, lon: -122.119098 deg, deltaT: 3.528075 s, deltaX: -2.500000 m, approachRate: -0.708602 m/s, posRepo size: 4 2iQUDNOT Ignoring new targets: 46.50 m.*iQi]"iYm ProNav: ac range: 46.500000 m, nav range: 46.497120 m, bearing: 273.146278 deg, approach rate: 0.000000 m/s, LOS rate: 0.006856 deg/s, cmd heading: 265.426588 deg, new cmd heading: 265.434979 deg.  iHeadingCmd: 4.632714 target range: 46.500000 and range: 46.50 m.h2?@hhhhggbgjgeejeJe@G@:eN"?5Bɛ5܊=)1 5:>i1)=G=99i=26x,G[A21@y2NA@92=Y2(=2H1?@lK`/95?@?21@ɨ2; 2 CBBB IHJHJF5R.w RR=YVAQ V>T٣X ZGZ7FZʻ Z>\]b49^Uim?ab4Y^b i^7vBdfÿqf?^C^:^:^4h jAh~B*** querying acoustic contact ***i|i|2i  DNOT Ignoring new targets: 46.50 m.*i i9"i9% ProNav: ac range: 46.500000 m, nav range: 46.185303 m, bearing: 273.152033 deg, approach rate: -0.845257 m/s, LOS rate: 0.015704 deg/s, cmd heading: 265.434975 deg, new cmd heading: 265.452356 deg.  i%q,:-HeadingCmd: 4.633018 target range: 46.500000 and range: 46.50 m.h-A@h)h)h)h1g1g1bg1jg1e9e9jeAJeA:eE?Bɛ=)! %{>i))-uH=))i-iZI lbI bjI 0rI zI <5:I t9I ـ3I I H?;I J?;I S:I T: checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994715Ӫ<x,d![A:JVdMBJV9JJTRJVZJV   f@yfN*@9fI=Yf=fH@``i?| $@ű 1?`?f@ɨf\ߋ; f CrBr ImMb@Mb@Mb@ii i)iIiymʡE?J +?y&1m-R?mH=i mVA)m@IiimK@im@HH65k <=YQ >٣ G8Fӻ >]49im?a4YAl ivBR?m:yǿq?C~;;4 uA2iDNOT Ignoring new targets: 46.50 m.*ii@:"i@: ProNav: ac range: 46.500000 m, nav range: 45.830208 m, bearing: 273.170958 deg, approach rate: -0.784738 m/s, LOS rate: 0.042148 deg/s, cmd heading: 265.452351 deg, new cmd heading: 265.509567 deg.  ig:HeadingCmd: 4.634016 target range: 46.500000 and range: 46.50 m.hI@hhhhggbgjgBee je Je :e-y?UBɛ]=)Y ]0]>iY)]~I=YYieCx,"[A6 @y6@96$=Y6=6H@ ?` ½^ c߮`jϼ?੸?6 @ɨ6*; 6 C>yBB{ IHJHJ75^` ^Y=Yb*6Q b>`٣d fGdfw f>h]n49jim?an4Yjct ijuBprǿqr?jDCj;jM;j04t vAvE2iDNOT Ignoring new targets: 46.50 m.*iiW:"iW: ProNav: ac range: 46.500000 m, nav range: 45.521797 m, bearing: 273.188425 deg, approach rate: -0.826730 m/s, LOS rate: 0.047139 deg/s, cmd heading: 265.509561 deg, new cmd heading: 265.562316 deg.  ig;HeadingCmd: 4.634937 target range: 46.500000 and range: 46.50 m.hgQ@hhhhggbgjgeejeJe:e?Bɛv=) :>i)%J=!!i%%GyGyG} IG}ĂBGyGyGyG}?<G}Fm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750864Ix,([A5vB5w IMb@Mb@Mb@ )Iyn?S㥫?Zd;OV?/]=j lA)@I(Aib@@HH N5U 6=YQ >٣ G9F% %>)]549-njm?a54Y-G~ i-uB=V?m=}:=5ǿq=?-tC-:-:- 4A EAI2iiuDNOT Ignoring new targets: 46.50 m.*iqi}P:"i}P: ProNav: ac range: 46.500000 m, nav range: 45.146782 m, bearing: 273.208030 deg, approach rate: -0.864579 m/s, LOS rate: 0.045573 deg/s, cmd heading: 265.562317 deg, new cmd heading: 265.621621 deg.  i6:HeadingCmd: 4.635972 target range: 46.500000 and range: 46.50 m.hY@hhhhggbgjg/BeejeJe:e@7?mBɛmy=)m< m/>iq)uJ=qqiu^@Px,B[A:@y:@9:"=Y:1=:HJ?q@@ &?|?:@ɨ:; 8FlBFk IHfHf@T5na na=Yn/;Q n>p٣p rGr:FvȲ v>|]~49~jm?a4Y~E i~uBGǿq?~C~:~:~f4  WAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2546762iAEDNOT Ignoring new targets: 46.50 m.*iIiMM:"iMM:] ProNav: ac range: 46.500000 m, nav range: 44.843578 m, bearing: 273.224330 deg, approach rate: -0.831310 m/s, LOS rate: 0.044994 deg/s, cmd heading: 265.621631 deg, new cmd heading: 265.670863 deg.  ie:eHeadingCmd: 4.636831 target range: 46.500000 and range: 46.50 m.he`@hihihihigqgqbgyjgyeyeyjeyJe:e?@雭 Bɛ x=) >i)K=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506653Vx,\[A6W@y6@96S=Y6=6H??m=汿?@V?6W@ɨ6E; 6 C^mB^l IHjHjaO5r=; vJ=Yv:Q v>x٣x zGxzw z>|]49~*km?a 4Y~* i~uB  `ǿq ?~C~2:~`:~w 4 RA5B*** querying acoustic contact ***i1i12iAMDNOT Ignoring new targets: 46.50 m.*iIiMU:"iUU:e ProNav: ac range: 46.500000 m, nav range: 44.506229 m, bearing: 273.243062 deg, approach rate: -0.835655 m/s, LOS rate: 0.046753 deg/s, cmd heading: 265.670863 deg, new cmd heading: 265.727484 deg.  ieW;mHeadingCmd: 4.637819 target range: 46.500000 and range: 46.50 m.hmi@hihqhqhqgqgqbgyjgyeyejeJe:e+{@雭"Bɛu=) >i)UK=iD>GGG IGBGGGGJ<GFDDDE_0 EEEiA=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759694VF#<FZAM> G lA ) |!y lA >B  BDAT read: Rx Time:19:05:41.1949  TRx dataTimestamp_ set to:1736535941.835436 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011930ZI bI ajI rI zI I p9I I I I I :I :\x,flv[A6@y6@96˔=Y6FP=6H'?Y켿`s`@~A ??6@ɨ6͉; 6 C:Jnk3IBJlJJlRJnZJnJvgAIt~[B~V IMb@Mb@Mb@ )Iyi|?5?ˡE?y&1Q?'=`e QA)-@I$AiC@z@HH{R5e e(=Ym59Q }>٣ G;F >]49 km?a4Y iwuBQ?m:ɿq?CZ::4 AE2i!-DNOT Ignoring new targets: 46.50 m.*i)i5:"i5:E ProNav: ac range: 46.500000 m, nav range: 44.107941 m, bearing: 273.274140 deg, approach rate: -0.800149 m/s, LOS rate: 0.063000 deg/s, cmd heading: 265.727471 deg, new cmd heading: 265.821549 deg.  iE,;MHeadingCmd: 4.639461 target range: 46.500000 and range: 46.50 m.hMwv@hIhIhIhQgYgYbgijgm BeqeqjeyJe:e~ @雭%Bɛsg=) =i)/L=隱ijH BDAT read: Tx time:19:05:42.2825 $Ping request sent.ٕnٕ=ٕ@ ڕ%K>)ڕ| @Iڕl=iڕPw=ڕlڑ ۑە1n(EI?u?,7?X?IەQx>iەGLەPw=ەlۑ ܑ*:publishing transmit ping time1JFpublishing direction and range infoؑYؕg?bO?zꇴ?ؑ9ؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑ ۑە1n(EI?u?,7?X?Iۑiۑۑۑۑ ܑ\BX IHHR5; %=YQ >٣ G]49jm?a4Yz iTuB!q-?-C;;41 5A1Zj ~m?bje ii۾[Aj.Bj-B2j @p >+ E@q^t6@X @zpg?bO?zꇴ?"jPw=*jlpSV?E(?p=_?8K|DR%?i.j?i4xm?i"  jM?Umx,5[AB܍@yB@9B1=YB=BH筿`5? >ְ`Q±4? 3?B܍@ɨBȈ; @R[BRV IMb@Mb@Mb@ )IyGz?kt?I +P? 0=94 A)IAi@ @ @AHH"25- -=Y5fQ U>Y٣a eGe=Fmvܻ m>q]}49ujm?a}4Yuk iu4uBP?m:ɿq?ubCu:u:u&4 A2iDNOT Ignoring new targets: 43.70 m.*ii:"i:5 ProNav: ac range: 43.700001 m, nav range: 43.284271 m, bearing: 273.340867 deg, approach rate: -0.837380 m/s, LOS rate: 0.069768 deg/s, cmd heading: 265.918853 deg, new cmd heading: 266.022450 deg.  i5?;=HeadingCmd: 4.642968 target range: 43.700001 and range: 43.70 m.h=1@h9h9h9h9gAgAbgAjgE2BeIeQjeQJeQ:eUZ?)Bɛff=) 8=i)L=i/ux,#[AR0ʍ@yRٔ@9R5T=YR:=RHm? 4Z T p7`gI?D?R0ʍ@ɨR<"; R C``HjHj65YrVQ r>t٣t vGtz z>|]49~jm?a4Y~q i~uB  ɿq ?~C~:~:~.4 AE2iAEDNOT Ignoring new targets: 43.70 m.*iAiM:"iM:] ProNav: ac range: 43.700001 m, nav range: 42.942551 m, bearing: 273.370606 deg, approach rate: -0.827575 m/s, LOS rate: 0.072597 deg/s, cmd heading: 266.022454 deg, new cmd heading: 266.112383 deg.  i]JG;eHeadingCmd: 4.644537 target range: 43.700001 and range: 43.70 m.he @hahahihigigibgqjgqeyeyjeyJey:e`8?雥+Bɛ 0h=) =i))M=隱i{G]>GYG] IG]BGYGYGYG]7<G]Fh{x,,J[A6e@y6Д@96=Y6g!=6H`p?@׼ :Ż??6e@ɨ6; 6 CRNBRF IIT)T)V= V=mMb@Mb@Mb@ii i)iIiym rh?l?y&1|mCK?m=m` m A)mp@ImAim@imAHH15i ٣ G>F$ >]49)jm?a4YX etIiuB~K?m:ʿq?C;:z54 BAB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 43.70 m.*ii :"i : ProNav: ac range: 43.700001 m, nav range: 42.605461 m, bearing: 273.403924 deg, approach rate: -0.789306 m/s, LOS rate: 0.078630 deg/s, cmd heading: 266.112394 deg, new cmd heading: 266.213135 deg.  i%W;-HeadingCmd: 4.646296 target range: 43.700001 and range: 43.70 m.h-t@h)h)h)h)g)g1bg1jg=NBe9e9je9Je9:eE`5?m,Bɛm_=)i m<=ii)ueM=}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.qi}x,-& [AJʍ@yJsٔ@9J=YJ=JHq? l漿 QY Ǯ 8ػ? ?Jʍ@ɨJ; J C^RB^K IHnHngG5%H< -Q=Y-Q ->1٣1 5G5?F52; =>A]M49Eim?aM4YEy iEtBIMʿqM?ECEh:Eu:EG<4Q ] AY2iDNOT Ignoring new targets: 43.70 m.*ii6:"i6: ProNav: ac range: 43.700001 m, nav range: 42.297726 m, bearing: 273.434359 deg, approach rate: -0.790754 m/s, LOS rate: 0.078777 deg/s, cmd heading: 266.213125 deg, new cmd heading: 266.305097 deg.  iAX;HeadingCmd: 4.647901 target range: 43.700001 and range: 43.70 m.h@hhhhggbgjgeejeJe:eF?.Bɛ*GE >GA GE IGE BGA GA GA GE <GE FH HHH"H*Hʰ3ӈx, %[A:@y:a@9:ۋ=Y:=:Hcr?Q=@P)g wB8?ݺ?:@ɨ:M; : Cvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247321NBE IH-H-D5= =I=YMj;Q M>Y٣a mGim9; m>y]49}im?a4Y} i}tBaʿq?} C}6:}:}xC4B EAE2iDNOT Ignoring new targets: 43.70 m.*ii:"i:  ProNav: ac range: 43.700001 m, nav range: 41.972218 m, bearing: 273.465623 deg, approach rate: -0.793118 m/s, LOS rate: 0.076765 deg/s, cmd heading: 266.305087 deg, new cmd heading: 266.399604 deg.  i R;-HeadingCmd: 4.649550 target range: 43.700001 and range: 43.70 m.h-ɔ@h)h9h9hAgIgIbgjgeejeJe!:eUl@0Bɛ%\=)! %i=iA)MM=IIiMmx,#>[A=KB=B IE=iE4<Mb@Mb@Mb@ )Iy)\(?~jt?MbGA?=  A)IQAi@AHH:5%? %<=Y-Q ->)٣) -G5@F5 5>9]E49=Zim?aE4Y= i=tBMA?mM:MɿqM?=4C=Z:=:=J4Q UZAY2iyDNOT Ignoring new targets: 43.70 m.*iiǟ:"iǟ: ProNav: ac range: 43.700001 m, nav range: 41.649754 m, bearing: 273.495334 deg, approach rate: -0.752232 m/s, LOS rate: 0.069845 deg/s, cmd heading: 266.399617 deg, new cmd heading: 266.489440 deg.  i?;HeadingCmd: 4.651118 target range: 43.700001 and range: 43.70 m.hՔ@hhhhggbgjgPBeejeJe:e@%2Bɛ%l\=)! %F=i))-M=))i-DE>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752583DDDE b0 E E=E>VFM w;F! ZA1 MM > BDAT read: Rx Time:19:05:44.7410  TRx dataTimestamp_ set to:1736535945.363094 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003520ZI jbI cjI rI zI .:I x9I I x,X[A6 @y6(@96Z*=Y6=6He調b?yy "Įfˁ?`?6 @ɨ6q^; 6 CV@BV5 IH^H^6=5fo fc=Yj&9Q j>h٣h jGjAFnYb< n>p]v49rRim?av4Yr irtBxz=ɿqz?rWCr:r:rAQ4! %A!2iiuDNOT Ignoring new targets: 43.70 m.*iqi=:"i=: ProNav: ac range: 43.700001 m, nav range: 41.378769 m, bearing: 273.518779 deg, approach rate: -0.734061 m/s, LOS rate: 0.063926 deg/s, cmd heading: 266.489447 deg, new cmd heading: 266.560244 deg.  i|/;HeadingCmd: 4.652354 target range: 43.700001 and range: 43.70 m.h@hhhhggbgjgeejeJe:e @雍4BɛT=) PGG IGBG =GGG<GFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254543VF5 G;FI ZAq M > x,zr[A @y  .@9  )=Y 9= Hj˩l? V, a _E?>? @ɨ n;  Cm BDAT read: Tx time:19:05:45.8325 $Ping request sent.٣ G; >]49im?a4Y itBC?m:ǿq?Cƈ;a;[4 AZjmam?bjm: iiim|w[Ajm"Bjm!B2jm@pmgFp=D@.@]ZMB"?zpm#n?dvI?.='?"jm =*jml$pmR9#?TBTD-pmĿ{S?Fb=J]@5im"jm?imxMm?imX=  jmހBzjm^p)n?jmX= jm9٣9 =G=BFE < E>iiI]49Mim?a4YM iMetBǿq?ZImbIbjIrIzI\8:It9IIMCM";Me;Ma4 -AEB*** querying acoustic contact ***ii2i-DNOT Ignoring new targets: 40.70 m.*i)i-]m:"i-]m:= ProNav: ac range: 40.700001 m, nav range: 40.428738 m, bearing: 273.222593 deg, approach rate: -0.827438 m/s, LOS rate: 0.051880 deg/s, cmd heading: 266.675065 deg, new cmd heading: 266.730809 deg.  i=k;eHeadingCmd: 4.655331 target range: 40.700001 and range: 40.70 m.hex@hihihihigigibgqjgqeqeqjeyJey:e} '? 9Bɛ%nH=)! %i!)-N=))i-kGGy IGxBGGGG<GFVF*;- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.F ZA9 MU >x,7[AIP)VC cG) 9)m yiuaB B Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.984149Mb@Mb@Mb@ )IyS㥛? ףp= ?$F?Q8=̼ M A)I Ai@ AHH<55% =YQ >٣ GCF >]49ljm?a4Yh i@tBF?m:3ǿq?C::j4 A2iDNOT Ignoring new targets: 40.70 m.*iiQ:"iQ: ProNav: ac range: 40.700001 m, nav range: 40.026814 m, bearing: 273.246598 deg, approach rate: -0.759449 m/s, LOS rate: 0.045815 deg/s, cmd heading: 266.730799 deg, new cmd heading: 266.803539 deg.  i:HeadingCmd: 4.656600 target range: 40.700001 and range: 40.70 m.h@hh h h g g bgjghBeejeJe:e?Mx,[AJA@yJP@9J[S{=YJ =JHF? 9`調j_e {?`(?JA@ɨJc; J CITiX XX)X\ ^VlA^^LF\`dId)did)hIj(lAjGaj;F hlnlAlilpiAE1lA)E33 E4@FIA I)IIIIQQiQIQQQޅBޅIHH45̀ k=Y_LQ ?٣ G+; ?] 49jm?a 4Y i'tBǿq? C#;]$;q49 = A92iDNOT Ignoring new targets: 40.70 m.*iiy^:"iy^: ProNav: ac range: 40.700001 m, nav range: 39.755173 m, bearing: 273.262855 deg, approach rate: -0.806978 m/s, LOS rate: 0.048625 deg/s, cmd heading: 266.803527 deg, new cmd heading: 266.852631 deg.  i{;HeadingCmd: 4.657457 target range: 40.700001 and range: 40.70 m.h @hhhhggbgjgeejeJe:e q?雭?Bɛ4=) i)M=ivG >G CG Z IG ^BG G G G \<G Føx,[AJG@yJ_V@9JRt=YJU=JH K?|`J`N?@?JG@ɨJa7; H=B=IE=iEC>HMHML5]޼ eS=YeΉQ e>i٣i mGmDFmm: u>]49+km?a4Yh i tBǿq?0C::w4 6Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7403342iDNOT Ignoring new targets: 40.70 m.*iiIX:"iIX: ProNav: ac range: 40.700001 m, nav range: 39.457909 m, bearing: 273.280585 deg, approach rate: -0.786648 m/s, LOS rate: 0.047273 deg/s, cmd heading: 266.852622 deg, new cmd heading: 266.906214 deg.  i;HeadingCmd: 4.658392 target range: 40.700001 and range: 40.70 m.hu@hqhqhqhqgygybgjgeejeJe:ey?ABɛbd0=) Hƽi)#JM=ix,[A:J&MLBJ$JJ$RJ&ZJ&J*gAI(BY@yB,i@9Bz^s=YB̵=BH`9?潿}@`:g9?`?BY@ɨB; @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244185uBuI Mb@Mb@Mb@ ) I y Q?Mb?~jt H? = ļ A) @I Ai $@ AH H F5-  5 9 ٣9 = G= EF= c; = >A ]M 49E lm?aU 4YE  iE sBU I?mU :U ÿqU ?E rCE :E :E W4Y e lAe E2i  DNOT Ignoring new targets: 40.70 m.*i i 9"i 9  ProNav: ac range: 40.700001 m, nav range: 38.940826 m, bearing: 273.292767 deg, approach rate: -0.786094 m/s, LOS rate: 0.018765 deg/s, cmd heading: 266.906226 deg, new cmd heading: 266.943255 deg.  i N: HeadingCmd: 4.659039 target range: 40.700001 and range: 40.70 m.h @h h h h g g bg jg _Be e jeA JeA :eE t@雕 EBɛ NS2=) i ) TL=隙 i GGA IGJBGGGG<GFZAM? x,W$[AVh@yV"x@9Viq=YV=VH1? Dh@ ){1/`s½?@?Vh@ɨV; T\ \``ɳ``blAIbĻ)`id)dIfjlAfɴj[CF hɵhjjlAjijyZFhilnmA)l lIl p)pɶrl罩pppɷvflAitIttIxizA xx)xxBIHHO5% %{=Y%BQ - ?1٣1 5G5FF=; =?A]M49Emm?aM4YE" iEsBQUÿqU?ECE;E;E 4Y ]6 AY}B*** querying acoustic contact ***iyiy2iDNOT Ignoring new targets: 40.70 m.*ii9"i9 ProNav: ac range: 40.700001 m, nav range: 38.684071 m, bearing: 273.298226 deg, approach rate: -0.786576 m/s, LOS rate: 0.016837 deg/s, cmd heading: 266.943245 deg, new cmd heading: 266.959733 deg.  i8:HeadingCmd: 4.659326 target range: 40.700001 and range: 40.70 m.h3@hhhhggbgjgeejeJe:e @5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748692雅GBɛ=) /i)1L=隉ia BDAT read: Rx Time:19:05:48.2874  TRx dataTimestamp_ set to:1736535948.891289 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001245ZI lbI bjI rI zI <5:I t9I I I G?;q I J?;i I S:u I T:m x,>[A6Bt@y6@96 m=Y6;=6H@y@w? Ѧ`ۧ ??6Bt@ɨ6I; 6 C:JBoHBJJJRJZJ-B-II1)5A)== 9Mb@Mb@Mb@ )Iy rh?٣ GdU; >!]-49%nom?a-4Y%+ i%sB-sM?m-:-S¿q-?%C%:%w:%49 =A92iaeDNOT Ignoring new targets: 40.70 m.*iaim8"im8} ProNav: ac range: 40.700001 m, nav range: 38.339149 m, bearing: 273.300766 deg, approach rate: -0.801369 m/s, LOS rate: 0.005953 deg/s, cmd heading: 266.959720 deg, new cmd heading: 266.967407 deg.  i}9HeadingCmd: 4.659460 target range: 40.700001 and range: 40.70 m.hL@hhhhggbg jg TBeejeJe:e`m @mIBɛ=) "i)K=隑i:x,X[AH\H^@A=DAT read: 19:05:48.2874 LVL= 22832, 32753, 20866, 32755, AGC= 62, IDX= 403, 0.36,-2.532, 2.538,-2.534,-2.717, PHS= 0.273,-0.982, 0.179, RAW= 146.2, 8.8, CAL= 147.8, 0.5, ROT= 2.2, -0.5 mYgot valid direction response: 19:05:48.2874 LVL= 22832, 32753, 20866, 32755, AGC= 62, IDX= 403, 0.36,-2.532, 2.538,-2.534,-2.717, PHS= 0.273,-0.982, 0.179, RAW= 146.2, 8.8, CAL= 147.8, 0.5, ROT= 2.2, -0.5 PDAT read: Bearing 2.2, -0.5 (Local) ~Local bearing/azimuth received: Bearing 2.2, -0.5 (Local)  DAT read: Range 10 to 50 : 38.0 m (Round-trip 50.7 ms) speed 0.7 m/s ,DAT read: user:1105> BDAT read: Tx time:19:05:49.3825 $Ping request sent.RƋ>RZd{RK7>RN#@ RnF>)R%@IR5iR <RnF=R5P Pe:publishing transmit ping timeeFpublishing direction and range infoPYRm?"`?B7߁?u@yuq@9u5Gd=Yu=uH`?7@`?@Z?u@ɨu ; u CP9PP P)PIPiPPPPP P)PIPiPPP PR$WNc??v.?IPiPPPP PeBmIH}H}^S5m0n m)=YmߟQ u>q٣q uGuGF}(T; >]495qm?a4Y6 isB ¿q?C::4  AEZjR^lm?bjR; iPiRTY[AjRBjRB2jR@pRes@:B@ nT)V?669?zpRm?"`?B7߁?GGG( IG6BG =GGG <GFH}ŪC H}ŪCHyH} ="H} =*H}Š5"jRnF=*jR5pR:i5I=B pRc={VtY⛷iRjRUiRlm?iRsW  jRs}BzjR4xm?jRsW jRBjjRBrjR2@ addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 3.526992 s, deltaX: -2.700001 m, approachRate: -0.765525 m/s, rangeRepo size: 4 - Added new target pos. range: 38.000000 m, bearing: 269.921300 deg, lat: 36.903949 deg, lon: -122.119096 deg, deltaT: 3.526992 s, deltaX: -2.700001 m, approachRate: -0.765525 m/s, posRepo size: 4 2i)MDNOT Ignoring new targets: 38.00 m.*iIiM"iI% ProNav: ac range: 38.000000 m, nav range: 38.002102 m, bearing: 272.510442 deg, approach rate: 0.000000 m/s, LOS rate: 0.005953 deg/s, cmd heading: 266.967397 deg, new cmd heading: 266.976798 deg.  i!-HeadingCmd: 4.659624 target range: 38.000000 and range: 38.00 m.h-@h)hhhggbgjgee je JeC@:e`+/?UJDAT read: TxSync time:19:05:49.3817 LBɛ!=) .0i)eJ=i09٣9 =G=HFEM E>q]}49usm?a4Yu]@ iu~sBO?m:¿q?u#Cu;uO;u4 K A:JBJ9JJRJZJ  IHAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1IEntering USBL mode with 120.000000 count pings at 38.000000 m (mode 2.000000 count ).1IqI2i)-DNOT Ignoring new targets: 38.00 m.*i)i5߅"i5߅e ProNav: ac range: 38.000000 m, nav range: 37.612671 m, bearing: 272.503825 deg, approach rate: -0.852175 m/s, LOS rate: -0.014630 deg/s, cmd heading: 266.976795 deg, new cmd heading: 266.956738 deg.  ie mHeadingCmd: 4.659274 target range: 38.000000 and range: 38.00 m.hm@hihihihigqgqbgqjgu]BeyeyjeJe:e`M? NBɛ R=)  Bi ) i1J=ix,Y[A>i@y>y@9>U=Y>̨=>H`#`l?@S `` @?P?>i@ɨ>S; >CJBJIN=iN<HRHR:\5Z" Z~=Y^]ػQ ^ ?`٣` fGdf^ f ?h]n49j(tm?an4YjG ijmsBprD¿qr?jDCj@;j;j 4t vp Atj^@qI I 2iDNOT Ignoring new targets: 38.00 m.*ii%`"i%`5 ProNav: ac range: 38.000000 m, nav range: 37.356644 m, bearing: 272.500136 deg, approach rate: -0.847192 m/s, LOS rate: -0.012289 deg/s, cmd heading: 266.956742 deg, new cmd heading: 266.945600 deg.  i5=HeadingCmd: 4.659080 target range: 38.000000 and range: 38.00 m.h=.@h9h9h9h9gAgIbgIjgIeIeQjeQJeQ:eU`A?}OBɛxM=) Ni)I=隁i#G9G9G= IG=,BG9G9G9G= <G=Fƶx,[AF Y@yFjh@9F M=YF=FH`.@?( 쨿] @>k??F Y@ɨF; F CbBbIH~H~655w< 5C=YEQ M>Q٣Y eGeIFu u>I]49Mum?a4YMP iMWsB¿q5?MrCM::IyI}ـ3IyI}zO;I}}O;IyIyDDDE4 E:J gAMBJ 59JJ RJ ZJ j\XSKA;60)# J ? J *?VF H<F ZA M > x,[A:O@y:;_@9:cG=Y:=:H }?,0m .`騿? ?:O@ɨ:W; : CFBFI-Mb@Mb@Mb@)) )))I)y-?Q?~jtx-L?-u=-Ļ -A)-@I- Ai-@)-GAHHB5w8 D=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715107YQnQ >٣ GJF2 >]49vm?a4YX iHsBaM?m:ſq?CE::4 T AjICompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLHAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL2i1=DNOT Ignoring new targets: 38.00 m.*i9iE9"iE9e ProNav: ac range: 38.000000 m, nav range: 36.681908 m, bearing: 272.502096 deg, approach rate: -0.857033 m/s, LOS rate: 0.017227 deg/s, cmd heading: 266.932863 deg, new cmd heading: 266.951508 deg.  ie*=:mHeadingCmd: 4.659183 target range: 38.000000 and range: 38.00 m.hm@hqhyhyhygygbgjgzBeejeJe:eT?SBɛW =) hPi)TH=iM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966864x,a[A:W@y:g@9:uH=Y:B=:HD $?@\ n`+Z* ϼ? ?:W@ɨ:@; :CFBFIIH)JAHNHNO5Vӈ; VZ=YZ7:Q Z>X٣\ ^G\^'; b>`]f49bUwm?aj4Yb` ib:sBhjĿqj?bCb:bu:b14l rN Ap2iDNOT Ignoring new targets: 38.00 m.*ii/9"i/9- ProNav: ac range: 38.000000 m, nav range: 36.383205 m, bearing: 272.507700 deg, approach rate: -0.815716 m/s, LOS rate: 0.015429 deg/s, cmd heading: 266.951496 deg, new cmd heading: 266.968446 deg.  i-l):5HeadingCmd: 4.659478 target range: 38.000000 and range: 38.00 m.h5r@h1h1h1h1g1g9bg9jg9eAeAjeAJeA:eMI?@uUBɛ}Γ =)y }ZRiy)G=隁iS,GG IG'BGGG@DG#<GFDDDEn0 Eխ?խ<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219295VFl< *G;mA A)| y;mABFZAY M >] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471003x,V[AI#I+cw3I+.-I#I#I#ZImbI jI rI zI\8:I I I ID;ID;I I BI- only read 0 of 1 data item for BIT error. Device response is::TS,25011011065998,35.0, +11.0, 3.5,A, 89.39, 77.49, 85.99, 80.21 @ @ @  @ HHS5= 8=YQ >٣ GKF >]49Ixm?a4Yj i(sBi+:m V: q ?C ;>~…4  A2iAMDNOT Ignoring new targets: 38.00 m.*iIiM9"iU9] ProNav: ac range: 38.000000 m, nav range: 36.026638 m, bearing: 272.514512 deg, approach rate: -0.801913 m/s, LOS rate: 0.015470 deg/s, cmd heading: 266.968435 deg, new cmd heading: 266.989071 deg.  ie):mHeadingCmd: 4.659838 target range: 38.000000 and range: 38.00 m.hme@hihihihigigqbgqjgqeqeyjeyJey:e}@雥WBɛ!=) Gi).G=隩ix,\[A2X@y2tg@92rF=Y2^=2H> ?2`"?C?2X@ɨ2؊; 2 C>BBIHJHJJ5Ry  Vb=YVҺQ Z>X٣X ZGZLF^l 9 ^>`]f49bym?af4Ybq ibsBif :dmf-:jĿqj?bCb:b-O?bƅ4nB ]B A]E2iDNOT Ignoring new targets: 38.00 m.*iiZ9"iZ9 ProNav: ac range: 38.000000 m, nav range: 35.736195 m, bearing: 272.520140 deg, approach rate: -0.768418 m/s, LOS rate: 0.015010 deg/s, cmd heading: 266.989062 deg, new cmd heading: 267.006083 deg.  i$:HeadingCmd: 4.660135 target range: 38.000000 and range: 38.00 m.h@hhhhggbgjgeejeJe:e@YBɛ=) Xi)j\F=iG}CG} IG},BGyGyGyG}&<G}FF ZA M5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226982 x,?.[A2U@y2Ae@92+_D=Y2e=2Hac?@ @ZХ@}??2U@ɨ2`҉; 2 C>B>INe>iNR=TTHZHZS5r]< rF=YrքQ r>t٣t vGtv+ z>|]49~ym?a 4Y~uz i~ sBi 9 m :ſq?~=C~;~?~yʅ4  A2iAEDNOT Ignoring new targets: 38.00 m.*iiiu9"iu9 ProNav: ac range: 38.000000 m, nav range: 35.406109 m, bearing: 272.526792 deg, approach rate: -0.714570 m/s, LOS rate: 0.014535 deg/s, cmd heading: 267.006083 deg, new cmd heading: 267.026225 deg.  i:HeadingCmd: 4.660487 target range: 38.000000 and range: 38.00 m.h"@hhhhggbgjgeejeJe:er @E\BɛEu=)I MHRiI)MiE=IIiM\Vx,y H[AbW@yb7g@9bC=Yb=bHB?`I訿tr??bW@ɨb_; b CnBnIDAT read: 19:05:51.8333 LVL= 21712, 32625, 19682, 30707, AGC= 62, IDX= 395, 0.16, 1.636, 0.380, 1.783, 1.488, PHS= 0.236,-1.061, 0.292, RAW= 152.1, 8.1, CAL= 152.6, -1.0, ROT= 357.4, 1.0 Ygot valid direction response: 19:05:51.8333 LVL= 21712, 32625, 19682, 30707, AGC= 62, IDX= 395, 0.16, 1.636, 0.380, 1.783, 1.488, PHS= 0.236,-1.061, 0.292, RAW= 152.1, 8.1, CAL= 152.6, -1.0, ROT= 357.4, 1.0       Mb@Mb@Mb@ )Iyw/?:v?F?T= APDAT read: Bearing 357.4, 1.0 (Local) ~Local bearing/azimuth received: Bearing 357.4, 1.0 (Local) DAT read: Range 10 to 50 : 35.0 m (Round-trip 46.7 ms) speed 0.6 m/s ,DAT read: user:1106> )I7 AiAAHH6=5%M'= %+=MBDAT read: Tx time:19:05:52.9325 M$Ping request sent.Uq٣q }G}MFR#Rx 1: Read range and direction messages.`direction in FSK: [0.998818,-0.045356,-0.017452]:publishing transmit ping timeIFpublishing direction and range infoyY}<8:R?p8W7) ߑ} B9y}T }q)}LI}wiy}q>}·}>})@ }>)}t*@I}5i}@}5]49zm?a4Y }z?1r?5?I}=h?i}ɑ}9}55zp}<8:R?p8W7) ߑ"j}9*j}5<p}g x27)dA sip}u;*↑.i}! j}Ai}-{l?i}9  j}(zBzj}xMm?jyj}ހBjj} Brj}@  addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 3.779816 s, deltaX: -3.000000 m, approachRate: -0.793689 m/s, rangeRepo size: 4 ] Added new target pos. range: 35.000000 m, bearing: 265.029854 deg, lat: 36.903948 deg, lon: -122.119096 deg, deltaT: 3.779816 s, deltaX: -3.000000 m, approachRate: -0.793689 m/s, posRepo size: 4 2iaeDNOT Ignoring new targets: 35.00 m.*iaim"ii ProNav: ac range: 35.000000 m, nav range: 35.010704 m, bearing: 272.343038 deg, approach rate: 0.000000 m/s, LOS rate: 0.014535 deg/s, cmd heading: 267.026218 deg, new cmd heading: 267.046355 deg.  iHeadingCmd: 4.660838 target range: 35.000000 and range: 35.00 m.h%@hhhhggbgjgBeejeJeA@:e`X?E_BɛE=)I MCiI)MD=IIiUUzx,c[ARcV@yRe@9RL@=YRg+=RHZG?, H! ??RcV@ɨR ; RCnBrI*GU<"GU<GYGYG]( IG]6BG] =GYGYG]<G]FHH)5= X=YQ >٣ GNF2 >]49:{m?a4Y irB'ƿq?C:K:م4 A-B*** querying acoustic contact ***i)i)2i9=DNOT Ignoring new targets: 35.00 m.*i9iE9"iE9 ProNav: ac range: 35.000000 m, nav range: 34.731403 m, bearing: 272.351408 deg, approach rate: -0.828134 m/s, LOS rate: 0.025018 deg/s, cmd heading: 267.046354 deg, new cmd heading: 267.071667 deg.  i\:HeadingCmd: 4.661280 target range: 35.000000 and range: 35.00 m.h5)@hhhhggbgjgeejeJe:e ?-aBɛ-` =)) -X;i))5TD=11i5u Au A} checking for new query: numPingsReceived=1, elapsed TxPingTime=0.696256¡x,^}[A2VD@y2S@92i;=Y2=2H@za?᩿iͤ 1{ sh?>?2VD@ɨ24L; 2 C^B^II`)`)` bp=Mb@Mb@Mb@ )Iy/$?l?Mb`٣ Ga >]49V{m?a4Y irB%x,,-[A2=@y2M@92/e7=Y2(U=2H@䧿$?@|@F#ꦿ ? ?2=@ɨ2; 2CNBRIHZHZ(*5bm b\=YbBQ f>d٣d fGfOFj j>p]v49rj{m?av4Yr' irrBtvȿqv?rCr:r:r4| ~1 A|2i!%DNOT Ignoring new targets: 35.00 m.*i)i-X:"i-X:= ProNav: ac range: 35.000000 m, nav range: 34.160259 m, bearing: 272.387002 deg, approach rate: -0.738791 m/s, LOS rate: 0.047335 deg/s, cmd heading: 267.126567 deg, new cmd heading: 267.179363 deg.  i=;EHeadingCmd: 4.663159 target range: 35.000000 and range: 35.00 m.hE8@hAhIhIhIgIgIbgQjgQeQeYjeYJea:eeƳ?雍eBɛ<) Jmi)HB=隑iG]>GYG]. IG];BG] =GYGYG]<G]FH%ǫC H%ǫCH!H% ="H% =*H%94 checking for new query: numPingsReceived=1, elapsed TxPingTime=1.452067)+x,9 [AB^F@yBU@9B8=YBv&=BHIZN?`UԼ%ȩ Pq N?`e?B^F@ɨBw; BCNBRIHnHnB55< EC=YMb8:Q U>i٣i uGuPF!; >]49{m?a4Y irB{ȿq?C<<4  A2i9EDNOT Ignoring new targets: 35.00 m.*iAiMgB:"igB: ProNav: ac range: 35.000000 m, nav range: 33.843742 m, bearing: 272.406908 deg, approach rate: -0.669347 m/s, LOS rate: 0.042491 deg/s, cmd heading: 267.179351 deg, new cmd heading: 267.239629 deg.  iI:HeadingCmd: 4.664211 target range: 35.000000 and range: 35.00 m.h8A@hhhhggbg)jg)e)e)je)Je1:e5 V*?Mchecking for new query: numPingsReceived=1, elapsed TxPingTime=1.704502雭iBɛҕ=) mi)A=隱i+l>3x, [ABc@yB-s@9B.a==YB``=BH`샥?@Qռ@y`t @YU??Bc@ɨB=; BCRBRI^=i^>Mb@Mb@Mb@ )IyOn?V-?Mb8?< )h@I AilAAHH;5(  -=Y!;Q >٣ G!-; 5>9]M49={m?aM4Y=S i=rBU8?mU:U+ɿq]?=0C=;=d;=4i mQ Ai2i!%DNOT Ignoring new targets: 35.00 m.*i!i-:"i-:m ProNav: ac range: 35.000000 m, nav range: 33.508984 m, bearing: 272.431449 deg, approach rate: -0.755752 m/s, LOS rate: 0.055957 deg/s, cmd heading: 267.239621 deg, new cmd heading: 267.313978 deg.  im;uHeadingCmd: 4.665509 target range: 35.000000 and range: 35.00 m.huK@hqhqhqhqgqgbgjgBeejeJe:e@?@MlBɛM<)Q UiQ)A=隑i:絲;IK@ID-D)D)E) E) A Achecking for new query: numPingsReceived=1, elapsed TxPingTime=2.208734ZIMibIMcjIIrIIzIM+:IMx9IIIIVF5 1;F ZA M5 >G >G G G G  =G G G <G F5_9x,O[A6}@y6@96Eg?=Y6+=6Hv棿?`{꧿; ? ?6}@ɨ6q; 4B߁BBIHJHJP@5~{x ~_=Y~:Q >٣ GQF <  >]49{m?a4Y; irB%ȿq%?QCU;/; 4) - A-EUB*** querying acoustic contact ***iQiQ2iiuDNOT Ignoring new targets: 35.00 m.*iqi}q:"i}q: ProNav: ac range: 35.000000 m, nav range: 33.247040 m, bearing: 272.449559 deg, approach rate: -0.757558 m/s, LOS rate: 0.052788 deg/s, cmd heading: 267.313988 deg, new cmd heading: 267.368746 deg.  i;HeadingCmd: 4.666465 target range: 35.000000 and range: 35.00 m.hS@hhhhggbgjgeejeJe:e\@nBɛ,n<) i)W@=i- BDAT read: Rx Time:19:05:55.3798 - TRx dataTimestamp_ set to:1736535955.9471585 checking for new query: numPingsReceived=1, elapsed TxPingTime=2.713117H@x,1[A6b@y6@96@=Y6=6H䋢@?L@3 ǥ@J??6b@ɨ6B; 4^сB^IMMb@Mb@Mb@II I)IIIyMA`"?٣ GRF; >]%49W{m?a%4Y irB-59?m5:5%ʿq5?zCV;U;49 E AA2iimDNOT Ignoring new targets: 35.00 m.*iiiu3:"iu3: ProNav: ac range: 35.000000 m, nav range: 32.930996 m, bearing: 272.477751 deg, approach rate: -0.724205 m/s, LOS rate: 0.065220 deg/s, cmd heading: 267.368739 deg, new cmd heading: 267.454125 deg.  i 3;HeadingCmd: 4.667955 target range: 35.000000 and range: 35.00 m.h_@hhhhggbgjgBeejeJe:en@qBɛ8<) i)9?=iϙqFx,2@y2b@92/A=Y2=2H'`a?̽ h``4a^??2@ɨ2l; 2 CJÁBNIIX)X)bp= b=~checking for new query: numPingsReceived=1, elapsed TxPingTime=3.218413HZIjbIajIrIzI.:Ip9IIHB5t A=Y-K:Q ->9٣9 EGAM~; u>y]49}*{m?a4Y}y i}{rBɿq?}C}:}:} 4  A2iDNOT Ignoring new targets: 35.00 m.*ii:"i5:E ProNav: ac range: 35.000000 m, nav range: 32.631374 m, bearing: 272.504101 deg, approach rate: -0.714192 m/s, LOS rate: 0.063387 deg/s, cmd heading: 267.454116 deg, new cmd heading: 267.533893 deg.  iE.;MHeadingCmd: 4.669347 target range: 35.000000 and range: 35.00 m.hMKk@hIhihihigqgqbgqjgqeyeyjeyJey:e} @uBɛ^Y<) }i)==i;JGCG IG'BGGGADGZ<GFDAT read: 19:05:55.3798 LVL= 21584, 28529, 15202, 28659, AGC= 60, IDX= 405, 0.43,-2.459, 2.493,-2.201,-2.584, PHS= 0.213,-1.160, 0.380, RAW= 155.7, 7.8, CAL= 155.9, -1.5, ROT= 354.1, 1.5 Ygot valid direction response: 19:05:55.3798 LVL= 21584, 28529, 15202, 28659, AGC= 60, IDX= 405, 0.43,-2.459, 2.493,-2.201,-2.584, PHS= 0.213,-1.160, 0.380, RAW= 155.7, 7.8, CAL= 155.9, -1.5, ROT= 354.1, 1.5 PDAT read: Bearing 354.1, 1.5 (Local) ~Local bearing/azimuth received: Bearing 354.1, 1.5 (Local) DAT read: Range 10 to 50 : 32.3 m (Round-trip 43.1 ms) speed 0.5 m/s ,DAT read: user:1107> BDAT read: Tx time:19:05:56.4826 $Ping request sent.ٍzٍ\>ٍ'-@ ڍ'g >)ڍX$.@IڍPwּiڍJ@ڍPw<ډ ۉۍ՝z?z8|?6Qm^?Iۍ`?iۍa ۍ)ҽۍPw<ۉ ܉e :publishing transmit ping timem Fpublishing direction and range info؉Y؍5?JNP!Κ؉9؉؉ ى)ىIىiىىىىVF% DCLx,4[A}ڶ@y}9ƕ@9}C=Y}'=}H2U`&?ʽ@w bj x@a?`p?}ڶ@ɨ}; }CޕBޕIchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.239110]Mb@Mb@Mb@YY Y)YIYy]Q?V-?S㥛](٣ GSFO; >]49{m?a4Y i^rBn"Tx,VQ[AV@yVm̕@9VZB=YVb=VHW䟿? ɪ@KJOƒ?@ڿ?V@ɨV3; V CbBbqIHjHjgG5~ʽ ~=Y0{Q  ? ٣ GTFh; % ?)]M49-{m?a]4Y- i-KrBae{ǿqe?-C-w;-;-4}B } A}öE2iDNOT Ignoring new targets: 32.30 m.*iiݹ"iݹ ProNav: ac range: 32.299999 m, nav range: 31.929451 m, bearing: 269.681893 deg, approach rate: -0.755152 m/s, LOS rate: -0.024256 deg/s, cmd heading: 267.628395 deg, new cmd heading: 267.605740 deg.  i,HeadingCmd: 4.670601 target range: 32.299999 and range: 32.30 m.hu@hhhhggbgjgeejeJe:e*?zBɛ2<)Ƽ= `پi)a;=i*G <"G G >G G IG BG =G G G F<G FIZx,&k[Af6@yfɕ@9f@=Yf{=fH`4?@ܿ@Z@xॿ w?¸?f6@ɨf; fCrBr`I-checking for new query: numPingsReceived=2, elapsed TxPingTime=0.995707H H /55 5G=Y=Q E>A٣A EGAMe^ M>Q]49U|m?a4YU iU3rBǿq?UCUZIu ibIu bjIq rIq zIu +:Iu t9Iq Iq Iu /;q} Iu /;i} Iu S:u} Iu T:m J1ax,z[A>Î@y>ӕ@9><=Y>[=>H{6? n L{A??>Î@ɨ>B; >CJBJJI}Mb@Mb@Mb@yy y)yIyy}Mb?~jt?Q}C?}=} }A)}h@Iyi}$Ay}(AHH15 D=YQ >٣ GUF4; >]49|m?a4YM irBwC?m:ſq?;C::z(4  A2i DNOT Ignoring new targets: 32.30 m.*i i G"iG:JKBJ9JJRJZJ%)))$#  J%hAI%fA= ProNav: ac range: 32.299999 m, nav range: 31.312817 m, bearing: 269.654989 deg, approach rate: -0.791909 m/s, LOS rate: -0.043502 deg/s, cmd heading: 267.576568 deg, new cmd heading: 267.524244 deg.  i=EHeadingCmd: 4.669179 target range: 32.299999 and range: 32.30 m.hEi@hAhAhAhAgAgIbgIjgMmBeIeQjeJe:e ?]Bɛ]6<)a eia)m8=iii checking for new query: numPingsReceived=2, elapsed TxPingTime=1.750966[gx,۞[AV@yV@9VOA=YV=VH@??`>@!}`'F?s?V@ɨV; TfiBf,IHnHn{R5v zV=YzI;Q z>x٣| ~G|V< > ] 49 k}m?a4Y  i rBXſq? `C >: ): #/4 Z A2iDNOT Ignoring new targets: 32.30 m.*ii["i[ ProNav: ac range: 32.299999 m, nav range: 31.022823 m, bearing: 269.636210 deg, approach rate: -0.732415 m/s, LOS rate: -0.047872 deg/s, cmd heading: 267.524248 deg, new cmd heading: 267.467385 deg.  ijHeadingCmd: 4.668187 target range: 32.299999 and range: 32.30 m.ha@hhhhggbgjgeejeJe:e`ׄ?EBɛE`ʙ;)I M iI)M%f6=IIiMG1G5IG5߁BG1G1G1G5<G53F^D<Mchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.004091D5D1D1E1 E1VF] iG<F ?F O?F ZA M>gnx,j[Ajchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.254927ZBI)= =ZIugbIugjIu/rIqzIu%:Iu9Iu(N3IqIuI$;IuK$;Iu=:Iu>:EMb@Mb@Mb@AA A)AIAyEˡE?ˡE?EG?E'=E̼ EA)AIAiEAAEQAH]H]S5md m =YuQ u>q٣q uG}VF} }>]49s~m?a4Yp iqBPH?m:!ſq?Cs::84  AŶE2iDNOT Ignoring new targets: 32.30 m.*iia"iaE ProNav: ac range: 32.299999 m, nav range: 30.624649 m, bearing: 269.608587 deg, approach rate: -0.804788 m/s, LOS rate: -0.056557 deg/s, cmd heading: 267.467394 deg, new cmd heading: 267.383448 deg.  iEBMHeadingCmd: 4.666721 target range: 32.299999 and range: 32.30 m.hMU@hIhIhIhIgIgQbgQjgUKBeQeYjeYJeY:e}`E@Bɛs;) i)3=i4vx,X[A2W@y2@92GA=Y2o=2HޖA? ܿ` 5A? C?2W@ɨ2a; 2CB>BBIHJHJO5R  R9=YV9Q V>T٣T ZGZWFZi; Z>\]b49^mm?ab4Y^~ i^qBdfĿqf?^C^[:^g:^?4h nAl=BDAT read: Rx Time:19:05:58.9266 ETRx dataTimestamp_ set to:1736535959.483289Echecking for new query: numPingsReceived=2, elapsed TxPingTime=2.7681912iDNOT Ignoring new targets: 32.30 m.*ii"iHHAA ProNav: ac range: 32.299999 m, nav range: 30.281033 m, bearing: 269.582181 deg, approach rate: -0.751204 m/s, LOS rate: -0.058383 deg/s, cmd heading: 267.383437 deg, new cmd heading: 267.303320 deg.  iE HeadingCmd: 4.665323 target range: 32.299999 and range: 32.30 m.hTJ@hhhhggbgQjgQeQeQjeQJeY:e]q@雥Bɛ:) %i)v1=隩ixGGIGBGGGGE<GFH]ŬC H]ŬCHYH] ="H] =*H]45DMDIDIEM4 EIchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.019361VFq FQ ZAy M >}x,ʌ[A@y @9??=YU=H@t@h?ֿ @8fH 2?`|?騕@ɨ(\; ޭ3BޭI}Mb@Mb@Mb@yy y)yIyy}٣ GXFDI: >ZI%hbI%`jI%0rI!zI%(:I%bl9I%ـ3I!I%);I%);I%):I%*:]49m?a4Y  iqB=S?m=:qſq?C<<I4 A B*** querying acoustic contact ***i i 2i=DNOT Ignoring new targets: 32.30 m.*i9im~"iu~ ProNav: ac range: 32.299999 m, nav range: 29.820932 m, bearing: 269.550731 deg, approach rate: -0.802453 m/s, LOS rate: -0.055698 deg/s, cmd heading: 267.303333 deg, new cmd heading: 267.207527 deg.  iHeadingCmd: 4.663651 target range: 32.299999 and range: 32.30 m.h<@hhhhggbgjg.BeejeJe:e @mBɛP;) ,i)_.=隙i  BDAT read: Tx time:19:06:00.0326 % $Ping request sent.% m Em L7>m LB/@ m |=)m /@Im 9im @m 9=i i m 魨bg? ??Im R$?im .m twm 9=i i U :publishing transmit ping time! U Fpublishing direction and range infoi Ym  :/x,a[A  @y ~@9 <=Y = H6f?`~ο@Y@)@Y@I? ?  @ɨ 1; Cchecking for new query: numPingsReceived=3, elapsed TxPingTime=0.227356HR=HR=}B}IHHO5 =YٵQ >٣ GYF8 >]49m?a4Y@ iqBpſq?2C;;R4 AǶEZj| Fl?bjN[ iif[Aj3AjA2jX6@pQn=@Lʋ\Hzzp :;x,5[A6G@y6 @96 7=Y6v=6H@@ ?@ܿ@@񼝿`1 ߦ ?9?6G@ɨ6ID; 6CI PIP T)TTTTXXiXIXXXbBbIHnHnR5~  =Y,Q %?)٣) 5G15 5?9]E49=&m?aM4Y= i=pqBIUſqU?=SC=:;=;;=IX4a eAa2iDNOT Ignoring new targets: 29.90 m.*ii!W"i!W ProNav: ac range: 29.900000 m, nav range: 29.288599 m, bearing: 263.898203 deg, approach rate: -0.718673 m/s, LOS rate: -0.188082 deg/s, cmd heading: 267.119519 deg, new cmd heading: 266.920393 deg.  iHeadingCmd: 4.658640 target range: 29.900000 and range: 29.90 m.h@hhhhggbgjge)e)je)Je1:e5>?}Bɛ} [)y }]?iy) )=隁i x,N[A2checking for new query: numPingsReceived=3, elapsed TxPingTime=0.9831506@y6@96]/=Y6=6Hw ?`⧽Փm:`꥿@Z?h?6@ɨ6щ; 6C}B}II))= p=Mb@Mb@Mb@ )Iy\(\?~jt?Z?̼ A)@Id AiA AH-H-75=3 =8=Y=Q E>I٣I MGMZF5ݦ 5>A]M49Em?aM4YE' iETqBU0[?mUw:UPƿqU?ECE;E;E`4Y ebAa2iDNOT Ignoring new targets: 29.90 m.*iiՑ"iՑ ProNav: ac range: 29.900000 m, nav range: 28.890074 m, bearing: 263.796500 deg, approach rate: -0.985597 m/s, LOS rate: -0.254994 deg/s, cmd heading: 266.920405 deg, new cmd heading: 266.611088 deg.  i/HeadingCmd: 4.653241 target range: 29.900000 and range: 29.90 m.hZ@hhhhggbgjgBeejeJe:e@?雭BɛħS) aEi)&=隱i@G% >G% CG% !IG% `BG% =G! G! G% <G% FSx,h[A6͎@y6Fݕ@96;#=Y6=6H̝/? ,f/?G?6͎@ɨ6; 6C=B=IHMHM:5v V=YQ >٣ G[F >]49Wm?a4Yz/ iAqBƿq?C;;f4 A2iDNOT Ignoring new targets: 29.90 m.*iiBz"iBz ProNav: ac range: 29.900000 m, nav range: 28.592400 m, bearing: 263.720492 deg, approach rate: -0.848048 m/s, LOS rate: -0.218794 deg/s, cmd heading: 266.611079 deg, new cmd heading: 266.380683 deg.  i( HeadingCmd: 4.649220 target range: 29.900000 and range: 29.90 m.h iƔ@uchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.487490hhyhyhygygybgjgeejeJe:e`vO? -pGA Y)$yBBɛ]) EKIiA)E#=AIiM;:UϠx,h[Ab޿@yb=ϕ@9b =Yb*=bH ?@z@x꡿@Vc`-? 3?b޿@ɨb; `BIMb@Mb@Mb@ )IyGz?Zd;O?Mbp]?j<= A)~@I AiAp AHH&Q5< $=Y Q  >٣ G%a %>1]=4958m?aE4Y5: i5+qBE]?mEu:EſqM?5C5B;5R;5Zo4]B ]cA]ɶE:JyLBJh9JJRJZJ-B*** querying acoustic contact ***i)i)2i9=DNOT Ignoring new targets: 29.90 m.*i9iEԁ"iEԁu ProNav: ac range: 29.900000 m, nav range: 28.164942 m, bearing: 263.603465 deg, approach rate: -0.816800 m/s, LOS rate: -0.227012 deg/s, cmd heading: 266.380683 deg, new cmd heading: 266.024280 deg.  iu}HeadingCmd: 4.643000 target range: 29.900000 and range: 29.90 m.h}t@hyhyhyhygygbgjgBeejeJe:e@Bɛ`I) Gi)z =i%<-X?-a=-checking for new query: numPingsReceived=3, elapsed TxPingTime=1.991635i5ѿ5;=,{=I=t@I9DDDEh0 EVF -<F ZA M% >_x,9[A:\@y:ƕ@9:v=Y:==:H0O ?``:Md??:\@ɨ:N; :C@ BZlA@@ɳ@DFlAID)DiD)HIJZlAJ-ɴJLCF HɵLNblAN.iLLiPRmA)P PIP P)PɶVVIFTTɷVjlAbchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.244505iXIddIhijA hh)hhrBrIvx>iv4=vAvAH~H~M5   v=Y SQ  ?ZIhbI^jIrIzI(:Id9IIq%@i%@u%@m%@)٣) -G-\F-K ?]49τm?a4YB iqBƿq? C\;X;vu4 zA2iq}DNOT Ignoring new targets: 29.90 m.*iyi}"i ProNav: ac range: 29.900000 m, nav range: 27.865301 m, bearing: 263.519919 deg, approach rate: -0.881664 m/s, LOS rate: -0.248470 deg/s, cmd heading: 266.024284 deg, new cmd heading: 265.770952 deg.  i*HeadingCmd: 4.638578 target range: 29.900000 and range: 29.90 m.h;o@hhhhggbgjgeejeJe:eF@mBɛm)i mIii)m =qqiuGGIGLBGGGG <GFD=D9D9E=/1 E9VF=FZAMj>mchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.495234x,ᶸ[AB3@yB@9BI =YBѸ=BH?`㶢Jyj@??B3@ɨB؈; @MBMIHEHER5 < 1=YeQ >٣ G]FF >]%49m?a-4YL i qBQU7ƿq]?:J BJ 9JJ RJ ZJ hK l jlI*$ ) NLvo^L>4*  VF $3= checking for new query: numPingsReceived=3, elapsed TxPingTime=2.999304F ZA Me >zx,u[Aޅ BޅI%Mb@Mb@Mb@!! !)!I!y%ףp= ?ˡE?y&1|%^?%'=%` %A)%@I% Ai%;A!% AHEHE:\5en< eP=YmQ m>i٣q uGq} }>]49m?a4YU ipB^?ms:$ǿq?hC:i);4 CA˶E2iDNOT Ignoring new targets: 29.90 m.*iius"ius ProNav: ac range: 29.900000 m, nav range: 27.146614 m, bearing: 263.318546 deg, approach rate: -0.879123 m/s, LOS rate: -0.245585 deg/s, cmd heading: 265.440358 deg, new cmd heading: 265.158854 deg.  i(HeadingCmd: 4.627895 target range: 29.900000 and range: 29.90 m.h@hhhhggbgjg)Bee jeJe:e} @BɛWy) hHi)XA=iG >G G IG GBG G G G <G Fx,m[A6@y6t@96Yt٣t vGv^Fz, z>|]49~@m?a4Y~] i~pBǿq ?~C~):~`:~-4 =A2i9EDNOT Ignoring new targets: 29.90 m.*iAiE("iE(U ProNav: ac range: 29.900000 m, nav range: 26.844490 m, bearing: 263.235599 deg, approach rate: -0.863824 m/s, LOS rate: -0.239828 deg/s, cmd heading: 265.158845 deg, new cmd heading: 264.907206 deg.  iU$eHeadingCmd: 4.623503 target range: 29.900000 and range: 29.90 m.he@hihihihigigibgqjgqeqeqjeJe:e I @Bɛּ) Hi)\Q=iK BDAT read: Tx time:19:06:03.5826 $Ping request sent.ٽ1ٽ>ٽ$+3@ ڽϢ=)ڽ3@Iڹiڽ0O@ڹڹ ۹۽c,o/?29S?QS!?I۽4?i۽۽T8۹۹ ܹ:publishing transmit ping timeFpublishing direction and range infoعYؽyis?KA?ƿ99ع9عع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ ۹۽c,o/?29S?QS!?I۹i۹۹۹۹ ܹ=checking for new query: numPingsReceived=4, elapsed TxPingTime=0.035881VF =FyZAM>m checking for new query: numPingsReceived=4, elapsed TxPingTime=0.206658Gx,*T[ABIMb@Mb@Mb@ )Iye;O?I +?MbP?T?94=: )lAI Ai AHH=5&w= :=YQ >٣ G_F  >]49m?a4Yg ipBU?m%:%ǿq%?C;;ᑆ41 5A9ZjN7k?bjw ii[AjAjA2j@p4؜:@_nJsȘzpyis?KA?ƿ99"jT8*jptkoFH:t>pGe=Eʿ&ŽriEj}iu$k?iV  jwBzjqol?jV j^xBjjArj@ addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 3.542565 s, deltaX: -2.900000 m, approachRate: -0.818616 m/s, rangeRepo size: 4  Added new target pos. range: 27.000000 m, bearing: 257.953759 deg, lat: 36.903898 deg, lon: -122.119095 deg, deltaT: 3.542565 s, deltaX: -2.900000 m, approachRate: -0.818616 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 27.00 m.*ii"i ProNav: ac range: 27.000000 m, nav range: 26.634398 m, bearing: 260.696495 deg, approach rate: 0.000000 m/s, LOS rate: -0.239828 deg/s, cmd heading: 264.907193 deg, new cmd heading: 264.581611 deg.  iHeadingCmd: 4.617820 target range: 27.000000 and range: 27.00 m.h/œ@h!h!h!h!g!gbgjg=BeejeJe;@:e`6:?Bɛ%J)A EBiI)MT=QQiUx,`# [A6p_@y6n@96)\٣\ ^G\b b>d]f49fm?aj4Yfo ifpBhjǿqj?fCf::fG:f04p rApB*** querying acoustic contact ***ii2i DNOT Ignoring new targets: 27.00 m.*iid"id!!-checking for new query: numPingsReceived=4, elapsed TxPingTime=0.711361ZI9bI=^jI9rI9zI9I=d9I9I9U ProNav: ac range: 27.000000 m, nav range: 26.338482 m, bearing: 260.584550 deg, approach rate: -0.847371 m/s, LOS rate: -0.324162 deg/s, cmd heading: 264.581612 deg, new cmd heading: 264.242008 deg.  iUx^]HeadingCmd: 4.611893 target range: 27.000000 and range: 27.00 m.h]@hYhYhYhYgagabgajgaeieijeiJei:em }?Bɛ) Bi)==iochecking for new query: numPingsReceived=4, elapsed TxPingTime=0.962197x,:[A:K@y:Z@9:l٣l nGn`Fn» r>p] 49r4m?a4Yrux irpB!%ȿq-?rCri)k=i_D checking for new query: numPingsReceived=4, elapsed TxPingTime=1.466093x,S[A6v@@y6O@96; 6CR.BRIMb@Mb@Mb@ )IyCl?I +?{Gzt?O?ף; `A)AId AiA AHH>5S= ==YDQ >٣ GA >]49jm?a4YQ ipB.P?m:U3ȿq]?@C<R<^4a m"A2iy}DNOT Ignoring new targets: 27.00 m.*iyi"i ProNav: ac range: 27.000000 m, nav range: 25.635130 m, bearing: 260.312369 deg, approach rate: -0.826102 m/s, LOS rate: -0.327918 deg/s, cmd heading: 263.853158 deg, new cmd heading: 263.414317 deg.  i aHeadingCmd: 4.597447 target range: 27.000000 and range: 27.00 m.hI@hhhhgg)bg)jg-WBe)e1je1Je1:e5a'?]Bɛ]J)a e9ia)e =aaieF]E=>GI GI GM 'IGM fBGI GI GI GM <GM =FVFU 8U=F1 ZA9 Me >emx,o[A62@y6QB@96*\٣` bGbaFfȎ f>h]n49jm?an4Yjq ijpBlnhȿqn?jgCj:j:j4t v At2iDNOT Ignoring new targets: 27.00 m.*iiջ"iջ- ProNav: ac range: 27.000000 m, nav range: 25.331453 m, bearing: 260.191468 deg, approach rate: -0.928215 m/s, LOS rate: -0.373976 deg/s, cmd heading: 263.414305 deg, new cmd heading: 263.047258 deg.  i5S5HeadingCmd: 4.591041 target range: 27.000000 and range: 27.00 m.h5@h9h9hAhAgAgAbgIjgIeIeIjeQJeQ:eU@}Bɛ}Ҽ)y }5:ichecking for new query: numPingsReceived=4, elapsed TxPingTime=1.970207)%* =!!i%I nManaging dock network, ignoring radio surface power off9 9 E checking for new query: numPingsReceived=4, elapsed TxPingTime=2.223012Jx,([A6@y6,@96x٣  G bF Ȼ  >]49m?a4Yr ipB%E?m%:% ɿq%?C::4-B -A5϶E2iDNOT Ignoring new targets: 27.00 m.*ii"i ProNav: ac range: 27.000000 m, nav range: 24.994711 m, bearing: 260.057884 deg, approach rate: -0.739503 m/s, LOS rate: -0.297308 deg/s, cmd heading: 263.047251 deg, new cmd heading: 262.641108 deg.  i LHeadingCmd: 4.583952 target range: 27.000000 and range: 27.00 m.h@hhhhggbgjgBeejeJe:e@eBɛeTjN)a e}4ia)m/=iiimVm BDAT read: Rx Time:19:06:06.0188 } TRx dataTimestamp_ set to:1736535966.557186} checking for new query: numPingsReceived=4, elapsed TxPingTime=2.730053H H p=x,N[AZIfbI^jIrIzI|":Id9II=7@y=@9=BUIHeHe N5\< I=YܺQ >٣ G( >]49wm?a4Y ipB|ɿq?C;H;Լ4 AB*** querying acoustic contact ***ii2i DNOT Ignoring new targets: 27.00 m.*i i6"i6% ProNav: ac range: 27.000000 m, nav range: 24.685658 m, bearing: 259.934573 deg, approach rate: -0.784308 m/s, LOS rate: -0.316853 deg/s, cmd heading: 262.641100 deg, new cmd heading: 262.266541 deg.  i%tY%HeadingCmd: 4.577415 target range: 27.000000 and range: 27.00 m.h-.z@h)h)h)h)g1g1bg9jg9e9e9jeAJeA:eE`@mBɛm2)q u3iq)u=qqiuPGGGIGBGGGG<GFDADIDIEM4 EIEUhAEQVF=f=I)CF1 i )I$yBZAMk>Uchecking for new query: numPingsReceived=4, elapsed TxPingTime=2.978570x,V,[A(@y@9y ٣   G cFY >!]-49%m?a-4Y% i%pB-n??m5:5ʿq5?%C% ;%;%Ć49 = A92iDNOT Ignoring new targets: 27.00 m.*ii"i% ProNav: ac range: 27.000000 m, nav range: 24.354383 m, bearing: 259.806470 deg, approach rate: -0.721116 m/s, LOS rate: -0.282647 deg/s, cmd heading: 262.266533 deg, new cmd heading: 261.877003 deg.  i-A%HeadingCmd: 4.570616 target range: 27.000000 and range: 27.00 m.h%|B@h)h)h1h1gQgYbgYjg]BeaeajeaJea:ee @雵BɛLs) *i)-=iU  BDAT read: Tx time:19:06:07.1327  $Ping request sent. } G} B`>} 3@ } >)} $+3@I} 5i} @@} 5=y y } K"?Zh?; ?I} 6?i} } 9} 5=VF T=y y M :publishing transmit ping time U Fpublishing direction and range infoy Y} Iet?"ǿXޡy 9y y y )y Iy iy y y F ZA M >x,[A )Ii K"?Zh?; ?Ii bchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.097224vƍ@yvqՔ@9v"p٣ GdF5 5>I]49Mm?a4YMo iMpB*˿q?M CM|:M:Mˆ4 3AZjq k?bj7  ii[AjAjA2j&@pw+a7@sQ~ix+zpIet?"ǿXޡ"j9*j5=pCA7 pP%6οHki jDi3Wk?i%0%  j{Bzjtl?j9 jjjArj@ addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 3.531168 s, deltaX: -3.000000 m, approachRate: -0.849577 m/s, rangeRepo size: 4  Added new target pos. range: 24.000000 m, bearing: 256.311011 deg, lat: 36.903897 deg, lon: -122.119094 deg, deltaT: 3.531168 s, deltaX: -3.000000 m, approachRate: -0.849577 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 24.00 m.*ii"i% ProNav: ac range: 24.000000 m, nav range: 23.957544 m, bearing: 259.530058 deg, approach rate: 0.000000 m/s, LOS rate: -0.282647 deg/s, cmd heading: 261.876993 deg, new cmd heading: 261.518650 deg.  i!-HeadingCmd: 4.564362 target range: 24.000000 and range: 24.00 m.h-@@h)h)h)h)g)g1bg1jg1e1e9je9Je=8@:e]5'?雅BɛZƇ) -i)=隉iYJ=x,GX[ABchecking for new query: numPingsReceived=5, elapsed TxPingTime=0.492608rYBvIH~H~A5 =  W=Y Q  >٣ G >)]-49-Om?a54Y- i-pB11q5?-/C-:-;-҆4A E AEѶE2iimDNOT Ignoring new targets: 24.00 m.*iiiuz"iuz ProNav: ac range: 24.000000 m, nav range: 23.687494 m, bearing: 259.420408 deg, approach rate: -0.811024 m/s, LOS rate: -0.333059 deg/s, cmd heading: 261.518654 deg, new cmd heading: 261.185958 deg.  idHeadingCmd: 4.558555 target range: 24.000000 and range: 24.00 m.hߑ@hhhhggbgjgeejeJe:e\?ɛ2) I'i)X<i`$I'x,: [A2*p@y2@92٣ GeF8˼ >]49 m?a4Y ipB6:?m:Uʿq?VC;z;oن4 .A2iDNOT Ignoring new targets: 24.00 m.*ii"i ProNav: ac range: 24.000000 m, nav range: 23.385660 m, bearing: 259.289845 deg, approach rate: -0.714380 m/s, LOS rate: -0.313005 deg/s, cmd heading: 261.185969 deg, new cmd heading: 260.789230 deg.  iV%HeadingCmd: 4.551630 target range: 24.000000 and range: 24.00 m.h%@h!h!h!h!g!g!bg)jg-Be)e1je1Je1:e=g?eBɛe)a e-ia)eeY;u=Iu@Iy:Jg3LBJ9JJRJZJchecking for new query: numPingsReceived=5, elapsed TxPingTime=1.001407D%D)D)E-n0 E)VF=FZAMH>e checking for new query: numPingsReceived=5, elapsed TxPingTime=1.252543P x,s'[A2@@y2{O@92ⲔPBBIHJHJ%.5f< fY=YfmQ f>h٣h jGjfFj~ n>t]v49vm?az4Yv ivpBxz˿qz?vzCv`:v:v 4  AGGGrIGBGGGG <GFB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 24.00 m.*ii쨻"i쨻 ProNav: ac range: 24.000000 m, nav range: 23.114576 m, bearing: 259.173687 deg, approach rate: -0.681333 m/s, LOS rate: -0.295370 deg/s, cmd heading: 260.789217 deg, new cmd heading: 260.436662 deg.  iJ HeadingCmd: 4.545477 target range: 24.000000 and range: 24.00 m.h t@h h h h ggQbgYjgYeYeYjeYJea:ee?ɛX) ,i)f<iֆ=i7m޿c; 3=I t@I!D%D!D!E%o0 E!checking for new query: numPingsReceived=5, elapsed TxPingTime=1.504476VFe }=FA ZAI Me >u=x,A[Ae@ye0$@9eL٣ G9 >]49gm?a4Y ipBy5?m:^ʿq?C;?;@>;)4  A2iDNOT Ignoring new targets: 24.00 m.*iiϿ"iϿ ProNav: ac range: 24.000000 m, nav range: 22.790699 m, bearing: 259.026546 deg, approach rate: -0.727894 m/s, LOS rate: -0.335389 deg/s, cmd heading: 260.436670 deg, new cmd heading: 259.988985 deg.  i,fHeadingCmd: 4.537664 target range: 24.000000 and range: 24.00 m.h4@hhhhggbgjgBeejeJe:eDL?uBɛu:+m)q ue,i)J<隙i=i>m߿n;_=I4@IDzDhADDDEp0 EEEhA:J BoHBJ 9JJ RJ ZJ  checking for new query: numPingsReceived=5, elapsed TxPingTime=2.009932VF =F ZA M >gax,Z[A:F@y: @9:ۡAӶE2i!-DNOT Ignoring new targets: 24.00 m.*i)i5"i5E ProNav: ac range: 24.000000 m, nav range: 22.551741 m, bearing: 258.917269 deg, approach rate: -0.698498 m/s, LOS rate: -0.322813 deg/s, cmd heading: 259.988992 deg, new cmd heading: 259.657691 deg.  iE]MHeadingCmd: 4.531882 target range: 24.000000 and range: 24.00 m.hM-@hIhIhIhIgQgQbgQjgQeYeYjeYJeY:ee/@雡ɛDBҼ) /i)F<隩i~=i*࿉=I-@IDUDQDQEU 5 EQVF-u=FZAHHBAM*>-checking for new query: numPingsReceived=5, elapsed TxPingTime=2.260607G>GGGGGGG'<GFHI HIHIHM ="HM =*HMǷ\4x,t[A:JΌ@y:ݓ@9:UFF9>FE1@ FV>)F0@IF޹iF%m@F޹a٣a eGehFmO m>q]}49um?a}4Yu iupByy˿q?uCu&;uG);u4 QAZjFak?bjF;q iDiF%u[AjFAjFܪA2jF.N@pFUD5@To}7߿zpF0 ?- y¿NGY;"jFV*jF޹<pFuJ9ZzHŲ4\d4pFb\Ϳb*ac￸{IiF jFXiFudk?iFN0  jF}BzjFudk?jF.pe jDjjF ArjFE@ addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 2.526216 s, deltaX: -2.500000 m, approachRate: -0.989622 m/s, rangeRepo size: 4  Added new target pos. range: 21.500000 m, bearing: 256.587316 deg, lat: 36.903891 deg, lon: -122.119092 deg, deltaT: 2.526216 s, deltaX: -2.500000 m, approachRate: -0.989622 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 21.50 m.*ii"i} ProNav: ac range: 21.500000 m, nav range: 22.254892 m, bearing: 257.070529 deg, approach rate: 0.000000 m/s, LOS rate: -0.322813 deg/s, cmd heading: 259.657701 deg, new cmd heading: 259.242683 deg.  iyHeadingCmd: 4.524638 target range: 21.500000 and range: 21.50 m.h ɐ@h h h h g gbgjgeejeJe5@:eED?雩ɛrz) /1i)+.<隱i{=iΈO|{;L=Iɐ@I9DDDE?5 EE%=E%=Mchecking for new query: numPingsReceived=6, elapsed TxPingTime=2.766663ZIUgbIUbjIU1rIQzIU%:IUt9IU3IQIUI$;IUL$;IUS:IUT:VF= =FQ ZAY Mu >Ȇ#x,ʎ[AV@yV@9Va٣a eGaeDO m>]49m?a4Yx ipB}:?m:rͿq?C::P4 sA2iDNOT Ignoring new targets: 21.50 m.*ii%dл"i%dлuDDAT read: Rx Time:19:06:09.7901 uTRx dataTimestamp_ set to:1736535970.343760}PDAT read: Bearing 352.3, 1.8 (Local) ~Local bearing/azimuth received: Bearing 352.3, 1.8 (Local) DAT read: Range 10 to 50 : 21.0 m (trip time 14.0 ms) speed 0.7 DAT read: 19:06:09.7901 LVL= 18144, 32753, 19138, 32435, AGC= 58, IDX= 509, 0.33,-2.411, 2.584,-2.094,-2.506, PHS= 0.183,-1.146, 0.409, RAW= 157.7, 7.7, CAL= 157.7, -1.8, ROT= 352.3, 1.8 Ygot valid direction response: 19:06:09.7901 LVL= 18144, 32753, 19138, 32435, AGC= 58, IDX= 509, 0.33,-2.411, 2.584,-2.094,-2.506, PHS= 0.183,-1.146, 0.409, RAW= 157.7, 7.7, CAL= 157.7, -1.8, ROT= 352.3, 1.8 R#Rx 7: Read range and direction messages.`direction in FSK: [0.990494,-0.133920,-0.031411]Fpublishing direction and range infoqYuV ?iM$IzuA9quF u)uJIu~iu:uZd;>u!ush>u'0@ u >)u'0@Iuiu@u=q qu]#8?)h?JQ?Iu(?iu u u=q qchecking for new query: numPingsReceived=7, elapsed TxPingTime=3.032621:JBJh9JJRJZJ ProNav: ac range: 21.500000 m, nav range: 21.937115 m, bearing: 256.909663 deg, approach rate: -0.709531 m/s, LOS rate: -0.364383 deg/s, cmd heading: 259.242671 deg, new cmd heading: 258.753094 deg.  i z HeadingCmd: 4.516093 target range: 21.500000 and range: 21.50 m.hփ@hhhhggbgjgBeejeAJeE5@:eE`i?雭Bɛ2) ^3i)3e<隱i=i0⿉"=Iփ@IDDDE5 EVF ^=H H a= checking for new query: numPingsReceived=7, elapsed TxPingTime=3.268559F ZA M > )x,ѕ[A6k@y64{@96{>ٍJ ٍ\>ٍ /@ ڍ>)ڍ /@Iڍ+ȼiڍQ@ڍ+<ډ ۉۍ0 d?>?7?Iۍ-$?iۍ^8ۍ|ゥۍ+<ۉ ܉ checking for new query: numPingsReceived=8, elapsed TxPingTime=3.537798D DDE_0 EVF% =F- ?F- %?F ZA Mm >ר0x,*[Achecking for new query: numPingsReceived=8, elapsed TxPingTime=3.772652ZIbI_jI0rIzII=h9Iـ3IIJ$;II:I:C;@yJ@9 ٣ GjF0  >!]M49%Km?aU4Y% i%pBU<:?m:Ͽq?%fC%ջ<%ٺ<% 4 AԶEZjl?bjN] iiK[Aj3AjA2j@pG/A4@E# ߿zp۶5?3۽{J"j|*j+<pÌ#z ѵ3u}p6l̿J&￲c.iޞjiC)l?ivj  j}Bzjj7a j'}BjjѤArjk @ addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504626 s, deltaX: -0.600000 m, approachRate: -1.189000 m/s, rangeRepo size: 4  Added new target pos. range: 20.400000 m, bearing: 257.149283 deg, lat: 36.903891 deg, lon: -122.119084 deg, deltaT: 0.504626 s, deltaX: -0.600000 m, approachRate: -1.189000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 20.40 m.*ii"i ProNav: ac range: 20.400000 m, nav range: 20.602476 m, bearing: 256.127372 deg, approach rate: 0.000000 m/s, LOS rate: -0.364383 deg/s, cmd heading: 258.298821 deg, new cmd heading: 257.750127 deg.  iHeadingCmd: 4.498589 target range: 20.400000 and range: 20.40 m.hp@hhhhggbgjgBeeje!Je%`ff4@:e%h?雹ɛV) :i)D<i=im俉=Ip@Ie =e <u DDAT read: Rx Time:19:06:10.7896 u TRx dataTimestamp_ set to:1736535971.352185} PDAT read: Bearing 354.2, 0.5 (Local)  ~Local bearing/azimuth received: Bearing 354.2, 0.5 (Local)  DAT read: Range 10 to 50 : 20.3 m (trip time 13.5 ms) speed 0.7 D D D E 4 E :J BJ +9JJ RJ ZJ E E iA DAT read: 19:06:10.7896 LVL= 20320, 32753, 20146, 32755, AGC= 58, IDX= 505,-0.14, 2.490, 1.217, 2.750, 2.406, PHS= 0.172,-1.142, 0.342, RAW= 156.0, 9.0, CAL= 155.8, -0.5, ROT= 354.2, 0.5  Ygot valid direction response: 19:06:10.7896 LVL= 20320, 32753, 20146, 32755, AGC= 58, IDX= 505,-0.14, 2.490, 1.217, 2.750, 2.406, PHS= 0.172,-1.142, 0.342, RAW= 156.0, 9.0, CAL= 155.8, -0.5, ROT= 354.2, 0.5  R#Rx 9: Read range and direction messages. `direction in FSK: [0.994843,-0.101052,-0.008727] Fpublishing direction and range infoq Yu ;?@l޹B7߁u fA9q u `O u )u NIu iu :u 0>u -u >u @.@ u | >)u .@Iu 5iu @u 5 8x,[Arʋ@yrْ@9ri٣i uGqu u>y]49}m?a4Y} i}}pBпq?}C};};}[4 AZj- jml?bj-{G i)i-3[Aj-fAj-SA2j-3@p-_14@1i+άƿzp-;?@l޹B7߁"j-)QϽ*j-5<p-Kb 3?%p-Pby\̿N#.N%i-=j-i-+ul?i-  j-:Bzj-EEk?j)j-}Bjj-Arj- @Uchecking for new query: numPingsReceived=9, elapsed TxPingTime=4.276696u addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503799 s, deltaX: -0.100000 m, approachRate: -0.198493 m/s, rangeRepo size: 4  Added new target pos. range: 20.299999 m, bearing: 257.188938 deg, lat: 36.903892 deg, lon: -122.119084 deg, deltaT: 0.503799 s, deltaX: -0.100000 m, approachRate: -0.198493 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 20.30 m.*ii"i ProNav: ac range: 20.299999 m, nav range: 20.323750 m, bearing: 256.194657 deg, approach rate: 0.000000 m/s, LOS rate: -0.364383 deg/s, cmd heading: 257.750138 deg, new cmd heading: 257.369717 deg.  iHeadingCmd: 4.491949 target range: 20.299999 and range: 20.30 m.h @hhhhggbgjgee!je!Je%L4@:e-@A?qɛuV)}9= }@>iy)}e ;mA )%Q#y%;mA%XB DDAT read: Rx Time:19:06:11.2893  TRx dataTimestamp_ set to:1736535971.856912% PDAT read: Bearing 355.3, -0.4 (Local) % ~Local bearing/azimuth received: Bearing 355.3, -0.4 (Local) 5 DAT read: Range 10 to 50 : 19.8 m (trip time 13.2 ms) speed 0.6 ] DAT read: 19:06:11.2893 LVL= 19424, 28001, 19314, 29747, AGC= 58, IDX= 502,-0.48, 1.593, 0.279, 1.822, 1.505, PHS= 0.176,-1.179, 0.315, RAW= 154.8, 9.7, CAL= 154.7, 0.4, ROT= 355.3, -0.4 e Ygot valid direction response: 19:06:11.2893 LVL= 19424, 28001, 19314, 29747, AGC= 58, IDX= 502,-0.48, 1.593, 0.279, 1.822, 1.505, PHS= 0.176,-1.179, 0.315, RAW= 154.8, 9.7, CAL= 154.7, 0.4, ROT= 355.3, -0.4 e T#Rx 10: Read range and direction messages.m ^direction in FSK: [0.996613,-0.081937,0.006981]m Fpublishing direction and range info Y 20"A?gU?a|? fA9 K am) rKI 3ti X94> y閿 G> ,@ -\->) 3,@I ;i o@  y?H8?_sx?I ?i ,  checking for new query: numPingsReceived=10, elapsed TxPingTime=4.5511192>x,X[A6@y6 @96"h٣h jGjkF >!]-49%Y~m?a-4Y% i%spB)5ѿq5?%C%`:%:%149 =ZAAZjM2!l?bjMt iIiM[AjMfAjMZA2jM@pM١3@"Z !-qt|?zpM20"A?gU?a|?"jM*jMpM`Z38]ᮃۿpM*(Vʿom F￈<'>iMКjMUiML;l?iM  jMIBzjMC)l?jMN0 jM}BjjMArjM~@  addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504727 s, deltaX: -0.500000 m, approachRate: -0.990635 m/s, rangeRepo size: 4 e Added new target pos. range: 19.799999 m, bearing: 257.848967 deg, lat: 36.903895 deg, lon: -122.119083 deg, deltaT: 0.504727 s, deltaX: -0.500000 m, approachRate: -0.990635 m/s, posRepo size: 4 2iaeDNOT Ignoring new targets: 19.80 m.*iaii"ii ProNav: ac range: 19.799999 m, nav range: 19.872944 m, bearing: 256.926285 deg, approach rate: 0.000000 m/s, LOS rate: -0.364383 deg/s, cmd heading: 257.369724 deg, new cmd heading: 256.934644 deg.  iHeadingCmd: 4.484355 target range: 19.799999 and range: 19.80 m.h@hhhhggbgjgeejeJe3@:et?}Bɛ}`) Ai)u<隁ik$=i@濉'=I@Ichecking for new query: numPingsReceived=10, elapsed TxPingTime=4.783188DDDE EVF zF rF F ZA M >[Ex,rk[A:!Z@y:i@9:bbbZ>b9>,@ b6&>)b!,@Ibib@b:` `b/f?{QV?k?IbV?ibH%bib:` `Echecking for new query: numPingsReceived=11, elapsed TxPingTime=5.049254:JIBJM9JJIRJMZJM(D wX?+ ]B]IMb@Mb@Mb@ )IyZd;? ףp= ?~jt>? A);AIzAi AHHO5`4  +=YET9Q E>q٣q }G}lFv >]49|m?a4Y  ifpBY??m:ҿq?C;;"4 AZjb *l?bjb} i`ibd[AjbAjbA2jb!@pbz7s3@nO(GN[GlzpbO?a Mn p\"jbi*jb:pbV 2É3yۛpbX9k&tʿ ypKFM:ribjbibl(l?ibG  jbBzjb+ul?jbG jb:BjjbArjbXu@ addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.502792 s, deltaX: -0.299999 m, approachRate: -0.596667 m/s, rangeRepo size: 4  Added new target pos. range: 19.500000 m, bearing: 258.067388 deg, lat: 36.903895 deg, lon: -122.119084 deg, deltaT: 0.502792 s, deltaX: -0.299999 m, approachRate: -0.596667 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 19.50 m.*ii"i- ProNav: ac range: 19.500000 m, nav range: 19.582840 m, bearing: 256.861240 deg, approach rate: 0.000000 m/s, LOS rate: -0.364383 deg/s, cmd heading: 256.934641 deg, new cmd heading: 256.403186 deg.  i)5HeadingCmd: 4.475080 target range: 19.500000 and range: 19.50 m.h53@h1h1h1h1g1g9bgyjg}|BeejeJe3@:e`? ɛ Rɼ)  1Gi )u)<i%=io翉Û=I3@I!D)zD)DDDE EE=E=ZI]hbI]`jIYrIYzI](:I]bl9IYIYqm@im@um@mm@}checking for new query: numPingsReceived=11, elapsed TxPingTime=5.285859VFR=F ZA M >G G G MIG BG G G G /<G FCKx,1@/[A:$@y:3@9: B`o>)@ X8>)X*@IMSx,M[ABIMb@Mb@Mb@ )IyPn?&1?~jtD?P= IA)AIAi~AHH=X5tǼ $=YQ >٣ GmF >] 49wm?a 4Y$ iPpB D?m : ҿq ?,CT;A:(14 @AZj7JKl?bj iiiT7[Aj̘AjʗA2j󎾐@pB 3@cY9W?zp?-S|p}?"jѸ2*jpTQ hg2HΚ:?pusȿ6Uhm9DƙRY?ijeiJIl?i&]   jBzjL;l?jjBjj$ArjQЏ@u addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504823 s, deltaX: -0.400000 m, approachRate: -0.792356 m/s, rangeRepo size: 4  Added new target pos. range: 19.100000 m, bearing: 259.163778 deg, lat: 36.903898 deg, lon: -122.119084 deg, deltaT: 0.504823 s, deltaX: -0.400000 m, approachRate: -0.792356 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 19.10 m.*ii"iM ProNav: ac range: 19.100000 m, nav range: 18.892693 m, bearing: 257.497490 deg, approach rate: 0.000000 m/s, LOS rate: -0.337594 deg/s, cmd heading: 256.075813 deg, new cmd heading: 255.578742 deg.  iQHeadingCmd: 4.460690 target range: 19.100000 and range: 19.10 m.h@hhhhggbgjgjBeejeJe3@:e@io?Bɛۼ)1 UOiQ)]V٥K٥O>٥)@ ڥ6&>)ڥUs)@Iڥ;iڥ@ڥڡ ۡۥ$?=j}p?p%?Iۥ5 ?iۥ@"'ۥۥۡ ܡ}checking for new query: numPingsReceived=13, elapsed TxPingTime=6.069716:JePBJ+9JJRJZJ^Dl;=D5 D1 D1 E5 _0 E1 E= iAE= hAZI- gbI- \jI) rI) zI- %:I- [9I) I) M checking for new query: numPingsReceived=13, elapsed TxPingTime=6.292629*G-<"G)GE>GAGE4IGEpBGAGAGAGE<GEFVF֪=FqZAM?O[x,n[A6A@y6Ƒ@96٣ GnF ʼ >]49tm?a4Y' iApBԿq?aC:::4  pA Zj8Pl?bjzh  ii?W[AjfAjgA2jϐ@p3o2@u 9f?zp1?T`a|?"j*jp.R ux2kc2׿p5 ǿNӮoABij_iYFNl?i󳋠   jIBzjl(l?j󁦹 jIBjj$Arj@e addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503347 s, deltaX: -0.300001 m, approachRate: -0.596013 m/s, rangeRepo size: 4 u Added new target pos. range: 18.799999 m, bearing: 259.285506 deg, lat: 36.903899 deg, lon: -122.119085 deg, deltaT: 0.503347 s, deltaX: -0.300001 m, approachRate: -0.596013 m/s, posRepo size: 4 2iyDNOT Ignoring new targets: 18.80 m.*ii"i ProNav: ac range: 18.799999 m, nav range: 18.517775 m, bearing: 257.703658 deg, approach rate: 0.000000 m/s, LOS rate: -0.337594 deg/s, cmd heading: 255.578739 deg, new cmd heading: 255.030853 deg.  iHeadingCmd: 4.451128 target range: 18.799999 and range: 18.80 m.ho@hhhhggbgjgeejeJe2@:e?eDDAT read: Rx Time:19:06:13.2884 uTRx dataTimestamp_ set to:1736535973.872182}PDAT read: Bearing 0.7, -2.2 (Local) }~Local bearing/azimuth received: Bearing 0.7, -2.2 (Local) DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.6 DAT read: 19:06:13.2884 LVL= 21792, 32753, 20002, 32755, AGC= 57, IDX= 508,-0.36,-0.901,-2.218,-0.860,-1.052, PHS= 0.240,-1.119, 0.190, RAW= 148.1, 10.4, CAL= 149.3, 2.2, ROT= 0.7, -2.2 Ygot valid direction response: 19:06:13.2884 LVL= 21792, 32753, 20002, 32755, AGC= 57, IDX= 508,-0.36,-0.901,-2.218,-0.860,-1.052, PHS= 0.240,-1.119, 0.190, RAW= 148.1, 10.4, CAL= 149.3, 2.2, ROT= 0.7, -2.2 T#Rx 14: Read range and direction messages.\direction in FSK: [0.999188,0.012208,0.038388]Fpublishing direction and range infoiYmWY?Ou?.?m̔A9im U i)m"NIiiimu>md;m\B>mm%@ m9>)m &@ImnF=im+H?V/ɱ?m&X?Imx>im`8m+Hq٣q uGuoF}r }>]49?qm?a4Y=1 i2pB5E?m:ֿq?Ct;$;tC4 AضEZjY΀l?bj]P! iiw[Aj̔AjГA2jՑ@pʼn<2@ƈ?rg2?zpWY?Ou?.?"j+H<*jnFp4vD_2ˊ?ps.ÿxɜ￰=?ij7i4l?iU  jBzjJIl?j&]  jjjcArjȝ@] addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504308 s, deltaX: -0.199999 m, approachRate: -0.396581 m/s, rangeRepo size: 4  Added new target pos. range: 18.600000 m, bearing: 261.115556 deg, lat: 36.903902 deg, lon: -122.119088 deg, deltaT: 0.504308 s, deltaX: -0.199999 m, approachRate: -0.396581 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.60 m.*ii"i ProNav: ac range: 18.600000 m, nav range: 18.298740 m, bearing: 258.934546 deg, approach rate: 0.000000 m/s, LOS rate: -0.337594 deg/s, cmd heading: 255.030849 deg, new cmd heading: 254.506098 deg.  iHeadingCmd: 4.441969 target range: 18.600000 and range: 18.60 m.h$@hhhhggDDAT read: Rx Time:19:06:13.7881 TRx dataTimestamp_ set to:1736535974.375876PDAT read: Bearing 1.1, -1.9 (Local) ~Local bearing/azimuth received: Bearing 1.1, -1.9 (Local) DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.6 5DAT read: 19:06:13.7881 LVL= 27120, 32753, 20706, 32755, AGC= 59, IDX= 505, 0.04, 1.239,-0.146, 1.264, 1.063, PHS= 0.264,-1.162, 0.198, RAW= 147.7, 10.1, CAL= 148.9, 1.9, ROT= 1.1, -1.9 EYgot valid direction response: 19:06:13.7881 LVL= 27120, 32753, 20706, 32755, AGC= 59, IDX= 505, 0.04, 1.239,-0.146, 1.264, 1.063, PHS= 0.264,-1.162, 0.198, RAW= 147.7, 10.1, CAL= 148.9, 1.9, ROT= 1.1, -1.9 ET#Rx 15: Read range and direction messages.M\direction in FSK: [0.999266,0.019187,0.033155]MFpublishing direction and range infoYjJ>bgjgNBeejeJe@332@:e@Q?$@ J4>)R&@I=inF< #?50\>?=AK_?I>i3nF< checking for new query: numPingsReceived=15, elapsed TxPingTime=7.073447:JBHBJ9JJRJZJJIhAɛE;) Wi)+<i6 =i 뿉  Z=I $@IDDDE EVF=FiZAqM>IIm3IS}-IIIZI jbI `jI rI zI .:I bl9I  checking for new query: numPingsReceived=15, elapsed TxPingTime=7.300646I /ix,M[AGGGIG[BGGGG<GFHC HCHH ="H =*H44=@y=@9=٣ G% %>)]U49-mm?aU4Y-9 i-$pBQ]ؿq]?-C-%;-:-J4eB e>Ae۶EZj-h xl?bj-W& i)i-Z[Aj-Aj-A2j-y@p-Lz/2@lPY?q@O?zp-z>!@ 9>)Y3$@IA=iPwV=A R.Ԋ?È?;}Ѹ ?I!>iMP9PwV=A uchecking for new query: numPingsReceived=16, elapsed TxPingTime=7.595348VF 7=F ZA M >3qx, [Aաաchecking for new query: numPingsReceived=16, elapsed TxPingTime=7.807971޽BI٣ GpF >]49tjm?a4YC ipBJ?m:ֿq?C ;~ ;AS4 ~AZj1-tl?bj# ii@j[AjAjA2j@pR Ï1@\4?|@\?zpuC?nB)Ī?P7V?"jPwV=*jApMD^Y_1INXp,?p5BfUPF?iZji,l?i=/  jсBzjE-}vl?j=/ jHBjj@Arj'@ addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.505609 s, deltaX: -0.500000 m, approachRate: -0.988906 m/s, rangeRepo size: 4  Added new target pos. range: 17.700001 m, bearing: 262.551787 deg, lat: 36.903907 deg, lon: -122.119091 deg, deltaT: 0.505609 s, deltaX: -0.500000 m, approachRate: -0.988906 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 17.70 m.*ii"i ProNav: ac range: 17.700001 m, nav range: 17.781702 m, bearing: 260.629724 deg, approach rate: 0.000000 m/s, LOS rate: -0.337594 deg/s, cmd heading: 254.072683 deg, new cmd heading: 253.583611 deg.  iHeadingCmd: 4.425869 target range: 17.700001 and range: 17.70 m.h@hhhhgg bg jg ] 7] =] | @ ] BR>)] .k#@I] l=i] A=F ZA ] lY Y ] =N?83am?:)+?I] a>i] R] A=] lY Y  checking for new query: numPingsReceived=17, elapsed TxPingTime=8.081373M >:J iJBJ 9JJ RJ ZJ p\wx,[ANh@yNș@9NxGqGuIGuGBGu =GqGqGu<GuFDDDE0 EVF= =F ZA! M= >C|}x,֏[ADDAT read: Rx Time:19:06:15.2874 TRx dataTimestamp_ set to:1736535975.887801PDAT read: Bearing 3.7, -3.5 (Local) ~Local bearing/azimuth received: Bearing 3.7, -3.5 (Local) "DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.7 6DAT read: 19:06:15.2874 LVL= 26448, 32753, 19266, 32755, AGC= 59, IDX= 496, 0.30, 0.052,-1.367,-0.025,-0.152, PHS= 0.291,-1.168, 0.124, RAW= 144.0, 10.9, CAL= 146.3, 3.5, ROT= 3.7, -3.5 :Ygot valid direction response: 19:06:15.2874 LVL= 26448, 32753, 19266, 32755, AGC= 59, IDX= 496, 0.30, 0.052,-1.367,-0.025,-0.152, PHS= 0.291,-1.168, 0.124, RAW= 144.0, 10.9, CAL= 146.3, 3.5, ROT= 3.7, -3.5 :T#Rx 18: Read range and direction messages.>\direction in FSK: [0.996054,0.064412,0.061049]BFpublishing direction and range infoYF?W.EM}?.xA?A9Pg )BKIi;>= B>)I5z=i5z jiB5z nchecking for new query: numPingsReceived=18, elapsed TxPingTime=8.585004~ L@y~i[@9~ܫ٣ GrFf >]49Gcm?a4Y0U ioBٿq?CC;;b4 AݶEZjمJ مxi=م)@ څ4QO>)څK @Iڅ=iڅk=څځ ہۅgFP??BJ3?`!?IۅS>iۅROۅk=ۅہ ܁checking for new query: numPingsReceived=19, elapsed TxPingTime=9.081167:J-BJ)JJ)RJ-ZJ-VFMΥ=zFQrFUhAF ZAM5?Rx,ж[A%3C %VlA%D!ɳ))5lAI5ף)1i1)1I5~lA5ɴ9 9ɵ9=lA=i=kZF9iAA)A AIA I)Iɶ󽩶鶉ɷblAiIIiA 鷙)ޥ̀BkIMb@Mb@Mb@ )IyDl?Dl?:vOM?O=T A)IAiQ AHH]5C$ =YQ >٣ G >] 49$_m?a 4Yp` ioBN?m:׿q?zC::Vk4! -A)Zjl?bjT ii[AjAjA2j4@p-WYI0@?<>[?zp󱅳?z?U]k?"jk=*jpmdSoJ!:0[7?pCSҊy{t?ijzӿi"l?iD8  jBzjICl?jjHBjjׄArj|@AAchecking for new query: numPingsReceived=19, elapsed TxPingTime=9.317022% addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503849 s, deltaX: -0.299999 m, approachRate: -0.595415 m/s, rangeRepo size: 4 ] Added new target pos. range: 16.700001 m, bearing: 264.308991 deg, lat: 36.903912 deg, lon: -122.119091 deg, deltaT: 0.503849 s, deltaX: -0.299999 m, approachRate: -0.595415 m/s, posRepo size: 4 2iaDNOT Ignoring new targets: 16.70 m.*ii"iGGGIG3BGGGG<GF- ProNav: ac range: 16.700001 m, nav range: 16.605127 m, bearing: 262.283642 deg, approach rate: 0.000000 m/s, LOS rate: -0.337594 deg/s, cmd heading: 252.730796 deg, new cmd heading: 252.185100 deg.  i1EHeadingCmd: 4.401460 target range: 16.700001 and range: 16.70 m.hE،@hAhAhAhagigibgqjgqeqeqjeyJe}@30@:e}M?Bɛn") ji)-Ɍ<i =ia𿉠t=I ،@I I)Du Dq Dq Eq  Eq *G ) Hy A DDAT read: Rx Time:19:06:16.2868  TRx dataTimestamp_ set to:1736535976.895941 PDAT read: Bearing 5.6, -4.6 (Local)  ~Local bearing/azimuth received: Bearing 5.6, -4.6 (Local)  DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.8  DAT read: 19:06:16.2868 LVL= 27280, 32753, 19522, 32755, AGC= 58, IDX= 507, 0.03,-0.925,-2.350,-1.066,-1.141, PHS= 0.304,-1.162, 0.072, RAW= 141.5, 11.5, CAL= 144.4, 4.6, ROT= 5.6, -4.6  Ygot valid direction response: 19:06:16.2868 LVL= 27280, 32753, 19522, 32755, AGC= 58, IDX= 507, 0.03,-0.925,-2.350,-1.066,-1.141, PHS= 0.304,-1.162, 0.072, RAW= 141.5, 11.5, CAL= 144.4, 4.6, ROT= 5.6, -4.6  T#Rx 20: Read range and direction messages. \direction in FSK: [0.992022,0.097269,0.080199] Fpublishing direction and range infoر Yص 0?FRڗ?zꇴ?ص ̀A9ر ص j ٱ )ٵ BLIٱ iٵ :ٵ 㥛>ٵ jٵ t=ٵ @ ڵ M>)ڵ K!@Iڵ l=iڵ +=ڵ lڱ ۱ ۵ ޑ*?w"?.?I۵ p>i۵ M۵ +=۵ l۱ ܱ 5 checking for new query: numPingsReceived=20, elapsed TxPingTime=9.585396VFEZ=FZA!ME>(x,B>[Afψ@yfޏ@9f +?l> ˿"{ h?@?fψ@ɨf; dȀBfI=ip;HHX[5ꈼ 8=YUQ >٣ GMsFM M>Y]e49]=[m?a4Y]i i]oBٿq?]C]4<] 4<]s4 7AZjTWl?bjg  iiW9[Aj̀AjA2jPϒ@pڔn/@~m=o?42Ĩ?zp0?FRڗ?zꇴ?"j+=*jlp%5k/3k?p'JU[IiaxAKP?ijiQl?iK   j߂Bzj,l?j4 j߂Bjj`Arjq@ addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504291 s, deltaX: -0.600000 m, approachRate: -1.189790 m/s, rangeRepo size: 4 - Added new target pos. range: 16.100000 m, bearing: 262.861964 deg, lat: 36.903913 deg, lon: -122.119090 deg, deltaT: 0.504291 s, deltaX: -0.600000 m, approachRate: -1.189790 m/s, posRepo size: 4 2i)5DNOT Ignoring new targets: 16.10 m.*i1i1"i1m ProNav: ac range: 16.100000 m, nav range: 16.172045 m, bearing: 262.492176 deg, approach rate: 0.000000 m/s, LOS rate: -0.337594 deg/s, cmd heading: 252.185091 deg, new cmd heading: 251.718977 deg.  iiuHeadingCmd: 4.393325 target range: 16.100000 and range: 16.10 m.hu@hqhqhqhqggbgjgeeEchecking for new query: numPingsReceived=20, elapsed TxPingTime=9.822809ZIehbIe]jIe0rIazIe(:Ie_9Ieـ3IaIe);qIe);iIei:uIek:mjeJe0@:e5@XT?EBɛE-)A mkii)mf Օx,KvX[A6@y6@96;FˡF=F2+@ Ff;>%B=ZI)Fvh!@IFk=iF =FkD DF_Y C?im'?V;,9?IF>iF:F =FkD Dchecking for new query: numPingsReceived=21, elapsed TxPingTime=10.105433:JBoHBJs9JJRJZJJ ? J?Mb@Mb@Mb@ )Iyi|?5?l?~jtQ?= A)AIAi A( AHmHm#U51 2=YxʺQ >٣ GtFⅼ >]49Wm?a4Ys ioBR?m:ڿq?Cf:W;{45B 5A5߶EZjFxl?bjFb  iDiFpY[AjF|AjF {A2jF@pFsAg/@ף0?oU?zpF@zެ?l~~?`8.y?"jF =*jFkpF[i=luK/ܚ |?pF+z|/,￘?iF^zjFiFڧl?iF%/  jFBzjFڧl?jF%/ jDjjF|ArjF@ addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503866 s, deltaX: -0.300000 m, approachRate: -0.595397 m/s, rangeRepo size: 4  Added new target pos. range: 15.800000 m, bearing: 262.430580 deg, lat: 36.903912 deg, lon: -122.119090 deg, deltaT: 0.503866 s, deltaX: -0.300000 m, approachRate: -0.595397 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 15.80 m.*ii"i ProNav: ac range: 15.800000 m, nav range: 15.785525 m, bearing: 262.430634 deg, approach rate: 0.000000 m/s, LOS rate: -0.337594 deg/s, cmd heading: 251.718972 deg, new cmd heading: 251.257200 deg.  iHeadingCmd: 4.385265 target range: 15.800000 and range: 15.80 m.hT@hhh9h9g9gAbgAjgE)BeAeIjeIJeM/@:eM?uBɛuU) x,\v[A) @:@y:r"@9:# ٣  G* >]%49DSm?a%4Y{ ioB)-ۿq-?C;r;49 =A9B*** querying acoustic contact ***iiDDAT read: Rx Time:19:06:17.2863 TRx dataTimestamp_ set to:1736535977.903802PDAT read: Bearing 6.3, -3.4 (Local) ~Local bearing/azimuth received: Bearing 6.3, -3.4 (Local) DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.6 DAT read: 19:06:17.2863 LVL= 28320, 32753, 20562, 32755, AGC= 58, IDX= 502,-0.41,-1.383,-2.835,-1.556,-1.643, PHS= 0.349,-1.145, 0.085, RAW= 140.5, 10.3, CAL= 143.7, 3.4, ROT= 6.3, -3.4 Ygot valid direction response: 19:06:17.2863 LVL= 28320, 32753, 20562, 32755, AGC= 58, IDX= 502,-0.41,-1.383,-2.835,-1.556,-1.643, PHS= 0.349,-1.145, 0.085, RAW= 140.5, 10.3, CAL= 143.7, 3.4, ROT= 6.3, -3.4 T#Rx 22: Read range and direction messages. \direction in FSK: [0.992211,0.109541,0.059306] Fpublishing direction and range infoةYح7&2?eK ?Cg]?حtA9ةحn ٩)٭RPI٩i٭:٭!>٭\٭{=٭@ ڭX8>)ڭ @Iڭs=iڭz0=ڭsک ۩ۭZ09~?hÜ'd?$r?Iۭ>iۭ^8ۭz0=ۭs۩ ܩ-checking for new query: numPingsReceived=22, elapsed TxPingTime=10.593542} addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503995 s, deltaX: -0.500000 m, approachRate: -0.992073 m/s, rangeRepo size: 4 2iyDNOT Ignoring new targets: 15.80 m.*iij:"ij: ProNav: ac range: 15.800000 m, nav range: 15.478387 m, bearing: 262.448599 deg, approach rate: -0.857735 m/s, LOS rate: 0.051166 deg/s, cmd heading: 251.257197 deg, new cmd heading: 251.312161 deg.  iu ;HeadingCmd: 4.386225 target range: 15.800000 and range: 15.30 m.h[@hhhhggbgjgeejeJe.@:e?eBɛe [)i moii)m8t=FZA)MEs>ZI9 bI= `jI9 rI9 zI9 I= bl9I9 I9 I9 I9 I= ):I= *:} checking for new query: numPingsReceived=22, elapsed TxPingTime=10.831931ѣx,[A2Ї@y2S@92٣ GuF >]49]Om?a4Yv ioBP?m:ڿq?*C::戇4 AEZj|ol?bji iiy[AjtAj.sA2jqA@pKa\.@ )?Q ?zp7&2?eK ?Cg]?"jz0=*jsp@L)9zJmT%B.=5?p[b¿lg￘ME?irjS izL;l?i;   j-Bzjj4 jHBjjorArj@2i DNOT Ignoring new targets: 15.80 m.*ii9"i9- ProNav: ac range: 15.800000 m, nav range: 15.137758 m, bearing: 262.454397 deg, approach rate: -0.859885 m/s, LOS rate: 0.014968 deg/s, cmd heading: 251.312166 deg, new cmd heading: 251.329954 deg.  i-[$:-HeadingCmd: 4.386535 target range: 15.800000 and range: 15.30 m.h5^@h1hhhggbgjg*BeejeJe:eu?5Bɛ5~W)9 =pi9)E/hB`e=@ ȭT>)| @I޹=iPw=޹  :?Nt?s?Iǻ>i:'UPw=޹ Uchecking for new query: numPingsReceived=23, elapsed TxPingTime=11.098283DeDaDaEe4 Ea:JBJ59JJRJZJVF 7=Fa ZA M >HY HY  DDAT read: Rx Time:19:06:18.2856  TRx dataTimestamp_ set to:1736535978.663809 checking for new query: numPingsReceived=23, elapsed TxPingTime=11.340206Y5x,-Ѫ[AGGGIGBG =GGG<GFUw@yUע@9U٣ GvFLJ >]49Jm?a4Y ioBwۿq?ZC;;ѐ4 AZjtl?bj ii-[AjfnAjlA2jƑ@pYȃ-@j((?B0W?zpw+{җ?{#/?0L3?"jPw=*j޹pYugW-kӃ?p`%sÿ)J?En*?ijji_l?i  jBzjj j߂BjjlArj@ addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.505233 s, deltaX: -0.400001 m, approachRate: -0.791715 m/s, rangeRepo size: 4  Added new target pos. range: 14.900000 m, bearing: 261.013050 deg, lat: 36.903912 deg, lon: -122.119090 deg, deltaT: 1.009228 s, deltaX: -0.900001 m, approachRate: -0.891771 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 14.90 m.*ii"i  ProNav: ac range: 14.900000 m, nav range: 14.798389 m, bearing: 262.487295 deg, approach rate: 0.000000 m/s, LOS rate: 0.014968 deg/s, cmd heading: 251.329952 deg, new cmd heading: 251.350986 deg.  i 5HeadingCmd: 4.386902 target range: 14.900000 and range: 14.90 m.h=a@h9h9h9h9g9g9bgAjgAeAeAjeIJeM-@:eMY?BɛB) qi)Y<iH=ih򿉠߅;Zw=Ia@IDDDE&4 EEEmPDAT read: Bearing 4.9, -1.4 (Local) u~Local bearing/azimuth received: Bearing 4.9, -1.4 (Local) DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.6 DAT read: 19:06:18.2856 LVL= 28512, 32753, 20210, 32755, AGC= 58, IDX= 495, 0.06,-0.535,-2.049,-0.669,-0.824, PHS= 0.376,-1.179, 0.151, RAW= 142.3, 9.0, CAL= 145.1, 1.4, ROT= 4.9, -1.4 Ygot valid direction response: 19:06:18.2856 LVL= 28512, 32753, 20210, 32755, AGC= 58, IDX= 495, 0.06,-0.535,-2.049,-0.669,-0.824, PHS= 0.376,-1.179, 0.151, RAW= 142.3, 9.0, CAL= 145.1, 1.4, ROT= 4.9, -1.4 T#Rx 24: Read range and direction messages.\direction in FSK: [0.996048,0.085391,0.024432]Fpublishing direction and range infoaYe)̟?B\6ܵ?{J?edA9ae`o a)eNIaiae>ey閿e>e\@ e| >)e "@Ie+ie e%=e+ȼa achecking for new query: numPingsReceived=24, elapsed TxPingTime=11.599847VFy؜=FZAM>x,[A:PR@y:a@9:r |,@mf?>\?zp)̟?B\6ܵ?{J?"j%=*j+ȼpzgd#,t|5!?pDƿ':|:7l7È?iaj>#i"pl?i;  jBzjzL;l?j%/ j-Bjj^hArj9@M addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.501677 s, deltaX: -0.599999 m, approachRate: -1.195987 m/s, rangeRepo size: 4 e Added new target pos. range: 14.300000 m, bearing: 259.724419 deg, lat: 36.903911 deg, lon: -122.119090 deg, deltaT: 0.501677 s, deltaX: -0.599999 m, approachRate: -1.195987 m/s, posRepo size: 4 2iaeDNOT Ignoring new targets: 14.30 m.*iaii"ii ProNav: ac range: 14.300000 m, nav range: 14.523027 m, bearing: 261.814608 deg, approach rate: 0.000000 m/s, LOS rate: 0.014968 deg/s, cmd heading: 251.350989 deg, new cmd heading: 251.365098 deg.  iHeadingCmd: 4.387148 target range: 14.300000 and range: 14.30 m.hc@hhhhggbgjgeejeJe,@:e?Bɛ/.)e= Ali)bP<i=iW򿉠";M[=Ic@I]DDAT read: Rx Time:19:06:18.7854 uTRx dataTimestamp_ set to:1736535979.169218PDAT read: Bearing 4.4, -0.8 (Local) ~Local bearing/azimuth received: Bearing 4.4, -0.8 (Local) checking for new query: numPingsReceived=24, elapsed TxPingTime=11.852695ZIibI]jI1rIzI+:I_9I3D5D9D9EE_0 EIII/;I/;Ij:Ik:VF b=F ZA M > DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.6 M DAT read: 19:06:18.7854 LVL= 32416, 32753, 24770, 32755, AGC= 58, IDX= 509, 0.25, 0.978,-0.564, 0.861, 0.680, PHS= 0.386,-1.197, 0.178, RAW= 143.1, 8.6, CAL= 145.6, 0.8, ROT= 4.4, -0.8 U Ygot valid direction response: 19:06:18.7854 LVL= 32416, 32753, 24770, 32755, AGC= 58, IDX= 509, 0.25, 0.978,-0.564, 0.861, 0.680, PHS= 0.386,-1.197, 0.178, RAW= 143.1, 8.6, CAL= 145.6, 0.8, ROT= 4.4, -0.8 U T#Rx 25: Read range and direction messages.] \direction in FSK: [0.996956,0.076712,0.013962]] Fpublishing direction and range info Y V{Z?BKK^?4? `A9 ~ ) `I i ˡ> L7 E6> @ `>) "@I di  nF= d } checking for new query: numPingsReceived=25, elapsed TxPingTime=12.107244x,[A6@y6@'@96>٣ GwF} >]49Bm?a4Yʞ ioBN?m:ۿq?C'::4 AZjl`l?bjwI ii[Aj`Aj^A2j@pL,o-+@.?RO-?zpV{Z?BKK^?4?"jnF=*jdpi@5ux+ 䪕?p+ ȿ ,eNX?i[j"-i^l?i{  jǀBzj_l?jjBjjbArj\@ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504695 s, deltaX: -0.300000 m, approachRate: -0.594419 m/s, rangeRepo size: 4  Added new target pos. range: 14.000000 m, bearing: 258.858722 deg, lat: 36.903909 deg, lon: -122.119090 deg, deltaT: 0.504695 s, deltaX: -0.300000 m, approachRate: -0.594419 m/s, posRepo size: 4 2ieDNOT Ignoring new targets: 14.00 m.*iaii"ii ProNav: ac range: 14.000000 m, nav range: 14.182903 m, bearing: 260.973891 deg, approach rate: 0.000000 m/s, LOS rate: 0.014968 deg/s, cmd heading: 251.365086 deg, new cmd heading: 251.387114 deg.  iHeadingCmd: 4.387533 target range: 14.000000 and range: 14.00 m.hf@hhhhggbgjg7BeejeJe,@:e?eBɛe!]9)i mliq)u AGuCGuIGuBGqGqGuCDGu<GuFH9 H9H9H= ="H= =*H=Ǎ6checking for new query: numPingsReceived=26, elapsed TxPingTime=12.400362VFc=FI ZAQ Mm >,8x,?r[A6Y߆@y6@96;-x٣x zGzxFz+ >!]-49%$?m?a-4Y%N i%oB)-ܿq-?%C%:%:%ۤ4y }ADAT read: 19:06:19.2850 LVL= 28000, 32753, 21730, 32755, AGC= 57, IDX= 506,-0.38,-1.025,-2.560,-1.099,-1.325, PHS= 0.388,-1.188, 0.224, RAW= 144.5, 7.7, CAL= 146.7, -0.4, ROT= 3.3, 0.4 Ygot valid direction response: 19:06:19.2850 LVL= 28000, 32753, 21730, 32755, AGC= 57, IDX= 506,-0.38,-1.025,-2.560,-1.099,-1.325, PHS= 0.388,-1.188, 0.224, RAW= 144.5, 7.7, CAL= 146.7, -0.4, ROT= 3.3, 0.4 Z#Rx 27: Read direction message, but no range.^direction in FSK: [0.998317,0.057563,-0.006981]ؙY؝n%7?x?a|9ؙ؝`m ٙ)ٝTIٙiٝ9ٝ>ٝbٝB`e>ٝvh!@ ڝ >)ڝ#@Iڝiڝk=ڝ;ڙ۝/J?^?u*6?I۝>i۝p ۝k=۝;checking for new query: numPingsReceived=27, elapsed TxPingTime=12.603272ZjnZpKl?bjGŽ ii([AjfVAjTA2jwɏ@p^A*@UbϮ?$zpn%7?x?a|"jk=*j;py 0Jˮv'*%=tѿp.H˿r:￴>2mi} DDAT read: Rx Time:19:06:19.7849  TRx dataTimestamp_ set to:1736535980.177175 PDAT read: Bearing 2.5, 1.1 (Local)  ~Local bearing/azimuth received: Bearing 2.5, 1.1 (Local) ZI lVF- va=bI gjI 0rI  DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed 0.6 zI <5:I 9I ـ3I I J?;I L?;I >:I ?:FA ZAi M > DAT read: 19:06:19.7849 LVL= 28144, 32753, 23618, 32755, AGC= 57, IDX= 504,-0.08, 0.321,-1.249, 0.271, 0.010, PHS= 0.399,-1.212, 0.257, RAW= 145.5, 7.3, CAL= 147.5, -1.1, ROT= 2.5, 1.1 = Ygot valid direction response: 19:06:19.7849 LVL= 28144, 32753, 23618, 32755, AGC= 57, IDX= 504,-0.08, 0.321,-1.249, 0.271, 0.010, PHS= 0.399,-1.212, 0.257, RAW= 145.5, 7.3, CAL= 147.5, -1.1, ROT= 2.5, 1.1 = T#Rx 28: Read range and direction messages.E ^direction in FSK: [0.998864,0.043611,-0.019197]E Fpublishing direction and range info؁ Y؅ =ݱ?U9T?]~؅ 3SA9؁ ؅ m ف )م B\Iف iف م I>م "م >م j"@ څ w>)څ S$@Iڅ nFx,IL[Aiڵ¸2=ڵnF<ڱ ۱۵i۵P۵¸2=۵nF<۱ ܱFchecking for new query: numPingsReceived=28, elapsed TxPingTime=12.961181}€B}_I-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 91.77, 85.31, 89.73 @ @ @  @ HH7`5 =  9=YuQ u>y٣y }Gy} >]49p:m?a4Yį ioBi+:mT:q?C)<>94 XAZj`Gy Gy Gy G}  =Gy Gy G} <G} Fy } IA9y  checking for new query: numPingsReceived=29, elapsed TxPingTime=13.396852VF{/=FZAM?x,`2[AF@@yF@9F {1٣9 =G=yF=ü =>A]M49E5m?aM4YE iEoBiU :QmU,:UB޿q]?E0CEo;Em?E4u B uLA}EB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.502034 s, deltaX: -0.599999 m, approachRate: -1.195137 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 13.20 m.*iih "ih  ProNav: ac range: 13.200000 m, nav range: 12.930621 m, bearing: 258.663999 deg, approach rate: -0.840447 m/s, LOS rate: -0.120132 deg/s, cmd heading: 251.422897 deg, new cmd heading: 251.258166 deg.  i 㤻5HeadingCmd: 4.385282 target range: 13.200000 and range: 12.60 m.h5;T@h1h1h1h1g1g9bg9jg9e9eAjeAJeE@33)@:eE D?Bɛ{J) xfi)<i_=i򿉠Eױ;S=I;T@I^DJc=eDAT read: 19:06:20.2845 LVL= 32752, 32753, 24050, 32755, AGC= 57, IDX= 500, 0.16, 0.734,-0.858, 0.709, 0.420, PHS= 0.403,-1.230, 0.287, RAW= 146.4, 6.9, CAL= 148.3, -1.6, ROT= 1.7, 1.6 mYgot valid direction response: 19:06:20.2845 LVL= 32752, 32753, 24050, 32755, AGC= 57, IDX= 500, 0.16, 0.734,-0.858, 0.709, 0.420, PHS= 0.403,-1.230, 0.287, RAW= 146.4, 6.9, CAL= 148.3, -1.6, ROT= 1.7, 1.6 uZ#Rx 30: Read direction message, but no range.}^direction in FSK: [0.999170,0.029655,-0.027922]AYE3?&]?|p}9AE A)E]IAiAEV>EpE>EƇ#@ EϢ=)E%@IEiEI4w?Y3?g?IE9x>iEEH C=H 4= DDAT read: Rx Time:19:06:20.7844 - TRx dataTimestamp_ set to:1736535981.184087x,)=L[APDAT read: Bearing 0.4, 2.0 (Local) ~Local bearing/azimuth received: Bearing 0.4, 2.0 (Local) BDAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.6 -UZ#Rx 31: Read range message, but no direction.QUHA9Qchecking for new query: numPingsReceived=31, elapsed TxPingTime=13.910777X@yfg@9qi!٣! -G5zFu u>y]49}-m?a4Y}o i}oBiT:/I?m:q?}jC}5<}4<}4 AEZjU1l?bjU0 iQuDAT read: 19:06:20.7844 LVL= 32752, 32753, 23314, 32755, AGC= 56, IDX= 499,-0.33,-0.089,-1.650,-0.059,-0.381, PHS= 0.380,-1.222, 0.319, RAW= 148.1, 6.7, CAL= 149.6, -2.0, ROT= 0.4, 2.0 }Ygot valid direction response: 19:06:20.7844 LVL= 32752, 32753, 23314, 32755, AGC= 56, IDX= 499,-0.33,-0.089,-1.650,-0.059,-0.381, PHS= 0.380,-1.222, 0.319, RAW= 148.1, 6.7, CAL= 149.6, -2.0, ROT= 0.4, 2.0 }Z#Rx 32: Read direction message, but no range.^direction in FSK: [0.999366,0.006977,-0.034899]QYUQe?1-|?Xޡ9QQ Q)U[IQiU8U\>UjUS>Um%@ U|=)U'@IU5iU;U5=QU%3 ?V7?.?IU>iUiU;U5=checking for new query: numPingsReceived=32, elapsed TxPingTime=14.115404iUK[AjUHAjUFA2jUk@pUQ^(@t3G?Y?ZVֿzpU3?&]?|p}"jU<*jU<pU _"$!(߿pUΤ9,пc}J YiU AjUNiUel?iUxI  jUBzjUIl?jUxI jU1BjjUEArjU4@5 addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504878 s, deltaX: -0.100000 m, approachRate: -0.198068 m/s, rangeRepo size: 4 = Added new target pos. range: 12.500000 m, bearing: 255.003505 deg, lat: 36.903902 deg, lon: -122.119085 deg, deltaT: 1.006912 s, deltaX: -0.700000 m, approachRate: -0.695195 m/s, posRepo size: 4 2iAeDNOT Ignoring new targets: 12.50 m.*iaim"ii} ProNav: ac range: 12.500000 m, nav range: 12.364208 m, bearing: 257.363824 deg, approach rate: 0.000000 m/s, LOS rate: -0.120132 deg/s, cmd heading: 251.258153 deg, new cmd heading: 251.038573 deg.  iyHeadingCmd: 4.381450 target range: 12.500000 and range: 12.50 m.h4@hhhhggbgjgeBeejeJe)@:e /?雥 Bɛ >() `i ) V3 <隩 i v}=i l󿉠 Q; _=I 4@I C C C C :J} MBJ} 9JJy RJ} ZJ} D %DDAT read: Rx Time:19:06:21.2841 5TRx dataTimestamp_ set to:1736535981.688018MPDAT read: Bearing 359.8, 1.9 (Local) U~Local bearing/azimuth received: Bearing 359.8, 1.9 (Local) ZI}jbI}djIyrIyzI}.:I}|9DDDE1 EG>GGIGBG =GGG<GFEEIyIyI}~4;I}4;I}:I}: DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5 -Z#Rx 33: Read range message, but no direction.)-3CA9)checking for new query: numPingsReceived=33, elapsed TxPingTime=14.411932 eG}lA )YylAAVFUߣ=F1ZA9M];?2x,"{[A(*<FDAT read: 19:06:21.2841 LVL= 32752, 32753, 23634, 32755, AGC= 58, IDX= 495, 0.00,-0.474,-2.065,-0.422,-0.760, PHS= 0.374,-1.258, 0.336, RAW= 148.8, 6.9, CAL= 150.1.9 Junknown deviceResponse_: 19:06:21.2841 LVL= 32752, 32753, 23634, 32755, AGC= 58, IDX= 495, 0.00,-0.474,-2.065,-0.422,-0.760, PHS= 0.374,-1.258, 0.336, RAW= 148.8, 6.9, CAL= 150.1.9 Nchecking for new query: numPingsReceived=33, elapsed TxPingTime=14.616843рBqI 1٣1 5G5{F= =>A]M49E&&m?aM4YE iEoBIIqU?ECE+;E;EŇ4] B ]A]EZjULl?bjUG3 iQiU}l[AjU3CAjUAA2jUض@pUPqb(@ dʵ?6?ۿzpUQe?1-|?Xޡ"jU;*jU5=pU&1XL ezre',epU9cѿD.<ÍyҨiU+;jUbZiUl?iUAQ  jUEBzjU獰:l?jQjUBjjU?ArjU<@ addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503931 s, deltaX: -0.300000 m, approachRate: -0.595320 m/s, rangeRepo size: 4  Added new target pos. range: 12.200000 m, bearing: 253.738353 deg, lat: 36.903901 deg, lon: -122.119085 deg, deltaT: 0.503931 s, deltaX: -0.300000 m, approachRate: -0.595320 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 12.20 m.*ii"iu ProNav: ac range: 12.200000 m, nav range: 11.938309 m, bearing: 256.464216 deg, approach rate: 0.000000 m/s, LOS rate: -0.120132 deg/s, cmd heading: 251.038576 deg, new cmd heading: 250.837537 deg.  iq}HeadingCmd: 4.377941 target range: 12.200000 and range: 12.20 m.h}@hyhhhggbgjgeejeJe`ff(@:e Q?=Bɛ=*)A E\\iA)E0{;AAiE=iM 󿉠U;uY=Iu@Iy-DDAT read: Rx Time:19:06:21.7838 =TRx dataTimestamp_ set to:1736535982.192208]PDAT read: Bearing 359.3, 2.2 (Local) e~Local bearing/azimuth received: Bearing 359.3, 2.2 (Local) HyH}@ADAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.6 -Z#Rx 34: Read range message, but no direction.153;A91checking for new query: numPingsReceived=34, elapsed TxPingTime=14.886167DDDE0 EVF {=F ZA M >x,ގ[AFy@yF@9FٵٵF>ٵ<&@ ڱ)ڵaU(@IڵnFiڵū@ڵnF=ڱ۵֛Vq?D]G?Gd<ν?I۵?i۵۵D+H۵nF=checking for new query: numPingsReceived=35, elapsed TxPingTime=15.123109Y-BQ ->9٣9 =G=|FE' E>i]u49m8 m?a}4Ym imoB}D?m}:}eq}?mCm/:m :m=͇4! %A)ZjO~k?bjV ii#M[Aj3;Aj9A2jBƌ@p}a(a'@JbH¿Tܿzp❠Y?8}."jD+H*jnF=pCA # j<&(pQӿЊh!Mi1jnfitk?i?  j]Bzjel?jC jBjj9Arj<@- addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504190 s, deltaX: -0.500000 m, approachRate: -0.991690 m/s, rangeRepo size: 4 5 Added new target pos. range: 11.700000 m, bearing: 252.055666 deg, lat: 36.903898 deg, lon: -122.119084 deg, deltaT: 0.504190 s, deltaX: -0.500000 m, approachRate: -0.991690 m/s, posRepo size: 4 2iy}DNOT Ignoring new targets: 11.70 m.*iyi"i ProNav: ac range: 11.700000 m, nav range: 11.620891 m, bearing: 254.674402 deg, approach rate: 0.000000 m/s, LOS rate: -0.120132 deg/s, cmd heading: 250.837550 deg, new cmd heading: 250.654880 deg.  iHeadingCmd: 4.374753 target range: 11.700000 and range: 11.70 m.h@hhhhggbgjgmBeejeJe`ff'@:e x?&TFailed to parse incomplete device message.JIgAMBɛMJ)I Ml\iQ)U2p;qqiuy=i}G};}=I}@ID-D)D)E-1 E) DDAT read: Rx Time:19:06:22.2835  TRx dataTimestamp_ set to:1736535982.695488 PDAT read: Bearing 358.0, 2.2 (Local)  ~Local bearing/azimuth received: Bearing 358.0, 2.2 (Local)  DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed 0.6 - Z#Rx 36: Read range message, but no direction.؁ ؅ 4A9؁ G- >G- CG- IG- #BG) G- EDG) G- <G- FZI] nbI] ejIY rIY zI] |;:I] 9IY IY } checking for new query: numPingsReceived=36, elapsed TxPingTime=15.387019I] J;I] J;I] :I] :VFu zc =F) ZA9 MU >x,9d[AF@yF@9F);YF=FH@$Uӿva?#`Jӿ?9z-??F@ɨFU; DvۀBv~IH]H][5mj= mO=YmѻQ >٣ G׻ >]49Mm?a4YP ioBq?CS;;Ӈ4 AB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503280 s, deltaX: -0.400000 m, approachRate: -0.794785 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 11.70 m.*iim"im ProNav: ac range: 11.700000 m, nav range: 11.328485 m, bearing: 254.575162 deg, approach rate: -0.810746 m/s, LOS rate: -0.282262 deg/s, cmd heading: 250.654883 deg, new cmd heading: 250.349482 deg.  iAEHeadingCmd: 4.369423 target range: 11.700000 and range: 11.30 m.hEPҋ@hAhAhIhIgIgIbgQjgQeQeQjeQJe]&@:e]`?Bɛf) Ui)hf;i01=i+ƻ; tw=I Pҋ@I DAT read: 19:06:22.2835 LVL= 32752, 32753, 27170, 32755, AGC= 58, IDX= 505,-0.05, 3.030, 1.471,-3.130, 2.776, PHS= 0.343,-1.258, 0.374, RAW= 151.0, 6.7, CAL= 152.0, -2.2, ROT= 358.0, 2.2 Ygot valid direction response: 19:06:22.2835 LVL= 32752, 32753, 27170, 32755, AGC= 58, IDX= 505,-0.05, 3.030, 1.471,-3.130, 2.776, PHS= 0.343,-1.258, 0.374, RAW= 151.0, 6.7, CAL= 152.0, -2.2, ROT= 358.0, 2.2  Z#Rx 37: Read direction message, but no range.=`direction in FSK: [0.998654,-0.034874,-0.038388]Yu?PVZ"ڡ.9 )"jIi:>%|>+(@ ))@Ii@+@?FqHX??IJ ?i,Quchecking for new query: numPingsReceived=37, elapsed TxPingTime=15.638860DDDE4 EE>E >VFOK=zFrFiAFiZAyM}>x,;[A"DDAT read: Rx Time:19:06:22.7833 JTRx dataTimestamp_ set to:1736535983.200670vPDAT read: Bearing 357.3, 2.3 (Local) ~~Local bearing/azimuth received: Bearing 357.3, 2.3 (Local) DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.7 Յ@y@9~kn;Y=H}ӿhZ? ?zmӿ Y?km`??騭Յ@ɨp*; CDAT read: 19:06:22.7833 LVL= 32752, 32753, 28658, 32755, AGC= 57, IDX= 503, 0.38,-0.945,-2.494,-0.799,-1.190, PHS= 0.333,-1.257, 0.388, RAW= 151.7, 6.7, CAL= 152.7, -2.3, ROT= 357.3, 2.3 Ygot valid direction response: 19:06:22.7833 LVL= 32752, 32753, 28658, 32755, AGC= 57, IDX= 503, 0.38,-0.945,-2.494,-0.799,-1.190, PHS= 0.333,-1.257, 0.388, RAW= 151.7, 6.7, CAL= 152.7, -2.3, ROT= 357.3, 2.3 T#Rx 38: Read range and direction messages.`direction in FSK: [0.998085,-0.047069,-0.040132]Fpublishing direction and range info߀B%II)))$Y&UDP?qg.='&0A9$$ $)&oI$i&9&~>&`堿&>&Us)@ $)&J*@I&l$i&Ѝ@&l$=$ $& ?8ױ?wƽ?I& ?i&&QA&l$=$ $]checking for new query: numPingsReceived=38, elapsed TxPingTime=16.006790EMb@Mb@Mb@AA A)AIAyEX9v?Q?E=?Eu=E EA)EAIAiE AAE=AHuHuuZ5T< =YQ >٣ G}FT >]495m?a4Y* ioB>?m:aq?/CW;;݇4 fAZj&#pk?bj& i$i&[Aj&0Aj&.A2j&&@p&.7%@M7wX@ܿzp&UDP?qg.='"j&QA*j&l$=p&;^>Q)$ np&,h ֿ[g'k~i&$j&ri&IUk?i&  j&Bzj&l?j$j$jj&/Arj&L_@ addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.505182 s, deltaX: -0.300000 m, approachRate: -0.593846 m/s, rangeRepo size: 4  Added new target pos. range: 11.000000 m, bearing: 249.788815 deg, lat: 36.903895 deg, lon: -122.119084 deg, deltaT: 1.008462 s, deltaX: -0.700000 m, approachRate: -0.694126 m/s, posRepo size: 4 ==checking for new query: numPingsReceived=38, elapsed TxPingTime=16.1209112iDNOT Ignoring new targets: 11.00 m.*ii"i ProNav: ac range: 11.000000 m, nav range: 10.981240 m, bearing: 253.126054 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 250.349492 deg, new cmd heading: 249.872527 deg.  i5HeadingCmd: 4.361098 target range: 11.000000 and range: 11.00 m.h5@h1h9h9h9gAgibgijguBeqeqjeqJe}&@:e M.?M BɛM M,)Q U QiQ )U `;Q Q iU =i] ] ;e #=Ie @I D D D E n1 E :JM tLBJM +9JJI RJM ZJM  !  J] ? J] $?VF]+=DDAT read: Rx Time:19:06:23.2831 TRx dataTimestamp_ set to:1736535983.710355 PDAT read: Bearing 355.9, 2.6 (Local)  ~Local bearing/azimuth received: Bearing 355.9, 2.6 (Local) G%>G!G%IG%3BG% =G!G!G%<ZIEobIEcjIArIAzIE>:IEx9IAIAIE}O;IEO;IE:IE:G%FeDAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.6 FqZAM ?Gx,P[A"DAT read: 19:06:23.2831 LVL= 32752, 32753, 25746, 32755, AGC= 58, IDX= 500,-0.05, 2.607, 1.072, 2.804, 2.380, PHS= 0.315,-1.262, 0.421, RAW= 153.2, 6.5, CAL= 154.1, -2.6, ROT= 355.9, 2.6 *Ygot valid direction response: 19:06:23.2831 LVL= 32752, 32753, 25746, 32755, AGC= 58, IDX= 500,-0.05, 2.607, 1.072, 2.804, 2.380, PHS= 0.315,-1.262, 0.421, RAW= 153.2, 6.5, CAL= 154.1, -2.6, ROT= 355.9, 2.6 *T#Rx 39: Read range and direction messages..`direction in FSK: [0.996414,-0.071424,-0.045363].Fpublishing direction and range infoءYإt?H99إ(A9ءء ١)٥dI١i٥:٥G>٥7٥P>٥D +@ ڥV=)ڥ!,@Iڥ9iڥ@ڥ9=ڡ ۡۥ?ok?|M?Iۥq?iۥI轉ۥiۥ9=ۡ ܡchecking for new query: numPingsReceived=39, elapsed TxPingTime=16.448156Ͷ@y.ƌ@91!Y'=Hӿ Q? vq^ӿ@.?3d?\??Ͷ@ɨ>߉; CuBuIHHZ5 = A=YlQ >٣ G~F >]49 m?a4Y< ioBq?XC::94- B -#A-EZj1k?bj iiuv[Aj(Aj&A2jY@p$@Z&I{޿zpt?H99"ji*j9=pZ$ey#?npu&׿oyjF5ij'yif8k?i*s  jBzjtk?j? jjj*Arj4~@ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.509685 s, deltaX: -0.500000 m, approachRate: -0.980998 m/s, rangeRepo size: 4  Added new target pos. range: 10.500000 m, bearing: 248.209536 deg, lat: 36.903893 deg, lon: -122.119083 deg, deltaT: 0.509685 s, deltaX: -0.500000 m, approachRate: -0.980998 m/s, posRepo size: 4 2i=DNOT Ignoring new targets: 10.50 m.*iAiA"iAU ProNav: ac range: 10.500000 m, nav range: 10.660330 m, bearing: 251.551708 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 249.872526 deg, new cmd heading: 249.514780 deg.  iQ]HeadingCmd: 4.354855 target range: 10.500000 and range: 10.50 m.h}Z@hyhyhyhggbgjgeejeJe%@:e?=Bɛ=TP)9 =Mi9)E=;AAiE=iMM\;Mz*=IMZ@IQchecking for new query: numPingsReceived=39, elapsed TxPingTime=16.625402DDDE@5 EVFk[=FZAM>+x,L [AZf@yZǷ@9ZSIYZ$B=ZH@ӿ'M?e`l``ӿo?!w???Zf@ɨZ; ZCBIDDAT read: Rx Time:19:06:23.7830  TRx dataTimestamp_ set to:1736535984.2086265PDAT read: Bearing 355.5, 3.1 (Local) =~Local bearing/azimuth received: Bearing 355.5, 3.1 (Local) MDAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.7 mDAT read: 19:06:23.7830 LVL= 32752, 32753, 23826, 32755, AGC= 57, IDX= 498, 0.42,-0.991,-2.517,-0.784,-1.226, PHS= 0.323,-1.244, 0.439, RAW= 153.5, 6.0, CAL= 154.5, -3.1, ROT= 355.5, 3.1 Ygot valid direction response: 19:06:23.7830 LVL= 32752, 32753, 23826, 32755, AGC= 57, IDX= 498, 0.42,-0.991,-2.517,-0.784,-1.226, PHS= 0.323,-1.244, 0.439, RAW= 153.5, 6.0, CAL= 154.5, -3.1, ROT= 355.5, 3.1 T#Rx 40: Read range and direction messages.`direction in FSK: [0.995459,-0.078344,-0.054079]Fpublishing direction and range info Y ?$×\ʾ7 f&A9   ) ]I i 9 B`> d; > v+@ Pw=) ,@I k]i u@ k]=   gf ?7a$[?ZwZ?I ?i ս i٠ k]=  HeHeW5checking for new query: numPingsReceived=40, elapsed TxPingTime=16.9289782\ ;=YQ >٣ GFv >]49m?a4Y ioBq?CK:z$<4 ;AZj zEk?bj  i i !Z [Aj f&Aj M%A2j &`@p  $@ #dWzp ?$×\ʾ7"j i٠*j k]=p wp#9#a.Kip =~/ؿ'Si j {i jɺk?i   j {Bzj IUk?j  j {Bjj %Arj ;B@ addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.498271 s, deltaX: -0.100000 m, approachRate: -0.200695 m/s, rangeRepo size: 4  Added new target pos. range: 10.400000 m, bearing: 247.760522 deg, lat: 36.903890 deg, lon: -122.119082 deg, deltaT: 0.498271 s, deltaX: -0.100000 m, approachRate: -0.200695 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 10.40 m.*ii"i ProNav: ac range: 10.400000 m, nav range: 10.314379 m, bearing: 249.341767 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 249.514788 deg, new cmd heading: 249.101188 deg.  iHeadingCmd: 4.347636 target range: 10.400000 and range: 10.40 m.h@hhhhggbg!jg!e!e!je!Je-$@:e-{?BɛOA) qMi)m;ied=i;>=I@I checking for new query: numPingsReceived=40, elapsed TxPingTime=17.128996D D D E L4 E E E hA:Jm KXMBJm 9JJi RJm ZJm /84430/-)+4Xzsnf^XVF C`#=F ?F P?FZAM> x,g([AN`@yN@9NtYN =NH@Jӿ`G?@fӿR? v???N`@ɨNH; NCZB^I]4=i]GGIGBBG =GGDDG<GFH°C H°CHH ="H =*H²5ZI kbI jI rI zI 2:I I I I 9;I 9;I :I UDAT read: 19:06:24.2826 LVL= 32752, 32753, 28450, 32755, AGC= 57, IDX= 495, 0.00, 2.950, 1.453,-3.082, 2.758, PHS= 0.281,-1.258, 0.440, RAW= 154.9, 6.7, CAL= 155.5, -2.5, ROT= 354.5, 2.5 ]Ygot valid direction response: 19:06:24.2826 LVL= 32752, 32753, 28450, 32755, AGC= 57, IDX= 495, 0.00, 2.950, 1.453,-3.082, 2.758, PHS= 0.281,-1.258, 0.440, RAW= 154.9, 6.7, CAL= 155.5, -2.5, ROT= 354.5, 2.5 eT#Rx 41: Read range and direction messages.`direction in FSK: [0.994449,-0.095755,-0.043619]Fpublishing direction and range info؁Y؅??O UbGU؅A9؁؁ ف)م"oIفiفم;ߏ>م%مG>مc-@ څ|=)څ-@Iڅ¸2iڅz@څ¸2=ځ ہۅԮ^,E?~6+?Y9I٣I MGMFU }>]49l?a4Y ioB=?m:q?CH::E4 AZjøk?bj iiI-[AjAjA2j|@pT }#@~XC[ۿzp??O UbGU"j)Ľ*j¸2=pi!!:}4<ۿp iٿQV05J.;ij yi𥚶k?ifv  j Bzjf8k?j jBjjArj@M addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504099 s, deltaX: -0.599999 m, approachRate: -1.190241 m/s, rangeRepo size: 4  Added new target pos. range: 9.800000 m, bearing: 246.580869 deg, lat: 36.903888 deg, lon: -122.119081 deg, deltaT: 0.504099 s, deltaX: -0.599999 m, approachRate: -1.190241 m/s, posRepo size: 4 2iBNOT Ignoring new targets: 9.80 m.*i6Short final. Range: 9.80 m.VTransitioning guidance mode to: SHORT_FINALi@@i"i ProNav: ac range: 9.800000 m, nav range: 9.980761 m, bearing: 248.115746 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 249.101179 deg, new cmd heading: 248.692013 deg.  i|HeadingCmd: 4.340495 target range: 9.800000 and range: 9.80 m.hU@hhhhg gbgjgBeejeJe#@:eY?雥|BɛB) Ji)Z:;i=iM ;N=IU@I D D D E ~1 E   < checking for new query: numPingsReceived=41, elapsed TxPingTime=17.632975VF <=FZAM>ȶx,b0G[A6@y6 @96FY6=V=6Hv ԿfD?`յ@5cӿ`c?4È?I?M?6@ɨ6v; 6CRBRIHrHr=X5~= ~p=YQ ?٣  G  z  ?]49[l?a4Y! ioB!%q%?Cg::&41 5A1eB*** querying acoustic contact ***iiii2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i-."i-.- ProNav: ac range: 9.800000 m, nav range: 9.733942 m, bearing: 247.920855 deg, approach rate: -0.752333 m/s, LOS rate: -0.609114 deg/s, cmd heading: 248.692023 deg, new cmd heading: 248.092548 deg.  i-Ѽ-DDAT read: Rx Time:19:06:24.7825 -TRx dataTimestamp_ set to:1736535985.2157005PDAT read: Bearing 352.9, 3.3 (Local) =~Local bearing/azimuth received: Bearing 352.9, 3.3 (Local) MDAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.6 uDAT read: 19:06:24.7825 LVL= 32752, 32753, 21906, 32755, AGC= 56, IDX= 510,-0.45,-2.511, 2.300,-2.209,-2.698, PHS= 0.275,-1.238, 0.486, RAW= 156.4, 5.9, CAL= 157.1, -3.3, ROT= 352.9, 3.3 Ygot valid direction response: 19:06:24.7825 LVL= 32752, 32753, 21906, 32755, AGC= 56, IDX= 510,-0.45,-2.511, 2.300,-2.209,-2.698, PHS= 0.275,-1.238, 0.486, RAW= 156.4, 5.9, CAL= 157.1, -3.3, ROT= 352.9, 3.3 T#Rx 42: Read range and direction messages.`direction in FSK: [0.990686,-0.123397,-0.057564]Fpublishing direction and range info)Y-D?#閿`8.y-A9)) ))-UI)i-8-̌>-vHR=Ha=->-R.@ -B=)-~{/@I-ki-@-k=) )-r L?B0?T]?I-~"?i-JLӽ--k=) )checking for new query: numPingsReceived=42, elapsed TxPingTime=17.910744|HeadingCmd: 4.330032 target range: 9.800000 and range: 9.80 m.h@hhhhggbgjge e je Je @33#@:e Pŝ?雅{BɛDR) Ci)n;AiE=iuqu-n=Iu@IyD%D!D!E%@5 E) checking for new query: numPingsReceived=42, elapsed TxPingTime=18.136797VFE H=F! ZA) MM >Zx, c[A6v@y6q@96^|Y6R=6H X2Կ`>?Ƶ`_\ԿiŦ?y?N@? .?6v@ɨ6Ĉ; 6CBBBIMb@Mb@Mb@ )IyK??Mb`?^:?L=; A)QAIzAid A:J}MBJ}h9JJyRJ}ZJ}SOKE@<61-*&#    H-H-dK56 0=Y Q >٣ GF >]49:l?a4Y ioB:?m:tq?C::=4 A EZjm2k?bjmF< iiimM[AjmAjmA2jm.@pmb|l#@%zpmD?#閿`8.y"jm*jmk=pm~KCkZ!)rpmbK(ۿI쿐im jm\im%k?im P[  jmBzjmjɺk?jm P[ jmBjjmArjmf@] addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.502975 s, deltaX: -0.200000 m, approachRate: -0.397634 m/s, rangeRepo size: 4 m Added new target pos. range: 9.600000 m, bearing: 244.851187 deg, lat: 36.903887 deg, lon: -122.119081 deg, deltaT: 0.502975 s, deltaX: -0.200000 m, approachRate: -0.397634 m/s, posRepo size: 4 2iq*iquzIgnoring new targets. Set target to previous: 9.60 m. 9.80 m.i}"i}m ProNav: ac range: 9.800000 m, nav range: 9.399216 m, bearing: 247.649276 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 248.092551 deg, new cmd heading: 247.704001 deg.  iA|HeadingCmd: 4.323250 target range: 9.800000 and range: 9.60 m.hX@hhhhggbgjgBeejeJe:e1?雝yBɛ[) Di)p:ii=i)EJz=IEX@IQEDDAT read: Rx Time:19:06:25.2822 ETRx dataTimestamp_ set to:1736535985.719456ePDAT read: Bearing 352.0, 3.1 (Local) m~Local bearing/azimuth received: Bearing 352.0, 3.1 (Local) GGGIGLBGGGG7<GF DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.6 II3I.-IIIZIUmbIUljIQrIQzIU\8:IU9IQIQIUD;IUD;IU(:IU*:DmDqDqEu4 EqVFM}xd=DAT read: 19:06:25.2822 LVL= 32752, 32753, 29010, 32755, AGC= 56, IDX= 506, 0.06,-2.459, 2.408,-2.126,-2.612, PHS= 0.241,-1.216, 0.482, RAW= 157.5, 6.2, CAL= 158.0, -3.1, ROT= 352.0, 3.1 Ygot valid direction response: 19:06:25.2822 LVL= 32752, 32753, 29010, 32755, AGC= 56, IDX= 506, 0.06,-2.459, 2.408,-2.126,-2.612, PHS= 0.241,-1.216, 0.482, RAW= 157.5, 6.2, CAL= 158.0, -3.1, ROT= 352.0, 3.1 T#Rx 43: Read range and direction messages.F ZAM5>M`direction in FSK: [0.988819,-0.138969,-0.054079]MFpublishing direction and range infoAYEu(g?%ʾ7E3A9AA A)ERqIAiAEv>E㥛E>E/@ Ek=)E|0@IEk]iE @Ek]=A AEJR9?Cwa?߻?IEH'?iEXq߽E4Ek]=A Achecking for new query: numPingsReceived=43, elapsed TxPingTime=18.504213Px,|[ABchecking for new query: numPingsReceived=43, elapsed TxPingTime=18.640703nBnIIp)pHzHzM5<  Y=Y Q  >٣ G =>A]E49E`l?aM4YE iEoBIIqM?E#CE:E9:E 4 B AEZj}pk?bj} iyi} n[Aj}3Aj};A2j}^=@p}"1"@Qtq2Cs߿zp}u(g?%ʾ7"j}4*j}k]=p}%1W =Hᚿ=x ?=2@ =B=)=G3@I=5zi=2@=5z=9 9=L? c? y?I=T3?i=(ѽ=t;=5z=9 9checking for new query: numPingsReceived=44, elapsed TxPingTime=18.909605VF Cf=F ZA M >g%x,ެ[AVN@yVs]@9VYVO=VH}Կ`2?_NFԿ@?`#?@Mk? ?VN@ɨV; VCrBvIMb@Mb@Mb@ )Iy5^I ?&1?8?P= A)Id Ai AfAHHR51< .=YkXQ > ٣  5G5F5( 5>9]E49=-l?aE4Y=p& i=oBM8?mM:Mqm?=NC=;=;=4q uAyՕ<Օ=checking for new query: numPingsReceived=44, elapsed TxPingTime=19.145018Zjm,k?bjmpJ iiimM[Ajm3 AjmH A2jm@pmd"!@fQ8*zpm1Hg?1M\Hǿ.xA"jmt;*jm5z=pm1oU2s0*1'߿pmȵQ޿6> ZhR imjm؅imXk?im/  jmBzjm%k?jijmBjjmy ArjmW@= addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.500472 s, deltaX: -0.500000 m, approachRate: -0.999057 m/s, rangeRepo size: 4  Added new target pos. range: 8.700000 m, bearing: 241.213372 deg, lat: 36.903884 deg, lon: -122.119079 deg, deltaT: 1.507203 s, deltaX: -1.100000 m, approachRate: -0.729829 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 8.70 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 8.789824 m, bearing: 247.106513 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 247.367021 deg, new cmd heading: 246.974112 deg.  i|HeadingCmd: 4.310512 target range: 9.800000 and range: 8.70 m.h@hhhhggbgjgBe e je Je`ff!@:e/K?雅vBɛ7F) 8= 9Ai)2ʭ9隑i=iv;ω=I@IDQDYDYE]_0 EY:JMBJ9JJRJZJ ixwi`K9)0-NJIVF52Q=FZAM >M DDAT read: Rx Time:19:06:26.2816 U TRx dataTimestamp_ set to:1736535986.724102m PDAT read: Bearing 350.1, 3.7 (Local) u ~Local bearing/azimuth received: Bearing 350.1, 3.7 (Local) G >G G IG VBG G G G ű<G F DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed 0.7  DAT read: 19:06:26.2816 LVL= 32752, 32753, 23986, 32755, AGC= 55, IDX= 500, 0.16, 2.811, 1.465,-3.085, 2.680, PHS= 0.218,-1.169, 0.515, RAW= 159.5, 5.7, CAL= 159.9, -3.7, ROT= 350.1, 3.7  Ygot valid direction response: 19:06:26.2816 LVL= 32752, 32753, 23986, 32755, AGC= 55, IDX= 500, 0.16, 2.811, 1.465,-3.085, 2.680, PHS= 0.218,-1.169, 0.515, RAW= 159.5, 5.7, CAL= 159.9, -3.7, ROT= 350.1, 3.7  T#Rx 45: Read range and direction messages. `direction in FSK: [0.983056,-0.171571,-0.064532] Fpublishing direction and range infoI YM $K1u?1ſP0M A9I I I )M ]II iI M d;_>M ˡM ?M )2@ M %=)M )2@IM AiM a@M A=I I M ? jB?{ 39?IM o0?iM ʽM 40M A=I I e+x,/[A25@y2sD@92ȼY2!=2HԿ+?W5FqԿ@?p?X?`d?25@ɨ2; 2C>BBIIT)VC Am;mA checking for new query: numPingsReceived=45, elapsed TxPingTime=19.485460HFHF@T5)y;mA/An  ]=YNQ > ٣   G F q >]%49|l?a%4Y*- ioB!%&q%?pCl::}4) UAQZj} 1!k?bj}   iyi}W[Aj}Aj}A2j}B@p};IQ @7Ch #zp}$K1u?1ſP0"j}40*j} A=p}`U,yDK,ݿp}+IV޿[쿶1v{䬿i}bj}{i}k?i}[O  j}Bzj}Q3k?j}fv j}Bjj}Arj};@ addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504174 s, deltaX: -0.400000 m, approachRate: -0.793376 m/s, rangeRepo size: 4  Added new target pos. range: 8.300000 m, bearing: 241.655420 deg, lat: 36.903883 deg, lon: -122.119078 deg, deltaT: 2.011377 s, deltaX: -1.500000 m, approachRate: -0.745758 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 8.30 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 8.528350 m, bearing: 246.856985 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 246.974122 deg, new cmd heading: 246.650096 deg.  i-|HeadingCmd: 4.304856 target range: 9.800000 and range: 8.30 m.h-b@h1h1h1h1g1g1bg9jg9e9e9jeAJeE @:eEX5? uBɛI6]) kAi)iZC =i9ev;e=Ieb@Iachecking for new query: numPingsReceived=45, elapsed TxPingTime=19.649593DDDE EVF p=F ZA MU >2x,P[A~DDAT read: Rx Time:19:06:26.7815 ~TRx dataTimestamp_ set to:1736535987.227853 PDAT read: Bearing 346.4, 3.1 (Local)  ~Local bearing/azimuth received: Bearing 346.4, 3.1 (Local) DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.6 EDAT read: 19:06:26.7815 LVL= 30336, 32753, 26514, 32755, AGC= 53, IDX= 499,-0.13, 2.141, 1.009, 2.615, 2.113, PHS= 0.116,-1.058, 0.498, RAW= 163.6, 6.4, CAL= 163.6, -3.1, ROT= 346.4, 3.1 MYgot valid direction response: 19:06:26.7815 LVL= 30336, 32753, 26514, 32755, AGC= 53, IDX= 499,-0.13, 2.141, 1.009, 2.615, 2.113, PHS= 0.116,-1.058, 0.498, RAW= 163.6, 6.4, CAL= 163.6, -3.1, ROT= 346.4, 3.1 UT#Rx 46: Read range and direction messages.e`direction in FSK: [0.970539,-0.234798,-0.054079]eFpublishing direction and range info|Y~9?=i οʾ7~A9|~v |)~gI|i~5~h=~l~>~36@ ~=)~36@I~k]i~\w@~k]=| |~Osf?G?D<4do?I~lB?i~㽉~s~k]=| |checking for new query: numPingsReceived=46, elapsed TxPingTime=19.922411ZIkbIkjIrIzI2:I9IIq@i@u@m@ޅBޅI1 ٣1 5 G5 F5 = >A ]E 49E l?aM 4YE 9 iE oBiM +:I mM n:I qM ?E CE f:E ,?E #4Y ] A] EZj~@6_mk?bj~ i|i~%[Aj~Aj~A2j~@p~Mp28 r@so nА ܿzp~9?=i οʾ7"j~s*j~k]=p~̶/x*ipw #ۿp~`ye࿯E뿨^~J\ͪi~Oj~}i~jk?i~  j~Bzj~k?j~/ j|jj~@rj~⠆@}  addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503751 s, deltaX: -0.200000 m, approachRate: -0.397021 m/s, rangeRepo size: 4   Added new target pos. range: 8.100000 m, bearing: 237.915312 deg, lat: 36.903883 deg, lon: -122.119076 deg, deltaT: 2.515128 s, deltaX: -1.700000 m, approachRate: -0.675910 m/s, posRepo size: 4 2i *i  zIgnoring new targets. Set target to previous: 8.10 m. 9.80 m.i "i   ProNav: ac range: 9.800000 m, nav range: 8.049517 m, bearing: 246.357519 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 246.650097 deg, new cmd heading: 246.086761 deg.  i  |HeadingCmd: 4.295024 target range: 9.800000 and range: 8.10 m.h p@h h h h g g bg jg e e jeI JeU @33 @:eU )?} sBɛ D,) 4?i ) 2隉 i =i | ; =I p@I DE DA DA EE 5 EA :Je COBJe +9JJa RJe ZJe L^T, fE9Ju ? Ju ?]DDAT read: Rx Time:19:06:27.2811 eTRx dataTimestamp_ set to:1736535987.731847mPDAT read: Bearing 347.4, 2.7 (Local) m~Local bearing/azimuth received: Bearing 347.4, 2.7 (Local) }DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed 0.7 GGG!IG`BGGGGӱ<GF DAT read: 19:06:27.2811 LVL= 25904, 32753, 20370, 32755, AGC= 52, IDX= 495, 0.48, 1.604, 0.456, 2.055, 1.574, PHS= 0.118,-1.071, 0.479, RAW= 162.8, 6.8, CAL= 162.6, -2.7, ROT= 347.4, 2.7 =Ygot valid direction response: 19:06:27.2811 LVL= 25904, 32753, 20370, 32755, AGC= 52, IDX= 495, 0.48, 1.604, 0.456, 2.055, 1.574, PHS= 0.118,-1.071, 0.479, RAW= 162.8, 6.8, CAL= 162.6, -2.7, ROT= 347.4, 2.7 =T#Rx 47: Read range and direction messages.VF=`direction in FSK: [0.974833,-0.217901,-0.047106]Fpublishing direction and range infoYY]M1?*.˿P7V]@9Y]0e Y)]OIYi]4]=]]}?>]o5@ ]=)]>5@I]Ai]W@]A=Y Y]ZJ?!?+WbS?I]Y??i]D-]t0a]A=Y Ychecking for new query: numPingsReceived=47, elapsed TxPingTime=20.454973FIZAQM}?B<x, l[Ak҄@y@99Y =H`eտ?$ :%տ?+?`?@^?k҄@ɨ; CI)i) )I)QQ UVlAU UxLFQYYIY)YiY)aIaaa aimlAiiiiiʑʕZlA)ʕ ʑIʑ ˙)˙ʙʡʡˡˡiˡIˡˡBIHHS55fc =W=Y=Q =>9٣A EGAE E>q]u49ul?a}4Yu@ iuoBi} :ym}A:}q}?uCu:ut?uh'4 B AEZj]ۃk?bj]x0 iYi][Aj]@j]l@2j]O@p] n>@E!%pֿzp]M1?*.˿P7V"j]t0a*j]A=p]u۠hhx}Tпp]&< S&r+MTi]j]}i]-k?i]kZJ  j]cBzj]Xk?j] j]Bjj]<@rj]@ addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503994 s, deltaX: -0.600000 m, approachRate: -1.190491 m/s, rangeRepo size: 4   Added new target pos. range: 7.500000 m, bearing: 238.165715 deg, lat: 36.903881 deg, lon: -122.119076 deg, deltaT: 3.019122 s, deltaX: -2.300000 m, approachRate: -0.761811 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 7.50 m. 9.80 m.i"iM ProNav: ac range: 9.800000 m, nav range: 7.775699 m, bearing: 246.068677 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 246.086771 deg, new cmd heading: 245.755508 deg.  iIU|HeadingCmd: 4.289243 target range: 9.800000 and range: 7.50 m.hUzA@hQhQhQhQgYgYbgyjgyeejeJe@:e ?rBɛ:f) Di)Ji =i9=#7;=p=I=zA@IAchecking for new query: numPingsReceived=47, elapsed TxPingTime=20.657873^D Qf=D D D E @5 E 5 DDAT read: Rx Time:19:06:27.7810 5 TRx dataTimestamp_ set to:1736535988.235294= DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.6 -E Z#Rx 48: Read range message, but no direction.1 5 @91 M checking for new query: numPingsReceived=48, elapsed TxPingTime=20.911913ZIjbIcjIrIzI.:Ix9IIVF]<=FYZAM ?KEx,<[Av+@yv@9v Yvõ=vHտ?Ytտ?S?T??v+@ɨv(; vCޑޑI)mm mm mm  m m mMb@Mb@Mb@ii i)iIiymCl?T㥛 ?{Gz?md;?m=m#< mA)mhAIm AimAim AHH#U5k2: =YEQ >٣ GFP >]49l?a4YK ipBiT::J?OBJs9JJRJZJG >G G 'IG fBG G G G <G F A A DDAT read: Rx Time:19:06:28.2808  TRx dataTimestamp_ set to:1736535988.755553 DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed 0.6 - Z#Rx 49: Read range message, but no direction. 3@9 = checking for new query: numPingsReceived=49, elapsed TxPingTime=21.435179@Kx, 1[A~%@y~@9~_Y~r=~H տ?տLi? ֢? ?`?~%@ɨ~; |ޝBޥIHHU5e>; eN=YmQ m>i٣i mGuF}8 >]496l?a4YR ipB(q?,CW::U84B yAE- addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.520259 s, deltaX: -0.300000 m, approachRate: -0.576636 m/s, rangeRepo size: 4 2i)*i)5zIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i="i= ProNav: ac range: 9.800000 m, nav range: 7.074314 m, bearing: 245.186341 deg, approach rate: -0.712254 m/s, LOS rate: -0.970048 deg/s, cmd heading: 244.164510 deg, new cmd heading: 242.978210 deg.  io&|HeadingCmd: 4.240770 target range: 9.800000 and range: 7.10 m.hc@hhhhggbgjgeejeJe`ff@:e@?mpBɛm '`)q usBiq)uUqqiuks!=i}y=Ic@ICCCC]checking for new query: numPingsReceived=49, elapsed TxPingTime=21.680725D D D E @5 E E- hAE- iAVF-\Ȓ=F?F>DDAT read: Rx Time:19:06:28.7806 TRx dataTimestamp_ set to:1736535989.260024-DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.7 -5Z#Rx 50: Read range message, but no direction.@9=checking for new query: numPingsReceived=50, elapsed TxPingTime=21.938362ZIMpbIMbjIIrIIzIMA:IMt9IIIIFYZAiM?2Tx,5Q[AMBUI]C=i]<Mb@Mb@Mb@ )IyX9v?/$?~jtx?=?=; A)AI7 AiAHHZ5]L ]=YeQ e>a٣a mGmFm m>q]}49uĵl?a}4Yu^ iu-pB+??m:q?uiCu;ut.;ulC4 A addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504471 s, deltaX: -0.300000 m, approachRate: -0.594682 m/s, rangeRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 6.610498 m, bearing: 244.395523 deg, approach rate: -0.738904 m/s, LOS rate: -1.348202 deg/s, cmd heading: 242.978215 deg, new cmd heading: 240.441043 deg.  iPg|HeadingCmd: 4.196488 target range: 9.800000 and range: 6.80 m.hI@hhhhggbgjg{BeejeJe@33@:e O?15<=checking for new query: numPingsReceived=50, elapsed TxPingTime=22.184935MoBɛMpE)I MFiI)U퉻QQiUҭ!=i]sY]p>I]I@IaDDDE4 EVF o=Fy ZA M >:J BJ JJ RJ ZJ [_Zx,^k[AB@yBz@9B5)YB=BH@׿? ֿ<"?6?*?|?B@ɨB%; BCH HJHɳHLNlAIL)LiL)PIRlARSɴR>CF PɵPVlAVxiTTiTT)X XIX X)XɶZ^IF\\ɷ^flAi\I\\I`ibA ``)``jBjIHrHrT5zY= ~=Y~Q ~D?٣ G  D?]49"l?a4Y c i7pBq?C:y:gG4! -A)2iQ*iYezIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iu"iu ProNav: ac range: 9.800000 m, nav range: 6.443827 m, bearing: 244.109839 deg, approach rate: -0.734184 m/s, LOS rate: -1.290982 deg/s, cmd heading: 240.441046 deg, new cmd heading: 239.561898 deg.  i]|HeadingCmd: 4.181144 target range: 9.800000 and range: 6.80 m.h˅@hhhhggbgjgeejeJe:e@?G>GCGGG =GGG<GFH HHH ="H =*H(4DDAT read: Rx Time:19:06:29.2803 TRx dataTimestamp_ set to:1736535989.763404DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed 0.6 -Z#Rx 51: Read range message, but no direction.ؑؕ@9ؑchecking for new query: numPingsReceived=51, elapsed TxPingTime=22.440063!ɛ%\R)) -|Ci))-K))i-!=i5515;>I=˅@I9DDDE^0 E VFIQ=FZAMa>= checking for new query: numPingsReceived=51, elapsed TxPingTime=22.688517iAax,D[A6@y6͊@96u,Y6W=6Hi׿@8? ֬d+׿8?@?@?i?6@ɨ6q; 6C%B%IH5H5[W5uct uC=Y}κQ }>٣ GF9z >]49Ll?a4Yj iJpBq?C;o;N4B AE addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503380 s, deltaX: -0.500000 m, approachRate: -0.993285 m/s, rangeRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iü"iü% ProNav: ac range: 9.800000 m, nav range: 6.137581 m, bearing: 243.562564 deg, approach rate: -0.728972 m/s, LOS rate: -1.367685 deg/s, cmd heading: 239.561891 deg, new cmd heading: 237.838689 deg.  i-jE|HeadingCmd: 4.151068 target range: 9.800000 and range: 6.30 m.hMՄ@hIhQhQhYgYgabgijgqeyejeJe@33@:e?nBɛ7gj) Di)if$"=it)-*#>I-Մ@I)DDAT read: Rx Time:19:06:29.7800 TRx dataTimestamp_ set to:1736535990.268061PDAT read: Bearing 29.5, 2.0 (Local) ~Local bearing/azimuth received: Bearing 29.5, 2.0 (Local) DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.5 ZIlbIejIrIzI<5:I9IIDDDE_0 EDAT read: 19:06:29.7800 LVL= 15088, 32753, 25074, 32755, AGC= 45, IDX= 501,-0.41, 0.909,-0.545, 0.021, 0.214, PHS= 0.783,-0.712,-0.196, RAW= 109.8, 1.9, CAL= 120.5, -2.0, ROT= 29.5, 2.0 %Ygot valid direction response: 19:06:29.7800 LVL= 15088, 32753, 25074, 32755, AGC= 45, IDX= 501,-0.41, 0.909,-0.545, 0.021, 0.214, PHS= 0.783,-0.712,-0.196, RAW= 109.8, 1.9, CAL= 120.5, -2.0, ROT= 29.5, 2.0 %T#Rx 52: Read range and direction messages.-^direction in FSK: [0.869825,0.492124,-0.034899]-Fpublishing direction and range infoةYح\G?+~?Xޡح@9ةح: ٩)٭aI٩i٭-٭rH?٭E6٭9H٭K?E==E== ڭ=)ڭ@Iڭ5iڭ?ڭ5=ک ۩ۭDޜd{?1UmYƿH<1?Iۭs.5iۭ ۭ?ۭ5=۩ ܩchecking for new query: numPingsReceived=52, elapsed TxPingTime=22.987074VF XY=zF rF F9 ZAI Mm >lgx,>![Aj`y@yj@9j}.checking for new query: numPingsReceived=52, elapsed TxPingTime=23.192757YjH=jH@,׿ˢ?檿3׿O*? ץ?3? 9?j`y@ɨjq; jCޝ܀BޝII)Mb@Mb@Mb@ )Iyjt?Zd;O?I +?@?j=94< A)I AiA AHHO5 3=Y ⣺Q  > ٣ GF >]M49l?aU4Ys iapBU8B?mU:UqU?C;;V4]B ]AeEZjGfl?bjDG ii'[Aj@j@2j@p<55@YS 6@~ix+ʿzp\G?+~?Xޡ"j?*j5=pExy?~9"?p? Ahzi^&ƣ?i(jK?il?i!|N  jSBzjjjBjjA@rjB@ addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504657 s, deltaX: -0.300000 m, approachRate: -0.594464 m/s, rangeRepo size: 4 U Added new target pos. range: 6.000000 m, bearing: 277.630263 deg, lat: 36.903881 deg, lon: -122.119076 deg, deltaT: 5.555336 s, deltaX: -3.800000 m, approachRate: -0.684027 m/s, posRepo size: 4 2iQ*iQUzIgnoring new targets. Set target to previous: 6.00 m. 9.80 m.i]"i]m ProNav: ac range: 9.800000 m, nav range: 5.800078 m, bearing: 242.890644 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 237.838689 deg, new cmd heading: 237.435248 deg.  iA|HeadingCmd: 4.144027 target range: 9.800000 and range: 6.00 m.hޛ@hhhhggbgjg\BeejeJe@:e?mBɛEՋn)I MHiQ)]_ûYi]"=i Jo!>Iޛ@I:JBJ9JJRJZJ   DDDE EG>GGGGGGG<GFDDAT read: Rx Time:19:06:30.2797 TRx dataTimestamp_ set to:1736535990.773135PDAT read: Bearing 36.7, 12.4 (Local) ~Local bearing/azimuth received: Bearing 36.7, 12.4 (Local) DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5  DAT read: 19:06:30.2797 LVL= 20704, 32753, 22594, 32755, AGC= 47, IDX= 497, 0.26, 1.976,-0.344, 0.378, 0.588, PHS= 1.476,-0.885,-0.213, RAW= 106.0, -3.6, CAL= 113.3, -12.4, ROT= 36.7, 12.4 % Ygot valid direction response: 19:06:30.2797 LVL= 20704, 32753, 22594, 32755, AGC= 47, IDX= 497, 0.26, 1.976,-0.344, 0.378, 0.588, PHS= 1.476,-0.885,-0.213, RAW= 106.0, -3.6, CAL= 113.3, -12.4, ROT= 36.7, 12.4 VF- =E T#Rx 53: Read range and direction messages.] ^direction in FSK: [0.783072,0.583684,-0.214735]e Fpublishing direction and range infoY۬?[≭?h`r|˿3@9P )BXIi/?\bZh? )Y?Ik]i(#?k]> F?^oο i\4I;yi=(#?k]>  checking for new query: numPingsReceived=53, elapsed TxPingTime=23.484993F ZA! MU >mx,3[A22@y2dA@920/Y2o=2H*lؿ e?`A#`f4ؿJ?g?? ?22@ɨ2q; 2CN؀BNzIHZHZZ5-R -n=Y5Q 5?1٣1 Gbȼ >]49l?a4Yz ispBq?Cg<[g<\4! % A!Zjm?bj ii {[Aj3@j@2j@pr@h'& @O2@>=zp۬?[≭?h`r|˿"j(#?*jk]>pAEq?]u+mfpNU'?p*c)Aij?im?i  j~Bzjk?jjjjŬ@rjւ@ addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.505074 s, deltaX: -0.400000 m, approachRate: -0.791963 m/s, rangeRepo size: 4 u Added new target pos. range: 5.600000 m, bearing: 284.651477 deg, lat: 36.903883 deg, lon: -122.119076 deg, deltaT: 6.060410 s, deltaX: -4.200000 m, approachRate: -0.693022 m/s, posRepo size: 4 2iq*iq}zIgnoring new targets. Set target to previous: 5.60 m. 9.80 m.iy"iy ProNav: ac range: 9.800000 m, nav range: 5.536160 m, bearing: 242.331491 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 237.435243 deg, new cmd heading: 237.124460 deg.  i|HeadingCmd: 4.138603 target range: 9.800000 and range: 5.60 m.hoo@hhhhggbgjgeejeJe`ff@:e@? = checking for new query: numPingsReceived=53, elapsed TxPingTime=23.697199雁ɛ7) YJi)9׻隑iL"=i@ O;X>Ioo@ID=D9D9E=o0 EAVF.>FZAM]> DDAT read: Rx Time:19:06:30.7798  TRx dataTimestamp_ set to:1736535991.275394 DAT read: Range 10 to 50 : 5.7 m (trip time 3.8 ms) speed 0.6 - Z#Rx 54: Read range message, but no direction. f@9  checking for new query: numPingsReceived=54, elapsed TxPingTime=23.952051H C=H }tx,Z[A6<؂@y6@960Y6ۄ=6H@}ٿFi?祿`)i ؿv?`??-?6<؂@ɨ6; 4ptHH^S5Y-AQQ ->1٣1 5G5Fe m>]49wl?ae4YY ipBi0q?C<W<c4  B*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.502259 s, deltaX: 0.100000 m, approachRate: 0.199100 m/s, rangeRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 5.236105 m, bearing: 241.662874 deg, approach rate: -0.699646 m/s, LOS rate: -1.648339 deg/s, cmd heading: 237.124470 deg, new cmd heading: 235.004688 deg.  ig|HeadingCmd: 4.101605 target range: 9.800000 and range: 5.70 m.hZ@@h!h)h)h)g)g)bg1jg1e1e1je1Je=@:e=\?雭lBɛ9|) Ii)l隱iI"=iD (>IZ@@IDDDE0 E-checking for new query: numPingsReceived=54, elapsed TxPingTime=24.202354VF :{!>:JU !LBJQ JJQ RJU ZJU F ZA M >czx,l[AG%>G%CG%!IG%`BG% =G!G!G%<G%F]рBerIDDAT read: Rx Time:19:06:31.2794 TRx dataTimestamp_ set to:1736535991.779750PDAT read: Bearing 29.2, -5.0 (Local) ~Local bearing/azimuth received: Bearing 29.2, -5.0 (Local) ZImbIjIrIzI\8:IIIIq%ID;i%I:u-I:m-eDAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.6 u G )y A=eDAT read: 19:06:31.2794 LVL= 22256, 27217, 14434,0.226, 1.161, 1.666, PHS= 1.065,-1.393,-0.507, RAW= 110.8, 7.8, CAL= 120.8, 5.0, ROT= 29.2, -5.0 =unknown deviceResponse_: 19:06:31.2794 LVL= 22256, 27217, 14434,0.226, 1.161, 1.666, PHS= 1.065,-1.393,-0.507, RAW= 110.8, 7.8, CAL= 120.8, 5.0, ROT= 29.2, -5.0 -EZ#Rx 55: Read range message, but no direction.3@9checking for new query: numPingsReceived=55, elapsed TxPingTime=24.509581Mb@Mb@Mb@ )Iy%C?Cl?:v?ZD?;=T< A)AIiHHV5 \  ٣9 EGEFE E>I]U49MFl?aU4YM iMpB}ZF?m}:}q}?MRCMd;Mp;Mwm4 <AE addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504356 s, deltaX: -0.600000 m, approachRate: -1.189636 m/s, rangeRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i3"i3= ProNav: ac range: 9.800000 m, nav range: 4.828403 m, bearing: 240.518177 deg, approach rate: -0.825641 m/s, LOS rate: -2.513707 deg/s, cmd heading: 235.004680 deg, new cmd heading: 231.286097 deg.  i=׽E|HeadingCmd: 4.036704 target range: 9.800000 and range: 5.10 m.hE,@hAhAhAhAgIgIbgIjgMQBeqeqjeqJe}`ff@:e}dZ?kBɛ'n) Li)|Ui6#=i `>I,@IDDDEp0 E checking for new query: numPingsReceived=55, elapsed TxPingTime=24.705956VF H&>F ZA M=>ڂx, [Aޕ׀BޕxIHHuZ5< d=YQ >٣ G >]49Hl?a4Y ipBq?uC>::s4 AE2i!*i!%zIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i-:"i-:= ProNav: ac range: 9.800000 m, nav range: 4.563675 m, bearing: 239.661577 deg, approach rate: -0.762281 m/s, LOS rate: -2.609556 deg/s, cmd heading: 231.286106 deg, new cmd heading: 228.569380 deg.  i=߽E|HeadingCmd: 3.989288 target range: 9.800000 and range: 5.10 m.hEP@hAhAhAhIgIgIbgQjgQeQeQjeYJeY:e]?DDAT read: Rx Time:19:06:31.7794 TRx dataTimestamp_ set to:1736535992.283837PDAT read: Bearing 34.0, -18.2 (Local) ~Local bearing/azimuth received: Bearing 34.0, -18.2 (Local) DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.6 H)H-AAEDAT read: 19:06:31.7794 LVL= 20608, 21137, 12338, 18131, AGC= 47, IDX= 508, 0.04,-0.384,-2.707,-1.878,-0.922, PHS= 0.626,-1.738,-0.959, RAW= 108.9, 19.3, CAL= 116.0, 18.2, ROT= 34.0, -18.2 UYgot valid direction response: 19:06:31.7794 LVL= 20608, 21137, 12338, 18131, AGC= 47, IDX= 508, 0.04,-0.384,-2.707,-1.878,-0.922, PHS= 0.626,-1.738,-0.959, RAW= 108.9, 19.3, CAL= 116.0, 18.2, ROT= 34.0, -18.2 eT#Rx 56: Read range and direction messages.m\direction in FSK: [0.787563,0.531218,0.312335]uFpublishing direction and range infoYHW3??IK?9P R)20IFiA ?v޿uH? iw>)@I>i? V?IfJ#Sǿ QIi1?IGiqˬ? checking for new query: numPingsReceived=56, elapsed TxPingTime=24.976778mjBɛm8؃)q uIiq)uCk qqi}d#=i6 >IP@IDyDDE1 EVFec/>FZAM> checking for new query: numPingsReceived=56, elapsed TxPingTime=25.208832&x,~%[A:u@y:℈@9:+Y:~'=:H`ۿ?; ~ۿf? e}?`?@?:u@ɨ:M3; :CbԀBbuIMMb@Mb@Mb@II I)IIIyMJ +?!rh?Mbp?MH?Ml=M; M3A)IIM AiIIMQ AHeHeob5u2 uP=Y}a8;Q >٣ GF >]49ml?a4Yڛ ipBJ?m:q?C7 ;:z4 !AZj-ߌl?bj- i)i-c*[Aj-3@j- @2j-j@p-l@*v@0|?zp-HW3??IK?"j-?*j-p-?u''g?p-آQ ?30Ηvu?i-Cj-.?i-l?i-gM  j-Bzj-l?:JBJJJRJZJj- j-cBjj-@rj-@ addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504087 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 5.100000 m, bearing: 278.268269 deg, lat: 36.903914 deg, lon: -122.119087 deg, deltaT: 7.571112 s, deltaX: -4.700000 m, approachRate: -0.620781 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 5.10 m. 9.80 m.i"im5 ProNav: ac range: 9.800000 m, nav range: 4.259948 m, bearing: 238.718959 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 228.569385 deg, new cmd heading: 228.183853 deg.  i5A5|HeadingCmd: 3.982559 target range: 9.800000 and range: 5.10 m.h=A~@h9h9h9h9g9g9bgAjgEEBeaeijeiJei:em?雵iBɛ) Ji)隹i'#=i IA~@IDG->G)G-IG-VBG)G)G)G-ñ<G-FDDAT read: Rx Time:19:06:32.2791 %TRx dataTimestamp_ set to:1736535992.789300=PDAT read: Bearing 174.6, -30.4 (Local) ZIMnbIMfjIM1rIIzIM|;:IM9IM3IIIMJ;IMJ;IM:IM:e~Local bearing/azimuth received: Bearing 174.6, -30.4 (Local) uDAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.5 DAT read: 19:06:32.2791 LVL= 12960, 13265, 10818, 16579, AGC= 43, IDX= 507,-0.32, 2.401,-2.186, 2.338,-2.438, PHS=-1.356, 0.299,-1.510, RAW= 334.4, 27.6, CAL= 335.4, 30.4, ROT= 174.6, -30.4 Ygot valid direction response: 19:06:32.2791 LVL= 12960, 13265, 10818, 16579, AGC= 43, IDX= 507,-0.32, 2.401,-2.186, 2.338,-2.438, PHS=-1.356, 0.299,-1.510, RAW= 334.4, 27.6, CAL= 335.4, 30.4, ROT= 174.6, -30.4 T#Rx 57: Read range and direction messages.^direction in FSK: [-0.858686,0.081170,0.506034]Fpublishing direction and range infoY8?gZzϐPǴ?qm1?f@92 3)B*I@i+h>Gú@ Ϣ>)R@I?iC@ c"rqf=B]n࿮<ۢ?I"iC@ checking for new query: numPingsReceived=57, elapsed TxPingTime=25.485962DDDE?5 EE>E!>VFU>F! ZAA Me >G,x,ף?[A2@y2}@92)Y2=2H@ܿ٢?] v}ܿ5?/?>??2@ɨ26e; 2C>ӀBBsI)F= FR=HJHJ`5r rT=YrA:Q v>t٣t vGvFz2 z>echecking for new query: numPingsReceived=57, elapsed TxPingTime=25.713312i]u49mwl?au4Ym impBq?mCm%F ZA M >!x,=Y[AUK@yUZ@9U&YUT?UK@ɨU}+; UCiiMb@Mb@Mb@ )Iy/$?!rh?~jtx?1H?;  A)AI Aid A AHHa5%Wd %7=Y-:Q ->)٣) 5G1=O3 =>A]M49Eyml?aM4YE? iEpBUFJ?mU:UvqU?ECEs:Eo:E4]B ]+A]EB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.510373 s, deltaX: -0.500000 m, approachRate: -0.979676 m/s, rangeRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iE\"iE\U ProNav: ac range: 9.800000 m, nav range: 3.620256 m, bearing: 236.486128 deg, approach rate: -0.778769 m/s, LOS rate: -3.084832 deg/s, cmd heading: 227.878907 deg, new cmd heading: 223.930814 deg.  iUQ]|HeadingCmd: 3.908330 target range: 9.800000 and range: 4.20 m.h}"z@hyhyhyhggbgjgBeejeJe@:e ?fBɛ2T) Ii)%f,!!i%eS$=i-))I-"z@I1checking for new query: numPingsReceived=58, elapsed TxPingTime=26.220718DUDQDQE]_0 EYVFe8i>F)ZAQM- >:J5 JBJ5 h9JJ1 RJ5 ZJ5 J= ? J= !?*G- <"G- p<G5 >G5 CG1 G1 G1 G1 G1 G5 <G5 FE DDAT read: Rx Time:19:06:33.2786 =x,Ws[AZI&lbI&ejI&0rI$zI&<5:I&9I&ـ3I$I&K?;I&M?;I&:I&:.TRx dataTimestamp_ set to:1736535993.8014222PDAT read: Bearing 196.9, -49.6 (Local) 6~Local bearing/azimuth received: Bearing 196.9, -49.6 (Local) :DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed 0.5 mDAT read: 19:06:33.2786 LVL= 23328, 22065, 14610, 26387, AGC= 44, IDX= 501,-0.35, 2.344,-2.931, 2.820,-2.467, PHS=-1.384,-0.418,-1.000, RAW= 306.7, 49.6, CAL= 313.1, 49.6, ROT= 196.9, -49.6 M@y뵆@9.!YC<H`L޿ ??`޿ 5?N3? n? ?騅M@ɨ@; CYgot valid direction response: 19:06:33.2786 LVL= 23328, 22065, 14610, 26387, AGC= 44, IDX= 501,-0.35, 2.344,-2.931, 2.820,-2.467, PHS=-1.384,-0.418,-1.000, RAW= 306.7, 49.6, CAL= 313.1, 49.6, ROT= 196.9, -49.6 T#Rx 59: Read range and direction messages.`direction in FSK: [-0.620130,-0.188410,0.761538]Fpublishing direction and range info؁Y؅Ceȿ#L̓^?؅3s@9؁؅ [ م1V)م9Iمgiم,م&م־مم)K@ څk]?)څ7ޮ@Iڅk]?iڅ}[@څk]ځ ہۅy&Q=}*`?IۅAiۅ+]ۅ8/6ۅk]ہ ܁޽ԀBuIUchecking for new query: numPingsReceived=59, elapsed TxPingTime=26.551846H-H-i5%; %<=Y-5;Q >٣ GF8 >]49 cl?a 4Y ipB  q ?Ci<j<萈4B A EZj'tl?bjr iiJs[Aj3s@jq@2j~?ppWu>[8mk&@zpCeȿ#L̓^?"j8/6*jk]p Z93?\‡2@Л9Q@pCl?ީB?A`~?i!@j?i֏l?iμlr  jhBzjjjBjja@rjȊ@  addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.501749 s, deltaX: -0.400000 m, approachRate: -0.797211 m/s, rangeRepo size: 4 5 Added new target pos. range: 3.800000 m, bearing: 78.108501 deg, lat: 36.903919 deg, lon: -122.119087 deg, deltaT: 9.088697 s, deltaX: -6.000000 m, approachRate: -0.660161 m/s, posRepo size: 4 2i9*i9EzIgnoring new targets. Set target to previous: 3.80 m. 9.80 m.iE"iEmU ProNav: ac range: 9.800000 m, nav range: 3.277794 m, bearing: 235.106936 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 223.930812 deg, new cmd heading: 223.539099 deg.  iUA]|HeadingCmd: 3.901493 target range: 9.800000 and range: 3.80 m.h]y@hhhhggbgjgeejeJe`ff@:e@]k?eBɛ,|~) fHi)ZM8i$=i m ; g>I y@Ichecking for new query: numPingsReceived=59, elapsed TxPingTime=26.724770DDDE EEiAEVF>F?F?Fi ZAq M >*x,wI[AnրBnxIr=ir=HzHzkf5c<  s=Y Q  ?٣ GF  ?]%49z[l?a-4Y< i qB))q-??C1;p;49 = A92ia*iamzIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.im"im ProNav: ac range: 9.800000 m, nav range: 3.031078 m, bearing: 233.913420 deg, approach rate: -0.848444 m/s, LOS rate: -4.438212 deg/s, cmd heading: 223.539101 deg, new cmd heading: 219.673267 deg.  i^>|HeadingCmd: 3.834022 target range: 9.800000 and range: 3.80 m.h`u@hhhhggbgjgeejeJe:eg?dBɛ'Ȟ) Fi)q:?i%=isI >I`u@IDDAT read: Rx Time:19:06:33.7785  TRx dataTimestamp_ set to:1736535994.306148PDAT read: Bearing 184.6, -40.7 (Local) ~Local bearing/azimuth received: Bearing 184.6, -40.7 (Local) =DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4 mDAT read: 19:06:33.7785 LVL= 14096, 16561, 4850, 10947, AGC= 42, IDX= 501,-0.24, 2.471,-2.528, 2.747,-2.288, PHS=-1.436,-0.193,-1.251, RAW= 322.1, 41.2, CAL= 325.4, 40.7, ROT= 184.6, -40.7 uYgot valid direction response: 19:06:33.7785 LVL= 14096, 16561, 4850, 10947, AGC= 42, IDX= 501,-0.24, 2.471,-2.528, 2.747,-2.288, PHS=-1.436,-0.193,-1.251, RAW= 322.1, 41.2, CAL= 325.4, 40.7, ROT= 184.6, -40.7 uT#Rx 60: Read range and direction messages.}`direction in FSK: [-0.755692,-0.060802,0.652098]Fpublishing direction and range infoY.dub!?ff@97 @)I*i*ηˡE @ X8?)ּ@Io5?i?3N@o5 ȁL=sҿ>ms?I6h0i?8vCo5 checking for new query: numPingsReceived=60, elapsed TxPingTime=26.999180DDDEx0 EVF>FZAM> checking for new query: numPingsReceived=60, elapsed TxPingTime=27.228483IOx,9 [A%B%IMb@Mb@Mb@ )IyFx?Q?~jtx?K?= 7 A) AI~Ai A AH- H-g5E;= E8=YIQ M>I٣I UGQQ U>Y]m49]Ql?am4Y]  i]qBuN?mu:u>qu?]mC]i@;]a>;]N4y }AZjEYl?bjEӘw iAiE[AjEff@jEd@2jE?pEJaq̿w@zpE.dub!?"jEvC*jEo5pEHn4?*Y)@ v@pEg:?<4?*eoC?iEA%@jE?iEl?iE2  jEYBzjEl?jE2 jEDBjjE7@rjE? addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.504726 s, deltaX: -0.200000 m, approachRate: -0.396255 m/s, rangeRepo size: 4  Added new target pos. range: 3.600000 m, bearing: 66.218221 deg, lat: 36.903914 deg, lon: -122.119029 deg, deltaT: 9.593423 s, deltaX: -6.200000 m, approachRate: -0.646276 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 3.60 m. 9.80 m.i"im ProNav: ac range: 9.800000 m, nav range: 2.689970 m, bearing: 231.837839 deg, approach rate: 0.000000 m/s, LOS rate: -0.282262 deg/s, cmd heading: 219.673268 deg, new cmd heading: 219.293279 deg.  iA|HeadingCmd: 3.827390 target range: 9.800000 and range: 3.60 m.ht@hhhhggbg!jg%Be!e!je)Je- @:e5`?]bBɛ]K})Y ]@iY)ehJaaieW%=imsiqIut@Iq:J BoHBJ 9JJ RJ ZJ J!I%hAG>GGGG =GGG<GFHıC HıCHH"H*HĊ5DDDE 0 E DDAT read: Rx Time:19:06:34.2783 5TRx dataTimestamp_ set to:1736535994.811079ZIUjbIUcjIU1rIQzIU.:IUx9IU3IQIU4;IU4;IU:IU:mDAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.5 -uZ#Rx 61: Read range message, but no direction.!%3S@9!}checking for new query: numPingsReceived=61, elapsed TxPingTime=27.496044VF) F ZA M >7x,G[A2z@y2m@92zY2,2H2]`,?@?bb?@VN?ώN?2z@ɨ2/5; 0BBBIHJ HJh5f= jf=YjR*l٣l nGnFrL r>t]v49v(Gl?az4Yv iv'qBxzZqz?vCv:vK:v4 A Eechecking for new query: numPingsReceived=61, elapsed TxPingTime=27.732552 addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.504931 s, deltaX: -0.300000 m, approachRate: -0.594140 m/s, rangeRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i-"i- ProNav: ac range: 9.800000 m, nav range: 2.412776 m, bearing: 230.207771 deg, approach rate: -0.756153 m/s, LOS rate: -4.956830 deg/s, cmd heading: 219.293277 deg, new cmd heading: 213.858354 deg.  iT|HeadingCmd: 3.732533 target range: 9.800000 and range: 3.30 m.hn@h!h!h!h!g!g!bg)jg)e)e)je1JeU`ff @:eU`?}`Bɛ}+) E}0> DDAT read: Rx Time:19:06:34.7783  TRx dataTimestamp_ set to:1736535995.311666% PDAT read: Bearing 138.1, -31.0 (Local) % ~Local bearing/azimuth received: Bearing 138.1, -31.0 (Local) 5 DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4 e DAT read: 19:06:34.7783 LVL= 13968, 12977, 10834, 10163, AGC= 41, IDX= 513,-0.13,-0.952,-0.474,-2.154,-0.450, PHS=-0.414, 0.023,-1.707, RAW= 15.9, 25.5, CAL= 11.9, 31.0, ROT= 138.1, -31.0 m Ygot valid direction response: 19:06:34.7783 LVL= 13968, 12977, 10834, 10163, AGC= 41, IDX= 513,-0.13,-0.952,-0.474,-2.154,-0.450, PHS=-0.414, 0.023,-1.707, RAW= 15.9, 25.5, CAL= 11.9, 31.0, ROT= 138.1, -31.0 u T#Rx 62: Read range and direction messages.} ^direction in FSK: [-0.638000,0.572444,0.515038]} Fpublishing direction and range info Y ĩ~j俏)xvQ?U1{? 9  6  2) R*I 'i ) Ӿ j< ~ڿ q>  >) ȭT>I c ?i ZB@ c    kU"̿2(vI?I wi u{㾉 ZB@ c    checking for new query: numPingsReceived=62, elapsed TxPingTime=28.001654VF zF rF Fa ZAq M >Rfx,[ABII)Mb@Mb@Mb@ )IyPn??Mb`?D?>;  A)7 AIi A AHHm5|˺ !=YQ >٣ GF >]499l?a4Yf i6qB F?m : q ?C ;v;^4B AEZj=U"m?bj= i9i=V[Aj=3S@j=Q@2j=+>p==y4a 9?nM1?zp=ĩ~j俏)xvQ?U1{?"j=ZB@*j=c p=,5@ !?gc ?p=k ?}G >G CG !IG `BG =G G G <G FVF >% DDAT read: Rx Time:19:06:35.2780 - TRx dataTimestamp_ set to:1736535995.8170375 PDAT read: Bearing 253.9, -35.8 (Local) 5 ~Local bearing/azimuth received: Bearing 253.9, -35.8 (Local) E DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.4  DAT read: 19:06:35.2780 LVL= 15696, 18065, 9938, 15939, AGC= 43, IDX= 511,-0.16,-2.254,-1.063,-0.061,-0.108, PHS=-2.058,-0.907, 0.045, RAW= 243.1, 29.5, CAL= 256.1, 35.8, ROT= 253.9, -35.8  Ygot valid direction response: 19:06:35.2780 LVL= 15696, 18065, 9938, 15939, AGC= 43, IDX= 511,-0.16,-2.254,-1.063,-0.061,-0.108, PHS=-2.058,-0.907, 0.045, RAW= 243.1, 29.5, CAL= 256.1, 35.8, ROT= 253.9, -35.8  T#Rx 63: Read range and direction messages. `direction in FSK: [-0.224920,-0.779253,0.584958] Fpublishing direction and range info! Y% .̿}Wy8#?% 9@9! % P= % F)% &I% C>i% +% F% '1h% Q8=% Ň@ % ?)% @I% ?i% ͍@% ! ! F ZA Mu >{%x,#[A-R=p޿tR?%yb?I-Ɉ @i-9--) )*checking for new query: numPingsReceived=63, elapsed TxPingTime=28.545162csw@yɂ@9Y' H???`@{z?IW?" ?csw@ɨ"; %B-IHHi5f= G=Y9٣ Gr %>)]-49--l?a54Y- i-@qB151q=?-C-a;-* ;-4A EAEEZj-İk?bj-Ж i)i-VJ[Aj-9@j-a8@2j- @p- wa俲ښ# \$?zp-.̿}Wy8#?"j-*j-p-QwЂ j2?$C?p-ҘH ߿`bز?^?i-?j-i-9k?i-C  j-[Bzj-l?j)j)jj-t@rj-\?E addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.505371 s, deltaX: -0.400000 m, approachRate: -0.791497 m/s, rangeRepo size: 4 u Added new target pos. range: 2.900000 m, bearing: 126.701581 deg, lat: 36.903913 deg, lon: -122.119029 deg, deltaT: 11.104312 s, deltaX: -6.900000 m, approachRate: -0.621380 m/s, posRepo size: 4 2iq*iq}BIntercept lockout. Range: 2.90 m.}bTransitioning guidance mode to: INTERCEPT_LOCKOUTi}@hyhyhyhyhyggbgjgeejeJe@33@:euR?\Bɛ~) 92i)Wiiۄ&=i-9$))I1I1Mchecking for new query: numPingsReceived=63, elapsed TxPingTime=28.741360DDDE4 EPExceeded connect timeout, disconnecting.VF F ZA M >x,[A6su@y6@96=Y6l:6Hd`r?=?of#??M??6su@ɨ6; 6CB BBIHJHJ\5R= R{=YRFZAM>u checking for new query: numPingsReceived=64, elapsed TxPingTime=29.244591`.x,*[AEt@yE@9EJoӼYEO?%=%< !)% AI% Ai!!%3 AHEHEi5YUz;Q U>Q٣Y ]G]F]#p ]>a]u49e[l?au4Ye ieVqB}@?m}:} q}?e9Ce7;eR6;eDˆ4  addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.502372 s, deltaX: 0.100000 m, approachRate: 0.199055 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgWBeejeJe@:e7?GM>GIGM4IGMpBGM =GIGIGM<GMF:Jek3IBJe59JJaRJeZJeIE=)CYBɛBr) 'i VG)-Ky1)9iE@a'= I)uyy}AiX#A<܀>IIDDAT read: Rx Time:19:06:36.2780 TRx dataTimestamp_ set to:1736535996.826579PDAT read: Bearing 13.2, -55.8 (Local) ~Local bearing/azimuth received: Bearing 13.2, -55.8 (Local) DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -DAT read: 19:06:36.2780 LVL= 7888, 15537, 7730, 7955, AGC= 42, IDX= 513,-0.36,-1.687, 2.977,-2.245,-0.844, PHS=-0.754,-2.415,-1.404, RAW= 127.2, 48.1, CAL= 136.8, 55.8, ROT= 13.2, -55.8 eYgot valid direction response: 19:06:36.2780 LVL= 7888, 15537, 7730, 7955, AGC= 42, IDX= 513,-0.36,-1.687, 2.977,-2.245,-0.844, PHS=-0.754,-2.415,-1.404, RAW= 127.2, 48.1, CAL= 136.8, 55.8, ROT= 13.2, -55.8 eT#Rx 65: Read range and direction messages.\direction in FSK: [0.547233,0.128352,0.827081]Fpublishing direction and range infoY x?$Տm?!Cqw?9@9 <)2Ii*%A\Fq@ V?)@IQy?ik>Qy 8mf2?W[EG?{u{T!?I=ilVk>Qy D5D5D9E= E9uchecking for new query: numPingsReceived=65, elapsed TxPingTime=29.546698VF n>F ZA M >Jx,t~D[Achecking for new query: numPingsReceived=65, elapsed TxPingTime=29.748577>-r@y>%@9>0ļY>A=>H_O?@KڔN" ?@~?1? ?>-r@ɨ>ƛ; >Cn*BnIHzHzob5== EI٣I MGIM} U>Q]49U l?a4YU iUbqBq?U\CU;U6;UȈ4B [AE ]nManaging dock network, ignoring radio surface power offZjVk?bj/3 ii4[Ajj`8@2j́@pw!1F?d?|z?">/q20@zp x?$Տm?!Cqw?"jk>*jQyp;?J5Ef&@p~Jѿq٣WݿGf ?i/j)Li_k?i8  jBzj֏l?jC jYBjjE@rje?- addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.507170 s, deltaX: -0.100000 m, approachRate: -0.197172 m/s, rangeRepo size: 4 = Added new target pos. range: 2.900000 m, bearing: 239.043421 deg, lat: 36.903910 deg, lon: -122.119047 deg, deltaT: 1.009542 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iEETStarting intercept timer at range: 2.90 m.eXStarting latch delay timer at range: 2.90 m.e"Cable is present.*iihihihihihm?gigibgqjgqeqeqjeyJe}@33@:e} @?WBɛ6]) i)ji'=iY#4S<5i>II%S{ADDDEn0 EVFu5>DDAT read: Rx Time:19:06:36.7783 TRx dataTimestamp_ set to:1736535997.327697DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 -Z#Rx 66: Read range message, but no direction.3S@9checking for new query: numPingsReceived=66, elapsed TxPingTime=30.005970ICICICICICICZI%kbI%^jI!rI!zI%2:I%d9I!I!FqZAyM>xAx,n^[Ar6`p@yr~~@9rePYr٣ GFȆ >] 49k?a 4Ym isqB4?m: q?C ; ;+Ј4B AEU addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.501118 s, deltaX: 0.400000 m, approachRate: 0.798215 m/s, rangeRepo size: 4 2iUURStopped intercept timer at range: 3.30 m.*iQhYhYhYhYh]L?gYgYbgajgeeBeaeijeiJem`ff @:em ?雝VBɛP(r) i))隡i9-(=iX#$< S>IIA-checking for new query: numPingsReceived=66, elapsed TxPingTime=30.252672DazDeiADDDEo0 EE ,>E >VF .>Ge >Ge CGe MIGe BGe =Ge FDGe CDGe <Ge F:J BJ 9JJ RJ ZJ "%('$""     DDAT read: Rx Time:19:06:37.2782  TRx dataTimestamp_ set to:1736535997.831493 DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 - Z#Rx 67: Read range message, but no direction. L@9  checking for new query: numPingsReceived=67, elapsed TxPingTime=30.508112ZA M >gx, 7x[Ab˿n@yb|@9bP/ YbG=bH !?'@@l?e?`7۸??b˿n@ɨbb; bCޕ@BޝII)HHY5-g2= -F=Y5mQ =>9٣9 =G=FE| E>I]49Mk?a4YM iMqBE q?MCMz;M;M`׈4 AE- addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503796 s, deltaX: -0.100000 m, approachRate: -0.198493 m/s, rangeRepo size: 4 2i55TStarting intercept timer at range: 3.20 m.*i1h1h1h1h9h9g9g9bg9jgAeAeAjeAJeM @:eM?}TBɛ} "Y)y }A iy)H隁ir(=iY##<A?>IID=D9D9E9 E9Mchecking for new query: numPingsReceived=67, elapsed TxPingTime=30.757725VF52Fx>F ZA!M>Nx,[A6Em@y6{d{@96<$Y6=6H ?@gҡ@I4?@\?@:? ?6Em@ɨ6l; 6C^OBb IHjHjO54= ^=YQ >٣! %G!% %>)]549-k?a54Y- i-qBAE qE?-C-|4;-55;-݈4I M)AImB*** querying acoustic contact ***iiii2i*ihhhhhggbgjgeejeJeDDAT read: Rx Time:19:06:37.7782 TRx dataTimestamp_ set to:1736535998.335432DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 -Z#Rx 68: Read range message, but no direction.ءء9ءchecking for new query: numPingsReceived=68, elapsed TxPingTime=31.012480:euq?HHZIbIbjI1rIzIIt9I3ISBɛ_)  i )   i G(=iX#V<,>IIDDDE@5 EVF[>FAZAaM=>U checking for new query: numPingsReceived=68, elapsed TxPingTime=31.260592xx,[A6k@y6Mz@96<>Y6c'=6H?8?t?+`?@?? U?6k@ɨ6c; 6CbVBbI]Mb@Mb@Mb@YY Y)YIYy]Mb?)\(?/$]>]Ga=] ]A)]AI] Ai] AY] AHmHm^5#= C=YsQ >٣ GFC >]49k?a4Yu iqB>mM; q?C::4  A addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503939 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iRStopped intercept timer at range: 3.20 m.*ihhhhhggbgjgBee je Je :e M?RBɛȈO) iG>GCGrIGBGGGG<GF) fi(=i5Y#57(%<5ȫ>I1I9DEG>DE>:J1MBJݯ9JJRJZJ   DDAT read: Rx Time:19:06:38.2781 TRx dataTimestamp_ set to:1736535998.840304DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -Z#Rx 69: Read range message, but no direction.رص@@9رchecking for new query: numPingsReceived=69, elapsed TxPingTime=31.516920DDDE EEEVF ϮU>F ?F K?F ZA M >] checking for new query: numPingsReceived=69, elapsed TxPingTime=31.7644629fx,[AJ3'k@yJEy@9JT4YJF=JHQ?$hP`Q`Dࢹ?`??~?J3'k@ɨJX; HVaBV"IZl٣l nGlr r>t]z49vk?az4Yv ivqB|~ q~?vCvv";v #;v4  A= addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504872 s, deltaX: -0.200000 m, approachRate: -0.396140 m/s, rangeRepo size: 4 2i==TStarting intercept timer at range: 3.00 m.*i9h9h9hAhAhAgAgAbgIjgIeIeIjeQJeU@:eU`?雅QBɛ:U) zi)0隉i(=iX#)<>IIDDDE/ EVF@N>FZAM%,>թթDDAT read: Rx Time:19:06:38.7782 TRx dataTimestamp_ set to:1736535999.344223PDAT read: Bearing 220.3, -18.9 (Local) ~Local bearing/azimuth received: Bearing 220.3, -18.9 (Local) DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 HC=H4=ZIjbIgjI0rIzI.:I9Iـ3IDAT read: 19:06:38.7782 LVL= 9456, 18289, 9314, 11811, AGC= 44, IDX= 513,-0.06, 0.892, 2.887, 2.409, 2.452, PHS=-1.473, 0.482,-0.046, RAW= 285.1, 11.8, CAL= 289.7, 18.9, ROT= 220.3, -18.9 %Ygot valid direction response: 19:06:38.7782 LVL= 9456, 18289, 9314, 11811, AGC= 44, IDX= 513,-0.06, 0.892, 2.887, 2.409, 2.452, PHS=-1.473, 0.482,-0.046, RAW= 285.1, 11.8, CAL= 289.7, 18.9, ROT= 220.3, -18.9 %T#Rx 70: Read range and direction messages.-`direction in FSK: [-0.721549,-0.611918,0.323917]-Fpublishing direction and range infoعYؽ碎xՔ㿬?ؽL@9عؽ$ ٽqG)ٽb$Iٽ#.iٽ,ٽDٽ>ٽj<ٽ:@ ڽBR>)ڽ̡@Iڽ[>iڽv@ڽ[䨾ڹ ۹۽lEk?#w8?I۽t8@i۽ES۽ ۽[䨾۹ ܹMchecking for new query: numPingsReceived=70, elapsed TxPingTime=32.036442Ox,F[AhB+IMb@Mb@Mb@ )IyV-?Mb`< d A)QAI~AiM A AHHB5< 0=YQ >٣ GF >]49k?a4Y i!<m<q?C;:4checking for new query: numPingsReceived=70, elapsed TxPingTime=32.270634 }_ AyZjk?bjO_ ii[AjL@jsK@2jZ?pvӾxH0Tw?zp碎xՔ㿬?"j *j[䨾p2?Cڶ:@?p.Y??^b\ɱ?B=?iqD@je>iTk?iJ  jBzjTk?jJ j[BjjE@rjX?% addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503919 s, deltaX: 0.200000 m, approachRate: 0.396889 m/s, rangeRepo size: 4 U Added new target pos. range: 3.200000 m, bearing: 83.667699 deg, lat: 36.903893 deg, lon: -122.119052 deg, deltaT: 2.517644 s, deltaX: 0.300000 m, approachRate: 0.119159 m/s, posRepo size: 4 2iQ*iYhYhYhYhYhYgYgabgajgeBeaejeJe @:eش?OBɛ5) i)i(=i5Y#5t/<5>I1I1G>GGIGˁBG =GGDDGұ<GFHȰC HȰCHH ="H =*HȔj5D D D E 4 E VF !>:J] nLBJ] 9JJY RJ] ZJ] Ju ? Ju ?F ZA M > DDAT read: Rx Time:19:06:39.2783  TRx dataTimestamp_ set to:1736535999.851308 DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 - Z#Rx 71: Read range message, but no direction. 3S@9  checking for new query: numPingsReceived=71, elapsed TxPingTime=32.528721(x,ۆ[Avi@yvm$w@9vdBYv%4>vH@ ? ϶ -@?@C?`z?9{?vi@ɨvD; vC%qB%6IH=H=R5]L= ec=Yu,٣ GFҹ >]49dk?a4Y iqB5q?C;;O4  Ae addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.507085 s, deltaX: 0.100000 m, approachRate: 0.197205 m/s, rangeRepo size: 4 2ia*iahahihihihiggbgjgeejeJe`ff @:ez?雝NBɛF\) ܾi)둗i(=iX#I92<~=IID}DyDyE}0 EyEchecking for new query: numPingsReceived=71, elapsed TxPingTime=32.776978VF 1V>Fy ZA M >Μx,X[A) :bg@y:ʀu@9:ZY:>X>:H`+@3?`v`{?O ?@?@D?:bg@ɨ:ɻ; :CFvBF<IIH)H)J= J=HRHRF5Z{< ZV=YZy$;Q ^>`٣` bG`b f>d]j49fk?aj4Yf8 idlnqn?fCfD;f;f4p v At-B*** querying acoustic contact ***i)i)2i9*i9h9hAhAhAhAgAgAbgIjgIeIeIjeIJeQ:eU@И?DDAT read: Rx Time:19:06:39.7783 TRx dataTimestamp_ set to:1736536000.356336PDAT read: Bearing 199.9, -29.7 (Local) ~Local bearing/azimuth received: Bearing 199.9, -29.7 (Local) DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 DAT read: 19:06:39.7783 LVL= 22640, 13537, 18370, 24163, AGC= 46, IDX= 510,-0.12, 0.004, 2.227, 1.055, 1.999, PHS=-1.908, 0.274,-0.947, RAW= 304.0, 25.7, CAL= 310.1, 29.7, ROT= 199.9, -29.7 Ygot valid direction response: 19:06:39.7783 LVL= 22640, 13537, 18370, 24163, AGC= 46, IDX= 510,-0.12, 0.004, 2.227, 1.055, 1.999, PHS=-1.908, 0.274,-0.947, RAW= 304.0, 25.7, CAL= 310.1, 29.7, ROT= 199.9, -29.7 T#Rx 72: Read range and direction messages.`direction in FSK: [-0.816764,-0.295664,0.495459] Fpublishing direction and range infoةYح"O)ҿ͟}d?ة9ةحpX ٭4)٭GI٭c^i٭.٭X9٭I>٭nr٭ɩ@ ڭL>)ڭI1@Iڭm?iڭZJ_@ڭmک ۩ۭSK)8ea?Iۭ}Diۭ徉ۭ[2ۭm۩ ܩchecking for new query: numPingsReceived=72, elapsed TxPingTime=33.068207MBɛlBI)  I׾i ) *i)=i5Y#55<5;0=I1I9DDDE EVF>FZA M>U checking for new query: numPingsReceived=72, elapsed TxPingTime=33.280663 x,K-[A2e@y2s@92WY2^>2H`J`?0W]@}?@?Г? 9?2e@ɨ2j; 2CG>GCGIG߁BG =GGCDG<GFBPIMb@Mb@Mb@ )Iyp= ף?Zd;O~jth?=jD; A)h@I7 AizA AHH0E5= "=Y2Q >٣ GFR >]49k?a4Y iW=m@< 4q?C;; 4 l AZjwAl?bj1 ii6[Aj3S@jQ@2je?pf8\)?zp"O)ҿ͟}d?"j[2*jmpsV$?J@(h?pDeyR?ƣ3m??ij.@j?i6Bl?iF  jBzjjF jBjj00@rjJ?M addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.505028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 :J]oKBJ]9JJYRJ]ZJ]JaIau Added new target pos. range: 3.300000 m, bearing: 63.740232 deg, lat: 36.903893 deg, lon: -122.119056 deg, deltaT: 1.012113 s, deltaX: 0.100000 m, approachRate: 0.098803 m/s, posRepo size: 4 2iq*iqhqhqhyhyhygygybgjg%BeejeJe:e ?ZIkbIjI1rIzI2:I9I3II9;qI9;iI\5;uI\5;mEDDAT read: Rx Time:19:06:40.2778 ETRx dataTimestamp_ set to:1736536000.879768MPDAT read: Bearing 195.6, -31.3 (Local) U~Local bearing/azimuth received: Bearing 195.6, -31.3 (Local) eDAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 19:06:40.2778 LVL= 20656, 11745, 19218, 22163, AGC= 47, IDX= 509,-0.04,-0.733, 1.195, 0.052, 1.055, PHS=-1.700, 0.187,-1.006, RAW= 308.7, 28.3, CAL= 314.4, 31.3, ROT= 195.6, -31.3 Ygot valid direction response: 19:06:40.2778 LVL= 20656, 11745, 19218, 22163, AGC= 47, IDX= 509,-0.04,-0.733, 1.195, 0.052, 1.055, PHS=-1.700, 0.187,-1.006, RAW= 308.7, 28.3, CAL= 314.4, 31.3, ROT= 195.6, -31.3 T#Rx 73: Read range and direction messages.`direction in FSK: [-0.822983,-0.229781,0.519519]Fpublishing direction and range infoAYE/UTO viͿqCw?Ef&@9AEP E-)EKIEViE/EٿE|?>EĀEi@ E'>)E@IE ?iE|Z@E A AE_(*`N=UZ?IE]?iEE7E A Achecking for new query: numPingsReceived=73, elapsed TxPingTime=33.572224%LBɛ%0)) MžiQ)]aYYi]9)=iX#7<=IID)D)D)E-o0 E)E5hAE1VF =F ZA M >x,G[AVchecking for new query: numPingsReceived=73, elapsed TxPingTime=33.804832Z-6b@yZTp@9ZĜ;YZTz4>ZH"Y?@+i h`? q?`ik?x?Z-6b@ɨZ/; ZCI`i` ``)`d dfddhhIh)hih)lInflAnrl;F ptvlAtittixzQlA)z z@FIx x)||||iI |B CIH-H-&Q5] ]|=YmQ u ?y٣ GF* ?]49 k?a4Y iqB7q?C2==4  AEZj}g=l?bj} iyi}N8[Aj}f&@j}M%@2j}+y?p}7h&㿀Ҟ?zp}/UTO viͿqCw?"j}7*j} p}MX6?Ift?fT?p}O@@:?G"?8`@[?i}?j}?i}#>l?i}   j}Bzjyjyj}Bjj}0@rj}%? addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.523432 s, deltaX: -0.700000 m, approachRate: -1.337328 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 55.767408 deg, lat: 36.903893 deg, lon: -122.119056 deg, deltaT: 0.523432 s, deltaX: -0.700000 m, approachRate: -1.337328 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe@:e B?UKBɛU\)]NI]#mi]0];Ͽ]b>]]b@ ]B>)]|@I] >i]uU@] Y Y]mnVbJT"iͿxǟ?I]8i]KҾ]<] Y Ychecking for new query: numPingsReceived=74, elapsed TxPingTime=34.073166VFE m=F ZA! ME >x,a[AzBAIy٣y GF >]49k?a4Y4 iqB4=m<}?q?C8;:4   A Zj}KNl?bj}ۼ iyi}ʍX[Ajyjy2j}c?p}K"}jܿp5?zp}62uFlſJ?"j}<*j} p}CI4D?}w?`JVk?p}\ ?P%x?sL??i}?j}$?i}khOl?i} 2  j}zBzj}#>l?j}  j}Bjj}@rj}!x? addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503886 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 50.809180 deg, lat: 36.903901 deg, lon: -122.119065 deg, deltaT: 0.503886 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iRStopped intercept timer at range: 2.60 m.*ihhhhhggbgjg3BeejeJe:e$ ?JBɛ%:)! %"оi!)-))i-D)=i5X#5l|9<5=I1I9G>GGIGBG =GGG<GF *G lA ! )M `yU lAU ADE DY DY Ee 0 Ea VF5 ~=:J BJ Ӱ9JJ RJ ZJ $]xzsh\RE:3-1AOPPNIF?:4/-(# ZI bI ejI rI zI I 9I I I 9;I I :I :F ZA M% >] DDAT read: Rx Time:19:06:41.2778 ] TRx dataTimestamp_ set to:1736536001.887848m PDAT read: Bearing 198.0, -30.7 (Local) m ~Local bearing/azimuth received: Bearing 198.0, -30.7 (Local) } DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  DAT read: 19:06:41.2778 LVL= 18928, 25185, 19298, 20083, AGC= 48, IDX= 508,-0.03,-0.973, 1.080,-0.057, 0.912, PHS=-1.797, 0.215,-0.972, RAW= 305.9, 27.3, CAL= 312.0, 30.7, ROT= 198.0, -30.7  Ygot valid direction response: 19:06:41.2778 LVL= 18928, 25185, 19298, 20083, AGC= 48, IDX= 508,-0.03,-0.973, 1.080,-0.057, 0.912, PHS=-1.797, 0.215,-0.972, RAW= 305.9, 27.3, CAL= 312.0, 30.7, ROT= 198.0, -30.7  T#Rx 75: Read range and direction messages. `direction in FSK: [-0.817768,-0.265709,0.510543] Fpublishing direction and range infoY Y]  (+7`ѿ^V?Y 9Y ] I ] ab)] bKI] sNiY ] 濩] (\>] x] ت@ ] >)] @@I] >+ ?i] +]@] >+ Y Y ] JZKL'R?I] pBi] C] 4] >+ Y Y  checking for new query: numPingsReceived=75, elapsed TxPingTime=34.580456Ux,#z[AvL]@yvk@9v*,Yv>vHQaA? ??`{'?#?vL]@ɨvI; tiB,IH%H%]5Uؽ U=Y]>+ pE$X?*r?hE 88?pU]?I6?X%c,o?iS?j-?i"xLHl?iE4  jBzj6Bl?jjBjj@rj+t?e addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504194 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 2.600000 m, bearing: 52.489314 deg, lat: 36.903902 deg, lon: -122.119065 deg, deltaT: 0.504194 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iq*iqhqhqhqhqhygygbgjgeejeJe:eY?ɛ\) =i9)=e99i=d)=iEY#EL8$x,[A2x[@y2:-i@92?)Y2 =2H J?Q; ޿`}B?)D?L? ǿ?2x[@ɨ2; 2C>cBB%IHJHJr^5R  Rk=YR checking for new query: numPingsReceived=76, elapsed TxPingTime=35.317749+x,{[A2@X@y2f@92qY2e>2Hd?֠ܿ`+YW?2m?O?}?2@X@ɨ2; 0G=>G9G=IG=BG9G9G9G=̱<G=FaB"II))a= p=eMb@Mb@Mb@aa a)aIaye:vp= ף٣ GS >]49k?a4YP ilqB=m;v?q?C;p;,4  AZjU|Il?bjUcv iQiU[AjU9@jU`8@2jUx"w?pU'Q*:A i*5?zpUH]k;پտzw?"jU-\-*jUg pU?nd?Tl3OT@?pUR:-?9bʬ?] ?iU@jUӴ?iUJl?iUZ  jUaBzjU"xLHl?jQjUBjjU@rjUm? addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503994 s, deltaX: 0.300000 m, approachRate: 0.595246 m/s, rangeRepo size: 4 :JMBJ9JJRJZJZIpbIjI0rIzIA:IIـ3IIT;IT;II Added new target pos. range: 2.900000 m, bearing: 55.311610 deg, lat: 36.903902 deg, lon: -122.119065 deg, deltaT: 0.503994 s, deltaX: 0.300000 m, approachRate: 0.595246 m/s, posRepo size: 4 2iTStarting intercept timer at range: 2.90 m.*ihhhhhggbgjgBeeje-DDAT read: Rx Time:19:06:42.2779 5TRx dataTimestamp_ set to:1736536002.895778=PDAT read: Bearing 203.4, -36.3 (Local) =~Local bearing/azimuth received: Bearing 203.4, -36.3 (Local) MDAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 uDAT read: 19:06:42.2779 LVL= 15696, 21681, 15794, 18099, AGC= 48, IDX= 508,-0.10, 0.353, 2.323, 1.467, 2.502, PHS=-2.062,-0.133,-1.038, RAW= 298.0, 34.4, CAL= 306.6, 36.3, ROT= 203.4, -36.3 }Ygot valid direction response: 19:06:42.2779 LVL= 15696, 21681, 15794, 18099, AGC= 48, IDX= 508,-0.10, 0.353, 2.323, 1.467, 2.502, PHS=-2.062,-0.133,-1.038, RAW= 298.0, 34.4, CAL= 306.6, 36.3, ROT= 203.4, -36.3 T#Rx 77: Read range and direction messages.`direction in FSK: [-0.739644,-0.320073,0.592013]Fpublishing direction and range info1Y5y*B.|Կ?5,@915P= 5T)5=I5Fi5055'15/݄5Bo@ 5`?)5<@I50"?i513c@50"1 15m:e0H?m ?I5F@i55.50"1 1checking for new query: numPingsReceived=77, elapsed TxPingTime=35.584808Je@:e@Ð?ɛC) i)%$!!i%)=i-Y#-2<-)I)I)D=DADAEE2 EAVFU 5< checking for new query: numPingsReceived=77, elapsed TxPingTime=35.822258F! ZAI M >2x,F[A],V@y]Kd@9]bY]Z0>]H`#@wO?dZiڿy?/?@3??],V@ɨ]ӥ; ]Ci mZlAiqɳqqqIq)qiq)yI}zlA} ɴy yɵ鵅~lAi\ZFi) I )lAɶ鶙ɷjlAiIIi 鷡)޵SB޵IHHm5 ?=Y-٣ GFH >]495k?a4Y) icqBx?q?C:;:z44  AZje6 Kl?bj9N\ iimT[Aj,@j+@2j"k?p3Z=,~v71?zpy*B.|Կ?"j.*j0"pubX?Bg9?0M?pVɚ?{-<ȥ?L?i?jŲ?iKl?i   j'BzjJl?jjjj{@rjдj?] addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503936 s, deltaX: -0.200000 m, approachRate: -0.396876 m/s, rangeRepo size: 4  Added new target pos. range: 2.700000 m, bearing: 52.596727 deg, lat: 36.903903 deg, lon: -122.119065 deg, deltaT: 0.503936 s, deltaX: -0.200000 m, approachRate: -0.396876 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe:e ?HBɛa) i)=99i=Jk*=iEX#ED.29x,[A2S@y2{a@92uY2%>2H -?]"e,ؿ@6 ?ఱ?W?+?2S@ɨ2拋; 0~LB IDDAT read: Rx Time:19:06:43.2783 TRx dataTimestamp_ set to:1736536003.654321 checking for new query: numPingsReceived=78, elapsed TxPingTime=36.330372Mb@Mb@Mb@ )IyZd;MbX9y&1|?yʡ`; )lAI AiM A AH  H 1h5j 4=Y%<I٣Y ]G]F] ]>i]u49m8k?au4Ym im`qBu=muGGIG߁BGGGG<GFDDDE`0 EVFN޼ZI- mbI- fjI) rI) zI- \8:I- 9I) I) :JM BoHBJM 9JJI RJM ZJM  I- D;I- D;I- :I- : PDAT read: Bearing 203.0, -32.0 (Local)  ~Local bearing/azimuth received: Bearing 203.0, -32.0 (Local)  DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 F ZA M > DAT read: 19:06:43.2783 LVL= 26960, 18177, 17986, 23379, AGC= 47, IDX= 508,-0.04, 0.734, 2.974, 1.938, 2.906, PHS=-2.084, 0.116,-0.971, RAW= 299.6, 28.6, CAL= 307.0, 32.0, ROT= 203.0, -32.0  Ygot valid direction response: 19:06:43.2783 LVL= 26960, 18177, 17986, 23379, AGC= 47, IDX= 508,-0.04, 0.734, 2.974, 1.938, 2.906, PHS=-2.084, 0.116,-0.971, RAW= 299.6, 28.6, CAL= 307.0, 32.0, ROT= 203.0, -32.0  T#Rx 79: Read range and direction messages. `direction in FSK: [-0.780632,-0.331359,0.529919] Fpublishing direction and range info؉ Y؍ ث2^4տ?<?؍ 3S@9؉ ؍ Pi ٍ G)ٍ BFIٍ S[iٍ /ٍ B`ٍ h=ٍ uxٍ T@ ڍ r>)ڍ v@Iڍ 5?iڍ b@ڍ 5ډ ۉ ۍ -kѣ"x?Lw4?Iۍ H@iۍ ӡۍ ^/ۍ 5ۉ ܉ e checking for new query: numPingsReceived=79, elapsed TxPingTime=36.604095w,?x,[A2u)Q@y27H_@92~HY2 ./>2H@|?;ڧYտ @ ???Ї?2u)Q@ɨ2S!; 2CCBIHHQc5m#d m=YuEVFuFIZAYMu>H H BAjFx,[A:DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.0 JDAT read: 19:06:43.7784 LVL= 30448, 20465, 21410, 27427, AGC= 46, IDX= 509, 0.06, 2.525,-1.510,-2.637,-1.654, PHS=-2.016, 0.191,-0.985, RAW= 302.2, 27.4, CAL= 308.9, 31.0, ROT= 201.1, -31.0 NYgot valid direction response: 19:06:43.7784 LVL= 30448, 20465, 21410, 27427, AGC= 46, IDX= 509, 0.06, 2.525,-1.510,-2.637,-1.654, PHS=-2.016, 0.191,-0.985, RAW= 302.2, 27.4, CAL= 308.9, 31.0, ROT= 201.1, -31.0 NT#Rx 80: Read range and direction messages.R`direction in FSK: [-0.799697,-0.308578,0.515038]VFpublishing direction and range info0Y2<鿼ӿU1{?2`@902v 2O)2SI2#ki2.2%2C>2(|2Ǩ@ 2G>)2@I2c ?i2`@2c 0 02`N o8\p@!?I2Fi2cG25~12c 0 0fchecking for new query: numPingsReceived=80, elapsed TxPingTime=37.097446eN@yeM\@9e6=Ye.>eH9$?@Lӿq %?`??`?eN@ɨeJ; eC;BIH H m5Y 9=Yy:Q >٣ GF >]49Lk?a4Y# iZqB9?q?C::I4 AZj2l?bj2 i0i2cB[Aj2`@j2^@2j2ORB?p2$:dDӀG?zp2<鿼ӿU1{?"j25~1*j2c p2.@kIk?@׃A?p2p?1.q?3e?i2 @j2t@i2W јl?i29U  j2ZBzj2vl?j2 j2ZBjj25@rj2 Z? addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.507750 s, deltaX: 0.200000 m, approachRate: 0.393895 m/s, rangeRepo size: 4  Added new target pos. range: 3.500000 m, bearing: 43.491419 deg, lat: 36.903907 deg, lon: -122.119060 deg, deltaT: 0.507750 s, deltaX: 0.200000 m, approachRate: 0.393895 m/s, posRepo size: 4 2i*ihhhhhg)g)bg)jg1e1e1je1Je5 @:e=?雁ɛ 8m) ei) i 2,=i%Y#-}<-v5^I1Ia5DDAT read: Rx Time:19:06:44.2783 =TRx dataTimestamp_ set to:1736536004.666945D]DYDaEe_0 EauPDAT read: Bearing 202.3, -31.8 (Local) }~Local bearing/azimuth received: Bearing 202.3, -31.8 (Local) 5 DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed -0.1 -e Z#Rx 81: Read range message, but no direction.153S@91} checking for new query: numPingsReceived=81, elapsed TxPingTime=37.381866G G G IG BG  =G G G <G FH=̯C H=̯CH9H= ="H= =*H=5VF F ZA M >Mx,6[Av,BvI:J2QKBJM9JJRJZJ DAT read: 19:06:44.2783 LVL= 24368, 16561, 17858, 21907, AGC= 46, IDX= 508, 0.09, 0.924,-3.058, 2.125, 3.133, PHS=-2.121, 0.139,-1.011, RAW= 300.6, 28.4, CAL= 307.7, 31.8, ROT= 202.3, -31.8 Ygot valid direction response: 19:06:44.2783 LVL= 24368, 16561, 17858, 21907, AGC= 46, IDX= 508, 0.09, 0.924,-3.058, 2.125, 3.133, PHS=-2.121, 0.139,-1.011, RAW= 300.6, 28.4, CAL= 307.7, 31.8, ROT= 202.3, -31.8 Z#Rx 82: Read direction message, but no range.`direction in FSK: [-0.786329,-0.322497,0.526956]YFCo)2|~ʣԿGW?90_ @)EIUiwV>sh@ >)$ګ@Iq?ia@q?F%Sh|o?IphHi'0q-checking for new query: numPingsReceived=82, elapsed TxPingTime=37.600864ZI bI jI rI zI I I I I D;I I I JIMb@Mb@Mb@ )Iy/$lMbp?,; A)@I Ai AG AH-"H-q5em e)=YeQ e>i٣i mGmFu u>]49yk?a4Y iYqBe=ml<?q?C<1<R4 <AZjM l?bj^ ii:*[Aj3S@jQ@2j[H?pоxjSp9 Q/p?zpFCo)2|~ʣԿGW?"j'0*jqpZr" @yָ@@a ?p,8?p?n9Q&?im@jx@i6l?i  j.Bzj|5~l?jjFBjj7@rjS?- addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.256643 s, deltaX: -0.200000 m, approachRate: -0.779293 m/s, rangeRepo size: 4 ] Added new target pos. range: 3.300000 m, bearing: 44.775753 deg, lat: 36.903908 deg, lon: -122.119060 deg, deltaT: 0.256643 s, deltaX: -0.200000 m, approachRate: -0.779293 m/s, posRepo size: 4 2iY*iahahahahahagagibgjgBeejeJe`ff @:e? ɛ w l)   i )"i,=i%X#%xSx,ʇP[A2H@y2V@925/Y25&>2H[?j?@@˿@}???`ܓ?2H@ɨ2ݡ; 2CN"BRIHZHZo5rN v=Yv*-;Q z ?x٣| ~G|:  ?] 49[k?a4Y% iXqBq?q?C:h:W4! %A!B*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.501943 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iTStarting intercept timer at range: 3.30 m.*ihhhhhggbg jg e e je Je:e?9ɛ=)A EiA)EA+AAiE-=iMY#IU IQIQchecking for new query: numPingsReceived=83, elapsed TxPingTime=38.092854^DK@=D%e>D%>DDDE0 EEiAEVFC F ZA M >#Zx,Mj[A*DDAT read: Rx Time:19:06:45.2782 .TRx dataTimestamp_ set to:1736536005.675363:PDAT read: Bearing 201.7, -32.1 (Local) >~Local bearing/azimuth received: Bearing 201.7, -32.1 (Local) RDAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 -ZZ#Rx 84: Read range message, but no direction.,.L@9,jchecking for new query: numPingsReceived=84, elapsed TxPingTime=38.363300E@yNS@9`A YM)>H `?f铿ſ}??K ?N?騅E@ɨh; C BIMb@Mb@Mb@ )IyV-l{Gzthף \A)VAI AiQ AHHm5% "=Y;Q >٣ GFw >]%49k?a-4Y iRqB-I=m-%<-"?q-?C::w`4Y ]AYGyGyG}fIG}BG} =GyGyG}<G}F addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.506475 s, deltaX: -0.100000 m, approachRate: -0.197443 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgBeejeJe @:e !?Yɛ]nz)Y ]%ia)eżaaieb.=imX#iiIIDAT read: 19:06:45.2782 LVL= 26032, 18161, 19154, 24563, AGC= 46, IDX= 507, 0.18,-0.014, 2.291, 1.170, 2.214, PHS=-2.140, 0.124,-1.047, RAW= 301.1, 28.9, CAL= 308.3, 32.1, ROT= 201.7, -32.1 Ygot valid direction response: 19:06:45.2782 LVL= 26032, 18161, 19154, 24563, AGC= 46, IDX= 507, 0.18,-0.014, 2.291, 1.170, 2.214, PHS=-2.140, 0.124,-1.047, RAW= 301.1, 28.9, CAL= 308.3, 32.1, ROT= 201.7, -32.1 Z#Rx 85: Read direction message, but no range.%`direction in FSK: [-0.787089,-0.313221,0.531399]Y |/fS Կ K7?9e F)JI_i=}*@ ^ ?)/@Il?iMa@lJ=JCӑ@$d%?IGi)0l:JmsLBJm9JJiRJmZJm  Ju? Ju?}checking for new query: numPingsReceived=85, elapsed TxPingTime=38.607452^D} Ba=D D D E o0 E VF CF ZA M >9pax,p[A2B@y2NQ@92ƻY2/>2H@2}?=#ʰ@H?x???2B@ɨ2; 0NBNIHfHfm5zd ~u=Yl;Q  ?٣ GF ?!]-49%k?a-4Y%! i%NqB15?q5?%"C%q:%~:%Gf49 =AA2ii*iihihqhqhqhqgqgqbg!jg!e)e1jeYJea:em?DDAT read: Rx Time:19:06:45.7779 TRx dataTimestamp_ set to:1736536006.180218PDAT read: Bearing 199.0, -31.6 (Local) ~Local bearing/azimuth received: Bearing 199.0, -31.6 (Local) DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DAT read: 19:06:45.7779 LVL= 28016, 19025, 19538, 25123, AGC= 46, IDX= 508, 0.23, 1.221,-2.871, 2.239,-2.995, PHS=-1.979, 0.171,-1.052, RAW= 304.5, 28.4, CAL= 311.0, 31.6, ROT= 199.0, -31.6 ɛI) #i)dȼi,(/=iY#!!I!MYgot valid direction response: 19:06:45.7779 LVL= 28016, 19025, 19538, 25123, AGC= 46, IDX= 508, 0.23, 1.221,-2.871, 2.239,-2.995, PHS=-1.979, 0.171,-1.052, RAW= 304.5, 28.4, CAL= 311.0, 31.6, ROT= 199.0, -31.6 MT#Rx 86: Read range and direction messages.U`direction in FSK: [-0.805324,-0.277295,0.523986]UFpublishing direction and range infoءYإ6Y<4ѿF~?إ,@9ءإpm ٥QJ)٥RLI٥#bi١٥O٥/>٥𧆿٥@ ڥ>)ڥ@Iڥ0 ?I!CqCqCqCqiڥH^@ڥ0 ڡ ۡۥ;p !ֱw?IۥHCiۥ ۥ3ۥ0 ۡ ܡchecking for new query: numPingsReceived=86, elapsed TxPingTime=38.917068D D D E 0 E ZI pbI kjI 2rI zI A:I 9I c3I q @i @u @m @- checking for new query: numPingsReceived=86, elapsed TxPingTime=39.101013VF HUF ZA M >љgx,X[AB@@yB"N@9B^YBoW6>BH1(?@PEd?Ыr??b~?B@@ɨBh; BCN BRITVA TTHZ#HZbr5jfP jM=YjSy;Q j>l٣l nGlrr r>t]z49v3k?az4Yv ivIqBxz% ?qz?v&Cv:v2:v3m4 VAZjgl?bjk ii[Aj,@j+@2j +?p eڷSNށrݢ?zp6Y<4ѿF~?"j3*j0 p(@v?[Æd?p~ ?rX׹l?zLH?i?j@il?iL78  jBzj6l?jjjj6@rj*'L?m addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504855 s, deltaX: -0.500000 m, approachRate: -0.990383 m/s, rangeRepo size: 4 } Added new target pos. range: 2.700000 m, bearing: 28.909338 deg, lat: 36.903909 deg, lon: -122.119060 deg, deltaT: 1.513273 s, deltaX: -0.600000 m, approachRate: -0.396492 m/s, posRepo size: 4 2i}RStopped intercept timer at range: 2.70 m.*ihhhhhggbgjgeejeJe@:e?ɛr) si)K̼i}/=iX#IIDDDE_0 EDDAT read: Rx Time:19:06:46.2778 TRx dataTimestamp_ set to:1736536006.684449PDAT read: Bearing 194.9, -29.8 (Local) ~Local bearing/azimuth received: Bearing 194.9, -29.8 (Local) eDAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 19:06:46.2778 LVL= 27248, 17201, 19634, 25923, AGC= 47, IDX= 507, 0.32,-0.547, 1.607, 0.289, 1.360, PHS=-1.820, 0.293,-1.074, RAW= 309.7, 26.4, CAL= 315.1, 29.8, ROT= 194.9, -29.8 Ygot valid direction response: 19:06:46.2778 LVL= 27248, 17201, 19634, 25923, AGC= 47, IDX= 507, 0.32,-0.547, 1.607, 0.289, 1.360, PHS=-1.820, 0.293,-1.074, RAW= 309.7, 26.4, CAL= 315.1, 29.8, ROT= 194.9, -29.8 =T#Rx 87: Read range and direction messages.E`direction in FSK: [-0.838588,-0.223131,0.496974]EFpublishing direction and range infoرYص>ݙo̿kk?صf&@9رصpj ٵ1C)ٵLIٵCeiٵ/ٵ迩ٵ>ٵxٵ@ ڵ>)ڵ,@Iڵ%?iڵY@ڵ%ڱ ۱۵dEzb٫/ÿәi?I۵ N>i۵u뾉۵!k8۵%۱ ܱchecking for new query: numPingsReceived=87, elapsed TxPingTime=39.417549VF \UI9 )= ~CG >G CG GIG BG G G G ٱ<G FF ZA M >  G 1 )] yY ] BImx,¹[Archecking for new query: numPingsReceived=87, elapsed TxPingTime=39.604565~B~I:J!LBJ9JJRJZJ ,:DPZfo}gB/'#  JgAIgAMb@Mb@Mb@ )IyMby&1Mb``e A)@Id AiG AHE)HE u5 /=YQ >٣ GF >]49k?a4Y iCqB6=m<I?q?+C:k:ou49 =zA9Zjvl?bju> iiΫ[Ajf&@jM%@2j3>p,OqJ֒?zp>ݙo̿kk?"j!k8*j%pej@3y ?L}9?p?%JA ??xl?ikx?jc@i'YӖl?iRe  jVBzjl?j j.Bjj6@rjC?E addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504231 s, deltaX: -0.100000 m, approachRate: -0.198322 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 24.641904 deg, lat: 36.903910 deg, lon: -122.119060 deg, deltaT: 0.504231 s, deltaX: -0.100000 m, approachRate: -0.198322 m/s, posRepo size: 4 2i*ihhhhhggbgjgBeejeJe@:e@5?雅IBɛ҃) !i)Ѽ隉i0=iY#IID=D9DAEA EAVF5cDDAT read: Rx Time:19:06:46.7779 TRx dataTimestamp_ set to:1736536007.191713= PDAT read: Bearing 192.1, -30.6 (Local) Fa ZAq M > ~Local bearing/azimuth received: Bearing 192.1, -30.6 (Local)  DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0  DAT read: 19:06:46.7779 LVL= 22448, 15409, 17090, 22083, AGC= 48, IDX= 508, 0.35, 1.165,-3.069, 1.865, 3.005, PHS=-1.752, 0.256,-1.143, RAW= 312.8, 27.6, CAL= 317.9, 30.6, ROT= 192.1, -30.6  Ygot valid direction response: 19:06:46.7779 LVL= 22448, 15409, 17090, 22083, AGC= 48, IDX= 508, 0.35, 1.165,-3.069, 1.865, 3.005, PHS=-1.752, 0.256,-1.143, RAW= 312.8, 27.6, CAL= 317.9, 30.6, ROT= 192.1, -30.6  T#Rx 88: Read range and direction messages. `direction in FSK: [-0.841619,-0.180427,0.509041] Fpublishing direction and range infoYU Bs?ǿv/J?,@9W 1<)BICVi0A࿩o>MR@ Ϣ>)@Iܸ?iV@ܸ n^7ɿB~(0u?Ih:iH͋;ܸ = checking for new query: numPingsReceived=88, elapsed TxPingTime=39.944057߮tx,n[A2N:@y2mH@92bY2a7>2H fcM?@~D? |@?|?`?%|?2N:@ɨ2kf; 2CNBNIHV(HVt5%n~< %h=Y-PQ ->)٣) -G5F5 5>9]E49=tk?aE4Y=v i=?qBIM2?qM?=.C=C:= :={4y }dAyZjl?bj{ iiE[Aj,@j+@2jo>p3\8-# -߿9?zpU Bs?ǿv/J?"j͋;*jܸp\@N@jw? ԍ?p(?|?+i͝?i3?jr@iտFl?i?7  jBzj'YӖl?jL78 jBjj@rj/>] addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.507264 s, deltaX: 0.100000 m, approachRate: 0.197136 m/s, rangeRepo size: 4 m Added new target pos. range: 2.700000 m, bearing: 17.058514 deg, lat: 36.903911 deg, lon: -122.119070 deg, deltaT: 0.507264 s, deltaX: 0.100000 m, approachRate: 0.197136 m/s, posRepo size: 4 2ii*iihhhhhggbgjgeejeJe@:e 3? ɛ y,)  i)o ռi1=iX#II!ZIUxbIUbjIU0rIQzIUZ:IUt9IUـ3IQchecking for new query: numPingsReceived=88, elapsed TxPingTime=40.109455DDDE`0 EVF~FYZAaM}Y> DDAT read: Rx Time:19:06:47.2779  TRx dataTimestamp_ set to:1736536007.691839 PDAT read: Bearing 193.1, -30.4 (Local)  ~Local bearing/azimuth received: Bearing 193.1, -30.4 (Local) 5 DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -E Z#Rx 89: Read range message, but no direction. 9 M checking for new query: numPingsReceived=89, elapsed TxPingTime=40.382706zx,v[A) @Fp7@yFE@9F"YF4>FHY`׫ Ǔ?@? u [?@?Du?@?Fp7@ɨFf; FCbBbIuMb@Mb@Mb@qq q)qIqyuMb:v{GztuuԼuף uA)u~@IqiqqqH?H~5 5=YӻQ >٣ GU˽ >]49k?a4Y0 i:qB*=m<?q?1C::h4 AGQGUCGU.IGUkBGU =GQGQGU<GUF}B*** querying acoustic contact ***iyiy addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.500126 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgBeejeJe:e?EJBɛe쫌)i m"ii)mQټiqiuy2=i}Y#yyIyIDADADAEA EAEMhAEMiA%DAT read: 19:06:47.2779 LVL= 21552, 18161, 18482, 20851, AGC= 48, IDX= 507, 0.42,-0.327, 1.766, 0.422, 1.549, PHS=-1.788, 0.265,-1.130, RAW= 311.7, 27.3, CAL= 316.9, 30.4, ROT= 193.1, -30.4 -Ygot valid direction response: 19:06:47.2779 LVL= 21552, 18161, 18482, 20851, AGC= 48, IDX= 507, 0.42,-0.327, 1.766, 0.422, 1.549, PHS=-1.788, 0.265,-1.130, RAW= 311.7, 27.3, CAL= 316.9, 30.4, ROT= 193.1, -30.4 5Z#Rx 90: Read direction message, but no range.=`direction in FSK: [-0.840068,-0.195490,0.506034]Y0DeZa6mɿqm1?90T F)2HIsQi/俩>ף @ >)@I?iݱW@/L1`iǿr/_?I;io"m:Uchecking for new query: numPingsReceived=90, elapsed TxPingTime=40.623436:J-2NBJ-9JJ)RJ-ZJ-!&""  VFE k}F ZA) ME >罁x,@N[ABX4@yBB@9BMYB81>BHi@A??^?5?`I??BX4@ɨB2; BCNBNIHVHVk5zւ< zo=YzQ z>|٣| ~G~F  >!]E49%k?aM4Y% i%7qBQ]b?qe?%3C%<%P<%4 lADDAT read: Rx Time:19:06:47.7779 TRx dataTimestamp_ set to:1736536008.196713PDAT read: Bearing 192.9, -30.3 (Local) ~Local bearing/azimuth received: Bearing 192.9, -30.3 (Local) DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 mDAT read: 19:06:47.7779 LVL= 21552, 18497, 18034, 21171, AGC= 49, IDX= 508,-0.46,-1.959, 0.085,-1.232,-0.134, PHS=-1.737, 0.265,-1.101, RAW= 311.9, 27.2, CAL= 317.1, 30.3, ROT= 192.9, -30.3 }Ygot valid direction response: 19:06:47.7779 LVL= 21552, 18497, 18034, 21171, AGC= 49, IDX= 508,-0.46,-1.959, 0.085,-1.232,-0.134, PHS=-1.737, 0.265,-1.101, RAW= 311.9, 27.2, CAL= 317.1, 30.3, ROT= 192.9, -30.3 }T#Rx 91: Read range and direction messages.`direction in FSK: [-0.841605,-0.192753,0.504528]Fpublishing direction and range info؉Y؍oӒl;R^!ȿ@%?؉9؉؉ ٍAH)ٍrFIٍRiٍ1ٍV޿ىٍ팿ٍ2@ ڍ>)ڍ @Iڍa?iڍxW@ڍaډ ۉۍ4Bxp(uǿ56Z;?IۍL;iۍ$ۍ :ۍaۉ ܉2iI*i!h!h!h!h!h!g)g)bg)jg)e1e1je1Je1:e55?Mchecking for new query: numPingsReceived=91, elapsed TxPingTime=40.927711雙ɛv) !i) ޼ivM3=iX#II D}DyDyEo0 EIk3IkO3IkϚ.IcIcIcZIu tbIu ijIu 1rIq zIu ;N:Iu ڈ9Iu 3Iq  checking for new query: numPingsReceived=91, elapsed TxPingTime=41.116852VF L}F ZA M >Kx,*![A>U1@y>?@9>fY>/0>>HN8¿@5?@?^2j?vٌ??=?>U1@ɨ>; `٣` bGbFf f>h]n49jk?an4Yj ij3qBpr\?qr?j5Cj;j;jq4t vtAtZj l?bjcG ii [Ajj2j+>p-?~c:?zpoӒl;R^!ȿ@%?"j :*jap/:@0`?L岈?pnVl$??œKq?i>j@iH@l?i%5  jwBzjjRe jBjj@rjL>M addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.700000 m, bearing: 9.596911 deg, lat: 36.903911 deg, lon: -122.119071 deg, deltaT: 1.005000 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ieeTStarting intercept timer at range: 2.70 m.*iahahahihihigigibgqjgqeqeqjeyJey:e} ?雥KBɛ]) "i)6隱i3=iY#IIDDDE/5 EDDAT read: Rx Time:19:06:48.2778 TRx dataTimestamp_ set to:1736536008.699893PDAT read: Bearing 192.9, -30.3 (Local) ~Local bearing/azimuth received: Bearing 192.9, -30.3 (Local) DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 eDAT read: 19:06:48.2778 LVL= 21424, 19361, 20882, 22003, AGC= 49, IDX= 507,-0.39, 3.033,-1.272,-2.545,-1.481, PHS=-1.682, 0.256,-1.067, RAW= 311.9, 27.2, CAL= 317.1, 30.3, ROT= 192.9, -30.3 mYgot valid direction response: 19:06:48.2778 LVL= 21424, 19361, 20882, 22003, AGC= 49, IDX= 507,-0.39, 3.033,-1.272,-2.545,-1.481, PHS=-1.682, 0.256,-1.067, RAW= 311.9, 27.2, CAL= 317.1, 30.3, ROT= 192.9, -30.3 mT#Rx 92: Read range and direction messages.u`direction in FSK: [-0.841605,-0.192753,0.504528]uFpublishing direction and range info؉Y؍oӒl;R^!ȿ@%?؍f&@9؉؍S ٍK)ٍQIٍUiىٍK׿ٍo>ٍuى ډ)ډIډiډډډ ۉۍ u뿃*vH~ǿ.o<@?Iۍ ;iۍ ۉۉۉ ܉Uchecking for new query: numPingsReceived=92, elapsed TxPingTime=41.411407VF5a}FZAM >GU >GQ GU !IGU `BGU  =GQ GQ GU ӱ<GU F[x, ;[A6.@y6q<@96TidY60>6H@kfǿYʧ??`z7?파?`S?അ?6.@ɨ6Μ; 4bchecking for new query: numPingsReceived=92, elapsed TxPingTime=41.620342bBbIhh]Mb@Mb@Mb@YY Y)YIYy]Mb{Gz٣ GZڽ >]49k?a4Yf i,qBE4=m<{?q?7C);(;4 AZj;kl?bj ii ,[A:J-MBJ9JJRJZJjf&@jM%@2j^F=pv!`C| D\d?zpoӒl;R^!ȿ@%?"j*jpkX*j@ ?}?pqT?e&I?n@?i)>jQ@il?i  jmBzjտFl?j?7 jwBjjT@rj7> addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503180 s, deltaX: -0.100000 m, approachRate: -0.198736 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 6.973827 deg, lat: 36.903912 deg, lon: -122.119074 deg, deltaT: 0.503180 s, deltaX: -0.100000 m, approachRate: -0.198736 m/s, posRepo size: 4 2i*ihhhhhggbgIjgMBeIeQjeQJeU@:eU9?雝LBɛH) Ji)in4=iX#IID}DyDyE05 EDDAT read: Rx Time:19:06:48.7779 TRx dataTimestamp_ set to:1736536009.206481PDAT read: Bearing 191.3, -29.4 (Local) ~Local bearing/azimuth received: Bearing 191.3, -29.4 (Local) DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DAT read: 19:06:48.7779 LVL= 24112, 19393, 18002, 22115, AGC= 49, IDX= 508,-0.32,-2.229,-0.194,-1.568,-0.462, PHS=-1.679, 0.315,-1.110, RAW= 313.9, 26.2, CAL= 318.7, 29.4, ROT= 191.3, -29.4  Ygot valid direction response: 19:06:48.7779 LVL= 24112, 19393, 18002, 22115, AGC= 49, IDX= 508,-0.32,-2.229,-0.194,-1.568,-0.462, PHS=-1.679, 0.315,-1.110, RAW= 313.9, 26.2, CAL= 318.7, 29.4, ROT= 191.3, -29.4  T#Rx 93: Read range and direction messages. `direction in FSK: [-0.854325,-0.170711,0.490904] Fpublishing direction and range infoةYح* lV뿺aſxފj?ح,@9ةح0^ ٭K)٭RFI٭cVi٩٭yֿ٭G>٭{٭P@ ڭ >)ڭ@IڭG\?iڭ%U@ڭG\ک ۩ۭ^}B˿Lx,LT[ARü+@yR9@9RmGYRU3>RH ReͿ??[?`?FX?@?Rü+@ɨRr; PBIH-!H-q5N< J=Yy;Q >٣ GF߽ >]49k?a4Y  i%qBo?q?9C:; 4 AZjl?bjF ii6M[Aj,@j+@2j8J=p쵚atbMYݿ t85?zp* lV뿺aſxފj?"jp<*jG\pT|/wV@O?<$?p̦?c?àP;\?i=j@ikDl?i  jzBzjl?j%5 jjj@rjAa%>e addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.506588 s, deltaX: 0.100000 m, approachRate: 0.197399 m/s, rangeRepo size: 4  Added new target pos. range: 2.700000 m, bearing: 2.833939 deg, lat: 36.903913 deg, lon: -122.119077 deg, deltaT: 0.506588 s, deltaX: 0.100000 m, approachRate: 0.197399 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe@:e|A?ZI1bI5hjI1rI1zI1I5Ȇ9I1I1checking for new query: numPingsReceived=93, elapsed TxPingTime=42.124710ɛf) mi)i5=iY#II DDDEh4 EVF a}F ZA MM > DDAT read: Rx Time:19:06:49.2778  TRx dataTimestamp_ set to:1736536009.708335 PDAT read: Bearing 191.2, -29.3 (Local)  ~Local bearing/azimuth received: Bearing 191.2, -29.3 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  DAT read: 19:06:49.2778 LVL= 23280, 15313, 17842, 23763, AGC= 48, IDX= 507,-0.28, 2.765,-1.515,-2.871,-1.784, PHS=-1.646, 0.316,-1.089, RAW= 314.0, 26.0, CAL= 318.8, 29.3, ROT= 191.2, -29.3 % Ygot valid direction response: 19:06:49.2778 LVL= 23280, 15313, 17842, 23763, AGC= 48, IDX= 507,-0.28, 2.765,-1.515,-2.871,-1.784, PHS=-1.646, 0.316,-1.089, RAW= 314.0, 26.0, CAL= 318.8, 29.3, ROT= 191.2, -29.3 - T#Rx 94: Read range and direction messages.5 `direction in FSK: [-0.855461,-0.169386,0.489382]5 Fpublishing direction and range info$x,n[AYxu_ oſ6Z R?f&@9Z ;)EI\i0!ҿʡ>Zd^@ V>)/ @I?iU@ /{(˿[$?IAi9iw辉)< v)@yv67@9vYv8>vH,;ѿ? ?@GG?P??zz?v)@ɨvɶ; vC=checking for new query: numPingsReceived=94, elapsed TxPingTime=42.443874mBuI@ @ @  @ *G<"G<G>GG.IGkBG =GEDGGƱ<GFH HHH ="H =*H 6H&Hs5 < -=Y;Q >٣ GF >]49k?a4Y iqBi+:mt<d?q?;C;>ƥ4 AZjil?bj ii\Um[Ajf&@jM%@2j<p9@g(;cxI/ܿL[?zpxu_ oſ6Z R?"j)<*jp fq@o?M\q?py"?z.?NA-ġ_?ik<j%@il?i=  jjBzjl?j jjj@rjV= addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.501854 s, deltaX: -0.100000 m, approachRate: -0.199261 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 0.517455 deg, lat: 36.903913 deg, lon: -122.119078 deg, deltaT: 0.501854 s, deltaX: -0.100000 m, approachRate: -0.199261 m/s, posRepo size: 4 2i*ihhhhhgg bg jg e ejeJe@:e?}NBɛ}) i)z隡i8r6=iX#IIchecking for new query: numPingsReceived=94, elapsed TxPingTime=42.629688D9D9D9E=M4 EA:JXKBJ9JJRJZJJ? J$?VF! F ZA M= >zx,|e[A2е&@y24@92lsY23?>2Hi@&~ӿ`?b?*Ub?gt??q?2е&@ɨ2n; 2C'B%IH+Hu5= k=Y51mDDAT read: Rx Time:19:06:49.7779 mTRx dataTimestamp_ set to:1736536010.210224}PDAT read: Bearing 190.2, -29.8 (Local) }~Local bearing/azimuth received: Bearing 190.2, -29.8 (Local) DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DAT read: 19:06:49.7779 LVL= 21584, 11585, 17474, 23907, AGC= 48, IDX= 508,-0.22,-2.412,-0.464,-1.814,-0.704, PHS=-1.620, 0.287,-1.113, RAW= 315.1, 26.8, CAL= 319.8, 29.8, ROT= 190.2, -29.8 Ygot valid direction response: 19:06:49.7779 LVL= 21584, 11585, 17474, 23907, AGC= 48, IDX= 508,-0.22,-2.412,-0.464,-1.814,-0.704, PHS=-1.620, 0.287,-1.113, RAW= 315.1, 26.8, CAL= 319.8, 29.8, ROT= 190.2, -29.8 T#Rx 95: Read range and direction messages.`direction in FSK: [-0.854051,-0.153668,0.496974]Fpublishing direction and range infoiYm0۷bT.cÿkk?m,@9imPT mA-)mBDImc]iim)\Ͽm>mvm,@ m|>)m)@Im%?imtT@m%i imdg_Ϳ*PG?Im)8imxノm=m%i ichecking for new query: numPingsReceived=95, elapsed TxPingTime=42.900375٣ GWɽ >]49lk?a4YW iqBi :mE<Z?q?=CN;JZ?4! fAZjml}l?bjm iiimOt[Ajm,@jm+@2jmd@pmtrKƍڿg"x?zpm0۷bT.cÿkk?"jm=*jm%pmB7@N;E7'Sˬ?pm݅jw?.V 𡿙$ %?imjm@imҷl?im  jmBzjmH@l?jm jijjmh@rjmt(#== addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501889 s, deltaX: 0.100000 m, approachRate: 0.199248 m/s, rangeRepo size: 4 U Added new target pos. range: 2.700000 m, bearing: 357.744663 deg, lat: 36.903914 deg, lon: -122.119080 deg, deltaT: 0.501889 s, deltaX: 0.100000 m, approachRate: 0.199248 m/s, posRepo size: 4 2iY*iYhYhhhhggbgjgeejeJe@:e?OBɛ]~)Y ]iY)e%aaieCG7=imY#iiIiIiDyDDDE_0 EEEhA checking for new query: numPingsReceived=95, elapsed TxPingTime=43.132740VF (u}F ZA M5 >ux, [A],B]IHmHmp5< Q=YQ >٣ GF >]49>k?a4Y  iqBi9m <q??CN:X?l4 AA5B*** querying acoustic contact ***i1i12iI*iIhIhIhIhIhIgQgQbgQjgQeYeYjeYJeY:e]`?雉ɛ8) i)隑iU8=iX#IIDDDEo0 Eu=qDDAT read: Rx Time:19:06:50.2778 TRx dataTimestamp_ set to:1736536010.712204PDAT read: Bearing 194.1, -31.7 (Local) ~Local bearing/azimuth received: Bearing 194.1, -31.7 (Local) DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 19:06:50.2778 LVL= 25696, 13329, 20018, 26419, AGC= 47, IDX= 507,-0.18, 2.317,-2.057, 3.047,-2.182, PHS=-1.696, 0.173,-1.056, RAW= 310.3, 29.0, CAL= 315.9, 31.7, ROT= 194.1, -31.7 Ygot valid direction response: 19:06:50.2778 LVL= 25696, 13329, 20018, 26419, AGC= 47, IDX= 507,-0.18, 2.317,-2.057, 3.047,-2.182, PHS=-1.696, 0.173,-1.056, RAW= 310.3, 29.0, CAL= 315.9, 31.7, ROT= 194.1, -31.7 T#Rx 96: Read range and direction messages.`direction in FSK: [-0.825178,-0.207270,0.525472]Fpublishing direction and range info؁Y؅S%lg2"Շʿk?؅f&@9؁؅`d م4)م2NIم3giم/مٿم&1>م+مM@ څ?)څn@Iڅ ?iڅX@څ ځ ہۅ&_PAx,iɻ[AZI&wbI&ijI$rI$zI&W:I&ڈ9I$I$I&z;q*I&z;i*I&i:u.I&j:m.fM"@yfl0@9fR;YfG>fH f׿`?@?@"? Qjr?`d?fM"@ɨf;; fCrchecking for new query: numPingsReceived=96, elapsed TxPingTime=43.636593z7BzI      Mb@Mb@Mb@ )IyX9v?i|?5MbP<q A)@Id AiM A AHHm5_= K=Y٣ G/ >]49k?a4Y[ i qBiT:=mG<?q?CCS;p/;|4  A Zjl?bj( ii[Ajf&@jM%@2j@p{/)pMp>cj?zpS%lg2"Շʿk?"jO9*j pqB@n+/f?p<,7?Fr] ^?i j@iq\l?ij+  jBzjl?j= jzBjj@:JKBJJJRJZJJIhArj@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.501980 s, deltaX: -0.100000 m, approachRate: -0.199211 m/s, rangeRepo size: 4 5 Added new target pos. range: 2.600000 m, bearing: 358.271983 deg, lat: 36.903913 deg, lon: -122.119081 deg, deltaT: 0.501980 s, deltaX: -0.100000 m, approachRate: -0.199211 m/s, posRepo size: 4 2i9*i9h9h9h9h9h9g9gAbgAjgEւBeAeIjeIJe}@:e}Z{?QBɛ4F)\=  i)i 9=iY#IIDDDEp0 EDDAT read: Rx Time:19:06:50.7784 TRx dataTimestamp_ set to:1736536011.215769PDAT read: Bearing 195.0, -33.7 (Local) ~Local bearing/azimuth received: Bearing 195.0, -33.7 (Local) DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.0 DAT read: 19:06:50.7784 LVL= 23280, 12897, 17106, 24019, AGC= 47, IDX= 508,-0.11,-2.965,-1.119,-2.217,-1.140, PHS=-1.736, 0.068,-1.079, RAW= 308.9, 31.5, CAL= 315.0, 33.7, ROT= 195.0, -33.7  Ygot valid direction response: 19:06:50.7784 LVL= 23280, 12897, 17106, 24019, AGC= 47, IDX= 508,-0.11,-2.965,-1.119,-2.217,-1.140, PHS=-1.736, 0.068,-1.079, RAW= 308.9, 31.5, CAL= 315.0, 33.7, ROT= 195.0, -33.7  T#Rx 97: Read range and direction messages. `direction in FSK: [-0.803606,-0.215326,0.554844] Fpublishing direction and range infoؙY؝*/#u ʏ˿TI?؝`@9ؙ؝Z ٝa2)ٝBIٝ]iٙٝ?5޿ٝC=ٝٝ@ ڝL ?)ڝ@Iڝ?iڝ-Y@ڝڙ ۙ۝c\mM5 ?VFE X}I۝I?i۝O ۝N8۝ۙ ܙ checking for new query: numPingsReceived=97, elapsed TxPingTime=43.952644F ZA M- >,x,[A2+ @y2I.@92x;Y2G>2H``=%ٿs?`?@ ?O}?@oe?2+ @ɨ2*.; 2CN:BNIHVHV+p5^ޑ< ^[=Y^M-`٣` bGbFf_ f>h]n49jk?an4Yj ijqBprx?qr?jFCj ;j ;j4t vAtZjal?bji] ii)[Aj`@j^@2jy@pEila?:BU??zp*/#u ʏ˿TI?"jN8*jp.@tyr"N}2z?p㩈5?Koe8QE?ij@@il?i.  jʄBzjkDl?jj+ jBjj@rjP@M addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503565 s, deltaX: 0.900000 m, approachRate: 1.787257 m/s, rangeRepo size: 4 ] Added new target pos. range: 3.500000 m, bearing: 357.738237 deg, lat: 36.903914 deg, lon: -122.119082 deg, deltaT: 0.503565 s, deltaX: 0.900000 m, approachRate: 1.787257 m/s, posRepo size: 4 2i]eRStopped intercept timer at range: 3.50 m.*iahahahahahagigibgijgieejeJe @:e?RBɛ )  i )-t2))i59=i5X#99I9I9checking for new query: numPingsReceived=97, elapsed TxPingTime=44.140732DDDE@5 EE@?E>?VF-7}zF1rF1F ZA MM > DDAT read: Rx Time:19:06:51.2783  TRx dataTimestamp_ set to:1736536011.719765 PDAT read: Bearing 197.2, -34.4 (Local)  ~Local bearing/azimuth received: Bearing 197.2, -34.4 (Local)  DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0  DAT read: 19:06:51.2783 LVL= 23152, 12689, 18210, 21795, AGC= 47, IDX= 507,-0.06, 1.815,-2.577, 2.659,-2.547, PHS=-1.833, 0.018,-1.080, RAW= 306.1, 32.4, CAL= 312.8, 34.4, ROT= 197.2, -34.4  Ygot valid direction response: 19:06:51.2783 LVL= 23152, 12689, 18210, 21795, AGC= 47, IDX= 507,-0.06, 1.815,-2.577, 2.659,-2.547, PHS=-1.833, 0.018,-1.080, RAW= 306.1, 32.4, CAL= 312.8, 34.4, ROT= 197.2, -34.4  T#Rx 98: Read range and direction messages.Sx,[Ar`direction in FSK: [-0.788213,-0.243993,0.564967]rFpublishing direction and range infoYBN 9=5&;ϿlҼ5?3S@9pZ 1)"GI#Ui꿩tHxۿ ?a?=`?`b?_i?M@ɨވ; CiFF\@` U꿯$~Y&?I3Bi1o5`5@BޅI checking for new query: numPingsReceived=98, elapsed TxPingTime=44.465618 )A Y)-y BG@AGAAGGGMIGBGGGG<GFMb@Mb@Mb@ )Iy~jt?i|?5MbD= SA)~@IAifAHM HMh5< =Y ٣ GFz >]49k?a4Y ipB=m-<K?q%?KC;;Vĉ4) -A)Zj Ll?bjh* ii[Aj3S@jQ@2jl@po^*͔3֋?zpBN 9=5&;ϿlҼ5?"jo5*j`pzs@Tl ^qP?pFV^?lٖ#v6(?iNj4@ihl?iC.  jBzjҷl?jjBjjA@rjP@ addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503996 s, deltaX: -0.200000 m, approachRate: -0.396829 m/s, rangeRepo size: 4  Added new target pos. range: 3.300000 m, bearing: 358.094573 deg, lat: 36.903914 deg, lon: -122.119082 deg, deltaT: 0.503996 s, deltaX: -0.200000 m, approachRate: -0.396829 m/s, posRepo size: 4 2i*ihhhhhggbg!jg%Be!e!je)Je-`ff @:e-0?ZIevbIenjIe0rIazIe{T:Ie99Ieـ3IaIeIu;IeKu;IeS:IeT:雵TBɛ9)  i)ΎiI;=iY#IIchecking for new query: numPingsReceived=98, elapsed TxPingTime=44.644604DuDqDqEu0 Eq:Je RIBJe 9JJa RJe ZJe Ju ? Ju ?VFU k}F1 ZAq M >x,Gs [ADDAT read: Rx Time:19:06:51.7782 %TRx dataTimestamp_ set to:1736536012.230826-PDAT read: Bearing 197.9, -35.9 (Local) -~Local bearing/azimuth received: Bearing 197.9, -35.9 (Local) =DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 mDAT read: 19:06:51.7782 LVL= 18736, 12001, 17010, 21187, AGC= 47, IDX= 507,-0.01, 2.273,-2.164, 3.133,-2.053, PHS=-1.868,-0.064,-1.100, RAW= 304.9, 34.3, CAL= 312.1, 35.9, ROT= 197.9, -35.9 uYgot valid direction response: 19:06:51.7782 LVL= 18736, 12001, 17010, 21187, AGC= 47, IDX= 507,-0.01, 2.273,-2.164, 3.133,-2.053, PHS=-1.868,-0.064,-1.100, RAW= 304.9, 34.3, CAL= 312.1, 35.9, ROT= 197.9, -35.9 }T#Rx 99: Read range and direction messages.`direction in FSK: [-0.770831,-0.248972,0.586372]Fpublishing direction and range infoY( QRLϿzw?L@90I .)rBIRi←ǒI@ @?)=O@Ig ?iq]@g  XiQ꿹1\[[??ICiFD5g  checking for new query: numPingsReceived=99, elapsed TxPingTime=44.920906UJBUIHm%HmEs559٣9 EGEFE E>q]}49udk?a}4Yu iupByyq}?uOCu:u:ueˉ4 OAZjwOOl?bj^d ii[AjL@jsK@2jp@p n~鿶d -?zp( QRLϿzw?"jD5*jg pH#@xǐn~ѤX?p%5?{0?i&j,@il?i#3  jBzjl?jjBjj-@rj)@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.511061 s, deltaX: -0.100000 m, approachRate: -0.195671 m/s, rangeRepo size: 4  Added new target pos. range: 3.200000 m, bearing: 359.136808 deg, lat: 36.903917 deg, lon: -122.119082 deg, deltaT: 0.511061 s, deltaX: -0.100000 m, approachRate: -0.195671 m/s, posRepo size: 4 2i*ihhhhhggbgjge e je Je  @:e ܁?UUBɛ]?)Y ]iY)}M隁iZ<=iX#II checking for new query: numPingsReceived=99, elapsed TxPingTime=45.162544^D D D D E o0 E VFa}DDAT read: Rx Time:19:06:52.2781 TRx dataTimestamp_ set to:1736536012.739329PDAT read: Bearing 196.6, -37.3 (Local) ~Local bearing/azimuth received: Bearing 196.6, -37.3 (Local) DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 DAT read: 19:06:52.2781 LVL= 16512, 11953, 17394, 20835, AGC= 49, IDX= 506, 0.04, 1.584,-2.917, 2.381,-2.742, PHS=-1.869,-0.128,-1.163, RAW= 306.2, 36.4, CAL= 313.4, 37.3, ROT= 196.6, -37.3 Ygot valid direction response: 19:06:52.2781 LVL= 16512, 11953, 17394, 20835, AGC= 49, IDX= 506, 0.04, 1.584,-2.917, 2.381,-2.742, PHS=-1.869,-0.128,-1.163, RAW= 306.2, 36.4, CAL= 313.4, 37.3, ROT= 196.6, -37.3 FZAV#Rx 100: Read range and direction messages.%`direction in FSK: [-0.762320,-0.227258,0.605988]-Fpublishing direction and range infoءYإl"[doͿ=Ad?إ@@9ءإ@ ٥.M=?}x,)0[A)CIcQi1d;←o/ݔ@ "?) @Ir&?i[@r& ,ZϜUhEZPSψ?I[Bi"6r& checking for new query: numPingsReceived=100, elapsed TxPingTime=45.500240GGGYIGBG =GGG<GF @yF*&@9\;HXr6?͖?@?;ƞ@j?e?騝 @ɨ ; COB I)p= a=mMb@Mb@Mb@ii i)iIiym:v?+{GzmT=mm# mA)iImAim7 Aim AH*H|u5{< =Y r ٣   GF >9]E49= k?aE4Y=u i=pBM=mM @2jC@pYKq\\b?zpl"[doͿ=Ad?"j6*jr&pzxZ@rRlҿ/?pOK#_?XmԸY!ug_?ij@il?ieg   jBzjjjBjjz-@rj"@ZIobIdjI1rIzI>:I|9I3II}O;IO;I:I:5 addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.508503 s, deltaX: -0.200000 m, approachRate: -0.393311 m/s, rangeRepo size: 4 E Added new target pos. range: 3.000000 m, bearing: 353.196485 deg, lat: 36.903917 deg, lon: -122.119082 deg, deltaT: 0.508503 s, deltaX: -0.200000 m, approachRate: -0.393311 m/s, posRepo size: 4 2iI*iIhIhIhIhIhIggbgjgeejeJe@:e&P?XBɛ1|checking for new query: numPingsReceived=100, elapsed TxPingTime=45.660759) 6i)im4>=iY#I!I!:J% BoHBJ% 89JJ! RJ% ZJ% ,~[<& yi[YWTMEFB>=:J1 I5 gA^D W^=D D D E _0 E խAթDDAT read: Rx Time:19:06:52.7781 TRx dataTimestamp_ set to:1736536013.246085 PDAT read: Bearing 197.4, -38.1 (Local) ~Local bearing/azimuth received: Bearing 197.4, -38.1 (Local) -DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 mDAT read: 19:06:52.7781 LVL= 15712, 13697, 18498, 27331, AGC= 50, IDX= 507, 0.05,-2.896,-1.128,-2.072,-0.908, PHS=-1.899,-0.172,-1.167, RAW= 305.0, 37.3, CAL= 312.6, 38.1, ROT= 197.4, -38.1 }Ygot valid direction response: 19:06:52.7781 LVL= 15712, 13697, 18498, 27331, AGC= 50, IDX= 507, 0.05,-2.896,-1.128,-2.072,-0.908, PHS=-1.899,-0.172,-1.167, RAW= 305.0, 37.3, CAL= 312.6, 38.1, ROT= 197.4, -38.1 }V#Rx 101: Read range and direction messages.`direction in FSK: [-0.750925,-0.235326,0.617036]Fpublishing direction and range infoYA-67&οj($?9`= 5)BHIji2o 0B`X@ r&?)@I;*?iw\@;* @JY鿈_:>wԱ r"g?IsCii&>5;* VF7}checking for new query: numPingsReceived=101, elapsed TxPingTime=45.979328FZAM?YAx, V[Arƹ@yr"@9rm*=YrY=>rHp@1۱?@?2p?$L ǎ?`l?rƹ@ɨrԈ; rC}TB}IH/Hw5O< )=Y٣ Gܽ >]E49k?aE4YQ ipBAM&?qM?[C#<7$<މ4Q UAQZj_ɳl?bj+~ iiۿO[Ajj2j5"@pn`1\濟<"?zpA-67&οj($?"j>5*j;*p"@zU׿ߣ?prs-p? q ?ij@iPUl?iV  jBzjj. jBjj-@rj@  addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.506756 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.000000 m, bearing: 351.175908 deg, lat: 36.903917 deg, lon: -122.119082 deg, deltaT: 0.506756 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i9*i9h9h9h9hAhAgAgAbgIjgIeIeIjeIJeQ:eUGo?雽ZBɛƗ)]= i)/i?=iX#IICCCCchecking for new query: numPingsReceived=101, elapsed TxPingTime=46.164967D D D E  E 5 DDAT read: Rx Time:19:06:53.2781 5 TRx dataTimestamp_ set to:1736536013.743710= PDAT read: Bearing 199.3, -37.4 (Local) E ~Local bearing/azimuth received: Bearing 199.3, -37.4 (Local) U DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 u DAT read: 19:06:53.2781 LVL= 14976, 13457, 18210, 24307, AGC= 50, IDX= 506, 0.03, 2.591,-1.814,-2.761,-1.610, PHS=-1.994,-0.157,-1.154, RAW= 302.8, 36.3, CAL= 310.7, 37.4, ROT= 199.3, -37.4 } Ygot valid direction response: 19:06:53.2781 LVL= 14976, 13457, 18210, 24307, AGC= 50, IDX= 506, 0.03, 2.591,-1.814,-2.761,-1.610, PHS=-1.994,-0.157,-1.154, RAW= 302.8, 36.3, CAL= 310.7, 37.4, ROT= 199.3, -37.4 } V#Rx 102: Read range and direction messages. `direction in FSK: [-0.749769,-0.262565,0.607376] Fpublishing direction and range info1 Y5 ߍZ4pzпoo?1 91 5 : 5 4)5 "GI5 ^i1 5 d;5 5 F5 @ 5 0"?)5 @I5 '?i5 Ȟ^@5 '1 1 5 &4jdfwXe)d?I5 Ei5 $"5 35 '1 1  checking for new query: numPingsReceived=102, elapsed TxPingTime=46.437325VF V}FYZAiM>x,ut[A*GZ<"GZ<G\G\G^`IG^BG\G\G\G^<G^FK@yi!@9<=YG5>H ۰??~N??v?K@ɨֈ; CލUBލI5Mb@Mb@Mb@11 1)1I1y5kt?Q뱿٣ GF++ >]49Xk?a4Y3 ipBA=m <%?q?aC;;4   A Zj5l?bj5s ZIbIhjIrIi1i5o[AzIIȆ9IIIIO;IӬ:Iլ:j1j12j56@p5g W74pIEo'?zp5ߍZ4pzпoo?"j53*j5'p5n<@$^~׿Q?p55?+1(ST!6?i5j5@i5Ӫl?i5G  j5؄Bzj5l?j5G j1jj5@rj5F@ addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.497625 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.000000 m, bearing: 351.320099 deg, lat: 36.903914 deg, lon: -122.119082 deg, deltaT: 0.497625 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iTStarting intercept timer at range: 3.00 m.*ihhh!h!h!g!g!bg)jg-Be1]checking for new query: numPingsReceived=102, elapsed TxPingTime=46.668800e1jeqJey:e}N?雥\BɛM惽) i)/ 隩iA=iY#IIDDDDE EEx,P[A&DDAT read: Rx Time:19:06:53.7783 &TRx dataTimestamp_ set to:1736536014.2481956PDAT read: Bearing 201.3, -36.4 (Local) :~Local bearing/azimuth received: Bearing 201.3, -36.4 (Local) NDAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 vDAT read: 19:06:53.7783 LVL= 15072, 15729, 17490, 18483, AGC= 49, IDX= 507, 0.04,-2.186,-0.131,-1.106, 0.044, PHS=-2.142,-0.128,-1.153, RAW= 300.6, 34.7, CAL= 308.7, 36.4, ROT= 201.3, -36.4 zYgot valid direction response: 19:06:53.7783 LVL= 15072, 15729, 17490, 18483, AGC= 49, IDX= 507, 0.04,-2.186,-0.131,-1.106, 0.044, PHS=-2.142,-0.128,-1.153, RAW= 300.6, 34.7, CAL= 308.7, 36.4, ROT= 201.3, -36.4 ~V#Rx 103: Read range and direction messages.`direction in FSK: [-0.749912,-0.292379,0.593419] Fpublishing direction and range info$Y&oiHL;UҿsŠI?&3S@9$&: &q=)&RDI&3Hi&1& &o&&@ & ?)&i@I&"?i&`@&"$ $& qCJ,Km;][?1=?I&fHi&H&E1&"$ $]checking for new query: numPingsReceived=103, elapsed TxPingTime=46.956543M@yMI @9M>K=YM.>MHϡ` `'ׯ?N?#!.?rQ?@~?M@ɨM; MCRBIH .H Bw5%1 -"=Y-$;Q ->)٣1 5G5F=) =>A]E49Ek?aM4YE) iEpBIMI?qM?EfCE":E.:E4 AZj&l?bj&d} i$i&m[Aj&3S@j&Q@2j&a@p&R5I[ 5FU?zp&oiHL;UҿsŠI?"j&E1*j&"p&j *xm@ZSAٿV5 0?p&:5x,[AdfAzDDAT read: Rx Time:19:06:54.2782 TRx dataTimestamp_ set to:1736536014.765594%PDAT read: Bearing 202.8, -36.5 (Local) %~Local bearing/azimuth received: Bearing 202.8, -36.5 (Local) =DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 DAT read: 19:06:54.2782 LVL= 14176, 18545, 17522, 17395, AGC= 49, IDX= 506, 0.03, 3.139,-0.983,-1.950,-0.779, PHS=-2.277,-0.157,-1.174, RAW= 298.6, 34.8, CAL= 307.2, 36.5, ROT= 202.8, -36.5 Ygot valid direction response: 19:06:54.2782 LVL= 14176, 18545, 17522, 17395, AGC= 49, IDX= 506, 0.03, 3.139,-0.983,-1.950,-0.779, PHS=-2.277,-0.157,-1.174, RAW= 298.6, 34.8, CAL= 307.2, 36.5, ROT= 202.8, -36.5 V#Rx 104: Read range and direction messages.`direction in FSK: [-0.741046,-0.311507,0.594823]Fpublishing direction and range infoxYzsv3һӿz?zL@9xz`7 zqH)zrDIzCixz^z zEz Ŧ@ z|?)z@Ize#?izb@ze#x xz .eRFvXL&?eo/eA?Iz3G@izjz/ze#x xchecking for new query: numPingsReceived=104, elapsed TxPingTime=47.476925@y@9-dX=Y)R,>H;` ?|? ̼g? M h??騵@ɨv=; CIi DF) 9lAE6iLFI)i)IElA/   i)1i151lA)533 9I9 9)9999AAiAIAAAGu>GqGqGqGu =GqGqGu<GuFHA HAHAHE ="HE =*HEÉ4XBIEMb@Mb@Mb@AA A)AIAyEMb?I +I +E=E94E94 E+A)AIEAiEAAE AHe&Hes5< )=Y;Q >٣ GF+ >] 49k?a 4Y~ ipB [c=mo<?q?iC::@4  A!ZjzPl?bjz - ixiz~[AjzL@jzsK@2jz@pzUфDLX-vt?zpzsv3һӿz?"jz/*jze#pzb~@=Y?׿TQ?pz+7?v䖽8S?iz_jz8&@izl?izw=  jzBzjxjxjzBjjz@rjzdp@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.517399 s, deltaX: -0.100000 m, approachRate: -0.193274 m/s, rangeRepo size: 4  Added new target pos. range: 3.200000 m, bearing: 351.894983 deg, lat: 36.903914 deg, lon: -122.119082 deg, deltaT: 0.517399 s, deltaX: -0.100000 m, approachRate: -0.193274 m/s, posRepo size: 4 2i*ih!h!h!h!h!g!g!bg)jg-Be)e)jeYJe] @:e] ?雥aBɛ`) fi)^ iE=iY#II}checking for new query: numPingsReceived=104, elapsed TxPingTime=47.685535DM DI DQ EQ  EQ :J MBJ 9JJ RJ ZJ   @:!  J I hAVF1 F ZA!ME>x,E[Ab`@yb@9bRd=Yb]->bH@<G?m?`R`4?|?}?b`@ɨb=; bC}TB}IH.HBw5h x=Y ٣ GF >]49k?a4YI ipBDN=m<{?q?oC;[;f 4 %A!Zj*l?bj57J ii0[Aj`@j^@2j@p&ЊYªv@zp+71nL ;տh/d#?"jc-*j@.p*-4@`+]ӿ c{@pNc4`? ]2qб9K?ij1@i*l?iW  jBzjl?j jBjj (@rjZ@  addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.505174 s, deltaX: -0.100000 m, approachRate: -0.197951 m/s, rangeRepo size: 4  Added new target pos. range: 3.500000 m, bearing: 353.712851 deg, lat: 36.903916 deg, lon: -122.119082 deg, deltaT: 1.002967 s, deltaX: 0.300000 m, approachRate: 0.299112 m/s, posRepo size: 4 2i!*i!h!h!h!h!hIgIgIbgIjgUBeQeQjeQJeU @:e] ׆?雥fBɛ) X i){iҨI=iY#II% checking for new query: numPingsReceived=106, elapsed TxPingTime=48.692722:J l,MBJ 9JJ RJ ZJ  3*3[gm |Q)f< ^DM >=DU p>DU >D D D E `1 E E]9?E]5?DDAT read: Rx Time:19:06:55.7784 TRx dataTimestamp_ set to:1736536016.271973PDAT read: Bearing 205.8, -41.8 (Local) ~Local bearing/azimuth received: Bearing 205.8, -41.8 (Local) DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.0 UDAT read: 19:06:55.7784 LVL= 13808, 19585, 16850, 15955, AGC= 49, IDX= 506, 0.19,-2.901,-1.007,-1.716,-0.518, PHS=-2.296,-0.442,-1.202, RAW= 294.1, 40.8, CAL= 304.2, 41.8, ROT= 205.8, -41.8 mYgot valid direction response: 19:06:55.7784 LVL= 13808, 19585, 16850, 15955, AGC= 49, IDX= 506, 0.19,-2.901,-1.007,-1.716,-0.518, PHS=-2.296,-0.442,-1.202, RAW= 294.1, 40.8, CAL= 304.2, 41.8, ROT= 205.8, -41.8 uV#Rx 107: Read range and direction messages.u`direction in FSK: [-0.671166,-0.324454,0.666532]}Fpublishing direction and range infoYs 1z_ΝtԿS,;T?95 L)AIS>iM#ۙA@ K6?)@I:?i}e@: G3[迬-Fk ?O?ImB@itB68>,:VF7}  checking for new query: numPingsReceived=107, elapsed TxPingTime=49.016811FaZAyM$?x, [A=ƒ @y=@9=t=Y==>=HI~9٣9 =GEFEƽ E>I]U49Mk?aU4YM iMpBY]?q]?MsCM:M:MD4a eDAiZjQl?bj† iih[Ajj2j?@p% `+fɦg@zps 1z_ΝtԿS,;T?"j8>,*j:pPJr@ ֿ~@p»?[{$IN?ij+@iHl?i   jBzjVl?jw= jBjj ,@rj@e addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503412 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.500000 m, bearing: 352.365160 deg, lat: 36.903917 deg, lon: -122.119082 deg, deltaT: 0.503412 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iTStarting intercept timer at range: 3.50 m.*ihhhhhggbgjgeejeJe:e` ?5jBɛ5M)1 =)i9)]5aaiedFL=imX#iiIiIiCCCC DDAT read: Rx Time:19:06:56.2783  TRx dataTimestamp_ set to:1736536016.780218 PDAT read: Bearing 206.4, -42.0 (Local)  ~Local bearing/azimuth received: Bearing 206.4, -42.0 (Local) DY DY DY E] `0 EY m DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 I ) C G! 9)e96yaeh(B:@NBGGGMIGBGGGGX<G^FeDAT read: 19:06:56.2783 LVL= 14000, 17329, 15186, 15811, AGC= 49, IDX= 505, 0.26, 1.338,-3.106, 2.512,-2.614, PHS=-2.244,-0.445,-1.161, RAW= 293.3, 40.9, CAL= 303.6, 42.0, ROT= 206.4, -42.0 Ygot valid direction response: 19:06:56.2783 LVL= 14000, 17329, 15186, 15811, AGC= 49, IDX= 505, 0.26, 1.338,-3.106, 2.512,-2.614, PHS=-2.244,-0.445,-1.161, RAW= 293.3, 40.9, CAL= 303.6, 42.0, ROT= 206.4, -42.0 V#Rx 108: Read range and direction messages.`direction in FSK: [-0.665644,-0.330428,0.669131]Fpublishing direction and range info Y L0y%տi? 3S@9 6 C) R;I =i  Cϣ@ 36?) @I f;?i f@ f; -@迌<?Z5?I A@i 6 + f; checking for new query: numPingsReceived=108, elapsed TxPingTime=49.558182VF]V}zFarFaFZA1MM? x,5y=[A  ɳIĻ)i)IblA%ɴ0CF ɵ!%blA%&i!)i)))) )I1 1)5rlAɶ5#5IF19ɷ=flAi9I99IAiA AA)AAuIBuI checking for new query: numPingsReceived=108, elapsed TxPingTime=49.700657Mb@Mb@Mb@ )IyMb)\({GztGaף /A)AIdAilA=AH3Hyy5W* =Y%Q %>!٣! %G-F- ->1]]495k?a]4Y5 i5pBed=mem?UA?I C@i 9 ?- N=  checking for new query: numPingsReceived=109, elapsed TxPingTime=49.979385VF a}Fa ZAq M >Ax,W[AVBd@yV@9VQQ=YVc9>VHE???K'] ?Fo?VBd@ɨV; VCEHBIU=iUp<H]6H]z5L [=YQ >٣ GFv >]49'k?a4Y ipB3?q?yC::$4B iAEZjl?bjf iiQ[AjL@jsK@2jx@p w&y)CK@zpOrWf|1ӿiOo?"j?-*jN=pPJ=@ z ߿SJn@pN(WX ?FmgÿC?i`j@i"ּl?iK  jdBzjl?jjjj#@rj0@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.499507 s, deltaX: -0.100000 m, approachRate: -0.200197 m/s, rangeRepo size: 4  Added new target pos. range: 3.200000 m, bearing: 348.596907 deg, lat: 36.903916 deg, lon: -122.119081 deg, deltaT: 0.499507 s, deltaX: -0.100000 m, approachRate: -0.200197 m/s, posRepo size: 4 2i*ihhhhhggbgjge9e9je9JeE @:eE@I?moBɛmc)i mii)uqqiuP=iX#IIDZIbIhjIrIzIIȆ9IIchecking for new query: numPingsReceived=109, elapsed TxPingTime=50.205414D-D1D1E5@5 E1E9E9VFu H}FQ ZAq M > x,Rq[A2DDAT read: Rx Time:19:06:57.2781 :TRx dataTimestamp_ set to:1736536017.788034JPDAT read: Bearing 203.0, -41.0 (Local) N~Local bearing/azimuth received: Bearing 203.0, -41.0 (Local) ^DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 nDAT read: 19:06:57.2781 LVL= 13008, 15329, 17090, 19699, AGC= 49, IDX= 505, 0.35, 1.884,-2.549, 2.948,-2.128, PHS=-2.183,-0.374,-1.211, RAW= 297.5, 40.3, CAL= 307.0, 41.0, ROT= 203.0, -41.0 vYgot valid direction response: 19:06:57.2781 LVL= 13008, 15329, 17090, 19699, AGC= 49, IDX= 505, 0.35, 1.884,-2.549, 2.948,-2.128, PHS=-2.183,-0.374,-1.211, RAW= 297.5, 40.3, CAL= 307.0, 41.0, ROT= 203.0, -41.0 vV#Rx 110: Read range and direction messages.~`direction in FSK: [-0.694714,-0.294888,0.656059]~Fpublishing direction and range info4Y6ؽ;濟8tҿ*ˠ?5?I6_NF@i6H46^/6074 4]checking for new query: numPingsReceived=110, elapsed TxPingTime=50.492245GGG@IGzBGGGG<GFޭLBޭIMb@Mb@Mb@ )Iy٣ GF >]49k?a4Y ipB>H=m<?q?|C9;(;-4 KAZj6 l?bj69u i4i6&or[Aj6@@j6>@2j6lp@p6b eRTL.O?nA}?zp6ؽ;濟8tҿ*#x,[A2K@y2 @92=Y2٧2>2H{e0? H?bq ?`ϣ3?`}?2K@ɨ2; 0>DB>IHF7HF?{5N}; No=YRQ V?T٣T VGTZ Z?\]b49^k?ab4Y^M i^}pB`f| ?qf?^~C^:^b;^K34h jAhB*** querying acoustic contact ***ii2i!*i!h!h!h!h!h!g)g)bg)jg)e1e1je1Je1:e5?DDAT read: Rx Time:19:06:57.7782 TRx dataTimestamp_ set to:1736536018.288561PDAT read: Bearing 201.9, -39.8 (Local) ~Local bearing/azimuth received: Bearing 201.9, -39.8 (Local) DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 DAT read: 19:06:57.7782 LVL= 14112, 15489, 18258, 22659, AGC= 51, IDX= 506, 0.46, 2.322,-2.094,-2.927,-1.730, PHS=-2.144,-0.317,-1.200, RAW= 298.9, 39.3, CAL= 308.1, 39.8, ROT= 201.9, -39.8 %Ygot valid direction response: 19:06:57.7782 LVL= 14112, 15489, 18258, 22659, AGC= 51, IDX= 506, 0.46, 2.322,-2.094,-2.927,-1.730, PHS=-2.144,-0.317,-1.200, RAW= 298.9, 39.3, CAL= 308.1, 39.8, ROT= 201.9, -39.8 %V#Rx 111: Read range and direction messages.-`direction in FSK: [-0.712841,-0.286560,0.640110]5Fpublishing direction and range infoY0tWҿmZ{?L@9 7 <)RGIXi3L7 M@ /?)T@I1?iCa@1 l▍?NgrB?IG@i@/r01 mchecking for new query: numPingsReceived=111, elapsed TxPingTime=50.982170}tBɛ}۱)y }Giy)隁iUS=iX#IIDDDE4 EZIeqbIejjIarIazIeD:Ie9IaIaVF}7}FI ZAY } checking for new query: numPingsReceived=111, elapsed TxPingTime=51.213303M >)x,T[A6@y6@966N=Y6 3>6H Tha?b?o/`m?IWB?~?6@ɨ6vو; 6C~GBIHM5HM\z5} `< ?=YFQ >٣ GF >]49Gk?a4Y iupB  ?q ?CL;<:4 sAZjl?bjG  iiw[AjL@jsK@2j@p~L?S`X]c@zp0tWҿmZ{?"jr0*j1pY?p@ykM<(?p1,fOL?oYϿW6J?iHj@iլl?i  j#Bzjլl?jK jdBjj@rjva@% addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.500527 s, deltaX: 0.200000 m, approachRate: 0.399579 m/s, rangeRepo size: 4 5 Added new target pos. range: 3.200000 m, bearing: 342.122137 deg, lat: 36.903915 deg, lon: -122.119082 deg, deltaT: 0.500527 s, deltaX: 0.200000 m, approachRate: 0.399579 m/s, posRepo size: 4 2i==TStarting intercept timer at range: 3.20 m.*i9h9h9hAhAhAgAgAbgIjgIeIeQjeaJee @:em?雥xBɛҿ) ji)iU=i-Y#19I9Ii DDAT read: Rx Time:19:06:58.2781  TRx dataTimestamp_ set to:1736536018.827658PDAT read: Bearing 203.3, -38.8 (Local) ~Local bearing/azimuth received: Bearing 203.3, -38.8 (Local) DzDhAG->G)G)G)G- =G)G)G-V<G-]FDAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 DDDE 5 EE:?E:?uDAT read: 19:06:58.2781 LVL= 11504, 10833, 15474, 18355, AGC= 49, IDX= 506,-0.36,-1.184, 0.732,-0.079, 1.053, PHS=-2.149,-0.274,-1.135, RAW= 297.3, 37.7, CAL= 306.7, 38.8, ROT= 203.3, -38.8 }Ygot valid direction response: 19:06:58.2781 LVL= 11504, 10833, 15474, 18355, AGC= 49, IDX= 506,-0.36,-1.184, 0.732,-0.079, 1.053, PHS=-2.149,-0.274,-1.135, RAW= 297.3, 37.7, CAL= 306.7, 38.8, ROT= 203.3, -38.8 V#Rx 112: Read range and direction messages.`direction in FSK: [-0.715780,-0.308264,0.626604]Fpublishing direction and range info Y !\4ӿk# ? @@9  , Q*) r<I Gi 1 7 I G , @ q(?) )K@I -\-?i c@ -\-   'G$/?G0w?I  F@i Ø(  / -\-  checking for new query: numPingsReceived=112, elapsed TxPingTime=51.590969VF a} checking for new query: numPingsReceived=112, elapsed TxPingTime=51.716797F ZA M >0x,:$[AN3C@yNa@9NNHa T?S? P?e?}7?}?N3C@ɨN!; LZ>BZIMMb@Mb@Mb@II I)IIIyM{Gzt ףp= I +MףMQ8M94 MA)MAIMAiM~AIM AHe#Hebr5uf( uC=Yu-Q }>y٣y }GyW׼ >]49}k?a4Y impB>=m<?q?C::B4 AZj@2j6F@pY- N!?zp!\4ӿk# ?"j /*j-\-p@Ě/qd2YZ?p|ZE?y?dϿ ?i[<j@iֻl?ia(  jBzj"ּl?j j#Bjjf@rjfM@ addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.539097 s, deltaX: -0.200000 m, approachRate: -0.370991 m/s, rangeRepo size: 4  Added new target pos. range: 3.000000 m, bearing: 342.475242 deg, lat: 36.903915 deg, lon: -122.119082 deg, deltaT: 0.539097 s, deltaX: -0.200000 m, approachRate: -0.370991 m/s, posRepo size: 4 2i*ihhhhhggbgjg؂BeejeJe@:et?:JKBJu9JJRJZJJhAI雽{Bɛ|) ii)B!iѐV=iX#IID]DaDaEe23 EaDDAT read: Rx Time:19:06:58.7782 TRx dataTimestamp_ set to:1736536019.296825PDAT read: Bearing 202.0, -40.5 (Local) ~Local bearing/azimuth received: Bearing 202.0, -40.5 (Local) DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 DAT read: 19:06:58.7782 LVL= 10832, 9457, 14530, 16803, AGC= 48, IDX= 507,-0.28, 0.109, 1.874, 1.096, 2.253, PHS=-2.056,-0.332,-1.160, RAW= 298.7, 40.0, CAL= 308.0, 40.5, ROT= 202.0, -40.5 %Ygot valid direction response: 19:06:58.7782 LVL= 10832, 9457, 14530, 16803, AGC= 48, IDX= 507,-0.28, 0.109, 1.874, 1.096, 2.253, PHS=-2.056,-0.332,-1.160, RAW= 298.7, 40.0, CAL= 308.0, 40.5, ROT= 202.0, -40.5 %V#Rx 113: Read range and direction messages.-`direction in FSK: [-0.705036,-0.284853,0.649448]-Fpublishing direction and range infoؑYؕMꧏ濚;ҿAG?ؕL@9ؑؕP* ٕ$)ٕ8IٕAiٕ0ٕٕٕzٕXӦ@ ڕ¸2?)ڕ@Iڕ4?iڕܢa@ڕ4ڑ ۑە'Nّ?e?IەКG@iە2ە|0ە4ۑ ܑMchecking for new query: numPingsReceived=113, elapsed TxPingTime=51.994129VF (u}Fa ZAq M >*7x, v[A69@y6@96ӓ6H@&Sb?@c?l? 0z?Rz?69@ɨ6Ee; 6CB9BBIHJ<HJv}5Rϼ RT=YVՑQ V>x٣| ~G~F~ʼ ~>] 49k?a4Y ifpB?q?C&;;H4 %A!Zj,Ql?bj~2 ii.[AjL@jsK@2jƃ@pY j4 A+wy9@zpMꧏ濚;ҿAG?"j|0*j4pVJ]@i}?p[s5?п 7?iTj@i숩l?iW  jBzjja( jBjjp@rj%@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.469167 s, deltaX: 0.200000 m, approachRate: 0.426288 m/s, rangeRepo size: 4  Added new target pos. range: 3.200000 m, bearing: 341.115333 deg, lat: 36.903915 deg, lon: -122.119084 deg, deltaT: 0.469167 s, deltaX: 0.200000 m, approachRate: 0.426288 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe @:e?}Bɛ ) "i)/"iW=iY#IIchecking for new query: numPingsReceived=113, elapsed TxPingTime=52.222340DDDE_0 EVFFZAM > DDAT read: Rx Time:19:06:59.2783  TRx dataTimestamp_ set to:1736536019.804890 PDAT read: Bearing 201.8, -43.0 (Local)  ~Local bearing/azimuth received: Bearing 201.8, -43.0 (Local) 5 DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0  DAT read: 19:06:59.2783 LVL= 11712, 10785, 14418, 15091, AGC= 47, IDX= 506,-0.21,-0.864, 0.735, 0.017, 1.174, PHS=-1.949,-0.392,-1.160, RAW= 299.5, 42.6, CAL= 308.2, 43.0, ROT= 201.8, -43.0  Ygot valid direction response: 19:06:59.2783 LVL= 11712, 10785, 14418, 15091, AGC= 47, IDX= 506,-0.21,-0.864, 0.735, 0.017, 1.174, PHS=-1.949,-0.392,-1.160, RAW= 299.5, 42.6, CAL= 308.2, 43.0, ROT= 201.8, -43.0  V#Rx 114: Read range and direction messages. `direction in FSK: [-0.679052,-0.271601,0.681998] Fpublishing direction and range info؁ Y؅ #Pʺ忀tGaѿʩ%2?؅ 3S@9؁ ؅ - م !*)م R8Iم :iم /م xم 9Ⱦف م E@ څ V>?)څ !@Iڅ 7 @?K(=x,/[AGG@AGGGGIGBG =GGG<GFHi HiHiHi"Hm =*Hm>4J@yJA>@iia@7 @ UqY w?r?IFH@i> 07 @ fchecking for new query: numPingsReceived=114, elapsed TxPingTime=52.5611199J8JH`w?V-? _'? ?y?J@ɨJL; JC-:B-IMb@Mb@Mb@ )IyMb`?~jtMb;D A)@IAi AH2Hy5; -=Y5kQ  >٣ GFЋ >!]-49%k?a-4Y%" i%^pBM|G=mUD)>checking for new query: numPingsReceived=114, elapsed TxPingTime=52.724838DDDE EE!E!:J BJ 89JJ RJ ZJ QVF= V}F ZA1 M] >Dx,[A2 @y2@92lߏ;Y2/7>2H@?K? y|?q`? 0}?2 @ɨ2q; 0>7B>IHF0HF%x5NRy Nu=YRQ R?P٣T VGTV~ V ?X]b49Zk?af4YZ iZXpBhn/@?qn?ZCZg;Z;ZV4t zAx B*** querying acoustic contact ***i %DDAT read: Rx Time:19:06:59.7784 %TRx dataTimestamp_ set to:1736536020.303910-PDAT read: Bearing 200.7, -45.3 (Local) 5~Local bearing/azimuth received: Bearing 200.7, -45.3 (Local) EDAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.0 mDAT read: 19:06:59.7784 LVL= 13216, 11857, 16690, 14643, AGC= 47, IDX= 506,-0.21,-0.273, 1.190, 0.499, 1.680, PHS=-1.865,-0.443,-1.184, RAW= 301.4, 45.1, CAL= 309.3, 45.3, ROT= 200.7, -45.3 Ygot valid direction response: 19:06:59.7784 LVL= 13216, 11857, 16690, 14643, AGC= 47, IDX= 506,-0.21,-0.273, 1.190, 0.499, 1.680, PHS=-1.865,-0.443,-1.184, RAW= 301.4, 45.1, CAL= 309.3, 45.3, ROT= 200.7, -45.3 V#Rx 115: Read range and direction messages.`direction in FSK: [-0.657986,-0.248632,0.710799]Fpublishing direction and range info!Y%p9-'%/Ͽ]W޾?%`@9!%3 %Q.)%2AI%39i!%R%%P%aU@ %N=Jx,*[AMn@yM0@9M,YM_f2>MHr@ ? [?s?G?we?/??Mn@ɨM{; MCe2BeIHu#Hubr5 <=YQ >٣ GFۻ >]49"k?a4Y iQpB@?q?C;;|^4 AZjU:l?bjU\ iQiUCs[AjU`@jU^@2jU󔪽@pUdؼBrl H@1@zpUp9-'%/Ͽ]W޾?"jU1*jUgJpUv@I@qz|`^X@pU)ѷS?пԲIG?iUkjU@iUFl?iUV  jUɅBzjU숩l?jU jU#BjjU!@rjU@2i*ihhhhhgg!bg!jg!e!e)je)JeQ:eUh[?}Bɛ촽) &*i)3S)隁i:\[=iX#IIUDDAT read: Rx Time:19:07:00.2783 uTRx dataTimestamp_ set to:1736536020.812912PDAT read: Bearing 198.4, -45.6 (Local) DDDE E~Local bearing/azimuth received: Bearing 198.4, -45.6 (Local) DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 G>GGSIGBGGGG<G~F]DAT read: 19:07:00.2783 LVL= 15024, 11521, 16226, 16819, AGC= 48, IDX= 505,-0.20,-0.869, 0.548,-0.178, 1.025, PHS=-1.806,-0.431,-1.206, RAW= 304.2, 45.5, CAL= 311.6, 45.6, ROT= 198.4, -45.6 eYgot valid direction response: 19:07:00.2783 LVL= 15024, 11521, 16226, 16819, AGC= 48, IDX= 505,-0.20,-0.869, 0.548,-0.178, 1.025, PHS=-1.806,-0.431,-1.206, RAW= 304.2, 45.5, CAL= 311.6, 45.6, ROT= 198.4, -45.6 eV#Rx 116: Read range and direction messages.m`direction in FSK: [-0.663894,-0.220848,0.714473]mFpublishing direction and range infoYY]~=>޻$D̿9?]3S@9Y]: ]-)]b?I]Ai]0]+翩]ܾ]5^]@ ]KK?)]@I]%K?i]k]@]%KY Y]EX- F K?I]^Di]͈K]J4]%KY Y5checking for new query: numPingsReceived=116, elapsed TxPingTime=53.580448VFE a}F ZA M% >ZI bI ejI 0rI zI I 9I ـ3I I I I :I : checking for new query: numPingsReceived=116, elapsed TxPingTime=53.732632!Qx,ϿD[AB@yB@9B-YB,>BH@O%? |^?{`M ?W?@?`A?B@ɨB[; BCf4BjIeMb@Mb@Mb@aa a)aIaye{Gz?٣ GF >]49k?a4Y1 iJpB=m<?q?C* ;;e4  AZjлl?bj!_ ii4[Aj3S@jQ@2jK@pz!܆6}PRz(@zp~=>޻$D̿9?"jJ4*j%Kp3A@V}mr@pʫ ?%lҿZP&?iCvj @:JGNBJu9JJRJZJqj_UN@96.& 1?HNPNNOOLLJJKFB???=97521)#i[l?i  jBzjjW jbBjj!@rjǵ@M addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.509002 s, deltaX: -0.200000 m, approachRate: -0.392926 m/s, rangeRepo size: 4 ] Added new target pos. range: 3.300000 m, bearing: 337.142329 deg, lat: 36.903916 deg, lon: -122.119085 deg, deltaT: 1.008022 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iaeXStarting latch delay timer at range: 3.30 m."Cable is present.*ihhhhh?ggbgjg݂BeejeJe`ff @:eZ?Bɛtj) P+i ) +  i %\=iY#IIS{ADIDDDEp0 EE9?E0?]DDAT read: Rx Time:19:07:00.7784 ]TRx dataTimestamp_ set to:1736536021.315058mPDAT read: Bearing 197.0, -43.4 (Local) u~Local bearing/azimuth received: Bearing 197.0, -43.4 (Local) DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.0 }DAT read: 19:07:00.7784 LVL= 15024, 11089, 12722, 16691, AGC= 48, IDX= 506,-0.18, 0.160, 1.640, 0.847, 2.042, PHS=-1.794,-0.355,-1.198, RAW= 305.7, 43.4, CAL= 313.0, 43.4, ROT= 197.0, -43.4 Ygot valid direction response: 19:07:00.7784 LVL= 15024, 11089, 12722, 16691, AGC= 48, IDX= 506,-0.18, 0.160, 1.640, 0.847, 2.042, PHS=-1.794,-0.355,-1.198, RAW= 305.7, 43.4, CAL= 313.0, 43.4, ROT= 197.0, -43.4 V#Rx 117: Read range and direction messages.`direction in FSK: [-0.694827,-0.212430,0.687088]Fpublishing direction and range infoYY]LO[<濹JlT0˿)?]`@9YY ]Q+)]1I]3AiY]ˡ忩]µ]X]/@ ]A?)]Ϯ@I]A?i] \@]AY Y]z=%Y%T?I]zBi]A]6]AY Ychecking for new query: numPingsReceived=117, elapsed TxPingTime=54.041035VF= H}zFA rFA F ZA M% >YLWx,k^[A6@y6@96Y6b(>6H௾`??`\? ߇D ?@T7?r?@z?6@ɨ6L; 4R3BRIHZ%HZEs5b bX=YfAQ f>d٣d jGhrw: r>t]z49vdk?az4Yv ivDpBx~?q?vCv;v;v,l4! %A!Zj#l?bj!  ii)T[Aj`@j^@2jF@p2c寄tbi翄 =@zpLO[<濹JlT0˿)?"j6*jAp{Չ@\-@pׅx?uԿYY9?i䒿jL@iI l?i!   jBzjpqOl?jV jBjj$$@rj@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.502146 s, deltaX: 0.200000 m, approachRate: 0.398291 m/s, rangeRepo size: 4   Added new target pos. range: 3.500000 m, bearing: 334.971007 deg, lat: 36.903916 deg, lon: -122.119086 deg, deltaT: 0.502146 s, deltaX: 0.200000 m, approachRate: 0.398291 m/s, posRepo size: 4 2i*ihhAhAhAhAgAgAbgIjgIeIeIjeqJeu @:eu&?ՑՕ<checking for new query: numPingsReceived=117, elapsed TxPingTime=54.236908雽Bɛ) 4-i)a-ig]=iX#IIDiDiDiEmo0 EiVFk} DDAT read: Rx Time:19:07:01.2783  TRx dataTimestamp_ set to:1736536021.823019 PDAT read: Bearing 195.5, -43.9 (Local)  ~Local bearing/azimuth received: Bearing 195.5, -43.9 (Local) GZA  DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.0 G% >G! G% YIG% BG% =G! G! G% <G% F)= 0y9 = ##BU DAT read: 19:07:01.2783 LVL= 15472, 12705, 15346, 18675, AGC= 49, IDX= 505,-0.20, 0.014, 1.464, 0.646, 1.873, PHS=-1.771,-0.362,-1.231, RAW= 307.6, 44.0, CAL= 314.5, 43.9, ROT= 195.5, -43.9 } Ygot valid direction response: 19:07:01.2783 LVL= 15472, 12705, 15346, 18675, AGC= 49, IDX= 505,-0.20, 0.014, 1.464, 0.646, 1.873, PHS=-1.771,-0.362,-1.231, RAW= 307.6, 44.0, CAL= 314.5, 43.9, ROT= 195.5, -43.9 } V#Rx 118: Read range and direction messages. `direction in FSK: [-0.694345,-0.192559,0.693402] Fpublishing direction and range info؉ Y؍ }_8L) ťȿ )+Y0?؍ 3S@M >C]x, y[A9qup< u1)u;IuHiu1u!⿩uXuhu˫@ u D?)ub@Iu%D?iu'`Z@u%Dq quX7cv;?IuZ|@iu-Du7u%Dq q*checking for new query: numPingsReceived=118, elapsed TxPingTime=54.574829-@y-@9-Y-%>-H`@yx?N?. 갶?$3?H?`ɒ?-@ɨ-U; )e)BeI@ @ @  @ H'H(t5( )=YEQ >٣ GF%; %>)]549-+k?a54Y- i--s4i mcAiZju¼l?bju[  iqiuXt[Aju3S@juQ@2juV@pud3TaMXU俣}IN@zpu}_8L) ťȿ )+Y0?"ju7*ju%Dpuc}6@^[q >ނ+@puM?5߹տ!Fmj?iukju@iu l?iu9=   ju_Bzjqju jqjju$@rjus@% addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.507961 s, deltaX: -0.200000 m, approachRate: -0.393731 m/s, rangeRepo size: 4 5 Added new target pos. range: 3.300000 m, bearing: 333.638599 deg, lat: 36.903916 deg, lon: -122.119086 deg, deltaT: 0.507961 s, deltaX: -0.200000 m, approachRate: -0.393731 m/s, posRepo size: 4 2i9*i9ZIEqbIEgjIE1rIAzIED:IE9IE3IAIEJZ;IELZ;IE>:IE?:hYhahahahagagabgijgieieijeqJeu`ff @:eu[?=Bɛ= )9 =j4iA)E0AAiEPw^=iMY#IIIIIQ]checking for new query: numPingsReceived=118, elapsed TxPingTime=54.740585DDDE E:J NBJ -9JJ RJ ZJ VF5 B}F I{AZA MU >dx,[A:@y:@9::ټY:2&>:H@c?A? @`?TibDb9bEC` `Uchecking for new query: numPingsReceived=119, elapsed TxPingTime=55.012417YevdQ e>e>٣e> mGiMJ; M>Q]]49Uk?a]4YU8 iU5pBi] :Ym]_<]N?qe?UCU:Un]?Uaw4 AZjbWl?bjb  i`ibv[Ajb`@jb^@2jbK¹@pb!Gy^n9Ha@zpb؏ua濽񆛯ƿf &?"jb9*jbECpbYI43@3 WΟ@pbB/`?^炿ֿ$Y$lS?ib<jb@ibl?ibq]   jbBzjbl?jb9=  jbBjjb*@rjbq@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.496743 s, deltaX: 0.200000 m, approachRate: 0.402623 m/s, rangeRepo size: 4  Added new target pos. range: 3.500000 m, bearing: 332.600135 deg, lat: 36.903916 deg, lon: -122.119088 deg, deltaT: 0.496743 s, deltaX: 0.200000 m, approachRate: 0.402623 m/s, posRepo size: 4 2ih*ihhhhhh g g bg jgeejeJe @:e ?UBɛU)Y ]9iY)]I3YYi]^_=i}X#yyIyI"&Changing to mode: 1"Standby mode.DzD"u2Commanding positive:54586D-D)D)E-/  E)E1E1mchecking for new query: numPingsReceived=119, elapsed TxPingTime=55.244698VFm V}F I?F f?Fa ZAq M >bLkx,c[A2@y2<@92Y2*>2H @? I+?:ݵ?/ܟ?6??2@ɨ2{; 2CB.BBIHN&HNs5R~_= V8=Y^.Q ^>\٣` bGbFb)< b>d]j49fak?aj4Yf entIif/pBin9lmn5GQGU`IGUBGU =GQGQGU<GUFDAT read: 19:07:02.2778 LVL= 16480, 12705, 16258, 21651, AGC= 50, IDX= 505,-0.08,-0.301, 1.033, 0.216, 1.417, PHS=-1.630,-0.337,-1.204, RAW= 311.1, 44.5, CAL= 317.3, 44.2, ROT= 192.7, -44.2 D5D1D1E5 E1MYgot valid direction response: 19:07:02.2778 LVL= 16480, 12705, 16258, 21651, AGC= 50, IDX= 505,-0.08,-0.301, 1.033, 0.216, 1.417, PHS=-1.630,-0.337,-1.204, RAW= 311.1, 44.5, CAL= 317.3, 44.2, ROT= 192.7, -44.2 uV#Rx 120: Read range and direction messages.}`direction in FSK: [-0.699371,-0.157610,0.697165]}Fpublishing direction and range infoعYؽo?a ,Ŀ;-O?ؽf&@9عؽ`@ ٽ1)ٽ?IٽTiٽ2ٽףпٽDٽٽC@ ڽF?)ڽ6@Iڽ|E?iڽz?W@ڽ|Eڹ ۹۽pBeGl?I۽Z= A٣A EGAM M>Q]]49Uk?a]4YU iU0pBieT:e<me4=eH2@qe?UCUu:U:U4i u~AqZj?ؑl?bjU ii[Ajf&@jM%@2j,@p9:˘O9ڿ^Ԉ?zpo?a ,Ŀ;-O?"j;:*j|Epw ? 4_ yr+P?p}$Ң?zp׿*u?isj?iҒl?i  jxBzj l?jjBjj#@rj@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.509528 s, deltaX: -0.900000 m, approachRate: -1.766341 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 331.555410 deg, lat: 36.903915 deg, lon: -122.119088 deg, deltaT: 0.509528 s, deltaX: -0.900000 m, approachRate: -1.766341 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgBeejeJe@:e@K?Bɛ)! %Y;i!)%U7!!i- a=i-X#11I1I1DDAT read: Rx Time:19:07:02.7779 TRx dataTimestamp_ set to:1736536023.327887PDAT read: Bearing 190.5, -44.0 (Local) ~Local bearing/azimuth received: Bearing 190.5, -44.0 (Local) DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 DX"DDEw EEDAT read: 19:07:02.7779 LVL= 13536, 11569, 17218, 21427, AGC= 49, IDX= 506, 0.03, 0.841, 2.125, 1.289, 2.487, PHS=-1.558,-0.315,-1.202, RAW= 313.8, 44.4, CAL= 319.5, 44.0, ROT= 190.5, -44.0 MYgot valid direction response: 19:07:02.7779 LVL= 13536, 11569, 17218, 21427, AGC= 49, IDX= 506, 0.03, 0.841, 2.125, 1.289, 2.487, PHS=-1.558,-0.315,-1.202, RAW= 313.8, 44.4, CAL= 319.5, 44.0, ROT= 190.5, -44.0 UR#Rx 1: Read range and direction messages.`direction in FSK: [-0.707294,-0.131089,0.694658]Fpublishing direction and range infoةYح k'|t1:?ح,@9ةح4 ٭1-)٭BCI٭Si٭1٭lǿ٭G٭#ۙ٭LB@ ڭaF?)ڭEq@Iڭ D?iڭaT@ڭ Dک ۩ۭٟ/mΫſm(~g?Iۭ9iۭFۭTU=ۭ D۩ ܩ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF a}F ZA M >7Vxx,[A6@y6@96]AY6N}9>6H@}??`;? ? ?t?6@ɨ6ʼn; 4NBRI٣ GFß< >]49/k?a4Y i1pB2@q?C;\;4 AZj[l?bj7 ii[Aj,@j+@2jv@p72|Hֿ]?zp k'|t1:?"jTU=*j Dp ftJ?O6RټlaO?p%b?V6#sؿOQ';?i j?iOl?i  jBzjjj_Bjjl#@rj@ addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.498597 s, deltaX: 0.100000 m, approachRate: 0.200563 m/s, rangeRepo size: 4  Added new target pos. range: 2.700000 m, bearing: 330.454103 deg, lat: 36.903915 deg, lon: -122.119088 deg, deltaT: 0.498597 s, deltaX: 0.100000 m, approachRate: 0.200563 m/s, posRepo size: 4 2i h *i h1h1h1h9h9h9gAgqbgyjgeejeJe@:e@Q?BɛĽ) j@i ) :  i a=i%Y#!!I)I)D8%DDE3 EEE.?DDAT read: Rx Time:19:07:03.2778 TRx dataTimestamp_ set to:1736536023.8360585 PDAT read: Bearing 187.8, -46.8 (Local) = ~Local bearing/azimuth received: Bearing 187.8, -46.8 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 Gi Gi Gi Gi Gi Gi Gi Gm <Gm F- DAT read: 19:07:03.2778 LVL= 15840, 13137, 17746, 22995, AGC= 50, IDX= 505, 0.16,-0.958, 0.156,-0.631, 0.564, PHS=-1.434,-0.361,-1.198, RAW= 317.9, 47.3, CAL= 322.2, 46.8, ROT= 187.8, -46.8 5 Ygot valid direction response: 19:07:03.2778 LVL= 15840, 13137, 17746, 22995, AGC= 50, IDX= 505, 0.16,-0.958, 0.156,-0.631, 0.564, PHS=-1.434,-0.361,-1.198, RAW= 317.9, 47.3, CAL= 322.2, 46.8, ROT= 187.8, -46.8 VF= 7}zFA rFA } R#Rx 1: Read range and direction messages. `direction in FSK: [-0.678214,-0.092904,0.728969] Fpublishing direction and range infoYvMVȷS?f&@9= Q3)REIYi2PԸX@ VS?)P@IQ?iMQ@Q  sn^*ʿkt?I| 5iIQShY@Q   2Acoustic response timeoutF ZA M >= Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Ł~x,[A2@y2d@92 *Y2W<>2H-eh@a ?\?wS@?/@?@p?Gn?2@ɨ2; 2CBBBI}Mb@Mb@Mb@yy y)yIyy}:v~jt?{Gzt?}T}<}ף; }A)}VAI} Ai}zAy}G AHHɑ5 2=Y rQ  >٣ G<; >!]%49%k?aM4Y% i%5pBU<m] =]q]?%C%<%<%4 AVF  DDAT read: Rx Time:19:07:03.7778  TRx dataTimestamp_ set to:1736536024.336882 PDAT read: Bearing 191.1, -39.4 (Local)  ~Local bearing/azimuth received: Bearing 191.1, -39.4 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 % DAT read: 19:07:03.7778 LVL= 23328, 18865, 22898, 27123, AGC= 49, IDX= 505, 0.27,-1.898,-0.523,-1.399,-0.308, PHS=-1.502,-0.169,-1.094, RAW= 312.6, 39.6, CAL= 318.9, 39.4, ROT= 191.1, -39.4 5 Ygot valid direction response: 19:07:03.7778 LVL= 23328, 18865, 22898, 27123, AGC= 49, IDX= 505, 0.27,-1.898,-0.523,-1.399,-0.308, PHS=-1.502,-0.169,-1.094, RAW= 312.6, 39.6, CAL= 318.9, 39.4, ROT= 191.1, -39.4 = R#Rx 1: Read range and direction messages.E `direction in FSK: [-0.758278,-0.148768,0.634731]E Fpublishing direction and range info Y C7 ÿٌcO? 9 FY ZAa M >x,(F[Aص [ ٵI)ٵrYIٵiiٵ1ٵAٵV-ٵ1ٵ@ ڵ;0?)ڵ|@Iڵx 0?iڵuU@ڵx 0ڱ ۱۵['[JmuſoTb?I۵:i۵r0۵<۵x 0۱ ܱ &2Acoustic response timeout&Querying Benthos address 50 with 120 pings in terminal homing one-way mode.%@y%@9%108Y%;>%H8@B\@m&?x?`>j? ?`;?}o?%@ɨ%@͉; %CmBmIH}H}5K Z=Y Q  >٣ Ga; >!]M49%k?aU4Y%> i%8pBQUqU?%C%;%7;%*4Y ]AaZj8əl?bjX iiz[Ajj2jT@p#Z6 Jؿ>F>g?zpC7 ÿٌcO?"j<*jx 0p)(ƾ?/&<-f Se?pD?h{mڿņ?ilje?iD@Қl?iL߇  jBzjjjBjj@rjԸ@5 addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.500824 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 330.038846 deg, lat: 36.903911 deg, lon: -122.119086 deg, deltaT: 0.500824 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe:eτ? Bɛ Խ) 5Ii)?in`c=iEY#AAIAIIZIbIcjIrIzIIx9IIq@i@u@m@D50*D1D1E5 E1x,o 1[A:@y:b@9:-HY:i&6>:H7ATV??&v? ?'? u?:@ɨ:; :CeBmIHHm5>= N=Y)Q >٣ GF0; >]49k?a4Yx i;pBq?C?;i@;4 AEDDAT read: Rx Time:19:07:04.2777 ETRx dataTimestamp_ set to:1736536024.840184UPDAT read: Bearing 192.8, -35.6 (Local) U~Local bearing/azimuth received: Bearing 192.8, -35.6 (Local) eDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 19:07:04.2777 LVL= 23664, 22385, 22962, 28819, AGC= 48, IDX= 504, 0.34, 2.861,-1.864,-2.833,-1.800, PHS=-1.535,-0.017,-1.036, RAW= 311.2, 34.3, CAL= 317.2, 35.6, ROT= 192.8, -35.6 Ygot valid direction response: 19:07:04.2777 LVL= 23664, 22385, 22962, 28819, AGC= 48, IDX= 504, 0.34, 2.861,-1.864,-2.833,-1.800, PHS=-1.535,-0.017,-1.036, RAW= 311.2, 34.3, CAL= 317.2, 35.6, ROT= 192.8, -35.6 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.792895,-0.180141,0.582123] Fpublishing direction and range infoAYEl= d_鿜0*ǿ%I?E@9AEp\ EqW)EYIEpiE0EzĿECEEέ@ E@?)Em(@GGGSIGBGGGGe<GgFH HHH ="H =*Hâd5IE?iE\W@EA AZjE"l?Eb%8gĿS ?IE̐Fu t>FIZAQMu>{x,F`O[A:JV0LBJVk9JJTRJVZJV&J^gAI^fA B IMb@Mb@Mb@ )IyMb/$?Mb`?,=; +A)@IiA AHH5 (=YQ >٣ G > ]49 [k?a4Y   i ?pBnX=m{<U߿q? C : : o4! %A!EB*** querying acoustic contact ***iAiA2iQhQ*iQhQhQhQhQhQhQgYgYbgYjg]BeaeajeaJei:em@j?雭Bɛڽ) J5DDAT read: Rx Time:19:07:04.7778 =TRx dataTimestamp_ set to:1736536025.345218EPDAT read: Bearing 193.0, -34.2 (Local) E~Local bearing/azimuth received: Bearing 193.0, -34.2 (Local) UDAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 19:07:04.7778 LVL= 24048, 21649, 23026, 28467, AGC= 47, IDX= 505, 0.37,-1.839,-0.157,-1.207,-0.158, PHS=-1.593, 0.048,-1.053, RAW= 311.2, 32.4, CAL= 317.0, 34.2, ROT= 193.0, -34.2 Ygot valid direction response: 19:07:04.7778 LVL= 24048, 21649, 23026, 28467, AGC= 47, IDX= 505, 0.37,-1.839,-0.157,-1.207,-0.158, PHS=-1.593, 0.048,-1.053, RAW= 311.2, 32.4, CAL= 317.0, 34.2, ROT= 193.0, -34.2 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.805883,-0.186053,0.562083]Fpublishing direction and range info9Y= <4?8ǿI?=f&@99=] =T)=YI=3oi=/=m˿=D==Ȇ9 =?)= @I=?i=DW@=9 9=-Hk꿿eĿ3&{"?I= H`CY?`?`B?? ?2?騅F @ɨ; C BIH H T5MJ ME=YUQ U>Y٣Y ]G]F] ; e>a]u49e k?a}4Ye ieBpBy}L߿q?eCeVT;eAU;e4 `AZjuϧl?bju  iqiu V[Ajuf&@juM%@2ju C@puQ)-:i޿ma?zpu <4?8ǿI?"juq:*jupuEpZ?6m\$!0?puADb?ebW?ܿj R?iu䒿ju?iuNl?iu   juBzjuOl?juT juBjju@rjur@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505034 s, deltaX: 0.200000 m, approachRate: 0.396013 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 329.919697 deg, lat: 36.903911 deg, lon: -122.119086 deg, deltaT: 0.505034 s, deltaX: 0.200000 m, approachRate: 0.396013 m/s, posRepo size: 4 2ih*ihhhh h h g g bgjgeejeJe@:e`?EBɛEvֽ)EC= MRiI)UGQQiUAge=i]X#YYIYIaD-#2D)D)E- E)]DDAT read: Rx Time:19:07:05.2778 mTRx dataTimestamp_ set to:1736536025.851211PDAT read: Bearing 194.3, -34.3 (Local) ~Local bearing/azimuth received: Bearing 194.3, -34.3 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 GGGGGGGG<GFDAT read: 19:07:05.2778 LVL= 23024, 21953, 23250, 27251, AGC= 46, IDX= 504, 0.28,-2.011,-0.245,-1.310,-0.238, PHS=-1.685, 0.040,-1.075, RAW= 309.6, 32.4, CAL= 315.7, 34.3, ROT= 194.3, -34.3 Ygot valid direction response: 19:07:05.2778 LVL= 23024, 21953, 23250, 27251, AGC= 46, IDX= 504, 0.28,-2.011,-0.245,-1.310,-0.238, PHS=-1.685, 0.040,-1.075, RAW= 309.6, 32.4, CAL= 315.7, 34.3, ROT= 194.3, -34.3 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.800502,-0.204046,0.563526]Fpublishing direction and range infoaYe$綝b$)ʿʩg?a9aeY eU)eZIesjie.e׿e #=ee@ a)eQ@Ie@?ie Y@e@VF B}a aeڪ?¿zkvb&?IeX>iee9e@a a U 2Acoustic response timeoutU Querying Benthos address 50 with 120 pings in terminal homing one-way mode.F ZA M >޴x,[A6@y6@96Y6T1%>6H/i? g?@g4@??@.?@?6@ɨ6; 6C^ B^I ٣  GW >I]m49M?k?a4YMh iIQ=mP<q?MCMƂzv[Ajj2j̸@pHG/>Sq?zp$綝b$)ʿʩg?"j9*j@pm @d}[?pClik?J{ۿ?i莿jH@im'l?i1.   j~BzjD@Қl?jL߇ jBjju@rju@ addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505993 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 330.881715 deg, lat: 36.903911 deg, lon: -122.119087 deg, deltaT: 0.505993 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgBeejeJe:e6?]Bɛ]hϽ)a eOSii)mKiiimre=iuY#qIIDzDgA:JMMBJM-9JJIRJMZJM 3 ! 6 }Lfdi#'+ |;jH. ! D5DDE  EE8?E7?] DDAT read: Rx Time:19:07:05.7779 e TRx dataTimestamp_ set to:1736536026.353230} PDAT read: Bearing 191.6, -34.4 (Local)  ~Local bearing/azimuth received: Bearing 191.6, -34.4 (Local)  DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed -0.1  DAT read: 19:07:05.7779 LVL= 22320, 20833, 20946, 25987, AGC= 47, IDX= 505, 0.28,-0.083, 1.700, 0.536, 1.704, PHS=-1.700, 0.042,-1.172, RAW= 312.8, 32.9, CAL= 318.4, 34.4, ROT= 191.6, -34.4  Ygot valid direction response: 19:07:05.7779 LVL= 22320, 20833, 20946, 25987, AGC= 47, IDX= 505, 0.28,-0.083, 1.700, 0.536, 1.704, PHS=-1.700, 0.042,-1.172, RAW= 312.8, 32.9, CAL= 318.4, 34.4, ROT= 191.6, -34.4  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.808261,-0.165912,0.564967] Fpublishing direction and range infoa Ye bEPٛ<ſlҼ5?e ,@9a e 0W e aQ)e QIe eie /e ٿe 1,=e e R@ e ?)e ӱ@Ie `?ie V@e `a a e -36-4ǿj`?Ie :ie e ?px,2[AbFy@yb@9bOYb0'>bH @ sC?d?@A?&??`S?bFy@ɨbÉ; bC|H5H55E: EP=YMQ M>i٣q uGuFuq u>y]49}kk?a4Y}  iygq?}C}n;}ws;}꼊4 IAZjm/LVl?bjmA iiimR[Ajm,@jm+@2jmC@pmvk[u lܿP_h?zpmbEPٛ<ſlҼ5?"jm<*jm`pmPؠ$@eXg}?pmSH?]sIݿraf?imjm$@imtul?im}  jmBzjmNl?jm1.  jijjm@rjm@HiHm@AZIqbIupjIu1rIqzIqIu^9Iu3Iq addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.502019 s, deltaX: 0.100000 m, approachRate: 0.199196 m/s, rangeRepo size: 4  Added new target pos. range: 2.700000 m, bearing: 328.134701 deg, lat: 36.903912 deg, lon: -122.119088 deg, deltaT: 0.502019 s, deltaX: 0.100000 m, approachRate: 0.199196 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe@:e@'?-Bɛ5)1 5]Ti1)5TpM11i=f=i=X#AAIaIa7D D E +  E VF (u}I ) F ZA9 m VGM > kA A) Zy kA IBE DDAT read: Rx Time:19:07:06.2778 M TRx dataTimestamp_ set to:1736536026.856475] PDAT read: Bearing 188.6, -33.5 (Local) e ~Local bearing/azimuth received: Bearing 188.6, -33.5 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  DAT read: 19:07:06.2778 LVL= 21184, 21825, 23858, 21923, AGC= 47, IDX= 504, 0.29,-0.569, 1.288,-0.045, 1.227, PHS=-1.708, 0.108,-1.275, RAW= 316.8, 31.7, CAL= 321.4, 33.5, ROT= 188.6, -33.5  Ygot valid direction response: 19:07:06.2778 LVL= 21184, 21825, 23858, 21923, AGC= 47, IDX= 504, 0.29,-0.569, 1.288,-0.045, 1.227, PHS=-1.708, 0.108,-1.275, RAW= 316.8, 31.7, CAL= 321.4, 33.5, ROT= 188.6, -33.5  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.824510,-0.124695,0.551937] Fpublishing direction and range infoA YE }չbb 쿿gw?E f&@9A E R E AU)E 2]IE UiA E ڿE /=E 33E ;@ E  ?)E 퀳@IE ?iE R@E A A E _R '|&xϿCSZ7?IE )J6iE K E t?E A A  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.x, [AG>GGGGGGG<GFO@y#@9zY!/>H`)?`B(? ? k??u?騅O@ɨ; BI]Mb@Mb@Mb@YY Y)YIYy]L7A`尿 rh?Mbp]+]C<] ]rA)YI]Ai]AYYHH5=탼 ==YEQ E>A٣A MGIM\ M>Q]49Uk?a4YU iU?pBы=mB<q?UCUw;UB.;U+Ɗ4 lAZjuْl?bjuUr iqiu}ж[Ajuf&@juM%@2ju@pu7Y&6ӿԿ4{?zpu}չbb 쿿gw?"jut?*jupuF*?$d[?pu9l64?~T8>p['?iujuR?iu@l?iuŬ  jusBzjqju  juBjju@rju(@M addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503245 s, deltaX: -0.100000 m, approachRate: -0.198711 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 325.007509 deg, lat: 36.903912 deg, lon: -122.119088 deg, deltaT: 0.503245 s, deltaX: -0.100000 m, approachRate: -0.198711 m/s, posRepo size: 4 2ih*ihhs]*W?i9im\ m1_)meImsiiim ӿmFs>m5^m$+@ m?)m(<@ImK ?im4O@mK i imDI+꿩sKnӿ]1?Im!1im[mBmK i i 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF FZAM?Fηx,^[Az BzI~a٣a eGmFm >]49l?a4Y is]*W?"jB*jK p ]N?L`}"%r(?S?pؚ\?#NF῱5M1?i.jv?ip[l?i5  jUBzjj} j~Bjj @rj{@E addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.506597 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 2.600000 m, bearing: 321.697992 deg, lat: 36.903912 deg, lon: -122.119090 deg, deltaT: 0.506597 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iQhQ*iYhYhYhahahahagagibgijgieqeqjeqJeq:eusE?雝Bɛ>ڽ) !Xi){eT隩ixg=iX#II    DDAT read: Rx Time:19:07:07.2777  TRx dataTimestamp_ set to:1736536027.865572 PDAT read: Bearing 181.1, -30.3 (Local)  ~Local bearing/azimuth received: Bearing 181.1, -30.3 (Local)  DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 19:07:07.2777 LVL= 23152, 21233, 23026, 25683, AGC= 47, IDX= 503, 0.46,-2.553,-0.678,-2.330,-0.942, PHS=-1.523, 0.311,-1.390, RAW= 326.3, 27.4, CAL= 328.9, 30.3, ROT= 181.1, -30.3 % Ygot valid direction response: 19:07:07.2777 LVL= 23152, 21233, 23026, 25683, AGC= 47, IDX= 503, 0.46,-2.553,-0.678,-2.330,-0.942, PHS=-1.523, 0.311,-1.390, RAW= 326.3, 27.4, CAL= 328.9, 30.3, ROT= 181.1, -30.3 % R#Rx 1: Read range and direction messages. `direction in FSK: [-0.863236,-0.016575,0.504528] Fpublishing direction and range info Y O @%? @9 pZ R) YI SdG G G G G  =G G G <G |Fdx,x[Ai¿d;>뱿=@ G>)B@Ia?ihJJ@a DQ*v鿴F@#ٿ ?Ic+iACMGa  2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.) ٣) - G) 1 5 >1 ]E 495 \l?aE 4Y5 n i5 9pBE v=mE \:I9II}HU@Rn??@F?V??6?#?@ɨÈ; CI1i5mA 11)19 =-lA=D99AAIA)AiA)YI]$lAe(\e^;F aimlAiiiiiqulA)u(\ u @FIq y)yyyyyˁiˁIˁˁޕBޕII)HE=HE}5U U=YU%Q U>Y٣Y ]G]šFeä e>]49;l?a4Y i6pBQq?CD;l,;4 AZjl?bj ii[Ajf&@jM%@2j$@p̖:y3X\%3?zpU$ -uPO ?"jj E*jwwp²?Br"?ph?* L F!c?iſj?iyؐl?i  jBzjp[l?j5 jjj@rjn̳@} addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.502353 s, deltaX: 0.200000 m, approachRate: 0.398126 m/s, rangeRepo size: 4  Added new target pos. range: 2.600000 m, bearing: 317.173386 deg, lat: 36.903911 deg, lon: -122.119093 deg, deltaT: 0.502353 s, deltaX: 0.200000 m, approachRate: 0.398126 m/s, posRepo size: 4 2i=Docking sequence complete at range 2.60 m. Lat: 36.903911 Lon: -122.119093 Cable present.1DZTransitioning guidance mode to: UNINITIALIZEDiqDggbgjgeejeJe@:el?‚B5)= =&ai9)=J\9=i9EIECICICQCQDDAT read: Rx Time:19:07:08.2780 TRx dataTimestamp_ set to:1736536028.872672 PDAT read: Bearing 189.6, -46.0 (Local) ~Local bearing/azimuth received: Bearing 189.6, -46.0 (Local) %DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 EDAT read: 19:07:08.2780 LVL= 18192, 21617, 20210, 19923, AGC= 48, IDX= 504,-0.38, 2.453,-2.495, 2.885,-2.046, PHS=-1.697,-0.403,-1.355, RAW= 315.3, 46.4, CAL= 320.4, 46.0, ROT= 189.6, -46.0 UYgot valid direction response: 19:07:08.2780 LVL= 18192, 21617, 20210, 19923, AGC= 48, IDX= 504,-0.38, 2.453,-2.495, 2.885,-2.046, PHS=-1.697,-0.403,-1.355, RAW= 315.3, 46.4, CAL= 320.4, 46.0, ROT= 189.6, -46.0 UR#Rx 1: Read range and direction messages.]`direction in FSK: [-0.684930,-0.115847,0.719340]]Fpublishing direction and range infoY\Š/忎W5E+(?9@9G qT)NIMiL7ٿVξp@ 4QO?)@IM?iS@M  kF忯`w)ǿ?0?I!8iOV>M  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.G>GGGGGGG̱<GFD ?D D E  E ա ա  Y٣Y ]Gae e>i]u49ml?au4Ym im*pB}V=m}}< :q?mCmM;mK;mE4 AZjBl?bjі ii7[Aj9@j_8@2j􆚵@p RտJSM@zp\Š/忎W5E+(?"jV>*jMp:r!?S8(FĂ ?pE?tTۿ;x,!f[ABο?yB @9B YBi>BH`@oL??`$y? ?`U?O?Bο?ɨB; BC~٣ G}Խ >]49l?a4Y i"pB Aq ?C;U;4 YAZj9l?bj, ii1#X[Aj@@j>@2j׶@pP#a͔#< #濌c/@zp5@ /P8fͿ; ?"j.*j"spd`${x?/:j#/u@pm?tiѿM8/?iPj?il?iQ  j{BzjjjBjj@rjس@BieDmgigibgijgquCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqAuuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideBu uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBuuUninitialize.CuCu}Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceeyeyjeyJe}@:e`e4?r\V=z\V=\zW@\װ@雭ǂB ) ^i)'Lc隱iIVF] hZAiM>,DAT read: user:1111> DAT read: 120  BDAT read: Tx time:19:07:09.7835 $Ping request sent.G G YIG BG G G G ñ<G FHa HaHaHe ="He =*He5<x,[AZIlbI]jIrIzI<5:I_9IIIJ?;qIL?;iIj:uIk:m JDAT read: TxSync time:19:07:09.7828 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2502185 B5I=٣ G >]49 l?a4Y ipB\T=m<9q?C8S;Q;4 HAH Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalqGAggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalGqG%No longer in Terminal. Resuming normal ranging with 1.000000 count pings.G%G--B*** querying acoustic contact ***i)i)1:5 t=Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequenceq:=t=Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock1A= EAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceDEE4Initialize Wait Component.eAeAjeIJeI:eUs}?r\ \T=z\ \T=\ j4@\  @iA)EEEiEIIIVF5i)ZA9M]>:J BJ -9JJ RJ ZJ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501081"x,[An*?ynr @9n\Yn;&>nHFA@T@?9?&E@5??k? ?n*?ɨn@B; nCt vVlAxxɳxxzlAIx)xi|)|I~ElAHɴ ɵMlAHiNZF i  )  I  )ZlAɶHɷjlAiII!i%A !!)!!iiH}H}75Y&=Q $?٣ GG %?]492 l?a4Y ipBq?C x;Ά;h4 j?G1HeejeJe:e qu?r\z\\\@i)iIHHAA^D{=%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753941VFZAM>Mx,Û[A2(?y2+ @92$JY2">2H ??q? ب?@?@7??2(?ɨ2 b; 2CE BEIHH ٣ Gh >]49 l?a4Y ipBLq?CX::4 UAqGAggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal1HeejeJe:e ?r\!z\!\!\%6@i1)999i9AIA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005219G9G9G9G9G= =G9G9G=<G=F^DMh=VFūZAIM!>IsI{w3I{.-IsIsIsZI qbI cjI rI zI D:I x9I I I IZ;I KZ;I :I :- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257817D5x,t[A2?y2< @92:Y2?>2H>@E ? ?@K ߦ? W?8?`?2?ɨ2R; 2CBII!)!Mb@Mb@Mb@ )IyL7A`堿~jtMbP+D A)lAIAi AHHt5l  F=Y<٣ Gʼ > ]49  l?a4Y  i  pBn=mc<ԋq? C D; &; 4! %cA!eejeJe:e ?r\n=z\n=\@\@i1)999i99IACu=Cu=^DEzl<:JBJ9JJRJZJVF%ZA1MM1>ՅAՅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509468H C=H _x,{N[A6A?y6? @96t"Y62>6HZL}`c?@?`V)? %M?֢?2?6A?ɨ6Ƽ; 4BBBIHJHJ5V 5= Vb=YVPX٣X ZGX^ ^>d]j49fl?aj4Yf ifpBlnqn?rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761320fCfg;fSh;f4x z!AxeejeJe:eR@r\z\\\@i)iI ^DE" pG;mA A)1y;mA $BVF}b\ZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013148GQ GQ GU MIGU BGU  =GQ GQ GU <GU FFx,x)[A6?y6w@96sY6>>6H`Jt?r?w?@?2?@?6?ɨ6; 6CB BFIMb@Mb@Mb@ )Iy{Gz~jty&1|ףļ` A)AI~AiA AH=H=5MO M@=YUQ٣Q UG >]49l?a4Y ipB"=m< q?C*;":4 B MAEe9e9je9JeA:eE@r\]"=z\]"=\]@\]x/@ii)qqqiqyIyCCCCZIjbIjI0rIzI.:IIـ3II~4;I4;IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265131E-E-E-E-ZA M >:J BJ 9JJ RJ ZJ Cwl_UMC>3(!  DDAT read: Rx Time:19:07:11.9155  TRx dataTimestamp_ set to:1736536032.399713 PDAT read: Bearing 197.2, -47.0 (Local)  ~Local bearing/azimuth received: Bearing 197.2, -47.0 (Local)  DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0  DAT read: 19:07:11.9155 LVL= 19152, 14929, 19490, 20723, AGC= 49, IDX= 90, 0.13,-0.567, 0.873, 0.097, 1.410, PHS=-1.889,-0.489,-1.316, RAW= 306.0, 47.0, CAL= 312.8, 47.0, ROT= 197.2, -47.0  Ygot valid direction response: 19:07:11.9155 LVL= 19152, 14929, 19490, 20723, AGC= 49, IDX= 90, 0.13,-0.567, 0.873, 0.097, 1.410, PHS=-1.889,-0.489,-1.316, RAW= 306.0, 47.0, CAL= 312.8, 47.0, ROT= 197.2, -47.0  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.651498,-0.201672,0.731354] Fpublishing direction and range infoة Yح FxÑfɿ?g?ح f@9ة ح J ٭ Q:)٭ "LI٭ Pi٭ 1٭ ٭ 5^٭ r٭ @ ڭ ~Q?)ڭ R@Iڭ ~Q?iڭ FF\@ڭ ~Qک ۩ ۭ 'GhNLg2gGd?Iۭ aBiۭ Qۭ o5ۭ ~Q۩ ܩ % checking for new query: numPingsReceived=1, elapsed TxPingTime=2.533481qx,W?y@99ռYe!>H@ }@?sA?`çA?@?? l?騭W?ɨJ; ޕBޕI]>i=HHJ5< 1=Y {g ٣1 5G15 5>9]E49=l?aE4Y= i=oBIMT*qM?=C=%;=!;=%4q }(AyZjḿ~l?bjCj\  ii[Ajf@j@2j x@pNr nۿ ϒ?zpFxÑfɿ?g?"jo5*j~Qp1|?\5E뿧5џ?pѪ ?)zٿ,*?i)Zj?i:l?iZ   jBzjyؐl?j jBjjO?rj@e)e1je1Je=@:e=?r\yz\y\y\}:@i)隱iIZAM5->checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769048Ԟ x,4[AbV?yb@9b Yb.%>bH`t9%?o?fV練??u? '?bV?ɨbu; bCnBnIHzHzK5)= q=Y Oү*ԗ6H3`5j?@|?S??'?`?6?ɨ6; 6C^B^IUMb@Mb@Mb@QQ Q)QIQyU~jt/$MbP?UDUU: UA)UAIU AiUh AQUz AHmHm.5} = C=Y-٣ G >]49l?a4Y ioBN<m =>4<q?C=(=24I UAYZjvl?bjU7e  ii:[Aj@jO?2j@pnvZnH׿0Œp?zpn信vZnHǿ0Œp?"j7*jqRpϊ?G=BEW?pϊ?G=BۿEW?iZj?i^wl?i   jۃBzjj  jjjP?rjpi@e e je Je@:e?r\MN<z\MN<\M /@\M>4DDAT read: Rx Time:19:07:12.9155 TRx dataTimestamp_ set to:1736536033.419695PDAT read: Bearing 198.4, -47.1 (Local) ~Local bearing/azimuth received: Bearing 198.4, -47.1 (Local) DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1  DAT read: 19:07:12.9155 LVL= 17072, 24305, 18370, 19283, AGC= 48, IDX= 506, 0.19,-0.247, 1.240, 0.468, 1.803, PHS=-1.961,-0.516,-1.338, RAW= 304.6, 47.0, CAL= 311.6, 47.1, ROT= 198.4, -47.1 Ygot valid direction response: 19:07:12.9155 LVL= 17072, 24305, 18370, 19283, AGC= 48, IDX= 506, 0.19,-0.247, 1.240, 0.468, 1.803, PHS=-1.961,-0.516,-1.338, RAW= 304.6, 47.0, CAL= 311.6, 47.1, ROT= 198.4, -47.1 R#Rx 3: Read range and direction messages.%`direction in FSK: [-0.645920,-0.214869,0.732543]%Fpublishing direction and range infoY _;р˿0Œp?f@9B ^)GISKi C@ ~Q?)@Iik]@  n v֥G^l?ICi>RJ4 Echecking for new query: numPingsReceived=3, elapsed TxPingTime=3.552923kx, h[A) @6?y6@96KY6"f>6H߿@_??Τ߿?@u?/??6?ɨ6?; 6CBBBIID)DHJHJ5fW fW=Yf h٣h jGhn n>p]v49rRl?av4Yr iroBtvZ;qv?rCrL:r:rr94| ~A|echecking for new query: numPingsReceived=3, elapsed TxPingTime=3.797223Zj%?l?bj7w]  iiHZ[Ajf@j@2jB@p/;|ңy<ܿMg[ ?zp _;р˿0Œp?"jJ4*jpi!-o?"h-8t/v?pv? ٿ*?iYj~?il?iR   jBzjl?jR  jBjjo?rjB@Done Waiting.D8Uninitialize Wait Component.1EeejeJe@:e`З?r\z\\\Z;i)隙iIZAM=G>GG@IGzBG =GGG<GF DDAT read: Rx Time:19:07:13.4155  TRx dataTimestamp_ set to:1736536033.931787% PDAT read: Bearing 201.6, -47.2 (Local) % ~Local bearing/azimuth received: Bearing 201.6, -47.2 (Local) 5 DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ] DAT read: 19:07:13.4155 LVL= 17552, 27889, 20290, 19987, AGC= 48, IDX= 505, 0.20,-0.890, 0.702,-0.035, 1.320, PHS=-2.122,-0.571,-1.358, RAW= 300.5, 46.8, CAL= 308.4, 47.2, ROT= 201.6, -47.2  Ygot valid direction response: 19:07:13.4155 LVL= 17552, 27889, 20290, 19987, AGC= 48, IDX= 505, 0.20,-0.890, 0.702,-0.035, 1.320, PHS=-2.122,-0.571,-1.358, RAW= 300.5, 46.8, CAL= 308.4, 47.2, ROT= 201.6, -47.2  R#Rx 4: Read range and direction messages. `direction in FSK: [-0.631729,-0.250119,0.733730] Fpublishing direction and range info Y .7-04пWBz? 9  D  l) BOI Ni   - ҭ ԧ@  Q?) 9>@I BR?i z0a@ BR   ;h忼"w:*FW?I Hi fDQ ;0 BR   checking for new query: numPingsReceived=4, elapsed TxPingTime=4.078698Ϙ x,퀂[A21?y2[v@92=]Y2@>2H ~߿?@?u1߿ 4?` ?Y?ќ?21?ɨ2{q; 2CLLMb@Mb@Mb@ )Iy~jth{GzMb`D# IA)I Ai AHHg5i  8=Y٣ G >!]-49%l?am4Y% i%oBm*.<mu=uZ>qu?!%%<%%<%>A4y }AyZjEql?bjE iAiEf{[AjAjA2jE?@pE'79,O?-@?zpE.7-04пWBz?"jE;0*jEBRpE-?Sg`鿟u?pEdb?ϊ8 +ؿ?iEKjEǨ?iE1΃l?iE   jEBzjAjEZ  jEBjjE?rjE12@-8GuidanceMode 0.000000 count 1E-e)e)je)Je1:e5 ?k=NCompleted lineCaptureHoming:LineCapture5=k=jAggregate::uninitialize lineCaptureHoming:LineCapture6= m=Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes6=m=NUninitialize AltitudeEnvelopeComponent.17= nEUninitialize.q7EnENUninitialize OffshoreEnvelopeComponent.q8E8E8EqE|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass19Eq9EreUninitialize.9e seAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy9msm@Uninitialize Buoyancy Component.r\}*.<z\}*.<\}Gx@\}Z>i)隱iIZAME>mchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.302005:JU sLBJU 9JJQ RJU ZJU Je ? Je !? DDAT read: Rx Time:19:07:13.9156 % TRx dataTimestamp_ set to:1736536034.435719- PDAT read: Bearing 201.0, -47.0 (Local) - ~Local bearing/azimuth received: Bearing 201.0, -47.0 (Local) = DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed -0.1 ξ&x,J[A2?y2)@92Y2b">2H߿??@?`:޿{?v?F?o?2?ɨ2O; 2CZDAT read: 19:07:13.9156 LVL= 16720, 27361, 22706, 22003, AGC= 48, IDX= 506, 0.22, 0.930, 2.524, 1.768, 3.130, PHS=-2.112,-0.559,-1.365, RAW= 301.2, 46.7, CAL= 309.0, 47.0, ROT= 201.0, -47.0 ^Ygot valid direction response: 19:07:13.9156 LVL= 16720, 27361, 22706, 22003, AGC= 48, IDX= 506, 0.22, 0.930, 2.524, 1.768, 3.130, PHS=-2.112,-0.559,-1.365, RAW= 301.2, 46.7, CAL= 309.0, 47.0, ROT= 201.0, -47.0 z BzIeR#Rx 5: Read range and direction messages.u`direction in FSK: [-0.636700,-0.244406,0.731354]uFpublishing direction and range infoQYU(b_SçHϿ?g?U3@9QUPA Uj)UXIUUiQU+UURU8@ UYP?)U@IU~Q?iU`@HH5%< %I=Y%)٣) -G)5 u>y]49}l?a4Y}  U~QQ QU>w|'yqBΎbbڴH?IUGiUBPUΚ1U~QQ Qchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.650221i}oBQ>q?}C}#<}D#<}{H4 A-BCompleted lineCaptureHoming:Lap:B1R- 5^Aggregate::uninitialize lineCaptureHoming:Lap:BqR=ZjU3 l?bjUcN  iQiU[AjU3@jU:@2jUsO@pUt9ns?zpU(b_SçHϿ?g?"jUΚ1*jU~QpU ? -my\?pUH?4\3uؿ^?iUmcjU?iUCٍl?iUu   jUABzjQjUR  jQjjU?rjU!@r\z\\\*Q>iUs:)YYYiYIZAM5->ZIlbIjIrIzI<5:IIIq@i@u@m@}checking for new query: numPingsReceived=5, elapsed TxPingTime=4.805137l,x,#,[A2 ?y2@92^Y2">2H`޿`#`? ?;m޿²?Sk?`:H?u?2 ?ɨ2E; 2CB(BBIDFAHJHJ/5f(= fc=YjI;Q j>h٣l nGlrMz r>t]z49vRl?az4Yv  ivoBxzK>qz?tv7:vT:vN4 hAkqRR%B*** querying acoustic contact ***i!i!r\9z\9\9\=K>iI)QQQiQYIYZAM-=GyGyG}:IG}uBG} =GyGyG}<G}FH9 H9H9H9"H= =*H=5DDAT read: Rx Time:19:07:14.4155 TRx dataTimestamp_ set to:1736536034.940463PDAT read: Bearing 201.5, -47.2 (Local) ~Local bearing/azimuth received: Bearing 201.5, -47.2 (Local) DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -DAT read: 19:07:14.4155 LVL= 18720, 29777, 26738, 26083, AGC= 49, IDX= 505, 0.24, 0.196, 1.818, 1.064, 2.447, PHS=-2.163,-0.581,-1.386, RAW= 300.6, 46.8, CAL= 308.5, 47.2, ROT= 201.5, -47.2 5Ygot valid direction response: 19:07:14.4155 LVL= 18720, 29777, 26738, 26083, AGC= 49, IDX= 505, 0.24, 0.196, 1.818, 1.064, 2.447, PHS=-2.163,-0.581,-1.386, RAW= 300.6, 46.8, CAL= 308.5, 47.2, ROT= 201.5, -47.2 5R#Rx 6: Read range and direction messages.=`direction in FSK: [-0.632164,-0.249016,0.733730]EFpublishing direction and range infoY):h<&ϿWBz?f@9 I Qt)rhIei1n jsh@ Q?)L@IBR?ia@BR {/5Ëw|~ZU?IphHiP4Q 1BR echecking for new query: numPingsReceived=6, elapsed TxPingTime=5.075110Յ =Յ 4= checking for new query: numPingsReceived=6, elapsed TxPingTime=5.3100663x,S[A6H]?y6gM@96W Y6 >6Hz{޿{?#? ޿ ?a?`T??6H]?ɨ67; 6CB6BBI-Mb@Mb@Mb@)) )))I)y- rh?~jth~jth?-C<-D-D; ))-pAI-Q Ai-Q A))HHg5rs= %*=Y%K);Q ->1٣1 5G9E7 E>q]49ul?a4Yu iuoB<m==?q?uCu;u6;u(W4 A(Mode 0.000000 count RRZAggregate::initialize lineCaptureHoming:Lap:EZjRl?bjr ii0[Ajf@j@2jL<@pM&N=n+߻?-@?zp):h<&ϿWBz?"j 1*jBRp+!¯?h|鿵X38?p'9?M;ؿ9L?i6OjU?il?i=%  jBzjl?jjBjj?rj"U@r\}<z\}<\}x@\}?i)隩iIZAMU2>:J}BHBJ}89JJyRJ}ZJ}JiAIiADDAT read: Rx Time:19:07:14.9155 TRx dataTimestamp_ set to:1736536035.443797PDAT read: Bearing 200.9, -47.6 (Local) ~Local bearing/azimuth received: Bearing 200.9, -47.6 (Local)  DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -DAT read: 19:07:14.9155 LVL= 18928, 30881, 27810, 23747, AGC= 51, IDX= 505, 0.24, 0.725, 2.384, 1.590, 3.043, PHS=-2.230,-0.612,-1.456, RAW= 301.4, 47.3, CAL= 309.1, 47.6, ROT= 200.9, -47.6 5Ygot valid direction response: 19:07:14.9155 LVL= 18928, 30881, 27810, 23747, AGC= 51, IDX= 505, 0.24, 0.725, 2.384, 1.590, 3.043, PHS=-2.230,-0.612,-1.456, RAW= 301.4, 47.3, CAL= 309.1, 47.6, ROT= 200.9, -47.6 MR#Rx 7: Read range and direction messages.U`direction in FSK: [-0.629936,-0.240549,0.738455]Fpublishing direction and range infoYWp(N]ϗPοvQl m?9I x)lI\i3R5^aU@ VS?)O@IȭT?iNh`@ȭT  Uu忀'Vn*?IvGicSg1ȭT -checking for new query: numPingsReceived=7, elapsed TxPingTime=5.603454ZI kbI ajI 1rI zI 2:I p9I 3I 9x,[Ar@BrIHzHzj5%Rb= -q=Y-Q -?1٣1 5G15 5?Echecking for new query: numPingsReceived=7, elapsed TxPingTime=5.813219I]U49Ml?aU4YM iMoBQYq]?MCM;M;M\4a eAaM}}fAggregate::initialize lineCaptureHoming:restartDHCP1N=$Restarting DHCP...1NqNZjt(dl?bjD ii,g[Ajj2j@p u*#/7*1?zpWp(N]ϗPοvQl m?"jg1*jȭTp"F? A꿾93?p)l?VؿF~g?iPj??i;l?im  j&Bzjj=% jBjj?rj(@r\z\\\i)iIZAM=GqGqGuGIGuBGu =GqGqGu<GuFAADDAT read: Rx Time:19:07:15.4154 TRx dataTimestamp_ set to:1736536035.947979 PDAT read: Bearing 202.1, -47.4 (Local)  ~Local bearing/azimuth received: Bearing 202.1, -47.4 (Local)  DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 E DAT read: 19:07:15.4154 LVL= 19184, 29921, 25138, 23219, AGC= 51, IDX= 504, 0.21,-0.083, 1.667, 0.863, 2.355, PHS=-2.350,-0.641,-1.495, RAW= 300.0, 47.0, CAL= 307.9, 47.4, ROT= 202.1, -47.4 M Ygot valid direction response: 19:07:15.4154 LVL= 19184, 29921, 25138, 23219, AGC= 51, IDX= 504, 0.21,-0.083, 1.667, 0.863, 2.355, PHS=-2.350,-0.641,-1.495, RAW= 300.0, 47.0, CAL= 307.9, 47.4, ROT= 202.1, -47.4 M R#Rx 8: Read range and direction messages.U `direction in FSK: [-0.627145,-0.254657,0.736097]U Fpublishing direction and range infoY97CNLп0/z?@9J t)2bIZiff$)\6@ ~Q?)@IS?iua@S }y {5.?8aNe?IR I@iQ@`0S u checking for new query: numPingsReceived=8, elapsed TxPingTime=6.081963@x,[A AB I)a= uMb@Mb@Mb@qq q)qIqyuL7A`?Mb`?u+=u;u uA)uAIqiu; AqqHHN5; 4=YQ >٣ G >]49Nl?a4YW ij=m<!@q?C;;d4 A5`Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.shqN55NCompleted lineCaptureHoming:restartDHCPM55jAggregate::uninitialize lineCaptureHoming:restartDHCPZj,Jb|l?bjř# ii[Aj@jO?2j]@p97CNL0/z?zp97CNLп0/z?"j@`0*jSpIs??o4߇sS?pIs??o4ؿ߇sS?iAj#?iH}l?i;DE  jBzjjm jjj?rj*@r\j=z\j=\iw=\ !@i!))))i)1Mchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.318250=uTgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shIYC= v9ZAY Mu >:J BoJBJ 9JJ RJ ZJ  DDAT read: Rx Time:19:07:15.9156  TRx dataTimestamp_ set to:1736536036.452317 PDAT read: Bearing 203.1, -46.8 (Local)  ~Local bearing/azimuth received: Bearing 203.1, -46.8 (Local)  DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 E DAT read: 19:07:15.9156 LVL= 20128, 30433, 25250, 24019, AGC= 50, IDX= 505, 0.26, 1.013, 2.815, 2.024,-2.783, PHS=-2.399,-0.637,-1.479, RAW= 298.5, 46.3, CAL= 306.9, 46.8, ROT= 203.1, -46.8 Gx,W[AV?yV@9VbYgot valid direction response: 19:07:15.9156 LVL= 20128, 30433, 25250, 24019, AGC= 50, IDX= 505, 0.26, 1.013, 2.815, 2.024,-2.783, PHS=-2.399,-0.637,-1.479, RAW= 298.5, 46.3, CAL= 306.9, 46.8, ROT= 203.1, -46.8 fR#Rx 9: Read range and direction messages.n`direction in FSK: [-0.629661,-0.268573,0.728969]nFpublishing direction and range info9Y=:/&܌xN0ѿS?=3@99=N =v)=bI=]i=2=7=o#=OYViT!>VHvݿ?L? cݿ? 2?`8?`?V?ɨV:; VC=@ =N?)=g@I=Q?i=ib@=Q9 9=v{w濫7:?`T ?I=4mG@i=N=LB/=QFBIHH59 9-checking for new query: numPingsReceived=9, elapsed TxPingTime=6.650836k< H=Y;Q >٣ Gּ >] 49l?a 4Y  iq@q?C+= =l4 sA!}BCompleted lineCaptureHoming:Lap:ER}}^Aggregate::uninitialize lineCaptureHoming:Lap:E1S dAggregate::initialize lineCaptureHoming:Lap:DockedqSZj=nl?bj=c i9i=[Aj=3@j=:@2j=%@p=xgX+Y㿥$w?zp=:/&܌xN0ѿS?"j=LB/*j=Qp=縷׾,?C?p=&?C͕Nؿ?i=_HHZIibI_jIrIzI+:I=h9IIj=e?i=čl?i=j   j=dBzj9j==% j=&Bjj=?rj=}@r\z\\\q@i)隱iI]%=Yechecking for new query: numPingsReceived=9, elapsed TxPingTime=6.821674CZA M%>I ) ~C Y y ) y EA7Mx,o7[A6;?y6o@96Y6p4 >6Hݿ s>?m checking for new query: numPingsReceived=10, elapsed TxPingTime=7.325397Tx,LQ[A=5T/mnt/mmc/started/2025-01-10UTC190717_sh }XB}IAMb@Mb@Mb@ )Iyl?~jtxMbP=Ļ A)lAIM Ai A AH H 35=t< =-=Y=Q E>A٣A EGAM >]49l?a4YS ioB=m<?q?C#;;z4  Arl ^@TTr\U=z\U=\U@\U?i)隩iIIDDAT read: Rx Time:19:07:16.9156 TRx dataTimestamp_ set to:1736536037.460114DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 -Z#Rx 11: Read range message, but no direction.3@9checking for new query: numPingsReceived=11, elapsed TxPingTime=7.582831:JBJ89JJRJZJCC9ZA)MeV>H H ZI jbI ajI 0rI zI .:I p9I ـ3I [JZx,J)k[A27 ?y2.@92\:Y2fv>2H^~ݿ =?Df?$ݿ$?bKV{?`?27 ?ɨ2'; 2CVdBV&I%checking for new query: numPingsReceived=11, elapsed TxPingTime=7.829067H H 5$= j=YR;Q >٣ G5A0 =>]49Xl?a4Y ioB?q?CR::4  AzlT1U Initialize. dInitializing internal variables to default values.*m"V!r\yz\y\y\}|?i)隑iICZAMB>GGGlIGBGGGG6<GFDDAT read: Rx Time:19:07:17.4155 TRx dataTimestamp_ set to:1736536037.963375DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -Z#Rx 12: Read range message, but no direction.f@9checking for new query: numPingsReceived=12, elapsed TxPingTime=8.084720;:ax,%[A^?y^/@9^6;Y^R>^Hmݿ`@F?`j?ݿx? ئ`@?`}?^?ɨ^%; \nfBr)IMb@Mb@Mb@ )IyQ?MbMbP< \A)IiM AHH5< C=Y;;Q >٣ G: > ]49 l?a4Y  i oBz<m<?q? C D; j; χ4) -u A)=UDSlide state transition from 3 to 1*mQBmU2mQrmU]"No local IP foundr\}z<z\}z<\}@\}g?i9ɛI>6;Iй<))隑e:iA/6I9%checking for new query: numPingsReceived=12, elapsed TxPingTime=8.333338C!"- ResumeZAiM> DDAT read: Rx Time:19:07:17.9156  TRx dataTimestamp_ set to:1736536038.467361 DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 - Z#Rx 13: Read range message, but no direction. 3@9  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.588580:J BoHBJ 9JJ RJ ZJ \gx,ޞ[AB?yB@9B4_;YBo>BH`pݿ@ 4?i?~ݿ@%Ͳ?#k ? S?B?ɨB; BCPR(IIT)T)Z= Z=H^H^5v  v^=Yvv;Q z>x٣x zGx~: ~>] 49l?a 4Ya i?q?C::>4 x A!*mBm2mrmr\Az\A\A\E?iyɛyI}>4_;I<))隁A);ix7I"ResumingZAM=Echecking for new query: numPingsReceived=13, elapsed TxPingTime=8.838049=MXRequesting device enable set for address 50.Յmx,[A6?y6(@96DΟ;Y6}>6H xݿ #?g?*ݿ@ ?@s`4|?@m?6?ɨ6<; 6C^mBb1IHj3Hjyy5 u=  H=Y Ak;Q  >٣ G%1: %>)]549-l?a54Y- i-oB15?q5?-C- ;-X;-a4A EB AA*maBma2marmar\z\\\?iɛIi>DΟ;Iv<))隩N;i8G>GGIGBGGGGV<GFI" Start "4Initializing EZServoServo.ՕAՕADDAT read: Rx Time:19:07:18.4155 TRx dataTimestamp_ set to:1736536038.972342DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -Z#Rx 14: Read range message, but no direction.ءإf@9ءchecking for new query: numPingsReceived=14, elapsed TxPingTime=9.093822=XRequesting device enable set for address 50. "8Initializing DockingStepper.ZAM5O>ZIkbI^jI1rIzI2:Id9I3II9;qI9;iI:uI:mM checking for new query: numPingsReceived=14, elapsed TxPingTime=9.341545=U XRequesting device enable set for address 50.Gqtx,[AJg??yJv>@9J;YJ>JHݿ?b?Z'ݿ K?Ƀ{C??Jg??ɨJ,; JCVeBZ'ImMb@Mb@Mb@ii i)iIiymMb?QMb`m٣ GYK; >]49l?a4Y ioBh<m=?q?C:~ ;ۜ4B  AE*mBm2m!rm!r\=h<z\=h<\= @\=:?iIɛIIU>U;IU<)Q)QQU ~zx,l[A6w?y6Z@966HΤݿ>@z?[?%<ݿ`e?".?/?6w?ɨ6t ; 6CbfBb(If%=if<Hj5Hj\z5vƇ; vZ=Yz;Q z>x٣x ~G|checking for new query: numPingsReceived=15, elapsed TxPingTime=9.845240 ;  >]49 l?a4Y ioB%-?q%?CL ; ;q4) -~ A)*m Bm 2m rm r\Az\A\A\E-?iqɛqI}>}GGGIGBGGGG<GFH HHH"H =*HO4DDAT read: Rx Time:19:07:19.4159 TRx dataTimestamp_ set to:1736536039.979345DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -Z#Rx 16: Read range message, but no direction.عؽ,@9عchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.100740x,t[A~v?y~@9~r;~H ݿ`@?bQ?`^ݿs`?Lx@? ?~v?ɨ~r; ~C)IMb@Mb@Mb@ )Iy~jtx:v~jthĻTD A)AId Ai AH%;H%}55j: =6=ZIMnbIMbjIM0rIIzIM|;:IMt9IMـ3IIIMJ;IMJ;IMT:IMU:Ym;Q m>q٣q uGq}; >]49l?a4Y ioBo<mb=a<q?CL;:K;e4 { A*mBm2mrmr\o<z\o<\@\Qar; DDAT read: Rx Time:19:07:19.9160  TRx dataTimestamp_ set to:1736536040.483293 DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 - Z#Rx 17: Read range message, but no direction.ة ح 9@9ة  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.604515쩇x,$ [A:J2BJ2k9JJ0RJ2 ZJ2J6? J6"?EB ?yE@9E^mEHݿ /?G?yݿS-?+??EB ?ɨEO; EC=]BEIH Hq53 C=Y);Q >٣ GM; >]49 l?a4Y ioB  =q?C;2;4  A*m9Bm92m9rm9r\Yz\Y\Y\]=iiɛiIm>>m^m<)q)qquchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.853167wԍx,:[A:s?y:@9:~:Hs޿@5w? :?`JݿԵ?? ң?:s?ɨ:; :C^\B\I`)`)d fp=Hj&Hjs5r9 rn=YvGaGaGaGe =GaGaGe:;GeD*mIBmIDDAT read: Rx Time:19:07:20.4159 TRx dataTimestamp_ set to:1736536040.988857DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -Z#Rx 18: Read range message, but no direction.؉؍,@9؉checking for new query: numPingsReceived=18, elapsed TxPingTime=11.1158972mQrmr\!z\!\!\% =iQɛYI]>]~<)Y)YYeZI}lbI}`jI}1rIyzI}<5:I}bl9I}3IyI}J?;I}L?;I}):I}+:- checking for new query: numPingsReceived=18, elapsed TxPingTime=11.357713x,MS[A:]?y:q@9::H3K޿`8߾?$.? ݿ&?@_? ?:]?ɨ:sj; 8^[BbIUMb@Mb@Mb@QQ Q)QIQyUQMb`?UU;U UA)UpAIU~AiU$ AQUz AHuJHuՁ5 A=YL;Q >٣ G; >]49l?a4Y iN<m<]q?C::4  A*mBm2mrmr\N<z\N<\4D@\x@i!ɛ!I%~>-<)))IIQiU,R9QIY"eStartingEMP<ZAYM}>DDAT read: Rx Time:19:07:20.9160 TRx dataTimestamp_ set to:1736536041.491616DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -Z#Rx 19: Read range message, but no direction.؉؍9@9؉checking for new query: numPingsReceived=19, elapsed TxPingTime=11.612829:JBJ-9JJRJ ZJJIhAx,ĵm[A2?y2 c@92R2H@N޿`V7?@?@޿@٣ G G _< ->)MO yQU+BY]]49]jl?ae4Y]B i]oBaeȑqm?]C]D;];]ȋ4uB uAuE*mBm2mrmr\z\\\@iɛI>R<))i9I"Starting"LSent speed cmd:/1V10000 Response:/0@ Eg<ZAMg>*GY"G]<GaGeCGeIGeBGe =GaGeBDGe<GeFՑՕADDAT read: Rx Time:19:07:21.4160 TRx dataTimestamp_ set to:1736536041.995511DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -Z#Rx 20: Read range message, but no direction.ؙؙ9ؙchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.116757ҡx,ʥ[AE|?yE@9EEH`<޿t׽?` ?Z<޿?R7??E|?ɨEݜ; ECI]Ci]XmA ]]WF)YeC ejlAee,]FaiiImĻ)mCFiq)}CI}dmA}y y΅C΅QlA΅I i΍^DFΉiϑϕlA)ϙ ϙIϙ С)ХlAϡϡϡ!%Ai%DIـ3I(3I(.IIIZI=kbI=cjI=0rI9zI=2:I=x9I=ـ3I9I=9;I=9;I=:I=:I!ii}GB}I=i<Achecking for new query: numPingsReceived=20, elapsed TxPingTime=12.365264-Mb@Mb@Mb@)) )))I)y-Zd;O{Gz?~jth?-j<-ף<-D; -IA)-AI- Ai- A))He<Hev}5uC u9=Yu;Q }>y٣ G!< >]49l?a4Y ioBM=m<q?C'<'<ϋ4 oA*mBm2mrmr\M=z\M=\T.@\@iɛIp><))i#9I"5StartingE <ZAM=s> DDAT read: Rx Time:19:07:21.9161  TRx dataTimestamp_ set to:1736536042.499303 DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 - Z#Rx 21: Read range message, but no direction.ؙ ؝ @@9ؙ  checking for new query: numPingsReceived=21, elapsed TxPingTime=12.620566x,ap[A:JLBJLJJLRJN ZJNJV? JV? {?y @9 t H߿??q޿и?@o͝?U? {?ɨ J; C=BIHDH5k %z=Y%;Q %?)٣) -G)-Q< -?9]=49=l?aE4Y=8 i=oBAEfqE?=C=-:=:=Ջ4I UAQ*mqBmq2mqrmqr\z\\\.6@iɛI>t<))i:I"&Changing to mode: 1"Standby mode.DU?DQDQEU  EQE%D<ZA1MU2>checking for new query: numPingsReceived=21, elapsed TxPingTime=12.869122!x,F[A:%?y:1@9::H?߿ f? ?9޿ _?rt?2?:%?ɨ:v; :CGGGrIGBG =GGG<GF7BIH-5H-\z5m[ uV=YuÊ;Q u>y٣y }Gy4< >]49l?a4Y ioBݺq?CH;;0܋4 A]DDAT read: Rx Time:19:07:22.4161 eTRx dataTimestamp_ set to:1736536043.003576uDAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.1 -uZ#Rx 22: Read range message, but no direction.aa9a}checking for new query: numPingsReceived=22, elapsed TxPingTime=13.125565*mBm2mrmr\!z\!\!\%X@iQɛQIUC>U<)Y)YYYi]-y):aIaDe?DiDiEi EiEE<ZAyM`> checking for new query: numPingsReceived=22, elapsed TxPingTime=13.374013 x,6![A64?y6]_@96y=Y6k,>6H4g߿ I qG?E?޿?N ?i?64?ɨ6܈; 6C(BII)A)p= =eMb@Mb@Mb@aa a)aIayev/I +?٣ G; >]49l?a4Y ioB=m6<wٿq?CQ:;8;r4 gA*mBm2mrmr\=z\=\1@\߱@iɛI>y=)<)!!i%pF:!ImDDAT read: Rx Time:19:07:22.9161 uTRx dataTimestamp_ set to:1736536043.507927DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -Z#Rx 23: Read range message, but no direction.qq9qchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.631171D?DD E   E E<ZAM l>:JBJ9JJRJZJJ%iAI!ZIi bIm ^jIm 1rIi zIi Im d9Im 3Ii qu @iu @uu @mu @6x,[Ajchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.879059i?y@93=Y>H}߿@ɽ?b?޿`"?6`d?C?i?ɨ^; Y YYYɳYeCelAIeף)aia)m3CIimɹi qɺCVlAi9Fi ClA) ZFI %C)!ɻ!!!QɼQiQIU>FQI]َCi]A ]ĻY)YYeBeIH]H 5ރ Y=YfQ >٣ G< >] 49Fl?a 4YI ioBؿq?C;;4 A*mYBmY2mYrmar\z\\\ђ@iɛI>3=))iy^`:ID?DDE EBE=:E=EZ<ZAMc>GGG>GGSIGBG =GGG<GFuDDAT read: Rx Time:19:07:23.4160 uTRx dataTimestamp_ set to:1736536044.011398DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -Z#Rx 24: Read range message, but no direction.qu9@9qchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.132618{"x,[A?y@9H ߿`d??޿}?`{`#??騅?ɨA; C-B-IMb@Mb@Mb@ )Iyi|?5)\(?!٣! %G!- ->)]549-l?a=4Y-! i-pB=7=m=#<=-q=?-C-&;-;-W4I MAI*miBmi2mirmir\7=z\7=\ @\ď@iɛI><))隩i]z:Ichecking for new query: numPingsReceived=24, elapsed TxPingTime=14.381224D9D9D9E=  E9E<ZA!MEQ>u DDAT read: Rx Time:19:07:23.9161 } TRx dataTimestamp_ set to:1736536044.515386 DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 - Z#Rx 25: Read range message, but no direction.y } @@9y  checking for new query: numPingsReceived=25, elapsed TxPingTime=14.636599Yx,O#[A:JxBJz9JJxRJzZJz')b0pdfa]WPG?94-+*'$"!   b?y t{@9 ^ H@߿@b A?4?޿s̹?:?? b?ɨ i$; C B IE٣ GZIjbIdjI0rIzI.:I|9Iـ3Ip >a]m49el?am4Ye iepBquMqu?eCe:e:e4 Achecking for new query: numPingsReceived=25, elapsed TxPingTime=14.885157*mBm2mrmr\z\\\|@iɛiIm ?m^<)q)qqqiuI2:I^D !G G G 4IG pBG  =G G G ñ<G FḪC ḪCHH ="H =*H]5mDDAT read: Rx Time:19:07:24.4160 mTRx dataTimestamp_ set to:1736536045.019265uDAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -}Z#Rx 26: Read range message, but no direction.im9@9ichecking for new query: numPingsReceived=26, elapsed TxPingTime=15.141179D?DDE  E2EgA*EhAE}n<ZAM?]x,C[AeBmIH}SH}Ӄ5:_ E=YQ >٣ G >]49hl?a4Y ipBq? C:,:4 A*mBm2mrmr\ z\ \ \ iɛI`>)) i :AIQ^D} d;D ?D D E   E mchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.389175E<ZAIMew>g x,h][A6$?y6@966H` ߿`M-?? .z޿ !?c?ɕ?6$?ɨ6z; 4NBRIDDAT read: Rx Time:19:07:24.9161 TRx dataTimestamp_ set to:1736536045.524241DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -Z#Rx 27: Read range message, but no direction.@@9checking for new query: numPingsReceived=27, elapsed TxPingTime=15.645495Mb@Mb@Mb@ )IyJ +X9v?y&1|?H}=`; A)Ii Az AH-eH-Ї5=Y EA=YE|Q E>I٣I MGIM| U>Y]e49]_l?ae4Y] i] pBmz=mm'<))隱ic˟:I:J NBJ -9JJ RJ ZJ    JhAIiA^DH<ZIkbI`jI1rIzI2:Ibl9I3I checking for new query: numPingsReceived=27, elapsed TxPingTime=15.894699D D D E  E E J<ZA M >i7x, ow[A) @:w?y:@9:vb:H 1޿AD?@^?O!޿?Զ?`S[@[?/?:w?ɨ:L; :CBBFIHNWHN5V Vh=YZQ Z>\٣\ ^G\b b>d]j49fl?aj4Yf\ if'pBhjqn?fCf(:f4:f"4p r"Ap*mBm2mrmr\z\\\JV@i1ɛ1I=>=vb<)9)AAAiEq:AIICQCQCQCQG5>G1G5IG5VBG1G1G1G5<G5FDDAT read: Rx Time:19:07:25.4155 TRx dataTimestamp_ set to:1736536046.027489DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -Z#Rx 28: Read range message, but no direction.f@9 checking for new query: numPingsReceived=28, elapsed TxPingTime=16.148712DDDE  EE@<ZAM>x,K[A&checking for new query: numPingsReceived=28, elapsed TxPingTime=16.397129?y@9s;Yu(>H"޿` <?:?ݿN?`b|K? 2?騭?ɨ; CEBEIMb@Mb@Mb@ )IyQ롿v/?{Gzt?\xi=ף; A)Id Ai AHZH`56 )=Y6gQ >!٣! %G!-Ϝ ->1]=495.l?a=4Y5 i5.pB=^=m=E<=qE?5C5:5:54MB MvAME*mBm2mrmr\^=z\^=\2@\4@iɛI>s;)!)!11i5Y;:IIIDDDE  EE<ZAMg>DDAT read: Rx Time:19:07:25.9155 TRx dataTimestamp_ set to:1736536046.531742 PDAT read: Bearing 199.6, -47.9 (Local)  ~Local bearing/azimuth received: Bearing 199.6, -47.9 (Local) DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 EDAT read: 19:07:25.9155 LVL= 15392, 25969, 22690, 21715, AGC= 51, IDX= 504,-0.47, 2.012,-2.640, 2.822,-1.979, PHS=-2.205,-0.614,-1.485, RAW= 303.2, 47.8, CAL= 310.4, 47.9, ROT= 199.6, -47.9 uYgot valid direction response: 19:07:25.9155 LVL= 15392, 25969, 22690, 21715, AGC= 51, IDX= 504,-0.47, 2.012,-2.640, 2.822,-1.979, PHS=-2.205,-0.614,-1.485, RAW= 303.2, 47.8, CAL= 310.4, 47.9, ROT= 199.6, -47.9 uT#Rx 29: Read range and direction messages.}`direction in FSK: [-0.631580,-0.224896,0.741976]}Fpublishing direction and range infoY 5俹Rb̿yR!D?9 < qe)XITi3 /{V@ U?)-\@IV?i^@V @gv|mnѢpyk?IEiU#+3V checking for new query: numPingsReceived=29, elapsed TxPingTime=16.669928:JE :KBJA JJA RJE ZJE OmWD9-# JU ? JU >Lx,4[AN?yN@9N|ӹYNx+>NH@mݿ?j?Sݿ?o:?U?i?N?ɨNk҈; NCn߀BnIHvUHvE5% %p=Y%Q %?)٣) -G)-L 5?9]E49=;l?aE4Y= i=3pBAEfqE?=C=:=:=4I UAQ*mqBmq2mqrmqZj-I;wl?bj-ܫ ZIlbIbjI0rIzI<5:It9Iـ3Ii)i-[Aj-f@j-@2j-H@p-,jd8c.ʠ9޿JJ-?zp- 5俹Rb̿yR!D?"j-#+3*j-Vp-tV?sUNcWKP?p-NT? ľٿ4?i-BXj-?i-wl?i-[Q  j-ɃBzj-;l?j)j-Bjj-%?rj-@r\z\\\}܅@iɛI>|ӹ)о8)_D>uchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.904551DDDE  E2E*EgAEG) G) G- IG- =BG-  =G) G) G- <G- F DDAT read: Rx Time:19:07:26.4154  TRx dataTimestamp_ set to:1736536047.035985 PDAT read: Bearing 202.6, -47.0 (Local)  ~Local bearing/azimuth received: Bearing 202.6, -47.0 (Local) - DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 M DAT read: 19:07:26.4154 LVL= 16240, 29329, 21490, 21491, AGC= 48, IDX= 503,-0.29,-0.769, 0.869, 0.141, 1.498, PHS=-2.178,-0.581,-1.360, RAW= 299.2, 46.5, CAL= 307.4, 47.0, ROT= 202.6, -47.0 ] Ygot valid direction response: 19:07:26.4154 LVL= 16240, 29329, 21490, 21491, AGC= 48, IDX= 503,-0.29,-0.769, 0.869, 0.141, 1.498, PHS=-2.178,-0.581,-1.360, RAW= 299.2, 46.5, CAL= 307.4, 47.0, ROT= 202.6, -47.0 ] T#Rx 30: Read range and direction messages.e `direction in FSK: [-0.629628,-0.262089,0.731354]e Fpublishing direction and range info Y );%俘cп?g? @9  p?  r) SI Si 0 Zd  j { @  O?) >@I ~Q?i oNb@ ~Q   <]z s\U??6gH3?I (H@i ΦO F/ ~Q   checking for new query: numPingsReceived=30, elapsed TxPingTime=17.1702061x,[A:M?y:i,@9: Y:o,>:Hėܿ)3 $?@? Fܿ@1?Ha??*?:M?ɨ:e; :CV׀BVyIH^;H^}5fe' fP=YfQ j>l٣l EGAE E>I]U49M l?a4YM1 iM9pB9q?MCMnBH׿@H,O??K*ؿi?#?`?ੈ?B?ɨB; BCZB^IHfEHf5rxM= r=Yv Q z?|٣| ~G|> ? ]49  l?a4Y j i 8pB%q? !C ; ; @4! %UA!*mABmA2mArmAHqHqr\z\\\ơ@i1ɛ1I5>53QI5@)1)99=i=ҡ_:AIAmDDAT read: Rx Time:19:07:28.4156 uTRx dataTimestamp_ set to:1736536048.807207PDAT read: Bearing 191.5, -43.0 (Local) ~Local bearing/azimuth received: Bearing 191.5, -43.0 (Local) DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 %DAT read: 19:07:28.4156 LVL= 19760, 25265, 23538, 22435, AGC= 47, IDX= 503,-0.01,-0.594, 0.872,-0.063, 1.243, PHS=-1.749,-0.324,-1.309, RAW= 312.5, 43.4, CAL= 318.5, 43.0, ROT= 191.5, -43.0 -Ygot valid direction response: 19:07:28.4156 LVL= 19760, 25265, 23538, 22435, AGC= 47, IDX= 503,-0.01,-0.594, 0.872,-0.063, 1.243, PHS=-1.749,-0.324,-1.309, RAW= 312.5, 43.4, CAL= 318.5, 43.0, ROT= 191.5, -43.0 -T#Rx 35: Read range and direction messages.5`direction in FSK: [-0.716672,-0.145808,0.681998]}Fpublishing direction and range infoiYm/6L@n?ޙ٩¿ʩ%2?m3@9im0M mb)m[ImWim/m;߿mT㥾mPmn@ mA?)mK@Im7 @?imUU@m7 @i im/UFN ĿP?Im8';imAm`7 checking for new query: numPingsReceived=35, elapsed TxPingTime=19.173344ax,HF[ABIH-DH-5E.< EE=YEQ M>I٣I MGIU U>Y]e49] l?ae4Y] i]6pBaaqm?]"C]:]:]G4q u%Aq*mBm2mrmZjppl?bjb iiH3[Aj3@j:@2j㔭@p6t^_>vտ#J?zp/6L@n?ޙ٩¿ʩ%2?"j`7<*j7 @p?D Ƹxڃ?p\]*ʼn?Js)NW8 ?iJj&?isEql?i}  jBzjwl?jQ} jBjjg?rjy@r\z\\\iɛI>))iXD5:I C C CCZIibIajIrIzI+:Ip9III/;I/;I:I:D5iAzD5iADDAT read: Rx Time:19:07:28.9157 TRx dataTimestamp_ set to:1736536049.314697%PDAT read: Bearing 184.6, -43.4 (Local) 5~Local bearing/azimuth received: Bearing 184.6, -43.4 (Local) D?DDE  E2E*EDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 }DAT read: 19:07:28.9157 LVL= 17200, 20513, 20594, 21795, AGC= 49, IDX= 504, 0.08, 0.825, 2.178, 1.108, 2.527, PHS=-1.614,-0.302,-1.422, RAW= 322.2, 43.9, CAL= 325.4, 43.4, ROT= 184.6, -43.4 Ygot valid direction response: 19:07:28.9157 LVL= 17200, 20513, 20594, 21795, AGC= 49, IDX= 504, 0.08, 0.825, 2.178, 1.108, 2.527, PHS=-1.614,-0.302,-1.422, RAW= 322.2, 43.9, CAL= 325.4, 43.4, ROT= 184.6, -43.4 E<ZAM>T#Rx 36: Read range and direction messages.`direction in FSK: [-0.724234,-0.058271,0.687088]Fpublishing direction and range infoؙY؝fS,翊r խ)?؝@9ؙ؝0C ٝ!P)ٝrPIٝ#Uiٝ1ٝοٝٝٝP@ ڝ%D?)ڝּ@IڝA?iڝ?3N@ڝAڙ ۙ۝Zn'|4pѿC.?I۝?0i۝b D۝vC۝Aۙ ܙ= checking for new query: numPingsReceived=36, elapsed TxPingTime=19.518032+x,%`[A61?y6n?96xY6>6H6տ@ ?`?տZ ??`?61?ɨ6; 4bBbIf=if;Mb@Mb@Mb@ )IyMb` rh{GzC # A)AI~AiA AH#Hbr5checking for new query: numPingsReceived=36, elapsed TxPingTime=19.677208P= B=YFcQ >٣ Gܽ >]49l?a4Y i/pBd=m<>q?$C:1:KO4 A*m!Bm!2m!rm)Zj#ݛ`l?bj2$ ii#T[Aj@j@2jT@p-%kCx2'yXb?zpfS,翊r խ)?"jvC*jAp{g_?Gm:-Δ?pL\oOO?,Sc?iοj|?i(al?i{%  jBzjdnvl?j2 jjj?rj@r\ed=z\ed=\e@\e횟>iyɛyI}~>}x)}v)隁i9ID-?D)D)E5  E1E'<ZAM-->:J-BHBJ-u9JJ)RJ-ZJ-    DDAT read: Rx Time:19:07:29.4157  TRx dataTimestamp_ set to:1736536049.816404 PDAT read: Bearing 187.1, -41.6 (Local)  ~Local bearing/azimuth received: Bearing 187.1, -41.6 (Local)  DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 - Z#Rx 37: Read range message, but no direction.ؙ ؙ 9ؙ U checking for new query: numPingsReceived=37, elapsed TxPingTime=19.955141x,z[A2a1?y2n?92_Y2k>2Hӿ` [?`KO?JiԿ=C? ]:??2a1?ɨ2#; 2CNBNIHVHVp5~٣  G  }  >]49l?a%4Yk i)pB!%6>q%?%C";p:U4) 5vA1*mQBmQ2mQrmQr\iz\i\i\m6>iɛI>_))隉iA9IIQ*G"G4<GGGIGVBGGGGx<GqFH9 H9H9H= ="H= =*H=د5D?DDE  EE<ZADAT read: 19:07:29.4157 LVL= 12784, 22305, 15554, 17587, AGC= 50, IDX= 503, 0.15,-0.545, 0.931,-0.149, 1.240, PHS=-1.697,-0.262,-1.392, RAW= 318.4, 42.1, CAL= 322.9, 41.6, ROT= 187.1, -41.6 Ygot valid direction response: 19:07:29.4157 LVL= 12784, 22305, 15554, 17587, AGC= 50, IDX= 503, 0.15,-0.545, 0.931,-0.149, 1.240, PHS=-1.697,-0.262,-1.392, RAW= 318.4, 42.1, CAL= 322.9, 41.6, ROT= 187.1, -41.6 Z#Rx 38: Read direction message, but no range.`direction in FSK: [-0.742064,-0.092429,0.663926]Y}4`wl\!>?91 !W)<IDi2L7ٿ$-ӱ@ ZI lbI jjI rI zI <5:I 9I I I I?;I K?;I :I :U$x,[ADDAT read: Rx Time:19:07:29.9158 "TRx dataTimestamp_ set to:1736536050.318825.PDAT read: Bearing 190.0, -38.8 (Local) 2~Local bearing/azimuth received: Bearing 190.0, -38.8 (Local) ZDAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -fZ#Rx 39: Read range message, but no direction.f&@9Uchecking for new query: numPingsReceived=39, elapsed TxPingTime=20.473095 L?y?9pŽYr>H@bҿ,@?@~?#ӿg 5?? :?騽 L?ɨ; EBEIMb@Mb@Mb@ )Iy~jt?l~jt<D A)AIAiA AH Hq5 (= "=Y Q  > ٣ G7 >a]m49el?au4Ye iepBu5=mu(?"j!A*j9plǰ#$?!Vs&H?p[^?濒ߕ1?ij!?iskl?iP*  jBzjsEql?j} jBjj[?rjwy@r\e5=z\e5=\eՠ@\e+$?iɛI ?pŽ))隡ib\sIDD)>DIDIDIEM  EIBEU=:EU=DAT read: 19:07:29.9158 LVL= 13616, 18369, 13810, 16467, AGC= 49, IDX= 503, 0.21,-0.723, 0.980,-0.166, 1.201, PHS=-1.836,-0.174,-1.370, RAW= 314.2, 38.8, CAL= 320.0, 38.8, ROT= 190.0, -38.8  Ygot valid direction response: 19:07:29.9158 LVL= 13616, 18369, 13810, 16467, AGC= 49, IDX= 503, 0.21,-0.723, 0.980,-0.166, 1.201, PHS=-1.836,-0.174,-1.370, RAW= 314.2, 38.8, CAL= 320.0, 38.8, ROT= 190.0, -38.8  Z#Rx 40: Read direction message, but no range.`direction in FSK: [-0.767498,-0.135331,0.626604]YOXᑡ؃Rk# ?905 G)5IS@i1 뿩-2)\~{@ -\-?)¸@I-\-?ig;T@-\-|])*3$ȿ?I*9iWz-N=-\-5checking for new query: numPingsReceived=40, elapsed TxPingTime=20.698586E=M<ZAQMm>:JM NLBJM 89JJI RJM ZJM v@!iJ3%A*x,ܭ[A B II)AHHen5-= 5=Y=Q =?Q٣Y ]GYe e ?i]u49m5l?au4Ymn impBqqqu?m-Cmd:m:m?d4 A*mQBmQ2mYrmYr\z\\\iɛIx> )DDAT read: Rx Time:19:07:30.4157 TRx dataTimestamp_ set to:1736536050.831642PDAT read: Bearing 191.8, -36.0 (Local) ~Local bearing/azimuth received: Bearing 191.8, -36.0 (Local) DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 )119i=|IIQDAT read: 19:07:30.4157 LVL= 14192, 18753, 12402, 16883, AGC= 49, IDX= 502, 0.22,-1.308, 0.713,-0.602, 0.802, PHS=-2.022,-0.042,-1.407, RAW= 312.4, 35.0, CAL= 318.2, 36.0, ROT= 191.8, -36.0 Ygot valid direction response: 19:07:30.4157 LVL= 14192, 18753, 12402, 16883, AGC= 49, IDX= 502, 0.22,-1.308, 0.713,-0.602, 0.802, PHS=-2.022,-0.042,-1.407, RAW= 312.4, 35.0, CAL= 318.2, 36.0, ROT= 191.8, -36.0 T#Rx 41: Read range and direction messages.`direction in FSK: [-0.791920,-0.165441,0.587785]Fpublishing direction and range info؁Y؅ƒNiWF*-ſw #?؅@9؁؅p7 مAI)مr0IمAiفمshم1,مم!z@ څa?)څg@Iڅ| ?iڅ>V@څ| ځ ہۅYҞ鿱,Y{iƿؕU?IۅRH;iۅ 3ۅ;ۅ| ہ ܁checking for new query: numPingsReceived=41, elapsed TxPingTime=21.018108GiGiGm@IGmzBGiGiGiGm<GmF^DD ?D D E  E E < A checking for new query: numPingsReceived=41, elapsed TxPingTime=21.197468ZA M5 >1x,[AZE?yZ$?9ZYZ>ZHZϿ@ `z?v?Aп C@??y?ZE?ɨZU; ZC5!B5IHEHEi5U~< UI=Y]&FQ ]>a٣a eGamnֽ m>i]u49mVl?a}4Ym impBy?q?m1Cmo7;m'8;mFk4 A*mBm2mrmZj0Eol?bj6B( ii9[Aj@j@2jͧ@p(=heiٿ*?zpƒNiWF*-ſw #?"j;*j| pj>?氏tU͇?pQHJ?Zq迱$패?ij?iU*pl?iF)  j[BzjU*pl?j{% jjj?rjk@r\Qz\Q\Q\U?iiɛiI>)`)iZI^DZImbIajIrIzI\8:Ip9IIID;ID;I:I:D?DDE  EDDAT read: Rx Time:19:07:30.9159 TRx dataTimestamp_ set to:1736536051.331363DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -Z#Rx 42: Read range message, but no direction.؁؅,@9؁checking for new query: numPingsReceived=42, elapsed TxPingTime=21.452663Ey<ZAMd>7x,Cu[A~'B~IMb@Mb@Mb@ )IyZd;O?I +Mbj<=9 A)AIAizAz AH H1h5checking for new query: numPingsReceived=42, elapsed TxPingTime=21.701227P< A=YQ >٣ G >]49l?a4Y6 i pB=m<B?q?7C #; ;r4! %mA!*mABmA2mArmAr\e=z\e=\e5@\e B?iqɛqIu>y)y)yyyi}ꞺI:JMBJ9JJRJZJP|{voj_RIB>940*)%!  ^D=q歼DADDDE  E2EhA*EhAEk<ZAM>Չ Չ  DDAT read: Rx Time:19:07:31.4158  TRx dataTimestamp_ set to:1736536051.837094 DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 - Z#Rx 43: Read range message, but no direction.ؙ ؝ f&@9ؙ  checking for new query: numPingsReceived=43, elapsed TxPingTime=21.959417  pG) A )u yq u A[">x,|H[A6.?y6?96Y6>6HKU˿ ? ?`rͿ`cl??q?6.?ɨ6x; 6C^;BbIf٣ G1 >!]-49%7l?a-4Y% i%pB)-:?q-?%;C%:%9:%8y49 =A9*mYBmY2mYrmYr\z\\\:?iɛI>))隙iҺI^DuGyGyG>GGyIGBG =GGG{<GqFD-?D)D)E-  E)checking for new query: numPingsReceived=43, elapsed TxPingTime=22.205950E<ZAM9>ZI bI \jI 1rI zI I [9I 3I I I D;I ԁ:I Ձ: Ex,![A&DDAT read: Rx Time:19:07:31.9159 *TRx dataTimestamp_ set to:1736536052.339667.DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -.Z#Rx 44: Read range message, but no direction.$&,@9$2checking for new query: numPingsReceived=44, elapsed TxPingTime=22.460934FY ?yFJ?9FYYF~>FHɿy?`?̿1? c?@@m?FY ?ɨF; DVBBVIuMb@Mb@Mb@qq q)qIqyu㥛 ?MbX{Gztu=uʽuף q)uAIuAiu3Aqu AHHb5d< /=Y\Q >٣ G:ּ > ]49 ^l?a4Y l i pB=m;[?q? CC %; *$; ^4! %A)*mABmI2mIrmIr\=z\=\ @\W[?iɛI>Y))隩i Ichecking for new query: numPingsReceived=44, elapsed TxPingTime=22.709900^D5;D ?D D E  E E <ZA M >:J QNBJ #9JJ RJ ZJ z39uL' J ? J "?3Kx,.[A2}?y2?92wY2P>2H֟ȿ`HX??ʿ@^O?D?-k?2}?ɨ2Չ; 2C>MB> IHFHF[5Ne= Nz=YRsQ R?P٣P RGPV V?X]^49Zl?a^4YZ iZoB`bhY?qb?ZHCZ ;Z ;Z4d f?Ad*mtBmt2mtrmxr\ z\ \ \ hY?i!ɛ!I%֤>%w)))))1i5r#IICCCCUDDAT read: Rx Time:19:07:32.4158 ]TRx dataTimestamp_ set to:1736536052.843394eDAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -mZ#Rx 45: Read range message, but no direction.Y]f&@9Yuchecking for new query: numPingsReceived=45, elapsed TxPingTime=22.964664D?DDE  EE<ZAM>GqGqGuIGuՁBGu =GqGqGu<GuF checking for new query: numPingsReceived=45, elapsed TxPingTime=23.213123Rx,H[A)( (J=$?yJa?9JaYJ=JH@ǿ`S? ? Cʿ楾?2?@i?J=$?ɨJ؉; HVQBVIIX)ZAHbHb]5jNj< jF=YnQ n>p٣p rGpv'_ v>|] 49~v"l?a 4Y~ i~oB  W?q ?~NC~";~88;~S4! %"A!*mYBma2marmar\z\\\3W?iɛI>a))IIQiUf|DQIYD?DDE  EE<ZA9M@>YYeDDAT read: Rx Time:19:07:32.9159 eTRx dataTimestamp_ set to:1736536053.347588mDAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -uZ#Rx 46: Read range message, but no direction.ae,@9a}checking for new query: numPingsReceived=46, elapsed TxPingTime=23.468887FXx,b[A2?y2x+?92zDY2Ά=2Hǿ@?@)?6 ʿ@ID? iF?`Dj?2?ɨ2Nɉ; 2Cb^BbI]Mb@Mb@Mb@YY Y)YIYy]bX9ȶ?bX9ȶ]E=]E] ]IA)]AI]pAi]IAY]p AH}H}X5s= ?=YQ >٣ G~ >]49$l?a4Yu ioB>m; {?q?UC@:]:checking for new query: numPingsReceived=46, elapsed TxPingTime=23.7173164  A*mBm2mrmr\>z\>\@\o {?iɛIg>zD)()iWgIDDDE EE<:JMBJu9JJRJZJO.  *EV[RKCFOWXPH>61)%ZAMH]4=H]%=I3I;3I;.I3I3I3ZI}kbI}^jI}0rIyzI}2:I}d9I}ـ3Iyq@i@u@m@u DDAT read: Rx Time:19:07:33.4158 u TRx dataTimestamp_ set to:1736536053.851338} DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 - Z#Rx 47: Read range message, but no direction.q u f&@9q  checking for new query: numPingsReceived=47, elapsed TxPingTime=23.972553o^x,΍|[A6;?y6>y?96Y6=6H@ǿ 6@K?`?Mʿ࿿??@?`vk?6;?ɨ6Uɉ; 4N\BRIHZHZ\5Ż R=YvXQ >٣ G%C; %>)]549-A'l?a54Y-b i-oB15{?q5?-[C-$:-;-4A E AA*miBmi2mirmir\z\\\k{?iɛIt>))隡iIG%>G%CG%IG%BG!G!G!G%<G%FD)D)D)E-  E)checking for new query: numPingsReceived=47, elapsed TxPingTime=24.222012EE<ZAQMu6>Wex,h[ADDAT read: Rx Time:19:07:33.9158 TRx dataTimestamp_ set to:1736536054.356451"DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -"Z#Rx 48: Read range message, but no direction.9&checking for new query: numPingsReceived=48, elapsed TxPingTime=24.477745J??yJM?9JJYJl=JH`_ȿ@$t?6?@˿״6?n?/n?J??ɨJ; JCn[BrItit=Mb@Mb@Mb@99 9)9I9y=RQ?L7A`尿Mbp?===+=; =A)=(AI9i=`A9= AHUHU#U5e e7=Ym&:Q m>i٣q G2k< >]49)l?a4Y! ipB =m;7?q?bC;B;n4  A*mBm2mrmr\] =z\] =\]̡@\]7?iiɛIJ>J))隑i2OIDe?DaDaEe  EiEE<ZAQMuW>checking for new query: numPingsReceived=48, elapsed TxPingTime=24.725285:J MNBJ 9JJ RJ ZJ   ).1/-+(&! "(,,&$!!"# kx,$D[A>sc?y>?9>Y>=>Hlʿ@ {?/?N̿7?`?Tq?>sc?ɨ>ޛ; u))隉i֢IEDDAT read: Rx Time:19:07:34.4156 MTRx dataTimestamp_ set to:1736536054.861094]DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 -eZ#Rx 49: Read range message, but no direction.AE3@9Amchecking for new query: numPingsReceived=49, elapsed TxPingTime=24.983742^DDGGG IGBGGGG<GFH HHH ="H =*HUA5Du?DqDqEu  EqBE}=:E}=EM <ZAY Mu > checking for new query: numPingsReceived=49, elapsed TxPingTime=25.229401*jrx, [AzZB~IHHV5-lƼ 5C=Y5Q =>A٣A EGAM M>i]49m+l?a4Ym im pBq?mmCm4s;mS;m۱4B  AE*mBm2mrmr\z\\\iɛIG>))iI^D dD?DDE  EE<ZA]DDAT read: Rx Time:19:07:34.9157 eTRx dataTimestamp_ set to:1736536055.366752mDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -uZ#Rx 50: Read range message, but no direction.ae@9a}checking for new query: numPingsReceived=50, elapsed TxPingTime=25.487885M^>xx,[Achecking for new query: numPingsReceived=50, elapsed TxPingTime=25.733177ޝWBޥI=Mb@Mb@Mb@99 9)9I9y=333333?:vy&1|?===Լ=`; =A)=AI9i999HUHU[55 =YQ >٣ G >] 49j,l?a 4Y ipB 2=m &< /?q ?sC;x;4  A*m9Bm92m9rm9r\U2=z\U2=\U*b@\U*/?iqɛqIu?q)q)qyyi}FHƻI:J]MBJ]9JJYRJ]ZJ]X|rlnmhgg`]\XOORL8yj_UQIDC>;8521-JIZI=kbI=djI9rI9zI=2:I=|9I9I9m DDAT read: Rx Time:19:07:35.4157 m TRx dataTimestamp_ set to:1736536055.870420u DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -} Z#Rx 51: Read range message, but no direction.i i 9i  checking for new query: numPingsReceived=51, elapsed TxPingTime=25.991516^D %)D D D E  E E <ZA M >~x,[Ar?yr?9rhYr@=rHBҿS G?@m?]ҿ<ŶG?A? ?r?ɨrЈ; pICiSmA ף) nlA%3C!I!)!i!)-CI))) )15zlA5ףi11i=C=lA)9 9I9 A)AAAAGyGyG} IG}!BGyGyGyG}}<G}qFЩAiI%KB-IH= H=h5U Uu=Y]s=Q ]?Y٣Y ]GaJv> ?]49,l?a4Y8 ipB?q?vCW::4 RA*m Bm 2m rm r\9z\9\9\=?iIɛQIU3>Uh)Y)YYYi]wһaIaCiCiCqCqEchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.237270D?DDE EE <ZA M >  DDAT read: Rx Time:19:07:35.9158  TRx dataTimestamp_ set to:1736536056.372679 PDAT read: Bearing 210.4, -39.9 (Local)  ~Local bearing/azimuth received: Bearing 210.4, -39.9 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 E DAT read: 19:07:35.9158 LVL= 13472, 15137, 13058, 15843, AGC= 48, IDX= 503,-0.17,-3.072,-1.137,-1.678,-0.670, PHS=-2.314,-0.420,-1.011, RAW= 287.7, 38.3, CAL= 299.6, 39.9, ROT= 210.4, -39.9 ԅx,u[A&Ygot valid direction response: 19:07:35.9158 LVL= 13472, 15137, 13058, 15843, AGC= 48, IDX= 503,-0.17,-3.072,-1.137,-1.678,-0.670, PHS=-2.314,-0.420,-1.011, RAW= 287.7, 38.3, CAL= 299.6, 39.9, ROT= 210.4, -39.9 *T#Rx 52: Read range and direction messages..`direction in FSK: [-0.661690,-0.388211,0.641450].Fpublishing direction and range info9Y={ ,忿TtؿI#k?=f&@99=4 =!;)=3I==i=0=== ׾=sh=@ =D +?)=T@I=aF2?i=k@=aF29 9=ŒNtV5xP?=Y]?I=/b;@i=L*='=aF29 9>checking for new query: numPingsReceived=52, elapsed TxPingTime=26.515301eY?yet?9eNPYe=eHӿ= ?/?Կ`P`??T?eY?ɨe|w; eCFBIeMb@Mb@Mb@aa a)aIaye/$?~jt?I +?e,=eD٣ G'u= >] 49+l?a4Y i!pB8=m<A @q?yC:o:PɌ4 %AA*mBm2mrmZj=h9Ӽl?bj=  i9i=[Aj=f&@j=L%@2j=*@p=K~f#NiK&𿣨u.?zp={ ,忿TtؿI#k?"j='*j=aF2p=ա?ck8Qu?p=׳ Y?×F)?i=?j=?i=(ʽl?i=I  j=Bzj9j9j=Bjj=i@rj=m@r\ 8=z\ 8=\ M}>\ FA @i9ɛ9I=>ENP)A)AAAiEXỉQIQechecking for new query: numPingsReceived=52, elapsed TxPingTime=26.741905D?DDE  EE/<ZA M% >:J (;OBJ 9JJ RJ ZJ )($  9x,f2[AHLHNAAZI\bI^_jI^2rI\zI\I^=h9I^c3I\IE=)oC -m}GY qDDAT read: Rx Time:19:07:36.4157 TRx dataTimestamp_ set to:1736536056.875817PDAT read: Bearing 215.4, -42.1 (Local) ~Local bearing/azimuth received: Bearing 215.4, -42.1 (Local) DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 19:07:36.4157 LVL= 12384, 13489, 12178, 15219, AGC= 47, IDX= 502,-0.04, 1.049, 2.824, 2.481,-2.886, PHS=-2.261,-0.527,-0.920, RAW= 282.5, 39.8, CAL= 294.6, 42.1, ROT= 215.4, -42.1 Ygot valid direction response: 19:07:36.4157 LVL= 12384, 13489, 12178, 15219, AGC= 47, IDX= 502,-0.04, 1.049, 2.824, 2.481,-2.886, PHS=-2.261,-0.527,-0.920, RAW= 282.5, 39.8, CAL= 294.6, 42.1, ROT= 215.4, -42.1 T#Rx 53: Read range and direction messages. `direction in FSK: [-0.604805,-0.429813,0.670427] Fpublishing direction and range infoرYصx2Z $X ۿ J|"t?ص@9رص`0 ٵ4)ٵ/Iٵs;iٵ/ٵ9ٵyٵkٵǝ@ ڵ1?)ڵ"@Iڵ ٣  G  > ] 49 *l?a 4Y D i +pB q ? {C '; ; ӌ4 A *m Bm 2m rm Zj͵l?bj3  iic 8[Aj@j@2j@pdGz9OI:9ُ?zpx2Z $X ۿ J|"t?"j!*j<p~L?*h*`7S?p ܡ:-?,4޿nAR"?iKj?iNl?i   jȃBzjjjjj@rj~@r\ e checking for new query: numPingsReceived=53, elapsed TxPingTime=27.245169z\ \ \ i ɛ I ? ) ) i S󻉡1 I9 D D D E  E E <ZA M >x,O[A6,?y6?969 ѽY60>6H׿M G?@%?dؿ ? A? ?6,?ɨ6On; 4< >"mA@B:Fɸ@BَCB^lAIFD)DiD)F@CIHJDɹH HɺJCJQlALiLLiLNlA)Nף LIP P)PɻPR?FTTɼTiTITTIZCiX XX)XX^%BbIHn,Hn_v5:5 =Y=Q a?٣ GER> MQ?]49*l?a%4Y i/pB)-( @q-?}C<<׌4q A=DDAT read: Rx Time:19:07:36.9158 MTRx dataTimestamp_ set to:1736536057.384222mPDAT read: Bearing 216.6, -45.2 (Local) }~Local bearing/azimuth received: Bearing 216.6, -45.2 (Local) DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 *mBm2mrm=DAT read: 19:07:36.9158 LVL= 11376, 13041, 10994, 14643, AGC= 46, IDX= 503, 0.02, 2.752,-1.883,-2.183,-1.208, PHS=-2.235,-0.628,-0.978, RAW= 281.9, 42.9, CAL= 293.4, 45.2, ROT= 216.6, -45.2 EYgot valid direction response: 19:07:36.9158 LVL= 11376, 13041, 10994, 14643, AGC= 46, IDX= 503, 0.02, 2.752,-1.883,-2.183,-1.208, PHS=-2.235,-0.628,-0.978, RAW= 281.9, 42.9, CAL= 293.4, 45.2, ROT= 216.6, -45.2 MT#Rx 54: Read range and direction messages.r\Iz\I\I\M( @iYɛaIes>e9 ѽ)e`direction in FSK: [-0.565693,-0.420121,0.709571]Fpublishing direction and range infoAYE&VU'⿊RAڿXʹ?Ef&@9AEp, E2)E*IE39iE.E= E E5^zERq@ E֭??)Eݣ@IEI?iEq@EIA AESM濯ΐ?( I?IE4@)隩iIiEdy?E- EIA Achecking for new query: numPingsReceived=54, elapsed TxPingTime=27.557554D%?D!D!E! E)Eѯ<ZAM5> checking for new query: numPingsReceived=54, elapsed TxPingTime=27.749056yܙx,h\i[A2?y2O\?92Y2A>2H`Cٿ 3?$?0]ڿ@N? L? ݕ?2?ɨ2P; 2CBIMb@Mb@Mb@ )Iy rh?Q?C=u< 3A)I(AiA AHHi55# F=Y٣ G= >]495(l?a4YX i8pB=m><I,q?C:,:݌4  A*mBm2mrmZjZl?bjV iiX[Ajf&@jL%@2jx@pFfo#ź礄?zp&VU'⿊RAڿXʹ?"j- *jIp5M?=B\+zA3%?pZ?q"-D5׿?i]qj(?i\l?if/  j2BzjNl?jI jjj+@rjn}@r\=z\=\?\e@i!ɛ!I%>%)!))))i-so1I1:JLBJU9JJRJZJD?DDE EH-C=H-a=E<ZA M%M>EDDAT read: Rx Time:19:07:37.4157 ETRx dataTimestamp_ set to:1736536057.883739MPDAT read: Bearing 218.8, -47.3 (Local) U~Local bearing/azimuth received: Bearing 218.8, -47.3 (Local) eDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 19:07:37.4157 LVL= 11312, 14161, 11826, 13443, AGC= 46, IDX= 502,-0.00, 2.034,-2.656,-2.893,-1.881, PHS=-2.280,-0.728,-1.015, RAW= 280.0, 44.8, CAL= 291.2, 47.3, ROT= 218.8, -47.3 Ygot valid direction response: 19:07:37.4157 LVL= 11312, 14161, 11826, 13443, AGC= 46, IDX= 502,-0.00, 2.034,-2.656,-2.893,-1.881, PHS=-2.280,-0.728,-1.015, RAW= 280.0, 44.8, CAL= 291.2, 47.3, ROT= 218.8, -47.3 T#Rx 55: Read range and direction messages.`direction in FSK: [-0.528516,-0.424937,0.734915]Fpublishing direction and range infoAYE1P,2ۿlk?E@9AE0, EQ7)E2.IE4iAEE5^:E끿Ea@ E+H?)E@IEVS?iEft@EVSA AE'AR=sw?MR?IE2@iEYHEϸEVSA Achecking for new query: numPingsReceived=55, elapsed TxPingTime=28.028446G >G G IG BG G G G <G FMĠx,X7[A2?y2r@92egY2>2HۿqW?Ų?@Nܿ^ˁzG???2?ɨ2 ; 2Ce BeIHu,Hu_v5i P=Y٣ Gи= >]49L&l?a4Y iBpB=*q?C&;';4 ^A*mBm2mrmZjul?bjuw iqiu.x[Aju@ju@2ju̼@puS Kd&NQ /8?zpu1P,2ۿlk?"juϸ*juVSpu=]:?4+u9?pu5?ҿCbW?iu3ju?iu^l?iu%  juBzju^l?ju  jqjjuJ@rjuu@r\z\\\g@i1ɛ1I=վ>=eg)9)999i=5OAIAchecking for new query: numPingsReceived=55, elapsed TxPingTime=28.253229D?DDE  EEX<ZAM%>ZIMibIMgjIM0rIIzIM+:IM9IMـ3IIIM/;q}IM/;i}IM=:uIM>:mu DDAT read: Rx Time:19:07:37.9158  TRx dataTimestamp_ set to:1736536058.392704 PDAT read: Bearing 211.6, -48.0 (Local)  ~Local bearing/azimuth received: Bearing 211.6, -48.0 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0  DAT read: 19:07:37.9158 LVL= 10224, 16833, 12690, 15059, AGC= 47, IDX= 503,-0.10,-1.614,-0.034,-0.478, 0.684, PHS=-2.210,-0.671,-1.165, RAW= 288.3, 46.4, CAL= 298.4, 48.0, ROT= 211.6, -48.0 E Ygot valid direction response: 19:07:37.9158 LVL= 10224, 16833, 12690, 15059, AGC= 47, IDX= 503,-0.10,-1.614,-0.034,-0.478, 0.684, PHS=-2.210,-0.671,-1.165, RAW= 288.3, 46.4, CAL= 298.4, 48.0, ROT= 211.6, -48.0 M T#Rx 56: Read range and direction messages.U `direction in FSK: [-0.569916,-0.350615,0.743145]U Fpublishing direction and range infoq Yu oxx<|azpֿ:?u f&@9q u ' u A)u 1Iu :iu /u p u +u u `@ u 4QO?)u r@Iu PwV?iu \l@u PwVq q u řnC$?#.?Iu 9<@iu nOu %u PwVq q  checking for new query: numPingsReceived=56, elapsed TxPingTime=28.547161x,![AjBnIPExceeded connect timeout, disconnecting.Mb@Mb@Mb@ )IyS㥫q= ףp?~jt?/]=< A)AIAiMAQ AH5+H5u5EE E>=YMQ m>i٣i uGqu u>y]49}#l?a4Y} i}PpB>m; q?}C};};}4 A*mBm2mrmZjFl?bju ii"[Ajf&@jL%@2j}]@pNas9+> 1?zpoxx<|azpֿ:?"j%*jPwVpncz\>\@\n@iɛI>))i Iաաchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.758390^D-K'D D D E  E E <ZA :J &~JBJ k9JJ RJ ZJ  H9 H= @AMm >7x,5[A2#7?y2T@92C\Y2Y,>2H ߿p٣t vGtvB> v>DDAT read: Rx Time:19:07:38.4157 TRx dataTimestamp_ set to:1736536058.894158-PDAT read: Bearing 203.9, -46.7 (Local) -~Local bearing/azimuth received: Bearing 203.9, -46.7 (Local) ]DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 }DAT read: 19:07:38.4157 LVL= 11984, 20785, 16482, 17267, AGC= 49, IDX= 502,-0.07,-1.931,-0.415,-1.047, 0.165, PHS=-2.008,-0.533,-1.216, RAW= 297.5, 46.1, CAL= 306.1, 46.7, ROT= 203.9, -46.7 Ygot valid direction response: 19:07:38.4157 LVL= 11984, 20785, 16482, 17267, AGC= 49, IDX= 502,-0.07,-1.931,-0.415,-1.047, 0.165, PHS=-2.008,-0.533,-1.216, RAW= 297.5, 46.1, CAL= 306.1, 46.7, ROT= 203.9, -46.7 T#Rx 57: Read range and direction messages.`direction in FSK: [-0.627012,-0.277854,0.727773]Fpublishing direction and range infoYѫ{7ZѿwI?@9. 1Q)b@IsCi1r㥛'@ M?)`@IYP?i,c@YP zz+Mg0E??I@UF@imM].YP checking for new query: numPingsReceived=57, elapsed TxPingTime=29.0352179]E49=]!l?aE4Y= i=]pBAE qE?=C=:=:=4I UHAY*mBm2mrmZjdl?bjء ii9[Aj@j@2jR@pWV*8L?zpѫ{7ZѿwI?"j].*jYPpM ?nm?p؁?ʁ1O@ؿg[?ihjx?iJl?ilj  jBzjBl?jjjjZ@rjL@r\Az\A\A\E(+@iɛI>C\)p՗)隉i I^DEGGCGIGƁBG =GGGs<GkFDDDE EE<ZAM>checking for new query: numPingsReceived=57, elapsed TxPingTime=29.261311x,[A6?y6@96s.Y613>6Hc#? zI?6!?@̥?C? {?6?ɨ6É; 6C݀BIH}HH}d5 >=Y٣ GZIbI_jIrIzII=h9IIII/;I:I:= >]49l?a4Y impBq?C:>:;4B AE*mBm2mrmr\Qz\Q\Q\U!@iɛI>5DDAT read: Rx Time:19:07:38.9158 =TRx dataTimestamp_ set to:1736536059.400200mPDAT read: Bearing 202.1, -43.0 (Local) u~Local bearing/azimuth received: Bearing 202.1, -43.0 (Local) s.))隙iM!I DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 CMiACMiADAT read: 19:07:38.9158 LVL= 20304, 20753, 25698, 24547, AGC= 47, IDX= 503, 0.01,-0.919, 0.705,-0.015, 1.155, PHS=-1.986,-0.403,-1.173, RAW= 299.1, 42.6, CAL= 307.9, 43.0, ROT= 202.1, -43.0 Ygot valid direction response: 19:07:38.9158 LVL= 20304, 20753, 25698, 24547, AGC= 47, IDX= 503, 0.01,-0.919, 0.705,-0.015, 1.155, PHS=-1.986,-0.403,-1.173, RAW= 299.1, 42.6, CAL= 307.9, 43.0, ROT= 202.1, -43.0 T#Rx 58: Read range and direction messages.`direction in FSK: [-0.677620,-0.275153,0.681998]Fpublishing direction and range info9Y=nZ5ѿʩ%2?=f&@99=PO =Q)=bdI=_i=/=?5=Vξ=$= @ =V>?)=@I=7 @?i=ua@=7 @9 9=^!Q{rצ?ē?I=H@i=1>=@`0=7 @9 9checking for new query: numPingsReceived=58, elapsed TxPingTime=29.579487 nManaging dock network, ignoring radio surface power off^D D D D E  E  checking for new query: numPingsReceived=58, elapsed TxPingTime=29.765617E <ZA M >!*x,[AB38?yB: @9BYBͺ3>BH@Y`^? ?*?}W?@?V?}?B38?ɨB; @NԀBNtI5Mb@Mb@Mb@11 1)1I1y5+η'1Z?Q?5v5">5< 5A)5@I5~Ai53A15 AHM=HM}5 1 I=Y٣ Ga= >]49l?a4Y ipB?>m;q?C]:Z:4  A*mBm2mrmZjmEl?bjmr  iiim[Ajmf&@jmL%@2jmu@pmF6/a0TM+b_?zpmnZ5ѿʩ%2?"jm@`0*jm7 @pmn!>_?,' ?pm+PF?;Qۿ׿*Pd;?im9yjm?imKl?imH   jmBzjijijijjm@rjm@r\e?>z\e?>\eg@\eˈ@iqɛqI}>})y)yyyi}zI^DM7ƼDDDE  E:J-KBJ-9JJ)RJ-ZJ-E<ZAM J>-DDAT read: Rx Time:19:07:39.4157 5TRx dataTimestamp_ set to:1736536059.901110=PDAT read: Bearing 204.4, -45.1 (Local) =~Local bearing/azimuth received: Bearing 204.4, -45.1 (Local) MDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 19:07:39.4157 LVL= 20576, 18993, 21170, 23715, AGC= 46, IDX= 502, 0.08,-2.418,-0.830,-1.474,-0.290, PHS=-2.040,-0.493,-1.187, RAW= 296.6, 44.4, CAL= 305.6, 45.1, ROT= 204.4, -45.1 Ygot valid direction response: 19:07:39.4157 LVL= 20576, 18993, 21170, 23715, AGC= 46, IDX= 502, 0.08,-2.418,-0.830,-1.474,-0.290, PHS=-2.040,-0.493,-1.187, RAW= 296.6, 44.4, CAL= 305.6, 45.1, ROT= 204.4, -45.1 T#Rx 59: Read range and direction messages.`direction in FSK: [-0.642826,-0.291599,0.708340]Fpublishing direction and range info)Y-`Ln֑HҿH)E?-@9)-`P -1J)-RI-\i-.-\-j--@ -aF?)-㭪@I-2H@wS? ?`\-Q?@+??@}?2E?ɨ2<; 2C^̀B^kIHfJHfՁ5- -T=Y-71٣1 5G9=b= =>A]M49E?l?aM4YEI iEpBIMqU?ECEh:E2:E4Y ]GAY*myBmy2myrmyZj]Шl?bj]1 iYi]ɫ[Aj]@j]@2j]@p]< eC3?zp]`Ln֑HҿH)E?"j]-*j]sb))iIchecking for new query: numPingsReceived=59, elapsed TxPingTime=30.270573^D(Du?DyDyE}  EZIUgbIU\jIQrIQzIU%:IU[9IQIQIUJ$;IUL$;IUԁ:IUՁ:Em<ZAyM5 >M DDAT read: Rx Time:19:07:39.9157 ] TRx dataTimestamp_ set to:1736536060.408350u PDAT read: Bearing 204.4, -46.6 (Local)  ~Local bearing/azimuth received: Bearing 204.4, -46.6 (Local)  DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 - DAT read: 19:07:39.9157 LVL= 17568, 21057, 18258, 20339, AGC= 46, IDX= 502, 0.13,-2.618,-1.054,-1.695,-0.458, PHS=-2.072,-0.549,-1.240, RAW= 296.9, 45.9, CAL= 305.6, 46.6, ROT= 204.4, -46.6 5 Ygot valid direction response: 19:07:39.9157 LVL= 17568, 21057, 18258, 20339, AGC= 46, IDX= 502, 0.13,-2.618,-1.054,-1.695,-0.458, PHS=-2.072,-0.549,-1.240, RAW= 296.9, 45.9, CAL= 305.6, 46.6, ROT= 204.4, -46.6 5 T#Rx 60: Read range and direction messages.E `direction in FSK: [-0.625719,-0.283839,0.726575]E Fpublishing direction and range infoQ YU C;#kuj*ҿ3r@?Q 9Q U D U AR)U RGIU sOiQ U U D U RU ѥ@ U KM?)Q IU 5P?iQ U 5PQ Q U l%V8濡\@?5?IU E@+<x,X[AiۅFMہۅ5Pہ ܁>checking for new query: numPingsReceived=60, elapsed TxPingTime=30.607559=ĀB=aIHMgHMB5 <=Y%Q %>!٣! -G)- ->Q]]49Ul?a]4YU+ iUpBaaqe?UCU:UK:UF4i mAi*mBm2mrmZjl?bj`2 iih"[Ajj2jj@p.DM?zpC;#kuj*ҿ3r@?"j*j5Pp͊IF4?OD{v?p+J?:cӿ٩o?i":j?i vl?ijS  jBzjél?jQ( jBjj?rj;@r\Iz\I\I\IiYɛaIes>a)a)aaaim\IICCCCchecking for new query: numPingsReceived=60, elapsed TxPingTime=30.773869D?DDE E2EgA*EgAE <ZA M] >:J] :IBJY JJY RJ] ZJ] Vfx,38[A2,?y24 @92YY21C>2H2 2^?t ?7J?Z?LV?Qj?2,?ɨ2; 2CNBRXIHZqHZy5b bc=Yfl5=Q f>d٣h jGhpp~DDAT read: Rx Time:19:07:40.4154 TRx dataTimestamp_ set to:1736536060.910236PDAT read: Bearing 200.4, -47.6 (Local) ]~Local bearing/azimuth received: Bearing 200.4, -47.6 (Local) }DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 = >]49\l?a4Y ipBq?C::4 A%DAT read: 19:07:40.4154 LVL= 17584, 24033, 18674, 20275, AGC= 48, IDX= 501, 0.21, 2.564,-2.249,-2.960,-1.664, PHS=-1.968,-0.539,-1.300, RAW= 302.2, 47.4, CAL= 309.6, 47.6, ROT= 200.4, -47.6 -Ygot valid direction response: 19:07:40.4154 LVL= 17584, 24033, 18674, 20275, AGC= 48, IDX= 501, 0.21, 2.564,-2.249,-2.960,-1.664, PHS=-1.968,-0.539,-1.300, RAW= 302.2, 47.4, CAL= 309.6, 47.6, ROT= 200.4, -47.6 -T#Rx 61: Read range and direction messages.*mYBmY2mYrmY}`direction in FSK: [-0.632012,-0.235043,0.738455]Fpublishing direction and range info|Y~ [Fp9#\{οvQl m?~@9|~Dr\z\\\)@iɛI#> ~])~HI~3Oi~0~m~ ~ff~Ǩ@ ~S?)~@I~ȭT?i~T_@~ȭT| |~4.֦忈z5Px?I~Fi~S~aF2~ȭT| |checking for new query: numPingsReceived=61, elapsed TxPingTime=31.090715Y))iBIDqDyDyEy EyG1G1G5IG5QBG1G1G1G5P<G5RFEU <ZAiM9>checking for new query: numPingsReceived=61, elapsed TxPingTime=31.277231Sx,='R[AZIibI`jIrIzI+:Ibl9III/;I/;I):I*:EBEQIHUcHU_5eʼ m2=YmQ u>q٣q uGq} }>]49l?a4Y ipBq?CA;;4 A*mBm2mrmZj%sl?bj%󫲉 i!i%NA:[Aj%@j%N?2j%(@p% [Fp9#\{޿vQl m?zp% [Fp9#\{οvQl m?"j%aF2*j%ȭTp%ٛPlr?D5DdȻ6)?p%ٛPlr?D5DdӿȻ6)?i%"j%?i%2l?i%?  j%kBzj%Jl?j%jS j%Bjj%?rj%lȾ@r\z\\\iQɛQI]>Y)a)iiqiuIDDAT read: Rx Time:19:07:40.9155 TRx dataTimestamp_ set to:1736536061.415512-PDAT read: Bearing 199.3, -47.5 (Local) 5~Local bearing/azimuth received: Bearing 199.3, -47.5 (Local) uDAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 ]DAT read: 19:07:40.9155 LVL= 18064, 26609, 21234, 21731, AGC= 48, IDX= 502, 0.26,-2.554,-1.098,-1.830,-0.525, PHS=-1.942,-0.527,-1.309, RAW= 303.5, 47.4, CAL= 310.7, 47.5, ROT= 199.3, -47.5 eYgot valid direction response: 19:07:40.9155 LVL= 18064, 26609, 21234, 21731, AGC= 48, IDX= 502, 0.26,-2.554,-1.098,-1.830,-0.525, PHS=-1.942,-0.527,-1.309, RAW= 303.5, 47.4, CAL= 310.7, 47.5, ROT= 199.3, -47.5 eT#Rx 62: Read range and direction messages.m`direction in FSK: [-0.637623,-0.223292,0.737277]mFpublishing direction and range info Y fgg>ה̿*Ɨ? f@9  F g) RI Ti  u y P @ ) @I g;T?i Ȟ^@ g;T   @Y忮]j5e?I -Ei DS 3 g;T  checking for new query: numPingsReceived=62, elapsed TxPingTime=31.591946D D D E  EE%<ZA1MU> checking for new query: numPingsReceived=62, elapsed TxPingTime=31.781254xx,Ok[A6?y6 @96n@;Y6{G>6H85 ?`k?(`[?@ h? Kd?6?ɨ6DU; 4TVRIMb@Mb@Mb@ )Iyv/+?~jt?x齹v>>< A)VAI AiA AH^HC5`; R=Y[٣ G xѻ  >]%49Ml?a%4Y ipB%`>m%q;%4q-?C:,;);M$41 5A1*mYBmY2mYrmYZjEgVl?bjEĤ  iAiEZ[AjEf@jE@2jE@pED)l}$޿&&?zpEfgg>ה̿*Ɨ?"jE3*jEg;TpEH?Ͷ]_ɚ?pEp99?={ӿ"Fsh?iE%jEG?iEL"l?iE   jEBzjE vl?jE? jEӃBjjE ?rjE@r\`>z\`>\@\@iɛIk>n@;I ޻))隹*iIDD1D1D9E=  E9BEU=:EU= M}Ga y:JBoHBJ#9JJRJ ZJ)yADDAT read: Rx Time:19:07:41.4154 TRx dataTimestamp_ set to:1736536061.918478%PDAT read: Bearing 195.4, -48.0 (Local) -~Local bearing/azimuth received: Bearing 195.4, -48.0 (Local) EDAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 19:07:41.4154 LVL= 19344, 30193, 23346, 20915, AGC= 49, IDX= 501, 0.24,-2.406,-0.983,-1.800,-0.416, PHS=-1.902,-0.520,-1.387, RAW= 308.4, 48.1, CAL= 314.6, 48.0, ROT= 195.4, -48.0 Ygot valid direction response: 19:07:41.4154 LVL= 19344, 30193, 23346, 20915, AGC= 49, IDX= 501, 0.24,-2.406,-0.983,-1.800,-0.416, PHS=-1.902,-0.520,-1.387, RAW= 308.4, 48.1, CAL= 314.6, 48.0, ROT= 195.4, -48.0 T#Rx 63: Read range and direction messages.`direction in FSK: [-0.645106,-0.177692,0.743145]Fpublishing direction and range infoY _Ѵ俸eƿ:?@9K u)2[IQi1t79>@ V?)@IPwV?iCZ@PwV B)(B]۴㸿2@;?I?iV'7PwVE<ZAM >  checking for new query: numPingsReceived=63, elapsed TxPingTime=32.102371G% >G% CG% IG% #BG! G! G! G% p<G% iFf`x,ƅ[A2Fl?y2T @92/3;Y2wF>2H@;?`K?bt?`Yz q?Uf?2Fl?ɨ2v*; 2CBBBSIHJ\HJ҅5jʋ; n_=Yn p٣p rGpv v>x]~49z l?a4Yz izqBq?zCz3;z3;z*4 B AE*m1Bm12m1rm1ZjM֔vl?bjM:F iIiMXz[AjM@jMN?2jM@pM _Ѵeֿ:?zpM _Ѵ俸eƿ:?"jM'7*jMPwVpM@I?{濔拺_?pM@I?{ֿ拺_?iM0jM=?iMgGwl?iM  jMBzjML"l?jIjMBjjMS?rjM@r\iz\i\i\m\@iɛI>/3;Ix))隉ѼiIechecking for new query: numPingsReceived=63, elapsed TxPingTime=32.286011^DuDDDE  E  <E DDAT read: Rx Time:19:07:41.9156 U TRx dataTimestamp_ set to:1736536062.426984 PDAT read: Bearing 194.7, -47.2 (Local)  ~Local bearing/azimuth received: Bearing 194.7, -47.2 (Local)  DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 E <ZA M% >݊x,[ANDAT read: 19:07:41.9156 LVL= 19296, 31729, 24514, 22003, AGC= 49, IDX= 502, 0.29,-1.221, 0.227,-0.623, 0.769, PHS=-1.903,-0.495,-1.395, RAW= 309.1, 47.4, CAL= 315.3, 47.2, ROT= 194.7, -47.2 VYgot valid direction response: 19:07:41.9156 LVL= 19296, 31729, 24514, 22003, AGC= 49, IDX= 502, 0.29,-1.221, 0.227,-0.623, 0.769, PHS=-1.903,-0.495,-1.395, RAW= 309.1, 47.4, CAL= 315.3, 47.2, ROT= 194.7, -47.2 VT#Rx 64: Read range and direction messages.Z`direction in FSK: [-0.657202,-0.172414,0.733730]ZFpublishing direction and range infoyY}G[B {ƿWBz?}3@9y}`K }{)}_I}Uiy}}p}\}O@ }S?)}@I}BR?i}c{Y@}BRy y}s4g?̅Hh ?I}>i}XS}R8}BRy y5checking for new query: numPingsReceived=64, elapsed TxPingTime=32.651520}B}ZIMb@Mb@Mb@ )IyB`"۹Zd;?٣ G >]49# l?a4Y i"qBq">m;q?Cj::Z34 A*mIBmI2mQrmQZj}Chl?bj}$' iyi}S[Aj}3@j}9@2j}uh@p}4f]/laٿtMR?zp}G[B {ƿWBz?"j}R8*j}BRp}:pz?ֳt/)3.n?p}+hT?2׿?i}Sj}?i}[l?i}; L  j}Bzjyj}  jyjj}|?rj}QU@r\q">z\q">\@\⍎@iɛI?I49))   Qi &1 Iuchecking for new query: numPingsReceived=64, elapsed TxPingTime=32.789818^D Du?DyDyE}  EyZI jbI cjI rI zI .:I x9I I q @i @u @m @:J k3IBJ k9JJ RJ !ZJ E Y<ZA M >Wx, {[AfDDAT read: Rx Time:19:07:42.4156 fTRx dataTimestamp_ set to:1736536062.923904nPDAT read: Bearing 190.7, -47.3 (Local) n~Local bearing/azimuth received: Bearing 190.7, -47.3 (Local) vDAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  DAT read: 19:07:42.4156 LVL= 15552, 24545, 19394, 18867, AGC= 49, IDX= 501, 0.35,-2.489,-1.137,-2.026,-0.626, PHS=-1.774,-0.463,-1.402, RAW= 314.0, 47.7, CAL= 319.3, 47.3, ROT= 190.7, -47.3 Ygot valid direction response: 19:07:42.4156 LVL= 15552, 24545, 19394, 18867, AGC= 49, IDX= 501, 0.35,-2.489,-1.137,-2.026,-0.626, PHS=-1.774,-0.463,-1.402, RAW= 314.0, 47.7, CAL= 319.3, 47.3, ROT= 190.7, -47.3 T#Rx 65: Read range and direction messages.%`direction in FSK: [-0.666368,-0.125912,0.734915]%Fpublishing direction and range infodYfRp Ulk?d9df< f_)fKIfIidfo㿩fVftf^@ f+ U?)fT@IfVS?ifU@fVSd dfI zĿ0s.?Iff9if-Uf#=fVSd dchecking for new query: numPingsReceived=65, elapsed TxPingTime=33.069786޽ɀB޽gI)= =HnHω5 q=  e=YQ 5>9٣9 =G9A E>I]M49M l?aU4YM iM.qBq?MCMX![Ajdjd2jfd@pf-_2+ҿ{ ?zpfRp Ulk?"jf#=*jfVSpfX^{wG?&>Hw6K?pf_' ?%]f0#ٿaop?ifCgjf*?if#dD~l?ifmU  jfBzjf2l?jf jdjjf?rjf2 @r\1z\1\1\1iɛI>Ih;))隑iGGGIG BGGGGY<GXFI CCCC}checking for new query: numPingsReceived=65, elapsed TxPingTime=33.293556DE ?DA DA EA  EA E <ZA!M=>x,P[A>;?y>@9>!E>>H@ZL 7 ??@߿r?@|? g?>;?ɨ>; >CJԀBJuIHRmHR5ZL= ^B=Y^)`٣` fGdf/ f>h]n49j+ l?an4Yj iju checking for new query: numPingsReceived=66, elapsed TxPingTime=33.809166x,[A6?y63@96(-6H'޿`;??ݿ?`Q e?`Ah?6?ɨ6> ; 6CFBFIMb@Mb@Mb@ )Iy333333I +?Mb`94= A)p@Ih Ai; A AHTH 5Z= -=Y";Q >٣ G䔽 >HHZIbIbjIrIzIIt9II]U49 l?aU4Y i@qBU!=mUm(-x, \AJm?yJ&@9J1ּJH@Aܿp-e?@/?ۿ@Ժ? =7  m=Y /&1ּDDAT read: Rx Time:19:07:43.9156 TRx dataTimestamp_ set to:1736536064.451768PDAT read: Bearing 190.7, -45.0 (Local) ~Local bearing/azimuth received: Bearing 190.7, -45.0 (Local) DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0  DAT read: 19:07:43.9156 LVL= 15536, 23473, 21442, 20931, AGC= 50, IDX= 501, 0.46,-2.169,-0.662,-1.654,-0.201, PHS=-1.880,-0.414,-1.456, RAW= 313.7, 45.4, CAL= 319.3, 45.0, ROT= 190.7, -45.0  Ygot valid direction response: 19:07:43.9156 LVL= 15536, 23473, 21442, 20931, AGC= 50, IDX= 501, 0.46,-2.169,-0.662,-1.654,-0.201, PHS=-1.880,-0.414,-1.456, RAW= 313.7, 45.4, CAL= 319.3, 45.0, ROT= 190.7, -45.0  T#Rx 68: Read range and direction messages.M `direction in FSK: [-0.694812,-0.131286,0.707107]M Fpublishing direction and range infoؙY؝c;4An?ؙ9ؙ؝< ٝ[)ٝSIٝQiٙٝףٝӾٝ5^ٝ4@ ڝbJ?)ڝT@IڝI?iڝU@ڝIڙ ۙ۝1EL.6~X?ſ*zy?I۝I9i۝J۝#=۝Iۙ ܙu checking for new query: numPingsReceived=68, elapsed TxPingTime=34.630302x,L$\A2m?y2+?92e2H@7?ڿ ?9,?Kٿ Թ?yA`? `k?2m?ɨ2.; 2CR BVIMb@Mb@Mb@ )IyL7A`堿~jtMb+D A)@I Ai A AHQHb5l= %=checking for new query: numPingsReceived=68, elapsed TxPingTime=34.817596Y;Q >٣ G > ]49 > l?a4Y  i ;qBp=ma<Vq? C ,: : W4 >A*mBm2mrmZj2Dnl?bj?" ii\Ajj2jG"@pv(%HSӿ\?zpc;4An?"j#=*jIp29%_?7[z2̬R?pt?PX?ij?iQol?i?t"  j7Bzjɕtl?j  j7Bjj?rjKF@r\5p=z\5p=\5@\5j[@iAɛAIE?EeH H AAIIIA.IIIZI kbI fjI 1rI zI 2:I 9I 3I :JE BoHBJE 9JJA RJE #ZJE  DDAT read: Rx Time:19:07:44.4155  TRx dataTimestamp_ set to:1736536064.951759 PDAT read: Bearing 193.6, -45.2 (Local)  ~Local bearing/azimuth received: Bearing 193.6, -45.2 (Local)  DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed -0.1  DAT read: 19:07:44.4155 LVL= 15280, 19441, 19538, 18499, AGC= 49, IDX= 501,-0.50, 1.958,-2.802, 2.561,-2.325, PHS=-1.912,-0.430,-1.401, RAW= 310.1, 45.4, CAL= 316.4, 45.2, ROT= 193.6, -45.2  Ygot valid direction response: 19:07:44.4155 LVL= 15280, 19441, 19538, 18499, AGC= 49, IDX= 501,-0.50, 1.958,-2.802, 2.561,-2.325, PHS=-1.912,-0.430,-1.401, RAW= 310.1, 45.4, CAL= 316.4, 45.2, ROT= 193.6, -45.2  T#Rx 69: Read range and direction messages. `direction in FSK: [-0.684877,-0.165689,0.709571] Fpublishing direction and range info؁ Y؅ q N5ſXʹ?؅ f@9؁ ؅ ; م K)م RLIم CHiم 1م jم (ܾم Sم I1@ ځ )څ @Iڅ I?iڅ @X@څ Iځ ہ ۅ Xi濠a?A֋Z?Iۅ =iۅ %Jۅ 9ۅ Iہ ܁  checking for new query: numPingsReceived=69, elapsed TxPingTime=35.085018x,>\A~?y~?9~|~H`׿`PCy? ?׿@?7`? p?~?ɨ~ ; ~C.BIHmUHmE5D> t=Y#6M|<)I)IIUx,tX\A:[M?y:?9:! =Y:#7>:HOտ O ? ^'?ޜԿ \?_?~w?:[M?ɨ: ; :Cb?BbIHj@Hj<5r= rX=Yrn't٣t vGtz z>|]49~~l?a4Y~ i~/qBq ?~C~M;~:~Ad4 A*m1Bm92m9rm9r\Qz\Q\Q\U@iiɛqIu>! =):)隉i& IeDDAT read: Rx Time:19:07:44.9156 mTRx dataTimestamp_ set to:1736536065.460374PDAT read: Bearing 190.7, -46.4 (Local) ~Local bearing/azimuth received: Bearing 190.7, -46.4 (Local) DDD %DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed -0.1 E   EqUDAT read: 19:07:44.9156 LVL= 14000, 16241, 17810, 19379, AGC= 50, IDX= 501, 0.48,-1.061, 0.459,-0.546, 0.984, PHS=-1.956,-0.478,-1.533, RAW= 313.9, 46.8, CAL= 319.3, 46.4, ROT= 190.7, -46.4 ]Ygot valid direction response: 19:07:44.9156 LVL= 14000, 16241, 17810, 19379, AGC= 50, IDX= 501, 0.48,-1.061, 0.459,-0.546, 0.984, PHS=-1.956,-0.478,-1.533, RAW= 313.9, 46.8, CAL= 319.3, 46.4, ROT= 190.7, -46.4 ]T#Rx 70: Read range and direction messages.E<ZAM>`direction in FSK: [-0.677629,-0.128039,0.724172]Fpublishing direction and range infoaYes2"4ڗcSFj,?e3@9ae6 eq?)eEIeKie2e5^ejeX9ĿeP@ eQ?)eT@Ie4QO?ieU@e4QOa ae9HG心t,AſP?IeN9iePe#=e4QOa a-checking for new query: numPingsReceived=70, elapsed TxPingTime=35.668846 checking for new query: numPingsReceived=70, elapsed TxPingTime=35.825268=x,jr\A#??y|?9؁=Y1>H^ҿ+ ? ? /=ҿ@%;? o m?~?騽#??ɨ‰; CXBIHJHՁ5= 9=Yx ٣ Gt >]49l?a4Y i)qB%˩q%?C:::k45B = A=E*mqBmq2mqrmyZjcl?bj% iiv]\Aj3@j9@2j1@pBȚҿC&CG?zps2"4ڗcSFj,?"j#=*j4QOpV-?Bc%5\?p@d?=,?lW?i-j~?iUdl?ig =%  jBzjykl?jۇ! j8BjjV?ZIbIjI0rIzIIIـ3Irjhl@r\Qz\Q\Q\U(s@iiɛiImk>m؁=)i)qqqiuyIyDzD:J]BJYJJYRJ]$ZJ]EDDAT read: Rx Time:19:07:45.4160 MTRx dataTimestamp_ set to:1736536065.960351UPDAT read: Bearing 197.0, -45.0 (Local) U~Local bearing/azimuth received: Bearing 197.0, -45.0 (Local) eDAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.1 DAT read: 19:07:45.4160 LVL= 14512, 14449, 16530, 15859, AGC= 49, IDX= 501,-0.49, 2.941,-1.616,-2.558,-1.077, PHS=-2.178,-0.492,-1.485, RAW= 305.8, 45.0, CAL= 313.0, 45.0, ROT= 197.0, -45.0 Ygot valid direction response: 19:07:45.4160 LVL= 14512, 14449, 16530, 15859, AGC= 49, IDX= 501,-0.49, 2.941,-1.616,-2.558,-1.077, PHS=-2.178,-0.492,-1.485, RAW= 305.8, 45.0, CAL= 313.0, 45.0, ROT= 197.0, -45.0 T#Rx 71: Read range and direction messages.`direction in FSK: [-0.676210,-0.206738,0.707107]Fpublishing direction and range infoIYMIZf4dvʿAn?M9@9IM8 Mq8)M@IM=iM1MZd MmM{M{ʪ@ MI?)MϮ@IMI?iM \@D?DDE EMII IE<ZAMj>M_&V濑}~?IMBiM*IM6MII Ichecking for new query: numPingsReceived=71, elapsed TxPingTime=36.135563*G"Gp;GGGIGLBG =GGG<GF"x,?\AFu?yFn?9F*=YFg,>FHп6X? ? -Ͽ@@P?] #n?@"?Fu?ɨFjlj; FCNchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.329052jvBj=IHr+Hru5~]!> ~\=Y*&٣   G  ͽ  >]49)l?a4YC i#qB!%μq%? C::vr4) - A1*mQBmQ2mQrmQZj}l?bj}zf- iyi}dv}\Aj}9@j}_8@2j}@p}7I`yXo/h`g@zp}IZf4dvʿAn?"j}6*j}Ip}ձљ@?*lR&ؒԩ@p}yVa?vi[XC!T?i}0ɿj}?i}[l?i} ʬ-  j}wBzjyj}?t" jyjj}%?rj}/@r\1z\1\1\5B@iAɛAIMt>m*=)i)iiiiuAyIyD ?D D E EEA<ZAM%,>uDDAT read: Rx Time:19:07:45.9161 TRx dataTimestamp_ set to:1736536066.468933PDAT read: Bearing 198.1, -44.1 (Local) ~Local bearing/azimuth received: Bearing 198.1, -44.1 (Local) DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.1 e DAT read: 19:07:45.9161 LVL= 13664, 15857, 13202, 13587, AGC= 49, IDX= 502,-0.43,-2.592,-0.708,-1.703,-0.163, PHS=-2.342,-0.499,-1.543, RAW= 304.4, 44.1, CAL= 311.9, 44.1, ROT= 198.1, -44.1  Ygot valid direction response: 19:07:45.9161 LVL= 13664, 15857, 13202, 13587, AGC= 49, IDX= 502,-0.43,-2.592,-0.708,-1.703,-0.163, PHS=-2.342,-0.499,-1.543, RAW= 304.4, 44.1, CAL= 311.9, 44.1, ROT= 198.1, -44.1  T#Rx 72: Read range and direction messages. `direction in FSK: [-0.682590,-0.223105,0.695913] Fpublishing direction and range infoyY}`̿9D?}@@9y}`5 }=)}3I}5iy}T}|}ſ}P@ }j E?)}2@I}j E?i}G]@}j Ey y}!I%YI{B?I}(Di}ID}4}j Ey yE checking for new query: numPingsReceived=72, elapsed TxPingTime=36.678513)x, \A6 ?y6H?96h9=Y6f&>6H̿ ?`K#?@˿ۅ?`. ? ?6 ?ɨ6߉; 4NBNWI--only read 1 of 4 data items for bottom velocity. Device response is::BS, -121,BD, +19.22, +413.88, +4.20, 8.85, 0.00 @ @ @  @ H:H|5= 3=Y;Q >٣ G >]49-l?a4Y iqBi+:m6<Kξq?C:{>x4 H A*mBm2mrmZj9l?bj 0 ii\Aj@@j>@2j2@pʉa Hk֪"@zp`̿9D?"j4*jj Epc 5? 2YVW@p.X2?vt?i׿j1?i7ewl?i0  jBzjQol?jg =% jBjj?rj,@iAɛAIE>Eh9=)A)IIIiM7QIQchecking for new query: numPingsReceived=72, elapsed TxPingTime=36.833199^D I)jCD>D> G 9)}먿yy}AD D D E  E E <ZA M= >:J JBJ 9JJ RJ %ZJ ] =Y e DDAT read: Rx Time:19:07:46.4160 m TRx dataTimestamp_ set to:1736536066.967496u DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -u Z#Rx 73: Read range message, but no direction.a e 9@9a } checking for new query: numPingsReceived=73, elapsed TxPingTime=37.088715X;/x,\AjT,?yji?9j;G=Yjs!>jH (ɿ Hq?YV?`~ǿ?@䨿 (?@^?jT,?ɨjȉ; jCBsIHE4HEy5Uh= Ub=YU٣ G4 >]49l?a4Y iqBi :m<ݾq?C ;NU?(}4  AGE>GAGEGIGEBGAGAGAGE0<GE8F*myBmy2myrmyiɛI>;G=))iQI^DD?DDE  EE}<ZAM^>checking for new query: numPingsReceived=73, elapsed TxPingTime=37.337364ZI lbI gjI rI zI <5:I 9I I I H?;q I K?;i I =:u I >:m GC6x,D\A:?y:x?9: zT=Y:Z>:Hſ@a5K?`|?Ŀ?4 d`?r?:?ɨ:z; :CFBJIHR"HRq5V۱= ZQ=YZX\٣\ ^G`b2 b>d]j49ftl?aj4Yf ifqBir9pmv;vqz?fCf;f?f4   A *m1Bm12m1rm1DDAT read: Rx Time:19:07:46.9161 TRx dataTimestamp_ set to:1736536067.471932DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -Z#Rx 74: Read range message, but no direction.@@9checking for new query: numPingsReceived=74, elapsed TxPingTime=37.595493iQɛYI]>e zT=)i)隙iI^Dyb]:D- ?D) D) E-   E)  checking for new query: numPingsReceived=74, elapsed TxPingTime=37.842716E %<ZA M= >O<x,\A2_'?y2d?92^=Y2^>2H:ÿ@'U?`? ¿B?V٫V?@?2_'?ɨ2h; 2CnˁBrI      Mb@Mb@Mb@ )Iy#~j?Onÿ/$%> IA)pAIAiAQ AHHo5= ==YR;Q >٣ GC >]49l?a4Y ipBiT:hb>mp;w|?q?C;o;@4 R A*mBm2mrmr\hb>z\hb>\D@\#w|?iɛI>^=))iG)I1C9C9C9C9:JBHBJ9JJRJ&ZJ L]/xB"jwkW2[$v6z@czS7-DDAT read: Rx Time:19:07:47.4160 -TRx dataTimestamp_ set to:1736536067.9753655DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -=Z#Rx 75: Read range message, but no direction.)-9@9)Echecking for new query: numPingsReceived=75, elapsed TxPingTime=38.096657G1G5@AGAGAGEIGEBGAGAGAGE<GEzFDe?DaDiEi EiE <ZA M >5Cx,s \A:?y:^Y?9:?g=Y:=>:H5m? i? @ ?@??:?ɨ:-s; :CJchecking for new query: numPingsReceived=75, elapsed TxPingTime=38.345943-فB-IH=H=+p5MV= MS=YM;Q U>Q٣Q UGQ]( ]>i]u49ml?au4Ym* impBy}x?q}?m*Cm];m;m4  A*mBm2mrmr\z\\\x?iɛIǻ>?g=))i򻉡ID?DDE EE<ZAM!>ZImbI_jIrIzI\8:I=h9IIID;ID;I:I:UDDAT read: Rx Time:19:07:47.9158 ]TRx dataTimestamp_ set to:1736536068.482619uDAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -Z#Rx 76: Read range message, but no direction.QUf&@9Qchecking for new query: numPingsReceived=76, elapsed TxPingTime=38.611210u_Ix, P'\AJa?yJZ?9JOot=YJq>JH@=:1? ?Zټ 5?E![?`$?Ja?ɨJ2; HVBZIMMb@Mb@Mb@II I)IIIyM~jt?v/Zd;OMD>MxMj MA)MAIM AiIIM AHeHek5u/= G=Y;Q >٣ GT >]49"l?a4Y ipB e>m l; 8?q ?5C:I:p4  A*m9Bm92m9rm9r\ee>z\ee>\e}@\e8?iqɛyI}P>}Oot=)y)yyi컉IDzDjAchecking for new query: numPingsReceived=76, elapsed TxPingTime=38.850193D-?D)D)E-  E)EEҬ<ZAM>>:J !0PBJ 9JJ RJ 'ZJ }|tmkd]XSL@+ E DDAT read: Rx Time:19:07:48.4157 M TRx dataTimestamp_ set to:1736536068.983331U DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -U Z#Rx 77: Read range message, but no direction.A E @9A ] checking for new query: numPingsReceived=77, elapsed TxPingTime=39.104553LPx,BA\A}@?y}?9}{=Y}~=}H z`3?@U?ld\O?^vL? ?}@?ɨ}; yGGGIGBGGGGw<GkFeBeIyyHHn5X`< =Y U;Q >٣ G|; >] 49{&l?a 4YB ipB  Z?q?DCL;_;74! %} A)*mBm2mrmr\ z\ \ \ EZ?i9ɛAIE?E{=)A)AAAiM㻉IIQՑՕAchecking for new query: numPingsReceived=77, elapsed TxPingTime=39.353451DDDE  EE*<ZAM>ZI ibI `jI 2rI zI +:I bl9I c3I I /;I /;I ):I *:sVx,[\A2?y2 ?92E=Y2@I=2HȀ??`@@ó? @Ƚ??2?ɨ2; 0IeE=)a)aiiim޻qIqD?DDE EE<ZAM$> checking for new query: numPingsReceived=78, elapsed TxPingTime=39.858120\x,_t\A6?y6\W?96=Y6p=6H`-¿7?`W?.|? |??6?ɨ6È; 45B5IMb@Mb@Mb@ )IyV-? rhI +|?>C9 /A)AIAiA AHHk5:]< &=Y.;Q >٣ G< > ]49 *l?a4Y ? i pBL>m;?q? XC : b: ά4! % A!*mIBmI2mIrmIr\eL>z\eL>\e@\e?iyɛIT>=)#<)隁iֻID>D DDAT read: Rx Time:19:07:49.4158  TRx dataTimestamp_ set to:1736536069.991440DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -%Z#Rx 79: Read range message, but no direction.  9 -checking for new query: numPingsReceived=79, elapsed TxPingTime=40.113766:J5fOBJ5k9JJ1RJ5(ZJ5|yytskhihdb``_[WXXWUTSPKGA?=<98:5/.-))'$$$# ! D=?D9D9E=  E92EA*EAE <ZA9Mew>*G<"G<GGGIGBGGGGz<GmFH HHH ="H =*H=4cx,\A2checking for new query: numPingsReceived=79, elapsed TxPingTime=40.361149:+?y:`i?9:dk=Y:V=:H`7Ŀ't`'?`?;ÿ h?ia-??:+?ɨ:; :CF@C FmADDɸDDHIH)HiH)HIHHɹL LɺpppippipvlA)t vyZFIt t)tɻtz*FxxɼxixIxxIi )!޽B޽II))= =HuHum5F ]=Y%;Q %>1٣9 EGAu,= u>y]49}@+l?a4Y}K i}pB?q?}bC} ;}X;}4 Z A*mBm2mrmr\1z\1\1\5?iAɛaIe>mdk=)i)iiiimAϻqIqZIgbI_jI0rIzI%:I=h9Iـ3III$;IL$;I:I:DDDE  EE<ZA!MEr>DDAT read: Rx Time:19:07:49.9158 %TRx dataTimestamp_ set to:1736536070.495975-PDAT read: Bearing 165.1, -42.3 (Local) -~Local bearing/azimuth received: Bearing 165.1, -42.3 (Local) =DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed -0.1 eDAT read: 19:07:49.9158 LVL= 9104, 14385, 10274, 16963, AGC= 46, IDX= 506,-0.29, 0.503, 1.338, 0.223, 1.599, PHS=-1.008,-0.214,-1.379, RAW= 348.1, 41.7, CAL= 344.9, 42.3, ROT= 165.1, -42.3 Ygot valid direction response: 19:07:49.9158 LVL= 9104, 14385, 10274, 16963, AGC= 46, IDX= 506,-0.29, 0.503, 1.338, 0.223, 1.599, PHS=-1.008,-0.214,-1.379, RAW= 348.1, 41.7, CAL= 344.9, 42.3, ROT= 165.1, -42.3 T#Rx 80: Read range and direction messages.5 ^direction in FSK: [-0.714762,0.190183,0.673013]= Fpublishing direction and range infoYn$TW?[ Q?9# 18)"(ICBi.%"[mj@ AQ:?)@Iļt A)$AIAiA( AHHHo5%l -X=Y-[.9٣9 =G9=a= =>A]M49E+l?aM4YE iEzpBU>mU;U?qU?EhCE ;E ;E湍4Y ep Aa*mBm2mrmZjM+l?bjM޾" iIiM\AjMf&@jML%@2jMCʖ@pM,P ?VP?zpMn$TW?[ Q?"jM!k8@*jM<pM0s76? 52?pM39!*z\>\@\m?i9ɛ9I=>E"=)A)AAAiEBȻuchecking for new query: numPingsReceived=80, elapsed TxPingTime=40.865158yIyD%?D!D!E%  E!E<ZA M%M>H@AH?A% DDAT read: Rx Time:19:07:50.4157 - TRx dataTimestamp_ set to:1736536070.9993645 DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -5 Z#Rx 81: Read range message, but no direction.! % @9! = checking for new query: numPingsReceived=81, elapsed TxPingTime=41.120594:J] cNBJ] #9JJY RJ] )ZJ] #,0//(""   Je ? Je >px,Pq\AF?yF0 ?9Fל=YF=FH dɿ^=@? L@?Yȿ*? ? l?F?ɨF; DGGG IG!BGGGG<GFޭ؁BޭIH"Hq5 N=Y-9٣ %G!%Ht= %>)]549-*l?aU4Y-Q i-mpBQ]?q]?-pC-;-;-4a e Aa*mBm2mrmr\z\\\?iɛI>%ל=)!)!!!i%u)I1checking for new query: numPingsReceived=81, elapsed TxPingTime=41.369106^D}9DM ?DI DI EM   EI EE v<ZAQ Mu >Bvx,U\AR9e?yR?9R=YRTa=RH`6Ϳ5? ?@1̿e?@H?@?R9e?ɨRz; RC^ˁB^IHf#Hfbr5n r]=Yr1lt٣t vGtzF= z>|]49~~*l?a4Y~ i~apB V?q ?~wC~:~G:~IǍ4 K A*m1Bm92m9rm9r\Qz\Q\Q\UV?iiɛiIm;>m=)i)qqqiuqMyIyDDAT read: Rx Time:19:07:50.9161 TRx dataTimestamp_ set to:1736536071.503390DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -Z#Rx 82: Read range message, but no direction.@@9 checking for new query: numPingsReceived=82, elapsed TxPingTime=41.626915^Du;DIDQDQE]  EYE<ZAM> checking for new query: numPingsReceived=82, elapsed TxPingTime=41.873928|x,W%\A HT `)zcyxzAEk?yE?9E=YED=EHڊпo??@пi?h@Tx??Ek?ɨE&; ECeBeIMb@Mb@Mb@ )Iy!٣! -G)- = ->1]=495=)l?a=4Y5% i5\pBEM=mE3\E @iyɛyI}x>}=)y)隁i\wIDDAT read: Rx Time:19:07:51.4160 TRx dataTimestamp_ set to:1736536072.007358DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -Z#Rx 83: Read range message, but no direction.9@9 checking for new query: numPingsReceived=83, elapsed TxPingTime=42.128597:J2MBJ9JJRJ*ZJGGAAGGG IGBGGGG{<GmF^D &<Dm ?Di Di Em   Ei EE <ZAY M >)уx,\A&checking for new query: numPingsReceived=83, elapsed TxPingTime=42.377258 B|IHM6HMz5 Q=YQ >٣ G >]49!(l?a4Yz iWpBq?C;I;Ս4 W A*m Bm 2m rm r\)z\)\)\)iAɛAIE>A)A)IIIiMQIQCYCYCYCYDqDqDyE}  EyDDAT read: Rx Time:19:07:51.9161 TRx dataTimestamp_ set to:1736536072.511979DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -Z#Rx 84: Read range message, but no direction.@@9%checking for new query: numPingsReceived=84, elapsed TxPingTime=42.634487E<ZAM>"x,d)\A6"?y6?96l=Y6 =6H@pԿ-w;? ?3Կ@M?`SOҺ??6"?ɨ6; 4^B^iIMMb@Mb@Mb@II I)IIIyM~jtQ?~jt?MDMu=MD< I)M(AIMdAiMAIM AHm8Hm{5} }N=Y}{٣ GT7> >]49e&l?a4Y i_pBf=mT<(q?C::܍4  A*mBm2mrmr\f=z\f=\T?\fi@iɛI5>l=)kï<)隡iHIUchecking for new query: numPingsReceived=84, elapsed TxPingTime=42.881069D1D1D9E9 E9E5<ZAAM]4>ZIjbI_jIrIzI.:I=h9II < %= DDAT read: Rx Time:19:07:52.4160  TRx dataTimestamp_ set to:1736536073.015576 DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 - Z#Rx 85: Read range message, but no direction.  9@9  checking for new query: numPingsReceived=85, elapsed TxPingTime=43.136787:J >KBJ 9JJ RJ +ZJ "V{qhbYNB;2*%  x,(C\A2A?y2Z?92E=Y2F=2H-׿@Sɰ?@H?w\ֿP?\! ??2A?ɨ2׉; 2CBBBMIHJFHJ5R RY=YV3T٣T ZGXZc= Z>\]49^$l?a4Y^ i^fpB q&q ?^C^:^:^_4  AG%>G!G%IG%BG!G!G!G%<G%F*mBm2mrmr\z\\\k@iɛ!I%>%E=)!)!!)i-)I1DDDE  EEz<ZAM=.>echecking for new query: numPingsReceived=85, elapsed TxPingTime=43.385139O x,]\A6?y60h٣h jGhn= n>p]v49r#l?av4Yrm iropBtv!$qv?rCr:r:r4| ~5 A|*mBm2mrmDDAT read: Rx Time:19:07:52.9161 TRx dataTimestamp_ set to:1736536073.519434DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -Z#Rx 86: Read range message, but no direction.@@9checking for new query: numPingsReceived=86, elapsed TxPingTime=43.641575r\z\\\m@iɛI > t=) )   i QÅI9DDDE EEE<ZAMF>i m A} checking for new query: numPingsReceived=86, elapsed TxPingTime=43.889919o7x,&ow\A6?y6:@96=Y60=6HOۿ iD??ڿ?ֺ?`=?6?ɨ6É; 6CBRBBIF=iDDDHJUHJE5  F=YsQ > ٣   G Ӳ= >]%49j!l?a%4Y iwpB!%!q%?Cw;;41 5A9*mYBmY2mYrmYr\qz\q\q\u7Hp@iɛI>=))隉il*vIZIgbIhjIrIzI%:IȆ9IIDDAT read: Rx Time:19:07:53.4160 TRx dataTimestamp_ set to:1736536074.023718DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.1 -Z#Rx 87: Read range message, but no direction.9@9checking for new query: numPingsReceived=87, elapsed TxPingTime=44.144962^Dh%<:J}MBJ}9JJyRJ},ZJ}G->G)G-IG-ƁBG- =G)G)G-;G-6EDu?DqDqEu  EyEMe<ZAyM>>x,J\Achecking for new query: numPingsReceived=87, elapsed TxPingTime=44.393211Rm ?yRy#@9R=YR=RH Mݿ`#?`C?ܿ'?`\?h?Rm ?ɨRy; Pv>BvIHNH5U ]6=Y]޻Q ]>a٣a eGae= m>i]u49ml?a}4Ym6 impBy}q}?mCim;m4 A*mBm2mrmr\)z\)\)\-Er@i9ɛAIE>E=)A)AAAiE^]IIQ^D-R5<D?DDE  EE<ZAMc>=DDAT read: Rx Time:19:07:53.9158 TRx dataTimestamp_ set to:1736536074.528069PDAT read: Bearing 164.0, -45.6 (Local) ~Local bearing/azimuth received: Bearing 164.0, -45.6 (Local) DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 %DAT read: 19:07:53.9158 LVL= 11792, 16689, 12914, 20867, AGC= 47, IDX= 505,-0.04, 0.662, 1.398, 0.399, 1.735, PHS=-0.986,-0.291,-1.340, RAW= 349.4, 45.0, CAL= 346.0, 45.6, ROT= 164.0, -45.6 5Ygot valid direction response: 19:07:53.9158 LVL= 11792, 16689, 12914, 20867, AGC= 47, IDX= 505,-0.04, 0.662, 1.398, 0.399, 1.735, PHS=-0.986,-0.291,-1.340, RAW= 349.4, 45.0, CAL= 346.0, 45.6, ROT= 164.0, -45.6 =T#Rx 88: Read range and direction messages.E^direction in FSK: [-0.672560,0.192853,0.714473]EFpublishing direction and range infoYr`忦3k?9?f&@9. 1A)r2IQi/j|K$@ I?),>@I%K?i07@%K B#tݿ*ΊW?I)i0I07@%K checking for new query: numPingsReceived=88, elapsed TxPingTime=44.6739654Jx,(\A2q2HO(߿T@̦?R?$Q޿T? Ȓ@?a?2q٣ Gg= > ]49 l?a4Y  i pBi+:m,<\q? C ; A> 4! %A!=checking for new query: numPingsReceived=88, elapsed TxPingTime=44.897465*mqBmy2myrmZj~rKl?bj>d iiˡ\Ajj2j5 @px}17> ? ٸ?zpr`忦3k?9?"j07@*j%KpV6g^?iw_8@p1ڞ?{;o?ij ?itKl?iX"  jGBzjUdl?jjjj @rj @iɛI>=))隑itGIZIjbI_jI1rIzI.:I=h9I3I^D ~M<D ?D D E  E  DDAT read: Rx Time:19:07:54.4157  TRx dataTimestamp_ set to:1736536075.031250 DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 - Z#Rx 89: Read range message, but no direction. @9  checking for new query: numPingsReceived=89, elapsed TxPingTime=45.152470E} @<ZA M >N2x,\A:Jm$JBJ9JJRJ-ZJ :?y:-@9:1d=Y::>:H`?:?ɨ:9G; :CV BVIGb>G`GbMIGbBG`G`G`Gb<GbFH HHH"H*H4)^= ^p=H^HC5Ea Ei=YMȼQ M>I٣I UGQU= >]49l?a4Y ipBi :m <@q?C:H?4 ZA*mYBma2marmaiɛI>1d=))i^7I CCCC]checking for new query: numPingsReceived=89, elapsed TxPingTime=45.403976D?DDE-  EEP<ZA M >d[x,\AF?yF@9F#<=YF">FH- 螷?@B?@ -?`q? ?F?ɨFd҈; DRBRIHbgHbB5j jR=YnQ n>p٣p rGpv= v>x]z49zNl?a~4Yzc izpBi~9m;Bq?zCz;z1?z*4  A *m)Bm)2m)rm1iYɛaIev>e#<=)a)aaaim(iIiDDAT read: Rx Time:19:07:54.9158 TRx dataTimestamp_ set to:1736536075.536260DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -Z#Rx 90: Read range message, but no direction.ةحf&@9ةchecking for new query: numPingsReceived=90, elapsed TxPingTime=45.658707D!D!D!E! E!BE):E-=E<ZA9MU2>m DDAT read: Rx Time:19:07:55.4159 } TRx dataTimestamp_ set to:1736536075.791651 checking for new query: numPingsReceived=90, elapsed TxPingTime=45.913094x,Զ\A6{|?y6] @96W}=Y6=/>6H`^|?ք?J`Y?u?x?6{|?ɨ6Ј; 6CNBRIee ee ee  e e eMb@Mb@Mb@aa a)aIaye333333ÿ-?et= eA)eAIeAie(Aaep AHdH5bƽ ==Y Q >٣ GU= >]49)l?a4Y ipBiT:lp>mb;$q?C/x;v;4 A*mYBmY2mYrmaIAIE(3IEϚ.IAIAIAZIfbI`jIrIzI|":Ibl9IIr\%lp>z\%lp>\%%@\%F@i1ɛ9I=>=W}=)=<<)999iEAIIDU>DU>թխ<DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -Z#Rx 91: Read range message, but no direction.ةح,@9ةchecking for new query: numPingsReceived=91, elapsed TxPingTime=46.160198DDDE/  EE<ZAMF>:J}iKBJ}k9JJyRJ}.ZJ} /jxwnkha[UPKJIF@?;1)$  GGGIGLBG =GGGR<GRF} DDAT read: Rx Time:19:07:55.9161  TRx dataTimestamp_ set to:1736536076.295928 checking for new query: numPingsReceived=91, elapsed TxPingTime=46.417381vx,w1\A2?y2p @928=Y28>2HaB`?Q=? |Ѽ?`1?s?2?ɨ2; 2CZրBZwI^٣ G'= >]49Ll?a4Y0 ipBCq?C::4 A*mBm2mrmr\9z\9\9\=@iIɛIIMG>M8=)Q)QQQiUYIYD?DDE)  EED<ZAM#>uDAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -}Z#Rx 92: Read range message, but no direction.im@@9i}checking for new query: numPingsReceived=92, elapsed TxPingTime=46.663235x,,\A2?y2 @922H@c f4?D? G?@r?r?2?ɨ22; 0BˀBBjIMb@Mb@Mb@ )Iy rhbX9?:v?C E6>< A)AIMAilAH-gH-B5=8Z ER=YE{FQ E>A٣I MGIM< M>Q]]49UOl?ae4YUP iUpBef>mek;eqe?UCU:U:U4i uOAq*m Bm 2m rmr\Mf>z\Mf>\MUI@\Mj@iaɛaIe>e<)e;)iiiim, iIDDAT read: Rx Time:19:07:56.4155 TRx dataTimestamp_ set to:1736536076.800061%PDAT read: Bearing 200.0, -47.6 (Local) =~Local bearing/azimuth received: Bearing 200.0, -47.6 (Local) ]DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 -Z#Rx 93: Read range message, but no direction.f@9checking for new query: numPingsReceived=93, elapsed TxPingTime=46.943871I)D?DDE/  E2E*EhA McGi )yE<ZAMF>LAE?E9A DAT read: 19:07:56.4155 LVL= 14272, 22257, 18834, 19219, AGC= 51, IDX= 499,-0.41,-1.021, 0.690,-0.160, 1.366, PHS=-2.299,-0.630,-1.530, RAW= 302.6, 47.4, CAL= 310.0, 47.6, ROT= 200.0, -47.6  Ygot valid direction response: 19:07:56.4155 LVL= 14272, 22257, 18834, 19219, AGC= 51, IDX= 499,-0.41,-1.021, 0.690,-0.160, 1.366, PHS=-2.299,-0.630,-1.530, RAW= 302.6, 47.4, CAL= 310.0, 47.6, ROT= 200.0, -47.6  Z#Rx 94: Read direction message, but no range. `direction in FSK: [-0.633637,-0.230625,0.738455]؁ Y؅ F修^ͿvQl m?9؁ ؅ 7 م V)م IIم Kiم 3م "م G!م ÿم @ څ S?)څ "@Iڅ ȭT?iڅ f_@څ ȭTځ ۅ Нb忠(oIEX5ߠh?Iۅ )Fiۅ Tۅ ¸2ۅ ȭT checking for new query: numPingsReceived=94, elapsed TxPingTime=47.175571x,F\AG>GGIGBGGGG<GxFB-?yB5 @9B41;YB=>BH ?`A ??똼?@y~?t?B-?ɨB; @NBNZI TT:J^NBJ\JJ\RJ^/ZJ^HZfHZ 5=q} =J=YEJQ E>A٣I MGIM-; M>q]}49uFl?a}4Yu iu qBq?uCu:u:u#4 A*mBm2mrmZj-5al?bj-7  i)i-343\Aj-f@j-@2j-Y@p-@sJJĒ޿1?zp-F修^ͿvQl m?"j-¸2*j-ȭTp-Sy#1?SOFPpw0?p-&"?GUb2'Oӿ}w?i-2"j-?i-['l?i-;   j-Bzj-[l?j-9 # j)jj-@rj-@r\z\\\@iɛI>41;))iJ I)DDAT read: Rx Time:19:07:56.9156 TRx dataTimestamp_ set to:1736536077.3036815PDAT read: Bearing 203.0, -46.7 (Local) E~Local bearing/azimuth received: Bearing 203.0, -46.7 (Local) uDAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 -Z#Rx 95: Read range message, but no direction.  3@9 checking for new query: numPingsReceived=95, elapsed TxPingTime=47.441444^D<D!D D D E  E E} <ZA M >ZI gbI ajI rI zI %:I p9I I I q I i I :u I :m \x,`\AF?yF @9F&fYF8>FHv{ m7?@v?? }? &ߌ?`*?@z?F?ɨFv ; FCNBRJIHZhHZ{5jh jQ=YnhVQ r>p٣p rGpvZ. v>x]~49zKl?a~4Yz iz"qB|q?zCz;z;z*4   A *m)Bm)2m)rm)eDAT read: 19:07:56.9156 LVL= 16432, 26481, 16754, 19635, AGC= 46, IDX= 500,-0.12,-2.607,-1.048,-1.725,-0.458, PHS=-2.061,-0.544,-1.271, RAW= 298.6, 46.2, CAL= 307.0, 46.7, ROT= 203.0, -46.7 mYgot valid direction response: 19:07:56.9156 LVL= 16432, 26481, 16754, 19635, AGC= 46, IDX= 500,-0.12,-2.607,-1.048,-1.725,-0.458, PHS=-2.061,-0.544,-1.271, RAW= 298.6, 46.2, CAL= 307.0, 46.7, ROT= 203.0, -46.7 uZ#Rx 96: Read direction message, but no range.`direction in FSK: [-0.631299,-0.267971,0.727773]9Y=\53俦=}m&ѿwI?99=0@ =qg)=rAI=Li=.=m=C =!= Ŧ@ =plN?)=v@I=YP?i=b@=YP9=g$i\ '?c*?I=G@i=~lN=^/=YPchecking for new query: numPingsReceived=96, elapsed TxPingTime=47.683414r\z\\\U@iɛI>&f))% DDAT read: Rx Time:19:07:57.4157  TRx dataTimestamp_ set to:1736536077.8073175 PDAT read: Bearing 196.8, -47.2 (Local) = ~Local bearing/azimuth received: Bearing 196.8, -47.2 (Local)  DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -M Z#Rx 97: Read range message, but no direction.  @9 U checking for new query: numPingsReceived=97, elapsed TxPingTime=47.965794x,z\ABFIMb@Mb@Mb@ )Iy!rhHzG?~jtx?l罹= >; A)@IQ Ai A AHlH]5i ;=YQ >٣ G >Y]e49]l?am4Y] i].qBma4>mm;mPqm?]C]:]:]>24}B }6A}E*mBm2mrmZjEšl?bjEpu0 iAiEs\AjE@jE@2jEx(@pEfP=n*8L?zpE\53俦=}m&ѿwI?"jE^/*jEYPpEa?("P̫R2בL?pEgW$?XҿL?iE^5jE?iEƯl?iE'P  jE׃BzjE['l?jEX" jEGBjjE?rjEL@r\a4>z\a4>\D"@\@iɛI>I=))aG!G%IG% BG% =G!G%ADG%d<G%^F:J]uKBJ]9JJYRJ]0ZJ]^D5"D9zD=iAD?DDE/  EBE=:E= 5 DDAT read: Rx Time:19:07:57.9158 = TRx dataTimestamp_ set to:1736536078.314422] PDAT read: Bearing 187.1, -48.9 (Local) e ~Local bearing/azimuth received: Bearing 187.1, -48.9 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 - Z#Rx 99: Read range message, but no direction.9 = f&@99  checking for new query: numPingsReceived=99, elapsed TxPingTime=48.454086E- <ZA9 MU >=]x,\Ae.?ye6 @9e0.VYe}*>eH@$)N?q?MZ,?ª? /? ?e.?ɨe; eCޝBޝIIHXH5'>< ;=YQ > ٣   G z >]%49l?aM4Y i9qBIUxqU?C1;J;94Y ]"AY*mBm2mrmZjel?bje iaie}\Ajef&@jeL%@2jedm@peHm+sV࿐?zpedl]:"ɿWBz?"jeK6*jeBRpe0?8?p$,K?peq{?z;JٿV?ieje?iel?ie|  jeBzjajajeBjje?rje@r\z\\\1@iIɛIIM}>U0.VIU<)U%U)QQU=_iUYIYCCCCZImhbIijIm0rIizIm(:IiImـ3IiIm);Im);IiIiDAT read: 19:07:57.9158 LVL= 15184, 22513, 17682, 18723, AGC= 50, IDX= 500, 0.01,-1.729,-0.508,-1.403, 0.019, PHS=-1.660,-0.480,-1.425, RAW= 319.1, 49.4, CAL= 322.9, 48.9, ROT= 187.1, -48.9 Ygot valid direction response: 19:07:57.9158 LVL= 15184, 22513, 17682, 18723, AGC= 50, IDX= 500, 0.01,-1.729,-0.508,-1.403, 0.019, PHS=-1.660,-0.480,-1.425, RAW= 319.1, 49.4, CAL= 322.9, 48.9, ROT= 187.1, -48.9 \#Rx 100: Read direction message, but no range.`direction in FSK: [-0.652334,-0.081253,0.753563]QYU?s7D̴= )1?9QUP; UW)UEIU#IiU2UzԿUUffU8@ U\?)UeW@IU|Z?iU"P@U|ZQUCֲR[˿FH?IU3iU\U!AU|Zchecking for new query: numPingsReceived=100, elapsed TxPingTime=48.696796DDDE EE <ZA M] >Px,襲\AbDDAT read: Rx Time:19:07:58.4158 jTRx dataTimestamp_ set to:1736536078.816355zPDAT read: Bearing 197.5, -46.1 (Local) ~Local bearing/azimuth received: Bearing 197.5, -46.1 (Local) uDAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -\#Rx 101: Read range message, but no direction.``9`5checking for new query: numPingsReceived=101, elapsed TxPingTime=48.980984]?y]C*@9]A֪Y]#>]H`Cm@m?` U?Bx?qT?K?{?]?ɨ]S; ]ސCޕBޕAIAMb@Mb@Mb@ )Iyx&)٣) 5G15 5>9]E49= l?aE4Y= i=7qBMC=mMG >G G IG BG =G G BDG |<G qF:J BoHBJ 9JJ RJ 1ZJ ^x,q\A]B]HIHmSHmӃ5}]= }=YQ ?٣ G ?]49 l?a4Y i6qBq?C3;;eH4 &A*mBm2mrmr\z\\\iɛI͍>))隡i (?IDD>UDDAT read: Rx Time:19:07:58.9158 mTRx dataTimestamp_ set to:1736536079.336883D?DDE0  EPDAT read: Bearing 194.6, -40.1 (Local) ~Local bearing/azimuth received: Bearing 194.6, -40.1 (Local) DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 E}<ZAM=>DAT read: 19:07:58.9158 LVL= 14352, 16849, 12530, 17059, AGC= 48, IDX= 499, 0.06,-1.739, 0.161,-0.951, 0.501, PHS=-2.152,-0.293,-1.455, RAW= 308.2, 40.3, CAL= 315.4, 40.1, ROT= 194.6, -40.1 Ygot valid direction response: 19:07:58.9158 LVL= 14352, 16849, 12530, 17059, AGC= 48, IDX= 499, 0.06,-1.739, 0.161,-0.951, 0.501, PHS=-2.152,-0.293,-1.455, RAW= 308.2, 40.3, CAL= 315.4, 40.1, ROT= 194.6, -40.1 V#Rx 103: Read range and direction messages.`direction in FSK: [-0.740221,-0.192813,0.644124]Fpublishing direction and range infoYY]翖}ȿI%?Y9Y]8 ]A)]0I]Bi]0]^ ]]q=]!@ ]4?)]'@I]$+3?i]^Y@]$+3Y Y]L[#(&u黿j?I]?i]4]8]$+3Y Y=checking for new query: numPingsReceived=103, elapsed TxPingTime=49.511940ZIm jbIm \jIi rIi zIm .:Im [9Ii Ii Im |4;Im ~4;Im ԁ:Im Ձ: checking for new query: numPingsReceived=103, elapsed TxPingTime=49.697063@x,\AB TIHmDHm5%= 4=YQ >٣ G >!]=49% l?aE4Y% i%5qBQQq]?%C%&;%;%|P4y }A*m)Bm)2m)rm)ZjMNl?bjM@) iIiM~\AjIjI2jM@pMm ࿧ՠ?zpM翖}ȿI%?"jM8*jM$+3pMNgT?Z{r|O?pMFH@?\BwS?iMjM?iMdel?iM0)  jMBzjMl?jM| jM׃BjjM[?rjMu@r\iz\i\i\iiyɛyI}>y))隁iTID?DDE! E!DDAT read: Rx Time:19:07:59.4158 TRx dataTimestamp_ set to:1736536079.832297DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -\#Rx 104: Read range message, but no direction.9checking for new query: numPingsReceived=104, elapsed TxPingTime=49.953945E <ZAM=r>x,$\A-B-[I-eonly read 0 of 4 data items for beam range. Device response is::RA, 0.10 e@e e@e e@e  e@e Hm8Hm{5}= }f=YQ >٣ G ?]496 l?a4Y i3qBi+:m;q?C>;>^U4 A*mBm2mrmiɛI>))i ab!I1}checking for new query: numPingsReceived=104, elapsed TxPingTime=50.201210GGG>GGIG)BGGGADG<GFHy HyHyHy"Hy*H}Ú4:JBHBJ#9JJRJ2ZJ^Dq:D?DDE EEu%<ZAM>= DDAT read: Rx Time:19:07:59.9159 U TRx dataTimestamp_ set to:1736536080.337334m DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -u \#Rx 105: Read range message, but no direction.9 = ,@99 } checking for new query: numPingsReceived=105, elapsed TxPingTime=50.4636002x,X\A΀BnIH(Ht5%= %P=Y!Q ->)٣) 5G19 E>Q]e49UJ l?am4YU iU2qBiu :qm;q?UCU))i$uIZI5hbI5`jI5/rI1zI5(:I5bl9I5(N3I1I5);I5);I5):I5*:^D,DDE?DADAEE/  EABEM=:EM=checking for new query: numPingsReceived=105, elapsed TxPingTime=50.705185E <ZA1MeU>\ x,3\A::H`ؿ@I?:?ٿ@^@?ම?@`?:٣ G̩ >]49 l?a4Y i/qBiT:j=m<e?q?CP:*:4a4 A*mBm2mrmr\=j=z\=j=\=-@\=e?iiɛiIu>u)u* )qqqiu|yIy^DU֣checking for new query: numPingsReceived=106, elapsed TxPingTime=51.209885Di Di Di Em 1  Ei G >G G IG GBG =G G G S<G PFEE <ZAQ Mm >:Jm BoHBJm u9JJi RJm 3ZJm Dx,ĴM\A2b?y2N?92Y2=6>2HֿX??`u׿ %? A,?`a?2b?ɨ2D; 2C~B Ii٣i mGiu~ƽ u>y]49} l?a4Y}O i}+qB[?q?}C}S:}:}h4 PA*mBm2mrmr\z\\\[?iɛI>))i⓻I^DѼDDAT read: Rx Time:19:08:00.9159 TRx dataTimestamp_ set to:1736536081.344100 DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -\#Rx 107: Read range message, but no direction.,@9=checking for new query: numPingsReceived=107, elapsed TxPingTime=51.469425D?DDE?  EE<ZAM%M> checking for new query: numPingsReceived=107, elapsed TxPingTime=51.714642ox,g\A%B%IH5H5i5EK= ML=YMQ M>Q٣Q UGQ] ]>a]m49el?am4Ye ie(qBiqqu?e Ce.:e:eo4y }A*mBm2mrmr\z\\\iɛI >))i[I^D"D!zD%jADDAT read: Rx Time:19:08:01.4159  TRx dataTimestamp_ set to:1736536081.848052DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -%\#Rx 108: Read range message, but no direction.9-checking for new query: numPingsReceived=108, elapsed TxPingTime=51.971111 *G 1)]yY]AD DiDiEu<  Eq2EuhA*EqEM <ZAY Mu >V x,i\AZI&mbI&bjI&0rI$zI&\8:I&t9I&ـ3I$q*@i*@u*@m*@?yW?95Yb>H:Nпix`?@?`pѿR{??g??ɨ; CBI]checking for new query: numPingsReceived=108, elapsed TxPingTime=52.217167Mb@Mb@Mb@ )IyMbX9?rh|Mb`?ʡ=; EA)AIAi/A AHHi5!= 4=YՁQ >٣ Gj >]49rl?a4YY i&qB>m;W?q?*GQ"GU<GYGYG]4IG]pBGYGYGYG]<G]FC<<w4B eAE*mBm2mrmr\5>z\5>\5@\5W?iYɛYI]>]5)Y)YYaieZBiIiCyCyCyCy:JEBJE9JJARJE4ZJED ?D D E  E < DDAT read: Rx Time:19:08:01.9161  TRx dataTimestamp_ set to:1736536082.351613 DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -% \#Rx 109: Read range message, but no direction.  @@9 - checking for new query: numPingsReceived=109, elapsed TxPingTime=52.472809E <ZA MM >&x, F\AJ%?yJ?9JO YJ. >JH >Ϳn ?@?Ͽ@+?0?k?J%?ɨJ7; JߐCޭBޭII)) R=HHm51= J=Y` Q >٣ G >]49l?a4Y6 i$qBbP?q?Cq::~4 A *m)Bm)2m)rm)r\Az\A\A\EbP?iɛI+>O ))i^Imchecking for new query: numPingsReceived=109, elapsed TxPingTime=52.721214D?DDE EE]<ZAiMb>Ϊ,x,O!\ANŨ?yNJ?9N YN >NHyfʿ ??`̿]B.??Rn?NŨ?ɨN+; NCITiX XX)XX XZʡ^]F\fDDAT read: Rx Time:19:08:02.4159 jTRx dataTimestamp_ set to:1736536082.856051nDAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -n\#Rx 110: Read range message, but no direction.df,@9drchecking for new query: numPingsReceived=110, elapsed TxPingTime=52.977283v@CvmAIt)tit)xIz`mAxx x||~i~PDF|i) I )     AiDI(BIMb@Mb@Mb@ )IyQ? rhMb?=C < A)AIiA AHHi5= [=YꤹQ >٣ G| >]49Bl?a4Y i&qB9>m;+o?q?#C::4  gA*mBm2mrmr\U9>z\U9>\U@\U+o?iaɛaIm>m ))隩iͻID>D>De?DaDaEm?  EiBEm=:Em=E=q<ZAIMmW>ZIkbI_jI1rIzI2:I=h9I3Iqq}checking for new query: numPingsReceived=110, elapsed TxPingTime=53.225445GQ GQ GU lIGU BGQ GQ GQ GU <GU F:J BJ 9JJ RJ 5ZJ ֒3x,\A2;L?y2?92\ Y2ۯ>2H` ȿ r?@"?>Qʿế@r?@?p?2;L?ɨ2Cb; 2ߐCޭ/BޭIDDAT read: Rx Time:19:08:02.9159 TRx dataTimestamp_ set to:1736536083.359528DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 -\#Rx 111: Read range message, but no direction.9checking for new query: numPingsReceived=111, elapsed TxPingTime=53.484982HHHo5%v< % =Y-G:Q ->)٣) 5G1= =>A]M49El?aM4YE iE*qBQUjj?qU?E/CEW:E:E4Y ],AY*myBmy2mrmr\z\\\7jj?i!ɛ)I->-\ )))))1i5߻1IYD?DDE EEQ<ZAM> checking for new query: numPingsReceived=111, elapsed TxPingTime=53.7291159x,\A61v?y6?96ۆY6M>6H`BSƿ"@X? 9?~ȿ@M5?[?`Js?61v?ɨ6䊉; 6ݐC< <<<ɸ@DDID)DiD)FLCIDHɹH HɺHHHiHLiLL)N什 PIP P)PɻPPPVCɼTiTITTIXiX XX)XX޵CB޽IAHH4d5 V>  =Y|;Q 5?1٣1 =G9=? =?A]M49E l?aM4YE iE,qBquf?q}?E6CE;E;E쒎4 A*mBm2mrmr\z\\\cf?iɛI >ۆ))!!i%뻉)I)D?DDE EDDAT read: Rx Time:19:08:03.4158 TRx dataTimestamp_ set to:1736536083.864571DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -\#Rx 112: Read range message, but no direction.f&@9checking for new query: numPingsReceived=112, elapsed TxPingTime=53.985821E<ZAIM>פ@x,c\AZI6lbI4jI60rI4zI6<5:I4I6ـ3I4RwI?yR?9RuYR<>RH@.ſ@1"?`8H?`Qǿ@࡭? Nw?`u?RwI?ɨR沉; RC]QB]IMb@Mb@Mb@ )Iy333333?v/~jt?>xD< 3A)AIAi`AH H 7`5=checking for new query: numPingsReceived=112, elapsed TxPingTime=54.233276|= @=Yǁ;Q >٣ G >]49$l?a4Y i3qBQA>m;?q?@C;;C4  AGGG>GGIGˁBGGGBDG<GtF*m!Bm!2m!rm!r\EQA>z\EQA>\ED@\E?iQɛQI]R>]u)Y)YYYi]aIaDyD?DDE=  E2EgA*E:JBJ9JJRJ6ZJ E<ZAME> DDAT read: Rx Time:19:08:03.9159  TRx dataTimestamp_ set to:1736536084.369000 DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 - \#Rx 113: Read range message, but no direction. ,@9  checking for new query: numPingsReceived=113, elapsed TxPingTime=54.491562AFx,\A2 ?y2?92zY2G>2H ,Ŀ`9?P?!ƿWj?e?Kx?2 ?ɨ2!; 0VBIH-H-]5MD< Uc=YUy;Q U>Y٣Y ]GYecU e>a]m49e&l?au4YeI ie9qBqu?qu?eICeM;e;e4  A*mBm2mrmr\z\\\?iɛIC>z))iIDu?DqDqEu?  EqEE{<ZAYM}>Mchecking for new query: numPingsReceived=113, elapsed TxPingTime=54.737156Lx,Ii6\A6?y6D?96Y6`>6H [Ŀ`39`C?T?ƿm ?ٝ?}y?6?ɨ6; 4ZDDAT read: Rx Time:19:08:04.4157 ZTRx dataTimestamp_ set to:1736536084.872531^PDAT read: Bearing 197.0, -34.9 (Local) b~Local bearing/azimuth received: Bearing 197.0, -34.9 (Local) jDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 zDAT read: 19:08:04.4157 LVL= 14544, 17041, 13650, 17987, AGC= 49, IDX= 498,-0.27,-0.457, 1.550, 0.430, 1.601, PHS=-1.971,-0.004,-1.174, RAW= 306.2, 33.0, CAL= 313.0, 34.9, ROT= 197.0, -34.9 Ygot valid direction response: 19:08:04.4157 LVL= 14544, 17041, 13650, 17987, AGC= 49, IDX= 498,-0.27,-0.457, 1.550, 0.430, 1.601, PHS=-1.971,-0.004,-1.174, RAW= 306.2, 33.0, CAL= 313.0, 34.9, ROT= 197.0, -34.9 V#Rx 114: Read range and direction messages. `direction in FSK: [-0.784315,-0.239789,0.572146] Fpublishing direction and range infoXYZ鿹jοO?Z@9XZ8 ZB)ZR5IZCFiZ1ZIZoZEZ@ Zr?)ZϮ@IZI?iZ \@ZIX XZ7R6,\Z o?IZ6BiZ~Z6ZIX X-checking for new query: numPingsReceived=114, elapsed TxPingTime=55.0062335eB5'II9)9)E= E? Mb@Mb@Mb@   ) I y ˡE?Mb:v? '>  T< A) AI i A   AHH`5Ub= U#=YU;Q U>Y٣Y ]GYezɺ e>]49)l?a4Y iDqBB>m;8?q?UC::4  A *mIBmI2mIrmIZjZl?bjZ * iXiZ7\AjZ@jZ@2jZR@pZja!orjWal?zpZ鿹jοO?"jZ6*jZIpZ?1:q?pZJi{?`)=:?iZjZ?iZ7l?iZ>t*  jZyBzjXjZd& jXjjZ @rjZޫ@r\%B>z\%B>\%Bh@\%8?i1ɛ1I5L ?=H}AAH}AAZIibIbjIrIzI+:It9II))隑i ID5?D1D1E5@  E1]checking for new query: numPingsReceived=114, elapsed TxPingTime=55.242195G>GGIGBGGGG<GFH HHH ="H =*Hȶ4EM <ZAY M} >:J KBJ 89JJ RJ 7ZJ Sx,DP\A>?y>2W?9>{6Y>\ >>H@ſ1H?R?`:ǿ⸿2??F{?>?ɨ>); <^iB^,IHjHj.l5r< v=Yz7Eu{6)q)qqyi}yIDDAT read: Rx Time:19:08:04.9158 TRx dataTimestamp_ set to:1736536085.376389PDAT read: Bearing 201.9, -36.6 (Local) ~Local bearing/azimuth received: Bearing 201.9, -36.6 (Local) DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 DAT read: 19:08:04.9158 LVL= 13408, 16593, 12962, 17075, AGC= 48, IDX= 499,-0.09,-0.948, 0.804, 0.006, 0.977, PHS=-1.837,-0.126,-0.974, RAW= 299.7, 35.0, CAL= 308.1, 36.6, ROT= 201.9, -36.6 -Ygot valid direction response: 19:08:04.9158 LVL= 13408, 16593, 12962, 17075, AGC= 48, IDX= 499,-0.09,-0.948, 0.804, 0.006, 0.977, PHS=-1.837,-0.126,-0.974, RAW= 299.7, 35.0, CAL= 308.1, 36.6, ROT= 201.9, -36.6 5V#Rx 115: Read range and direction messages.=`direction in FSK: [-0.744883,-0.299441,0.596225]EFpublishing direction and range infoعYؽO"F7R *ӿ|(F?ؽf&@9عؽ`4 ٽ@)ٽ2IٽBiٽ0ٽ"뿩ٽ%ٽXyٽRb@ ڽa?)ڽT@IڽƇ#?iڽCa@ڽƇ#ڹ ۹۽H4`J[p?|Q?]?I۽H@i۽2z۽r0۽Ƈ#۹ ܹuchecking for new query: numPingsReceived=115, elapsed TxPingTime=55.517269D-?D)D)E1 E1E%<ZA1MUS>e checking for new query: numPingsReceived=115, elapsed TxPingTime=55.745125 Zx,#j\A2 #?y2`?92xY2 >2H\ ƿY$?K? ǿm9??`{}?2 #?ɨ2B; 2ސC^gB^*IHfHfZ5v  zI=Yz,|٣| ~G|< > ]49 x-l?a4Y  i RqB֛?q? eC ; ; 4! %m A!*mABmA2mArmAZj3 l?bj-' iiX\Ajf&@jL%@2j,d@pˁ.{ MX?zpO"F7R *ӿ|(F?"jr0*jƇ#p=?vE=?pMoV?YC)b{=c?ij?i?Wl?i'  j˃Bzjj' j˃Bjj@rj@r\z\\\)֛?iɛI>x))隡i.ID9D9D9EA EAE5<ZAM%>DDAT read: Rx Time:19:08:05.4157 TRx dataTimestamp_ set to:1736536085.879707PDAT read: Bearing 207.9, -38.7 (Local) ~Local bearing/azimuth received: Bearing 207.9, -38.7 (Local) DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 19:08:05.4157 LVL= 12720, 15521, 11986, 16147, AGC= 47, IDX= 498,-0.03,-2.560,-0.950,-1.477,-0.640, PHS=-1.832,-0.263,-0.840, RAW= 291.3, 37.0, CAL= 302.1, 38.7, ROT= 207.9, -38.7 Ygot valid direction response: 19:08:05.4157 LVL= 12720, 15521, 11986, 16147, AGC= 47, IDX= 498,-0.03,-2.560,-0.950,-1.477,-0.640, PHS=-1.832,-0.263,-0.840, RAW= 291.3, 37.0, CAL= 302.1, 38.7, ROT= 207.9, -38.7 V#Rx 116: Read range and direction messages.`direction in FSK: [-0.689718,-0.365187,0.625243]Fpublishing direction and range infoYBǯ*濟O@7_׿1~?@91 <).I?i/~꿩𧆾= WO@ MQ%?)w@I,?i9h@, ?]/?-c׾?,d/G?I ]?@i%), }checking for new query: numPingsReceived=116, elapsed TxPingTime=56.053810`x,C\A6ͤ?y6R?96Y6 >6H؈ǿok?`r??@L\ɿݹ`˼?@E?D?6ͤ?ɨ6W; 4bkBb.Ihij<Mb@Mb@Mb@ )Iy}#< EA)AIAi/A Achecking for new query: numPingsReceived=116, elapsed TxPingTime=56.249222H H e5-t< -8=Y-D?1٣9 =G9=< =>A]M49E.l?a]4YE iEZqB] >m];]?q]?EnCE+Z;EY;EG4a mR Ai*mBm2mrm*G"G<G>GCGIGBG =GGADGn<G`FZj㓢l?bj5g iiMx\Aj@j@2j@pJ3| cݙb?zpBǯ*濟O@7_׿1~?"j)*j,py!?f0ST?pQq?cR?nW?iȿj ?iλYl?iL  jăBzjdel?jjăBjj@rj1^@r\  >z\  >\ B @\ `?iIɛIIML>M)Q)QQQi].`aID>D>:J=JBJ=k9JJ9RJ=8ZJ=  DE?DADAEM?  EI2EQ*EUgAE<ZAYM> DDAT read: Rx Time:19:08:05.9158  TRx dataTimestamp_ set to:1736536086.384340 PDAT read: Bearing 207.7, -40.8 (Local)  ~Local bearing/azimuth received: Bearing 207.7, -40.8 (Local)  DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 = DAT read: 19:08:05.9158 LVL= 12320, 15521, 11506, 16339, AGC= 47, IDX= 499,-0.07,-0.248, 1.367, 0.837, 1.770, PHS=-1.931,-0.357,-0.936, RAW= 291.3, 39.6, CAL= 302.3, 40.8, ROT= 207.7, -40.8 M Ygot valid direction response: 19:08:05.9158 LVL= 12320, 15521, 11506, 16339, AGC= 47, IDX= 499,-0.07,-0.248, 1.367, 0.837, 1.770, PHS=-1.931,-0.357,-0.936, RAW= 291.3, 39.6, CAL= 302.3, 40.8, ROT= 207.7, -40.8 U V#Rx 117: Read range and direction messages.m `direction in FSK: [-0.670239,-0.351883,0.653421]m Fpublishing direction and range info Y KI;r52@ֿ BH? f&@9 0 ) ,I ?i + ȶ o ;0?) ֨@I K6?i h@ K6 F)a*wý?thc?I ^?@i 0 * K6  checking for new query: numPingsReceived=117, elapsed TxPingTime=56.526085ngx,ם\A6Ӧ?y6X?96+!۽Y6/>6H$ɿ`$?+? 20˿ճ V? ??6Ӧ?ɨ6(7; 6ݐCnfBn(IHvHv.l5%iؼ %]=Y%})٣) 5G15-= 5>Y]e49]/l?am4Y]m i]aqBim?qm?]vC]:]:]Î4q z A*mBm2mrmZj pVl?bj 6 i i \Aj f&@j K%@2j sk@p ~e4VPF.?zp KI;r52@ֿ BH?"j **j K6p x[?v5 (&˼?p C nN?ې\俬/臏?i @ѿj b?i *l?i A*  j #Bzj ?Wl?j j jj q@rj @r\yz\y\y\}=?iɛI >+!۽))隹iN!IZIUgbIU`jIQrIQzIU%:IUbl9IQIQIUI$;qeIUL$;ieIQueIQmmD?DDE E-checking for new query: numPingsReceived=117, elapsed TxPingTime=56.753826EH<ZAM?>IA )A Kmx,]ķ\AFDDAT read: Rx Time:19:08:06.4157 FTRx dataTimestamp_ set to:1736536086.888881NPDAT read: Bearing 214.7, -45.2 (Local) N~Local bearing/azimuth received: Bearing 214.7, -45.2 (Local) VDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 fDAT read: 19:08:06.4157 LVL= 10992, 14017, 12178, 13859, AGC= 46, IDX= 498,-0.19, 0.161, 1.814, 1.457, 2.471, PHS=-2.222,-0.611,-1.017, RAW= 284.0, 43.2, CAL= 295.3, 45.2, ROT= 214.7, -45.2 jcGt-Ygot valid direction response: 19:08:06.4157 LVL= 10992, 14017, 12178, 13859, AGC= 46, IDX= 498,-0.19, 0.161, 1.814, 1.457, 2.471, PHS=-2.222,-0.611,-1.017, RAW= 284.0, 43.2, CAL= 295.3, 45.2, ROT= 214.7, -45.2 5V#Rx 118: Read range and direction messages.=`direction in FSK: [-0.579311,-0.401134,0.709571]=Fpublishing direction and range infoDYF>sжܹ%V-ٿXʹ?F@9DF* F6)F/IF#6iF.F?5FjF-F@ FA?)F7@IFI?iF|o@FID D Q)} yyA?y N?9 $ͽY%>H`˿04?@S?_Ϳ `?$?@1??Ff+0p"K?aB?ɨˉ; ސCIF67@iF@F9M"FID DUchecking for new query: numPingsReceived=118, elapsed TxPingTime=57.065678\BImMb@Mb@Mb@ii i)iIiym?{GzMb?m=mףm< mA)mAImAimAim A HHQc5 =YT٣ G= > ]=49 /l?a=4Y  i iqB==m=<=?q=? }C ; _; ͎4I M AI*mBm2mrmZjFll?bjFb7 iDiFm\AjF@jF@2jFW@pF^o>PG]??zpF>sжܹ%V-ٿXʹ?"jF9M"*jFIpFy?A}zNÛ?pFH? ?iFjF`?iFѥql?iF'  jF3BzjFλYl?jFA* jF˃BjjF2 @rjFԡ@r\ =z\ =\ ʾ@\ ?i9ɛ9I=?= $ͽ)A)AAAiE6(IIIHQHUBAD?DDEG  E5checking for new query: numPingsReceived=118, elapsed TxPingTime=57.257973G>GGIGBG =GGG<GFE<ZAM>/tx,~\A:J"LBJ"-9JJ RJ"9ZJ"  Jr? Jr!?V ?yF?9BY=HFο` ? ?` п+G?jc??騥V ?ɨ٧; ܐC-PB-I)M= M=H}H}i5p v=Y5B)1)111i5+9I9DDAT read: Rx Time:19:08:06.9157 TRx dataTimestamp_ set to:1736536087.402086PDAT read: Bearing 217.7, -48.8 (Local) ~Local bearing/azimuth received: Bearing 217.7, -48.8 (Local) DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 MDAT read: 19:08:06.9157 LVL= 9584, 15345, 10994, 11843, AGC= 46, IDX= 498,-0.35, 1.806,-2.809,-3.104,-1.943, PHS=-2.446,-0.818,-1.164, RAW= 281.6, 46.5, CAL= 292.3, 48.8, ROT= 217.7, -48.8 eYgot valid direction response: 19:08:06.9157 LVL= 9584, 15345, 10994, 11843, AGC= 46, IDX= 498,-0.35, 1.806,-2.809,-3.104,-1.943, PHS=-2.446,-0.818,-1.164, RAW= 281.6, 46.5, CAL= 292.3, 48.8, ROT= 217.7, -48.8 V#Rx 119: Read range and direction messages.`direction in FSK: [-0.521171,-0.402806,0.752415]Fpublishing direction and range infoY̕m࿐Wٿԏs?9p% ;)*IC.iDshQnF@ O?)I@@I^ Z?iY,s@^ Z D?DDEF  E$a俅?Gv6?IՌ4@iO\^ Z -checking for new query: numPingsReceived=119, elapsed TxPingTime=57.560947E<ZAM J>I3I;m3I;L.I3I3I3ZIq bIu _jIq rIq zIq Iu =h9Iq Iq Iq Iq Iu :Iu :E checking for new query: numPingsReceived=119, elapsed TxPingTime=57.761257RYzx,h\A:Z?y:~?9:Y:c=:Hп ڇ?G?ѿ DL?Ӿ?Ƨ?:Z?ɨ:KN; :ސCRHBRIHZHZl5z8 zk=Y~))隩i>/ID]?DaDaEmO  EqEm<ZAM&>DDAT read: Rx Time:19:08:07.4157 TRx dataTimestamp_ set to:1736536087.895287DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -\#Rx 120: Read range message, but no direction.ءء9ءT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9Ax,NC\A6?y6O٣ GN= >]49b.l?a4Y ixqB2=m<<@q?C&;%;:4 A*mBm2mrmGAGEIGEBGE =GAGAGE<GE{FiYɛYI]>eP)a)aaaie3iIiD1zD5iAD?DDEF  E2E*EEګ<ZAM J>:J}LBJ}k9JJyRJ}:ZJ}  թ թ  DDAT read: Rx Time:19:08:07.9158  TRx dataTimestamp_ set to:1736536088.399533 DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.ر ص f&@9ر  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.jx,\A2{?y2D?92ܼ|Y20>2HԿw?7?NտƋz?M?l?2{?ɨ2^#; 2ސCB2BBIF=iF%=DFAHRHRn5Z ZZ=YZ\٣` bG`bī= f>d]j49fb-l?aj4Yf if}qBln@qn?fCfM;f;f4p v At*m Bm 2m rm r\)z\)\)\-@iɛIY>ܼ|))iV6IZI9bI=ajI9rI9zI9I=p9I9I9I9I=K$;I=:I=:DM?DQDQEUL  EQE-<ZA9MU> DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 -BX#Rx 1: Read range message, but no direction.46@94 B2Acoustic response timeoutFQuerying Benthos address 50 with one ping in standard two-way mode.VI?yV?9VLYVqt>VHֿe$?? ֿP?!? =?@K?VI?ɨV; VݐCb!BbIUMb@Mb@Mb@QQ Q)QIQyUX9vV-?:v?UUh=UT< UA)QIUQAiU3AQU AHm(Hmt5ߝ >=Y٣ Gf= >]49x+l?a4Y@ iqB=m(<q?C::P4 A*mBm2mrmr\=z\=\?\D|@iɛI>L))i9IHIHI^DȿG9G=IG=BG= =G9G9G=<G=FD?DDEK  EE Х<ZA M >x,XR\ABA?yB?9BVjYB&>BHؿ!r?}?@ؿx?$,?`??BA?ɨBE; BܐC:JN؞KBJLJJLRJN;ZJNJR ? JR>VBVI \^BAHbBHb5f:  jV=Yj=Q ->)٣) -G)5= 5>9]E49=)l?aE4Y= i=qBAEqM?=C=\:=:=,4Q UAQ*mqBmq2mqrmqr\z\\\r^~@iɛI4>Vj)5)隩i;I^D;mDDAT read: Rx Time:19:08:08.9158 uTRx dataTimestamp_ set to:1736536089.407332DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.quf&@9q 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.DDDEP  EEe<ZAM%N>ZII bIM ]jIM 1rII zII IM _9IM 3II II II IM i:IM j: )@96 }μY6|%>6Hsڿ`? ?@dڿ? Ι??@;?6?ɨ6 ވ; 6ݐC B IH%>H%Y~5e~ eA=Ymi٣i uGqu= u>y]49}(l?a4Y}r i}qBq?}C}:}:}^4B gAE*mBm2mrmr\z\\\E@iɛIo> }μ))i<I^D==DADDAT read: Rx Time:19:08:09.4157 TRx dataTimestamp_ set to:1736536089.911774PDAT read: Bearing 208.9, -46.2 (Local) ~Local bearing/azimuth received: Bearing 208.9, -46.2 (Local) DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 DAT read: 19:08:09.4157 LVL= 16688, 21345, 18850, 21475, AGC= 47, IDX= 497,-0.19, 1.435,-3.060, 2.638,-2.365, PHS=-2.395,-0.647,-1.283, RAW= 291.1, 44.9, CAL= 301.1, 46.2, ROT= 208.9, -46.2 Ygot valid direction response: 19:08:09.4157 LVL= 16688, 21345, 18850, 21475, AGC= 47, IDX= 497,-0.19, 1.435,-3.060, 2.638,-2.365, PHS=-2.395,-0.647,-1.283, RAW= 291.1, 44.9, CAL= 301.1, 46.2, ROT= 208.9, -46.2 R#Rx 1: Read range and direction messages.%`direction in FSK: [-0.605947,-0.334501,0.721760]%Fpublishing direction and range info؉Y؍jڎcMtuhտ?؍@9؉؍0A ٍaS)ٍIIٍSiٍ/ٍGٍˡ%ٍX9ٍ@ ڍyH?)ڍ}*@IڍplN?iڍWi@ڍplNډ ۉۍ-8y`濆 $?.[d?Iۍ?@iۍtHۍ(ۍplNۉ ܉ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D?DDEL  E2E*EEΠ<ZAM>x,ݔ\A6V?y6J@965eY6UT6>6Hѱܿl@ ?@?`bܿB.?|?`1?}?6V?ɨ6ƈ; 6ܐCRBRImMb@Mb@Mb@ii i)iIiymktZd;?S㥛?m m=m/< m/A)mAIm Aim Aim AHNH5' G=Y٣ G1= >]49%l?a4Y iqBS>m; q?C::4GGIGBG =GGGѱ<GFHC HCHH ="H =*H51 5A9*mqBmq2mqrmqZjYl?bj iiZz\Ajj2j @p:V!DˌMs-1?zpjڎcMtuhտ?"j(*jplNpF?^zH)?p? (Wֿ?iSj6?iEl?i  jBzj*l?j' jjj@rj)T@r\uS>z\uS>\u @\u @iɛI>5e))隱i=IC=C=^DVwDIDIDQEUN  EQ:Ja3JBJ9JJRJ<ZJ+ Bc!~ vX7 / E5<ZAaJqIqM{> DDAT read: Rx Time:19:08:09.9157  TRx dataTimestamp_ set to:1736536090.415757 PDAT read: Bearing 205.3, -43.4 (Local)  ~Local bearing/azimuth received: Bearing 205.3, -43.4 (Local)  DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0  DAT read: 19:08:09.9157 LVL= 16848, 24241, 18610, 19507, AGC= 48, IDX= 498,-0.05, 1.901,-2.586, 3.002,-2.056, PHS=-2.239,-0.484,-1.229, RAW= 295.0, 42.5, CAL= 304.7, 43.4, ROT= 205.3, -43.4  Ygot valid direction response: 19:08:09.9157 LVL= 16848, 24241, 18610, 19507, AGC= 48, IDX= 498,-0.05, 1.901,-2.586, 3.002,-2.056, PHS=-2.239,-0.484,-1.229, RAW= 295.0, 42.5, CAL= 304.7, 43.4, ROT= 205.3, -43.4  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.656883,-0.310507,0.687088] Fpublishing direction and range infoؑ Yؕ UTZ0忂sZӿ)?ؑ 9ؑ ؕ A ٕ ^)ٕ HIٕ 3Liٕ 0ٕ Kٕ ٕ Oٕ S¤@ ڕ N=?)ڕ 5-@Iڕ A?iڕ Re@ڕ Aڑ ۑ ە Izl}[ge?nBӜ?Iە !C@iە =ە 2,ە Aۑ ܑ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.çx,\AjQP?yjF@9jحYj?:>jHu޿F?$?*޿ @? u? ;?@w?jQP?ɨj'; jݐCzBzIHXH5U UM=YU'Y٣Y ]GY= >]49#l?a4Y: iqB&q?Ch:: 4 A *mIBmI2mIrmIZjUl?bjQ  iiÛ\Ajj2jQ%@pJm9EӐs2'yXb?zpUTZ0忂sZӿ)?"j2,*jApNQ2?죏su֥?p<6FH(?XؿGmݴ?ifj?iyOl?i   jBzjEl?j  jjj?rjr@r\z\\\@i9ɛAIEd>Eح)I)IQQiU >yIZIibIajIrIzI+:Ip9III/;I/;I:I:Ox, @\A&DDAT read: Rx Time:19:08:10.4156 *TRx dataTimestamp_ set to:1736536090.9197112PDAT read: Bearing 206.9, -43.6 (Local) 2~Local bearing/azimuth received: Bearing 206.9, -43.6 (Local) :DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 JDAT read: 19:08:10.4156 LVL= 16480, 25041, 18930, 19123, AGC= 48, IDX= 497,-0.03, 0.943, 2.840, 2.157,-2.860, PHS=-2.392,-0.536,-1.269, RAW= 293.1, 42.5, CAL= 303.1, 43.6, ROT= 206.9, -43.6 NYgot valid direction response: 19:08:10.4156 LVL= 16480, 25041, 18930, 19123, AGC= 48, IDX= 497,-0.03, 0.943, 2.840, 2.157,-2.860, PHS=-2.392,-0.536,-1.269, RAW= 293.1, 42.5, CAL= 303.1, 43.6, ROT= 206.9, -43.6 RR#Rx 1: Read range and direction messages.V`direction in FSK: [-0.645815,-0.327640,0.689620]VFpublishing direction and range info$Y&8άFԿB\?&3@9$&`@ &a)&II&Ji$&&L7 &n&@ $)&qH@I&B?i& g@&B$ $&U=(ok׺?<ڞ?I&UA@i&=&+&B$ $ b2Acoustic response timeoutbQuerying Benthos address 50 with one ping in standard two-way mode.?yR@9*mx:Yk5>H  F`8y?I?s߿`ƶ? O?`??ɨ&T; ܐC=B=IMb@Mb@Mb@ )Iy`"ʡE? rh?>C = A)VAIM Ai AHpH@5( )=YS٣ G i=  >]49,!l?a4Y} iqBK>m;%Wq%?C8::4) -gA1*myBmy2myrmyZj&Xl?bj&  i$i&ܺ\Aj&3@j&9@2j&zٺ@p&%d\!E6 Em`?zp&8άFԿB\?"j&+*j&Bp&7 ? *GZJj?p&ꝉ?5fտc?i&)Fj&8?i&Al?i&   j&ăBzj$j&[%  j&Bjj&?rj&u @r\-K>z\-K>\-+'@\-z@i9ɛ9Ie0>e*mx:Ie$)a)aim+im=qIyCCCCG>GGMI!Fx,P\A02<>DDAT read: Rx Time:19:08:10.9155 BTRx dataTimestamp_ set to:1736536091.426633FPDAT read: Bearing 213.8, -49.4 (Local) F~Local bearing/azimuth received: Bearing 213.8, -49.4 (Local) NDAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 bDAT read: 19:08:10.9155 LVL= 15728, 28209, 22130, 18979, AGC= 50, IDX= 513,-0.04, 0.230, 1.472, 1.179, 2.114, PHS=-1.796,-0.595,-0.938, RAW= 286.1, 47.7, CAL= 296.2, 49.4, ROT= 213.8, -49.4 fYgot valid direction response: 19:08:10.9155 LVL= 15728, 28209, 22130, 18979, AGC= 50, IDX= 513,-0.04, 0.230, 1.472, 1.179, 2.114, PHS=-1.796,-0.595,-0.938, RAW= 286.1, 47.7, CAL= 296.2, 49.4, ROT= 213.8, -49.4 fR#Rx 1: Read range and direction messages.}`direction in FSK: [-0.540783,-0.362023,0.759271]}Fpublishing direction and range infoS*{N a+׿g)eK?>f@9<>p= >1n)>rVI>#Ji>2>T忩>Q> p>ɟ@ >+ U?)>m@I>\?i> n@>\< <>1俯@:??I>9@i>U>N#>\< < 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.i?yw@9~;Y4>H$m{? S?U]D?y3v?`?騝i?ɨ; 5B5IH]mH]5v -=Y9٣ GF= >]49l?a4Y iqBq?C;:;4 A*mBm2mrmZj>Id;l?bj>(a i<i>M\Aj>f@j>@2j>$@p>#?Ι+~Sa?zp>S*{N a+׿g)eK?"j>N#*j>\p>}Ym?wQۿ*V?p>>,;fDP?hRʿ?i>ھj>o?i> l?i>;}  j>ǃBzj<j>  j>Bjj>8?rj>˼@r\z\\\-@iɛI>~;Iy){)Ѽi =IDDDE E sx,:;\A ]~Gy )ylADDAT read: Rx Time:19:08:11.4154 TRx dataTimestamp_ set to:1736536091.930507PDAT read: Bearing 205.3, -42.1 (Local) ~Local bearing/azimuth received: Bearing 205.3, -42.1 (Local) DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 DAT read: 19:08:11.4154 LVL= 18208, 30321, 25842, 23459, AGC= 51, IDX= 512, 0.01,-0.053, 1.554, 0.945, 1.983, PHS=-1.947,-0.381,-1.041, RAW= 294.8, 41.2, CAL= 304.7, 42.1, ROT= 205.3, -42.1 Ygot valid direction response: 19:08:11.4154 LVL= 18208, 30321, 25842, 23459, AGC= 51, IDX= 512, 0.01,-0.053, 1.554, 0.945, 1.983, PHS=-1.947,-0.381,-1.041, RAW= 294.8, 41.2, CAL= 304.7, 42.1, ROT= 205.3, -42.1 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.670807,-0.317089,0.670427]Fpublishing direction and range info؁Y؅Aw=1KԿ J|"t?؅@9؁؅ G مqv)مdIم[iم3مL7مoþم}?م@ څX8?)څ5-@Iڅ٣ G >]49Vl?a4Y irBi+:mX;q?C:>!4 A*mYBmY2mYrmYZjL/l?bj  iim\Aj@jM?2j@pAw=1K J|"t?zpAw=1KԿ J|"t?"j2,*j<pA.5?<"濢v1y?pA.5?<"ֿv1y?i1jѶ?il?ix   jJBzjAl?jjǃBjj)?rjd@iiɛiIm\>iIm7)q)qqueiu-=yIyZIM nbIM `jII rII zIM |;:IM bl9II II qU @iU @uU @mU @DY DY DY Ee P  Ea 2Ea *Ee hAG G ?A5 G G IG 3BG G G G <G FEE K<ZAQ Mu >x,Yj\AfBfIHnyHn?5%< -~=Y)Q - ?1٣1 5G11 = ?9]E49=l?a4Y=e i=-rBi :m/;q?=C=C<=|I?=%4 A*m Bm 2m rm i)ɛ1I5>1I5;)1)11= i=B<9IA:JjOBJ9JJRJ>ZJ$(# DDDEO  Eu,DAT read: user:1113> }HDAT read: Command 'tr50' not found funknown deviceResponse_: Command 'tr50' not found "DAT read: Error @unknown deviceResponse_: Error ,DAT read: user:1114>  x,`*\A6?y6 @96•6H3?֦? UFB??`?6?ɨ6qӉ; 4r>DAT read: T ime:19:08:12.4344 v\unknown deviceResponse_: T ime:19:08:12.4344 zJDAT read: TxSync time:19:08:12.4336 z9٣9 =G9E= E>Y]u49]l?a}4Y]P i]HrBi}9ym} ;`q?]C]‡;]ϖ?]G)4 A*mBm2mrmiɛIk>•t x,dYD\A6?y6B @966H`4`A?ʢ?`M`>?t?@e?6?ɨ6; 4>BBIZIhbI^jI0rIzI(:Id9Iـ3I      Mb@Mb@Mb@ )Iy+ηM?~jt?vn>< +A)~@IzAi7 AH0H%x5p< 3=Y3:Q >٣ G: >]49bl?a4Y+ i_rBiT:/>mM;MqM?CJ<I<Y14 Az\/>\Io @\N@iɛI? J ?} ?-x,^\AjC?yj@ @9j6jH ^`:??r? ?Ʌ?jC?ɨjrJ; jݐC~B~I=i4=H Hq5%c= %g=Y-Q ->)٣) 5G15r 5?9]E49=xl?aE4Y= i=orBIMqM?=C=:=):=g74Q ]0AY*mBm2mrmr\Qz\Q\Q\U9ɉ@iɛI>6u\x,p x\A- ٣   G  >]-49l?a54Y izrB=W=m=;=}q=?CS;;?4Q UAY*mBm2mrmr\W=z\W=\" @\p@iɛI>I"=))%ZIjbI\jIrIzI.:I[9II*GE <"GA  x,Α\AJ9?yJ_@9J}NJH94@#?ࡒ?߿?@^)?|?J9?ɨJB; JېCfBjIHvfHv 5~= ~s=Y~V}NE2H޿ ?U?`޿ ?@d^ ?|w?21?ɨ2+ތ; 0Rt٣t vGtz z>|]49~ l?a4Y~ i~rBq?~C~&<~_:~lL4 mA*mBm2mrmr\Iz\I\I\Mg@iaɛaIe>e<)a)iim]6Hݿ@?`~?4Kܿ`?Ӟ?u?62?ɨ6; 4RBVIHHAAZIlbIajIrIzI<5:Ip9II-Mb@Mb@Mb@)) )))I)y-X9vy&1?--`e<- -A)-VAI)i- A)- AHEYHE(5UP= U5=YU;Y٣Y ]GYe e>i]m49m1l?au4YmV imrBuS =m}<}T¿q}?mCm+;m*;mNT4 A*mBm2mrmr\S =z\S =\-@\z@iɛI><))隙i5GGIGGBGGG@DG<GzFH HHH ="H*HÙ4ID?DDE^  EBE=:E=E<ZAMb>:J NBJ -9JJ RJ AZJ }eRA+!   J ? J ?e BDAT read: Rx Time:19:08:14.8415 m TRx dataTimestamp_ set to:1736536095.459206m :H5ۿ ` ?`f?nڿH?n?}w?:?ɨ:0{; :ܐCv*BvIH5KH55= U=Y5٣ Gt >]497l?a4Y irB ƿq ?C;5;[4 XA*mQBmi2mqrmqr\z\\\o@iɛIۿ> =))隡iU3ID?DDEZ  EE}<ZAM=> BDAT read: Tx time:19:08:15.9345 $Ping request sent.GĿя|?I-9i-R-<-Q) ):publishing transmit ping timeFpublishing direction and range info)Y-#L~r*%S?)9)) )))I)i))))) )))o?y?9R=Yʥ4>H9>ٿ ?a?xؿ+?`飿or?`z?o?ɨ?; I)i))) )-}t"忄R>GĿя|?I)i)))) )55B5I=,>i=C=9=AGG Mb@Mb@Mb@ ) I y ~jtx?T㥛 y&1| ;  ` A) @I i A AH F JDAT read: TxSync time:19:08:15.9337 G >G CG !IG `BG  =G G G <G FH 5 =   ٣  G K  > ] 49 El?a 4Y + i rB e=m% P<% A>q% ? C o; ; f4) 5 A1 *mQ BmQ 2mQ rmY Zj-|xil?bj-z i)i-\Aj-f@j-@2j-@p-P1 nѿK~?zp-#L~r*%S?"j-<*j-Qp-?~ֆxwb42?p-Gm?I߈z_߿%> ?i-ăj-?i-z+jl?i-I  j-;Bzj- l?j-  j)jj-e?rj-T@r\m e=z\m e=\m ՙ@\m A>i ɛ I 1? R=) Pf/) i ,/ I D D D D E \  E 2E *E Emv<ZAyM>x,\A2e?y2b?921=Y21>2H8׿`t@՟?k?`~rֿ7C?M7?`!}?2e?ɨ2); 0I@iBXmA @@)@H JvlAJHHHNmAIL)LiL)NCINdmALP PPRnlARSiTTiTT)T XIX X)ZlAXXX^@C^Ai^I\\\%EB%IH=H=e5$> =Yl?a4Y irB%>q?C:::}j4 A*m9Bm92m9rmYr\qz\q\q\u%>iɛIA>1=))隱iض.IDDDE`  EEm<ZAyM>>ZIkbIcjIrIzI2:Ix9III9;qI9;iI:uI:mՉ Չ = x,1\A2?y2V?92 @=Y2)>2H@v4տ `=?'? xԿ1?85 ??2?ɨ2i; 2ېCSBI=)ZCI ~GlA )=zy=lAEAHe0He%x5mT= u=Y};Q >٣ G >]49l?a4Y iurB>q? C6;6-;s4 A*mqBmq2mqrmqr\z\\\>iɛI_? @=))隱ip+ID?DDE_  EE<ZAM >H H -x,K\A  ɸZlAI)i)@CIɹ ɺ!!!i!!i)-vlA)-&1 )I) 1)1ɻ1115Cɼ9i9I99IECiAGM>GIGM@IGMzBGM =GIGIGM<GMjF Ya)aau]BuI)= R=-=only read 0 of 1 data item for BIT error. Device response is::TS,250110110925 +11.0, 0.0,1493.5, 0 =@= =@= =@=  e@e HmHm:\5}|= }=YQ ?٣ G ?]49*l?a4Yw iprBi+:m(<q? C;>x4  A*m)Bm)2m1rm1iqɛqIu>q))隡iE)I^D:J=BJ=u9JJ9RJ=CZJ=JM? JM?D ?D D E \  E Eu <ZA M >Px,Oe\ABZf?yB?9B]=YBa#>BHѿMt?? )п <[?e^?o?BZf?ɨB܋; BڐCޕfBޕ)IHHi5^F= X=Y٣ G6$ >]49l?a4Y@ iirBi :m<>q?C4:3.?\|4ZIqbIqjIqrIqzIqIqIqIqIu9;IqIqIq u A*mBm2mrmiɛI>]=))i[&I^D 7D]?DYDYE]`  EaE5<ZAIMeV>x,(\ANY?yN~?9NXp=YNx>NH(Ͽ4? ? Ϳ ??d?NY?ɨN; NِC=nB=3I      Mb@Mb@Mb@ )Iyp= ף?Dl~jt=O  )lAIAiAG AH=H}5= G=Y33٣ G ˝  >]%49l?a%4Y= iWrBi%T:-h>m-;-A/?q-?C::41 =3 A9*mBm2mrmr\5h>z\5h>\5@\5A/?iAɛAIE>EXp=)i)iiiim #qIq*G]<"G]<G>GCG`IGBG =GGADGw<GeF^D9D>D!>DE ?DA DA EE _  EA 2EM fA*EI E <ZA) Mm >=%x,\A2?y20?92|=Y2r>2Ha˿ `e?+?Axʿk?W?ؗ?2?ɨ2d; 2ؐC>zBBBIF0>iF=HJDHJ5R= Rc=YVT٣T VGTZb Z>\]b49^x!l?ab4Y^d i^GrBdf$(?qf?^C^:^:^Љ4h j Ah*m|Bm|2m|rmr\z\\\;$(?iɛI>|=))iE ICCCC:J5KBJ5-9JJ1RJ5DZJ5   D?DDE EE<ZAM>IsI{3I{.IsIsIsZIbIdjIrIzII|9III9;II}:I:%,x,VӲ\A2?y2"]?92 =Y2>2Hɿn ?(P?@ǿ?N??2?ɨ2x; 2ېCN~BRFIHZ=HZ}5bR< bH=Yb;Q b>d٣d fGdj] j>l]r49n%l?av4Ynr in5rBtvC"?qv?n%Cn\:n:n4x z A|*mBm2mrmr\1z\1\1\5+C"?iAɛAIMu>M =)I)IIIiM)QIYDDDE]  EE-޳<ZAiM!>BDAT read: Rx Time:19:08:18.3422 -TRx dataTimestamp_ set to:1736536098.994472H H 3x,\AG*>G*CG*rIG*BG(G(G*@DG*ݱ<G*FN?yN+?9NPF=YNp >NH9ƿ`G;@۶?i?ſ ̌?ǥ@,?͠?N?ɨNQ; LZBZKIEMb@Mb@Mb@AA A)AIAyEDl?L7A`/$EO=E+E E\A)EAIEIAiEAAE A ae@AHm1Hmx5}< }>=Y}J;Q }>٣ GB# >]49)l?a4Ys i"rB>m;(?q?-C:_:t4  A*mqBmq2mqrmqr\>z\>\5@\c(?iɛI>PF=))i)ID9DDDE_  E:J}LBJ}89JJyRJ}EZJ}J? J!?EO<ZA DAT read: Range 10 to 50 : 2.7 m (Round-trip 3.6 ms) speed 0.0 m/s  ,DAT read: user:1116>  BDAT read: Tx time:19:08:19.4345  $Ping request sent. 909x,\A) 2H?y28?92@Æ=Y2# >2HPſ`O@)?{? @ Ŀ@>1?Kհ-? ?2H?ɨ2\Ŋ; 2ܐCBTIH5?H5~5u= }L=Y:Q >٣ G0 >]49-l?a4Y irBP%?q?5C0;/;4 [ A*mBm2mrm r\!z\!\!\%P%?i9ɛ9I=>=@Æ=)A)AAAiE]IIIZIYbI]`jIYrIYzIYI]bl9IYIYIYIYI](:I]*:DiDiDiEm`  Ei}JDAT read: TxSync time:19:08:19.4337 Ee<ZAqM9> @x,= \Afl?yf?9f=Yf>fHExĿVZȾ?Ԅ?=ÿ̵?@@k??fl?ɨf; fڐCrBrXIMb@Mb@Mb@ )Iy㥛 ?:v~jt=Խ /A)AIi AHH^5t< C=Y1Q >٣ G) >] 490l?a 4Y irB >m;F?q?;Cr;;Ѧ4 F AE*m9Bm92mArmAr\]>z\]>\]a@\]WF?iiɛiIu@>u=)y)y隁iYID=?D9D9E=_  E9E<ZA)HQHU=M]4>GG@AG%>G!G%IG%BG% =G!G!G%<G%~FH-ƫC H-ƫCH)H- ="H- =*H-ƨW5DFx,J \A6p?y6"?96=Y6>6H|Ŀ \L?|? 0Nÿ*S?TC??6p?ɨ6C; 6ܐC@@HJBHJ5YRԍQ R>T٣T VGTZ9 Z>\]b49^b3l?ab4Y^ i^qB`b(F?qf?^AC^C:^:^4h hl*mBm2mrmr\z\\\G(F?i)ɛ1I5e>5=)1)199i=9IA:JBoHBJJJRJFZJV m87ha:c-nK'JIDDDE EEǺ<ZAM>LlLx,"4 \A:=?y::?9:z=Y:n>:H!ſ UX ý?`? ÿ?S`wZ? d?:=?ɨ:; :ؐCFBF_IHNHNi5Vq< VX٣\ ^G\f-< f>h]n49jb6l?an4Yj ijqBlr[G?qr?jGCj7;j;j84t v At*m Bm 2m rm r\)z\)\)\-k[G?i9ɛ9IE$>Ez=)A)IIIiM QIQD?DDE`  EEd<ZAM>ZI hbI cjI rI zI (:I x9I I q @i @u @m @G% >G! G% IG% BG! G! G! G% <G% F5TSx,jM \A6?y6:?96:s=Y6!j>6H %ſ=R,:?@y?@Ŀ@Y?b?@W?6?ɨ6g; 6ېCBBB[IMb@Mb@Mb@ )IyMb?v/:v=xiT A)AIAi AH7H?{5IZ :=Y9Q >٣ Gq[< >]497l?a4Y iqB=m<?q?LC::⻏4 / A*mBm2mrmr\E=z\E=\ECDZ@\EQ?iɛIU>:s=))i ID?DDE_  EEeT<ZAqM=>:J OBJ 9JJ RJ GZJ j="~{}tnga[VQKHC@:741-.-+'&&""! J > J #?!~Yx,g \A>?y>?9>+n=Y>0>>H`ƿ@G ?5o?ſbH?Tͭy?@2?>?ɨ>; \٣\ bG`b< b>h]v49jS9l?av4YjQ eztIijqBxz?qz?jPCjf;j~^;jZ4 * A*mBm2mrmr\z\\\9?iɛI>+n=))i'IDDDE EE<ZAM> ]G};mA )Xy;mAAn`x,h́ \AXL?yމ?9e=Y>H@Jȿm5?^?@>ǿ?`?`?XL?ɨ; ڐCI)Mb@Mb@Mb@ )Iy)\(?)٣) -G)-b< 5>1]=495?9l?a=4Y5 i5qBEd=mEme=))隱i!ID9D9DAEA EAEz<ZA)ZIAbIE_jIE1rIAzIAIE=h9IE3IAM}7>*G<"G<G>GCGIGBGGGGٱ<GF[fx,쇛 \A>K_?y>М?9>YY=Y>&>>HRʿ/8? E? rKɿ@I?`3tS? m?>K_?ɨ>}; >ېCJBJUIHRCHRH5Z Zf=Y^Q b>d٣d fGdf9= j>h]r49j'9l?ar4Yj$ ijqBpr?qr?jVCj ;j? ;jyЏ4x zW Ax*mBm2mrmr\1z\1\1\5W?iAɛIIM>MYY=)I)QQQiU\YIYBDAT read: Rx Time:19:08:21.8420 TRx dataTimestamp_ set to:1736536102.519993DDDEd  E:JNBJ9JJRJHZJ"),=+q/GLME83(cI3xog`ZUPKE@:4440J!I%iAE<ZAM>dlx,b \A6?y6?96J=Y6}>6H`Y̿`E`u?$?ɷ˿`¢?q>݉?H?6?ɨ6B; 6ڐCVBVQIHbJHbՁ5fd{ jI=YjQ j>l٣l Gy== %>1]=4959l?a=4Y5 i5qB9E?qE?5YC5U;5;5׏4I Mq AI*miBmi2mirmir\z\\\?iɛI>J=))隡iEIDDQDYDaEa Ea2EegA*EehAE5w<ZAQMm>DAT read: Range 10 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s ,DAT read: user:1117> %BDAT read: Tx time:19:08:22.9345 -$Ping request sent.-6HiϿ@ ??lο@r? z$@??6?ɨ6n; 4LLR=iR=JDAT read: TxSync time:19:08:22.9337 Mb@Mb@Mb@ )Iy~jt?Mb?~jth?D==D; A)AIiAz AH@H<5YQ >٣ GL= > ]49 y7l?a4Y  i qBl=me<?@q? \C B.; ; Iߏ4) ))*mIBmI2mIrmQr\ml=z\ml=\mW?\m?@iyɛyI}>}39=))隁i}ID!D!D!E%i  E!E9<ZAM-->%=a=:Je `YOBJe 9JJa RJe IZJe +('(# 0IcyGui/FHKV^{qG8fTnCJm ? Jm ?yx,K \A2?y2\?925"=Y29 >2HFѿ }Gs?`3?пs?RM6? ?2?ɨ2~; 2ؐCJBJGIHV#HVbr5^̦ ^`٣` fGdf8= f>h]n49j&6l?an4Yj ijqBpr@qr?j_Cj;ja;j4t v At*m Bm 2mrmr\)z\)\)\-&@iYɛYI]>]5"=)a)aaaief򻉡iIqD D DEo  EE<ZAM >Źx,-  \AUA?yUl?9Ut =YU>UH oҿ/\/?`?ҿα?=H?@Ƹ?UA?ɨUlj; QeqBe6I%Mb@Mb@Mb@!! !)!I!y%kt?Dl?I +?% 0=%O=%94< %A)%AI!i% A!% AH=H=i5UEq ]3=Y]WQ ]>a٣a eGamo= u>y]49}+3l?a4Y}w i}qB=m!<Y7@q?}cC}u;};}4 " A*mBm2mrmr\U=z\U=\Ue?\UjY7@iqɛqIu`>ut =)y)yyyi}!I!D1zD5hAZI)bI-cjI-0rI)zI)I-x9I-ـ3I)GYGYGiGiGiGiGm =GiGiGm<GmoFDDDEj  EBE=:E=E<ZAMk>߆x,9 \A6?y6"?960J6H Կ Խ?F? DԿ@? x8?@q?6?ɨ6$; 6ِCrsBr8IIt)tHzHzi5, <  c=Y Q  >٣ G = >!]-49%0l?a54Y%G i%qB1559@q5?%gC%U;%4X;%4A E AA*maBma2marmar\z\\\59@iɛI>0J<))隙i"컉ID1D1D1E=n  E9:Jm PBJiJJiRJmJZJmnT;$~vpkda`]___bd`]YRMG?=;862/,)&&#!#!#2CLE <ZAM5 >I x,ȱ6 \A6r?y6?96'6HSֿ@.4??տ`Y?@DJ? ?6r?ɨ6; 6ؐC^jB^.IHfLHfF5rW( rM=YrQ r>t٣t vGtzA= z>|]49~7.l?a4Y~ i~qB  ;@q ?~kC~7;~I8;~4 S AE*m9Bm92m9rm9r\z\\\;@iɛIZ>'<))   i 黉IDDDE EE<ZAM!>Ga Ga Ge IGe BGe  =Ga Ga Ge <Ga H%ˬC H%ˬCH!H!"H!*H%=5x,GP \A 3?y ?9 X H`׿4ff\??׿Ȱ?$fO?? 3?ɨ ; EcBE%IMb@Mb@Mb@ )Iy/$?RQ?~jt?,==D< A)AIzAi Az AH >H Y~5 8=Y%csQ %>!٣! -G)-bt= ->A]e49Eg*l?ae4YE  iEqBe$=mm;m F@qu?EqCEξ;E;E4y } Ay*mBm2mrmr\$=z\$=\Ǔ?\Z F@iɛI>X<))i z軉ID>D>DDDEo  E2E*EE]G<ZAiM J>:J NBJ 9JJ RJ KZJ KIIGD?<66401/***'#"  J ? J ?x,bj \A29?y2lw?92Ha;Y2>2H@yٿN `$?Z?@|%ٿ@g?@ w@??29?ɨ2u; 2ڐCB[BBIF0>iF;HJ<HJv}5%0 %\=Y%ˢQ %>)٣) -G)5ݑ= 5>9]E49=>'l?aE4Y= i=qBAEG@qE?=vC=:=N:=+ 4Q U AQ*mqBmq2mqrmqr\z\\\SG@iɛI>>Ha;))is绉IZIbI_jI1rIzII=h9I3II/;q-I/;i-I:u-I:m-Dm?DiDqEug  EqE<ZAM> BDAT read: Rx Time:19:08:25.3416  TRx dataTimestamp_ set to:1736536106.056235x,4K \AW?y@9i0Y >HqjܿK??0*ܿ@?1??Ӛ?W?ɨW; =JB=IMb@Mb@Mb@ )Iy+?|?5^?Mb?==< A)I Ai A AH*H|u5 .=YQ %>!٣) -G)5= =>A]U49E#l?aU4YE# iErB]=m];]cCq]?E|CELZ;ESd;Eh4i mSAq*mBm2mrmr\=z\=\0?\"N@iɛI >i0)=),x, \A~@B~IHDH5-t -p=Y-Q 5?1٣1 5G1= =?A]M49E l?aM4YE9 iErBIIqU?ECE2:E:EO4Y ]Aa*m!Bm!2m!rm!r\9z\9\9\9iIɛIIM>Q)Q)QQU# BDAT read: Tx time:19:08:26.4345 $Ping request sent.ZI%jbI%ajI%0rI!zI%.:I%p9I%ـ3I!I%{4;I%~4;I%:I%:m JDAT read: TxSync time:19:08:26.4337 6Wx,o \AI$)( Xd rA)yWA}W?y}@9}aY}'>}H0޿m` ??޿ ?@"p???}W?ɨ}0; }֐Cޝ;BޝI)= a=H.HBw5˼ A=Y-Q >٣ G= >]49Bl?a4Yb i rBG@q?C::4 A*mBm2mrmr\9z\9\9\=Q@iIɛIIM>aI<));iOIDaDiDiEi EiEm<ZAyM>G >G G yIG BG  =G G G <G F>x,l \A*BIMb@Mb@Mb@ )Iy?RQ?y&1?<=`e< )lAIM Ai AH#Hbr5q H=YQ >٣ G >] 49l?a 4Y i,rB7=m<R9q?C;l;%4 %WA!*mABmA2mArmAr\e7=z\e7=\e?\eX@iqɛyI}E>yI}:<)y)yyh*ivd𻉡I^DDIDQDQEQ EQ:JE JBJE k9JJA RJE MZJE EE r<ZAa M >x, \AV9?yV@9VIYV'>VH\oO`?@gi?@t`ن? 5t٣t zGxz6= z>|]49~;l?a4Y~ i~8rB 6q ?~C~>:~;~n,4 AZIkbI^jIrIzI2:Id9IIq@i@u@m@*m)Bm)2m)rm)r\Az\A\A\Eh[@iqɛqIu>uII}@)}F̸)yy}i}I^D}DDDE EEV<ZAM5P>bx, \A5 B5IMb@Mb@Mb@ )Iy~jth?#~j?{Gz?D;=#< rA)I Ai AH%H%i5=ް =*=YEQ E>Q٣Q UGQ] ]>]49bl?a4Yg iDrBB=m"<(q?C:o:54 PA*mBm2mrmr\5B=z\5B=\5R?\5j@iAɛAIE>A)I)IIIiMQIQGGG>GG`IGBG =GGGs<G^F^D*AD9 D9 DA EE p  EA BEM =:EM {>E <ZA) MM >4x,? \A6?y6@96Y6$>6H` ?X$?`wZ??r??6?ɨ6{f; 6֐CFBFIHf9Hf"|5n7 rz=YrXVQ r?t٣t vGtva8= z ?|]~49~l?a4Y~ i~KrB&q?~C~:~:~:4  A*m1Bm12m1rm1r\Iz\I\I\MZk@iaɛaIe>m)i)iiiimqIyC=C=^D}oM:JBoHBJ-9JJRJNZJD?DD E o  E Eb<ZAM-,>ZIibI`jI1rIzI+:Ibl9I3I! % Ax,|9 \ABL,?yB4@9BcYB/ %>BHVbw??` }U? G?`{?~?BL,?ɨBRk; BؐC^BbIHj@Hj<5r.& rJ=Yv}Q v>t٣t zGxz; z>Y]e49]Dl?ae4Y], i]UrBiml&qm?]C]:]:]A4uB uAuE*mBm2mrmr\z\\\uk@i!ɛ)I-n>-c)))))1i5qIy^DD?DDEp  EEm <ZAy M >G G G MIG BG G G G (<G (FH @AH rx,&WS \A6X;?y6o<@96ꇬY6'&>6H@u+? 9 ?@X?v?`?@w?6X;?ɨ6[; 6ِCRBRI)T V=EMb@Mb@Mb@AA A)AIAyE/$V-?Mbp?EEm=E; E\A)AIEAiEAAE AHU<HUv}5ޡ <=YҦQ >٣ G[: >]49 l?a4Y iZrB0}=mV< q?C;Y;-I4 vA *m1Bm12m1rm9r\U0}=z\U0}=\U?\UQE@iaɛaIe>eꇬ)i)iiiimN qIqCCCCDDDEo  EBDAT read: Rx Time:19:08:28.8418 TRx dataTimestamp_ set to:1736536109.583894Ef<ZAM>:J BJ 9JJ RJ OZJ J ? J ?x,YV(>VH`{?? H?` ??@5n?V(?ɨVk; VאC}ۀBޅ}IH9H"|5{< /=YQ >٣ Gh >]49 l?a4YP i`rB q?CdI;I;WQ4 A*mBm!2m!rm!r\9z\9\9\=7:@iIɛQIU_>UN>)U)QQQi]YIYDDDEp  EE=<ZAM%o> DAT read: 19:08:28.8419 LVL= 12112, 20977, 14322, 17555, AGC= 50, IDX= 444, 0.30,-1.784,-0.420,-1.170, 0.211, PHS=-1.907,-0.584,-1.384, RAW= 306.9, 49.9, CAL= 313.2, 49.9, ROT= 196.8, -49.9  Ygot valid direction response: 19:08:28.8419 LVL= 12112, 20977, 14322, 17555, AGC= 50, IDX= 444, 0.30,-1.784,-0.420,-1.170, 0.211, PHS=-1.907,-0.584,-1.384, RAW= 306.9, 49.9, CAL= 313.2, 49.9, ROT= 196.8, -49.9  PDAT read: Bearing 196.8, -49.9 (Local)  ~Local bearing/azimuth received: Bearing 196.8, -49.9 (Local)  DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.2 ms) speed 0.0 m/s  ,DAT read: user:1119>  BDAT read: Tx time:19:08:29.9346  $Ping request sent. -H ࡩ \?-? T? ܹ?@?ye?-?ɨ-҉; -ՐC*G%<"G%<G->G)G-4IG-pBG- =G)G)G-<G-~FHëC HëCHH"H*H2u4HHI3IO3IϚ.IIIZIbIjIrIzIIIII/;qI/;iI(:uI*:mJDAT read: TxSync time:19:08:29.9338 IAiESmA AA)ii mrlAmhii}3C}mAIy)yiy)yI΁́́ ΁ΩΩέ;߽iΩΩiϱϱ)ϱ ϱIϱ й)нlAϹϹϹйнAiDIĀBbIE Mb@Mb@Mb@A A A )A IA yE V-Mb?MbpE mE =E  E `A)E pAIE AiE MAA E AHm ?Hm ~5 ,  ٣  G 5 ;0 5 >9 ]E 49= l?aE 4Y= q i= ]rBM =mM G6H@HU@Ua?fJ?;}j:?s?@]?6\?ɨ6*; 6֐C< <<>x:Fɸ<@@I@)@i@)FLCIDDɹD DɺHJMlAHiHHiLL)N. NkZFIL P)PɻPPPPɼPiTITTITiT XX)XX:JiBJmu9JJiRJmPZJmJqIqޭBޭIIH'H(t5XD =Y;Q [?٣ G( [?)]549- l?a54Y- i-[rB15 ſq5?-C-:-:-3`4A e Aa*mBm2mrmr\z\\\Ǘ@iɛI_C>"I))iID?DDEm  EEu<ZAM;>6x,y \A:!?y:/@9:0Y:9s%>:H@߿ XW? {? a_% h? r?\?:!?ɨ:D<; :אCޕBޝEIHHe5 O=YQ >٣ G > ]49  l?a4Y } i YrBƿq? C ; ; &g4! %:A!*mQBmY2mYrma}>}4=r\z\\\T@iɛI>0))隩i I^D GE>GAGEIGE[BGE =GAGAGE<GExFZIlbIejIrIzI<5:I9IIIH?;IJ?;I:I:DU?DQDYE]o  EYE- L<ZA9 M] >ax, \A6a ?y6s%@96Y6&>6H޿?L?? ߿1?3?S?6a ?ɨ6{; 6ՐCrBr@I)v= vp=}Mb@Mb@Mb@yy y)yIyy}/${Gzt?:v}}ף;}T }A)yI}?Ai}Ay}=AHH]5  K=YJQ >٣ G`( >]49 l?a4YE iPrBa=m<ϒq?C=:|:n4 [A*mBm2mrmr\a=z\a=\AE@\ \@i1ɛI>)Խ/)隹iB>'I^DɯDE?DADAEA EAE[<ZA1MMR>:JBJ-9JJRJQZJ=^szskf]UOF<6/,'  J> J>cx, \A6"3?y6T@96 Y6I&>6Hxݿg?{?`޿?? N?6"3?ɨ6x; 6אCBBB:IHJFHJ5R| R\=YVD^Q V>T٣X ZGXZRv Z>\]f49^l?af4Y^ i^GrBhzqz?^C^$;^ <^t4 A*mBm2mrmr\z\\\>@iQ ecGɛYy AI> )yA))i.I^D5DDDE}  EE <ZA M= >rx,)w \A6 ?y6R$@96g Y6+&>6H*Mܿ`=i(?^?;rݿiq@._?(}?@I?6 ?ɨ6C,; 6ؐC@@GtGvAAGxGxGzIGzQBGxGxGxGz<GzF=Mb@Mb@Mb@99 9)9I9y=+η~jt/$=v=ļ= =A)=lAI=$Ai=\A9=fAHUCHUH5m3; m?=Ym"Q m>q٣q uGqZI}bIajI0rIzI[j:Ip9Iـ3II;I;I:I:uk >]49 l?a 4Y i6rB Y=m < +bq ?C::N|45B =A=E*myBmy2myrmyr\Y=z\Y=\9Y@\qʬ@iɛI>g ))i5IC=C>^D_'DaDaDaEev  EaE=$<ZAIM]>ե ?ե <~ x,?T( \A>?y>@9>\Y>$>>H@ڿ LW ?b?`ܿ?K?`.G?>?ɨ>; >אCJBJ7IN;>iN<HRAHR5Z{ ZV=Y^!&Q ^>`٣` bG`f7 f>h]j49jl?an4Yj ij(rBln>hqr?jCj;j;j4t vAt*m Bm 2m rm r\)z\)\)\-@i9ɛAIEϴ>M\)I)IIIiMBx,0B \A6a?y6?96_Y6'">6H`eaٿO^??ڿe,? ?@F?6a?ɨ6S; 6֐CBBBBIHJCHJH5V>= VK=YV+ȻQ V>X٣X ZGX^ ^> ]49 l?a4Y P i rBnq? C ; I; ≐4) -OA)*mIBmI2mIrmIr\iz\i\i\m8@iyɛyI}>}_)y)隁i~CICCCCBDAT read: Rx Time:19:08:32.3422 TRx dataTimestamp_ set to:1736536113.122924G>GGGG =GGGѱ<GFDu?DqDqEu{  EyZImbIcjIrIzI\8:Ix9IIID;ID;I:I:EU<ZAaM}>x,+\ \A6F@?y6}?96#Y6֡>6HJ׿:?V? !ٿ`NT?!? BI?6F@?ɨ6&; 6ؐCNBNAI-Mb@Mb@Mb@)) )))I)y-I +:v-9-L-Լ -A))I-Ai))-=AHEGHE+5] ]?=Y]a٣a eGaey m>i]}49m7l?a}4Ym imrB}=m;R.q?mCm<;mK;m-4 XA*mBm2mrmr\=z\=\c!j@\E@iɛI>#))隡iEJLIDaDaDaEey  EaEE<ZAIMm5>DAT read: Range 10 to 50 : 2.6 m (Round-trip 3.5 ms) speed 0.0 m/s ,DAT read: user:1120> BDAT read: Tx time:19:08:33.4346 $Ping request sent.B=951..+(&##!x,u \AB{?yB4?9B$YBz>BH`Wֿ 6Y w?`ע?`)׿iI?@J?@cM?B{?ɨB\; BאCbBbPIId)fA hjAAHnCHnH5v= vR=YvZ:Q v>x٣x zGx~D ~>JDAT read: TxSync time:19:08:33.4338 ]49l?a4Y iqB4q?C;j;4) -A)*mqBmy2myrmyr\z\\\Ry@iɛI0>$))i XSIDqDqDqEu  EqEM-<ZAYMu>B#x,ď \A2B?y2Q?92Y26>2Hտ¼?@?x@ֿ{3?E?}T?2B?ɨ2$Ո; 2֐CG@G@GB!IGB`BGB =G@G@GB<GBqFNBNXIH}4=H}p=ZIjbIhjI1rIzI.:IȆ9I3II{4;I~4;IҬ:IӬ:%Mb@Mb@Mb@!! !)!I!y%y&1L7A`尿Zd;O%`e%+%j %A)%AI%lAi%rA!% AH=H=4d5M< M6=Y]j:Q ]>Y٣Y ]GaeL e>i]u49mkl?au4Ym imqB}k=m}<}鲾q}?mCm7 ;m* ;mٟ4 A*mBm2mrmr\Ek=z\Ek=\EG@\EJ@iqɛqIu>u)y)yyyi}[ID-?D)D)E-x  E)E7<ZA bA#1JM-O>)x,ę \Ab=?ybP?9b Ybn>bHӿ?Y"? Կ`=?@ ? ]?b=?ɨbm; bؐCǹBnkIHvHvc5~= c=Y6 ٣   G c >]%49l?a%4Y1 iqB!%!q-?CO/;[0;%49 =GA9*mBm2mrmr\z\\\@iɛIɹ> ))i}b!I!:JuMBJqJJqRJuTZJu  $$#())&"D?DDE  EE<ZAM&>A0x, \A6ӓ?y6X?96 Y6uI>6Hoҿ @ka?DW?ӿ`g.??+c?6ӓ?ɨ6; 6אCF݀BFIJ=iJ>LLHRHRe5Z= ZO=Y^ R\٣\ bG`bTJ b>d]j49f)!l?aj4Yf ifqBlnʾqn?fCf:f;f 4p rAp*m Bm 2m rmr\)z\)\)\-n@i9ɛAIE>E )A)AAIiM)iIIQD D D E  EEx<ZA1M>GGG@IGzBGGGG <GFHA HAHAHA"HA*HEI5HAAH@A6x,XV \A~B~IMb@Mb@Mb@ )Iy~jt㥛 ~jtDD \A)IAi\Ap AH6Hz5ͽ< :=YQ >٣ G >]49#l?a4Y` iqB}=m1<->q?C ;-;4 A*mBm2mrmr\}=z\}=\2@\z->iɛI>))i,qIDDDE  EE<ZAMA>:J8MBJ9JJRJUZJ   1JMHA9420+*(&%!   J ? J?ZI lbI `jI 0rI zI <5:I bl9I ـ3I q @i @u @m @)=x,a5 \A2AW?y2Ɣ?922HϿ/??@Eп??@v?2AW?ɨ2Mlj; 2ՐC:B>IHF+HFu5V> V^=YZc@=Q Z>\٣\ bG`b| b>h]549j%l?a54YjJ ijqB9=V=q=?jCjZ<))隹ivID?DDE  EE.<ZAM>Dx,g  \AG>GG`IGBGGGG<GvFBd?yB?9Bq<ܽYBT>BH`ο\??RϿ 豿y???Bd?ɨB; @N BNIIP)RA)Zp= ZR=Mb@Mb@Mb@ )IyQ?MbMb`\= A)AIAi/AH-Hv5#S= :=YF٣ Gw >]49'l?a4Y iqBr=m5<A?q?C4:R:4 bA*mBm2mrmr\=r=z\=r=\=Ϧ@\=A?iIɛIIMG>Mq<ܽ)I)IQQiU2|YIYBDAT read: Rx Time:19:08:35.8422 TRx dataTimestamp_ set to:1736536116.395238D?DDEx  EE~<ZAM%>_)٣) -G)5 5>9]E49=)l?aE4Y=6 i=qBAAqE?=C=z:=:=ɐ4Q UAQ*mqBmq2myrmyr\z\\\i!ɛ!I->))))))1i5_71I9:J*MBJJJRJVZJJIDDDE  EZIqbIudjIu1rIqzIqIu|9Iu3IqE<ZAM%+>I)PC eG ) iy  kA!Qx,D \A2?y2?92'Y2+y>2H˓˿`H?@ ?̿x`?M?j?2?ɨ2vC; 0R&BRIHb$Hbr5j>t= jP=Yj3c=Q j>l٣l nGlr:Y r>t]z49vd+l?az4Yv ivqB|~]')Y)Yaaie{UaIiDAT read: 19:08:35.8422 LVL= 14288, 16241, 12610, 16883, AGC= 48, IDX= 447,-0.22, 2.651,-1.499,-2.811,-1.636, PHS=-1.908, 0.184,-1.178, RAW= 309.9, 29.2, CAL= 315.6, 31.9, ROT= 194.4, -31.9 Ygot valid direction response: 19:08:35.8422 LVL= 14288, 16241, 12610, 16883, AGC= 48, IDX= 447,-0.22, 2.651,-1.499,-2.811,-1.636, PHS=-1.908, 0.184,-1.178, RAW= 309.9, 29.2, CAL= 315.6, 31.9, ROT= 194.4, -31.9 PDAT read: Bearing 194.4, -31.9 (Local) ~Local bearing/azimuth received: Bearing 194.4, -31.9 (Local) DAT read: Range 10 to 50 : 2.6 m (Round-trip 3.5 ms) speed 0.0 m/s ,DAT read: user:1121> BDAT read: Tx time:19:08:36.9346 U$Ping request sent.U]Ȗ]@ ]w?)]C@D?DDEw  EI]Ӈ?i]%Y@]ӇY Y]~ꔇM4ÿ8W.?I]>i]AF]8]ӇY YU:publishing transmit ping timeQ]Fpublishing direction and range infoYEc<ZAY]-[*vGP.1#T˿w]z?Y9YY Y)YIYM=.>iYYYYY Y)YIYiYYY Y]~ꔇM4ÿ8W.?IYiYYYY YG->G)G-IG-BG- =G)G)G-<G-FLWx,^ \A2?y2Z-?92"Y2d>2Hʿ``M?2?˿ 7?0s?˓?2?ɨ26; 0B9BBIF=iFa=DDMb@Mb@Mb@ )IyV-?Zd;Oy&1|?h=j<`; )AIAivA AHEHE@T5= B=Y٣ Gf >]49,l?a4Y iqB٭=m<?q?C;;ؐ4 A*m!Bm!2m)rm)Zj>6il?bj9:4 iiPI \Ajf&@jJ%@2jeݧ@pϔP~?zp-[*vGP.1#T˿w]z?"j8*jӇpex ?e+y?puw"`?oc5=8U?iXj?i l?i 5  juBzj l?j+I jjj˻?rj2@r\m٭=z\m٭=\m^@\m?iɛI~>")n)隉izID-?D)D)E-  E)E<ZAM-->:J KBJ 9JJ RJ WZJ   J > J >ZI bI kjI 0rI zI I 9I ـ3I u]x,tx \AB$?yB?9BYB>BH ʿ@.0?o:?`˿d?@2?Е?B$?ɨB; BԐCN>BNIHZ!HZq5br< fT=Yf+h٣h jGhj n>p]r49ry-l?av4Yr irqBtv?qv?rCr2:r:rސ4x zA*m9Bm92mArmAr\Yz\Y\Y\]?iiɛiIm>m)q)qqqiuyIyDDDE EE-P<ZA9MU>*G- <"G- 4<_dx,Y \AGm>GiGmIGmBGiGiGiGm<GmkFVF?yVA?9VmPYVq>VHʿ@`M ?o=? y˿@ ?s??VF?ɨVӉ; VՐC=CB=IMb@Mb@Mb@ )IybX9ȶ?~jt{Gz?E=ļ#< )IhAi3A AHHZ5< 8=Y٣ GP;  > ]49 -l?a4Y  i qB=m<%?q%? C AQ; )G; >4 A*mBm2mrmr\5=z\5=\5@\5?iAɛAIE>MmP)I)IQQiU΋QIYDDDE~  EEU<ZAME>} s?} ?.jx,, \A2^?y2?92 Y2>2HO˿ ?@h٣h jGlnx; n>p]v49r-l?av4Yr irqBx~?q~?rCr&D;rD;r4 #A *mBm2mrmr\z\\\?iɛI> ))!!!i%{!I):J5}2LBJ5k9JJ1RJ5XZJ5ZIekbIe_jIarIazIe2:Ie=h9IaIa^D.DDDE|  EEu*<ZAM>oqx, \A2?y2?92μY2b>2H`x˿? n>?@R˿?`!ڙ???2?ɨ2ʉ; 2ҐCRYBRIHZHZl5b*= bK=Yb =Q f>d٣d fGdn?; n>p]v49r.l?av4Yr irqBtvK?qv?rCr~:r:r4| ~ A|*m!Bm!2m!rm!r\9z\9\9\=2K?iIɛIIU>Uμ)U)QYYi]aIa^DU+DaD?DDE  EBE-=:E-=E-L<ZAYM=>G>GGIGƁBGGGG<GmF wx,e \A>?y>Z3?9>sEY>yw>>H`˿Q?D:?`˿`?&?`?F?>?ɨ>É; >ԐCJ^BJI%Mb@Mb@Mb@!! !)!I!y%(\µ?Mb`?I +?%=%;%94< %\A)%AI% Ai%A!% AHE)HE u5mX< u@=Y-٣ G< >]49c-l?a4Y) iqB=m<?q?Cy; ;"4  A*mBmQ2mQrmQr\m=z\m=\mѷ<\m~?iɛI >sE))隡ivI^DC D?DDE  E:J iKBJ 9JJ RJ YZJ E <ZA M >e}x,0 \A2B?y2?92.9Y2@>2H̿p) ?@/?@hS̿` ǡ?|8?` ?2B?ɨ2{; 0JYBJI^BDAT read: Rx Time:19:08:39.3417 bTRx dataTimestamp_ set to:1736536119.925998QQH8H{5 G=Y0٣ Go< >]49,l?a4Y@ iqB!%j?q%? C; :h4) - A)*mBm2mrmr\z\\\)j?iɛI>.9I))+it I ^DǼDDDE  EE ԕ<ZA M >G G @AG >G G IG BG  =G ix,\AGGƱ<GFHɽ HɽHɽHͽ ="Hͽ =*HͽH5ZI%lbI%cjI%1rI!zI%<5:I%x9I%3I!I%H?;q-I%J?;i-I%:u-I%:m5?yT?9SHiο߽ ? ?Ϳ-7?۩?ౡ?騍?ɨ; _B IMb@Mb@Mb@ )IyL7A`?/$?٣ G= >]49r+l?a4Y iqB =m><M@q?C;D; 4  AI*mBm2mrmDAT read: Range 10 to 50 : 2.2 m (Round-trip 3.0 ms) speed 0.0 m/s ,DAT read: user:1122> -X#Rx 8: Read range message, but no direction.ةح @9ةr\ =z\ =\>\{M@i1ɛ1I5>=S;x,lw2\A2-?y2k?92a=Y2o>2H"Ͽࢭ`?`?fοAA? 8+?@?2-?ɨ2; 0BZBBIHN<HNv}5V9׼ VD=YVX٣X ZGX^< ^>`]f49b4*l?af4Yb ibqBdj@qj?bCb ;b ;b64l n Al:JEBoHBJE9JJARJEZZJE*mBm2mrmr\z\\\@iɛI\>a=I<)):i ̈ I^DGgLYYD?DDE  EE<ZAM>[x,2L\ABB?yB?9B+8=YB>BH Hп  )`?\?:пa???BB?ɨB,; @RaBR"IIT)T)Z= Zp=H^ H^q5f= fI=Yfh٣h jGhn< n>p]v49r(l?av4YrJ irqBxz@qz?rCr1;r6;rP4  A*m!Bm!2m!rm!r\Az\A\A\E@iQɛQIU>U+8=I#=))x,f\ABU2?yBo?9B8^=YB>BH@pѿg??Jп? ?@?BU2?ɨB\; B֐CHN#I5Mb@Mb@Mb@11 1)1I1y5kt?Mb?Mb?5 0=5=5< 5A)1I5zAi5 A15 AHM(HMt5e: eA=Yei٣i mGim< u>q]49u~'l?a4Yu iuqB]=mt<X@q?uCus:u:u4  A*mBm2mrmr\]=z\]=\#?\X@iɛI>8^=))隉 G lA )5 %y= lA= A;x,\A~[B~IH H % %N=Y%Q %>)٣) -G)- 5>9]E49=&l?aE4Y= i=qBIIqM?=C=:=:=&4Q U AQ*myBmy2myrmyr\z\\\iɛI>))隩iÄIDiDiDiEu  EqEM<ZAYMu>*G <"G p<G5 >G1 G5 fIG5 BG5  =G1 G1 G5 <G5 ~FZI ibI cjI 0rI zI +:I x9I ـ3I I /;I /;I :I :"x,ؼ\A6?y6 M?96==Y6w>6H@ҿ .`? x? ҿ y?#`?3?6?ɨ66; 6ԐCLPV)>iV>99uMb@Mb@Mb@qq q)qIqyuI +?٣ GfZ= >]49$l?a4Y iqB=m<&G@q? CS*;(;-4 *mBm2mrmr\=z\=\?\&G@i)ɛ)I-`>-==)-u;)111i5hς9I9D?DDE  EE<<ZAM>SMx,9\A2X?y2~?92, =Y21>2Hdӿ`mK@? d?ؘҿ`ղ?`O`W?G?2X?ɨ2‹; 2ѐC^dB^&IHjJHjՁ5r< rt٣t vGtzy< z>]49#l?a 4Y iqB  G@q ?!C>::44  A*m9Bm92m9rm9:JJBJ-9JJRJ\ZJJgAIhAr\Qz\Q\Q\UG@iɛIq> , =) )   i ÀI1D?DDE  EE<ZAM%>4x,s\A:?y:?9:==Y:>:H Կ2 ]?@E?!4ӿt[?Za]??:?ɨ:W; :ՐCG>GGSIGBGGGGx<G`Fޝ^BޝII)ZIjbIfjI1rIzI.:I9I3II{4;I~4;I:I:Mb@Mb@Mb@ )Iy٣ G< >]49!l?a4Y iqB/=m<)(q?$C";j!;w>4  A*m!Bm!2m!rm!r\U/=z\U/=\U?\UWi@iaɛaIe ?e==)i)iiiim"{qI]BDAT read: Rx Time:19:08:42.8421 eTRx dataTimestamp_ set to:1736536123.451270D?DDE  EE x<ZA M >_x,Q\A6 ?y66^?96==Y6.>6H@Կk ?&?%ӿI?Mi b? ?6 ?ɨ6; 6ӐCȊi̝XmA ̙˙)̙̙ ͝1lḀj<̥]F̡͡͡I͡)͡iͩ)ΩIέhmAͭףͩ ιινvlAν㥽iADFilA) I )iIdB&IH_H|5= =YR==))隡iwI^D:J-BoIBJ-#9JJ)RJ-]ZJ-$+)" J] ? J]?DQ DQ DY EY  EY  DAT read: 19:08:42.8421 LVL= 12032, 14417, 12338, 18547, AGC= 48, IDX= 433, 0.33, 2.206, 2.888, 1.961,-2.969, PHS=-1.020,-0.379,-1.356, RAW= 349.8, 48.6, CAL= 346.5, 49.2, ROT= 163.5, -49.2  Ygot valid direction response: 19:08:42.8421 LVL= 12032, 14417, 12338, 18547, AGC= 48, IDX= 433, 0.33, 2.206, 2.888, 1.961,-2.969, PHS=-1.020,-0.379,-1.356, RAW= 349.8, 48.6, CAL= 346.5, 49.2, ROT= 163.5, -49.2  PDAT read: Bearing 163.5, -49.2 (Local)  ~Local bearing/azimuth received: Bearing 163.5, -49.2 (Local)  DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s  ,DAT read: user:1123>  BDAT read: Tx time:19:08:43.9347  $Ping request sent. uF!?M9?m @9i m / m Q8)m 20Im sHii m \m J ¾m hm |]@ m %Y?)m @Im [?im 6@m [i i E 9<ZA) m SDXۿFr+x-?Im 6tim pXm 6@m [i i M :publishing transmit ping time M Fpublishing direction and range infoi Ym hBd >uF!?M9?i 9i i i )i Ii ii i i i i i )i Ii ii i i i m SDXۿFr+x-?Ii ii i i i i Mm >Ix,5\Ary~?yr?9r=Yr;>rHSտ s?q?xsԿ௶? ?`Y?ry~?ɨrE; rѐCY YYaɸaaaIa)aia)m@CIiiɹi iɺ麽QlAiilA)E I )ɻCɼiIIi )ޭcBޭ$IHfH 5  L=Y;Q >٣ G< >]U49l?aU4Y8 iqBQU&qU?(C,<,<J4a e Aa*mBm2mrmZj#M6l?bj% ii,\Aj@j@2j&7@pWYۻ\?6?zphBd >uF!?M9?"j6@*j[pLŬ!?'@ɻ?pF[?r,7N DŽ?i|j>is6l?iA  j]Bzj4 l?jA jBjj?rjM@r\Yz\Y\Y\].k@iɛI7>=))!!i%dr)I1JDAT read: TxSync time:19:08:43.9339 ^DE] ;D?DDE  EE{<GGAAG>GGMIGBGGGG<GFZAM >qx,\A5aB5"I==i==Mb@Mb@Mb@ )Iy~jt!٣! %G!% ->1]=495l?a=4Y5 i5qB=.)=m=<=qE?5*C5:5:5R4I M AI*miBmi2mirmir\.)=z\.)=\\@\Q}@iɛI>))隱ianIC=C=^Dvт;=:?DI DI DI EI  EI Ee b<ZAq M >.x,4\A6s?y6*?96O=Y67 >6H $ֿ`Qշ??`տ@?@⶿S?`C?6s?ɨ6‰; 6ӐC~bB~$IH ZH `5U< Ul=YUQ U?Y٣Y eGaeo= m?i]}49m7l?a}4Ym imqBy}Vq}?m,CmU;m;m)X4  AZIkbIojIrIzI2:IK9IIq@i@u@m@*mBm2mrmr\z\\\V~@:JƒLBJ9JJRJ^ZJ  JhAIi ɛ I > O=))iGjIC!C!C-C-DDDE EE <ZAM=> x,N\A6̔?y6R?96G=Y6vU >6H@=׿p~?@3?]fֿY?Zk?1?6̔?ɨ6_ ; 6ҐC>kBB/IHF&HFs5N<= RV=YR0Q R>T٣T VGTV&< Z>X]b49Zcl?ab4YZ iZrB`fqf?Z.CZ;Z#;Z^4h jK Ah*mxBmx2mxrmxr\z\\\g@i!ɛ!I%>%G=)!))))i-e1I1GaGaGeGIGeBGe =GaGaGe<GenFHA HAHAHE ="HE =*HEy4DD D E   EEE<ZA1M>Jx,h\A6zc?y6?96=Y6O>6Ht׿`?`?ֿ?@ʵ@?ӓ?6zc?ɨ6߉; 6ӐCnfBn)IIp)puMb@Mb@Mb@qq q)qIqyuMby&1?{Gzt?uu`٣ G(l< >]49l?a4Y] irB=m<q?/C ::uf4 u A*mBm2mrmr\=z\=\@\] @iɛI>=))i`IDDDE  EE1<ZAM=>ZIobIdjIrIzI>:I|9II:JLBJ`9JJRJ_ZJ    J ? J?x,Lq\A>?y>r?9>M=Y>>>H ׿@[?`0?`\ֿ@t?`Sc ?`?>?ɨ>; >ҐC^hB^+IHjkHj%5 }< T=YqQ >٣ G%#; %>)]-49- l?a54Y- i- rB15q5?-1C-::-:--m4A Eg AA*mBm2mrmr\z\\\?)@iɛIԾ>M=))iw\IDDDE  EE<ZAM>*GQ"GU4<G]>GYG]MIG]BG] =GYGYG]ı<G]Fx,O\A2'?y2Te?92z=Y2>2Ht׿~ R?@E?%׿??@?` ?2'?ɨ2?^; 2ӐCNoBN3IeMb@Mb@Mb@aa a)aIaye rh?MbP?eeC٣ G; >]49}l?a4Y i rB<mB=q1q?2CG ; ;t4 0 A*mBm2mrmr\ <z\ <\ ?\ `@iɛI>z=)!)!!!i%bX)I)DDDE  EBE:E=Ee'<ZAyM>x,=*\A:?y:?9:_&=Y:W>:H 0ؿq;7? ?%^׿ݿ?Ŀ??:?ɨ: ; :ѐCFpBF4IJ0>iJ=HN^HNC5V; VZ=YZjQ Z>X٣X ZGX^< ^>d]j49fl?aj4Yf if rBhj/1qn?f3Cf:f ;f{4p r* Ap*mBm2m rm r\!z\!\!\%w`@iQɛQIUW>U_&=)Y)YYYi]zTaIaIE=)CZIjbI\jI0 G%;mA A:J].ELBJ]k9JJY)uyu;mAuARJ]`ZJ] rIzI.:I[9Iـ3ID?DDE  EE<ZAM=  BDAT read: Rx Time:19:08:46.3421 TRx dataTimestamp_ set to:1736536126.979478x,\A2?y22?92=Y2.>2H]ؿKfӺ?k?@T׿?rI?ޕ?2?ɨ2; 2ҐCNmBR1IH^KH^5f[ fH=Yf$Q j>h٣h jGhn; n>p]v49rwl?av4Yr irrBtv0qz?pr:r:r34| ~@ A|*mBm2mrmr\9z\9\9\=>+a@iIɛQIU>U=)Q)QYYi]ϰPYIaG>GGYIGBGGGG<GrFD!D!D)E-  E1EE<ZAIHHM>%DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s -,DAT read: user:1124> 5BDAT read: Tx time:19:08:47.4347 5$Ping request sent.52H`ؿ`Z}?8y?þ׿`O? 6x??2M?ɨ2; 0NjBN.I]Mb@Mb@Mb@YY Y)YIYy]~jt?~jth?Y]D<]D; Y)YIYiYYYHmBHm5}3 }?=Y$Q >٣ G; >]49l?a4Y irBJ<m=1q?4C:{:4 S A*mBm2mrmr\J<z\J<\\Q~`@i ɛI,>=))iNL!I!D1zD1}JDAT read: TxSync time:19:08:47.4339 D?DDE  E2EgA*EE<ZAM%>ZIbIdjI1rIzII|9I3I:J^KBJJJRJaZJ'+)&'!Qx,\A:?y:F?9:0=Y:,>:HnؿQ)"?@@u?׿lg?` p? ՗?:?ɨ:G; 8BhBF+IIH)H)J= J=HRHRkf5^[ bX=YfDQ f>h٣h nGlnm; n>p]z49rl?az4Yr irrB|~c1q~?r5CrH;rH;rU4 h A *m!Bm)2m)rm)r\Az\A\A\E9`@iQɛI>0=))i I1IADDDE EE<ZAM$>G>GCGfIGBGGG?DG<GFH C=H a=U x,\A:?y:"/?9:@r=Y:a>:H@ؿ.>?n? ؿ:?C/?@?:?ɨ:D؉; :ϐCRdBR&IEMb@Mb@Mb@AA A)AIAyEQ?I +?EuHeY~5uن u?=YuDQ }>y٣y }Gy; >]49+l?a4Y ia<m2=&@q?6C+;S*;4  A=mhDone checking for power/comms, continuing with slide=mDSlide state transition from 1 to 2*mmBmuJmBRm2m̒8r\a<z\a<\!?\&@dB@r=) `i̒8)iI"&Changing to mode: 4"Slide mode."2Commanding negative:34792DDDE EE<ZAMl>=XRequesting device enable clr for address 50.o7 x,&o7\A6|^?y6?96])\=Y6\>6H ٿ/3?`e?HOؿ@QĻ?@ǁq??6|^?ɨ6L2; 6ҐCbeBf'IHj0Hj%x5vE; vS=YvdQ v>x٣x zGxz < ~>] 49l?a 4Y irB  N&@q?7C)::4  A*mABmAJmARmA2mAr\iz\i\i\m_N&@y}])\=)y }:i)UG5隁iIDD:JLBJJJRJbZJ D>DDE  EBE:E==XRequesting device enable clr for address 50.E-<ZA9MU>= XRequesting device enable clr for address 50.Lx,2H .ٿ(@iV>HZHZP5bt bM=Yf9Q f>d٣d fGdj; j>l]r49nl?ar4Yn ilpvr&@qv?lnR:nW:ny4x z AxG>GGlIGBG =GGG<GgF*mBmJmRm2mr\z\\\r&@!%I=)! -:i))-5))i)1I1D;DDE EZIlbIajIrIzI<5:Ip9IE[<IIG?;qIJ?;iZA I:uMI:mMM9>SJx,()k\A~`B~!IMb@Mb@Mb@ )Iy٣ G >]49l?a4Y ih<mi=w6@q?8CE;*C;!4  A*m)Bm)Jm)Rm)2m)r\Eh<z\Eh<\Eb?\E"w6@aa)a e@ia)eN۶iiiiiIq^Dr;DME8DIDIEU  EQE- <ZA9 Mm >:Je [4LBJa JJa RJe cZJe J} ? J} #?2!x,\A^?y^XL?9^ &=Y^_8>^H 7ؿ @?,r?JؿN?ؤF?t?^?ɨ^[; ^ѐCfQBfIHrHr5v} zY=YzQ z>|٣| ~G| K >] 490l?a4Y~ irB6@q?9C ;"&;4) 5"A9*maBmaJmaRma2mir\z\\\'6@雕eB &=) `i)(隙iI^D*G<"G<G>GGfIGBGGGG<G|FH]ǪC H]ǪCHYHY"HY*H]ǧ$5DM5DIDQEUV  EQE <ZA M >ZI kbI bjI 0rI zI 2:I t9I ـ3I I 9;I 9;I S:I T:['x,ܞ\AbBDAT read: Rx Time:19:08:49.8424 fTRx dataTimestamp_ set to:1736536130.507308rMBr IIt)t}Mb@Mb@Mb@yy y)yIyy}MbpI +?Mb`}y} }rA)}lAIyi}Ay}G AHH5㕼 ?=YQ >٣ G >]49l?a4Y iB<m=xq?:C;;/4 BA*mBmJmRm2m r\%B<z\%B<\%b?\%x@) p@i)(iICCCCD5P3D1D1E5l  E1u8>u%=E <ZA M= >)-x,\A6(?y6e?966Hgؿ-`Z?y?w׿?@'??6(?ɨ6É; 6ӐCb>BfIHvHv45=G =Q=YEQ E>A٣A MGIMꓼ M>Q]]49Ul?a]4YU iQaeqe?QU;U:U4i mAi*mBmJmRm2mr\z\\\8x@<) i)| iI:JMBoHBJM9JJIRJMdZJM) j2<|HC1ykc_]aZPKJFB@;9865211D]1DaDaEeF  EaJ}gAI}gADAT read: Range 10 to 50 : 2.7 m (Round-trip 3.6 ms) speed 0.0 m/s ,DAT read: user:1125> BDAT read: Tx time:19:08:50.9347 $Ping request sent. JDAT read: TxSync time:19:08:50.9339 xm4x,\A2ފ?y2d?92cP2H`;ؿ`&E`@?`? O׿$? ɗ`?`?2ފ?ɨ2Y; 2ѐCR5BRIHZHZޚ5bE fR=YfYQ f>d٣h jGhjWJ j>l]r49nKl?av4Yn iltv1qv?n;Cn:n:nȑ4| A*m!Bm!Jm!Rm!2m!GE>GAGESIGEBGE =GAGAGEϱ<GEFr\Yz\Y\Y\]xw@imcP<)i uiq)u9ZiIZIembIeajIe1rIazIe\8:Iep9Ie3IaIeD;IeD;Ie:Ie:DE /DADAEEr  EAE<ZA)MEs>6:x,o\A:?y:P3?9:`:H׿@qT4?`? j׿Q?ۯ@e2?G?:?ɨ:Q; 8F.BFIJ=iJ4=HJA%Mb@Mb@Mb@!! !)!I!y%S㥛:v?~jth%/ݼ%<%D %A)%AI%Ai% A!% AH=H=t5M4 MB=YU↼Q U>Y٣Y ]GYe0 e>i]u49ml?au4Ym" imrB}=m}<}tq}?m=Cm;mA;m(Б4 4A*mBmJmRm2mr\=z\=\@\r@`<) ۽i)DiID,DDE  EE<ZAME0> GkA A)-=y-kA-L.B:J NOBJ JJ RJ eZJ .,,*)'" ! J ? J ?hAx,H\A2h?y2H?92 2H׿@Cc@? ?@[׿;?` @h?4?2h?ɨ2뺉; 2ϐCNBRIHZHZv5| N=YQ %>!٣! %G!-1 ->1]=495Pl?a=4Y5 i19=qE?5?C5j;5;5ב4I MAI*miBmiJmiRmi2mir\z\\\P@雱 GIGMGIGMBGIGIGIGMg<GMMFEup<ZAM>I+3I+3I+.I#I#I#ZI ibI djI rI zI +:I |9I I I /;I /;I }:I ~:(Gx,v2 \A:?y:?9::Y:+.!>:H]׿l%?{? K׿ϭ? Q ?@?:?ɨ:; :ѐCnBnI}Mb@Mb@Mb@yy y)yIyy}S㥫~jt?~jtx}/]}D<}Ļ }vA)}pAI} Ai} Ay} AHEH5O A=YQ >٣ Gb >]49l?a4Y irBc=mn<q?BC:;zޑ4 A*m!Bm!Jm!Rm!2m!r\Ec=z\Ec=\E/;@\E=P@UfBU:IU&<)Y ]8)iY)]YYiYaIaDo*DDE EEB<ZAM>Mx,z9\A2D?y2X?92Y2Y'>2H@ֿ?`p?wֿ?@v??@S?2D?ɨ2|; 2ӐCBBBIID)D)Ja= J%=HNHNt5VB V\=YV5Q V>X٣X ZGX^K ^>`]f49bl?af4Yb ibrBdftqf?bDCb\:bh:b4l ngAl*mBmJmRm2mr\!z\!\!\%@1=I=<)9 =;iA)E4AEMBJ89JJRJfZJ E<ZAM>xTx,ES\A:-?y:?9:.@Y:I.>:H@տ ?R?տ@)??`??:-?ɨ:7; :АC^BbIHj~HjZ5Gv>GtGv.IGvkBGtGtGtGv̱<GvFp) E=Y tQ  > ٣  G >]%49 l?a%4Y@ irB)-2q-?GC6::841 5A1*mQBmQJmQRmY2mYr\z\\\#@雩.@I!<) Mi)PH`隹Zx,m\A6?y6V$?96+Y6,U1>6H !տ #?3?`տu[?@?] ?`?6?ɨ6; 6ϐCbBfI}Mb@Mb@Mb@yy y)yIyy}Q뱿~jth~jtx}\}Dy }A)}ZAI} Ai}Q Ay} AH8H{55 A=YQ >٣ G >]49l?a4Y i rB=m<<vq?KC;:4 A*mBmJmRm2mr\%=z\%=\%K@\%7r@+I>) ai)ht+>ax,\A>"?y>\`?9> ּY>v6>>HKԿ\?@LV?BԿ`@?Wۚ??{?>"?ɨ>; >АC^B^Ib,>ib=fAfAHjPHj)5e"Z eN=YmQ m>i٣i mGqu u>]49l?a4Y i rBHq?OC8;B;4 PA*mBmJmRm2mr\z\\\@=gBE ּIE9)A EwiA)MIM+׺iIQIYCQD_*DDE  EE/<ZAMH>G>GCGIG[BG =GG>DG<GFHM R=HM 4=3hx,Ŏ\AbDAT read: 19:08:53.3420 LVL= 22176, 15265, 19826, 24931, AGC= 47, IDX= 445,-0.01, 1.878,-2.991, 2.633,-2.798, PHS=-1.519,-0.146,-0.855, RAW= 301.1, 36.8, CAL= 309.4, 37.9, ROT= 200.6, -37.9 jYgot valid direction response: 19:08:53.3420 LVL= 22176, 15265, 19826, 24931, AGC= 47, IDX= 445,-0.01, 1.878,-2.991, 2.633,-2.798, PHS=-1.519,-0.146,-0.855, RAW= 301.1, 36.8, CAL= 309.4, 37.9, ROT= 200.6, -37.9 nPDAT read: Bearing 200.6, -37.9 (Local) n~Local bearing/azimuth received: Bearing 200.6, -37.9 (Local) rDAT read: Range 10 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s z,DAT read: user:1126> zBDAT read: Tx time:19:08:54.4348 ~$Ping request sent.~>H Vҿu`C?^? ҿb?`J?@?j?i?ɨ7 ; ѐCBIMb@Mb@Mb@ )IyV-Zd;Oy&1|hj` A)h@I AizAH:H|5<Ƽ  =YFQ >٣ G'E >]49l?a4Y irB=m1<{q%?TC;x;4) 5A1*mqBmqJmqRmq2mqZj:[dl?bj:# i8i:z\Aj:3@j:7@2j:;@p:T/[{.2h[ o W?zp:1UKڢAѿ_X9?"j:/ 2*j:V)p:P6?N`h]?p:us?+b,;9[כ?i:õj:?i:-Pl?i:$  j:GBzj8j:I j8jj:?rj:&@r\=z\=\]@\؟@-JDAT read: TxSync time:19:08:54.4340 155)9 =i9)}Pʺy}iyIBhABjAC} v9D `*D D E  E E N<ZA M >M"nx,AH\AFQ?yFD?9FrOeYF?>FHѿ:??0ҿ?I ??c?FQ?ɨF; DjBjIHvHvp5z2ZIbIejIrIzII9II  =Y*[Q N?٣ Gb %S?!]-49%ul?a54Y% i%qB15b~q5?%VC%:%:%{4A EAA*miBmiJmiRmi2mir\z\\\C@雙rOe) ҆i)׺隡iIC#9:J \!MBJ -9JJ RJ hZJ D_*DDE  EE<ZAM=>= 4== =ux,L6\AG>>G<G>IG>VBG> =G<G<G><G>hFHA HAHAHA"HE =*HE(5RAY?yRƖ?9R&YR>>RHѿ 3Z?@?ѿ@da?&?_?RAY?ɨR; P^B^II`)`HjHj+p5r+~< rK=YrKQ r>t٣t vGtm u>y]}49}l?a4Y} i}qBq?}ZC}:}:}4 A*mBmJmRm2mr\ z\ \ \ xߨ@hB%&)! %i!)%h!)iIIIQC9D`*DDE   E EZ<ZAqM]>7{x, \A: ?y:H?9:@yY:?<>:H`f_п I0?j? ѿ`i?@R?Q\?: ?ɨ:pى; :АC^ۀB^}IMMb@Mb@Mb@II I)IIIyM)\( rhy&1MGaMC M`e MAA)M~@IM AiMAIM AH!Hq5+ >=YQ >٣ G#¼ >]49Yl?a4Y iqB~=mH<'Iq?]Ca;;4 A*m Bm Jm Rm2mr\5~=z\5~=\5^l@\5@AE@y)I MiI)MrQQiQQIYC9D=_*D9D9E9 E9E<ZAiM[>ZIlbIbjIrIzI<5:It9II:J} BoHBJ} 9JJy RJ} iZJ}  &NkZK=4)! J > J #?&x,\AZW5?yZr?9ZcYZ8>ZHοiT??Hп c?@? Z?ZW5?ɨZ; ZϐCddHr3Hryy5~: ~W=YּQ > ٣   G  >!]-49%l?a-4Y% i%qB1=Lq=?%`C%6;%E;%4A MAI*myBmyJmyRmy2mr\z\\\@uiBuc)y }Ӎiy)}3yyiyIC@9D[*D!D!E! E!E)<ZA M%M>GyG}AAGGGIG[BGGGGJ<G4F]Ix,"\AޕހBޕI=i>%Mb@Mb@Mb@!! !)!I!y%+y&1%̼%! %+A)%VAI%Ai%IA!!H]6H]z5uwF< u5=Y}Q }>y٣y }G >]49C l?a4Y iqB9F=m<ئq?cC#::%4 A*mBmJmRm2mr\9F=z\9F=\@\[@) i) S&  i  ICE9DT*DDE  EEj<ZAM5r>I! )- KC ;mA A) y ;mA 4Bqx,O<\A:?:}ABr?yB?9BܽYB5>BH`˿@??`eyͿ@Ͱ/?`a?xQ?Br?ɨB;; @ZIrkbIrhjIprIpzIr2:IrȆ9IpIp:JHMBJ89JJRJjZJJhAIiABIH5=H5}5E4< E%=YEQ E>I٣I MGIMj U>Q]]49U!l?ae4YU iUqBaḛqe?UeCU:U&:U..4i mAq*mBmJmRm2mr\z\\\@雥jBܽ) Gi)$8iIB%iAB!C9D n*D D E 6 E E <ZA M >/Wx,bfV\AG>GG.IGkBGGGGDZ<GFp pppɸptv^lAIt)tit)zLCIxxɹx xɺx||i||i|~lA) \ZFI )ɻ  CɼiII)i1 11)1I9i=SmA 99)9A EkAEAAAIII)IiI)IIMdmAMQ QQUrlAUiQQilA) I )lAAiI߀BIH%AH%5] ]=YeQ e?a٣a eGam m?]49"l?a4Y iqBq?gC::34 A*mBmJmRm2mr\Qz\Q\Q\Qaa)a eފia)m͹CiiiiqIqCmo9Do*DDE5 EBDAT read: Rx Time:19:08:56.8416 TRx dataTimestamp_ set to:1736536137.566173E4<ZA)MMt>Gx,Mp\A: ?y: G?9:Y:+>:H@ȿ??$?G˿@:@i~?`4?O?: ?ɨ:ڷ; :ΐC]B]IIa)eA)e= ep=-Mb@Mb@Mb@)) )))I)y-?~jt{Gzt-<--ף -A))I-$Ai-A)-p AHEHEm5UB= UJ=Y]8Q ]>Y٣Y eGae!I e>i]u49m$l?au4Ym imqB}o;=m}<}\Q?q}?miCm:mt:m:4 _A*mBmJmRm2mr\o;=z\o;=\j@\#\Q?kB) i) PiICE.9Db*DDE5 EE<ZAM5q>ZIqbIugjIqrIqzIqIu9IqIq DAT read: Range 10 to 50 : 2.0 m (Round-trip 2.7 ms) speed 0.0 m/s  ,DAT read: user:1127>  BDAT read: Tx time:19:08:57.9348  $Ping request sent. rH +ȿ Y?&?fʿV5?r?`0Q?rX?ɨr7; rАCBIH5*H5|u5El< EL=YEQ E>I٣I MGIU\ }>]49%l?a4YQ iqBO?q?lC;;A4 /A*mBmJmRm2mr\z\\\O?X) *xi)]iI!C߹95JDAT read: TxSync time:19:08:57.9340 Dd*DDE5 EG->G)G-MIG-BG- =G)G)G-<G-xFE<ZAMj>ޗx, \A-Q6?y-s?9-k Y-z>-Hȿ`\?,"?`ʿ'E??bR?-Q6?ɨ-N; -ΐC=B=IMb@Mb@Mb@ )Iy rh? rhMb`?C=C ; )AIAiA=AHH&Q5< N=YkQ > ٣   G - >]%49%l?a%4Y iqB%=m-.<- ?q-?pC ;;H41 5 A1*mYBmYJmYRma2mar\}=z\}=\}9@\} ?雕lBk ) pi)i隑iIC9D}p*DyDyE})3 EyEm<ZAM]>߾x,ؽ\A6h?y6?96Y6h>6H2ȿ`zY?v?yʿ` ?*?dS?6h?ɨ6ۈ; 6ϐC>BBIFX٣X ZGX^; b>d]j49f`&l?aj4Yf ifqBhjD?qj?fsCf::f:fN4p rAp*mBmJmRm2m r\!z\!\!\%D?9E)A ETiA)E*SsAAiIIIQC5K9Dn*DDEn5 EEG<:JKBJ`9JJRJlZJJIfAZAM (>G G G rIG BG  =G G G <G Fx,ٰ\AJ?yJ ?9JoYJk_>JHȿ ~@?B? WO˿a?e?N?J?ɨJyˆ; JѐCRBVIH^H^DP5f< fH=YfQ f>h٣h jGhn< n>p]v49r'l?av4Yr irqBtv?qz?rwCr:rh:rU4| ~zA|*m!Bm!Jm!Rm!2m)r\Az\A\A\E{?UmBUo)Q U0NiQ)]~aaiaaIiCU9ZIbIejIrIzII9III9;qI9;iI:uI:mDi*DDE;2 EE <ZAMI>лx,\A2?y2,;?92nY2P#>2H`ȿ q??3y˿@؋,?2? H?2?ɨ2 ; 2̐CNBNI]Mb@Mb@Mb@YY Y)YIYy]?/$~jt?]=]]D< ]A)YI]Ai]\AY]G AHuHum5p ?=YЊ;Q >٣ G ; >]49-'l?a4Y iqB=m<?q?}C:g:x]4 A*mBmJmRm2mr\ =z\ =\ ,p@\ ?n)! %Vi!)%!!i!)I)C9DO*DDE?  EEe<ZAiM=>:J} m$JBJ} 9JJy RJ} mZJ} \x,h \AFR0?yFm?9F| YFbX->FH ȿ?@?@Y˿a?@t]?@@?FR0?ɨF0; F͐CVBVIIX)ZA)ba= ba=HfHfkf5z= zU=Y~ ٣  G; >]49G'l?a4Y iqB@?q?C;C{;d4 *A*mIBmIJmIRmI2mIr\z\\\@?nB| ) GGIGBGGG?DG<GFHũC HũCHH ="H*Hs;5DDDE  EE <ZAM%n>H H p=ZI jbI ajI rI zI .:I p9I I I {4;I ~4;I :I :x,Q%\A]?y]F?9] 7Y]I1>]H`ɿ??:̿@Q? r?T>?]?ɨ]mC; ]ΐCޕBޕI-Mb@Mb@Mb@)) )))I)y-Cl? rhY٣Y ]Gae#< e>i]u49m5'l?au4Ym imqB}=m};}R?q}?mCm:mt:ml4 A*mBmJmRm2mr\=z\=\j@\R?oB 7) /i)iIC9D=P*D9DAEE<  EAE<ZA!MeV> x,?\A:?y:?9:(Y:V2>:Hzʿ9i?@= ?` ͿO`9??-B?:?ɨ:A; :ϐCDFIHRHRhj5Z; Zj=YZSg\٣` bG`b< b>d]j49f!'l?aj4Yf ifqBlnI?qr?fCf7!;f!;f,r4t vAt*m Bm Jm Rm 2mr\)z\)\)\-I?AE()A E0iA)MIIiIIIQC$9}BDAT read: Rx Time:19:09:00.3422 TRx dataTimestamp_ set to:1736536141.100381D-O*D)D)E-  E)E><ZAMM0>:JeBJek9JJaRJenZJe- =- R=G >G G IG BG G G G DZ<G FBx,3X\ABI%,>i%%=)-AH5 H51h5E< MA=YMQ M>I٣Q UGQU U>i]49m'l?a4Ymu imqBq?mCmR;m6;my4 A*mBmJmRm2mr\z\\\pB)  %i)~iICS9ZIhbI~jI1rIzI(:If9I3II);I);I:I:DMP*DIDIEM  EIE-<ZAYMG>DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s ,DAT read: user:1128> BDAT read: Tx time:19:09:01.4348 $Ping request sent.٣ G >]49d&l?a4Y_ irB s=m < ]?q ?Cf::4 A*m9Bm9Jm9Rm92mAr\es=z\es=\e/3\e^]?}qBy)y }/iy)}؛yiI *G lA %AC9)U yUlAUADDDE  EE<ZAMg>:J RIBJ 9JJ RJ oZJ Ex,\AF!?yF?9FٽYF.">FH{AϿn??֍п`??Cl?F!?ɨFR; FΐCRBRIHZHZ]5b< b]=Ybi=Q b>d٣d fGdj= j>l]r49n%l?ar4Ynn inrBpr?qr?nCn;nY;n_4x zAx*mBmJmRm2mr\)z\)\)\-?IUٽ)Q ](iY)e"ʟaaiiqIyCÞ9D O*D D E   E E|<ZA!M=/>*Ga"Ge=Gm>GmCGiGiGiGiGiGmڱ<GmFZI ibI ^jI rI zI +:I d9I I I /;I /;I :I :3x,\A}?y}?9}،ĽY} ">}Hп`X? ?Lkѿ `? 0&?s?}?ɨ}; }̐CޭBޭII))= =}Mb@Mb@Mb@yy y)yIyy})\(?Mb?٣ Gt = >]49$l?a4Y irBm=md<,@q?C;;4 A*mBmJmRm2mr\m=z\m=\>\c,@5rB5،Ľ)1 5(i1)5դ19i99IAC%b9DP*DDE0  EE<ZAMb>x,h\A2?y2j?92Y2&>2H ѿ@8@??Sҿ㡿?-?v?2?ɨ2tlj; 2ΐCBBBIHJHJX5Rγ Vr=YV =Q V?T٣X ZGXZCJ= Z?`]f49b#l?af4Ybj ib rBdf"@qf?bCb:bG:br4l r2At*mBmJmRm2mr\z\\\"@sB) Hi)ziIC%4=B%;C!9DO*DDEO  EEe1<ZAy:JBJ-9JJRJpZJM=>Ge >Ga Ge IGe BGa Ga Ga Ge <Ge yFBx, C\A6Y?y6@?96rY6B.>6H tҿ2@??ҿp`Њ?f?`v?6Y?ɨ62Ɖ; 6͐CNBRIHZ(HZt5b = bI=Yb=Q b>d٣d fGdf< j>l]r49n"l?ar4Yn in&rBtv@qv?nCnh:n:n4x zAx*mBmJmRm2mr\1z\1\1\5@EtBEr)I M,ՁՁGlx, \A~BI ?>i p<  Mb@Mb@Mb@ )Iyy&1|?X9v?:v?`;<T< \A)AIAiA AHHKk5Ѩ< ;=YQ >٣ G >Q]]49U!l?a]4YU iU/rB] =meIـ3I3IIIIZIbI]jIrIzII_9IIq@i@u@m@:J BJ JJ RJ qZJ J% ? J% ?#Tx, \A2}g?y2?92´Y2y7B>2H#jԿ@¶ K? N? wԿ`?5??h?2}g?ɨ2Q; 2̐C:B>IHF6HFz5N'D N_=Ynj=Q r>p٣p rGpv= v>x]~49z l?a4Yz iz6rBBq%?zCz;z;z4) -A)*miBmiJmiRmi2mir\z\\\ҜO@´I#=) ^Hi))i I C-9DDDE  EG>GGlIUBDAT read: Rx Time:19:09:03.8421 ]TRx dataTimestamp_ set to:1736536144.393267GBG =GGGޱ<GFEM \<ZAY Mu > x,e'\A?yl?9ᖼYFJ>Hyտp?#? Fտ8?@ے?@? T_?騅?ɨ; ΐCBIuMb@Mb@Mb@qq q)qIqyuI +I +? rh?u94u94=uC< u+A)u@Iu AiuAqu AH;H}5ؘ< *=Ym=Q >٣ G=  > ]49 l?a4Y  i BrB=mM<q? C w: : 4) -A)*myBmyJmyRm2mr\=z\=\@\`@vBᖼIf<) (Ai)yサiICˍ9DUO*DQDQE]  EYE% p<ZAa M >fx,OA\AZI6jbI6`jI4rI4zI6.:I6bl9I4I4BL?yB/?9BYrYBK>BHֿYࡻ??`!ֿ@B? @N?uQ? %^?BL?ɨBۉ; B̐CJBJIIP)P)R= Rp=HVAHV5^"P= ^w=YbX=Q b?`٣` fGdfa= f?h]r49jSl?ar4Yj" ijJrBprqr?jCj*;j +;jǸ4x zAx*mBmJmRm2mr\)z\)\)\-ъ@EwBEYrIE#=)A MV1iI)M^IIiIQIQCx9DAT read: 19:09:03.8421 LVL= 25312, 17585, 24514, 30707, AGC= 48, IDX= 445,-0.04,-1.015, 0.670,-0.173, 0.584, PHS=-1.511, 0.133,-0.761, RAW= 302.9, 27.9, CAL= 309.5, 31.4, ROT= 200.5, -31.4  Ygot valid direction response: 19:09:03.8421 LVL= 25312, 17585, 24514, 30707, AGC= 48, IDX= 445,-0.04,-1.015, 0.670,-0.173, 0.584, PHS=-1.511, 0.133,-0.761, RAW= 302.9, 27.9, CAL= 309.5, 31.4, ROT= 200.5, -31.4 PDAT read: Bearing 200.5, -31.4 (Local) ~Local bearing/azimuth received: Bearing 200.5, -31.4 (Local) D1D1D1E5  E1UDAT read: Range 10 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s ],DAT read: user:1129> eBDAT read: Tx time:19:09:04.9349 m$Ping request sent.mٵBٵ+@ ڵQ>)ڵ۬@IڵK ?iڵ_@ڵK ڱ ۱۵@;N"ئ o?I۵Ei۵b۵)2۵K ۱ ܱ:publishing transmit ping timeiFpublishing direction and range infoرYصe{Lb!ӿ]*W?ر9رر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱ:JBJk9JJRJrZJJ)I-hAڱڱ ۱۵@;N"ئ o?I۱i۱۱۱۱ ܱEU <ZAaM>G G G GIG BG G G G <G FHʪC HʪCHH"H*H,5x,[\A6\?y6^?96q6H~׿8? ո?@w׿V?\?i?6\?ɨ6F; 6ϐCBBBIHJBHJ5z6+ ~F=Y~4=Q ~>٣ G ;=  > ]49 l?a4Y  i UrBq? C ; v; 4) -A)*mQBmQJmQRmQ2mQZj̇;l?bj= iiiI\Ajj2j@pwksdi eS,?zpe{Lb!ӿ]*W?"j)2*jK p=a4?ψ L;?pz7af ?6z⿪o?ij?il?irz  jDBzj-Pl?jA juBjj,?rj)@r\z\\\-@雥xBq<) 7i) tƻ隩iIC)9DP*DDE  EEuG<ZAM>x,Veu\A6?y60X?96 =Y6jl:>6H,ؿ@*? r?T.ؿ`?+#)?s?6?ɨ6g; 6ΐCB BBIMb@Mb@Mb@ )Iy+X9v?Zd;O?}=j< AA)h@Id AiM AH;H}5< <=Y!=Q >٣ GI= >] 49l?a 4Y ierB m=m < Oq ?C:_:ǒ4! -A)*mIBmIJmIRmI2mIr\mm=z\mm=\mB@\m;@}yB =) 1i)d`˻隁@iIC9DDDE  EE!<ZAML>ZInbIajI0rIzI|;:Ip9Iـ3I:JY BJ] -9JJY RJ] sZJ] ө#x,]\A2?y2z?92SZ=Y2\2>2H1ڿ`n@݁? ,?@I/ٿa?YN&?x?2?ɨ26; 2̐C>!BBIF=iFB?DDHJ+HJu5R; R`=YVT=Q V>X٣X ZGXZ^= ^>\]b49^"l?ab4Y^ i^srBdfqf?^C^;^;^͒4h jAl*m|Bm|Jm|Rm|2m|r\z\\\@%zB%SZ=)) -1i))-|ϻ)5GG'IGfBG =GGG<GFE}<ZAM&>H} C=H} R=K)x,\A?y@9=Ys>>H ۿ?@L? ٿ J?@ݚ?]?騽?ɨSy; ʐC )BIMb@Mb@Mb@ )Iy ףp= +?Q?Q=\= A)AIIAi A=AH2Hy5% = %)=Y-#=Q ->1٣1 5G1=S= =>A]M49El?aM4YE iErBM9=mU;UqU?ECEe ;E ;Ei֒4Y ]\AY*mBmJmRm2mr\9=z\9=\1\@\@雽{B=) *#i)PԻI]ż=)]C G;mA  A)E iyE ;mAE AJ0x,0\AZI*jbI*cjI(rI(zI*.:I*x9I(I(F(?yF3@9F=YFVe]>FH ۿ q`?t?mٿB?ōW?@V?F(?ɨFI; F̐CN-BRIHZ[HZ5b< b{=YjWs=Q j?h٣h jGhn= r?p]v49rVl?av4Yr irrBxzqz?rCrP:r:rܒ4y }?Ay*mBmJmRm2mr\z\\\G_@|B=) i) ػiICMy9DP*DDE  EE<ZAMI>:JBoHBJ9JJRJtZJ-9ZPkvM%s\H4 |vqlkf[ZSF=986G >G G IG QBG G G G <G FE >E %=6x,d\A>?y>@9>=Y>&Yy>>H ۿ>D ?`$?\ٿ@/?Y? ?>?ɨ>dЉ; >ʐCJh٣h jGhn{< n>p]v49rl?av4Yr irrBtvxqz?rCr:r:r*4| ~A|*mBmJmRm2m!r\Az\A\A\E@U}BU=)Q U$i)b9ۻiIC5Iu9DDDE  EEs<ZAMB> =x,c\A69?y6@96L=Y6>6H.&ܿ V/t?`v?ٿ;? @2??69?ɨ6l; 6̐CFFBFI=Mb@Mb@Mb@99 9)9I9y= rhS㥫?L7A`?=C=/]==+= ="A)=@I=Ai=A9=QAHU~HUZ5e1= e@=Ym =Q m>i٣i mGqu < }>y]49}l?a4Y} i}rB>=m<0ݿq?}C}I;}y-;}4 zA*mBmJmRm2mr\>=z\>=\@\Ñ@~BBDAT read: Rx Time:19:09:07.3427 TRx dataTimestamp_ set to:1736536147.919282L=)q uiq)uG޻qqiqyIyCn9DADADAEE  EAE&<ZA)MER>Cx,{\A2?y2@92= >Y2s>2HtBܿ4Np?@a?ٿ@m?Z*? ?2?ɨ2v; 0:JNiiOBJN9JJLRJNuZJN41-.+%  VQBZIHbkHb%5fLm= jU=Yjl٣l -G)-; 5>1]E495l?aE4Y5 i5rBAEݿqE?5C5;5:5z4I UAQ*mqBmqJmqRmq2mqr\z\\\6@雥B= >) xi)隩iIC)j9GIGIGYGYG]IG]GBG] =GYGYG]α<G]FDO*DDE  EE<ZA!Mf>ZIu ibIu bjIq rIq zIu +:Iu t9Iq Iq Iq q} Iu /;i} Iu S:u} Iu T:m Jx,n*\ADAT read: 19:09:07.3427 LVL= 12112, 20241, 18866, 15939, AGC= 48, IDX= 446,-0.48, 1.290, 2.575, 2.468,-2.782, PHS=-2.123,-0.879,-1.036, RAW= 276.7, 50.6, CAL= 286.7, 53.2, ROT= 223.3, -53.2 Ygot valid direction response: 19:09:07.3427 LVL= 12112, 20241, 18866, 15939, AGC= 48, IDX= 446,-0.48, 1.290, 2.575, 2.468,-2.782, PHS=-2.123,-0.879,-1.036, RAW= 276.7, 50.6, CAL= 286.7, 53.2, ROT= 223.3, -53.2 U?y%@PDAT read: Bearing 223.3, -53.2 (Local) ~Local bearing/azimuth received: Bearing 223.3, -53.2 (Local) 9Հ>Y~bs>H {EܿP ?`jU?@ٿ?v¿ 3??騍U?ɨ ; ΐCVBI5DAT read: Range 10 to 50 : 2.7 m (Round-trip 3.7 ms) speed 0.0 m/s =,DAT read: user:1130> EBDAT read: Tx time:19:09:08.4349 E$Ping request sent.Ei%=AJDAT read: TxSync time:19:09:08.4341  T#Rx 16: Read range and direction messages.`direction in FSK: [-0.435953,-0.410821,0.800731]:publishing transmit ping timeAFpublishing direction and range info,Y.N+zۿmMJڿ@p?.,@9,.P/ .O).II.C>i,.;.%a..׉@ .=b?).@I.,m?i.my@.,m, ,.B_?ɪ?I..@i.b..,m, ,:publishing transmit ping timeAFpublishing direction and range info,Y.N+zۿmMJڿ@p?,9,, ,),I,i,,,,, ,),I,i,,, ,.B_?ɪ?I,i,,,, ,Mb@Mb@Mb@ )Iy/$~jt?Q?,D=u< |'A)~@IAAi;AAH}H"5v<  =Y!٣! %G!-2: ->1]m495l?au4Y5 i5rB/=mJ<q?5C5T<5;5g4  A*mBmJmRm2mZj. l?bj.o i,i.(+\Aj.,@j.+@2j.a@p.>J򿲤I[XpK@zp.N+zۿmMJڿ@p?"j.*j.,mp.bYk$?(ZK8 e?p.@) Xi)iIB!B%iAC &a9D D D E  E E v<ZA M >ZQx,;D\AzhBz*IH?H~5D> =YQ ;?٣! %G!% %;?1]=495;l?a=4Y5 i5sBAAqE?5C5;5D;54I Mj AI*miBmiJmqRmq2mqr\z\\\雙) `Ki);隡iIC5 _9DDDE  EEҨ<ZAMK>:JMBJu9JJRJvZJJIGI GI GI GI GM  =GI GI GM g<GM MF/Wx,!^\A>?y> @9> !>Y>z->>H ܿ`@y ?L?ڿg?@u&ĿX?@%?>?ɨ>; >̐CNnBN2IHVZHV`5^A< ^P=Yb=Q b>`٣` fGdf- f>h]n49jvl?an4Yjc ijsBpr9qr?jCj';jj;jq4t v8 At*mBmJmRm2mr\z\\\@B !>) "i)ViICcZ9ZI=hbI=^jI=2rI9zI=(:I=d9I=c3I9I=);I=);I=:I=:DADADAEE  EAEP<ZA)MM1>]X]x,Dw\A2?y2@92[)>Y2]>2Hۿ ?Y?uڿ@?ſY? 9?2?ɨ2g; 2ːCBvBB<I%Mb@Mb@Mb@!! !)!I!y%I + rh?y&1|%94%C =%` % A)%AI%Ai%A!%(AH5'H5(t5E!= EB=YMKI٣Q UGQUj ]>Y]e49]l?am4Y] iYu'=mu) ۼi)*W隹iICC=B=CS9D>D>DYDYDaEe  EaBEi:Em=E=$<ZAIM]>>dx,y͑\A:)?y:3@9:E41>Y:, >:H Nۿ`@v̩?@^i?SڿQ? F ƿa?`8?:)?ɨ:; :̐C:J~BoIBJ~k9JJ|RJ~wZJ~GGGIG[BG =GGG<GxFH HHH ="H =*HyO5.?G?޽B޽KIHUHE58= =Y Y٣ GU >]49Ml?a4Y  iWq?C:b;}4   A*m1Bm9Jm9Rm92m9r\z\\\y@雵BE41>) @i)511i99IACrL9HQ HU p=ZI] jbI] ajI] 0rIY zI] .:I] p9I] ـ3IY I] {4;I] ~4;I] :I] :D D D E   E E <ZA M >hjx,*\AJ?yJd@9J}&;>YJ]>JHڿR$?(? w4ٿ?Cǿ? $?J?ɨJll; JʐCP RmAPPɸTTVZlAIX)XiX)XIX\ɹ\ \ɺquMlAyiiClA) I )ɻCɼiI19IIiMA MףQ)qÍỉ ̉ˉ)̉ jlA^]F@CmAI)i)I vlAti3DFi lA)  I  ))IQQQQUAiUDIYYYލBލ[IMb@Mb@Mb@ )IyMb?MbP{Gz<# A)AIAAiAAHFH5s= ]=Y'٣ G >]49l?a4Y i sBȚ<m/=k@q?CM:I:4  - A *m)Bm)Jm)Rm)2m)r\MȚ<z\MȚ<\M@\M3k@]B]}&;>)a e0 Sqx, \ABcI=i4<HQHb5h= =YQ ?٣ G  ?]49l?a4Y isBq%?Ch:2:e#4) - A)*mIBmIJmQRmQ2mQr\iz\i\i\i雅B) :JMBJM9JJIRJMxZJMG >G G .IG kBG G G G ,<G !F BDAT read: Rx Time:19:09:10.8425  TRx dataTimestamp_ set to:1736536151.447166zwx,^\A?yt?9DZ>Y)>HU׿ 01??j/ֿ?c˿`f???ɨ+; ޽B޽gIHH <  I=Y =Q >٣ G >!]-49%l?a-4Y% i%sB)5 @q5?!%:%s;%{*49 = A9*mYBmYJmYRma2mar\z\\\ @雕BDZ>)  =i) 隙iIHHBAZI!bI!jI!rI!zI!I!I!I!I!I!I!I!CMa=9DDDE(  EE<ZAMMs>s}x,<\A )A i)yADAT read: Range 10 to 50 : 2.6 m (Round-trip 3.5 ms) speed 0.0 m/s ,DAT read: user:1131> BDAT read: Tx time:19:09:11.9349 $Ping request sent.٣ G >]49~l?a4Y$ irB_I=m<?q?C*;;34  A*m9Bm9JmYRma2mar\_I=z\_I=\d@\;?雵B) 0.=i)W6隹iICR=B;C269DiDqDqEu/  EqEM <ZAa u JDAT read: TxSync time:19:09:11.9341 M >x,\AF$m?yF?9F\|j>YF!>FHտZ?5?@Uӿ ?#Ϳ l??F$m?ɨF‰; DRBRvIHZ<HZv}5b= f=Yfbl=Q f!?d٣h jGhj j!?l]r49nl?av4Yn inrBtv?qv?nCnG:nu:n74x z A|*m:J]BHBJ]9JJYRJ]yZJ]  BmJmRm2mr\z\\\?B\|j>) T=i)DiIC19DhAzDiAGG?AG>GGGGGGG<GcFD-P*D)D)E1 E1BE==:E==Es<ZAM5->Ϲx,,\A:/?y:?9:p>Y:!>:HԿ@+ ?S?@ҿ/2?>Ϳ ?g?:/?ɨ:z; :̐CVBVpIH^H^+p5f1ͼ fJ=Yf]h٣h nGln  n>p]v49rl?av4Yrh irrBtzύ?qz?rCr:r%:r>4| ~ A|*m Bm JmRm2mr\z\\\ύ?UBUp>)Q U=iY)]YYiYaIaCe+9DDDE6  EEm<ZA!M=r>ZI= lbI= ejI9 rI9 zI= <5:I= 9I9 I9 qE @iM @uM @mM @ϟx,F\AJ?yJ?9Jt>YJ,m >JHӿOp?ar?ҿV? 6ο`4h? ?J?ɨJ]; J͐CVBVtI=Mb@Mb@Mb@99 9)9I9y=~jt?v/~jtx=<=xi9 =A)=$AI=(Ai=h@9=AHU"HUq5e-< eA=Ymri٣i uGq} }>]49Jl?a4Y irB~=mU<+?q?C::]F4  A*mBmJmRm2mr\~=z\~=\@\w+?雅Bt>) 2=i)隉iIBiABhAC&9D!D)D)E->  E)E<ZAM-N>:JLBJJJRJzZJG G G 'IG fBG G G G <G tFȗx, `\A2?y26?92kw>Y2>2H 3ӿ@=ua?F? oѿ@r?οT? A?2?ɨ2n; 2ȐC:B>yIHFHFp5Nv< NX=YRYT٣X ZGX) >]49l?a4Y irBe'?q%?CQ;;)M4) -k A)*miBmiJmiRmi2mir\z\\\e'?Bkw>) @H=i)6޻iIC!9D>D>DDDE?  E2E*EfAE[<ZAMB>x,z\A:Xq?y:ޮ?9:Hz>Y:1_>:H`ѿ8?޶?п@?Ͽ???:Xq?ɨ:/v; :ʐCFBFvIMMb@Mb@Mb@II I)IIIyMy&1|?y&1MbM`;M`eM MpA)MAIM(AiM;@IM=AHe]He 5uO u==YuP;Q }>y٣ G& >]49l?a4Yn irBxi=mh<>q?C;;T4  A*mBmJmRm2mr\xi=z\xi=\ƚ@\>B Hz>)  &=i ) pݻ  i ICL9DDDE EE<ZAM=>ZIkbIfjIrIzI2:I9II2ۤx,W^\A6?y6?96{>Y6>6HѿTB>~IHFiHF5Rp= RX=YVW$;Q V>T٣T ZGXZ Z>`]f49bAl?af4YbA ibrBdf>qj?bCb :bP:b[4l nH Al*m|Bm|Jm|Rm|2mr\z\\\->-B5{>)1 5hV=i1)5lܻ11i99IACMa=BM=:JBoHBJu9JJRJ{ZJCU9*G5<"G54<G9G=CG=!IG=`BG9G9G=>DG=ı<G=FDO*DDE EEZ<ZAM)>x,7\A ?y V?9 :z>Y > H`SпE??@̿@i?Z Ͽ`N?ê? ?ɨ ; ʐC޽BIHWH55*< ='=YEغQ M>Y٣a eGaּ >]49ll?a4Y irB`>q?C: :c4 3 A*mBmJmRm2mr\z\\\e`>%B%:z>)) -]=i))-bڻ))i11I1C9DDDDEO  EBE!:E%=Y><BDAT read: Rx Time:19:09:14.3422 TRx dataTimestamp_ set to:1736536154.980364E<ZAM%>IIIA.IIIZI! bI% bjI! rI! zI! I% t9I! I! x,\ArBv}IMb@Mb@Mb@ )IyMbP)\(٣ G ?]49 l?a 4Y irB Pd=m n<3,>q?C:;@;i4! %S A!*mBmJmRm2mr\Pd=z\Pd=\6@\Z3,>=BI)I M@3=iI)U[ٻQQiQYIYCec 9DDDEP  EE<ZAMn>:J-k3IBJ-9JJ)RJ-|ZJ-J9I=iAG1 G1 G1 G1 G5  =G1 G1 G5 <G5 FH HHH"H*Ha4 DAT read: Range 10 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s  ,DAT read: user:1132>  BDAT read: Tx time:19:09:15.4350  $Ping request sent. Y:">:H@ο k@ت?`*?@ɿ@?`Qο@?g?:?ɨ:; :ɐCJBJIHRXHR5m&= mP=YusQ u>q٣y }Gy}!d }>]49"l?a4Y irB#>q?C,<,<p4  A*m!Bm!Jm!RmA2mAr\Yz\Y\Y\]#>雕Bt>) i=i)"ػ隑iIBBjAC9D5P*D1D1E5O  E1E m<ZA5JDAT read: TxSync time:19:09:15.4342 M]U>Ax,K\A62?y6p?96)o>Y6Zx$>6H@EͿg^?`@? ɿl?(Ϳ`Y??62?ɨ67u; 6ʐCRBRI5Mb@Mb@Mb@11 1)1I1y5y&1|:vMb5`廹5T5 1)5$AI5z*Ai115AHM3HMyy5]; ]L=YeGIQ e>a٣a eGim m>q]49ui$l?a 4Yu iurB eY=m z< <q ?uCu) g=i)"ֻiICC9DiAzDDDDEM  E2E*EgAZImbIfjIrIzI\8:I9IIE<ZA1M}{>m)x,v\A~BIH7H?{5% -N=Y-Q ->)٣1 5G15 5>9]E49= &l?aE4Y= i=rBIIqM?=C=?:= :=~4Q UB AY*mqBmyJmyRmy2myr\z\\\雭B) #=i)çջ隱iI:J5BJ589JJ1RJ5}ZJ5   J}? J}!?GGCG'IGfBG =GG?DG<GqFC:8DiDiDiEmW  EiEEq<ZAQMm5>Wx,*/\A6W?y6 ?96a>Y6/>6H*̿?*f?U,ȿ?@˿@BX?:?6W?ɨ6*; 4BBBIHJHJp5RL; RS=YRQ V>T٣T VGTZ > ]%49 'l?a-4Y  i rB9=½<q=? C ; -; 4A E7 AA*miBmiJmiRmi2mir\z\\\Q½<雝Ba>) "=i)Ի隹iIC%=B=C8DO*DDEZ  EEAMZ>Bx,{I\AZIZkbIZcjIXrIXzIZ2:IZx9IXIXj?yj$?9j~}Z>Yj8>jH-̿ c?{x?`Оǿ (?˿@Gw??j?ɨjH; jȐCzBzI Mb@Mb@Mb@   ) I y y&1|?ˡEA٣A MGIM M>Q]]49U:)l?a]4YU iUrB]O.=meqe?UCU;U;Ut4i m Ai*mBmJmRm2mB*** querying acoustic contact ***iiT****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.r\UO.=z\UO.=\U+5@\U}D>雅B~}Z>) Y=i)һ隉iICj8D>D)>D-P*D)D)E-_  E1BE1:E1E<ZAM5q>:J]cLBJ]-9JJYRJ]~ZJ]G>GG:IGuBG =GGGt<GVF checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014257>ex,6c\A6D?y6?96s6T>Y6u/>6Hx˿`c#?@?@jǿ@?@MVʿ[?P?6D?ɨ6\d; 6ʐCNBNIH^eH^Ї5f4= ff=YfQ j>h٣h jGhne r>p]v49rW*l?az4Yr irrBxz>qz?r Cr:r\:r4|  A*m!Bm!Jm!Rm!2m!r\9z\9\9\=M>MBUs6T>)Q U=iQ)UѻQQiYYIaCU8HHAADO*DDE`  EE<ZAM$>%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265412Ƒx,}\A6T5?y6r?96TL>Y6'>6H ˿ "һ?`.?ǿ?Wɿ?@(?6T5?ɨ67C; 6ɐCFȁBFI%Mb@Mb@Mb@!! !)!I!y%~jt?Q롿Mb%<%\% % A)%SAI%7'Ai%~@!%AH=VH=~5M2= MB=YMxQ M>Q٣Q UGQ]| ]>a]m49eV+l?am4YeV ierBm/=mm) =i)FϻiIBhABiACmr8DDDE_  EE<ZAMI>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769813wx,\A6?y6 ?96C>Y66H˿`M_??ɿa\?`hLȿ6+??6?ɨ6l; 6ʐCNǁBNIHVkHV%5 N=Y٫Q >٣ G%^; %>)]549-H,l?a54Y- i-rB15&?q5?-C-q:-i:-4A Er AA*maBmaJmaRmi2mir\z\\\&?雝BC>) P=i)$Qͻ隡iIG}>GyG}SIG}BG} =GyGyG}<G}xF:J:IBJ9JJRJZJC58DDaDaDiEi Ei2Ei*EiBDAT read: Rx Time:19:09:17.8426 TRx dataTimestamp_ set to:1736536158.509267checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025494EEi<ZAQMm5>ZIjbIdjI1rIzI.:I|9I3IIqIiI}:uI~:m9 = AE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273598zx,qȰ\A6g?y6x?96.};>Y6=6H̿'F?ߠ?cʿ@ ?.Nǿt-?ƁB@HJIHJ5R0 RR=YR Q R>T٣T VGTZ< Z>X]b49Z8-l?ab4YZ iZxrB`f)?qf?ZCZ0;ZW1;Z4h ju Al*mxBm|Jm|Rm|2mr\z\\\?)?雽B.};>) X=i)h˻iIC8DP*DDE`  EE <ZA9MUT>DAT read: 19:09:17.8426 LVL= 6832, 17857, 11138, 9011, AGC= 44, IDX= 440, 0.04,-1.804,-2.668,-2.547,-0.614, PHS=-1.102,-2.007,-1.937, RAW= 94.0, 64.0, CAL= 94.3, 68.1, ROT= 55.7, -68.1 Ygot valid direction response: 19:09:17.8426 LVL= 6832, 17857, 11138, 9011, AGC= 44, IDX= 440, 0.04,-1.804,-2.668,-2.547,-0.614, PHS=-1.102,-2.007,-1.937, RAW= 94.0, 64.0, CAL= 94.3, 68.1, ROT= 55.7, -68.1 PDAT read: Bearing 55.7, -68.1 (Local) ~Local bearing/azimuth received: Bearing 55.7, -68.1 (Local)  DAT read: Range 10 to 50 : 2.6 m (Round-trip 3.5 ms) speed 0.0 m/s ,DAT read: user:1133> BDAT read: Tx time:19:09:18.9350 $Ping request sent.YF=FH`Ϳ&±??x˿2?Xƿ9?M?F?ɨF; D^ȁB^IMb@Mb@Mb@ )Iy~jt?y&1~jtD=`eļ A)I"#AiAHSHӃ5 ;  5=Y?Q >٣ G < %>!]549%>-l?a=4Y%\ i%irB=+c=m=o<="?q=?%C%6D;%B;%4A Ej AI*miBmiJmiRmq2mqZjk?bjE] ii\Ajf&@jI%@2jc@p<|?A΢?-ЊL@zps?V?P?,Oհ?"jx?*j #pϙ翈mIA?,C@pHi'ҿ͖2?W?iR?j<i_k?ie  j}Bzj-Pl?jrz jRBjj?rj1@r\+c=z\+c=\@\"?B3>) =i)WɻiICR=B;JDAT read: TxSync time:19:09:18.9342 C=8DADADAEEj  EAE<ZA)MuW>Gu>GqGurIGuBGqGqGqGu<GumF:J BJ 9JJ RJ ZJ  Yzx,9|\AF@?yFB~?9Fā+>YFi >FHϿ<K?|?7BͿ K?Vſ@z?@NN?F@?ɨF; DRˁBRIHZHZHo5b< bb=YfBQ f>d٣d jGhn= n>t]~49v<-l?a4Yv iv\rB?q?vCvW;v;C;v4  P A*m1Bm9Jm9Rm92mAr\Yz\Y\Y\]K?mBmā+>)i m=ii)uHǻqqiqyIyDhAzDjAZInbIijI0rIzI|;:Iڈ9Iـ3IIJ;IJ;Ig:Ih:D1D1D1E5o  E1BE9:E==E <ZA!M= >x,qY\A~ՁB~IMb@Mb@Mb@ )Iyx&?~jthZd;O7=Dj A)QAIAAiVAAHHo53= ;=YQ >٣ G >]49,l?a4Y> iMrB4=m;<E?q?C!;,7;4  A*m!Bm!Jm!Rm!2m!r\4=z\4=\K@\GE?B) =i)kĻiIDO*DDEn  EE<ZAMn>:x,3\A64f?y6?96U>Y6m >6H`ѿ@؉⓻?@Y?`%`п`?LÿS?/??64f?ɨ6; 6ɐC^ҁB^IHjHja5rS; vZ=Yv0Q v>x٣x zGxz= z>I]]49M,l?a]4YM iM@rBYe?qe?MCM;M;MOœ4i m Ai*mBmJmRm2mr\z\\\]?BU>) Щ=i)»iIGGAAG%>G!G%IG%BG!G!G!G%<G%tFH HHH"H*H4:J.oMBJJJRJZJVC810,&%"#  DiDiDqEuo  EqE-<ZAM!>ZIibIbjI1rIzI+:It9I3II/;I/;IS:IT:Y x,2\ArˁBrItvAHz@Hz<5%  -F=Y-Q 5>1٣1 =G9= E>A]M49Et+l?aM4YE iE2rBQQqU?ECE":Eq:EZ̓4 M A*m Bm Jm Rm 2m r\!z\!\!\!=B9)A E=iI)MQYiYaIqDDDE E2E%fA*E%fAE<ZAM5.>x,ZK\AN9?yN@?9N>>YN>NHSӿT?`~"?aҿm? ?_?N9?ɨNY-; NǐCŹBZIMMb@Mb@Mb@II I)IIIyML7A`?~jtx?y&1M+=M;M` MrA)MAIMAiMlAIMAHeEHe5uI; uE=Y}_ҼQ }>y٣ Gы= >]49v*l?a4Yd i#rBW=m8<@q?!C::ӓ4 C A*mQBmQJmQRmQ2mQr\mW=z\mW=\mԫ=\m@雥B>>) =i)\隩iIBBCBDP*DDE EE<ZAME>GGGIGƁBGGGGh<GKF:Je -MBJa JJa RJe ZJe Jq Iu hAVx,He\A2N?y2[?92  >Y2X>2HʓԿb/+??ӿ?2@"?{m?2N?ɨ2W; 2ȐC>́B>IHhHhrG; rT=Yv{Q v>t٣x zGxz.= z>|]49~)l?a4Y~ i~rB  @q ?~$C~:~:~Oړ4 ? A*m1Bm1Jm9Rm92mAr\iz\i\i\m@雍B  >) =i)ܽ隉iIZIrbIcjI0rIzIG:Ix9Iـ3II_;I_;I:I:DDDEl  EE<ZAM> G ;mA ) y ;mA Ao,x,\A6ӌ?y6X?96>Y6[>6HտT?7?Կ@K?nG=?uy?6ӌ?ɨ6`#; 6ǐC^āB^II`)`)f= fp=EBDAT read: Rx Time:19:09:21.3425 MTRx dataTimestamp_ set to:1736536162.035616Mb@Mb@Mb@ )Iykt?V-?X9v 0=< EA)AIrAiA AH#Hbr5% <=YbQ >٣ Gg2= >]49'l?a 4Y irB ~w=m [< p'@q ?'C<::4  A*m9Bm9Jm9Rm92m9r\e~w=z\e~w=\e?\e>p'@uB}>)y }h(=iy)}yiIDDDEp  EBE=:EE<ZAMM>J&x,[{\A59?y5=?95f=Y5R>G>GCGIGˁBGGGG:<G)F5H[ֿ L?@ן?@տi?Ux?@?59?ɨ5!; 5ɐCYaHuCHuH5o: @=YSQ >٣ G8= >]49K&l?a4YB iqB(@q?*C::[4  A*mBmJmRm2mr\iz\i\i\m(@雅Bf=) =i)X隉i:JjIBJ9JJRJZJ-L`bN?2*!  W#{)~_9x`I2J ? J>IDAT read: 19:09:21.3425 LVL= 8624, 18337, 8898, 12275, AGC= 47, IDX= 449, 0.33,-1.236,-1.886,-0.385,-0.427, PHS=-0.721,-1.412, 0.039, RAW= 181.6, 30.5, CAL= 184.3, 37.7, ROT= 325.7, -37.7 Ygot valid direction response: 19:09:21.3425 LVL= 8624, 18337, 8898, 12275, AGC= 47, IDX= 449, 0.33,-1.236,-1.886,-0.385,-0.427, PHS=-0.721,-1.412, 0.039, RAW= 181.6, 30.5, CAL= 184.3, 37.7, ROT= 325.7, -37.7 PDAT read: Bearing 325.7, -37.7 (Local) ~Local bearing/azimuth received: Bearing 325.7, -37.7 (Local) DAT read: Range 10 to 50 : 2.5 m (Round-trip 3.4 ms) speed 0.0 m/s ,DAT read: user:1134> BDAT read: Tx time:19:09:22.4350 $Ping request sent. JDAT read: TxSync time:19:09:22.4342 i@,x,c\A6 ?y6?96nu=Y6>6H $ؿЇ ?e?.׿**?@ ?v?6 ?ɨ6 6; 6ʐCvBvIH~8H~{5EN Ea=YEiQ E>I٣I MGIUjm= U>Y]e49]$l?ae4Y] i]qBae)@qm?],C]K:]:]4q u Aq*mBmJmRm2mZj}bQl?bj}߾ iyi}t|\Aj} @j}@2j}?p}Ǹ '%?z?(cz v?zp}`%?ex7ܿ.?"j}@*j}q(p}hPG?Il*@(/?p}tMՔ?5?:3Gbw?~?i}T @j} ?i}6Ql?i}~  j}Bzjyj}  j}Bjj}h?rj}yx@r\z\\\")@Bnu=) ZI jbI djI rI zI .:I |9I I q @i @u @m @%3x,2\A2c?y2?92=Y2 >2Hnٿ:`勤?!?@Бؿ@-?@J`P?@?2c?ɨ2; 2ɐCBBBIHJAMb@Mb@Mb@ )Iy~jtx?Zd;O?L7A`堿;j<=+ /A)IEAiVA AH57H5?{5{Ǽ D=YゼQ >٣ Ge= >]49?#l?a4Y7 iqB/i=mi<2q?/C" ; ;4  A*m Bm Jm Rm 2mr\-/i=z\-/i=\-u?\-_@=BE=)A E$;iA)E3)AAiAIIIDP*DDE|  EE=ZAM#>G>GCGGG =GGG<GF:J mOBJ JJ RJ ZJ ~ur|tpsvslf`WROLGDB>=;985452//+&$"!J I vR9x,\A2?y2 @92D=Y2 {!>2HڿI??ٿMm?`I ?kn?2?ɨ25; 2ȐC^B^IHfHfa5nN nX=YrQ r>t٣x zG|~7= >]49!l?a4Yg iqB!%K1q%?2C::4) -+ A)*mIBmIJmIRmI2mQr\iz\i\i\mR`@}B}D=)y Ti){隁iIHQHU@ADDDE}  EE=ZAM>7@x,-\A2?y20@92=Y2^b,>2H^ܿy? ?,ۿxo?P@X?f?2?ɨ2V9; 2ƐCޭB޵qIZIkbIfjIrIzI2:I9IIMb@Mb@Mb@ )Iy+V-?X9vh= A)AIAilA AHHm5G =YC`Q >٣ G1= >]49cl?a4Yq iqB =m <  q ?8CQ::4  A*m1Bm1Jm1Rm92m9r\=z\=\@\^&@B=) (WaFx,\A6s?y6X@96=Y6%>6H@pݿ4m???@lܿǨ?I|?`s?6s?ɨ6; 4< <<<ɸ<@@I@)@i@)DIDDɹD DɺHJQlAHiHHiN CNlA)R+ RNZFIP P)PɻPPTTɼTiTITTIXiZA ZĻX)XI\i^XmA \\)\` bflA```ddId)did)dIjhmAhh hhjVlAjxillilp)p pIp p)ppttttitIttx~BGaGaGeIGeBGe =GaGaGea<GeFFޝeIHHHd5]s ]=Y]֮Q e?a٣a eGam= m?q]}49u:l?a}4Yu iuqB q?u;Cu:u:u 4  A*mBmJmRm2mr\z\\\ʃ@-B-=)) -i1)5ˀ11i1QIQ:JłNBJ9JJRJZJ  DP*DDE EE=ZAMEQ>Hu4=Hu%=ËLx,4\A2Z?y2w@928=Y2;S=2H`޿@?@'?ݿ ? Y?L?2Z?ɨ2; 2ŐCޥBޥgIHFH5G< U=YTǻQ >٣ G:= >]49l?a4Y iqBq??C::G4  A*mBmJm!Rm!2m!r\9z\9\9\=@eBe8=)i mxiq)u ,yyiyyIDDDE|  EE=ZAM5.>ZI jbI bjI /rI zI .:I t9I (N3I sSx,zN\A޽B޽aI>i=]Mb@Mb@Mb@YY Y)YIYy]㥛 y&1?~jt]]`=]ļ ]A)]@I]Ai]AY]Q AH}XH}5wм >=YQ >٣ G >]49fl?a4Y  iqB >m;nq?GCz ;a;4  A*mBmJmRm2mr\  >z\  >\  @\ [؆@=BA)I MiI)M)»QQiQQIYDO*DDE  E2E*EgAEP=ZA)MER>G]>GYG]IG]BGYGYGYG].<G]!FH! H!H!H!"H!*H%4:Je LBJa JJa RJe ZJe Յ C>Յ R= BDAT read: Rx Time:19:09:24.8422  TRx dataTimestamp_ set to:1736536165.571465Yx,BZh\Av#?yvb@9vϭ=Yvv=vH@G@?ۆ?߿?D(?@?v#?ɨv; t%B%PIH5BH55E Eb=YM Q M>Q٣Q UGYe= e>q]49ul?a4Yu7 iuqBKq?uMCu;u;u+!4 u A*mBmJmRm2mr\z\\\@Bϭ=) i)-ŻiIH1H1DQDQDYE]  EYE-r =ZA9M]>`x,Z-\A6?y6@968:=Y6އ=6H Y4A?\?7c?@??6?ɨ6◍; 6ɐCBBBLIMb@Mb@Mb@ eDAT read: Range 10 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s m,DAT read: user:1135> uBDAT read: Tx time:19:09:25.9351 u$Ping request sent.u٣ G< >]49l?a4Y iqB>m;2q?UC::g(4  A*mBmJmRm2mr\>z\>\*@\,@=B=8:=)9 =$i9)E΄ȻAAiAAIIDP*DDE  EE =ZAM'>IIm3IL.IIIZIIbIIjIM0rIIzIIIIIMـ3II JDAT read: TxSync time:19:09:25.9343 Gfx,3\A25?y2_@92fÿ=Y2C=2HL@iԏ? @? *V`O?@v﷿? `?25?ɨ2; 2ȐCBBBKIID)DHNHNKk5rk rW=Yv(^t٣t vGxz z<*G"G<G>GGIGBGGGGH<G4F >!]-49%ll?a-4Y%' i%qB)-q-?%\C%`:%:%/49 = A9*mYBmYJmYRma2mar\yz\y\y\}@UāB]fÿ=)a m>iq)}÷˻yyiyIDzDiA:J%BoIBJ%`9JJ!RJ%ZJ%DADADAEE  EABEI:EM=E=" =ZAIMe4>HMC=HMa=lx,\A:3;?y:\@9:Vn=Y:]=:H@Lo?@y&?\?㸿??:3;?ɨ:; :ŐCFzBFAIHN3HNyy5V% VN=YZX٣X ^G\^;i< b>`]f49bl?af4Yb ibqBhjqj?bcCb:b):b54t v At*m Bm Jm Rm 2mr\)z\)\)\-iʌ@=ƁB=Vn=)9 EiA)ErϻAAiAIIII)DO*DDE  E ]G}lA EG =)%ymlAuAZAM=.>u>u%=sx,\A6:?y6һ@96J=Y6ݯ>6H=v?@#?'`? _3M??6:?ɨ6; 6ĐCbBbLI@ @ @  @ H  H q5p$= %C=Y-/1٣1 EGIUM U>i]u49mNl?au4Ym( imqBi}+:ym};}`q?mkCmM;m >m;4  A*mBmJmRm2m雵ȁBJ=)  i)Vӻ隹iIDiDiDiEm  EiEE=ZAQM9>GGGyIGBGGGG{<GZF:J BJ #9JJ RJ ZJ !we@! yx,\AJ?yJ@9J=YJW:<>JH0@F?.?߿@{i?qȺD?I?J?ɨJa>; JÐCZBZ^IHj.HjBw5v&= vN=Yvw;Q v>x٣x zGxz ~>I]U49Ml?aU4YM iMqBiU :QmUl;UqU?MsCM~ ;MS?M@4a e Aa*mBmJmRm2mʁB=) i)0ֻiIHHZI!bI%`jI!rI!zI!I%bl9I!I!I%{4;q-I%~4;i-I%(:u-I%*:m5DDDE  EE=ZAM">րx,\A2lf?y2@92=Y2fT>2H`>G?]?]޿?`麿G;? #?2lf?ɨ2'; 2ɐCNBNZI]] ]] ]e  e e eMb@Mb@Mb@aa a)aIayeMbMb?y&1?ee@=e`< eEA)eh@Ie`Aie@ae AH}SH}Ӄ5] @=Y:Q >٣! %G!%̼ %>1]5495l?a=4Y5q i5qBi=T:=o=m=<=Rпq=?5wC5:5:5%H4A M7 AI*miBmiJmiRmi2mir\o=z\o=\΅ @\@雥́B=) hi)ٻ隩iIDeP*DaDaEe  EiE=V=ZAIMe4>x,aS\A:{?y:@9:.+=Y:qX>:H߿y?-?ݿ@a?D?V ?:{?ɨ: ȉ; :ŐCGPGR?AGTGVCGVfIGVBGTGTGTGVV<GV?F^BblIHf\Hf҅5~= U=Y Q  > ٣   G # >]%49ul?a%4Y# iqB)-ѿq-?zC:G:N41 5 A1*mQBmYJmYRmY2mYr\z\\\ @雕΁B.+=) Ľi)ۻ隙iIDO*DDE EE}=ZAM >:J"LBJ9JJRJZJJ ? J>ZIEhbIEcjIArIAzIE(:IEx9IAIAIE);IE);IE:IE:'x,b-7\A25?y2K@92B=Y2L>2Hu޿@??a-ݿյ?ST? (8?25?ɨ2; 0RBVqII)H WH 5X< %H=Y%XQ %>)٣) -G)-r5 ->1]495<l?a4Y5 i5 rBuԿq?5~C5U=<5=<5U4  A*mBmJmRm2mr\z\\\@ЁBB=) i)&f޻iID DmP*DqDqEu  EqBE}=:E}=Em=ZAM-,>]BDAT read: Rx Time:19:09:28.3424 eTRx dataTimestamp_ set to:1736536169.103162ax, Q\AN u?yNS@9N =YN&>NH?7ܿN??@4ۿ` ?1? w{?N u?ɨN_k; NǐC^B^xI}Mb@Mb@Mb@yy y)yIyy}Mb~jt?}}<} }A)}$@I}Ai}Ay} AHUHE5k< B=Y Q >٣ Gٽ >]49"l?a4YR i rBo=m<ҿq?Co:|;]4 r A*mBmJmRm2mr\o=z\o=\&@\VX@=ҁB= =)9 =i9)EAAiAIIIADDDE EE)=ZA!Mu6>GGGyIGBG =GGGk<GMF DAT read: 19:09:28.3424 LVL= 9456, 12865, 13218, 11011, AGC= 45, IDX= 442,-0.42,-1.211,-0.630,-0.899, 0.455, PHS=-1.579,-1.039,-1.357, RAW= 305.9, 71.5, CAL= 309.2, 71.6, ROT= 200.8, -71.6  Ygot valid direction response: 19:09:28.3424 LVL= 9456, 12865, 13218, 11011, AGC= 45, IDX= 442,-0.42,-1.211,-0.630,-0.899, 0.455, PHS=-1.579,-1.039,-1.357, RAW= 305.9, 71.5, CAL= 309.2, 71.6, ROT= 200.8, -71.6  PDAT read: Bearing 200.8, -71.6 (Local)  ~Local bearing/azimuth received: Bearing 200.8, -71.6 (Local)  DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s :J BoHBJ 9JJ RJ ZJ  J) I) 5 ,DAT read: user:1136> 5 BDAT read: Tx time:19:09:29.4350 = $Ping request sent.= x,j\A2?y7@9*=Y>'>H ڿ4ҹ??aٿE?@I??騥2?ɨq; ƐC޵B޽IHRHHBAZIjbI`jIrIzI.:Ibl9III{4;I~4;I(:I):H5uo= u==YuQ }>y٣y }Gyr >]49l?a4Y i rB*ֿq%?C;;d45B 5 A5E*mBmJmRm2mZjeWPl?bjV  iig\Aj@j@2jx@pq]rX 7ѿv_7@zpeҿ s౼P661]?"j1*jp`儍g?(Dпߝ@p=?#ٺ" ?i‾jD?iGPl?i8b   j=Bzj6Ql?jjRBjj/O?rj\>r\Qz\Q\Q\U6@雥ՁB*=) fi)u隩iI%JDAT read: TxSync time:19:09:29.4343 DUO*DQDQEQ EQEm=ZAyM~>!x,\A2E?y2-?92}=Y2 >2HKٿ7?@S?cؿ3? Z?`v?2E?ɨ2#; 2ȐCbBbIUMb@Mb@Mb@QQ Q)QIQyUy&1?~jt rhU`e٣ G >]49l?a4Y irB3=m<??q?C:$:k4B  AE*mBmJmRm2mr\3=z\3=\@\??ցB}=) XCi)zi!I!DP*DDE  E2EgA*EhAE=ZAM%>Kx,홞\A*G"<"G G(G*CG*IG*ˁBG* =G(G(G*<G*\FH  H H H "H *H 4J_?yJ?9Jw$`=YJ>JH׿@x?@?NK׿ ݸ?? 5?J_?ɨJc; JŐCbˁBbIHn Hnh5v= zU=YzJQ z>x٣| ~Gy}| >]49l?a4Y> iqBU:?q?C::r4 O A*mBmJmRm2mr\z\\\U:?فBw$`=) `ټi),iI DDDE  EEm=ZAyM>:J5LBJJJRJZJJ > J >HR=HR=ZIibI_jIrIzI+:I=h9III/;I/;I:I:vx, v\A2?y2b;?92$B=Y2}"=2Hֿi@U?)?ֿ@>?`Y ? /?2?ɨ2; 2ĐCRӁBRIHZHZe5bZ= fM=YfQ f>d٣h jGhji j>l]r49nl?av4Yn inqBtv5?qv?nCn":n:nx4x z A|*mBmJmRm2mr\9z\9\9\=5?MہBM$B=)I U`iQ)U2QQiQIDmO*DiDiEu  EqEMO=ZAMM1>]x,vP\A6?y6J?96N..=Y6?=6H@tտ z?@-? zԿ?ĥӯ?F?6?ɨ6s; 6ŐCBځBBIEMb@Mb@Mb@AA A)AIAyE rh?bX9ȶMbEC=EEE E3A)EVAIEM AiE$AAEzAH]>H]Y~5m= m@=YmBQ u>q٣q uGy}i }>]49l?a4Y iqB=m;r~?q?C:;8;84  A*mBmJmRm2mr\=z\=\@\r~?݁BN..=) i)i I DP*DDE  EBE=:E=E=ZAM>GE>GECGEIGEBGE =GAGE>DGE<GEmFե 6?ե p=:J} KBJy JJy RJ} ZJ} ax,=)\A2o?y2@?92k:=Y2ə=2H ӿ F?j?`ӿ@J?(&W]?(?2o?ɨ2(; 2ȐC>B>IHF9HF"|5N>< RX=YR]Q R>T٣T VGTVs Z>X]^49Zl?ab4YZ iZqB`bx?qb?ZCZA;Z;Zц4d f Ah*mxBmxJmxRm|2m|r\Az\A\A\Ex?HH?A߁Bk:=) ;i)#iIDDDE  EE=ZAM"> G;mA )EyE;mAMoApx,\A6?y6?96<=Y6Yv=6Hҿt?B?`9ҿ@`?z:??6?ɨ6C; 6ĐCRBRI=Mb@Mb@Mb@99 9)9I9y=RQ?zGế~jt=== ׽=D =IA)=AI= Ai=A9=AHeHeHo5uf= u==Y}M=Q }>y٣y }Gj9 >]49el?a4Y iqB>m;?q?C_; ;[4 B A*mBmJmRm2mr\>z\>\T@\?B<=) @:I9IIq@i@u @m @E%J=ZA1Mu6> BDAT read: Rx Time:19:09:31.8426  TRx dataTimestamp_ set to:1736536172.391130G9 G= @AGA GA GE  IGE BGE  =GA GE ?DGE <GE ]FHx,L\A6P?y6>?96KhA٣A EGAM_1 M>Q]]49Ul?a]4YUv iUqBY]j?qe?UCU^;U;UI4i m@ Ai*mBmJmRm2mr\z\\\oj?BKh<) :J]&~JBJ]9JJYRJ]ZJ]@' 27-lA'HHx,9\Al?y?9Q=Y :2Q  >٣ G( >!]-49%l?a-4Y% i%qB15?q5?%C%@;%;%՜49 =C A9*mYBmYJmaRma2mar\yz\y\y\}?雍BQ<) B BDAT read: Tx time:19:09:32.9351 $Ping request sent.ZI jbI ^jI 1rI zI .:I d9I 3I ìx,S\A2?y2:??92٣ G!%l %>)]U49-!l?aU4Y- i-qBU>m];]?q]?-C-;-G;-壔4a aa*mBmJmRm2mZjm=6l?bjsf ii>^I\Aj @j@2jV@pv< uU`~?~@zp-Yܿ4V"c?=Ndb?"j :@*jXp`;?`?CZ@pACO?eEۿk?i,jށ>ib6l?i .  jmBzjGPl?jj=Bjj?rjD@r\%>z\%>\%tc@\%e?]B]<)Y ]@;iY)eaaiaaIiDO*DD E   E GGG( IG6BG =GG>DGi<GIFE) ZA9 MQ :J hNBJ 9JJ RJ ZJ x,rm\A2PB>II@)@HFHF]5Nʻ RT٣T VGTV V>X]^49Z/#l?ab4YZ iZqB`b?qb?ZCZ;Z<;Z4d fW Ah*mtBmxJmxRmx2mxr\ z\ \ \ 魆?B%:<)! %i!)%!)i))I1DiAzDD-P*D1D1E5  E1BE==:E=a=EZA M%o>x,XW\A6?y6` ?96;Y6=6Hοy?`? ο@6?uA??6?ɨ6’; 6ĐCBBBIMb@Mb@Mb@ )Iykt?sh|? rh =C A)IiAH-H-X[5M~ M?=YMsnQ U>Q٣Q UGY]ѻ ]>a]m49eG%l?am4Yej ieqBm==mu;u&?qu?eCe:ex1;e4 r A*m)Bm)Jm)Rm12m1r\}==z\}==\}G@\}&?雵B;) Yi)1iIDaDaDaEe  EaZIbI`jIrIzIIbl9IIEIZAaM>*G "G =G >G G 4 IG @BG  =G G G c<G EF x,)\ARB?yR"?9R ZYR=RH`Ͽ?$ ?0 Ͽԑ?#[K?`.? ?RB?ɨRu; RŐC^ԁBbIHfHfJH5 D  O=Y wQ  >٣ G%; %>)]549-8'l?a54Y-V i-qB9=m?q=?-C-;-];-4A E AI*miBmiJmiRmi2mir\z\\\sm?雥B ZI=) \i)隱5J? J"?EZAM>ex,\A2~?y2L?92!mY2;=2HYϿ ?k?OϿ@?5m?`o??2~?ɨ2u; 0B́BBIHJHJ.l5R RQ=YV5Q V>T٣T ZGXZB; Z>\]49^!)l?a4Y^F i^qB?q?^C^;^;^N4! -; A)*mIBmIJmIRmI2mIr\az\a\a\e?}B}!mI<=) pi)M隉D1D1D1E1 E12E9*E=fAEU=ZAiM}>ZI ibI \jI 0rI zI +:I [9I ـ3I x,&\A6,e?y6?96ǻY6y|=6H|пH T\?`?п`!?+x?`ė?=Yu$Q u>y٣y }Gy}< >]49*l?a4Y iqBa=m1<x?q?C ;;Ɣ4 ] A*mBmJmRm2mr\a=z\a=\x@\x?BǻID=) pi)p  xGGGG =GG?DGY<G?FHMũC HMũCHIHM ="HM =*HM4E4=ZAM>:JU &NBJU u9JJQ RJU ZJU /+*'$!   8FKUVTU)x,\AJIBIH%H%Kk55Nս 5N=Y5Q 5>9٣9 =G9E E>I]U49M,l?aU4YM iM{qBQQqU?MCM;M;M͔4a e Aa*m!Bm!Jm)Rm)2m)r\z\\\雝BI=) Ri)e隡x,\AR?yR?9R<YRD"=RH`ǡѿl??ѿ2?`?`?=?R?ɨR Ɖ; RÐC^B^ImMb@Mb@Mb@ii i)iIiymy&1|~jt~jthm`廹mļmD m A)mAImAimhAim3AH"Hq5 B=YQ >٣ MGIU0f= U>Y]e49],l?ae4Y] i]yqBeD<me=eɻqm?]C]:]";]mՔ4 G A*mBmJmRm2mr\D<z\D<\ @\k@MBM<IMϓ<)I MiI)UQU DAT read: 19:09:35.3422 LVL= 10736, 27889, 18034, 17827, AGC= 47, IDX= 441, 0.46,-1.869, 2.779, 2.623,-1.879, PHS= 0.099,-1.578,-1.784, RAW= 84.3, 32.8, CAL= 83.2, 41.3, ROT= 66.8, -41.3 % Ygot valid direction response: 19:09:35.3422 LVL= 10736, 27889, 18034, 17827, AGC= 47, IDX= 441, 0.46,-1.869, 2.779, 2.623,-1.879, PHS= 0.099,-1.578,-1.784, RAW= 84.3, 32.8, CAL= 83.2, 41.3, ROT= 66.8, -41.3 - PDAT read: Bearing 66.8, -41.3 (Local) - ~Local bearing/azimuth received: Bearing 66.8, -41.3 (Local) = DAT read: Range 10 to 50 : 2.2 m (Round-trip 3.0 ms) speed 0.0 m/s E ,DAT read: user:1138> M BDAT read: Tx time:19:09:36.4341 M $Ping request sent.M G G  IG ,BG  =G G G '<G F6x,s"\A2g?y2?92K&Y2Gd=2H ҿ| ??!ҿ?Ԅ? ŵ?`?2g?ɨ2; 2ŐCEBEiIHUHUHo5 N=Y/Q >٣ G5= >]49-l?a4Y iwqB,<q?C;;$ܔ4  A*mIBmIJmIRmI2mIZjepk?bjeQ iaie \Aje @je @2je@@pe7Y? ZN?U%3h;?zpeF2n?[?Cʻ?"je;?*je8pe,>=bA ?~2kQ?pe;w?j&?ieN>jeiebc k?ieZ٤  jeńBzjeb6l?jeZ٤ jajjeg>rje?r\z\\\,<%B%K&I%<)! -Ci))-:JwMBJ9JJRJZJUTPONIA<730.+*$"     J- ? J-?ZIfbI^jI1rIzI|":Id9I3II;qI;iI:uI:mII )I Ecx,X<\A2w2?y2o?92;Y2C=2H`tӿ8Bj#?Ok?Kӿ\?u? 9}??2w2?ɨ2l; 0UB u7GmUI A)y]AHH^5 D=Y|IQ >٣ G>= > ]49 .l?a4Y  i uqB<q? C >/; /; \4! %X A)*mABmIJmIRmI2mIr\iz\i\i\m<雅B;I<) ii)隉x;iIDDDE  EE=ZAMc> Hx,9'V\A6\?y6Z?96ȁY6=6HYտ p?)?@Wտ,?@8?@ù?^?6\?ɨ6؊; 6ÐCxB?IG)G-CG-IG-BG)G)G)G-<G-kFMb@Mb@Mb@ )IyZd;y&1|?~jtx?y`;;  A)lAIiAAH%HEs5v =YQ >٣ G>= >]496/l?a4Y ixqB|=mW<̪q?C:t:4  A*mBmJmRm2mr\5|=z\5|=\5A@\5\@EBEȁIE,])I M6iI)MIM~iIQIqD O*D D E  E 2E *E gAE =ZA M >rx,p\A:J.4MBJ.#9JJ,RJ.ZJ.J4I6eAB?yB~?9BE7YB1A=BH#ֿ 3`??ֿ[c? ??r?B?ɨB; @H LLLɸLPPIP)PiP)PIPTɹT TɺTTTiTXiZCX)Z XIX \)\ɻ\\``ɼ`i`I``Idid dd)dIhijSmA hh)hl nnlAnn\Flr3CrmAIp)pip)pItvףt ttv=lAv&iz$DFxixx)x xIx |)~lA|||AiI bB#IH%H%d55M/ 5=Y5PQ 50?9٣9 =G9E8= E0?I]U49M/l?aU4YM- iMyqBQUwq]?MCM;M';M 4a e AaISI[(3I[(.ISISISZIibIsjIrIzI+:I9III/;I/;I;:I=:*mBmJmRm2mr\z\\\1@uB}E7I}9) ڡi) 隉,iIDiDiDiEm  EiE/=ZAMD>4^"x,\Av?yvl?9vYvf`>vH@Jؿ`T?@q?DHؿƚ?4??n?v?ɨvM; vĐC Mb@Mb@Mb@ )IyK)\(?Mb?^Ga=< 3A)VAIhAi~AQAH;H}5Y "Q >٣ G'[= > ]49 .l?a4Y t i qB`=m;ۿq? C : ,: !4) ))*mIBmIJmIRmI2mIr\m`=z\m`=\mD&@\mI@}B})y }̤iy) 隁PżiID9D9D9E=  E9E=ZAIMuX>*G <"G <G! G% CG% IG% ߁BG! G! G! G% <G% \FW(x,\AZδ?yZT?9Z'YZ>ZHٿgD?K?`!ٿ@ ?ң? ?ڭ?Zδ?ɨZ ; ZÐCVBII)H@H<5Z޼  ٣   G S= >]%49.l?a%4Y| iqB!-׿q-?C :P:41 5 A9*mQBmYJmYRmY2mYr\yz\y\y\}@雍 B') ϲi))-b:)-i)1I1DE>DE>DP*DDE  EBE=:E=E=ZAML>:JyJBJJJRJZJZIbI_jI0rIzII=h9Iـ3III/;I:I:- BDAT read: Rx Time:19:09:38.3128 5 TRx dataTimestamp_ set to:1736536178.956709.x,K\A^?y^Dv@9^Y^>^HB ۿ¥%??ۿ?` ??` ?^?ɨ^ލ; \jDBjIHvKHv5~ƽ ~]=Y~ӆQ >٣ G =  >]49J.l?a4Y etIiqB%Կq%?C;;4) -A)*mQBmQJmQRmQ2mQr\iz\i\i\m{ߓ@ B) Ǿi)iIDO*DDE  EEeb=ZAM >}>}<G5x,o\AB?yB@9B!*YB>BHARܿS^?L?fܿ@p?@Y??`?B?ɨB]; BCZGB^IMMb@Mb@Mb@II I)IIIyMB`"۹RQ?~jtx?MνM=M; MA)Mh@IMAiM AIM AHe>HeY~5uE< uC=Y}6Q }>y٣ GZ= >]49,l?a4Y iqB>m;Kq?C; ;;n 4 kA*mBmJmRm2mr\m>z\m>\mI@\m@}B!*) ƾi)隁iIDAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1139> BDAT read: Tx time:19:09:39.3841 $Ping request sent.GCGIGƁBGGGG?<G.FE%=ZA1Mu6>;x,HQ\A) @6 G?y6HB@96GY6g >6H ݿ>p?(Y?uݿ@?? ?`x?6 G?ɨ6{; 6ÐC:J^BoHBJ\JJ\RJ^ZJ^f8BfIHrQHrb5v zS=YzQ z>|٣| ~G| a= > ] 49 +l?a4Y W i qBZI]jbI]`jIYrIYzI].:I]bl9IYIYI]{4;I]~4;I](:I]*:q? C < "< 34 A*mBmJmRm2mr\z\\\o@-B-G)I UؾiQ)UQQiQYIYDO*DD E   E E=ZA!M=/>Bx,= \A:)?y`@9fiY >H2޿@ ?`?޿ӑ?@(? k??:)?ɨ; C9BIMb@Mb@Mb@ )Iy~jt)\(?~jth?G=D; vA)I;Ai AAHCHH5; 9=YJQ >٣ %G!%P= %>)]549-)l?a54Y- i-qB=>m=;=nq=?-C-:-A:-4A EAI*miBmqJmqRmq2mqr\>z\>\9 @\X@雝Bfi) ھi)#隩iIDP*D!D!E%  E!HYH]BAE5n=ZAAMe4>G G ?AG >G G IG BG  =G G G i<G MFHʪC HʪCHH ="H =*Hʡ4Hx,%\A:*?y:<@9:,ЁY:5>:H@Ѥ߿ qcEh?ଽ?߿H4?=7? ?r?:*?ɨ: c; :ŐCF4BFIHNHNi5V Vf=YVWQ V>X٣X ZGX^e4= ^>`]f49b'l?aj4Yb ibqBhjdqj?bCb"";b";b("4p r Ap*mBmJmRm2mr\!z\!\!\%݈@5B5,Ё)1 5i1)=)99i9AIADO*DDE  EEC=ZAM>:J5BJ1JJ1RJ5ZJ5ZIkbI^jIrIzI2:Id9III9;I9;I:I:'Nx,>\AJ?yJy@9JsDYJ5>JH@%+`??Ki??@ ? ?J?ɨJR; JÐCb6BbIId)dHnHnKk5r:< vF=Yv^Q v>x٣x zGx~W< ~>]49&l?a 4Y/ iqB  'q ?C~:h:])4 A*m9BmAJmARmA2mAr\az\a\a\eF@uBusD)y }iy)}/yyiyIDhAzDD P*D D E   E BE=:E=E=ZAM >Hy H} p=oUx,ԶX\A6c?y6t@96Y6R>6H`b^?f?@ą%?P?@m?r?6c?ɨ6; 6CR:BRI]Mb@Mb@Mb@YY Y)YIYy]{Gz:v?~jtx?]#]=]; ]`A)]~@I]$Ai] AY]AHu;Hu}5< A=YʻQ >٣ G;< >]49#l?a4Y+ iqB=m; q?C::04 A*mBmJmRm2mr\=z\=\h?\:@ B ) i)j5i!I!ADDDE EGqGqGuIGuBGqGqGqGut<GuVFE =ZAM!>\x,ēr\A2)L?y2D@92dqY2>2H|`$>?S?@@ Q?`?!1?X?2)L?ɨ2t; 2CR=BRIHZ<HZv}5b< bX=YbmQ b>d٣d fGdj5:< j>h]r49j!l?ar4Yj  ijqBpr qr?jCj;jU;ja74x:J|BJ~9JJ|RJ~ZJ~J I hA ~A *m)Bm)Jm)Rm)2m1r\Iz\I\I\MC@Bdq) i)?:iIDDDE  EEJ = -GQ uA)yAZABDAT read: Rx Time:19:09:41.2631 TRx dataTimestamp_ set to:1736536181.983238MF>bx,\A-q?y-W@9-蕖Y-W>-H)? N?ޫǒ?eβ?l??-q?ɨ-WF; -ÐCMCBMIMb@Mb@Mb@ )Iy~jth?+?1٣1 5G1=$&; =>A]U49E l?aU4YE iEqBU=mU(> DAT read: 19:09:41.2631 LVL= 23744, 16689, 15762, 20883, AGC= 48, IDX= 446, 0.11, 1.539, 1.909, 1.682, 2.938, PHS=-1.311,-0.982,-1.260, RAW= 321.6, 76.3, CAL= 322.9, 76.1, ROT= 187.1, -76.1  Ygot valid direction response: 19:09:41.2631 LVL= 23744, 16689, 15762, 20883, AGC= 48, IDX= 446, 0.11, 1.539, 1.909, 1.682, 2.938, PHS=-1.311,-0.982,-1.260, RAW= 321.6, 76.3, CAL= 322.9, 76.1, ROT= 187.1, -76.1  DAT read: OK  :unknown deviceResponse_: OK % ,DAT read: user:1140> - BDAT read: Tx time:19:09:42.3842 - $Ping request sent.- Ga Ge IGe ƁBGe  =Ga Ga Ge 3<Ge &F(!ix,J\A6?y6C+@96`Y6M%>6H%q@7o?Z? ?@ŧ?O?G?6?ɨ6i; 4NMBN IHZ0HZ%x5vK= vb=Yv5:Q z>x٣x zGx~ ~>] 49l?a 4Y iqB 'q?"Cu::E49 =BA9*myBmJmRm2mr\z\\\n}j@$B`) ׾i),FiIDP*DDE  EE =ZAM>:JUBoHBJUu9JJQRJUZJU/2& Je? Je? Agpx,>#\A6)?y6@96Y6,>6H|>y?y?b0?Q3?q?/w?6)?ɨ6ԉ; 4VRBVIHfHfe5n< nK=Yr);Q r>p٣p vGtv v>x]49zl?a4Yz@ izqB(q ?z&Cz/;zl0;zL4 A*mBmJmRm2mr\z\\\j@'B) 1վi)ùKiIDDDE EEg=ZAM%>ZIm ibIm ^jIm /rIi zIm +:Im d9Im (N3Ii 4vx,\A2?y2 @92:ՎY2>->2H ߿ ??"s?ֱ??`hw?2?ɨ2; 0>dBB&I)F= F=Mb@Mb@Mb@ )Iy ףp= ?L7A`?:v?Q8=+=T< A)Q@I$AizAp A ))H55H5\z5E]= ED=YE];Q E>I٣I MGIUb U>Y]e49]$l?ae4Y] i]qBej=megե >ե S?f]|x,\A:?y:)@9:Y:5>:H@*߿ O? k?`e߿? ?,?m?:?ɨ:; :C^gB^*IHj Hjg5rd< rQ=Yvt٣x zGxz z>|]49~l?a4Y~ i~qB  +@q ?~,C~:~6:~Z4 o A*mABmAJmARmA2mAr\iz\i\i\m+@:J}KLBJ}89JJyRJ}ZJ}GXR3"JIdA雍-B) ži)U隙iIDDDE  EE=ZAM- >(Hx, \AM1?yM[@9M=E}YMSQ;>MHy:޿` X1?"?,j޿?}?`f=?g?M1?ɨM; MCmsBm8I=Mb@Mb@Mb@99 9)9I9y=Dl? rhMb?=O==C=< =/A)=@I=Ai= A9= AHHo5eO= 0=Y٣ Gq >]49l?a4Y iqBu=m9<?q?0C::b4  A*mBmJmRm2m r\%u=z\%u=\%T@\%i?50B5=E})9 =iA)E[[AAiAIIIZI-hbI)jI-1rI)zI-(:I)I-3I)DP*DDE  EE^=ZAMI>G G AAG >G CG IG BG  =G G G <G cFnx,ŏ'\A65?y6@96&eY6<>6H@ ݿu?u?-ݿ@x??Ai?h?65?ɨ6Fɉ; 6CRBROIV;>iV>HZ%HZEs5bR= bp=Yf:JMBJ9JJRJZJJ? J$?- BDAT read: Rx Time:19:09:44.2628 5 TRx dataTimestamp_ set to:1736536185.016826Xx,2uA\AN4i?yN]S@9NLYN;>NH`Vۿc4?? 3ۿ`??7T?@_l?N4i?ɨN-щ; NÐCZBZSIHnHnHo5~3< F=Yk٣ G%W ->1]=495l?a=4Y5 i5qBAE?qM?57C5V;5;5p4q c A*mBmJmRm2mr\)z\)\)\-H?E6BEL)A E3iA)ETcAIiIIIQDD D E   E E=ZAM*>ZIQ bIU ajIU /rIQ zIQ IU p9IU (N3IQ x,F[\A:5?y:?9:3Y:U9>:Hxڿ`0L??`ڿ-?@v??q?:5?ɨ:; :CBBF]IEMb@Mb@Mb@AA A)AIAyE{Gz?&1Mb`?Eף=EPE; EA)E$@IEQAiEd AAEf AHU%HUEs5m$= mD=Yupq٣q }Gy}Y] }>]49wl?a4Y iqBX=m <ڷ?q? BDAT read: Tx time:19:09:45.3852 $Ping request sent.i@D+E:publishing transmit ping timeYlCK1?nEh?9 )Ii )Ii$Y3+?15DD D E   E Ez=ZAM J> JDAT read: TxSync time:19:09:45.3844 ꫜx,%u\A2?y2?92.Y26>2H<ٿ`1?a? ?ٿ m?D?`޲?@Dx?2?ɨ2Kщ; 2CBBBhI HJ@AHJ0HJ%x5R== VX=YVX٣X ZGXfLk j>p]v49rl?av4Yr irqBxz?qz?r@Cr:r:r~4y } Ay*mBmJmRm2mr\z\\\?x, \A_?y ?9,μYMq*>H@ֿ`2r@??ֿ>F?ҙ?`I3?6?騝_?ɨb; ޵B޽rIeMb@Mb@Mb@aa a)aIayel?333333~jtxe=eeĻ a)aIeAie7 Aae AH}H}en5= /=Y٣ G >]49l?a4Ye iqB!=m;[?q?FCE::4  A*maBmaJmaRmi2mir\!=z\!=\嶯@\[?雵?B,μI3ӻ) i)Cq隹iIHHAAD}P*DyDyE}  Ey*G <"G <G G CG IG BG  =G G G t<G TFE <ZA M >x,^ب\AN ?yNI?9N⠟YNhO+>NHϫտD&?@j?iտ_??ZO??N ?ɨN6l; NCZBZIHb Hbf5ja= jl=Yj~:JmBJm9JJiRJmZJm    Iu E=)u ېC  lA  )e Yym lAm AWx,\AF8z?yF?9F16YF)>FHuԿ@b?@Q? KԿ Z?@φ? ?@?F8z?ɨF͌; FC``f%>if>jAhHnHn]5v( vH=Yvçx٣x zGx~I ~>] 49el?a 4Y iqB  H% 4=H! 7ζx,a\A6*#?y6`?96!Y6h#>6H`YӿsWz?? ӿ u?Wc?V? ?6*#?ɨ6; 6CBBBIEMb@Mb@Mb@AA A)AIAyEZd;?(\µ{GzEy=EE# EA)E@IE~AiE AAEG AH]H]hj5mB= mC=Yu2q٣y }Gy}T2 >]49l?a4Y iqB>=m;q?q?VCM:I:4  A*mBmJmRm2mr\>=z\>=\.@\q?HB!Iau<) ׉i)r{  i  IչչGYGYG]IG] BG] =GYGYG]z<G]XFD}O*DyDE  EE2<ZAM>:x,2Hiҿ@N@C?t?@&%ҿ`gB? =y`N? ?2Z-?ɨ2; 2CBBBIHJ,HJ_v5ff< fU=Yf~h٣h jGhn#ZIvlbIvfjItrItzIv<5:Iv9ItItIvH?;IvJ?;Iv:Iv: n>]49l?a 4Y iqB  bm?q ?[CS::]4  A*mABmAJmARmA2mAr\z\\\wbm?KBAb;I<) i)?ۼiI:JU>LBJQJJQRJUZJUJaIaDP*DDE  EE<ZAM>x,S\Au?yuh?9u*vuHBѿwy?@?[ѿW?@Ŏ!?@t?u?ɨu; uCÁBIMb@Mb@Mb@ )Iy~jt?{GzQ=ףu A)Q@I Ai A AH Hq5d< ,=Y٣ GѼ >] 49"l?a4Y iqB=m<;?q?`CI;;4! % A!*mABmAJmARmI2mIr\e=z\e=\e@\e;?NB*v x,S#*\A2ec?y2?92!t2Hѿ@;@??¹п?筘!?@(?2ec?ɨ2; 0^ɁBbIHj)Hj u5v= vr=YvxISI[|3I[L.ISISISZI%hbI%^jI!rI!zI%(:I%d9I!I!I%);I%);I%:I%::JBIBJ89JJRJZJJ> J ?  DAT read: 19:09:47.7928 LVL= 20272, 20897, 18306, 24563, AGC= 52, IDX= 204, 0.26,-1.790,-1.095,-1.606,-0.261, PHS=-1.441,-0.787,-1.348, RAW= 322.4, 64.2, CAL= 324.4, 63.9, ROT= 185.6, -63.9  Ygot valid direction response: 19:09:47.7928 LVL= 20272, 20897, 18306, 24563, AGC= 52, IDX= 204, 0.26,-1.790,-1.095,-1.606,-0.261, PHS=-1.441,-0.787,-1.348, RAW= 322.4, 64.2, CAL= 324.4, 63.9, ROT= 185.6, -63.9  DAT read: Range 10 to 50 : 2.6 m (Round-trip 3.5 ms) speed 0.0 m/s  R#Rx 9: Read range and direction messages.5 `direction in FSK: [-0.437840,-0.042931,0.898028]M Fpublishing direction and range infox,C\A2?y2:?92=Y2>2Hįп º??`MNп@n?l??2?ɨ2ߊ; Y iQܿ}5z{BN? f&@9 0O Q) GI _i 4 r xI D 2C @ l?) -@I ?i 4QO@  2ٿH;uQſVc?I /i tJ B  ^΁BbIHj(Hjt5rQ< vJ=Yvqx٣x zGxzx >]499&l?a4Y iqB%5?q%?iCw<w<붕4) -7 A)*mQBmQJmQRmQ2mYZj ]l?bj  i i B\Aj f&@j I%@2j ܪ@p }6^_'ѭ@zp iQܿ}5z{BN?"j B*j p 9FN?N-?eg߶@p 3c?XMֿ:Lh?i ;kj v*?i pU^l?i ^.#  j |Bzj GPl?j 8b  j jj ?U?rj â@r\z\\\ 5?TB=) ei)-H a=H R=Zx,]\A6k?y6M?961=Y6H=6Hhkп` ??`rϿ,{?66o?@"?6k?ɨ6]f; 6CUҁBUI]AYG>GGGG =GGGh<GKFMb@Mb@Mb@ )IyI +?Zd;I +9<y94 `A)~@I7 AiQAAH=9H="|5Mߑ< M)=YUQ٣Q UGQ]L ]>a]m49e<(l?am4Ye~ ieqBu=muIGx,w\A:?y:?9:%\=Y:U=:H RпT?@?Ͽ̬?;??:?ɨ:; :ÐCIF3CiFlA DH)HJC JtmAJ#J?FHN@CNQlAIR)R8\FiP)RCIRkAPVHFF TV3CVOmATiTTiXZXmA)X XIX ^C)^KmAZI`bIbajIb1rI`zI`Ibp9Ib3I`I`I`Ib:Ib:\lllŕBvIH~-H~v5 w=Y==Q ?٣! %G!%Q %?)]549-)l?a54Y-/ i-qB1=3?q=?-oC-;-;-ĕ4I ME AI*miBmiJmiRmi2mir\z\\\3?雥ZB%\=) 9i)m隩iI:JBJu9JJRJZJDO*DDE  EE<ZAM>.x,\A}w?y}٣ G: >]49+l?a4Y iqB)O=m<>q?sCv;H;xΕ4 ' A*mBmJmRm2mr\5)O=z\5)O=\5Ҷ@\5>M_BM*=)I M܎iI)MQQiQQIiDqDDDE E*G<"G<G>GCGGG =GGGm<GMFHȩC HHH ="H*Hp4E =ZA) MM >Yx,f\A:#?y:?9:Bb=Y:=:H:пح??пm?G{??:#?ɨ:ɉ; 8BَC BmADF^FɽDDFVlAID)DiH)HIJZlAHɾH HɿLNmANĻiRCIFPiPRblA)P PIT VC)VlAVVMFTZCXiXIXXXECalculating totals. Valid battery stick count: 56. 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HHؿx?`d?w?6Kp?ɨ6; 6C>ՁBBIHJNHJ5R> R=YRS=Q V?T٣T VGTZ@ Z?a]m49e#l?au4Ye ie;rBquX?q?e{Ce=;e;e4  A*mBmJmRm2mr\Iz\I\I\MOX?雽XBE1+=I#=) UAi)LK' :JmBJm9JJiRJmZJmY' x,2"&\A2?y2'?92VY=Y281>2HRs׿@4n@ ?޹?@Ɩֿ@? }'? Cz?2?ɨ2; 2CR݁BRIHZ?HZ~5v-= vF=Yvsx٣x zGx~ m>y]49}%l?a4Y}" i}2rBTP?q?}C} <}H <}ۖ4  A*m1Bm1Jm9Rm92m9r\yz\y\y\}TP?雍\BVY=) ?i)NGGIGBG =GGGQ<G;FBEM=:EM=E<ZAMf>Q x,<&\A2?y2?927=Y2a'>2Hտ T??տ%y?do? 8?2?ɨ2̉; 2CBBBIID)DI )ƐC uG )yAeMb@Mb@Mb@aa a)aIaye~jt?V-~jte=eeD eEA)aIed AieAae= AH<Hv}5t= /=Y%٣ Gmb >]49(l?a4Y i!rB>m;Rn?q?C::4 ( A*mBmJmRm2mr\U>z\U>\UF[@\URn?雍aB7=) 8i)P隑iIZIbIbjIrIzIIt9IIIIIS:IT:DDDE  EE<ZAM>c9 x,hU&\A:?y:?9:=Y:>:HxԿ-;?@9?"ӿ?1? >?`?:?ɨ:I; :CNBRIHZ0HZ%x5f= fs=Yf=Q f?h٣h jGhn9 ~?] 49 +l?a 4Y irB  }g?q?C:>:49 =A9*myBmJmRm2mr\z\\\G}g?eB=) 4:Ju&KBJu9JJqRJuZJuJ? J>i)&R隉iIDDDE  EE-<ZAM?>G >G CG IG BG  =G G G {<G XF{j x,o&\Af?yf"O?9fy=Yf6 >fH[?ӿ 4W@S? e?@xqҿ?pȵ[)??f?ɨf; fC B IMb@Mb@Mb@ )Iy|?5^?ʡE󽿺I +=9 A)Q@IzAi$A AH;H}5= %+=Y%u)٣) -G)-( 5>9]e49=,.l?am4Y=E i=qBm3!>mm;m?qm?=C=:=Z:=4q }Ay*mBmJmRm2mr\}3!>z\}3!>\}D@\}?雍kBy=) 3i)U隱iIDD>DeP*DaDaEe  Ea2Ei*EmfAE-"<ZA9M]w>ZI kbI jI rI zI 2:I I I I 9;I 9;I I K x,+&\A6?y6"4?96$=Y6K=6H F:ҿ {?? yѿ ? vst?ট?6?ɨ6C; 6CRBRIZ]490l?a4Y iqB?q?C;.;74 AE*mYBmYJmYRmY2mYr\z\\\G?5oB5$=)1 =].i9)=tW99i9AIAAD@*DDE  EEg<ZAMI>:JBJu9JJRJZJ3@$)75,% u x,|&\AB3X?yB?9B=YB=BHxoѿR&??пA?& ?ˣ?B3X?ɨB{; BCNBN IHZHZm5fp< fN=Yj٣ G  >]=49;3l?aE4Y iqBAE}?qE?C::﹗4I UAQ=mDone sinking=mDSlide state transition from 2 to 1HUAAHUBA*mmBmu2mqrmqr\z\\\'}?iɛI>=)\<)-)i-]C1I9"E&Changing to mode: 1"EStandby mode.GGCG IG'BG =GGG<<G*F"M2Commanding positive:34687DD!D!E-  E)E%E<ZA1MMt> x,Z&\A2'^?y2?92=Y2{=2Hпj`? ? Pпy?W Sݷ??2'^?ɨ2; 2CNBN IMb@Mb@Mb@ )Iyy&1?~jt`=̽ļ A)AI3AiAH /H w5EƩ; E5=YERI٣I MGI} }>]495l?a4YF iqB >m ; ^?q?C<g<4 A*mYBmY2mYrmYr\>z\>\@\K^?iɛI>=))iJT=IDD%r,D)D)E-  E)BEE=:EE=E==ZAIM~>=- XRequesting device enable set for address 50.= x,"4&\A6?y6.?96'O>Y6=6HoпO?@̡?}п x٣x zGeC %>!]-49%7l?a-4Y% i%qB15_?q5?%C%h:%<%ȗ4 A*m9Bm92mArmAr\z\\\_?iɛIV>'O>))隹i=7I:J MBJ 9JJ RJ ZJ De.DaDiEmP  EiEE =ZAQM}7>,DAT read: user:1142> BDAT read: Tx time:19:10:19.3346 $Ping request sent.Gi Gm ! IGm 1BGm  =Gi Gi Gm `<Gm FF x,H2&\A=jXRequesting device enable set for address 50.} ?y}?9}b >Y}<}H @ѿ鷕?dѿUF?^,?1?} ?ɨ}\ʉ; }CޕBޕ IuMb@Mb@Mb@qq q)qIqyu&1?v/~jtu=uxiu uA)uAIuAiu~@qu= AHH65Z 1=YL٣ G< >]498l?a4Y iqBq=m;?q?C::З4 A*mBm2mrmr\-q=z\-q=\-F@\-*?i9ɛ9IE >Eb >)A)AAAiE/III^D?B9D @2D D E Z  E Em =ZAy M > x, '\A5B5 IHEHE:5UQ ]c=Y]Q ]>a٣a eGae e>i]u49m9l?a}4Ym imqByyq}?mCm?;m;m`֗4 A*mBm2mrmr\z\\\iɛIZ>))i7)I^DS;De3DaDaEe7  EaEm=ZAyM<>:J BJ -9JJ RJ ZJ ՝ >՝ ? x,$'\A2b?y2 ?92ԍ >Y21켙2Hѿཧి`+k?`[DҿG?c?@?2b?ɨ2; 2CBBFIV=iVH?HZ[HZ5b bU=Yf9Q f>d٣h jGhjZ= j>l]r49n:l?ar4Yn inqBtv?qv?nCn:n:nݗ4x zAx*mBm2mrmr\z\\\P?iɛI>ԍ >))i "IZIMlbIMajIIrIIzIM<5:IMp9IIIIG%>G%CG% IG%,BG% =G!G!G%<G% FH HHH"H*HU5^D<D5.6D1D1E5  E1E% T=ZA1 MM > x, >'\AJPs?yJְ?9JFU>YJtJH Iӿl6>`?Կ?@@:?JPs?ɨJT; JCR BRI5Mb@Mb@Mb@11 1)1I1y5l?X9v5=55 5A)5 AI1i5$@15AHUuHU\5eJ m@=Yml;Q m>q٣q uGqu1= >]=499l?a=4Y i|qB=P=m=%<=c?qE?C < ;4I MQAI*mBm2mrmr\P=z\P=\/3\FU>)xC<)iw ICCCCDM6DQDQEU  EQE- =ZA9 MU >v x,ΈX'\A:?y:j/?9:)>Y:^]:H_Կ y~@?Tտ?> ¿ a ?:?ɨ:K; :CBBBI HJBAHNHNP5V ڼ VV=YZ\٣\ ^G\^Q= b>`]f49b*9l?af4Yb) iblqBhj?qj?bCbo;b';b/4l rzAp*m1Bm12m9rm9r\iz\i\i\m?iɛI,>)>))隙i{WI:JBJJJRJZJ DS7DDE  EE|=ZAM,>ZIMhbIM^jIM1rIIzIM(:IMd9IM3IIG >G G  IG 'BG  =G G G 9<G (FE x,l^r'\AjBDAT read: Rx Time:19:10:21.2140 rTRx dataTimestamp_ set to:1736536221.814524U?yU?9U>YUń6UH<ֿ`=Qp?ֿ@m? ¿x M?U?ɨUx; QeBmIIq)qMb@Mb@Mb@ )Iy ףp= ?:v?~jthQ8=<D A)3AIAi AHHÙ5-ᒽ -5=YۺQ >٣ G== >]497l?a4Y igqB:U=m~<|@q?C;K;^4 A*m9Bm92m9rm9r\u:U=z\u:U=\u?\u|@iɛI>>))iه ID}7DyDE  E %GElAEe =ZAq M`>)GylANA x,0'\AF?yFz ?9F1 >YFZRFH`׿i? Hؿ?AD` l?F?ɨFF(; DrBrIH~H~5 k  _=Y Q  >٣ Get= e>i]}49m`6l?a}4Ymx imcqBy}@q}?mCm6;m;m4  A*mBm2mrmr\z\\\9@iɛI>1 >))ixIDAT read: 19:10:21.2140 LVL= 6992, 8657, 5730, 9587, AGC= 44, IDX= 164, 0.42,-2.309,-2.035, 2.051, 3.108, PHS= 0.954, 1.187,-1.060, RAW= 24.6, -10.1, CAL= 25.3, -16.0, ROT= 124.7, 16.0 Ygot valid direction response: 19:10:21.2140 LVL= 6992, 8657, 5730, 9587, AGC= 44, IDX= 164, 0.42,-2.309,-2.035, 2.051, 3.108, PHS= 0.954, 1.187,-1.060, RAW= 24.6, -10.1, CAL= 25.3, -16.0, ROT= 124.7, 16.0 DAT read: OK :unknown deviceResponse_: OK " 2Commanding positive:13218,DAT read: user:1143> -Z#Rx 10: Read direction message, but no range.`direction in FSK: [-0.547227,0.790296,-0.275637]Yg)῝J? ѿ9PD7DDE  E !)bIs%i,X9t??> J4)=>I5iJ @5>zI2$÷Zqy\ƿI&&տi.4>J @5>E( =ZAMB>:J KBJ k9JJ RJ ZJ   BDAT read: Tx time:19:10:22.3346  $Ping request sent. YBVBH#ٿBB ;$?ٿ?`͔?B?ɨBƦ; BCNBNIHVQHVb5` J=Y=ދQ =>A٣A EGAMQ]}49U4l?a}4YU& iU_qBy} @q}?UCU.;Uq;U4 v A*mBm2mrmr\ z\ IIm3IS}-IIIZIbIbjI0rIzIIt9Iـ3I\ \ : @i9ɛAIE>Eb>)A)AAIiMIIq*G"Gp<G>GCG IGBGGGG<GeF^DD-L8D)D1E5  E1BE5=:E5=E =ZA M5 >; x,'\A:{b?y:P@9:}=Y: 9:HĹڿ@M U?3ۿĶ? }c?:{b?ɨ:,; :C^ׁBbIf=if٣ GG= >]492l?a4Ys i[qB1=m7</q?C:w:4  A*myBmy2myrmyr\1=z\1=\G?\Gb@iɛI@>}=))iI^DT<Dw8DDE  EEm =ZAyM`>" x,''\A6?y6 @963F=Y6U6HLܿmδ~?@ܿ@4T?@1{@?6?ɨ6%; 4b΁BbIHjHjɑ5r? rU=YvQ v>t٣t zGxzЎ= z>|]49~0l?a 4Y~ i~WqB  G.q ?~C~:~B;~4! %< A!*mABmA2mArmAr\az\a\a\e(c@iqɛqIu>u3F=)q)yyyi}㻉ICCCC:JLBJ9JJRJZJ6CHE@<7/,)#!7HLKGB=93/+)$D8DDE  EEu==ZAM>ZIM lbIM _jIM 1rII zIM <5:IM =h9IM 3II G >G CG IG BG  =G G G <G FP x,a'\AmX?ym;@9m:y=Ym, mHݿ+3@N!?W/޿ v? ?mX?ɨm%A; mCލBލIMb@Mb@Mb@ )Iy rh~jt?MbPC= A)d AIAiQ@ AH5H5ʏ5Ej E6=YEmQ E>Q٣Q UGQU{= ]>Y]e49]-l?ae4Y]u i]VqBm=mm:y=)C|<)隙i׻I"2Commanding positive:11642Du8DqDqEu  Eq2E}fA*EyEe=ZAM>7 x,x~ (\A6G?y6B@96a=Y66H8߿R֭ ?%i߿ ?@wg?6G?ɨ6; 6C>BB~IID)DHJXHJ5Rt Ri=YVnQ V>T٣T VGXZ= Z>\]b49^o+l?ab4Y^ i\dfqf?^C^h;^#;^4l nJ Al*m|Bm|2mrmr\z\\\!#u@i)ɛ)I-}>-a=)))111i5л9I9DMA9DIDIEM  EIթխAE%}=ZA1MM>:J MBJ k9JJ RJ ZJ     a x,!Z'(\AB?yB@9BQ=YB4BH@Xy|n?qff? .w j?B?ɨB; BCNBNxIHVHV5nź nG=Yr Q r>p٣p vGtv= v>x]49z(l?a4Yz izUqB!%bq%?zCz:z:z#4) -p A)*mBm2mrmr\z\\\0v@iɛI8>Q=)HHAA)i.ɻI G>GCGIGBG =GGGI<G6FD9DDE  EE=ZAM&>BDAT read: Rx Time:19:10:24.2143 TRx dataTimestamp_ set to:1736536224.838916F x,$)A(\A6~?y6^@96 F=Y66H`A?w?꾨@LRk?6~?ɨ6t~; 6CVBVoI=Mb@Mb@Mb@99 9)9I9y=V-S㥻?MbP==/=9 =;A)= AI=Ai=A9=AHUHU5e[ eB=YmPQ m>i٣i uGquL[= u>y]49}.&l?a4Y} i}VqB=m;lq?}C}:}=:}+4  A*mBm2mrmr\=z\=\?\}@iɛI> F=)v";)itĻIZIhbI`jI0rIzI(:Ibl9Iـ3II);q-I);i-I(:u-I*:m5^D]}<Da"50Commanding positive:9678D :D D E  E BE =:E = DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:1144>  BDAT read: Tx time:19:10:25.2846  $Ping request sent. q x,[(\A2 ?y2I @92=Y2l;2Hȅ1@?K ,? )~??2 ?ɨ2w*; 2CBBBcIFR>iDHJHJ۞5RA RW=YV 6Q V>T٣T ZGXZV= Z>\]b49^#l?af4Y^w i\df+qf?^C^:^h:^14h j Al*mBm2mrmr\z\\\~@iɛI>=))i|SI^DĎ<:J-LBJ-9JJ)RJ-ZJ-JXrD* DE]:DIDIEMc  EIE%{=ZA9MU2>HC=Ha=Gy Gy G} IG} BGy Gy Gy G} *<G} FH HHH"H*HU5 x,t(\A)P Pf?y1 @9S٣ G!= >]49n!l?a4Y i=m;l q?Cj::94 5 A*miBmi2mqrmqr\=z\=\I?\dك@iɛI >S<))i*I^DoM;D :D! D! E% 4  E! E e=ZA ZI- ibI- [jI- 1rI) zI- +:I- W9I- 3I) I- /;I- /;I- }|:I- |:Me ># x,0(\A>?y> @9>Y><>H7v) ?#?@u ? v?Ϛ??>?ɨ>#;  g=YTSQ >!٣! %G!%@= ->)]549-l?a=4Y-i i-WqB9EX qE?-C-< ;- ;-@4I M AI*miBmi2mirmqr\z\\\c@iɛI>),] )隩:J} HNBJ} 9JJy RJ} ZJ} cysmaVMFB@=@=:9;= >= @6) x,-(\AZ?yZO @9ZͮYZi٣ G ,<  >]49l?a4Y^ iq%?C:;G4) -B A)*mIBmI2mIrmIr\az\a\a\e@iyɛyI}o>}ͮI}=)y)隁gGGIG߁BGGGG?<G.F^DD@;DDE  EI ) = GI i E =) Ndy RBZA M >20 x,q(\A6?y6 @96Y6x =6HDݾkH? G? ݃?`,k??6?ɨ6'; 6CVhBV+IMb@Mb@Mb@ )Iy~jt~jt?MbpD= hA)QAI AiA3AHH5 i  :=YQ >٣ G< >!]-49%l?a-4Y%V i%VqB5F=m5<5q5?% C%;%;%N49 Eg AA*maBma2marmir\F=z\F=\M@\ˊ@iAɛAIE >EIM0<)I)IIMǍiUƻQIY^DMZIhbIjI0rIzI(:IIـ3II);I);II|:De;DDE%  EE =ZA M >Z6 x, M(\A6Qf?y6Q @96JPY6=6H`Z;@?M?@2`c?'Ң??6Qf?ɨ6B; 6CB\BBIHJHJ5R Rd=YVjQ V>T٣X ZGXZ < Z>`]f49bl?af4Yb! ibTqBdfqf?bCbS:b:b U4h n Ap*m Bm 2m rm r\!z\!\!\%y@i1ɛ1I5W>JPI[))Ҽih˻ICCCC:J9MBJu9JJRJZJz`1!   j . %4<us*"0Commanding positive:7603]"UdTimed out moving from: 15215 to: 16450 response: 1U-"UHardware FaultG >G G G G  =G G G <G FE} = BDAT read: Rx Time:19:10:27.1643  TRx dataTimestamp_ set to:1736536227.862454ZA VHardware Fault in component: DockingStepperM- >`= x,X(\A?y @9{Y==HG`M??`r`욿^?@ܣ?n?騕?ɨR; CSBI=i<Mb@Mb@Mb@ )Iy:v ףp= ?~jtxTQ8=Ļ ~A)AI$Ai~AfAH H p5 =YQQ %>!٣! %G!-.ͻ ->1]=495Fl?a=4Y5 i5QqB=_=mE@ZI gbI bjI /rI zI %:I t9I (N3I I I$;I K$;I S:I T:?D x,)\A6?y6 @96(Y6=%=6H" *?!?| a??6?6?ɨ6; 6CBWBBIHJHJ5j < jz=YjHQ j?l٣l nGpr, r?t]z49vl?az4Yv ivNqBxzwԿq~?vCv;v<;vc4  A*m!Bm!2m!rm!r\Az\A\A\E@iɛI<>())iٻI"StoppingDAT read: 19:10:27.1643 LVL= 9120, 21729, 12754, 12083, AGC= 44, IDX= 438, 0.40, 0.064,-1.119,-0.725, 0.790, PHS=-0.638,-1.862,-1.518, RAW= 105.8, 52.4, CAL= 108.5, 59.5, ROT= 41.5, -59.5 Ygot valid direction response: 19:10:27.1643 LVL= 9120, 21729, 12754, 12083, AGC= 44, IDX= 438, 0.40, 0.064,-1.119,-0.725, 0.790, PHS=-0.638,-1.862,-1.518, RAW= 105.8, 52.4, CAL= 108.5, 59.5, ROT= 41.5, -59.5 DAT read: OK :unknown deviceResponse_: OK Z#Rx 11: Read direction message, but no range.\direction in FSK: [0.380124,0.336305,0.861629]ؑYؕJ^S?ж?%!Fw?9ؑؕ# ٕT)ٕ1Iٕ3/iّٕS#ٕVٕM¿ٕ\? ڕ j?)ڕ.d?Iڕ?iڕ}l9?ڕ섿ڑە+?Lm"ÿ#[?Iە}iە(2jە}l9?ە섿E-d=ZAM>:JM OBJM 9JJI RJM ZJM l,sdVF<5/-,*%!  7?0 jJ x,+)\AF}X?yFK @9FYF9+=FHry?S?`:ip >?@zT?6?F}X?ɨF뭌; DRSBRIHZHZ5b bK=YbQ b>d٣d fGdj j>l]r49nl?ar4Yn^ inKqBtvտqv?nCnS:n:nj4x ~A|*mBm2mrmr\1z\1\1\5N@iYɛYI]]>e)a)iiiimO,⻉qIq"}StoppingGG?AGGGIGBG =GGG]<GEFEu(=ZAM=PQ x,E)\A6n?y6 @96]vY62=6H`@%F?$? f` 㦿 ȵ?@PF??6n?ɨ6Ȍ; 6CBHBBIIH)H)Ja= Jp=eMb@Mb@Mb@aa a)aIayei|?5Mb?Mbeqe٣ G >]49l?a4Y iEqB|=mW<q?C:c;Hr4 gA*mBm2mrmr\|=z\|=\8@\3@iɛID>]v))!!i%뻉!I)^D} &"StoppingE]V=ZAyM>zW x,___)\A2 ?y2ӝ @92Y2 9=2H;f@0e?d?`϶?`%??2 ?ɨ2w; 2C>IB@HJHJK5VK; VZ=YV/Q V>X٣X ZGX^ ^>`]f49b3l?af4Yb ib@qBhjqj?b"Cb>:b:bx4l nbAp*mBm2m rm r\z\\\@iɛI>)+T)隹iDI^D("StoppingEp=ZAM=:JE7SNBJEk9JJARJEZJEJU? JU ?ZIibI]jI1rIzI+:I_9I3Iq @i @u @m @GGGGG =GGG\<GDF] x,Igy)\A]?y] @9]ĺY]@=]H)h@?ζ?^? 2.ܩ`LP???]?ɨ]N; ]CޭCBޭI5Mb@Mb@Mb@11 1)1I1y5p= ףQMb55u1 5 A)5$AI5Ai5 A11HUHU5eu e0=YeQ m>i٣i mGiuH u>y]49} l?a4Y}" i}9qB=mE<Dq?}&C};}:}쀘4 A*mBm2mrmr\=z\=\W@\y@iɛI>ĺ))iI^DEq歼"EStoppingE=ZA)MM>d x,)\A:U?y:I@9:&Y:-D=:H3Q``Ѷ?`B? ࢥk?w?@??:U?ɨ:; 8R@BRIXXH^H^5f/n fj=YfQ j?h٣h jGhn` r?p]v49rfl?av4Yr ir4qBxzIqz?r)Cr:rC:r4 A*m!Bm!2m!rm!r\Az\A\A\Eۯ@iQɛQI]>]&)Y)aaaiecaIi^DU&ּ"]StoppingE5=ZAIMe=:Je JQJBJe 9JJa RJe ZJe j x,)\AV?yV@9VcmYV $B=ZIbkbIbajIb0rI`zIb2:Ibp9Ibـ3I`VH@U`\3?]?@?)??V?ɨV[; VC GB IH%H%g55< 5D=Y5u;Q 5>9٣9 =G9EfJ E>I]U49M l?aU4YM iM.qBQUNqU?M,CM:M:MP4a erAa*G}<"G}<GGGGG =GGGJ<G7FHA HAHAHA"HA*HE{4*mBm2mrmr\z\\\2@iɛI>cm)) i  I^D"StoppingE=ZAM>q x,)\A2?y2#@92鲽Y2<=2H}߿`@F??@^߿H&@U?o?`?2?ɨ2; 2CNKBNI=Mb@Mb@Mb@99 9)9I9y=)\(ˡEMb=Ga='9 = A)=AI9i99=AHUHU5< A=Y;Q >٣ GnN >] 499#l?a 4Yb i(qBr=m@<hѾq?0CS;AQ;Ǖ4! -OA)*maBma2marmar\r=z\r=\6r@\R@iɛI>鲽))隹iZ ICCCC"}StoppingEU=ZAaM}{>Vw x,ڬ)\A:??y:&@9:MY:$3=:H@>޿-@?_?@޿ M`mC?ie? ?:??ɨ:ъ; 8BVBBIID)D)J= J=HNHNآ5Vfx= V_=YZ;X٣X ZG\^F| b>`]j49b%l?aj4Yb ib"qBln!ݾqn?b3Cb1;b12;b%4p r Ap*mBm2mrm r\!z\!\!\%=@i1ɛ9I=>=M)9)999iEEAII"]StoppingEu=ZAM=:JuJBJJJRJZJZIjbI`jIrIzI.:Ibl9IIG}>GyG}IG}߁BG} =GyGyG}5<G}(F} x,)\AM@?yM@9M/ YM'=MHEݿmn?@i? tCݿ@4/? ?`!?M@?ɨM; IޕWBޕI G;mA )y ;mA } B=Mb@Mb@Mb@99 9)9I9y=~jtQ{Gzt==u=ף = A)9I9i=zA9=\AHUHUj5e ; e&=YmA&i٣i mGqu^6 u>y]49}(l?a4Y} i}qBϑ=m:<*q?}7C};};}ä4  A*maBma2marmar\}ϑ=z\}ϑ=\}@\}/O@iɛI?/ ))i7!I"StoppingEk =ZAMH>ڄ x,\*\A6p?y6!W@96Y6=6H ۿ@@^??]ۿܨ@Ŏ? ?t?6p?ɨ6^j; 6CBcBB%IHJHJ5V"= V=YV))隱iI"StoppingEq =ZAM= < <:J BoHBJ 9JJ RJ ZJ  x,7.*\A6=?y6?96lY6=6H Lڿ X? : ?`Źڿ/F@?X??6=?ɨ6)M; 6CFlBF0IZIZlbIZ_jIXrIXzIZ<5:IZ=h9IXIXj=ij=lnAHrHrJ5z.= zF=Y~z{ ٣  GG!G%AAG->G-CG-IG-BG- =G)G)G-R<G-;FER E>I]M49M[,l?aU4YM iMqBQUqU?M>CMX:Me:M4a eC Aa*mBm2mrmr\Az\A\A\E/@iyɛyI}>}l))隁ieI"StoppingEu =ZAM= x,H*\A:O*?y:g?9:uY:=:H gٿXRuS?@N?`tٿ@^?r?`?:O*?ɨ:J; 8ByBB?I%Mb@Mb@Mb@!! !)!I!y%~jtxV-MbP%Ļ%h% % A)%;AI%Ai%M A!%3AHAHAei= eD=Yeri٣i mGquC }>]49.l?a4Y iqB=m:<>q?BCSM;L;͸4  A*mBm2mrmr\=z\=\@@\e>iɛI>u))隹if I"StoppingE=ZAM>qq x,1a*\A64?y6?96#\Y6a<6HNؿ@T?`?kؿ 7գ ?K`??64?ɨ6jy; 4BBBUIHJHJg5R9= RW=YVT٣T VGXZJ Z> ]49 0l?a4Y n i qBǝ>q? 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J}? % G9 Q ' x,z,\A)VyTZA-?y-@9-H٣ G'= >]49D&l?a4Y0 i2qBsq?C;;$M4) -_ A1*m!Bm)2m)rmir\z\\\}@iɛI>H<))隹iq&I"StoppingE<ZAM">R& x,,\A6?y60! @96Nn٣ GF= >]49$l?a4Yj i5qB=m;q?C(;;@T4  A*m!Bm!2m!rm!r\E=z\E=\EW=@\E쬋@iYɛYI]%>]Nn<)a)aaaier%iIi"}StoppingBE}=:EyEM)<ZAYM=Չ Ս A*G <"G G >G G IG BG G G >DG m<G MF{, x,\,\ARU?yRm @9RB51٣1:J= MBJ=-9JJ9RJ=ZJ=y]:# 8>=>;75254000,+-*()(&%###$  ]GYe = m>q]49u#l?a4Yu iu9qBq?uCui;uj;u [4 x A*mBm2mrmr\z\\\@iɛqIu#>uB5<)q)yyyi}y$yI"StoppingEu<ZAM=c3 x,m8,\A6?y6 @96)٣ G< >]49"l?a4Y6 i=qB9>m;<ڿq?C:(:5b4 r A*mBm2mrmr\9>z\9>\a@\@i ɛ I>)<))i%#!I!"5StoppingEJ<ZA!ZI=hbI=^jI=1rI9zI=(:I=d9I=3I9qE@iE@uE@mE@Mu==9 x,,\A2?y2 @92zNd٣h jGhn~< n>p]v49r7"l?av4Yr ir@qBxzqٿqz?rCr:r:rh4|  A*mBm2mrmr\z\\\@iɛI>zN<))i>"I" StoppingE<ZAM=Gm>GiGmIGmˁBGiGiGm?DGm`<GmEFH9H==:JdNBJJJRJZJ  v@ x,-\A2 ?y2 @92٣ G;  > ]49 !l?a4Y U i DqBٿq? C ; ; p41 = AA*miBmi2mirmir\yz\y\y\}qȒ@iɛIV><))i%؂"QIa"StoppingEi=ZAM">ZIU dbIU bjIU 0rIQ zIU <:IU t9IU ـ3IQ VF x,-\A6?y6 @96IU;Y6%Y=6HS@]?f? `¾? 5j`3?b?6?ɨ6o(; 6C>VB>I=Mb@Mb@Mb@99 9)9I9y=p= ףˡE?MbP?====: = A)=AI9i=A9=AHUHU5e eC=Ye9Q m>i٣i mGiu u>y]49}!l?a4Y} i}FqBd>m;Ŀq?}C}j:}:}Ow4  A*mBm2mrmr\d>z\d>\ %@\@iɛI>IU;))i!Y"I"StoppingE=ZAM=Ge ?AGe @AGi Gm CGm IGm BGm  =Gi Gi Gm :<Gm *FL x,5-\A2?y2R @92qHúY2_=2Hy?@!?@ ? iX??`?2?ɨ2; 2CNMBN IR=iR=HVHV5^; bU=YbyJQ b>d٣d fGdf f>1]=495!l?a=4Y5 i5IqBAEĿqE?5C5:5:59~4I M=AI*miBmi2mirmir\z\\\[՗@iɛI>>qHú))隱٣ Gļ >]49"l?a4Y iGqBq>m;<q?C::4 A*mBm2mrmr\5q>z\5q>\50@\5@@iAɛAIE>M%˻)I)IIMh٣h jGhn n>p]v49r#l?av4YrJ irFqBtvqv?rCr:r:r&4| ~ A|*mBm2mrmr\9z\9\9\=nϜ@iIɛQIU>U8()Q)YY]wd٣d fGdj+ j>l]v49n_$l?av4Yn  inDqBxz+q?nCnѪ;nԱ;n24  A!*mYBmY2mYrmYr\z\\\D@iɛIS>!\Ic=))隹HhZI- ibI- cjI) rI) zI- +:I- x9I) I) 9f x,-\A26?y2ާ@92O|Y2'U=2HmC߁? ?`C`0???@?26?ɨ2C; 0B_BB IMMb@Mb@Mb@II I)IIIyMI +٣ G> >]49%l?a4Y  i@qB=m<q?C&;X%;4  Aս=ս<*mBm2mrmr\=z\=\B@\om@iɛI>O|I4<))F;i$!I!"5StoppingE=ZAMg>*G <"G <G G CG IG BG G G G G m x,-\A>I?y>C@9>/|Y>kR=>HR߿ &??@^T߿F?V??? (?>I?ɨ>&; >CJiBJ,IHRHR+5ZS= ZX=YZQ ^>\٣` bG`f!k f>d]j49f&l?an4Yf\  ifE/|IEҦ<)A)IIMiM&%IIQ"]Stopping:JNJLBJu9JJRJZJEU^=ZAaM}=IA)EC G )%y!%ARt x,P-\A6[?y6@96=XY6#Q=6H` ޿5`?@?@ ޿?j? ?E?6[?ɨ6@; 4bvBb<IjAjAeMb@Mb@Mb@aa a)aIaye٣ GrY >]49l(l?a4Y  i9qBYF=m<q?C::Ψ4  A*mBm2mrmr\YF=z\YF=\*w@\@i ɛ I>=XI-$@<))))15 %i&I"StoppingBE=:E=ZIhbIbjIrIzI(:It9IIE=ZAM>**z x,D-\A2C??y2d>@92rY2WP=2H`Wܿ? ? ܿy? Q???2C??ɨ2 Y; 2C>B>SIHFHF5N= R[=YVW;Q V>T٣T ZGXZ섽 Z>\]b49^)l?ab4Y^  i^6qBdf#ľqf?^C^::^\:^Z4h j` Ah*mxBmx2mxrm|r\Qz\Q\Q\Uͼ@iɛI>rIޕ;))隉*iM'I"StoppingE=ZAM=G>GGIGЁBG =GGG<G F:JBoHBJ9JJRJZJ  x,k}.\A>?y>L@9>PGOY> F=>H [9ۿ99?`,?`:ۿ Ԃ??Ԩ??>?ɨ>q; >CJBN]IHVHV5ZX= ^I=Y^;Q ^>`٣` bG`fCz f>h]j49jU+l?an4Yj  ij3qBlnоqn?jCjA;j;ju4t v# At*m Bm 2m rm r\)z\)\)\-+@i9ɛ9I=>=PGOIE}ٺ)A)AAE:iET'III"mStoppingEo=ZAM== x,^.\A}B}rII)%Mb@Mb@Mb@!! !)!I!y%~jt? rhMbP?%<%C%: !)%AI%Ai% A!%3AH=H=5M= M3=YUQ U>Q٣Y ]GY] ]>a]u49eN-l?au4YeR  ie2qBu=m}8<}zG?q}?eCe5;e7%;en4  A*mBm2mrmr\=z\=\`@\/zG?iɛI>I@))i4(I"Stopped2E*EfAE-=ZA9 ]dClearing failed state for component DockingStepper1mM}>I I G @AG G G G IG BG G G G j<G LFZI% jbI% ejI! rI! zI% .:I% 9I! I! I! q- I! i- I% :u- I% :m5 \f x,38.\A6k?y64?96μY6E#=6Htoؿ { ;? -?nؿ? w}?_? M?6k?ɨ6Љ; 4RBRIHZHZ5bx= bg=Yf|h٣h jGhn n>9]E49=.l?aM4Y=  i9QU4;?qU?= C=#;=#;=ę4a e2 Aa*mBm2mrmr\z\\\K4;?iɛI˿>μ))i)!I!"- Start "-4Initializing EZServoServo.:JqBJqJJqRJuZJu "8Initializing DockingStepper.E<ZAMe>Q x,.R.\A6-?y6 k?96~Y6! =6H@5$׿@*??"׿@?:o? J?`?6-?ɨ6B; 6C>B>IMb@Mb@Mb@ )Iy~jt?I +~jth?=9D;  A)$AI;AiA AHH.5p1= ==Y;Q >٣ G N >]490l?a4Y  i6=m;?q?C::-̙4  AE*mBm2mrmr\6=z\6=\@\7?i!ɛ!I%>-~)))111i5OF)1I9"EStartingE-<ZAAM=խ<խ=} x,*k.\AzBzI~)٣) 5G15 5>9]E49=2l?aE4Y= i9IIqM?=C=.:=:=ҙ4Q U AQ*mqBmq2myrmyr\z\\\i)ɛ1I5>1)1)119i=<{)9IA"MStartingEEa<ZAQM=GM>GIGMIGMBGIGIGIGMܰ<GM FZI9bI=bjI=/rI9zI9I=t9I=(N3I9I9I9I=S:I=T::J BJ 9JJ RJ ZJ  db x,l΅.\A>V?y>~?9>/ M;Y>.<>HԿ>p?'@? ԿA? Ci~ט??>V?ɨ>}; >C^ɁB^IHrFHr5~K]= ~N=Y~٣ G½  > ]49 4l?a4Y  i ?q? C ; ; ٙ4! -a A)*mABmI2mIrmIr\az\a\a\e ?iyɛyI}w>}/ M;I}ۻ))隁i\S)I"Starting"-BInit string: /1z15279aE13561N3m50EMV<ZAYM>V x,j.\AvρBvIMb@Mb@Mb@ )IyS㥻?kt~jth?/=   A)QAIAiA\AHHo5w< @=YQ >٣ G >]49L6l?a4Y' ig >m;x?q?#C\;z\%g >\%銳@\%@x?i1ɛ1I5>9I=)9)99=ۼi=q&)AIA"]StartingE=<ZAIMmV>*GE <"GA GM >GM CGM  IGM !BGM  =GI GI GM L<GM 6FH HHH"H*Hʉ4ZI] kbI] fjI] 1rIY zI] 2:I] 9I] 3IY I] 9;I] 9;I] :I] :K x,`.\A6?y6?96{\٣\ ^G\bȔ b>d]j49f7l?aj4Yf if3qBhj?qn?f*Cf%:f:f4p r Ap*mBm2mrm r\z\\\?iɛI>{Ȝ x,X.\AсBIMb@Mb@Mb@ )IyZd;?V-Mb`?=h; ~A)IAiQA3AH,H_v5  ;=Y%Q %>!٣) -G)- ->1]=495 9l?aE4Y5A i52qBE>mM;M?qU?52C5=;5?;54q u! Ay*mBm2mrmr\>z\>\92@\ޛ?iɛI>I;))fi)(I"StartingEu<ZAM>hǺ x,5.\A2#?y2$?92V}l٣l rGpr+ r>t]~49v:l?a~4Yv it?q?v8Cv;v;v4   A *m)Bm)2m)rm1r\Iz\I\I\M*?iYɛaIe>eV}:J5 NBJ5 9JJ1 RJ5 ZJ5 *4M`a^6 (--,+''&%  'T m G ) y AA7 x,t /\A6?y60?96!t٣t vGtzFջ z>|]u49~3;l?au4Y~{ i|y}V?q}?~@C~;~;~$4  A*mBm2mrmr\z\\\V?i ɛ I>! x, /\A6?y6j?96]ہB@Mb@Mb@Mb@ )Iy:v? ףp= Mb`=Q8 A)I~AiAH-H-m5E%: ED=YMe;Q M>I٣Q UGQU A; U>a]49e;l?a4Ye> ie0qB=m;?q?eFCe]G CG . IG ;BG G G G ԰<G FZA M- > x,e:/\A:=?y:z{?9:E/X٣\ ^G\^,< b>`]f49beE/ x,,T/\A2t?y2X?92u ?@ҿ?)a??2t?ɨ2K; 2CNցBRI)Vp= V=Mb@Mb@Mb@ )Iy٣ GR}< >]49;l?a4YD i-qB;=m4<?q?OC;T;4  A*m Bm 2m rm r\-;=z\-;=\-@\-?i9ɛ9I=">=<)9)AAE= x,=|n/\A6"?y62`?96΁B>IHFHF5b3 b[=Yf(;Q f>d٣d jGhj< n>p]v49r;l?av4Yr ir,qBtv?qz?rSCr~:r:rU4| ~> A|*mBm2mrmr\z\\\&?iɛI><))in!IDiAzDhAGGG( IG6BGGGG<GF"0Commanding positive:6427D.<DDE  EEe<ZAqM:>:J DMBJ 9JJ RJ ZJ  x,g_/\A^?y^:?9^٣! %G!-= ->1]E495/;l?aE4Y5 i5+qBAMd?qM?5WC5X);5 ;5 4Y ]r AY*m Bm 2m1rm1r\Iz\I\I\Md?iyɛyI}>}<))隉iI D@<DDEa  EE<ZAME>ZI obI cjI 0rI zI >:I x9I ـ3I * x,F@/\AF!?yF?9Fhi٣i mGqu "= u>y]49}r:l?a4Y} i}*qB!<m<@q?}XC}:}t:}'4  A*mBm2mrmr\u!<z\u!<\u5c>\u@iɛI>h<))隱ilI"0Commanding positive:6323D}?<DyDyE}  EyBE=:E=EUh<ZAaM}Z>*G "G <G >G G  IG ,BG  =G G G <G FP x, /\A2?y20S?92t٣t vGtz8= z>] 499l?a 4YW i  @q?ZC::.4  A*m9Bm92m9rmAr\Yz\Y\Y\]@iiɛiIm>m<)i)qqqiu"yID?D?D=<DDE  E:JBJk9JJRJZJEw<ZAM >2; x,/\A6 ?y6?96٣ G@= >]498l?a4Y i,qBB.=m< q?\Co::64 6 A*mBm2mrmr\B.=z\B.=\ @\-@i!ɛ!I%N>%<))))))i-1I1ZIgbI\jI1rIzI%:I[9I3I"%0Commanding positive:6323D?<DDE  EEw<ZAMI>b x,/\A6D?y6"?96ϸB>rII@)@HJHJ5R V\=YVrԻQ V>X٣X ZGXZ_= Z>`]f49b28l?af4Yb ib-qBhjrqj?b^CbG:b:b<4l r Ap*mBm2mrmr\z\\\ք@i)ɛ)I-S>5ϸ<)1)111i5AIADT<DDEI  E2EfA*EfAG9G=CG= IG=BG9G9G9G=w<G=VFHªC HªCHH"H*HªW4E<ZAM>:J% KBJ% #9JJ! RJ% ZJ% J x, 0\AF?yF@9FΠt٣t zGxz.R= > ]49 p7l?a4Y | i /qBq%? `C KG; H; C41 5 A1*mqBmq2mqrmqr\z\\\@iɛIL>Π<))隱iI"0Commanding positive:6126D_<DDE  EEP=ZAMG>ISI[ـ3I[.ISISISZIjbI`jI0rIzI.:Ibl9Iـ3I٣ GF= >]496l?a4Y^ etIi1qB=m <q?eCr;;5K4 V A*mBm2mrmr\=z\=\o@\@i!ɛ!I%>-<))))))iBIDEX<DADAEE  EAE=ZA)ME1>G- @AG) G5 >G1 G5 IG5 BG5  =G1 G1 G5 E<G5 1F x,"S=0\A6QH?y6@96J6<6H`ݿ-~5?@~?"ݿA? Jۆ'??6QH?ɨ6 ; 6CBBBPIF4=iF=HJHJ5RF R[=YVTQ V>T٣X ZGXZ;d= Z>\]b49^5l?ab4Y^& i^2qBdfqf?^iC^:^S:^Q4h jw Ah*mABmA2mArmAIi)mC vGlAr\z\ \\š@)5y5lA5AiɛI@>J6<))隩iI?_A:J-BoJBJ-9JJ)RJ-ZJ- k>/=dC0%xpic[VPHFC@;4.)%  11"0Commanding positive:6027Deo<DaDaEe  EaBEm=:Em=EU=ZAiM`> x,^-W0\A:?y: @9:4l;Y:~0<:H`+޿6DȔ?@e8?'޿@o,?`|x`$??:?ɨ:dNJ; 8B|BBCIMb@Mb@Mb@ )Iy#~j rh?㥽C= A)QAIiA3AH-*H-|u5=L EA=YMCQ M>I٣I UGQU=3= U>Y]e49]5l?ae4Y]N i]3qBm=mm;mqm?]oC]0;]:]#Y4q u Ay*mBm2mrmr\=z\=\]@\7)@iɛI>4l;))iUYIYD`<DDE  EE=ZAM5.> x,q0\A6$?y61@96Y6w<6HB߿.?@9??߿Y?7?@譝??6$?ɨ6t; 6CbBfIIHjHj5r< vP=YvQ v>x٣x zGxzJ= ~>] 49_4l?a 4Ya i4qB  q?tC2::_4  A*mABmA2mArmAr\az\a\a\e'ɐ@iqɛqIud>u)y)yy}OGCGIGBGGGG<GF"m0Commanding positive:6021DMp<DIDIEM  EIE%s=ZA1MU1>ZIibIjIrIzI+:I*9III/;qI/;iI(;uI(;m:Je NBJe k9JJa RJe ZJe   " x,0\AZ?yZ1"@9ZлYZ&-=ZH $ @۟?`l? Ӆ?`z?҄??Z?ɨZo; ZCf{BfBIIl)lHv;Hv}55+ 5E=Y=mQ =>9٣9 EGAEt= E>I]U49M3l?aU4YM iM5qBY]4߿q]?MzCM;M';M:g4a e Aa*mBm2mrmr\z\\\B@iɛIS>л))V( x, 0\A6+?y6@96LNY6=6Hc`ku`ޢ?#{?do}?`\݉?@?7?6+?ɨ6B; 6C>~BBFIMb@Mb@Mb@ )IyʡEx&?Mb`7=  A)AIhAiQAH5H5ޚ5E8M< EI=YM|Q M>I٣I MGQU= U>Y]e49]3l?am4Y] i]4qBm=mmLN))m*G"G<GGGIG߁BG =GGG=<G-FZI hbI `jI 1rI zI (:I bl9I 3I I );I );I (:I *:e. x,嗾0\ANm?yNy@9NӏYN!=NHݤLB? :S?"8Er? C? Y"??Nm?ɨN; NCZsBZ9IHbHbp5j8Q nQ=YnNQ n>p٣p rGpvz< v>x]z49z2l?a~4Yz ix|޿q?zCz;z;z!u4   A *m)Bm)2m)rm)r\Iz\I\I\Ma@iaɛaIel>eӏIe =)i)iimrA 5 x,!u0\A6?y63@96Y6?!=6H%h? V-? U?L?n٣ G< >]492l?a4Y i3qB=m<ܿq?C;4:|4  A*mBm2mrmr\=z\=\@\Ց@iɛI>I <) )   i I"0Commanding positive:5830D<DDE  EE =ZAM>< x,]0\A6{?y6q@96RݼY6=7)=6H F? >?`] dNK?a#??6{?ɨ6s; 6CNzBNAIHV;HV}5^I ^W=YbZ/Q b>`٣` fGdfVh< f>h]n49j1l?an4Yjd ij2qBpr<ܿqr?jCjo;j:j34t v At*mBm2mrmr\1z\1\1\5@iɛI>RݼI<))di^IGGGIGBG =GGG<GFD<DDE}  EE =ZAM>HHZIgbI_jI0rIzI%:I=h9Iـ3III$;IK$;I:I::J BJ 9JJ RJ ZJ J ? J >B x,*r 1\AZ?yZ@9ZYZ2=ZHA ,` ? d? $_@?zY??Z?ɨZC; ZCfBjNI xxHzHz5~K= D=Y :ԻQ  > ٣  G; >]%49>1l?a%4YO i1qB)-ܿq-?C::}41 5 A9*mQBmQ2mYrmYr\qz\q\q\u@i!ɛ!I%6>%I%)!)!)-bi-)IQ"E0Commanding positive:5732DE<DIDIEM  EQEO=ZAMk>I x,&1\A:r?y:*X@9:Y:A<=:H b? .?^VŸ?`@?c?:r?ɨ:; :CRBRQI=Mb@Mb@Mb@99 9)9I9y=L7A`堿Q?~jth=+=\=9 = A)9I=Ai=~A9=3AH]GH]+5m!Y< mF=YuCQ u>q٣q uGy}Aɻ }>]490l?a4Y i0qBjE=m<q?C::4 q A*mBm2mrmr\jE=z\jE=\&@\@iɛI>I@))隹iIDm<DiDiEm  EiEE1=ZAQMu6>GqGu@AGyGyG}IG}BG} =GyGyG} <G}FH9 H9H9H9"H9*H=Ȃ4ՙ՝AZI hbI kjI rI zI (:I 9I I I );I );I :I :;O x,?1\A6_?y6@96U|Y6@=6H` #@N?-?;&1[`7??@?6_?ɨ6Ċ; 4NBNXIHZHZ35< %P=Y%޹Q 5>A٣A MGIM]0 M>Q]}49Uf0l?a}4YUM iU/qBy}q}?UCU_;Ue;U4 B A*mBm2mrmr\z\\\j@iɛI>U|))i6=!IDhAzDgA"0Commanding positive:5725D<DDE  E:JBJ9JJRJZJE=ZA)MER>{#V x,DY1\A2a?y2s@92\Y2dA=2H `cDf?@O?@ 0L!?0?`0?2a?ɨ2Ɗ; 2C>B>bI Mb@Mb@Mb@   ) I y ~jth?{Gz? D; #<  ) AI ;Ai  A  AHmFHm5}= }D=Y}GM;Q >٣ G >]49 0l?a4YU i +<m=8q?C;G:ޟ4  A*mBm2mrmr\ +<z\ +<\f?\aY@iɛI>\))  i " IDDDE\  EE=ZAM$>YM\ x,Rs1\A2?y2!@92_Y2==2Hji@?@s?q6`? Q? ?2?ɨ2s; 0BBBeIFX٣X ZGXZh ^>`]f49b/l?af4Yb[ i`df(9qf?`b:b:bq4l n AnE*mBm2mrmr\z\\\DX@i)ɛ1I5#>5_)1)119i=l9$AIAG!G!G%IG%BG!G!G!G%6<G%(F"0Commanding positive:5732]"dTimed out moving from: 15519 to: 16450 response: 1-"Hardware FaultBE=:E=E]=ZA -VHardware Fault in component: DockingStepperM5.> G;mA ))]y];mA]dB:Jy BJ} k9JJy RJ} ZJ} 5c x,.v1\AB}?yB]@9BмYBT5=BH"@ '?^?'@>?+?B?`M?B}?ɨBw; BC^B^lIHjEHj5zS< ~E=YR;Q  >٣ G%ɼ %>1]=495_/l?a=4Y5b i50qB9E9qE?5C5;5;54I M AI*mBm2mrmr\z\\\/LX@iɛIb>м))隹i%I"Stop ":Uninitialize Docking Stepper."Powering downDzDDDEG=ZAM=ZIbI`jIrIzI:Ibl9IIq@i@u@m@_i x,rQ1\A6?y6@96-Y6G-=6H߿6R?? ߿h`?FE?쥥?@?6?ɨ6K7; 6CNBN|ImMb@Mb@Mb@ii i)iIiym rh?/$MbP?mC =mm: m A)iIiim~Aim AHH5m= A=YF ٣ G >]49l/l?a4Y i#=m<M?q?C3&;$;4 X A*mBm2mrmr\#=z\#=\D[@\M?iɛI>-))!!i%R&!I)"=StoppingEM=ZAYMu=*G"G=GGGIGBG =GGG1<G#FFp x,)1\A2B?y20@92Y2V=2H ޿ٻ??@޿,o?H?}??2B?ɨ2Re; 2CBBBIID)DHNHN5VHM< VZ=YZnKX٣X ^G\^ ^>`]f49b|/l?af4Yb i`hj?qj?bCbq:b:b4l rE Ap*mBm2mrmr\!z\!\!\%?i1ɛ1I5ƿ>5)1)隙iG'I"Stopping2E*EgAE^<ZAM===:JABJAJJARJEZJE"#-xv x,$1\A6̐?y6)@96HY60=6H ޿5G?:?"޿CVx?j?06?`3?6̐?ɨ6; 6C@B~IMb@Mb@Mb@ )Iy&1? rh~jth?P=C D;  A)AIQAiA\AH-H-5=5 =A=Y=D;A٣A EGAM M>Q]]49U/l?a]4YU iU1qB]\{=m]X@\"]?iɛI[>H))ia(I"StoppingE<ZAM>)| x,1\A:?y:@9:d6Y:=:Hfݿg ?l? fݿƀ?@~??v?:?ɨ:Ή; :CFBFIHNHN5V< VU=YZIX٣\ ^G\^ b>`]f49b/l?af4Yb@ ib2qBhj?qj?bCbR;bbU;bɚ4t v At*m Bm 2m rm r\!z\!\!\%ν?i1ɛ9I=>=d6)9)AAAiEf(AII"UStoppingGGGIGBG =GGG <GFEUH<ZAiM=HaHe4=:J LBJ 9JJ RJ ZJ B^mqsrrhc`ZSPONHCA::9942.)&"   x,w2\A2G?y2B@92GY2<2Hܿk`k?`?`ܿ?.h?@u9?d?2G?ɨ2; 0NBRIHZHZڠ5~9 E=Y1 ٣   G   >]-4910l?a-4Y i3qB1=?q=?C;@;К4Q ]6 AeE*mBm2mrmr\z\\\?iɛ I 0> G))ig(!I!"-StoppingE<ZA!M==ZI}hbI}^jI}/rIyzI}(:I}d9I}(N3Iyt x,1(2\AR=YQ >٣ G >]490l?a4Y i4qB=mF<?q?C;x;ؚ4 L A*m)Bm)2m)rm)r\M=z\M=\M@\M?iYɛYI]>Y)a)aaaie)iIi"}StoppingEU<ZAYM}=GG=AGGG IGBG =GGGP<G;FH} AAH} @AT x,TrB2\A2C?y2@92ѭ;Y2<2HPۿ G?`F?Lۿ &?.u ?r?2C?ɨ2 x; 0LRIHVHVg5b": b]=Ybod٣d fGdjʂ j>h]r49j0l?ar4Yj1 ihpr?qr?jCjb;j;jޚ4x zJ Ax*mBm2mrmr\1z\1\1\5?iIɛIIM>Mѭ;IMI)I)QQUiU+(YIY"eStoppingE}<ZA:J# NBJ89JJRJZJ    JIM J>pÖ x,-^\2\AV?yV @9V=Y٣ G ռ >]49^1l?a4Y i3qB=mS<?q?C:(:z4 I AZI5jbI5djI51rI1zI5.:I5|9I53I1*miBmi2mirmqr\=z\=\D@\#?iɛI> x,s*v2\A6?y6?96h*MBBIHJHJK5nO; nV=Yrp٣p rGpv:ͼ v>x]~49z1l?a4Yz ix?q?zCz;zr;z&4  > A*m)Bm)2m1rm1r\Qz\QGe>GaGaGaGe =GaGaGe <GeFH! H!H!H% ="H% =*H%R4\Q\U?iɛI>h*M:J LBJ 9JJ RJ ZJ !3BCA?<832-+(($$"   J% ? J% ?1ѣ x,2\A2x?y2$?926L٣P RGPRv R>T]Z49VR2l?aZ4YV@ iV2qB\^?q^?VCV:V;V 4` bg Ad*mpBmp2mtrmtr\z\\\?iɛI>6ZIi bIm gjIm 0rIi zIi Im 9Im ـ3Ii ~ x,ީ2\A2?y2n?92^+I٣I MGIUB U>Y]e49]2l?ae4Y] iYm0=mm^+E<ZAMf>*G]<"G]<G]>GYG]IG] BGYGYGYG]<G]F15AI ) C ] *Gq ) ڿy A x,=2\A2?y2@?92p٣p rGtv v>x]~49zL3l?a~4Yz_ iz1qB?q?zCz+;z;zT4   A *m)Bm)2m)rm1r\Iz\I\I\M?iYɛYI]N>e:J=*MBJ=u9JJ9RJ=ZJ=JAIEgA? x,2\Ar5?yrL?9rJA٣ GD >]493l?a4Y$ iS<m=Lr?q?C:: 4  A*m Bm 2m rmr\-S<z\-S<\-Lj@\-sLr?iAɛAIE)>EJAX٣X ZGX^OM ^>`]f49bG4l?af4Yb i`hjq?qj?bCb:b:bX4l n ApG>GGIGBGGGGL<G8F*mBm2mrm!r\z\\\Wq?iɛI>g<))\٣\ ^G\^ b>`]f49b4l?af4Yb ib0qBhj!p?qj?bCbU;b;bl4l nB Ap*m|Bm2mrmr\z\\\!p?i)ɛ)I->55<)1)111i=Q!9IA"MStoppingE<ZA9Mu=I x,&+3\AF?yFj?9Fú=YgQ >٣ G >]49Y5l?a4Y i[<mJ=q?C:1:4 _ A*mBm2mrmr\u[<z\u[<\uoЁ@\uD@iɛI>ú<))隉iI"StoppingEf<ZAM>GGAAG>GGIGBGGGG><G.FZIE hbIE bjIE 1rIA zIE (:IE t9IE 3IA IE );IE );IE S:IE T:2 x,E3\A6e?y68?96z ٣   G  >]%495l?a%4Y i!%q%?CV::%41 5 A1*mYBmY2mYrmar\yz\y\y\}7@iɛIT>z<))隑iI"StoppingBE=:E=E<ZAM%=ՑՕ%=:JBJu9JJRJZJ%^ x,^3\Ao?y?9IQ >٣ %G!%3: ->1]=4956l?a=4Y5  i51qB=\<mEI<))隡i)I1"=StoppingE%<ZA9MU> x,x3\AGZ>GXGZIGZ߁BGXGXGXGZ2<GZ%FBOI H%H%5M/< ]X=YmQ u>q٣y }Gy >]497l?a4Ya iq?C::44  A*mBm2mrmr\z\\\AAiqɛyI}>y)y)yyiJoI"StoppingEm'<ZAqM=ZIlbIZjIrIzI<5:IS9IIIH?;IJ?;ISu:IUu:m x,3\A2?y22?92#>)٣1 5G15)< 5>9]E49=7l?aM4Y= i9IM,uqM?=C=%:9=:4Q U AY*mqBmy2myrmyr\z\\\Lj@iɛI>#><))隩iI"StoppingEH=ZAM= x,l3\A:h[?y:?9: < ;=YʻQ >٣ G; >]49r8l?a4Y it9=m<]q?C:k:aB4  A*mBm2mrmr\5t9=z\5t9=\5$P@\5@iAɛAIE)>E <)I)IIIiMYIY"eStoppingE5=ZAAMe=*G"G4<GGGIGځBG =GGGO<G;FHi HiHiHi"Hi*HmG04ZI ibI ^jI 0rI zI +:I d9I ـ3I I /;I /;I :I :~ x,F3\ANb?yN?9N2t٣x zGxzT< z>] 49$9l?a 4Yz i  Vq ?C:h:H4  A*mABmA2mArmAr\Yz\Y\Y\]@iiɛqIu>u2<)q)qqqiC4I"StoppingE=ZAM =:JBJ9JJRJZJJiAIhA x,83\Ae?yeP3?9eƗ;Ye@٣ G < >]499l?a4Y i8=m<q?C::Q4  A*mBm2mrmr\8=z\8=\RM@\ @iɛI%>%Ɨ;)!)!!)i-)I1"=StoppingEM=ZAYMuz>m x,43\AG">G G G G" =G G G"<G" FFv?yF?9F?R:YF?R:))iI!"-StoppingEE=ZA G )yAM- > x,4\A6h ?y6I?96d\Y6"<6H eٿ`\?`t_?@0dٿ}?`k??(?6h ?ɨ6Շ; 6CRBRdIHZHZ5b= bK=YbF Q b>d٣d jGhn9< n>p]v49r7;l?av4Yr ir/qBtvvqz?rCr :r\:r^4:J|BJ~u9JJ|RJ~ZJ~J ? J ?|  A*m)Bm)2m1rm1r\Iz\I\I\M+@iYɛYIe >ed\)a)aae?y>:?9>;Y>(<>H{ٿ`L ?@O?`@ٿ@vp?k~? d?@?>?ɨ>; >CFBFiIIH)H=Mb@Mb@Mb@99 9)9I9y=Mb{Gz~jth==#=D = A)=;AI9i=A9= AHUHU5e< e@=Ye+Q m>i٣i mGiu:< u>y]49};l?a4Y}  i}-qB =m<s[q?}C}:}:}we4  A*mBm2mrmr\u =z\u =\uRr\@\us@iɛI`>;))隉P٣ G% %>)]-49-))隱!1٣1 5G11 =>9]E49=e=l?aM4Y=R i=*qBMj<mM@=MqM?=C=] ;=;=t4Q ] AY*myBmy2myrmr\j<z\j<\)@\r@iɛIN>I0=))隱G= >G9 G= IG= BG=  =G9 G9 G= <G= F! x,tE{4\AJK?yJ?9J{YJě]{I]=)a)aae3) % x,$4\A6t٣t vGtvG< z>x]49zp>l?a4YzW iz(qB]q?xz!;z;zh4  A*m1Bm12m1rm1:J]JBJ]9JJYRJ]ZJ]   Je ? Je>r\Qz\Q\Q\UT@iyɛyI}>}/I<))隁j:iWI"StoppingEu=ZAM=ZIibI`jIrIzI+:Ibl9II 4+ x,z4\A2>b?y2@92 mY2<2H]ۿ%??bۿ'x`e? e—??2>b?ɨ28; 2CFсBFIMb@Mb@Mb@ )Iy~jt?Zd;O<j ~A)AIAiA AH-H-N5EqY= E6=YEQ E>I٣I MGIMz< U>Y]e49]>l?ae4Y] iYe(=mee mIeY<)i)iimo iuWqIy"StoppingEe&=ZAqM>*G<"G<GGG IGBGGGGz<GZFq2 x,4\A2Ac?y2cP@92EoY2-<2HۿW?V? XۿK xm?`yD?`?2Ac?ɨ2Y; 2CNفBRIIT)THZHZ5b/= bf=Yf:Q f>d٣d jGhj< n>p]v49r%?l?az4Yr ip٠?q?rCrE;r;r}4  A*mBm2mrmr\)z\)\)\-=٠?iYɛYI]>]EoIen;)a)aaeFieiIi"}Stopping2EhA*EEm=ZAyՑՕ<M=:JezKBJ`9JJRJZJhO8 x,4\A}#?ZIbI^jIrIzIId9IIy}T@9}^Y}C߫<}HVܿ!k?`?Zܿ@Ss+?z?-?}#?ɨ}M; }C܁BIMb@Mb@Mb@ )IyA`"?~jtMb`?Y=ļ; A)QAIiHH.5M< .=Y ,;Q >٣ G1< >]49?l?a4Y i)qBrn=mc<A?q?C);';4  A*mBm2mrmr\rn=z\rn=\t@\A?iɛI>^I3b))隱μiI"StoppingE=ZAM'>G G G ( IG 6BG  =G G G n<G PFH HHH"H =*H4ko> x,4\AR?yR<@9RF_YRl?a4Yzn iz*qB?q?zCz;z;z4  R A*m1Bm12m1rm1r\Qz\Q\Q\U?iaɛiIm>mF_Im@)i)iiuiuF qIy"StoppingE=ZAMH>WE x,h5\A6g?y6R@9663Y6 k<6H`ݿ\O?]?ǟݿܼX@)x?@,?`7?6g?ɨ6h5; 6CrBrItvAHxHx~ H=Y ;Q  > ٣  G< >!]-49%>l?a-4Y% i!)-#?q5?%C%~:%:%ͤ49 =b A9*mYBmY2marmar\yz\y\y\}<#?iɛIK>63))隑iP I"Stopping:JBJk9JJRJZJE=ZAM=K x,D05\A2!?y2L/@92"fY2<2H`޿(ё?`*?a޿ 8Q? ~?1?`?2!?ɨ23; 2CFBFIEMb@Mb@Mb@AA A)AIAyE~jt?I +~jth?E=E94ED; E~A)AIE;AiAAAH]H]K5mHO= mD=Ymq٣q uGq}$= }>]49=l?a4Y i,qBc=m,<?q?C ;` ;4  A*mBm2mrmr\c=z\c=\Yv@\?iɛI>"f))iC!!I!"-StoppingEf=ZAM==GGAAGGGM IGTBG =GGGZ<GBFI%ż=)%C G )5 Oy1 = AZI bI ajI rI zI I p9I I I q I i I :u I :m WiR x,PJ5\ABIH5H55U UL=Y]Q ]>Y٣a eGam m>q]49u=l?a4Yu? iu-qBq?uCu !)!)!!!i%Ш!)I)"=StoppingEM=ZAYM=:J1BJ59JJ1RJ5ZJ5 '+('$%"$//*&%   JAIAeX x,'c5\Am ?ym$@9mg;Ym٣   G  ވ= >]49:;l?a%4Y~ i.qB%=m%(<%G@q%?C ::41 5A A1*mYBmY2mYrmYeB*** querying acoustic contact ***iaiar\=z\=\ڑ>\hG@i ɛ)I->-g;I-)1)115Xi5!9I9"EStopping2Ei*EmhA 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.EU$<ZAaM>G >G G Z IG ^BG G G G X<G AFh^ x,}5\A6C?y6@@96;Y6I<6Hugo|?g? ??|#6? .?6C?ɨ6; 4>BBIHJHJ5V4W Vz=YVCz;I$))隩+ռi>!I"Stopping,DAT read: user:1145> BDAT read: Tx time:19:11:17.8363 $Ping request sent. JDAT read: TxSync time:19:11:17.8355  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2517448e x,5\A2?y2Fi@92ҲHd٣d fGdf6= f>h]r49j+8l?ar4YjO ihtv@qv?jCj<;j3=;jǛ4x z A|*mBm2mrmr\z\\\@iɛIi>ҲHk x,ڒ5\A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755617~ՁB~IMb@Mb@Mb@ )IyDl?ˡE?~jth?O='=D; ~A)hAIAiA\AHH5 8=YQ >٣ G > ]-49 5l?a-4Y  i 0qB-}=m5%<5*@q5? C ; ; ϛ49 = A9*mYBmY2marmar\}=z\}=\@ ?\7*@iɛI>I <))隙WiI"StoppingBE=:E*G%<"G%<G1G1G5S IG5YBG5 =G1G1G5i<G5MFE<ZA MMs>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007403II3I.IIIZI ibI ajI 1rI zI +:I p9I 3I I /;I /;I :I :or x,@m5\AR*?yR? @9RGst٣t vGxz= z>|]49~<3l?a4Y~ i~1qB  -@q ?~C~:~`:~$֛4 q A*m9Bm92m9rm9r\az\a\a\e{-@iqɛqIu>uGs:JBJk9JJRJZJ LnJI% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511397.x x,F5\A:9u?y:_ @9:ni٣i uGq2!= >]49m0l?a4Y( i#.@q?C` ;& ;ޛ4  A*m!Bm!2m)rm)r\Iz\I\I\M#.@iYɛaIeH>enG% >G! G% : IG% EBG%  =G! G! G% <G% ^F  x,$5\A2?y2M @92f =Y2Ý;2Hv@r?vw ?񋡿pr??2?ɨ2; 2CNBNI)V= V=-Mb@Mb@Mb@)) )))I)y-+?V-?Mb`?-=-h=-; -A)-QAI- Ai-;A)- AHEHE5] N=Y..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015133٣ G3= >]49-l?a4YB i2qB=m#<@q?CP;:4  E AE*maBma2marmar\=z\=\iĈ?\EQ@iɛI#>f =I#=))ZImbI\jI0rIzI\8:I[9Iـ3IID;ID;IӁ:IՁ: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266838g x,6\A:b?y:t @9:=Y:.<:HKI `N?LM? {Ѣ`uم??:b?ɨ:; 8NBNlIHVHV5v vY=Yz;Q z>x٣ G%f2= %>)]549-D+l?a54Y-` i)15?qU?- C-;-ξ;-j4Y e Aa*mBm2mrmr\z\\\NR@iQɛYI]>]=)])YYaieAXaIi:JNBJ#9JJRJZJouv7kQ `,J? J?"StoppingE<ZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520553 x,526\A&BDAT read: Rx Time:19:11:20.2435 *TRx dataTimestamp_ set to:1736536280.803858*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772608v@yvO@9vZt=YvE=YB;Q >٣ G= >]49K(l?a4Y i5qBH=m;q?Cs: :4 g A*mBm2mrmr\H=z\H=\?\.^s@iɛI>Zt=)!)!!!i%> )I)"eStoppingEmK<ZAyM>GG@AGGG IGBGGGGS<G?FH HHH"H =*Hx4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023012 x,L6\AR@yR@9R4=YRif<HjHj5Ƚ U=YQ >!٣! %G!%}= ->9]E49=%l?aE4Y= i=8qBAEqE?=C=:=>:=4I U AQ*miBmq2mqrmqr\z\\\=t@iɛI1>4=))隩idI]=]=}DAT read: Range 10 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.ae3@9a^D9"EStoppingBEM=:EM=E=ZA!M}z>:J_oOBJJJRJZJ..+()--,-*)&#  0 x,]f6\AFnv@yF1@9F<=YF4)٣) 5G1ZI}gbI}`jIyrIyzI}%:I}bl9IyIyq@i@u@m@%]< ->I]49M"l?a4YM iM<=))隩i:I^D"StoppingE=ZAMA>G G G IG BG  =G G G <G `F x,h6\A:v@y:9@9:T=Y:h=:H ~??w~Ψ? ܢ?%?:v@ɨ:P; :CZOBb I zG  !)UTyQU:AA%Mb@Mb@Mb@!! !)!I!y%{Gz?Mbp?%#%>%; %~A)%;AI!i%$A!% A 99HEHE5M U7=YUQ ]>Y٣Y ]GYeǓ< e>i]u49m: l?a}4Ym im@qB}t>m};}q}?m$Cm&;m%;m^4 0A*mBm2mrmr\t>z\t>\3?\@@iɛI>T=))iICCCC"StoppingEu]=ZAM>B x,B6\A~HB~IH H a5j %`=Y%Q %>)٣) -G)- ->1]=495l?aE4Y5 i5DqBAAqE?5*C5;5;54Q UhAQ*mqBmy2mrmr\z\\\iɛIZ>))隱i%I"StoppingE'=ZA:J`PMBJ9JJRJZJM=ZIebI\jIrIzI\:I[9IIl x,P6\A6@y6@96:^٣ G; >]49fl?a4Y9 iHqBJ>m;eq?1CZ::4 A*mBm2mrmr\J>z\J>\S@\p@i)ɛ)I->-:^<)))))1i5 9IA"MStoppedE =ZA! 5dClearing failed state for component DockingStepper15ME=*Gq"Gu4=G}>GyG}IG}BG} =GyGyG}<G}mFT x,6\A2ߑ@y2@92{h٣h jGhn n>p]v49rl?av4Yr irLqBtv,qz?r8Cr:r>:r4| ~A|*m!Bm!2m!rm!r\z\\\@iɛIS>{<))i$I" Start "4Initializing EZServoServo. "8Initializing DockingStepper.E}(=ZAM^>:JM JQJBJM k9JJI RJM ZJM  J] iAIY  x,6\A2@y2@92;Y2+x=2H @@h٣h jGhn n>p]v49r4l?av4Yr irQqBtvqv?r?Cr.:r:r#4 A ZI]fbIYjIYrIYzI]|":IYIYIY*mBm2mrmr\Iz\I\I\MF%@iYɛYIe>e;)a)aaaie I"StartingE<=ZAM>Gi Gi Gm fIGm BGi Gi Gi Gm F<Gm 6Ff x,7\A@y@9qXY=Ho86? F?@ӣ?K?nn??騕@ɨ}Q; C&BIMb@Mb@Mb@ )IyJ +kt?Ƚ =  A)AI AiA3AHH5Y; .=Y!Q >٣ G >]49l?a4Y iSqB>m;пq?GC/::+4 xA *m1Bm12m1rm1r\M>z\M>\M@\MF@iaɛiIu>}qX))!)-YI x,7\A6?y6^ @96$Y64=6H`s5?³?$ P??`??6?ɨ6$>; 4r'BrIHzqHzy5< m=Y ϼQ  ? ٣   G- ?!]-49%l?a-4Y% i%UqB)-hӿq-?%MC%:%:%14A EmAA*maBma2marmar\z\\\5@iɛIe>$))隙ZIejbIebjIarIazIe.:Iet9IaIaX x,|b57\A6?y6 @96-4Y6=6HV\@ `?3?@Z@J?FF?`/?6?6?ɨ6(; 4R*BRIeMb@Mb@Mb@aa a)aIayeB`"۹~jt?Mbeνe٣ Go >]49l?a4Y iQqB<=m;Nq?RC;: ;Y94 WA*mBm2mrmr\<=z\<=\!:@\X@iɛIE>-4I.=))%A x,>O7\A2?y2D @92_мY2&=2Hy?C? ʍ ?r?@ ?@?2?ɨ2; 2CB/BBIHJ:HJ|5R< RZ=YVæQ V>T٣X ZGXZ Z>\]b49^l?ab4Y^  i^NqBdfDqf?^WC^~:^:^?4h j0Ah*mxBm|2mrmr\z\\\Ծ@i)ɛ1I5&>5_мI5s<)1)19=C;i=KAIA^DEጹ"EStartingEm k =ZAy M >:Je BJe 89JJa RJe ZJe Jm hAIm iAC x,$i7\ARf?yRv@9RWYR=RH`g=}Ų?@2R?){?̕? ? ?Rf?ɨR; RCZ٣ G   > ]49 "l?a4Y   i JqB!%q%? ]C .+; +; #G4) -A)*mBm2mrmr\z\\\@iYɛaI>WI;))隑riuHI^D"StartingE =ZAMC>y}<G >G G SIG BG G G G g<G OFH HHH"H*H74 x,j7\A~HB~I=i=  AMb@Mb@Mb@ )Iy(\µJ +I +H94  A)IAiAHHm5_c= >=YQ >٣ G >]499l?a4YU  iBqB1=m<q?bC ;r;N4  hA*mBm2mrmr\1=z\1=\j@\޸@i)ɛ)I-Q>)I5@)1)115i59I9CQCQCQCQZI1bI5cjI1rI1zI1I5x9I1I1I5{4;qMI5~4;iUI5:uUI5:mU"Starting"LSent speed cmd:/1V10000 Response:/0@ E =ZAM >n x,dϜ7\A XB IH!Hq55= 5T=Y9Q =>9٣A EGAA E>I]U49M!l?aU4YM  iM))i:I" StartingE5Q =ZAAMe=:JeBoIBJek9JJaRJeZJe3k+Wpwwvn`SG<*Ju? Ju> x,7\A63?y6\k@964Y6Z,q=6H@ڿ ke?K? ۿ@~? ? ?63?ɨ6ڊ; 6CBiBB,IMb@Mb@Mb@ )Iy{GzʡEMb# 7 A)AIi A3AH-H-k5== =J=YEfQ E>A٣A MGIM; M>Q]49U%&l?a4YU  iU5qB=m;=q?UmCU4)ƪ)隙iI"&Changing to mode: 1"Standby mode.*G"G<G>GGyIGBGGGGh<G"0Commanding positive:5732IQ)UCD<DDE'  EBE=:E= G )yAE=ZAMf>ZIM ibIM `jII rII zIM +:IM bl9II II IM /;IM /;IM (:IM ): x,M7\A6?y6x٣x zGx~I ~>] 495*l?a 4Y  i.qB  =q?sC::Vc4  A*miBmi2mirmir\z\\\ԥ=iɛIL>7))隡i/IDM<DIDIEU\  EQu%=uR=Ee=ZAyM>:J qNBJ u9JJ RJ ZJ |paWOD<651+(&# "+6?AACB=8430,(&$ x,^7\AJh?yJ,?9Ju2YJ j@=JHֿ`e?`? AֿL?)?2?Jh?ɨJR; JCVBVgIHEHEǓ5u> uB=YunN;Q u>y٣y }Gy2 >]49.l?a4Y  i(qB=q?zC2 ;;j4  A*mIBmI2mrmr\z\\\)=i!ɛ!I%l>Mu2)I)IQQiUYIa"e0Commanding positive:5436D-<D)D)E-,  E12EQ*EUfAE=ZA!ME>G >G G IG ՁBG G G G }<G ^Fox,;8\A6&?y6fd?96%Y68$=6H@Կ`98"?=?ԿיE?L??6&?ɨ6Q; 4>BB}IeMb@Mb@Mb@aa a)aIaye/$?+ÿMbpe٣ GM >]49b3l?a4Y  i$qBm;=>q?Cq;Y;q4 T AE*mBm2mrmr\ z\ \ @\ u=>iɛI>%)!)!!!i-^1I1ZIhbIijIrIzI(:Iڈ9III);I);Ig:Ih:^Dh%DDU<DQDQEU)  EQE- w=ZA9 M] >-x,8\ARK?yR?9RzYRp٣t vGtv( v>x]~49z8l?a4Yz  iz!qB E>q ?zCz2;z_3;z|x4  A*m9Bm92m9rm9r\Yz\Y\Y\]E>iiɛiImu>mz)i)iqqiuO I^D(:J&NBJM9JJRJZJ1ISUTLHB?91-(!    "0Commanding positive:5381D}<DyDE'  EE]w=ZAM`>\ x, 88\AJC?yJ?9JSeμYJΤq٣q uGq}I- }>y]49}m;:?q?}C} ;} ;}4  A*mBm2mrmr\\5>z\\5>\w˥@\#:?iɛI>Seμ))i!IGAGE?AGU>GQGUIGUBGU =GQGQGUl<GURF^D-?D<DDE:  EE =ZA M >ZI% ibI% `jI! rI! zI% +:I% bl9I! I! I% /;I% /;I% (:I% ):?x,[Q8\A2Sr?y2د?92^Y2pf<2HLϿr??UϿ@| S?̌??2Sr?ɨ2); 2CNBNIHVHV5~= ~R=Y~٣ G x  >]49Al?a4Y i"qB77?q%?C;r;4) -y A)*mQBmQ2mQrmQr\qz\q\q\u77?iɛI9>^))隉iR"ICCCC"0Commanding positive:5436D<DDE  EEA<ZAM > A:J MBJ 9JJ RJ ZJ hx,ek8\A2?y2V?920BY2<2H@ο*+??`|ο@HE? p??2?ɨ2; 2C:B:II<)<HFHF̍5N= NQ=YN}P٣T VGTZ{[ ^>d]v49fEl?av4Yfk if#qBxz5?q~?fCf;f@;f4  A *mBm2mrmr\z\\\_5?iIɛQIu>}0B)}X,G)隁izG#IDm<DiDiEmF  EiEEa<ZAQMm5>GY GY G] . IG] ;BG]  =GY GY G] 9<G] ,FS!x,K8\A6E?y6?96etY6;6H^)ο7 dAt?@C?)οŪehn?@!q??6E?ɨ6[; 6CBBFIMb@Mb@Mb@ )Iyrh|?T㥛 Mbp?=; A)AIi~A AH-H-95E< E@=YEI٣I MGIU U>Y]e49]Hl?ae4Y] i]$qBeZ4>me;el?qm?]C]:]:]4q uAq*mBm2mrmr\Z4>z\Z4>\.@\l?iQɛQI]>]et)Y)YYYiex#aIqH4=H="0Commanding positive:5436IIـ3IIIIZIgbI^jIrIzI%:Id9IIII$;IK$;I:I:D}<DyDE)  EEU<ZAaM}Y>}'x,j8\A6?y6b?963X;Y6-$96H ο@D?ο@ j?@yk$??6?ɨ6Ό; 6CB BBIHJnHJω5j~= jR=Yjl٣l nGlr:< v>t]~49vKl?a~4Yv7 iv&qB|~?q?vCv ;v;vǛ4  NA *m)Bm)2m)rm)r\Iz\I\I\MA?iYɛYI]>]3X;I] ػ)a)aimimM#iIqD<DDE  E:JJBJ#9JJRJZJJ-? J->E5~<ZAYMuz>ܤ-x,:8\A6H?y6?96%:EtE: EA)EQAIEQAiEhAAEAHeHe5uW= uA=Yuy٣y }GyJ< >]498Ml?a4Y id>m;|?q?C ;. ;+4 A*mBm2mrmr\d>z\d>\m@\]|?iɛI>%:+5x,j8\Av?yvNX?9v!q=Y-!Z)٣) 5G15+= 5>9]E49=jNl?aE4Y= i=%qBIM̭?qM?=C=(:=:=4Q UAY*myBmy2myrmyr\z\\\̭?iɛI.>!q:J} BJ} 9JJy RJ} ZJ} J I hAZI hbI ajI rI zI (:I p9I I q @i @u @m @3;x,8\AV[?yVv?9V ?V[?ɨV/; VCB IH%H%V55< 5L=Y= I٣I UGQe2= e>y]49}tOl?a4Y}) i}$qB?q?}C}P;};}ұ4 A*mBm12m1rm9r\z\\\?iɛI?>w]Cx,?9\A B II)Mb@Mb@Mb@ )IyK7A?~jtMb`? >D; )hAIAiQA3AHHn5ͼ =YQ >٣ G% %>)]549-jNl?a54Y-{ i)5>m5;5?q=?-C-:-:-4Q U2AY*mqBmy2myrmyr\>z\>\ @\Ə?iɛIf>I=))隱o~Ix,'9\A2m?y20?92R=Y2T2H^տ9'@1`#?Hiտ`D?N`?2m?ɨ2; 2C> B>IHJHJ5fXU jc=Yj=Q j>l٣l nGlr> r>t]z49vxMl?a~4YvO iv#qB|~?q~?vCv=;v>;v4  FA *m)Bm)2m1rm1AEAr\Qz\Q\Q\U?iiɛiIm`>mR=Im#=)m)qquGy G} @AG >G G IG BG G G G <G F&fPx,qA9\A6?y6p?96.=Y6Z6H`tO׿qK? ]׿@ס?֥T?6?ɨ6I; 6C>B>I5Mb@Mb@Mb@11 1)1I1y5 ףp= ?I +?5Q=594=5 5QA)5~AI5 Ai5A11HMHM.l5e eA=Ye[i٣i mGiu= u>y]49}Jl?a4Y} i}!qB+=m<@q?}C}:}:}eȜ4 A*mBm2mrmr\+=z\+=\>\@iɛI?>.=))iID<DDEu  EBE=:Ea=E<ZAM!> Vx,׊[9\A6?y6J:?96$G=Y6X6H+VٿK^`X?` gٿ@?9@g ?6?ɨ6ދ; 6C>B>IB%=iB;HJHJ5Rx RW=YRȄT٣T VGTZQ= ^>`]f49bgHl?af4Yb ibqBdj@qj?bCbW:by:b Ϝ4l n Al*m|Bm|2m|rmr\z\\\t@i)ɛ)I->-$G=)1)119i=S%AIA^D%4|E"0Commanding positive:5436D<DDE&  EE$<ZA:JBJ`9JJRJZJM >ZI bI `jI rI zI I bl9I I \x,qu9\AMu7?yM}:@9M U=YM0MH;ۿ,?ۿP?q?Mu7?ɨMx; MCe߁BeIMb@Mb@Mb@ )IyˡE?B`"۹?{Gzt?'==ף; A)I Ai$A AH9H"|5) -=Yu;Q >٣ G= >]49Dl?a4Y i qBy=m;Eq?C::Iל4  A*m Bm 2m rm r\5y=z\5y=\5?\5M@iAɛAIE=>E U=)I)IIIiMQIQ^DErgG)G)G-l IG-nBG)G)G)G-U<G-AFD<DDE  EEL<ZAMf>ec=)a)aaaieqiIi^D=9DA"50Commanding positive:5436D <D D E +  E 2E gA*E hAE <ZA M >Cix,9\A6E?y6ek@96Ci=Y6dzU6H@!#W-?%+`V?-`Xj`?6E?ɨ6; 6CBBBIID)DHJFHJ5R] RM=YV!;Q V>T٣T ZGXZ= Z>\]b49^T=l?ab4Y^? i^"qBdf?qf?^C^):^l:^64l n Ap*mBm2mrmr\z\\\*R@iɛIb>Ci=))iSICCCC:J1BJ59JJ1RJ5ZJ5":?:3+$ZIQbIU\jIQrIQzIQIU[9IQIQD<DDE%  E!E a=ZAM=>G! G! G% : IG% EBG%  =G! G! G% d<G% LFPpx,I9\A6?y6 @96Ah=Y64;6H@n ?F/?@6f?`?6?ɨ6/Q; 6CNBR{I-Mb@Mb@Mb@)) )))I)y-{Gz㥛 ?~jtx?-#->-; -A)-AI-7 Ai-A)-3AHEHE5Uƽ U@=Y=Q >٣ G= >]498l?a4YA i%qB>m;W q?C::4 d A*mBm2mrmr\->z\->\-?\-q@iAɛAIE>MAh=)I)IIIiML4 I"0Commanding positive:5430DADADAEE'  EAEy=ZA)MmW>wvx,9\A:?y: @9:R`=Y:<:HP`:`O }.?:Tڧ?@.@n?V?:?ɨ:ډ; :CFBF^IHRgHRB5Z ZU=Y^Q ^>\٣` bG`b = b>d]j49fi5l?aj4Yf% if(qBhnqn?f Cf;fD;f[4p r Ap*mBm 2m rm r\)z\)\)\-RSt@i9ɛ9I=>=R`=)A)AAAiE IIID]hAzD]hAD<DDE+  EBE=:E=E=ZAM>:Jm )LBJi JJi RJm ZJm  B}x,9\A?y @9S=Y*_<H<`Aৄ?`=[D?5y`??騍?ɨk; CޝBޥJI=i<Mb@Mb@Mb@ )IyS㥫gfffff?Mb?/]33>< hA)AIiHH۞5 d  )=Y ջQ >٣ G= >!]-49% 1l?a-4Y% i%.qB-;>m-;- q5?%C%:%:%49 = A9*mYBmY2mYrmYr\};>z\};>\}`_?\}|@iɛI>S=))隑iDIGGG IGBG =GGG<GaFH HHH"H*Hği4"0Commanding positive:5430]"dTimed out moving from: 15568 to: 16450 response: 1-"Hardware FaultE6=ZA VHardware Fault in component: DockingStepperM>}x,:\AHHZIgbI_jIrIzI%:I=h9IIIqIiI:uI:mFW@yF@9F;==YFG-;==))))11i5xiIi"}Stop "}:Uninitialize Docking Stepper."}Powering downD}zD}DyDyEM=ZAYM}=x,`*:\A6@y6\@96!=Y6 =6H *}T_! L? d٣h jGhj= j>l]r49n*l?ar4Yn in:qBtvqv?n&Cn`:n:n4x z Ax*mBm2mrm!r\Az\A\A\E@iQɛQIU>U!=)Y)YYaie)aIi"uStopping2E*EgAEP=ZAM%=:J:KBJJJRJZJG G G IG ߁BG G G G (<G !FIi )m C G ;mA  )- y- ;mA- B~x,25; 5 A)5QAI5 Ai5A15\AHMHM{5]P ]A=YeQ e>a٣a eGimt= m>q]}49u!(l?a}4Yu iuAqBJ>m;Hq?u0CuL ;u/;u4 HA*mBm2mrmr\J>z\J>\@\@iiɛiIm?>u<))隑itI"StoppingE=ZAM>)-AZIEfbIE\jIArIAzIE|":IE[9IAIAIE;IE;IEӁ:IEՁ:-x,^:\A2@y2@92T٣T VGTVM= V>X]^49Z%l?ab4YZ iZHqB`bqb?Z:CZ;Z8;Z4d fAh*mtBmt2mxrmxr\z\\\@i)ɛ)I->-<))))11i5"'1I"StoppingE=ZAM=:J BJ #9JJ RJ ZJ J I iAZx,Kx:\A]C@y]kb@9];Y]Lz=]H Fn@N??BsC?)\}`lD??]C@ɨ]W; Yޕ8BޝIMb@Mb@Mb@ )Iy~jt+?Ľ>  A)AI Ai;A3AH H 5%i߼ %(=Y-Q ->)٣) -G15< 5>9]E49=#l?aE4Y= i=MqBM;>mM;MqM?=EC= ;= ;=4Q UAQ*mBm2mrmr\-;>z\-;>\->@\-x@iAɛAIE?E;)A)AIIiM3IIQ"]StoppingGm>GiGmIGmBGiGiGiGm.<Gm%FBE=:E=E}z =ZAM=>>x,\ˑ:\AZIjbI_jIrIzI.:I=h9III{4;I~4;I:I:By{@yB<@9BQwYB:=BH3`4? ?( ?0n?C?J?By{@ɨBZ&; @N)BNIzQw)iu))隡h٣h jGhnP n>p]v49r!l?av4Yr  irTqBtvqz?rVCru:r>:r*4y }Ay*mBm2mrmr\z\\\"@iɛIX> l) )   o*Ga "Ge p<Gi Gi Gm fIGm BGi Gi Gi Gm <Gm FSx,a:\A2w@y2:@92ɼY2l@=2HQ=D?U? D?A٣A EGAE`ļ M>I]49M l?a4YM  iMUqB>m;ҿq?M]CM]z\>\ @\{e@iɛI>ɼI<));i pI" Stopping2E*EZIEhbIE^jIArIAzIE(:IEd9IAIAIE);IE);IE:IE:E57=ZAAM]v>zx,_:\A:k@y:.@9:p Y:Ζ=:H`ӎ?}?@^u&? ?M?`Ҳ?`"?:k@ɨ:KY; :CF$BFIIH)HHRHR5Z)= ZT=YZ0¼Q Z>\٣\ ^G\bu" b>d]j49fX l?aj4YfJ  idhjԿqj?fdCf\:f:f84p rAp*m Bm 2m rm r\!z\!\!\%"@i1ɛ9I=W>Ep IEn<)A)IQU{ieqIq^Dyb9"StoppingE =ZA M >:JE QJBJE u9JJA RJE ZJE    x,O:\A]*BeIMb@Mb@Mb@ )Iy rhMb?A٣I MGIU ]>i]}49m;!l?a4Ym8 imPqB=m/<q?miCm]^;m[K;mA4 WAG G G YIG BG G G G =<G 0F*mQBmY2mYrmYr\=z\=\y,@\@iɛI?I))iSI^D0"StoppingE =ZAM l>x,;\Ar.BrIH~H~ 5Eq< Ep=YAQ M?I٣I MGIQ U?Y]e49]!l?ae4Y] i]MqBaiqm?]lC]:]:]gG4q u8Aq*mBm2mrmr\z\\\iɛ I )> I @) )i!I)C9C9CACA"StoppingBE=:E=E} =ZAMb>x,,;\A6@y6!@96cGY6=6H[ `m?#?'p??@u?/?6@ɨ6洉; 6CR1BRIVh٣h jGhn> n>t]z49v^"l?az4Yv ivIqBxzKqz?vpCv:v:v1N4 A*m)Bm)2m)rm)r\z\\\@iɛIt>cG)+)i> I"StoppingE =ZAZIjbIbjIrIzI.:It9IIq%@i%@u%@m%@M==:JE1LBJAJJARJE ZJE+B- G G G fIG BG G G G S<G AFH HHH"H*Hk4Lx,F;\AJ6?yJ^ @9J?YJ8=JH@ D?@=[?%#D`5?`??J6?ɨJk; JCV@BVI=Mb@Mb@Mb@99 9)9I9y=Q롿Mb{Gzt=\==ף = A)=AI9i= A9=3AHMHMפ5e҉= eA=Ye;Q e>i٣i uGqu }>y]49}#l?a4Y} i}EqBRC=m<Lkq?}rC}:}:}U4 A*mIBmI2mIrmqr\RC=z\RC=\vx@\w@iɛI>?))i I)"mStoppingEE# =ZAiM>x,`;\ABe?yB@9BH(0YB=BH+`*ѳ??9Y L?|?h?Be?ɨBb ; BCHHHRHR5Y^"\٣\ ^G`f f>h]n49jv%l?an4Yj ijBqBlrcqr?juCj:j:jK\4t tt*m Bm 2m rmr\1z\1\1\5@iAɛAIM)>MH(0)I)QQQiU QIY"eStopping2EmhA*EmhAE- =ZAM=IcIcIcIcIcIcZI! bI% cjI! rI! zI! I% x9I! I! :Ju xLBJu 9JJq RJu ZJu ;x,Ԃz;\AG?yf@9Y>v=H`w9(}?I?D ^ :?`? t?G?ɨf; C]WB]IIy)y)= =HH,5\= ٣ %G!5V =>Q]49U*'l?a4YU iU>qB^q?UwCU:U:U-d4B  AE*mABmA2mArmAr\z\\\y@ MGG>GGIGBGGGG<GFyiYɛI?))隑i'g I)yGA^DX"StoppingE =ZA M >Ux,Z;\A:ȑ?y:g@9:ӊY:8`=:H`޿W @'? V?޿'V? ??:ȑ?ɨ:ȧ; :CFcBF%I-Mb@Mb@Mb@)) )))I)y-y&1|?/$-`;-- - A)-AI-$Ai- A)-AHEHE5MCz= UU=YUY٣Y ]GYe긽 e>i]m49mb)l?au4Ym imӊ))iI^Dm]n"uStoppingEM@=ZAYMu>x,8;\A6W?y6DJ@96ǼY6I=6Hܿ ??oܿh3?`\?`0??6W?ɨ6Y2; 6CRvBR<IHZHZ5= O=YX ٣   G  ݫ >]%49+l?a%4Y i;qB!% ?q%?C;:q4) 5 A1*mQBmQ2mQrmQr\yz\y\y\}G ?iɛI>Ǽ))隑inIZIibIgjIrIzI+:I9II:JBJJJRJ ZJ^Dz"StoppingBE=:E=E=ZAMh>G G G IG ƁBG G G G <G Fx,;\A6\?y6$M@96#Y6*0=6H5ڿl`?`?ڿ e?C??:?6\?ɨ6.ڌ; 4NBRMIV٣ G >] 49.l?a 4Y i:qB"=m;2P?q?C R;_;,y4! % A)*mYBmY2mYrmar\}"=z\}"=\}~@\}2P?iɛI>#)8L)隡i$IC1C1C1C1HHAA"StoppingEL=ZAM>x,s;\A6?y6j?96b'Y6ȷ=6H`.;ٿ #b^? h?<ٿtt?`8?բ??6?ɨ6{; 6CBBBaIHJHJg5R= R`=YVT٣T ZGXb젽 b>d]j49fw1l?aj4YfD  if9qBhjH?qn?fCf:f;f4p r ArE*mBm2mrmr\!z\!\!\%_H?i1ɛ9I=d>=b')A)AAAiErIII"]StoppingEU=ZAaM}=ZI bI _jI 1rI zI I =h9I 3I :J BHBJ 9JJ RJ ZJ J I hA@x,;\Af{`?yf?9f\jYf٣ Gq >]494l?a4Y<  i!B?q?C<]<41 5 A9GYGYG]IG]߁BG] =GYGYG]<<G]/F*mqBmy2myrmyr\z\\\!B?iɛI>\j))i#I"Stopping2E*EEe=ZAqM:>,)x,e<\A25~?y2?92$\;Y2O<2H Zֿ Y? ? Wֿ -S?`7I?`H?25~?ɨ2s; 0RBRzIIT)TmMb@Mb@Mb@ii i)iIiymQ?ʡEMb`?m\=mi m A)iIm;Aim Aim AHH5i= K=Ye٣ G|g >]497l?a4Y4  i8qB >m;Ze?q?C;;*4 g A*mBm2mrmr\  >z\  >\  @\ +Ze?i!ɛ!I%v>%$\;I%)!)))-Xi-ؔ)I1"=StoppingE=<ZAIMeV>S x,/<\A6 ?y6$H?96;Y6<6H z3տ !0f? :1? 0տ@R?}? ?6 ?ɨ6; 6CRBRIHZHZ5f7= fX=Yf ah٣h jGhrN r>t]v49va:l?az4Yv(  itxzp`?qz?vCv:v:vʔ4  A*mBm2mrmr\z\\\p`?iɛI>;Ir))Ѽi4I:J%BJ%89JJ!RJ%ZJ%     J-? J-?^DU"%StoppingGY GY G} >Gy G} IG} BG}  =Gy Gy G} 4<G} )FE <ZA M >;x,[I<\ArɁBrIMb@Mb@Mb@ )IyʡE?B`"۹-=ν ~A)AIAiAHH5j= 9=YQ >٣ G > ]49 m;z\m>\m@\myI:9))隁gi'I^Dc"StoppingZIbI`jIrIzIIbl9III/;qI/;iI(:uI*:mE<ZAM>ex,5c<\A>?y>.?9>qpBn<>Hӿx#?0x?-ӿ?@74Ǎ?>?>?ɨ>T; >CFҁBFIJ=iJ=HVHV5^:F= ^a=Ybd٣d fGdfy j>h]n49j>l?ar4Yj ij6qBpr?qr?jCj';j;jݢ4t v Ax*mBm2mrmr\1z\1\1\5}?iAɛIIM>Mq:J .LBJ 9JJ RJ ZJ J I x,}<\A2}?y2H?92‹i٣i uGq& >]49Al?a4Yp i4qB?q?C<I;g4G>GGIGBG =GGGi<GOFH HHH"H*H4i u Aq*mBm2mrmr\z\\\?iɛI>‹8l%x,<\A2?y2z0?92Y?`*H?-?2?ɨ29; 0>B>I Mb@Mb@Mb@   ) I y  ףp= ?{GzMbP Q= ף  A) AI i A  AHH45@= C=Y#;Q >٣ G* >]49@Cl?a4YG i3qB=m;'?q?C::o4 f A*mBm2mrmr\=z\=\3ϱ@\'?i!ɛ!I%>%Y+x,υ<\A64?y6?96l٣l nGpr r>t]z49vDl?az4Yv1 iv2qBxz?q~?vCv:vy;v4 | A *m!Bm!2m)rm)r\Az\A\A\Eg?iQɛQIU>U<ZAaMyI)G5 >G1 G5  IG5 ,BG5  =G1 G1 G5 M<G5 ;F G  )- y) - ωAy2x,a<\ABI-only read 0 of 1 data item for water mass range. Device response is::WD, , +69.60, +22.19, 20.00,802.89 @ @ @  @ HH5[ = ==YQ >٣ G >]49Fl?a4Y i0qBi+:m;q?C+;N>(4 ? A*m Bm2mrmiɛI[>I#=))8x,<<\A:Q)?y:f?9:d٣d fGdj< j>l]549n6Hl?a54Yn in/qBi= :9m=;=]?q=?nCn: ;nQ?nl4I MD AI*miBmi2mirmiiɛIX><))隙x,<\A2w?y2?92b; 2C>B>I@iBC=DDHJHJ5R(; RM=YRԺQ R>T٣T VGTV< Z>X]^49ZIl?ab4YZ iZ.qBib9`mbj;b?qb?ZCZ;Z?Z"Ɲ4l r: Ap*mBm2mrmiɛI><)) i - aIiG>GG. IG;BGGGG~<G^F"EStoppingE<ZAM!>ZI bI [jI rI zI I W9I I I I I }|:I |:Ex,=\A6W2?y6o?96٣ GA< >]49Il?a4Y i,qBiT:=m:<?q?C ; ;͝4 6 A*mBm2mrmr\=z\=\f@\?i!ɛ!I%/>%<)!))))i-0 1I"StoppingE5<ZAM=Kx,1=\A6;\?y6?96ml٣l rGpr6= r>t]z49vjIl?az4Yv- iv+qB|~?q~?vCvR950-)&!   5ykAw`N>1( J- ? J->=eXRequesting device enable clr for address 50.GGGA IGJBGGGG<GF9Rx,yK=\AF?yF ?9FKv٣ G 8= >]49Hl?a4Y ib=mo<z@q?C;;ܝ4 q A*m!Bm)Jm)Rm)2m)r\Eb=z\Eb=\Ee\>\Ez@Y]Kv<)Y ]CiY)ee)aaiaiIi"}StoppingEM=ZAY,DAT read: user:1146> BDAT read: Tx time:19:11:49.1356 $Ping request sent.H@AH=e XRequesting device enable clr for address 50.:Xx,e=\A6?y6V ?96~d\ؿ@W>c? )\ؿ܌?ಕi?)?6?ɨ6^3; 6CvBzIH%H%5- 5U=Y5(;Q =>9٣9 =G9Et= E>I]U49MFl?aU4YMH iM*qBQU@q]?MCM;M;M4a e Aa*mBmJmRm2mr\z\\\@~d<) Ei)BiI"StoppingE=ZAM-=ZIbI\jIrIzII[9IIq@i@u@m@:JM TbNBJM -9JJI RJM ZJM ']{iYK<1' !_x,1x=\A2/?y2Vm?92T`٣` bG`f= f>9]E49=El?aE4Y= i9AM@qM?=C=6:=;=4q u Aq*mGiGiGiGiGiGiGiGm<GmkFBmJmRm2mr\ z\ \ \ @YeT<)i mNii)m&;iqiqyI^D2D"StoppingE =ZA ս >ս !@M >fx,9=\A2?y2@92ZwGƁB>IB=iBD?DDeMb@Mb@Mb@aa a)aIayeQ?~jt?MbP?e=YQ >٣ Gʁ= >]49Cl?a4Y ig=mj<A@q?CA:_:4 w A*mBmJmRm2mr\g=z\g=\?\,A@ZwG<) 9Ti)u(i!!I)^D"StoppingE=ZAM >S-lx,=\A:Dc?y:e@9:47`٣` fGdf= f>h]n49jAl?an4Yj ij+qBprC@qr?jCj;j;j4t v At*m Bm JmRm2mr\1z\1\1\5}C@AE47<)I MbXiI)MRIIiIQIQZIhbIZjI1rIzI(:IS9I3I^Deq9"mStoppingE=*=ZAQMmW>:J}vMBJ}9JJyRJ}ZJ}*G]<"G]4<Gu>GqGu4 IGu@BGqGqGqGu|<Gu^FH1 H1H1H1"H1*H5'4sx,=\A2?y2@92E*x? ?޿`?`U kՉ?`?2?ɨ21; 2CBBBIEMb@Mb@Mb@AA A)AIAyEˡE?~jth?EE=ED; EA)EAIAiAAE3AH]H].5mT m@=Ym@Q m>q٣q uGq}= }>]497?l?a4Y/ i-qB =m!<)q?C>;=;4 ) A*mBmJmRm2mr\ =z\ =\?\!i@E*<) u_i)iIC C C C "StoppingE]y=ZAiM]>E BDAT read: Rx Time:19:11:51.0167 M TRx dataTimestamp_ set to:1736536311.571298@yx,W=\A2?y2Ad@92ݧ"|٣y }Gk= >]49\A:J.BJ.9JJ,RJ.ZJ.>?y>&,@9> I]<>H p) ?)?@֒?`趁@k??>?ɨ>~; >CFBJ`IHRHR5Z ZM=YZRQ Z>\٣` bG`b= b>d]j49f:l?aj4Yf if0qBlns%qn?fCfL;f;f 4p r At*mBm Jm Rm 2m  *GG!G!G% IG%,BG!G!G%@DG%1<G%(FDAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1147> )찿yAr\z\\\l@5pB5 <)1 5Ani1)5¶99i99IA"mStoppingBEu=:Eu=EE =ZAYM}7>- BDAT read: Tx time:19:11:52.1356 - $Ping request sent.- \A>w?y> @9>ʵ;Y><>H`v?ӵ?hP?v~}?$?>w?ɨ>6; >C^B^GIuMb@Mb@Mb@qq q)qIqyu rh1Zd?Mbp?uC u"=u; q)uQAIu Aiqqu\AHH.5( <=Y7Q >٣ G]x= >]497l?a4Y i3qB=m; q?CE::`4  A*mBmJmRm2mr\=z\=\|q?\+ @)-ʵ;)) -rxi))5B̻19i99IA"MStoppingE5 =ZAAMe=W|x,l^4>\A6O?y6p @96gw;Y6}^<6H :GASb? C? D@-?@u`{ ??6O?ɨ6\; 6CNlBN0IR>iR=TVAHZHZ35bǽ fY=YfQ f>d٣h jGhj܆= j>p]v49r5l?az4Yr ir6qBxzsqz?rCr:r:r4| J A*m)Bm)Jm)Rm)2m)r\Az\A\A\EՁ@Q]gw;)Y ]iY)]jaaiaaIi"uStoppingICIK3IK.ICICICZIibI]jIrIzI+:I_9IIE%M =ZA1MU=:JBJJJRJZJJ ? J>GGAAG>GGIGBG =GG?DG+<G#Fex,@N>\A:??y:b @9:G;Y:y%=:H3`@C?`'?@ll?Gcĭ?J?:??ɨ:5; :CJ\BJI-Mb@Mb@Mb@)) )))I)y-333333Q?~jth?--=-D; -~A)-;AI- Ai-QA)-3AH=H=5M MB=YU5Q U>Y٣Y ]GY]:j= e>a]u49e3l?a}4Yed ie:qB}>m};}q}?e CeK;eOJ;eO"4  A*mBmJmRm2mr\>z\>\H@\@G;) i) iI"StoppingE=ZAM-=x,0h>\A6=@y6\@96_Y6 4=6H`%u`?g?p? b???6=@ɨ6Tu; 6CRJBRIHZHZ5b bT=YbCQ b>d٣d fGdjVd= n>p]v49r[2l?av4Yr ir=qBtvqz?rCr>:r:r)4| =WA9*mBmJmRm2mr\z\\\Z@_I%=) i)6ZI bI jI rI zI I I I ux,$>\A:JBJ9JJRJZJ .652/+'# J)I)-EB-II1)1)== ==HEHE5Uۼ UA=GGGIG߁BG =GGGe<GOFYQ >٣ G >]490l?a4YD iAqBq?C;;04 A*m!Bm!Jm!Rm!2m!r\9z\9\9\9雕qBI#=)  i)]隱ux,u˛>\A51B5IMb@Mb@Mb@ )Iy:vMb?Mb`?Խ>;  A)AIAi AHH5@ @=YQ >٣ G  > ]49 7/l?a4Y  i DqB%(>m%;%q%? !C '8; 5; 74) - A5E*mQBmQJmQRmY2mYr\u(>z\u(>\u3@\uO@雁) i)S-隉mBDAT read: Rx Time:19:11:54.0168 mTRx dataTimestamp_ set to:1736536314.611369ˬx,~>\A2@y2H@92_Y2w=2Hu Ln? ? I? ? ? I?2@ɨ2؊; 0R)BRIHZHZ5fy* f_=YjIQ j>h٣l nGlrD= r>t]v49v,.l?az4Yv ivGqB|{q?v)CvT;vT;vC>4  _A *m)Bm)Jm)Rm)2m)r\Iz\I\I\M1@Y]_I]f)a eia)e;ae:JU5MBJU9JJQRJUZJU *G"GG>GGIGBGGGGL<G=FuDAT read: OK u:unknown deviceResponse_: OK },DAT read: user:1148> Mx,D>\AR@yR@9RPYR=RH@D?`? ir=Y`Q >٣ GԺ >]49-l?a4Y]  i~$>m;ҿq?2C:w:E4 A*mBmJmRm2mr\ ~$>z\ ~$>\ @\ d@雽rBPI6+) 䓿i) L=ܹx,]>\A6-@y6@96ӼY6ˊ=6H`  ???`n?A{?~T?@v?6-@ɨ6<; 4NBRIHZHZ5b~ bY=YfQ f>d٣h jGhjX j>l]r49nS-l?ar4Yn  iltvuӿqv?n:Cn:nu:n[L4x zAx*mBmJmRm2mr\z\\\2@ӼI9) i)^HZ3iI"Stopping2EgA*EgAE=ZAM=x,e8?\A6 @y6@96( Y6N=6HD`p?+0?R@y?I$??q?6 @ɨ67; 6CRBRIHZHZn5b` bJ=YfQ f>d٣d jGhjC j>l]r49n,l?ar4Yn  iltvԿqv?nBCnG:n:niS4x zAx*mBmJmRm2mGAGAGElIGEBGAGAGAGE<GEFH HHH"H*H4:J]>KBJ]k9JJYRJ]ZJ] JiIir\z\\\@EsBE( )A EᕿiI)MzjIMiIqIq"StoppingE]=ZAM= >ZI hbI ejI rI zI (:I 9I I I );I );I :I :Tx,?\ABp?yB @9B"YB -=BH`Li8K?@~? aV}? Z?`Z?{?Bp?ɨBI; BCf#BfIIh)h}Mb@Mb@Mb@yy y)yIyy})\(X9v?I +}Gό}}=}94 } A)}AI};Ai} AyyHH5 = :=YIjQ >٣ G >]e49n-l?am4Y iBqBm>mm;mqm?ICׅ<<[4y }Ay*mBmJmRm2mr\>z\>\6(@\p@") i)SziI"StoppingE'=ZAM >x,g6?\A2dc?y2u @928Y2&=2H`~?``?h?@n? ?`Y?2dc?ɨ2; 0R)BRIHZHZ5z9= ~Y=Y~kQ ~>٣ G GI  >]49-l?a4YX i=qBq?OC{;#;a4-B -YA-E*mqBmqJmqRmq2mqr\z\\\tT@雡8) i)z隩iI"StoppedE =ZA dClearing failed state for component DockingStepper1M=IE=)~C MGa )#ܿyA %? @AG9G=?AG9G9G=`IG=BG9G9G9G=c<G=MF:J\LBJ-9JJRJZJ  x,?P?\AR?yR& @9RvBYRي=RHy# :`(?Q?3AL?`R?@?R?ɨRK; Pj6BjIMb@Mb@Mb@ )IyMbX9Mb`?I +ʡ; M A)Ii AAHH5"n= ;=YXQ >٣ G s  > ]49 l/l?a4Y  i 7qBg=m&<Kq? SC ; 7; Ei4) -A)*mIBmQJmQRmQ2mQr\mg=z\mg=\m(qG@\m@}tBvB) vi)隁iI" Start "4Initializing EZServoServo.ZIMibIM`jIIrIIzIM+:IMbl9IIIIIM/;IM/;IM(:IM*: "E8Initializing DockingStepper.E6 =ZA!MEs>e BDAT read: Rx Time:19:11:57.0168 m TRx dataTimestamp_ set to:1736536317.635101G*x,j?\AJ j?yJS @9JEYJh=JHa4?@?rm`k?{D??J j?ɨJ\; JCVCBVIn,>in=HvHv5~T= ~\=Y|Q >٣   G  ߜ  >]490l?a%4Y i1qB!%q-?WC!.;.;o45B 5A5E*mQBmQJmQRmQ2mQr\qz\q\q\u@E) :i) A钼  i  I"=StartingEW =ZA!ME=sx, ?\AGGGlIGBGGGG8<G.F:J-MBJJJRJZJ=DAT read: 19:11:57.0168 LVL= 11744, 20129, 12546, 13107, AGC= 45, IDX= 438, 0.39,-2.809,-2.554,-2.309,-0.966, PHS=-1.756,-1.541,-1.346, RAW= 241.6, 77.8, CAL= 243.9, 79.6, ROT= 266.1, -79.6 EYgot valid direction response: 19:11:57.0168 LVL= 11744, 20129, 12546, 13107, AGC= 45, IDX= 438, 0.39,-2.809,-2.554,-2.309,-0.966, PHS=-1.756,-1.541,-1.346, RAW= 241.6, 77.8, CAL= 243.9, 79.6, ROT= 266.1, -79.6 EDAT read: OK M:unknown deviceResponse_: OK MX#Rx 2: Read direction message, but no range.e`direction in FSK: [-0.012278,-0.180101,0.983571]Y'6%{ ǿXUjy?9- N)1I33i-࿩}?ſIV@ έ?).8@Iӱ?iH@ӱ9ba] ?eL[F?I@iȭKѿӱޝWBޝIHH5= /=YQ >٣  G %>9]]49=M2l?a]4Y= i=*qBaiq ?=\C=<=<=x41 = A9*mBmJmRm2mr\ z\ \ \ =uB9)A EeiA)E>AAiAIII"]StartingE= =ZAYMuy>ZIe kbIe _jIa rIa zIe 2:Ie =h9Ia Ia Ie 9;Ie 9;Ie :Ie :<x,Y?\AF?yF @9F,YF)Kx=FHݿ`58?? H?@IݿlY`?z??F?ɨF`; FCndBr'I}Mb@Mb@Mb@yy y)yIyy}{Gzt}̼}L}ף } A)yI}$Ai} Ay}\A BAHUHE5= a=Y٣ GЀ >]493l?a4Y i'qBe=ml<k<q?^C::D~4  A*mBmJmRm2mr\e=z\e=\@\k<)-,)) -hx,6=?\A6?y6ŧ@96eY6b=6Hܿ`?%?@4ܿ+?Q??6?ɨ6Y; 6CB{BBBIID)DHN[HN5Vu= V[=YVjNX٣X ZGX^j b>d]f49f5l?aj4Yf if$qBhjӻqj?faCf;fw;fʄ4p r Ap*mBmJmRm2mr\z\\\@vBe) }i)(EiI"StartingEz=ZAM]=*G"G<GGGIGBGGGGz<G^F:J5BJ59JJ1RJ5ZJ5 O;g:  Qx,?\A6_?y6i?96>pY6I=6Hqڿ`ȱ?h?xڿ| SM?4?`?6_?ɨ6I-; 6C^B^XIMb@Mb@Mb@ )IyZd;O?J +~jth?j<=ȽD;  A)AIAi AAHDH5= 9=Y~O٣ G >]49P8l?a4Y i#qB=m;]?q?gCu ;i ;4 A A *m)Bm1Jm1Rm12m1r\M=z\M=\Mפ@\M]?ae>p)a euia)mH筼iiiiqIq"}StartingEm=ZAyM=HAAH@A({x,?\ABrIH-CH-H5== =U=Y=Q =>A٣A EGAM M>I]]49M:l?a]4YM iIYYq]?MmCM;Mw;M64a m Ai*mBmJmRm2mr\z\\\wB) ji)iI"StartingE=ZAM=ZI5jbI5bjI1rI1zI5.:I5t9I1I1q=@i=@u=@m=@`x,@\A2Y?y2>?92ϠY2=2H@׿:q? ?č׿t@?`ɘ??2Y?ɨ2[l; 2CG@G@GBIGB߁BG@G@G@GB9<GB.FNBNIR%=iR=TVAHZDHZ5= N=Y H ٣  Gs >9]E49==l?aE4Y= i9IMP?qM?=rC=:=:=74Q U AUE*mBmJmRm2mr\z\\\P?xB:JNBJ9JJRJZJ   J%iAI%iA%ϠI%;)) -ai))-))i)QIY"mStarting"LSent speed cmd:/1V10000 Response:/0@ Ei=ZAM>x,@\A:W\?y:ܙ?9:.\Y:fp<:HKJֿ@U?M? pNֿ `?!?@?:W\?ɨ:"; :CFȁBFIMb@Mb@Mb@ )Iy"~j?Q{Gz?S=#<  A)AIAi AAHe6Hez5m= uD=YuJsq٣y }GyJ >]49?l?a4Yb i'qB'>m;?q?{Cj: ;p4 j A*mBmJmRm2mr\'>z\'>\ݮ@\5?.\Iһ) Xi).iI "-StartingE=ZA1MMR>r x,|{9@\A2=2<>n=?y>z?9>jNY>A`<>HiKտK*?,?LտH?I?@(k?`7?>n=?ɨ>; >CRځBRIH^5H^\z5fͷ= fU=YfWjh٣h jGhnD1 n>p]v49r%Bl?av4Yr  ir*qBtvъ?qz?rCrh:r:r"4| ~ A|*mBmJmRm!2m!r\Az\A\A\Eъ?UyBUjNIU)Q UOiQ)]zEļYYiYaIa"u&Changing to mode: 4"uSlide mode.ZImbIjIrIzI\8:III"2Commanding negative:30070D<DDE?  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G )yAUx,VFPS\A2 ?y2H)@9219Y21>2H,w@I?`}f?s`?`{:??@E|?2 ?ɨ2; 0B{BBBIHJ;HJ}5f= fK=YfH;Q f>h٣h jGhj n>p]v49rCAl?av4Yr irsBtvqv?rCr:r\:r#ۣ4q u Ay*mBmJmRm2mr\z\\\`@jB19) i)%"diIDDDE>  EE=ZAM">:JABJE9JJARJEjZJEJIIIGiGiGmIGmƁBGiGiGiGm3<Gm)FZI jbI ajI rI zI .:I p9I I I {4;I ~4;I :I :x,pajS\A2??y2 @92 *Y2p5>2H߿6hH? ? ߿X?MS?`]?}x?2??ɨ2D; 2CBBB\IMMb@Mb@Mb@II I)IIIyM{Gz?333333I +M#=Yu ٣ G욽 >]49bCl?a4Y  isB=m-<(?q?C::4 $ A*m Bm Jm Rm 2m5B*** querying acoustic contact ***i1i1r\u=z\u=\u @\u(?雅oB *) i)e隉iIDDe0*DiDiEm?  EiEeo=ZAq 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.M=>x,mS\A,DAT read: user:1149> BDAT read: Tx time:19:13:17.8876  $Ping request sent. q٣q uGq} }>]49FEl?a4Y isBq?C:e:4 _ A*mBmJmRm2mr\z\\\tB ) i)SgiI!DDDE8  EE-<ZAMI>չս<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254120Gm >Gi Gm IGm BGi Gi Gm @DGm <Gm F:J BJ 89JJ RJ kZJ x,LS\AVf?yV0@9VYV<>VH^]ۿ@/[ c??=ۿO ?? v?`6q?Vf?ɨVu; VCBIMb@Mb@Mb@ )Iy)\(?M¿{GzGa=n# EA);@IAi7 A AH Hh5c= A=Ya ٣   G >]%49Hl?a%4Y] isB-9>m-;-S?q-?C::41 5 A9*mBmJmRm2mr\9>z\9>\Nj@\ S?%yB%I%u)! %bi1)5oi11i1IIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503784DDDE@  EH=@AH=?AZIEmbIEcjIArIAzIE\8:IEx9IAIAIED;IED;IE:IE:E% <ZA1 MM > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754970MGx,S\A2%_?y2?92D2ʼY2 6>2H` ٿ@?T?@eٿDۨ?`E??{?2%_?ɨ2@; 2CR΁BRIHZ:HZ|5b"= bb=Ybd٣d fGdj& j>l]r49nLl?ar4YnX insBprJ?qv?nCn;nu:nZ4x z7 Ax=Done sinking=DSlide state transition from 2 to 1*mBm2mrmr\z\\\J?iɛI> D2ʼI @) N{d)   i :` 1I9"E&Changing to mode: 1"EStandby mode."-2Commanding positive:34792D/*DDE9  EBE:E=%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007397E<ZAM>.x,ۋS\A61?y6?96Y622>6H~׿2 ?@Q?<׿ԁB>IHJHJe5R/< RL=YRbT٣T VGTV? Z>X]^49ZOl?ab4YZA iZsB`baC?qb?ZCZ;Z;ZV4d j Ah*mxBm|2m|rm|r\z\\\aC?i!ɛ)I->-))))))i5R1I1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259795D+DDE  E ER<ZAQM>G G CG  IG BG G G G <G F:JBJ9JJRJlZJ %)5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511823HY H] R=ZIe ibIe `jIe 1rIa zIe +:Ie bl9Ie 3Ia Ie /;Ie /;Ie (:Ie *:Yx,gS\A~B~IMb@Mb@Mb@ )IybX9ȶ?Qſ~jtE=( A)@IAi AHH5= :=YQ >٣ G >]49Sl?a4Y iusB@>m;e?q? Cx;>;4B > AE*m Bm 2m rm r\-@>z\-@>\--@\-ke?i9ɛ9I=>9)A)AIIiM\lIIDe.DiDiEm  EiEEx<ZAQMu6>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769157Ax,RFT\A6t?y6?96[Y6>6Hտ@?69?iԿ`a?@Hp???6t?ɨ6C"; 6CBBBIF;>iF>HJHJ5VMB= V]=YVM&=Q Z>X٣X ZGX^ ^>`]f49bWl?af4YbC  ibfsBhjWW?qj?bCb :b:b~ 4l nApchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019120*m Bm 2m rm r\z\\\/WW?iɛI>[))iI^D=9D2DDE  E2EfA*EeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270894E'<ZAM>G >G CG 4 IG @BG G G ?DG <G F:J .KBJ -9JJ RJ mZJ jx,T\A>]?y>?9>7:Y>=>H`@ӿ@cF?vh?`>ӿ@? Z`??>]?ɨ>b; >CFBFIMb@Mb@Mb@ )IyX9v?Q=\̼ A)h@Ii AG AH5H55E; EA=YM4_I٣I MGIU@. U>Y]e49] [l?ae4Y]  i]UsBm=>mm;m ?qm?]C] :]:]4q uAq*mABmA2mArmAr\}=>z\}=>\}W@\} ?iɛIi>7:I))隩iI^Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523008D3DDE  EH-AAH-AAE<ZAM > BDAT read: Rx Time:19:13:20.2951  TRx dataTimestamp_ set to:1736536400.871280 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776125, x,Q8T\Af?yfm?9fA;Yf) =fH 2ӿ`z? ?,ӿh? ^xy?`?f?ɨfv; fCBIH-H-:5== EK=YEx3I٣I MGIM M>Q]e49Ul^l?am4YU  iUHsBim?qm?U(CUN;U9O;U4y }vAy*mBm2mrmr\z\\\?iɛI>A;I!))*׼ih>I1^D]j%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027262D6DDE  EZIUgbIUcjIU0rIQzIU%:IUx9IUـ3IQqe@ie@ue@me@E5 [<ZAA Me >7x,RRT\ABII)H-H-<5= =J=YEQ E>A٣I MGIM U>Q]]49Ual?a]4YU9 iUI ))½i'!DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.3 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.im@9i=XRequesting device enable set for address 50.I!CCCCG)G)G-S IG-YBG)G)G)G-װ<G- FHa HaHaHa"Ha*He4:JBJ9JJRJnZJDD-?7D)D)E-h  E1BE9:E== ,DAT read: user:1150> % BDAT read: Tx time:19:13:21.4367 % $Ping request sent.- x,ClT\A2?y2?92 zB>I Mb@Mb@Mb@   ) I y X9v?/$Q     A) AI i A  \AHeHeʏ5u#= uG=Y}A =Q }>y٣y G쮼 >]49acl?a4Y i0sBI>m;Ǟ?q?:Cp3;1;2)4 lA*mBm2mrmr\I>z\I>\d@\Ǟ?i)ɛ)I->- zԑ!x,dT\A2?y2 ;?92Z=Y2)T|2H`ҿ`:?#ҿ@P?@Cݠ ?2?ɨ2; 2C:B:I v9GjA %AH%TH% 5)M+yMjAMB]矽 ]L=Ye+=Q e>a٣a mGim;; m>ZIhbI_jIrIzI(:I=h9II1]E495el?aE4Y5. i5$sBIM?qM?5AC5;5;504y }A*mBm2mrmr\1z\1\1\5$?iYɛYI]>]Z=I]<)])aaeV;ieY iIiD=7D9D9E=  EAEm <ZAy M >G >G G f IG iBG  =G G G 6<G *F\'x, nT\A:J,BJ.9JJ,RJ.oZJ.> ?y>J?9>"?=Y>vnU>HIӿ@qXOy?@#nӿc?`⧿@I?> ?ɨ>W); >C^B^Ib=ib<`bAMMb@Mb@Mb@II I)IIIyMRQ?ˡE{Gzt?M=M'Mף; MA)MM AIM~AiM;AIM AH]SH]Ӄ5 G=Y=Q >٣ G< >]49fel?a4Y" i%sB'=m<?q?GC?;;^74 A*mBm2mrmr\'=z\'=\0@\?iɛI>"?=I#=) )))-E-x,?T\AF?yF?9Fm=YFRFHԿN %`S?FԿΣ?`aGv?F?ɨF!\; DbBbIHrHrZ5ze zV=YzY|٣| ~G|2= > ]49 el?a4Y  i &sBS?q? LC : q: >41 EQ AI*mqBmq2mqrmqr\z\\\S?iɛI8>m=))隩4x,T\A6h?y6>?96=Y6p=w6HTտ@,`?\տ.f?@ڰѮW?6h?ɨ6V; 4N܁BNIHZHZV5bx fM=YfFh٣h jGhv2S= z>Q]]49Uel?ae4YU iQae?qe?UQCU:Uh:UJE4i m Aq*mBm2mrmr\z\\\?iɛI>=)<)izHI^D#2Gm>GiGmG IGmOBGm =GiGiGm<GmFD7DDE  EE<ZAM J>:JBJ9JJRJpZJ+IhLNP\0(n xL, O:x,T\A:P?y:?9:.=Y::HwֿAS?@ֿ`C?`*A̓?:P?ɨ:T; 8NсBRIEMb@Mb@Mb@AA A)AIAyEMb?:v?~jthE@=E٣ G4= >]49vdl?a4Y i"sBY\=mv<@q?TC. ; ;L4 & A*m)Bm12m1rm1r\MY\=z\MY\=\MZ?\M&@iYɛYI]>e.=)a)aaaie4iIieBDAT read: Rx Time:19:13:23.3195 mTRx dataTimestamp_ set to:1736536403.895315^D9D?D?DM7DIDIEM8  EIBEU=:EU=E- ^<ZAA Mm >Ax,U\Ab5?yb?9b=YbsbHٿ15 6?`ٿu?`ζ@V?b5?ɨb L; bCjBnIHvHv75~] ~X=Y=Q >٣  G   >  >]49cl?a%4YB isB!%Q@q%?WC):K:HS4) - A1*maBma2marmar\z\\\Q@iɛIf>=))隹i HIZIibIhjI1rIzI+:IȆ9I3IC}=C}=^DM8<"=2Commanding positive:13514D7DDE8  EEy<ZAM l>m>m=mDAT read: OK u:unknown deviceResponse_: OK u,DAT read: user:1151> Ge >Ga Ge  IGe !BGa Ga Ga Ge W<Ge CFqHx,!U\A:J*lOBJ*9JJ(RJ*qZJ*AtuW@/" Vm?yVO@9VPf=YVwqVH`Eۿ@?~ۿ@? J 1?Vm?ɨVM; VC^B^sImMb@Mb@Mb@ii i)iIiymI +ˡE?~jth?m94m=mD; mA)mM AImzAiiimAH$Hr5NϽ @=Y;Q >٣ GΓ= >]49`l?a4Y i=m <"$q?[C/:M:Z4  A*mBm2mrmr\ =z\ =\ y!?\ m@iɛI>Pf=)!)!!!i%)뻉)I)BDAT read: Tx time:19:13:24.4367 $Ping request sent.2Nx,&;U\A>;w?y>`@9>i=Y>le>HݿZt(Z?@Vsݿ'?oķ?>;w?ɨ>R; >CFBJZILNAHRkHR%5^ѽ ^Z=Y^ ,;Q b>`٣` bG`f= f>h]n49j^l?an4Yj; ihpr!"qr?j_Cj;j;jEi=)I)IIIiM ⻉QIQCYCYCeCeD}7DyDyE}  EyEU<ZAiM|>Ux,9dUU\A6 W?y6G@96q=Y6J_6H ޿ @ݚ?Z%߿?`ܫ?6 W?ɨ6d; 6C>xBR>IHZHZ5f fI=Yf Q f>h٣h jGhn= n>p]v49r9\l?av4Yr irsBtv4 qv?rcCr:r:rSh4| ~ A|*m!Bm!2m!rm!r\Az\A\A\Eq@iQɛQIU>Uq=)Q)YYYi]=ػaIaD7DDE  EE<ZAGGGIGBGGGG<G FM>:Jn!NBJŷ9JJRJrZJZI- fbI- ujI- 0rI) zI- |":I- 9I- ـ3I) I- ;q= I- ;i= I- f:uE I- g:mE E[x,DoU\A>?X?y>@9>Q=Y>V9>HTB`m@l@i?1ke?@ֶ`n ?>?X?ɨ>0; >CneBn'IMb@Mb@Mb@ )IyQ뱿K7A?~jtx?\ >; A)d AIAiA(AHH5z ==YһQ >٣ G= >]49Yl?a4Y. i!sB>m;q?kC:w:o4  A*mBm2mrmr\>z\>\\@\l@i)ɛ1I5x>5Q=)1)199i=λ9IA"2Commanding positive:13218D7DDE<  EE<ZAMA>V+bx,?U\A:2?y:@9:c<=Y: :H`(@gK[?-6r9? c!6?:2?ɨ:l?; 8FTBFIIH)HHZ+HZu5fF fZ=YfQ j>l٣l nGlrͣ= r>t]~49vNWl?a4Yvq iv$sBq?vrCvb;vO;vxv4 A*mIBmI2mIrmQr\yz\y\y\}@iɛI>c<=))隡iŻIDhAzDgAD-7D1D1E5  E1E m=ZAM5 >G >G CG IG BG G G G <G FH HHH"H*Hɒ4[hx, U\A:JZBJZ9JJXRJZsZJZCBIMb@Mb@Mb@ )IyzGếMbX9?Mbp? ׽!>; A)M AIAi@AHH5M ;=YQ >٣ G >]49wTl?a4Yn i'sBMB>m;q?}C ; ;~4 A*mBm2mrmr\MB>z\MB>\ @\<[@iɛ!I%>!))))))i- 1I9D08DDE  EH}@AH}@AZIhbIajI1rIzI(:Ip9I3II);I);I:I:E=ZAMH>e BDAT read: Rx Time:19:13:26.3196 m TRx dataTimestamp_ set to:1736536406.920767nx,ϼU\A6?y6 @96EL=Y6H;6H GV/T{`a%?\dJ?F\@?6?ɨ65; 4B,BBIHNHN5Z0 Z_=YZTQ Z>\٣\ nGlr= r>t]z49vLRl?az4Yv(  iv+sBxzq~?vCv:v%eEL=))   i ׵ IDD8DDE  EE=ZAM*>IUE=)UC ~GlA )%Wy%lA%FBfhux,U\A2G?y2 @92O=Y2Q2H``3@Ȉ?a?Bਣw?2G?ɨ2; 0NBNIV>iV%=HfHf5j  nH=YnQ n>p٣p rGpv+= v>t]~49v Pl?a~4Yv  iv/sBq?vCv';v\(;v4  A *m)Bm12m1rm1r\Iz\I\I\M ^@iɛI*>O=))iʿID?D?-DAT read: OK -:unknown deviceResponse_: OK -,DAT read: user:1152> GGCGGIGBG =GGG <G F" 2Commanding positive:12430D_8D1D1E=@  E92E]eA*E]gAE==ZAIMeV>:J1BJ5-9JJ1RJ5tZJ5.h"LQp d / ^  ^z4U BDAT read: Tx time:19:13:27.4368  $Ping request sent. U; UA)U AIUd AiUAQU3AHmkHm%5z ;=Y Q >٣ G< >]49Nl?a4Y?  i2sBJ>m;`q?C ;& ;I4 B A E*m)Bm)2m)rm1r\MJ>z\MJ>\M@\M7@iYɛaIeL>eq=)a)iiiimiIqD-8D)D)E-  E)E-=ZA9MU2>zx,0c V\AZٗ?yZ @9Z٣ G%^< %>)]549-zLl?a54Y-' i-5sB9=oq=?-C-h-;--;-虤4I MAI*miBmi2mirmir\z\\\t@iɛIV><)5)隡iMIDm8DqDqEu  EqEM=ZAYMu>G >G G .IG kBG G G G /<G (Fx,IM$V\Aj?yj @9j;Yj ٣ G >]49xKl?a4Y i%>m;޿q?C:M:4 AE*mBm2mrmr\%>z\%>\:@\k^@iɛIb>;))iIZIulbIu^jIqrIqzIu<5:Iud9IqIqIuH?;IuJ?;Iu:Iu:D8DDE  EEz=ZAMg>͎x,>V\A2?y2 @929/Y2] =2H#@$??@l#4Ň? ?J??2?ɨ2hZ; 2C8<HFHF5Rs Rd=YR5Q V>T٣T VGTZJz Z>\]b49^Jl?ab4Y^} i\`by߿qf?^C^;^;^ħ4h jAh*mxBmx2mxrmxr\z\\\]1@iAɛAIM>M9/)I)IIMx,WV\A6)0?y6׶ @96`żY6 "=6H@ /?`?n?`N??N?)?6)0?ɨ6; 4^$B^IHfpHf@5n >= rF=YrFQ r>t٣t vGtv v>|]49~Il?a4Y~9 i~4sB .q ?~C~l:~y:~4 A*m1Bm12m9rm9r\z\\\,Đ@iɛI>`żI=)UT)   oZߛx,qV\AZI"ibI"mjI"/rI zI"+:I"&9I"(N3I I"/;I"/;I":I":B5?yBQ @9B;(YBxY1=BH@a`!@?*?@ku`?@%??B5?ɨB;; BCn3BrIzV>iz>Mb@Mb@Mb@ )IyMbX9Q?{Gzʡu=#  A)AIAiAAHHآ5= >=YFQ >1٣1 5G1=( =>A]M49EiIl?aU4YEc iE/sBu1=mu=;(I=p<)9)99=iEȱIIi^DE0:D"UStoppingBDAT read: Rx Time:19:13:29.3195 TRx dataTimestamp_ set to:1736536409.944435E} =ZAM>Ȣx,V\AZ{T?yZI @9Z.@YZ*B=ZH@ Ű??@%@2@?@()٣) -G)5x 5>9]E49=5Il?aM4Y=Z i=+sBIMqѿqM?=C= ;=T ;=>4Y ]AY*myBmy2myrmyr\z\\\d@iɛI>>.@I=ʻ))隹1iy&I^D c"StoppingE =ZAM>%a>%<]DAT read: 19:13:29.3195 LVL= 8592, 20881, 13378, 11075, AGC= 42, IDX= 438, 0.17,-0.345,-0.750,-0.339, 1.075, PHS=-1.332,-1.778,-1.417, RAW= 139.6, 75.6, CAL= 143.2, 78.1, ROT= 6.8, -78.1 eYgot valid direction response: 19:13:29.3195 LVL= 8592, 20881, 13378, 11075, AGC= 42, IDX= 438, 0.17,-0.345,-0.750,-0.339, 1.075, PHS=-1.332,-1.778,-1.417, RAW= 139.6, 75.6, CAL= 143.2, 78.1, ROT= 6.8, -78.1 mDAT read: OK m:unknown deviceResponse_: OK mX#Rx 2: Read direction message, but no range.u\direction in FSK: [0.204754,0.024415,0.978509]1Y5Z1^5?Y? O?915! 5Q)5B4I5C+i5*5~55B`5I@ 5[?)5@I5!z?i5=5!z150+?V!a?jڒ?I5>>i5󨿉5=5!zG5 >G1 G5 fIG5 BG1 G1 G1 G5 ΰ<G5 Fx,V\A~(#?y~V@9~bY~_O=~H6}~?z?/ 铿`V??ߩ? ?~(#?ɨ~3I; ~C QBI:JBHBJ-9JJRJwZJMb@Mb@Mb@ )IyZd;OMbMbpj );AIAi A3AHHJ5>]=  <=Y ʙQ  >٣ GGk >!]-49%#Jl?a-4Y%y i%(sB-<m-<-̾q5?%C%] ;%/;%Ĥ49 =A9*mYBmY2mYrmYr\}<z\}<\}o@\}O@iɛI>bI@))隑iiIC%=C%=^D5lX"EStoppingE  =ZA!M=>x,^V\A6K?y6@96({Y6W=6HM\^dJ?@vn?@u/``?@?`@?6K?ɨ6.W; 6C>oB>3IHJHJ5R (> Re=YR`Q R>T٣T VGTZ Z>X]b49ZJl?ab4YZ iZ&sB`bپqb?ZCZz;Z;Zˤ4h j/ Ah*mxBm|2m|rm|r\z\\\Ou@i!ɛ!I-$>-({)-#))))i-v)»1I1CACACECE"StoppingE=ZAMH>ZI]jbI]]jI]2rIYzI].:I]_9I]c3IYqe@ie@ue@me@x,:V\A:/?y:@9:څY:WV=:Hb߿Yӳ?`? bO߿ D? .?Q?:/?ɨ:@; :CFBFOIHNHNJ5Z= ZI=YZ #Q Z>\٣\ ^G\b% f>d]j49fKl?aj4Yf entIif$sBlnVqr?fCfF;f;f,Ҥ4t v{ At*m Bm 2m rm r\)z\)\)\-w@i9ɛ9I= >=څ)9)AAAiMɻIIQ"]StoppingE5!=ZAAM}=G>GGIGˁBGGGG\<GGFH HHH"H*HӔ4:JjIBJ89JJRJxZJ/x,V\A6%?y61@96ˉY6nE=6H oݿP ޲?`/U?&ݿ# %6?!??6%?ɨ69; 6CBBBhIuMb@Mb@Mb@qq q)qIqyukt?(\µMbp?u 0=uu; u A)u$AIuAiu7 Aqu AHHN5= <=YQ >٣ G >]49Ml?a4Y i%sBB=m <7r?q?C::٤4  A*mBm2mrmr\B=z\B=\ȥ@\[7r?i!ɛ!I-_>-ˉ))))iлI" Stopping2EgA*EhAE=ZAM> u vG ;mA A) y ;mA JBqx, W\A6_?y6N@96oY6_-=6HۿE??ۿ??\??6_?ɨ67; 6CNBNIRd٣d fGdjᠽ j>l]r49nOl?ar4Yn in&sBtvj?qv?nCn:n:nU4x z' A|*mBm2mrmr\z\\\j?iɛI>o))iC׻I"StoppingZIqbIajI0rIzID:Ip9Iـ3IEy=ZAM=G>GGIG BGGGG7<G,FBx,g&W\A=?y=/?9=Y===H9ڿ`'[?a#?`kKڿ`hB ԰?@&? ?=?ɨ=; =CMȁBUI:JBJu9JJRJyZJ-Mb@Mb@Mb@)) )))I)y-zG?p= ף{Gz?- =--#< )))I-lAi- A)-AHEHEh5Ue= U3=YUk;Q U>Y٣Y ]GY]~ e>a]u49eRl?au4YeL ie,sBul+>mu;uk?q}?eCe;e6;eF4 h AE*mBm2mrmr\l+>z\l+>\@\k?iɛIK>))iF߻IH!H!^DLM"StoppingE=ZAM5>'x,@W\A:s?y:?9:ÀY:S<:H@ؿ@3\b?x?vؿ?@?M??:s?ɨ:SX; 8FBFIHNHNޚ5V> Vj=YV X٣X ZGX^X ^>`]j49bTl?aj4Yb ib0sBhj?qn?bCb49;bJ;bb4p r Ap*mBm2mrmr\!z\!\!\%?i1ɛ1I5>=À)9)99AiEM廉AII^D5"=StoppingE=ZA!M5=ZI=hbI=]jI9rI9zI=(:I=_9I9I9Qx,sZW\A6?y6+?96qY6_s<6H"@׿fݣ??=Z׿x4??P?6?ɨ6lJ; 6CfBfIIh)hHrHr5v= zF=Yz|٣| ~G|d > ] 49 Wl?a4Y ` i 6sB/?q? C l: W: 4! %V A!*mIBmI2mIrmIr\iz\i\i\m/?iyɛyIS>q))隁i\r뻉ICiACiA==G}>GyG}A IG}JBG} =GyGyG}<G}F^D"StoppingE$=ZA!Mex>:JBoHBJ9JJRJzZJ     H= C=H= %={x,\tW\A>?y>}R?9>^Y>&<>H ֿ@8 ??@1ֿO׫?Մ? t?>?ɨ>; >CNBNIMMb@Mb@Mb@II I)IIIyM333333?@5^I ¿I +?M>MbM94< M~A)M;AIMAiMd AIM3AHHm5f= ?=Y0٣ G3 >]49Zl?a4Y: i>sBS>m;b?q?C::%4B AE*m!Bm!2m)rm)r\ES>z\ES>\E'@\Enb?iQɛQI]!>]^)Y)YYYi]F񻉡aIaCmCmCqCq"%StoppingE=<ZAAM~>cx,8W\A "A::0?y:m?9:IY:L;:H>տ-`cɓ?$?GտGB`9? Fi??::0?ɨ:A; :CF BFIHNHNT5V= V\=YV/cX٣X ZGX^% ^>`]f49bO]l?af4Ybi  ibEsBdf?qj?bCbG:b:b4l nCAl*mBm2mrmr\Qz\Q\Q\UD?IsI{3I{.IsIsIsZIibI}jIrIzI+:IS9IIi1ɛ1I= >=I)9)999i=AIA"UStoppingEU<ZAaM=Gu>GqGuy IGuxBGqGqGqGuϰ<Gu F0x,qW\Am ?ym(?9mM3YmmH`ԿYI`K3?A?Կݥg?Zp@?m ?ɨm; mCޅBޅ IAAMMb@Mb@Mb@II I)IIIyMK7A`?`"MMt< MhA)MhAIM$AiM AIM\A:JmLBJiJJiRJm{ZJm  HmHm5 = /=YA٣ Gf >]49_l?a4Y  iMsB`S>m;?q?C ;; 4 A*mBm2mrmr\`S>z\`S>\[@\?i ɛ I > M3))iI"%StoppingE!<ZAM5 >ux,W\A2a9?y2v?92~dY2;2HSԿWvS?Q?PԿ`F`^k?t`?2a9?ɨ2; 2CRBR IH^H^95z zi=Y~1٣ G N|  >]49al?a4Y- iSsB%?q%?C;w;4) -A)*mQBmQ2mQrmQr\iz\i\i\m3?iɛI>~d))隉i9I"StoppingE<ZAM=x,:W\A6:?y6ex?96zY6야6HUԿDW@[}.S?@rNԿQ.? ?6:?ɨ6d; 6CRBRIHZHZ5b bN=YbRd٣d fGdja8 j>l]r49ncl?ar4Yn  inZsBpr%?qr?n%Cn;na;n4x zAx*mBm2mrmr\z\\\Z%?iɛI>z))i*UI"StoppingG%>G!G% IG%BG% =G!G%@DG%!<G%FE2<ZAM]=:JILBJ9JJRJ|ZJ0jTB6*!   JhAIgAZI% hbI% ljI! rI! zI% (:I% 9I! I! 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IGU;BGQGQGQGUB<GU2F=E<ZAMg>ʀx,q4[\Ae?yen?9eP;YeeHӿ"y|`y?`͇ӿ w?&Ct@?e?ɨe ; aBIMb@Mb@Mb@ )Iyl?Q~jth?>D; A)AIAiAAHHQ5 = /=Y;Q >٣ Gn >]49bl?a4Y isB"C>m;?q?D:4:4B pAEHE@AHE@AZIibIjIrIzI+:IIII/;I/;II:J9MBJ9JJRJZJ*m1Bm12m1rm1r\m"C>z\m"C>\mB@\mY?iɛI>P;Izٺ))隡:i{I"StoppingE <ZA M- >cx,z8N[\A:?y:T+?9:5-5>GM >GI GM ` IGM dBGI GI GI GM <GM FՎx,h[\A:>?y:?9:+j?ɨ:; :CBBB IHJHJ5nWF= rG=Yrt٣t vGtvΣ z>x]~49zfl?a4Yz  izsB?q?z Dz;z;z4  A*m1Bm12m1rm1r\Yz\Y\Y\]?iiɛiIm>m+jHM C=HM =:J KBJ u9JJ RJ ZJ  z_h x(B}8ZI ux,[\A]BYMb@Mb@Mb@ )Iy@5^I ?MbXb>ʽ )~AIAi;AAH%H%55: 57=Y5Q =>9٣9 =G9E E>I]U49Mhl?aU4YM  iIUk0>mU;]Ɵ?q]?MDM ;M;M4a eAa*mBm92m9rm9r\uk0>z\uk0>\uy@\u2Ɵ?iɛIX>Iؕ<))Sfib񻉡I"StoppedE-<ZA9 UdClearing failed state for component DockingStepper1UMe>Xx,ƛ[\AZIbIcjIrIzIIx9IIq@i@u@m@B^?yB?9B@ 6?B^?ɨBSˊ; BCNBR IIT)THZHZq5b\ be=Yfɖd٣d fGhj j>l]r49n@jl?av4Yn iltv?qv?nDn!;n;n4x ~A|*m!Bm!2m!rm!r\Az\A\A\ED?iQɛQIUj>U@GGy IGxBGGGG<GiF " 8Initializing DockingStepper.2E*EE<ZAM >"x,稵[\A-?y-=?9->y٣y }Gy|< >]49Tll?a4Y isB?q?D;|;&4 FA*mBm2mrmr\z\\\ł?iɛI>>rx,|}[\A: ?y:)?9:y٣y }Gy< >]49)ml?a4Yy isBd=m; ?q?D%;;g-4 `A*mBm2mrmr\d=z\d=\ @\ ?iɛIӽ><))G G G G G G G <G FH HHH"H*HqM4&x, [[\A6?y6b?96\٣\ ^G\b"= b>d]j49fml?aj4YfQ ifsBhj?qj?f Df:f:f 44p rAp*maBma2marmar\z\\\Z?iɛI><))i绉I^D/C" Starting"BInit string: /1z14689aE13561N3m50BE:E8>E 4<ZA M >:J= -NBJ= 9JJ9 RJ= ZJ= ,+(%&('%## x,5\\A2?y2U?92F =Y2p2H 6տh(@+? IտT?&|ʡ8?2?ɨ2z0; 2C>B>IUMb@Mb@Mb@QQ Q)QIQyUkt?I +MbPU 0=U9U U$A)QIU AiU$AQU3AHHen5IB ;=Y٣ G$= >]492nl?a4Y isBE=m<?q?!Dw:R:;4 L A*mBm2mrmr\E=z\E=\@\?i)ɛ)I5>=F =)9)AAIiMKW㻉QIY^D}"5"Starting 5Ga E<)ayބAZAM-->ZI] hbI] bjIY rIY zI] (:I] t9IY IY x,<\\AJ?yJN?9J=YJJHֿ@b?`lֿU)?`̡Z?J?ɨJ; JCf؁BfIHnHn`5zҽ zU=Y~W;Q ~>|٣| ~Gkf= > ]49 _nl?a4Y H i w?q? #D q: ~: [B4! - A)*mIBmI2mIrmIr\qz\q\q\u2w?iɛIf>=))隉iڒ߻IGGG` IGdBGGGG:<G,F^D!9"StartingE<ZAMg>C x,6\\A:A٣I GT= >]49nl?a4Y isBz?q?$DT;;fJ4 , A*myBmy2myrmyr\z\\\z?iɛI>#%=))iFڻIC C C C :J-MBJ9JJRJZJ$')+,,)&# ;n~"StartingEm<ZAyM>x, P\\A6wH?y6?96,=Y66H zٿ`Q `R?ܑٿcF?`@ W?6wH?ɨ6|!; 6CBBBI%Mb@Mb@Mb@!! !)!I!y%Q{Gz?~jth?%%ף<%D; !)!I% Ai%A!!H Hh58 R=Y;Q >٣ G= >]49Wnl?a4Y  isB1=m<^q?%DZ::P4  A*mBm2mrmr\-1=z\-1=\-n#@\-@iIɛIIU>U,=)Q)QYYi]@ֻiIy"Starting"LSent speed cmd:/1V10000 Response:/0@ E{<ZAM>ZI5rbI5[jI1rI1zI5G:I5W9I1I1G G G . IG ;BG G G G ,<G !Fo*x,fj\\A:@?y:@9:/~1=Y::H2ۿ="H?Hۿ?- /?:@?ɨ:[S; 8^BbtIHjHjuZ5r  rX=Yv2D;Q v>t٣x zGxz]= z>|]49~*nl?a 4Y~f i~sB  ܿq ?~&D~:~y:~uW4 % A!*mABmA2mArmIr\az\a\a\e@iqɛqIue>}/~1=)y)yyyiVһI"StartingEU<ZAiM=:J] MBJ] 9JJY RJ] ZJ] >u$F06ogX~N"woeVHEF]|qeXK>6(!!x,}\\A2?y2@921=Y2̼2H@ܿ@~Ux?G ݿn ? J<7?2?ɨ2[; 2CBBBlIF=iFp=DFA}Mb@Mb@Mb@yy y)yIyy}I +Dl?{Gzt?}9}O=}ף; y)} AI}M Aiyy}\AHHi5[޼ ==Y9Q >٣ Gԑ= >]49]ml?a 4Y isB ?=m ; <q ?)D::_4  A*m9Bm92mArmAr\?=z\?=\@\@iɛI%>%1=)!)!))i-%ͻYIa"&Changing to mode: 1"Standby mode."2Commanding positive:10848D]`9DYDYE]X  E]BEe=:Ee=E=A<ZAaM}>M<'x,Y\\A:)(?y:ײ@9:d,=Y::H޿!m|?޿`? E[`m?:)(?ɨ:0; :CRBRRIHZHZm5bL b\=YfnQ f>d٣d fGhjo= j>p]v49rll?az4Yr irsBxz޿qz?r+Dr2:r2:re4 s A *mBm2mrmr\ z\ \ \ @iɛI>d,=))!!!i%pɻ!I)G>GGIGBGGGG-<G#FD9DDE  EEH<ZAM>[f-x,3\\ABg?yB@9B/=YBzt'BH:S e!~?X?@}ꄿ?Bg?ɨB; BCN}BNEIHVHVޚ5fI jJ=YzQ ~> ٣  G%= ->Q]u49UHll?a4YU iUsB!%ٿq-?U.DU/=))ihĻID:DDE  E:J-PBJ۵9JJRJZJ~ysmligb_^_fkidcHdpH o?0,**'''%##J ? J?EmD<ZAyM\>M4x,( \\AfB(IMb@Mb@Mb@ )Iy!rhrh|?~jtx?l罹=; ;A)I Ai3AHH5Ͻ 7=Y%Q ->)٣1 5G15 =>9]E49=jl?aM4Y= i=sBM%+>mM;MqM?=3D=:=4:=ht4Q ]~ AY*myBmy2myrmyr\%+>z\%+>\@\h@iɛI>))隹iWI"0Commanding positive:9770DE:DADAEE_  EIE<ZA)MMR>Gu >Gq Gu IGu ځBGu  =Gq Gq Gu D<Gu 6Fz:x,\\Arx?yr%[ @9rp)٣) 5G15Bn> 5>9]E49=sil?aE4Y=`  i=sBIMkqM?=7D=:=:=z4Y ] AY*mBm2mrmr\z\\\4@iɛI>p<))iɾID]:DYDYE]  EYE%<ZA9MU>H R=H p=ZI lbI jI /rI zI <5:I I (N3I I H?;I J?;I I :J c6OBJ JJ RJ ZJ ""!     J I `Ax,]\A~MB~ IMb@Mb@Mb@ )IyA`" A)AI Ai$AH%H%55]P 5;=Y=Q =>A٣A EGAM M>a]m49eegl?au4YeY  iesBu7>m};}Dq}?e<De[;eK;e4 HA*mBm2mrmr\7>z\7>\q$ @\@iɛI > ) ) iM`ID;:DDE  EE}<ZAM^>Gx,Q]\AR@yRz@9RR9;YRut٣t zGxz= z>|]49~el?a4Y~  i~sB  ~q ?~@D~:~S:~߈4 A*m9Bm92m9rm9r\Yz\Y\Y\](@iiɛiImw>mR9;)q)qqqiu"IDG%>G!G%IG%BG% =G!G!G%<G% FH HHH"H*H¯4"0Commanding positive:9469D@:DDEQ  EE>=ZAMA>Mx,$|9]\A:|e@y:?@9:Y:$,<:H``j !ș?@ ?L?x?@|$??:|e@ɨ:; :CN=BNI`bAHfHf5nּ nK=YrUQ r>p٣p vGtv@< v>x]~49zUdl?a~4Yz izsBq?zEDz<;z;z菦4  A *myBmy2mrmr\z\\\U@HHAAII 3I S}.IIIZIgbI_jI0rIzI%:I=h9Iـ3III$;IK$;I:I:iɛI>))I=)ѐC -:GElA A)ylAAM ?M ATx,[S]\A2@y2@92"VY2\<2Hy??Ѽ?ي?r? g?2@ɨ2i; 2CN9BNI-Mb@Mb@Mb@)) )))I)y-~jt/$?Mb`--1>- -hA)-QAI-~Ai-A)-AHEHE5Uې UC=YQ >٣ G< >]49Lbl?a4Yn isB>m;q?IDE::y4B AE*mBm2mrmr\5>z\5>\5@\5܊@iAɛIIMb>M"V)M3h")IIUGG >G G yIG BG G G G <G F Zx,z8m]\A:/@y:$@9:OY:W+=:H@h' FO?.?`)x????:/@ɨ:^ ; 8F7BFIHNHN5V7 VV=YV5Q Z>X٣X ZGX^< ^>`]f49b`l?af4Yb i`hjkqj?bMDb~:b:b4l rAp*mBm2mrm r\!z\!\!\%@i1ɛ1I=>=OI= =)9)99={AZI hbI ajI rI zI (:I p9I I I );I );I :I :Fax, ]\A:J8aLBJk9JJRJZJ:@y:I@9:ʼY:T[=:H@Xc?`/?sl? ^?눢? ?:@ɨ:H; 8F2BFIMMb@Mb@Mb@II I)IIIyM=Y}YTQ >٣ G8 >]49^l?a4Y isB=m;q?PDC;B;p4 A*mBm2mrm r\=z\=\?\0@iɛIK>ʼI ƞ<))i»IDp:DDE  EEw=ZAM> gx,]\ABp@yB@9B)YB=BH@`@6?y?yN"P?0d????Bp@ɨB; @J7BJIHVHVm5b< bW=YbC)Q b>d٣d fGdfގ j>h]r49j\l?ar4Yj ijsBpr+qr?jRDjD;j;j4t zAx*mBm2mrmr\z\\\,@iɛI;>)I;))iŻIG>GGGGGGG?<G2F^DD:DDE  EEL=ZAM>nx,к]\A :B IAH%H%55U< 5C=Y=Q =>9٣9 =G9E E>I]U49MZl?a4YM iMsBq?MUDMYIe@)a)aaeieaYɻqIy^D:J=]JBJ=9JJ9RJ=ZJ="0Commanding positive:9075Dm:DiDqEuO  EqEE =ZAY M >$tx,8]\A) @EBIMb@Mb@Mb@ )Iy~jtx??;L= ~A)AI;Ai A3AHH=5K= ==Y!Q %>!٣! -G)) ->1]=495(Yl?a=4Y5 i5sBEDN=mE))隩iX˻ICCCCZIbIcjIrIzIIx9IIq@i@u@m@DDDE  EG>GGIGBGGGG%<GFE=ZAM>{x,y]\A6#?y6U^ @96Y6M/=6H 8|4?`?@"GBBIHFHF5j`; jb=YnX}Q n>p٣p rGpr v>t]z49vWl?az4YvO ivsB|~(q~?vXDv;v;vO4 sA *m)Bm)2m)rm)r\Az\A\A\ETi@iYɛYIej>e)a)aaaie}λiIiDyD:DDE  E2E*EgAE<ZAM>4x,W^\A6y?y6 @96w׼Y6aN,=6H 8ZcZ?l?@2 >`?`$?E?`?6y?ɨ6; 6C:J:BoHBJ8JJ8RJ:ZJ:RMBR IIT)TMb@Mb@Mb@ )IyL7A`?Mbp?+=; )AIiAAHH35<  8=Y;Q >٣! %G!-X ->A]]49EWl?ae4YE iEsBm(=mmw׼))iһI"0Commanding positive:9075D:DDEP  EEm<ZAM>ZI kbI ajI rI zI 2:I p9I I &x,w/"^\A6CV?y6I @96¼Y6&=6H@Ka@?@?ea?iO?@Ҥ?`?6CV?ɨ6O; 6C>PB> IHJ!HJq5^< ^b=Y^|;Q b>`٣` bG`f f>h]n49jVl?an4Yj ijsBln@qr?hj;j#;j]Ϧ4t v(At*m Bm 2mrmr\)z\)\)\-@iAɛAIE>E¼)A)IIIiM@ԻIIQGaGaGeIGeBGaGaGaGe<GeFDM:DQDQEUb  EQE-<ZA9MU>Qx,<^\A:?y:z@9:zY:U=:HwP¥?PW?i?? h??:?ɨ:; :CB]BBIHJHJ5R~= VK=YVM.X٣X ZGXZ Z>`]f49bVl?af4Ybn ibsBdf/@qf?bZDb:b:bd֦4h r Ap*m Bm 2m rm r\Iz\I\I\MM/@iYɛYI]>ez)a)aaaie 'ֻiIqDhAzDgAD}:DDE  E!E<ZAM-->:JBJ-9JJRJZJ9x,U^\AB ?yB@9Bd{YB =BH߿Ң?`? ߿9j?`Il?/?k?B ?ɨBV; BC^dB^&IMMb@Mb@Mb@II I)IIIyM~jt?~jt~jth?MD=MDMD; M A)M$AIIiM~AIMAHmHmq5= 8=Y*٣ G? >]49Vl?a4Y isB(=mC<?q?\D::%ަ4   A*m1Bm12m1rm1r\M(=z\M(=\M@\M͟?iaɛaIeG>md{)i)iiiim׻qIy"0Commanding positive:9081DE:DADAEE[  EAZIibI`jIrIzI+:Ibl9IIE<ZA)M}Y>GU>GQGUIGUƁBGQGQGQGU4<GU*FH HHH"H*Hu4bx,@o^\A:}|?y:@9:@oEY:9<:H޿o9?6=? Q޿7Qg?? 4X? ?:}|?ɨ:J}; :CBnBB3IHNHN.l5V`= V`=YZ3\٣\ ^G\b b>d]j49fLWl?aj4Yf  ifsBhj?qj?f^DfG:f2:f4p r6 Ap*m Bm 2m rm r\!z\!\!\%?i9ɛ9I=˺>E@oE)A)AAAiE'ٻIIID~:DDE  EE<ZAM >Jx,陉^\A V;Gh:JvBoHBJv9JJtRJvZJv )E%yAMB?y?@9cY<H`kܿ V??lܿl?a_?1?_?騕?ɨ; CޥvBޥ<I5Mb@Mb@Mb@11 1)1I1y5~jt?+Mb`?155; 5 A)5QAI1i5A15\AHH5= -=Y ٣ G~ >]49>Yl?a4Y i=m< }?q ?`DM:(:4  A*maBma2marmar\=z\=\ s@\}?iɛIJ>c))隙i;ڻID?D?DE:DADAEE  EI2EI*EIE%<ZAIMmV>ZI kbI bjI rI zI 2:I t9I I tx,hx^\A2p?y2{@92i_Y2O<2H/ڿ@3x??ڿ{s?0k?I??2p?ɨ2; 0>{B>BII@)@)F= Fa=HJHJƕ5R< Rt=YR`%i_))))))i-bڻ1I1"-0Commanding positive:9075DDD E _  E E7<ZAM-N>ƞx,TR^\A6?y6w?96艹Y6XR<6H_,ٿki?k?+ٿ@ys?=1?`R?R?6?ɨ6; 6C>~B>FIHFMHF5R]< RJ=YR8;Q R>T٣T VGTZK Z>X]f49Zu\l?af4YZ iZsBdft?qf?ZeDZB;Z\C;Z4l r Ap*mBm2mrmr\z\\\t?i)ɛ1I5>5艹)1)119i=iڻ9IAD:DDEQ  EE <ZA!MM>:JBJ9JJRJZJ hx,4^\AJC?yJY?9J kJ;YJT?1׿x?^Mi ?@?JC?ɨJˮ; JC^B^QIMMb@Mb@Mb@II I)IIIyM+?+ηM=MvM MA)MAIMAiMAIMAHeHeV5u*= u==Y};Q }>y٣y }Gt >]49_l?a4Y isB=m<F?q?hDa;e;44B x AE*mBm2mrmr\=z\=\Ā@\?F?iɛIk> kJ;I ֻ))$isڻ I Dp:DDE  EEP<G>GGIG߁BG =GGGe<GMFZAM5>+x,B ^\A63S?y6?96;Y6\;6HmFֿ` f?`?Fֿ}?@wst?`?63S?ɨ6; 6C>B>aIBX٣X ZGXZNy Z>`]f49blal?af4Yb i`df@?qf?bjDb:b:b4h n Al*m|BmY2mYrmYr\qz\q\q\u@?iɛIW>;Io))隱мivٻI"0Commanding positive:9173]"dTimed out moving from: 14960 to: 16450 response: 1-"Hardware FaultEuq<ZIibI\jIrIzI+:I[9III/;qI/;iIӁ:uIՁ:m ZAI VHardware Fault in component: DockingStepperM >x, _\AJc?yJX?9JBW;YJ :JHa;տ0G/?O;տ~?`*~]??Jc?ɨJB; JCZB^XI:J~oKBJ~9JJ|RJ~ZJ~ Mb@Mb@Mb@ )IyL7A`? ףp= +=Q hA)hAIiQA AHHm5M  9=Y`;Q >٣ G >]49,dl?a4Yi iQ=m <0?q?mD ;;4 K A*mBm2mrm!r\=Q=z\=Q=\= @\=0?iIɛIIM>MBW;I]p9)Y)YY]i]ػaIa"uStop "u:Uninitialize Docking Stepper."uPowering downDuzDuDuDuE} <ZAMf>x,$_\A:$?y:-?9:ZX٣X ZGX^]= ^>`]f49b}fl?af4Yb  i`dj3,?qj?boDb:b:b4p r Ap*mBm2mrmr\1z\1\1\573,?iAɛAIM>MZGGIGBGGGGR<G?FEA<ZAME>x,>_\A6?y6(?96p٣p rGpr Լ v>t]z49vil?az4Yv2  it|~})?q~?vqDv;vO;v4   A *m)Bm)2m)rm)r\Iz\I\I\M})?iaɛaIeA>e:J&~JBJ9JJRJZJx,uX_\A2n?y2 ?92J\٣ G: >]49ikl?a4Y  isB=m'<"?q?tD,::$4  A*mBm2mrmr\ =z\ =\ y@\ c"?iɛI%>%J\GGGIGBGGGGi<GPF"x,DQr_\A2q?y2?92gd٣d fGdj• j>h]r49jrml?ar4Yj4  ijsBpr ?qr?jvDj;j{;j'+4x z\ Ax*mBm2mrmr\1z\1\1\5# ?iɛIC>gZIfbI`jIrIzI|":Ibl9III;I;I(:I*:x,L_\A>r?y>6?9><b>HPҿR`?@Rҿ{? ~G@c?>r?ɨ>L+; >CTZ}I^d: 7=Y `CQ  > ٣ GR% >]-49mol?a54Y  i5(=m5G<5(?q5?wDL;JK;249 =[ AA*mYBmY2marmar\}(=z\}(=\}y@\}(?iɛI><x,_\A:ܻ?y:a?9:\X٣X ZGXZj ^>`]f49bql?af4YbW  ibsBhjd(?qj?byDb :bP:b;94p rj Ar E*mBm2mrmr\z\\\d(?i)ɛ)I5ȶ>5\GIGMIGMBGIGIGIGM4<GM*FH HHH"H*HS4i=һiIi"uStoppingE<ZAMF>;x,_\A2?y2?92` 8I"@$?2?ɨ2 ; 2C>B>IHFHF5N?= VK=YVֺQ Z>X٣X ZGX^8 ;  >]49rl?a4Y  i%(?q%?{D1;1;u@4) 5 A1*mQBmQ2mQrmQr\iz\i\i\mc(?iɛIC>` :JBJ9JJRJZJ%x,_\A~B~II))%= %=Mb@Mb@Mb@ )IyMb?I +<94 A)hAIiAHHݜ5 7=YQ >٣ G >]e498tl?ae4Y  ie?=mmI=))&G=>G9G=IG= BG9G9G9G=<G=qF:Mx,И_\A68:?y6w?96Γ;Y6u6Haҿڐ퐿ɑ?ҿ@f? g~?68:?ɨ6萋; 6CBBBIHJHJ35R Ra=YV)Q V>T٣T ZGXZA< Z>|]49~cul?a4Y~L  i|  !&?q ?~}D~2:~:~N4  A*mBm2mrmr\z\\\!&?iɛI>Γ;I#=))隹٣ Gн< >]49vl?a4Y  i<m<t?q?~D;;U4  A*mBm2mrmr\<z\<\tc@\t?:JBJk9JJRJZJ)-5g;)9)99= UϻAIA"MStoppingBEU=:EU=E5<ZAAM]=I3I;ـ3I;I3I3I3ZIe vbIe `jIa rIa zIe {T:Ie bl9Ia Ia q} @i} @u} @m} @^ x,sL'`\A24?y26r?92[;Y22H?UԿ`SVi]W?lVԿZ?`z|?24?ɨ2`Ȋ; 2C^B^IdfAHjHj5Gv>GtGv IGvBGv =GtGtGv#<GvF S=Y Q  > ٣  G) = >]%49vl?a-4Y  i)-hw?q5?D"";";\49 =- A9*mYBmY2mYrmYr\qz\q\q\u;hw?iɛI > [;) )   l٣l nGlrM$= r>t]z49v wl?az4Yv  ivsBx~{?q~?vDv{;v#;vc4  A *m)Bm)2m)rm)r\Az\A\A\E{?iYɛYI]>e";)a)aaeA٣A MGIM M>Q]]49Uvl?a]4YUT  iQe9<meA=e@qe?QUZ:U:Uk4q } Ay*mBm2mrmr\9<z\9<\=\@iɛI>))IIUZIibI]jIrIzI+:I_9IIG>GCGGG =GG@DG^<GIF1x,6t`\A:+?y:9i?9: ;Y:W:Hm׿>-`U? e׿W?%{`@?:+?ɨ: ; :CFBFIHRHR5VR= Zg=YZ Q Z>\٣\ ^G\b= b>h]n49jvl?an4Yj0  ihpr3@qr?hj;j;jq4t v At*m Bm 2mrmr\)z\)\)\-83@i9ɛ9I=>E ;)A)AAIiMq٣q uGq}S= }>]49{ul?a4Y$  i=m<j@@q?D::0y4 _ A*mBm2mrmr\=z\=\q?\j@@iɛI>;))iȽ˻I"Stopping:JQBJU9JJQRJUZJU!%8 *;^q=JeiAIehAE<ZAM==ZI bI _jI /rI zI I =h9I (N3I )x,ȕ`\A6w?y66?96+h;Y6ER36H Fڿ@-.ɉ-?EGڿcU? z jX?6w?ɨ6 ; 6CGDGDGDGDGDGDGDGDGDRBRIHZHZ5b< fU=YfWQ f>h٣h jGhjx= n>p]r49rytl?av4Yr  iptvA@qv?rDr:r:r4x ~D A|*m!Bm!2m!rm!r\z\\\GA@iɛI9>+h;))i˻I"StoppingEI<ZAM=a0x,r`\AR?yR@9RG(;YR RHۿ`RN?$ۿ@F[? x?R?ɨR#; RC^B^~IbC=ib;HjHj5r rH=Yv\Q v>x٣x zG|~gl= >] 49esl?a4Y  ijC@q?D~::4 %T A!*mABmA2mArmAr\Yz\Y\Y\]@jC@iqɛyI}>}G(;))隁iuʻI"StoppingHYH]@AE<ZAM=:JNBJ9JJRJZJ72u"QaG2&J? J>6x,W`\A) @vBvqIMb@Mb@Mb@ )Iy{Gz?:v?#<T= A)IAi AH%H%h5}9 }3=YQ >٣ G >]49nql?a4Y=  isBX=mz<8q?D;&:4  A*mBm2mrmr\X=z\X=\Q?\u~Y@iɛI>))   i ۼɻI"StoppingEE<ZAQMm>ZImobIm^jIm0rIizIm>:Imd9Imـ3IiG}>G}CG}IG}BGyGyG}?DG}.<G}%FH9 H9H9H9"H9*H=D4<x,|*`\A2O8?y2:@92`;Y2q釻2H@"k޿d'*xq'?yk޿ Vd?u@p`?2O8?ɨ2; 0NBNpIHZHZפ5bܻ bk=Yf'Q f?d٣h jGhj>> j?p]v49rol?av4Yrb  iptz5qz?rDr:r@:r4Y ] AeE*mBm2mrmr\z\\\l\@i ɛI>`;))i<ɻI!"-Stopping2E1*E1E!<ZA!M== } ՀG )E OyA E A$Cx,4a\A2oD?y2@92A;Y2ܢ2H߿ k?@C߿`ӳj?~rLU?2oD?ɨ2; 2C>B>fIID)D)F= Fi>~@~  @   @  @ H5H55= MA=YMQ M>Q٣Q UGQ])f= ]>a]m49e)nl?am4Ye  iaim+:immJe4y } A*mYBmY2mYrmYiɛI>A;))隑i ȻI"Stopping:JcjNBJk9JJRJZJ  E<ZAM>ZI gbI ajI rI zI %:I p9I I Ix,Y)a\AGGGIGBG =GGG#<GFbv?yb,@9bSn;Yb ;bH@}lxl? }/Lq?tm a?@?bv?ɨbg; bCB XIHH5-X -M=Y-Q ->1٣1 5G1_= >]49vll?a4Y  ii :m$<2q?D;U?4 H A*m Bm2mrmiIɛQIU+>USn;)Q)YYYi]\ȻYIa"mStoppingE5=ZAAM]=Px,Ca\ABTIH-H-,5= =I=YEQ E>A٣I MGIM M>Y]e49]jl?ae4Y]  iYim9imm))iyǻI"StoppingBE=:E=E=ZAM%=:JE iJBJE 9JJA RJE ZJE !L: R P ~6?Z`B0$'GDn5  Wx,]a\AJ~g?yJ @9JYJ ?٣ Gu>  >]-49(hl?a54Y  isBi=T:=<=m=<==$qE?D;;檧4a e Aa*mBm2mrmr\<=z\<=\?\Dm@iɛI>))G%>G!G%IG%BG% =G!G!G%u<G%ZF,>]x,iwa\A6L6?y6 @96oY6Wv<6H@,e#.?/?` e<$w?@4m?ʎ??6L6?ɨ65׉; 6CJxBJ>IHRHRJ5Zp Z`=Y^ջQ ^>\٣` bG`b= b>d]j49fel?an4Yf  ifsBlnT#qn?fDf:f-:f<4p v At*m Bm2mrmr\)z\)\)\-n@i9ɛ9IEɶ>Eo)A)AAEi٣i uGqu1< u>]49}cl?a4Y{  isB=m<"q?D:M:4  A*mBm2mrm=4=r\=z\=\j?\"go@iɛI>»))   G% >G! G% IG% BG! G! G! G% <G% FIjx,-&a\A6A?y6c @96V Y6v<6H@I??>#d٣d fGdj7< j>p]v49rIal?av4Yr  iptv7"qv?rDr:r:r_4| ~1 A|*mBm2mrmr\1z\1\1\5so@iɛI>V ))fR"?y>/ @9>];Y>$<>H ՚?{? c@Gt? k???>R"?ɨ>Ϭ; >CJcBJ%IHVHV5^4~ bK=Yb Q b>d٣d fGdfO1< j>h]n49j^l?ar4Yjw  ijsBpr!qr?jDj;j;jgƧ4t v Ax*mBm2mrmr\)z\)\)\-1p@iAɛAIM>M];IM=)I)IIMAr:J BoHBJ 9JJ RJ ZJ [wx,a\A2&M?y2VE @92mY2<2H@@f ?`ܺ? mAbp??@?I?2&M?ɨ2Xm; 2CRXBRIMMb@Mb@Mb@II I)IIIyMMb㥛 ?MM=I MA)MAIMQAiIIMAHuHu5tD ==YQ >٣ G?F; >]49]l?a4Y  isBf=m4<Oq?D ;V:ͧ4  A*mBm2mrmr\ f=z\ f=\ ?\ Dx@iɛIV>mIu<))K;i̻I"StoppingGGGIGځBGGGG<GFEuW=ZAM>Ņ}x,a\A2?y2" @92KY2̸<2H @w>? ?Żf?")?@t? 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X{@?Y?`?2?ɨ2V; 2~CRSBRIHZHZ5f; fZ=YjyQ j>h٣h nGlnD r>t]z49vWXl?a~4Yvs ivsB|~m˿q~?vDv;v;v4 A *m)Bm)2m)rm)r\Az\A\A\Em4@iYɛYI]>])Y)aaaieNڻiIq"}StoppingBE=:EEu/=ZAM=Ix,ܓb\A28\?y2@92Y22 =2Hh:ͦ???(iP?`#??28\?ɨ2w; 2CNTBNIR=iR4٣ GI >]49Yl?a4Y isB=m< q?D';T&;f4 A*mBm2mrmr\=z\=\t@\'O@i)ɛ)I->-)))111i5/ݻ9I9"MStoppingE5<ZAAMe=:JBJJJRJZJ "%%""  ZI% jbI% _jI! rI! zI% .:I% =h9I! I! q- @i- @u- @m- @Ge >Ga Ga Ga Ga Ga Ga Ge հ<Ge Fx,b\A~UB~IH H 5!< %S=Y%Q %>)٣) 5G15 5>9]E49=Zl?aE4Y= i=sBIIqM?=D=X:=e:=,4Q UAQ*mBm2mrmr\z\\\iɛI >))i)້!I!"5StoppingE <ZAM=Աx,ib\A6c?y6@96Y6Z<6H 9޿` ?^? ߿@PЈ2A?О?x?6c?ɨ6; 4BXBBIHNHN5Vu< VQ=YV9Q Z>X٣X ZGX^ ^>`]f49b[l?af4Yb ibsBdjUþqj?`b;b;b 4l n Al*mBm2mrmr\z\\\~ڼ@i1ɛ1I5>5)1)999i=J㻉AIA"UStopping2EY*E]gAE-<ZA9M}=:JU _MBJU 9JJQ RJU ZJU x,t|b\ARn?yR?V@9RYRKy٣ Gle >]49]l?a4Y isBRt=m^<6=q?D ; ;4  A*mBm2mrmr\Rt=z\Rt=\1@\6=i ɛ I >))iS绉I"%StoppingE<ZAM>GGGGG =GGG<GFI#I#I+ .I#I#I#ZIAbIEbjIArIAzIAIEt9IAIAIE{4;qUIE~4;iUIES:u]IET:m]"x,Jb\A2Li?y2i@92:Y2m<2H Eܿ"`\? ұ?`PܿS? \? o?2Li?ɨ2%; 2CB`BB!IHJHJh5f< fU=Yjc;Q j>h٣h nGlr} r>p]v49r_l?az4Yr irsBxz=qz?rDrC:r :r)4  A*m!Bm!2m!rm!r\9z\9\9\==iQɛYI]a>]:)Y)YYaie껉aIi"uStoppingE O<ZAM5= x,n2c\AB]?yBM@9BOмYB<եa٣a eGamf m>uq?}D}:},:}"4  A*mBm2mrmr\R=z\R=\b2@\&>iɛiIm+>mOм)i)qqqiuX컉yIy"StoppingBE=:E=EM<ZAYM=:J]RIBJ]89JJYRJ]ZJ]G G G IG ЁBG  =G G G <G FZI] hbI] `jIY rIY zI] (:I] bl9IY IY I] );I] );I] (:I] *:3x,T.c\A6?y6"?96Y6xa<6HܜٿP?%Q?`ٿ@[⌿ ?@J??6?ɨ6/; 6C>kBB/IHJAHNHN5V= VW=YVX٣X ZGX^m ^>`]f49bdl?af4YbH ibsBdf>qj?bDbC:b :b2)4l S A*mYBmY2mYrmYr\qz\q\q\u>iɛI>))隩i?ﻉI"StoppingE#<ZAM=9 = Ax,l٣l rGprM v>x]49zGgl?a4Yz izsB  &~>q ?zDz\C;zC;z_04  A!*mBm2mrmr\z\\\ &~>i)ɛ)I-e>-w))))11iUR񻉡QIY"eStoppingEMo<ZAYM=:J BJ u9JJ RJ ZJ VFx,bc\AN?yN ?9N6 qYN@٣ G8. >]49il?a4Y i=m$<>q?D:1:74  A*mBm 2m!rm)r\e=z\e=\ea@\eݏ>iɛI\>6 q))隉i: 󻉡I"StoppingG>GGIG߁BG =GGG<G FHi HiHiHi"Hi*Hm4ZI-jbI-_jI)rI)zI-.:I-=h9I)I)I-{4;I-~4;I-:I-:Eu<ZAM>ox,ލ|c\A6r?y6}?96Ș#Y6jY;6H`!Uֿ@@}??UֿLs?jp??6r?ɨ6r; 6|CR}BREIH^H^5fB< fW=YfKh٣h jGhn3 n>p]v49r!ll?av4YrK irsBtz>qz?rDr:r.:rr>4| ~ A*mBm2m!rm!r\Az\A\A\E>iQɛQIU0>UȘ#)Q)YYYi]F󻉡aIa"uStoppingE.<ZAM= e9G A)ykA[x,Fyc\AV?yVX?9VYVJbVH`տ#"Y?"?@տ~tsu?DI,@?V?ɨVZ; VCbBbWIMb@Mb@Mb@ )Iy{Gz?Dlף<O QA)IihAfAHHK5 = <=Y2٣ G >]49Cnl?a4Y  i =m8< ?q?DZ4;2; F4 N A*m Bm 2m rm r\- =z\- =\- ӟ@\- ?i9ɛAIE>E)A)AAAiMHIIQ"]StoppingEEc<ZAQM=:JBJ9JJRJZJJ I G >G G IG BG  =G G G <G Fx,Lc\AVb?yV8?9V[YVEqVH TԿ/?k`|٣| ~G|~ >] 49#pl?a 4Yf  iZ?q?D:;L4 %* A% E*mBm2mrmr\z\\\Z?iɛI>[))iۍI" StoppingEM<ZAYM=_kx,%c\ABF?yB?9Bo;YBộBH]ԿU f V?<^Կ#c?`s`8|?BF?ɨB>; B~CRBVfIXiZ=HfHf۞5r= rK=YvSt٣x zGx~c ~> ]49 %rl?a4Y   i sB#?q? D E; `F; S4) - A1*mYBmY2marmar\yz\y\y\}#?iɛI>o;I')ZIibI`jIrIzI+:Ibl9IIq@i@u@m@)115,i5} 9I9"EStoppingE7<ZAyMa>:JY BJ] 89JJY RJ] ZJ] Je ? Je $?ٓx, c\A) F=?yF?9F"E a٣a eGamQ m>i]u49m:tl?a}4Ym  iii}+:ym}<}?q}?mDm;ma>mY4  A*mBm2mrmiɛI >"E GYG]IG]BGYGYG]@DG]<G]FE}o<ZAM^>x,c\A6?y6Y?96sl?ӿ5q?@r?@?6?ɨ6= ; 4BBBnIHHHHVwD= VU=YVX٣X ZGX^m! ^> ]49 0vl?a4Y   i i :!m%;%?q%? D :; O? ^4) - A)*mIBmI2mIrmIiqɛqI}>}sZIhbIZjIrIzI(:IS9IIĩx,d\Ar4?yrY?9rpO٣  G  c7 >]49vl?a%4Y  ii%T:%=m%<%d?q%?D::e41 5 A1*mQBmQ2mQrmQr\u=z\u=\uR@\ud?iɛI5>pOGE >GA GE IGE BGA GA GE ?DGE ְ<GE F x,֋1d\A25D?y2?92d٣d fGdj\; j>p]v49rvl?av4Yrq  iptv?qz?rDr%:rG:r l4| ~ A|*mBm2mrmr\1z\1\1\5?iIɛIIM>Mnx,;mKd\ARk?yR ?9RXp٣p rGtv'< v>x]~49zewl?a~4Yz  ix?q?zDz;z;z:s4  _ A *m)Bm)2m)rm)r\Qz\Q\Q\U?iaɛaIe>mX:J BIBJ JJ RJ ZJ  x, Bed\A2(f?y2?92=i>=uMb@Mb@Mb@qq q)qIqyu rh?Mbp?Mb`?uC=Y;Q >٣ G1< >]49wl?a4Y  i<m<=,@q? ::z4 ] A*mBm2mrmr\-<z\-<\- l>\-,@չչiɛIP><))GGGGGGG <G FE:<ZA!M= >b x,d\A6G?y6r?96d٣d fGdj< j>l]r49nvl?ar4Yn  insBpr@qv?ln;n:nH4x zd Ax*mBm2mrmr\1z\1\1\5@iAɛAIE$>M<)I)IIIiM{仉QIQ^D &"StartingE`<ZAMi>ZIybIyjIyrIyzIyIyIyIy5%x, d\A=<-I?y-a?9-7 ٣   G < >]%49ul?a%4Y  isB%<m%<%LD@q-?D:;41 5u A1*mBm2mrmr\=<z\=<\=K?\=MLD@iɛI>7<))隩i#O້I^D}+"Starting:JBoHBJ9JJRJZJ"BInit string: /1z14991aE13561N3m502EQ*EQE-H<ZA1MU>G >G G G G G G G <G FH HHH"H*H47,x,Ӳd\A6c?y6r?96kT٣T VGTZ< Z>\]f49^tl?af4Y^  i\djD@qj?^D^L;^M;^T4l nW Al*m|Bm|2m|rmr\z\\\D@iɛI>k<))隉iݻICCCC"eStartingE]x<ZAiMZ>I =) C U G%3x,1d\A $)>ry<>kA]B]{IHm*Hm|u5> ;=YQ >٣ G >]49sl?a4Y  iq?D;܁;4 l A *mYBmY2mYrmar\z\\\iɛI>))ie@ڻI"StartingZI-gbI-ajI-1rI)zI-%:I-p9I-3I)E<ZAM>:J JBJ 9JJ RJ ZJ  ?M6tM. #09x,d\A>?y>l?9>'\>H ֿTl? ֿ”?UDࠒ C?>?ɨ>R3; I٣I MGIU?= U>Y]e49]rl?ae4Y]  iYm=mm'<))i(׻I"StartingGGGGGGGGŰ<G FE)<ZA M- >@x,Ehe\A2 ?y2 K?92x٣x zG|< > ] 49 tql?a4Y   i O9q? D : `; 4! %U A!*mABmA2mArmAr\az\a\a\e X@iyɛyI}>}<)y)隁i¸ջI"Starting"LSent speed cmd:/1V10000 Response:/0@ E<ZAM>DFx,Je\AmK?ymo?9m5i٣i uGqu< u>y]49}ol?a4Y}  iy6=m<Aq?}D}o:};}4 S AE*mBm2mrmr\]6=z\]6=\]-:?\]bP@iɛI>5<))隱iYӻI"StartingE<ZAM%>:J%EMBJ!JJ!RJ%ZJ%J1I1G G G IG BG  =G G G <G FZIm kbIm jIm 0rIi zIm 2:Im 9Im ـ3Ii Im 9;q Im 9;i Im ;u Im ;m NlLx,*4e\AV?yVp?9V*YN? ?V?ɨV; V~C^B^yIHf*Hf|u5n ng=YrpzQ r>p٣t vGtv< v>x]~49zrnl?a~4Yz  ixAq?zDz ;z;z²4  s A *m1Bm12m1rm1r\Qz\Q\Q\UQ@iaɛaIe>e*<)a)iiiimһiIq"&Changing to mode: 1"Standby mode."M0Commanding positive:9075D :D D E l  E E%(<ZA1MM1>VSx,Ne\A~B~II ) H Hh5e< mA=YmQ m>q٣q uGq} }>]49ll?a4Y  isBq?D3=;&;$4 A A*mBm2mrmr\z\\\iɛIm>))iѻI D:DDE  EE<ZAM$>:JU BHBJU #9JJQ RJU ZJU 2~8.Yx,ge\AJ? J ?6o?y6?96=8Y6r;6HEٿL@Su?L?'ٿc?ew??6o?ɨ6; 6CBBBIuMb@Mb@Mb@qq q)qIqyu:v?L7A`?MbPu٣ G,= >]49ukl?a4Y  i!,=m<8@q?D::U4  A*mBm2mrm r\E!,=z\E!,=\E#Kg?\E 8@iQɛYI]">]=8)Y)YYYieѻaIG9G9G=IG= BG9G9G9G=5<G=*FDDDE  EZI%ibI%`jI!rI!zI%+:I%bl9I!I!I%/;I%/;I%(:I%):E}y<ZAMI>f`x,Ce\AB?yBF?9BYB(;BH%ڿ`4@[? 5?@=&ڿUr?@|??B?ɨBu; B~CJBJIH^H^95r ) rX=YrhLQ r>t٣t vGtz)< z>|]49~)jl?a4Y~  i| J9@q ?~D~F;~;~Ǩ4 $ A*m1Bm12m1rm1r\Qz\Q\Q\UJ9@iɛIH>))LD@"0Commanding positive:8884D:DDEo  EBE=:E=E<ZAMA>ܘfx,e\AEBMIU%=iUG>QUAMb@Mb@Mb@ )Iy+?I +?=9< QA)AIAihAAHpH@5 ,=Y Q  > ٣   G  >]-49hl?a-4Y  i5h7=m5<5V @q5?D]^;:CШ49 EI AA*mBm2mrmr\=h7=z\=h7=\={?\=V @iIɛIIM>Q)Q)QY]G% >G! G%  IG% BG%  =G! G% @DG% J<G% ;FIIm3IS}-IIIZI1 bI5 ajI1 rI1 zI1 I5 p9I1 I1 I1 I1 I5 :I5 :llx,be\AJ?yJA@9J.jmYJ~u.jm)up=)qqud٣d fGdj>< j>l]r49nvfl?ar4Yn  insBpr!@qv?nDn";n#;nݨ4x ]( AY*mBm2mrmr\z\\\Ҥ!@iɛI>`Ii=))a4ջID"0Commanding positive:8779D:DDEl  E2E*EeAEm=ZAM>(yx,*e\A:J.=MBJ.k9JJ,RJ.ZJ.>q?y>{ @9> Y>7V<>Hlۿzx???nۿ@@ r?j?z?>q?ɨ>C; >|CFBJIIL)L%Mb@Mb@Mb@!! !)!I!y%Mb?y&1|?MbP%@=%`;% %A)!I%QAi%A!% AH=H=<5Mޮ MB=YM"Q M>Q٣Q UGQa#< >]49~el?a4Y  iB=m< @q?D::4 L A*m9Bm92m9rm9YYr\uB=z\uB=\ue>\uY @iɛI*> I|<)):in׻IG>GG IG!BGGGGP<G?FH HHH"H*H.4D:DDE  EZIbI]jIrIzII_9IIII/;Ii:Ij:E =ZA M5 >=x,f\AF!a?yFSO@9FP%YFt٣t vGtz&3< z>|]49~dl?a4Y~3  i|  @q ?~D~:~:~>4 S A*m9Bm92m9rmAr\Yz\Y\Y\] @iiɛiIm[>mP%Iu<)q)qquƻiu@ٻI 9GlA A)ylAA^DED:DDE  EE=ZAM>x,f\A?y-@9%Y0<H ܿ3? ?@Nܿ.P?v%??騥?ɨI ; zCBqIMb@Mb@Mb@ )Iy{Gz?~jthMbP?#=D: )hAIi3AHH:5@1 .=Y:Q >٣ G; >]49 dl?a4Y iY$=m<w?q?D:o:t4   A *m1Bm12m1rm9r\UY$=z\UY$=\U@\Uw?iaɛaIep>m%Imξ;)i)iimimgUۻqIq^D}*:DiAzDiA"U0Commanding positive:8779:JBJ-9JJRJZJDDDEp  EBE%=:E%=E <ZAM5>G>GGGGGG?DG4<G)F x,96f\A:Z?y:$@9:Y:(;:H@ܿĵY+?f?)Cܿ຿h?z?`?:Z?ɨ:O; :CFBFjIJmIm\))amimܻiIqCCCCD :D D E  E E <ZA M >ex,Pf\A6?y67@96sXTY6;6H@aZܿ`?x?[ܿ݊? v?.?6?ɨ6; 6}C>BBdIHJHJ5RǼ RK=YR;Q V>T٣T VGTZߋ; Z>\]b49^ cl?ab4Y^ i\`f5?qf?^D^;^#;^G4h n Al*m|Bm|2m|rm|r\z\\\5?i)ɛ)I->-sXTI-V)))1158i5޻9IAZIhbI^jIrIzI(:Id9IIq@i@u@m@D:DDEZ  EE<ZAM5 >x,ajf\A6?y6@96t'Y6ؚ;6Hܿ?i?ܿ`K|@?Zs? {?6?ɨ6}ӊ; 6~CRBRPI:JnBoHBJnk9JJlRJnZJnEMb@Mb@Mb@AA A)AIAyEQ?{GztEu=Yu;Q u>y٣y }Gy}N; >]49 cl?a4Y isB<mQ=?q?D;3;4 ~ A*mBm2mrmr\<z\<\ľ@\?iɛI>t'I@))i;߻IG}>GyG} IG}BGyGyGyG}W<G}BF" 0Commanding positive:8779D:DDEl  E2EfA*EgAE<ZAMA>Vx,;f\A6Mi?y6iS@96Y6;6H`ܿ}??Yܿrt@߽?~q??6Mi?ɨ6; 6|C>|BBCIID)DHJ,HJ_v5V[ VX=YV;Q V>X٣X ZGX^ < ^>`]f49bbl?af4Yb i`dfw?qf?`b:b%:bj4l n Al*mBm2mrmr\z\\\w?iɛI`>))i ້ID:DDEy  EE<<ZAM>ZIibI|jIrIzI+:I@9II-x,f\Am?ymMt@9mYm;mH >ܿJov??`ܿmE``_q?+\p?`?m?ɨm; i޽sB9IHH55 =4=YE;Q E>A٣I MGIM8; M>Y]e49]bl?ae4Y] iYae?qe?Y]:]:]e4q u Aq*mBm2mrmr\z\\\?iɛI>)I)IQQiU້QIYD:DDEO  EEb<ZAME>:J5a3JBJ59JJ1RJ5ZJ5p5UO2|fQB7,$ JAIEgAGyGyG}IG}BGyGyGyG}<<G}/FXx,f\AR?yRN@9RV̝YR;RHܿÆ`Yq?ֆ?ܿ#IJ?S?p??R?ɨR'f; R{CZgBZ)IEMb@Mb@Mb@AA A)AIAyE{GzMb`?EףE;A EA)AIEQAiAAEAHeHe5uń uW=Yuy٣y }Gy; >]49cl?a4Y i<m$=q?Da<@<4 %y A!*maBma2mirmir\<z\<\B@\@iɛI>V̝))ib້ID"0Commanding positive:8779D}:DyDyEk  EBE:E=Eu<ZAMb>>x,Of\A:?y:C@9:s&:Y:e;:H7ݿ`tx `p?x?@7ݿf?vD`Gs?@?:?ɨ:R; :~CFSBFIJ\٣\ bG`b%< b>d]j49fZcl?aj4Yf idhn#qn?df":f:;f#4t vAt*m Bm 2m rm r\)z\)\)\-Ǣ@iAɛAIE>Es&:IM)I)IIMsiM>້QIQZIkbI_jIrIzI2:I=h9IID:DDE  EE <ZAAM{>8ix,f\A6u?y6}@96,&*;Y6;6H`'Uݿp>q?`p?Tݿ@u?De`=y??6u?ɨ6Q; 6{C>VB>IEMb@Mb@Mb@AA A)AIAyEV-:v?EmETn< }>=Y}_;Q }>٣ G͚; >]49cl?a4Y ivs=m_<Wq?D%);';+4  A*mBm2mrmr\vs=z\vs=\I:@\@iɛI>,&*;Iջ)) ixM້ I G>GGIGBGGGG6<G*FD:DDE  EE<ZAM>Px,g\A2?y2 @92;Y2&<2H]ݿn;pv?n?@\ݿ}?@Ppր??2?ɨ2U; 2~C:KB>IHFHFn5Nhj NZ=YRq;Q R>P٣T VGTV: V>X]^49Z_dl?a^4YZ  iX`bDqb?ZDZ;Z;Z14d fSAd*mtBmt2mtrmxr\ z\ \ \ @iɛI4>;Ia))隡ؼi ߻IDhAzDhA"0Commanding positive:8792D:DDEd  E2E*EfAZIgbI^jIrIzI%:Id9IIE<ZAM>}x,hg\A:A?y:c@9:;Y:#<:Hhݿk{? k? gݿ@q?`rp??:A?ɨ:4; :|CrEBvII))p= p=HkH%5m u0=Y}x:Q >٣ GR: >]49dl?a4Y  i+q?D;;94 A*mBm2mrmr\z\\\@iɛIs>;I:))隙üi?^߻ID=:D9DAEE&  EA:JBJ9JJRJZJ JIGGGIGBGGGG]<GGFH HHH"H*HǺ4E% <ZA1 MM >Ҥx,99g\A6?y6@96{;Y6FN<6HXݿ o,N?o?`uWݿЂ?yoȉ?@J?6?ɨ6; 6CB?BBI-~only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3276 +0,A ~@~ ~@~ ~@~  @ HH5 c=YzպQ >!٣! %G!%H %>)]549-kel?a54Y-W  i)i=+:9m=4<=OqE?-D-06;->->4I MAI*miBmi2mqrmqiɛI>{;I+))隙i߻ID5:D1D1E5  E1E<ZAM>I=)C ] ՀGq ) y Bx,#Sg\A6s?y6@969-;Y67BBIHJHJ5V VQ=YVgHQ Z>X٣X ZGX^ ^> ]49 el?a4Y   i i :m<q%? D 5; aB? zC4) -A1*mIBmQ2mQrmQiqɛyI}>}9-;I}}:)y)隁i}޻I"0Commanding positive:8779D:DDE`  EBE=:E=EU<ZAM>x,,lg\A~6B~I GGyIGBGGGG<G F      Mb@Mb@Mb@ )IyB`"۹X9v?ν< hA)QAIAiAHTH 5mǻ 6=Y Q  > ٣A G% %>)]-49-fl?a54Y-'  i-sBi5T:5_=m5;=q=?-D- ;- ;-,K4A EAA*maBma2marmar\_=z\_=\6@\l@iɛI>I ;))隙i.m޻IZImbI`jIrIzI\8:Ibl9IIID;qID;iI(:uI*:mD:DDE  EE<ZAM>x,`ˆg\A2<?y2'@92XȺY2O<2H ܿj`?? ܿ@_0~? Y? ?l?2<?ɨ2,Њ; 2}C<<HFHF5N Ne=YR:?Q R>T٣T VGTV Z>X]^49Z!gl?ab4YZ!  iX`b쳿qb?ZDZ ;Z;ZfQ4d jAh*mxBmx2mxrm|r\z\\\@i!ɛ!I%>-XȺI-:)))))-Wi-ʑ޻1I1D:DDE  EE5<ZAAM]v>^x,g\AB<@N;?yN@9NGgYN )=Y}Q >٣ G >]49gl?a4YW i q?D%<"'<Y4 A*m1Bm12m9rm9r\qz\q\q\ư@iɛI>GgIzʹ))隱̵i2߻I"0Commanding positive:8779]"}dTimed out moving from: 15024 to: 16450 response: 1}-"}Hardware Fault2EgA*EEu<ZA VHardware Fault in component: DockingStepperM>G>GGfIGBGGGG<G F:J-a3JBJ-9JJ)RJ-ZJ-ZI hbI ^jI 1rI zI (:I d9I 3I I );I );I :I :x,Ig\A2r?y2@92oY2*s<2H`eۿ?D? eۿu?s?-?@?2r?ɨ2~; 0RDBRIIT)T)Z= Z=uMb@Mb@Mb@qq q)qIqyu/${Gz?{Gztuuף٣ Gw >]49Yhl?a4Y? isB#=m<q?D2 ; ;6`4 A *m)Bm)2m1rm1r\M#=z\M#=\M5:@\Mn@iYɛYIe<>eoIe))a)aaeǼiez߻iIi"Stop ":Uninitialize Docking Stepper."Powering downDzDDDE<ZAM>x,Ymg\A6?y6 @96ۻY6<6Hڿz?? ڿ"n?`{???6?ɨ6; 6{C^NB^ IHfHf5nVQ= nZ=YnQ r>p٣p rGpv v>x]~49zhl?a~4Yz izsB q ?zDzP;z?;zf4B 8AE*mBm2mrmr\z\\\@iɛI>ۻI:))ii*້I"StoppingE|<ZAM==x,-?g\A68?y6,v?96Y6¿<6H@rٿ>Ϙ?7A?=ٿ ]i?`q|??@?68?ɨ6䧊; 6|C>_B>I Mb@Mb@Mb@   ) I y Zd;OMbp?Mbp j< ;  A) AI QAi   AH%H%.55= 5E=Y=@Q =>9٣9 EGAE E>I]U4Ge>GaGerIGeBGaGaGaGe<GeiF9Mfil?a}4YM iMsB}==m<q?MDMh;M;Mm4  A*mQBmQ2mQrmQ:JBJ-9JJRJZJ "))$#" r\==z\==\C@\N@iɛIA>I@))i້I"StoppingBE=:E=E<ZAM5 >ZIibI`jI0rIzI+:Ibl9Iـ3II/;I/;I(:I*: = <x,h\A2Z?y2m?92iλY2Tv<2Heٿnd?`p? ٿ g?%y?`3??2Z?ɨ2; 2}CRgBR*IVh٣h nGln n>p]v49ril?av4Yr irsBxzᠿqz?rDrC:r :rt4| ~n A*m!Bm!2m!rm)r\Qz\Q\Q\Uנ@iiɛiImX>miλ)q)qqqi}ỉI"StoppingE}i<ZAM=Ha=H%=x,!h\A6 ?y6?96Y6'ũ<6H.:ؿb—?>?:ؿ@sj?t?/8?#?6 ?ɨ6Ѽ; 6zCR}BREIH^H^M5f= fJ=YjL;Q j>h٣h jGh] e>q]49uZjl?a4Yu iusBq?uDu),))隉i+⻉I"StoppingE`<ZAM!>GaGaGeIGeBGaGaGaGe<Ge F11:JMBJk9JJRJZJZI jbI jI rI zI .:I I I I {4;I ~4;I I Ax,;h\AB?yB?9BL"YBܕ٣ G >]49jl?a4Yc isB<m2=?q?DH;;Z4  A*mBm2mrmr\=<z\=<\=:˝@\=?iQɛQIU>UL")Q)YYYi]*h⻉aIa"mStopping2Eq*EugAEm <ZAyM=+x,%Uh\A6?y6?96?9Y6E}<6H@ֿ `I??ցֿx?}? M? ?6?ɨ6մ; 6~C^B^iI)b= `HfHf5n<#= rV=Yr$;Q r>t٣t zGxzU z>|]49~`kl?a4Y~I i~sB  ?q ?|~7:~:~ 4  A*m9Bm92m9rm9HYH]BAr\Yz\Y\Y\]?iqɛqI}&>}?9I})y)yy}i}\⻉I"StoppingE<ZA)MER>Sx,oh\A:?y:5M?9:;Y: A<:Hտ+?@}?@jտk? r 5?Y?:?ɨ:; :zCBBBIGGGIGځBGGGG <G FH HHH"H*H4EMb@Mb@Mb@AA A)AIAyEV-?y٣y }G >]49kl?a4Y isB=mB<(?q?D7 ;;i4  A*mBm2mrmr\=z\=\@I@\(?iɛI>;I))隡iỉI"Stopping:J k3IBJ 9JJ RJ ZJ E<ZA M%n>:"x,dZh\A6 ?y6?96|B>IHJHJ5Z= ZX=YZ]8٣! %G!-z ->9]49=bll?a4Y= i=sB  G?q?=D;mA=< A= <=H4)-ſy-;mA-kA5B = A=E*mBm2mrmr\z\\\?iɛI>|HuC=Hua=ICICICICICICZI}hbI}]jIyrIyzI}(:I}_9IyIyq@i@u@m@e(x,5h\A6 ?y6vJ?96ĕ]|٣| G > ]49 ll?a4Y ( i sB4?q? D < K< >4 V A*mBm2mrm!r\z\\\p4?iɛI@>ĕ]:J BJ 9JJ RJ ZJ J I iA.x,7h\A2?y2n$?92Ea٣a mGim m>y]49}cml?a4Y} iy_=m;?q?}D}K ;}:}4  A*mYBmY2mYrmar\_=z\_=\@\%Ew5x, h\A:?y:,#?9:1]ӿʦ?  w?:?ɨ:; 8FBFIHNHN45Vz= VV=YV4NX٣X ZGX^ ^>`]f49bml?af4Yb  ibsBhj?qj?bDb%;b^7;b44p rq Ap*mBm2mrmr\!z\!\!\%G?i1ɛ1I5>51]<ZIEkbIEbjIArIAzIE2:IEt9IAIAI5<)I)IQUeI;i]xۻaIa"mStopping2Eq*EqE<ZAMG>);x,h\A:.?y:Rl?9:٣ G N >]49nl?a4Y  isB=m ; d?q ?D:b:4 S A=A=A*mIBmI2mIrmIr\=z\=\κ@\d?i ɛ I > oBx, i\Af?yfp?9f=YfgfH~ҿ@]e;? ҿ ?@Y ?f?ɨf; d~B~IHQHQe< eR=Ym*8i٣q uGqu$ }>y]49}ol?a4Y}L  i}sB?q?}D}:}:}4 , A*mBm2mrmr\z\\\?iɛI>=))d٣d nGlrX r>)]E49-ol?aM4Y-  i-sBQ?q?-D-=-g=-©4A M A*mQBmQ2mQrmQr\iz\i\i\m?iyɛyI<>H=))隉ihлIG>GG4 IG@BG =GGG<GF^D9"StoppingZAM>:J dOBJ u9JJ RJ ZJ SD6 tNx,l]>i\ABIMb@Mb@Mb@ )IyS㥻?ˡEMb`/=' A)~AI Ai AHHė5W< 7=YQ >٣ G  > ]49 pl?a4Y  i sB=m;/?q? D T ; ; .ʩ4! -A- E*mqBmq2mqrmqr\=z\=\s@\/?iɛI>))))i-(ͻ1I1C9C9CACA"StoppingZAM l>] A] AUx,1Xi\A6?y6h$?96<0=Y6ļ6H ;ҿ`d:`ݐ?ҿ{?`@?6?ɨ6; 6zCBBBIHJHJT5fR f`=Yjƛh٣h nGlr< r>p]v49rBpl?az4Yr irsBxz?qz?rDrq:r:rЩ4|  AZI!bI%]jI%0rI!zI!I%_9I%ـ3I!*m1Bm12m1rm1r\Yz\Y\Y\]H?iiɛqIu>u<0=)q)qqqi}z ɻ I"-StoppingZA9M]=[x,ri\AG$G$G&A IG&JBG$G$G$G&<G$Z?yZp?9Z;=YZԼZHӿ Ąq@?,ӿe?`q@?Z?ɨZP; Z|CnBrImMb@Mb@Mb@ii i)iIiym~jt?y&1~jthm=m`mD i)m AIm AimAiiHH5TE >=Y";Q >٣ GHV< >]49ipl?a4Y isB=m#<|?q?D:t:1ة4q u] Ay*mBm2mrmr\=z\=\(Ľ@\|?iɛI+>;=))iû I"Stopping:J LBJ 9JJ RJ ZJ  J> J?ZAiMZ>bx,i\AFq}?yF?9FG=YFd㼙FH~ӿ[s@#xp? ٗӿk?c?Fq}?ɨF\=; FzCR݁BRIHZHZė5z zU=YzM;Q ~>٣ G L<  > ]49 pl?a4Y  i sBT?q? D <; ; ީ4) - A)*mIBmI2mIrmIr\z\\\T?iɛI>G=))隡iaI"StoppingEZA)MMR>ix,ȥi\A6Ŵ?y6K?96P=Y6鼙6HԿZ @W? 1-Կ8"? q #4 ?6Ŵ?ɨ6; 4^فB^IHjHj5r9 rK=YrH;Q v>t٣t vGtz< z>|]49~pl?a4Y~ i~sB?q ?~ D~:~\:~4  A*mBm2mrmr\Yz\Y\Y\]Ɖ?iɛI>P=))iW'QIa"5StoppingE<ZAM-->GE>GAGE4 IGE@BGE =GAGAGE<GEFH HHH"H*H5ZII bIM XjIM 1rII zII IM 5K9IM 3II IM );qU IM );iU IM f:u] IM g:m] :Je #LBJe -9JJa RJe ZJe Ji Im hA[2ox,Ui\A>&?y>c?9>42X=Y>켙>H GԿ<3`9?@Կ@?@`F.?>&?ɨ>5; >{CJԁBJIMMb@Mb@Mb@II I)IIIyMS㥛?MbMbPM/٣ G^< >]49pl?a 4Y isB <m < N?q ? D~ ;?;x4  A*m1Bm92m9rm9r\U<z\U<\Uؿ@\U-N?iaɛiIm>m42X=)i)iiiiupqIq"StoppingBER=:E=E<ZAM>I=)C UG )yeAvx,5yi\A:?y:u,?9:\=Y:뼙:H@-տ{,(?ʴտ@?jm?:?ɨ:; :yCZBZI^p٣p vGtv&= v>x]~49zpl?a4Yzo izsB?q?xz';z(;z4  A*m1Bm12m9rm9r\Qz\Q\Q\UH?iaɛiImB>m\=)i)iiiiumqIy"StoppingEUj<ZAiM=GE >GE CGE  IGE ,BGE  =GA GE @DGE 3<.>|x,Yi\AGm*F) Ra?yRN?9R]=YRмRH@~׿`N@mQ`ĵ?^׿S? ⵫^ @W?Ra?ɨRvˉ; R}CZBZIMb@Mb@Mb@ )IyX9v٣ G= >]49Upl?a4Y isB=m<ܿq? D::z4  A*m!Bm!2m!rm!r\E=z\E=\Ed'@\E]@iɛId>]=))iGCI"StoppingZIibIajIrIzI+:Ip9III/;I/;I:I:E-U<ZA1MU>:JBJJJRJZJJ ? J>>+x,J j\A:M?y:{?9:fZ=Y:Wʶ:Hؿ`w `?ؿ@"?<`Ж ]?:M?ɨ:; :zCFBFpIHNHNK5VĽ V]=YV$Q Z>X٣X ^G\^pA= ^>`]f49b/pl?af4Yb/ ibsBlnEڿqn?b DbQ;bR;b4p r At*mBm2m rm r\z\\\z~@iɛI>fZ=))ij墻I"Stopping2EgA*EgAE<ZAM=|Ox, 'j\A:_?y:?9:vP=Y:[]:HٿI@r@C?ٿ >?ko?:_?ɨ:; :xCRBRXIIT)VA)V= V=HZHZJ5fغ fI=YfQ j>h٣h jGhn`@= n>p]v49r pl?av4Yr irsBxz׿qz?r Dr :r:r 4| J A*mBm!2m!rm!r\Az\A\A\E@iQɛQI]'>]vP=)Y)aaaie꬝iIi"uStoppingEJ<ZAM=G>GCGIGBGGG?DGK<G;FZI- gbI- _jI- 0rI) zI- %:I- =h9I- ـ3I) I- I$;I- K$;I- :I- ::J BJ 9JJ RJ ZJ J iAI iA7x,@j\A29?y2)@92%E=Y2O K2HBڿ ?ڿh?KY`?29?ɨ2]; 2zCVBVRI}Mb@Mb@Mb@yy y)yIyy}ˡE?{Gzt?}什}L=}ף; };A)} AIyiyy}3AHH5Ǽ ==YԻQ >٣ G,= >]49ol?a4Y isB=m <)ؿq?D:n;4 q AE=hDone checking for power/comms, continuing with slide=DSlide state transition from 1 to 2*mBmJmRm2mr\=z\=\&@\b@雩%E=) Ki)iI"Stopping=uXRequesting device enable clr for address 50.E <ZAM>% ,DAT read: user:1153> - BDAT read: Tx time:19:14:49.1877 - $Ping request sent.- mB>1IHJHJ5=  =R=Y=;Q =>A٣A EGAEI]}49MSol?a}4YM e}tIiMsBy}տq?MDMq;M;Mj4 I A*mBmJmRm2mr\9z\9\9\=6@amX2=)i mii)u0кqqiqqIy"StoppingBE=:E=Em<ZAyM==}XRequesting device enable clr for address 50.G G G IG ߁BG  =G G G "<G Fx,\tj\AV I?yVS@9V)=YV%eO;VH`ݿK;`y?@ݿ`3?䢿i?a?V I?ɨV ; VxC^]B^Ib=ibp<Mb@Mb@Mb@ )Iyy&1333333?Mbp?`役=; A)AI AiA AHH5" C=Y Q >٣ GQ= >]49nl?a4Y isB >m;=ؿq?DF;;4  A*mBmJmRm2mr\5 >z\5 >\5OL#@\5@AE)=)I MoiI)UTQQiQYIY"uStoppingE-<ZAM=ZInbIYjIrIzI|;:I[O9IIIJ;IJ;I(n:I+n::J~KBJJJRJZJC}b0 ux,j\A2V?y2@92d٣d fGhj@= j>l]r49nVnl?ar4Ynl  insBtvտqv?nDnR:n:nF%4x z Ax*mBmJmRm2mr\1z\1\1\5@AM<)I MEiI)U}QQiQYIY"eStoppingE5<ZAAMe=x,Tj\A>j-?y>x@9>L|q<>H޿ ~[?`B?` ޿!2?ᗿ'-??>j-?ɨ>aƋ; >yCJLBJ IHRHR5ZV ^K=Y^ԎQ ^>`٣` bG`f= f>d]j49fml?an4Yf  ifsBlnBԿqn?fDf;fa;fL,4t vNAt*m Bm Jm Rm 2m r\)z\)\)\-8@AE<)A EiA)E؞ӻIIiIIIQ"]Stopping2Ea*EehAEU#<ZAaM=GGGIGBG =GGG˰<G FZI gbI _jI rI zI %:I =h9I I I I$;I K$;I :I ::J LBJ 9JJ RJ ZJ Յx,U1j\A2Br?y2W@92^Ӓ٣ G< >]498ml?a4Y~  isB>m;Yڿq? DA;~:34 =A*mBmJmRm2mr\=>z\=>\=@\=y@IM^Ӓ<)I M`iQ)iI"StoppingE<ZAM>Ưx, j\A2]?y2@92 Eh٣h jGhnO< n>p]v49rll?az4Yr  irsBxzhٿqz?r$Dr";r";ru:4 A*m!Bm!Jm!Rm!2m!r\Az\A\A\E@QU E<)Q UiQ)I!iI" StoppingEw<ZAM =eBDAT read: Rx Time:19:14:51.0719 eTRx dataTimestamp_ set to:1736536491.647215G G G yIG BG G G G <G FHA HAHAHA"HA*HE4ټx,!j\AR?yR @9Rp;YR;٣ G< >]49kl?a4YA i=m;޿q?'D;;A4 A*mYBmYJmYRma2mar\=z\=\@\@雭zBp;) i)@iI" StoppingBE=:E=EF<ZAM>:J+KBJ9JJRJZJm >m C=u DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:1154> ] Gq ) ֿy Ax,3k\A2i?y2@92A:Y2=<2H$ ǚ?@^?`@@?7(Xџ? ?2i?ɨ2; 2zCBLBB IF=iF;DDHJHJ5fx^= fV=Yf\Q f>h٣h jGhnrS; n>p]v49rGkl?av4Yry irsBtvݿqv?r*Dr:r~:rH4~B ~EA~E*mBmJmRm2mr\z\\\{@A:I=) i)BYiI" StoppingBDAT read: Tx time:19:14:52.1877 $Ping request sent.HR=HR=ZIjbIjIrIzI.:IIIq@i@u@m@;x,)k\A:?y:B@9:Y8Y:KN =:H^߿`o*?Ƿ? #߿BP? 0 g?`(?]?:?ɨ:; :yCBUBBIHNHNH5V#= VL=YZU/Q Z>X٣X ZG\^* b>`]f49bjl?aj4Yb ibsBhj&޿qj?b-Db:b:bO4l rAp*mBmJmRm2mr\!z\!\!\%*@9=Y8I=t =)9 =i9)EsAEG-CG-rIG-BG)G)G)G-<G- FE}<ZAM=>:J BIBJ #9JJ RJ ZJ }x, wCk\AYBIMb@Mb@Mb@ )IyS㥫:v?~jth/]T=D A)QAIQAiAAHH۞5]y< ]2=Y]Q e>a٣a eGam m>q]}49uil?a}4Yu iq}=m0<Jq?u0Du;u\:uW4  A*mBmJmRm2mr\=z\=\@\:@I#=) i)Rmyx,S]k\A6P?y6kj@96͂ Y6 =6Ht߿`??@t߿?D?J??6P?ɨ6QR; 6wCBfBB(IID)D)Fp= Fa=HN@AHN@AII3I.IIIZIPbIRZjIPrIPzIPIRS9IPIPHJHJ:5-= -`=Y-ÜQ ->1٣1 5G1]Լ ]>a]m49ePil?am4YeW iesBimqm?e1De:e:e ^4 { A*mBmJmRm2mr\z\\\Ʈ@)5͂ I5<)1 5i9)={/9=1G= >G= CG= IG= BG9 G9 G9 G= g<G= PF'x,-wk\A6?y6@96Y6a=6Hܱ޿ ,?`?޿ ?P3?@:? ?6?ɨ6; 6zCRlBR0IeMb@Mb@Mb@aa a)aIayey&1?ee`e٣ G_ >]49hl?a4Yj i`e<ml=)q?2DZS;,R;Be4 H A*mBmJmRm2mr\ `e<z\ `e<\ ?\ ci@{BI%<)! %i!)%!%x,k\A6?y66@96.Y6(=6H<ݿQK?'Q?ݿU?4}? ?"?6?ɨ6`; 6xC>BBHIHFHF5R = RZ=YVĻ;Q V>T٣T ZGXZ, Z>\]b49^hl?ab4Y^z i^sBdf *qf?\^`:^K:^k4h j Ah*mxBmxJmxRmx2m|r\z\\\h@)-.I-, =)) -i))5Y15j>HC=Hp=ZIbI^jI:rIzIId9IFA4I] BDAT read: Rx Time:19:14:54.0719 e TRx dataTimestamp_ set to:1736536494.671213rBx,k\Af̋?yfd@9fŝYf=fH Bܿ@g?`9? ,ܿ:?s????f̋?ɨf.; fyCrBrXIz=iz=||HH5= B=Y#;Q >٣ G%. %>)]549- hl?a54Y- i)150+q=?)-W:-:-"s4A EB AA*maBmiJmqRmq2mqr\z\\\gf@雙ŝI5=) i)A隩@GGIGˁBGGGG<GFE-<ZA9M]T>!x,k\A:JBoHBJ#9JJRJZJ6BLSTXYYXWXWQIEB?973/-*$"  JhAIhA:"?y: 0@9:Y:%=:Hhۿ{@(?i?ۿ`?\^? D??:"?ɨ:E; 8BBFjIUMb@Mb@Mb@QQ Q)QIQyU&1?~jth?UP=U̼UD; Q)UAIQiUhAQQHmHmآ5}= }E=Y#;Q >٣ G9 >]49hl?a4Y isBh=mi<?q?4D(;0;dz4  A*mBmJmRm2mr\5h=z\5h=\5(z@\5e?M|BMIM=)I MiQ)˷ʼ90 Ez<ZAM > BDAT read: Tx time:19:14:55.1877  $Ping request sent. )٣) -G)-L 5>1]e495 hl?ae4Y5W i5sBaec?qm?55D5:5:5=4q u} Aq*mBmJmRm2mr\z\\\(c?  <:I #=)  i ) K'׼6G CG IG BG G G @DG X<G EFux,yuk\A2?y2rO?92э[;Y2<2Hgٿ]٣ G4? >]49il?a4Y isB=m;?q?9D:4:4   A *m1Bm1Jm9Rm92m9r\U=z\U=\U@\U?aeэ[;)i mii)mimRt٣t vGtv[ z>x]49zil?a 4Yz izsB  ?q ?z;Dzs6;z6;z74  A*m1Bm1Jm9Rm92m9r\Qz\Q\Q\U?e}Bek;)i mii)m6zimB>IHFHF5NL< fO=YjYz;Q j>h٣h jGlr= r>t]z49vkl?az4Yv ivsBx~6?q~?v>Dv@;v ;v@4B  AE*m!Bm)Jm)Rm)2m)r\Az\A\A\Ee6?QU<)Y ]ia)eaeGCGIGBGGGG<GFHA HAHAHA"HA*HEy4ZI gbI \jI 1rI zI %:I [9I 3I I q I i I Ӂ:u I Ձ:m px,| Fl\A6?y6K*?96ֻ:2KBJ>89JJ<RJ>ZJ>   FʁBFIJ>iJ>]Mb@Mb@Mb@YY Y)YIYy]S㥻?sh|?MbP?]/=]]: ]hA)]AI]AiYY]AHuHu5V= <=Y#٣ G% >]49wll?a4Ye  isB{ >m;K?q?BD/:M:4 a A*mBmJmRm2mr\{ >z\{ >\@\K?~Bֻ:<) i) e_  )gyA%?-WAx,_l\A:?y:t٣t vGtz&! z>|]49~ml?a4Y~  i| _?q ?~ED~;~:~f4 8 A*m9Bm9Jm9Rm92m9r\Qz\Q\Q\U_?im8b<)i mii)u+ qu٣ G# >]49=ol?a4Y  i>m;ǡ?q?IDM:I:׫4  A*mBmJmRm2mr\>z\>\ ޴@\ǡ?雝B<) i){iI"Stopping2EfA*EZIukbIu^jIu0rIqzIu2:Iud9Iuـ3IqIu9;Iu9;Iu:Iu:E=ZAM>:JKBJ9JJRJZJ > = DAT read: OK  :unknown deviceResponse_: OK j$x,l\A6?y6nT?96ϛ ٣ GRʼ >!]-49%pl?a-4Y%u  i!)-?q5?%LD%S:%:%49 = A= E*mYBmaJmaRma2mar\yz\y\y\}w?雑ϛ<) i)g隙iI"StoppingE=ZAM=HyH}4=*x,vl\A6?y6>P?96d٣h jGhj٤ j>l]v49nql?av4Yn0 insBtv?qv?nODnZ:n:n4x ~M A|*mBmJmRm2mr\z\\\?B<) i)LiI"StoppingEN=ZAM=G->G)G- IG-,BG)G)G-@DG-<G- FZI ibI ]jI rI zI +:I _9I I I /;I /;I i:I j:1x,iWl\A:J^>KBJ^#9JJ\RJ^ZJ^nсBnIeMb@Mb@Mb@aa a)aIayeʡE?)\(Mb`e=eGae eA)e~AIe AieAaaHHm5< 8=YQ > ٣   G 5 5>9]M49=sl?am4Y= i=sBu=mu 7x,L8l\AHAAH>kA?y>~?9> ry{>H Kҿ`'i?Xҿ?㐿 m?>kA?ɨ>O; >yCfȁBfIj=ijR=lnAHrHr75zO z]=YzVQ ~>|٣ G  > ]49 sl?a4Y B i sB ?q? TD ; ; Ǫ4! -t A)*mIBmIJmIRmI2mIr\iz\i\i\m ?}B} <) 5i)(隉iI"StoppedE =ZA dClearing failed state for component DockingStepper1M=G G G G G G G G <G F>x,#l\AJ_t?yJ?9J׶x fˌ?Q ӿy?@?J_t?ɨJR; JzCjBjIMb@Mb@Mb@ )Iy:v? rh<C  ;A) AI~AiHH5 7 9=YBQ >٣ G%f; %>)]549-tl?a54Y- i)=Q/=m=<=nt?q=?-UD-:-:-{Ϫ4  A*mBmJm Rm 2m r\5Q/=z\5Q/=\5@\5nt?ZIMgbIIjIIrIIzIM%:IIIIIIIMI$;IMK$;IIIIim׶x<)q uTiq)u/qqiqyI" Start "4Initializing EZServoServo. "-8Initializing DockingStepper.2E5hA*E5gA:JMBJM9JJIRJMZJME =ZAM=>Dx,Hm\ANq?yN!?9NuGQӿ?(ȓ z?Nq?ɨN; NxCZBZIHbHb5j na=YnڻQ n>p٣p rGpv< v>x]z49zul?a~4Yz ix|~Mu?q~?zVDz;zn;zժ4   A *mBmJmRm2mr\z\\\Mu?BuGQ<) ii)5iI" StartingE =ZAM=IMA$Kx,˽.m\A6$?y6?96!X٣X ZGX^y< b>`]f49bnvl?af4Yb& i`hjv?qj?bWDb:b:bܪ4l nO Ap*mBmJmRm2mr\z\\\{v?15!<)9 =i9)=D{;9AiAAII"UStartingE =ZA)MM=GGCG IG!BGGGG(<G"F Rx,$Hm\A2?y2?92;Y2 p?2HԿ o``a?ԿLU?`u 퇿T?2?ɨ2 ; 2yCVBVhI:JYBJ]k9JJYRJ]ZJ]JiIiMb@Mb@Mb@ )IyI +~jt9D A)AIiAH$Hr5 :=Y}Q >٣ GȚ< >]49wl?a4YY iJ<m=x@q?XDN;cM;w4  A *mBmJmRm2mr\J<z\J<\'i@\@B;) ri)B!!i!QIY"uStarting"BInit string: /1z15039aE13561N3m50EE 4=ZAQ Mu >^6Xx,qbm\AZIhbI\jI1rIzI(:I[9I3Iq@i@u@m@>O?y>D?9>9Y>O>H ԿMFF?@Կ uf 7v|?>O?ɨ>; >zCJBJRIHRHRn5Z Z]=YZ YQ ^>\٣\ bG`b< b>d]j49fwl?aj4Yf ifsBhn=qn?fYDfѭG >G G IG BG G G G G<G :FH HHH"H*HA4Ld^x,]|m\An?yni?9njYnhûnH`#~տ/$n`$?}տ} Nv?@lx?n?ɨn; lvBvUI~٣ G< >!]-49%3xl?a-4Y%H i%sB5k=m5G<5q5?%[D%F;%;%49 =d A9*mBmJmRm2mr\k=z\k=\^c@@\Ik@雽BjI<) i)O ];GMM>y A)yѯAIex,o-m\A2q[?y2?92c9Y2NѺ2H Jֿ3c??Jֿц ?p)Zw?2q[?ɨ2†; 2xCBvBB<IHVHVo5jٽ ja=YrWQ r>t٣x zGx= > ]%49 xl?a%4Y  i )-ିq5? \D ; ; *49 E AA*mYBmaJmaRma2mar\yz\y\y\}ם@雉c9IY!<) i)UYVQU\A٣I MGIM M>Q]]49U(yl?a]4YU iQaaqe?U^DU;U;Ua4i mj Ai*mBmJmRm2mr\z\\\BI<) i)u\quӃGYG]IG]BG] =GYGYG],<G]&F"LSent speed cmd:/1V10000 Response:/0@ E  =ZAME>jZrx,m\A>0?y>n?9>¼Y>[<>Hؿ*_??@ؿ@O?@:?V?>0?ɨ>; >wCRbBR#I)Z= Z=:J9NBJ9JJRJZJztcZRNJHHA>974010,)((%#"#""   JIMb@Mb@Mb@ )Iy ףp= L7A`?Mb`Q+= )AIQAiAAH*H|u5. >=Y Q  > ٣ GŎ= >]%49Fyl?a%4Y isB-\=m- <-Ŀq-?aD4::41 = A9*mBmJmRm2mr\\=z\\=\ȑ2@\7@=B=¼I=9)A EiA)EdAE/;iAIIQ"]StartingEr =ZAM>փxx,m\AZIbI[jI1rIzIIW9I3IBE?yB?9BYBw`٣` bG`f8= f>l]r49nlyl?ar4Yn  insBtv¿qv?ncDn';n:n74x z Ax*mBmJmRm2mr\1z\1\1\5d@) i)"nj'i I "&Changing to mode: 4"Slide mode."2Commanding negative:26720D:DDE}  EBE=:E=Ex =ZAMB>GU >GU CGU IGU BGU  =GQ GU ?DGU 7<GU ,Fe~x,m\AU.+?yUZ4@9Ue'YU;*y٣ Gچ= >]49yl?a4Y  isB=m< ӿq?fD4:1:I4  A*mBmJmRm2mr\=z\=\={(@\M@Be') i ) nRr  i IDp8DDEl  EE0 =ZAME>:J%NBJ%9JJ!RJ%ZJ%  J5> J5#?Ax,Own\AtzI =i <H%H%q5e  e^=YmQ m>i٣q uGqu }>y]49}xl?a4Y}  i}sBq?}hD}::}G:}4  A*mBmJmRm2mr\z\\\B) i)dxiID iAzD jADE6DDEO  EE =ZAM>IIY3IU0IIIZIEjbIE]jIE0rIAzIE.:IE_9IEـ3IAx, P1n\AJ?yJ@9JE0YJa=JHTܿڏ@R?/?`Mvܿfgv@h???J?ɨJV; JzCnVBnIHvHv5z̼ Q=YݳQ  > ٣   G r= >]%49xl?a%4Y  isB!-Ͽq-?kDq::#41 5A1*mQBmYJmYRmY2mYr\ z\ \ \ &)@%B%E0)! %i!)-))i)1I1GGGIG߁BG =GGGV<GCFD3DDEZ  EE=ZAMb>x,^/Kn\Ab=?yba@9bz$Ybt=bHBܿ Hny?]?ܿ?@荤?h??b=?ɨb ; byCnYBnImMb@Mb@Mb@ii i)iIiymx&~jt?Mb`m7im mA)mAImAim AimfAHH5< A=Y;Q >٣ G< >]49Gxl?a4Y  iب=m <lܿq?mD;;*4  A:J51DDE  EE}L=ZAMA>јx,vdn\A6?y6C @96Y6>!>6H`Xݿ`?i? 9Tݿ@n?Ⲣ??@?6?ɨ6،; 6xCBUBBIID)DHJHJm5Z ^Z=YEI٣I UGQUG< U>i]u49mwl?a}4Ym imsBۿq?moDml;m=m;m14 A*mBmJmRm2mr\z\\\:H@B) i)ϽiID  ?D ?Du.DqDqEuS  EqEm!=ZAyM>Օ<Օ<G>GCGIGځBG =GG@DGf<GPF5x,1~n\AZBIMb@Mb@Mb@ )IyQ롿?٣ G > ]49 wl?a4Y   i sB>=m<Hҿq? pD u*; (; 94ZI-gbI-^jI)rI)zI-%:I-d9I)I)I)q=I)i=I-:u=I-:m=I M AI*miBmiJmiRmi2mir\>=z\>=\]!@\}@雕B) \i)隩iID=+D9D9E=`  E9EU=ZAiM[>:JeBJe9JJaRJeZJeJu ? 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B >>)  i )]iID%!>D!D/*DDE_  EE}@ =ZAM=>Mx,9q\AVp?yV^?9V >YV=VH ׿@d?N?]ֿ?U`C??Vp?ɨV; VuC^BbIHj Hjq5rf vT=Yvx;Q v>x٣x zGx~I!< ~>] 49sl?a 4Yh isB  z?q ?l:W:H4G%>G!G%IG%BG% =G!G!G%<G%FH HHH"H*H49 EX AA*miBmiJmiRmi2mir\z\\\/z?雝B >) _i)x隡iID)D)D1E1 E1E e =ZAM5 >ZIU hbIU \jIQ rIQ zIU (:IU [9IQ IQ IU );IU );IU Ӂ:IU Ձ:I ) C ;G A) y >A}Tx,Rq\A B IMb@Mb@Mb@ )IyI +Mb9 A)AIAiQ@ AH$Hr5 ==YQ >٣ G >]49utl?a4Y isBſ<m =Yq?D ;r;4  A*m!Bm!Jm!Rm!2m!r\Mſ<z\Mſ<\Mb_@\Mۭ@]BY)Y ]ia)e`aaiaiIiD D D E O  E :JBJ9JJRJZJ"# E =ZAM)>Zx,lq\A6W?y6?96>Y6r=6H׿`4 NY?`g?`ֿ?@5??6W?ɨ6; 4>BBIID)DHJHJl5Vܮ< V_=YVVX٣X ZGX^< ^>`]f49btl?af4Yb ibsBdf Wqf?`bC:b:b>4h ns Al*m|Bm|Jm|Rm|2m|r\z\\\\.@-B->)1 5i1)511i19IADIDDDE_  EE=ZAM>G!G!G%IG%BG% =G!G!G%<G% FKax,Šq\A:_?y:v?9:>Y:4=:H׿ ,? T?`K׿`T,? u-¿!??:_?ɨ:Tc; 8FBFIHRHRHo5Zs ^I=Yf;Q j>l٣p rGpr@\< r>t]z49vzul?az4Yv ivsBx~Uq~?vDv ;vu ;vg 4   A -JTimed out from 2025-01-10T19:07:17.8Z1U-qU55Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletionU55B*** querying acoustic contact ***i9i9r\z\\\[@I:J ;LBJ 9JJ RJ ZJ   gx,lq\A:j?y:\?9:Q>Y:=:HHAؿ@W|?^A?@׿i? Y¿`m?`?:j?ɨ:; :wCN܁BRI}Mb@Mb@Mb@yy y)yIyy}{GzMbp{Gzt?}#}}ף; y)}AI}Aiyy}f AHHk5mռ <=YP;Q >٣ Gw^< >]49+vl?a4YY isB%=m<4q?D:k:4  AzmUUr\-%=z\-%=\-pO@\-@iA)AAAiAIII" PauseDzDDDIMAU,DAT read: user:1156> ]BDAT read: Tx time:19:15:18.4390 ]$Ping request sent.] JDAT read: TxSync time:19:15:18.4382  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251970mx,6?q\AZK?yZ#?9Z >YZ=ZHƛؿ@b@?.?C׿x? d¿@??ZK?ɨZ|f; ZuCGf>GdGfIGfBGdGdGdGfN<Gf?FvׁBvIz٣ G%< %>!]-49%vl?a54Y% i%sB15jq5?%D%h:%:%4A E AImaUm1Vm mAggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion:setRetryqVur\ z\ \ \ Y5@i9)999i9AIIEUq=ZAaM}=echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502708ZIQ bIU ^jIQ rIQ zIQ IU d9IQ IQ IQ IU /;IU :IU :$tx,q\A:,?y:.?9:}>Y:ؿ=:HٿXl?`?#tؿm_?1¿`г?J?:,?ɨ:; :tCbցBbIUMb@Mb@Mb@QQ Q)QIQyUZd;MbPMb?UyUU< UA)UAIQiQQU AHeHe5u췻 }D=Y}GyQ >٣ Gϟ< >]49wl?a4YI isB|=mW<-q?D/;j;!4  Aս>ս8?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755021}FRetrying incomplete docking attemptqV}V}r\|=z\|=\lJ@\Ĥ@i)iI2E*EE=ZAM>:JKBJJJRJZJ90Eu checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006610HY H] AAzx,q\A2O?y2N?92>Y2!=2H ~ٿNB? ?<ؿd?` H??2O?ɨ2ш; 2vC>ρB>I F@ADHF}HF"5Rs RX=YR7Q V>T٣T VGTZѾ< z>|]49~xl?a4Y~ i~sB  q ?~D~`:~:~(4Q U< AQm}@V}}zCompleted lineCaptureHoming:Lap:Docked:setCompletion:setRetry1V Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion:setRetryhCompleted lineCaptureHoming:Lap:Docked:setCompletionqUAggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletionVrAggregate::initialize lineCaptureHoming:Lap:Docked:Detach1Wr\z\\\@i)隱iIE =ZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258446G>GGIGBGGGGy<G^Fށx,0r\Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510550:4X?y:?9:\; >Y:+=:H`j2ڿ ,@?#?@ ٿ$? hy`w? H?:4X?ɨ:; :uCBȁBFIHNHN5V  VJ=YVT Q V>X٣X ZGX^L< ^>`]f49bayl?af4Ybc  ibsBdfqj?bDb:b:b/4l nt Al=DBreaking off. Range: 2.400000 m .1WqWInitialize.dInitializing internal variables to default values.r\z\\\ze@ia)a隉iIEh =ZAM )>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762538:J] 7OBJ] #9JJY RJ] ZJ] x,4!r\A2?y2,@92) >Y27=2H ڿ`b?P?ٿ*?q/ ??2?ɨ2J; 2tC:ÁB:I-Mb@Mb@Mb@)) )))I)y-T㥛 :v?٣ GXZ< >] 49yl?a 4Y  isB =m L< q?Do:(:k74  A=Initialize.=dInitializing internal variables to default values.ERDetaching from dock at depth 64.881927 m.:nE"nA*nE9nAr\}=z\}=\} <@\}j@i9))隑iIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018672" ResumeBE=:E=H R=H a=ZIhbI[jIrIzI(:IW9IIq@i@u@m@E- =ZA9MUT> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266448(2x,Š;r\AG0G0G2IG2ՁBG0G0G0G2-<G2(FB?yBR@9B>YBE{=BH`2ڿ|?@?@ڿCJ?޼?@b?B?ɨBɈ; @~B~IH H ɑ5=_ EW=YEQ E>I٣I MGIM g< U>Y]e49]jzl?ae4Y]  i]sBaeqe?]D]:]K:]>4q u Aqn:n"n*nnr\z\\\ @i))iI"ResumingE =ZAM>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519379x,lUr\A2?y2@92 >Y2 B=2H`s7ۿ ?`ͬ? TڿU?`F2? ?2?ɨ2: ; 2vCNBNIR,>iR)٣) 5G1=;[< E>A]U49Ezl?a]4YE]  iEsB]z=m]X<]'qe?EDEqe;E^;EE4q } Ayn:n"n*nnir\z=z\z=\v3@\@i))隹iI" Start "4Initializing EZServoServo.:J}BJ}9JJyRJ}ZJ}kJI "e8Initializing DockingStepper.EM!=ZAYM}>M BDAT read: Rx Time:19:15:20.8463 U TRx dataTimestamp_ set to:1736536521.639177U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023555ZIM wbIM bjII Cx,?or\ArIyzI}W:I}t9IyIy) >0<@9>o=Y>n>>Hۿ@"߰??`ڿ0; >sCZBZIHfqHfy5j#B na=YnzlQ n>p٣p rGpvw< v>]49zl?a 4Y  isB  -q ?D::K4 P An9:n9"n9*n9n9r\Qz\Q\Q\UyĚ@ia)i)qqqiI"%StartingEe=ZA M-=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275547GqGqGuIGuƁBGu =GqGqGu/<Gu)FH! H!H!H!"H!*H%Yw4 DAT read: 19:15:20.8463 LVL= 10960, 14257, 10402, 15027, AGC= 49, IDX= 153, 0.14,-1.840,-2.605,-3.037,-1.163, PHS=-0.589,-1.394,-1.877, RAW= 68.2, 50.4, CAL= 66.6, 56.0, ROT= 83.4, -56.0  Ygot valid direction response: 19:15:20.8463 LVL= 10960, 14257, 10402, 15027, AGC= 49, IDX= 153, 0.14,-1.840,-2.605,-3.037,-1.163, PHS=-0.589,-1.394,-1.877, RAW= 68.2, 50.4, CAL= 66.6, 56.0, ROT= 83.4, -56.0  DAT read: Range 10 to 50 : 2.3 m (Round-trip 3.1 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages.kx,x&r\A"\direction in FSK: [0.064272,0.555487,0.829038]"Fpublishing direction and range info Y \*(!t?6MH ܿ (8? v?`s ۿL[?`ۻ?}?Mn?  ɨM-; I)yyAޕBޕII)@ @ @  @ H]H 5g; =YļQ >٣   G  Ӊ<  >]49@{l?a%4Y  isBi%+:!m%/<%q%?D;{?S41 5E A1n:n"n*nnZj "l?bj Ρ i i r\Aj 3@j 8@2j {O@p 3?!q?T:q2?zp \*(!t?6Q@p |ͤomݿuj2bn`?i ڽj ]i ""l?i j  j …Bzj b6l?j j j jj R?rj DZQ@i1)Y)YYYiYaIi"]StartingBE]=:E]=E-=ZA9MU>:J] NBJY JJY RJ] ZJ] 194MQz0S PiXJ8( }ytnic_]ZVUURMx,*r\A2v?y2~@92ܜ=Y2>2HPܿʒY?? EWۿ??<蹿0?@^?2v?ɨ2ɱ; 2vC:B:uIHF{HF5Jِ N=YNQ R(?P٣P RGPV4:< V+?`]f49bo{l?aj4Yb'  ibsBi :m< q?bDb@G G G IG BG G G G <G F x,սr\AB%rIH-oH-5= E@=YEQ E>I٣I MGIM U>Q]49U{l?a4YU  iUsBi9m;q?UDU!ڦx,r\A>6/?y>^6@9>-=Y>>>HzܿLL?5?ȡۿ?`JW??>6/?ɨ>; >tC^B^uIb٣ Gj; >]549zl?a54Y isBi=T:=g=m=<=:"q=?D<ה<b4A E AIni:ni"ni*ninir\g=z\g=\?\o@i))隹iIC"Starting2E*EhAE=ZA1:J%^ PBJ%۵9JJ!RJ%ZJ%LIEA??542.--***($$%$!   Muy>H @AH ?AZI hbI jI 1rI zI (:I I 3I ϻx,r\A6$?y6U,@96=Y6>6H7ܿ6}>?!? ۿp? V^??6$?ɨ60; 6uCbBbnIHrHr5v zV=YzWQ z>x٣| ~G|~Һ >] 49yl?a4Y< isB""q?D::h4! % A!nA:nA"nA*nAnAr\az\a\a\eo@iq)y)yyyiyIC^8"StartingE=ZAM>GGGIGBG =GGG"<GFx,p s\AJ%?yJU@9J,=YJQ>JH3oܿ@g~D?@?`ۿD?@bEn?࿖?J%?ɨJ; H^B^wIHfuHf\5 = H=YQ >!٣! -G)E{ E>I]U49Mxl?a]4YMv iMsBY]"q]?MDM;M;Mo4a e Ain:n"n*nnr\z\\\Pp@i))i IC==B=N>C5m8"UStarting"-LSent speed cmd:/1V10000 Response:/0@ E=<ZAQMm5>:J MBJ k9JJ RJ ZJ  "&)+**./++)%#"  x,SB%s\A2?y2K@92*=Y2>2HvQܿ @KI?`?`:ۿ?~ݯy??2?ɨ2ֈ; 088I@)@Mb@Mb@Mb@ )Iykt?Q? 0=\= A)@IAiA AH-`H-5Ik: <=YQ >٣ G   > ]49 vl?a4Y 2 i sBc=mo<&-@q%? D  ;  ; hw4) - A)nI:nI"nI*nInIr\ec=z\ec=\e.?\el&-@i))隁iICݏ8"StartingBE=:E=Em:<ZAM >G >G G IG BG G G G <G Fx,]?s\A6#%?y6T@96e=Y6 K>6Hxܿ c??cۿ@/?Eࣰ? A?6#%?ɨ6s܈; 6qC>B>{IHJmHJ5R< R`=YVӎQ V>T٣T ZGXZ$ Z>\]b49^Rul?ab4Y^  i^sBdf,@qf?^D^:^:^}4h jj Ahn|:n|"n|*nnr\z\\\,@i))))))1i11I9C58"=&Changing to mode: 3"EDetach mode." 2Commanding negative:20311D/*DDEo  EEZ<ZAM-N>ZImibIm^jIm2rIizIm+:Imd9Imc3IiIiqIiiIiuIim$x,Xs\A:t?y:p@9: sN=Y: >>:HۿbS??4ۿ3?`˩ ??:t?ɨ:; 8^BbIeMb@Mb@Mb@aa a)aIaye(\µ?/$?~jthe=e=YRQ >٣ G >]49Jsl?a4Y6  isBk=m<@q?D:=:G4 R An:n"n*nnr\k=z\k=\x>\@i))iIBiABC8DeC(DaDaEe,  Ea:JMBJ-9JJRJZJ  E=<ZAIMeV>(x,crs\A6?y6@96<=Y6۠>6Hۿj@B?@W?0ڿ!?Q? ?6?ɨ6M; 6rC<Q R>T٣T VGTZHh Z>\]49^ql?a 4Y^  i^sB  @q ?^D^ :^B:^ҋ4 P Any:ny"ny*nynr\z\\\@i))iIC8D%DDE5  EG5>G1G5IG5ЁBG1G1G1G5<G5FEe@<ZAqM=>x, s\A6*E?y6X@96U/=Y6Q>6H`Kۿ৳?@n?@ڿ?饿i??6*E?ɨ6u; 6uCRBRIHZHZݜ5b< bH=YfQ f>d٣d jGhjX j>l]r49nol?ar4Yn  insBtvk@qv?nDn\:n~:n4x z0 AzEn:n!"n!*n!n!r\z\\\}k@i))iIZI]gbI]ajI]/rIYzI]%:I]p9I](N3IYI]I$;I]K$;I]:I]:C8D#DDE  EE]<ZAiM9>:J LBJ 9JJ RJ ZJ 9x,s\A2}?y2]@92 &=Y2>2Hڿ`^?+?1Oڿ`z? ۤo? 0?2}?ɨ2Њ; 2rC>B>IMb@Mb@Mb@ )Iy&1?:v?MbP=T< )h@I Ai AHH5-O< 5C=Y5Q 5>9٣9 =G9=Rm =>A]M49Eml?aU4YE  iEsBU=mU\-|@i))隙iICO?B?C}8D@ DDE  EE<ZAML> = =G% >G! G% IG% ߁BG! G! G! 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U??!?v?B=@ɨBr; BbCbϋBb+IHhHhr rM=Yr"Q v>t٣t vGtz; z>] 49\n?a 4Y_z ikB  Oq @D:N:4 e@:n="n9*n=9nA^M^I^I^Mr\Yz\Y\Y\]{@mݼ)qiu)9)qu48yiyICuX9D 6D D E n0 E ZAM= >#x,}\A~͋B~+II)Mb@Mb@Mb@ )IyzGếbX9ȶ?Mb` ׽E= y@)M@I^@ijd@b@HH4wλ <=YQ >٣ G >]49 ^n?a4Y{ ikB >m;gq@DM;J;4 f@:n"n*n9n^^^^r\  >z\  >\ @\ @9)9iE9)AEX78AiAIIIBQBUhAC-g9D1D<DDE&4 EZAMK>G 0>G CG |,IG FH s? a?@!e?7?C=?`t?FIJ@ɨFX; FcCRӋBR+IH^H^34j= n[=YrQ r>t٣t vGtz; z>x]M49z_n?aM4Yz7} iz kBIMKqU@zDzn;ZImbImjIirIizIm;:Im&:IiIiIm<Im<Im0;Im0;`#x,6:\A-m_@y-4~@9-;yY-];>-H]y@@? X?@(Rd?1?P@?qt?-m_@ɨ-9; -bCEЋBE+IMb@Mb@Mb@ )Iy`"ʡE?-= C{@)dK@I]@ia@HH45& 56=Y=NQ =>9٣9 =G9E<; E>I]U49M`n?aU4YM~ iMkB]>m];]q]@MDM]:M:M4a ee@a:n"n*n9n^^^^r\>z\>\*!@\@;y)iv9)=8iIC9DYDYDYEY EYZAqM:>I#x,ZT\AIE=)C R;GX d)z y|~A-Lm@y-@9-Y-,:>-H }? S? , _?ٽ?7?`t?-Lm@ɨ-gM; -cCENjBE+IHUHU4ei? eY=Ym&Q m>i٣i mGiu; u>y]49} bn?a4Y}J i}kBq@}D};}j;}4 f@:nU"nY*n]9na^m^i^i^mr\z\\\@)iA9)隭,=8iICn?Bk?G=->G9G=,IG=ABG=9 =G9G9G=<G= FC9:J:6LBJ89JJRJVZJ J ? J>De5DaDaEa EaZAyMH} R=H} a=ZI bI jI rI zI L:I 7/:I I I ? <I @ <I [;I [;#x,7n\A2@y2Z@92)Y2ԃ:>2H`?@J?s3 X? ?`(-?Cu?2@ɨ2i; 2`C>̋B>+IHfHf~4< Q=Y  Q  > ٣  GN; >]%49cn?a%4Y ikB)-tq-@D::b41 5Lf@1:nU"nQ*nU9nQ^m^i^i^mr\yz\y\y\}@))i9)隕@8iIC9De>DaDaEmg0 EiZAM>#x,\A:@y:I@9:Y:Ð:>:H@c@?G?5 Y??.?)u?:@ɨ:;; :cCFċBF+IeMb@Mb@Mb@aa a)aIayeHzG~jt?Mb`?e= e=e; e3{@)eMJ@Ie[@ieCc@aeGa@HH4  A=YJQ >٣ GH: >]49wen?a4Y i"kB)>m;yq@ DX;'W;%4 9g@:nM"nI*nM9nQUB*** querying acoustic contact ***iYiY^e^a^a^er\)>z\)>\.!@\z@)i9) A8 i ICU9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D@D D E r3 E ZA G5 &>G5 CG5 |,IG5 :J= ^KBJ= u9JJ9 RJ= WZJ= 4gwZ3   <nJ+#x, \A2@y2n@92iUY2k:>2H`d@@? y@?;T?i? *?Mu?2@ɨ2a+; 2dCBBB+IHJHJ4n{ nX=Yr_Q v>x٣x zGx~>; >] 49gn?a 4Y i(kBUq@D>:):s,4 %g@!:n"n*n9n^ ^ ^ ^ r\z\\\@-iU))i5p9)15B89i9AIIBYBY,DAT read: user:1157> BDAT read: Tx time:19:17:18.4405 $Ping request sent.- <- <] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250679C#x,gջ\A*@y@9vY:>H`?8?;B@G?A?e1? t?*@ɨ; bCB+IMb@Mb@Mb@ )IyM¿ʡE?~jth?n=D; w@)I\@iZd@`@HH 4a < /=Yl2Q >٣ G(; >]49hn?a4Y> i1kB9=>m;q@DE::44 g@:n "n *n9n^^^^r\-9=>z\-9=>\-,@\-@Ev)AiE9)AME8IiIQIQ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499794C9D ;D D E e0 E ZA M >(#x,{Տ\A~B~+IH H 4 %i=Y%Q %>)٣) -G)- 5>1]m495Ejn?am4Y5 i58kBiiqm@5D5;5;5:4y }i@y:n"n*n9n^^^^r\z\\\)iR9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751899)C8iIC9G*>GGo,IG1BGGG5DG<G FD-=D)D)E-0 E)ZA9MU>:J5iMBJ59JJ1RJ5XZJ5J=? J=? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004453R#x,,\A2l@y23@92Y2;>2H0x ?E,?K/G? ?Ld٣h jGhj(; j>l]r49nkn?ar4Yn in@kBtvhqv@nDn:n`:nA4y -j@:n"n*n9n^^^^r\z\\\@)i9)pE8i!I!CUa?BUc?C1D9D?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255969ZAM (>:$x,Z \A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507686:u@y:< @9:Y:W:>:HBe !?e?X`U&??8,?@t?:u@ɨ:Eц; :_CJBJ+IMb@Mb@Mb@ )Iysh|?ſMb?Mb?)>< )IxY@i-b@\_@HH4J,< 7=Y iQ  > ٣  GIIş3I.-IIIZIbIjI2rIzIL:IZ:Ic3Iq5@i5@u5@m5@=; =>A]M49Enn?aM4YE iELkBMV>mU};UqU@E$DE ;E;EeI4Y ]i@Y:n}"n*n9n^^^^r\V>z\V>\@\@)i<9)隽H8iIC9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760302D51D1D1E5o0 E1ZAIMm>G8>GCGc,IG'BG2 =GHDG7DG<G F:J] BJ] 9JJY RJ] YZJ] d$x,~5#\AV1@yV@9VQYVk:>VH|L@?/?@I`9?h?)?t?V1@ɨVn; VbCbBb+IHjHj 4r r_=Yr;Q r>t٣t vGtz z>x]49zon?a4Yz izVkB [q @z)Dz0;z5;zO4! %cj@!:nm"ni*nm9ni^}^y^y^}r\z\\\@MQ)QiU)9)Y]I8YiYaIachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017311C 9D>DDEp0 EZAM>% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267734Q$x,F"=\A@yp@9h\Yw:>Hy? 5? QE t< t@)7I@Ii]@p]@ AAHH4r 0=Y:Q >٣ G >]49|rn?a4Y ickBDj>mh;q@0D::W4 vk@E:n "n *n 9n ^^^^r\-Dj>z\-Dj>\-@\-g@=h\)AiE9)AEJ8IiIIIQBYBYC]9DDDE1 EZAM J>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520730ZI5bI5jI51rI1zI5:I5t:I53I1Pw$x,$V\A2ʧ@y2@92Y2:>2H@ ^?@b;?@o@e=? ?@]1? t?2ʧ@ɨ23; 2cCNBR+IHZHZ4bb< bq=Yf8Q f?h٣h jGhn: n?I]U49M{tn?a]4YM iMmkBY]q]@M5DM";M;M^4a m*k@i:n"n*n9n^^^^r\z\\\_@)i9)M8iIBDAT read: Rx Time:19:17:20.8788 TRx dataTimestamp_ set to:1736536641.419530checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773214G<>GCGP,IGBG3 =GGG<G F:J&~JBJ9JJRJZZJJ? J?C)9DDDE0 EZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023800$x,p\A6@y6r@96FY6|:>6H`@?:?A@4?g?+? t?6@ɨ6F>; 6bCNBR+IHZHZ4bC bJ=Yf/Q f>d٣d jGhjf 9 j>l]r49nvn?ar4Yn inxkBtvqv@n:Dn|:nF:nd4x zk@x:n"n*n9n^%^!^)^-r\z\\\>`@F)i9)N8iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275915CQD;DDE EZAM>{"$x,崊\A>DAT read: 19:17:20.8788 LVL= 32752, 32753, 14322, 32755, AGC= 53, IDX= 250,-0.01, 3.096, 2.114,-2.057,-2.941, PHS=-0.158,-1.181, 0.881, RAW= 180.3, 5.2, CAL= 180.2, -3.8, ROT= 329.8, 3.8 FYgot valid direction response: 19:17:20.8788 LVL= 32752, 32753, 14322, 32755, AGC= 53, IDX= 250,-0.01, 3.096, 2.114,-2.057,-2.941, PHS=-0.158,-1.181, 0.881, RAW= 180.3, 5.2, CAL= 180.2, -3.8, ROT= 329.8, 3.8 JPDAT read: Bearing 329.8, 3.8 (Local) N~Local bearing/azimuth received: Bearing 329.8, 3.8 (Local) RDAT read: Range 10 to 50 : 25.5 m (Round-trip 34.1 ms) speed -0.2 m/s VR#Rx 1: Read range and direction messages.^`direction in FSK: [0.862375,-0.501914,-0.066274]^Fpublishing direction and range infoY#Œ?{SA9 )7Ii5!+7a?eI@ ޹=) II@Iԇi1@ԇ= $?]*?#^R?I^?i+3Uԇ= -@y-@9-Y-{:>-Hތ` ?`=?I? .?ϓ?+?t?-@ɨ-O; -eCEBE+IZIbIjIrIzI:IW:II%Mb@Mb@Mb@!! !)!I!y%^I +ǿʡE?{Gz?%X9%>%#< %u@)% G@I%bX@i%a@!!HH4tѼ "=YίQ >٣ GU >] 49yn?a4Y ikBs>m_;q@BD.';&;m4! %l@!eZDetected possible detachment. 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Transitioning docking module to standby.:n"n*n9n^-^)^)^5r\=9>z\=9>\="@\=@uC3)qiub9)qu8yiyyID%=D!D!E%4 E!ZA1MU2>Ge1>GaGaGaGe4 =GaGaGe<Ge Fk%x,H\A6@y63@963Y68:>6H+_@}?Ms? !_(?`?@2?@ip?6@ɨ6 ; 6_CBgBBw+IID)D)F= F=HJHJ|4RĿ Vi=YVk 9Q V>X٣X ZGXZӃ Z>`]f49bn?af4Yb] iblnBdfqf@b3 Db>:b`:bӵ4h nr@ln~:n"n*n9n^ ^ ^^r\!z\!\!\%T @53)1i59)9=Z89i9AIABIBICIBI"&Changing to mode: 1"Standby mode.:J:IBJ9JJRJoZJ"2Commanding positive:55270D1DDE_0 EZAM=.>r%x,c(˕\ANl@yN4#@9N2YNҨ:>NH!Z@|?@y?@?P? o.?p?Nl@ɨN'߆; LX^x+IHjHj4rx; rF=Yr!9Q r>t٣t vGtz" z>x]49zn?a4Yz& iznB1q@z8 Dz8;z:z ۵4  r@n1:n5"n1*n59n1^E^A^A^Er\Yz\Y\Y\]@m2)iim<9)qu8qiqyIyD_DDE`0 EZAM]=Ga Ga Ga Ga Ge 6 =Ga Ga Ge #<Ge FH! H!H!H%6 ="H%6 =*H%F50x%x,\A2Z@y2"@92|2Y2:>2H@TU@??  ?M?4?Vp?2Z@ɨ2; 0zeBzu+IMb@Mb@Mb@ )IyK7+η? rh?I v=C = h@)Q@ICc@ik@h@HtH$5" ==Y\8Q >٣ G9 >]49n?a4Y inB->m;lq@< D ;j:4 s@n :n "n *n 9n^^^^r\-->z\-->\-"@\-t@|2)i9)ˤ8iID?"DDE_0 EZAM9>ձձZI bI jI 0rI zI :I I ـ3I I '<q I '<i I };u I ~;m :J% BJ! JJ! 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Jj?jĊBn*IHvHvE5~ގ< V=Y:Q  > ٣   G  < >]49gp?a4YqP izB`q@ D::"4B @EoZorooo2onr\z\\\w@i))iIZA M-=M<+x,\A=ʊB=*IE=iE=Mb@Mb@Mb@ )IyZd;Ol?Q?j>u< @)II|@iv~@@HHGL5>< :=YQ >٣ %G!% %>)]549-hp?a54Y-ZR i-zB=3>m=;=9q=@- D-;-X;-*4A E@IoiZoiroioqoq2oqnqr\3>z\3>\( @\@i))隡iIZAM=Gm>>GiGm*+IGm)BGm- =GiGiGm%<Gm FZI bI 'jI rI zI ';I :I I I ݁<I ށ<I H;I I;5C+x,yw \AJ&@yJH4@9JٸYJ;>JHKi`Hӿ P??`lH??@O?t?J&@ɨJ洈; JQCRƊBR*IHbHbH5fէ ja=YjI;Q j>l٣l nGlr= r>p]v49rip?az4YrS irzBxzqz@r Dr:rS:r14 ȃ@o!Zo!ro)o)o)2o)n)r\Iz\I\I\M'@iY)a)aaaiaiIiZAMY=:JMBJ-9JJRJZJJIhAi`I+x, T'\AB&@yBq5@9B]PYB;>BHq`ӿ8?`n? b?@)?X?t?B&@ɨB; BUCnBn*IHvHvGL5~ʼ ~G=Y ;Q >٣  G  *<  >]%49kp?a-4YU izB1M7qM@ Dl;<-84y }@oZorooo2on r\z\\\A@i))隱iIZAM>Ge ?>Ga Ge 1+IGe .BGa Ga Ga Ge <Ge FGP+x,-A\A2C'@y2b5@92̱Y2L;>2H/~ Hҿ`#?]? e?`U?@F?u?2C'@ɨ2,; 2VCNBN*IIP)PeMb@Mb@Mb@aa a)aIaye rhM?Mb?eCen>e< ev@)aIez@iaae~@H}H}s75  B=Y:Q >٣ G=< >]49Ylp?a4YhW i {BZ">m;q@ D);m(;?4 h@oZorooo2on^^^^r\ Z">z\ Z">\ e@\ @%̱)!i%9))--_i))I1ZAIMe=ZIbI+jIrIzI$ ;IȆ:III-Hໆ`ҿ²?'?@s`o~?7w?@O? Uu?-{'@ɨ-m;:J=QJBJ=#9JJ9RJ=ZJ= -UCUBU*IHeHegG5u uL=Y;Q >٣ G< >]49,mp?a4YY i{BMq@ D+;;F4 @o)Zo)ro1o1oQ2oUnU9^e^a^a^er\z\\\v@)i9)隭4SiIZAAM=\+x,jt\A:'@y:5@9:M2Y:,;>:H`]ҿ@R?@?`? ?2C?`v?:'@ɨ: ; 8RBR*I-Mb@Mb@Mb@)) )))I)y-p= ף333333?{Gz?-->-#< -`@)-Zd@I)i-Q@))HeHeF5uWN uK=Yu;Q u>y٣y }Gy7< >]49mp?a4YZ i({B'>m;/q@ D ;a;M4 ˄@oZorooo2on9^]^Y^Y^]r\m'>z\m'>\mf?\mÚ@M2)i)9)隥-d5iIZAM%=GGG*+IG)BGGGG<G FZc+x,'\A6'@y66@96Y6=;>6H`A)ҿz?? ?@r?VE? v?6'@ɨ6TLj; 6VCBBB*IFt٣t vGtz< z>x]49z}np?a4YzR\ iz6{Bøq@z Dz;z):zUT4 >@oYZoaroaoaoa2oenm9mB*** querying acoustic contact ***iqiq^^^^r\z\\\ߚ@)i9)65iIZAM-= 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.:JuBJuk9JJqRJuZJui+x,\AF#2(@yFP6@9FԘYFyJ;>FH @ѿ }?y?'ڭ?2?G?8v?F#2(@ɨF s; FUC^B^*IHjHjF5rm< rJ=YrF;Q v>xZI%bI%*jI!rI!zI%d&;I%C:I!I!q-@i5@u5@m5@٣Y ]GYe; e>i]m49m8op?au4Ym^ imE{Bqbq@m Dm;m@ BDAT read: Tx time:19:19:18.5419 $Ping request sent. JDAT read: TxSync time:19:19:18.5413  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246352G G G $+IG $BG G G G <G FH HHH- ="H- =*Hq4\p+x,ur­\A2m(@y26@92҄Y2F4;>2H"ѿ@/?@?@/?@? pD? mv?2m(@ɨ2k; 2TCRBR*I5Mb@Mb@Mb@11 1)1I1y5 rhOn?~jt?5C5>5< 1)5`@I1i5v~@15|@HMHM*5eG eB=Ye:Q m>i٣i mGiu1< u>y]49}pp?a4Y}_ i}X{B(>m;´q@} D}*:}H:}b4B @EoZorooo2on9^^^^r\(>z\(>\B?\[ߛ@҄)iZ9)6iImchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.497430C=9ZAQMmW>{v+x,Mܭ\A6|(@y6E6@96GY6U9>6H ѿT?@? 7?Ĉ? ?#y?6|(@ɨ6; 6UCNBR*IIT)T)V= THZfchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749859HZ15j>h< jT=Ynw39Q M>I٣Q UGQUm; U>a]m49epp?am4Yefa iej{Biuqu@e De`:e:ei4:JyBJ}۵9JJyRJ}ZJ}  g@oZorooo2on9^^^^r\z\\\l@G)iy9):6iIZA)ME=ZIEbIE&jIArIAzIE%;IE0:IAIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003591}|+x,9(\A6T(@y66@96Y6!:>6H ĺ7Zѿ`а? ?@Z?`͞?"?w?6T(@ɨ6^; 6VCBBB*I Mb@Mb@Mb@   ) I y L7A`尿oʡ?Q? + -> u< I@) I i z@  z@H-H-65 ==YKQ >٣ G>< >]49qp?a4YUc i}{Bk:>m;q@ D;X; q4 ΅@o Zo ro o o 2o n9^^^^%r\5k:>z\5k:>\5?\5)@E)IiM9)IMK6IiIQIYZAqM=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253474GGG+IGBGGGGڰ<G F checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505754܃+x,3\A>)@y>!7@9>wlY>:R:>>H >ѿmN? ?@D`p?`K?(?w?>)@ɨ>=; >SCJBJ*IHRHR6=5ZS= Z[=YZ;Q ^>\٣\ ^G\b!; b>d]j49f/rp?aj4Yfe if{Bhn`qn@f Df~:f:fw4p rW@to Zo ro o o 2on9^^^^r\1z\1\1\57@Ewl)AiEk9)IMi6IiIQIQZAqM-=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757472:JsLBJ9JJRJZJJIgAm+x,<)\A6$)@y6kC7@96'IY6Q:>6H`$ѿ a? ?4H?$?(? )x?6$)@ɨ6p-; 4BBB*IF,>iFp>HJHJ N5RZ< RM=YVR;Q V>X٣\ ^G\b; f>h]r49jrp?av4Yjf ij{Btz-qz@j DjG G +IG BG ) =G G G R<G F1+x,C\A6$=)@y6[7@96:,Y6:>6H*`ѿ`t?z?%J@+?@A?@G7?w?6$=)@ɨ65; 4>BB*I=Mb@Mb@Mb@99 9)9I9y=MbX9ʡE?I +?=ʡ=>=9< =3@)=]@I9i99==z@H]H]F5e'= m>=Ym;Q m>i٣q uGq}de; }>]49"tp?a4Yh i{B2>m;)q@ D:,:4 t@oZorooo2on9^^^^r\2>z\2>\@\^ŝ@:,)i9)6iI BBCBZAM=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513465 +x,h]\A2Sp)@y27@92@Y2r:>2H8п?@H?`P?vւ?*-?=x?2Sp)@ɨ2@; 2UCBBB*IHJHJT5Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766240Z᧻ ZV=Y^a;Q ^>`٣` bG`bM< f>d]j49fOup?aj4Yffj if{BlnЬqn@f Df;f[;f4t v@to Zorooo2on9^^^^:JBJ-9JJRJZJJ? J?r\z\\\۝@@)i9)6iIZAaM=ZI-bI--jI)rI)zI-$;I-ч:I)I)UBDAT read: Rx Time:19:19:21.0063 ]TRx dataTimestamp_ set to:1736536761.735215]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018538?;+x,$w\A2 )@y2խ7@92Y2\:>2Hoпʬ?^+?S?]?7?w?2 )@ɨ2?; 2TCNƊBN*IIP)P-Mb@Mb@Mb@)) )))I)y-㥛 jt? rh?-- >-C< -@)--b@I)i-w@))HEHEL5ML^= U@=YUc:;Q U>Y٣Y ]GYe; e>i]u49mbvp?au4Ym@l im{Bu&2>mu;u q}@m Dm;m;m"4 ǃ@oAZoAroAoIoI2omnm9^}^y^y^}r\&2>z\&2>\b@\@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269478%)iF9)7iIGMA>GMCGM+IGM BGM* =GIGIGM<GM FZA)MU2> DAT read: 19:19:21.0063 LVL= 15248, 17137, 8850, 20115, AGC= 52, IDX= 180,-0.02, 1.109, 1.125, 3.009, 1.883, PHS=-0.686,-0.711, 1.123, RAW= 209.3, 3.0, CAL= 210.1, -3.7, ROT= 299.9, 3.7  Ygot valid direction response: 19:19:21.0063 LVL= 15248, 17137, 8850, 20115, AGC= 52, IDX= 180,-0.02, 1.109, 1.125, 3.009, 1.883, PHS=-0.686,-0.711, 1.123, RAW= 209.3, 3.0, CAL= 210.1, -3.7, ROT= 299.9, 3.7  PDAT read: Bearing 299.9, 3.7 (Local)  ~Local bearing/azimuth received: Bearing 299.9, 3.7 (Local)  DAT read: Range 10 to 50 : 45.0 m (Round-trip 60.1 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.497449,-0.865090,-0.064532] Fpublishing direction and range infoY Y] W#%3?AЮP0] 4B9Y ] ; ] B)] "I] Ni] 4] /] 6] w?] Ti@ ] PwV=)] j@I] Ai] ~@] A=Y Y ] aN?`ų? % 0?I] c?i] uY] C] A=Y Y +x,K\Af\)@yf%7@9fݻYfi:>fHпf? ?Y) ?{?/?`Px?f\)@ɨf ; dԊB*IH-H-Q5e== eJ=YmD;Q m>q٣q uGq7; >]49xwp?a4Yn i{B  q @ D::4Q U@YoZorooo2on9Zjl?bjM iiA\Aj4Bj2B2jR?pb6@gRvC웨8L;zpW#%3?AЮP0"jC*j A=p3i<' .E@Ŭ#pW(п-Jm ?7L˿iv)Bj9igl?iq9  jnBzjjq9 jBjjt1Brj?^5^1^1^=r\Az\A\A\E~@}ݻ)yi9)隅_7iIZAM > UGi )׿yA:J BJ 9JJ RJ ZJ JIhAwI+x,%\A>m)@y>68@9>] »Y>:>>H@Wnvп_m)@ɨ>5; >UCJBJ*IHRHRF5ZNw= ZV=YZ;Q ^>\٣\ ^G`bd< b>d]j49flxp?aj4Yfo if|Bhj[qn@f Df%:f2:f⡼4I M.@IoZorooo2on9^^)^1^Ur\z\\\东@%] »)iZ9)隥637iIZAYMu>GM @>GM CGM +IGM BGM , =GI GI GM H<GM F1+x,Į\A6 *@y688@96 Y6:>6H`SPп@]?@e?d D?ut?`c;?w?6 *@ɨ6; 6SCBBB*IF=iF4=Mb@Mb@Mb@ )IyV-S?t< )`@Iw@iu@Qx@H5H5C5= <=Y ;Q >٣ G"; >]49yp?a4Yq i|B+>m;`q@ D#:b:|4B @Eo9Zo9ro9o9o92o=nE9^M^I^I^Mr\+>z\+>\@\@ )i9)N7iIZA9M}=ZIbI2jIrIzI%;Ih:III<qI<iI#;uI#;m%=!"`+x,gޮ\AB*IH%H%E55l= =P=Y=Q =>9٣A EGAE E>I]U49Mzp?a]4YM!s iM&|BYYq]@M DM2 ;M,:MQ4a e0@ioZorooo2on9^^^^:J)BJ-9JJ)RJ-ZJ-"*06;ADEJKNJ=? 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" %??`>?`u?2^-@ɨ2; 0LPMb@Mb@Mb@ )IyMbX9/$?Q?ʡ1>u< @)v@IiHHob5,; 9=Y$Q >٣ Gz > ]49 q?a4Y q i B&>m;ڜq@ D *; X); s4! -y@)oIZoIroIoIoQ2oQnir\&>z\&>\@\L١@i))隙iIZAM=H H AAZI bI jI rI zI %;I :I I 2x,\A:P-@y:o;@9:1Y:1:>:HDʿ ? ?`y$?ŗ? 6?`u?:P-@ɨ:k; :ICFBFn(IHR'HR(t5Za\ Za=YZ_Q Z>\٣\ bG`f f>h]n49jWq?an4Yj ijBlnqr@jDj;j;j9z4t v@to Zo ro oo2onr\1z\1\1\5Oԡ@iA)A)IIIiIIIQZAiMJ=GT>GCG(IG[BG" =GGDGG߰<G F:J}!Nՙ՝=BJ}9JJyRJ}CZJ}JIk2x, \AF(-@yFF;@9FƼYFJ;>FHZ@@tYʿԯ?gY?@ ;?4՘?3F?@t?F(-@ɨF; D\\UMb@Mb@Mb@QQ Q)QIQyU#~j/$?y&1?U㥽QU`e< Q)UI@IU|@iU@QUz@H%HEs5YQ >٣ G޻ >]49Dq?a4Yp iB >m;⛿q@D::Ё4 @EoZorooo2on B*** querying acoustic contact ***i i r\% >z\% >\%l@\%X@i1))隱iIZAM= 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. ,DAT read: user:1159>  BDAT read: Tx time:19:21:18.8435  $Ping request sent. ]H>jʿ6?p?1? ?L7? ou?]-@ɨ]N; YuBuj(IHHm5  ٣ G >]49 q?a4Y iBq@Di ; ;Ո4 J@oZorooo2onr\ z\ \ \ @i!)!)!!!i!)I)ZAAMe=HmC=HmR=ZI}bI}*jI}1rIyzI}=;I}C:I}3IyJDAT read: TxSync time:19:21:18.8427 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251192޿2x,3O\A6 -@y6t(;@96thY6';>6HM<t~ʿ x?*?@0:??[A?et?6 -@ɨ6F; 4RBRm(IHjHj R5rY< rV=YvܻQ v>t٣t zGxzA z>|]49~q?a4Y~c i~B  q @~D~:~:~4 !@GU>GG(IGVBG =GG;DG<Gv FH9 H9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504428:J}BJ}u9JJyRJ}DZJ}H9H=# ="H=# =*H=%6oZo!ro!o)o)2oanar\z\\\ @i))iIZAM]> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754260K2x,g'\A6,@y6:@96Y66>6H6mʿ?? @d?@Cҝ?`?=z?6,@ɨ63; 6HC^B^k(IMMb@Mb@Mb@II I)IIIyM+`"?y٣y }Gy$ >]49q?a4Y iʼnB>m;q@DQ;P;ߖ4 4@oZorooo2onr\>z\>\<- @\ @i))i I ZAM=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006246H H ZI bI /jI rI zI ;I ڈ:I I 3x,!\A2,@y2g:@920Y238>2H}2˿ʱ?5?d?`1?? Iw?2,@ɨ2; 2KCNBN](IHVHVR5bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258584fn fU=YjóQ j>h٣h jGhM0 M>Q]]49UNq?a]4YU3 iỦBY]qe@UDU;U;Uϝ4i m@ioZorooo2onr\z\\\@i))iIZAM =GuQ>GuCGu(IGuQBGu$ =GuHDGu:DGuװ<Gu Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512374:JKBJJJRJEZJk+D/ |eRA2*# J1 I1 O 3x,!)\A:,@y::@9:tY:9>:Hu-g˿`??θ?>ԟ??u?:,@ɨ:ч; :JCBBB[(I-Mb@Mb@Mb@)) )))I)y-) -@)-I@I-|@i-@)-z@HHm5# >=Y9Q >٣ Gۻ >]49q?a4Y iՉB>m;q@Dπ;i~;4 @Eo!Zo!ro!o)o)2o)n)r\E>z\E>\Ec@\E@ia)a)aaaiaiIqZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762267 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0142843x,C\A>Ok,@y>:@9>Y>6#:>>Hp*`˿j? ? r7?斞?!?ou?>Ok,@ɨ>ܽ; >KCFBJ`(IHRHRa5ZB< ZX=Y^Q;Q ^>\٣` bG`b9 f>d]j49f$q?aj4Yf0 if܉Bln>qn@fDf2:fu:f4t vա@to Zo ro o o 2o nr\)z\)\)\-@@iA)A)AAAiIIIQZAiM=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266648 3x,Օ]\A:S,@y:q:@9:Y:֡:>:H'c˿P??f?`yA?0?@t?:S,@ɨ:b; :JCF܈BFV(IHNHNKk5V&$ VM=YZU:Q Z>X٣\ ^G\bs b>d]f49fq?aj4Yf ifBhjnqj@fDf:df4p rX@pGP>GG(IGLBG% =GGG۰<G FoAZoAroAoIoI2oInIr\iz\i\i\m@iy))隉iIMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519940ZA:JNBJJJRJFZJJ? J>ME=ZIbI*jI0rIzIu;IC:Iـ3IIB<qIB<iI;uI;m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.77033283x,qw\A2LN,@y2m:@92mY2[:>2HJ'˿`J?/?ξ? ?)-?u?2LN,@ɨ2y; 0BوBBR(IF,>iFR=Mb@Mb@Mb@ )Iy rh/$? )If@i@H-H-i5=9E =B=Y=9Q E>A٣A EGAM2 M>Q]49Uq?a4YU> iUB>m;q@UDUz\M>\M}@\Mb@i))隉iIZAM =MBDAT read: Rx Time:19:21:21.3306 MTRx dataTimestamp_ set to:1736536882.039165Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023304V$3x,fJ\A:Z>,@y:%]:@9:7Y:,:>:Hf% ˿ٱ?`' ?@`m?e? 6?@|t?:Z>,@ɨ:i; 8BވBFY(IPPVchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274602HLHL^@< ^S=YbPfQ b>`٣d fGdfn$ f>h]r49j-q?ar4Yj ijBprϦqr@jDj;js;j4x z+@xoZorooo2onr\1z\1\1\5[@iA)A)IIIiIQIQZAqMN=GQ>GGGG# =GGGư<G FDAT read: 19:21:21.3306 LVL= 19632, 21937, 10594, 23075, AGC= 55, IDX= 141, 0.12,-1.062,-0.980, 0.901,-0.182, PHS=-0.792,-0.750, 1.080, RAW= 211.1, 5.0, CAL= 212.9, -1.3, ROT= 297.1, 1.3 Ygot valid direction response: 19:21:21.3306 LVL= 19632, 21937, 10594, 23075, AGC= 55, IDX= 141, 0.12,-1.062,-0.980, 0.901,-0.182, PHS=-0.792,-0.750, 1.080, RAW= 211.1, 5.0, CAL= 212.9, -1.3, ROT= 297.1, 1.3 :JM BoJBJM 9JJI RJM GZJM } ~GJ I iA  PDAT read: Bearing 297.1, 1.3 (Local) ) 2ſy A ~Local bearing/azimuth received: Bearing 297.1, 1.3 (Local)  DAT read: Range 10 to 50 : 62.1 m (Round-trip 82.9 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.455428,-0.889984,-0.022687] Fpublishing direction and range infoaYe`f%?CzNGY;efxB9aeL eU)eb)Ie#Zie7eJe@eq=?e k@ e¸=)em@Ie޹ie@e޹,@yJ#]:@9JYJz:>JH h%˿@ӱ?`- ?`e?[?-?@t?JX>,@ɨJ4; JIC^B^_(I-eonly read 2 of 4 data items for water velocity. 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Jm >L8x,\AZLR6@yZqD@9ZgYZT;>ZH I?mv? ;dL?2?@?`v?ZLR6@ɨZ; ZCCjBj+IMb@Mb@Mb@ )IyI +S?y&1?94/>`< )Iw@iw@y@HHE5> 9=Y9Q >٣ G; >]49 s?a4YK iB7>m;q@WD ; ;G4 ~@oZorooo2on9^^^^r\7>z\7>\^L?\@g)i9)57iI!ZAM>u8x,{\A6o6@y6yD@96ʄdY6jc;>6H@`?D?`d?\?`oJ?nv?6o6@ɨ6e; 6DC^7B^<+Ib V=Y:Q >!٣! %G!%;; ->)]549-.!s?a=4Y-6M i-B9=q=@-[D-M;-';-4A My@IoiZoiroqoqoq2ounu9^^^^r\z\\\ @ʄd)i9)隭7iIZAM=G A>G G =+IG 8BG * =G G G ٰ<G F"8x,S\A26@y2D@92cY2;>2H @m;nc?(?gZ?t`?@??v?26@ɨ2ي; 2ACZIBbIBjIB1rI@zIB$ ;IBs:IB3I@IB @=Y,a9Q >٣ G/; >]497"s?a4YVN iB)=m;q@^Ds;&:`4 u@Done Waiting.Z 8Uninitialize Wait Component.oZorooo2o%n%9%XCompleted lineCaptureHoming:Lap:Docked:Drift1Y% %tAggregate::uninitialize lineCaptureHoming:Lap:Docked:DriftY% %@Uninitialize Buoyancy Component.Y%1Z%qZ%-Uninitialize.-LCompleted lineCaptureHoming:Lap:Docked1S- -hAggregate::uninitialize lineCaptureHoming:Lap:Docked->Completed lineCaptureHoming:LapQ- -ZAggregate::uninitialize lineCaptureHoming:Lap-Running loop #2Q5 5VAggregate::initialize lineCaptureHoming:LapQ5^E^A^A^Er\])=z\])=\]|?\]ʟ@mc)iim9)iu7qiqyIyZAM=:JeBoHBJe-9JJaRJeZJeJuiAIqa8x,V,\A:d6@y:2D@9:/`Y:!o;>:HC`Й?H?g s#?` ? K?dv?:d6@ɨ:A; :BC^mBb+IHfHf>5n> rZ=Yr~9Q r>t٣t vGtvV; z>x]49z"#s?a4YzRO izBĤq@zaDz;z;z4 r@k5XQ51R5 5ZAggregate::initialize lineCaptureHoming:Lap:B^A^A^A^Ar\Qz\Q\Q\Uޟ@e/`Ie9)aim^9)im7iiiqIqZAM^= &G ) |y  iA8x,N 1\A2i 7@y27*E@92b^Y2b;>2H _?r'?iD%?'̋? bJ?zv?2i 7@ɨ2; 2?CBBB+IHJHJB5R= RN=YV*9Q V>T٣T VGXZW< Z>\]b49^$s?af4Y^]P i^ŏBdfJqf@^cD^f:^:^4h jo@nE5]k]fAggregate::initialize lineCaptureHoming:LineCapture6] m]Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes6]m]JInitialize AltitudeEnvelopeComponent.17] n]DInitialize DepthEnvelopeComponent.q7]n]JInitialize OffshoreEnvelopeComponent.q8e8e8eqexAggregate::initialize lineCaptureHoming:LineCapture:HoldMass19eq9ereInitialize.9e seAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy9eseGG+IGBG, =GGG԰<G FZIbIjIrIzI\;It:IIIt<It<I^;I^;M AM A:J BJ 9JJ RJ ZJ 8x,J\AN57@yN|TE@9NWYNe<>NH ^@@$&?խ?4iG??;j? u?N57@ɨN%;; N@C~B~+IMb@Mb@Mb@ )Iykt{Gz?y&1|? 0#=`; @)Ii=z@HH995= 8=Yp:Q >٣ GR; >]49%s?a4YP iȏB@r=m`<Gq@eDh;Kf;4! -l@)LE EAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalLEUEntering Terminal tracking update period 2.000000 s sec at 62.099998 m (mode 0.000000 count ).LU1MUJeY:e]V@dada*da2dazciq6m7m^q^q^q^qr\@r=z\@r=\@\@W)i9)隝7iIZAM=?8x,d\A:&7@y:E@9:%UY:<>:H`w@5?@k?k*P??n?t?:&7@ɨ:vy; :BC^B^+IHfHf95n$= n\=Yn9Q n>p٣p rGpvP< v>x]~49z&s?a~4Yz;Q izˏB|~Fq~@zfDz;z:z4  kj@ 2k%@1M%qM%-B*** querying acoustic contact ***i)i)Je9:e=V@"e97=7=dAdA*dA2dI^Q^Q^Q^Qr\az\a\a\e<@u%U)yi}w9)y}8yiyIZAMh= 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Ge >>Ge CGe +IGe ыBGe 0 =Ga Ga Ge <Ge F68x,R~\AZI2bI2jI22rI0zI2T;I2v:I2c3I0I2h<I2h<I2);I2);BϿ7@yBE@9BPPYB<=>BH`&槿@)?ெ?`sk@Di?` ??s?BϿ7@ɨB ; @B+IMb@Mb@Mb@ )IyˡEMby&1|'` 3@)`@IiHH6=5= <=Y@2:Q >٣ G < >]49q(s?a4Y.Q iɏB}-=m<{=q@gDI::4 h@:kqMMJe!:e%AV@*e)7-18-d1d1*d12d1^9^9^9^9r\M}-=z\M}-=\MeU@\MT{=PP)iJ9)5 8i ,DAT read: user:1160> BDAT read: Tx time:19:22:53.8961 %$Ping request sent.% JDAT read: TxSync time:19:22:53.8954  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2520828x,\A28@y22F@92|KY2~2=>2H*@X?,?`Xm@k?Dr?u?s?28@ɨ2; 2AC>B>+IHFVHF5N< R_=YRN:Q R>T٣T VGTVoe< Z>\]^49^)s?ab4Y^"Q i^ǏB`b=qb@^hD^:^:^4d jEh@hBktMvvrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalLv vAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalJex:e~V@2e|18~1:~ t~Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequenceq:~tAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock: uAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:uInitialize.udInitializing internal variables to default values.1< xAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq< x Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide=  { Initialize.= { Initialize.< 1A  Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqA Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideB Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBInitialize.1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCInitialize.CCAd!d!*d!2d!^)^)^)^)r\z\\\=|K)i9)b8iIH}C=H}4=AA%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503063EZAM>b8x,V\A~NjB~+IH H )5< C=Y%Q %>!٣! -G)- ->1]=495++s?a=4Y5Q i5ŏBAAqE@5iD5;5;5k4I Mxg@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7548301A Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqAAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideAB Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBUninitialize.1C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCCC1< xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq<xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide<= {Uninitialize.=uInitialize.udInitializing internal variables to default values.uURDetaching from dock at depth 69.889450 m.ZfUBfYJf]9:fYJeY:e]qW@dmdi*di2dm^^^^G G CG =,IG  BG , =G G G D<G  FHÞC HÞCHH, ="H, =*Hn5r\z\\\I<)i&9)隝8iI)"e ResumeZIbIjI1rIzI;Iq:I3IId<Id<I;I;- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006567E g<ZA M- >:J] BJ] 9JJY RJ] ZJ] Jm ? Jm ?!8x,1\A6\8@y6{F@96 gY6f:>6H@;?พ?@r?`?b+?w?6\8@ɨ6@; 4BBB+IEMb@Mb@Mb@AA A)AIAyEktX9v rhE 0EEC EI@)AIEz@iEu@AAH/HC5 A=YQ >٣ Gq,< >]49,s?a4YP iBd=mn<?q@kD;; 4 Xi@2f Zf Bf Jf 9:fJe:e-W@dd*d2d%^!^)^)^)r\=d=z\=d=\= q@\=+?M g)IiM{9)Q]8YiYaIq"Resumingchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258751E<ZAM>= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510561[8x,x\AJզ8@yJF@9JSrYJ%<>JH ܟ@?9P? qN?'J??b?:u?Jզ8@ɨJ; JCCVBV+IHbHb4fko j[=YjQ j>l٣l nGlrtE< r>p]v49r.s?az4YrP irBxz?qz@rlDr.:r\:r]4 i@%B*** querying acoustic contact ***i!i!2f)Zf-Bf1Jf59:f1Je1:e5EW@d=dA*dA2dE^I^I^I^Ir\Yz\Y\Y\]?mSr)qiu19)qu8qiyyI" Start "4Initializing EZServoServo.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763425 "8Initializing DockingStepper.2EgA*EfAGGG],IG"BG+ =GGG$<G FE- %<ZAa M >;8x,\Af;8@yf F@9f;ZYf<|=>fH µ?a?`lp{?AG? s?ns?f;8@ɨfAP; f>C-B-+IZI]bI]jI]0rIYzI]t;I]~:I]ـ3IYI]#n<I]#n<I]n;I]n;Mb@Mb@Mb@ )Iy~jt!٣) -G)-(; 5>9]=49=/s?aE4Y=P i=BE:,=mE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267751#9x,b\A6!9@y6@G@966LY6yv=>6H` dݑ? ?`~q~??ϋ?s?6!9@ɨ6#; 6@CNBR+IV4>iV=TVAHZHZ4b b`=Yf;Q f>d٣d jGhjX< j>l]v49n0s?av4YnP inBtvqv@nnDn;n;nu4| ~ o@~E2f!Zf%Bf!Jf%9:f!Je):e- SyW@d5d1*d12d5^^^^r\1z\1\1\5\@E6L)IiMl9)IM<8IiIQIQ"eStarting2Ee*EeBEa:EaZAyM=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518705N 9x,Z3\A6cg9@y61G@96UAY6(=>6Hd??rw?`*?I? t?6cg9@ɨ6xȏ; 6ACB|BB+IHJHJ|4R RL=YR:Q V>T٣T VGTZ-< Z>\]f49^1s?af4Y^P i^Bdfqf@^oD^z%;^"&;^s&4l np@l2fZfBfJf9:fJe:eW@d d*d2d^^^^r\)z\)\)\-@=UA)AiM9)IM 8IiIQ]>]C=echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771027Ia"StartingG?>GGV,IGBG, =GGG <G F" BInit string: /1z16368aE13561N3m50ZAqM=> BDAT read: Rx Time:19:22:56.4019  TRx dataTimestamp_ set to:1736536977.103241 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023785:J BJ C9JJ RJ ZJ J > J >w59x,yuM\A29@y2G@92;Y2=Y<>2H3ȐN?=@?t:a? v?h?Iu?29@ɨ2. ; 2>CNgBRw+IMb@Mb@Mb@ )Iy{GzMb?~jt#@= )Iu@iu@w@HHB4= :=YK:Q >٣ GA< >]49c3s?a4YDQ iB@=mM<iq@qD;v;-.4 s@2fZfBfJf9:fJe:e@.W@dd*d2d^^ ^ ^ r\@=z\@=\y@\׫@-;)1i59)15 81i19I9"-StartingZA9MU>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274656ZIu bIu jIu 1rIq zIu ;Iu un:Iu 3Iq q} @i} @u} @m} @I ) - DAT read: Range 10 to 50 : 76.1 m (Round-trip 101.5 ms) speed -0.3 m/s -5 X#Rx 1: Read range message, but no direction.! % 3B9! = T****** received valid address query ******= R****** received valid ping request ******= Querying Benthos address 50 with one ping in standard two-way mode.`9x,Tg\A .G8 NA)r1ytzxAm?uynA=:@y\H@93Yi;>H ꁿ3?d?`Kv /T? ? X?@v?=:@ɨ; ?CGBP+IH%,H%5}K }>=Y:Q >٣ G< >]494s?a4YQ iBgq@rD%::54 w@-B*** querying acoustic contact ***i)i)2f9Zf=Bf9Jf=9:f9Je=`fS@:eE`?dd*d2d^^^^r\z\\\W@3)i9)8i I "StartingZAIMm>},DAT read: user:1161> }BDAT read: Tx time:19:22:57.6947 $Ping request sent.GCG*,IGBG/ =GGGM<G F;H 9x,.\An4Bn8+IMb@Mb@Mb@ )IyQ롿rh|?~jtx\=Ļ @)Iis@ w@H?HZ 5ͽ X=YQ >٣ G >]495s?a4Y S iB>m;q@vD ; ;9<4 y@2f Zf Bf Jf 9:f Je:ez\=>\=?\=m@I)IiM9)QUp8QiQYIYJDAT read: TxSync time:19:22:57.6939 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252556:JBoHBJ9JJRJZJJIgAC9"StartingZA M%o> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502876p&9x,\\AN:@yNмH@9N4GYN?5>NHI1Mg`b?=t?ࢇ? ~?F?i?N:@ɨND; N>CVBZ+IHbHbv4j3 jY=YnPQ n>p٣p rGpr< v>t]z49v6s?az4Yv@T ivB|~ͥq~@vyDv;v;vB4 -~@ 2f)Zf-Bf)Jf-9:f1Je1:e5@O?d=d9*d92d=^A^A^I^Ir\Yz\Y\Y\]f@u4G)qiu9)qu7yiyyIC]9"]Starting"5LSent speed cmd:/1V10000 Response:/0@ ZAAII 3IL.IIIZIebIejIarIazIe;Ieu:IaIaM=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755664,9x,\ABև:@yBH@9B.MYB%7>BH@0@7pؔ?`Mz?|?`?@?{?Bև:@ɨB#; B?CJBN*ITVAHZHZT4r rI=Yrz\Q r>t٣t vGtvZZ z>=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772y]49}38s?a4Y}U i}Bq@}|D}:};}2J4 @@2fZfBfJf9:fJe:e@Fr?dd*d2d^^^^r\z\\\@.M)i9)7 i IBhABiAGE<>GAGE+IGE‹BGE. =GAGAGE<GE FC"StartingZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259124:J5 BJ5 9JJ1 RJ5 ZJ5 JE ? JE ?؃39x,8\A2=:@y2 H@92VY2<8>2H% m ?Qx?{?`*؊? "?Zz?2=:@ɨ2ǎ; 2@CZB^*IEMb@Mb@Mb@AA A)AIAyE:vbX9?{Gzt?ETEE6>Eף; E@)ExY@IEs@iEhq@AEs@H]H]4mrͽ mB=Ym.Q m>q٣q uGq}eM: }>]498s?a4YxW iB6>m;qM@D-=%=?Q4 @2fZfBfJf9:fJe:ey?d d *d2d^^^^r\U6>z\U6>\Ud?\U@mV)i9)隕,7iIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511852Cv9"&Changing to mode: 3"Detach mode."]2Commanding negative:54599D5?D1D1E55 E9ZAIMew>Hi Hi ZIu bIq jIq rIq zIu <;Iq Iq Iq  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762928r99x,)\AJ:@yJϷH@9JCYJZ8>JHK`*i@3?zv?{Z? |? ?{?J:@ɨJ<; JBCR׊BR*IHZ=HZw 5f4Ľ fU=YfE;Q f>h٣h jGhj: n>p]v49r9s?av4Yr:Y irďBxz忿qz@rDr";r#;rW4 ǂ@2f)Zf-Bf)Jf-9:f)Je):e5 ^@d=d9*d92d=^A^A^A^Ar\Qz\Q\Q\U@eC)iim9)iu7qiqyICDM@>DIDIEMW5 EIZAYMu>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014829G=;>G9G=+IG=BG=0 =G9G=7DG=N<G= FHǝC HHH. ="H. =*H6@9x,Tq\A6v:@y6DH@96;Y69>6HM zpW\?`/y?`z?`>p??#z?6v:@ɨ6; 6ACrҊBr*I}Mb@Mb@Mb@yy y)yIyy}{GzQ?Zd;O?}ף}(\>}j< y)}U@I}hq@i};o@y}Gq@HHs75, ==Y:Q >٣ G >]499s?a4Y[ iҏB\^>mt; q@D::_4 @B*** querying acoustic contact ***ii2f Zf Bf Jf 9:f Je :e (@dd*d2d^!^!^!^!r\5\^>z\5\^>\5K?\5Ǚ@M;)IiM9)IM7IiQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267029IC=B>:JBJ9JJRJZJCU9DYD;DDE1 EZA M >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519480!F9x,L\A6ԑ:@y6H@969Y68>6HU`$n 7?`w? z 3?9? ?`,z?6ԑ:@ɨ6͏; 6?CNBR*IHZHZ:5b fZ=Yf9Q f>h٣h jGhj: j>l]r49nZ:s?av4Yn] inݏBtvqv@nDn.:n:nf4x z@|2fZfBfJf9:fJe!:e%@d-d)*d)2d-^9^9^9^9r\Iz\I\I\M˙@9)i{9)Z7i!I!H1H5C=ZI=bI=jI9rI9zI=;I=v:I9I9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774824C]9D8DDE62 EZAM>L9x,E)6\A%BDAT read: Rx Time:19:23:00.2015 %TRx dataTimestamp_ set to:1736536980.883137-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0239355B5*IHEHE;5UH  UB=YUQ ]>Y٣Y ]Gae e>i]u49m ;s?au4Ym_ imBqqq}@mDm;m;mnm4 @2fZfBfJf9:fG:>GGP+IGHBGGGGQ<G FJe:e] @deda*da2de^i^i^i^ir\z\\\)i.9)7iIC9Du06DqDqEu1 EqZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274924dS9x,yP\A:J BJ"-9JJ RJ"ZJ"J: ? J:?v|:@yvJH@9v:Yv9>vH Qp1?x?`yy?rU?n?_y?v|:@ɨv{; v@CB*I  AMb@Mb@Mb@ )Iy~jtMbX?V-?>< …@)xY@Is@iq@HH:5&v D=YQ >٣ G& >]49;s?a4Yb iB>mB;q@Dz ;] ;t4 DŽ@2fZfBfJf9:fJe:e) @dd*d2d^^^^r\>z\>\}?\@=:)9i=9)9=79iAAIA=DAT read: Range 10 to 50 : 77.0 m (Round-trip 102.7 ms) speed -0.1 m/s -EX#Rx 1: Read range message, but no direction.)-B9)ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.C9D ^3D D E 0 E ZA M > ,DAT read: user:1162>  BDAT read: Tx time:19:23:01.4447  $Ping request sent. ^H`K{lB?tw?y? +?`?y?^Ւ:@ɨ^(; ^?C޽B޽*IHH6=5 <  D=YYQ >٣ GM: >!]-49%U`9x,x\AZIbI,jIrIzI;IL:IIIbg<q"Icg<i"I;u"I;m"FQ:@yFH@9FzWYF*9>FH`5Z`@'?|nr?y`?#?@?x?FQ:@ɨFwG; F@CNBR*I5Mb@Mb@Mb@11 1)1I1y5~jtS㥛?l?5D5$>5= 5@)5KW@I5;o@i115p@HMUHM5x; M=Y]Q >٣ GVM; >] 49mH;¿q@D;;4! %Z@!EB*** querying acoustic contact ***iAiA2fIZfUBfQJfU9:fQJeQ:e] ?deda*da2de^i^i^i^ir\}>z\}>\}?\} R@zWchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500825)i9)隥7iI:JyBJ}9JJyRJ}ZJ}+30+'$  JfAICQD.DDE EZA M- >M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752765P g9x,\A::@y:fH@9:hY:7>:H T`?zo?@#|`H??`?`N{?::@ɨ:; :?CFΊBF*IHRHRB-5Z= Z`=Y^;Q ^>\٣` bG`b: b>d]j49f=s?aj4Yfj if,Bln¿qn@fDf;f;fP4p rZ@p2f Zf Bf Jf 9:f Je :e@_?d%d!*d!2d%^)^)^)^)r\9z\9\9\=Y@Mh)QiU9)QU8QiQaIaCmt?Bm"? [GSkA )E+YyESkAEGBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004759C9Du-DqDqEu0 EyZAM>7m9x,o\A2:@y2uH@92 Y2m9>2HP?p?@z@Q ?!?` ? y?2:@ɨ2珍; 2BCBފBB*IHJSHJ75j= jH=YnzQ n>p٣p rGpvl v>x>= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257284] 49z=s?a 4Yzpm iz=B¿q@zDz%;zF;zt4 %M@!2fAZfEBfAJfM9:fIJeI:eM}W?dUdQ*dQ2dU^a^a^a^ar\qz\q\q\u]@G<>GCG+IGBG- =GGG6<G F )i9)隭 8iIC9ZI]bI]$jI]2rIYzI];I]':I]c3IYI]j<I]j<I];I];D*DDE0 EZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508773:t9x,I\A6:@y6H@96zY69>6H@AS)?&p?y@?Y??x?6:@ɨ6-Z; 6CC:JRH MBJRu9JJPRJRZJRJV? JV>ZBZ*IMb@Mb@Mb@ )IyMbv/?{Gz?xi>#= )xY@Iim@HH25= >=Y\:Q >٣ G{ >]49 >s?a4Yo iOBm>md;pq@D:V:4 @@2fZfBfJf9:fJe:e.?d d *d 2d ^^^^r\-m>z\-m>\-?\-3@=z)9i=9)AE'8AiAIIICI%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762318D(DDE0 EZAM (> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012721Iz9x,%\A6 :@y6H@96NtY6s:>6H@hV?@p? x+?`?,?w?6 :@ɨ6 ,; 6?C>B>*IHFHF15ZK= Z]=Yb0:Q b>`٣d fGdf f>h]n49j>s?an4Yj r ij^Bprwqr@jDj^;j;j4t v4@vE2fZfBfJf9:fJe:e@d%d!*d!2d%^)^)^1^1r\Az\A\A\E1@UNt)Qi89)8iIBfABfAC 9DD%DDE0 EZAM">%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265483G=>GG1+IG.BGGG8DG<G F39x, \AZIbI@jI1rIzI;I:I3II f<I f<I;I;R:@yRQH@9RsYR0m;>RH X`s?q?.wJ?~? K?Dv?R:@ɨRҌ; R@CnBn+IuMb@Mb@Mb@qq q)qIqyuu< u@)uKW@Iuj@iuj@qul@HH +5h= :=YG8Q >٣ 5G15 5>9]E49=T?s?aE4Y=at i=nBMV>mM};MKqM@=D}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517259=:=<=b4 ~@B*** querying acoustic contact ***ii2f)Zf5Bf1Jf59:f1Je1:e=7`@dEdA*dA2d}^^^^r\V>z\V>\7?\@s)i9)X!8i!IAC9D"DDE0 EZAMh>:JBJ9JJRJZJ !+6J_sJI! % %=- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768972C]9x,\\Ab:@ybH@9b[yYb;>bH .?`:?.(e?v%R?+?@R?u?b:@ɨbe; b?Cn2Bn6+IHvqHv#5%>  U=Y aQ  >٣ G; >!]%49%?s?a-4Y%Iv i%{B)-q-@%D%:%:%ά49 =z@92fYZfeBfaJfe9:faJea:ee @dmdi*di2du^y^^^r\z\\\%̙@[y)i9)隭*8iIBDAT read: Rx Time:19:23:03.9520 TRx dataTimestamp_ set to:1736536984.663223checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022120C9DPDDE.5 EZAM>9x,x8\A6:@y6H@96Y6<>6H2?[X?`e?@Su !s?E? s?Jt?6:@ɨ6Jʋ; 6ACBCBBK+I)F= F=HJHJ-5R= VQ=YV Q V>X٣X ZGXZf" ^>`]b49b@s?af4YbPx ibBdf qf@bDb:bu:b4h jx@lvchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273851G!G%CG%\+IG%RBG%/ =G!G!G% <G% FH HCHH/ ="H/ =*H0962fZfBfJf9:fJe:e o @dd*d2d^^^^r\!z\!\!\%͙@M)IiM9)IM18IiIQIYZI]bI])jIYrIYzI];I]:IYIYI]ok<I]pk<I];I];C89DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.2 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.ؑؕ̚B9ؑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DDDEp5 EZAM >lm9x,R\A6-:@y6H@963Y6><>6H``Do]? Ӧ?`S?@`u r??br?Gt?6-:@ɨ6; 4BXBBd+I:J~NBJ|JJ|RJ~ZJ~:L|Z~lRFB@=>><99865455%Mb@Mb@Mb@!! !)!I!y%V-MbX9?Zd;O?%%!>%j< %@)!I%;o@i%m@!%\o@H=mH=!5M= M@=YUQ U>Q٣Q ]GY]`\; ]>a]m49eAs?am4Yez ieBu,&>mu;uCqu@eDe;eu:e4 au@Rf!u%Thruster off.Zf%Bf!Jf%9:f!Je-YS@:e-?d5dQ*dQ2dU^Y^Y^Y^ar\m,&>z\m,&>\mL?\m@3)i9)隥K98iIC,DAT read: user:1163> BDAT read: Tx time:19:23:05.2447 $Ping request sent. JDAT read: TxSync time:19:23:05.2439  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2516129x,&ml\A^:@y^I@9^: Y^f<>^H c? x?TH?`/uv? ?@>v?s?^:@ɨ^[; \mB~+IH5\H545E= EK=YEQ E>I٣I MGIUٕ: U>Y]e49]Bs?ae4Y]{ i]Bae*qm@]D]X:]:]4q ur@quZDetected possible detachment. Starting timer.ZfBfJf9:fJe:e?dd*d2d^^^^r\z\\\.@: )i9)@8iI9CF9DDDE,5 EZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502735G!G%CG%+IG%BG%. =G!G!G%E<G% F9x,Q\AV:@yV I@9VܡYV`E>VHfl??0?`Lh?9;?҃?f?V:@ɨV; Tr~Br+I}Mb@Mb@Mb@yy y)yIyy}I +&1?y&1?}94}=}`e< }@)yIyiyy}n@HOHq5j= C=YƻQ >٣ G: >] 49.Ds?a4Y| iBM=m;q@D;;41 5p@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.764123B*** querying acoustic contact ***iiZfBfJf 9:f Je:e?dd*d2d^!^!^!^!r\5M=z\5M=\50?\5@uܡ)yi}e9)y}G8yiyICX9DDDEp5 EZA1MMS>:JUT?OBJUk9JJQRJUZJU4431221/----,+*(&%%'*++..,.*)'&$%$"#" E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014690y9x,#\AV%;@yVDI@9VnYV,C>VH*@7}?i?RojkA?Ym?h>?@i?V%;@ɨVW; V@C^Bb+IHjHj44r = vX=YvJQ v>x٣x zGxzd< ~>] 49Es?a 4Y} iB  q @D::4 n@ZfBfJf9:fJe:e`O8 i  IZI5bI5jI1rI1zI5;I5:I1I1qE@iE@uE@mE@աաchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.267070C]g9DDDE0 EZA M%>ӭ9x,\A2j;@y2I@922Y2@>2HE?p? ?j~n;?`A? ?`_m?2j;@ɨ2G; 2ACRBR+IHZHZ4Gf>>GdGf+IGf‹BGdGdGdGf'<Gf Fr[= rJ=YvQ v>t٣x zGxz^*< z>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519096 ]49 %Gs?a4Y ~ i Bq@ D " ;  ; 4! %l@)ZfUBfQJfU9:fQJeQ:eU?deda*da2de^i^i^i^ir\z\\\Ǥ@ 2) i!9)=U89i99IACDuDqDqEu0 EqZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.771486M>9x,.\A>;@y>íI@9>l:Y>/?>>H`v?ϓ?Իp? ??o?>;@ɨ>N; >?CNBN+IIT)T5Mb@Mb@Mb@11 1)1I1y5ktMbX9?{Gzt?5 05ʡ=5ף; 5@)5U@I5j@i115pm@HM HMe4:JUEMBJU9JJQRJUZJU m= mB=Yu :Q u>y٣y }Gy}; }>]49Hs?a4Y iB}=m<煿q@D/;;s4 'k@ZfBfJf9:fJe:eX@dd*d2d^^^^r\}=z\}=\n@\ @l:)i9)Y8iICi?B?Cc99?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024650DADADAEE1 EAZAYMu6>I1 )5 CZIU bIU ,jIQ rIQ zIU ;IU L:IQ IQ G lA )5 wy5 lA5 dB checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2747919x,s\A2ԟ;@y2I@92뮼Y2O>>2Hߌ?`w?ׅ!r? ݕ??q?2ԟ;@ɨ2; 2ACNBN+IHVHV4= P=Y39Q >٣ G!%,; %>)]549-,Js?a54Y-S i-B9=Ʌq=@-D-;-/;-N4A ETj@AZf}BfyJf9:fJe:e @dd*d2d^^^^r\z\\\^@뮼)i/9)]8iIC9DaDaDaEe1 EiZAyM>G=>GG,IGBG- =GGG{<GFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5266939x,\Af/;@yfI@9f\гYf=>fH {?? s ?@y?ώ? r?f/;@ɨff; f@CrBr+IMb@Mb@Mb@ )Iy)\(Q?Ga\= )KW@Ii;o@n@HHk4 a= :=Y9Q >!٣! %G!-O; ->9]E49=ALs?aE4Y= i=BEQ=mE:JKBJ9JJRJZJ% BDAT read: Rx Time:19:23:07.7525 % TRx dataTimestamp_ set to:1736536988.453060- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0338049x,s!\A2ʯ;@y2I@92sY2'%=>2HT?@z?Շ s e?@B?`?r?2ʯ;@ɨ2䏈; 0>ŋB>+IB?>iB=HJHJ4^;= ^e=Ybz Q f>h٣h jGhr29 r>x]49zMs?a4YzÁ izBaq@zDz`:z:zM4  g@Zf5Bf1Jf=9:f9Je9:e=@H+ @dEdI*dI2dM^Q^Q^Y^Yr\az\a\a\eqӬ@}s)yi}9)y隅h8iIBhABhACDgAzDiAZIbI1jI2rIzI;I:Ic3IDeDaDaEe0 EaZAyM>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282773p"9x,H;\AG4G4G6P,IG6BG6+ =G4G4G6 <G6 Fn=n<vDAT read: Range 10 to 50 : 77.7 m (Round-trip 103.6 ms) speed -0.1 m/s -zX#Rx 1: Read range message, but no direction.prfB9pzT****** received valid address query ******zR****** received valid ping request ******~Querying Benthos address 50 with one ping in standard two-way mode.]B]+IHmHmr4}6 }?=YQ >٣ G >]49Os?a4Y iBq@D;o;4 Gh@ZfBfJf9:fJelS@:e`fؠ?dd*d2d^^^^r\z\\\)i"9)i8iI!C 9DDDE0 EZAM=P>,DAT read: user:1164> BDAT read: Tx time:19:23:09.0448 $Ping request sent.2H(?E?鉶`,tr??x?`r?2z;@ɨ2dV; 2>CBŋBB+IEMb@Mb@Mb@AA A)AIAyEi|?5Q?MbpEqEu=E E@)EU@IAiAAEpm@H]H]k4m< mK=YuQ u>y٣y }Gy}, >]49Qs?a4Y& iB=m<Gq@DK;I;4B g@߶E:JBoHBJu9JJRJZJJ? J?ZfBfJf9:fJe:e?dd*d2d^^^^r\ =z\ =\ 7B@\ @ȼ)i%}9)!%IIş3I.-IIIZI5 bI5 kjI5 1rI1 zI5 ;I5 :I5 3I1  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502885d49x,n\A) 2;@y2~I@92׼Y2m<>2H`5?@V~?@m@lt}??Zr?r?2;@ɨ2{; 2@CBNjBB+IHJHJP4f7'< fV=Yf2Q f>h٣h jGhj0 8 n>p]v49rSs?av4Yr irÐBxzGqz@rDr ;r ;rn4| g@Zf%Bf!Jf%9:f!Je):e-&?d5d1*d12d5^^^^r\ z\ \ \ @=׼)AiE+9)AELp8AiAIIIC}g?B}?CM9DDDEP4 EZAM5->Ge>>GaGei,IGe,BGe, =GaGaGea<Ge FH%ƞC H%ƞCH!H%- ="H%- =*H%ܸ5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7549599x,߈\A#;@yI@9Y0@@>H\`.?`? @o`A?%s??l?#;@ɨE;  B +I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007243Mb@Mb@Mb@ )IyJ +Mb?Mb`H= )Ih@im@l@HH"4˼ .=Y MQ >٣ G9 >]49Us?a4Y iŐB =m$<eq@Do:k:4 Ph@%B*** querying acoustic contact ***i!i!Zf5Bf1Jf59:f1Je1:e5ܞ?d=d9*dA2dE^1^1^9^9r\u =z\u =\uY@\uP@)iM9)隭q8iIC 9DQDQDQEUp5 EQZAiM|>:J)BJ-9JJ)RJ-ZJ-J=gAI=dA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260179ZH9x,f\A:;@y: J@9:Y:P>>:H pB?? XJq?]?l?bo?:;@ɨ:; :^o9x,~\AG?>GGv,IG6BG. =GGG8<G FF;@yFI@9F5DYFg=>FH^@b(?`?Vr ?K'? Ԋ?cp?F;@ɨFˈ; F>CRBR+IV>iVt>HZbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762983HZ4j jK=YnhQ n>a٣a eGam3 m>q]u49uYs?a}4Yuƅ iuȐBy}eq@uDu ;uC ;u4 h@ZfBfJf9:fJe:ea@dd*d2d^^^^r\z\\\m@5D)ia9)u8iIB B gAZIbIZjI2rIzI5;I%:Ic3IIVc<qMIWc<iUI<uUI<Ce)9mDDDE1 EZA M%>qq}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015150}X9x,k\A2;@y2dI@92gkY2<>2H p@:?#??`ms@݇?`-L?`gx? 7q?2;@ɨ2Ԉ; 2?C>BB+IMb@Mb@Mb@ )Iy&1~jt?Mb`P= )S@Ii(l@H-H-4| >=YQ >٣ G >]49Zs?a4Y iːB}=m<$uq@D::$%4 =k@ZfBfJf9:fJe:ed@dd *d 2d ^^^^r\%}=z\%}=\%i[ @\%Pk@:J5BJ1JJ1RJ5ZJ5Egk)IiMH9)IMs8IiIQIYC;9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267045D!D!D!E%o5 E!ZA1MM1>H H  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188629x,\A6;@y6I@960/Y6C<>6H<>?`xO?`t3s?6%?c?q?6;@ɨ6ẗ; 4BBB+IHJHJ4R RY=YV)Q V>T٣T ZGX^9 ^>`]f49b\s?af4YbS ib͐BdfZI bI mjI rI zI ;I :Yk:x,% \AIiIiIm f<Im f<Im} <Im~ <G;@yI@9pY& <>H # ?4Q?cu k?X?@\? r?騍G;@ɨg; @CޥBޥ+IEBDAT read: Rx Time:19:23:11.5534 ETRx dataTimestamp_ set to:1736536992.231985Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024776}Mb@Mb@Mb@yy y)yIyy}Q롿I +?}\}9=} }h@)}P@Iyi}j@y}i@HHa4 0=YQ >٣ G >]49 ^s?a4Yc iАB=m <q@D ; ;34 *l@B*** querying acoustic contact ***iiZf%Bf!Jf%9:f!Je!:e%s @d5d1*d12d5^A^A^A^Ar\U=z\U=\U ?\U@@ep)aim9)imv8iiiqIqC}i?B}K?:JiBJm#9JJiRJmZJmC n9D hAzD  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275169Dm Di Di Eu 0 Eq ZA M >:x,f#\A6;@y6I@96Y6;>6H?Y?0`Yu`h???Z?q?6;@ɨ6; 6?CFBJ+IHVHVk4^n ^o=YbMQ b?`٣` bG`fX f?h]n49j_s?a=4Yj' ijӐBIMҕqU@jDj2G% <>G% CG% ],IG% "BG% 2 =G! G% 7DG% K<G% FS:x,=\A20;@y2I@92Y Y2<>2H  ? y?`g@Vubk?Y?`]?@fq?20;@ɨ2q; 0^,DAT read: user:1165> bBDAT read: Tx time:19:23:12.7948 b$Ping request sent.b ٣   G 'G >]%49V`s?a%4Y i֐B!%q%@D:):A41 5n@1ZfBfJf9:fJe@3S@:e@?dd*d2d^^^^r\1z\1\1\5\@EY )AiM9)IMv8yiyIZIbIjjI1rIzI;Ip:I3IIl<Il<I% <I& <Cj9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.247953D D D E P4 E ZA M >5:x,ձW\A:5;@y:I@9:@Y:;>:HU?@C?ud?p?@FV?`Jq?:5;@ɨ:; :@CFBF+IHJAMb@Mb@Mb@ )Iy rhV-?~jtx?C=; )S@IZd@im@H5H54E: EF=YMQpQ M>I٣I MGQUa U>a]m49eas?am4YeQ ieܐBmk=mu;uqu@eDe:e:eAH4y }#p@yZfBfJf9:fJe:e@g ?dd*d2d^Y^Y^Y^Y:JBJJJRJZJr\k=z\k=\?\#@@)i]9)Tv8iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499691C|9DDDEY3 EZAM>e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751813:x,q\A6u;@y6I@961Y6FA>6H?5z?~m ? ??h?6u;@ɨ6p; 4bvBb+IHrHrr4z' zP=YzQ z>|٣| ~G|zL > ]49 as?a4Y | i Bq@  D : ; O4! %q@!ZfMBfIJfM9:fQJeQ:eUP?d]dY*dY2de^i^i^i^ir\yz\y\y\}V!@1)i9)隭u8iICx9D)D)D)E-0 E)ZA9M]>G:>GGD,IGBG0 =GGG7<G Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003772ZI bI EjI rI zI $ ;I B:I I I D< )N@If@ij@h@H5H54Er= M*=YMQ M>I٣Q UGQU U>Y]49]as?a4Y]& i]B >m;¿q@] D]<]t<]W4 #s@B*** querying acoustic contact ***iiZfBfJf9:fJe:e?dd*d2d^^^^r\ >z\ >\W?\`@)iY9)隝u8iIC9D:J jIBJ 9JJ RJ ZJ  J I gA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508865D D D E o5 E ZA M >(:x,A\A%eB-t+I)5= 5=HUHU4e' eo=YiQ m?i٣q uGqq u?y]49}bs?a4Y}T i}Bq@}D}o:}{:}~]4 s@ZfBfJf9:fJe:ew?dd*d2d^^^^r\ z\ \ \ 1)9i=9)9=v89i9AIA-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759719CDiDqDqEu`5 EqZAM>G <>G G *,IG BG . =G G 8DG d<G FH˝C H˝CHH. ="H/ =*HB5r/:x,pa\A2?06checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012073v;@yvI@9v0Yv%<>vH@z??`~t`*q?6?]]?@n?v;@ɨv^/; vAC_Bn+IHH4%|ؼ %M=Y% AQ ->)٣) -G)5; 5>A]M49EObs?aM4YE iEBIMK¿qU@EDE/:E:E|d4]B ]xt@]EZfBfJf9:fJe:eԈ@dd*d2d^^^^r\)z\)\)\-}@]0)Yie9)aew8aiaiIiC9DADADAEE0 EIZAaM:>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2670145:x,w\A~VB~b+IMb@Mb@Mb@ )IyMbP?V-?/$?:h>< Q@)N@IZd@ig@HHx43 C=YQ >٣ G >]49ebs?a4Y6 iB>m;ƿq@D; :k4 u@ZfBfJf9:fJe:e@dd*d2d^^^^r\>z\>\)?\^@:J:KBJ9JJRJZJJ> J> ) i 9)Ex8iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516243C 9DDDE4 EZAM>>ZIbITjI0rIzI;I :Iـ3Iq@i@u@m@E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767785/<:x,\AJi;@yJI@9Jr6YJ;>JH@w?@O?`'~u`Ca?p̦?@P?n?Ji;@ɨJ; J?CVPBVZ+IHbHb4f jZ=Yj3Q j>h٣l nGl-~ ->1]E495vbs?aM4Y5 i5 BQ]ǿqe@5D5;5j;5r4i mqv@iZfBfJf9:fJe:e *@dd*d2d^^^^r\z\\\I@r6)i_9)y8iIGm4>GmCGm,IGmBGm1 =GiGm7DGm<Gm FC=9BDAT read: Rx Time:19:23:15.3041 TRx dataTimestamp_ set to:1736536996.011206checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020901DDDEo5 EZAM> C:x, \A-RG;@y-!fI@9-:Y-6;>-H@o`?l^?u` va? Q@?S? 5n?-RG;@ɨ-҇; -@CޥHBޥQ+Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272001mMb@Mb@Mb@ii i)iIiym~jth?{Gz?Zd;O?mD;m#>mj< m@)mR@Impe@iiimj@HH74 0=Y)Q >٣ G㗻 >]49xbs?a4Yk iB%>m;ȿq@D\:z:oz4 Xw@B*** querying acoustic contact ***iiZf5Bf1Jf59:f1JeY:e], @deda*di2dm^q^q^q^qr\%>z\%>\?\Ԗ@-:)1i59)152z8YiYYIa:Je BJe -9JJa RJe ZJe Jq Iq Cy D >D !> DAT read: Range 10 to 50 : 78.9 m (Round-trip 105.2 ms) speed 0.0 m/s - X#Rx 1: Read range message, but no direction.ة ح ̝B9ة  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.D D D E 0 E ZA M >0I:x,3&\AF0;@yFtOI@9Fl=YFg;>FH*?`?@oYv`n\? ?JP? n?F0;@ɨF; FCC~JB~S+IHH4e < ea=YmQ m>q٣y }Gy}x }>]49xbs?a4Y i!Bɿq@"D::΀4 $w@ZfBfJf9:fJeS@:e@~?dd*d2d^^^^r\z\\\˖@ZIbIjI1rIzI;I:I3Il=)i9)隽|8iI ,DAT read: user:1166> BDAT read: Tx time:19:23:16.5948 $Ping request sent.Ge *>Ge CGe +IGe ыBGe A =Ge IDGe 4DGe <Ge FP:x,g@\A2JDAT read: TxSync time:19:23:16.5940 6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251732>;@y>8I@9> BY>!;>>H糆?5? dd vW?A?~M?@m?>;@ɨ>; >@C=DB=L+I)M= Ma=HUHU=4e eJ=Ym4Q m>i٣i mGqub u>y]49}wbs?a4Y} i},B2ɿq@}&D}:}%:}ه4 w@ZfBfJf9:fJe:e?dd*d2d^^^^r\z\\\9Ö@ B)i9) }8 i  IC}9DDD!E%1 E!AAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.510443ZAM>0BV:x,@Z\A6e:@y64I@96EHY6m3>6H#3??EF{Q? T?I?`x?6e:@ɨ6c'; 6?CBBBBJ+IMb@Mb@Mb@ )IyʡE?Q?>< Q@)zL@I`@ie@HH4$ B=YQ >٣ G > ]49 bs?a4Y $ i 8B >m;ƿq@ *D e; ; :4! %x@)Zf]BfYJf]9:fYJeY:e]`l?deda*di2dm^q^q^q^yr\ >z\ >\?\Hl@EH)i9)隥8iI:JQBJU9JJQRJUZJU  :2[}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755335Ii)iC9D  G%SkA 9)mR-ymSkAmSBDmDqDqEu0 EqZAHHAAZIbIjI0rIzII\:Iـ3IM>= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010101|\:x,_t\A::@y:SH@9:.PY:6>:H^;'v?@?m? ?@??ut?::@ɨ:-; :>CDDHNHNK4Vō V_=YZVQ Z>X٣X ZGX^A ^>`]f49bbs?af4Yb ibBBdjǿqj@b-Db:b~:b4l nx@lZfBf Jf 9:f Je :e a?dd*d2d^!^!^!^!r\1z\1\1\5O@E.P)AiE9)IM48IiIQIQG.>GCG+IGNjBG5 =GHDG6DG <G FC% 9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259258DDDE1 EZAM k>Sc:x,E\Amt:@ymH@9mPYm8>mH@ [? \??`b{@??? p?mt:@ɨmך; m=C޵HB޽P+Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513484Mb@Mb@Mb@ )IyI +~jt?X9v?94>< ݀@)I^@i$n@ g@HH4%< %*=Y%PQ ->)٣) -G15 5>9]E49=(cs?aE4Y=` i=QBE@>mE;MqM@=2D=:=:=4Y ]qw@YB*** querying acoustic contact ***iiZfBfJf9:fJe:e`?d%d!*d!2d%^q^q^q^qr\@>z\@>\O?\䣙@P)i9)B8iICDDDE0 EZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763389:J NBJ -9JJ RJ ZJ 4~xsk^M;,e~i:x,ѧ\A2K:@y2jH@92;MY2:>2HB$K`4?@U?y`?c? ?o?2K:@ɨ2); 2?CBOBBY+IHJHJ4R-= R}=YV ;Q V ?T٣X ZGXZ Z ?)]-49-cs?a54Y- i-ZB15q5@-5D-:-):-4A Ev@AZfeBfaJfe9:fiJei:emY7@dudq*dq2du^^^^r\z\\\ꍙ@;M)i<9)H8iIZI}bI}gjI}1rIyzI};I}:I}3IyCDzDfADDDE`2 EZAM>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015104G 0>G CG G G 0 =G G G 0<G Ffp:x,\A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864>Y*:@y>(IH@9>LY>*!;>>H`*Og@H? ;Έ?@w.?G?o;?m?>Y*:@ɨ>N ; >=CDFZ+IHNHN4ZJ: ZI=Y^:Q ^>`٣` bG`b f>d]j49fcs?aj4Yf$ iffBlrJqr@f9Df"";fe";f4t vv@tZf BfJf9:fJe:eh\@dd*d2d^^^^r\z\\\+}@L)i9)8iI!C ,9DDDEP1 EZAM%> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520624v:x,;\A2":@y2lAH@92LJY2Y;>2HNk@?ʼn?wI5?"X?`B?@em?2":@ɨ2e; 2BC>UB>a+IIH)HMb@Mb@Mb@ )Iy~jt㥛 ?Q?>\= ~@)M@ICc@i;o@h@H5H5&4E< MA=YM:Q M>Q٣Q UGQ]u ]>a]m49eds?am4Ye iesBm>mm;mSqm@e<De:e:e$4 u@ZfeBfaJfe9:faJea:ee>@dmdi*d2d^^^^r\>z\>\Z?\z@LJ)i9)8iICH?Bu?U>QUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771066:J^NBJJJRJZJCD}DDE0 EZAM@>ZIM bIM tjIM 0rII zIM ,';IM :IM ـ3II  BDAT read: Rx Time:19:23:19.1048  TRx dataTimestamp_ set to:1736536999.791155 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023828|:x,c\A:v:@y:E5H@9:YIY:$;>:H@Y@q? J?w`*=? 1?`K?m?:v:@ɨ:zv; :>CRPBR[+IHZHZ4b׼ bS=YfG:Q f>d٣d jGhj( j>l]r49nJes?ar4Yn inBtvoqv@n@Dn";n";n4| ~kv@|Zf%Bf!Jf%9:f!Je!:e% @d-d1*d12d5^9^9^9^9r\Iz\I\I\Mt@]YI)aieV9)ae68aiaiIqC_9DIDIDIEM0 EIZAYMu>G2>GGGG. =GG7DGD<G FHuĜC HuěCHuĔCHu1 ="Hu4 =*HuĦ6echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274768G:x,B\AF:@yF%H@9F`HYF ;>FH]u@,?٣ GE >]49fs?a4YȤ iBq@DD::%4! %t@!EB*** querying acoustic contact ***iAiAZfBfJf9:fJe@3S@:e@7?dd*d2d^^^^r\z\\\k@`H)iD9)8i!I!Cm[9u ,DAT read: user:1167> } BDAT read: Tx time:19:23:20.3949  $Ping request sent. :J BJ 89JJ RJ ZJ ω:x,c&)\A>G :@y>+H@9>GY>;>>Hs?ಏ?vB?Xߨ?Q?m?>G :@ɨ> ; >@CF_BFm+IJ=iJ;llMb@Mb@Mb@ )IyI +ʡE?L7A`?94>+= h@)P@I`@ij@g@HH4-Y3< 5P=Y=[:Q =>A٣A EGAE~a: M>Q]]49Ugs?ae4YUD iUBes'>me;e뢿qe@UHDU:U:U4q ut@qZfBfJf9:fJe:e`?dd*d2d^^^^r\s'>z\s'>\-?\U@G)ij9)8iIByB}hAJDAT read: TxSync time:19:23:20.3941 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250374Cm9D D D E 4 E ZA M5 >G 6>G G +IG ыBG 0 =G G G <G F:x,B\A=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501911Z:@yZ!H@9ZIYZ<>ZH@5@qu!?յ? cvI?53?gZ?gl?Z:@ɨZՊ; XbiBbz+IHnHn94vj= vb=YvQ v>x٣x zGxz̺ ~>] 49hs?a 4Y iBq@KD#;[K;,4! %8s@!ZfMBfIJfM9:fIJeI:eU3Y?d]dY*dY2d]^a^a^a^ar\qz\q\q\uR@I)i9)隍%8iII3I;w3I;.I3I3I3ZImbImjIirIizIm\;Im:IiIiImt<q}Imt<iIm,<uIm,<mC9DD}DyDE0 EZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755611M>ޖ:x,_\\A~nB~+IMb@Mb@Mb@ )IyMbV-?y&1?h>`< )N@If@i$n@i@HH4< ==YQ >٣ G >]49Aks?a4Y1 iB ">m;q@OD::4 r@Zf%Bf!Jf%9:f!Je!:e-ޔ?d5d1*d2d^^^^r\ ">z\ ">\C?\7 @)!i%|9)!%8!i!5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005580)IQ:J BJ 9JJ RJ ZJ J? J ?CDm Dq Dq Eu P5 Eq ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257512:x,v\A) 6h9:@y67XH@96olNY6a>=>6H\g??tr? ʩ?@}?`Gj?6h9:@ɨ6; 4NqBR+IHZHZ4bI< b\=YbLQ b>d٣d fGdjn< j>p]v49rKms?av4Yr irBtvqv@rSDr:r:r64x ~8r@YZfBfJf9:fJe:e?dd*d2d^ ^^^r\!z\!\!\% )@=olN)9i=9)9=89iAAIICUr?BUJ?C9GU2>GQGU,IGUۋBGU2 =GQGU6DGUǰ<GUv FDEDADAEE0 EAZAQMu6>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509559ZI bI xjI rI zI ,';I :I I I 0<I 1<I k<I k<:x,\A~lB}+IHEHE=4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763445 0=YQ >٣ G >]49os?a4Y0 iđBq@XD;;l4 r@]B*** querying acoustic contact ***iYiYZfeBfaJfe9:faJei:em@dd*d2d^^^^r\z\\\)i(9)k8i!I!C%9D)zD-gADDDE3 EZAMg>M K?M p=U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013754:J BJ 9JJ RJ ZJ  &G lA ) t-y lA N B~:x,`\Ab#:@ybBH@9bCwBYb<>bH m ?!?u``?L?m?7l?b#:@ɨb{<; bACxB+IMb@Mb@Mb@ )Iyy&1y&1?L7A`?`e`=+= )jL@IZd@ij@g@HH44= W=Y-;Q >٣ GH1H5=U_ U>Y]e49]qs?am4Y]A i]ΑBu>m;'q@]ZD];]_;]-4B zq@޶EZfBfJf9:fJe :e @dd*d2d^^!^!^!r\5>z\5>\5T4@\5Ŧ@ECwB)AiEr9)IM,8IiIQIQC)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266116DDDE0 EZAMF>GM 5>GM CGM ,IGM BGM ) =GI GM 7DGM <GM F] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517458E:x,mT\AJ]:@yJ,0H@9J;=YJ<>JH@o5-t ?`?`cu a? ?C11HUHU4e: eR=Y;;Q >٣ GHA >]49ss?a4YO iؑBYq@]D;;4 sq@ZfBfJf9:fJe:e @dd*d2d^^^^r\z\\\w@%;=))i-g9))-g8)i)1I1B9B9C9DDDE EZAM >ZI=$bI=jI=1rI9zI= =;I=:I=3I9I=<I=<I=E<I=E<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771467,:x,D\A2Z:@y2)2H@92B2H t d?? u@Y?5? g?m?2Z:@ɨ2V; 2BCB|BB+IMMb@Mb@Mb@II I)IIIyMx&)\(?~jt?M7MG=M< M~@)MS@IMg@iMhq@IM(l@HeHe4u< uJ=Yu݁:Q }>y٣y }Gy49 >]49us?a4Yi iB(>m;rq@aD;;4 p@ZfBfJf9:fJe:e  @dd*d2d^^^^r\(>z\(>\=@\!@B<)io9) 8i!I!BDAT read: Rx Time:19:23:22.9056 TRx dataTimestamp_ set to:1736537003.571167checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022588C%9D5>D5>DDDE EZA:JFKBJJJRJZJM$>HQHU@A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273512V:x,\A6 :@y6(H@969Y6ժ<>6H`v@?ߌ?`u^?`.?m?m?6 :@ɨ6; 6?CNyBR+IHVHV4b{ bV=Yf:Q f>d٣h jGhjǺ j>l]r49nxs?ar4Ynw inBtvqv@ndDnh:n2:n4x z[q@zEZfBfJf9:fJe!:e% @d-d)*d)2d-^1^1^1^1r\Iz\I\I\M@]9)aie9)ae8aiaiIiC-9G<>GCG,IGBG% =GG8DGf<G FDDDE4 EZAM )>-DAT read: Range 10 to 50 : 79.9 m (Round-trip 106.6 ms) speed -0.1 m/s --X#Rx 1: Read range message, but no direction.!%̟B9!5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ZIe 0bIe jIa rIa zIe lF;Ie :Ia Ia Ie 0<Ie 0<Ie <Ie <>:x,6\AR :@yRP(H@9R!9YRd<>RH lw`? ?`u |Y?:"?h?Vm?R :@ɨR; R=Cn|Bn+IHzHz45< 5D=Yep9Q m>,DAT read: user:1168> BDAT read: Tx time:19:23:24.1449 $Ping request sent.]49zs?a4Y iBq@gD@<?~<4 p@B*** querying acoustic contact ***iiZfMBfIJfM9:fIJeUS@:eU?d]dY*dY2d]^a^a^^r\z\\\@!9)iV9)ۜ8iICX?B]?5 JDAT read: TxSync time:19:23:24.1441 = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246619C 9D :J iJBJ -9JJ RJ ZJ D] DY DY E] 0 Ea ZAq M >h:x,+\A2&:@y2"H@92T9Y2<>2H @_x?`Ք?uJX?@G? g?am?2&:@ɨ2ͮ; 2?CR}BR+IMb@Mb@Mb@ )IyQX9v??u=< )P@If@im@=j@HH4%; B=Y˘8Q >٣ G^ >]49|s?a4Y iB]>m;q@jD. ; ;&4 p@Zf Bf Jf 9:f Je H%C=H%p=:e?d=dA*dA2dE^I^I^I^Ir\]]>z\]]>\]_@\]@mT9)qiu9)qu8yiyyIC9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498513DDDE@5 E ZAM5.>G :>G CG $,IG BG 0 =G G 7DG A<G FHɝC HɝCHH0 ="H- =*H6E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749888P:x,jE\A6:@y6$H@96 >Y6u2>6HW`y@?a?1?L? -?`{?6:@ɨ6~; 4PR+IHZHZx4bL b[=YbWQ b>d٣d fGdj9 j>h]r49jr~s?ar4Yj ijBtvԌqv@jnDj;j):j4x zp@xZf%Bf!Jf%9:f!Je!:e% ?d-d)*d12d5^9^9^9^9r\Iz\I\I\Mڥ@ >)i99)=8iIC39DiDiDiEm05 EiZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003122z:x,^_\A:9@y:G@9:z]AY:/4>:Ho`m̈́`w? ,?`H@b?c)?z?pw?:9@ɨ:; 8J~BJ+I%Mb@Mb@Mb@!! !)!I!y%S㥫`"??%/]%=! !)!I!i%;o@!%j@HEHE4Uw; UA=YU]Q ]>Y٣a eGae) e>i]u49m^s?au4Ym^ im B} >m};}=q}@mqDmz ;m] ;m4 p@ZfBfJf9:fJe:e?dd*d2d^^^^r\ >z\ >\r?\@z]A)iw9)隕8iIBBeAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254019C09DzDeA:JBJk9JJRJZJD%D!D!E%_5 E!ZA1MU1>ZI=(bI=jI=2rI9zI=,@;I=:I=c3I9qE@iE@uE@mE@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505876Ĥ:x,9y\A6e9@y63G@96BY6 7>6H Ω?ӕ?| Ӷ?@?.? gs?6e9@ɨ6h; 4R}BR+IHZHZ4bƻ bT=YfQ f>d٣d jGhjܻ j>l]r49ns?ar4Yn inBtvqv@ntDnu:n:n"4x zp@xuDetached at range: 79.90 m. Transitioning docking module to standby.ZfBfJf9:fJe:e`?dd*d2d^^^^r\z\\\@%B)!i-9))-ơ8)i)QIQC->9GGG*,IGBG1 =GGG<G FDDDE`5 EZAM )>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757757׌:x,\A2R9@y2uqG@92a?Y2?:>2HgА? aޙ?dx? ??@cp?2R9@ɨ2<; 2@CRsBR+IHZHZD4n< rI=YrX:Q v>t٣t vGtz z>|]49~s?a 4Y~ʷ i~B  q @~xD~S;~ ;~)4 r@2f=Zf=Bf9JfE9:fAJeA:eM @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021962d d *d 2d^I^y^y^yr\z\\\ܑ@a?)i9)隵8iIC-b9"=&Changing to mode: 1"=Standby mode.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274668" 2Commanding positive:54463D D D E 0 E ZA M >:J] BoHBJ] 9JJY RJ] ZJ] :x,\A>H9@y>OgG@9>AY>:>>H(Y? m?gwX ?`y? -?Yo?>H9@ɨ>nj; >٣ GT >]49Js?a4Y i)BHH4=ZI0bIjI1rIzIlF;I\:I3IG=m5;5q5@{D<<_14A Eap@AB*** querying acoustic contact ***ii2fZfBfJf9:fJe:eս@dd*d2d^^^^r\G=z\G=\?\@EA)Ii9)8iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.525739C9G G G G G 2 =G G G 3<G FD D D E 0 E ZA M >8:x,\A>%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778109:J19@y:PG@9:jAY: {;>:H@@rM?I?u!"?+?DG?n?:J19@ɨ:?ό; :@CddHrHr05vR zU=Yz+Q z>|٣| ~G|r > ]49 s?a4Y  i 2Bŝq@ }D : ; 84! %np@!2fIZfMBfIJfM9:fQJeQ:eU@0@d]da*da2de^i^i^i^ir\yz\y\y\}@jA)i9)隝Υ8iID!DDE25 EZAM>BDAT read: Rx Time:19:23:26.6563 TRx dataTimestamp_ set to:1736537007.363221checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031409:x,\A6@9@y6_G@968EY6;>6H 瓑?? v%??@-I?m?6@9@ɨ6c; 4^B^+IuMb@Mb@Mb@qq q)qIqyuZd;Oi|?5?Q?uju=u\= q)uU@Iuf@iqqul@HxH&5= ?=YQ >٣ G; >]49Rs?a4YN i>B7>m;q@DE::?4 o@2fZfBfJf9:fJe:e: @d d *d 2d ^^^^r\-7>z\-7>\-?\-JO@E8E)AiE9)AE8AiIIIQ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282881I)C ~G%kA 9)e/ymkAm!BDu#DqDqEu?5 EqZAM>:J=BJ=9JJ9RJ=ZJ=J]? J]?ZI>bIjIrIzI[Q;I?:II% DAT read: 19:23:26.6563 LVL= 13088, 20225, 9874, 19491, AGC= 52, IDX= 439, 0.04,-2.381,-1.708, 0.208,-1.221, PHS=-1.073,-0.440, 1.425, RAW= 224.1, 0.8, CAL= 224.7, -3.3, ROT= 285.3, 3.3 - Ygot valid direction response: 19:23:26.6563 LVL= 13088, 20225, 9874, 19491, AGC= 52, IDX= 439, 0.04,-2.381,-1.708, 0.208,-1.221, PHS=-1.073,-0.440, 1.425, RAW= 224.1, 0.8, CAL= 224.7, -3.3, ROT= 285.3, 3.3 5 PDAT read: Bearing 285.3, 3.3 (Local) 5 ~Local bearing/azimuth received: Bearing 285.3, 3.3 (Local) = DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.3 ms) speed -0.1 m/s E R#Rx 1: Read range and direction messages.M `direction in FSK: [0.263435,-0.962958,-0.057564]U Fpublishing direction and range info Y "?E`8.y ̠B9 3 O) &I #Li 4 X G ff? vRz@ d<) z@I ki qW@ k= `?J1Ͽ7[9?DS?I (?i b ᦿ k=  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.:x,\AnBn+IHvHv%.5 O  T=Y Q >٣ 5G9= =>A]M49Es?aM4YEo iEIBIIqU@EDEP:E:EUF4y }o@yZj`.l?bj iik\Aj̠BjB2jX)?pOM˼ .5@r_NZSr7)9zp"?E`8.y"jᦿ*jk=p5w$z4:n|R@2^T1pϿT;bO/?h2q ̿iBj{i镝l?i;h  jPBzjgl?jj jnBjjBrj?2f1Zf=Bf9JfE9:fAJeMT@:emJ?dudq*dy2d}^^^^r\z\\\)i9)8iIG59>G1G1G1G1G1G1G5<G5 FD&DDE EZAM!>=,DAT read: user:1169> EBDAT read: Tx time:19:23:27.9949 E$Ping request sent.M2H?p?iu 5??@Z?k?2jI9@ɨ2B; 2=CBBB+IHJHJ(*5f fO=YfQ j>h٣h jGhnܬ: n>t]z49vӈs?az4Yv ivTBxz̮q~@vDv;vY;v0M4  np@JDAT read: TxSync time:19:23:27.9941 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2555142fZfBfJf9:fJe :e=z?d d *d 2d ^^^^r\az\a\a\e\@}"N)i9)隥8iID])DYDYE]43 EYZAiM[>M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825:J BJ -9JJ RJ ZJ J I ; ;x,}A.\AVKM9@yVlG@9VTYVP<>VH @ ? L2? u 4??X? Sk?VKM9@ɨV/; V@CfBf+IMb@Mb@Mb@ZIbIjIrIzI.;I:II )Iy:vCl?X9v?T;=< )IiH IH 5< 6=Y%sQ %>!٣) -G)- : 5>1]=495Qs?aE4Y5ž i5`BE=mE;EҸqE@5D5:5:5T4I Uo@QmB*** querying acoustic contact ***iiii2fyZf}BfyJf}9:fyJey:e}`?dd*d2d^^^^r\=z\=\A?\Fۚ@T)iw9)隽_8iIBBCBDQzDUgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.756503D+DDE@5 EZAM-->G) G- CG) G) G- * =G) G- 8DG- J<G- F] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006751f;x,o*H\AF?9@yF^G@9FJ^YF4:>FH@ zJ̭?@N ?>xl? gѫ? ?`m?F?9@ɨF$Í; F=Clp)~= ~=H :H # 5%N %[=Y-ѻQ ->1٣1 5G1= =>A]U49Es?a]4YEǿ iEiBY]ϸqe@EDEsQ;ER;E[4q uo@y2fZfBfJf9:fJe:e?dd*d2d^^^^r\qz\q\q\uۚ@J^)i9)隭8iID}.DyDyE}?5 EyZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258828;x,a\A~B~+IMb@Mb@Mb@ )Iy{GztA`"?l?ף== @)Ih@is@n@H9H 5 B=YQ >٣ G >]49s?a4Y iuB)=m;q@D5;3;b4 p@2fZfBfJf9:fJe:e?dd*d2dchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511681^^^^r\%)=z\%)=\%^?\%p@9)9i=9)AE8iI:JBoHBJ9JJRJZJDP1DDEO2 EZAMj> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762845_A;x,{\A~B|H nH ."5H U=Y!Q %>!٣! -G)) ->1]u495s?a}4Y5 i5Byyq}@5D5<5#<5i4 (p@2fZfBfJf9:fJe:e`@dd*d2d^^^^r\z\\\)i9)8iID ?D ?GE:>GECGAGAGE, =GAGAGEH<GE FH HH“CH1 ="H/ =*Hu6D3DDE/5 EZAM>%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014898ZI bI jI rI zI ;I :I I I /r<q I 0r<i I <u I <m )%;x,\A~B+I%=i%<)-AH5cH5N5E EH=YAQ M>Q٣Y ]Gai m>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268070]49Is?a4Y iBq@D;';p4 p@2fZfBfJf9:fJe:e ݁@dd*d!2d%^)^)^)^)r\9z\9\9\9I)QiU9)QU8QiYaID_6DDE@5 EZA)MMR>- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518808:J5 BoIBJ5 9JJ1 RJ5 ZJ5 OS+;x,\A2_9@y2~G@92oY2ϸ<>2H`oR@?4?uE??j?`ug?2_9@ɨ2.; 2?CN}BR+I-Mb@Mb@Mb@)) )))I)y-Mb`{Gz?Q?--ף=-< ))-KW@I)i-hq@))HEgHE5Mܻ MJ=YUD*Q U>٣ Gȗ;  >]49bs?a4Y iB%=m%<%0Ŀq%@Do:k:5x4) -p@)}B*** querying acoustic contact ***iyiy2fZfBfJf9:fJe:e^@dd*d2d^^^^r\=z\=\B?\@ o) iU9)Y]8YiYiIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771407Db8DDE  E ZA1Mm5>G5 ;>G5 CG5 1,IG5 BG5 - =G1 G1 G5 <G5 F= BDAT read: Rx Time:19:23:30.5070 E TRx dataTimestamp_ set to:1736537011.143162E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023904:2;x,Z\A5x{9@y5FG@95sY5<>5H@cr`?3N?[uD?`o?(g?-g?5x{9@ɨ5; 1UlBU}+IH\H45ޡ E=YUQ >٣ G; >]49{s?a4Y} iBÿq@D:q:4I Mr@I2fqZfuBfqJfu9:fqJey:e} @dd*d2d^^^^r\z\\\@s)ip9)隽8iIZIbIjIrIzI$;I ;IIIU~<IV~<IU<IU<Cu9Dychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276575D- ;D1 D9 E= 0 E9 ZA M% >e8;x,9\AfRz9@yf G@9f(wYf<>fH2d@?? ;`?@t=M?J?@Lp?Qf?fRz9@ɨf; f>CniBnz+I)v= vp=Mb@Mb@Mb@ )Iy{GzT㥛 ?L7A`?#=+= )U@Iiw@p@HfH5uk H=Y Q >٣ GE4 >]49ߊs?a4Y iB=m8<q@DM::34 Hs@2f!Zf%Bf!Jf%9:f!Je!:e% @d-d)*d12d^^^^r\=z\=\6?\I.@DAT read: Range 10 to 50 : 81.0 m (Round-trip 108.0 ms) speed 0.0 m/s - X#Rx 1: Read range message, but no direction.B9 T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.=(w)9i=9)9=Ӱ8AiAAIIC)Dz=DDE@5 EZAMF>:J=BJ=9JJ9RJ=ZJ= ,DAT read: user:1170>  BDAT read: Tx time:19:23:31.7449  $Ping request sent. ;x,I\AR9@yRҵG@9Rd{YR)<>RHf?@?9v@f8?\?*X?f?R9@ɨRb; R?C^WBzc+IH{H'5e eQ=YePQ m>i٣i mGiuy; u>]49As?a4Y iB;q@D2:2:4 u@2fZfBfJf9:fJe@T@:e%@q?d%d)*d)2d-^1^Q^Q^Qr\iz\i\i\mA@}d{)yi9)隅ǯ8iIBhABhAG=>GG*,IGBG. =GGG<G FJDAT read: TxSync time:19:23:31.7441  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251053C}9D?DDE0 EZAM%>I#I+23I+L.I#I#I#ZI bI jI 2rI zI %;I #:I c3I I <I <I *<I *<vE;x,\AF9@yFܶG@9F?~YF;N<>FHR @d?`ф? v Zt٣x zGxzl+9 z>]49s?a 4Y? iB  !q @DS::ӓ4 v@uE4Docking module at standby.ZfMBfIJfM9:fIJeI:eM`?dUdQechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502396*dQ2de^i^q^q^qr\z\\\G@e?~)iiu9)8iI C9DzDhA  G   checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754856)U ayY ] PBD D D E 0 E ZA M >vK;x,`0\A:J2KBJ2k9JJ0RJ2ZJ2Zz9@yZHG@9ZѦYZ%?>ZH@szk? +N?$r@?Ѱ??@M`?Zz9@ɨZ<; Z?Cb9Bf>+IjR=ij=hjAUMb@Mb@Mb@QQ Q)QIQyU/$V-? rh?UUh=UC = U…@)UKW@IUj@iUI|@QUr@HmHm4} }A=YQ >٣ GV; >HR=HR=]49qs?a4Y i’Bۦ=m"<+q@D[;Y;74 Ny@ue8Undocking sequence complete.:m;mJei:em@G?dd*d2d^^^^r\ ۦ=z\ ۦ=\ #?\ ġ@ѦI%9)!i%E9)!%8!i!IIQuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006462C59D?DDE0 EGA>GG,IGBGGGG<G FZA M >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258487nR;x,J\Ab9@ybH@9bYbD>>bH`xkn`?`?s|??q?@Va?b9@ɨbE; b>C%3B%7+IH5H54E EM=YM#Q M>I٣I UGQUi; U>Y]e49]6s?ae4Y] i]˒Bam̜qm@]D]1.;]>/;],4y }z@yB*** querying acoustic contact ***iiwHTransitioning to midcourse guidance.;;Je:e1?dd*d2d^^^^r\z\\\ܡ@)i9)&8iIC >B>ZIbI{jIrIzI,;I@:III<I<I<I<C9" PauseDzDDDuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510226ZA M >X;x,d\A~"B~"+IMb@Mb@Mb@ )Iy rh!rh?~jt?C l== ن@)xY@Im@is@ @AHH4 C=YQ >٣ G >]49~s?a4Y iגB=m;q@DX; ;4 5|@jf%@;%u-Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:- u-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guidet-Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockJe):e-?d9d9*d92d9^A^A^A^Ar\]=z\]=\]x?\]|m@q)qiu9)qul8yiyyIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762076C[9:JJBJ9JJRJZJJ> J%?ZAMe>HHAA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014091m^;x,Y~\A)@ >9@y>G@9>5Y> =>>Hwvy'??@7uzZ? ?@s?c?>9@ɨ>HS; >@CFBF +IHRHR75Vs׽ Z^=YZ;Q ^>\٣` bG`bg b>d]j49fs?aj4Yf ifBlnמqn@fDfQ;f ;f4p r~@p1<  x Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq< x Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide=  { Initialize.= { Initialize.<ffHBfL?<yAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1=zpTransitioning to terminal guidance at range 81.000000 m 1=%q=%y-Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )<-1>- |-:Initialize WaypointComponent.=|5ZNavigating to waypoint: 36.903300,-122.119000Je1:e5`i@dE"dE ? dEdE^I^I^I^Ir\az\a\a\eY@ius:ɛu ?Iu&>u9I}@)}\4)y}yi}0庉IAG}>>GyG}+IG}ыBGyGyGyG},<G} Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266514C9ZA)MUS>e;x,m9\AJ9@yJG@9JWYJO<>JHqx?sy?MvA??`[?e?J9@ɨJdq; J?CVBV*IHvHv3A5z'. ~F=Y~#H:Q ~>٣ G  > ]49 ِs?a4Y  i B!%q%@ D S.; .; )4) -@-޶EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518243fefeC@fagafefafirfm@q=mymCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange@d"d dd^^^^r\z\\\US@i9ɛI>))i"rR=ɠKi%%)>(kpHeading = 0.400000I:(kiHeading = 0.001000#iaI5@ 5@IBgABC9>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770311ZA M >k;x,?\AFS9@yF"G@9FNHYF<>FH`~I??v5?`)f?@4R?e?FS9@ɨFL; DNBN*I:J^BJ^9JJ\RJ^ZJ^=Mb@Mb@Mb@99 9)9I9y=~jt"~j?kt?=D=S== 0= 9)=U@I9i99=3s@HMHMS<5] eD=Yey:Q e>i٣i mGim"a u>y]}49}s?a4Y} i}Bn>m;q@}D}b:}:}v4 +@ZIbIjI1rIzI+;I\:I3Iq@i@u@m@H% %~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal1A5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqA55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideB= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlB==Initialize.1C= =Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqC==Initialize.C=C=AEgEh7gEh71CE MAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCMmDReached init depth of 69.472618 m.bgujguBu$Terminal guidance.Au1Du uInitialize. udInitializing internal variables to default values.uZTransitioning guidance mode to: UNINITIALIZEDiq}DRollout timeout set to 300.00 sec.=VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCEi?1< xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq<xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide= {Uninitialize.=1> |>Uninitialize WaypointComponent.ee<jeJe:e@ @dd*d2d^)^)^)^)r\=n>z\=n>\=N?\=S@uNHIu<)uiu9)y}yiyIUBDAT read: Rx Time:19:23:34.2577 UTRx dataTimestamp_ set to:1736537014.924139]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024121E9ZAM=>Gu<>GqGu+IGuBGu- =GqGqGu8<Gu FH=ȞC H=ȞCH9H=. ="H=. =*H=W?5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274847\r;x,\A:ѵ9@y:G@9:Y:C;>:H@}@??w{?@R?:?g?:ѵ9@ɨ:W; 8nBn*ItvAHzHzs755 =M=Y=@:Q E>A٣A EGAM+4: M>Q]]49UHs?ae4YU$ iUBaeqe@UDU4;U5;Um4i uk@qB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 81.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 i"i Added new target pos. range: 80.400002 m, bearing: 104.816135 deg, lat: 36.903912 deg, lon: -122.119090 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2iDNOT Ignoring new targets: 80.40 m.i"i ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.111832 m, bearing: 105.651821 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 178.881917 deg, new cmd heading: 105.651821 deg. HeadingCmd: 1.843972 target range: 80.400002 and range: 81.00 m.hG?hhhhL?ggbgjg9 sAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy9s@Uninitialize Buoyancy Component.8q|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass19q9rUninitialize.Je:e`u @d"d  d d ^^^^r\z\\\S@iMs:ɛQIUk>Uc`IU@)U)Y]Yi] $ie')L?5(kpHeading = 0.800000I5;=(kiHeading = 0.004000= IEG?IEAQQeDAT read: Range 10 to 50 : 81.3 m (Round-trip 108.5 ms) speed -0.2 m/s -mX#Rx 1: Read range message, but no direction.Y]B9YmT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.^D8" Resume2E*EBE:EZA M= >y;x,\AnҊBr*IMb@Mb@Mb@ )Iy)\(jt?{Gz?Ga >#= @)[@Ij@izt@HkH 5 C=YQ >٣ G >]49Gs?a4Y iB3/>m;q@D: ; ;4 %@ addTargetRange:: Added new target pos. range: 81.300003 m, deltaT: 3.780029 s, deltaX: 0.300003 m, approachRate: 0.079365 m/s, rangeRepo size: 2 2i%DNOT Ignoring new targets: 80.40 m.i%G@9"i-G@95 ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.178177 m, bearing: 105.656222 deg, approach rate: 0.158519 m/s, LOS rate: 0.010506 deg/s, cmd heading: 105.651818 deg, new cmd heading: 105.656222 deg. =HeadingCmd: 1.844049 target range: 80.400002 and range: 81.30 m.h= ?hAhAhAhAgIgIbgMjgM\B9M sUAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy9UsUz\3/>\O1?\Om@i9ɛI>))隡ii(+I ?,DAT read: user:1171> BDAT read: Tx time:19:23:35.4950 $Ping request sent. JDAT read: TxSync time:19:23:35.4942  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258276O.;x,\\AFt9@yFCG@9F/:YF;>FH 'AP?uM?+w*!? wD?5C?f?Ft9@ɨFU; F=CbNJBb*IHjHjr4r_ rX=Yr:Q v>t٣t vGtz z>|]49~s?a4Y~B i~ B ߚq @~D~:~:~\4 Ƀ@E2iAMDNOT Ignoring new targets: 80.40 m.iM>99"iM>99e ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.237793 m, bearing: 105.660056 deg, approach rate: 0.157539 m/s, LOS rate: 0.010122 deg/s, cmd heading: 105.656224 deg, new cmd heading: 105.660056 deg. mHeadingCmd: 1.844116 target range: 80.400002 and range: 81.30 m.hm ?hihihihigigqbgujgqeye}<jeyJey:e}?d"d dd^^^^r\z\\\W@iɛI>Q))i4iI0I ?IG;>GG+IGBG+ =GGG <G F^D%J"% Start "-4Initializing EZServoServo.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503235 "8Initializing DockingStepper.VF nF} AZA M >A;x,g\A2ً9@y2G@92~Y2?>2H`-@jd@z,?F?p?l?? `?2ً9@ɨ2$; 2>C:B:*IHF HF4NQ NO=YRpͺQ R>RL?٣VL? VGV՚FV8 V>X]^49Zs?ab4YZ iZ.B`bqb@ZDZ ;Z;ZA4d jք@h2ix~DNOT Ignoring new targets: 80.40 m.i,<9"i,<9 ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.299995 m, bearing: 105.664103 deg, approach rate: 0.158144 m/s, LOS rate: 0.010282 deg/s, cmd heading: 105.660055 deg, new cmd heading: 105.664103 deg. %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754817-HeadingCmd: 1.844187 target range: 80.400002 and range: 81.30 m.h-N?h)h)h)h)g)g1bg5jg1ee<jeJe:eu?d"d dd^^^^i)ɛ)I5>ubz)q)qyyi}6i}6U6mIN?IC=C=^D:!"StartingVF2UFZAME>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006579=;x,V3\A29@y2G@92>̄Y2<>2H@]K}X6?@_Ǔ?u@GM??.j?@Bd?29@ɨ2; 2=CNBR*I:JBJ89JJRJZJuMb@Mb@Mb@qq q)qIqyuv/bX9?:v?uxiuE6>uT= uن@)u]@Iu;o@iqquu@H H4 <=YQ >٣ Gٷ; >HC=H=ZIbIzjI1rIzI3;I:I3I]49s?a4Y i?BF>m;pq@D;;4 @@2i  DNOT Ignoring new targets: 80.40 m.i9"i9% ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.376846 m, bearing: 105.667896 deg, approach rate: 0.175112 m/s, LOS rate: 0.008634 deg/s, cmd heading: 105.664106 deg, new cmd heading: 105.667896 deg. -HeadingCmd: 1.844253 target range: 80.400002 and range: 81.30 m.h-y?h)h)h)h)g1g1bg=jg=DBe9e=<je9JeA:eE.?dM"dI dIdM^Q^Q^Q^YiqɛI>))  1i5YUi=+GGGo+IGaBG, =GG7DG<G F checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511104%;x, 3M\A29@y2G@92-Y28>2H`{հ?g?z`?"? ?j?29@ɨ2B; 2?CJBJ*IHr7Hr 5zL zU=Yz6;Q z>|٣| ~G~֚F > ]49 s?a4Y e i OBםq@ D ٕ; Ԗ; 41 =݅@9]B*** querying acoustic contact ***iYiY2iimDNOT Ignoring new targets: 80.40 m.iuU9"iuU9 ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.444534 m, bearing: 105.671073 deg, approach rate: 0.176303 m/s, LOS rate: 0.008269 deg/s, cmd heading: 105.667896 deg, new cmd heading: 105.671073 deg. HeadingCmd: 1.844308 target range: 80.400002 and range: 81.30 m.hJ?hhhhggbgjgee<jeJe:eR?d"d dd^^^^iɛI>O0)*%)irsi@˽IJ?I^DA"Starting"mBInit string: /1z16335aE13561N3m50=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762405VF- ^'&F! ZAQ M >O;x,g\A6b9@y6G@96s9xY64>6H `M@eY? 8֘?@b 3?R?@BZ?r?6b9@ɨ6; 4RBRy*IId)fC 5~GI a)0y"BEMb@Mb@Mb@AA A)AIAyEy&1J +?i|?5?E`eEH>Eq= E@)AIAiEv~@AEw@H]<H] 5e`t m5=Yms;Q m>q٣q uGuךF} }>y]49}(s?a4Y} i}cBMY>mz;q@}DՕZ?Օ4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014804}8:};}u4 @2iDNOT Ignoring new targets: 80.40 m.i8"i8 ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.531578 m, bearing: 105.672783 deg, approach rate: 0.192870 m/s, LOS rate: 0.003785 deg/s, cmd heading: 105.671072 deg, new cmd heading: 105.672783 deg. HeadingCmd: 1.844338 target range: 80.400002 and range: 81.30 m.hD?hhhhggbg jg )))   i  iYFG!M`IIMD?IQCMgACMfA:JQBJU9JJQRJUZJUHH?AZIbIRjI0rIzI4.;I:Iـ3I^D ," StartingM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266467Ei G7>GCGC+IG=BGGGG=<G FVFU8dF!ZA1MM?Ͳ;x,\A6J9@y6uiG@96^oY6->6HH ꏿ?? Z?QU??c~?`z}?6J9@ɨ6l; 4VBV*IH^EH^5f< f6=Yj;Q j>l٣l nGnؚFn(X n>p]v49rKs?av4Yr irxBxq@rDrs;rs;rK4  f@ 2i9=DNOT Ignoring new targets: 80.40 m.iEGn8"iEGn8U ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.618225 m, bearing: 105.674241 deg, approach rate: 0.193667 m/s, LOS rate: 0.003255 deg/s, cmd heading: 105.672780 deg, new cmd heading: 105.674241 deg. ]HeadingCmd: 1.844363 target range: 80.400002 and range: 81.30 m.h]?hYhYhYhYgYgabgejgieieu<jeqJey:e}7@d"d dd^^^^iɛIc>))i>iE@E=I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518500^DMh"%"MStartingE%<VFQpuFZAMH>e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770348xڧ;x,\A9@y3G@9fY %>H@®?@¶?@v`n?࿬?X? ?騍9@ɨ ; =CB*IMb@Mb@Mb@ )Iy{GzCl?Zd;?#O>y= )IiHKH5,< +=Y;Q %>!٣! %G!- ->1]=495s?a=4Y50 i5B=\>m=v;EqE@5D5M:5I:54I M#@I2iq}DNOT Ignoring new targets: 80.40 m.i}6"i}6   ProNav pure pursuit: ac range: 80.400002 m, nav range: 78.711746 m, bearing: 105.669475 deg, approach rate: 0.196252 m/s, LOS rate: -0.009990 deg/s, cmd heading: 105.674242 deg, new cmd heading: 105.669475 deg. HeadingCmd: 1.844280 target range: 80.400002 and range: 81.30 m.h`?hhhhgg!bgEjgEFBeIeM<jeIJeI:eMg @dU"dY dYd]^^^^iɛI>rl))i$i2e>@I?>I`?ICX?B`?BDAT read: Rx Time:19:23:38.0084 TRx dataTimestamp_ set to:1736537018.704944checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025248C 9C C C C :J BJ JJ RJ ZJ H9 H= 4=ZI bI OjI 1rI zI $9;I q:I 3I u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274312" Starting2E eA*E eAE̬<G=5>G=CG=*+IG=)BG=1 =G9G9G=<G= FVF:FaZAqM#?V`;x,\AmBm*IIq)q)}= }=H9H 5DAT read: 19:23:38.0084 LVL= 15504, 20801, 11762, 22259, AGC= 54, IDX= 428,-0.12, 2.240, 2.898,-1.494,-2.911, PHS=-1.044,-0.427, 1.414, RAW= 224.0, 0.5, CAL= 224.4, -3.8, ROT= 285.6, 3.8 Ygot valid direction response: 19:23:38.0084 LVL= 15504, 20801, 11762, 22259, AGC= 54, IDX= 428,-0.12, 2.240, 2.898,-1.494,-2.911, PHS=-1.044,-0.427, 1.414, RAW= 224.0, 0.5, CAL= 224.4, -3.8, ROT= 285.6, 3.8 PDAT read: Bearing 285.6, 3.8 (Local) ~Local bearing/azimuth received: Bearing 285.6, 3.8 (Local) DAT read: Range 10 to 50 : 81.9 m (Round-trip 109.3 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.268329,-0.961045,-0.066274]Fpublishing direction and range infoؑYؕbL,?#tU{ṢؕB9ؑؕ< ٕAQ)ٕ-IٕViٕ6ٕˡٕھٕ?ٕ5z@ ڕ5<)ڕ>z@IڕԇiڕW@ڕԇ=ڑ ۑەyο/ ??Iە??iەە6ەԇ=ۑ ܑ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.P =Y Q  > ٣   GٚF >]e49s?ae4Yi iBaaqm@D$<$< 4q uM@qZj=ƒl?bj? ii7\Aj̣BjB2j:?pNL5@4yiS/_fzpbL,?#tU{S"j6*jԇ=p4c'\S@&V*f0p>/пXϰA?eg=ʿiBjidl?iD  jRBzjdl?j;h jgBjj̟Brjʠ? addTargetRange:: Added new target pos. range: 81.900002 m, deltaT: 3.779847 s, deltaX: 0.599998 m, approachRate: 0.158736 m/s, rangeRepo size: 3  Added new target pos. range: 81.900002 m, bearing: 104.975051 deg, lat: 36.903917 deg, lon: -122.119076 deg, deltaT: 11.339123 s, deltaX: 1.500000 m, approachRate: 0.132285 m/s, posRepo size: 2 2iDNOT Ignoring new targets: 81.90 m.i"i ProNav: ac range: 81.900002 m, nav range: 79.898697 m, bearing: 105.024988 deg, approach rate: 0.000000 m/s, LOS rate: -0.009990 deg/s, cmd heading: 105.669474 deg, new cmd heading: 105.648996 deg.  i5f۹=HeadingCmd: 1.843923 target range: 81.900002 and range: 81.90 m.h=?hAhAhAhAgAgAbgMjgIeIeM<jeQJeUyT@:eu qV?d}"dy dd^^^^iɛI-?))iȼi\5@9x>I?IC9"Starting"mLSent speed cmd:/1V10000 Response:/0@ EE<VF E ,DAT read: user:1172> M BDAT read: Tx time:19:23:39.2950 M $Ping request sent.M c;x,_\A8@yPF@9 SY>H`N56Ĭ?z?ՙA?^???8@ɨ_; >CB*IMb@Mb@Mb@ )Iyy&1? ףp= ?Zd;?`e<Q8> @)`@Ihq@iQ@Qx@H;H 5< 3=Y1٣ GښFI >]49xs?a4YO iB$C>m;Կq@D::P4 @B*** querying acoustic contact ***ii2i)-DNOT Ignoring new targets: 81.90 m.i5T"i5TM ProNav: ac range: 81.900002 m, nav range: 79.966644 m, bearing: 105.007076 deg, approach rate: 0.176631 m/s, LOS rate: -0.046522 deg/s, cmd heading: 105.648997 deg, new cmd heading: 105.595308 deg.  iMkUHeadingCmd: 1.842986 target range: 81.900002 and range: 81.90 m.hU?hQhQhQhQgQgYbg]jgeNBeaee<jeaJei:em`?du"dq dqduJDAT read: TxSync time:19:23:39.2942 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.266174^!^!^!^!iQɛYI]y>]\;)Y)Yaaie׼ie#0@im >Im?IiCEb9"UStartingEM<VF Zz\FZAM>:J JBJ u9JJ RJ ZJ H! H% BAU checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502655.;x,\AN8@yNF@9NRYNR#>NH4 8Ӭ?)¡? y&?{Z?9M?@N?N8@ɨNB3; N?CjBj*IHr)Hr5zrM= z=Yz:8Q ~?|٣| ~G|j ? ]49 s?a4Y  i ͓B!%Կq-@ D k; ; 4I Mf@Q2iDNOT Ignoring new targets: 81.90 m.i]8"i]8 ProNav: ac range: 81.900002 m, nav range: 80.015808 m, bearing: 104.994121 deg, approach rate: 0.153015 m/s, LOS rate: -0.040296 deg/s, cmd heading: 105.595305 deg, new cmd heading: 105.556464 deg.  i<ݺHeadingCmd: 1.842308 target range: 81.900002 and range: 81.90 m.h?hhhhggbgjgee<jeJe:e@R?d"d dd^^^^iIɛIIM>MM9)M/)QQQiUi]+@YG4>GG$+IG$BG4 =GG6DG<<G FHMÝC HMÝCHMÔCHM, ="HI*HMv6YI?IC9"&Changing to mode: 1"Standby mode.DM?DQDQEUO5 EQE-<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755389VF~+FZAM>w;x,o\A2s8@y2BF@92AoLY2(>2H`G@_?^m??0?`?܆?2s8@ɨ2s; 2@CBBB*IHJHJ4R3= RQ=YRp;Q V>T٣T VGVۚFZq Z>\]b49^s?ab4Y^i i^ߓB`b.տqf@^D^;^:^4h jل@hZIr8bIrXjIprIpzIrL;Ir:IpIpIr<qzIr<izIr<u~Ir<m~2iDNOT Ignoring new targets: 81.90 m.i:"i: ProNav: ac range: 81.900002 m, nav range: 80.077431 m, bearing: 104.977708 deg, approach rate: 0.153352 m/s, LOS rate: -0.040813 deg/s, cmd heading: 105.556462 deg, new cmd heading: 105.507261 deg.  iHeadingCmd: 1.841449 target range: 81.900002 and range: 81.90 m.h?hhhhggbgjgee<jeJe:e ?d"d dd^!^!^!^)iɛI1>))ieiUq&@I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006877C9D?DDEB5 EE<VFFZAM> ? O? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258972w;x,kJ1\A68@y6^F@96FY6>,>6H@6@?D?`' .?wר?gg?ނ?68@ɨ6щ; 4bBb*IUMb@Mb@Mb@QQ Q)QIQyUkt?M?X9v?U =Un>U}= U@)QIUu@iQQUz@HuHu74#< ==YP;Q >٣ GܚF=: >]49bs?a4Y iBI6>m; q@Dj::*'4 @2iDNOT Ignoring new targets: 81.90 m.iǺ"iǺ ProNav: ac range: 81.900002 m, nav range: 80.121071 m, bearing: 104.941581 deg, approach rate: 0.105524 m/s, LOS rate: -0.087309 deg/s, cmd heading: 105.507264 deg, new cmd heading: 105.398942 deg.  io HeadingCmd: 1.839559 target range: 81.900002 and range: 81.90 m.h v?h h h h ggbgjgvBee<jeJe!:e%`!?d-"d) d)d-^^^^iɛI9>w))iri @Iv?I:JBJk9JJRJZJCm9DDDEP5 E]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517892E<VFfFZAM>G 3>G G *+IG )BG 1 =G G G 2<G Fө;x,+K\ARt8@yRVF@9Rq4YRd#+>RH?)?ݣ? z?`-? E??Rt8@ɨR; R=CbȊBb*IHj7Hj 5r= rU=Yr;t٣t vGtzDF z>|]49~s?a4Y~& i~B q@~D~:~>:~-4  @2iAEDNOT Ignoring new targets: 81.90 m.iM"iM] ProNav: ac range: 81.900002 m, nav range: 80.159653 m, bearing: 104.909503 deg, approach rate: 0.100767 m/s, LOS rate: -0.083739 deg/s, cmd heading: 105.398944 deg, new cmd heading: 105.302757 deg.  i]eeHeadingCmd: 1.837880 target range: 81.900002 and range: 81.90 m.he??hahahahagagibgmjgieieu<jeqJeq:e}W @d"d dd^^^^iɛI>W))隩ivchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.771625i@I??IqCM9ZI-bIejIrIzID;I٤:III)<I)<I<I<^DUX%D ?D D E 1 E m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022740EE <VF ei@F ZA M% >L;x,d\A?8@yF@9/ Y'>H@@?W? $ 7?T?`O?΋?騥?8@ɨ; ?CϊB*IMb@Mb@Mb@ )Iy7A`?K7A?y&1?> >`e= 3@)f@Iw@ih@~@HAH=5f< ,=Y H*٣ GݚF: >]-49s?a54Y iB5O>m5;5 q5@DE;f;%649 EF@A2iimDNOT Ignoring new targets: 81.90 m.iu% "iu%  ProNav: ac range: 81.900002 m, nav range: 80.192253 m, bearing: 104.851371 deg, approach rate: 0.068739 m/s, LOS rate: -0.122525 deg/s, cmd heading: 105.302754 deg, new cmd heading: 105.128429 deg.  i,HeadingCmd: 1.834837 target range: 81.900002 and range: 81.90 m.h?hhhhggbgjgBee<jeJe:e@F@d"d dd^^^^iɛI>e))ii@I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.275036C9^D2/DYDYDYE]4 EYE5o<VF %<F ZA M >:Ja BJe 9JJa RJe ZJe m;x,~\Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.528346rQ8@yr F@9r# Yr(%>rH @۞5>?` z? Xs?$? ?B?rQ8@ɨr3; r>C~݊B~*IH =H w 5= o=Yp))隱it'i@I ?IG5->G5CG5=+IG58BG52 =G1G1G5;<G5 FC9CCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.779254D ?D D E 0 E Ee t<VF= ʯ=F ZA M= >;x,>\ABk8@yB:F@9B!EYB^>&>BH a`?`8:?@w? ?f?`$?Bk8@ɨB; @JBN*IHR6HR] 5Zp< ^R=Y^n`٣` bG`bĦ: f>ZIn?bInzjIlrIlzIn#R;In:IlIlInO<InO<InP<InP, ))AIIiMiU @QQIUA?IQBYBYMBDAT read: Rx Time:19:23:41.8089 MTRx dataTimestamp_ set to:1736537022.491277Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031851C=)9D?DDE`5 EE<VF-=F==?F=)? ~~GlA FZA M- >)= Ry= lA= BB checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282606;x,P\AvBv*IH3H 5E{= MB=YMQ M>Q٣Q UGUߚFU ]>i]m49m5s?au4Ym imHBqqqu@mDm:m];mFJ4 B@2iDNOT Ignoring new targets: 81.90 m.i "i  ProNav: ac range: 81.900002 m, nav range: 80.272224 m, bearing: 104.709752 deg, approach rate: 0.069554 m/s, LOS rate: -0.122952 deg/s, cmd heading: 104.857624 deg, new cmd heading: 104.703715 deg.  ièHeadingCmd: 1.827425 target range: 81.900002 and range: 81.90 m.h ?hhhhggbgjgee<jeJe:e`" @d"d dd^^^^iQɛYIew>a)i) ie%i@I ?IC-9:JBJ`9JJRJZJ:4f% D?DDE_5 EeAa}DAT read: Range 10 to 50 : 82.3 m (Round-trip 109.8 ms) speed 0.0 m/s -X#Rx 1: Read range message, but no direction.aeB9aT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E5<GU )>GU CGU V+IGU MBGU 7 =GQ GU 5DGU <GU FVF} J>FQ ZAi M >;x,\A2v8@y2DF@92?Y2'>2H#@?`Mâ?`j ????2v8@ɨ2; 2?C>B>*IHJ<HJ 5R= RR=YV)=Q V>X٣X ZGZFZ. ^>\]b49^Js?ab4Y^  i^WBdfj qf@^D^;^;^Q4h n2@l addTargetRange:: Added new target pos. range: 82.300003 m, deltaT: 3.789007 s, deltaX: 0.400002 m, approachRate: 0.105569 m/s, rangeRepo size: 4 ,DAT read: user:1173> BDAT read: Tx time:19:23:43.0950 $Ping request sent. )Y)Yaaie1-imE@iiIm?IiC]9D?DDEU5 EIIIIIIZI0bIjIrIzIlF;If:III/<I0<IX<IX<EX<VF5 >FZAM>E JDAT read: TxSync time:19:23:43.0942 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251093 ;x,I\AR)q8@yRF@9RjӺYR#>RH ˚? ?W`\?uZ?b?j?R)q8@ɨR; P B *I IMBAHeHe%4) ==Y+٣ G >]49s?a4YS ihB q@ Ds<i<X4 K@2iDNOT Ignoring new targets: 81.90 m.i"i% ProNav: ac range: 81.900002 m, nav range: 80.329536 m, bearing: 104.606541 deg, approach rate: 0.065592 m/s, LOS rate: -0.118513 deg/s, cmd heading: 104.559527 deg, new cmd heading: 104.394192 deg.  i%MHeadingCmd: 1.822022 target range: 81.900002 and range: 82.30 m.hM8?hQhQhQhQgQgQbg]jgYeYe]<jeaJea:ee`?d"d dd^^^^i1ɛ1I=>=it)9)999iE4ie?iiIm8?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502476CEF9DDDE<2 EE<VF7>zFhArFhAF ZA M >:J !NBJ 9JJ RJ ZJ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754148U<x,<\Af48@yfRF@9f:OfH'g\e ?@w?邿@o?@?f48@ɨf8͉; f=C~B~*IU@U U@U U@U  U@U H]H]_4m< m==Ym~q٣q uGuF} }>]497zs?a4Y ixBi+:mT; q@D;u>^4 @G->GCGi+IG\BG3 =GG6DG<G FB*** querying acoustic contact ***ii2i  DNOT Ignoring new targets: 81.90 m.ig"ig% ProNav: ac range: 81.900002 m, nav range: 80.358482 m, bearing: 104.553770 deg, approach rate: 0.070714 m/s, LOS rate: -0.128872 deg/s, cmd heading: 104.394189 deg, new cmd heading: 104.235934 deg.  i%㰻-HeadingCmd: 1.819260 target range: 81.900002 and range: 82.30 m.h-?h)h)h)h)g1g1bg5jg1e9e=<je9Je9:eEb?dM"dI dIdM^Q^Q^Q^QiiɛqIu>uU)q)qqyi}");ix=? I ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006098C9D D D E 0 E EU H<VF- Gt>F ZA M= >)<x,\A67@y6E@966H`@Qҩ@B}?Û? z?`u?67@ɨ6 ; 6?C> BB+IHJHJ4R-< RY=YVn=Q V>T٣T VGZFZT] Z>\]b49^Vus?af4Y^ i^Bif :dmj,;jU!qj@^D^b;^L?^c4p r@rE2i  DNOT Ignoring new targets: 81.90 m.i"i% ProNav: ac range: 81.900002 m, nav range: 80.384033 m, bearing: 104.506408 deg, approach rate: 0.069322 m/s, LOS rate: -0.128459 deg/s, cmd heading: 104.235934 deg, new cmd heading: 104.093892 deg.  i%Q-HeadingCmd: 1.816781 target range: 81.900002 and range: 82.30 m.h-I?h)h)h)h)g1g1bg5jg1e9e=<jeAJeA:eE?dM"dI dIdM^Y^Y^Y^aiqɛyI@>))i0?Ai?  I I?I -A)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262268D?DDEU5 EEψ<VF<>FZAM5q> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510171m <x,5\A~ B~+I      Mb@Mb@Mb@ )Iy+?X9v? ףp= ?>}=Q8= `@)m@I~@i@HEH5.< :=YQ >٣ G >]49is?a4Y iBiT:}>m%;Aq@ D;h;j4 B ~@ E2i15DNOT Ignoring new targets: 81.90 m.i="i=M ProNav: ac range: 81.900002 m, nav range: 80.366287 m, bearing: 104.407552 deg, approach rate: -0.040510 m/s, LOS rate: -0.225716 deg/s, cmd heading: 104.093893 deg, new cmd heading: 103.797265 deg.  iM]HeadingCmd: 1.811604 target range: 81.900002 and range: 82.30 m.h]?hYhYhYhYgYgabgejgeBeaem<jeiJei:emd?雝 BɛPV7I<)JU+ H9i)隥i@i?I?IZI(bIcjIrIzI,@;Iϣ:IIq@i@u@m@:J BJ ж9JJ RJ ZJ  JIfAD-?D)D)E-\5 E)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764577G,>GGu+IGfBG0 =GGG5<G FHǛC HǛCHǓCH2 ="H2 =*H76E+< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014104VF 2>F .?F "?F ZA M><x, .S\A2I6@y2D@92mR=Y2#>2H@鱿iN?``9?JA? ?2I6@ɨ2f; 2=C> B>+IHFNHF5NT NB=YR%=Q R>P٣P VGVFVO V>^New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 21.81 mm (2 active estimators).\]b49^[^s?ab4Y^ i^BdfAqf@^)D^:^:^(r4h n@l2i DNOT Ignoring new targets: 81.90 m.i"i% ProNav: ac range: 81.900002 m, nav range: 80.347534 m, bearing: 104.312346 deg, approach rate: -0.044312 m/s, LOS rate: -0.225019 deg/s, cmd heading: 103.797265 deg, new cmd heading: 103.511580 deg.  i%m-HeadingCmd: 1.806618 target range: 81.900002 and range: 82.30 m.h-A??h)h)h)hggbgjgeejeJe:eP@)ɛ5)5 5@i1)5ђ11i=s1@i=1?9AIEA??IADDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266523E L<VF Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519014FZAM><x,5r\AJ"5@yJC@9Jz=YJ=JH 8淿@l?z Ѿ?`h?ث?J"5@ɨJ ; HRBR*IMb@Mb@Mb@ )IyGz?i|?5?+?p>q== )s@Iن@iv~@3@H[H57 =Y=Q >٣ GF >]49Ms?a4Y iB>m ;3Eq@5DA;|4;F{4 @E2i)5DNOT Ignoring new targets: 81.90 m.i5"i5E ProNav: ac range: 81.900002 m, nav range: 80.310760 m, bearing: 104.174681 deg, approach rate: -0.070352 m/s, LOS rate: -0.263489 deg/s, cmd heading: 103.511578 deg, new cmd heading: 103.098402 deg.  iM4MHeadingCmd: 1.799407 target range: 81.900002 and range: 82.30 m.hMR?hQhQhQhQgQgQbgYjg]BeYeajeaJea:ee@)ɛ5^q)5 5qi1)5lL11i=k>iR?IR?IHHZI!bIOjIrIzI:;Iq:IIDQDQDQEU0 EQ:J-vKBJ-U9JJ)RJ-ZJ- J5? J5?Em<-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770691G ->G G o+IG aBG 2 =G G G "<G FVFM :>FI ZAY M >"<x,u\AZ4@yZB@9Z=YZ'=ZHBOUzvS?X#~?q ,ڻ??Z4@ɨZ]{; Z>CbBf*IHn]Hn5vγ z[=YzX=Q z>|٣| ~G| > ]49 As?a4Y  i BEq@ >D : : ρ4! %@!uB*** querying acoustic contact ***iqiq2iDNOT Ignoring new targets: 81.90 m.iv"iv ProNav: ac range: 81.900002 m, nav range: 80.283142 m, bearing: 104.076128 deg, approach rate: -0.072723 m/s, LOS rate: -0.259593 deg/s, cmd heading: 103.098400 deg, new cmd heading: 102.802641 deg.  i(2HeadingCmd: 1.794245 target range: 81.900002 and range: 82.30 m.hΩ?hhhhggbgjgeejeJe:e7 @m Bɛm"~׺)i m@ii)uqBDAT read: Rx Time:19:23:45.6091 TRx dataTimestamp_ set to:1736537026.271277checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023333i V=iΩ?IΩ?IBBCB^Duv/D D D E a3 E EE <U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274769EU )>EU )>VFuӄ>zFgArFgAFqZAM ?c*<x,ʍ\A B*I-}only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-32768,-32768,-32768,V }@} }@} }@}  }@} H[H5fi =YQ >٣ GF >]490s?a4YC iBi+:m:q@KDG;F ?4eDAT read: 19:23:45.6091 LVL= 18016, 22961, 10690, 22403, AGC= 51, IDX= 451,-0.27, 0.553, 1.149, 3.036, 1.706, PHS=-1.064,-0.510, 1.327, RAW= 222.8, 2.3, CAL= 224.2, -1.3, ROT= 285.8, 1.3 Ygot valid direction response: 19:23:45.6091 LVL= 18016, 22961, 10690, 22403, AGC= 51, IDX= 451,-0.27, 0.553, 1.149, 3.036, 1.706, PHS=-1.064,-0.510, 1.327, RAW= 222.8, 2.3, CAL= 224.2, -1.3, ROT= 285.8, 1.3 PDAT read: Bearing 285.8, 1.3 (Local) ~Local bearing/azimuth received: Bearing 285.8, 1.3 (Local) -DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.0 ms) speed 0.0 m/s 5R#Rx 1: Read range and direction messages.=`direction in FSK: [0.272210,-0.961970,-0.022687]=Fpublishing direction and range info Y *aƋk?*_:vNGY; B9  `F Y) )I Wi 3 '1 \ #۩? x@ l$=) oz@I ޹i @ ޹<   ȟzN̿G].?0w웤?I Ġ?i $ å ޹<  UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.i m@iZj  n?bj C i i ֱ\Aj Bj ݣB2j ~?p @-u6@1ʟ34S݀zp *aƋk?*_:vNGY;"j å*j ޹<p D/0)+Gt3T@X()p ſ-3*?a[vĿi Bj IYi 0n?i l({  j ObBzj @vl?j  j ObBjj ݠBrj o? addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.783208 s, deltaX: 0.199997 m, approachRate: 0.052864 m/s, rangeRepo size: 4  Added new target pos. range: 82.500000 m, bearing: 99.593616 deg, lat: 36.903918 deg, lon: -122.119073 deg, deltaT: 7.572215 s, deltaX: 0.599998 m, approachRate: 0.079237 m/s, posRepo size: 3 2iDNOT Ignoring new targets: 82.50 m.i"i ProNav: ac range: 82.500000 m, nav range: 80.432327 m, bearing: 103.851107 deg, approach rate: 0.000000 m/s, LOS rate: -0.259593 deg/s, cmd heading: 102.802639 deg, new cmd heading: 102.330354 deg.  iHeadingCmd: 1.786002 target range: 82.500000 and range: 82.50 m.h?hhhhggbgjgeejeJeT@:e (?QɛUA)Q UTiQ)]7ٸYYi]1:ie?aaIe?IaZI=bI=<jI=0rI9zI=4.;I=:I=ـ3I9^Dm MDu>Du>:JLBJ۵9JJRJZJD?DDE_5 EE =< ,DAT read: user:1174>  BDAT read: Tx time:19:23:46.8950  $Ping request sent. FZAM> 2<x,c\AfI3@yfgA@9fSU>YfF=fHk5-7?`݈dK?¿@?`cx?fI3@ɨf; f=CnBn*IHUH5E  E.=YEG=Q M>I٣I MGMFUP U>Y]49]!s?a4Y]a i]Bi :m:iGq@]WD];]?]4B @E2iDNOT Ignoring new targets: 82.50 m.iڪ"iڪ ProNav: ac range: 82.500000 m, nav range: 80.394630 m, bearing: 103.728048 deg, approach rate: -0.091472 m/s, LOS rate: -0.298743 deg/s, cmd heading: 102.330352 deg, new cmd heading: 101.961009 deg.  iM=HeadingCmd: 1.779555 target range: 82.500000 and range: 82.50 m.h=x?hAhAhAhAgAgAbgIjgIeIeIjeQJeQ:eUb?雽 Bɛi) i)!) iO%9ix?Ix?JDAT read: TxSync time:19:23:46.8942 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248290I^DʽDM?DIDIEMP5 EIE%<VF- "> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499578F ZA M- >e9<x,q\A>2@y>@@9>->Y>&=>HD@¿@ÿ?`{̡?*ſع?0`?>2@ɨ>ѕ; >|٣| ~G~F} > ]49 Rs?a4Y o i Bi9m:&Hq@ `D  : ? 41 5b@12iYeDNOT Ignoring new targets: 82.50 m.imė"imė} ProNav: ac range: 82.500000 m, nav range: 80.361946 m, bearing: 103.625987 deg, approach rate: -0.084949 m/s, LOS rate: -0.265372 deg/s, cmd heading: 101.961009 deg, new cmd heading: 101.654705 deg.  i}6I=)ېCHeadingCmd: 1.774209 target range: 82.500000 and range: 82.50 m. GhJ?hh-jAh! )%3y%jA-$BhgAgIbgyjgyeejeJe:eS?雭 Bɛ ʻ) i),x隹iIz6iJ?IJ?IC=C=^D3 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751527DDDE4 EBE =:E =E5<ZI bI DjI 2rI zI ;I :I c3I VF ɯ>:J BHBJ JJ RJ ZJ  $-HIz6H7 Z 9 /CX Fq ZA M >@<x,\Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.00340061@y6?@96'@>Y6=6HC`Ŀ@ſ7? Nm ?ǿ`c?@H?61@ɨ6o; 4BÊBB*IDFA      Mb@Mb@Mb@ )IyK7?sh|??~jt?>=< @)v~@I@iw@Q@ !%@AH-!H-5=ҽ =4=Y=)=Q E> ٣  G >]%4G52>G5CG5+IG5BG52 =G1G1G5S<G5 F9s?aE4Y iBimT:m>mm;myEqm@lD%<e%<4uB u؃@uE2iDNOT Ignoring new targets: 82.50 m.iޝ"iޝ- ProNav: ac range: 82.500000 m, nav range: 80.327309 m, bearing: 103.490684 deg, approach rate: -0.070635 m/s, LOS rate: -0.276040 deg/s, cmd heading: 101.654703 deg, new cmd heading: 101.248625 deg.  i-q=5HeadingCmd: 1.767122 target range: 82.500000 and range: 82.50 m.h5 1?h1h1h1h1g9g9bg9jg=.BeaeajeaJea:em@8?!ɛ%΢)) - i))5Pz11i5`3i 1?I 1?I^Du፨DyD?DDE(1 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.255418EZ<VF- *>F ZA M- >1G<x,,\A60@y6}>@96xQ>Y6=6H#eƿ@ǿ`?Y`L*?sʿ?0?60@ɨ6X; 6>C>BB*IHJ#HJ5Rrt RF=YRk!=Q V>T٣T VGVFZM Z>\]b49^r?ab4Y^ i^BdfZFqf@^vD^-;^1;^4l n@l~B*** querying acoustic contact ***i|i|2i DNOT Ignoring new targets: 82.50 m.i"i% ProNav: ac range: 82.500000 m, nav range: 80.297737 m, bearing: 103.382269 deg, approach rate: -0.078679 m/s, LOS rate: -0.288559 deg/s, cmd heading: 101.248627 deg, new cmd heading: 100.923267 deg.  i% F-HeadingCmd: 1.761443 target range: 82.500000 and range: 82.50 m.h-v?h)h1h1h1g1g1bg9jg9e9e9jeAJeA:eE?-Bɛ-D)5AR< 5p#i1)5j11i531i=v?99I=v?IAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507956^DbިD-?D1D1E50 E9E] d< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759727VF >FaZAqM>|N<x,<\ARJ.@yR<@9R o>YRܪ=RHIʿ˿ _?)- !'? cͿ`??RJ.@ɨR; RU`=Ut< UȒ@)U@IU@iQQU(@H_H5 =Yk=Q >٣ GFф >]49pr?a4YX isBj>m ; Cq @Dr;r;Ū4 @E2i9EDNOT Ignoring new targets: 82.50 m.iE"iEU ProNav: ac range: 82.500000 m, nav range: 80.266243 m, bearing: 103.234245 deg, approach rate: -0.060841 m/s, LOS rate: -0.286068 deg/s, cmd heading: 100.923264 deg, new cmd heading: 100.479029 deg.  i]SDuHeadingCmd: 1.753690 target range: 82.500000 and range: 82.50 m.h}x?hyhhhggbgjgGBeejeJe:e`@:J0PBJ 9JJRJZJ# :v-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013382 Bɛ'T)b< Pi)q5iɶ,ix?!!I%x?I!CugACufAG;>GCG*IGBG/ =GG7DG<G F^DM"DDDE0 E2EfA*EE,< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263376VF >F1 ZAA M] > U<x,2X\A>r-@y>A;@9>{>Y>=>HF\̿@J̿O?`ʿ?@Ͽ?[?>r-@ɨ>P; \٣\ bGbFb , b>d]n49fr?an4Yf ifdBlrDqr@fDf8;fU9;fƱ4t v4@t2iDNOT Ignoring new targets: 82.50 m.i"i- ProNav: ac range: 82.500000 m, nav range: 80.239731 m, bearing: 103.119927 deg, approach rate: -0.066291 m/s, LOS rate: -0.285939 deg/s, cmd heading: 100.479029 deg, new cmd heading: 100.135964 deg.  i- > < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767982F) ZA9 MI \<x,t\AUgBU<*IMb@Mb@Mb@ )Iyx&?@5^I ?~jt?7>b>D<  @)@It@iz@@H]H5C #=YQ >٣ G >]49r?a4Y^ iQB>m:R@q@D; ;4B @E2iDNOT Ignoring new targets: 82.50 m.i%"i%5 ProNav: ac range: 82.500000 m, nav range: 80.220909 m, bearing: 102.972826 deg, approach rate: -0.037484 m/s, LOS rate: -0.293026 deg/s, cmd heading: 100.135962 deg, new cmd heading: 99.694567 deg.  i5I=HeadingCmd: 1.739998 target range: 82.500000 and range: 82.50 m.h=E?h9h9h9h9gAgbgjg\BeejeJe:eT\ @EBɛE)+)A E}iA)MIIiM %i]E?YIE?I5BDAT read: Rx Time:19:23:49.4093 5TRx dataTimestamp_ set to:1736537030.059184=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020420:JMwoMBJM9JJIRJMZJM`QB6," ,d|wolf_YJ@>83/+''&^De]<G E>G CG {*IG BG * =G G 8DG <G FHȜC HȜCHȔCH"H0 =*Hq6D D D E 5 E E h<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271277VFɯ>FZAM?OQe<x,M\A2 +@y2*9@92>Y2G=2HZ YпͿ@i?` ?gп@n? ?2 +@ɨ2ˈ; 2;C:FB>*IHJvHJ%5R_ R3=YR;T٣T VGVFZ Z>\]b49^۷r?ab4Y^ i^?B`bBqE@^D^<^’<^4I U@Q2iyDNOT Ignoring new targets: 82.50 m.i{"i{ ProNav: ac range: 82.500000 m, nav range: 80.197563 m, bearing: 102.840377 deg, approach rate: -0.049446 m/s, LOS rate: -0.280608 deg/s, cmd heading: 99.694568 deg, new cmd heading: 99.297111 deg.  i@HeadingCmd: 1.733062 target range: 82.500000 and range: 82.50 m.h?hhhhggbgjgeejeJe:e` @BɛӼ)_ = i)bɺi i?I?IC C CCZIbI jIrIzI;IYk:IIIM<IM<IO;IO;DAT read: 19:23:49.4093 LVL= 22736, 28657, 13890, 28067, AGC= 59, IDX= 436, 0.09,-0.525,-0.251, 1.649, 0.486, PHS=-0.923,-0.690, 1.159, RAW= 215.9, 4.6, CAL= 217.9, -0.5, ROT= 292.1, 0.5 Ygot valid direction response: 19:23:49.4093 LVL= 22736, 28657, 13890, 28067, AGC= 59, IDX= 436, 0.09,-0.525,-0.251, 1.649, 0.486, PHS=-0.923,-0.690, 1.159, RAW= 215.9, 4.6, CAL= 217.9, -0.5, ROT= 292.1, 0.5 PDAT read: Bearing 292.1, 0.5 (Local) ~Local bearing/azimuth received: Bearing 292.1, 0.5 (Local) DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.1 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.-`direction in FSK: [0.376210,-0.926493,-0.008727]-Fpublishing direction and range infoؑYؕRL?3.%KեB7߁ؑ9ؑؕX ٕo)ٕB6Iٕmiٕ;ٕIlٕף0ٕZ?ٕ)q@ ڕl=)ڕes@Iڕ5iڕ#@ڕ5<ڑ ۑە3*h??Iە+(?iەەە5<ۑ ܑMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.DaDaDaEeO5 EaE}F<VF >F ZA M >3l<x,-\A>,DAT read: user:1175> BBDAT read: Tx time:19:23:50.6451 B$Ping request sent.BY>k=H ѿοk?3ſ?пx[?l?5)@ɨ.%; =CE&BE)I=ip<Mb@Mb@Mb@ )Iy(\?jt? >t< O@)`@I@i̔@HH,5 =Y;Q >٣ GFV >]49r?a4Y i'BM>m:bAq@D4R<$R< 4%B %~@-EZjU]"=p?bjUA}z iQiU\AjQjUB2jU?pU0` ?@nySi zpURL?3.%KեB7߁"jU*jU5<pUF@=n_cyHT@a)pUAԶ\Tx?T|<#ĿiUGBjUqiU8p?iUO  jUa`BzjU镝l?jUD jUa`BjjU]BrjU? addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.785034 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 82.500000 m, bearing: 95.181359 deg, lat: 36.903920 deg, lon: -122.119073 deg, deltaT: 3.785034 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 82.50 m.i"i- ProNav: ac range: 82.500000 m, nav range: 80.182198 m, bearing: 102.507314 deg, approach rate: 0.000000 m/s, LOS rate: -0.280608 deg/s, cmd heading: 99.297113 deg, new cmd heading: 98.828595 deg.  i)-HeadingCmd: 1.724884 target range: 82.500000 and range: 82.50 m.h5?h1h1h1hQgYgYbgYjg]YBeaeajeaJea:ee@e?雭Bɛܼ) ھi)Ni_i?I?ID1D5!>DDDEP5 E-JDAT read: TxSync time:19:23:50.6443 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251755:JMсNBJMж9JJIRJMZJM!   E@<G J>G CG *IG OBG % =G G 9DG <G FVF F ZA M >s<x,T\A6Zb(@y6(6@96>Y6?I=6Hњӿ`ο??`hп`N? h?6Zb(@ɨ6߇; 6B>)IHJ(HJ)5RQ R[=YRT;Q R>T٣T VGVFZ^q Z>\]b49^r?ab4Y^ i^BdfBqf@^D^);^*;^_4p r@t-B*** querying acoustic contact ***i)i)2ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502790DNOT Ignoring new targets: 82.50 m.i"i= ProNav: ac range: 82.500000 m, nav range: 80.164909 m, bearing: 102.402867 deg, approach rate: -0.048069 m/s, LOS rate: -0.290473 deg/s, cmd heading: 98.828596 deg, new cmd heading: 98.515192 deg.  i=YGEHeadingCmd: 1.719414 target range: 82.500000 and range: 82.50 m.hE?hAhAhAhAgIgibgijgqeqeqjeqJeq:e}`a?雽BɛJc!) Fi)±  i i?I?IDDDEO5 EE<ZIbI%jIrIzIT;I:IIIh<Ih<I~;I~; checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758217VF= >F) ZA9 MU > z<x,\A:-'@y:K5@9:܅>Y:6=:H3s ӿ$ο?`6a{?пB??:-'@ɨ:V; :>CBBF)IHJ|HJb(5Vӽ VJ=YVQ Z>\٣\ ^G\b> b>d]j49fr?aj4YfQ ifBhjCqj@fDf:fW:fs4rB r=@rE2i  DNOT Ignoring new targets: 82.50 m.i"i% ProNav: ac range: 82.500000 m, nav range: 80.142677 m, bearing: 102.284844 deg, approach rate: -0.058644 m/s, LOS rate: -0.311408 deg/s, cmd heading: 98.515193 deg, new cmd heading: 98.161030 deg.  i%U-HeadingCmd: 1.713233 target range: 82.500000 and range: 82.50 m.h-:K?h)h)h1h1g9g9bgAjgAeAeAjeIJeI:eM`-?uBɛu.)y }O iy)}86yyi7i:K?I:K?IDDDE 4 E EƬ< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006911VFFZAM ><x,n\A006checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258978>%@y>3@9>>Y>Vb<>H@<@_տͿ@5?%]ؼ?%aп~?@i?>%@ɨ>!]; >&1>D; @)ߓ@I@ih@@H@H 5 8=Y»Q >٣ GGGCG)IGBG" =GGG<G FF[ >]%49zr?a-4Y iB-3>m-:-xCq-@D:H:E49 =@92iaeDNOT Ignoring new targets: 82.50 m.im"im} ProNav: ac range: 82.500000 m, nav range: 80.118858 m, bearing: 102.150269 deg, approach rate: -0.053209 m/s, LOS rate: -0.300713 deg/s, cmd heading: 98.161034 deg, new cmd heading: 97.757195 deg.  i}`NHeadingCmd: 1.706185 target range: 82.500000 and range: 82.50 m.hDd?hhhhggbgjgSBeejeJe:eW?Bɛ%H)) yi);[iiDd?IDd?I %checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511643^DMU<DQD D D E 0 E E ԰<ZI bI jI 0rI zI ;I :I ـ3I I $S<I %S<I 9;I 9;VFFZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762754M?<x,F%\A6ݡ"@y60@96e>Y6=6H`zKؿ `̿ ?@? пR??6ݡ"@ɨ6Qʼn; 4FBF[)IHNHNy/5V V*=YZ Q Z>X٣X ZGZF^iʽ ^>`]f49bir?af4Yb ibړBhjFqj@bDb:b:b4l rϔ@rE2i  DNOT Ignoring new targets: 82.50 m.i"i ProNav: ac range: 82.500000 m, nav range: 80.084389 m, bearing: 102.007848 deg, approach rate: -0.072303 m/s, LOS rate: -0.298870 deg/s, cmd heading: 97.757192 deg, new cmd heading: 97.329754 deg.  iMHeadingCmd: 1.698725 target range: 82.500000 and range: 82.50 m.ho?hhhhggbg1jg9 e~GlA e)91ylA#BejeYJeY:e]`'@Bɛ2) ,%i)Oi%i i-o?)1I5o?I1C=gAC=hA^D- =D?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015285E <VF1 F ZA M= >?<x, A\A2y!@y2H3/@92>Y28=2H@*~3ٿ`˿C^?@*?+Ͽ@G??2y!@ɨ2,; 0>BB;)IEMb@Mb@Mb@AA A)AIAyEMb?sh|??y&1|?E>E)>E`; E@)EO@IE @iE…@AEf@H]H]:5m m2=YuQ }>y٣y GWX >]49Yr?a4Y etIiǓB>m:*Hq@D;:4 l@2iDNOT Ignoring new targets: 82.50 m.iࣻ"iࣻ ProNav: ac range: 82.500000 m, nav range: 80.048203 m, bearing: 101.876350 deg, approach rate: -0.078817 m/s, LOS rate: -0.286546 deg/s, cmd heading: 97.329752 deg, new cmd heading: 96.935085 deg.  iDHeadingCmd: 1.691836 target range: 82.500000 and range: 82.50 m.h?hhhhgg checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266867bgjgcBeejeJe:e`4+@EBɛMk ])M1= M91iI)M0IQiUۍiU?YYI]?IY:JKLBJ@9JJRJZJC%C%C!C!GE>GCGh)IGBG' =GGG<G FD]?DYDaEe0 Ea2Ee*EeBEm:Em checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518810VFa FA ZAI Me >_<x,#]\A>@y>-@9>i~>Y>WB=>H9g2ۿ`ʿ? ?yϿ??>@ɨ>; >>CJ~BJ)IN,>iNa=HRHRs75Z ^E=Y^]Q ^>`٣` bGbFfh f>h]n49jKr?ar4Yj ijBpriH@qr@jDjK:j6:j4vB vޗ@zE B*** querying acoustic contact ***i i 2iDNOT Ignoring new targets: 82.50 m.i%?"i%?5 ProNav: ac range: 82.500000 m, nav range: 80.011795 m, bearing: 101.757757 deg, approach rate: -0.087591 m/s, LOS rate: -0.285447 deg/s, cmd heading: 96.935083 deg, new cmd heading: 96.579146 deg.  i=C=HeadingCmd: 1.685624 target range: 82.500000 and range: 82.50 m.h=?hAhAhAhAgAgAbgajgaeaeijeiJei:emu@雝BɛPc) * BDAT read: Rx Time:19:23:53.1591  TRx dataTimestamp_ set to:1736537033.839217 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023784<x,v\A^@y^%,@9^Bz>Y^B=^H Rܿl-ɿ_?q? ο` ?`?^@ɨ^; ^=CfhBf)IuMb@Mb@Mb@qq q)qIqyuCl?ףp= ?~jtx?u>u>u; u@)u|@Iqiu@qu@HH95Ƚ :=YQ >٣ GF*a >]49;r?a4Y iB>m:C@q@D ;;4 >@2i!-DNOT Ignoring new targets: 82.50 m.i-"i-E ProNav: ac range: 82.500000 m, nav range: 79.959412 m, bearing: 101.629591 deg, approach rate: -0.119786 m/s, LOS rate: -0.293268 deg/s, cmd heading: 96.579148 deg, new cmd heading: 96.194407 deg.  iEDIMHeadingCmd: 1.678909 target range: 82.500000 and range: 82.50 m.hM~?hIhQhQhQgQgQbgYjg]OBeYeajeaJea:ee` @雕BɛTl) Fi)V隙i0i~?I~?IDe?DiDiEi EiHH@AZIbIjIrIzI;Iz:IIq@i@u@m@%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275413:JBJ9JJRJZJVFM>GN>GCG)IG~BG$ =GG:DG<G FF) ZA9 Me ><x,ɐ\A6`@y6.*@96zu>Y636=6H`Cݿ@Aqȿ p?|E`1? _rο -? ?6`@ɨ6; 6?CNQBN(IHVHV25^ b]=YbK;Q b>`٣d fGdfʁ f>h]r49j.r?av4Yj( ijBxzcB@q@jDj7)څ)i@Iڅ{?=Ť?2"j?IۅlC?iۅ ۅ邿ۅہ ܁T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF>FZAM>- ,DAT read: user:1176> 5 BDAT read: Tx time:19:23:54.4951 5 $Ping request sent.5 Y%3V =%H P Q"߿yǿR? ?ͿO{??%@ɨ%C; %=C=GB=(IIQ)QH]H]358 <=YwQ >٣ GFc >]49r?a4Y iB@@q@D;5;4 C@ZjU8q?bj iio\Aj̤BjB2jp`?puE@#yLQLI?zp%+,?#SN_2q?"j邿*jp00N f#gT@JF&pR~w@ڜ?47#i9Bj"0i17q?iwTn  jlfBzj0n?jl({ jjjCBrjCi? addTargetRange:: Added new target pos. range: 82.400002 m, deltaT: 3.780924 s, deltaX: -0.099998 m, approachRate: -0.026448 m/s, rangeRepo size: 4 U Added new target pos. range: 82.400002 m, bearing: 91.931395 deg, lat: 36.903969 deg, lon: -122.119048 deg, deltaT: 3.780924 s, deltaX: -0.099998 m, approachRate: -0.026448 m/s, posRepo size: 4 2iyDNOT Ignoring new targets: 82.40 m.i"iE ProNav: ac range: 82.400002 m, nav range: 81.131935 m, bearing: 97.318304 deg, approach rate: 0.000000 m/s, LOS rate: -0.273116 deg/s, cmd heading: 95.871336 deg, new cmd heading: 95.518087 deg.  iAHeadingCmd: 1.667105 target range: 82.400002 and range: 82.40 m.hc?hhhhggbgjgeejeJeT@:e5?}JDAT read: TxSync time:19:23:54.4943 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252202雅BɛWq) GTi)i(ic?Ic?I^D =D >D >ISI[3I[A.ISISISZIu bIu jIq rIq zIu ;Iu Fi:Iq Iq D ?D D E ?5 E E hAE hA! ! % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502776G]L>GYG](IG]LBGYGYG]9DG]<G] FH%ΡC H%ΠCH%ΓCH%$ ="H%$ =*H%5:JBoHBJJJRJZJVFFZAM ?@f<x,B\A2v@y2'@92m>Y2 =2H`2A1 BǿC?@m?`_Ϳd? ?2v@ɨ2Bk; 0:1B:(I]Mb@Mb@Mb@YY Y)YIYy]l?HzG?~jth?]>]= >]D; ]@)]@I]M@i]I@Y]@HXHn5͞ =YQ >٣ GF- >]49< r?a4Y: igB^>m:;@q@+D::[4 @E2i!%DNOT Ignoring new targets: 82.40 m.i-"i-= ProNav: ac range: 82.400002 m, nav range: 81.053230 m, bearing: 97.157422 deg, approach rate: -0.146132 m/s, LOS rate: -0.299000 deg/s, cmd heading: 95.518085 deg, new cmd heading: 95.034984 deg.  iE3MEHeadingCmd: 1.658673 target range: 82.400002 and range: 82.40 m.hEiO?hIhIhIhIgIgbgjgFBeeje Je :e `I?]Bɛ]q)Y e^ia)eaaieiiO?IiO?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754686^D.=D9D9D9E=4 E9VF% >F ZA M% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006384W<x,\AEBM(IHeuHeH%5uʽ uO=Y}Q }>y٣ GF >]492q?a4YN iUBq@6D? ;: ;94 ۝@B*** querying acoustic contact ***ii2iY]DNOT Ignoring new targets: 82.40 m.ie؞"ie؞m ProNav: ac range: 82.400002 m, nav range: 80.998001 m, bearing: 97.043556 deg, approach rate: -0.134624 m/s, LOS rate: -0.277744 deg/s, cmd heading: 95.034986 deg, new cmd heading: 94.693157 deg.  i>HeadingCmd: 1.652707 target range: 82.400002 and range: 82.40 m.h?hhhhggbgjgeejeJe:e?Bɛ&C) fi!)%ٌ!!i%E8ټi-?I?ICCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261074D D D E R5 E ZI bI jI rI zI ;I {:I I VFU >F)ZA1MU>Rt<x,\A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510463>@y> #@9>]>Y>[`<>H@xsſ/u?uvi?˿ 5?>?>@ɨ>?; >G}CG}(IG}#BG}& =GyGyG}<G} F:JBJ@9JJRJZJMb@Mb@Mb@ )Iy%C??Mb`?Z>>; ^@)@Id@i@f@HVH5 (=Y Q >٣ G %>)]=49-_q?a=4Y- i->BE'>mE:E4@qE@-DD-<<-p<-'4B  @ E2iAmDNOT Ignoring new targets: 82.40 m.im"im} ProNav: ac range: 82.400002 m, nav range: 80.904160 m, bearing: 96.900869 deg, approach rate: -0.189531 m/s, LOS rate: -0.288518 deg/s, cmd heading: 94.693155 deg, new cmd heading: 94.264606 deg.  i}FHeadingCmd: 1.645228 target range: 82.400002 and range: 82.40 m.hӖ?hhhhggbgjgVBeejeJe:e?EBɛEv)I MEoiI)M IQiUϼiUӖ?YYI]Ӗ?ID D?DDEQ5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762529VF >F ZA M ><x,;\A2>@y2]!@92Z>Y2t\<2HCr`` Ŀ` -??)˿C?C?2>@ɨ2; 2;CBBB|(IHJHJp;5R Vd=YV`Q V>T٣X ZGZFZ Z>`]f49bq?af4Yb ib-Bhj13@qj@bODb:b:b.4l n@l2i  DNOT Ignoring new targets: 82.40 m.i"i ProNav: ac range: 82.400002 m, nav range: 80.832077 m, bearing: 96.798109 deg, approach rate: -0.215687 m/s, LOS rate: -0.307754 deg/s, cmd heading: 94.264609 deg, new cmd heading: 93.956057 deg.  i5SHeadingCmd: 1.639843 target range: 82.400002 and range: 82.40 m.h\?hhhhggbgjgeejeJe:e@@-Bɛ-ʪ)) -Sui))5+11iU>ɼi]\?YYI]\?Ia}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015592D DDE&2 EVFMѴ>F1 ZAY M >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266572<x,9\A6@y6@963|W>Y6u<6H@,f`ÿ ^?p@,H?ʿA? {I?6@ɨ6'=; 6=CBBBh(I%Mb@Mb@Mb@!! !)!I!y%ʡE?I +?Mbp%>%9=% %t@)%^@I%@i%ߓ@!%@H=H=>5MDž M'=YUQ U>Q٣Q UG]F]_ ]>a]u49eCq?au4Yek ieBu>m}:}+@q}@e]De>;e=;e64 @ E2iDNOT Ignoring new targets: 82.40 m.i~"i~ZIbIjI1rIzI;I`:I3I ProNav: ac range: 82.400002 m, nav range: 80.708183 m, bearing: 96.662260 deg, approach rate: -0.252355 m/s, LOS rate: -0.277130 deg/s, cmd heading: 93.956055 deg, new cmd heading: 93.547891 deg.  i1>HeadingCmd: 1.632719 target range: 82.400002 and range: 82.40 m.h?hhhhggbgjg`BeejeJe:e@@Bɛ8ٖ) {i)}a;iHi-?))I-?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519198DDDEO5 EE E iAGJ>GG(IGBG$ =GGGư<G F:JBJ9JJRJZJ VF] >F1 ZAA Me >4<x,S\AF@yF@9FS>YFTu BDAT read: Rx Time:19:23:57.0079 } TRx dataTimestamp_ set to:1736537037.619264} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023609Iq )q ~~G )= /y9 = "B <@ 0.B<x,sm\A6 @y6*@96sO>Y6U<6H@J  0:?S7?@{ɿb?` U?6 @ɨ6; 6h٣h jGjFnϊ n>p]v49r9q?av4Yr& irBtvS(@qz@rsDrd:r-:rBC4| ~2@|B*** querying acoustic contact ***ii2i)5DNOT Ignoring new targets: 82.40 m.i50"i50 ProNav: ac range: 82.400002 m, nav range: 80.513206 m, bearing: 96.465597 deg, approach rate: -0.278639 m/s, LOS rate: -0.274852 deg/s, cmd heading: 93.281273 deg, new cmd heading: 92.957183 deg.  i<HeadingCmd: 1.622409 target range: 82.400002 and range: 82.40 m.h?hhhhggbgjgeejeJe!:e%`z @mފBɛ;W) i)pkSi5i?I?I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278497D%?D)D)E54 E1VFm >FA ZAQ M ><x,Z\AA6DAT read: 19:23:57.0079 LVL= 29488, 24497, 14770, 32755, AGC= 58, IDX= 421,-0.18,-1.053,-1.764, 0.352,-0.530, PHS=-0.435,-1.187, 0.879, RAW= 188.9, 8.3, CAL= 189.1, -0.9, ROT= 320.9, 0.9 :Ygot valid direction response: 19:23:57.0079 LVL= 29488, 24497, 14770, 32755, AGC= 58, IDX= 421,-0.18,-1.053,-1.764, 0.352,-0.530, PHS=-0.435,-1.187, 0.879, RAW= 188.9, 8.3, CAL= 189.1, -0.9, ROT= 320.9, 0.9 BPDAT read: Bearing 320.9, 0.9 (Local) B~Local bearing/azimuth received: Bearing 320.9, 0.9 (Local) FDAT read: Range 10 to 50 : 81.4 m (Round-trip 108.6 ms) speed 0.3 m/s JR#Rx 1: Read range and direction messages.N`direction in FSK: [0.775951,-0.630598,-0.015707]RFpublishing direction and range infoYk J?h-俘y&̢B90s _)9Ii:R޾%a?S@ V>) :S@Iip9@< L$]??\_?I-?ii~U.rC @yrjb@9rL>Yr¬C< ~T****** received valid address query ******~R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G%P>G%CG%b(IG%BG%% =G!G%:DG%ǰ<G% F=ȈB=>(I:JM]JBJM9JJIRJMZJM%:B@9-$ '-]Mb@Mb@Mb@YY Y)YIYy]^I +?l?Mb]X>]=] ]@)]@I]@i]"@Y]׫@HHv35j $=YQ >٣ GFGb  >]M49֢q?aU4Y iՒB]=>m]:]F$@q@D,T<Q<,L4B @EZj$^m?bj5 ii؇\Aj̢BjB2j?pLȔO@SIPPz uzpk J?h-俘y&"jU.*j<p-fH<'S@ (-pBw/UE¿f>X?wt?9ǿiUBj9i3m?i  jUBzjjjjjBrj!4?M addTargetRange:: Added new target pos. range: 81.400002 m, deltaT: 3.777899 s, deltaX: -1.000000 m, approachRate: -0.264697 m/s, rangeRepo size: 4 } Added new target pos. range: 81.400002 m, bearing: 98.349452 deg, lat: 36.903969 deg, lon: -122.119048 deg, deltaT: 3.777899 s, deltaX: -1.000000 m, approachRate: -0.264697 m/s, posRepo size: 4 2iyDNOT Ignoring new targets: 81.40 m.i"i ProNav: ac range: 81.400002 m, nav range: 80.357399 m, bearing: 96.330154 deg, approach rate: 0.000000 m/s, LOS rate: -0.274852 deg/s, cmd heading: 92.957181 deg, new cmd heading: 92.513376 deg.  iHeadingCmd: 1.614663 target range: 81.400002 and range: 81.40 m.hG?hhhhggbgjglBeejeJeYT@:eƻ?MڊBɛUQZ) ti)se隙iBiG?IG?I,DAT read: user:1177>  BDAT read: Tx time:19:23:58.2451  $Ping request sent.E;>VF >ZI bI jI 0rI zI :I 7/:I ـ3I I <q I <i I [;u I [;m F ZA M >—<x,t \AFX @yF&@9F?H>YF)٣) 5GQU U>Y]e49]Ԗq?ae4Y]  i]ÒBim"@qm@]D]:]:]pR4 @JDAT read: TxSync time:19:23:58.2443 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2491202iDNOT Ignoring new targets: 81.40 m.iq"iq% ProNav: ac range: 81.400002 m, nav range: 80.244423 m, bearing: 96.236754 deg, approach rate: -0.334635 m/s, LOS rate: -0.277040 deg/s, cmd heading: 92.513376 deg, new cmd heading: 92.232783 deg.  i%!>mHeadingCmd: 1.609766 target range: 81.400002 and range: 81.40 m.hm ?hihihqhqgqgqbgqjgyeyeyjeyJey:e@?m׊Bɛm~Ž)unX= u iq)uqqqi} i} ?yI ?ID=?D9D9E=?5 E9VF% >խ =խ R= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504109F9 ZAI Me >9<x,=ֽ\AB(IMb@Mb@Mb@ )Iy`"?Mb?{Gz>=# @)@I@i9@f@HyH'5d| @=YQ >٣ GF >]49q?a4Y iB>m:B!@q@DL;|S;Y4  k@ E2i1=DNOT Ignoring new targets: 81.40 m.i=!"i=!M ProNav: ac range: 81.400002 m, nav range: 80.110558 m, bearing: 96.129820 deg, approach rate: -0.323699 m/s, LOS rate: -0.259010 deg/s, cmd heading: 92.232785 deg, new cmd heading: 91.911448 deg.  iM1HUR=HU%=]HeadingCmd: 1.604157 target range: 81.400002 and range: 81.40 m.heU?hahahahagagabgijgmoBeieijeqJeq:e}?雭ԊBɛq) i)0隱i=iU?IU?IDDDE4 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753805GY>GCG<(IGȈBG =GGDG;DG<G F:JUpMBJU9JJQRJUZJU*)&#   :IMH6*#JuhAIqVFFi ZAy M >ɥ<x,\A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005354^ @y^?@9^r@>Y^]|<^H : )g?  %? ǿ?n?^ @ɨ^; \fBf'IHrnHr."5zġ zY=Yz&Q ~>Y٣Y ]G]Feo e>i]u49m|q?au4Ym imBqu@q}@mDm;m;m`4 _@2iDNOT Ignoring new targets: 81.40 m.i"i ProNav: ac range: 81.400002 m, nav range: 79.979942 m, bearing: 96.035531 deg, approach rate: -0.337882 m/s, LOS rate: -0.244309 deg/s, cmd heading: 91.911445 deg, new cmd heading: 91.628119 deg.  i'HeadingCmd: 1.599212 target range: 81.400002 and range: 81.40 m.h?hhhhggbgjgeejeJe:e? ҊBɛ ƽ) i)نiyi?!!I%?I!DDDEN1 EZIubIujIqrIqzIu:IuU:IqIqIu=<Iu=<Iu;Iu;VF>-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258231FZAM>F<x,\A6@y6P@96H<>Y6w<6H "@WN?jm?.gǿf[?t?6@ɨ6q; 6?C^B^'IHfXHfn5nj rK=Yr,Q r>t٣t vGtv z>|]49~pq?a4Y~ i~BF@q@~D~:~N:~bg4  @-B*** querying acoustic contact ***i)i)2iAMDNOT Ignoring new targets: 81.40 m.iMŇ"iUŇe ProNav: ac range: 81.400002 m, nav range: 79.845497 m, bearing: 95.942723 deg, approach rate: -0.343325 m/s, LOS rate: -0.237398 deg/s, cmd heading: 91.628122 deg, new cmd heading: 91.349230 deg.  ie"mHeadingCmd: 1.594345 target range: 81.400002 and range: 81.40 m.hm~?hihihihigigqbgqjgqeyeyjeyJey:e}5?MΊBɛe@Ľ) ݑi)i닼checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511821i~?I~?I^DM·3=HqHu?AD D D E 0 E % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760160G X>G CG 'IG BG  =G G G <G FH HˡCH˔CH"H# =*H:^6VF >:J GqMBJ K9JJ RJ ZJ    J ? J FZAM>=x,\ANW@yN%@9Nd;>YNp/]=t (@)@I@i|@@H}H}v35 =YѺQ >٣ GF^ >]49aq?a4Y, ikBQ>m:+@q@D;;p4B @E2iDNOT Ignoring new targets: 81.40 m.i ~"i ~% ProNav: ac range: 81.400002 m, nav range: 79.653786 m, bearing: 95.821962 deg, approach rate: -0.352976 m/s, LOS rate: -0.222877 deg/s, cmd heading: 91.349231 deg, new cmd heading: 90.986083 deg.  i%-HeadingCmd: 1.588007 target range: 81.400002 and range: 81.40 m.h-C?h)h1h1h1g1g1bg9jg=VBe9e9je9JeA:eE@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013782uʊBɛuʺ)y yi)T隡iiC?IC?IZIbIjIrIzI;IX:IIIXH<IXH<I/;I0;^D- -tY=D ?D D E 0 E  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264694VF>zFhArFhAFZAM?G =x,f2\AJ@yJf7@9J8>YJR;l٣p rGrFr9 r>t]M49v8Tq?a]4Yv ivUBim@qu@vDvG CG 'IG ]BG  =G G :DG <G o FVF >:J LBJ ŷ9JJ RJ ZJ $>C<1$  FyZAM>=x,Q\A2+?y2d @926>Y2mހ<2H`nix@S`$?@|?ƿ? |?2+?ɨ2H; 2=C:@B:'IMb@Mb@Mb@ )Iy +?{Gz?:v>#=T ?@)V@I@i@=@HH<55ِ =Y\Q >٣ GFV >]49Fq?a4Y% i;B>m:@q@DX ; :4 @E2i)-DNOT Ignoring new targets: 81.40 m.i5]h"i5]hE ProNav: ac range: 81.400002 m, nav range: 79.281837 m, bearing: 95.623610 deg, approach rate: -0.401356 m/s, LOS rate: -0.203147 deg/s, cmd heading: 90.691505 deg, new cmd heading: 90.389639 deg.  iEk MHeadingCmd: 1.577597 target range: 81.400002 and range: 81.40 m.hM?hQhQhQhQgQgQbgYjg]JBeYeYjeaJea:ee @UŠBɛ]Ͻ)a zi)Cڬ隡i`i?I?IBDAT read: Rx Time:19:24:00.7566 TRx dataTimestamp_ set to:1736537041.400500checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022595DYDYDaEe0 EaZI bI jI rI zI m;I :I I I a<I a<I ;I ;VF- >F ZA! ME > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272248`9=x,j\A:4B?y: @9:"b5>Y:_<:HM3`@; ??@ƿ֏?~?:4B?ɨ:6; 8b#Bbs'IHnHn65v' v[=YzQ z>x٣x ~G|~Õ ~>] 49=q?a 4Y i)B/@q@D>::4 %F@!2iIMDNOT Ignoring new targets: 81.40 m.iMX"iUXe ProNav: ac range: 81.400002 m, nav range: 79.134163 m, bearing: 95.552928 deg, approach rate: -0.395296 m/s, LOS rate: -0.189554 deg/s, cmd heading: 90.389637 deg, new cmd heading: 90.177198 deg.  iemHeadingCmd: 1.573889 target range: 81.400002 and range: 81.40 m.hm2u?hihqhqhqgqgqbgyjgyeyejeJe:e@, @雭Bɛ) ̦i);i隱iSi2u?I2u?ID1D1D1E=0 E9VF>F?F?DAT read: 19:24:00.7566 LVL= 26864, 29345, 15538, 32755, AGC= 64, IDX= 423,-0.20, 0.446,-0.426, 1.645, 0.744, PHS=-0.210,-1.123, 0.898, RAW= 183.2, 5.0, CAL= 183.1, -3.8, ROT= 326.9, 3.8 %Ygot valid direction response: 19:24:00.7566 LVL= 26864, 29345, 15538, 32755, AGC= 64, IDX= 423,-0.20, 0.446,-0.426, 1.645, 0.744, PHS=-0.210,-1.123, 0.898, RAW= 183.2, 5.0, CAL= 183.1, -3.8, ROT= 326.9, 3.8 EPDAT read: Bearing 326.9, 3.8 (Local) ]~Local bearing/azimuth received: Bearing 326.9, 3.8 (Local) DAT read: Range 10 to 50 : 80.4 m (Round-trip 107.3 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.835877,-0.544902,-0.066274]Fpublishing direction and range info)Y- ?ho{S-̠B9)-h -r)-<I)i-@-= W-w-Te?-L@ -¸=)-QL@I-ԇi-M@-ԇ=FZAM>) )-(? <_Ws?_?I-*?i-9-m-ԇ=) )T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.0"!=x,"\A6|?y6 @964>Y6}l<6H@i ?C2`?bƿ??6|?ɨ6; 6m`٣ GF >]49S4q?a4Y iB>m:, @q@D+;>+;4 @ZjUݮq?bjUl iQiUy\AjU̠BjUB2jULS?pU|P@2EMPzpU ?ho{S"jUm*jUԇ=pU&?DaUS@:@1pU#@[??6?@>̿iUڜBjU?iUܣq?iUon  jUIBzjU8p?jQjQjjUWBrjU?% addTargetRange:: Added new target pos. range: 80.400002 m, deltaT: 3.781448 s, deltaX: -1.000000 m, approachRate: -0.264449 m/s, rangeRepo size: 4 = Added new target pos. range: 80.400002 m, bearing: 88.775055 deg, lat: 36.904010 deg, lon: -122.119048 deg, deltaT: 3.781448 s, deltaX: -1.000000 m, approachRate: -0.264449 m/s, posRepo size: 4 2iAEDNOT Ignoring new targets: 80.40 m.iM"iI] ProNav: ac range: 80.400002 m, nav range: 78.671608 m, bearing: 92.173123 deg, approach rate: 0.000000 m/s, LOS rate: -0.189554 deg/s, cmd heading: 90.177198 deg, new cmd heading: 89.931781 deg.  iYeHeadingCmd: 1.569606 target range: 80.400002 and range: 80.40 m.he?hahahihigigi,DAT read: user:1178> BDAT read: Tx time:19:24:02.0452 $Ping request sent.F! ZA) ME >m JDAT read: TxSync time:19:24:02.0444 u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250355K'=x,\A6K?y6D@96x2>Y6B4<6H*G ,r`,_?q"?;2ƿXB??6K?ɨ6t; 6?CBBBC'IHRHR>5v~ƽ vU=Yz9Q z>x٣x ~G~F~I >] 49`,q?a4Y iBo @q@D;?;4%B %@-EEB*** querying acoustic contact ***iAiA2iQUDNOT Ignoring new targets: 80.40 m.i5E"i5E ProNav: ac range: 80.400002 m, nav range: 78.532608 m, bearing: 92.108104 deg, approach rate: -0.367936 m/s, LOS rate: -0.172411 deg/s, cmd heading: 89.931783 deg, new cmd heading: 89.736381 deg.  iHeadingCmd: 1.566195 target range: 80.400002 and range: 80.40 m.hy?hhhhg1g9bg9jg9e9eAjeAJeA:eEӻ?%Bɛ-j)U߀= U}iY)e5GǼaiim/2iy?Iy?ZIbIjI1rIzI:IS2:I3Iq@i@u@m@ID?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501341 M[Ga y)R,yABVF >F ZA M >)x-=x,~\A5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755765%Y%c<%H$߿ U`j? h߿G?kſ@_^? ?%94< Ʒ@)@I@i1@Q@HH35ƽ -=Y Q >٣ G }!] }>]49z#q?a4Ys iB/>m:E@q@D:A:)4 @2iDNOT Ignoring new targets: 80.40 m.i*"i* ProNav: ac range: 80.400002 m, nav range: 78.353928 m, bearing: 92.035668 deg, approach rate: -0.367682 m/s, LOS rate: -0.149397 deg/s, cmd heading: 89.736385 deg, new cmd heading: 89.518581 deg.  iͻHeadingCmd: 1.562394 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjgQBee je Je :e@4?=Bɛ=Z)9 =Ki9)EeѼAAiER!iM?IIIM?IQDaD?DDE0 EE0>E0>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005848G `>G CG B'IG BG =G G ;DG <G FVFE >zFA rFA F ZA) ME >:J /KBJ 9JJ RJ ZJ $7:71/,'#! ]4=x, P\A2̑?y2@92.->Y2<2H-ݿ@Fį`u?@2ݿ @?`ſa?ψ?2̑?ɨ2,; 2;C:ȇB:'IB%=iB;HFHF+5N0 N{=YvoQ v?x٣x zGzF~ ~ ?] 49q?a 4Y^ iB  @q@DF:1:ä4 @2iAMDNOT Ignoring new targets: 80.40 m.iU""iU"} ProNav: ac range: 80.400002 m, nav range: 78.234703 m, bearing: 91.990093 deg, approach rate: -0.371774 m/s, LOS rate: -0.142332 deg/s, cmd heading: 89.518583 deg, new cmd heading: 89.381650 deg.  i}\ûHeadingCmd: 1.560004 target range: 80.400002 and range: 80.40 m.h7?hhhhggbgjgeejeJe:e?Bɛ{ )  i )1ټiOui7?I7?I!DDDE0 E->-W?5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257828VF>FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509538S:=x,\A^#?y^_"@9^|+>Y^<^H (ܿ@@٣ G   >]49q?a4YK iّB%@q%@#Dp;K;4) -@)2iDNOT Ignoring new targets: 80.40 m.i"i ProNav: ac range: 80.400002 m, nav range: 78.077263 m, bearing: 91.933685 deg, approach rate: -0.362681 m/s, LOS rate: -0.130203 deg/s, cmd heading: 89.381652 deg, new cmd heading: 89.212089 deg.  iHeadingCmd: 1.557045 target range: 80.400002 and range: 80.40 m.h=M?hhhhg g bg jg eejeJe:e?EBɛEs)I MiI)MzIIiMiU=M?QYI]=M?IY^D(W=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766576DDDE0 EZI bI jI 0rI zI ,:I :I ـ3I VF F ?F ?Fq ZA M >BB=x,W| \A~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014192%B%&IGf>GCG'IGɇBG =GG=DGհ<G F5Mb@Mb@Mb@11 1)1I1y5&1?{GztMb`?5>5ף5; 5ݸ@)5Ʒ@I5@i5t@15@HMHMF5]½ ]&=YeQ e>i٣i mGmFm u>q]}49uq?a}4Yu iuȑB>m;U@q@u0Du%-;u>+;u4B W@E2iDNOT Ignoring new targets: 80.40 m.i "i  ProNav: ac range: 80.400002 m, nav range: 77.895988 m, bearing: 91.874722 deg, approach rate: -0.380892 m/s, LOS rate: -0.124182 deg/s, cmd heading: 89.212086 deg, new cmd heading: 89.034783 deg.  isHeadingCmd: 1.553950 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjg&BeejeJe:e @%Bɛ%-)) -Yi))-A))i-9Qi5?11I=?I9:J .MBJ9JJRJZJaO^D=߁=DDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266342VF >F ZA M >sdH=x,@3#\A>x?y>C?9>)>Y><>Hؿԁ!?@ؿ,d?|"ſ+ϒ?`(?>x?ɨ>m; >=CFBF&IIH)HHRHRC5Z4 Zl=YZQ Z?\٣\ ^G^Fb8 b?d]j49f; q?aj4Yf. ifBhj?qj@f9Df:f:f4rB r@rE B*** querying acoustic contact ***i i 2iDNOT Ignoring new targets: 80.40 m.i%"i%5 ProNav: ac range: 80.400002 m, nav range: 77.764992 m, bearing: 91.838964 deg, approach rate: -0.377110 m/s, LOS rate: -0.103111 deg/s, cmd heading: 89.034781 deg, new cmd heading: 88.927327 deg.  i5EHeadingCmd: 1.552075 target range: 80.400002 and range: 80.40 m.hEb?hAhAhIhIgIgIbgQjgQeQeQjeQJeY:e]@雍Bɛig) ſi)隑i|ƻib?Ib?ICCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517586DDDE0 EVF >F  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772022ZA ME >N=x,<\A5w?y5T?95*(>Y5><5H`ֿ`Gp?vֿac?Ŀ4?`?5w?ɨ5n); 59 7@)@I@i@(@HHgG5E 6=Y;Q >٣ G%F%a %>)]549-q?a54Y- i-B5'>m=;=E?q=@-DD-<-<-4 g@2i DNOT Ignoring new targets: 80.40 m.iF"iF- ProNav: ac range: 80.400002 m, nav range: 77.593155 m, bearing: 91.802196 deg, approach rate: -0.367485 m/s, LOS rate: -0.078805 deg/s, cmd heading: 88.927328 deg, new cmd heading: 88.816780 deg.  i-TX5HeadingCmd: 1.550145 target range: 80.400002 and range: 80.40 m.h5)k?h1h1h1h1g9g9bg9jgEBeAeAjeAJeA:eM? @}Bɛ}' )y }_˿iy)隁i)i)k?I)k?IH5a=H5a=ZIEbIEjIArIAzIEL:IE:IAIAD1D1D1E50 E1-BDAT read: Rx Time:19:24:04.5549 5TRx dataTimestamp_ set to:1736537045.187951=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023664Gh>GCG&IGBG =GGGа<GVF F ZA M >:J LBJ ŷ9JJ RJ ZJ kJ gAI gA[gU=x,7V\AB A?yB~?9BR&>YB)t٣x zGx~ > ] 49 $q?a4Y  i Bp?q@ MD 2: : 4! % @!2iIMDNOT Ignoring new targets: 80.40 m.iUM"iUM ProNav: ac range: 80.400002 m, nav range: 77.452568 m, bearing: 91.775337 deg, approach rate: -0.409511 m/s, LOS rate: -0.078380 deg/s, cmd heading: 88.816782 deg, new cmd heading: 88.736057 deg.  i*WHeadingCmd: 1.548736 target range: 80.400002 and range: 80.40 m.hF ZA M > DAT read: 19:24:04.5549 LVL= 23344, 32753, 16370, 31347, AGC= 66, IDX= 422,-0.04,-1.791,-2.938,-1.062,-1.732, PHS= 0.029,-1.159, 0.668, RAW= 170.1, 5.8, CAL= 170.0, -3.5, ROT= 340.0, 3.5  Ygot valid direction response: 19:24:04.5549 LVL= 23344, 32753, 16370, 31347, AGC= 66, IDX= 422,-0.04,-1.791,-2.938,-1.062,-1.732, PHS= 0.029,-1.159, 0.668, RAW= 170.1, 5.8, CAL= 170.0, -3.5, ROT= 340.0, 3.5  8DAT read: $Error in header  *Received a bad header X#Rx 1: Read direction message, but no range.% `direction in FSK: [0.937940,-0.341382,-0.061049]I YM Eka?*eL5տ.xA9I M 0[ M )M ?IM sziM BM h@ M 4Q=)M N=@IM 5ziM N@M 5z=I M wYze?:Xq?l?IM c`?iM ϽM ʸM 5z== T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse[=x,{p\A6ra?y6?96[#>Y6̇<6H7ӿ`+?wMӿ ;?`eĿ?;?6ra?ɨ6i; 6;CNLBRj&IV>iVp<H^H^;5M> MC=YM޼Q M>Q٣Q UGUF] ]>a]m49ep?am4Yeʠ ieBqu?qu@eXDe:e>:e.4 @2iDNOT Ignoring new targets: 80.40 m.i"i% ProNav: ac range: 80.400002 m, nav range: 77.290489 m, bearing: 91.748094 deg, approach rate: -0.381750 m/s, LOS rate: -0.064301 deg/s, cmd heading: 88.736056 deg, new cmd heading: 88.654155 deg.  i%0-HeadingCmd: 1.547307 target range: 80.400002 and range: 80.40 m.h-'?h)h)h)h)g1gQbgYjgYeYeajeaJea:eeu@雭BɛTS) \ҿi) iIEi'?I'?IDM?DQDQEU0 EQT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseVFm >FA ZAI I;ـ3I;3I;.I3I3I3ZIm bIm jIm 1rIi zIm :Im :Im 3Ii M >${b=x,g\Ab?yb?9bE >Yb+: M@) @I@i@@HHMD5ٽ 5=YڻQ >٣ G >]49p?a4Y2 iBo>m; ?q@cDU::"4) -7@)2iq}DNOT Ignoring new targets: 80.40 m.i}EZ"i}EZ ProNav: ac range: 80.400002 m, nav range: 77.115150 m, bearing: 91.726439 deg, approach rate: -0.385412 m/s, LOS rate: -0.047707 deg/s, cmd heading: 88.654155 deg, new cmd heading: 88.589043 deg.  iHeadingCmd: 1.546170 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjgBeejeJe:eਊ@-Bɛ-h)1 5B׿i1)5Q11i=PZi=?=[IE?Ia:JӂLBJ9JJRJZJ{[D6.$  ]"kw4 J? J%?DDDE ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseVF >F ZA M >h=x,<\A2?y2?92O>Y2<2HuLϿ뒿?HϿ`~?`ÿ `?3?2?ɨ2S; 0N$BR8&IHZHZdK5b bq=Yb/ Q b?d٣d fGfFf j?h]r49jp?ar4Yj̘ ij{Bpr=?qr@jlDj#;j;j4t z1@|B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 80.40 m.iD."iD. ProNav: ac range: 80.400002 m, nav range: 76.985580 m, bearing: 91.713309 deg, approach rate: -0.375223 m/s, LOS rate: -0.038089 deg/s, cmd heading: 88.589043 deg, new cmd heading: 88.549585 deg.  iѺHeadingCmd: 1.545482 target range: 80.400002 and range: 80.40 m.hY?hhhhggbgjgeejeJe:e@BɛDZ*) 2ڿi)~i4ti%Y?%+e!<%%Fg>I%Y?I)T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^DX=D?DDE0 EVFu>>FI ZAQ Mu > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsen=x,,(\A?y2V?9>Y2<H˿=Qw`?˿s?Jÿ@ߖ?Z?騭?ɨZ; e 0e ez@)ed@Ie@ie@ae@H}H}H5 0=YʻQ >٣ GFπ >]49*p?a4Y ilBx>m;p?q@wD";&;4 7@2iDNOT Ignoring new targets: 80.40 m.ih"ih ProNav: ac range: 80.400002 m, nav range: 76.802406 m, bearing: 91.702023 deg, approach rate: -0.411254 m/s, LOS rate: -0.025398 deg/s, cmd heading: 88.549585 deg, new cmd heading: 88.515647 deg.  iq HeadingCmd: 1.544889 target range: 80.400002 and range: 80.40 m.h ?h h h h ggbgjgBeejeJe:e@@ZI5bI5jI50rI1zI5l:I5:I5ـ3I1uBɛuM)q }ܿiy)}C/yi(8i?FG)<rQ>I?I^Dו=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGGGO&IG6BG =GGGH<GFD1D1D9E9 E9:JU MBJU 9JJQ RJU ZJU ! VF] \ >F1 ZA9 MU >u=x,\AzBz&IHH3A5%%ͽ %d=Y-Q ->)٣1 =G9M M>]49p?a4Y# i`Bq@DS::4 ^@2iDNOT Ignoring new targets: 80.40 m.i"i ProNav: ac range: 80.400002 m, nav range: 76.655968 m, bearing: 91.692961 deg, approach rate: -0.396277 m/s, LOS rate: -0.024568 deg/s, cmd heading: 88.515645 deg, new cmd heading: 88.488409 deg.  i↺HeadingCmd: 1.544414 target range: 80.400002 and range: 80.40 m.h\?hhhhggbgjg e e je Je:e'@=Bɛ=0)9 =i9)E#AAiM@:iU\?]g.<]U>Ie\?uT****** received valid address query ******uR****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseIy^D=De?DaDiEm0 EiI%=)C - &GA VFe .w> ) )y B% T****** received valid address query ******% R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseFa ZAi M >{=x,l\AB%IHHF5Eؽ MI=YIQ M>Q٣Q UGUFQ ]>a]m49eLp?am4Ye ieTBiiqm@eDe:aex4y }@}E2iDNOT Ignoring new targets: 80.40 m.iK"iK ProNav: ac range: 80.400002 m, nav range: 76.499649 m, bearing: 91.683250 deg, approach rate: -0.393743 m/s, LOS rate: -0.024512 deg/s, cmd heading: 88.488407 deg, new cmd heading: 88.459212 deg.  iHeadingCmd: 1.543905 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjgeejeJe:eR@M~Bɛ$) i))隑i;i?/5<#iV>I?ICCCCT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseDm ?Di Di Em 0 Ei VFe S>F9 ZAQ Mm >ɂ=x, \AGNi>GLGN&IGN BvT****** received valid address query ******vR****** received valid ping request ******vreceived new query, but waiting for acoustic response period to elapseGN =GLGLGN<GN FB%IQ8D; @)z@I@i?@@HHH5W 3=YQ >٣ GF >] 49p?a 4Y6 iFB >m;?q@DMV;T;r4 .@2iAEDNOT Ignoring new targets: 80.40 m.iMܹ"iMܹ] ProNav: ac range: 80.400002 m, nav range: 76.316170 m, bearing: 91.672272 deg, approach rate: -0.402005 m/s, LOS rate: -0.024111 deg/s, cmd heading: 88.459214 deg, new cmd heading: 88.426201 deg.  i]`eHeadingCmd: 1.543328 target range: 80.400002 and range: 80.40 m.heɋ?hihqhqhqggbgjgBeejeJe:e@yBɛ() i)#/iwM;iɋ?<<PW>Iɋ?Ia:J=8aLBJ=K9JJ9RJ=ZJ= 0^{tmjd^ZA DDDE0 ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseVF] 4S>Fm ?Fm *?F9 ZAA M] >=x,%\A6?y6X?96>Y6<6H`jC;??``? [??6?ɨ6; 6=C>ۆB>%IHFHF=5Ng Rw=YRQ R?T٣T VGTV/ Z?\]^49^p?ab4Y^ i^=B`b?qb@^D^:^):^<4h n@lZI|bI~jI|rI|zI|I~:I|I|I~;qI~;iI~L;u I~L;m B*** querying acoustic contact ***ii2i!%DNOT Ignoring new targets: 80.40 m.i-L9"i-L9= ProNav: ac range: 80.400002 m, nav range: 76.182510 m, bearing: 91.676016 deg, approach rate: -0.398761 m/s, LOS rate: 0.011190 deg/s, cmd heading: 88.426204 deg, new cmd heading: 88.437456 deg.  i=9EHeadingCmd: 1.543525 target range: 80.400002 and range: 80.40 m.hE8?hAhAhAhAgIgIbgQjgQeYeYjeYJeY:e] @雅tBɛ0;) -vi))-ɋ4))i-@;i58?5z?<55]=I=8?I9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseDDDE^1 EVFYV>FZAMD> T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse 1=x,,?\A?yZ?9 >YP<Hl O??@򬲿m?$M& ?`??ɨ啈; ˆB%I}Mb@Mb@Mb@yy y)yIyy}&1?Mb~jth?}>}@y }@)}@I}@i}V@y}@HHjC5 ,=YMQ >٣ G F+g >]49Yp?a4Y~ i0BH>m; ?q@D:k: 4  @ 2iDNOT Ignoring new targets: 80.40 m.i9"i9 ProNav: ac range: 80.400002 m, nav range: 75.987274 m, bearing: 91.686108 deg, approach rate: -0.393351 m/s, LOS rate: 0.020385 deg/s, cmd heading: 88.437453 deg, new cmd heading: 88.467807 deg.  i_:=HeadingCmd: 1.544055 target range: 80.400002 and range: 80.40 m.h=?hAhAhAhAgAgAbgIjgMBeIeIjeQJeQ:eUl@雝nBɛ{) i)<隩iЗ;i?? C<=I?IGGG%IGBG =GGG<G FT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseDDDE0 E:JU MNBJU 9JJQ RJU ZJU VF W>F ZA M >Nu=x,v[\A^"*?y^g?9^>Y^<^H$Bɕ?`? S|@x?D;??^"*?ɨ^; ^;Cr†Bv%IIx)xH~H~>5 7  Z=Y +Q >٣ G Fs >!]-49%/p?a-4Y%z i%&B)-?q5@%D%U;%@;%49 =Q@92iaeDNOT Ignoring new targets: 80.40 m.im:"im:uT****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse ProNav: ac range: 80.400002 m, nav range: 75.837753 m, bearing: 91.696948 deg, approach rate: -0.429980 m/s, LOS rate: 0.031233 deg/s, cmd heading: 88.467807 deg, new cmd heading: 88.500389 deg.  iz:HeadingCmd: 1.544623 target range: 80.400002 and range: 80.40 m.h6?hhhhggbgjgeejeJe:eK@UiBɛU|A)]e= ]iY)]hAYYi];ie6?eDS>FZAML>ZI=bI=jI=1rI9zI=:I=9I=3I9I=;I= ;I=8;I=8;% T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapse)=x,t\A6B߯?y6?96^\>Y6K<6H4`'|?@f?YS?I@@t??6B߯?ɨ6 ; 6>CNBR%IHZHZ95z7 zL=Y~2Q ~>٣ G  > ]49 rp?a4Y Nv i BM?q@ D #; ; 4) -@)2iQ]DNOT Ignoring new targets: 80.40 m.ie++:"ie++:u ProNav: ac range: 80.400002 m, nav range: 75.675797 m, bearing: 91.711921 deg, approach rate: -0.403786 m/s, LOS rate: 0.037412 deg/s, cmd heading: 88.500387 deg, new cmd heading: 88.545404 deg.  i}f:HeadingCmd: 1.545409 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjgeejeJe:e`@dBɛE7) i)H@Gi*;i?lE<93E=I?IDDDDE1 EVFm3>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseF!ZA1Mm5>Ge j>Ga Ge %IGe ֆBGe  =Ga Ga Ge Ȱ<Ge F9 9 = T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapsee=x,Ȏ\AB?yB7?9B)k=YBOL; @)@Ii@@H%H%C55  =7=Y=&Q =>A٣A EGE FEj M>Q]]49U[p?a]4YUsq iUB]>m]:]h?q]@UDUf:U :U4i ma@q2iDNOT Ignoring new targets: 80.40 m.iG[:"iG[: ProNav: ac range: 80.400002 m, nav range: 75.492271 m, bearing: 91.733285 deg, approach rate: -0.410729 m/s, LOS rate: 0.047927 deg/s, cmd heading: 88.545404 deg, new cmd heading: 88.609650 deg.  i;HeadingCmd: 1.546530 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjgBeejeJe:e @_Bɛ0) fi)Mi9/T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZI] bI] jI] 0rIY zI] :I] 9I] ـ3IY I] R;I] S;I] %7;I] &7;=x,Ψ\AFy?yFu?9F=YF=FH`?@@U/?*???C)?@?Fy?ɨFu; DrBv%I||HHK5Ž ]=Y2OQ >!٣! %G% F% %>)]549-@p?a54Y-qm i-B9=G?q=@-D-^;-f;-Q%4EB M@MEmB*** querying acoustic contact ***iiii2iy}DNOT Ignoring new targets: 80.40 m.i:"i: ProNav: ac range: 80.400002 m, nav range: 75.340851 m, bearing: 91.753885 deg, approach rate: -0.410141 m/s, LOS rate: 0.055911 deg/s, cmd heading: 88.609649 deg, new cmd heading: 88.671575 deg.  i|;HeadingCmd: 1.547611 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjgeejeJe:e!@ZBɛ1@) i)eSiC՝ <՝ < T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse=x,;\A-B-%IMb@Mb@Mb@ )IyCl?Q~jth?;>uD; @)@I@iݸ@@HH-I5 ;  /=YQ >٣ G >)]549-p?a54Y-"h i-B5W>m5:5?q=@-D-:-:-{-4A Er@I2iq}DNOT Ignoring new targets: 80.40 m.i“:"i“: ProNav: ac range: 80.400002 m, nav range: 75.140503 m, bearing: 91.783991 deg, approach rate: -0.428690 m/s, LOS rate: 0.064590 deg/s, cmd heading: 88.671572 deg, new cmd heading: 88.762130 deg.  iO1;HeadingCmd: 1.549191 target range: 80.400002 and range: 80.40 m.hK?hhhhggbgjgBeejeJe:e`h"@SBɛ%70)! %i))-Z)1i5 %<=x,[\A2T****** received valid address query ******2R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapseJ$?yJa?9Jv=YJ=JHe9?zٲ?Ҹ?=?Ù? _$ϥ??J$?ɨJ; J>CRBR%IHZHZ0E5bx fc=Yf3Q f>h٣h jGj Fj" j>p]r49rq?av4Yrd irBtvì?qv@rDr:r):r34x zR@|2iDNOT Ignoring new targets: 80.40 m.iǵ:"iǵ: ProNav: ac range: 80.400002 m, nav range: 74.988060 m, bearing: 91.814011 deg, approach rate: -0.402681 m/s, LOS rate: 0.079461 deg/s, cmd heading: 88.762133 deg, new cmd heading: 88.852378 deg.  i"Z; HeadingCmd: 1.550767 target range: 80.400002 and range: 80.40 m.h ?h hh!h!g)g)bgqjgqeqeyjeyJey:e}`zM#@NBɛ*>) i)`i3e=x,/1\ABcD?yB?9Bv=YBț=BH ?:ݿ?Q?غ?^?v`]??BcD?ɨB; B;CNBR{%IHVHV@5b. bK=YbQ b>d٣d fGfFf j>h]r49jpq?ar4Yj_ ijBpr?qv@jDjK;j5;j:4x z@x2i!%DNOT Ignoring new targets: 80.40 m.i-R:"i-R:= ProNav: ac range: 80.400002 m, nav range: 74.818008 m, bearing: 91.849677 deg, approach rate: -0.443605 m/s, LOS rate: 0.093251 deg/s, cmd heading: 88.852380 deg, new cmd heading: 88.959621 deg.  i=;EHeadingCmd: 1.552638 target range: 80.400002 and range: 80.40 m.hEڼ?hAhIhIhIgIgIbgQjgQeQeQjeQJeY:e], $@雅IBɛkG) i)Ff隉i:AG G G %IG BG G G G <G FM `eD @)@Ii @@H-H-P@5E >=Y Q >٣ G >]49Vq?a4YWZ iߐB>m:?q@D::`B4 @2iAMDNOT Ignoring new targets: 80.40 m.iM:"iM: ProNav: ac range: 80.400002 m, nav range: 74.621170 m, bearing: 91.890110 deg, approach rate: -0.445665 m/s, LOS rate: 0.091787 deg/s, cmd heading: 88.959621 deg, new cmd heading: 89.081241 deg.  i{;HeadingCmd: 1.554761 target range: 80.400002 and range: 80.40 m.hh?hhhhggbgjgBeejeJe:e $@mBBɛ'8) i)+xmi RDDDE0 EVF}Qd<DAT read:    9 x=x,+\A)2y02tAF_?yFU?9F=YF=FHB? ? ?7?ȱ?@M U?M?F_?ɨF㞈; F;CNyBRf%IHZHZH5b\ bX=Yb[Q b>d٣d fGfFj)ۼ j>t]49v q?a4YvU ivאBt?q%@vDv;v;vH41 5@9uB*** querying acoustic contact ***iqiq2iDNOT Ignoring new targets: 80.40 m.i:"i: ProNav: ac range: 80.400002 m, nav range: 74.450272 m, bearing: 91.926811 deg, approach rate: -0.448579 m/s, LOS rate: 0.096554 deg/s, cmd heading: 89.081240 deg, new cmd heading: 89.191594 deg.  i;  BDAT read: Tx time:19:24:12.9953  $Ping request sent. g=x,GE\AލmBލX%IZIbIjI0rIzI:I:Iـ3Iq@i@u@m@Mb@Mb@Mb@ )Iye;O?v/Mb`>xi @)@I@id@=@HMHMp;5]C ]&=Y}Q >٣ GF >]4Gk>GG%IGBGGGG<G F9q?a4YO iːBx>m:q@ D`)<(<Q4B @E2i1]DNOT Ignoring new targets: 80.40 m.ie:"ie:u ProNav: ac range: 80.400002 m, nav range: 74.223045 m, bearing: 91.975883 deg, approach rate: -0.461916 m/s, LOS rate: 0.100061 deg/s, cmd heading: 89.191595 deg, new cmd heading: 89.339261 deg.  iuW;HeadingCmd: 1.559264 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjgBeejeJe:e&@AJDAT read: TxSync time:19:24:12.9945 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2496075Bɛ:) i)%z!!i%Mp:J BoHBJ ŷ9JJ RJ ZJ $26546320-+)*('# D=x,_\A:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502030ޝ`BޝH%IHH\05 g=YQ >٣ G >]49q?a4YyK iÐBq@*D:6:W4  @2iDNOT Ignoring new targets: 80.40 m.ic:"ic: ProNav: ac range: 80.400002 m, nav range: 74.061806 m, bearing: 92.010894 deg, approach rate: -0.454766 m/s, LOS rate: 0.098961 deg/s, cmd heading: 89.339264 deg, new cmd heading: 89.444525 deg.  iՇ;HeadingCmd: 1.561101 target range: 80.400002 and range: 80.40 m.h,?hhhhggbgjgeejeJe:e@_'@%0Bɛ%S)! %i))-))i-g/}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752186Z=x,Jy\A2ț?y2i?92!T=Y2'Ӣ=2H@?l??^t?@rʤ?+M?,?2ț?ɨ2; 29CNYBN@%IHVHV95b. b^=YbjQ b>d٣d fGfFfd j>h]r49jq?ar4YjF ijBpr?qr@j6DjA;j:j^4t z@x2iDNOT Ignoring new targets: 80.40 m.i:"i: ProNav: ac range: 80.400002 m, nav range: 73.892563 m, bearing: 92.049549 deg, approach rate: -0.460369 m/s, LOS rate: 0.105390 deg/s, cmd heading: 89.444524 deg, new cmd heading: 89.560756 deg.  i;HeadingCmd: 1.563130 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjgeejeJe:e(@ +Bɛ P)m= Vi)iZIbIjIrIzIM:I=9IIG G G %IG BG G G G <G % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256178=x,Y\AJT?yJ?9J '=YJQz=JH@#n? ؓ H?@]?? Μ?@ߤ ??JT?ɨJb(; H^JB^,%II`)`UMb@Mb@Mb@QQ Q)QIQyUjt?I +{GztU?U94Uף U@)QIU@iU@QU@HmHm*5} ?=YҼQ >٣ G#< >]49q?a4YiA iBD?m:?q@CDf::e4 @2iDNOT Ignoring new targets: 80.40 m.i:"i: ProNav: ac range: 80.400002 m, nav range: 73.683289 m, bearing: 92.091222 deg, approach rate: -0.509097 m/s, LOS rate: 0.101664 deg/s, cmd heading: 89.560753 deg, new cmd heading: 89.686125 deg.  i;HeadingCmd: 1.565318 target range: 80.400002 and range: 80.40 m.hY\?hhhhggbgjgBeejeJe:eS(@$BɛxG) i) _  i /yZ=x,]1\A2 ?y20?92P?B>%IHFHFjC5Nf RZ=YV޼Q V>T٣T VGVFZ|R< Z>\]b49^q?af4Y^< i^Bdf9?qf@^OD^;^:^'l4h n@lzB*** querying acoustic contact ***ixix2iDNOT Ignoring new targets: 80.40 m.i *:"i *: ProNav: ac range: 80.400002 m, nav range: 73.499634 m, bearing: 92.127197 deg, approach rate: -0.487870 m/s, LOS rate: 0.095805 deg/s, cmd heading: 89.686128 deg, new cmd heading: 89.794323 deg.  i;%HeadingCmd: 1.567207 target range: 80.400002 and range: 80.40 m.h%:?h!h!h)h)g)g)bg)jg1e1e1je1Je1:e= )@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760190Bɛ45U) i)Li1> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012238=x,\An8?ynݹ?9nnH 6P?y`???p?0?`?n8?ɨn,o; lz2Bz%IMb@Mb@Mb@ )IyNbX9?kt~jtx? 0Ļ K@)z@I@i@3@ZIbIjIrIzI:I9IIHHE5 `m 5=YjQ >!٣! %G%F-?< ->9]M49="q?aM4Y=d6 i=BU?mU:U?q]@=_D=k;=v\;=t4a mp@ GQGQGU%IGUBGQGQGQGU<GU F2iDNOT Ignoring new targets: 80.40 m.i:"i: ProNav: ac range: 80.400002 m, nav range: 73.268608 m, bearing: 92.170610 deg, approach rate: -0.472577 m/s, LOS rate: 0.089084 deg/s, cmd heading: 89.794325 deg, new cmd heading: 89.924975 deg.  it;HeadingCmd: 1.569487 target range: 80.400002 and range: 80.40 m.h?hhhhggbgjg˂Beeje Je :e @*@uBɛu*E)q uEiy)}_/yyi}D>D D D E 0 E :J }\KBJ h9JJ RJ ZJ _X-  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516158VFTF?F?FZAM?;=x,f-\A:Sz?y:?9::H@,? j?B?`t?@hP ??`;?:Sz?ɨ:; :;CZ!BZ$If!>ifp<HnHnF5r" v*=Yv:Q v>x٣x zGzF~Id< ~>] 49&q?a 4Y/ iB  ?q@oD;;j|4! %@%E2iDNOT Ignoring new targets: 80.40 m.iT:"iT: ProNav: ac range: 80.400002 m, nav range: 73.025688 m, bearing: 92.215127 deg, approach rate: -0.530953 m/s, LOS rate: 0.097625 deg/s, cmd heading: 89.924973 deg, new cmd heading: 90.058967 deg.  i;HeadingCmd: 1.571826 target range: 80.400002 and range: 80.40 m.h1?hhhhgg bg jg eejeJe:eU+@MBɛMM)I MiI)U'ƐQQiU.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020180w>x,\A^ow?y^ ?9^,Y^,>^H9? `Y?o?2?哿>`?C~??^ow?ɨ^d; \fBj$IHrHrE5z@ zJ=YzQ ~>|٣| ~GQ<  > ]49  *q?a4Y s* i B?q@ |D ; n; |4) -@)2iy}DNOT Ignoring new targets: 80.40 m.id:"id: ProNav: ac range: 80.400002 m, nav range: 72.818916 m, bearing: 92.251872 deg, approach rate: -0.525884 m/s, LOS rate: 0.093718 deg/s, cmd heading: 90.058968 deg, new cmd heading: 90.169514 deg.  i;HeadingCmd: 1.573755 target range: 80.400002 and range: 80.40 m.hp?hhhhggbgjgeejeJe:ep],@雝 BɛҹU) Ni)(iѣVFM F!ZA)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524351MU?4!>x,3"\A?yǼ?9wTYE6>H7?|Z`x???`snಎ?A?}??ɨ)X; B]$I-Mb@Mb@Mb@)) )))I)y-p= ף?)\(Mb-?-Ga- -@)-7@I)i-S@)-@HEHE>5U U =Y]Q ]>Y٣a eGeFel< e>i]u49m /q?a}4Ym" imB}?m}:}گ?q}@mDm ;m;m4 @2iDNOT Ignoring new targets: 80.40 m.i:"i: ProNav: ac range: 80.400002 m, nav range: 72.524338 m, bearing: 92.307902 deg, approach rate: -0.512406 m/s, LOS rate: 0.097859 deg/s, cmd heading: 90.169514 deg, new cmd heading: 90.338289 deg.  iQ;uHeadingCmd: 1.576701 target range: 80.400002 and range: 80.40 m.huS?hqhqhqhqgygybgyjg}BeejeJe:e -@BɛD)1U= ki)ߘiދ %BDAT read: Tx time:19:24:16.5953 %$Ping request sent.%ڥ5<ڡ ۡۥWk~?@?0߷?IۥVK>iۥDۥr>ۥ5<ۡ ܡ:publishing transmit ping time!Fpublishing direction and range infoءYإ?Z?B7߁ء9ءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡ ۡۥWk~?@?0߷?Iۡiۡۡۡۡ ܡDU ?DQ DQ EU 3 EQ VFu:FQ]=]4=ZAaM}?>x,B\A>ޢ?y>?9> Y>ڛD>>H`޳?bU?\??Ա? X?%i?d?>ޢ?ɨ>@݉; >`٣` fGfFfl0= j>h]n49jX2q?an4Yj ihpr??qr@jDj`:jK:j4zB ~@~ EZjslm?bj"ۢ ii2\Aj̔Bj̓B2j?p5I;R@w>PC`2@_ذzp?Z?B7߁"jr>*j5<p )-l IR@@)t@pſ:Tu?4~(u?iIBjPHiFUm?i`  jBzjjO jjjBrj3>x,4^\A6P?y6?96:Y6H>6H?U?n?Ѭ?qO?l?dZ?6P?ɨ6Q; 6>C>B>$I:J oKBJ 9JJ RJ ZJ   JhAIgA]Mb@Mb@Mb@YY Y)YIYy]Mb?S㥫y&1]?]/]]`e ]@)] @I]j@i]@Y] @HuHu15 2=YüQ >٣ GF< >]495q?a4Y iB?m: ?q@Dy;[;4 @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 74.40 m.i:"i: ProNav: ac range: 74.400002 m, nav range: 72.744324 m, bearing: 92.362151 deg, approach rate: -0.628798 m/s, LOS rate: 0.103172 deg/s, cmd heading: 90.489037 deg, new cmd heading: 90.602481 deg.  i;HeadingCmd: 1.581312 target range: 74.400002 and range: 74.40 m. T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.hkh?hh!h!h!g)g)bg)jg-Be1e1je1Je1:e=`?]BɛeGo) i)TiT kA ))m&ymkAmB checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991788iV>x,w\A2?y2??92|yfY2K>2Hྫྷ?@WM???7ﰿ`Kˬ?=?Q?2?ɨ2]N; 2=CBυBB$IHJHJ05fZ fX=YfQ j>h٣h jGhn@< n>p]v49r8q?av4Yr irBxz_?qz@rDr[:rg:r4| ~@|2iAEDNOT Ignoring new targets: 74.40 m.iMu:"iMu:U ProNav: ac range: 74.400002 m, nav range: 72.553207 m, bearing: 92.391973 deg, approach rate: -0.501420 m/s, LOS rate: 0.078447 deg/s, cmd heading: 90.602480 deg, new cmd heading: 90.692180 deg.  iYW;HeadingCmd: 1.582877 target range: 74.400002 and range: 74.40 m.h?hhhh g g bg jgeejeYJeY:e]?雭BɛSb) Oi)l隱iȸ<!4I?ID?DDE E5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244642VF!rF ZA M >G l>G G 5%IG RBG  =G G G '<G F>$>x,Α\ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495813΅B%$IMb@Mb@Mb@ )IyZd;O?Zd;y&1j>y @)@I=@i@@HH|+5̻ ;=YQ >٣ GF >]49;;q?a4Y  iBq>m:#?q@D2<(<A4 @ E2iiDNOT Ignoring new targets: 74.40 m.i*:"i*: ProNav: ac range: 74.400002 m, nav range: 72.340416 m, bearing: 92.428434 deg, approach rate: -0.448111 m/s, LOS rate: 0.077007 deg/s, cmd heading: 90.692181 deg, new cmd heading: 90.801884 deg.  ieS;HeadingCmd: 1.584792 target range: 74.400002 and range: 74.40 m.hv?hhhhg g bg jgBeejeJe:e?Bɛ:=Y) ri)!li:x,G\AN=Z?yN֗?9NUxYN~&L>NHϥ?`m[U??1?`Rኲ?`H?@H?N=Z?ɨN0; N>CjÅBj$IHrHrs75zD) ~#=Y~Q ~>٣ GF< > ]49 >q?a4Y  i Bߴ?q@ D ; ; 4! -m@)2iQ]DNOT Ignoring new targets: 74.40 m.i]:"i]:m ProNav: ac range: 74.400002 m, nav range: 72.096764 m, bearing: 92.467714 deg, approach rate: -0.528505 m/s, LOS rate: 0.085491 deg/s, cmd heading: 90.801887 deg, new cmd heading: 90.920127 deg.  imj;uHeadingCmd: 1.586856 target range: 74.400002 and range: 74.40 m.hu?hyhyhyhygygybgjgeejeJe:e`i@雵ډBɛd) i)<iVuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252236P53>x,t\A2?y2"2H =?_??@V?fa{? ?`F?2?ɨ2~<; 2=}= 9)=ݸ@I=@i=@9= @HUHU>5D ==YҏQ >٣ G=< >]49CAq?a4Y" iB>m: ?q @D::4 @2iAEDNOT Ignoring new targets: 74.40 m.iM:"iM:] ProNav: ac range: 74.400002 m, nav range: 71.891937 m, bearing: 92.500696 deg, approach rate: -0.472502 m/s, LOS rate: 0.076302 deg/s, cmd heading: 90.920125 deg, new cmd heading: 91.019353 deg.  ievQ;eHeadingCmd: 1.588587 target range: 74.400002 and range: 74.40 m.heV?hihihihigigibgqjg}BeyeyjeyJey:e_@雵҉Bɛc) i)ۙ隹iW:>x,W>\A2 x?y2?92Y2G>2H0W?dpj?S?Q?|;? ?cF?2 x?ɨ2ȉ; 2:C`b~$IHjHj;5r[8; rD=YvQ v>t٣x zGzFz^< z>|]49~Cq?a4Y~ i~B  ?q @~D~;~;~4 @5B*** querying acoustic contact ***i1i12iAEDNOT Ignoring new targets: 74.40 m.iMЬ:"iMЬ:] ProNav: ac range: 74.400002 m, nav range: 71.694511 m, bearing: 92.532094 deg, approach rate: -0.473706 m/s, LOS rate: 0.075542 deg/s, cmd heading: 91.019354 deg, new cmd heading: 91.113805 deg.  i]`O;eHeadingCmd: 1.590236 target range: 74.400002 and range: 74.40 m.heٌ?hahahahagigyZIbIjIrIzI-:I9III;I;I|;I|;bgjgeejeJe:e@ʉBɛwc) i)Di5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259800@>x,v\A6C?y6D?96 ZY6C>6H4?@Jk? ?@f@? eḿ@\? !…B>$IHJHJ95VX< VO=YVdQ V>X٣X ZGZF^5< ^>`]f49b8Fq?af4Yb ibBdf?qf@bDbG:bu:b4l n@l2iDNOT Ignoring new targets: 74.40 m.i :"i :% ProNav: ac range: 74.400002 m, nav range: 71.507828 m, bearing: 92.561307 deg, approach rate: -0.473577 m/s, LOS rate: 0.074300 deg/s, cmd heading: 91.113801 deg, new cmd heading: 91.201669 deg.  i%K;-HeadingCmd: 1.591769 target range: 74.400002 and range: 74.40 m.h-?h)h)h)h)g1g1bg1jg1e9e9je9Je9:eEU @ÉBɛ|l) %i)o!i%`KGiGiGiGm =GiGiGmH<GmFDYDYDYEe?5 EaDAT read: 19:24:19.0964 LVL= 27600, 30113, 26834, 32755, AGC= 62, IDX= 414,-0.40, 2.534, 0.844, 2.107, 1.861, PHS= 0.761,-0.970, 0.243, RAW= 133.1, -0.5, CAL= 138.6, -9.4, ROT= 11.4, 9.4 Ygot valid direction response: 19:24:19.0964 LVL= 27600, 30113, 26834, 32755, AGC= 62, IDX= 414,-0.40, 2.534, 0.844, 2.107, 1.861, PHS= 0.761,-0.970, 0.243, RAW= 133.1, -0.5, CAL= 138.6, -9.4, ROT= 11.4, 9.4 PDAT read: Bearing 11.4, 9.4 (Local) ~Local bearing/azimuth received: Bearing 11.4, 9.4 (Local) DAT read: Range 10 to 50 : 72.7 m (Round-trip 97.0 ms) speed 0.4 m/s ,DAT read: user:1182> BDAT read: Tx time:19:24:20.1953 $Ping request sent.ٕB?ٕQxٕx>ٕ@ ڕ5)ڕT@Iڕ'iڕ%K>ڕ'>ڑ ۑەW^v&,?Uާm?pVIەC@i>iە5;ە%K>ە'>ۑ ܑ:publishing transmit ping timeFpublishing direction and range infoؑYؕkg?K?$vzĿؑ9ؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑ ۑەW^v&,?Uާm?pVIۑiۑۑۑۑ ܑVFE F ZA M% >)G>x,\A2a?y2?92aʽY2|?>2H _?Qret??@f?`A?2?I?2a?ɨ2e; 2;CnBn$I}Mb@Mb@Mb@yy y)yIyy}sh|??㥛 /$}>}} }Z@)yI}@i}5@y}p@HHE55 ;=YJQ >٣ G; >]49*Iq?a4Y iB1>m:ϲ?q@ DZ::c4 @Zj5Al?bj%̧ ii\AjfBjlB2jI?p“Q@;5g|Z,@iQb'zpkg?K?$vzĿ"j%K>*j'>p~yt,L)Q@Agp[2 ɿB^?{:✿iBjciV4l?iv0  jBzj3m?jv0 jlfBjjBrj?&TFailed to parse incomplete device message. addTargetRange:: Added new target pos. range: 72.699997 m, deltaT: 3.528194 s, deltaX: -1.700005 m, approachRate: -0.481834 m/s, rangeRepo size: 4  Added new target pos. range: 72.699997 m, bearing: 101.290636 deg, lat: 36.903944 deg, lon: -122.119040 deg, deltaT: 3.528194 s, deltaX: -1.700005 m, approachRate: -0.481834 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 72.70 m.JDAT read: TxSync time:19:24:20.1945 i "i ProNav: ac range: 72.699997 m, nav range: 72.042099 m, bearing: 98.424576 deg, approach rate: 0.000000 m/s, LOS rate: 0.074300 deg/s, cmd heading: 91.201672 deg, new cmd heading: 91.301186 deg.  i!%HeadingCmd: 1.593506 target range: 72.699997 and range: 72.70 m.h%?h)h)hIhIgQgQbgQjgU{BeYeYjeYJe],R@:eex?BɛȾa)Qb= Bi)3iAGM>x,7\A6eЩ?y6 ?96/սY62:>6H`?`Wz%?G?hq?G?e?4M?6eЩ?ɨ6; 6h٣h nGnFr< r>t]z49vKq?az4Yv* ivBxz0?qz@vDvu:v:v4B @E2i)5DNOT Ignoring new targets: 72.70 m.i5;"i5;E ProNav: ac range: 72.699997 m, nav range: 71.876480 m, bearing: 98.468027 deg, approach rate: -0.451476 m/s, LOS rate: 0.118722 deg/s, cmd heading: 91.301188 deg, new cmd heading: 91.431843 deg.  iE;MHeadingCmd: 1.595787 target range: 72.699997 and range: 72.70 m.hMB?hIhQhQhQgYgabgajgaeaeijeiJei:em`b?雕Bɛ9w) i)X廽隙iGe l>Ga Ge <%IGe WBGe  =Ga Ga Ge <Ge FH! H!H!H!"H!*H%˅25~.T>x,Q\AͅB$II!)!Mb@Mb@Mb@ )Iy#~j?MbX9{Gz>ʡף -@)@Id@i@H ]H 5< %6=Y%Q %>!٣) -G-F- ->1]E495Nq?aE4Y5 i5BE>mM:M,?qM@5#D5;5:54Q ]@Y2iDNOT Ignoring new targets: 72.70 m.i ;"i ; ProNav: ac range: 72.699997 m, nav range: 71.684097 m, bearing: 98.521466 deg, approach rate: -0.430094 m/s, LOS rate: 0.119789 deg/s, cmd heading: 91.431842 deg, new cmd heading: 91.592589 deg.  ik;HeadingCmd: 1.598592 target range: 72.699997 and range: 72.70 m.h?hhhhggbgjglBeejeJe:e7?Bɛ-b) i)0rimXZ>x,fk\AB?yBD?9B<-YB$3>BH΂?w??Ny 񠽿t?|!?aM?B?ɨB; @bBb$IHj|Hjb(5zk> z`=Y~\Q > ٣   G 3< >]M49XQq?aM4Y iBQUP?qU@-D#;;14Y ]b@eEB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 72.70 m.i<;"i<; ProNav: ac range: 72.699997 m, nav range: 71.525421 m, bearing: 98.564507 deg, approach rate: -0.425260 m/s, LOS rate: 0.115609 deg/s, cmd heading: 91.592591 deg, new cmd heading: 91.722001 deg.  i;HeadingCmd: 1.600851 target range: 72.699997 and range: 72.70 m.h?hhhhggbgjgeejeJe:e l?-Bɛ-k) i)0S½iBpb>x,|~\AJ[?yJ?9JӐYJl->JH`9? [?? Zт@?*`Z?`?XO?J[?ɨJ; J=CVBV$IHbHb;5r= z4=YkQ  >٣ GF ; >)]=49-iTq?a=4Y-$ i-BAE?qE@-;D-m^;-r;-.4Q ]x@Y2iDNOT Ignoring new targets: 72.70 m.i:"i:ZIebIejIarIaGGGa%IGuBG =GGGư<G FzIeM:Ie9IaIaIe ;Ie!;Ie;%;Ie<%; ProNav: ac range: 72.699997 m, nav range: 71.327965 m, bearing: 98.617979 deg, approach rate: -0.405229 m/s, LOS rate: 0.110041 deg/s, cmd heading: 91.722002 deg, new cmd heading: 91.882862 deg.  i ;HeadingCmd: 1.603658 target range: 72.699997 and range: 72.70 m.hD?hhhhggbgjgeejeJe:e`pM?eBɛeZT)a eii)mOMƽiiim?&h>x,-\A63?y6?96djY6+>6H`?.? ?,SԿ ؿ??-?@N?63?ɨ6e; 6:CBBB$IF)>iF>HHUMb@Mb@Mb@QQ Q)QIQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255794yUʡE?{Gz{GzU>UףU# U@)UƷ@IU @iUK@QU@HH95]= A=Y޻Q >:JpMBJJJRJZJ ٣ GFUI; >]49OWq?a4Y iŐB%>m:Ͳ?q@GDs::4 B@2iDNOT Ignoring new targets: 72.70 m.i;"i ; ProNav: ac range: 72.699997 m, nav range: 71.139595 m, bearing: 98.668992 deg, approach rate: -0.491758 m/s, LOS rate: 0.133526 deg/s, cmd heading: 91.882860 deg, new cmd heading: 92.036302 deg.  iF;%HeadingCmd: 1.606336 target range: 72.699997 and range: 72.70 m.h%o?h!h!h!h!g!g)bg)jg-Be)e1je1Je:e ~@BɛNjk) "i)CȽiun>x,!\A>?y>H?9>fY>(>>H?.?Y?ш8`A??O?>?ɨ>M<; >`٣` bGdfFL; f>h]n49j)Zq?ar4Yj ij͐Bpr?qr@jTDj:j:j4t v\@x2i%DNOT Ignoring new targets: 72.70 m.i%h ;"i%h ; ProNav: ac range: 72.699997 m, nav range: 70.953026 m, bearing: 98.719610 deg, approach rate: -0.448043 m/s, LOS rate: 0.121880 deg/s, cmd heading: 92.036300 deg, new cmd heading: 92.188556 deg.  iJ;HeadingCmd: 1.608994 target range: 72.699997 and range: 72.70 m.h?hhhhgg bgjgeejeJe:e@@Bɛ[) Wݿi)F̽i;GiGm%IGmBGm =GiGiGm<Gm FZIbIjIrIzI:I9III;I;I!;I!;VF `F ZA M > BDAT read: Rx Time:19:24:22.6943  TRx dataTimestamp_ set to:1736537063.335258 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012801u>x,t\A2?y2/;?92`Y2z'>2H[z? ?????`O?2?ɨ2r/; 2;Cb7Bb%IUMb@Mb@Mb@QQ Q)QIQyUe;O?bX9ȶy&1|U>UEU` U@)U@IUƷ@iU5@QUQ@HmHm0E5}> ?=Y˻Q >٣ G F˳; >]49e]q?a4Y i֐B>m:5?q@aD::>4B F@E2iDNOT Ignoring new targets: 72.70 m.i;"i;  ProNav: ac range: 72.699997 m, nav range: 70.757782 m, bearing: 98.775286 deg, approach rate: -0.455422 m/s, LOS rate: 0.130226 deg/s, cmd heading: 92.188559 deg, new cmd heading: 92.356046 deg.  i ;HeadingCmd: 1.611917 target range: 72.699997 and range: 72.70 m.hMS?hhhhggbgjgBeejeJe:eL @雵BɛR]) ҿi)ν隹iJ}|>x,c\AV >?yV{?9VpYV%>VHZr?l@y? ]?,?@&_?O?V >?ɨV^E; V=CbKBb.%I)f= f=HnHn:5v= vS=YzQ ->1٣1 5G5!F=; =>A]M49EY`q?aM4YE iEߐBIMr?qU@EnDE);E+;E" 4Y ] @a}B*** querying acoustic contact ***iyiy2iDNOT Ignoring new targets: 72.70 m.DAT read: 19:24:22.6943 LVL= 24352, 31553, 26610, 32755, AGC= 60, IDX= 423,-0.19, 0.639,-1.239, 0.157,-0.133, PHS= 0.860,-1.059, 0.287, RAW= 133.1, -1.0, CAL= 138.6, -10.2, ROT= 11.4, 10.2 Ygot valid direction response: 19:24:22.6943 LVL= 24352, 31553, 26610, 32755, AGC= 60, IDX= 423,-0.19, 0.639,-1.239, 0.157,-0.133, PHS= 0.860,-1.059, 0.287, RAW= 133.1, -1.0, CAL= 138.6, -10.2, ROT= 11.4, 10.2 PDAT read: Bearing 11.4, 10.2 (Local) ~Local bearing/azimuth received: Bearing 11.4, 10.2 (Local) DAT read: Range 10 to 50 : 71.1 m (Round-trip 94.8 ms) speed 0.4 m/s ,DAT read: user:1183>  BDAT read: Tx time:19:24:23.7954  $Ping request sent. ّ ڕ5i-;"i5;= ProNav: ac range: 72.699997 m, nav range: 70.577591 m, bearing: 98.826656 deg, approach rate: -0.458371 m/s, LOS rate: 0.131010 deg/s, cmd heading: 92.356049 deg, new cmd heading: 92.510553 deg.  iEҳ;EHeadingCmd: 1.614614 target range: 72.699997 and range: 72.70 m.hE?)ڑIڕK6iڑڕK6>ڑ ۑەf)?I3W\?.҄EIەi>iەJ\<ۑەK6>ۑ ܑ]:publishing transmit ping time ]Fpublishing direction and range infoؑYؕWw?70A"y?kiƿؑ9ؑؑ ّ)ّIّiّّّّhIhihihigigibgqjgqeqeqjeyJe}`fQ@:e}m?ّ ڑ)ڑIڑiڑڑڑ ۑەf)?I3W\?.҄EIۑiۑۑۑۑ ܑUzBɛU$zX)Q U˿iY)etxѽaigs>x,? \ANן?yNp?9N YN}">NHX?V$3?ࢵ? 24? ?`O?Nן?ɨN]; N9CvcBzK%IHUHU65,= A=YŻQ >٣ G; >Gl>GG%IGBG =GGG<G FZIubIujIqrIqzIuݒ:Ium9IqIqIu;Iu;Iu;Iu;I]U49Mcq?aU4YM iMBQUα?q]@M|DM:M :M]4 @Zj Ol?bj{9 ii\Aj3Bj>B2jD?pL< &Q@;"+@Dmis.)zpWw?70A"y?kiƿ"j*jK6>py/mWQ@T4pi˿ɳG49?j;ߊiBjxiaDFl?i  jBzjFUm?j jBjj4Brjk? addTargetRange:: Added new target pos. range: 71.099998 m, deltaT: 3.528011 s, deltaX: -1.599998 m, approachRate: -0.453513 m/s, rangeRepo size: 4 U Added new target pos. range: 71.099998 m, bearing: 102.626194 deg, lat: 36.903924 deg, lon: -122.119042 deg, deltaT: 3.528011 s, deltaX: -1.599998 m, approachRate: -0.453513 m/s, posRepo size: 4 2iQ]DNOT Ignoring new targets: 71.10 m.i}"iy ProNav: ac range: 71.099998 m, nav range: 70.601944 m, bearing: 100.698480 deg, approach rate: 0.000000 m/s, LOS rate: 0.131010 deg/s, cmd heading: 92.510555 deg, new cmd heading: 92.701939 deg.  iHeadingCmd: 1.617954 target range: 71.099998 and range: 71.10 m.h?hhhhggbgjgeejeJe:eS?]qBɛ]P)eG9= eÿia)e\]Խaaie>x,,(\Aui?yu?9u Yu&>uH r T? ?z R௦?1x?FG?ui?ɨuMZ; u:Cޥ|Bޥk%I-Mb@Mb@Mb@)) )))I)y- r?Zd;OMbP-?-j- -@)-@I-@i-K@)-@HehHe5u= u#=Y}Q }>y٣ G"FL< >]49!gq?a4Y iB?m:2?q@Di);(;#4 @2iDNOT Ignoring new targets: 71.10 m.iC0;"iC0; ProNav: ac range: 71.099998 m, nav range: 70.385551 m, bearing: 100.764303 deg, approach rate: -0.505059 m/s, LOS rate: 0.154102 deg/s, cmd heading: 92.701937 deg, new cmd heading: 92.900010 deg.  i;HeadingCmd: 1.621411 target range: 71.099998 and range: 71.10 m.hf?h h h h ggbgjgނBeejeJe:e ?hBɛx`P) i)ֽ!i%U>x,;B\A6{?y6'?96Y6V#>6HkGǕ|?Ү?@)t-J? *?G?6{?ɨ6ˊ; 6=CNBN%IR=iRI?TTHZZHZQ5bVG> b=YfQ f ?d٣d jGj#FjG< E ?A]M49Eiq?aU4YE, iEBQU?qU@EDE ;EK ;E 4a e@a2iDNOT Ignoring new targets: 71.10 m.i(;"i(; ProNav: ac range: 71.099998 m, nav range: 70.223709 m, bearing: 100.813251 deg, approach rate: -0.486463 m/s, LOS rate: 0.147465 deg/s, cmd heading: 92.900012 deg, new cmd heading: 93.047193 deg.  ih;HeadingCmd: 1.623980 target range: 71.099998 and range: 71.10 m.h?hhhhggbgjgeejeJe:e`?bBɛ\) [i)Jؽi>GGG6&IG"BGGH]C=HYZIubIujIqrIqzIu:Iu9IqIqIul;Iun;IuF;IuG;GG<G F>x,\\A~B~%IMb@Mb@Mb@ )Iykt?#~jMb`? ?㥽; K@)l@I@i@@HcHN5= ;=YQ >٣ G >]e49@lq?ae4Y iBe?mm:m?qm@Df<!<^(4q up@y2iDNOT Ignoring new targets: 71.10 m.i#;"i#; ProNav: ac range: 71.099998 m, nav range: 69.996315 m, bearing: 100.875539 deg, approach rate: -0.518613 m/s, LOS rate: 0.142521 deg/s, cmd heading: 93.047196 deg, new cmd heading: 93.234667 deg.  i;HeadingCmd: 1.627252 target range: 71.099998 and range: 71.10 m.hI?hhhhggbgjg݂BeejeJe:e@?XBɛwJ)  쬿i ) ۽  ipLBJh9JJRJZJ^DU \c=DDDE05 EE=E=VF 8F ZAM->Ɲ>x,y\A2̮?y2 ?92Y2J!>2H`P R??Id R??@G?2̮?ɨ2j; 2 f>=Yj8Q j>h٣l nGn$Fr< r>t]v49vnq?az4Yv ivBxzĸ?q~@vDv;v;v/4 @E%B*** querying acoustic contact ***i!i!2i)5DNOT Ignoring new targets: 71.10 m.i5w+;"i5w+;E ProNav: ac range: 71.099998 m, nav range: 69.765144 m, bearing: 100.937863 deg, approach rate: -0.554192 m/s, LOS rate: 0.149906 deg/s, cmd heading: 93.234664 deg, new cmd heading: 93.422254 deg.  iM;MHeadingCmd: 1.630526 target range: 71.099998 and range: 71.10 m.hM?hIhQhQhQgQgYbgajgaeaeajeiJei:em@雕PBɛ H) i)Lݽ隙it&=>===T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.G! G! G% &IG% _BG! G! G! G% <G% FH HHH"H*H]_4ZI bI jI 1rI zI -:I *:I 3I I ;I ;I ;I ;⮤>x,{\And@?yn}?9ndYn+ >nH <p%W? ?a&{??F?nd@?ɨnȉ; n:CzֆBz%II|)|)= p=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504852Mb@Mb@Mb@ )Iy^I +?Q~jtx?X?u; =@)IV@i&@(@HH-5= 9=YF?Q >٣ G%F*< > ]49 pq?a4Y  i 0B?m:?q@ D : : 74%B -r@-E2iY]DNOT Ignoring new targets: 71.10 m.ie;"ie;u ProNav: ac range: 71.099998 m, nav range: 69.511497 m, bearing: 100.996421 deg, approach rate: -0.573251 m/s, LOS rate: 0.132827 deg/s, cmd heading: 93.422255 deg, new cmd heading: 93.598571 deg.  iuQ;}HeadingCmd: 1.633603 target range: 71.099998 and range: 71.10 m.h}?hyhyhyhyggbgjgBeejeJe:e@gk@雽FBɛB) i)P߽iOw>x,h\AR>?yR?9RdaYRr!>RH 'sx? ߦ?@ 7?ɨR; R=C^B^%IHfyHf'5n= n;=YnQ r>p٣p rGpvG< v>x]~49zdrq?a~4Yz̝ izCB|~ ?q@zDzG:zS:zA?4  ?@ 2i15DNOT Ignoring new targets: 71.10 m.i=;"i=;M ProNav: ac range: 71.099998 m, nav range: 69.260643 m, bearing: 101.053911 deg, approach rate: -0.576088 m/s, LOS rate: 0.132504 deg/s, cmd heading: 93.598570 deg, new cmd heading: 93.771664 deg.  iMߵ;]HeadingCmd: 1.636624 target range: 71.099998 and range: 71.10 m.he|?hahahihigqgqbgyjgeejeJe:e@]BDAT read: Rx Time:19:24:26.2917 TRx dataTimestamp_ set to:1736537066.864089checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010697) ɔi)\i;3ڼI|?ICCCCD?DDEP5 E= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260946VFm ^FA ZAQ M} >g>x,H\A>_?y>?9>Y> >>H1 N~?5?(`?l?D?>_?ɨ>; >:CfBj&IHpH#5GyGyG}&IG}BG} =GyGyG}<G} FM\= U(=Y]xQ e>٣ G&F < >]49>tq?a4Y iYB?q@DM;;H4 h@2iaDNOT Ignoring new targets: 71.10 m.i ;"i ; ProNav: ac range: 71.099998 m, nav range: 68.971939 m, bearing: 101.119350 deg, approach rate: -0.560921 m/s, LOS rate: 0.127673 deg/s, cmd heading: 93.771667 deg, new cmd heading: 93.968805 deg.  iE>;]HeadingCmd: 1.640065 target range: 71.099998 and range: 71.10 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515220h?hhhhggbgjge!e)jeJe:e @ 0Bɛ LL5)  Vi)SE隉i  BDAT read: Tx time:19:24:27.3954  $Ping request sent. ZA M >I ) R>x,fI\A|_?33 2~~G8 D)Z%yXZ/B33><@ +)a@IPwVi¸2>PwV> [v:F?no ?%PIwց>i(=¸2>PwV> ~:publishing transmit ping time9~Fpublishing direction and range infoYT??Y"½?hٜʿ9 )Ii )Ii [v:F?no ?%PIi mͱ?ym1 ?9mEYmd!>mH@>q?ϡ?j`d`}??@C?mͱ?ɨmĂ; m٣ G'F< >9]m49=uq?au4Y=L i=pBu?mu:u?qu@=D=;==;=]Q4 @EZj)*l?bje Y ii6\Aj3BjEB2j`?p: P@lGHy'@(Կ,zpT??Y"½?hٜʿ"j¸2>*jPwV>pGw0P@`'pH">x,I\A6M?y6?96Y6G#>6H  %?)-A5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.E>x,ݱ"\A6 ?y6?96Y6">6H/ǂ`;??ʂp?@ ?A?6 ?ɨ6/W; 4fBf"&I]Mb@Mb@Mb@YY Y)YIYy]Mb?Zd;O~jth?]#?]j<]D; ]@)]@I]@i]@Y]p@HuRHu5< B=YlQ >٣ G< >]49vq?a4Y iB#?m:?q@D;;m^4 þ@2iDNOT Ignoring new targets: 69.10 m.i;"i; ProNav: ac range: 69.099998 m, nav range: 68.493828 m, bearing: 102.451813 deg, approach rate: -0.623206 m/s, LOS rate: 0.125501 deg/s, cmd heading: 94.307345 deg, new cmd heading: 94.462919 deg.  iB; HeadingCmd: 1.648689 target range: 69.099998 and range: 69.10 m.h =?h h h h g gbgjgςBeejeJe:e% ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992843Bɛ2.:) Ӏi)oiM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244914o>x,<\A6ڹ?y6r?96r3Y6_!>6H@@@~=??p٣t vGv)FvH< v>x]~49zvq?a4Yzz izB?q@z,Dz&;z;ze4 @2i9=DNOT Ignoring new targets: 69.10 m.iE ;"iE ;U ProNav: ac range: 69.099998 m, nav range: 68.258232 m, bearing: 102.497753 deg, approach rate: -0.616670 m/s, LOS rate: 0.120663 deg/s, cmd heading: 94.462916 deg, new cmd heading: 94.601212 deg.  iU;]HeadingCmd: 1.651103 target range: 69.099998 and range: 69.10 m.h]UW?hYhYhahagagabgijgieieijeiJeq:eu&?雥 Bɛ]?) |i)隩iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497440G- m>G) G- 'IG- χBG) G) G) G- r<G- x FX>x,mV\A:}?y:2?9:Y:M!>:HS~`)6?ϗ?赿U& ? K?C?:}?ɨ:; :;CVBV+&Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749079MMb@Mb@Mb@II I)IIIyMףp= ? ףp= ٣ G*FO; >]49wq?a4Ys iB'?m:C?q@=D;;l4 J@2iDNOT Ignoring new targets: 69.10 m.i;"i; ProNav: ac range: 69.099998 m, nav range: 68.003159 m, bearing: 102.546803 deg, approach rate: -0.602344 m/s, LOS rate: 0.116262 deg/s, cmd heading: 94.601214 deg, new cmd heading: 94.748914 deg.  i;HeadingCmd: 1.653681 target range: 69.099998 and range: 69.10 m.hΫ?hhhhggbgjgBeejeJe:e Y+?=Bɛ=i\6)9 EwtiA)EmAAiEA>x,kDp\ABX?yB5?9BYB4>BH۰~@n??6`&?@?@٣ G &<  >]49*wq?a4Yom i‘B?q%@LDD;;Js4-B -R@-E2iQUDNOT Ignoring new targets: 69.10 m.i];"i];m ProNav: ac range: 69.099998 m, nav range: 67.769775 m, bearing: 102.591383 deg, approach rate: -0.602523 m/s, LOS rate: 0.115490 deg/s, cmd heading: 94.748917 deg, new cmd heading: 94.883119 deg.  im;uHeadingCmd: 1.656023 target range: 69.099998 and range: 69.10 m.hu?hqhqhqZIbIjI/rIzIݒ:Ib9I(N3Ihggbgjg ee1je9Je9:e=@雅Bɛ<)  pi)G$隉iآ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504958m>x,,\AN̥?yNc?9NRYN>NH`u`~ ?? @έM??@J?N̥?ɨND; N:C^#Bb8&IHr|Hrb(5~< ~ ٣   G +F7; >q]}49u.wq?a}4Yuf iuґB?q@u]Du:u:uz4 @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 69.10 m.i0;"i0; ProNav: ac range: 69.099998 m, nav range: 67.518219 m, bearing: 102.639266 deg, approach rate: -0.600323 m/s, LOS rate: 0.114695 deg/s, cmd heading: 94.883116 deg, new cmd heading: 95.027299 deg.  im;HeadingCmd: 1.658539 target range: 69.099998 and range: 69.10 m.hK?hhhhggbgjgeejeJe:e@%Bɛ%8)! %Bfi!)-<))i-v>x,\A6Q?y68?96rEY6>6H@@g?`?@t`?3?` P?6Q?ɨ6P; 6٣ G; >]49wq?a4YG` iޑB?m:#?q@lD ;2 ;4 ҽ@2iDNOT Ignoring new targets: 69.10 m.i8:"i8: ProNav: ac range: 69.099998 m, nav range: 67.282082 m, bearing: 102.682594 deg, approach rate: -0.577408 m/s, LOS rate: 0.106319 deg/s, cmd heading: 95.027302 deg, new cmd heading: 95.157742 deg.  i ; HeadingCmd: 1.660816 target range: 69.099998 and range: 69.10 m.h ?hhhhggbgjg%sBe!e!je!Je!:e-@UBɛU>7)Y ]biY)]fYYi]u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009186D)D)D)E-|0 E):JE LBJE 9JJARJEZJEA@>;76452/0/0.-'&%!! ZIbIjI0rIzI:IIـ3IVFe - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261118FA ZAI Mm >>x,L\A/?y[?9!5Y>H9e PG? ?7??U?/?ɨI; :C-%B-:&IH=H=*5M< MN=YM;Q U>٣ G,F,; >]49vq?a4YZ iBB?q@{D;;ш4 @2iDNOT Ignoring new targets: 69.10 m.i:"i:  ProNav: ac range: 69.099998 m, nav range: 67.049271 m, bearing: 102.725421 deg, approach rate: -0.576640 m/s, LOS rate: 0.106444 deg/s, cmd heading: 95.157745 deg, new cmd heading: 95.286671 deg.  i ;HeadingCmd: 1.663066 target range: 69.099998 and range: 69.10 m.hZ?hhhhggbg!jg!e!e!je!Je):e-Y @U܈BɛU|6)Q U[iY)]~YYi] BDAT read: Tx time:19:24:30.9954 $Ping request sent.م@ څ)څ @Iڅ:Fqiڅ+>څ:Fq>ځ ہۅW TЖ?G?EXn|֯Iۅ6ʅ>iۅ~=ۅ+>ۅ:Fq>ہ ܁E:publishing transmit ping timeEFpublishing direction and range info؁Y؅\0i?gp?%EͿ؁9؁؁ ف)فIفiففففف ځ)ځIځiځځځ ہۅW TЖ?G?EXn|֯Iہiہہہہ ܁VF׹FZAM>G G G G G G G G <G FH HHH ="H =*HA4>x,\ArJDAT read: TxSync time:19:24:30.9946 v'Bv=&IMb@Mb@Mb@ )Iyoʡ?/$ ?,̼ @)O@IO@i@z@H=H=/5M/< M;=YQ >٣ G-F >]49vq?a4YS iB ?m:?q@D ;;4 n@Zj6k?bj[ Y iie\Aj3BjLB2js?p?RٮDP@%'%@.gT/zp\0i?gp?%EͿ"j+>*j:Fq>p "1# P@$p:J dMBJ ػ9JJ RJ ZJ ,]5! %>x,.\A2 ?y2!?92 Y2>2H ?x,u \AF2?yFo?9F YF@>FH??:@$ S?~?]?F2?ɨFM@; Fh٣l nGn.Fn; n>p]v49rZvq?av4YrH irBxz?qz@rDr;rj;r4| ~@-B*** querying acoustic contact ***i)i)2i9=DNOT Ignoring new targets: 67.10 m.iE=:"iE=:M ProNav: ac range: 67.099998 m, nav range: 66.638077 m, bearing: 103.680173 deg, approach rate: -0.534409 m/s, LOS rate: 0.105890 deg/s, cmd heading: 95.541096 deg, new cmd heading: 95.672335 deg.  iUW;]HeadingCmd: 1.669797 target range: 67.099998 and range: 67.10 m.h]?hYhYhYhYgYgabgajgaeaeijeiJei:emA?%Bɛ%3)! %cHi!)-))iMC?x,B%\A;BU&IMb@Mb@Mb@ )Iy'1Z?&1y&1?P` d@)"@I"@id@G@HQHT5g= ;=YQ >٣ G/F >]49vq?a4YB i B?m:?q@DeA;n?;14  6@ 2i1=DNOT Ignoring new targets: 67.10 m.i=!:"i=!:M ProNav: ac range: 67.099998 m, nav range: 66.421028 m, bearing: 103.727630 deg, approach rate: -0.498450 m/s, LOS rate: 0.109341 deg/s, cmd heading: 95.672338 deg, new cmd heading: 95.815174 deg.  iM;]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496219eHeadingCmd: 1.672290 target range: 67.099998 and range: 67.10 m.he ?hahahahagagibgijgm6BeqeqjeqJey:e}MA?雭Bɛh/) D kA D5?D1D1E1 E1E==E==)M!yUkAUB:J$MBJ 9JJRJZJ  Tp`OC7-& VF5JF ZA ME > A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749561. ?x,6?\A:?y:?9:Y:J>:H@J(.@?@?빿ݽ6?>P?`d?:?ɨ:; :;CFABF]&IHNHNy/5r= r[=YvtVt٣t vGxz=; z>]49vq?a4Y= iB!-&?q-@Ds;I;4A Eӻ@I2iDNOT Ignoring new targets: 67.10 m.i:"i: ProNav: ac range: 67.099998 m, nav range: 66.234444 m, bearing: 103.768281 deg, approach rate: -0.485774 m/s, LOS rate: 0.106133 deg/s, cmd heading: 95.815171 deg, new cmd heading: 95.937467 deg.  i;HeadingCmd: 1.674425 target range: 67.099998 and range: 67.10 m.hS?hhhhgqgqbgyjgyeyeyjeyJe:eA?%Bɛ--)) -4i))m隑iX=iS?;IS?IDADADAEM0 EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004030GY GY G] )'IG] BG]  =GY GY G] <G] FVF {#Fa ZAi M >H H %=ZI bI jI rI zI m:I 9I I I ;I ;I ';I ';#?x,fY\A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252205:m?y:H?9:qY:>:Hj?༡?qB? z?g?:m?ɨ:g%; :9CrOBrn&IuMb@Mb@Mb@qq q)qIqyu-?y&1u?>u`eu̼ u @)u@Iu@iu @quf@HH+5z= :=Y٣ G0F >]49wq?a4Y68 iB?>m:?q@D;;i4 @2iDNOT Ignoring new targets: 67.10 m.i d;"i d; ProNav: ac range: 67.099998 m, nav range: 66.030251 m, bearing: 103.816377 deg, approach rate: -0.475098 m/s, LOS rate: 0.112250 deg/s, cmd heading: 95.937465 deg, new cmd heading: 96.082197 deg.  i;HeadingCmd: 1.676951 target range: 67.099998 and range: 67.10 m.hR?hhhhggbgjgBeejeJe:e`8@MBɛ +) a(i)隱i=iR?!>;DIR?IDDDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504163VF% ZF ZA M- >:J |}MBJ 9JJ RJ ZJ !L?x,ps\A)@ 6%X?y6?96Y6>6HRܴ@h??@n $ ?C?h?6%X?ɨ6R@; 6=CBbBB&IHJHJB-5R= R\=YV T٣T ZGZ1FZ Z>\]b49^wwq?ab4Y^3 i^Bdf?qf@^D^:^:^4h j@h2iDNOT Ignoring new targets: 67.10 m.i :"i : ProNav: ac range: 67.099998 m, nav range: 65.857491 m, bearing: 103.857396 deg, approach rate: -0.466127 m/s, LOS rate: 0.110964 deg/s, cmd heading: 96.082197 deg, new cmd heading: 96.205577 deg.  i%N;%HeadingCmd: 1.679104 target range: 67.099998 and range: 67.10 m.h-?h)h)h)h)g)g)bg1jg1e1e1je9Je9:e=`}@-Bɛ-[*)) - i1)51QiUf=i]?];]qjjIe?IaDichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757484D?DDE0 EEEhAVFf AFZAMB>5 BDAT read: Rx Time:19:24:33.4868 = TRx dataTimestamp_ set to:1736537074.172832M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0124245#?x,u\A^V_?y^?9^kY^+>^H촿g@?q?ga W_`??k?^V_?ɨ^; ^:CrqBr&IHzHz?15W= D=Y=;Q  > ٣   G = : >]-49wq?a-4Y5. i#B)-?q-@D&;;.4=B =޸@=E]B*** querying acoustic contact ***iYiY2iimDNOT Ignoring new targets: 67.10 m.iu:"iu: ProNav: ac range: 67.099998 m, nav range: 65.663803 m, bearing: 103.903608 deg, approach rate: -0.463623 m/s, LOS rate: 0.110942 deg/s, cmd heading: 96.205578 deg, new cmd heading: 96.344621 deg.  iF; HeadingCmd: 1.681531 target range: 67.099998 and range: 67.10 m.h gb)?x,]\A5B5&IDAT read: 19:24:33.4868 LVL= 21056, 28513, 21922, 32755, AGC= 65, IDX= 426,-0.47,-1.466, 2.968,-1.934,-2.271, PHS= 0.893,-0.997, 0.334, RAW= 133.3, -2.8, CAL= 138.8, -12.6, ROT= 11.2, 12.6 Ygot valid direction response: 19:24:33.4868 LVL= 21056, 28513, 21922, 32755, AGC= 65, IDX= 426,-0.47,-1.466, 2.968,-1.934,-2.271, PHS= 0.893,-0.997, 0.334, RAW= 133.3, -2.8, CAL= 138.8, -12.6, ROT= 11.2, 12.6 %PDAT read: Bearing 11.2, 12.6 (Local) %~Local bearing/azimuth received: Bearing 11.2, 12.6 (Local) -DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.3 ms) speed 0.4 m/s 5,DAT read: user:1186> =BDAT read: Tx time:19:24:34.5954 =$Ping request sent.=@ +H) @Iz0ai+H>z0a> .:?JX?%s5I'm>iE=+H>z0a> :publishing transmit ping time9Fpublishing direction and range infoYs?jcC?'$˿9 )IiMb@Mb@Mb@ )IytV?i|?5 rh>qC @)Ȟ@Iߟ@iƷ@(@ )Ii .:?JX?%s5Ii H=H="25= =YQ >٣ G2F >]49xq?a4Y' i,B%>m%:%?q%@D*<6*<b4) -"@1:JKBJ+9JJRJZJ  -@O_m{Zj!k?bjdt ii(+\AĵBjB2j?p㨄NO@LIyC(@z{,zps?jcC?'$˿"j+H>*jz0a>pCH;&3ۋ9IO@֚p"ӿ;ks?(=JZ'ixBjii  k?ifW  j|Bzjp l?jN| jBjjBrj? addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.527682 s, deltaX: -1.699997 m, approachRate: -0.481902 m/s, rangeRepo size: 4  Added new target pos. range: 65.400002 m, bearing: 107.439895 deg, lat: 36.903896 deg, lon: -122.119045 deg, deltaT: 3.527682 s, deltaX: -1.699997 m, approachRate: -0.481902 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 65.40 m.i"i  ProNav: ac range: 65.400002 m, nav range: 65.322083 m, bearing: 104.634774 deg, approach rate: 0.000000 m/s, LOS rate: 0.110942 deg/s, cmd heading: 96.344620 deg, new cmd heading: 96.537087 deg.  i UHeadingCmd: 1.684890 target range: 65.400002 and range: 65.40 m.h]z?hYhYhYhYgYgYbgajge6BeaeajeiJeYP@:e?}Bɛ%H)I MiI)MIIiU=iUz?];]JܙI]z?IYDzDiA JDAT read: TxSync time:19:24:34.5946 D D D E {0 E E =E =VF FZAM>u1?x,?\AnBn&IHvYHv5~= ~a=YQ >٣   G 3F >]%49"yq?a%4Y# i1B))q-@D:::4Q ]@Y2iDNOT Ignoring new targets: 65.40 m.iJ;"iJ; ProNav: ac range: 65.400002 m, nav range: 65.158066 m, bearing: 104.677881 deg, approach rate: -0.528553 m/s, LOS rate: 0.139264 deg/s, cmd heading: 96.537088 deg, new cmd heading: 96.666734 deg.  i&;HeadingCmd: 1.687153 target range: 65.400002 and range: 65.40 m.h?hhhhggbgjgeejeJe:ez?uBɛ_t ) оi) i2=i-?-ԥ;-I-?I)DDDE0 EVFݗGMo>GIGMt'IGM%BGM =GIGM>DGMٰ<GM FFZAMa>ZIMbIMjIIrIIzIM:IM*9IIIIIM;IM;IM(;IM(;7?x, \A6?y6@?96FY6>6H@җ@t? 9?@;@k@#.?`(?@ws?6?ɨ6; 69CbBb&I}Mb@Mb@Mb@yy y)yIyy}Q?T㥛 I +}>}}94 }@)}@I}@i}l@y}@HKH5= A=Y٣ G; >]49yq?a4Y i9B>m:?q@D::4 @2i  DNOT Ignoring new targets: 65.40 m.iM;"iM;% ProNav: ac range: 65.400002 m, nav range: 64.962532 m, bearing: 104.730712 deg, approach rate: -0.465533 m/s, LOS rate: 0.126160 deg/s, cmd heading: 96.666732 deg, new cmd heading: 96.825701 deg.  i-*;-HeadingCmd: 1.689927 target range: 65.400002 and range: 65.40 m.h-O?h1hhhggbgjg4BeejeJe:e=?5jBɛ5})9 =bi9)=+99i=P=iEO?E];M}¨IMO?IQDDDE0 EVF hF ZA :J DNBJ 9JJ RJ ZJ yoga\XTOID?=<<83/-,*&$&!   J ? J ?M- >h=?x,\ArۇBr'IHIH5-> -R=Y5Q 5>9٣9 =G=4F= =>A]M49E~zq?aM4YE iE@BQQqU@EDEI;E;E4Y ]A@a2iDNOT Ignoring new targets: 65.40 m.ix;"ix; ProNav: ac range: 65.400002 m, nav range: 64.782936 m, bearing: 104.779532 deg, approach rate: -0.463356 m/s, LOS rate: 0.126305 deg/s, cmd heading: 96.825697 deg, new cmd heading: 96.972563 deg.  i];HeadingCmd: 1.692490 target range: 65.400002 and range: 65.40 m.h?hhhhggbgjgeejeJe:e`$? `BɛP) _i)i*=i?%;%ꌼI%?I!DDDE0 EVFFZAM>G= m>G9 G= 'IG= ]BG9 G9 G= =DG= <G= FH HHD?x,\AH5 ="H1*H5=5) z ?yz6?9z޽Yzȹ>zH$ ?ð?@Xe-Ż? K? {?z ?ɨz0/; z:C B 6'II)H%kH% 5-= 5K=Y5`9٣9 EGE5FM; M>Q]U49U"{q?a]4YU iUGBY]?qe@U&DU/;U;U4i mհ@iB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 65.40 m.i;"i; ProNav: ac range: 65.400002 m, nav range: 64.596077 m, bearing: 104.830252 deg, approach rate: -0.461453 m/s, LOS rate: 0.125619 deg/s, cmd heading: 96.972560 deg, new cmd heading: 97.125162 deg.  il;HeadingCmd: 1.695154 target range: 65.400002 and range: 65.40 m.h?hhhhggbgjgeejeJe:e*?UBɛ] ) 5Fi9)EvAIiM=im?;TI?%T****** received valid address query ******%R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ID]?DaDaEe0 EaVF 6FY ZAi M >ս 9?ս %= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003284[J?x,~t-\AF2?yF-?9FvٽYF>FH1 H?@S?ṿ z@/?`o?%|?F2?ɨF鬇; DR BRV'IMb@Mb@Mb@ )IyZd;?V-Mb>h @)n@I@i@Q@HyH'5[= A=Y4;Q >٣ G( >]49 |q?a4Y  iNB?m:?q@4D#::H4 @@E2iDNOT Ignoring new targets: 65.40 m.i%m;"i-m;= ProNav: ac range: 65.400002 m, nav range: 64.394722 m, bearing: 104.887669 deg, approach rate: -0.478102 m/s, LOS rate: 0.136758 deg/s, cmd heading: 97.125160 deg, new cmd heading: 97.297949 deg.  i=;EHeadingCmd: 1.698170 target range: 65.400002 and range: 65.40 m.hE]?hAhAhAhAgIgIbgIjgMwBeQejeJe:e`@%JBɛ%{)I MiQ)UQQiUp=i]]?];]S3׼I]]?Ia:J 0NBJ JJ RJ ZJ  '4" J!I!ZI bI jI rI zI :I 9I I q@i@u@m@D?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255059VFM fF! ZA) MM >Q?x,+QG\A2?y2;?92ԽY2ؽ>2Ha1~ ?δ?궿q?@?|?2?ɨ2 >; 2;C:!B:p'IHZHZ(*5b= b\=YfZ;Q f>d٣d jGj6Fj:: j>l]r49n|q?av4Yn!  inTBtv?qv@n@DnB:n:n4x z@|2i!%DNOT Ignoring new targets: 65.40 m.i-;"i-;= ProNav: ac range: 65.400002 m, nav range: 64.216820 m, bearing: 104.938629 deg, approach rate: -0.477477 m/s, LOS rate: 0.137152 deg/s, cmd heading: 97.297950 deg, new cmd heading: 97.451253 deg.  i=@;MHeadingCmd: 1.700845 target range: 65.400002 and range: 65.40 m.hML?hIhIhIhQgQgQbgajgaeieijeiJeq:eu`@雽@Bɛ<) zi)3i+=iL?U;IL?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507543D?DDEO5 EVF~ʼFaZAiM9>GGG(IGBG =GG>DG<G FE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761869=W?x,E*a\A>=?y>{?9>ѽY>+>>H4z`? ?Dhd '??{?>=?ɨ>ĩ; >:Cniz<Mb@Mb@Mb@ )Iy(\?L7A`尿?+ @)+@Ii(@@HyH'5%i= %7=Y-c;Q =>A٣A EGE7FEЌ; E>I]U49M}q?a]4YM iM_B]?m]:]?q]@MODM ;M;M4i m3@i2iDNOT Ignoring new targets: 65.40 m.i;"i; ProNav: ac range: 65.400002 m, nav range: 63.987194 m, bearing: 105.001002 deg, approach rate: -0.508382 m/s, LOS rate: 0.138585 deg/s, cmd heading: 97.451254 deg, new cmd heading: 97.639041 deg.  i8;HeadingCmd: 1.704123 target range: 65.400002 and range: 65.40 m.h ?hhhhggbgjgBeejeJe:e{@4Bɛ) ^?x,{\AF*?yF?9F4ϽYFs>FHZ@s x?ų? `u嵿@J۹?fH?!x?F*?ɨF_; F8Cb\Bb'Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263113HjHj%.5v8,> v_=YzR;Q z>|٣| ~G|~; >] 49~q?a4Y igB?q@[D;;4 %:@!2iIMDNOT Ignoring new targets: 65.40 m.i];"i];} ProNav: ac range: 65.400002 m, nav range: 63.802357 m, bearing: 105.051059 deg, approach rate: -0.511396 m/s, LOS rate: 0.138897 deg/s, cmd heading: 97.639043 deg, new cmd heading: 97.789651 deg.  i;HeadingCmd: 1.706751 target range: 65.400002 and range: 65.40 m.hv?hhhhggbgjgeejeJe:e}h @*BɛRd) =i)i2==iv?F;CgIv?IDQDYDYE]@5 EaVFe+F!ZA)MM1>DAT read: 19:24:37.0842 LVL= 23376, 28657, 24818, 32755, AGC= 60, IDX= 414, 0.27, 2.921, 1.074, 2.491, 2.112, PHS= 0.897,-0.992, 0.376, RAW= 134.5, -3.4, CAL= 140.0, -13.3, ROT= 10.0, 13.3 Ygot valid direction response: 19:24:37.0842 LVL= 23376, 28657, 24818, 32755, AGC= 60, IDX= 414, 0.27, 2.921, 1.074, 2.491, 2.112, PHS= 0.897,-0.992, 0.376, RAW= 134.5, -3.4, CAL= 140.0, -13.3, ROT= 10.0, 13.3 PDAT read: Bearing 10.0, 13.3 (Local) ~Local bearing/azimuth received: Bearing 10.0, 13.3 (Local) DAT read: Range 10 to 50 : 63.4 m (Round-trip 84.6 ms) speed 0.4 m/s ,DAT read: user:1187> BDAT read: Tx time:19:24:38.1970 $Ping request sent.ٍ<@ ڍs)ڍa@Iڍ,miڍ¸2>ڍ,m>ډ ۉۍS8?=9?ù Iۍm>iۍHp=ۍ¸2>ۍ,m>ۉ ܉ :publishing transmit ping time Fpublishing direction and range info؉Y؍_Gh*?}?gz}"ErͿ؉9؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډ ۉۍS8?=9?ù Iۉiۉۉۉۉ ܉G n>G G U(IG ܈BG  =G G G Ȱ<G Fd?x,\A6S?y63?96YͽY6B>6HPo ?7?ܻ e5? f{?`v?6S?ɨ6d; 4NuBR'IH^uH^H%5v!= vK=YvT;Q v>x٣x zGz8F}; }>]49~q?a4Y ipB{?q@jDh::U 4 @Zj"hk?bjT ii\Aj}Bj{B2jh?p$*j,m>pR츛29AN@mpҿT;h?YúipBjݔiuz^k?iI  jgvBzj@"k?j+& j|Bjjl~Brj'? addTargetRange:: Added new target pos. range: 63.400002 m, deltaT: 3.528282 s, deltaX: -2.000000 m, approachRate: -0.566848 m/s, rangeRepo size: 4  Added new target pos. range: 63.400002 m, bearing: 107.164932 deg, lat: 36.903884 deg, lon: -122.119049 deg, deltaT: 3.528282 s, deltaX: -2.000000 m, approachRate: -0.566848 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 63.40 m.i"i5 ProNav: ac range: 63.400002 m, nav range: 63.605865 m, bearing: 106.356258 deg, approach rate: 0.000000 m/s, LOS rate: 0.138897 deg/s, cmd heading: 97.789649 deg, new cmd heading: 97.974375 deg.  i9}HeadingCmd: 1.709975 target range: 63.400002 and range: 63.40 m.hz?hhhhgg JDAT read: TxSync time:19:24:38.1962 bgQjgQeYejeJe@3O@:e@}Y?雍Bɛ0)<= 3>i)隑iw=iz?;Iz?IDzDhADqDqDqE}0 EyEEVF fFq ZA M >Hk?x,\T\A6?y6?96pͽY6Yt>6H`O;i@??2@ؖ? ?u?6?ɨ6; 6;CRBV'IIX)XEMb@Mb@Mb@AA A)AIAyECl?p= ףMb`?E?EE; El@)EA@IE@iE@AEp@H];H] 5m^= m>=Yu9Q u>q٣q }G}9F} -< }>]49~q?a4Y izB?m:?q@yD;;4 =@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 63.40 m.i7;"i7; ProNav: ac range: 63.400002 m, nav range: 63.383255 m, bearing: 106.418734 deg, approach rate: -0.568444 m/s, LOS rate: 0.160096 deg/s, cmd heading: 97.974378 deg, new cmd heading: 98.162465 deg.  i;HeadingCmd: 1.713258 target range: 63.400002 and range: 63.40 m.h L?hhhhggbgjgɂBeejeJe:e?Bɛaٽ) r>i)$Ti=i L? *; "\I  L?I :J>OBJJJRJZJ7q}^='*1ZIbIjI/rIzI̝:I9I(N3ID?DDEP5 EձձT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFE F9 ZAA M] >+r?x,C\A:`?y:C?9:̽Y:T>:H`:d?ī?`@댹??t?:`?ɨ:Q; :9CJBJ'IHnH."5= P=Y%;9Q %>)٣1 5G1=#< =>I]U49Mq?aU4YM iMBYe?qe@MDMW;MW;Mv4uB uۦ@uE2iDNOT Ignoring new targets: 63.40 m.i+;"i+; ProNav: ac range: 63.400002 m, nav range: 63.170437 m, bearing: 106.478059 deg, approach rate: -0.536482 m/s, LOS rate: 0.150053 deg/s, cmd heading: 98.162468 deg, new cmd heading: 98.341042 deg.  i;HeadingCmd: 1.716375 target range: 63.400002 and range: 63.40 m.h-?hhhhggbgjgeejeJe:e? Bɛսchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994887)! %y>i!)%L!!i%=i-?;(I-?IDm?DiDiEm 5 EiGIGIGM(IGMBGIGIGIGMհ<GM FVF^ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249230F ZA1 M >Ux?x,,\A~B~(IMb@Mb@Mb@ )IyI +?Zd;Mb`9?y V@)@In@i@ף@ H=Hw 5= ?=YQ >٣ G:F >]49q?a4YX iB ?m:?q@Di);&;4  @ 2i9=DNOT Ignoring new targets: 63.40 m.iE6-;"iE6-;M ProNav: ac range: 63.400002 m, nav range: 62.934036 m, bearing: 106.541812 deg, approach rate: -0.559429 m/s, LOS rate: 0.151435 deg/s, cmd heading: 98.341043 deg, new cmd heading: 98.533020 deg.  iU;]HeadingCmd: 1.719726 target range: 63.400002 and range: 63.40 m.h]?hYhYhYhYgYgabgajgaeaeijeiJei:em?雝Bɛ/Ͻ) ,>i)\X隡i=i?;I?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499082^DK@=Dl>D>D?DDEO1 E:JE NBJE 9JJA RJE ZJE II"?x,q\AZ"ZHWbo?`T?$@$(?8?z?Z"Q u>y٣y }G};F < >]49~q?a4Y iB6?q@DN::N'4 Ϥ@2iiuDNOT Ignoring new targets: 63.40 m.iu";"iu"; ProNav: ac range: 63.400002 m, nav range: 62.665340 m, bearing: 106.612396 deg, approach rate: -0.537103 m/s, LOS rate: 0.141697 deg/s, cmd heading: 98.533019 deg, new cmd heading: 98.745678 deg.  i};HeadingCmd: 1.723437 target range: 63.400002 and range: 63.40 m.h?hhhhggbgjgeejeJe:e? Bɛ t˽) >i)|is=i?N;WмI?I!^D=l=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003603D?DDE}3 EG G G (IG ABG G G G *<G FVF nF ZA M >B?x,cA\A:k?y:=?9:IϽY:.O>:H`E`a@m?? S`(?}? z?:k?ɨ:; :=CnBn,(IHzbHz5= e=YGPQ > ٣   G |; >]-49~q?a-4Y iB15e?qE@DT;;-4a m_@qAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2592832iaeDNOT Ignoring new targets: 63.40 m.im;"im; ProNav: ac range: 63.400002 m, nav range: 62.467365 m, bearing: 106.664523 deg, approach rate: -0.492946 m/s, LOS rate: 0.130203 deg/s, cmd heading: 98.745677 deg, new cmd heading: 98.902552 deg.  i;HeadingCmd: 1.726175 target range: 63.400002 and range: 63.40 m.hO?hhhhggbgjgeejeJe:e@%Bɛ%)! %P>i!)MIIiMv=iUO?U;Uu߼IUO?IYCaCaCaCa checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507676D D D E 0 E VF-rϼFZA:J-yJBJ- 9JJ)RJ- ZJ- z#Ip ;-vM5' !  v3uX2{L)oFFb6 J1I5gAME>?x,A:\AZ?yZ?9ZϽYZ>ZH@Y@z_@&??`@C?`?`(z?Z?ɨZ%; Z:CrЈBrG(Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759792Mb@Mb@Mb@ )Iy\(\?&1~jth?PD @)@IA@i׫@@H5aH5k5Uڞ= ]=Y]L7Q ]>a٣a eGei]}49m}q?a}4Ym imB}n?m}:}B?q}@mDm2 ;mM:m74B @EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 63.40 m.i-:;"i-:; ProNav: ac range: 63.400002 m, nav range: 62.149204 m, bearing: 106.741954 deg, approach rate: -0.665397 m/s, LOS rate: 0.162767 deg/s, cmd heading: 98.902553 deg, new cmd heading: 99.136035 deg.  ii;eHeadingCmd: 1.730250 target range: 63.400002 and range: 63.40 m.hex?hahahihggbgjgՂBeejeJe:e-@-ӇBɛ-:)) -/>i))5*19i=M=iEx?E ξ;\Ix?ID=?DADAEE1 EAEIEI BDAT read: Rx Time:19:24:40.6831  TRx dataTimestamp_ set to:1736537081.227123 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011741VF +FA ZAQ Mu >˔?x,!T\AG&o>G$G&(IG&`BG$G$G$G&<G& FH  H H H "H  =*H Z44Jm?yJ ?9JTнYJ>JH 潿]!?@I? w`&?i?y?Jm?ɨJ ; J9CH-nH-."5Y=yQ =>A٣A EGE=FM; M>Q]]49U!}q?a]4YU iUBY]?q]@UDU:U;Uo=4i ii2iDNOT Ignoring new targets: 63.40 m.i7#;"i7#; ProNav: ac range: 63.400002 m, nav range: 61.934250 m, bearing: 106.794270 deg, approach rate: -0.584275 m/s, LOS rate: 0.142695 deg/s, cmd heading: 99.136036 deg, new cmd heading: 99.293528 deg.  i;HeadingCmd: 1.732999 target range: 63.400002 and range: 63.40 m.h?hhhhggbgjgeejeJe:e\ @ʇBɛt) ?i)H!  i ,=i?ݼ;?I?IZIbIjI0rIzI:I:Iـ3II;qI;iI@;uI@;mDDDE55 E%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265606VFnFZAM>?x,rm\A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516942mOI?ym?9mнYm5>mH 챾XW?)?w4@ܴK?NG?w?mOI?ɨm'; iޭ܈BޭV(IMb@Mb@Mb@ )IyK?Q롿{Gzt^?\ף @)В@I+@i|@@HVH5<  ٣ G; >!]-49%{q?a-4Y% i%ƒB5?m5:5S?q5@%D%g;%I;%E49 =D@92iamDNOT Ignoring new targets: 63.40 m.iu;"i}; ProNav: ac range: 63.400002 m, nav range: 61.662624 m, bearing: 106.852987 deg, approach rate: -0.587189 m/s, LOS rate: 0.127492 deg/s, cmd heading: 99.293527 deg, new cmd heading: 99.470455 deg.  i;HeadingCmd: 1.736087 target range: 63.400002 and range: 63.40 m.h8?hhhhggbgjgBeejeJe:e# @雅Bɛ) |?i) 隩i=i8?f;XI8?I:J=_@PBJ=]9JJ9RJ= ZJ= lIqD$  ;P~K-JU? JU>DyDyDyE}3 Ey}DAT read: 19:24:40.6831 LVL= 21984, 31409, 21794, 32755, AGC= 59, IDX= 419,-0.50, 1.532,-0.273, 1.136, 0.751, PHS= 0.869,-0.977, 0.383, RAW= 135.3, -3.4, CAL= 140.7, -13.2, ROT= 9.3, 13.2 Ygot valid direction response: 19:24:40.6831 LVL= 21984, 31409, 21794, 32755, AGC= 59, IDX= 419,-0.50, 1.532,-0.273, 1.136, 0.751, PHS= 0.869,-0.977, 0.383, RAW= 135.3, -3.4, CAL= 140.7, -13.2, ROT= 9.3, 13.2 PDAT read: Bearing 9.3, 13.2 (Local) ~Local bearing/azimuth received: Bearing 9.3, 13.2 (Local) DAT read: Range 10 to 50 : 61.4 m (Round-trip 81.9 ms) speed 0.4 m/s ,DAT read: user:1188> BDAT read: Tx time:19:24:41.7970 $Ping request sent.!@ ))@Iki6&>k> *-? $?A,I&>ip=6&>k> :publishing transmit ping timeFpublishing direction and range infoYZx?܅#? :Ϳ9 )Ii )Ii *-? $?A,Ii VF UF ZA M >ݡ?x,Ӈ\ARt?yR ?9RϽYR>RHׇ2R@?=?`<@?l?v?Rt?ɨR R; P^؈B^Q(IHE[HE5]Ҽ ej=Ye:Q m>i٣q uGu>F< >]49fzq?a4Y iϒB?q@D;;K41 =@9ZjMBk?bjM2Fk iIiM~\AjMuBjMsB2jM?pMA;3~M@sR#@zy ,zpMZx?܅#? :Ϳ"jM6&>*jMk>pMhM[3<ѶiM@~CtepM%ӿЗ>?xiM#hBjM"iMu7k?iMS,  jMJxBzjMuz^k?jMfW jM={BjjMTtBrjM?5 addTargetRange:: Added new target pos. range: 61.400002 m, deltaT: 3.780794 s, deltaX: -2.000000 m, approachRate: -0.528989 m/s, rangeRepo size: 4 E Added new target pos. range: 61.400002 m, bearing: 108.143183 deg, lat: 36.903877 deg, lon: -122.119056 deg, deltaT: 3.780794 s, deltaX: -2.000000 m, approachRate: -0.528989 m/s, posRepo size: 4 2iAEDNOT Ignoring new targets: 61.40 m.iu"iq ProNav: ac range: 61.400002 m, nav range: 61.082916 m, bearing: 107.687701 deg, approach rate: 0.000000 m/s, LOS rate: 0.127492 deg/s, cmd heading: 99.470456 deg, new cmd heading: 99.620440 deg.  iHeadingCmd: 1.738705 target range: 61.400002 and range: 61.40 m.h?hhhhggbgjgeejeJe@3N@:e )?=Bɛ=rؤ)E< E?iA)F隁i=i?W;I?IDU?DQDQE]@5 EYGmn>GiGm)IGmtBGiGiGiGm<Gm FE=E=ZI bI jI rI zI :I #:I I I <I <I };I };VF F ZA M] >&?x,ڡ\AvR?yv?9v͛ϽYvղ>vHf_"N`j?`M?`6¿ h@?I?w?vR?ɨv1; t~ۈB~U(IMb@Mb@Mb@ )Iy1Zd?V-y&1|"?` ׫@)@I@i@HDH5o< ?=Ym7Q >٣  G ?F 9<  >]%49xq?a%4Yb iڒB-R?m-:-?q-@ D ;:S41 5Q@92iYeDNOT Ignoring new targets: 61.40 m.ie&!;"im&!;u ProNav: ac range: 61.400002 m, nav range: 60.832851 m, bearing: 107.741726 deg, approach rate: -0.649457 m/s, LOS rate: 0.140889 deg/s, cmd heading: 99.620440 deg, new cmd heading: 99.783182 deg.  i}a;HeadingCmd: 1.741545 target range: 61.400002 and range: 61.40 m.h?hhhhggbgjgBeejeJe:e.?BɛvR) K?i)6-iFE=i?˵;MI?ID?DDE4 E e[G}kA A)s"ykABm=m7?VFnF ZA M >2?x,Ō\A:J,NBJ+9JJRJ ZJr;e!]A1& J$I&dAJ?yJnF?9JsϽYJ>JH@H?h٣h nGlnz< n>p]v49rvq?av4Yr irBxzm?qz@rDr:rl:roY4| ~:@2i!-DNOT Ignoring new targets: 61.40 m.i-;"i-;E ProNav: ac range: 61.400002 m, nav range: 60.619293 m, bearing: 107.787051 deg, approach rate: -0.590797 m/s, LOS rate: 0.125830 deg/s, cmd heading: 99.783183 deg, new cmd heading: 99.919636 deg.  iE;EHeadingCmd: 1.743927 target range: 61.400002 and range: 61.40 m.hM8?hIhIhIhIgIgIbgQjgQeQeYjeYJeY:e]`?雅BɛE) c!?i)>隉iL=i8?;̼I8?IDD!D!E-p0 E)VF5޼FZA1MU>G] d>G] CG] )IG] ~BG]  =GY G] =DG] <G] F46?x,\A>:?y>?9>tнY>.>>H`C@)??`Jÿ@C(??{?>:?ɨ>Ј; `٣d fGf@Ff܄< f>h]n49jtq?an4Yj' ijBprE?qr@j'Djh;j1;j`4x z*@zE B*** querying acoustic contact ***i i 2i%DNOT Ignoring new targets: 61.40 m.i%f ;"i%f ;= ProNav: ac range: 61.400002 m, nav range: 60.377716 m, bearing: 107.837135 deg, approach rate: -0.589707 m/s, LOS rate: 0.122748 deg/s, cmd heading: 99.919637 deg, new cmd heading: 100.070490 deg.  i={;EHeadingCmd: 1.746560 target range: 61.400002 and range: 61.40 m.hMC?hIhIhIhIgIgIbgQjgQeQeQjeYJeY:e]`Rn?Bɛ) b(?i) #  i 2=iC?;vIC?IZIbIjIrIzI:I :III<I<Iw;Iw;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^D  =Di>D>D?DDEG5 EEEgAVF μm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742535F ZA M >Ż?x,t`\AV6?yVt?9VT4νYV>VHN<¿ A 2??`sĿqije?#?@|?V6?ɨV*|; T^Bb_(IeMb@Mb@Mb@aa a)aIaye(\?~jt{Gzez?eļe# e@)aIe@ie9@ae(@HrH#5< 1=Y';Q >٣ GAF׶; >]49rq?a4Y) iB?m:?q@8Dx;-;h4 ݡ@2iDNOT Ignoring new targets: 61.40 m.i!:"i!: ProNav: ac range: 61.400002 m, nav range: 60.116524 m, bearing: 107.889185 deg, approach rate: -0.541942 m/s, LOS rate: 0.108466 deg/s, cmd heading: 100.070488 deg, new cmd heading: 100.227315 deg.  i;HeadingCmd: 1.749297 target range: 61.400002 and range: 61.40 m.h?hhhhggbgjgBeeje Je :e #2?雕BɛH() Y2?i)E隙i'(=i?կ;BAI?I:JuMBJqJJqRJu ZJu1I+ -uk_?, J? J?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993620^Dm<D= ?D9 D9 E= 1 E9 VF}לּF ?F?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247532FYZAM?^?x,*U\ARK?yR?9R'ƽYR>RH ¿@?o?MnĿ`uڲ@ո?k??RK?ɨRL; R9Cb߈BfZ(IHziHz5u %=Y%;Q %>!٣) -G)Gc>GCG$)IGBG =GG]49oq?a4Y` iB ?q@KD:K:q4B @E2iDNOT Ignoring new targets: 61.40 m.i ;"i ;5 ProNav: ac range: 61.400002 m, nav range: 59.825325 m, bearing: 107.946576 deg, approach rate: -0.591167 m/s, LOS rate: 0.117077 deg/s, cmd heading: 100.227316 deg, new cmd heading: 100.400326 deg.  i5;=HeadingCmd: 1.752316 target range: 61.400002 and range: 61.40 m.h=K?h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eM"@雅pBɛ6_) 7?i)N隉i=iK?u;IK?ICCCCZIbIjIrIzIܫ:I:III;I;IZ;IZ;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497689D?DDE0 EVF ҮF ZA M >8?x,-\A6"?y6_?96uĽY6>6H&ÿ[?]? }?=Ŀ$s|v?@,?$?6"?ɨ6Ӊ; 4BBBd(IMb@Mb@Mb@ )IyK7?y&1MbI ?` |@)I@I@i@G@ )-AAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.749701HzH'5 = 8=Y#X;Q >٣ GBF; >]49mq?a4YF i B  ?m : n?q @ZD ; ; y4 @2iAEDNOT Ignoring new targets: 61.40 m.iE:"iM:e ProNav: ac range: 61.400002 m, nav range: 59.597576 m, bearing: 107.992971 deg, approach rate: -0.536343 m/s, LOS rate: 0.109676 deg/s, cmd heading: 100.400325 deg, new cmd heading: 100.540041 deg.  ie;mHeadingCmd: 1.754755 target range: 61.400002 and range: 61.40 m.hmΛ?hihqhqhqgqgqbgyjg}bBeyeyjeyJe:eYi@mcBɛuL)q u0B?iq)uyyi}1[=i}Λ?ƫ;%0I-Λ?I)D1D?DDEO5 E:J%/OBJ%9JJ!RJ%ZJ%   ip}$2q7q62-M(J1I5hAU BDAT read: Rx Time:19:24:44.2805 U TRx dataTimestamp_ set to:1736537085.008546] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004080VF NF ZA M >+?x,F\AN?yN?9NYNծ>NH;ÿ :?uz?{.ſ G`*?0? ?N?ɨN; LVBVk(IHbhHb5fW= j^=YjN;Q j>l٣l rGrCFr< r>t]z49vlq?az4Yv ivB|~?q~@vgDvj;vU;vz4 B ?@E2iyDNOT Ignoring new targets: 61.40 m.i&:"i&: ProNav: ac range: 61.400002 m, nav range: 59.399830 m, bearing: 108.032854 deg, approach rate: -0.523091 m/s, LOS rate: 0.105852 deg/s, cmd heading: 100.540043 deg, new cmd heading: 100.660090 deg.  iJ;UHeadingCmd: 1.756850 target range: 61.400002 and range: 61.40 m.h]v?hYhYhYhYgagabgijgieejeJe:e @VBɛ l})  K?i )Mi=iv?<';⎣Iv?I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254659D?DDE/5 EGUj>GUCGQGQGU =GQGU=DGU<GU FVF~FzF rF F ZA M >ZI bI jI rI zI [:I #:I I I g<I g<I };I };?x,0b\A>DAT read: 19:24:44.2805 LVL= 19856, 25825, 18370, 30307, AGC= 61, IDX= 409,-0.16, 0.525,-1.275, 0.203,-0.264, PHS= 0.877,-0.964, 0.465, RAW= 137.7, -4.6, CAL= 143.2, -14.4, ROT= 6.8, 14.4 RYgot valid direction response: 19:24:44.2805 LVL= 19856, 25825, 18370, 30307, AGC= 61, IDX= 409,-0.16, 0.525,-1.275, 0.203,-0.264, PHS= 0.877,-0.964, 0.465, RAW= 137.7, -4.6, CAL= 143.2, -14.4, ROT= 6.8, 14.4 nPDAT read: Bearing 6.8, 14.4 (Local) r~Local bearing/azimuth received: Bearing 6.8, 14.4 (Local) UDAT read: Range 10 to 50 : 59.4 m (Round-trip 79.3 ms) speed 0.4 m/s ,DAT read: user:1189> BDAT read: Tx time:19:24:45.3955 $Ping request sent.^D[?lϿmB9M d)GIcvi=`?v{>@ l)@Ii=> 'i4==> :publishing transmit ping timeؑFpublishing direction and range infoYNR2?>^D[?lϿ9 )Ii )Ii 'H@ÿ@3=?`Dx??ſ ny̷?@??F?ɨ ; :C=B=i(I]Mb@Mb@Mb@YY Y)YIYy]Zd;O?L7A`堿 rh]~ ?]+]C ]"@)YI]@i]Ȟ@Y]\@H[H5ۻ  =Y;Q >٣ GDF; >]=49Giq?a=4Y iB= ?m=:=?qE@{D<<Ӊ4i m_@iZj}k?bj ii&`\AjmBjlB2jБ?p7L@:?@-[-zpNR2?>^D[?lϿ"j=*j>pNׇ1݆Y%L@jCKف p\T~@ӿb)1?'d\i-`Bjiayk?iy  jpBzjjy jJxBjjkBrj;? addTargetRange:: Added new target pos. range: 59.400002 m, deltaT: 3.528326 s, deltaX: -2.000000 m, approachRate: -0.566841 m/s, rangeRepo size: 4 JDAT read: TxSync time:19:24:45.3947 5 Added new target pos. range: 59.400002 m, bearing: 107.684545 deg, lat: 36.903877 deg, lon: -122.119057 deg, deltaT: 3.528326 s, deltaX: -2.000000 m, approachRate: -0.566841 m/s, posRepo size: 4 2i1=DNOT Ignoring new targets: 59.40 m.*i9=Powering the camera and arming the capture device at range: 59.40 m.h=iE"iA ProNav: ac range: 59.400002 m, nav range: 58.973450 m, bearing: 108.134648 deg, approach rate: 0.000000 m/s, LOS rate: 0.105852 deg/s, cmd heading: 100.660090 deg, new cmd heading: 100.852348 deg.  iHeadingCmd: 1.760206 target range: 59.400002 and range: 59.40 m.hjN?hhhhhggbgjgGBeeje!Je%@3M@:e% ^?mCBɛu,*)q u T?iq)uqqi}p=ijN?ۑ;HIjN?I"&Changing to mode: 2"Armed mode." 2Commanding negative:54396Di Di Dq Eu 0 Eq :J cPBJ 9JJ RJ ZJ 1#P 6(f4Rl[K?8-$ibp2uFzP0#J > J >VFУFQZAiM ??x,\ARz?yR?9RrYR>RH@jzĿ * ?r?`ƿ`? A?@x?Rz?ɨRgo; R;CZB^x(IH~bH~5-{= -P=Y-:Q 5>1٣1 5G1=;< =>i]m49mfgq?au4Ym  im Bqu?qu@mDmK:m:m4 @B*** querying acoustic contact ***ii2iY}DNOT Ignoring new targets: 59.40 m.*iyPowering the camera and arming the capture device at range: 59.40 m.hi:"i: ProNav: ac range: 59.400002 m, nav range: 58.766777 m, bearing: 108.177768 deg, approach rate: -0.529449 m/s, LOS rate: 0.110854 deg/s, cmd heading: 100.852347 deg, new cmd heading: 100.982164 deg.  i(;HeadingCmd: 1.762471 target range: 59.400002 and range: 59.40 m.h?hhhhhg g bg jgeQeQjeYJeY:e]`{?7Bɛ6Z) k`?i)2i=i?H ;ɚI?ID=DDE0 ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Geg>GaGe0)IGeBGe =GaGaGeҰ<Ge FHȥC HȥCHȔCH ="H =*HȞ?6VF NF ZA M >H AAH BAQ٣Q UGUEF] ]>a]m49eyeq?am4Ye]| ie%Biqqu@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.942696eDe F9 ZAI Mm >f?x,4\A~B~(IMb@Mb@Mb@ )IyˡE?MbQ?u  @)@I`@in@@HH|+5< C=YQ >٣ GFF >]49|cq?a4Yv i,B<?m:?q@Dj::4 @2iIMDNOT Ignoring new targets: 59.40 m.*iIUPowering the camera and arming the capture device at range: 59.40 m.ZIebIejIe1rIazIe:IemQ:Ie3Iaqm@im@um@mu@hQi#:"i#:5 ProNav: ac range: 59.400002 m, nav range: 58.337166 m, bearing: 108.268351 deg, approach rate: -0.521241 m/s, LOS rate: 0.110656 deg/s, cmd heading: 101.116163 deg, new cmd heading: 101.254904 deg.  i=;=HeadingCmd: 1.767231 target range: 59.400002 and range: 59.40 m.h=4?hAhAhAhAhAgAgAbgijgmJBeqeqjeqJeq:eu,?:J;PBJ+9JJRJZJ Bɛc3) z?i)lit{D%@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.443733D9DDE05 EVF F ZA M >= ;?= w?E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.6957579P?x,r\A2B{?y2׸?92PY2>2Hsƿ ??^?@ȿ섯 )?,??2B{?ɨ2s;; 2:C>"B>(IHFHFM5Nة= N^=YR;Q R>P٣P VGTV.= V>X]^49Z~aq?a^4YZnq iZ1B`b?qb@ZDZj;Z3;Z_4fB f@d2i|DNOT Ignoring new targets: 59.40 m.*iPowering the camera and arming the capture device at range: 59.40 m.hi :"i : ProNav: ac range: 59.400002 m, nav range: 58.146015 m, bearing: 108.305973 deg, approach rate: -0.528032 m/s, LOS rate: 0.104268 deg/s, cmd heading: 101.254904 deg, new cmd heading: 101.368141 deg.  i;%HeadingCmd: 1.769208 target range: 59.400002 and range: 59.40 m.h%gu?h!h!h!h!h)g)g)bg)jg)e1e1je1Je9:e=?Bɛ>6)m< ?i ) !  i 6<<G^>GCGC)IGBG =GG|?x,\AI)֐C b~Gl x)u2y~$B?yA?9:hYB>Hƿ?^? ȿP @e?P?@[?騝?ɨb; ٣ GGFC; >!]-49%^q?a-4Y%j i%7B-?m-:5=?q5@%D% ;%;%ԭ4=B =x@=E2i!-DNOT Ignoring new targets: 59.40 m.*i)-Powering the camera and arming the capture device at range: 59.40 m.h)i5:"i5:E ProNav: ac range: 59.400002 m, nav range: 57.898651 m, bearing: 108.355834 deg, approach rate: -0.487168 m/s, LOS rate: 0.098618 deg/s, cmd heading: 101.368142 deg, new cmd heading: 101.518364 deg.  iE\;MHeadingCmd: 1.771830 target range: 59.400002 and range: 59.40 m.hMQ?hIhIhIhIhQgQgQbgQjg]9BeYeajeaJei:emԍ@雕Bɛ3) ω?i)l隙iwZImbImjIm0rIizIm;Im]:Imـ3Ii:J= FKBJ= 9JJ9 RJ= ZJ=  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451824a@x,K]AB*?yBC?9B嵭YBO>BH-ƿ?\?Ifȿ`i??Ɉ?B*?ɨB;; B9C^=B^(IHfHf-I5rt= ru=YrGCGb)IGBG# =GHDG;DG <G FVF% K7F ZA M% >Hy H} @AD@x,]A6Dc?y6٠?96 ħY6X>6HZǿ @PN?Z? ȿ???6Dc?ɨ6; 6;CfTBf(IHnHnp;5v.= vJ=Yz;Q z>x٣x ~G~HF~; >] 49Zq?a4Y` i@B?q@DG::4! %Ě@!EB*** querying acoustic contact ***iAiA2iQUDNOT Ignoring new targets: 59.40 m.eBDAT read: Rx Time:19:24:47.8764 eTRx dataTimestamp_ set to:1736537088.539286mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.956662*iQuPowering the camera and arming the capture device at range: 59.40 m.hqi}:"i}: ProNav: ac range: 59.400002 m, nav range: 57.520908 m, bearing: 108.431145 deg, approach rate: -0.509920 m/s, LOS rate: 0.101673 deg/s, cmd heading: 101.621009 deg, new cmd heading: 101.745047 deg.  i;HeadingCmd: 1.775786 target range: 59.400002 and range: 59.40 m.hL?hhhhhggbgjgeejeJe:eK@-Bɛ5t) ?i)i R= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208957D .D D E /5 E VF KZIbIjI2rIzI:I>L:Ic3IF ZAQM}?a@x,@]A:JBJ9JJRJZJJ fAI gAcB(IDAT read: 19:24:47.8764 LVL= 15424, 22785, 15058, 26403, AGC= 61, IDX= 415,-0.05,-2.323, 2.329,-2.455,-3.030, PHS= 0.794,-0.878, 0.572, RAW= 143.0, -6.3, CAL= 148.9, -15.5, ROT= 1.1, 15.5 Ygot valid direction response: 19:24:47.8764 LVL= 15424, 22785, 15058, 26403, AGC= 61, IDX= 415,-0.05,-2.323, 2.329,-2.455,-3.030, PHS= 0.794,-0.878, 0.572, RAW= 143.0, -6.3, CAL= 148.9, -15.5, ROT= 1.1, 15.5 PDAT read: Bearing 1.1, 15.5 (Local) ~Local bearing/azimuth received: Bearing 1.1, 15.5 (Local) DAT read: Range 10 to 50 : 57.6 m (Round-trip 76.8 ms) speed 0.5 m/s ,DAT read: user:1190> BDAT read: Tx time:19:24:48.9955 $Ping request sent.i im,H?;`?%]껿ImV>im=mnFi i:publishing transmit ping timeFpublishing direction and range infoiYmĐ?N w?֚nѿi9ii i)iIiiiiiii i)iIiiiii im,H?;`?%]껿Iiiiiii iuMb@Mb@Mb@qq q)qIqyu{Gz?Mby&1u?uu`e u@)u…@Iu@iu+@qu@HH65R= =YQ >٣ GIF >]49Wq?a4Y.Y iGB$?m:F?q@D ;] ;4 י@Zjm!l?bjmz{z iiimC]AjmffBjmdB2jm?pm[XK@̵ ?] ..zpmĐ?N w?֚nѿ"jmnF<*jmc>pm^w3+a}K@͉'$pml9οs?0uoIǿim[BjmYim l?im`  jmhBzjijijmgvBjjmdBrjm\?% addTargetRange:: Added new target pos. range: 57.599998 m, deltaT: 3.536114 s, deltaX: -1.800003 m, approachRate: -0.509034 m/s, rangeRepo size: 4  Added new target pos. range: 57.599998 m, bearing: 103.895101 deg, lat: 36.903877 deg, lon: -122.119057 deg, deltaT: 3.536114 s, deltaX: -1.800003 m, approachRate: -0.509034 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 57.60 m.*iPowering the camera and arming the capture device at range: 57.60 m.hi "i  ProNav: ac range: 57.599998 m, nav range: 57.236694 m, bearing: 108.487351 deg, approach rate: 0.000000 m/s, LOS rate: 0.101673 deg/s, cmd heading: 101.745046 deg, new cmd heading: 101.937382 deg.  ieHeadingCmd: 1.779143 target range: 57.599998 and range: 57.60 m.he?hahihihihqgqgybgjgYBeejeJeL@:ew?ԆBɛw!) ϣ?i)l޽!i%o*G G )IG ߉BG G G G <G F^De ]<Dm gAzDm fAD *D D E 0 E E =E =AVFD5FZA1M?l@x,g]Az?yz-;?9zYz >zHȿI@R?K?ʿ@`L???z?ɨz; z9C vB )IMb@Mb@Mb@ )IyNbX9?lMb? n@)@I@i@@HH6=5q=  =YYM٣ GJF4< >]49Tq?a4YQ iLB?m:?q@DC;\C;4 @2i)5DNOT Ignoring new targets: 57.60 m.*i15Powering the camera and arming the capture device at range: 57.60 m.h1i;"i; ProNav: ac range: 57.599998 m, nav range: 56.933884 m, bearing: 108.546549 deg, approach rate: -0.581553 m/s, LOS rate: 0.114295 deg/s, cmd heading: 101.937384 deg, new cmd heading: 102.115921 deg.  i;HeadingCmd: 1.782259 target range: 57.599998 and range: 57.60 m.h!?hhhhhggbgjgHBeejeJe:e5?雅ÆBɛH) Ƭ?i) ۽隉i/x7d!@x,օ]A2U?y2N?92̕Y2 >2H<ɿW?>? ˿sL P? X%?`?2U?ɨ2:; 2;CfBj?)IH vH %5> %5=Y%I;Q %>)٣) -G-KF-g< 5>A]m49EQq?au4YEJ iEPBy}?q}@EDE:;E ;E4 @E2iDNOT Ignoring new targets: 57.60 m.*iPowering the camera and arming the capture device at range: 57.60 m.hi:"i: ProNav: ac range: 57.599998 m, nav range: 56.700729 m, bearing: 108.590561 deg, approach rate: -0.509376 m/s, LOS rate: 0.096550 deg/s, cmd heading: 102.115918 deg, new cmd heading: 102.248497 deg.  i;HeadingCmd: 1.784573 target range: 57.599998 and range: 57.60 m.hl?hhhhhggbgjgeejeJe:ev?Bɛ4)) -O?i))-ؽ)1i5GUX>GQGU)IGUBGU =GUGDGQGU<GU F2'@x,ӟ]AbBbU)IHj`Hj5~ذ= ~M=YQ >٣  G% ->9]E49=KOq?aE4Y=qE i=TBIIqM@=D=:=:=4Q U]@UEuB*** querying acoustic contact ***iqiq2iDNOT Ignoring new targets: 57.60 m.*iPowering the camera and arming the capture device at range: 57.60 m.hi:"i: ProNav: ac range: 57.599998 m, nav range: 56.493889 m, bearing: 108.629916 deg, approach rate: -0.520872 m/s, LOS rate: 0.099465 deg/s, cmd heading: 102.248499 deg, new cmd heading: 102.366993 deg.  i;HeadingCmd: 1.786641 target range: 57.599998 and range: 57.60 m.h?hhhhhggbgjgeejeJe:e?BɛE;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)  ?i)`ֽi2 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750417-@x,1|]A66@?y6}?96Y6U%>6H`u!̿ O?0$?Ϳ`r?)? ڙ?66@?ɨ6Z; 6=CFBFo)IEMb@Mb@Mb@AA A)AIAyEuV?:vQEr?EԼEu EX@)E@IAiEВ@AE@H]H]25m= mC=YuAq٣y }GLF'= >]49Kq?a4Y? iWB?m:?q@+D ;" ; 4  @2iDNOT Ignoring new targets: 57.60 m.*iquPowering the camera and arming the capture device at range: 57.60 m.hyi}-:"i}-:- ProNav: ac range: 57.599998 m, nav range: 56.275337 m, bearing: 108.662934 deg, approach rate: -0.527969 m/s, LOS rate: 0.080073 deg/s, cmd heading: 102.366996 deg, new cmd heading: 102.466434 deg.  i-[;5HeadingCmd: 1.788377 target range: 57.599998 and range: 57.60 m.h5?h1h1h1h9h9g9g9bgAjgEBeA))Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.008801:JeRIBJeh9JJaRJeZJeJyI}fAeAjeyJe:e @雭Bɛ) ?i) ӽ隱iP5@x,H]A:)?y:Ng?9:mY:A>:H οdzq ? ?'ο GNCGN)IGN5BGN$ =GNHDGN:DGN<GN FH]C H]CHYH]# ="H]! =*H]JM6HbHb3A5jg= j>=Yn7l٣l nGnMFr= r>t]z49vKHq?az4Yv9 ivZBx~?q@v:Dv);v);v4  ez@a2iDNOT Ignoring new targets: 57.60 m.*iPowering the camera and arming the capture device at range: 57.60 m.hi:"i:- ProNav: ac range: 57.599998 m, nav range: 56.048206 m, bearing: 108.693941 deg, approach rate: -0.471074 m/s, LOS rate: 0.064571 deg/s, cmd heading: 102.466436 deg, new cmd heading: 102.559836 deg.  i-B1;5HeadingCmd: 1.790007 target range: 57.599998 and range: 57.60 m.h5?h1h1h1h1h1g9g9bgyjgyeejeJe:eS@I#I+3I+T.I#I#I#ZI]bI]7jIYrIYzI]t;I]:IYIYI]#n<quI]#n<iuI];uuI];muBɛm<) A?i)vнir;@x,]A:a?y:?9:|XY:V>:H2Ͽβ? #?Ͽk㊿Z ? ?w?:a?ɨ:S; :8CFBF)IJ>iJ=%Mb@Mb@Mb@!! !)!I!y%~jt?I +:v%?%9%T %+@)%h@I%ن@i%@!%(@H={H='5M= MD=YMLQ٣Q UGQ]<< e>q]}49uDq?a}4Yu04 iu\B}?m}:?q@uHDu? ;u ;u4 z@2i=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762329=DNOT Ignoring new targets: 57.60 m.*iAEPowering the camera and arming the capture device at range: 57.60 m.ElFinal approach. Armed for intercept at range: 57.60 m.E\Transitioning guidance mode to: FINAL_APPROACHiM@iMh:"iMh: ProNav: ac range: 57.599998 m, nav range: 55.832520 m, bearing: 108.720134 deg, approach rate: -0.589510 m/s, LOS rate: 0.071867 deg/s, cmd heading: 102.559839 deg, new cmd heading: 102.638723 deg.  iIE;HeadingCmd: 1.791384 target range: 57.599998 and range: 57.60 m.hL?hhhhggbgjgBeejeJe:eU@%|Bɛ-,4<)) -3?iI)UAͽQQiU[VF- < BDAT read: Rx Time:19:24:51.4738  TRx dataTimestamp_ set to:1736537092.075332 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015664F ZA :J% BJ% 9JJ! RJ% ZJ% JM ? JM !?Me >X\B@x, ]AV}?yVVH #п@`M??@kпbt`U?dm?`?V}?ɨVA; V;CfBj)IHUHU.5׌= E=Y Q٣ GNF< >]49@q?a4Y. i^B?q@VDe;4;"4 @ E2iYeDNOT Ignoring new targets: 57.60 m.*iaie:"im:} ProNav: ac range: 57.599998 m, nav range: 55.617931 m, bearing: 108.744413 deg, approach rate: -0.503130 m/s, LOS rate: 0.057145 deg/s, cmd heading: 102.638721 deg, new cmd heading: 102.711839 deg.  i};HeadingCmd: 1.792660 target range: 57.599998 and range: 57.60 m.hu?hhhhggbgjg e e jeJe:e% @雥nBɛt<)! %P?i!)-#ʽ))i-fGCG**IGYBG+ =GG8DG<G FVFFթ<FZAM>ZI bI QjI 0rI zI +;I z:I ـ3I I =<I ><I ;I ;H@x,#]AnDAT read: 19:24:51.4738 LVL= 20848, 25249, 15154, 29171, AGC= 58, IDX= 419, 0.05,-2.165, 2.587,-2.145,-2.741, PHS= 0.664,-0.908, 0.594, RAW= 147.7, -4.6, CAL= 152.6, -13.3, ROT= 357.4, 13.3 vYgot valid direction response: 19:24:51.4738 LVL= 20848, 25249, 15154, 29171, AGC= 58, IDX= 419, 0.05,-2.165, 2.587,-2.145,-2.741, PHS= 0.664,-0.908, 0.594, RAW= 147.7, -4.6, CAL= 152.6, -13.3, ROT= 357.4, 13.3 PDAT read: Bearing 357.4, 13.3 (Local)  ~Local bearing/azimuth received: Bearing 357.4, 13.3 (Local) DAT read: Range 10 to 50 : 55.5 m (Round-trip 74.1 ms) speed 0.4 m/s ,DAT read: user:1191> %BDAT read: Tx time:19:24:52.5956 %$Ping request sent.%H-п7n`W?M?пkg?Ud?@I??騽O?ɨh; Rb?R$@ Rl)Rt*@IR,miR@R,m>P PR( ;?R!?27IR >iRf=R9R,m>P P:publishing transmit ping time!Fpublishing direction and range infoPYR'5? ?- nVgz}"ErͿP9PP P)PIPiPPPPP=Bu)I P)PIPiPPP PR( ;?R!?27IPiPHjPPP PHh 5 ~~GlA )?xy lA meB%M= %=Y%5)٣) -G-OF5J< 5>]49r;q?a4Y' i`B?q@gD::a4 Ï@ZjR)ʹl?bjR4 iPiR%]AjR^BjR{\B2jR6?pR|XJ@Ul֙%)zpR'5? ?- nVgz}"ErͿ"jR9*jR,m>pR>+7+=VJ@pv%pRQDϿ_?CȿiRRBjR\iR0a۱l?iRڝ  jRiBzjRayk?jPjRpBjjR\BrjR=? addTargetRange:: Added new target pos. range: 55.500000 m, deltaT: 3.531965 s, deltaX: -2.099998 m, approachRate: -0.594569 m/s, rangeRepo size: 4 % Added new target pos. range: 55.500000 m, bearing: 104.663786 deg, lat: 36.903882 deg, lon: -122.119057 deg, deltaT: 3.531965 s, deltaX: -2.099998 m, approachRate: -0.594569 m/s, posRepo size: 4 2i!-DNOT Ignoring new targets: 55.50 m.*i)im"ii} ProNav: ac range: 55.500000 m, nav range: 55.190239 m, bearing: 108.295527 deg, approach rate: 0.000000 m/s, LOS rate: 0.057145 deg/s, cmd heading: 102.711838 deg, new cmd heading: 102.806398 deg.  iHeadingCmd: 1.794310 target range: 55.500000 and range: 55.50 m.h?hhhhggbgjgeejeJeK@:e`?-\Bɛ-]H<)1 5%?i1)55ƽ11i5$P@x,l\C]A6N?y6E?96Y6=*>6H`=пCc@t?? ѿ ?u?+?Ɖ?6N?ɨ6N; 6B>)II@)BA)F= Fp=Mb@Mb@Mb@ )IyFx?I +{Gz ?94# X@)Q@Ii`@CH5H54:JaBJe9JJaRJeZJeJugAIuhAE^= _=Yq٣ G"q< >] 4987q?a 4Yj" iaB  ?m : ?q@tD;@; 4  @UB*** querying acoustic contact ***iQiQ2iDNOT Ignoring new targets: 55.50 m.*ii=:"i=: ProNav: ac range: 55.500000 m, nav range: 54.988319 m, bearing: 108.310043 deg, approach rate: -0.574899 m/s, LOS rate: 0.041481 deg/s, cmd heading: 102.806395 deg, new cmd heading: 102.850103 deg.  i:HeadingCmd: 1.795073 target range: 55.500000 and range: 55.50 m.h?hhhhggbgjgBeejeJe:e?MBɛMƽ)MK6= UiQ)U?ƽQYi}OT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G 4>G CG P*IG wBG 2 =G G 6DG ʰ<G | FV@x,]]A6k?y6?964Y6s[>6HHѿ/jl?g?bѿT??U??6k?ɨ6; 4NBR)IHZ5HZ5bd = bT=Yb:Ph٣h jGjPFj>< n>p]v49r2q?av4YrF irbBtv?qv@rDr`:r:rP4x ~@|ZIbI`jIrIzI4.;IA:IIIC<ID<I<I<2iDNOT Ignoring new targets: 55.50 m.*iiK :"iK : ProNav: ac range: 55.500000 m, nav range: 54.786934 m, bearing: 108.323356 deg, approach rate: -0.528058 m/s, LOS rate: 0.035035 deg/s, cmd heading: 102.850102 deg, new cmd heading: 102.890186 deg.  iZ: HeadingCmd: 1.795773 target range: 55.500000 and range: 55.50 m.h ?h h h h ggbgjgeejeJe!:e%v1?IɛM%Ľ)I MSFZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251344(]@x,v]A%B%)IMb@Mb@Mb@ )Iy|?5^?y&1|{Gzt ?`ף A@)I|@I@iI@@HH4Y= 9=YQ >٣ GQF >] 49-q?a 4Y  ieB ?m:?q@D ; ;4 %&@%E2iIUDNOT Ignoring new targets: 55.50 m.*iQi]&":"i]&":m ProNav: ac range: 55.500000 m, nav range: 54.542778 m, bearing: 108.338079 deg, approach rate: -0.585092 m/s, LOS rate: 0.035440 deg/s, cmd heading: 102.890188 deg, new cmd heading: 102.934556 deg.  im:uHeadingCmd: 1.796547 target range: 55.500000 and range: 55.50 m.hu@?hqhqhqhqgygybgyjg}BeejeJe:e+?雭Bɛƽ) 89i)ƽi]1=I@?IDs?D>DDDE5 EE>E=VFeh0=F9ZAIMmV>Y]A]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502635:JBJs9JJRJZJd@x,yʐ]A6m(?y6f?96EY641>6H pѿWT? ?wѿ@f? U(?@ :?$?6m(?ɨ64`; 68CB BB)IF=iFph٣h jGhr[; r>|] 49~ )q?a4Y~ i~fB?q@~D~;~<;~~41 = @92iDNOT Ignoring new targets: 55.50 m.*ii :"i : ProNav: ac range: 55.500000 m, nav range: 54.338085 m, bearing: 108.350046 deg, approach rate: -0.519902 m/s, LOS rate: 0.030510 deg/s, cmd heading: 102.934557 deg, new cmd heading: 102.970593 deg.  i:%HeadingCmd: 1.797176 target range: 55.500000 and range: 55.50 m.h% ?h!h!h!h!g)g)bg)jg)e1e1je1Je9:e=`V?aɛeCƽ)a em;ia)mƽiiim+GGi*IGBG4 =GGG<G_ F^D=<HHBAZIbIGjI2rIzI+;IK:Ic3II=<I=<I;I;DDDE^4 Em checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006403VF= '2=zF] hArFY F1 ZAa M >ij@x,]Avz?yvW?9vg`Yvf=vH`ѿ Ҝ?`?ѿ@*O? 3?5??vz?ɨv܌; t#B)IMb@Mb@Mb@ )IyQ?Mb?:v?<T @)v~@Iن@i@@H8H@ 5T< *=Yl٣ GRF4 >]49"q?a4Ya  ieB ?m:?q@D<<'4q u@uE2iDNOT Ignoring new targets: 55.50 m.*ii9"i9 ProNav: ac range: 55.500000 m, nav range: 54.082512 m, bearing: 108.358671 deg, approach rate: -0.539954 m/s, LOS rate: 0.018308 deg/s, cmd heading: 102.970593 deg, new cmd heading: 102.996590 deg.  i I:HeadingCmd: 1.797630 target range: 55.500000 and range: 55.50 m.h?hhhhgg1bg1jg5Be1e9je9Je9:e=`m@)ɛ- kŽ)) -, checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510465q@x,3Q]AB?yB6?9B#y YB=BHBп`}쫺?g? fп@(?O?@?`?B?ɨB@; @:JPBJR9JJPRJRZJR4vwk_VI@:63)Z%BZ)IHbAHb=5j<< j[=Yjgl٣l nGrSFrM r>t]z49v7q?az4YvX ivcBxzZ?q~@vDv;v;vX.4 @%B*** querying acoustic contact ***i!i!2i)5DNOT Ignoring new targets: 55.50 m.*i1i59"i=9U ProNav: ac range: 55.500000 m, nav range: 53.883480 m, bearing: 108.366484 deg, approach rate: -0.564871 m/s, LOS rate: 0.022255 deg/s, cmd heading: 102.996589 deg, new cmd heading: 103.020113 deg.  iU^t:eHeadingCmd: 1.798040 target range: 55.500000 and range: 55.50 m.he.&?hahihihigigqbgqjgeejeJe:e@雅BɛfdĽ) |x@x,_]Ar&?yrd?9rssYrk=rH`zп@ ޷?`?@mlп?lnn?r??r&?ɨr; r;C"B)II))-A)5p= 5=UBDAT read: Rx Time:19:24:55.0713 ]TRx dataTimestamp_ set to:1736537095.611733]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016034HE3HE 5u[r u,=Y}`#y٣ GE >]49Xq?a4Y iaB?q@D::64 @2iDNOT Ignoring new targets: 55.50 m.*ii9"i9 ProNav: ac range: 55.500000 m, nav range: 53.629505 m, bearing: 108.378152 deg, approach rate: -0.534874 m/s, LOS rate: 0.024690 deg/s, cmd heading: 103.020112 deg, new cmd heading: 103.055282 deg.  i:HeadingCmd: 1.798654 target range: 55.500000 and range: 55.50 m.hK:?hhhhggbgAjgIeQeYjeJe:e@ɛԆŽ)\= @y٣y }G}TF} >]49tq?a4Y i]B ?m:?q@D:M:@4 _@2iaeDNOT Ignoring new targets: 55.50 m.*iaim]:"im]: ProNav: ac range: 55.500000 m, nav range: 53.314178 m, bearing: 108.398120 deg, approach rate: -0.526218 m/s, LOS rate: 0.033520 deg/s, cmd heading: 103.055281 deg, new cmd heading: 103.115540 deg.  i :HeadingCmd: 1.799706 target range: 55.500000 and range: 55.50 m.h\?hhhhggbgjgBeejeJe:eMO @MBɛM@ƽ)Q UĺiQ)uƽyyi}\  BDAT read: Tx time:19:24:56.1956  $Ping request sent. ?~ʶ0iǿحVB9ةحN ٭f)٭@I٭ji٩٭x ?٭v٭}??٭%:)@ ڭQ )ڭ-\-@IڭAiڭ_(@ڭA>ک ۩ۭ D?qm?3cO[碿Iۭ ?iۭC=ۭ޹ۭA>۩ ܩ= :publishing transmit ping timeGA GE @AGU 7>GQ GU i*IGU BGU 3 =GQ GQ GU <GU FH ɜC H ɜCH H 3 ="H 2 =*H j6  Fpublishing direction and range infoةYحS7~M?>?~ʶ0iǿة9ةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiککک ۩ۭ D?qm?3cO[碿I۩i۩۩۩۩ ܩVF- :^<F ZA M >Ї@x, ]AZx?yZQ?9Z0:YZ=ZH"TϿ3??@:ϿD?] 0? n?Zx?ɨZj; Z8CfBf)IHn=Hnw 5vn  l=Y#;Q >٣ GUF%# %>)]549-i q?a54Y- i-ZB15?q=@-D-):-:-F4A E @EEZjVy!n?bjs iiy]AjVBjSUB2j!?pMDJ@y&[~$zpS7~M?>?~ʶ0iǿ"j޹*jA>pHG!TI@X;$p\^`Mſ ?ӼqȿiOBjiPn?i  j8jBzj0a۱l?jڝ j8jBjjQBrj? addTargetRange:: Added new target pos. range: 53.700001 m, deltaT: 3.786828 s, deltaX: -1.799999 m, approachRate: -0.475332 m/s, rangeRepo size: 4 = Added new target pos. range: 53.700001 m, bearing: 99.769507 deg, lat: 36.903914 deg, lon: -122.119054 deg, deltaT: 3.786828 s, deltaX: -1.799999 m, approachRate: -0.475332 m/s, posRepo size: 4 2iAeDNOT Ignoring new targets: 53.70 m.*iaim"ii} ProNav: ac range: 53.700001 m, nav range: 52.386406 m, bearing: 104.637339 deg, approach rate: 0.000000 m/s, LOS rate: 0.033520 deg/s, cmd heading: 103.115537 deg, new cmd heading: 103.150578 deg.  iyHeadingCmd: 1.800317 target range: 53.700001 and range: 53.70 m.hp?hhhhggbgjgeejeJeJ@:e`L?%Bɛ%D(ʽ)! %i))-7ƽ))i- `@x,Z:]A2;^?y2Λ?92|?:Y2I=2Ho:Ͽn?@t?`Ͽǫ?@GQ` #?`?2;^?ɨ2; 29CR BR)IV=iV=XZA=Mb@Mb@Mb@99 9)9I9y= r?~jt?I +=?=D<=9 =I@)=h@I=ن@i=ن@9=@HUHU4e eD=YeQ e>i٣i mGmVFu u>y]49}q?a4Y} i}VB?m: ?q@}D}t2;}1;}N4 r@E2iDNOT Ignoring new targets: 53.70 m.*iin?"in? ProNav: ac range: 53.700001 m, nav range: 52.174450 m, bearing: 104.633201 deg, approach rate: -0.533553 m/s, LOS rate: -0.010460 deg/s, cmd heading: 103.150576 deg, new cmd heading: 103.138110 deg.  iHeadingCmd: 1.800100 target range: 53.700001 and range: 53.70 m.hi?hhhhggbgjg\BeejeJe:e ?雱ɛv˽) i)ƽ隹i=ii?;ڔ@x,_]T]A2#F?y2?92:Y2ە=2H@#ϿA? ?Ͽ??WS?#?2#F?ɨ2Ȑ; 0: B8HFHF|4JjJ; NX=YN9Q N>P٣P RGPV= Z>`]r49b'q?av4Yb ibRBxz?qz@bDb;b;bT4 %i@!B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 53.70 m.*ii#"i# ProNav: ac range: 53.700001 m, nav range: 51.978703 m, bearing: 104.629549 deg, approach rate: -0.477123 m/s, LOS rate: -0.008934 deg/s, cmd heading: 103.138110 deg, new cmd heading: 103.127114 deg.  i5Ĺ%HeadingCmd: 1.799908 target range: 53.700001 and range: 53.70 m.h%`c?h!h!h!h!g!g)bg)jg)e)e1G=>>G=CG=\*IG=BG=2 =G9G=7DG=<G= Fje1JeQ:e]q?雍Bɛ8˽) 0i)'ƽ隑iI=i`c?*c;"@x,r]A6g?y6M?96Y9Y6SX=6HCϿD@L??,Ͽ`?!+> ??6g?ɨ6?; 6:CBBB)I-bonly read 2 of 4 data items for beam range. Device response is::RA, 0.00, 43.78, 42.16 f@f f@f f@f  f@f HjHjD4r. r(=YvQ v>t٣t vGvWFU; ]>]49:p?a4Y iLBi+:m:?q@D<?[4) -@12iyDNOT Ignoring new targets: 53.70 m.*ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498503i?"i? ProNav: ac range: 53.700001 m, nav range: 51.718082 m, bearing: 104.624396 deg, approach rate: -0.527721 m/s, LOS rate: -0.010487 deg/s, cmd heading: 103.127114 deg, new cmd heading: 103.111577 deg.  iMHeadingCmd: 1.799636 target range: 53.700001 and range: 53.70 m.h}Z?hhhhggbgjgeejeJe:e`g?eBɛms̽)i m0ii)mƽiqiu}=iu}Z?}咶;}ZD!>D5D1D9E=o1 E9EAEAZIbIjI0rIzI ;I|:Iـ3IE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750846VFM <F! ZAa M >:J KBJ s9JJ RJ ZJ    @x,}]AB-?yBX?9B(x;YB3=BH bο`? ?@ο??@o`A?@?B-?ɨBՐ; @NBN)IIP)P)R= R=HV+HV~5^; bM=Ybe~;Q b>d٣d fGfXFfƻ f>h]n49jp?ar4Yj: ijHBir :pmr:r?qr@j#Dj;jb?j?`4t zُ@x2i%DNOT Ignoring new targets: 53.70 m.*i!i%+"i%+5 ProNav: ac range: 53.700001 m, nav range: 51.525307 m, bearing: 104.621061 deg, approach rate: -0.540089 m/s, LOS rate: -0.009380 deg/s, cmd heading: 103.111575 deg, new cmd heading: 103.101531 deg.  i5͹=HeadingCmd: 1.799461 target range: 53.700001 and range: 53.70 m.hET?hAhAhAhAgAgAbgIjgIeIeIjeQJeQ:eU?}Bɛ7'ͽ) "i)ǽ隙i=iT?TH;G CG I*IG rBG + =G G 9DG <G  FDDDE1 EH H AAVF= <<F1 ZA9 M] >g2@x,]A6]?y6P?96m-;Y6R=6Hοq̳? ?ο@El?`e9q?O?6]?ɨ6Տ; 68CNBN)IHV;HV 5^I bJ=Yb_:Q b>d٣d fGdfs j>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254467a]m49ep?am4Ye ieCBiu9qm}[:}?q}@e1De1.;eF?e-d4 |@2iDNOT Ignoring new targets: 53.70 m.*iid#"id# ProNav: ac range: 53.700001 m, nav range: 51.307892 m, bearing: 104.617295 deg, approach rate: -0.513296 m/s, LOS rate: -0.008928 deg/s, cmd heading: 103.101535 deg, new cmd heading: 103.090190 deg.  iĹHeadingCmd: 1.799263 target range: 53.700001 and range: 53.70 m.hBN?hhhhggbgjgeejeJe:e!g@%Bɛ%Ͻ)! -ki))-ǽ))i-=i5BN?5(';5 @x,d]A6^+?y6h?969;Y6=6H Ͽ룳? ?ο5?3g`l??6^+?ɨ6+; 69C>BB)IEE EE EE  E M MMb@Mb@Mb@II I)IIIyMK?I +?I +M^>M9H] 5mC m@=Yu9Q u>ZIbI jIrIzIT;I:IIq٣ GYF: >]49p?a4Y iABiT:>m:`?q@=D:X:[k4 @2i DNOT Ignoring new targets: 53.70 m.*ii"i- ProNav: ac range: 53.700001 m, nav range: 51.106888 m, bearing: 104.609091 deg, approach rate: -0.482990 m/s, LOS rate: -0.019791 deg/s, cmd heading: 103.090190 deg, new cmd heading: 103.065481 deg.  i-QY5HeadingCmd: 1.798832 target range: 53.700001 and range: 53.70 m.h5 @?h1h1h1h1g9g9bg9jg=DBeAeIjeIJeI:eM@}Bɛ}Ͻ)y }viy)4ǽ隁i=i @?;( > < BDAT read: Rx Time:19:24:58.6689  TRx dataTimestamp_ set to:1736537099.391733 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012001KB@x,@]AG6F>G6CG67*IG6cBG6' =G4G4G6<G6 FBU?yBM?9B0;YBi=BH,2Ͽ@?@?XϿ`c?a}Ƶ?J?BU?ɨBl; @RBR)IV>iVh٣h jGjZFn^; n>p]v49rp?av4Yr ir?Bxz?qz@rIDr:r:rq4| ~b@EB*** querying acoustic contact ***ii2i)5DNOT Ignoring new targets: 53.70 m.*i1i=/¹"i/¹ ProNav: ac range: 53.700001 m, nav range: 50.920982 m, bearing: 104.601154 deg, approach rate: -0.495257 m/s, LOS rate: -0.021221 deg/s, cmd heading: 103.065478 deg, new cmd heading: 103.041581 deg.  ii=HeadingCmd: 1.798415 target range: 53.700001 and range: 53.70 m.h=u2?h9hAhAhAgAgAbgIjgIeIeIjeIJeQ:eu R@雽BɛKν) HKi)wJǽiW=iu2?;Zl@x,\]A2Hk?y2ۨ?92Qt:Y2Ԅ=2H`GϿNb? ?"Ͽ@˗?.S{(?@h?2Hk?ɨ2>ʍ; 2:CBBB)Iz@z z@z z@z  z@z H~=H~w 5 F=Y Q >٣ G%: %>)]549-p?a54Y- i-=Bi5+:1m5:=?q=@-VD- ;->-w4A E@A2iDNOT Ignoring new targets: 53.70 m.*ii"i  ProNav: ac range: 53.700001 m, nav range: 50.718983 m, bearing: 104.592291 deg, approach rate: -0.476603 m/s, LOS rate: -0.020994 deg/s, cmd heading: 103.041579 deg, new cmd heading: 103.014885 deg.  i f5HeadingCmd: 1.797949 target range: 53.700001 and range: 53.70 m.h51#?h1h1h9h9g9g9bg9jgAeAeAjeAJeA:eM, @DAT read: 19:24:58.6689 LVL= 25296, 30801, 21746, 32755, AGC= 62, IDX= 417,-0.25,-1.164,-2.557,-1.049,-1.619, PHS= 0.542,-0.892, 0.567, RAW= 150.8, -3.0, CAL= 154.9, -11.7, ROT= 355.1, 11.7 Ygot valid direction response: 19:24:58.6689 LVL= 25296, 30801, 21746, 32755, AGC= 62, IDX= 417,-0.25,-1.164,-2.557,-1.049,-1.619, PHS= 0.542,-0.892, 0.567, RAW= 150.8, -3.0, CAL= 154.9, -11.7, ROT= 355.1, 11.7 PDAT read: Bearing 355.1, 11.7 (Local) ~Local bearing/azimuth received: Bearing 355.1, 11.7 (Local) DAT read: Range 10 to 50 : 51.9 m (Round-trip 69.2 ms) speed 0.5 m/s ,DAT read: user:1193> BDAT read: Tx time:19:24:59.7456 $Ping request sent.@y8?ކeӑi ɿuOB9qub uQx)uTIuiu>u ?uZdu&?uq(@ uPwV-BɛMkϽ)Q UaiQ)UbǽQQiU" =iu1#?u+;uq qul>n?jJ c?iIuj ?iuFY=u%uQ>q q-:publishing transmit ping time5Fpublishing direction and range infoqYu>@y8?ކeӑi ɿq9qq q)qIqiqqqqq qDDDE E)qIqiqqq qul>n?jJ c?iIqiqqqq qVF- -<F ZA 5 JDAT read: TxSync time:19:24:59.7448 ME >T@x,D ]A2?y2Q?92 Y2n=2HZmϿ"H?>? HϿ4?`2B?`?`?2?ɨ2V; 2;C:J>BJ>+9JJ<RJ>ZJ>FBJ)IHR-HR`5%1= %I=Y-|Q ->)٣) 5G5[F5=B; 5>9]E49=p?aE4Y= i=;BiM :ImM:M?qM@=cD=:=CR?=|4Q U@YZj5m?bjl  ii?]AjOBj/NB2jM?p fQI@(5]$Q %zp>@y8?ކeӑi ɿ"j%*jQ>phN|";H@%|,%p\ƿ_f[?x@jʿiGBji#m?i~-  jhBzj l?j` jiBjj1KBrj? addTargetRange:: Added new target pos. range: 51.900002 m, deltaT: 3.527707 s, deltaX: -1.799999 m, approachRate: -0.510246 m/s, rangeRepo size: 4  Added new target pos. range: 51.900002 m, bearing: 100.493697 deg, lat: 36.903918 deg, lon: -122.119049 deg, deltaT: 3.527707 s, deltaX: -1.799999 m, approachRate: -0.510246 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 51.90 m.*ii"i ProNav: ac range: 51.900002 m, nav range: 50.798763 m, bearing: 103.895510 deg, approach rate: 0.000000 m/s, LOS rate: -0.020994 deg/s, cmd heading: 103.014887 deg, new cmd heading: 102.989766 deg.  iHeadingCmd: 1.797511 target range: 51.900002 and range: 51.90 m.h?hh h h ggbgjg!e)e)je1Je=@3I@:e=Z? Bɛ̽) hi)pǽi =i?%E;%GuCGu0*IGu^BGu+ =GqGu8DGuݰ<Gu FVF =<F ZA M >ZI bI FjI rI zI (;I ǔ:I I I <q I <i I ;u I ;m L~@x,g']AB)II ) )= a=H%H%_4Uq; UH=YUQ U>Y٣Y ]Ge\Fe e>i]u49mp?au4Ymľ im9Biu9qm}f:yq}@mpDm ;m?mN4 <@2iDNOT Ignoring new targets: 51.90 m.*ii"i ProNav: ac range: 51.900002 m, nav range: 50.598457 m, bearing: 103.883598 deg, approach rate: -0.494168 m/s, LOS rate: -0.029505 deg/s, cmd heading: 102.989766 deg, new cmd heading: 102.953887 deg.  iHeadingCmd: 1.796884 target range: 51.900002 and range: 51.90 m.hN?hhhhggbgjgeejeaJe:ei?%Bɛ-3̽)9 i)ǽ隙i =iN?孽;@x,dB]AB)I      Mb@Mb@Mb@ )Iye;O?Q?MbP>< v@)v~@Iiن@@HH4>9= 9=YQQ U>Y٣Y ]GYY e>i]m49mCp?au4YmP im:BiuT:u7>mu:u?qu@m~Dm:mz:m=4 @2iDNOT Ignoring new targets: 51.90 m.*ii*"i* ProNav: ac range: 51.900002 m, nav range: 50.381599 m, bearing: 103.866721 deg, approach rate: -0.476949 m/s, LOS rate: -0.037278 deg/s, cmd heading: 102.953887 deg, new cmd heading: 102.903039 deg.  i̺HeadingCmd: 1.795997 target range: 51.900002 and range: 51.90 m.h9?hhhhggbgjgZBeejeJe:e1?BɛFɽ)  ]i)+ǽir =i%9?-;-G 9>G CG 7*IG cBG / =G G 7DG <G FH˞C H˞CHH+ ="H, =*H˓6e@x,\]A6"?y6`?962!Y6=6HϿ??/Ͽ?B>)IHJ!HJ5Rӻ Rb=YVڼQ V?T٣X ZGZ]FZN< Z?\]b49^p?ab4Y^" i^;Bdf`?qf@^D^>:^):^S4h j@l~B*** querying acoustic contact ***i|i|2i DNOT Ignoring new targets: 51.90 m.*ii<6"i<6 ProNav: ac range: 51.900002 m, nav range: 50.215191 m, bearing: 103.852845 deg, approach rate: -0.476099 m/s, LOS rate: -0.039831 deg/s, cmd heading: 102.903036 deg, new cmd heading: 102.861270 deg.  iںHeadingCmd: 1.795268 target range: 51.900002 and range: 51.90 m.hV?hhhhggbgjgeejeJe:e@?- Bɛutɽ)q uRiq)u5ǽyyi}=iV?;jZIbI7jIrIzI\;I:IIIt<It<I;I;D5D9D9EEy0 EAEM=EM=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFm<F) ZA9 M >@x,iv]A:?y:*?9:3z:Y:=:HnϿV&?? 5aϿ`?`%O? C^?@?:?ɨ:ԍ; :;CBBF)IJ>iJJ>%Mb@Mb@Mb@!! !)!I!y%V-?I +?y&1|%|>%94<%` !)%I|@I!i!!!H=4H={5MŔ= M@=YUgQ U>Q٣Q UG^F% >]49 p?a4Y i>m:?q@Dh;Q:ە4 @E]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0177932iimDNOT Ignoring new targets: 51.90 m.*iii,"i, ProNav: ac range: 51.900002 m, nav range: 50.000134 m, bearing: 103.845479 deg, approach rate: -0.480278 m/s, LOS rate: -0.016521 deg/s, cmd heading: 102.861269 deg, new cmd heading: 102.839076 deg.  ih5HeadingCmd: 1.794881 target range: 51.900002 and range: 51.90 m.h?hhhhggbgjghBeejeJe:ee@m BɛuĽ)q u:J1 BJ5 9JJ1 RJ5 ZJ5 JE ? JE #?@x,D]A2,/?y2l?92t٣t vGtz z>|]49~p?a4Y~Ϊ i|o?q @~D~:~:~4 @2iAEDNOT Ignoring new targets: 51.90 m.*iAiM"iM ProNav: ac range: 51.900002 m, nav range: 49.808445 m, bearing: 103.839550 deg, approach rate: -0.523025 m/s, LOS rate: -0.016240 deg/s, cmd heading: 102.839078 deg, new cmd heading: 102.821222 deg.  iS2HeadingCmd: 1.794569 target range: 51.900002 and range: 51.90 m.ho?hhhhggbgjgeejeJe:eN@ BɛĽ) >GCGI*IGrBG. =GGG<G FFZA)MEQ>IsIsIsIsIsIsZI bI :jI 1rI zI !;I :I 3I I x<I x<I M;I M; @x,u]A:n?y:?9:0Y:Õ=:Hο@(@.? \?ο څ?@?d?`?:n?ɨ:;; 8R'BR)IHZ3HZ 5f= fG=YfʻQ f>h٣h jGj_Fna n>p]v49rTp?av4Yr ir@x,]A~3B~)II)EMb@Mb@Mb@AA A)AIAyERQ?{Gz?Mb`E?E#y٣y }G}`F} }>]49=p?a4YƟ i=B?m:?q@D7@;Q>;4 ی@2iDNOT Ignoring new targets: 51.90 m.*ii^"i^ ProNav: ac range: 51.900002 m, nav range: 49.374962 m, bearing: 103.828511 deg, approach rate: -0.511699 m/s, LOS rate: -0.012179 deg/s, cmd heading: 102.804626 deg, new cmd heading: 102.787962 deg.  i-HeadingCmd: 1.793988 target range: 51.900002 and range: 51.90 m.h-i?h)h1h1h1g1g9bg9jgEBeAeAjeIJeI:eU 4 @雝Bɛv) =i)6ǽ隡im"=  Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286048iMi?UV;U-YG G G i*IG BG - =G G 8DG ԰<G F DAT read: 19:25:02.2166 LVL= 20176, 28401, 18338, 32051, AGC= 57, IDX= 424,-0.13,-1.186,-2.541,-1.089,-1.663, PHS= 0.565,-0.831, 0.571, RAW= 150.2, -4.4, CAL= 154.8, -12.9, ROT= 355.2, 12.9  Ygot valid direction response: 19:25:02.2166 LVL= 20176, 28401, 18338, 32051, AGC= 57, IDX= 424,-0.13,-1.186,-2.541,-1.089,-1.663, PHS= 0.565,-0.831, 0.571, RAW= 150.2, -4.4, CAL= 154.8, -12.9, ROT= 355.2, 12.9 % PDAT read: Bearing 355.2, 12.9 (Local) % ~Local bearing/azimuth received: Bearing 355.2, 12.9 (Local) 5 DAT read: Range 10 to 50 : 50.0 m (Round-trip 66.7 ms) speed 0.4 m/s = ,DAT read: user:1194> E BDAT read: Tx time:19:25:03.2957 E $Ping request sent.M N.H? i!?5|I?i=f>YR=RH:οk@?%?@]οca?`5? - ? e?RX?ɨR; R9C :publishing transmit ping timeqFpublishing direction and range infoY_=?rCᴿNu̿9 )Ii )Ii N.H? i!?5|Ii 1B)IH #H 5[L I=YQ >٣ G >]49Żp?a4Y} i@B!?q @Dru<u<4 @ZjUm?bjےJ Ha=Hp=ZIbIUjIrIzI2;I:III<I<I|;I|;ii]AjHBjFB2j?pHH@޻,Pusu3S&zp_=?rCᴿNu̿"j*jf>p4Z5b!!H@p|$pDJD@ƿ]4J?yCʿi@Bj ioTm?ip  jjBzj#m?jp jjjCBrj0? addTargetRange:: Added new target pos. range: 50.000000 m, deltaT: 3.553268 s, deltaX: -1.900002 m, approachRate: -0.534719 m/s, rangeRepo size: 4  Added new target pos. range: 50.000000 m, bearing: 100.237885 deg, lat: 36.903945 deg, lon: -122.119045 deg, deltaT: 3.553268 s, deltaX: -1.900002 m, approachRate: -0.534719 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 50.00 m.*ii"i ProNav: ac range: 50.000000 m, nav range: 48.920982 m, bearing: 100.352931 deg, approach rate: 0.000000 m/s, LOS rate: -0.012179 deg/s, cmd heading: 102.787961 deg, new cmd heading: 102.771448 deg.  iHeadingCmd: 1.793700 target range: 50.000000 and range: 50.00 m.h?hh h h g g bgjgeejeJeI@:e` ?雥Bɛ)) ж=i)A ǽ隩i-=i?!;G@x,t]A6JC?y6܀?96DؼY6Xa=6H %ο @ۺ?`?@aUοZ?V??6JC?ɨ6; 4R@BR *IMb@Mb@Mb@ )IyE?~jtx~jth?ĻD `@)v~@I@i@HH34= D=YQ  >٣ GaFź >!]-49%p?a54Y%͔ i%BB5?m5:5?q5@%D%%);%K(;% 4Q U@QB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 50.00 m.*iit"it ProNav: ac range: 50.000000 m, nav range: 48.699627 m, bearing: 100.340850 deg, approach rate: -0.571894 m/s, LOS rate: -0.031354 deg/s, cmd heading: 102.771445 deg, new cmd heading: 102.735038 deg.  i$HeadingCmd: 1.793065 target range: 50.000000 and range: 50.00 m.h%?hhhhg)g)bg)jg-Be1e1je1Je1:e=`=?}Bɛؚ) |=i)ƽ隩i;=i%?H;.Ax,΋]A:J BJ"+9JJ RJ"!ZJ">C?y>?9>Y>=>Hο @H?.?ο7y`@b?&?`?>C?ɨ>P; >6CJIBJ*INp=iN=HRHR=4ZY= Zv=Y^#Q ^?\٣` bG`b< b?d]j49fAp?aj4Yfb ifDBln?q@fDfD$)  >i)ѩƽAAiM =iq?(!;G-CG-*IG-BG-. =G)G-7DG-ʰ<G- Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.990896VFmV<FI ZAY M} >|X Ax,d+]Appvchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243277]0?ym?9?,Y=HϿs# ?.??kϿi=`d? )??]0?ɨ\; 8C5LB5*IHEHE&4])6< ]3=YeµQ e>a٣i mGmbFmB< m>q]}49up?a4Yu6 iuIB ?q@uDu:u:u4 U@E2iDNOT Ignoring new targets: 50.00 m.*ii "i  ProNav: ac range: 50.000000 m, nav range: 48.287056 m, bearing: 100.315336 deg, approach rate: -0.533001 m/s, LOS rate: -0.034324 deg/s, cmd heading: 102.704646 deg, new cmd heading: 102.658162 deg.  isHeadingCmd: 1.791723 target range: 50.000000 and range: 50.00 m.h-W?hhhhggbgjgeejeJe:e`;?-Bɛ-F)) >i)bƽ隱i%=i-W?[;$AAx,BE]AZIV bIVFjITrITzIV(;IVǔ:ITITqZ@iZ@uZ@mZ@~XB~**IMb@Mb@Mb@ )IyK7A`?Qy&1| ?u` I@)Ih@ī@HH4%r= -M=Y-Q ->)٣1 5G5cF= =>A]]49Ep?ae4YE iEKBe ?me:e?qm@E DE;EC;E4 @2iAUDNOT Ignoring new targets: 50.00 m.*iQi]ڹ"i]ڹ ProNav: ac range: 50.000000 m, nav range: 48.071049 m, bearing: 100.305343 deg, approach rate: -0.512807 m/s, LOS rate: -0.023830 deg/s, cmd heading: 102.658160 deg, new cmd heading: 102.628046 deg.  iւHeadingCmd: 1.791197 target range: 50.000000 and range: 50.00 m.hE?hhhhggbgjgBeejeJe:e@?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746870Bɛ铬) <>i)eƽi=i%E?%;!IME?IIDDDE E:JBJ59JJRJ"ZJVF% 7<F ZA G- ;>G) G- *IG- ĊBG- 1 =G) G) G- <G- _ FMU > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998814SmAx,&_]A^?y^K(?9^+8Y^=^H@gοSಷ?k?2Ͽ{?[?Q?^?ɨ^; ^9CjYBj+*IIp)pHvHvT4~; ~_=Y@Q >٣   G  @  >]49p?a%4Y iNB!%?q%@ D:l:4) -{@)2iDNOT Ignoring new targets: 50.00 m.*ii"i ProNav: ac range: 50.000000 m, nav range: 47.872684 m, bearing: 100.296585 deg, approach rate: -0.563452 m/s, LOS rate: -0.024981 deg/s, cmd heading: 102.628046 deg, new cmd heading: 102.601662 deg.  i' HeadingCmd: 1.790737 target range: 50.000000 and range: 50.00 m.h 6?h h h1h1g1g1bg9jg9e9e9je9JeA:eE@雍Bɛ) B>i)Ž隱i.=i6?q;Ax,zx]A6?y6V3?96}ZFY6==6Hο`@? x?IϿ UȨ?@s?@?6?ɨ6; 68C>ZB>,*IEMb@Mb@Mb@AA A)AIAyE/$?Qy&1E ?AE`e A)EI|@IAiE@AAHm Hm41; ==YQ >٣ GdFL: >]49p?a4Yry iQB ! ?m :  ?q @ D::4 r@2iAMDNOT Ignoring new targets: 50.00 m.*iIiM]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502982"ieu ProNav: ac range: 50.000000 m, nav range: 47.635815 m, bearing: 100.285485 deg, approach rate: -0.559447 m/s, LOS rate: -0.026345 deg/s, cmd heading: 102.601661 deg, new cmd heading: 102.568197 deg.  iu}HeadingCmd: 1.790153 target range: 50.000000 and range: 50.00 m.h}#?hyhyhyhyggbgjgBeejeJe:e76@Bɛ) LI>i)@sŽi=i#?F;;A٣A EGEeFM8 M>Q]u49U֟p?au4YUt iUSBy} ?q}@U+ DU;U ;U\4 [@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 50.00 m.*ii"i ProNav: ac range: 50.000000 m, nav range: 47.427006 m, bearing: 100.275603 deg, approach rate: -0.542130 m/s, LOS rate: -0.025770 deg/s, cmd heading: 102.568199 deg, new cmd heading: 102.538423 deg.  i|HeadingCmd: 1.789633 target range: 50.000000 and range: 50.00 m.h?hhhhggbgjgeejeJe:eEE@Bɛx+)f5= Q>i)y!Ži=i%?%.t;%MbGG*IG؊BG/ =GGGհ<G FHĝC HĝCHēCH. ="H/ =*Hb5mBDAT read: Rx Time:19:25:05.7641 mTRx dataTimestamp_ set to:1736537106.471280uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008000VFu9f<FIZAYMu>E*Ax,]ANaH?yN?9N #gYN=NH`Ͽ̼?`$?jϿ`bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258929i^<HjHjN4zD; ~O=YPQ >٣   G  ;  >]49ԛp?a%4Yn iVB!%]?q%@9 D;;I4-B -O@5E2iQmDNOT Ignoring new targets: 50.00 m.*iiim"iu ProNav: ac range: 50.000000 m, nav range: 47.210339 m, bearing: 100.264611 deg, approach rate: -0.552799 m/s, LOS rate: -0.028173 deg/s, cmd heading: 102.538420 deg, new cmd heading: 102.505293 deg.  iHeadingCmd: 1.789055 target range: 50.000000 and range: 50.00 m.h?hhhhggbgjgeejeJe:en @Bɛ1) DY>i)ĽiW=i?;Q BDAT read: Tx time:19:25:06.8457 $Ping request sent.q quYIE?z?&Iuz>iuH=uѸ2uGt>q q:publishing transmit ping time Fpublishing direction and range infoqYuvZ?sP,4ӋHPοq9qq q)qIqiqqqqq q)qIqiqqq quYIE?z?&Iqiqqqq qVF A<F ZA M >Ϗ1Ax,]AZIB bIB@jIB0rI@zIB(;IB:IBـ3I@Vw?yV!?9V_QoYV=VH`PEϿ(6?[?Ͽ@О?b\??Vw?ɨVa; V8C=[B=-*I- only read 0 of 1 data item for BIT error. Device response is::TS,250110112615 +10.9, 0.0,1493.3, 0 @ @] ]@]  e@e Hm Hme4ۻ /=Y{Q ->1٣1 5G5fF5F; =>9]E49=p?aM4Y=g i=ZBi+:m:?q@=J D= &<=l>=4 i@JDAT read: TxSync time:19:25:06.8449 Zj<m?bjXB ii`]Aj@Bjz?B2j܅?p1Q]dG@SWLN&zpvZ?sP,4ӋHPο"jѸ2*jGt>p %vG@ Q!pWŝt̿1Skc?3"jǿi8Bj,iFm?i(Q  jrqBzjjj8jBjj;Brjb? addTargetRange:: Added new target pos. range: 48.200001 m, deltaT: 3.526869 s, deltaX: -1.799999 m, approachRate: -0.510367 m/s, rangeRepo size: 4  Added new target pos. range: 48.200001 m, bearing: 103.187414 deg, lat: 36.903945 deg, lon: -122.119045 deg, deltaT: 3.526869 s, deltaX: -1.799999 m, approachRate: -0.510367 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 48.20 m.*ii"ie ProNav: ac range: 48.200001 m, nav range: 46.950661 m, bearing: 100.250801 deg, approach rate: 0.000000 m/s, LOS rate: -0.028173 deg/s, cmd heading: 102.505293 deg, new cmd heading: 102.462711 deg.  iamHeadingCmd: 1.788312 target range: 48.200001 and range: 48.20 m.hmf?hihqhqhqgqgqbgyjgyeejeJeH@:e=?-Bɛ-)) -]>i1)5TMĽ11i5%=i}f?}v;};4,# J)I)DDDEp0 EG :>G G *IG BG . =G G G <G FVF <F ZA M >7Ax,]A6M?y6(?96<|Y6Eu=6HϿ`2-?@?`2п@@珯?a? _?6M?ɨ6VR; 4NXBN**IHnHn-4vz  d=Y Q >٣ GgF$< >!]M49%Xp?aM4Y%b i%^BiM :ImU~:U?qU@%V D%;%sU?% 4Y ]@Y2iDNOT Ignoring new targets: 48.20 m.*ii"i ProNav: ac range: 48.200001 m, nav range: 46.757977 m, bearing: 100.239626 deg, approach rate: -0.580398 m/s, LOS rate: -0.033799 deg/s, cmd heading: 102.462714 deg, new cmd heading: 102.429052 deg.  i HeadingCmd: 1.787724 target range: 48.200001 and range: 48.20 m.h &?h h h h ggbgjgeejeJe:e`)?雅BɛL) z\>i) Ľ隉i=i&? Z;b =I&?II)ƐC ~~G%SkA A)!ySkAyB^Du \=DyDyDE EVF <Fy ZA M >>Ax,D]A-VB-'*II1)1)I Mp=      Mb@Mb@Mb@ )Iy%C?~jtxMbZ?Ļ 3@)w@Iv~@i@H-H-4M M%=YMQ U>Q٣Q UGQ] ]>a]m49e8p?am4Yed\ iebBimT:ul?mu:u?qu@ef De2:ez:e4}B }@E2iDNOT Ignoring new targets: 48.20 m.*ii="i= ProNav: ac range: 48.200001 m, nav range: 46.505199 m, bearing: 100.219735 deg, approach rate: -0.524313 m/s, LOS rate: -0.041483 deg/s, cmd heading: 102.429055 deg, new cmd heading: 102.369057 deg.  iHeadingCmd: 1.786677 target range: 48.200001 and range: 48.20 m.hֱ?hhhhggbgjguBeejeJe:e |?BɛƦ) |_>i)@ý隙i?=iֱ?;6Q =Iֱ?I^D;6=ZIbI^jIrIzIt4;I8:IID-D)D)E-0 E1VFM AC =F) ZA1 MU >:J LBJ h9JJ RJ %ZJ J ? J *?zEAx,]A2 ?y2?92 0Y2m=2H5п@ ?@+?`п⢿?@1?r?2 ?ɨ2%; 0BUBB&*IHJHJ(4R1 Vk=YVcQ V?T٣X ZGZhFZ< Z?]%49^p?a%4YW ieB)-?q-@r D:W:49 E@IB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 48.20 m.*iiH"iH ProNav: ac range: 48.200001 m, nav range: 46.319775 m, bearing: 100.203646 deg, approach rate: -0.503121 m/s, LOS rate: -0.043828 deg/s, cmd heading: 102.369058 deg, new cmd heading: 102.320600 deg.  iHeadingCmd: 1.785831 target range: 48.200001 and range: 48.20 m.h?hhhhggbgjgeejeJe:eo?-Bɛ-H)) -(c>i))5Gý11i5[g=i=?=n;=5 '=I=?IACICICICIG4>GCGGG0 =GG6DG;<G FuT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.DUDQDYE]~0 EY% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751457VF} k =Fq ZA M >LAx,0d2]A6|h?y6?96·Y6\=6HпɹEB?`?`%xп4?`ٻ?C?6|h?ɨ6o; 66CBTBB%*IHN HN4Rػ RF=YV9Q V>T٣X ZGZiFZ ^>\]b49^p?af4Y^XR i^iBhj?qj@^ D^Q:;^ ;;^ 4l rҊ@p2i  DNOT Ignoring new targets: 48.20 m.*i iM"iM ProNav: ac range: 48.200001 m, nav range: 46.112915 m, bearing: 100.186056 deg, approach rate: -0.526703 m/s, LOS rate: -0.044988 deg/s, cmd heading: 102.320598 deg, new cmd heading: 102.267592 deg.  iHeadingCmd: 1.784906 target range: 48.200001 and range: 48.20 m.hw?hhhhggbgjge)e)je1Je1:e5&?}Bɛ}1x)1 5g>i9)M½IQiUa=iuw?} ;}:"=I}w?IqEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004076DuDqDqE}0 EyVFMzc =F!ZA1MM>ZI bI ZjI rI zI \8;I %:I I yRAx,Z.L]ANQ?yN?9NndYN=NH п@f??oп fpT ?y??NQ?ɨN}; N7Cln$*Ir0>ir>vAtuMb@Mb@Mb@qq q)qIqyuV-?Mbu|>uq u@)uu@IuI|@iuن@qu@HHv4ՙՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255803}n ;=Y+Q >٣ G@Һ >]49np?a4YL ilB>m:?q@ D ; ;4B @E2iDNOT Ignoring new targets: 48.20 m.*iiX"iX  ProNav: ac range: 48.200001 m, nav range: 45.895573 m, bearing: 100.164392 deg, approach rate: -0.471439 m/s, LOS rate: -0.047214 deg/s, cmd heading: 102.267589 deg, new cmd heading: 102.202290 deg.  i =HeadingCmd: 1.783767 target range: 48.200001 and range: 48.20 m.hEvR?hAhAhAhAgIg!bg)jg-YBe)e1je1Je1:e5@雅݉Bɛz) 4n>i)q½隩i=ivR?BH;&!=IvR?I:J}:IBJ} 9JJyRJ}&ZJ}D}DyDyE}0 EyGU1>GQGU*IGUBGU2 =GQGQGU4<GU FU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507504VF 8#=Fy ZA M >WYAx,/f]A>?y>+W?9>d刽Y>9=>HϿͺ@?`/?~Uп|i?7Լ?`z?>?ɨ>>; `٣` fGfjFf f>h]n49jt}p?an4Yj H ijpBpr?qr@j Dj:j):j4t v@t2iDNOT Ignoring new targets: 48.20 m.*ii%p"i%pHUC=HUa= ProNav: ac range: 48.200001 m, nav range: 45.709682 m, bearing: 100.146090 deg, approach rate: -0.532444 m/s, LOS rate: -0.052637 deg/s, cmd heading: 102.202293 deg, new cmd heading: 102.147162 deg.  iHeadingCmd: 1.782804 target range: 48.200001 and range: 48.20 m.h2?hhhhggbgjgeejeJe :e @}ډBɛ})y Y>i)%½隁i2=i2?! ;a=I2?ID%D!D!E%@5 E)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760213VFC`#=FZAML>U BDAT read: Rx Time:19:25:09.3118 ] TRx dataTimestamp_ set to:1736537109.999109] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012460`Ax,R ]AzMBz*IMb@Mb@Mb@ )IyX9v?~jth?~jt>D;D @)s@Iz@i…@G@HHB4< ;=YQ >٣ GkF >]49xp?a4YB itB>m:?q@ Ds:4: 4 C@2iDNOT Ignoring new targets: 48.20 m.*ii1g"i1g ProNav: ac range: 48.200001 m, nav range: 45.502316 m, bearing: 100.124051 deg, approach rate: -0.473303 m/s, LOS rate: -0.050531 deg/s, cmd heading: 102.147159 deg, new cmd heading: 102.080742 deg.  i HeadingCmd: 1.781645 target range: 48.200001 and range: 48.20 m.h ?hhhhggbgjgHBeejeJe:e@։Bɛ7)  n>i ) ^  i C=i5 ?=ۂ;=#=I= ?I9DDDEG5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265541VF zc =zF rF iAF ZA M] >:J BJ +9JJ RJ 'ZJ v%fAx,Ǚ]Af ?yf?9f'vYf=fHdϿ-?x?п9eK?@z?`?f ?ɨfs; f9CrQBr!*IIt)t)va= tHzHz4< W=Y Q  > ٣  G:$ >]%49 up?a%4Y$> ixB)-?q-@ D:u:X'49 =@9G ,>G CG *IG ݊BG 4 =G G 5DG <G  F%B*** querying acoustic contact ***i!i!2iQUDNOT Ignoring new targets: 48.20 m.*iQi] N"i] Nm ProNav: ac range: 48.200001 m, nav range: 45.322395 m, bearing: 100.105685 deg, approach rate: -0.439430 m/s, LOS rate: -0.045036 deg/s, cmd heading: 102.080743 deg, new cmd heading: 102.025424 deg.  iBHeadingCmd: 1.780680 target range: 48.200001 and range: 48.20 m.hO?hhhhggbgjgeejeJe:e @UDAT read: 19:25:09.3118 LVL= 20576, 25905, 18386, 28435, AGC= 60, IDX= 423,-0.44, 2.657, 1.125, 2.651, 2.049, PHS= 0.696,-0.877, 0.599, RAW= 146.9, -5.5, CAL= 152.1, -14.3, ROT= 357.9, 14.3 ]Ygot valid direction response: 19:25:09.3118 LVL= 20576, 25905, 18386, 28435, AGC= 60, IDX= 423,-0.44, 2.657, 1.125, 2.651, 2.049, PHS= 0.696,-0.877, 0.599, RAW= 146.9, -5.5, CAL= 152.1, -14.3, ROT= 357.9, 14.3 ePDAT read: Bearing 357.9, 14.3 (Local) e~Local bearing/azimuth received: Bearing 357.9, 14.3 (Local) uDAT read: Range 10 to 50 : 46.5 m (Round-trip 62.0 ms) speed 0.4 m/s },DAT read: user:1196> }BDAT read: Tx time:19:25:10.3957 $Ping request sent. k??>П𩸿I>i=Q r> :publishing transmit ping time؁Fpublishing direction and range infoYsu?A%.⩝Ͽ9 )Ii )Ii k??>П𩸿Ii  ӉBɛ )  {>i)KWi7=iO?`;=IO?IiDDDE@5 EZI}&bI}jI}1rIyzI}>;I}:I}3IyI}p<qI}p<iI}<uI}<mVF% HC%= JDAT read: TxSync time:19:25:10.3949 F ZA M >MlAx,̚]A6 o?y6?96/Y6=6HS8Ͽ``G? ?ϿG`ub? ? ?6 o?ɨ6崍; 68CbYBb+*IHjHj|4rD,= rM=Yv}gQ v>t٣x zGzlFze z>|]49~qp?a4Y~L9 i~}B  ?q @~ D~:~:~R.4 @ZjMl?bjMA iIiM1A]AjM:BjM8B2jM :?pM?xEF@:k>|n&zpMsu?A%.⩝Ͽ"jMQ *jMr>pM6 Y%Y9F@{HG!pM>>GaͿ͡? xkǿiM1BjM*iM)l?iM2q3  jMrBzjIjM2q3 jMjBjjM4BrjMf? addTargetRange:: Added new target pos. range: 46.500000 m, deltaT: 3.529317 s, deltaX: -1.700001 m, approachRate: -0.481680 m/s, rangeRepo size: 4  Added new target pos. range: 46.500000 m, bearing: 103.502470 deg, lat: 36.903945 deg, lon: -122.119045 deg, deltaT: 3.529317 s, deltaX: -1.700001 m, approachRate: -0.481680 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 46.50 m.*ii%"i!5 ProNav: ac range: 46.500000 m, nav range: 45.148926 m, bearing: 100.082966 deg, approach rate: 0.000000 m/s, LOS rate: -0.045036 deg/s, cmd heading: 102.025425 deg, new cmd heading: 101.972443 deg.  i1=HeadingCmd: 1.779755 target range: 46.500000 and range: 46.50 m.h=?h9h9h9hAgAgIbgYjgaeieqjeqJe}@G@:e}?雥ωBɛN) >i)隩iYO=i?gS;I?IDDDE4 EE=E=VF'=Fi ZAq M >4sAx,qs]A6?y6.?96Y6=6H^}Ͽ`??`xп@`!߱?'?@4?6?ɨ6b; 4nVBn'*IuMb@Mb@Mb@qq q)qIqyuQ? rh?:vu>uC٣ GmF,; >]49Qlp?a4Y_4 etIiB7>m: ?q@ DQ;:54B @E2i DNOT Ignoring new targets: 46.50 m.*i i"i ProNav: ac range: 46.500000 m, nav range: 44.955093 m, bearing: 100.054953 deg, approach rate: -0.477909 m/s, LOS rate: -0.069366 deg/s, cmd heading: 101.972443 deg, new cmd heading: 101.888042 deg.  ik>HeadingCmd: 1.778282 target range: 46.500000 and range: 46.50 m.h?hhhhggbgjg2BeejeJe:e?d"d dd^^^^i1ɛ= ?I=H>=mI=@)=9)EEEiE+=iM?MZ;]'=I]?IiD DDEo0 E:JBIBJ9JJRJ(ZJG)>GCG*IGBG7 =GGGT4=GFHǜC HǜCHǔCH2 ="H2 =*HM65 >5 !@VFm =Fa ZAi M >P_yAx,rO]A_B2*I%=i%H?-A-AH5H5P4ZIE bIEjjIArIAzIE9;IEp:IAIAIEc<IEc<IE% <IE& <]W>= ]O=YeQ e>a٣a mGim m>q]}49uhp?a4Yu/ iuBq@u Du8;u9;u<4B *@E2iQ]DNOT Ignoring new targets: 46.50 m.*iYieM"ieMu ProNav: ac range: 46.500000 m, nav range: 44.776882 m, bearing: 100.028983 deg, approach rate: -0.431140 m/s, LOS rate: -0.063079 deg/s, cmd heading: 101.888042 deg, new cmd heading: 101.809822 deg.  iu)-}HeadingCmd: 1.776917 target range: 46.500000 and range: 46.50 m.h}r?hyhyhyhyggbgjgee<jeJe:eF?d"d dd^^^^iɛI>))i =ir?k;*=Ir?IDmDiDiEi EiVFɓ%=Fi ZA M >JAx,8]AhB>*IMb@Mb@Mb@ )Iysh|?? rh?Mb> @)Is@i~@(|@HH34;3= C=YQ >٣ GnF >]49jcp?a4Y* iB.>m:?q@ DH:M:D4  @ 2iDNOT Ignoring new targets: 46.50 m.*ii"i ProNav: ac range: 46.500000 m, nav range: 44.585899 m, bearing: 100.001191 deg, approach rate: -0.453514 m/s, LOS rate: -0.066278 deg/s, cmd heading: 101.809823 deg, new cmd heading: 101.726091 deg.  i5HeadingCmd: 1.775455 target range: 46.500000 and range: 46.50 m.hB?hhhhggbg jg 0Be e <je Je:e?d"d dd^!^!^!^)iAɛAIES>A)I)IIIiMS=iUB?UJ;U/=IUB?IYDDDE EEEVF k%=F ZA M >:J BJ 59JJ RJ )ZJ qAx,]A2?y2~?92[?F??2?ɨ2; 29CNpBRG*IHZHZ%4b = b^=Yb;Q b>d٣d fGdfॼ j>h]r49j_p?ar4Yj& ijBpr?qr@j Dj7 ;j ;jxJ4x z@x2iG*>GCG*IGBG5 =GGGc<GFDNOT Ignoring new targets: 46.50 m.*ii"i  ProNav: ac range: 46.500000 m, nav range: 44.419220 m, bearing: 99.978352 deg, approach rate: -0.459293 m/s, LOS rate: -0.063171 deg/s, cmd heading: 101.726092 deg, new cmd heading: 101.657317 deg.  i j-=HeadingCmd: 1.774255 target range: 46.500000 and range: 46.50 m.h=?h9h9h9h9g9gAbgEjgAeAeM<jeqJey:e]?d"d dd^Q^Q^Q^QiɛI>:i))隩i-=D ~@)m@Ihq@ih@y@HH%Ƈ< %)٣) -G-oF5 5>1]E495Wp?aE4Y5 i5BE(>mE:E?qE@5!D5q ;5 ;5V4Q UĈ@YuB*** querying acoustic contact ***iyiy2iDNOT Ignoring new targets: 46.50 m.*ii"i ProNav: ac range: 46.500000 m, nav range: 44.114475 m, bearing: 99.923940 deg, approach rate: -0.471436 m/s, LOS rate: -0.084755 deg/s, cmd heading: 101.657319 deg, new cmd heading: 101.492957 deg.  ihHeadingCmd: 1.771386 target range: 46.500000 and range: 46.50 m.hɼ?hhhhggbgjg)Bee<jeJe:e@d"d dd^^^^iɛI?))iG CG *IG BG 7 =G G G 7<G FVFu{=BDAT read: Rx Time:19:25:12.8593 %TRx dataTimestamp_ set to:1736537113.532235-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016307FIZAYMu?JAx,b]ABܫ?yBm?9B<YBCI=BH Ϳ z??`$4οUo]?R??Bܫ?ɨB ; B7CNBRs*IHZHZv4b> b1=Yb d٣d fGfpFjח j>l]r49n/Rp?ar4Yn inBpr?qv@n!Dn;nx;n^4 @2i9EDNOT Ignoring new targets: 46.50 m.*iQi]v"i]v ProNav: ac range: 46.500000 m, nav range: 43.901199 m, bearing: 99.887832 deg, approach rate: -0.430294 m/s, LOS rate: -0.073203 deg/s, cmd heading: 101.492957 deg, new cmd heading: 101.384107 deg.  iHHeadingCmd: 1.769486 target range: 46.500000 and range: 46.50 m.h~?hhhhggbgmjgieqeu<jeyJe:e M @d"d dd^^I3I3I.IIIZIbIqjIrIzI$9;I:III<I<IH <IH <^^ iiɛiIm ?mj)m?)qqqiu@DMDIDQEU0 EQY]A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267121E<E=E=VF k%=F ZA M >X Ax,3]A:S?y:?9:5JvY:=:H0Ϳb#??9ͿrĮ? ¹??:S?ɨ:G-; 8FBF*I-vonly read 0 of 1 data item for BIT error. Device response is::TS,2501101126221610.9, 0.0,1493.3, 0 v@v v@v v@v  v@v -DAT read: 19:25:12.8594 LVL= 19392, 20497, 16370, 30355, AGC= 57, IDX= 414, 0.01,-1.597, 3.091,-1.664,-2.250, PHS= 0.741,-0.896, 0.583, RAW= 145.0, -5.5, CAL= 150.4, -14.5, ROT= 359.6, 14.5 5Ygot valid direction response: 19:25:12.8594 LVL= 19392, 20497, 16370, 30355, AGC= 57, IDX= 414, 0.01,-1.597, 3.091,-1.664,-2.250, PHS= 0.741,-0.896, 0.583, RAW= 145.0, -5.5, CAL= 150.4, -14.5, ROT= 359.6, 14.5 =PDAT read: Bearing 359.6, 14.5 (Local) E~Local bearing/azimuth received: Bearing 359.6, 14.5 (Local) MDAT read: Range 10 to 50 : 44.6 m (Round-trip 59.5 ms) speed 0.4 m/s ],DAT read: user:1197> eBDAT read: Tx time:19:25:13.9458 e$Ping request sent.e| |~ ?yH?"=OI~%;>i~و=~仩~>|HHB4= '=Y |:publishing transmit ping timeaFpublishing direction and range info|Y~yI?^1{=9п|9|| |)|I|i||||| |)|I|i||| |~ ?yH?"=OI|i|||| |٣ GqF >]49vLp?a4Y iBi+:m:e?q@!D;> e4B @EZj~ZXl?bj~m۽ i|i~:]Aj~f2Bj~+1B2j~?p~8ӖE@.Jӿ9_*zU&zp~yI?^1{=9п"j~*j~>p~ni%#66E@s߈ !p~>)tϿK?hhhhggbgjgee<jeJeLF@:e˿?d"d dd^)^)^)^)iɛI>5o))iW? O; =IL>?I^DVoѽDDDEp0 EJDAT read: TxSync time:19:25:13.9450 E <VF 7 =:J BJ JJ RJ +ZJ J ? J ?FZAG*>GCG+IGBG5 =GGG <G FM>nAx,+]A2!?y2R_?92'?YY2%=2HͿ @&?@?Ϳ@[$?I??2!?ɨ2I; 2;C>B>*I@@HFHFk4%Es= -/=Y-x1٣1 5G=rF=vT =>A]M49EGp?aM4YE` iEBiM :ImU:U2?qu@E+!DE;Ev?E^j4B @E2iDNOT Ignoring new targets: 44.60 m.*iib\"ib\ ProNav: ac range: 44.599998 m, nav range: 43.927750 m, bearing: 102.974641 deg, approach rate: -0.515706 m/s, LOS rate: -0.048169 deg/s, cmd heading: 101.271789 deg, new cmd heading: 101.211356 deg.  i ;5HeadingCmd: 1.766471 target range: 44.599998 and range: 44.60 m.h5?hIhIhIhQgQgQbgUjgQeYe]<jeYJeY:ee?du"dy dyd}^^^^iɛI>))i]ߕAx,@]A6 V?y6?96;`0Y6(=6H`:ͿF??ҦͿ{H ?@r??6 V?ɨ6mB; 68C>ϊBB*IHJHJ4R,> RS=YRT٣T VGTZ; Z>`]f49bBp?af4Yb  ibBij9hmjq:jf?qj@b7!Db:bU?bm4l r(@p2iDNOT Ignoring new targets: 44.60 m.*iiGI"iGI ProNav: ac range: 44.599998 m, nav range: 43.747517 m, bearing: 102.957366 deg, approach rate: -0.457105 m/s, LOS rate: -0.043992 deg/s, cmd heading: 101.211355 deg, new cmd heading: 101.159317 deg.  iHeadingCmd: 1.765563 target range: 44.599998 and range: 44.60 m.h?hhh h g g bgjgee<jeJe:eZC?d"dI dIdM^Q^Q^Q^QiɛI>))隹i ZI bIIjI0rIzIL*;IU:Iـ3Iq @i @u @m @^D D zD D D D E o0 E E <E E gAVFQ =FZA M%?Ax,k]AFc?yF+?9F YF2w=FH@MͿ@/?&&? BͿ3?x?c?W?Fc?ɨF唍; F6CNBR*IIT)T:JVBoHBJV+9JJTRJV,ZJVG/>GGJ+IGCBG6 =GG6DG+<G F]] ]] ]]  ] ] ]Mb@Mb@Mb@YY Y)YIYy]}?5^I?:v?{Gzt?]M?]<]ף; ]h@)]h@I];o@i]v~@Y]fv@HuHuV4=  =Yr=Q >٣ GsF7: >]49;p?a4Y: iBiT:z?m:?q@J!D-;,;Cx4 @UB*** querying acoustic contact ***iYiY2iDNOT Ignoring new targets: 44.60 m.*ii_'"i_' ProNav: ac range: 44.599998 m, nav range: 43.447685 m, bearing: 102.935730 deg, approach rate: -0.503482 m/s, LOS rate: -0.036582 deg/s, cmd heading: 101.159316 deg, new cmd heading: 101.093960 deg.  iȺT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.%HeadingCmd: 1.764422 target range: 44.599998 and range: 44.60 m.h%?h!h!h!h!g!g)bg-jg-|Be)e5<je1Je1:e5vY?d]"dY dYde^i^i^i^iiɛI?))隩i(؂ =Y7=Q >٣ GtFڻ >]494p?a4Y i?q@]!Du:`:4 @2iDNOT Ignoring new targets: 44.60 m.*iiO&"iO& ProNav: ac range: 44.599998 m, nav range: 43.161125 m, bearing: 102.916199 deg, approach rate: -0.529797 m/s, LOS rate: -0.036349 deg/s, cmd heading: 101.093958 deg, new cmd heading: 101.034975 deg.  iǺ%HeadingCmd: 1.763393 target range: 44.599998 and range: 44.60 m.h%ܶ?h)h)h)h)g)g)bg5jg1e1e5<je9Je9:e=e@dE"dA dIdM^Q^Q^Q^QiiɛiIu?u')u`U)qqqiubG*CG*i+IG*\BG*/ =G(G*7DG*<G* FHC HCHH5 ="H5 =*H:6Fh?yF ?9F-[3=YF =FH@ݳ̿@+?`S'? ̿ь? iK? ?Fh?ɨFM; F7C:JJBJJh9JJHRJJ-ZJJVBV+IH^H^v4j= j8=Yju=Q n>l٣l nGnuFr r>t]z49v/p?az4Yv; ivBx~j?q~@vk!Dv:v:v׉4B |@eE2iDNOT Ignoring new targets: 44.60 m.*ii;"i; ProNav: ac range: 44.599998 m, nav range: 42.935642 m, bearing: 102.900906 deg, approach rate: -0.491226 m/s, LOS rate: -0.033491 deg/s, cmd heading: 101.034972 deg, new cmd heading: 100.988853 deg.  i෺HeadingCmd: 1.762588 target range: 44.599998 and range: 44.60 m.h|?hhhhggbgjgee%<je!Je):e-"@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507721d"d dd^^^^iɛI 4>)y)yyyi}^DD>D-D)D)E54 E1EE< A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759335VF =F ZA M >,vAx,Kv8]A2?y2?92M=Y2y=2H"̿@??5˿.?GPK??2?ɨ2"9; 29CB/BB2+IF>iF=HJHJH4^= ^M=Yb=Q b>`٣` fGfvFf㮺 f>h]n49j(+p?an4Yj ijBprZ?qr@jx!Dj;j ;j͐4t vLz@t2i%DNOT Ignoring new targets: 44.60 m.*i!i-$"i-$= ProNav: ac range: 44.599998 m, nav range: 42.733273 m, bearing: 102.887177 deg, approach rate: -0.527693 m/s, LOS rate: -0.035970 deg/s, cmd heading: 100.988855 deg, new cmd heading: 100.947472 deg.  i=|źEHeadingCmd: 1.761866 target range: 44.599998 and range: 44.60 m.hEф?hAhAhIhIgIgIbgMjgQeQeU<jeQJeY:e] [!@de"da dade^i^i^i^iiYɛaIe>el)eIʽ)aiiimج-]Ax,PR]Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262252~7B~<+I@ @ @  @ H H 4= %6=Y%Q %>)٣) -G)- 5>1]=495%p?aE4Y5L i5BiE+:AmE:AqE@5!D5:5>5*4MB UTy@UE2iDNOT Ignoring new targets: 44.60 m.*iih "ih  ProNav: ac range: 44.599998 m, nav range: 42.504807 m, bearing: 102.871520 deg, approach rate: -0.508853 m/s, LOS rate: -0.035060 deg/s, cmd heading: 100.947471 deg, new cmd heading: 100.900247 deg.  i}HeadingCmd: 1.761042 target range: 44.599998 and range: 44.60 m.hi?hhhhggbgjgee<jeJe:e@ @d"d dd^^^^iɛI>))隡i^GCGu+IGfBG- =G:JBJ 9JJRJ.ZJG8DG<G FEu<EyE}hAu=u4=DAT read: 19:25:16.4071 LVL= 17728, 25889, 17026, 28659, AGC= 57, IDX= 421, 0.30, 0.684,-0.891, 0.767, 0.248, PHS= 0.525,-1.092, 0.516, RAW= 149.7, 0.7, CAL= 152.8, -8.2, ROT= 357.2, 8.2  Ygot valid direction response: 19:25:16.4071 LVL= 17728, 25889, 17026, 28659, AGC= 57, IDX= 421, 0.30, 0.684,-0.891, 0.767, 0.248, PHS= 0.525,-1.092, 0.516, RAW= 149.7, 0.7, CAL= 152.8, -8.2, ROT= 357.2, 8.2 e PDAT read: Bearing 357.2, 8.2 (Local)  ~Local bearing/azimuth received: Bearing 357.2, 8.2 (Local)  DAT read: Range 10 to 50 : 42.9 m (Round-trip 57.2 ms) speed 0.4 m/s  ,DAT read: user:1198>  BDAT read: Tx time:19:25:17.4958  $Ping request sent. y y}$55?g'к?2;?I}?i}27}*H}C>y yM :publishing transmit ping timeء M Fpublishing direction and range infoyY}? Wx0A¿y9yy y)yIyiyyyyy y)yIyiyyy y}$55?g'к?2;?Iyiyyyy yVFU T.=zFQ rFU hAF! ZAA Mu >Ax,hl]AIT)X  G1 I52?y5tp?957>)u/yy}V"BY5=5H̿Ӳ??cI˿?:T`䲺? ?52?ɨ5nu; 57C޵;B޵A+IH H4< K=Y.>Q >٣ GwF <  > ]=49 +!p?aE4Y " i BiM :ImM:M?qM@ !D < +\? Ǜ4q }x@yZjB!>m?bjp6f ii d]Aj+Bjm*B2j ?pC4E@/sJѡyzp? Wx0A¿"j*H*jC>pȤF\ c#@D@sցR'p Vǿ605?eѿi"Bji~m?i@0  jgBzjj(Q jjj(Brj?  addTargetRange:: Added new target pos. range: 42.900002 m, deltaT: 3.528345 s, deltaX: -1.699997 m, approachRate: -0.481811 m/s, rangeRepo size: 4 E Added new target pos. range: 42.900002 m, bearing: 101.179820 deg, lat: 36.903923 deg, lon: -122.119046 deg, deltaT: 3.528345 s, deltaX: -1.699997 m, approachRate: -0.481811 m/s, posRepo size: 4 2iAEDNOT Ignoring new targets: 42.90 m.*iAiM"ii} ProNav: ac range: 42.900002 m, nav range: 42.238720 m, bearing: 102.875723 deg, approach rate: 0.000000 m/s, LOS rate: -0.035060 deg/s, cmd heading: 100.900247 deg, new cmd heading: 100.855544 deg.  iHeadingCmd: 1.760261 target range: 42.900002 and range: 42.90 m.h>P?hhhhJDAT read: TxSync time:19:25:17.4950 ggbgjgee<jeJe@3sE@:e@Lm?d"d dd^ ^^^iɛI>ʾ))隑i;i>P?`<f &=I>P?I^DDDu Dy Dy E} @5 E E <ZIbI@jIrIzI $;I:IIVF+=FZAM ?Ax,G]A)@ > )?y>f?9><>Y>'=>H <Ϳ_ 3:?m?`*.˿ #?mǿ~|?!>?> )?ɨ>t; >;CF=BFC+I)Na= Na=mm mm mm  m m mMb@Mb@Mb@ii i)iIiymq= ףp?Mb`?m ?m;m m@)m;o@Imن@imh@im{@HH4; =YY=Q >٣ GxFd< >]49`p?a4Y i~BiT: ?m:?q@!D: :-4B x@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 42.90 m.*iiEa"iEa ProNav: ac range: 42.900002 m, nav range: 41.950497 m, bearing: 102.869424 deg, approach rate: -0.559368 m/s, LOS rate: -0.012309 deg/s, cmd heading: 100.855543 deg, new cmd heading: 100.836516 deg.  i)%HeadingCmd: 1.759929 target range: 42.900002 and range: 42.90 m.h%\E?h!h!h)h)g)g)bg5jg5Be1e5<je9Je9:e=[?dE"dA dAdEUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.^q^q^q^qiɛI&>Rխ)"4)隑i;i\E?#><@=I\E?I^D׽DyDyDyE} 5 EyEU!<VFk%=G:>GCGc+IGWBGGG7DGO<G FFZAM>:JiJBJ9JJRJ/ZJ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969430Ax,hZ]A>?y>?9>LyX>Y>]=>H@ ο h?=_? u˿@o?ʿ7n??>?ɨ>; >9CR9BR?+IHZHZr4b@ bY=Yb˔=Q f>d٣d fGdjp< j>l]-49nFp?a-4Yn inhB15?q5@n!Dn{:-~؟))))))i5(;i5%;?=H<=.T=I=%;?I9^DSDDDEo0 Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.221494E<E=E=VF ɓ%=F ?F ?F ZA M >Ax,E]Ajchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.475749}a?y}H?9})7s>Y}=}H@G]ο#/?7)? ˿Y?οl?&?}a?ɨ}5; yޕ8Bޕ>+I-Mb@Mb@Mb@)) )))I)y- r?Mb-?-- -3@)-s@I-В@i-f@)-@HEHE4U註 U3=YUj=Q U>Y٣Y ]G]yFet< e>i]u49mp?a}4Ym imJB}?m}:}?q}@m!Dm:m:m4 py@2iDNOT Ignoring new targets: 42.90 m.*ii{"i{u ProNav: ac range: 42.900002 m, nav range: 41.523613 m, bearing: 102.855987 deg, approach rate: -0.514552 m/s, LOS rate: -0.017101 deg/s, cmd heading: 100.818653 deg, new cmd heading: 100.795993 deg.  iu;}HeadingCmd: 1.759222 target range: 42.900002 and range: 42.90 m.h}/.?hyhhhggbgjgMBee<jeJe:e?雉ɛ9=I<)Yi= 4?i)隕i;i/.?_t<[b=I/.?IC=C=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.725426^DE /De gAzDe dAD D D E ?1 E BE =:E =G ?>G CG 7+IG 3BG G G 8DG <G | F:JJBJ9JJRJ0ZJE]ϋ<%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977475VFE8U=F!ZAAZImbImDjIirIizIm,;Im:IiIiIm<q}Im<i}ImB;u}ImB;m}M.?)Ax,]AV&?yVNd?9Vќ>YV(X=VH߼Ϳ!??@ʿ Q?o2ҿO$?z?V&?ɨV; V7Cb-Bb0+If>if>Hj0Hj5r  r=Yv=Q v>t٣t zGzzFz: ~>] 49+ p?a 4Y iB ?q@!D;L ;Ⱦ4 z@E2iAMDNOT Ignoring new targets: 42.90 m.*iIi܋"i܋ ProNav: ac range: 42.900002 m, nav range: 41.212776 m, bearing: 102.846370 deg, approach rate: -0.490319 m/s, LOS rate: -0.015285 deg/s, cmd heading: 100.795991 deg, new cmd heading: 100.766922 deg.  i'HeadingCmd: 1.758715 target range: 42.900002 and range: 42.90 m.h?hhhhggbgjgeejeJe:e*@!ɛ-qL"=)-n= -D/?i))5k1[:11i5h;i=?=1 <=nJ\=I=?I9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230377^D@pDDDE0 EE% < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483857VFe Bx,} ]A6?y6.*?96>Y6=6HSͿM!@C??Rpʿ? ݊ӿϺ?nI?6?ɨ6"; 68C>B> +IMMb@Mb@Mb@II I)IIIyMy&1?~jth?MbPM`?MD;M M@)Mv~@IM"@iIIM@He)He5u  }&=Y}7=Q }>٣ G{Fm >]49p?a4Y iB`?m:?q@!D::Y4 y~@2iDNOT Ignoring new targets: 42.90 m.*iiX"iX ProNav: ac range: 42.900002 m, nav range: 40.969723 m, bearing: 102.837868 deg, approach rate: -0.494853 m/s, LOS rate: -0.017414 deg/s, cmd heading: 100.766921 deg, new cmd heading: 100.741263 deg.  i6?HeadingCmd: 1.758267 target range: 42.900002 and range: 42.90 m.h?hhhhg g bgjgBeejeJe:e`)@雽ΉBɛ~(=)  ?i):idGM CGM *IGM BGI GI GM 7DGM ذ<GM FVFu [=zF rF :J KBJ 9JJ RJ 1ZJ   Fq ZAy M > BDAT read: Rx Time:19:25:19.9549  TRx dataTimestamp_ set to:1736537120.587202 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986527? Bx,&]AM@?yMо?9Mr>YM=MH`̿+#?j?!ɿ`?Կ1?@ ?M@?ɨMٙ; M5CeBe*IHuSHu755 J=Yf==Q >٣ G|F >]49p?a4Y i͒B?q@!D::h4 @5B*** querying acoustic contact ***i1i12i9EDNOT Ignoring new targets: 42.90 m.*iAiM"iM} ProNav: ac range: 42.900002 m, nav range: 40.770679 m, bearing: 102.831737 deg, approach rate: -0.479199 m/s, LOS rate: -0.014832 deg/s, cmd heading: 100.741260 deg, new cmd heading: 100.722778 deg.  i}"HeadingCmd: 1.757944 target range: 42.900002 and range: 42.90 m.hP?hhhhggbgjgeejeJe:e @1ɛ5O.%=)5= 5?i1)=:99i=-Bx,#D]ADAT read: 19:25:19.9549 LVL= 29808, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.11, 1.751, 0.263, 2.316, 1.760, PHS= 0.080,-1.449, 0.554, RAW= 163.1, 9.0, CAL= 162.2, -0.9, ROT= 347.8, 0.9 Ygot valid direction response: 19:25:19.9549 LVL= 29808, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.11, 1.751, 0.263, 2.316, 1.760, PHS= 0.080,-1.449, 0.554, RAW= 163.1, 9.0, CAL= 162.2, -0.9, ROT= 347.8, 0.9 PDAT read: Bearing 347.8, 0.9 (Local) ~Local bearing/azimuth received: Bearing 347.8, 0.9 (Local) DAT read: Range 10 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.1 m/s E,DAT read: user:1199> MBDAT read: Tx time:19:25:21.0458 U$Ping request sent.UYe=eH 0̿`5 Ŕ? M? ɿ tQ?@տ@j??ey?ɨeR; e7CR#Rx 1: Read range and direction messages.`direction in FSK: [0.977295,-0.211299,-0.015707]:publishing transmit ping timeQFpublishing direction and range infol͊B*II ) Yn%ܫF?Ԣ3 ˿y&n$B9lnpt n)nIninCn ף=nxn ?n8/6@ n| >)n-5@Inin?@ny٣ Giͻ >]49(o?a4Y0 iBi+:m:?q@"D: ?4 f@)Zjn|io?bjnLx ilin;E]Ajn$Bjn#B2jn]?pncA!D@i:i!6azpn%ܫF?Ԣ3 ˿y&"jnt Z*jn<pnMh ٿ1C@Ҡ&-pnsh?YWA?׿inBjnTȾin|/o?inC[  jnYBzjljnGw' jljjnBrjn?- addTargetRange:: Added new target pos. range: 41.200001 m, deltaT: 3.528880 s, deltaX: -1.700001 m, approachRate: -0.481739 m/s, rangeRepo size: 4 = Added new target pos. range: 41.200001 m, bearing: 90.584037 deg, lat: 36.903923 deg, lon: -122.119052 deg, deltaT: 3.528880 s, deltaX: -1.700001 m, approachRate: -0.481739 m/s, posRepo size: 4 2i9=DNOT Ignoring new targets: 41.20 m.*i9ie"ii} ProNav: ac range: 41.200001 m, nav range: 39.968384 m, bearing: 102.991312 deg, approach rate: 0.000000 m/s, LOS rate: -0.014832 deg/s, cmd heading: 100.722778 deg, new cmd heading: 100.695267 deg.  iyHeadingCmd: 1.757464 target range: 41.200001 and range: 41.20 m.h?hhhhgg bg jg e ejeJeD@:e&T?yyJDAT read: TxSync time:19:25:21.0450 雕͉Bɛ D<) 2?i)6&;隹in2G G {*IG BG / =G G G ߰<G FHe͝C He͞CHe͓CHe- ="He- =*He\5DDDE@5 E:Jm:6LBJms9JJiRJm2ZJmJIE<VF5PK=F ?F ?ZIbIEjI1rIzI,;IB:I3II<I<I';I(;FZAM51?;Bx,wp]AB6?yBet?9Bb>YBe=BH xR˿@B?`8?WȿU?F9ֿ?_?B6?ɨBe; B9CNBN*IHZHZ4b. b=Yfd٣h jGj}FjA n>l]r49no?ar4Ynw infBiv :tmv:vC?qv@n"Dnb:nѐ?n4| ~m@|2i!-DNOT Ignoring new targets: 41.20 m.*i)i5{"i5{E ProNav: ac range: 41.200001 m, nav range: 39.706039 m, bearing: 102.987832 deg, approach rate: -0.525709 m/s, LOS rate: -0.007020 deg/s, cmd heading: 100.695266 deg, new cmd heading: 100.684756 deg.  iE-HeadingCmd: 1.757280 target range: 41.200001 and range: 41.20 m.h?hhhhggbgjgeejeJe:eO?M̉BɛM%<)U= U>iQ)U>A;QQiU G{"Bx,j]AfB;*I      Mb@Mb@Mb@ )IyʡE?t` @)`@I @iw@@HH4z :=YQ >٣ G~F >]49o?a4Y| i?BiT:?>m: ?q@!"Dj;:4 B @E2i9=DNOT Ignoring new targets: 41.20 m.*i9iE:9"iM:9E ProNav: ac range: 41.200001 m, nav range: 39.512745 m, bearing: 102.992285 deg, approach rate: -0.440498 m/s, LOS rate: 0.010198 deg/s, cmd heading: 100.684754 deg, new cmd heading: 100.698180 deg.  iE9UHeadingCmd: 1.757515 target range: 41.200001 and range: 41.20 m.hU??hQhQhQhQgQgQbgYjg]׃BeYeajeaJea:ee@?雍ˉBɛϽ<) >i)}S;隙iZG G *IG :BG G G G <G F:J BHBJ JJ RJ 3ZJ VF{/=FZAM?g]*Bx,-y]AF?yF8'?9F᷵>YF=FH)!ʿ S;܃?`0I?ǿ? =ֿ`?3?F?ɨFz; F8CZABZ*Ifp=if=H .H 5 &=Y%M:Q %>!٣! -G-F-) -> ~GSkA]4 9o?a4YĦ iB) '/y SkA !B?q@0"DF<<c4 1@=B*** querying acoustic contact ***i9i92iIZIUbIU>jIQrIQzIU%;IU:IQIQIU<IU<IU;IU; DNOT Ignoring new targets: 41.20 m.*i i9"i9E ProNav: ac range: 41.200001 m, nav range: 39.291241 m, bearing: 103.000766 deg, approach rate: -0.427462 m/s, LOS rate: 0.016460 deg/s, cmd heading: 100.698182 deg, new cmd heading: 100.723770 deg.  iE4:MHeadingCmd: 1.757961 target range: 41.200001 and range: 41.20 m.hM?hIhQhQhQgQgQbgYjgYeYeYjeYJea:e_)?ʉBɛ<) *n>i)c;iqD1Bx,]Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.940477:?y#?9d#>Yl=H:ɿ`^l?`^?ǿ?`;ֿ3??:?ɨ; 7CB)IMb@Mb@Mb@ )Iy(\?{GztMb`>ף 9@)@I@ih@\@HiH5C &=YwͻQ >٣ GF%ȃ %>)]549-Vo?a54Y-X i-B5>m=:9q=@-="D-4;-B;-4MB M+@ME2iq}DNOT Ignoring new targets: 41.20 m.*iyi=9"i=9 ProNav: ac range: 41.200001 m, nav range: 39.081291 m, bearing: 103.008895 deg, approach rate: -0.449868 m/s, LOS rate: 0.017512 deg/s, cmd heading: 100.723768 deg, new cmd heading: 100.748286 deg.  iI@:HeadingCmd: 1.758389 target range: 41.200001 and range: 41.20 m.h?hhhhggbgjgBeejeJe:e` @ɉBɛ5 V<) >i)j;im7Bx,}]A6?y6T-?96>Y6=6H`fȿhݎ?{?@8ƿ OB?Hտ.?@?6?ɨ6; 6:CBډBB)IHJtHJ$5R Rs=YVȗQ V?T٣T VGX^ ^?`]f49bo?af4Yb ibБBdj?qj@bF"Db;b;b4l n@p2i DNOT Ignoring new targets: 41.20 m.*i iu9"iu9 ProNav: ac range: 41.200001 m, nav range: 38.934135 m, bearing: 103.016271 deg, approach rate: -0.437602 m/s, LOS rate: 0.022016 deg/s, cmd heading: 100.748289 deg, new cmd heading: 100.770499 deg.  iq:HeadingCmd: 1.758777 target range: 41.200001 and range: 41.20 m.h?hhhhggbgjgeejeJe:e h@:JM&~JBJM@9JJIRJM4ZJMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.441693-ȉBɛJ;)  =i)l;ivo!>Bx,E]A6?y6]?96/b>Y6Oy=6HϹǿ@pađ?`}?ſ?$տ5?@?6?ɨ6K; 68C>B>g)IID)D)F= DHJqHJ#5Vo VJ=YZŴQ Z>X٣X ^G^F >]-49o?a-4Yؘ iB)-?q-@R"D*(;';41 =@92iaeDNOT Ignoring new targets: 41.20 m.*iaim9"im9} ProNav: ac range: 41.200001 m, nav range: 38.753040 m, bearing: 103.027121 deg, approach rate: -0.436943 m/s, LOS rate: 0.026302 deg/s, cmd heading: 100.770500 deg, new cmd heading: 100.803204 deg.  ih:HeadingCmd: 1.759348 target range: 41.200001 and range: 41.20 m.hO2?hhhhggbgjgeejeJe:e @ljBɛr:) ܼi)&k;i"ZIm bIm 9jIi rIi zIm D#;Im :Ii Ii qu @iu @uu @mu @ EBx,) ]ArBrC)I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.197640Mb@Mb@Mb@ )IyV-?~jt~jt?h>D< @)n@IE@i…@̤@H|Hb(5Z ;=YQ >٣ GF >]49o?a4Y} iB>m;?q@]"D"; ;e 4 {@2iDNOT Ignoring new targets: 41.20 m.*ii%q+:"i%q+:= ProNav: ac range: 41.200001 m, nav range: 38.585854 m, bearing: 103.043094 deg, approach rate: -0.390528 m/s, LOS rate: 0.037472 deg/s, cmd heading: 100.803203 deg, new cmd heading: 100.851329 deg.  i=:EHeadingCmd: 1.760188 target range: 41.200001 and range: 41.20 m.hEM?hAhAhAhAgAgIbgIjgMσBeQeQjeQJeQ:e]@ @ƉBɛw)= i)ff;i,ݜ E BDAT read: Tx time:19:25:24.5958 E $Ping request sent.M A@ >)@@I6&>ip@6& ѿfj?n\U?u?Ik?iMԉɾ6& m :publishing transmit ping timeA u Fpublishing direction and range infoY p'?)BQEؿo?9 )Ii )Ii ѿfj?n\U?u?Ii :J BJ 9JJ RJ 5ZJ VF Sݮ<zF rF F ZA M >5KBx,/ ]An?yn ?9nyנ>Yn=nHcƿ ? /?Ŀ@8B?ӿ@'?Y?n?ɨng; l~cB~(IH H /5=풾 =R=YEHmQ E>A٣I MGIM M>Y]e49]o?ae4Y]| i]Baef?qe@]g"D]:]:]44i u@qZj`r?bj ii' ]Aj3BjB2jZĬ?pa!B@m0.,2@zp p'?)BQEؿo?"jɾ*j6&pv G=!@*SZ.C@X/Tɭp͹?bC ?fÿirBj AiQPZr?iН  jzBzj~m?jjrBjjBrjϢ? addTargetRange:: Added new target pos. range: 39.799999 m, deltaT: 3.530326 s, deltaX: -1.400002 m, approachRate: -0.396564 m/s, rangeRepo size: 4  Added new target pos. range: 39.799999 m, bearing: 77.334531 deg, lat: 36.903935 deg, lon: -122.119052 deg, deltaT: 3.530326 s, deltaX: -1.400002 m, approachRate: -0.396564 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 39.80 m.*ii"i ProNav: ac range: 39.799999 m, nav range: 38.139050 m, bearing: 100.999913 deg, approach rate: 0.000000 m/s, LOS rate: 0.037472 deg/s, cmd heading: 100.851329 deg, new cmd heading: 100.897749 deg.  iHeadingCmd: 1.760998 target range: 39.799999 and range: 39.80 m.hah?hhhh g gbgjgeejeJe`fC@:e ^?eʼnBɛe) Ci)Q[;隉iϷ <"RBx,H ]A}v?y}?9})>Y}=}H`ſ`h?`f?%Ŀkr?ҿ t?Q{?}v?ɨ}:; yޝ>Bޝ(I=i=mMb@Mb@Mb@ii i)iIiym%C?y&1Mb?mZ>m`em< m׫@)m@Iiim@im\@H:H# 5$ 6=YQ >٣ GF> >]49o?a4Yr idB>m:?q@s"D:: 4B i@EHAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1IEntering USBL mode with 120.000000 count pings at 39.799999 m (mode 2.000000 count ).1IqIB*** querying acoustic contact ***ii2i  DNOT Ignoring new targets: 39.80 m.*ii:"i:% ProNav: ac range: 39.799999 m, nav range: 37.946007 m, bearing: 101.013720 deg, approach rate: -0.451958 m/s, LOS rate: 0.032489 deg/s, cmd heading: 100.897747 deg, new cmd heading: 100.939378 deg.  i-`:-HeadingCmd: 1.761724 target range: 39.799999 and range: 39.80 m.h-0?h1h1h1h1g1g1bg9jg=Be9e9jeAJeI:eM ?uÉBɛut)q umiq)} N;yyi}$G =>G CG (IG #BG - =G G G <G FEXBx,b ]A6M?y6?964>Y6U =6Hƿ 1]?#7?SĿQv?@ѿ? ?6M?ɨ6"d; 67CRBR(IHZvHZ%5b fn=Yf|DQ f?h٣h jGhj3: n?p]v49ro?av4Yr irPBtv?qv@r|"Dr:r':r 4| ~c@j^@qII2i15DNOT Ignoring new targets: 39.80 m.*i1iX:"iX: ProNav: ac range: 39.799999 m, nav range: 37.797642 m, bearing: 101.024302 deg, approach rate: -0.434503 m/s, LOS rate: 0.031112 deg/s, cmd heading: 100.939377 deg, new cmd heading: 100.971247 deg.  iЪ:HeadingCmd: 1.762281 target range: 39.799999 and range: 39.80 m.hj?hhh1h1g9g9bg9jg9eAeAjeAJeA:eM@?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997172‰Bɛu) i)b<;is^Bx,| ]A2?y2?92U>Y2=2H3ſc@>?A[?;Ŀ‰? ѿ?@$?2?ɨ2c); 29C>B>p(IHJOHJq5R RL=YVOQ V>T٣T ZGZFZ Z>\]b49^o?ab4Y^  i^;Bdfi?qf@^"D^:^):^ &4h j3@ljxIzIz2iyDNOT Ignoring new targets: 39.80 m.*ii:"i: ProNav: ac range: 39.799999 m, nav range: 37.623951 m, bearing: 101.037289 deg, approach rate: -0.418551 m/s, LOS rate: 0.031442 deg/s, cmd heading: 100.971247 deg, new cmd heading: 101.010390 deg.  i:HeadingCmd: 1.762964 target range: 39.799999 and range: 39.80 m.hͨ?hhhhggbgjgeeje!Je!:e%N?雭Bɛʼ)aS= Ͼi)v%;隱i%){eBx,H ]A60?y6?964>Y6ߑ=6H .ſֈ?`?@KbĿ~?ϿS? k?60?ɨ6?Ď; 67CBшBBH(IID)D)Fa= Fp=nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752603Mb@Mb@Mb@ )Iy +?~jtQ?>u< (@)9@I\@i@׫@HH?15t 6=YQ >٣ GFb >]499o?a4Y} i"B>m:j?q@"D::-4 @@j I  Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLHAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL2i%DNOT Ignoring new targets: 39.80 m.*i!i-C:"i-C:= ProNav: ac range: 39.799999 m, nav range: 37.413464 m, bearing: 101.055706 deg, approach rate: -0.486486 m/s, LOS rate: 0.042804 deg/s, cmd heading: 101.010390 deg, new cmd heading: 101.065951 deg.  i=:EHeadingCmd: 1.763934 target range: 39.799999 and range: 39.80 m.hE?hAhAhIhIgIgQbgQjgUtBeQeYjeYJeY:e] ?Bɛp)! %Ni))-ߩ ;11i5gGECGEO(IGE׈BGAGAGE8DGE<GE FH HHŔCH. ="H. =*HŹt5^DDc=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005677:J BJ s9JJ RJ 7ZJ $+226;=@<998531.*# D- D) D) E)  E) 2E5 *E5 BE5 :E5 H H @AVFm pFAZAiM>lBx, ]AJ ?yJTJ?9J_>YJ=JH bſ`/? ?^ÿ?˿^ҳ? ($?J ?ɨJO; J8CnBn(IHvHv45~v? ~4=Y?Q >٣   G  _!  >]49o?a4Yw i B!%?q%@"DU;Q;54) -@12iYeDNOT Ignoring new targets: 39.80 m.*iaimeO:"imeO:} ProNav: ac range: 39.799999 m, nav range: 37.199066 m, bearing: 101.076138 deg, approach rate: -0.472923 m/s, LOS rate: 0.045330 deg/s, cmd heading: 101.065954 deg, new cmd heading: 101.127605 deg.  i}:HeadingCmd: 1.765010 target range: 39.799999 and range: 39.80 m.h?hhhhggbgjgeejeJe:eu!@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256757Bɛg)2=  i)V:iɮsBx,K ]AB?yBW?9BK>YBQ=BHſ`Q?? Ŀ?LɿΠ? 8C?B?ɨB}; B9CJBJ'I%Mb@Mb@Mb@!! !)!I!y%^I +?y&1Q?%X>%`! %?@)%"@I%@i%@!%(@HEHE75U 5 UF=Y]AQ ]>Y٣a eGeFew: e>i]u49mo?au4Ymr imB}>m}:}?q}@m"Dm3;m;m=4 M@ZIbIjIrIzI;I*f:II=B*** querying acoustic contact ***i9i=x2iquDNOT Ignoring new targets: 39.80 m.*iqi}:"i}: ProNav: ac range: 39.799999 m, nav range: 37.001186 m, bearing: 101.100678 deg, approach rate: -0.452701 m/s, LOS rate: 0.056440 deg/s, cmd heading: 101.127603 deg, new cmd heading: 101.201615 deg.  i;HeadingCmd: 1.766301 target range: 39.799999 and range: 39.80 m.h*?hhhhggbgjg)Bee je Je :eS@]Bɛ]B!)a eia)[:隁iG CG 'IG BG $ =G G :DG <G FD D D E  E } BDAT read: Rx Time:19:25:27.0506 } TRx dataTimestamp_ set to:1736537127.647711 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014205:J= MBJ= 9JJ9 RJ= 8ZJ= VF%;3I) U GFmlA ZA)-ylA BM?%{Bx, ]AFNJ?yFއ?9F6>YF|=FH`ſzI??@AdĿ.?ƿp1?9a?FNJ?ɨF; F8CZcB^'Ij!>ijp|٣| ~G~F?; > ]49 o?a4Y Hl i B?q@ "D : ; E4! %$@-E2iIUDNOT Ignoring new targets: 39.80 m.*iQi]1:"i]1: ProNav: ac range: 39.799999 m, nav range: 36.755692 m, bearing: 101.130859 deg, approach rate: -0.505761 m/s, LOS rate: 0.062594 deg/s, cmd heading: 101.201615 deg, new cmd heading: 101.292764 deg.  i+;HeadingCmd: 1.767892 target range: 39.799999 and range: 39.80 m.hKJ?hhhhggbgjgeejeJe:e` @}Bɛ}g()y }*iy)9隁i, uF ZA M >ކBx,( ]AMDAT read: 19:25:27.0506 LVL= 27040, 32753, 21026, 32755, AGC= 62, IDX= 419,-0.38, 0.868,-0.647, 0.582, 0.596, PHS= 0.359,-1.196,-0.017, RAW= 136.6, 12.1, CAL= 140.6, 6.0, ROT= 9.4, -6.0 Ygot valid direction response: 19:25:27.0506 LVL= 27040, 32753, 21026, 32755, AGC= 62, IDX= 419,-0.38, 0.868,-0.647, 0.582, 0.596, PHS= 0.359,-1.196,-0.017, RAW= 136.6, 12.1, CAL= 140.6, 6.0, ROT= 9.4, -6.0 PDAT read: Bearing 9.4, -6.0 (Local) ~Local bearing/azimuth received: Bearing 9.4, -6.0 (Local) DAT read: Range 10 to 50 : 37.9 m (Round-trip 50.6 ms) speed 0.4 m/s ,DAT read: user:1201> BDAT read: Tx time:19:25:28.1458 $Ping request sent.%η>%?y@?9w!>YI=H]ƿs@)??ĿZ?`Ŀ#?#{??ɨq; %C%k@ %@X>)%= @I%Pw=i%'>%Pwֽ! !% X?Ũ??I%fZ>i%RX%'>%Pwֽ! !%:publishing transmit ping time-Fpublishing direction and range info!Y%.e? ?4ޮ`º?!9!! !)!I!i!!!!! !)!I!=1B='Ii!!! !% X?Ũ??I!i!!!! ! Mb@Mb@Mb@   ) I y x&1?V-y&1|? A?  `; @) O@I @i X@  @ZI-bI-jI)rI)zI-:I-!:I)I)H%H%v35ES7 E=YuQ u>q٣y }G}F}Ɋ; }>]49o?a4Ye iӐB{?m:7?q@"D::O4 D@!Zj%k?bj%͞ i!i% ]Aj%Bj%B2j%u?p%,חB@l>V@5j@zp%.e? ?4ޮ`º?"j%'>*j%Pwֽp%Y4)(w,OA@?wp%8~vԿd!Q=?$Ti%BBj%Ei%Qk?i%  j%]Bzj!j!j%7sBjj%Brj%r? addTargetRange:: Added new target pos. range: 37.900002 m, deltaT: 3.530199 s, deltaX: -1.899998 m, approachRate: -0.538213 m/s, rangeRepo size: 4  Added new target pos. range: 37.900002 m, bearing: 108.978044 deg, lat: 36.903935 deg, lon: -122.119052 deg, deltaT: 3.530199 s, deltaX: -1.899998 m, approachRate: -0.538213 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 37.90 m.*ii"i% ProNav: ac range: 37.900002 m, nav range: 36.481163 m, bearing: 101.163638 deg, approach rate: 0.000000 m/s, LOS rate: 0.062594 deg/s, cmd heading: 101.292764 deg, new cmd heading: 101.401612 deg.  i!-HeadingCmd: 1.769792 target range: 37.900002 and range: 37.90 m.h-?h)h)h)h)g)g1bg1jg5BEJDAT read: TxSync time:19:25:28.1451 e1eYjeYJee@3B@:eeG?雭Bɛh9) vBi)ӹ隱iGm CGm 'IGm XBGi Gm GDGi Gm <Gm FD D D E 1 E :JBJh9JJRJ9ZJVF;3F?F?FZAM?Bx,1 ]Az?yz:6?9z >YzZ»=zHƿ@kǰ?.?`Yſ]C?gt7? ?z?ɨzLE; x B M'II)HJH:5=+ ==YE<%Q E>A٣A MGUFmA; m>]49?o?a4Yp^ iB?q@"D;;X4 @E2iDNOT Ignoring new targets: 37.90 m.*ii:"i:  ProNav: ac range: 37.900002 m, nav range: 36.227825 m, bearing: 101.193071 deg, approach rate: -0.515359 m/s, LOS rate: 0.060293 deg/s, cmd heading: 101.401610 deg, new cmd heading: 101.490526 deg.  i %;HeadingCmd: 1.771344 target range: 37.900002 and range: 37.90 m.he?hhhhg!g!bg)jg)e)e)je)Je1:e5@Zc?]Bɛ]Zb)]= ]VWiY)e)aaieTze̒Bx,ǼK ]AmBm 'IMb@Mb@Mb@ )Iy'1Z?l{Gzt??ף; Ʒ@)|@Id@iߟ@@H-XH-n5=k) =;=YEQ E>A٣I MGIM M>Q]]49UEo?a]4YUX iUBe*?me:e?qe@U"DUu ;U ;U`4i mO@q2iDNOT Ignoring new targets: 37.90 m.*ii:"i: ProNav: ac range: 37.900002 m, nav range: 36.009640 m, bearing: 101.223711 deg, approach rate: -0.512157 m/s, LOS rate: 0.072359 deg/s, cmd heading: 101.490525 deg, new cmd heading: 101.583003 deg.  iF;HeadingCmd: 1.772958 target range: 37.900002 and range: 37.90 m.hH?hhhhggbgjgBeejeJe:e [? BɛQ) hi)D{i G g>G CG t'IG %BG  =G G =DG <G FBx,e ]A ćB &IHOHq5-O' -t=Y)Q -?1٣1 5G5F1 =?A]M49Eo?aM4YE>T iEBQQqU@E"DE:E<;Ee4a e@aB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 37.90 m.*iiФ:"iФ: ProNav: ac range: 37.900002 m, nav range: 35.840122 m, bearing: 101.247775 deg, approach rate: -0.505133 m/s, LOS rate: 0.072046 deg/s, cmd heading: 101.582999 deg, new cmd heading: 101.655533 deg.  iE;HeadingCmd: 1.774224 target range: 37.900002 and range: 37.90 m.h?hhhhggbgjgeejeJe:e ?BɛD꛽) ui)҇+i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692007Bx,^ ]ARaM?yR?9Rj=YRI=RH@vEɿ`o0 ,? Q?GȿE?GNW?ຸ?RaM?ɨR; R7C^B^&Ib>ib>HfHf,5rؽ rO=YrrOQ r>t٣t vGvFv<= z>x]49zo?a4YzN izB1?q@z#Dz;z;zl4 p@E2iAEDNOT Ignoring new targets: 37.90 m.*iAiM:"iM:] ProNav: ac range: 37.900002 m, nav range: 35.639030 m, bearing: 101.270536 deg, approach rate: -0.510704 m/s, LOS rate: 0.058131 deg/s, cmd heading: 101.655536 deg, new cmd heading: 101.724204 deg.  i];eHeadingCmd: 1.775422 target range: 37.900002 and range: 37.90 m.he A?hahahihigigibgijgqeqeqjeqJey:eX.?雭Bɛ)W= Mi)_隱i)xWBx,R ]Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.196086V?yV?9Va"=YV>VH|ɿs$`i?`=U?ȿC?N'??V?ɨV߄; V9CbBb&I@ %@% %@%  %@% H-H-*5=Q  =;=Y=$Q E>A٣A EGAMau; M>Q]]49U1o?ae4YUI iUBie+:ame:eh?qe@U#DU:U >Us4q uP@q2iDNOT Ignoring new targets: 37.90 m.*iiw:"iw: ProNav: ac range: 37.900002 m, nav range: 35.415497 m, bearing: 101.295528 deg, approach rate: -0.510800 m/s, LOS rate: 0.057469 deg/s, cmd heading: 101.724207 deg, new cmd heading: 101.799654 deg.  i;HeadingCmd: 1.776739 target range: 37.900002 and range: 37.90 m.h0l?hhhhgagibgijgieejeJe:e@@雽Bɛf) ui)1i;I0l?IG l>G CG <'IG BG  =G G G <G  F^D%=DDDEo0 EVFTFiZAqM>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447966:JE BJE 59JJA RJE ;ZJE [{Bx,KZ ]AZIbIjIrIzI:I&:III;I;I\;I\;V?yV' ?9V0VHɿV 2?U?^5ɿv?E`? ?V?ɨV; V;C^{B^&IHfHfs75n%۽ rQ=Yr1Q r>t٣t vGvFvc; v>x]~49zo?a4YzC izBi :m:?q@z"#Dz;zjT?z|w4  @2iQ]DNOT Ignoring new targets: 37.90 m.*iYieD:"ieD:} ProNav: ac range: 37.900002 m, nav range: 35.216175 m, bearing: 101.317337 deg, approach rate: -0.507037 m/s, LOS rate: 0.055793 deg/s, cmd heading: 101.799653 deg, new cmd heading: 101.865451 deg.  i}(;HeadingCmd: 1.777887 target range: 37.900002 and range: 37.90 m.hё?hhhhggbgjgeejeJe:e`@eBɛm3i)q }2iy) 隁i$>  BDAT read: Rx Time:19:25:30.5983  TRx dataTimestamp_ set to:1736537131.176328 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954537VF O;F ZA M >(Bx,p ]A iB &II)      Mb@Mb@Mb@ )IyCl?Mbp?d>̼; M@)f@I@i@@HH (=YQ >٣ GF >]49o?a4Y= iBiT:>m:r?q@1#Dٲ< <4 @2iDNOT Ignoring new targets: 37.90 m.*ii7%:"i7%: ProNav: ac range: 37.900002 m, nav range: 34.977104 m, bearing: 101.335399 deg, approach rate: -0.474729 m/s, LOS rate: 0.036111 deg/s, cmd heading: 101.865448 deg, new cmd heading: 101.920004 deg.  iC:HeadingCmd: 1.778840 target range: 37.900002 and range: 37.90 m.h?hhhhggbgjg oBe e je Je :e9 @=Bɛ=)9 =юiA)ERλAAiEhGG'IGԇBG =GG>DG<G FHEȥC HEȤCHEȕCHE ="HE =*HE 7 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459339VF J՟;:JBHBJh9JJRJ<ZJJ)I)F9ZAAM]>WBx,% ]A2R??y2|?92xY2bd >2H`<ʿ^|e?@Q?ʿ? x?`?@?2R??ɨ2ǣ; 28CZKBZi&IHbHb85j  n;=Yn΅Q n>l٣p rGpr!< r>t]z49v,o?a~4Yv8 ivB|~?q~@v?#Dv/;v;v4 @ %B*** querying acoustic contact ***i!i!2i15DNOT Ignoring new targets: 37.90 m.*i9i=':"i=':M ProNav: ac range: 37.900002 m, nav range: 34.762249 m, bearing: 101.350601 deg, approach rate: -0.514833 m/s, LOS rate: 0.036651 deg/s, cmd heading: 101.920001 deg, new cmd heading: 101.965888 deg.  iM::UHeadingCmd: 1.779640 target range: 37.900002 and range: 37.90 m.hUB?hQhYhYhYgYgYbgajgaeaeajeaJei:em  @雕Bɛ) i)5?隙ix=iB?G <٫;IB?IHR=H=ZIbIjIrIzII :III;II:P;I:P;DMDIDIEUo0 EQDAT read: 19:25:30.5983 LVL= 21872, 30897, 19234, 31907, AGC= 53, IDX= 410, 0.37, 1.177,-0.184, 1.156, 0.741, PHS= 0.524,-0.877, 0.412, RAW= 145.9, -0.9, CAL= 149.8, -10.0, ROT= 0.2, 10.0 Ygot valid direction response: 19:25:30.5983 LVL= 21872, 30897, 19234, 31907, AGC= 53, IDX= 410, 0.37, 1.177,-0.184, 1.156, 0.741, PHS= 0.524,-0.877, 0.412, RAW= 145.9, -0.9, CAL= 149.8, -10.0, ROT= 0.2, 10.0 PDAT read: Bearing 0.2, 10.0 (Local) ~Local bearing/azimuth received: Bearing 0.2, 10.0 (Local) DAT read: Range 10 to 50 : 36.2 m (Round-trip 48.3 ms) speed 0.4 m/s ,DAT read: user:1202> %BDAT read: Tx time:19:25:31.6958 %$Ping request sent.%ٽ"@ ڽ)ڽT'@Iڽ¸2iڽd;ڽ¸2>ڹ ۹۽ri۽k}<۽d;۽¸2>۹ ܹ]:publishing transmit ping time!]Fpublishing direction and range infoعYؽ\~?WD{6)l?ٖNs:ƿع9عع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ ۹۽r>Bx,j ]A>hi?y>?9>ڜY>Y>>H+eʿ[? N?`tʿ$? [S?@ػ?@?>hi?ɨ>U; >9C^;B^U&I5checking for new query: numPingsReceived=1, elapsed TxPingTime=0.240843HUHU"25mk mA=Ym&Q m>٣ GFA; >]490o?a-4Y&2 iB1=?q=@N#D<W<4 @Zjŀm?bjX ii} ]AjBjB2j5?pp-A@+lۿ?$zp\~?WD{6)l?ٖNs:ƿ"jd;*j¸2>p̱ <`dA@pBx, d# ]AGGG &IG BGGGG <G FJ?yJe7?9JdYJ'>JHXʿ uA?D?M7˿[` ?@?5?J?ɨJ; HR,BRB&IZ=iZ<Mb@Mb@Mb@ )IyZd;O?~jt{Gzt?~>Dף; z@)O@IV@i(@HvH%5 C=Y+Q >٣ GF70< >]49|o?a 4Y- iB >m : ?q @Y#D::d4B @E2iAEDNOT Ignoring new targets: 36.20 m.*iAiMW9"iMW9 ProNav: ac range: 36.200001 m, nav range: 34.383923 m, bearing: 101.362471 deg, approach rate: -0.519910 m/s, LOS rate: 0.011777 deg/s, cmd heading: 102.021777 deg, new cmd heading: 102.033647 deg.  iQ:HeadingCmd: 1.780823 target range: 36.200001 and range: 36.20 m.h?hhhhggbgjg1BeejeJe:e?EBɛEPѽ)I M iI)M4@IIiU=iu?} <}Ľ1 checking for new query: numPingsReceived=1, elapsed TxPingTime=0.996524Bx,= ]A$B9&IH`H5e  eS=YmQ m>i٣i uGqu u>y]49}¶o?a4Y}) i}Bq@}d#D}:}N:}4 %@2iDNOT Ignoring new targets: 36.20 m.*ii@9"i@9 ProNav: ac range: 36.200001 m, nav range: 34.207630 m, bearing: 101.366485 deg, approach rate: -0.458627 m/s, LOS rate: 0.010496 deg/s, cmd heading: 102.033648 deg, new cmd heading: 102.045752 deg.  i9HeadingCmd: 1.781034 target range: 36.200001 and range: 36.20 m.h?hhhhggbgjge e je Je :e ` r?5Bɛ=ͽ)9 =Ti9)=(AAiEZ=iE?Mu Echecking for new query: numPingsReceived=1, elapsed TxPingTime=1.247481RxBx,^V ]A:?y:5M?9:2HY:u >:H@˿`M@7?=?˿, ?G?%?:?ɨ:; 8F%BF:&I%Mb@Mb@Mb@!! !)!I!y%#~j?~jt{Gzt?%>!! %M@)%G@I%@i%l@!%@HEbHE5U; UK=Y]Y٣Y ]GeFe: e>i]u49mo?au4Ymd$ imB}>m}:}?q}@mp#Dm;m;m$4 @2iDNOT Ignoring new targets: 36.20 m.*ii <9"i <9 ProNav: ac range: 36.200001 m, nav range: 34.027447 m, bearing: 101.370611 deg, approach rate: -0.446365 m/s, LOS rate: 0.010275 deg/s, cmd heading: 102.045751 deg, new cmd heading: 102.058195 deg.  i9HeadingCmd: 1.781252 target range: 36.200001 and range: 36.20 m.h ?hhhhggbgjg%Beechecking for new query: numPingsReceived=1, elapsed TxPingTime=1.498400jeJe:eU5?Bɛ) )= 9i )K9i.=i ?| <ԙ-G!G%&IG%BG% =G!G!G%<G% FVFF ZA M >M checking for new query: numPingsReceived=1, elapsed TxPingTime=1.750534Bx,p ]A:J.ɞNBJ.+9JJ,RJ.>ZJ.m_TMD910*'*-/*'!    >?y>?9>ݺ]Y> >>HWʿ` D?@i??@Tj˿꘿䳫?/??>?ɨ>; >6Cv Bv3&IIx)x)~p= |HHV85?ڼ N=Y[Q >٣! %G%F%ѽ %>)]549-@o?a54Y- i-B9=k?q=@-{#D-;-;-4A Eh@ImB*** querying acoustic contact ***iiii2iq}DNOT Ignoring new targets: 36.20 m.*iyig_9"ig_9 ProNav: ac range: 36.200001 m, nav range: 33.849991 m, bearing: 101.375408 deg, approach rate: -0.449258 m/s, LOS rate: 0.012207 deg/s, cmd heading: 102.058196 deg, new cmd heading: 102.072661 deg.  i :HeadingCmd: 1.781504 target range: 36.200001 and range: 36.20 m.hS?hhhhggbgjgeejeJe:e@,?BɛϽ) ܜi)Gi=iS?Q <t%Bx, ]Achecking for new query: numPingsReceived=1, elapsed TxPingTime=2.254531MBM'&IHmHm?15MB C=YQ >٣ G >]49_o?a4Y iBq@#DP#; $;f4 @E2i-DNOT Ignoring new targets: 36.20 m.*i1iE^9"im^9% ProNav: ac range: 36.200001 m, nav range: 33.661602 m, bearing: 101.380555 deg, approach rate: -0.442784 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.072662 deg, new cmd heading: 102.088191 deg.  i-:-HeadingCmd: 1.781775 target range: 36.200001 and range: 36.20 m.h-5?h1h1h1h1g1g1bg9jg9e9e9jeAJea:ee @雵Bɛ) ji)E\隹i[=i5?u <Eڱ ۱۵7?ns?K~\I۵t>i۵=۵۵q>۱ ܱ5 checking for new query: numPingsReceived=2, elapsed TxPingTime=2.523087VF 1X<zF gArF F ZA M >G) G) G- &IG- BG) G) G) G- Ӱ<G- FBx,= ]A5Qk?y5ߨ?95~Y5p>5HZʿ ???l7˿@-?`n??5Qk?ɨ5@; 58CB1&Ichecking for new query: numPingsReceived=2, elapsed TxPingTime=2.758552mMb@Mb@Mb@ii i)iIiymA`"?Mbp{Gz?m>mm#< mz@)iIm@imƷ@im@H}H}75< #=YkQ >٣ GFԱ >]U49Ԫo?a]4YQ iB(>m:?q@#D<<Z4B &@:JNBJ9JJRJ?ZJ   9T]]ZTQIFCB=:6Zj@N.m?bjٹ ii ]Aj Bj B2j/?pg@@xЇ+"7"zp ͆b?}@G0ψ.ѿ"j*jq>pUךqkO k@@ԯRpWu6̿Y,v?2˿i_BjXi4*m?i   jpBzj4*m?j  jjjBrj/?] addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 2.520949 s, deltaX: -1.700001 m, approachRate: -0.674350 m/s, rangeRepo size: 4 m Added new target pos. range: 34.500000 m, bearing: 103.036638 deg, lat: 36.903926 deg, lon: -122.119051 deg, deltaT: 2.520949 s, deltaX: -1.700001 m, approachRate: -0.674350 m/s, posRepo size: 4 2iimDNOT Ignoring new targets: 34.50 m.*iqi"i ProNav: ac range: 34.500000 m, nav range: 33.712173 m, bearing: 103.036522 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.088194 deg, new cmd heading: 102.109007 deg.  iHeadingCmd: 1.782138 target range: 34.500000 and range: 34.50 m.h?hhhhggbgjg2BeejeJe@A@:e?Bɛҵ) Ti)}qi=i? - GGp??xs^I bN>i = 5>  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.044299^Dq D)D1D1E5l0 E1uchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.262582VFMh <FiZAM/?wBx,u ]A=QN?y=ߋ?9=̐Y=}>=H:ʿ S?<=?7˿?Zy?:?=QN?ɨ=3; =7CUBU.&Ie,>ie;aaMb@Mb@Mb@ )IyCl?~jtx{Gz?;>Ļ 7@)f@I@i@H H _,5ZI%bI%jI%1rI!zI%:I%:I%3I!- 5Q 5>9٣9 EGEFM7 M>Y]e49]ro?ae4Y]2 i]ɐBeO>me:mi?qm@]#D]:]:]l4q uN@}EZje"4m?bjeg iaieC ]AjefBje|B2je?peic@@yN⿣Ph"zpe_t?ۉ- ѿ"ja*je5>pe:&A@@cd 9pe^̿[fr?|ʿie Bje~ieR)/m?ie&  jeqBzjajajajjeBrje9?m addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.505490 s, deltaX: -0.400002 m, approachRate: -0.791314 m/s, rangeRepo size: 4  Added new target pos. range: 34.099998 m, bearing: 102.963607 deg, lat: 36.903926 deg, lon: -122.119051 deg, deltaT: 0.505490 s, deltaX: -0.400002 m, approachRate: -0.791314 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 34.10 m.*ii"i ProNav: ac range: 34.099998 m, nav range: 33.437176 m, bearing: 103.054105 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.109006 deg, new cmd heading: 102.130709 deg.  iHeadingCmd: 1.782517 target range: 34.099998 and range: 34.10 m.h)?hhhhggbg jg !BeejeJe A@:e 4?eBɛe᯽)a }iy)}yyi}=i)?w <z;I)?I=DDAT read: Rx Time:19:25:34.8707 =TRx dataTimestamp_ set to:1736537135.460797UPDAT read: Bearing 359.2, 16.9 (Local) U~Local bearing/azimuth received: Bearing 359.2, 16.9 (Local) mDAT read: Range 10 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 DAT read: 19:25:34.8707 LVL= 18144, 24529, 15202, 28099, AGC= 55, IDX= 511, 0.27,-0.070,-1.585,-0.142,-0.749, PHS= 0.767,-0.789, 0.604, RAW= 144.5, -7.9, CAL= 150.8, -16.9, ROT= 359.2, 16.9 Ygot valid direction response: 19:25:34.8707 LVL= 18144, 24529, 15202, 28099, AGC= 55, IDX= 511, 0.27,-0.070,-1.585,-0.142,-0.749, PHS= 0.767,-0.789, 0.604, RAW= 144.5, -7.9, CAL= 150.8, -16.9, ROT= 359.2, 16.9 R#Rx 4: Read range and direction messages.`direction in FSK: [0.956720,-0.013359,-0.290702]Fpublishing direction and range info9Y=Is? \Tcݚҿ=B99=F =_)=b;I=mi=7=ZD?=I=?=vh!@ =0 )=q(@I=i=y@=>9 9=)*?pkQ?eI=7>i=hX >=Dd=>9 9checking for new query: numPingsReceived=4, elapsed TxPingTime=3.535298Gy G} CG} &IG} BG}  =Gy Gy G} <G} F^D ]&=Dm Di Di Em B5 Ei  checking for new query: numPingsReceived=4, elapsed TxPingTime=3.766583VF~q;:JMBJ9JJRJ@ZJ2/..*'   !JtuWF4! @FZAM ?YBx, ]A%.B%F&IH5H5995E= E'=YMQ M>I٣I MGUFU U>Y]u49]o?au4Y] i]ӐBqqqu@]#D]r;]s;]4 !@Zj ht'm?bj[о ii} ]AjBjB2j6?pen"f7@@rVܿ ]#zpIs? \Tcݚҿ"jDd*j>p6`O@@ upZ;̿W^?x#&`̿iBji~)#m?iP8!  jNpBzj~)#m?j jqBjjBrj? addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503542 s, deltaX: -0.199997 m, approachRate: -0.397180 m/s, rangeRepo size: 4  Added new target pos. range: 33.900002 m, bearing: 103.280699 deg, lat: 36.903926 deg, lon: -122.119051 deg, deltaT: 0.503542 s, deltaX: -0.199997 m, approachRate: -0.397180 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 33.90 m.*ii"i ProNav: ac range: 33.900002 m, nav range: 33.189915 m, bearing: 103.226241 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.130712 deg, new cmd heading: 102.148798 deg.  iHeadingCmd: 1.782833 target range: 33.900002 and range: 33.90 m.h3?hhhhggbgjgeejeJe@3@@:e?Bɛ%)! %Ŕi!)%8))i-j=i-3?5O <5!;I53?I9CICICICIDDAT read: Rx Time:19:25:35.3704 TRx dataTimestamp_ set to:1736537135.963986PDAT read: Bearing 358.9, 16.7 (Local) ~Local bearing/azimuth received: Bearing 358.9, 16.7 (Local) DAT read: Range 10 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 DAT read: 19:25:35.3704 LVL= 15984, 24561, 16354, 26739, AGC= 54, IDX= 509,-0.11, 1.758, 0.282, 1.702, 1.104, PHS= 0.742,-0.775, 0.595, RAW= 145.0, -7.8, CAL= 151.1, -16.7, ROT= 358.9, 16.7 Ygot valid direction response: 19:25:35.3704 LVL= 15984, 24561, 16354, 26739, AGC= 54, IDX= 509,-0.11, 1.758, 0.282, 1.702, 1.104, PHS= 0.742,-0.775, 0.595, RAW= 145.0, -7.8, CAL= 151.1, -16.7, ROT= 358.9, 16.7 -R#Rx 5: Read range and direction messages.E`direction in FSK: [0.957646,-0.018388,-0.287361]Fpublishing direction and range infoعYؽ , ?TBԒgdҿؽB9عؽp> ٽ_)ٽ?Iٽshiٽ6ٽ=?ٽffFٽQ?ٽp!@ ڽ'g )ڽ(@Iڽ;iڽr@ڽ;>ڹ ۹۽{SΨ ?xp?2)nJhcI۽j >i۽ >۽F۽;>۹ ܹchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.058372DUDYDYE]=4 EYu checking for new query: numPingsReceived=5, elapsed TxPingTime=4.271904VF Zݤ;F ZAME>Cx, ]Aޕ?Bޕ[&IIـ3I(3I(.IIIZIbIjI0rIzII:Iـ3IEMb@Mb@Mb@AA A)AIAyEw/?~jty&1?E>EDE`e< E @)EO@IE@iEݸ@AEG@ YYH]H]Y45?t= =YQ >٣ GF > ]49 `o?a4Y < i B>m:?q@ #D ; (; 4) -@)Zj9m?bj B ii ]AjBjB2j?p@[b @@G5S@#zp , ?TBԒgdҿ"jF*j;>pJ}S ?@;9Wp8,zFo̿nm?n̿iAji5m?i  j(qBzj4*m?j& j(qBjjBrj!\? addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.503189 s, deltaX: -0.400002 m, approachRate: -0.794933 m/s, rangeRepo size: 4  Added new target pos. range: 33.500000 m, bearing: 102.961584 deg, lat: 36.903926 deg, lon: -122.119051 deg, deltaT: 0.503189 s, deltaX: -0.400002 m, approachRate: -0.794933 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 33.50 m.*ii"i ProNav: ac range: 33.500000 m, nav range: 32.916233 m, bearing: 103.114442 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.148799 deg, new cmd heading: 102.168111 deg.  iHeadingCmd: 1.783170 target range: 33.500000 and range: 33.50 m.h>?hhhhggbgjg:BeejeJe@@:ey=?}Bɛ}>")y }Qi)b隁iڰ=i>? <;I>?IDDAT read: Rx Time:19:25:35.8704 TRx dataTimestamp_ set to:1736537136.469579PDAT read: Bearing 359.0, 17.2 (Local) ~Local bearing/azimuth received: Bearing 359.0, 17.2 (Local) DAT read: Range 10 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 DAT read: 19:25:35.8704 LVL= 15776, 22609, 15138, 25971, AGC= 54, IDX= 508, 0.21,-1.823, 2.975,-1.888,-2.494, PHS= 0.759,-0.768, 0.603, RAW= 144.7, -8.2, CAL= 151.0, -17.2, ROT= 359.0, 17.2 -Ygot valid direction response: 19:25:35.8704 LVL= 15776, 22609, 15138, 25971, AGC= 54, IDX= 508, 0.21,-1.823, 2.975,-1.888,-2.494, PHS= 0.759,-0.768, 0.603, RAW= 144.7, -8.2, CAL= 151.0, -17.2, ROT= 359.0, 17.2 5R#Rx 6: Read range and direction messages.`direction in FSK: [0.955133,-0.016672,-0.295708]Fpublishing direction and range infoYVr?}-ҿ9= QX)";IseiMB?D5^?!@ C)+(@I`i@`> ;J?IXHq?Kia>`> DDDE@5 E-checking for new query: numPingsReceived=6, elapsed TxPingTime=4.568708Go>GCG&IGBG =GGG<G FHǦC HǦCHǓCH ="H =*Hm4VF 1;F ZA M > Cx,- ]Achecking for new query: numPingsReceived=6, elapsed TxPingTime=4.774561~NBl&IHmHm75V= ^=YQ >!٣! -G)Y ]>a]m49e֜o?am4Ye ieBq@e#De;e;eW4 .@Zj 0m?bj Q\ i i  ]Aj j 2j pc?p nM+8?@B5u[/#zp Vr?}-ҿ"j *j `>p Y8>y?@kpp gf~O̿tllVY?G Ϳi ,Aj i w,m?i ǿ  j +pBzj w,m?j ǿ j pBjj Brj _c?:JMbNBJMs9JJIRJMAZJMrSE<2'! u addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.505593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 33.500000 m, bearing: 103.127222 deg, lat: 36.903927 deg, lon: -122.119053 deg, deltaT: 0.505593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 33.50 m.*ii"i ProNav: ac range: 33.500000 m, nav range: 32.624126 m, bearing: 103.127109 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.168114 deg, new cmd heading: 102.182773 deg.  iHeadingCmd: 1.783426 target range: 33.500000 and range: 33.50 m.hLG?h h h h g g bgjgeejeJe:e C?雅yBɛK) ͊i)iX隉iK=iLG? <;ILG?ID!D!D!E! E!E)E-gADDAT read: Rx Time:19:25:36.3701 TRx dataTimestamp_ set to:1736537136.971815PDAT read: Bearing 359.2, 17.0 (Local) ~Local bearing/azimuth received: Bearing 359.2, 17.0 (Local) DAT read: Range 10 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 %DAT read: 19:25:36.3701 LVL= 18144, 24001, 16914, 31619, AGC= 55, IDX= 506,-0.37, 1.606, 0.113, 1.534, 0.934, PHS= 0.760,-0.774, 0.598, RAW= 144.5, -8.0, CAL= 150.8, -17.0, ROT= 359.2, 17.0 -Ygot valid direction response: 19:25:36.3701 LVL= 18144, 24001, 16914, 31619, AGC= 55, IDX= 506,-0.37, 1.606, 0.113, 1.534, 0.934, PHS= 0.760,-0.774, 0.598, RAW= 144.5, -8.0, CAL= 150.8, -17.0, ROT= 359.2, 17.0 -R#Rx 7: Read range and direction messages.5`direction in FSK: [0.956212,-0.013352,-0.292372]5Fpublishing direction and range infoY\SeH?~aYPX兗7ҿB9F ])BI{i7\B?$F?vh!@ 5)q(@I闾iy@> +/v?|vC? Z^/Iq>i>Dd> checking for new query: numPingsReceived=7, elapsed TxPingTime=5.047845VF ;zF hArF F ZA M >Cx,!G ]A68^?y6ƛ?96|Y6g>6H`*Eʿ=D?`%6?q˿k ?Rs? ?68^?ɨ6>; 6:C^WB^x&IHfHf35=L= EU=YEIݼQ M>I٣Q UGUFe/: e>i]49m\o?a4Ymt imB?q@m#Dm;mM;m4 @Zj,m?bjq ii82> ]AjBjB2j2?p};?@Q3ܿBK#zp\SeH?~aYPX兗7ҿ"jDd*j>pu6qQ_?@'p'oq@̿7Bl?(\HM˿iAji<(m?iV  jrBzjjP8! j(qBjjBrjo? addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.502236 s, deltaX: -0.500000 m, approachRate: -0.995548 m/s, rangeRepo size: 4  Added new target pos. range: 33.000000 m, bearing: 103.317389 deg, lat: 36.903927 deg, lon: -122.119053 deg, deltaT: 0.502236 s, deltaX: -0.500000 m, approachRate: -0.995548 m/s, posRepo size: 4 2i%DNOT Ignoring new targets: 33.00 m.*i!i!"i)5checking for new query: numPingsReceived=7, elapsed TxPingTime=5.278610 ProNav: ac range: 33.000000 m, nav range: 32.443195 m, bearing: 103.148320 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.182772 deg, new cmd heading: 102.196576 deg.  i5HeadingCmd: 1.783667 target range: 33.000000 and range: 33.00 m.h51O?h1h9h9h9gAgibgyjgyeejeJe@@:e@\?etBɛmꏷ)q Di)P:隱i "=i%1O?5 <]\;I]1O?IaZIbIjIrIzIl:I :IID D D E A2 E  DDAT read: Rx Time:19:25:36.8700  TRx dataTimestamp_ set to:1736537137.476020 PDAT read: Bearing 359.5, 16.7 (Local)  ~Local bearing/azimuth received: Bearing 359.5, 16.7 (Local)  DAT read: Range 10 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4 = DAT read: 19:25:36.8700 LVL= 16544, 20961, 14754, 25507, AGC= 54, IDX= 505,-0.05, 3.105, 1.577, 3.025, 2.423, PHS= 0.771,-0.799, 0.599, RAW= 144.3, -7.7, CAL= 150.5, -16.7, ROT= 359.5, 16.7 E Ygot valid direction response: 19:25:36.8700 LVL= 16544, 20961, 14754, 25507, AGC= 54, IDX= 505,-0.05, 3.105, 1.577, 3.025, 2.423, PHS= 0.771,-0.799, 0.599, RAW= 144.3, -7.7, CAL= 150.5, -16.7, ROT= 359.5, 16.7 E R#Rx 8: Read range and direction messages.M `direction in FSK: [0.957786,-0.008358,-0.287361]U Fpublishing direction and range info Y x6.?I"gdҿ B9 @ Q) 9I ci 6 B`E? DL X? E/!@ ) 0(@I ;i ^@ ;> ߂| ?IE?IK+I >i > D ;> m checking for new query: numPingsReceived=8, elapsed TxPingTime=5.547638VF ;F ZA M >κCx,sd ]AG G G'IGԇBG G G Gڰ<G FF ?yF?9FɨYFي>FH`jdʿ`|?`3?˿io?7? ?F ?ɨF8; F6CnjBn&Ir=ir=))EMb@Mb@Mb@AA A)AIAyE-?Zd;OI +?E?>EjE94< E7@)E^@IE@iE@AE@HuHu.5= #=Yz5Q >٣ GF; >] 49,o?a 4Y. iB >m : =?q @#D:/:4 n@Zjm?bjW iiw^ ]AjBjB2jn?p{Vp}ۂ?@IVaѿ< "zpx6.?I"gdҿ"jD*j;>pV>MD[lcJ?@-<%p~WpͿ[CBo?V#gʿiSAj"i܊m?iHк  jsBzj<(m?jHк jjjBrj? addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504205 s, deltaX: -0.099998 m, approachRate: -0.198329 m/s, rangeRepo size: 4   Added new target pos. range: 32.900002 m, bearing: 103.594314 deg, lat: 36.903926 deg, lon: -122.119054 deg, deltaT: 0.504205 s, deltaX: -0.099998 m, approachRate: -0.198329 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 32.90 m.*ii9"i9M ProNav: ac range: 32.900002 m, nav range: 32.151093 m, bearing: 103.285726 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.196576 deg, new cmd heading: 102.214546 deg.  iI}HeadingCmd: 1.783980 target range: 32.900002 and range: 32.90 m.h}xY?hyhyhyhyggbgjgjBeejeJe@3s@@:e }Z?checking for new query: numPingsReceived=8, elapsed TxPingTime=5.782662I=)ѐC }~GlA )mayulAu BpBɛH) i)ris1=ixY? <";IxY?I :J%>MBJ%9JJ!RJ%BZJ%DDDE2 E} DDAT read: Rx Time:19:25:37.3698  TRx dataTimestamp_ set to:1736537137.980456 PDAT read: Bearing 359.4, 17.4 (Local)  ~Local bearing/azimuth received: Bearing 359.4, 17.4 (Local)  DAT read: Range 10 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 VF ; DAT read: 19:25:37.3698 LVL= 18480, 21009, 15266, 25843, AGC= 53, IDX= 502, 0.23,-2.676, 2.050,-2.763, 2.893, PHS= 0.802,-0.795, 0.624, RAW= 144.2, -8.4, CAL= 150.6, -17.4, ROT= 359.4, 17.4 % Ygot valid direction response: 19:25:37.3698 LVL= 18480, 21009, 15266, 25843, AGC= 53, IDX= 502, 0.23,-2.676, 2.050,-2.763, 2.893, PHS= 0.802,-0.795, 0.624, RAW= 144.2, -8.4, CAL= 150.6, -17.4, ROT= 359.4, 17.4 - R#Rx 9: Read range and direction messages.5 `direction in FSK: [0.954188,-0.009993,-0.299041]= Fpublishing direction and range infoy Y} j+K?- w-{#ӿ} fB9y } 0H } R)} ;I} di} 5} OM?} K} w?F ZA M >Z Cx,{ ]A=!@ =Q )=8(@I=|i=@=|>9 9=xT?@#?L$¿I=>i=R>=D+=|>9 9fchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.104033]y?y]?9]Y]?>]Hmʿ`?Q2?@˿ W?@??]y?ɨ]; ]8C޵wB޵&IHH-5y= >=YQ > ٣  MGIUh>: U>Y]e49]so?ae4Y] i]BaeH?qe@]#D]:] &<]/4B @EZj="m?bj=o i9i=˿~ ]Aj=fBj=B2j=j?p=.eE?@ANԿmcdY#zp=j+K?- w-{#ӿ"j=D+*j=|>p="~Y?(>@(~3N/Wp=%YͿrBl\?,s˿i=qAj=3i=@m?i=  j=rBzj9j= j=rBjj=Arj=y? addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.504436 s, deltaX: -0.300003 m, approachRate: -0.594730 m/s, rangeRepo size: 4  Added new target pos. range: 32.599998 m, bearing: 103.586465 deg, lat: 36.903926 deg, lon: -122.119054 deg, deltaT: 0.504436 s, deltaX: -0.300003 m, approachRate: -0.594730 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 32.60 m.*ii"i ProNav: ac range: 32.599998 m, nav range: 31.938875 m, bearing: 103.316124 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.214546 deg, new cmd heading: 102.230638 deg.  iHeadingCmd: 1.784261 target range: 32.599998 and range: 32.60 m.h%b?h!h!h!h!g)g)bg1jg1e1e9jeYJeeL@@:ee?lBɛ+) pzi)=q99i=!J=iEb?E &Cx,G ]A~B~&IDDAT read: Rx Time:19:25:37.8697 TRx dataTimestamp_ set to:1736537138.483749PDAT read: Bearing 359.9, 16.6 (Local) ~Local bearing/azimuth received: Bearing 359.9, 16.6 (Local) DAT read: Range 10 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4  DAT read: 19:25:37.8697 LVL= 17632, 19729, 15458, 27299, AGC= 53, IDX= 502,-0.29, 2.041, 0.481, 1.947, 1.345, PHS= 0.785,-0.817, 0.600, RAW= 143.9, -7.5, CAL= 150.1, -16.6, ROT= 359.9, 16.6 Ygot valid direction response: 19:25:37.8697 LVL= 17632, 19729, 15458, 27299, AGC= 53, IDX= 502,-0.29, 2.041, 0.481, 1.947, 1.345, PHS= 0.785,-0.817, 0.600, RAW= 143.9, -7.5, CAL= 150.1, -16.6, ROT= 359.9, 16.6 T#Rx 10: Read range and direction messages.`direction in FSK: [0.958321,-0.001673,-0.285688]%Fpublishing direction and range infoYU ?o!h[WԷHҿB9D M)b<IjiH?&Q? @  )ϩ'@IVi@V> ~?v>?jƭI\>i>"亩V> Echecking for new query: numPingsReceived=10, elapsed TxPingTime=6.555309Mb@Mb@Mb@ )Iy{Gz?MbQ??u<  @)G@It@iݸ@Q@HEHE,5U;= U7=YUQ U>Y٣Y ]G]Fe e>i]49mo?a4Ym imB&?m:b?q@m$Dm.GG<'IGBG =GGG<G FZjVm?bjvD ii ]AjBjB2j*C?pX ?@Tbտp/:"zpU ?o!h[WԷHҿ"j"*jV>p7! >@9>Fp2@οh??ɿiPAji~ m?iӼ  jtBzj@m?jӼ jrBjjhArjl? addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.503293 s, deltaX: -0.199997 m, approachRate: -0.397377 m/s, rangeRepo size: 4 = Added new target pos. range: 32.400002 m, bearing: 103.966036 deg, lat: 36.903925 deg, lon: -122.119055 deg, deltaT: 0.503293 s, deltaX: -0.199997 m, approachRate: -0.397377 m/s, posRepo size: 4 2i9eDNOT Ignoring new targets: 32.40 m.*iaia"iiu ProNav: ac range: 32.400002 m, nav range: 31.676088 m, bearing: 103.589952 deg, approach rate: 0.000000 m/s, LOS rate: 0.012166 deg/s, cmd heading: 102.230638 deg, new cmd heading: 102.247084 deg.  iyHeadingCmd: 1.784548 target range: 32.400002 and range: 32.40 m.hl?hhhhggbgjgzBeejeJe@33@@:e/?gBɛ 1)  li ) @i4N=il?a <]Ѡ;I]l?IaDDDE Eu 4=u = DDAT read: Rx Time:19:25:38.3694  TRx dataTimestamp_ set to:1736537138.739048 checking for new query: numPingsReceived=10, elapsed TxPingTime=6.796946VF @;F ZA M >,Cx,F ]A:J&BJ&s9JJ$RJ&CZJ&:x9ZIUbIUjIQrIQzIU:IU:IQIQIU;q]IU;i]IU/Y;ueIU/Y;memBu&II))= =HH)5_= O=YQ >٣ GF >!]49%:o?a4Y% i% Bq@%$D%<%(<%4 @EePDAT read: Bearing 359.7, 16.8 (Local) e~Local bearing/azimuth received: Bearing 359.7, 16.8 (Local) DAT read: Range 10 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4 DAT read: 19:25:38.3694 LVL= 18544, 20337, 16690, 28835, AGC= 53, IDX= 499,-0.01, 1.955, 0.370, 1.863, 1.242, PHS= 0.801,-0.825, 0.618, RAW= 144.1, -7.8, CAL= 150.3, -16.8, ROT= 359.7, 16.8 Ygot valid direction response: 19:25:38.3694 LVL= 18544, 20337, 16690, 28835, AGC= 53, IDX= 499,-0.01, 1.955, 0.370, 1.863, 1.242, PHS= 0.801,-0.825, 0.618, RAW= 144.1, -7.8, CAL= 150.3, -16.8, ROT= 359.7, 16.8 T#Rx 11: Read range and direction messages.B*** querying acoustic contact ***ii2i`direction in FSK: [0.957306,-0.005012,-0.289032]Fpublishing direction and range infoYY]F@?ikt\.ҿ]B9Y]pH ]qO)]2AI]piY]VM?]33S]?5?] @ ]'g )]'@I]Q i]@]Q >Y Y]%~e?j_?DI]c>i] >]]Q >Y Y checking for new query: numPingsReceived=11, elapsed TxPingTime=7.0650535DNOT Ignoring new targets: 32.40 m.*i1i5;:"i5;:E ProNav: ac range: 32.400002 m, nav range: 31.467064 m, bearing: 103.625849 deg, approach rate: -0.501252 m/s, LOS rate: 0.086654 deg/s, cmd heading: 102.247085 deg, new cmd heading: 102.355490 deg.  iEm;HeadingCmd: 1.786440 target range: 32.400002 and range: 32.40 m.h?hhhhggbgjgeejeJe@@:e &?UcBɛ])Y ]aiY)]FYaieL=i?/ <6;I?IDEDADAEE95 EA% DDAT read: Rx Time:19:25:38.8693 5 TRx dataTimestamp_ set to:1736537139.242973U PDAT read: Bearing 359.4, 17.4 (Local) ] ~Local bearing/azimuth received: Bearing 359.4, 17.4 (Local) VFm ;E checking for new query: numPingsReceived=11, elapsed TxPingTime=7.324430Fi ZA M >4Cx, ]A?yM?9Y>H]ʿ[? N)?2̿@/ ?[Z?` ??ɨL; ޅBޅ&IMb@Mb@Mb@ )IyK7?)\(I +? ?Ga94< 7@)1@I^@iƷ@@HyH'5 (h=  =YѷQ >٣ =G=F=; E>A]M49Eo?aU4YE' iE-BUy ?mU:U?q}@E$$DE Q?D?pӠ¿I>i>D+|> echecking for new query: numPingsReceived=12, elapsed TxPingTime=7.560071 @Zjm?bj ii^e ]AjfAjA2j?pIW>@cR28TVԿs#zpj+K?- w-{#ӿ"jD+*j|>p̍Gz7M'>@YREp =4ͿԝxX?:q˿i?Aj"i7m?i  jtBzj7m?jV jsBjjArj?U addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 1.006813 s, deltaX: -0.600002 m, approachRate: -0.595942 m/s, rangeRepo size: 4 e Added new target pos. range: 31.799999 m, bearing: 103.862110 deg, lat: 36.903925 deg, lon: -122.119055 deg, deltaT: 1.006813 s, deltaX: -0.600002 m, approachRate: -0.595942 m/s, posRepo size: 4 2iamDNOT Ignoring new targets: 31.80 m.*iiiu"iq ProNav: ac range: 31.799999 m, nav range: 31.126150 m, bearing: 103.832220 deg, approach rate: 0.000000 m/s, LOS rate: 0.086654 deg/s, cmd heading: 102.355487 deg, new cmd heading: 102.491585 deg.  iHeadingCmd: 1.788816 target range: 31.799999 and range: 31.80 m.h?hhhhggbgjgBeejeJe?@:e? ^Bɛ O) IT< Vi)`.ȼiL$=i? <Ĕ;I?I!D5x>D5>Go>GGt'IG%BGGGGǰ<G FD D D E 2 E  DDAT read: Rx Time:19:25:39.3691  TRx dataTimestamp_ set to:1736537139.747994VF ']?;zFrF5PDAT read: Bearing 359.0, 17.6 (Local) E~Local bearing/azimuth received: Bearing 359.0, 17.6 (Local) DAT read: Range 10 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4 -Z#Rx 13: Read range message, but no direction. FZAM >qBH@!˿`YM?7&? Me̿/h:?`D?]?BC?ɨBym; B7C^ƇB^'IH5mH5!5= V=YQ >٣ G; >]-49Ŋo?a-4Y i7B)-.?q5@1$D:|:49 =@9:JNBJ9JJRJDZJ)@GHC<8850.-*&$$""    addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.257432 s, deltaX: -0.299999 m, approachRate: -1.165353 m/s, rangeRepo size: 4 2i  DNOT Ignoring new targets: 31.80 m.*i i;"i;ZIEbIEjIArIAzIEl:IE:IAIAIE;IE;IEL;IEL; ProNav: ac range: 31.799999 m, nav range: 30.924536 m, bearing: 103.881482 deg, approach rate: -0.564013 m/s, LOS rate: 0.138708 deg/s, cmd heading: 102.491585 deg, new cmd heading: 102.640334 deg.  ic;HeadingCmd: 1.791412 target range: 31.799999 and range: 31.50 m.hL?hhhhggbgjgeejeJe ?@:e z?YBɛ n) Ii)2ͼi=iL?%H <%ca;I%L?I!}DAT read: 19:25:39.3691 LVL= 17872, 21793, 18162, 30387, AGC= 53, IDX= 495,-0.28, 0.244,-1.232, 0.176,-0.435, PHS= 0.766,-0.751, 0.608, RAW= 144.5, -8.7, CAL= 151.0, -17.6, ROT= 359.0, 17.6 Ygot valid direction response: 19:25:39.3691 LVL= 17872, 21793, 18162, 30387, AGC= 53, IDX= 495,-0.28, 0.244,-1.232, 0.176,-0.435, PHS= 0.766,-0.751, 0.608, RAW= 144.5, -8.7, CAL= 151.0, -17.6, ROT= 359.0, 17.6 Z#Rx 14: Read direction message, but no range.`direction in FSK: [0.953045,-0.016636,-0.302370]IYM>Y?-JZӿ9IME M!U)MFIMviIMD?MA@M?Mvh!@ M|)M+(@IMnFiM@MnF>IM4Cp? a>CM?:KÿIM>iMr>MMnF>checking for new query: numPingsReceived=14, elapsed TxPingTime=8.070682DDDE@5 EVF CQ;F ZA M >}CCx," ]ABn?yBx?9BpYB>BH`PK˿`?#?Q̿gF??=?Bn?ɨBP; B8CЇB 'I}DDAT read: Rx Time:19:25:39.8690 TRx dataTimestamp_ set to:1736537140.251840PDAT read: Bearing 359.0, 17.9 (Local) ~Local bearing/azimuth received: Bearing 359.0, 17.9 (Local) =i<HnH."53= 7=YQ >٣ GFDAT read: Range 10 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4 DAT read: 19:25:39.8690 LVL= 17840, 23249, 17042, 32371, AGC= 54, IDX= 510, 0.03, 2.634, 1.142, 2.562, 1.941, PHS= 0.782,-0.752, 0.618, RAW= 144.4, -8.9, CAL= 151.0, -17.9, ROT= 359.0, 17.9 %=; >UYgot valid direction response: 19:25:39.8690 LVL= 17840, 23249, 17042, 32371, AGC= 54, IDX= 510, 0.03, 2.634, 1.142, 2.562, 1.941, PHS= 0.782,-0.752, 0.618, RAW= 144.4, -8.9, CAL= 151.0, -17.9, ROT= 359.0, 17.9 UT#Rx 15: Read range and direction messages.u`direction in FSK: [0.951449,-0.016608,-0.307357]}Fpublishing direction and range info؁Y؅(Fr?uYӿ؅3A9؁؅E مZ)مBIمs~iم6م'1H?i]4م@م?5?مK!@ څ)ځIڅiځڅ>9mfo?a4Ym7 imCB%Z?q-@mA$Dmiۅ?>ہۅ>ہ ܁checking for new query: numPingsReceived=15, elapsed TxPingTime=8.420003ZjnI+m?bjL ii& ]Aj3AjA2j?pDt!=@T6OM#zp(Fr?uYӿ"j*j>p~43=@!p^HExͿpdqO?ިی̿iAjVi3'm?il  jsBzjj jjj_Arj6?5 addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.503846 s, deltaX: -0.100000 m, approachRate: -0.198474 m/s, rangeRepo size: 4 E Added new target pos. range: 31.400000 m, bearing: 103.661362 deg, lat: 36.903925 deg, lon: -122.119055 deg, deltaT: 0.761278 s, deltaX: -0.400000 m, approachRate: -0.525432 m/s, posRepo size: 4 2iIMDNOT Ignoring new targets: 31.40 m.*iIiU"iq ProNav: ac range: 31.400000 m, nav range: 30.671719 m, bearing: 103.944083 deg, approach rate: 0.000000 m/s, LOS rate: 0.138708 deg/s, cmd heading: 102.640333 deg, new cmd heading: 102.852689 deg.  iHeadingCmd: 1.795118 target range: 31.400000 and range: 31.40 m.hn?hhhhggbgjgeejeJe`ff?@:e ?-TBɛ-ȍ)i uBiq)uVӼqqiu=i}n?}9 <:In?I checking for new query: numPingsReceived=15, elapsed TxPingTime=8.555365DU DQ DQ EU 1 EQ G p>G G 'IG HBG G G G <G FVFM g;F ZAM5>1JCx,/* ]Aj?yjK?9jXYjr>jHմ˿h??#̿( j?R?c?j?ɨj; j7C ׇB 'IDDAT read: Rx Time:19:25:40.3688 TRx dataTimestamp_ set to:1736537140.755937PDAT read: Bearing 358.9, 18.1 (Local) ~Local bearing/azimuth received: Bearing 358.9, 18.1 (Local) ]DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 DAT read: 19:25:40.3688 LVL= 18880, 23217, 16370, 32755, AGC= 54, IDX= 507, 0.42, 1.356,-0.138, 1.285, 0.657, PHS= 0.787,-0.748, 0.626, RAW= 144.5, -9.1, CAL= 151.1, -18.1, ROT= 358.9, 18.1  Ygot valid direction response: 19:25:40.3688 LVL= 18880, 23217, 16370, 32755, AGC= 54, IDX= 507, 0.42, 1.356,-0.138, 1.285, 0.657, PHS= 0.787,-0.748, 0.626, RAW= 144.5, -9.1, CAL= 151.1, -18.1, ROT= 358.9, 18.1  T#Rx 16: Read range and direction messages.`direction in FSK: [0.950341,-0.018248,-0.310676]]Fpublishing direction and range infoرYصF 0i?K}\ӿصA9رصI ٵZ)ٵ?IٵiٱٵxI?ٵ|?ٵA ?ٵvh!@ ڵ")ڵ(@Iڵ?iڵr@ڵ?>ڱ ۱۵zM4P?܋gI:?'UĿI۵&>i۵{^#>۵F۵?>۱ ܱchecking for new query: numPingsReceived=16, elapsed TxPingTime=8.871432UMb@Mb@Mb@QQ Q)QIQyUMbX?L7A`尿Mb`?U ?U+U; U@)QIUG@iQQU@HbH5L< =Y녺Q >٣ GFo; >] 49o?a 4Y iNB  ?m : ?q @S$D;8:%49 =@9Zj|1&m?bj{' iiFa0 ]AjAjA2jq?p r=@78N4b#zpF 0i?K}\ӿ"jF*j?>pbԩ ;M=@VQO5p]jͿbɯD?)̿iAjeiS"m?i>V  jysBzj@m?jjsBjjArj$?- addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504097 s, deltaX: -0.199999 m, approachRate: -0.396747 m/s, rangeRepo size: 4 = Added new target pos. range: 31.200001 m, bearing: 103.824890 deg, lat: 36.903925 deg, lon: -122.119055 deg, deltaT: 0.504097 s, deltaX: -0.199999 m, approachRate: -0.396747 m/s, posRepo size: 4 2iAEDNOT Ignoring new targets: 31.20 m.*iAiI"iI ProNav: ac range: 31.200001 m, nav range: 30.379330 m, bearing: 103.912721 deg, approach rate: 0.000000 m/s, LOS rate: 0.138708 deg/s, cmd heading: 102.852690 deg, new cmd heading: 103.045770 deg.  iHeadingCmd: 1.798488 target range: 31.200001 and range: 31.20 m.h4?hhhhggbgjgBeeje:J1MBJ+9JJRJEJe@33?@:ex?ZJrwR^BZI5bI5jI1rI1zI5:I5%:I1I1I5;I5;I5L;I5L;]OBɛ]^)Y ];iY)]ؼaaie=im4?mP =H˿Uo?2?xGͿ@y?R?6?=(?DAT read: 19:25:40.8687 LVL= 18976, 21073, 16706, 29123, AGC= 54, IDX= 507,-0.22, 1.720, 0.223, 1.649, 1.036, PHS= 0.772,-0.767, 0.610, RAW= 144.5, -8.4, CAL= 150.9, -17.4, ROT= 359.1, 17.4 ɨ=a; =6CB 'II ) =Ygot valid direction response: 19:25:40.8687 LVL= 18976, 21073, 16706, 29123, AGC= 54, IDX= 507,-0.22, 1.720, 0.223, 1.649, 1.036, PHS= 0.772,-0.767, 0.610, RAW= 144.5, -8.4, CAL= 150.9, -17.4, ROT= 359.1, 17.4 )a= p=T#Rx 17: Read range and direction messages.`direction in FSK: [0.954123,-0.014988,-0.299041]Fpublishing direction and range infoHgY)%,?y4R<-{#ӿA9 J QR)BAH5-C< - =Y5͹Q 5>IqiˡE?ZD(? Q )(@I|i-@|> M`c?RshcA?,g:0¿Iq>iY>|> Mchecking for new query: numPingsReceived=17, elapsed TxPingTime=9.479988Q٣Y ]G]F]; ]>a]m49eUo?au4YeR ieZB?q@eh$De;en;eW04 @Zjrm?bj9 iiP ]AjAj!A2jw?p>W=@$o 9ݿ6a"zp)%,?y4R<-{#ӿ"j*j|>p蠱NYr~x=@Xk饑pa)`οRHS?(9nzV˿iAj*i[6lm?i0۶  j.uBzj7m?j>V jtBjjArj? addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.503988 s, deltaX: -0.100000 m, approachRate: -0.198418 m/s, rangeRepo size: 4  Added new target pos. range: 31.100000 m, bearing: 104.058342 deg, lat: 36.903925 deg, lon: -122.119055 deg, deltaT: 0.503988 s, deltaX: -0.100000 m, approachRate: -0.198418 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 31.10 m.*ii "i  ProNav: ac range: 31.100000 m, nav range: 30.094955 m, bearing: 104.098849 deg, approach rate: 0.000000 m/s, LOS rate: 0.138708 deg/s, cmd heading: 103.045773 deg, new cmd heading: 103.298915 deg.  i%HeadingCmd: 1.802906 target range: 31.100000 and range: 31.10 m.h%?h!hIhIhIgIgIbgQjgQeQeQjeYJe]?@:e]8?checking for new query: numPingsReceived=17, elapsed TxPingTime=9.562929 GBɛ )  3i)߼i8:=i? <I?I!^D%8<Gi Gi Gm 'IGm lBGi Gi Gi Gm <Gm FH1 H1H1D D D E  E H5 ="H5 =*H51 5VF t:DDAT read: Rx Time:19:25:41.3684 TRx dataTimestamp_ set to:1736537141.765178PDAT read: Bearing 359.1, 17.4 (Local) ~Local bearing/azimuth received: Bearing 359.1, 17.4 (Local) FAZAIMe? \Cx,x}r ]ADAT read: Range 10 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 ^DAT read: 19:25:41.3684 LVL= 21856, 21105, 16978, 31459, AGC= 54, IDX= 504,-0.07,-3.123, 1.636, 3.085, 2.463, PHS= 0.786,-0.780, 0.619, RAW= 144.4, -8.4, CAL= 150.9, -17.4, ROT= 359.1, 17.4 UYgot valid direction response: 19:25:41.3684 LVL= 21856, 21105, 16978, 31459, AGC= 54, IDX= 504,-0.07,-3.123, 1.636, 3.085, 2.463, PHS= 0.786,-0.780, 0.619, RAW= 144.4, -8.4, CAL= 150.9, -17.4, ROT= 359.1, 17.4 ]T#Rx 18: Read range and direction messages.ek?ye0?9eKYeur>eH@̿ Z2??߂Ϳb? v?`?ek?ɨe:;`direction in FSK: [0.954123,-0.014988,-0.299041] e7CB('I}Fpublishing direction and range infoY)%,?y4R<-{#ӿA9`U qR)RBIziL7I?Gv?K!@ )Ii J?P.E.?%v¿IJ>i!> checking for new query: numPingsReceived=18, elapsed TxPingTime=9.929012:J}OBJyJJyRJ}FZJ}%cyfTB5.%  (Jh{|wsrlJhAIZIbIjIrIzI:I :IIIj;Ik;IS;IS;Mb@Mb@Mb@ )IyʡE?٣ GFu; >]49πo?a4Y+ ifB ?m : i?q @|$Dj;;94 @Zj,m?bj; iip ]AjAj(A2j3?p5 72=@{?&pZݿ!M"zp)%,?y4R<-{#ӿ"j*jp q5}ZH<@ g0p3Tο3AO?xc˿iAjiFnm?i  juBzjjjjjMArj?checking for new query: numPingsReceived=18, elapsed TxPingTime=10.066764 addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.505253 s, deltaX: -0.500000 m, approachRate: -0.989603 m/s, rangeRepo size: 4   Added new target pos. range: 30.600000 m, bearing: 104.140952 deg, lat: 36.903925 deg, lon: -122.119055 deg, deltaT: 0.505253 s, deltaX: -0.500000 m, approachRate: -0.989603 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 30.60 m.*iAiA"iIU ProNav: ac range: 30.600000 m, nav range: 29.787672 m, bearing: 104.187938 deg, approach rate: 0.000000 m/s, LOS rate: 0.138708 deg/s, cmd heading: 103.298914 deg, new cmd heading: 103.521986 deg.  iYHeadingCmd: 1.806800 target range: 30.600000 and range: 30.60 m.h5E?hhhhggbgjgBeejeJe>@:ef? ABɛ ,͌)  2-i)i=i5E?q <>I%5E?I!C)C)C)C)D zD De Da Da Em @5 Ei DDAT read: Rx Time:19:25:41.8683 TRx dataTimestamp_ set to:1736537142.267767PDAT read: Bearing 358.5, 18.2 (Local) ~Local bearing/azimuth received: Bearing 358.5, 18.2 (Local) DAT read: Range 10 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 - Z#Rx 19: Read range message, but no direction.ءإA9ء5checking for new query: numPingsReceived=19, elapsed TxPingTime=10.342394VF >FZAM ?]fCx,沚 ]A%B%3'IMb@Mb@Mb@ )IyCl?Qy&1|?u` Ʒ@)@I1@il@(@HeH15= =YQ >٣ G >] 49}o?a 4Y ioB?m:U?q@$D::B4B *@%E=B*** querying acoustic contact ***iAiAU addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.502589 s, deltaX: -0.100000 m, approachRate: -0.198970 m/s, rangeRepo size: 4 2iQ]DNOT Ignoring new targets: 30.60 m.*iYie';"ie';DAT read: 19:25:41.8683 LVL= 20752, 23073, 16082, 28803, AGC= 55, IDX= 503, 0.17,-0.096,-1.577,-0.156,-0.790, PHS= 0.782,-0.739, 0.631, RAW= 144.8, -9.3, CAL= 151.5, -18.2, ROT= 358.5, 18.2 %Ygot valid direction response: 19:25:41.8683 LVL= 20752, 23073, 16082, 28803, AGC= 55, IDX= 503, 0.17,-0.096,-1.577,-0.156,-0.790, PHS= 0.782,-0.739, 0.631, RAW= 144.8, -9.3, CAL= 151.5, -18.2, ROT= 358.5, 18.2 -Z#Rx 20: Read direction message, but no range.5`direction in FSK: [0.949647,-0.024868,-0.312335]Y.c?vIKӿ9Q !Z)>Ipi7'1H?/=7!??!@ 6&)%:)@Iic9@>ɯr?+H _?1OڼĿI>iߢ&>wּ>Mchecking for new query: numPingsReceived=20, elapsed TxPingTime=10.580345] ProNav: ac range: 30.600000 m, nav range: 29.505661 m, bearing: 104.258607 deg, approach rate: -0.579210 m/s, LOS rate: 0.146530 deg/s, cmd heading: 103.521988 deg, new cmd heading: 103.736019 deg.  i] ;eHeadingCmd: 1.810535 target range: 30.600000 and range: 30.50 m.he?hahahahagagibgijgmBeejeJe>@:e?;Bɛr) %i) (ih=i? <*I?I!GyGyG}'IG}BGyGyGyG}<G} FD D D E 5 E VFe p DDAT read: Rx Time:19:25:42.3681  TRx dataTimestamp_ set to:1736537142.772276 PDAT read: Bearing 358.1, 18.0 (Local)  ~Local bearing/azimuth received: Bearing 358.1, 18.0 (Local) 5 DAT read: Range 10 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4  DAT read: 19:25:42.3681 LVL= 22192, 23409, 17010, 31731, AGC= 56, IDX= 501,-0.37, 2.574, 1.153, 2.533, 1.918, PHS= 0.744,-0.718, 0.612, RAW= 145.3, -9.1, CAL= 151.9, -18.0, ROT= 358.1, 18.0 ~~G )5 zy1 5 A] Ygot valid direction response: 19:25:42.3681 LVL= 22192, 23409, 17010, 31731, AGC= 56, IDX= 501,-0.37, 2.574, 1.153, 2.533, 1.918, PHS= 0.744,-0.718, 0.612, RAW= 145.3, -9.1, CAL= 151.9, -18.0, ROT= 358.1, 18.0 e T#Rx 21: Read range and direction messages.m `direction in FSK: [0.950534,-0.031532,-0.309017]m Fpublishing direction and range info Y f#j?s$;[@ӿ A9 V q[) rBI {i 8 v>? 7 ? :M"@ ") )@I |٠i 3@ |٠> p?$?ʠrYĿI ?>i ΀#>  |٠>  checking for new query: numPingsReceived=21, elapsed TxPingTime=10.892141F ZA M- >/lCx,P ]AR>?yR|?9R/YR>RH kͿ@ ?` ?`=ο _? ??R>?ɨR; R6CUBU0'IHwH+&5T B=Y٣ GFv< >]-49f{o?a-4Yg ivB)-(?q-@$DD;;FJ49 =V@9:JE"NBJEs9JJARJEGZJEicbb_]ZZWYYYYXUTVTSRPPQONKKJJIGGDCCB?>==<87898441/0,#)qu3JM? JM?Zj54 T8m?bj5n i1i5l ]Aj5Aj5A2j5Mz?p59uĴ<@ߖy%"zp5f#j?s$;[@ӿ"j5*j5|٠>p5Ы0][<@P}`p5JB`rmRͿP`J1D?=xsͿi5Aj5ai5k4m?i5i߸  j5tBzj5S"m?j5 j5tBjj5Arj5?- addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504509 s, deltaX: -0.299999 m, approachRate: -0.594636 m/s, rangeRepo size: 4  Added new target pos. range: 30.200001 m, bearing: 103.614822 deg, lat: 36.903926 deg, lon: -122.119054 deg, deltaT: 1.007098 s, deltaX: -0.400000 m, approachRate: -0.397180 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 30.20 m.*ii"i  ProNav: ac range: 30.200001 m, nav range: 29.343685 m, bearing: 104.073939 deg, approach rate: 0.000000 m/s, LOS rate: 0.146530 deg/s, cmd heading: 103.736018 deg, new cmd heading: 103.937986 deg.  i1MHeadingCmd: 1.814060 target range: 30.200001 and range: 30.20 m.hM3?hQhQhqhqgqgqbgyjgyeyeyjeJe@33>@:e`2?5BɛN) R$i)kiMj=i3?- < 7I3?I5checking for new query: numPingsReceived=21, elapsed TxPingTime=11.074554DDDE05 EVF- ԑF ZA1 M >NtCx, ]A2DDAT read: Rx Time:19:25:42.8679 :TRx dataTimestamp_ set to:1736537143.277097NPDAT read: Bearing 358.1, 18.0 (Local) N~Local bearing/azimuth received: Bearing 358.1, 18.0 (Local) VDAT read: Range 10 to 50 : 29.9 m (trip time 19.9 ms) speed 0.4 zDAT read: 19:25:42.8679 LVL= 20320, 28497, 18354, 32755, AGC= 58, IDX= 499, 0.01, 2.672, 1.248, 2.630, 2.013, PHS= 0.747,-0.719, 0.614, RAW= 145.3, -9.2, CAL= 151.9, -18.0, ROT= 358.1, 18.0 ~Ygot valid direction response: 19:25:42.8679 LVL= 20320, 28497, 18354, 32755, AGC= 58, IDX= 499, 0.01, 2.672, 1.248, 2.630, 2.013, PHS= 0.747,-0.719, 0.614, RAW= 145.3, -9.2, CAL= 151.9, -18.0, ROT= 358.1, 18.0 ~T#Rx 22: Read range and direction messages.`direction in FSK: [0.950534,-0.031532,-0.309017]Fpublishing direction and range info4Y6f#j?s$;[@ӿ63A946`O 6Qo)6GI6i6:6d;??6b86/?4 6l$)4I4i444 46f_ä?}na?3dlĿI6 >i6$>444 4checking for new query: numPingsReceived=22, elapsed TxPingTime=11.381152?y?9aY>HakͿ??@ο@sF??g?騵?ɨR"; 8CޝB8'IHH%.5ZIbIjIrIzIl:I:IIq%@i%@u%@m%@mX< =Y^;Q >٣ GF\; >]49xo?a4Yc iB?q@$D>:):S4 @Zj63m?bj61 i4i6 ]Aj63Aj6A2j6?p6+k<@fTR+&z"zp6f#j?s$;[@ӿ"j4*j4p6tqH;?<@ Dop6 r7<Ϳ'g;?Xu艮Ϳi6Aj6i6=/m?i6%5  j6+tBzj4j6%5 j6+tBjj6Arj6? addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.504821 s, deltaX: -0.300001 m, approachRate: -0.594272 m/s, rangeRepo size: 4  Added new target pos. range: 29.900000 m, bearing: 103.787090 deg, lat: 36.903926 deg, lon: -122.119053 deg, deltaT: 0.504821 s, deltaX: -0.300001 m, approachRate: -0.594272 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 29.90 m.*i!iI"iI] ProNav: ac range: 29.900000 m, nav range: 29.124752 m, bearing: 104.102130 deg, approach rate: 0.000000 m/s, LOS rate: 0.146530 deg/s, cmd heading: 103.937987 deg, new cmd heading: 104.173728 deg.  iYeHeadingCmd: 1.818175 target range: 29.900000 and range: 29.90 m.he?hahahahigigqbgqjgqeqeyjeyJe}`f=@:e} ?checking for new query: numPingsReceived=22, elapsed TxPingTime=11.578624/Bɛ )  i ) 7  iH.=i? <GcfI?I!D D D E q4 E E =E =GA GA GE 'IGE BGA GA GA GE <GE FVF b(FZAMu?{Cx,e ]ADDAT read: Rx Time:19:25:43.3677 &TRx dataTimestamp_ set to:1736537143.7799472PDAT read: Bearing 357.3, 18.8 (Local) 2~Local bearing/azimuth received: Bearing 357.3, 18.8 (Local) :DAT read: Range 10 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4 nDAT read: 19:25:43.3677 LVL= 19856, 30049, 19522, 32755, AGC= 56, IDX= 496, 0.49,-0.024,-1.351,-0.041,-0.651, PHS= 0.714,-0.653, 0.607, RAW= 145.9, -10.2, CAL= 152.7, -18.8, ROT= 357.3, 18.8 rYgot valid direction response: 19:25:43.3677 LVL= 19856, 30049, 19522, 32755, AGC= 56, IDX= 496, 0.49,-0.024,-1.351,-0.041,-0.651, PHS= 0.714,-0.653, 0.607, RAW= 145.9, -10.2, CAL= 152.7, -18.8, ROT= 357.3, 18.8 rT#Rx 23: Read range and direction messages.`direction in FSK: [0.945598,-0.044594,-0.322266]Fpublishing direction and range info Y"JivWB?˘ԦɜLԿ"A9 "M "au)"BLI i"8"6?"+'"Zd?""@ "K6)"J*@I"i"Ѝ@"> "tQ?p?ƿI">i";5>"QA"> =??y=|?9=YY=C>Mchecking for new query: numPingsReceived=23, elapsed TxPingTime=11.865332=H ο(@T??5 Ͽx%Ƴ?`p?}?=??ɨ=; =5CuBu0'IMb@Mb@Mb@ )IyFx?V-٣ GF5/< >HC=H%=]49'uo?a4Y iB ?m:P?q@$D';;\4 V@:JDNBJ9JJRJHZJa>6,$   Zj"=Gm?bj"z i i" ]Aj"Aj"6A2j" ?p"I'];@8+3J#zp"JivWB?˘ԦɜLԿ"j"QA*j">p"z;@*kep"}W̿NsY?\Jпi"Aj"_i"-CCm?i"n  j"rBzj"=/m?j j jj"Arj"? addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.502850 s, deltaX: -0.299999 m, approachRate: -0.596598 m/s, rangeRepo size: 4  Added new target pos. range: 29.600000 m, bearing: 103.458278 deg, lat: 36.903927 deg, lon: -122.119053 deg, deltaT: 0.502850 s, deltaX: -0.299999 m, approachRate: -0.596598 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 29.60 m.*ii "i = ProNav: ac range: 29.600000 m, nav range: 28.827656 m, bearing: 103.841342 deg, approach rate: 0.000000 m/s, LOS rate: 0.146530 deg/s, cmd heading: 104.173731 deg, new cmd heading: 104.381446 deg.  i9EHeadingCmd: 1.821800 target range: 29.600000 and range: 29.60 m.hE0?hAhAhAhAgAgIbgijgm|BeqeqjeqJeu=@:eu)?雽)Bɛ\) i)i=i0?< I0?IAchecking for new query: numPingsReceived=23, elapsed TxPingTime=12.083621DDDEI1 EVF g{Fi ZA M >iSCx, ]Ab ?yb?9b򞙽Ybt>bHQο .?&?G]ϿAB/?@м?m?b ?ɨb; b9CjBj8'IHvHv|+5~$= ~x=Y;Q ?٣  G  ;  ?]}49so?a}4Y iBy}?q@$D!e<Oe<a4 @2iDNOT Ignoring new targets: 29.60 m.*ii ;"i ; ProNav: ac range: 29.600000 m, nav range: 28.650175 m, bearing: 103.878601 deg, approach rate: -0.567276 m/s, LOS rate: 0.119828 deg/s, cmd heading: 104.381444 deg, new cmd heading: 104.493914 deg.  iy;HeadingCmd: 1.823763 target range: 29.600000 and range: 29.60 m.hq?DDAT read: Rx Time:19:25:43.8676 TRx dataTimestamp_ set to:1736537144.280231DAT read: Range 10 to 50 : 29.4 m (trip time 19.6 ms) speed 0.4 -Z#Rx 24: Read range message, but no direction.3A9checking for new query: numPingsReceived=24, elapsed TxPingTime=12.338851hhh h g g bg jgeejeJe`ff=@:e@8fy?E%BɛE)A EiA)MNIIiM4=iUq?UYIUq?IYDDDE3 EZIbIjIrIzI<:I/:IIVF˴FZAM> checking for new query: numPingsReceived=24, elapsed TxPingTime=12.586789G G G G G  =G G G <G FCx,']AF?yF@?9F?YF [>FH`ο` G?h? Ͽv@???F?ɨFB; F7CfBf*'Ij=YҺ;Q >٣ GFx; >]49po?a4Y% iB?m:?q5@$D%<z%<  ԎM۹?`U?8II>iaP>> %checking for new query: numPingsReceived=25, elapsed TxPingTime=12.878497=Bɛ=‹)A EiA)EyAAiE =iMu?MאCx, C]Ab?yb1?9bpjYb>bH ο ?h? Ͽ /1?=?o?b?ɨb; b5C||H}H(5=z: =E=Y=;Q =>A٣A EGEF]Ή; ]>a]m49eno?am4Ye ieBim?qu@e$DeY;eT;ep4y }@}EZjMͫm?bjM  iIiM?2]AjMAjMqA2jM?pM,W~ӽ;@D MKb⿔MX zpMq6q?dքTcݚҿ"jM*jM>pM=! !%g?NQ?@']I%1>i%,>%D%Ð>! !checking for new query: numPingsReceived=26, elapsed TxPingTime=13.362249VF s7]ZI bI jI rI zI ̶:I &:I I F ZAA M >+"Cx,]]A))5checking for new query: numPingsReceived=26, elapsed TxPingTime=13.5948945Mb@Mb@Mb@11 1)1I1y5x&1?I +Mb5A?595 5@)5@I5 @i5@15@HUHU-5YeQ e>i٣i mGi} }>]49io?a4YG iBq?m:*?q@$D;;x4 ZjrR]l?bjL iiAR]Ajj2jc?pj$;@.Ͽu. zp:C!m?U̚p)ѿ"jD*jÐ>p( Ur#-O;@|E+ Up3]пf"?[KʿiyAGEq>GAGE'IGEBGAGAGAGEӰ<GE Fji{l?iʹ  j{wBzjj%5 jjjArjXQ? addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 29.000000 m, bearing: 105.606550 deg, lat: 36.903927 deg, lon: -122.119053 deg, deltaT: 0.503877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 29.00 m.*ii"i ProNav: ac range: 29.000000 m, nav range: 27.971979 m, bearing: 103.990835 deg, approach rate: 0.000000 m/s, LOS rate: 0.108419 deg/s, cmd heading: 104.767056 deg, new cmd heading: 104.932701 deg.  i=HeadingCmd: 1.831421 target range: 29.000000 and range: 29.00 m.h=l?h9h9hAhAgAgAbgIjgMJBeIeIjeIJeQ:eU e?Bɛ*) i)i(=il?MI ti 8 Nb0? /D ? 0"@  ) +(@I Ki @ K>   RXvԿ?!x3 ? I s">i [=  K>   checking for new query: numPingsReceived=27, elapsed TxPingTime=13.866732VF OPF ZA M >Cx,Jy]AZkX?yZ?9ZXYZ+>ZH#Ͽ ұn?@ ?`Ͽ鞿@렰??٦?ZkX?ɨZ; Z6CfBf3'I)z= z= ||HH_,55{< =A٣A EGEFE < E>I]49Mfo?a4YM iMB?q@M%DMhpu2QЀ;@opu  sпk4?\>zʿiuAju ius/l?:JMOBJM9JJIRJMJZJM}J=K=0cpQF1raQ@/    iuF  juxBzjuMum?jqjuuBjjucArjuc? addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.505686 s, deltaX: -0.299999 m, approachRate: -0.593252 m/s, rangeRepo size: 4  Added new target pos. range: 28.700001 m, bearing: 105.232201 deg, lat: 36.903922 deg, lon: -122.119053 deg, deltaT: 0.505686 s, deltaX: -0.299999 m, approachRate: -0.593252 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 28.70 m.*ii"i ProNav: ac range: 28.700001 m, nav range: 27.923399 m, bearing: 105.031283 deg, approach rate: 0.000000 m/s, LOS rate: 0.108419 deg/s, cmd heading: 104.932702 deg, new cmd heading: 105.047779 deg.  i!-HeadingCmd: 1.833430 target range: 28.700001 and range: 28.70 m.h-ҭ?h1h1h1h1g1g1bg9jg9e9e9je9JeE@3<@:eE@w?雍 Bɛ阽) $i)隑i7=iҭ?<矚Iҭ?Ichecking for new query: numPingsReceived=27, elapsed TxPingTime=14.103673D}DyDyE}n0 EyVF I젻F ZA M >] DDAT read: Rx Time:19:25:45.8670 ] TRx dataTimestamp_ set to:1736537146.299673m PDAT read: Bearing 358.8, 16.3 (Local) m ~Local bearing/azimuth received: Bearing 358.8, 16.3 (Local) } DAT read: Range 10 to 50 : 28.5 m (trip time 19.0 ms) speed 0.5  DAT read: 19:25:45.8670 LVL= 20080, 25969, 17474, 32755, AGC= 55, IDX= 505,-0.27,-1.311,-2.681,-1.352,-1.902, PHS= 0.679,-0.731, 0.547, RAW= 145.2, -7.4, CAL= 151.2, -16.3, ROT= 358.8, 16.3  Ygot valid direction response: 19:25:45.8670 LVL= 20080, 25969, 17474, 32755, AGC= 55, IDX= 505,-0.27,-1.311,-2.681,-1.352,-1.902, PHS= 0.679,-0.731, 0.547, RAW= 145.2, -7.4, CAL= 151.2, -16.3, ROT= 358.8, 16.3  T#Rx 28: Read range and direction messages. `direction in FSK: [0.959595,-0.020101,-0.280667] Fpublishing direction and range infoY Y] g%?Crwkqѿ] A9Y ] pN ] qe)] BDI] i] 7] -?] ";] 1 ?Y ] A)] [(@I] i] Hd@] >Y Y ] 6wr?(?zv1xI] p>i] P>] ] >Y Y  checking for new query: numPingsReceived=28, elapsed TxPingTime=14.371642֤Cx,I]AnÄ?ynP?9n Yn>>nHPϿ 9? ?wпV?@q?`O?nÄ?ɨn7'; n7C B 1'IHH/5-ҩ -4=Y5Z;Q 5>1٣1 =G=FC; >)]49-bo?a4Y-sy i-B?q@-%D-<-<-4ZIbIjIrIzI\:I^:II F@Zj;m?bjY ii-]AjAjxA2j?pcv!4Y;@3$TS%lzpg%?Crwkqѿ"j*j>p\_sѧ+[:@;pGCG'IG{BGGGG"<G FH HHH ="H =*H4D% D! D! E- 05 E) VF TF ZAM>/Cx,]ADDAT read: Rx Time:19:25:46.3667 TRx dataTimestamp_ set to:1736537146.803708PDAT read: Bearing 359.6, 15.1 (Local) ~Local bearing/azimuth received: Bearing 359.6, 15.1 (Local) &DAT read: Range 10 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4 :DAT read: 19:25:46.3667 LVL= 19632, 28001, 17570, 32755, AGC= 57, IDX= 502,-0.35, 0.568,-0.947, 0.500,-0.065, PHS= 0.720,-0.836, 0.562, RAW= 144.7, -6.1, CAL= 150.4, -15.1, ROT= 359.6, 15.1 >Ygot valid direction response: 19:25:46.3667 LVL= 19632, 28001, 17570, 32755, AGC= 57, IDX= 502,-0.35, 0.568,-0.947, 0.500,-0.065, PHS= 0.720,-0.836, 0.562, RAW= 144.7, -6.1, CAL= 150.4, -15.1, ROT= 359.6, 15.1 BT#Rx 29: Read range and direction messages.F`direction in FSK: [0.965449,-0.006740,-0.260505]FFpublishing direction and range infoY/}߁? {QfJ0пA9L am)DIi9Q8?V;?!@ ^ ڽ)'@IVi@V> F`? dЙ?3I>i=仩V> Vchecking for new query: numPingsReceived=29, elapsed TxPingTime=14.875396%?y?9gvYr>H Ͽ@?? пjɚ`Ϯ?"j?d?騽%?ɨe; 6CMBU+'IeMb@Mb@Mb@aa a)aIaye-?~jtx{Gze?>eĻe# e?@)en@Iaiaae@H{H'5 =Y;Q >٣ GF4; >]-49]o?a54YAs iB5R>m5:5?q5@#%D::h49 E@Zjl?bj+7 iio]AjAjKA2jr?p!;@eB'>ȿzGzp/}߁? {QfJ0п"j*jV>p,JQJ{:@򱶄p85ѿ(?<ӮɿiAjpiDl?i {  jEyBzjs/l?jj{wBjjArj6?% addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.504035 s, deltaX: -0.400000 m, approachRate: -0.793595 m/s, rangeRepo size: 4 5 Added new target pos. range: 28.100000 m, bearing: 105.839578 deg, lat: 36.903921 deg, lon: -122.119052 deg, deltaT: 0.504035 s, deltaX: -0.400000 m, approachRate: -0.793595 m/s, posRepo size: 4 2i1=DNOT Ignoring new targets: 28.10 m.*i9ia"ii ProNav: ac range: 28.100000 m, nav range: 27.569946 m, bearing: 105.287175 deg, approach rate: 0.000000 m/s, LOS rate: 0.108419 deg/s, cmd heading: 105.219515 deg, new cmd heading: 105.368142 deg.  iHeadingCmd: 1.839021 target range: 28.100000 and range: 28.10 m.h e?hhhhggbgjg;Bee:JNBJJJRJKZJlQ@5+" jeJe<@:eHi?EBɛE )I M iI)Mx# IIiMl=iU e?ue<}*I} e?Iychecking for new query: numPingsReceived=29, elapsed TxPingTime=15.112051D DDE EVF5 F ZA! M] >Cx,S]A?y %?9mY:>H±Ͽ`??4пf`ϸ?@~t??騵?ɨ; B/'I%=i<AHH%.5|< W=YI;Q >٣ Gu; >DDAT read: Rx Time:19:25:46.8666 TRx dataTimestamp_ set to:1736537147.307882%PDAT read: Bearing 359.7, 14.6 (Local) -~Local bearing/azimuth received: Bearing 359.7, 14.6 (Local) =DAT read: Range 10 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4 DAT read: 19:25:46.8666 LVL= 18192, 21393, 14642, 25667, AGC= 55, IDX= 501,-0.29,-2.717, 2.001,-2.788, 2.922, PHS= 0.732,-0.874, 0.571, RAW= 144.8, -5.7, CAL= 150.3, -14.6, ROT= 359.7, 14.6 Ygot valid direction response: 19:25:46.8666 LVL= 18192, 21393, 14642, 25667, AGC= 55, IDX= 501,-0.29,-2.717, 2.001,-2.788, 2.922, PHS= 0.732,-0.874, 0.571, RAW= 144.8, -5.7, CAL= 150.3, -14.6, ROT= 359.7, 14.6 T#Rx 30: Read range and direction messages.`direction in FSK: [0.967696,-0.005067,-0.252069]Fpublishing direction and range infoYye]?gt!п3A9G S)29ICdi7Zd;?w_-??!@ %˽)'@Iwi@w> i+?7?]g\9Igj>i=w> checking for new query: numPingsReceived=30, elapsed TxPingTime=15.383455]49Yo?a4YRn iB?q@0%D.;O/;r4B k@EZjl?bj iiW]Aj3AjA2j?piΫ:@+%F¿vȡ\!zpye]?gt!п"j*jw>p[{\xP:@uͩ8p;eDѿ!j.?QCȿiAjil?i  j2zBzj{l?jjxBjjzArj4?- addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.504174 s, deltaX: -0.200001 m, approachRate: -0.396690 m/s, rangeRepo size: 4 = Added new target pos. range: 27.900000 m, bearing: 105.963561 deg, lat: 36.903919 deg, lon: -122.119052 deg, deltaT: 0.504174 s, deltaX: -0.200001 m, approachRate: -0.396690 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 27.90 m.*ii"i ProNav: ac range: 27.900000 m, nav range: 27.434698 m, bearing: 105.731051 deg, approach rate: 0.000000 m/s, LOS rate: 0.108419 deg/s, cmd heading: 105.368140 deg, new cmd heading: 105.502596 deg.  iHeadingCmd: 1.841368 target range: 27.900000 and range: 27.90 m.h?hhhhggbgjg e e je Je `f;@:e@ٸ?雽Bɛ#Z) Wi) i=i?]<I?IDD>DaDiDiEm;5 Ei checking for new query: numPingsReceived=30, elapsed TxPingTime=15.614721Gy Gy G} 'IG} vBGy Gy Gy G} İ<G} FVF ̻zF rF Fi ZAy M >sCx,]AfBf9'II)  )5iy15mAUMb@Mb@Mb@QQ Q)QIQyUsh|??Mb`?{GzU>U;Q U(@)QIUߟ@iU@QUp@HmHm|+5}= }%=YQ >٣ GF >]495Uo?a4Yh iB >m:?q@>%Dv:8:4 @DDAT read: Rx Time:19:25:47.3664 TRx dataTimestamp_ set to:1736537147.811768PDAT read: Bearing 359.8, 14.8 (Local) ~Local bearing/azimuth received: Bearing 359.8, 14.8 (Local) DAT read: Range 10 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 -DAT read: 19:25:47.3664 LVL= 20160, 2219, GC= 52, IDX= 498,-0.01, 2.768, 1.181, 2.690, 2.108, PHS= 0.748,-0.880, 0.580, RAW= 144.6, -5.8, CAL= 150.2, -14.8, ROT= 359.8, 14.8 -unknown deviceResponse_: 19:25:47.3664 LVL= 20160, 2219, GC= 52, IDX= 498,-0.01, 2.768, 1.181, 2.690, 2.108, PHS= 0.748,-0.880, 0.580, RAW= 144.6, -5.8, CAL= 150.2, -14.8, ROT= 359.8, 14.8 -5Z#Rx 31: Read range message, but no direction.A9=checking for new query: numPingsReceived=31, elapsed TxPingTime=15.878493B*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.503886 s, deltaX: -0.400000 m, approachRate: -0.793830 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 27.90 m.*iiR9"iR9 ProNav: ac range: 27.900000 m, nav range: 27.218298 m, bearing: 105.738683 deg, approach rate: -0.465149 m/s, LOS rate: 0.016537 deg/s, cmd heading: 105.502599 deg, new cmd heading: 105.525679 deg.  i5: HeadingCmd: 1.841771 target range: 27.900000 and range: 27.50 m.h#?hhhhggbgjg2Bee!je!Je%;@:e%(?-Bɛ-)1 5gi1)5c11i5=i=#?=;Cx,]AB5'IH=H=*5U ]^=YYQ e>a٣a mGmFq u>]49Qo?a4Yd iBq@H%D;;14 $@2iDNOT Ignoring new targets: 27.90 m.*ii:9"i:9 ProNav: ac range: 27.900000 m, nav range: 27.049213 m, bearing: 105.744732 deg, approach rate: -0.462131 m/s, LOS rate: 0.016636 deg/s, cmd heading: 105.525678 deg, new cmd heading: 105.543938 deg.  i6:HeadingCmd: 1.842089 target range: 27.900000 and range: 27.50 m.h?hhhhggbgjgeejeJe:eܵ?Bɛa) Ci)(iZ=i?< I?IDDDEn0 EDDAT read: Rx Time:19:25:47.8663 TRx dataTimestamp_ set to:1736537148.315866PDAT read: Bearing 359.5, 14.2 (Local) ~Local bearing/azimuth received: Bearing 359.5, 14.2 (Local) DAT read: Range 10 to 50 : 27.3 m (trip time 18.2 ms) speed 0.4 %DAT read: 19:25:47.8663 LVL= 17856, 23345, 15090, 28899, AGC= 53, IDX= 497,-0.39,-0.641,-2.210,-0.699,-1.272, PHS= 0.719,-0.891, 0.569, RAW= 145.2, -5.2, CAL= 150.5, -14.2, ROT= 359.5, 14.2 -Ygot valid direction response: 19:25:47.8663 LVL= 17856, 23345, 15090, 28899, AGC= 53, IDX= 497,-0.39,-0.641,-2.210,-0.699,-1.272, PHS= 0.719,-0.891, 0.569, RAW= 145.2, -5.2, CAL= 150.5, -14.2, ROT= 359.5, 14.2 5T#Rx 32: Read range and direction messages.=`direction in FSK: [0.969408,-0.008460,-0.245307]=Fpublishing direction and range infoY^d?cFOS/;fϿfA9E 1[):Ipi5b8?d?0"@ ޹)0(@I}i^@}> 3\?ȼ4?!Q:I)>i=D}> mchecking for new query: numPingsReceived=32, elapsed TxPingTime=16.388266VF% UF ZA9 M >Cx,!]A:r?y:?9:SY:@{>:HAпb ?`?Aп9א@!o???:r?ɨ:-f; :5CFBF;'I)J= Jp=Echecking for new query: numPingsReceived=32, elapsed TxPingTime=16.622602UMb@Mb@Mb@QQ Q)QIQyU"~j?I +?{GzUS>U94٣ G< >]49QMo?a4Y_ iBt>m:?q@T%D/>;12;D4B ư@EZj_l?bj ii&7]AjfAjA2j ?p4bw:@pSKm㯸b9@6"[-p,IMkѿ=\#(?/@]ȿiAjiE-l?i  jzBzjDl?j jEyBjjNArj{?GGGGGGGGư<G FM addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.504098 s, deltaX: -0.200001 m, approachRate: -0.396750 m/s, rangeRepo size: 4 ] Added new target pos. range: 27.299999 m, bearing: 106.107627 deg, lat: 36.903919 deg, lon: -122.119053 deg, deltaT: 1.007984 s, deltaX: -0.600000 m, approachRate: -0.595248 m/s, posRepo size: 4 2iaeDNOT Ignoring new targets: 27.30 m.*iaim"ii ProNav: ac range: 27.299999 m, nav range: 26.788197 m, bearing: 105.855640 deg, approach rate: 0.000000 m/s, LOS rate: 0.016636 deg/s, cmd heading: 105.543935 deg, new cmd heading: 105.564311 deg.  iHeadingCmd: 1.842445 target range: 27.299999 and range: 27.30 m.h;?hhhhggbgjgBeejeJeL;@:e ǁ?%Bɛ%׈)! %iI)MIIiU=iU;?U\<]I7I];?IYD-D)D1E1 E9DDAT read: Rx Time:19:25:48.3660 TRx dataTimestamp_ set to:1736537148.819828 PDAT read: Bearing 359.1, 14.0 (Local)  ~Local bearing/azimuth received: Bearing 359.1, 14.0 (Local)  DAT read: Range 10 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 = DAT read: 19:25:48.3660 LVL= 17856, 22817, 15858, 29267, AGC= 53, IDX= 510,-0.07,-1.590, 3.142,-1.633,-2.205, PHS= 0.703,-0.889, 0.569, RAW= 145.6, -5.1, CAL= 150.9, -14.0, ROT= 359.1, 14.0 U Ygot valid direction response: 19:25:48.3660 LVL= 17856, 22817, 15858, 29267, AGC= 53, IDX= 510,-0.07,-1.590, 3.142,-1.633,-2.205, PHS= 0.703,-0.889, 0.569, RAW= 145.6, -5.1, CAL= 150.9, -14.0, ROT= 359.1, 14.0 U T#Rx 33: Read range and direction messages.] `direction in FSK: [0.970176,-0.015241,-0.241922]] Fpublishing direction and range infoY쑗 ?ns679Kο3A9 !Y)=ISri3?c"@ K)(@I5zi-@5z> 歧 ?JX!?~}ғI/2>iڴ=5z> } checking for new query: numPingsReceived=33, elapsed TxPingTime=16.891754VFe >uFi Fm ?F! ZA) ME >2Cx,;]A6'!?y6^?96FIY6M>6H`[rп `??п؋l4??!?6'!?ɨ6 ; 66CfBfJ'IHH(*5y= Q=ZI!bI%jI%0rI!zI!I%:I%ـ3I!I!I!I%n;I%n;Y=r;Q =>9٣9 EGEFEX; E>I]U49MIo?a4YM[ iMB?q@M_%DM i!i%x4]Aj%3Aj%A2j%D?p%g$:@p<ڿR;zp%쑗 ?ns679Kο"j%*j%5z>p%%1CWb9@~") p%>`~v+ѿО^2?ȿi%Aj%i%Ul?i%_þ  j%+{Bzj!j% { j%2zBjj%Arj%? addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503962 s, deltaX: -0.400000 m, approachRate: -0.793710 m/s, rangeRepo size: 4 :JxLBJJJRJMZJ Added new target pos. range: 26.900000 m, bearing: 105.870364 deg, lat: 36.903919 deg, lon: -122.119053 deg, deltaT: 0.503962 s, deltaX: -0.400000 m, approachRate: -0.793710 m/s, posRepo size: 4 2i-DNOT Ignoring new targets: 26.90 m.*i)i1"i1E ProNav: ac range: 26.900000 m, nav range: 26.595095 m, bearing: 105.862292 deg, approach rate: 0.000000 m/s, LOS rate: 0.016636 deg/s, cmd heading: 105.564310 deg, new cmd heading: 105.584373 deg.  iAmHeadingCmd: 1.842795 target range: 26.900000 and range: 26.90 m.hm?hihihihqgqgqbgqjgqeyeyjeyJe}`f:@:e?BɛIL) ݾi)@iU=i?<*I?IMchecking for new query: numPingsReceived=33, elapsed TxPingTime=17.126583DDDEo0 EVF}FQZAiM|> DDAT read: Rx Time:19:25:48.8660  TRx dataTimestamp_ set to:1736537149.323721 PDAT read: Bearing 359.1, 13.8 (Local)  ~Local bearing/azimuth received: Bearing 359.1, 13.8 (Local) % DAT read: Range 10 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 M DAT read: 19:25:48.8660 LVL= 19504, 19505, 14050, 27331, AGC= 50, IDX= 509, 0.36,-0.355,-1.989,-0.404,-1.001, PHS= 0.734,-0.941, 0.594, RAW= 145.7, -4.9, CAL= 150.9, -13.8, ROT= 359.1, 13.8 Cx,ReU]AN?yNb?9N;1YN>NHп V?S?@hѿf{ %?@?Ű?N?ɨN\!; N7Cj BjU'I~Ygot valid direction response: 19:25:48.8660 LVL= 19504, 19505, 14050, 27331, AGC= 50, IDX= 509, 0.36,-0.355,-1.989,-0.404,-1.001, PHS= 0.734,-0.941, 0.594, RAW= 145.7, -4.9, CAL= 150.9, -13.8, ROT= 359.1, 13.8 T#Rx 34: Read range and direction messages. `direction in FSK: [0.971014,-0.015254,-0.238533] Fpublishing direction and range info1Y5?4q[=iCο19150L 51L)56I5ji525m;?5`p5b?5"@ 5%)1I5Ϣvi15Ϣv>1 15'όT?l\g? I5z>i5S=15Ϣv>1 1%checking for new query: numPingsReceived=34, elapsed TxPingTime=17.427168HvHv+5#= >=YFf٣ GF~O< >]49Do?a4YV iB?q@k%D::4 v@QZj5nl?bj5hUϿ i1i5طT]Aj1j12j51?p5iB:@JBڿ!Pzp5?4q[=iCο"j1*j5Ϣv>p5\vc~x>U9@ gSfp53{ѿ"?p"7ɿi5Aj5i5-\l?i59V  j5zBzj5l?j5 j5zBjj58Arj5?- addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 26.900000 m, bearing: 106.174009 deg, lat: 36.903918 deg, lon: -122.119053 deg, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iYeDNOT Ignoring new targets: 26.90 m.*iaia"ii ProNav: ac range: 26.900000 m, nav range: 26.402672 m, bearing: 105.992209 deg, approach rate: 0.000000 m/s, LOS rate: 0.016636 deg/s, cmd heading: 105.584377 deg, new cmd heading: 105.605375 deg.  iHeadingCmd: 1.843161 target range: 26.900000 and range: 26.90 m.h?hhhh g g bg jgeejeJe:e%E?5وBɛ])Y ];ia)eaaie)=im?mGCG'IG{BGGGGͰ<G FVF] j-FQ ZAy M >pCx,YNr]A~B\'I I IM$Q`{?T9?drBlIMi>iM=MMd>I Ichecking for new query: numPingsReceived=35, elapsed TxPingTime=17.936958Mb@Mb@Mb@ )Iy)\(?~jt?~jthG>D<D (@)A@IȞ@iHH,5< =Y-Q ->1٣1 5G1= =>A]49E>o?a4YEP iEB^>m:?q@Ez%DEdhpMnFT֯8@/%pMO/Jѿfr,E?vaƿiMAjM8iMPl?iM   jM/}BzjIjM9V jMzBjjMArjML?} addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504037 s, deltaX: -0.500000 m, approachRate: -0.991991 m/s, rangeRepo size: 4 HR=H4=ZIbIjI1rIzI:I\:I3II2<<I3<<Iů;Iů; Added new target pos. range: 26.400000 m, bearing: 105.938435 deg, lat: 36.903918 deg, lon: -122.119054 deg, deltaT: 0.504037 s, deltaX: -0.500000 m, approachRate: -0.991991 m/s, posRepo size: 4 2i%DNOT Ignoring new targets: 26.40 m.*i!i)"i)= ProNav: ac range: 26.400000 m, nav range: 26.125212 m, bearing: 106.013797 deg, approach rate: 0.000000 m/s, LOS rate: 0.016636 deg/s, cmd heading: 105.605373 deg, new cmd heading: 105.631721 deg.  i9eHeadingCmd: 1.843621 target range: 26.400000 and range: 26.40 m.he?hahahahagigibgqjg}0BeejeJe`ff:@:e?=шBɛ=v)A EiA)EPAAiM=iM?MwCx,7]A޽Bk'IHH-5i= M=YQ >٣ GF >] 49:o?a 4YL iB  q@%D-:|:4B g@E=B*** querying acoustic contact ***mDDAT read: Rx Time:19:25:49.8657 mTRx dataTimestamp_ set to:1736537150.332198}PDAT read: Bearing 358.3, 12.9 (Local) }~Local bearing/azimuth received: Bearing 358.3, 12.9 (Local) DAT read: Range 10 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 DAT read: 19:25:49.8657 LVL= 19696, 19441, 15826, 27715, AGC= 50, IDX= 506, 0.49,-3.067, 1.603,-3.078, 2.612, PHS= 0.692,-0.963, 0.590, RAW= 146.8, -4.0, CAL= 151.7, -12.9, ROT= 358.3, 12.9 Ygot valid direction response: 19:25:49.8657 LVL= 19696, 19441, 15826, 27715, AGC= 50, IDX= 506, 0.49,-3.067, 1.603,-3.078, 2.612, PHS= 0.692,-0.963, 0.590, RAW= 146.8, -4.0, CAL= 151.7, -12.9, ROT= 358.3, 12.9 T#Rx 36: Read range and direction messages.`direction in FSK: [0.974332,-0.028918,-0.223250]Fpublishing direction and range infoiYmޱ-?{FNu̿i9imL mK)m=ImClim2m&1?m+vm= ?m(#@ m5)mUs)@Imfim@mf>i imr{?\6?(CIm>im=mmf>i ichecking for new query: numPingsReceived=36, elapsed TxPingTime=18.403461i9i9 addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504440 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 26.40 m.*ii~w"i~w ProNav: ac range: 26.400000 m, nav range: 25.951992 m, bearing: 106.008418 deg, approach rate: -0.432646 m/s, LOS rate: -0.013524 deg/s, cmd heading: 105.631724 deg, new cmd heading: 105.615480 deg.  iHeadingCmd: 1.843338 target range: 26.400000 and range: 26.40 m.h?hhhhggbgjgeejeJe:e` ?}ʈBɛ{) حi)o`隁i =i?p< ;I?IDDDEo0 E checking for new query: numPingsReceived=36, elapsed TxPingTime=18.638739Gu m>Gq Gu 'IGu BGu  =Gq Gq Gu <Gu FVF U:;Fy ZA M >:3Cx,GȪ]A "B q'IMb@Mb@Mb@ )Iy-?~jtx?Mb`5>; @)@Iif@@HH|+5%&< -A=Y1Q =>I٣I MGUFY >]=49!6o?aE4YG iBM;>mM:U?qU@%D2<]<4 @ZjE&l?bjE^ iAiEB]AjAjA2jE)?pEe#9@, nJ^AzpEޱ-?{FNu̿"jE*jEf>pEpUo( 9@PLpERףߐпDvY?:rdǿiEQAjEiELJl?iE5\  jE|BzjEPl?jAjE+{BjjEArjEv?2i9EDNOT Ignoring new targets: 26.40 m.*iAiE"iEu ProNav: ac range: 26.400000 m, nav range: 25.757948 m, bearing: 106.008189 deg, approach rate: -0.438976 m/s, LOS rate: -0.000522 deg/s, cmd heading: 105.615482 deg, new cmd heading: 105.614789 deg.  i}HeadingCmd: 1.843326 target range: 26.400000 and range: 26.40 m.h?hhhhggbgjg1BeDDAT read: Rx Time:19:25:50.3654 %TRx dataTimestamp_ set to:1736537150.835848-PDAT read: Bearing 357.3, 12.8 (Local) -~Local bearing/azimuth received: Bearing 357.3, 12.8 (Local) =DAT read: Range 10 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 eDAT read: 19:25:50.3654 LVL= 20320, 18929, 14290, 29795, AGC= 49, IDX= 504,-0.01, 0.982,-0.541, 1.012, 0.425, PHS= 0.645,-0.920, 0.584, RAW= 148.0, -4.1, CAL= 152.7, -12.8, ROT= 357.3, 12.8 mYgot valid direction response: 19:25:50.3654 LVL= 20320, 18929, 14290, 29795, AGC= 49, IDX= 504,-0.01, 0.982,-0.541, 1.012, 0.425, PHS= 0.645,-0.920, 0.584, RAW= 148.0, -4.1, CAL= 152.7, -12.8, ROT= 357.3, 12.8 uT#Rx 37: Read range and direction messages.}`direction in FSK: [0.974067,-0.045936,-0.221548]}Fpublishing direction and range infoYu$+?!񄧿@|[̿A9`O I)7Icti1%?k?MQ%@ejeJe:@:e@X? C)J*@IdiЍ@d> !,? ?XfH+Iv>iy=QAd> checking for new query: numPingsReceived=37, elapsed TxPingTime=18.9182615ÈBɛ=-l)9 =+i9)=3AAiX=i?69<9;I?IDEDIDIEMk0 EIZI bI jI rI zI ;:I S2:I I I <I <I ;I ;:J \MBJ h9JJ RJ OZJ }pgWJA;2.+*--'  6!VFe ']?;Fm ?Fm ? checking for new query: numPingsReceived=37, elapsed TxPingTime=19.142677F! ZA1 MM >KCx,]Afo?yf6?9f]Yf>fH Xѿ~V?`?Gyѿ>p???n?fo?ɨf.o; d~8B~'II)) = HkH 5%= %K=Y%)٣) 5G15¹< 5>9]E49=12o?aE4Y=}C i=BAM ?qM@=%D=5j<=tj<=4 @Zj]کm?bj]; iYi]~]Aj]Aj]A2j]?p].}cS9@`sԁ zp]u$+?!񄧿@|[̿"j]QA*j]d>p]:=n{8@3v5Np]n пD؛[?Rȿi]SAj]4i]5[ m?i]"s  j]W|Bzj]Ul?jYj]W|Bjj]Arj]F? addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503650 s, deltaX: -0.400000 m, approachRate: -0.794202 m/s, rangeRepo size: 4 - Added new target pos. range: 26.000000 m, bearing: 104.776988 deg, lat: 36.903919 deg, lon: -122.119054 deg, deltaT: 1.008090 s, deltaX: -0.400000 m, approachRate: -0.396790 m/s, posRepo size: 4 2i)5DNOT Ignoring new targets: 26.00 m.*i1i5"i1M ProNav: ac range: 26.000000 m, nav range: 25.563368 m, bearing: 105.763062 deg, approach rate: 0.000000 m/s, LOS rate: -0.000522 deg/s, cmd heading: 105.614792 deg, new cmd heading: 105.614182 deg.  iIMHeadingCmd: 1.843315 target range: 26.000000 and range: 26.00 m.hU?hQhQhQhQgQgQbgYjgYeYeajeaJea:eexA?雍BɛP\h)$= i)VT隑i=im?u E5DDAT read: Rx Time:19:25:50.8654 =TRx dataTimestamp_ set to:1736537151.339854EPDAT read: Bearing 357.3, 12.8 (Local) DMDIDIEMo0 EQe~Local bearing/azimuth received: Bearing 357.3, 12.8 (Local) }DAT read: Range 10 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 DAT read: 19:25:50.8654 LVL= 19536, 19057, 13682, 27299, AGC= 50, IDX= 503, 0.39,-3.058, 1.688,-3.028, 2.664, PHS= 0.650,-0.929, 0.588, RAW= 148.0, -4.0, CAL= 152.7, -12.8, ROT= 357.3, 12.8 Ygot valid direction response: 19:25:50.8654 LVL= 19536, 19057, 13682, 27299, AGC= 50, IDX= 503, 0.39,-3.058, 1.688,-3.028, 2.664, PHS= 0.650,-0.929, 0.588, RAW= 148.0, -4.0, CAL= 152.7, -12.8, ROT= 357.3, 12.8 T#Rx 38: Read range and direction messages.`direction in FSK: [0.974067,-0.045936,-0.221548]Fpublishing direction and range info1Y5u$+?!񄧿@|[̿1915PL 5qJ)5r5I5ji525ff&?5m5+?1 55)1I1i111 15S"H.?b%?BI5T>i55=111 1mchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.434607VF :F ZA M= >Cx,C]A2?yp?9vY>Htѿ |` $?@(?஑ѿ%/v? .???2?ɨ_.; 8CuEBu'Ichecking for new query: numPingsReceived=38, elapsed TxPingTime=19.646563]Mb@Mb@Mb@YY Y)YIYy]y&1?Mbp?Mbp]`>];] ]@)]"@I]@i]1@Y]=@Hm{Hm'5Q= )=Y@L;Q >٣ GFn; >]49-o?a4Gk>GCG(IGBG =GG=DG<G FH HHH"H =*H#6Y> iÑBd>m:?q@%D < <4 ܫ@EZje<2 m?bjez iaie+]Ajaja2jeoC?pe.}cS9@`sԁ zpeu$+?!񄧿@|[̿"ja*japeT3w)/ (8@Ape5п YV??Vȿie1AjeOiexm?ieo&  jeI|BzjeLJl?je"s jajjeArjei?- addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 26.000000 m, bearing: 104.861758 deg, lat: 36.903921 deg, lon: -122.119053 deg, deltaT: 0.504006 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iIMDNOT Ignoring new targets: 26.00 m.*iIiq"iq ProNav: ac range: 26.000000 m, nav range: 25.365904 m, bearing: 105.375182 deg, approach rate: 0.000000 m/s, LOS rate: -0.000522 deg/s, cmd heading: 105.614184 deg, new cmd heading: 105.613443 deg.  iHeadingCmd: 1.843302 target range: 26.000000 and range: 26.00 m.hU?hhhhggbgjgOBeejeJe:e?雍BɛBR) T_i)8ie=iMU?Uf DAT read: 19:25:51.3651 LVL= 19936, 18417, 14242, 26355, AGC= 50, IDX= 501,-0.07, 0.883,-0.625, 0.943, 0.352, PHS= 0.619,-0.931, 0.588, RAW= 149.0, -3.6, CAL= 153.5, -12.3, ROT= 356.5, 12.3  Ygot valid direction response: 19:25:51.3651 LVL= 19936, 18417, 14242, 26355, AGC= 50, IDX= 501,-0.07, 0.883,-0.625, 0.943, 0.352, PHS= 0.619,-0.931, 0.588, RAW= 149.0, -3.6, CAL= 153.5, -12.3, ROT= 356.5, 12.3  T#Rx 39: Read range and direction messages.% `direction in FSK: [0.975223,-0.059647,-0.213030]% Fpublishing direction and range infoY Y] g4#C5?sO٧AzUmD˿] A9Y ] M ] G)] 7I] fiY ] v?] VnY ] Bo&@ ] )] v+@I] [i] o@] [>Y Y ] &?:L?2֗z>I] ?i] 4 =] 5z] [>Y Y E checking for new query: numPingsReceived=39, elapsed TxPingTime=19.9324325Cx,]A6AZ?y6͗?96u2Y6>6Hඇѿ@*|?@? #ѿԓy?%?`Xu? -?6AZ?ɨ6g; 67CnJBn'IHvHv_,5< s=Yg;Q ?٣ GFKi; ?]49e)o?a4Y+: iőB?q@%D::49 =@AHC=Hp=ZjD%,m?bj: ZImbImjIm0rIizIm :Im&:Imـ3IiIm<Im<Im\;Im\;ii&8]AjAjA2j2t?p A8@P+Vl Gzpg4#C5?sO٧AzUmD˿"j5z*j[>pp{QO/QJ8@d`Kp«^οJa{?;6ȿiRAji)m?i|:  jH}Bzjxm?jj|BjjRArj}?M addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.507323 s, deltaX: -0.500000 m, approachRate: -0.985565 m/s, rangeRepo size: 4 ] Added new target pos. range: 25.500000 m, bearing: 104.051771 deg, lat: 36.903923 deg, lon: -122.119053 deg, deltaT: 0.507323 s, deltaX: -0.500000 m, approachRate: -0.985565 m/s, posRepo size: 4 2iaeDNOT Ignoring new targets: 25.50 m.*ii"i ProNav: ac range: 25.500000 m, nav range: 25.165472 m, bearing: 104.963445 deg, approach rate: 0.000000 m/s, LOS rate: -0.000522 deg/s, cmd heading: 105.613446 deg, new cmd heading: 105.612882 deg.  iHeadingCmd: 1.843292 target range: 25.500000 and range: 25.50 m.h?hhhhggbgjgeejeJe9@:eQ?:J%MBJ!JJ!RJ%PZJ%   MBɛMuV)Q U`IiQ)U:QQiU3=i]?}<,,HDx,m]AF!?yF?9FBYF/>FH6ѿ`*y`~??:ѿz?1?d2?{?F!?ɨF∊; F8CR^BR'IHZnHZ."5r*= rR=YvK:Q v>t٣x zGDDAT read: Rx Time:19:25:51.8650 TRx dataTimestamp_ set to:1736537152.351841 PDAT read: Bearing 356.2, 12.6 (Local) ~Local bearing/azimuth received: Bearing 356.2, 12.6 (Local) %DAT read: Range 10 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 EDAT read: 19:25:51.8650 LVL= 21344, 19137, 14482, 26867, AGC= 49, IDX= 499, 0.34, 1.835, 0.331, 1.902, 1.301, PHS= 0.621,-0.923, 0.598, RAW= 149.2, -3.9, CAL= 153.8, -12.6, ROT= 356.2, 12.6 MYgot valid direction response: 19:25:51.8650 LVL= 21344, 19137, 14482, 26867, AGC= 49, IDX= 499, 0.34, 1.835, 0.331, 1.902, 1.301, PHS= 0.621,-0.923, 0.598, RAW= 149.2, -3.9, CAL= 153.8, -12.6, ROT= 356.2, 12.6 UT#Rx 40: Read range and direction messages.e`direction in FSK: [0.973771,-0.064677,-0.218143]eFpublishing direction and range infoY8")?`HH'$˿3A9`S J)8Ihi1?Il?r&@|; >]49 %o?a4Y5 iǑB,?q@%D:: 'g)+@Iz0ai@z0a>  ?iM4?yCpIѶ?i9=Ӈz0a> checking for new query: numPingsReceived=40, elapsed TxPingTime=20.4314004 B@Zj /m?bjؼ ii]Aj3AjA2ju ?p:ٻ8@D#yHG)zp8")?`HH'$˿"jӇ*jz0a>p^Ya C<.8@ upK*οͶv?[ɿipAji,m?i"  j|Bzj5[ m?j" j|BjjArjq?} addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504664 s, deltaX: -0.100000 m, approachRate: -0.198152 m/s, rangeRepo size: 4  Added new target pos. range: 25.400000 m, bearing: 103.905352 deg, lat: 36.903923 deg, lon: -122.119053 deg, deltaT: 0.504664 s, deltaX: -0.100000 m, approachRate: -0.198152 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 25.40 m.*ii"i ProNav: ac range: 25.400000 m, nav range: 25.000113 m, bearing: 104.714894 deg, approach rate: 0.000000 m/s, LOS rate: -0.000522 deg/s, cmd heading: 105.612879 deg, new cmd heading: 105.612300 deg.  iHeadingCmd: 1.843282 target range: 25.400000 and range: 25.40 m.h?hhhhggbgjgeejeJe`ff9@:eƾ?Bɛ<G) i)w8ik=i?G CG (IG BG  =G G >DG m<G .FD D D E  E VF ܸ<< ! 1)myquIAFZAM>_ Dx,3]AF?yF!?9FXYFV=FHѿ`x C.?ඹ?~ѿ|?J?`ܒ??F?ɨF-M; F6C^bBb'IeDDAT read: Rx Time:19:25:52.3648 eTRx dataTimestamp_ set to:1736537152.855771mPDAT read: Bearing 356.0, 11.7 (Local) m~Local bearing/azimuth received: Bearing 356.0, 11.7 (Local) }DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 DAT read: 19:25:52.3648 LVL= 20832, 18881, 1477, AGC= 49, IDX.12,-1.166,-2.651,-1.079,-1.663, PHS= 0.584,-0.941, 0.580, RAW= 149.9, -3.0, CAL= 154.0, -11.7, ROT= 356.0, 11.7 unknown deviceResponse_: 19:25:52.3648 LVL= 20832, 18881, 1477, AGC= 49, IDX.12,-1.166,-2.651,-1.079,-1.663, PHS= 0.584,-0.941, 0.580, RAW= 149.9, -3.0, CAL= 154.0, -11.7, ROT= 356.0, 11.7 -Z#Rx 41: Read range message, but no direction.aeA9achecking for new query: numPingsReceived=41, elapsed TxPingTime=20.922337 Mb@Mb@Mb@   ) I y sh|??MbPMbp >   @)  @I i   @H%H%)55m?< 5=Y=O;Q =>9٣A EGEFEf; E>Q]]49Uo?a]4YU/ iUɑB]>m]:]?qe@U%DU;U0;U4i m@mEB*** querying acoustic contact ***ii] addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503930 s, deltaX: -0.299999 m, approachRate: -0.595319 m/s, rangeRepo size: 4 2iY]DNOT Ignoring new targets: 25.40 m.*iaid"id ProNav: ac range: 25.400000 m, nav range: 24.764936 m, bearing: 104.701910 deg, approach rate: -0.451773 m/s, LOS rate: -0.025178 deg/s, cmd heading: 105.612299 deg, new cmd heading: 105.572978 deg.  i<HeadingCmd: 1.842596 target range: 25.400000 and range: 25.10 m.h0?hhhhggbgjgbBeejeJe9@:e`ծ?雍Bɛ9) i)G隑iȴ=i0?< .9Dx,M]Ar ?yrq^?9rxYrF=rH`ѿw` ??`ѿ?4?Ҿ?N?r ?ɨr; r7C}qB}'IHhH5}= }H=Y}A;Q >٣ GF; >]49(o?a4Y* iˑB9?q@%D B;B;4 $@2iDNOT Ignoring new targets: 25.40 m.*ii"i ProNav: ac range: 25.400000 m, nav range: 24.578182 m, bearing: 104.690619 deg, approach rate: -0.484673 m/s, LOS rate: -0.029527 deg/s, cmd heading: 105.572977 deg, new cmd heading: 105.538845 deg.  iHeadingCmd: 1.842000 target range: 25.400000 and range: 25.10 m.h?hhhhgg bg jg e ejeJe:e-?MBɛM93)I MhiI)U>QQiU=i]?]R<]ŕٍ|ٍ>ٍ'@ ڍC=)ڍ*@Iڍiڍ@ڍ=ډ ۉۍVSDx,;l]AF?yF?9FԼYF5D=FHrҿrC??/ҿ ?,? S?`?F?ɨF΋; F4CN{BN'I)V= V=Mb@Mb@Mb@ )IyZd;?Mby&1|>` @)"@I@i@@HlHK!5j+= (=Y;;Q >٣ GFe; >!]-49%o?a-4Y%$ i%̑B->m-:-?q5@%%D%:%s:%_49 =~@9Zj}[m?bj}yӯ iyi}S W]Aj}3Aj}A2j}\?p}̌B8@|\++zp}=iu?.yU]k"j}Ql$*j}=p} hK:8@+/p}}l@пX_*?/糯i}FAj}[i}Wm?i}~w  j}fBzjyjyjyjj}Arj}K? addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504173 s, deltaX: -0.200001 m, approachRate: -0.396691 m/s, rangeRepo size: 4   Added new target pos. range: 24.900000 m, bearing: 104.740978 deg, lat: 36.903923 deg, lon: -122.119053 deg, deltaT: 1.008103 s, deltaX: -0.500000 m, approachRate: -0.495981 m/s, posRepo size: 4 2i 5DNOT Ignoring new targets: 24.90 m.*i1i="i9M ProNav: ac range: 24.900000 m, nav range: 24.336187 m, bearing: 104.681414 deg, approach rate: 0.000000 m/s, LOS rate: -0.029527 deg/s, cmd heading: 105.538847 deg, new cmd heading: 105.493369 deg.  iIuHeadingCmd: 1.841207 target range: 24.900000 and range: 24.90 m.hu?hyhyhyhygygybgjglBeejeJe`f8@:e@X?Bɛ%) i) i& =i%?%<%a aewF?E6+?Iep/?ie==eie%K>a achecking for new query: numPingsReceived=43, elapsed TxPingTime=21.936682I DzDDDDE EE=E=VF 喇<:J BJ +9JJ RJ RZJ F ZA M >!Dx, ]Achecking for new query: numPingsReceived=43, elapsed TxPingTime=22.170628R\?yR?9RvfѼYR=RHBҿ`l?೨? Rҿ?,?`e_?q?R\?ɨRhɋ; R8CbBb'IHjeHj15r= ra=Yv:Q v>t٣t vGtz; z>|]49~o?a4Y~j  i~͑B  >?q @~%D~:~:~4 N@Zj0qS'm?bjဧ ii6Zw]AjfAjA2j?p\@/?8@V%zp]oI?Y;g4Lɿ"ji*j%K>p)x@oD7@W4p(eWN=οln?c8ƿiwAj|ix~$m?ie'y  jNBzjx~$m?jo& jH}BjjArjM? addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504937 s, deltaX: -0.100000 m, approachRate: -0.198045 m/s, rangeRepo size: 4  Added new target pos. range: 24.799999 m, bearing: 103.895237 deg, lat: 36.903926 deg, lon: -122.119051 deg, deltaT: 0.504937 s, deltaX: -0.100000 m, approachRate: -0.198045 m/s, posRepo size: 4 2i%DNOT Ignoring new targets: 24.80 m.*i!iI"iQ ProNav: ac range: 24.799999 m, nav range: 24.244284 m, bearing: 103.984518 deg, approach rate: 0.000000 m/s, LOS rate: -0.029527 deg/s, cmd heading: 105.493371 deg, new cmd heading: 105.463141 deg.  iHeadingCmd: 1.840679 target range: 24.799999 and range: 24.80 m.h_?hhhhggbgjgeejeJe8@:e? Bɛ$) ;DDAT read: Rx Time:19:25:53.8644 TRx dataTimestamp_ set to:1736537154.367824PDAT read: Bearing 354.7, 12.6 (Local) ~Local bearing/azimuth received: Bearing 354.7, 12.6 (Local) DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 DAT read: 19:25:53.8644 LVL= 18800, 21937, 14754, 28819, AGC= 52, IDX= 509, 0.05,-1.753, 3.105,-1.636,-2.244, PHS= 0.579,-0.887, 0.605, RAW= 150.9, -4.1, CAL= 155.3, -12.6, ROT= 354.7, 12.6 %Ygot valid direction response: 19:25:53.8644 LVL= 18800, 21937, 14754, 28819, AGC= 52, IDX= 509, 0.05,-1.753, 3.105,-1.636,-2.244, PHS= 0.579,-0.887, 0.605, RAW= 150.9, -4.1, CAL= 155.3, -12.6, ROT= 354.7, 12.6 -T#Rx 44: Read range and direction messages.5`direction in FSK: [0.971744,-0.090146,-0.218143]=Fpublishing direction and range infoY9ć?[{'$˿A9pI U)9Ipi4X9?ocH?(@ C)x-@Iz0ai@z0a> E e?D`?xE I: ?i$=qz0a> uchecking for new query: numPingsReceived=44, elapsed TxPingTime=22.443302'Dx,]A2(?y2e?92!мY2#=2H@eҿd?u?tҿ??=??2(?ɨ2^; 26CZINbINjIN1rILzIN:IN[:IN3ILB%'IHdH5)< 1=Y9Q >٣ GFg; >]49 o?a4Y iΑB?q@&D(<G(<4 %@%E5checking for new query: numPingsReceived=44, elapsed TxPingTime=22.674574Zj -Fm?bj  i i n]Aj Aj {A2j '?p "!e7@ Y%0Ǘwzp 9ć?[{'$˿"j q*j z0a>p Ow~x?x7@rZ>]p r ݏ>̿R隇?=lɿi Aj i ^Cm?i a  j 5}Bzj )m?j e'y j jj BArj ?G[>GCGb(IGBG =GG;DG <G FU addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.502943 s, deltaX: -0.199999 m, approachRate: -0.397657 m/s, rangeRepo size: 4  Added new target pos. range: 24.600000 m, bearing: 103.022728 deg, lat: 36.903926 deg, lon: -122.119049 deg, deltaT: 0.502943 s, deltaX: -0.199999 m, approachRate: -0.397657 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 24.60 m.*ii"i ProNav: ac range: 24.600000 m, nav range: 24.157391 m, bearing: 103.738191 deg, approach rate: 0.000000 m/s, LOS rate: -0.029527 deg/s, cmd heading: 105.463141 deg, new cmd heading: 105.419233 deg.  iHeadingCmd: 1.839913 target range: 24.600000 and range: 24.60 m.h C?h h h h ggbgjgeeyjeyJe}8@:e ?Bɛ{) @=i)U11i5Fu =i=C?=<= (?|h ?򍰿I ?i D= i佩 @X> m checking for new query: numPingsReceived=45, elapsed TxPingTime=22.944290VF5 >Q<zF9 rF9 F ZA M >6f.Dx,e]Af'?yf?9f[ϼYf=fHҿ ^??ҿ$?`?` ??f'?ɨfٱ; f4C=BE(IMb@Mb@Mb@ )Iyx&1?{Gz~jtA?ףD ) @Ii@@HWH5-< -8=Y-^9Q 5>1٣1 5G5F=; =>A]M49Eo?aM4YE iE͑BMe?mU:U ?qU@E&DE:E4:E_4Y ]@YZj]dhm?bj]zB iYi]ַ]Aj]fAj]A2j]S?p]2˯7@z&0B_zp]H?3滿9hʿ"j]i*j]@X>p]hF8^M7@f.;p]/^(ʿ1J?P+ɿi]jAj]i],Cem?i]a  j]~Bzj],m?j] a j]~Bjj]lArj]? addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.504649 s, deltaX: -0.300001 m, approachRate: -0.594475 m/s, rangeRepo size: 4 E Added new target pos. range: 24.299999 m, bearing: 102.030701 deg, lat: 36.903927 deg, lon: -122.119049 deg, deltaT: 0.504649 s, deltaX: -0.300001 m, approachRate: -0.594475 m/s, posRepo size: 4 2iAMDNOT Ignoring new targets: 24.30 m.*iIiI"iI} ProNav: ac range: 24.299999 m, nav range: 23.927944 m, bearing: 103.630193 deg, approach rate: 0.000000 m/s, LOS rate: -0.029527 deg/s, cmd heading: 105.419237 deg, new cmd heading: 105.382009 deg.  iHeadingCmd: 1.839263 target range: 24.299999 and range: 24.30 m.hl?hhhhggbgjgBeejeJeL8@:eR?xBɛLv)  \=i ) 5  i  =il?=<=L@DM>:JYBJ]9JJYchecking for new query: numPingsReceived=45, elapsed TxPingTime=23.178974RJ]SZJ]DDDE0 EEEVFO<FZAMU >IK5Dx,z4]App~DDAT read: Rx Time:19:25:54.8640 TRx dataTimestamp_ set to:1736537155.378798PDAT read: Bearing 353.7, 12.3 (Local) %~Local bearing/azimuth received: Bearing 353.7, 12.3 (Local) =DAT read: Range 10 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4 }DAT read: 19:25:54.8640 LVL= 19440, 25697, 17186, 32323, AGC= 52, IDX= 505, 0.13, 1.985, 0.623, 2.136, 1.534, PHS= 0.539,-0.864, 0.598, RAW= 152.0, -3.9, CAL= 156.3, -12.3, ROT= 353.7, 12.3 Ygot valid direction response: 19:25:54.8640 LVL= 19440, 25697, 17186, 32323, AGC= 52, IDX= 505, 0.13, 1.985, 0.623, 2.136, 1.534, PHS= 0.539,-0.864, 0.598, RAW= 152.0, -3.9, CAL= 156.3, -12.3, ROT= 353.7, 12.3 T#Rx 46: Read range and direction messages.`direction in FSK: [0.971145,-0.107215,-0.213030]Fpublishing direction and range info|Y~]e?Y0vrAzUmD˿~A9|~K ~ad)~"CI~C~i|~ ?~/]~?~)@ ~'g)~.@I~[i~@~[>| |~zF?YԪw?+2I~++?i~7=~i0Ὡ~[>| |checking for new query: numPingsReceived=46, elapsed TxPingTime=23.462706B(IHUVHU5e@%= eX=YeQ m>i٣i uGqu u>y]49}o?a4Y}1 iyq@}&D}7;};}$4  @Zj~;em?bj~  i|i~:>]Aj~Aj~A2j~7?p~L7EN7@‚ؕRoszp~]e?Y0vrAzUmD˿"j~i0*j~[>p~rk`6@m /p~Cwhʿ<Ϧ?lH~ɿi~Aj~si~jbm?i~R  j~~Bzj~^Cm?j|j|jj~jArj~>? addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.506325 s, deltaX: -0.299999 m, approachRate: -0.592503 m/s, rangeRepo size: 4  Added new target pos. range: 24.000000 m, bearing: 102.155343 deg, lat: 36.903929 deg, lon: -122.119049 deg, deltaT: 0.506325 s, deltaX: -0.299999 m, approachRate: -0.592503 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 24.00 m.*ii"i ProNav: ac range: 24.000000 m, nav range: 23.676931 m, bearing: 102.992245 deg, approach rate: 0.000000 m/s, LOS rate: -0.029527 deg/s, cmd heading: 105.382012 deg, new cmd heading: 105.346674 deg.  iHeadingCmd: 1.838646 target range: 24.000000 and range: 24.00 m.hX?hhhhggbgjgeejeJe8@:e-?ZIEbIEjIE0rIAzIE;IEt:IEـ3IA]pBɛeʢ)a e=ia)eNcaiim^ =imX?uG1 G5 (IG5 BG5 ! =G1 G1 G5 <G5 FVF <F ?F >F ZA M >k;Dx,]A5?ys?9XʼY[=Hҿ`N??ҿ@A AE?S2 ? WIEs?iEz=EV轩EPwV>A Achecking for new query: numPingsReceived=47, elapsed TxPingTime=23.953070Mb@Mb@Mb@ )Iy#~j?QMb?u @)@I@i @@HmQHmT5}t= }$=Y3:Q >٣ GFz1< >]M49n?aM4Y|  iΑBU?mU:U ?qU@.&D.|<{<-4y $@EZjEhn`m?bjEh5 iAiE^]AjEAjEQA2jEt?pEŵw7@f }ĵzpE{y?v'Xhٜʿ"jEV*jEPwV>pErrwZ¯6@]I-<pE]ʿ4?~Z8ɿiEAjEiEՅ]m?iE*  jE~BzjEՅ]m?jEe'y jAjjEArjE/V?5 addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.501982 s, deltaX: -0.299999 m, approachRate: -0.597629 m/s, rangeRepo size: 4 E Added new target pos. range: 23.700001 m, bearing: 102.262129 deg, lat: 36.903932 deg, lon: -122.119049 deg, deltaT: 0.501982 s, deltaX: -0.299999 m, approachRate: -0.597629 m/s, posRepo size: 4 2iAuDNOT Ignoring new targets: 23.70 m.*iqiq"iy ProNav: ac range: 23.700001 m, nav range: 23.340616 m, bearing: 102.208799 deg, approach rate: 0.000000 m/s, LOS rate: -0.029527 deg/s, cmd heading: 105.346673 deg, new cmd heading: 105.300035 deg.  iHeadingCmd: 1.837832 target range: 23.700001 and range: 23.70 m.h>?hhhhggbgjgBeejeJe@37@:e 1?efBɛtV) n>i)隑i =i>?g<$=I>?IDDe Da Da Ee v0 Ei A checking for new query: numPingsReceived=47, elapsed TxPingTime=24.187946:J BIBJ 9JJ RJ TZJ -`nhd_WSQJDB<9:6430,-(**'$%&"$$&#!VFMF<F)ZAYM?WDDx,8]Abȇ?ybR?9b*¼YbW8=bH/ӿK`:W?`?ӿ?D?`b??bȇ?ɨbP; b4C~B (I)= p=H5]H55M MJ=YM.;Q U>Q٣Q UGUF]; ]>i]u49mn?au4Ym7 imϑBqu]?q}@m<&Dm:m:m44 4@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 23.70 m.*iiۺ"iۺ ProNav: ac range: 23.700001 m, nav range: 23.133137 m, bearing: 102.176528 deg, approach rate: -0.611568 m/s, LOS rate: -0.095977 deg/s, cmd heading: 105.300036 deg, new cmd heading: 105.202354 deg.  iHeadingCmd: 1.836127 target range: 23.700001 and range: 23.70 m.h9?hhhhggbgjgeejeJe:e?`Bɛhͼ) * >i)\隡i8 =i9?,j<2=I9?I DDAT read: Rx Time:19:25:55.8637  TRx dataTimestamp_ set to:1736537156.383923PDAT read: Bearing 353.5, 12.2 (Local) ~Local bearing/azimuth received: Bearing 353.5, 12.2 (Local) -DAT read: Range 10 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 MDAT read: 19:25:55.8637 LVL= 20240, 28657, 15634, 32755, AGC= 51, IDX= 502, 0.09, 2.320, 0.984, 2.475, 1.882, PHS= 0.526,-0.851, 0.590, RAW= 152.3, -3.8, CAL= 156.5, -12.2, ROT= 353.5, 12.2 UYgot valid direction response: 19:25:55.8637 LVL= 20240, 28657, 15634, 32755, AGC= 51, IDX= 502, 0.09, 2.320, 0.984, 2.475, 1.882, PHS= 0.526,-0.851, 0.590, RAW= 152.3, -3.8, CAL= 156.5, -12.2, ROT= 353.5, 12.2 ]T#Rx 48: Read range and direction messages.e`direction in FSK: [0.971133,-0.110647,-0.211325]eFpublishing direction and range info Y ٺQ?TxXS\ ˿ ̼A9  O o) =I i  ? #Y = ? *@ ԇ) I ^ Zi  ^ Z>   =̆?xF ?&I 9?i =  ^ Z>  checking for new query: numPingsReceived=48, elapsed TxPingTime=24.455742DDDE1 EVFu=FZAMl>ZI}bI}jIyrIyzI};I}:IyIy checking for new query: numPingsReceived=48, elapsed TxPingTime=24.690758G5 R>G5 CG5 (IG5 BG5 & =G5 HDG5 :DG5 <G5 FHʣC HʤCHʕCH ="H =*HV6yJDx,-+]A6?y6V?96ݷY6=6H`8ӿAIV??4Aӿ?:??y?6?ɨ69; 66CBBB-(IMb@Mb@Mb@ )Iy%C?Mb:vZ?T @)@Ii@H;H 5a6= 3=Y\4;Q >٣ G ;  >1]=495dn?a=4Y5. i5ΑB=u?mE:E?qE@5K&D5Q:5:5<4i m@qZjMO|Pm?bjML iIiM2]AjM̼AjMA2jM?pMwDY26@n[LzpMٺQ?TxXS\ ˿"jI*jM^ Z>pMD> s6@A" pMS"˿ye(?@ɿiMAjMiMMm?iM  jM}~BzjIjM a jIjjM1ArjM,? addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503143 s, deltaX: -0.100000 m, approachRate: -0.198751 m/s, rangeRepo size: 4 5 Added new target pos. range: 23.600000 m, bearing: 102.498158 deg, lat: 36.903932 deg, lon: -122.119049 deg, deltaT: 0.503143 s, deltaX: -0.100000 m, approachRate: -0.198751 m/s, posRepo size: 4 2i1=DNOT Ignoring new targets: 23.60 m.*i9i="i9] ProNav: ac range: 23.600000 m, nav range: 22.898939 m, bearing: 102.136107 deg, approach rate: 0.000000 m/s, LOS rate: -0.095977 deg/s, cmd heading: 105.202351 deg, new cmd heading: 105.065287 deg.  ia}HeadingCmd: 1.833735 target range: 23.600000 and range: 23.60 m.hַ?hhhhggbgjgBeejeJe7@:e ?-DDAT read: Rx Time:19:25:56.3635 -TRx dataTimestamp_ set to:1736537156.8878855PDAT read: Bearing 353.6, 12.2 (Local) =~Local bearing/azimuth received: Bearing 353.6, 12.2 (Local) MDAT read: Range 10 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 uDAT read: 19:25:56.3635 LVL= 20656, 24433, 15714, 31283, AGC= 51, IDX= 499, 0.45, 1.932, 0.574, 2.087, 1.487, PHS= 0.533,-0.866, 0.596, RAW= 152.2, -3.7, CAL= 156.4, -12.2, ROT= 353.6, 12.2 }Ygot valid direction response: 19:25:56.3635 LVL= 20656, 24433, 15714, 31283, AGC= 51, IDX= 499, 0.45, 1.932, 0.574, 2.087, 1.487, PHS= 0.533,-0.866, 0.596, RAW= 152.2, -3.7, CAL= 156.4, -12.2, ROT= 353.6, 12.2 T#Rx 49: Read range and direction messages.`direction in FSK: [0.971325,-0.108951,-0.211325]Fpublishing direction and range info)Y-3bK?-"G;仿\ ˿-fA9)-P -q_)-b=I-3zi)-r?--]-u?-P*@ - A)-R.@I)i-|@)) )-6?ђ<?4 㗰I-?i-ք=-i佩)) )checking for new query: numPingsReceived=49, elapsed TxPingTime=24.959543雽VBɛм) I>i)6i =iַ? <.=Iַ?IDDDE0 EEEVF =zF rF F  checking for new query: numPingsReceived=49, elapsed TxPingTime=25.195251ZA M >5RDx,DI]A:J NBJ9JJRJUZJ N@?yN~?9NƭYNo=NHfӿgC ?|?lӿ?e?@ ?`?N@?ɨNJE; L^B^1(IHpHp~,< ~P=Y?M;Q  > ٣ GF; >)]549-n?a54Y-  i-͑B9=?q=@-X&D->;-L?;-C4 O@EZjE*Im?bjE ii8]AjfAj"A2jq?pFt6@N^ zp3bK?-"G;仿\ ˿"ji*jp %85 A6@\[Epˆȣ˿\z?KrɿiAj(i_HFm?iL  j~Bzjja j}~BjjArj ? addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503962 s, deltaX: -0.300001 m, approachRate: -0.595285 m/s, rangeRepo size: 4 u Added new target pos. range: 23.299999 m, bearing: 102.749548 deg, lat: 36.903932 deg, lon: -122.119049 deg, deltaT: 0.503962 s, deltaX: -0.300001 m, approachRate: -0.595285 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 23.30 m.*ii"ie ProNav: ac range: 23.299999 m, nav range: 22.743961 m, bearing: 102.075700 deg, approach rate: 0.000000 m/s, LOS rate: -0.095977 deg/s, cmd heading: 105.065289 deg, new cmd heading: 104.945443 deg.  iamHeadingCmd: 1.831643 target range: 23.299999 and range: 23.30 m.hmKs?hhhhggbgjgeejeJeL7@:eTm?MBɛ) da>i)MɻIIiM =iUKs?U E ڑ ۑە[3?'2"?A8"ZIە?iەj=ەV轩ەBR>ۑ ܑchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.485922VF,=F ZA M >WXDx,b]A͈B D(Ii4=AH%6H%] 5E= EG=YMQ ]>a٣i mGmF >]49n?a4Y ȋBq@f&Dm;;J4 Y@ checking for new query: numPingsReceived=50, elapsed TxPingTime=25.702406G}O>G}CG}(IG}(BG}' =GyG}9DG}j<G} FZj`jKm?bj ii$&Y]Aj̸AjA2j6?p\kw6@ScVzًN;zp|U?H#3^rG,ʿ"jV*jBR>p,;A>j6@WU p"o:c˿ǜi?3p#ȿiAj)il!Im?iE  jBzjMm?jL j~BjjArj?  addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.505068 s, deltaX: -0.199999 m, approachRate: -0.395984 m/s, rangeRepo size: 4 % Added new target pos. range: 23.100000 m, bearing: 102.601399 deg, lat: 36.903930 deg, lon: -122.119048 deg, deltaT: 0.505068 s, deltaX: -0.199999 m, approachRate: -0.395984 m/s, posRepo size: 4 2iAMDNOT Ignoring new targets: 23.10 m.*iIiI"iQ] ProNav: ac range: 23.100000 m, nav range: 22.584972 m, bearing: 102.497149 deg, approach rate: 0.000000 m/s, LOS rate: -0.095977 deg/s, cmd heading: 104.945440 deg, new cmd heading: 104.818398 deg.  iaHeadingCmd: 1.829426 target range: 23.100000 and range: 23.10 m.h*?hhhhggbgjgeejeJe7@:ea?%EBɛ%U)) ->i))-))i5 =i5*?58t <=cLF=I=*?IIY)Y J|G1 IDeDi)}yy}ADiE 2 E@ B DDAT read: Rx Time:19:25:57.3631  TRx dataTimestamp_ set to:1736537157.896601 PDAT read: Bearing 353.5, 11.9 (Local)  ~Local bearing/azimuth received: Bearing 353.5, 11.9 (Local)  DAT read: Range 10 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4  DAT read: 19:25:57.3631 LVL= 21104, 23025, 8131, AIDX= 496, 0.08,-2.100, 2.806,-1.936,-2.544, PHS= 0.532,-0.887, 0.605, RAW= 152.5, -3.5, CAL= 156.5, -11.9, ROT= 353.5, 11.9  unknown deviceResponse_: 19:25:57.3631 LVL= 21104, 23025, 8131, AIDX= 496, 0.08,-2.100, 2.806,-1.936,-2.544, PHS= 0.532,-0.887, 0.605, RAW= 152.5, -3.5, CAL= 156.5, -11.9, ROT= 353.5, 11.9 - Z#Rx 51: Read range message, but no direction.ر ص A9ر  checking for new query: numPingsReceived=51, elapsed TxPingTime=25.963243VF H-=F ZA M >^Dx,w/~]A5ʈB5@(IZIbIjIrIzII|:IIIJ_<qIJ_<i%I;u%I;m%Mb@Mb@Mb@ )Iy(\?QI +?u94 O@)@I@iȞ@p@H,H5%l %(=Y)Q ->)٣) 5G11 5>9]e49=n?ae4Y=- i9m?mm:m4?qm@=v&D=;=;=DS4uB u@uE addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503648 s, deltaX: -0.400000 m, approachRate: -0.794205 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 23.10 m.*ii}"i}% ProNav: ac range: 23.100000 m, nav range: 22.332396 m, bearing: 102.455459 deg, approach rate: -0.600974 m/s, LOS rate: -0.100318 deg/s, cmd heading: 104.818398 deg, new cmd heading: 104.691914 deg.  i--HeadingCmd: 1.827219 target range: 23.100000 and range: 22.70 m.h5M?h1h1h1h1g1g1bgajgeBeaeajeaJem@36@:em?=Bɛ=&)9 =>iA)EIAAiE =iMM?M seDx,]A2?y2?92Y2>2H/ӿ0D ?s?`؛ӿ^?@R?2??2?ɨ23; 27CN҈BRJ(IHZVHZ5fDDAT read: Rx Time:19:25:57.8631 fTRx dataTimestamp_ set to:1736537158.399817nPDAT read: Bearing 353.4, 11.9 (Local) n~Local bearing/azimuth received: Bearing 353.4, 11.9 (Local) vDAT read: Range 10 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4  DAT read: 19:25:57.8631 LVL= 24032, 23569, 14162, 26755, AGC= 51, IDX= 511, 0.37, 0.135,-1.269, 0.302,-0.318, PHS= 0.541,-0.904, 0.617, RAW= 152.5, -3.5, CAL= 156.6, -11.9, ROT= 353.4, 11.9 Ygot valid direction response: 19:25:57.8631 LVL= 24032, 23569, 14162, 26755, AGC= 51, IDX= 511, 0.37, 0.135,-1.269, 0.302,-0.318, PHS= 0.541,-0.904, 0.617, RAW= 152.5, -3.5, CAL= 156.6, -11.9, ROT= 353.4, 11.9 T#Rx 52: Read range and direction messages.%`direction in FSK: [0.972024,-0.112467,-0.206204]%Fpublishing direction and range infodYf?q?1_G=ʼFa5dʿd9df] f\)fR7Ifhidf~ ?flgf?fX*@ f5z)f.@IfȭTif4`@fȭT>d df>uK?S|.?dꮿIfAe?if|w=f뽩fȭT>d dMchecking for new query: numPingsReceived=52, elapsed TxPingTime=26.4712731= c=Yo٣ GFW2< >]49$n?a4YZ iˑB%?q%@&Dy;;Y4) -@)ZjfiX@m?bjfm` idif]AjfAjf]A2jf?pfv6@blo,zpf?q?1_G=ʼFa5dʿ"jf*jfȭT>pfA }\5@:+ٮtpfnYY˿'C?# XʿifXAjfbif >m?ifdg  jf/Bzjfl!Im?jfdg jf~BjjfArjfv?M addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503216 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 22.700001 m, bearing: 102.867162 deg, lat: 36.903930 deg, lon: -122.119048 deg, deltaT: 1.006864 s, deltaX: -0.400000 m, approachRate: -0.397273 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 22.70 m.*i!i%"i!} ProNav: ac range: 22.700001 m, nav range: 22.197245 m, bearing: 102.536260 deg, approach rate: 0.000000 m/s, LOS rate: -0.100318 deg/s, cmd heading: 104.691917 deg, new cmd heading: 104.575509 deg.  iy}HeadingCmd: 1.825187 target range: 22.700001 and range: 22.70 m.h?hhhhggbgjgeejeJe:ej?-5Bɛ-${)) -C>i))511i5} =i=?=4i<=%c=I=?IaDDDE>5 Echecking for new query: numPingsReceived=52, elapsed TxPingTime=26.709621GJ>GG(IG7BG) =GGG#<G FVF F ZA ME >#kDx,tӱ]A~?y~x?9~bY~G=~Hأӿ@4?s?ӿ@d? 9B???~?ɨ~]; ~6Cu؈BuQ(IIy)y)p= -Mb@Mb@Mb@)) )))I)y-K7A`?~jt~jtx- ?--Ļ -@)-@I)i))-@HEEHE5U< UB=Y];Q ]>Y٣a eGeFe e>i]u49mn?a}4Ym ii} ?m}:}?q}@m&Dm:m:m`4 @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 22.70 m.*ii]Ժ"i]Ժ ProNav: ac range: 22.700001 m, nav range: 21.969324 m, bearing: 102.500676 deg, approach rate: -0.588492 m/s, LOS rate: -0.092832 deg/s, cmd heading: 104.575510 deg, new cmd heading: 104.467650 deg.  i~HeadingCmd: 1.823304 target range: 22.700001 and range: 22.70 m.h b?hhhhggbgjgBeejeJe:e k?%.Bɛ%e8)) ->i1)511i5* =i= b?=Q<= h=I= b?IADDAT read: Rx Time:19:25:58.3629 TRx dataTimestamp_ set to:1736537158.904810PDAT read: Bearing 353.0, 11.5 (Local) ~Local bearing/azimuth received: Bearing 353.0, 11.5 (Local) DAT read: Range 10 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 ]DAT read: 19:25:58.3629 LVL= 21264, 22977, 13970, 26611, AGC= 51, IDX= 509,-0.25,-2.479, 2.463,-2.295,-2.891, PHS= 0.500,-0.883, 0.593, RAW= 153.2, -3.0, CAL= 157.0, -11.5, ROT= 353.0, 11.5 uYgot valid direction response: 19:25:58.3629 LVL= 21264, 22977, 13970, 26611, AGC= 51, IDX= 509,-0.25,-2.479, 2.463,-2.295,-2.891, PHS= 0.500,-0.883, 0.593, RAW= 153.2, -3.0, CAL= 157.0, -11.5, ROT= 353.0, 11.5 }T#Rx 53: Read range and direction messages.`direction in FSK: [0.972620,-0.119423,-0.199368]Fpublishing direction and range infoY??B,3iɿ3A9S Y)6Igi?J b?D +@DDDEj0 E PwV)^/@IMi'@M> *?~?mb|˃Is?i6T=5M> 5checking for new query: numPingsReceived=53, elapsed TxPingTime=27.004086VFR`U=FyZAM^>H1H1I3I;3I;.I3I3I3ZI=bI=8jI9rI9zI=\;I=:I9I9I=t<I=t<I=;I=; checking for new query: numPingsReceived=53, elapsed TxPingTime=27.2109782rDx,@l]A:J"JBJ"59JJ RJ"WZJ"J2 ? J2>ND?yN?9NN@YN:=NH {ӿ;@R? v? ӿ(? ?x?u?ND?ɨNT܌; LXXHb4Hb{5Yj;Q j>p٣p vGxC  >]49en?a4Y i?q%@&DQ;;g4) ))Zj-9Om?bj- i)i-h]Aj-3Aj-A2j-v?p-;e5@{N7fNۑzp-??B,3iɿ"j-5*j-M>p-ƥfS[q5@sp-RL@ʿ#?lcɿi-Aj-.i-dLm?i-vw  j-Bzj)j-E j-/Bjj-TArj-?] addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504993 s, deltaX: -0.300001 m, approachRate: -0.594070 m/s, rangeRepo size: 4  Added new target pos. range: 22.400000 m, bearing: 102.265815 deg, lat: 36.903930 deg, lon: -122.119048 deg, deltaT: 0.504993 s, deltaX: -0.300001 m, approachRate: -0.594070 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 22.40 m.*ii"i ProNav: ac range: 22.400000 m, nav range: 21.791355 m, bearing: 102.461994 deg, approach rate: 0.000000 m/s, LOS rate: -0.092832 deg/s, cmd heading: 104.467648 deg, new cmd heading: 104.350859 deg.  iHeadingCmd: 1.821266 target range: 22.400000 and range: 22.40 m.h??hhhhgg bg jg e ejeJe`ff6@:e ?]$Bɛ]`O)Y eD>ia)ձ隩i =i??<j=I??ID%D!D!E! E!DDAT read: Rx Time:19:25:58.8627 TRx dataTimestamp_ set to:1736537159.407984PDAT read: Bearing 353.2, 11.2 (Local) M~Local bearing/azimuth received: Bearing 353.2, 11.2 (Local) }DAT read: Range 10 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 DAT read: 19:25:58.8627 LVL= 22720, 23329, 13666, 27699, AGC= 51, IDX= 507,-0.06,-2.352, 2.574,-2.172,-2.763, PHS= 0.499,-0.899, 0.587, RAW= 153.0, -2.6, CAL= 156.8, -11.2, ROT= 353.2, 11.2 Ygot valid direction response: 19:25:58.8627 LVL= 22720, 23329, 13666, 27699, AGC= 51, IDX= 507,-0.06,-2.352, 2.574,-2.172,-2.763, PHS= 0.499,-0.899, 0.587, RAW= 153.0, -2.6, CAL= 156.8, -11.2, ROT= 353.2, 11.2 T#Rx 54: Read range and direction messages.`direction in FSK: [0.974055,-0.116149,-0.194234]Fpublishing direction and range infoYX.t+?W:mVѫȿ̰A9X ![)b5I3li|>$fE?*@ 9)%/@I+HiC@+H> [NH;? l?5jI?ig;=+H> checking for new query: numPingsReceived=54, elapsed TxPingTime=27.490873VF a=zF rF F ZA M >xDx,D]ABY?yBX?9BlYBn=BHxsӿ`C@!O?|?`cӿ#?9??a٣a mGmF >]-49n?a54G@>GCG(IGp5'ծlC6+5@G˔vmp5bʿ`C?FNS~;ɿi5^Aj5ei5XKm?i5  j5Bzj1j1j5Bjj5uArj5a?M addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503174 s, deltaX: -0.299999 m, approachRate: -0.596214 m/s, rangeRepo size: 4 } Added new target pos. range: 22.100000 m, bearing: 102.274411 deg, lat: 36.903930 deg, lon: -122.119048 deg, deltaT: 0.503174 s, deltaX: -0.299999 m, approachRate: -0.596214 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 22.10 m.*ii"i ProNav: ac range: 22.100000 m, nav range: 21.557384 m, bearing: 102.425962 deg, approach rate: 0.000000 m/s, LOS rate: -0.092832 deg/s, cmd heading: 104.350858 deg, new cmd heading: 104.211564 deg.  iHeadingCmd: 1.818835 target range: 22.100000 and range: 22.10 m.h?hhhhggbgjge1e1je9Je=6@:e=J?雅Bɛ6 X) V>i)0隉)i5 =i5?=<=dFl=I=?I9 % DDAT read: Rx Time:19:25:59.3625 % TRx dataTimestamp_ set to:1736537159.9141045 PDAT read: Bearing 352.8, 12.5 (Local) 5 ~Local bearing/azimuth received: Bearing 352.8, 12.5 (Local) E DAT read: Range 10 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 m DAT read: 19:25:59.3625 LVL= 24688, 27697, 15602, 32051, AGC= 50, IDX= 504, 0.10,-1.583,-2.921,-1.408,-2.024, PHS= 0.529,-0.850, 0.613, RAW= 152.9, -4.1, CAL= 157.2, -12.5, ROT= 352.8, 12.5 u Ygot valid direction response: 19:25:59.3625 LVL= 24688, 27697, 15602, 32051, AGC= 50, IDX= 504, 0.10,-1.583,-2.921,-1.408,-2.024, PHS= 0.529,-0.850, 0.613, RAW= 152.9, -4.1, CAL= 157.2, -12.5, ROT= 352.8, 12.5 u T#Rx 55: Read range and direction messages.} `direction in FSK: [0.968598,-0.122363,-0.216440]} Fpublishing direction and range info! Y% k/Y?. I)SK˿% ̬A9! % p` % 1l)% <I% 3}i% 2% l?% Y% ?% {*@ % C)% /@I% f_i% j @% f_>! ! % \s? &Y?qI% "?i% U=% % f_>! ! D D D E 5 E  checking for new query: numPingsReceived=55, elapsed TxPingTime=27.984739ZIubIuBjIu1rIqzIuD#;Iu:Iu3IqIu{<Iu{<Iuw;Iux;VFf=FZAM?g{Dx,T7]A:q?y:?9:һY:.g=:Hӿ`g`?ύ?@ҿڗ?Qzw?¸?`t?:q?ɨ:w; :6CֈBO(I)٣1 5G5F5K =>9]E49=n?aM4Y=  i=ɑBM ?mM:M?qM@=&D=#:=:=ix4:JUBJUs9JJQRJUXZJU7LmB m̢@mEZjSmm?bj˵ ii]Aj̬AjA2jmk?p!4@$*NLzpk/Y?. I)SK˿"j*jf_>p4ޔU膦4@n8'pȿE?I$~`̿i4AjiCkm?i+  j~BzjXKm?jjjjArjP}? addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.506120 s, deltaX: -0.500000 m, approachRate: -0.987908 m/s, rangeRepo size: 4  Added new target pos. range: 21.600000 m, bearing: 101.350698 deg, lat: 36.903930 deg, lon: -122.119048 deg, deltaT: 0.506120 s, deltaX: -0.500000 m, approachRate: -0.987908 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 21.60 m.*ii"i ProNav: ac range: 21.600000 m, nav range: 21.246191 m, bearing: 102.277219 deg, approach rate: 0.000000 m/s, LOS rate: -0.092832 deg/s, cmd heading: 104.211563 deg, new cmd heading: 104.091556 deg.  iHeadingCmd: 1.816740 target range: 21.600000 and range: 21.60 m.h?hhhhggbgjg Be1e9jeiJeu5@:eu $?BɛN/&) >i)%!)i- =i-?5<6<5Z=I5?I1DDDE 5 E DDAT read: Rx Time:19:25:59.8624  TRx dataTimestamp_ set to:1736537160.416052 PDAT read: Bearing 353.2, 12.8 (Local)  ~Local bearing/azimuth received: Bearing 353.2, 12.8 (Local)  DAT read: Range 10 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4  DAT read: 19:25:59.8624 LVL= 23104, 26081, 14994, 29955, AGC= 51, IDX= 503, 0.26,-0.177,-1.537,-0.014,-0.638, PHS= 0.549,-0.853, 0.620, RAW= 152.5, -4.4, CAL= 156.8, -12.8, ROT= 353.2, 12.8  Ygot valid direction response: 19:25:59.8624 LVL= 23104, 26081, 14994, 29955, AGC= 51, IDX= 503, 0.26,-0.177,-1.537,-0.014,-0.638, PHS= 0.549,-0.853, 0.620, RAW= 152.5, -4.4, CAL= 156.8, -12.8, ROT= 353.2, 12.8  T#Rx 56: Read range and direction messages. `direction in FSK: [0.968290,-0.115461,-0.221548] Fpublishing direction and range infoع Yؽ :?Oڀ@|[̿ؽ A9ع ؽ @Z ٽ e)ٽ :Iٽ uiٽ 3ٽ D ?ٽ 5^Zٽ R?ٽ X*@ ڽ nF)ڽ %/@Iڽ diڽ C@ڽ d>ڹ ۹ ۽ W5?i%??n{ѳI۽ ?i۽ =۽ ۽ d>۹ ܹ  checking for new query: numPingsReceived=56, elapsed TxPingTime=28.504257VF F ZA M >ՇDx, ]AJL?yJ)?9J,~YJ^=JH`@ҿ@}v䇶??`ҿ L?@o?C? ?JL?ɨJ%A; J5CZ؈BZQ(IHfQHfT5n< no=Yrڱ;Q r?t٣t vGtvSB z?x]%49zn?a%4YzT ix!%?q-@z&Dz;z;za~45B 5@5EZjgm?bjxp ii]AjAjӪA2j?pbkw4@z{ zp:?Oڀ@|[̿"j*jd>p73ޱR y4@ kp!ȿFA7??ljͿi'Aj-ieem?i  j"~BzjdLm?jdg j/BjjYArjd`? addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.501948 s, deltaX: -0.100000 m, approachRate: -0.199225 m/s, rangeRepo size: 4 E Added new target pos. range: 21.500000 m, bearing: 101.465560 deg, lat: 36.903930 deg, lon: -122.119048 deg, deltaT: 0.501948 s, deltaX: -0.100000 m, approachRate: -0.199225 m/s, posRepo size: 4 2iAMDNOT Ignoring new targets: 21.50 m.*iIiI"iI} ProNav: ac range: 21.500000 m, nav range: 21.043760 m, bearing: 102.226646 deg, approach rate: 0.000000 m/s, LOS rate: -0.092832 deg/s, cmd heading: 104.091557 deg, new cmd heading: 103.991992 deg.  iHeadingCmd: 1.815003 target range: 21.500000 and range: 21.50 m.hR?hh1h9h9gAgIbgyjgeejeJe5@:e V?checking for new query: numPingsReceived=56, elapsed TxPingTime=28.725010GGAAG:>GCGGG1 =GG6DG/<G FBɛٻ) >i)[i~ =iR?2<S=IR?IDDDE4 EVF @Z=F ?F ?u DDAT read: Rx Time:19:26:00.3622 } TRx dataTimestamp_ set to:1736537160.921116 PDAT read: Bearing 353.8, 12.6 (Local)  ~Local bearing/azimuth received: Bearing 353.8, 12.6 (Local) F ZA M >t>Dx,U;]A"DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 :DAT read: 19:26:00.3622 LVL= 21312, 24481, 14194, 27923, AGC= 51, IDX= 500, 0.47,-1.155,-2.533,-1.012,-1.622, PHS= 0.556,-0.864, 0.608, RAW= 151.8, -4.2, CAL= 156.2, -12.6, ROT= 353.8, 12.6 >Ygot valid direction response: 19:26:00.3622 LVL= 21312, 24481, 14194, 27923, AGC= 51, IDX= 500, 0.47,-1.155,-2.533,-1.012,-1.622, PHS= 0.556,-0.864, 0.608, RAW= 151.8, -4.2, CAL= 156.2, -12.6, ROT= 353.8, 12.6 T#Rx 57: Read range and direction messages. `direction in FSK: [0.970209,-0.105398,-0.218143] Fpublishing direction and range info!Y%U ?bz?c'$˿%A9!%@S %_)%r7I%mi!%V?%/]%?%)@ %Q )%!z.@I%z0ai%e@%z0a>!MUV?yMߓ?9M*غYM=MH}ҿ g?ढ?mҿ4?@Y[? FV??MUV?ɨM:; M6CeшBeH(I !% ?4k-M?fcI%?i%=%iݽ%z0a>! !checking for new query: numPingsReceived=57, elapsed TxPingTime=29.038790Mb@Mb@Mb@ZI bI?jIrIzI';I&:III݁<Iށ<I;I; )Iy/$?:v٣ GF >]49n?a4Y iƑB@?m:?q@&D>;)G;4) 54@1Zj%^m?bj%Ʋ i!i%:]Aj%Aj%pA2j%:E?p%])4@$Ϡzp%U ?bz?c'$˿"j%iݽ*j%z0a>p%5W;94@̲wp%[ɿ»db?|̿i%͡Aj%gi%[m?i%d  j%~Bzj%[m?j% j%~Bjj%]Arj%@? addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.505064 s, deltaX: -0.299999 m, approachRate: -0.593983 m/s, rangeRepo size: 4 m Added new target pos. range: 21.200001 m, bearing: 101.731525 deg, lat: 36.903932 deg, lon: -122.119049 deg, deltaT: 0.505064 s, deltaX: -0.299999 m, approachRate: -0.593983 m/s, posRepo size: 4 2iiuDNOT Ignoring new targets: 21.20 m.*iqiq"iq ProNav: ac range: 21.200001 m, nav range: 20.670849 m, bearing: 101.723406 deg, approach rate: 0.000000 m/s, LOS rate: -0.092832 deg/s, cmd heading: 103.991993 deg, new cmd heading: 103.838013 deg.  iHeadingCmd: 1.812315 target range: 21.200001 and range: 21.20 m.h?hhhhggbgjgBeejeJe@335@:e@P?Mchecking for new query: numPingsReceived=57, elapsed TxPingTime=29.227537雝Bɛ) >i)5 iz =i? J< N=I ?I1:JDRLBJJJRJYZJIB:% Ju9enUH;8=Uoyvm_YO<-#  {D D D E -5 E VFJR=FZA=<DDAT read: Rx Time:19:26:00.8621 TRx dataTimestamp_ set to:1736537161.4281495PDAT read: Bearing 353.9, 12.2 (Local) 5~Local bearing/azimuth received: Bearing 353.9, 12.2 (Local) EDAT read: Range 10 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 mDAT read: 19:26:00.8621 LVL= 21840, 26481, 13810, 31907, AGC= 51, IDX= 500,-0.28,-1.235,-2.591,-1.090,-1.683, PHS= 0.536,-0.861, 0.590, RAW= 151.9, -3.8, CAL= 156.1, -12.2, ROT= 353.9, 12.2 uYgot valid direction response: 19:26:00.8621 LVL= 21840, 26481, 13810, 31907, AGC= 51, IDX= 500,-0.28,-1.235,-2.591,-1.090,-1.683, PHS= 0.536,-0.861, 0.590, RAW= 151.9, -3.8, CAL= 156.1, -12.2, ROT= 353.9, 12.2 uT#Rx 58: Read range and direction messages.}`direction in FSK: [0.971882,-0.103864,-0.211325]}Fpublishing direction and range infoY㌧?SŠLٖ\ ˿A9PU qg)5I|iL7 ?j\= ?)@ ԇ)].@I^ Zi@^ Z> |U8?`gT?/_O̰Ir?i7{=i ڽ^ Z> checking for new query: numPingsReceived=58, elapsed TxPingTime=29.499680M?ҖDx,\]AR9?yR)?9R_y9YR9T=RH@Jҿَ*}? G?@.:ҿ ?+!"d?Y?R9?ɨR$; R7C^ЈB^G(II`)`)f= f=HzVHz5  C  O=Y;Q >٣ GFN %>!]-49%n?aU4Y% i%đBQU:?qU@%&D%d;%;%Ύ4a e>@aZjNam?bjpwl iif[]AjAj٦A2j?puh4@~Ir Tzp㌧?SŠLٖ\ ˿"ji ڽ*j^ Z>pp&e lk4@1wmp{Iɿ5L? 7L0̿iAjaih^m?iֈ̭  j3Bzjh^m?jjjjArj_?= addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.507033 s, deltaX: -0.200001 m, approachRate: -0.394453 m/s, rangeRepo size: 4 M Added new target pos. range: 21.000000 m, bearing: 101.559571 deg, lat: 36.903932 deg, lon: -122.119049 deg, deltaT: 0.507033 s, deltaX: -0.200001 m, approachRate: -0.394453 m/s, posRepo size: 4 2iimDNOT Ignoring new targets: 21.00 m.*iiiq"iq ProNav: ac range: 21.000000 m, nav range: 20.453178 m, bearing: 101.579656 deg, approach rate: 0.000000 m/s, LOS rate: -0.092832 deg/s, cmd heading: 103.838014 deg, new cmd heading: 103.729452 deg.  iHeadingCmd: 1.810421 target range: 21.000000 and range: 21.00 m.hܻ?hhhhggbgjgeejeJe5@:e?}Bɛ}pvk)y >i)b 隩iz =iܻ?I<BJ=Iܻ?ID}DyDyE}_0 Ey5checking for new query: numPingsReceived=58, elapsed TxPingTime=29.737358GE<>GAGAGAGAGAGE7DGE<GE FHƞC HƞCHƔCH, ="H, =*H6VF Dx,lv]A2oo?y2?92d;Y2Sh=2HҿX??@xѿ`~s?`b? ?2oo?ɨ2Œ; 24CNƈBN<(IMb@Mb@Mb@ )IyE?~jt~jtx?DĻ 9@)@Iin@H ZH Q5DDAT read: Rx Time:19:26:01.3618 TRx dataTimestamp_ set to:1736537161.932495PDAT read: Bearing 354.3, 12.4 (Local) ~Local bearing/azimuth received: Bearing 354.3, 12.4 (Local) DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4 DAT read: 19:26:01.3618 LVL= 22576, 22321, 14290, 26755, AGC= 51, IDX= 497,-0.11,-2.173, 2.729,-2.041,-2.638, PHS= 0.553,-0.870, 0.593, RAW= 151.4, -3.9, CAL= 155.7, -12.4, ROT= 354.3, 12.4 Ygot valid direction response: 19:26:01.3618 LVL= 22576, 22321, 14290, 26755, AGC= 51, IDX= 497,-0.11,-2.173, 2.729,-2.041,-2.638, PHS= 0.553,-0.870, 0.593, RAW= 151.4, -3.9, CAL= 155.7, -12.4, ROT= 354.3, 12.4 T#Rx 59: Read range and direction messages.`direction in FSK: [0.971843,-0.097003,-0.214735]Fpublishing direction and range info؁Y؅=V?C.ոh`r|˿؅̤A9؁؅0X م1W)م7Iمhiفمh ?مR^م?م)@ څ'g)څ'-@Iڅk]iڅ@څk]>ځ ہۅ+5B?^?,hDIۅ/ ?iۅ#>=ۅ)˽ۅk]>ہ ܁ checking for new query: numPingsReceived=59, elapsed TxPingTime=30.004873u }*=YΓ;Q >٣ GF >]496n?a4Y  i‘B?m:?q@&D`;P';f4 ף@!ZjQg_m?bj $ ii{]Aj̤AjA2j ?p4@.szp=V?C.ոh`r|˿"j)˽*jk]>paT[=m돣3@ipp[:ɿW>?ʙagc̿iMAjiLM]m?i  jBzjjd jjjrArj? addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504346 s, deltaX: -0.400000 m, approachRate: -0.793106 m/s, rangeRepo size: 4  Added new target pos. range: 20.600000 m, bearing: 101.667447 deg, lat: 36.903932 deg, lon: -122.119049 deg, deltaT: 0.504346 s, deltaX: -0.400000 m, approachRate: -0.793106 m/s, posRepo size: 4 2iEDNOT Ignoring new targets: 20.60 m.*iAiA"iAU ProNav: ac range: 20.600000 m, nav range: 20.180885 m, bearing: 101.542215 deg, approach rate: 0.000000 m/s, LOS rate: -0.092832 deg/s, cmd heading: 103.729455 deg, new cmd heading: 103.594011 deg.  iQHeadingCmd: 1.808057 target range: 20.600000 and range: 20.60 m.hfn?hhhhggbgjguBeejeJe4@:e ʹ?%Bɛ%"ӻ)! %>i))-8 ))i-)% =i5fn?5g<5_IF=I5fn?IYDaDe>DDDE4 E- checking for new query: numPingsReceived=59, elapsed TxPingTime=30.239044:J ,EOBJ @9JJ RJ ZZJ sjaZQG?Mz  e. |unf`[UROGB<742/-*,VF= 'K=zFQ rFQ FQ ZAY Mu >pDx,I]A%?y%aD?9%;Y%=%H@ѿbS?`g?ѿb?:~q\??%?ɨ%; %7C]ňB]:(IHm?HmZ 5-( 5M=Y59;Q 5>9٣9 =G9 >]49n?a4Y iBu?q@ 'D;V:f4B @EB*** querying acoustic contact ***ii2iIUDNOT Ignoring new targets: 20.60 m.*iQiUҺ"iUҺ ProNav: ac range: 20.600000 m, nav range: 19.970497 m, bearing: 101.506278 deg, approach rate: -0.534143 m/s, LOS rate: -0.092201 deg/s, cmd heading: 103.594012 deg, new cmd heading: 103.485064 deg.  i}HeadingCmd: 1.806155 target range: 20.600000 and range: 20.60 m.h0?hhhhg gbgjgeeAjeAJeI:eM@%?mDDAT read: Rx Time:19:26:01.8617 uTRx dataTimestamp_ set to:1736537162.435884}PDAT read: Bearing 350.9, 5.0 (Local) }~Local bearing/azimuth received: Bearing 350.9, 5.0 (Local) DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 DAT read: 19:26:01.8617 LVL= 23648, 24385, 15058, 29171, AGC= 51, IDX= 512, 0.07, 0.799,-1.196, 1.252, 0.479, PHS= 0.408,-1.628, 0.770, RAW= 158.1, 4.1, CAL= 159.1, -5.0, ROT= 350.9, 5.0 Ygot valid direction response: 19:26:01.8617 LVL= 23648, 24385, 15058, 29171, AGC= 51, IDX= 512, 0.07, 0.799,-1.196, 1.252, 0.479, PHS= 0.408,-1.628, 0.770, RAW= 158.1, 4.1, CAL= 159.1, -5.0, ROT= 350.9, 5.0 T#Rx 60: Read range and direction messages.`direction in FSK: [0.983656,-0.157556,-0.087156]Fpublishing direction and range infoqYu%z?*3*ĿOu3A9qu`\ uA_)u:Iuqiqu`>uNbпuE?ur0@ uC=)ug1@Iu¸iu@u¸=q qu`(N"?fI?OΟ%?Iu*?iutGu"u¸=q q checking for new query: numPingsReceived=60, elapsed TxPingTime=30.511583%Bɛ%/)) ->i))-) ))i-*= =i50?5V<5=B=I50?IYDDDE`0 EZIbIWjI0rIzI0;I:Iـ3Iq@i@u@m@VF C=5 checking for new query: numPingsReceived=60, elapsed TxPingTime=30.744925FI G 6>G G (IG 7BG G ZA G 6DG @<G FM- > Dx,T]A ~G )yA B *(I4=iMb@Mb@Mb@ )Iyy&1?MbP~jtx`?  @)+@Ii(@HYH5Q '=YQ >٣ GF >] 49˨n?a 4Y` iBb?m: ?q@'D:Q:4B @%EZjwm?bj=[ ii]Aj3AjA2jE?p 4@ q rzp%z?*3*ĿO"j"*j¸=p"tŊ~4@BlT{p`ԓR?Qu8iAj)i'm?ipN  jBzjj jBjjArj>?} addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503389 s, deltaX: -0.200001 m, approachRate: -0.397309 m/s, rangeRepo size: 4  Added new target pos. range: 20.400000 m, bearing: 97.480931 deg, lat: 36.903932 deg, lon: -122.119049 deg, deltaT: 0.503389 s, deltaX: -0.200001 m, approachRate: -0.397309 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 20.40 m.*ii"i ProNav: ac range: 20.400000 m, nav range: 19.736263 m, bearing: 101.439550 deg, approach rate: 0.000000 m/s, LOS rate: -0.092201 deg/s, cmd heading: 103.485064 deg, new cmd heading: 103.354839 deg.  iHeadingCmd: 1.803882 target range: 20.400000 and range: 20.40 m.h?hhhhggbgjgaBeejeJe`ff4@:e]?ׇBɛ9W) >i)c i JX =i ?<K=I?IDDAT read: Rx Time:19:26:02.3615 TRx dataTimestamp_ set to:1736537162.939882PDAT read: Bearing 354.0, 14.4 (Local) ~Local bearing/azimuth received: Bearing 354.0, 14.4 (Local) DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4 DAT read: 19:26:02.3615 LVL= 23696, 25873, 15266, 29043, AGC= 50, IDX= 509, 0.33,-1.161,-2.528,-1.042,-1.676,604,-0.805, 0.632, RAW= 151.0, -6.1, CAL= 156.0, -14.4, ROT= 354.0, 14.4 !unknown deviceResponse_: 19:26:02.3615 LVL= 23696, 25873, 15266, 29043, AGC= 50, IDX= 509, 0.33,-1.161,-2.528,-1.042,-1.676,604,-0.805, 0.632, RAW= 151.0, -6.1, CAL= 156.0, -14.4, ROT= 354.0, 14.4 -Z#Rx 61: Read range message, but no direction.ؙ؝̠A9ؙchecking for new query: numPingsReceived=61, elapsed TxPingTime=31.007181DDDEc0 EVF @A=F ZA M >WDx,8]A=BE"(IHm_Hm5 y=YQ ?٣ GF ?checking for new query: numPingsReceived=61, elapsed TxPingTime=31.247593]49n?a4Y iB!!q-@%'DC&;';4Q U"@Y addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503998 s, deltaX: -0.299999 m, approachRate: -0.595239 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 20.40 m.*ii%"i- ProNav: ac range: 20.400000 m, nav range: 19.560198 m, bearing: 101.397110 deg, approach rate: -0.514285 m/s, LOS rate: -0.125083 deg/s, cmd heading: 103.354839 deg, new cmd heading: 103.226373 deg. :JQOBJs9JJRJ[ZJ*$"!     i=HeadingCmd: 1.801640 target range: 20.400000 and range: 20.10 m.hE$?hQhQhYhYgagbgjgeejeJe4@:e)?}͇Bɛ}(p7) J>i)隁iVr =i$?E <S=I$?IDD1D1D1E5e0 E9EE=EE= DDAT read: Rx Time:19:26:02.8613  TRx dataTimestamp_ set to:1736537163.443695 PDAT read: Bearing 353.4, 14.7 (Local)  ~Local bearing/azimuth received: Bearing 353.4, 14.7 (Local)  DAT read: Range 10 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4  DAT read: 19:26:02.8613 LVL= 21776, 26737, 14834, 27747, AGC= 50, IDX= 508,-0.25, 2.929, 1.619, 3.059, 2.431, PHS= 0.585,-0.766, 0.624, RAW= 151.4, -6.5, CAL= 156.6, -14.7, ROT= 353.4, 14.7  Ygot valid direction response: 19:26:02.8613 LVL= 21776, 26737, 14834, 27747, AGC= 50, IDX= 508,-0.25, 2.929, 1.619, 3.059, 2.431, PHS= 0.585,-0.766, 0.624, RAW= 151.4, -6.5, CAL= 156.6, -14.7, ROT= 353.4, 14.7  T#Rx 62: Read range and direction messages. `direction in FSK: [0.960857,-0.111175,-0.253758] Fpublishing direction and range infoر Yص K{UX?/xzuN=пص fA9ر ص U ٵ qh)ٵ 9Iٵ cliٵ 2ٵ ?ٵ Dٵ w?ٵ )@ ڵ V)ڵ .@Iڵ G\iڵ 4`@ڵ G\>ڱ ۱ ۵ {q:"?w?FN'I۵ UY ?i۵ *=۵ 뽩۵ G\>۱ ܱ - checking for new query: numPingsReceived=62, elapsed TxPingTime=31.515007VF 5PK=F ?F >F ZA M% > Dx,]AZIfbIfYjIf1rIdzIf<5;If:If3Idr(?yr?9rAѿi?u?`"ѿc?; ? z?r(?ɨr&=; r6CޅBޅ!(IH[H5Am >=Y<٣ G >] 49n?a 4Y> iB ?q@3'DF:1:*4 =/@AZj:jJm?bji iie]AjfAjPA2j?pZd3@C19'zpK{UX?/xzuN=п"j*jG\>pK#V̪ Gd*2@CpYsſe:L? rxѿiAjWif/Wm?i-Z  j{Bzjjd jjjArj4o? addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503813 s, deltaX: -0.300001 m, approachRate: -0.595461 m/s, rangeRepo size: 4   Added new target pos. range: 19.799999 m, bearing: 100.200890 deg, lat: 36.903932 deg, lon: -122.119049 deg, deltaT: 1.007811 s, deltaX: -0.600000 m, approachRate: -0.595350 m/s, posRepo size: 4 2i DNOT Ignoring new targets: 19.80 m.*iiU"iYm ProNav: ac range: 19.799999 m, nav range: 19.323683 m, bearing: 101.357301 deg, approach rate: 0.000000 m/s, LOS rate: -0.125083 deg/s, cmd heading: 103.226370 deg, new cmd heading: 103.062253 deg.  iimHeadingCmd: 1.798776 target range: 19.799999 and range: 19.80 m.huH>?hqhqhqhqggbgjgeejeJe3@:eº?G0>GCG(IG(B]checking for new query: numPingsReceived=62, elapsed TxPingTime=31.754021G3 =GG5DG0<G F雽ÇBɛ7)9 E>iY)ewaaieU =imH>?m!!?IqD1 D1 D1 E5 `0 E9  DDAT read: Rx Time:19:26:03.3610  TRx dataTimestamp_ set to:1736537163.950012 PDAT read: Bearing 354.0, 15.0 (Local)  ~Local bearing/azimuth received: Bearing 354.0, 15.0 (Local) % DAT read: Range 10 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 m DAT read: 19:26:03.3610 LVL= 20592, 24033, 15506, 27635, AGC= 50, IDX= 505, 0.03, 2.096, 0.750, 2.206, 1.571, PHS= 0.613,-0.774, 0.631, RAW= 150.7, -6.8, CAL= 156.0, -15.0, ROT= 354.0, 15.0 u Ygot valid direction response: 19:26:03.3610 LVL= 20592, 24033, 15506, 27635, AGC= 50, IDX= 505, 0.03, 2.096, 0.750, 2.206, 1.571, PHS= 0.613,-0.774, 0.631, RAW= 150.7, -6.8, CAL= 156.0, -15.0, ROT= 354.0, 15.0 u T#Rx 63: Read range and direction messages. `direction in FSK: [0.960634,-0.100967,-0.258819] Fpublishing direction and range info Y v5F?szFعV!}п 3A9  pP  ]) <I ki  ? $F 7!? aU(@  ) @.@I i @ >   _dV?ϥ뇲1?MurAI Y?i {= iwֽ >   checking for new query: numPingsReceived=63, elapsed TxPingTime=32.026901VF U=FqZAM>"Dx,O]Arl?yrK?9r ]٣ GFӞ >] 49ęn?a4Y iBJ?m:?q@D'Df::4A E@AZjPxm?bj ii]Aj3Aj!A2j?p 2@VuW>}zpv5F?szFعV!}п"jiwֽ*j >pԬFf bN2@i p ƿ.2?&ѿisAj[]iOvm?id  j{BzjOvm?j jjj=Arj?  addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.506317 s, deltaX: -0.400000 m, approachRate: -0.790018 m/s, rangeRepo size: 4 } Added new target pos. range: 19.400000 m, bearing: 100.699094 deg, lat: 36.903935 deg, lon: -122.119050 deg, deltaT: 0.506317 s, deltaX: -0.400000 m, approachRate: -0.790018 m/s, posRepo size: 4 2iyDNOT Ignoring new targets: 19.40 m.*ii"i ProNav: ac range: 19.400000 m, nav range: 18.905094 m, bearing: 100.541587 deg, approach rate: 0.000000 m/s, LOS rate: -0.125083 deg/s, cmd heading: 103.062254 deg, new cmd heading: 102.868451 deg.  iHeadingCmd: 1.795393 target range: 19.400000 and range: 19.40 m.hr?hhchecking for new query: numPingsReceived=63, elapsed TxPingTime=32.254520hhggbg jg _Be e jeJeU`ff3@:eUd?5Bɛ=W)A E>iI)ۉi =:J {MBJ JJ RJ \ZJ     J1I1imr?m#BDx,G; ]A)X$.@IViJ@V> My_?Gt?C >I&D?ib=)ҽV> 2checking for new query: numPingsReceived=64, elapsed TxPingTime=32.571247V?yV9?9Vy1٣1 5G5›F= =>A]M49E(n?aM4YEm iEBX?q@EQ'DE$pBAdk >!K2@ d p'D0ƿaz),?(ҿiYAj[[iqUtm?i&z  jF{Bzjj-Z j{BjjArj? addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.501964 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 19.400000 m, bearing: 100.611814 deg, lat: 36.903935 deg, lon: -122.119051 deg, deltaT: 0.501964 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iIMDNOT Ignoring new targets: 19.40 m.*iIiQ"iQ ProNav: ac range: 19.400000 m, nav range: 18.612171 m, bearing: 100.538084 deg, approach rate: 0.000000 m/s, LOS rate: -0.125083 deg/s, cmd heading: 102.868455 deg, new cmd heading: 102.704295 deg.  iHeadingCmd: 1.792528 target range: 19.400000 and range: 19.40 m.hq?hhhhggbgjgeejeJe:e5`?5Bɛ5)1 5>i1)=YYie =imq?m|&$GCG(IGBG6 =GG5checking for new query: numPingsReceived=64, elapsed TxPingTime=32.761013DUDYDYEeh0 EaGq<G FVF} Г>=zF rF FQ ZAY M} >JDx, :]AB'IDDAT read: Rx Time:19:26:04.3607 TRx dataTimestamp_ set to:1736537164.955763PDAT read: Bearing 353.8, 14.8 (Local) ~Local bearing/azimuth received: Bearing 353.8, 14.8 (Local) DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.4 DAT read: 19:26:04.3607 LVL= 17872, 26289, 15826, 28883, AGC= 50, IDX= 502,-0.16,-0.725,-2.022,-0.607,-1.223, PHS= 0.586,-0.752, 0.612, RAW= 151.0, -6.7, CAL= 156.2, -14.8, ROT= 353.8, 14.8 Ygot valid direction response: 19:26:04.3607 LVL= 17872, 26289, 15826, 28883, AGC= 50, IDX= 502,-0.16,-0.725,-2.022,-0.607,-1.223, PHS= 0.586,-0.752, 0.612, RAW= 151.0, -6.7, CAL= 156.2, -14.8, ROT= 353.8, 14.8 T#Rx 65: Read range and direction messages.`direction in FSK: [0.961168,-0.104416,-0.255446]Fpublishing direction and range info؁Y؅-=?ODwl39Yп؅3A9؁؅E مf)م=Iمpiم2م?م@م?م+(@ څ|)څ!z.@Iڅ Aiڅe@څ A>ځ ہۅ>CA?hGշ@Y?ʹVIۅN ?iۅ^=ۅiݽۅ A>ہ ܁ checking for new query: numPingsReceived=65, elapsed TxPingTime=33.028072-Mb@Mb@Mb@)) )))I)y-bX9?-t<- ))-+@I)i))-z@HgH5] "=Y%Q %>)٣) -G-ÛF- 5>1]=495pn?aE4Y5Z i5BER>m:?q@5`'D5)<5`)<54 w@EZjށm?bje ii9+=]Aj3Aj(A2j^ ?p93wa*2@ǮRg1Ozp-=?ODwl39Yп"jiݽ*j A>p=s zTz1@T*py ſ+b??{wѿiAjOi :~m?iૹ  j|Bzj :~m?j&z jjjВArjx?] addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503787 s, deltaX: -0.500000 m, approachRate: -0.992483 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 100.285741 deg, lat: 36.903935 deg, lon: -122.119051 deg, deltaT: 0.503787 s, deltaX: -0.500000 m, approachRate: -0.992483 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.90 m.*ii"i ProNav: ac range: 18.900000 m, nav range: 18.351595 m, bearing: 100.175763 deg, approach rate: 0.000000 m/s, LOS rate: -0.125083 deg/s, cmd heading: 102.704298 deg, new cmd heading: 102.525648 deg.  iHeadingCmd: 1.789410 target range: 18.900000 and range: 18.90 m.hd ?hhhhggbgjg:Be!e!je!Je%`f2@:e%`rj?mBɛu)q uj>iq)uJo隙iT =id ?%<H=Id ?IDqDqDqEu`0 Eq1 1 = checking for new query: numPingsReceived=65, elapsed TxPingTime=33.263897VFU 8<=:J "LBJ 9JJ RJ ]ZJ Jvysogb^ZSLIGDB>:84542//.F ZA! M= >1.Dx,sU]AB"?yBA`?9Bɔi)Fiu =i ?%& q^{?bs?ZdI?ic=)Ľ > FZAM`>checking for new query: numPingsReceived=66, elapsed TxPingTime=33.615280ZIbI[jI0rIzI6;I:Iـ3IG 8>G CG {(IG BG 5 =G G 6DG <G Fu checking for new query: numPingsReceived=66, elapsed TxPingTime=33.769382ZDx,o]A-}B-'IMb@Mb@Mb@ )Iy(\?y&1|?Mbp>`; O@)IȞ@iX@@HmH!5Á .=YQ >٣ GěF > ]49 n?a4Y ͆ i B>m:c?q@ y'D : : 4) -s@)Zj om?bjTM0 iiѐ]]AjfAj^A2j?p6tg2@$*+vzpEVo?TV!}п"j)Ľ*j >p( * 1@Ƿ\xHpvw*Olƿۥ&1)?.,>ҿiAjUi0mm?i  j{BzjOvm?jj{BjjArji/? addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.506201 s, deltaX: -0.100000 m, approachRate: -0.197551 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 100.678194 deg, lat: 36.903935 deg, lon: -122.119051 deg, deltaT: 0.506201 s, deltaX: -0.100000 m, approachRate: -0.197551 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.80 m.*ii"i ProNav: ac range: 18.799999 m, nav range: 17.993168 m, bearing: 100.350509 deg, approach rate: 0.000000 m/s, LOS rate: -0.157008 deg/s, cmd heading: 102.369420 deg, new cmd heading: 102.159294 deg.  iHeadingCmd: 1.783016 target range: 18.799999 and range: 18.80 m.h9?hhhhggbgjg5BeejeJe2@:e$?Bɛ@<0:) >i)   i ȵ =i9?'<&I=I9?ID}DyDE EDDAT read: Rx Time:19:26:05.3605 TRx dataTimestamp_ set to:1736537165.964717PDAT read: Bearing 354.5, 14.8 (Local) ~Local bearing/azimuth received: Bearing 354.5, 14.8 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 DAT read: 19:26:05.3605 LVL= 17392, 25249, 14642, 30003, AGC= 50, IDX= 499,-0.39,-0.930,-2.267,-0.833,-1.447, PHS= 0.606,-0.772, 0.612, RAW= 150.2, -6.5, CAL= 155.5, -14.8, ROT= 354.5, 14.8 Ygot valid direction response: 19:26:05.3605 LVL= 17392, 25249, 14642, 30003, AGC= 50, IDX= 499,-0.39,-0.930,-2.267,-0.833,-1.447, PHS= 0.606,-0.772, 0.612, RAW= 150.2, -6.5, CAL= 155.5, -14.8, ROT= 354.5, 14.8 T#Rx 67: Read range and direction messages.`direction in FSK: [0.962372,-0.092666,-0.255446]Fpublishing direction and range infoY/D!? sFl39Yп9C b)29I3ui"?ˡE? V)I Ai A> Qy?d ?ƌ I'?i~= A> Echecking for new query: numPingsReceived=67, elapsed TxPingTime=34.036842VF H=F ?F >F ZA M >(?y>1?9>v=>H Ͽ l? n?hϿ@a?FԕH??>(?ɨ> ; >6CNvBN'IHnHn|+5z ~r=Y-o5checking for new query: numPingsReceived=67, elapsed TxPingTime=34.272675]U49n?a]4Yr iBae2?qe@'D"[<<i4 ܨ@Zj5!}m?bj  ii}]Ajj2j_?p 2@4eż!)5zp/D!? sFl39Yп"j*j A>pae dj1@6w5p% [xLſs>i)+隡iR =iv?6)<{1=Iv?I:J$tNBJ+9JJRJ^ZJ*)((%%#"  DDDE E DDAT read: Rx Time:19:26:05.8604  TRx dataTimestamp_ set to:1736537166.467761 PDAT read: Bearing 355.0, 15.0 (Local)  ~Local bearing/azimuth received: Bearing 355.0, 15.0 (Local)  DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 5 DAT read: 19:26:05.8604 LVL= 16160, 23857, 14450, 27731, AGC= 49, IDX= 498,-0.00, 0.424,-0.930, 0.503,-0.111, PHS= 0.622,-0.773, 0.611, RAW= 149.6, -6.7, CAL= 155.0, -15.0, ROT= 355.0, 15.0 m Ygot valid direction response: 19:26:05.8604 LVL= 16160, 23857, 14450, 27731, AGC= 49, IDX= 498,-0.00, 0.424,-0.930, 0.503,-0.111, PHS= 0.622,-0.773, 0.611, RAW= 149.6, -6.7, CAL= 155.0, -15.0, ROT= 355.0, 15.0 m T#Rx 68: Read range and direction messages.u `direction in FSK: [0.962250,-0.084186,-0.258819]} Fpublishing direction and range info Y ~M?O3V!}п ̔A9 ? 1]) r8I Sli 1 d;? TE j? '@ |) "-@I i D@ > N?2=Læg?](½I EI?i = > m checking for new query: numPingsReceived=68, elapsed TxPingTime=34.576370VF} .H=F9 ZAA M] >0lDx,S]AfZ?yfB?9f٣ %G%śF%: E>I]U49M~n?aU4YM} iMBY]?q]@M'DM;M/;M4 C@Zj)wm?bjy ii]Aj̔AjǓA2j@?pU1@ ̍p@Azp~M?O3V!}п"j*j >p$3 ŗ1@>pu4cŭſ :m/?,HEҿi\AjIiBum?iL  j{BzjBum?j j{Bjj4Arj? addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503044 s, deltaX: -0.199999 m, approachRate: -0.397577 m/s, rangeRepo size: 4  Added new target pos. range: 18.600000 m, bearing: 100.178874 deg, lat: 36.903934 deg, lon: -122.119051 deg, deltaT: 0.503044 s, deltaX: -0.199999 m, approachRate: -0.397577 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.60 m.*ii"i ProNav: ac range: 18.600000 m, nav range: 17.650784 m, bearing: 100.280808 deg, approach rate: 0.000000 m/s, LOS rate: -0.157008 deg/s, cmd heading: 101.957499 deg, new cmd heading: 101.780715 deg.  iHeadingCmd: 1.776409 target range: 18.600000 and range: 18.60 m.Gu2>GqGu\(IGuBGu0 =GqGqGu[<Gu FH=ĜC H=ĜCH=ēCH=3 ="H=3 =*H=7%6h[a?hhhhggbgjgeejeJe2@:e[?EDDAT read: Rx Time:19:26:06.3602 ]TRx dataTimestamp_ set to:1736537166.724966}PDAT read: Bearing 355.7, 15.7 (Local) ~Local bearing/azimuth received: Bearing 355.7, 15.7 (Local) }checking for new query: numPingsReceived=68, elapsed TxPingTime=34.818291zBɛ&:) >i)iP =i%[a?%l*<%(/=IM[a?IIDDDEp0 E DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4 VF 1== DAT read: 19:26:06.3602 LVL= 16080, 29681, 16050, 29027, AGC= 49, IDX= 495, 0.38,-0.280,-1.640,-0.228,-0.839, PHS= 0.646,-0.754, 0.608, RAW= 148.6, -7.3, CAL= 154.3, -15.7, ROT= 355.7, 15.7  Ygot valid direction response: 19:26:06.3602 LVL= 16080, 29681, 16050, 29027, AGC= 49, IDX= 495, 0.38,-0.280,-1.640,-0.228,-0.839, PHS= 0.646,-0.754, 0.608, RAW= 148.6, -7.3, CAL= 154.3, -15.7, ROT= 355.7, 15.7  T#Rx 69: Read range and direction messages. `direction in FSK: [0.959982,-0.072181,-0.270600]F ZA M>5Dx,]ARFpublishing direction and range info9Y=K,?X`tzRlyQѿ=fA99=> =s)=>I=cqi9=B`%?=%A=?=%@ =w)=Z,@I=Ki=@=K>9 9=V?⊄#l?UR~f?I=O>i=7U>=)=K>9 9^checking for new query: numPingsReceived=69, elapsed TxPingTime=35.092873޽lB޽'IZIbIjI1rIzI ;Iy:I3IIQ<q IQ<iI;uI;mUMb@Mb@Mb@QQ Q)QIQyUw/?~jtx?MbPU>U;U U @)UA@IQiUn@QU̜@HmwHm+&5k =YQ >٣ GƛF >]49yn?a4Yw iB>m:P?q@'D::4 @Zj=8dm?bj=& i9i=G!]Aj=fAj=dA2j=}?p= 6ӺR1@B u"5_zp=K,?X`tzRlyQѿ"j=)*j=K>p=\: ѻ1))1@=ıp=_z0ǿg{?/fҿi=HAj=/Ti=Lbm?i=8  j='{Bzj9j=8 j9jj=~Arj=n? addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503020 s, deltaX: -0.300001 m, approachRate: -0.596400 m/s, rangeRepo size: 4 ] Added new target pos. range: 18.299999 m, bearing: 100.934824 deg, lat: 36.903934 deg, lon: -122.119051 deg, deltaT: 0.503020 s, deltaX: -0.300001 m, approachRate: -0.596400 m/s, posRepo size: 4 2iaDNOT Ignoring new targets: 18.30 m.*ii"i ProNav: ac range: 18.299999 m, nav range: 17.436556 m, bearing: 100.208916 deg, approach rate: 0.000000 m/s, LOS rate: -0.157008 deg/s, cmd heading: 101.780713 deg, new cmd heading: 101.539086 deg.  iHeadingCmd: 1.772191 target range: 18.299999 and range: 18.30 m.h+?hhhhggbgjgBeejeJeL2@:e`O?}DDAT read: Rx Time:19:26:06.8600 TRx dataTimestamp_ set to:1736537167.226513PDAT read: Bearing 355.9, 15.4 (Local) ~Local bearing/azimuth received: Bearing 355.9, 15.4 (Local) checking for new query: numPingsReceived=69, elapsed TxPingTime=35.289318oBɛ%;)) ->i1)5YYi]n =ie+?e+Dx,4]A.Fpublishing direction and range infoءYإ2?^o<пإA9ءإ B ٥!e)٥;I٥ei١٥%!?٥@٥?٥H%@ ڥ5)ڥ!,@Iڥiڥ@ڥ>ڡ ۡۥഒ=?W~?oZ?5Iۥ>iۥ =ۥiۥ>ۡ ܡ:checking for new query: numPingsReceived=70, elapsed TxPingTime=35.573074U|?y޹?9y٣y }G}ǛF >]49un?a4Yur iBq?q@'D9:g:~4  @Zj2um?bjMv1 ii]]AjAjA2j9?p.O1@Z*$D zp2?^o<п"ji*j>p_ߡr,wK0@o+ kpiſEMB?&ҿiAjCilmtm?ig   j{Bzjlmtm?jjjjArjH? addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503699 s, deltaX: -0.299999 m, approachRate: -0.595592 m/s, rangeRepo size: 4  Added new target pos. range: 18.000000 m, bearing: 100.224287 deg, lat: 36.903934 deg, lon: -122.119051 deg, deltaT: 0.503699 s, deltaX: -0.299999 m, approachRate: -0.595592 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.00 m.*ii"i ProNav: ac range: 18.000000 m, nav range: 17.237917 m, bearing: 100.210402 deg, approach rate: 0.000000 m/s, LOS rate: -0.157008 deg/s, cmd heading: 101.539088 deg, new cmd heading: 101.332469 deg.  iHeadingCmd: 1.768585 target range: 18.000000 and range: 18.00 m.ha?hhhhg g bg jg eejeJe2@:e`?雅eBɛ;) >i)y隉iw =ia?,<|=Ia?IG B>G CG C(IG ͈BG 4 =G G 7DG <G  FDDDE EDDAT read: Rx Time:19:26:07.3597 TRx dataTimestamp_ set to:1736537167.730620 PDAT read: Bearing 357.7, 15.2 (Local) ~Local bearing/azimuth received: Bearing 357.7, 15.2 (Local) %checking for new query: numPingsReceived=70, elapsed TxPingTime=35.792027I)C - G ) y AVF >=F ZA M >Dx,c]A6?y64?96IN{iLNI,?N1LNX9?N#@ N)N*@INԇiN@Nԇ>L LNF覱f?.\r? ZIN>iNm+=NQl$Nԇ>L LMchecking for new query: numPingsReceived=71, elapsed TxPingTime=36.056683-a٣i mGim5$ m>q]}49u3qn?a}4Yul iuBi+:m:?q@u'Du:;u<>uP4B K@EZjNHFQm?bjN iLiNǞ]AjŇAjN֋A2jNN?pNoy0@NOuHGuzpNi ?bԣ;f$п"jNQl$*jNԇ>pN,.u ̡0@,J<pN'[*ȿVm?um0eҿiNAjN[iN~Om?iN  jN|BzjLjLjN{BjjN+ArjNQ?u addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503961 s, deltaX: -0.400000 m, approachRate: -0.793711 m/s, rangeRepo size: 4  Added new target pos. range: 17.600000 m, bearing: 101.747785 deg, lat: 36.903934 deg, lon: -122.119051 deg, deltaT: 0.503961 s, deltaX: -0.400000 m, approachRate: -0.793711 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 17.60 m.*ii"iHR=Ha=ZIbIjIrIzI[:I>:III+<I+<Iʕ;I˕;% ProNav: ac range: 17.600000 m, nav range: 17.021017 m, bearing: 100.165003 deg, approach rate: 0.000000 m/s, LOS rate: -0.157008 deg/s, cmd heading: 101.332468 deg, new cmd heading: 101.101274 deg.  i!-HeadingCmd: 1.764550 target range: 17.600000 and range: 17.60 m.h-?h)h)h1h1gYgYbgYjgYeaeajeaJee1@:em`$&?雭XBɛ;) ?i)Yi) =i?:-<=I?IDDDE EmDDAT read: Rx Time:19:26:07.8597 }TRx dataTimestamp_ set to:1736537168.235330PDAT read: Bearing 358.1, 14.1 (Local) ~Local bearing/azimuth received: Bearing 358.1, 14.1 (Local) VF =DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 -U Z#Rx 72: Read range message, but no direction.qq9q checking for new query: numPingsReceived=72, elapsed TxPingTime=36.331741F ZA bCommunications Fault in component: RDI_PathfinderM >Ex,>>]A:J.BoHBJ.+9JJ,RJ.`ZJ.  &+-/14771,)% J0I0:u?y:?9:}کۭsK{??Zx?!Ϧ߷Iۭ>iۭ\D=ۭۭd{>-checking for new query: numPingsReceived=73, elapsed TxPingTime=36.555138DDDE0 EVF% f=F ZA M% >Ge \>Ge CGe 0(IGe BGe $ =Ge GDGe ;DGa Ge F DDAT read: Rx Time:19:26:08.3594  TRx dataTimestamp_ set to:1736537168.740462 PDAT read: Bearing 358.9, 13.6 (Local)  ~Local bearing/azimuth received: Bearing 358.9, 13.6 (Local)  DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 - Z#Rx 74: Read range message, but no direction.؁ ؅ ̈A9؁  checking for new query: numPingsReceived=74, elapsed TxPingTime=36.810608 Ex,1]A)*@ (  ?y EK?9 a٣a eGeɛFe m>]49Mjn?a4Yc iBi9mz:?q@'DQ:?F4 @ZjRm?bjsi iic/]Aj̈Aj߇A2j5?pz`0@Hcw˩zp w?fv .Ͽ"j*jd{>pM3%B o 0@mbZhp) ɿN-?a*89ѿiAjUi(Pm?ib   jB~BzjLbm?jg  j{Bjj|Arj=?] addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.505132 s, deltaX: -0.500000 m, approachRate: -0.989840 m/s, rangeRepo size: 4  Added new target pos. range: 17.100000 m, bearing: 101.704316 deg, lat: 36.903932 deg, lon: -122.119051 deg, deltaT: 0.762021 s, deltaX: -0.500000 m, approachRate: -0.656150 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 17.10 m.*ii"i ProNav: ac range: 17.100000 m, nav range: 16.685860 m, bearing: 100.821933 deg, approach rate: 0.000000 m/s, LOS rate: -0.096253 deg/s, cmd heading: 101.008615 deg, new cmd heading: 100.878175 deg.  iHeadingCmd: 1.760656 target range: 17.100000 and range: 17.10 m.h0]?hhhhggbgjgeeje Je 1@:e `G?雕DBɛTn<) Q?i)J߼i =i0]?_/< =I0]?IDAT read: 19:26:08.3594 LVL= 17616, 22049, 14786, 24755, AGC= 50, IDX= 504,-0.04,-0.880,-2.429,-0.911,-1.481, PHS= 0.689,-0.901, 0.567, RAW= 146.0, -4.7, CAL= 151.1, -13.6, ROT= 358.9, 13.6 Ygot valid direction response: 19:26:08.3594 LVL= 17616, 22049, 14786, 24755, AGC= 50, IDX= 504,-0.04,-0.880,-2.429,-0.911,-1.481, PHS= 0.689,-0.901, 0.567, RAW= 146.0, -4.7, CAL= 151.1, -13.6, ROT= 358.9, 13.6  Z#Rx 75: Read direction message, but no range.`direction in FSK: [0.971782,-0.018659,-0.235142]YvN?wRi#ο9D !V)9I`i2Nb0?f&?e#@ )(@Isir@s>ui?xk_? C䴿IV>ifW=Fs>Echecking for new query: numPingsReceived=75, elapsed TxPingTime=37.060032DDDE}0 EZI bI jI rI zI E ;I Oj:I I I qP<I qP<I i;I j;VF e=F ZA M >Ex,^L]AFZ?yF?9F)٣) 5G1=" M>DDAT read: Rx Time:19:26:08.8594 TRx dataTimestamp_ set to:1736537169.243403PDAT read: Bearing 359.4, 13.7 (Local) ~Local bearing/azimuth received: Bearing 359.4, 13.7 (Local)  DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 -EZ#Rx 76: Read range message, but no direction.؉؉9؉mchecking for new query: numPingsReceived=76, elapsed TxPingTime=37.324886a]49efn?a4Ye _ ieBi9mJ:?q@e'De;e^?eo 4 G@Zjz=m?bj6 iiO]Ajj2j?pZ8Y0@qܫkԿ|nzpvN?wRi#ο"jF*js>p5x\ 0@^apOlʿ*V.?qпiAjbi;m?i1%  j~Bzj(Pm?j1% j|BjjArj7? addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.502941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.100000 m, bearing: 102.397248 deg, lat: 36.903931 deg, lon: -122.119052 deg, deltaT: 0.502941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 17.10 m.*ii "i ] ProNav: ac range: 17.100000 m, nav range: 16.461601 m, bearing: 101.554907 deg, approach rate: 0.000000 m/s, LOS rate: -0.096253 deg/s, cmd heading: 100.878178 deg, new cmd heading: 100.750955 deg.  iaeHeadingCmd: 1.758436 target range: 17.100000 and range: 17.10 m.hem?hihihihiggbgjgeejeJe:e ?9Bɛ<)  ?i1)5'ۼ99i=[ =i=m?EC0  /.?$n[?wogI 3>i n= D+ Gt> checking for new query: numPingsReceived=77, elapsed TxPingTime=37.560776VF Fi ZA dClearing failed state for component RDI_Pathfinder M >2Ex,Z)f]A2w?y2?92B9٣ GʛF ͻ >!]49%cn?a4Y%Z i%Bi9m$:m?q@%'D%m<%@% 4  @2iDNOT Ignoring new targets: 17.10 m.*ii8W"i8W ProNav: ac range: 17.100000 m, nav range: 16.298290 m, bearing: 101.538976 deg, approach rate: -0.477421 m/s, LOS rate: -0.047040 deg/s, cmd heading: 100.750952 deg, new cmd heading: 100.702679 deg.  i%"-HeadingCmd: 1.757593 target range: 17.100000 and range: 17.10 m.h-?h)h)h)h)g1g1bg1jg1e9e9je9Je9:eEsD?雕0Bɛr<) ?i)ؼ隙i =i?0<y =I?IGuV>GuCGu(IGuBGu =GqGqGu/<Gu FDmDiDiEu65DDAT read: Rx Time:19:26:09.3591 TRx dataTimestamp_ set to:1736537169.747409PDAT read: Bearing 359.6, 12.9 (Local) ~Local bearing/azimuth received: Bearing 359.6, 12.9 (Local) DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4  E-%Z#Rx 78: Read range message, but no direction.ءإA9ءEchecking for new query: numPingsReceived=78, elapsed TxPingTime=37.822918VFy FQ ZAY M} >$;Ex,.]ADAT read: 19:26:09.3591 LVL= 19440, 22753, 14818, 22979, AGC= 49, IDX= 501,-0.11,-1.896, 2.754,-1.950,-2.517, PHS= 0.710,-0.965, 0.565, RAW= 145.5, -3.9, CAL= 150.4, -12.9, ROT= 359.6, 12.9 Ygot valid direction response: 19:26:09.3591 LVL= 19440, 22753, 14818, 22979, AGC= 49, IDX= 501,-0.11,-1.896, 2.754,-1.950,-2.517, PHS= 0.710,-0.965, 0.565, RAW= 145.5, -3.9, CAL= 150.4, -12.9, ROT= 359.6, 12.9 "Z#Rx 79: Read direction message, but no range.&`direction in FSK: [0.974737,-0.006805,-0.223250]iYms 1?쭀{Nu̿9imK mX)m9ImYiim5?m= wmף?mj"@ m'g)m'@Imfim@mf>imč?@l%?.59jIm# >im_m=m仩mf>bchecking for new query: numPingsReceived=79, elapsed TxPingTime=38.078098E?y ?9mA٣A MGM˛FM"c M>q]}49u_n?a4YuU iuBio9m:;?q@u'Du;uf@u4 @Zj?0m?bj  iio]AjAjA2j?p8q2G0@une zps 1?쭀{Nu̿"j*jf>pH+ϻ ;y/@Aź5wpf˿U`B9?*S̍Ͽic|AjgiFҌ.m?i   jBzj~Om?jjB~BjjˀArj?u addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504006 s, deltaX: -0.400000 m, approachRate: -0.793641 m/s, rangeRepo size: 4  Added new target pos. range: 16.700001 m, bearing: 102.928129 deg, lat: 36.903930 deg, lon: -122.119052 deg, deltaT: 0.504006 s, deltaX: -0.400000 m, approachRate: -0.793641 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 16.70 m.*ii"i ProNav: ac range: 16.700001 m, nav range: 16.099537 m, bearing: 101.552926 deg, approach rate: 0.000000 m/s, LOS rate: -0.047040 deg/s, cmd heading: 100.702677 deg, new cmd heading: 100.639590 deg.  iHeadingCmd: 1.756492 target range: 16.700001 and range: 16.70 m.h?hhhhggbgjgeeI3Iw3I.-IIIZI5bI5jI1rI1zI5m;I5w:I1I1I5a<I5a<I5;I5;jeJeM@30@:eM`^?雝$Bɛ1M<) 1?i)+Լ隡i =i?#1<q =I?IDDDE?5 EDDAT read: Rx Time:19:26:09.8591 TRx dataTimestamp_ set to:1736537170.251230PDAT read: Bearing 359.7, 14.0 (Local) ~Local bearing/azimuth received: Bearing 359.7, 14.0 (Local) %DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 -=Z#Rx 80: Read range message, but no direction.عع9عchecking for new query: numPingsReceived=80, elapsed TxPingTime=38.341930VF] OK=F ZA1 MM >&Ex,+]A:JBJJJRJbZJJIޥNBޥ'IH}H(5   O=YQ >!٣! -G)5 =>]493\n?a4YQ iBiB9m9q@'D2'<9@v4 ]@DAT read: 19:26:09.8591 LVL= 18160, 19777, 14450, 23155, AGC= 47, IDX= 500, 0.22, 1.069,-0.550, 0.999, 0.418, PHS= 0.739,-0578, RAW= 145.0, -5.0, CAL= 150.3, -14.0, ROT= 359.7, 14.0 -!unknown deviceResponse_: 19:26:09.8591 LVL= 18160, 19777, 14450, 23155, AGC= 47, IDX= 500, 0.22, 1.069,-0.550, 0.999, 0.418, PHS= 0.739,-0578, RAW= 145.0, -5.0, CAL= 150.3, -14.0, ROT= 359.7, 14.0 -checking for new query: numPingsReceived=80, elapsed TxPingTime=38.559742eB*** querying acoustic contact ***iiii addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503821 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 16.70 m.*iiD"iD ProNav: ac range: 16.700001 m, nav range: 15.916760 m, bearing: 101.535648 deg, approach rate: -0.448058 m/s, LOS rate: -0.042843 deg/s, cmd heading: 100.639593 deg, new cmd heading: 100.587163 deg.  i8HeadingCmd: 1.755577 target range: 16.700001 and range: 16.70 m.h?hhhhgg bg jg e ejeJe:e d ?雅BɛD<) |?i)>9м隉i=i?2<U=I?IDmDiDiEm 5 EiG} G>G} CG} (IG} BG} $ =G} HDG} 9DG} H<G} FVF} s= DDAT read: Rx Time:19:26:10.3588  TRx dataTimestamp_ set to:1736537170.756286 PDAT read: Bearing 359.4, 13.4 (Local)  ~Local bearing/azimuth received: Bearing 359.4, 13.4 (Local) Fi ZAy M > DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4  DAT read: 19:26:10.3588 LVL= 17168, 20465, 14994, 23699, AGC= 48, IDX= 498,-0.26,-1.808, 2.883,-1.858,-2.426, PHS= 0.706,-0.927, 0.565, RAW= 145.5, -4.4, CAL= 150.6, -13.4, ROT= 359.4, 13.4  Ygot valid direction response: 19:26:10.3588 LVL= 17168, 20465, 14994, 23699, AGC= 48, IDX= 498,-0.26,-1.808, 2.883,-1.858,-2.426, PHS= 0.706,-0.927, 0.565, RAW= 145.5, -4.4, CAL= 150.6, -13.4, ROT= 359.4, 13.4  T#Rx 81: Read range and direction messages. >,Ex,)Y]A%`direction in FSK: [0.972723,-0.010187,-0.231748]%Fpublishing direction and range info!Y%q ?N?܄] AͿ%A9!%C %O)%:I%\i%0%j4?%Om!! %nF)%8(@I%|oi%@%|o>! !%c?׺n?6c2uγI%&>i%D=%D+%|o>! !checking for new query: numPingsReceived=81, elapsed TxPingTime=38.907310%JB%'IHmHm)5 ?=YQ >٣  G ̛F >]%49Xn?a%4Y'L iBi%9!m-9)q-@ (D:vT@4UB U@]EZj%"6m?bj%o i!i%f]Aj%Aj%A2j%?p%7Ft&/@9_dſIzp%q ?N?܄] AͿ"j%D+*j%|o>p%; -s ~f.@-yp%32yZ˿8,,?G;Uпi%ktAj%]i% 4m?i%-  j%Bzj%;m?j%- j%~Bjj%SzArj%4? addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.505056 s, deltaX: -0.500000 m, approachRate: -0.989989 m/s, rangeRepo size: 4 M Added new target pos. range: 16.200001 m, bearing: 102.769587 deg, lat: 36.903928 deg, lon: -122.119053 deg, deltaT: 1.008877 s, deltaX: -0.500000 m, approachRate: -0.495601 m/s, posRepo size: 4 2iIUDNOT Ignoring new targets: 16.20 m.*iQiU"iY ProNav: ac range: 16.200001 m, nav range: 15.645330 m, bearing: 102.471112 deg, approach rate: 0.000000 m/s, LOS rate: -0.042843 deg/s, cmd heading: 100.587165 deg, new cmd heading: 100.532931 deg.  iHeadingCmd: 1.754631 target range: 16.200001 and range: 16.20 m.h?hhhhggbgjgeejeJe@330@:e?5Bɛ5W<)1 5?i1)5y˼99i=0=iE?Eaa3Z,3Ex,@O]AUI?yU?9U^<DDAT read: Rx Time:19:26:10.8586 TRx dataTimestamp_ set to:1736537171.259546PDAT read: Bearing 359.5, 14.1 (Local) ~Local bearing/azimuth received: Bearing 359.5, 14.1 (Local) YU-=UH ?˿`$@3?#B?@ʿO?oՖ??UI?ɨU; U9C޽MB޽'II)HH%.5{< I=YGQ >٣ G͛F9 >DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 ]-49%Un?a-4YG iBi-8)m-95@?q5@(D@;An@4DAT read: 19:26:10.8586 LVL= 16848, 20337, 13938, 23859, AGC= 47, IDX= 496, 0.05, 0.129,-1.461, 0.069,-0.511, PHS= 0.728,-0.903, 0.576, RAW= 145.2, -5.2, CAL= 150.5, -14.1, ROT= 359.5, 14.1 Ygot valid direction response: 19:26:10.8586 LVL= 16848, 20337, 13938, 23859, AGC= 47, IDX= 496, 0.05, 0.129,-1.461, 0.069,-0.511, PHS= 0.728,-0.903, 0.576, RAW= 145.2, -5.2, CAL= 150.5, -14.1, ROT= 359.5, 14.1 T#Rx 82: Read range and direction messages. ~@`direction in FSK: [0.969835,-0.008463,-0.243615]Fpublishing direction and range infoؑYؕ—? BU .Ͽؕf~A9ؑؕA ٕqO)ٕr6Iٕ3]iٕ/ٕ5^:?ٕ+gٕt?ٕ0"@ ڕ޹)ڕ0(@Iڕd{iڕ^@ڕd{>ڑ ۑە7wJ?my_?+3o)Iە>iەu=ەDM addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503260 s, deltaX: -0.300001 m, approachRate: -0.596116 m/s, rangeRepo size: 4 2iQUDNOT Ignoring new targets: 16.20 m.*iQەd{>ۑ ܑ]checking for new query: numPingsReceived=82, elapsed TxPingTime=39.406288i}>"i}> ProNav: ac range: 16.200001 m, nav range: 15.464252 m, bearing: 102.464156 deg, approach rate: -0.439320 m/s, LOS rate: -0.017075 deg/s, cmd heading: 100.532933 deg, new cmd heading: 100.511819 deg.  i~;HeadingCmd: 1.754262 target range: 16.200001 and range: 15.90 m.h?hhhhggbgjgeejeJe/@:e@u?-Bɛ-<)) -$?i))5Ǽ19i=X6=im?m$84<>=I?I:JiBJm+9JJiRJmcZJmDuDqDqEu3 Eq% checking for new query: numPingsReceived=82, elapsed TxPingTime=39.562714VF s=Fi ZAq M >r9Ex,]A6)3?y6p?96PB>'IHFHF,5N< Rs=YRúQ R?P٣T VGTV V?X]^49ZBRn?ab4YZC iZBib8`mbd9b)?qb@Z!(DZM:Z@Z4d jH@ZIrbIrjIprIpzIr=;IrX:IpIpqv@iv@uv@mv@1ZjD~N.m?bjaP iig]Ajf~Aj|A2jo?p}̸;.@j>Z9;>Zzp—? BU .Ͽ"jD*jd{>pu :J?L-@_{pu/xB ̿pa ?ZпinAj@_iN,m?iԚ5  jBzj 4m?jjBjjIuArjk?2iDNOT Ignoring new targets: 16.20 m.*iiK"iK ProNav: ac range: 16.200001 m, nav range: 15.312285 m, bearing: 102.458578 deg, approach rate: -0.460781 m/s, LOS rate: -0.017080 deg/s, cmd heading: 100.511821 deg, new cmd heading: 100.494921 deg.  i;5HeadingCmd: 1.753967 target range: 16.200001 and range: 15.90 m.h5?h1h1h1h1g1g9bg9jg9e9eAjeAJeA:eE /?雭Bɛ<)  +?i)rļ隱i%=i?4<=I?IGS>GCG(IGBG) =GGG<G FH¡C H¡CH•CH$ ="H& =*H¸7uDDAT read: Rx Time:19:26:11.3584 TRx dataTimestamp_ set to:1736537171.764946PDAT read: Bearing 359.5, 14.2 (Local) ~Local bearing/azimuth received: Bearing 359.5, 14.2 (Local) DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 DAT read: 19:26:11.3584 LVL= 16608, 20849, 13986, 25843, AGC= 49, IDX= 509, 0.49,-1.094,-2.672,-1.155,-1.730, PHS= 0.724,-0.895, 0.572, RAW= 145.1, -5.2, CAL= 150.5, -14.2, ROT= 359.5, 14.2 D%D!D!E%o0 E!}Ygot valid direction response: 19:26:11.3584 LVL= 16608, 20849, 13986, 25843, AGC= 49, IDX= 509, 0.49,-1.094,-2.672,-1.155,-1.730, PHS= 0.724,-0.895, 0.572, RAW= 145.1, -5.2, CAL= 150.5, -14.2, ROT= 359.5, 14.2 }T#Rx 83: Read range and direction messages.`direction in FSK: [0.969408,-0.008460,-0.245307]Fpublishing direction and range infoqYu^d?cFOS/;fϿuyA9qu@ uqQ)u6Iudiu1uX9?ueun?u "@ q)qIu}iqu}>q quF`%?_ZG?`jVIu.>iu/=qu}>q qMchecking for new query: numPingsReceived=83, elapsed TxPingTime=39.869244VFA F ZA M- > checking for new query: numPingsReceived=83, elapsed TxPingTime=40.066486V@Ex,j]A6?y6W?96 M٣ GΛF >!]-49%Nn?a-4Y%> i%Bi-8)m5995?q5@%-(D% :%@%N4=B E@EEZj*|1m?bj1p ii]AjyAjwA2jP?p>.@TԁRmgZFzp^d?cFOS/;fϿ"j*j}>pO+C ڡF1 ZA9 MU > ۡۥ[??Iۥk>iۥ =ۥD+ۥ A>ۡ ܡu checking for new query: numPingsReceived=84, elapsed TxPingTime=40.386906qFEx,^I]A6?y6k?96ZdZJ>B&f 1eYOA2$ FQBJ'IHRuHRH%5v< vL=YvQ v>x٣x zGxz* >!]%49%IKn?a-4Y%: i%Bi-8)m-9-?q-@%8(D%V:%@%4Y ]7@YZj:Y4m?bj iif]AjxAjPvA2jp& F < -@#pYr dH˿V?\ioIѿimhAj"Ui812m?i-d  jBzjjԚ5 jjjJoArjX!? addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.506950 s, deltaX: -0.100000 m, approachRate: -0.197259 m/s, rangeRepo size: 4  Added new target pos. range: 15.500000 m, bearing: 102.911801 deg, lat: 36.903927 deg, lon: -122.119053 deg, deltaT: 0.506950 s, deltaX: -0.100000 m, approachRate: -0.197259 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 15.50 m.*ii"i! ProNav: ac range: 15.500000 m, nav range: 14.955582 m, bearing: 103.011659 deg, approach rate: 0.000000 m/s, LOS rate: -0.017080 deg/s, cmd heading: 100.474637 deg, new cmd heading: 100.453402 deg.  iHeadingCmd: 1.753243 target range: 15.500000 and range: 15.50 m.hAj?hhhhgchecking for new query: numPingsReceived=84, elapsed TxPingTime=40.571552gbgjgeejeJe/@:e?eBɛe<)a e6?ia)m/iJ=iAj?%6<-G G G G " =G GDG :DG <G Fu Aq  DDAT read: Rx Time:19:26:12.3583  TRx dataTimestamp_ set to:1736537172.772545VF = 5 GQ i ) y KA PDAT read: Bearing 359.7, 15.0 (Local)  ~Local bearing/azimuth received: Bearing 359.7, 15.0 (Local)  DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 - DAT read: 19:26:12.3583 LVL= 15424, 24625, 14994, 25971, AGC= 48, IDX= 506, 0.43,-1.691, 3.059,-1.762,-2.331, PHS= 0.728,-0.847, 0.566, RAW= 144.6, -6.0, CAL= 150.3, -15.0, ROT= 359.7, 15.0 Fq ZA M >MLEx,b5]A.Ygot valid direction response: 19:26:12.3583 LVL= 15424, 24625, 14994, 25971, AGC= 48, IDX= 506, 0.43,-1.691, 3.059,-1.762,-2.331, PHS= 0.728,-0.847, 0.566, RAW= 144.6, -6.0, CAL= 150.3, -15.0, ROT= 359.7, 15.0 .T#Rx 85: Read range and direction messages.2`direction in FSK: [0.965913,-0.005058,-0.258819]6Fpublishing direction and range infoyY}< ǁ?6tV!}п}tA9y}@< }1`)}:I}seiy}5^:?}X}`?}!@ }Pwֽ)}'@I} i}@} >y y}'g??- 3кI}$>i}=}} >y ychecking for new query: numPingsReceived=85, elapsed TxPingTime=40.921177ޭTBޭ'IH}H(5fb< 5=YQ >!٣! %G%ϛFm m>q]}49umGn?a}4Yu4 iuBi}[8ym}8yq@uE(Du:u@ub4 @Zj}O-m?bj}j iyi}aq1]Aj}tAj}#sA2j}z?p}UH-@_2ϳIzp}< ǁ?6tV!}п"j}*j} >p}#m2y i@,@ jIp}G%̿k9?3kFѿi}dAj}SWi}+m?i}ۻ  j}Bzjyj}-d j}Bjj}LkArj} 9? addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.500649 s, deltaX: -0.200000 m, approachRate: -0.399481 m/s, rangeRepo size: 4  Added new target pos. range: 15.300000 m, bearing: 103.232200 deg, lat: 36.903927 deg, lon: -122.119054 deg, deltaT: 0.500649 s, deltaX: -0.200000 m, approachRate: -0.399481 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 15.30 m.*ii"i% ProNav: ac range: 15.300000 m, nav range: 14.706127 m, bearing: 103.053094 deg, approach rate: 0.000000 m/s, LOS rate: -0.017080 deg/s, cmd heading: 100.453402 deg, new cmd heading: 100.429421 deg.  i)-HeadingCmd: 1.752824 target range: 15.300000 and range: 15.30 m.h-\?h1h1h1h1g1g1bg9jg9eaeajeaJee.@:e}`S?雥׆Bɛ<) >?i)隩i =i\?U7< =I\?Ichecking for new query: numPingsReceived=85, elapsed TxPingTime=41.075661DuDqDqEup0 EqH H AAVF H=Fq ZA M >USEx,fO]ADDAT read: Rx Time:19:26:12.8582  TRx dataTimestamp_ set to:1736537173.275867PDAT read: Bearing 359.8, 15.1 (Local) ~Local bearing/azimuth received: Bearing 359.8, 15.1 (Local) 5DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.4 UDAT read: 19:26:12.8582 LVL= 16464, 22705, 15746, 27059, AGC= 46, IDX= 506,-0.08,-2.121, 2.667,-2.193,-2.746, PHS= 0.713,-0.823, 0.550, RAW= 144.5, -6.1, CAL= 150.2, -15.1, ROT= 359.8, 15.1 M?yY?9]Q   zu?<>X?&%OI >i 2= d V> 'C< @=YQ >٣ GЛFw > checking for new query: numPingsReceived=86, elapsed TxPingTime=41.394196]49Cn?a4Y/ iBi18m8D?q@Q(D<ɸ@4%B -@-EZj -m?bj  Aһ i i ΧQ]Aj 3sAj qA2j Om?p Y-@"pv: Qfzp ؂?PnQۛkQfJ0п"j d*j V>p X q,@Omp s˿Al?2Peѿi cAj Ti h,m?i (&G  j Bzj N,m?j j jj khArj x? addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503322 s, deltaX: -0.100000 m, approachRate: -0.198681 m/s, rangeRepo size: 4 % Added new target pos. range: 15.200000 m, bearing: 103.144485 deg, lat: 36.903927 deg, lon: -122.119054 deg, deltaT: 0.503322 s, deltaX: -0.100000 m, approachRate: -0.198681 m/s, posRepo size: 4 2i)-DNOT Ignoring new targets: 15.20 m.*i)i1"i1 ProNav: ac range: 15.200000 m, nav range: 14.526225 m, bearing: 103.205958 deg, approach rate: 0.000000 m/s, LOS rate: -0.017080 deg/s, cmd heading: 100.429421 deg, new cmd heading: 100.406488 deg.  iHeadingCmd: 1.752424 target range: 15.200000 and range: 15.20 m.hlO?hhhhggbgjge!e!je)Je-`ff.@:e-}?:JNBJ9JJRJeZJ ;[{uspqaZSNIFC>=;532-+'#"!J? J?ʆBɛn<) F?i)zi) =ilO? 8<"ԛZEx,l]A2 ?y27J?92fGzCGz(IGzBGz& =GzHDGxGz<Gz FMYBM'IHH_,5eR/<DDAT read: Rx Time:19:26:13.3580 TRx dataTimestamp_ set to:1736537173.777091PDAT read: Bearing 0.3, 15.5 (Local) ~Local bearing/azimuth received: Bearing 0.3, 15.5 (Local) DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4 DAT read: 19:26:13.3580 LVL= 14944, 23265, 15602, 25715, AGC= 46, IDX= 503, 0.20,-1.447,-2.979,-1.541,-2.102, PHS= 0.744,-0.829, 0.559, RAW= 143.8, -6.4, CAL= 149.7, -15.5, ROT= 0.3, 15.5 Ygot valid direction response: 19:26:13.3580 LVL= 14944, 23265, 15602, 25715, AGC= 46, IDX= 503, 0.20,-1.447,-2.979,-1.541,-2.102, PHS= 0.744,-0.829, 0.559, RAW= 143.8, -6.4, CAL= 149.7, -15.5, ROT= 0.3, 15.5 T#Rx 87: Read range and direction messages.^direction in FSK: [0.963617,0.005046,-0.267238]Fpublishing direction and range info؁Y؅r_?rgct?֚nѿ؅fnA9؁؅`: مZ)م<Iمsdiفمv>?مX9Tم?مK @ څ)څm7'@Iڅciڅ;څc>ځ ہۅ%o?dM^?o0Iۅ>iۅɂ=ۅ;ۅc>ہ ܁checking for new query: numPingsReceived=87, elapsed TxPingTime=41.848003 m:=Y ۺQ  > ٣ GћF >A]M49E)@n?aM4YE* iEBiU8QmU8U?qU@E_(DE:E@E4Y ]@YZjh;%m?bj& iiܻq]AjfnAjlA2j?plͳ9>,@MT>?z zpr_?rgct?֚nѿ"j;*jc>pCX F+@9K(pN}Ϳ9p*?Kl ҿi@^AjXi1#m?i`ȫ  jBzjh,m?jۻ jBjjdArj?u addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.501224 s, deltaX: -0.300000 m, approachRate: -0.598535 m/s, rangeRepo size: 4  Added new target pos. range: 14.900000 m, bearing: 103.660759 deg, lat: 36.903927 deg, lon: -122.119054 deg, deltaT: 0.501224 s, deltaX: -0.300000 m, approachRate: -0.598535 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 14.90 m.*ii"i ProNav: ac range: 14.900000 m, nav range: 14.302007 m, bearing: 103.242861 deg, approach rate: 0.000000 m/s, LOS rate: -0.017080 deg/s, cmd heading: 100.406486 deg, new cmd heading: 100.384148 deg.  iHeadingCmd: 1.752034 target range: 14.900000 and range: 14.90 m.hB?hhhhggbgjgeejeJe-@:er?Bɛu =)< M?i)UeQQiU0 =i]B?]8aEx,(]ABa?yB?9B_`٣` bG`f f>h]r49jA=n?ar4Yj~& ij~Biv7tmv8v?qv@ji(Djy-;j*@jR4| b@5B*** querying acoustic contact ***i1i12iIHUR=HUp=]DNOT Ignoring new targets: 14.90 m.*iYiey:"iey: ProNav: ac range: 14.900000 m, nav range: 14.141269 m, bearing: 103.252530 deg, approach rate: -0.486716 m/s, LOS rate: 0.029610 deg/s, cmd heading: 100.384151 deg, new cmd heading: 100.413487 deg.  i:HeadingCmd: 1.752546 target range: 14.900000 and range: 14.90 m.hmS?hhhhggbgjgeejeJe:e?Bɛ[+=) U?i)  i> =iMmS?MJ9ک ۩ۭE.rq3?^?Q?3*}s}Iۭ\j>iۭL=ۭd<ۭV>۩ ܩ-checking for new query: numPingsReceived=88, elapsed TxPingTime=42.351082DDDE0 E:J] ElNBJ] +9JJY RJ] fZJ]  Jy Iy VF :^<F ZA M >m checking for new query: numPingsReceived=88, elapsed TxPingTime=42.588928-hEx,M]Abe[?yb?9b)٣ GқFv >]499n?a 4YV! i}Bi 7 m Q8 R?q @v(Ds:t@4 h@ZIMbIMjIIrIIzIM:IMT:IIIIZjJm?bj ii]Aj3kAjiA2j?Gg>GCG(IGBG =GGDGp ]|x lѐt+@ pF{ͿK.?+ѿi[AjXi[m?iΨ  jUBzj+m?j-d jjjV_Arj?DDAT read: Rx Time:19:26:14.3576 TRx dataTimestamp_ set to:1736537174.783832PDAT read: Bearing 1.5, 15.3 (Local) ~Local bearing/azimuth received: Bearing 1.5, 15.3 (Local) DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 DAT read: 19:26:14.3576 LVL= 14816, 21489, 14386, 25523, AGC= 47, IDX= 500,-0.04,-1.391,-2.993,-1.527,-2.080, PHS= 0.777,-0.866, 0.551, RAW= 142.7, -6.0, CAL= 148.5, -15.3, ROT= 1.5, 15.3 Ygot valid direction response: 19:26:14.3576 LVL= 14816, 21489, 14386, 25523, AGC= 47, IDX= 500,-0.04,-1.391,-2.993,-1.527,-2.080, PHS= 0.777,-0.866, 0.551, RAW= 142.7, -6.0, CAL= 148.5, -15.3, ROT= 1.5, 15.3 T#Rx 89: Read range and direction messages.^direction in FSK: [0.964227,0.025249,-0.263873]Fpublishing direction and range infoؑYؕZ?Hw%ڙ?&KпؕdA9ؑؕ9 ٕS)ٕ28IٕciّٕyF?ٕ-]ٕV ?ٕe@ ڕPwֽ)ڕH%@IڕܸiڕPw<ڕܸ>ڑ ۑە2DTZ?ذ1?ĴnIە>iە=ەPw<ەܸ>ۑ ܑchecking for new query: numPingsReceived=89, elapsed TxPingTime=42.855583 addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503285 s, deltaX: -0.200000 m, approachRate: -0.397389 m/s, rangeRepo size: 4 M Added new target pos. range: 14.700000 m, bearing: 103.854911 deg, lat: 36.903927 deg, lon: -122.119054 deg, deltaT: 0.503285 s, deltaX: -0.200000 m, approachRate: -0.397389 m/s, posRepo size: 4 2iIUDNOT Ignoring new targets: 14.70 m.*iQiU"iY ProNav: ac range: 14.700000 m, nav range: 13.958666 m, bearing: 103.258870 deg, approach rate: 0.000000 m/s, LOS rate: 0.029610 deg/s, cmd heading: 100.413486 deg, new cmd heading: 100.467470 deg.  iHeadingCmd: 1.753488 target range: 14.700000 and range: 14.70 m.hMr?hhhhggbgjgeejeJe,@:epw?U Bɛ} <)y } *^?i ) 隁 i W =i Mr? 9< ]٣ GӛFI >!]-49%5n?a-4Y%h i%{Bi-7)m5)85?q5@%(D%;%@%49 =@9ZjRm?bjYZ iiN*]AjdAjBcA2jm?p^#+@d?&<9/zpZ?Hw%ڙ?&Kп"jPw<*jܸ>p~ܩ L*@QGtnpͿWcm?WEѿilUAj{Uiڞm?iZ  jBzj1#m?jۻ jBjj[Arj?? addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503456 s, deltaX: -0.400000 m, approachRate: -0.794508 m/s, rangeRepo size: 4  Added new target pos. range: 14.300000 m, bearing: 104.040140 deg, lat: 36.903926 deg, lon: -122.119054 deg, deltaT: 0.503456 s, deltaX: -0.400000 m, approachRate: -0.794508 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 14.30 m.*ii"i ProNav: ac range: 14.300000 m, nav range: 13.734410 m, bearing: 103.696907 deg, approach rate: 0.000000 m/s, LOS rate: 0.029610 deg/s, cmd heading: 100.467472 deg, new cmd heading: 100.498181 deg.  iHeadingCmd: 1.754024 target range: 14.300000 and range: 14.30 m.h݃?hhhhggbgjgeejeJe:eu?Bɛ:\=) d?i)`!i%ڕ =i%݃?-!:<-ڙ ۙ۝x/?ݒ?&I۝7>i۝=۝Q =۝C>ۙ ܙuchecking for new query: numPingsReceived=90, elapsed TxPingTime=43.370747DDDE EVF <F ZA M >UpwEx,Y3]A:J>KBJ9JJ RJgZJJ J*?Z4?yZTr?9Z`٣ G!%Ի %>)]549-2n?a54Y- i-yBi=w79m= 8=+?q=@-(D- ;-@-4A E8@AZju\m?bju iqiuLp]AjuaAju`A2juU?puNhE+@U\θ?Nr*zpunyl?R?Ixҿ"juQ =*juC>pu L[6 !_b/*@E/kpu_Bο6S<?3DҿiuPAjuXiuPem?iu܏  ju,Bzjuڞm?juZ ju,BjjuXArju0?checking for new query: numPingsReceived=90, elapsed TxPingTime=43.594585 addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504272 s, deltaX: -0.200000 m, approachRate: -0.396611 m/s, rangeRepo size: 4  Added new target pos. range: 14.100000 m, bearing: 104.543344 deg, lat: 36.903925 deg, lon: -122.119054 deg, deltaT: 0.504272 s, deltaX: -0.200000 m, approachRate: -0.396611 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 14.10 m.*ii"i ProNav: ac range: 14.100000 m, nav range: 13.561728 m, bearing: 104.072740 deg, approach rate: 0.000000 m/s, LOS rate: 0.029610 deg/s, cmd heading: 100.498181 deg, new cmd heading: 100.535231 deg.  iuHeadingCmd: 1.754671 target range: 14.100000 and range: 14.10 m.hu ?hyhyhyhygygbgjgeejeJe@33,@:eg&?Bɛ v0=) rj?i ) 4  i C( =i ?R:<\GCGGG =GG;DG԰<G FM>M DDAT read: Rx Time:19:26:15.3572 U TRx dataTimestamp_ set to:1736537175.792059] PDAT read: Bearing 2.6, 15.6 (Local) ] ~Local bearing/azimuth received: Bearing 2.6, 15.6 (Local) u DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4  DAT read: 19:26:15.3572 LVL= 14672, 22113, 15314, 26035, AGC= 47, IDX= 496,-0.28,-2.437, 2.223,-2.610, 3.132, PHS= 0.802,-0.862, 0.538, RAW= 141.5, -6.2, CAL= 147.4, -15.6, ROT= 2.6, 15.6  Ygot valid direction response: 19:26:15.3572 LVL= 14672, 22113, 15314, 26035, AGC= 47, IDX= 496,-0.28,-2.437, 2.223,-2.610, 3.132, PHS= 0.802,-0.862, 0.538, RAW= 141.5, -6.2, CAL= 147.4, -15.6, ROT= 2.6, 15.6  T#Rx 91: Read range and direction messages. ^direction in FSK: [0.962171,0.043692,-0.268920] Fpublishing direction and range infoI YM a|O?6T^?]^|5ѿM 3[A9I M P9 M aV)M ;IM eiM /M OM?M \M ^ ?M @ M kݽ)M $@IM 'giM 9=M 'g>I I M u$d? o%T?}j_ĻIM ;>iM =M 9=M 'g>I I  checking for new query: numPingsReceived=91, elapsed TxPingTime=43.867756ɕ}Ex,]AJ?yJU ?9JHI٣Q UGUԛFU[Ȼ }>y]49}[/n?a4Y} i}xBiH7m7?q@}(D}M:}A}4 1@EZjokGm?bjy ii]Aj3[AjYA2j/?p=}u ]*@Tbo '?5>y zpa|O?6T^?]^|5ѿ"j9=*j'g>pP 4v)@ 4pf ]O|Ͽ4Ԁ?DѿiKAjWih\m?iOV  jԀBzj[m?j`ȫ jUBjjUArjC?U addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503955 s, deltaX: -0.400001 m, approachRate: -0.793723 m/s, rangeRepo size: 4 e Added new target pos. range: 13.700000 m, bearing: 104.827367 deg, lat: 36.903925 deg, lon: -122.119054 deg, deltaT: 0.503955 s, deltaX: -0.400001 m, approachRate: -0.793723 m/s, posRepo size: 4 2iaDNOT Ignoring new targets: 13.70 m.*ii"i  ProNav: ac range: 13.700000 m, nav range: 13.350975 m, bearing: 104.148055 deg, approach rate: 0.000000 m/s, LOS rate: 0.029610 deg/s, cmd heading: 100.535228 deg, new cmd heading: 100.575167 deg.  i HeadingCmd: 1.755368 target range: 13.700000 and range: 13.70 m.h?hhhhggbg!jg!e!e!jeIJeM`ff+@:eU?checking for new query: numPingsReceived=91, elapsed TxPingTime=44.098942Bɛ5=) Bq?i)Չ!!i% =i-?-m:<-y/ae DDAT read: Rx Time:19:26:15.8571 m TRx dataTimestamp_ set to:1736537176.296391} PDAT read: Bearing 3.2, 15.8 (Local) } ~Local bearing/azimuth received: Bearing 3.2, 15.8 (Local)  DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed 0.4  DAT read: 19:26:15.8571 LVL= 15568, 22577, 15074, 25555, AGC= 47, IDX= 511, 0.00,-0.060,-1.753,-0.264,-0.814, PHS= 0.842,-0.892, 0.547, RAW= 140.8, -6.2, CAL= 146.8, -15.8, ROT= 3.2, 15.8  Ygot valid direction response: 19:26:15.8571 LVL= 15568, 22577, 15074, 25555, AGC= 47, IDX= 511, 0.00,-0.060,-1.753,-0.264,-0.814, PHS= 0.842,-0.892, 0.547, RAW= 140.8, -6.2, CAL= 146.8, -15.8, ROT= 3.2, 15.8  T#Rx 92: Read range and direction messages. ^direction in FSK: [0.960718,0.053712,-0.272280] Fpublishing direction and range infoi Ym 2?>2? ^ mѿm XA9i m < m 1X)m :Im cii m PW?m Zdm 1 ?m nF@ i )m (#@Im 0im d=m 0>i i m BXF?ȶn?7ӻIm U>im %=m d=m 0>i i  checking for new query: numPingsReceived=92, elapsed TxPingTime=44.371841VF:<FZAM?,)Ex,#]AZg?yZ?9Z^0٣ G՛FZt >]49k+n?a4Y  iwBi"7m7?q@(D: A4 ©@EZjE  m?bjE=E iAiE]AjEXAjEVA2jE|X?pE{)@$*4?_h zpE2?>2? ^ mѿ"jEd=*jE0>pEIw T͜)@* pE n;FпOH֧?%F˲ѿiE,HAjE[iE m?iEC_   jEBzjEPem?jE܏ jEBjjEQArjE? addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504332 s, deltaX: -0.200000 m, approachRate: -0.396564 m/s, rangeRepo size: 4   Added new target pos. range: 13.500000 m, bearing: 105.346187 deg, lat: 36.903924 deg, lon: -122.119055 deg, deltaT: 0.504332 s, deltaX: -0.200000 m, approachRate: -0.396564 m/s, posRepo size: 4 2i  DNOT Ignoring new targets: 13.50 m.*ii"iE ProNav: ac range: 13.500000 m, nav range: 13.067546 m, bearing: 104.642263 deg, approach rate: 0.000000 m/s, LOS rate: 0.029610 deg/s, cmd heading: 100.575164 deg, new cmd heading: 100.619530 deg.  iAMHeadingCmd: 1.756142 target range: 13.500000 and range: 13.50 m.hMD?hahahahagigibgijgieqeqjeqJeu+@:euX5?:JRIBJ@9JJRJhZJTnlbYUNMID@=<86630-*+*('&! x>['n?.r(  #eqBɛ@=) (|?i)i =iD?@s:<?G5 c>G1 G5 *(IG5 BG5 " =G1 G5 Q QUA^R?AlVZ,?iTŽIUp>iU(=U=U>Q Qchecking for new query: numPingsReceived=93, elapsed TxPingTime=44.928333fB'IH%cH%N5m ==YQ >٣ G֛F7 >]495(n?a4Y iuBi7m7G?q@(D7&<A)4 @ZjU0I m?bjU_ iQiU/3]AjU3SAjUQA2jU(?pU籗I)@ݴht?8VPn zpUq l5?Eۮ?rwkqѿ"jU=*jU>pU4al l_(@^ܦ pU$пgJ?ҟҿiUBAjUd[iUjVm?iU]  jUBzjUh\m?jUC_  jUԀBjjULArjU4k?= addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503409 s, deltaX: -0.300000 m, approachRate: -0.595937 m/s, rangeRepo size: 4 ] Added new target pos. range: 13.200000 m, bearing: 105.710507 deg, lat: 36.903924 deg, lon: -122.119057 deg, deltaT: 0.503409 s, deltaX: -0.300000 m, approachRate: -0.595937 m/s, posRepo size: 4 2iY]DNOT Ignoring new targets: 13.20 m.*iYi"i ProNav: ac range: 13.200000 m, nav range: 12.750502 m, bearing: 104.931296 deg, approach rate: 0.000000 m/s, LOS rate: 0.029610 deg/s, cmd heading: 100.619533 deg, new cmd heading: 100.659923 deg.  iEHeadingCmd: 1.756847 target range: 13.200000 and range: 13.20 m.hE]?hAhIhIhIgQgQbgYjgYeyejeJe`ff*@:e ?cBɛWL=) ̀?i)ўtiz =i]?7_:<%Ex,UN]A?yEM?9F1 15 3?C~?fy鼿I5~>i5g=5ԇ=5Ð>1 1checking for new query: numPingsReceived=94, elapsed TxPingTime=45.375011H{H'5; ==YrQ >٣ G< >] 49$n?a 4Y itBi 6 m l7 ?q @(DE:A84 @Zj5Sm?bj5 i1i5qS]Aj5QAj5/PA2j5`?p5d౸)@7Ḽ?`Z< zp5P̩9n?kypJ?ѿ"j5ԇ=*j5Ð>p5Gp>f Kt1(@p p5+"пe|jEnj?ѿi5AAj51[i5Qam?i5<  j5 Bzj5 m?j5OV j5Bjj5'IArj5q?E addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503978 s, deltaX: -0.099999 m, approachRate: -0.198420 m/s, rangeRepo size: 4 } Added new target pos. range: 13.100000 m, bearing: 105.807975 deg, lat: 36.903923 deg, lon: -122.119057 deg, deltaT: 0.503978 s, deltaX: -0.099999 m, approachRate: -0.198420 m/s, posRepo size: 4 2iyDNOT Ignoring new targets: 13.10 m.*ii"i ProNav: ac range: 13.100000 m, nav range: 12.572138 m, bearing: 105.487741 deg, approach rate: 0.000000 m/s, LOS rate: 0.029610 deg/s, cmd heading: 100.659920 deg, new cmd heading: 100.697866 deg.  iHeadingCmd: 1.757509 target range: 13.100000 and range: 13.10 m.h?hhhhggbg1jg9e9e9je9JeE@33*@:eEߠ?雍VBɛXi=) &?i)fiN =i%?%l::<%[;I%?I!D5t>D5>DDDE0 EEE:J] OBJ] h9JJY RJ] iZJ] %RcL-!$:KZmvkp!7B JArQ8'  checking for new query: numPingsReceived=94, elapsed TxPingTime=45.610794VF "<F ZA M > Ex,1'j]ARP ?yRJ?9R٣ %G%כF%Q %>)]549-K"n?a=4Y-B i-sBi=69mE?7E?qE@-(D-Z4;-!A-C4I M"@ImB*** querying acoustic contact ***iiii2iDNOT Ignoring new targets: 13.10 m.*iiE;"iE; ProNav: ac range: 13.100000 m, nav range: 12.407325 m, bearing: 105.545216 deg, approach rate: -0.489051 m/s, LOS rate: 0.172812 deg/s, cmd heading: 100.697868 deg, new cmd heading: 100.872584 deg.  i2;HeadingCmd: 1.760559 target range: 13.100000 and range: 13.10 m.hY?hhhh g gbg!jg!e1e9jeAJeA:eMz?Gn>GCG0(IGBG =GG>DG<G F雥KBɛ.ԁ=I))\s< ?i  =~GQ)%(Z mAiii}&3 =DDAT read: Rx Time:19:26:17.3565 TRx dataTimestamp_ set to:1736537177.807823PDAT read: Bearing 4.2, 16.2 (Local) ~Local bearing/azimuth received: Bearing 4.2, 16.2 (Local) DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 DAT read: 19:26:17.3565 LVL= 15728, 25313, 16818, 29427, AGC= 47, IDX= 505,-0.02,-1.378,-3.079,-1.612,-2.151, PHS= 0.861,-0.882, 0.536, RAW= 139.9, -6.5, CAL= 145.8, -16.2, ROT= 4.2, 16.2  Ygot valid direction response: 19:26:17.3565 LVL= 15728, 25313, 16818, 29427, AGC= 47, IDX= 505,-0.02,-1.378,-3.079,-1.612,-2.151, PHS= 0.861,-0.882, 0.536, RAW= 139.9, -6.5, CAL= 145.8, -16.2, ROT= 4.2, 16.2  T#Rx 95: Read range and direction messages.^direction in FSK: [0.957715,0.070330,-0.278991]Fpublishing direction and range infoؑYؕ;û{?ZA(?ѿؕIA9ؑؕp= ٕb)ٕAIٕriٕ/ٕj\?ٕaٕL7 ?ٕE@ ڑ)ڕ4"@IڑiڕQ =ڑڑ ۑە9h??+[ټIەٱ>iەK=ەQ =ۑۑ ܑ5checking for new query: numPingsReceived=95, elapsed TxPingTime=45.883671)EyIMAiMY?U:= checking for new query: numPingsReceived=95, elapsed TxPingTime=46.114635YEx,B ]AnkBr'IHznHz."54= K=Y Q  > ٣ G >!]-49%Rn?a-4Y% i%rBi-6)m-71q5@%(D%9;%0(A%L49 =@AZjm?bj Z ii_s]AjIAj?HA2j8?ph"(@l[?pQ&O zp;û{?ZA(?ѿ"jQ =*jp&' * {-;'@@ p&AVѿĭ?4oѿi9AjWic 8m?i  j[BzjjVm?j< jBjjxCArjUQ? addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504045 s, deltaX: -0.500000 m, approachRate: -0.991975 m/s, rangeRepo size: 4  Added new target pos. range: 12.600000 m, bearing: 106.185507 deg, lat: 36.903923 deg, lon: -122.119057 deg, deltaT: 0.504045 s, deltaX: -0.500000 m, approachRate: -0.991975 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 12.60 m.*ii"i ProNav: ac range: 12.600000 m, nav range: 12.216894 m, bearing: 105.781304 deg, approach rate: 0.000000 m/s, LOS rate: 0.172812 deg/s, cmd heading: 100.872584 deg, new cmd heading: 101.083050 deg.  iHeadingCmd: 1.764232 target range: 12.600000 and range: 12.60 m.h[?hhhhggbgjgeejeJe@33)@:eF?雕ABɛV͋=) ?i):M隙i]=i[?Q9<u:I[?IZIUbIU(jIQrIQzIU;IU9:IQIQIUd<IUd<IU.;IU.;DDDE&5 EDDAT read: Rx Time:19:26:17.8564 TRx dataTimestamp_ set to:1736537178.312581PDAT read: Bearing 4.3, 16.8 (Local) ~Local bearing/azimuth received: Bearing 4.3, 16.8 (Local) DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 eDAT read: 19:26:17.8564 LVL= 16496, 25137, 16882, 29891, AGC= 47, IDX= 503, 0.19,-0.164,-1.865,-0.405,-0.952, PHS= 0.876,-0.866, 0.544, RAW= 139.7, -7.0, CAL= 145.7, -16.8, ROT= 4.3, 16.8 Ygot valid direction response: 19:26:17.8564 LVL= 16496, 25137, 16882, 29891, AGC= 47, IDX= 503, 0.19,-0.164,-1.865,-0.405,-0.952, PHS= 0.876,-0.866, 0.544, RAW= 139.7, -7.0, CAL= 145.7, -16.8, ROT= 4.3, 16.8 T#Rx 96: Read range and direction messages.^direction in FSK: [0.954625,0.071779,-0.289032]Fpublishing direction and range infoءYإ@I?`?\.ҿإHA9ءإp@ ٥1b)٥AI٥ti١٥A`?٥-]٥C ?٥ @ ڥ5)ڥ"@IڥQ iڥ`=ڥQ >ڡ ۡۥ)9d?Rr_?p3 yIۥ氯>iۥ)=ۥ`=ۥQ >ۡ ܡ checking for new query: numPingsReceived=96, elapsed TxPingTime=46.414658VF% CQ;F- ?F- %?F ZA) MM >Ex,؝]A25o?y2?92)d٣d jGj؛FjR; j>]49Xn?a 4Y ii b6 m 6 e?q @(D{:.AS4 E @AZj&l?bj iiT]AjHAjFA2jG?pp:'@ ?46 zp@I?`?\.ҿ"j`=*jQ >pk-Ir f&@y pd5ѿ_OZ?ǣxҿis7Aj[i^6l?iC   j-BzjQam?j] j Bjj+?Arj !? addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504758 s, deltaX: -0.100000 m, approachRate: -0.198115 m/s, rangeRepo size: 4  Added new target pos. range: 12.500000 m, bearing: 106.659859 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 0.504758 s, deltaX: -0.100000 m, approachRate: -0.198115 m/s, posRepo size: 4 2i  DNOT Ignoring new targets: 12.50 m.*i i"iE ProNav: ac range: 12.500000 m, nav range: 11.948005 m, bearing: 106.144635 deg, approach rate: 0.000000 m/s, LOS rate: 0.172812 deg/s, cmd heading: 101.083050 deg, new cmd heading: 101.296155 deg.  iAMHeadingCmd: 1.767951 target range: 12.500000 and range: 12.50 m.hM;L?hIhIhIhIgIgybgjgeejeJe)@:e ?:J@OBJ+9JJRJjZJchecking for new query: numPingsReceived=96, elapsed TxPingTime=46.618713M3BɛM}=)Q US?iQ)U>QQiU>=i];L?]h9<]6:Ie;L?IaDDeDaDaEe4 EaGa>GCG6(IGˆBG =GG=DG<G FVF :F  DDAT read: Rx Time:19:26:18.3561  TRx dataTimestamp_ set to:1736537178.820508 PDAT read: Bearing 4.2, 16.1 (Local)  ~Local bearing/azimuth received: Bearing 4.2, 16.1 (Local) E DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4  DAT read: 19:26:18.3561 LVL= 16928, 24113, 17186, 29235, AGC= 47, IDX= 501,-0.47,-2.337, 2.228,-2.574,-3.117, PHS= 0.868,-0.892, 0.540, RAW= 139.9, -6.4, CAL= 145.8, -16.1, ROT= 4.2, 16.1 ZA MM >JEx,]A&Ygot valid direction response: 19:26:18.3561 LVL= 16928, 24113, 17186, 29235, AGC= 47, IDX= 501,-0.47,-2.337, 2.228,-2.574,-3.117, PHS= 0.868,-0.892, 0.540, RAW= 139.9, -6.4, CAL= 145.8, -16.1, ROT= 4.2, 16.1 &T#Rx 97: Read range and direction messages.*^direction in FSK: [0.958199,0.070366,-0.277315]ZFpublishing direction and range infoYې?QW}?/ѿ3CA9 B 1^)"CI3ri?5^?Zdq= ?E@ )4"@IޏiQ =ޏ> pY ?^ ? I>i8=Q =ޏ> =checking for new query: numPingsReceived=97, elapsed TxPingTime=46.966095?y8?9@٣ GٛFy; M>Q]]49Un?a]4YUN iUpBie76ame6?q@U(DUc;UV6AU[4B I@EZj8Qm?bjoX ii4]Aj3CAjAA2jW2?p;Ka'@ax?{ zpې?QW}?/ѿ"jQ =*jޏ>p;<|. !$fw&@&kǮ pdǹѿv?Oѿi3AjVi}l?iVZ  jBzjc 8m?jC  j-Bjj;Arj?M addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.507927 s, deltaX: -0.300000 m, approachRate: -0.590636 m/s, rangeRepo size: 4  Added new target pos. range: 12.200000 m, bearing: 106.622359 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 0.507927 s, deltaX: -0.300000 m, approachRate: -0.590636 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 12.20 m.*ii"i ProNav: ac range: 12.200000 m, nav range: 11.724760 m, bearing: 106.311437 deg, approach rate: 0.000000 m/s, LOS rate: 0.172812 deg/s, cmd heading: 101.296152 deg, new cmd heading: 101.547844 deg.  iHeadingCmd: 1.772344 target range: 12.200000 and range: 12.20 m.h-?hhhhggbg jg e e jeJe`ff(@:e`I?}$Bɛy=) ڱ ۱ ۵ ':U?3CDհ?WI۵ 2>i۵ D=۱ ۵ Ð>۱ ܱ -checking for new query: numPingsReceived=98, elapsed TxPingTime=47.391010VF:FyZAM ?YEx,]A5O?y5?95~O ٣  GڛFh< >]E49n?aE4Yo ioBiM6ImM6M?qM@)D;j>Aa4Q U@YZjx=l?bj ?/ iidu]Aj@Aj>A2jT`?pl3&@м?sql| zp;û{?ZA(?ѿ"j*jÐ>p_Y1 &@ p?^;!ҿs6_?S9ѿi>0AjYiv>Pl?i;  jBzj}l?j; j[Bjj8ArjXd?5 addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.499157 s, deltaX: -0.200000 m, approachRate: -0.400675 m/s, rangeRepo size: 4 e Added new target pos. range: 12.000000 m, bearing: 107.150396 deg, lat: 36.903922 deg, lon: -122.119059 deg, deltaT: 0.499157 s, deltaX: -0.200000 m, approachRate: -0.400675 m/s, posRepo size: 4 2iamDNOT Ignoring new targets: 12.00 m.*iiii"iq ProNav: ac range: 12.000000 m, nav range: 11.500891 m, bearing: 106.709796 deg, approach rate: 0.000000 m/s, LOS rate: 0.172812 deg/s, cmd heading: 101.547844 deg, new cmd heading: 101.811594 deg.  iHeadingCmd: 1.776947 target range: 12.000000 and range: 12.00 m.hs?hhhhggbg jg e e jeJe(@:ed?雅Bɛ4z=) ?i)HA隉i =checking for new query: numPingsReceived=98, elapsed TxPingTime=47.626720:JJBJ59JJRJkZJ    J? J?is?T8< V:Is?I^DR5<DDDE61 EG} U>G} CG} 0(IG} BG} $ =G} HDG} :DG} <G} FVFm !F) ZA1 MM >Ex,/l]ADDAT read: Rx Time:19:26:19.3558 "TRx dataTimestamp_ set to:1736537179.826722&PDAT read: Bearing 4.0, 16.8 (Local) &~Local bearing/azimuth received: Bearing 4.0, 16.8 (Local) 2DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 BDAT read: 19:26:19.3558 LVL= 17728, 25281, 18242, 30355, AGC= 47, IDX= 497, 0.04,-0.730,-2.440,-0.965,-1.522, PHS= 0.880,-0.871, 0.554, RAW= 139.9, -7.0, CAL= 146.0, -16.8, ROT= 4.0, 16.8 FYgot valid direction response: 19:26:19.3558 LVL= 17728, 25281, 18242, 30355, AGC= 47, IDX= 497, 0.04,-0.730,-2.440,-0.965,-1.522, PHS= 0.880,-0.871, 0.554, RAW= 139.9, -7.0, CAL= 146.0, -16.8, ROT= 4.0, 16.8 FT#Rx 99: Read range and direction messages.N^direction in FSK: [0.954988,0.066779,-0.289032]RFpublishing direction and range infoYeA?2ϙq?\.ҿ3;A9@E b)BGIvi/Ga?^ ?E@ 5)e#@IQ i5=Q > ה?3Hף?s2ZIT>iy=5=Q > checking for new query: numPingsReceived=99, elapsed TxPingTime=47.907204޵YB޵'IHH-5Z> -=YQ >٣A EGAM M>Q]]49U n?a]4YU iUnBi]5Ym6q@U)DU[;UFAUe4 ɪ@Zj|l?bj  ii]Aj3;Aj9A2j?p?a zpeA?2ϙq?\.ҿ"j5=*jQ >p&Q> l%@i pw+ѿjۓL? fGpҿig+AjQi l?iѫ  jBzj l?jVZ jBjj4ArjF? addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.507057 s, deltaX: -0.300000 m, approachRate: -0.591650 m/s, rangeRepo size: 4  Added new target pos. range: 11.700000 m, bearing: 107.025719 deg, lat: 36.903922 deg, lon: -122.119059 deg, deltaT: 0.507057 s, deltaX: -0.300000 m, approachRate: -0.591650 m/s, posRepo size: 4 2i1=DNOT Ignoring new targets: 11.70 m.*i9i9"i9M ProNav: ac range: 11.700000 m, nav range: 11.288009 m, bearing: 106.895016 deg, approach rate: 0.000000 m/s, LOS rate: 0.172812 deg/s, cmd heading: 101.811592 deg, new cmd heading: 102.068422 deg.  iI}HeadingCmd: 1.781430 target range: 11.700000 and range: 11.70 m.h}?hyhyhyhygygbgjgeejeJe`ff'@:e@.q?Bɛ߆=) ?i)i+=i?%v7<%B;I%?I!C1C1C1C1checking for new query: numPingsReceived=99, elapsed TxPingTime=48.130527D zD ZIM bIM jIM 0rII zIM K:IM >L:IM ـ3II IM r5<IM r5<IM p;IM p;Dm Dq Dq Eu o0 Eq Ey Ey DDAT read: Rx Time:19:26:19.8558 TRx dataTimestamp_ set to:1736537180.327447DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 -\#Rx 100: Read range message, but no direction.؁؁9؁checking for new query: numPingsReceived=100, elapsed TxPingTime=48.386829VF9FqZAM? Ex,`]A QB 'IHH)5-  -(=Y)Q 5>1٣1 5G5ۛF9 =>A]M49ES n?aM4YE\ iEmBiM5ImMX6QqU@E)DE;EMAEi4Y ]K@]EB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.500725 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 11.70 m.*ii ;"i ; ProNav: ac range: 11.700000 m, nav range: 11.073723 m, bearing: 106.992624 deg, approach rate: -0.481336 m/s, LOS rate: 0.223492 deg/s, cmd heading: 102.068421 deg, new cmd heading: 102.366908 deg.  ia<%HeadingCmd: 1.786640 target range: 11.700000 and range: 11.70 m.h%?h)h)h)h)g)g)bg1jg1e1e1je9Je9:e="?eBɛe==)a eI?ii)mZiiim`G=iu?u$Y7pIu?IyDDDE]3 EVFK ܹchecking for new query: numPingsReceived=100, elapsed TxPingTime=48.636280FZA:JGLBJ9JJRJlZJMD>G5 T>G1 G5 *(IG5 BG1 G5 GDG1 G5 <G5 FH.Ex,3]A21?y2Ko?92ƀ92HW/ʿ`&@_? 8R? ɿ?@/;J?`h?21?ɨ2; 25C>IBB'IHJHJ +5r rP=Yv;Q v>t٣t vGzܛFz= z> DDAT read: Rx Time:19:26:20.3555  TRx dataTimestamp_ set to:1736537180.831942PDAT read: Bearing 3.7, 16.0 (Local) ~Local bearing/azimuth received: Bearing 3.7, 16.0 (Local) -DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4 uDAT read: 19:26:20.3555 LVL= 17872, 27249, 18642, 28259, AGC= 47, IDX= 510,-0.37,-2.347, 2.224,-2.570,-3.119, PHS= 0.860,-0.893, 0.546, RAW= 140.3, -6.4, CAL= 146.3, -16.0, ROT= 3.7, 16.0 Ygot valid direction response: 19:26:20.3555 LVL= 17872, 27249, 18642, 28259, AGC= 47, IDX= 510,-0.37,-2.347, 2.224,-2.570,-3.119, PHS= 0.860,-0.893, 0.546, RAW= 140.3, -6.4, CAL= 146.3, -16.0, ROT= 3.7, 16.0 V#Rx 101: Read range and direction messages.^direction in FSK: [0.959258,0.062032,-0.275637] Fpublishing direction and range info !Y }z=? v;¯? ѿ 4A9  E qj) HI cni ]49% n?a4Y%\ i%lB (\? d  ? t@ ) .k#@I 5i  A=i5m/6)?q@%+)D%<%TA%l4 5>   M?AM?,Wb4A Eū@I >i z=  A= 5>  echecking for new query: numPingsReceived=101, elapsed TxPingTime=48.964718IZj ql?bj M i i >5]Aj 4Aj 3A2j U?p My.%@y^nQn?}zp }z=? v;¯? ѿ"j  A=*j 5>p ^WC '|$@py@p &^lҿ`zJ? ѿi %Aj Ti l?i g_  j Bzj ^6l?j j Bjj '.Arj b?= addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504495 s, deltaX: -0.400000 m, approachRate: -0.792871 m/s, rangeRepo size: 4 m Added new target pos. range: 11.300000 m, bearing: 107.821838 deg, lat: 36.903921 deg, lon: -122.119059 deg, deltaT: 1.005220 s, deltaX: -0.400000 m, approachRate: -0.397922 m/s, posRepo size: 4 2iquDNOT Ignoring new targets: 11.30 m.*iqi}"iy ProNav: ac range: 11.300000 m, nav range: 10.884753 m, bearing: 107.155044 deg, approach rate: 0.000000 m/s, LOS rate: 0.223492 deg/s, cmd heading: 102.366907 deg, new cmd heading: 102.686057 deg.  iHeadingCmd: 1.792210 target range: 11.300000 and range: 11.30 m.h!g?hhhhggbgjgeeje!Je%&@:e%9Ex,M]A?y2?9rIHcʿy@ 5?M?ʿ@?`/.???ɨ; MABM'IH]vH]%5m m0=Yu ;Q u>q٣q }G}ݛF}; }>]493n?a4Yo ikBi5m6|?q@7)D;Y[An4 K@2i1EDNOT Ignoring new targets: 11.30 m.*iAimr;"imr; ProNav: ac range: 11.300000 m, nav range: 10.693659 m, bearing: 107.234415 deg, approach rate: -0.502470 m/s, LOS rate: 0.212432 deg/s, cmd heading: 102.686054 deg, new cmd heading: 102.928423 deg.  i<DDAT read: Rx Time:19:26:20.8554 TRx dataTimestamp_ set to:1736537181.338239PDAT read: Bearing 3.9, 15.9 (Local) ~Local bearing/azimuth received: Bearing 3.9, 15.9 (Local) %DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 ]HeadingCmd: 1.796440 target range: 11.300000 and range: 11.30 m.he?hahahahagagabgijgieieijeqJeq:euY?DAT read: 19:26:20.8554 LVL= 19120, 27793, 19218, 27523, AGC= 47, IDX= 509,-0.11,-1.031,-2.762,-1.260,-1.809, PHS= 0.866,-0.907, 0.546, RAW= 140.2, -6.2, CAL= 146.1, -15.9, ROT= 3.9, 15.9 Ygot valid direction response: 19:26:20.8554 LVL= 19120, 27793, 19218, 27523, AGC= 47, IDX= 509,-0.11,-1.031,-2.762,-1.260,-1.809, PHS= 0.866,-0.907, 0.546, RAW= 140.2, -6.2, CAL= 146.1, -15.9, ROT= 3.9, 15.9 V#Rx 102: Read range and direction messages.^direction in FSK: [0.959514,0.065413,-0.273959]Fpublishing direction and range infoYgW?Xa龰?ψ.ѿ1A9J l)KIki-]?'1hۚ@ kݽ)1#@Iqi'g=q> QE?mˡ?QûI>i='g=q> ۅBɛB=)! -h?i))-@<))i-7y=i5?5jd6<=checking for new query: numPingsReceived=102, elapsed TxPingTime=49.4376566I?IDIDQDQEU}1 EQ} checking for new query: numPingsReceived=102, elapsed TxPingTime=49.642563VF :J BoHBJ 9JJ RJ mZJ Fi ZAy M >0Ex,)h]AJż?yJK?9J3UJH@1ʿF}?J?@Aʿ@Ԥ?@`)6? ?Jż?ɨJ; J2CR2BR'IIT)VAH^cH^N5f fb=Yf;Q f>h٣h jGhn; n>p]v49r$n?av4Yr; irjBivO5tmv5v?qz@rB)Dr ;raArp4| ~<@~EZjcl?bjhK iiU]Aj1Aje0A2j?pwiyM%@opd:L} th!H$@1֥npoB_"ӿʡT=?IڛѿiG"AjcTi1}l?iU  jBzjv>Pl?jjBjj(Arjc? addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.506297 s, deltaX: -0.200000 m, approachRate: -0.395025 m/s, rangeRepo size: 4 = Added new target pos. range: 11.100000 m, bearing: 108.118000 deg, lat: 36.903921 deg, lon: -122.119059 deg, deltaT: 0.506297 s, deltaX: -0.200000 m, approachRate: -0.395025 m/s, posRepo size: 4 2i9=DNOT Ignoring new targets: 11.10 m.*i9iE"iA ProNav: ac range: 11.100000 m, nav range: 10.548024 m, bearing: 107.604401 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 102.928424 deg, new cmd heading: 103.168306 deg.  iIـ3I3I.IIIZIEbIEjIArIAzIE:IE\3:IAIAq@i@u@m@HeadingCmd: 1.800627 target range: 11.100000 and range: 11.10 m.hz?hhhhgg bgG=\>G=CG=(IG=BG=! =G9G=;DG=̰<G= FH  H H ĕCH ! ="H  =*H @7jgeeje1Je=@33&@:e=ls?雅ͅBɛ=) >?i)탻隉i=iz?5< Iz?I}DDAT read: Rx Time:19:26:21.3551 TRx dataTimestamp_ set to:1736537181.839862PDAT read: Bearing 3.9, 16.5 (Local) ~Local bearing/azimuth received: Bearing 3.9, 16.5 (Local) DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 DAT read: 19:26:21.3551 LVL= 18736, 24561, 18290, 29267, AGC= 45, IDX= 506, 0.08,-0.641,-2.359,-0.874,-1.430, PHS= 0.877,-0.882, 0.553, RAW= 140.0, -6.8, CAL= 146.1, -16.5, ROT= 3.9, 16.5 Ygot valid direction response: 19:26:21.3551 LVL= 18736, 24561, 18290, 29267, AGC= 45, IDX= 506, 0.08,-0.641,-2.359,-0.874,-1.430, PHS= 0.877,-0.882, 0.553, RAW= 140.0, -6.8, CAL= 146.1, -16.5, ROT= 3.9, 16.5  V#Rx 103: Read range and direction messages.^direction in FSK: [0.956599,0.065214,-0.284015]%Fpublishing direction and range infoyY}Jv?& 䱰?HN-ҿ}3+A9y}0I }_)}rGI}Sri}-}`?}a}h ?}a@ })yI}riy}r>y y}\? 4a?c?_I}>i}!=y}r>y y]checking for new query: numPingsReceived=103, elapsed TxPingTime=49.923485DDDE2 EVF %F ZA M >Ex,U]AB?yBB?9BYBHʿ @樂?aI?@fbʿfy?=? ?B?ɨB;; B4Cr)Brz'I5checking for new query: numPingsReceived=103, elapsed TxPingTime=50.146641H|Hb(5d% 0=YE+ :Q E>I٣I MGMޛFU: U>Y]49]$m?a4Y] i]hBi(5m5?q@]O)D].<]hA]r4 ֭@Zj N5l?bj ߳ i i Mu]Aj 3+Aj *A2j ?p .Hx$@/KTT?hxOzp Jv?& 䱰?HN-ҿ"j *j r>p .)rV :{#@Byp *ӿ;"?q$t4Lҿi Aj Li wճl?i is  j Bzj wճl?j g_ j Bjj $Arj x? addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.501623 s, deltaX: -0.400001 m, approachRate: -0.797413 m/s, rangeRepo size: 4 % Added new target pos. range: 10.700000 m, bearing: 108.170265 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 0.501623 s, deltaX: -0.400001 m, approachRate: -0.797413 m/s, posRepo size: 4 2i!-DNOT Ignoring new targets: 10.70 m.*i)i1"i1m ProNav: ac range: 10.700000 m, nav range: 10.298335 m, bearing: 108.088147 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 103.168307 deg, new cmd heading: 103.474031 deg.  iiuHeadingCmd: 1.805963 target range: 10.700000 and range: 10.70 m.h)?hhhhggbgjgeejeJe`ff%@:e?mBɛu9=)y L?i)@A隱i==i)?5<R I)?IDDeDaDaEe-2 EaDDAT read: Rx Time:19:26:21.8550 TRx dataTimestamp_ set to:1736537182.344817 PDAT read: Bearing 4.0, 16.6 (Local)  ~Local bearing/azimuth received: Bearing 4.0, 16.6 (Local) % DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 M DAT read: 19:26:21.8550 LVL= 17648, 26353, 18402, 27987, AGC= 46, IDX= 504, 0.30, 0.015,-1.728,-0.226,-0.788, PHS= 0.891,-0.893, 0.559, RAW= 139.9, -6.8, CAL= 146.0, -16.6, ROT= 4.0, 16.6 U Ygot valid direction response: 19:26:21.8550 LVL= 17648, 26353, 18402, 27987, AGC= 46, IDX= 504, 0.30, 0.015,-1.728,-0.226,-0.788, PHS= 0.891,-0.893, 0.559, RAW= 139.9, -6.8, CAL= 146.0, -16.6, ROT= 4.0, 16.6 U V#Rx 104: Read range and direction messages.] ^direction in FSK: [0.955988,0.066849,-0.285688]e Fpublishing direction and range infoYN̋vt?KyC?WԷHҿ(A9D f)GISmi.d?d?E@ )e#@IVi5=V> ?Q?ہz?uI >isA=5=V>  checking for new query: numPingsReceived=104, elapsed TxPingTime=50.418846VF s7]F ?F @?Fa ZAi M >"Ex,:]AN-?yNE?9N/RNH˿ D?F? lʿ4?E??N-?ɨN; N5CV BVo'IHbHb_,5i <=YiQ >٣ GߛF^; >]49zm?a4Y igBi5m5?q@\)DZ:oAs4  `@ ZjFl?bjX2 ii{]Aj(Aj&A2j d?pmd$@2v?VGqzpN̋vt?KyC?WԷHҿ"j5=*jV>pY* Hk1#@OvpZZuuӿ?rVUNҿiAjQLiitl?ig  jBzjl?jѫ jBjj7!Arjk?checking for new query: numPingsReceived=104, elapsed TxPingTime=50.650661 addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504955 s, deltaX: -0.200000 m, approachRate: -0.396075 m/s, rangeRepo size: 4 :J}BJ}9JJyRJ}nZJ}2)JIgA Added new target pos. range: 10.500000 m, bearing: 108.499769 deg, lat: 36.903920 deg, lon: -122.119060 deg, deltaT: 0.504955 s, deltaX: -0.200000 m, approachRate: -0.396075 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 10.50 m.*ii"i ProNav: ac range: 10.500000 m, nav range: 10.076120 m, bearing: 108.252127 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 103.474033 deg, new cmd heading: 103.739877 deg.  i=HeadingCmd: 1.810602 target range: 10.500000 and range: 10.50 m.h=?h9h9h9hAgAgAbgAjgIeIeIjeIJeM%@:eU ?Bɛ=) H?i)ioGCG'IGBG =GG&Ex,C]A٥~ ?٥C~@ ڥ Ľ)ڥ4"@IڥViڥQ =ڥV>ڡ ۡۥ*?WK ?lƎIۥ>iۥ=ۥQ =ۥV>ۡ ܡ~checking for new query: numPingsReceived=105, elapsed TxPingTime=50.998119޵B޵]'I       Mb@Mb@Mb@ )IyK7A?y&1|I + ?`94 V@)If@i"@@HH:5q '=YMQ M>I٣I UGQU U>Y]49]=m?a4Y]M i]bBiT:?m:?q@]l)D];];]!4 L@Zjҟl?bj`K iizQ]Aj!Aj A2jOU?pu>s#@ .r?N{ zpCZ?A?QfJ0п"jQ =*jV>pc^U."@=&jpk6ӿFM?[xmпiAjEi(l?i8  j΂Bzjjis jBjjArjH? addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.503906 s, deltaX: -0.400000 m, approachRate: -0.793798 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=105, elapsed TxPingTime=51.154652- Added new target pos. range: 10.100000 m, bearing: 108.473997 deg, lat: 36.903920 deg, lon: -122.119060 deg, deltaT: 0.503906 s, deltaX: -0.400000 m, approachRate: -0.793798 m/s, posRepo size: 4 2i)5DNOT Ignoring new targets: 10.10 m.*i1i"i ProNav: ac range: 10.100000 m, nav range: 9.811676 m, bearing: 108.452302 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 103.739877 deg, new cmd heading: 104.062428 deg.  iHeadingCmd: 1.816232 target range: 10.100000 and range: 10.10 m.hJz?hhhhggbgjgJBeejeJe@33$@:e`8?]Bɛelj=)a eh?ia)eJaiimeu Aq } DDAT read: Rx Time:19:26:22.8546  TRx dataTimestamp_ set to:1736537183.352203 PDAT read: Bearing 4.3, 15.4 (Local)  ~Local bearing/azimuth received: Bearing 4.3, 15.4 (Local)  DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4  DAT read: 19:26:22.8546 LVL= 16544, 25489, 18290, 29043, AGC= 45, IDX= 501,-0.04,-2.433, 2.084,-2.678, 3.067, PHS= 0.872,-0.936, 0.535, RAW= 139.9, -5.7, CAL= 145.7, -15.4, ROT= 4.3, 15.4  Ygot valid direction response: 19:26:22.8546 LVL= 16544, 25489, 18290, 29043, AGC= 45, IDX= 501,-0.04,-2.433, 2.084,-2.678, 3.067, PHS= 0.872,-0.936, 0.535, RAW= 139.9, -5.7, CAL= 145.7, -15.4, ROT= 4.3, 15.4  V#Rx 106: Read range and direction messages. ^direction in FSK: [0.961382,0.072287,-0.265556] Fpublishing direction and range infoy Y} -Z?Ieм`?<п} fA9y } @ } c)} rGI} sqi} -} d;_?} o} ?} E@ } %˽)} "@I} i} `=} >y y } LM?Ю?HxI} >i} =} `=} >y y  checking for new query: numPingsReceived=106, elapsed TxPingTime=51.423706VF&f*FZAM>Ex,]AVhe?yV?9V^1٣1 5G5F=Z; =>A]M49Em?am4YE8 iE_Bqu;?qu@Ex)DE ;E;E'4y }@yZj\l?bjCğ ii~]AjfAjTA2j?p:n #@@A?y4zp-Z?Ieм`?<п"j`=*j>p1wSEH"@:/pLӿ赛.9?,#=ѿiAjBiAl?ia  jBzjwճl?jg jBjjArj?} addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503480 s, deltaX: -0.200001 m, approachRate: -0.397237 m/s, rangeRepo size: 4  Added new target pos. range: 9.900000 m, bearing: 108.588227 deg, lat: 36.903920 deg, lon: -122.119060 deg, deltaT: 0.503480 s, deltaX: -0.200001 m, approachRate: -0.397237 m/s, posRepo size: 4 2iBNOT Ignoring new targets: 9.90 m.*i6Short final. Range: 9.90 m.VTransitioning guidance mode to: SHORT_FINALi@@i"i ProNav: ac range: 9.900000 m, nav range: 9.604568 m, bearing: 108.601079 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 104.062426 deg, new cmd heading: 104.306590 deg.  i|HeadingCmd: 1.820493 target range: 9.900000 and range: 9.90 m.h?hhhhgg!bg)jg)e)e)je1Je5#@:e5{?雅Bɛ#=) ?i)8隉iMZI bI jI rI zI :I J1:I I G} l>G} CG} 'IG} {BG}  =Gy G} =DG} ǰ<G} F=Ex,X]AV?yV$?9V_? <˿W?@?@>?V?ɨVڋ; V6CBD'IH-H-V85== =J=YE9Q E>A٣I MGMFM; M>DDAT read: Rx Time:19:26:23.3544 TRx dataTimestamp_ set to:1736537183.855755PDAT read: Bearing 4.3, 15.6 (Local) ~Local bearing/azimuth received: Bearing 4.3, 15.6 (Local) DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 DAT read: 19:26:23.3544 LVL= 17712, 27073, 18578, 31651, AGC= 45, IDX= 498, 0.25,-3.069, 1.444, 2.966, 2.423, PHS= 0.879,-0.931, 0.540, RAW= 139.9, -5.9, CAL= 145.7, -15.6, ROT= 4.3, 15.6 Ygot valid direction response: 19:26:23.3544 LVL= 17712, 27073, 18578, 31651, AGC= 45, IDX= 498, 0.25,-3.069, 1.444, 2.966, 2.423, PHS= 0.879,-0.931, 0.540, RAW= 139.9, -5.9, CAL= 145.7, -15.6, ROT= 4.3, 15.6 V#Rx 107: Read range and direction messages.^direction in FSK: [0.960451,0.072217,-0.268920]Fpublishing direction and range infoءYإ0Ȏ?Q7J|?]^|5ѿإA9ءإ0E ٥i)٥HI٥{i١٥%a?٥Vn٥q= ?١ ڥBҽ)ڡIڥ'giڡڥ'g>ڡ ۡۥc$?ۏ Ş?c\IۥMj>iۥۡ ܡ%checking for new query: numPingsReceived=107, elapsed TxPingTime=51.927456)]549-m?a=4Y- i-ZB9=z?q=@-)D-H;-;-i/4A E@IZjlp^J-;̂!@T[nzp:[ ӿƾMPT/?dѿi Aj<ivKl?i]  jƂBzj(l?j8 jBjjeArj? addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503552 s, deltaX: -0.299999 m, approachRate: -0.595766 m/s, rangeRepo size: 4  Added new target pos. range: 9.600000 m, bearing: 108.614754 deg, lat: 36.903920 deg, lon: -122.119060 deg, deltaT: 0.503552 s, deltaX: -0.299999 m, approachRate: -0.595766 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.60 m. 9.90 m.iA"iAU ProNav: ac range: 9.900000 m, nav range: 9.386569 m, bearing: 108.759228 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 104.306592 deg, new cmd heading: 104.603124 deg.  iQ]|HeadingCmd: 1.825669 target range: 9.900000 and range: 9.60 m.h]?hYhYhYhYggbgjgeejeJe@33#@:e+? Bɛ #=)  ǜ?i )Ҩ:ibFx,I]A ?y ;?9 8eU`;Q Ul@)UX@IU|@iQQU¥@ aaHmHm_,51ļ =YX(:Q > )"@I inF= > B?7e?O&1IHa>i=nF= > checking for new query: numPingsReceived=108, elapsed TxPingTime=52.439350٣ GF.; >]49m?a4Y iVB>m:_?q@)D.;-;84I U@UEZj&l?bj ii ]AjAjA2j?p[6jL"@sq#?B^zpN ?nΉ?V!}п"jnF=*j >p~'s.zmB\!@\ppOFCӿ2=?us пi Aj<iU7l?ifN  jBzjjjƂBjjOArjS?- addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.504116 s, deltaX: -0.100000 m, approachRate: -0.198368 m/s, rangeRepo size: 4 E Added new target pos. range: 9.500000 m, bearing: 108.784553 deg, lat: 36.903920 deg, lon: -122.119060 deg, deltaT: 1.007668 s, deltaX: -0.400000 m, approachRate: -0.396956 m/s, posRepo size: 4 2iA*iIMzIgnoring new targets. Set target to previous: 9.50 m. 9.90 m.iQ"iQ} ProNav: ac range: 9.900000 m, nav range: 9.131151 m, bearing: 108.904840 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 104.603125 deg, new cmd heading: 104.915876 deg.  i|HeadingCmd: 1.831128 target range: 9.900000 and range: 9.50 m.hcb?hhhhggbgjg9BeejeJe]#@:e] I?雥{Bɛr =) ͞?i)P#;隩ih_DG5<G5 F`?y?9 d1٣1 5G1=^; =>A]U49Em?aU4YEç iERBQU?qU@E)DE:E:E?4a eY@a}B*** querying acoustic contact ***ii2i*izIgnoring new targets. Set target to previous: 9.90 m. 9.90 m.i&;"i&; ProNav: ac range: 9.900000 m, nav range: 8.927795 m, bearing: 109.022654 deg, approach rate: -0.528650 m/s, LOS rate: 0.313250 deg/s, cmd heading: 104.915879 deg, new cmd heading: 105.277367 deg.  iV<|HeadingCmd: 1.837437 target range: 9.900000 and range: 9.50 m.h 1?hhhhggbgjgeejeJe:e l?5qBɛ==)=H< =?i9)Eq^;AAiEsDaDDAT read: Rx Time:19:26:24.3541 TRx dataTimestamp_ set to:1736537184.868846-PDAT read: Bearing 4.0, 15.6 (Local) -~Local bearing/azimuth received: Bearing 4.0, 15.6 (Local) EDAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 DDDEF4 EDAT read: 19:26:24.3541 LVL= 19040, 21857, 20466, 32755, AGC= 43, IDX= 495, 0.09, 0.605,-1.132, 0.373,-0.169, PHS= 0.862,-0.916, 0.539, RAW= 140.2, -6.0, CAL= 146.0, -15.6, ROT= 4.0, 15.6 -Ygot valid direction response: 19:26:24.3541 LVL= 19040, 21857, 20466, 32755, AGC= 43, IDX= 495, 0.09, 0.605,-1.132, 0.373,-0.169, PHS= 0.862,-0.916, 0.539, RAW= 140.2, -6.0, CAL= 146.0, -15.6, ROT= 4.0, 15.6 UV#Rx 109: Read range and direction messages.^direction in FSK: [0.960816,0.067187,-0.268920]Fpublishing direction and range infoYn3?'3?]^|5ѿA9`J aU)OIi\?~j ?ۚ@ Pwֽ)e#@I'gi5='g> 8OV?F6b ?*𜺿IGZ>i,J=5='g> checking for new query: numPingsReceived=109, elapsed TxPingTime=53.024120VF F ZA M > checking for new query: numPingsReceived=109, elapsed TxPingTime=53.170841Fx,H]A2?y20?92_2H`c̿ @?,?n̿C??[?2?ɨ2Ǔ; 0>BB&'IMb@Mb@Mb@ )Iy/$?y&1?`e<t (@)n@IO@i @z@HH(*5Cw O=YBQ >٣ GF8< >] 49m?a4Y iPBM>m:E?q@)D Z;Mu;F4A E@IZjMl?bjMⴼ iIiM,7]AjMAjMA2jM‘?HHpM\*qK!@΃֌Y?)\zpMn3?'3?]^|5ѿ"jM5=*jM'g>pMrP:0֬` @C)CpM+Կ ?0%X_ѿiMAjM4iMl?iM.UJ  jMBzjMAl?jMa jM΂BjjM ArjM?5 addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.508975 s, deltaX: -0.500000 m, approachRate: -0.982367 m/s, rangeRepo size: 4 e Added new target pos. range: 9.000000 m, bearing: 109.027315 deg, lat: 36.903921 deg, lon: -122.119061 deg, deltaT: 1.516643 s, deltaX: -0.900000 m, approachRate: -0.593416 m/s, posRepo size: 4 2ii*iimzIgnoring new targets. Set target to previous: 9.00 m. 9.90 m.iu"iur; ProNav: ac range: 9.900000 m, nav range: 8.742295 m, bearing: 109.111046 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 105.277367 deg, new cmd heading: 105.567629 deg.  i<|HeadingCmd: 1.842503 target range: 9.900000 and range: 9.00 m.h!?hhhhggbgjgBeejeJe"@:eL?5cBɛ5=)1 5p?i1)=;99i=q>    ?ǫ7?RݹI >i H= ԇ= >  Mchecking for new query: numPingsReceived=110, elapsed TxPingTime=53.460899VF EF ZA M >G|Fx,1c]AH%yH%'55}: =O=YEQ E>A٣A ]GY] ]>a]u49em?au4YeD ieMBqqqu@e)De;e;eM4 @Zjel?bj s iiW]Ajj2j?pP!@Ghf?D zp }?a[?<п"jԇ=*j>p!&NZ"i @teUpjA[~ӿr.?X/ѿiOAj2i.gl?iC  jBzjjjBjjArj ? addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.500146 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=110, elapsed TxPingTime=53.674637 Added new target pos. range: 9.000000 m, bearing: 108.801650 deg, lat: 36.903921 deg, lon: -122.119061 deg, deltaT: 2.016789 s, deltaX: -0.900000 m, approachRate: -0.446254 m/s, posRepo size: 4 2ia*iamzIgnoring new targets. Set target to previous: 9.00 m. 9.90 m.ii"iq} ProNav: ac range: 9.900000 m, nav range: 8.555877 m, bearing: 109.203749 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 105.567629 deg, new cmd heading: 105.785266 deg.  iy|HeadingCmd: 1.846301 target range: 9.900000 and range: 9.00 m.hS?hhhhggbgjgeejeJe:e`x?5XBɛ5Y=)9 =?i9)] ;YYie<GCG'IGNBG =GG:DG<G FVF} n DDAT read: Rx Time:19:26:25.3539  TRx dataTimestamp_ set to:1736537185.873448 PDAT read: Bearing 3.8, 14.8 (Local)  ~Local bearing/azimuth received: Bearing 3.8, 14.8 (Local)  DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4  DAT read: 19:26:25.3539 LVL= 21168, 25313, 23106, 32755, AGC= 44, IDX= 508,-0.22,-0.496,-2.215,-0.715,-1.241, PHS= 0.833,-0.928, 0.523, RAW= 140.5, -5.3, CAL= 146.2, -14.8, ROT= 3.8, 14.8 = Ygot valid direction response: 19:26:25.3539 LVL= 21168, 25313, 23106, 32755, AGC= 44, IDX= 508,-0.22,-0.496,-2.215,-0.715,-1.241, PHS= 0.833,-0.928, 0.523, RAW= 140.5, -5.3, CAL= 146.2, -14.8, ROT= 3.8, 14.8 E V#Rx 111: Read range and direction messages.E ^direction in FSK: [0.964698,0.064075,-0.255446]M Fpublishing direction and range infoF9 ZAY Mu >ر Yص Eס?X:g?l39Yпص 3 A9ر ص R ٵ b)ٵ BZIٱ iٵ ,ٵ }?U?ٵ hmٵ T?ٵ @ ڵ q)ڱ Iڵ Aiڱ ڵ A>ڱ ۱ ۵ L?:S?^NI۵ 'G>i۵ ǽ=۱ ۵ A>۱ ܱ  checking for new query: numPingsReceived=111, elapsed TxPingTime=53.962193Fx,g}]A]?y]cN?9]}h]HͿ@喿??`zͿ ?r?T?]?ɨ]; ]4CEBE%'Ichecking for new query: numPingsReceived=111, elapsed TxPingTime=54.178455Mb@Mb@Mb@ )Iyjt? rh?y&1|>C<` )I|@i"@p@HH65=1 E=YEw:Q E>I٣I GFy< >]49m?a4Yܗ iJB>m:|?q@)D+<<f;<W4I M-@QZjjl?bj:%L iiw]Aj3 AjA A2j(?py=V& @+{?5[.nzpEס?X:g?l39Yп"j*j A>pjc5ݙU@OH} C=H} 4=ZI bI jI rI zI {:I D:I I I .<q I .<i I +;u I +;m p3vhlԿϔ-?8пi@j1iwl?i#  jdBzj.gl?jfN jBjj`Arj?  addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504456 s, deltaX: -0.300000 m, approachRate: -0.594700 m/s, rangeRepo size: 4 =  Added new target pos. range: 8.700000 m, bearing: 109.290150 deg, lat: 36.903921 deg, lon: -122.119059 deg, deltaT: 2.521245 s, deltaX: -1.200000 m, approachRate: -0.475955 m/s, posRepo size: 4 2i9 *i9 E zIgnoring new targets. Set target to previous: 8.70 m. 9.90 m.iI "iI }  ProNav: ac range: 9.900000 m, nav range: 8.303483 m, bearing: 109.305623 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 105.785266 deg, new cmd heading: 106.206367 deg.  iy  |HeadingCmd: 1.853651 target range: 9.900000 and range: 8.70 m.h nD?h h h h g g bg jg !Be e je Je `ff!@:e ? EBɛ 4۠=) ?i )5 ;1 1 i5 Btڹ ۹ ۽ 5sj?k?jSqhI۽ ~>i۽ =۽ k=۽ ԇ>۹ ܹ 5 checking for new query: numPingsReceived=112, elapsed TxPingTime=54.447460^DDDDDEp0 Eechecking for new query: numPingsReceived=112, elapsed TxPingTime=54.682533VF5^:J-BoHBJ-9JJ)RJ-rZJ-A\jaa^[VOIHE@<<750+# J9I9FAZAIMe;?ǔ*Fx,pa]A>@;?y>x?9>6q>>H Ͽ? ?ο?3@?`?>@;?ɨ>8A; >6CbۇBb'IHH/5 7  =YEvr:Q M>Q٣Q UGUFUz< m>]49m?a4Y7 iFB?q@)D)::b4Gd>GCG'IG9BG! =GGplqii赇@iJp*6ŘԿ$È?6!ѿi=@j-iDl?iP"  jcBzjU7l?jP" jBjjYArjg? addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.502437 s, deltaX: -0.300000 m, approachRate: -0.597090 m/s, rangeRepo size: 4  Added new target pos. range: 8.400000 m, bearing: 109.503372 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 3.023682 s, deltaX: -1.500000 m, approachRate: -0.496084 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 8.40 m. 9.90 m.i"i% ProNav: ac range: 9.900000 m, nav range: 8.041013 m, bearing: 109.401101 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 106.206368 deg, new cmd heading: 106.545816 deg.  i!M|HeadingCmd: 1.859575 target range: 9.900000 and range: 8.40 m.hU?hQhQhQhQgQgQbgajgaeejeJe @:e>?DDAT read: Rx Time:19:26:26.3535 TRx dataTimestamp_ set to:1736537186.880333PDAT read: Bearing 3.2, 15.1 (Local) ~Local bearing/azimuth received: Bearing 3.2, 15.1 (Local) DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 DAT read: 19:26:26.3535 LVL= 21392, 30097, 23282, 32755, AGC= 42, IDX= 504,-0.47,-2.051, 2.452,-2.264,-2.829, PHS= 0.866,-0.955, 0.563, RAW= 141.0, -5.7, CAL= 146.8, -15.1, ROT= 3.2, 15.1 Ygot valid direction response: 19:26:26.3535 LVL= 21392, 30097, 23282, 32755, AGC= 42, IDX= 504,-0.47,-2.051, 2.452,-2.264,-2.829, PHS= 0.866,-0.955, 0.563, RAW= 141.0, -5.7, CAL= 146.8, -15.1, ROT= 3.2, 15.1  V#Rx 113: Read range and direction messages.^direction in FSK: [0.963967,0.053894,-0.260505]Fpublishing direction and range infoعYؽ??QfJ0пؽA9عؽS ٽu)ٽZIٹiٹٽ-]?ٽztٽ ?ٽ@%6B ڽ%˽)ڽ(#@IڽViڽd=ڽV>ڹ ۹۽M[o?o?JBI۽B>i۽Ql=۽d=۽V>۹ ܹuchecking for new query: numPingsReceived=113, elapsed TxPingTime=54.959396ɛ%#=)q ub?iq)} 2 `; ?@)If@iHH%.5ҕ  =YQ >٣ GF > ]49 m?a4Y  i BB>m:%?q%@ )D A; ?; Zl4-B -Ͳ@-EZjHl?bj ii`W]AjAjA2j`?p.궇;@CwO?%j;.uzp??QfJ0п"jd=*jV>pԾh4x@=٣,&pC}Կ1R?A[zsпi@j%ihl?iy  jBzjhl?jjcBjjX@rjN? addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.504448 s, deltaX: -0.299999 m, approachRate: -0.594708 m/s, rangeRepo size: 4  Added new target pos. range: 8.100000 m, bearing: 109.389298 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 3.528130 s, deltaX: -1.799999 m, approachRate: -0.510185 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 8.10 m. 9.90 m.i"iDDAT read: Rx Time:19:26:26.8534 TRx dataTimestamp_ set to:1736537187.383935PDAT read: Bearing 2.6, 15.7 (Local) ~Local bearing/azimuth received: Bearing 2.6, 15.7 (Local) DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 DAT read: 19:26:26.8534 LVL= 21952, 28897, 22130, 32755, AGC= 41, IDX= 503, 0.04,-1.172,-2.937,-1.368,-1.955, PHS= 0.872,-0.934, 0.584, RAW= 141.5, -6.3, CAL= 147.4, -15.7, ROT= 2.6, 15.7  ProNav: ac range: 9.900000 m, nav range: 7.781332 m, bearing: 109.545671 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 106.545815 deg, new cmd heading: 106.905906 deg.  i|HeadingCmd: 1.865860 target range: 9.900000 and range: 8.10 m.h?hhhhggbgYgot valid direction response: 19:26:26.8534 LVL= 21952, 28897, 22130, 32755, AGC= 41, IDX= 503, 0.04,-1.172,-2.937,-1.368,-1.955, PHS= 0.872,-0.934, 0.584, RAW= 141.5, -6.3, CAL= 147.4, -15.7, ROT= 2.6, 15.7 V#Rx 114: Read range and direction messages.^direction in FSK: [0.961701,0.043671,-0.270600]Fpublishing direction and range infoY3@?>?[?RlyQѿA9U p)rVIi)d;_?o?@ z0)$@IKi9=K> H=?qVG?AIп>i|=9=K> %checking for new query: numPingsReceived=114, elapsed TxPingTime=55.484234jg BeIeIjeIJeU @:eUE?雝%BɛN=) 6?i)"'<i(I9)9GCG'IG4BG =GG ~G G<)jyGAG FF9ZAIMe ?|RHrпS*??#п?dL?Ȫ?R ?ɨRU; R4C^B^$'IHfHf35n= n#=Yn3%;Q r>p٣p rGrFvk< v>x]~49zm?a~4Yz iz?B?q@z)Dz:z:zu4  6@ Zj2+l?bj iid]AjAjF@2jbA?p3@@>?[?RlyQzp3@?>?[?RlyQѿ"j9=*jK>po*\X@Jyz[po*Կ\X?Jyz[ѿix@j&izkl?i6`  juBzjwl?j# jdBjj@rj? addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503602 s, deltaX: -0.100000 m, approachRate: -0.198570 m/s, rangeRepo size: 4 DDAT read: Rx Time:19:26:27.3532 TRx dataTimestamp_ set to:1736537187.888340PDAT read: Bearing 2.7, 15.2 (Local) ~Local bearing/azimuth received: Bearing 2.7, 15.2 (Local) DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4  DAT read: 19:26:27.3532 LVL= 19184, 24273, 18930, 32355, AGC= 40, IDX= 501,-0.48, 2.600, 0.820, 2.400, 1.821, PHS= 0.867,-0.955, 0.576, RAW= 141.5, -5.8, CAL= 147.3, -15.2, ROT= 2.7, 15.2 Ygot valid direction response: 19:26:27.3532 LVL= 19184, 24273, 18930, 32355, AGC= 40, IDX= 501,-0.48, 2.600, 0.820, 2.400, 1.821, PHS= 0.867,-0.955, 0.576, RAW= 141.5, -5.8, CAL= 147.3, -15.2, ROT= 2.7, 15.2 V#Rx 115: Read range and direction messages.%^direction in FSK: [0.963945,0.045459,-0.262189]%Fpublishing direction and range infoYbzҜ?TZ:VF?;f$пf@9J ^)IIc~i(]?ztt? 4QϽ)"$@IԇiA=ԇ> +9dZ?`H?AP빿I>i=A=ԇ> checking for new query: numPingsReceived=115, elapsed TxPingTime=55.972286 Added new target pos. range: 8.000000 m, bearing: 109.782024 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 4.031732 s, deltaX: -1.900000 m, approachRate: -0.471261 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 8.00 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 7.558890 m, bearing: 109.652728 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 106.905909 deg, new cmd heading: 107.227551 deg.  i|HeadingCmd: 1.871474 target range: 9.900000 and range: 8.00 m.ht?hhhhggbgIjgIeIeIjeQJeU@:e]@ת?雽Bɛ=) *?i)|><隹iECFx, X]AZI~bI~jI|rI|zI~+:I~5K:I|I|I~2<I~2<I~;I~; B ('IMb@Mb@Mb@ )IyCl?MbpMbp;> l@)X@I|@i¥@H-H-45=L< =#=YEQ M>I٣Q UGUFU U>Y]m49]Pm?am4Y]X i]mm:mU?qm@] *D]x;]N;]}4y }@yZjUHl?bjU iQiU]AjUf@jU@2jUM?pU3ԃ@ht(f?#R&zpUbzҜ?TZ:VF?;f$п"jUA=*jUԇ>pUP`OlL@CzpU:+Կ?'a-ѿiUR@jU iUl?iU|  jUăBzjQjU| jUuBjjUk@rjUd? addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504405 s, deltaX: -0.300000 m, approachRate: -0.594761 m/s, rangeRepo size: 4  Added new target pos. range: 7.700000 m, bearing: 109.803541 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 4.536137 s, deltaX: -2.200000 m, approachRate: -0.484994 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 7.70 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 7.340315 m, bearing: 109.808205 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 107.227550 deg, new cmd heading: 107.545796 deg.  i  |HeadingCmd: 1.877028 target range: 9.900000 and range: 7.70 m.h vB?hhhhggbgjg)B-DDAT read: Rx Time:19:26:27.8531 5TRx dataTimestamp_ set to:1736537188.391824=PDAT read: Bearing 1.8, 16.1 (Local) =~Local bearing/azimuth received: Bearing 1.8, 16.1 (Local) UDAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 }DAT read: 19:26:27.8531 LVL= 21392, 25409, 20402, 32755, AGC= 40, IDX= 500,-0.01,-2.272, 2.290,-2.441,-3.042, PHS= 0.858,-0.904, 0.598, RAW= 142.1, -6.7, CAL= 148.2, -16.1, ROT= 1.8, 16.1 Ygot valid direction response: 19:26:27.8531 LVL= 21392, 25409, 20402, 32755, AGC= 40, IDX= 500,-0.01,-2.272, 2.290,-2.441,-3.042, PHS= 0.858,-0.904, 0.598, RAW= 142.1, -6.7, CAL= 148.2, -16.1, ROT= 1.8, 16.1 V#Rx 116: Read range and direction messages.^direction in FSK: [0.960305,0.030179,-0.277315]Fpublishing direction and range info)Y-~5Ѻ?t;1?/ѿ-@9)-S -Ac)-OI-i)-[?-lg-?-,@ -|)-~%@I-ޏi-=-ޏ>) )eeje!Je%@:e%4*?-F! o?E$q?e,I->i- |=-=-ޏ>) )echecking for new query: numPingsReceived=116, elapsed TxPingTime=56.486622雝 Bɛ=) V?i)x U<隡i]| checking for new query: numPingsReceived=116, elapsed TxPingTime=56.698654o JFx,`!*]A2R?y2?92ʞ2H ѿڌ@%?? п?w_?g?2R?ɨ2 ; 26CNBR3'IZAZAH^H^"25v`a= vz=Yv\e?zpe~5Ѻ?t;1?/ѿ"je=*jeޏ>pe=>Gu @o#cpe ݄Կ(PED?XYҿie]@je?ieUl?ie֍  jeBzjel?jeP" jeBjje@rje? addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503484 s, deltaX: -0.200000 m, approachRate: -0.397232 m/s, rangeRepo size: 4  Added new target pos. range: 7.500000 m, bearing: 109.618676 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 5.039621 s, deltaX: -2.400000 m, approachRate: -0.476226 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 7.50 m. 9.90 m.i"iGo>GCGGG =GG=DG<G F5 ProNav: ac range: 9.900000 m, nav range: 7.197089 m, bearing: 109.904154 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 107.545795 deg, new cmd heading: 107.794351 deg.  i9m|HeadingCmd: 1.881366 target range: 9.900000 and range: 7.50 m.hm?hihihihigigqbgqjgqeqeyjeyJey:e}`p?Bɛ%W=)! %V?i!)%ig<))i-a ae0~"=?{4Y?W&}2wIed>ie>ea achecking for new query: numPingsReceived=117, elapsed TxPingTime=56.973297VF eF ZA M >PFx,GD]AF?yF=%?9FFHQѿ4 ? '?oп[?{`XR?|?F?ɨF; F4CbBb@'IeMb@Mb@Mb@aa a)aIayey&1?{GztMb`e`>checking for new query: numPingsReceived=117, elapsed TxPingTime=57.202824eףe eV@)en@Ief@iaaep@HH*5.= /=Y;Q >٣ GFM < U>Y]49]{m?a4Y]?v i]7Bd>m:?q@]!*D]<];]4 Ͱ@Zj|l?bj ii9]Ajf@j@2j?p @_M?[RFktzp7ַ+?$ӎ?WԷHҿ"j<*jV>p#afX@ljpӿEb?UbZӿi@joi8l?iOZ  jBzjhl?jy jBjjo@rjKv?= addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.508354 s, deltaX: -0.300000 m, approachRate: -0.590140 m/s, rangeRepo size: 4 U Added new target pos. range: 7.200000 m, bearing: 109.060323 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 5.547975 s, deltaX: -2.700000 m, approachRate: -0.486664 m/s, posRepo size: 4 2iQ*iQ}zIgnoring new targets. Set target to previous: 7.20 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 6.983995 m, bearing: 110.050861 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 107.794353 deg, new cmd heading: 108.103018 deg.  i|HeadingCmd: 1.886754 target range: 9.900000 and range: 7.20 m.h$?hhhhggbgjg7BeejeJe@ZIbIjI1rIzI;Is:I3II><I><Iy;Iz;:e?]Bɛ]Q$=)Y e6?ia)eQ Q U gm:A?vz?fIU +>iU @5>Q U r>Q Q  checking for new query: numPingsReceived=118, elapsed TxPingTime=57.495583VF5 8F ZAM-> XFx, a]AV?yV?9VVH ѿ;yc? ?Eѿ*?`z;?@?V?ɨV&; V5CrBrL'IHzHz"25== J=Y ;Q  > ٣  GFUh< U>Y]e49]zm?ae4Y]q i]4Bim?qm@],*D]`:]:]4 3@ZjIyl?bj5 iiRY]Aj3@j@2jP?p9$Ĕ$:@mSQ_?6$u!zpwS? ؎?HN-ҿ"j*jr>p6\@*̮3p;G8Կ_9?+(bӿiH@jilsl?iW  jBzjUl?jW jBjj6@rjFr?M addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.499988 s, deltaX: -0.100000 m, approachRate: -0.200005 m/s, rangeRepo size: 4 ] Added new target pos. range: 7.100000 m, bearing: 109.360142 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 6.047963 s, deltaX: -2.800000 m, approachRate: -0.462966 m/s, posRepo size: 4 2iY*iYezIgnoring new targets. Set target to previous: 7.10 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 6.806011 m, bearing: 110.171912 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 108.103016 deg, new cmd heading: 108.340061 deg.  i|HeadingCmd: 1.890891 target range: 9.900000 and range: 7.10 m.h?checking for new query: numPingsReceived=118, elapsed TxPingTime=57.706684hhhhggbgjgeejeJe`ff@:eE?雍Bɛ>) *?i)S<隑iŜG5CG5'IG5>BG1G1G5%^Fx,?W{]AYgot valid direction response: 19:26:29.3526 LVL= 19584, 22865, 19218, 32243, AGC= 38, IDX= 510, 0.34,-1.560, 3.018,-1.678,-2.331, PHS= 0.858,-0.887, 0.650, RAW= 143.7, -7.6, CAL= 149.9, -16.7, ROT= 0.1, 16.7 V#Rx 119: Read range and direction messages.^direction in FSK: [0.957821,0.001672,-0.287361]Fpublishing direction and range infoY-@/Lx?  c[?gdҿ@9L QY)KI}i[?ocff&? @ )p'@I;i:;> 懿ޙ ?qK?-+I>id>:;> 6checking for new query: numPingsReceived=119, elapsed TxPingTime=57.995647r{B?yr?9rzrH@ѿn`̑?D?ѿ? _uI?è?r{B?ɨr .; r6C~B~\'I)p= R=H H )5%= %J=Y-(;Q ->)٣) UGQeKH< m>]49Wm?a4Ym i1B*?q@8*D*&<z&< 4 g@EZj9m?bjm ii=az]Aj@j!@2jnA?px @OG?-dBCzp-@/Lx?  c[?gdҿ"j:*j;>pV[Ev@Ⅺp/Nӿ?`?]1ӿi@jim?ibo  j׃Bzjlsl?j֍ jBjj@rjB?M addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.512019 s, deltaX: -0.300000 m, approachRate: -0.585915 m/s, rangeRepo size: 4  Added new target pos. range: 6.800000 m, bearing: 108.886865 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 6.559982 s, deltaX: -3.099999 m, approachRate: -0.472562 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 6.80 m. 9.90 m.i"i% ProNav: ac range: 9.900000 m, nav range: 6.625410 m, bearing: 110.293690 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 108.340058 deg, new cmd heading: 108.621509 deg.  i!5|HeadingCmd: 1.895803 target range: 9.900000 and range: 6.80 m.h}?hyhyhyhygygybgjgeejeJe@33@:e5!?ۄBɛh>) ?i)%geFx,~]ADDAT read: Rx Time:19:26:29.8524 TRx dataTimestamp_ set to:1736537190.412392PDAT read: Bearing 0.1, 16.2 (Local) ~Local bearing/azimuth received: Bearing 0.1, 16.2 (Local) DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 DAT read: 19:26:29.8524 LVL= 21584, 21185, 18882, 32755, AGC= 37, IDX= 509,-0.11,-2.577, 2.016,-2.691, 2.957, PHS= 0.837,-0.893, 0.633, RAW= 143.8, -7.1, CAL= 149.9, -16.2, ROT= 0.1, 16.2 Ygot valid direction response: 19:26:29.8524 LVL= 21584, 21185, 18882, 32755, AGC= 37, IDX= 509,-0.11,-2.577, 2.016,-2.691, 2.957, PHS= 0.837,-0.893, 0.633, RAW= 143.8, -7.1, CAL= 149.9, -16.2, ROT= 0.1, 16.2 %V#Rx 120: Read range and direction messages.-^direction in FSK: [0.960292,0.001676,-0.278991]-Fpublishing direction and range infoY4?ű(!u[?ѿ@9PT R)IIi%EV?dJ "?K @ )IÐiÐ> 5t{ ?\䫢? ܕIü>i=Ð> ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.޵B޵f'I%Mb@Mb@Mb@!! !)!I!y%i|?5?MbMbP%>%% %@)%X@I%|@i% @!%¥@HgH5 < =YQ >٣ GF E>I]U49Mm?aU4YMzf iM,BU>m]:]>?q@MH*DM{:p2tuayu@qtpFӿ*PZ?km~[ӿi@jim?ij  j*Bzj8l?jOZ jjj@rj/?u addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.500207 s, deltaX: -0.300000 m, approachRate: -0.599752 m/s, rangeRepo size: 4  Added new target pos. range: 6.500000 m, bearing: 108.807992 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 7.060189 s, deltaX: -3.400000 m, approachRate: -0.481573 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 6.50 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 6.366713 m, bearing: 110.533856 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 108.621509 deg, new cmd heading: 108.938388 deg.  i|HeadingCmd: 1.901334 target range: 9.900000 and range: 6.50 m.h^?hhhh1g9g9bg9jg=[BeAeAjeAJeE@:eE ?雕΄Bɛ03=) ?i)<i^60.,)%#!*7" VF fG b>G CG 'IG NBG " =ZI bI jI 0rI zI ;:I +:I ـ3I I <I <I Ƅ;I Ƅ;G G ;DG <G FFIZAaM}>lFx,]Ab?ybd7?9bC"=Yb!E>bHҿ`S?@?%Jҿ@v??5?D?b?ɨb#; `M$BUt'IHeHe85(t= _=Yɺ٣ GF[= > ]49 m?a4Y b i (BE?qE@ S*D ; ; 4I M0@IB*** querying acoustic contact ***ii2i*izIgnoring new targets. Set target to previous: 9.90 m. 9.90 m.եAեADDAT read: Rx Time:19:26:30.3522 TRx dataTimestamp_ set to:1736537190.916099PDAT read: Bearing 359.0, 16.6 (Local) ~Local bearing/azimuth received: Bearing 359.0, 16.6 (Local) DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 DAT read: 19:26:30.3522 LVL= 18368, 22625, 18418, 30195, AGC= 38, IDX= 506, 0.24,-0.338,-2.034,-0.419,-1.096, PHS= 0.846,-0.891, 0.675, RAW= 144.9, -7.7, CAL= 151.0, -16.6, ROT= 359.0, 16.6 5Ygot valid direction response: 19:26:30.3522 LVL= 18368, 22625, 18418, 30195, AGC= 38, IDX= 506, 0.24,-0.338,-2.034,-0.419,-1.096, PHS= 0.846,-0.891, 0.675, RAW= 144.9, -7.7, CAL= 151.0, -16.6, ROT= 359.0, 16.6 i];"i];m ProNav: ac range: 9.900000 m, nav range: 6.193931 m, bearing: 110.683867 deg, approach rate: -0.495106 m/s, LOS rate: 0.441846 deg/s, cmd heading: 108.938389 deg, new cmd heading: 109.400964 deg.  im<u|HeadingCmd: 1.909407 target range: 9.900000 and range: 6.50 m.husg?hqR#Rx 1: Read range and direction messages.`direction in FSK: [0.958177,-0.016725,-0.285688]Fpublishing direction and range infoةYح b?K8 +k WԷHҿحf@9ةحG ٭aX)٭GI٭ui٭&٭uX?٭d٭,?٭!@ ڭ )ڭ+(@IڭViڭ@ڭV>ک ۩hhhggbgjgeejeJe@:eo{?ۭzV?s?;+} Iۭiۭ>ۭۭV>۩ ܩ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.雕ĄBɛ_,>)hg ?i)<隡iB!ԼFYZAiM>] eHӿ@iH ?@ ?ҿ ?r??e?ɨez#; a}3Bޅ'IAHqHu@AMb@Mb@Mb@ )Iyjt?X9vMb`? @)@I@i9@@HH_,5M= M5=YU;Q U>Q٣Y ]G]F]B< ]>a]m49em?au4YeQ\ ie"Bu?mu:u)?qu@eb*De:e:e4y =@Zjm?bj;i ii^]Ajf@j@2j8 ?pE@AًbWzp b?K8 +k WԷHҿ"j*jV>p GPQ9@$7 p юӿa?NԿiα@jim?i}Q  j6Bzjm?jj׃Bjj@rjh3? addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503707 s, deltaX: -0.300000 m, approachRate: -0.595585 m/s, rangeRepo size: 4  Added new target pos. range: 6.200000 m, bearing: 108.828791 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 7.563896 s, deltaX: -3.700000 m, approachRate: -0.489166 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 6.20 m. 9.90 m.i"ir; ProNav: ac range: 9.900000 m, nav range: 5.970708 m, bearing: 110.937926 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 109.400964 deg, new cmd heading: 109.683227 deg.  i<|HeadingCmd: 1.914333 target range: 9.900000 and range: 6.20 m.h?hhh!h!g!g!bg)jg-Be)e)je1Je1:e5?雽BɛU>) ?i)<iL 1ti"?9b˝?؆I">i>C>  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.D9D9DAEEo0 EAVFu FټFy F} >F1 ZAA MU >yFx,]AR5u?yR?9R'=YRg>RH|ӿ:c?s? Lҿ?ߤ?@?R5u?ɨR; R4C2B'II)AH-H-45=p sAS`wW-@NC̃ p .ӿ|ʚ?}Կi j@j i l?i O  j 9Bzj j }Q j *B:J%?$NBJ!JJ!RJ%wZJ%  jj {@rj I'?e addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.506192 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 u Added new target pos. range: 6.200000 m, bearing: 109.259075 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 8.070088 s, deltaX: -3.700000 m, approachRate: -0.458483 m/s, posRepo size: 4 2iq*iyzIgnoring new targets. Set target to previous: 6.20 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 5.792530 m, bearing: 111.143747 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 109.683228 deg, new cmd heading: 109.949454 deg.  i|HeadingCmd: 1.918980 target range: 9.900000 and range: 6.20 m.h#?hhhhggbgjgeejeJe:e&?G%j>G%CG%'IG%bBG% =G!G%=DG%ٰ<G% FHĥC HĥCHH ="H*H(6eBɛe>)a e?ia)mM<ZIbIjI1rIzI :IK:I3II<I<Ic;Ic;u I#?ID-D1D1E5p0 E1VF fFZADDAT read: Rx Time:19:26:31.3519 TRx dataTimestamp_ set to:1736537191.927912PDAT read: Bearing 358.1, 17.0 (Local)  ~Local bearing/azimuth received: Bearing 358.1, 17.0 (Local)  DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 5 DAT read: 19:26:31.3519 LVL= 19600, 21969, 17682, 32755, AGC= 39, IDX= 503, 0.30, 0.180,-1.452, 0.131,-0.556, PHS= 0.823,-0.849, 0.684, RAW= 145.7, -8.2, CAL= 151.9, -17.0, ROT= 358.1, 17.0 = Ygot valid direction response: 19:26:31.3519 LVL= 19600, 21969, 17682, 32755, AGC= 39, IDX= 503, 0.30, 0.180,-1.452, 0.131,-0.556, PHS= 0.823,-0.849, 0.684, RAW= 145.7, -8.2, CAL= 151.9, -17.0, ROT= 358.1, 17.0 E R#Rx 1: Read range and direction messages.] `direction in FSK: [0.955779,-0.031706,-0.292372]e Fpublishing direction and range infoYKT۽?y;兗7ҿ̼@9L U)EIi'!R?XY/?"@ C))@I闾i3@> U@8?"I>i=7>>   2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.GFx,H]ANJ?y҇?9X3=Y ">H<ӿ'@ܿ?`b? EMӿ? Bi@؎??NJ?ɨ^; 3C9B'IMb@Mb@Mb@ )Iy#~j?{Gzt?̼ף @)n@I׫@iO@@M٣ GFRQ< >]49֛m?a 4Y Q iB  ?m : ?q @~*D: :4A M٬@QZjM%m?bjNV iib]Aj̼@j@2j?p#D >o@04ǿfGzpKT۽?y;兗7ҿ"j*j>px /yT @P<,1pOjӿ6'6?f-wտib@j im?i1g  jDBzjm?jj6BjjЭ@rj ?E addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.505621 s, deltaX: -0.300000 m, approachRate: -0.593329 m/s, rangeRepo size: 4 u Added new target pos. range: 5.900000 m, bearing: 108.787339 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 8.575709 s, deltaX: -4.000000 m, approachRate: -0.466434 m/s, posRepo size: 4 2iy*iy}zIgnoring new targets. Set target to previous: 5.90 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 5.529995 m, bearing: 111.413489 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 109.949455 deg, new cmd heading: 110.269812 deg.  i|HeadingCmd: 1.924571 target range: 9.900000 and range: 5.90 m.hZX?hhhhggbgjgBe e je Je @:e, ?]Bɛ]ۃ >H4=Ha=)] -?i)<隉iU   sR?y%3b?ɏaI >i 7> ѭ C>   2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.D%D!D!E%`0 E!VFEAzFIrFIF ZAM- ?1Fx,*]A:2Acoustic response timeout>Querying Benthos address 50 with 120 pings in terminal homing one-way mode.b?yb@B?9bHA=Yb>bH8Կ`? R?@ӿ@)?&?!?b?ɨb; b6C;B'I)%= %=HH+5(; =Y;Q >٣ GF#< >!]-49%m?a54Y%I i% B15`?q5@%*D%K:%:%4:J}KBJ}9JJyRJ}xZJ} ͬ@EZjmcRTm?bjmk iiGMq>GMCGM'IGMvBGM =GIGM>DGMݰ<GM F m~~Gim]Ajmf@jm,@2jm?pm@5bſ} II(3I(.IIIZIbIjI0rIzI:I-.:Iـ3II@%<IA%<Iv;Iv;zpmYЄҮ? Y8۞Ixҿ"jmѭ*jmC>)y&ApmP-K;J^OX@3pm.y ӿxÓ?=BH?տim@jmim#`Tm?im%K  jm|Bzjijm1g jm9Bjjma@rjmh?5 addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.507238 s, deltaX: -0.200000 m, approachRate: -0.394293 m/s, rangeRepo size: 4 E Added new target pos. range: 5.700000 m, bearing: 109.133964 deg, lat: 36.903922 deg, lon: -122.119059 deg, deltaT: 9.082947 s, deltaX: -4.200000 m, approachRate: -0.462405 m/s, posRepo size: 4 2iA*iIMzIgnoring new targets. Set target to previous: 5.70 m. 9.90 m.iQ"iq ProNav: ac range: 9.900000 m, nav range: 5.234757 m, bearing: 111.730732 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 110.269811 deg, new cmd heading: 110.624523 deg.  i|HeadingCmd: 1.930762 target range: 9.900000 and range: 5.70 m.h7#?hhhhg g9bg9jgAeAeAjeAJeE@:eM ?雵Bɛ_ >) 3?i)+<隹i ) )-,?"?{I-r>i-u>-Q-Ð>) ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^D D D D E @5 E ~HԿ ?31?` EԿ?x/8??~Ј?ɨ~; ~4Cu@B}'IHHAA-Mb@Mb@Mb@)) )))I)y-sh|??y&1y&1|- ?-`-` -Ʒ@)-@I-@i-"@)-@HEHEy/5}< }=Y}٣ GF"< >]49.m?a4YA iB. ?m:m?q@*D;h;4 j@EZjml?bjmؾ iiim;]Ajm3@jm@2jmF?pm$yZ@_~6ȿczpmx?(ѿ"jmQ*jmÐ>pmxOeSOy@.ϨѲpm;;ԿQ r?Ǖ6տimK@jmiml?im ~  jmBzjm#`Tm?jmO jmDBjjm1@rjm? addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.500674 s, deltaX: -0.100000 m, approachRate: -0.199731 m/s, rangeRepo size: 4  Added new target pos. range: 5.600000 m, bearing: 109.577260 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 9.583621 s, deltaX: -4.300000 m, approachRate: -0.448682 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 5.60 m. 9.90 m.i"i- ProNav: ac range: 9.900000 m, nav range: 4.904228 m, bearing: 112.099429 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 110.624524 deg, new cmd heading: 110.998111 deg.  i)5|HeadingCmd: 1.937282 target range: 9.900000 and range: 5.60 m.h5?h1h1h1h1g1g9MDDAT read: Rx Time:19:26:32.8516 MTRx dataTimestamp_ set to:1736537193.439880UPDAT read: Bearing 357.8, 16.6 (Local) ]~Local bearing/azimuth received: Bearing 357.8, 16.6 (Local) mDAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 DAT read: 19:26:32.8516 LVL= 22000, 25393, 20914, 32755, AGC= 37, IDX= 500,-0.00,-1.876, 2.816,-1.909,-2.578, PHS= 0.790,-0.843, 0.666, RAW= 146.1, -7.8, CAL= 152.2, -16.6, ROT= 357.8, 16.6 Ygot valid direction response: 19:26:32.8516 LVL= 22000, 25393, 20914, 32755, AGC= 37, IDX= 500,-0.00,-1.876, 2.816,-1.909,-2.578, PHS= 0.790,-0.843, 0.666, RAW= 146.1, -7.8, CAL= 152.2, -16.6, ROT= 357.8, 16.6 R#Rx 1: Read range and direction messages.`direction in FSK: [0.957616,-0.036788,-0.285688]Fpublishing direction and range infoIYM-9ʤ?m"բWԷHҿM̬@9IMU M1c)MQIIiM%Mq=J?MWM~*?M1#@ M'g )MP*@IMVbgjgBeejeJe@:e?iMM@MV>I IMLT)x?'?sIM#>iM >MFMV>I I  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.UBɛUS >)q }j?iy)}DGG'IGBG =GGG<G FZAM ?Fx,pt]AZI.bI.jI,rI,zI.l:I.#:I,I,I. <I. <I.};I.};uDBu'IHHv35.< %=YQ >٣ GF >]%49Іm?a%4YL: iB))q-@*DQ;L;k41 =*@9ZjpAl?bjN ii&\]Aj̬@j@2j.~?p'<@5 \mɿ]323zp-9ʤ?m"բWԷHҿ"jF*jV>p掽DM *@P =p8+WO Կgee?tտiU@jzؿiLl?iH  jBzjl?j%K j|BjjF@rjf%? addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504056 s, deltaX: -0.200000 m, approachRate: -0.396781 m/s, rangeRepo size: 4  Added new target pos. range: 5.400000 m, bearing: 109.440708 deg, lat: 36.903922 deg, lon: -122.119057 deg, deltaT: 10.087677 s, deltaX: -4.500000 m, approachRate: -0.446089 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 5.40 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 4.636249 m, bearing: 112.437152 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 110.998108 deg, new cmd heading: 111.305293 deg.  i|HeadingCmd: 1.942644 target range: 9.900000 and range: 5.40 m.h?hhhhggbgjgeejeJe:e 5?%wBɛ%c!>)! % a~[?mkf?~X I>ig>9>  E2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.FZAMc>} ,DAT read: user:1203> } 6H@bտI??@Կ >ƺ? ?B?6'?ɨ68; 4N7BR'IeMb@Mb@Mb@aa a)aIayeS?Zd;OMbe?eje a)aIe@ie @aa AAHHB-5`t :=YR٣ G%0< %>)]U49-m?aU4Y-,4 i-BU=?m]:]E?q]@-*D-:-#:-4a e@aZj-ll?bj-f i)i-|]Aj-3@j-@2j-?p-S@)sL2l̿;zp-,? %Jrwkqѿ"j-9*j->p-434U @@Ep-+ BԿcHV?xտi-@j-οi-ܕl?i-.  j-Bzj-ܕl?j- ~ j-Bjj-@rj-D? addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.508275 s, deltaX: -0.300000 m, approachRate: -0.590232 m/s, rangeRepo size: 4  Added new target pos. range: 5.100000 m, bearing: 109.667538 deg, lat: 36.903921 deg, lon: -122.119055 deg, deltaT: 10.595952 s, deltaX: -4.800000 m, approachRate: -0.453003 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 5.10 m. 9.90 m.i"i ProNav: ac range: 9.900000 m, nav range: 4.393345 m, bearing: 112.708024 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 111.305295 deg, new cmd heading: 111.604591 deg.  i!-|HeadingCmd: 1.947868 target range: 9.900000 and range: 5.10 m.h-S?h)h)h)h)g)g1bg1jg5Be1e9je9Je=`ff@:e=ྀ?kBɛ;>) ?i)1 =i= BDAT read: Tx time:19:26:34.3467  $Ping request sent. ؤFx,s]AF?yF/?9FFz=YF>FH@տ u-??g3տ@?Un??F?ɨF; F2Cb4Bb'IHjzHj'5r rl=Yrb;Q v? ٣  GFh< ?]%49{m?a%4Yb/ iB)-?qE@*D;; 4MB U:@UEB*** querying acoustic contact ***ii2i*izIgnoring new targets. Set target to previous: 9.90 m. 9.90 m.iN<"iN< ProNav: ac range: 9.900000 m, nav range: 4.203063 m, bearing: 112.927389 deg, approach rate: -0.599328 m/s, LOS rate: 0.722213 deg/s, cmd heading: 111.604588 deg, new cmd heading: 112.292442 deg.  i<JDAT read: TxSync time:19:26:34.3459 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247373|HeadingCmd: 1.959873 target range: 9.900000 and range: 5.10 m.h%?h!h)h)h)g)g)bg1jg1e1e1je1Je9:e= 3?雭dBɛ)t?>) ?i)u=隱i# checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498396fFx,J@]A:a?y:?9:G=Y:1Z>:H`}Aֿl`sC? ?տ?-Fඐ??:a?ɨ:vR; :4Cb'Bfw'IHxH&5m :=Y5Ұ;Q 5>A٣A mGmF}@< >]49um?a4Y ) iؐB?q@*D;y;4  @2i*izIgnoring new targets. Set target to previous: 9.90 m. 9.90 m.i%O<"i%O<5 ProNav: ac range: 9.900000 m, nav range: 3.950391 m, bearing: 113.232243 deg, approach rate: -0.563983 m/s, LOS rate: 0.723975 deg/s, cmd heading: 112.292442 deg, new cmd heading: 113.265404 deg.  i5m<=|HeadingCmd: 1.976854 target range: 9.900000 and range: 5.10 m.h= ?h9h9h9hAgAgAbgIjgIeIeIjeIJeQ:eU ?}YBɛ(>) ?i)==隉iEZIm bIm jIm 1rIi zIm :Im :Im 3Ii qu @iu @uu @mu @Fx, ]A6 O?y6?96 u=Y6gJ >6H<ֿ@k`?@?iֿ?FR?[?6 O?ɨ6; 4BABAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002680f"Bfr'I]Mb@Mb@Mb@YY Y)YIYy](\?V-Mb]?]] ] @)]@I]?@i]9@Y]@HuLHu5 S=Y 4;Q >٣ G+< >]49om?a4Y# iΐBU?m:f?q@*D::j4B M@E2i*izIgnoring new targets. Set target to previous: 9.90 m. 9.90 m.i[h<"i[h< ProNav: ac range: 9.900000 m, nav range: 3.747747 m, bearing: 113.512924 deg, approach rate: -0.556558 m/s, LOS rate: 0.812567 deg/s, cmd heading: 113.265403 deg, new cmd heading: 114.152901 deg.  ij =|HeadingCmd: 1.992344 target range: 9.900000 and range: 5.10 m.h!?hhhhggbgjgBeejeJe:e j?uOBɛuz0>)q u?iq)}?s=yyi}xG n>G CG 'IG qBG  =G G G ;G g;E:J5 NBJ5 59JJ1 RJ5 {ZJ5 JE > JE ?ټFx,]A2?y2P?92_̓=Y2B >2H`v ׿@#? T?'Wֿ>?v@]??2?ɨ2"; 26C>B>d'IHFCHF 5N-x N[=YR`Q R>P٣P VGVFV< V>X]^49Z1jm?a^4YZ iZÐB`b-?qb@Z*DZ;Z;Z4d f@d2iq*iqzIgnoring new targets. Set target to previous: 9.90 m. 9.90 m.ig<"ig< ProNav: ac range: 9.900000 m, nav range: 3.541731 m, bearing: 113.810967 deg, approach rate: -0.529958 m/s, LOS rate: 0.811283 deg/s, cmd heading: 114.152904 deg, new cmd heading: 115.098953 deg.  i1 =|HeadingCmd: 2.008856 target range: 9.900000 and range: 5.10 m.h@hhhhggbg!jg!e!e!je)JeQ:ee`?雭FBɛL4>) 4?i)$p!=iE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758450UFx,]AzBz\'II)Mb@Mb@Mb@ )IyDl? rh٣ GF >]%49,cm?a%4Y iB%t ?m%:%?q%@+D'::41 5m@12iY*iYezIgnoring new targets. Set target to previous: 9.90 m. 9.90 m.ie\<"ie\<} ProNav: ac range: 9.900000 m, nav range: 3.294684 m, bearing: 114.123209 deg, approach rate: -0.568035 m/s, LOS rate: 0.771768 deg/s, cmd heading: 115.098946 deg, new cmd heading: 116.105803 deg.  i}j=}|HeadingCmd: 2.026428 target range: 9.900000 and range: 5.10 m.h@hhhhggbgjgBeejeJe:e@)i m?ii)mD'=iiimpFx,@)]A:h?y:C?9:2R=Y:>:H J{׿ @ռ?R?`%ֿ`G? f@ ?d?:h?ɨ:/ӊ; :4CBBBN'IHNHN+5Vtz V`=YV(%X٣X ZGXZs< ^>`]f49bt]m?af4Yb ibBdf?qf@b+Db6:b:b4h n#@lB*** querying acoustic contact ***ii2i*izIgnoring new targets. Set target to previous: 9.90 m. 9.90 m.iM<"iM< ProNav: ac range: 9.900000 m, nav range: 3.097800 m, bearing: 114.379311 deg, approach rate: -0.519541 m/s, LOS rate: 0.718752 deg/s, cmd heading: 116.105798 deg, new cmd heading: 116.922875 deg.  i<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262637|HeadingCmd: 2.040689 target range: 9.900000 and range: 5.10 m.h@hhhhgg bg jg e ejeJe:e@)@=3BɛEo6>)A E?iA)E-=AIiMGMCGM'IGM]BGM =GIGM>DGM:<GM FH ŦC H ŦCH œCH  ="H  =*H L[6FZAMA>:JBJ9JJRJ|ZJFu{rng`ZVQLLIEC=@@<3)JUgAIQ DDAT read: Rx Time:19:26:36.4807  TRx dataTimestamp_ set to:1736537196.970367 PDAT read: Bearing 354.7, 16.9 (Local)  ~Local bearing/azimuth received: Bearing 354.7, 16.9 (Local)  DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4  DAT read: 19:26:36.4807 LVL= 22384, 25345, 20210, 32755, AGC= 36, IDX= 509,-0.01,-0.702,-2.164,-0.634,-1.339, PHS= 0.725,-0.778, 0.702, RAW= 149.2, -8.7, CAL= 155.3, -16.9, ROT= 354.7, 16.9  Ygot valid direction response: 19:26:36.4807 LVL= 22384, 25345, 20210, 32755, AGC= 36, IDX= 509,-0.01,-0.702,-2.164,-0.634,-1.339, PHS= 0.725,-0.778, 0.702, RAW= 149.2, -8.7, CAL= 155.3, -16.9, ROT= 354.7, 16.9  R#Rx 1: Read range and direction messages.% `direction in FSK: [0.952723,-0.088381,-0.290702]% Fpublishing direction and range info Y Dƴ|?k)Tcݚҿ ff@9 pW c) NI i $ 9? +G F3? r&@ |) x-@I i @ > o??vÿI h?i K> q > E checking for new query: numPingsReceived=1, elapsed TxPingTime=2.533116oFx,{C]AB̢?yBP?9Bю=YBr}>BH` ׿} ??Dֿ@E?`lֱj?t?B̢?ɨBd; B3CfBf;'IHUHU_,5  -=Y\l;Q >٣ GF#< >]U49Um?aU4Y@  iBY]?q]@++D<<<<t4B !@EZj5l?bj;`p ii~>]Ajff@jd@2j?pa"?p[\ AkQ @7Y9pQ|ӿ6!?~5\q׿iJ@ji0l?iqb  jSBzjj. jBjjN@rj? addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 3.022212 s, deltaX: -1.500000 m, approachRate: -0.496325 m/s, rangeRepo size: 4  Added new target pos. range: 3.600000 m, bearing: 109.141367 deg, lat: 36.903921 deg, lon: -122.119055 deg, deltaT: 13.618164 s, deltaX: -6.300000 m, approachRate: -0.462617 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 3.60 m. 9.90 m.i"ir; ProNav: ac range: 9.900000 m, nav range: 2.835899 m, bearing: 114.749565 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 116.922880 deg, new cmd heading: 117.240317 deg.  i<|HeadingCmd: 2.046230 target range: 9.900000 and range: 3.60 m.hm@hhhhggbgjgeeje checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766518Je% @:e]V?雥'Bɛ0&>) ?i):5=隩i٩? %@ @X) '-@I i @ > $Ζw?i?E%ʿI >i hX> )˽ > = checking for new query: numPingsReceived=2, elapsed TxPingTime=3.034996MM >zFx, __]An/s?yn?9n =YntW>nH@.ؿ O^?@s?@׿? ??n/s?ɨn5Ê; n2C-B5''Ie!>ie=Mb@Mb@Mb@ )IyʡE?٣ GF= >]m49Nm?a4YY iB?m:A?q@;+D< <4B  @EZj')0l?bj ii2^]AjL@jmK@2j3?p!k@5ӿg*Njzp(?#}෿"?տ"j)˽*j>p{ zr@gґpGշ ԿꉐO>? @6ڿi[.@jWi0?l?iPؓ  j4BzjjjBjj?@rjUZ? addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.501480 s, deltaX: -0.400000 m, approachRate: -0.797639 m/s, rangeRepo size: 4  Added new target pos. range: 3.200000 m, bearing: 110.205877 deg, lat: 36.903921 deg, lon: -122.119055 deg, deltaT: 14.119644 s, deltaX: -6.700000 m, approachRate: -0.474516 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 3.20 m. 9.90 m.i"i% ProNav: ac range: 9.900000 m, nav range: 2.594564 m, bearing: 115.003656 deg, approach rate: 0.000000 m/s, LOS rate: 0.212432 deg/s, cmd heading: 117.240320 deg, new cmd heading: 117.521753 deg.  i!-|HeadingCmd: 2.051142 target range: 9.900000 and range: 3.20 m.h-E@h)h)h1h1g1g1bg1jg=Be9e9je9Je @:eh?BɛH/>) 5?i) <=i=-checking for new query: numPingsReceived=2, elapsed TxPingTime=3.271558DDDE EIy )y ! GM s>GI GM 'IGM >BGM  =GI GI GM <GM F)} yy } BVF g:J Fx,Ȗz]Abu?yb?9bCؗ=Yb\$>bHٿ`k0J?V?(ؿ@?l?`=?bu?ɨb4; b5C5؇B5'IHMHM35X T=Y;Q >٣ Gq<DDAT read: Rx Time:19:26:37.4801 TRx dataTimestamp_ set to:1736537197.975849PDAT read: Bearing 355.8, 24.3 (Local) ~Local bearing/azimuth received: Bearing 355.8, 24.3 (Local) DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 =DAT read: 19:26:37.4801 LVL= 16976, 26481, 13554, 24467, AGC= 30, IDX= 504,-0.34,-2.688, 2.318,-2.646, 2.859, PHS= 0.824,-0.494, 0.775, RAW= 148.1, -16.8, CAL= 154.2, -24.3, ROT= 355.8, 24.3 EYgot valid direction response: 19:26:37.4801 LVL= 16976, 26481, 13554, 24467, AGC= 30, IDX= 504,-0.34,-2.688, 2.318,-2.646, 2.859, PHS= 0.824,-0.494, 0.775, RAW= 148.1, -16.8, CAL= 154.2, -24.3, ROT= 355.8, 24.3 >Q]]49UFm?a]4YU iUBY]i?q]@UI+DUK:U6:U&4ER#Rx 3: Read range and direction messages.u`direction in FSK: [0.908956,-0.066750,-0.411514]uFpublishing direction and range infoY8O5*?WL@Vڿ,@9PB qg)4I_iR?ffF?m%@ Q )9>,@I%پiY@%> KWͲ?]6?Bbr~ҿIJ>iZ> @i %> checking for new query: numPingsReceived=3, elapsed TxPingTime=3.554579Zj`l?bj iiOt~]Aj,@j+@2jF?p3P)@ǿhzp8O5*?WL@Vڿ"ji *j%>pZ9-c@7Hup$j ֿUU?l޿i @jni ol?iMՕ  j)) -?i))-}B=))i- 0VFx,b]AZIbIjI1rIzIk:I\3:I3I?y?9(=YY(>Hcٿ  ?`7?ࣦؿ@+? U`?[z??ɨҊ; 6CUʇB]'IMb@Mb@Mb@ )Iy"~j?Mb`? rhS?; 7@)Ȟ@I@iO@­@HH*5;] &=YW;Q >٣ GFҙ< >]49w>m?a4Y  iwBf?m:2?q@Y+D/: :\.41 5׳@1}DDAT read: Rx Time:19:26:37.9801 }TRx dataTimestamp_ set to:1736537198.480527PDAT read: Bearing 355.4, 27.5 (Local) ~Local bearing/azimuth received: Bearing 355.4, 27.5 (Local) DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 DAT read: 19:26:37.9801 LVL= 15984, 21153, 13906, 22963, AGC= 28, IDX= 503, 0.20,-2.413, 2.602,-2.338, 3.059, PHS= 0.899,-0.410, 0.883, RAW= 149.4, -20.4, CAL= 154.6, -27.5, ROT= 355.4, 27.5 Ygot valid direction response: 19:26:37.9801 LVL= 15984, 21153, 13906, 22963, AGC= 28, IDX= 503, 0.20,-2.413, 2.602,-2.338, 3.059, PHS= 0.899,-0.410, 0.883, RAW= 149.4, -20.4, CAL= 154.6, -27.5, ROT= 355.4, 27.5 R#Rx 4: Read range and direction messages.`direction in FSK: [0.884154,-0.071138,-0.461749]Fpublishing direction and range infoyY}J?o}6Jݿy9y}p> }R)}R6I}Yi}}$f?}Ѿ}J b?}&@ }KZj}zl?bj}1t iy)},@I} i}(~@} >y y}nz ?T}m?м*[ֿI}P?i}䶶>}l} >y ychecking for new query: numPingsReceived=4, elapsed TxPingTime=4.047318i}]Ajyjy2j}r?p}`*@Ugʕȿzp}J?o}6Jݿ"j}l*j} >p}gy\}۰@p}Yaֿ=d(?es8@ i}@j}ni}l?i}  j}Bzjyj}Pؓ jyjj}3@rj}o?m addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.504678 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 2.700000 m, bearing: 114.064284 deg, lat: 36.903921 deg, lon: -122.119056 deg, deltaT: 0.504678 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i*ihhhhhggbgjgBeejeJe:e +?5 Bɛ=C0>)a eJ?ia)e%I=aaieNVFlSzFrFF ZA M >% checking for new query: numPingsReceived=4, elapsed TxPingTime=4.278519CFx,S@]A6?y61D?96=Y6*>6Hq8ڿ ??`"/ٿͤ?ѳ +1?v?6?ɨ6; 67CNBN&IIP)PHZHZs75 =Y%մ;Q % ?!٣! -G-F-= - ?1]]4958m?a]4Y58 i5nBae<@qe@5c+D5X;5;534i m @iB*** querying acoustic contact ***ii2i*ihhhhhggbgjgeejeJe:ei?]Bɛ]8S>)].O ]?ia)eN=aaieGGh'IGBG =GGGf<G,FDUDYDYE]#5 EY:JLBJJJRJ~ZJ     }DDAT read: Rx Time:19:26:38.4798 TRx dataTimestamp_ set to:1736537198.983702PDAT read: Bearing 352.3, 30.8 (Local) ~Local bearing/azimuth received: Bearing 352.3, 30.8 (Local) DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.4 DAT read: 19:26:38.4798 LVL= 14832, 20289, 14018, 19571, AGC= 26, IDX= 501,-0.18, 0.513,-0.655, 0.693,-0.305, PHS= 0.906,-0.303, 0.995, RAW= 153.5, -24.2, CAL= 157.7, -30.8, ROT= 352.3, 30.8 Ygot valid direction response: 19:26:38.4798 LVL= 14832, 20289, 14018, 19571, AGC= 26, IDX= 501,-0.18, 0.513,-0.655, 0.693,-0.305, PHS= 0.906,-0.303, 0.995, RAW= 153.5, -24.2, CAL= 157.7, -30.8, ROT= 352.3, 30.8 R#Rx 5: Read range and direction messages.`direction in FSK: [0.851215,-0.115089,-0.512043]Fpublishing direction and range info؁Y؅)&=?Pyvab࿙؅3@9؁؅9 مAO)م6IمsLiممg?م"مR~?مv+@ څ@ؾ)څ'0@Iڅ iڅ@څ ?ځ ہۅxT?|r?AڿIۅ<?VFVMiۅ?r>ۅ ۅ ?ہ ܁ checking for new query: numPingsReceived=5, elapsed TxPingTime=4.582135F ZA M >^0Fx,Z.]A.&?y1@9g=Y->H ڿ "~Ǿ??&ٿ,? Xg`Մ?`p?騍.&?ɨ$; 3C޽B޽&IuMb@Mb@Mb@qq q)qIqyuv?Mbp?~jtu>u;uD uM@)qIqiuf@quf@HH75checking for new query: numPingsReceived=5, elapsed TxPingTime=4.782468# 1=Y$;Q >٣ Gb< >]490m?a4Y ibB>m:@q@q+D;;;4  m@ZjRH_l?bj  ii]Aj3@j6@2j ?pS?5-"пvzp)&=?Pyvab"j *j ?pn )翶7_?d[ p#~ԿJ?ܰi?j8il?iP  jBzj ol?j jjjq?rj,?e addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503175 s, deltaX: -0.400000 m, approachRate: -0.794952 m/s, rangeRepo size: 4 u Added new target pos. range: 2.300000 m, bearing: 112.843116 deg, lat: 36.903921 deg, lon: -122.119058 deg, deltaT: 0.503175 s, deltaX: -0.400000 m, approachRate: -0.794952 m/s, posRepo size: 4 2iy*iyhyhyhyhyhygygbgjg}BeejeJe`ff@:e`G?雽Bɛ92>) ?i)E U=i-L:Iـ3IZAM> DDAT read: Rx Time:19:26:38.9798  TRx dataTimestamp_ set to:1736537199.487724 PDAT read: Bearing 351.0, 39.2 (Local)  ~Local bearing/azimuth received: Bearing 351.0, 39.2 (Local)  DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.4  DAT read: 19:26:38.9798 LVL= 16592, 21969, 13186, 21475, AGC= 26, IDX= 500, 0.20,-1.545,-2.568,-1.286,-2.472, PHS= 1.015,-0.049, 1.183, RAW= 157.3, -33.3, CAL= 159.0, -39.2, ROT= 351.0, 39.2  Ygot valid direction response: 19:26:38.9798 LVL= 16592, 21969, 13186, 21475, AGC= 26, IDX= 500, 0.20,-1.545,-2.568,-1.286,-2.472, PHS= 1.015,-0.049, 1.183, RAW= 157.3, -33.3, CAL= 159.0, -39.2, ROT= 351.0, 39.2  R#Rx 6: Read range and direction messages. `direction in FSK: [0.765404,-0.121228,-0.632029] Fpublishing direction and range info؁ Y؅ '/~?j;bi~9俙؁ 9؁ ؅ @ م U)م 3Iم Siف م ?م 9Hم l?م /@ څ ,)څ Κ1@Iڅ %/iڅ  @څ %/?ځ ہ ۅ rML?Kc.?]/Iۅ BP&?iۅ ?ۅ t ۅ %/?ہ ܁  checking for new query: numPingsReceived=6, elapsed TxPingTime=5.050852VFx,]A25?y2@92>*=Y2,>2H2ۿ@u??@ڿ&}?@<T?vq?25?ɨ2U; 25CBBB&IHNHN35f[ ft=YfJ;Q f?h٣h jGjF]< e>a]m49ek*m?au4Ye ieYBq@q@e|+De$) ?i)UZ=iEDE>DDDE`0 EEiAEiAchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.286330VF6Gg>GCG6'IGBG =GG:J LBJ +9JJ RJ ZJ   lFx,]AB&I%%=i%4<H-H-?1599MDDAT read: Rx Time:19:26:39.4795 MTRx dataTimestamp_ set to:1736537199.992120]PDAT read: Bearing 347.4, 41.7 (Local) ]~Local bearing/azimuth received: Bearing 347.4, 41.7 (Local) mDAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.3 DAT read: 19:26:39.4795 LVL= 14976, 19073, 10866, 22723, AGC= 26, IDX= 498, 0.03, 2.523, 1.642, 2.849, 1.636, PHS= 0.974, 0.052, 1.210, RAW= 161.1, -36.7, CAL= 162.6, -41.7, ROT= 347.4, 41.7 Ygot valid direction response: 19:26:39.4795 LVL= 14976, 19073, 10866, 22723, AGC= 26, IDX= 498, 0.03, 2.523, 1.642, 2.849, 1.636, PHS= 0.974, 0.052, 1.210, RAW= 161.1, -36.7, CAL= 162.6, -41.7, ROT= 347.4, 41.7 R#Rx 7: Read range and direction messages.`direction in FSK: [0.728657,-0.162874,-0.665230]Fpublishing direction and range infoIYM9"v'Q?I/Ŀz:I忙Mf?9IM: MJ)Mr*IMXiIMXy?MT=MH?MP3@ M(#)M>5@IMAQ:iMW@MAQ:?I I <=YQ >٣ G >M.[_R?dF?/!IM7?iM$?Mt0aMAQ:?I I]checking for new query: numPingsReceived=7, elapsed TxPingTime=5.574431]e49"m?am4Y iNBiiqm@+D::aI4 M@ZjMWl?bjM6 iIiM~]AjMf?jM?2jM ?pMtr=?0YҿpE(zpM9"v'Q?I/Ŀz:I"jMt0a*jMAQ:?pMJInۿ$_w?pTpM} οHK?YŭiM?jM;޾iM4Sfl?iMV  jMBzjIjMt jMBjjM)?rjM? addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504396 s, deltaX: -0.500000 m, approachRate: -0.991285 m/s, rangeRepo size: 4  Added new target pos. range: 1.800000 m, bearing: 111.029058 deg, lat: 36.903921 deg, lon: -122.119059 deg, deltaT: 0.504396 s, deltaX: -0.500000 m, approachRate: -0.991285 m/s, posRepo size: 4 2i*ihhh!h!hagigibgijgieqeqjeyJe}?:e}ʿ?雅Bɛ1>) U?i)a=隉ie}Hqۿ `? ? mڿ@ ?C? q?}?ɨ}; yDAT read: 19:26:39.9795 LVL= 12016, 22689, 9282, 25075, AGC= 24, IDX= 498,-0.23,-1.621,-2.252,-1.290,-2.587, PHS= 1.055, 0.382, 1.294, RAW= 164.7, -49.7, CAL= 166.5, -48.9, ROT= 343.5, 48.9 Ygot valid direction response: 19:26:39.9795 LVL= 12016, 22689, 9282, 25075, AGC= 24, IDX= 498,-0.23,-1.621,-2.252,-1.290,-2.587, PHS= 1.055, 0.382, 1.294, RAW= 164.7, -49.7, CAL= 166.5, -48.9, ROT= 343.5, 48.9 R#Rx 8: Read range and direction messages.`direction in FSK: [0.630304,-0.186705,-0.753563]Fpublishing direction and range infoDYFmMs+?r`ǿ= )1这D9DF. FX)FB$IFaiFF= ?F>Fˡ?F7@ F^)Fw9@IF|ZiFؿ@F|Z?D DFJ 0u?y ?P¯gIFpG?iF^?F rF|Z?D D}checking for new query: numPingsReceived=8, elapsed TxPingTime=6.112674B&IMb@Mb@Mb@ )IyS?Zd;O?{Gzt>j<ף @)ߟ@IƷ@iO@@HH|+5@ =Y);Q >٣ GFĬ< >] 49m?a 4Y: i@B h>m : @q@+D;^<T4I M@IZjFVl?bjFw< iDiF ]AjDjD2jF?pF͈'?#[%տF߳zpFmMs+?r`ǿ= )1"jF r*jF|Z?pFu%ֿ幷׏?pe%BpF 8˛ȿ+Q?j) ?i)Mj=iG CG 'IG χBG  =G G G (<G FZI bI jI rI zI :I &:I I I <q I <i I 1;u I 1;m :J% eKBJ% s9JJ! RJ% ZJ%  'KcwVF} fFyZAM>NGx,=]A2J6?y29@92٠=Y2>2H ȡۿb_??`~ڿ@#?`<춿r?@?2J6?ɨ2,; 23C>|BB&IHXHXnAڽ rh=Yrt٣t vGvFvʄ -?1]=4953m?aE4Y5g i58BAEt@qE@5+D5:5):5Z4]DDAT read: Rx Time:19:26:40.4794 ]TRx dataTimestamp_ set to:1736537201.007848mPDAT read: Bearing 339.7, 55.3 (Local) m~Local bearing/azimuth received: Bearing 339.7, 55.3 (Local) }DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 19:26:40.4794 LVL= 18080, 25585, 12130, 24435, AGC= 23, IDX= 496,-0.01, 1.846, 1.432, 2.170, 0.812, PHS= 1.122, 0.667, 1.355, RAW= 169.5, -61.4, CAL= 170.3, -55.3, ROT= 339.7, 55.3 Ygot valid direction response: 19:26:40.4794 LVL= 18080, 25585, 12130, 24435, AGC= 23, IDX= 496,-0.01, 1.846, 1.432, 2.170, 0.812, PHS= 1.122, 0.667, 1.355, RAW= 169.5, -61.4, CAL= 170.3, -55.3, ROT= 339.7, 55.3 R#Rx 9: Read range and direction messages.`direction in FSK: [0.533921,-0.197503,-0.822144]Fpublishing direction and range infoYY][e?R9GɿֳO꿙]?9Y]F ]c)]b/I]s_i]]?]*?]p?]TU=@ ]>+)]:>@I]0wi]j@]0w?Y Y]>?}AFG?Z5\I]h\?i]*?] g]0w?Y Ychecking for new query: numPingsReceived=9, elapsed TxPingTime=6.574108 @Zj]/l?bj] iYi]@]Aj]?j]!?2j]>?p]y= ?7:S}տvx\zp][e?R9GɿֳO"j] g*j]0w?p]^?\Ϳ_?C} p]%eªE=.@?7bi] @?j]ji]Ql?i]Ʋ  j]xBzj]ol?j]v j]Bjj]JZ?rj]b? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.506216 s, deltaX: -0.100000 m, approachRate: -0.197544 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 106.996378 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 0.506216 s, deltaX: -0.100000 m, approachRate: -0.197544 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe @33?:e`З?%ЃBɛ%B>>)! %?i!)-q=))i-Y#DDAT read: Rx Time:19:26:40.9795 TRx dataTimestamp_ set to:1736537201.511745PDAT read: Bearing 345.7, 56.0 (Local) ~Local bearing/azimuth received: Bearing 345.7, 56.0 (Local) DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 DAT read: 19:26:40.9795 LVL= 19920, 22193, 14866, 12659, AGC= 28, IDX= 1,-0.10,-1.214,-1.671,-0.998,-2.303, PHS= 1.177, 0.679, 1.302, RAW= 161.0, -62.9, CAL= 164.3, -56.0, ROT= 345.7, 56.0 %Ygot valid direction response: 19:26:40.9795 LVL= 19920, 22193, 14866, 12659, AGC= 28, IDX= 1,-0.10,-1.214,-1.671,-0.998,-2.303, PHS= 1.177, 0.679, 1.302, RAW= 161.0, -62.9, CAL= 164.3, -56.0, ROT= 345.7, 56.0 %T#Rx 10: Read range and direction messages.-`direction in FSK: [0.541867,-0.138120,-0.829038]-Fpublishing direction and range infoعYؽAV?/MFy꿙ؽf?9عؽM ٽV)ٽ:Iٽs1iٽٽ?ٽ-?ٽ?ٽ3@ ڽ)ڽ^7@Iڽ5ziڽH@ڽ5z?ڹ ۹۽ :?&U{?@ }I۽6?i۽?۽TVFUhAzFQrFQ۽5z?۹ ܹ}checking for new query: numPingsReceived=10, elapsed TxPingTime=7.083133F)ZA1MU?ܝGx, $d]A) zvBz&IAEMb@Mb@Mb@AA A)AIAyE\(\?/$?I +?E>E٣ GF >]491m?a4Y i5B>m;D@q@+D;b;f4B  @EZjg9l?bj iin`]Ajf?j?2jK?p7Q&6?ϿZBCSzpAV?/MFy"jT*j5z?p &ֿ [?Dzp݌ȿ|w?iViB?j7il?i_  jFBzjjjxBjj?rj? addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503897 s, deltaX: 0.100000 m, approachRate: 0.198453 m/s, rangeRepo size: 4  Added new target pos. range: 1.800000 m, bearing: 114.452187 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 0.503897 s, deltaX: 0.100000 m, approachRate: 0.198453 m/s, posRepo size: 4 2i*ihhhhhggbgjgBeejeJe?:e \V?UÃBɛU)>)Y ]?iY)]mz=YYi]GCG&IGBG =GGGDZ<GkFHMȥC HMȥCHMȔCHM ="HM =*HMȌ6VF% 'F ZA H1 H5 BAZI= bI= jI9 rI9 zI= :I= :I9 I9 I= ;I= ;I= DG;I= EG;M] >:Jm MBJm 9JJi RJm ZJm {si_SC;32+$ ݾGx,}]A2.?y2?92>Y2-7=2HҿIz?`G?@gҿ?@Wv??2.?ɨ2D; 26C>jBB&IHJ|HJb(5f^ f=Yfb >Q f?h٣h jGjFj n?a]m49em?am4Ye ie1Bim?qu@e+DDDAT read: Rx Time:19:26:41.4794 TRx dataTimestamp_ set to:1736537202.018866PDAT read: Bearing 353.7, 57.5 (Local) ~Local bearing/azimuth received: Bearing 353.7, 57.5 (Local) DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 19:26:41.4794 LVL= 26720, 32561, 21282, 32755, AGC= 27, IDX= 495, 0.23, 2.226, 1.717, 2.311, 0.977, PHS= 1.337, 0.787, 1.331, RAW= 149.5, -65.9, CAL= 156.3, -57.5, ROT= 353.7, 57.5 Ygot valid direction response: 19:26:41.4794 LVL= 26720, 32561, 21282, 32755, AGC= 27, IDX= 495, 0.23, 2.226, 1.717, 2.311, 0.977, PHS= 1.337, 0.787, 1.331, RAW= 149.5, -65.9, CAL= 156.3, -57.5, ROT= 353.7, 57.5 T#Rx 11: Read range and direction messages.`direction in FSK: [0.534055,-0.058960,-0.843391]Fpublishing direction and range infoؙY؝OM?5$0s꿙؝?9ؙ؝`h ٝ1)ٝ"SIٝiٝٝ"?ٝxI?ٝ5^?ٝ<&@ ڝ8)ڝ.@Iڝtiڝ@ڝt?ڙ ۙ۝I[?,ӹ?+u4I۝ ?i۝8+?۝i0Ὡ۝t?ۙ ܙe;eyrjo#? addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.507121 s, deltaX: -0.100000 m, approachRate: -0.197191 m/s, rangeRepo size: 4 - Added new target pos. range: 1.700000 m, bearing: 108.147068 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 0.507121 s, deltaX: -0.100000 m, approachRate: -0.197191 m/s, posRepo size: 4 2iUUTStarting intercept timer at range: 1.70 m.*iYhYhahahahagigbgjgeejeJe@33?:e`?Bɛ%I>)% %?i!)s=隉im&Gx,X]AzdBz&IMb@Mb@Mb@ )Iye;O?jtĿI +?t>  @)@Ii9@@HHB-5DDAT read: Rx Time:19:26:41.9794 TRx dataTimestamp_ set to:1736537202.519783%PDAT read: Bearing 3.9, 60.3 (Local) -~Local bearing/azimuth received: Bearing 3.9, 60.3 (Local) =DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 eDAT read: 19:26:41.9794 LVL= 32128, 32753, 24562, 25971, AGC= 28, IDX= 511,-0.30, 1.859, 1.368, 1.799, 0.493, PHS= 1.454, 0.922, 1.303, RAW= 134.0, -69.9, CAL= 146.1, -60.3, ROT= 3.9, 60.3 mYgot valid direction response: 19:26:41.9794 LVL= 32128, 32753, 24562, 25971, AGC= 28, IDX= 511,-0.30, 1.859, 1.368, 1.799, 0.493, PHS= 1.454, 0.922, 1.303, RAW= 134.0, -69.9, CAL= 146.1, -60.3, ROT= 3.9, 60.3 uT#Rx 12: Read range and direction messages.}^direction in FSK: [0.494311,0.033699,-0.868631]}Fpublishing direction and range infoYЄ#̢?sT@?}D뿙9} )_Isei?1l?Ȧ?@ y()1#@I$i'g=$? )iK?"vB?" :Izz>iA?'g=$? checking for new query: numPingsReceived=12, elapsed TxPingTime=8.083279 \  =Y Q  >٣ GF >!]49%Zm?a4Y% i%+Bג>m9;?q@%+D%O<%~<%u4Q U3@QZja[l?bj(B ii D]Ajj2jq@pM^?䂐5T?FxtzpЄ#̢?sT@?}D"j'g=*j$?p)! % ?i))-(=))i- - GA ] A) qy A -Gx,5]AGmr>GmCGm&IGmBGm =GiGm>DGm1<GmFm01?ymn?9m>Ym&=mHһͿ ?(?O˿)?Uÿ!?o?m01?ɨmΊ; m4CޝYBޥ{&IZIbIjI1rIzI:I:I3II;I;II;II;HH95g _=Yo=Q >٣ G6 >]49d m?a 4Y* e tIi%B  ?q@+D ; ;;|4 ݺ@=B*** querying acoustic contact ***i9i92iMUTStarting intercept timer at range: 1.70 m.*iQhQhQhQhQhQgYgYbgYjgYeaeajeaJea:ee t?:J ^MBJ -9JJ RJ ZJ %Bɛ%Z>)! % ?iI)Mv=IIiMɽ=[>!AI=3Gx,]A6x?y6d?96!>Y6:B=6H̿?@c? rɿ ?ĿX? c?6x?ɨ6S; 66CBchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.822296F^BF&IMb@Mb@Mb@ )Iy/$?L7A`Zd;O?1>+j<  @)"@I@i@H=H==5M< MU=YMBQ٣Q UGUF] ]>a]m49e m?am4YeE ieBm~>mm2;m?qm@e+De,:e:e4B @EZju?l?bjuiO iqiu]Aju?ju?2juB@@puw=??&zc zpu]?OS?ٹ"ju%?*juޤ?putGٿX5?s#puigMпy?6MiuQ=ju;ʾiuml?iu  juzBzjuml?jqjqjju>rjuE @ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.506394 s, deltaX: -0.200000 m, approachRate: -0.394949 m/s, rangeRepo size: 4 5 Added new target pos. range: 1.500000 m, bearing: 172.615624 deg, lat: 36.903920 deg, lon: -122.119058 deg, deltaT: 0.506394 s, deltaX: -0.200000 m, approachRate: -0.394949 m/s, posRepo size: 4 2i5=RStopped intercept timer at range: 1.50 m.*i9h9h9h9hAhAgAgAbgijgmdBeieijeqJeu?:eu (?Bɛ8B>) < ?i)J=iƈYgot valid direction response: 19:26:42.9793 LVL= 31808, 32241, 29090, 30115, AGC= 29, IDX= 510,-0.01, 2.026, 1.944, 1.862, 0.708, PHS= 1.405, 1.283, 1.151, RAW= 58.8, -80.8, CAL= 65.3, -81.8, ROT= 84.7, 81.8 T#Rx 14: Read range and direction messages.^direction in FSK: [0.013175,0.142019,-0.989776]Fpublishing direction and range infoIYM"yY?TO:-?6:?￙I9IM@| M})MqIMuiMM ׳?MX9?MS?MG\? MJ)M?IM3iM8?M3?I IM=?ڒg[pIMEiM}?M8?M3?I I checking for new query: numPingsReceived=14, elapsed TxPingTime=9.100081:Gx,Di]A62?y6?966#>Y6p=6H JͿ @qɴ??@˿5?PĿ`?\?62?ɨ6; 64CNTBRt&IHZHZ95bN bS=Yb;Q b>d٣d fGdjL< j>l]r49n m?ar4YnV inBpv?qv@n+Dn:ny:n4x z7@xZj}u2l?bj} iyi}]Ajyjy2j}&w@p}3*rj}/@M addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503596 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 1.500000 m, bearing: 221.668469 deg, lat: 36.903920 deg, lon: -122.119058 deg, deltaT: 0.503596 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ieeTStarting intercept timer at range: 1.50 m.*iahihihihihigigibgqjgqeqeyjeyJey:e}0?雭Bɛi_>) ?i)G=隱iGG&IGnBG =GGG<G FD}DyDyE}3 EyE=EJ>I3I3I/.IIIZIbIjIrIzI:I :III8;I9;IU;IU;VFmCFA ZAQ :Je BIBJe 9JJa RJe ZJe M} >] DDAT read: Rx Time:19:26:43.4792 m TRx dataTimestamp_ set to:1736537204.034908 PDAT read: Bearing 134.4, 85.2 (Local)  ~Local bearing/azimuth received: Bearing 134.4, 85.2 (Local)  DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  DAT read: 19:26:43.4792 LVL= 29536, 30033, 24770, 29475, AGC= 31, IDX= 509,-0.05,-1.781,-1.688,-1.811,-2.964, PHS= 1.271, 1.323, 1.149, RAW= 13.1, -83.3, CAL= 15.6, -85.2, ROT= 134.4, 85.2  Ygot valid direction response: 19:26:43.4792 LVL= 29536, 30033, 24770, 29475, AGC= 31, IDX= 509,-0.05,-1.781,-1.688,-1.811,-2.964, PHS= 1.271, 1.323, 1.149, RAW= 13.1, -83.3, CAL= 15.6, -85.2, ROT= 134.4, 85.2  T#Rx 15: Read range and direction messages. `direction in FSK: [-0.058546,0.059786,-0.996493] Fpublishing direction and range infoa Ye 6 Zy6?D￙e 3?9a e `s e Qu)e `Ie #sie e !?e X?e o?e  j> e )e 'g>Ie Vie Q @e V?a a e .N^go[ŗIe ie *?e Q @e V?a a  checking for new query: numPingsReceived=15, elapsed TxPingTime=9.604730AGx,<]A]SB]s&IH}H}6=5 >=YQ >٣ GF >]49m?a4Y iBq@+D::V4A MN@MEZj m?bjl* ii;]Aj3?j?2j4@pWZNܡNYm?IRzp6 Zy6?D"jQ @*jV?pw}ƿv"[ֿgP@&pkHϿmli޲j3i<m?i5:  jBzjH&l?j jwBjj>rjWe@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.505135 s, deltaX: -0.100000 m, approachRate: -0.197967 m/s, rangeRepo size: 4   Added new target pos. range: 1.400000 m, bearing: 243.298663 deg, lat: 36.903920 deg, lon: -122.119061 deg, deltaT: 0.505135 s, deltaX: -0.100000 m, approachRate: -0.197967 m/s, posRepo size: 4 2i*ih!hAhIhIhIgQgYbgjgee je Je`ff?:e=~?雅Bɛ:>) 1?i)K=隉iVĆ<checking for new query: numPingsReceived=15, elapsed TxPingTime=9.830454i;CII^D <Dq Dy Dy E} z0 Ey UDDAT read: Rx Time:19:26:43.9793 ]TRx dataTimestamp_ set to:1736537204.535717ePDAT read: Bearing 63.5, 86.7 (Local) e~Local bearing/azimuth received: Bearing 63.5, 86.7 (Local) uDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:26:43.9793 LVL= 31152, 29393, 24738, 26099, AGC= 30, IDX= 510,-0.07, 0.604, 0.572, 0.613,-0.691, PHS= 1.382, 1.310, 1.300, RAW= 83.7, -86.9, CAL= 86.5, -86.7, ROT= 63.5, 86.7 Ygot valid direction response: 19:26:43.9793 LVL= 31152, 29393, 24738, 26099, AGC= 30, IDX= 510,-0.07, 0.604, 0.572, 0.613,-0.691, PHS= 1.382, 1.310, 1.300, RAW= 83.7, -86.9, CAL= 86.5, -86.7, ROT= 63.5, 86.7 T#Rx 16: Read range and direction messages.^direction in FSK: [0.025685,0.051516,-0.998342]Fpublishing direction and range infoYY]^(M?[P`?m@j￙]?9Y]y ]r)]`I]ei]]`?]?]ff?]? ]"¿)],>?I]i]A܍?]?Y Y]*?:j| I]"i] ?]A܍?]?Y Ychecking for new query: numPingsReceived=16, elapsed TxPingTime=10.098792VF}BF*?F"?F9ZAAMe?(IGx,(]AF?yF?9F>YFj>FH ҿ `i?sB?-п@ 5?@¿??F?ɨFhω; F2CRVBRv&IMb@Mb@Mb@ )Iy|?5^? rhQ?M>C u< @)@Ir@iO@@HHs75- < - =Y-אQ 5>1٣1 5G5F=]= =>A]49EZm?a4YE iE BOQ>m;?q@E+DEfrj}v@u addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.500809 s, deltaX: 0.100000 m, approachRate: 0.199677 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 219.931681 deg, lat: 36.903920 deg, lon: -122.119061 deg, deltaT: 0.500809 s, deltaX: 0.100000 m, approachRate: 0.199677 m/s, posRepo size: 4 2iRStopped intercept timer at range: 1.50 m.*ihhhhhggbgjĝBeejeJe?:e`%?-Bɛ5D>)1 5K?i1)5y=19i=ZU DDAT read: Rx Time:19:26:44.4792 ] TRx dataTimestamp_ set to:1736537205.039801e PDAT read: Bearing 350.1, 88.0 (Local) e ~Local bearing/azimuth received: Bearing 350.1, 88.0 (Local) u DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  DAT read: 19:26:44.4792 LVL= 27184, 27857, 22402, 28067, AGC= 28, IDX= 509,-0.13,-0.407,-0.394,-0.310,-1.603, PHS= 1.284, 1.257, 1.290, RAW= 159.6, -88.7, CAL= 159.9, -88.0, ROT= 350.1, 88.0  Ygot valid direction response: 19:26:44.4792 LVL= 27184, 27857, 22402, 28067, AGC= 28, IDX= 509,-0.13,-0.407,-0.394,-0.310,-1.603, PHS= 1.284, 1.257, 1.290, RAW= 159.6, -88.7, CAL= 159.9, -88.0, ROT= 350.1, 88.0  T#Rx 17: Read range and direction messages. `direction in FSK: [0.034380,-0.006000,-0.999391] Fpublishing direction and range infoY Y] ?Q>;?gAγxmx￙] 3?9Y ] 0j ] l)] WI] mi] ] Z?] `?] ?] aF2@ ] _(ƿ)] )2@I] Ŀi] a@] ?Y Y ] ~1\?fB^0z?)s(\I] :1?i] e/?] 40] ?Y Y PGx,D]A:.?y:?>checking for new query: numPingsReceived=17, elapsed TxPingTime=10.6255679:>Y:p^>:Hӿ`t? ?3ѿ@]?¿ O? ?:.?ɨ:C+; :4CFUBJu&IHRHR>5Z ZX=YZ`Q >٣ GFyY= >I]u49MVm?au4YM iMBq}?q}@M+DM);M\;M4 .@Zjl?bjB. iiB]Aj3?j?2j;?gAγxmx"j40*j ?pwKͿQfͿu5̓p͕&Nſ_ſ0Qi4kjni#$l?i6  jBzj`0l?jjjjY?rj @ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504084 s, deltaX: -0.100000 m, approachRate: -0.198380 m/s, rangeRepo size: 4 } Added new target pos. range: 1.400000 m, bearing: 224.585301 deg, lat: 36.903920 deg, lon: -122.119061 deg, deltaT: 0.504084 s, deltaX: -0.100000 m, approachRate: -0.198380 m/s, posRepo size: 4 2i}TStarting intercept timer at range: 1.40 m.*ihhhhhggbgjgeejeJe`ff?:eF?checking for new query: numPingsReceived=17, elapsed TxPingTime=10.838385={BɛEBD>)A E?iA)EL=AIiM䙃D>XGx,b]ADDAT read: Rx Time:19:26:44.9792 TRx dataTimestamp_ set to:1736537205.543719PDAT read: Bearing 168.5, 88.7 (Local) ~Local bearing/azimuth received: Bearing 168.5, 88.7 (Local) "DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2DAT read: 19:26:44.9792 LVL= 30592, 27745, 22498, 26579, AGC= 29, IDX= 509,-0.07,-1.221,-1.141,-1.140,-2.397, PHS= 1.264, 1.303, 1.254, RAW= 341.3, -88.1, CAL= 341.5, -88.7, ROT= 168.5, 88.7 :Ygot valid direction response: 19:26:44.9792 LVL= 30592, 27745, 22498, 26579, AGC= 29, IDX= 509,-0.07,-1.221,-1.141,-1.140,-2.397, PHS= 1.264, 1.303, 1.254, RAW= 341.3, -88.1, CAL= 341.5, -88.7, ROT= 168.5, 88.7 :T#Rx 18: Read range and direction messages.>`direction in FSK: [-0.022232,0.004523,-0.999743]BFpublishing direction and range info YTXÖ \i؆r?46￙ 9 w al)WIgiʡ?Ȧ??-@ :Ŀ)ƺ@I_(ƿi`7<@_(? NWf?YD@}I&i?`7<@_(? Nchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.107026~K)?y~f?9~>Y~e_>~H֌տ? ?ӿw?d??~K)?ɨ~; |SBs&IMb@Mb@Mb@ )Iykt?I +Mb? 0=94< j@)f@I@i@½@HeHe=5u˻ u=YuMQ u>٣ GFN= >]494m?a4Y  i8=m<?q@+D;;24 J@Zjyl?bj i iKb]Aj j 2jcd@p D@$ߟ}y?JdzpTXÖ \i؆r?46"j`7<@*j_(?pN̿BӿE!w}Ϙp\/zc8ĿOJ˿@1Mi֘jwbil?i  jBzj#$l?j@ jBjju>rjC@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503918 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 233.466225 deg, lat: 36.903921 deg, lon: -122.119061 deg, deltaT: 0.503918 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i*ihhh h h g g bg1jg5Be1e1je9Je9:e=uo?雍rBɛYU>)< .?i)=隑imdG G G [&IG @BG G G G <G Fa^Gx,O|]A61?y6?96 R=Y6[>6Hٵֿ@}`&?@?=ԿQc?` ?)?61?ɨ6q; 63CROBRn&IHZHZ95f f=YfQ f ?h٣h jGhj?~= n?p]v49rm?av4Yr ipxz ?qz@r+DrG:rS:r4| ~@B*** querying acoustic contact ***i!i!2i1*i1h1h1h1h1h1g9g9bg9jgAeAeAjeAJeA:eM,?umBɛu^4y>)uQ u?iy)}d=yyi}\]~U?UZ?UJ ?U@ Uvÿ)UW@IUCſiU>z@UC?Q QU >6죿h_g?2*wIUS:@iU?UwwUC?Q Q%checking for new query: numPingsReceived=19, elapsed TxPingTime=11.681198 checking for new query: numPingsReceived=19, elapsed TxPingTime=11.846515NeGx,?]Amvz?ym?9m=YmpQO>mH׿@\?? տV?6? 6+?mvz?ɨm]; iޅLBޅk&I-Mb@Mb@Mb@)) )))I)y-/$?{Gz-,=--# -@))I-E@i-׫@)-(@H=H=75UR U3=YU¼Q U>Y٣Y ]G]Fe= e>i]u49mt m?au4Ym: imBu0=murjux@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.506692 s, deltaX: -0.200000 m, approachRate: -0.394717 m/s, rangeRepo size: 4  Added new target pos. range: 1.200000 m, bearing: 236.589069 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 0.506692 s, deltaX: -0.200000 m, approachRate: -0.394717 m/s, posRepo size: 4 2i*ihhhhhggbgjg Be e jeJe@33?:eۈ?}dBɛ}) ?i)=隉i"xrkGx,]A2i?y2&?92u=Y2 [F>2Hψؿ`39?ig?׿N?@巿`7?C?2i?ɨ2s; 24C@Bj&IHJHJ995fZ fh=YfPQ f>h٣h jGhn/= n>t]z49v m?az4Yv ivBxz@qz@v+Dv>:v;v4 @Zjm?bj/X iid]Aj3?j?2j5@p#|}e06,R\)`zpN%ˈ,(?O3checking for new query: numPingsReceived=20, elapsed TxPingTime=12.350375"j*jz?pz/ua¿;~"Ͽ#Vp%%1BƿxmwSi|j im?i-d  jBzjj6 jBjj#>rjd@  addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.502601 s, deltaX: 0.200000 m, approachRate: 0.397930 m/s, rangeRepo size: 4 } Added new target pos. range: 1.400000 m, bearing: 239.822611 deg, lat: 36.903921 deg, lon: -122.119059 deg, deltaT: 0.502601 s, deltaX: 0.200000 m, approachRate: 0.397930 m/s, posRepo size: 4 2iy*ihhhhhggbgGGGh&IGJBG =GGG۰<G FHUçC HUçCHUÓCjgeejeHU ="HU =*HU55Je`ff?:e@5%?\Bɛ4\>) ?i!)%&=!)i-iq:HoZٿz?tD?+ؿ}? ѽ`?`?:#?ɨ:$΋; :2CBNBFl&IJx٣| ~G~F p< %>9]49= m?a4Y=U i=Bi+:mMxrj&@m addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 1.400000 m, bearing: 239.108344 deg, lat: 36.903922 deg, lon: -122.119059 deg, deltaT: 0.503831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iy*ihhhhhggbgjgeejeJe:e R(?ERBɛEP>)I M?iI)M/ܩ=IIiMihT#Rx 22: Read range and direction messages.`direction in FSK: [-0.052897,0.011244,-0.998537]Fpublishing direction and range infoY%Sw1?\+￙?9[ g)OIxi??Zd?ƺ@ ɾ)C@I"¿if;@"? 48 ֠)sd1V!I@i6?f;@"? checking for new query: numPingsReceived=22, elapsed TxPingTime=13.144742zGx,3]A~GBc&IHH*5% %G=Y%Q ->)٣) -G-F5 5>A]M49Ew m?aM4YE iEBiM :ImMIrj5@U addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.507780 s, deltaX: 0.100000 m, approachRate: 0.196936 m/s, rangeRepo size: 4 e Added new target pos. range: 1.500000 m, bearing: 238.202818 deg, lat: 36.903922 deg, lon: -122.119059 deg, deltaT: 0.507780 s, deltaX: 0.100000 m, approachRate: 0.196936 m/s, posRepo size: 4 2ia*iihihihihihigigqbgqjgqeyeyjeyJe}?:e}?雥LBɛRn>) ?i)ɴ=隩iaD>HyHyDDDEi4 EVFzF ZA M >:J% a3JBJ% k9JJ! RJ% ZJ%  DDAT read: Rx Time:19:26:47.4792  TRx dataTimestamp_ set to:1736537208.063687 PDAT read: Bearing 152.6, 85.5 (Local)  ~Local bearing/azimuth received: Bearing 152.6, 85.5 (Local)  DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 5 DAT read: 19:26:47.4792 LVL= 25056, 25201, 20690, 24419, AGC= 28, IDX= 508, 0.28,-2.594,-2.450,-2.583, 2.493, PHS= 1.284, 1.387, 1.204, RAW= 355.8, -83.4, CAL= 357.4, -85.5, ROT= 152.6, 85.5 = Ygot valid direction response: 19:26:47.4792 LVL= 25056, 25201, 20690, 24419, AGC= 28, IDX= 508, 0.28,-2.594,-2.450,-2.583, 2.493, PHS= 1.284, 1.387, 1.204, RAW= 355.8, -83.4, CAL= 357.4, -85.5, ROT= 152.6, 85.5 = T#Rx 23: Read range and direction messages.E `direction in FSK: [-0.069657,0.036107,-0.996917]E Fpublishing direction and range info Y ۚ] ձAǘ|?ˤ.￙ 3?9 a qb) PI c_i  Z? 7? ? Y@ AQ) @I Ci t*@ C? y(υh4:(*sI ] i 8H? t*@ C? e checking for new query: numPingsReceived=23, elapsed TxPingTime=13.626336Gx,]A>?y>q@9>E.p=Y>T>>Hiڿr?a?_AڿM+?@a?`?>?ɨ>ˎ; >1CNCBN_&IHVHV.5f_ fP=YfrjQ f>h٣h jGhn= ~>] 49 m?a 4Y iBi 9 m #< @q @+D:?49 EG@IZjl?bj/N iis]Aj3?j?2j@paD?Tzpۚ] ձAǘ|?ˤ."jt*@*jC?p-Bÿ?&ѿ_!*p^*?Eoрȿ?5i7jil?ik  jBzjjY jBjj>rjV@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.499064 s, deltaX: -0.100000 m, approachRate: -0.200375 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 240.112677 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 0.499064 s, deltaX: -0.100000 m, approachRate: -0.200375 m/s, posRepo size: 4 2i*ihhhhhggbg1jg9eAeAjeJe`ff?:e`, ?=DBɛ=j^>)E E?iA)Ep=隑imjXA٣A EGEFE= M>I]U49M m?a}4YM iMBi}T:f=mk<?q@M+DMU;M;M4 !@Zj,l?bj.j ii!W$]Aj?j?2jx@@pq¿1HI;?aFHzp2X(-!0'?6T"j#@*jAQ?p|\#j^ҿ|JqpP{пɿȸAi j0il?i5nw  jXBzjjjBjjϰ>rj8@E addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504131 s, deltaX: 0.100000 m, approachRate: 0.198361 m/s, rangeRepo size: 4 U Added new target pos. range: 1.500000 m, bearing: 245.748465 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 0.504131 s, deltaX: 0.100000 m, approachRate: 0.198361 m/s, posRepo size: 4 2iq*ihhhhhggbgjgBeejeJe?:e?P?:BɛT>) {@i)=iKGG&IGsBG =GGGϰ<G FE?5 EVFT[FZA M >HU R=HU R=UӐGx,dvC]A:JBJ#9JJRJZJ FDDAT read: Rx Time:19:26:48.4793 JTRx dataTimestamp_ set to:1736537209.071764NPDAT read: Bearing 145.5, 81.6 (Local) N~Local bearing/azimuth received: Bearing 145.5, 81.6 (Local) VDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 jDAT read: 19:26:48.4793 LVL= 23120, 26993, 20946, 26755, AGC= 28, IDX= 509,-0.36, 0.569, 0.765, 0.496,-0.555, PHS= 1.212, 1.366, 1.047, RAW= 1.1, -77.8, CAL= 4.5, -81.6, ROT= 145.5, 81.6 nYgot valid direction response: 19:26:48.4793 LVL= 23120, 26993, 20946, 26755, AGC= 28, IDX= 509,-0.36, 0.569, 0.765, 0.496,-0.555, PHS= 1.212, 1.366, 1.047, RAW= 1.1, -77.8, CAL= 4.5, -81.6, ROT= 145.5, 81.6 nT#Rx 25: Read range and direction messages.r`direction in FSK: [-0.120391,0.082742,-0.989272]rFpublishing direction and range infoDYFcѾ;pĚ.?3>o￙D9DFPZ Fqi)FQIFhiDF"?Fٮ?F?FnF< Fέ)F|٠=IFKiFj"@FK?D DFEY 'wWǿ܋GIFniF? 2?y _@9 E B5X&IHEHE65U> Un=YUǼQ ]?Y٣Y eGe Fe= e?i]u49m m?au4YmL imBy}?q}@m+Dm;m8;m4 @ZjF:m?bjF iDiFȗD]AjDjD2jF@pFsǿY&ſ?ǦnzpFcѾ;pĚ.?3>o"jFj"@*jFK?pF8G<ԿajWpFvJ_xRh{˿V08iFjFiF m?iFgy  jFSBzjDjFgy jF[BjjF>rjF@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 248.869445 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 0.503946 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe:e@ٱ?4Bɛrx>)^/0 3@i) =i4BUchecking for new query: numPingsReceived=25, elapsed TxPingTime=14.872851oGx,U]]A~5B~N&IEMb@Mb@Mb@AA A)AIAyE&1?l?I +EP=E=E94 Ed@)E@IE@iAAE@HHY453 4=YQ >٣ G F >]%49fm?a%4Y iB%=m%O<%j.@q%@,D:k:4Q U.@QDDAT read: Rx Time:19:26:48.9793 TRx dataTimestamp_ set to:1736537209.575791PDAT read: Bearing 145.2, 81.1 (Local) ~Local bearing/azimuth received: Bearing 145.2, 81.1 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:26:48.9793 LVL= 25456, 30353, 21394, 27123, AGC= 29, IDX= 509,-0.31, 0.542, 0.747, 0.457,-0.587, PHS= 1.217, 1.381, 1.041, RAW= 1.1, -77.1, CAL= 4.8, -81.1, ROT= 145.2, 81.1 Ygot valid direction response: 19:26:48.9793 LVL= 25456, 30353, 21394, 27123, AGC= 29, IDX= 509,-0.31, 0.542, 0.747, 0.457,-0.587, PHS= 1.217, 1.381, 1.041, RAW= 1.1, -77.1, CAL= 4.8, -81.1, ROT= 145.2, 81.1 T#Rx 26: Read range and direction messages.`direction in FSK: [-0.127040,0.088295,-0.987960]Fpublishing direction and range infoؙY؝$jB?g^￙ؙ9ؙ؝pc ٝv)ٝSIٝiiٝٝƛ?ٝİ?Zjl?bj iid]Ajj2j$7@p6Idȿ>? *9zp$jB?g^"j0"@ٝ}??ٙ ڝ9>)ڝ=Iڝ-iڝ0"@ڝ-?ڙ ۙ۝Ѽk=2Wɿ4t1I۝¼i۝B?۝0"@۝-?ۙ ܙEchecking for new query: numPingsReceived=26, elapsed TxPingTime=15.144715*j-?pNF?bhտ}Jph$^(UصF̿`Ƅiji l?i   jLBzjl?jjXBjj->rjn@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504027 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 249.264200 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 0.504027 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i*ihhhhhggYbgajgemBeaeajeaJei:em`?雵+Bɛ~X\>)Q UA@iY)]D=YYi] O5Gx,Vz]AFG?yF- @9Ft; Db0BbH&If%=ifR=)j= hHnHn05v[ż vR=Yv̼Q z>٣ Gu> >!]-49%sm?aU4Y%¼ i%BQU52@qU@%,D%;%p;%4]B ]@aB*** querying acoustic contact ***iiZIbIjI0rIzI:Ih:Iـ3II4<qI5<iINi;uIOi;m2i*ihhhhhggbgjgeejeJe:ek?U&BɛU>)Q ]P@iY)]Ծ=YYi]+o￙%3?9!%d %t)%PI%si!%̜?%t?%x?%i@ %έ)%5ФGx,2]ANchecking for new query: numPingsReceived=27, elapsed TxPingTime=15.881701?y @9?٣ G Fzw= >]49m?a4Y iB%=mD<?@q@,Di);;(;4 ZjUyl?bjUZ iQiU*]AjU3?jU?2jU @pU#j.IƿC[ꠒ?V(zpUn}1??3>o"jU<&@*jUK?pUlgB6U9Կ6pUyWH/qU^̿O_iU͡jUiUil?iU  jUxBzjQjUk jQjjU!>rjU\@M addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503992 s, deltaX: -0.100000 m, approachRate: -0.198416 m/s, rangeRepo size: 4 e Added new target pos. range: 1.400000 m, bearing: 250.744236 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 0.503992 s, deltaX: -0.100000 m, approachRate: -0.198416 m/s, posRepo size: 4 2ia*iahahahahahigigibgijguTBeqeqjeqJeu`ff?:e}o?雥Bɛ^f>) R@i)6=隩i Ygot valid direction response: 19:26:49.9794 LVL= 24048, 26769, 19090, 27603, AGC= 28, IDX= 510,-0.28, 2.263, 2.492, 2.240, 1.135, PHS= 1.216, 1.405, 1.102, RAW= 351.8, -78.6, CAL= 354.2, -82.2, ROT= 155.8, 82.2 T#Rx 28: Read range and direction messages. `direction in FSK: [-0.123789,0.055633,-0.990748] Fpublishing direction and range info1Y5i 5{?4￙5?915] 5h)5JI5ki55㥛?5 ׳?5V?5p{@ 5)5@I5i5.@5?1 15[4:Uÿ^I5< i5$?5.@5?1 1m checking for new query: numPingsReceived=28, elapsed TxPingTime=16.171085OGx,]A6Bw?y6b @96pk6H`A?@?D?`m`?@۬?6Bw?ɨ6; 65CN.BRF&IHZHZs75%ߍ %rjm*3@ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504058 s, deltaX: 0.300000 m, approachRate: 0.595170 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 251.314709 deg, lat: 36.903922 deg, lon: -122.119058 deg, deltaT: 0.504058 s, deltaX: 0.300000 m, approachRate: 0.595170 m/s, posRepo size: 4 2i*ihhhhhggbgjgeeIjeIJeU@33?:eU?DDAT read: Rx Time:19:26:50.4793 TRx dataTimestamp_ set to:1736537210.840110checking for new query: numPingsReceived=28, elapsed TxPingTime=16.390715-Bɛ59|>)9 =@iA)mJ=qqiutIIG-u>G)G-&IG-BG- =G)G)G-<G- FZIbIjI1rIzI:I:I3II<I<In;In;^D [1D D D! E% 05 E! U PDAT read: Bearing 166.8, 83.0 (Local) ] ~Local bearing/azimuth received: Bearing 166.8, 83.0 (Local) m DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 19:26:50.4793 LVL= 22832, 23601, 18242, 25379, AGC= 27, IDX= 509,-0.27, 1.108, 1.353, 1.141, 0.007, PHS= 1.189, 1.393, 1.131, RAW= 342.0, -79.7, CAL= 343.2, -83.0, ROT= 166.8, 83.0  Ygot valid direction response: 19:26:50.4793 LVL= 22832, 23601, 18242, 25379, AGC= 27, IDX= 509,-0.27, 1.108, 1.353, 1.141, 0.007, PHS= 1.189, 1.393, 1.131, RAW= 342.0, -79.7, CAL= 343.2, -83.0, ROT= 166.8, 83.0  T#Rx 29: Read range and direction messages. `direction in FSK: [-0.118649,0.027829,-0.992546] Fpublishing direction and range infoI YM M _1?&￙M ?9I M 0Y M 1\)M BGIM #ciM M '1?M M?M Đ?M C@ M / )M ֭@IM }liM AQ:@M }l?I I M ;om+`m7|IM o:J LBJ 9JJ RJ ZJ  |ty [A0$ : N;IyI6hUC6-'%(iM W?M AQ:@M }l?I I  checking for new query: numPingsReceived=29, elapsed TxPingTime=16.662540VF<FZAM?fGx,W]A2T@y2ns@92}@H,?`?`0+u? .c)??2T@ɨ2; 22C:+B:A&IID)FAHRHR65fa j =YjQ n>t٣t mGm Fu$A= u>y]49}l?a4Y}| i}BB@q@},D}';}6;}4 @Zj5l?bjC) <<=DDAT read: Rx Time:19:26:50.9793 UTRx dataTimestamp_ set to:1736537211.346465mPDAT read: Bearing 178.9, 83.0 (Local) }~Local bearing/azimuth received: Bearing 178.9, 83.0 (Local) checking for new query: numPingsReceived=29, elapsed TxPingTime=16.902864ii]Aj?j?2jÌ@pH ƿ2*d_?J:4zpM _1?&"jAQ:@*j}l?p ['h9տ'Wpj\Zω5L̿9(iͩj@ܽil?iL8  j@Bzjil?jjLBjj>rj|@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504167 s, deltaX: -0.200000 m, approachRate: -0.396694 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 252.033541 deg, lat: 36.903921 deg, lon: -122.119058 deg, deltaT: 0.504167 s, deltaX: -0.200000 m, approachRate: -0.396694 m/s, posRepo size: 4 2i*ih h h h h g g bgjgeQeQjeYJe]?:e]R?雥Bɛж^>) @i)w=隩iIICCCC DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 19:26:50.9793 LVL= 23744, 23521, 17714, 25395, AGC= 27, IDX= 509,-0.24, 0.551, 0.823, 0.637,-0.504, PHS= 1.143, 1.374, 1.138, RAW= 331.0, -79.8, CAL= 331.1, -83.0, ROT= 178.9, 83.0  Ygot valid direction response: 19:26:50.9793 LVL= 23744, 23521, 17714, 25395, AGC= 27, IDX= 509,-0.24, 0.551, 0.823, 0.637,-0.504, PHS= 1.143, 1.374, 1.138, RAW= 331.0, -79.8, CAL= 331.1, -83.0, ROT= 178.9, 83.0  T#Rx 30: Read range and direction messages. `direction in FSK: [-0.121847,0.002340,-0.992546] Fpublishing direction and range info Y u&[1rC3*c?&￙ 9 \ [) 2EI 3ci M? ;߯? ? ݸ@ aF) @I i MG@ wÿwl}h}I j]&i -? MG@ D5 D1 D1 E5 2 E1 ] checking for new query: numPingsReceived=30, elapsed TxPingTime=17.157576VF @A=F ZA M >s&Gx,]Ar/BrF&IeMb@Mb@Mb@aa a)aIayeˡE?Mb? rh?e'=e@=eC< e@)e@IeƷ@iel@aeµ@H}H}+5< )=YQ >٣ G >]49l?a4Yh iBd=mM<cB@q@ ,DZ:(:4 @ZjMfl?bjMA iIiMP]AjIjI2jMJ@pMsz\eǿ+Ll?J:4zpMu&[1rC3*c?&"jMMG@*jIpMxgT;Կ[qpMp|7>ʿb_AiMjM똽iM)\l?iM^  jMABzjMsl?jML8 jMABjjM®>rjM{j@= addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503747 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 1.500000 m, bearing: 256.563948 deg, lat: 36.903921 deg, lon: -122.119058 deg, deltaT: 0.503747 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iq*iqhqhqhqhqhqgqgybgyjg}qBeejeJe:eE`?BɛF|>) @i)9D=ib;i ;>IIYDDAT read: Rx Time:19:26:51.4792 TRx dataTimestamp_ set to:1736537211.847371PDAT read: Bearing 188.5, 82.6 (Local) ~Local bearing/azimuth received: Bearing 188.5, 82.6 (Local) checking for new query: numPingsReceived=30, elapsed TxPingTime=17.400885GGG&IGBG =GGGE<G] FH HHH ="H*HƬ\5DDDE4 EVF b=ZI bI jI rI zI l:I q:I I I <I <I k;I k;Fi ZAq M >Gx,=]A:v#@y:7B@9:' :H V=?@>?`v?*?R?:v#@ɨ:; :4CR&BR<&IHZHZy/5bI bo=Yf)Q f?d٣d fGfFj> j?pp%DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 EDAT read: 19:26:51.4792 LVL= 26560, 26161, 17986, 27187, AGC= 28, IDX= 508,-0.18,-1.108,-0.806,-0.979,-2.123, PHS= 1.103, 1.364, 1.141, RAW= 322.2, -79.1, CAL= 321.5, -82.6, ROT= 188.5, 82.6 UYgot valid direction response: 19:26:51.4792 LVL= 26560, 26161, 17986, 27187, AGC= 28, IDX= 508,-0.18,-1.108,-0.806,-0.979,-2.123, PHS= 1.103, 1.364, 1.141, RAW= 322.2, -79.1, CAL= 321.5, -82.6, ROT= 188.5, 82.6 UT#Rx 31: Read range and direction messages.]bdirection in FSK: [-0.127381,-0.019037,-0.991671]]Fpublishing direction and range infopYrkN|~&Ż￙r3?9prg r1f)rBFIr3jirr/?r?rJ ?rP@ r )r:@IrirxR@r?p pr 8ҸFƿh{;*2mIr30ir/ٰ?r=?r?p p:J}KOBJ}`9JJyRJ}ZJ}&## !   #j"  checking for new query: numPingsReceived=31, elapsed TxPingTime=17.663664]49l?a4Y^ iBD@q@ ,D;;g4 8@Zjr ]l?bjr`2 ipir]Ajr3?jr?2jr\@prsƿJn;㔣6zprkN|~&Ż"jr=?*jr?pre3oM]Կ-Impr XW% 7-<̿kw%ir jrqirɮl?irO  jrmBzjr)\l?jr jpjjrC>rjrn@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503018 s, deltaX: -0.100000 m, approachRate: -0.198800 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 256.690345 deg, lat: 36.903921 deg, lon: -122.119058 deg, deltaT: 0.503018 s, deltaX: -0.100000 m, approachRate: -0.198800 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe`ff?:eҸ?Bɛ%>)%!^ %@i!)Mz=IIiM;iQU;U_?>IQIYDDDE`0 EVFo=FZAM> DDAT read: Rx Time:19:26:51.9793  TRx dataTimestamp_ set to:1736537212.378998 PDAT read: Bearing 189.7, 82.3 (Local)  ~Local bearing/azimuth received: Bearing 189.7, 82.3 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 M DAT read: 19:26:51.9793 LVL= 23728, 23345, 16626, 24179, AGC= 27, IDX= 509,-0.13, 0.338, 0.656, 0.475,-0.679, PHS= 1.105, 1.382, 1.151, RAW= 321.0, -78.7, CAL= 320.3, -82.3, ROT= 189.7, 82.3 U Ygot valid direction response: 19:26:51.9793 LVL= 23728, 23345, 16626, 24179, AGC= 27, IDX= 509,-0.13, 0.338, 0.656, 0.475,-0.679, PHS= 1.105, 1.382, 1.151, RAW= 321.0, -78.7, CAL= 320.3, -82.3, ROT= 189.7, 82.3 U T#Rx 32: Read range and direction messages.] bdirection in FSK: [-0.132071,-0.022575,-0.990983]] Fpublishing direction and range info؉ Y؍ {%P{9i"￙؍ ?9؉ ؍ \ ٍ 1[)ٍ @Iٍ s^iٍ ٍ p?ٍ `?ٍ S?ٍ G@ ڍ Fѯ)ڍ @Iڍ 'ܷiڍ S@ڍ 'ܷ?ډ ۉ ۍ +ہhǿ aIۍ 1iۍ ϯ?ۍ :>ۍ 'ܷ?ۉ ܉  checking for new query: numPingsReceived=32, elapsed TxPingTime=17.965977-Gx,]A6b@y6@96 ;Y6z\>6H࢐?w?` ?zX?@B?6b@ɨ6&n; 65CbBf/&In٣ GF,= >]49*j'ܷ?p*ݳ פտn%ETpRd}t PͿ 2Xi௾jill?i  j1Bzjl?jL8 j@Bjj>rj@e addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.284225 s, deltaX: 0.100000 m, approachRate: 0.351834 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 257.269788 deg, lat: 36.903921 deg, lon: -122.119058 deg, deltaT: 0.284225 s, deltaX: 0.100000 m, approachRate: 0.351834 m/s, posRepo size: 4 2i*ihhhhhggbgjgBeejeJe?:e`?BɛT}>)! %@i!)E'=AAiMt;iIU;UK>IQIYchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.170368D5D1D1E5d0 E9 AGVF >zF rF 1 i F ZA) )M z  DDAT read: Rx Time:19:26:52.4792  TRx dataTimestamp_ set to:1736537212.880815 PDAT read: Bearing 186.8, 81.7 (Local)  ~Local bearing/azimuth received: Bearing 186.8, 81.7 (Local) G v>G G &IG }BG  =G G G <G FE DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 yI M BM >2Gx,؛:]AfDAT read: 19:26:52.4792 LVL= 28704, 28961, 18674, 26739, AGC= 29, IDX= 508,-0.06,-1.571,-1.236,-1.445,-2.584, PHS= 1.101, 1.394, 1.136, RAW= 323.8, -77.8, CAL= 323.2, -81.7, ROT= 186.8, 81.7 Ygot valid direction response: 19:26:52.4792 LVL= 28704, 28961, 18674, 26739, AGC= 29, IDX= 508,-0.06,-1.571,-1.236,-1.445,-2.584, PHS= 1.101, 1.394, 1.136, RAW= 323.8, -77.8, CAL= 323.2, -81.7, ROT= 186.8, 81.7 T#Rx 33: Read range and direction messages.bdirection in FSK: [-0.143341,-0.017092,-0.989526]Fpublishing direction and range infoqYukX¿OGgH1￙u3?9qu p u!q)uHIushiuu?un?ush?uش@ uέ)uJ@IuiuYP@u?q quȿ$I껵"GIu.iu/ح?u\wAu?q qchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.515247ZIUbIUjIU4rIQzIU[:IU;:IU3IQIUg<IUh<IU;IU;uBu-&IHH<55 3=YQ >٣ G >]49l?a4Y iB  q @ ,D;;$4 @Zjuc[l?bju0t iqiuF_8]Aju3?ju?2ju{@pu1Jɯɿ+쀘I`(V*zpukX¿OGgH1"ju\wA*ju?pu9j?ܲ4Sտ&Ѷpu:]4.%8`vοC+iujuiuŸl?iu  jucBzjuɮl?jqjuABjjuڧ>rju%_@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.501817 s, deltaX: -0.100000 m, approachRate: -0.199276 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 258.697445 deg, lat: 36.903921 deg, lon: -122.119058 deg, deltaT: 0.501817 s, deltaX: -0.100000 m, approachRate: -0.199276 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe`ff?:e@ƣ?]Bɛ] t>)Y ]@iY)eR=aaie-;iim;mm J>IiIq:J5MBJ5-9JJ1RJ5ZJ5&$~<^}checking for new query: numPingsReceived=33, elapsed TxPingTime=18.675543DDDEj0 EVF>FZAM>Gx,mT]A DDAT read: Rx Time:19:26:52.9793 %TRx dataTimestamp_ set to:1736537213.387125EPDAT read: Bearing 179.4, 81.6 (Local) M~Local bearing/azimuth received: Bearing 179.4, 81.6 (Local) ]DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 u*@yu@9uik(YuB>uH`xX`ro￙?9j o)GI3eiS?r??@ -\)R@IKiHdH@K? 3ͽǿ.= l%?I0&iI?HdH@K? %checking for new query: numPingsReceived=34, elapsed TxPingTime=18.997107-eonly read 2 of 4 data items for bottom velocity. Device response is::BS, +49, +4,A m@m m@m m@m  m@m iiHuHu65Z /=YdQ >٣ GF= >]49l?a4Yϼ i Bi+:mN<R4q@,DV:k>+4 @Zj>l?bj iiX]Aj?j?2jC@p ̿1e-b?Ǧnzpg¿A<Y?3>o"jHdH@*jK?p8VJֿgnWpzW}2K`UͿ4^>ijuiol?iY  j/Bzjll?j jjj@>rj'@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.506310 s, deltaX: 0.100000 m, approachRate: 0.197508 m/s, rangeRepo size: 4 - Added new target pos. range: 1.500000 m, bearing: 260.094530 deg, lat: 36.903920 deg, lon: -122.119058 deg, deltaT: 0.506310 s, deltaX: 0.100000 m, approachRate: 0.197508 m/s, posRepo size: 4 2i)*i)h)h)h1h1hQgQgQbgYjgYeYeYjeaJee?:ee`| ?Bɛ L{>) @i)=i;i4;.h}>II checking for new query: numPingsReceived=34, elapsed TxPingTime=19.178335^D5 [Z&D D D E 3 E E >E >VF E>F D?F L?FaZAiM>o&Gx,r]A B (&IH%H%/5]4 e^=YuQ }>٣ GF ->qDDAT read: Rx Time:19:26:53.4792 TRx dataTimestamp_ set to:1736537213.888284PDAT read: Bearing 171.4, 81.3 (Local) GGG&IGsBGGGG߰<G F~Local bearing/azimuth received: Bearing 171.4, 81.3 (Local) -DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 19:26:53.4792 LVL= 23024, 25393, 17842, 25331, AGC= 28, IDX= 508, 0.07,-0.683,-0.363,-0.639,-1.777, PHS= 1.182, 1.461, 1.135, RAW= 337.6, -77.1, CAL= 338.6, -81.3, ROT= 171.4, 81.3 Ygot valid direction response: 19:26:53.4792 LVL= 23024, 25393, 17842, 25331, AGC= 28, IDX= 508, 0.07,-0.683,-0.363,-0.639,-1.777, PHS= 1.182, 1.461, 1.135, RAW= 337.6, -77.1, CAL= 338.6, -81.3, ROT= 171.4, 81.3 T#Rx 35: Read range and direction messages.`direction in FSK: [-0.149560,0.022619,-0.988494]Fpublishing direction and range infoYܰ$ÿe)?WE￙3?9Y 1c)EIbiK? ?G?)@ 9>)$@I>it?@>? =tQƿW@lҚ%2IipN?t?@>? -checking for new query: numPingsReceived=35, elapsed TxPingTime=19.479549]49ukl?a-4Yu iuBi5 :1m5'<1q5@u,Duh=um?u004a e4@aZjXKl?bj iix]Aj3?j?2j5@pg}*ʿi<&6?@^Uk$zpܰ$ÿe)?WE"jt?@*j>?p:YF: ֿCg2p*ª6rj7ܓ@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.501159 s, deltaX: -0.100000 m, approachRate: -0.199538 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 258.007317 deg, lat: 36.903920 deg, lon: -122.119058 deg, deltaT: 0.501159 s, deltaX: -0.100000 m, approachRate: -0.199538 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe`ff?:e ̘?雍BɛL{>) @i)=隑iE;i.f<cw>II ^D-gWD D D E _0 E :J5 \NBJ1 JJ1 RJ5 ZJ5 6#e checking for new query: numPingsReceived=35, elapsed TxPingTime=19.683411VF\J>FZAM%>9uGx,]A2g+ @y2(J@92.Y2.">2H $?@i?jP?L?B??2g+ @ɨ2o$; 23CB%&IHMHMv35  #=YϼQ >٣ G= >]49l?a-4Y- iBi599m=ÿrZSѢ??￙5?915PW 5b)5EI5ei15ƛ?5?5ʑ?5t;@ 5)5@I5 gi59@Je?:e`?߂Bɛ>)-2 @i)=i \;i  5 g?1 155ɰ=ſmÿ,!.I5i5?59@5 g?1 1checking for new query: numPingsReceived=36, elapsed TxPingTime=20.006802 >I1I9ZIubIujIu0rIqzIu:Iu7/:Iuـ3Iqq}@i}@u}@m}@^D ` checking for new query: numPingsReceived=36, elapsed TxPingTime=20.186510D D D E B3 E VFm qS\>F) ZA1 M] >YGx,]Abc! @yb$@@9b Yb>bH@xf 0?$?M}Q?y?$? ?bc! @ɨbS; b6CjBn$&Imm mm mm  m u uMb@Mb@Mb@qq q)qIqyu{Gzt?Q?Mb`uף;uu=u u\@)qIuƷ@iqqu\@HH%.5ؖ A=Y;Q >!٣! %G%F%T= ->)]549-'l?a=4Y- i-Bi=T:=v=mE\ÿrZSѢ??"j]9@*j] g?p]TzTvGL*1Կ앞hp]8Nve8˿o(6i]'j]]i]Il?i]7  j]&Bzj]ol?j]Y j]1Bjj]]>rj] d@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.508267 s, deltaX: 0.100000 m, approachRate: 0.196747 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 260.593535 deg, lat: 36.903920 deg, lon: -122.119058 deg, deltaT: 0.508267 s, deltaX: 0.100000 m, approachRate: 0.196747 m/s, posRepo size: 4 2i*ihhhhhggbgjgoBeejeJe:e/?ڂBɛ t>)  @i )=iם:iII!^D~uDuDqDyE}o0 Ey DDAT read: Rx Time:19:26:54.4792 TRx dataTimestamp_ set to:1736537214.895086G5w>G1G5&IG5xBG1G1G1G5 <G5 F]PDAT read: Bearing 165.1, 80.8 (Local) e~Local bearing/azimuth received: Bearing 165.1, 80.8 (Local) uDAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 VF)o>zFrFDAT read: 19:26:54.4792 LVL= 24560, 28241, 18642, 26307, AGC= 29, IDX= 508, 0.16,-0.065, 0.257,-0.062,-1.213, PHS= 1.236, 1.517, 1.148, RAW= 343.1, -76.4, CAL= 344.9, -80.8, ROT= 165.1, 80.8 Ygot valid direction response: 19:26:54.4792 LVL= 24560, 28241, 18642, 26307, AGC= 29, IDX= 508, 0.16,-0.065, 0.257,-0.062,-1.213, PHS= 1.236, 1.517, 1.148, RAW= 343.1, -76.4, CAL= 344.9, -80.8, ROT= 165.1, 80.8 T#Rx 37: Read range and direction messages.%`direction in FSK: [-0.154505,0.041111,-0.987136]-Fpublishing direction and range info Y Mÿb&Hu ?О￙ 3?9  _ Qn) HI fi  ?5?FAZAIMew> -? ? @ 㭪) @I Ji !k8@ J?   sſrwĿ~I vi ? !k8@ J?  checking for new query: numPingsReceived=37, elapsed TxPingTime=20.491570/Gx,0G]A% B%&IH5H5:5echecking for new query: numPingsReceived=37, elapsed TxPingTime=20.690435]=  eY=YmQ m>i٣q uGuF >]49l?a4Y iBq@,Df; ;zB4B @E:J]KBJ9JJRJZJ    " ! ZjU%l?bjU}B iQiUI]AjU3?jU?2jU@pUX/V˿lw\w?eXzpUMÿb&Hu ?О"jU!k8@*jUJ?pU򎯨:m P$Կ`#pU.h*[)̿l#W)iU"jU|EiU/l?iUrjU3@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.498535 s, deltaX: -0.100000 m, approachRate: -0.200588 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 261.290033 deg, lat: 36.903920 deg, lon: -122.119058 deg, deltaT: 0.498535 s, deltaX: -0.100000 m, approachRate: -0.200588 m/s, posRepo size: 4 2i*ihhhhhigigqbgqjgqeqeyjeyJe}`ff?:e N?ԂBɛ-x>)1 5@i1)5+m=11i5b9i99AIAIA^D= DDAT read: Rx Time:19:26:54.9792 M TRx dataTimestamp_ set to:1736537215.401184u PDAT read: Bearing 168.0, 80.6 (Local) } ~Local bearing/azimuth received: Bearing 168.0, 80.6 (Local) E DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 D D D E / E  DAT read: 19:26:54.9792 LVL= 24208, 27681, 18418, 26483, AGC= 29, IDX= 508, 0.20,-0.394,-0.056,-0.374,-1.528, PHS= 1.222, 1.519, 1.151, RAW= 340.6, -76.2, CAL= 342.0, -80.6, ROT= 168.0, 80.6  Ygot valid direction response: 19:26:54.9792 LVL= 24208, 27681, 18418, 26483, AGC= 29, IDX= 508, 0.20,-0.394,-0.056,-0.374,-1.528, PHS= 1.222, 1.519, 1.151, RAW= 340.6, -76.2, CAL= 342.0, -80.6, ROT= 168.0, 80.6  T#Rx 38: Read range and direction messages. `direction in FSK: [-0.159757,0.033957,-0.986572] Fpublishing direction and range infoA YE DrĿF!b?{￙A 9A E ^ E !l)E GIE sgiA E j?E n?E S?E :@ E ;)E C@IE iE f;@E ?A A E FW<ǿu ÿXT^TIE <iE 8?E f;@E ?A A  checking for new query: numPingsReceived=38, elapsed TxPingTime=21.031857I3I 3Ib/IIIZI bI jI 1rI zI :I S2:I 3I VF^w>FZAM?UGx,_&]A6 @y6A@96ʴ Y6R>6H ?.?@Xη?5?? ?6 @ɨ6; 64C> B>&Ichecking for new query: numPingsReceived=38, elapsed TxPingTime=21.194710u@u u@u u@u  u@u H}H}"25D =Y37Q >٣ GFL= >]49l?a4Y iBi+:m2<q@,D:2?I4 @Zjl?bjI ii]Ajj2j@p ̿&4W?S4fzpDrĿF!b?{"jf;@*j?pdқ$𢿪PX7`ӿŵDp y/ {z̿$"/i{ji@Vl?i  jOBzjIl?j7 jOBjjr>rjN @% addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.506098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 263.227929 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 0.506098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe:e _?]͂Bɛ]_>)Y @i)<=隩iliIICCCCDDAT read: Rx Time:19:26:55.4792 TRx dataTimestamp_ set to:1736537215.900815Gv>GG&IG}BGGGG'<GF PDAT read: Bearing 173.1, 80.7 (Local) % ~Local bearing/azimuth received: Bearing 173.1, 80.7 (Local) 5 DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 U DAT read: 19:26:55.4792 LVL= 23344, 26097, 17138, 25747, AGC= 29, IDX= 507, 0.24,-1.207,-0.852,-1.157,-2.324, PHS= 1.205, 1.520, 1.164, RAW= 336.0, -76.2, CAL= 336.9, -80.7, ROT= 173.1, 80.7 e Ygot valid direction response: 19:26:55.4792 LVL= 23344, 26097, 17138, 25747, AGC= 29, IDX= 507, 0.24,-1.207,-0.852,-1.157,-2.324, PHS= 1.205, 1.520, 1.164, RAW= 336.0, -76.2, CAL= 336.9, -80.7, ROT= 173.1, 80.7 e T#Rx 39: Read range and direction messages.m `direction in FSK: [-0.160433,0.019415,-0.986856]m Fpublishing direction and range infoY$FĿAh?kR￙90[ e)BIdiq=?\??f@D D D E  E ))@IIiZA@I? (xȿ*9U/I ieC?ZA@I?  checking for new query: numPingsReceived=39, elapsed TxPingTime=21.480310VFu !ǁ>F1 ZAA M] >7Hx, ]A2ZR @y2q@92 Y2%>2H`1 _`D?+?u?@ s??i?2ZR @ɨ2o/; 22CBBB&IHHHHb& bY=YbkQ f>d٣d fGdjy< j>l]r49nl?ar4Yn inBiz :xm}<}:q@n,DnVrjJ@- addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.499631 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 264.710579 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 0.499631 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iXStarting latch delay timer at range: 1.40 m."Cable is present.*ihhhhh?ggbgjgeejeJe:e@Sv?%ȂBɛ%M>)%v %x@i))-=)IiMuiQQQIQI]S{A=checking for new query: numPingsReceived=39, elapsed TxPingTime=21.699507:J(MBJk9JJRJZJ DDDE  EVF >F ZAi M > DDAT read: Rx Time:19:26:55.9793  TRx dataTimestamp_ set to:1736537216.407958- PDAT read: Bearing 179.3, 80.2 (Local) = ~Local bearing/azimuth received: Bearing 179.3, 80.2 (Local) acHx,G ]ADAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 rDAT read: 19:26:55.9793 LVL= 21152, 23249, 15986, 24323, AGC= 29, IDX= 508, 0.35,-0.943,-0.553,-0.855,-2.029, PHS= 1.174, 1.523, 1.171, RAW= 330.5, -75.6, CAL= 330.7, -80.2, ROT= 179.3, 80.2 vYgot valid direction response: 19:26:55.9793 LVL= 21152, 23249, 15986, 24323, AGC= 29, IDX= 508, 0.35,-0.943,-0.553,-0.855,-2.029, PHS= 1.174, 1.523, 1.171, RAW= 330.5, -75.6, CAL= 330.7, -80.2, ROT= 179.3, 80.2 zT#Rx 40: Read range and direction messages.`direction in FSK: [-0.170197,0.002079,-0.985408]Fpublishing direction and range info1Y5rPſ5 a?b#v￙5?915R 5Z)5r>I5_i15E?5?5T?5@ 5[䨿)5@I5$+i5GH@5$+?1 15$h=Vg˿,{}J e~I5'i55?5GH@5$+?1 1checking for new query: numPingsReceived=40, elapsed TxPingTime=22.029745= @y=r @9=3 Y=48>=H@c )7??@K"z?l^?@Q?v?= @ɨ=H6; =3CMB &II)AZI5bI5jI52rI1zI5:I5':I5c3I1== == ==  = = =Mb@Mb@Mb@99 9)9I9y=~jt?٣ GF_< >]49l?a%4Ye iBi%T:%=m%<%q%@,D,<+<vW41 5@1Zj5[l?bj5: i1i5 ]Aj5?j5?2j5<@p5dVпС1Si? Xzp5rPſ5 a?b#v"j5GH@*j5$+?p5FC:ِB~Tqտ!ap5Mw=A̿׶L-i5۬j5Άi5tl?i5 J  j5Bzj5@Vl?j5 j5HBjj5>rj5ɕ@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.507143 s, deltaX: 0.100000 m, approachRate: 0.197183 m/s, rangeRepo size: 4 % Added new target pos. range: 1.500000 m, bearing: 267.209470 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 0.507143 s, deltaX: 0.100000 m, approachRate: 0.197183 m/s, posRepo size: 4 2i!h%*i!h!h)h)h)h)h)g)g)bg1jg5BBe1eYjeYJe]?:e]y?雭Bɛ>) @i)=i4GiII"&Changing to mode: 1"Standby mode.Echecking for new query: numPingsReceived=40, elapsed TxPingTime=22.204027"2Commanding positive:54593D D D E f  E VF DDAT read: Rx Time:19:26:56.4793 TRx dataTimestamp_ set to:1736537216.907763PDAT read: Bearing 185.2, 80.3 (Local) ~Local bearing/azimuth received: Bearing 185.2, 80.3 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 =DAT read: 19:26:56.4793 LVL= 19248, 22609, 16370, 24563, AGC= 29, IDX= 507, 0.40,-2.471,-2.067,-2.347, 2.745, PHS= 1.155, 1.518, 1.188, RAW= 325.3, -75.7, CAL= 324.8, -80.3, ROT= 185.2, 80.3 EYgot valid direction response: 19:26:56.4793 LVL= 19248, 22609, 16370, 24563, AGC= 29, IDX= 507, 0.40,-2.471,-2.067,-2.347, 2.745, PHS= 1.155, 1.518, 1.188, RAW= 325.3, -75.7, CAL= 324.8, -80.3, ROT= 185.2, 80.3 ET#Rx 41: Read range and direction messages.Mbdirection in FSK: [-0.167796,-0.015271,-0.985703]UFpublishing direction and range infoY;.hVzſ1F@￙90K QX)?I_i ד?M?b?@ ) g@IUdiN@Ud? ]1ΐ̿Hֽ}XI},i#?@CUd? mchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.470833GyGyGyGyGyGyGyG}<G} FH HHH ="H =*HC4ZAM ?QHx,.> ]AލBލ&IH4=HHHs75_ϼ 0=YQ >٣ G-F- ->1]=495l?aE4Y5 i5#BAiqm@5,D5;5 ;5_4q u@qZj^l?bji ii: ]Ajj2j@p"пrLHtd)zp;.hVzſ1F@"j@C*jUd?pd{g4ԿLҜ]vpD^Sʿm&|Hij8iW^l?iWR   j BzjW^l?jo4  jjj>rjx@- addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.499805 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 1.500000 m, bearing: 269.487741 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 0.499805 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i9h9*i9h9h9h9hAhahagagabgijgieieijeqJeq:euN?雽Bɛ#>) @i){=i+iIID DDE= Echecking for new query: numPingsReceived=41, elapsed TxPingTime=22.707167:JezKBJ9JJRJZJJhAIVF 8U>F I{AZA M >@Hx,X ]AUDDAT read: Rx Time:19:26:56.9794 eTRx dataTimestamp_ set to:1736537217.419315PDAT read: Bearing 183.6, 79.8 (Local) ~Local bearing/azimuth received: Bearing 183.6, 79.8 (Local) =DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  @y*@94Y4>Hm`e,?@,?2[?Ţ?Ms?j{? @ɨࡌ; 2CB%IDAT read: 19:26:56.9794 LVL= 20304, 22513, 16018, 25187, AGC= 30, IDX= 509,-0.42, 3.073,-2.794,-3.096, 2.017, PHS= 1.144, 1.519, 1.168, RAW= 326.7, -74.9, CAL= 326.4, -79.8, ROT= 183.6, 79.8 Ygot valid direction response: 19:26:56.9794 LVL= 20304, 22513, 16018, 25187, AGC= 30, IDX= 509,-0.42, 3.073,-2.794,-3.096, 2.017, PHS= 1.144, 1.519, 1.168, RAW= 326.7, -74.9, CAL= 326.4, -79.8, ROT= 183.6, 79.8 T#Rx 42: Read range and direction messages.bdirection in FSK: [-0.176735,-0.011119,-0.984196]Fpublishing direction and range infoYY] Bƿ}űņ_ut·~￙]?9Y]PO ]W)]>I]cbi]]n?]n?]?]v@ ]T)]K@I]aFi]KM@]aF?Y Y]!Ϳ$z{ؽI]M6+i]'~?]j E]aF?Y Y=checking for new query: numPingsReceived=42, elapsed TxPingTime=23.060749ZIbIjI0rIzI:Iq:Iـ3IMb@Mb@Mb@ )Iy{GztQ?~jtx?ף\=; \@)O@Il@i@\@H-H-Qc5e  e=YmNQ m>m>٣m> mGqu|; >]49l?a4Y  i&B=m<q@,D::h41 5@9Zj]Rl?bj]M iYi]Z ]Aj]?j]$?2j]JJ@p]pa:ӿo=[JH&zp] Bƿ}űņ_ut·~"j]j E*j]aF?p]@|w?b~6)Y׿ksp]@5w k?č/3w˿`fAi]ɺj]w;i]_Sl?i] m  j]Bzj]_Sl?j]WR  j]Bjj]>rj]6e@ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.511552 s, deltaX: 0.200000 m, approachRate: 0.390967 m/s, rangeRepo size: 4 % Added new target pos. range: 1.700000 m, bearing: 270.884053 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 0.511552 s, deltaX: 0.200000 m, approachRate: 0.390967 m/s, posRepo size: 4 2i!hI*iIhIhIhIhQhQhQgQgQbgYjg]LBeYeYjeYJee@33?:eefH?Bɛg>)  @i ) r&>  i $iIIchecking for new query: numPingsReceived=42, elapsed TxPingTime=23.211845^DI DU >DU ?Iy )y GD $D DE EekA )y kA dB|@ADDAT read: Rx Time:19:26:57.4793 TRx dataTimestamp_ set to:1736537217.915909PDAT read: Bearing 181.5, 79.5 (Local) ~Local bearing/azimuth received: Bearing 181.5, 79.5 (Local) vDAT read: Range 1: 1.5 m (trip time 1.0 ms) speed 0.0 unknown deviceResponse_: Range 1: 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:26:57.4793 LVL= 21904, 24513, 17554, 27715, AGC= 31, IDX= 508,-0.38, 2.486, 2.906, 2.588, 1.426, PHS= 1.147, 1.527, 1.158, RAW= 328.5, -74.6, CAL= 328.5, -79.5, ROT= 181.5, 79.5 Ygot valid direction response: 19:26:57.4793 LVL= 21904, 24513, 17554, 27715, AGC= 31, IDX= 508,-0.38, 2.486, 2.906, 2.588, 1.426, PHS= 1.147, 1.527, 1.158, RAW= 328.5, -74.6, CAL= 328.5, -79.5, ROT= 181.5, 79.5 Z#Rx 43: Read direction message, but no range.Gu>GG&IGsBG =GGGܰ<G Fbdirection in FSK: [-0.182173,-0.004770,-0.983255]؁Y؅ߦwrQǿHcspv9؁؅U م_)مDIمCliممВ?مt?مX9?مx@ څr)څx@IڅΚiڅɼJ@څΚ?څۅ崕Ϳ  L5EIۅ-)iۅ?ۅbGۅΚ?Echecking for new query: numPingsReceived=43, elapsed TxPingTime=23.520882VF!zF)rF-gAF9ZAIMe+?Z Hx,ʂ ]AZ @yZ@9ZYZ$>ZHaQ@\ ? ?@%`z?F}?`z?v?Z @ɨZ[o; XfBf%Ij=ijp<HnHnkf5v 5=Y5M-Q 5>9٣9 =G=F=0" E>A]49El?a4YE iE)B~q@E,DEg)1 5@i1)=a>99i=ػiIIAchecking for new query: numPingsReceived=43, elapsed TxPingTime=23.715588:JBJJJRJZJ    ^D'[DU$'DQDQEUU EQVF  DDAT read: Rx Time:19:26:57.9794  TRx dataTimestamp_ set to:1736537218.424957 PDAT read: Bearing 180.1, 79.5 (Local)  ~Local bearing/azimuth received: Bearing 180.1, 79.5 (Local) F ZAA M >#'Hx, ]AJDAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ~DAT read: 19:26:57.9794 LVL= 20720, 23761, 17170, 27123, AGC= 31, IDX= 509,-0.30, 3.040,-2.826, 3.133, 1.978, PHS= 1.151, 1.527, 1.152, RAW= 329.8, -74.5, CAL= 329.9, -79.5, ROT= 180.1, 79.5  Ygot valid direction response: 19:26:57.9794 LVL= 20720, 23761, 17170, 27123, AGC= 31, IDX= 509,-0.30, 3.040,-2.826, 3.133, 1.978, PHS= 1.151, 1.527, 1.152, RAW= 329.8, -74.5, CAL= 329.9, -79.5, ROT= 180.1, 79.5  T#Rx 44: Read range and direction messages.ubdirection in FSK: [-0.182235,-0.000318,-0.983255]uFpublishing direction and range infoYY]?E{Sǿu4pv￙Y9Y]P ]\)]CI]iiY]S?Y]t?]1@ ]Bo)]<@@IYi]t,I@Y] Y]Y|>ͿްgI]'i]o?]AHYY Ychecking for new query: numPingsReceived=44, elapsed TxPingTime=24.066689]B]%IZIibImjIm1rIizIiImz:Im3IiMb@Mb@Mb@ )Iy/$Mb?~jth,=D @)|@Ii @H5H5d5E̻ E=YEQ M>I٣I MGIU U>Y]e49]l?ae4Y]I iYmX=mmzrj]]ٗ@Uchecking for new query: numPingsReceived=44, elapsed TxPingTime=24.218391] addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 1.005642 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 272.242363 deg, lat: 36.903920 deg, lon: -122.119059 deg, deltaT: 1.005642 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjg?BeejeJe:eދ?%BɛMBy>)I M>@iI)UV>QQiUHiYYYIYIYC!C!C!C!De c+Da Da Ee  Ea Ei Ei DDAT read: Rx Time:19:26:58.4793 TRx dataTimestamp_ set to:1736537218.924777%PDAT read: Bearing 179.0, 79.6 (Local) -~Local bearing/azimuth received: Bearing 179.0, 79.6 (Local) GEv>GAGE&IGEdBGE =GAGAGE<GE F]DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:26:58.4793 LVL= 19008, 21617, 16242, 24563, AGC= 30, IDX= 508,-0.28, 2.335, 2.742, 2.421, 1.278, PHS= 1.145, 1.511, 1.139, RAW= 330.7, -74.6, CAL= 331.0, -79.6, ROT= 179.0, 79.6 Ygot valid direction response: 19:26:58.4793 LVL= 19008, 21617, 16242, 24563, AGC= 30, IDX= 508,-0.28, 2.335, 2.742, 2.421, 1.278, PHS= 1.145, 1.511, 1.139, RAW= 330.7, -74.6, CAL= 331.0, -79.6, ROT= 179.0, 79.6 T#Rx 45: Read range and direction messages.`direction in FSK: [-0.180492,0.003151,-0.983571]Fpublishing direction and range infoY[YǿC(i?XUjy￙?9@J qT)r?I_i\?sh?ʑ?@ r)ݸ@IӱiG@ӱ? A'Ϳ@b{%^I&i?G@ӱ? checking for new query: numPingsReceived=45, elapsed TxPingTime=24.492195VFF?F>FZAM?r&1Hx, ]ABt @yB6:@9BYBY&>BH8H+?S?2?a? ?ҍ?Bt @ɨB,R; B4CRBR%IIT)VAH^H^i5fw f0=Yf;Q f>h٣h jGjFn' n>p]v49rl?av4Yr ir*Btv qz@r,Dr;r!;r4| ~P@|ZjX4El?bj!v ii/ ]Aj?j?2j@p@$SѿQ2O[s?*zp[YǿC(i?XUjy"jG@*jӱ?pVi?nTWԿoo)lp 4a?>?}˿U;ijvN;iШEl?ie݄  jBzjj m jBjj>rjb4@] addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.499820 s, deltaX: -0.200000 m, approachRate: -0.400144 m/s, rangeRepo size: 4 m Added new target pos. range: 1.500000 m, bearing: 270.553032 deg, lat: 36.903920 deg, lon: -122.119060 deg, deltaT: 0.499820 s, deltaX: -0.200000 m, approachRate: -0.400144 m/s, posRepo size: 4 2iihq*iqhqhqhqhqhqhqgygybgyjgyeyejeJe?:e?UBɛUČ>)U7屽 Uv@iY)]>YYi]iaaaIaIchecking for new query: numPingsReceived=45, elapsed TxPingTime=24.723154D%0-D!D!E-  E):J] rLBJYJJYRJ]ZJ]VF@Z>F ZA M > DDAT read: Rx Time:19:26:58.9793 K7Hx,B ]AETRx dataTimestamp_ set to:1736537219.432761NPDAT read: Bearing 184.8, 79.1 (Local) R~Local bearing/azimuth received: Bearing 184.8, 79.1 (Local) ZDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ~DAT read: 19:26:58.9793 LVL= 22256, 24785, 17506, 27331, AGC= 31, IDX= 508,-0.22, 1.941, 2.379, 2.065, 0.920, PHS= 1.109, 1.506, 1.142, RAW= 325.7, -74.0, CAL= 325.2, -79.1, ROT= 184.8, 79.1 Ygot valid direction response: 19:26:58.9793 LVL= 22256, 24785, 17506, 27331, AGC= 31, IDX= 508,-0.22, 1.941, 2.379, 2.065, 0.920, PHS= 1.109, 1.506, 1.142, RAW= 325.7, -74.0, CAL= 325.2, -79.1, ROT= 184.8, 79.1 T#Rx 46: Read range and direction messages.bdirection in FSK: [-0.188432,-0.015823,-0.981959]Fpublishing direction and range info!Y%q)ȿ]3ۨ4l￙!9!%V %`)%bDI%ji%%?%?%-?%@ %MQ)%>@I% i%plN@% ?! !%2 Ͽd9I%|Y,i%A?%EC% ?! !echecking for new query: numPingsReceived=46, elapsed TxPingTime=25.103510؆B%I-checking for new query: numPingsReceived=46, elapsed TxPingTime=25.227570Mb@Mb@Mb@ )IyQ뱿L7A`?~jth?\+=D; )IV@iݸ@f@HeHej5} }٣ G >]49l?a4Y" i+B=m+<|q@#,D:<41 = @9 Zj%Xl?bj%\=Q i!i%[ ]Aj!j!2j%H@p%ҿkxMۤ~'zp%q)ȿ]3ۨ4l"j%EC*j% ?p%?WȌԿrj%@m  addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.507984 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 }  Added new target pos. range: 1.500000 m, bearing: 275.618995 deg, lat: 36.903920 deg, lon: -122.119060 deg, deltaT: 0.507984 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iy h *i h h h h h h g g bg jg %Be e jea Jei :eu ? Bɛ ҟw>) @i )5 >1 1 i5 L/i9 9 9 IA II D zD  DDAT read: Rx Time:19:26:59.4792 G G G t&IG UBG G G G <G F TRx dataTimestamp_ set to:1736537219.933629PDAT read: Bearing 187.6, 79.1 (Local) ~Local bearing/azimuth received: Bearing 187.6, 79.1 (Local) -DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 ]DAT read: 19:26:59.4792 LVL= 22736, 25153, 17522, 27283, AGC= 31, IDX= 507,-0.19, 1.113, 1.559, 1.256, 0.100, PHS= 1.101, 1.506, 1.153, RAW= 323.2, -74.0, CAL= 322.4, -79.1, ROT= 187.6, 79.1 }Ygot valid direction response: 19:26:59.4792 LVL= 22736, 25153, 17522, 27283, AGC= 31, IDX= 507,-0.19, 1.113, 1.559, 1.256, 0.100, PHS= 1.101, 1.506, 1.153, RAW= 323.2, -74.0, CAL= 322.4, -79.1, ROT= 187.6, 79.1 }T#Rx 47: Read range and direction messages.bdirection in FSK: [-0.187434,-0.025009,-0.981959]Fpublishing direction and range info Y 쪏ǿnۨ4l￙ 3?9 X Ab) rDI ji ? ? J@ ) @I i Q@  I:пGbۻc׹I /i jF? @ checking for new query: numPingsReceived=47, elapsed TxPingTime=25.508331DE2DIDIEM EIEUC>EUG>ZIbIjIrIzIL:I:IIIA <qIB <iIyp;uIyp;mVFFIZAQMu+?CBHx, !]A~e @y~@9~Y~xW;>checking for new query: numPingsReceived=47, elapsed TxPingTime=25.731199~H7@? ?y?OY?F?@s?~e @ɨ~; ~2CU҆BU%I]=iYHHl5׼ 8=YVm٣ GF= >]49l?a4Y i-Bq@%,D';(;4  p@ Zjkl?bj  ii ]Aj3?j?2j@py^yKпM1zp쪏ǿnۨ4l"j@*jpE?)E@ӿ[pgWV?f 1̿6i❾j-B<i!l?i5  jBzjl?j jjjJ>rjHǓ@:JBJ9JJRJZJ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.500868 s, deltaX: -0.100000 m, approachRate: -0.199653 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 272.201013 deg, lat: 36.903920 deg, lon: -122.119061 deg, deltaT: 0.500868 s, deltaX: -0.100000 m, approachRate: -0.199653 m/s, posRepo size: 4 2ih*ihhhhhhggbgjge e je Je `ff?:e ?UBɛU>)Y ]@iY)] >aaieKQ>iIID3DDE E!DDAT read: Rx Time:19:26:59.9793 TRx dataTimestamp_ set to:1736537220.436372PDAT read: Bearing 186.6, 79.3 (Local) VF8U>% ~Local bearing/azimuth received: Bearing 186.6, 79.3 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 F ZA M > DAT read: 19:26:59.9793 LVL= 22784, 25041, 17618, 27507, AGC= 31, IDX= 508,-0.14, 2.250, 2.690, 2.386, 1.217, PHS= 1.121, 1.519, 1.166, RAW= 324.1, -74.3, CAL= 323.4, -79.3, ROT= 186.6, 79.3 U Ygot valid direction response: 19:26:59.9793 LVL= 22784, 25041, 17618, 27507, AGC= 31, IDX= 508,-0.14, 2.250, 2.690, 2.386, 1.217, PHS= 1.121, 1.519, 1.166, RAW= 324.1, -74.3, CAL= 323.4, -79.3, ROT= 186.6, 79.3 U T#Rx 48: Read range and direction messages.] bdirection in FSK: [-0.184436,-0.021340,-0.982613]] Fpublishing direction and range infoYϙǿ&ڕQ3nq￙?9Y a)DIski|?n?}??@ )➴@Im(i(oP@m(? *2ykϿ$\t5jxI+.i& ?Am(?  checking for new query: numPingsReceived=48, elapsed TxPingTime=26.075651;eHHx,6#!]A}ʆB}%IMb@Mb@Mb@ )IyˡE:v?MbP?什T<: r@)9@Il@i@\@HH 6=Y Q  >1٣1 5G15 =>9]E49=l?aM4Y= i9M =murj f@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.502743 s, deltaX: 0.100000 m, approachRate: 0.198909 m/s, rangeRepo size: 4 % Added new target pos. range: 1.500000 m, bearing: 270.966613 deg, lat: 36.903920 deg, lon: -122.119061 deg, deltaT: 0.502743 s, deltaX: 0.100000 m, approachRate: 0.198909 m/s, posRepo size: 4 5checking for new query: numPingsReceived=48, elapsed TxPingTime=26.2345262i9h9*i9h9h9h9h9h9hAgAgAbgIjgM&BeIeIjeQJeU?:eUOU?雅Bɛd >) y@i){ >隉i6PiII^DUD 6D D E  E E9 E9  DDAT read: Rx Time:19:27:00.4792  TRx dataTimestamp_ set to:1736537220.939655 PDAT read: Bearing 174.2, 79.4 (Local)  ~Local bearing/azimuth received: Bearing 174.2, 79.4 (Local)  DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 - DAT read: 19:27:00.4792 LVL= 21616, 24881, 18130, 28035, AGC= 31, IDX= 507,-0.07, 1.402, 1.801, 1.455, 0.314, PHS= 1.175, 1.534, 1.137, RAW= 335.0, -74.4, CAL= 335.8, -79.4, ROT= 174.2, 79.4 = Ygot valid direction response: 19:27:00.4792 LVL= 21616, 24881, 18130, 28035, AGC= 31, IDX= 507,-0.07, 1.402, 1.801, 1.455, 0.314, PHS= 1.175, 1.534, 1.137, RAW= 335.0, -74.4, CAL= 335.8, -79.4, ROT= 174.2, 79.4 = T#Rx 49: Read range and direction messages.E `direction in FSK: [-0.183010,0.018589,-0.982935]E Fpublishing direction and range info Y {Alǿ"y ?4t￙ 3?9 pT 1a) FI mi ff? Z? 7? k@ 6) ͋@I ai QB@ a? /qj0̿iÿU_I e!i ;? QB@ a? e checking for new query: numPingsReceived=49, elapsed TxPingTime=26.502819Gy Gy G} a&IG} EBGy Gy Gy G} ̰<G} FVFm@Z>FAZAQMm?[PHx,DC!]AZIbIjI0rIzI̶:I:Iـ3II;I;IZ;IZ;fK@yf @9fYf7=fHP?X?NDf?@?m?]?fK@ɨf3; d~ˆB~%IH "H q5E; E7=YMlQ M>I٣I uGuF}k }>]49l?a4Y isq@*,Dp;9;4B @EZjl?bjX iiO#rj|b@5 addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503283 s, deltaX: -0.100000 m, approachRate: -0.198695 m/s, rangeRepo size: 4 M Added new target pos. range: 1.400000 m, bearing: 270.779313 deg, lat: 36.903920 deg, lon: -122.119061 deg, deltaT: 0.503283 s, deltaX: -0.100000 m, approachRate: -0.198695 m/s, posRepo size: 4 2iihi*iihqhqhqhqhqhqgqgybgyjgyeyejeJe`ff?:e G?Bɛ>) ;@i)p>i8bi <cs>II1-checking for new query: numPingsReceived=49, elapsed TxPingTime=26.739140^DED?7DDE E:JBJ89JJRJZJVF% 8U>F ZA! Mm > DDAT read: Rx Time:19:27:00.9793  TRx dataTimestamp_ set to:1736537221.448094- PDAT read: Bearing 162.6, 79.3 (Local) 5 ~Local bearing/azimuth received: Bearing 162.6, 79.3 (Local) VHx,y[]!]A:DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:00.9793 LVL= 19264, 24753, 17634, 27891, AGC= 31, IDX= 508, 0.00, 3.013,-2.913, 2.987, 1.876, PHS= 1.225, 1.542, 1.109, RAW= 345.0, -74.2, CAL= 347.4, -79.3, ROT= 162.6, 79.3 Ygot valid direction response: 19:27:00.9793 LVL= 19264, 24753, 17634, 27891, AGC= 31, IDX= 508, 0.00, 3.013,-2.913, 2.987, 1.876, PHS= 1.225, 1.542, 1.109, RAW= 345.0, -74.2, CAL= 347.4, -79.3, ROT= 162.6, 79.3 T#Rx 50: Read range and direction messages.`direction in FSK: [-0.177170,0.055522,-0.982613]Fpublishing direction and range info1Y5Mƿ6L\m?Q3nq￙5?915@K 5`)5DI5li15̜?5B`?5?52@ 5å)5W@I5m(i5>5@5m(?1 15Mȿ߆=ȿZcI5i5͹?5>5@5m(?1 1echecking for new query: numPingsReceived=50, elapsed TxPingTime=27.083675fg@y'@9 O%Yia=H;f?e?@8W?`t?s??fg@ɨb; 1C޽ΆB޽%II)MMb@Mb@Mb@II I)IIIyM(\µMbp?I +MM;M9 M@)M@IM?@iMƷ@IMp@HHp5]\(< ]=Y])Q e>a٣a eGam# m>q]49u l?a4Yu iu&B=m<wdq@u-,Du;us:ut4 @Zj5"tl?bj5=h i1i5\!]Aj5?j5?2j5a@p5:}H$ѿV(9R?}R,zp5Mƿ6L\m?Q3nq"j5>5@*j5m(?p5ôp'Ȑ3Cӿ0!~p50@*kɿ@#-Xi5j5i5>ql?i5u  j5݃B=checking for new query: numPingsReceived=50, elapsed TxPingTime=27.242413zj5X,Cl?j5Nr j5Bjj5*>rj5@} addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.508439 s, deltaX: 0.100000 m, approachRate: 0.196680 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 266.205621 deg, lat: 36.903920 deg, lon: -122.119061 deg, deltaT: 0.508439 s, deltaX: 0.100000 m, approachRate: 0.196680 m/s, posRepo size: 4 2ih*ihhhhhhggbgjg BeejeJe?:e F?=Bɛ=T؈>)9 =s @i9)E0>IiwYzi;l<d>IICCCCDA D 7D D E &  E E E 0>VFw>DDAT read: Rx Time:19:27:01.4793  TRx dataTimestamp_ set to:1736537221.950490PDAT read: Bearing 155.5, 80.0 (Local) %~Local bearing/azimuth received: Bearing 155.5, 80.0 (Local) 5DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 Gw>GGU&IG;BGGGG<G FH HHH ="H =*H9g4FZAM?^Hx,~!]ANDAT read: 19:27:01.4793 LVL= 19424, 24881, 18626, 26963, AGC= 30, IDX= 507, 0.02, 2.784, 3.081, 2.724, 1.619, PHS= 1.253, 1.509, 1.102, RAW= 351.6, -75.4, CAL= 354.5, -80.0, ROT= 155.5, 80.0 RYgot valid direction response: 19:27:01.4793 LVL= 19424, 24881, 18626, 26963, AGC= 30, IDX= 507, 0.02, 2.784, 3.081, 2.724, 1.619, PHS= 1.253, 1.509, 1.102, RAW= 351.6, -75.4, CAL= 354.5, -80.0, ROT= 155.5, 80.0 RT#Rx 51: Read range and direction messages.v`direction in FSK: [-0.158013,0.072011,-0.984808]zFpublishing direction and range infoؙY؝N_T9ĿıLo?h￙ؙ9ؙ؝K ٝ1a)ٝHIٝSiiٝٝNb?ٝ&?ٝV?ٝ^@ ڝq)ڝz@Iڝ¸iڝ-@ڝ¸?ڙ ۙ۝>jĿ˯hKɿ"I۝i۝f?۝-@۝¸?ۙ ܙ]checking for new query: numPingsReceived=51, elapsed TxPingTime=27.571690=n@y@9 Y=H >,?b?`????=n@ɨ; 3CӆB%IZIbIjI1rIzIL:I!:I3IIA <IB <Iny;Iny;HmHmHo5< J=Y|;Q >٣ GF >!]-49%l?a54Y%E i%!B15oq5@%/,D%:%u:%4y h@Zjƥl?bj+ ii|!]Ajj?2j@p~VοΦ ?ȉzpN_T9ĿıLo?h"j-@*j¸?p qB8ҿf5pG]iIXȿG^i7jpiŜl?i  jBzjŜl?j{ jBjjy>rj@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.502396 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 257.842726 deg, lat: 36.903920 deg, lon: -122.119062 deg, deltaT: 0.502396 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe:e?u}Bɛu9>)u&!ʽ } @iy)}W>yyici'<e:>IIchecking for new query: numPingsReceived=51, elapsed TxPingTime=27.747244D7DDE E:JBJ9JJRJZJ+cq7q]J;/% VF  u>F ZA M >AfHx,.!]A5ՆB5%I Y]@AHeHe+p5DDAT read: Rx Time:19:27:01.9794 TRx dataTimestamp_ set to:1736537222.455611PDAT read: Bearing 158.5, 79.8 (Local) ~Local bearing/azimuth received: Bearing 158.5, 79.8 (Local) DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 19:27:01.9794 LVL= 18976, 25201, 18274, 25075, AGC= 30, IDX= 508, 0.07,-2.457,-2.137,-2.502, 2.671, PHS= 1.244, 1.523, 1.107, RAW= 348.8, -75.0, CAL= 351.5, -79.8, ROT= 158.5, 79.8 Ygot valid direction response: 19:27:01.9794 LVL= 18976, 25201, 18274, 25075, AGC= 30, IDX= 508, 0.07,-2.457,-2.137,-2.502, 2.671, PHS= 1.244, 1.523, 1.107, RAW= 348.8, -75.0, CAL= 351.5, -79.8, ROT= 158.5, 79.8 T#Rx 52: Read range and direction messages.=`direction in FSK: [-0.164763,0.064902,-0.984196]EFpublishing direction and range infoعYؽ_qſB(I۽~i۽ڈ?۽ 1@۽aF?۹ ܹ٣ EGAE M>Q]U49Ul?a]4YU iUB]checking for new query: numPingsReceived=52, elapsed TxPingTime=28.089556Yq@U1,DU;U;U4 H@ZjƮDl?bj ii(!]Aj?j$?2jؖ@p/!\ѿ>?JH&zp_qſB(rj֍@ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.505121 s, deltaX: 0.200000 m, approachRate: 0.395945 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 260.676521 deg, lat: 36.903920 deg, lon: -122.119062 deg, deltaT: 0.505121 s, deltaX: 0.200000 m, approachRate: 0.395945 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe@33?:e@>?uxBɛu(Ȕ>)y } @iy)};>yyi}=i4"<v@>II"2Commanding positive:13606M checking for new query: numPingsReceived=52, elapsed TxPingTime=28.250578D 7D D E  E VF} d>F9 ZAA Me >=lHx,W!]A:@y:@9:Y:=:H 6 $Q?`L?j)?*?@o_??:@ɨ:J; :1C v[G-lA Q)>ylA/B نB %IMb@Mb@Mb@ )Iy٣ GF >]49l?a4Yr iB=m#<q@3,D2;1;p4  @B*** querying acoustic contact ***ii2i!h!*i!h)h)h)h)h)h)g)g1bg1jg5Be1e9je9Je9:e= ?mtBɛu>)q u @iq)uo>qqi}՗iy&<O>IIDDAT read: Rx Time:19:27:02.4793 TRx dataTimestamp_ set to:1736537222.957794PDAT read: Bearing 164.3, 80.1 (Local) ~Local bearing/azimuth received: Bearing 164.3, 80.1 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 G G G [&IG @BG  =G G G 6<G FDAT read: 19:27:02.4793 LVL= 19440, 25169, 18306, 25971, AGC= 31, IDX= 507, 0.08, 2.968,-2.978, 2.961, 1.831, PHS= 1.225, 1.521, 1.127, RAW= 343.8, -75.5, CAL= 345.7, -80.1, ROT= 164.3, 80.1 Ygot valid direction response: 19:27:02.4793 LVL= 19440, 25169, 18306, 25971, AGC= 31, IDX= 507, 0.08, 2.968,-2.978, 2.961, 1.831, PHS= 1.225, 1.521, 1.127, RAW= 343.8, -75.5, CAL= 345.7, -80.1, ROT= 164.3, 80.1 T#Rx 53: Read range and direction messages.`direction in FSK: [-0.165515,0.046524,-0.985109]Fpublishing direction and range infoY3m/ſu>ҧ? 4￙?9K Qb)GIsei̜?!?A?@ +)H@Ii^7@? 2+1ǿ"1*Bƿ_Z &pI3i5?^7@? -checking for new query: numPingsReceived=53, elapsed TxPingTime=28.550817D9D9D9E=  EAEMgAEMgAVFH>F>F;>FZAM>ZIbIjI0rIzI:I$:Iـ3IIN<IN<I~;I~;] checking for new query: numPingsReceived=53, elapsed TxPingTime=28.754299+sHx,L!]A:x?y: [ @9:1Y:=:H5 z?`??c?!?@ ?@?:x?ɨ:Ό; :3CBBB%IHNHNHo5ZÜ= Z=Y^;Q ^?\٣\ bG`bu b?d]j49fl?aj4Yf ifBln=qn@f5,Dfs;fW:f4p rK@pZjHl?bjBK iiL!]Aj?j?2j"֏@pcbaϿd.ݱ? 'zp3m/ſu>ҧ? 4"j^7@*j?pdGXӿTxpD tkʿp Kiej?i# ?l?ie  jBzj>ql?j jBjj>rjkj@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.502183 s, deltaX: -0.200000 m, approachRate: -0.398261 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 257.538197 deg, lat: 36.903920 deg, lon: -122.119062 deg, deltaT: 0.502183 s, deltaX: -0.200000 m, approachRate: -0.398261 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe ?:e B?UqBɛU[>)Q U@iY)]<>YYi]ia:Je.NBJe9JJaRJeZJe:lub;Ve))<{8>II^Dmս=ս4=DDAT read: Rx Time:19:27:02.9793 TRx dataTimestamp_ set to:1736537223.464869 PDAT read: Bearing 165.1, 80.3 (Local) ~Local bearing/azimuth received: Bearing 165.1, 80.3 (Local) D-7D1D9DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 E=  E= DAT read: 19:27:02.9793 LVL= 18752, 23345, 17634, 25539, AGC= 30, IDX= 507, 0.12,-2.780,-2.445,-2.780, 2.371, PHS= 1.220, 1.513, 1.129, RAW= 343.1, -75.7, CAL= 344.9, -80.3, ROT= 165.1, 80.3  Ygot valid direction response: 19:27:02.9793 LVL= 18752, 23345, 17634, 25539, AGC= 30, IDX= 507, 0.12,-2.780,-2.445,-2.780, 2.371, PHS= 1.220, 1.513, 1.129, RAW= 343.1, -75.7, CAL= 344.9, -80.3, ROT= 165.1, 80.3  T#Rx 54: Read range and direction messages. `direction in FSK: [-0.162824,0.043324,-0.985703] Fpublishing direction and range infoYWڙkĿޔ.?@￙9@I 1[)DIci(???@ )@IUdi!k8@Ud? %>.Q ǿOſ}EkIi(?!k8@Ud?  checking for new query: numPingsReceived=54, elapsed TxPingTime=29.115145VFe N;>F!ZA)MM>OzHx,?!]AzBz%Ichecking for new query: numPingsReceived=54, elapsed TxPingTime=29.258459Mb@Mb@Mb@ )Iy rh)\(Mb`C Ga M@)@I?@iƷ@(@HHi5?= "=YQ >٣ G >]49l?a4Y iB}=mM<=q@7,D;;4 @Zjdl?bj iij!]Ajj2jՏ@pf!CϿ`>?d)zpWڙkĿޔ.?@"j!k8@*jUd?pWHKm)ӿ+~B~pO Zi-ɿSSiKji2l?iE  jBzjDrj7@U addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.507075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 1.500000 m, bearing: 257.535478 deg, lat: 36.903920 deg, lon: -122.119063 deg, deltaT: 0.507075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhh h h g g bgjgBeejeJe:ea?雅kBɛ4>) @i)8N>隉i)i.< >II^DɽDIDQDQEUS  EYVFM5>F ZA1MU>DDAT read: Rx Time:19:27:03.4792 TRx dataTimestamp_ set to:1736537223.964532PDAT read: Bearing 165.7, 79.6 (Local) ~Local bearing/azimuth received: Bearing 165.7, 79.6 (Local) DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 G v>G G n&IG PBG G G G ʰ<G F5 DAT read: 19:27:03.4792 LVL= 18928, 25041, 17986, 26451, AGC= 31, IDX= 506, 0.21, 1.385, 1.747, 1.382, 0.254, PHS= 1.219, 1.540, 1.125, RAW= 342.4, -74.6, CAL= 344.3, -79.6, ROT= 165.7, 79.6 = Ygot valid direction response: 19:27:03.4792 LVL= 18928, 25041, 17986, 26451, AGC= 31, IDX= 506, 0.21, 1.385, 1.747, 1.382, 0.254, PHS= 1.219, 1.540, 1.125, RAW= 342.4, -74.6, CAL= 344.3, -79.6, ROT= 165.7, 79.6 E T#Rx 55: Read range and direction messages.U `direction in FSK: [-0.174926,0.044588,-0.983571]U Fpublishing direction and range infoYt>cƿJ5;?Ԧ?XUjy￙3?9I a)BFISgi1???t;@ r)K@Iӱi9@ӱ? ԑȿ>kƿf TIMiPƦ?9@ӱ? m checking for new query: numPingsReceived=55, elapsed TxPingTime=29.5317121Hx,y"]A6n?y6+ @96~ּY6:==6H)A?@m?@&?`H? ڹ?@P?6n?ɨ6$; 62CbBb&IHvHvn5e = eQ=Ym i٣q uGuFuν }>]49l?a4Y iB2=q@8,D 7;9;e4 8@Zj &?l?bj [" i i !]Aj 3?j ?2j rp@p ;''FXϿb?Y 21zp t>cƿJ5;?Ԧ?XUjy"j 9@*j ӱ?p _BPèPҿ/vp 3-+*ʿ]hNi j Fi Bl?i /  j IBzj # ?l?j j Bjj >rj 27@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.499663 s, deltaX: -0.100000 m, approachRate: -0.200135 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 260.407961 deg, lat: 36.903921 deg, lon: -122.119063 deg, deltaT: 0.499663 s, deltaX: -0.100000 m, approachRate: -0.200135 m/s, posRepo size: 4 2i h *i h h hhhhggbg!jg!e!e!je!Je-`ff?:e- ?]gBɛ]aؤ>)eUݽ e@ia)m >iiim~i1<=IICCCC5checking for new query: numPingsReceived=55, elapsed TxPingTime=29.762499D?D?:JNBJ9JJRJZJd/dQG?3& "2Commanding positive:13508D D D E  E E >E >VF # >FY ZAa M > DDAT read: Rx Time:19:27:03.9793  TRx dataTimestamp_ set to:1736537224.467702 PDAT read: Bearing 163.4, 79.6 (Local)  ~Local bearing/azimuth received: Bearing 163.4, 79.6 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ^Hx,1"]ADAT read: 19:27:03.9793 LVL= 18992, 24977, 18162, 26835, AGC= 31, IDX= 507, 0.23,-3.036,-2.689,-3.053, 2.122, PHS= 1.212, 1.519, 1.105, RAW= 344.4, -74.7, CAL= 346.6, -79.6, ROT= 163.4, 79.6 Ygot valid direction response: 19:27:03.9793 LVL= 18992, 24977, 18162, 26835, AGC= 31, IDX= 507, 0.23,-3.036,-2.689,-3.053, 2.122, PHS= 1.212, 1.519, 1.105, RAW= 344.4, -74.7, CAL= 346.6, -79.6, ROT= 163.4, 79.6 T#Rx 56: Read range and direction messages.`direction in FSK: [-0.172996,0.051572,-0.983571]Fpublishing direction and range infoY ҷ$ƿ4Ьg?XUjy￙?90J a)FIhi"?n?p?hY@ ᦿ)@Ii6@ Z͢2ȿYǿIsiƦ?6@ >checking for new query: numPingsReceived=56, elapsed TxPingTime=30.045134ZI5bI5jI51rI1zI5;:I59:I53I1q=@i=@u=@m=@B!&I-Mb@Mb@Mb@)) )))I)y-Mbp?V-~jtx-;-m-Ļ ))-@I)i-@))HH95}= =YQ >٣ G >]49m?a4Y iBeo=mc<,?q@;,D5checking for new query: numPingsReceived=56, elapsed TxPingTime=30.266273<<4y @)Zjl?bjaZ7 ii"]Aj?j?2j_z@p Rމпmgͳ?*zp ҷ$ƿ4Ьg?XUjy"j6@*jp`zį|Uӿ).up7-rwʿ6Giʞj#~il?i[E  j"Bzj2l?jjBjj>rj@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503170 s, deltaX: 0.100000 m, approachRate: 0.198740 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 258.686888 deg, lat: 36.903921 deg, lon: -122.119063 deg, deltaT: 0.503170 s, deltaX: 0.100000 m, approachRate: 0.198740 m/s, posRepo size: 4 2ih*ihhhhhhggbg jg :BeI eI jeI JeM ?:eM (y?雝 aBɛ 0N>) @i ) " >隩 i i `6< t=I I De 7Da Da Em }  Ei DDAT read: Rx Time:19:27:04.4792 TRx dataTimestamp_ set to:1736537224.973029G u>G G &IG _BG  =G G G ߰<G  FEPDAT read: Bearing 163.6, 79.2 (Local) E~Local bearing/azimuth received: Bearing 163.6, 79.2 (Local) UDAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 19:27:04.4792 LVL= 18592, 24225, 17602, 27155, AGC= 31, IDX= 506, 0.34, 1.309, 1.669, 1.291, 0.189, PHS= 1.209, 1.527, 1.099, RAW= 344.2, -74.2, CAL= 346.4, -79.2, ROT= 163.6, 79.2 VF>5Ygot valid direction response: 19:27:04.4792 LVL= 18592, 24225, 17602, 27155, AGC= 31, IDX= 506, 0.34, 1.309, 1.669, 1.291, 0.189, PHS= 1.209, 1.527, 1.099, RAW= 344.2, -74.2, CAL= 346.4, -79.2, ROT= 163.6, 79.2 ]T#Rx 57: Read range and direction messages.e`direction in FSK: [-0.179758,0.052905,-0.982287]eFpublishing direction and range infoY]ըKǿ42m?ޣѨn￙3?9H ^)DIji?t??<@ å)\w@I;ﰿi36@;? Kɿ|DmȿtێI`i?36@;? checking for new query: numPingsReceived=57, elapsed TxPingTime=30.575611FZAM?"Hx,B"]A(B>&IH%H%e5u= uP=YyQ }>y٣y }G}F >]49bm?a4Y i Bq@<,D:~:>4) -@1Zj}l?bj}s iyi}F>"]Aj}3?j}?2j}v@p}4п&?zp}]ըKǿ42m?ޣѨn"j}36@*j};?p}Bi ӿ錽cp}FPQI/73E˿9\=i}j}\i}l?i}J  j}lBzj}Bl?j}[E j}"Bjj}K>rj}@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.505327 s, deltaX: -0.100000 m, approachRate: -0.197892 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 259.750614 deg, lat: 36.903921 deg, lon: -122.119063 deg, deltaT: 0.505327 s, deltaX: -0.100000 m, approachRate: -0.197892 m/s, posRepo size: 4 2ih*ihAhAhAhAhAhAgAgIbgIjgIeIeQjeQJeU`ff?:eU@'?]BɛZ/>)! %g@i!)%!>))i-lȼi1UC9<]O=IYIachecking for new query: numPingsReceived=57, elapsed TxPingTime=30.772284DU7DQDQEU  EQVF->FZAM>:JMBJJJRJZJ  #Hx,UP\"]A2?y2@92g~Y2{=2H`?t=? j@%?̏?E8?`C?2?ɨ2; 25Cn1BnI&I)v= tHzHza5DDAT read: Rx Time:19:27:04.9794  TRx dataTimestamp_ set to:1736537225.475793PDAT read: Bearing 162.4, 80.2 (Local) ~Local bearing/azimuth received: Bearing 162.4, 80.2 (Local) -DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 mDAT read: 19:27:04.9794 LVL= 21104, 27377, 19314, 28019, AGC= 29, IDX= 507, 0.37,-2.959,-2.636,-2.975, 2.202, PHS= 1.210, 1.492, 1.103, RAW= 345.4, -75.5, CAL= 347.6, -80.2, ROT= 162.4, 80.2 Ygot valid direction response: 19:27:04.9794 LVL= 21104, 27377, 19314, 28019, AGC= 29, IDX= 507, 0.37,-2.959,-2.636,-2.975, 2.202, PHS= 1.210, 1.492, 1.103, RAW= 345.4, -75.5, CAL= 347.6, -80.2, ROT= 162.4, 80.2 T#Rx 58: Read range and direction messages.`direction in FSK: [-0.162242,0.051466,-0.985408]Fpublishing direction and range info Y nYĿ:`Y?b#v￙ ?9  pR j) rKI smi  H? ? /? b@ +) "@I $+i  g5@ $+?  EM/= M?= R" ƿˠt1ƿyuI  Ni ?  g5@ $+?  Y5checking for new query: numPingsReceived=58, elapsed TxPingTime=31.094074Q٣Q ]GYed̽ > ]49 Gm?a4Y O i  B ?q@ >,D : \: 4A M@IZIbIjIrIzI:I<:IIZj 6l?bj @ i i ds^"]Aj ?j $?2j @p  8ѿK s6e?\4zp nYĿ:`Y?b#v"j  g5@*j $+?p #Lտ2Ԟp  ؠyH;ɿPi j i Tl?i QP  j ރBzj l?j j jj >rj @ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502764 s, deltaX: 0.300000 m, approachRate: 0.596702 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 257.150053 deg, lat: 36.903922 deg, lon: -122.119063 deg, deltaT: 0.502764 s, deltaX: 0.300000 m, approachRate: 0.596702 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe@33?:e??uXBɛ>) .@i)]$>隡i>Ҽi;< =IIDm7DiDqEuq  Eqchecking for new query: numPingsReceived=58, elapsed TxPingTime=31.274391VF ea=F >F >F ZA M >Hx,y"]AVH?yV4@9V YV=VHO@Sg,??C&?%?`BM??VH?ɨV6; V3Cb>BbY&IMb@Mb@Mb@ )Iy&1?QMbPP=u )IV@i@׳@HHV50c= ;=YY٣ GF0 >]49m?a4Y iBI=m(<?q@@,D;;]4 @B*** querying acoustic contact ***ii2ih*ihhhhhhgg!bg!jg%bBe!e)je)Je):e-`,?UUBɛU5>)Y ] @iY)]%>YYieڼiaeE<!Hx,`w"]A:Jj>KBJj-9JJhRJjZJjJn? Jn(?-?y-@9- ĻY- =-H9x@?? 5. ?x? ??-?ɨ-R; )ޅCBލ_&IHH15}`< ==Y;Q >٣ G >)]549-m?a54Y- i-B15?q=@-B,D-S:-:->4 n@Zj]Im?bj ii#~"]Aj?j?2j@p2M1ҿ"?JGmvzp3%Bȿn-Gu?_<1a"jR8@*jFѯ?p,޺ClEK:^տu2O_p>(;] e̿ۜp)ijiDm?iZ  jWBzjTl?j/ jIBjj[>rj@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504562 s, deltaX: -0.200000 m, approachRate: -0.396383 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 264.412528 deg, lat: 36.903922 deg, lon: -122.119063 deg, deltaT: 0.504562 s, deltaX: -0.200000 m, approachRate: -0.396383 m/s, posRepo size: 4 2ih*ihhhhhhg g bg jg e e1je9Je=?:eE(?}DDAT read: Rx Time:19:27:05.9794 TRx dataTimestamp_ set to:1736537226.483840PDAT read: Bearing 163.9, 79.0 (Local) ~Local bearing/azimuth received: Bearing 163.9, 79.0 (Local) DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 19:27:05.9794 LVL= 20720, 25185, 18162, 28083, AGC= 31, IDX= 508,-0.45, 1.842, 2.201, 1.827, 0.764, PHS= 1.166, 1.484, 1.060, RAW= 343.9, -73.8, CAL= 346.1, -79.0, ROT= 163.9, 79.0 Ygot valid direction response: 19:27:05.9794 LVL= 20720, 25185, 18162, 28083, AGC= 31, IDX= 508,-0.45, 1.842, 2.201, 1.827, 0.764, PHS= 1.166, 1.484, 1.060, RAW= 343.9, -73.8, CAL= 346.1, -79.0, ROT= 163.9, 79.0 T#Rx 60: Read range and direction messages.`direction in FSK: [-0.183325,0.052914,-0.981627]Fpublishing direction and range infoyY}3wǿC^?,/o}i￙}?9y}P }ab)}FI}miy}}??}?}?}@ }ޤ)}xL@I}|i}7@}|?y y}e,ɿ!ȿ(I} i}_Ť?}7@}|?y ychecking for new query: numPingsReceived=60, elapsed TxPingTime=32.050140EPBɛ>) a@i)F(>隱iiR><^V=II^Dz޽"Stop ":Uninitialize Docking Stepper."Powering downDzDDDII3IA.IIIZI- bI- jI- 0rI) zI- k:I- ?:I- ـ3I) VF {=Fq ZA M >ʪHx,,D"]AF|?yF@9FHrgYF=FH@2W i??@'`?El?PҴ??F|?ɨF; F2C^PB^o&Izchecking for new query: numPingsReceived=60, elapsed TxPingTime=32.2849815Mb@Mb@Mb@11 1)1I1y5ʡE?Mb`5=5L5 57@)1I1i5l@15@HH]5&= C=Y;Q >٣ G=$ >] 491m?a4Y iB=m<?q@D,DM:(:6 4 %@!Zjfm?bj ii<"]Aj?j$?2jt@pf(ӿYV:?_DDzp3wǿC^?,/o}i"j7@*j|?p/Ci:q..ؿ>FpheחimZr̿YD0iqj"im?iݦ  jBzjl?jJ j"Bjjc>rj5A@E addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503485 s, deltaX: 0.200000 m, approachRate: 0.397231 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 264.019487 deg, lat: 36.903922 deg, lon: -122.119063 deg, deltaT: 0.503485 s, deltaX: 0.200000 m, approachRate: 0.397231 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgoBeejeJe@33?:e?eLBɛe>)i m @ii)m*>iiii @<ļT=IICCCCDDAT read: Rx Time:19:27:06.4793 TRx dataTimestamp_ set to:1736537226.991701PDAT read: Bearing 162.6, 78.7 (Local) ~Local bearing/azimuth received: Bearing 162.6, 78.7 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:06.4793 LVL= 21232, 26065, 18578, 28275, AGC= 31, IDX= 507,-0.33, 0.056, 0.415, 0.032,-1.020, PHS= 1.164, 1.482, 1.049, RAW= 344.9, -73.4, CAL= 347.4, -78.7, ROT= 162.6, 78.7 G m>G CG &IG BG  =G G =DG <G FH1 H1H1H5 ="H5 =*H5Ș5% Ygot valid direction response: 19:27:06.4793 LVL= 21232, 26065, 18578, 28275, AGC= 31, IDX= 507,-0.33, 0.056, 0.415, 0.032,-1.020, PHS= 1.164, 1.482, 1.049, RAW= 344.9, -73.4, CAL= 347.4, -78.7, ROT= 162.6, 78.7 - T#Rx 61: Read range and direction messages.5 `direction in FSK: [-0.186980,0.058596,-0.980615]5 Fpublishing direction and range infoرYصbXǿH?_<1a￙ص?9رصR ٵe)ٵHIٵsniٱٵ?ٵ-?ٵE?ٵ@ ڵ()ڵW@IڵFѯiڵ>5@ڵFѯ?ڱ ۱۵]V7ɿ_]uɿ j*I۵i۵i?۵>5@۵Fѯ?۱ ܱ] checking for new query: numPingsReceived=61, elapsed TxPingTime=32.560421"} StoppingVFq؃=zFrFhAFZAM?A>checking for new query: numPingsReceived=61, elapsed TxPingTime=32.790466FZBF|&IHj!Hjq5r44= r4=Yr;Q r>t٣t vGv Fm; u>y]}49}Vm?a4Y} i}B?q@}G,D}.:}::}h4 @ZjUCm?bjU- iQiUx"]AjU?jU?2jU @pU}JB7ѿuj6?JGmvzpUbXǿH?_<1a"jU>5@*jUFѯ?pUx ީkտf 8]pU47:Ϳ4'iUjUiUm?iUt|  jUoBzjUm?jUݦ jUWBjjUx>rjUs@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.507861 s, deltaX: -0.200000 m, approachRate: -0.393809 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 265.073737 deg, lat: 36.903922 deg, lon: -122.119062 deg, deltaT: 0.507861 s, deltaX: -0.200000 m, approachRate: -0.393809 m/s, posRepo size: 4 2ih*ih h h h h h g gbgjgeeje!Je%?:e%?MHBɛU>)U U@"@iQ)U,>YYi]iYesAunknown deviceResponse_: B8.8 Uchecking for new query: numPingsReceived=61, elapsed TxPingTime=33.047302FZAM>ZI bI jI 1rI zI :I *:I 3I PHx,W"]A2?y2Q@92K:Y2w=2H`a`!l?}? ~V=?`\ # ? ?2?ɨ2U; 0B]BB&IUMb@Mb@Mb@QQ Q)QIQyU ףp= ?٣ G!< >]49m?a4Y iB=m<?q@J,D{::4 Ļ@2ih*ihhhhhhggbgjgBeejeJe:e?-EBɛ-~>)) -#@i))5=.>11i5ui9=XB<=Om=I9IA"UStoppingchecking for new query: numPingsReceived=61, elapsed TxPingTime=33.294853I%=) C &GVFW=;mA 5A)J2y;mA8%BFZAM5>M `DAT read: Rx Time:19:27:07.4792 78.9 (Local) M TRx dataTimestamp_ set to:1736537228.000119] DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 G k>G CG &IG BG  =G G G <G F DAT read: 19:27:07.4792 LVL= 22640, 28081, 19490, 28755, AGC= 31, IDX= 506,-0.20,-1.005,-0.673,-1.048,-2.074, PHS= 1.158, 1.449, 1.024, RAW= 347.9, -73.6, CAL= 350.8, -78.9, ROT= 159.2, 78.9  Ygot valid direction response: 19:27:07.4792 LVL= 22640, 28081, 19490, 28755, AGC= 31, IDX= 506,-0.20,-1.005,-0.673,-1.048,-2.074, PHS= 1.158, 1.449, 1.024, RAW= 347.9, -73.6, CAL= 350.8, -78.9, ROT= 159.2, 78.9  T#Rx 62: Read range and direction messages. `direction in FSK: [-0.179974,0.068366,-0.981293] Fpublishing direction and range infoI YM Kg ǿ al?f￙M 3?9I M pX M m)M "LIM SpiI M X9?M x?M o?M M@ M l)M v@IM CiM 1@M C?I I M ȿ RX+ʿ*IM ]}iM ?M 1@M C?I I  checking for new query: numPingsReceived=62, elapsed TxPingTime=33.566090Hx,6#]AޕdBޕ&IHHn5]< e==YmQ m>i٣q }G}!F >]49=m?a4Yv iBq@L,D::)!4 ^@Zj}ZPm?bj} iyi}#]Aj}3?j}?2j}GG@p}^. пu?\$zp}Kg ǿ al?f"j}1@*j}C?p}O~O{顿ZC2HԿ#ܯp}/~Lt̿ @(i}Ej}Ki}FKm?i}  j}Bzjyj}Z jyjj} ?rj}G@E addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 1.008418 s, deltaX: -0.100000 m, approachRate: -0.099165 m/s, rangeRepo size: 4 } Added new target pos. range: 1.400000 m, bearing: 263.701003 deg, lat: 36.903922 deg, lon: -122.119062 deg, deltaT: 1.008418 s, deltaX: -0.100000 m, approachRate: -0.099165 m/s, posRepo size: 4 2iyhy*iyhhhhhhggbgjgeejeJe`ff?:ed?}ABɛ}Ƭ>)y c$@i)b1>隱iһiD<El=II"StoppingE%hAE%iAchecking for new query: numPingsReceived=62, elapsed TxPingTime=33.798660VFm Wm=F l>F ?>&m TFailed to parse incomplete device message.Fy ZA M >Hx,#]AJ\?yJ@9J;YJo=JHY-P?`8?%?6~( ??J\?ɨJ^v; J1CjaBn&IHv)Hv u5-d -`=Y5R}1٣1 =G9=6= =>A]M49Em?aU4YE iEBY]?q]@EN,DEW;Eq;Eu'4q u@yB*** querying acoustic contact ***ii2ih*ihhhhhhggbgjgeejeJe:e ?>Bɛbk>) g$@i)K3>DDAT read: Rx Time:19:27:07.9793 TRx dataTimestamp_ set to:1736537228.503812%PDAT read: Bearing 157.5, 79.0 (Local) -~Local bearing/azimuth received: Bearing 157.5, 79.0 (Local) EDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 uDAT read: 19:27:07.9793 LVL= 23792, 30321, 23522, 29571, AGC= 31, IDX= 507,-0.15, 0.184, 0.502, 0.133,-0.888, PHS= 1.160, 1.438, 1.018, RAW= 349.4, -73.9, CAL= 352.5, -79.0, ROT= 157.5, 79.0 }Ygot valid direction response: 19:27:07.9793 LVL= 23792, 30321, 23522, 29571, AGC= 31, IDX= 507,-0.15, 0.184, 0.502, 0.133,-0.888, PHS= 1.160, 1.438, 1.018, RAW= 349.4, -73.9, CAL= 352.5, -79.0, ROT= 157.5, 79.0 }T#Rx 63: Read range and direction messages.`direction in FSK: [-0.176284,0.073019,-0.981627]Fpublishing direction and range infoYىK}ƿW3f?,/o}i￙? i˙ 9\ qv)[Isiz?b?i!mqFw{Hx,~8#]A^C0?y^@9^mT)٣ G"F< >]49m?a4Y iBY=m.<?q@Q,D::/4 @Zjqm?bjڞ iiu> #]Aj?j?2j8@pcg@]пn- ?czpىK}ƿW3f?,/o}i"j/@*j|?py&9Bտf5) ^pu)Ϳ2(ijωiiom?i\  jtBzjjt| joBjj>rjy@E addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503693 s, deltaX: 0.100000 m, approachRate: 0.198534 m/s, rangeRepo size: 4 U Added new target pos. range: 1.500000 m, bearing: 267.181664 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.503693 s, deltaX: 0.100000 m, approachRate: 0.198534 m/s, posRepo size: 4 2iYhY*iYhYhYhYhYhYhagagabgjgzBeejeJe?:e >w?=:Bɛ=U>)9 =$@iA)e5>aaieliquHGG&IGBG =GGG<G F~Local bearing/azimuth received: Bearing 155.9, 79.0 (Local) -DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 UDAT read: 19:27:08.4793 LVL= 23744, 29809, 20386, 28883, AGC= 31, IDX= 506,-0.10,-0.844,-0.536,-0.904,-1.908, PHS= 1.152, 1.419, 1.001, RAW= 350.8, -73.8, CAL= 354.1, -79.0, ROT= 155.9, 79.0 ^D]"eStoppingYgot valid direction response: 19:27:08.4793 LVL= 23744, 29809, 20386, 28883, AGC= 31, IDX= 506,-0.10,-0.844,-0.536,-0.904,-1.908, PHS= 1.152, 1.419, 1.001, RAW= 350.8, -73.8, CAL= 354.1, -79.0, ROT= 155.9, 79.0 T#Rx 64: Read range and direction messages.`direction in FSK: [-0.174177,0.077913,-0.981627]Fpublishing direction and range infoY5mKƿ' ,?,/o}i￙9\ qt)OIpit?ˡ? ?v@ ޤ)J@IiX$.@ ~nŁƿ)/˿ 5I5i?VF=}=X$.@ checking for new query: numPingsReceived=64, elapsed TxPingTime=34.613914FZA M%N>ZIUbIUjIQrIQzIU:IU=:IQIQIU:<q]IU:<ieIU;ueIU;me} checking for new query: numPingsReceived=64, elapsed TxPingTime=34.806377NHx,cR#]A2?y2 @92/2]I٣I MGIU= U>Y]e49]m?ae4Y] i]Baek?qm@]S,D]:]:]>64q ˻@Zj-m?:JwLBJ9JJRJZJ!%%" bj-  i)i-τ@#]Aj)j)2j-f@p-fп:0B+?czp-5mKƿ' ,?,/o}i"j-X$.@*j)p-T΀L ]ֿftgkZp-3 &|ͿE9#i-j-qwi-m?i-  j-rBzj-iom?j- j-rBjj->rj-/@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504294 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 267.497503 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 0.504294 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i)h)*i)h)h)h)h)h1h1g1g1bg9jg9e9e9je9JeA:eETm?=6Bɛx|>) $@i)7>隱iTi!% L<%=I!I)C1C1C1C1DDAT read: Rx Time:19:27:08.9794  TRx dataTimestamp_ set to:1736537229.511798PDAT read: Bearing 154.7, 79.2 (Local) ~Local bearing/azimuth received: Bearing 154.7, 79.2 (Local) %DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 MDAT read: 19:27:08.9794 LVL= 26160, 30305, 25154, 29539, AGC= 31, IDX= 507,-0.05, 0.328, 0.623, 0.265,-0.742, PHS= 1.157, 1.411, 1.003, RAW= 352.0, -74.2, CAL= 355.3, -79.2, ROT= 154.7, 79.2 UYgot valid direction response: 19:27:08.9794 LVL= 26160, 30305, 25154, 29539, AGC= 31, IDX= 507,-0.05, 0.328, 0.623, 0.265,-0.742, PHS= 1.157, 1.411, 1.003, RAW= 352.0, -74.2, CAL= 355.3, -79.2, ROT= 154.7, 79.2 ]T#Rx 65: Read range and direction messages.m`direction in FSK: [-0.169408,0.080079,-0.982287]uFpublishing direction and range infoY9Α +ſ4 ?ޣѨn￙?90f av)BbIcsi??Nb? @ å)o@I;ﰿi3,@;? ͱuſA j˿kH&I ieͥ?3,@;? checking for new query: numPingsReceived=65, elapsed TxPingTime=35.078701" StoppingVF =checking for new query: numPingsReceived=65, elapsed TxPingTime=35.311211FZAM>Hx,`q#]A~&IMb@Mb@Mb@ )Iy?:v?L=T< @)I@i@HHj5W =YQ >٣ G#F >] 49=m?a 4Yl i S=m < @q @T,D:w:P@4 ѻ@Zj~,m?bjߌ iiL`#]Aj?j"?2j%”@pN8~nҿ((l?ܷzp9Α +ſ4 ?ޣѨn"j3,@*j;?p?DE-ؿ6{pL. !Ϳl,n (iƾj$ʼi=)m?im  j BzjFKm?j\ jjjh>rjҗ@ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503692 s, deltaX: 0.200000 m, approachRate: 0.397068 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 266.350841 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 0.503692 s, deltaX: 0.200000 m, approachRate: 0.397068 m/s, posRepo size: 4 2ih*ihhhhhhgg bg jg vBe ejeJe@33?:e @?=2BɛEm>)A EE%@iA)EA:>IIiMVIiQ]O<]dZ=IYIY"mStoppingVFu==F1ZA9MUu>}DDAT read: Rx Time:19:27:09.4793 }TRx dataTimestamp_ set to:1736537230.016000PDAT read: Bearing 152.0, 79.5 (Local) ~Local bearing/azimuth received: Bearing 152.0, 79.5 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:09.4793 LVL= 23600, 29617, 23282, 29411, AGC= 31, IDX= 506,-0.02,-0.233, 0.038,-0.306,-1.301, PHS= 1.156, 1.386, 0.992, RAW= 354.5, -74.7, CAL= 358.0, -79.5, ROT= 152.0, 79.5 Ygot valid direction response: 19:27:09.4793 LVL= 23600, 29617, 23282, 29411, AGC= 31, IDX= 506,-0.02,-0.233, 0.038,-0.306,-1.301, PHS= 1.156, 1.386, 0.992, RAW= 354.5, -74.7, CAL= 358.0, -79.5, ROT= 152.0, 79.5 T#Rx 66: Read range and direction messages.`direction in FSK: [-0.160904,0.085554,-0.983255]Fpublishing direction and range infoyY}!MĿt[?pv￙}?9y}0\ }s)}ZI}riy}?}sh?}}?}z@ }ᦿ)}@I}Κi})@}Κ?y y} \ÿPd:˿; I}66 i}iɦ?})@}Κ?y ychecking for new query: numPingsReceived=66, elapsed TxPingTime=35.579826G l>G G G G G G G <G  FH H @AZI bI jI rI zI :I H:I I I 3!<I 4!<I ۝;I ۝;dHx,'.#]AFBc&IH-,H-_v5E  Ey=YAQ M?I٣I MGIQ u ?y]49}5m?a4Y}! iyq@}V,D}~:}h:}E4 ;@Zjo8l?bja ii%#]Aj?j?2jcg@p2s οh+m?T?zp!MĿt[?pv"j)@*jΚ?p˒MADƓwtտUbpdn[oě̿c.ij"iR3l?i  jZBzjm?jm jjj >rj,V@M addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504202 s, deltaX: -0.200000 m, approachRate: -0.396666 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 263.925597 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 0.504202 s, deltaX: -0.200000 m, approachRate: -0.396666 m/s, posRepo size: 4 2ih*ihhhhhhggchecking for new query: numPingsReceived=66, elapsed TxPingTime=35.814644bgjgeejeJe?:eX?E0BɛE9G>)U U"@iQ)Ur<>QQi]SiimQQ:JLBJ-9JJRJZJ/zUbX) DDAT read: Rx Time:19:27:09.9794  TRx dataTimestamp_ set to:1736537230.521214 PDAT read: Bearing 150.9, 79.9 (Local)  ~Local bearing/azimuth received: Bearing 150.9, 79.9 (Local)  DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0  DAT read: 19:27:09.9794 LVL= 22704, 29617, 23250, 29331, AGC= 30, IDX= 507, 0.02, 1.479, 1.736, 1.405, 0.397, PHS= 1.170, 1.387, 1.005, RAW= 355.6, -75.3, CAL= 359.1, -79.9, ROT= 150.9, 79.9  Ygot valid direction response: 19:27:09.9794 LVL= 22704, 29617, 23250, 29331, AGC= 30, IDX= 507, 0.02, 1.479, 1.736, 1.405, 0.397, PHS= 1.170, 1.387, 1.005, RAW= 355.6, -75.3, CAL= 359.1, -79.9, ROT= 150.9, 79.9  T#Rx 67: Read range and direction messages. `direction in FSK: [-0.153231,0.085287,-0.984503] Fpublishing direction and range infoؑ Yؕ ÿ»^յ?a/ ￙ؕ ?9ؑ ؕ X ّ )ٕ ZIٕ riٕ ٕ •?ٕ 7?ٕ ף?ٕ @ ڕ 8)ڕ -@Iڕ iڕ (@ڕ ?ڑ ۑ ە nXgx¿ }ByʿAIە  iە \?ە (@ە ?ۑ ܑ  checking for new query: numPingsReceived=67, elapsed TxPingTime=36.083454{Hx,#]A?y @9o1٣ G> >]49l?a4YD iB$=m<8q@W,D;%;N4  @Zjl?bj& ii[#]Aj?j#?2j+6@p0%п8v!?Jzpÿ»^յ?a/ "j(@*j?p YS1ZٿA#:j spyq/;kͿ mTniʾj٠i"l?i  jBzj=)m?jjZBjj7>rjd@ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.505214 s, deltaX: 0.200000 m, approachRate: 0.395872 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=67, elapsed TxPingTime=36.318371 Added new target pos. range: 1.700000 m, bearing: 267.162339 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 0.505214 s, deltaX: 0.200000 m, approachRate: 0.395872 m/s, posRepo size: 4 2ih*ihhhhhhggbg!jg%ZBe!e!je)Je-@33?:e-?雕,Bɛ>)7 !@i)t?>隡i"iV<'>II"StoppingEiAEVF ^=F ZA M >Hx,߾#]An(Br>&IH~H~o5%E  -=Y-Q -?1٣1 5G5$F=<=<MDDAT read: Rx Time:19:27:10.4793 MTRx dataTimestamp_ set to:1736537231.024187UPDAT read: Bearing 151.9, 80.3 (Local) ]~Local bearing/azimuth received: Bearing 151.9, 80.3 (Local) mDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 Gj>GG&IGBG =GGȽտ5/`pM<501V ̿f+iMujMliMQl?iM&F  jMrjM)s@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.502973 s, deltaX: -0.200000 m, approachRate: -0.397636 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 267.555516 deg, lat: 36.903922 deg, lon: -122.119059 deg, deltaT: 0.502973 s, deltaX: -0.200000 m, approachRate: -0.397636 m/s, posRepo size: 4 2ih*ihhhhhhggbgjge9e9jeAJeE?:ee?雽*Bɛ>)( @iZIbIjIrIzI+:I+:III&<I'<IƄ;IƄ;)%i@>!!i%:&i)-BZ<-;>I)I1"=StoppingVF]:I=F9ZAAM]w>checking for new query: numPingsReceived=68, elapsed TxPingTime=36.822624uHx,J#]AF@yFC@9F ٣   G69= >]%49Ul?a%4Ys iB!-7q-@Y,D: ;Z41 =+@9UB*** querying acoustic contact ***iQiQ2iaha*iahahahahihihigigibgqjgqeqeqjeyJey:e}`\?'Bɛ >) @i)pB>i;*if^^<'>IIEDDAT read: Rx Time:19:27:10.9793 MTRx dataTimestamp_ set to:1736537231.527683UPDAT read: Bearing 152.2, 80.4 (Local) U~Local bearing/azimuth received: Bearing 152.2, 80.4 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:10.9793 LVL= 25872, 30625, 22226, 29667, AGC= 31, IDX= 506, 0.08, 0.875, 1.130, 0.812,-0.226, PHS= 1.189, 1.403, 1.035, RAW= 354.6, -76.0, CAL= 357.8, -80.4, ROT= 152.2, 80.4 Ygot valid direction response: 19:27:10.9793 LVL= 25872, 30625, 22226, 29667, AGC= 31, IDX= 506, 0.08, 0.875, 1.130, 0.812,-0.226, PHS= 1.189, 1.403, 1.035, RAW= 354.6, -76.0, CAL= 357.8, -80.4, ROT= 152.2, 80.4 T#Rx 69: Read range and direction messages.`direction in FSK: [-0.147520,0.077779,-0.985996]Fpublishing direction and range infoAYEq!8¿B;#N?G￙A9AEe Ew)EVIEsiAE'1?E?Ez?E @ Eɩ)EM@IEiEP*@E?A AE@0Ϣ=Fɿ} IEQ iE濩?EP*@E?A Achecking for new query: numPingsReceived=69, elapsed TxPingTime=37.095150^Dͳ"StoppingVF >FZA M% > checking for new query: numPingsReceived=69, elapsed TxPingTime=37.327320Hx,ٓ#]AB-&IMb@Mb@Mb@ )IyˡEL7A`?Mb?'+=< @)@Ii(@׳@HM-HMv5]Y ]*=Y]Q e>a٣a eGe%Fm m>q]}49uEl?a}4Yu] iuB}=m)<q@u[,Du{:uI:uFc4 @Zjyt|l?bjU ii#]Ajj2j@p*x2R̿4ݽ?K¬zpq!8¿B;#N?G"jP*@*j?p@b$3GտpM]p-"ey x@Ϳw9'iji{l?ip_e  j.Bzj"l?jp_e j.Bjjǯ>rj薘@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503496 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 268.433161 deg, lat: 36.903922 deg, lon: -122.119059 deg, deltaT: 0.503496 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*i h h h h h h g gbgjg>BeejeJe:eh?U$Bɛ]S>)Y ]@iY)]{D>YaieV/iim?dIiIq^De"mStoppingEm=Em=eDDAT read: Rx Time:19:27:11.4792 mTRx dataTimestamp_ set to:1736537232.032348uPDAT read: Bearing 150.4, 80.5 (Local) u~Local bearing/azimuth received: Bearing 150.4, 80.5 (Local) DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 Gk>GG&IGBG =GG=DG0<G FH}ǥC H}ǥCHyH} ="H} =*H}C5DAT read: 19:27:11.4792 LVL= 23280, 29137, 21970, 29427, AGC= 30, IDX= 505, 0.10, 0.196, 0.438, 0.128,-0.891, PHS= 1.175, 1.375, 1.015, RAW= 356.3, -76.1, CAL= 359.6, -80.5, ROT= 150.4, 80.5 Ygot valid direction response: 19:27:11.4792 LVL= 23280, 29137, 21970, 29427, AGC= 30, IDX= 505, 0.10, 0.196, 0.438, 0.128,-0.891, PHS= 1.175, 1.375, 1.015, RAW= 356.3, -76.1, CAL= 359.6, -80.5, ROT= 150.4, 80.5 T#Rx 70: Read range and direction messages.`direction in FSK: [-0.143508,0.081524,-0.986286]Fpublishing direction and range infoaYehyx^¿B.2޴?QԦ￙e3?9aeZ eq)eUIerieeff?e?e?e@ eP)e@Ieֳie'@eֳ?a ae- Nɿb dIe*$ ie[?e'@eֳ?a achecking for new query: numPingsReceived=70, elapsed TxPingTime=37.602154VFM :>zFY rFY F! ZA1 ME >ZI bI jI rI zI :I ::I I I 3!<I 4!<I 6;I 6;"Ix, p $]A~B~$&IH56H5z5E+ Ms=YIQ M?I٣Q UGQQ ?]49l?a4Y iBq@],D\::[i4 n@Zju!l?bj\^ ii$]Aj3?j?2j'@puɿ|27?Ďzphyx^¿B.2޴?QԦ"j'@*jֳ?pP&QT~fԿbp|b1C쇿v$Ϳ]D(i3jil?il  jYBzjQl?jjrj@checking for new query: numPingsReceived=70, elapsed TxPingTime=37.830406 addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504665 s, deltaX: -0.100000 m, approachRate: -0.198151 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 267.063054 deg, lat: 36.903922 deg, lon: -122.119059 deg, deltaT: 0.504665 s, deltaX: -0.100000 m, approachRate: -0.198151 m/s, posRepo size: 4 2ih*ihhhhhhgg!bg)jg)e1e1je1Je5`ff?:e=v?"Bɛ^:>) !@i)5F>i83ixh<%>IIC C C C :JUBJUk9JJQRJUZJU'Cc{|tkJe ? Je!?"StoppingVFA#>Fy ZA M >m DDAT read: Rx Time:19:27:11.9793 u TRx dataTimestamp_ set to:1736537232.535729} PDAT read: Bearing 151.5, 80.6 (Local) } ~Local bearing/azimuth received: Bearing 151.5, 80.6 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 19:27:11.9793 LVL= 23392, 27761, 20978, 28307, AGC= 30, IDX= 506, 0.18, 1.311, 1.560, 1.247, 0.204, PHS= 1.196, 1.403, 1.040, RAW= 355.3, -76.2, CAL= 358.5, -80.6, ROT= 151.5, 80.6  Ygot valid direction response: 19:27:11.9793 LVL= 23392, 27761, 20978, 28307, AGC= 30, IDX= 506, 0.18, 1.311, 1.560, 1.247, 0.204, PHS= 1.196, 1.403, 1.040, RAW= 355.3, -76.2, CAL= 358.5, -80.6, ROT= 151.5, 80.6  T#Rx 71: Read range and direction messages. `direction in FSK: [-0.143534,0.077932,-0.986572] Fpublishing direction and range infoi Ym ivP_¿'na?{￙m ?9i m `[ m ql)m QIm nii m ?m ?m ?m o@ m ;)m c9@Im im %:)@m ?i i m >dZvRй&ɿJuiIm 8 im FJ?m %:)@m ?i i  checking for new query: numPingsReceived=71, elapsed TxPingTime=38.102642٣ G >checking for new query: numPingsReceived=71, elapsed TxPingTime=38.334480]49!l?a4Y_ i B=m<q@`,D5; ;r4 @Zj8l?bjn9 iibI"$]Aj?j?2j~@p1*˿;>&?zpivP_¿'na?{"j%:)@*j?p|;1JHտzap'!O̿cʣ,i2jYiɕl?ioI  jBzj{l?jl j.BjjL>rj=@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503381 s, deltaX: 0.100000 m, approachRate: 0.198657 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 267.752094 deg, lat: 36.903921 deg, lon: -122.119059 deg, deltaT: 0.503381 s, deltaX: 0.100000 m, approachRate: 0.198657 m/s, posRepo size: 4 2ih*ihhhhhhggbgjg-BeejeJe?:e ? ~G %A)uyq}Ae Bɛ >) j@i ) I>隉 i 9i 8p< l&>I I " Stopping} DDAT read: Rx Time:19:27:12.4792 } TRx dataTimestamp_ set to:1736537233.039624 PDAT read: Bearing 153.7, 80.5 (Local)  ~Local bearing/azimuth received: Bearing 153.7, 80.5 (Local) G p>G CG &IG xBG  =G G G +<G F vDAT read: Range 10 to 50 : 1.4 time 0.9 ms) speed 0.0  DAT read: 19:27:12.4792 LVL= 26064, 30641, 22450, 28019, AGC= 31, IDX= 505, 0.20, 0.003, 0.265,-0.053,-1.111, PHS= 1.202, 1.423, 1.055, RAW= 353.3, -76.2, CAL= 356.3, -80.5, ROT= 153.7, 80.5  Ygot valid direction response: 19:27:12.4792 LVL= 26064, 30641, 22450, 28019, AGC= 31, IDX= 505, 0.20, 0.003, 0.265,-0.053,-1.111, PHS= 1.202, 1.423, 1.055, RAW= 353.3, -76.2, CAL= 356.3, -80.5, ROT= 153.7, 80.5  T#Rx 72: Read range and direction messages.`direction in FSK: [-0.147963,0.073128,-0.986286]Fpublishing direction and range infoy Y} jr¿Xr?QԦ￙} 3?9y } e } w)} WI} smi} } #ۙ?} $?} = ?} Q@ y )} @I} ֳi} >+@} ֳ?y y } :5H¿wizȿJI}
  • 5x,ȿ^A6Ze?y6ߢ?96Q#Y6Z;>6HW??@A?@^?džTc?`I?v?6Ze?ɨ6 ; 4>pBB5IHJHJ4d5N㌼ RH=YV;Q Z>X٣X ZG\b n>t]zF59vtp?azF5Yv ivkBxzϿq~@vepDvh:v:vbF5B H AE:JdMBJC9JJRJ ZJ"ma'qC}{-t`P>(~yvldZPG?6.*5BNOT Ignoring new targets: 8.40 m.h1h9hYhahagigqbgqjgqeqjeJe:e3?r\z\\\!@Q#) pSi>9)In7ii[II!C9DzDhADm?DiDqEu 5 EqEEhAVFEZAYMuy>x,x٣^A>?y>gO?9># Y> <>>H?@I`? ;?@M?Dao?b?u?>?ɨ>͈; > CFwBF=IIH)H5Mb@Mb@Mb@11 1)1I1y5S㥛{Gz~jth5$5#5D 1)5C@I5Ai5A15QAHUHU[W5ee< e@=YeN;Q e>i٣i mGimŻ u>q]F59uXtp?aF5Yu iuiBJ >m;οq@uipDu;u:u F5  AMBNOT Ignoring new targets: 8.40 m.hIhIhIhIhIgIgQbgqjguBeyjeyJey:e}@@r\J >z\J >\H\@\ S@# ) Hai9)pm7iiIICmd9D?DDE_0 EGyGyGyGyGyGyGyG}n<G} FVF ZA M >?x,F`^A2Á?y2m?92EY2a<>2H?@?4?@î?K?qa?u?2Á?ɨ2'; 2#CBvBB<IHJHJa5R RW=YV5;Q V>T٣T ZGXZ̻ Z>\]bF59^"tp?afF5Y^e i^fBdfAϿqf@^lpD^:^2:^aF5h n AlH9H==ZIEbIEjIArIAzIE:IE9IAIAIE!;qMIE#;iMIEh;uUIEh;mUBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e:@r\z\\\i?@-E)) -di-9)QUl7QiYiYYeֻIaIaC- 9&U TFailed to parse incomplete device message.D D D E 5 E  BDAT read: Rx Time:19:52:47.6330  TRx dataTimestamp_ set to:1736538768.255178VF%ZA)MM?x,?q^AF.?yFם?9F-YF%><>FH`i3?ٲR?;1?[? >~?e?u?F.?ɨF*#; F!CRzBRAI]Mb@Mb@Mb@YY Y)YIYy]`"Zd;O{Gzt]]j<]ף ]A)YI]Ai]AY]zAH}H}_5JIgAA|< =YJo:Q >٣ Gp >]F596tp?aF5Y4 ibB>m;Pǿq@ppD <)< F5   A =BNOT Ignoring new targets: 8.40 m.h9h9h9h9h9gAgAbgIjgMBeIjeIJeI:eU`7 @r\m>z\m>\mP`@\m;@ -)  ki G9)  k7 iivIIDDDE_0 EVFZAML>Gy Gy G} IG} ƁBGy Gy Gy G} <G} F? x,5-^A6o?y6"?96JY6U<>6H`G? ?-? D?D4@|?@h?u?6o?ɨ6҇; 4>B>OIHJHJT_5R;r= R]=YR}:Q R>T٣T VGTZUf Z>X]bF59ZCtp?abF5YZu iZ`B`b{ǿqb@ZspDZ ;Z ;ZDF5h j AhBNOT Ignoring new targets: 8.40 m.hhhhhg g bg jg ejeJe:e  @r\1z\1\1\50@EJ)I MUiM@9)IMj7IiIiQDAT read: Range 10 to 50 : 10.5 m (Round-trip 14.0 ms) speed 0.0 m/s ,DAT read: user:1311> BDAT read: Tx time:19:52:48.7148 $Ping request sent.U JDAT read: TxSync time:19:52:48.7140 Tx,G^A:J+PBJ9JJRJ ZJ !  I ) C kA )- y-kA-B B MIMb@Mb@Mb@ )IyʡEy&1~jtxケ`eĻ IA)@IAiAAHHb5z  =YQ >٣ G > ]F59 tp?aF5Y 1 i [B>m;q@ xpD : I: F5! % A)] addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 3.531740 s, deltaX: 0.200000 m, approachRate: 0.056629 m/s, rangeRepo size: 4 ]BNOT Ignoring new targets: 8.40 m.hYhYhahahagagabgijgmBeijeiJem%@:eu@?r\>z\>\͡e@\ ʙ@) Li9)i7iiAIIDDDDE`0 EEEVF} rZA M >x,`^A6d?y6:?96Y6<>6HL? ٭?`,?@T?L 5}? cr?@-u?6d?ɨ6; 6 CBBBWIDDH^H^N5fR= f=YfIQ f?h٣l nGln n?p]vF59rup?avF5Yr5 irYBxU"qU@rzpDrkHy H} a=ZI bI ~jI 0rI zI :I f9I ـ3I I n;I p;I :I :x,z^ArBraIHzHzaO5%= %E=Y%Q ->)٣) -G)5 5>9]MF59=up?aMF5Y= i=UBIIqM@=~pD=;;=:=F5Q ], AYBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:eSf?r\z\\\) 2-i89)]vh7YiaiiiiIiIqByByCyByD?DDE05 E:JLBJ89JJRJ ZJAE2    J-? J-!?VFrZAM >$x,ߨ^AFs?yF;?9F>YF\ 7>FH ?N)? t9?@?᰿ ӧ?@?3}?Fs?ɨFz; DNBRfI=Mb@Mb@Mb@99 9)9I9y=zGếp= ף{Gz= ׽==# =A)=-@I=Ai99=(AHUHUGL5Ȗ< @=YQ >٣ G4< >]F59`vp?a F5Y iPB=m;Zq@pD;;F5! % A!UBNOT Ignoring new targets: 8.40 m.hQhQhQhQhQgQgYbgYjg]BeajeaJei:emK?r\=z\=\l@\F9@>)  Wi49)隥g7ii)IIDzDiADaDaDaEe3 EaEqEuG>VF]ZAM>G! G! G% IG% ځBG! G! G! G% ް<G% FH HHH"H*H 4J+x,;^AZŁ?y?9ݻY_9>H?@ y?`4?`?Ѱ{?x ? y?ZŁ?ɨ ; "C-B-qI=0>i=>HMHM^5]7= ]Q=Y]d;Q e>a٣a eGam m>qqy]F59},wp?aF5Y}. i}LBq@}pD}:}>:}$F5  AmBNOT Ignoring new targets: 8.40 m.hqhqhqhqhqgqgqbgyjgyeyjeyJe:esg@r\z\\\+'@ݻ)  Ei 9)f7ii!)-҅I)I)ZIMbIMjIM1rIIzIM̈́:IM9IM3IIIM;IM;IM;IM;DDDE_0 EVF ZA M5 >1x,bȤ^A:JblOMBJb-9JJ`RJb ZJb    )c.wIr>J|I|47?yt?9^Y|;>H.b?%?%)? t?Skp?N?w?騝47?ɨP~;  C޵B޵IMb@Mb@Mb@ )IyzGếl٣ GC > ]F59 exp?aF5Y  i GB>m;hq@ pD j: : F5! %_ A!mBNOT Ignoring new targets: 8.40 m.hihihqhqhqgqgqbgyjg}BeyjeyJey:e@r\>z\>\(8x,T9^AzBzuIHE HEf5MYX Uf=YUQ ]>Y٣Y ]GYe e>i]mF59mWyp?auF5Ymǿ imBBqqq}@mpDm;m;m-F5  ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e@r\z\\\) |ti9)d7ii!!%I!I)DDDE`0 EEEVFZAM>GGGIGBGGGG<G FBDAT read: Rx Time:19:52:51.1333 TRx dataTimestamp_ set to:1736538771.783210ZI bI jI rI zI :I I I I !;I #;I I P>x, ^A6e ?y6J?96\LY6<>6Hu? ?`%??@Nji?2_?=v?6e ?ɨ6\; 6!CRBRIIT)THZHZ`5bi= bT=Yf>;Q f>h٣| ~G|U > ]F59 czp?aF5Y   i >Bq@ pD h: <; F5! %7 A!MBNOT Ignoring new targets: 8.40 m.hIhQhQhQhQgQgQbgjgejeJe!:e% @r\az\a\a\e@\L) HWi9)隥d7iiIID)D)D)E-~0 E):JUcOBJU9JJQRJU ZJU_g.W VFmӋZAyM>! % A- DAT read: Range 10 to 50 : 10.7 m (Round-trip 14.3 ms) speed -0.1 m/s 5 ,DAT read: user:1312> = BDAT read: Tx time:19:52:52.2148 = $Ping request sent.= Hׯ?ݙ6?V?`N?m* TT?tk?u?騽Z?ɨ;  CBI%Mb@Mb@Mb@!! !)!I!y%RQV-Mb%½%h% %A)%Z@I%Ai%A!%zAH]H]c5eC< m'=Y{;Q >٣ G >]F59{p?aF5Y~ i9Bq=m;yq@pD6;;ݲF5  AU addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 3.544138 s, deltaX: 0.200000 m, approachRate: 0.056431 m/s, rangeRepo size: 4 ]BNOT Ignoring new targets: 8.40 m.hYhYhYhYhYgagabgjg+BejeJe`ff%@:e`K?r\q=z\q=\Y#r@\j@%R)! -ki-9))-c7)i)i115+I1I9JDAT read: TxSync time:19:52:52.2140 DDDEo0 EG G G IG BG G G G <G FVF ZA M >WcKx,/^AFɀ?yFu?9FYF<>FH`?ෞ? ?`2?@Ma?`o?}u?Fɀ?ɨF.; FCRBRIH^H^gG5fu= f=YjK.Q j ?h٣h jGhn; n ?p]vF59r|p?avF5Yrm ir5Btz?qz@rpDrG:rS:rF5| ~ A|5BNOT Ignoring new targets: 8.40 m.h1h1h1h1h1g1g9bg9jg9eAjeAJeA:eE?r\z\\\῟@ )  Wi 9)  Zb7ii99=sI9IAD?DDE05 EE;>El>H1H1VF ZAM!>URx,I^A)h j@:J-5NBJ-9JJ)RJ- ZJ-%ǁB%I-a=i-%=Mb@Mb@Mb@ )IyˡE+Mb什 )C@I$Ai$AAHHe5< -=YQ >٣ G >]F59I~p?aF5Y i0B[=m; q@pD::F5  A BNOT Ignoring new targets: 8.40 m.hhhhhgg!bg!jg%BBe!je)Je):e-?r\M[=z\M[=\MNy@\M،@Y)a euie9)aeJa7aiaiiim`IiIqD D D E  E ZI-bI-wjI)rI)zI-v:I-9I)I)q5@i5@u5@m5@VF %*ZA! M= >tXx,lxc^A:M?y:@?9:R_Y:>=<>:H z? ڣ?@$?`?`*.k`?@e?u?:M?ɨ:; : C^ŁBbIHjHjK5rN* rr=Yr9Q v?x٣x zGxz?; ~?]F59p?a F5Y i,B  ѕq @pD%::F5  AMBNOT Ignoring new targets: 8.40 m.hIhIhIhIhIgIgQbgQjgQeQjeqJey:e}?r\z\\\v@R_) \yi`9)隭l`7ii؍IIDM?DQDQEU_0 EQGiGiGmIGmBGiGiGiGmڰ<Gm FVFuZAM>HA HE 4=^x,U}^A6?y6-?96kιY6f<>6H?`?`?B?ׯo9?@j? u?6?ɨ6P; 6"CB́BBIHJHJob5R%= RN=YV6;Q V>T٣T VGXZ|λ Z>\]bF59^p?abF5Y^ i^'Bdj+qj@^pD^m(;^(;^(F5l nb AlBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e U?r\ z\ \ \ @kι)! %hi%9)!%|_7!i!i))-CI)I1DDDE E e~GlA A)MyMlA:JBJk9JJVFZA MARJ ZJJU? JU?Mm>ex,Q-^A2b?y2X?92ݫ:Y2 !<>2H1? @?M?ck?Q`{uQ`Qb?!v?2b?ɨ2; 0:ЁB>IIH)H-ronly read 0 of 1 data item for BIT error. Device response is::TS,25011011540240,35.0, +11.0, 0.0,1493 r@r r@r r@v  v@v HvHvr^5ISI[3I[.ISISISZIbIjI0rIzIs:Iľ9Iـ3I< C=Y% d;Q %>!٣) -G)5 5>9]EF59=zp?aEF5Y= i=#BiM+:ImM;MqM@=pD=f:=>=!F5Q UG AQMBNOT Ignoring new targets: 8.40 m.hQhQhqhqhqgqgybgyjgyeyjeJe:eT!@ݫ:) (bi19)^7ii88IIDDDE Eue?u=VFZAM>Gi Gi Gm  IGm BGm =Gi Gi Gm ݰ<Gm Fİkx,^A:D?y:T?9:C;Y:<>:HK?i ??{?pap?`tu?:D?ɨ:.; : CFցBFIHPHPZz< ZR=YZI<;Q Z>\٣\ ^G\b  b>d]jF59fp?ajF5Yf ifBij :hmj;jqj@fpDf:fO?f\F5p r ApBNOT Ignoring new targets: 8.40 m.hhhhhggbg!jg!e!je)Je):e-@@UC;)Q ]\Wi]9)Y]]7]%iYiaaeIiIiDDDE0 EVFZAH H M>Frx,ʥ^A:JiBJm`9JJiRJm ZJmJIfA)?yf?9@;Y<>H@Z? (?W? ?_`hq?bu?騵)?ɨ9; "CρBI-- -- --  - - -Mb@Mb@Mb@)) )))I)y-Zd;V-:v-y-h-T -`A)--@I-Ai-A))HEHE_5Uּ U&=YUS:Q U>Y٣Y ]GYe- e>i]uF59mp?a}F5Ym imBiT:=m <኿q@mpDm;m;mF5 P AEBNOT Ignoring new targets: 8.40 m.hAhAhIhIhIgIgIbgQjgUJBeQjeQJeQ:e}@r\=z\=\U@\W@@;) uiT9)\7ټiBDAT read: Rx Time:19:52:54.6336 TRx dataTimestamp_ set to:1736538775.331242i͇II!D?DDEo0 EZIbI~jI1rIzIv:If9I3IVF ZA! M= >8xx,^A:9?y:\w?9:\_;Y:=>:H`n? 5;?`? ?@y`kw? t?:9?ɨ:; 8F΁BFIHNHN^5V  V=YZ:Q Z ?X٣\ ^G\b : b ?d]jF59fņp?anF5Yf ifBpr֊qr@fpDfN;f(O;flF5t v\ AtBNOT Ignoring new targets: 8.40 m.hhhh!h!g!g!bg!jg)e)je)Je):e5Fz @r\z\\\LZ@\_;) xi@9) [7 μi iVII9D?DDE15 EG->G)G- IG-BG- =G)G)G-<G-FH HHH"H =*H,95-DAT read: 19:52:54.6336 LVL= 9664, 20145, 20274, 22099, AGC= 41, IDX= 435,-0.11, 2.199, 1.081,-0.298, 1.011, PHS= 1.276, 0.117,-1.312, RAW= 56.6, -0.7, CAL= 58.8, -3.8, ROT= 91.2, 3.8 5Ygot valid direction response: 19:52:54.6336 LVL= 9664, 20145, 20274, 22099, AGC= 41, IDX= 435,-0.11, 2.199, 1.081,-0.298, 1.011, PHS= 1.276, 0.117,-1.312, RAW= 56.6, -0.7, CAL= 58.8, -3.8, ROT= 91.2, 3.8 =PDAT read: Bearing 91.2, 3.8 (Local) =~Local bearing/azimuth received: Bearing 91.2, 3.8 (Local) MDAT read: Range 10 to 50 : 11.0 m (Round-trip 14.7 ms) speed -0.1 m/s M,DAT read: user:1313> UBDAT read: Tx time:19:52:55.7148 U$Ping request sent.U~x,^A:1?y:n?9:};Y:j<>:H?u/;???{@@o)z?t?:1?ɨ:9; :!CbρBbIHjHj]5v;  E=Y ͒:Q  >٣ GG* >A]MF59EFp?aMF5YEz iEBIM኿qU@EpDEu:E>:EF5Y ]U AYZj-&m?bj-D]o i)i-q^Aj-0Aj-.A2j-s4@p-c0 lͿ ab%@ Tzp-Qeޥj2?{S"j-%?*j-ԇ=p-'Zf$Jt( @$ #I?p-T $z?.?i-Ea@j-s%i-o m?i-3n  j-gBzj)j-RP j-Bjj-,Arj-o,@E addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 3.532413 s, deltaX: 0.300000 m, approachRate: 0.084928 m/s, rangeRepo size: 4 M Added new target pos. range: 11.000000 m, bearing: 161.201908 deg, lat: 36.903931 deg, lon: -122.119008 deg, deltaT: 48.928568 s, deltaX: 2.600000 m, approachRate: 0.053139 m/s, posRepo size: 4 uDNOT Ignoring new targets: 11.00 m.hqhqhqhyhygygybgyjgejeJe&@:eq?r\z\\\W@};) vi9) Z7 Ri i}6IIU=U%=]JDAT read: TxSync time:19:52:55.7140 D?DDE5 E:JBoHBJ-9JJRJ ZJ   J? J%?VF ZAM>ׅx,^AJ?yJuΜ?9J4;YJ>:>JH}? ?@1?\? 9f`?.y?J?ɨJ,; J CZIvbIvxjIv2rItzIvp:Iv9Ivc3It ˁBIMb@Mb@Mb@ )IyMbp= ף~jt A)I$AiHHS5%v -9=Y-6%Q ->1٣1 5G1=; =>A]MF59Ep?aMF5YEh iEBMӾ=mUG G G  IG !BG G G G <G Fx,3Q2^A6?y6U8?96;Y6Bx;>6H~? i ?!$? )?`=>pbM?w?6?ɨ6ڇ; 4BBFIHNHN N5V] Vg=YVwQ Z>X٣X ZGX^u< ^>`]fF59bp?afF5Yb) ibBdjqj@bpDb:b:bF5l n AlDNOT Ignoring new targets: 11.00 m.hhhhhggbgjge!je!Je!:e%4?r\Az\A\A\EQ @U;)Q Ui]9)aeX7e᩼iaiiimtIiIiD?DDE_0 EVF;ZAM>钩x,8L^Amk?ym$?9mmHI?`N?-?@? cG,W(X?v?mk?ɨm; m!CBI:J5MBJ59JJ1RJ5 ZJ5JEfAIAMb@Mb@Mb@ )Iy+X9vZd;O}j IA)IiQAHHB5 *=YQ >٣ G.; > ]F59 p?aF5Y T i Bm=m<q@ pD : : 2F5! % A!UDNOT Ignoring new targets: 11.00 m.hQhQhQhQhQgQgYbgYjg])BeYjeaJea:eev?r\m=z\m=\s t@\@x,f^A2G?y2F?92Y4;Y2n<>2HgZ? զ1?*?? f k?u?2G?ɨ2ɇ; 2 C>B>IHFHF[5N! R{=YV̅;Q V?T٣T ZGX^Z ^?`]fF59bp?afF5Yb! ibBdj+qj@bpDb:bu:bF5I U: AQ}DNOT Ignoring new targets: 11.00 m.hyhyhhhggbgjgejeJe:e@?r\z\\\@Y4;) zni9)W7HiiYLIIDQDQDQEU0 EQGGG IGBG =GGG$<G!FVF-ZA1MU>ZI |bI vjI 1rI zI ;g:I ϣ9I 3I I ֊;q I ׊;i I :u I :m ~:x,v^A6$?y6a?96Ke;Y6H<>6H3k?໣\3?`'?`?`U^l`g?@u?6$?ɨ6; 6$CRBRIVt>iV<HZHZ]5b+ bH=Yf:Q f>d٣h jGhj/ j>l]rF59nqp?arF5Yn  inBtvSqv@npDn::n:nF5x zW AzEDNOT Ignoring new targets: 11.00 m.hhhhhggbgjgejeJe:e@r\z\\\@Ke;) vi9)隕V75i1i99=<I9IAD?DDE0 E:Ju+KBJuk9JJqRJu ZJuVFM ZAQ Mu >a e A"x,b^A%B%{IMb@Mb@Mb@ )IyMbX rhX9vʽC 3A)IAiAAH H Kk5 6=Y%Q %>!٣! -G)- ->1]=F595]p?a=F5Y5x i5BE=mE;EqE@5pD5f:5k:5F5I M AI}DNOT Ignoring new targets: 11.00 m.hyhyhyhyhyggbgjgBejeJe:e /9@r\E=z\E=\Eo@\E@q)q u.iu 9)y}JU7}tiyi\IIDE?DADAEE1 EAVFM ZAY Mq G >G G IG BG  =G G G <G FMx,=^A6.1?y6n?96w;Y6<>6He?@ʣI?(?$?b .qIv?@"u?6.1?ɨ6?m; 6C^BbkIHdHdrȎ r`=Yv:Q v>t٣x zGxz؏: z>|]F59~p?aF5Y~ i~ۚB  q @~pD~%:~:~F5  AEDNOT Ignoring new targets: 11.00 m.hAhAhAhAhIgIgIbgIjgIeQjeQJeQ:eU @r\9z\9\9\=@Mw;)I MHiM9)QUT7]BDAT read: Rx Time:19:52:58.1342 eTRx dataTimestamp_ set to:1736538778.883386u'Uiqiyy}ާIyIZIbIxjIrIzIs:I9III;I;I&:I':D?DDE4 EVFZA9MU> eH`Y?L?*?q ?@CCqKv? !u?eI?ɨeq; e C}B}bII):JBJu9JJRJ ZJ-Monly read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V M@M M@M M@M  M@U HUHUn5e m(=Ym89Q m>q٣q uGqu: u>y]F59} p?aF5Y} i}њBi+:m;ݭq@}pD};}<>})F5 % AEDNOT Ignoring new targets: 11.00 m.hhhhhggbgjgejeJe:e`s @:Z;) |Vi9)  S7 l,i i#IIDDDE4 EDAT read: 19:52:58.1342 LVL= 10144, 19345, 18674, 20451, AGC= 41, IDX= 424,-0.45,-0.541,-1.642,-2.968,-1.661, PHS= 1.208, 0.066,-1.310, RAW= 56.9, 0.3, CAL= 58.6, -2.3, ROT= 91.4, 2.3 -Ygot valid direction response: 19:52:58.1342 LVL= 10144, 19345, 18674, 20451, AGC= 41, IDX= 424,-0.45,-0.541,-1.642,-2.968,-1.661, PHS= 1.208, 0.066,-1.310, RAW= 56.9, 0.3, CAL= 58.6, -2.3, ROT= 91.4, 2.3 ]PDAT read: Bearing 91.4, 2.3 (Local) e~Local bearing/azimuth received: Bearing 91.4, 2.3 (Local) mDAT read: Range 10 to 50 : 11.4 m (Round-trip 15.2 ms) speed 0.0 m/s ,DAT read: user:1314> BDAT read: Tx time:19:52:59.2149 $Ping request sent.ZI bI zjI rI zI p:I 9I I I ;I ;I P:I R:Kx,:^A2%?y2?92c;Y2#/>2H`"?`?`z4?A?@笫wb 0? s?2%?ɨ2^ӈ; 2"CBBBSIHNHNxV5R?޼ VR=YVZQ V>X٣X ZGX^< ^>`]bF59bp?afF5Yb. ibBif9dmfc;fӬqf@bpDb:b{?bF5l n AlDNOT Ignoring new targets: 11.40 m.hhhhhggbg!jg!e!je!Je!:e-$j?Uc;)Y ]ni]59)Y]Q7]iYiaaelIiIiD D D E `0 E ZA!M==:JFKBJ-9JJRJ ZJ/,QL:&   xqmkeca]YVTOJ@72)sƩx,^A6+?y60?96k;Y6"1>6H ?`C?8?@g? }-b ??6+?ɨ6*; 6!CnBnKIv=ivG?)v= v=uu uu uu  u u uMb@Mb@Mb@qq q)qIqyul¿Q뱿 rhuu\uC uA)u@IuAiuAqu\AHHH5 <=Yw[Q >٣ Gm; >]F59 p?aF5Y  iBiT:9+>m;gq@pD;;F5  A=DNOT Ignoring new targets: 11.40 m.hYhYhYhYhYgagabgjgԁBejeJe:e n?r\9+>z\9+>\2Ve@\@k;) %#iE9)AE,Q7E8ʻiAiIIUsIQIQD?DDE_0 EZAMK>GI GI GM IGM ߁BGM =GI GI GM <GM FH HHH ="H*H@25؛̩x,4^A2^t?y2䱞?92H:Y2c5>2H@? \?VC? G{?r@uI`'? ?2^t?ɨ2; 0NBRNIHZHZ R5bZ]< fY=Yf}Q f>h٣h jGhj!-< n>)]5F59-jp?a=F5Y- i-B9=q=@-pD-%;-V5;-F5I M AQ}DNOT Ignoring new targets: 11.40 m.hyhhhhggbgjgejeJe:e+?r\z\\\t@H:) i9)!%P7-mi)i99=I9IIZIbI~jIrIzIv:If9IIIU;IV;I:I:D?DDE0 EZAM >Rөx,N^A>V?y>?9>';Y>~`8>>H?{?@?@f?[d6? {?>V?ɨ>; >"CZzBZAIHzHzl5-K D=Y;Q >٣ G >Y]F59]Ԓp?aF5Y] i]B;q@]pD]O<]'<]F5  A:J@NBJk9JJRJ ZJ MDNOT Ignoring new targets: 11.40 m.hIhIhIhIhQgQgQbgQjgQeYjeYJeY:e]A?r\z\\\@';) 3i9)O7lii^IIDyDyDyE}1 EyVF ZA M >٩x,h^ABTII!)!Mb@Mb@Mb@ )IyktƿV-L7A`堿 0h+ )IAiAHHe5= ?=YQ >٣ G  >]F59p?aF5Yn iBA>m;ƿq%@pDf::YF5) - A)UDNOT Ignoring new targets: 11.40 m.hYhYhYhYhYgYgYbgajgeہBeajeaJei:em@G G G IG ЁBG G G G <G Fr\A>z\A>\b@\厗@) #iC9)/O71HiiAIM x,y^A2 :?y2w?92k;Y2;>2H?ۺ8?>? ?_t rQ?v?2 :?ɨ2E; 2 CNBNRIHZ HZq5bt  b`=Yb;Q b>d٣d fGdfH j>l]rG59np?arG5Yn1 inBtv=ƿqv@npDn#;n;$;nG5x ~ A|%DNOT Ignoring new targets: 11.40 m.h!h!h)h)h)g)g)bg1jg1e1je1Je9:e=@r\Yz\Y\Y\]@uk;)q u 'iu9)y}N7}診iyi/UIID1D1D9E=_0 E9mBDAT read: Rx Time:19:53:01.6345 uTRx dataTimestamp_ set to:1736538782.183429VFUAZAM>:JE ^ LBJA JJA RJE ZJE 4h/ Ju ? Ju >'x,4L^A: )?ZIFbIFxjIF2rIDzIF:IF9IFc3IDqJ@iJ@uJ@mJ@y:f?9:GW;Y:;>:H ? 6A?=?@7? [rgY? vv?: )?ɨ:; 8VBV]IMb@Mb@Mb@ )IyMbȿp= ף@̼ 3A)IAiAHHKk5'= :=Y9Q >٣ G֚ >]G59p?aG5Yy iBKM>m;̿q@pD";]G5  E A eDNOT Ignoring new targets: 11.40 m.hihihihqh)g1g1bg1jg5΁Be9je9Je9:e=fH @r\}KM>z\}KM>\}]^@\}z@GW;) i19)隽N7>:iiJGIIDDDE^0 EEhAEhAG G G IG ˁBG G G G հ<G FVF $ZA M >8x,'^A69=?y6z?96^;Y6Wf<>6H?`R?>?`.?krj? u?69=?ɨ6ź; 6#C>B>cIB=iB4<HJHJl5R< V`=YV{,Q V>X٣X ZGX^: ^>`]fG59bp?afG5Yb_ ibBdf̿qf@bpDbh:b2:bG5l n Ap DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgeje!Je!:e%` @r\z\\\@^;) i9)M73_;iiII%DAT read: 19:53:01.6345 LVL= 8224, 19089, 13682, 19523, AGC= 40, IDX= 443, 0.05, 2.181, 1.093,-0.099, 1.165, PHS= 1.104,-0.025,-1.268, RAW= 58.4, 1.9, CAL= 59.3, -0.2, ROT= 90.7, 0.2 =Ygot valid direction response: 19:53:01.6345 LVL= 8224, 19089, 13682, 19523, AGC= 40, IDX= 443, 0.05, 2.181, 1.093,-0.099, 1.165, PHS= 1.104,-0.025,-1.268, RAW= 58.4, 1.9, CAL= 59.3, -0.2, ROT= 90.7, 0.2 EPDAT read: Bearing 90.7, 0.2 (Local) E~Local bearing/azimuth received: Bearing 90.7, 0.2 (Local) eDAT read: Range 10 to 50 : 11.6 m (Round-trip 15.5 ms) speed 0.0 m/s m,DAT read: user:1315> uBDAT read: Tx time:19:53:02.7149 u$Ping request sent.u3x,AЧ^ABB;?yBx?9B5;YB<>BHr? T?>?@?#r [o?ru?BB;?ɨB; B"C^B^sIHfHf R5ty=  D=YQ >)٣) 5G1E E>y]G59}p?aG5Y} i}|B̿q@}pD}<}<}L G5  A:J-qLBJ-9JJ)RJ- ZJ-J5hAI5hAZjю,m?bj-iKm?id  j΅Bzjo m?j3n j8BjjL6Arj/@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 3.551777 s, deltaX: 0.200001 m, approachRate: 0.056310 m/s, rangeRepo size: 4  Added new target pos. range: 11.600000 m, bearing: 161.600900 deg, lat: 36.903925 deg, lon: -122.119021 deg, deltaT: 3.551777 s, deltaX: 0.200001 m, approachRate: 0.056310 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.60 m.hhhh!h!g!g!bg)jg)e)je)Je5@33'@:e5 ,?r\qz\q\q\u!@5;) iQ9)隭GM7;iiHIIDU?DYDYEY EYZIbIjIrIzIs:I9IIVF} ZA M >[x,^A2?y2w?92d-;Y27=>2Hi?`9&]?vH? [? "je?`t?2?ɨ2e; 2!C>B>I Mb@Mb@Mb@   ) I y  ףp= ǿT㥛 A٣A EGIM< M>Q]]G59Uqp?a]G5YU iUvBe&D>me;eʿqe@UpDU;Uz;UG5q u@ AqEDNOT Ignoring new targets: 11.60 m.hAhAhAhAhAgAgIbgIjgMBeIjeQJeq:e} v?G>GGIGՁBG =GGG<G Fr\&D>z\&D>\^@\gV@Ed-;)I M̽iMm9)imL7m6;iiiyy}IyIDADADAEEp0 EAVFm IZAy M >&x,^A:т?y:?9:3^:Y: =>:H 5?@`$G?J?H?⭿ K F?t?:т?ɨ:$; : CFBFIIH)HHNHNV5V0!= VS=YZQ Z>X٣\ ^G\^; b>`]jG59b\p?ajG5Yb ibpBhnʿqn@bpDb@;b1;b'G5p r AtDNOT Ignoring new targets: 11.60 m.hhhhhggbg!jg!e!je!Je!:e-z?r\Az\A\A\E^@e3^:)a eie_9)aeL7eS;iiiiiuAIqIqD?DDE35 E }c~GkA A)XykA9AVFZAM>:J BoHBJ 9JJ RJ ZJ   I x,^AZI6}bI6jI61rI4zI6[j:I6y9I63I4: ?y:G?9:9Y:<>:H ?8٣ G; >]G59Wp?aG5Yn ilB)>m;|ɿq@pD::G5 n ADNOT Ignoring new targets: 11.60 m.hhhhhggbgjgBejeJe:e.?r\u)>z\u)>\uU^@\u@9) ԣit9)隭;L7^7 x,n7^A:Kڂ?y:?9:Ȣ:Y:=>:HF?@PJ?K?`2F?8 YT}?t?:Kڂ?ɨ:; :#CBׁBFIHR HRh5V = Z]=YZy;Q Z>\٣\ ^G\bq b>d]fG59fQp?ajG5Yf ifhBhjɿqj@fpDf:f:f7G5p r ApDNOT Ignoring new targets: 11.60 m.hhhhhggbg!jg!e!je!Je):e-n?r\Az\A\A\E*@]Ȣ:)Y ]gi]+9)aeL7e/ e 5?e < x,PQ^A2т?y2Q?92J:Y2<>2HM?< ;? J?I?`ҹ P +q?pu?2т?ɨ2R; 2!CZBZIf=if=HnHnb5v= vF=Yz.Q z>|٣| ~G|~$ >] G59Ip?aG5Y idBɿq@qD: ;G5! %^ A!DNOT Ignoring new targets: 11.60 m.hhhhhggbgjge jeJe:e`e@r\az\a\a\ey@:J.KBJ-9JJRJ ZJJ:) -^iE9)IMM\Ix,%k^A6?y6-?96#v:Y6ټ<>6H@? u?6?ɨ6t; 6 CBBBI%BDAT read: Rx Time:19:53:05.1349 %TRx dataTimestamp_ set to:1736538785.711226Mb@Mb@Mb@ )IyQˡEMb' 3A)IAiAAHHX5}@= ==YUQ >٣ G ; >]G599p?aG5Y= iaB>m;ʿq@qD;;!G5  AE-DNOT Ignoring new targets: 11.60 m.h)h1h1h1G9G9G=IG=BG= =G9G9G=߰<G= FH  H H H ="H *H V5hYgagabgajge5BeijeiJei:em @r\>z\>\!^@\oW@#v:) i9);!x,R+^A6?y6SE?96P0Y6<>6H? `4?=O? T-?`)&?r?^u?6?ɨ6O; 6!CBBBIHJHJX[5Z= Z\=Y^Q ^>\٣\ bG`bF; b>d]jG59f+p?ajG5Yfx if^Blnʿqn@fqDf%:fh:f$G5p rAtDNOT Ignoring new targets: 11.60 m.hhhhhggbg)jg)e)je)Je1:e5q @r\Qz\Q\Q\U]@eP0)a eXýim9)imXTmDAT read: 19:53:05.1349 LVL= 9616, 20641, 13714, 21811, AGC= 41, IDX= 447, 0.29,-1.410,-2.541, 2.727,-2.320, PHS= 0.998,-0.174,-1.239, RAW= 61.6, 4.3, CAL= 62.2, 4.2, ROT= 87.8, -4.2 Ygot valid direction response: 19:53:05.1349 LVL= 9616, 20641, 13714, 21811, AGC= 41, IDX= 447, 0.29,-1.410,-2.541, 2.727,-2.320, PHS= 0.998,-0.174,-1.239, RAW= 61.6, 4.3, CAL= 62.2, 4.2, ROT= 87.8, -4.2 PDAT read: Bearing 87.8, -4.2 (Local) ~Local bearing/azimuth received: Bearing 87.8, -4.2 (Local) DAT read: Range 10 to 50 : 11.9 m (Round-trip 15.9 ms) speed 0.0 m/s ,DAT read: user:1316> BDAT read: Tx time:19:53:06.2149 $Ping request sent.A9!%% %P)%5I%3Ui%)%|?%-2%%? %`=)%?I%Q =i%%?%Q ! !%a: ?.뿼,nS?I%あi%%%%?%Q ! !:publishing transmit ping timeFpublishing direction and range info!Y%( ?n??!9!! !)!I!i!!!!! !)!I!i!!! !%a: ?.뿼,nS?I!i!!!! !VF9ZAM>:J BJ 9JJ RJ ZJ HzrjcaYI>=83348<<:3 JDAT read: TxSync time:19:53:06.2141 ['x,ݞ^A]BeIIi)i]Mb@Mb@Mb@YY Y)YIYy]MbX9{GzMb]ʡ]#Y ]A)]@I]lAiYY]fAHmHmX5}ms= 2=YQ >٣ G >]G59p?aG5Y iZB=m<q@ qD;;(G5 2AZje~m?bjeۺ iaie(ҍ^Ajef>Aje!=A2je1@pe /aiV(?h'@K?zpe( ?n??"je%?*jeQ peV}%vy@gd4<@pe>B쿹8P'?IJ?ie΃@je+ie2  m?ie  je"Bzjev( m?je7x jeVBjje*;Arjep /@- addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 3.276727 s, deltaX: 0.299999 m, approachRate: 0.091555 m/s, rangeRepo size: 4 = Added new target pos. range: 11.900000 m, bearing: 159.026990 deg, lat: 36.903923 deg, lon: -122.119025 deg, deltaT: 3.276727 s, deltaX: 0.299999 m, approachRate: 0.091555 m/s, posRepo size: 4 =DNOT Ignoring new targets: 11.90 m.hAhAhAhAhAgagibgijgmFBeijeqJeu'@:euY?r\=z\=\g@\.@A)A E̽iE9)AM|MG9G=4 IG=@BG9G9G9G=<G= FVF= ZAI Mm >q-x,^A2#?y2ğ?92Y2<>2H_J?b%?^Y??@q殿@c?s?Ku?2#?ɨ2; 2C>$B> IHFHFMD5Ng= Rn=YR׻Q R?T٣T VGTV9< Z?X]bG59Zp?abG5YZO iZWB`b!qb@Z qDZ;Z[;Z+G5h jAhDNOT Ignoring new targets: 11.90 m.hh h h h g g bgjgejeJe:e?r\z\\\^ǚ@) di9)t5 EVF ZAM>pm4x,Ҩ^A6?y6D,?96Y6=>6H@0?`x 8?a?5? #q??s?6?ɨ6{; 6CR)BR IHZHZC5b< bH=YbQ b>d٣d fGdj; j>p]vG59rFp?avG5Yr> irTBx~q@r qDr;r;rk/G5 zA!MDNOT Ignoring new targets: 11.90 m.hIhIhIhIhIgQgQbgQjgYeajeaJea:ee]?r\iz\i\i\m@u)y }ai}Y9)隍k;ii߽II:JKNBJk9JJRJ ZJ,   թթD?DD E 2 E E!E%dAVFE ZAQ Mm >y:x,l^A) .B I =i =Mb@Mb@Mb@ )Iyy&1ly&1`e`e A)@IVAiA=AHH755< ;=YG=>G9G=` IG=dBG= =G9G9G=|<G= FQ >٣ G >]G59֓p?aG5Y iOBk=mA<_q@qD::p3G5 WADNOT Ignoring new targets: 11.90 m.hhhhhggbgjg\BejeJe:e o;?r\%k=z\%k=\%mn@\%@9)9 =Pi='9)9EEu;iAiIIUNIQIQDDDE4 EVF.iZAM >ZIu ~bIu jIq rIq zIu {m:Iu 9Iq Iq Iu <;Iu =;Iu h;Iu h;pAx,AH^A6?y6`-?96Y6Z<>6Hܞ?A?Au?@O3?I`? ?i?@u?6?ɨ6%; 6 CR5BR' IHZHZxV5zf= ~X=Y~'Q >٣ G H<  >]G59Ip?a%G5Y iKB!%>q%@qD;;;;6G51 5A1DNOT Ignoring new targets: 11.90 m.hhhhhggbgjgejeJe:e?r\z\\\W@@ ) i9)!%d%_8i!i)15!ѽI1I9 X? 0>C 9D?DDE05 E:JM KBJM 9JJI RJM ZJM Ju ? Ju ?VF wZA M= >%Hx,"^AR??yR;}?9RYRcN<>RH@x?&Q? J{?@0 ?`Qho}?@g?u?R??ɨR@Q; R"Cn=Bn1 ImMb@Mb@Mb@ii i)iIiyml񢿪Mb~jtmm@mļ mA)iIm@imAiiHHJH5" = 3=Y Q >٣ G; >]UG59dp?aUG5Y. iDB]=m]M<]ȃq]@qD۟<<:G5i mAiDNOT Ignoring new targets: 11.90 m.hhhhhggbgjgkBejeJe:e"I@r\ =z\ =\ t@\ @) Pik9))--i)i115νI1I9D?DDE_0 EVFaݽZAMH>G>GG IGBG =GGG<G FuBNx, ;^AF^?yFʡ?9Ff-!YF<>FH@S?`-??$?`%?q?u?F^?ɨF]; FCf?Bf3 IHnHn Y5v< vX=Yv? Q z>x٣x zGx~H; ~> ]G59 Op?aG5Y  i =Bsq@ qD ; 1; =G5! %A!UDNOT Ignoring new targets: 11.90 m.hQhQhQhQhQgYgYbgYjgYeajeaJea:eeB@r\z\\\3@f-!) i9)隭γiiʽIIZI}|bI}yjIyrIyzI};g:I}9IyIyI}֊;I}׊;I}:I}:Dm?DiDiEm`0 EqI) ~GlA VFԽZA)hylAXAM>M BDAT read: Rx Time:19:53:08.6354 U TRx dataTimestamp_ set to:1736538789.239263)Ux,eU^A>?y>?9>,Y>}<>>H?ɨ>[0; >!CJ`٣` bG`f p; f>h]jG59jFp?anG5Yj' ij7Blr7qr@jqDjx;j_/;jLAG5 A DNOT Ignoring new targets: 11.90 m.hhhhhggbgjge!je!Je!:e% @r\az\a\a\eA@,) 载i>9)隝$iioȽ:JJQJBJJJRJ ZJJIIID?DDE EEEhAVF rWͽZA M > DAT read: 19:53:08.6355 LVL= 12384, 22513, 14578, 22595, AGC= 37, IDX= 451, 0.49,-0.030,-1.251,-2.093,-0.896, PHS= 0.955,-0.308,-1.200, RAW= 65.7, 6.0, CAL= 66.6, 7.2, ROT= 83.4, -7.2  Ygot valid direction response: 19:53:08.6355 LVL= 12384, 22513, 14578, 22595, AGC= 37, IDX= 451, 0.49,-0.030,-1.251,-2.093,-0.896, PHS= 0.955,-0.308,-1.200, RAW= 65.7, 6.0, CAL= 66.6, 7.2, ROT= 83.4, -7.2  PDAT read: Bearing 83.4, -7.2 (Local)  ~Local bearing/azimuth received: Bearing 83.4, -7.2 (Local)  DAT read: Range 10 to 50 : 12.3 m (Round-trip 16.4 ms) speed -0.1 m/s  ,DAT read: user:1317>  BDAT read: Tx time:19:53:09.7150  $Ping request sent. iU AQ?U Q Q U ||ݏ?|ŲP:+?IU ~riU ;ԽU AQ?U Q Q  :publishing transmit ping timeع  Fpublishing direction and range infoQ YU  .1??cK ?Q 9Q Q Q )Q IQ iQ Q Q Q Q G G G IG BG =G G G s<G F Q )Q IQ iQ Q Q Q U ||ݏ?|ŲP:+?IQ iQ Q Q Q Q I[x,4q^A2~?y29?92Q8Y2c<>2H@,?` _?D? ? ?` j??u?2~?ɨ2L; 2"C>:B>- IMb@Mb@Mb@ )IyL7A`堿v/Mb+xi A)IVAiAHHdK5 &=YFQ >٣ G%:v; %>)]-G59-p?a5G5Y- i-,B5=m55<5`q5@-qD-h<-dh<-EG5 AZjTsm?bjz iio^AjDAj}CA2jc1.@p@ p?>(@adc?zp .1??cK ?"jAQ?*jp01e%6#@XGvb @pEƴm`v?Y+k?i̘@j(+iGsm?iO`y  jBzjjO`y j΅Bjj9=ArjWv.@ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 3.526401 s, deltaX: 0.400001 m, approachRate: 0.113430 m/s, rangeRepo size: 4 M Added new target pos. range: 12.300000 m, bearing: 155.945609 deg, lat: 36.903923 deg, lon: -122.119026 deg, deltaT: 3.526401 s, deltaX: 0.400001 m, approachRate: 0.113430 m/s, posRepo size: 4 UDNOT Ignoring new targets: 12.30 m.hQhQhQhQhQgYgYbgYjg]hBeajeaJee(@:ee@?r\=z\=\@\(@Q8) Pi9)2/iixŽIIJDAT read: TxSync time:19:53:09.7142 D?DDE_0 EZI~bIzjI2rIzI{m:I9Ic3II<;I=;IP:IR:VF o̽ZA M= >ibx, 늩^A:E?y:?9:̂FY:T;<>:H`?$?@?ԇ?@%˰1Ј?e?@eu?:E?ɨ:cO; :!CF5BF' IJ=iJ%=)J= J=HnHn;5vkݼ zk=Yz-#Q ~?|٣| ~G@; ? ]G59 p?aG5Y , i %B-`q@ qD '; ; HG5! %A!eDNOT Ignoring new targets: 12.30 m.hahahahahagagabgijgieqjeyJey:e}z?r\z\\\: @̂F) ˽i9)隵0ۼii}IIBBCBD%?D!D!E-2 E)VFD;ȽZAIM>:JE BJE u9JJA RJE ZJE JU ? JQ hx,^A6,†?y6?96]Y6;7>6H&?@ 3T??`M? ^#?,?{?6,†?ɨ68; 6 CN9BN, IMb@Mb@Mb@ )Iy)\(lktGa 0 A)@I@iApAHHO5< ?=Y[Q >٣ G< >]G59p?aG5Y iBZ=m<}q@qDM::\LG5 ADNOT Ignoring new targets: 12.30 m.hh h h h g g bgjgNBejeJe:e?r\eZ=z\eZ=\eW@\eS@])) 5#i5.9)15:5i1i99=7I9IAD?DDE05 EE>E >GGG IGBG =GGG<G FH HHH"H*HŅC5VF53ýZAM>nx,^A6Ew?y6˴?96mY6:>6Hri?*?@Ȥ?`2?ΰ}?`[!?Bx?6Ew?ɨ6V; 6"C>&B> IHFHFA5NȽ N]=YR(Q R>P٣T VGTZAt< Z>`]fG59bp?afG5Yb ibBhj|qj@bqDbS:b:bOG5p rAp DNOT Ignoring new targets: 12.30 m.h hhhhggbgjgeje!Je!:e% o]?r\Qz\QHHAA\Q\U|@-m)1 =TiE9)AMNIiIiYae sIaIiZIzbI}jIrIzI`:IS9IIIo;Iq;I:I:D D D E X0 E VFM&+ZAaM}>tux,ة^Am%Bu IHH@55+ =3=YEQ U>Y٣a eGiu }>]G59p?aG5Y iBq@qD;-;SG5 ADNOT Ignoring new targets: 12.30 m.hhhhhggbgjgejeJe:e?r\z\\\))) 5Ti59)15Tc1i1i99= I9IA:J!BJ%9JJ!RJ% ZJ%J5fAI5gADDDE_0 EVF*/ZAM >G G G IG BG G G G ΰ<G F*{x,eQ^A2z?y2?92TY2;>2Hg?'?@/? P?N`?W?u?2z?ɨ2o; 2C>&B> IeMb@Mb@Mb@aa a)aIaye٣ G`9 >]G59p?aG5Yh iB=m;مq@"qDP';&;VG5 ADNOT Ignoring new targets: 12.30 m.hhhhhggbgjg0BejeJe :e @r\%=z\%=\%}@\%@=T)9 =Уi=F9)AEKhAiAiIIMDzIIIQDzDgADaDiDiEi EiEqEqVF- ZA9M]>炪x,/ ^A2wX?y2?92ABY2<>2H@\x?$? ֢?B? XH?&^?u?2wX?ɨ2}C; 2!C>B> IHFHF_5Nݠ N[=YR>>;Q R>P٣P VGTV6 V>X]^G59Z4p?a^G5YZK iZB`b qb@Z$qDZ;Z;Z.ZG5d f AdDNOT Ignoring new targets: 12.30 m.hhhhhggbg jg e je Je:ek@r\z\\\\@%AB)! %Ii%z9)!%u!i)i)1UԴIQIYD?DDE`0 EVF*/ZAIM>:J BJ k9JJ RJ ZJ J ? J ?ZI ~bI ~jI 0rI zI {m:I f9I ـ3I q @i @u @m @px,&^A6M?y6R?96(3Y6.<>6H}?N#l? %??p)`'|?`c?u?6M?ɨ6; 6"CBBBIF,>iF<)J= Ja=-Mb@Mb@Mb@)) )))I)y-RQ(\µI +-½--94 -A))I-~@i-@)-AHUHUd5eG 6=Y :Q  > ٣  G= >]%G59p?a%G5Y iڙB- >m-;-,q-@(qD::^G51 =$A9eDNOT Ignoring new targets: 12.30 m.hahahahahagigibgijgmBeqjeyJey:e}u@r\ >z\ >\w@\@(3) #^;x,"?^A:8?y:rv?9:##Y:I<>:H@?>!@ ? ?F?毿Ld? g?@u?:8?ɨ:q6; :CRBVIH^H^7`5fR fa=Yf8;Q j>h٣h jGhnn n>p]vG59rKp?avG5Yr irϙBtzLqz@r*qDr:r~:rKaG5| ~7A|5DNOT Ignoring new targets: 12.30 m.h1h1h1h1h1g1g1bgIjgIeIjeQJeQ:eUd @r\qz\q\q\u@##) @;i9)隍 qiiwBIID1D1D1E5@5 E1E=>E==VF*/ZA!MEr>DAT read: 19:53:12.1360 LVL= 12704, 21489, 13874, 21827, AGC= 36, IDX= 424, 0.46,-2.740, 2.282, 1.489, 2.656, PHS= 0.975,-0.328,-1.170, RAW= 67.1, 5.6, CAL= 68.5, 6.5, ROT= 81.5, -6.5 Ygot valid direction response: 19:53:12.1360 LVL= 12704, 21489, 13874, 21827, AGC= 36, IDX= 424, 0.46,-2.740, 2.282, 1.489, 2.656, PHS= 0.975,-0.328,-1.170, RAW= 67.1, 5.6, CAL= 68.5, 6.5, ROT= 81.5, -6.5 PDAT read: Bearing 81.5, -6.5 (Local) ~Local bearing/azimuth received: Bearing 81.5, -6.5 (Local) DAT read: Range 10 to 50 : 12.6 m (Round-trip 16.8 ms) speed -0.1 m/s ,DAT read: user:1318> BDAT read: Tx time:19:53:13.2150 $Ping request sent._drH?3q?5?UIA9QU1 US)U26IUCUiU$Uy?U茶U•U ? U+=)U?IUV=iU?UVQ QUKU~2?sh鿢ww*?IUzliUɽU?UVQ Q] :publishing transmit ping time] Fpublishing direction and range infoQYU>_drH?3q?5?Q9QQ Q)QIQiQQQQQ Q)QIQiQQQ QUKU~2?sh鿢ww*?IQiQQQQ Q'x,Y^AF*?yF h?9FYF:<>FH`}?`q??$? ` ?6e?u?F*?ɨF0; F C BIHHa5 0=Y;:Q >٣ Gs >]-G59p?a-G5Y iB15cq5@.qD;;meG59 =rA9Zj}m?bj})2x iyi}]NQ^Aj}IAj}AHA2j}Ћ,@p}*X?>\S(@Kf_?zp}>_drH?3q?5?"j}?*j}Vp}WLA%L)@j<3t @p}r8`S`?e?i}-@j}-i}Um?i}Hw  j}hBzjyjyj}"B:JBJ#9JJRJ ZJ6 (^V6(JhAIJDAT read: TxSync time:19:53:13.2142 jj}AArj}J-@ addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 3.528055 s, deltaX: 0.300000 m, approachRate: 0.085033 m/s, rangeRepo size: 4 - Added new target pos. range: 12.600000 m, bearing: 154.471340 deg, lat: 36.903923 deg, lon: -122.119026 deg, deltaT: 3.528055 s, deltaX: 0.300000 m, approachRate: 0.085033 m/s, posRepo size: 4 5DNOT Ignoring new targets: 12.60 m.h1h1h1h1h1g1g1bg9jg9eYjeaJee@33)@:eeа?ZI{bIzjI2rIzId:I9Ic3Ir\z\\\ @) i9)隽siiIIDDDEE1 EVF ԸZA M >G G G s IG sBG =G G G ˰<G F Mx,s^AJ[?yJ\?9J YJ}<>JHv?"`?T? ?@F`?m?Ku?J[?ɨJL; J#CVBVIMb@Mb@Mb@ )IyʡEZd;Oktケj 0 zA)@Ii(AHH^S5 %S=Y%];:Q %>)٣) -G)-_; 5>9]=G59=p?aEG5Y=r i=BE>mE;EqE@=2qD=:=A:=hG5I UAQDNOT Ignoring new targets: 12.60 m.hhhhhggbgjgBejeJe:e:?r\>z\>\Gs@\R*@ ) #=iO9)2jii泽IIDDDE4 EVFZAM> a } SkA ) y SkA CA4x,!s^Ar BrIHzHz~N5% = -\=Y-Q ->1٣1 5G15 =>Q]UG59Up?a]G5YU iUBYYqe@U5qDUL;U;UlG5i mmAiDNOT Ignoring new targets: 12.60 m.hhhhhggbgjgejeJe:eJ?r\z\\\) X=i9)]ii^YII=>="@C9D1D9D9EE05 EAEaEegA:J% OBJ% 9JJ! RJ% ZJ%  J5 ? J5 %?ZI |bI wjI rI zI ;g:I 9I I VF JCZA M >x,2^A-B-IMb@Mb@Mb@ )IyK7{Gzl񢿙I ף d A)Iih@\@HHS5 7=YQ >Q٣Q UGQY ]>Y]mG59]p?amG5Y] i]Bm&>mm;mqm@]9qD] ;]j;]oG5y }AyDNOT Ignoring new targets: 12.60 m.hhhhhggbgjg߁BejeJe:e@CF?r\&>z\&>\Bj@\@))) -\=i-9))5I1i1i19EpIAIACYGGG` IGdBG =GGG^<G FD ?D D E^0 EVF1 ZAA Me >ux,^A:?y:,?9:?ջY:c8>:Hz0?[1@?@?? kBz??@z?:?ɨ:; : CB BFIJG>iJ>HNHN^5V= Zc=YZJ;Q Z>\٣\ ^G\bXR< b>d]fG59fp?ajG5Yf ifBhjׯqj@f=qDf6:f:fsG5A EzAADNOT Ignoring new targets: 12.60 m.hhhhhggbgjgejeJe:ew?r\z\\\@?ջ)A E=iE9)IMQ5IiIiYY]gIYIaCID?DDE_0 EVFZAM >Lx,۪^AFbŇ?yF?9FrYF=R:>FH|D?^+- ?@"? h?x S.q?b)?x?FbŇ?ɨF; F"CRBRIHZHZd5? D=Y%;Q ->9٣A EGIUD >]EG59p?aMG5Y iBy}q}@AqD<<<vG5 A}DNOT Ignoring new targets: 12.60 m.Resuming propulsion at range: 12.60 m and bearing: 154.051424 deg. Not drifting fast enough.:i,@hˑ@hhhhL?ggbgjgejeJe:eK@:JJBJ-9JJRJ ZJJfAIhAr\Yz\Y\Y\] @ɛmI;)uV= u(=iu9)quO uiu6[=i}B?ypZIbItjI1rIzII9I3IIˑ@IAC9D=?D9D9E9 E9G G G S IG YBG G G G <G FH HHH"H*HE4VF ֮ZA M >ʼx,]^A>2?y>£?9>cY>:>>HCc?!%`>.?? T?@t`?;?`w?>2?ɨ>n; Y٣Y ]Gaeٝ m>i]}G59mp?a}G5Ymd  imB}A->m};}q}@mEqDm ;m;mCzG5 eADNOT Ignoring new targets: 12.60 m.hhhhhggbgjgށB9 sAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy9sz\A->\Zg@\@}Bɛg:) êx,^A6r?y6?96Y6;>6H 2l?!V?D?e?M`1?V?v?6r?ɨ6$E; 6!CB BBIID)DHJHJ.l5RI; RV=YV;Q V>T٣X ZGXZuú Z>A]MG59Ep?aMG5YE  iEvBQUõqU@EIqDE;En;E}G5Y eZAaDNOT Ignoring new targets: 12.60 m.hhhhhggbgjgeejeJe:e`2@BDAT read: Rx Time:19:53:15.6364 TRx dataTimestamp_ set to:1736538796.299369r\z\\\@Bɛ;)  ɪx,)^AP?yz?9ߛ:Y;>HH|?i?֢?0?R`{V [?ov?P?ɨ; "C%B-I5Mb@Mb@Mb@11 1)1I1y5~jtÿQy&155u5` 5 A)1I1i115@HUHUm5e< m$=YmW;Q m>q٣q uGqu }>y]G59}p?aG5Y}  i}lB)>m;¿q@}NqD}C;}B;}G5 GAB*** querying acoustic contact ***iiDNOT Ignoring new targets: 12.60 m.hhhhhggbgjg؁BeejeJe:e  @r\)>z\)>\a@\oQ@Bɛr;;) 1=i)<8!GIGIGMM IGMTBGIGIGIGM<GM FDAT read: 19:53:15.6364 LVL= 11760, 22113, 14898, 22947, AGC= 40, IDX= 428, 0.41, 2.422, 1.083, 0.412, 1.511, PHS= 0.999,-0.380,-1.102, RAW= 70.3, 5.3, CAL= 72.5, 5.5, ROT= 77.5, -5.5 Ygot valid direction response: 19:53:15.6364 LVL= 11760, 22113, 14898, 22947, AGC= 40, IDX= 428, 0.41, 2.422, 1.083, 0.412, 1.511, PHS= 0.999,-0.380,-1.102, RAW= 70.3, 5.3, CAL= 72.5, 5.5, ROT= 77.5, -5.5 PDAT read: Bearing 77.5, -5.5 (Local) ~Local bearing/azimuth received: Bearing 77.5, -5.5 (Local) DAT read: Range 10 to 50 : 12.9 m (Round-trip 17.2 ms) speed -0.1 m/s ,DAT read: user:1319> BDAT read: Tx time:19:53:16.7150 $Ping request sent.}'Ҫx, I^ARXN?yRދ?9R0;YR,;>RH`}?@@w?? 5?Z qf ]?Rv?RXN?ɨRE; R!C B IHHk5-%< -D=Y-N;Q ->1٣1 5G1=JH =>A]MG59ELp?aUG5YE iEdBQUÿqU@ESqDE+;EK,;EG5a e*AaZj5{')m?bj5dm i1i5\3^Aj5fNAj5MA2j5'@p5ѵ9;@RI)@NV?zp5pӌ?~Z?aVX?"j5"?*j5 Ľp5Tës%Ȧ@-t @p5(uhY?UX?i5L@j5s,i5a #m?i5Ovl  j5Bzj5Um?j1j5Bjj5wEArj5*@ addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 3.532131 s, deltaX: 0.299999 m, approachRate: 0.084934 m/s, rangeRepo size: 4  Added new target pos. range: 12.900000 m, bearing: 150.228889 deg, lat: 36.903924 deg, lon: -122.119026 deg, deltaT: 3.532131 s, deltaX: 0.299999 m, approachRate: 0.084934 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.90 m.hhhhhggbgjgeejeJe)@:e?r\ z\ \ \ O@Bɛ4{;)! %@n=i!)%-9!!i%==i-^?)5(3>I1I1C9^Dr;DIDIDIEM#5 EIVF%F AZA M%o>Jتx,Tb^Af?yft?9f;Yf}<>fH N?`#`'???!b`~p?uu?f?ɨfvK; f CrBr Iv=iv=)v= v=:JqBJu9JJqRJu ZJuMb@Mb@Mb@ )IyʡEÿS㥛L/ݼ  A)IiQ@@HHY5dM= B=YQ >L?٣L? G; >]G59m;nʿq@WqD;b:xG5B AE DNOT Ignoring new targets: 12.90 m.h h h h h g gbgjgׁBeejeJe:e?MBɛU2;)Y ]0=iY){V9i/=i?j|>IIC9^D=DM?DIDIEU/5 EQGGGZ IG^BG =GGG<G FVFm<FA ZAI Mm >oުx,ڍ|^A6mÇ?y6?96˴4;Y65u7>6HqE?`@,??@O?gfE?@|?6mÇ?ɨ6j; 4b$Bb IHjHj N5r= vY=Yv:Q v>x٣x zGzFzx: ~>]G591p?a G5YB iVB  8ʿq @[qD::G5 AMDNOT Ignoring new targets: 12.90 m.hIhIhIhIhIgQgQbgQjgQeYeYjeYJeY:ee@:?雝Bɛ<) T=i),t9隡i =ivm? >IICCCCZIm{bImujIm2rIizImd:Im9Imc3IiIm#;Im$;Imf:Img:D?DDE4 EVFE 7ͤ<F ZA! M= >Lx,9^A67?y6"u?96u<;Y68>6H ?{2$?@F? ? gl?@z?67?ɨ6; 6!CJ/BN IHVHV@5^LZ= bN=Yb9Q b>d٣d fGfFf< f>h]nG59j)p?arG5Yj ijOBprɿqr@j_qDj:j:jG5t zGAxDNOT Ignoring new targets: 12.90 m.hhhhhggbgjgee je)Je):e5`?mBɛu)p<)q u>iq)uI9qqi}=i}gV?IID%?D!D!E%_0 E!VFؿ<FZAMY>:JBJ9JJRJ ZJrx,^A6?y6/5?967o;Y6(6>6H`,?0?@?`?@V` s`x? }?6?ɨ6; 6#CB9BB, IID)DDDUMb@Mb@Mb@QQ Q)QIQyUףp= ÿ{GzUU#U̼ U A)QIQiU$@QQHmHma5GGGf IGiBGGGGG@?%=](= ]3=Y];Q ]>a٣a eGami m>i]G59mp?aG5Ym imGB%>m;ѿq@mdqDmU:mo:mG5 ADNOT Ignoring new targets: 12.90 m.h!h!h!h!h!g!g!bg)jg-BeIeQjeQJeQ:eUs@雥Bɛ6<) J#>i)խ :隱il=iڤ>?IID?DDE`0 EVFmǀ=F1ZAAM]v>H H ZI |bI {jI 1rI zI ;g:I -9I 3I I ֊;I ׊;I :I :]x,ɫ^AI4)4 n~G~kA )56y5kA='B h?y?9E.Hq?@ 4@?C?`3D?`E@I?`?騭 h?ɨG; "C޽EB޽; IHH4d5~= R=Y !٣! -G-F-4 ->1]=G595cp?a=G5Y5 i5ABAEѿqE@5hqD5h:5:5wG5I MAQDNOT Ignoring new targets: 12.90 m.hhhhhggbgjgeejeJe:e *@雽Bɛek<) @B>i)D 1:i'=i%*?IID?DDE0 EVFO=FqZAM]>fx,:^AM4?yM[?9MMH_? 8a? מ?Ho?@x #ւ J??M4?ɨM; M CePBmH IMb@Mb@Mb@ )Iy rh/$:J BJ 89JJ RJ  ZJ   C , 7 A)=@Ii@@H%H%X55O= =E=Y=eE;Q =>9٣A EGEFE3 E>]G59Bp?aG5Y i;B>m;c̿q@kqD,::*G5 AA UDNOT Ignoring new targets: 12.90 m.hQhQhYhYhYgYgYbgajgBeejeJe:e@Bɛ kN|<)  ^>i )3c:i-H=iEmv?AAIAIIBIBICQBQD9D9D9E=0 EAVF%DA%>G}>GyG} IG}}BG} =GyGyG}<G} FFZA-BDAT read: Rx Time:19:53:19.1368 5TRx dataTimestamp_ set to:1736538799.827312M=>tx,^A~WB~Q I>ip;) = p=HHKk5M= M[=YUQ U>Q٣Q UGY] ]>a]mG59e%p?amG5Yeg ie5Biqqu@eoqDeq:e\:eHG5y } AyDNOT Ignoring new targets: 12.90 m.hhhhhggbgjgeejeJe:e @ށBɛ<) q>i)C:ir=i?IIDDDE4 EHmR=Hma=ZIubIujIu0rIqzIuy:Iu9Iuـ3IqIu;Iu ;Iuh;Iuh;VF.I>FAZAQM7>u DAT read: 19:53:19.1368 LVL= 12784, 23409, 16466, 25011, AGC= 42, IDX= 433,-0.06,-2.054, 2.785, 2.357,-2.920, PHS= 0.954,-0.531,-1.009, RAW= 76.5, 6.7, CAL= 80.3, 8.0, ROT= 69.7, -8.0  Ygot valid direction response: 19:53:19.1368 LVL= 12784, 23409, 16466, 25011, AGC= 42, IDX= 433,-0.06,-2.054, 2.785, 2.357,-2.920, PHS= 0.954,-0.531,-1.009, RAW= 76.5, 6.7, CAL= 80.3, 8.0, ROT= 69.7, -8.0  PDAT read: Bearing 69.7, -8.0 (Local)  ~Local bearing/azimuth received: Bearing 69.7, -8.0 (Local)  DAT read: Range 10 to 50 : 13.2 m (Round-trip 17.6 ms) speed 0.0 m/s  ,DAT read: user:1320>  BDAT read: Tx time:19:53:20.2150  $Ping request sent. iE ?E 5A A E dW+ ?[忬a?IE p^BiE <E ?E 5A A  :publishing transmit ping timeء  Fpublishing direction and range infoA YE 7tR?|i?H@l?A 9A A A )A IA iA A A A A A )A IA iA A A A E dW+ ?[忬a?IA iA A A A A jx,o^Ak?y?9W$H?6??7?ʹˊ??k?ɨ; "CcB` IHHuZ5E_= E;=YMl:Q M>I٣I UGUFH >]G59p?aG5Y i.Bim̿qu@sqD<<,G5y }AyZjukm?bjuC#N iqiu_%^Aju3SAjuQA2ju{K@pu=;#@^(@U" d?zpu7tR?|i?H@l?"ju?*ju5puA#9y@t @puP_D* .Z?P+xt?iu@ju}iuem?iui1)5Q:19i=߇=i=>aaIaIaJDAT read: TxSync time:19:53:20.2142 DDD E 05 EVF>:J5+LBJ5k9JJ1RJ5 ZJ5FZAM> x,MK1^AJz?yJ?9J&6;YJ>JH~?@:?0?@?೨@|j?@?Jz?ɨJ; JCnoBno IG%>G!G% IG%BG% =G!G!G%<G% FH HHH ="H*H53=Mb@Mb@Mb@99 9)9I9y=ˡEI +~jt=什=94=ļ =~A)=b@I=@i=@9=G@HUHU:5ek= eI=YeQ e>i٣i mGmFmȴ; u>y]G59}wp?aG5Y} i}(B=m <8q@}uqD}4:}t:}G5 IA DNOT Ignoring new targets: 13.20 m.h h)h)h1h1g1g1bg1jg=Be9e9je9Je9:eEPx?؁Bɛd<) >i) :iV=ip>IIDDDE_0 EVF ^> AF ZA M >Rx,q:K^An@Ά?yn ?9n;Yn:>nH@?=У?`=?H?`x=uJ?`N?n@Ά?ɨns; n!C|B II)AAH%H%{R55= =_=Y=/Q =>A٣A EGAE; M>]G59p?aG5Y i#B;q@wqD::G5 ADNOT Ignoring new targets: 13.20 m.hhhhhggbgjgeejeJe:e e(?5ՁBɛ5<)1 5>i1)=,:99i=4=iE X}>AAIAIID?DDE EVFEY>F! ZA) MU >x,e^AZIEbIEjIE1rIAzIE:IEľ9IE3IAqM@iM@uM@mM@5B5 I:JM:IBJM9JJIRJM ZJMJ]gAI]gAMb@Mb@Mb@ )Iyy&1|A`"I +`廹Y9 hA)x@I@i@HH0E5< 1=YQ >٣  G F   >]G59p?aG5Y) iB%l=m%e<%,q%@yqD\::G5-B -A5E]DNOT Ignoring new targets: 13.20 m.hYhYhYhYhYgYgabgjgBeejeJe:e` ?UҁBɛUx<)Y ])>ia)m;iqiu=iR>IIDQDQDQEQ EYEegAEehAGGG IGBGGGG<G FVF c>F ZA M >x,~^ABI,?yBi?9B{;YB>BH@(?@/?W?`? do೪?@?BI,?ɨB܌; @fBf IHH^5  = p=ỲQ ?!٣! %G!%m -?)]5G59-p?a=G5Y-Z i-BY]oq]@-zqD-;- ;-߯G5a eAiDNOT Ignoring new targets: 13.20 m.hhhhhggbgjgeejeJe:e`m?ρBɛH=) >i)%;!!i%{=i-ړ=)QIQIiD?DD E 0 E VF- h>F ZA! M} >%x,^A~B~ I>i>) a= HH:\5E4 = EG=YMQ M>I٣I MGUFU U>a]mG59eqp?amG5Ye ieBiiqm@e{qDe :e:euG5y ADNOT Ignoring new targets: 13.20 m.hhhhhggbgjgeejeJe:e@́Bɛ=) >i)ON.;i=iIIDDDE25 EZI}bI}jI}0rIyzI}=:I}9I}ـ3IyVFc>zFfArFgA:JBJ`9JJRJ ZJJ> J?FZAM>,x,s^A:Y?y:?9:> ;Y:>:H@?{~ ? Bp??capn?`6?:Y?ɨ:9; :$CBBB IGdGdGf IGfӂBGf =GdGdGf<Gf FMMb@Mb@Mb@II I)IIIyMQ?v/{GzM\=MxiMף MA)MK@IM$@iM@IIHeHeV5uPZ= uG=Yu89Q }>y٣y }G}F >]G59p?aG5Y  i B\=m<?q@}qDO/;;; G5 nADNOT Ignoring new targets: 13.20 m.hhhhhggbgjg&BeejeJe:e`j@ʁBɛ=)! %>i!)%G;!!iM=iMɽQQIQIQDDDE05 EEa>E>VF% ^>F ZA M- >]2x,l̬^A6?y65?96;Y6>6H@0?{?]? ? Wԥp? ?6?ɨ6; 6 C>BB IHJHJuZ5R= RY=YR"1Q R>T٣T VGTV1 Z>`]bG59bAp?afG5Yb ibBdf?qf@bqDb:b%:bUG5h j8AlDNOT Ignoring new targets: 13.20 m.hhhhhggbgjgeejeJe:eT@ȁBɛ=) >i)i];i|R=i 0IIDDDE]0 E V> < BDAT read: Rx Time:19:53:22.6371 TRx dataTimestamp_ set to:1736538803.359603VFc>FZAM>%9x,[]^AZI5bI1jI1rI1zI5}:I1I1I1ۂ?y?9;Y>H@?*}? K? ul?&`7p?Q?ۂ?ɨ}; B II)A:JBJU9JJRJ ZJ   mv{~G,z*JJ)I)Mb@Mb@Mb@ )Iyn?V-{GzV>h ~A)b@I@iH5H5xV5< =Y;;8Q >٣ GFS >]G59*p?aG5Y iB"!>m;J?q@qD;;G5  ADNOT Ignoring new targets: 13.20 m.hhhhhggbgjg1BeejeJe:e @ ŁBɛ =)  >i ) ;;11i5x=iMYqqIqIqGGG!IGBGGGG<G FD DDE5 EDAT read: 19:53:22.6372 LVL= 12624, 20401, 13554, 18355, AGC= 40, IDX= 452,-0.13,-0.796,-2.195,-2.752,-1.646, PHS= 0.938,-0.502,-1.110, RAW= 73.2, 7.5, CAL= 75.9, 10.0, ROT= 74.1, -10.0 Ygot valid direction response: 19:53:22.6372 LVL= 12624, 20401, 13554, 18355, AGC= 40, IDX= 452,-0.13,-0.796,-2.195,-2.752,-1.646, PHS= 0.938,-0.502,-1.110, RAW= 73.2, 7.5, CAL= 75.9, 10.0, ROT= 74.1, -10.0 PDAT read: Bearing 74.1, -10.0 (Local) ~Local bearing/azimuth received: Bearing 74.1, -10.0 (Local) DAT read: Range 10 to 50 : 13.4 m (Round-trip 17.9 ms) speed 0.0 m/s  ,DAT read: user:1321>  BDAT read: Tx time:19:53:23.7151  $Ping request sent. )%?I%¸2>i%~?%¸2! !%+r?4 D!翣1 ?I%Qi%?0%~?%¸2! ! :publishing transmit ping time  Fpublishing direction and range info!Y%=o[D? /N?ٖNs:?!9!! !)!I!i!!!!! !)!I!i!!! !%+r?4 D!翣1 ?I!i!!!! !VF F ZA M >u@x, ^AF?yF?9F(';YF>FH3!?@9?4?`?꥿py??F?ɨF*Ċ; Dn‚Bn IHvHv Y5%Ɛ= %s=Y-Ρ9Q -?)٣Q UGUFUμ U?Y]eG59]Ep?aeG5Y]  i]Bim8H?qm@]qD] :]~(;]G5 AZjߕ]m?bjW iid^AjfVAjTA2j!@pz= @Ab)@[-v@zp=o[D? /N?ٖNs:?"j~?*j¸2p,$p=@P<[RR@p>zޙ?A~ }?i@j%iZXm?i}IV  jBzja #m?jOvl jBjj/MArjvO&@ addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 3.535124 s, deltaX: 0.200000 m, approachRate: 0.056575 m/s, rangeRepo size: 4  Added new target pos. range: 13.400000 m, bearing: 144.189910 deg, lat: 36.903926 deg, lon: -122.119020 deg, deltaT: 3.535124 s, deltaX: 0.200000 m, approachRate: 0.056575 m/s, posRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgeejeJe*@:ea?ÁBɛן*=) >i);i%5c=i5-19I9IA ~GDDDE_0 E !)U%Fx,^AĂB IH-H-MD5=< =I=YEQ E>A٣A EGAM M>Q]]G59Up?a]G5YU iUBYaqe@UqDUb;U ;UzG5i mAiDNOT Ignoring new targets: 13.40 m.hhhhhggbgjgeejeJe1:e5?雝Bɛ&=) ?i)/;隡i=iپIIDqDDE`0 EZIbIjI1rIzI:I9I3I:JnOBJ9JJRJ ZJ f<  %8-VF% ^>F ZA M- >G G G .!IG BG G G G <G FMx,C6^A2 ?y2.H?92@0g;Y25>2H?a???9 l`W??2 ?ɨ2; 2!C8: I)F= F=Mb@Mb@Mb@ )IyCl? rhI +O>C9 QA)I@i@@HH>51 B=YQ >٣ GF >]G59p?aG5Y iBa\>mv;i?q@qD@;?;*G5 A-DNOT Ignoring new targets: 13.40 m.h)h1h1h1hggbgjg%BeejeJe:ed1?Bɛ%=) ?i)u;il=itIID?DDEo0 EVFmc>FI ZAY M >^Sx,fP^A6w}?y6CI?@x+%p@?S?6w}?ɨ6; 4B‚BB IHJHJV85R  R_=YV:Q V>T٣T VGZFZ Z>\]bG59^p?abG5Y^e i^Bdf\g?qj@^qD^,;^S*;^\G5l nApDNOT Ignoring new targets: 13.40 m.hhhhhggbgjgeejeJe:e??%Bɛ%Et,=)%< % ?i!)-;))i-$=i511I1I9DDDE_1 EVF^>FZAM >I M A"Zx,oj^AbIz?yb?9b;Yby=bHN/?a@f?_?S?::{@2??bIz?ɨb`; b CvBv I:JMBJU9JJRJ ZJ5Mb@Mb@Mb@11 1)1I1y5?Dl~jt5>5O5ļ 5;A)5@I5@i5@11HEHE]5U) U1=Y];Q ]>Y٣Y eGae e>i]uG59mp?auG5Ym imܘB}Z>m}K;}yq?q}@mqDmv:m:mcG5 AEDNOT Ignoring new targets: 13.40 m.hhhhhggbgjg#BeejeJe:e@5?雍Bɛ%=) ?i)B;隑ix=iS IIG >G G A!IG BG G G G <G  FH HHH ="H =*H 5DDDE1 EVF c>F ZA M >Rax,y;^A>rw?y>?9>T=>H;?@t? j??`HpJ` ??>rw?ɨ>Q; `٣` fGfFf@ f>h]nG59jp?anG5Yj ij֘Bprn?qr@jqDju:j;jsG5t vAt%DNOT Ignoring new targets: 13.40 m.h!h!h!h!h!g!g)bg)jg)e)e1je1Je1:e5 @eBɛed<;=)a mn?ii)m<;iiim =iuN qqIqIyZIbIjIrIzIv:I9IIIU;qIV;iI2;uI3;mD?DDE\0 EVF^>FZAM> *? 4=,gx,^A2ymt?y2Dt?9264|٣ GF > ]G59 p?aG5Y  i ϘBj?q@ qD !; ";  G5-B -A-EUDNOT Ignoring new targets: 13.40 m.hQhYhYhYhYgYgabgajgaeaeajeiJei:em4@雝Bɛ"-=) ?i)/;隡im=iII^D%d=DDDE05 E:JMuKBJM9JJIRJM ZJM  $NG >G G G!IG BG =G G G <G FVF  BDAT read: Rx Time:19:53:26.1375  TRx dataTimestamp_ set to:1736538806.891088F ZA M >Dmx,I^AލBލ I5Mb@Mb@Mb@11 1)1I1y55㥽5` 5A)1I1i5@15@ IMAAHMHMGL5]L ],=YeQ m>i٣i mGiu u>y]G59}p?aG5Y}  i}ŘBؙ>m0;i?q@}qD}z ;}a;}5G5 0ADNOT Ignoring new targets: 13.40 m.hhhhhggbgjgBeejeJe:e` @Bɛ@- =)  >i ) ;  i(/=i%C!!I!I)^Dq<DqDqDqEu\0 EqZI%bI%jI!rI!zI%s:I%H9I!I!I%;I%;I%R;I%R;VF h>F ZA M >śtx,PTӭ^A20m?y2?92E΁B> IHJHJU5R+' Rm=YVeAhDNOT Ignoring new targets: 13.40 m.hhhhhggbgjgeejeJe:e6 @ Bɛ W3=)  >i ) L;i=i辉II!C)C)C)C) DAT read: 19:53:26.1375 LVL= 8368, 20849, 14322, 20083, AGC= 40, IDX= 439,-0.27,-2.209, 2.860, 1.733, 3.036, PHS= 1.126,-0.129,-1.306, RAW= 61.1, 3.0, CAL= 62.0, 1.6, ROT= 88.0, -1.6 Ygot valid direction response: 19:53:26.1375 LVL= 8368, 20849, 14322, 20083, AGC= 40, IDX= 439,-0.27,-2.209, 2.860, 1.733, 3.036, PHS= 1.126,-0.129,-1.306, RAW= 61.1, 3.0, CAL= 62.0, 1.6, ROT= 88.0, -1.6 PDAT read: Bearing 88.0, -1.6 (Local) %~Local bearing/azimuth received: Bearing 88.0, -1.6 (Local) -DAT read: Range 10 to 50 : 13.6 m (Round-trip 18.2 ms) speed 0.0 m/s 5,DAT read: user:1322> =BDAT read: Tx time:19:53:27.2151 =$Ping request sent.EzF gArF F ZA M > {x,K^A6Ni?y6-=?96їE^E ElA)E@IE@iE@AE@HeHeB5uc2 }6=Y}^;Q }>٣ GF >]G59p?aG5Y iBȟ>m*;X?q@qDf::$G5 A:JLBJ9JJRJ ZJaaYNC;  EZj}W"/m?bj}kf iyi}?٭^Aj}YAj}&XA2j}<*@p}u[]?z >,+@KM?zp}ܡ?0lR?|p}?"j} ?*j}p}([W@Y)?p}ŀ:?쿣?W?gf3:?i}@j}@i} sl?i}>e  j}Bzjyj}>e j}hBjj}QArj})@ addTargetRange:: Added new target pos. range: 13.600000 m, deltaT: 3.528979 s, deltaX: 0.200001 m, approachRate: 0.056674 m/s, rangeRepo size: 4 % Added new target pos. range: 13.600000 m, bearing: 152.860679 deg, lat: 36.903926 deg, lon: -122.119017 deg, deltaT: 3.528979 s, deltaX: 0.200001 m, approachRate: 0.056674 m/s, posRepo size: 4 %DNOT Ignoring new targets: 13.60 m.h)hhhh g g bg jgBeejeJe@33+@:e?GGG;!IGBGGGG<G F]=]>-Bɛ-=)) ->i))-+F ZA M= >dx,$ ^AIcIkw3IkS}.IcIcIcZI<bI>jI<rI<zI<I>ľ9I<I<I<I<I>;I>;-Og?y- ?9-a=YmV;Q m>i٣i uGquǼ u>y]G59}p?aG5Y}V i}BU?q@}qD}:};}G5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e U?mBɛm6=)q u7>iq)uFZA M% >Gx,#^A68c?y6"5?96˶X٣X ZGZF^! ^>!]%G59%p?a-G5Y% i%B)-R?q-@%qD%:%:%NG51 =0A9mDNOT Ignoring new targets: 13.60 m.hihihqhqhqgqgqbgyjgyeyeyjeJe:eqg?雭Bɛ'=) L>i)<\<隱i=i羉IIDqDyDE2 E:JMBJJJRJ ZJ   VFMc>FU.?FU?GGG"!IGBGGGG<G FFi ZAy M >x,U=^AB IMb@Mb@Mb@ )IyCl?A`"y&1;>ٽ` VA)@I@iZ@z@HH~N5r 7=YQ >٣ GF >]G59q?aG5Y] iB ֨>m  ; MJ?q @qD;;G5 uAMDNOT Ignoring new targets: 13.60 m.hIhIhIhQhQgQgQbgQjg]BeYeYjeYJea:ee V?雍BɛՖ=) >i)<隑i=i羉IIDe?DaDaEe65 EaI)ZIbI}jI0rIzIp:IS9Iـ3II;I;I:I: GG1 I)03y+%BVFe^>FI ZAY Mu >x,pW^A:[?y:z5?9: \٣\ ^G\b b>d]jG59f)q?ajG5Yf6 ifBhj$B?qn@fqDf:f;fEG5p rApDNOT Ignoring new targets: 13.60 m.hh!h!h!h!g)g)bg)jg)e1e1je1Je1:e5@eBɛmXZ=)i m^>ii)mVFZAMM>x,Kq^A20W?y2ć?92 =Y2Yݭ=2H_;?? ?K?<R ᱵ??20W?ɨ2; 0B}BB I:J=:LBJ=U9JJ9RJ= ZJ=]Mb@Mb@Mb@YY Y)YIYy]MbX9?S㥛]ʡ>]]/ݼ ]@)]@IYi]-@Y]@HuHu#U5O< ==YJ٣ GFQ5 >]G59q?aG5Y iB>m;0?q@qD:: G5B AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e@%Bɛ%=)! %>i!)-<))i-l=i5GGG!IGBG =GGGǰ<G F11I9IADDDE_0 EVFh>zFrFF ZA M >  A- BDAT read: Rx Time:19:53:29.6376 - TRx dataTimestamp_ set to:1736538810.168570x,&^A6GR?y6*A?96k=Y6˄=6H(?z0?F?`H3?ÁR `L??6GR?ɨ6yb; 6$CBiBBg IHJHJxV5Rݽ RZ=YVJ$T٣T VGZFZKV Z>\]bG59^ q?abG5Y^ i^{Bdfr+?qf@^qD^;^.;^QG5p rAt=DNOT Ignoring new targets: 13.60 m.h9h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eM@BɛQ=)= >i)OQ$<i=i羉IID?DDE EVFuc>FI ZAQ Mm >"Өx,}^A6L?y6e?96S'=Y6]=6H ;?`' /`?D??5w*ҳ??6L?ɨ6و; 6"CBgBBd IHHHHf fH=Yfh٣h jGhnE n>p]vG59r=*q?avG5Yr irpBtzJ&?qz@rqDr:r:rG5| ~A|5DNOT Ignoring new targets: 13.60 m.h1h1h1h9h9g9g9bgAjgAeAeAjeAJeI:eM @eBɛm=)i m>ii)m)<隉i`=i羉IIZIbI|jI1rIzIv:I@9I3Iq@i@u@m@D?DDE E:JuBJu9JJqRJu ZJuJ ? J?GGG IG΂BGGGG<G FH HHH ="H =*HǤy4VF) F ZA M- > DAT read: Range 10 to 50 : 13.8 m (Round-trip 18.4 ms) speed -0.1 m/s  ,DAT read: user:1323>  BDAT read: Tx time:19:53:30.7151  $Ping request sent. =h=C =h@)9I=@i=@9=3@HUHU7`5e'; e3=Yei٣i mGmFu< u>y]G59}5q?aG5Y} i}fB$>m;?q@} rD}:}R:}G5 AE addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 3.527888 s, deltaX: 0.200000 m, approachRate: 0.056691 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe+@:e?Bɛ=) >i)%ZQ.浫x,خ^A2ZB?y2 z?92Y@E=Y2`>=2H?r? Ċ?`?N?@ޱ? ?2ZB?ɨ2܈; 2!C^_B^[ IHfHfaO5n= ng=Yr%p٣p vGvFvm z>|]H59~>q?aH5Y~E i~_BX?q @~rD~h:~2:~H5 AMDNOT Ignoring new targets: 13.60 m.hIhIhIhIhQgQgQbgYjgYeYeYjeYJea:ee@J?%Bɛ%=)) -̸>i))-2Ux,\s^A:JHBJJK9JJHRJJ ZJJJRfAIRcAVq9?yV~q?9V@[=YVB=VH ?,?`??t?@+m"??Vq9?ɨV.; T^^B^Z IGQGQGU IGUBGU =GQGQGUװ<GU FMb@Mb@Mb@ )Iy/$?333333ÿQ>u ~@)@I;@iz@HH?5٣ G >] H59Kq?a H5Y iTB>m;^?q@rD;;H5 AMDNOT Ignoring new targets: 13.60 m.hIhIhIhIhIgQgQbgQjgUBeYeYjeYJeY:e]`f-?-Bɛ-=)) ->i))58<11i5>=i=羉99I9IA^DEd=D?DDE0 EVF h>F ZA M >cëx,"8^AJa3?yJnl?9J7i=YJ=JH'N? m_`u?t?c?r)z?1y?@?Ja3?ɨJm; J"C^aB^^ IHfHfB5r< r^=Yrt٣t vGvFzp z>|]H59~Tq?aH5Y~N i~LB?q @~%rD~:~:~F H5B AEEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgAgAbgIjgIeIeIjeQJeQ:eU|?EBɛEo#=)A E\>iI)M <E>VF c>zF rF fAFq ZA M >ɫx,K(^A2'-?y2e?92Op~=Y22s=2H ?@ Tɵ?l? ?_>?ȯ ]?@?2'-?ɨ2f{; 0>ZB>T IHFHFa5N NH=YRNKP٣P VGVFVz V>X]^H59Z$`q?abH5YZ iZCB`b>qb@Z.rDZ:Z:Z H5d fAhDNOT Ignoring new targets: 13.60 m.hhhhhg g bg jg e ejeJe:e ?EBɛEl=)A E>iA)M7ZAFЫx,B^A!&?y,f_?9L$=Y{`=H ?f?Ou??Z?B!?^?!&?ɨ.d; ^BZ IuMb@Mb@Mb@qq q)qIqyu +?333333ÿMbuȶ>qu uQ@)u@Iu~@iu@qu@HHb5{< =Y٣ GK#  > ]H59 qq?aH5Y  i 6BN>m ;>q@ =rD ; ; .H5%B -A-EUDNOT Ignoring new targets: 13.60 m.hQhQhYhYhYgYgYbgajgmBeieijeiJei:eub@雝Bɛ=) >i)H<隡iy=i羉IID- ?D) D) E5 ?5 E1 VFU ^>F] ?F] ?F)ZA9MU>׫x,`^ABV ?yBX?9BhÑ=YBN=BH`#? ̷?m?q@?G? }4@é??BV ?ɨBy; @NcBN` IHZHZa5b= b=YfHqv@nDrDn;n;nH5x zA|%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g)g)bg1jg1e1e1je9Je9:e=\ @aɛeK9=)a mH>ii)m-*LF9ZAqM >:J &~JBJ ŷ9JJ RJ ZJ    G G G IG BG G G G <G Fݫx,܁z^A2~?y2~R?92r=Y2.C=2H?SW@? a?r?h? ;`N??2~?ɨ2; 2!C88Mb@Mb@Mb@ )Iy/$?OnÿMb`1> )-@Ih@i@HHX5: ==Y3٣ GFj >]H594q?aH5Ye i(B<>m:>q@PrD;v;JH5 A DNOT Ignoring new targets: 13.60 m.h hhhhggbgjg%Be!e!je!Je!:e- ~@uBɛuܓ=)}Ly9= }>iy)}2Q DAT read: Range 10 to 50 : 14.3 m (Round-trip 19.1 ms) speed -0.2 m/s  ,DAT read: user:1324>  BDAT read: Tx time:19:53:34.2151  $Ping request sent. )} 0yy } "BSx,c^A6G?y6K?96=Y6>=6H`,Q?-??r??@L m?^?6G?ɨ6; 6#C^kB^i IHfHfZ5n= nY=Yr5p٣t vGtv͎ v>x]H59zq @zZrDz=;z;zH5B ~AEM addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 3.286301 s, deltaX: 0.500000 m, approachRate: 0.152147 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 13.60 m.hIhIhQhQhQgQgQbgYjgYeYeYjeaJee,@:ee?雕BɛN,=) >i)V<隡iƭ=i羉IIDM?DIDQEUm0 EQEYE]>MJDAT read: TxSync time:19:53:34.2143 VFuc>zFyrF}gAFIZAQM> A A x,S^AZIZbIZxjIZ1rIXzIZs:IZ9IZ3IXr ?yrrE?9rf=YrH=rH?@/?:??A?&V?/?r ?ɨrP; r$C~hB~f IHH:5]E e4=Y;Q >٣  G FT E>I]MH59Mq?aUH5YM iMBQU>qU@MfrDM:M:MH5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeeje Je :e `=?UBɛUՉ=)Q m>iq)u,]>x,ȯ^A=rBEr IMb@Mb@Mb@ )Iy7A`?nMbp>V ;@)Z@IAi@@H H T_5F= O=Y%Q %>!٣! -G-F- ->1]=H595q?a=H5Y5 i5BE>mE:Ep>qE@5qrD5=3;5g1;5#H5Q UFAYDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e`H?Bɛt9=) >i))b<i=i羉II^DDDDE_0 EVF F ZA M >hx,^AsBs IH%H%B55x; 5C=Y9Q =>9٣9 =GAA M>Q]]H59Uq?a]H5YU iUBYYq]@U}rDUh:U:U&H5a mBAmEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e@Y?Bɛ1=) >i)sg<i ^=i羉II^D[1=D}?DyDyE}H3 EyEEVFh>F?F ?GU >GQ GQ GQ GU =GQ GQ GU <GU FH HHH"H*Ho4Fy ZA M >:J MBJ @9JJ RJ ZJ x,4^A!!Mb@Mb@Mb@ )IyuV?T㥛 r> VA)@IAi-@@HHuZ5:  >=Y Q >٣! %G%F) ->1]EH595q?aMH5Y5 i5BM;>mM:M>qM@5rD5F;5#;5r*H5Y ]?AYDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e@߫?雕Bɛ.=) #>i)?n<隙i=i羉IIZI}bI{jI0rIzI[j:I-9Iـ3II;qI;iI:uI:m^DQ9=D ?D D E o0 E VF c>FZAM>x,ۥ^ABZ>yB()?9B-=YB&K=BH)%? X~ d??S?ޔ?۸uC?@C?BZ>ɨBI; B!Cb|Bf IHnHn Y5r-$= v6=Yv=Q v>x٣x ~G~F~} ~>] H59Cq?a H5Y iB >q@rD;;W.H5 AEMDNOT Ignoring new targets: 13.60 m.hIhIhYhYhYgYgYbgajgaeaeajeiJei:em`g@雕Bɛں9=) ">i)2wt<隙i5=i羉IICCCCD?DDE31 EVF F ZA M5 >Z7 x,n7^AGDGDGF IGFBGF =GDGDGF߰<GF F]vB]w I)m= mp=:JBHBJ}9JJRJ ZJdIy@8o6r/f Mb@Mb@Mb@   ) I y /$?1Zd~jth &> "۽ D @) @I $Ai @  =@ !%@AH%H%_55 57=Y=Q =>9٣9 EGAE E>I]UH59Mq?aUH5YM iMB]M>m]:]>q]@MrDM;M ;M:2H5a e,AiDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBe!e!je)JeQ:eU` @MBɛUV0=)Q U>iQ)UUm{% BDAT read: Rx Time:19:53:36.6397 - TRx dataTimestamp_ set to:1736538817.231209ZI |bI }jI 1rI zI ;g:I S9I 3I I ֊;I ׊;I :I : x,QMQ^An1V>yn%&?9n1*=Ynz@=nH '??@h ?\??p @ܧ?u?n1V>ɨn; n#C~uBv IHH R5%RO %^=Y%0)٣) -G-F5 5>9]EH59=jq?aEH5Y= i=ؗBAE_>qE@=rD=~:=:=t5H5UB U4AUE%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g)g)bg)jg)e1eQjeQJeY:e]` @ɛD=) o>i)B<ij8=i羉II D?DDE_0 EVF^>F ZA M >RKx,V-k^A f>y L.?9 u=Y @5= H?`[s?@f?`_?@?A˻@e?? f>ɨ .; !C=sBEt IH}H}W5T D=Y;Q >DAT read: Range 10 to 50 : 15.3 m (Round-trip 20.4 ms) speed -0.4 m/s ,DAT read: user:1325> BDAT read: Tx time:19:53:37.7152 $Ping request sent.Q]]H59US r?aeH5YU iUɗBaea>qe@UrDU12;UqCi))-,<))i-l=i5羉11I9I9:J-OBJ)JJ)RJ- ZJ- 44yB{eRC5|uojda]XUTSPJB>:6421,(#D?DDE4 E JDAT read: TxSync time:19:53:37.7144 VF c>F ZA M >"x,^Av>yv\~?9v`=YvE&=vH?@ ߿`2O??M?[?? ?o?v>ɨvV; v C uBv I))Mb@Mb@Mb@ )Iyx&1?Mb{Gz?# VA)@I;Ai@@HHdK5; -=Y)٣ G >]H59,r?aH5Y iB ?m : >q @rDY;Y;8=H5 ;AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e`?iɛmxL=)i u>iq)uz = :?Z6(x,q^AF>yFk?9F=YF=FH"?޿ڽ?@j?`?)Ú?Phmݠ?K?F>ɨFo8; F!CRjBRh IHZHZS5bs f^=Yf;Q f>h٣h jGjFj, j>p]vH59r/,r?avH5Yra irBtzI>qz@rrDr:ru:rn@H5y }ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eP?ɛ `B=)  >i )  <iZ=i羉II!D?DDEo0 EHHVFu^>FIZAYMu>G G G IG BG G G G <G F_.x,y:e>9:P=Y:=:H`:?Y&ݿj?@3?@Fw??`ؽ@? ?:o>ɨ::; :"C:JR]OBJR@9JJPRJR ZJR  (} d5:r#gZ`BZ] IeMb@Mb@Mb@aa a)aIaye"~j?I +~jteS?e9eD eA)e$@IehAie@aef@H}H}:5+ >=Y݃;Q >٣ G FXg >]H59=r?aH5Y iBH?m:>q@rD ;;0DH5B A~EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg-Beeje Je :e U`?5Bɛ56=)9 = >i9)=<99i=t=iE羉AIIIIQ^Dп8=DIi)i ~GD%?D!D!E%_0 E)-SkAEAEE> I)}.y}SkA}} BIـ3I(3I(.IIIZI ~bI zjI 0rI zI {m:I 9I ـ3I I <;I =;I P:I R:VFQ zF] hArF] hAF1 ZA9 MU >X5x,5Eذ^A:k>y:>9:I=Y:#=:H ?ۿݔ?i?F?b?W`a??:k>ɨ:M; :$CB^BBY IHNHN6=5Z[ vH=Yzr;Q z>|٣| ~G|~E >] H59SOr?aH5Y iB>q@rD;3;GH5! %A!]DNOT Ignoring new targets: 13.60 m.hYhYhYhYhYgagabgajgaeieijeiJei:eu ?雙ɛ5=) {>i) g<隡i=i羉II^DKY=DE?DADAEM 1 EIVF%c>F ZA M- >H H BA;x,J ^A:#P>y:>9:1=Y:=:H?@ ڿp)? < ?`4?6ޑ?@R N?-?:#P>ɨ:dΈ; :#CBPBFH IH^H^uZ5fӅ fI=Yj0;Q j>h٣l nGn Fr r>t]zH59v`r?azH5Yv iv|Bxz>qz@vsDv::v:vNKH5B mA{EUDNOT Ignoring new targets: 13.60 m.hyhhhhggbgjgeejeJe :e=6@GqGqGu IGuBGu =GqGqGuj<Gu F ɛ 7)=)  >i)IB<i0=i羉!I!IQ:J^OBJJJRJ ZJL9j"[> w`E5:?-~wj]XTW_f_]YVJIfA^D|^=D1 D1 D1 E5 `0 E1 VFmh>F}?F}?FAZAYMu?fDx,v^AF2>yFvH>9F=YF =FHN?@V]ؿg?p? ?@? 㿿? ^?F2>ɨF8; F$CNKBNC I=Mb@Mb@Mb@99 9)9I9y=E?KMb=?=^= =A)=@I= Ai=-@9=AHUHUV5m拼 m=Yuf;Q u>q٣q uG} F},` }>]H59vr?aH5Y ieB?m:(d>q@sDm ;:OH5 AxEEDNOT Ignoring new targets: 13.60 m.hIhIhIhQhQgYgYbgYjge2BeqeqjeqJey:e} P@1ɛ5 '=)9 ]J>iY)]F ZA M >>ZKx,/^A:A8>BDAT read: Rx Time:19:53:40.1416 >TRx dataTimestamp_ set to:1736538820.7595096e>y6T>968y>Y6=6H?ֿ?@?m???@$`8?_?6e>ɨ6Q; 6#CHjC=Hj4=ZInbIn|jIlrIlzInp:In@9IlIlqr@ir@ur@mr@56B=( IHuHuZ55 2=Y\;Q >٣ G F_s >]H59ފr?aH5Y iQBBH>q@"sD ;!;SH5 DADNOT Ignoring new targets: 13.60 m.hhhhhggbg!jg!e)e)je)Je):e5@ɛ!=) V>i)V^<i=i羉IIDe?DiDqEu%5 EqG>GGs IGsBG =GGG<G FH HHH ="H =*Hn4:JOBJh9JJRJ ZJTVVRLJC?;8972//0'"   oW% J> J?VFeh>FY ZAy M >z:Rx,XI^Aޝ!Bޝ I-Mb@Mb@Mb@)) )))I)y-K7?B`"۹I +- ?-ν-9 ))-;@I- Ai))-AHAHAU  ]>=Y]Q ]>Y٣a eGae e>i]uH59mr?a}H5Ym im=B}? ?m}:}9>q}@m1sDm;m;mWH5B AuEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg!BeejeJe:e @DAT read: Range 10 to 50 : 16.6 m (Round-trip 22.2 ms) speed -0.4 m/s ,DAT read: user:1326> BDAT read: Tx time:19:53:41.2152 $Ping request sent.i)VM<i!=i羉IID?DDE35 EVF zF gArF F ZA E JDAT read: TxSync time:19:53:41.2144 Me >iXx,{Ic^AJٻ=yJ>9Jr>YJt=JH@z3?@`ӿT?U?%z?pv?b ?v?Jٻ=ɨJ; HfBfIHnHnob5vѽ vd=Yv);Q z>x٣x ~G~ F > ]H59 Rr?aH5Y  i +B>q@ =sD ; : ZH5) -A)] addTargetRange:: Added new target pos. range: 16.600000 m, deltaT: 3.527394 s, deltaX: 1.300000 m, approachRate: 0.368544 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 13.60 m.hYhahahahagagabgijgieieqjeqJeu0@:euf?雩ɛ=) Hs>i)<隱i"=i羉IID?DDE]0 EHHZIzbIyjIrIzI`:I9IIVFc>FZAM>G G G M IG TBG G G G <G FQ^x,}^A67́=y6ii>96a>Y6=6H` x?Aѿ`?@?:?ԛZ?E`?w?67́=ɨ60; 6!CBBBIMMb@Mb@Mb@II I)IIIyMK7?T㥛 ~jtMI ?MMļ MA)M@IIiMC@IMAHeHeDP5:J}MBJ}K9JJyRJ} ZJ}/@Uhrv~|JgAIgAm A=Y Q >٣ G >]H59 r?aH5Y iB?m:f=q@LsD; ;P;^H5 ArEDNOT Ignoring new targets: 13.60 m.hhhhhggbg jg Be e je Je:e@8J?9ɛ=d=)= ȁ= EzT>iA)EFi ZAq M > wex,얱^A69=y6Q}>96r>Y6l9=6H ?Ͽ? ?@?<|cC5 ??69=ɨ6N; 4BBBIHJHJB5R< R[=YVQ V>T٣T VGVFZ8 Z>\]bH59^vr?abH5Y^ i^Bdjc<qj@^ZsD^B;^Y@;^aH5n B n AroE DNOT Ignoring new targets: 13.60 m.h h h h h ggbgjgeejeJe:e%?EBɛMX]<)Q U&>iQ)UF ?F ?FZAM>4kx,Lǰ^A>';y>;i>9>>Y>c% =>H[?`\̿ ? ?/?Șqu`-?`?>';ɨ>=; t٣t vGvFv v>x]H59zr?aH5Yz izB9q@zhsDz;z;z\eH5  ` AEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgAgIbgIjgIeIeQjeQJeQ:eU ?雁ɛd<) =i)c<隉i%=i羉IID1D1D9E=0 E9G>GG IG,BG =GGG<G FVFF:JpkNBJJJRJ ZJxrlfc^XTQNJEB8*  ZA >#?M5>rx,ʱ^AB%IMb@Mb@Mb@ )Iyn?~jtÿX9vV? )~@IM Aip@AHHa5 :=YQ >٣ G >]H59r?aH5Y iؖB?m:I)q@xsD@;>;2iH5! % A%lEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e?eBɛj <) =i)<隑ik'=i羉II^DZ=D D D E _0 E VF ^>zF rF FZAM>yx,n^ABy}@yB/>9BD>YBs=BHF?PſG?K?`R?`_= q??By}@ɨB; B CNBNIHVHVi5riz v7=YvN;Q v>t٣x zGzF~ ~>]H59s?a H5Y iB  Ƚq @sD:-;mH5! %l A%iEUDNOT Ignoring new targets: 13.60 m.hQhQhQhQhQgQgYbgYjgYeYeajeaJea:eep@雕Bɛjv<) 0Y=i)ޝ<隙i(=i羉II^D(z=DE?DADAEE0 EAZIzbIyjI0rIzI`:I9Iـ3IG)G)G-IG-BG)G)VFc>G)G-v<G- FFa ZAq M >:J ,MBJ 9JJ RJ ZJ  Àx,P5^A2@y2`>92>Y2^<2H`l?? ? %?@&88y?@O?2@ɨ2aވ; 2!C:B>hIRi>iR4<)V= V=mMb@Mb@Mb@ii i)iIiym(\?gfffffƿMbmz?m33m m;A)mVAIm Aim@imAHHT_5 >=YxùQ >٣ GF >]H59&s?aH5Y iBN?m:xq@sD;:pH5 4 A]DNOT Ignoring new targets: 13.60 m.hYhYhYhYhagagabgajgm܁BeieijeiJei:eu@@雽BɛL<) ;i)w<  i *=i羉II -GkA )t0ykA"B=BDAT read: Rx Time:19:53:43.6440 ETRx dataTimestamp_ set to:1736538824.287094^D3=De ?Da Da Ee _0 Ea VF^>FF ?FaZAyM?x,!#^AF@yF"=9F>YFkh٣h jGjFn n>p]vH59r=s?avH5Yr! irBxzpWqz@rsDr%;r:r uH5~!B ~ A~fEuDNOT Ignoring new targets: 13.60 m.hqhyhyhyhygygybgjgeejeJe:e @雽Bɛ<) i)% 5BDAT read: Tx time:19:53:44.7652 5$Ping request sent.5F ZA M >x,?^A>g@y>wi=9>Ư=Y><>H ?R ???`&࿿x:? ?>g@ɨ>}; Y٣Y ]GY] ]>i]uH59mSs?auH5Ym imsBu?mu:uVqu@msDm:mb:mxH5 d AcE addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 3.528590 s, deltaX: 1.900000 m, approachRate: 0.538459 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.60 m.JDAT read: TxSync time:19:53:44.7644 :JE LBJE}9JJARJE ZJE  JM? JM,?hQhQhQhQhQgYgYbgYjg}BeejeJe2@:e`?Bɛj<) i)s <i]-=i羉IID?DDE05 EVFF ZA M >ZI {bI jI rI zI d:I y9I I I #;q I $;i I ::u I <:m 䕬x,=X^A2@y2*<92_=Y2*<2H?ԩme?@? P?7 :??2@ɨ2; 2!C>YB>IHFHF@T5N NX=YRaQ R>P٣T VGVFV2 V>X]^H59Zfs?abH5YZ iZ^B`b吾qb@ZsDZ;Z;Z6|H5d fBAhDNOT Ignoring new targets: 13.60 m.hhhhhg g bg jg eejeJe:e+?Bɛ6<) i)D<  i %/=i 羉I1I9DDDE4 EVFzFrFFZAM5 >Jx,r^A:@y:1 @9:Wr=Y:{+=:H?@Nv?Ͳ?`B ? |F K?@?:@ɨ:q`; :"CFOBF IHLHN@AHRHRY5ZH ZI=YZyQ Z>\٣\ bGbFb b>d]nH59fzs?anH5Yf ifGBpr^qr@fsDf9;f=3;fH5t vAvbEDNOT Ignoring new targets: 13.60 m.hhhhhg!g!bg!jg!e)e)je)Je):e-^?]Bɛeq<)a eDia)eJF ZA M >x,m^A:@y:U @9:=Y:{=:H ?1?@?ٹ@?(EH̢??:@ɨ:M; 8R=BRI@ @ @  %@% H%H%{R55i 5B=Y=PQ =>A٣A EGAE E>I]UH59MNs?aUH5YM iM0Bi]+:Ym]:]q]@MsDM;MD>MH5a mAiDNOT Ignoring new targets: 13.60 m.hhhhhggbgQjgQeYeYjeYJeY:e]ݮ?雥BɛF;) Ai)<隩i:2=i羉IIZI|bIwjIrIzI;g:I9III֊;I׊;I:I:DDDE_0 EVF m>F ZA M > x,I^A6C@y6+@96^J=Y6i-=6H?a4?7? `!? :B׽@ף??6C@ɨ6; 6$CB4BBIF4>iF>HfHfi5nQ7 nP=YrQ r>p٣t vGvFvț v>x]~H59z?s?a~H5Yz6 izBi :m_:_q@zsDz;zP?zH5 "B kA_EEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgAgIbgIjgIeIeQjeQJeQ:eU`ך?}Bɛ}Y;) LVi)<隁i,3=i羉IIDgAzDfADIDIDQEU`0 EQaaVFc>FZAM>G G G :IG uBG =G G G Ѱ<G F x,4^AF9 @yF/@9F(=YF=FH?"??Ҷ? (섽 "Q >٣ GF/ >]H59ҷs?aH5Y) iBiT:$?m:Ҿq@ tD;;׈H5! %#A%\EUDNOT Ignoring new targets: 13.60 m.hQhQhQhQhQgQgQbgYjg]BeYeYjeaJea:eeQ@雝Bɛp:)є= Qi)Q˖<隡i>5=i羉II:JBJ@9JJRJ ZJ)mc~vslf^QECBCC=J- ? J-?DDDEo0 EVF ZI wbI tjI 1rI zI W:I 9I 3I I z;I z;I :I :F ZA M >2x,ٲ^A:@y:/@9:=Y:S =:H??߻?@п?% #@? 3?:@ɨ:; :"CFBFIHN HN1h5VS Va=YVQ Z>X٣X ZGX^ ^>`]fH59bMs?afH5Yb ibBdjqj@btDb:bh:bH5p rpAp DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgee!je!Je!:e%7@UBɛUb)Q UCiQ)]$'\x,^ABDAT read: Rx Time:19:53:47.1969 TRx dataTimestamp_ set to:1736538827.816220Bq%@yB4@9B=YB2Q U>Q٣Y ]G]Fe e>i]uH59ms?auH5Ym imەBq}q}@m-tDm';m;mH5#B AYEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e`@Bɛ) Wi)0<i88=i 羉 t< J>I IG>GCGIGLBG =GGG<G FDDDE05 EE>E>VFFZAM >:J- !NBJ- 9JJ) RJ- ZJ- 61/*(&"    J1 I1 xDìx,g ^Af:@yfJ@9f5=Yfr٣ GF: >]H59^s?aH5Y iĕBu&?m:Iq@@tD::H5  AVE=DAT read: Range 10 to 50 : 20.6 m (Round-trip 27.5 ms) speed -0.5 m/s E,DAT read: user:1328> MBDAT read: Tx time:19:53:48.3153 M$Ping request sent.MII^Dxr=D D D E z0 E  JDAT read: TxSync time:19:53:48.3145 VF >FZAM>&ʬx,o,^A2]@y2l@92=Y2<2H= ? ?eI? \2ʿJ?`9m ?`?2]@ɨ2f; 2 C>B>IHf Hfg5nkܼ nB=YnQ r>p٣p vGtv4 v>x]~H59zLt?a~H5Yz izB q @zQtDz}K;zWL;z]H5 )AEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgIgIbgIjgIeQeQjeQJeQ:e]`O;?雅Bɛ) 멾i)x<隉i;=i羉R<CSX>II^Dv=DDDE5 EVF߀>FZAMG>G >G G IG 3BG  =G G ADG <G  F9Ѭx,vF^A:J^MBJ^9JJ\RJ^ ZJ^Jf? Jf?rBrIMb@Mb@Mb@ )IyMb?K7A`ſ ?+̼  A)AIAih@A  AAHH]5-$ -8=Y5Q 5>9٣9 =G=F= =>A]MH59Et?aMH5YEo iEBU;&?mU:UlqU@EdtDE ;E;E@H5Y eAeSEI) ]H~GujA )},yjA#BDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgˁBeejeJe:e I?]Bɛe)a eкia)mtII^D=Da Da Da Ee 0 Ea VFp>FaZAqM?T٬x,%#g^A:B@y:@9:|=Y:2_<:HΖ? &?R? ѿ@E?ۧ4广@?u?:B@ɨ:z; :"CNBNIHVHVC5bbݻ b0=YbQ f>d٣d fGfFj_" j>l]rH59n92t?arH5Yn| inBpv qv@nwtDn:n:nKH5z$B zA~QE%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g!g)bg)jg)e1e1je9Je9:e=#S?%Bɛ%)! %[i!)Mڈ=iU羉U`IQIYCaCaCaCaձձZIbItjIrIzII9IIq-@i-@u-@m-@DDDE12 EVFwc>F ZA M >G >G G IG BG  =G G @DG p<G F6;x,Y^ABIuMb@Mb@Mb@qq q)qIqyuCl?MbX9Ŀ rhu;?u!uC u~A)uAIqiu~@quAHH^5O 0=YQ >٣ G >]H59Gt?aH5Yn ioBX$?m:q@tD ;/;ZH5 AREDNOT Ignoring new targets: 13.60 m.hhhhhggbg jg ́Be e jeJe:e ׿?EBɛE.)I MkþiI)M1IYIY:JJBJ9JJRJ ZJD?DDE3 EVF] \>F9 ZAY M >ax,Ú^A2@y2"@92ji=Y29<2H&??T?[Կ@?ҟ"F`? ?2@ɨ2׍; 2 C8FZAM (>ˌx,n^A6¾@y6$ν@96(=Y6m<6H ?8?X?6տ Z?; $g?G?6¾@ɨ6*; 6"CBBFIHNHNkf5V VX٣X ZGZF^r ^>`]fH59bht?afH5Yb` ibPBdjqj@btDb\:bh:b٩H5Hn4=HnC=I#I+3I+.I#I#I#ZIvzbIvvjIv1rItzIv`:Ivϣ9Iv3It|  ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e@M@]Bɛ],>)a eJϾia)m GGIGBG =GGGc<G FHUìC HUìCHQHU ="HU =*HUM5D!D!D)E) E)VF|3>FZAM-p>:JE BJE 59JJA RJE ZJE ux,Mγ^AR"@yR@9RϿ=YR=RH?E?2? ]J׿ӻ?`@(à??R"@ɨRЋ; R!CZ߀BZI=Mb@Mb@Mb@99 9)9I9y=Mb?Qy&1= ?=\=`e = A)9I9i=A9=AHeHeb5tX 8=Y@Q >٣ GN >]H59|t?aH5Y i?B$?m:6q@tD::H5 %(A%LEeDNOT Ignoring new targets: 13.60 m.hahahahihigigibgqjgu߁BeqeqjeyJey:e}"@雥BɛW) zԾi).||<隩ivD=i羉f <y=IIBDAT read: Rx Time:19:53:50.7500 TRx dataTimestamp_ set to:1736538831.344058D)D)D)E-o0 E)VFJ!>FZAMD>x,~T^ArZ[@yrj@9r?D=Yrv=rH ri??`@߱?ؿVy?Q@`|??rZ[@ɨrDL; r C ݀B IH%H%e55I 5V=Y=VQ =>A٣A EGEFE` M>I]UH59M\t?aUH5YMA iM0BY]q]@MtDM ;M;MH5a m;AiDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e @Bɛ}) ؾi)>w<iPF=i羉7y<W=IID)D)D)E-1 E)DAT read: Range 10 to 50 : 22.8 m (Round-trip 30.5 ms) speed -0.7 m/s ,DAT read: user:1329> BDAT read: Tx time:19:53:51.8653 $Ping request sent.F]?F]A?F ZA M5 >G G G IG BG  =G G G y<G F x,O^A-G@y-ͻ@9-ʸ=Y-k+=-H-??@i3?pٿ@$8?eز`o@_?N?-G@ɨ-I3; -"CEـBE{IMb@Mb@Mb@ )IyT㥛 ?y&1:v!?`T  A)IAiA A=<JDAT read: TxSync time:19:53:51.8645 HHe5! <=YQ >٣ GF%4 %>)]5H59-t?a5H5Y-M i- B=#?m=:=4q=@-tD-,:-:-۴H5E%B EbAMJE} addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 3.527663 s, deltaX: 2.199999 m, approachRate: 0.623642 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe6@:e?雝Bɛȿa) ߾i)`p<iG=i羉<cTF=II :JBJ9JJRJ ZJE_2 J)I)D?DDE1 EVFB>FZAM>x,c^A~ҀB~rIH H JH5 %\=Y%Q %>!٣) -G)- ->1]=H595t?aEH5Y5 i5BAAqE@5tD5A;5 ;5H5I MAUGEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e+?-Bɛ-)) 5i1)5nNk<11i5\H=i=羉=s x,%5^AB@yB@9B=YBw=BH p?:?>?ۿ{?`ϝﳿ`R׮?3?B@ɨB; B CH\H^%=ZIfwbIfujIf1rIdzIfW:If9If3IdnրBnwIIp)ptvAHzHzQc5< L=YVȼQ  > ٣   G F}Ž >]%H59t?a-H5Y  iB)- q-@tDp::H51 =zA9mDNOT Ignoring new targets: 13.60 m.hihqhqhqhqgqgybgyjgyeyejeJe:e`J?雭Bɛ8듼) i)e<隱iJ=i羉<tGAGEIGEBGAGAGAGE<GE FD%?D)D)E-_0 E)VF=FZAiMi>:J} LBJy JJy RJ} ZJ} $&%%()(,//-/-*)'"!J ? J !?x,eO^AV^@yV @9V=YV]=VHv?'?j?ܿh?n|߲?@!?V^@ɨV_; V$CjՀBnvIeMb@Mb@Mb@aa a)aIayejt?~jtMbe ?eĽe a)aIe3AieAae AH}H}B5˗ B=Y!Q >٣ G F >]H59t?aH5Y iB"?m:q@ uD';';GH5&B ADE DNOT Ignoring new targets: 13.60 m.h h h h h ggbgjgBeejeJe!:e%T?Bɛw@) i) ^<ilK=i羉/D<;IID?DDE EVFo7=F ZA M >x,i^A2;@y2@92\=Y2'=2H@[K?@?K?ݎݿ@a7?e籿S?@?2;@ɨ2,; 2"C>΀B>mIHFHFZ5R% RZ=YR%Q R>T٣T VGTZv Z>\]bH59^t?abH5Y^x i^B`b!qf@^uD^:^:^H5j%B jAjFEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eg?Bɛ*갼) i)Y<i؇L=i羉+<rIIDiDiDiEm`0 EiVFEp=FZA)ME0>G5 >G1 G1 G1 G1 G1 G1 G5 <G5 F@ x,ӆ^Au[@yufj@9uM=Yup=uH K0?kB?n?@ݿ?'e` ? ?u[@ɨul; u$CލBލ[IR>i>)R= a==Mb@Mb@Mb@99 9)9I9y=Mb?/$~jt=#?==D =A)9I=IAi=;A9= AHUHUY5e u1=YuQ u>y٣y G!F >]H59Mt?aH5Y iݔB$?m:gq@.uD@Y;,q;H5&B 9ACEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e@=ƁBɛ=`)9 =yi9:JtMBJ9JJRJ ZJ H')}P< ~GkA 隱 i#M=)5b#y5kA5Bi}羉}DR<}.b#IyIDzDgAD-?D1D1E5_0 E1VF \`i<FZAM >ZI bI |jI 2rI zI I @9I c3I I z;q I z;i I {:u% I |:m% &x,R^A:.@y:>@9:+{=Y:v=:H?@H??N޿?w0@v?@?:.@ɨ:ג; :"CFBFTIHNHNL5VM Vl=YV^Q Z?X٣X ZGX^Ѐ ^?`]jH59bPu?ajH5Ybf ibӔBhjqj@b')Q UViQ)]CK'-x,o-^A&BDAT read: Rx Time:19:53:54.3030 &TRx dataTimestamp_ set to:1736538834.871222B9@yB#@9B%3d=YB쨟=BHo??LJ?޿?@M?`r?B9@ɨB+; B CJBJHIHRC=HR<HEHEV5U- U@=YU^Q U>Y٣Y ]G]"Fe e>i]uH59mu?auH5Ym imǔBq} q}@mMuDmM;m;mTH5 A@EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e @ˁBɛм) u i)C<iO=i 羉 Q< I IG>GGIGBGGGG˰<G FDDDE/5 EVF~q;zF!rF!F ZA! ME >:J= NBJ= 9JJ9 RJ= ZJ= lP&      "[ w ! | P PCT4x,WѴ^AB 8IMb@Mb@Mb@ )IyNbX9?㥛 Mb%? IA)QAIAiAQ AHHX5d B=YQ >٣ G#F >]H59-u?aH5Y" iB&?m:q@_uDx;;H5! - A1DNOT Ignoring new targets: 13.60 m.hhhh)h1g1g1bg1jg=Be9e9je9Je9:eE 4 @]DAT read: Range 10 to 50 : 25.1 m (Round-trip 33.5 ms) speed -0.6 m/s e,DAT read: user:1330> -eZ#Rx 29: Read range message, but no direction.QUA9Q雥΁BZIbIujI0rIzII9Iـ3IIIIf:Ih:ɛۼ) i)B";<i0Q=i羉a<_RII!D!D!D!E%05 E!E5>E5>VFZFZAM> BDAT read: Tx time:19:53:55.4153  $Ping request sent. `٣` bG`b 8 f>d]jH59fI>u?anH5YfO& ifBlnqn@fnuDf ;fT ;f7H5v'B vlAv=E- addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 3.528184 s, deltaX: 2.300001 m, approachRate: 0.651894 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 13.60 m.h)h)h)h1h1g1g1bg1jg9e9eAjeAJeE9@:eE?mсBɛu)y }iy)4<隁i R=i羉(<IIDDDE_0 EVFEPF1ZA9MU>GGGIGBG =GGGذ<G FH HHH"H*H4k%Ax,^A@yH%@9 =Y;=HQ??ք޿ m?㸿@>P? P?騝@ɨލ; #CBI-Mb@Mb@Mb@)) )))I)y- rh?V-~jt-C+?-h- -A))I-Ai- A)- AH=H=>5U ]&=Ye떼Q e>i٣i mGm$Fuص9 u>y]H59}CUu?aH5Y}:+ i}BK,?m:q@}uD}V;};}H5 A:EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e"w? ԁBɛ`) %i)*<iHS=i羉%$r<%=I!I!:J=OBJ=9JJ9RJ= ZJ=?9"W=a?  [(~0qAiS@0  DDDE EZI |bI vjI rI zI ;g:I ϣ9I I I ֊;I ׊;I :I :VF $F ?F ?F ZA M5 >MGx,^A6,?@y6N@96w޿K?u! ٸ? ?6,?@ɨ6 ; 6!CNqBRIH^H^S<5f2 f=YflѼQ j ?h٣h jGj%Fr7< r ?t]zH59va=VF^FZAM>euMx,s8^AH@HBp=F~e@yFt@9Fܺh٣h jGhnb>< n>p]vH59r3wu?avH5Yr]2 irBxzqz@ruDr:r`:rH5 A9E5DNOT Ignoring new targets: 13.60 m.h1h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eM?uفBɛuh()y }m9iy)}{@<隁i4T=i羉<2IIGGGIG܀BG =GGG<G FD?DDE0 E!VFhAFZAM!>:J] PBJ] h9JJY RJ] ZJ] yqkgb][XVRNJJEEDA>;674//.+++&##!"" Jm ? Jm >`Tx,]R^A5^B=IMb@Mb@Mb@ )IyʡE?ˡE rh-2?什C A)AIAi AHHR5 7=YQ >٣ G&F% %>)]5H59-u?a5H5Y-7 i-B5v3?m5:= q=@-uD- ;-;-H5A ELAA DNOT Ignoring new targets: 13.60 m.h h h h h ggbgjgفBeejeJe:e%`?@ZIzbItjIrIzI`:I9IIIp;Iq;I:I:܁Bɛ) W?i)j <irU=i 羉 < E I ID?DDE0 EVF I6zF rF gAF ZA M >Zx,+l^A6ت@y6:@96|-);Y6=6H@e?L?@`,ݿS,?a%e?&?6ت@ɨ6q; 4RHBRIIT)THZHZ{R5b bc=YfQ f>d٣d fGj'Fn< n>p]vH59ru?avH5Yr: irBtzqz@ruDrG:r:rH5~(B ~A6EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e`] @E߁BɛEtR)Eԭ= EaKiA)MGGG_IGÀBGGGG<G FF) ZA1 MU >gtax,^Aե>ե%=ò@y@ӹ@9RÓY>Hp?k? `Uݿ6?ѡ fxr? g?_?ò@ɨu; $C٣ G; >]H59Mu?aH5Y? etIiBp8?m:,q@uDr<S<H5 eA3EDNOT Ignoring new targets: 13.60 m.hhhhhg g bg jg ЁBeejeJe:e@雅Bɛ;:) Si) ;隉iV=i羉Z<|Q:II:JufNBJu9JJqRJu ZJuc^T@ cF/   JfAIhADu?DqDqEu65 Eq] BDAT read: Rx Time:19:53:57.8561 m TRx dataTimestamp_ set to:1736538838.402253ZI xbI xjI rI zI Z:I 9I I I ;VF m ݺI ;I &:I ':F ZA M >Ιgx,L៵^ABѲ@yBW@9B[AYBeo>BHv??@,<ݿ l=?`&;?`??BѲ@ɨB.; B#CR'BRIHZHZ R5b bu=Yf&Q f?d٣d jGj(FjI; j?l]rH59nu?arH5YniC in}Btvqv@nuDn:n:nH5x zAx%DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g)g)bg1jg1e1e1je9Je9:e=MO @eBɛeс)i m1^ii)mѓ;iiim7W=iu羉u}$e DAT read: Range 10 to 50 : 27.5 m (Round-trip 36.7 ms) speed -0.8 m/s m ,DAT read: user:1331> -m Z#Rx 30: Read range message, but no direction.Y ] A9Y mx,^A6۲@y6=@96Y6 >6H`z??)ݿC?@I`ӓ?@%??6۲@ɨ6_; 6"CBBBIF)>iF=HJHJR5="5 EA=YEwQ E>I٣I MGM)FM:; U>y]H59}uu?aH5Y}G i}yBWq@}uD}:}:}H5)B XA0EG>GG@IGBGGGG<G FE addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 3.527815 s, deltaX: 2.400000 m, approachRate: 0.680308 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 13.60 m.hAhAhIhIhIgIgIbgqjgqeqeqjeyJe};@:e}?Bɛ-W) Rdi);iW=i羉֛<R>;II^D-=BDAT read: Tx time:19:53:58.9654 $Ping request sent. J ?VF /:FZAM>ux,Oص^A2<@y2@92e~ؼY2 >2H|?V? ݿ I?@?0??2<@ɨ2Ԉ; 0:B>IMb@Mb@Mb@ )Iy?K7AI +@? 9 EA)AI7 Aid A AHHS5> %=YiQ >٣ G3: >]H59u?aH5YM itBB?m:{"q@vDK ;q ;H5 A-E DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeeje!Je!:e%?Bɛ ]) mi ) ;  i &X=i羉<G`;II^Dt0=D?DDE_0 EVFe :FA ZAI Mm >|x,ő^A:Cײ@y:@9:,#Y:I >:H`3u??.ݿH?`vv?9?t?:Cײ@ɨ:ו; : CBBFfIHJHJ995R V^=YV!Q V>X٣X ZGZ*FZm ^>`]fH59bv?afH5Yb9R ibrBdf"qf@b)vDb:;b},;b1H5p rAr/EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e@4e?=BɛEL)A EyiA)E%,;AAiMLjX=iM羉UDGCGIGBG =GGADGϰ<G FD?DDE]0 EVF :zF hArF F ZA M > 9x,ӄ ^A6lӲ@y6@96 .Y6a>6HQq? ?pT3ݿQ?8?@=?Z?6lӲ@ɨ6ƈ; 6"C>BB[IID)D}Mb@Mb@Mb@yy y)yIyy}%C?Q~jt}ZD?}\}ļ y)}AI} Ai} Ay} AHH"25< 4=YkQ >٣ G+F0 >]H59 v?aH5YW ipBG?m:6&q@@vD ; ;)H5 A,E DNOT Ignoring new targets: 13.60 m.h h h hhggbgjgoBeejeJe:e% ?UBɛU)Q UiQ)]Hc;YYi]JX=ie羉e_x,+N'^A6Uݲ@y6@96KY6mP>6H`hs?u?%8ݿCX? e@r? ^Y??6Uݲ@ɨ6v8; 6$C>B>GIHFHF35R R]=YVޟQ V>T٣T VGTZV; Z>\]bH59^3v?abH5Y^r\ i^oBdf%qf@^RvD^K:^:^cH5j*B jVAj)E-DNOT Ignoring new targets: 13.60 m.h)h)h)h)h1g1g1bg1jg1eAeAjeIJeQ:eU?]Bɛe )a eia)eQ,;aiimPY=im羉uz<?;IID D D E 0 E VF5?:F ZA M5 >H a=H a=ZI ubI jI rI zI [Q:I I I GM >GI GM IGM rBGI GI GI GM <GM FH HʭCHH"H =*H5Gx,-A^A6O@y6@96H@bY6Ǭ>6Hu?q?g@R ݿ _?޶ZD?c??6O@ɨ6GF; 6!ChhHrHrgG5zx zE=YzSZQ z>|٣ G,Fh@; > ]I59 Iv?aI5Y a i %q@ gvD [; $; I5) -WA)UDNOT Ignoring new targets: 13.60 m.hYhYhYhYhYgYgYbgajgaeaeajeiJei:em K@雝Bɛ%ʔ) i):隡iOY=i羉FiZAyM>:J% vGNBJ% h9JJ! RJ% ZJ% tx, [^AVղ@yV@9VtYV7>VHi?j?h%ݿo]?R:r? 2??Vղ@ɨV'; TnBrBIv4>iv=Mb@Mb@Mb@ )IyL7A`?K7A`ſ/$+G?+ /A)AIAiAQ AHHJ5K >=YϼQ >٣ G-F棻 >]I59`v?aI5Y>g iqBK?m:!.q@}vD<::I5 }A&EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgKBe!e)je1Je1:e5`@uBɛ}n)}U= }'iy)}~c:yinSY=i羉%<B:IIDhAzDhAD=?D9D9E9 E9EAEAVFe !<;FA ZAI Mm >Ax,yt^AJIJ@yJVԹ@9J*:YJ.>JH^?r?ݾ@ݿY? SKC?d?1?JIJ@ɨJE·; HVBV<IHfHfM5n̼ nZ=YrOeQ r>p٣p rGtv v>x]~I59zsv?a~I5Yz6l iztB.q@zvDz:zQ;z I5 +B A #EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e@ Bɛ )  i)xb8ihY=i羉<%7I!I!))HiHmAAICICIKA.ICICICZIpbIhjIrIzIA:IȆ9ID?DDE]0 EIG>GCGIG]BG =GGBDGx<G FVFFZAM> BDAT read: Rx Time:19:54:01.4095  TRx dataTimestamp_ set to:1736538842.187315患x,A^A^ޭ@y^A@9^ Y^B>^H@IQ?c?C fݿQ?@ Ӟ?`u?@b?^ޭ@ɨ^E; ^"CjBj:ImMb@Mb@Mb@ii i)iIiym{Gz?ClǿQmC?md;mu i)iImhAim3Aimz AHHK5 ;=YGQ >٣ G.Fӻ >]I59v?aI5Yr ixBfI?m:5q@vD; : I5 *B A%EEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgIgIbgIjgMJBeQeQjeYJeY:e]`\< @雅Bɛ) i)?M隉iN^Y=i羉<N<II:JmBJm9JJiRJm ZJmup7JIfAD-?D)D)E-_0 E1VFzF gArF FZAM >x,^A6@y6s@96.CY6a>6HH?7? `|ݿM?B۲s?]?d?6@ɨ6^E; 6#CBBB<IHJHJB5V ; V`=YV^Q V>X٣X ZGXZa ^>`]fI59bv?afI5Ybw ib}Bdf6qf@bvDbG:b:b I5j+B nAn"E DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgee!je!Je!:e%@&@MBɛMBv)Q UiQ)U̺QQi]XY=i]羉e1 BDAT read: Tx time:19:54:02.5154 $Ping request sent.G CG IG SBG =G EDG DDG <G FVF] *F9 ZAA M] >x,¶^A6x@y6ێ@96MڴY6>6H`4??@``Tݿ;B?qē?` ?ϟ?6x@ɨ62p; 6"C>B>7IHJHJ(*5R? RJ=YRlQ V>T٣T VGV/FZ2! Z>\]bI59^$v?abI5Y^| i^B`b7qf@^vD^::^h:^I51 5A5E addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 3.784111 s, deltaX: 2.500000 m, approachRate: 0.660657 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe>@:ec(?BɛO1) i)3"i,Y=i羉o<II^D|^=DDDEa0 EVFXFZAMi>:J LBJ +9JJ RJ ZJ J ? J )?"öx,\ܶ^A6f@y6u@96׾Y6=6H!&? ?`8ݿ9?@!ҷ?H??6f@ɨ6 -; 6#CZBZMIMb@Mb@Mb@ )IyPn?Mbȿy&1|D?@` )lAIAiA AHHB5= 8=Y 4Q >٣ G0F >]I597v?aI5Y iBI?m:9q @vD::uI5 @A=DNOT Ignoring new targets: 13.60 m.h9hAhAhAhAgAgAbgIjgIeIeQjeQJeQ:eU?}Bɛ}%) i)FV\隁iX=i羉HE<8DII^DlT=DDDE_0 EEhAEVF OPF ?F >F ZA M >x,^AFV@yF f@9FsɽYF,J=FH+?*? }¿ݿ 5?\$??%?FV@ɨF; F"CNBNJIHVHV|+5b* fF=YfOMQ j>h٣h nGn1Fn n>p]vI59rv?avI5YrW irBxz<:qz@rvDr;r;rI5~,B ~UA~E-DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g1g1bg1jg1e9e9je9Je9:eE?uBɛu+)q u݆iq)}yyi}X=i羉_Ɨ<P3IICCCCG G @AG>GCGIGXBG =GGEDG*<G FDDDEm0 EVF׹FZAM>u ?u ? % }GQ q ) |"y B}ĭx,[^A~B~kI-monly read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-327WE,-32768,-32768,-32:WD, +0.00 +0.00, +0.00, 20.00,1665.28 m@m m@m m@m  m@m HuHuF5= ?=YQ >٣ G >]I59v?aI5Y9 iBi+:mZ:q@ wDb:G>I5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e a?%Bɛ-镽)) -i))-ʦ))i5DX=:JBJJJRJ ZJ JgAIi羉=<0IIDqDqDqE}?5 EyZIsbIqjIrIzIK:Iq9IIIe;qIe;iI:uI:mVFFi ZAy M} >!ʭx,h,^A:N@y:^@9:ӽY:>:H?-?ÿFݿ@3?T?`*? @?:N@ɨ:; :#CB BB{IHNHNjC5V= VY=YZKQ Z>X٣X ZG^2F^* ^>`]fI59bow?afI5Ybk ibBij :hmj0:j~:qj@b wD`bM?b=!I5l nArEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeeje Je :e @E@eBɛes)a ezii)miiimW=iu羉u9–G! G% IG% mBG% =G! G! G% <G% FZAI Me >ѭx,F^A~B~IHH;5-= 5B=Y=Q =>A٣A EGAM M>Y]eI59]iw?amI5Y]E i]Bim9imm:qqu@]6wD]<]?]5#I5) -A=EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjge)e1je1Jey:e"@Bɛ)ڶ0= ]ti)Qi=W=i羉<@IIDu?DqDyE}/5 Ey:J&`KBJ]9JJRJ ZJ    1J? J?ZI obI ljI rI zI >:I 9I I I ~O;I O;I ):I *:VF K7F ZA M >حx, b^A6.C@y6R@96۽Y6>6Hf ?`7?ÿ ޿ I/?ih? k?@|?6.C@ɨ6 ; 6"C>*B>I      Mb@Mb@Mb@ )Iy)\(?gfffffƿMbP?GA?33: A)~@IAiIA AHH85-= 51=Y5Q 5>9٣9 =G=3F=rH E>I]UI59M-w?aUI5YMn iM”BiUT:UgF?mU:U7qU@MLwDMC:M :M9'I5a e AaDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgmBeejeJe:e;w@=BɛEp1)A EdkiA)M?ZIIiMV=ie羉}<UIID1D1D1E5_0 E9}BDAT read: Rx Time:19:54:04.9629 }TRx dataTimestamp_ set to:1736538845.711284VFY F1 ZAI Mm >Fޭx,n{^A2R:@y2I@92߲߽Y2>>2H?@x@?ÿ޿+?`t "?]C? c?2R:@ɨ2; 0J>BJIHRHR=5^ = ^f=Y^Q ^>`٣` bGb4FbYG f>d]rI59fV?w?arI5Yf2 if͔Bpr=8qr@f^wDf:f:fT*I5x ~vA~E-DNOT Ignoring new targets: 13.60 m.h)h)h)h1h1g1g1bg9jg9e9e9je9JeA:eE@YQ @mBG >G G !IG BG G G G /<G  FHC HCHCH ="H =*H6ɛ@) /bi)!i]V=i-羉5*<=0eI9IiD=?D9D9E9 E9EAEAm DAT read: 19:54:04.9629 LVL= 24384, 23873, 16882, 29923, AGC= 67, IDX= 457,-0.12,-1.713, 0.783,-1.014,-0.791, PHS=-0.834, 1.621,-0.226, RAW= 316.2, -5.1, CAL= 319.8, -7.0, ROT= 190.2, 7.0  Ygot valid direction response: 19:54:04.9629 LVL= 24384, 23873, 16882, 29923, AGC= 67, IDX= 457,-0.12,-1.713, 0.783,-1.014,-0.791, PHS=-0.834, 1.621,-0.226, RAW= 316.2, -5.1, CAL= 319.8, -7.0, ROT= 190.2, 7.0 VF c?F ?F ? 8DAT read: $Error in header  *Received a bad headerF ZA ME >U Z#Rx 32: Read direction message, but no range.m bdirection in FSK: [-0.976860,-0.175765,-0.121869]ؑYؕi oBZL3tƿUM7P29ؑؕ@_ ٕA])ٕAIٕtiٕCٕUٕ|?ٕlgٕr@ ڕK)ڕ)@Iڕ5iڕtT@ڕ5=ڑەX(ѿM\[ֶIە6iە=ە=ە5=)x,v^A6;@y69K@96>Y6>6H8?3?CĿ޿+?`+.J?D? ?6;@ɨ6B; 6 CBVBBIF>iF=:JgAMBJͼ9JJRJ ZJb{tni^SJA91,# !Mb@Mb@Mb@ )Iyףp= ?S㥛Ŀ{Gzt?>?$ף; )@IlAiA= AH-H-:5= 0=YUQ >٣ G5F29 >]I59Uw?aI5Y6 iݔB C?m:4q@uwD ';%;a.I5-B AE5DNOT Ignoring new targets: 13.60 m.h1h1h1h1h9g9g9bg9jgEBeAeAjeAJeA:eM`J@雵Bɛ3) wVi)隹iNU=i羉i<`IIZItbIgjIrIzI;N:I9III}j;Ij;I?:I@:^DiD ?D D E ]0 E VFUFZAM>ux,E^A:5@y:/E@9: Y:8>:H@6?8?~Ŀ@X ޿@(?9V?@P??:5@ɨ:; :#CBuBBIHjHj;5ra > r:=YvWYQ v>x٣x zGxzܺ ~>|]I59~Mkw?aI5Y~ i~B  4q@~wD~9;~:;~72I5 A!MDNOT Ignoring new targets: 13.60 m.hIhIhIhQhQgQgQbgQjgYeYeYjeYJeY:ee`@雍BɛT) tGi)c隑i~U=i羉 <AvmII^D;6=D?DDE`0 E!HHp=G=>G9G=YIG=BG9G9G9G=<G= FVF=*UF ZA! ME >[x,Gη^Amu5@ymD@9mYm>mH?5?Ŀ޿O)?@l&@6?"??mu5@ɨm; mCBIMb@Mb@Mb@ )IyV-?DlI +?٣ G6F% %>)]5I59-vw?a5I5Y-õ i-B=9@?m=:=-q=@-wD-g;-:-Y6I5A EAEEuDNOT Ignoring new targets: 13.60 m.hqhqhqhqhqgqgybgyjg}BeyejeJe:e@@ɛZj) "x,#^A60@y6k?@96qCY6>6H?=??Ŀ (޿'?8???60@ɨ6<; 6#CBBFGIHNHN+5VH+> VI=YV Q V>٣! %G%7F%iκ %>1]5I595 w?a=I5Y5 i5B9=+.q=@5wD5~:5%:5:I5A EAME}DNOT Ignoring new targets: 13.60 m.hyhhhhggbgjgeejeJe:eV@雽BɛVh) +i)1ieS=i羉ג<yIICCCCDDDE_0 EG>GCGIGBGGGG<G FVF F ZA M >x, ^A~̀B~kIHMHMy/5e> m?=YmQ u>y٣y }Gy >]I59Xw?aI5Y iBq@wD;;=I5  ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e @%Bɛ%Z)! %i!)%9))i-:R=i-羉54H<9I9I9DDDE1 EVF JiFZAM >:J yNBJ 9JJ RJ ZJ   J I gAx,!^AJ)<@yJK@9JYJ >JH ?$?@Ŀ@޿`8+?`@?I?y?J)<@ɨJۇ; J"CRހBRIMb@Mb@Mb@ )IyK?q= ףp rh?^:?C< A)Q@I@iAzAHH*5m= ?=Y:Q >!٣! %G%8F%Ld; ->)]=I59-+w?a=I5Y- i-1B=0x,#;^AJ)I@yJX@9J5\YJ >JH ?  ?uĿ`ݿ@T0?ۼ?+/?$?J)I@ɨJẊ; J%CZBZI^=i^<HbHb(*5j> jb=Yn:Q n>l٣p rGr9Fr; r>t]zI59vw?azI5YvP ivAB|~&q~@vwDv;v;vDI5  A E=DNOT Ignoring new targets: 13.60 m.h9h9h9hAhAgAgAbgAjgIeIeIjeIJeI:eU $@yɛ}"R)y i)HH隁iGP=i羉F<OIIZIpbIkjI0rIzIA:I9Iـ3Iq@i@u@m@G>GGIG8BG =GGDDGU<G FD5?D1D1E5Z0 E1VFUשhF1ZA9M]>I)C H~G )= q y9 = B&x,|U^Ar BvIMb@Mb@Mb@ )Iy\(\?~jt rh?:? `A)$@I~@iAH kH  5-ث= -5=Y5Q 5>1٣1 =G9E E>I]MI59Mw?aUI5YM1 iMUBU;?mU:U qU@MxDM:MCx,?o^A:^@y:n@9:ZDY:p >:H ??`@Ŀpݿ 8?`rmy? D?́?:^@ɨ:; :"CF,BFIHN{HN'5V]7> Vi=YV;Q Z>X٣X ZGZ:F^; ^>`]fI59bw?afI5Yb ibeBhj]qj@bxDb:b:bKI5n/B nArE DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgee!je!Je!:e%@Z@BɛJ|8) Rھi)|Ti %O=i羉D<?8,II!D?DDE_0 EVFUzFrF*Gu<"GqG}>GyG}:IG}uBG} =GyGyG}p<G} FZIbIjI1rIzIII3IIT;qIT;iI:uI:mF ZA MM >0"x,w0^ARi@yRfx@9R7 YR( >RH?`?@,Ŀ ݿ ٣   G ;FG; >]%I59x?a%I5Ys ixB!% q-@&xD::.OI51 5A9eDNOT Ignoring new targets: 13.60 m.hahihihihigigqbgqjgqeqeyjeyJey:e}@iɛmV')q uϾiq)uMZqqiuR/N=i}羉}S̏< # IID ?DDE EVFE)+F ZA) MA :J BJ 9JJ RJ ZJ J! I% hAU(x,^AFa}@yFČ@9F ߽YF >FH$?@$?gĿ@ݿD?Z(@?o?W?Fa}@ɨFl; DNFBNI%Mb@Mb@Mb@!! !)!I!y%Zd;?L7A`尿Q?%9?%+%u< %A)%@I%h@i%A!%\AHeHe+5uz= uD=Y}7;Q }>y٣y GH; >]I59H%x?aI5Y iB:?m:q@:xD ;;RI5 EAEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e@雩ɛ[!) Ni)1j_ i d<0x,L^AG>GCGIGBGGGG<G FHmC HiHmCHi"Hm =*Hmd5ZINwbINpjIN0rILzINW:IN^9INـ3ILINz;INz;IN~:IN:-@y-"@9-ܽY-& >-H ,??z<Ŀ@1ݿ@aJ?`|t:?w?c?-@ɨ-u; )EUBEIHQHQe}= e/=YeP;Q e>i٣i mGmy]I59}0=x?aI5Y} i}Bq@}OxD}.:}\:}VI50B AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e z @ɛ.) űi)ddi#L=i羉<ӻII^D]=DDDE`0 EVF >uF ZA M >`6x,ڸ^ArbBr#Iv=it)va= v=uMb@Mb@Mb@qq q)qIqyuZd;O?J +{Gz?uj٣ G=F >]I59Rx?aI5Y iBzj=x,=E^A6a@y6Ŷ@96ԽY6ǵ >6HqmB>1IHHHHbgO= b==Ybd٣d fGdj; j>l]rI59nix?arI5Yn( inBpr7 qr@nwxDn.:n:nE^I5x zAyDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e"@eBɛeD )a eii)mtmqqiu-J=i羉S<gJoII!C)C)C)C)GaGe?AGm>GmCGmIGm߁BGm =GmFDGmCDGmp<Gm FZIbIwjI1rIzII9I3IIz;Iz;I:I:DiDiDiEm_0 EiVF UF ZA M%>@Ex,^Az@yz @9zXνYz >zH`fB?l?_ÿ'SݿW?@Hfӹ?P??z@ɨzF; xrB8IMb@Mb@Mb@ )IyZd;?MbMb`?>?@; A)@I;@i ApAHH(*5< "=Y~;Q > ٣   G >F ; >]I59DŽx?aI5YD iӕB%Z??m%:% q%@xDG ;L ;bI5-1B 5 A5EeDNOT Ignoring new targets: 13.60 m.hahahihihigigibgqjguBeqeqjeqJey:e}z#@)ɛ-f )1 5i1)5or11i5 I=iE羉MbKx,/^A6 @y6nɹ@964ȽY6 >6HI? b?¿@DCݿ@M[?#N_?0?V?6 @ɨ6; 4>mBB1IID)DDDHJHJ_,5^ ^c=Y^`٣` bGb?Fff; f>h]nI59j*x?arI5Yj ijBprR qr@jxDj!;jD";jeI5t v AzEDNOT Ignoring new targets: 13.60 m.hhhhhg!g)bg)jg1e1e1je1Je1:e= 2$@aɛe6)a eia)mњuiiimjH=iu羉uDlG>GCGIGBG =GGBDG<G FHQ HU 4=LRx,I^A=lB=0IHMHM|+5]4 ]@=YeQ e>a٣i mGim m>q]}I59ux?a}I5Yu2 iuBq@uxDuP';u;(;uiI5 $ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e %@雹ɛB) vi)ziG=i羉E<lIIխ%=խ4=DDDEU4 EFYZAyM@>e BDAT read: Response Not Received e *response not receivede ,DAT read: user:1334> m BDAT read: Tx time:19:54:13.4655 m $Ping request sent.m fH.U?@[?,ݿ`?<E???fsɲ@ɨf; f#CnB3I Mb@Mb@Mb@   ) I y S㥛?x&y&1| D? 7 ` zA) @I @i  A  A !%@AH-H-?15m*< 5=Yt٣ G@F; >]I59x?aI5Y iBE?m:q@xD;;~mI5 AE%DNOT Ignoring new targets: 13.60 m.h!h)h)h1h1g1g9bgAjgEˁBeIeIjeIJeQ:eU%@雥 Bɛ) i)*j~隩iSF=i羉N<0IIDDDEx0 EJDAT read: TxSync time:19:54:13.4647 FZAMf>e^x,ٓ}^A6̲@y6'ܹ@96Y66B>6HX?^? :)ݿ>a?ȗm? ?@w?6̲@ɨ6; 4RcBR%I)Z= Z=H^@H^ 5f- fo=YfUGCGIGBG =GGADGV<G Fe9jeAJeA:eE&@iɛmL!)i mJiq)u!qqi}!F=i}羉y<c: IIHHD ?D D E ^0 E FZAM )> ~G5SkA Q)}Yy}SkAAex,"^Ao@yϹ@9#Y=HS??`k@?ݿ b?@zаa?@%?)?o@ɨX݇; "C-\B-IMb@Mb@Mb@ )IyQ?1Zd{GzH?"۽ף d A)p@I@ihA=AHoH"5 6=YS2;Q %>!٣! -G)-o[ 5>1]=I5959x?aEI5Y5 i5 BEJ?mE:EqE@5xD5;5;5gtI5Q UAUE}DNOT Ignoring new targets: 13.60 m.hyhyhyhhggbgjgBeejeJe:eQ'@Bɛ ) i)*mi.{E=i羉%<4II:JUSNBJU9JJQRJU ZJU    JaIecADu?DqDqEu_0 EqZIbIjI1rIzIII3IVF ǻF ZA M >kx,8K^A>ɲ@y>ع@9>ΫY>p=>HY? &?` 2ݿc?@e Qs?@;?t?>ɲ@ɨ>i; >$C^VB^IHfXHfn5n  rb=Yr;Q r>t٣t zGzBFz?; z>|]I59~y?aI5Y~h i~B  bq @~yD~:~:~wI5 AEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgIgIbgIjgIeQeQjeQJeQ:eUA(@雁ɛ+) i)|隉iD=i羉/<dIID?DDE0 EVF sFZAM*>G%>G%CG%IG%BG% =G!G!G%o<G% Fwrx,&˹^A65ز@y6@96JRY6*`=6Hb?zf?_ ݿg?fpĴ?|??65ز@ɨ6|; 6 CBFBBIID)DDFAHJHJ55v읽 vJ=Yvq;Q v>x٣x zGzCF~F; ~>] I59Hy?a I5Y5  iB  q@yDh::{I53B bAEEDNOT Ignoring new targets: 13.60 m.hIhIhIhIhIgQgQbgYjgYeYeajeaJea:ee)@雉ɛ/) i)#隑iyD=i羉<*:IIDIDQDQEU?5 EQVFpFZAM>:J XLBJ +9JJ RJ ZJ J ? J ?ZI% zbI% jI% 0rI! zI% `:I% 9I% ـ3I! xxx,^A=DBEI5Mb@Mb@Mb@11 1)1I1y5ʡE?S㥛ĿQ5O?5$5 5 A)5-@I5@i5QA15AHMHM65] ]5=Y]Q ]>a٣a eGam m>q]}I59u 6y?a}I5YuB iuBS?m:)q@u1yDu:u:u I5 rAEuDNOT Ignoring new targets: 13.60 m.hqhyhyhyhygygybgjg?BeejeJe:e*@ɛ)) þi)2iC=i羉G<79IIDDDE EVF FF ZA M >~x,^A6@y6@96KY6>6Hu?N8?Iܿo?Љ?%?ר?6@ɨ6ڇ; 6"CR:BRIHZHZ>5blc bh=Ybd٣d fGfDFj1< j>l]rI59nlIy?arI5Yn inBpr(qv@nCyDn^;n;nI5x zAx-DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g)g1bg1jg1e1e9je9Je9:e= *@G>GGIGBG =GGGi<G FHC HCHCH ="H =*H}{6EBɛE;A)EѢ.= E̾iA)MJIIiM,C=iU羉<>;IIDIDIDIEMG4 EIVFm*FQ ZAY Mu >Q酮x,O^A>B I=iC=Mb@Mb@Mb@ )Iy> ףp=?NbX9ȿL7A`堿Q?E+ )@IiAAHH%S< %)=Y-Q ->)٣1 5G5EF5 5>9]EI59=cy?aMI5Y= i=BMW?mM{:M1qM@=^yD= ;=;=WI5Q ]A]EEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgIgIbgIjgM$BeQeQjeQJeQ:eU`w+@雉ɛ.) Ⱦi)`隑iC=i羉ъ<F];II:JBJ 9JJRJ ZJ^-"}eS@4)  ZI{bI|jI1rIzId:I@9I3IDQDQDQEU3 EQVF} !<;FQ ZAi M >yx,2^A~=B~IH H E Mo=YIQ M?Q٣Q ]GYY e?a]mI59evy?amI5Ye" iaqqqu@epyDe::e2:eUI5}4B AEB*** querying acoustic contact ***iiDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e`hR,@BɛeG) Ⱦi)7kiuB=i羉<A\;II D?DDE_0 EGGGIGЁBGGGG<G FVF']?;T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.FZAM >_x,lL^A6@y6@96‽Y6Z>6Hu?@T?T9ܿUe?5 ?`S~?Z?6@ɨ6$; 4B6BBIHJHJ;5R  VU=YV1X٣X ZGZFF^: ^>`]fI59bvy?anI5Yb$( ibBxz1q~@byDb`x,yh^An ˲@ynoڹ@9nlYnn>nHg?@? v<ݿoT?`>?A?߯?n ˲@ɨnY; l 9B II)AMb@Mb@Mb@ )Iy㥛 ?uVͿX9vU?rh  A)@I@iAp@H-H-:5=<4< =$=YE)A٣I ]G]GF]x ]>a]mI59eoy?auI5Ye/ ieBui]?muu:u;qu@eyDe3;e;e I5y }AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:ey.@ Bɛ 3) ^˾i)}:iTfB=i羉 <J5úII!checking for new query: numPingsReceived=0, elapsed TxPingTime=4.297895^Dm.=D ?D D E  E G >G G IG BG G G @DG <G FVF% ?:] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.551206FZAM->`x,v^AZ@yZ̹@9ZbYZ>ZHb? ?fnUݿ $M?ʂ '@?`C?@?Z@ɨŻ; Z CfBBfIHnHn>5z.= zA=Y~N;Q ~>٣ G ~ >]-I59Ky?a5I5Y76 iB15O<q=@yDT;h;I5I MAUEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e &.@雅Bɛ3) 1i)X隉i;B=i羉ٲ<w*IICCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.801917D?DDE E VF- GRF ZA M5 >22x,x`^AvMBv IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.054032Mb@Mb@Mb@ )Iyn?п~jtV?ļ ~A)@I@iz@HH85:J/sMBJ9JJRJ ZJggegpwlgbWQHB<50)"  4= .=YQ >٣ GHF %>!]-I59%(y?a5I5Y%= i%B5w_?m5s:5Bq5@%yD%:%k:%ИI5E5B E@AEEmDNOT Ignoring new targets: 13.60 m.hihihihihqgqgqbgqjg}BeyeyjeyJe:ec/@雭Bɛv/) i).隱iB=i羉Z< IIDzDDqDqDqEu0 EqVFb(checking for new query: numPingsReceived=0, elapsed TxPingTime=5.306048F ZA M >Px,g ^A:@y:R@9:PY:|>:H@T??tu Qݿ;??o(??:@ɨ:; :CF]BFIJpX٣\ ^G^IF^^H b>`]fI59by?ajI5YbLC ibBhjDqj@byDb:b:bI5t vAtDNOT Ignoring new targets: 13.60 m.hhhhhggbg!jg!e!e!je)Je):e-@%J0@UBɛU#1)Q ]hiY)]:kYYi]A=im羉uGGyG}IG}BGyGyGyG}<G} Fuchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.558621ZIbI|jI0rIzIs:I@9Iـ3II;qI;iI{:uI|:mVFV'SFZA M%>I}f=)y kA  )E jyE kAE B% checking for new query: numPingsReceived=0, elapsed TxPingTime=5.8100788x,պ^A2N@y2@92KY2: >2HN? ? *ݿ`5?o?`??2N@ɨ26; 2!C>rB>7IHFHFjC5N%= zK=Y~Q;Q ~>٣ Gyt  > ]I59 y?aI5Y I i BpDq@ yD ; ; I5! -A-ݵE]DNOT Ignoring new targets: 13.60 m.hYhYhYhahagagabgajgieieijeiJei:eu`ϳ0@雝Bɛ) @i)@L隡iA=i羉杈<IID9D9D9EE5 EAEehAEehAVFm޻FaZAiM9>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.062540:JYMBJ]9JJRJ ZJki?cQ5!bx,Q^A2߉@y2C@92l GY2q>2HtM?'?۹ݿ 3?`̺ި?O ??2߉@ɨ29q; 2#C^B^HIMMb@Mb@Mb@II I)IIIyM(\?Zd;OͿ٣ GJFTz >!]-I59%;z?a-I5Y%P i%B5n\?mUv:U?qU@%zD%;%z;%^I5]6B e AeܵEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.314389UDNOT Ignoring new targets: 13.60 m.hqhqhqhqhqgqgybgjgBeejeJe:e7-1@Bɛ) ~i)w?iĞA=i 羉.#<RIIDDDE5 EGq Gu CGu IGu ƁBGu =Gq Gq Gu Ͱ<Gu FVF F ?F > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.566706F ZA M >ZI bI jI rI zI y:I y9I I I ;I ;I ::I <:M®x,ҩ ^AZ@yZ@9Z!2@YZf>ZHN?`!'?ӈ 5ݿv3?^ `?D?໵?Z@ɨZ&; Z"CfBfzIHnHn65vS> vS=Yz;Q z>x٣x ~G~KF: >]I59)z?a%I5YfV i!%?q%@)zD`::I5-5B -h A1]DNOT Ignoring new targets: 13.60 m.hYhYhYhYhYgagabgajgaeieijeiJei:em@ӂ1@雥Bɛ) *i)'隩iwA=i羉:Ї<`IIDIDIDIEM_0 EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.817991VFm/mFIZAQM}>WwȮx,{#^A6-@y6@960:Y6a>6H O? =*?`<@pݿ2?9O? ?`'?6-@ɨ6; 4>B>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.070008MMb@Mb@Mb@II I)IIIyMV-?B`"ɿMhQ?MNM M A)M@IMp@iM@IM@HmHm<55}ߑ= }A=YU;Q >٣ G >]I59N@z?aI5Y\ iBW?m|:$9q@@zD:k:GI56B  AٵEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgGBeejeJe:e1@%Bɛ%)) -i))-L11i56>A=i=羉=e<=I9I9:J-NBJ9JJRJ ZJy\Rm6DDDE EE=E=VF;3FZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.321986Iήx,X=^A%,@y%@9%3Y%b>%HhR?"?`帿@`ݿ>4?6\|?@ ,?b?%,@ɨ%e@; %$C5؁B5IHuHu858 > J=Y;Q >٣ GLF;: >]I59Uz?aI5Yb iB8q@VzD:u:ЭI5  AֵEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e0V2@%Bɛ%̼)! -hi))-))i-@=i5羉54<=AI9I9G>GGIGBG =GGGհ<G FH¬C H¬CH“CH ="H =*Hjb5DDDE E]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.575465ZIbIjIrIzIp:I9III;I;I2;I3;VF->uzF1rF1F ZA M= > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826847ծx, }W^A>⑲@y>F@9>\.Y>}>>HS?!?pݿd3?Էxۥ?@.E?`?>⑲@ɨ>i; >!CNBNIR=iRp=)V= V=HZHZ65b= bU=YbQ;Q b>d٣d fGdjm9 j>l]rI59nIjz?arI5Yn#h inBpr8qv@nkzDn::n:n*I5x zY Ax-DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g)g1bg9jg9e9e9jeAJeA:eE2@mBɛmNе)i i)2i@=i羉o<IIDDDE0 E5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.077901VF FZA:J gNBJ 9JJ RJ ZJ     3rgXK<1(""4Oeu}yrf_UM >5ۮx,Qq^A)$ &@B2@yB@9B,)YB3>BHX?$?ӈݿ6?`_!?w??B2@ɨBc; B"CN BNIEMb@Mb@Mb@AA A)AIAyEMbX?ףp= ÿ:v?EJ?EET< EhA)E@IE@iE~@AAH]H]\05m& > m@=YuZ;Q u>q٣y }G}MF}T; }>]I59z?aI5Ym iBN?m:,q@zD);(;I57B q AӵEeDNOT Ignoring new targets: 13.60 m.hahahahahagagichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.330081bgjgBeejeJe:e+3@ Bɛ 5)  =i)qic@=i羉7</HI!I!D?DDE0 E*G<"G4<GGG IG!BGGGGٰ<G FVF= ;3F ZA) U checking for new query: numPingsReceived=0, elapsed TxPingTime=8.583173Mu >ZI bI jI rI zI s:I 9I I I ;I ;I g;I h;x,M,^A:դ@y:9@9:x"Y:WK>:H\?? RK߆ݿ8?и`Z??E?:դ@ɨ:DY; : Cv"Bv IHH15 > P=Y};Q >٣ GNF%; %>)]5I59-z?a5I5Y-r i-#B1=z,q=@-zD-;-;-OI5A EAEҵE}DNOT Ignoring new targets: 13.60 m.hyhyhyhyhyggbgjgeejeJe:e3@雽Bɛya) =i))i@=i羉;<6IIDzDDDDE5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.834022VFTF?F"?FiZAyM>x,^A6@y6z@96]Y61S>6H@`??fxݿ:?@&=`1?@??6@ɨ6Τ; 6"CB=BB1 IID)FADDchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.086056Mb@Mb@Mb@ )Iy?Q?fF?̽u< ~A)x@I@ih@HH/5 = @=Y5a;Q >٣ G.; >]I59z?aI5Yx i*BH?m:q@zD::I5 ADNOT Ignoring new targets: 13.60 m.hh!h!h!h!g!g!bg)jg-́Be)e)je1Je9:eE 3@mBɛm4x*)q u.>iq)uQqyi}?=i}羉<II:JW6NBJh9JJRJ ZJLD80)# NrNiG.\{^hF+1<72,$izDDDE3 EVFXchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.339760FZA M5 > x,Ά^A6@y6Zȹ@96 Y6>6H f?x?շ`dݿu>?@'?~?@Բ?6@ɨ6݈; 4>QBBI IHNzHN'5V= V]=YZq};Q Z>X٣X ZG^OF^; ^>`]fI59bz?afI5YbU| ib/Bhjxqj@bzDbC:b :bAI5n8B n7ArϵE DNOT Ignoring new targets: 13.60 m.h hhhhggbgjg!e!e!je!Je!:e- `U4@MBɛUһ)Q U<>iQ)]"ӢYYi]Q?=ie羉e= checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842857x,ػ^AJe@yJй@9JPYJw>JHk?? y hUݿ@?`-")???Je@ɨJ1 ; HV`BV\ IHbHb,5fɘ= jH=Yj:`;Q j>l٣l nGnPFr/%; r>t]zI59vz?a~I5Yv iv5B|~4q@vzDvyH;vI;vI5  A ̵E5DNOT Ignoring new targets: 13.60 m.h1h9h9h9h9g9g9bgAjgAeAeAjeIJeI:eM4@}Bɛ}2c)y _>i)\隁i>=i羉3<#IID=?D9DAEA EAFM= >}x,^AvnBvn Ixiz<Mb@Mb@Mb@ )IyT㥛 ?V- rh?A?mC< )@I@i~@@HsHe$5= <=YQ >٣ G >]I596z?aI5Y i=BA?m:<q@zDX ;:I5 OADNOT Ignoring new targets: 13.60 m.hhhh!h!g)g)bg9jg=Be9eAjeIJeQ:eU@-5@=<iq)uuqqiu)j>=i}羉}Џ<x.IIDDDE  E GGG IGBGGGG<GFVF- *F ZA M- > ٣ GQF >]I59{?aI5Y iEB!!q%@zD:<:<"I5-9B -A-ɵEeDNOT Ignoring new targets: 13.60 m.hahahahahagagibgijgieieqjeqJeq:eu5@雥Bɛ_:) >i)隩i==i羉E<1IID5?D1D1E5p0 E1BDAT read: Response Not Received *response not received,DAT read: user:1335> - x,#I&^A6ܲ@y6I@96Y64 >6H 4x?0? 0%ݿ@J?Ӻ?6? ?6ܲ@ɨ6; 6!C>BB IE:DAT read: Txtm:9:54:24.4156 EXunknown deviceResponse_: Txtm:9:54:24.4156 MJDAT read: TxSync time:19:54:24.4148 M٣ GRF< >]I59l{?aI5Y iKBvA?m::q@ {D<::I5 AƵE%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g)g)bg)jg-!Be1ejeJe:e`J6@:JMOBJM]9JJIRJM ZJM4rA95/-'#!%C[`YPKD7&    ]Bɛe@:)a e>ia)e aaimz==i羉<V9IIDE?DIDIEM0 EQ% x,W!@^AR@yR@9RmYRI>RH{?`|?!϶HݿO?Uf@)à???R@ɨR{; R"CZ~BZ IIl)lHvVHv5EW ES=YE:Q E>I٣I MGIUh!; U>Y]I59]/{?aI5Y] i]PBq@] {D];]:]I5 AȵEDNOT Ignoring new targets: 13.60 m.hhh h h g g bgjgeG9G9G= IG=ӂBG9G9G9G=<G= FeQjeqJeq:e}@[e6@雵Bɛ:) a>i)T隹i==i羉~<R:II u RH`t??Tp!0ݿ>P?z@?j?Ⱥ?R~ֲ@ɨR F; R%CZBZ IHbHb/5n#< nQ=Yr2Q r>p٣p vGvSFvu v>x]~I59zE{?aI5Yz izVBjq@z3{DzX;z;z{I5  AŵE=DNOT Ignoring new targets: 13.60 m.h9h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eM 6@ Bɛ8;)9 =>i9)EAIiMM<=i}羉}z<{IIDDD!E%T4 E!EE=EE=ZI}bI}jI}1rIyzI}y:I}9I}3Iy:J jNBJ h9JJ RJ ZJ \x,js^A6mڲ@y6@96Y6~c>6Hv?? ¥)ݿ`Q?@{? ? ?6mڲ@ɨ6G; 6"CN}BR IMMb@Mb@Mb@II I)IIIyMMb? rhMb`M@?MCM MA)M@IIiM~@IM@ Y]BAHeWHe5m uA=YuQ u>y٣y GTFr: >]I59L]{?aI5Y i[B@?m:q@G{Dv=;4;4I5:B AµEDNOT Ignoring new targets: 13.60 m.hhhhhggbg i)`i<=i羉,<yIID)zD)D?DDEV0 EG9G9G= !IG=BG9G9G9G=<G= FHȫC HȫCHH ="H =*Hy4VFm yzFm gArFm fAFa ZAy  D#x,ݴ^A6@y6d@96= Y6/>6H?@? kܿ [?/ڦ?C8? ?6@ɨ6<; 6$CbvBbx IHj~HjE)5r rT=Yrz:Q v>t٣t vGtzj; z>|]I59~r{?aI5Y~$ i~_B 'q @~Z{D~:~G:~I5 AEEDNOT Ignoring new targets: 13.60 m.hAhAhIhIhIgIgIbgQjgQeQeQjeQJeY:e] X7@雅BɛPq;) >i)$隉i;=i羉@<ʡ;IIDM?DQDQEU_0 EQFZAM>s)x,Y^AJ@yJ @9J0 YJ>JH@?j?>Vܿ a?;`6?`J?൸?J@ɨJF; J"CReBRc IZI=bI=jI9rI9zI=s:I=ľ9I9I9UA٣A UGUUFe"; u>y]I59}̋{?aI5Y} i}aB A?m:6q@}o{D};};}I5 A%DNOT Ignoring new targets: 13.60 m.hAhIhIhIhIgIgIbgQjgUBeQeQjeYJeY:e]` 8@:JBJ9JJRJ ZJBɛ@CȺ)  >i)*i;=i羉<r;IIDDDE`0 EEE > 4= xV0x,j^A>@y>@9>'Y>>>HɎ?U?}D@pܿ e?-?@*j?ݷ?>@ɨ> ; >!CJUBJN IHRHR\05Zϻ Zg=Y^:Q ^>`٣` bGbVFfa; f>h]jI59j{?anI5Yj ijcBprqr@j{Dj]$;j&%;jI5v;B v0AvEDNOT Ignoring new targets: 13.60 m.hhhhhgg!bg!jg!e!e)je)Je):e-_8@UBɛUι)Y ed>ia)e-aaim:=im羉m(% BDAT read: Rx Time:19:54:26.8856 % TRx dataTimestamp_ set to:1736538867.419215% 6H`?/D?3Eܿ/i?`ҹ?\??6@ɨ6; 6$CbLBbC IhjAHn{Hn'5v73 vG=YvlC:Q v>x٣x zGx5; >!]-I59%{?a-I5Y% i%eB)5q5@%{D%::%%:%0I5A E}AEEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e`(8@uBɛuj)y }T>iy)}{yyi}X:=i羉;g<׹;IIDU?DQDYE]1 EYu:J% >`JBJ% ]9JJ! RJ% ZJ% <x,"^A>e@y>)@9>*Y>>>H@#???Hܿi?A湿µ??@?>e@ɨ>Y͈; >#CJ>BJ2 ImMb@Mb@Mb@ii i)iIiymZd;O? rhm~J?mCm̼ mQA)mx@Im@im;@im@HH15 >=Y8Q >٣ GWF /: >]I59\{?aI5Y icBWK?m: q@{D;:I5 AEDNOT Ignoring new targets: 13.60 m.hIhIhIhIhIgIgIbgQjgUBeYeYjeYJeY:e]89@8DAT read: $Error in header *Received a bad headeruDAT read: 1 u8unknown deviceResponse_: 1 }|DAT read: Header stats CRC:Fail PSNR:05.5 CCERR:004 Mod:MFSK unknown deviceResponse_: Header stats CRC:Fail PSNR:05.5 CCERR:004 Mod:MFSK DAT read: ,DAT read: user:1336> i)N#i9=i羉7<~$;IID?DDEF3 EE=E>GGAAG>GG IG݂BG =GGG̰<G FVF CQ;ZIu bIu jIu 0rIq zIu v:Iu 9 5Cx,= ^A2@y2+@92Y2>2H`?:?bܿj?@Ѡ??@?2@ɨ2u0; 0^(B^ IHfHf?15n nY=YnMQ n>p٣p rGpv2<: v>x]I59z{?aI5YzDZ izaB  q @z{DzL;zBM;z2I5i)SD隡i9=i羉r<;IIDaDaDaEe14 EaIx,(^AR@yR6%@9R-YRϬ>RH`?`%G? Yfܿrh?? e?ڶ?R@ɨR$; R!C^B^Ib=ib<)b= b==٣ GXFL >]I59l{?aI5Y i]B.Q?m:q@{D<<><I5 K AE DNOT Ignoring new targets: 13.60 m.h h h h h g gbgjgeBeejeJe:e :@雍݁Bɛ(%) =i)隑iM9=i羉<p;II:J=jIBJ=+9JJ9RJ= ZJ=0DP^ntx{|ztpnjd^WRNJEB?930*&"    D?DDE[0 E Px,5B^Aj@yj @9j Yj>jHԆ?^s?p@ܿ_? t?E? ?j@ɨjr; j"Cv BvIH~H~6=5   W=YQ >٣ GYF >!]-I59%|?a-I5Y%û i%ZB15q5@%{D%h:%2:%NI5==B = AEEmDNOT Ignoring new targets: 13.60 m.hqhqhqhqhqGGG IGBGGGG<G FgqgbgjgeejeJe:e@h:@܁BɛZ') t=i)iT9=i羉籁<\";IIDDDE_0 EZI5bI1jI1rI1zI5:I1I1I1U FH`? )? @ ݿ%Y?`{`K͡?P?.?F@ɨF; F$CVBVIH^H^:5fSн fO=YjQ j>h٣h jGhn n>p]vI59r9(|?avI5Yr irWBxz%qz@r{Dr\:r:rI5| ~1 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e]:@ځBɛNY) `=i)p!!i%u8=i-羉5|s<5c:I1IQDazDaDDDE`0 E]:J !NBJ 9JJ RJ ZJ 7\x,zv^A^@y^;@9^9Y^ >^H`[z?.?ݿT?@ȸO?@3??^@ɨ^䣈; ^#CfBjIIl)l]Mb@Mb@Mb@YY Y)YIYy]X9v?ʡEÿV-]S?]] ]$A)]=@I]Z@i]@Y]@HH>5! 8=Y bQ  > ٣ GZFS >]%I59WA|?a%I5Y iRB-zW?m-|:-&q-@|D ; ;I51 5} A=EeDNOT Ignoring new targets: 13.60 m.hahahahahagigibgijgu!BeqeqjeqJeq:e}>;@雥فBɛi) X&=iխ%=խ%=ZIE bIE jIA rIA zIE }:IE 9IA IA IE ;IE ;IE ;IE ;] 2Hp?`?E趿=ݿ`L?x@䃢??w?2yβ@ɨ2r; 2"CBBBIHJHJ:5V_ Vd=YZ Q Z>X٣X ^G^[F~ݻ >] I59 V|?aI5Y iOB*'q@(|D::I5>B % A%EuDNOT Ignoring new targets: 13.60 m.hqhqhqhqhyggbgjgeejeJe:eO;@ׁBɛ!j) =i)5i +8=i 羉"<6oII1DDDE2 EE=E=-jx,u9^A5-$ -4=Y5Q 5>1٣1 =G9= =>I]UJ59Mn|?aUJ5YM iMJB]O[?m]w:]/q]@MA|DM:M:MJ5e=B e AmEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBee!je!Je!:e%{<@mՁBɛuc)q u 4px,ý^A2>@y2@924Y2>2H 9b?_?<uݿ{??'@m%?R? }?2>@ɨ2; 0>B>IBT٣X ZGZ\FZN1 Z>\]bJ59^|?afJ5Y^ i^GBdf0qf@^T|D^:^:^J5j>B j AnEDNOT Ignoring new targets: 13.60 m.hhhhhg g bg jg eejeJe:e@&i<@G%>G!G%l IG%nBG% =G!G!G%<G% FH HHH ="H*HUi4ӁBɛ;q)  2H\?` ?P͈ݿ@:?@``??@չ?2@ɨ27; 2#C~فB~IHH85%. %B=Y%`Q ->)٣) -G-]F5U 5>9]EJ59=|?aMJ5Y= i=BBIM1qM@=k|D=:=1:= J5Q ]) A]EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e?<@сBɛ?5) y:J} BJ} 9JJy RJ} ZJ} G}x,^A2@y2@92NY2O=2HT?-?@Rzݿ;4?@??`?2@ɨ20u; 2"C:B:ImMb@Mb@Mb@ii i)iIiymI +?J +ɿ٣ Gդ >]J59ݰ|?aJ5Y: i@BZ?my:5q@|D ; ;1 J5?B  AE DNOT Ignoring new targets: 13.60 m.h h h h hggbgjgBe!e!je!Je!:e%@=@MρBɛMJwi)Q Ux=iQ)UYYi]6=i]羉e` G!G%M IG%TBG!G!G!G%ٰ<G% FVF54λF=?F=>F ZA ME >m Y2J>2HP?@C9?񞷿ݿ@/?ӷڣ?B?W?2d@ɨ2; 0NBNIHTHTb; b[=YbǨQ b>d٣h jGj^Fj0 n>p]vJ59rB|?avJ5Yr ir>Btv5qv@r|Dr:r:rxJ5x ~ A|%DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g)g)bg1jg1e1e9je9Je9:e=ʠ=@́Bɛ w_) 0;=i):i6=i羉zE~<οIID?DDE`0 E\x,uw+^AZIvbIvjItrItzIvv:Iv9ItItq~@i~@u~@m~@MH0N?N??e﷿`bݿ`+?`(???f?M@ɨM&; M$CeBeIMb@Mb@Mb@ )Iy5= .=YiQ >٣ G_F׷ >]J59|?aJ5Y iY?my:8q@|D:M:J5 N AEDNOT Ignoring new targets: 13.60 m.hhhhhg!g!bg!jg-Be)e1je1Je1:e=`>@eˁBɛe8) =i)   i B6=i羉P}<UBII:J]:IBJ]+9JJYRJ] ZJ]D?DDE_0 EE=E=@x,5BE^A6@y6@96`#Y6a>6HK?B?Wݿ(?|r?@}?(?6@ɨ6|; 6#CG`G`GbG IGbOBGb =G`G`Gb<GbFBIHH95%gl= -h=Y- Q ->1٣1 5G15)ź 5>A]EJ59Er|?aMJ5YE iE=BIM78qM@E|DE:E`:EJ5U@B ] A]EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:er>@ɁBɛ/) (=i)i5=i羉*|< II D?DDE2 E5 2HJ?@C?3}ݿ'?׺?@ҧ??2~@ɨ2; 2"CR BVIH^H^"25fu`= fP=YfQ j>h٣h jGj`Fn. n>p]vJ59r}?azJ5Yr ipxzE8qz@r|DrC*;r2I;rJ5  A5DNOT Ignoring new targets: 13.60 m.h1h1h1h1h1g1g1bgjgeejeJe:es>@ ƁBɛr) 5j >i1)599i=*t5=iE羉E{:J BJ h9JJ RJ ZJ ʞx, y^A2}@y2@92)l&Y2N>2HQJ? C?@Ǹݿ`%?̤??i?2}@ɨ2%$; 2#C:B: I Mb@Mb@Mb@   ) I y ʡE? ףp= ǿ~jth O? Q8 D ) I -@i   @HH95- ;= -C=Y5v0Q 5>1٣1 =G=aF=- =>Y]mJ59]}?auJ5Y] i]>B}T?m}:}c3q}@]|D]<]H<]J5  [ A EUDNOT Ignoring new targets: 13.60 m.hQhQhYhYhYgYgYiQ)UQQi}4=i羉qz<!&IID)D1D1E55 E1*G"G<G>GGS IGYBG =GGG<G FVFU 5 }x,|Ӓ^A6e@y6ʐ@96&#Y6>6HLL? h٣h jGhj: n>p]vJ59r1}?avJ5Yr ir@BtvC3qv@r}Dr:r:r"J5~AB ~A~E%DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g)g)bg9jg9e9e9jeAJeA:eE?@uBɛu)q u`N>iq)}Ʌyyi}4=i羉#z< IID5?D1D1E5^0 E1ex,鷬^AZIjbIjjIj1rIhzIj:Ijm9  H`I?G?@xݿ}#?@I6?%?? H{@ɨ 4; $C%6B%) II)))15AMb@Mb@Mb@ )IyMbX?OnÿJ? A)&@Ii(@H5H5?15Ec= E(=YMql:Q M>Q٣Q UGUbFUɺ ]>Y]eJ59]K}?amJ5Y]g  i]BBmON?mm:mY+qu@]}D];];]]&J5y }RAyDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg_BeejeJe:eJ@@Bɛxߝ) Tp>i)ꃼi3=i羉y<!-IID?DDE E:JBJ9JJRJ ZJx,kƾ^AG0G0G2s IG2sBG0G0G0G2<G2 FB{@yB @9B5"YB&>BHI?F?`ݿ #?:J`cE?;??B{@ɨB鱇; B"CNIBN@ IHVxHV&5^= ^~=YbVQ b ?`٣` fGdf9 f ?h]nJ59j\}?anJ5Yj ijDBprV+qr@j-}Dj:j:j,)J5x zA~E=DNOT Ignoring new targets: 13.60 m.h9h9h9hAhAgAgAbgIjgIeQeQjeYJeY:e];@@%Bɛ-;)Mi= M>iI)M[QQiUf3=i]羉]Jax<]+IYIY `DAT read: RX DATA OVERRUNResponse Not Received  *response not received ,DAT read: user:1337>  BDAT read: Tx time:19:54:35.3657  $Ping request sent. ٣ GcF >]J59t}?aJ5Yf iGBq@C}D)::,J55BB =fA=EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eit@@Bɛ";)  >i))-411i52=i5羉=xw<=,I9I9D?D D E n0 EII 3I .JDAT read: TxSync time:19:54:35.3649 %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250645IIIZIbIjI0rIzI:I9Iـ3IVFa zFi rFm gAF9 ZAI M} >:J KBJ +9JJ RJ ZJ   <㽯x,?^A2q@y2@92~%Y2R >2HD?`aT?rݿ?A?`#?`?2q@ɨ25<; 0NfBRc IV=iV4<)V= Vp=-Mb@Mb@Mb@)) )))I)y-/$?X9v~jth?-1H?--D; -QA)-@I)i)))HOHq5q= I=Y=Q >٣ GdFE >] J59׉}?aJ5Y} iKBJ?m:$q@X}Dz;;0J5%AB %A!}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501832}DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:eh@@雽Bɛ<) Y>i)%{i"2=i羉v<e@IIDE?DIDIEM0 EQGaGaGe IGeBGaGaGaGe<Ge FH! H!H!H!"H% =*H%;4VFI F! 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754498ZA9 MU >įx, !^A6MT@y6c@96e,Y6->6H6?X{?.2޿ ?2w@??ި?6MT@ɨ6ȇ; 6!CNuBNu IHZHZ*5bĠ= b[=Yb՜Q b>d٣d fGdf' j>h]rJ59ja}?arJ5Yj  ijNBprc%qr@jk}Dj:j>:j3J5vBB zjAzE%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g!g)bg)jg)e)e1je1Je1:e5f@@eBɛeO<)a e>ia)mwiiim{}1=iu羉u_u¨˯x,0^AyB{ IMb@Mb@Mb@ )IyZd;O?I +~J?9 $A)@I@i@3@HEH5ڈ< =YQ >٣ GeF >]J59ݹ}?aJ5Y.& iTBK?m:yq@}D ;;@8J5CB KAEDNOT Ignoring new targets: 13.60 m.hhhhhg!g)bg)jg-Be)e1je1Je1:e5TA@eBɛe|<)a eX>ia)mpiiim֞0=iu羉utӯx,WN^AZI.bI.jI,rI,zI.}:I.[9I,I,I.;q6I.;i6I.;u6I.;m6BL@yB2\@9BU13YB >BH2??,f0!޿@ ?'ṿ`Vd??@"?BL@ɨB9<; B$CNchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761934nBn IIp)pttHH)5-@= -D=Y-Q m>q٣q uGufF}k }>]J59U}?aJ5Y4+ iYBq@}D';k;;J5MB AE DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g1g1bg1jg1e9e9je9Je9:e= OA@Bɛu<) >i)ji/=i羉es<B}IICCCCDADIDIEM0 EIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014849VF iF ZA M >csگx,ck^AB.W@yBf@9B%/YB8 >BH 7?7w?-8޿`?`? Ȧ?,?B.W@ɨB`; @jBj IH5H5|+5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269015m= m%=Y};Q >٣ GgF(; >]J59}?aJ5Y1 i^Bdq@}Db<b<A@J5! %A%EUDNOT Ignoring new targets: 13.60 m.hQhQhQhQhQgygybgyjgyeejeJe:eA@BɛJ6|<) R>i)%b!!i%.=i-羉-Q5r<-njI)I1DDDE05 EE=E>:JBJJJRJ ZJ   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519875VF JiF ZA M >Px,^A B IGAGAGE!IGEBGAGAGAGER<GE F]Mb@Mb@Mb@YY Y)YIYy]%C?{GzMb`?]ZD?]ף]; ]A)YIYi]@Y]=@ y}AAHyHy0= H=YQ >٣ G >]J59?~?aJ5Y5 icBjE?m:q@}Ds::CJ5NB [AEDNOT Ignoring new targets: 13.60 m.hhhhhg g bg jgBeejeJe:e@A@EBɛE| <)A Er>iA)Ma\IIiM.=i羉Fq<zmIIZIbIjI1rIzI}:I9I3II;I;I;I;Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770259DaDaDaEe83 EaVFm iFA ZAI Mm >zx,^^A6i@y6)y@96&,Y6 >6H@?%X?ݿ ?:@$?F?@{?6i@ɨ6b; 4Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022075bBb IHtHt%v< %e=Y-;Q ->)٣) -G5hF5; 5>9]EJ59=n~?aEJ5Y=9 i=gBIM)qM@=}D=:=:=FJ5Q e6AeEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e)A@Bɛ"<) M?i)Wi>-=i羉Gp<GKII D ?D D E _0 E VF5Jichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278372FQ ZAi M >äx,9^A6}w@y6↹@96/*Y6P>6H&G? >?@ݿ`Q?ɇ@]? ?p?6}w@ɨ6b; 6#CBBB IuMb@Mb@Mb@qq q)qIqyuE?Zd;uF?uyu uA)qIu@iqqqHH(*5< C=Y5:Q >٣ GiF҂; >]J59,~?aJ5Y4> ilBDG?m:-q@}D:A:JJ5  A:J^LBJ9JJRJ ZJDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg%Be!e!je!Je!:e-#B@UBɛU@<)Q U?iY)]-OYYi]],=ie羉eoIU f=)Q ~G AZI% bI% jI% 0rI! zI% :I% "9I% ـ3I! I% n;I% o;I% ;I% ;)E %yA M +Bm checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778327x,Wӿ^Arl@yrё@9r}l#Yrf2 >rH L?3?87@ݿ w#?`V7,l?t? ?rl@ɨrUI; r$C~B~ IH H *5%`d< %P=Y-;Q ->)٣) -G)5^; 5>9]EJ59=wB~?aEJ5Y={B i=qBIMqM@=~D=:=:=MJ5UOB UAUEDNOT Ignoring new targets: 13.60 m.hhhhhggbg!jg!e!e!je)Je):e-WB@雝Bɛ<) ?i)HH隡i~+=i羉n<(IIDDe?DiDiEmo0 Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029651VFMGY6FU?FU.?FI ZAQ M >x,/^A@y@5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2880419 Y< >H`GQ?V$?H `ݿX'?zS N? v? ?@ɨ}; ޅBޅ IAMMb@Mb@Mb@II I)IIIyML7A`?Zd;MbpM+G?IM MA)IIM@iM@IMG@HH35R $=Y M:Q  >٣ GjF; >!]-J59%<^~?a-J5Y%G i%vB-G?m-:-Qq5@%~D%e;%z;%TRJ5=PB =,A=EmDNOT Ignoring new targets: 13.60 m.hihihihihqgqgqbgqjg}BeyeyjeyJey:e SB@BɛI<) ?i)@i*=i羉m<.IID9D9D9E=_0 E9:JKBJJJRJ ZJ  J%? J%? checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533743VFe +I,F9 ZAA M >px,Ԃ^AGLGLGNA!IGNBGLGLGLGN<GN F-̓@y-1@9-QY-a >-H#U?@?@Nݿ`W*?Y@??@?-̓@ɨ-„; - C]Bޅ IHH|+5< q=Y:Q ?٣ GkF=; ?!]-J59%q~?a-J5Y%K i%yB)-q-@%+~D%>:%K:%YUJ59 EAEEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:erB@Bɛ|H<) ?i):i)=i羉D'm<x>II!ZIbIjI1rIzI:I9I3II;I;I ;I ;D?DDE2 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.787335VF MF ZA M >Px,*!^A&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037788:@y:@9:҉Y:n >:H\?7?R渿ݿ@k0?`u׺ ?@ ?ɫ?:@ɨ:; :"CDDHRHR,5Vk ; V`=YZk:Q Z>X٣\ ^G\5; 5>9]EJ59=C~?aEJ5Y=O i=|BIMqM@=>~D=:=:=XJ5Q UAQDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e1B@Bɛ<) ?i)eP4it(=i羉Ȁl<IIDzDgADm?DqDqEu4 EqVF׹checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292290zFrFhAFZA1 M >*x,;^A6@y6@96Y6 >6Hua? ?@z@'xݿ5?zκ???6@ɨ6; 6#CBBB IF=iF<)D FR=UMb@Mb@Mb@QQ Q)QIQyUq= ףp?sh|?~jtUK?UUD UA)U@IU@iQQU@HuHu/52 ==Y\ ;Q >٣ GlF?; >]J59~?aJ5YT i}BL?m:oq@S~D:V:<\J5QB eAEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e`&C@:JKBJ9JJRJ ZJ=Bɛ=<)A E#?iA)EK:-AAiEe#(=iM羉MkGGG!IG BGGGGL<G FHi HiHiHi"Hi*Hmo4VFUFZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794615ZI bI jI 0rI zI ̈́:I 9I ـ3I I ;I ;I |;I };i"x, U^A2@y2˹@92yY2 >2H$h??}_ݿ:?@" ΢?M?4?2@ɨ2j; 2$CFBF IHNpHN#5^D< ^R=Yb:Q b>`٣` bG`f; f>h]nJ59j~?anJ5YjY ijBprqr@jg~Dj:j:j_J5x z[Az~E%DNOT Ignoring new targets: 13.60 m.h!h!h!h)h)g)g)bg)jg1e1e1je1Je1:e=DXC@5Bɛ5@<)1 5?i1)='&99i=J'=ie羉e#"k^Cx,=o^ARò@yR8ӹ@9RzYR6 >RH`l??T5Pݿ`%>?v Z??`?Rò@ɨRI ; R#CHeHe%.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300187Y,;Q >٣ GmF ; >]J59~?aJ5Y_^ iBq@~D::cJ5 ]DNOT Ignoring new targets: 13.60 m.hYhahahahagagabgjgeejeJe:eC@Bɛ<) ?i)ECia&=i羉3oj<#rIIDDDE E:JMBJMS9JJIRJM ZJM  5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549706VF ԑF ?F ?F ZA M >o5"x,C^Af̲@yf'ܹ@9f{Yf >fH Sp?^?E`CAݿ@lA?kQ? ??f̲@ɨf륅; f"CrBr IIt)tG G G ;!IG BG G G G <G  FMb@Mb@Mb@ )Iyn?:vMbVN?Խ A)I@i@@HH+5 ʼ  ٣ GnF6; >]J59~?aJ5Y5c iBP?m:qq@~D;S.;5gJ5RB A{E-DNOT Ignoring new targets: 13.60 m.h)h1h1h1h1g1gYbgYjg]|BeaeajeaJea:em@C@雭BɛB<) ?i)uiK%=i羉!i<YIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802480Du?DqDqEq EqVF F ZA M >- checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0537030V(x,n^A6@ز@y6@96 Y6<>6H u? :?跿-ݿE? `?J?R?6@ز@ɨ6M; 4>BB IHJHJ05R Rf=YV/;Q V>T٣T ZGXZL; Z>`]fJ59b~?afJ5YbOg i`dfqf@b~Db:b:b.jJ5l n!AnxEeDNOT Ignoring new targets: 13.60 m.hahahihihigigibgqjgqeqeqjeJe:eC@Bɛ<) >i)#iI$=i羉ai<ӂIID?DDE0 EE=E=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308463ZIbIjI1rIzI=:I9I3Iq@i@u@m@VFV'SF ZAy M >ǂ.x,ܼ^A2<ز@y2@92 Y2y >2Hu?@m?I-ݿE?@猻@3?? ?2<ز@ɨ2:; 2 C@@%Mb@Mb@Mb@!! !)!I!y%Dl?S㥛%OM?%$%̼ %A)%@I%@i%@!!H=H=Y45YM:Q M>Q٣ GoF >]J59K?aJ5Yl i{B!P?m:1!q@~D::nJ5SB &AuE-DNOT Ignoring new targets: 13.60 m.h1h1h1h1h1g1g1bg9jg=oBe9e9jeAJeA:eE K+D@:JM̭KBJM 9JJIRJM ZJM H*3:=<3" }Bɛ}<) >i)iX 隁i$=i羉fh<IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.557846DM?DIDIEM?5 EQGGG"!IGBGGGGn<G FVF F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809676g5x,z^A:߲@y:}@9:FY:Nd >:H fy??>a!ݿ MI?`h*? |? ߮?:߲@ɨ:.A; 8FBF IHNHN%.5VԽ VX٣X ^G^pFb; b>d]jJ59f$?ajJ5Yfq ifxBhj qn@f~Df:f\:f?qJ5t vqAvwEDNOT Ignoring new targets: 13.60 m.hhhhhg!g!bg!jg!e!e)je)Je):e-ZZD@UBɛU<<)Y ]>iY)]+Yaie)\#=im羉u5UhZ;x,^AJݲ@yJ4@9JPYJN >JHx??#ݿH?lWt٣t zGx{ǹ  >ZI=bI=jI=0rI9zI=:I=59I=ـ3I9checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319244]J59<?aJ5Yv itB !q@~D<<uJ5  AtEEDNOT Ignoring new targets: 13.60 m.hAhIhIhihigigqbgqjgqeqeyjeyJey:e} ×D@BɛZ<) c>i)iQ"=i羉g<IID?DDE4 EEE:JNBJ9JJRJ ZJyncZTF@94.+)%"!   - checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569043VF F ZA M >G G yBx,a ^AR@yRn@9RlYRo >RHz??Bᶿ@Aݿ@I?`|@?@Xo? ?R@ɨR; R%C``Gn>GlGn!IGnBGlGlGlGlGlMb@Mb@Mb@ )Iy> ףp=?nQ?V lA)@I@iZ@p@HH)5YV:Q >٣ GqF%Nj: %>)]]J59-kT?amJ5Y-m| i-qBU? m:%}"q%@) =A-~D-)=-=-xJ5)myimAuTB uA}qEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg7BeejeJe:eD@Bɛ'<) j>i)yi!=i羉,+g<N8ҺIID zD hAiiuchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.818084DDDE^0 EVF F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.069728xHx,(H$^A2@y2-@92Y2p0 >2H@{?K?k`fݿ@K?@8R? 6??2@ɨ2g; 2$C>qB>q II@)@DFAHJHJ995R RT٣X ZGZrFZ: ^>`]fJ59bh?afJ5Yb ibmBdfv"qj@bDb::b:b{J5t zADNOT Ignoring new targets: 13.60 m.hhhhhg gbgjgeejeJe:e`D@雽Bɛ<) >i)(i!=i羉f<IID}?DyDyE}_0 Eyuchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.321661HyHyZIbIjIrIzI=:I[9IIVFM <F9 ZAI Me >Nx,>^AMb@Mb@Mb@ )Iy:v?jtĿy&1T? ` @)I@iC@z@HH35 9=YQ >٣ G >Y]eJ59]{?aeJ5Y]A i]gBmX?mmz::J!MBJ9JJRJ ZJJIhA'q@](D].<].<]J5 AnEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.573798DNOT Ignoring new targets: 13.60 m.h h h h h g)g1bg1jg5Be1e9je9Je9:e=`1E@雥BɛK<) >i)ػi3W =i羉v$f<ɺIID?DDE EGyGyG} IG}BGyGyGyG}*<G}g FVF ˴ checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825722F ZA M >Ux,W^A6߲@y6<@96?Y6 >6H z?`W? -/ ݿH?&? N?r?6߲@ɨ6$]; 6"C>pB>p IHFHF>5Nӻ Ra=YR;Q R>T٣T VGVsFZ< Z>\]bJ59^Q?abJ5Y^ i^cBhj''qj@^;D^];^^;^߂J5nUB n(ArkEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e^E@Bɛk<) >i)uλi۴=i羉7e<IIDDDE0 E[x,q^AAEAZIbIjIrIzI]:I9IIuBu IE=iE<HuHu35Ѣ< -=YQ >٣ GetFm m>q]}J59uV?a}J5Yu iu]Byyq}@uVDuq:u:u1J5 AjEDNOT Ignoring new targets: 13.60 m.hhhhhg!g!bg)jg)e)e)je1Je9:eEE@mBɛmD<)i u2>iq)uℿqqiu=i}羉e<IIDqDqDqEu0 Ey:J :IBJ JJ RJ ZJ fE W FkE1$J ? J ?VF} ݻFY ZAy M >GI GI GM IGM ݂BGI GI GI GM ]<GM FH HHH'bx,31^A"H*HK4Z߲@yZy@9Z*2߼YZar >ZHz?M?}"ݿ~G?``˻c?^?%?Z߲@ɨZZ; Z!Cf{Bf~ IeMb@Mb@Mb@aa a)aIaye> ףp=?Kǿy&1eQ?e^:a a)aIe@ieZ@aaH H .5== =M=YED;Q E>A٣I MGIM u>y]}J59}#?aJ5Y} i}WB%W?m|:?/q@}kD},:}I:}J5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbg)jg5)Be1e1je9Je9:e=E@雅BɛX<) >i)8Z隩i4(=i羉d<IIBDAT read: Response Not Received *response not received,DAT read: user:1338> %BDAT read: Tx time:19:54:46.3159 %$Ping request sent.% JDAT read: TxSync time:19:54:46.3151  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250190hx,^A2Ӳ@y2@92 ۼY2 >2H`\u??`ǽ 7ݿC?@tr i{?*??2Ӳ@ɨ2J; 0BBB IHJHJv35R< Rn=YR:Q V?T٣T VGVuFZӅ Z?\]=J59^?aEJ5Y^ i^QBAE/qE@^}D^-<^><^wJ5MVB MAUgEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eE@EBɛE=)E< EH>iA)MŧIIiM_y=iU羉ud<}/[IyIyD)D)D)E-]0 E)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503668VFUFqFu?Fi ZA M- >}ox,a^A6²@y6ѹ@96?Y6X >6H@dm??@-굿 $Uݿ=? g?h?`?6²@ɨ6'; 6CNBN IIT)TuMb@Mb@Mb@qq q)qIqyu7A`?-ƿ~jtuV?u?5u q)u\@Iux@iu-@qu@HH|+5ƒ; ;=Y"Q >٣ GvF< >]J59'?aJ5Y iMBP[?mw:-q@D ;:FJ5WB AdEDNOT Ignoring new targets: 13.60 m.hhhhhggbg jg Be e jeJe:e/F@E}BɛE<)A Eo?iI)Mw_IIiM߳=i]羉]rc<]¦IYIa:J)OBJػ9JJRJ ZJ",)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.771698DDDE_0 EE=E=G>GG!IGBGGGG<G FVFxFZAM>IIIIIIZI bI jI rI zI I m9I I I ;;q I <;i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.021429I ;u I ;m :vx,7^AfV@yf@9f߼Yfw>fH@d?t?|bwݿ6?[`??`e?fV@ɨf ; f#CnBn IHvcHvN5~<= U=Yޑ:Q > ٣   G  {Ȼ >]J59?a%J5Ye iIB!%.q%@Do;8;J5) 5)A9eDNOT Ignoring new targets: 13.60 m.hahihihihigigibgqjgqeqeqjeqJe:eaF@{Bɛ Y1 =)  > ?i ) @A  i9=i=羉Eb-|x,^A:a@y:Ǽ@9:5Y:>:Hc?@ ?zݿ 7?-౅???:a@ɨ:|; :!CFBF IHRfHR5Z= ZO=YZ贺Q ^>\٣` bGbwFf f>d]jJ59f?anJ5Yf ifFBln.qn@fDdf;fJ5t vAvaE=DNOT Ignoring new targets: 13.60 m.h9h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eMF@}xBɛ}'n=)  ?ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.527792)fzi9=ie羉mUb<II^D] =DazDaD?DDE^0 EEgAEfAU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.777390:J LBJ S9JJ RJ ZJ  %)38772/,*)'&# GA GA G >G G !IG BG =G G G <G FVF ;3zF gArF gAF ZA M >&؃x,^A2(@y2@92ؼY2 >2Hf?M? .rݿ8?]EB?ȇ??2(@ɨ2; 2 C:B> IB>iB>Mb@Mb@Mb@ )Iye;O?sh|?ſ~jtT?) ~@)r@I@i@HH95; '=Y<;Q >٣ GxF: >]J599?aJ5Y˴ iABX?mz:+q@D%; ;XJ5 A`E-DNOT Ignoring new targets: 13.60 m.h)h)h1h1h1g1g1bg9jg=5Be9e9je9JeA:eE@F@uBɛk =) v?i)Ui=i羉Ka<YջIIZI bI jI 1rI zI :I 9I 3I I !;I ";I  ;I  ;-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029452^D]A<D?DDE_0 EVF F  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281986ZA M >x,)^A6q@y6Ĺ@96IμY6>6Hg??`崿lݿ`b9?rpș? ??6q@ɨ6;; 6"C>B> IHFHF65N> R`=YRc;Q R>T٣T VGTV5: Z>X]bJ59ZM?abJ5YZڹ iZ>B`b+qf@ZDZV;Z1;ZJ5h jAhDNOT Ignoring new targets: 13.60 m.hhh h h g g bgjgeejeJe:e@}G@rBɛg4=) #'?i)lq4i==i羉b`<d̻IIC!C!C!C!HHUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.535182D?D!D!E%`0 E)VF Fq ZA M >J x,\D^A2#@y2̹@92 üY2>>2H`k?$? 5@_ݿ`V;?@\ۺ}?߭?@ʷ?2#@ɨ2 ; 0BЂBB IMb@Mb@Mb@ )Iy/$?sh|?ſI +&Q?94 )@Ii@H-H-15=~= =<=Y=>;Q =>A٣A EGEyFUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.785412:JVMBJ 9JJRJ ZJ<'JfAIgA; >]J593f?aJ5Y i;BqU?m~:,q@D::vJ5XB <A]EeDNOT Ignoring new targets: 13.60 m.hihihihihigqgqbgyjg}eBeyejeJe:ep=G@G>GGA!IGBG =GGG<G FoBɛEc-=) 0?i)?  i *6=i=羉=_<=سI9IAIM=)MC D?DD A)EayAE BE1 EIZIbIjI0rIzḮ:I9Iـ3II;I;I|;I}; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037464VF UF ?F >Fi ZAy M >,x,r^^A2aò@y2ҹ@92Y2>2Hn?@r?@ؑTݿ`;? Ֆ?D?@յ?2aò@ɨ2ӆ; 2#CVBV IIX)XH^H^.5f= fR=Yji;Q j>h٣l nGln; r>t]zJ59vz?azJ5Yv iv8BxzP,q~@v Dvw;v ;vJ5YB AZE5DNOT Ignoring new targets: 13.60 m.h1h1h1h1h1g9g9bgAjgAeAeAjeAJeI:eMiG@}lBɛ} ^=)y }9?iy)Ӻ隁i=a=i羉n_<*IID1D1D1E5~2 E1mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.289416VFUF1ZA9MU>% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541858Wx,w^A]B] !IMb@Mb@Mb@ )Iy?q= ףpL? )r@I@i-@3@HH|+5%l= %*=Y-Q ->1٣1 5G5zF5 =>A]mJ59Ee?auJ5YE iAuN?mu:u"qu@EDE;E,;EJ5y }JAWEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e@G@iBɛC=) mC?i)IPeibD=i羉Ұ^<WݥIIDDDE4 E}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793358:J g3LBJ +9JJ RJ  ZJ Y$CV2 J% ? J%?G1 G1 G5 s!IG5 CBG5 =G1 G1 G5 _<G5 FVF% QpF ZA M% >Cx,^AjҲ@yj@9joܖYj6 >jH`Mv??Tس 8:ݿ`>?XlHے?+??jҲ@ɨjP; j"CB &!IHH= f=Y^2٣ G{Fت; >]J59.?aJ5Yo iq@"Da;;J5 A DNOT Ignoring new targets: 13.60 m.h h h h hggbgjgeejeJe:e%G@UgBɛ]u=)Y ]N?iY)]$YYie\=ie羉m1^ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.305323,lx, ^A20ز@y2@92:Y2 >2H@y?`?0ݿk?? Q輿@3?S?w?20ز@ɨ2; 0^B^?!Ib=ibp=Hf{Hf'5nA= nX=Yr;Q r>p٣t vGtvb: v>x]~J59z&?a~J5Yz ixxq@z,Dz:z:zSJ5ZB AVEEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgIgIbgIjgIeQeQjeQJeQ:e] %H@雅eBɛF}=)  Z?i)9id=i羉]<DII!D?DDE_0 E%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.558172VFxFZAM >Px,I^A:@y::@9:^xY:S >:H~??`T@8ݿ 'C?`e ?{?D?:@ɨ:; : CR(BRR!I5Mb@Mb@Mb@11 1)1I1y5HzG?bX9ȶ~jth?5=J?5E5D; 5h@)5\@I5@i5@15@HMHM?15]= eC=Yeo;Q e>i٣i mGm|Fup;checking for new query: numPingsReceived=0, elapsed TxPingTime=4.809552 >]J59Հ?aJ5Y iK?m:qq@7DWH;`F;J5 ASE:J5INBJ59JJ1RJ5 ZJ5@hkYH<0'" JMgAIMhADNOT Ignoring new targets: 13.60 m.hhhhhggG>GG!IGlBGGGGN<G FH HHH ="H =*H5bg jgBeejeJe:e@H@雅bBɛBo=) c?i):隉iZC=i羉]<i&IIDe?DaDaEa Ea5 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.061416VF OPF ZA M >zx,^^A6@y6@96U\Y6E >6H@p? ?:ݿG? ֽ??n?6@ɨ6&; 6#C>4B>`!IHJvHJ%5Rx= RW=YR\;Q V>T٣T VGV}FZw; Z>\]J59^ꀜ?aJ5Y^H i^9Bq@^@D^gM<^M<^OJ5! %5A!]DNOT Ignoring new targets: 13.60 m.hYhYhYhahagagabgajgieieijeiJei:eulH@雝`Bɛ'm=)&s< i?i)n:隡ioQ=i羉W\<4IIDiDiDqEu2 EqE}=E}p=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.313313VFm ݺF?F?FqZAyM>ZI bI jI 1rI zI -:I 9I 3I q @i @u @m @}x,@^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.567786a٣a eGam m>q]}J59ug?a}J5Yu iu;B}G?m}:q@uMDu:u:uJ5[B APEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgՁBeejeJe:e H@]Bɛ;~=) @o?i) V0;  i =i羉$\<jIIDDDEO1 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.818816:Jm"NBJm 9JJiRJm ZJm 3+GGG!IGBGGGG<G FVF% >F ZA M- >İx,/^A>@y>"@9>\i"Y>>>H4?m?@m>@ܿR?M??"?>@ɨ>>R;  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.321312ʰx,,^A:@y:/@9:9ZY:>:H`1?Z?@˱ܿ}W?`᾿ <+??@]?:@ɨ:C; :"C^FB^w!IHfwHf+&5n? rI=Yrv;Q r>t٣t vGvFv&; z>|]J59~/?a J5Y~{ i~h2Ұx,6I^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.825768bg9@ybH@9bkYb)J >bHܥ?l7?ܿ@b?`m???bg9@ɨbM; b CrLBr~!Iv6/$ =Mb@Mb@Mb@99 9)9I9y=w/? rh{Gzt?9=C =ף; =~@)9I9i99=@HUvHU%5e(< e&=Yei٣i mGiuQ; u>y]J59}3K?aJ5Y}X i}=BG?m:q@}kD}; ;}/;}BJ5 AJEDNOT Ignoring new targets: 13.60 m.hhh!h!h!g!g!bg)jg-Be)e)je)Je1:e5 GI@雵WBɛ=) z?i);隹i =i}羉~7[<T;II^DUzl<DDDE4 EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.077559VF ']?;F ZA M- >Tذx,b^A>@@y>3P@9>ƺY> >>H1?`D/? ]կvܿ@d?;1TX???>@@ɨ>^; 2ްx,|^AK@y[@9w:YF] >H@? 9"?VTcܿi?m?.Q]?`>?騽K@ɨ-; #CHBMb@Mb@Mb@ )IyS㥛?:vy&1|D?Լ` VA)r@Ii@@HH|+5׺ -=YC;Q >٣ GF7; >]J59)z?aJ5YQ i:BD?m:q@D] ;;mJ5 AGE-DNOT Ignoring new targets: 13.60 m.h)h)h)h)h1g1g1bg1jg5Be9e9je9Je9:eEyI@mSBɛm=)i mz?ii)u`%;qqiu =i}羉}Z<}VF m ~G AF ZA M >)e ya e AQgx, ^AB!P@yB_@9Bw;YB~ >BH? ?ì D[ܿk?An-2?୵?B!P@ɨB; B"C^9Bbg!IHjyHj'5rP rp=Yru checking for new query: numPingsReceived=0, elapsed TxPingTime=8.337303x,䅰^A6U@y6#e@96;Y6B >6HR??`~WQܿ l??#{/??6U@ɨ6; 6!CR2BR_!IHZHZ|+5f fL=Yj;Q j>h٣h nGnFn: r>p]vJ59r?avJ5Yri ir5Bxz1qz@rDrS:r:rJ5^B [ADEMDNOT Ignoring new targets: 13.60 m.hIhQhQhQhYgagabgijgieieijeqJe:e nJ@uPBɛ}q3=)y },q?iy)}4{x,bH?8 ?֩`Mܿl??οj??bW@ɨb; b#Cj&BnP!IG>GG!IGBG =GGG<G FMb@Mb@Mb@ )Iysh|??V- rhI?C )E@I@i3@HH] <=Yb;Q >٣ GF: >:JuBoJBJuػ9JJqRJuZJu  JyI}gA]J59?aJ5Y i.B*J?m:q@D<<J5 AAEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:eHJ@NBɛ\6=) k?i)3<ig =i 羉 iZ<.צx,I^A2Y@y2Zi@92S2Hཱི?`F#? mIܿm?˿`t ?y?2Y@ɨ2R; 2"C>B>;!IHJHJ+5> U=Y٣! %G!%L: %>)]5J59-ԁ?a5J5Y-p i-(B9=q=@-D-I;-;-J5E_B EPAM>EuDNOT Ignoring new targets: 13.60 m.hqhqhqhqhqgygybgyjgyeejeJe:e`&wJ@雵MBɛڪ=) c?i)s<隹i2=i羉KZ<9 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.599562|x,'^A5Z@yi@9RH? (?葦`RHܿl?MR?}?騕5Z@ɨɈ;  CB!IMb@Mb@Mb@ )IyHzG?X9vQ=J?} h@)r@Ii@@HH/5ʿ 2=Y;Q >1٣9 =G=F=8 =>A]MJ59E?aMJ5YEm  iEBUK?mU:UqU@EDEZ:E:E0J5Y ]AaDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:eJ@KBɛ.N=) Y?i))<i=i羉$Z<GG!IGqBG =GGG<G FH HHH ="H*H4:J.SLBJ9JJRJZJJ? J?VF O <F ZA M >x,^A6[@y6k@96f6H̳?,?SEܿ`#m?3 \`?I?6[@ɨ6; 6#CBBB!IHRHRs75b br=YbT x,1^A6U@y6^e@96Ч6Hذ? =?@TOܿ j?`Z T@?@p?6U@ɨ6C; 4^тBb IId)dHjHj35rB rH=Yr;Q v>t٣t vGvFzO z>|]J59~?aJ5Y~& i~B q @~ŀD~:~:~J5 zA:EEDNOT Ignoring new targets: 13.60 m.hIhIhIhIhIgIgIbgQjgQeQeYjeYJeY:e]lK@雅IBɛ=) C?i)|<<隉i=i羉 Y<Ti] <] <x,:K^AGJ>GHGJm!IGJ>BGJ =GHGHGJΰ<GJ FZR@yZ^b@9ZMZH?@TH?x` Tܿ i?dn?@?ZR@ɨZԇ; Z"CbBb IMb@Mb@Mb@ )Iy@5^I ?MbX+bP?ʽ )@Iix@=@HH65 9=Y;Q >٣ G F Y  >]J59p3?aJ5YP iB(R?m%:%q%@ЀD~ ; ;sJ5-aB -A57E]DNOT Ignoring new targets: 13.60 m.hYhYhYhYhagagabgijgmHBeieijeiJeq:euIK@:JJQJBJ9JJRJZJ!%$#%"!JIhA5HBɛ=u=)}}< }3;?iy)}!G<隁i66=i羉}Y<) BDAT read: Tx time:19:54:57.2660 $Ping request sent.x,De^A:L@y:G\@9::H?W?`̠^ܿ;f? "`}X`Q?`4?:L@ɨ: ; 8FBF IHNHN995VN Vc=YZK;Q Z>X٣X ^G\^ ^>`]fJ59b7H?afJ5Yb ibBhjqj@bڀDb:bu:bJ5l nApDNOT Ignoring new targets: 13.60 m.hhhhhggbg!jg!e!e!je!Je):e-wK@UGBɛU M=)Q U3?iQ)]:]O checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502018x,Zb^A"5@yD@9H?@?/ܿ@uZ?.A`Q? ̸?"5@ɨk; UB] IC=ip<HH/5aԽ 8=YEQ > ٣ GF%ӻ ->]J59(c?aJ5Y! iٕBq@DQ;d:J5 PA4EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgee je Je :eK@5FBɛ=]e=)9 =(?i9)=voY<99iE#Q=iE羉MkJY:J% qLBJ% +9JJ! RJ% ZJ% k:5}7fJ>4' J- ? J- ?\&x, E^AB*@yB :@9B-BH@j?r?S`ܿ`V?' ӜE?`H?B*@ɨB; B$CJBJ IIIIIIIZIEbIEjIArIAzIE:IE9IAIAIE;IE;IE;IE;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007031Mb@Mb@Mb@ )Iy> ףp=?SÿI +Q?94 )r@Ii@HH+5Uǽ UC=YU;Q ]>Y٣Y ]G]FeK e>i]J59mjy?aJ5Ym&' imǕBU?m~:Y#q@mDm;mI;mJ5bB A1EMDNOT Ignoring new targets: 13.60 m.hIhQhQhQhYgYgabgjgBeejeJe:eK@EBɛHd=) ?i) b<  i =i羉X<;II^DMX<5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258878D D D E 0 E VF%~q;F-?F-?FZA M->-x,9^ABz@yB)@9B BH?0? %`#ܿ O?@B}"? ?Bz@ɨB; B#CNrBNs IHVHV)5^ ^8=YbN;Q b>d٣d fGfFj j>l]rJ59nl?arJ5Yn, inBpr#qv@nDnZ:nf:nJ5x z~Az.E%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g!g)bg)jg)e1e1je1Je1:e=JL@}CBɛ}}`=) ?i)49j<隁iM=i羉X<v:;IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511868^Dٹ<DDD!E%4 E!VF;FY u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763630ZAy M >G G G IG ΂BG =G G G ٰ<G FI ) E GGY ) %y f B Z@ B}4x,^A=aB=] III)I:J]̨NBJ]]9JJYRJ]ZJ]   JiImfAMb@Mb@Mb@ )Iyn?~jtȿA`"V?DY ;@)@Iib@@HHF5- -6=Y5Q 5>9٣9 =G9E E>I]J59M?aJ5YMY3 iMB\?mw:.q@MDM#Mz;x, $^A2*@y2/:@92B =Y2S/>2H?У?@D'`Ιܿ1U?_|? ?2*@ɨ2隈; 0B[BBV IHJHJI5Rۼ RH=YVKX٣X ZGZF^; ^>`]bK59bH‚?afK5Yb9 ibBdfH.qf@bDb;b;bK5ncB n:An-EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eL@ABɛ !Z=)  z ?i ) E,z<i=i羉W<ߖ;IICICICICI5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518126D?DDE5 EVFm b;FI ZAY M >~|Bx,m ^AB&@yB6@9B_=YBA>BH?Ư?@ܿ{S?`_ꢿ?@?B&@ɨBɈ; B"CJNBJF I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770151GG?AGGG IGBG =GGG<G FMb@Mb@Mb@ )Iyrh|?mͿ[?nL )@IC@i=@HHMD5d  3=Y ,;Q  >٣ GF >!]-K59%ۂ?a5K5Y% @ i%lB55d?m5n:58q5@% D%/>;%3=;%|K59 EAE*EmDNOT Ignoring new targets: 13.60 m.hqhqhyhhggbgjgـBeejeJe:e ?L@]?Bɛ]N=)Y ]?iY)]Hx,P$^A^'@y^)7@9^We=Y^>^H`|?5?3 ܿ KR? b`a룿@ ?@(?^'@ɨ^]; ^#Cdhn%>inC=)n= np=HrHrm?5~N ]=Y;Q > ٣   G 9 >]%K59?a%K5YE iWB!%8q%@+DG::K55dB 5A5'E]DNOT Ignoring new targets: 13.60 m.hYhahahahagagabgijgieieijeqJeq:eu L@>Bɛ%a=)) M+?iQ)U> 8DAT read: $Error in header  *Received a bad headerANx,z>^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.537567Z@yZH-@9Z6<&=YZ:>ZH??@ц7ܿM?}Ƥ@?@)?Z@ɨZ; Z C%KB%B IH=H=A5ExY MF=YMׄ;Q M>Q٣Q UGUF]? ]>a]uK59e?auK5Ye/L ie?By}8q}@e7De9;eZ;eT K5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e+M@}:JU jIBJU 9JJQ RJU ZJU    (Ux, X^AJ IgA6@y6k(@96+=Y6i>6H?`?. ܿzJ?Ͷs?Y?6@ɨ6; 6&CBJBBA I Mb@Mb@Mb@   ) I y 5^I ?QοMb X? u @ ~@) @I @i x@  (@HeHe@5uIx uG=YuS;Q }>y٣y }G}Fg >]K59?aK5YR i(B`?mq:F<q@BDF< <K5 A&E=DNOT Ignoring new targets: 13.60 m.h9h9h9h9h9gAgAbgAjgEBeQeQjeYJea:ee(bM@雝:BɛXY=)  ?i)g<隡iF=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030040iM羉MV} checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282144K[x,q^ABs@yB@9B/=YB>BH`?H?㒿ܿ.E?g`y??Bs@ɨB҉; B CNUBNN IHZHZ>5b^= bW=Yf';Q f>d٣h jGhj] j>l]rK59n2?avK5YnaX inBtv<qv@nMDn~:nG:n=K5zeB zA~#E-DNOT Ignoring new targets: 13.60 m.h)h1h1h1h1g1g9bg9jg9e9eAjeAJeA:eE M@9Bɛl=) $?i)Ďbx,^A:t@y:@9:3=Y:J>:H#? ?@!ܿO@?Mr@?`?:t@ɨ:Ή; :"CR^BRY IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.786169*GI"GIGQGQGQGQGQGQGQGU<GU FMb@Mb@Mb@ )Iy:v?V-Ϳ rhT?mC )I@i@@HHC5"&= ==Y;Q >٣ GFM8 >]K59I?aK5Y^ iBI]?mu:<q@YD] ;;K5 9ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:eM@雍6Bɛc=) ?i)<隙i=i羉CU<h&!:IIDaDaDaEe5 Ea:J}hLBJ}ػ9JJyRJ} ZJ} ! J? J%? checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041540VF /:FA ZAQ Mm >5hx,Ӆ^A29@y2 @927=Y2>>2H@.? ?'# wܿ;?3t? ̷?29@ɨ2; 0NnBRm IHVHVF5-{= -S=Y-[0;Q ->1٣1 5G1=S =>A]MK59E^?aMK5YEd iEBIM]<qU@EcDE:E>:EiK5]fB ]A] EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e M@5BɛĂ=) ?i)լ<i=i羉U<@IIDQDYDYE]_0 EaUchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290242VFU?:F)ZA9MU>H AAH ZI bI jI rI zI :I 9I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542104Nox,`^AZl@yZ@9Zť==YZk>ZHw?`5?;tݿ0?Q ?@ɶ?Zl@ɨZ<-; Z$CbyBb{ Ij%=ij<)n= n=HrHr;5za= zN=YzFg;Q ~>|٣ GFۻ > ]K59 s?aK5Y j i ӔB =q@ nD ; ; K5! %hA-EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e.N@]3Bɛ]E=)Y eG#?ia)e] jvx,<^A:J2LBJ2]9JJ0RJ2 ZJ2"yAl'J4I6hA)8 :@Z[ز@yZ@9Z@=YZ~>ZHr?IL?폿)ݿ@*?@? ?Z[ز@ɨZ>; Z"CbBf IUMb@Mb@Mb@QQ Q)QIQyUgfffff?Clɿ~jtU3S?UOUļ UA)U@IU@iQQU\@HmHmMD5}= }B=Y}u:Q }>٣ GFse >]K59?aK5Yp iBY?my:5q@zDT;j; K5 AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeBeechecking for new query: numPingsReceived=0, elapsed TxPingTime=6.046283jeJe:e {fN@-1Bɛ-Am=)I M6,?iQ)Uԟm checking for new query: numPingsReceived=0, elapsed TxPingTime=6.2981144|x,1^AFܲ@yFy@9FC=YFA5>FHs?F? ("ݿc*?5[n@6? ?Fܲ@ɨF; F!CbBb IHzHzB5Jt= P=Y%$:Q ->1٣1 =G9E: E>Q]]K59U(?aeK5YUv iUBim5qu@UDUb;Ub;U$K5}gB AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e@N@/BɛR=)  3?i)<i=i羉S<BUIIDDDEo0 EZI}bIyjI}1rIyzI}=:IyI}3Iyձձchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.550597VFg{F ZA M) sx,b ^A25ֲ@y2@92F=Y2>2Hp?@HR?st@J,ݿ`&?@tU٨*M??25ֲ@ɨ2y; 2"CNBR IIT)TTVA%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802167G)G-AAG)G)G- IG-BG)G)G)G-ʰ<G- F c~G )=iy9EIAUMb@Mb@Mb@QQ Q)QIQyUK7?ˡEĿQUIL?U'Uu UA)U@IU$@iU@QU@HmHm6=5= .=Y:Q %>!٣! %G%F-ɺ ->1]=K595?a=K5Y5| i5BEP?mE:E_,qE@5D54:5:5(K5I UAUEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:eN@-Bɛ=) >?i)<iǠ=i羉KCS<IIDe?DaDaEe0 Ea:J}MBJ9JJRJ ZJJ ? J?checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055385VF V'SF ZA M >_Ax,&^A6i۲@y6@96YK=Y6C>6Hr?J?"ݿ &?``pw?DZ?6i۲@ɨ6; 4>B> IHFHF85N= R}=YRGQ;Q R ?T٣T VGVFV; V ?X]^K59Z6ʃ?abK5YZ> iZB`b3,qb@ZDZ;Z;Z*K5h jUAhDNOT Ignoring new targets: 13.60 m.hhhhhg g bg jg eejeJe:e NN@E,BɛE=)A EH?iA)E2ʭZI bI jI rI zI :I [9I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558072'x,;@^A>߲@y>J@9>O=Y>O>>H:t? D?.|Kݿ@X'?{t?@?>߲@ɨ> ; >#CfƂBf IHrHr995z-= zE=Yz:,;Q z>|٣| ~G|Ϭ: > ]K59 b?aK5Y † i B,q@ D L: M; .K5%hB %A%E]DNOT Ignoring new targets: 13.60 m.hYhYhYhYhagagabgajgaeieijeiJei:eud/O@雝*Bɛ/=) M?i)A<隡i-=i羉 KR<GBIID?DDE0 EG>GG IGBG =GGG<G F]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813430VFV'SFZAM>Qx,Z^A6.@y6@96TS=Y6>6Hx?5?<`d ݿ)?`$ n?@X?6.@ɨ6h; 4:JVBJTJJTRJV ZJVgi*JXIZgA^ӂBb I)fa= f=MMb@Mb@Mb@II I)IIIyMv/?S㥻MxI?M/ݽM MA)IIM@iM@IM@HeHe95u>{= uB=Yu;Q }>y٣y }G}F0; >]K59p?aK5Yċ itB\K?m:kq@D] ;a;22K5iB AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg؁BeejeJe:e` eO@ (Bɛ =) 9U?checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061946i)O<隩i=i羉XQ<IIDDDEW0 EVFF ZA M >U checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314811*|x,]t^A2t@y2@92 @X=Y2>2H}z?,?Y ܿ*?I¿ ?@Ǭ?2t@ɨ2N; 2"CZۂBZ IHfHf35j 3= nU=Yj?;Q >!٣! %G%F-: ->1]5K595 ?a=K5Y5o i5iB9=8q=@5D5;5;55K5MhB MhAMEuDNOT Ignoring new targets: 13.60 m.hqhqhyhyhggbgjgeejeJe:efO@雽'Bɛ[Ԫ=) 8Z?i)x<i%=i羉PQ<?vIIDADADAEE`0 EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566011VFupFIZAiM>cx,8^A6@y6 @96\=Y6ֆ >6H??Ћ ܿ--? u`¿ו`C?@p?6@ɨ6̇; 4*GP"GR<GV>GTGV(!IGVBGV =GTGTGVH<GV| FH HHH"H*H@L5b݂Bf Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.818177@ @ @  @ HH\05; 9=Y';Q >٣ G  M;  >]K59$?aK5Y i\Bi+:!m%X:%q%@ÁDb:>8K5-iB -aA-E]DNOT Ignoring new targets: 13.60 m.hYhahahahagagibgijgieieqjeqJeq:e}O@雝&BɛDS=) [?i)<隡iIIDm?DiDiEm_0 Eq:J5LBJ1JJ1RJ5 ZJ5#ZumWA40+$  *37. JE? JE%?ZI}bI}jI}0rIyzI}:I}ľ9I}ـ3IyI}n;qI}o;iI};uI};mVFïchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.072167Fi ZAy M >x,,(^ARS@yR@9R=`=YR+ >RH'? ?AYܿ@1?`>c¿%`?r?RS@ɨR$; R$C^߂B^ IHfHf/5n\?< n^=Yr;Q r>p٣p rGvFvS; v>x]~K59z9?a~K5Yz izQBi :m/:q@źDz:zM?z:K5 jB TA E=DNOT Ignoring new targets: 13.60 m.h9h9h9hAhAgAgAbgAjgIeIeIjeQJeQ:eUO@}$Bɛ}^=)y }P]?iy)><隁iձ ձ  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574273ux,^AR @yRJ@9Rvic=YR >RH&??tꆿ`yܿ(5?x¿qi@w? ?R @ɨRzS; R C^ۂB^ IHfHf95n nK=Yr:Q r>p٣p vGvFv=; v>x]~K59z(O?a~K5Yz izEBi9m:Eq@zׁDz;zj?zGG;!IGBG =GGG<G Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.826136VF9FqZAyM>x,k^A2@y2)@92f=Y2aK >2H`)??%Eܿh:?@>|¿a]??2@ɨ2; 2%CBւBB I:JđMBJ9JJRJZJ<O XnmJ!I!]] ee ee  e e eMb@Mb@Mb@aa a)aIayey&1?QI +e`E?eue94 eA)e=@Ieh@ie@ae@H}H}.5c ?=Y:Q >٣ G[; >]K59g?aK5Y i9BiT:nE?m:Wq@D%; ;g@K5 A EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e@ 4P@%"Bɛ%=)) --Z?i)ZI}bI}jIyrIyzI}v:I}9IyIyI}U;I}V;I};I};)e<i%ʼx,@^A6#@y62@96J@i=Y6 >6HB??Kܿ 3>? ¿$`??6#@ɨ6; 6#C>͂B> IBT٣T VGVFZS; Z>\]bK59^}?abK5Y^; i^.B`bqb@^D^;^^;^CK5jkB jAj EDNOT Ignoring new targets: 13.60 m.hhhhhg g bg jg e ejeJe:eKP@!Bɛ=) V?i)<igñx,^AG$G$G&4!IG&BG& =G$G$G&˰<G& FB1@yB@@9Bk=YB>BH@?W?!@ܿ$E?¿@z??B1@ɨBT; B"CbƂBb IrBDAT read: Response Not Received r*response not receivedv,DAT read: user:1341> zBDAT read: Tx time:19:55:08.2161 z$Ping request sent.z ٣  5G5F5g; =>I]}K59M?a}K5YM iM!BD?m:Vq@MDM]!ɱx,)^A2F5@y2D@92kzo=Y2. >2H?@e? ~ܿE?¿ꭿ@F??2F5@ɨ2-; 2#C:B: IHaHk5= =o=YE#;Q E?I٣I MGQU}: U?Y]eK59]2?aeK5Y]t i]Bimqm@]D]:]:]JK5q uAqDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eP@Bɛk=)  I?i)y<i/ H H  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754801бx,kB^AVv @yV/@9Vh=YV>VH?`}?x~ѤܿB?# ~?_?Vv @ɨV@; V$CbBb IHjHj+5rϞ rP=Yr医Q v>t٣t vGvFzԻ z>|]K59~Ä?aK5Y~ i~ Boq @~D~-:~:~KNK5lB PAE}DNOT Ignoring new targets: 13.60 m.hyhyhhhggbgjgeejeJe:eGP@9ɛ=h==)9 =A?i9)Eֱx,\^ARL*@yR9@9R}j=YR>RH@*??x{ܿ G?9KHk?ʮ?RL*@ɨRz; R#CjBj IMb@Mb@Mb@:JMBJJJRJZJf\VTNJ7.$  )IyMb?~jthy&1C?D` A)K@I@i@\@HH*5  9=Y @:Q  > ٣  G 2; >]%K59F݄?a-K5Y״ iB-4C?m-:-q-@D::'RK5=mB =HA=EeDNOT Ignoring new targets: 13.60 m.hahahahahigigi}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258250II(3I(.IIIZIbIjI1rIzḮ:I59I3II;I;I;I;bgjgBeejeJe:esP@Bɛe=) 2?i)w<i4- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876ݱx,Cv^A:;@y:K@9:jwi=Y:q>:H??|5tܿN?¿*{?a?:;@ɨ:5; 8BhBBf IHJHJ(*5R Rd=YVG6Q V>T٣X ZGZFZ^; Z>\]bK59^?abK5Y^ i^Bdfqf@^D^:^:^IUK5h j%AjE DNOT Ignoring new targets: 13.60 m.h h h hhggbgjgeeje!Je!:e%`P@MBɛM҉=)I M%?iI)Un3G] >GY G] IG] BGY GY GY G] <G] Fgx,vĐ^A6AH@y6W@96p=Y6>6H??SB>M Ifchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014256Mb@Mb@Mb@ )IyK7?~jt~jtI? A)IVAi-@HH>5M 8=Yk;Q >٣ GFc; >]K59 ?aK5Yr iۓB2J?m:sq@'DE::*YK5 ADNOT Ignoring new targets: 13.60 m.hh!h!h!h!g!g!bg)jg-Be1ejeJe:eP@ ɛ c=)  S?i )5o<11i5\ =x, l^A:LO@y:^@9:29u=Y:3>:H{??o@OܿV?@#¿`v/s?D?:LO@ɨ:A; :$CB7BB* IHJHJJ5R V`=YVd;Q V>T٣X ZGXZf; ^>`]bK59b ?afK5Yb ibʓBdf<qf@b0Db:bS:bZ\K5nnB n AnEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e hQ@UBɛU8Ґ=)Q ]R ?iY)]0ZI bI jI 0rI zI }:I 9I ـ3I q @i @u @m @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772884x,@^ANL@yNP\@9Nrx=YN>NH ?L?̨d`SܿV?@@¿ 2A?@}?NL@ɨNH; N#CVBV IH^H^F5f  fH=Yj:Q j>h٣l nGnFr: r>t]zK59vq8?azK5Yv! ivBxzUqz@v:DvQ;v;v_K5  A E5DNOT Ignoring new targets: 13.60 m.h1h1h9h9h9g9g9bgAjgAeAeAjeIJeI:eMQ@qɛB=) )>i)jH<i2G!G% IG%BG!G!G!G%<G% FH HHH ="H =*H}4-BDAT read: Rx Time:19:55:10.7334 5TRx dataTimestamp_ set to:1736538911.3012085checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029471VFu&;FqZAyM>,x,&^A:yF@y:U@9:<6z=Y:">:H ?`?A] _ܿ@U?`=A_?`Z?:yF@ɨ:w^; 8FBFIHH%Mb@Mb@Mb@!! !)!I!y%oʡ?Dl+%M?%O% %QA)%@I!i%Z@!%G@H=H=L5M MC=YUP:Q U>Q٣Q ]G]F]a e>i]uK59mP?auK5Ym imB}N?m}:}/ q}@mEDm;m;mcK5oB p AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg|BeejeJe:e5Q@:JKBJ9JJRJZJw& UW% J!I%hA}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278157雙ɛFn{=) >i)L=隡i- 8DAT read: $Error in header - *Received a bad header checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541392Vx,$^A2lD@y2S@92{=Y2m~>2H`?`˧?WXbܿT?n?A?2lD@ɨ2<; 2!C^BbIHnHnJ5vS vQ=Yvd:Q z>x٣x zGx~~' ~>] K59Jg?a K5Y iB ? q@OD::gK5 c AMDNOT Ignoring new targets: 13.60 m.hIhQhQhQhQgQgYbgYjgaeaeajeaJea:emNQ@雑ɛu=) >i)=隙iG G G G G . IG ;BG G G ?x,^AGM<GM Frchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.034244uǁB}I Mb@Mb@Mb@   ) I y Cl?p= ףMb O?  @ A) I i C@  @H%H%T55 =7=Y=Q =>A٣A EGEFE E>I]]K59Mm?a]K5YMk iMvB]R?m]:]q]@M[DMN;M,:MjK5i m@ AiDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg8Be!e!je!Je!:e%@xlQ@yɛ}JR\=)y }>iy)}7=隁ih x,*+^AJ0@yJ(@@9J~=YJ>JHܓ??xV@Yܿ&J? ¿@د /?`>?J0@ɨJf8; J"CVBVIH^H^N5f fe=Yj ;Q j>h٣h nGnFnܻ n>p]vK59r?avK5Yr iraBxz;qz@rdDr:r:r nK5~pB ~ AE-DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g1g1bg1jg1e9e9je9Je9:eEQQ@ɛ&]=) J>i)B=iZI bI jI 0rI zI v:I 9I ـ3I ՙ ՝ A checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790402Px,sE^A}@y}e.@9}~=Y}s>}H?U?ZܿlB? K¿^ί(??}@ɨ}; yޥBޥqIHHJ5L 8=Y/Q  > ٣ G( >]K59d?aK5Y iFBq@pDQ:<?<rK5  yA }DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e TQ@yɛ}H=)c8 = ,>i)=ie(x,]7b^AnBrOIchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.295022:JXKBJ+9JJRJZJz8Q4!x?J!I%gAMb@Mb@Mb@ )Iy-?/$ſJ +?U?,H ;A)IAiZ@@HH=X5p 6=YQ > ٣   G F >]%K59ƅ?a%K5Yk i+B%Y?m%y:%(q-@|D::uK55qB 5YA5E]DNOT Ignoring new targets: 13.60 m.hYhahahahagagabgijgmBeieqjeqJeq:eugQ@雙ɛ*A=) S>i)Q=隡iPx, |^A: @y:@9:=Y:+>:HC? ?Ji` gܿO9?  ¿`ݯ2? &?: @ɨ:; :$CBzBFAIHNHNM5VR Vc=YV̩9Q V>X٣X ZGZF^ֻ ^>`]fK59bڅ?afK5YbO ibBhj(qj@bDb:b:bxK5p rAvE}DNOT Ignoring new targets: 13.60 m.hyhhhhggbgjgeejeJe:eQ@yɛ},<=)y } <>i)T=隁iJ*GU <"GU p<Gu >Gq Gu IGu BGq Gq Gq Gu ^<Gu F ] ~Gu kA  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050716) y kA A8%x,C^A6@y6& @96_=Y6mc>6H@{?|+?cܿ`W1?8¿Eޯ 9??6@ɨ6); 6CBkBB/IHJHJL5Rǎ RK=YVS7Q V>T٣T ZGXZM Z>`]fK59bl?afK5Yb ibBhj9)qj@bDb;b":b|K5nrB n5ArEUDNOT Ignoring new targets: 13.60 m.hQhQhQhQhYgYgYbgYjgaeaeajeaJea:em@Q@Bɛ3=) >i)%E=!!i%4,x,+2^AB@yB@9Bn=YB>BH yw? ;?eܿ`,?¿诿EF? v?B@ɨB; B$CN\BNIHZHZ=X5^ヽ b1=YbO29Q b>d٣d fGfFnchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.554221n n>p]vK59rL ?azK5Yr irߒBxz)qz@rDr;r;rK5| ~AE5DNOT Ignoring new targets: 13.60 m.h1h1h9h9h9g9g9bgAjgAeAeAjeAJeI:eM R@雙ɛʸ)=) >i)tM=隡ibF ZA M% >3x,^AnXBrI)vp= vp=H~H~gG5-> -E=Y-Q ->1٣1 EGEFU ]>a]mK59e"?auK5Ye ieŒBq@eDe(;ea;e3K5 AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e$R@Gm>GiGmfIGmBGiGiGiGmȰ<Gm F雡ɛS'=) H=i)m= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061166))i5 rh:x,~^ARϲ@yRe߹@9R=YR>RHh?w?cm1ݿ ?<¿ f?_?Rϲ@ɨR^; R"C^TB^I%@- -@- -@-  -@- H5H5O5E9x E=YE{9Q E>I٣I MGIMg U>Y]eK59]E??aeK5Y] i]Bie+:ameJ:e*qe@]D](:]??]чK5usB uAuEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e [ER@Bɛ&=) D=i)-=i%H9 H9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814031pVAx,I^A6fȲ@y6׹@96=Y6hV>6H@d?$?p?ݿ?J¿ 쯿@v??6fȲ@ɨ6T; 6$CBOBB IHNHN@T5V}Ǽ Vg=YV퉹Q V>٣ GF% >!]-K59%S?aMK5Y% eUtIi%BiU :QmU#:U*qU@%D%;%b?%K5]tB e#AeEDNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g1g1bg9jg9e9eAjeAJe:e_R@ɛ>&=) =i)=izIG!G%GIG%BG!G!G%?DG%<G% FH HHH ="H =*Hŵ4checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066252VF F ZA M >zGx,^^A6a@y6ȹ@96|=Y6|>6H@^?M?X+t`Yݿ@1?xD¿@{? ?6a@ɨ6+&; 6!CRLBR Iuu uu uu  u } }Mb@Mb@Mb@yy y)yIyy}V-?:vʿX9v}hQ?}T} } A)}@I}Ai}@y}@HH~N5k <=YxQ >٣ GF >]K59j?aK5Y  iwBiT:7X?m{:8q@˂D::K5 =ADNOT Ignoring new targets: 13.60 m.hhhh h g g bg jgBeejeJe:e@wR@EBɛE%=)I M4=iI)M~=IIiM9 < checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5703123Mx,?9^A6@y6jù@96x=Y6b>6H`-\?E?)g|dݿ` ?g¿@?`?6@ɨ6; 6#CROBR IH^H^M5f< fY=Yf4QQ f>h٣h jGhn n>p]vK59r~?avK5Yr irbBtv8qv@rՂDr:r2:rK5| ~'A~EB*** querying acoustic contact ***ii-DNOT Ignoring new targets: 13.60 m.h)h)h1h1h1g1g9bg9jg9e9eAjeAJeA:eER@iɛuo(=)q u=iq)}* =yyi}LG G G @IG zBG G G G <G FTx,'S^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.077774@y@9su=Y>H+W?@*? xݿ?g¿଩W? ?騭@ɨj; !CNB IUMb@Mb@Mb@QQ Q)QIQyUDl?GzǿUOM?Up=U̼ U7 A)QIU;AiU@QU(AHmHmT5}H }&=Y}Q }>٣ GFt: >]K59?aK5YZ iJBR?m:3q@D3;;1K5uB 6AߴEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg:BeejeJe:eR@Bɛ|$=) =i) =iF ZA M >ӷZx,ol^AV@yV@9V o=YV0>VHU?1?+ݿ ?`|¿`|? ?V@ɨVX; V"C^UBbIf%=if<HjHjS5r/= r=YrQ v ?t٣t vGvFzº z ?|]K59~?a K5Y~ i~:B  3q @~D~:~:~K5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e#R@雕Bɛ+/=) 8=i)3 =隙iL= checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830189iax,^A6G@y6@96^qj=Y6>6HT??#@ݿv?`\¿@JD?ɪ?6G@ɨ6χ; 4BYBBIHJHJI5R< RL=YV]Q V>X٣X ZG\^8 b>d]nK59fݽ?anK5Yfb! if&Bpr3qr@fDfq;f#s;f~K5x ~A~ܴEMDNOT Ignoring new targets: 13.60 m.hIhIhIhQhQgYgYbgYjgaeaeajeiJei:em$R@9ɛ=/=)A E>iA)E`[ =AAiE)gx,^A:@y:x@9:d=Y:/>:HR?`r?AK eݿ&?I¿ ?P?:@ɨ:IЇ; :#CNZBRI-Mb@Mb@Mb@)) )))I)y-?ʡEÿa٣a eGeFm m>q]}K59uԆ?a}K5Yu& iuBP?m:*q@uDu ;u;u3K5vB AٴEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg_BeejeJe:eR@雩ZIbIjI0rIzIy:I9Iـ3II;I ;I] ;I] ;i) =i=i羉ٮD<%.I!I!:JmKBJm9JJiRJmZJm!V+ J}? J}?D?DDE EVFZzFrFF ZA M > 2HU?`?- ڈݿ=?{T¿M㫿% ?Ȫ?2@ɨ2n; 0>gB>)IID)DHJHJ-I5V= VV=YVMQ V>X٣X ZGZF^: ^>]%K59醜?a%K5Y1, iB)-*q-@ D):6:K51 5{A1eDNOT Ignoring new targets: 13.60 m.hahahahahagagibgijgieieqjeqJeq:euS@雭BɛM9=) J >i)H =隱ij =i羉 D<#IIDiDiDqEu0 EqBDAT read: Response Not Received *response not received,DAT read: user:1343> -I ) .~G  )M XyI M AG G G YIG BG G G G <G F9tx,^A%p@y%ج@BDAT read: Tx time:19:55:19.1662 $Ping request sent.%HT?ֽ?ݿ6?^¿`m%?K?%p@ɨ%q ; !5fB=(I=Mb@Mb@Mb@99 9)9I9y=Q?Zd;~jt=H?==D 9)=C@I=QAi=$@9=AHHG5VM #=YzQ >٣ GN >]K59?aK5YT2 iB-eK?m-:-!q-@D;;K55wB 5A=شEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e2S@)ɛ-3=)1 5>i1)5 =11i5K=i=羉=C{x, ^ARП@yR8@9R9U=YR >RH`_V?ƶ?@jc|ݿ?2¿ԝ??RП@ɨR; R!CjbBj$IHvHv:5~ ~=Y~Q ~ ?٣ GF u:  ?]K59??aK5Y&6 iB!q@D:G:K5) -A-մEUDNOT Ignoring new targets: 13.60 m.hQhQhYhYhYgYgYbgajgaeaeajeaJe:eFS@9ɛ=<=)9 =b>i9)ER =AAiEZ=i羉:B<?'IID]?DaDaEe55 Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500501VF׹F ZA M >5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751190x,T^ArȘ@yr0@9rHM=Yrx >rH S??Lݿ ?r"¿ b? ?rȘ@ɨr]; r$CjB.I=i=)%= %a=H-H-J5E= EG=YMQ M>I٣Q UGUFU U>a]mK59el+?amK5Ye;; ieّBim!qm@e)De:e`:eMK5y }fAyDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e`S@iɛmJ;=)i u`(>i) =隱ij=i羉A< 5IIDm?DiDiEm4 EiG)G-AAG1G1G5fIG5BG1G1G5@DG5`<G5 Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005593VFZFI ZAQ Mu >w'x,v3"^AdB&IMb@Mb@Mb@ )IyHzG?RQ~jt=J?½  A)p@IAih@AHH/5 C=YQ >٣ G >]K59B?aK5Y)@ iˑBK?m:,q@3DN;:K5xB AҴE%DNOT Ignoring new targets: 13.60 m.h!h)h)h)h)g)g)bgjgBeejeJe:e5|S@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255312!ɛ% ~7=)! %b>i!)- g =))iM}=iU羉UF@DDDEX0 EVFE $F9 ZAY Mu > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508118Px, <^A6@y6l@96s@=Y6w >6H \??AE{ݿU?`G¿h`{??6@ɨ6A8; 6%CBbBB$IHJHJC5V  V^=YV?Q Z>X٣X ZGZF^; ^>`]fK59bV?afK5Yb~D ibBdfqj@b=Db:b:b/K5l rArϴEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eS@ɛ(:=) >i) =i=i羉V@<-IIDQDQDQEU_0 EQII3I.IIIZIbI|jI0rIzIp:I@9Iـ3Iq@i@u@m@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759114VF{#FIZAYMu>G) G) G- lIG- BG) G) G) G- <G- FH HHH"H*Hʁ4c:x,U^AbⳲ@ybJù@9bC-?=Ybo >bHa?@?liݿ ?D¿o㧿@s}?(?bⳲ@ɨb; b"C%_B% III)ImS?m=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919HHJ5u] }0=YdJQ >٣ GF'; >]K59p?aK5YI iBKq@ID8;F;JK5yB A̴EuDNOT Ignoring new targets: 13.60 m.hqhqhqhqhqgygybgyjgyeejeJe:e`eS@Bɛ3=) >i)c=i4=i羉ڍ?<-8I)I)D?DDE E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263270VF ׹F ZA M >:J OBJ ]9JJ RJ ZJ J- gAI) bx,o^AFC@yFɹ@9F`==YFU >FHd?{?Wז^ݿ?F¿``Ά??FC@ɨFLn; DbbBb#IMb@Mb@Mb@ )Iy(\?l~jtG? A)IQAiQ@ AHHJ5J< W=YFQ >٣ G; >]]K59?a]K5Y!N iBeH?mm:mqm@RD<<K5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e`S@AɛE%9=)I M>iI)U]=QQiU-=i]羉]U><]<IYIa}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516576DDD E h0 E VFZF ZA M >ZI bI jI 1rI zI y:I 9I 3I % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768031CLx,Y^AvI@yv̹@9v~:=Yv>vH:f?t?@p`Yݿ&?@u`¿Ms?ۨ?vI@ɨv; tXBIHH%> -T=Y- Q ->)٣1 5G5F=z: =>A]MK59E?aMK5YEiR iEBIMqM@E\DE:E:EK5]zB ] A]˴EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e S@ɛ 5=) >i)57=i=i羉a><cIIDiDiDiEmZ2 Ei*G<"G4<GGGfIGBGGGG<G Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021554VFFZAM>gux,[z^A:K@y:ι@9:֍7=Y:>:Hbg?o?옿`KVݿ?h¿樂`?`c?:K@ɨ:; :$CFNBF IJ;>iJC=)Ja= Jp=eMb@Mb@Mb@aa a)aIayeS㥛?X9vy&1e$F?e}e`e a)e@Iaie~@aeAHHdK5v? D=YQ >٣ G: >]K59D?aK5YV iBF?m: q@fDG;E;K5 ^AȴE DNOT Ignoring new targets: 13.60 m.h h h h h ggbgjgBe!e!je!Je!:e-S@UBɛU^P-=)Q U=iQ)]ޔ=YYi]w=ie羉e=uFZAM > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528729񞮲x, S^A2㺲@y2Kʹ@923=Y2>2H e?0u?@8n^ݿ`?c¿s?U?2㺲@ɨ2k; 2#CBFBBIHJHJR5Rk+ R[=YV<'Q V>T٣X ZGZFZ Z>\]fK59^Ƈ?afK5Y^Z i^Bhj qj@^oD^{;^:^K5l nAp DNOT Ignoring new targets: 13.60 m.h h hhhggbg)jg)e1e1je9Je9:eET@%Bɛ-)=)) -\=i))-=)1i5=i=羉==<=KI9I9D?DDE3 EZIbIjI0rIzIv:I9Iـ3I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780217VFFZAM>G G G YIG BG G G ?DG <G Fx,-^ANB²@yNѹ@9N}0=YN9>NHEi?bf?B Qݿ6?y¿ @?T?NB²@ɨN{Ƈ; N"CZ>BZIHvHv3A5%  -C=Y5jغQ =>A٣I UGUF}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033322; >]K59߇?aK5Y_ iwB9= qE@zD<l<K5m{B mA}ŴE DNOT Ignoring new targets: 13.60 m.h h h1h1h1g9g9bg9jg9eAeAjeAJeA:eE@2T@ɛi#=) =i)#=i#=i羉|b<<IIDDDE1 E  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283423VF F ZA M >:J} OBJ} +9JJy RJ} ZJ} :1S[8R/]|x,^A2ò@y2"ӹ@92a-=Y2>2H4j? a?@@٣ G9 >]K59%?aK5Yc ijBG?m:4 q@D;;7K5|B %A´E%DNOT Ignoring new targets: 13.60 m.h!h)h)h)h)g)g)bgjgBeejeJe:eCKT@=Bɛ= =)9 Ee=iA)EQ=AAiER=im羉uD;<}.IyIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.537752D%?D!D)E-]0 E)VFE UF! ZAA M] >H H % checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787947ZI- bI- jI) rI) zI- }:I- ľ9I) I) x²x, ^A>Ʋ@y>gֹ@9>)=Y>~>>Hk?Z?jIݿ@m? ]¿`9`? ?>Ʋ@ɨ>8!; >&CJ&BJIHRHRaO5ZJ Z^=Y^Q ^>`٣` bGbFb: b>d]jK59f ?anK5Yfg if^Bln qn@fDf;fA;fpK5z{B ~A|DNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:ebT@ Bɛ n=)  ;<=b߻I9IA ~G D?DDE_0 E)% y)-BGiGiGm@IGmzBGm =GiGiGmװ<Gm Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.041868VF F ZA M > Ȳx,$^A:5˲@y:ڹ@9:M'=Y:>:H@n?R?"̜@gBݿ?`PN¿;褿 ?`?:5˲@ɨ:; :"CFBFI%Mb@Mb@Mb@!! !)!I!y%sh|??v/{Gz%I?%xi%ף %A)%@I!i%lA!%AH]H]R5ml u1=YuJQ u>y٣y }G}F}}: >]K59%?aK5Yl iPBJ?m: q@Dc;;vK5|B AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.292109%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!ggbgjgBeejeJe:eT@Bɛ3=) i)[=i=i羉:<IӻII1:JNBJ9JJRJZJ^?h u c   c-sl!wE}pg^WQLF@;6D?DDE E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543124VFY F ZA! M= >βx,r>^A6ɲ@y6ٹ@96#=Y6>6Hm? S?bEݿ`?X@¿Sw?֨?6ɲ@ɨ6t; 6#CRBRIVGy Gy G} IG} [BG} =Gy Gy G} <G} F'ղx,3X^A6ϲ@y6޹@96 =Y6L>6H p? F?1`.;ݿI?@C¿b?`?6ϲ@ɨ6\ ; 6$CVBZIHnHnT5 G=YQ >٣! %G%F%-: %>1]UK5}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.05040595OP?aK5Y5t i59B q@5D5<5f<5K5 AEUDNOT Ignoring new targets: 13.60 m.hYhYhYhYhYgYgabgajgaeaeijeiJeq:eu vT@ Bɛ 5=) qi)0=i=i羉e9<֢ƻII!DDDE2 EZIbIjIrIzII9III;qI;iI] ;uI] ;m5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303270VF F ZA M >:J c6PBJ +9JJ RJ ZJ 2/+(%" ! J I n۲x,gr^A2ɲ@y2Bٹ@92 =Y2Q>2H.n?O?0ԞEݿB?@¿` ??2ɲ@ɨ2; 2"C:B:IMb@Mb@Mb@ )Iy/$?V-{Gz1H?h )@IiAHHK5-> -I=Y- Q 5>1٣1 5G5F=ߺ =>A]MK59Ef?aMK5YEdy iE-BUI?mU:UqU@EDE:E:EK5Y ]kAa DNOT Ignoring new targets: 13.60 m.h h h h h ggbg9jg=uBe9eAjeAJeA:eET@雍Bɛ<) i)1=隱ib0=i羉8<'߻IIDiDiDiEm4 Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.556205VFڽF ZA M >E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807983x,^AJʲ@yJ(ڹ@9J[=YJ >JH@n?M?@k@Dݿ? @Y ?ȫ?Jʲ@ɨJ[,; J#CnBnIIp)pHzHzO5:  M=Y Q  >٣ G9 >!]%K59%J}?a-K5Y%} i% B)-q-@%D%:%:%#K55~B =A=EeDNOT Ignoring new targets: 13.60 m.hahihihihigqgqbgyjgyeyeyjeJe:e@ T@雭 BɛT_<) @i)2m=隱iT=i羉7R8<ˍڻIID1D1D1E5_0 E1G1G1G5IG5=BG1G1G1G5˰<G5 FH HHH"H*Hu4checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061420VFٻFZAMU >Ix,ť^A6ò@y6ӹ@96=Y6 >6H`k?@X?@.I`Pݿ ? @??6ò@ɨ6=; 6"C>рBBqIEMb@Mb@Mb@AA A)AIAyEuV?(\µ{GzErH?EA EIA)AIE~AiEAAEAHeHeQ5u¦ uD=YuӺQ u>y٣y }GFk >]K59i?aK5Y iBI?m:|q@˃D ;;K5 kAEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgpBeejeJe:e`T@"Bɛm<) 0!i)[=!!i%D=i-羉-7<-nyI)I)ZIebIejIarIazIes:Ie9IaIaIe;Ie;Ie;Ie;checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311157DDDE E:JMBJ9JJRJ!ZJ      J > J >VFUF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563307x+x,s^A6rͲ@y6ܹ@96#=Y6_m>6H_p?E?|?ݿ?`x??6rͲ@ɨ6T?; 4RBRYIH^H^^S5f(ѽ fV=Yfl Q f>h٣h jGhnM; n>p]vK59r?avK5Yr؆ irBtv+qv@rՃDr:r:r K5| ~ AqDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eMU@#Bɛ<) Ki)N==i2=i羉7<ϻIIDDDE`0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.815122VFFZAM>G- >G) G- IG- BG- =G) G- @DG- <G- FDx,B{^A6Ӳ@y6@96$#=Y6f>6H ks?@8?Z 5ݿ?k# ?@3?6Ӳ@ɨ6F; 6%CBBBEIF=iF=)J= HHRHR[W5Zy ZL=Y^rQ ^>\٣\ bGbFb: b>d]jK59fٿ?ajK5Yfb ifBlnqn@f߃Df;f;fK5rB vAvE5DNOT Ignoring new targets: 13.60 m.h1h9h9h9h9g9gAbgAjgAeAeIjeIJeI:eM@0U@]%=Yechecking for new query: numPingsReceived=0, elapsed TxPingTime=8.067570-%Bɛ5pJ<)I Mloi)t =隡i=i羉 6<1IIDE?DADAEMj0 EIZIu~bIujIqrIqzIu{m:Iu9IqIqIu<;Iu=;Iuh;Iuh; checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319345VFm vϻFA ZAI Mm >=x,\W^A:J3LBJػ9JJRJ"ZJJIhAB=IMb@Mb@Mb@ )Iy|?5^?1ZdV-M?"۽ A)IAiGAHHDP5 :=YQ >٣ GF >]K59؈?aK5Y iBO?m:q@D(;';zK5 B AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg6BeejeJe:e@MU@e&Bɛet<)i mi)s =隙iB3=i羉5<{ûII}checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572586D?DDE0 EVF VF ZA M >% checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823185Y%x,1 ^AB/ز@yB@9B =YBu>BHu? -?G-ݿ"?5EXk?1?B/ز@ɨBt; B$CJBJ$IHTHT^ؽ ^]=YbQ b>`٣d fGdfn: f>l]rK59nc툜?arK5Yn" inސBtvqv@nDn:n2:nK5x zlAxDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e eU@雕(BɛqS<) i) =隙it=i羉ee5<_IIGG@AGGGIGBG =GGGְ<G FDiDiDiEm25 Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.077602VFF ZA M >P x,'^A6ϲ@y6e߹@96Q=Y6 >6H`r?:?j <ݿ?ᠿ?9?6ϲ@ɨ6&); 4RBRIIX)XjAjAMb@Mb@Mb@ )Iyi|?5?X9vQ?̼ A)@I~AiAfAH)ZIE|bIEjIE1rIAzIE;g:IE9IE3IAIE֊;IE׊;IE;IE;H)]. ]3=YeQ e>a٣a mGmFml m>y]}K59}C?aK5Y} i}ΐB&T?m:q@}D}:}8:}K5 AEDNOT Ignoring new targets: 13.60 m.hhhhhggchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.327517bgjg;BeejeJe:e/U@u*Bɛ}O<)y }iy)} =yyiL=i羉.4<ԻIIDE?DADAEE5 EA:J}KBJ}S9JJyRJ}#ZJ} 42 VFm ҸFA ZAI Mm > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.57922777x,@^A:$Ѳ@y:@9:=Y: >:Hs?g7?} 5:ݿ` ?@/`ˣ??:$Ѳ@ɨ:a͆; :"CVzBZIHjHjxV5~ ~d=Y4Q >٣ G F ]9  >]%K59?a%K5Yn iB!-q-@ Dt;':K55B 57A5EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e`\U@+BɛO;) 5i)0 =i_=i}羉}&A4<}oλIyIyD-?D)D)E-_0 E)HE@AHEAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.831340I) ]~GVFeUy )zyAFI ZAQ Mm >G >G G lIG ̀BG =G G ?DG <G Fbx,iZ^A2ɲ@y2qع@92T=Y2| >2H@o? BD?@0 Hݿ?s`] R?]?2ɲ@ɨ2ˆ; 0BqBBIHJHJ~N5V2 VO=YZ Q Z>X٣X ZG\Mi]uK59m3?auK5Ym imByq@mDm*C;mC;mvK5B AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eU@-BɛX<) Իi)#=i\=i羉%3<-I)I)DDDE]0 EAVF İ˻F ZA M >{x,t^A6HƲ@y6չ@96Q6Hn?sG?hMݿa?`@@?Ϯ?6HƲ@ɨ6{; 6 C:J>sLBJ> 9JJ<RJ>$ZJ>JmYD4(  JdBJIN٣ GFnP >]L59J?aL5Y9 iBT?m:'q@Dr;;L5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjg%Be!e!je!Je!:e-`-U@U.BɛU8;)Q UʾiQ)]T=YYi]=im羉}> 3<}EIyIDQDQDQEU_0 EQVF Fi ZAq M >HY H] p=ZIe bIa jIe 0rIa zIe v:Ia Ie ـ3Ia qm @im @uu @mu @ BDAT read: Response Not Received  *response not received ,DAT read: user:1344>  BDAT read: Tx time:19:55:30.1164  $Ping request sent. vH n?F?!74Qݿ/?nO畝h??vIJ@ɨv*; v&CVBIHHM` MQ=YMQ U>Q٣Q UGUF}L }>]L59_?aL5Yz iB'q@*D::L5 aAEeDNOT Ignoring new targets: 13.60 m.hahahahahagagabgijgieieijeJe:eU@0Bɛؓk;) پi)n|=i=GqGqGuFIGuBGqGqGqGu<Gqi羉i2<m4IIDE?DADAEEl0 EAeJDAT read: TxSync time:19:55:30.1156 mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250808VF ;3zF rF F ZA M >)x,qV^AR@yR˹@9RؿRH`Jj?@5T?Cʣsaݿ?$~? ?R@ɨR n; PX\uMb@Mb@Mb@qq q)qIqyuʡE?ˡEĿV-u-R?u'u uA)qIuAiqqufAHH<5u E=YfQ >٣ G. >]L59v?aL5Y iBtV?m}:+q@5D::# L5B hAEDNOT Ignoring new targets: 13.60 m.hhhhhgg bg jg  Be ejeJe:e% V@M1BɛM@:)Q Ue۾iQ)U"=QYi]Z=i]羉e1uFa ZAq M >u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754496܈0x,>^AB,@yB@9BBHd?e?3wݿ`+?@fnj?۬?B,@ɨB;; B"CNIBNIIP)PTTHZHZ[W5bC bY=Yb3eQ b>d٣d fGfFj j>l]rL59nX?arL5Yn6 invBtvh+qv@n?Dn:n:nm L5| ~A|%DNOT Ignoring new targets: 13.60 m.h!h)h)h)h)g)g)bg1jg1e1e9je9Je9:e=`V@2BɛBֹ) i)=i=i羉#1<e$IIDDDE 5 EZI%~bI%jI!rI!zI%{m:I%ľ9I!I!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005306VFw FZAM>Gi Gi Gm -IGm BGm =Gi Gi Gm ˰<Gm FH1 H1H1H5 ="H5 =*H5(56x, ^A:۞@y:D@9:>:H`]? ? ޥ>ݿ ? 6?l?:۞@ɨ: c; :$CFABFIHRHRV85Z ZL=YZ̰Q ^>\٣\ ^GbFb b>d]jL59fi?ajL5Yf ifgBhn+qn@fIDf";f#;fL5t vAvEDNOT Ignoring new targets: 13.60 m.hhh%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257553hh)g)g)bg)jg)e1e1je1Je1:e=@2V@m4Bɛm )i m^iq)u,=qqiu=i}羉}n0<}?IyID?DDEZ0 E VFFZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509348<x,^A6u@y6ޭ@966Hi]?}?_ ݿ`?`|@@y?װ?6u@ɨ6 ; 6"C:JfBJfػ9JJdRJf&ZJfrFBrImMb@Mb@Mb@ii i)iIiymi|?5?Zd;OǿV-mQ?mj٣ G >]L59Ѹ?aL5Y iWBW?m|: 2q@UD*;%);L5B AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e 2NV@55Bɛ5@樹) i) <隹i_=i羉ɞ/<y&=II=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762019D?DDE EVF#)F ZA M >IIIIIIZIE |bIE {jIE 1rIA zIE ;g:IE -9IE 3IA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013322Cx,^A2@y2@922H@]c?k?pu~ݿ@?< ` t??2@ɨ2; 2#CBCBBIFp>iFl>)J= J=HNHNX[5Zs ZZ=YZ:Q ^>h٣h jGjFn; n>p]vL59rT͉?avL5Yr# irHBtv1qv@r_DrS:r:rL5| } AyDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e`gV@6Bɛ`() i)H< i =i 羉.<8%IIG!G!G%IG%BG!G!G!G%Ű<G% FDDDE_0 EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268245VF-+I,F ZA9 M >Ix,5)^A2 @y2t@92^,2HXf?_`?褿@sݿ@?qބr??2 @ɨ2; 0LL5Mb@Mb@Mb@11 1)1I1y5"~?gfffffƿZd;O5S?5335j 5`A)5@I1i115 AHMHM[5Yk.Q >٣ GF: >]L59v剜?aL5YA i9BX?mz:q.q@kD:4;L5B AE-DNOT Ignoring new targets: 13.60 m.h)h1h1h1h1g1g1bg9jg= Be9e9je9JeA:eE{V@m7BɛmX%)q uiq)uY0Ok2 lXE9/&" J5? J5>VFE{#F! ZAA M = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769428rPx,vC^AZͻ@yZ6˹@9ZbZHj?bN? @aݿA?@r +z? İ?Zͻ@ɨZ7; Z!CfFBfIHrHrdK5z; z٣ G3O;  > ]L59 J?aL5Y  i -B".q@ uD ; D; L5! -A-EUDNOT Ignoring new targets: 13.60 m.hQhQhQhQhQgYgYbgYjgaeieijeiJei:emV@雝8Bɛ<) i)<隡iu=i羉^-< x IID9D9D9E=0 EAZI~bIjI0rIzI{m:IIـ3Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021358VFqFQZAYMu>G G G IG BG =G G G <G FVx,DR]^A6@y6ι@96Df6Hl? G?@1+[ݿ?E@'옿?x?6@ɨ6!; 6%C>HBBIID)DDFAHJHJ~N5zVN< zK=YzQ z><<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273739 ٣   G F: >]%L59?a%L5Y0 iB!%.q%@D;:!L55B 5A5EeDNOT Ignoring new targets: 13.60 m.hahahihihigigibgqjgqeqeqjeqJey:e}`~V@雩ɛeA) i)ѩ<隱i=i羉Z -< IID=?DADAEE?5 EIVF׹FiZAyM>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525447']x,-w^A6@Dz@y6ֹ@96 96H`Fp?@F8?@LtMݿ!?@@f? ?6@Dz@ɨ6; 6"CBMBBIUMb@Mb@Mb@QQ Q)QIQyU&1?MbX9Ŀ{GzUP?U!Uף Q)U$@IU AiUAQUAHmHmU5:J}FOBJ} 9JJyRJ}(ZJ}JIgA< A=YQ >٣ G; >]L59'?aL5Y iBT?m:)q@D;;Z%L5 ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjg.BeejeJe:e@nV@-9Bɛ-)) -hi1)5{<11i5.=i=羉=h,<=ZI9IAD?DDE 5 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777624VFZFZAM > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029352[dx,^A v.~G  ))myimWBв@y@9-nH`t?@]&?<ݿ$?4 ?$?в@ɨv; TBIHH= C=YTQ >٣ GFP3; >!]5L59%1??a5L5Y% i%B15:)q5@%D%i ;% ;%)L5=B EAEEmDNOT Ignoring new targets: 13.60 m.hihqhqhqhqgqgqbgyjgyeyeyjeJe:e``V@*G<"G<GGGIGBGGGG<G F:Bɛú) >i)Y<i3=i羉+9jx,&^AEXBEIM%=iM=)M= M=ZIbIzjIrIzII9III<;qI=;iIP:uIR:mMb@Mb@Mb@ )IyDl?M¿y&1OM?n`e A)IiAzAH5H5V5Ex< EF=YMQ M>I٣I MGUžFU ]>Y]eL59]U?aeL5Y] i]BmP?mm:}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533625u%q@]D]>;]!;],L5 |AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgMBeejeJe:eW@ɛ) i)e<i =i 羉@8+<1IIDDDE\0 E:JJBJ]9JJRJ)ZJH=,.w]K@7/' }m]PB7+$ J? J?VF߻F ZA M >= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787436!qx, ^A2@y2@92+32H`b}??@Hyݿ +,?S4 %?ԭ?2@ɨ2; 2 C:ZB:IH~H~H5 R<  `=YQ >٣ G9=; =>A]UL59Ei?aUL5YE iEBQ]%q]@EDE&;El;E/L5a ejAeEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:eLW@;Bɛ$) i)#<i1=i羉(*<II D?DDE_0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.037381VF4λG>GG'IGBG =GG@DG<G FFZAM- >GKwx,^A6@y6a@96_h6Hc??ݿ.?B``[?@?6@ɨ6V; 6"CBYBBIHJHJ~N5Vz ZQ=YZ⚺Q Z>\٣\ ^G^ÞFb; b>d]fL59f ?ajL5Yf ifBhj$qj@fDf:f:f93L5rchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.289486%B %zA%EuDNOT Ignoring new targets: 13.60 m.hqhyhyhyhyggbgjgeejeJe:e@5W@v}x,u^A6L@y6@96F6H?v?ۦ`ܿ2?a[ ^?@?6L@ɨ6; 6$CB_BBIIH)HHH%Mb@Mb@Mb@!! !)!I!y%K7A`?X9vI +%K?%%94 %A)%;@I% Ai%;A!%(AH=H=M5M< MA=YM9Q U>Q٣Q UGUĞF]U; ]>a]mL59eP?amL5Ye ieۏBm~M?mu:u7qu@eDe:e:e6L5:J/OBJ9JJRJ*ZJB MAE%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g!g)bg)jg-JBe)e1jeQJeY:e] nQW@雥=Bɛ@h)  ޾i)<隩i=i羉)<(.UIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794386De?DiDiEm0 EiVFPF ZA M >H 4=H %= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045351^x,rS^AN@yNR@9N%NH І??Ц`Uܿ5?@>@`? ?N@ɨN; N%CZbBZIHbHbuZ5j< jR=YnmQ n>p٣p rGprV: v>x]~L59z?a~L5Yz izҏB#q@zʄDzj;z;zU:L5  2A =DNOT Ignoring new targets: 13.60 m.h9h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eMiW@}>Bɛ}Ȋ) ۾i).<隁i, =i羉^)<O NIIGe>GaGe4IGeBGe =GaGaGe°<Ge FH HHH"H*H;5D?DDE95 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.297679VF}_vFyZAM>x,-,^A6@y6@96M6H@?٣ GŞFjH; >]L59 Ê?aL5YX iɏBH?m:q@ԄD;; >L5 AEZIwbIujIrIzIW:I9IIIz;Iz;If:Ih:DNOT Ignoring new targets: 13.60 m.hhhhhggbg jg lBe e je Je:eW@echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.550217雵?Bɛ) ؾi)7<i =i羉(<%IID?DDE05 E:JBoHBJ9JJRJ+ZJ$8HT]dhhgd_YUYca\QF<4.*%#VFmV'SFI ZAQ Mu > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802202tx,aF^AjBI%٣ GƞF >]L59yي?aL5Y  iBq@ބD,R; a;AL5B AE DNOT Ignoring new targets: 13.60 m.hhhhhggbg!jg!e!e1je1Je1:e=̞W@m@Bɛm#)q u־iq)uc㙗x,_^A) :C@y:@9:2ª:H? ?Aܿ ??`DW<??:C@ɨ:x; :#CVhBVIbchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.305489H^H^^S5jȻ nV=YnEQ n>p٣p rGpvu; v>x]zL59zu?a~L5Yz@ izB|~q@zDz ;zT ;zDL5   A =DNOT Ignoring new targets: 13.60 m.h9h9hAhAhAgAgAbgIjgIeIeIjeIJeQ:eUW@=ABɛ=PQ)9 =ؾi9)E:H@ړ?@֧?@֦;ܿ\B?8@Zf?`G?:@ɨ:g; :"CFnBFI%Mb@Mb@Mb@!! !)!I!y%y&1?K{Gzt%`E?!%ף %A)%Q@I% Ai%A!%p AH=H=S5M< MC=YM7Q U>Q٣Q UGUǞF]: ]>a]mL59eX?amL5Ye ieB}F?m}:}q}@eDe@;e?;eHL5 AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:eW@:JMBJ9JJRJ,ZJ  'MYVK=/! mCBɛm7) Ծi)<隑iu =i羉B'<˹IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.810063DM?DQDQEU_0 EYVF >Fi ZAq M > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061421﫤x,^A~`B~II)  AHHU5%q %M=Y%Q ->)٣) -G-ȞF5 5>9]EL59=?aEL5Y=o i=BAAqM@=D=:=:=LL5UB ]VAeEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e@W@DBɛ(ӻ) i) <if =i羉r'<8IIG->G)G-FIG-BG- =G)G)G-<G-FDQDQDQEUo0 EQchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.317419VF},6FqZAM> ֪x,6s^A6!@y61@966Hಙ?7?XIܬܿ I? *|?`,?6!@ɨ6 }; 4RdBRImMb@Mb@Mb@ii i)iIiym~jt?㥛 {GztmD?mi mA)iIm Aiiim AHHM5< C=Y59Q >٣ Gy; >]L59.2?aL5Y iBE?m:q@DU;T;OL5B <AEDNOT Ignoring new targets: 13.60 m.hhhhhggbg jg Be e je Je:eX@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.566943mFBɛ}) Bi)<隉i( =i羉h'<w:IIDDDE E:Jm/MBJm9JJiRJm-ZJmJ> J?VF >F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817445𽱳x,fN^A6$@y6K4@96r6H?Í?楿ܿ@L?P֭;? }?6$@ɨ6[Յ; 4F]BFIHTHTfL jX=Yj:Q n>l٣p rGrɞFvA: v>x]L59z%G?a L5Yz  izB  q@zDz V;zV;z SL5! %wA!DNOT Ignoring new targets: 13.60 m.hhhhhg g bg!jg!e)e)je)Je):e5@X@雝GBɛث) Ji)R<隩i =i羉\&<`:IIDiDiDiEm1 EiZI{bIljIrIzId:I9IIq@i@u@m@If=)CMchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.069812 ~G )yAGGCG@IGBG =GGADG<GFVF7:F ZA M >y跳x,A+^A6Q/@y6>@966Hǟ?z?mܿP?.?Ư?6Q/@ɨ6̅; 6$CPR<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.321520VUBVIZp٣p rGrʞFvN; v>x]L59zi]?aL5YzX$ izBZq@zDz8;z";zVL5 B A~E=DNOT Ignoring new targets: 13.60 m.h9hAhAhAhAgAgAbgIjgIeIeIjeIJeQ:eU7X@雅IBɛ() i) <隉i =i羉&<;IID1D1D1E54 E1VFq]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573937FZAM>x,^A^y4@y^C@9^HT^H@?s?_`$ܿT? @s?@?^y4@ɨ^U; ^#CjIBjIMb@Mb@Mb@ )Iy?p= ףy&1fF?`e A)h@I7 AihA AHHK5` <=Y>m:Q >٣ G%: >]L59u?aL5Y( iB G?m: q@%D:w:^ZL5 !A{E%DNOT Ignoring new targets: 13.60 m.h!h!h!h!h!g)g)bg)jg5mBe1e1je1Je9:e= SX@:JmKBJm9JJiRJm.ZJm YF[#bF6,&# JyIy}KBɛ~O") i)t<隁i^ =i羉J&<N+;IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.826441DADADAEEO0 EAVFe:FA ZAQ Mm >ZI vbI ujI rI zI {T:I 9I I ijx, ^A67@y6G@96o6Hk?n?*sܿV?N= @^?`H?67@ɨ6-; 6%CBT٣T VGV˞FZV: Z>`]fL59bb?afL5Yb, ibBhj qj@b.Db:bl:b]L5l nAl DNOT Ignoring new targets: 13.60 m.h h h h h g gbgjgeejeJe:e@BkX@MLBɛM`})U2= UgiQ)UAGCG-IGBG =GG@DG<GFD?DDE_0 EVF;FZAM5>*$˳x,غ.^A:`A@y:P@9:X:H?a]?@ tܿWZ?`A@JSl?@˱?:`A@ɨ:ׅ; :$CF3BFIIH)HPP-Mb@Mb@Mb@)) )))I)y-L7A`?ˡE~jt-+G?-什- )))I)i-~A)- AHEHEN5U( U?=Y]9Q ]>a٣a eGae#6; m>i]uL59m?a}L5Ym~1 im|BTH?m:q@m9Dm=3;m 2;mLaL5B AzEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg\BeejeqJeq:e} X@雥NBɛN`)  i)1<隩iU =i羉%<9;IID?DDE EVF;:J:NBJ9JJRJ/ZJJ ? J &?F % BDAT read: Response Not Received - *response not received- ,DAT read: user:1345> = BDAT read: Tx time:19:55:41.0665 E $Ping request sent.E ҳx,H^AZ>E@yZT@9Z6ZHm?@W?餿mܿ\?`? ]f\[?@[?Z>E@ɨZN; Z%C %B IH-H-L5= =L=Y=$9Q =>A٣A EGE̞FMN: M>Q]]L59Ut?a]L5YU5 iUsBY]q]@UCDU:U:UdL5mB mIAmwEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e`)X@PBɛ6) Bi )<i} =i-羉5,%<5;I1I1DDDEk0 EZIubIrjI1rIzI[Q:I9I3I%JDAT read: TxSync time:19:55:41.0657 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.238428G>GGIGBG =GGG۰<G FHeǬC HeǬCHaHe ="He =*Heǩ5VF!j;FZAM >6سx,sb^A6tJ@y6Y@966H@ī?cM?+ cܿ^?M<Tb?%?6tJ@ɨ6T; 6"CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.489134FBFIHNHN=5Vq VT=YVڹQ Z>X٣X ZGZ͞Fb: b>d]jL59f͋?ajL5Yf: ifiBhjqj@fLDf#=;f>;f,hL5t vAtDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e8X@=RBɛ=h7)9 =i9)E\޳x,'}^A%B%I-4=i-=)5= 5=Mb@Mb@Mb@ )Iy rh?J +S㥛CK?Ƚ/ݼ A)@I AiA= AHH)M5' 2=YQ >٣ G >] L59狜?aL5Y\? i\BL?m:q@XD; ;+lL5 %A%tEMDNOT Ignoring new targets: 13.60 m.hIhIhIhQhQgQgQbgQjg]>BeYeajeiJei:emKX@雕SBɛJʩ) x!i)<隙i7=:J KBJ]9JJRJ0ZJ-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993225i5羉5MG%<53;I1I9^D.=DDDE0 EVF ZIE tbIE pjIE 0rIA zIE ;N:IE ^9IE ـ3IA F  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245125ZA M >xx,^A68@y6kG@96/)6H֣?`dk?@ܿX? Ջd8?ݳ?68@ɨ6ͅ; 6$C^BbeIGpGpGrIGrbBGr =GpGpGr<Gr FHjHj>5& [=Y)Q > ٣   G ΞFŻ >]%L59?a%L5YC iQB!%Lq%@aD::noL55B 5A5qEeDNOT Ignoring new targets: 13.60 m.hahahahahigigibgijgieqeqjeqJey:e}@X@TBɛv)! %.i!)%x,q^A:.@y:=@9: e:H?l{?祿 ܿT?`M @o:?`߳?:.@ɨ:; 8BBBXIjchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749318%Mb@Mb@Mb@!! !)!I!y%m?K7A rh%N?% %C %A)%VAI!i!!!HHT5$? 5=YCQ >٣ GϞF ' >]L591?aL5Y=I iBBPQ?m:q@mD:M:asL5  AoEDNOT Ignoring new targets: 13.60 m.hhhhhggbg!jg%Be)e)je)Je):e5 Y@UVBɛ]Wܼ)Y ]4iY)]{X9x,^A23@y2BC@92bФ2H`?`es?Ç@{ܿ5W? -? 6?23@ɨ2H; 2%CBBBHIIL)NAH^H^ Y5n~ rN=Yrq:Q r>t٣t vGtvi: z>Y]eL59].-?aeL5Y]HN i]4Bimqm@]xD]):]:]vL5q uAyDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:ex%Y@WBɛZ)  ;i ) < ib=i羉~$<֬ ;IIIMA]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254787IIm3IS}-IIIZIubIqjIrIzI[Q:Iq9IID?DDE\0 EVF;FyGGGIGDBG =GGG<G FZAM J> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505239%_x,N^A61@y6-A@96b6H ?`w?;ܿ@V?@qskp?´?61@ɨ6ԅ; 6$CRBR:IHZHZ@T5bFl bM=YbcQ f>d٣d fGfОFj& j>l]rL59nB?arL5Yn S in'Bpvqv@nDn:n:nSzL5zB zAznE%DNOT Ignoring new targets: 13.60 m.h!h)h)h)h)g)g)bg1jg1e1e1je9Je9:e==Y@XBɛn ) -Bi) <  i ڮ=i羉t<$<5~ ;I1I9DDDE_0 Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757280VFM?:F) ZAA M] >Gx,,*^A6@y6.@96i6H?@?¥ ܿjP?`A~ s?3?6@ɨ6vx; 6%CFBF-I%Mb@Mb@Mb@!! !)!I!y%tV?MbX9ĿMb%R?%!% %A)%@I!i%~A!% AH]H][5m2G m@=YuQ u>y٣y GўF >]L59Z?aL5:JJBJ]9JJRJ2ZJYX iBV?m}:%q@D߈;P;~L5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009287B BAkEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e ZY@ ZBɛ  )  MHiI)U G G G IG %BG  =G G G <G Fqx,^A-@y-o @9-J-H`8??`̠ ܿ iM<HUHUa5m mJ=Ym|Q u>q٣q uGq}m& }>]L59hq?aL5Y^ i B'q@D:::L5 iAhEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e@5sY@!ɛ%]!)! -Ji))--<))i-g"=i羉~#<kbIIDDDEm0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514472VF9F ZA M] >ZI xbI pjI rI zI Z:I ^9I I I ;q I ;i I |:u I ~:m 1 x,4^A8DAT read: $Error in header *Received a bad headerBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776620B IMb@Mb@Mb@ )Iyn?ףp= ÿ:vV?Լ A)VAIiA= AH-H-^5=߼ =>=YEQ E>I٣I MGMҞFM U>Y]eL59]?aeL5Y]c i]BeY?mey:m%qm@]D]:]:]XL5q uAqDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:eY@m[BɛmC) Ni)M<隑i.=i羉#<CIID!D!D!E%0 E!checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018095:Jk3IBJػ9JJRJ3ZJJ> J?VF g{Fa ZA M >ox,FN^AR@yR@9R{\RH?}??@ v!ݿo8?@`l F? ?R@ɨRJX; R"CZmBZIHbHb^5j9H nc=YrQ v>x٣| ~G~ӞF 3"  >!]5L59%̞?a=L5Y%h i%BAE&qE@%D%;%;%L5UB UAUeE}DNOT Ignoring new targets: 13.60 m.hyhyhhhggbgjgeejeIJeI:eU`Y@雥\Bɛ5A/) Ri)40<隩i=i羉w"<лIIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.274512DYDaDaEe?5 EaG->G)G-IG-BG)G)G)G-<G- FVFmV'SFA ZAI Mm >  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5256852x,h^AJ9ز@yJ@9JDJHy?`?@(@0ݿt5?`8Օ? ?J9ز@ɨJ{M; J%CVnBVIIX)ZA\^AHbHbT_5jt}; jK=YjJlQ n>l٣l nGlrM' r>t]~L59v]?a~L5Yv@n ivB&q@vDv\;vv\;vL5 B A bE=DNOT Ignoring new targets: 13.60 m.h9h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eU xY@雅]Bɛh5) Ri):<隉iYI=i羉K"<_IID-?D1D1E5y3 E9ZIbIvjIrIzIIϣ9IIIII:I:]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777242VFFaZAqM>Ε x,Tt^A6ɲ@y6Jٹ@96"6H/s? ?@coJݿ.?`/[[??6ɲ@ɨ6r; 6!CNpBNIeMb@Mb@Mb@aa a)aIaye٣ GԞF >]L59#͌?aL5Yt i܎BW?m|:e*q@ąDE::checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029283L5 AdEDNOT Ignoring new targets: 13.60 m.hhhhhgg bg jg Be ejeJe:e@Y@:J5BJ59JJ1RJ54ZJ5,&e&11+u1dD$JAIEhAU^BɛUʖ%)Q URiY)]xm checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281216*G% <"G% <G% >G% CG% xIG% BG%  =G! G! G% <G% FH HHH ="H =*Hʪ4&x,'J^ABȲ@yB?ع@9BuBHr??`Lݿ.?@G΀`?`?BȲ@ɨB; B"CLLHVHV Y5^; bY=Yb3Q f>d٣d fGf՞Fj j>l]rL59n2⌜?arL5YnAy inӎBprh*qv@n΅Dn;nj;nL5x zAzaEDNOT Ignoring new targets: 13.60 m.hh!h!h!h!g!g!bg)jg)e)e)je1Je1:e5 Y@aɛe9)a e Sii)m2n=iu羉u ZI zbI qjI 1rI zI `:I q9I 3I I p;I q;I :I :T,x,'^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.785285]yB]IeI٣I MGIM M>Y]]L59]r?aeL5Y]E i]ʎBeU?me:e&qe@]څD]:]:]L5mB uAu^EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg BeejeJe:eZ@_Bɛ<#) Qi)Νb<i/]=i羉, <6IID?DDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.037244:JU1OBJUh9JJQRJU5ZJUVFF ZA M >3x,^A>뼲@y>U̹@9>ɓ;Y>T >>Hm? %?`쭿 aݿ (?Zuq@\?5?>뼲@ɨ>·; >#CNzBLHjHjW5r; rc=Yv/Q v>t٣t vGz֞Fz z>|]L59~x?aL5Y~ i~ĎB  'q @~D~:~h:~"L5 AEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgAgIbgQjgQeaeajeiJeq:eu'Z@ɛ#,>) Qi)X<i=i羉<"IIHuAAHq=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290115Dm?DqDqEu0 EqG>GG~IG BGGGG<GFVFFiZAyM> checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541688I9x,^A2@y2[ȹ@92rU;Y2d >2Hk?)?`Nviݿ &?<Xj ^?,?2@ɨ29; 2 CRBR"IHZHZU5b< bL=Ybo3Q f>d٣d fGfמFj6 j>l]vL59n%?avL5Yn_ inBtv.'qv@nDn6;n^7;nL5zB ~A~[EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e` BZ@9ɛE/)A EOiI)U8M@x,^A2@y2ȹ@92:Y2 >2Hk?$? hݿ&?ik@{Z ٔ? X?2@ɨ2; 2$CNBN#IIP)PTVA5Mb@Mb@Mb@11 1)1I1y5 rh?(\¿~jtx5L?5z5Ļ 5/A)5AI1i115\ AHMHM]5e; e@=Ye+|Q e>i٣i mGiuwJ8 u>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045326]L59=?aL5Y iBO?m:'q@D::yL5  AXE:JBJJJRJ6ZJ DNOT Ignoring new targets: 13.60 m.h hhhhggbg!jg%Be!e)jeIJeQ:eU^Z@雥`Bɛ^*) 0Oi)A<i?=i羉?/<#IIDYDYDaEe1 EaU checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297956VF ׹Fi ZA M >G G G IG BG  =G G G <G F? Gx,^A:d@y:ι@9:\:Y:>>:Hn?b?"`]ݿ(?@`+@s?@A?:d@ɨ:-ʇ; : C^B^3IHjHjX[5rq= rS=Yr?Q r>t٣t vGv؞Fz; z>|]L59~Q?aL5Y~ i~BM'q @~D~;~>:~L5B CAWEEDNOT Ignoring new targets: 13.60 m.hAhAhIhIhIgIgIbgQjgQeQeQjeQJeY:e]{tZ@雁ɛ^G) Hi)9<隉i =i羉s<IID1D1D1E52 E1checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549210VFuZF}?F}?FQZAYM}>e checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801717@Mx,u7^A2j@y2˹@92 BY2->2H_m??Qobݿ`'?`Xc!@H?@?)?2j@ɨ2; 2"C>B>0I]Mb@Mb@Mb@YY Y)YIYy](\?Q~jth?]G?]]D; ]\A)]VAI] Ai]7 AY]z AHuHuxV5Q ?=Y٣ GٞF^ >]L59h?aL5Y+ iBJ?m: q@D?;;tL5 YADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBBeejeJe:e Z@!ɛ%()) -Ii))-_-<))i-lc=i5羉5A<5N I9I9D?DDEZ0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.053494:JBJ9JJRJ7ZJVF9 F) ZA9 MU > Tx,YQQ^A:K@y:Ϲ@9:Y:c>:H$o?@L? \ݿq)?Uh}^?|?`o?:K@ɨ:L; :#CIF=)FC %.~G%B53IA Yu%=iu4=)XyA)= =HHS5]< I=Y!5Q >٣ G6: >]L59~?aL5Y. iB q@D;¢; L5B HATEZI]ubI]qjIYrIYzI][Q:I]q9IYIYqe@ie@ue@me@uDNOT Ignoring new targets: 13.60 m.hqhqhqhqhqgygybgyjgyeejeJe:e Z@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305524qɛu4)q uHiy)}H"GyG}IG}BGyGyGyG}ݰ<G} FD]?DYDaEe_0 EaVF ׹F ZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557213M >IZx,&k^A6HIJ@y6ӹ@96@Y6>6Hp? .?Tݿ+?Eh???6HIJ@ɨ6; 6!C>BB/IHJHJ{R5R~ R]=YV>Q V>T٣T VGVڞFZ0: Z>\]bL59^?afL5Y^ i^Bdf qf@^"D^(;^';^A4ax, ^AZͲ@yZܹ@9Zl탻YZ>ZHt?@?`NS0Eݿ*/?`t}p? ?`?ZͲ@ɨZ5; Z$CfBf2I]Mb@Mb@Mb@YY Y)YIYy]S㥛?MbMbP?]$F?]]: ]A)]AI] AiYY]( A}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061242HHS5!< <=Yk#Q >٣ Gl"; >]L59N?aL5Y iBG?m:Hq@-DF;E; L5Q UXAY:JBJ9JJRJ8ZJ& DNOT Ignoring new targets: 13.60 m.hhhhhggbg!jg%9Be!eIjeIJeI:eMZ@雕_Bɛ<*) Ii)ı <隙i=i羉]<IID]?DaDaEe`0 EaZI}wbI}tjIyrIyzI}W:I}9IyIy5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314097VFE ׹F! ZA) ME >*Ge <"Ge <Ge >Ge CGe IGe %BGa Ga Ga Ge <Ge F\gx,^A2cϲ@y2޹@92ףY2I>2Hu??UAݿ0? VY zt???2cϲ@ɨ20;; 2"C``Id)ddfAHjHjP5YvM'Q v>t٣x zGz۞FzW>: z>|] L59~?a L5Y~  i~B6q@~6D~&;~&;~`L5B ]ANEMDNOT Ignoring new targets: 13.60 m.hIhIhIhIhIgIgQbgQjgQeYeYjeYJeY:e]`Z@雁ɛZKT) Ii) <隑i5=i羉<,IIDIDIDIEM12 EQchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.565342VFqFIZAYM}>E checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818052mx,^A2h̲@y2۹@92r ѻY2B>2Ht?@U?lı ]Fݿ0?b!z?8?`̯?2h̲@ɨ2❇; 2&CRBR,I}Mb@Mb@Mb@yy y)yIyy}x&1?MbXy&1|}A?}ʽ}` y)}lAI}M Ai} Ay} AHHO55 ٣ GܞF^ >]L59Ս?aL5Y iB2C?m:Nq@AD8:V:L5B AME DNOT Ignoring new targets: 13.60 m.h h h h h g gbgjgCBeejeJe!:e%:[@IɛMC=)I M!KiI)U;QQiUv'=i]羉]=<] IYIaDDDE15 EVF>uFZAM>:Jm "KBJm 9JJi RJm 9ZJm ntx,^A>в@y>L@9>H8Y>+>>Hv??>Y>ݿ`|3?@᾿ &~?m? ׯ?>в@ɨ>ԇ; >!CJBN'IHVHVJ5^ߪ ^Z=Yb+Q b>`٣` bG`f8: f>h]nL59j|鍜?anL5Yj/ ijBlr+qr@jJDj;jQ;jbL5t vAt%DNOT Ignoring new targets: 13.60 m.h!h!h)h)h)g1g9bgAjgAeAeAjeIJeI:eMW)[@^Bɛ%{K)) -LZIEtbIEujIE1rIAzIE;N:IE9IE3IAi))u$;qyi},=i羉'i<bIIG>GGIG BG =GGG<G FHëC HHH"H*HÄ~5DE?DADAEM4 EIVFFa ZAy M >ե 4=ե =zx, m^A>Aβ@y>ݹ@9>l Y>}>>HKu?e?|Bݿ3?`` ?5??>Aβ@ɨ>; >"CRBR#IV=iV;)Z= Z=H^H^DP5fO| fI=Yj!Q j>h٣h jGnݞFnO n>p]vL59r?avL5Yrι irBxzAqz@rTDr:r:rL5| AJE-DNOT Ignoring new targets: 13.60 m.h1h1h1h1h1g9g9bg9jgAeAeAjeAJeA:eM@&C[@qɛ}qQ)y }ENiy)};隁i">=i羉e<YIID?DDE_0 EVF]JF1ZA9M]>ux,VH^A~pB~ImBDAT read: Response Not Received m*response not receivedu,DAT read: user:1347> }BDAT read: Tx time:19:55:52.0166 $Ping request sent.٣ GޞF >]L59?aL5Y> iBB?m:.q@`D: :CL5B AGE=DNOT Ignoring new targets: 13.60 m.h9h9h9h9h9g9gAbgAjgE$BeieijeiJei:emc[@雵]Bɛ:) Ri)z,;隹i=i羉"<IID?DDE^0 EZIYbI]njI]0rIYzIYI]99I]ـ3IY JDAT read: TxSync time:19:55:52.0158  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248779G G @AG- >G- CG) G) G-  =G) G- ADG- <G- FVF F ZA M >x,# ^A6cҲ@y6@96q,Y6#v >6H` w?r?@zt;ݿo7?`.$$?!??6cҲ@ɨ6!; 4^hB^IHfHf85nܼ r=Yr޻Q r ?t٣t vGtz: z ?|]L59~*?a L5Y~ i~B  q @~hD~%:~:~L5 :ADNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e@x[@ ɛw) Ti)?;i}b=i%羉%<%SI!I)DDDE_0 Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500707VF1F ZA! M= >% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7522289ԍx,:^AWBII!)!Mb@Mb@Mb@ )Iy?QfF?̽u )lAI7 Ai AQ AHHP@5U 9=YQ > ٣   G ߞF  >]L59}B?a%L5Y iB%H?m%:%Lq%@sD:M:L5-B 5uA5DEmDNOT Ignoring new targets: 13.60 m.hihihihihigigibgqjguBeyeyjeyJey:e}D[@雭\BɛZ) OXi)u;隱i=i羉 <|IIDM?DIDIEMo0 EI}>}@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005012VFmF) ZA9 MU >:J dMBJ 9JJ RJ ;ZJ 3 |]>0'" x,*S^A60@y6ȹ@96kY6/>6H$k?^?@gݿ ,?@ u?[??60@ɨ6;; 6!C^RB^IHvHv995 ` \=Y+Q > ٣   G F  >]%L59V?a%L5Y% iB!%q%@|DG:2:L5) 5A5AE]DNOT Ignoring new targets: 13.60 m.hYhYhYhahagagabgajgieieijeiJei:eu`[@[Bɛm) 7Yi)6bc;iT =HH?Ai羉~<.2IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258108GGGIGBG =GG@DGհ<G FD?DDE0 EVFJF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507814暴x,m^A6ҹ@y6=ɹ@96&Y6/ >6H`:k? +?@Lݳfݿ ,/?`Fr?@b?ð?6ҹ@ɨ6a; 6#CnEBnIHvHvdK5' J=Y ԓQ  > ٣ GG9 >!]-L59%l?a-L5Y% i%B15q5@%D%:%u:%L5=B EAECEmDNOT Ignoring new targets: 13.60 m.hihihihihigqgqbgqjgyeyeyjeyJey:e[@雭ZBɛ),j) [i) 6;隹i !=i羉<*IIDiDiDqEu#5 EqVF]{#ZIUsbIUpFaZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761322jIU1rIQzIUK:IU^9IU3IQIUe;qIUe;iIU}:u IQm MK>Ρx,^A2IJ@y2iԹ@92#Y2Z >2Hap?`?Rݿ4?^`Nd?z?`r?2IJ@ɨ2; 2"Cb9BbIj>ij>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012512Mb@Mb@Mb@ )Iy/$?X9v{Gz1H?ף A)I Ai7 A AHHN5ۼ ;=Y X:Q  > ٣   G FM; >]%L59.?a%L5Y6 iB-J?m-:- q-@D::vL5 A@E-DNOT Ignoring new targets: 13.60 m.h)h)h)h)h1g1g1bg1jg5Be9e9je9Je9:eE`o[@mYBɛm_)q u^^iq)u4;qqiu!=i羉&<MII:JNBJh9JJRJ<ZJ  ,D%?D!D!E% 5 E! E~GY q)yAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265269VF- !G >G G xIG BG G G G <G FF ZA M- >x,k^A~*B~IH H &Q5=d =X=YEQ E>A٣A EGEFM M>Q]]L59U?aeL5YU iUBaaqe@UDU!;U";UL5mB m6 Au=EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:en[@=XBɛ=)A MyaiI)M(s:IQiU@3"=i羉<lII]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516732D?DDEY0 EVF V F ZA MU >II3I.IIIZI] tbI] ojI] 0rIY zI] ;N:I] K9I] ـ3IY I] {j;I] ~j;I] :I] : checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768176k!x,D^Abβ@yb޹@9b鍼Yb >bHt?B?ܳ@yAݿ:?u輑?Ur?`N?bβ@ɨbՄ; b$Cj$BjIeMb@Mb@Mb@aa a)aIayeq= ףp?Mb٣ G4; >]L59?a L5Y* i{B 1N?m : @!q @D::|L5 N AMDNOT Ignoring new targets: 13.60 m.hIhIhIhIhQgQgQbgYjg]BeYeYjeaJea:eeM\@雍WBɛu) \bi)!:隑i"=i羉<2^ IIDIDIDIEM_0 EQeBDAT read: Rx Time:19:55:54.6207 eTRx dataTimestamp_ set to:1736538955.167549mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021722VF F ZA M >:J sLBJ 9JJ RJ =ZJ __@* )*!  x,!"^AB˲@yB?۹@9B@YBK >BH:s?:?IFݿm:?$?Z??B˲@ɨB; B!CN#BNIIT)TTVAHZHZ~N5bQ b_=Yfg&Q f>d٣d fGfFj,r j>l]rL59n Ď?arL5Yn inwBtvY!qv@nDn:n:nL5x zX Az:E%DNOT Ignoring new targets: 13.60 m.h!h!h!h)h)g1g1bgAjgAeIeIjeQJeY:e],\@雅VBɛ) bi)p\隉iW#=i羉ev<_IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272420DU?DQDQEUa0 EYGGGeIGBGGGG̰<G FVFu>uFIZAYM>} 8DAT read: $Error in header  *Received a bad header ,DAT read: user:1348>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539844W6x,^AB̲@yB;ܹ@9BМYB >BHs?+?@f(iDݿ;? @?%P? 4?B̲@ɨB=; B%C\\HjHjK5hy F=Y  Q  > ٣ G59 5>9]EL59=ڎ?aML5Y= i=sBIMQ!qM@=D= :=p:=VL5}B }b A}7EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeeje!Je!:e%G\@mTBɛ$u) uai)CV隑ig#=i羉Y<oIID-?D)D1E5p0 E1ZI!bI!jI!rI!zI!I!I!I!I!I!I!I!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777918VFFa ZAi M >´x,^A%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027825e"BeI-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 90.89, 86.67, 88.03 @ @ @  @ HHL55d 59=Y=Q =>9٣9 =G=FE E>I]UL59M?aUL5YMp iMnBi]+:Ym]U:Yq]@MņDM;M4>MoL5i mi Am5EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e{b\@SBɛ|) `i) ˺iw$=i羉9<GII:J-LBJ-9JJ)RJ->ZJ-DDDE0 EVF׹checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281485GQ GU AAGm >Gm CGm _IGm BGi Gi Gi Gm հ<Gm FHɭC HɭCHF ZA M- >H ="H =*H4Eȴx,"^A2rӲ@y2@920Y2Ѹ >2Hlv?9?zr8ݿ@>?5Ŕ?Sh?0?2rӲ@ɨ2Xv; 2"CR0BRIV=iV<)T Vp=HZHZ&Q5vG= vb=YvoOQ v>x٣x zGzF~; ~>] L59?a L5Y ikBi :m,:!q@ΆDV:FM?L5 3 A%7EUDNOT Ignoring new targets: 13.60 m.hQhQhQhQhQgQgQbgYjgYeaeajeaJea:eey\@雍QBɛf) \i)w隑i %=i羉!<TIIDU?DQDQEU5 EQMchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.534931VFU F1ZA9MU>ZIE vbIE pjIE 1rIA zIE {T:IE ^9IE 3IA IE Hu;IE Ju;IE }:IE ~: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790725+pδx,ڎ<^A6^ز@y6@96(髼Y6E >6Hx?`?ǡ@/ݿ`@?|?`k??6^ز@ɨ6d; 4>-B>IEE EE EE  E E EMb@Mb@Mb@AA A)AIAyEy٣y }Gy}: >]L59?aL5Yz iiBiT:dV?m}:"q@چD ; ;/L5B E A4EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg BeejeJe:e\@PBɛ|) \i)>i%%=i-羉-)%<-eI)I1D?DDE2 E]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039951VFFZAM>:J BJ 9JJ RJ ?ZJ Zմx,vV^AVٲ@yV(@9V:lYV >VHy??3˴ -ݿA?\-?o? ?Vٲ@ɨV; V#CbFBbIHjHjL5r7= rS=YrQ v>t٣t vGvFz9 z>|]L59~4?aL5Y~ i~hB"q @~D~G:~u:~L5B A1EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjge)e1je1Je1:e5#\@}NBɛ}x)y }Uiy)_k隁i$&=i羉Ɣ<DIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.291951GGGeIGBGGGG<G FDADADAEE^0 EAVFIF! ZA) MU >] <] <e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544136۴x,JDp^A>u޲@y>@9>"Y>G >>H${??ݴ $ݿD?`h`IÖ?[d??>u޲@ɨ>nΆ; >$CJNBJIIL)LPRAHVHVGL5Z< ^M=Y^㼺Q ^>`٣` bGbFf: f>h]jL59j1K?anL5Yj ijfBpr"qr@jDjE5;j5;j L5t zAxDNOT Ignoring new targets: 13.60 m.hh!h!h!h!g!g!bg)jg)e)e)je)Je1:e5\@]LBɛ])a eRii)miiim&=iu羉ujx,"^AJx߲@yJ@9J]YJ Q >JH{?e?"ݿE?E-k? :[?`-?Jx߲@ɨJf; J%CVXBV I%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047915UMb@Mb@Mb@QQ Q)QIQyU> ףp=?X9vMb`UQ?UU UA)QIU AiU AQU AHmHmF5}O< }>=Y}úQ }>٣ G9 >]L59c?aL5Y6  iNT?m:q@D;;L5 A.EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e N\@JBɛ8m) Oi)4i+'=i 羉҂<IIDDDE E:JBJ9JJRJ@ZJJIZIsbIljI0rIzIK:I9Iـ3Iq@i@u%@m%@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300946*G"G<G>GGrIGBG =GGGΰ<G FVF /mF ZA M5 >ٓx, ^A6m@y6@96 Y6} >6H? \?ݿ |I?@wSϗ?f? ?6m@ɨ6+; 6#CBRBBIHJHJGL5f* fV=YfQ f>h٣h jGjFn;; n>p]vL59rCy?avL5Yr iptvqz@rDr:r:rL5~B ~A+EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:e2\@5HBɛ=)9 =Oi9)=99iEK'=iE羉MB  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806967xx,߽^A29@y2@92UY2KU >2H? ?` ݿ`9K?"7V8? [??29@ɨ2ǧ; 0fjBfIhij4<)n= n=mMb@Mb@Mb@ii i)iIiymkt?ʡEMb`?m P?mm; i)mlAIm Aiiimz AHHZ5[_= ;=YoQ >٣ GFL: >]L59?aL5Y igBER?m:q@D:9;L5B dA*E-DNOT Ignoring new targets: 13.60 m.h)h)h)h1h1g1g1bg9jg=+Be9eAjeAJeA:eE]@mFBɛuz|v)q uHiq)u2˻yyi}+(=i}羉<QŻIID-?D)D)E-1 E)=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055835VFMF! ZA1 MI I ) u ~G A) yy A:J BJ 9JJ RJ AZJ  &>UjWG<3,!  ] @] $AХx,-^AZn@yZ@9ZüYZ >ZH?`?/>ݿ@sM?@A@}?c?଱?Zn@ɨZ\F; Z"CjnBjIHrHrB5<  X=Y4Q >٣ G%$: %>)]5M59-?a5M5Y-: i-hB15q=@-D-;-;-BM5A EWAAmDNOT Ignoring new targets: 13.60 m.hihqhqhqhqgqgqbgyjgyeyejeJe:e.]@雭DBɛb) Fi)v޻隱HH@AZItbIujIrIzI;N:I9IIi(=i]羉]<] IYIachecking for new query: numPingsReceived=0, elapsed TxPingTime=7.308056G>GGIGBGGGG<G FDiDiDiEm05 EiVF4λFi ZAq M >M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559871x,^A6L@y6 @961eżY6D >6Hш?y?:A Fܿ@R?` k ??y??6L@ɨ6w; 6%C>~BB IHJHJP5n$= nM=YnQ r>p٣p rGrFv; v>x]~M59z?a~M5Yz( iziB|~nq@z$Dzb;z ;zM5  A 'E5DNOT Ignoring new targets: 13.60 m.h1h1h9h9h9g9g9bgAjgAeIeIjeIJeQ:eU^H]@}BBɛ}xw)y Ai)3隁i )=i羉 <fIIDM?DQDQEU]0 EYձձchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.816079VFuFIZAYM>x,f ^A6 @y6u @96ǼY6 >6H ?>z? IܿS?OY?n?5?6 @ɨ6; 6$CRBR$IIX)X^A^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.064028MMb@Mb@Mb@II I)IIIyMMbX?p= ף~jtx?MJ?MM; MA)MVAIM AiM AIM AHeHeL5}`< }3=Y}/Q >٣ GFh >]M598׏?aM5Y" ikBxM?m:!q@0D;; M5B A$EEDNOT Ignoring new targets: 13.60 m.hAhAhAhAhAgAgIbgijgm#BeqeqjeqJeq:euf]@@Bɛd) >i)i)=i羉 ) <vII:J MBJH9JJRJBZJNtYaU~mW>(D?DDET0 EZIwbItjI1rIzIW:I9I3IG>GGIG BGGGG<G Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.315859VF g{F ZA M >x,QJ%^AeBe/IHuHu)M5<= [=YQ >٣ G >]M59돜?aM5Y' imBq@:Da;n; M5 A DNOT Ignoring new targets: 13.60 m.hhhhhggbgjge!e!je!Je!:e-`}]@U>BɛUoS)Q U9iQ)]E YYi]<*=ie羉e  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822557x,(?^Af @yfL@9f6ɼYf >fHf?c?@?ܿ`7Y?f89? a??f @ɨf}; f"CvBv1IMb@Mb@Mb@ )IyK7?ʡEMbpI? A)I Ai A( AHH?5i; F=YQ >٣ GF|; >]M59?aM5Y, i}K?m}:}q}@DDz<V<M5 A!EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjg8BeejeJe:e]@:J 'OBJ 9JJ RJ CZJ  #$&),/0/.*)*(& x,X^A2@y2A"@92 ˼Y2U >2H@e?R?O`ܿ\? fP o?}n? ?2@ɨ2 ۆ; 2#CNBR6IV%=iV;)Vp= Va=HZHZK5ZIybI}jIrIzI]:IS9IIG=>G=CG=IG=+BG= =G9G9G=ذ<G= FH ¬C H ¬CH H  ="H  =*H f5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325229uw< u2=Y}Q }>٣ GF-; >]M59{?aM5Y2 iq@PDh::M5B A EUDNOT Ignoring new targets: 13.60 m.hQhQhYhYhYgYgbgjgeejeJe:eܸ]@M9BɛM*[)Q U'4iQ)U#QQiU&+=ie羉m - checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575867x,|r^A:a@y:)@9:~+˼Y: >:Hʕ?F?@+`<ܿ a? h d?4P?,?:a@ɨ:7; : CBBB7IHJHJJH5R; V=Y^B 9Q f?l٣l nGlr>; r ?t]zM59v,?azM5Yv5 ivlBxzeqz@vXDvJchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.830543_#x,^AN$@yNB4@9N˼YN >NHw?J4? =!ܿe?`!w?J?^?N$@ɨN:; N#CVBV<Ir=r4=MMb@Mb@Mb@II I)IIIyMw/?1Zd{GztMF?M"۽Mף MEA)MAIM AiIIM AHHC5:< 9=Y+.Q >٣ GFN@; >]M59oD?aM5Y: iH?m:Yq@cDM::+M5B xAE-DNOT Ignoring new targets: 13.60 m.h)h)h)h)h)g)g1bg1jg57Be9e9je9Je9:e=n]@m6Bɛmh2m)i m)0ii)m2qqiu+=i}羉}b <}IyID ?D D E 05 E FZAM (>:J}MBJ}h9JJyRJ}DZJ}HC=Ha=*G1"G5<G=>G9G=IG=5BG= =G9G=?DG=<G= FL0)x,@^AN[%@yN4@9N ̼YN h >NH@?3?>`ܿ`wf?`; ?)>? IJ?N[%@ɨNMZ; N"CVBV6IZAXHbHbQ5fּ j[=YjX¸Q j>l٣l nGlr19 r>t]~M59vX?a~M5YvD? it|Uq@vlDv;?;v);vmM5  A E5DNOT Ignoring new targets: 13.60 m.h1h1h9h9h9g9g9bgAjgAeAeAjeIJeI:eM@J]@}4Bɛ; }) 1i);隉iN,=i羉 <nIIDM?DIDQEUY0 EQVFug{F} ?F}>FQZAYM}>ZI xbI wjI 0rI zI Z:I 9I ـ3I I ;q- I ;i5 I :u= I :m=  BDAT read: Response Not Received  *response not received ,DAT read: user:1349>  BDAT read: Tx time:19:56:02.9667  $Ping request sent. ٣ GF >]M59"s?aM5YD ikBD?m:q@xD ;;"M5B EMDNOT Ignoring new targets: 13.60 m.hIhQhQhQhQgYgbgjg-BeejeJe:e`#^@2Bɛ=dV^)9 Eu0iA)EFAAiE,=iM羉M FZA)ME?F<8x,^A:'@y:6@9:ZּY:8 >:H@?@.? R6ܿ`1h?a˻cš?`1??:'@ɨ:2; :%CFBF4IHVHVy/5jQ, j7=Yr4Q r>x٣x zG~Fx9  >]-M59K?a-M5YJ i15qq5@DQ;R;&M59 =A9uDNOT Ignoring new targets: 13.60 m.hqhqhqhyhygygybgyjgeejeJe:e 9^@雵0BɛP)u) 0i)eP隹iG-=i羉@i <dhII^De`T=D?DDE4 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.745806VF'HF ZA M >a>x,]O^A2X@y2.@92ݼY2 >2H?9?ܿ xd?@ܻ?_M?DZ?2X@ɨ2܅; 2"C>B>+IBT٣T VGVFV Z>ZIbwbIbpjI`rI`zIbW:Ib^9I`I`Ibz;Ibz;Ib|:Ib~:X]mM59Z%?auM5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000589YZN iZjBq@ZDZ8:H}?`=?@5ܿd?``ɝ?@*??:@ɨ:; :#Cln,I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501740-Mb@Mb@Mb@)) )))I)y-?"~j~jt-fF?-S-D )))I- Ai-d A)- AHEHE25U7: U=YUgQ U>Y٣Y ]GYeS e>i]uM59m?auM5Ym/U imiBurH?mu:}q}@mDm ;m ;m /M5 AEDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgBeejeJe:e2w^@-Bɛn)  /2i )fi;.=iM羉U OGNx,z;^A2@y2c)@92Y2x& >2H? ??ܿd? $@?`? ?2@ɨ2; 0>wB>IHFHFJ5Rx R@=YRQ V>T٣T VGVFZ Z>\]bM59^!֐?abM5Y^.Z i^hBdfqf@^D^%:^2:^2M5jB jeAnEZIU{bIUjIU1rIQzIUd:IU9IU3IQIU#;IU$;IUh;IUh;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0093635DNOT Ignoring new targets: 13.60 m.h1h9h9h9hAgigqbgjgeejeJe:e`^@+Bɛv) 7i)Tri.=i%羉%86 <%>I!I)DDDE4 Eխ >խ < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260802VF5 b(F ZA! ME >/Ux,rU^A2)@y2.@92Y2>2H?5?5B@|ܿg?s?K ?`&?2)@ɨ2j; 0>xB>II@)@DFA=Mb@Mb@Mb@99 9)9I9y=/$?X9vMb=L?== 9)9I9i=M A9=3 AH]H]D5mm; m>=YubQ u>q٣q uGuF}k: }>]%M59퐜?a%M5Ys_ ifB%N?m%:-q-@Dj<K<6M51 5_A1mDNOT Ignoring new targets: 13.60 m.hihihihihigqgqbgqjgu BeyeyjeyJey:e}^@:J+MBJ{9JJRJGZJ雽*Bɛ܊) 6i)zi)/=i羉 <IIGU>GQGUIGU0BGQGQGQGU߰<GU FDDDE]0 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511167VFJF ZA M >R[x,9o^A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761592=tBEIHUHUGL5e eL=YmQ m>i٣i mGiu u>y]M59}@?aM5Y}_d i}eBq@}D}:}:}:M5B tA EDNOT Ignoring new targets: 13.60 m.hhhhhggbgjgeejeJe:ew^@雥(Bɛ̽) 6i)隩iß/=i羉 <IIDDDE_0 EII(3I(.IIIZIezbIezjIe0rIazIe`:Ie9Ieـ3IaIep;Ieq;IeP:IeR:5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017148VF >F ZA M >fHǒ?4?@Rܿ Jh?ME?`??fn@ɨf0K; dnaBnIMb@Mb@Mb@ )Iyn?x&I +VN?7 94 A)I~Aid AHHdK57 C=Y]Q >٣ GFں >]M59?aM5Yi i/Q?m: q@ƇD;j;=M5 A EEDNOT Ignoring new targets: 13.60 m.hAhAhAhIhIgIgIbgQjgUBeQeQjeYJeY:e] ]^@雅&Bɛ^) :i)憼隉i{0=i羉D< IIuBDAT read: Rx Time:19:56:05.6167 }TRx dataTimestamp_ set to:1736538966.259961checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267908DADIDIEMo0 EIVFmp:J BoHBJ +9JJ RJ HZJ !/>GNRW]dkmptwyFA ZAQ M >GE >GA GE IGE %BGE =GA GA GE <GA HʫC HʫCHH ="H =*H\N4- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518770dhx,H5^ANc@yN(@9N?YN`>NH)?T0?̷ܿ!i??_?ΰ?Nc@ɨNE; LVVBZI^4>i^a=)^= ^=HbHb N5v zZ=YzLQ z>|٣| ~G~Fj >]M590?a%M5Yhn i!!q%@ЇD!;D";@M5-B 5A5E]DNOT Ignoring new targets: 13.60 m.hYhYhYhYhagagabgajgaeieijeiJei:eu@A^@雝%BɛX)  BDAT read: Tx time:19:56:06.7167 $Ping request sent.Xnx,^A~YB~ IHEHEdK5u; uB=YQ >٣ G >]M594H?aM5Ys ifBq@ۇD%g;oR;JDAT read: TxSync time:19:56:06.7160 ZI{bIxjI1rIzId:I9I3Iq5@i5@u5@m=@DM5  5A= E= addTargetRange:: Added new target pos. range: 184.300003 m, deltaT: 124.075942 s, deltaX: 154.300003 m, approachRate: 1.243593 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 13.60 m.ECompleted rollout at range: 184.30 m. Resuming terminal guidance.EbTransitioning guidance mode to: TERMINAL_GUIDANCEi?h,@hhhhggbgjgeejeJe g@:e'?雵"Bɛ`}) :i)בi0=iߔ=I=,@IAD1D1D1E5o0 E1VFU ïF1 ZA9 M] >6ux, ^AB@yBb@9B* 1YB=BH`?@gI?@ܿ`n?H?@?`?B@ɨBg0; @jWBjImMb@Mb@Mb@ii i)iIiym(\?Mby&1|mN?mm` mA)iImhAiiim AHH95z 9=Y.Q >٣ GF]> >]M59`?aM5Y=y iiBP?m:Tq@D8::}HM5B AE:J-MBJ-]9JJ)RJ-IZJ-|~}vl_TQMJIHJHJLHD?;?==9941220.'#J5? J5?L Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalLEntering Terminal tracking update period 2.000000 s sec at 184.300003 m (mode 1.000000 count ).L1MhhhhhggbgjgBeejeJe:e`?GGGIG BGGGG<G F% BɛE)A E:iI)MIIiM,1=iUkQU=IQIYD=?D9D9E=05 E9VF;FZAMl>&|x,[^A69@y6"@96 9Y6U>6H`]?V:?ܿo???@t?69@ɨ6; 4>dB>IID)DDDHJHJ85R?= R\=YVQ Z>X٣X ZG^F^: >]%M59 v?a-M5Y ~ ikB)-.q5@D%);!*;KM59 EAEE2kU@1MUqMU]B*** querying acoustic contact ***iaiahihihihihigqgqbgqjgqeyeyjeyJey:e I?雭Bɛf) >6i)3隹i{1=ir=IID1D1D9E=X0 E9VF +^<FZAM (>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.rx,B ^A6:@y6$@96rCY6d>6Hf? .?Pܿ p?`ѷ k? D\?@h?6:@ɨ6i; 6"CRUBRIeMb@Mb@Mb@aa a)aIayekt?i|?5~jthe P?eeD eA)eh@IeAie Aae= AH}H}253  <=YQ >٣ G: >]M59?aM5YE ipBOR?m:q@D3;H;OM5  A:kqMMhhhhhggbgjg؀BeejeJe:e7?5Bɛ5#)9 =8i9)=299i=1=iE-AE.A>IAII]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507970D?DDE]0 EVF :^<:JM'NBJM9JJIRJMJZJM FGG@AGGGIG%BG =GGG<G FZIM ybIM zjIM 0rII zIM ]:IM 9IM ـ3II IM ;q] IM ;i] II u] II m] ZAi M >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762417(0x,&^AF7@yF&@9FeCIYFx&>FH`ʍ?)? չBܿ q?@⛷@%?KT??F7@ɨF; F#Cb\Bb IHjHjI5r< rV=Yv-tQ v>t٣t vGvFz&: z>|]M59~?aM5Y~ i~tB q @~D~%:~:~RM5B AEBk)M--rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalL- 5Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalhahahahahigigibgjgeejeJe:e 1z?EBɛMU)I M6iI)M9IQiU 2=i}Cy>IID D D E _0 E VF"=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012043FZAM I>Dx,+n@^A6@y6$@96M}OY6J=6H6? 9X?͹aܿj?w? ??6@ɨ6; 6$CRcBRI)V= Va=nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266605HvHvA5~:{< H=Y'tQ >٣   G F #  >]M59ɺ?a%M5Y iyB!%q%@D::nVM5) -A5Ehhhhhggbgjgee jeJe:eR@雝Bɛ,) 3i)0iH2=i[ >IIDD}?DyDyEy EE=E>VFU =zFYrFYFQZAqM~>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516202I ) } ~G kA ) !y kA zB Bx,?Z^AnpBrIMb@Mb@Mb@ )IyK7?X9vIL? A)IQAiAf AHHE5s< ?=YQ >٣ G >]M59hґ?aM5YY i~BN?m::q@D;N;*ZM5B AEhhhhhggbgjg%Be!e!je!Je!:e-j@]Bɛ])a e.ia)eaaiĕ2=imniiIiIq:J"LBJ9JJRJKZJZI%zbI%xjI!rI!zI%`:I%9I!I!q5@i5@u5@m5@Ge>GaGaGaGe =GaGaGe<Ge Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768554D D D E 0 E VF>FZAMI> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019741hlx,t^A6@y6@96]VY6=6HFM?)??27mݿD?@lC۪?@?.?6@ɨ6ƈ; 6"C>~B> IHNHNB5V= V]=YVQ Z>X٣X ZGZF^ ^>`]fM59b摜?afM5Yb ibBhj"qj@b%Db%:b:be]M5l nqAl~B*** querying acoustic contact ***i|i|h h h h h g g bgjge!e!je!Je!:e-@UBɛU8)Q *i)%i2=ijсIIDDDE?5 EVFg41>FZAM>>BDAT read: Rx Time:19:56:09.3688 TRx dataTimestamp_ set to:1736538970.039209checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272801\Tx,^A~tB~I  AMb@Mb@Mb@ )Iy㥛 ?rh|Mb`U? vA)@IAi A AHHaO5ļ :=YQ >٣ GF >=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523575q]M59u?aM5Yu iuBW?m{: q@u1Du1;u`;uhaM5B AEhhhhhggbgjg݀BeejeJe:eb @Bɛ)  @+i ) r,  i2=iȴIID%hAzD!D?DDE05 E:JBoHBJ9JJRJLZJVF ?>H1 H5 %=ZI= ~bI= jI9 rI9 zI= {m:I= ľ9I9 GU >GQ GU IGU 0BGQ GQ GQ GU X<GU KFI9 I= <;qm I= =;im I= ;um I= ;mm  DAT read: Range 10 to 50 : 185.9 m (Round-trip 247.9 ms) speed -0.8 m/s  ,DAT read: user:1351>  BDAT read: Tx time:19:56:10.4667  $Ping request sent. x,Yۧ^ABY@yBš@9BSYB~=BH@8?.?;d߿@+?@um?&? ?BY@ɨBK; B$CbBf"IHHM = MR=YMK ;Q M>Q٣Q ]GY]o ]>a]mM59e?amM5Ye  ieBqu(qu@e;De';e;edM5y }pAE addTargetRange:: Added new target pos. range: 185.899994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 hhhhhggbgjgee je JeMJDAT read: TxSync time:19:56:10.4660 FZA!M=Q> gx,2^A:=@y:@9:PY:y(=:Ht~?`=? (J\?@?&?n?:=@ɨ:R; 8BzBFIHNHN35Zޕ ZU=Yb:Q b>d٣d fGfFjPd j>l]rM59n+?arM5Ynn inBprg.qv@nFDn:n:nhM5x zAxhhhhhgg!bg)jg1eYeajeaJei:e1? Bɛ҇) &i)i d3=i<II!D?DDE^0 EVFԬs>FqZAyM~>U=U;?Wx,ۇ^A> @y>D@9><>H?`^?^@? ? ?Б?@7?> @ɨ>7; >!CFBJ+IVC=iV>)Vp= V==Mb@Mb@Mb@99 9)9I9y=@5^I ?p= ףMbp?=bP?==; = A)=AI=Ai=7 A9=AHUHUK5eQ= e?=Ym?9Q m>i٣q uGuFu\| u>]M596A?aM5Y iBS?m:A8q@QD::kM5B 8AEhihihihihigqgbgjgBee:JBJJJRJMZJ02 A g 8 T +Y177A q FO^6^=5MyGGGIG:BG =GGG<G FH HHH ="H =*Hh4ZI%bI%jI%1rI!zI%:I%9I%3I!I%;I%;I%;I%;je9Je9:e=?雅BɛDk) i)nü隱ij3=iPĮIIDDDE_0 EVF]>F1ZAIMew>x,l^A6"@y6^2@96PY6C6HY?|٣| G' > ]M59 U?aM5Y C i B?q@ [D ; ; !oM5%B -RA-EEB*** querying acoustic contact ***iAiAhQhQhQhQhQgYgYbgYjgYeaeajeaJea:eevg?雝Bɛsg) i)mƼ隡i3=iFηIIDiDiDiEmx0 EiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF=.>F)ZA9M]>õx,F?^A6h.@y6=@96FY6ټ6H`^??S+?z?zϨ?/@|?6h.@ɨ6[; 6#CRBR&I5Mb@Mb@Mb@11 1)1I1y5Gz?Zd;I +?5P?5594< 5 A)5;AI5$Ai115AHH@T5 ==Yڸ;Q >٣ GF/ >]M59'j?aM5Y iBR?m:Dq@fD?;D;rM5B pAhhhhhggbgjgBe e je Je :e4?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761310EBɛMD5)I M1iI)MPʼIQiU4=i]5ÿYYIYIaD ?D D E 0 E VFGG?AGGGIGIBG =GGG<G F:J EPBJ 9JJ RJ NZJ nUI\fM;0^<Vx a7&_<+     F ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013160ɵx,v3)^ANV'@yN6@9N ;YNl;NH@Gk?o?fJb`?@|f?_?@rk ?NV'@ɨNd; N$CZBZ5II\)\\^AHbHb=X5j8= nV=Yn;Q n>p٣p rGrFr r>x]~M59z|?a~M5Yz izB Lq @zpDzy;zв;z*vM5! -A-EhYhYhYhYhYgagabgajgaeieijeqJeq:eu50@=BɛE")Y ]\ia)bμ隡i_4=i\_οIIDD=?DADAEE?5 EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265198VF6>Fy ZA M >ZI5 {bI5 {jI5 0rI1 zI5 d:I5 -9I5 ـ3I1 q= @i= @u= @m= @еx,B^AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518465V@yV .@9Vm.YV}lVHe? Y>?*l? 2ڶ?`V?إ?` ?V@ɨV; V"CbBb=IHjHjQ5!< H=YX;Q > ٣   G  U >]%M59?a%M5Y i̎B)-Tq-@{D/;L$;yM51 5A1hhhhhggbgjgeejeJe:e`^u@Bɛ܇) i)Ҽi64=i{ؿIIDDDE 5 E5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769104VF &>F ZA M >ֵx,s\^A2 @y2@92p#Y2Qv2HE?L?O??O? Hy?'?2 @ɨ2ґ; 2#C>B>HI=Mb@Mb@Mb@99 9)9I9y=Zd;O?:v?=~J?==T< =$A)= AI=Ai= A9= AHUHU#U5e %= eD=Ye;Q e>i٣i mGmFu u>]M59?aM5Y i׎B M?m:_q@D0;g;a}M5 AEhhhhhggbgjgBeejeJe:e@Bɛ)  i)V;ּi%j5=i%P㿉))I)I)GGGIGXBGGGGа<G F:JOBJ9JJRJOZJchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022285DDDE_0 EVFFZAM>E BDAT read: Rx Time:19:56:13.1222 E TRx dataTimestamp_ set to:1736538973.819247M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274287 ݵx,v^AR@yRE@9RYR 6VRH ze?@d?め?V?E@??@쾪`-?R@ɨR&; R$CnBrLIv=ivR=)v= tHzHz@T5< P=Y ;Q  > ٣ G >]%M59?a-M5YQ iB)-gq-@D:):ˀM55B 5A=EUB*** querying acoustic contact ***iQiQhhhhhggbgjgeejeJe:e  @=BɛEg)A Eo iA)E+ټIIiM[5=iMFqqIqIyDgAzDD ?D D E  E ZI|bI~jIrIzI;g:If9IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525173VFU6>F ZA M >kx,^A:@y:.@9:Y:4F":H?$?`q?Ċ ?m??@D@?:@ɨ:'; :&CFBFVIMb@Mb@Mb@ )Iy?K7AMb?L? < A)7 AI$Ai AAH5H5:\5M"= MF=YMQ٣Q UGUF]| ]>a]mM59e’?amM5Yei ieBmgO?mu:u_pqu@eDef:e:efM5 <A-DAT read: 19:56:13.1222 LVL= 26912, 17281, 20562, 32755, AGC= 63, IDX= 458,-0.20,-2.091,-0.409,-1.933,-2.406, PHS= 0.403, 2.044, 0.470, RAW= 327.9, -32.7, CAL= 329.8, -46.3, ROT= 180.2, 46.3 5Ygot valid direction response: 19:56:13.1222 LVL= 26912, 17281, 20562, 32755, AGC= 63, IDX= 458,-0.20,-2.091,-0.409,-1.933,-2.406, PHS= 0.403, 2.044, 0.470, RAW= 327.9, -32.7, CAL= 329.8, -46.3, ROT= 180.2, 46.3 =PDAT read: Bearing 180.2, 46.3 (Local) =~Local bearing/azimuth received: Bearing 180.2, 46.3 (Local) UDAT read: Range 10 to 50 : 188.4 m (Round-trip 251.3 ms) speed -0.6 m/s ],DAT read: user:1352> ]BDAT read: Tx time:19:56:14.2167 e$Ping request sent.e@ף>H"@ )1@INi II@N? 536<ٿpEIX)i?HN? :publishing transmit ping timeYFpublishing direction and range infoY,s6`cˣ"翙9 )Ii )Ii 536<ٿpEIi  ~G! 9)u&yquBZjwcJt?bjE; iiӣ^Ajf@pR*E`&ݿ2azp,s6`cˣ""jH*jN?pwKWW!U@Oap>WJ߿Ve?n{iBj\icwt?iC,s,  jɘzjZXm?j}IV jBjjCrj܂$@5 addTargetRange:: Added new target pos. range: 188.399994 m, deltaT: 3.780078 s, deltaX: 2.500000 m, approachRate: 0.661362 m/s, rangeRepo size: 2 i9"i=m Added new target pos. range: 188.399994 m, bearing: 137.851337 deg, lat: 36.903931 deg, lon: -122.119011 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2iiuFNOT Ignoring new targets: 188.40 m.iu"iu  ProNav pure pursuit: ac range: 188.399994 m, nav range: 135.108215 m, bearing: 147.278057 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 154.051424 deg, new cmd heading: 147.278057 deg. HeadingCmd: 2.570487 target range: 188.399994 and range: 188.40 m.h܂$@hhhhggbgjgBeejeJěg@:e@M?Bɛwq) i ) ޼  i 5=iҡI܂$@ID?DDE[0 E*G"G<GGGIGgBGGGG<G F:J KBJ 9JJ RJ PZJ  JDAT read: TxSync time:19:56:14.2160 VF &>F ZA M5 >x,3^AbZ@yb@9bKYbBѼbH?B?Y= ?t??@:?bZ@ɨbl; b!CBnIHH#U5e{= e<=Ye4i٣i mGmFu u>]M59Ӓ?aM5Y: iBmxq@D<i <HM51 5A5E2iFNOT Ignoring new targets: 188.40 m.i2"i2 ProNav pure pursuit: ac range: 188.399994 m, nav range: 135.439484 m, bearing: 147.218932 deg, approach rate: 0.877404 m/s, LOS rate: -0.156216 deg/s, cmd heading: 147.278058 deg, new cmd heading: 147.218932 deg. HeadingCmd: 2.569455 target range: 188.399994 and range: 188.40 m.hq$@hhhhggbgjgeejeJe:e@f?=Bɛ=B|)A EiA)EIAAiE+6=iMQYI]q$@IYDDDE_0 EVFE >F! ZA) ME >ZIE {bIE jIA rIA zIE d:IE 9IA IA ;ox,G^AF@yFl@9F9μYFhϼFH=?`?Rb?@9?C?`ƙ? ?F@ɨFtΈ; F%CRBRzIIX)X\\HbHb-I5zU= zR=Y~Q2|٣ G > ]M59 ᒜ?aM5Y  i B7q@ D ; ; M5! %UA)2iFNOT Ignoring new targets: 188.40 m.i%"i% ProNav pure pursuit: ac range: 188.399994 m, nav range: 135.719452 m, bearing: 147.164799 deg, approach rate: 0.750485 m/s, LOS rate: -0.144811 deg/s, cmd heading: 147.218936 deg, new cmd heading: 147.164799 deg. HeadingCmd: 2.568510 target range: 188.399994 and range: 188.40 m.hyb$@hhhh g1gAbgqjgqeyeyjeyJe:e/Z?Bɛzm) i)i6=i|Iyb$@IDDDEo0 EEEgAVF h>F ?F >F ZA M >ax,^A6'@y6@96tȦY6p6H? Q?78?@(?`}? ؔ?쑿 ?6'@ɨ6r; 6$CRBRI5Mb@Mb@Mb@11 1)1I1y5Dl?S㥻 rh?5OM?5/ݽ5C< 5$A)5~AI5Ai5hA15=AHMHM0E5GaGaGeIGewBGaGaGaGe'<Ge%FO/= :=Y4٣  G F   >]%M59?a%M5Y iB%5O?m%:%q-@D3::pM55B UAUE2i:JBJs9JJRJQZJ  FNOT Ignoring new targets: 188.40 m.i#"i# ProNav pure pursuit: ac range: 188.399994 m, nav range: 136.041275 m, bearing: 147.101885 deg, approach rate: 0.731042 m/s, LOS rate: -0.142573 deg/s, cmd heading: 147.164799 deg, new cmd heading: 147.101885 deg. HeadingCmd: 2.567412 target range: 188.399994 and range: 188.40 m.h{P$@hhhhggbgjgBe!e!je!Je!:e%u?MBɛMFwj)Q UԾiQ)UQQiUT7=i] 0YYI]{P$@IaD?DDE0 E!VFI F! ZA1 MM >kx,I^AB @yBx @9ByYBi,BH`p?&?'[ %@? ޕ?q?@m}?B @ɨB$; B#CJBJIHVHVV5^-= ^a=Yb-B`٣` fGfFf f>h]nM59j ?anM5Yj ij Bprڄqr@jĈDj;j;jM5t vAxB*** querying acoustic contact ***ii2i!%FNOT Ignoring new targets: 188.40 m.i-2"i-25 ProNav pure pursuit: ac range: 188.399994 m, nav range: 136.303253 m, bearing: 147.046823 deg, approach rate: 0.742139 m/s, LOS rate: -0.155684 deg/s, cmd heading: 147.101880 deg, new cmd heading: 147.046823 deg. =HeadingCmd: 2.566451 target range: 188.399994 and range: 188.40 m.h=@$@hAhAhAhAgAgAbgIjgIeIeIjeQJeQ:eU`Q?雅Bɛf{m) -ži)隉i<7=i_I@$@ID9D9DAEE4 EAZI |bI yjI rI zI ;g:I 9I I T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFFZAM >߫x,ٗ^A6)@y6_9@96Y6! 6HG?@ٲ?Pk@O?`F?`r=?d?6)@ɨ6; 4B'BBIF)>iF>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003317eMb@Mb@Mb@aa a)aIayeS㥛?Dl:v?e$F?eOeT< eQA)eAIe$AieQAaeAH}H}]5= >=Y4٣ G; >]M59 ?aM5Y iBF?m:q@ψD{::\M5 dA2iFNOT Ignoring new targets: 188.40 m.i "i  ProNav pure pursuit: ac range: 188.399994 m, nav range: 136.605011 m, bearing: 146.986294 deg, approach rate: 0.702231 m/s, LOS rate: -0.140548 deg/s, cmd heading: 147.046828 deg, new cmd heading: 146.986294 deg. HeadingCmd: 2.565395 target range: 188.399994 and range: 188.40 m.hn/$@h h h h g g bgjgˀBeejeJe:ek@EBɛMY)I MiI)MEIQiU/8=iruIn/$@ID)DDDE]3 EE{>E{>GYG]AAGYGYG]IG]BGYGYGYG]Ѱ<G] FH) H)H)H)"H)*H-q4VFc>չչchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257023:J- vLBJ- 9JJ) RJ- RZJ- FI ZAY Mu >U x,dt-^AFF@yF!٣! -G-F- ->1]EM595?aEM5Y5  i5BAMKqM@5وD5B.;5m ;5ęM5UB U+AUE2iyFNOT Ignoring new targets: 188.40 m.i("i( ProNav pure pursuit: ac range: 188.399994 m, nav range: 136.874863 m, bearing: 146.928504 deg, approach rate: 0.690958 m/s, LOS rate: -0.147679 deg/s, cmd heading: 146.986299 deg, new cmd heading: 146.928504 deg. HeadingCmd: 2.564386 target range: 188.399994 and range: 188.40 m.h$@hhhhggbgjgeejeJe:e@݀BɛVsY) i)qiD8=i[I$@IDiDiDiEm_0 Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508919VF^>FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759288x,jNG^A:)Y@y:h@9:/P;Y:\3<:H z?޼?&x ݼ ֓?@x{?\?:)Y@ɨ:C; :$CB?BBIHfHf[W5@= ?=Y A٣A MGMFe e>]M59'?aM5Y. iB%q-@D̲<̳<M5 A2i FNOT Ignoring new targets: 188.40 m.iz$"iz$M ProNav pure pursuit: ac range: 188.399994 m, nav range: 137.182327 m, bearing: 146.858197 deg, approach rate: 0.630267 m/s, LOS rate: -0.143799 deg/s, cmd heading: 146.928502 deg, new cmd heading: 146.858197 deg. UHeadingCmd: 2.563159 target range: 188.399994 and range: 188.40 m.hU $@hihihihigqgqbgqjgqeyeyjeyJey:e}ǁ@ـBɛR|E) 2i)Liӹ9=i$I% $@I1DDDE\0 E><%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011734VF c>F ZA M% >Xx,DLa^AG~>G|G~-IG~BG|G|G|G~<G~FMBII)AII3I.-IIIZIbIzjIrIzII9III֊;qI׊;iIP:uIR:mMb@Mb@Mb@ )IyK7A?Mb? B?L< A)AIQAifAH5H5)M5=S= EB=YEQ E>I٣I MGIU U>Y]eM5uBDAT read: Rx Time:19:56:16.8749 }TRx dataTimestamp_ set to:1736538977.600222}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2657099]4?aM5Y] iY{B?m:q@]D],;] ;],M5 EAE2iFNOT Ignoring new targets: 188.40 m.i2"i2  ProNav pure pursuit: ac range: 188.399994 m, nav range: 137.450104 m, bearing: 146.800565 deg, approach rate: 0.728071 m/s, LOS rate: -0.156391 deg/s, cmd heading: 146.858192 deg, new cmd heading: 146.800565 deg. HeadingCmd: 2.562153 target range: 188.399994 and range: 188.40 m.hQ#@hhhhgg:J]BJ]59JJYRJ]SZJ]+U3X!DZIXq.EGbgjgBeejeJe:e`z @ րBɛ FG)  i)wij:=i.)IQ#@I!D?DDE`0 EVF % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516598F ZA M >Dx,{^A:{@y:疧@9:ճ`٣d fGfFf5% f>l]rM59n>?arM5Ynl inBtvWqv@nDnB:n:nBM5x zAxuB*** querying acoustic contact ***iqiq2iFNOT Ignoring new targets: 188.40 m.i3"i3 ProNav pure pursuit: ac range: 188.399994 m, nav range: 137.681305 m, bearing: 146.743868 deg, approach rate: 0.641086 m/s, LOS rate: -0.156948 deg/s, cmd heading: 146.800559 deg, new cmd heading: 146.743868 deg. HeadingCmd: 2.561164 target range: 188.399994 and range: 188.40 m.h#@hhhhggbgjgeejeJe1:e=_ @ԀBɛE)"= i)iB;=i . IIM#@IQDDDE0 EDAT read: Range 10 to 50 : 190.4 m (Round-trip 253.9 ms) speed -0.6 m/s ,DAT read: user:1353> BDAT read: Tx time:19:56:17.9668 $Ping request sent.C9؁:publishing transmit ping timeء؁؁9؁VFF ZA MM >$x,]^A6@y6q@96٣ GF >]M59J?aM5Y" iBI=?m:q@D1;0;M5 A addTargetRange:: Added new target pos. range: 190.399994 m, deltaT: 3.780165 s, deltaX: 2.000000 m, approachRate: 0.529077 m/s, rangeRepo size: 3 2iFNOT Ignoring new targets: 188.40 m.i 6"i 6 ProNav pure pursuit: ac range: 188.399994 m, nav range: 137.956970 m, bearing: 146.677449 deg, approach rate: 0.663612 m/s, LOS rate: -0.159572 deg/s, cmd heading: 146.743869 deg, new cmd heading: 146.677449 deg. HeadingCmd: 2.560004 target range: 188.399994 and range: 190.40 m.h#@hhhhggbgjg!Beeje Je g@:e K?雅рBɛ;) ni)隩iO<=i3I#@ID?DDE0 EE>E>*G"G<G>GG:IGBGGGG<GFZIxbIjI1rIzIZ:I9I3II ;I ;I;I;:J fOBJ }9JJ RJ TZJ gQF61% VF ^>zF hArF hAF ZA M >J*+x,Ԯ^A2Ի@y2@˥@92{=Y2G\<2HN?@?|gu? W? U~?O?2Ի@ɨ2#; 2#C:_B>IBR=iBa=HFHFJ5R>< VZ=YZo`٣d fGdj+ j>l]rM59n T?arM5Yn) in Bpr=qr@n Dn:n:nTM5zB zAzE2iFNOT Ignoring new targets: 188.40 m.i%[8"i%[85 ProNav pure pursuit: ac range: 188.399994 m, nav range: 138.194885 m, bearing: 146.616570 deg, approach rate: 0.630969 m/s, LOS rate: -0.161177 deg/s, cmd heading: 146.677452 deg, new cmd heading: 146.616570 deg. =HeadingCmd: 2.558942 target range: 188.399994 and range: 190.40 m.h=#@h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eU =~?΀Bɛ<) ^i)!!i%L==iMo8IIIM#@IQDDDE05 EVF= h>F ZA ME > 2x,^AZ֝@yZc@9Z;=YZ*Ni٣i uGu F >]M59^?aM5YG1 iBєq@D@;;M5 AE2i!5FNOT Ignoring new targets: 188.40 m.iEm<"iEm< ProNav pure pursuit: ac range: 188.399994 m, nav range: 138.460587 m, bearing: 146.544567 deg, approach rate: 0.609059 m/s, LOS rate: -0.164735 deg/s, cmd heading: 146.616568 deg, new cmd heading: 146.544567 deg. HeadingCmd: 2.557685 target range: 188.399994 and range: 190.40 m.h#@hhhhgg1bgAjgAeaeijeJe:e*c?雕ˀBɛȯ3) V[i)隡i >=i^?I#@II}f=)y .~GSkA )5'y5SkA5B^D o=Z=D D D E 0 E G >G G @IG BG  =G G G <G FZI=ybI=tjI=0rI9zI=]:I=9I=ـ3I9I=;I=;I=:I=:VFc>F ?F>F&TFailed to parse incomplete device message.J> J?ZAM?:x,V^A^Y@y^&@9^!{=Y^G[<^H`-?`?F{?l?F:`-_}?V?^Y@ɨ^; ^#Cj`BjIIl)leMb@Mb@Mb@aa a)aIayel?{Gzt?~jtxe7?eף;eĻ a)eQAIe AieAae3AHuHuJ5< =Y!٣ G FԽ >]M59j?a=M5Y: iB=7?m=:EqE@ D<<M5I MAI2iFNOT Ignoring new targets: 188.40 m.ia9"ia9 ProNav pure pursuit: ac range: 188.399994 m, nav range: 138.777054 m, bearing: 146.456432 deg, approach rate: 0.583291 m/s, LOS rate: -0.162073 deg/s, cmd heading: 146.544564 deg, new cmd heading: 146.456432 deg. HeadingCmd: 2.556147 target range: 188.399994 and range: 190.40 m.h#@hhhhggbgjg-Bee je Je :e  w?雥ȀBɛ41)Ř= Oi)rM隩i`@=iʣEI#@I^D?΅=D9D9D9EE?5 EAVFa F9 ZAI Me >0@x, ^ABhI@yBX@9BF}=YBc d٣d fGdj8 j>l]rM59nr?arM5Yn A inBpvqv@n(Dn:n>:nM5zB z A~EB*** querying acoustic contact ***ii2i)-FNOT Ignoring new targets: 188.40 m.i5QJ"i5QJE ProNav pure pursuit: ac range: 188.399994 m, nav range: 138.991989 m, bearing: 146.393569 deg, approach rate: 0.605706 m/s, LOS rate: -0.176880 deg/s, cmd heading: 146.456427 deg, new cmd heading: 146.393569 deg. MHeadingCmd: 2.555050 target range: 188.399994 and range: 190.40 m.hM#@hIhIhIhIgQgQbgYjgYeYeYjeYJea:ee @雍ƀBɛ@) `i)m隑i%A=iG@I#@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^D =DDDE/5 E} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267011VF ^>F ZA M >fGx, ^A6Ds@y6@96=Y6T<6H`? ;?MH?^"}?@`朳`Q??6Ds@ɨ6g; 6$CFWBFIUMb@Mb@Mb@QQ Q)QIQyUtV?I +?:vU2?U94)٣) -G- F-e 5>1]EM595]|?aEM5Y5I i5ێBE2?mE:E#qE@53D5;5j;5 M5Q UAQGaGe?AGiGiGm4IGmBGm =GiGiGm<Gm F2iFNOT Ignoring new targets: 188.40 m.i?"i? ProNav pure pursuit: ac range: 188.399994 m, nav range: 139.253357 m, bearing: 146.314655 deg, approach rate: 0.556466 m/s, LOS rate: -0.167696 deg/s, cmd heading: 146.393575 deg, new cmd heading: 146.314655 deg. HeadingCmd: 2.553673 target range: 188.399994 and range: 190.40 m.h_o#@hhhhggbgjg.BeejeJe:e @mÀBɛų4)qZI|bIzjIrIzI;g:I9III֊;I׊;IP:IR: uPVi)?5iC=iOA@I_o#@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516717^D=:Jy MBJ9JJRJVZJ DE?DADIEMY0 EIVF c>zF gArF Fa ZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768273M >Mx,R8^A2@y2@92]=Y2<2Hd?^~?`]?`a,a?yXEŏ??2@ɨ2; 0>ABBIF>iF4<HJ$HJr5V Vg=YVX٣X ZGZ F^֕ ^>`]fM59b?afM5Yb1O ibΎBdfsqj@b;Dby:b:b M5l nAl2iFNOT Ignoring new targets: 188.40 m.i@"i@ ProNav pure pursuit: ac range: 188.399994 m, nav range: 139.447754 m, bearing: 146.252971 deg, approach rate: 0.532279 m/s, LOS rate: -0.168662 deg/s, cmd heading: 146.314659 deg, new cmd heading: 146.252971 deg. HeadingCmd: 2.552596 target range: 188.399994 and range: 190.40 m.h]#@hhhhggbgjgeejeJe:e@EBɛErI)I M8iI)MIIiM1E=i<@I]#@I C1C1C1C1]AYeBDAT read: Rx Time:19:56:20.5584 mTRx dataTimestamp_ set to:1736538981.128409uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023017D?DDE\0 EVF ^>F ZA M >.Ux,U^ABtŘ@yBԟ@9B=YBq٣ Ga >]M59?aM5YW iB2?m:q@ED/;3;WM5 AE2iFNOT Ignoring new targets: 188.40 m.i4F"i4F ProNav pure pursuit: ac range: 188.399994 m, nav range: 139.710266 m, bearing: 146.167986 deg, approach rate: 0.536270 m/s, LOS rate: -0.173285 deg/s, cmd heading: 146.252969 deg, new cmd heading: 146.167986 deg. -HeadingCmd: 2.551113 target range: 188.399994 and range: 190.40 m.h-nE#@h)h)h)h)g)g1bg1jg5!Be9e9je9Je9:e= @雍BɛA) i)隑iGeG=i_5@InE#@ID=?D9D9E=_0 E9GGGIGBGGGG<G FH HHH"H*H4HIHMAADAT read: Range 10 to 50 : 140.6 m (Round-trip 187.5 ms) speed -0.5 m/s  ,DAT read: user:1354> - X#Rx 1: Read range message, but no direction. C9 T****** received valid address query ****** R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.VF FY ZAi M >:JU JBJU @9JJQ RJU WZJU J] ? J] ?R[x,o~o^A:v@y:@9:ώ=Y:ڀ<:H P$??? ?`ɷT ?@?:v@ɨ:; 8b%BbIHzHzp5. S=YB!٣! %G% F- ->1]=M595?a=M5Y5[^ i5BAEPqM@5ND5tM;5e;5M5eB mAmE-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 140.600006 m, deltaT: 3.528507 s, deltaX: -49.799988 m, approachRate: -14.113615 m/s, rangeRepo size: 32iFNOT Ignoring new targets: 188.40 m.iF ZA) ME >ZI {bI wjI 1rI zI d:I 9I 3I q @i @u @m @e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249107Ebx,ӈ^AV@yV\@9V]=YV|A٣A MGMFM⇽ M>Q]]M59U:?a]M5YUe iUBYeΧqu@UWDU@t;Ut;URM5y }AyB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 188.40 m.iKV"iKV ProNav pure pursuit: ac range: 188.399994 m, nav range: 140.131256 m, bearing: 146.021003 deg, approach rate: 0.524294 m/s, LOS rate: -0.187352 deg/s, cmd heading: 146.097705 deg, new cmd heading: 146.021003 deg. HeadingCmd: 2.548547 target range: 188.399994 and range: 190.40 m.hf#@hhhhggbgjgeejeJe:e?Bɛc) i)i%K=i%+@))I-f#@I)D?DDE72 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501160VFc>FZAM>fhx,<^A2a @y2/@92=Y2<2H E?^?ȡA?6&?`9` ?1?2a @ɨ2H; 2#C*GL"GLGPGPGRIGRbBGPGPGPGRͰ<GR FrBrxIMb@Mb@Mb@ )IyV-?Q?L7A`堿h1?u<+ 7 A)~AIAiAp AH Hh5C >=Y4};Q >٣ Gp >]M59?aM5Yl i{B1?m:q@`D: :M5 A2iFNOT Ignoring new targets: 188.40 m.i.T"i.T ProNav pure pursuit: ac range: 188.399994 m, nav range: 140.340836 m, bearing: 145.940494 deg, approach rate: 0.483617 m/s, LOS rate: -0.185502 deg/s, cmd heading: 146.021002 deg, new cmd heading: 145.940494 deg. HeadingCmd: 2.547142 target range: 188.399994 and range: 190.40 m.h`#@hhA%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754131hhIgIgIbgQjgUBeQeQjeYJeY:e] v? Bɛ|^) İi)Hi1kM=i%bT'@aaIe`#@Ii:Jek3IBJe9JJaRJeXZJe 9kS,lD?DDE^2 EVF% h> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007117F ZA! M] >nx,M^AFM-@yF<@9Ff=YF4d٣d fGfFjߣ j>l]vM59n?azM5Yns inhBx~aq~@nhDn?;nY;n8M5 YAE2i)5FNOT Ignoring new targets: 188.40 m.i5k"i5kE ProNav pure pursuit: ac range: 188.399994 m, nav range: 140.521179 m, bearing: 145.867283 deg, approach rate: 0.508085 m/s, LOS rate: -0.205993 deg/s, cmd heading: 145.940488 deg, new cmd heading: 145.867283 deg. MHeadingCmd: 2.545864 target range: 188.399994 and range: 190.40 m.hMq"@hIhIhIhIgQgQbgQjgQeaeajeiJeq:eu@u?=Bɛ=S})A EȾiA)EZ4AAiE<8O=iM%@IIIUq"@IZI-ybI-ujI-5rI)zI-]:I-9I-4I)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257567^DUԘ=D?DDE1 EVF c> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509131F ZA M5>fvx,{^AVK@yV0[@9V]a=YVZ٣ GFe >]M59ᦓ?aM5Y| iJB_F ZA M >|x,^A6x@y6$@96k=Y6wk<6H??}`P?k? ?6x@ɨ6gV; 6#CNBR,IHZFHZ5b bX=Yb;Q b>d٣d fGdjNj j>l]rM59nJ?arM5Yn in3Bxzqz@n|Dnǃx,^AXBIH-QH-b5U ]8=YeQ e>y٣ GF >]M59f?aM5Y iBq@D;<<M5 U~GukAy  c A)/ykA0"BB*** querying acoustic contact ***ii2i  FNOT Ignoring new targets: 188.40 m.i_"i_E ProNav pure pursuit: ac range: 188.399994 m, nav range: 141.179703 m, bearing: 145.583208 deg, approach rate: 0.447482 m/s, LOS rate: -0.195518 deg/s, cmd heading: 145.681433 deg, new cmd heading: 145.583208 deg. MHeadingCmd: 2.540906 target range: 188.399994 and range: 190.40 m.hM6"@hIhIhQhQgQgQbgQjgYeyeyjeJe:e@@Bɛ0) i)k i,V=ib"@I6"@IC C C C %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516598G G G! G! G% lIG% BG! G! G! G% <G% FD= ?D9 DA EE 05 EA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769195VFec>Fm?Fm?F9ZAA:J]i PBJ]9JJYRJ]ZZJ]]XSLJKD?<;710,(%%"!!  Mu?<x,I0^AF!Đ@yFӗ@9F=YFx٣ GFg+ >]M59Y?aM5Y# iBi+:mi:q@D:?TM5B  AE2iY]FNOT Ignoring new targets: 188.40 m.ie>"ie> ProNav pure pursuit: ac range: 188.399994 m, nav range: 141.404755 m, bearing: 145.466864 deg, approach rate: 0.498808 m/s, LOS rate: -0.257458 deg/s, cmd heading: 145.583215 deg, new cmd heading: 145.466864 deg. HeadingCmd: 2.538876 target range: 188.399994 and range: 190.40 m.h|"@hhhhggbgjgeejeJe:e @%Bɛ%")%P= %i!)-a ))iM!(Y=iU|"@QQIU|"@IY BDAT read: Rx Time:19:56:24.2612  TRx dataTimestamp_ set to:1736538984.919391checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021738D?DDE^0 EVF F ZA M >ZI wbI jI rI zI W:I I I bkx,%J^A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273257JՏ@yJ'@9J=YJp٣p rGrFv v>t]zM59v'?auM5Yvt ivBi} :ym}=:}Ŀq}@vDvD BDAT read: Tx time:19:56:25.3668 $Ping request sent.Fy ZA  bCommunications Fault in component: DockingStepperM% >{x,c^AGTGTGV3IGVBGTGTGTGV<GVF @y @9 g=Y ,w< H^?İ dG@wc R?? @ɨ E; e~BeI      Mb@Mb@Mb@ )IyˡE?+? ףp= G?=Q8  A)IAi A HdH5 S 5,=Y=Q =>9٣A EGAE=t E>uJDAT read: TxSync time:19:56:25.3661 ]M59?aM5Yp iÍBiT:H?m:ſq@D::M5 !AZjE$q?bjEe iAiEc[^AjECjE C2jEr0@pEKWNo![GfzpE kԹAUZ(א¢"jE*jEQ =pE'ZߢɾW@ 86}?pEwMse?lm-ACD?iEBjE iEGp?iE  jEjBzjEem?jEzF rF F ZA M >x,}^AB @yBx@9Bԛ=YB!VF ZA M% >x,̗^Af@yf2@9f=Yfd$@HЬ5 8=Y]#Q >٣ GF > ]M59 ?aM5Y   i B}J?m:ʿq@ D : : oM5! %p"A%E=B*** querying acoustic contact ***i9i92iIUFNOT Ignoring new targets: 188.40 m.iU:"iU:u ProNav pure pursuit: ac range: 188.399994 m, nav range: 142.127792 m, bearing: 145.055122 deg, approach rate: 0.462588 m/s, LOS rate: -0.274918 deg/s, cmd heading: 145.171436 deg, new cmd heading: 145.055122 deg. uHeadingCmd: 2.531689 target range: 188.399994 and range: 190.40 m.h}3"@hyhyhyhygygybgjgǀBeejeJe:e?雵Bɛ ) i)n>iCb=i3"@I3"@I^Dy="StoppingGGGIGWBG =GGG<G FHY HYHYH] ="H] =*H]$4VFHHa=ZIzbIxjIrIzI`:I9IIIp;qIq;iI&:uI':mFZAM> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Ыx,獱^A:J.]NBJ.9JJ,RJ.\ZJ."wnhbZTPNLHB?A?<;876422/,,*((%%&&#$$##! B}@yB@9Bq=YB7p\٣` bG`b= b>d]jM59fw?ajM5Yf ifBl=οq=@fĉDfed=iE!@AAIE!@IACCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498110"=StoppingVF] c>Fe ?Fe >F1 ZAA M] >x,F|^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749823^&@y^&@9^-=Y^\<^Hu¿Ч?/m`ߦ¿:`,`@y?`E?^&@ɨ^.; ^%C-~B-II1)1HE HEЬ5U U@=YUQ U>Y٣Y ]G]Feى e>i]uM59mr?auM5YmI imoBquAҿqu@mΉDm;m;mPM5B "AE2iFNOT Ignoring new targets: 188.40 m.iԟ"iԟ ProNav pure pursuit: ac range: 188.399994 m, nav range: 142.452133 m, bearing: 144.843577 deg, approach rate: 0.417459 m/s, LOS rate: -0.279470 deg/s, cmd heading: 144.958635 deg, new cmd heading: 144.843577 deg. HeadingCmd: 2.527997 target range: 188.399994 and range: 190.40 m.h!@hhhhggbgjgeejeJe:e"?雝Bɛra)  i)4^i]f=i!@I!@I"-Stoppingchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.002379VFeh>F! ZA) MM >帶x,nN^AG">G G"IG"/BG" =G G G G V*@yV:@9V?=YVk#c^^? ?V*@ɨVE; V#Cb~BbI]Mb@Mb@Mb@YY Y)YIYy]L7A`?Dl?Mb]+G?]O=] ] A)] AI]Ai];AY]( AHm Hm5} }H=YQ >٣ G >]M59*?aM5Y i`BG?m:ӿq@ىD::M5 "A2iFNOT Ignoring new targets: 188.40 m.i"i ProNav pure pursuit: ac range: 188.399994 m, nav range: 142.613297 m, bearing: 144.732893 deg, approach rate: 0.394167 m/s, LOS rate: -0.270400 deg/s, cmd heading: 144.843573 deg, new cmd heading: 144.732893 deg. HIHM@AZIUybIUvjIQrIQzIU]:IUϣ9IQIQIU;IU;IU:IU:HeadingCmd: 2.526066 target range: 188.399994 and range: 190.40 m.h!@hhhhggbgjgˀBeejeJe:e @-Bɛ5)1 5"i1)519i=h=i=!@AAIE!@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.253834I"Stopping:JNBJ9JJRJ]ZJ JfAIVFr>FZAM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506818x,g^AF8@yF>H@9F=YFm-d٣d fGjFj杽 j>l]rM59nK?arM5Ynv inRBtv׿qv@nDnh:nS:n>M5zB z"A~E2i%FNOT Ignoring new targets: 188.40 m.i%ۜ"i-ۜ5 ProNav pure pursuit: ac range: 188.399994 m, nav range: 142.756714 m, bearing: 144.627948 deg, approach rate: 0.375192 m/s, LOS rate: -0.274268 deg/s, cmd heading: 144.732897 deg, new cmd heading: 144.627948 deg. =HeadingCmd: 2.524234 target range: 188.399994 and range: 190.40 m.h= !@h9hAhAhAgAgIbgIjgQeQeYjeYJeY:e]@Bɛ+) $i)~i_hj=i !@I !@I" StoppingEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757819VFAFQZAYMuz>Ŷx,9 ^AE(I@yEX@9E=YE(=+ip<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0098615Mb@Mb@Mb@11 1)1I1y5S㥛?bX9ȶ?y&15D?5E=5`e 5zA)5 AI1i5A15 AHH5 -=Y,Q > ٣   G F| >]%M59?a%M5Y iBB%5F?m-:- ؿq-@D* ;?;bM51 5*#A1]B*** querying acoustic contact ***iYiY2iimFNOT Ignoring new targets: 188.40 m.iuR"iuR ProNav pure pursuit: ac range: 188.399994 m, nav range: 142.932434 m, bearing: 144.499368 deg, approach rate: 0.369215 m/s, LOS rate: -0.269834 deg/s, cmd heading: 144.627944 deg, new cmd heading: 144.499368 deg. HeadingCmd: 2.521990 target range: 188.399994 and range: 190.40 m.hHh!@hhhhggbgjg؀BeejeJe:e@BɛfP) 'i)c隹i7l=iHh!@IHh!@I"StoppingG1G5@AG9G9G=IG=BG= =G9G9G=<G=FI3I;3I;d/I3I3I3ZIbItjIrIzII9IIIII:I:i i u BDAT read: Rx Time:19:56:27.9636 } TRx dataTimestamp_ set to:1736538988.701007} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264670VF h>Fy ZA M >,̶x,t2^A6Q@y6#a@96#=Y6VH<6Hп?п B%.߯C?@?6Q@ɨ6א; 4R~BRIH^H^5f< fv=YjpQ j?h٣h jGlrк r?t]zN59v?azN5Yv iv8Bxzۿqz@vDv:v::J~LBJ|JJ|RJ~^ZJ~Cg l:  '(# vGN5 #A2i9=FNOT Ignoring new targets: 188.40 m.iEE"iEEU ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.048935 m, bearing: 144.408184 deg, approach rate: 0.351633 m/s, LOS rate: -0.274996 deg/s, cmd heading: 144.499373 deg, new cmd heading: 144.408184 deg. HeadingCmd: 2.520398 target range: 188.399994 and range: 190.40 m.h5N!@hhhhggbgjgeeje Je :e ́ @雝Bɛ") &i)O隡iVfn=i5N!@I5N!@I"}Stoppingchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513930VFFZAM>oӶx,L^ADAT read: Range 10 to 50 : 144.3 m (Round-trip 192.5 ms) speed -0.2 m/s ,DAT read: user:1356> BDAT read: Tx time:19:56:29.0669 $Ping request sent."٣ GFu >]N59?aN5YH i+B߿q@D;=;N5 "AE} addTargetRange:: Added new target pos. range: 144.300003 m, deltaT: 11.099705 s, deltaX: -46.099991 m, approachRate: -4.153263 m/s, rangeRepo size: 4 2iy}FNOT Ignoring new targets: 188.40 m.i"i ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.191559 m, bearing: 144.288494 deg, approach rate: 0.327650 m/s, LOS rate: -0.274689 deg/s, cmd heading: 144.408190 deg, new cmd heading: 144.288494 deg. HeadingCmd: 2.518309 target range: 188.399994 and range: 144.30 m.h+!@hhhhggbgjgeejeJe b@:e?aɛeH)a e!ii)m$"iiiTfp=i+!@I+!@II=)C 5.~GI"]Stopping a))ypBJDAT read: TxSync time:19:56:29.0662 VFF ZA M >GI GI GM IGM %BGI GI GI GM <GM F2ٶx,f^AZI}vbI}rjIyrIyzI}{T:I}9IyIyI}Gu;I}Iu;I}:I}:-b@yq@9HU=YzZ<H`QԿT?R㝿`|LbԿ `E?@+?-b@ɨ;; $C%~B%II9)9Mb@Mb@Mb@ )Iy$C?J +?Mbp:?=  A)M AIihAp AHH53< )=Y=1Q >٣ GF >] N59?a N5Yh i!B;?m:Iq@ D::; N5 "A2iFNOT Ignoring new targets: 188.40 m.i "i  ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.340240 m, bearing: 144.160570 deg, approach rate: 0.298921 m/s, LOS rate: -0.256923 deg/s, cmd heading: 144.288498 deg, new cmd heading: 144.160570 deg. %HeadingCmd: 2.516077 target range: 188.399994 and range: 144.30 m.h%f!@h)h)h)h)g)g)bg1jg5Be1e1je9Je9:e=@8J?eBɛe捤)a mTii)m$iiimpr=iuf!@qqIuf!@I"Stopping:JUMBJU59JJQRJU_ZJUVF m>F ZA M >x,0g^AR^@yRnm@9R>=YR\au:~:~ N5 "A2iAEFNOT Ignoring new targets: 188.40 m.iE'"iM'] ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.428177 m, bearing: 144.078646 deg, approach rate: 0.313917 m/s, LOS rate: -0.292273 deg/s, cmd heading: 144.160568 deg, new cmd heading: 144.078646 deg. eHeadingCmd: 2.514647 target range: 188.399994 and range: 144.30 m.he @hahihihigigibgqjgqeqeqjeJe:e ?aɛm)i mp"ii)m{!&iis=i @I @I"StoppingVFUh>F)ZA9M]>Ix,[`^Aޭ~B޵IUMb@Mb@Mb@QQ Q)QIQyU&1?MbX?MbpU0?U=Q UA)QIQiU AQU=AHmHmݜ5uN; }3=Y}Q }>٣ GF >]N59;?aN5YZ iB2?m:Jq@D ;;N5B "AEB*** querying acoustic contact ***ii2iFNOT Ignoring new targets: 188.40 m.i""i" ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.556808 m, bearing: 143.962144 deg, approach rate: 0.280447 m/s, LOS rate: -0.253775 deg/s, cmd heading: 144.078647 deg, new cmd heading: 143.962144 deg.  HeadingCmd: 2.512613 target range: 188.399994 and range: 144.30 m.h  @h h h h g gbgjg BeejeJe:eD?UBɛUX۪)Q U!iQ)Ua(YYi]u=ie @aaIe @Ii"uStopping*G"GGGGIG/BG =GGG<G FVF%c>zF-hArF)FZAM=>ZIxbIujIrIzIZ:I9III ;I ;If:Ih:= T****** received valid address query ******E R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode.lx,6^A6l@y6G|@96=Y6#P<6H2ٿTC?D@`ٿ@ @H3@?)?6l@ɨ61z; 6"CN~BNIR >iR>HZHZ(5bO^ bl=YfsQ f?d٣d fGjFj3 j?l]rN59n?arN5Ynz  inBtvqv@n%Dn>:n:nN5x z"Ax:JBJ9JJRJ`ZJ2iFNOT Ignoring new targets: 188.40 m.i܌"i܌ ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.641037 m, bearing: 143.871840 deg, approach rate: 0.229862 m/s, LOS rate: -0.246297 deg/s, cmd heading: 143.962137 deg, new cmd heading: 143.871840 deg. HeadingCmd: 2.511037 target range: 188.399994 and range: 144.30 m.hִ @hhh h g g bg jge9e9je9Je9:e=?aɛm)i m!ii)mO*ii-w=i%ִ @IQIUִ @IY"}Stoppingխ>խC?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761411VFum>FIZAYM>] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013229EZx,^AJ@yJ @9Jx=YJZh٣h jGhn n>p]zN59r?azN5Yr ir Bxzqz@r.Drs6;r=7;rvN5~B "AE2i9EFNOT Ignoring new targets: 188.40 m.iEa"iMaU ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.732697 m, bearing: 143.764996 deg, approach rate: 0.236229 m/s, LOS rate: -0.275187 deg/s, cmd heading: 143.871842 deg, new cmd heading: 143.764996 deg. ]HeadingCmd: 2.509172 target range: 188.399994 and range: 144.30 m.h]H @hYhahahagagabgqjgqeqeqjeyJey:e}х@雡ɛ樲) "!i)9E,隱iMx=iH @IH @I"StoppingVF=w>FIZAQMmy>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265213G G G IG CBG =G G G ̰<G FH HHH ="H =*HT4]~x,^A61@y6@96+ ٣ GFR >]N59y?aN5Y iBU,?m:q@7D:M:@N5 "A2i%FNOT Ignoring new targets: 188.40 m.i%"i-= ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.820480 m, bearing: 143.654083 deg, approach rate: 0.203593 m/s, LOS rate: -0.257077 deg/s, cmd heading: 143.764991 deg, new cmd heading: 143.654083 deg. =HeadingCmd: 2.507237 target range: 188.399994 and range: 144.30 m.h=v @hAhAhAhAgAgAbgIjgMBeIeIjeQJeY:ee@雍Bɛ4ȭchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517247)q u iy)}~.yyi}=z=iv @Iv @I"Stopping:JBJ}9JJRJaZJ9Ct?'VF^>F?FI?FZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7692151fx,^A6-B@y6@96a٣ GF  > ]N59 6r?aN5Y ," i Bq@ @D ; ; N5! -"A)2iQ]FNOT Ignoring new targets: 188.40 m.i]s"iesm ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.890427 m, bearing: 143.556481 deg, approach rate: 0.184859 m/s, LOS rate: -0.257825 deg/s, cmd heading: 143.654082 deg, new cmd heading: 143.556481 deg. uHeadingCmd: 2.505533 target range: 188.399994 and range: 144.30 m.huZ @hqhqhyhygygybgjgeejeJe:e`@雱ɛ2D) "i)ns0i{=iZ @IZ @I"StoppingZIuybIuwjIqrIqzIu]:Iu9IqIqq}@i@u@m@-BDAT read: Rx Time:19:56:31.6649 -TRx dataTimestamp_ set to:1736538992.2280345checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023497VF=c>FZA!MEs>x,(^Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273301U}@yV@9L˕i٣q uGqu u>y]N59} i?aN5Y}c) i}B&?m:hq@}ID}" ;} ;}!N5B "AEB*** querying acoustic contact ***ii2iimFNOT Ignoring new targets: 188.40 m.iu툻"iu툻 ProNav pure pursuit: ac range: 188.399994 m, nav range: 143.966019 m, bearing: 143.443059 deg, approach rate: 0.159652 m/s, LOS rate: -0.239423 deg/s, cmd heading: 143.556479 deg, new cmd heading: 143.443059 deg. HeadingCmd: 2.503554 target range: 188.399994 and range: 144.30 m.h9: @hhhhggbgjg'BeejeJe:eL @QɛUt)Q ]"iY)}3yyi}B}=i9: @I9: @I"StoppingGyG}?AGGGIGWBGGGGð<G FVFE DAT read: Range 10 to 50 : 145.3 m (Round-trip 193.8 ms) speed -0.2 m/s M ,DAT read: user:1357> -] X#Rx 1: Read range message, but no direction.1 5 LC91  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.F ZA M% > x,c5^A6l{@y6ń@96iQ V?X٣X ZGZFZְ ^?`]fN59ba?afN5Yb. ibBdf;qj@bPDb:b:b$N5l n#Al addTargetRange:: Added new target pos. range: 145.300003 m, deltaT: 3.529752 s, deltaX: 1.000000 m, approachRate: 0.283306 m/s, rangeRepo size: 4 2iFNOT Ignoring new targets: 188.40 m.i"i%- ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.017700 m, bearing: 143.355704 deg, approach rate: 0.159071 m/s, LOS rate: -0.268776 deg/s, cmd heading: 143.443057 deg, new cmd heading: 143.355704 deg. 5HeadingCmd: 2.502029 target range: 188.399994 and range: 145.30 m.h5>! @h1h1h1h9g9g9bgAjgAeAeAjeAJeM)b@:eM k?qɛý) %i)/4隉i^~=i>! @I>! @I"StoppingE>E>:JfMBJs9JJRJbZJ   BDAT read: Tx time:19:56:32.7669 $Ping request sent.zFrFFZAMh>ZI zbI zjI rI zI `:I 9I I = A9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251518x,t@O^A2y@y28҃@92&; 0>~BBIF=iFa=HJHJ5f#k fH=Yf$Q f>h٣h jGhrԔ r>t]vN59vX?azN5Yv45 ivBxzqz@vYDv:vl:v(N5 .#AE2i)-FNOT Ignoring new targets: 188.40 m.i5z"i5z- ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.071472 m, bearing: 143.251867 deg, approach rate: 0.131779 m/s, LOS rate: -0.254376 deg/s, cmd heading: 143.355699 deg, new cmd heading: 143.251867 deg. HeadingCmd: 2.500217 target range: 188.399994 and range: 145.30 m.h @hhhhggbgjgeejeJe:e@??5Bɛ=i)=۳= =&i9)=B799iE\=iE @IIIM @I"StoppingVFh>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503879FiZAM>G G G G G  =G G G ݰ<G F6x,ei^AFw@yFԂ@9F?O;YF%;i٣i mGm Fm u>y]N59}FN?aN5Y}; etIi}B ?m:_q@}aD};}D;}+N5B #AE2iFNOT Ignoring new targets: 188.40 m.ip"ipH9H9} ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.121994 m, bearing: 143.148339 deg, approach rate: 0.119023 m/s, LOS rate: -0.243813 deg/s, cmd heading: 143.251866 deg, new cmd heading: 143.148339 deg. HeadingCmd: 2.498410 target range: 188.399994 and range: 145.30 m.h@hhhhggbgjg BeejeJe:e@?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755422)ɛ-,H)I U0iQ)U_9QQiU=i]@YYI]@Ia"Stopping:J[BMBJ59JJRJcZJJ%gAI%dAVF-^>F ZA M5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007215 x,^A^Wu@y^@9^N:Y^<^H@Zrh?Li@qO&?@It??^Wu@ɨ^Ɏ; ^"Cvz~BvIH%H%h5MB/ K=Y-Q >٣ G!F7 >]N59$D?aN5YA iB?q@jD;M;m/N5 #A2i FNOT Ignoring new targets: 188.40 m.iJ"iJ5 ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.164536 m, bearing: 143.046220 deg, approach rate: 0.102948 m/s, LOS rate: -0.247048 deg/s, cmd heading: 143.148334 deg, new cmd heading: 143.046220 deg. =HeadingCmd: 2.496628 target range: 188.399994 and range: 145.30 m.h=@h9h9h9h9gAgAbgAjgAeIeIjeIJeQ:eU>?yɛ}Zý)y }1iy)};隁ii,=i@I@I"StoppingZIEbIExjIArIAzIE:IE9IAIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259370VF c>FZAM5> ~GSkA )= ryE SkAM 8 B&x,~^Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514099Qs@y@9"{Y<<H 6v?{`4M?`Zdo?}a??Qs@ɨ1; ~BII)Mb@Mb@Mb@ )Iy-?S㥻?~jtxĻ )IAi A\AHH5< 2=YA*Q >٣ G"F  >]N598?aN5YH iB ?m:3q@rD:M:R3N5) -#A)MB*** querying acoustic contact ***iIiI2iQ]FNOT Ignoring new targets: 188.40 m.i]"iem ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.202316 m, bearing: 142.936071 deg, approach rate: 0.084567 m/s, LOS rate: -0.246490 deg/s, cmd heading: 143.046223 deg, new cmd heading: 142.936071 deg. uHeadingCmd: 2.494705 target range: 188.399994 and range: 145.30 m.hu?@hqhyhyhygyg!bg!jg%Be!e)je)Je):e-?Bɛ7) */i)C>*G"GGGGIGMBG =GGGɰ<G Fiہ=i?@I?@I A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763479^D /=" Stopping:JEJBJE9JJARJEdZJE/i+[6_gZQG>::94//.)'&$" VFm>FZA!ME?b /x,^A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015381^o@y^j~@9^dY^<^H`D ? `U? ??V?^o@ɨ^3; ^#Cf]~BfnIHH 5%͞ % =Y-Q ->)٣) 5G15 =>Q]eN59U*?aeN5YUO iQamqm@U}DUK(;U\(;U7N5y }E$A}E2iFNOT Ignoring new targets: 188.40 m.i"i ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.227402 m, bearing: 142.809146 deg, approach rate: 0.048953 m/s, LOS rate: -0.247647 deg/s, cmd heading: 142.936065 deg, new cmd heading: 142.809146 deg. HeadingCmd: 2.492490 target range: 188.399994 and range: 145.30 m.h@hhhhggbgjgeejeJe:e@ɛv) 9i)m5Ai,=i@)I-@I)^D9=" StoppingZI]ybI]ujIYrIYzI]]:I]9IYIYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267129VFM ^>F! ZA) M] >5x,g^A6m@y6|@96Fw'Y6p<6H\ s? _y @ZԔ?? ?%?6m@ɨ6΍; 4BO~BBeIHJ'HJ̲5R Vi=YV޻Q V>X٣X ZGZ#FZC ^>`]bN59b?afN5YbS ibBdf qf@bDb`:b:b:N5h n$AnE2i)5FNOT Ignoring new targets: 188.40 m.i5Y"i5YM ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.238144 m, bearing: 142.722492 deg, approach rate: 0.030641 m/s, LOS rate: -0.247155 deg/s, cmd heading: 142.809147 deg, new cmd heading: 142.722492 deg. MHeadingCmd: 2.490977 target range: 188.399994 and range: 145.30 m.hM,l@hQhQhQhQgQgQbgjgeejeJe!:e-`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521779雽Bɛօͽ) c=i)Ci=i,l@I,l@ICCC)C)GAGAGEIGE9BGAGAGAGEݰ<GE F"StoppingE>E>E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771218VF c>F ZA M- >py<x,?R^A2k@y2z@92*0OY2W?<2H` j0?5[u`/C O8??`'??2k@ɨ2$; 2"C@BfIF>iF<Mb@Mb@Mb@ )IyGz?v/?Mbpp?x= A)zAIizAH5"H55E_: E5=YMQ M>I٣I MGM$FUዽ U>Y]N59]?aN5Y]Y i]B ?m:J q@]D]δ<]<]>N5  }$A2iQ]FNOT Ignoring new targets: 188.40 m.i]H"ieHm ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.246704 m, bearing: 142.610440 deg, approach rate: 0.018205 m/s, LOS rate: -0.238292 deg/s, cmd heading: 142.722485 deg, new cmd heading: 142.610440 deg. uHeadingCmd: 2.489022 target range: 188.399994 and range: 145.30 m.hu"L@hqhyhyhygygbgjgBeejeJe:eZ @Bɛ~˽) =i) Fi=i"L@I"L@I"Stopping&TFailed to parse incomplete device message.BDAT read: Rx Time:19:56:35.3656 TRx dataTimestamp_ set to:1736538996.009611checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027500VFh>FZA M->SCx, ^A>i@y>x@9>ڴnY>ԭ<>HBu?r@ss*? V֍?? ?>i@ɨ> ; >%CJA~BJ]IHRHR5Z ZV=Y^椻Q ^>`٣` bG`b b>d]jN59f?ajN5Yf^ ifBlnKqn@fDf;f;fBN5rB r$AvE2iFNOT Ignoring new targets: 188.40 m.i%1"i%1- ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.246918 m, bearing: 142.515402 deg, approach rate: 0.000594 m/s, LOS rate: -0.264364 deg/s, cmd heading: 142.610443 deg, new cmd heading: 142.515402 deg. 5HeadingCmd: 2.487363 target range: 188.399994 and range: 145.30 m.h50@h1h1h9h9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275300gAgIbgIjgIeIeQjeQJeQ:eU; @雁ɛLeֽ) Ai)IH隉i<=i0@I0@I"StoppingVF^>FZAMe>% DAT read: Range 10 to 50 : 145.8 m (Round-trip 194.5 ms) speed 0.0 m/s = ,DAT read: user:1358> U BDAT read: Tx time:19:56:36.4669 ] $Ping request sent.] !٣! %G%%F-ߋ ->1]=N595?aEN5Y5d i5BE]!?mE:EPqE@5D5;5s;5 FN5I M$AQuB*** querying acoustic contact ***iqiq addTargetRange:: Added new target pos. range: 145.800003 m, deltaT: 3.779921 s, deltaX: 0.500000 m, approachRate: 0.132278 m/s, rangeRepo size: 4 2iFNOT Ignoring new targets: 188.40 m.i"i ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.243134 m, bearing: 142.402673 deg, approach rate: -0.008392 m/s, LOS rate: -0.249991 deg/s, cmd heading: 142.515408 deg, new cmd heading: 142.402673 deg. HeadingCmd: 2.485395 target range: 188.399994 and range: 145.80 m.h@hhhhggbgjgBeejeJe9b@:e`b?ZIxbIqjI1rIzIZ:Iq9I3IIqIiI:uI:mBɛQPʽ) JBiUJDAT read: TxSync time:19:56:36.4662 UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.)/K隡i݄=i@I@I"StoppingVFw>F?F?F ZA M >:J% wMBJ% 9JJ! RJ% fZJ%  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.491160gPx,A^A=.~B=QIII)IHeHed505 R=YQ >٣ G&F >]N59钜?aN5Yi iBq@D::pIN5 U$AUE2iFNOT Ignoring new targets: 188.40 m.iX"iX ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.240341 m, bearing: 142.305428 deg, approach rate: -0.006896 m/s, LOS rate: -0.240155 deg/s, cmd heading: 142.402669 deg, new cmd heading: 142.305428 deg. HeadingCmd: 2.483698 target range: 188.399994 and range: 145.80 m.h@hhhhggbgjgeejeJe:eiP?Bɛ&Fؽ) %Gi)Min=i@I@I"StoppingVFc>]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743518FZAM>Vx,I[^Az!c@yzr@9zXYz٣ GG >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997563]N592ے?aN5Yn iB ]q5@D==MN5i u=%Aq2iFNOT Ignoring new targets: 188.40 m.i⃻"i⃻5 ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.221207 m, bearing: 142.201547 deg, approach rate: -0.042472 m/s, LOS rate: -0.230607 deg/s, cmd heading: 142.305434 deg, new cmd heading: 142.201547 deg. =HeadingCmd: 2.481885 target range: 188.399994 and range: 145.80 m.h=5@h9h9h9h9g9gAbgAjgAeAeqjeqJeq:eu?Bɛ^ҽ) &Li)IPi=i5@I5@I"StoppingG)G)G-IG-BG)G)G)G-<G- FVFh>F H H AAZI wbI jI 0rI zI W:I I ـ3I I z;I z;I I ZA M >m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247191\x,cu^A21a@y2 o@925PY2<2H=A8K?@q?@G@r>&?`?@??21a@ɨ2); 0R'~BRMI5Mb@Mb@Mb@11 1)1I1y5S? rh?Mbp?5?5C >5; 1)5 AI5d Ai5A15fAHMHMפ5e< eP=YeQ m>i٣i mGm'FuH u>] N59͒?a N5Ys iB?m:q@D;Z;PN5%B %%A%E2iIMFNOT Ignoring new targets: 188.40 m.iU"iUe ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.201218 m, bearing: 142.103230 deg, approach rate: -0.057247 m/s, LOS rate: -0.281613 deg/s, cmd heading: 142.201547 deg, new cmd heading: 142.103230 deg. eHeadingCmd: 2.480169 target range: 188.399994 and range: 145.80 m.hm@hihihihigigibgqjguǀBeyeyjeJe:e x?雭Bɛ) Ji)R隹i쎆=i@I@I"Stopping:JM&`KBJM@9JJIRJMgZJMJUfAIUgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499200VFc>zFgArFfAFZAM>1cx,=^A:F_@y:!m@9::³Y:<:H`pv?Nw?7s@7? w?ԗ? ?:F_@ɨ:; :#C^*~BbNIf8>if>Hj7HjW5v; vR=Yz69Q z>x٣x zGx~פ ~>] N59?a N5Y&x i Bq@D2:>:SN5%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751245) -%A)2iQUFNOT Ignoring new targets: 188.40 m.i]n"ienu ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.175934 m, bearing: 142.012516 deg, approach rate: -0.067941 m/s, LOS rate: -0.243803 deg/s, cmd heading: 142.103233 deg, new cmd heading: 142.012516 deg. uHeadingCmd: 2.478586 target range: 188.399994 and range: 145.80 m.h}'@hyhyhyhygygbgjgeejeJe:eWl?雵Bɛ߽) Ii)CU隹iI=i'@I'@I"}StoppingVF^>FZAM>H?4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007799G! G! G% IG% BG! G! G! G% <G% FIix,^A~~B~GIMb@Mb@Mb@ )Iy$C?n?{Gzt??V>ף; 3A)d AIzAiA\AH<Hs5ۼ ;=YQ >٣ G(F >] N59ɯ?a N5YD} i B ,?m:q@ƊD ;;WN5 1%A E=B*** querying acoustic contact ***i9i92iIUFNOT Ignoring new targets: 188.40 m.i]"i]m ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.148163 m, bearing: 141.905873 deg, approach rate: -0.063589 m/s, LOS rate: -0.244234 deg/s, cmd heading: 142.012515 deg, new cmd heading: 141.905873 deg. uHeadingCmd: 2.476725 target range: 188.399994 and range: 145.80 m.hu@hyhyhyhygygybgjgBeejeJe:e u@UBɛUtIڽ)Q UMiQ)]F#XYYi]S=ie@aaIe@IiHmR=HiZIuybIuvjIqrIqzIu]:Iuϣ9IqIqIu;Iu;Iu:Iu:"Stopping5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256227VFFZAM>:J BJ 9JJ RJ hZJ   J ? J ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507134 px,0^An[[@yn6j@9nپYn՗!٣! %G%)F-% ->1]=N595X?a=N5Y5i i5B9=qE@5͊D5;5;5ZN5I MN%AI2iquFNOT Ignoring new targets: 188.40 m.i"i ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.110535 m, bearing: 141.814599 deg, approach rate: -0.100218 m/s, LOS rate: -0.243160 deg/s, cmd heading: 141.905868 deg, new cmd heading: 141.814599 deg. HeadingCmd: 2.475132 target range: 188.399994 and range: 145.80 m.hh@hhhhggbgjge e je Je :e @Bɛ`=) #Pi)ZiG=i h@ Ih@I"]StoppingEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759909VFm>I)CFF)? % kA q ) y kA dBF ZA M >qvx,^A6)Z@y6-h@96 Y68ۮ<6HI$?^\?>ݿ`eG՝??`ٕ?'?6)Z@ɨ6L; 6!CF}BF4IIH)HHN1HN5Vjy VQ=YZøQ Z>X٣X ^G\^ɛ b>`]fN59b?ajN5Yb ibBhjnqj@bՊDb:by:bX^N5t z%Ax2i)5FNOT Ignoring new targets: 188.40 m.i=>"i=>M ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.064819 m, bearing: 141.720340 deg, approach rate: -0.115503 m/s, LOS rate: -0.238225 deg/s, cmd heading: 141.814603 deg, new cmd heading: 141.720340 deg. UHeadingCmd: 2.473487 target range: 188.399994 and range: 145.80 m.hUM@hQhQhQhYgYgYbgYjgYeaeajeaJea:emB@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014536}Bɛ) Vi)]隩iE=iM@IM@I" StoppingGGGIG~BGGGG<G FVFIF! ZA1 M] >IcIkm3IkS}-IcIcIcZI vbI jI rI zI {T:I I I I Gu;I Iu;I I E BDAT read: Rx Time:19:56:39.0658 M TRx dataTimestamp_ set to:1736538999.787100M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264158}x,^A:"X@y:%D; %A)%zAI%Ai!!%AH5&H55EО< MA=YMUTQ M>Q٣Q UGU*FU ]>i]uN59m?auN5Ym imBu?m}:}q}@m݊Dm;m;m bN5B %A E2iFNOT Ignoring new targets: 188.40 m.i~"i~ ProNav pure pursuit: ac range: 188.399994 m, nav range: 144.010315 m, bearing: 141.618657 deg, approach rate: -0.129754 m/s, LOS rate: -0.242162 deg/s, cmd heading: 141.720346 deg, new cmd heading: 141.618657 deg. HeadingCmd: 2.471712 target range: 188.399994 and range: 145.80 m.h0@hhhhggbgQjg]߀BeYeYjeYJeY:ee [ @Bɛ) Ui)]`i{=i0@I0@I)"=Stopping:JWMBJ9JJRJiZJ  JgAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515295VFw>FZA!Me>fx,^A5DAT read: 19:56:39.0659 LVL= 28016, 31793, 18786, 30067, AGC= 57, IDX= 438, 0.47, 1.372, 1.638,-2.782, 2.197, PHS=-0.737,-0.512, 1.302, RAW= 215.8, -0.6, CAL= 215.2, -6.8, ROT= 294.8, 6.8 =Ygot valid direction response: 19:56:39.0659 LVL= 28016, 31793, 18786, 30067, AGC= 57, IDX= 438, 0.47, 1.372, 1.638,-2.782, 2.197, PHS=-0.737,-0.512, 1.302, RAW= 215.8, -0.6, CAL= 215.2, -6.8, ROT= 294.8, 6.8 MPDAT read: Bearing 294.8, 6.8 (Local) M~Local bearing/azimuth received: Bearing 294.8, 6.8 (Local) ]DAT read: Range 10 to 50 : 146.0 m (Round-trip 194.7 ms) speed -0.1 m/s ],DAT read: user:1359> eBDAT read: Tx time:19:56:40.1670 e$Ping request sent.m٣ G+F >]%N59n?a%N5Y iB!!q%@D: :fN5UB Ux%AUEZjm?bjDF ii$^AjCjC2j@pިƒgN@oMs`wI1zph?3쿯EO"j*j=p /\5(V@uzW%2pt3j e?ОiBjxi(pRm?i6  j52BzjZXm?j6 jjBjjCrjܤ@m addTargetRange:: Added new target pos. range: 146.000000 m, deltaT: 3.778433 s, deltaX: 0.199997 m, approachRate: 0.052931 m/s, rangeRepo size: 4 } Added new target pos. range: 146.000000 m, bearing: 141.146491 deg, lat: 36.903931 deg, lon: -122.118997 deg, deltaT: 25.967976 s, deltaX: -42.399994 m, approachRate: -1.632780 m/s, posRepo size: 2 2iFNOT Ignoring new targets: 146.00 m.i"i ProNav: ac range: 146.000000 m, nav range: 144.714935 m, bearing: 141.130233 deg, approach rate: 0.000000 m/s, LOS rate: -0.242162 deg/s, cmd heading: 141.618659 deg, new cmd heading: 141.236777 deg.  i1&HeadingCmd: 2.465047 target range: 146.000000 and range: 146.00 m.hT@hhhhggbgjgeejeJe@b@:e`s?eBɛe0۽)i mUii)mZciiim4=iuT@qqIuT@I"StoppingJDAT read: TxSync time:19:56:40.1663 VF 恃>zF rF hAF ZA G G ?AG >G G G G  =G G G <G FM >lx,od*^A6NT@y6lb@96ǔY6#<6H[n?찄?@ؿ @ɟ?,ҕ?BS? ?6NT@ɨ6 ; 6"CB~B@F=iFC=Mb@Mb@Mb@ )Iyd;O?+?Mb`??>; A)I Ai3AHUHU5e_ 2=Y1:Q >٣ G,F >
  • +@} ֳ?y y =checking for new query: numPingsReceived=72, elapsed TxPingTime=38.611164VF C$>FZAM?Ix,G$]AF@yF@9FvHz%=Hzp=٣ G&F%E> %>1]=495cl?aE4Y5X i5BAEqM@5c,D5-;5<5Iy4 @Zj3sl?bj4 ii3B$]Aj3?j?2jݖ@p,ӃʿHVI5?Ďzpjr¿Xr?QԦ"j>+@*jֳ?p2G?ѐtտD֮x2p qm@?'k "οٵièj=:iNsl?i   jCBzjl?jjrj@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503895 s, deltaX: -0.100000 m, approachRate: -0.198454 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 270.125887 deg, lat: 36.903921 deg, lon: -122.119059 deg, deltaT: 0.503895 s, deltaX: -0.100000 m, approachRate: -0.198454 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe`ff?:e?]Bɛey\>)a e@ia)eK>iiim=iiuvIqIq"Stopping%checking for new query: numPingsReceived=72, elapsed TxPingTime=38.839233VFDA%>F ZA M >:J NBJ -9JJ RJ ZJ ieb^VMHB<9875300,-))'+&!  J! I! Ix,ma$]AFDDAT read: Rx Time:19:27:12.9793 FTRx dataTimestamp_ set to:1736537233.543677NPDAT read: Bearing 154.1, 80.5 (Local) N~Local bearing/azimuth received: Bearing 154.1, 80.5 (Local) VDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 fDAT read: 19:27:12.9793 LVL= 25712, 30545, 21858, 28067, AGC= 31, IDX= 506, 0.27, 1.066, 1.331, 1.012,-0.042, PHS= 1.195, 1.420, 1.050, RAW= 352.9, -76.0, CAL= 355.9, -80.5, ROT= 154.1, 80.5 jYgot valid direction response: 19:27:12.9793 LVL= 25712, 30545, 21858, 28067, AGC= 31, IDX= 506, 0.27, 1.066, 1.331, 1.012,-0.042, PHS= 1.195, 1.420, 1.050, RAW= 352.9, -76.0, CAL= 355.9, -80.5, ROT= 154.1, 80.5 nT#Rx 73: Read range and direction messages.r`direction in FSK: [-0.148470,0.072093,-0.986286]rFpublishing direction and range infoDYFB7RÿQ#t?QԦ￙F?9DFpd FQw)FbUIFmiDF?Fµ?Fff?F@ Fɩ)F@IDiF!,@DD DF7vY¿ٚ5ȿV.+ IFM iF̩?F!,@DD D~checking for new query: numPingsReceived=73, elapsed TxPingTime=39.105522>v@y>70@9>0=>H`H{y??n?@[?E?>v@ɨ>줋; >6CB%IHUJHUՁ54 -=YQ %>1٣1 =GAUk< ]>ZI=bI=jI9rI9zI=+:I=8:I9I9qe@ie@ue@me@]49zl?a4Y iBAEqE@f,D_=Y^=4I M@QZjFrjFE>@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504053 s, deltaX: 0.100000 m, approachRate: 0.198392 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 269.533364 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 0.504053 s, deltaX: 0.100000 m, approachRate: 0.198392 m/s, posRepo size: 4 2ih*ihhhhhhggbg!jg!e!e!je!Je-?:e-+?雵Bɛυ>) @i)5(N>i=Ciw<1i>II5checking for new query: numPingsReceived=73, elapsed TxPingTime=39.342232"UStoppingVF- w6>F ZA M >22Ix,{$]ABoS@yB0r@9B{٣ G'F)< >]49l?a4Y iBu=m; rq @h,D;;V4 @DDAT read: Rx Time:19:27:13.4792 TRx dataTimestamp_ set to:1736537234.048134PDAT read: Bearing 156.2, 80.5 (Local) ~Local bearing/azimuth received: Bearing 156.2, 80.5 (Local) DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 19:27:13.4792 LVL= 25328, 30081, 21554, 28275, AGC= 31, IDX= 505, 0.30, 0.362, 0.640, 0.318,-0.758, PHS= 1.208, 1.445, 1.072, RAW= 351.1, -76.1, CAL= 353.8, -80.5, ROT= 156.2, 80.5 Ygot valid direction response: 19:27:13.4792 LVL= 25328, 30081, 21554, 28275, AGC= 31, IDX= 505, 0.30, 0.362, 0.640, 0.318,-0.758, PHS= 1.208, 1.445, 1.072, RAW= 351.1, -76.1, CAL= 353.8, -80.5, ROT= 156.2, 80.5 T#Rx 74: Read range and direction messages.`direction in FSK: [-0.151012,0.066604,-0.986286]Fpublishing direction and range infoؙY؝[[Tÿ ?QԦ￙؝3?9ؙ؝b ٝu)ٝ2TIٝsniٙٝ?ٝ?ٝL7?ٝ[@ ڝP)ڝe@Iڙiڝ!z.@ڙڙ ۙ۝|wU\ÿԘȿgJI۝_i۝,?۝!z.@ۙۙ ܙchecking for new query: numPingsReceived=74, elapsed TxPingTime=39.611115G%s>G%CG%z&IG%ZBG% =G!G%>DG%<G% FZj=l?bj; ii$]Aj3?j?2jΰ@p(\˿Ҽ޷?Ďzp[[Tÿ ?QԦ"j!z.@*jpiQvb!տ-Fp@;-I߈/οF_i jil?iJ  j5Bzjɕl?j  j5Bjjz>rj@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504457 s, deltaX: -0.100000 m, approachRate: -0.198233 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 269.810558 deg, lat: 36.903921 deg, lon: -122.119061 deg, deltaT: 0.504457 s, deltaX: -0.100000 m, approachRate: -0.198233 m/s, posRepo size: 4 2ih*ih!h!h!h!h!h!g!g)bg)jg-Be1e1je1Je5`ff?:e5?雭Bɛ,>)% @i)RO>隱i;II"StoppingVFZ>HHAAFZAM>E checking for new query: numPingsReceived=74, elapsed TxPingTime=39.846638&%Ix, $]A_T@y s@9O&٣ G9  > ]49 l?a4Y  i BRq%@ k,D ; ; 4) -@)MB*** querying acoustic contact ***iIiI2iYhY*iahahahahahahagagibgijgieieqjeqJeq:eu@?雝Bɛ >) @i)ZQ>隩iKi(<l>II1"uStopping:JEMBJ9JJRJZJJ% ? J%>VFM pj>F ZAM5/>DDAT read: Rx Time:19:27:13.9793 TRx dataTimestamp_ set to:1736537234.552855PDAT read: Bearing 157.8, 80.3 (Local) ~Local bearing/azimuth received: Bearing 157.8, 80.3 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:13.9793 LVL= 24848, 29537, 21682, 28403, AGC= 31, IDX= 505, 0.37, 0.217, 0.509, 0.178,-0.896, PHS= 1.201, 1.451, 1.071, RAW= 349.6, -75.7, CAL= 352.2, -80.3, ROT= 157.8, 80.3 Ygot valid direction response: 19:27:13.9793 LVL= 24848, 29537, 21682, 28403, AGC= 31, IDX= 505, 0.37, 0.217, 0.509, 0.178,-0.896, PHS= 1.201, 1.451, 1.071, RAW= 349.6, -75.7, CAL= 352.2, -80.3, ROT= 157.8, 80.3 T#Rx 75: Read range and direction messages.`direction in FSK: [-0.155999,0.063662,-0.985703]Fpublishing direction and range infoؑYؕk2ÿW)L?@￙ؕ?9ؑؕa ٕas)ٕTIٕniّٕ^?ٕ^?ٕ?ٕ@@ ڕ)ڕ@IڕUdiڕC0@ڕUd?ڑ ۑەlgĿ,ȿ⣐IەDiە4?ەC0@ەUd?ۑ ܑ checking for new query: numPingsReceived=75, elapsed TxPingTime=40.115726ZI- bI- jI) rI) zI- :I- J1:I) I) BD+Ix,tA$]A6V@y67@96'1uBB%I-Mb@Mb@Mb@)) )))I)y-Mb㥛 ?Mbp?--=-; -M@)-׫@I)i))-(@HeQHeb5u; uU=YQ >٣ G >]49l?a4checking for new query: numPingsReceived=75, elapsed TxPingTime=40.350430Y i B=m<ֿq@m,De?< ?<Õ4  @Zjl?bj iia$]Aj?j?2jY @pGͿV$Y>r?d)zpk2ÿW)L?@"jC0@*jUd?p{#i VڌֿܖPpO/tvͻ[ο{i'j iKl?i&  jBzjwrj6@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504721 s, deltaX: 0.100000 m, approachRate: 0.198129 m/s, rangeRepo size: 4 u Added new target pos. range: 1.500000 m, bearing: 268.653333 deg, lat: 36.903921 deg, lon: -122.119061 deg, deltaT: 0.504721 s, deltaX: 0.100000 m, approachRate: 0.198129 m/s, posRepo size: 4 2iyh*ihhhhhhggbgjgBeqeyjeJe?:e`"?-Bɛ5>)1 5F@i1)5S>19i=Piae\IaIa"uStopping DDAT read: Rx Time:19:27:14.4792  TRx dataTimestamp_ set to:1736537235.057529 PDAT read: Bearing 159.1, 80.0 (Local)  ~Local bearing/azimuth received: Bearing 159.1, 80.0 (Local)  DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 G G G a&IG EBG G G G 7<G FVF zj> DAT read: 19:27:14.4792 LVL= 24096, 30369, 23410, 29331, AGC= 31, IDX= 504, 0.50,-1.874,-1.570,-1.908,-2.973, PHS= 1.187, 1.451, 1.063, RAW= 348.3, -75.3, CAL= 350.9, -80.0, ROT= 159.1, 80.0  Ygot valid direction response: 19:27:14.4792 LVL= 24096, 30369, 23410, 29331, AGC= 31, IDX= 504, 0.50,-1.874,-1.570,-1.908,-2.973, PHS= 1.187, 1.451, 1.063, RAW= 348.3, -75.3, CAL= 350.9, -80.0, ROT= 159.1, 80.0  T#Rx 76: Read range and direction messages. `direction in FSK: [-0.162223,0.061947,-0.984808]F >F > Fpublishing direction and range info Y  ĿeYр?h￙ 3?9 ^ v) r[I ri ? b? @ 8) @I ¸i g1@ ¸? OUſ|%39ȿqoI /i 9? g1@ ¸?  checking for new query: numPingsReceived=76, elapsed TxPingTime=40.663223F ZA M >+2Ix,H$]AB%I=YEQ E>A٣A MGM(FM M>]49Wl?a4Y i"Bq@p,D:A;Y4 @Zj7Vl?bjӶ~ ii$]Aj3?j?2jxʖ@p5ߜͿ63?a} Hzp ĿeYр?h"jg1@*j¸?p3տ`g pgtxοj&zihjti5Vl?i  j4Bzjl?jJ j4BjjZ>rj"@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504674 s, deltaX: -0.100000 m, approachRate: -0.198148 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 269.990069 deg, lat: 36.903921 deg, lon: -122.119062 deg, deltaT: 0.504674 s, deltaX: -0.100000 m, approachRate: -0.198148 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe`ff?:eI?%Bɛ%"`>)! %h@ia)m@U>iiimUiqu~IqIychecking for new query: numPingsReceived=76, elapsed TxPingTime=40.855324^DM"UStopping:Je :KBJe 9JJa RJe ZJe J I VFu h> DDAT read: Rx Time:19:27:14.9793  TRx dataTimestamp_ set to:1736537235.559761 PDAT read: Bearing 160.9, 79.4 (Local)  ~Local bearing/azimuth received: Bearing 160.9, 79.4 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 F ZA M >9Ix,t$]A2DAT read: 19:27:14.9793 LVL= 23104, 28129, 19506, 28451, AGC= 31, IDX= 506,-0.46,-1.634,-1.309,-1.662,-2.709, PHS= 1.163, 1.447, 1.044, RAW= 346.6, -74.5, CAL= 349.1, -79.4, ROT= 160.9, 79.4 6Ygot valid direction response: 19:27:14.9793 LVL= 23104, 28129, 19506, 28451, AGC= 31, IDX= 506,-0.46,-1.634,-1.309,-1.662,-2.709, PHS= 1.163, 1.447, 1.044, RAW= 346.6, -74.5, CAL= 349.1, -79.4, ROT= 160.9, 79.4 :T#Rx 77: Read range and direction messages.>`direction in FSK: [-0.173825,0.060192,-0.982935]>Fpublishing direction and range infoyY}=?ƿ~Ѯ?4t￙}?9y}@Z }m)}2LI}#oiy}/ݔ?}L7?}ˡ?}@ }Bo)}g@I}ai}3@}a?y y}T{ǿXċȿu%QI}i}f?}3@}a?y y^checking for new query: numPingsReceived=77, elapsed TxPingTime=41.164570!ZIbIjI0rIzIl:I\3:Iـ3IHJHՁ5gS: )=YQ >٣ G >]49l?aU4Y i&Biiqm@s,Da<<4y }@yZj}l?bj}鼧 iyi} $]Aj}?j}?2j}@p}B.п< "?'zp}=?ƿ~Ѯ?4t"j}3@*j}a?p} [?;l׿);@p}? DϿWOi}?j}b<i};l?i}E  j}Bzj};l?j}& j}Bjj}ň>rj}t@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.502232 s, deltaX: 0.100000 m, approachRate: 0.199111 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 272.134148 deg, lat: 36.903921 deg, lon: -122.119063 deg, deltaT: 0.502232 s, deltaX: 0.100000 m, approachRate: 0.199111 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe?:e3?UBɛUN>)Q ]@iy)}5X>yyi}V[i&&<k>IIchecking for new query: numPingsReceived=77, elapsed TxPingTime=41.387489^D5"EStoppingVFu +j>FQ ZAa M} >@Ix,UN%]A67%@y6C@96k;Y6r=6HA @̪?+?`?f yc? ?67%@ɨ6پ; 60CBBB%IPDAT read: Bearing 162.1, 79.3 (Local) ~Local bearing/azimuth received: Bearing 162.1, 79.3 (Local) -DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 UDAT read: 19:27:15.4793 LVL= 24112, 28401, 22690, 28147, AGC= 31, IDX= 505,-0.36, 2.651, 2.987, 2.629, 1.582, PHS= 1.157, 1.452, 1.044, RAW= 345.5, -74.2, CAL= 347.9, -79.3, ROT= 162.1, 79.3 eYgot valid direction response: 19:27:15.4793 LVL= 24112, 28401, 22690, 28147, AGC= 31, IDX= 505,-0.36, 2.651, 2.987, 2.629, 1.582, PHS= 1.157, 1.452, 1.044, RAW= 345.5, -74.2, CAL= 347.9, -79.3, ROT= 162.1, 79.3 eT#Rx 78: Read range and direction messages.m`direction in FSK: [-0.176679,0.057066,-0.982613]uFpublishing direction and range infoY 4lƿn; 7?Q3nq￙90^ n)XImi?#۹?@ å)M@Im(iD5@m(? t]ȿ=4aRȿO{ qIj,iѥ?D5@m(? Gu>GGU&IG;BG =GGG°<G Fchecking for new query: numPingsReceived=78, elapsed TxPingTime=41.637547Mb@Mb@Mb@ )Iy+Q?Mb`\=  @)@I@i(@@H=H}5< %I=Y%*Q %>)٣) -G-)F5 5>9]=49=l?aE4Y=w i9EV=mE}rj&h@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.510691 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 269.391299 deg, lat: 36.903921 deg, lon: -122.119063 deg, deltaT: 0.510691 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgBeejeJe:ej?= Bɛ=>)=? =@iA)E"9Z>AAiE_iIM3;IIIQCYCYCYCYchecking for new query: numPingsReceived=78, elapsed TxPingTime=41.870380" StoppingVFe zj>zFm iArFm iAF9ZAI:J]/KBJYJJYRJ]ZJ]AV\R6 Mu>iGIx, %]A2@y2B6@92XO;Y2n(=2H@ga6e?S?@ p&?r P٣P RGTV V>X]^49Zl?a^4YZ  iX`bZͿqb@Zu,DZ ;Z ;Z*4d f+@d~B*** querying acoustic contact ***i|i|2ih*ihhhhhhggbgjgeejeJe:e? DDAT read: Rx Time:19:27:15.9794  TRx dataTimestamp_ set to:1736537236.576503PDAT read: Bearing 162.5, 79.1 (Local) ~Local bearing/azimuth received: Bearing 162.5, 79.1 (Local) =DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 19:27:15.9794 LVL= 22256, 27057, 18882, 28147, AGC= 31, IDX= 506,-0.29,-2.510,-2.166,-2.531, 2.708, PHS= 1.153, 1.456, 1.041, RAW= 345.1, -73.9, CAL= 347.5, -79.1, ROT= 162.5, 79.1 Ygot valid direction response: 19:27:15.9794 LVL= 22256, 27057, 18882, 28147, AGC= 31, IDX= 506,-0.29,-2.510,-2.166,-2.531, 2.708, PHS= 1.153, 1.456, 1.041, RAW= 345.1, -73.9, CAL= 347.5, -79.1, ROT= 162.5, 79.1  T#Rx 79: Read range and direction messages.E BɛE>]`direction in FSK: [-0.180344,0.056862,-0.981959]eFpublishing direction and range info Y 9ǿ)[?ۨ4l￙ ?9  V i) II )I @i)r@\>隑inei7<UC>II"Stoppingi  ? 5^? }?? ~@ ) @I  i 5@  ?   Bɿ,?ɿa9I ̩i =&? 5@  ?  =checking for new query: numPingsReceived=79, elapsed TxPingTime=42.194931VFKg>ZIebIejIarIazIe|:Ieo5:IaIaFZAMY> checking for new query: numPingsReceived=79, elapsed TxPingTime=42.374352MIx,>:%]A6@y6@96;Y6=6H14 ?@??`rRq ?{?6@ɨ6Ί; 62C^B^ &IMb@Mb@Mb@ )Iy{Gzt{Gztףף M@)I@iH=H}5 < 9=Y/Q >٣ G*F. >]49l?a4Y i ;m = ߽q @v,D(:g:4 @Zj]l?bj]oF iYi]m$%]Aj]?j]$?2j]v@p]iӿ ?35zp]9ǿ)[?ۨ4l"j]5@*j] ?p] >̑p5lڿ-p ^p]8 IPL~fϿkua<i]վj]ai]"il?i]t   j]Bzj]Kl?j]E j]Bjj]O>rj] @ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.506051 s, deltaX: 0.200000 m, approachRate: 0.395217 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 267.613483 deg, lat: 36.903921 deg, lon: -122.119064 deg, deltaT: 0.506051 s, deltaX: 0.200000 m, approachRate: 0.395217 m/s, posRepo size: 4 2ih*ihh h h h h g gbgjgBeejeJe%@33?:e%@?雍 Bɛ#>) @i)]^>隑iAjiWԙ<+3>II"5StoppingVFGQ>=DDAT read: Rx Time:19:27:16.4793 ETRx dataTimestamp_ set to:1736537237.081888MPDAT read: Bearing 163.1, 79.0 (Local) U~Local bearing/azimuth received: Bearing 163.1, 79.0 (Local) eDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 Gt>GGGG =GGGư<G FHħC HħCHH ="H =*Hđ5FZADAT read: 19:27:16.4793 LVL= 21968, 26673, 18674, 28083, AGC= 31, IDX= 505,-0.24, 2.388, 2.739, 2.370, 1.325, PHS= 1.151, 1.460, 1.042, RAW= 344.6, -73.8, CAL= 346.9, -79.0, ROT= 163.1, 79.0 Ygot valid direction response: 19:27:16.4793 LVL= 21968, 26673, 18674, 28083, AGC= 31, IDX= 505,-0.24, 2.388, 2.739, 2.370, 1.325, PHS= 1.151, 1.460, 1.042, RAW= 344.6, -73.8, CAL= 346.9, -79.0, ROT= 163.1, 79.0 T#Rx 80: Read range and direction messages.`direction in FSK: [-0.182569,0.055469,-0.981627] Fpublishing direction and range infoAYEtHh^ǿt2`f?,/o}i￙E?9AEU E1h)EHIEmiAES?EH?EB`?Ev@ Eޤ)Eپ@IE|iE8/6@E|?A AE&iwɿhz+X{ɿ<1.IEmJM%M>iE$פ?E8/6@E|?A Aechecking for new query: numPingsReceived=80, elapsed TxPingTime=42.666702OTIx,T%]A2e@y2&@92J;Y2=2Hד`- Ĵ?`O? zt?r`'?@?2e@ɨ2Z; 0BBB&I^checking for new query: numPingsReceived=80, elapsed TxPingTime=42.884556HJ0HJ%x5u+= R=Y`:Q >٣! -G)]2M e>]49Zl?a4Y i?q@:>:^4 N@Zjmql?bjm4³ iiim=E%]Ajm?jm?2jmYI@pm6ΆѿxL?czpmtHh^ǿt2`f?,/o}i"jm8/6@*jm|?pmhˑiE.׿XhCpm#6 .=hϿʭimqjm_impl?imc  jmBzjmǙl?jmW jm Bjjm>rjme@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.505385 s, deltaX: -0.200000 m, approachRate: -0.395738 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 267.296488 deg, lat: 36.903921 deg, lon: -122.119064 deg, deltaT: 0.505385 s, deltaX: -0.200000 m, approachRate: -0.395738 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe?:e0?Bɛ`>) @i)`>ioi<">II"Stopping:J=bLBJ=k9JJ9RJ=ZJ==V. }DDAT read: Rx Time:19:27:16.9794 }TRx dataTimestamp_ set to:1736537237.591665PDAT read: Bearing 162.5, 79.0 (Local) ~Local bearing/azimuth received: Bearing 162.5, 79.0 (Local) DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 DAT read: 19:27:16.9794 LVL= 21808, 26481, 18594, 28115, AGC= 31, IDX= 506,-0.20,-2.235,-1.888,-2.257, 2.982, PHS= 1.154, 1.460, 1.042, RAW= 345.0, -73.8, CAL= 347.5, -79.0, ROT= 162.5, 79.0 Ygot valid direction response: 19:27:16.9794 LVL= 21808, 26481, 18594, 28115, AGC= 31, IDX= 506,-0.20,-2.235,-1.888,-2.257, 2.982, PHS= 1.154, 1.460, 1.042, RAW= 345.0, -73.8, CAL= 347.5, -79.0, ROT= 162.5, 79.0 T#Rx 81: Read range and direction messages.`direction in FSK: [-0.181978,0.057377,-0.981627]Fpublishing direction and range infoyY}k`- KǿnB`?,/o}i￙}?9y}0U }qg)}HI}miy}F?yy}2@ y)}@Iyi}5@yy y}H4ɿQT14ɿ$I}i}?}5@yy y checking for new query: numPingsReceived=81, elapsed TxPingTime=43.157082VF% N>F- >F- >F! ZAI M > [Ix,+n%]AGk?ye @9 xy٣ G+FM >]49Tl?a4Y i$B<=m<R?q@w,DDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  :%< 4 a@DAT read: 19:27:17.4793 LVL= 21472, 26273, 18546, 27875, AGC= 31, IDX= 505,-0.15, 2.810,-3.124, 2.788, 1.745, PHS= 1.152, 1.460, 1.040, RAW= 345.0, -73.7, CAL= 347.4, -78.9, ROT= 162.6, 78.9 Ygot valid direction response: 19:27:17.4793 LVL= 21472, 26273, 18546, 27875, AGC= 31, IDX= 505,-0.15, 2.810,-3.124, 2.788, 1.745, PHS= 1.152, 1.460, 1.040, RAW= 345.0, -73.7, CAL= 347.4, -78.9, ROT= 162.6, 78.9 T#Rx 82: Read range and direction messages.Zj!"l?bjyk ie`direction in FSK: [-0.183712,0.057572,-0.981293]mFpublishing direction and range infoYǿSkz?f￙?9S f)rHIlit?? )W@ICi>5@C?  9\bhbɿ& '{Pɿj5$Ii?>5@C?ie%]Aj?j$?2j[@p=0Ȗӿ3]{?_DDzpk`- KǿnB`?,/o}i"j5@*jpIf_Yڿ6 _p8⑿ݓ3FϿ JgiԾj7il?i#?~  jBzjpl?jc jBjj>rji@ checking for new query: numPingsReceived=82, elapsed TxPingTime=43.489864 addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.769042 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 265.911708 deg, lat: 36.903921 deg, lon: -122.119064 deg, deltaT: 0.509777 s, deltaX: 0.200000 m, approachRate: 0.392329 m/s, posRepo size: 4 2iha*iahahahahahahigigibgijgm-BeqeqjeqJeq:e`ur?Bɛ8:>) @i) =c>i|ui< =IIu checking for new query: numPingsReceived=82, elapsed TxPingTime=43.642395G s>G G h&IG JBG  =G G G <G F^D] Mu"e StoppingVF= oY4>FZA)MU>2bIx,=%]AH H?AIIw3I.-IIIZIbIjI1rIzI:I$:I3II<qI<iI~;u"I~;m"^}?y^c @9^D&5@*j%C?p%=DJG׿Bp%f~ sϿ}!kmi%j%Bi%)vl?i%@v  j%*Bzj!j!j% Bjj%>rj%mړ@2iAhA*iAhAhAhAhAhIhigigibgqjgqeqeqjeqJey:e}@?Bɛ>)su( !@i)d>i!zi'Ο<\=II!^D%|" StoppingDDAT read: Rx Time:19:27:17.9793 TRx dataTimestamp_ set to:1736537238.351984VFI$'>EPDAT read: Bearing 163.2, 78.5 (Local) U~Local bearing/azimuth received: Bearing 163.2, 78.5 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 FZA1MUS>DAT read: 19:27:17.9793 LVL= 24688, 27937, 22162, 28323, AGC= 32, IDX= 505,-0.07, 2.577, 2.939, 2.556, 1.532, PHS= 1.133, 1.455, 1.022, RAW= 344.3, -73.0, CAL= 346.8, -78.5, ROT= 163.2, 78.5 Ygot valid direction response: 19:27:17.9793 LVL= 24688, 27937, 22162, 28323, AGC= 32, IDX= 505,-0.07, 2.577, 2.939, 2.556, 1.532, PHS= 1.133, 1.455, 1.022, RAW= 344.3, -73.0, CAL= 346.8, -78.5, ROT= 163.2, 78.5 T#Rx 83: Read range and direction messages.`direction in FSK: [-0.190859,0.057624,-0.979925]Fpublishing direction and range infoYEnȿ,kڀ? [￙9p` !m)VIni %?q=?Ђ?K@ e)@I^iK6@^? r,ʿmʿj0Ii%?K6@^? mchecking for new query: numPingsReceived=83, elapsed TxPingTime=43.976959:J ]FMBJ 9JJ RJ ZJ  J ? J ?iIx,%]Achecking for new query: numPingsReceived=83, elapsed TxPingTime=44.147938j?yj@9jlU٣ GU >]49l?a4Y i"B?q@z,D;;4 @Zj%Kl?bj%) i!i%膖%]Aj!j!2j%Δ@p%tƌ֋RҿaУ ?>xIzp%Enȿ,kڀ? ["j%K6@*j%^?p%@0p .@)ؿ~ns9p%J п=Di%Jj%li%"l?i%'  j%3Bzj!j!j%Bjj%>rj%0@5 addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.501054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 1.500000 m, bearing: 266.439629 deg, lat: 36.903921 deg, lon: -122.119064 deg, deltaT: 0.760319 s, deltaX: -0.200000 m, approachRate: -0.263048 m/s, posRepo size: 4 2iAhA*iIhIhIhIhIhIhIgIgQbgQjgQeYeYjeYJeY:e]p?雵Bɛ>) "@i)f>隹iw>iw<gP=II^DX"StoppingE%=E%>DDAT read: Rx Time:19:27:18.4792 %TRx dataTimestamp_ set to:1736537238.856954EPDAT read: Bearing 161.9, 78.8 (Local) ~Local bearing/azimuth received: Bearing 161.9, 78.8 (Local) DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  DAT read: 19:27:18.4792 LVL= 21184, 26209, 18610, 27587, AGC= 31, IDX= 504,-0.05, 1.306, 1.652, 1.279, 0.253, PHS= 1.141, 1.447, 1.024, RAW= 345.6, -73.5, CAL= 348.1, -78.8, ROT= 161.9, 78.8  Ygot valid direction response: 19:27:18.4792 LVL= 21184, 26209, 18610, 27587, AGC= 31, IDX= 504,-0.05, 1.306, 1.652, 1.279, 0.253, PHS= 1.141, 1.447, 1.024, RAW= 345.6, -73.5, CAL= 348.1, -78.8, ROT= 161.9, 78.8  T#Rx 84: Read range and direction messages. `direction in FSK: [-0.184623,0.060344,-0.980955] Fpublishing direction and range info Y ѓǿ j? c￙ 3?9  R af) HI ki  J ? L7? o? @ Y3) mj@I x i 4@ x ?   lwɿsHk9ɿ ڒI 2i A2? 4@ x ?  - checking for new query: numPingsReceived=84, elapsed TxPingTime=44.474018VF A#>zF rF hAFY ZAa M} > pIx, 7%]A62?y6ڥ@96K|y٣y }G},F%D >]49pl?a4Y4 iB=mG<#_?q@{,D::4 @Ga>GCGz&IGZBG =GGrj \@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504970 s, deltaX: -0.100000 m, approachRate: -0.198032 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 264.752001 deg, lat: 36.903921 deg, lon: -122.119064 deg, deltaT: 0.504970 s, deltaX: -0.100000 m, approachRate: -0.198032 m/s, posRepo size: 4 2ih*i h h h h h h g gbgjgOBeejeJe`ff?:e=;?雍Bɛid>) #@i)D`i>隑ii<=IIC=C=^Di%"StoppingZIbIjI0rIzIu;IY:Iـ3IIB<IB<I;I;VF>FQZAYM}z> DDAT read: Rx Time:19:27:18.9793  TRx dataTimestamp_ set to:1736537239.359991E PDAT read: Bearing 161.7, 78.7 (Local) M ~Local bearing/azimuth received: Bearing 161.7, 78.7 (Local) d3vIx,%]A%DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 r/BrF&I%DAT read: 19:27:18.9793 LVL= 24944, 28273, 21186, 28723, AGC= 32, IDX= 505, 0.01, 3.068,-2.869, 3.040, 2.017, PHS= 1.139, 1.444, 1.020, RAW= 345.7, -73.4, CAL= 348.3, -78.7, ROT= 161.7, 78.7 -Ygot valid direction response: 19:27:18.9793 LVL= 24944, 28273, 21186, 28723, AGC= 32, IDX= 505, 0.01, 3.068,-2.869, 3.040, 2.017, PHS= 1.139, 1.444, 1.020, RAW= 345.7, -73.4, CAL= 348.3, -78.7, ROT= 161.7, 78.7 -T#Rx 85: Read range and direction messages.Hz5Hz\z5EƐ= E`=YMQ M>I٣Q UGQUe`direction in FSK: [-0.186036,0.061526,-0.980615]mFpublishing direction and range infoY{- ǿpI?_<1a￙?9pa qn)RI3pi ʑ?Ը?\?H@ ()@ >]49l?a4Y iBq@},D::N4IFѯi4@Fѯ? 2MpɿVd@&ʿ3Ii?4@Fѯ? checking for new query: numPingsReceived=85, elapsed TxPingTime=45.015713 @Zjjl?bjX ii %]Aj?j?2jړ@p("ѿR7?JGmvzp{- ǿpI?_<1a"j4@*jFѯ?p7%X|5׿iK;p: PGxaϿ|ij ibl?iҘ  jGBzj"l?j' j3Bjj/>rjg@] addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503037 s, deltaX: 0.100000 m, approachRate: 0.198793 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 264.734040 deg, lat: 36.903921 deg, lon: -122.119064 deg, deltaT: 0.503037 s, deltaX: 0.100000 m, approachRate: 0.198793 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe?:e@ 4?Bɛ>) %@i)Onk>i'i!%<%4=IIII:Jm#MBJm9JJiRJmZJm   JyIy%checking for new query: numPingsReceived=85, elapsed TxPingTime=45.154564^Dmb("uStoppingVFM g=F1 ZAY MM >`|Ix,%]A0BG&IDDAT read: Rx Time:19:27:19.4792 TRx dataTimestamp_ set to:1736537239.871715PDAT read: Bearing 159.0, 79.4 (Local)  ~Local bearing/azimuth received: Bearing 159.0, 79.4 (Local) eDAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 19:27:19.4792 LVL= 22000, 27121, 20066, 27635, AGC= 31, IDX= 504, 0.00, 2.489, 2.804, 2.451, 1.421, PHS= 1.156, 1.431, 1.027, RAW= 348.3, -74.4, CAL= 351.0, -79.4, ROT= 159.0, 79.4 Ygot valid direction response: 19:27:19.4792 LVL= 22000, 27121, 20066, 27635, AGC= 31, IDX= 504, 0.00, 2.489, 2.804, 2.451, 1.421, PHS= 1.156, 1.431, 1.027, RAW= 348.3, -74.4, CAL= 351.0, -79.4, ROT= 159.0, 79.4 T#Rx 86: Read range and direction messages.`direction in FSK: [-0.171733,0.065922,-0.982935] Fpublishing direction and range infoY%y\ſ{^H?4t￙3?9U i)bNIki?+?t?@ 6) @IaiΚ1@a? ^Iƿkеɿ1-I4iq&?Κ1@a? }checking for new query: numPingsReceived=86, elapsed TxPingTime=45.504662=Mb@Mb@Mb@99 9)9I9y=Q? rh~jtx=<=C9 = @)9I=@i=V@9=(@H+Hu5]; =YQ >٣ G-F >]%49l?a%4Y iB%=m%1<%_w?q-@,D3";;4Q ]@YZjܨl?bj ii.%]Aj3?j?2j>@pa~MοB*d?n|[zp%y\ſ{^H?4t"jΚ1@*ja?pɘ#ބտ pϙ[]*нο!< i&j=Ei١l?i  jxBzjfl?jҘ jGBjj >rj S@5 addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.511724 s, deltaX: -0.100000 m, approachRate: -0.195418 m/s, rangeRepo size: 4 E Added new target pos. range: 1.400000 m, bearing: 261.849705 deg, lat: 36.903921 deg, lon: -122.119063 deg, deltaT: 0.511724 s, deltaX: -0.100000 m, approachRate: -0.195418 m/s, posRepo size: 4 2iIhI*iIhihqhqhqhqhqgqgqbgyjg}YBeyeyjeJe`ff?:e`1?Bɛ<>) &@i)~;n>iLi<b=IIC9C9C=C=G]>GCG&IGnBG# =GG;DG<G F- checking for new query: numPingsReceived=86, elapsed TxPingTime=45.658455" StoppingE hAE ZIE bIE jIE 1rIA zIE :IE _:IE 3IA IE :<IE :<IE t;IE u;VF)=Fl>Ft>FDDAT read: Rx Time:19:27:19.9793 TRx dataTimestamp_ set to:1736537240.367154PDAT read: Bearing 157.5, 79.6 (Local) -~Local bearing/azimuth received: Bearing 157.5, 79.6 (Local) MDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ZAaM?Ix,R&]A>DAT read: 19:27:19.9793 LVL= 22768, 27889, 20306, 27891, AGC= 31, IDX= 505, 0.04,-1.960,-1.657,-2.005,-3.044, PHS= 1.172, 1.434, 1.036, RAW= 349.6, -74.8, CAL= 352.5, -79.6, ROT= 157.5, 79.6 BYgot valid direction response: 19:27:19.9793 LVL= 22768, 27889, 20306, 27891, AGC= 31, IDX= 505, 0.04,-1.960,-1.657,-2.005,-3.044, PHS= 1.172, 1.434, 1.036, RAW= 349.6, -74.8, CAL= 352.5, -79.6, ROT= 157.5, 79.6 BT#Rx 87: Read range and direction messages.F`direction in FSK: [-0.166778,0.069082,-0.983571]FFpublishing direction and range infoY&OaXſmV?XUjy￙?9X l)ROIli?P??@@ )@Iӱi/@ӱ? 5ſ0T#B<ɿ|בIi ?/@ӱ? vchecking for new query: numPingsReceived=87, elapsed TxPingTime=45.968288\?y@9<٣ G %>)]=49-l?a=4Y- i-B9=h?q=@-,D-;-G;-h4i m;@iZjZ5ll?bjzk iis&]Aj?j?2j[@p\п?*zp&OaXſmV?XUjy"j/@*jӱ?p$liHlUuֿ VKpڤqȜGcο[!riSj@zi,Icl?i\{  jMBzjbl?j<\ jMBjj>rj]@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.495439 s, deltaX: 0.100000 m, approachRate: 0.201841 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 260.264626 deg, lat: 36.903921 deg, lon: -122.119063 deg, deltaT: 0.495439 s, deltaX: 0.100000 m, approachRate: 0.201841 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeeje Je ?:e `*6?:Ju,~LBJu-9JJqRJuZJu雍Bɛ>) &@i).p>隑i^iI<X"Ix,2&]AV?yV*@9V\1٣1 5G5.F5 =>`direction in FSK: [-0.162643,0.070045,-0.984196]Fpublishing direction and range infoQYUުzĿtx?_ut·~￙U3?9QUP[ Uo)UPIU#niQUE?Uȶ?Uz?UE@ U6)UQ@IUaFiU /@UaF?Q QUK%ſ?sɿ:IUiUl~?U /@UaF?Q Q]49'm?a4Y iB+=mM<X?q@,D::\4 q@checking for new query: numPingsReceived=88, elapsed TxPingTime=46.525665ZjUաl?bjU iQiU7&]AjU3?jU?2jU=@pUIME%ͿŪ#?fp zpUުzĿtx?_ut·~"jU /@*jUaF?pUVIQ*(ԿֳpU1BQͿiUjURyiU l?iU,  jUBzjU١l?jU jUkBjjU>rjUÅ@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.504177 s, deltaX: -0.100000 m, approachRate: -0.198343 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 259.490275 deg, lat: 36.903921 deg, lon: -122.119063 deg, deltaT: 0.504177 s, deltaX: -0.100000 m, approachRate: -0.198343 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgfBeejeJe`ff?:e @?uBɛu) >)q u(@iq)}ms>yyi}MiB<BAG G &IG }BG & =G G :DG <G F checking for new query: numPingsReceived=88, elapsed TxPingTime=46.668114VF :=zF hArF Fi ZAy M >=*Ix,cFM&]AZI,bI.jI,rI,zI,I.b:I,I,I,I,I.?;I.?;N?yNh@9N v?x]~49z2m?a~4Yz, izBU?q@z,Dz:z:zf4  @ 5B*** querying acoustic contact ***i1i12iAhA*iAhAhAhAhAhIhIgIgIbgQjgQeQeQjeYJeY:e]R?雁ɛp>)p5= (@i)t>隉ii)<2#;II"StoppingVFN=FIZAQMm=%DDAT read: Rx Time:19:27:20.9793 -TRx dataTimestamp_ set to:1736537241.375537MPDAT read: Bearing 155.1, 79.9 (Local) U~Local bearing/azimuth received: Bearing 155.1, 79.9 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:20.9793 LVL= 21536, 25969, 19442, 26483, AGC= 30, IDX= 505, 0.08,-1.602,-1.320,-1.656,-2.685, PHS= 1.171, 1.412, 1.025, RAW= 351.9, -75.2, CAL= 354.9, -79.9, ROT= 155.1, 79.9 Ygot valid direction response: 19:27:20.9793 LVL= 21536, 25969, 19442, 26483, AGC= 30, IDX= 505, 0.08,-1.602,-1.320,-1.656,-2.685, PHS= 1.171, 1.412, 1.025, RAW= 351.9, -75.2, CAL= 354.9, -79.9, ROT= 155.1, 79.9  T#Rx 89: Read range and direction messages. `direction in FSK: [-0.159065,0.073836,-0.984503]5Fpublishing direction and range info!Y%uU@\Ŀb?a/ ￙%?9!% T %qe)%KI%sgi%%T?%j?%33?%@ %)%6@I%i%?-@%?! !%O>Ŀ*ɿ{I%B i%]ܧ?%?-@%?! !uchecking for new query: numPingsReceived=89, elapsed TxPingTime=46.966042:Ju BJu 89JJq RJu ZJu OIx,g&]A2checking for new query: numPingsReceived=89, elapsed TxPingTime=47.1701816D?y6=@96+B^X&II`)`Hj"Hjq5r rK=Yr׀;Q v>t٣t vGtzϼ z>|]49~m?a4Y~ i~BPR?q @~,D~:~:~s 4 @Zj]'yl?bj] iYi]X&]Aj]?j]?2j](@p]`οVZ?Dɠzp]uU@\Ŀb?a/ "j]?-@*j]?p]aFDwH]ֿ(cBOp] CYYͿ.Xi]겾j]i]Wnl?i];  j]TBzj],Icl?j]\{ j]TBjj]c>rj]f@m addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504206 s, deltaX: 0.100000 m, approachRate: 0.198332 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 258.041916 deg, lat: 36.903921 deg, lon: -122.119062 deg, deltaT: 0.504206 s, deltaX: 0.100000 m, approachRate: 0.198332 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe%?:e%S?EBɛE|>)Eަ) E8(@iA)MqYw>IIiMZiQUảM Ygot valid direction response: 19:27:21.4793 LVL= 24384, 29473, 21170, 28659, AGC= 31, IDX= 504, 0.12,-2.171,-1.900,-2.229, 3.001, PHS= 1.199, 1.429, 1.050, RAW= 352.9, -75.7, CAL= 356.0, -80.3, ROT= 154.0, 80.3 M T#Rx 90: Read range and direction messages.U `direction in FSK: [-0.151437,0.073861,-0.985703]U Fpublishing direction and range infoaYe/޿Kbÿh?@￙a9ae@_ e!s)eRIeoieex?ey?eff?e@ e)e@IeUdie,@eUd?a ae=vnÿDVK/ɿGazDIe ie;/?e,@eUd?a au checking for new query: numPingsReceived=90, elapsed TxPingTime=47.46681679Ix,&]A2\?y2*M@92\ ٣   G /F5) 5>9]E49=m?aE4Y=* i=BMY\=mMvrjE6@uchecking for new query: numPingsReceived=90, elapsed TxPingTime=47.674488 addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.508729 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 256.830796 deg, lat: 36.903921 deg, lon: -122.119062 deg, deltaT: 0.508729 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgBeejeJe:en?UBɛUc>)Y ]^)@iY)ety>隁iDi/a<fII"StoppingZI]bI]jI]0rIYzI]:I]A:I]ـ3IYI]'<I]'<I]{;I]{;VFE <F! ZAY M >M DDAT read: Rx Time:19:27:21.9793 U TRx dataTimestamp_ set to:1736537242.384636 PDAT read: Bearing 153.5, 80.3 (Local)  ~Local bearing/azimuth received: Bearing 153.5, 80.3 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 aIx,Ú&]ARDAT read: 19:27:21.9793 LVL= 24624, 29809, 21266, 28915, AGC= 31, IDX= 504, 0.18,-2.189,-1.921,-2.249, 2.984, PHS= 1.198, 1.425, 1.047, RAW= 353.4, -75.8, CAL= 356.5, -80.3, ROT= 153.5, 80.3 VYgot valid direction response: 19:27:21.9793 LVL= 24624, 29809, 21266, 28915, AGC= 31, IDX= 504, 0.18,-2.189,-1.921,-2.249, 2.984, PHS= 1.198, 1.425, 1.047, RAW= 353.4, -75.8, CAL= 356.5, -80.3, ROT= 153.5, 80.3 VT#Rx 91: Read range and direction messages.Z`direction in FSK: [-0.150787,0.075180,-0.985703]^Fpublishing direction and range info؁b?ybA@9b4?@￙؁9؁؅0` مqt)مSIمpiفمX?مff?م?م4`@ څV)څo@Iځiڅv+@ځځ ہۅ ¿}sJɿ0Iۅo iۅ9?ۅv+@ہہ ܁5checking for new query: numPingsReceived=91, elapsed TxPingTime=48.0044145KBui&IHH.l5< J=Y҉:Q  > ٣   G @9 M>]49m?a4Y i B4s?q @,D::}4 @Zjl?bja ii&]Ajj2j >@pfz̿Nt޼?d)zpZ=Lÿk >?@"jv+@*jp_شmiտW-Xp*˫td̿Wb'= iTjǦi l?iҜ  j`BzjWnl?j; jjj>rjq@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.500370 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 256.474418 deg, lat: 36.903922 deg, lon: -122.119062 deg, deltaT: 0.500370 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe:e?雉ɛ>) *@i){>隑i@Vi<0\II:JBJ-9JJRJZJ ;4 y}Achecking for new query: numPingsReceived=91, elapsed TxPingTime=48.178719^DpG("StoppingVFm :Fa ZAi M >SIx,ک&]A ~GA i)y A DDAT read: Rx Time:19:27:22.4792 TRx dataTimestamp_ set to:1736537242.8908675PDAT read: Bearing 154.3, 80.3 (Local) =~Local bearing/azimuth received: Bearing 154.3, 80.3 (Local)  DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 mDAT read: 19:27:22.4792 LVL= 24560, 29553, 22802, 27635, AGC= 32, IDX= 503, 0.23, 2.849, 3.121, 2.792, 1.734, PHS= 1.203, 1.434, 1.055, RAW= 352.7, -75.8, CAL= 355.7, -80.3, ROT= 154.3, 80.3 uYgot valid direction response: 19:27:22.4792 LVL= 24560, 29553, 22802, 27635, AGC= 32, IDX= 503, 0.23, 2.849, 3.121, 2.792, 1.734, PHS= 1.203, 1.434, 1.055, RAW= 352.7, -75.8, CAL= 355.7, -80.3, ROT= 154.3, 80.3 }T#Rx 92: Read range and direction messages.`direction in FSK: [-0.151822,0.073067,-0.985703]Fpublishing direction and range infoY3apnÿSd?@￙3?9_ qs)YIki ?P?= ?@ )@IiZ,@ ÿ!_ ɿI3iI?Z,@ checking for new query: numPingsReceived=92, elapsed TxPingTime=48.500572MOBMn&Ie4=ie<)m= m=@ Mb@Mb@Mb@ )Iy~jt?S㥛~jtxD</ݼĻ @)@I@i@H=$H=r5mq< =YQ >٣ G0F >]49m?a4Y` i B<m<\?q @,D:V:&4 @Zj)m?bj ii&]Aj3?j?2j@p)/4˿x/?>jzp3apnÿSd?@"jZ,@*jpOVHu{9ԿD0vp% ܄VVg̿);!iˡj씽im?i   jBzj/ $l?j[ j`Bjj>rj,!@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.506231 s, deltaX: -0.100000 m, approachRate: -0.197538 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 257.041214 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.506231 s, deltaX: -0.100000 m, approachRate: -0.197538 m/s, posRepo size: 4 2ih*ihhh h)h)h)g)g1bg1jg1e1e9je9Je=`ff?:e=?雍Bɛ>) *@i)~>隑i򪛽i}J<:V IIG_>GG&IGBG =GGG<G F checking for new query: numPingsReceived=92, elapsed TxPingTime=48.682560^D d)" Stopping]DDAT read: Rx Time:19:27:22.9793 mTRx dataTimestamp_ set to:1736537243.392402PDAT read: Bearing 153.8, 80.3 (Local) ~Local bearing/azimuth received: Bearing 153.8, 80.3 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 VFTzFiArFUDAT read: 19:27:22.9793 LVL= 24528, 29473, 21362, 28819, AGC= 31, IDX= 504, 0.29,-2.370,-2.101,-2.428, 2.809, PHS= 1.193, 1.420, 1.044, RAW= 353.1, -75.7, CAL= 356.2, -80.3, ROT= 153.8, 80.3 eYgot valid direction response: 19:27:22.9793 LVL= 24528, 29473, 21362, 28819, AGC= 31, IDX= 504, 0.29,-2.370,-2.101,-2.428, 2.809, PHS= 1.193, 1.420, 1.044, RAW= 353.1, -75.7, CAL= 356.2, -80.3, ROT= 153.8, 80.3 FZAM? Ix,i&]A>T#Rx 93: Read range and direction messages.B`direction in FSK: [-0.151179,0.074389,-0.985703]BFpublishing direction and range infoYfM]8Yÿ) ?@￙?9_ !s)rSIpi9?µ?ˡ?P5@ )@Ii+@ \>OT¿f0ɿ4V_m?yVqU@9Vwy٣y }Gy8< >]49xm?a4Y i B.^?q @,D;;-4 [@Zjy9m?bjR ii&]Aj?j?2jt@pԹͿo?d)zpfM]8Yÿ) ?@"j+@*jpf^ 7"տRZpX~֪\Jh-̿mPX#iiji!m?i  jiBzj l?jҜ jjjr>rjU"@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.501535 s, deltaX: 0.100000 m, approachRate: 0.199388 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 256.857001 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.501535 s, deltaX: 0.100000 m, approachRate: 0.199388 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe?:e@V?雁ɛQ>)5 E+@i)>隑i iס<ʎIICCCC:J]MBJ]#9JJYRJ]ZJ] %checking for new query: numPingsReceived=93, elapsed TxPingTime=49.186764"]StoppingZI- bI- jI- 1rI) zI- :I- o5:I- 3I) q5 @i5 @u5 @m5 @VF ;3Fq ZA M >3Ix,\&]AvDDAT read: Rx Time:19:27:23.4793 vTRx dataTimestamp_ set to:1736537243.894767~PDAT read: Bearing 152.3, 80.2 (Local) ~~Local bearing/azimuth received: Bearing 152.3, 80.2 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 5DAT read: 19:27:23.4793 LVL= 22672, 28897, 22690, 28083, AGC= 30, IDX= 503, 0.33, 2.541, 2.798, 2.478, 1.457, PHS= 1.172, 1.389, 1.018, RAW= 354.5, -75.7, CAL= 357.7, -80.2, ROT= 152.3, 80.2 =Ygot valid direction response: 19:27:23.4793 LVL= 22672, 28897, 22690, 28083, AGC= 30, IDX= 503, 0.33, 2.541, 2.798, 2.478, 1.457, PHS= 1.172, 1.389, 1.018, RAW= 354.5, -75.7, CAL= 357.7, -80.2, ROT= 152.3, 80.2 =T#Rx 94: Read range and direction messages.`direction in FSK: [-0.150702,0.079121,-0.985408]Fpublishing direction and range infotYv7Jÿ/=A?b#v￙t9tvX vp)vXIvmivv?vʱ?vM?vz@ t)v@Iv$+ I7?y f@9 y٣ G1F9< >!]-49%m?aM4Y% i%BMr<mM=U?qU @%,D% ;%;%974Y ]׼@YZjvfm?bjvG itivC&]Ajtjt2jv@pvTfS̿Va? Xzpv7Jÿ/=A?b#v"jv*@*jv$+?pvS tZMY̚տ# IϊXpvo0xe̿ba iv֬jviv7.vm?iv6  jvaBzjv7.vm?jv jvaBjjv޶>rjv7@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.502365 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 1.500000 m, bearing: 256.058235 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.502365 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iah*ihhhhhhggbgjgfBeejeJe:eu? ɛ$o>) U*@i)>i iAeiGG&IGBGGGG.<G FEE >EE=}A}Achecking for new query: numPingsReceived=94, elapsed TxPingTime=49.690819VF] F9 ZAA Me >Ix,"m']A6BR?y6G@96rEUB>u&II@)@DDHJ2HJy5Rk= R=YVλQ V?T٣T VGTZ< Z?\]b49^m?af4Y^ i^Bdj?qj @\^rY;^+Z;^_<4p rK@pEB*** querying acoustic contact ***iAiA2ih1*i1h9h9h9hAhAhAgaDDAT read: Rx Time:19:27:23.9794 TRx dataTimestamp_ set to:1736537244.397010PDAT read: Bearing 153.5, 80.2 (Local) ~Local bearing/azimuth received: Bearing 153.5, 80.2 (Local) DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 %DAT read: 19:27:23.9794 LVL= 23280, 28881, 22722, 28131, AGC= 31, IDX= 504, 0.43,-2.673,-2.404,-2.733, 2.511, PHS= 1.188, 1.416, 1.037, RAW= 353.3, -75.6, CAL= 356.5, -80.2, ROT= 153.5, 80.2 -Ygot valid direction response: 19:27:23.9794 LVL= 23280, 28881, 22722, 28131, AGC= 31, IDX= 504, 0.43,-2.673,-2.404,-2.733, 2.511, PHS= 1.188, 1.416, 1.037, RAW= 353.3, -75.6, CAL= 356.5, -80.2, ROT= 153.5, 80.2 -T#Rx 95: Read range and direction messages.5`direction in FSK: [-0.152326,0.075947,-0.985408]=Fpublishing direction and range infoY_nÿ|NDq?b#v￙?9Z p)XImigbgAjgAeIeIjeIJeM@33?:eU@J?b?}??j?Q@ [䨿)o@Iiv+@ kUÿe#ɿK|cI iq?v+@ uchecking for new query: numPingsReceived=95, elapsed TxPingTime=49.963825Bɛq>)5B r+@i)U>i ii><1I:J KBJ k9JJ RJ ZJ 2rbtJ% ? J% ?} checking for new query: numPingsReceived=95, elapsed TxPingTime=50.194237JIx,F-']AB?yB@9Bt٣t vGtv< v>|]49~m?a4Y~| i~B)?q  @~,D~:~:~C4ZI=bI9jI9rI9zI=K:I9I9I9 ~@Zj m?bj ^ i i h']Aj ?j ?2j 2ԏ@p Jj$п޷Lȭ?\4zp _nÿ|NDq?b#v"j v+@*j p bNqdA,ؿ0ˇ|p ;*~BMp̿L,)i bj #i Qm?i o  j Bzj Qm?j j jj >rj @} addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.502243 s, deltaX: 0.200000 m, approachRate: 0.398214 m/s, rangeRepo size: 4  Added new target pos. range: 1.700000 m, bearing: 257.524645 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.502243 s, deltaX: 0.200000 m, approachRate: 0.398214 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe:e_?qɛ>)  +@i)>iDi1m6+ٮIx,G']AG6]>G4G6&IG6BG6" =G4G4G6 <G6 F~SB~s&IEchecking for new query: numPingsReceived=96, elapsed TxPingTime=50.698483-only read 2 of 4 data items for bottom velocity. Device response is::BS, +5, +0,A @  @   @    @  H/Hw55*; =7=Y=Q E>A٣I MGM2FU ]>a]m49em?au4YeA ieBi}+:ym}=yq} @ae<;e>eI4 k@Zj-K5m?bj-i i)i-t9']Aj-?j-?2j-/@p-Kˬz7οXB:.?ȉzp-22s$Ŀ;‡,|ɲ?h"j-"-@*j-¸?p-?7տl:[p-j Φ&xyI̿;$i-)j-Ԉi-tm?i-*  j-hBzj-m?j-6 j-hBjj->rj-I@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504812 s, deltaX: -0.200000 m, approachRate: -0.396187 m/s, rangeRepo size: 4 U Added new target pos. range: 1.500000 m, bearing: 258.825461 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.504812 s, deltaX: -0.200000 m, approachRate: -0.396187 m/s, posRepo size: 4 2iYhY*iYhYhYhYhYhahagagabgajgieejeJe?:eg?ɛZ>) 3+@i) w)>  i Pi<)}] checking for new query: numPingsReceived=97, elapsed TxPingTime=51.029018"Ix,`']A2?y28@92xQ٣Q }Gy= >]49m?a4Y iBi :m<y?q @,D?&<U?=N4 @Zj%m?bj%x i!i%Y']Aj%?j% ?2j%F@p%d)5gѿzrH?Jzp%SKkyĿa~,g?a/ "j%.@*j%?p%bg, ȅ{ؿ{p%K0rG̿±ʆn'i%þj%i%om?i%$  j%Bzj%!m?j% j%aBjj%9>rj%@ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.501837 s, deltaX: 0.200000 m, approachRate: 0.398536 m/s, rangeRepo size: 4 5 Added new target pos. range: 1.700000 m, bearing: 260.111146 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.501837 s, deltaX: 0.200000 m, approachRate: 0.398536 m/s, posRepo size: 4 2i1h1*i1h1h1h1h9h9h9gAgIbgQjgQeYeajeiJe@33?:en?:J-VqOBJ)JJ)RJ-ZJ-$sR- ))L]Y;+ JAMchecking for new query: numPingsReceived=97, elapsed TxPingTime=51.202362IA]Bɛ]b>)Y ](@ia)e'D>ai ⬽ib_</=II^Dvh5"StoppingZI]bI]jIYrIYzI]:I]H:IYIYVFM ᜆ<zFa rFe iAF ZA M > DDAT read: Rx Time:19:27:25.4793  TRx dataTimestamp_ set to:1736537245.907763 PDAT read: Bearing 155.9, 79.6 (Local)  ~Local bearing/azimuth received: Bearing 155.9, 79.6 (Local) % DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 M DAT read: 19:27:25.4793 LVL= 24560, 29681, 20674, 28211, AGC= 31, IDX= 504,-0.39, 1.173, 1.467, 1.119, 0.086, PHS= 1.175, 1.428, 1.030, RAW= 351.1, -74.8, CAL= 354.1, -79.6, ROT= 155.9, 79.6 Ix,z']AYgot valid direction response: 19:27:25.4793 LVL= 24560, 29681, 20674, 28211, AGC= 31, IDX= 504,-0.39, 1.173, 1.467, 1.119, 0.086, PHS= 1.175, 1.428, 1.030, RAW= 351.1, -74.8, CAL= 354.1, -79.6, ROT= 155.9, 79.6 T#Rx 98: Read range and direction messages.`direction in FSK: [-0.164784,0.073711,-0.983571]Fpublishing direction and range info1Y57ſZ/޲?XUjy￙5?915_ 1)5PI53ni15ff?5ȶ?5 ׃?5[@ 5)5J@I5ӱi5X$.@5ӱ?1 15a\(ſLʿ^pI5i5%?5X$.@5ӱ?1 1uchecking for new query: numPingsReceived=98, elapsed TxPingTime=51.512966G?yer@9∌٣ G3F< >]E49um?aE4Y iimT:m=mmrj5\-@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504104 s, deltaX: -0.200000 m, approachRate: -0.396744 m/s, rangeRepo size: 4 u Added new target pos. range: 1.500000 m, bearing: 260.994782 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.504104 s, deltaX: -0.200000 m, approachRate: -0.396744 m/s, posRepo size: 4 2iqhq*iqhqhyhyhyhyhygygbgjg^BeejeJe?:e`?ɛ6>)! %(@i!)%>!!i-i)-<5aF=I1I1Geg>GaGaGaGe% =GaGaGe<Ge Fechecking for new query: numPingsReceived=98, elapsed TxPingTime=51.707134^D B" StoppingE =E VF} =FY ZAa M} >Ix,']A^?yf@9\zY٣Y ]GY]+= e>i]u49mm?au4Ym iiqu*@qu @m,DmE:m:m\4y ǽ@DDAT read: Rx Time:19:27:25.9793 TRx dataTimestamp_ set to:1736537246.412824PDAT read: Bearing 156.0, 79.6 (Local) ~Local bearing/azimuth received: Bearing 156.0, 79.6 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:25.9793 LVL= 24496, 29681, 20770, 28403, AGC= 31, IDX= 504,-0.34, 1.078, 1.374, 1.024,-0.006, PHS= 1.172, 1.427, 1.027, RAW= 350.9, -74.7, CAL= 354.0, -79.6, ROT= 156.0, 79.6  Ygot valid direction response: 19:27:25.9793 LVL= 24496, 29681, 20770, 28403, AGC= 31, IDX= 504,-0.34, 1.078, 1.374, 1.024,-0.006, PHS= 1.172, 1.427, 1.027, RAW= 350.9, -74.7, CAL= 354.0, -79.6, ROT= 156.0, 79.6  T#Rx 99: Read range and direction messages.`direction in FSK: [-0.164912,0.073424,-0.983571]Fpublishing direction and range infoؙY؝[pZſrt(˲?XUjy￙ؙ9ؙ؝_ ٙ)ٝ"QIٝniٙٝ?ٝ?ٝt?ٝ@ ڝᦿ)ڝ@Iڙiڝ@.@ڙڙ ۙ۝LUCDſ)fI>ʿ:*JLI۝Xi۝?۝@.@ۙۙ ܙ=checking for new query: numPingsReceived=99, elapsed TxPingTime=51.980839Zj[m?bjĨ iik']Ajj?2jV@pƩϿ1?*zp[pZſrt(˲?XUjy"j@.@*jpb$+vտ050`ZpݣATe:TI3Ϳ@*#i3jOi;Sm?i=  jRBzjj* jRBjj>rj)ے@% addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.505061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 1.500000 m, bearing: 261.561227 deg, lat: 36.903922 deg, lon: -122.119061 deg, deltaT: 0.505061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i1h9*i9h9hYhYhYhYhYgagabgajgaeieijeiJei:eu7?ɛ}>)  e(@i ) '>  i Ѳi}z<}z=IyICCCC"% StoppingM checking for new query: numPingsReceived=99, elapsed TxPingTime=52.212009:Ju OBJq JJq RJu ZJu  (+*)$!VFM e=ZI bI jI 0rI zI K:I S:I ـ3I FAZAIMm>3Ix,.']Af?yfg@9fe٣ G4Fuz= }>]49pm?a%4Y iB)-+@q- @,DX < <de41 5.@1}B*** querying acoustic contact ***iyiyDDAT read: Rx Time:19:27:26.4792 TRx dataTimestamp_ set to:1736537246.915838PDAT read: Bearing 156.0, 79.6 (Local) ~Local bearing/azimuth received: Bearing 156.0, 79.6 (Local) DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 19:27:26.4792 LVL= 25664, 29681, 24210, 28659, AGC= 31, IDX= 503,-0.26,-0.090, 0.204,-0.143,-1.175, PHS= 1.173, 1.426, 1.029, RAW= 351.0, -74.8, CAL= 354.0, -79.6, ROT= 156.0, 79.6 Ygot valid direction response: 19:27:26.4792 LVL= 25664, 29681, 24210, 28659, AGC= 31, IDX= 503,-0.26,-0.090, 0.204,-0.143,-1.175, PHS= 1.173, 1.426, 1.029, RAW= 351.0, -74.8, CAL= 354.0, -79.6, ROT= 156.0, 79.6 V#Rx 100: Read range and direction messages.`direction in FSK: [-0.164912,0.073424,-0.983571]Fpublishing direction and range info؉Y؍[pZſrt(˲?XUjy￙؍3?9؉؍@d ى)ٍ^Iٍoiىٍ$?ٍ+?ٍF?ٍ @ ڍ)ډIډiډډډ ۉۍcſ ʿMIۍGiۍ9$?ۉۉۉ ܉checking for new query: numPingsReceived=100, elapsed TxPingTime=52.480423- addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503014 s, deltaX: -0.100000 m, approachRate: -0.198802 m/s, rangeRepo size: 4 2i1h1*i1h1h1h1h1h1h9gYgYbgajgaeaeajeaJem`ff?:em ?ɛhX>) '@i)Ή>!!i%(i1={<=W =I9I9"UStoppedVFz6=FIZAY dClearing failed state for component DockingStepper1M>G% l>G% CG! G! G%  =G! G% ٣ G >]49m?a4Yj ii+:m<q @:>j4 ޾@ZjKl?bjv ii']Aj3?j?2jr@pcͿ P?Y 21zp[pZſrt(˲?XUjy"j*jpfpQ_gԿؑpdN ⟿zu%Ϳ$i8j2i6l?id  jrBzjjb jTBjj>rjI@2ih*ihhhhhhg!g!bg!jg!e)e)je)Je):e-?Bɛ />)=R &@i)Z>izi0<Q֒=I I)"= Start "=4Initializing EZServoServo.DDAT read: Rx Time:19:27:26.9793 TRx dataTimestamp_ set to:1736537247.419783PDAT read: Bearing 156.1, 79.6 (Local) ~Local bearing/azimuth received: Bearing 156.1, 79.6 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:26.9793 LVL= 24528, 29793, 20466, 28323, AGC= 31, IDX= 504,-0.21, 0.948, 1.245, 0.894,-0.136, PHS= 1.172, 1.428, 1.027, RAW= 350.9, -74.7, CAL= 353.9, -79.6, ROT= 156.1, 79.6 Ygot valid direction response: 19:27:26.9793 LVL= 24528, 29793, 20466, 28323, AGC= 31, IDX= 504,-0.21, 0.948, 1.245, 0.894,-0.136, PHS= 1.172, 1.428, 1.027, RAW= 350.9, -74.7, CAL= 353.9, -79.6, ROT= 156.1, 79.6  V#Rx 101: Read range and direction messages.`direction in FSK: [-0.165040,0.073136,-0.983571]Fpublishing direction and range infoءYإ( ſ=E?XUjy￙إ?9ءإ_ ٥at)٥OI٥ni١٥?٥ȶ?٥t?٥@ ڥᦿ)ڥ@Iڡiڥ].@ڡڡ ۡۥ߲~Wſ>Gʿ uGIۥ/iۥ̦?ۥ].@ۡۡ ܡ-checking for new query: numPingsReceived=101, elapsed TxPingTime=52.984638 "=8Initializing DockingStepper.EAEAVF] }z=F1 ZAA M] >DIx,Y']AN?yN @9N Gp٣t vGtv> v>|]~49~m?a4Y~I i|i :m<.@q @~,D~:~>?~n4 $@Zj[l?bj.FM ii']Aj?j?2ju@checking for new query: numPingsReceived=101, elapsed TxPingTime=53.218395p< Ͽg?*zp( ſ=E?XUjy"j].@*jpHGtld,b ֿ$2aYp6M rjp@] addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503945 s, deltaX: 0.100000 m, approachRate: 0.198434 m/s, rangeRepo size: 4 :JMBJ-9JJRJZJ    Added new target pos. range: 1.500000 m, bearing: 264.026197 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 1.006959 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe?:e/?yɛ}>)y }~%@i)Mҋ>隡iHi/ƥ<t=II"%StartingVFI@=FZAML>I1)9 ~~GlA A) dy lA A DDAT read: Rx Time:19:27:27.4792  TRx dataTimestamp_ set to:1736537247.923692 PDAT read: Bearing 155.9, 79.4 (Local)  ~Local bearing/azimuth received: Bearing 155.9, 79.4 (Local)  vDAT read: Rto 50 : 1.4 m (trip time 0.9 ms) speed 0.0  unknown deviceResponse_: Rto 50 : 1.4 m (trip time 0.9 ms) speed 0.0 5 DAT read: 19:27:27.4792 LVL= 24352, 29681, 20498, 28451, AGC= 31, IDX= 503,-0.18,-0.487,-0.191,-0.542,-1.556, PHS= 1.157, 1011, RAW= 351.0, -74.5, CAL= 354.1, -79.4, ROT= 155.9, 79.4  !unknown deviceResponse_: 19:27:27.4792 LVL= 24352, 29681, 20498, 28451, AGC= 31, IDX= 503,-0.18,-0.487,-0.191,-0.542,-1.556, PHS= 1.157, 1011, RAW= 351.0, -74.5, CAL= 354.1, -79.4, ROT= 155.9, 79.4  checking for new query: numPingsReceived=101, elapsed TxPingTime=53.502186)Jx,(]AJ/?yJٖ @9JYJ٣ G5F&= >]49m?a4Y& ii9m\</@q @,D ;?r4 @2ih*ihhhhhhggbgjgeejeJe:e`w?5Bɛ5Df>)1 5#@i1)=vČ>99i=4IiAEJIAIA"UStartingGi>GG&IGBG =GGGϰ<G Fchecking for new query: numPingsReceived=101, elapsed TxPingTime=53.723412VFx=FyZAM>ZIbIjIrIzI+:IF:III2<qI2<i%I;u%I;m%VJx,(]A2DDAT read: Rx Time:19:27:27.9793 2TRx dataTimestamp_ set to:1736537248.427695:PDAT read: Bearing 156.7, 79.4 (Local) >~Local bearing/azimuth received: Bearing 156.7, 79.4 (Local) FDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 VDAT read: 19:27:27.9793 LVL= 24352, 29601, 20466, 28467, AGC= 31, IDX= 504,-0.12, 0.621, 0.924, 0.571,-0.453, PHS= 1.163, 1.424, 1.021, RAW= 350.3, -74.5, CAL= 353.3, -79.4, ROT= 156.7, 79.4 ZYgot valid direction response: 19:27:27.9793 LVL= 24352, 29601, 20466, 28467, AGC= 31, IDX= 504,-0.12, 0.621, 0.924, 0.571,-0.453, PHS= 1.163, 1.424, 1.021, RAW= 350.3, -74.5, CAL= 353.3, -79.4, ROT= 156.7, 79.4 ^V#Rx 102: Read range and direction messages.b`direction in FSK: [-0.168949,0.072761,-0.982935]bFpublishing direction and range info0Y2 "ſ4y?4t￙0902 _ 2s)0I23oi02/ݔ?2E?2!?2@ 2Bo)2Q@I2ai2 /@2a?0 02 ſXʿͶI2*i2h?2 /@2a?0 0~checking for new query: numPingsReceived=102, elapsed TxPingTime=53.994217ޕBޕ&IHH:5M M1=YUQ U>Q٣Q ]GY] ]>]49em?a4Y iBi9m2<q @,D:?mv4 H@Zj2l?bj2Q) i0i2[_(]Aj0j2?2j2R@p2VGz8пY˘?'zp2 "ſ4y?4t"j2 /@*j2a?p2\ƛk jֿj'Up2bnqͿǚ-5i2Pj25޼i2l?i29  j2Bzj26l?j2\ j0jj2>rj2?@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 1.007912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 265.571213 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 1.007912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe:e`?]Bɛe}>)a e !@ia)e>iiimiiuuDAT read: 19:27:28.4793 LVL= 25744, 29649, 24290, 28563, AGC= 31, IDX= 503,-0.09,-0.139, 0.158,-0.188,-1.224, 73, 1.429, 1.033, RAW= 350.4, -74.8, CAL= 353.3, -79.7, ROT= 156.7, 79.7 n!unknown deviceResponse_: 19:27:28.4793 LVL= 25744, 29649, 24290, 28563, AGC= 31, IDX= 503,-0.09,-0.139, 0.158,-0.188,-1.224, 73, 1.429, 1.033, RAW= 350.4, -74.8, CAL= 353.3, -79.7, ROT= 156.7, 79.7 -n\#Rx 103: Read range message, but no direction.9rchecking for new query: numPingsReceived=103, elapsed TxPingTime=54.505924E?yE @9EU!٣! -G-6F-e= ->1]=495 l?a=4Y5 i1iE9AmE)  @i)Z>il@Ži<;>II^DO"StartingGuo>GuCGu&IGuBGu =GqGu=DGu"<Gu FVF>FZAchecking for new query: numPingsReceived=103, elapsed TxPingTime=54.731094M>IIO3I(.IIIZI bI jI 1rI zI :I `:I 3I I f1<I f1<I Z;I Z;$ Jx,>#U(]AEE@yEc@9E\٣! %G!%= %>=DDAT read: Rx Time:19:27:28.9794 =TRx dataTimestamp_ set to:1736537249.435758EPDAT read: Bearing 157.2, 79.7 (Local) M~Local bearing/azimuth received: Bearing 157.2, 79.7 (Local) ]DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 ueDAT read: 19:27:28.9794 LVL= 25328, 30097, 24162, 29587, AGC= 31, IDX= 504,-0.04, 0.926, 1.225, 0.880,-0.156, PHS= 1.170, 1.428, 1.034, RAW= 349.9, -77 }unknown deviceResponse_: 19:27:28.9794 LVL= 25328, 30097, 24162, 29587, AGC= 31, IDX= 504,-0.04, 0.926, 1.225, 0.880,-0.156, PHS= 1.170, 1.428, 1.034, RAW= 349.9, -77 -\#Rx 104: Read range message, but no direction.9=?99checking for new query: numPingsReceived=104, elapsed TxPingTime=54.994007]49l?a4Y iio9m;2@q @,D:}#@{4 @ addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503878 s, deltaX: 0.200000 m, approachRate: 0.396922 m/s, rangeRepo size: 4 2ih*ihhhhhhggbgjgeejeJe@33?:eAA? Bɛ X>)  G@i )P>i}/Ƚiy<8&>II^De `R"m StartingEi Ei  checking for new query: numPingsReceived=104, elapsed TxPingTime=55.235477:J BHBJ `9JJ RJ ZJ Z@C# VF%>Fp>F>FZAM]?>Jx,w(]A@y@9yeQ٣Q5$?5?5@@ 5ᦿ)5@I5ӱi5/@5ӱ?1 15]ſFs.zɿ-߁~I5]i5 ?5/@5ӱ?1 1uchecking for new query: numPingsReceived=105, elapsed TxPingTime=55.560387 }G}7F&< >]49l?a4Y iiB9m;<3@q @,Di ;G@}4 @Zj5izl?bj5{ i1i5%|(]Aj1j5?2j5Q@p5\п?*zp5&OaXſmV?XUjy"j5/@*j5ӱ?p5PbPq|Mֿ9g,xQp505%PsDοJi5j5ci5Bxl?i5G  j5Bzj5ْl?j59 j5rj5+ә@} addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504049 s, deltaX: -0.200000 m, approachRate: -0.396787 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 267.757860 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 1.512112 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe?:e ` ?uBɛ}P:>)y }/@iy)}Iؑ>隁i̽i<5G.>IICCCCGuj>GuCGu&IGuiBGqGqGqGu<Gu F A checking for new query: numPingsReceived=105, elapsed TxPingTime=55.739223"] StartingVF5 M>F ZA M% >$Jx,I(]AF@yFf@9Fe隹i8νiw<:7>II"Starting"LSent speed cmd:/1V10000 Response:/0@ VF >UDDAT read: Rx Time:19:27:29.9793 UTRx dataTimestamp_ set to:1736537250.444297mPDAT read: Bearing 156.3, 80.0 (Local) m~Local bearing/azimuth received: Bearing 156.3, 80.0 (Local) }DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:29.9793 LVL= 26208, 29041, 25218, 28851, AGC= 30, IDX= 503,-0.01, 0.647, 0.930, 0.601,-0.431, PHS= 1.166, 1.408, 1.029, RAW= 350.8, -75.4, CAL= 353.7, -80.0, ROT= 156.3, 80.0 Ygot valid direction response: 19:27:29.9793 LVL= 26208, 29041, 25218, 28851, AGC= 30, IDX= 503,-0.01, 0.647, 0.930, 0.601,-0.431, PHS= 1.166, 1.408, 1.029, RAW= 350.8, -75.4, CAL= 353.7, -80.0, ROT= 156.3, 80.0 V#Rx 106: Read range and direction messages.`direction in FSK: [-0.159003,0.069798,-0.984808]Fpublishing direction and range infoQYUG S7ZĿd?ޱ?h￙Q9QU`f Uqq)UbFZAIUpiUU}??UX9?UF?Uv@ Uq)U@IU¸iU.@U¸?Q QU/+s%m`ĿlɿjK'IU61iUc?U.@U¸?Q Qchecking for new query: numPingsReceived=106, elapsed TxPingTime=56.012043MI> J*Jx,((]AVchecking for new query: numPingsReceived=106, elapsed TxPingTime=56.242245nֆBr%IHvHv3A5%aK -H=Y5Q 5>1٣1 =G9E E>I]M49Ml?aU4YM` iMBiU8QmUy;QqU @IM;Mt@M4a e;@aZjl?bj' ii]o(]Ajj2j+Ԕ@pRο _ͺ?ȉzpG S7ZĿd?ޱ?h"j.@*j¸?p8ZtQֿWp$VJO"xͿRBijޯiB l?i   jBzjl?jG jBjjb>rjg1@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504490 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 266.476899 deg, lat: 36.903922 deg, lon: -122.119060 deg, deltaT: 0.504490 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgeejeJe:e`?:J5MBJ5#9JJ1RJ5ZJ5\@9 O]|#_%O) J= ? J= ?雵Bɛ|Q>)1X w@i)⋓>隹i:ѽi?< 5>II"uStartingVFR$>zFhArFhA}DDAT read: Rx Time:19:27:30.4792 FTRx dataTimestamp_ set to:1736537250.952987PDAT read: Bearing 158.3, 79.9 (Local) ~Local bearing/azimuth received: Bearing 158.3, 79.9 (Local) ZAM>DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  DAT read: 19:27:30.4792 LVL= 24464, 30865, 23346, 29491, AGC= 31, IDX= 502, 0.07,-0.597,-0.295,-0.636,-1.691, PHS= 1.182, 1.443, 1.053, RAW= 349.0, -75.2, CAL= 351.7, -79.9, ROT= 158.3, 79.9 % Ygot valid direction response: 19:27:30.4792 LVL= 24464, 30865, 23346, 29491, AGC= 31, IDX= 502, 0.07,-0.597,-0.295,-0.636,-1.691, PHS= 1.182, 1.443, 1.053, RAW= 349.0, -75.2, CAL= 351.7, -79.9, ROT= 158.3, 79.9 % V#Rx 107: Read range and direction messages. `direction in FSK: [-0.162939,0.064841,-0.984503] Fpublishing direction and range info؁Y؅_e.Ŀ-Qo?a/ ￙؅3?9؁؅_ مx)م2[Iم3siممK?م9?مȆ?م@ څ)څ%m@Iڅiڅ0@څ?ځ ہۅY<ſ VIȿd)]IۅWdiۅE?ۅ0@ۅ?ہ ܁ checking for new query: numPingsReceived=107, elapsed TxPingTime=56.54226331Jx, (]A2J@y2i@92\?o?2J@ɨ2e; 22CRΆBV%I      Mb@Mb@Mb@ )IyˡET㥛 ?y&1|?'=`; 7@)I@i(@׳@HHQ5 ?=YuQ >٣ G8F< >]49l?a4Y, iBiT:=m/<q @,D:v:Gi>GGh&IGJBG =GGrjh@checking for new query: numPingsReceived=107, elapsed TxPingTime=56.746494 addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.508690 s, deltaX: -0.100000 m, approachRate: -0.196583 m/s, rangeRepo size: 4  Added new target pos. range: 1.400000 m, bearing: 267.407058 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 0.508690 s, deltaX: -0.100000 m, approachRate: -0.196583 m/s, posRepo size: 4 2ih*ihhhhhhggbgjgBeejeJe`ff?:e%Hm?MBɛM>)Q UP@iQ)U >QQiU{ԽiY]zR<]@>II"&Changing to mode: 1"Standby mode."u2Commanding positive:13212ZIbIjIrIzI:If4:III@%<I@%<I֌;I֌;D57D1D1E5/  E5VF}3>F9 ZA M >e DDAT read: Rx Time:19:27:30.9793 e TRx dataTimestamp_ set to:1736537251.451642u PDAT read: Bearing 158.1, 79.9 (Local) u ~Local bearing/azimuth received: Bearing 158.1, 79.9 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 19:27:30.9793 LVL= 21712, 25905, 18402, 25571, AGC= 30, IDX= 503, 0.07, 1.139, 1.439, 1.100, 0.048, PHS= 1.179, 1.437, 1.049, RAW= 349.2, -75.2, CAL= 351.9, -79.9, ROT= 158.1, 79.9  Ygot valid direction response: 19:27:30.9793 LVL= 21712, 25905, 18402, 25571, AGC= 30, IDX= 503, 0.07, 1.139, 1.439, 1.100, 0.048, PHS= 1.179, 1.437, 1.049, RAW= 349.2, -75.2, CAL= 351.9, -79.9, ROT= 158.1, 79.9  V#Rx 108: Read range and direction messages. `direction in FSK: [-0.162712,0.065410,-0.984503] Fpublishing direction and range infoa Ye ~ndĿU?a/ ￙e ?9a e T e 1e)e GIe cie e y?e ?e E?e @ a )e @Ia ie r0@a a a e T&Wſ(2#ȿZsTIe ;ie ?e r0@a a a  checking for new query: numPingsReceived=108, elapsed TxPingTime=57.014416[7Jx,(]Ag@y@9U1K٣ G; >]49Rl?a4Y iBq @,D]$<$<G4! %@!Zjl?bj? ii(]Aj?j?2j@p(=Ͽ`?Dɠzp~ndĿU?a/ "jr0@*jp/)ֿ^i6Opr6 7nο(7Hijϭi'l?i,O  jBzjB l?jjBjje>rjt@E addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.498655 s, deltaX: 0.100000 m, approachRate: 0.200539 m/s, rangeRepo size: 4  Added new target pos. range: 1.500000 m, bearing: 266.595065 deg, lat: 36.903921 deg, lon: -122.119060 deg, deltaT: 0.498655 s, deltaX: 0.100000 m, approachRate: 0.200539 m/s, posRepo size: 4 2i=Docking sequence complete at range 1.50 m. Lat: 36.903921 Lon: -122.119060 Cable present. Reached intercept timeout.1DZTransitioning guidance mode to: UNINITIALIZEDiqDggbgjgeejeJe?:e?MBMU1K<)U U@iQ)U>QU;iQ]I]checking for new query: numPingsReceived=108, elapsed TxPingTime=57.250633:J5n0OBJ5`9JJ1RJ5ZJ5J9I=gA^DDE P8DI DI EU  EQ Ei Ei DDAT read: Rx Time:19:27:31.4792 TRx dataTimestamp_ set to:1736537251.958519PDAT read: Bearing 159.8, 80.0 (Local) ~Local bearing/azimuth received: Bearing 159.8, 80.0 (Local) DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 DAT read: 19:27:31.4792 LVL= 24560, 28593, 23746, 29331, AGC= 31, IDX= 502, 0.15,-0.288, 0.023,-0.319,-1.395, PHS= 1.195, 1.465, 1.073, RAW= 347.7, -75.3, CAL= 350.2, -80.0, ROT= 159.8, 80.0 Ygot valid direction response: 19:27:31.4792 LVL= 24560, 28593, 23746, 29331, AGC= 31, IDX= 502, 0.15,-0.288, 0.023,-0.319,-1.395, PHS= 1.195, 1.465, 1.073, RAW= 347.7, -75.3, CAL= 350.2, -80.0, ROT= 159.8, 80.0 VF%5>=V#Rx 109: Read range and direction messages.]`direction in FSK: [-0.162968,0.059960,-0.984808]]Fpublishing direction and range info؉Y؍K1ĿΡ!?h￙؍3?9؉؍_ ٍo)ٍ\Iٍriٍٍ?ٍ?ٍX?ٍ<1@ ڍ8)ڍ@Iڍ¸iڍ2@ڍ¸?FZA M=?8@Jx,)]A %Uſㄩ{ȿ}*Ii?2@¸? 2checking for new query: numPingsReceived=109, elapsed TxPingTime=57.574627 -@y 5@9 z٣ G9Fi >]49l?a4Y1 iB l=m <-tпq- @,D;>;>41 5H@9Zj#%l?bjɾ ii`X(]Aj3?j?2j@pF_,4Ϳ3c}?a} HzpK1ĿΡ!?h"j2@*j¸?pFٸѱ տA p't1+οxiojƽiK"l?iʮ  j Bzjl?jjjj>rj^@BDocked. Homing sequence complete.qDDggbgjgBeejeJe`ff?:e?G-g>G)G-O&IG-6BG- =G)G)G-<G- FHåC HåCHÓCH ="H =*HÎ5Bz<) @i)}>%[MzFrFFFF5 ZAA Me >hFJx, )]A%ˆB%%I=DDAT read: Rx Time:19:27:31.9793 =TRx dataTimestamp_ set to:1736537252.459768EPDAT read: Bearing 160.2, 80.0 (Local) M~Local bearing/azimuth received: Bearing 160.2, 80.0 (Local) ]DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:31.9793 LVL= 23136, 27873, 20290, 28371, AGC= 31, IDX= 503, 0.16, 1.287, 1.601, 1.257, 0.177, PHS= 1.197, 1.471, 1.077, RAW= 347.4, -75.2, CAL= 349.8, -80.0, ROT= 160.2, 80.0 Ygot valid direction response: 19:27:31.9793 LVL= 23136, 27873, 20290, 28371, AGC= 31, IDX= 503, 0.16, 1.287, 1.601, 1.257, 0.177, PHS= 1.197, 1.471, 1.077, RAW= 347.4, -75.2, CAL= 349.8, -80.0, ROT= 160.2, 80.0 V#Rx 110: Read range and direction messages.`direction in FSK: [-0.163382,0.058821,-0.984808]Fpublishing direction and range info9Y=ӢbǵĿ7]u?h￙=?99=`Z =l)=BOI=ni9=L7?=I?=#ۉ?=W@ =)=|]@I9i=2@99 9= Zݹ-ƿSDOȿM>EI=>i=r?=2@99 9checking for new query: numPingsReceived=110, elapsed TxPingTime=58.023277HHHo5= [=YQ >٣ G >]49l?a4Y iBq @,D::4  @Zj=Sl?bj== i9i=l)]Aj=?j=?2j=@p=<^Ͽ6]?ȉzp=ӢbǵĿ7]u?h"j=2@*j9p=LȩbG=ֿSp=d "._οfi=)j=Ni=l?i=M  j=Bzj='l?j=,O j=Bjj=>rj=@BieDegigibgijgiuCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqAuuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideBu uAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBuuUninitialize.CuCuuCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceeyeyjeyJe}?:e}C?r\l=z\l=\p@\@B) @i)">-D?Do8DDE_  EVFm>ZAyM}>checking for new query: numPingsReceived=110, elapsed TxPingTime=58.258514:J BJ #9JJ RJ ZJ H C=H ZI bI jI rI zI [:I G:I I q @i @u @m @ՋLJx,f4)]A !]kA )οykAA%F@y%@9%;Y%w=%H1 .? /? v6?еv ka??%F@ɨ%Gy; !mІBޝ%IH Hq5< <=Y Q >٣ G' >]]49l?a]4Y i Biҿq @,D<<o4  @uDDAT read: Rx Time:19:27:32.4792 }TRx dataTimestamp_ set to:1736537252.967902PDAT read: Bearing 161.2, 79.7 (Local) ~Local bearing/azimuth received: Bearing 161.2, 79.7 (Local) FDAT read: Range 10 to 50 : ms) s dunknown deviceResponse_: Range 10 to 50 : ms) s H- -Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalqG-5Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminalG55No longer in Terminal. Resuming normal ranging with 1.000000 count pings.G5G==B*** querying acoustic contact ***i9i91: tAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequenceq:tAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock1A Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceD4Initialize Wait Component.eejeJe:e@j?DAT read: 19:27:32.4792 LVL= 22688, 27521, 19058, 28307, AGC= 31, IDX= 502, 0.21,-0.215, 0.113,-0.241,-1.321, PHS= 1.194, 1.481, 1.077, RAW= 346.3, -74.8, CAL= 348.8, -79.7, ROT= 161.2, 79.7 Ygot valid direction response: 19:27:32.4792 LVL= 22688, 27521, 19058, 28307, AGC= 31, IDX= 502, 0.21,-0.215, 0.113,-0.241,-1.321, PHS= 1.194, 1.481, 1.077, RAW= 346.3, -74.8, CAL= 348.8, -79.7, ROT= 161.2, 79.7 r\z\\\je@i)iI\#Rx 111: Read direction message, but no range.`direction in FSK: [-0.169263,0.057622,-0.983885]qYueiſэ30?SEq{9quX uk)urJIuniquԘ?uh?qui@ u)u@Iu/ iu4@u/ ?quݞH%ǿhXw.Bȿ4IuRKiu#?u4@u/ ?]checking for new query: numPingsReceived=111, elapsed TxPingTime=58.576023^Dt("2Commanding positive:12332D D D E %  E VF gP=ZA M >G] f>G] CG] 6&IG] "BG]  =GY GY G] <G] F checking for new query: numPingsReceived=111, elapsed TxPingTime=58.762478tSJx,-|N)]A6@y6x0@96];Y6=6Hc@;O?`t?UB?Qp@RM??6@ɨ6; 62CBۆBB%IMb@Mb@Mb@ )IyMbl?Mb`@= 7@)@I@i(@@HH@T5q= Y=Y vQ  > ٣  G5a =>9]E49=l?aM4Y= i= BM%u=mM]eDDAT read: Rx Time:19:27:32.9793 eTRx dataTimestamp_ set to:1736537253.467881mPDAT read: Bearing 163.4, 79.4 (Local) u~Local bearing/azimuth received: Bearing 163.4, 79.4 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:32.9793 LVL= 25696, 28433, 22098, 28659, AGC= 32, IDX= 503, 0.28, 0.801, 1.145, 0.786,-0.282, PHS= 1.171, 1.474, 1.065, RAW= 344.4, -74.3, CAL= 346.6, -79.4, ROT= 163.4, 79.4 Ygot valid direction response: 19:27:32.9793 LVL= 25696, 28433, 22098, 28659, AGC= 32, IDX= 503, 0.28, 0.801, 1.145, 0.786,-0.282, PHS= 1.171, 1.474, 1.065, RAW= 344.4, -74.3, CAL= 346.6, -79.4, ROT= 163.4, 79.4 V#Rx 112: Read range and direction messages.`direction in FSK: [-0.176285,0.052553,-0.982935] Fpublishing direction and range infoaYeVzƿ)\2?4t￙a9ae`d eo)eRVIeoie eT?e?eQ?ehY@ e)e@Ieaie6@ea?a ae Mȿ_k2ȿ>_Ie{fie>?e6@ea?a au checking for new query: numPingsReceived=112, elapsed TxPingTime=59.082928 YJx,Vh)]A6E ?y6d% @96O;Y6&=6H <`|??`g?c`?`?6E ?ɨ6; 60CB߆BB%IHNHN+p5Vy< Vc=YVՑQ V>X٣X ZGX^< ^>`]f49bl?af4Yb* i`df0Ϳqf @b,Db:b:b64l n@lqGzzAggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal1HzZjAl?bj ii])]Ajj2jr@p_п,%.?'zpVzƿ)\2?4t"j6@*ja?pVrrzC ׿\JpCB/ο-ijiDl?i  jBzjK"l?jʮ jBjj^>rj6@e)e)je)Je):e-`h?r\Iz\I\I\MÕ@iY)aaaiaaIi^DULMDYchecking for new query: numPingsReceived=112, elapsed TxPingTime=59.266388Dm8DDE|  EVF;ZA:JJBJ-9JJRJZJM&>ZIbIjIrIzI:I,J:II DDAT read: Rx Time:19:27:33.4792  TRx dataTimestamp_ set to:1736537253.976521 PDAT read: Bearing 164.8, 79.1 (Local)  ~Local bearing/azimuth received: Bearing 164.8, 79.1 (Local)  DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0  DAT read: 19:27:33.4792 LVL= 25312, 28145, 21698, 28499, AGC= 32, IDX= 502, 0.37,-0.727,-0.366,-0.736,-1.811, PHS= 1.172, 1.492, 1.072, RAW= 343.1, -74.0, CAL= 345.2, -79.1, ROT= 164.8, 79.1 % Ygot valid direction response: 19:27:33.4792 LVL= 25312, 28145, 21698, 28499, AGC= 32, IDX= 502, 0.37,-0.727,-0.366,-0.736,-1.811, PHS= 1.172, 1.492, 1.072, RAW= 343.1, -74.0, CAL= 345.2, -79.1, ROT= 164.8, 79.1 % V#Rx 113: Read range and direction messages.5 `direction in FSK: [-0.182480,0.049579,-0.981959]5 Fpublishing direction and range infoؑ Yؕ "e^w[ǿo|cb?ۨ4l￙ؕ 3?9ؑ ؕ b ٕ m)ٕ TIٕ Soiّ ٕ ?ٕ ?ٕ L7?ٕ @ ڕ MQ)ڕ @Iڕ iڕ X8@ڕ ?ڑ ۑ ە ɿSd6ȿbƯIە ,iە 4?ە X8@ە ?ۑ ܑ U checking for new query: numPingsReceived=113, elapsed TxPingTime=59.547859``Jx,7)]AnBn%I-Mb@Mb@Mb@)) )))I)y-lMbp?--;- -d@)-@I)i-V@)-(@Hm#Hmbr5< /=YQ >٣ G >]49Zl?a4Y io=m<q @,D3;F1;t4 D@Zj6l?bjw iiR~)]Aj3?j?2je@pMΨYпm8ı?zp"e^w[ǿo|cb?ۨ4l"jX8@*j ?px>wV(Wտ!p5}Ͽ> ijBѼi2l?i|  j.BzjjM jjj>rj@eQeYjeYJe]`ff?:e]V|?r\o=z\o=\w+B@\ڭ@i))AaaiiqIqC=C>Gd>GGH&IG1BG =GGGb<GFchecking for new query: numPingsReceived=113, elapsed TxPingTime=59.770592^D9De n8Di Di Em   Ei E hAE hA} DDAT read: Rx Time:19:27:33.9793 } TRx dataTimestamp_ set to:1736537254.475704 PDAT read: Bearing 163.7, 79.3 (Local)  ~Local bearing/azimuth received: Bearing 163.7, 79.3 (Local)  DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0  DAT read: 19:27:33.9793 LVL= 21536, 26049, 18402, 27811, AGC= 31, IDX= 502, 0.39,-0.894,-0.544,-0.907,-1.984, PHS= 1.179, 1.487, 1.074, RAW= 344.1, -74.3, CAL= 346.3, -79.3, ROT= 163.7, 79.3  Ygot valid direction response: 19:27:33.9793 LVL= 21536, 26049, 18402, 27811, AGC= 31, IDX= 502, 0.39,-0.894,-0.544,-0.907,-1.984, PHS= 1.179, 1.487, 1.074, RAW= 344.1, -74.3, CAL= 346.3, -79.3, ROT= 163.7, 79.3  V#Rx 114: Read range and direction messages. `direction in FSK: [-0.178204,0.052110,-0.982613] Fpublishing direction and range infoy Y} ϵ`ƿ'=.8?Q3nq￙} ?9y } T } e)} GI} li} } y?} V?} x?} .@ } )} i@I} m(i} 6@} m(?y y } 4nVLȿ>?"ȿ2I} i} I?} 6@} m(?y y 5checking for new query: numPingsReceived=114, elapsed TxPingTime=60.046516VF}:ZAM>+gJx,)]AA?yb @9:Y>=H`aZ?@?@੖?@YC~??A?ɨ!; /CeBe%I)up= qH}%H}Es5A= *=YrQ >٣ G >]49l?a4Y iq @,D:::4 @ZjEl?bjEK iAiEq)]AjE?jE?2jE@pE[MѿE"?}R,zpEϵ`ƿ'=.8?Q3nq"jE6@*jEm(?pE$,NO_Yֿ9@_MpE4?v^οoViE8jEBiE l?iE[  jEBzjEl?jE| jEBjjE>rjE56@eejeJe?:eØ?r\)z\)\)\-d@i)隑iICCCCchecking for new query: numPingsReceived=114, elapsed TxPingTime=60.278946:JBJu9JJRJZJHq Hu a=ZI bI jI rI zI :I [:I I " 2Commanding positive:12282D w8D D E /  E E E E E MDDAT read: Rx Time:19:27:34.4793 ]TRx dataTimestamp_ set to:1736537254.985553uPDAT read: Bearing 163.8, 79.3 (Local) ~Local bearing/azimuth received: Bearing 163.8, 79.3 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 ZAAM?*lpJx,)]A:DAT read: 19:27:34.4793 LVL= 21472, 25585, 18290, 27811, AGC= 31, IDX= 501, 0.48,-2.122,-1.771,-2.135, 3.072, PHS= 1.178, 1.488, 1.074, RAW= 344.0, -74.2, CAL= 346.2, -79.3, ROT= 163.8, 79.3 >Ygot valid direction response: 19:27:34.4793 LVL= 21472, 25585, 18290, 27811, AGC= 31, IDX= 501, 0.48,-2.122,-1.771,-2.135, 3.072, PHS= 1.178, 1.488, 1.074, RAW= 344.0, -74.2, CAL= 346.2, -79.3, ROT= 163.8, 79.3 >V#Rx 115: Read range and direction messages.B`direction in FSK: [-0.178294,0.051799,-0.982613]FFpublishing direction and range info9Y=jYƿZ|p?Q3nq￙999=S =c)=rGI9i9=Ȗ?=v?9=7 @ =å)=Z@I9i=c6@99 9=y ɿ;!ȿ(HBI=i=ݥ?=c6@99 9 checking for new query: numPingsReceived=115, elapsed TxPingTime=60.6083265B5&IMb@Mb@Mb@ )Iy rhV-MbpC M@)Ii׳@HH)M5M]$= M=YUQ U>Q٣Q UGY] ]>q]}49ul?a}4Yu iuB =m<h`=q @u,DuP{rj=Z@eejeG1G1G5h&IG5JBG1G1G1G5Z<G5FJeA:eMѐ?r\ =z\ =\]ԅ@\h`=i)隹iIDhAzDhA=checking for new query: numPingsReceived=115, elapsed TxPingTime=60.778591Dmp8DiDiEm  EiZAyM~>vJx,)]A6E?y6@96|:Y6w=6H&?L?A? Oc?`h?6E?ɨ6; 60CBBF &IHJHJ.l5V= V=YV:Q V ?X٣X ZGXZG ^ ?`]f49bkl?af4Yb ibBhjL!<qj @b,Db:b7:b4l n@p~B*** querying acoustic contact ***i|i~eeje Je :e  I?r\)z\)\)\-L!٣ GZQ >]49l?a4Y iB^hq @,D~::4 @ZjTˡl?bj_ ii<)]Aj?j!?2j@pCi84Կf`A?zp#˛|ǿ]-z?f"j7@*jC?p2D6ZٿWfpsu\ߧ?pο־tiξjyil?im  j̃Bzj2l?jeT jjj\>rj@eQeQjeYJe]@33?:e]0|?r\z\\\@i)隉iDDAT read: Rx Time:19:27:35.4793 TRx dataTimestamp_ set to:1736537255.993190 PDAT read: Bearing 164.2, 78.9 (Local) ~Local bearing/azimuth received: Bearing 164.2, 78.9 (Local) YIiDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 DAT read: 19:27:35.4793 LVL= 21232, 25729, 18290, 28099, AGC= 31, IDX= 502,-0.38,-3.055,-2.694,-3.067, 2.161, PHS= 1.155, 1.474, 1.051, RAW= 343.6, -73.6, CAL= 345.8, -78.9, ROT= 164.2, 78.9  Ygot valid direction response: 19:27:35.4793 LVL= 21232, 25729, 18290, 28099, AGC= 31, IDX= 502,-0.38,-3.055,-2.694,-3.067, 2.161, PHS= 1.155, 1.474, 1.051, RAW= 343.6, -73.6, CAL= 345.8, -78.9, ROT= 164.2, 78.9  V#Rx 117: Read range and direction messages.5`direction in FSK: [-0.185248,0.052420,-0.981293]=Fpublishing direction and range infoYD[5ǿ,[֪?f￙?9R d)rGImi ד??+?@ l)!@Iii7@ K-JBʿgLȿZI3OiG5 f>G1 G5 &IG5 iBG1 G1 G1 G5 <G5 F] checking for new query: numPingsReceived=117, elapsed TxPingTime=61.786282oJx,W*]A6?y6˥@96ԇ;Y6=6H ޿`٦? ?޿`+?pF??6?ɨ6; 64CJ*BJ@&I%Mb@Mb@Mb@!! !)!I!y%Y٣Y ]GYeZ e>i]%49mUl?aM4Ym imBM+=mMFrjI@Done Waiting.D8Uninitialize Wait Component.1EeejeJe?:eU@J?r\+=z\+=\""@\z#?i)iI" 2Commanding positive:12246DDAT read: Rx Time:19:27:35.9794 TRx dataTimestamp_ set to:1736537256.492658PDAT read: Bearing 164.4, 78.8 (Local) ~Local bearing/azimuth received: Bearing 164.4, 78.8 (Local) DAT read: Range 10 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 D}8DDE0  EZA1Mu>DAT read: 19:27:35.9794 LVL= 21712, 26017, 18274, 28003, AGC= 31, IDX= 503,-0.35,-2.127,-1.766,-2.139, 3.099, PHS= 1.145, 1.465, 1.043, RAW= 343.4, -73.5, CAL= 345.6, -78.8, ROT= 164.4, 78.8 Ygot valid direction response: 19:27:35.9794 LVL= 21712, 26017, 18274, 28003, AGC= 31, IDX= 503,-0.35,-2.127,-1.766,-2.139, 3.099, PHS= 1.145, 1.465, 1.043, RAW= 343.4, -73.5, CAL= 345.6, -78.8, ROT= 164.4, 78.8 V#Rx 118: Read range and direction messages.`direction in FSK: [-0.187079,0.052233,-0.980955]Fpublishing direction and range infoعYؽ696ǿP0Y? c￙ؽ?9عؽT ٽe)ٽbGIٽcmiٹٽ\?ٽ?ٽ?ٽnʿ@ ڽY3)ڽ@Iڽx iڽ7@ڽx ?ڹ ۹۽qELWʿ]1A0ȿ;ܡI۽i۽JO?۽7@۽x ?۹ ܹchecking for new query: numPingsReceived=118, elapsed TxPingTime=62.080456̉Jx,r)*]A2X?y2K@925;Y2V=2HDݿ*@@)?`_?`kݿ용?@<5yw?`?2X?ɨ25; 20CB1BBI&IHJiHJ5jT= jS=YnR;Q n>p٣p rGpv_ v>x]~49zm?a~4Yz3 izB|~?q @z,Dz;zo;z4  @ ZjIl?bj ii*]Aj?j!?2je@p!ZԿW'se?PPzp696ǿP0Y? c"j7@*jx ?p|>Jߐ: Uٿʜcplu֤v g͕ο ˚ iϾji?l?iv  jBzjl?j[ jBjj>rj@U8GuidanceMode 0.000000 count 1EUeYeYjeYJe]@33?:ee@?kmNCompleted lineCaptureHoming:LineCapture5mkmjAggregate::uninitialize lineCaptureHoming:LineCapture6m mmAggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes6mmmNUninitialize AltitudeEnvelopeComponent.17m nmUninitialize.q7mnmNUninitialize OffshoreEnvelopeComponent.q8u8u8uqu|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass19uq9uruUninitialize.9u suAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy9usu@Uninitialize Buoyancy Component.r\z\\\?i)隡iIchecking for new query: numPingsReceived=118, elapsed TxPingTime=62.291092Dp8DDE  EZAM=:JJ3KBJ-9JJRJZJ = < checking for new query: numPingsReceived=118, elapsed TxPingTime=62.545753!Jx, C*]A27?y2] @92P ٣ G7 >]49m?a4Ye iB&=m<jy?q @,D:_:4 d@BCompleted lineCaptureHoming:Lap:B1R ^Aggregate::uninitialize lineCaptureHoming:Lap:BqRr\&=z\&=\!@\jy?i-s:)111i11I9DDDE  EZAM >G}c>GyG}&IG}BGyGyGyG}<G} FHĤC HĤCHH ="H =*H5 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ZI bI jI 1rI zI I S:I 3I I =<q I =<i I ;u I ;m ޖJx,\*]A2h?y20@92r<X٣X ZGX^CT ^>`]f49b]m?af4Yb ibBdjft?qj @b,Db:b:b4l r@pk~qR~R~B*** querying acoustic contact ***iir\Yz\Y\Y\]ft?iq,DAT read: user:1205> BDAT read: Tx time:19:27:37.2976 $Ping request sent.) - A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250885I) )- C Jx,v*]A:JVBJBJ9JJ RJZJ&X+aJ&gAI$ :Gl |)%)y)-YBEP?yE-?9EY=Y}/y٣ G >]499m?a4Y iBMm?q @,DI;;|4 A@(Mode 0.000000 count RRZAggregate::initialize lineCaptureHoming:Lap:Er\z\\\Mm?i)隹iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504810"2Commanding positive:12326DDDE1  EZAML>G} b>G} CG} &IG} BG} =Gy G} ;DG} <G} F= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754653Jx,r*]A-XB-y&I5A5AMb@Mb@Mb@ )IyA`"?ʡE~jtxY=Ļ )@I@iV@HzH'5(< D=YQ >٣ G >]49m?a4Y iB տ=m  < ?q  @,D::4 @M==fAggregate::initialize lineCaptureHoming:restartDHCP1N===$Restarting DHCP...1N=qN=r\Uտ=z\Uտ=\UW@\Uᭂ?ia)iiiiiiIZIbIjIrIzI=;IwR:IIIKD<ILD<IϦ;IЦ;Dt8DDE  EZAM">checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006643mJx,h*]AN=?yNp{?9Np٣p rGpr v>t]z49vx m?a~4YvO ivB|~߀?q @v,Dv>+;vM;;v? 4  a@-`Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.shqN--NCompleted lineCaptureHoming:restartDHCPM--jAggregate::uninitialize lineCaptureHoming:restartDHCPr\z\\\߀?i)iI!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258885=Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shDo8DD E E  E ZAaM8>:J=|NBJ=89JJ9RJ=ZJ=)FoYH4& H4=H checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516057C)Jx,*]A6?y6?96GCG&IGBG =GGY٣Y eGae e>i]49mN m?a4Yma imB=m$<S?q @m,Dm/;mP;mz4 @checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763521BCompleted lineCaptureHoming:Lap:ER^Aggregate::uninitialize lineCaptureHoming:Lap:E1S dAggregate::initialize lineCaptureHoming:Lap:DockedqS=T/mnt/mmc/started/2025-01-10UTC192739_sh r\=z\=\@\S?iQ)QQQiQYIY" 2Commanding positive:12233ZIm bIm jIi rIi zIm :Im F:Ii Ii Im &<Im &<Im ;Im ;D 8D D E 5  E ZA M% >OJx,*]A2?y2?92i/checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266950vJx,w*]A652?y6o?96tNBJ>u9JJ<RJ>ZJ>$%'('()(&),../)b_Bb&IHjHj^5   F=Y x;Q  >٣ G< >!]-49% m?a-4Y%& i%B)5?q5 @%,D%:%:% 49 =@9rl]^@TeTer\yz\y\y\}?i)隉iIDUq8DYDaEe  EaZAM>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521395G b>G G &IG BG  =G G G 0<G F BDAT read: Rx Time:19:27:39.7035  TRx dataTimestamp_ set to:1736537260.273017 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774635^Jx,PQ+]AJ?yJzL?9Jk1٣1 5G1=Tz< =>A]M49Em?aM4YE iEBM m=mMe=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022631߇Jx,N+,+]A:]?y:}?9:`٣` bGdf< f>h]n49j:m?an4Yj ijBpr֕?qr @j,Dj;j;j.4t vA@t=DSlide state transition from 3 to 1*mBm2mrm"No local IP foundr\z\\\֕?i9ɛI!>:J+MBJ9JJRJZJPPwLc2@q9u DAT read: 19:27:39.7035 LVL= 25072, 30193, 22562, 28451, AGC= 33, IDX= 205, 0.17, 1.618, 1.893, 1.564, 0.499, PHS= 1.207, 1.441, 1.062, RAW= 352.2, -75.8, CAL= 355.2, -80.3, ROT= 154.8, 80.3 } Ygot valid direction response: 19:27:39.7035 LVL= 25072, 30193, 22562, 28451, AGC= 33, IDX= 205, 0.17, 1.618, 1.893, 1.564, 0.499, PHS= 1.207, 1.441, 1.062, RAW= 352.2, -75.8, CAL= 355.2, -80.3, ROT= 154.8, 80.3  PDAT read: Bearing 154.8, 80.3 (Local)  ~Local bearing/azimuth received: Bearing 154.8, 80.3 (Local)  DAT read: Range 10 to 50 : 1.2 m (Round-trip 1.7 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.152454,0.071739,-0.985703] Fpublishing direction and range infoA YE КÿY(]?@￙E ?9A E a E u)E "XIE #oiE !E ~?E r?E ?E @ E V)E a@IE UdiE ,@E Ud?A A E .%+s,ÿgE/ȿ N<ѬIE liE f?E ,@E Ud?A A E T****** received valid address query ******M R****** received valid ping request ******uJx,F+]AnQuerying Benthos address 50 with one ping in standard two-way mode.MMBMl&IGa>GCG&IGBG =GG;DG2<G FmMb@Mb@Mb@ii i)iIiym:v?MbMb`mT٣ G >]%49m?a%4Y̾ iB-<m- =-&?q- @,D#;;841 =ļ@9,DAT read: user:1206> BDAT read: Tx time:19:27:41.1976 $Ping request sent.ZI} bI} jIy rIy zI} :I} B:Iy Iy I} #<I} #<I} `;I} `;xJx,_+]A2B?y2?@92m<))隑ib)9I"StoppingZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501649Jx,my+]A>[?y>@9>=>H@$ݿ@o?z?6ܿ*?.4̗??>[?ɨ>ʼn; h٣h nGlnz= n>p]v49rm?av4Yrx irBxz;?qz @r,Dr:rM:rC4| R@E*mBm!2m!rm!r\9z\9\9\=;?iIɛIIM(>U<)Q)QQQi]*9YIa%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755712C 9"-StoppingZAaM}Y>GGG&IGBGGGG<G FHɣC HɣCHH ="H =*H5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005604Jx,+]A6S?y6H@96٣ GY= >]49m?a4Y iBI<m!=;q @S;X;xK4 Q@E*m!Bm!2m!rm!r\MI<z\MI<\M&@\M߀@iɛI><))i"9I"]StoppingZA%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257980Mmx>Jx,y+]A6?y6@96X٣X ZG\^{= b>`]f49bm?aj4Yb i`hjqj @b,DbA;b ;bQ4p rd@p*mBm2mrmr\)z\)\)\-@P@iɛI><))ip9I"Stopping}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510096 AGlA )=d;yUlAU/-BEZAME>ZI%bI%jI%1rI!zI%:I%\3:I%3I!q5@i5@u5@m5@:JOBJJJRJZJR0C75210,+)&$"    % ?% U?- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761862rJx,~+]Anj?yn&@9nQ٣Q UGY]0= ]>i]u49mm?au4Ymt imBG^>GG&IGBG =GGG*<G F]=mu<Gq @m,Dmg;m;mY4 @*mBm2mrmr\]=z\]=\@\l@iɛI><) )   i Ϙ:I" StoppingE<ZAM(>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013652GJx,o*+]A:ޤ?y:0q@9:3r; :0CF BF&IHR6HRz5Z Zk=YZQ Z?\٣\ ^G`bl= b?d]j49f m?aj4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265718Yf ifBtvqv @f,Dfq;f;f`4x z@|*mBm2mrmr\1z\1\1\5?@iAɛIIM>M3r<)I)IIIiUaK:QIa"mStoppingEU<ZAiM=ՑՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517913ZI= bI= jI9 rI9 zI= [:I= 8:I9 I9 0Jx,+]A B:J8NBJ-9JJRJZJ)gwE3>LMLPP<& H7H?{55: =B=Y=Q =>A٣A EGAE M>I]U49M6 m?a]4YMl iMBYYq] @M,DM;M;M^g4a m@i*mBm2mrmr\z\\\iɛI8>))iC:IBBCB"=Stopping2E=fA*E=fAE-W<ZA9M}=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771851Gb>GG&IGiBG" =GGG&<G F BDAT read: Rx Time:19:27:43.6035  TRx dataTimestamp_ set to:1736537264.303142 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022639Kx,],]A6?y6 @96*-BB%I)F= F=]Mb@Mb@Mb@YY Y)YIYy]MbX9v?y&1|?]@]}=]`; Y)]@I]@i]@Y]@Hm>HmY~5}) F=Y'Q >٣ G= >]49_ m?a4Y8 iB=m)<q!@,D{::n4 X@*mBm2mrmr\]=z\]=\]I @\]ܟ@iiɛiIm>m*-<))隑i(:I"StoppingE<ZAM==4=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273899# Kx,I.,]A:-?y: @9: \٣\ bG`b.= b>d]j49f m?aj4Yf ifBlnqn!@f,Df& ;f ;f1u4p v@t*m Bm 2mrmr\)z\)\)\-()@i9ɛAIE̺>E <)A)AAIiM?/:IIQ"]StoppingEX<ZAM=DAT read: 19:27:43.6035 LVL= 25232, 29921, 22386, 28723, AGC= 32, IDX= 445,-0.06,-1.529,-1.225,-1.566,-2.605, PHS= 1.165, 1.427, 1.036, RAW= 348.8, -74.9, CAL= 351.6, -79.8, ROT= 158.4, 79.8 Ygot valid direction response: 19:27:43.6035 LVL= 25232, 29921, 22386, 28723, AGC= 32, IDX= 445,-0.06,-1.529,-1.225,-1.566,-2.605, PHS= 1.165, 1.427, 1.036, RAW= 348.8, -74.9, CAL= 351.6, -79.8, ROT= 158.4, 79.8 PDAT read: Bearing 158.4, 79.8 (Local) ~Local bearing/azimuth received: Bearing 158.4, 79.8 (Local) DAT read: Range 10 to 50 : 1.2 m (Round-trip 1.7 ms) speed 0.0 m/s 5R#Rx 1: Read range and direction messages.=`direction in FSK: [-0.164649,0.065189,-0.984196]=Fpublishing direction and range infoYY]a,f9ſ0B=?_ut·~￙Y9Y]b ]t)]rWI]3pi] ]?]?]?]@ ]T)]^@I]aFi];0@]aF?Y Y]Z/dſ" ɿtuI]si]$l?];0@]aF?Y Y=XRequesting device enable set for address 50.ZIbIjI0rIzI;:I5K:Iـ3I:JuMBJuk9JJqRJuZJu ,DAT read: user:1207>  BDAT read: Tx time:19:27:44.8966  $Ping request sent. G5CG5t&IG5UBG5 =G1G5!٣! %G)-< ->1]]495 m?a]4Y5 i5Beõ=me6Kx,Ttb,]A:?y: @9:lh#;Y:-=:H`*m?@?`_? md@λ??:?ɨ:2m; :2CfBf%IHr Hrg5z? z=Yz6Q z?|٣ G(= ? ]49 m?a4Y  i Bq!@ ,D ; ; u4! %~@)*mIBmI2mIrmQr\iz\i\i\m9@iyɛyI}t>lh#;))隁i07:I"StoppingE<ZAM=`Kx,+N|,]AZIbIjI1rIzII@:I3I:$@y:`C@9:IӷY:^=:H@&k`WN? Co?(Y6i??i>ŵ?`S?:$@ɨ:5; :0CDF%IHRHRi5Z׀: ZN=YZ}лQ Z>٣ G%z< %>)]549-m?a54Y-} i-BAEqE!@-,D-,;-/;-4I M{@I:J]k3IBJ]#9JJYRJ]ZJ]*myBmy2mrmr\z\\\Ά@iɛI>Iӷ))隱G9G=[&IG=@BG= =G9G9G=<G= FJH%Kx,',]A2X@y2gw@92^OY2=2HCV̲?@i_?Om@۪? i?? ?2X@ɨ2 ; 21C:ۆB:%I Mb@Mb@Mb@   ) I y ~jt+?{Gzt? ļ = ף; 7@) @I @i V@  HHKk5 ;=Y Q >٣ G; >]49m?a4Y: iBr=m"< q!@,D:F:4 @*mBm2mrmr\%r=z\%r=\%E?\%'@i1ɛ1I5>=^O)9)99=HZPHZ)5b& bZ=Yf|Q f>d٣d fGhj j>l]v49nm?av4Yn inBtv qv!@n,DnX%;n ;n4| ~h@|*mBm2mrm!r\9z\9\9\=R(@iIɛIIM>M4)I)QQUY٣ G >]49m?a4Yl iB݇=mH<q!@,D :k:4 ^@*mBm2mrmr\ ݇=z\ ݇=\ ?\ bx@iɛ!I%/>%%)))))-$EBDAT read: Rx Time:19:27:46.7926 ETRx dataTimestamp_ set to:1736537267.327186ZIbIjI0rIzIIC:Iـ3IIL)<qIM)<iIE;uIF;m8Kx,,]A6`9?y6q @96Y6v=6H4 op?!?"?|? e??6`9?ɨ6i; 61CV҆BV%IHrGHr+5zzI ~j=Y~RQ ~>٣ G ~  > ]49 0m?a4Y  i Bq!@ ,D  ;  '; ¦4) -@1*mIBmQ2mQrmQr\iz\i\i\m1x@iyɛIҲ>))隁Kx,Ǟ,]A2m*?y23 @92Y2==2H tĔ@Ƿ? ?`*@?y?` ?t?2m*?ɨ2>V; 2/CNӆBN%IIP)RAPRAHV@HV<5b; bM=YbFQ b>d٣d fGdjm j>l]r49nl?ar4YnI inBprqqr!@n,Dn:n:n4t zk@x*mBm2mrmr\z\\\w@:JuOBJ9JJRJZJGnP<% sVGB?8- iɛI>Ih=))-  BDAT read: Tx time:19:27:47.8967  $Ping request sent. Gd>GGH&IG1BGGGG9<GFY Y ՖEKx,Xq-]A6?y6 @96Y6 =6HaG|?K?`^?`끃?Kr??6?ɨ6̊; 60CBφBB%I Mb@Mb@Mb@   ) I y I +?L7A`?Mb`? 94< += ; ) I ?@i l@  @H%BH%55 =C=Y=gQ =>A٣A EGAMʼ M>I]49Mdl?a4YMf iMB=m<5q!@M,DMI=))隩&-qKKx,QJ1-]A:a?y: @9:{;Y:=:Hm@η?s(?[`Wk?o?? ?:a?ɨ:; :1CRԆBR%IHZHZen5f< fQ=Yj:Q j>h٣h jGhn n>p]v49rOl?av4Yr irBxz~6qz!@r,Dr>:r:rػ4| [@*m!Bm!2m!rm!r\9z\9\9\=[@iQɛQIU>U{;I]<)Y)YaeM;ie>L:aIi"uStopping2E}gA*E}gAEp<ZAM=>:J yNBJ k9JJ RJ ZJ  > @cRKx,>K-]AGb>GGGG =GG;DG <G F?y @9g^YF=HX 1>y?k?l?܋?p? z?騅?ɨ1'; /C҆B%I=ii>)p= R=Mb@Mb@Mb@ )Iy?٣ G >]49wl?a4YM iB <m<0 @q!@,De::4  x@ *m1Bm12m1rm1r\] <z\] <\]>\]0 @iiɛqIui>ug^Iu<)q)qy}4/i}:yI"StoppingED<ZAM>ZIbI jIrIzII:IIIII;I;XKx,e-]A6c?y6 @968~Y6U=6HtQ`v|??_ ?Ə?o?(?6c?ɨ6; 61CFBF%IHR,HR_v5Ve= Zv=YZQ Z?\٣\ ^G\bN b?d]j49fl?aj4Yf) idhj@qj!@df;f;f4p r@p*mBm2mrmr\z\\\X@iɛIN>8~I.J<))i9I"StoppingE<ZAM=^Kx,~-]A2?y2p@92D{Y2=2Hp?4? ?Ah?@7Ļ??2?ɨ2; 20CNBR%IHZ7HZ?{5b:; bI=YbV9Q f>d٣d fGdjX j>l]r49n-l?ar4Yn inBtv@qv!@n,Dn6;n^7;n4| ~{@|*mBm2m!rm!r\9z\9\9\=k@iIɛIIM>MD{IU;)Q)QQU4iU9I"StoppingBE=:E=:JUBJU9JJQRJUZJU   E-P<ZAAMm=GGCGU&IG;BG =GGG9<G FE BDAT read: Rx Time:19:27:49.7927 E TRx dataTimestamp_ set to:1736537270.351137keKx,ö-]AR"?yRR @9R|YRh=RHn@D͹?@t?`cn? S???R"?ɨR$; R2C^B^%II`)bAhjAMb@Mb@Mb@ )Iyy&1?QMb`?`<u; M@)IV@i׳@H@H<5i< ;=Yu7Q u>y٣y }Gy}A >]49l?a4ZIbIjI0rIzI%;IY:Iـ3II K<I K<I;I;Y iB]=m<?q!@,D; ;4 H@*mBm2mrmr\E]=z\E]=\ER@\E?iiɛID>|IS))隑w׼iG/9I"StoppingE\<ZAM!>lKx,S-]A6G ?y6@96zY6=6H Х߿=й? ?ϑ߿W? ?M?@&?6G ?ɨ6Vۉ; 60CBBB%IHJ(HJt5n)4= n[=YrUкQ r>p٣p rGpv7 v>x]~49zl?a~4YzN ix|?q!@z,Dz:z:z+4  @ *m)Bm)2m1rm1r\Iz\I\I\M7?iyɛI>zI@))隩i9I"StoppingE5<ZAAM=HR=Hp=:J/MBJ9JJRJZJ        DAT read: 19:27:49.7927 LVL= 21792, 26545, 18754, 28723, AGC= 32, IDX= 446, 0.15,-0.432,-0.076,-0.440,-1.537, PHS= 1.193, 1.508, 1.094, RAW= 343.2, -74.4, CAL= 345.3, -79.4, ROT= 164.7, 79.4  Ygot valid direction response: 19:27:49.7927 LVL= 21792, 26545, 18754, 28723, AGC= 32, IDX= 446, 0.15,-0.432,-0.076,-0.440,-1.537, PHS= 1.193, 1.508, 1.094, RAW= 343.2, -74.4, CAL= 345.3, -79.4, ROT= 164.7, 79.4  DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:1209>  BDAT read: Tx time:19:27:50.8967  $Ping request sent. GUCGUh&IGUJBGU =GQGU٣ GQ- >]49l?a4Y iBt9=m<?q!@,D;f;R4 +@*m9Bm92m9rm9r\Ut9=z\Ut9=\Uا@\UG?iɛI] ?))隉if9I"Stopping2EfA*EE<ZAMc> yKx, I-]A:ZT?y:@9:Y:=:H v"ݿN?@Z|?qݿ?? ??:ZT?ɨ:>; :1C^Bb&If=if=HjHji5%g< -=Y-&xQ -?1٣1 5G15x 5?9]E49=l?aM4Y=z i=BIM1?qM!@=,D=:=:=u4Q ]@Y*mBm2mrmr\z\\\{1?iɛI>))隱i:9I"StoppingE<ZA MM=H H AAIIO3I(.IIIZI bI jI 1rI zI :I =h:I 3I q @i @u @m @Kx,%.]AnBn &IHzHz Y5R< M=YQ  > ٣   G  >]%49l?a%4Y iB!)q-!@,D\::q41 5@1*mBm2mrmr\z\\\iɛIG>))  i  8 I"=Stopping:JLBJu9JJRJZJ6GmO;5<' EP<ZAME=GUn>GUCGU&IGU_BGU =GQGU=DGUT<GQH  H H H "H  =*H 6~2Kx,;.]A: ?y:#@9:-Y:=:Hڿ`$?@?dڿ`?b? l? ?: ?ɨ:ۉ; :0CR BR&I5Mb@Mb@Mb@11 1)1I1y5I +?Zd;Mbp59<5y5 57@)1I5?@i115@HMHM]5]O= eE=YeֱQ e>i٣i mGim˽ u>q]49ul?a4Yu iuB=mL<H?q!@u,Du ;u:u4 @*mBm2mrmr\=z\=\pߡ@\H?iaɛaIe>e-)a)aiiim`D8iI"StoppingE<ZAM>\Kx,f3.]A6}?y6?96߯Y6 [=6H`wٿ%G!?R?ٿp?? 0?@[?6}?ɨ6߉; 4BBB"&IID)DHNHNn5n-= nS=YrźQ r>p٣t vGtvjR v>x]~49zm?a~4Yz izBC?q!@z,Dz:z:zx4  @ *m1Bm12m1rm1r\Qz\Q\Q\UC?iaɛiIm>m߯)i)iiqiuwqIy"Stopping ~~G !)yAE,<ZAME=ZIbIjIrIzIu;IX:II:J ďNBJ 9JJ RJ ZJ FKx,@M.]AG~m>G~CG~&IG~sBG~ =G|G|G~b<G~%FB/&IMb@Mb@Mb@ )IyI +?ʡEy&1|94<`  @)׫@IV@iH Hq5*= !=YQ >٣ G   >]49hm?a4Y iB=m)<;?q!@,D:9:Q 4) -ۿ@)*mIBmI2mIrmIBDAT read: Rx Time:19:27:52.7928 TRx dataTimestamp_ set to:1736537273.375351r\=z\=\PV@\;?i ɛ I ?))iVฉI"-StoppingE<ZA M-N>FpKx,g.]A">"<~(B~>&IH H p5= =Y!Q %?!٣! -G)) -?1]=495m?a=4Y5? i5BAAqE!@5,D5:5;54I M@I*mqBmq2mqrmqr\z\\\i!ɛ!I%5>!)!))))i-'1I1"EStoppingE <ZAME=DAT read: 19:27:52.7928 LVL= 18928, 24481, 17074, 25587, AGC= 30, IDX= 447,-0.12,-2.664,-2.306,-2.676, 2.545, PHS= 1.162, 1.479, 1.059, RAW= 343.6, -73.9, CAL= 345.8, -79.0, ROT= 164.2, 79.0 %Ygot valid direction response: 19:27:52.7928 LVL= 18928, 24481, 17074, 25587, AGC= 30, IDX= 447,-0.12,-2.664,-2.306,-2.676, 2.545, PHS= 1.162, 1.479, 1.059, RAW= 343.6, -73.9, CAL= 345.8, -79.0, ROT= 164.2, 79.0 -DAT read: OK -:unknown deviceResponse_: OK -X#Rx 4: Read direction message, but no range.5`direction in FSK: [-0.183600,0.051953,-0.981627]Y0ѵ2ǿ4 ,?,/o}i9I _)BIcij?O?P?@ )!@I|ii7@|?t.ɿ.oȿMb0IZi?i7@|?ZI bI jI rI zI I W:I I 2WKx,m.]A6?y6!A?96+Y6v=6Hֿ7??@ֿϊ??XE?_?6?ɨ6; 62CB.BBE&I)F= Fp=HJHJj5j< jO=Yj0;Q j>l٣| ~G| > ]49 \m?a4Y  i B?q=!@ ,D >; ; 4A E@A*mBm2mrmr\z\\\?iɛ I > +) )   iWlI"%Stopping:JBJ9JJRJZJE\<ZAM==Gj>GCG&IGBG =GGGi<G(FKx,NG.]A2Qv?y2Գ?92qIY2=2Hտ Q?j?տ@o?ߨ???2Qv?ɨ2Lj; 21CN1BRI&IeMb@Mb@Mb@aa a)aIaye~jth?333333MbeD;ee e @)aIe?@iaaaHuHui5Q< ?=Y9;Q >٣ G >]49 m?a4Y iB=m/<<>q!@,DV:;4 @*mBm2mrmr\=z\=\e@\<>i ɛ I ,> qI))隱iI"StoppingBE=:E=E<ZAM>TKx,O.]A2c?y2>?92ʔY2-R=2H\տ& K?(?~aտۇ??`?O?2c?ɨ2l; 20CB7BBP&IHJ!HJq5R< RZ=YVP5;Q V>T٣T VGXZ$ Z>\]b49^ m?aj4Y^C i^BQU>q]!@^,D^m<^إ<^%4a e1@a*mBm2mrmr\z\\\>iɛIA>ʔ))iI"StoppingE<<ZAM=ZIbIjI0rIzI+:I;:Iـ3I:J) BJ- 9JJ) RJ- ZJ- ;Kx,V .]A2X?y2?GVh>GTGV&IGVBGV =GTGV٣ Gia >]49m?a4Y iB>>q!@,Dz:":-4  ѽ@ *m1Bm12m1rm1r\Yz\Y\Y\]->>iqɛqIuM>uӺ)q)yyyi}ԹyI"StoppingEG<ZAM!>MKx,.]AN2?yNp?9N)yGYN=NH2Կ3(3?@B? ԿdD??J? ?N2?ɨN%; LZ?BZ[&IMMb@Mb@Mb@II I)IIIyMMbpx&~jtxMM7MĻ M7@)IIMV@iIIM׳@HeHel5uy< }d=Y}C٣ G >]49m?a4Y iB=mD<%>q%!@,D<e<<44) -@-E*mQBmQ2mQrmQr\u=z\u=\ue@\uͷ>iɛI>)yG))隉iȔ繉I"Stopping2EgA*EE}<ZAM>Kx,/]A>H?y>?9>ƣY>_Y=>H տ ? 7?տ+?d???>H?ɨ>鈈; >3CNDBR`&IHfHfHo5r< vS=Yv7;Q z>|٣| G +<  >]%49m?a%4Y iB)5>q5!@,D?F;B; ;4A Ei@A*mBm2mrmr\z\\\>iɛI>ƣ))iI"StoppingEq<ZAM=:JABJE9JJARJEZJEGm>GG&IGBG =GG=DG<G FKx,i/]A) 2?y2d?92gһY2.2=2HSrտ )?+&?iտI?]z?"?@g?2?ɨ2 t; 21CNHBRe&I)V= Va=eMb@Mb@Mb@aa a)aIayeI +y&1y&1|e94e`ee` e @)e@Iaiel@aaH}H}Qc5Ė< @=Y>;Q >٣ Gt< >]49m?a4Yy iBk=mf<">q!@,D ;. ;hB4 )@*mBm2mrmr\ k=z\ k=\ @\ *">i!ɛ!I%Z>%gһ)!)!))i-)I1"=StoppingEǨ<ZIbIjI1rIzIk:II3II"<q-I"<i-I;u-I;m-ZA9M=Kx,3m6/]A6?y6(?96N#QY6K=6Hoֿ@{? ?ֿs?f$j?d?@k?6?ɨ6ň; 62C^JB^g&IHfHfen5rW'< rV=Yv t٣x zGxz< z>|]49~m?a4Y~b i~B  ] >q !@~,D~7:~:~I4  @*m1Bm12m1rm9r\Qz\Q\Q\U] >iɛI>N#Q))iI"%StoppingBE):E-=E 3<ZAM==:J BJ 9JJ RJ ZJ & Kx,DP/]AGq>GCG&IGBG =GG>DG<G FHC HCHH ="H =*HIL6E?yE@?9E:YE,=EHֿ` >?0?`Tֿ ?c_@@? ?E?ɨEΈ; Aޅ@Bލ\&IHHn5E' E6=YU٣ G?< >] 49m?a4YE iBf->q!@,D;;9Q4 %@!*mBm2mrmr\z\\\f->iɛ!I% >%:I%d)!)!)-Ti-M7)I1"=StoppingEU+<ZAaM}>ZI5 bI5 jI5 0rI1 zI5 :I5 9:I5 ـ3I1 I5 @%<I5 A%<I5 P;I5 Q;Kx,:j/]A6L?y6?96;Y6ԙ=6H@׿@ cj? ?׿~\?rq`5??6L?ɨ6^; 60C>DB>`&II@)@EMb@Mb@Mb@AA A)AIAyEQQ{GztEuEEף E@)E@IEl@iEV@AE3@H] H]q5m<< mX=Yu>#q٣y }Gy};== }>]49m?a4YL iB =m<dq!@,Dj;;W4 e@*mBm2mrmr\ =z\ =\@\I>@iɛI>;Iǻ))i4I "StoppingIA)ECE}V< ZA M l>)yyA?AKx,/]A~BB~^&IH!Hq5% %P=Y%Q ->)٣) -G)5 5>i]u49mm?a}4YmT imByyq}!@m-Dm:m;m^4 @*mBm2mrmr\z\\\iɛIY>IV))8ӼiGI"Stopping:JsLBJ-9JJRJZJ GEr>GAGE&IGEBGE =GAGAGEذ<GE FEu<ZAMb>Kx,Uܝ/]A2X?y2:?92Ia٣a mGim= m>y]}49}m?a4Y}f iy]!<m=;q!@y}:}:}e4 @*mIBmI2mIrmQr\]!<z\]!<\ c@\@iɛI.>IX٣X ZGX^r= ^>`]f49bUm?aj4Ybv i`hjG5qj!@`b. ;b;b?l4p rE@p*mBm2m rm r\!z\!\!\%f@i1ɛ1I5s>5zl:J% JBJ! JJ! RJ% ZJ% D4ms*LyoG- i>G- CG- &IG- BG-  =G) G- y٣y Gk= >]49m?a4Y i.q!@-D;;s4 ?@ *m!Bm!2m)rmr\z\\\1@i ɛ I p> 7RZI bI jI rI zI ;:I I I I L)<I M)<I I IZKx,l/]A2] ?y2.@92~)٣) 5G15~H= 5>9]49=m?a4Y= i=B[=m<q!@=-D=k<=k<=]|4 @*mBm2mrmr\[=z\[=\V?\nt@i ɛ I > ~H H ALx,E0]A2kG?y2w@92MGCG&IGBGGGGv<G-FjLx,0]A6K?y6D@96q٣q uGq}!c= }>]49m?a4Y/ iB=mL<3q!@-D{::4 b@*mBm2mrmr\=z\=\?\7^@iɛIz><))h٣h jGhniw= n>p]v49rm?av4Yrg irBtvt2qz!@r-DrZ:r:r4| ~տ@|*mBm2mrmr\z\\\_@iɛIP>y<))i|϶7I"StoppingEn<ZAM=:J ؐLBJ 9JJ RJ ZJ   !G G G &IG sBG  =G G G q<G )F-}Lx,R0]AV)?yV @9V٣ GK= %>!]-49%m?a54Y% i%B15+1q5!@%-D%S:%:%Ֆ49 E@A*mBm2mrm r\z\\\w`@iAɛIIu>}<)y)y隁iX+9I"StoppingEj<ZAM )>Lx,~l0]A}ByMb@Mb@Mb@ )Iy?{Gz?{Gz?<ף=#< )I@i?@(@H56H5z5E,; E8=YEQ M>I٣I MGIU U>Y]e49]m?ae4Y] i]Be߬=me))i.m9I"StoppedBE=:E=EΫ<ZA UdClearing failed state for component DockingStepper1UM]>ZI bI jI 0rI zI u;I HM:I ـ3I q @i @u @m @ !Lx,0]A6cn?y6U @96 !٣! -G)-= ->1]E495om?aE4Y5( i5BAEV5qE!@5 -D5 ;57!;54I U@UE*mqBmq2myrmyr\z\\\<\@iɛIw> <))iŤ9I" Start "4Initializing EZServoServo. "8Initializing DockingStepper.E3<ZAM=:J MBJ9JJRJZJ Gme>GiGm&IGm_BGiGiGiGm<<GmFH-ŤC H)H-ŔCH- ="H- =*H-k6'Lx,l0]A6L?y6*E @96Y٣ G= >]49 m?a4Y` iB=m<T<q!@-Da;_;O4 a@*mBm2mrmr\ =z\ =\ ~>?\ U@iɛIF>%Y<)!)!!!i%*,9)I)"EStartingEݰ<ZA!M]= m ~G ) Ǒy A-Lx,A0]A61?y6Z @96o\٣` bG`bR< b>d]j49fm?aj4Yf ifBln;qn!@f-Df;f>;f޲4t v[@t*m Bm 2m rm r\1z\1\1\5eV@iIɛIIM>Mo<)Q)QQQiU9YIY"mStarting2Ei*EmhAEUF<ZAaM}=II3I.IIIZI%bI%jI%1rI!zI%:I%Z:I%3I!:J &KBJ k9JJ RJ ZJ (iK8nGF@27.{'*!"QL b].*pi?PGe f>Ga Ge h&IGe JBGe =Ga Ga Ge (<Ge F4Lx,0]AJW@yJ_v@9JH?^?@;U̼?@9(?@?JW@ɨJ%C; J/CnBn%IHvHvE5~  ~F=YQ > ٣ G-< ->A]M49Eim?aU4YE iEBQU;qU!@E-DE:E:E24Y ex@a*mBm2mrmr\z\\\LW@iɛI"><)a)iiiiu_:I"Starting"mBInit string: /1z14463aE13561N3m50E ܳ<ZA M >I:Lx,80]AvBv%Iz=iz<}Mb@Mb@Mb@yy y)yIyy}~jt?sh|??y&1|?}D=}=}`; }7@)}@Iyiyy}׳@HH65t @=YQ >٣ G >]49m?a4Y etIiB=m <GAq"@-D;;4 @*mBm2m rm r\%=z\%=\%?\%P@i1ɛ1I5>9)9)999i=&:AIA"MStartingE-<ZA9MU>ZI= bI= jI9 rI9 zI= :I= >:I9 I9 EALx,1]A6"@y6@96:_gT٣X ZGX^; b>d]j49fl?aj4Yf ifBhjAqn"@f-Df:f ;f 4p r@p*mBm2mrmr\z\\\Q@iɛI%w>%:_g<)!)!!!i-"2:)I1"EStartingE5q<ZAAMm=G o>G CG [&IG @BG  =G G =DG <G  F:J%Y"QBJ!JJ!RJ%ZJ%6oL%vT-tfZVMB>:2+%@m 6HLx,!1]A67@y6@V@96!=YMQ >٣ G3 >]49@l?a4Y2 iBʡ=m'<@q"@-D;;4  @ *m1Bm12m1rm1r\Mʡ=z\Mʡ=\Mw?\MR@iYɛaIe&>e!<)a)aaiimB#;:iIq"}StartingEu<ZAM=1NLx,v;1]A6N?y6 @96x;Y6=6H$9bn@d;? ?c?@uҼ??6N?ɨ6b; 6/CDF%IHNHN=5V̆ VX=YZLQ Z>X٣\ ^G\bļ b>d]f49fl?aj4YfK ifBhj@qj"@f-Df:f:f'4p r@p*mBm 2m rm r\)z\)\)\-ݗQ@iAɛAIEӻ>Ex;)I)IIIiM5?:QIQ"]Starting"]LSent speed cmd:/1V10000 Response:/0@ Em<ZAyM=ZIbIjI0rIzI+:Iy6:Iـ3IG s>G G O&IG 6BG  =G G G <G F:J= OBJ= 9JJ9 RJ= ZJ= ULx,dU1]A߆B %IHMHMv35]Q; e@=YuQ }>٣ G >]49l?a4Yi i Bq"@-D::4 @*mBm2mrmr\z\\\i1ɛ9I=>A)A)IIIiUD:aIq"Starting2E9*E=gAE=o<ZAaM>\C[Lx,=o1]A:?y: @9:_Y:=:HRx@3Ι?`!?u[`,S?`k?? V?:?ɨ:E; :-CFۆBF%IMb@Mb@Mb@ )IyMbPMb?= M@)׫@I@i(@׳@H5H535E ML=YMQ M>Q٣Q UGQU ]>a]m49e7l?am4Ye ie Bu"=mu]_)Y)YYeH H ?AR+bLx,/1]A:?y: @9:AY:%S=:H]O??&t? }? ؽ??:?ɨ:; :0CJچBJ%I)Va= Vp=HZHZ75f fR=YjSQ j>l٣I UGQ]P ]>a]u49eWl?au4Ye ie By} q}"@e -De2;e2;e4 @*mBm2mrmr\z\\\/q@iɛI>A))uGx>GCGU&IG;BG =GG>DG<G F:JEBoHBJAJJARJEZJE:VhLx,1]A~B%IMb@Mb@Mb@ )IyQ٣ G >]490l?a4Y i B=m<p2q"@!-D ; ;4 @*m)Bm)2m)rm)r\E=z\E=\E[@\E@iYɛYI]v>Y)Y)aaenLx,Eټ1]A6y?y6[@96^Y6N=6H )0~?@`? ~ 8??  ??6y?ɨ6^; 4>B>%IHFHFe5N7= R_=YRQ R>T٣T VGTVz Z>X]b49Zl?ab4YZ< iZ B`bT?qb"@XZ:Z:Zk4h j@h*mBm2mrmr\z\\\U%@i)ɛ1I5>5^I5=)9)99=PrDM?D8DDE  EE<ZAM5q>G G G [&IG @BG  =G G G n<G 8FHeʦC HeʦCHaHe ="He =*He6:J k3IBJ -9JJ RJ ZJ  (3R=qZJ<4huLx,1]A^?y^2@9^ఆY^=^H߿:?@?~k߿ ?@Ր?Ľ?N?^?ɨ^l*; \jBj%IIl)lHrHrkf5zl= ~E=Y~Q ~>٣ Gw  > ]49 l?a4Y y i  BFq"@ "-D ; ; 4! -@)*mQBmQ2mYrmYr\z\\\"9@iɛI>ఆI<));i:Iq"2Commanding positive:11839D}8DyDyE  EZIu bIu jIq rIq zIu :Iu B:Iq Iq Iu '<Iu '<Iu `;Iu a;E <ZA M >T{Lx,1]A6?y65@96 ŸY6H=6H )ݿ ?DH?wݿ@G???@?6?ɨ6D; 61C>BB%IEMb@Mb@Mb@AA A)AIAyEˡEZd;~jtxE'EyEĻ Ed@)AIAiE@AE@H]H] N5e#< mC=YmQ m>q٣q uGq} }>y]49}5l?a4Y} i}B=m3<uq"@}$-D}:}:}4 N@*mBm2mrmr\=z\=\܃@\@iɛI> ŸI<))'i& :II}=)}CD8DDE  E2EfA*EfA -~~GUlA eA)ʰylAcAE<ZAM>|Lx,;n 2]A5B5 &IHEHEQc5m== uJ=YuQ u>y٣y }Gy >]49l?a4Y iBq"@&-D(:I:4 @*mBm2mrmr\z\\\iɛI>Ik<))  ai 9ID!D8DDE  EGUy>GUCGUn&IGUPBGQGQGQGUK<GUF:JNBJ9JJRJZJ," JIE<ZAM>Lx,<$2]A:.?y:?9:˼Y: =:H`Ζڿ@!`??řڿF,? {?`1?@?:.?ɨ:Y; :0CBBB&IMb@Mb@Mb@ )Iy:vJ +I +TȽ94 M@)IV@i׳@H-H-b5="< EN=YEg^Q E>I٣I MGIM M>Q]]49UOl?ae4YU iUBeR=me;e~qm"@U)-DU7;U);U4q ux@y*mBm2mrmr\R=z\R=\/@\@iɛI>˼IN))ռi9IQZIbIjIrIzIk:IA:III"<I"<I{;I{;D 8D D E   E E<ZAM)>fΎLx,>2]A:ZF?y:݃?9:ݼY:}=:Hٿ`A`?=p?ٿ0ҏ?? =a?^?:ZF?ɨ:I; :/CFBF!&IHNHNi5Vh= VT=YZQ Z>X٣X ZG\G >!]-49%m?a-4Y% i%B)-q5"@%,-D%:%:%49 =@9*maBma2marmar\z\\\N=@iɛIx>ݼI@))隙ig9I"2Commanding positive:11839DDDE  EBE =:E C=E<ZAM5P>GM z>GI GM &IGM iBGM  =GI GM ?DGM Z<GM *F:J  MBJ 9JJ RJ ZJ     Lx,W2]A2d٣d fGdjv j>h]r49jm?ar4Yj ijBprqr"@j.-Dj:j&:j#4t z^@x*mBm2mrmr\z\\\@i)ɛ1I=>=|)A)AAIiMLV9QIYDmhAzDmhAD58D9DAEE  EIEM<ZAqM9>ZI] bI] jIY rIY zI] :I] G:IY IY I] @%<I] A%<I] ;I] ;ULx,Eq2]A:&?y:?9:|Y:Ϲ=:Hwfֿ@ ڹ?`?{ֿX u?Wn?l?@?:&?ɨ:%; :.CJBJ,&IIL)LRARA-Mb@Mb@Mb@)) )))I)y- ףp= i|?5~jt-Q8-- -7@))I)i)))HEHEi5U< ]A=Y]Q ]>a٣a eGae-F m>i]u49m m?a}4Ym imB}>m};}ͻq}"@m2-Dm+;m;m?+4 @*mBm2mrmr\U>z\U>\UJ#@\U@iɛI9>|))隩i8IDE8DADAEM  EIE-<ZA9MU2>HQ HU BAh΢Lx,7ŋ2]A>n?y>/?9>Y>ǻ=>H _տEѸ? (%?`yտB?@a?em?j?>n?ɨ>1; >0C^B^/&IHfHf\5ru< rQ=Yv'ZQ v>x٣x zGx~g2 ~>]49m?a 4Y iB q"@5-Dp;;24 Կ@*m9Bm92m9rm9r\Yz\Y\Y\]U@iyɛyI}!>})y)隁i6IDE8DADAEE  EAGy>GG&IGBG =GGG.<G FE<ZA!M= >:JMLBJM89JJIRJMZJMB-]{L,%'-8>FQVafmusw}{{z|ywwsnknaTLEEGA2'J]hAIYLx,42]A6?y6h?96H,Y66=6H@Կ~&෢?F?ԿhĠ???6?ɨ6*B; 4N%BR:&IeMb@Mb@Mb@aa a)aIaye~jtv/Qeexeu e @)e׫@Ie@ie@ae@H}H}[5= A=Y6Q >٣ G >]49m?a4Y iB=m;+>q"@8-DI::{94 Y@E*m Bm 2m rm r\%=z\%=\%@\%J+>i1ɛ9I=M>=H,)9)999iE}۸AII"-2Commanding positive:11839DADADAEE  EAE=<ZAIM[>Lx,a2]A) :o?y:,?9:Y:=:H1Կ<A?`X?@LԿ3v`???:o?ɨ:2; :/CB*BB@&IF%=iFp<HN{HN'5V< VZ=YZZ9Q Z>\٣` bGdf f>h]n49jm?an4Yj ijޏBpr$>qr"@j;-Djz;j;j@4t v@t*m Bm 2m rm r\1z\1\1\5ڋ$>iAɛAIM5>M)I)IIIiMb TQID8DDE  EEep<ZAqM>ZI-bI-jI)rI)zI-{:I-+:I)I)q5@i5@u5@m5@G x>G G &IG BG  =G G G <G FLx,92]A:J&OBJ&9JJ$RJ&ZJ&}~{wqnkifcaa[XVTNJGFEDC@=:97400+*('J*? J*>F̔?yFO?9FYFϝ=FHԿ@F+N? _`? Կu^?.̳?v?F̔?ɨF!; F0CR5BRN&IHZHZZ5bkX= bI=YbFl;Q f>d٣d fGdj j>l]r49nym?ar4Ynf inُBprg!>qr"@n>-Dn;n;n$G4x zO@x*mBm2mrmr\Az\A\A\EZg!>iaɛiIm>m)i)iiiiu|qIyD8DDE  E!E<ZAM(>/Lx,72]A>?y>#?9>)Y>=>H-ԿA@7?`Z? #CԿk@+?[?@#?>?ɨ>|"; BJY&IEMb@Mb@Mb@AA A)AIAyEI +?{Gzy٣ G; >]=49 m?a=4Y i֏B=g=m=#<=>qE"@@-D< <N4y }Ž@y*mBm2mrmr\g=z\g=\F+@\U>i1ɛ1I=t>=))9)999i= ׹AIAD!D!D!E%  E!E<ZA M-N>ZI= bI= jI9 rI9 zI= [:I= %:I9 I9 Lx, 3]AFA?yF ?9F:мYF=FH`Կ0t? H?PԿ 0?`??FA?ɨF; F1CZ=B^X&IIh)jAhhHpHpzF zS=Yz|٣| ~G|z< > ]49 ^m?a4Y  i ӏB >q"@ B-D : : ^U4! %Ͻ@!*mABmI2mIrmIr\iz\i\i\m >iyɛyI>:м))隁i?I"u2Commanding positive:11821GGG&IGBG =GGGO<G!FH]èC H]èCH]ÓCH] ="H] =*H]|4DM8DIDIEM  EIEe<ZAyM:>:JNBJ-9JJRJZJHK TJgAIhADBLx,&3]A^ט?y^Z?9^Y^ =^HNfֿ<|β???kֿ‚??No? ?^ט?ɨ^ω; ^0Cj9BjS&IMb@Mb@Mb@ )IyQ?L7A`堿~jth\=+D @)I@i@HH,5 >=Y٣ G= >]49 m?a4Y  iҏBjE=m<Ж?q"@C-D::\4 @*mBm2mrmr\5jE=z\5jE=\5ް@\5Ж?iAɛIIM>M)I)QQQiU QIYD8DDE  EE<ZAM!>  GkA ) ykA B)Lx,@3]AF,?yF|j?9F>fIYF=FH ׿i?н? ј׿p?@,???F,?ɨF; F.CVABZ\&IHbHba5j]'= j[=YjVl٣l nGlr ]= r>t]z49v m?az4Yv ivяBxz[?qz"@vD-Dv;v; ;vkc4 @*m)Bm)2m)rm)r\z\\\;[?iɛIL>>fI))iIDzDiAD8DDE  EEo<ZAM>ZI bI jI 0rI zI :I I ـ3I G G CG &IG BG G G >DG o<G 8F|SLx,Z3]A2?y2,B?92h߻Y2B=2Hؿ>c ? >y?@ؿ?{?? z?2?ɨ2^; 21C:JN NBJN9JJLRJNZJNok"vgSC1&  <jDV@BV[&IZl٣l nGlr,a= r>t]v49v%!m?az4Yv5 ivЏBxz)?qz"@vE-Dv:v;v{j4 @*m!Bm!2m!rm!r\9z\9\9\=)?iIɛQIU>Uh߻)Q)YYYi]ZYIaD8DDE"  EE<ZAM%>{Lx,>\t3]A:_?y:.?9:Y:ص=:H-uڿ " @?2#?cڿ=?`?q?Q?:_?ɨ:]މ; :0CB>BBY&I-Mb@Mb@Mb@)) )))I)y-~jt?y&1?MbP?-D=-`e<-: -ݸ@)-@I-?@i-l@))HEHE7`5U% UB=Y]8a٣a eGam= m>q]}49um?a}4Yu iqL=m<@q"@uG-Dut;u;uq4 @*mBm2mrmr\L=z\L=\uM>\@iɛI>))i%,I"2Commanding positive:11833DE8DADAEE  EAE=<ZAIMeV>II 3IL.IIIZI% bI% jI% 2rI! zI% :I% $:I% c3I! cLx,73]A6c?y6@96m;Y6Fi=6H@QܿD;ڱ?q?Yۿ?b'??6c?ɨ6; 4>8B>R&IHFHFs75N  RV=YR;T٣T VGTVY= Z>1]E495m?aE4Y5f i5яBAE@qE"@5H-D5>/;5L$;5x4Q U@Q*mqBmq2mqrmqr\z\\\@iɛI(>m;I2))隩oi/CID?D?DM8DQDQEU  EQGw>GG&IGBGGGG*<GF:JpNBJ9JJRJZJE=<ZAIMew>Lx,v3]A%]?y%M@9%;Y%(=%Hfݿ`H o±?^?@lwݿ`^?}?`/?%]?ɨ%(; %/Cm+BmB&IIq)qMb@Mb@Mb@ )IyQ?X9v?I +?u=}=94<  @)@IV@iV@3@H H a59 -=Y51٣1 =G9=B= =>A]M49E*m?aM4YE  iEՏBU!=mUvLx,53]A27?y2@92>E>G v>G G &IG BG  =G G G -<G FLx,O3]A:f?y:@9:rd٣d fGdj= j>p]v49rm?av4Yr irڏBtv_9@qv"@rO-Dr6:ry:r4x ~<@:JBJk9JJRJZJJ% ? J%>*m1Bm12m1rm1r\Iz\I\I\M-_9@iaɛaIe>erZIbIjI0rIzI:I\3:Iـ3II<q I<i I;u I;m Lx,3]A2?y2@92٣ 5G15[= 5>A]M49Em?aM4YEv iEޏBiM+:ImU;U!;@qU"@EQ-DE:E>E4a e@a*mBm2mrmiɛI>߱Mx,E4]A6?y6- @96xaX٣X ^G\^1= ^>`]f49bm?af4YbK ibBij :hmj;j<@qj"@bS-Db:b]N?b4l n@p*mBm2mrmiɛI>xa:JBJ#9JJRJZJJIgA Mx,lZ)4]AB$&I      Mb@Mb@Mb@ )IyMb?A`"?I +?@== 7@)׫@I@il@z@H2Hy5ɼ 8=YQ >٣ G >] 49 m?a 4Y iBiT:=m;>q"@V-DR;7;۟4! %k@%E*mABmA2mArmAr\e=z\e=\e,?\epwS@iqɛqIuX>qIu=)y)yy},uMx,4C4]A>?y> @9>΂v=>H`]Ǿ`+??Mu?@!`?s?>?ɨ> ; >.C  B&IH-GH-+5 O=Y3Q >٣ Gf= >]49m?a4Y iB;q"@Y-De=e=ʦ4 @*mBm2mrmr\z\\\b)V@i1ɛ1I5>5΂Gq Gq Gu &IGu iBGq Gq Gq Gu +<Gu FHɧC HɧCHH"H*H5Mx,]4]A6?y6 @96gBB&IHJQHJb5Rj R\=YRT٣T VGTZw0= Z>X]49Zcm?a4YZ iZB:q"@Z\-DZT J>*mBm2mrmr\z\\\1.W@iɛI>g<) )   Y٣Y ]GYe< e>i]m49mfm?au4YmY imBu=mu;u7q}"@m_-Dm7 ;mL ;mD4 @*mBm2mrmr\=z\=\r˘?\VvZ@i9ɛ9I=>=c<)9)9AAiEF-AII"}StoppingEM <ZAYMu>$Mx,͐4]A2@y2c @92 Dl٣l nGlrw< r>t]z49vQl?az4Yv ivBxz?7qz"@va-Dv;v;v{4 ^@ *m)Bm)2m)rm)r\Az\A\A\EfZ@iYɛYI]߱>] D<)Y)YaaieA aIi"uStoppingEuL<ZAM=Gw>GGt&IGUBGGGG]<G,F:JLBJ-9JJRJZJJhAIhA)*Mx,04]AB]@yB9@9B٣ GQ; >]49l?a4Y* iB5=m%< q"@d-D::!4  $@*m)Bm)2m)rm1r\M5=z\M5=\M?\MZr@iaɛaIe>e<)a)iiqiuϸZIbIjIrIzI:Iz:IIIj;Il;Il;Il;I"%StoppingE-=<ZA9MU>1Mx,=}4]A:x@y:9@9:f;Y:=:H [?.?޲? zds? ?:x@ɨ:Cψ; 8FBF%IHN$HNr5Vc V_=YZQ Z>X٣X ^G\^ Ļ b>d]j49fl?aj4Yf ifBln4 qn"@ff-DfH;f;f4p vN@t*m Bm 2m rm r\!z\!\!\%Lq@i1ɛ9I=D>=f;)9)9AAiEZǦIIQ"StoppingE<ZAM=GGG[&IG@BG =GGG^<G-F&<7Mx,yX4]A:v@y:7@9:f;Y:[=:H| `)`='?/P?pf?,p ȼ? ?:v@ɨ:ި; :1CBBF%IIH)JAHNFHN5ZU ZJ=Y^kԻQ ^>\٣` bG`bZ b>d]j49fl?aj4Yf ifBln qn"@fh-Df;f;f4p rk@t*m Bm 2m rm r\)z\)\)\-q@i9ɛAIEP>Ef;)A)AAIiM󋸉IIQ"]Stopping2EegA*EegAEU<ZAa:J}BJ}9JJyRJ}ZJ} Q|hJ<6-&! 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Ju%?EĠ<ZAMM1> = \Mx,U~7]AJ?yJ@9J]YJJ=JH`zܿ Z?? ʦ?jܿ?KR?q٣q }Gy};> }>]493m?a4Y i׏B=mC<@q#@-Dl;>;4 ϼ@*mBm2mrmr\=z\=\ d>\@iɛI >]))iI "StoppingE<ZAM==ZI bI jI rI zI :I q:I I q @i @u @m @Mx,67]A2?y2@92;Y2=2Hݿ`h3߭?@I?Nݿe?`bM?+?2?ɨ2켈; 21CJJBJh&I PR@AHVHVm5^i ^U=Ybo`٣d fGdfx= j>h]r49jm?ar4Yj( ij؏Btv@qv#@j-DG~y>G~CG|G|G~ =G|G~>DG~<G~ FjK(;j;j>4 @*mBm2mrmr\z\\\?@iɛI>;I))%Gi%z)I)"5StoppingEm<ZAM]>:J PNBJ -9JJ RJ ZJ J I iAPMx,^7]A}h?y}*S@9}e;Y};=}H@`߿~E??@/@߿?ev :?`E?}h?ɨ}y; yޕ:BޕT&I=Mb@Mb@Mb@99 9)9I9y=J +?/$?~jtx?=H==,==; 9)9I=@i=l@9=(@HU HUq5e e3=Ye9;Q m>i٣i mGquh= u>y]49}xm?a4Y} i}ڏB=mL<,2@q#@}-D} ;};};4 @*mBm2mrmr\=z\=\h5?\,2@iɛI>e;I샻))隹ӼiꑙI"-StoppingE<ZAM>Mx,,7]A:m?y:@9:=`٣` bG`f= f?h]n49jm?an4Yj ij܏Bpr3@qr#@j-Djs;j;jS4t vR@x*m Bm 2m rmr\1z\1\1\593@iAɛAIE>E=Y)I)IIMTiM]QIQ"eStoppingZIMbIMjIM1rIIzIM:IM":IM3IIE <ZAMF>Gz>GG&IGBG =GGG˰<G FBMx,7]A~-B~D&II)HHn5-$ -C=Y-Q ->1٣1 5G15 =>A]E49Em?aM4YEw iEݏBIIqM#@E-DEu:E`:E4Q ]Ǿ@]E*myBmy2myrmyr\z\\\iɛI>Ia;))隹i#I"Stopping2E*EgA:JBoHBJ`9JJRJZJE=$<ZAqM`>i:Mx,7]A2f?y2t @92^q٣y }G> >]49 m?a4Y iB=m(<*9q#@-D ; ;ګ4 @*mBm2mrmr\=z\=\CН?\3X@iɛIM>^H] AAH] AAZIm bIm jIm 6rIi zIm :Im :Im 4Ii #Nx,8]A6?y6@' @96GRCGR&IGRBGPGPGR=DGR<GR FHmC HmCHiHm ="Hm =*Hm#6b; fU=Yfl٣l nGlr݆= r>t]v49v m?az4Yv ivBxz7qz#@v-Dv>:v):v4 @*m!Bm!2m!rm!r\Az\A\A\EZ@iɛI]>:J BJ JJ RJ ZJ -=E>1&zpe]TMC:+ #%'&&%"  O Nx,{38]Ae9?ye @9e G 1!٣1 EGA)uyqu~AuN= }>y]49}m?a4Y} i}B=m <Fq#@}-D}W;};}4 ^@mY4Nx,pM8]AvBv%IH~<H~v}5M Me=YMQ M>Q٣Q UGQ] ]?a]m49em?am4YeA ieBiiqm#@e-De:e6:e4y }n@y*mBm2mrmr\z\\\iɛIg>I#=))GCG&IGdBG =GGT٣T ZGXZ= Z>\]b49^m?af4Y^ i^Bdfqf#@^-D^:^2:^4h j1@l*mBm2mrmr\z\\\M{@i)ɛ1I5a>5p<)1)11=߆BB%IID)DDFAMb@Mb@Mb@ )IyMbV-?Q?=u< d@)I@iz@H-JH-Ձ5= =A=YE&:Q E>A٣A EGIM= M>Y]e49]Dm?ae4Y] i]BeY=me;eM qm#@]-D]s:]:] 4q u@q*mBm2mrmr\-Y=z\-Y=\-?\-i@iaɛaIe7>em<)i)iiiimJ^2I"Stopping2E*EE9<ZAM=H] @AH] @Ar&Nx, 8]AG*k>G(G*U&IG*;BG*" =G(G(G*c<G*F~@y~{@9~76I٣I UGQU-< U>Y]e49]l?ae4Y]  i]Bim qm#@]-D]:]2:]4q u@q*mBm2mrmr\z\\\w@iɛI>76<))iI"StoppingE<ZAM=:Ju EMBJu #9JJq RJu ZJu  J I ʞ,Nx,8]Au@yu@9u< )@Iݸ@i@H H ݊ /=Y-Q >٣! %G!%; ->)]549-fl?a=4Y- i-B=>m=;=rq=#@--D-:-(:-:4Q ]@Y*mBm2mrmr\>z\>\4T @\H@iɛI><))iI"StoppingE<ZAbA:1JM )>3Nx,8]A) 6ȇ@y6@96 <) )i>㹉I"%StoppingE <ZA!M==GEs>GECGE)&IGEBGE =GAGE=DGEs<GE4FU9Nx,8]A6p@y61@96Ѿ6HR,k S?΍?@H@.?g7 1?@?6p@ɨ6; 6/C\\HfJHfՁ5Yr:Q r>t٣t vGtz z>|]49~l?a4Y~} i~ Bq#@~-D~:~u:~4 *m1Bm12m1rm1r\Iz\I\I\MV@iaɛaIe>eѾ<)i)iiiimdqIq"StoppingEu\<ZAyM=:JKBJ9JJRJZJJ> J>ZIMbIMjIM1rIIzIM[:IMo5:IM3IIIMg<IMg<IM;IM;e :H '`E??H?`o ?@j?:@ɨ:h; :.CFBF%IMb@Mb@Mb@ )Iy{Gzkt?{Gzt?ף =ף; M@)@Ii?@H5<H5v}5E EI٣I UGQU U>Y]e49]<))iAI"StoppingE <ZAM=GE v>GE CGE &IGE BGE  =GA GE >DGE <GE PF6FNx,sL9]A:@y:`@9:ȅ:H`!>?`w>?n p!? иl??:@ɨ: ; :-CBBB%IHHHRKHR5Z ^T=Y:Q >)٣1 5G15K 5>9]E49=l?aM4Y= i=BIMܿqM#@=-D=:=:=W4Q U@Y*myBmy2myrmyr\z\\\"@iɛI>ȅ<))i уI"StoppedE<ZA dClearing failed state for component DockingStepper1M=:J VBJBJ 9JJ RJ ZJ 1bBjJ0 y4r@ ],JE9J I hALNx,%69]A?yK^ @9@`H +?? W?L@?{?騵?ɨⵉ; 2CI3I23I5/IIIZIbIjI0rIzI:I%:Iـ3II<I<IL;IL;MBM%IMMb@Mb@Mb@II I)IIIyMʡE{Gz?Mb`MM#=M M@)M@IM@iM(@IM(@HuLHuF5< %=YQ >٣ GmH >]492l?a4Y  iB=m<q#@-D;;4 E@*mBm2mrmr\=z\=\f*@\@i1ɛ1I5>5@`<)9)999i=OAIA" Start "4Initializing EZServoServo. "8Initializing DockingStepper.Eٲ<ZAMK>GSNx,c P9]A6?y6 @9686HW`?`7?!a?`q`~z??6?ɨ6; 61C@B%IHJPHJ)5R? R=YRQ R?T٣T VGTV Z?X]b49Z~l?ab4YZ iX`f%qf#@Z-DZ:Z:Z*4h jQ@h*m|Bm|2m|rmr\z\\\@i)ɛ)I-؜>-8<)))111i5g29I9"MStartingE<ZAMA>GGG &IGBGGGG#<G FH HťCHH ="H =*H6^YNx,i9]A) > ?y>F @9>dJc >>H߄`8??R*?9i.~?IJ?> ?ɨ>dQ; >/CF†BJ%INh٣h jGhn֛ n>p]v49rl?av4Yr irBtvqv#@r-Dr :r:rO4x ~x@|*m!Bm!2m!rm!r\Az\A\A\E(@iQɛQI]k>]dJ<)Y)aaaiegaIi"uStartingBE}=:E}=EU<ZAaM=:JlPBJu9JJRJZJ  Imž=)mC ~GZI5bI5jI52rI1zI5:I5y6:I5c3I1I5Z<I5[<I5;I5; )`y  A`Nx,Z9]A~ɆB~%I-monly read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V m@m m@m m@m  m@m HHA5< >=YQ >٣ G >]49l?a4Y iBi+:m;q#@-D:>j4 @*mBm2mrmiɛI>))!!i%ฉ)I)"=Starting"BInit string: /1z14543aE13561N3m50E<ZAM%M>H AAH AAG y>G G &IG BG  =G G G =<G F gNx,ݕ9]A:?y:Qv@9:Z;Y:@E>:H߿w@R??`-߿@L?LzC? ?:?ɨ:; :0CFֆBF%IHNHN:5VÈ= VZ=YV"Q Z>X٣X ZGX^2 ^>`]f49b6l?af4Yb ibBif :dmf;joĿqj#@b-Db:bVN?b4l nA@p*m Bm 2m rm i1ɛ1I5ݿ>5Z;)1)999i=pAIA"UStartingEU<ZAaM}=7mNx,zp9]A:J"KBJ"9JJ RJ"ZJ"t?y/Y@9;Ys>H@£ݿ'&?\\?\ݿ`e;? 8x@ ? C?t?ɨ; ,CMBM%IIi)iHHB-5fo= M9=Y}8hQ }>٣ G >]499l?a4Y iBi9m;ZIbIjI0rIzI;:I(:Iـ3II<I<I;I;ȿq#@-Dv<? 4 B b@-E*mIBmi2mirmiiɛIf>;))i΅I"Starting2E*E=E<ZAM*>LtNx,٣ G >]49l?a4Yl iBiT:=m<W@>q#@-D:E:x#4 U@*mBm2mrmr\=z\=\@\W@>iɛI>))ih D!I!"5StartingEj<ZAM>H%a=H%p=Gx>GG<&IG'BG =GGG?<GFjIzNx,W%9]A6?y6T!?96;Y6V=6H <ڿTƹ? /?ڿ )?y`?-?6?ɨ6; 60C>B>&IHFHF(*5N!= N[=YV:Q V>T٣T VGXZ! Z>\]b49^l?ab4Y^P i^Bdf>qf#@^-D^:^%:^*4h jo@h*mxBmx2mxrm|r\z\\\>iɛIm>;))隩iⷉI"Startingyy"LSent speed cmd:/1V10000 Response:/0@ E<ZAM>:J}BJ}u9JJyRJ}ZJ}3Nx, :]AB"&I%=i%<)%= %=Mb@Mb@Mb@ )Iy rh?V-{GzC< )@IiV@ AAHxH&5"= 6=YQ >٣ G   >]49Cm?a%4Y i B%=m%;%?q%#@-D::14-B 5@5E*mYBmY2marmar\=z\=\s@\?iɛI>))隱iI"StartingE<ZAM >H9 H9 ZIE bIE jIE 1rIA zIE +:IE J1:IE 3IA qM @iM @uM @mM @G u>G G n&IG PBG  =G G G D<G [Nx,:]AB8?yB ?9B:9٣9 EGAE E>I]U49Msm?aU4YM iMBQ]]?q]#@M-DM ;Mi ;Ms84a eN@i*mBm2mrmr\z\\\]?iɛI;>:<))iS7I"U&Changing to mode: 1"]Standby mode."E2Commanding positive:11839De8DaDaEe  EaE=<ZAIMeV>Nx,8:]AFJ?yF|?9F@Y٣Y eGa}5 >]49O m?a4YX iBA?q#@-D</<T@4  @ *m)Bm)2m)rmYr\z\\\A?iɛI>@<))i@]8IDe8DaDaEe  EaE]V<ZAM]>^mNx,R:]A6. ?y6J?96 *٣ G: >]49 m?a4Yb iB>m;X?q#@-D;;F4 1@ *m)Bm)2m)rm)r\U>z\U>\U@\UX?iaɛiIm>m *<)i)iiiiur8qIyDiAzDjAD8DDE  E2E*EfAE<ZAM%>ZI bI jI rI zI K:I 7:I I G-k>G-CG-&IG-}BG- =G)G-=DG-^<G-!FNx,/ml:]A:fw?y:?9:2X٣\ ^G\bY b>d]f49fm?aj4Yfv ifBhjBU?qj#@f-Df.:f:fUM4p r4@p*mBm2mrmr\!z\!\!\%BU?i1ɛ1I=>=2<)9)9AAiEM8AIID8DDE<  EE<ZAM=:JMBJJJRJZJ5<5N&k}2[sdM9-%   J? J#?Nx,@Q:]A%`B%&IMb@Mb@Mb@ )IyEԸ?|?5^I +=ҽ94  @)׫@Ii?@3@HH Y5y3= 7=YQ >٣ G   >]%49/m?a%4Y iB-Q>m-;-?q5#@-Ds;t;'U4A E@ME*mBm2mrmr\Q>z\Q>\0@\}?i9ɛ9I=>9)9)AAAiE#9AIi"]2Commanding positive:11537DyDyDyE  EEU\<ZAaM>G% d>G% CG% &IG% BG% ! =G! G% ;DG% <G% 2FHʧC HʦCHH ="H =*Hʥ6ZIM bIM jIM 0rII zIM :IM o5:IM ـ3II IM &<qU IM &<iU IM ;u] IM ;m] 'Nx,!:]AROj?yRҧ?9RJ)?@0< ?`?ROj?ɨR; R/CZhB^&IHfHf<5~@#= [=Y% Q %>!٣! %G)-| ->1]=495Hm?a=4Y5 i5BAE݉?qE#@5-D5 ;5X ;5[4I M"@Q*mBm2mrmr\z\\\݉?iɛI>J)<)!)!!!i%C9)I)D D D E <  E Em<ZAM)>-խNx,:]A &G6kA FA)Zÿy^kA^JA:J~zOBJ~9JJ|RJ~ZJ~J%gAI%gAU>?yU?9U ?ɨU; U0CޝpBޝ&IHuHuuZ5= 0=YXQ >٣ Gl; %>A]49Em?a4YE< iEBA?q$@E-DE :EK:Ec4 @*mBm2mrmr\z\\\A?iQɛQI]>] <)a)隁ij9ID=8DADAEE]  EAE<ZA!MEr>tNx,4:]ArjBv&IMb@Mb@Mb@ )IyS㥻?٣ G >]49m?a4Y iB>m;6?q$@-D;&;)j4 @*m Bm 2m rm r\->z\->\->@\-6?i9ɛ9IE>A)A)AAAiE89IIID8DDEx  E2EfA*EG^>GCG&IGBG =GGG_<GFZI bI jI 1rI zI :I @0:I 3I I 3!<I 3!<I A;I A;E%<ZA1MM1><Nx,p:]A2ʫ?y2M?92:X٣X ZGX^u= ^>`]f49bm?af4Yb ibBdj?qj$@b-Db:b:bp4l nҺ@l*mBm2mrmr\!z\!\!\%?i1ɛ1I5^>5:<)1)999i=9AIA"M2Commanding positive:11544DM8DIDIEM  EIE%C<ZA1MI:J]>KBJ]u9JJYRJ]ZJ]   bk8 Jm? Jm>tNx,z;]AVe?yVo?9V۶;YVX=VHֿ`? ? ֿ?@vv )h??Ve?ɨV; V.C^gBb&IMb@Mb@Mb@ )Iy~jt?~jt{Gzt=ļ ݸ@)I@i?@3@HHK5EӼ :=Y]Q >٣ G]>= e>]49nm?a4Y iB=m<?q$@-D::x4 /@*mBm2mrmr\5=z\5=\58@\5߻?iAɛAIEG>E۶;)A)AAIiMA9IDDDE.  EE]<ZAqM[>G G>G CG 'IG ɇBG  =G G 9DG 2<G FNx,??31ؿ?[j[K?X?6d?ɨ6(; 6/CfeBj&IHrHr&Q5z) zY=Yz]ͻQ z>|٣ Gڌ= > ]49 m?a4Y  i B?q$@ -D o; ; ~4! %O@)*myBmy2myrmyr\z\\\?iɛI[>R;))ic9ID8DDE|  EBE=:E=EmP<ZAM>$"Nx,G;;]A6??y6-?96:Y6 =6H`{ٿ`9}?H?ٿ@›?`Y N?Y?6??ɨ6; 60C>VB>v&I)F= Fa=HJHJDP5R RO=YVYQ V>T٣X ZGXZʈ= ^>l]v49nmm?av4Yn inBtvG?qz$@n-Dn:nK:n؅4:J=:LBJ=`9JJ9RJ=ZJ=JQIUhA E@ZIbIjIrIzI;:I7:IIq@i@u@m@*mBm2mrmr\z\\\G?iɛI >:)))))i-Ӄ91I1"=2Commanding positive:11464Du8DqDyE}  EyEm<ZAM> Nx,!U;]AnLBrj&IMb@Mb@Mb@ )IyZd;?Q?Mb`?y=<;  @)Ii׳@HH#U53 8=YQ >٣ G > ]49 }m?a4Y 3 i BG=mC<.@q$@ -D ; ; 4! %@!*mABmA2mIrmIr\eG=z\eG=\e>\e.@iqɛqI}>y)y)隁iԤ9ID-8D)D)E-  E)Gu?>GuCGu&IGućBGu$ =GuHDGu8DGuα<GuPFHHE<ZAM5.>3Nx,vn;]A:]?y:p@9:cZY:S=:HPݿ@r` C? r? BݿΜ?`{Lk? _??:]?ɨ:; :/CF@BF\&IHNHNa5V@ Va=YV\Q Z>X٣X ZGX^+> ^>`]f49bm?af4Yb i`dj @qj$@b-DbK:b:b4p r@p*m Bm 2m rm r\!z\!\!\%# @iiɛiIm*>mcZ)i)iqu8:J&KBJ9JJRJZJ   6'UZIbIjI0rIzIK:I::Iـ3INx,{׈;]A2K?y2g)@92Y2V=2H <߿``Շ??/߿֜?x|?H??2K?ɨ2똊; 2.Cn5BrM&II ) AMb@Mb@Mb@ )Iy٣ G= >]49m?a4Y iB ܟ=m *< `Gq $@-D:=:4 U@*mBm2mrmr\ ܟ=z\ ܟ=\ #?\ ߾J@iɛI{>)!)!!%XGu P>Gu CGu &IGu BGu - =Gq Gu 9DGu <Gu ,FH H FNx,;]A6k?y6T@96-Y6=6Hэ LL ~?@&b?? ?%β?g?6k?ɨ6b; 6-CB#BB8&IHJHJ Y5f j^=Yj"Q j>l٣l G!% = %>)]549-|m?a54Y- i-B151Eq=$@-.D-7;-";-D4A Ed@EE*maBma2marmir\z\\\L@iɛIG>-))隡ܡpNx,;]ANx?yN @9NqYNIM=NH@q B? #?n?`2Ж?L??Nx?ɨNN; N.CVBV&&IHbHb%.5f jJ=YjQ j>l٣l nGlr7> r>p]v49r m?az4Yr irBxz@qz$@r.Dr:r:r-4  Q@!ZIbIjI1rIzI;IFi:I3I:J0NBJ9JJRJZJJIfA*m Bm2mrmr\z\\\Q@i1ɛ9I=0>=qI=<)9)9AE;iET*9IIID8DDE  EEe \<ZAq M >WNx,bi;]A)0 2@N1?yNZ @9NYN}=NH[C@c?h? nA`w ?`?d?z?N1?ɨNp&; LZBZ&I\i^py٣y }Gyy= >]49 m?a4Y iB=m<[q$@.D ;;4 ;@*mBm2mrmr\]=z\]=\]?\]r@iɛIM>I<))隡ǻi8IDGW>GCG&IGBG% =GGDG:DGs<GFHáC HáCHH$ ="H# =*HÐ6DM8DIDIEM  EIEE<ZA!M=>Nx,D;]A6Ҡ@y6@96nY6=6H``?K?`;N?̡??7?6Ҡ@ɨ64; 6/CRBR&IHZHZe5z ~R=YٌQ >٣   G  =  >]49wm?a%4YU iB!%hq%$@.Do;;e4) -@1*mQBmQ2mQrmQr\qz\q\q\ut@iɛI>nIy)u)隉ֶi$ID58D1D1E5  E1E <ZAM5 >I) G  !)UyQ]PBII w3I S}.IIIZIbIjIrIzI:I,J:II:Jk3IBJJJRJZJ.R ~C+]:% J ? J? nOx,4 <]AFJ@yFAi@9F/YF*=FH t9:\5? 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J >[Px,k@]AzQ!@yz@@9z<A٣A EGAM> M>Q]]49UJm?a]4YUc iUB]=me;eqe%@Ui.DU:U4:U4i m.@i*mBm2mrmr\=z\=\?\8@iɛI'><Gek>GaGe&IGeBGaGaGex٣x zGx~= ~>] 49m?a 4YP iB  q %@k.D::4 @*mABmA2mArmAr\Yz\Y\Y\]+@iqɛqIuB>uPx,H@]A6z@y6;@96LAd٣d fGdj= j>p]v49rm?az4YrY irBxzsqz%@rn.DZIMbIMjIM0rIIzIMK:IMB:IMـ3IIr";ruLAF ^D[1"StoppingE<ZAM>ա ա Px,a@]A2 @y2(@92 =Y2=2H m ?/?@# (b? A`0˽?,?2 @ɨ2.|; 2/CNBR%IIT)TGGG&IGdBGGGG#<G FMMb@Mb@Mb@II I)IIIyMM< M7@)M׫@IIiM@IIH-Hv5d :=Y;Q >٣ G@= >]49/l?a4Y iB"!>m; eq %@s.D-;(;4 @*m1Bm12m1rm9r\U"!>z\U"!>\U_@\Ui6@iaɛaIe#>e =)a)iim@Px,{@]A>f@y>'@9>5=Y>g=>H\ Ȱ? _?t? Š??>f@ɨ>~; HZY~5b b^=Yf4;Q f>d٣d jGhjd!= n>p]v49rl?av4Yrq ir Btzqz%@rv.Dr:rK:r4| ~@*mBm2m!rm!r\9z\9\9\=ɯ@iIɛIIMt>M5=)Q)QQQiUiIi^D9"StoppingE]~<ZAiM[>ZIebIejIe1rIazIe:Ie>L:Ie3Ia:J] MBJ] 9JJY RJ] _;%Px,@]AZJe؈@y@9i =Yy>H@ř?_?`K'?^?/?؈@ɨ_v; .C-ӆB-%IMb@Mb@Mb@ )Iy+η333333?{Gz?v>ף< @)@Iݸ@i@HHHd5mi` u0=Yu!Q u>y٣y }Gy}< >]490l?a4Y} iB5>m;+q%@{.D<x< 4 h@*mBm2mrmr\5>z\5>\ @\턏@iɛI>i =))隙iuICCCCGm>GGO&IG6BG =GGG<G F"UStopping2EY*E]gAE-<ZA9M]> S+Px,o@]A>ʡ@y>@9>~=Y>4 >>H@ @;?ơ? P@fý?# ?ɲ?>ʡ@ɨ>]; >/CFɆBJ%IN=iN<HVCHVH5^}r ^n=Y^zRQ b?`٣` bG`fW; f?h]n49jl?an4Yj ijBprqr%@j.Dj;j;j 4t v@t*mBm2mrmr\z\\\і@iɛI#>~=))ifI" StoppingE<ZAM=<2Px,cb@]ANJ@yNei@9NFNH@{o??0@oܽ?~(f?`E?NJ@ɨNZ; N-C^B^%IHn>HnY~5z> zF=Y~kQ ~>٣  G  S >ZI-bI-jI)rI)zI-:I-,J:I)I)9]M49=l?aM4Y= i=$BIUqU%@=.D=;=<=X 4 @*mBm2mrmr\Qz\Q\Q\Uo@iaɛaIe7>eF<)a)iiiim1VqIq"StoppingE]<ZAiM=:J%BJ%9JJ!RJ%ZJ% JIIIe8Px,5@]A:@y:H@9: :H; ? ?@?? ]?:@ɨ:; :+CGRr>GRCGR#&IGRBGR =GPGR=DGR<GR FHmC HmCHmCHm ="Hm =*Hm%5bBb%IUMb@Mb@Mb@QQ Q)QIQyUB`"۹rh|?Mb?UνU=U< Uz@)U|@IQiU(@QU(@Hm<Hmv}5}Լ B=Y웻Q >٣ GLּ >]49l?a4Y i*B-#>m; ׿q%@.D::4 @*mBm2mrmr\-#>z\-#>\@\L@iɛI> <))ihLI"StoppingBE=:E=EV<ZAM>II )I ~G ) .y  Aޏ>Px,@]A6@y6O@966H @u8»?S]?5?6@ ??6@ɨ6; 6.C>B>%II@)@DFAHJHHJd5R RY=YRǻQ V>T٣T VGTZ3 Z>`]f49bwl?af4Yb ib0Bdjٿqj%@b.Db:b`:b/4}B }@}E*mBm2mrmr\z\\\~ɒ@iɛIC><))iʕI"StoppingE<ZAM=|EPx,A]A:J"^ LBJ"9JJ RJ"ZJ" J6? J6 ?e(@ye9@9e}eHS6?`?@ ૥?!/"?` ?e(@ɨe; au†Bu%IMb@Mb@Mb@ )IyʡEl?-= )@Iiz@HLHF5=j+= =3=YMQ M>Q٣Y ]GYeAF m>y]}49}l?a4Y}} i}3B=m;rſq%@}.D}q ;}" ;}> 4 v@*maBmi2mirmir\=z\=\@\H@iɛI?>}<))i咻I"StoppingEŢ<ZAM%,>Gw>GCG&IGBG =GG>DG <G FZIA bIE jIA rIA zIA IE [O:IA IA IE &<qU IE &<iU IE ;uU IE ;mU [KPx,0A]AJ![@yJy@9JwJH@R >@kV?l?;ay?t–`Q??J![@ɨJoȈ; J,CRBR%IHZDHZ5b bf=YfՀQ f>d٣d jGhjT j>l]r49nl?av4Yn in5Btvȿqv%@n.Dn :n:n]&4x z@|*mBm2m!rm!r\9z\9\9\=Ԗ@iIɛIIM>Uw<)Q)QQQiUYIY"mStopping2Ei*EiEUɤ<ZAaM}=]RPx,ҧJA]AFj@yF@9F%FH`eFm? ?} ?@=|@([??Fj@ɨF.Ԉ; F-CfȆBj%I)n= na=Hv:Hv|5o]= F=YFQ > ٣   G Ж >]%49{l?a%4Y i7B!-̿q-%@.D:-:-41 5@1*mQBmQ2mQrmQr\yz\y\y\}+ݕ@iɛI">%<))隑iWI"StoppingEo<ZAM=:J7KBJk9JJRJZJ#$   I=)JIXPx,AdA]AG&y>G$G$G$G& =G$G$G&<G& FE͆BE%IMb@Mb@Mb@ )Iy㥛 Zd;O?Mb`j< @)|@IƷ@iV@̴@HFH5< ;=YQ >٣   G    >]49|l?a4Y i8B%͜=m%-<%9q%%@.D{:_:/54) -@1*mQBmQ2mYrmYr\u͜=z\u͜=\u5@\u@iɛI>))隉iXI"StoppingE;<ZAM=ZIbIjI0rIzI+:I@:Iـ3II'<I'<I;I;^Px,SZ~A]A6?y6 @96M6H`,`? a? ݸ?`?@6?6?ɨ6; 4N܆BR%IHZ8HZ{5bW= fa=YfJ:Q f>d٣h jGhjqF j>l]r49n+l?av4YnK in9Btv@qv%@n.Dn::n:n;4x z@|*mBm2m!!rm)r\Az\A\A\E?@iQɛQI]>]M<)Y)YYYieQaIi"uStoppingBE=:E=E-<ZAAMm=ePx,UNA]A:JZ]MBJZu9JJXRJZZJZ Jr? Jr? B %IMb@Mb@Mb@ )Iy~jt&1MbP )f@I@i?@׳@HHZS= +=YQ >٣ G >]%49l?a-4YW i5B-G=m5O<5pq5%@.D;q;C49 =@Q*maBmi2mirmir\G=z\G=\N@\/@iɛIT?))imI"%StoppingE<ZA!G=z>G9G=&IG= BG= =G9G9G=<G= FM]U>IIIIIIZI% bI% jI! rI! zI% :I% HM:I! I! I% #<I% #<I% U;I% V; =skPx,|A]A2IP?y2F@92k2H iuh? [?`*߿!X?L?ܴ?2IP?ɨ2/0; 20CbBb&IHj*Hj|u5?= q=Y;Q  ? ٣   G M` ?]%49rl?a%4Yi i3B!-q-%@.D::I41 5 @1=UhDone checking for power/comms, continuing with slide=UDSlide state transition from 1 to 2*mUBmUJm]BRm]2m]̒8r\yz\y\y\}N@雍Bk<) i̒8)隕iI"StoppedEϱ<ZA dClearing failed state for component DockingStepper1M===XRequesting device enable clr for address 50.rPx,A]A6 ?y6 @96V6Hb>޿`Tƹ? 0?@ݿ?VٙV?X?6 ?ɨ6F; 6/C^B^&IHj&Hjs5v{= vL=Yv\w;Q v>x٣x zGxzm ~>] 49m?a 4Y i0B  7*q %@.D::P4 B@*mBmJmRm2mr\z\\\@V<)  BDAT read: Tx time:19:29:11.0977 $Ping request sent.a٣a eGae蔽 m>q]u49um?a}4Yu iu+B}=m}<}B>q}%@u.Du:ut:uX4 I@*mBmJmRm2mr\=z\=\2@\B>|<) `=i)8iI"StartingZIbIjI1rIzIk:I<:I3II"<I"<I;I;EF<ZA MM>X,Px,A]A6s?y6{@96 ٣ G% %>)]549-m?a54Y- i-(B15>q=%@-.D-4;-;-_4A E"@I*maBmaJmiRmi2mir\z\\\>雙 <) =i)<\ 9隡iI"StartingE<ZAM=յ>յ@6Px,B]A:J:IBJ9JJRJZJ6 '>=)%-B%D&IMb@Mb@Mb@ )Iykt?ʡE٣ G >] 490 m?a 4Y i"B =m;TH?q%@.D;];#g4 @*m9Bm9Jm9Rm92m9r\=z\=\@\TH?) =i)-s9iI"Starting"}BInit string: /1z14607aE13561N3m50G5w>G5CG5n&IG5PBG5 =G1G1G5M<G5FHŧC HŧCHH ="H =*H5BE:E=E@<ZAM>f=Px,mV3B]A6M?y6?96NBRY&IHZHZ65b= fv=Yjh;Q j?l٣l nGpr r?t]z49v m?az4Yv ivBxz;?q~%@v.DvC:v:vl4 @*m!Bm!Jm!Rm!2m!r\Az\A\A\E;?]BeN<)a el >ia)es9aaiaiIi"StartingEm<ZAyM= -~GA ]A)hyA%Px,3MB]A6!?y69_?96=Y6~=6HAֿ ӳ??^ֿ2? ,U`XC??6!?ɨ6O; 6.C>PB>o&IHJHJ>5RO= RM=YRq;Q V>X٣X ZGXZ-P ^>ZIbbIbjI`rI`zIbk:Ib"I:I`I`qf@if@uf@mj@l]E49nm?aE4Yn inBAE{6?qE%@n.Dn>:n>:nt4Y ]@Y*mBmJmRm2mr\z\\\[{6?=) T/>i)ձ9i!I!"-StartingEM}<ZAYMu=:JѦLBJJJRJZJSk-xP.,l$JgAIgAM BDAT read: Rx Time:19:29:12.9952 M TRx dataTimestamp_ set to:1736537353.543222G% y>G! G% &IG% xBG%  =G! G! G% <G% FOPx, gB]AXBy&IMMb@Mb@Mb@II I)IIIyMʡE?y&1٣ G >]49m?a4Y iB>m;?q%@.D2 ;;|4 @E*mBmJmRm2mr\>z\>\@\]?) >>i)':iI"Starting2EfA*EfAE <ZAM>9Px,1B]A2?y2#8?92#=Y23=2HX)տ`I W?`.?ԿJ?`r93??2?ɨ2g; 2*CBnBB&IF8>iF=)J= J=HRHR95Z_= ^m=Yf Q j?p٣t vGt- ->A]m49Em?au4YE iEB?q%@E.DEi)FBS:iI"Starting"LSent speed cmd:/1V10000 Response:/0@ E <ZAME0>ZIbIjIrIzI:IB:IIDAT read: 19:29:12.9952 LVL= 22704, 26913, 19442, 27635, AGC= 32, IDX= 461,-0.39,-1.610,-1.278,-1.620,-2.665, PHS= 1.143, 1.434, 1.042, RAW= 344.4, -74.6, CAL= 346.6, -79.5, ROT= 163.4, 79.5 Ygot valid direction response: 19:29:12.9952 LVL= 22704, 26913, 19442, 27635, AGC= 32, IDX= 461,-0.39,-1.610,-1.278,-1.620,-2.665, PHS= 1.143, 1.434, 1.042, RAW= 344.4, -74.6, CAL= 346.6, -79.5, ROT= 163.4, 79.5 DAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1211> BDAT read: Tx time:19:29:14.0977 $Ping request sent.EMb@Mb@Mb@AA A)AIAyEq= ףp?Zd;O{GzE=EjE# E @)E@IE@iE@AE@HmtHm$5}; }%=Y\pQ >٣ G >]49m?a4Y i B'>m;ɝ?q%@.D ;. ;NJ4 @*mBmJmRm2mr\M'>z\M'>\M`x@\Mɝ?雹r<) "l>i)q:iI"StartingGz>GG&IGBG =GGG<G FE<ZAMM>yPx,坴B]A~B~&IH rH #5E= Ex=YMQ M?I٣I MGQU U?Y]e49]am?ae4Y] i]Baiqm%@].D]:]:]4q uu@q*mBmJmRm2mr\z\\\B) K>i)rƛ:iI"&Changing to mode: 4"Slide mode." 2Commanding negative:24048D9DDE  EBE=:E=Eq<ZAMEQ>sPx,zB]A6o ?y6I?96^d٣d fGhj< j>l]r49nm?av4Yn# inBtvT?qv%@n.Dn:n:nQ4x ~<@|*m!Bm!Jm!Rm!2m)r\Az\A\A\ET?QU^<)Q U>iY)]'ȷ:aaiaaIiD 6D D E   E E<ZAM )>:JPBJ9JJRJZJjY?2'}uqmhdgc\SMFB>::740.(''&! JIdAG G G &IG ćBG G G ?DG <G F⡹Px,fB]AN?yN?9Nvљ]/]]Ļ ]@)YI]@i](@Y]3@H}H}jC5I= >=Y.Q >٣ Gj< >]49m?a4Y iBU>m;l?q%@.D ;;Ӟ4 ̸@*myBmyJmRm2mr\U>z\U>\5`@\l?vљ<) \>i)":iID1Dp4DDE  EE<ZAMA>) - Ai"Px,C]A%?y%٣ G< >]497m?a4Y iB?q%@.D::է4 ¸@*mBmJmRm2mr\1z\1\1\5A?<) >i)M:iIZIbIjIrIzI[:I!:IIC 9D 0D D E  E 2E *E dAE} <ZA M >'Px,C]AI?y%?9hD ݸ@)@I@i@HHU5% %X=Y-sQ ->)٣) 5G15h= 5>EBDAT read: Rx Time:19:29:15.9952 ETRx dataTimestamp_ set to:1736537356.575276I]U49M m?a]4YMy iMB]>m];]Q?q]%@M.DM ;M ;Ml4a m@i*mBmJmRm2mGx>GG'IGهBG =GG>DGư<G Fr\>z\>\@\Q?Bh<) H>i);iIC9D.DDE  EE}<ZAM>FPx,-7C]A6p?y6z?96TB>&IHFHF\5N  N=YR?zQ R ?P٣T VGTV}= V ?X]^49Zm?ab4YZ{ iX`b}?qf%@Z.DZ/;Z90;Z4h j\@h*mqBmqJmqRmq2mqr\z\\\}?T<) o>i)AH;iIBhABhAC-9D5hAzD5hAD--DDE{  EE<ZADAT read: 19:29:15.9952 LVL= 25248, 29505, 24050, 30291, AGC= 31, IDX= 445, 0.07, 0.150, 0.434, 0.130,-0.950, PHS= 1.188, 1.431, 1.077, RAW= 348.0, -76.5, CAL= 350.3, -80.8, ROT= 159.7, 80.8 Ygot valid direction response: 19:29:15.9952 LVL= 25248, 29505, 24050, 30291, AGC= 31, IDX= 445, 0.07, 0.150, 0.434, 0.130,-0.950, PHS= 1.188, 1.431, 1.077, RAW= 348.0, -76.5, CAL= 350.3, -80.8, ROT= 159.7, 80.8 DAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1212> X#Rx 6: Read direction message, but no range.`direction in FSK: [-0.149951,0.055468,-0.987136]aYe'k1ÿ\\f?О9aeb eAs)e]IeSvieeb?e+?e#ۉ?e \@ e窿)e@IeJieb2@eJ?aMg>e*Tt Ŀ vC%ƿhIeie?eb2@eJ?1Px,QC]AVN ?yV$@9V@٣ Glj= >!]-49%sm?a-4Y%. i%B15?q%@%.D%}e<%e<%D4 @BDAT read: Tx time:19:29:17.0977 $Ping request sent.iy)}F';yyiyICC9D?*DDE  EEY<ZAM%l>:JMLBJIJJIRJMZJMG v>G G 'IG އBG  =G G G <G FHA HAHAHE ="HA*HE@5lZPx,lkC]AnB&IMb@Mb@Mb@ )IyB`"۹?/$?Q٣Q UGQ] ]>a]m49e%m?am4Ye7 ieBu=mu\%a @雵B) Re>i)<3;隹iIC9D/*DDE%  E!E<ZAM%o>I=)C ~~G-SkA A)&ySkA B+APx,CC]A>:?y>5<@9>*;Y>r=>H rL߿ ?@U?߿`?K|y??>:?ɨ>; 5ZGϽ Zi=YZg`Q Z>\٣\ ^G\b<:> b>d]j49f+m?aj4Yf| ifBhj@qj%@f.DfG:f:f,4p v߻@t*m Bm Jm Rm 2m r\)z\)\)\-:@9=*;)9 =B@>iA)E-<;AAiAIIICU=BUa>CU9D-*DDE  EE)<ZAM%>nPx,)C]A?y @9?ǹY8>H`9` 0? ?ka? 8? 6? ?騭?ɨ4; /CMBk&I=i>?)a= p=:Ja3JBJ9JJRJZJMb@Mb@Mb@ )Iy:v?Mb?:v?T==T< @)@I@il@@HH\05{ )=YxQ >٣! %G!%> %>1]=495m?a=4Y5] i5BE=mEi)| F;隩G1G5'IG5ɇBG1G1G1G5p<G56FC9D5!*D9D9E=  E92EA*EEfAHH@AZIbIjIrIzI:I+:IIIZ<I[<IƄ;IƄ;E ><ZA) Me >Px,C]A~8B~Q&IH H /5e ek=YeQ m?i٣i mGiu u?y]49} m?a4Y}F i} Bq%@}.D}:}6:}4 @*mBmJmRm2mr\z\\\I#=) h=i)\K;f~Px,C]A2 ?y2 @92>zY2`=2H`\`?u5? <?@Ov?6?C?2 ?ɨ2; 2,CR BR4&IHZHZY45b  bU=YbZXQ b>d٣d fGdj= j>t] 49v m?a 4Yv4 ivBC@q%@v.Dvu;vA;vo4 %@!*mABmAJmARmA2mAr\az\a\a\eC@qu>zIu<) @=i)@N;U BDAT read: Rx Time:19:29:18.9953 U TRx dataTimestamp_ set to:1736537359.599562G) G) G- &IG- BG-  =G) G) G- <G- FPx,9C]A:?y: @9:;Y:=:H#`m\?a?_ -? c?j?r?:?ɨ:; :.CfBj&IIl)lmMb@Mb@Mb@ii i)iIiym~jtx?&1?:v?m;m=i m@)m@Im@im@imµ@HH/5o ==YbQ >٣ G,= >]49m?a4Y iB=m<#q%@.D7z;z;4 1@ZIbIjIrIzII :IIIIIw;Iw;*mBmJmRm2mr\=z\=\?\on@B;I[/<) u DAT read: 19:29:18.9953 LVL= 25136, 25937, 19634, 25715, AGC= 29, IDX= 446,-0.33,-0.752,-0.466,-0.684,-1.827, PHS= 1.164, 1.409, 1.140, RAW= 334.5, -78.9, CAL= 335.1, -82.5, ROT= 174.9, 82.5  Ygot valid direction response: 19:29:18.9953 LVL= 25136, 25937, 19634, 25715, AGC= 29, IDX= 446,-0.33,-0.752,-0.466,-0.684,-1.827, PHS= 1.164, 1.409, 1.140, RAW= 334.5, -78.9, CAL= 335.1, -82.5, ROT= 174.9, 82.5  DAT read: OK  :unknown deviceResponse_: OK  X#Rx 7: Read direction message, but no range. `direction in FSK: [-0.130009,0.011603,-0.991445]Q YU &jCUÇ?Ow9Q U 0b U Qe)U LIU sdiU U ?U Z?U ?U Ѻ@ U C)U '@IU NiU |]C@U N?Q U LĿ;Q̖ C?rHv~V ^?C?@^?0?i^?̺?r@ɨr ; r,C~B~&IHH35- -I=YƼQ >٣ GM= >]49m?a4Y iB" q%@.D:K:4 @*m1Bm1Jm1Rm12m1r\z\\\Hq@雡]I9) 5i)z0O;4 pQx,0!D]AM,W@yMu@9M+ ݼYM]>MH= ?@7?%???ƫ?M,W@ɨM; M+C޵܆B޵%IUMb@Mb@Mb@QQ Q)QIQyU`"?~jt?ULU=UD< U@)U@IUl@iUl@QU̴@:JmIKBJiJJiRJmZJmH}H};5- 5=YHQ >٣ Go= >]49m?a4Y i B>m;'q%@.D{:w:4 @GMy>GIGM&IGMBGM =GIGIGMk<GM4F*mBmJmRm2mr\>z\>\8?\|@B+ ݼ) Di)NK; iIC 4<B 4<C9D zD iAD!*DDE  EEm<ZAyM>ZI-bI-jI)rI)zI-l:I-U:I)I)I- <I- <I-e;I-e;!Qx,E;D]A6Ԃ@y6@96%JY6$>6H WxN@?ɴ?`Sh?h?g? ?6Ԃ@ɨ6; 6,CBBB%IF=iF<)N= N=HRHR:5Zc% Zp=YZsQ Z?\٣\ ^G\bq[= b?d]j49fum?aj4Yf if%Bhjqn%@f.Df:fS:f4p r@p*mBmJmRm2m r\!z\!\!\%,@9=%J)9 =i9)E^F;AEiAAIIC-9D"*DDE  EE<ZAM!> Qx,!UD]A2X@y2w@920FY2N:>2H O&?@bk?`?'?*?ss?2X@ɨ2G; 0bBb%IHhHhrQ rG=Yv$VQ v>t٣t zGx~;=  >]49l?a4Y etIi,B%]q%&@.D ; ;4) -@)*mIBmIJmIRmI2mIr\iz\i\i\m@雅B0F) r$i)=;隉iIC99D)D)D)E-  E)E \<ZAM=/>:JBJ9JJRJZJ(6BLU]cffdb^]XVPKF?93/*"GU z>GQ GU n&IGU PBGU  =GQ GQ GQ GU 6F 6Qx,oD]A6ƶ@y6@96͎1Y6O>6H a }?I?}'c? 0?@?P?6ƶ@ɨ6; 6.CRBR%ImMb@Mb@Mb@ii i)iIiymˡEDl?{Gz?m什mO >mף< m@)mf@Im@im@imµ@HHS<5 ==Y8`Q >٣ GW< >1]E495Gl?aE4Y5 i55BM%>mM;Mq]&@5.D5;5;5 4i u@yI3I3IIIIZIbIjIrIzI :IB:III<I<I$b;I$b;*mYBmYJmYRma2mar\%>z\%>\%@\P@B͎1)  Oi)0;iI BiABiAC=ر9D#*DDE  EE4<ZAM>"Qx,׈D]A6@y6a@96NY6V_>6H@,?G?A}̼?ԩ?? e3?6@ɨ6Aȉ; 6,CRBRu%IIT)THbHb=5j׽ nZ=YrQ r>t٣t vGtz`̷ z>] 49#l?a4YL i>Bq&@.Dk4;@;+4! -K@)*maBmaJmaRma2mar\z\\\@5N)1 =|xi9)=%;9AiAAIIC59D!*DDE  EBE=:E=E <ZAMA>I(Qx,âD]Am[@ymlz@9mqYmh>mH@V\"?@)d?/`އ? /?@D?@K?m[@ɨmZ; m/C޵pB޽[%IMb@Mb@Mb@ )IyA`"ʡE? rh?ٽ=C< @)"@Il@i @@HHS<5GGG)&IGBG =GGG-<G FH HHH"H*Hً5:JMBJJJRJZJ J*@f; J% ? J%?-r -*=Y58Q 5>1٣1 =G9=l= =>A]M49El?aM4YE> iEGBU">mU;UοqU&@E.DE:Ew:E4Y ]@Y*mBmJmRm2mr\">z\">\^@\L_@MBUq)Q UiQ)Uc ;QQiQYIC]69DDDE  EE<ZAM>o.Qx,ōD]A &;mA .A)ByF;mAF BrM@yr@9rolYrYl>rHsa? ?`L˺?j? 6? J?rM@ɨr|A; r-Cz`BzG%IH H jC5 t=Y޼Q %?!٣! %G!- -?1]=495l?a=4Y5 i5MB9= пqE&@5.D5:5;5e4I M@I*miBmiJmiRmi2mir\z\\\ @雡ol) i);隩iICR=B=C9DD *DDE  EE<ZAMB>ZI- bI- jI- 0rI) zI- :I- :I- ـ3I) q5 @i5 @u5 @m5 @Y5Qx,nD]A6l@y6^@96Y6g>6H4 ?` ?Q]]??j? >?6l@ɨ6r; 6,C>[BBB%IFT٣X ZGXZ; Z>`]b49bAl?af4Yb2 ibTBdfFҿqf&@b.Db:b:b5%4p v@t*m Bm Jm Rm 2m r\z\\\K~@B) çi)X:iIC9DaDiDiEm  EiEMU<ZAYM8>GGCG%IGBGGGGz<GCF:J ]4OBJ u9JJ RJ ZJ  Dbz !2K_q;Qx,wJD]A>@y>@9>O(Y>H\>>H~tA?ht?@`=? ?[I? $?>@ɨ>m; <^TB^9%ImMb@Mb@Mb@ii i)iIiymʡEZd;O?Mb`mケmj=m m@)m9@ImV@imz@im@HHA5 <=HC=HYQ > ٣   G1=I =>I]e49Ml?ae4YM iMVBml>mm;uuÿqu&@M/DM\;M;M(-4B L@E*mBmJmRm2mr\l>z\l>\nj@\j2@BO() i)[:i!I!Ce9D9D9D9E=  E9E]<ZA!M=r>jBQx,S E]AVC@yVa@9V>/YVO>VH`3@?`?4@-.? ? q?4?VC@ɨV; V.CbNBf2%IHrHr;5z ~U=YQ >٣ G   >]49l?a4Yf iWB!-ǿq-&@/DT;U;341 5@1*mQBmQJmYRma2mar\yz\y\y\}I@雍B>/) Yi)d~:隑iIBBC^9DiAzDDIDIDIEI EIZIbIjIrIzI:IIIE%.<ZAIMm5>^HQx,$E]A-?y-m @9- ̽Y-'D>-HU ??8?v?,>?YB?-?ɨ-[D; -,CuUB};%II)HHB5!=  :=YETQ M>GGG%IGۆBGGGG<G Fխ=խC=٣ G >]49zl?a4Y9 iXB+˿q&@ /D::;4  9@*m1Bm1Jm1Rm12m1:JMvNBJM9JJIRJM!ZJMmt|ytgTLFNXWVTQHHFIP^or{   }c9r\az\a\a\eD@q} ̽)y }iy)}n:yyiICe{9D*DDE  EE@<ZAMh>H@AH(NQx,=E]A6`?y6>O @96ҽY6=>6H @ǿ? )?`)i4^?@oR?et? 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[?>Z@ɨ>7; >-CZBZ3&IMMb@Mb@Mb@II I)IIIyMv/sh|??&1?Mx齹M)>MP= M@)M@IM@iM @IM@HeHeMD5u uB=Yuv;Q }>y٣y }Gy; >]49m?a4Y i]BT>m;q&@s/D';"&;4 @*mBmJmRm2mr\T>z\T>\l @\s,@&B"5{>)  ji),8;iIC,9DDDE  EEuH<ZAM^>G{Rx,Aa_H]A~B~.&IH H C5 P=Y%Q %>)٣) -G)5 5>9]E49=l?aE4Y= i=qBAIqM&@=x/D=:=:=4Q U@Q*mqBmqJmqRmy2myr\z\\\雥(B) 0üi)7;隱iIC 9De0*DaDiEm  EiEE<ZAQMm6>GGAAGm>GCG%IGBG =GGDGY2>2H σZ@િ8Q?ea?οyc?e?2@ɨ2; 2,CN BR4&IV=iVC=)V= V=uMb@Mb@Mb@qq q)qIqyuT㥛 u+= u\@)qIqiqq M~Gup@Y uAH}H}m?5)/yȜA5< .=YQ >!٣! -G)u u>y]49}l?a4Y} i}BF>m;߿q&@}}/D}b:}u;}$4B @E*mBm)Jm)Rm)2m)r\EF>z\EF>\E=@\E@u)Bu%,y>)y }iy)}?5;yyiyIC9D.*DDE  EE<ZA M=>$Rx,H]A2j@y2h@92 Cv>Y2a3>2H;@)´?@~y?|ο??2j@ɨ2"; 2.C>&B>;&IHFHFC5Np= R}=YRQ R ?T٣T VGTVo V?X]b49Zl?ab4YZ iZB`b qb&@Z/DZ;Z2;Za*4d j/@h*mxBmxJm|Rm|2m|r\z\\\@-*B- Cv>)) - i))-x5;)1i11I9BABEhAC59D0*DDE  EE<ZAM$>ն*Rx,EH]AG:o>G:CG:%IG:BG: =G8G:=DG:<G: Fj@y,@9;&r>Y >Hي$R*@4?S|?Ϳh?`?j@ɨ ; +C%'B%=&IH5H53A5E; E@=YMQ M>Q٣Q UGYe\f e>i]u49mEl?au4Ymu imBququ&@m/Dm;mn;m14 @*mBmJmRm2mr\z\\\XՏ@雭,B;&r>) i)54;99iAIC8:JBJ9JJRJ/ZJxa%D=/*D9D9E=  EAE5<ZAAM]v>ZIbIjI1rIzI;Ix:I3II>[<I?[<I;I; A1Rx,H]A6@y6H/@96m>Y6R>6H @ |?VMR?`b^Ϳ@??6@ɨ6; 6/CR-BRD&IIX)Xtt}Mb@Mb@Mb@yy y)yIyy}EԸDl?/$?}ƽ}O=}< }/@)}@I}@iyyyHHjC5K< C=YBQ >٣ Gꊽ >]49Ol?a4Y iB=m;ǿq&@/DFL;:K;*94 @ *mABmAJmARmA2mIr\%=z\%=\%}!@\%@U.BUm>)Q UiY)]4;YYiYaIaC8D=.*D9D9E=  EAE-_<ZA9MYx7Rx,7H]A6u?y6& @96(g>Y6.F>6Hcbf?%`?f̿`\?1?6u?ɨ6; 6.CB=BBX&IHVHV?5^Į= ^\=Yb~Q b>`٣` bG`f f>h]n49j=l?an4Yj ijBlr˿qr&@j/Dj;j<;j?4t v@t*mBmJmRm2mB*** querying acoustic contact ***iir\z\\\+%@/B(g>) `>GaGeCGe%IGeBGe =GaGaGe<Ge F m2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.&=Rx,{H]A:J"9OBJ"89JJ RJ"0ZJ"V z9q'xX@6?JOG2\0&8^ HjgUH@7: ?y:G @9:`>Y:>:Ht># ?@f?D˿ ??: ?ɨ:t'; 8BEBFb&IMb@Mb@Mb@ )IyA`"Mbpy&1|?Y`; E@)@I@i̼@H%H%955I= 5C=Y=oQ =>A٣A EGAE E>I]U49M^l?aU4YM( iMBe[=mew) &=i)t8;iI,DAT read: user:1213> BDAT read: Tx time:19:29:39.8490 $Ping request sent.e JDAT read: TxSync time:19:29:39.8482 m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247717(DRx,-^I]AFI?yF@9FYF!2 >FH\` 0w{??@߿@"?@˿?`?FI?ɨF; F,CnYBnz&Ir1٣1 5G1=3 =>A]M49Ehl?aM4YE iEBQUPlqU&@E/DEOF;EG;EM4a e@a*mBmJmRm2mr\z\\\Dž@雽2B) =i)'<;iIC*8D-*DDE EEe<ZAqM=>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499104^KRx,z5.I]AG`>GCG &IGBG =GG;DG<G FF4?yFܨ@9F1bS>YFk>FH޿S?7?`mݿ?U<ʿ Ѻ? ?F4?ɨF[; DNcBR&IHXHXfxP= fQ=Yf Q f>h٣h jGhn n>p]v49r_l?av4Yr irĐBtvuqz'@r/Dru:r:rT4| ~b@|*mBmJmRm2mr\z\\\l@4B1bS>) =i)qA;i=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753388AIIC58D.*DDE,  E:J}JOBJ}C9JJyRJ}1ZJ}(~zurplgba]ZUQLJGA;655212/****+*)%#$%&'%$&!E<ZAM`>HHAAZIbINjI1rIzId&;I:I3II<I<I7;I8; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002830YQRx,rHI]A6?y6P@96fM>Y65 >6HfCݿsv?P?4ܿ?@ۀɿ錿??6?ɨ6ފ; 4NnBN&IUMb@Mb@Mb@QQ Q)QIQyUMbP+{GzUUU# U@)U@IU&@iU9@QU3@HuvHu%5iT= >=YUQ >!٣! %G!-7 ->1]=495m?a=4Y5 i5BE=mE(qE'@5/D5:5t:5\4I M@I*miBmiJmqRmq2mqr\=z\=\b@\>雭5BfM>) =i)^_G;隱iIC8-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255795DADADAEE-  EAE!<ZA1MMR>$XRx,aI]A6e?y6@96ٍH>Y6%>6H ۿ}? L0?`ڿS?ȿ8Կ?@"?Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5070916e?ɨ6; 4JBN&IHVuHVH%5^q= ^Y=Y^XQ b>`٣` bG`fP f>h]n49j m?an4Yj_ ijBpr>qr'@j/DjW;j ;jb4t vl@t*mBmJmRm2mr\1z\1\1\5>E7BMٍH>)I M>iI)MfNN;IIiQQIYCU8D,*DDE<  EBE=:E=Eq<ZAM%>G-Q>G-CG-<&IG-'BG- =G)G-:DG-<G- F5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758953A^Rx,S{I]A:J2NBJ289JJ0RJ22ZJ21DS\_\SIDA>:520/))'$###5HU\^bgc[ZTPOJD?=940,(%!BLR?yBϏ?9BE>YBN~>BH ~ٿ9@Wg?`?ؿ ?2ȿT? #?BLR?ɨBΊ; B-CJBJ&I]Mb@Mb@Mb@YY Y)YIYy]&1?i|?5=YۻQ >٣ G >HR=HR=]49Bm?a4Yb iB>m;2J?q'@/D:R:pj4 ?@*mBmJmRm2mr\>z\>\٣@\G2J?8B E>)  <9>i ) xX;  iIՉՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011214C}:8DhAzDhAD*DDE@  EE<ZA M >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262954(eRx,YF\>FHؿ q5?` ? E׿@b?*ȿy?@r%?F ?ɨF ; F+CNBN&IHVHV/5bc= bW=YfQ f>d٣d fGhj j>l]r49n m?ar4Yn inBtvD?qv'@n/DnC:nC:nq4x z@x*mBmJmRm2mr\z\\\D?:BB>) K>i)b;iIDDDEN  EZIbIjIrIzI7;IS:IIq@i@u@m@E<ZAM%>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514888G% G>G% CG% z&IG% ZBG! G! G% 9DG% <G% FHˤC HˤCHH ="H =*H6SkRx,I]AB?yB)?9BP9?>YBN>BHX׿ࣾ?O2?Uֿi"? ǿ@3?h+?B?ɨB9$; B,CRBR&I)Vp= V%= XXH^H^S<5fC= fJ=YfQ f>h٣h jGhnNO n>p]v49r( m?av4Yr irBxz ??qz'@r/Dr:r>:r#x4| ~@*m!Bm!Jm!Rm)2m)r\Az\A\A\E ??U)Y ]f>iY)]Fn;aaiaiI BDAT read: Rx Time:19:29:42.2548  TRx dataTimestamp_ set to:1736537382.808896checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769749DU*DQDQE]O  EYEu!<ZAM )> G A:JFNBJC9JJRJ3ZJ   )UԿyAHHBA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018940@rRx, tI]AJ'Z?yJ?9J;>YJl>JH_ֿ٣ G #  >]%49'm?a-4YB iB->m5;5z?q5'@/D;Ɔ;4I M6@ME*mBmJmRm2mr\>z\>\Fn@\z?>B;>) p>i)&I|;i Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274042D-*D1D1E5P  E9E<ZAM_>ZI bI bjI rI zI .;I J:I I dxRx,3I]AJDAT read: 19:29:42.2548 LVL= 23536, 21089, 19682, 11939, AGC= 34, IDX= 12, 0.38,-0.970,-0.972,-0.980,-2.230, PHS= 1.348, 1.305, 1.247, RAW= 54.9, -86.3, CAL= 57.4, -86.8, ROT= 92.6, 86.8 NYgot valid direction response: 19:29:42.2548 LVL= 23536, 21089, 19682, 11939, AGC= 34, IDX= 12, 0.38,-0.970,-0.972,-0.980,-2.230, PHS= 1.348, 1.305, 1.247, RAW= 54.9, -86.3, CAL= 57.4, -86.8, ROT= 92.6, 86.8 RPDAT read: Bearing 92.6, 86.8 (Local) R~Local bearing/azimuth received: Bearing 92.6, 86.8 (Local) ZDAT read: Range 10 to 50 : 1.2 m (Round-trip 1.7 ms) speed 0.0 m/s ZR#Rx 1: Read range and direction messages.^`direction in FSK: [-0.002532,0.055764,-0.998441]vFpublishing direction and range info0Y2|:td0=?lF :￙0902[ 2aR)2LI2.i2"2D?2= ?2?2Ku? 2)2;?I2i2?2?0 02Xw?1suTQrI2ii2b?2?2?0 0O?y?98>Yn=HտQ@S"?3?ՋԿ? ƿ? 4A?騭O?ɨ{; +C=ćB=&IHM~HME)5]̈= eE=YeQ m>i٣i mGiw >]49 m?a4Y iBv?q'@/D::<45B 57@1*myBmyJmyRmy2myZj2m?bj2˶ i0i2I]Aj0j2?2j2J@p2Oh&Dt!?KH+zp2|:td0=?lF :"j2?*j2?p2S}ϰѿxPĖp2l'>h9Ϳ_Gi2Hj2i2m?i2J,  j2qBzj2+@m?j0j2Bjj2?>rj2ڇ8@r\z\\\ov?-?B58>)1 5҄>i1)5;11i99IAGI>GCG&IGBG, =GHDG8DGT<G FDDDEX  EE<ZA!MEs>&~Rx,I]A6ȉ?y6K?960 6>Y6iP=6Hտ`-K?.?fԿ`??ƿ?DM?6ȉ?ɨ6~; 6*C>ʇB>'IID)DDD:JnLBJn9JJlRJn4ZJn-Mb@Mb@Mb@)) )))I)y-S㥻?:vMb-/=-Խ- -/@)-@I-@i-O@)-3@HEHE?15Us< U]=YUQ U>Y٣Y ]GYeͼ e>i]u49mm?au4Ym im~Bu>mu;u|?q'@m/Dmz\>\k@\|?雵AB0 6>) >i);隹iIBBCBDaDaDaEe_  EaBEi:EiEEQ<ZAiM[>TyRx,J]AR?yR9.?9R3>YRC=RHԿ;?? ӿtI?]ƿ? xX?R?ɨR(Y; R-CZ͇Bv 'IH~}H~(5 4<  N=Y఻Q >٣ %G!%@ %>)]549-m?a54Y-j i-rB9=Ҏ?q='@-/D-;-;-4A E@A*maBmiJmiRmi2mir\z\\\;Ҏ?雕CB3>) {>i)~;隡iIDDm*DiDiEm^  EiEe<ZAqM>IcIk3Ik.IcIcIcZIbIjIrIzIE ;I~o:IIG X>G CG &IG BG - =G G 9DG )<G F4Rx,}0J]A2?y2y?92B2>Y2=2H@Կ ?YN?@?|Կ?`|+ƿ?@Ab?2?ɨ2g; 2,C>҇B>'IHFHF+5Ng< RR=YRsQ R>T٣T VGTV6 V>X]b49Zm?ab4YZ iZfB`b?qb'@Z/DZ;Z);ZU4d jd@h*mxBmxJmxRmx2mxr\z\\\?eDBeB2>)i m>ii)m;iiiiqID)D)D1E5`  E1E=ZAM'>:JuBHBJu9JJqRJu5ZJuJ? 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I0Y<) ^ui)ț'iIDDDE  EE <ZAM>hUx,๟W]A]B]&Ie=YQ >٣ G >]49 m?a4Y iq)@::?4 ^@*mBmJmRm2mr\z\\\BI) Nsi)*i!I!DDDE  E2E*EE*<ZAM>Ux,$|W]A:J>BJ>-9JJ<RJ>jZJ>JDIDrBr$&ImMb@Mb@Mb@ii i)iIiym~jthMb~jthmDmmD m@)mf@Iiiml@im(@HtH$5E=ZIbIjIrIzI;Iz:IIq@i@u@m@ J=YQ >1٣9 =G99 =>A]M49E m?aM4YE eMtIiEUBGeU>GeCGet&IGeUBGe =GaGe:DGeͰ<Ge FU8=m<>q*@E_0DE2eBa)a e:nii)mq;.隉iIDDE*DADAEE  EAE<ZAIMeV>@Ux,TVW]A>Q?y>E?9>'>>Hؿ D C%??`'ؿ@W?L? ?>Q?ɨ>; |٣| ~G|ݬ > ]49  m?a4Y  i TBK>q*@ `0D : 7: uM4! %@!*mABmAJmARmI2mIr\iz\i\i\mK>}B'AAUx,wLW]AM0?yMjn?9M3&=YMzU>MHؿe[?Y?׿@OD?D X?B?M0?ɨM; M)Ce%Be:&IIi)mAqqMb@Mb@Mb@ )IyMbp?kt~jtx; 0Ļ )|@I@i(@̴@H rH #5>= 8=Y-)٣) 5G15` 5>9]E49= m?aE4Y=Z i=QBM2=mMqM*@=a0D=5;=;=:U4Q UH@Y*mqBmyJmyRmy2myr\2=z\2=\Ù@\ >-B-3&=)) -ii))5@415'i19I9D*DDE  E:JBJJJRJkZJ#    "<>)J> J?ZIbI9jIrIzI|";I :IIGMT>GMCGM&IGM_BGM( =GMHDGM9DGMl<GMFE% )<ZA1 MU >Vx,X]AF ?yFN^?9F,=YF/5>FH׿??ֿ@E?͙??F ?ɨF; F*CR(BR=&IHZHZ65bg< fd=Yfd٣h jGhj j>p]r49rm?av4Yr- irOBtv>qv*@rb0Drq:r:r}[4x ~@|*m!Bm!Jm)Rm)2m)r\Az\A\A\E>B,=) ^ji)6Vx,: X]A:/E?y:?9:^;W=Y:A >:H '׿W ?? ֿ8?@䪿Ǧ?P?:/E?ɨ:; 8B8BBQ&IHJHJ_,5V= VL=YVX٣X ZGXZJ ^>`]f49b_m?af4Yb ibLBdf>qf*@bc0D``bzb4l n%@nE*mBmJmRm2mr\!z\!\!\%>5B5^;W=)9 =di9)=c99=Vx,:X]A6v?y6a?96aր=Y6 >6Huֿpn?`?`ֿ &?  '?¥?6v?ɨ6#; 6(CRBBR]&IV=iV=)Z= Z=:J~I1MBJ~u9JJ|RJ~lZJ~ *(&" J I UMb@Mb@Mb@QQ Q)QIQyUMb?=ISI[3I[.ISISISZI bI3jI0rIzI';I:Iـ3IY٣ Gm >]49ym?a4Y iJB=m<?q*@d0Da;3;j4 @=Done sinking=DSlide state transition from 2 to 1*mBm2mrmGU>GG&IGiBG& =GGDG:DG<G7Fr\=z\=\:˝@\?iɛI>aր=)|HU<)   i51I9"u&Changing to mode: 1"uStandby mode."2Commanding positive:35001D *DDE  EE}c<ZAM>Vx,TX]A:?y:?9:;V=Y:o>:H@zֿ` `٣` bG`fE f>h]j49jom?an4Yj ijIBae?qe*@je0Dj;V=))i`qID+DDEJ  EET<ZAM>=XRequesting device enable set for address 50.Vx,nX]ART?yՑ?90=Y=Hb3ֿU?6?տ?d=`?@?騅RT?ɨg; *CޥRBޥq&I=Mb@Mb@Mb@99 9)9I9y=:v?S㥛{Gzt=T<=/ݼ=ף =@)=@I=7@i=@9=µ@HUHUX[5e P= m1=Ymkq٣q uGqu }>y]49}9m?a4Y}Q i}FB<m<,K?q*@y}n;}m;}x4 @AAM,DAT read: user:1214> UBDAT read: Tx time:19:30:41.6488 U$Ping request sent.UM0=)I)QQQiUf\YIYD.DDEi  EEp<ZAMi>:JeLBJe9JJaRJemZJeo0 l [ 'O$ I]S1}nZ=! -.$ZIbI.jI1rIzI;IV:I3IGG@AGi>GCG&IGnBG! =GG٣ G@ > ]49 m?a54Y  i EB1=I?q=*@ f0D ; C; s4A E@A*mBm2mrmr\z\\\I?i ɛI>B=))i4KI!^Du8D- 1D) D) E- 4  E) E Y=ZA M5 >H H R=|'(Vx,3X]A:??y:U?9:=Y:=:H`;ֿ R)? ? CտV?Ǹ ? ?:??ɨ:=; :*CBeBF&IHNHN?5VXL= V^=YV_X٣X ZGX^t; >]%49m?a%4Y iCB)-JI?q-*@g0D:\:41 5O@9*miBmi2mirmir\z\\\/JI?iɛI>=) <)隙i8I^D;D3DDE  EEe(=ZAM5O>Q.Vx,RX]A:R?y:>?9:>=Y:k<:Hֿ 䀿I?Tտ@]޺?@?y?:R?ɨ: Ҋ; :+CFhBF&IeMb@Mb@Mb@aa a)aIaye/$?MbI +e5Gq>GCG&IGxBG =GG=DGM<GFHeC HaHeCHe! ="He" =*He6 MGeSkA }Amu&< 1=)ySkAAYUY٣a eGa\ >]49m?a4Y i@B<m=?q*@h0D;{;z4 (@*m9Bm92m9rm9r\}<z\}<\}#j@\}?iɛI"?>=))隱iD4I^DgW<DE 6DA DA EE  EA E =ZA) ME >@5Vx,X]A oB &I)= =H%H%N55!= 5_=Y=Q =?9٣9 EGAE E?I]U49Mm?aU4YMs iM>BYYq]*@IM.:M:M>4a e@a*mIBmI2mIrmIr\az\a\a\aiqɛqIu>q)y)yyyi}9 I^Dum<ZIebIejIarIazIe;Ied:IaIaIeXH<qIeYH<iIe ;uIe ;mD6DDE3  EE=ZAMH>nf;Vx,X]A-tG?y-?9-=Y-߼-H\ֿ@k<?ֿ}?\'Û?-tG?ɨ-2; )esBe&IMb@Mb@Mb@ )Iy?~jtx?:v<;T V@)l@Ii3@H-H-Q5=3< =#=YE=Q E>A٣A MGIMU< M>Q]]49Um?a]4YU0 iU9B<m< @q*@Ui0DU;U;U4 l@*mBm2m rm r\<z\<\2q>\H @iɛI?=))iqغIC=C=Gg>GCG&IG}BG =GGeBVx,0G Y]A6A?y6;?96=>Y6Zh6H ֿ@Qѭ !?@(׿@g?ٌ?6A?ɨ6; 6-C>xBB&IHJHJZ5V6< Vz=YV=>)u<)iICCC C DM-7DIDIEMc  EIE%=ZA1MU>ZIE bIE jIA rIA zIE ;IE x:IA IA IE Q<IE Q<IE ;IE ;IVx,&&Y]A5i?y5;?95.>Y5J5HR׿n@੿T?׿?"i@ƺ?5i?ɨ5݊; 5+CE|BM&IY]AHH]5< :=Y3٣ G< >]49m?a4Y i3B @q*@j0DY;;m4 @*m!Bm!2m!rm!r\9z\9\9\= @iIɛQIU>U.>)Q)QQYi]mYIa"%2Commanding positive:14296D07DDE  EE=ZAM}Y>5DAT read: 19:30:43.5478 LVL= 29680, 30865, 27250, 31907, AGC= 32, IDX= 380,-0.48, 2.470, 2.499, 2.273, 1.265, PHS= 1.293, 1.281, 1.005, RAW= 32.1, -77.4, CAL= 38.7, -80.3, ROT= 111.3, 80.3 =Ygot valid direction response: 19:30:43.5478 LVL= 29680, 30865, 27250, 31907, AGC= 32, IDX= 380,-0.48, 2.470, 2.499, 2.273, 1.265, PHS= 1.293, 1.281, 1.005, RAW= 32.1, -77.4, CAL= 38.7, -80.3, ROT= 111.3, 80.3 EDAT read: OK E:unknown deviceResponse_: OK M,DAT read: user:1215> MBDAT read: Tx time:19:30:44.6489 U$Ping request sent.UG:CG:&IG:BG: =G8G8G:<G:=FJG?yJ?9J >YJ﹙JH๤׿a' m?M׿Щ? a=?JG?ɨJƮ; J)C:JNEOBJN9JJLRJNpZJN &))%#%'"! JVfAITbzBb&I}Mb@Mb@Mb@yy y)yIyy}Q?Mbp?Mbp?}<};}; }?@)}Ʒ@I}z@i}|@y}(@HXHn5  M=Y٣ G/h< >]49m?a4Y i<m<d@q*@k0D ::c4 @q*mBm2mrmr\E<z\E<\E>\EHd@iyɛIP> >))隑i=幉IDM37DIDIEM  EIE%& =ZA9MUT>"VVx,YY]A6;?y6)?96 >Y6Ar:6H2ؿҔ>@P?hؿ?,N??6;?ɨ6l; 6,C>uB>&IHFHFL5N v]=YvQ z>x٣x zGx~ < ~>] 49m?a 4Y@ i  @q*@:G:4 U@*m9Bm92mArmAr\az\a\a\e@iqɛqIu\>u >)y)yyyi}IDUA7DQDQEUN  EQZIbI)jIrIzIM;I:IIq@i@u@m@E-= =ZA1MU>ՅAՅAR\Vx,sY]A(?yrf?9 >YH9ؿs`ج@3?ٿ ?` t ˷?(?ɨ'; +C=~BE&IM=iMe>)Ma= Ma=Mb@Mb@Mb@ )IyQ?~jt?{Gzt<ף V@)@I@if@z@HHP5 "=  5=YQ >٣ G< >)]549-m?a54Y- i-1B5=m5<58#@q=*@-l0D-:-Z:-ſ4A E¹@A*maBma2marmir\=z\=\?\ 8#@iɛI> >))隙i2f9IaG]b>GYG]&IG]BG] =GYGYG]_<G]F:J =2MBJ JJ RJ qZJ ,CJNQLD?^D<DE a7DA DA EE  EA E * =ZA) ME >|6cVx,yY]AND?yN-?9N_>YN5NH`Fٿ`uW@AN?ٿ *?@ g5v`r?ND?ɨNN; LZBZ&IHbHbjC5j< ja=Yn拻Q n>l٣l rGpr8< r>t]z49v%m?az4Yv iv/B|~#@q~*@vm0DvY;v;v4 @ *m)Bm)2m1rm1r\Iz\I\I\M#@iYɛYI]ݹ>e_>)a)aaaieL:iIi^D<"2Commanding positive:14013D^7DDE  EE =ZAMf>ZI bI jI rI zI } ;I :I I _iVx, RY]A>d?y>?9>Q!>Y>>H`jٿ@<5`@?#%ڿ?X@`?>d?ɨ>|; d٣d fGhj< j>l]r49n'm?ar4Yn in.Btvp$@qz*@nn0Dn3&;n&;n!4| ~ @~E*mBm2m!rm!r\9z\9\9\=}p$@iIɛIIM>MQ!>)Q)QQQiUy?:YIYCmfACmfA^D<D5m7D1D1E=g  E9E=ZAMU>G] `>G] CG] &IG] BG]  =GY G] ;DG] <G] FUpVx,sgY]A6?y6 @96I=Y6S:6H@wڿ`穿? ^ڿ ?ƿ`BT??6?ɨ6>S; 4>zB>&I:Jb2MBJb`9JJ`RJbrZJb6*$  Ih)hMb@Mb@Mb@ )Iy rh?S㥛?~jtxC =/<Ļ )ݸ@Iip@HHxV5; ;=YQ >٣ G< >]49 m?a4Yn i+B3=m<+@q*@o0D::4 @*mBm2mrmr\3=z\3=\+?\+@iɛI>I=) =BDAT read: Rx Time:19:30:46.5479 ETRx dataTimestamp_ set to:1736537447.127307)QYYi]:iIqC}C}CyCyD?D?Do7DDE  E2EeA*EfAE =ZA M >pvVx,WY]A6?y6@96=Y6;6H@>ۿ@ ? f2ۿ@@?4`?`?6?ɨ6T; 6)CNxBR&IH^H^U5fq f\=YfQQ j>h٣h jGhn#< n>Q]U49U~ m?ae4YU> iU)Bae~,@qe*@Up0DU1;U1;U4i m!@q*mBm2mrmr\z\\\K~,@iɛI>=))iP;IDDDE>  EHHZI-bI-!jI-0rI)zI-;I-:I-ـ3I)Em=ZAyM>DAT read: 19:30:46.5479 LVL= 31024, 32209, 27314, 31283, AGC= 31, IDX= 444, 0.07,-2.937,-2.927,-3.113, 2.115, PHS= 1.319, 1.288, 1.052, RAW= 36.1, -78.9, CAL= 42.2, -81.3, ROT= 107.8, 81.3 Ygot valid direction response: 19:30:46.5479 LVL= 31024, 32209, 27314, 31283, AGC= 31, IDX= 444, 0.07,-2.937,-2.927,-3.113, 2.115, PHS= 1.319, 1.288, 1.052, RAW= 36.1, -78.9, CAL= 42.2, -81.3, ROT= 107.8, 81.3 DAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1216> X#Rx 3: Read direction message, but no range.`direction in FSK: [-0.046240,0.144020,-0.988494]aYe>o?WE9ae0y e})ejIe3zieeԨ?e/ݤ?e?eK!? eC)e)ie?e>?ae.۔?ndlȿiAgIe-sieY?e?e>?X|Vx,oY]A5k&?y51@95=Y5:5Hۿ;`R?4ۿl\? - @bB? ?5k&?ɨ5; 5+CMrBM&IBDAT read: Tx time:19:30:47.6489 $Ping request sent.Q٣Q UGQ]0< ]>a]m49e m?am4Ye iamQ%=mm=))iX;III)I GkA "2Commanding positive:13908G_>GG&IGBG =GGG`<GFHŤC HŤCHœCH ="H =*HŖ6)} Xy}kA}!GBD)D)D)E-  E)BE5=:E5=:JMDRLBJM-9JJIRJMsZJM "Ogg\RE;4*&  E n=ZAM5>Vx,Z]AV?yV@9V=YVڮtVH :ܿ`a󨨿؃?`eܿ^?O ,iN ??V?ɨV1B; V*C^iB^&Ibp>iba=Hj3Hj 5r@ re=YrQ r>t٣t vGtz= z>] 49 m?a 4Y i(B  7@q *@E::r4  @*m9Bm92m9rm9r\Qz\Q\Q\U7@iiɛiIm>m=)i)iiqiu81;yIDDk7DDEO  EE-J=ZA9MU>H H (Vx,(Z]A fB&IH=H=V5M;G MD=YUQ U>Y٣Y eGae e>i]u49mm?au4Ym im'Bqyq}*@mt0Dm;m;m4 4@*mBm2mrmr\z\\\iɛI>))iNH;IDu_7DqDqEu@  EqEM=ZAYM>G ]>G G G G G G G 2<G F啐Vx,tBZ]A6?y6 @96=Y6!X<;6H G5ݿq`äNP?`Rݿ@?Lpg??6?ɨ6!; 6(CZIBbIB jIB1rI@zIB];IB:IB3I@IBI<qJIBI<iJIB;uJIB;mJNbBN&I:Ju_MBJu9JJqRJutZJuMb@Mb@Mb@ )IyI +?:v?{Gzt94<<ף ?@)@Iz@i|@׳@HH@5ɥ @=YHQ >٣ G = >] 49m?a 4Y i&B <m<Cq*@;;%4 {@*m9Bm92mArmAr\]<z\]<\]ԕ?\]O@iiɛiIm>m=)q)qqqiuI];yIyD-y7D)D)E-J  E)2E5fA*E5cAE=ZAM--> '? ??Vx,4J\Z]A6?y6/@96qմ=Y6JC;6H@rݿ@IR@ 4?`ݿ@?)q?@?6?ɨ68;; 6-C>[BB|&IID)DHNHN)M5Vd# Va=YVلQ Z>X٣X ZGX^7< ^>`]f49bm?af4Yb ib%BdjBqj*@bu0DbS:b`:b|4l n@l*m|Bm|2m|rm|r\z\\\'yO@i)ɛ1I5>5qմ=)1)119i=^n;9IADMgAzDMgA"U2Commanding positive:13803D-7D)D)E-  E)EL=ZAM5.>Vx,a5vZ]Am?ym@9m<=YmH;mH/޿@&2[G?LC޿!?# uv?`^?m?ɨm; m*CޝFBޝc&IUMb@Mb@Mb@QQ Q)QIQyU~jtx?y&1?~jthU;U`٣ G< >]49m?a4Y  i$B<m<u6q*@v0D] ;?;4 4@*m Bm 2m rm r\-<z\-<\- ?\-2[@i9ɛ9I=>=<=)A)AAAiE(S;QIQDq7DD E ,  E Ga>GG&IGBG" =GGG/<G FE=ZAMI>ZIbIjI0rIzI ;I|:Iـ3IIQ<IQ<I;I;:JBJk9JJRJuZJ  #"! ! !!J ? J>M BDAT read: Rx Time:19:30:49.5479 U TRx dataTimestamp_ set to:1736537450.151577&ѣVx,uZ]A2b?y2r@92'=Y2l;2H޿M_a?U޿ر?k`/z?7?2b?ɨ2p; 2,CBGBBd&IHJHJ#U5-.; -d=Y5Q 5>9٣9 =G9E< E>A]M49Em?aU4YE! iAQU6qU*@AE/;EdE;E 4i m.@i*mBm2mrmr\z\\\{\@iɛI>'=)<)in\;IDm7DiDqEu  EqBEu=:Eu=EM=ZAYMu>Vx,Z]A*DAT read: 19:30:49.5479 LVL= 25040, 28529, 23202, 32739, AGC= 30, IDX= 445,-0.11, 0.045, 0.135,-0.132,-1.107, PHS= 1.240, 1.289, 0.972, RAW= 21.7, -76.6, CAL= 27.7, -80.1, ROT= 122.3, 80.1 NYgot valid direction response: 19:30:49.5479 LVL= 25040, 28529, 23202, 32739, AGC= 30, IDX= 445,-0.11, 0.045, 0.135,-0.132,-1.107, PHS= 1.240, 1.289, 0.972, RAW= 21.7, -76.6, CAL= 27.7, -80.1, ROT= 122.3, 80.1 NDAT read: OK R:unknown deviceResponse_: OK RX#Rx 4: Read direction message, but no range.V`direction in FSK: [-0.091871,0.145325,-0.985109]Y-ׄzV:? 49a qo)ZIiR??x?> D )>IiD@?G5kͿgrbIӀۿiC?D@?J ?yJ@9J֏=YJ;JH޿ 9l?޿ڠ? `&~??J ?ɨJkY; J*Cr=BrW&Iv>iv%=HzHzR5{< A=Y[Q >٣ Ggn< >]49m?a4Y9 i#B 5q *@w0D+;;S4! %ν@!*maBma2marmar\z\\\i\@iɛI>֏=))i|i;ID5?D5@D7DDE  EE==ZAM5O>ս >ս%=G ^>G G &IG BG ! =G G G k<G FVx,÷Z]AZIDbIFjIF2rIDzIDIF~o:IFc3IDIDIDIF;IF;}y٣y G?< >]49/m?a4Y i =m<q*@x0DD;&;4 @*mBm2mrmr\ =z\ =\v@\Q΅@iɛI>!=))隱iS;I"2Commanding positive:13711]"dTimed out moving from: 14223 to: 16450 response: 1-"Hardware FaultE=ZA VHardware Fault in component: DockingStepperM>Vx,̚Z]A2H?y2@92Vr=Y2`v<2HVz߿ngs`(?`z߿@A'?`K ??2H?ɨ2; 2-C>#B>8&IHFlHFK!5N Rm=YR|Q R?P٣T VGTVE< V?X]^49Zm?ab4YZ iZ$B`b>qb*@Zy0DZY;Z;Z!4d fd@h*mtBmt2mtrmxr\ z\ \ \ @iɛ!I%X>%Vr=)!)!!)i-$˜;)I1^DL<"Stop " :Uninitialize Docking Stepper." Powering downD zD DDE=ZA M-N>٣ G; >]496m?a4Y\ i]9=m<_q*@z0D,::*4 +@ *m)Bm)2m)rm)r\]9=z\]9=\@\7@i)ɛ1I5V?5Y=)1)111i5ӣ;9IAGAGAGE&IGExBGAGAGAGE<GE,FI3I; 3I;L.I3I3I3ZIbIjI1rIzI;Id:I3IIF<IF<I ;I ;:JT MBJ9JJRJwZJ    ^De<"mStoppingEE =ZAY M} >!Vx,~U[]A>4?y> @9> E=Y>0<>H ߿X2s?P߿?Iu??>4?ɨ>A; >,CJBJ(&IHRHRm5Zf Zt=Yv-pQ v?x٣x zGx~9 ~?] 49m?a4Y i%BUq%*@{0D;;049 =4@9*mBm2mrmr\z\\\a:@iɛI> E=))i;ICCCC"eStopping"MZReading outside of valid range:427090.000000 ZAaM}Y>IVx,%+[]A6?y6@96/=Y6<6H/߿` %Tb?}߿ ?v?P?6?ɨ6u; 6+C> BB&IHFHF.l5R=C VK=YVxXQ V>X٣X ZGXZ Z>`]f49bxm?af4Yb4 i`dfqf*@b|0Db:b:b64l n@l*m|Bm|2m|rm|r\z\\\@+@iɛIj>/=))隱iff;I"StoppingEs =ZAAM\> u G ;mA A) Ty ;mA +EBGE X>GE CGE &IGE iBGE # =GA GE :DGE /<GE FHˣC HˣCHH! ="H! =*H50Vx,D[]AFLJ?yFb@9F=YF 9٣9 =GAE/ E>I]U49M m?aU4YM iIiU+:QmUm<]q]*@M~0DMD;M>M<4a eX@a*m Bm 2m rm i1ɛ1:J]MBJ]k9JJYRJ]xZJ]    o-N1"  I}>=))隉iY;I" StoppingEYZAiM~>b[Vx,{^[]A:?y:M@9:X٣X ZGX^i ^>d]j49fm?aj4Yf! if&Bij :hmj@5<)5zL<)111i=a;9IA"MStoppingZI}bI}jIyrIyzI};I}y:IyIyq@i@u@m@EAZAyM;>Vx,x[]Ae=a?y͇@9'٣ G   >]49m?a4Y iiT:%t=m%^<%8q%*@0D:@:I4) -.@1*maBma2marmar\}t=z\}t=\}V|5@\}@iɛI>'<))隙i뻶;I"StoppingGGGt&IGUBG$ =GGG<G2FEZA)MM>:JMBJ9JJRJyZJqpVx,[]AVp?yVy@9V(M(<)Q)QQQiU;YIY"eStoppingEZAMn>ZI bI jI 0rI zI ;I ~:I ـ3I   AFVx,}x[]A::?y:<<@9:]\٣\ ^G\b b>d]j49fm?aj4Yf idhjʲqn*@f0Df;fI;fV4p r$@p*m Bm 2m rm r\!z\!\!\%X]@i9ɛ9I=H>=]<)9)9AAiE'ݹ;AII^De]<"uStoppingE ZA M- >G [>G G h&IG JBG G G G a<G FVx,H[]A6?y65q@965*٣ G >]49m?a4Y in=mc<q*@0D4T;R;+^4 8@:Ju.JBJuk9JJqRJuzZJu*mBm2mrmr\n=z\n=\vB@\To@i1ɛ1I5s>55*<)1)119i=Һ;9IA^DhW<"StoppingE ZA M5 >Vx,-#[]A6?y63@96:;Y6'=6Hۿ}#?+?ۿm?`Zg0?&?6?ɨ6%; 6)CBBB%IDiF%=HJHJk5R6= R\=YV]Q V>T٣T VGTZ" Z>\]b49^#m?af4Y^* i\dffqf*@^0D^4;^X%;^d4l n@l*m|Bmy2myrmr\z\\\@iɛI4>:;))隹iX;ICCCCZIebIe'jIarIazIe;Ie:IaIa"eStoppingE ZA M >Vx,[]AN?yN+@9NYN^+=NH`ۿ ţ?@? ۿ? B\?4j??N?ɨN<; N,CttH-H-m5YM#Q e>q٣y }Gy} >]49m?a4Y i&BWq*@0D;z;l4 *mBm2mrmr\z\\\y@iaɛaIe>e)a)iimGG[&IG@BG' =GGGS<GFEZAM>:JjIBJ-9JJRJ{ZJ1L&J? J>Wx,w\]AFO?yF?9F匱YFov-=FH !ڿ.@I? 6?`ڿYG?1v?@??FO?ɨF; F+CNBR%IEMb@Mb@Mb@AA A)AIAyE/$/$~jthE,EED A)E@IE@iE(@AAHYHYm mq٣q }Gy}: }>]49m?a4Y! i@=m<l0q*@0DV:1:3s4 @*mBm2mrmr\}@=z\}@=\}Bf@\};@iɛI>匱))隱BZIu bIu jIq rIq zIu ;Iu X:Iq Iq Wx,-\]A2a?y2?928Y2'=2H S,ٿ /d!?\k?@,ٿ??@!?@?2a?ɨ2Љ; 0>B>&II@)@HFHFKk5R= RX=YVQ V>T٣T ZGXZc0 Z>\]b49^'m?ab4Y^o i^%Bdf4qf*@^0D^q:^:^y4h j@h*myBmy2myrmyr\z\\\~@iɛI>8)KF;)_G i>G CG a&IG EBG  =G G :ؿq? X?&??6?ɨ6靉; 6)C^Bb &IMb@Mb@Mb@ )IyI +ˡEMbp9' @)(@IV@iHHe5< 6=Y]»Q > ٣   G  >!]-49%m?a-4Y%} i%#B5I?=m5<5/׽q5*@%0D%;%t;%49 E@A*maBma2marmir\I?=z\I?=\s @\@iɛI>g:I\=))隙Wx,ta\]A6m?y6l?96mRY6=6H`A׿@B??? kE׿6[? M?.?`?6m?ɨ6O; 6+C>B>&IHFHF7`5N:= Nc=YRÃQ R>T٣T VGTZC8 Z>\]b49^I m?ab4Y^ i^"B`fqf*@^0D^z:^:^4h jA@h*mxBmx2mxrmxr\ z\ \ \ 0@i!ɛ!I%߶>%mRI%=)))))59*Q >٣ G >I)jCy G )]=49} m?a=4Y} i}!B)myquGA?Aa q*@}0D} =} =}4 @*m!Bm!G5l>G1G5t&IG5UBG5 =G1G5=DG5]<G5FHâC HHÔCH$ ="H" =*H_62m!rmir\z\\\4@iɛId?5bI<))隹:i;IZIEbIEjIE1rIAzIE;IEU:IE3IAIEXH<qMIEXH<iUIE;uUIE;mU^Dk<"Stopping2EgA*EgA:JE k3IBJE 89JJA RJE }ZJE JU ? JU >E =ZA M > %Wx, \]ArBv'&IMb@Mb@Mb@ )IyMbpS㥫~jth/]D @)I(@i?@@HHV5V= G=YQ >٣ G >]49 m?a4Yw i B!^=mt<>q+@0DB;7@;4 H@ *m1Bm12m9rm9r\!^=z\!^=\/n@\>i ɛ I > I nj<)))115ji5Գ;9I9^D-Β;"-StoppingEE=ZAQMu6>4+Wx,;\]AB3&IH-H-`5eYK= eP=YaQ e>i٣i mGii u>y]49}um?a4Y}O i}Bq+@}0D}::}%:}4 @*mBm2mrmr\9z\9\9\9iaɛaIm>iIu-<)y)y隁W7is;I^D-;"-StoppingG) G- CG- &IG- iBG-  =G) G) G- t<G- 3FE X=ZA M >O!2Wx,1\]A>?y>Z:?9>eLY><>H z:ԿX?_[? 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A)yAGu Y>Gu CGu &IGu BGu " =Gq Gu :DGu ߰<Gu FHEɤC HEɤCHAHE ="HE =*HE6'rWx,l]]AB?yB?9B}q٣y }Gy#= >]49m?a4Y2 i!Bi+:m;?q+@0D ;E>4B @*mBm2mrmiɛIV>}xWx,-B]]A6IV?y6̓?96T٣T VGTZQ= Z>\]b49^m?ab4Y^h i\if :dmf;fI?qf+@^0D^e&;^/L?^(4h j@l*mBm2mrmi)ɛ)I->->> Wx,z]]AUBu&II1)115AHEHE_5UL U@=YUQ ]>Y٣Y eGae e>i]u49mm?au4Ym im"Biu9qm;q+@m0Dm:J BJ -9JJ RJ ZJ 0F8:5c;$ J ? 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"ڿ?Ry?@s??2O?ɨ258; 2+C>B>&II@)@DFAHJHJ_,5R~; RT٣T VGTZ Z>\]f49^ m?af4Y^| i\hjuh?qj+@^0D^V;^W;^74Y ]$@Y*mBm2mrmr\z\\\?uh?iɛIq>rͻI6<))z-ibB;I"StartingZIbIjIrIzI;Iy:II"uBInit string: /1z14239aE13561N3m50Ea=ZAMF>&`!Xx,Ņ`]A:B*?y:g?9:MkY:j==:H@ٿ%: 嗦?B?ٿb?@er?@$?'?:B*?ɨ:y; :-CFBF &IHR~HRE)5^lD= ^I=Yb ;Q b>`٣` fGdf( f>h]n49j m?an4Yj ihpr%d?qr+@j0Dj;j;jV4t v@t*m Bm2mrmGg>GCG&IGdBG" =GGDGMkI<))!!%Ei%;QIY"StartingEuJ=ZAM- >'Xx,`]A:J7OBJ9JJRJZJAWkL ]1En \ Y@3@lq/pZI<*Fv!?yF^?9F4 6YFt5=FH`ؿnp?v?ؿ+?Df?⮦??Fv!?ɨFh; F(CnBn%&IeMb@Mb@Mb@aa a)aIayeZd;O? ףp= Mb`ej=Y;Q >٣ G& >]49 m?a4Y i%B)O=m<_?q+@0D::ݩ4 :@*myBm2mrmr\ )O=z\ )O=\ @\ _?iaɛaIe>4 6IG<))隑liq;I"StartingZI=bI=jI9rI9zI=E ;I=p:I9I9EU=ZAaM}>-Xx,{`]A>Gz?9>[nY>)=>H@ؿ i@ܣ??ؿ ? Q?@6??>x; >*CJBJ#&IN=iN4<)f= fp=HjEHj5v& vU=Yz{;Q z>x٣x zGx~ ~>] 49 m?a 4YK i$B\?q+@0D:u:4 Z@!*mABmA2mArmAr\Yz\Y\Y\]\?iqɛqIu>u[nI}j<)y)yy}ݤi}W;I"StartingEQ=ZAM=Gj>GCG&IGnBG =GG=DG+<GF;4Xx,?V`]A6p?y6e?96":Y6=6HC׿  B?? {>׿T?Sԣ??6p?ɨ6$R; 4NBPeMb@Mb@Mb@aa a)aIayeV-?Zd;Oe٣ G >]490m?a4Y i^=mt<Qo?q+@0DA::4 T@*mBm 2m rmr\-^=z\-^=\-˨@\-Qo?iAɛAIEp>E":IE<)I)IQURiUty;YIY"eStarting"ULSent speed cmd:/1V10000 Response:/0@ :JPBJ9JJRJZJJIEu=ZAM>w:Xx,1`]AF?yF,?9FL\;YF=FH9ֿ@'w?%?@4ֿ@FՐ?`kO??F?ɨF; F(CZBZ(&IHj/HjC5vj< vU=Yz};Q z>٣ G   >]-49Bm?a-4Y] i#B15Gl?q5+@0DVo;Rp;4I M@ME*mqBmq2mqrmqIcIk23IkS}-IcIcIcZIbI jIrIzI-;Ilm:IIr\Az\A\A\E#Gl?iqɛyI}<>}L\;I}<)y)y隁0i4;I"StartingEUi=ZAaM}{>AXx,Qa]A>?y> ?9>4;Y>ZR=>HOտ ?@?`տ@5?`fw I? ?>?ɨ>$; >,CJBJ+&IIP)PTTHV;HV 5bP< bM=Yb';Q b>d٣d fGdfּ j>l]n49n^m?ar4Yn ilpri?qr+@n0Dn%:n:n4t z@x*mBm2mrmr\1z\1\1\5i?iIɛIIM;>U4;I-<))隉jib;I"&Changing to mode: 1"Standby mode.DGb>GCG&IG}BG =GG;DG2<G F"2Commanding positive:13699D7DDE  EE_=ZAM >GXx, a]A6?y6q?96'ZBZ-&IMb@Mb@Mb@ )Iy/$?/$MbP<, @)(@IV@i(@H'H50; ;=Y=;Q >٣ Gr >]49m?a4Y i"Ba@=m<NN?q+@0D";;N4 @*m!Bm!2m!rm!r\=a@=z\=a@=\=@\=?NN?iIɛIIM>U';i]K;YIaD 7DDE  EE-=ZAAM]>NXx,:a]A6ø?y6F?96ۜ'`٣` bG`jΗ n>x]49zm?a4Yz2 ix  L?q +@z0DzK(;z(;z4 @*m1Bm92m9rm9r\Yz\Y\Y\]SL?iiɛiIm>mۜ'Gu_>GqGu&IGuBGu! =GqGqGuH<GuFZIE bIE jIA rIA zIE ;IE b:IA IA IE XH<qM IE XH<iU IE ?;uU IE ?;mU vTXx,^Ta]An?ynN?9n\٣ G? >Y]e49]m?ae4Y] i]!Be7<me%\ [Xx,na]AZ.#?yZ`?9Z*}x٣x ~G|~: ~>]498m?a4Y iW1?q+@0D1;2;4! %d@!*mABmA2mArmAr\az\a\a\eOW1?iqɛqIu>u*}I ) _C } G A) Ȝy JAabXx,Dia]A>S?y>?9>W=>H`Կ9`Pؙ?`o;?9Կt?`@?n?>S?ɨ>i/; >(C^Bb2&IHnHnB5Mu MD=YU;Q U>Y٣Y ]Gae; m>q]}49um?a}4Yu iu B2?q,@u0Du;(;u3;uP4 @*mBm2mrmr\GZ>GCG&IG}BG" =GG:DG<G FH£C H¤CH”CH! ="H =*H#6z\\\2?iɛ!I%>%W<)!)!!-&'hXx,#2a]A2(?y25f?92٣ GE< >]49um?a4Y iQG<m=x>q,@!; ;4 8@*m!Bm!2m!rm!r\=QG<z\=QG<\=˖@\=x>iIɛIIUV>U<)Q)QQYi]t:;YIaDm"?Dm?D 7D D E   E E%=ZA9M]3>HHPnXx, a]A"B7&IH-H-[W5eT eQ=YmQ m>i٣q uGqu u>]49m?a4Yx iBq,@I::p4 a@*mBm!2m!rm!r\Az\A\A\AiQɛQIU>Y)Y)YYYi]E+;aIaD 7D D E?  EEc=ZAMM1>GY>GGGG! =GGG><G FZI bI jI rI zI ;I 3g:I I I =[<I >[<I ;I ;\8uXx,a]An Br4&IuMb@Mb@Mb@qq q)qIqyuMbP٣ G >]49m?a4Y i B]<m=X,q,@0D::4 @*mBm2mrmr\]<z\]<\9?\e@iɛI>))隱i);I"2Commanding positive:13212D7DDE  EE]=ZAiMZ>:J5LBJ589JJ1RJ5ZJ5SP7$ U !٣) -G)-g= ->1]E495Hm?aE4Y5 i1AE*qM,@15!;5Y!;5c4Q UH@Q*mqBmq2myrmyr\z\\\v,g@iɛIڽ>ʎ<))隩i#;IDDm7DiDqEu  EqEM=ZAYMu>KXx, b]AJB?yJ`?9J˲?`6b"??JB?ɨJ; J*CZ B^4&IHjHj_5 H=YºQ  > ٣ G%,< %>)]549-m?a54Y- i)G=_>G=CG=&IG=xBG=# =G9G=;DG=ٰ<G= F1L*q,@)-<-<-m 4 @*mBm2mrmr\9z\9\9\=g@iIɛqIu>u˲<)y)y隁iW;ID7DDE4  EZIbIjI0rIzI;Ir:Iـ3IIcg<Idg<I;I;EX=ZAMEQ>:vXx,}#b]A6)?y6?96tQ٣Q UGQ]D< ]>a]m49e[m?am4Ye ieBm<mmt<))隱iya;IDe7DaDaEe  EiE==ZAIMm5>Xx,&R=b]A:Q?y:?9:X٣\ ^G\^< b>`]f49bm?aj4Yb i`hjnqj,@`b:b:bR4l r@p*mBm2mrmr\!z\!\!\%-~@i1ɛ1I5<>5<)9)999i=;AIADUhAzDUhA" 2Commanding positive:13200D7DDE  E!%=G]^>GYG]&IG]sBG] =GYGYG]<G] FE:=ZAM>Xx, 7Wb]AV?yVM@?9VQ٣ G< >]49m?a4Y i B<m<y6q,@0DT;;!4 @*m Bm 2mrmr\-<z\-<\-Wf?\-[@i9ɛAIE>EQ<)A)AAAiM;II D7DDEo  EE*=ZAM@>:JLBJk9JJRJZJ2,&"  ϰXx,qb]A22?y2"p?92aP٣T VGTZ"< ^>d]n49fm?an4Yf4 if!Bpr5qr,@f0Df{;fDw;fq(4| ~d@HHAAZIbIjI1rIzI ;IFi:I3Iq@i@u@m@*mBm2mrmr\z\\\B\@i ɛ I /> a<))1QiUK;YIaD7DDE  EEc =ZAM%>jXx,Vb]ANb]?yN?9N6p٣t vGtv$< v>Gz[>GxGxGxGz" =GxGxGz7<Gz F ]49 m?a4Y L i "BB5q,@ 0D  ; : ; /4! %@!*mIBmI2mIrmIr\az\a\a\e\@iɛIc>6<))iOl;!I!DU?DU@D7DDE  EEs =ZAM>¨Xx, b]A:C?y:-?9:!=:H#hڿ !k? %?]ڿl?:3?@B?:C?ɨ:; 8FBF0&I%Mb@Mb@Mb@!! !)!I!y%{Gz?V-?%#<%<% %@)%(@I%l@i!!%@H=H=]5Mn= MD=YMFQ U>Q٣Q UGQ]݉< ]>a]m49em?am4YeS iauK<mu<))隉i$;I<"2Commanding positive:13120D7DDE  EZIbIjI2rIzIe ;I e:Ic3IE ZA M >Xx,b]A21?y2Q7@92;Y2$3'=2H9ڿ=f?6 ?`?ڿ$P?@.}??21?ɨ2; 2*C:B:'&IHFVHF5N# fV=YjIQ j>h٣h jGhn@< n>p]v49rm?av4Yr[ iptzBqz,@r0Dr:r:r=4 '@E*m!Bm!2m!rm)r\Az\A\A\EUvO@iQɛQIU>U;)Y)YYYi]T3;aIa ) AD7DDEG  E)}k(yy}BGX>GCG&IGxBG# =GG:DGl<GFH HƢCHƓCH" ="H" =*HƸ5E1ZAAMew>H C=H ԵXx,Kub]A2?y2@92wF;Y2?F+=2H6ۿ@@H??,ۿ ז?@Ɉt`g??2?ɨ2&'; 0RBR)&ITTuMb@Mb@Mb@qq q)qIqyuMb?X9v?u٣ G3z< >]49m?a4YX i#B=m<F@q,@0D ;:5E4 @*mBm2mrmr\=z\=\?\F@i!ɛ!I%>%wF;))))))i-E;1I9DAD7DDE  EEZA!M=>:JULBJU9JJQRJUZJU &+-.+'$%$_Xx,DRb]AB?yB@9BZM;YB|.=BH@7{ۿ ?@I?rۿ c?itܥ? }?B?ɨBˉ; B,C^B^*&IHjHj Y5r@; rW=YrlQ r>t٣t vGtvFI< z>x]49z m?a4YzU ixF@q ,@z0Dz;z>/;zK4 %@!ZIbIjI1rIzI;I3g:I3I*mBm2mrmr\)z\)\)\-AF@iAɛAIM>MZM;)I)QQqiu@;yIyD-7D)D)E-t  E)EIZAaM>Xx,, c]AGU>GCGGG% =GGG̱<G\FV1?yV7@9V:YV 0=VH&ۿ"r?@?ۿ d?@V`?]?V1?ɨV; V)CbBb-&IHjHjN5r>< rJ=Yv?Q v>t٣t zGxz1< z>|]49~^ m?a4Y~R i|  :G@q ,@~0D~:~:~R4 ھ@*m9Bm92mArmAr\Yz\Y\Y\]:G@iiɛiIm>m:)q)qqqiuV<;yI"2Commanding positive:13194D7DDE  EE ZA M5 >%Xx, &c]A2ٽ?y2}@92eY2)'5=2HSۿ0獤??ۿ?L???2ٽ?ɨ2; 2*C: B:&IBy٣y }Gy&< >]49w m?a4Y9 iE<m<3@q,@0D;;NZ4 @*mBm2mrmr\E<z\E<\I?\93@iɛI)>e))!;Xx,"?c]A2C?y2@92Y2P4=2H Z ܿ@ `/?|?ܿ? 7`??@?2C?ɨ2%; 2+C>B>(&IHFHFN5N:= NY=YRX=Q R>P٣P VGTV&; V>X]^49Z m?a^4YZ# iZ$B`b3@qb,@XZ;Z;Z`4d f@d*mxBmx2mxrmxr\z\\\h3@iɛI>))G!G!G!G%& =G!G%9DG%<G%0FEZAM>*Xx,Yc]A>/?y>@9>&Y>l6=>H.ܿR` ??`)ܿ`f? d?˦??>/?ɨ>; >*CFBF&&IMb@Mb@Mb@ )Iy٣ G ; >]49@ m?a4Y iG<m=/@q,@0Df:b:h4 .@*m Bm 2m rm r\-G<z\-G<\-;:?\-F/@i9ɛAIE>E&)I)IIM:J}LBJ}9JJyRJ}ZJ}==+MXx,sc]A6OD?y6@967&+Y6ӭ6=6H@7ܿ ??C2ܿ8?@de? Ӧ??6OD?ɨ6Af; 6)CNBN#&IIP)PH^H^O5fq f[=YflXQ f>h٣h jGhn: n>p]v49r m?av4Yr  ir%Btv/@qz,@pr:r:ro4| ~Z@|*mBm2mrmr\1z\1\1\5/@iIɛIIM&>M7&+)I)QQUG% Z>G% CG! G! G% ( =G% HDG% :DG% <G% &F8Xx,c]A2(^?y2@92\5Y2W6=2HLCܿ`2 f?@?=ܿ?f? Ȧ?`?2(^?ɨ2 ?; 2(C^Bb!&IHjpHj#5r  rH=YvȹQ v>t٣t zGxz*: z>|] 49~ m?a 4Y~ i|  /@q,@|~Q;~';~:v4 w@!*m9BmA2mArmAr\Yz\Y\Y\]/@iiɛiIm}>m\5)q)qqu_Xx,Qc]A6&g?y6T@96JY69=6HSGܿݬ Å? ?Aܿ?mTi?g6??6&g?ɨ6GS; 6)C>B>#&I=Mb@Mb@Mb@99 9)9I9y=MbpMbp~jth?===D; 9)9I=V@i=?@99HUHUS5e'< eC=YmJQ m>q٣q uGy}*: }>]49 m?a4Y i&B;m> q,@:P ;}4 T@*mBm2mrmr\;z\;\S{@\@iɛI>J))6IXx,{2c]A5B=%&IE٣ G >]49 m?a4Y iq,@0D::4 :@*mBm2mrmr\z\\\iɛ I > ) ) MGCGGG" =GGDG;DG<G3FEZAMj>IIw3IS}.IIIZI bI jI 0rI zI M;I I ـ3I I \<I \<I I tXx,c]AZd?yZ.@9ZqRzYZף8=ZH`GFܿ@`?`!? Aܿ@? IJo?o?`?Zd?ɨZ ; Z+CnBn"&IuMb@Mb@Mb@qq q)qIqyu/$~jtuuDu u@)qIul@iu(@qu=@H Hh5K H=YQ >٣ G3 >]49 m?a4Y, i#<m =-q,@e::Ջ4Q Ud@Q*mqBmq2mqrmqr\#<z\#<\Ij@\& @iɛI>qRz)):J MBJ JJ RJ ZJ Xx,@c]AB:?yBͻ@9BzYBt7=BH3ܿ`q?ع?m.ܿ@?@]o???B:?ɨBa; B(CJBJ'&IHfHfHo5v< vW=YzʷQ ~>٣ G V`  >]%49= m?a%4YO i!%q-,@0D+;5;41 5!@1*mQBmQ2mQrmQr\qz\q\q\u@iɛI0>zI|!=))隉WIM=)MZC G )%#y)-)BG c>G CG G G =G G G <G YFHˢC HH˔CH% ="H$ =*H˸P6DYx,˻d]A5B5$&II9)9AEAHM HMg5]U ]C=Y]Q e>a٣a eGam m>y]}49} m?a4Y}u iyq,@y}:}\:}ə4 N@*mBm2mrmr\z\\\iɛI>IW=)) Yx,ɓ(d]A6K?y6k@96LqY6x2=6HIۿ?`]?ۿ?)n?٣ G? >]49 m?a4Y i2<m<A q,@0Dw::4 .@*mBm2mrmr\52<z\52<\5?h@\5@iAɛAIM>MLqIMz=)I)IIM`ZAyM=Yx,sBd]A:6?y::@9:gY:b*1=:H`rۿ 黤?2?ۿߏ?@l?~#?I?:6?ɨ:[; :+CFBF$&IHNHNj5V  Z]=Y^9Q ^>\٣` bG`bo b>d]j49fg m?aj4Yf if%Bln!qn,@f0Df:f;f4p rG@p*mBm2mrm r\!z\!\!\%@i9ɛ9I=>EgIE =)A)AAEEGGGG =GG٣ Gn >]49cm?a4Y i$BH<m<q,@0D&%; $;94 4@*m!Bm!2m!rm!r\EH<z\EH<\ES{@\E@iɛI>_AI=))A*:J} BHBJ} 9JJy RJ} ZJ}   J I LYx,k'vd]A2h٣l nGln  r>p]v49r8m?av4Yr ipxzYqz,@pr:r\:r4| ~@*mBm!2m!rm!r\Iz\I\I\ME@iiɛqIu>uIu<)q)qG G &IG }BG G G G <G IF>#Yx,d]AF ?yFG@9F땱YFU'=FH@ ۿN@tE?? ۿ?2V??@!?F ?ɨF ); F)C^Bb-&IHf)Hf u5r; rI=Yv);Q v>t٣t zGxz z>|]49~ m?a4Y~ i~#B  <q ,@~0D~C:~ :~ϼ4 @E*m1Bm12m1rm9r\Qz\Q\Q\Uܽ@iiɛiIm>m땱Im]<)q)qquu ڿ?@j@?@?`\?2w?ɨ2C; 2'CBBB.&IID)FADDUMb@Mb@Mb@QQ Q)QIQyUMb`MbMbPUUU U@)QIQiU?@QU=@HeHel5uTr; }A=Y}H;Q }>٣ G >]49m?a4Y  iX<mM=>q,@K ; ;24 Ծ@*mBm2mrmr\X<z\X<\-ђ@\>iɛIb>TI2<)) 0Yx,kd]A2?y2@92:Y2D#=2H@ڿ @da??@ݶڿ`?^Qz?p?2?ɨ2V; 2(C>$B>9&IHFHF+p5RfC= RY=YVه;Q V>T٣T VGXZ" Z>\]b49^(m?ab4Y^ i\`f>qf,@^0D^b;^\:^4h jA@h*mxBmx2mxrmxr\z\\\>iɛI>:Is<))G5CG5&IG5BG5 =G1G1G5<G5 FE=ZAMK>x7Yx,Ed]A?y2?9no*;YF!=H`Mڿ`Cڡ?i?yڿ٣ G >]49Sm?a4Y i"Bڑ<m:=?qm,@F<+<4q u>@q*mBm2mrmr\ڑ<z\ڑ<\<@\Ѵ?iɛI>no*;I=))5+:J BJ -9JJ RJ ZJ 6=Yx,/md]A6Y?y6f?96;Y6j=6H|rڿ`2? #?jڿ ?r`T?@?6Y?ɨ6y; 6)CB!BB5&IFe;Ie =)a)aim2IG% b>G% CG% &IG% BG! 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Ju ?r\ .=z\ .=\ 5c>\ U@iɛI=r?=ߪ<)i)iiiim;qIq"StoppingEM=ZAqM^>ZI-bI-jI)rI)zI-;I-q:I)I)qYx,Ie]AN?yN.@9N$?ڿJߞ?NĐ>?p?N?ɨN؈; N*CVBZ0&IHbHbm5fQ j=YjFJ9Q j?l٣l nGlr: v?t]z49v m?az4Yv it|@q,@v0Dv&;v&;v}4  ο@ *m)Bm)2m)rm)r\Iz\I\I\M@iYɛYI]>]$<)a)aaiim;iIq"}StoppingE]=ZAqM=GS>GG&IG}BG' =GHDGGD<G F߬wYx,D1e]Ahh.?y5@9Tp٣ Gpv: >]49 m?a4Y i$B"=m< 0@q,@0D ;* ;4 @*mBm2mrmr\5"=z\5"=\5G??\5 0@iAɛAIEi>MTp<)I)IIQiU;QIY"eStoppingEo =ZAM>:J rKBJ 9JJ RJ ZJ !" J I hA}Yx,e]AJ+?yJ4@9J4sI]U49M m?aU4YM iM%BQU0@qU,@M0DM;M;M4a e@a*mBm2mrmr\z\\\60@iɛIF>4s<))ine;I"StoppingE]s =ZAiMZ>Gm R>Gi Gm &IGm sBGm # =Gm GDGm :DGm p<Gm F⽄Yx,ef]A2?y2)@92JZ`٣` fGdfe f>h]n49jSm?an4Yjo ihpr/@qr,@j0Dj;j;j&4t v@t*mBm2mrmr\1z\1\1\5'/@iAɛAIE>EJZ<)I)IIIiMS;QI"StoppingZIbI jIrIzI;Iun:IIIX<qIX<iI;uI;mEZAM J>Yx,-f]A~B&I ٣ G >I]U49Mm?a]4YM iI] <m]=]q],@M0DML ;M;M.4a m@i*mBm2mrmr\ <z\ <\: @\)@iɛIy>))iV;I"Stopping:JY_LBJ9JJRJZJEZA!MEs>z͑Yx,Gf]A2ı?y2G?92B>&IHFHFi5j j_=Ynl٣l rGprL r>t]z49vrm?az4Yv it|q,@tv_;vC`;v44 %K@!*miBmq2mqrmqr\z\\\@iɛIս><))ix ;I" StoppingGN>GCG&IGdBG' =GHDG9DGa<G FE9ZAIMmW>ZI bI jI 0rI zI ;I 3g:I ـ3I I M<I M<I ;I ;Yx,J{af]AKY?yΖ?9ʠ;Y1=H4rڿ` 0?#?hڿ?Wt$6?`0?騕KY?ɨg; *CB&IMb@Mb@Mb@ )IyL7A`堿~jt?+< )@I@i@@HH7`534 *=Y+޻Q >٣ G >] 49Lm?a 4Yc i =m < [տq -@0DD;; =4 @*m9BmA2mArmAr\]=z\]=\]̠'@\]@iiɛiIu>uʠ;)q)qqqiu#;yIy"StoppingEZAM>)-<:J BJ `9JJ RJ ZJ !Yx,E{f]A2y?y2?92V;Y27=2H*,ڿ s, ? 3?$ڿښ? `??2y?ɨ2d; 0>B>&II@)@DDHRHRen5fۼ jt=YnsQ n?p٣t vGtzd z?x]49z1m?a4Yz ixտq-@z0Dz;zM;zB4 A@*mIBmI2mQrmQr\z\\\@iɛI̵>V;))!!)i-;9II"]StoppingI}=)y %GQ i)OyAE9ZAIMeV>G S>G CG z&IG ZBG G GDG G l<G FHɡC HɡCHɓCH' ="H% =*Hb5 Yx,"f]A:&?y: d?9:;ϺY:~<=:H`Oٿ ;?9C?``ٿ`?Y?@듧?L?:&?ɨ:Z; :+CFBF&IHRHRj5V < ZL=YZQ Z>\٣\ ^G\b@ b>d]f49fm?aj4Yf idhjֿqj-@f1DfC:fq:fI4p r@p*m Bm 2m rm r\!z\!\!\%Pm@i1ɛ1I='>=;Ϻ)9)99E>3Yx,af]A6NF?y6у?96(Y6bA=6HٿP`?Y?`{ٿ? r?@)??6NF?ɨ6\; 6)CRBR%I5Mb@Mb@Mb@11 1)1I1y5V-Mb`?Mbp5m5;5 5@)1I1i5(@11HMHMhj5eҼ e@=YeQ e>i٣i mGiu{ u>y]49}m?a4Y} i}$BEn=md<oq-@}1D}Z:}:}WQ4 T@*mBm2mrmr\En=z\En=\F@\@iɛI>())cYx,f]A:e?y:J?9:3)Y:A=:HTٿcf`L?o?ٿ =??@??:e?ɨ:*+; :+CJBJ&IR=iR=)V= V=HZHZm5jF< jT=Y=6 Q E>A٣I MGIUM U>Y]m49]m?am4Y]M i]#BiuOqu-@]1D]3;]p/;]VX4 .@*mBm2mrmr\z\\\{@iɛI>3)))GGt&IGUBG& =GGGN<G FE9ZAQMmW>H H ZI bI jI rI zI ;I q:I I I $S<I $S<I ;I ;_FYx,f]Ae{b?ye?9eA/YeA=eH ؿ@|l? ? ؿX?@$?`-?d?e{b?ɨe+; aB%IMb@Mb@Mb@ )IyS㥫y&1~jth/]`eD @)I?@i@HHi5- -*=Y5vȻQ 5>1٣1 5G9=ي =>A]M49E m?aM4YE iE"BUd=mUmA/I=))ʈ:J} BJy JJy RJ} ZJ} cyYx,f]A2N?y2w?92)sTY2;=2H)!ؿ@A? ?@4$ؿiu?`4?5|? ?2N?ɨ2Yԇ; 2)C:B:%IHBHBhj5NƼ N~=YNQ R ?P٣P RGPVռ V ?X]^49Z m?a^4YZ: iX`bnqb-@Z1DZ ;ZT ;Zf4d j@h*m Bm 2m rmr\Az\A\A\E\5@iQɛQI]U>])sTI]=)Y)YYe: mBDAT read: Tx time:19:31:39.9005 u$Ping request sent.uG CG z&IG ZBG * =G HDG 8DG <G F JDAT read: TxSync time:19:31:39.8998  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251393WYx,gg]A2mU?y2?92*yY26=2H@?׿@?@ƹ? =׿=c?$?Xڦ?@?2mU?ɨ2R; 2+CRBR%IIT)TXZAHZHZm5vM= vG=YvcQ z>x٣x zGx~ ~>] 49 m?a 4Y i!Bpq-@1DQ::Om4 H@!*m9Bm92mArmAr\az\a\a\e@iqɛqIum>u*yIu<)}g;)yy}pr;i}b;I"StoppingEu=ZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503820Yx,C0g]A6 ?y6?96Y6)=6H@QV׿??w]׿EY@V?8?@?6 ?ɨ6Y; 6(CNBR&IeMb@Mb@Mb@aa a)aIaye ףp= MbMbpeQ8ee eƷ@)e(@IeV@ieV@ae3@H}H}Z5q< @=Y{лQ >٣ GO[ >]49 m?a4Y  iBb=mo<q-@ 1D::t4 @checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754264*mBm2mrmr\ b=z\ b=\ p@\ Lw@iɛI>%I%ׂ<)!)!!%+i%b;)I)"EStopping:JaBJaJJaRJeZJeJm? Jm(?E}=ZAM^>ZIbIjIrIzI;I~o:IIq@i@u@m@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005957EkYx,h%Jg]AF/?yF'?9FۛYF%=FH׿@?@(ئ?f?` ׿i-{?8??F/?ɨF,; F)CVBV&IHfHfM5r2v= vU=Yv>Q v>x٣x zGxzf ~>]49m?a 4Y\ iB  q -@ 1D::m{4 X@!*mBm2mrmr\z\\\>L@iɛI>ۛI:;))zif;I" StoppingE =ZA!M==GuH>GuCGu&IGudBGu, =GqGqGum<Gu Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257901iYx,dg]Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510324V٣ G= >]49m?a4Y iBrq-@ 1D;;o4 @E*mBm2mrmr\z\\\!@i)ɛ)I-p>- I56)1)115oۼi5;AIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764825^D}NJN<"StoppingE] =ZAi M >:J BJ k9JJ RJ ZJ 2bD '<=3)J I gAYx,0}g]A2?a?y2ž?92uY2=2HJLֿl`?`x?Rֿ6gN??!?2?a?ɨ2; 2*C:B:+&IZIFbIFjIDrIDzIF $;IFw:IDIDMb@Mb@Mb@ )IyQ롿ktMb\ 0 @)@I?@il@@HHm5gx= W=Y;Q >٣ G >]49nm?a 4Y iB re=m l< Hq -@ 1D;\;4 @!*mBm2mrmr\re=z\re=\0@\W@iɛI>uI%@)!)!!%i%>`;)I1echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015254^D [R;"StoppingE=ZAM5->Gu I>Gq Gu &IGu xBGu + =Gq Gq Gu ]<Gu F checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266592KYx,1g]A6_?y6 ?96B|qY6ˤ=6H@uֿ@??ֿ%V@/? s? ?6_?ɨ6r; 6+CB#BB8&IHJHJd5f[= f\=Yjо;Q j>h٣h nGlnZ) r>p]v49rm?az4Yr irBxzWqz-@r1Dr":r.:r4y }o@y*mBm2mrmr\z\\\cj@iɛIs>B|q))i ;I^Djb;"Stoppingechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518210E=ZAM-p>Yx,g]A6?y6/?96?տQ??`ȡ??6?ɨ6v; 6)C@@IP)PTVAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770001Mb@Mb@Mb@ )IyˡEMb`' @)(@IV@iV@@HHi5kd: %7=Y-;Q =>9٣9 =G9E E>I]U49Mm?aU4YM iMB]"(=m]<]o>q]-@M1DM4;M;Md4a el@a*mBm2mrmr\"(=z\"(=\˖@\o>iɛI><))i0;ICCCC:JMBJ-9JJRJZJ)02;;@EJNPSUY[_cdcdedffefeihhkligffcbbcacJ ? J >"}StoppingZIbIjI2rIzI$;It:Ic3IEU==ZAaM}{> ~G ) y ~A} BDAT read: Rx Time:19:31:42.3065  TRx dataTimestamp_ set to:1736537503.084825 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025083Yx,ig]A>f?y>?9> Y>} =>Hwտ`ޡ? ?տ;@n?s?n??>f?ɨ>j; >*C^/B^F&IHjHje5 V{=  ]=Y J٣ G2; >!]-49%m?a-4Y% i%B)-г>q--@%1D%:%:%˞49 =@9*mYBmY2mYrmYr\qz\q\q\uг>iɛI> ))隙iw;I"StoppingEur=ZAM=GD>GG&IGBG, =GGG[<G FHŸC HŸCHH+ ="H* =*H6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273959H R=H <Yx,{Mg]ARDAT read: 19:31:42.3065 LVL= 19952, 25665, 18018, 27635, AGC= 30, IDX= 509, 0.45, 2.797, 3.065, 2.685, 1.633, PHS= 1.252, 1.479, 1.049, RAW= 358.2, -74.4, CAL= 2.2, -79.3, ROT= 147.8, 79.3 VYgot valid direction response: 19:31:42.3065 LVL= 19952, 25665, 18018, 27635, AGC= 30, IDX= 509, 0.45, 2.797, 3.065, 2.685, 1.633, PHS= 1.252, 1.479, 1.049, RAW= 358.2, -74.4, CAL= 2.2, -79.3, ROT= 147.8, 79.3 ZPDAT read: Bearing 147.8, 79.3 (Local) Z~Local bearing/azimuth received: Bearing 147.8, 79.3 (Local) =?y=a7?9=Y==DAT read: Range 10 to 50 : 1.3 m (Round-trip 1.8 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.=H ֿ`ՠ?`s?ֿ7}?3s?C?\?=?ɨ=,; =)C`direction in FSK: [-0.157110,0.098937,-0.982613]Fpublishing direction and range info$Y&D,Ŀ4S?Q3nq￙&f? 6BO&I9$&M &Ad)&bFI&ki$&A?&O?&E?&@ &6)&nF=I&m(i&%@&m(?$ &&cY#¿jE43Ϳ@&I&Yi&B?&%@&m(?$ $Mb@Mb@Mb@ )Iy:v?Q< V@)@I?@i?@@H Hf5< =Y;Q >٣ G; >]49m?a4YE i"=m<?q-@1D:4:4 ?@*mQBmQ2mqrmqZj&m?bj&i i$i&Ug]Aj&f?j&C?2j&M@p&G$ʿv?b@n7pzp&D,Ŀ4S?Q3nq"j&%@*j&m(?p&AHu ¼bϿ̌(._p&&W ,=$ȿXi&{j&i&'m?i&  j&Bzj&m?j&v j&Bjj&>rj&@r\"=z\"=\@\?i!ɛ!I%O?%)!))))i-;1I1"=StoppingBEE=:EE=E-=ZA9MU>:J5 M_NBJ5 9JJ1 RJ5 ZJ5 cb`^\]^][[WO;*#   d Yx,g]AZI4bI6,jI4rI4zI4I6L:I4I4J?yJ8?9JVh&YJO=JH@^jֿ`3?@?`gֿy? D?@0?`?J?ɨJ; J*CREBVb&IZ=iZ=H^H^a5f= f=Yj'MVh&)I)QQQiU~;QIY"eStoppingE5=ZAAMu=G @>G CG &IG BG G G 7DG L<G FZx,h]A6+~?y6?96@f;Y6#9 =6Hbֿ@b`:?h? 8ֿ`?lAf?7?6+~?ɨ6O; 6)Cf@Bf\&IHn Hng5vļ vH=Yz&x٣x zG|~/< ~>] 49m?a 4Y i?q-@1D:h:4 %@!*mABmA2mArmAr\az\a\a\e/?iqɛqIur>u@f;Iuѻ)y)yy} i}v;I"StoppingHm@AHiE=ZAM J> Zx,]2h]A2Ϙ?y2R?92;Y2 =2H V׿F՝?@?`N׿@?/?@?2Ϙ?ɨ2:; 2+CNOBNn&I]Mb@Mb@Mb@YY Y)YIYy]+?~jt]=]DY ]l@)](@IYi](@Y]G@HuHuc5,= @=YB%٣ G<< >]49m?a4Y7 i"'=m<?q-@1DP;N;U4 @*mBm2mrmr\ "'=z\ "'=\ @\ ?i!ɛ!I%>%;I%)!)))-ļi-dV;1I1"=Stopping2EA*EA:J5MBJ5#9JJ1RJ5ZJ5   E] =ZAiMZ>Zx,:Lh]A2M?y2(?92@~=2H@׿P*?/?z׿@o??h?2M?ɨ2-\; 2)C>UB>u&II@)@HF HFh5N< N[=YR.P٣T VGTV< V>X]^49Zim?a^4YZ iX`b?qb-@Z1DZ^;Z;Z4d fU@d*mxBmx2mxrmxr\ z\ \ \ r?i!ɛ!I%>%@GCG&IGBG0 =GG6DGb<G FEEa=ZAQMm5>ZI bI GjI 1rI zI 2;I K:I 3I I P<q I P<i I ;u I ;m ,0Zx,fh]A%WB%x&IHe He1h5 ?< ;=YQ >٣ Ge e>]49Fm?a4YQ iBq-@1D}<|<4I U,@Q*mBm2mrmr\z\\\iɛI3>I+<))?:i;I"StoppingEm=ZAyM> Zx,Zgh]A:J.LBJ.`9JJ,RJ.ZJ.  BJ?yBK?9Bʜ٣ G= >]49m?a4Y i1=m<@q-@1DM:k:}4 ٻ@*mBm2mrmr\1=z\1=\ >\+@iɛI > ʜG9>GG&IGBG- =GGG4<G F-D&Zx,gHh]A:?y:?9:-ݺ\٣\ bG`b> = b>d]j49fm?aj4Yf idhnY@qn-@f1Df;f;f4p pt*mBm2mrmr\z\\\fY@iɛIu>-ݺTl,Zx,Ch]A23?y2[m@92٣ G = >]49m?a4Y iB=mO<@q-@1DO;N;4 R@*m!Bm!2m!rm!r\E=z\E=\E>\E@iQɛQIU>UOT3Zx,h]A:Ay?y:b[@9:X٣X ZGX^!= ^>`]j49bm?aj4Yb i`hj@qj-@b1Db;b:b-4p r@p*mBm2mrmr\!z\!\!\%@i1ɛ1I5>5<)1)99=GYGYGYG]. =GYGYG]U<G] F^D_;" Start "4Initializing EZServoServo. "8Initializing DockingStepper.ZIu #bIq jIq rIq zIu D<;Iq Iq Iq Iu i<Iu j<Iq Iq E =ZA M% >Y Y /9Zx,h]A6 w?y6QZ@96]UB>u&II@)@HJHJQc5v D=Yܡ;Q > ٣   G = >]%49m?a%4Y5 iB)-@q--@1D;_;s4a mR@*mBm2mrmr\z\\\@iɛI>]<))i;I^Da<"StartingEK=ZAMD>$f@Zx,ii]A:JNBIBJN9JJLRJNZJNJViAIVhAI^E=)bUC=VB MGEv&Ia y)ȖyA%Mb@Mb@Mb@!! !)!I!y%ˡE?~jt?MbP?%'=%=%: !)!I%@i!!%@H=H=65Mhf; M8=YMQ U>Q٣Q UGY] ]>a]m49em?am4Ye iame=mmm))iA<IC9C9CACA"5StartingG]>>G]CG]&IG]BG], =GYG]7DG]<G]#FHȝC HȞCHH- ="H. =*HͲ5E =ZA MU >QFZx,%i]Aj*S?yjVH@9j =Yjl#=jH`r޿@#/~?: ?^]޿?O n?`?j*S?ɨj; h~GB~d&IH~HE)5-Ϟ -^=Y-1٣1 =G9== =>A]M49E^m?aM4YE iEBIU4@qU-@E!1DE>:E:E4a e'@eE*mBm2mrmr\!z\!\!\% 4@iQɛQIU,>U =)Y)YYYi]k|lLZx,b5i]A:_?y:q&@9:=Y:'=:H`4߿ @?l?l߿? ? ?:_?ɨ:; :*CRABR\&ITiV<)V= V>5Mb@Mb@Mb@11 1)1I1y5Q? ףp= ?Mbp?5<5Q8=5; 1)5@I1i5@15@HUHU,5e eG=YmjJ;Q m>i٣i uGqu;= u>]49 m?a4Y iB!^=mt<C@q-@"1D::4 @*mBm2mrmr\!^=z\!^=\_{?\C@iɛI>=))隡iN<I"StartingE=ZAM>:JUBJUk9JJQRJUZJU82 aJe> Je?[SZx,FOi]AZ/?yZ @9Z“=YZ+=ZH`߿µ?~?߿S?``u^?@?Z/?ɨZQ; Z)Cf;BfU&IHwH+&5) O=Y :Q >!٣! %G!%= ->9]=49= m?aE4Y= i=BAED@qE-@=$1D=:=>:=4I U@Q*miBmq2mqrmqr\z\\\D@iɛIA>“=))隡iD <I"StartingG=>GG&IGBG- =GGGI<G FE*=ZAM=YZx,ii]A6L?y6@96}=Y6f0=6H@M:@o?@?A?/W?1?6L?ɨ6; 6*CN,BRC&IHVpHV#5b bP=Yb:Q b>d٣d fGdj< j>h]r49jm?ar4Yj ijBprVE@qr-@j%1Dj;j ;j4x z׾@x*m!Bm!2m)rm)r\z\\\VE@iɛI %> }=)1)99AiE.Օ%=Օ4=w`Zx,i]AIsI{ 3I{g.IsIsIsZIbIZjI1rIzI$9;I%:I3Iq@i@u@m@:JJMBJ9JJRJZJ}uj\RGA<9733(J-hAI)]*B]@&IIa)aimA=Mb@Mb@Mb@99 9)9I9y=Mbp?&1?=;=P== =@)9I=ݸ@i=@9=@HUrHU#5e6 e3=YeQ e>i٣i mGim u>y]49})m?a4Y} iyQ=m<+q-@}'1D}:}V:}4 @*mBm2mrmr\Q=z\Q=\ ?\71f@iɛI>))i <I "%Starting"ULSent speed cmd:/1V10000 Response:/0@ E%=ZA1MM1>G<>GCG&IGBG. =GG6DG<GF,fZx,OΜi]A6c?y6@969 =Y6):=6H5@H?@1?a?@la???6c?ɨ6; 6&CBBB)&IHJjHJh 5nн ng=YrQ r>p٣p rGpv_= v>x]~49zm?a~4Yz, ix*q-@z(1Dz ;zz ;z4  (@ *mABmA2mArmAr\z\\\lg@iɛI>9 =))隡ir <I"StartingE =ZAM={mZx,7i]A~B"&IMb@Mb@Mb@ )Iy~jth?Mb`?DL=; Ʒ@)?@I@i@3@HH(*5˼ 9=YQ >٣ G   >]49Im?a4Y iB%TM=m%<%!q%-@)1D;A;t%4) -@)*mQBmQ2mQrmQr\mTM=z\mTM=\m?\m1p@iɛI9>))隉i <I"&Changing to mode: 1"Standby mode."2Commanding positive:13120D7DDE0  EZIMbIMOjIIrIIzIM2;IMq:IIIIE}=ZAM^>:JiMBJJJRJZJ]sZx,bi]A6B?y6@96U٣  G  =  >]%49m?a%4Y iB)-*!q--@*1D6;6;+41 5(@9*mQBmY2mYrmYr\qz\q\qGGG&IGnBG/ =GGG<G=F\up@iɛIu>U<))   i $<ID-7D)D)E-  E)E=ZAM5->zZx,ai]A6?y69@96٫l٣l nGpr; r>t]z49vm?az4Yv ivB|~!q-@v,1Dv1;vt2;v24  @ *m)Bm)2m)rm)r\Iz\I\I\Mq@iYɛYI]>]٫<)a)aaaie˄Zx,!:j]AZI2 bI2TjI0rI0zI2+;I2 :I0I0VA?yV@9V|٣ G >]49m?a4Y i!Bm=md<q-@-1D;;:4 @*m!Bm!2m!rm!r\Em=z\Em=\E @\E@iQɛQIU>U|<)Y)YYYi]G;>GGt&IGUBGGGGر<GPF}1Zx,+j]A:SK?y:kD@9:9TQ ^>`٣` bG`fO f>d]n49f2m?an4Yf< if"Bln^qn-@f/1Df ;f8:f@4t v@t*m Bm 2m rm r\)z\)\)\-Fx@iɛI>9T<))iz<IHEAAHA"2Commanding positive:13021D7DDE/  EE=ZAMA>-VZx,7j]A%B%%IMb@Mb@Mb@ )Iyktl? 0= )I@i=@HHX[5n 8=YQ >٣ G > ]49 l?a4Y  i [h=mi<ܿq-@ 01D 2 ; e"; H4) 5Q@9*myBm2mrmr\[h=z\[h=\e@\y@iɛI>))iwd<ID8DDES  EBE=:E=E% = GkAZA  %A)Uby]kAZIebIeVjIarIazIe,;Ie:IaIa]AMuX>:JBJ9JJRJZJ  ! 1V;?Zx,Qj]A2%?y2@92-;Y2a=2H[w`d3?]?R\?~?f?2%?ɨ2_2; 2+C:݆B>%IHZHZ^5j% j_=Yn!Q r>t٣t vGxzq ~> ]49 l?a%4Y o i #B!%@߿q--@ 21D G~; ; ;O4A E@IGm:>GiGma&IGmEBGm0 =GiGiGm<Gm%FH! H%CH!H%/ ="H%/ =*H%a5*mBm2mrmr\z\\\?@iɛI>-;))i,<IDe8DaDaEe  EiEMs =ZAYM> A AX٣X ZG\^ ^>`]f49b7l?af4Yb i`hjqj-@b31Db~:b:b!V49 =@9*mBm2mrmr\z\\\ʐ@iɛI>N:;))i<ID8DDEP  EEQZAaMyQZx,nj]Ab2W?ybZ@9bBȺYb''i=bH ޿`6 ?`*? ޿ Ě?OY?` ??b2W?ɨbω; `j݆BZIn*bInrjIlrIlzInA;In:IlIln%IMb@Mb@Mb@ )IyMb/$?MbP@< )Ii@@HHa5mt< 8=Y Q >:J NBJ9JJRJZJ"0pufT8,03.) JgAI٣ Gu$ %>)]549-al?a=4Y- i)=R=m=J;-H;-]4I U@Q*mBm2mrmr\R=z\R=\Z+.@\w@iqɛqIu/>uBȺ)q)yy}GaGeU&IGe;BGe/ =GaGaGe<Ge0FE9 ZAI Me >ڀZx,xj]AۆB%IH%H%DP55 =V=Y=Q =>A٣A EGAE E>I]U49Ml?a]4YM" iIYYq]-@M61DM:M:Md4a e@i*mBm2mrmr\1z\1\1\1iAɛIIM;>I)I)IIM]Zx,:q٣y }Gy}h׽ >]49?m?a4Y i"B,=m<sq-@71D ;u ;k4 ;@*mBm2mrmr\,=z\,=\(M@\ܲ@iqɛqIu>u)y)yy}EZAM>Zx,j]AB?yBz@9BuNYBcd=BHۿ<??Cۿ?@Ή???B?ɨB4; B(CJBJ%IHVHVc5Z= ^W=Yz Q z>x٣x ~G|G:>GGGGGGG<GF+~ %>!]549%m?a=4Y% i!9EqE-@%81D%;%f;%r4Y ]+@a*mBm2mrmr\z\\\@iɛI>uNI!=))ZIu .bIu `jIq rIq zIu D;Iu A:Iq Iq Iu ֚<q} Iu ֚<i} Iu <u} Iu <m Zx,j]A6?y6i?96Z}Y6Z\=6Hඤٿ@C`d? P?}ٿ G~?`??`+?6?ɨ6N; 6*C>B>%I DF@AHJHJ\5R RL=YRQ R>T٣T VGTV Z>X]b49Zm?af4YZJ iZ!Bdfqf-@Z91DZM7;Zo7;Zey4h j@l*mxBm|2m|rm|r\z\\\;&@iɛI>Z}I=))隉%"Zx,!k]A6m?y64?96KY6=JX=6H@.ؿDt?A?5ؿzl?3?`?J?6m?ɨ6p; 4BBB%IMb@Mb@Mb@ )IyMbI +~jth9 )@I?@iV@@H-H-dK5EI= EA=YEͱQ E>I٣I MGIUn U>a]m49em?am4Ye ie Bu=muKI!<);)쀸i< ID8DDE  EE=ZAM>>G G>G CG h&IG JBG + =G G 8DG j<G  FZx,5 k]A6,3?y6p?96̎Y6R=6HVֿ@??@?ֿ`A?`Q?X٣X ZGX^ ^>`]f49bm?af4Yb ibBdfqf-@b;1Db:b:b4l nq@l*m|Bm|2m|rm|r\z\\\)@i)ɛ)I5>5̎I5a]<)1)19=i=<9IADUhAzDUhADDDEv  E2EfA*EfAZI5'bI5RjI1rI1zI5d?;I5:I1I1I5<I5<I5;I5;E{=ZAM>Zx,^:k]AB&IMb@Mb@Mb@ )Iyy&1J +y&1|`弹H` )I@i@HH Y5= :=YQ >٣ G >]49m?a4Y etIiBh=mi<~!q.@=1D3;F1;:4 @*mBm2m!rm!r\h=z\h=\ /@\@iɛIs>I.;))ʜim<ID8DDE7  EE=ZAM=>:JBJu9JJRJZJJ ? J?Zx,dTk]A2?y2}?92ZY2==2H`Gӿg[?q?`ӿEbfK??`?2?ɨ2|ɉ; 2'C> B>&II@)@DFAGZ_>GZCGZ&IGZ_BGZ =GZGDGZ;DGZT<GZFHfHfY5r U= rZ=Yr.;Q r>t٣t vGtv z>a]m49em?am4Ye ieBquSqu.@e>1De;e8;e4y @*mBm2mrmr\z\\\lp@iɛIi>ZI ))!!%i% Zx,7nk]A6P6?y6s?96V!Y61=6Hmҿ̛ԧ? ͣ? uҿIHp? n;?`?6P6?ɨ6m; 6+CR BR&IHbeHb15j; jK=Yn:Q n>l٣p rGprS r>t]z49v_ m?az4Yv ivB|~iq~.@v?1Dv};v;vМ4 @ *m)Bm12m1rm1r\Qz\Q\Q\U@iɛI5>V!I@) )   i I <I9^Dϩ;D 8D D E   E E_=ZAM J>I1 )5 KC G lA ) $y lA rB] ?] AZx,((k]A>?y>7?9>yY>W#=>H,ѿ¥??63ѿ@Rp`>?h??>?ɨ>k; >(CJBN,&I]Mb@Mb@Mb@YY Y)YIYy]I +?p= ףMb`]94<]] Y)]@IYi]l@Y]@HH R5,u= >=YՕ;Q >٣ G1A >]]49 m?a]4Y iB]=m]I<]>q].@A1DW<k:b4q u@q*mBm2mrmr\=z\=\8)@\]>iɛI>y))i <I:JBJ9JJRJZJ, Fz GeX;) JIG[>GCG&IGxBG =GGGa<GFHeƟC HeƠCHeƖCHe+ ="He' =*Heƚ7^DMr;D% 7D! D! E%  E! E =ZA M5 >Zx, k]A2.?y2 l?92_}GY2=2Hп Sţ?`?qпM7e?`Ϣ??2.?ɨ2[; 2&C>%B>;&IHFHFxV5fz= fY=Yj/h٣h nGlnN n>p]z49rp m?az4Yr irBx~>q~.@rC1DrR6;r$;r4 D@*m!Bm!2m!rm)r\Az\A\A\EE>iQɛQIU>U_}G)Y)YYYi] AZx,̻k]A6%?y6;?96<Y6`=6H@8Ϳ?5?Ϳ41? р?M??6%?ɨ6rZ; 4>)B>?&Ir٣ GZ$ >]49 m?a4Y iBU=m<" ?q.@E1D;:]4  @E*mBm2mrmr\U=z\U=\Q@\" ?iɛ I > <) )   i <I" 2Commanding positive:12941D 8DDE.  EE=ZAMI>:JE OOBJE 9JJA RJE ZJE JU ? JU %?F(Zx,k]AG,G.CG.&IG.BG.! =G,G,G.F<G.FRX?yR&?9RkYR =RH@I̿0A?Y5? J̿@Ni?uq?0?M?RX?ɨR.; R)CZ*BZA&IHbwHb+&5j{; jV=Yny$l٣p rGpr r>t]z49vem?az4Yv ivBx~?q.@vG1Dv!E;v@Y;v 4 @!*mIBmI2mIrmIr\z\\\?iɛI>k)!)!))i- <1IYDm8DiDiEmE  EiEE@=ZAQMu6>TZx,Ik]AB?yB};?9B5YBh=BH`ʿ D `ʟ?@"H?8ʿ/z?@&?`=??B?ɨBeT; @N@BN[&IHVHVxV5^= bK=Yb`+d٣d fGdf׼ f>h]n49jm?ar4Yj" ijBpr?qr.@jI1Dj;jM;j4t v@x*mBm2mrmr\1z\1\1\5k?iAɛAIMY>M5)I)IIIiM| ZIE bIE &jIA rIA zIE $ ;IE 0:IA IA qM @iM @uU @mU @;[x,S[ l]AF?yF%Z?9F/y;YF٣ G~ > ]49 Ym?a4Y | i Bݰ=m<H3?q.@ L1D  ; ] ; 4! %_@!*mBm2mrmr\ݰ=z\ݰ=\@\H3?:JBJ89JJRJZJ   $}iQJIi!ɛ)I->-/y;I-)I)IQUiUT GECGE&IGEBGE =GAGAGEV<GEFE=ZAM >d[x,5#l]A68?y6?96CT٣T VGTZd Z>X]b49Z\m?ab4YZ iZB`bf2?qb.@ZN1DZ:ZT:Z4h jy@h*mxBmx2m|rm|r\z\\\f2?iɛI^>C'[x,=l]A2*?y2#h?92KQ٣Q GG< >]49Lm?a4YF iB=m(<X?q.@P1D::4 ҽ@*mBm2mrmr\==z\==\=N@\=SX?iIɛIIM_>UKuAq:Jm NBJm 9JJi RJm ZJm </#GE ]>GE CGE &IGE BGE  =GA GA GE S<GE FHw[x,Vl]ABP?yB?9BԲ ٣   G B< >]%49m?a%4Y iB!%Y?q%.@R1D::r41 5l@1*mQBmQ2mQrmQr\z\\\;Y?iɛI >ԲH 4=H 4=_[x,pl]A2u?y2?92p٣ G =  >]49m?a4Y  iF]?q.@T1Dr;;|4) -@)*mIBmI2mIrmQr\iz\i\i\mF]?iɛI>pZI- bI- jI- 0rI) zI- ;I- s:I- ـ3I) "[x,.l]A~=B~X&II)  AMb@Mb@Mb@ )IyQ?{Gz{Gzt\=#ף l@)Ii@@H H1h5 >=YQ >٣ G >]49m?a4Y iBZ=mx<Ik =))iD<I"Stopping:JqKBJJJRJZJGGCG&IGBG! =GGG<G6FEU=ZAaM}{>([x,,}l]A6|?y64?966B>O&IHJHJd5R  R_=YR}T٣T VGTV= Z>\]b49^ m?af4Y^$ i^ Bdfz?qf.@^W1D^p:^N:^l4h j<@l*mxBmx2m|rm|r\z\\\z?iɛID>.[x,bl]A6E?y6?96kC E@=YM;Q M>I٣I UGQ]O= ]>Y]m49]r m?am4Y] iYm`<mm]k<)Y)q)7"y;mASBq:J BoJBJ k9JJ RJ ZJ "HA$G [>G G &IG BG  =G G G K<G FHˣC HˣCH˓CH ="H =*H}6Z5[x, Al]AVܭ?yV_?9Vt٣t vGtz"q= z>|]49~, m?a 4Y~ i~ B ?q.@~X1D~;~;~4) 5ɾ@9*mQBmY2mYrmYr\qz\q\q\u_?iɛIz><))隉i<I^DmY<"StoppingED=ZAMh>;[x,l]A6?y6)?96=Y6+@<6H``ԿH@?D?,Կ Z?ི`I?z?6?ɨ6iJ; 6'CB%BB;&IHJHJhj5js# jL=Ynq;Q n>p٣p rGpv= v>x]~49zm?a~4YzH ix|~)?q.@zY1Dz;zn;z4  L@ *m)Bm)2m)rm)r\Iz\I\I\M)?iYɛaIe>e=)a)aaiim=yB[x,p m]A6??y6}?96 =Y6P=<6H9ֿv`;?`?-ֿ~?Rb?p?6??ɨ62 ; 6+CR!BR6&IMb@Mb@Mb@ )IyMb`?I +?MbP?;94=: V@)I@i׫@@HH+p5 <=YC;Q >٣ Gs= >]49Qm?a4Yp i B t4=m < \5q%.@Z1D;;^49 =@A*maBma2marmar\t4=z\t4=\l??\\@iɛIy> =))iz><I!"MStopping:JVLBJ#9JJRJZJ89/EE=ZAQMm>GX>GCG&IGBG" =GG:DGW<G F%I[x,z%m]A6?y6?96=Y67<6H׿D??স׿ ?/ X؞?`?6?ɨ6; 6(CBBB0&IID)DDFAHJ,HJ_v5Vȼ V_=YVcM;Q Z>X٣X ZGX^= ^>`]f49b m?af4Yb i`df3qj.@b[1Db2:b:b4l nտ@l*mBm2mrmr\z\\\j^@i1ɛ1I5>5=)1)999i= ٣ G= >]49_m?a4Y iB=m<%&q.@]1Dg;;L4 @*mYBmY2mYrmYr\=z\=\?\Kk@iɛI>##=))i<I"StoppingE'=ZAM>:J= MBJ= 9JJ9 RJ= ZJ= G U>G G &IG nBG =G G G _<G FV[x,YYm]A5 B=&I AAHM(HMt5]Eq ]M=Y]Q ]>a٣a eGam m>y]49}m?a4Y} i}Bq.@}`1D}V;};}D#4 @*mBm2mrmr\z\\\iɛIw>))i<I "StoppingE Z=ZAME=HC=Hp=ZIbIjIrIzI;Iq:III`<I`<I;I;=\[x,Wsm]A2)?y2@92N=Y2%=2H`Vܿ@R?`D?`]Aܿ?|??2)?ɨ2ʇ; 2)CBBB&IHJHJp5fㄼ fT=YjQ j>h٣l nGlrw> r>t]z49vm?az4Yv  ivBxz"qz.@vb1Dv:v:v)4q u@y*mBm2mrmr\z\\\;o@iɛI$>N=))i|<I"StoppingE=ZA!M==%c[x,2m]A6Pe?y6iQ@96٣ GO= >]49m?a4Y iB=m;'q.@e1D::14B @*mBm2mrm!r\E=z\E=\E?\Ej@iyɛyI><))隁i' <I"StoppingBE=:E=Em=ZAM=:JMBJIJJIRJMZJMG-T>G-CG-z&IG-ZBG-$ =G)G)G-<G-2FmQi[x,3m]A6?y6@96%p٣p rGpv]= v>x]~49z m?a~4Yz? izB|G&q.@zh1DzB2;z2;z#84 d@E*m1Bm12m1rm1r\Iz\I\I\Mk@iYɛaIe:>e%<)a)aaaimx!٣ GR= >]49k m?a4YL iB=m; q.@l1D::B4 7@*mBm2m!rm!r\==z\==\=?\=YLq@iIɛIIM?Mڑ<)Q)QQQiU":J jIBJ 9JJ RJ ZJ G% W>G% CG% n&IG% PBG% " =G! G! G% X<G% Fav[x,m]A%B%&IH56H5z5E< M=YMQ M.?Q٣Q UGQU ].?Y]e49]Rm?am4Y] i]Biiqm.@]n1D]:]):]~F4 @*mBm2mrmr\z\\\iɛ I > ) )i#<I"%StoppingE=ZA!M}=HH=ZIbI!jIrIzI;I:IIIj<Ij<I;I;#|[x,m]A6ٻ?y6@96g?E?`?6ٻ?ɨ6:; 6'CLLHZ%HZEs5YfGQ f>h٣h jGhj< n>l]r49n+m?av4Yn inBtvI qv.@nq1Dn:n:nEM4x x|*mBm2mrm!r\az\a\a\e q@iqɛI>>g<))iS<$<I" StoppingEM%=ZAYMu=Ia)a G )%y!%Au[x,^n]A:Q?y:'@9:[ ٣ G; >]49m?a4Y& iB3=m<^#q.@t1D*::T4 j@*myBmy2myrmyr\3=z\3=\IE?\n@iɛIH>[ <))i$<I" StoppingBE=:EE=ZAM>:JJBJ9JJRJZJ&+-.-+*(%%%##"  yR{kG0!GP>GCGGG' =GHDG9DG<G4FHĢC HĢCHH" ="H# =*H46[x,nR(n]A2)?y2 @92;Y2z=2H@fn@hĪ? ru?\cBB&IHJ)HJ u5^fӼ ~X=Yh:Q >٣   G    >]49Ll?a4Y i!B!%v#q%.@v1D;;[4) -@)*mIBmI2mIrmQr\iz\i\i\mn@iɛI<>;))隉iC%<I"StoppingHyH}@AE=ZAM=[x,IGBn]AB &ImMb@Mb@Mb@ii i)iIiym{Gzt?Q?Mb`mף;mu=m i)iImV@im(@im@H}'H}(t5< /=YQ >٣ G >]49&l?a4Y i%v=m%\<%+q%.@x1DK ; ;c4) -~@1*mQBmY2mYrmYr\uv=z\uv=\u{k?\u=f@iɛI>))隙if%<I"StoppingZIbI%jI0rIzIe ;I:Iـ3Iq@i@u@m@EEs =ZAQMu>G V>G G z&IG ZBG ) =G G G Z<G F:J SpNBJ -9JJ RJ ZJ  Xgjlfa]VNJFA<54/+(#   J ? J ?[x,\n]A=BE &I]AYHeHeo5u-c u_=YQ >٣ G >]49l?a4YN i"Bq.@y1D';;i4 @*mBm2mrmr\z\\\iɛIO>))i%Fڜ[x,hun]A:0*?y:ٳ@9:ܻY:!u=:Hݿ \5`?:G?iݿ?{?`=+?^?:0*?ɨ:; 8^Bb&IHnHnm5Ļ R=Y Q >٣ G!- ->1]M495l?aM4Y5 i1QU2/qU.@5{1D5t;5h;5p4a e@i*mBm2mrmr\az\a\a\eMb@iqɛqIu_>}ܻ)y)yy}ZI bI 0jI 1rI zI );I _:I 3I [x,׾n]A6C?y6@@96+Y6ʇ=6HܿG?!?ٖܿ?m???6C?ɨ6t; 6&CBBB&IUMb@Mb@Mb@QQ Q)QIQyU~jt?{Gzt?U٣ G^ >]49-l?a4YW i<m=_@q.@|1D:(:x4 @*mBm2mrmr\<z\<\*SR>\0_@i ɛ I$>+))GuCGu&IGudBGu! =GuGDGu;DGuU<Gu F:Je)MBJe9JJaRJeZJeJ}hAIyEyZAM^>[x,̛n]A2*?y2)@92xY2ރ=2H@=Eۿޯ??"@ۿM?`o?x??2*?ɨ2; 2'CBBB&IFX٣X ZGX^ ^>`]f49bl?af4Yb% i`df @qj.@`bj!;be";b~4l rZ@p*mBm2mrmr\z\\\$ @iɛI]>xIN"=))隱Iװ[x,n]AM?yMJ ?9MT&YML~=MH`Jٿ@b;=?K?Wٿ@?@yʄ? ׯ? ?M?ɨM蹈; M)CeBe&IMb@Mb@Mb@ )IyZd;O?A`"j<Y Ʒ@)I?@i?@@H=H=n5M: M2=YU`Q U>Q٣Q ]GY]j ]>a]m49e9l?am4Ye iaul=mueG} b>G} CG} &IG} iBG}  =Gy G} ٣ G%R %>1]M495vl?aU4Y5< i5!BQ]K?q].@51D5;5Υ;54q u@q*mBmJmRm2mr\z\\\K?I$In<) {i)?F;iI"Stopping],DAT read: user:1218> eBDAT read: Tx time:19:32:11.3999 m$Ping request sent.mHuR=Hua== XRequesting device enable clr for address 50.'[x,^.n]A2?y2E?92n$Y2LBe=2H` ֿ.`?l?`ֿ?@??`?2?ɨ2\; 2(CN BR&IIT)THZHZe5dž< K=Y 8Q  > ٣   G T >]%49l?a%4Y i B!-E?q-.@1D:::41 5@1*mQBmQJmQRmQ2mQr\qz\q\q\uE?雁n$IC<) !zi)kWĺ隑);iI"StoppingE=ZAM=ISI[w3ISISISISZI bI jI rI zI ];I w:I I k[x, o]A6Hb?y6˟?96P%Y6i=6HԿ1@M?>?`TԿH?멄?a7?;?6Hb?ɨ6ec; 6&CNBN&IeMb@Mb@Mb@aa a)aIaye~jtx?J +~jthe;eȽeD e@)e@Iel@iaae@H}H}#U5z2 B=YQ >٣ G4 >]49m?a4Ye iB,=m<>q.@1D::\4 D@*mBmJmRm2mr\ ,=z\ ,=\ @\ >!%P%I%;)! %~i!)-{)-4i)1I1Gc>GG&IGnBG =GGG<GKF:J}BJ}89JJyRJ}ZJ}^D]v<"]StoppingE5=ZAIMew>m >m =9[x,*o]A B&IHH~N5%/= -Q=Y-Q ->1٣1 5G15 =>A]M49E m?aM4YE iEBQQqU.@E1DE":EP:E54Y ]@Y*mBmJmRm2mr\z\\\I):) zi)M%;i!!I)^DNJ;"StoppingE=ZAM>.'[x,Do]A r؀G  Q)yEA޵B޵&I)= a=- only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 57.09, 54.38, 55.73 @ @ @  @ H-H-dK5= =,=YAQ E>I٣I UGQQ ]>]49m?a 4Y iBi +: m ; q .@1D:[>64 @!*mABmAJmARmA2mAmBiImD)i m}ii)mquciqqI^D"StoppingBE=:E=E =ZA M >G _>G CG &IG sBG ! =G G ;DG ]<G FHɣC HɣCHɔCH! ="H! =*HɄ6:J BJ 9JJ RJ ZJ  jK6& " !!K[x,^o]A28?y2?92Y2j.=2H п 4?+?Gп&p?c~?@?b?28?ɨ2&; 2'CN BR&IHZHZm5d;  x=Y q-.@%1D%:%N?%41 =@9*mYBmYJmYRma2ma雑IK;) |i)Ԯ隩LiICCCC"StoppingZI]bI](jIYrIYzI];I]9:IYIYI]d<qeI]d<ieI].;ueI].;meE =ZA M >u[x,uxo]A6 ?y6^?964Y6̺"=6H@yο | ;p? ?`οp? fw? U?f?6 ?ɨ66; 6(C^B^&IHfHf^5re rM=Yv;Q v>t٣t zGxzJ z>|]49~` m?a4Y~ i~Bi 9 m ; ̜>q .@~1D~:~4?~u4 W@*mBmJmRm2m4ID9) i)~iI" StoppingE=UBDAT read: Rx Time:19:32:13.3003 eTRx dataTimestamp_ set to:1736537534.090058ZA9M`>1_[x,;Vo]A:r;?y:x?9:Y:j`=:H&Ϳ`"?(?'Ϳp?Xr??S?:r;?ɨ:; 8fBf&Iee ee ee  e e eMb@Mb@Mb@aa a)aIaye:vʡE~jtxeTeeĻ e@)e?@Ie?@iaae=@H}H}m5o: @=YJ;Q >q٣y G >]549m?a54Y iBi5T:5g=m=;=&=qE.@1DO<,R<4y }[@}EGGG&IGnBG =GGG<GAF*m1Bm1Jm1Rm12m1r\mg=z\mg=\mcA@\m&=yI) i)`Ի隩iI"Stopping2EfA*EhAEV=ZA :JMBJC9JJRJZJ .>FNVZ]aeikoqw|~zroppqM5O>} DAT read: 19:32:13.3003 LVL= 22672, 28849, 20914, 29283, AGC= 32, IDX= 395,-0.23,-1.518,-1.218,-1.610,-2.623, PHS= 1.193, 1.452, 1.010, RAW= 354.3, -73.4, CAL= 358.2, -78.7, ROT= 151.8, 78.7  Ygot valid direction response: 19:32:13.3003 LVL= 22672, 28849, 20914, 29283, AGC= 32, IDX= 395,-0.23,-1.518,-1.218,-1.610,-2.623, PHS= 1.193, 1.452, 1.010, RAW= 354.3, -73.4, CAL= 358.2, -78.7, ROT= 151.8, 78.7  DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:1219>  BDAT read: Tx time:19:32:14.4000  $Ping request sent. x٣x zGxz =>A]E49Egm?aM4YE iEBIM=qM.@E1DE:EP:E4 @*mBmJmRm2mHHBAZI%bI%#jI%0rI!zI%;I%:I%ـ3I!I%`<I%`<I%;I%;r\Iz\I\I\M=y(:CIF~) Z|i)隁¼iI"StoppingEG=ZAMg>a[x,ePo]AUT?yU8?9Uʐ?YUQ٣ G > ]49 Rm?a4Y  i B=m<9q.@ 1D : F: 4! -@)*mIBmIJmIRmI2mIr\ =z\ =\ Ef@\ @Bʐ?I) i)%!EϼiAIII"UStoppingE=ZAM>G \>G G &IG iBG =G G G ~<G *F%[x,o]A:J"VNBJ"9JJ RJ"ZJ"kgc`_]XXWVV](7* qM6'J*? J*?RL?yRP?9R֊ YR٣ G >]49Bm?a4Y iBq.@1D ;6;4 d@*mBmJmRm2mr\z\\\"x@%֊ I%6)! -2i))-#15׼i9AIA"StoppingE4=ZAM l>ZI5bI5jI51rI1zI5;I5Fi:I53I1I5F<I5F<I5;I5;[x,o]AB}D?yB?9ByYB'x٣x zGx~; ~>] 49~m?a 4Y iB  q.@1D:q:4 >@*mBmJmRm2mr\z\\\e@yI) Si)oڼiI" StoppingEE=ZAyMb>\x,p]A~B&IMb@Mb@Mb@ )Iyktv/Mb 0xi l@)Ii?@@HHm5|0 <=YQ >٣ G >]49 m?a4Y[ i B$=m8<ݾq/@1DL ;;\4  d@ *m1Bm1Jm9Rm92m9r\U$=z\U$=\Ub@\UA4@aaIeػ)i mVii)mY*im߼iiqIy"StoppingGUZ>GUCGQGQGU$ =GQGU:DGUg<GUFE=ZAM=:JknNBJk9JJRJZJSX jP6jI   PE*  LJIgAl \x,x-p]A:)?y:?9:}n;Y:a<:H̿B,?@-?x̿ ^? ǍwE??:)?ɨ:<; :)C^ B^&II`)`fAfAHj'Hj(t5r*0= r\=Yr{t٣t vGtz2 = z>|]49~"m?a 4Y~ i~ B  ׾q /@~1D~5;~5;~4 @*m9Bm9Jm9Rm92m9r\Yz\Y\Y\]3@mBm}n;Im<)i m|ii)uc6qu%ɼiqyIy"Stopping2E*EfAZIebIejIarIazIe;Iec:IaIaIeX<IeX<Ie$;Ie%;BDAT read: Rx Time:19:32:16.3004 TRx dataTimestamp_ set to:1736537536.859109E=ZAMI>N\x,OGp]AU?yU}?9U] A٣A EGAM< M>I]49M_%m?a4YM iMBоq/@M1DMeBGU [>GQ GQ GQ GU # =GQ GQ GU F<GU FC\x,^*ap]A6?y6?96P;٣ G<-= >]49%m?a4YP iz=m<q/@1D{::X4 @*mBmJmRm2mr\z=z\z=\J@\@P; =BDAT read: Tx time:19:32:17.4000 =$Ping request sent.=ZIbI jI0rIzIM;IYk:Iـ3II\<I\<IO;IO;j\x,{p]A26?y2 t?92ex٣x zGx~uO= ~>] 49&m?a 4Y iq/@1D::4 %d@!*mABmAJmIRmI2mIr\az\a\a\eO@uBueJ$\x,p]AbBb*&ImMb@Mb@Mb@ii i)iIiymQ ףp= ?Mb`?mumQ8=m; m@)m@ImV@iiim@HHT_5V< ?=YQ >٣ G >]49$m?a4Y i BvB=m<"q/@1DQ::4 @*mBmJmRm2mr\vB=z\vB=\>?\Ro@))I-> =)1 5vi1)5j153\i99IA"MStoppingGGCGGG! =GG;DG<G;FH HH“CH"H*H6E=ZA)MMR>:JFJMBJk9JJRJZJ;H0 U >U a=&+\x,eƮp]A:Y?y: ?9:qrX٣X ZGX^F= ^>`]b49bn#m?af4Yb: i`df qf/@b1DbS:b>:b 4l n@l*m|BmJmRm2mr\z\\\Yr@-B-qr2\x,p]A^j?y^(?9^C*٣ UGQek6= e>y]49}!m?a4Y} i} Bq/@}1D}%;}%;} 4 @*mBmJmRm2mr\)z\)\)\-Tfs@9=C*<)A EsiA)eim&ZIebIejIe1rIazIeE ;Ier:Ie3Iaqu@iu@uu@mu@ձյAG`>GG&IGsBGGGG`<GF+68\x,"qp]A6ٺ?y6\?968٣ GC= >]49sm?a4Y i B=m$<nGq/@1D{:4:4 ۽@*mBmJmRm2mr\=z\=\ޞ?\yJ@8<)  mi))515 BDAT read: Rx Time:19:32:19.3004  TRx dataTimestamp_ set to:1736537539.891014b`>\x,Lp]A2BJ&IHHo5-= -P=Y5Q 5>1٣1 =G9E E>I]M49Mm?aU4YM iMBQQqU/@M1DM:M:M4a ed@a*mBmJmRm2mr\z\\\雵B) tji)g隹iI"StoppingE=ZA9M}=ZIe bIe jIa rIa zIe u;Ie U:Ia Ia KE\x,i5q]A=0?y=P?9=lGCG&IG}BG =GG٣ G̘= >]492m?a4Yf iB=m <s<@q/@1Df::y"4 a@*m1Bm1Jm1Rm12m1r\=z\=\U|?\Os<@Bl<) ji ) ж  i I"%StoppingBE%=:E%=E~=ZA M%N>:J2KBJ9JJRJZJ2u}P2   :rK\x,C0q]A6?y6E?96|٣ G< >]49m?a4Y  iB<>@q/@1D;;04 ۼ@*m!Bm)Jm)Rm)2m)r\iz\i\i\m"<>@雝 B.<) fi)隩iI"StoppingE=ZAZIbIjI0rIzI;Id:Iـ3IM=/>G}p>G}CG}&IG}BG} =GyG}=DG}_<G}#F[X\x,cq]A6?y6@96FA٣ Gk< >]49m?a4Y :JKXMBJ-9JJRJZJ @:uDiu{qP%g7 =e<2  iB=m<1@q/@1D;;64 ׼@E*mBmJmRm2mr\=z\=\c8G?\1@!%FA<)) -Ugi))-U))i)1I1"EStoppedE-=ZAA UdClearing failed state for component DockingStepper1UM]=^\x,}q]A~8B~Q&IH H n5{D Q=YQ %>!٣! %G!- ->1]=495 m?a=4Y5Y i5B99qE/@51D5Y;53;5=4MB M@I*miBmiJmiRmi2mir\z\\\= B9)A EhiA)EhAAiAIIQ"] Start "]4Initializing EZServoServo. "]8Initializing DockingStepper.EUc=ZAyM>ZIE bIE jIA rIA zIE :IE c:IA IA ˕e\x,lq]AF-?yF@9FK0a٣a mGim= m>qyy]49u m?a4Yu iq=m<m$@q/@u1Du^;ua];uD4 G@*mBmJmRm2mr\=z\=\?\@m$@K0<) jiG=s>G=CG=&IG=BG= =G9G=>DG=<G=KF)P隑iI"StartingEu=ZAM=:J5(PBJ5u9JJ1RJ5ZJ5k\x,7Tq]A:?y:+@9:\٣\ ^G\b=< b>d]j49f=m?aj4Yfg idhj$@q=/@f1Dfop٣p vGtvq; v>x] 49zm?a4Yz ix!%$@q%/@z1Dz;zJ;zR4 $@*mBmJmRm2mr\Qz\Q\Q\U$@雍 BVg<) ri)-隑iI"Starting"BInit string: /1z14367aE13561N3m50G=u>G9G=&IG=BG= =G9G9G=<G=FFHǦC HǥCHǔCH ="H =*Hǁ6E r =ZA M >x\x,Pq]A)B?&IMb@Mb@Mb@ )IyZd;O?:v?j<=T< @)@I@i@@H{H'5< <=:JBJC9JJRJZJYUQ ]>Y٣Y ]Gae e>i]u49mm?au4Ym~ ii}C=m}<}@q}/@m1Dm?;m;mZ4 @*mBmJmRm2mr\C=z\C=\>\r@99)9 =qi9)EużAAiAAII"uStartingEs =ZAM>IIO3I(.IIIZIbIjI1rIzI :I::I3IIt<q5It<i5I6;u=I6;m=~\x,q]A2?y2@92t٣t vGtvI v>x]~49zm?a4Yz' ix@q/@z1Dz;z;z`4  [@*m)Bm)Jm1Rm12m1r\Iz\I\I\M@e Be<)a el|ii)m2˼iiiiqIq"StartingEZA!MUS>\x,r]A6]?y6@96ZB>)&IEMb@Mb@Mb@AA A)AIAyEMb?y٣y }GUb >]49m?a4Y iB<m0=?q/@W;;Rh4 $@Gv>GG&IGBG =GGG"<G F*m Bm Jm Rm 2m r\-<z\-<\-\@\-?=BEZ<)A E{iA)M%ҼIIiIIIQ"]StartingEYZAiMZ>:JBJ9JJRJZJ%#t>  JIhA\x,2r]A2- ?y2X%@92#`٣` bG`fA f>h]n49jm?an4Yj ijBlnϿ?qr/@j1Dj;j;jn4t v@t*m Bm Jm Rm 2m r\!z\!\!\%Ͽ?9=#<)A EiA)E:ؼAAiAZIbIjIrIzI:Io5:III#<I#<I;I;QI"%Starting"LSent speed cmd:/1V10000 Response:/0@ EqZAM>_\x,lyLr]A6?y6 3?96;Y6I=6H`Dڿ@&߽?@.?M8ڿ@=? 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EYl?@?6?ɨ61; 6(C>BB&IHJJHJ:5Ry޼ Vw=YVgQ V?X٣X ZGXZj= Z?\]b49^qm?af4Y^ i^ Bdf?qf3@^2D^:^:^b4h j׶@l*mxBm|Jm|Rm|2m|r\z\\\F?G)G)G-&IG-BG)G)G)G-<G- FH HHH"H*H4雭B_=) Aֿi)1e隱iIDQDQDQEU9  EQE-=ZA9M]>:J  OBJ 9JJ RJ  ZJ jXF5+ ZIbIjIrIzII/:III;II^;I^;1ax,eȄ]A2~?y2?92B=Y2ԓ=2H ԿJ@g?%?Կ'׽?@oN@P_??2~?ɨ2; 2)CRBR&IIX)XHbeHb15jM< nG=YrӹQ r>t٣t vGtz= z>|] 49~1m?a 4Y~ i~Bi?q3@~2D~7!;~^7;~Li4! %@!*mQBmYJmYRmY2mYr\z\\\!i?雥BB=) Lֿi)f隩iIDDDDE<  E2E*EEe=ZAqM>8ax,]A6+?y6?96|=Y6=6H`rտ@!@|?? տŽ?`H]ɱ? ?6+?ɨ6; 6(CRBR&IeMb@Mb@Mb@aa a)aIaye?y&1|?MbeL=e`;e e @)e@Ie7@ief@ae3@H}OH}q5` ?=YFMQ >٣ GZ= >]49Ym?a4Y iB`Q=m<I@q3@2D/;3;p4 Q@*mBmJmRm2mr\ `Q=z\ `Q=\ *o>\  I@A%B%|=)) -~ڿi))- h))i)1I9D/*DDE;  EE2=ZAM%>G%{>G!G%&IG%ćBG!G!G!G%"<G%F:J bLBJ k9JJ RJ  ZJ  &e8@>ax,]A2=?y21?92}=Y2=2H`uֿ`B?@??ֿ`3?E@v? d?2=?ɨ2郈; 2'CNBR&IHZUHZ5bq bX=Yb&Q f>h٣h jGlrj6= r>x]49zm?a 4Yz izBa@q3@z2DzՐ;zF;zcw4! -@)*mBmJmRm2mB*** querying acoustic contact ***iiHAAHr\z\\\a@UB]}=)Y ]޿ia)eoziiiiiyID-1*D1D1E5:  E1E=ZA -2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.M]2>2Eax,]AB,DAT read: user:1221> NBDAT read: Tx time:19:33:40.1520 R$Ping request sent.VQ٣Q ]GY]L= ]>a]m49e4m?am4Ye iam=muUKax,/]A2?y2?92RA=Y2<=2H5ؿ׾?X?Tؿ ? i? v?2?ɨ2V; 2(CRjBV&IGbz>G`Gb&IGbBG`G`G`Gb<Gb FHnMHn5v v=YvUQ v?x٣x zGx~= ~?] 49om?a 4Y i9@q3@] ;I8;4 %@!*mABmAJmARmA2mAr\az\a\a\e(9@u BuRA=)q u!iq)} _lyyiyID)D)D)E5>  E1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497634E%=ZA1MU>:J]8aLBJ]9JJYRJ] ZJ]9 = AE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749855;Rax,x^I]AFW|?yFڹ?9Fǧ=YFI=FH~ٿ@>@P??@gٿ ý?`()б??FW|?ɨFSe; F'CV_BV&IHb`Hb5-4] -F=Y5Q 5>9٣9 =G9EK= E>I]U49MWm?aU4YM iIQ]J;@q]3@M2DMe;M;MÌ4a e@a=Done sinking=DSlide state transition from 2 to 1*mBm2mrmr\z\\\J;@iɛI>ǧ=) [ =)i)<I"&Changing to mode: 1"Standby mode."2Commanding positive:34792DM/*DIDIEM9  EIE%l=ZA1MM1>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003416ZIE bIE jIA rIA zIE :IE :IA IA eXax,5c]A66?y6 @963W=Y63=6H`+ۿ@?@?`(ڿ@^ܽ?!??66?ɨ6; 4BRBBr&IDDMb@Mb@Mb@ )Iy{GzˡE?~jtx?ף'=;  @)IM@if@H-4H-{5p C=YyQ >٣ GCP= >]49Um?a4Y> iBu<=m<q3@2DI;H;4 a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253641*mBm2mrmr\-u<=z\-u<=\-@\-@iAɛAIE>E3W=)A)AIIiM.GGG&IGBGGGGQ<G#Fխ 0?խ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505785:J BJ -9JJ RJ  ZJ ^ax,8}]A2n?y2x@92T=Y2E=2H@Fܿ*??ۿ@k?V[^γ?,?2n?ɨ2g; 0VDBV`&IH^H^`5f7 fX=YjQ j>h٣h nGlnEO= n>p]v49rsm?av4Yr irBxzhqz3@r2Dr;r+;r4| ~D@|*m)Bm)2m)rm1r\qz\q\q\uw[@i!ɛ)I->-T=))))))i5e3<1I9D.DDE  Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757586Es =ZA1MM>yeax,]A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0099813BK&I}Mb@Mb@Mb@yy y)yIyy} rhQ?I +?}C}\=}94< } @)}׫@I}d@i}@yyHH7`5s "=YQ >٣ G >] 49m?a 4Y i B !=m < Rq3@2D ;:4 %X@!*mABmA2mArmAr\]!=z\]!=\]u@\]0@iqɛqIu>q)q)qqyi}Z9.lax,Z]ABS?yBBH@9B{=YB~=BH]޿@(@A? B ?޿ b?@| ?>?BS?ɨBZS; @ZBZ0&I^p>i\)` `HfHfob5nL nY=Yr^Q r>p٣p rGtv= v>x]~49z&m?a~4Yz izBq3@z2DzS:z:z4  @5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513705*mABmA2mArmAr\az\a\a\e@iqɛqIuE>u{=)y)yyyi}V=<I^D8;:JBJJJRJ ZJD1DDE  EEyZAM>BDAT read: Rx Time:19:33:42.5580 TRx dataTimestamp_ set to:1736537623.129197 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770081 U G} kA A) 6 y kA )B8sax,=υ]A2T?y2 I@923Ŕ=Y2J{=2H@B߿ i??@+ ߿` ۷?v O? ?2T?ɨ2tЎ; 2&CfBj!&IHrHri5zm zJ=Yz!Q ~>|٣| G= > ]49 4m?a4Y  i Bkq3@ 3D ; ; ,4! %x@!*mIBmI2mIrmIr\iz\i\i\mt@iyɛyI}>}3Ŕ=)y)隁i+A<I^D =}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022740D01DDEH  EZIbIjI0rIzI<:IK:Iـ3IE ZA M5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271551yax,(]AuBu&IMb@Mb@Mb@ )Iy+K?{Gzt?^=ף; @)I @i@3@H%H%Qc55Z 57=Y5Q =>9٣9 =G9E E>I]U49Mm?aU4YM iMBU=mU;U_q]3@M3DM~ ;M:M4a e4@eE*mBm2mrmr\=z\=\@\x@i1ɛ1I=>9)9)999i=ёE?Wx2W￙Q9QUP[ Uh)UPIUuiUUD?Ul?UX?U"> UJ)U[>IUqiU@Uq?Q UUtP3Y{ÿIU%iUY?U@Uq?Q Q=XRequesting device enable set for address 50.DU1DDE  E2E*EeA:J BHBJ k9JJ RJ ZJ E ZA M >zax,LU]AB?yB@9Bb=YBI=BH`f`t@?`k?F}w?/>$>? ?B?ɨBh; B'CNBN&IIP)PHVHV.l5^r ^Y=Yb=Q b>`٣d fGdf'= f>h]n49jt m?an4Yj ijBprqr3@j3Dju:j`:j4t z@x*mBm2mrm!Zjsqm?bjԲ ii`x]AjjI?2j@pKXuiݻ&Z?^:zpr}E{=o>?Wx2W"j@*jq?pL c п$N_ppUKInȿImWijiPfm?i0  jmBzjj jjjRb>rj?@r\z\\\g@,DAT read: user:1222> BDAT read: Tx time:19:33:44.0010 %$Ping request sent.%]b=)]><)a隁iM]H<ID%a1D!D!E%  E!EAZAQMu>= XRequesting device enable set for address 50./ax,1%]ABn?yB@9B (9=YB`=BHˤL1ԥ? J?6*? "̳??Bn?ɨB%; B$CNBN%I=Mb@Mb@Mb@99 9)9I9y= ףp= #~j?~jtx?=Q===; =ݸ@)9I=@i99==@HMHMe5e1 eA=YeQ m>i٣i mGiu< u>y]49} m?a4Y}m i}BH=m;q3@} 3D} :}k:}4 J@*mBm2mrmr\uH=z\uH=\ui)@\u@iɛI> (9=))i9J<IDEp1DADAEE  EAEa ZAq G G G [&IG @BG G G G A<G FM >Vax,^7]A6)x?y6@96M =Y6]=6H@5D? };? @:#?@ӈc? )?6)x?ɨ6w$; 6&CbBb%I hjAAHjHjI5r: rS=YvQ v>t٣t zGxzS7< z>|]49~ m?a4Y~ i~"B  ߿q 3@~ 3D~u:~:~4 %@!*mABmA2mArmAr\Yz\Y\Y\]@iiɛqIu >uM =)q)qyyi}WL?ax,BQ]A2V?y2l@92٣ G >!]-49%7 m?a-4Y% i%%B)-Yq53@%3D%:!%49 =[@9*mYBmY2mYrmYr\yz\y\y\}p@iɛI><))隙iM<I^DDu~1DqDqEu  EyE9 ZAQ Mu >jax,k]A6_?y6N@96{B>%I=Mb@Mb@Mb@99 9)9I9y=sh|?X9v?~jth==}==D =Ʒ@)=@I=@i=׫@9=@HUHUDP5e})< eD=YmQ m>i٣i uGq})@ }>]49 m?a4Y  i&BC=m<տq3@3D,:(:%4B -@E*mBm2mrmr\C=z\C=\\ @\@iɛI%g>%{<)))))1i5N<9IAG1G1G5H&IG51BG5 =G1G1G5<G5RF^Dmu<D1DDEO  EE! ZA9 MU >:J OBJ 9JJ RJ " ZJ !   #XF_lnjZNB7J ? J ?ZIE bIE jIA rIA zIE :IE ^:IA IA IE ;IE ;IE g;IE g;BSax,󎅆]A2?y24@92;Y2:=2H`?E F|F?@ˍ?5@ʦ?#}B??2?ɨ2r; 2(C:B:%IHFHF7`5J{< NX=YNKQ N>P٣P RGPR׼ V>T]Z49V m?a^4YV iT\^ֿq^3@V3DV ;V;V4l n@l*m Bm 2m rm r\!z\!\!\%Q@i1ɛ9I=>=;)=Y[<)99AiE Oե %=E ZAA M >}ax,h]A}Bޅ%II)AEMb@Mb@Mb@AA A)AIAyEX9v~jt?MbEEq٣y }Gy} }>]49u m?a4Y i%B}=m<̿q3@3D;;4 @*mBm2mrmr\}=z\}=\%@\E@iɛI>))i 'vOax,%A]ARK?yRg@9RԻYRa=RH ߿< A?\?߿?@gz? в?`?RK?ɨRI$; R'CZBZ&IHfHfob5nd= nh=Ynf Q n>p٣p rGpv v>x]49zf m?a4Yz iz#BBпq3@xzUԻ)Y)YY]s uBDAT read: Tx time:19:33:47.0010 }$Ping request sent.}ax,+Ԇ]AZ?yZ!s@9ZUYYZz=ZH ܿ}|1?`h?@1ܿ`ቓ?o*? ??Z?ɨZm; Z&CbBb&IHnHnV5r= v>=YvQ v>x٣x zGx~j ~>|]49~E m?a 4Y~C i~"B  Fտq 3@~3D~+;~;~4 %D@!*mABmA2mArmAr\az\a\a\e @iqɛqIuq>uUY)q)yy}ax,{]A2Y/?y2n6@92@vY2G=2Haۿ)`!?4?@ۿ@? |Î?@ ??2Y/?ɨ2; 2'C:B:&IF,>iF<Mb@Mb@Mb@ )Iy~jt?٣ G+9 >]49 m?a4Y  i!B<m=b?q3@3D;;4 @*mBm2mrmGGGh&IGJBGGGG!<GFr\E<z\E<\EϜ@\E?b?iaɛaIe >e@vIm =)i)iimJս7?E)ZA9M]>:JE ~NBJE 9JJA RJE $ ZJE  O}n_ULD@6/(#HY H] BAZIe bIe jIe 0rIa zIe ܫ:Ie :Ie ـ3Ia Ie ;Ie ;Ie U;Ie U;zax,T]A6o?y6?96nY6v=6H{ڿ  f(? ?`8}ڿ`?܍?ծ?A?6o?ɨ6; 4JBJ1&IHZHZ)M5Id)j!C eG}SkA =)YySkA/HB J=Y7:Q >!٣! %G!%R ->)]49- m?a4Y- i)?q3@-3D-<-<-N4 @*mBm2mrmr\z\\\s?iɛI->nI5<))%M;i%L*ax,%A"]A6?y6?96ޔJY6Lt=6H@~%ٿ`>]?@{l?%ٿ`Y͈?qR?`Ȑ? ?6?ɨ6j; 6(CN)BN>&I=Mb@Mb@Mb@99 9)9I9y=l?v/Mb`===xi9 9)=@I=@i999HUHUS<5eZZ= eN=Ym-;Q m>i٣i uGqut }>y]49}F m?a4Y}H i} B;=mC<n{?q3@}3D}:};} 4 @*mBm2mrmr\;=z\;=\8@\n{?iɛIR>ޔJI<))쏺i_3L<ID?D?D%1D!D!E%  E!EI=ZA M%,>GGG&IGiBGGGGw<GAFH HHH"H*Hǹ4FQax,E <]Ar,BrB&IIt)tH~H~Z55< 5N=Y5Q 5>9٣9 =G9E E>I]M49M m?aU4YM iMBQQqU3@M3DMT:M;M4a e@a*mBm2mrmr\z\\\iɛI>In<))i K<I:JMMBJM-9JJIRJM% ZJMlmLBC8+  D1DDE  EE =ZAM>:ax,xU]A2?y2}D?92Y2q=2H@ֿ@I??ֿm?w?-? ?2?ɨ2(; 2&C>@B>[&IHHHHb= fQ=Yf9d٣h jGhj j>l]r49nm?ar4Yn! inBtvYp?qv3@n3Dn\:n%:n4x zw@|*mBm2m!rm!r\9z\9\9\='Yp?iIɛIIM>MIU@<)Q)QQU$iBK<ID1DDE  EBE=:E=E=ZAM8>ZI=bI=jI=2rI9zI=:I= :I=c3I9qE@iE@uE@mE@M BDAT read: Rx Time:19:33:48.9030 M TRx dataTimestamp_ set to:1736537629.679265cax, o]A:?y:#?9:?(Y:i=:Hտ %Q?? Dտ:?`e?٣ Gt >]49m?a4Y iBQ=m;̈?q3@!3Dn:w:3#4B '@EGGG&IGBGGGGf<G4F*mBm2mrmr\Q=z\Q=\@\̈?iɛI_>?(II(<))  :J MBJ u9JJ RJ & ZJ Kax,]AF?yFM3?9F:YFȶd=FH@ѰԿ:<Zɪ?H?=Կ?`{Y@ ?9?F?ɨFᇊ; DnFBrc&I5DAT read: 19:33:48.9030 LVL= 20928, 25873, 19298, 27683, AGC= 31, IDX= 443, 0.06, 0.504, 0.784, 0.417,-0.672, PHS= 1.264, 1.503, 1.086, RAW= 355.1, -75.1, CAL= 358.6, -79.8, ROT= 151.4, 79.8 =Ygot valid direction response: 19:33:48.9030 LVL= 20928, 25873, 19298, 27683, AGC= 31, IDX= 443, 0.06, 0.504, 0.784, 0.417,-0.672, PHS= 1.264, 1.503, 1.086, RAW= 355.1, -75.1, CAL= 358.6, -79.8, ROT= 151.4, 79.8 EDAT read: OK E:unknown deviceResponse_: OK E,DAT read: user:1224> MBDAT read: Tx time:19:33:50.0010 M$Ping request sent.Miz=) =HXHn5; F=Y"٣ GI >]49rm?a4Y i؆?q3@$3D:S:o*4 @E*mBm2mrmr\1z\1\1\5؆?iYɛYIe>e:IeE5<)q)yy}/i}~0K<IDm1DiDiEm  EiE =ZA M >xax,]ANW?yN?9N;YNb=NH3 Կ@(Yz?`d?ӿ?7?GUw`8>?d?NW?ɨN+e; LZVBZv&IZI~bI~jI~1rI|zI~:I~&:I~3I|Mb@Mb@Mb@ )Iy㥛 ?#~jMb`?=㥽 @)׫@IG@i1@@HH<55= I=Y4(٣ Gټ >]49Jm?a4Y iBZ=m;?q3@'3D_;;14 '@*mBm2mrm!r\EZ=z\EZ=\ED@\Em?iaɛaIeݾ>m;Im`<)i)iiuiuwKžax,DR]A:j?y:?9:w*\٣\ bG`bʼ b>d]j49fm?aj4Yf2 ifBhnz?qn3@f*3Df:f;f74p r@p*m Bm 2m rm r\)z\)\)\-%z?i9ɛ9IE0>Ew*ʆax,.ׇ]A2?y2[?92m}]B>&II\)\`bAHjHj65~< ~F=Yv ٣ G 5 >)]549-m?a=4Y-* i-B9E݄?qE3@-,3D-`J;-K;-4?4Q U@Q*mBm2mrmr\z\\\݄?iɛI>m}ax,c]A6?y6f?96˻٣ G= >]49dm?a4YT i=m<G?q3@/3D;;F4 @*mBm2mrmr\=z\=\g@\G?iɛI'>˻E=ZA!M]>:J k3IBJ JJ RJ ( ZJ H! H! bx,N ]AFN ?yFF?9Fd٣h jGhn; n>p]v49rm?av4Yr irBxz?qz3@r13Dr;r;r.M4| Q@*m!Bm!2m!rm!r\z\\\?iɛI_>bx,%]AZIbbIbjIb2rI`zIbܫ:Ib :Ibc3I`j?yj+?9j{=YjTw=jH`ӿ@i@V? o?5ӿi*?`4~??j?ɨjĉ; j%CvPBvo&I~x>i~=Mb@Mb@Mb@ )Iy~jt?:v<Լ @)I@iHHP5pd  6=Y 5٣ Ga< >!]%49%\m?a-4Y%5 i%B-=m-<-^?q-3@%23D%:%!;%U4I M@I*miBmi2mqrmqr\=z\=\^@\^?iɛI>{=))隩iPQ<I"Stop ":Uninitialize Docking Stepper."Powering downDzDDDE=ZAM>G9G9G9G9G9G9G9G=#<G=F"bx,ū>]A5HB5e&IHEHES5U$ ]X=Y]Q ]>Y٣a eGae e>q]}49um?a}4Yu iqyq3@u33Du:u:u[4 @*mBm2mrmr\z\\\iɛI>))iR<I"StoppingE =ZAM5=HR=H=:J=BJ=9JJ9RJ=) ZJ=#-,'! JMfAIMhA  ;mA %A)eWye;mAmGBDAT read: 19:33:51.9032 LVL= 22848, 26097, 19282, 28883, AGC= 31, IDX= 444,-0.24,-1.186,-0.953,-1.258,-2.283, PHS= 1.186, 1.377, 1.022, RAW= 357.4, -76.4, CAL= 0.9, -80.6, ROT= 149.1, 80.6 Ygot valid direction response: 19:33:51.9032 LVL= 22848, 26097, 19282, 28883, AGC= 31, IDX= 444,-0.24,-1.186,-0.953,-1.258,-2.283, PHS= 1.186, 1.377, 1.022, RAW= 357.4, -76.4, CAL= 0.9, -80.6, ROT= 149.1, 80.6 %DAT read: OK %:unknown deviceResponse_: OK %X#Rx 4: Read direction message, but no range.-`direction in FSK: [-0.140144,0.083875,-0.986572]YNЮ@x?{9@Y e)RKIpiΗ?A?Ђ?@ 㭪)٣ G%_d= %>)]-49-wm?a54Y- i-B15?q53@-43D)-:-~b4A E$@A*maBmi2mirmir\z\\\?iɛI>(&=)<)隙iFU<I"StoppingE(=ZAM=bx,aPr]A6&H?y6?967=Y6%1n=6H տ`j4??෗տb?\ᦿ٣ G< >] 49Cm?a4Y iB;m> ;@q3@;B; j4! %Ѽ@!*mIBmI2mIrmIr\};z\};\}c?\}A ;@iɛI >7=))隑iW<I"StoppingE=ZAM>Ik3Ik 3Ikg.IcIcIcZI bI jI 1rI zI :I :I 3I I ;q I ;i% I L;u- I L;m- :J LBJ -9JJ RJ * ZJ +@jV;&"bx,4]ARK ?yRG?9RD=YRr=RHֿ?? fֿ6Ұ?`,`E?9?RK ?ɨR֊; R&Cj2BjJ&IHvHvo5~I ~[=Y~٣ G =  > ]49 m?a4Y  i ;@q4@  o; ; p4) -h@)*mIBmI2mIrmIr\az\a\a\e ;@iqɛyI}ټ>}D=)y)yyyiY<I"StoppingE-=ZA9MU=)bx,#]A%?y% ?9%O=Y%uy=%He׿?`?=3׿?奔? P?%?ɨ%m; !=1B=I&IMb@Mb@Mb@ )Iy+Mb?~jth?=D; Ʒ@)@IƷ@i@@ HHhj5# ;=Y;Q >٣ G< >]49~m?a4Y iBO=m< q4@53D:_:x4 x@*mBm2mrmr\-O=z\-O=\-@\-ǒ@i9ɛ9I]L>eO=)a)aaaie\;/bx,Ὲ]A6?y6g?96~T=Y6=6HBؿ?`? ؿk?`_W*??6?ɨ6sc; 6(CR%BR:&IV=iV4<)V= V=HZHZn5b fa=Yff;Q f>h٣h jGhj_,= n?I]U49M m?aU4YM iMBQU.qU4@M73DM;M;M~4i m4@i*mBm2mrmr\z\\\1D@iɛIŴ>~T=))iQ[_<I^DR5<"StoppingEuq=ZAM=ZIbIjIrIzI̶:I:III;I;IZ;IZ;:J%NBJ`9JJRJ+ ZJb JtP"6bx,و]A6d?y6(?96iV=Y6:.=6H .ٿj?e?@ؿ*?@(Ҫܰ? ?6d?ɨ6ԉ; 6%CN BR4&IHZ"HZq5f鵼 fJ=Yjo:Q j>h٣h nGln= n>p]v49rm?av4Yr irBxzoqz4@r83DrP:r:r4| ~~@*mBm2m!rm!r\z\\\@iɛI>iV=))i%b<I^DEm<"UStoppingE5# =ZAIMmx>N٣ %G!- ->1]=495m?a=4Y5 i5BEۖ=mE4))i "e<IC C C C "StoppingZI bI jI rI zI |:I :I I I <I <I dW;I eW;E s =ZA :J WOBJ JJ RJ , ZJ .~gN6  ~}zunkh_ZSMHC?;7624BKKD=<9190}Mm >4Cbx,r ]A6w?y6?96^J=Y69=6HqڿoO,? ?dCڿA? fS`$?@?6w?ɨ6e; 6)CPP^B\Ih)hlnAHrHrm5zWP z_=Y~Q ~>|٣ G =  >!]-49%m?a54Y% i%!B15gq54@%<3D% /;%;%4A E$@A*maBma2marmar\yz\y\y\}@iɛI>^J=))隑iyg<I"StoppingE9ZAIMeV>JdIbx,Rd']AU?yU@9U1>=YUfǒ=UH@ۿ%%?a?ڿu?ħO?)?U?ɨUGH; QeBm&IMb@Mb@Mb@ )Iy~jtMb?~jtx?D=; ݸ@)׫@IƷ@iH+Hu5%G %8=Y-Q ->1٣1 5G1=< =>9]E49=Hm?a4Y=U i=$BL=m%<q4@=>3D=C<=9<=4  @*m1Bm12m1rm1r\ML=z\ML=\M @\MQ@iaɛiIm>m1>=)i)iiiiuzTjFPbx,)A]AN?yN%@9N-=YN==NHۿ! ?_? ]ۿܱ?@K??N?ɨNt_; L^ B^&IHr&Hrs5~; `=Y4Q  >٣ Gδ< >1]495%m?a4Y5 i5&BXq4@5@3D5O<5J<5 4 @*mBm2mrmr\z\\\c@iɛI\>-=))iYOl<I"StoppingZIbIjIrIzI:I :III;I;IU;IU;:J6OBJ9JJRJ- ZJ],q_M@3+%! EyZAM^>yrVbx, []A6?y6w@96.=Y6K=6Hۿ@!? ?_ۿ?@xV??6?ɨ6; 4^B^&Ib=ib=)f= fa=HjHjp5r rL=Yr=Q r>t٣t vGtzt< z>|]49~m?a4Y~ i~)Bq4@~B3D~:~:~4   @*m9Bm92m9rm9r\Qz\Q\Q\Ui@iaɛaIe>m.=)i)iiiim8ns\bx,t]AG G G"n&IG"PBG G G G"K<G"!FVW?yVm@9VZe=YV=VH`\"ܿ``??`#ۿ/د?ˠ??VW?ɨV#; V'CbBb&IUMb@Mb@Mb@QQ Q)QIQyUQ롿Q?Mbp?U\Uu=U; UƷ@)QIU@iU@QQHm,Hm_v5} }A=Y?Q >٣ G; >]49m?a4Yd i+B~=m><# q4@D3DZ::h4 D@*mBm2mrmr\~=z\~=\S@\@iɛI>Ze=))隩i="p<I"StoppingEZA M-o>H H ?AIQ )Q ؀G  )- y1 5 A:J= kNBJ= ۵9JJ9 RJ= . ZJ= JE ? 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"e8Initializing DockingStepper.EZAMh>G G G /&IG BG G G G 0<G FHq HqHqHq"Hq*Huw94< _cx,q]A6^?y64?96 ;Y6Ғ=6Hտ~ ??տg ?4aaGV?`?6^?ɨ6ۈ; 6&CBBB&IMMb@Mb@Mb@II I)IIIyMMb rhMbpMMC I M@)M@IMV@iIIM@HeHehj5u= u@=Y}T>:Q }>٣ Gqn >]49 m?a4Y i5B=m<tŽq5@3D0;>/;4 @*mBm2mrmr\=z\=\@\@i ɛ I s>  ;) )iSi<I"%StartingEYZAiMZ>ZIbIjIrIzI,:I"I:III<I<I;I;Y Y ecx,k]A6@?y6Y~?96Ȝ8;Y6:=6H[ԿD~?V?KԿ +?g`? ?6@?ɨ6uF; 6%CB BB&IJ\٣\ ^G\b= b>d]j49fm?aj4Yf if4Bhnqn5@f3Df;f&;fd4p r@p*mBm2mrmr\z\\\b3@iɛI>Ȝ8;))iN|<I" Starting:Je7PBJe9JJaRJe> ZJed=zvrlgc`\YXUSMHIHDB>?>9:8EZAMb>Xlcx,,Բ]A21+?y2h?928;Y2=2HGҿ? ?@ҿ Tm?r??21+?ɨ2|; 2(CBBB)&IHJHJB-5R= VL=YVg;Q V>X٣X ZGXZv Z>\]b49^?m?af4Y^ i^2BdfJqf5@^3D^:^h:^h4h j&@nE*m|Bm|2m|rmr\z\\\m@i)ɛ)I-p>-8;)1)111i5<9I9"MStartingGqGqGuU&IGu;BGu =GqGqGus<Gu=F"BInit string: /1z12720aE13561N3m50E ZA M >scx,̍]A>e?y>K?9>S4;Y>g6=>H<ѿ@5n?y? &ѿOӗ?`xC?L?>e?ɨ>; &I%Mb@Mb@Mb@!! !)!I!y%:v?+~jth%T<%%D !)%׫@I%(@i%@!%Q@H=yH='5M= M@=YUo;Q U>Q٣Q UGYeO e>i]u49mm?au4Ym= im1B}=m}'<}>q}5@m3Dm ;m ;m4 @*mBm2mrmr\m=z\m=\m@\m>iyɛyI}>}S4;))隁iƉ<I"StartingZIbIjI0rIzI:I:Iـ3II <I <It;It;EZAMf>:J OBJ9JJRJ? ZJ6566655544432301-++-()&" ! $  L0ycx,@]A22?y2?92M B:Y&IId)dhhHnHn)5v= vQ=Yv3;Q v>x٣x zGx~Y ~>] 49*m?a 4Y i/B  +>q 5@3D:~:4 @!*m9BmA2mArmAr\Yz\Y\Y\]u+>iiɛiIm>mM <)q)qqqiu<I"StartingEZAM J>Gi Gi Gm &IGm dBGm  =Gi Gm ?DGm <Gm OFcx,d]A6?y6?96-QB>p&IEMb@Mb@Mb@AA A)AIAyE~jt?MbE=EE A)AIE?@iAAE@H]_H]5m= mB=Ym;Q m>q٣q uGq}% }>]49m?a4Y i.B=m;k?q5@3Db::4 @*mBm2mrmr\=z\=\@\gk?iɛI>-<))iE<I"StartingEAZAaMZ>HH@AI3I3I/.IIIZIbIjI1rIzI:II3II(<I(<IISDcx,I]A2h?y2?92\ TnBB&I DFAAHHHHR> RX=YR;Q V>T٣T VGTZ Z>\]b49^"m?ab4Y^ i^,B`fg?qf5@^3D^:^2:^4h j@h*mxBmx2m|rm|r\z\\\g?i)ɛ)I->-\ T<))))11i5ޗ<I"Starting:JMBJu9JJRJ@ ZJ 0Yt PG |K. "LSent speed cmd:/1V10000 Response:/0@ E1ZAAM]v>=lcx,4]A:f?y:?9:M{X٣X ZGXZTԼ ^>`]f49bm?af4Yb ib+Bdf@e?qf5@b3Dbu:b:b4h n@l*m|Bm2mrmr\z\\\_@e?i)ɛ)I->-M{<)1)111i5<9I9"MStartingG G G &IG BG G G G ^<G -FE!ZA1MM1>Tcx,M]A~B~&IMb@Mb@Mb@ )Iy)\(?Zd;OG=j Ʒ@)@Il@i@@HeH151= 9=YQ >٣ G >]49+m?a4Yi i*B>m;?q5@3D ;;l4B _@E*m!Bm!2m!rm!r\=>z\=>\=Ų@\=?iQɛYI]N>Y)Y)YYYieq?~cx,1g]A=B=&IHMLHM5]= ]R=YaQ e>a٣a eGii m>q]}49uW!m?a}4Yu iu(Byq5@u3Du0;u;u9 4 L@*mBm2mrmr\yz\y\y\yiɛI>))隡i9܋<IDm1DiDiEm  EiEG G G &IG ćBG G G G <G MFZAM5 >Xjcx, ]A6?y68?96g٣ G >]49#m?a4Y i&B>m;h?q5@3Dv;j;f4 ¶@*mBm2mrmr\>z\>\/@\Ah?iɛI<>g<))iecx,Q]A:T?y:U?9:4\٣\ bG`bI< f>l]z49n$m?az4YnZ in$B?q5@n3Dn@;nr;n4 @*mBm2mrmr\ z\ \ \ g?iɛI%(>%4<)!)!!!i%<)I):J5 LBJ59JJ1RJ5B ZJ5   EkiI'=FD>8%m:c-uCJM? JM?D1DDE  EE1ZAAMu>fcx,k]AZI&bI$jI$rI$zI&\:I$I$I$q*@i*@u*@m.@Bq?yB?9B- rG=YvX;Q v>t٣x zGxz< ~>] 49 &m?a 4Y i!B  M?q5@3D::(4 @*m9Bm92m9rm9r\az\a\a\eM?iqɛqI} >}-<)y)yyyi}<ID%1D1D1E=  E9GGG)'IGBGGGGL<GFHi HiHiHi"Hi*Hm%4E! ZA1 MU >ᢳcx,d@ώ]A:}?y:?9:=٣ G= >]495&m?a4Y} iB>m;?q5@3Dv=;H<;&4 b@*mBm2mrmr\>z\>\@\?iɛI>=<) )   i5P~<9I9DEiAzDEhAD1DDE  EE ZA M5 >:J DOBJ -9JJ RJ C ZJ |cJ$~xtpljf`\XSQNIEB<<:7432/-*)(%"#"!J gAI fAS̹cx,]A2?y2Q*?92)٣ GH= >!]%49%5&m?a-4Y%. i%B)-?q-5@%3D%:%2:%U-41 =ն@9*miBmi2mirmir\z\\\?iɛIv>)<))i8<I"2Commanding positive:22768D1DDEh  EZIebIejIarIazIe|:Ie/:IaIaG{>GGH'IGBGGGGc<G0FE1 ZAa M >~cx, ]A6U?y6Z?96#=Y6G=6H@ѿ`B@6?@?ѿg+?㠿 ??6U?ɨ64; 6&CNBR&I5Mb@Mb@Mb@11 1)1I1y51Zd?٣ Gn= >]49$m?a4Y  iB=m;E?q5@3Da;`;44 @*m)Bm)2m)rm)r\E=z\E=\Et۫=\EnE?iYɛYI]>]#=)Y)aaaie!cx,]A >?y>J#?9>=Y>I=>H@'ӿlS?@l?%ӿ'?! =?@?>?ɨ>0V; >%CJBJ&IIL)LHRHRK5Z Z^=Y^;Q ^>`٣` bG`f= f>h]n49j#m?ar4Yj ijBpr?qr5@j3Dj;jw;jJ;4x ~ @*m1Bm12m9rm9r\Yz\Y\Y\]?iiɛiImn>m=)i)qqqiucx,6]AZIbIjIrIzI:I:II>?y>8?9>G=Y>Q=>H`ݓտ@@? ?%rտ)?ݣc0?`?>?ɨ>`@; >'CJBJ&IHRHRH57 %D=Y%)٣) 5G15= 5>9]E49=!m?aE4Y= i=BIM@qM5@=3D=:=:=B4Q U@Q*mqBmq2myrmyr\z\\\Y@iɛI>G=))隩i <IGGGGGGGGT<G%FDu1DyDyE}  EyEZAM>cx,͏P]AErBE&IMb@Mb@Mb@ )IyZd;O?:v?~jth?j<=T=D; @)@I@i@G@ HHT5  ==YQ >٣ G  >]%49m?a%4Y iB%Q=m%><%y0@q%5@3D<::#J41 5@1*mQBmQ2mQrmYr\uQ=z\uQ=\uCX?\uy0@iɛI>))隉i%<IDE1DADAEE  EAEiZAyM>:J &MBJ 9JJ RJ E ZJ  . cx,dxj]AF9?yF^e@9FL=YFk=FH ۿ R??pۿ E?@w@U?`L?F9?ɨF ; DRiBR&IV=iV;HZHZY5bp< b`=Yfid٣d jGhj> n>l]r49nm?ar4Yn iltv@7@qv5@n3Dn:n:nP4| @*m1Bm92m9rm9r\Qz\Q\Q\U5@7@iaɛaIe>mL=)i)iiiimZG9G9G=0'IG=BG9G9G9G= <G= Fcx,<]A:lC?y:w@9:X=Y:ɦ=:Hݿ@C`?`S:?`ݿi?@?@?:lC?ɨ:; 8bOBbn&I]Mb@Mb@Mb@YY Y)YIYy]MbRQ?Mb?]]=]< ]ݸ@)]׫@IYiYY]@HmHmxV5 @=Y/;Q >٣ G԰= >]49m?a4Y/ iB=m <q5@3D::W4 @*mBm2mrmr\u=z\u=\u]k?\ur@iɛI$>X=))i<I"%2Commanding positive:22669D1DDE[  EHI HM @AEA ZAY Mu >,cx,]A6"?y600@96Z=Y6q5=6H@g @z(?@?߿Hx?[=? ?6"?ɨ6FG; 4B6BBO&IHJHJ~N5R RY=YV:Q V>X٣X ZG\= > ]49 im?a4Y  i  B*q%5@ 3D D; dE; ^4) -<@1*mQBmQ2mQrmQr\qz\q\q\ult@iɛIܽ>Z=))隉i5-<IDM1DIDQEU  EQ:JqLBJJJRJF ZJ" E1ZAAMew>#Vcx,﷏]A6,c?y6WP@96J]=Y6D֔=6HM`?v???楫 ?t?6,c?ɨ6+; 6&CB!BB5&IHNHNZ5Vս VJ=YVp:Q V>X٣X ZGX^= ^>`]f49bm?af4Ybs ib$Bdf qf5@b3Db2:b:be4h n@l*m|Bm|2m|rm|r\z\\\w@iɛIu>J]=))隱i<GGG&IGBGGGG\<G,FID1DDE  EEQZAaM> G ! )U *yQ U MB>cx,[я]A~B~&IMb@Mb@Mb@ )IyMbX9p= ף?t< @)Iη@i׫@=@HH\51 9=YQ >٣ G >]49m?a4Y i+B>m;q5@3D%;%;Om4 /@*m!Bm!2m!rm!r\E>z\E>\Ez@\Eɇ@iQɛQIU>Y)Y)YYYi]!:J% }LBJ% -9JJ! RJ% G ZJ% jcx,h]AJX?yJm @9JNH=YJ=JHp s?p?@I?U@HS??JX?ɨJ; HVBV%IH^H^^5fl1 f\=Yj6[Q j>h٣h jGln> n>p]v49rm?av4YrY ir1Btzqz5@r3Dr:r:rs4| ~?@|*mBm2mrm!r\9z\9\9\=@iIɛIIMҽ>MNH=)I)QQQiUR~?粶??JT< @)I@iHHT_5琽 ;=Y>Q >٣ G2= >]49m?a4Y i8BVL>m; q5@3D?;K;n{4  4@ E*mBm2mrmr\%VL>z\%VL>\%"@\%)@iQɛQIU>]V/4=)Y)YYYi]k~dx,io]A6Ql?y6 @96Y=Y6ч=6H;J??@?? 'c?` ?6Ql?ɨ6x3; 4NBN%IHVHV_5^ ^]=YbKQ b>`٣` bGdf~< f>h]n49jKm?an4Yjf ij>Blrlqr5@j3Dj:j2:j4t v@t*miBmi2mirmir\z\\\@iɛI>Y=))i<I"2Commanding positive:22577:JUBJU9JJQRJUH ZJUD1DDE`  EEA ZAQ Mu >< dx,~79]A6?y6 @96T٣X ZGXZ < Z>\]b49^ m?ab4Y^j i^EBdfqf5@^3D^:^:^4h j@l*m|Bm|2m|rmr\z\\\ @i)ɛ)I->-<)1)111i5>D<9I9GGG[&IG@BG =GGG\<G-FDDDE  EEZAMk>dx, S]A:8?y: @9:9l5#< 5 @)5@I5@i5@11HM HM1h5eͺ e?=Ye&Q m>i٣i mGiumR u>y]49} m?a4Y} i}KBW>m{;q5@}3D}:}:}^4B "@E*mBm2mrmr\W>z\W>\@\@iɛIj>9l<))iٞ<IDH1H5a=ZIEbIEjIE1rIAzIE:IE:IE3IAIE;IE;IEyp;IEyp;D)D)D)E-W  E)EQZAaM>:J >`JBJ -9JJ RJ I ZJ J I gAdx,l]AJH?yJf @9JC٣ G% %>)]549- m?a54Y- i-QB15q55@-3D-~:- ;-?4A EY@A*maBma2marmar\z\\\㊏@iɛI~>C<))隡i(<ID51D1D1E5  E1Gz>GG&IGBG =GG>DG<G FEZAM>!dx,ʆ]A6 ?y6R~ @96.;Y6%=6HLh`]? 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ZN=YZQ Z>\٣\ ^G\b< b>d]j49f"m?aj4Yf if(Bhj(?qj7@df:f:f+4p r!@p*mBm2mrmr\!z\!\!\%o(?i1ɛ1I5O>=cu =)9)999iE^)fx,>]A66?y6ut?96y٣y }GU< >]49#"m?a4Y i'B\;m=q7@;,;4 Z@*mBm2mrmr\ \;z\ \;\ m<@\ ݘ@i!ɛ!I%>%<)!)!!)i-ʅ<)I9"EStoppingBEE=:EE=GMX>GIGM&IGMnBGIGIGM:DGM<GM.FH ġC H ġCH ēCH & ="H & =*H c 6EZA1MUS>HA HA ZIU bIU jIU 1rIQ zIU t;IU Oj:IU 3IQ IU #n<IU #n<IU i;IU j;:J BJ u9JJ RJ t ZJ fx,GuX]A6SV?y6֓?96t٣t vGtvֺ< z>x]49z&"m?a4Yz iz&Bq7@xz;z;zc4 7@*m1Bm12m1rm1r\z\\\"@iɛI]><))i:<Ifx,br]A6?y6?96m#B>8&I=Mb@Mb@Mb@99 9)9I9y=Mb`?I +?Mb`=;=94<= 9)=@I=@i=׫@9=@HUHU^5e eB=YmQ m>i٣q uGq}< }>]49!m?a4Y i:<m= >q 7@4D<<ƙ4 G@*mYBmY2mYrmYr\:<z\:<\j ?\-S@iɛI[>m<))i<I"StoppingEIZAYMuz>GE f>GE CGA GA GE & =GE GDGE ;DGE x<GE *Ffx,+]A$B9&IHH.l5M@; MM=YMQ M>Q٣Q UGQU ]>a]m49e`!m?am4Ye iaiiqm7@ae :e:e4y }4@y*mBm2mrmr\z\\\iɛI">))i/<I"StoppingHR=H:JVBJBJ9JJRJu ZJEYZAiM[>fx,d]Ar!Br6&IHz Hzh5- p -L=Y)Q ->1٣1 5G11 =>A]E49E!m?aM4YE iAIIqM7@AE:Eg:E4Q ]d@Y*mBm2mrmr\z\\\iɛI>))i&<I"StoppingZI-bI- jI)rI)zI-;I-un:I)I)q5@i=@u=@m=@EyZAM^>;fx,俛]A-B-1&IMb@Mb@Mb@ )Iy{Gz?~jt?#<<  @)׫@Ii@@HHe5} ?=YQ >٣ G >] 49 m?a 4Y i <m < D@q 7@4D:=::4 @*mABmA2mArmAr\e<z\e<\eV?\eD@iyɛyI}O>y)y)隁i^<I"StoppingGj>GCGGG =GG:J BJ k9JJ RJ v ZJ !9GKFA=3/-'"X%fx,ٛ]A>3N?y>?9>eqPoP=>H׿ɲ?ഺ?@׿? ?@\?>3N?ɨ>; >%CJ#BJ7&IIL)LHVHVi5Z)< ^`=Y^Q ^>`٣` bG`b= f>d]j49fDm?an4Yf idlnG@qn8@f4Dfb;f;f4p vM@t= hDone checking for power/comms, continuing with slide= DSlide state transition from 1 to 2*m Bm Jm Rm 2m r\)z\)\)\-gG@AEeqP=XRequesting device enable clr for address 50.ZI= bI= jI9 rI9 zI= ;I= ]:I9 I9 KMfx,]A2g?y2?9262=Y܌Q >٣ G'< >]49m?a4Y i'B=m<.@q8@4D::4 @*mBmJmRm2mr\=z\=\{;D?\.@  62 ]BDAT read: Tx time:19:35:11.7520 e$Ping request sent.eG m>G CG &IG sBG  =G G =DG C<G F= XRequesting device enable clr for address 50.5gx,v ]A2?y2?92X&IHVHV_5^KF= bW=YbQ b>d٣d fGdf&< j>h]-49jm?a54Yjv ij(B15.@q58@hjLD` gx,rS']ARk?yRB?9R7;YR=RHٿ]p٣t vGtv< v>x]~49zm?a4YzN ix1/@q8@z4Dz& ;z ;z4  W@*m)Bm)Jm1Rm12m1r\z\\\r1/@)-7;)) -/i))-9 19i99IAIk3Ikw3IkS}.IcIcIcZI bI jI rI zI I Fi:I I ^DE="MStoppingEP =ZA!M=s>qHgx,/A]A6RH?y6Յ?96;Y6a=6HnٿE?bY?fٿa?^z@hG? ?6RH?ɨ6; 4B*BB@&IMb@Mb@Mb@ )IyX9v?Q?Mb`?<\=; @)@Ii1@@H-H-J5=*= ED=YEZ+Q E>I٣I MGIMe< M>Y]e49]3m?ae4Y]% i])Be?=meH H @Apgx,W[]A:JqkKBJ-9JJRJx ZJ+.$-`K)J? J>Rv?yR?9R ;YR忣=RH ٿ`:7?}M?@ٿ8?WuxOr??Rv?ɨRԑ; R%Cr3BrK&IHzHzS5v9=  N=Y bQ  >٣ GE< >]%49m?a-4Y i*B)-4@q-8@4D::41 5M@9*mQBmQJmYRmY2mYr\qz\q\q\uz4@雁 ;) i)S隉iI^D]9"mStoppingEZAMj>ZI% bI% jI% 0rI! zI% ;I% 3g:I% ـ3I! qgx,t]A:?y:].?9:;Y:\=:Hٿw/2?H? Gٿ&?Qv◵??:?ɨ:S; :&CJ4BJL&IeMb@Mb@Mb@aa a)aIayeˡE?L7A`?Mb`?e'=e+=a e @)aIel@ie@ae@H}H}kf5; B=YtQ >٣ Gi; >]49m?a4Y i+BW=m{<,*@q8@4D"; ;r4 =@*mBmJmRm2mr\ W=z\ W=\ K~-?\ ,*@!%;)! %i))-))i)1I9CACACACA"StoppingG g>G CG &IG BG  =G G  ? Ѓ#gx,]A20?y2,?92h;Y2Ǵ=2H`ٿ@(-p? H?``ٿ(? mu@K??20?ɨ2; 0N1BNI&IHTHT^`\ bY=Ybo6Q b>d٣d fGdfF j>h]r49jm?ar4Yj{ ij,Btv&*@qv8@j4DjA6;j6;j4x zg@x*mBmJmRm2mr\z\\\&*@h;) i)4iI"StoppingEZA)MMR>eBDAT read: Rx Time:19:35:13.6554 eTRx dataTimestamp_ set to:1736537714.439260:JLBJk9JJRJy ZJm)gx,]A2j?y24?92a8;Y2=2Hٿ*`ء?G?Zٿ`(ݤ? s??`?2j?ɨ2; 2'CN:BRT&IHV HVg5b2= bJ=YfIQ f>d٣d jGhj": j>l]r49nm?ar4Yn8 in-Btv(*@qv8@n4Dn|:nF:n4x z׼@x*mBmJmRm2mr\1z\1\1\5(*@M BMa8;)I M\iQ)UMQQiQYIY"mStoppingEZAMF> DAT read: 19:35:13.6554 LVL= 20752, 25233, 18610, 26531, AGC= 29, IDX= 458,-0.22,-1.322,-1.051,-1.352,-2.403, PHS= 1.169, 1.400, 1.048, RAW= 349.9, -76.4, CAL= 352.4, -80.7, ROT= 157.6, 80.7  Ygot valid direction response: 19:35:13.6554 LVL= 20752, 25233, 18610, 26531, AGC= 29, IDX= 458,-0.22,-1.322,-1.051,-1.352,-2.403, PHS= 1.169, 1.400, 1.048, RAW= 349.9, -76.4, CAL= 352.4, -80.7, ROT= 157.6, 80.7  DAT read: OK  :unknown deviceResponse_: OK  ,DAT read: user:1226> e BDAT read: Tx time:19:35:14.7520 m $Ping request sent.m BRX&IMb@Mb@Mb@ )Iy?~jt?~jth?L=<D; ݸ@)Ii@HHa5Mr< %6=Y%܂Q ->)٣) 5GY]: ]>a]m49eim?am4Ye ie.Bc=mn<[@q8@e4De;e;e 4 @E*mBmJmRm2mr\%c=z\%c=G=c>G9G=&IG=BG9G9G9G=<G=CF\%U!>\%[@ae`;)a eii)j隁iI"StoppingE1ZAAM]>ZIbIjI1rIzI;Iw:I3IIJ_<qIK_<iI;u I;m 6gx,DRܜ]A6=:?y6w?963 K;Y6=6H Lٿ~?3A?.ٿ`O?ai ?`?6=:?ɨ6?ċ; 6%CFd٣d fGdjP; j>l]r49n*m?ar4Yns in/Bprq@qr8@n4Dn:n:n74x z˼@x*mBmJmRm2mr\)z\)\)\-Qq@雙3 K;) i)j隡iI"StoppingEZAAMeU>>7?W&I%Mb@Mb@Mb@!! !)!I!y% rh?~jt?Mb`%C =%D<% %@)!I%V@i%@!%G@H=H=J5E6; MB=YMQ M>Q٣Q UGQ]ֺ ]>a]m49eHm?am4Ye) iau=mu\]#@雑;;)  i)K隱iI"StoppingEZA M%o>G5 a>G5 CG5 &IG5 BG5 ! =G1 G5 ;DG5 i<G5 F(Cgx,~]A6U?y6?96#;Y6=6Hٿ "-Sĵ?`M?ٿ}?@pd ??6U?ɨ6; 6#Cn4BnM&IHvHvL5? O=YxQ > ٣   G  >]%49um?a%4Y i!%@q-8@4D? ;K:y 41 57@5E*mYBmYJmYRmY2mYr\qz\q\q\u@雍 B#;)  i)U隑iI"StoppingHC=HZIbIjIrIzI ;Is:III~T<I~T<Iy;Iy;EZA)MMS>:J5FJBJ59JJ1RJ5{ ZJ5JAIEhAIgx,B)]AF#?yFA?9Fjd;YFsA=FH:aٿ@@ |?@@`? ?ٿ?Lq<߷?`;?F#?ɨFap; F&CV8BVR&IH^ H^g5f< fM=Yj];Q j>h٣ Gg >)]-49-m?a54Y- i-.B15@q=8@-4D-;-;-4A E@A*maBmaJmaRma2mar\yz\y\y\}ؑ@雑jd;) ,i)隡iI"StoppingEZA M%M>Pgx,|C]Au)?yu*g?9u;Yuu=uHؿ -W:?u?ؿAU?x|??u)?ɨuM; q,BB&IGc>GCGGG =GGG<G2FeMb@Mb@Mb@aa a)aIaye/$?~jtheQ٣Q UGQ]lI ]>a]m49e]m?am4YeP iamǭ<mu=uP?qu8@ae{:eV:e 4y }Ľ@y*mBmJmRm2mr\ ǭ<z\ ǭ<\ o@\ P?AE;)A EoiA)EIIiIIIQ"]Stopping2Ea*EegAZIbIjIrIzIe ;Iv:IIIU<IU<I);I);E ZA M >,Wgx,i]]A>[?y>g?9>f$;Y>V^=>H֝ؿ k@j? ?`xؿߛ?z~ ?@%?>[?ɨ>ޱ; ib=HfHfKk5nI n=Yrg;Q v+?t٣t vGtzļ z*?|]49~?m?a4Y~+ i| ?q 8@~4D~:~~:~4:JBJk9JJRJ| ZJ! %@!*mABmAJmARmA2mIr\iz\i\i\m?}B}f$;)y }i)w隁iI"StoppingEZAMH>Z7]gx,nw]A6#n?y6?96 B>4&IUMb@Mb@Mb@QQ Q)QIQyUy&1|?y&1U`;U`eQ U@)QIUl@iU@QU@HmHmc5}  }A=Yg;Q >٣ Gӌ >]49m?a4Y  i9<mS=+Z?q8@F;;&4 ~@*mBmJmRm2mr\9<z\9<\@\+Z?  <)  zi )EͼiI"StoppingUDAT read: 19:35:16.6556 LVL= 21088, 25073, 18546, 26611, AGC= 29, IDX= 442, 0.28, 0.686, 0.934, 0.647,-0.448, PHS= 1.222, 1.429, 1.093, RAW= 352.4, -77.5, CAL= 355.0, -81.5, ROT= 155.0, 81.5 eYgot valid direction response: 19:35:16.6556 LVL= 21088, 25073, 18546, 26611, AGC= 29, IDX= 442, 0.28, 0.686, 0.934, 0.647,-0.448, PHS= 1.222, 1.429, 1.093, RAW= 352.4, -77.5, CAL= 355.0, -81.5, ROT= 155.0, 81.5 mDAT read: OK :unknown deviceResponse_: OK ,DAT read: user:1227> BDAT read: Tx time:19:35:17.7521 $Ping request sent.G d>G CG &IG BG ! =G G G <G ;FI) )) ˀG )M ׿yI M 2A dgx,Q]A5B5&&IHEHEm?5Up` ]M=Y]Q ]>a٣a eGae m>i]u49mm?au4Ym iiyyq}8@m4Dm:m:m-4 1@*mBmJmRm2mr\z\\\) _i)=ڼiI"StoppingZIbIjI2rIzI;I^:Ic3IIJ_<IK_<I;I;EZAMb>:JBJ-9JJRJ} ZJdIjgx,>%]A:}?y:??9:;,p٣p rGpv$ v>x]z49zMm?a~4Yz iz-B|~:V?q~8@xzi:z;z44  ǿ@ *m)Bm1Jm1Rm12m1r\Iz\I\I\M:V?]Be;,<)a ehia)e.aaiiiIi"StoppingEZA1MUT>1qgx,ŝ]A:]?y:?9:n9I٣I MGIU۬ U>Y]e49]0m?ae4Y]! iYe =mmGCG&IGnBG =GG9 = A[wgx,ޝ]A6'?y67e?96DP|٣ G)ļ > ]49 m?a4Y q i Paq8@ 4D -; ; B4! -N@)*mIBmIJmIRmI2mIr\iz\i\i\m@:JyBJ}u9JJyRJ}~ ZJ}雕BDP<) i)隙iI"StoppingEZAMD>ZI bI jI 1rI zI 5;I b:I 3I q @i @u @m @}gx,=]A>s?y>}?9>xD=>H@dտ@ @4?'?`9տ@xȦ?`*?`p?>s?ɨ>; ٣ G >]49m?a4Y7 i=m$<q8@4Db:=:cJ4 @*mBmJmRm2mr\=z\=\V@\b@)-x<)) -yi1)5T99i9AIA"UStoppingEZA M%o>G u>G CG n&IG PBG  =G G >DG d<G .Fե ?ե C= BDAT read: Rx Time:19:35:19.6556  TRx dataTimestamp_ set to:1736537720.235462p٣p rGpr v>t]z49vm?az4Yv iv,B|~Gq~8@v4Dv ;v2 ;vP4  K@ *m1Bm1Jm1Rm12m1r\Iz\I\I\M@҅<) i)iI"StoppingEAZAiM[>:JBoHBJ-9JJRJ ZJ|G!Ir4 gx,m,]ADAT read: 19:35:19.6556 LVL= 23520, 25953, 19058, 26595, AGC= 31, IDX= 443,-0.05,-0.942,-0.676,-0.969,-2.033, PHS= 1.179, 1.404, 1.061, RAW= 349.8, -76.8, CAL= 352.3, -81.0, ROT= 157.7, 81.0 Ygot valid direction response: 19:35:19.6556 LVL= 23520, 25953, 19058, 26595, AGC= 31, IDX= 443,-0.05,-0.942,-0.676,-0.969,-2.033, PHS= 1.179, 1.404, 1.061, RAW= 349.8, -76.8, CAL= 352.3, -81.0, ROT= 157.7, 81.0 DAT read: OK :unknown deviceResponse_: OK X#Rx 7: Read direction message, but no range.`direction in FSK: [-0.144735,0.059360,-0.987688]YY]CXt¿_:Epd?%4|$9Y][ ]ae)]rJI]gi]]y?]F?]·?]|]@ ])]@I]i]'0@]?Y]+[U¿jbzLƿ:] (I]"ri]+?]'0@]?1?yvo?9:٣ G' >]49lm?a4Y iq8@4D6;;Y4 @E*myBmJmRm2mr\z\\\@雵B:<) i)hi I"=StoppingZIbIjIrIzI-;IY:IIE ZA M >`gx,GF]A~ԆB%IMb@Mb@Mb@ )Iy&1٣   G  >)]=49-m?a=4Y- i)E"=mEGCGO&IG6BG =GGG<G Fr\]"=z\]"=\]=T@\]am@雵B) i)0隹iI"StoppingEZA M%>gx,O#`]A~ˆB~%IHHk5% . %Y=Y!Q %>)٣) -G)) 5>9]E49=m?aE4Y= i=+BIIqM8@=4D=:=:=Tf4Q U@Q*mqBmJmRm2mr\z\\\:J:OBJu9JJRJ ZJ !))) -i))-<$)1i11I9"EStoppingEyZAM^>ZI bI jI rI zI ];I dP:I I ؝gx,+z]AZ&?yZtd?9Z ٣ G" >]49'm?a4Y i=m;3q8@5D7 ;i ;m4 @*mQBmYJmYRmY2mYr\=z\=\eR@\@B <) H i)P+iI "StoppingEiZAM>GGCG6&IG"BG =GGGI<GFûgx,ړ]A2s?y2U?92jl̆BB%IF=iF<HJ%HJEs5jJ< jV=YnwaQ n>p٣p rGpv v>t]z49vm?a4Yv iv*B㕿q8@v5Dv6;vM7;vFt4  @*m)Bm1Jm1Rm12m1r\Iz\I\I\M떣@aejl<)a eia)eU2iiiiiIq"StoppingHQHU<EZAM%M>:JmH LBJm9JJiRJm ZJm [aSF;/$ !'&&$  JyI}gAgx,]AB?yB?9BqaX`٣` bG`f f>h]j49jm?an4Yj ij)Blnqn8@j5Dj;jw;jC{4t v@t*mBmJmRm2mr\z\\\,@eBeqaX<)a e ii)m69iiiiqIq"StoppingZIbIjIrIzIK:I@:IIEZAMf>ͱgx,ޏǞ]A6٣ G ݼ >!]-49%m?a-4Y% i%&B-=m-;-ȋq-8@% 5D%b:%_:G5z>G5CG5/&IG5BG5 =G1G5?DG5<G5 F%4Y ]@Y*myBmyJmyRmy2myr\=z\=\'Y@\@雡r9C<) i)@隩iI"Stopped G-;mA EA)wӿy;mAAEZA  dClearing failed state for component DockingStepper1M%o>gx,Dl]AކB%%II)))H5H5+p5Eכ= EW=YMQ M>I٣Q UGQU U>Y]e49] m?ae4Y] i]#Biiqm8@] 5D]:]:]4q u@y*mBmJmRm2mr\z\\\B) i)eG:J5ñMBJ5#9JJ1RJ5 ZJ5   qiqyIy" Start "4Initializing EZServoServo. "8Initializing DockingStepper.EyZAMc>II 3IL.IIIZI bI jI 0rI zI :I >:I ـ3I !%gx,T]Az?yz9?9zW+?Go˿@!E? 1rg??z?ɨz$; z)C ۆB %IMb@Mb@Mb@ )IyA`"~jt{GztYļף ݸ@)׫@IV@i@@HHKk5)d B=Y`Q >٣ GC >]49!m?a4Y i"B/o=mc<oq8@ 5Dr;T;4 @*m!Bm!Jm!Rm!2m!r\/o=z\/o=\jFd@\@uB}W+<)y }giy)}jAOyyiI"StartingEZAM>G)G)G-B&IG-,BG)G)G)G-2<G-FHMȨC HMȧCHIHM ="HM =*HMȨ5 gx,"]A6?y65?96A&d٣d fGdj j>l]v49n"m?av4Yn in!Btz'qqz8@n5DnjW;nW;n4| ~@*mBmJmRm2mr\z\\\@A&<) 4i)\UiI"StartingEYZAiM[>:JD`LBJ 9JJRJ ZJoK/  4gx,v.]A2?y2uX?92 5d٣d fGdj` j>l]r49n$m?ar4Yn inBprrqv8@n5Dn;n2:n4x z'@x*m1Bm1Jm1Rm92m9r\Yz\Y\Y\]@mBm 5<)q u=iq)u[qiI"Starting"BInit string: /1z12848aE13561N3m50EI ZAa M >gx,sH]A%B%&IGy>GCGa&IGEBG =GG>DGe<G2FMb@Mb@Mb@ )IyMbP~jtMb` )@IiG@H]H] +5}= }1=YQ >٣ G >]49$m?a4Y i<m-=>q8@o::4 @*mBmJmRm2mr\<z\<\!@\>B) i ) c  i I"StartingE9ZAIMew>ZIebIajIe1rIazIe[:IaIe3IaIe,<quIe,<iuIe˕;uuIe˕;m} @Hgx,b]A~B~'&IH H B-5%[= %c=Y!Q %>)٣) -G)) 5>9]=49=]%m?aE4Y= i=BAAqE8@=5D=P:=:=4I U'@Q*mqBmqJmqRmq2mqr\z\\\雥B) li)oi隩iI"Starting:Je4nNBJaJJaRJe ZJezn3B$EZAMI>1sgx,|]A~?y~;?9~!٣! %G!-N ->1]=495L%m?a=4Y5 i5B=+a=mEqE =E <GWgx,f]A6,~?y6?96; T٣T VGXZL4< Z>\]b49^<%m?af4Y^Z i\df?qf8@^5D^F1;^$;^4l nZ@l*m|Bm|Jm|Rm|2mr\z\\\;?-B-; <)) -i))5$,v11i19I9"MStartingZI%bI%jI!rI!zI%{:I%;:I!I!I%.<I%.<I%;I%;"=LSent speed cmd:/1V10000 Response:/0@ EZAMc>:J |NBJ ۵9JJ RJ ZJ  gx,C]A6.T?y6?96Ϲ ٣   G < >]-49&%m?a54Y i BIM?qM8@5D;;4Y ]w@Y*mBmJmRm2mr\z\\\?BϹ<) i)|QQiQYIY"eStartingEYZAMd>Jmgx,-ʟ]AFt?yF?9FGqGu&IGuBGu =GqGqGu|<GuAFMb@Mb@Mb@ )IyMb?MbP?Mbp?=:; Ʒ@)Ii@HvH%5= ;=Y<;Q >٣ GT< > ]49 \$m?a4Y  i =m <?q8@ 5D f: : 4! %g@)*mIBmIJmIRm2mr\=z\=\J.<\?B<) i)%Kꁽ!!i!9IA"&Changing to mode: 4"Slide mode."2Commanding negative:13132Du!2DqDqEu  EqZI5bI5jI1rI1zI5:I5C:I1I1I5@%<I5A%<I5F;I5F;E ZA M >\gx,]A2[?y2?92gB>&IHPHPb= b`=Yf d٣h jGhjs< j>l]r49n#m?av4Yn in!Bxz?qz8@n5Dn ;nH!;n4| ~ @*mBmJmRm2mr\z\\\?B<) wi)iID0DDER  E:JLBJ`9JJRJ ZJJ? J"?EyZAM>egx,Y]AE""?yE_?9E =YE=EHzuп`N?? $@п 5?p6??E""?ɨEw; A]pB]&IMb@Mb@Mb@ )IyQ?I +?Mbp?=94< @)I@i@@H5H5 N5Eq"= E4=YE7PI٣Q UGQ]g= ]>Y]e49]"m?am4Y]x iYm=mm;u?q}8@]5D]R;]RQ;]4 z@*mBmJmRm2mr\=z\=\5=\˱?B =) gi)iID>D>D.DDEe  EGv>GG&IGBG =GGG<GPFIa)eC }GkAEZA  AM= >)M yM kAM Aíhx,]AB ?yBYK?9B=YBR=BHbѿ`%ò?T?`"ѿ ?`K¢y? ?B ?ɨBa; B'CVvBZ&IId)dHrHrDP5~a= ~a=Y;Q  >٣ G(= >)]=49- m?a=4Y-b i)AE?qE8@- 5D-\;-_m;-V4Q ]@Y*mBmJmRm2mr\z\\\t?=) i)нiIZI5bI5jI1rI1zI5:I5y6:I1I1I5&<I5&<I5;I5;D]+DYDYE]  EYqqEZAM>:J BJ 9JJ RJ ZJ    J I 3 hx,i1]A>?y>7F?9>=Y>=>HUҿ ??`ѿ ?V@?F?>?ɨ>; >&CJsBJ&IHRHRGL5Z&d ZP=YZ=;Q ^>|٣| G= > ]49 Gm?a4Y 5 i h?q8@ #5D ; 0; J41 5D@9*miBmiJmiRmi2mir\z\\\h?雕B=) i)隙iID *DDE}  EEqZAM>2hx,rpK]A:?y:T?9:=Y:gB >:H^Pӿ E@r?|?`sҿ졳?8w??:?ɨ:L; 8FBF&IGRq>GRCGR&IGRBGR =GPGPGR$<GR FHC HHH ="H =*HM5Mb@Mb@Mb@ )Iy!rh?Zd;O?{Gzt?l=j<ף; )@I@i׫@G@HHB5{a= :=YX Q >٣ GW= >]49Dm?a4Y i"Bd=m;@q8@&5D@:;U9;4 }@*m!Bm!Jm!Rm!2m!r\Ed=z\Ed=\EM>\Eŀ@U BU=)Q ]"iY)]&吽YYiYaIaDqDADADAEE  EIEZAM>hx,kHe]AE/?yEhm?9Ec=YE>EHfOԿ@#K?jR?ӿ`?`EK? ?E/?ɨEb; A}B&Ii=H}H}>5K- 8=YJ9Q >٣ Gd= >:J%9LBJ!JJ!RJ% ZJ%]49m?a4Y i#B@q8@*5D<<4 @E*mBmJmRm2mr\ z\ \ \ ȕ@%"B%c=)) -i))-))i)IIIDM *DI DI EU 1  EQ ZIe bIe jIa rIa zIe :Ie 8:Ia Ia qm @im @um @mm @E ZA M > hx,ׄ]A>1C?y>?9>W=Y>mB=>HlJտ @?@@'? Կ ?I 1C?ɨ>&; >%CJnBJ&I5Mb@Mb@Mb@11 1)1I1y5+η?Q?Mb`5v=5<5 5z@)5|@I5@i5@15@HMXHMn5]ۖ ]K=Y]bQ e>a٣a eGam/= m>q]}49u!m?a}4Yu  iu"B}+=m}<=@q8@u,5Dub:u:u4 @*mBmJmRm2mr\+=z\+=\ß>\=@雱W=) i)Kr隹iID} *DDEr  EG h>G CG G G  =G G &hx, R]A2k?y2]?92=Y2=2HMֿ ? &?տM?] ͻ??2k?ɨ2g; 2$CBkBF&IHJrHJ#5Vk VW=YV9Q V>X٣X ZGX^5= ^>`]f49b0m?af4YbF i`dfT@qf8@b/5Db:b:bF4Q Uι@Q*mqBmyJmyRmy2myr\z\\\uT@雭#B=) i)CB隹iIDhAzDhADiDiDiEmt  EiEZAM>:JBJ-9JJRJ ZJ   ս <ս =J,hx,/]A6Oh?y6ҥ?96  =Y6L=6H ;׿ j ?? ֿK?vq??6Oh?ɨ6+; 4BdBB&IID)DHJgHJ5R VJ=YZL;Q Z>\٣` bG`f9= j>l]r49nm?av4Ynv in!BtzS@qz9@n15Dn=7;n7;ne 4| ~D@|*mBmJmRm!2m!r\z\\\S@5$B=  =)9 =i9)=u99iAAIIZIbIjIrIzI{:I;:IID)D)D)E5x  E1EiZAyM>G c>G CG &IG BG  =G G G [<G F3hx,JDР]A6*I?y6?96'=Y6=6H ؿ: ? ?`׿?@k? 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T?`kWп'tv ? ?9?2m?ɨ2; 2&CRBR%IV=iV=mMb@Mb@Mb@ii i)iIiym rh?I +~jtxmC٣ G9> >]49m?a4Y i/BB=m<$?q9@S5D;>;4 g@*mBmJmRm2mr\B=z\B=\?@\s$?%?B-/)) - i))-][))i11I9D*DDE`  EEC=ZAM$>4hx,]A2?y2)A?9249Y2,I>2HͿ? ?^hοC[ ??h?2?ɨ2]; 0BBB%IHJNHJ5f< fX=Yj»Q j>h٣h jGlnK r>p]v49rm?av4Yr> ir-Bxz ?qz9@rT5Dr:rP:r4| ~.@*m!Bm!Jm!Rm!2m!r\Az\A\A\E+ ?U@B49) l i)'iIDDDEU  EE=:Jk3IBJJJRJ ZJ ZAM >J ? J>ZIU bIU jIQ rIQ zIU ];IU mQ:IQ IQ hx,]Au?yu?9u?Yu@>uH2˿`\@? 3?"Y̿/?n?֤?u?ɨu; qލBލ%IuMb@Mb@Mb@qq q)qIqyu rh?v/MbpuC =uxiu uz@)u9@Iu@iu@qu=@HcHN5 % 0=Y'gQ >٣ G >]49m?a4Y i*B,=mG<E?q9@V5D;::Ԭ4 7@*mBmJmRm2mB*** querying acoustic contact ***iiG5f>G5CG5&IG5iBG5 =G1G5  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.EFhx,"]A2?y2(?92BY2 >2HɿL?ON?Ekʿ @~P? ?*?2?ɨ2; 0>B>&IIH)HHf^Hf5n= nl=YrQ r?p٣p vGtv9 v?x]~49zm?a~4YzF iz(BA?q9@zX5Dz-;z.;z޲4 T@5JTimed out from 2025-01-10T19:27:40.4Z1U5qU==Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletionUMr\z\\\A?I }BDAT read: Tx time:19:35:40.5033 }$Ping request sent.}:J KBJ JJ RJ ZJ J I % JDAT read: TxSync time:19:35:40.5025 - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251650ohx,<]A2#?y2`?92ȠBY2c >2Hf$ȿ ?c?`ȿ1\ Q?`?@?2#?ɨ2B; 2'CbBb&IHjRHj5r< vJ=Yv3ǷQ z>9٣9 =GAE' E>I]U49Mm?aU4YM iM&BQUM>?q]9@MY5DM;Mf;M4a e@azmUUr\z\\\M>?i)iI" PauseDzDDDZI=bI=jI9rI9zI=;I=W:I9I9E]=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505417ZAMl>G5 g>G1 G5 &IG5 xBG5 " =G1 G1 G5 <G5 F`Xhx,akV]A6?y6?96;CY6t >6Hƿ% T_?r?ໄǿ@ra"e?`?2?6?ɨ6u?; 6%CB BB&IMb@Mb@Mb@ )Iy~jt?V-A٣I MGIMɼ U>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754623]49m?a4Y? i#B=m#<11?q9@[5D ::54 @maUe1Ve eAggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion:setRetryqVer\=z\=\@\C11?i)iI!2EUgA*EQE- =ZA9MU> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006773hx,VDp]A:A ?y:G?9:f?Y:@>:H6ƿ 8)Q?@|?`Ůƿ'ݗ?@?@p?:A ?ɨ: ; :$CRBR&&IVC=iVe>H^H^?5f)r= fR=Yfn;Q f>h٣h jGhn n>p]v49rm?av4Yr ir Btv3/?qv9@r]5Dr:r.:r4| ~1@|EFRetrying incomplete docking attemptqVEVEr\Yz\Y\Y\]3/?ii)qqqiqyIyE=ZAM=:JBJJJRJ ZJJ? J'?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261980ZI] bI] jIY rIY zI] :I] QN:IY IY mhx,/]ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.518152?yj(?9r+Y>H`iĿCgs??ſ Qz?X???ɨB; &CB)&IMb@Mb@Mb@ )IyZd;O?J +Mb`j<=H z@)Ii@Gr>GCG&IGBG =GG=DG<G FHH:5.<< ,=Y$٣ GԖ >!]-49%T!m?a-4Y% i%B-=m-E<-m?q59@%_5D%" ;% ;%]49 =@9m]@V]]zCompleted lineCaptureHoming:Lap:Docked:setCompletion:setRetry1V] ]Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion:setRetry]hCompleted lineCaptureHoming:Lap:Docked:setCompletionqU]eAggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletionVeerAggregate::initialize lineCaptureHoming:Lap:Docked:Detach1Wer\}=z\}=\}C@\}m?i)隑iIEk=ZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766759hx,]A B 1&IHHT_5-e = -m=Y5Q 5?1٣1 =G9= E?A]M49E|"m?aM4YE iEBQQqU9@Ea5DE\:Eh:EX4Y ]@a=DBreaking off. Range: 1.300000 m .1WqWInitialize.dInitializing internal variables to default values.r\z\\\i)隹iIBE=:E=}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019566E2 =ZAM >% s?% =- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271330:JY BJ] #9JJY RJ] ZJ] 5hx,,ֽ]A]B]-&IIq)qHHX[5d C=YQ >٣ G >]49#m?a4Y iBq9@c5D::4 Ծ@Initialize.dInitializing internal variables to default values.RDetaching from dock at depth 67.552521 m.:n"n*n9nr\z\\\i-9)))))1i11I9"E ResumeEu =ZIbIjIrIzI:I;:IIZAM >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525189Gv>GCG&IGBG =GG>DG<G F 5 ؀GI a ) 2ʿy _Ahx,ף]A>0?y>n?9>X@Y>Sv>>HBſ3 ?`Ɋ?@ſamp g?6|??>0?ɨ>N{; >%CZBZ2&IEMb@Mb@Mb@AA A)AIAyEX9v?X9vEq٣y }Gy}ͮ; }>]49$m?a4Y i3=m<u?q9@d5D;;4 @n:n"n*nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775454nr\3=z\3=\@\u?i))隙iI"=ResumingES =ZAMf> BDAT read: Rx Time:19:35:42.9093  TRx dataTimestamp_ set to:1736537743.683164 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027779chx,3]A6 ?y6F?96üY6G>6Hƿ *$??+Nƿ\?q?n?Q?6 ?ɨ6l; 6$CNBR*&IHZHZB-5bA bW=YbPd٣d fGdjB< j>l]r49n%m?ar4Yn> inBpr@w?qr9@ne5Dn;n:nH4x z@xn:n"n*nnr\z\\\o@w?i))iI" Start "4Initializing EZServoServo. "8Initializing DockingStepper.Ei =ZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278952:JEJBJEk9JJARJE ZJEix, ]ADAT read: 19:35:42.9093 LVL= 21456, 25137, 18962, 25267, AGC= 30, IDX= 462, 0.05,-1.240,-0.874,-1.126,-2.344, PHS= 1.192, 1.517, 1.214, RAW= 326.5, -77.2, CAL= 326.2, -81.3, ROT= 183.8, 81.3  Ygot valid direction response: 19:35:42.9093 LVL= 21456, 25137, 18962, 25267, AGC= 30, IDX= 462, 0.05,-1.240,-0.874,-1.126,-2.344, PHS= 1.192, 1.517, 1.214, RAW= 326.5, -77.2, CAL= 326.2, -81.3, ROT= 183.8, 81.3 PDAT read: Bearing 183.8, 81.3 (Local) ~Local bearing/azimuth received: Bearing 183.8, 81.3 (Local) DAT read: Range 10 to 50 : 1.3 m (Round-trip 1.8 ms) speed 0.0 m/s %R#Rx 1: Read range and direction messages.=bdirection in FSK: [-0.150928,-0.010025,-0.988494]=Fpublishing direction and range info Y";@Qÿ<χWE￙ 9 "S "1b)"JI"bi""u?"-?"Zd?"Z@ "iw)"8/@I">i"|NM@">? "MTɿxCJ` 5I" n+i"?"9D">? 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T?ɨ ]T; M!BU5&IHH?5< ;=Y@G5y>G5CG5&IG5xBG5 =G1G5?DG5 <G5 F٣ G= >]49$m?a4Y iB%@q9@h5D;;4 j@n :n "n *n n r\!z\!\!\%%@i9)9)999i9AIACMݏ8"MStartingE=b=ZAYM}7>HU 4=HU =III .IIIZIe bIe jIa rIa zIe :Ie *:Ia Ia Ie <Ie <Ie ;Ie ;B)ix,ئ]A#B8&I%٣ G >]49#m?a4Y iB$ =m<,1q9@::i4  G@ n:n"n*nnr\$ =z\$ =\s?\`@i)!)!!!i!)I1C%8" Starting"LSent speed cmd:/1V10000 Response:/0@ E=ZAME>:J QNBJ 9JJ RJ ZJ mL50y6iV@4,# n7T+J I jA'0ix,7]A2?y2?92Z =Y2">2H`2ҿ-Z d٣d fGdj= j>h]r49j"m?ar4Yj ij Bprl/qr9@ji5Dj;jw;j#4x z@xn:n"n*nnr\z\\\ b@i))1)IQQiQYIYC58"=StartingE]<ZAqM>Gz>GG&IGsBG =GGG <G FQ6ix,ڤ]A6?y62?96ٶ(=Y6&>6H[ ӿ52E??`kfҿK?`Th??6?ɨ6 ; 4R,BRC&I5Mb@Mb@Mb@11 1)1I1y5{Gz?I +?5#5L=594< 5@)1I5@i5@15@HIHI< A=YK٣ G1= >]49W!m?a4Y  i$BU=m~<v)q9@k5D ; ;}+4 @n!:n!"n!*n!n!r\EU=z\EU=\ET?\Eh@iY)Y)aaaiaiIiC"&Changing to mode: 3"Detach mode."2Commanding negative:20231ZIbIjIrIzI[:I$-:IIIg<Ih<I;I;D}"*DyDyE}y  E}EU<ZAaM{>|:H`ӿ D?a?ӿڸ?⨿@u3? ?:E?ɨ:b_; 8b0BbG&IId)dHjHjS<5r< vR=Yvx٣x zGxz= ~>|]49~ m?a 4Y~E i~(B  (q 9@~l5D~:~-:~ 24 }@n9:n9"n9*nAnAr\Yz\Y\Y\]Yi@ii)i)iiqiqqIyC=ݏ8Dm(DDE  EEw<ZAM!>:JOBJ`9JJRJ ZJgiD) J? 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F:J BHBJ u9JJ RJ  ZJ .px,{ܾ]A2"[@y2Ai@92reY2N>2H `1?`먿,޿J??s?@L?2"[@ɨ2#; 2$C^PBb3I      @ @ @  @ Mb@Mb@Mb@ )IiMb@Mb@Mb@ )IiHHr= <=YR;Q >٣ G/!= >]59`k?a5Y~ iBi5m'7q?@C;D#:IA 5  > :n-"n-<*n)n-_"__*_]re)YiY)YYYiaaIiC9D>D>D9D9D9E=0 E9Eʞ<ZA!MEr>5px,]A6%5\@y6Sj@96Q[Y6ʱL>6H@ Ѿ?`0߿ @ e?`f?\a?]Q?6%5\@ɨ6; 6'CBRBB3IHJHJWR< V`=YV';Q V>X٣X ZGX^;= ^>h]z59jk?az5Yj ijBiz5xmz7zmq~?@jF;DjŦ:n"n<*nn_"__*_Q[)i)iIC9D0DDE3 EE}<ZAM=>ZIMbIMjIIrIIzIMe;IM66;IIIIG= >G9 G= 4IG= ͒BG= = =G9 G9 G= <G= v FH̗C H̗CHH= ="H= =*Hc656H  B?@r@cHk ?@?`#K?S?6']@ɨ6; 6(CRLBR3IH^H^bh fH=Yf/;Q f>h٣h jGhn@= n>p]v59r k?av5Yr irBivO5tmv6vqz?@rI;Dr;rVAr 5| ~>|:n%"n%<*n!n%_-"_-_5*_1MO)i)iIC9:JBJ9JJRJ ZJDDDE?5 EE}<ZAM?>Bpx,m ]AV^@yVrm@9Vĭ6YVL>VHn `z?ࢩ_z?`Ӧ?d?`T?V^@ɨVJ; V$C~IB~3IH H )I E=Y%Xt!٣! -G)-= ->195 k?Y5 i5Bi=(59mE6EqE?@5L;D5:5\A1I M>I:nu"nu<*nqnu}B*** querying acoustic contact ***iyiy_"__*_ĭ6)i)隡iIC}19D /D D E 15 E 2E*EEx<ZAM-,> 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I3I3Ib0IIIZIm bIm jIi rIi zIm ;Im \A;Ii Ii 8Ipx,&]A6'_@y6m@96))Y6lN>6H@H I?i6@.g(`ZQ?#?S?@ES?6'_@ɨ6; 6(CvLBv3Iz=iz4<HH#j< H=YJ٣ %G!-< ->1]=595:5;cA5 5I M>I:nm"nm<*ninm_}"_}_}*_y)))i)隙iIM,DAT read: user:1229> ]BDAT read: Tx time:19:37:40.5047 ]$Ping request sent.]G>GGGG< =GGG<G| F:J BJ JJ RJ I I e JDAT read: TxSync time:19:37:40.5041 e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.263530ZJ DPpx,e@]A:`@y:n@9: Y:/P>:H@1r?@@N?? ?*P?:`@ɨ:a; :$CbNBb3I      @ @ @  @ Mb@Mb@Mb@ )IiMb@Mb@Mb@ )IiHHK!; @=Y;Q >٣ G< >9yk?Y iBi 4 m i6 q ?@S;D+;jAB y>8E:nE"nE<*nAnE_M"_M_M*_Im )iii)iqqiqyIyHHAAC5@9DDDE"5 Emchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502731E<ZAMG>CVpx,CZ]A2*a@y2PIo@92Y2O>2Hxq|?`E@ `?S? ? (S?2*a@ɨ2; 2"CN?BN3IHVHVbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754219f f\=Yfh٣h jGhn< r>p]v59rpk?az5Yr irBiz4xm~=6~q~?@rU;Dr<;;roAr 5 {> :n-"n-<*n)n-_5"_5_5*_1U)QiQ)iICv9D/DDE4 EEe<ZAqM:>ZIbIjIrIzI;I6=;IIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006121G G G 4IG ÒBG = =G G G ΰ<G R FLl\px,"t]AFka@yF0o@9FYFT>FH`CG?R;?@ڡ?WO?@L?Fka@ɨF뿍; F#CREBR3IIT)THZHZf1< fJ=Yfqh٣l nGlr< r>p9rk?Yr irBiz4xmz6z~rX;Dr:rpvAp y>:n%"n%<*n!n%_5"_5_5*_1M)QiQ)YYYiYaIaBiBiCur9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258736:J BJ 9JJ RJ  ZJ D0DDE`0 EE<ZAM]3> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510710Tcpx,]A6;|b@y6p@96edݼY6W>6H@`F?f?௫?@?G?6;|b@ɨ6; 6&C>=B>3IHFHFԳz  zM=YzZ|٣| Gf< > 9 k?Y  i Bij4m5| \;D : |A ! %{>):nM"nM<*nInM_]"_]_]*_Yuedݼ)yiy)yyyiICo9D/DDE EEQ<ZAMC>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762027M~ipx,lѧ]A6Oc@y6mq@96Y6:Z>6H`H?`@+7|???/D?6Oc@ɨ6; 6#CR3BR3IHZHZWb? bH=YfZdh٣h nGlr= v>9k?Y  iBi>4m5xq?@_;Di~;A G>:n"n<*nn_"__*_%I%T)!i!)!!!i))I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014147C9Dt>D)>D!D!D)E) E)Gm>GiGmq4IGmBGiGiGiGmܰ<Gm] FEM <ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266048:Ja BJe u9JJa RJe ZJe hppx,]ARjd@yR.;r@9RէYR~]>RHq?@ʽ1 N*?@4?w?`@?Rjd@ɨR; R&CZ0BZ3Ib!>ib<EE MM MM  M M M@M M@M M@M  M@M MMb@Mb@Mb@II I)IIIiMMb@Mb@Mb@III I)IIIiIIIHHNf 8=Y)P٣  G  6<  >]59k?a5Y) iBi%4!m%5%ub;D[:;A5) -{>1:ne"ne<*nanm_u"_u_u*_qէI0F)i)隡iIZI~bIjI1rIzI;I%;I3II<qI<iI<uI<mC9D=0D9DAEA EAMAMAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519386E ͆<ZA M > u ~G lA ) .y lA BIvpx,]ARBDAT read: Rx Time:19:37:42.9396 VTRx dataTimestamp_ set to:1736537863.451260Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771132=*B=3IHMHMe~ eU=YeQ e>i٣i mGiu u>y9}k?Y}"  i}Bi3m5}e;D}:}KAy >:n"n<*nn_"__*_I9)i)iIC 9DDDE EE} <ZAMa>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021990Gq Gq Gu _4IGu BGq Gq Gq Gu <Gu j F|px,e]A6e@y6xs@96Y6c>6H?@b?`avw?`q?@7?`^6?6e@ɨ6Ԧ; 6$Cr,Br3IHzHz[ #< P=Y Q ٣  G.= >9l?Y! iBi-3)m-U5-loh;D0:oA1 5>1:n]"n]<*nYn]_e"_e_e*_iI<)i)隉iICDchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274782:JiBJm89JJiRJm ZJmD/DDEo0 EBE=:E=ZIbIxjI2rIzIu;I;Ic3II-<I-<I<I<E <ZA M5 > DAT read: 19:37:42.9396 LVL= 20944, 17905, 13906, 23155, AGC= 48, IDX= 230, 0.16, 2.719,-1.106,-1.730,-2.240, PHS=-1.236, 1.181, 0.507, RAW= 285.7, -4.2, CAL= 289.7, -7.3, ROT= 220.3, 7.3  Ygot valid direction response: 19:37:42.9396 LVL= 20944, 17905, 13906, 23155, AGC= 48, IDX= 230, 0.16, 2.719,-1.106,-1.730,-2.240, PHS=-1.236, 1.181, 0.507, RAW= 285.7, -4.2, CAL= 289.7, -7.3, ROT= 220.3, 7.3  PDAT read: Bearing 220.3, 7.3 (Local)  ~Local bearing/azimuth received: Bearing 220.3, 7.3 (Local)  DAT read: Range 10 to 50 : 22.9 m (Round-trip 30.6 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.756486,-0.641547,-0.127065] Fpublishing direction and range infoY Y] h"5迱t#Y Y ] Ιî.)?ⲿI] 9@i] R8=] ] w>Y Y ΢px,@]A2f@y2\t@92%o:Y2?g>2H`?a=¿-V6? \3?/?2f@ɨ2j; 2#Cn'Bn3II)H H  ۜ ?=Yf٣ G< >9l?Y1" iBi-3)m--5-/lq-?@k;D@;AQ ]>YZDetected possible detachment. Starting timer.:n"n<*nnZjLm?bj ii&6 ]Aj3AjA2j̬?pEjR1)gb-,)ˈ:Gzph"5迱t#p eV@ QR5@ڰ'I$bp]? ?7? ZbR ѿiMAj@i2m?i[  jBzj'm?j, jBjj\Arj?_ "_ _ *_1e%o:IewM<)iii)iimiiqIqCM9DDD!E%i0 E!E Ł<ZA M5 >\͉px,)]A6g@y6Ҟu@96;Y6j>6HDJ? Idÿ``? 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Transitioning docking module to standby.:n"n<*n9n_"__*_^^^^e)i:)i I C9D0DDE`0 EE<ZAMA>G >G G 4IG ]BG G G G ԰<G X FH HHH"H= =*HK#5qx,:]A:@y:b@9:nqY:!D>:Hoݿ@Y?WJi,6ۿ"?#??\?:@ɨ:ҍ; :&CV}BV2IHbHb@jz; jH=Yn Q n>p٣p rGpr9 v>t]z(59vn.l?az(5Yv*0 ivЍBi~9m;іqy@v;Dv9;v@v(5 B D?7En:n"n<*n9n_"__*_^!^!^!^-nq)i:)!!)i)YIC9"%&Changing to mode: 1"%Standby mode."% 2Commanding positive:55276D D D E 05 E 2E *E E ˸<ZA ZI bI hjI rI zI ;I W;I I I L<I L<I ƶ<I Ƕ<M >qx,T]A:JBJ9JJRJ! 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F?2[?JE@ɨJ; J%CRBR2I:JUBJU9JJQRJU' ZJU      Mb@Mb@Mb@ )IyI +?Mbp?X9v?94=;}= I>)>IĠ>i>3>HH'< @=Y7j=Q >٣ G: >](597l?a(5Y48 iBiT:=m.<qy@;D? ;2 ;(5 oC?4Docking module at standby.:n"n<*n9n_ "_ _ *_ ^^^^r\%=z\%=\%ԫ=\%~@=!)9i=:)999iAAIICADDDE1 EE8<ZAMI>;rx,Q]A2@y2V#@92LY2 6@>2Hm ޿r?#¿5Qݿ@0? ?`?f?2@ɨ2; 0>B>3IHNHNVW= Z]=YZ=Q Z>\٣\ ^G\b b>d]j(59f7l?aj(5Yf8 ifBhjqjy@f;Df\:f%:f(5p vo>?t8Undocking sequence complete.qW W  vAggregate::initialize lineCaptureHoming:Lap:Docked:Detach:C_)"_1_1*_1^1^1^1^Ar\z\\\9@ LI a<) il:)QYiYYIaG5>G1G53IG5+BG5> =G1G1G5<G5_ FC9DQDQDQEUo0 EQEu <ZA M >Z Crx,: ]ANU@yN&@9NR>żYN> @>NH` ޿ ?ÿ)>GݿŻ? .?`@?m?NU@ɨNm; N$CVBTZ%=iZ=UMb@Mb@Mb@QQ Q)QIQyUMb?~jth?Mb?U@=UD;U= U>)U->IU>iU>QU>HeHe̍( 4=Y`h=Q >٣ Gn: >] (595l?a (5Y8 iB =m '< Qq y@;D;S;(5 >?M==fAggregate::initialize lineCaptureHoming:restartDHCP1N==E$Restarting DHCP...1NMqNM_Q"_Q_Q*_Q^Y^Y^Y^Yr\m=z\m=\mԋ=\mF@}R>żI=)i-:)隁iIBgABZI=bI=jI=1rI9zI=|;I=m_;I=3I9I==qMI==iMI=E<uMI=E<mMC9" PauseDzDDD:JBJ9JJRJ( ZJ E <ZA M >0Irx,j&]AfC@yf$@9fw:Yf6|?>fH޿߿?ſ F?@ݿ`?^?,q?fC@ɨf; f#CvBz3IHH= Z=Y=Q >٣ G%0 %>)]5(59-5l?a5(5Y-R9 i-ɍB9=q=y@-;D-B2;-,3;-&(5A M6?Im`Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.shqNmmNCompleted lineCaptureHoming:restartDHCPMmmjAggregate::uninitialize lineCaptureHoming:restartDHCP_q"_q_q*_y^y^y^y^yr\z\\\"@w:I#=)i:)隡iI=-Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shC=9E<ZA1MMt>G >G G 3IG BG = =G G G <G z FIPrx,j@]AN@yN6 @9NNH`u޿ܪ? ƿY:`|ݿ [+??`m?N@ɨN; L^B^$3IHjHjr4P= B=YF~=Q >٣ G8 >](593l?a(5Y9 i׍Bqy@;D%;`;(5  1?=UT/mnt/mmc/started/2025-01-10UTC193813_sh 5^Completed lineCaptureHoming:Lap:Docked:Detach:CW= =zAggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach:CeZCompleted lineCaptureHoming:Lap:Docked:DetachVemvAggregate::uninitialize lineCaptureHoming:Lap:Docked:DetachWmmnAggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1qXmmInitialize.Xm mInitialize.1Xu_y"__*_^^^^r\z\\\O@<)i%:)))-"i)1I1C 9BE =:E =ZIe bIe jIa rIa zIe ;Ie :;Ia Ia Ie / =Ie / =Ie <Ie <E} 5<ZA M >BVrx,BCZ]A bGlA 1)]PyelAe@B:JKBJӰ9JJRJ) ZJ5B523II9)9qqMb@Mb@Mb@ )Iy~jt?{Gzt?T㥛 ?D=ף;= ?)I>If>if>>HMHM4l4= "=YQ >٣ G >](592l?a(5YK: iB=m'< qy@;De ; ;@(5  U+? 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X?1?>T@ɨ>,ω; >$CFBF*I:JPBJR9JJPRJR| ZJRHZHZ"25f( fW=Yf!;Q j>h٣h jGhnw n>p]v+59r{k?av+5Yr ir_BxzPqz}@rl=Dr`:r:r)+5| ~@oZorooo2on9^^^^r\z\\\{@)i:)!C9i!I!ZA9MU=ZIbI,jIrIzIM;I;IIѣwx,:]A>T@y>b@9>Y>}UB>>H2?V?_ ٿ =!?@??@2?>T@ɨ>k; l٣l rGpr r>t]z+59v$k?az+5Yv ivxBxzq~}@vn=Dv::vE;v+5  K@ G-3>G-CG)G)G-7 =G-HDG-6DG-ɰ<G-v FoQZoQroQoYoY2o]n]9^m^i^i^mr\z\\\a@-))i-:))-C9)i19IAZAM=I)ďC }G )EuyIMcA>wx,vݩ]ABLT@yBb@9BYBC>BHd9?j? \ؿ `? )?@a?3?BLT@ɨBxz; B&CLR*I5Mb@Mb@Mb@11 1)1I1y5y&1?:v?~jt?5`<5=5= 5@)1I5Zd@i5h@153s@HMHM%.5]6 ]B=Ye;Q e>a٣i mGimh` m>q]+59uk?a+5Yu iuB>m;q}@uq=Du90;u.;ua+5 U@oZorooo2on9^^^^r\>z\>\ f?\^H@)i:)隕)D9iIZAM=:Jk3IBJJJRJ} ZJJ I >wx,]AZI2bI2!jI21rI0zI2;I2';I23I0RT@yRHb@9R(YRڲB>RH9??_ؿ$?`d?? 6?RT@ɨR; R$CZBz*IH H /5< N=Y;Q >!٣! %G!-: ->)]=+59-k?a=+5Y- i-B9=bq=}@-s=D-;-I;-+5I M8@IoiZoiroioioi2omnu9^^^^r\z\\\S7@()i:)隭D9iIZAM=G5C>G5CG5+IG5BG5& =G1G59DG5<G5 F wx,]A>ڽT@y>b@9>DY>9B>>H>??Sؿ`?@8?`{ ?7?>ڽT@ɨ>b; ٣ G >]+591k?a+5Y iB=m;q}@t=Db:=:+5 x@oZo ro o o 2o n 9^^^^r\-=z\-=\-?\-ҡ@ED)AiM:)IMYD9IiIQIQZAM=8wx,uu]A>2T@y>b@9>Y> A>>H9 ?? # ٿ?]?S?9?>2T@ɨ>; >"CJߊBJ*IHVHV,5bB bZ=YfF;Q f>d٣h jGhj; j>l]r+59nk?av+5Yn inӘBtvqv}@nv=Dn:n:n+5x zс@|:JBJC9JJRJ~ ZJR GSZx < i  C -,YM c>o)Zo)ro)o)o)2o-n-9^=^9^9^Er\Iz\I\I\MС@e)aie7:)aeD9aiiiIqZAM=ZIbI;jIrIzII ;II3wx,I]ABwT@yB=b@9B,YBA>BHf9 ??ٿ@2?\??;?BwT@ɨBx; B#CVΊBV*IGbE>GbCGb+IGbBGb$ =G`G`Gb0<Gb FHC HCHCH7 ="H1 =*H.7HvHvy/5z ~G=Y~+;Q >٣ G t:  >]+59}k?aE+5Y> iBAM0qM}@w=D;;c+5Q Uۂ@QoqZoqroqoyoy2o}n}9B*** querying acoustic contact ***ii^^^^r\z\\\á@,)i:);D9iIZAM= 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.aKwx,-+]A:T@y:ac@9:vGY:bA>:H@u6 {?(S?@$ٿ`?`Z??٣ G >; >]+59bk?a+5Y iB=m;뎿q}@y=D;o;+5 @oZorooo2on9^^^^r\=z\=\G?\U@%vG))i-k:))-5D9)i)1I9ZAM=,DAT read: user:1230> BDAT read: Tx time:19:39:40.6061 $Ping request sent.fHJ6??(ٿu)?@0?F?=?fT@ɨfGD; dnBr*IHzQHzT5᥽ T=Y :Q  > ٣  G: >a]u+59e6k?au+5YeX ieBq}@ez=De{;e1;e+5 @o)Zo1roQoQoQ2o]n]9^m^i^^r\z\\\M@@)i:)C9i!I)ZAIM=GJ>GG+IGpBGGG:DGͰ<G Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502947!_wx,1^]A:aT@y:'b@9:(Y:8>:H&<g?q? ٿ O?l? )? I?:aT@ɨ:e; 8FBF}*I-Mb@Mb@Mb@)) )))I)y-~jt?#~j?ˡE?-D<-=-= -@))I-hq@i-ن@)-@HETHE5Uݽ ]E=Y];Q ]>a٣a eGaep e>i]+59m k?a+5Ym etIim$BT=m;q~@m|=DmBHC`Q?~W?ؿ@@-?(?2?OD?BT@ɨB; @JBJa*IV=iVG?HXHXbc bU=Yf^̺Q f>d٣d jGhjgѻ j>l]r+59nk?ar+5Yn in7Btvqv~@n~=Dn%:nh:ns+5x zr@xoZorooo2onr\Az\A\A\E;@iQ)Q)QQQiQaIa:J}'OBJ}9JJyRJ} ZJ} ZAM]=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258319H]@AH]?Anwx,>]AG2G>G0G2C+IG2=BG2 =G0G0G27<G2 FJڍT@yJb@9JWYJ=>JHtJX?f?ؿ9(?`N?v?@B?JڍT@ɨJ8(; HVpBVG*Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510314H~cH~N5 ɽ E=Y';Q >Y٣Y ]GYe e>i]m+59mk?au+5YmD imLBqq~@m=Dm;m;m#+5 @oZorooo2onr\z\\\ @i))iI ZA!M==uX?u?}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762805ZIm bIm 2jIi rIi zIm y;Im ;Ii Ii Im <Im <Im b<Im b<Зwx,+n]A:fT@y:,b@9:;޽Y:0>>:H@I@?Zd?ؿVF*?»?D?B?:fT@ɨ::; 8FZBF,*IMMb@Mb@Mb@II I)IIIyMy&1|?1Zd?/$?M`;M"=M= M@)Mh@IMs@iM@IM=@HeHep;5u<ӽ }D=Y};Q }>٣ G: >]+59k?a+5Y# ibB{ >m;ҏq~@=D;;+5B '@GEoZorooo2onr\{ >z\{ >\4?\)@i))   i  IZA)MM=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014324:JKBJ89JJRJ ZJ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266248wx,I]AH4=Hp=:T@y:b@9:ܽY:?>:HKb?%&?<ؿ Ӳf9? |? ? B?:T@ɨ:; :!Cj;Bj*IH~H~6=5   Q=Y#;Q >٣ Gٹ %>!]-,59%Ik?a-,5Y% i%vB15q5~@%=D%:%:%,59 =@AoaZoaroaoioi2oinir\z\\\@i))))))1iQYIYZAaM=GmI>GmCGm+IGm BGiGiGiGm <Gm Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519193 k}G  }wx,3]A)NɿyPR0ArT@yrzb@9ru۽Yr?>rH G@"?<~?ؿ p9?l?7?/B?rT@ɨr% ; r#Cz"Bz)IuMb@Mb@Mb@qq q)qIu'IDyu:v?Pn?I +?uTu9= uߓ@)uj@Iuw@iu3@qu(@HH35H A=YX:Q >٣ GN; >],59k?a,5Y iBu >m;ٖq~@=D|;;,5 @5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770314oZorooo2onr\u >z\u >\4?\pY@i))i!ZI5bI5jI51rI1zI5Y;I5:I53I1I5s<I5t<I5F<I5F BDAT read: Rx Time:19:39:43.0529  TRx dataTimestamp_ set to:1736537983.827108 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023291wx,]AFJT@yFb@9FܽYFB@>FH[E`?֕?Fؿ*F?@T??`kA?FJT@ɨFt; F C~ B~)IHH65%Gֽ %R=Y-jQ ->)٣) 5G15: 5>9]E,59=,k?aE,5Y=% i=BIMqM~@==D=:=h:=5,5Q U@YoyZoyroyoyoy2oynr\z\\\Y`@i:JBoHBJȱ9JJRJ ZJ))iIZAM=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275503Mxx,]AnDAT read: 19:39:43.0529 LVL= 14768, 8241, 7618, 13427, AGC= 53, IDX= 48, 0.24,-1.502, 0.629, 0.798, 0.167, PHS=-1.581, 0.509, 0.628, RAW= 267.2, 4.2, CAL= 270.8, 5.6, ROT= 239.2, -5.6 GvK>GtGv*IGvɊBGv =GtGtGv<<Gv F Ygot valid direction response: 19:39:43.0529 LVL= 14768, 8241, 7618, 13427, AGC= 53, IDX= 48, 0.24,-1.502, 0.629, 0.798, 0.167, PHS=-1.581, 0.509, 0.628, RAW= 267.2, 4.2, CAL= 270.8, 5.6, ROT= 239.2, -5.6 PDAT read: Bearing 239.2, -5.6 (Local) ~Local bearing/azimuth received: Bearing 239.2, -5.6 (Local) %DAT read: Range 10 to 50 : 31.9 m (Round-trip 42.6 ms) speed -0.1 m/s %R#Rx 1: Read range and direction messages.-`direction in FSK: [-0.509599,-0.854860,0.097583]5Fpublishing direction and range infoTYV[yN9UA[A_1?V3A9TV9 V1 )VIVs4iV5uT@y;b@9>޽Y*@>H C?3c?@pؿ`\8]?Ȼ?`?@?騍uT@ɨF; #CV5^ʿVM?V ?V;@ VQ =)VE>@IV+=iV0@V+ȽT TVS~꿏jOC?z5쟲?IVJ|$@iV"!VUV+ȽT TuB})IHH@5 /=Y%Q %>!٣! %G)-9 U>Q]],59Uk?ae,5YUj iUBaeqe~@U=DUW:U:UU ,5 @oQZoYroaoao2onZjVm?bjV% iTiV7]AjV3AjVxA2jVv?pVjA0!E;Wa35@zpV[yN9UA[A_1?"jVU*jV+ȽpVFiΛx@m?@`VpV8?!y? eoiVmAjV{@iVy]!m?iVj  jVWBzjVm?jV0 jVBjjVCArjV5Ӹ?r\z\\\j@i))iIIIIIIIZIU bIU jIQ rIQ zIU !;IU ;IQ IQ IU <IU <IU W<IU W<ZA M > xx,-]A>?T@y>b@9>Y>t?>>HM= ? ?@ٿ@A{a? 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A{x,B]AF'O@yF^@9F*YF_>>FH ݿ?zÿ@9Y ܿ ҹ?`˶??Mq?F'O@ɨFT; F"CNkBNA*IPRAHVHV,5bU= fK=Yf2Q f>h٣h jGhn<: n>l]r/59n'm?av/5Yn iltvۿqv@nBDn:n;nw/5x ~@|oZorooo2onr\9z\9\9\=@iQ)Q)QQYiYYIaZAyM5=x,\[]ANTR@yNa@9N\}YN$?>NH@tݿ@/?ĿZ_ܿ@'? n?`? p?NTR@ɨN; N CZxBZQ*IMMb@Mb@Mb@II I)IIIyMMbX9?l?M=Mt I)M;o@IM@iM@IMp@H]H]%.5mDu= mA=Yu%QQ u>q٣y }Gy}o: >]/59&m?a/5Y i3B2>m;]οq@BD: ;+/5 +@oZorooo2onr\2>z\2>\%C>\}x@i))隙iIZAM=ICIK3IKuf0ICICICZIqbIujIu8rIqzIqIuu:Iu'4IqY]<G T>G G *IG BG G G G İ<G Fx,'u]ANV@yN'f@9NrYNY>>NHݿ?`ÿ@\`oܿ~?`??@p?NV@ɨN; LVBZ^*I:J~YLBJ~u9JJ|RJ~ ZJ~    HH)5EU= EM=YE=ǺQ E>I٣I MGIME: U>Q]e/59U&m?ae/5YU iU5BaeKοqe@UBDU:Ul:U/5i u@qoZorooo2onr\z\\\}@i))iIZAM =H}C=H}a=#x,]AFY@yFLi@9FژYF>>FHݿj?ÿ^@ܿ`??@?p?FY@ɨF; F!C^B^d*I)f= f=Mb@Mb@Mb@ )IyS?l?{Gzt>ף @)j@I~@i~@@HH-5< B=YQ >٣ GRo: >]/59[&m?a/5Y i7BE,>m;t̿q@BDA:=:R/5 .@oZorooo2on!r\EE,>z\EE,>\EuM>\E@iQ)Q)QQYiYYIaZAyM=ZI bI jI 0rI zI u;I r:I ـ3I I ) C 5 ~GI a ) 6zy gA)x,Z]Ad@ys@9 uYO>>H ݿ`? fÿbܿ`?S?@? %q?d@ɨ6;  C=B=k*IHMHM%.5e< eQ=YeQ m>i٣i mGiuY; u>]/596&m?a/5Yz i:BI̿q@BD\G;H;/5 ΅@o Zo ro o o 2o n r\)z\)\)\-@iA)A)AAAiAIIIZAiM=GGCG*IGӊBG# =GG:DG<G F:J9MBJJJRJ ZJE0x,?]AH,H.BAri@yrx@9r_Yr>>rH!|ݿ@+?tÿ e@ܿ*?˓?`? p?ri@ɨrp; r"CB*IH-H-(*5E= EL=YEQ E>I٣I MGIU: U>Y]e/59]&m?ae/5Y]4 i]/5q u@qoZorooo2onr\z\\\r@i))iIZAM =X6x,#]ARv@yR?@9RUYR>>RHidݿ@??`ÿEk ܿ $?iʓ?ز?p?Rv@ɨRNW; PnBr*IIt)ttvAMb@Mb@Mb@ )Iyp= ף?sh|??~jtx>=Ļ )m@Ih@i@׃@HH)5< A=Y.7Q >٣ G_|; >]/59&m?a/5Y i?B>m;q@BD::/5  .@o1Zo1ro9o9o92o9n9r\]>z\]>\]v?\]@ii)i)iiiiiqIyZA)MM=G S>G CG *IG BG / =G G 9DG ذ<G Fo=x, ]A:(@y:@9:iY:>>:HUݿ@D?ÿ oܿk? ??@p?:(@ɨ:4; 8FBF*IHRHR_,5Zs3= Z`=YZ5Q Z>\٣\ ^G`bl5; b>d]j/59f'm?aj/5Yfd ifABhjkqn@fBDf::f;f#/5p r@po Zorooo2on:Jk3IBJ9JJRJ ZJr\Az\A\A\E촙@iQ)Q)QQiIZAM5=ZIbIjI1rIzI;I`:I3IIA<qIA<iIY;uIZ;mDx,]AV@yV혇@9VݟYV>>VH/Cݿ?$ÿs@0ܿ?`i?`n?p?V@ɨV/; V#C~B~*IMb@Mb@Mb@ )IyCl?sh|??~jtx;= )j@I~@i~@@HzH'5 :=YQ9Q >٣ G<; >]/59'm?a/5Y iCBm >m;q@BDZ;N;/5 @oZorooo2onB*** querying acoustic contact ***iir\m >z\m >\ך&?\;d@i))!i!!I)ZAAM}= 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.] <] <] ,DAT read: user:1231> e BDAT read: Tx time:19:41:40.5074 e $Ping request sent.m >FH`+ݿ@ ?`ÿywܿ?u?{?@!q?F@ɨF&K; F CVBV*IXiZR=)^= ^=He{He'5]I= N=Y7Q >٣ GUI; ]>Y]e059](m?ae05Y]s i]FBimyqm@]BD]S:]:]05 @oZorooo2onr\)z\)\)\-q@iY)Y)aaaiaiIiZAM>G P>G G *IG BG - =G G G <G  FH HHĔCH# ="H& =*H56:J]BJYJJYRJ] ZJ]JDAT read: TxSync time:19:41:40.5066 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251644Qx,t|D]AH<H>@AZIFbIFjIDrIDzIF;IFS:IDIDIF><IF><IF;IF;v@yvj@9vxYvz>>vH`+ݿ` ?Aÿy@uܿ@?? ?q?v@ɨv*; v!CB%*IH5&H5F5Ee< EP=YEQ M>I٣I MGIU8 U>Y]e059]z)m?ae05Y] i]HBaevqe@]BD]:]:]05q u˂@qo Zo rooo2on1r\yz\y\y\}'r@i))隹iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503263ZA MU= A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755564=Wx,[\^]AB@yBg@9ByYB$6>BH.ݿR?`/¿xܿ`?`Ԏ??|?B@ɨB ; B CJŊBJ*I-Mb@Mb@Mb@)) )))I)y-J +? ףp= ?Mbp-=-Q=- -@))I-h@i-h@)-3@HMmHM!5]-= ]I=Y]Q ]>a٣a eGam m>i]}059m*m?a05Ym  imKBO>m;릿q@mBDm8;m7;mq 05 N@oZorooo2onr\O>z\O>\,>?\U@i))iIqZAM=%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006785G- F>G- CG- +IG- BG- 4 =G) G- 8DG- <G- FAf]x,3x]ABņ@yB)@9BXYB>9>BH Gݿ@ ?4ÿ(r`]ܿA???\x?Bņ@ɨB; B"CJ͊BN*IPRAHV5HV5^&= ~U=Y~(Q ~>٣ G z  >]059+m?a05Yp  iNB'q@BD{;; 05) -΁@)oIZoIroIoIoI2oInQr\qz\q\qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258830\uE@i))隑iI:JBJ9JJRJ ZJJ ? J>ZAM=ZIbIjIrIzI ;I3g:IIIQ<IQ<I;I;5 >5 Q?= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511624iNdx,]A:&@y:@9:fY:‡;>:HX>ݿ ?ÿtܿ?`zL?0N?Du?:&@ɨ:%; : CNϊBR*I]Mb@Mb@Mb@YY Y)YIYy]B`"۹?RQ?{Gzt]=]=]ף ]@)]h@IYi]Q@Y]@HuHu+5a< >=YC;Q >٣ G: >]059*-m?a05Y  iQB>m;{q@BD::05 @oZorooo2onr\>z\>\G:A?\ް@i!))))))i)1I9ZAQMm=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014633 xjx,B]A @y 榇@9 Y N=> H`P*ݿ ?@Fÿ+z wܿ ׹?`?`%?r? @ɨ ; yyHtH$5~ H=Y>;Q >٣ G^; >]059|.m?a05YZ iTBTq@BD::'05 @oaZoaroaoaoa2oanar\z\\\@i))iIZAM>GC>GCG*+IG)BG8 =GG7DG<G FՑՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266960:JBJ9JJRJ ZJ bqx,]AZI"bI"jI rI zI"%;I"r:I I I" K<I" K<I";I";Z@yZi@9ZS.YZ&>>ZHB ݿ?ÿ C PZܿ@'?@%??q?Z@ɨZU?; Z!CnˊBn*I)z= zp=H H ,5-W -R=Y5;Q 5>9٣9 =G9=; =>A]M059E/m?aM05YE iEWBQUqU@EBDE:E;E05Y ]@aoZorooo2onr\z\\\O˟@i))iIZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518809 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771289%wx,ϣ]AB@yBˇ@9BOYBN>>BHܿ@? ĿɊ:ܿ@q???q?B@ɨBɊ; B CrΊBr*IuMb@Mb@Mb@qq q)qIqyuy&1?ʡE?{Gztu`=u=q uВ@)uZd@Iuv~@iuv~@qu@HhH5F< C=Y:Q >٣ G; >]0591m?a05Y_ i[B%>m;)q@BD':,:*05 @JEoZorooo2onr\%>z\%>\N?\@i!))))))i)9II GG  !)eyaeAZAyM=><BDAT read: Rx Time:19:41:42.9834  TRx dataTimestamp_ set to:1736538103.691484 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024075G F>G CG 1+IG .BG 5 =G G 8DG հ<G F}x,|]AB&Ā@yBӇ@9B YB>>BH@ܿ?@%Ŀ`+ܿf?`!S?Ŵ?p?B&Ā@ɨB1; B!CJȊBJ*IHV}HV(5^ bZ=Ybf:Q b>d٣d fGdj3; j>h]r059jF3m?ar05Yj ij_Bpr qr@jBDj{;j;js05x z)@xoZorooo2onechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274799:JBJ9JJRJ ZJr\z\\\a@i9)9)999i9AIAZAyM=HaHep=ZIbI4jIrIzIe ;Ir:IIIU<IU<I;I;5 DAT read: Range 10 to 50 : 53.9 m (Round-trip 71.9 ms) speed -0.2 m/s -= X#Rx 1: Read range message, but no direction.! % WB9! x,W]A:KԀ@y:@9:~Y:Z>>:H /ܿ`$?`%(Ŀ Vܿ#A?q"?W?@Rq?:KԀ@ɨ:-; :"CV͊BV*IXX=Mb@Mb@Mb@99 9)9I9y=X9v?S㥛?===$>= =@)9I=I|@i=Q@9=@HUuHUH%5e|< e@=YeK9Q m>i٣i mGiu ; u>]0595m?a05Y ieB%:5>m%;%㚿q%@BDy;;U#051 5ց@1oQZoQroYoYoY2oYnYr\u:5>z\u:5>\u+WU?\uV@i))隉iIZAM=]NJx,5-]ABۀ@yB0@9B<ɏYB>>BH˰ܿ'?l0Ŀ@Qdܿ 1??཰?`/q?Bۀ@ɨBV; @N̊BN*IHV{HV'5^CȻ bU=Yb9Q b>d٣d fGdf; j>h]r059j|7m?ar05Yj\ ijjBpvƚqv@jBDj;j< ;j&05x z@xo!Zo!ro!o!o!2o!n!r\Az\A\A\E6^@iQ)Q)QYYiYYIaZAyMT=GmI>GmCGiGiGm- =GiGm9DGmڰ<Gm F:J)BJ-9JJ)RJ- ZJ-6x,o G]AH@AHN@yN@9NYN3>>NH ߛܿ,?6Ŀ.ۿ@[?X֑?`ϯ?`?q?N@ɨNuy; LVƊBV*IHvHv +5D F=Y 9Q  > ٣ Gb; >!]5059%9m?a505Y%% i%oB9EqE@%BD%8;%;% *05Q eF@ioZorooo2onr\z\\\i@i))iIZA)ME=ٗx,`]A>m@y>@9>@玼Y>>>>H ܿ-?<ĿۿC?ܑ? ?p?>m@ɨ>; >!CNɊBN*IRm=m m@)m-b@Iiimv~@im~@HhH5< A=YboQ >٣ G]: >]059E;m?a05Y( itBj@>m;q@BDF;(S;-05 @oZorooo2on^^^^r\j@>z\j@>\6?\{@-@玼))i-9)155Ti19I9ZAYM}=ZI5bI5jI1rI1zI5 ;I5{:I1I1q=@i=@u=@m=@Gm J>Gi Gm *+IGm )BGm * =Gi Gi Gm <Gm FH-ʞC H-ʞCH)H-4 ="H-1 =*H-6=x,z]A>2@y>@9>Y>>>>Hܿ 0?_@Ŀۿ`?@ϑ?`?p?>2@ɨ>R; <^ŠBb*IHj}Hj(5ra rW=Yr29Q r>t٣t vGtzH; z>|]059~>FH oܿ3?`6Ŀ!`ۿ? ?`?@Rq?FD@ɨF; F CZɊBZ*IMb@Mb@Mb@ )Iyףp= ?Zd;?Mb`>= v@)`@Iz@iI|@|@HvH%5q< ==YQ >٣ G: >]059%>m?a05Y( i}BI>m;q@CD,:(:405 @oZorooo2on9^^^^r\I>z\I>\*?\?-@)i[9)!%5%@i!!I1ZAIMe=ZIU bIU jIQ rIQ zIU ;IU :IQ IQ = =x,z]A:@y:@9:}Y:H>>:H6ܿ@2?@E>Ŀk|ۿ&?06? ?p?:@ɨ:; 8FÊBF*IIH)HLNAHRHR*5Z^ Z]=YZcŹQ ^> ٣ Gd >!]-059%d?m?a-05Y%  i%B)-q-@% CD%:%:%=8051 =r@9oYZoYroYoYoY2o]ne9^u^q^q^ur\z\\\+@})i9)隥5iIZAMz=GI>GGGG+ =GGG<G F:JBJ9JJRJ ZJxx,T]AH2AAH2BAB@yB@9BYB>>BHܿ`f3?`)9Ŀۿ*? 8^?? p?B@ɨB; B!CnˊBn*IHzzHz'5 = D=Y[Q >!٣! %G!-=9 ->1]E0595@m?aE05Y5$" i5BIMqM@5CD5f=;5 >;5;05 @o9ZoAroAoAoA2oEnE9^u^q^y^}r\z\\\"-@)i9)`'6iIZAM-=i i 'x,5]AB@yB@9BΔYB]>>BH@ܿ2?J1Ŀۿ6?`?`?q?B@ɨBH; B C\\UMb@Mb@Mb@QQ Q)QIQyU/$?q= ףp?MbpU&1>U=U U`@)QIQiUz@QU{@Hm}Hm(5}t }D=Y}>Q >٣ G7 >]059Am?a05Yd$ iBT>m;q@CDH; ;m?05 @oZorooo2on9^^^^r\T>z\T>\/?\}@Δ)i 9)cO6iIZIbI,jIrIzIm;IL:IICu9ZAM>G E>G G G G ) =G G G <G F'Qx, ]A>@y>|@9>#Y>>>>H҈ܿ 1?0Ŀ1.ۿ>?`??@ q?>@ɨ>=; >#Cb׊Bb*I)f= dHj{Hj'5r= rU=Yv*nQ v>t٣t vGxz z>|]059~eBm?a05Y~x& i~B q @~CD~;~;~B05 %2@!oAZoAroAoIoI2oMnM9^U^Y^Y^]r\iz\i\i\m⥚@#)i9)隅6iIZAM=:JBJ۵9JJRJ ZJJ? 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C??[?n@ɨn|; n!C B o)IMb@Mb@Mb@ )IyQ?RQ?i|?5?(>=q= |@)I@i@@ }~G HH%.5)`y2wA_ ,=Y=!:Q >٣ G8 >] 359"m?a 35Yc i B L>m; Ŀq@{FD3&;7;-35 +@oZorooo2onr\L>z\L>\;?\ @i!)!)!!!i!1IaCUP9ZAiM8>x,,c^AvDZ@yv,@9v┽Yvs?>vHۿ`?6`J^ٿ`?%? º?[?vDZ@ɨvb; tBK)II ) AH5H5\05E( Ek=YEƭ6Q E?I٣I MGIUJL U?Y]e359]"m?ae35Y] i]0BimĿqm@]FD]:]:]035q }@yoZorooo2onr\z\\\ @i))iIC-9ZAAM]=G%4>G!G%*IG%JBG%1 =G!G!G%<G% F&x,>^AZIR)bIRjIPrIPzIR@;IRo:IPIPIRv<IRv<IR=<IR=<bi@ybκ@9bEYb?>bH@*ۿ@?`Vٿ@He?`?`?[?bi@ɨb]t; `nBn:)IHzHz<55 O=Y9Q > ٣   G   >]359#m?a35Y iAB.Ŀq@FDW::H435 ۔@Done Waiting.Z 8Uninitialize Wait Component.oZorooo2onXCompleted lineCaptureHoming:Lap:Docked:Drift1Y tAggregate::uninitialize lineCaptureHoming:Lap:Docked:DriftY @Uninitialize Buoyancy Component.Y1ZqZUninitialize.LCompleted lineCaptureHoming:Lap:Docked1S hAggregate::uninitialize lineCaptureHoming:Lap:Docked>Completed lineCaptureHoming:LapQ ZAggregate::uninitialize lineCaptureHoming:LapRunning loop #3Q VAggregate::initialize lineCaptureHoming:LapQr\ z\ \ \ (@i))!!!i!)I):J5LBJ59JJ1RJ5Q ZJ5hnokiea\WWXTQTUSRLD3 J9I9CM9ZAaM=/,x,P^ANŬ@yN*@9N:YNm?>NH'ۿ@k? VDٿY? 7? *?2\?NŬ@ɨN^; NCbBb+)IMMb@Mb@Mb@II I)IIIyM&1?1Zd?L7A`?MP>M"=M+= M@)Mw@IM…@iIIM׋@HmHm35}h }C=Y}:Q >٣ G99 >]359#m?a35YN iWB`u>m];ɿq@FD<:735! -@)k]XQe1Re eZAggregate::initialize lineCaptureHoming:Lap:Br\}`u>z\}`u>\}S>\}ϖ@is:)隑iICm9ZAMk>3x,^AB嬨@yBT@9BN2YBE?>BHN+ۿ9?`ٿ`M?;b? ߽?`S\?B嬨@ɨB$; B CRBR&)IV=iVp<HZHZ55Gb?>GbCGb)IGb!BGb. =G`Gb7DGb<Gbv Fr rU=Yv:Q v>t٣t vGtz z>|]359~#m?a35Y~ i~jB  ɿq @~FD~S:~:~N;35 ԕ@fE5EkEfAggregate::initialize lineCaptureHoming:LineCapture6E mEAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes6EmEJInitialize AltitudeEnvelopeComponent.17M nMDInitialize DepthEnvelopeComponent.q7MnMJInitialize OffshoreEnvelopeComponent.q8M8M8MqMxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass19Mq9MrMInitialize.9U sUAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy9UsU-H@)ۿ`X?`V ٿF9?8?ֺ?`\?-@ɨ-.; )}sB})I-Mb@Mb@Mb@)) )))I)y-A`"?!rh?-l=-t= ))-z@I)i-@)-z@H=H=Y45M/ U5=YU:Q U>Y٣Y ]GY]9 e>a]m359e#m?au35Ye7 ieBug>muS;ugȿqu@eFDe;ep;e@?35 @L Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalLMEntering Terminal tracking update period 2.000000 s sec at 53.900002 m (mode 0.000000 count ).LM1MMJeQ:eU;V@zcYq6]7]r\g>z\g>\>\@i)iIZAM >ZI =bI djI rI zI P;I T:I I q @i @u @m @m(@x,^AB_@yBĵ@9BĀYB?>BH 24ۿ?`bx ڿ*?B ?]?]?B_@ɨB; B"C^rBb)IHjHj05rc ve=Yv:Q v>t٣x zGxz z>|]359~#m?a 35Y~Z i~B  ȿq @~FD~:~:~_B35 @2k5@1M5qM55B*** querying acoustic contact ***i1i1Je9:eEV@"eA7E7Er\az\a\a\e@iq)yyyiyIZAMf=GA>GCG)IGBG3 =GGG,<G FHƜC HƝCHƔCH1 ="H1 =*H\6QQ ]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.RFx,^AV@yVt@9V5YV-y?>VH 1ۿ ? ڿ!?? ټ?]?V@ɨV '; V CnjBr)IIt)tHzHzV85  I=Y<;Q  > ٣   G : >]%359!#m?a%35Yʗ iB!)q-@FD~:%:E351 5@1:kQqMUMUJeY:e] W@*ea7e18er\yz\y\y\}@i)隑iI:JuBJu95,DAT read: user:1232> =BDAT read: Tx time:19:43:16.3084 =$Ping request sent.=m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.235854+|Lx,]4^A:䧁@y:I@9:(gY:9?>:H@2ۿ`? b`Lڿ?`si?`?^?:䧁@ɨ:y; :"CRqBV)I=Mb@Mb@Mb@99 9)9I9y=S?i|?5?ʡE?=/]>==== =@)=v~@I=@i=Ȓ@9= @HMCHM 5* = ?=YYI;Q >٣ GH >]359=#m?a35Yi iůB >mM;hǿq@FD/:M:I35 @ Bk9M==rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalL= =Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalJeA:eE,W@2eA18M1:M tMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequenceq:MtMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:M uMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:MuMInitialize.uMdInitializing internal variables to default values.1z\ >\]>\5@i)隑iIZAM=ZIu1bIqjIqrIqzIu4G;IqIqIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.487210dSx,;N^AG0G0G2)IG2BG0G0G0G2<G2 Fb@yb@9bc6YbbH lۿ? (Yڿ?`^c?@9?j?b@ɨbΊ; bCntBn)IHvsHve$5|< W=Y T9Q  > ٣  GC' >%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739561)]5359-T#m?a535Y- i-ۯB1=ǿq=@-FD-3;-;-M35A E@A1Ae mAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqAmmAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideAmBm mAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBmmUninitialize.1Cm mAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCmCmCm1=H]ۿ?@ڿd?Z??k?=s@ɨ==; = CMlBM)I]=i]I?)u= u%=EMb@Mb@Mb@AA A)AIAyE&1?`"?ʡE?EP>E=A E@)EI|@IE3@iAAE\@H] H]4m"  u5=Yus/;Q u>y٣y }Gy}活 >] 359#m?a35Ye iB[>mT;Tÿq@FD\;d;P35Q Ua@Q2fZfBfJf:fJe:ecW@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243294r\M[>z\M[>\M; ?\M:@ia)a)aaaiaI"ResumingZAM%,>ZI bI kjI rI zI $9;I :I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495126u`x,)^A Of@y u@9 cY \9> H%ۿ?aF ڿ @j?b??*h? Of@ɨ =8; 5yB5)IHmHmH4dž= W=Y;Q >٣ G >]359$m?a35Y i Bÿq@FD::CT35 @-B*** querying acoustic contact ***i)i)2fYZfaBfaJfa:faJea:eeTzW@r\z\\\H!@i))iI" Start "4Initializing EZServoServo.GiGmCGiGiGm0 =GiGiGm<Gm F=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747172 "}8Initializing DockingStepper.ZAM>fx,`ɛ^AB[r@yB@9B9zYB;>BH Wۿ@0?Wڿ?AB?L?g?B[r@ɨB6q; B!CbBb)IHjHj4{< W=Y 4 ٣  G}; >]-359M$m?a-35Yߣ iB15ÿq5@FDb;;W359 =;@92faZfaBfaJfa:faJea:em`W@r\z\\\@i))隙iI"StartingZAM{=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999302:JBJJJRJU ZJIE=)|C .~GlA A)ylAklAM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251164lx,\^A6s}@y6،@96UiY6t=>6HۿD? *¿<|ڿ?&?`4?!g?6s}@ɨ6 ; 6C~B~#)II ) -only read 2 of 4 data items for bottom velocity. Device response is::BS, +112, +72,A @ @ @  @ HH4< >=YG٣ GvN; >]359$m?a35Yh i7Bi+:m,;ÿq@FD;>Z35 @2f!Zf!Bf!Jf!:f!Je):e- W@i))i)I1I3I;23I;S}-I3I3I3ZI]&bI]ojIYrIYzI]>;I]:IYIY" StartingZA!M= >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503880G] N>G] CG] )IG] BG] ( =GY G] 9DG] <G] Fsx,^AR뜁@yRP@9RKYR>>RH Nۿ`?@¿Tڿ[?`ew?@^?h?R뜁@ɨROV; RC^B^.)IHjHj4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755226v9= zW=Yz|٣| }Gy}< >]359$m?a35Y iMBi :m ;ÿq@FD:S?\35 q@2f ZfBfJf:fJe:e W@iA)A)AAIiIIIY"eStarting"BInit string: /1z16368aE13561N3m50ZA1MM1>BDAT read: Rx Time:19:43:18.8060 TRx dataTimestamp_ set to:1736538199.527230checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008268:J BJ 9JJ RJ V ZJ 0yx,`t^A B 3)I      Mb@Mb@Mb@ )Iy{Gz?|?5^?Q?#>=\= @)~@I`@i @=@HH_4< .=YeQ e>i٣i mGiu u>q]359u|%m?a35Yu iudBiT:O>m;vq@uFDu06;u3;u`35 *@2fZfBfJf:fJe:eW@r\O>z\O>\l?\*2@i))checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259234i  I"mStartingZAM^>ձ ձ  DAT read: Range 10 to 50 : 70.0 m (Round-trip 93.4 ms) speed -0.1 m/s - X#Rx 1: Read range message, but no direction.ر ص B9ر  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Āx,8^A> @y>pʈ@9>ԅ1Y>Dt?>>H@ۿw?=ÿ/ڿ@ ?@.?.?i?> @ɨ>׌; >!CJBJ<)IN=iN;)Ra= PHVHV4b"*= bx=Yb < j ?h]E359j%m?aM35Yjl ijsBIM<qM@jFDjxGCG)IGBG! =GG:DG<G F,DAT read: user:1233> %BDAT read: Tx time:19:43:20.1085 %$Ping request sent.%NH`ۿ`?lÿ` ڿCK?੦?`!?j?Nȁ@ɨNo; N CVBZ@)IHbHb%4jх< jI=Yj;Q j>l٣l nGlr;; r>t]z359vT&m?az35YvW ivBxzq~@vFDvz ;v ;vFg35 @2f1Zf1Bf1Jf1:fJe:e ?r\z\\\G@i))   i I"%StartingZA9MU=}JDAT read: TxSync time:19:43:20.1078 }checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251829:JMBoHBJIJJIRJMW ZJM JYIY- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502864x,(6^A:ط@y:=Lj@9:M$Y:Է6>:HX ۿf?@n¿`|MڿWl?7?`R?`rw?:ط@ɨ:!; 8^B^>)IMMb@Mb@Mb@II I)IIIyMl?:v?X9v?M>M=M}= M1@)M@IM@iM@IM@HeHe~4}Dһ }@=Y}+:Q >٣ Gm >]359'm?a35Y> iBC>m;q@FD<:j35%B %@-hE2fIZfIBfIJfI:fIJeQ:eU?r\uC>z\uC>\uC?\uB̚@i))隁iI"Starting"mLSent speed cmd:/1V10000 Response:/0@ ZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755581G M>G CG )IG BG . =G G 9DG ٰ<G FH˟C H˟CHH. ="H, =*H6x,zP^AJ@yJ@9J(YJ9>JH5ۿy? d¿ 1@Waڿ5e? ? ?s?J@ɨJ%; J"Crchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007033~B~F)II) A HH4%< %P=Y%;Q ->)٣) -G)5d 5>9]E359='m?aE35Y= i=BAMlqM@=FD=:=:=ln35y }1@y2fZfBfJf:fJe:e?r\z\\\մ@i)1)999i99IA"StartingZA!M==ZIbIjIrIzII:IIIIIz<Iz<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259182:J }\KBJ u9JJ RJ X ZJ    3K gk-x,j^A11Mb@Mb@Mb@ )IyPn?)\(?v/?>G=xi= )I@i @(@HUHUs4}S }*=YQ >٣ G >]3595)m?a35Y iB&7>m;q@FDz ;;r35 4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5110292fZfBfJf:fJe:e.B?r\&7>z\&7>\4?\@i))iI"&Changing to mode: 3"Detach mode."2Commanding negative:54599D?DDE5 EZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763179x,}^A%B%A)IH5H54]s ]u=YYQ e?a٣a eGai m?q]}359u0*m?a}35YuW iṵByyq@uFDu;u;uu35 q@B*** querying acoustic contact ***ii2fZfBfJf:fJe:e@ @r\z\\\i))iIBhABhAGO>GCGGG# =GG:DG<Gh F?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015443Cu9D =D D E `5 E ZA M] >=x,_^AZI"PbI"ljI rI zI"k_;I"z:I I I"ɱ<I"ɱ<I" <I" <J@@yJ@9JpYJ3>>JH@ڿ@֥?ÿ`LYٿg? ֝?? o?J@@ɨJU; JCVBVC)IZ >iZ=)Z= Z=HbqHb#5jM; jS=Yjl٣l nGlrt< r>t]359v[+m?a35Yv ivܰB6q@vFDvw;vk;vx35 Z@2f9Zf9Bf9Jf9:f9Je9:eE@r\Yz\Y\Y\]R@ii)q)yyiI]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266993C):JJOBJ9JJRJY ZJTyMSDa<{n]SL@7(~|D <DDE_5 EZAM&>% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520947gx,6^AF@yF@@9FbڼYFM>>FHGڿ?F0Ŀ d*ٿbι? K? /?4o?F@ɨF"; F!C^B^I)IUMb@Mb@Mb@QQ Q)QIQyUX9v?&1?A`"?U=U=UY= Ut@)QIUȒ@iU@QU@Hu|Hub(5< @=Y;Q >٣ G[; >]359},m?a35Y iB$->m;Hq@FD::|35 @2fZfBfJf:fJe:e,G@r\$->z\$->\G80?\}@i))隹iIC9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771515DO9DDE EZAM>>G P>G CG )IG BG  =G GDG G <G FOx,f^A>u@y>*@9>b ʼY>>>>HnڿN? +TĿ@!kٿ@B?@dC?A?o?>u@ɨ>; >CJBJB)IHVHVB-5bBDAT read: Rx Time:19:43:22.6070 fTRx dataTimestamp_ set to:1736538203.307379fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024150}V }K=Y}a;Q >٣ G; >]359-m?a35Y- iB q@FDe<f<+35  a@ 2fyZfyBfyJfy:fyJey:e} @r\z\\\j@i))i IC%=B%=Ce)9D6DDE`5 EZAM-N>ZIe4bIeqjIarIazIeI;Ie:IaIaIe<Ie<IeH <IeH <uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274803:JE OBJE 9JJA RJE Z ZJE xsqrpmfdaZWSRPRlwqid_WMHB@?:55/.-*)++%$ E ~G|x,^ABkA P)YykA B=+@y=:@9=ZY=m>>=HQڿ@-?@fĿ (Lٿ˸?@Ǫ?`?Fp?=+@ɨ=I^; 9UBU3)IIY)Yaa@ @ @  @ HH(*5fc 8=Ydf;Q >٣ GK; >]359.m?a35Y i Bi+:m~;حq@FD;>N35 *@2fZfBfJf:f=DAT read: Range 10 to 50 : 70.7 m (Round-trip 94.3 ms) speed -0.3 m/s -X#Rx 1: Read range message, but no direction.fB9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Je̬Q@:e@ t?i1)9)999iaaIiC=9DAD4DDE{2 EZAMj>} ,DAT read: user:1234>  BDAT read: Tx time:19:43:23.9085  $Ping request sent. >jH">ڿK?ͅĿ`- sٿj??@?.p?j6@ɨj7+; hޕBޕ5)IHxH&5*< Z=Y{;Q >٣ Ge;  >9]E359=/m?aE35Y=m i=BiM :ImMM;Mqm@=FD=c;=FV?=35y  @B*** querying acoustic contact ***ii2fZfBfJf:fJe:ek%?iA)i)iiiiiqIqC9GAGAGE)IGEBGE =GAGE;DGEͰ<GE FDU1DYDYE],2 EYZAiMZ>JDAT read: TxSync time:19:43:23.9078 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251697Džx,M^Aj2@yjB@9jQ=Yj(>>jH`EڿL?xĿ`+ٿ@ ?1??`Sp?j2@ɨj5; j#C5BZI=/bI=ijI=2rI9zI=E;I=:I=c3I9I=<I=<I=<I=y٣y G >]3590m?a35Y i)Bi9m&;ƭq@GD4;_?K35B @eE2fZfBfJf:fJe:el?i)) i  IBB=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503233CM9:J NBJ 9JJ RJ [ ZJ $$##!   D/DDE_5 EZAM%> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754708Yͅx,{9^A:e@y:+@9:t%Y:6>:HmڿS?ÿ"ٿ?`-$?4?{{?:e@ɨ: ; :CF~BF)IJ%=iJ=)J= J=% %% %%  % % %Mb@Mb@Mb@!! !)!I!y%rh|?EԸ?kt?%=%=% 0= %@)%ن@I% @i%"@!%\@H5H5*5M` MM=YMڜQ U>Q٣Q UGQ׻ >]3591m?a35Y i7BiT:V&>m;q@GD"::359 =A@92fZfBfJf:fJe:e?r\V&>z\V&>\s*?\.@i))iIC&9DhAzDfAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007156D=-DDE_1 EZAM>>GA GE CGE )IGE BGE  =GA GA GE <GE FFԅx,mVS^AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258927Z@yZt-@9ZcFYZI:>ZHojڿ`d?ÿ 3#ٿy?>?&?v?Z@ɨZ; Z"CbyBb)IHn:Hn# 5v vQ=YvQ v>x٣x zGxz : ~>] 3592m?a 35Y iCB  q @GD6::235 @!2fAZfABfAJfA:fAJeI:eM?r\az\a\a\en)@iq)y)yyyiIHAHAC}9D`*DD!E-0 E)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510820ZAiM>:Je RMBJe -9JJa RJe \ ZJe Ju > Ju >gڅx,9m^A%)@y8@9ıYrJ<>H@}VڿR?@4Ŀ (`%ٿ>?@(8?e?t?騭%)@ɨ0;  CwB)IMb@Mb@Mb@ )IyQ?S㥻?kt?=/= Ϋ@)I"@iQ@HH+5- -+=Y-a;Q 5>1٣1 5G1=\9; =>A]M359Ey4m?aM35YE iERBU+>mU;UǦq]@E GDE;^;EP];E_35i u@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7645232fZfBfJf:fJe:e +@r\u+>z\u+>\uǙ;?\u]@i))隩iID*DDE EZAMb>ZIM .bIM jIM 1rII zIM D;IM \:IM 3II qU @iU @uU @m] @e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014665Эx, ^Ab:@ybhI@9bΡYbĽ=>bH`8ڿ?T~ĿE/ٿ۷?9?ۓ?3r?b:@ɨb; b!CrqBr )IIt)tHz~HzE)5 > t=Y;Q ?y٣y }G,; ?]3595m?a35Y7 i^Bq@GD;;j35 @EB*** querying acoustic contact ***iAiA2fIZfIBfIJfI:fIJeQ:eU@r\z\\\f@i))iID?D?D%DDE0 EZAM>GQ>GCG)IG߉BG =GGG%<G FHĢC HĢCHēCH ="H =*HĞ6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266926ex,^AH(H*BABO@yB^@9B*3YB\I>>BHڿ@ ?Ŀ@H8@_lٿz?@ ƒ?+?q?BO@ɨB; @JeBN(IHVHV +5^p ^P=Ybk;Q b>d٣d fGdft; j>h]n359j6m?ar35Yj ijkBpr^qr@jGDj;j];j35t zۗ@x2fZfBfJf:fJe:eE@r\1z\1\1\5x@iI)Q)QQQiQYIY%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519142DA$DDE1 EZA)ME=:JeJBJe#9JJaRJe] ZJe  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772042zx,º^ABcW@yBf@9BRYB?>BHڿ@?Ŀ; "_ٿZ? ??p?BcW@ɨB~݌; BCN_BR(IEMb@Mb@Mb@AA A)AIAyEy&1?&1?/$?E`=E=E,= A)E@IAiEO@AEG@H]H]*5mټ m@=Ym:Q m>q٣q uGq}; }>]359h8m?a35YC ixB >m;q@GD::u35 8@2fZfBfJf:fJe:e`S @r\e >z\e >\e=?\e%@i))隙iIZI]%bI]qjIYrIYzI]=;I]:IYIYDMA DIDIEM0 EIZAYM>-BDAT read: Rx Time:19:43:26.4081 -TRx dataTimestamp_ set to:1736538207.087222=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024466G G CG {)IG ˉBG % =G HDG :DG <G Fx,o^AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275156Nf@yNPv@9N#YN3?>NH`Oٿ@g?@7ĿA*Dٿ@s1?`+??jp?Nf@ɨNC; NC YB (I,>i<H%{H%'55 5N=Y5:Q =>A٣A EGAM,; M>I]U359M9m?a]35YM iMBY]}q]@MGDM;M8;M35a m@i2fZfBfJf:fJe:e @r\z\\\{@i))iIBBCBDyDDDE0 EZA9M]>=DAT read: Range 10 to 50 : 71.5 m (Round-trip 95.4 ms) speed -0.2 m/s -EX#Rx 1: Read range message, but no direction.15B91ET****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.:J KBJ k9JJ RJ ^ ZJ x,/^Afk@yfJ{@9fYf?>fH=ٿ@^? Ŀ C;ٿ h*?`U??o?fk@ɨfG; f"CޥLBޭ(IHhH5%n -<=Y5(:Q =>A٣I MGQ]: ]>q]359u7;m?a35YuV iuBrq@u GDu BDAT read: Tx time:19:43:27.6585 $Ping request sent.>ZIm (bIm jIi rIi zIm ,@;Im ľ:Ii Ii = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250447x,uV^AJLu@yJ@9JBCYJ?>JH`ٿ?ĿG@*ٿ ?4??o?JLu@ɨJߋ; JCZ@BZ(IMb@Mb@Mb@ )IyV-?EԸ?{Gz?==#= @)@If@i=@H H4&l P=YE:Q >٣ GA; >]359Rm;q@$GDa';T&;+35  (@ %B*** querying acoustic contact ***i!i!u5ZDetected possible detachment. Starting timer.Zf1Bf1Jf1:f1Je9:e=?r\]* >z\]* >\][I2?\]c@ii)i)qqqiqyIyD-D)D)E-4 E)ZA9M]>GP>GCGb)IGBG =GGDGG<G F՝=՝p=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502744&x, 1"^AJn@yJ4~@9JȗYJLA.>JHٿ`W?`¿D@AJٿɵ??V?I?Jn@ɨJ; JC~>B~(II) A H"H5%'I -V=Y-Q ->1٣1 5G15  =>A]M359Eq=m?aM35YE/ iEBIMqM@E'GDE`:E:E35Y ]N@YZfBfJf:fJe:e?r\z\\\ȋ@i))隹iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754792DUDQDQEU5 EQZAaM}=I) }~GSkA :JBJ9JJRJ_ ZJ)wOySkA>B checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006433MRx,<^AJGt@yJ@9JȚYJHy0>JHٿ@?) ÿGg<ٿ`3?X?>? 5?JGt@ɨJ; JC^/B^(IuMb@Mb@Mb@qq q)qIqyu?A`"?u=ut= u@)qIuO@iuf@qu@HH\4 B=YdQ >٣ GS: >]359>m?a35Y iB+>m;fq@+GD::-35 1@ZfBfJf:fJe:e`ڛ?r\%+>z\%+>\% 4?\%%@i1)9)AAAiAQIYZIE"bIEjIArIAzIE|;;IE:IAIADDDEo5 EZAM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258448G M>G CG C)IG BG # =G HDG G ܰ<G F8x,U^A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511830Np@yN*@9N*桼YN3>NHٿ@n?mÿE #<ٿ X?nl٣l nGprÔ v>x]~359z@m?a~35Yzf izB|~q@z/GDz;z&;zz35 B N@ gEZf)Bf)Jf1:f1Je1:e5?r\Qz\Q\Q\U@i))iIDmDiDqEup5 EqZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762490:J= BoHBJ= 9JJ9 RJ= ` ZJ=    bx,o^A t@y n@9 iY 37> H"ٿ?ÿG3ٿT? ,???@{? t@ɨ ,; CQY}>i}e>HH4Y ;Q >٣! %G!-ZZ: 5>A]M359EAm?aU35YEU iEϱBQUqU@E4GDE(;E(;E35a aiuY?u<}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014825ZfBfJf:fJe:e 1@r\z\\\@i))iID?D0>DmDiDiEm1 EqZAM;>% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266494L"x,H^A=.x@y=@9=Y=:>=Hٿ?o^Ŀ@H*ٿ`ȶ??`:?@v?=.x@ɨ=-; 9M BM(I Mb@Mb@Mb@   ) I y Dl?&1? rh? O > = C = @) I i O@  @H%H%4=, =A٣A EGAE˰: M>Q]]359UBm?a]35YU iUٱB]#3>m];]q]@U8GDU:U:U35i m^@iB*** querying acoustic contact ***iiZfBfJf:fJe:e(@r\#3>z\#3>\3"?\ɜ@i))iIG5L>G5CG5$)IG5BG5, =G1G59DG5<G5 FDUDQDQEU 1 EQZAiM>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5186210t(x,Cu^AIIIIIIZIF(bIFjIDrIDzIF,@;IFy:IDIDIFɖ<qRIFʖ<iRIF"<uRIF#<mR@y@9xY=>Hrٿ `?^ĿCLٿ w޶?n??r?@ɨJ;  CmBm(IH}H}4 V=Y*:Q >٣ G.; >]359Cm?a35Y iBq@:JEozLBJEu9JJARJEa ZJEhP5  BDAT read: Rx Time:19:43:30.1589  TRx dataTimestamp_ set to:1736538210.870702 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0284976.x,O^A:֔@y:<@9:$쉼Y:T>>:H`Fٿ`?gĿ@lT`6ؿ@[Ҷ? O=?@? ?q?:֔@ɨ:E; :CFBF|(IMMb@Mb@Mb@II I)IIIyMףp= ?y&1?Mb?M>M`=M= M@)IIMf@iIIM@H]H]Y4m_ uL=Yu9Q }>y٣y G; >]359Dm?a35Y iBF>m;q@AGD ; ;Ŀ35 q@ZfBfJf:fJe:e\i @r\F>z\F>\;/ ?\@i))   i  IDyDyDyE}0 EyZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274415G1 G1 G5 )IG5 jBG5 2 =G1 G5 8DG5 <G5 FHɡC HɠCHɔCH% ="H' =*HI65x,I-^AB%=@JDAT read: Range 10 to 50 : 72.1 m (Round-trip 96.2 ms) speed -0.1 m/s -JX#Rx 1: Read range message, but no direction.@B3B9@NT****** received valid address query ******NR****** received valid ping request ******NQuerying Benthos address 50 with one ping in standard two-way mode.jڤ@yj@@9jYjz?>jHtٿ-?Ŀ ZؿZݶ?r?@?`p?jڤ@ɨjQ; hBp(IH5H5_4E@ EM=YEQ E>I٣I MGIU; U>]359Fm?a35Y iBaq@FGDd::c35  @ZfBfJf:fJe`fR@:e*q?r\z\\\@i))iIDDDE0 EZAM%>ZI bIjI0rIzI9;I:Iـ3IIc<Ic<I<I<5,DAT read: user:1236> =BDAT read: Tx time:19:43:31.4585 =$Ping request sent.EJHIٿ?` ſ:dؿ`Eɶ?@|??|o?J@ɨJv; J CbBbe(IHjHjY4r; rP=YrѸQ v>t٣t vGtzp; z>|]359~ Gm?a35Y~P i~B  q @~JGD~:~:~35 %@!ZfBfJf:fJe:ei?r\z\\\Μ@iI)I)iiqiqqIyJDAT read: TxSync time:19:43:31.4578 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255461DADADIEM3 EIZAYM9>E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502878Bx,h ^AZC͂@yZ܉@9Z'YZp?>ZH*ٿ?ſj-ؿ@?@? ?@io?ZC͂@ɨZ/; ZCbڈBbS(If=ifC=Mb@Mb@Mb@ )Iy/$?X9v?V-?&1>=< @)3@IO@i|@3@HH34h ==YQ >٣ GE; >]359fHm?a35Y iBY>mz;0q@PGD::q35 @ B*** querying acoustic contact ***i i ZfBfJf:fJe:e%Ë?r\=Y>z\=Y>\=??\=C@iI)Q)QQQiQYIYDizDmhAGK>GCG(IGQBG" =GG9DG<G FDD D E 0 E ZAM= >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754937Hx,$^AZI*bI*sjI(rI(zI*6;I*:I(I(I*<I*<I*- <I*. <JԂ@yJ@9JYJH>JH`ٿ? ſ@Om`[jؿ?@Eߓ?? a?JԂ@ɨJ9(; H^وB^R(IHjHj-4rL̻ rZ=YrfQ r>t٣t vGtzV; z>]359Im?a 35Y iB  Fq @UGD6::35 @ZfABfAJfA:fAJeA:eM?r\az\a\a\eP>@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007517i1)9)999i9AIADDDE4 EZAM >:JBJk9JJRJc ZJEM:  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261471Nx, >^AF=@yF @9FRYFE>FHؿ@?@sſ`|"ؿ?@?࿊?f?F=@ɨFv; D^͈B^C(IUMb@Mb@Mb@QQ Q)QIQyUNbX9?K7A?Mb?UE>U >U= U@)QIU9@iUf@QQHuHum4-b A=YQ >٣ G6< >]359Jm?a35Y i)Bn>mc;:q@[GD::n35 U@ZfBfJf:fJe:e?r\}n>z\}n>\}?\}6@i))隱iIDDDE`5 EZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511326G F>G CG (IG BH>ؿ`$?@?Qſ$`׿ ?? 4??j?B@ɨBo; B CNψBNF(IIP)PHVHV4EA< EN=YM4Q M>I٣I MGIU8< U>Y]e359]Km?ae35Y]m i]5Bimqm@]aGD]|:]$:]35q u.@qZfBfJf:fJe:es@r\z\\\?@i))iID>D!>DQDQDQEQ EQZAaM=ZIebIezjIe1rIazIe0;Ie:Ie3IaIeJ<IeJ<IeP<IeP<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015169 E .~Ge lA } A) iy lA A:J5 c{LBJ5 9JJ1 RJ5 d ZJ5 !.7<l[x,zRr^A%L>@y%M@9%ZCY%A>%HYؿ`?9ſ@׿88?`?`j ?`Yl?%L>@ɨ%>; !}ˆBޅ7(IH]H]T4G[ 2=YM:Q  >Y٣a eGchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269098iT; >]-359uMm?a535YL e5tIiDB15q5@hGD<;,35A E@AZfBfJf:fJe:ez@r\z\\\ @i9)9)隁iIDQDQDQEU0 EYZAiM{>- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519476bx,+^AB3(IMb@Mb@Mb@ )IyzG?i|?5?V-? W>=< )IO@i@HH4h [=YQ > ٣   G  ?y]359}"Nm?a35Y}~ i}NBqx>mZ;Ƽq@}mGD}~(;}";}E35 +@B*** querying acoustic contact ***iiZfBfJf:fJe:e6@r\qx>z\qx>\S?\Jޙ@i))iI GuB>GuCGu(IGu2BGu8 =GqGu7DGuS<Gu FDDDEi2 EZAM!>}>}<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771276ix,#^ABvW@yBf@9BȳYBw@>BH@+ؿ<(?YſN_׿-?x?`F?@m?BvW@ɨB; @JɈBJ?(IRG>iR<)R= Ra=HVHVN4^k\= ^a=YbQ b>`٣` bGdf < f>1]=3595Nm?a=35Y5 i5XB9=Xq=@5sGD5;5;5p35I M@IZfqBfqJfq:fqJey:e}? @r\z\\\@BDAT read: Rx Time:19:43:33.9600 TRx dataTimestamp_ set to:1736538214.658463checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027904i)!)!!!i!)I1DDDE 2 EZAM>:J5LBJ5-9JJ1RJ5e ZJ5>==:970.,,*&&%"    checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278106Aox,^AZ`@yZ]p@9ZYZ@>ZH_ؿ,?ſ`ân׿@C?@@??`Wn?Z`@ɨZ*C; Z!CfȈBf>(IMb@Mb@Mb@ )Iy)\(?rh|?L7A`?Ga>=+= (@)I@I9@i@z@HH4Fi 9=YQ >٣ G+; >]359Om?a35Y ieB&>mP;q@yGD:3;235 @Zf9Bf9Jf9:fAJeA:eE @r\e&>z\e&>\e?\eN@iq)q)qqqiyyIyZI5bI5jI50rI1zI5\8;I5:I5ـ3I1qE@iE@uE@mE@DDDE0 EZAM- >DAT read: Range 10 to 50 : 72.9 m (Round-trip 97.3 ms) speed -0.3 m/s -X#Rx 1: Read range message, but no direction.̑B9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ge >>Ga Ge (IGe (BGe 7 =Ga Ge 6DGe <Ge F#vx,j^A*,DAT read: user:1237> .BDAT read: Tx time:19:43:35.2586 .$Ping request sent.2NH ؿ/?"ſ^׿W?ė?? Gn?Nh@ɨNL; N C%ɈB!HH4-{: -F=Y-ɠQ ->Q٣Q UGQ]g; ]>a]m359ePm?am35Ye9 ierBimqu@eGDeJ0;e$1;e35 @fEZfBfJf:fJe9R@:e?r\Az\A\A\E@iY)Y)YYYiYaIaDDDE0 EZAM&>JDAT read: TxSync time:19:43:35.2579 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253628O|x,^A:J&MBJ&u9JJ$RJ&f ZJ&%**('"!"     Nt@yN-@9NJüYNx?>NH}׿a5?@EĿ@G׿@yd?y??n?Nt@ɨNa; NCjшBnI(IIp)pHvHv(4~7= ~`=Y~Q >٣ G ;;  >]359OQm?a35Y i}BSq@GD<׿<35 @ZfBfJf:fJe:e 2?}ZIM bIM jIM 1rII zIM <5;IM :IM 3II - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7576554x,is ^Avp@yv@9vHԼYv57>vH׿`??"ÿ [U׿T)?O?h?z?vp@ɨvЌ; v CوBS(IMb@Mb@Mb@ )Iyn?)\(?Q?V>G=\= ?@)3@Ii|@(@HH-4= ?=YQ >٣ G >]359Qm?a35Y+ iB}t>m^;ƿq@GD!*;(;35 @B*** querying acoustic contact ***iiZfBfJf:fJe:eP?r\}t>z\}t>\} >\8@G:>GCG(IG2BG5 =GGG <G FHC HžCH•CH5 ="H1 =*Hb7i9)9)999i9AIADDDE EZAM+>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008748^x,L'^AN~e@yNt@9NZټYN:>NH`hؿj7? ?Ŀcc׿ ?r*?3?\u?N~e@ɨN; LZ߈BZY(IHzHzs4< W=Y պQ  > ٣   G j >]%359pRm?a%35Yy iB!-q-@GD%:G:351 55@1ZfaBfaJfa:faJea:ee@!?r\z\\\y@i))隑iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260988DDDE0 EZA)ME=:J&WMBJk9JJRJg ZJJgAIgA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515238Gx,$*A^A:ep@y:@9:8ּY:'=>:HD׿8?@ĿL׿Q?Rƚ??`q?:ep@ɨ:; :!C^B^a(IuMb@Mb@Mb@qq q)qIqyuMb??L7A`?u@>u=u+= u(@)uI@Iuf@iu@qu̜@HH4< A=Yl:Q >٣ GuM; >]359Rm?a35Y iB\>mv;}q@GD':#:35 ϟ@ZfBfJf:fJe:e?r\\>z\\>\J>\x0@i1)1)199i99IAZI="bI=YjI9rI9zI=|;;I=:I9I9DDDE0 EZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765287G 7>G CG (IG ABG 2 =G G G @<G F\qx,[^A2:?2%=6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021228BU@yB@9BGԼYBT{>>BH׿`٣` fGdf-; f>h]n359j~Sm?an35Yj ijBprGqr@jGDj:jQ;j 35t vH@tZfBfJf:fJe:e%e@r\9z\9\9\==@iI)I)IQQiQQIYDDDE0 EZAM5=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272721x,t^A:JByJBJB-9JJ@RJBh ZJBJF ? JF?N@yN^@9NѼYN.?>NH7׿fD?Ŀֿ`?W7?@ƺ?`Co?N@ɨNv; LVBV~(IHbHb14f= jI=YjG:Q j>l٣l nGlr@; r>t]v359vTm?az35Yv ivBxz澿qz@vGDv:vS:v35 _@Zf!Bf!Jf!:f)Je):e-@r\Az\A\A\EXV@iQ)Y)YYYiYaIaDDDE%0 E!ZAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527266M=ZIU bIU jIU 2rIQ zIU 2;IU f:IU c3IQ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776725Vx,^A:*@y:@9:ϼY:b?>:H׿K?GĿ`Kֿj?`?? n?:*@ɨ:'z; :CR BR(IIT)TmMb@Mb@Mb@ii i)iIiymʡE? ףp= ?y&1?m-2>mQ=m`< mV@)m3@Im|@im@im@HH74k= ?=Y%:Q >٣ G; >]359Tm?a35Y: iòBJ>m;οq@GD;;V35 @Zf Bf Jf :f Je :e 2 @r\-J>z\-J>\-f>\-9@i9)A)AAAiAIIQDYG9>GG(IGVBG- =GG7DGR<G FDDDE4 EZAM>BDAT read: Rx Time:19:43:37.7611 TRx dataTimestamp_ set to:1736538218.443436checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030025x,O^A B(IHH4-< -Q=Y5Q 5>1٣9 =G9IMſ=)IM e>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281078 ~G !)UyQUAY]e459]Um?ae45Y]` i]βBaaqe@]GD]:]:]45i uR@B*** querying acoustic contact ***iiZfBfJf:fJe:e@Ȏ @r\!z\!\!\!i9)9)99AiAAIID-D1D9E=a5 E9ZAiM9>:JRIBJ9JJRJi ZJJhAIhA DAT read: Range 10 to 50 : 73.7 m (Round-trip 98.3 ms) speed -0.2 m/s - X#Rx 1: Read range message, but no direction.ؑ ؕ fB9ؑ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.x,ԁ^ANg@yN@9NJɼYNzF?>NHH׿ ^?@ ſ`@_tֿ?(?p?o?Ng@ɨN; NCVBV(I=Mb@Mb@Mb@99 9)9I9y=(\?ˡE?S㥛?=z>===/< =(@)=v@I9i99=@HUHU4eU= eF=Ym:Q m>i٣i uGqu< u>y]459}Um?a45Y} i}ֲB,>m;q@}GD}H!;}2 ;}Z45 @ZfBfJf:fJelR@:eT?r\,>z\,>\?\o@i))iIDeDaDaEa EaZAM>,DAT read: user:1238> BDAT read: Tx time:19:43:39.0586 $Ping request sent.GCG )IGoBG( =GG8DG;<G FVx,L^A*JDAT read: TxSync time:19:43:39.0579 .checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252773BQ@yB@9BGIżYB?>BHֿKg? L%ſpEֿ`Ṷ???@n?BQ@ɨB-; B CrBv(Iz=izR=HH4-w= -N=Y5ġ:Q 5>1٣1 ]GY]< ]>a]u459eHVm?au45Ye ieBq q@eGDeb;e;e 45 /@ZfBfJf:fJe :e  I?r\)z\)\)\-̇@iY)Y)YYYiYaIaDyzDyD D D E `5 E ZAM5 >ZIbIjI1rIzIT1;I:I3II<qI<iI<uI<mAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502666꼆x,k*^A:@y: @9:ȼY:=>:H3ֿi?Ŀ@jHֿ@5?`M?"? \q?:@ɨ:8; :"C^)B^(IHnHn"4vIB= vO=Yv Q v>x٣x zGxzZ:J=BJ=9JJ9RJ=j ZJ= .:$  e>i]u459mVm?au45Ymg  imBy}q}@mGDmz;me;mb 45 @ZfBfJf:fJe:e?r\z\\\銚@i))i I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759788DDDE EZAM9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006295MÆx,^A:@y:O%@9:a˼Y:>>:H sֿ`o?@ſֿK? k??o?:@ɨ:]Ӌ; :!CF4BF(IMb@Mb@Mb@ )Iy`"?sh|??:v?==< ?@)I@I@iH5H54M= <=Y=JQ >٣ G%:; %>Q]e459UWm?ae45YU  iUBe>me;eϮqe@UGDU]:U:U-45G}>>G}CG}*)IG}BG}) =GyGyG}H<G} F @ZfBfJf:fJe:e@|g?r\E>z\E>\E?\E\@iq)q)yyyiyyID!D!D)E-_1 E)ZAAM]3>]?]Y?echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258584Ɇx,L)^AZI2#bI2sjI22rI0zI2D<;I2:I2c3I0I2j<I2j<I2- <I2. <R6@yRE@9R(YR&?>RHkֿ`y?/ſ`Jտ@DK?`$?? ro?R6@ɨR\ً; RCZ=BZ(II`)`bAbAHfHf4nJ= n\=Yr\;Q r>p٣t vGtv0< v>x]~459zXm?a~45YzP  izBWq@zGDz:zb;zP45 K@Zf9Bf9Jf9:f9Je9:eE`z?r\Yz\Y\Y\] z@ii)i)qqqiqyIyEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.527034DDDEo5 EZA)ME=:Jug3LBJu89JJqRJuk ZJu !  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780551#Іx,C^AYYMb@Mb@Mb@ )Iyq= ףp?~jt?{Gz?==ף< )`@I@i@f@H H  4YQ >٣! %G!% %>)]459-Ym?a45Y-  i-B>m;q@-GD-l<-l<-045 B*** querying acoustic contact ***iiZfBfJf:fJe:ev@r\>z\>\?\j@i9)9)AAAiAIIQDDDE0 EZAM*>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.030247Gu?>GqGu=)IGuBGu. =GqGu7DGuG<Gu FH=ȞC H9H=ȔCH=- ="H=, =*H=Y}6׆x,N]^AF?@yF@9F2YF-T?>FHտ ? +sſ @n[տa'?&??o?F?@ɨFS; DRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.282239bi٣i mGiuG< u>y]459}Zm?a45Y}. i} BȮq@}GD}:}:}45 X@ZfBfJf:fJe:e@r\z\\\]@i))i I DDDE1 EZAM>ISI[ 3I[g.ISISISZIbIojI1rIzI2;I:I3II<I<Ic <Ic <Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5342348݆x,rw^Af馄@yfO@9f=˝Yfai?>fH@Sտ,?@XſL"տm??`o?o?f馄@ɨf:; f!CnABn(Irl>ir4<)t v=HzHz4һ< P=Y pF;Q  > ٣   G &< >]%459[m?a-45Y iB)-Lq5@GD/#;P;45EB E@EhE:J]2KBJ]-9JJYRJ]l ZJ] W_Bs$ ZfBfJf:fJe:et@r\Yz\Y\Y\]|@ii)i)隉iIDchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.788832DQDQDYE]0 EYZAM5.>e BDAT read: Rx Time:19:43:41.5619 m TRx dataTimestamp_ set to:1736538222.239721m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039872Jx,4J^AzĄ@yzԋ@9zMYzA?>zH`bտ?ſ:"@Կ S?@??}o?zĄ@ɨz杊; zC 7B (IMb@Mb@Mb@ )IyMbX?/$?{Gz?== V@)I@i@ @HH&4G%F>G%CG%I)IG%BG%) =G!G%8DG%<<G% FuK1 u5=Y}g;Q }>y٣ G< >]459;]m?a45Y iB>m;uq@GD"A;?;"45 @ZfBfJf:fJe:eIR @r\>z\>\ 4?\sr@i) )   i IDDDE0 EZAM%>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290183PJx,)^AH$H&@AZI*!bI*RjI(rI(zI*:;I*:I(I(I*<I*<I*;I*;Jg@yJ@9JtYJNg?>JHAտڰ?ſ-Կ ߳?@[? j?` p?Jg@ɨJu; J C ;B (IHH-4-R< -b=Y-=;Q ->1٣1 5G1=0:< =>A]M459E^m?aM45YE iE!BIUqU@EGDE::E:E &45Y ]l@YZfBfJf:fJe:e7@r\z\\\$@i))iI%DAT read: Range 10 to 50 : 74.3 m (Round-trip 99.1 ms) speed -0.2 m/s -%X#Rx 1: Read range message, but no direction.B9-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.DQDQDQEQ EQZAaM=:JMBJu9JJRJm ZJ ,DAT read: user:1239>  BDAT read: Tx time:19:43:42.8086  $Ping request sent. FH`տ@y?Fſ6 Կ}???o?F@ɨF; D^0Bb(IMb@Mb@Mb@ )Iy"~j?MbX9? rh?S=ʡ=C< )I@i@H H 4%? %;=Y- ;Q ->1٣9 =G9E; E>I]]459M_m?a]45YM iM(Be >me;eqe@MGDM(O;Mh-;M)45q }@yB*** querying acoustic contact ***iiZfBfJf:fJe@3R@:e-z\ >\X?\i @i))隙iIDzDhA-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245049DeDaDaEe0 EaZAyM;>GC>GGGG( =GGG2<G F{\x,^AB=B%=Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.496713J @yJ/@9J܋YJq@>JHGԿ?@ſ 9nԿ?@Z{?`?"o?J @ɨJ; JCb1Bb(IHjHj4r; ra=Yv"Q v>t٣x zGxz|Y; z>|]459~`m?a45Y~ i~.B  짿q @~GD~2:~:~-45 @ZfABfAJfA:fAJeI:eM+?r\iz\i\i\m@iy)y)隁iID D DE0 EZA!ME= ~GkA A)ykAJAZI5bI5\jI52rI1zI5$9;I5.:I5c3I1I5<I5<I5<I5<]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753408Jx,^A:Y@y:'@9:vY:;>:H@Կ?t[ſ@ >YԿ`a? Α?@X?Pu?:Y@ɨ:; :Cb)Bb(IHjHj4  H=Y LQ  >٣ G; >!]-459%am?a-45Y%0 i%5B15q5@%GD%p:%:%0459 =@AZfaBfaJfa:fiJei:em ?r\z\\\)@i))隡iI:JBJ89JJRJn ZJJ> J?DuDqDqE}0 Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008352ZAM>e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256495Mnx,^AR$@yR3@9RYR=>RH _Կ`#?cſA @Կ`?T??r?R$@ɨRی; R!C``UMb@Mb@Mb@QQ Q)QIQyUT㥛 ?ʡE?I +?U>U-=U94< Q)QIQiQQQHiHiG@>GCG=)IGBG+ =GGG_<G F- -9=Y54Q 5>9٣9 =G9=0U; E>A]M459Eecm?aU45YE iEmU;UOqU@EGDE ;E ;Eu445a e@aZfBfJf:fJe:e?r\2>z\2>\ó?\@i))iID>D>DDDE EZAM!>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508500ח x,Hn,^AHHBAN)F@yNU@9N YNp>>NHԿ?)ſ M Կ?@%?@W?gq?N)F@ɨN5; N C~B~(IHH[4%Ma %]=Y%̋;Q %>)٣) -G)-8< 5>1]=4595dm?aE45Y5L i5ABAEЧqE@5GD5;5:5745I U,@QZfyBfyJfy:fJe:e@r\z\\\@i))隱iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760606D1D1D1E1 E1ZAAM]=:J BJ -9JJ RJ o ZJ  TYSI>1)#%'# !   JgAIgA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014471Cx,TF^ANk@yNz@9NG oYNB?>NH #GԿ@?cſYKӿ`R?`?(?`p?Nk@ɨN; N"CnBn(IMb@Mb@Mb@ )Iy@5^I ?&1?:v?b>=T< ?@)Iif@H%H%4=1 =9=YE1c;Q E>I٣I MGIUD'< U>Y]m459]ffm?am45Y]6 i]IBu2>mu;uqu@]GD]xL;]K;];45 ɜ@B*** querying acoustic contact ***iiZf!ZI1bI5BjI1rI1zI1I5:I1I1q=@iE@uE@mE@Bf!JfI:fIJeI:eM@r@r\2>z\2>\R ?\@i))隡iI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264540D=D9D9EE5 EAZAQMu6>GGG*)IGBG* =GGG<G Fx,$`^Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.524463 L@y @9 CcY +?> HԿ`{?dƿJbӿ 5?`7h? j?`p? L@ɨ -q; C%B-(II1)1H=H=4M M[=YM:Q M>Q٣Q UGQ< >]459gm?a45Y iPB q@GD::>45 @Zf!Bf!Jf!:f!Je):e-@r\az\a\a\e @i))隙iIDDmDiDiEm4 EiZAyM>qquchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.776714x,}z^AV埅@yVK@9VYYVW?>VHӿ@?ƿi dӿ?k2?@@?2p?V埅@ɨV[; VCnBr(IH H 4-ב -L=Y5h:Q 5>A٣A EGAM; M>Y]e459]im?am45Y] i]VBququ@]GD]l;]&_;]QB45 @ZfABfAJfA:fAJeA:eM @:JU˂MBJU9JJQRJUp ZJU J]? J]>r\z\\\"@i))iIBDAT read: Rx Time:19:43:45.3128 TRx dataTimestamp_ set to:1736538226.0356845checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039226DDDE05 EZAM J>ZIM bIM \jII rII zIM /;IM .:II II  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280285z$x,Mٓ^AG}>>GyG})IG}tBGyGyGyG}]<G} FH9 H=CH=CH=* ="H=* =*H=5ޥBޭ(IMb@Mb@Mb@ )Iy#~j?y&1?Mb?%>`=< (@)I@i@@HH&4} 4=YQ >٣ G >]459km?a45Y! i_BVJ>m;q@GD";M ;AF45 @ZfBfJf:fJe:eY @r\=VJ>z\=VJ>\=?\=k@iI)I)IIQiQQIYDDDE_5 EZAM*>=<DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed -0.2 m/s -X#Rx 1: Read range message, but no direction.B9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.z*x,곭^A:(Ʌ@y:،@9:eVY:?>:H`ӿ`? ;-ƿvv`dӿ ?n̊??@.p?:(Ʌ@ɨ:RT; :!CbBbw(If=if=HjHj[4vL vm=Yv:Q v?x٣x zGxz?o< ~?] 459mm?a 45Yy# ifB  q @GDK::EI45 @ZfBfJf:fJeR@:e`ka?r\z\\\#@i))iI!],DAT read: user:1240> mBDAT read: Tx time:19:43:46.6086 m$Ping request sent.m:JKBJ9JJRJq ZJJhAI checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2454341x,^A]B]v(I5Mb@Mb@Mb@11 1)1I1y5I +?`"? rh?594>5=5C< 5@)1I1i5@15@HMHM4] ]5=YeQ e>a٣a eGam m>q]}459u=om?a}45Yu% iupB}f[>mw;<q@uHDuE:u:u7M45 @%B*** querying acoustic contact ***i!i!ZfQBfYJfY:fYJeY:e]@.?ZIbIVjI1rIzI+;I:I3Ir\f[>z\f[>\/?\@i)) iI!Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498151DDDEc5 EZAMK>Gu@>GqGu(IGu[BGqGqGqGu9<Gu F7x,/l^A:Uׅ@y:@9:HwY:9>:H@eyӿz?dſz ҿx?;??x?:Uׅ@ɨ:A; :CFBFh(IVchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750254HZHZ 4bu bi=YbQ b>d٣d fGdjF; j>l]r459npm?ar45Yn' inwBprߥqv@nHDn ;n. ;nIP45zB zs@zeEZf!Bf!Jf!:f!Je!:e% e?r\Az\A\A\E@iQ))iIDDDEQ5 EZAM=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.001384+#>x,K^AR҅@yR@9R YR<>RH!ӿ?@Tſy ӿ?`?_?@=u?R҅@ɨR휌; RCZB^a(II`)`HfHfפ4r rH=Yv:Q v>t٣t vGxzu z>|]459~rm?a45Y~) i~B  q @~ HD~:~>:~S45 ֟@Zf9Bf9Jf9:f9Je9:eE ?r\az\a\a\e萟@iy)y)yyyiyID{>D>:JuBJuu9JJqRJur ZJuck4#''" D-D)D)E5X5 E1ZAAM]=սZ?սM?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256932ZI bI sjI rI zI );I :I I e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505509 Ex,"^AGGCG(IGLBGGGGk<GF=݈B=W(IMb@Mb@Mb@ )IyMbX?X9v?Q?J>=u< (@)I@I@i|@p@HH4    9=Y Q >٣ G >!]-459%tm?a-45Y%, i%B- m>m-e;5q5@%HD%" ;% ;%W459 =P@9umDetached at range: 75.00 m. Transitioning docking module to standby.ZfiBfiJfi:fiJei:e?r\ m>z\ m>\ ?\j@i1)1)199i99IADDDE 3 EZAM*>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757655I ) 5 GGM lA e A) #޿y lA LA4Kx,"/^AH0H2AAJ@yJ @9J~YJ>>JHe/ӿm?3ſ`) ҿ@?o?`?iq?J@ɨJ&y; J!C^߈BbY(IHjHjT4r < r_=Yr2Q r>t٣t vGtvEm< z>x]459z;vm?a45Yz. izBꬿq@zHDz;z:zZ45  6@2fEZfABfAJfA:fAJeA:eE@r\az\a\a\eJ՝@iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.009544)!)!))i)QIQ"e&Changing to mode: 1"eStandby mode."E2Commanding positive:54396DDDEa5 EZAM-->:J >nH`ҿ@?`ƿxҿ ױ?` ?`?p?n?@ɨn; n CZ(I4>i<Mb@Mb@Mb@ )Iy"~?`"?/$?S>=< )I|@i@@HH4k; <=Yfb:Q >٣ G; >]459xm?a45Yu1 iBwv>m\;q@HD:A:^45B  @gE B*** querying acoustic contact ***i i 2fZfBfJf:fJe:e@r\wv>z\wv>\j?\o@i))iIDMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518846D< DDE1 EZAMG>GGCG(IGABGGGGs<GFFXx,cb^An>n<vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.777976}/@y}>@9}#Y}W?>}H@ҿ?#ƿٔ`Oҿͱ?KD?? bp?}/@ɨ}; }CލBލ^(IH%H% +5EdF< E5=YM Q M> ٣   G ; >]%459ym?am45Y84 iBim,qm@$HD,<,<b45y }@2fZfBfJf:fJe:e @r\1z\1\1\5ф@iA)A)AAAiIIIIHyH}p=ZIbITjI2rIzI,';I :Ic3II1<qI1<iI;uI;mD_#DDE0 EZA!M=>BDAT read: Rx Time:19:43:49.1139 TRx dataTimestamp_ set to:1736538229.823453checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030821p^x,|^A:J@y:Y@9:قY:?>:Heҿ?02ƿ ?ҿ:? [??o?:J@ɨ:Ž; : CFBDHNvHN%5V; V=YZQ Z ?X٣X ZGX^R7< ^?d]j459f;{m?aj45Yf6 ifBhjqj@f(HDf:f;fse45p r@t2f Zf Bf Jf :f Je:e` @r\1z\1\1\5@iA)I)IIIiQQI:J 1MBJ 89JJ RJ t ZJ J% ? J%?D$DDEB5 EZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283791 DAT read: Range 10 to 50 : 75.8 m (Round-trip 101.1 ms) speed -0.2 m/s - X#Rx 1: Read range message, but no direction.ؙ ؝ B9ؙ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Wex,i^AGTGVCGTGTGV( =GTGTGVF<GV Frc@yr1s@9r兼YrA?>rHmҿ #?@}+ƿ@ѿ? ??sp?rc@ɨrX8; rC}B}b(II)}Mb@Mb@Mb@yy y)yIyy}~jt??Q?}D>}=}u< }?@)yI}f@iyyyHH-5J< ,=YMQ >٣ GE; >]459|m?a45Y8 iB5^>mt;:q@/HDr;v;i45 @ 2fqZfyBfyJfy:fJe@3R@:eZ?r\55^>z\55^>\5}>\50A@iA)i)iiqiqqIyDzDD!(DDE%0 E!ZA1MUT>,DAT read: user:1241> BDAT read: Tx time:19:43:50.4086 $Ping request sent. NH>ҿ`*?`)ƿ`@tѿZ??e?p?N|@ɨNUB; LVBVk(IHH|+5.= 5k=Y=„Q =>A٣A EGAE < M>I]]459M}m?a]45YM: iMBaeزqe@M4HDM+;M+;Ml45i mD@i2fZfBfJf:fJe:e`?r\z\\\Y@i))iI}JDAT read: TxSync time:19:43:50.4079 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256684D*DDE@5 EZAM=:J BJ 9JJ RJ u ZJ J I gA= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509054mrx,M/^AjЉ@yj6@9jYj>>jH $ҿk/? ƿ`@ѿ@K?v"?|?p?jЉ@ɨjO֎; j CvBvu(IMb@Mb@Mb@ )Iy|?5^?:v? rh?M>=C< (@)I@i@̜@H^H5= ;=YQ >٣ G%~; %>)]=459-+m?a=45Y-= i-ųBEeh>mEi;EqE@-:HD-;- ;-pp45a eǞ@aB*** querying acoustic contact ***ii2f)Zf)Bf)Jf):f1Je1:e5 c?r\ueh>z\ueh>\u]x>\uJ@i))隩iID]).DYDYE]1 EYZAichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.759393M;>GA>GCG(IGGBG+ =GGG*<G FHY HYHYHY"HY*H] 5xx,^AF@yFV@9FfYF5&7>FH%ҿ#:?)ſE`ѿ x?L?? {?F@ɨFۏ; F"C^Bb{(IjC=iji>zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.012449HzEHz5^< \=Y%RHQ %>)٣) -G1=( =>I]]459Mam?a]45YMF? iMͳBYeqe@M?HDM%g;MNm;Ms45 t@2fAZfABfAJfA:fAJeA:eE`&?r\z\\\8S@i))隹iID\?D?Dmo/DiDiEm2 EiZAM>ZIebIeJjIarIazIe;Ieٖ:IaIaIeok<Iepk<Ie;Ie;ՑՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263104~x,A^ABi@yBϠ@9BzեYB9>BHAҿ M9?tſ tѿ?R??w?Bi@ɨBL; B CJBJ}(IHV;HV 5b; bO=YbUiQ f>d٣d fGdjP-; j>l]r459nm?ar45YnA inԳBtvٲqv@nEHDn ;n:nw45x z`@x2fZfBfJf:fJe:e%?r\Az\A\A\EzY@iQ)Q)QYYiYqID51D1D1E5@5 E1ZAI:JIBJM-9JJIRJMv ZJMMu=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515055 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766811ԥx,>^AG(G(G*(IG*QBG*- =G(G(G*<G*FJם@yJ=@9J9YJ!<>JHhѿ@9?@,ſvѿ@ ?Ɣ? 0a?@yt?Jם@ɨJ; HVBV(IMb@Mb@Mb@ )Iyx&1?ˡE?~jt?A>=D< ?@)I@i@@HlHK!5&?= 8=YQ >٣ G2`;  > ]459 {m?a45Y C i ۳BRS>m%;% q%@ KHD %; ]$; z45) -@)2fIZfQBfQJf:fJe:e@r\RS>z\RS>\>\jL@i))i ID_4DDE 2 EZAM>G?%=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019094ϋx,1^AII3I(.IIIZIbIKjIrIzI;I^:IIIY<IY<I;I;J@yJ ͍@9JױYJ2`=>JH>ѿu@?ſ`:ѿͱ??`a?@r?J@ɨJ1; JCVBV(IIX)X\^AHbHb*5zB= ~]=Y.:Q >٣ G  +<  >]4594m?a45YE iBq@OHD3<F<<~45 '@2f Zf Bf Jf :f Je :e @r\Iz\I\I\Mj@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270993i))隁iIDDu6DqDqEu#3 EqZAM>:J BoHBJ u9JJ RJ w ZJ   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522834x,֋K^A e@y @9 iY >> HZѿL?#ƿl+п༑?Z?@B?p? e@ɨ w; C!!Mb@Mb@Mb@ )Iykt?x&?y&1|? 0>7=`; @)I|@i@z@HH+5Y-9Q ->)٣) 5G15m< 5>9]E459=Ƀm?aE45Y=H i=BM'=>mM;M*qM@=UHD= ;=a;=45Q QQuB*** querying acoustic contact ***iqiq2fyZfyBfyJf:fJe:e}@r\'=>z\'=>\.>\1@i))iID}_9DyDyE}(2 EyZAM]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775497G1G1G5(IG5`BG5. =G1G57DG5,<G5 F☇x,Be^AR@yRa@9RDYRr>>RH#ѿsT?%ƿп`l?/??`/q?R@ɨR ; R CfBDAT read: Rx Time:19:43:52.9149 fTRx dataTimestamp_ set to:1736538233.607658jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028389jBn(IHvHv(*5%t< -1٣1 =G9=U< E>A]M459EKm?aU45YEI iEBQUqU@EYHDE:EQ:EZ45a e@a2fZfBfJf:fJe:e`r @r\z\\\@i))iID];DaDqEu@5 Ey bGkA A)!ykABZA M% >}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279353x,8^A>(@y>88@9>"Y>I>>>H`!п@Z?5ƿnп`H?`Q??p?>(@ɨ>a; iR=HVHV*5^= ^P=Yb]69Q b>`٣` bGdf<< f>h]n459j؄m?an45YjK ijBprQqr@j^HDjh:j:jň45t zڛ@x2fZfBfJf!:f!Je!:e%@ @r\Az\A\A\E@i))iID5gAzD1D>DDE?5 EZA:JKBJJJRJx ZJ = =DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.0 ms) speed -0.2 m/s -X#Rx 1: Read range message, but no direction.  B9 %T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.MM>ZI bI ,jI 2rI zI ;I L:I c3I q @i @u @m @ ,DAT read: user:1242>  BDAT read: Tx time:19:43:54.2087  $Ping request sent. D@y>S@9>NhY>C>>>H uп`a?8ƿ-:п@d&? ??p?>D@ɨ>2ю; <GiGiGm)IGmtBGm/ =GiGiGm"<Gm FU BU(IEMb@Mb@Mb@AA A)AIAyEQ?x&?AEt< EV@)AIAiAAE@HH/5v /=Y?Q >٣ G; >]459m?a45YM iB6>m;Xq@cHD;*;ٌ45 @!2fiZfiBfiJfi:fiJem S@:euൄ?r\6>z\6>\}>\9@i))iID?DDE0 EZAMD>JDAT read: TxSync time:19:43:54.2080 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251347x,9ղ^A: A@y:rP@9:kY:v=>:H Fпb? ƿ(=п`p?@ m?@? q?: A@ɨ:H; :!CF$BF(IHRHR4Zp< Zr=YZLQ ^?\٣\ bG`bZ b?d]j459f m?an45YfkO ifBln_qr@fgHDfB2;f2;fΏ45t vڛ@tu4Docking module at standby.ZfBfJf:fJe:e@?r\1z\1\1\5 8@iA)A)IIIiIIIQy}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503369Dm?DqDqEu_5 EqZAM=- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754249:J- N KBJ- 9JJ) RJ- y ZJ- J9 I9 x,^A&B(IMb@Mb@Mb@ )Iy#~j?y&1?Mbp?%>`e=; )If@ip@HHD4; -=YQ >٣ G >]459m?a45YQ iB/>m;q@lHD::45 @iEB*** querying acoustic contact ***i i u%8Undocking sequence complete.:-;-Je):e5?r\u/>z\u/>\umg>\u$@is:)隁iIZIMbIMQjIM1rIIzIMT;IMz:IM3IID?DDE0 EZAM-->}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006291GD>GG$)IGBGGG8DG9<G F0x,^A:.Z@y:i@9:Y:@>>:H п`h?`4ƿQп^?`T?`i? qp?:.Z@ɨ:GQ; :CF,BF(IHRHRE4Z= Zr=Y^ֻQ ^?`٣` bG`b< f?d]j459fӆm?aj45Yf S ifBlr>r=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258507]q]@fpHDfēchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510248@x,e^A:@y:!@9:ыY:>>:H y@пFr?`+Dƿ tϿD? ?`;?'p?:@ɨ:ٌ; 8F2BF(IHNHN4V= ZK=YZ;Q Z>X٣\ ^G\^'S< b>`]f459b7m?af45YbT ibBhjvqj@btHDb:bP:bc45p r@pjf @; u Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:  u Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guidetCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockJe:e@L?r\1z\1\1\5@@i)iIZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762189:Jm$JBJ9JJRJz ZJ  J> J?ZIm bIm 7jIi rIi zIm ;Im :Ii Ii  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014192G F>G CG 0)IG BG ' =G G 9DG /<G FH H˞CHH. ="H- =*H˙Q6NƇx,t^AJ@yJ@9JfMYJ>>JHϿ|?Rƿ ο`?R? ?p?J@ɨJ; JCr9Br(IMb@Mb@Mb@ )Iy333333?~jt?Mb`?>D=; (@)3@I|@i|@z@HH>5< 9=YtK;Q >٣ GF< >]459m?a45YV iBI!>m;y¿q@xHD::B45 @1< xAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq<xAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide= {Initialize.={Initialize.<%f%f%HBf%L?<-y-Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1=-z-pTransitioning to terminal guidance at range 76.500000 m 1=-q=-y5Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )<51>5 |=:Initialize WaypointComponent.=|EZNavigating to waypoint: 36.903300,-122.119000JeA:eE@r\mI!>z\mI!>\me>\mtq@ɛ} ?I}>}, I}@) Ai:)隅i%IAZAM=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266743l̇x,?4^A:xч@y:@9: Y:?>:H$XϿӃ?$mƿ  ]οI?@?ջ?`lp?:xч@ɨ:j; 8f8Bf(IHrHr95z zZ=Y~+%;Q ~>|٣ G /< >New estimator for commanded vars: speed 0.80 m/s, pitch 0.00 deg, mass-position 21.81 mm (3 active estimators).HH@A]%459ʇm?a%45Y:X i B)-q-@|HD6;6;451 5@1fefee@fagafafafirfm@q=mymCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeBɛygI<)hһ Fi9)r隹i=ɠ3i0s@)>(kpHeading = 0.400000I:(kiHeading = 0.001000 >IF@ F@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518489C9ZAM5O>- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774233:J "TLBJ 89JJ RJ { ZJ J I hAYӇx, N^A]@y@92Y=x>>H@ο@ƌ?kƿ Ϳ@Jɯ?@ݒ?`?Sq?騅]@ɨ늌; ޝ:Bޝ(IEMb@Mb@Mb@AA A)AIAyEQ?v/?~jth?E\>Exi=ED; E@)EI@IEf@iE@AAH]H]55u < }4=Y:Q >٣ GV< >]459m?a%45YZ iB%>m%;%ηq-@HD/< <451 5t@1HM M~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalUB*** querying acoustic contact ***iQiQ1A] ]Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceqAeeAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideBe eAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlBeeInitialize.1Cm mAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCmmInitialize.CuCuAugh7gh71C Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqCDReached init depth of 68.613564 m.bgjgB$Terminal guidance.A1D Initialize. dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZEDiDRollout timeout set to 300.00 sec.=VIIR filter is initialized with decay: 0.00.bTransitioning guidance mode to: TERMINAL_GUIDANCEi?1< xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceq<xAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide= {Uninitialize.=1> |>Uninitialize WaypointComponent.eejeJe:e`m @r\>z\>\>\)@:B2) iZI-bI-#jI)rI)zI-;I-:I)I))=K9=6iIZAAeBDAT read: Rx Time:19:43:56.7159 mTRx dataTimestamp_ set to:1736538237.396274uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024766GH>GCG=)IGBG! =GGGK<G FM=>هx,g^Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274269f)@yf@9fsYf?>fH`hο@?ƿ;zͿ=?`?.?`?p?f)@ɨf6; fC9B(II ) HHs75% -c=Y-e:Q ->)٣1 5G15< =>9]E459=1m?aM45Y=k[ i=BIMiqM@=HD=:=:=45Y ]@Y  addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 i"i% Added new target pos. range: 31.900000 m, bearing: 82.865319 deg, lat: 36.903925 deg, lon: -122.119064 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2i%-DNOT Ignoring new targets: 31.90 m.i-"i-] ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.219116 m, bearing: 91.032102 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 256.073819 deg, new cmd heading: 91.032102 deg. eHeadingCmd: 1.588810 target range: 31.900000 and range: 76.50 m.he^?hehahahigigibgjgeejeJe:eW @r\z\\\a5@ɛ3)q uiq)u*3quiudi}w@y)}L?(kpHeading = 0.800000I;(kiHeading = 0.004000 >I^?IA^D " Resumey}A8DAT read: $Error in header *Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.542454ZA M >|x,p^A2k+@y2:@92KY2J>>2H#Ϳ?ƿ`8Ϳ?8ɑ?@?@8q?2k+@ɨ2xԋ; 2 C>8B<HJOHJq5R R==YRi:Q R>T٣T VGTZ< Z>\]b459^m?ab45Y^] i^Bdfqf@^HD^h:^:^m45h j@l2iDNOT Ignoring new targets: 31.90 m.is9"is9 ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.283669 m, bearing: 91.038357 deg, approach rate: 0.148375 m/s, LOS rate: 0.014365 deg/s, cmd heading: 91.032099 deg, new cmd heading: 91.038357 deg. HeadingCmd: 1.588919 target range: 31.900000 and range: 76.50 m.ha?hhhhggbgjgeejeJe:e@; @r\z\\\Q@ɛ:?) \i)bi|% id6@ Ia?ICCCC}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779672:J=BJ=9JJ9RJ=| ZJ=JU? JU>"ResumingEIZIe bIe ,jIa rIa zIe ;Ie L:Ia Ia  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030126G5 K>G1 G5 C)IG5 BG5 % =G1 G1 G5 <G5 FVF 5;F AZA M >ux,MJ^A2/F@y2U@92SY2?>2HͿ`ɝ?`$ƿ(!׭̿ "? ?:?p?2/F@ɨ2u; 2C:0B>(IMb@Mb@Mb@ )IyV-?x&?h>7= @)@Ii|@כ@H-#H-5=G =;=YE5:Q E>ML?٣ML? MGIM); U>Q]]459Um?a]45YU^ iUB >m;Cq@UHDUYx,^A2Be@y2t@92Y2>>2H3Ϳ C?ƿ`X(:̿~??@? q?2Be@ɨ2@; 2 CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.534260F6BF(IJ=iJ;HRHRv4ZI= ZU=YZ:Q Z>\٣\ ^G^KFb"< b>d]j459f%m?aj45Yfl` ifBhjƮqj@fHDfq:f:f45p r@p2iDNOT Ignoring new targets: 31.90 m.i%9"i%9- ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.409660 m, bearing: 91.056781 deg, approach rate: 0.161926 m/s, LOS rate: 0.023903 deg/s, cmd heading: 91.048081 deg, new cmd heading: 91.056781 deg. 5HeadingCmd: 1.589241 target range: 31.900000 and range: 76.50 m.h5=l?h1h1hhggbgjgeejeJe:e@O@/Bɛw:) N=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787116:JI BJM 9JJI RJM } ZJM JU hAIQ }x,|^A2焈@y2M@92! {Y2'=>2H̿B? ƿ`/ ˿@?Sa??s?2焈@ɨ2Ћ; 2CN1BR(I-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 54.37, 43.50, 48.59 @   @   @    @  H#H5% -C=Y5.;Q =>I٣I MGMLFU< U>Y]m459]Mm?am45Y] b i]Bim+:imm;mFqu@]HD](;]>]45y @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 31.90 m.i9"i9 ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.474510 m, bearing: 91.066548 deg, approach rate: 0.153131 m/s, LOS rate: 0.023043 deg/s, cmd heading: 91.056783 deg, new cmd heading: 91.066548 deg. HeadingCmd: 1.589411 target range: 31.900000 and range: 76.50 m.hq?hhhhggbgjgeejeJe:e@ɛ 9)  ;i ) X  ii?Iq?I"MStartingGuO>GuCGu=)IGuBGu! =GuGDGu:Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.039201Gu<Gu FVFb=FZAM%>E checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290189x,[^A6@y6@96$lY6&9>6H`̿? ƿ`7M˿U?V?O?`x?6@ɨ60; 6!CB.BB(IHJHJ4f fQ=Yf;Q f>h٣h jGhn/5< n>p]v459rcm?av45Yrc ir!Biv :tmz];zqz@rHDr:r*P?rϸ45| ~1@|2i!-DNOT Ignoring new targets: 31.90 m.i-.9"i-.9 ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.534164 m, bearing: 91.075737 deg, approach rate: 0.154211 m/s, LOS rate: 0.023734 deg/s, cmd heading: 91.066550 deg, new cmd heading: 91.075737 deg. HeadingCmd: 1.589571 target range: 31.900000 and range: 76.50 m.hw?hhhhg g bg jg eejeJe:e@AɛMj )I MiI)M9:IIiU7i]?YaIew?Ia"mStarting" BInit string: /1z16319aE13561N3m50ZIibIm.jIm0rIizIiImV:Imـ3IiImd<quImd<iuIm;u}Im;m}VF=>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542982FZAMj>x, ^A6OɈ@y6؏@96YY63>6H@K˿ ?A{ſ>ʿ`cԩ?`??]?@;?6OɈ@ɨ6ML; 6 CN,BN(IIP)PHZHZv4bv. bK=Yb3;Q b>d٣d fGfMFj$< j>l]r459nm?ar45YnPe in#Bir9pmr3;r"qv@nHDn:n?n45x zT@x2i!%DNOT Ignoring new targets: 31.90 m.i-09"i-09= ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.595970 m, bearing: 91.085460 deg, approach rate: 0.153081 m/s, LOS rate: 0.024063 deg/s, cmd heading: 91.075737 deg, new cmd heading: 91.085460 deg. EHeadingCmd: 1.589741 target range: 31.900000 and range: 76.50 m.hE|?hIhIhIhIgQgQbgYjgYeaeajeiJei:em@@<checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795509u.BɛurŹ)y }@iy)}!yyi}iN?I|?I"StartingEMhAEMhA:JmBoHBJm9JJiRJm~ ZJm 4" VF:>F ZAMG>Gm N>Gm CGm 6)IGm BGm & =Gm HDGm 9DGm <Gm F checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046260~x,n ^A2a@y2@92AY2-p,>2H 2ʿ?Ŀ@_H@Gʿ 1?-8?s??2a@ɨ2z; 2C^#B^(IMM MU UU  U U UMb@Mb@Mb@QQ Q)QIQyUʡE?sh|??Mb`?U-2>U=U; UΫ@)U3@IUO@iQQU@Hm Hm4} ?=YDb;Q >٣ GNFM< >]459m?a45Ymg i'BiT:kE>m; q@HD::l45B @fE2iDNOT Ignoring new targets: 31.90 m.i :"i : ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.676460 m, bearing: 91.098649 deg, approach rate: 0.188096 m/s, LOS rate: 0.030787 deg/s, cmd heading: 91.085463 deg, new cmd heading: 91.098649 deg. HeadingCmd: 1.589971 target range: 31.900000 and range: 76.50 m.h/?hhhhggbg jg Be e jeJe:e 2@1ɛ5>)1 5Pi9)E1ϷAAiwi?I/?I"Startingchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.299484VF%|n>FZAMM>ZI bI !jI 1rI zI T1;I :I 3I I <I <I ;I ;A x,?: ^A2checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550116:h@y:'@9::,Y:n%>:HC_ʿ7? ÿO@ɿ ?@?0?`l?:h@ɨ:a7; :!C^Bb(IHjHj4rz rU=Yv`;Q v>t٣t vGxz6< z>|]459~m?a45Y~Pi i~+B  rq @~HD~:~N:~45 +@2iDNOT Ignoring new targets: 31.90 m.i:"i: ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.748459 m, bearing: 91.110700 deg, approach rate: 0.177293 m/s, LOS rate: 0.029645 deg/s, cmd heading: 91.098652 deg, new cmd heading: 91.110700 deg.  HeadingCmd: 1.590182 target range: 31.900000 and range: 76.50 m.h ?h hhhggbgjgeeje!Je!:e%)p@M-BɛMV)Q UiQ)UAYYi]oi]F[?aiIm?Ii"}StartingVF]>FIZAQMu>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802930:J LBJ u9JJ RJ  ZJ 9~x,)T ^AVi9@yVH@9V:YV >VHɿ ?Eÿ V@F]ɿ?3у?@??Vi9@ɨVAҋ; VCbBb(In=inp;mMb@Mb@Mb@ii i)iIiymq= ףp?~jt?mk>m=m i)mI@Iiim"@im=@HH4* :=Yo:Q >٣ GOFS< >] 459mT;q@HDr;D;45 %@!EB*** querying acoustic contact ***iAiA2iQUDNOT Ignoring new targets: 31.90 m.i]4:"i]4:m ProNav pure pursuit: ac range: 31.900000 m, nav range: 73.856033 m, bearing: 91.124888 deg, approach rate: 0.257570 m/s, LOS rate: 0.033922 deg/s, cmd heading: 91.110701 deg, new cmd heading: 91.124888 deg. uHeadingCmd: 1.590429 target range: 31.900000 and range: 76.50 m.hu0?hqhqhqhqgqgybgyjg}BeyejeJe:e }@GUP>GQGU*)IGUBGU( =GQGQGU,<GU FH C H¡CHuchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054815H% ="H$ =*H°O6ɛP\2) Xi)6)i iY?I0?I"%Starting"LSent speed cmd:/1V10000 Response:/0@ E )>E p>VF% 0P>F9 ZAA Mm > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306213x,m ^AFN@yFe^@9FYFZ!>FHɿ?`gÿ`Z@ɿ xǤ?f? ? }?FN@ɨF; FCbBb(IHzHz4< Z=Y8Q >!٣) -G-PF-:; 5>A]M459Em?aU45YEn iE2Bq@EHDEFZAM>[!x,-҇ ^A6T@y6]d@96Т#Y6$'>6Hrɿi?i"Ŀ\@ȿU|?Ct?`??6T@ɨ6s; 6!CBBF(IHLHLZ< ZQ=Y^ hQ ^>`٣` fGdf: j>l]v459nIm?av45Ynq in5Bxzqz@nHDn@;n3A;nT45 B @hE2iQ]DNOT Ignoring new targets: 31.90 m.ieZ:"ieZ: ProNav pure pursuit: ac range: 31.900000 m, nav range: 74.044472 m, bearing: 91.150060 deg, approach rate: 0.249624 m/s, LOS rate: 0.033300 deg/s, cmd heading: 91.137277 deg, new cmd heading: 91.150060 deg. HeadingCmd: 1.590869 target range: 31.900000 and range: 76.50 m.h?hhhhggbgjgeejeJe:e> @checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810247E+BɛEgC)I M-iI)uyyi}D#i/*?I?I"&Changing to mode: 1"Standby mode.:JMLBJ9JJRJ ZJn? J ? J$?D-?D1D1E52 E9G] Z>G] CG] $)IG] BG] =G] GDG] ;DG] <G] F checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063032VF >F ZA M >(x, ^A~B~(II)Mb@Mb@Mb@ )Iy1Zd?MbX?">= t@)3@I"@iO@@HH4= ;=YQ >٣ GQF >]459m?a45Yt i:B4>m&;q@HDv";s6;!45 ?@2iDNOT Ignoring new targets: 31.90 m.i%9"i%9- ProNav pure pursuit: ac range: 31.900000 m, nav range: 74.182343 m, bearing: 91.159865 deg, approach rate: 0.320971 m/s, LOS rate: 0.022785 deg/s, cmd heading: 91.150063 deg, new cmd heading: 91.159865 deg. HeadingCmd: 1.591040 target range: 31.900000 and range: 76.50 m.h1?hhhhggbgjgBeejeJe1:e5z!@}*Bɛ1+) ϼi)Y$隁i!%i-]?)1I51?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315528D?DDE?1 EEEVF >F ZA! ME >ZIe bIe 9jIa rIa zIe $;Ie :Ia Ia Ie |<Ie |<Ie h;Ie h;1.x,/ ^A&checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566573:I@y:BY@9: .Y::->:Hɿ`(? Ŀ@Y`.ɿ`e?fօ?%??:I@ɨ:T ; :C``HjHj4r= vY=YvQ v>x٣x zGzRFzk ~>]459m?a 45Yw i>B  q @HD::m45 C@2iIMDNOT Ignoring new targets: 31.90 m.iU~9"iU~9 ProNav pure pursuit: ac range: 31.900000 m, nav range: 74.301918 m, bearing: 91.168186 deg, approach rate: 0.316948 m/s, LOS rate: 0.022020 deg/s, cmd heading: 91.159864 deg, new cmd heading: 91.168186 deg. %HeadingCmd: 1.591185 target range: 31.900000 and range: 76.50 m.h%?h!h!h!h)g)g)bg)jg)e1eQjeYJeY:e]!@雥)BɛPD)  üi)\7隩i&i?I?ID?DD E 1 E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818247VF- @Z>F :J < LBJ `9JJ RJ ZJ #PJ gAI gAZA! M] >5x,p ^Aj:@yjyI@9jI-Yj4)>jHmɿ`?gĿ V@Iɿ@M?? *?`[?j:@ɨj k; hrBr(IMb@Mb@Mb@ )IyZd;?Zd;O?Mb`?>j=; @)I@iA@@HH+4 ==Y9Q >٣ Gl >]459/m?a45Y5| iBB>m ;Ŀq@HD ;M:145 |@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 31.90 m.iÏ8"iÏ8GM>GG)IG~BG =GG:DGA<G F]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071469} ProNav pure pursuit: ac range: 31.900000 m, nav range: 74.467209 m, bearing: 91.169981 deg, approach rate: 0.362634 m/s, LOS rate: 0.003928 deg/s, cmd heading: 91.168183 deg, new cmd heading: 91.169981 deg. HeadingCmd: 1.591216 target range: 31.900000 and range: 76.50 m.h?hhhhggbgjgBeejeJe:e "@u(Bɛu)q upiq)uRyyi})(i?I?ID9DADAEE0 EAVF] 0P>zFe hArFe hA checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322958FI ~G ZA A) y  AM >F;x,{L ^AFE@yF%@9F7?0YF#>FHgʿ?AÿQOɿ ??]? '?FE@ɨF#Y; DN'BR(IHV(HV)5b7= b[=Yb>׹Q b>d٣d fGfSFj@ j>l]r459nm?ar45Yn inFBpr,ſqv@nHDn:n:nt45x z@x2i)-DNOT Ignoring new targets: 31.90 m.i5e8"i5e8E ProNav pure pursuit: ac range: 31.900000 m, nav range: 74.610313 m, bearing: 91.171075 deg, approach rate: 0.410053 m/s, LOS rate: 0.003129 deg/s, cmd heading: 91.169980 deg, new cmd heading: 91.171075 deg. MHeadingCmd: 1.591235 target range: 31.900000 and range: 76.50 m.hM?hIhIhIhIgIgIbgQjgQeYeYjeYJeY:e] S#@雕'Bɛ) <:i).xR隙i6*i?I?ID1D1D1E5_5 E1E=?>E=?>]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574216VFiFIZAYM>.Bx,=( !^ARh@yR@9R")YR4v>RHʿ?@¿?G {ʿĥ?B$??@?Rh@ɨRJ; R!C``HvHv4Y:Q  > ٣ GTF < >!]-459%m?a-45Y%' i%JB15ſq5@%HD%T;%;%459 9A2iquDNOT Ignoring new targets: 31.90 m.i}7"i}7 ProNav pure pursuit: ac range: 31.900000 m, nav range: 74.768974 m, bearing: 91.171735 deg, approach rate: 0.384113 m/s, LOS rate: 0.001596 deg/s, cmd heading: 91.171073 deg, new cmd heading: 91.171735 deg. HeadingCmd: 1.591247 target range: 31.900000 and range: 76.50 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826348h?h)h)h1h1g1g1bg1jg9e9e9je9Je9:eE@D1$@&Bɛx(7) ];i)^Oi,i?I?I DhAzDhA:JJMBJ#9JJRJ ZJ"Lm b@%{wqkd`\WSNIHFB?;86441/,*(&D?DDEO1 EII 3IL.IIIZIUbIUAjIU0rIQzIU2;IU/:IUـ3IQq}@i}@u}@m}@VF@Z>G J>G CG *)IG BG - =G HDG 8DG <G Fu UHx,"!^A:A@y:Ώ@9:VY:>:H`ڻ˿ !?@2¿=a@˿0?`ރ???:A@ɨ:{; : CR-BR(I5Mb@Mb@Mb@11 1)1I1y5ףp= ?/$?{Gzt?5>5=5ף; 5O@)5@I5@i115 @H]H]4mo< mq٣q uGq}g }>]459im?a45Y iOB>m:Ϳq@HD8:45 9@2iDNOT Ignoring new targets: 31.90 m.i%"i% ProNav pure pursuit: ac range: 31.900000 m, nav range: 74.952652 m, bearing: 91.164467 deg, approach rate: 0.443348 m/s, LOS rate: -0.017501 deg/s, cmd heading: 91.171735 deg, new cmd heading: 91.164467 deg. HeadingCmd: 1.591120 target range: 31.900000 and range: 76.50 m.hө?hhhhggbgjgBeejeJe:e`5%@$BɛN:)! %`F5 FNx,gzH̿? Z¿ .=̿0*?`΁??`̦?z!@ɨz; x 5B (II)AH#H5== =M=YE%;Q E>A٣A EGMUFMD M>Q]]459Uՙm?a]45YU iUSBaeοqe@UHDU ;U;U+45i m@i2iDNOT Ignoring new targets: 31.90 m.i"i ProNav pure pursuit: ac range: 31.900000 m, nav range: 75.128281 m, bearing: 91.156501 deg, approach rate: 0.441924 m/s, LOS rate: -0.019996 deg/s, cmd heading: 91.164468 deg, new cmd heading: 91.156501 deg. HeadingCmd: 1.590981 target range: 31.900000 and range: 76.50 m.hE?hhhhggbgjgeejeJe:e%@雥#Bɛm ;)q u=iq)uf!qqiuG1i}E?yyIE?IDADIDIEM0 EQEaEaBDAT read: Response Not Received *response not received,DAT read: user:1244> BDAT read: Tx time:19:44:05.1588 $Ping request sent.Fa ZAq :J FOBJ JJ RJ ZJ &# %0Fd/BTiyylaSG?EF6#M >tmUx,V!^A~@8@y~G@9~QY~ >~H`)Ϳ ? <@TͿ@,?c?K?@?~@8@ɨ~x; ~!C5IB5(IMb@Mb@Mb@ZIbIjI1rIzI;It:I3I )IyV-?~jt?Mb`?>=; t@)3@I"@i @@H H4%t= %<=Y%;Q %>)٣) -G-VF5 5>9]E459=m?aE45Y= i=WBE>mE:MҿqM@= ID=j;=C;=45uB }z@}jEGY>GCG6)IGBG =GGDG;DG9<G F-JDAT read: TxSync time:19:44:05.1581 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250520B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 31.90 m.i= "i= M ProNav pure pursuit: ac range: 31.900000 m, nav range: 75.331680 m, bearing: 91.141758 deg, approach rate: 0.422362 m/s, LOS rate: -0.030533 deg/s, cmd heading: 91.156504 deg, new cmd heading: 91.141758 deg. UHeadingCmd: 1.590724 target range: 31.900000 and range: 76.50 m.hU֜?hQhQhQhQgQgYbgajgeBeaeajeaJei:emh&@!Bɛj{;) 5=i9)=99i=4iE֜?AAIE֜?IID ?D D E 0 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501768VFu 8U>FI ZAQ Mu >[x,p!^A6@y6@96ɻY6>6H Ͽ? ο%ؤ?`+3y?`? ?6@ɨ6B; 6 CRVBR(IHHs4= R=YZ~;Q >٣ GѼ >]459>m?a45Y̗ iZBӿq@ID;;^45 @2iYeDNOT Ignoring new targets: 31.90 m.ie9"ie9 ProNav pure pursuit: ac range: 31.900000 m, nav range: 75.513550 m, bearing: 91.127262 deg, approach rate: 0.508864 m/s, LOS rate: -0.040460 deg/s, cmd heading: 91.141757 deg, new cmd heading: 91.127262 deg. HeadingCmd: 1.590471 target range: 31.900000 and range: 76.50 m.h?hhh!h!gAgAbgIjgQeQeQjeYJeY:e]'@Bɛ;) =i)۵ic7i?I?I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754403DU?DQDQEQ EQVF 0P>zF rF Fq ZA M >=bx,!^AF_z@yFʼn@9F+YF>FHhUпZ?`9 %пWף?v%u?6?`?F_z@ɨFB; FCR`BR(IZl٣l nGnWFr4 r>t]v459vȕm?az45Yvu iv]Bxzտqz@v#IDv:v:v45 @2i)5DNOT Ignoring new targets: 31.90 m.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005628iE"iE ProNav pure pursuit: ac range: 31.900000 m, nav range: 75.690071 m, bearing: 91.111510 deg, approach rate: 0.485712 m/s, LOS rate: -0.043242 deg/s, cmd heading: 91.127264 deg, new cmd heading: 91.111510 deg. HeadingCmd: 1.590196 target range: 31.900000 and range: 76.50 m.h ?h h h h g g bgjgQeYeajeiJei:e@D(@uBɛu <)q u>iq)u 8yyi}[Z:i?I?I:JmI[OBJm9JJiRJm ZJm|uqmlic_ZXXSPNKJD@<820+,*')&$%"#! D}?DyDE0 EEG>EN>ZIbIIjI0rIzI4.;IU:Iـ3IGuL>GuCGuV)IGuBGu! =GuHDGu:DGud<GuFH]ȢC HYH]ȔCH] ="H]" =*H]Ƞ6M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261323VF 8U>F ZA M >hx,(}!^AeB(IMb@Mb@Mb@ )Iy+?l?y&1|?v>=`; @)@I@i@HH 4E< E5=YMQ M>I٣Q UGQU ]>Y]e459]m?am45Y]f i]aBm?mm:m׿qm@]2ID]<:]:]45q }@y2iDNOT Ignoring new targets: 31.90 m.id"id ProNav pure pursuit: ac range: 31.900000 m, nav range: 75.915031 m, bearing: 91.088838 deg, approach rate: 0.497014 m/s, LOS rate: -0.049943 deg/s, cmd heading: 91.111513 deg, new cmd heading: 91.088838 deg. HeadingCmd: 1.589800 target range: 31.900000 and range: 76.50 m.h~?hhhhggbgjgBeejeJe:e` )@Bɛ f'<)  >i )^^9i=i%~?!!I%~?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510300D?DDE0 EVF F ZA M >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761720vnx,t]!^A2Ģ@y2*@92KY2H>2Hѿ@q?vF ѿp?xI?`3??2Ģ@ɨ2; 0BzBB)IHJ HJe4R= Ri=YVLT٣T ZGZXFZ Z>\]b459^m?af45Y^ i^dBdfڿqf@^=ID^:^y:^45h j`@l2i DNOT Ignoring new targets: 31.90 m.i e"ie ProNav pure pursuit: ac range: 31.900000 m, nav range: 76.089188 m, bearing: 91.067849 deg, approach rate: 0.495852 m/s, LOS rate: -0.059623 deg/s, cmd heading: 91.088837 deg, new cmd heading: 91.067849 deg. HeadingCmd: 1.589434 target range: 31.900000 and range: 76.50 m.hr?hhhhggbgjgeejeJe:e`X)@EBɛE:b<)A M(@>iI)M9IIiMt@iUr?QYI]r?IYDDDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014574VFF2?F?FZAM >:J XNBJ JJ RJ ZJ   ux,sG!^AZI bINjI1rIzI(;I:I3IB")IGGGu)IGƉBG$ =GG9DG"<G Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265621MMb@Mb@Mb@II I)IIIyMT㥛 ?Zd;?Mb`?M?My=M; I)IIM9@iIIM@H]H]4u< u$=YuQ u>y٣y }G}YF} >]459 m?a45Y igB?m:?޿q@MID::45 @mE B*** querying acoustic contact ***i i 2iDNOT Ignoring new targets: 31.90 m.i%*"i%*5 ProNav pure pursuit: ac range: 31.900000 m, nav range: 76.336838 m, bearing: 91.033226 deg, approach rate: 0.489883 m/s, LOS rate: -0.068265 deg/s, cmd heading: 91.067848 deg, new cmd heading: 91.033226 deg. =HeadingCmd: 1.588830 target range: 31.900000 and range: 76.50 m.h=^?h9h9h9h9ggbgjgӂBeejeJe:e *@5Bɛ]H\<)a eR>ia)e0:aaie 1Dim^?iqIu^?IqDzDD-?D)D1E50 E1E=gAE=gA՝ >՝ < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518135VF F ZA M >7{x,!^ArBr6)IHzHz4 =  |=Y Q  ?٣ G  ?!]-459%ċm?a-45Y%ұ i%iB))q5@%XID%w;%49;%45EߒB E۔@EoE2iimDNOT Ignoring new targets: 31.90 m.iu"iu ProNav pure pursuit: ac range: 31.900000 m, nav range: 76.498604 m, bearing: 91.010735 deg, approach rate: 0.513618 m/s, LOS rate: -0.071262 deg/s, cmd heading: 91.033226 deg, new cmd heading: 91.010735 deg. HeadingCmd: 1.588437 target range: 31.900000 and range: 76.50 m.hQ?hhhhggbgjgeejeJe:en+@BɛY<) Jv>i)7:iMnGiQ?IQ?ID?DDE1 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769735VF(K>FZAM>قx, "^AZ@yZ@9Zx٣| ~G~ZF~/ ~>]559m?a55Y iq@eID[K;K;\55! -1@)2iQ]BDAT read: Rx Time:19:44:07.6707 eTRx dataTimestamp_ set to:1736538248.231262echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022902mDNOT Ignoring new targets: 31.90 m.imǺ"iuǺ ProNav pure pursuit: ac range: 31.900000 m, nav range: 76.696579 m, bearing: 90.975632 deg, approach rate: 0.493263 m/s, LOS rate: -0.087235 deg/s, cmd heading: 91.010734 deg, new cmd heading: 90.975632 deg. HeadingCmd: 1.587824 target range: 31.900000 and range: 76.50 m.h=?hhhhggbgjgeeje!Je!:e%@E,@雍Bɛ,<) >i)Ιs:i}Gi=?I=?I:J rLBJ#9JJRJ ZJJ? J&?D ?D DE0 EGI>GCG)IGBG( =GGG<G F% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275828VF 8U>zF gArF Fa ZA M >x,%"^A:@y:@9:I٣I MG[F  >]559Ѓm?a55Yʼ ihB?m:uq@sIDA;:!55 x@2i!%DNOT Ignoring new targets: 31.90 m.i-׺"i-׺= ProNav pure pursuit: ac range: 31.900000 m, nav range: 76.913345 m, bearing: 90.934972 deg, approach rate: 0.502721 m/s, LOS rate: -0.094031 deg/s, cmd heading: 90.975634 deg, new cmd heading: 90.934972 deg. EHeadingCmd: 1.587115 target range: 31.900000 and range: 76.50 m.hE&?hAhAhAhAgAgAbgIjgMBeQeQjeQJeQ:eU`/-@雅Bɛ_s<) >i)7Ř:隉iFi&?I&?IIQ)Y GG  !)U"yQUBmDAT read: Range 10 to 50 : 80.7 m (Round-trip 107.7 ms) speed -0.5 m/s u,DAT read: user:1245> -uX#Rx 1: Read range message, but no direction.aefB9aT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DDDE0 EEE?>VFF ZA M >ZI bI 'jI 0rI zI ;I :I ـ3I I d<q I d<i I H;u I I;m - T٣T VGTZM* Z>\]b559^m?ab55Y^ i^fBdfbqf@^ID^;^H:^T55A E@A addTargetRange:: Added new target pos. range: 80.699997 m, deltaT: 14.614335 s, deltaX: 4.199997 m, approachRate: 0.287389 m/s, rangeRepo size: 2 2iDNOT Ignoring new targets: 31.90 m.i׺"i׺ ProNav pure pursuit: ac range: 31.900000 m, nav range: 77.096474 m, bearing: 90.898620 deg, approach rate: 0.476683 m/s, LOS rate: -0.094400 deg/s, cmd heading: 90.934973 deg, new cmd heading: 90.898620 deg. HeadingCmd: 1.586480 target range: 31.900000 and range: 80.70 m.h?hhhhggbgjgeejeJe,T@:e?雕Bɛ<) 2>i):隙ifEi?I?IDM?DIDIEM0 EI}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249324VFQF) ZA1 MM >:J] jIBJ] 9JJY RJ] ZJ]  Ji Im hA%x,Y"^AGU>GCG)IGBG) =GG:DGV<G FBa)IMb@Mb@Mb@ )Iy#~j?X9v?{Gzt?ף @)`@IA@iВ@f@HH94@< -=YQ >٣ G\F >checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501118]559zm?a55Y icB?m:yq@IDo;f:t 55 @B*** querying acoustic contact ***ii2iYDNOT Ignoring new targets: 31.90 m.igں"igں ProNav pure pursuit: ac range: 31.900000 m, nav range: 77.336563 m, bearing: 90.851094 deg, approach rate: 0.483800 m/s, LOS rate: -0.095471 deg/s, cmd heading: 90.898623 deg, new cmd heading: 90.851094 deg. HeadingCmd: 1.585651 target range: 31.900000 and range: 80.70 m.h?hhhhggbgjgBeejeJe:e`pM? BɛҸ<) @>i):i iCi ? I?ID?DDE0 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753492VF F )?F (?F ZA M ><x,Ss"^A6@y6+@96n+=Y6=6HؿZT?05-q@ٿǍ| sT?`?6@ɨ6; 6C>BZl)IHbHby4jM= jo=Yj =Q n?l٣l nGr]Frc۽ r?t]z559vvm?az55Yv iv_Bx~(q~@vIDv:v:vq55 @2i1=DNOT Ignoring new targets: 31.90 m.i=%"iE%M ProNav pure pursuit: ac range: 31.900000 m, nav range: 77.508736 m, bearing: 90.812165 deg, approach rate: 0.574108 m/s, LOS rate: -0.129519 deg/s, cmd heading: 90.851092 deg, new cmd heading: 90.812165 deg. UHeadingCmd: 1.584971 target range: 31.900000 and range: 80.70 m.hUW?hQhQhQhQgYgYbgajgaeaeajeaJei:em?雕 Bɛۯ<) ̲>i)N:隡iUAiW?IW?IDU?DQDQEU0 EQE]hAEYZIbIjIrIzI:IS:III4<I4<I;I;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004909VFyFQZAYMu>(x,C="^A6Z@y6i@96ZsH=Y6ڠ=6H ٿ%?l5@"ڿ ??6Z@ɨ6kb; 6#CBBBi)IHJHJ94Rep VM=YV$X٣X ZGXZ6 ^>`]b559biqm?af55Yb ibZBdflqf@bIDb`:b:b55l n<@nqE2i DNOT Ignoring new targets: 31.90 m.i "i  ProNav pure pursuit: ac range: 31.900000 m, nav range: 77.708565 m, bearing: 90.764344 deg, approach rate: 0.500963 m/s, LOS rate: -0.119579 deg/s, cmd heading: 90.812167 deg, new cmd heading: 90.764344 deg. %HeadingCmd: 1.584137 target range: 31.900000 and range: 80.70 m.h%?h!h!h)h)g)g)bg1jg1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257105e1eAjeAJeA:eE`18?m Bɛu<) H>i)Wn;iGCG)IGBG =GGDGFZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509045M>Nx,9 "^ABk)IMb@Mb@Mb@ )IyQ?Zd;?~jtx?y=Ļ @)@IX@i@@HHH4S< 9=YQ >٣ G^F >]559ekm?a55Y iSB ?m:q @ID:w:55ޒB @tE2i9=DNOT Ignoring new targets: 31.90 m.iE "iE U ProNav pure pursuit: ac range: 31.900000 m, nav range: 77.935127 m, bearing: 90.709643 deg, approach rate: 0.511854 m/s, LOS rate: -0.123222 deg/s, cmd heading: 90.764342 deg, new cmd heading: 90.709643 deg. ]HeadingCmd: 1.583182 target range: 31.900000 and range: 80.70 m.h]?hYhYhYhagagibgijgmBeqeqjeJe:e`/?=Bɛ=<)A Ev>iA)E"';AAiEg7iM?I?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761908D%?D)D)E-0 E)VFM 8U>zFQ rFU gAF! ZA1 MM >ZI bI jI 1rI zI ;I bl:I 3I I J_<I K_<I 4;I 4; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012981K7x,"^A6L@y6w[@96..=Y6=6H 2ۿ R?G@ܿ°??6L@ɨ6s; 6CrBrc)IHzHz|4 Y=Y 4=Q  > ٣  G_Fӳ >]%559em?a-55Y iMB)-/q-@ID:y:551 5@92iamDNOT Ignoring new targets: 31.90 m.im"iu ProNav pure pursuit: ac range: 31.900000 m, nav range: 78.125038 m, bearing: 90.658921 deg, approach rate: 0.503852 m/s, LOS rate: -0.134242 deg/s, cmd heading: 90.709645 deg, new cmd heading: 90.658921 deg. HeadingCmd: 1.582297 target range: 31.900000 and range: 80.70 m.h?hhhhggbgjgeejeJe:eD@Bɛp.<) Ѳ>i)p7;iM0i?I?IDzDgAD?DDE0 EEE8>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266106VFFZAM>:J} LBJ} 9JJy RJ} ZJ} cx,1"^AG^>GCG)IGBG =GGG<G FHC HCHH$ ="H# =*H6H@yƇ@9(=Y9=H@5ܿY[?  `v1ݿ͜ߴ?@?H@ɨ ; Bd)IMb@Mb@Mb@ )Iyoʡ?Mb?Q ?=u )@I@i@ @HH4r; 2=չչchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519248Y٣ G >]559]m?a55Y i@B?m: q@ID;%;X55 l@B*** querying acoustic contact ***ii2iIMDNOT Ignoring new targets: 31.90 m.iUm"iUm ProNav pure pursuit: ac range: 31.900000 m, nav range: 78.376564 m, bearing: 90.589099 deg, approach rate: 0.503726 m/s, LOS rate: -0.139383 deg/s, cmd heading: 90.658925 deg, new cmd heading: 90.589099 deg. HeadingCmd: 1.581078 target range: 31.900000 and range: 80.70 m.h`?hhhhggbgjgBeejeJe:e@@eBɛeP<)e)< e>ia)e|O;iiimhu#iu`?qqIu`?IqD=?D9D9E=0 EAe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769041VF} @Z>F -?F 4?F ZA M >x,Xt"^ABS@yB'@9BVj=YB=BH@uݿ?=o)IP޿8c`??BS@ɨBz; B CNBRZ)IHZHZ|4b4 bg=Ybi)=];隹iUiD?ID?ID?DDE0 EZIEbIE1jIArIAzIE\;IE:IAIAIEt<IEt<IE>;IE>;eBDAT read: Rx Time:19:44:11.2731 eTRx dataTimestamp_ set to:1736538252.011223mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022058VFE0P>F! ZA) MU >Èx,G#^A:~@y:J@9:x =Y:z=:H߿ W?|߿U@: ]??:~@ɨ: ; :C^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272778bBbJ)IHjHjB4rK vH=Yvx٣x zGx~ N ~> ]559 4Qm?a55Y k i +B(q@ ID ; ; $55! %@!2iIUDNOT Ignoring new targets: 31.90 m.i]'3"i]'3e ProNav pure pursuit: ac range: 31.900000 m, nav range: 78.751717 m, bearing: 90.476130 deg, approach rate: 0.509518 m/s, LOS rate: -0.156628 deg/s, cmd heading: 90.540291 deg, new cmd heading: 90.476130 deg. mHeadingCmd: 1.579106 target range: 31.900000 and range: 80.70 m.hm( ?hihihqhqgygybgyjgyeejeJe:ep @雽Bɛ4<) o>i)Tn;ii( ?I( ?ID>D>D?DDE0 EEgAEhA:JEBJE9JJARJE ZJEDluqfXG8.#$(%!G%W>G%CG%)IG%BG%! =G%HDG%;DG%ް<G% FVF@Z>DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.1 ms) speed -0.5 m/s ,DAT read: user:1246> BDAT read: Tx time:19:44:12.3588 $Ping request sent.0Ɉx,L)#^AnBn5)IMb@Mb@Mb@ )Iy7A`?MbX9?Zd;O?ʡ=j Ȟ@)@Iߟ@i@@HH|4h ;=YQ >٣ GaF > ]559 PIm?a55Y  i B?m:q@ JD Y< < (55ݒB @yE addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.780572 s, deltaX: 1.800003 m, approachRate: 0.476119 m/s, rangeRepo size: 3 2iDNOT Ignoring new targets: 31.90 m.i/"i/ ProNav pure pursuit: ac range: 31.900000 m, nav range: 78.990685 m, bearing: 90.406773 deg, approach rate: 0.530269 m/s, LOS rate: -0.153438 deg/s, cmd heading: 90.476128 deg, new cmd heading: 90.406773 deg. HeadingCmd: 1.577896 target range: 31.900000 and range: 82.50 m.h~?hhhhggbgjgBeejeJeT@:e?%Bɛ-n<)) -͙>i))5,B;11i5Mi=~?99I=~?IAJDAT read: TxSync time:19:44:12.3581 ^Du9D ?D D E 0 E VF5 0P>zF= hArF= hAF ZAM5>шx,F#^A2U{@y2@92=Y2x=2H`?F K"ϸ1?b?2U{@ɨ2; 2#CBBB")IHfHf4r% r>=Yvt٣x zGzbF~/ݽ ~>] 559@m?a 55Y i Bq@JD\,;-;Y,55! -@)2iq}DNOT Ignoring new targets: 31.90 m.icM"icM ProNav pure pursuit: ac range: 31.900000 m, nav range: 79.222137 m, bearing: 90.330761 deg, approach rate: 0.548365 m/s, LOS rate: -0.179565 deg/s, cmd heading: 90.406774 deg, new cmd heading: 90.330761 deg. HeadingCmd: 1.576569 target range: 31.900000 and range: 82.50 m.h?hhhhggbgjgeejeJe:e`?Bɛf<)! %>i!)i;隉i޺i?I?I^Deh%<D?DDE0 EVF :J MBJ 9JJ RJ ZJ    F ZA G5 c>G5 CG5 {)IG5 ˉBG1 G5 GDG5 @<I ?@<I ;I ;M >׈x,`#^AR=z@yR:.@9Rl=YR{a=RH}? #@F1 - 6 ??R=z@ɨR8; RCZkBZ)IMb@Mb@Mb@ )IyV-? ףp= ? rh?Q=C @)В@I"@i@HH4ӽ <=YZJ٣ GcFr >]559.7m?a55Y= iB?m : )q @!JD::&055  @5B*** querying acoustic contact ***i1i12iAEDNOT Ignoring new targets: 31.90 m.iE.X"iM.X] ProNav pure pursuit: ac range: 31.900000 m, nav range: 79.464111 m, bearing: 90.249185 deg, approach rate: 0.562339 m/s, LOS rate: -0.189001 deg/s, cmd heading: 90.330761 deg, new cmd heading: 90.249185 deg. ]HeadingCmd: 1.575145 target range: 31.900000 and range: 82.50 m.h]^?hahahahagagabgijgmBeieqjeqJeq:eu 5?雝Bɛ<)f< zt>i);隡ini^?IM^?IICQCQCQCQ MGmSkA )c.ySkAN BDR?W?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D?DDE4 EEEC>VF- @Z>FZAM=>ވx,*~#^A:0x@y:~g@9:=Y:U=:H1)?@v&bYWѭ2p??:0x@ɨ:; :CB^BB(IHNHN4VKs V?=YV=X٣X ZGXZ i ^>\]f559^z-m?af55Y^m i^Bdfqf@^2JD^:^:^355nܒB r@r|E2i  DNOT Ignoring new targets: 31.90 m.i^"i^% ProNav pure pursuit: ac range: 31.900000 m, nav range: 79.698433 m, bearing: 90.165683 deg, approach rate: 0.548409 m/s, LOS rate: -0.194855 deg/s, cmd heading: 90.249188 deg, new cmd heading: 90.165683 deg. -HeadingCmd: 1.573688 target range: 31.900000 and range: 82.50 m.h-n?h)h)h)h)g)g1bg1jg1e1e9je9Je9:eE ?mBɛu9<)q upa>iq)uӔ;qqi}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.524012in?!I%n?I9D?DDE0 EVFFZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775848x,v3#^ArHBv(IH~<H~ 5MԽ MB=YUQ U>Y٣Y ]G]dFe e>i]u559m#m?au55Ym  imγBqqq}@mCJDm^;mY;m755 L@2iDNOT Ignoring new targets: 31.90 m.i_\"i_\:JLBJU9JJRJ ZJJM ? JM!?Gd>GCGC)IGBG =GGG<G FZIbI jI1rIzI;Iun:I3IIX<IX<I;I; ProNav pure pursuit: ac range: 31.900000 m, nav range: 79.930771 m, bearing: 90.083428 deg, approach rate: 0.545785 m/s, LOS rate: -0.192663 deg/s, cmd heading: 90.165682 deg, new cmd heading: 90.083428 deg. HeadingCmd: 1.572252 target range: 31.900000 and range: 82.50 m.h??hhhhggbgjg!eIeIjeIJeI:eU@雝Bɛ<) =>i);icEi??I??I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027915D?DDE4 EVF 0P>F ZA M >x,#^ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.280057~3B~(IMb@Mb@Mb@ )Iy/$?X9v?kt1(?= 0 ߟ@)@If@i@H,H5 @=YQ >٣ GeF >] 559Ym?a 55YR iB+?m:q@UJDu ;] ;F;55 %@%~E2iimDNOT Ignoring new targets: 31.90 m.iuY"iuY ProNav pure pursuit: ac range: 31.900000 m, nav range: 80.187576 m, bearing: 90.002458 deg, approach rate: 0.605335 m/s, LOS rate: -0.190249 deg/s, cmd heading: 90.083426 deg, new cmd heading: 90.002458 deg. HeadingCmd: 1.570839 target range: 31.900000 and range: 82.50 m.hC?hhhhggbgjgȂBeejeJe:e@@BɛA<) >i)2W;i<iC?IC?IDzDhADU?DYDYE]0 EYEaEa=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532373VFm8U>FA ZAY Mu >'x,#^A6*t@y6$@96<=Y6nTp=6H`?`4].'`s˭??6*t@ɨ6Zĉ; 6CRBR(IHZ5HZ5b  b`=Yb0=Q f>d٣d fGdjF j>l]r559nm?ar55Yn inBpvqv@ndJDn:nd:nw>55x z@x2iDNOT Ignoring new targets: 31.90 m.iYq"iYq ProNav pure pursuit: ac range: 31.900000 m, nav range: 80.400955 m, bearing: 89.922529 deg, approach rate: 0.564793 m/s, LOS rate: -0.211004 deg/s, cmd heading: 90.002461 deg, new cmd heading: 89.922529 deg. HeadingCmd: 1.569444 target range: 31.900000 and range: 82.50 m.h?hhhhggbgjgeejeJe:e@1@BɛfX<)k< =i)/;  i  1i ?I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.786379^DID?DDE85 E:JMJBJM9JJIRJM ZJM%3750)! J]fAI]gAG Y>G CG (IG eBG  =G G ;DG <G FIsI{O3I{(.IsIsIsZI bI 9jI rI zI |";I :I I I Iz<I Jz<I h;I h;E BDAT read: Rx Time:19:44:14.8761 M TRx dataTimestamp_ set to:1736538255.555164M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036925VFQ F1 ZAA M] >x,#^Ae Be(IMb@Mb@Mb@ )Iy?~jt?/$,?>, @)+@I@i@@HCH 5E M(=YMQ U>Q٣Q UGUfF] ]>a]m559em?am55Ye  ieBms1?mu:uEqu@eyJDee ;e ;eB55ےB @EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 31.90 m.iDw"iDw ProNav pure pursuit: ac range: 31.900000 m, nav range: 80.701622 m, bearing: 89.820053 deg, approach rate: 0.636640 m/s, LOS rate: -0.216177 deg/s, cmd heading: 89.922528 deg, new cmd heading: 89.820053 deg. HeadingCmd: 1.567656 target range: 31.900000 and range: 82.50 m.h?hhhhggbgjg͂BeejeJe:ec @ވBɛ*<) d=i);im89i%?!!I%?I)^DT<checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288279D?DDE/5 EVFY F1 ZA9 MU >.fx,$^A6hp@y65 @96 >Y6م=6H`f7?`? ʳtn6`k ??6hp@ɨ6; 4RBR(IV>iVp;HZRHZ5b bg=Yf6d٣d jGjgFj  j> DAT read: Range 10 to 50 : 84.7 m (Round-trip 113.0 ms) speed -0.5 m/s ,DAT read: user:1247> BDAT read: Tx time:19:44:15.9589 $Ping request sent.Du!>JDAT read: TxSync time:19:44:15.9582 D ?D D E 82 E :J 0LBJ 9JJ GZ>GCG(IG-BG% =GHDG:DGW<GFHͣC HͣCHH! ="H =*HŊ6VF0P>ZIbIjI0rIzIM;I~o:Iـ3II\<I\<I;I;RJ ZJ JM? JM?F9ZAIMu ?ʞx,'$$^A%B%c(I Mb@Mb@Mb@   ) I y Q?kt?Zd;O 5?  0> j< "@) A@I @i @  H'H5-* - =Y5Q 5>1٣9 =G9= E>A]M559El?aU55YE>0 iEIBUc;?mU:UkqU@EJDE:EM:EJ55eڒB e<@eE2iDNOT Ignoring new targets: 31.90 m.i"i ProNav pure pursuit: ac range: 31.900000 m, nav range: 81.287399 m, bearing: 89.602222 deg, approach rate: 0.667769 m/s, LOS rate: -0.242612 deg/s, cmd heading: 89.733857 deg, new cmd heading: 89.602222 deg. HeadingCmd: 1.563854 target range: 31.900000 and range: 84.70 m.h\,?hhhhggbgjgBeejeJe:e5?ՈBɛ*;) =i);; i {:i \,?I\,?ICCC!C!DQ DQ DQ EU 0 EQ VFy F)ZAIMe>hx,QB$^A6:k@y6y@968 >Y6 >=6H 8? }0EI`Jخ r?@ê?6:k@ɨ6C; 4>׈B>P(IHN%HN5R VB=YVwX٣X ZGZhF^H ^>\]b559^l?af55Y^6 i^,Bdfqf@^JD^Q;^;^N55l n9@l2i  DNOT Ignoring new targets: 31.90 m.i՘"i՘- ProNav pure pursuit: ac range: 31.900000 m, nav range: 81.544525 m, bearing: 89.489370 deg, approach rate: 0.610804 m/s, LOS rate: -0.267236 deg/s, cmd heading: 89.602219 deg, new cmd heading: 89.489370 deg. 5HeadingCmd: 1.561884 target range: 31.900000 and range: 84.70 m.h5?h1h1h1h1g9g9bg9jg9eAeAjeAJeA:eE`L?҈Bɛ;) `#FZAM>x,\$^AJmi@yJ:x@9J >YJ8=JHv``K?@B`Γ ?`!?Jmi@ɨJ; HZʈBZ@(II`)bAHfHf4nev nH=Yr#;Q r>p٣p rGviFv v>x]~559zl?a55Yzk= izB b q @zJDz9;z:;z+R55! -@-E2iaeDNOT Ignoring new targets: 31.90 m.imU"imUG\>GCG(IGBG! =GGDG;DG<G F:JBJж9JJRJ ZJ   ProNav pure pursuit: ac range: 31.900000 m, nav range: 81.790329 m, bearing: 89.376003 deg, approach rate: 0.594473 m/s, LOS rate: -0.273351 deg/s, cmd heading: 89.489371 deg, new cmd heading: 89.376003 deg. HeadingCmd: 1.559906 target range: 31.900000 and range: 84.70 m.h?hh h h)ggbgjge!e!jeQJeY:e]$?U͈BɛUA;)Y ]iY)];YYi]N ;i?I?ID%?D!D!E-0 E)VFE 8U>F ZA! MU >x,u$^A6Y6D=6H@ Р?nݛj6¿S?`?6EL A)E@IE@iAAE@H]BH]5Y} ٣ G0 >]559l?a55Y>D iB=?m:* q@JD;;U55 B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 31.90 m.iB"iB ProNav pure pursuit: ac range: 31.900000 m, nav range: 82.051414 m, bearing: 89.261384 deg, approach rate: 0.616367 m/s, LOS rate: -0.269729 deg/s, cmd heading: 89.376003 deg, new cmd heading: 89.261384 deg. HeadingCmd: 1.557905 target range: 31.900000 and range: 84.70 m.hoi?hhhhggbgjgBeejeJe:e7?eɈBɛe;)a e ;ia)m! ;iii^&;ioi?Ioi?IDE?DADAEE 1 EAHmR=HiZIubIu jIu1rIqzIu} ;IuOj:Iu3Iqq@i@u@m@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VF- 0P>F ZA M= >#x,D$^A:f@y:[t@9:6>Y:J=:H`.?`[N¿@Ԫ@Ov¿?j?:f@ɨ:S; : CFBF5(IHNWHN5V VX٣X ZGZjF^ ^>d]j559fڳl?aj55Yf=J ifղBhj qn@fJDf:fj;f.Y55p r@p2i  DNOT Ignoring new targets: 31.90 m.i "i % ProNav pure pursuit: ac range: 31.900000 m, nav range: 82.281120 m, bearing: 89.155373 deg, approach rate: 0.615972 m/s, LOS rate: -0.283484 deg/s, cmd heading: 89.261386 deg, new cmd heading: 89.155373 deg. -HeadingCmd: 1.556055 target range: 31.900000 and range: 84.70 m.h-,?h)h)h)h1g1g1bg1jg9e9e9je9JeA:eE?@uňBɛu _;)uq= uiq)}ܦ;yyi}Қ?;i,?I,?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265117D?DDEQ5 EVFQGc>GG\(IGBGGG= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518540/)x,$^A^d@y^Qr@9^,>Y^V=^H#M8?z¿:q ¿@Uv?ћ?^d@ɨ^-; \~B~-(II) c~G5lA I)u.y}lA}!BMb@Mb@Mb@ )Iy-?x&1?Zd;O?5?A`>j< 9@)@IV@i@G@HeH15ݼ ,=Y ;Q >٣ GkFy >Y]e559]l?ae55Y]Q i]Bm>?mm:m qm@]KD]v:]:]v]55uؒB uܡ@uE2iDNOT Ignoring new targets: 31.90 m.i"i ProNav pure pursuit: ac range: 31.900000 m, nav range: 82.577400 m, bearing: 89.016305 deg, approach rate: 0.604534 m/s, LOS rate: -0.282737 deg/s, cmd heading: 89.155374 deg, new cmd heading: 89.016305 deg. HeadingCmd: 1.553628 target range: 31.900000 and range: 84.70 m.hE?hhhhggbgjgBeejeJe:e@Bɛr;) 4i) ;  i `d;iE?IE?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769614D?DDE0 EEJ>EJ>VF H_>F ZA M >ZIu bIu jIq rIq zIu T;Iu z:Iq Iq }0x,$^A6 b@y6p@96f?>Y6xVL=6H z?nLÿ | @G5ÿ>?)?6 b@ɨ6̉; 4jÈBj7(IlnArBDAT read: Rx Time:19:44:18.4791 rTRx dataTimestamp_ set to:1736538259.083470vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021889H~KH~5&B= l=Y f@Bɛz;) @JFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273259ZAM>6x,;S$^A2a@y2!o@92B9>Y2`N5=2H1@;?_ÿࣸRiÿ@c?@?2a@ɨ2b?; 0BBB2(IHJDHJ5R RR=YR;Q V>T٣T VGVlFZ| Z>\]b559^l?af55Y^\ i^~BdfGqf@^(KD^";^#;^c55h j@nEG%b>G%CG%C(IG%͈BG% =G!G!G%<G% F2iDNOT Ignoring new targets: 31.90 m.iG"iG:JNBJ 9JJRJ ZJJ%gAI! ProNav pure pursuit: ac range: 31.900000 m, nav range: 82.999489 m, bearing: 88.800850 deg, approach rate: 0.550326 m/s, LOS rate: -0.287245 deg/s, cmd heading: 88.918947 deg, new cmd heading: 88.800850 deg. HeadingCmd: 1.549867 target range: 31.900000 and range: 84.70 m.h  b?hh!h!h)gqgybgjgeejeJe:e4 @DAT read: 19:44:18.4791 LVL= 21488, 22769, 14322, 27619, AGC= 55, IDX= 448, 0.33,-1.344, 1.047, 0.672, 0.077, PHS=-1.333, 1.017, 0.592, RAW= 279.8, -2.6, CAL= 282.9, -5.1, ROT= 227.1, 5.1 Ygot valid direction response: 19:44:18.4791 LVL= 21488, 22769, 14322, 27619, AGC= 55, IDX= 448, 0.33,-1.344, 1.047, 0.672, 0.077, PHS=-1.333, 1.017, 0.592, RAW= 279.8, -2.6, CAL= 282.9, -5.1, ROT= 227.1, 5.1 PDAT read: Bearing 227.1, 5.1 (Local) ~Local bearing/azimuth received: Bearing 227.1, 5.1 (Local) DAT read: Range 10 to 50 : 87.0 m (Round-trip 116.1 ms) speed -0.6 m/s ,DAT read: user:1248> BDAT read: Tx time:19:44:19.5589 $Ping request sent.zFrFFYZAaM}?>{@x,%^AZI&bI&jI$rI$zI&5;I&y:I$I$V)]@yVHk@9VRo">YVL\=VH0)(?؂ÿ5@<4ڪ$8Ŀ6u?ܔ?V)]@ɨVV; TbĈBf8(IIh)hMb@Mb@Mb@ )Iyn?5^I ?L7A`堿V.?X>+ f@)Ȟ@I@i@@HEH52< =Y٣ GmFAȽ >]559|ol?a55Yee iTB 6?m : /q @CKD& ;m ; i55גB 8@EZjMr?bj8 ii$^AjBjӬB2j񽂬?p}~~MDMO#0jzpKcN3@/'6U@0wֿpcHP?4?N٘piBjAi*X>r?i$  jBzjy]!m?jjjjBrj?} addTargetRange:: Added new target pos. range: 87.000000 m, deltaT: 3.529646 s, deltaX: 2.300003 m, approachRate: 0.651624 m/s, rangeRepo size: 4  Added new target pos. range: 87.000000 m, bearing: 77.219805 deg, lat: 36.903925 deg, lon: -122.119064 deg, deltaT: 275.256906 s, deltaX: 55.099998 m, approachRate: 0.200177 m/s, posRepo size: 2 2iDNOT Ignoring new targets: 87.00 m.i"i ProNav: ac range: 87.000000 m, nav range: 83.329659 m, bearing: 88.548184 deg, approach rate: 0.000000 m/s, LOS rate: -0.287245 deg/s, cmd heading: 88.800847 deg, new cmd heading: 88.284330 deg.  i"EHeadingCmd: 1.540852 target range: 87.000000 and range: 87.00 m.h:?hhhhggbgjgBeejeJeU@:e`e?}Bɛ}~~;) (=i){;隩ix;i:?I:?I^D;=D]?DYDYEY EaVFq FQ ZAY M} >٣Fx,%^AB[@yB;i@9B$>YBUd٣d fGfnFj+ j>l]r559n`l?ar55YnLj in;Btv;qv@nTKDnl:n6:nTl55x z@|B*** querying acoustic contact ***ii2i!-DNOT Ignoring new targets: 87.00 m.i-"i5E ProNav: ac range: 87.000000 m, nav range: 83.520332 m, bearing: 88.429906 deg, approach rate: 0.527577 m/s, LOS rate: -0.326517 deg/s, cmd heading: 88.284327 deg, new cmd heading: 87.930308 deg.  iE`MHeadingCmd: 1.534673 target range: 87.000000 and range: 87.00 m.hM.p?hIhIhIhIgIgQbgQjgQeYeYjeYJeY:e]?雅Bɛ?<) @=i);隑i#;i.p?I.p?ICCCCGU]>GUCGU6(IGUˆBGU =GQGU;DGUɰ<GU F:J=RIBJ=}9JJ9RJ= ZJ=  Jm> Jm?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D?DDE EVF5 0P>F ZA M5 >QLx,Ww5%^A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231114>UY@y>qtg@9>:f&>Y>n<>H`P?`o$Ŀܿ@?_`Ŀ?@?>UY@ɨ>; >CFшBFI(I%Mb@Mb@Mb@!! !)!I!y%{Gz??%#?%L>%̼ %@)%"@I%ݸ@i%@!%@H=(H=)5Ma= C=Yw;Q >٣ G >]559zOl?a55Yo i B+?m:q@fKDL ;a;p55֒B T@E2iyDNOT Ignoring new targets: 87.00 m.iH"iH ProNav: ac range: 87.000000 m, nav range: 83.728134 m, bearing: 88.295043 deg, approach rate: 0.468018 m/s, LOS rate: -0.302988 deg/s, cmd heading: 87.930312 deg, new cmd heading: 87.526735 deg.  iOHeadingCmd: 1.527630 target range: 87.000000 and range: 87.00 m.h%_?h)h)h)h)g1g9bgAjge#BeaeijeiJei:em^?Bɛ*+<) ̥=i);iF;i_?I_?IDD=?D9D9E9 E9EUG>EU?>ZI}bI}jIyrIyzI}=;I}^:IyIy checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483165VF= 8U>F ZA! M= >rSx,FO%^A:EW@y:e@9: s)>Y:' =:H v`P?@Ŀ GGۿ =ſ@:?d?:EW@ɨ:; :"CLPV=iVC=HZ9HZ 5bԆ bT=Yf d٣d fGfoFjz j>l]r559n@l?ar55Ynt inBtvqv@nvKDn>:n:nYs55x zP@zE2i!-DNOT Ignoring new targets: 87.00 m.i-ƺ"i-ƺE ProNav: ac range: 87.000000 m, nav range: 83.900742 m, bearing: 88.177397 deg, approach rate: 0.480140 m/s, LOS rate: -0.326581 deg/s, cmd heading: 87.526736 deg, new cmd heading: 87.174529 deg.  iE!`MHeadingCmd: 1.521483 target range: 87.000000 and range: 87.00 m.hM?hIhIhIhIgIgQbgQjgQeYeYjeYJeY:ee@?雍Bɛ8F<) =i)8;隙iQ;i?I?ID-?D1D1E50 E1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.735393VFqF1ZAAM]>Gud>GqGu<(IGuȈBGu# =GqGu9 @)^@I @i9@G@HNH5m: 9=YQ >٣ GpF > ]559 /l?a55Y x i B ?m:q@ KD  ;  ; 6w55%ՒB %?@%E2iIUDNOT Ignoring new targets: 87.00 m.iU?"i]?e ProNav: ac range: 87.000000 m, nav range: 84.090004 m, bearing: 88.044141 deg, approach rate: 0.428733 m/s, LOS rate: -0.301181 deg/s, cmd heading: 87.174531 deg, new cmd heading: 86.775671 deg.  ieNmHeadingCmd: 1.514521 target range: 87.000000 and range: 87.00 m.hm?hqhqhqhqgqgqbgyjg}LBeyeyjeJe:e @雭Bɛ- D<)) -x=i1)5cӰ;11i5;i=?99I=?IAD?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.239874VFA F! ZAA M] >޳`x,k%^AZI`bIbjI`rI`zI`Ib[:I`I`n)S@ynb@9n->Yn;=nH`Y)@K?ſؿĝ~ſ`|9?}?n)S@ɨnw%; n C ؈BQ(IH%RH%55= 5W=Y55A٣A EGAM M>Q]]559UC l?a]55YU| iUرBae|qe@UKDU;UH;Uz55i mٟ@i2iDNOT Ignoring new targets: 87.00 m.i"i ProNav: ac range: 87.000000 m, nav range: 84.243294 m, bearing: 87.924215 deg, approach rate: 0.403155 m/s, LOS rate: -0.314834 deg/s, cmd heading: 86.775668 deg, new cmd heading: 86.416550 deg.  iXHeadingCmd: 1.508253 target range: 87.000000 and range: 87.00 m.hr?hhhhggbgjgeejeJe:e"@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491473 Bɛ g<) =i)lݳ;i0;ir?!!I%r?I!D1zD5gAD?DDE EEEVF0P>zFgArFFZAM> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743207pfx,lϜ%^A:#R@y:{B`@9:w.>Y:l{ =:H`|T?^ſ S]ֿ  ſwM??:#R@ɨ:V; 8FԈBFL(IIH)HHJAHRQHRT5Z  ZR=Y^U:Q ^>`٣` bGbqFb< f>d]j559fVl?an55Yf ifBlnMqn@fKDf ;f ;f}55t v@t B*** querying acoustic contact ***i i 2iDNOT Ignoring new targets: 87.00 m.i%"i%5 ProNav: ac range: 87.000000 m, nav range: 84.394661 m, bearing: 87.799542 deg, approach rate: 0.390430 m/s, LOS rate: -0.321001 deg/s, cmd heading: 86.416551 deg, new cmd heading: 86.043205 deg.  i5L\=HeadingCmd: 1.501737 target range: 87.000000 and range: 87.00 m.hE8?hAhAhAhAgAgAbgIjgIeIeIjeQJeQ:eU`<@雅BɛO'j<) X=i)v;隉i,FQZAYMu> mx,Ѳ%^A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247054:eP@y:^@9:.>Y:4<:H?@ſlԿB{`ſ`??:eP@ɨ:.; 8~؈B~Q(IMb@Mb@Mb@ )IytV?(\?~jt?z> @)t@I@iO@z@HLH5< :=Y09Q >٣ Gb~ >]559k?a55Y> iBc?m:e#q@KD:E:55 џ@E2iDNOT Ignoring new targets: 87.00 m.i"i ProNav: ac range: 87.000000 m, nav range: 84.544228 m, bearing: 87.659847 deg, approach rate: 0.325826 m/s, LOS rate: -0.303782 deg/s, cmd heading: 86.043206 deg, new cmd heading: 85.624871 deg.  i{PHeadingCmd: 1.494436 target range: 87.000000 and range: 87.00 m.hI?hhhhggbgjgBeejeJe:e @%Bɛ%"+u<)%eB= ->i))-54;))i5U sx,b%^A2N@y2\@92l.>Y2a<2Hz`2?5ſӿ rſ TΘ??2N@ɨ2; 2C>ֈBBN(IHJ[HJ5Rj. R_=YRݹQ R>T٣T VGVrFZQ Z>\]b559^Nk?ab55Y^9 i^B`b,%qf@^KD^Y;^;^55jԒB j@jE2iDNOT Ignoring new targets: 87.00 m.i"i ProNav: ac range: 87.000000 m, nav range: 84.664909 m, bearing: 87.541062 deg, approach rate: 0.332108 m/s, LOS rate: -0.326422 deg/s, cmd heading: 85.624870 deg, new cmd heading: 85.269028 deg.  i`HeadingCmd: 1.488225 target range: 87.000000 and range: 87.00 m.h+~?hhhhggbgjgeejeJe:e`m @Bɛ><) .>i)Ա;i BDAT read: Tx time:19:44:23.1589 $Ping request sent.)U6IUC\iU2UMU>Uy?U @ U+H)UE@IUiU1@UQ QUcyK濺p?9fIU@iU{1;EJ>YUOFuӿ3|Q9QQ Q)QIQiQQQQQ Q)QIQiQQQ QUcyK濺p?9fIQiQQQQ QVFF?F?GEc>GAGAGAGE =GAGAGE<GE FFZAM >ZIu bIu jIq rIq zIu e ;Iu ~o:Iq Iq Iu U<q Iu U<i Iq u Iq m :J- :IBJ- 9JJ) RJ- ZJ- zx,;s%^AFoL@yF->YF)٣ GsF_ >]559k?a 55YɊ ixB  ?m : (q @KDj::n55 0@Zj}:l?bj}V7,~ iyi}{%^Aj}3Bj}B2j}W?p}aֆ:IUzp}OFuӿ3|"j}*j}p}X}a@!V@xy@p}0:?Ews?E#?i}Bj}$@i})l?i}trn  j}Bzjyj}j j}Bjj}&Brj}K? addTargetRange:: Added new target pos. range: 88.599998 m, deltaT: 3.778495 s, deltaX: 1.599998 m, approachRate: 0.423449 m/s, rangeRepo size: 4  Added new target pos. range: 88.599998 m, bearing: 88.335386 deg, lat: 36.903925 deg, lon: -122.119050 deg, deltaT: 3.778495 s, deltaX: 1.599998 m, approachRate: 0.423449 m/s, posRepo size: 3 2iDNOT Ignoring new targets: 88.60 m.i"i ProNav: ac range: 88.599998 m, nav range: 86.074493 m, bearing: 87.418978 deg, approach rate: 0.000000 m/s, LOS rate: -0.326422 deg/s, cmd heading: 85.269031 deg, new cmd heading: 84.771996 deg.  iHeadingCmd: 1.479550 target range: 88.599998 and range: 88.60 m.ha?hhhhggbgjgBeejeJe`f&V@:e][?}Bɛ#y<) >i);隁i36x,&^ABJ@yBX@9B,>YBeri)Y;隙io#F ZA M >揇x,&^A>I@y>-W@9>#+>Y><>H`$ ku?~ſ`˿`>r҆Jſ{?'?>I@ɨ>; >CbBb4(IHnHn4v4E vB=G~_>G~CG~C(IG~͈BG~ =G|G~;DG~ <G~ FYQ >٣ GtFZ %>!]5559%lk?a555Y%{ i%RB9=m,q=@%KD%!;%j!;%55A E,@AuB*** querying acoustic contact ***iqiq2iyDNOT Ignoring new targets: 88.60 m.i"i ProNav: ac range: 88.599998 m, nav range: 86.269379 m, bearing: 87.185365 deg, approach rate: 0.257019 m/s, LOS rate: -0.315730 deg/s, cmd heading: 84.477269 deg, new cmd heading: 84.071974 deg.  iXHeadingCmd: 1.467333 target range: 88.599998 and range: 88.60 m.hѻ?hhhhggbgjgeejeJe:e?zBɛ"~<) ( >i)06;ib, checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497411x,9&^A>;G@y>YU@9>K+>Y>><>H~C?@ſȿ`m:x`ſƯ?`?>;G@ɨ>}>; > CJBJ (I-Mb@Mb@Mb@)) )))I)y-?MbX?Q-f?-=-u -?@)-@I-@i))-Q@H=SH=75UМ UC=YUp:Q U>Y٣Y ]G]uFe0 e>i]u559mjk?au55Ym im=Bu?mu:u0q}@mKDm<:m:m55ҒB %!@-E2iaeDNOT Ignoring new targets: 88.60 m.im@"im@} ProNav: ac range: 88.599998 m, nav range: 86.360588 m, bearing: 87.054273 deg, approach rate: 0.209780 m/s, LOS rate: -0.301191 deg/s, cmd heading: 84.071972 deg, new cmd heading: 83.679118 deg.  i}NHeadingCmd: 1.460476 target range: 88.599998 and range: 88.60 m.h?hhhhggbgjgBeejeJe:e`:?tBɛ!h<) =i);i5F ZA M >px,V&^ABVnE@yB#S@9Bk,>YB=`jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001585٣d jGln~ n>p]v559r>k?av55Yr ir&Bxzb2q~@r LDrE;rF;rU55 @2i)5DNOT Ignoring new targets: 88.60 m.i5D"i=DM ProNav: ac range: 88.599998 m, nav range: 86.451599 m, bearing: 86.914256 deg, approach rate: 0.218752 m/s, LOS rate: -0.336186 deg/s, cmd heading: 83.679120 deg, new cmd heading: 83.259520 deg.  iMfUHeadingCmd: 1.453153 target range: 88.599998 and range: 88.60 m.hU?hQhQhQhQgYgYbgYjgYeaeajeaJea:emH@雕nBɛ"E<) =i);隙iV=GYG]0(IG]BG]! =GYG]x,sp&^AFdC@yF1Q@9F,>YF٣ GvF~ >] 559k?a55Y iB?m:4q@LD ; ;+55! %c@%E2iIMDNOT Ignoring new targets: 88.60 m.iU"iUe ProNav: ac range: 88.599998 m, nav range: 86.533485 m, bearing: 86.774284 deg, approach rate: 0.187025 m/s, LOS rate: -0.319388 deg/s, cmd heading: 83.259521 deg, new cmd heading: 82.840010 deg.  ie1[mHeadingCmd: 1.445831 target range: 88.599998 and range: 88.60 m.hm?hihihihqgygybgyjg}BeejeJe:e@雭hBɛ4<) p=i)<;隹iFF ZA M > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757945~x,@&^A>A@y>zO@9>8+>Y><>H^o?ſv?aXſ@?@?>A@ɨ>Ț; l٣l nGnwFrƞ r>t]z559vZwk?az55Yv ivBxz6q~@v&LDv;v;vv55 @ 2i15DNOT Ignoring new targets: 88.60 m.i=w"i=wM ProNav: ac range: 88.599998 m, nav range: 86.598869 m, bearing: 86.652999 deg, approach rate: 0.173069 m/s, LOS rate: -0.320795 deg/s, cmd heading: 82.840011 deg, new cmd heading: 82.476436 deg.  iM(\HeadingCmd: 1.439485 target range: 88.599998 and range: 88.60 m.hA?hhhhggbgjgeejeJe:e@UbBɛUE;)Q U-G i>G CG 'IG BG  =G G G <G FHʤC HʤCHH ="H =*HN5kx, &^AHLHLIIw3I.-IIIZIRbIRjIR1rIPzIRl:IR!:IR3IPIR <IR <IRmy;IRny;URBU'IHehHe5*˽ ==YQ >!٣! -GUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264705:J]LBJ]9JJYRJ] ZJ]J ? J? >]5559ck?a=55Y̘ iBAiqu@6LD&{<zz<55ђB @EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 88.60 m.i"iU ProNav: ac range: 88.599998 m, nav range: 86.680450 m, bearing: 86.502921 deg, approach rate: 0.166151 m/s, LOS rate: -0.305364 deg/s, cmd heading: 82.476433 deg, new cmd heading: 82.026634 deg.  i}QHeadingCmd: 1.431635 target range: 88.599998 and range: 88.60 m.h??hhhhggbg jge1e9je9Je9:e=`~C @ZBɛ^;) i)'{;iZ E BDAT read: Tx time:19:44:26.8090 M $Ping request sent.M F ZA M >jx,&^A3B'IUMb@Mb@Mb@QQ Q)QIQyU{Gz?&1?MbU?U=U Uݸ@)U@IUE@iU9@QU\@H_H5r )=YQ >٣ GxF >]-559Qk?a-55Y ḭB5v?m5:5g5q5@ELD;;559 =@9Zj}Rf?bj}hp JDAT read: TxSync time:19:44:26.8083 iyi}=&^Aj}fBj}1B2j} ?p}@D'UV-畷Fzp}7?ᨷr￁99"j}w;*j}9=p}S.5V@|tp}ſTu8m?2i}/Bj}}ti}fIf?i}щ  j}|sBzjyj}$ jyjj}Brj}?] addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.527453 s, deltaX: 1.099998 m, approachRate: 0.311839 m/s, rangeRepo size: 4  Added new target pos. range: 89.699997 m, bearing: 99.840633 deg, lat: 36.903925 deg, lon: -122.119047 deg, deltaT: 3.527453 s, deltaX: 1.099998 m, approachRate: 0.311839 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 89.70 m.i"i ProNav: ac range: 89.699997 m, nav range: 87.040382 m, bearing: 86.370352 deg, approach rate: 0.000000 m/s, LOS rate: -0.305364 deg/s, cmd heading: 82.026631 deg, new cmd heading: 81.602688 deg.  iHeadingCmd: 1.424236 target range: 89.699997 and range: 89.70 m.hZM?hh!h!h!g!g!bg)jg-Be)e)je)Je5lV@:e5 ^?雥TBɛx8:) 脽i)ܵ;隩iEcF ZA M >Ӷx,&^A2z<@y2J@92['>Y2b<2H`>?ĿG`?`Ŀr?@}?2z<@ɨ2j; 2CJ BNS'IIP)PHVHHVW5bGh bd=YbH>Q f>d٣d fGfyF%,j %>1]55595Ak?a=55Y5› i5BAE:qE@5QLD5S*;5*;555MВB Ur@UE2iy}DNOT Ignoring new targets: 89.70 m.i̻"i̻ ProNav: ac range: 89.699997 m, nav range: 87.093758 m, bearing: 86.251746 deg, approach rate: 0.161178 m/s, LOS rate: -0.357936 deg/s, cmd heading: 81.602688 deg, new cmd heading: 81.247092 deg.  iuHeadingCmd: 1.418029 target range: 89.699997 and range: 89.70 m.h?hhhhggbgjgeejeJe:e@s?PBɛIy)  i);iaYjGG'IG]BG =GG=DG<G FDm?DiDqEu0 Eq:JBJK9JJRJ ZJT:s6 VF0P>FZAM>x,h&^A:O:@y:H@9:#$>Y:R<:HЖAkĿz?e@>&?mĿ ˂??:O:@ɨ:V; 8FBF-'I%Mb@Mb@Mb@!! !)!I!y%S㥛?HzG?~jt%?%= >%ļ %@)%@I%S@i%^@!%@H=BH=5M MB=YUQ U>Q٣Y ]GY]G e>a]m559e0k?au55Ye/ ieBul ?mu:u8qu@e_LDe;e;eD55 [@2iDNOT Ignoring new targets: 89.70 m.iK"iK ProNav: ac range: 89.699997 m, nav range: 87.161598 m, bearing: 86.117089 deg, approach rate: 0.165118 m/s, LOS rate: -0.327488 deg/s, cmd heading: 81.247095 deg, new cmd heading: 80.843447 deg.  i`UHeadingCmd: 1.410984 target range: 89.699997 and range: 89.70 m.h]"?hYhYhYhYgYgYbgajge[BeaeijeJe:e ?IBɛ̻) F ZA M5 >zÉx,#K'^A2ي8@y2F@92!>Y2H<2H O@G,ĿR?@ +?"Ŀ忈?@c?2ي8@ɨ2і; 2 CBŇBB&IHJCHJ 5ROD VU=YVDƻQ V>X٣X ZGZzFZ ^> ]559 k?a55Y c i B:q@ lLD ; ; 55) -@-E2iQUDNOT Ignoring new targets: 89.70 m.i]"i]m ProNav: ac range: 89.699997 m, nav range: 87.221039 m, bearing: 85.986752 deg, approach rate: 0.152034 m/s, LOS rate: -0.333142 deg/s, cmd heading: 80.843444 deg, new cmd heading: 80.452707 deg.  imduHeadingCmd: 1.404165 target range: 89.699997 and range: 89.70 m.hu?hqhqhqhygygybgyjgyeejeJe:e :?雽CBɛG)l= |i)E;i>|FZAM>Gt>GCGb'IGBG =GG>DG߰<G Faʉx,Ad*'^A:JRyMBJR9JJPRJR ZJRI) -.~GElA a),ylABޭBޭ&I >iN>]Mb@Mb@Mb@YY Y)YIYy]S㥛?S㥛?I +]$?]$>]9 ] @)]Ʒ@I]@i]@Y]@ AAHH)5_  =Y Q >٣ G{F% ->9]M559=%k?aM55Y=l i=sBUr ?m]:]8q]@=LD=$;=;=u55eϒB m@mEB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 89.70 m.i"i ProNav: ac range: 89.699997 m, nav range: 87.318329 m, bearing: 85.805011 deg, approach rate: 0.177717 m/s, LOS rate: -0.331611 deg/s, cmd heading: 80.452709 deg, new cmd heading: 79.908110 deg.  icHeadingCmd: 1.394660 target range: 89.699997 and range: 89.70 m.h5?hhhhggbgjg#BeejeJe:er?:Bɛ <)  疾i ) á; ixzF gArF gAZI bI jI 0rI zI <:I :I ـ3I F ZA M>`щx,G'^A2D2@y2@@923>Y2&j<2H@+\ ]Lÿ I&?͹9V?_ÿD??2D2@ɨ2; 0FxBF&I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256212HpHp'x l=Yw$Q ?٣ G|F ?]559j?a55YJ iaB=q@LD:|:55ڒB @2iIUDNOT Ignoring new targets: 89.70 m.iU"iU ProNav: ac range: 89.699997 m, nav range: 87.364929 m, bearing: 85.685243 deg, approach rate: 0.131332 m/s, LOS rate: -0.337358 deg/s, cmd heading: 79.908111 deg, new cmd heading: 79.549003 deg.  igHeadingCmd: 1.388392 target range: 89.699997 and range: 89.70 m.hԶ?hhhhggbgjgeejeJe:e 5@55Bɛ5Zs)9 =iY)];YYieb{؉x,Oa'^A6o0@y6<>@96>Y6iT<6H`;`HnĿ%¿@? ĕ?ಈÿ[u?֞?6o0@ɨ6V; 6CB]BB&IHJHJ,5G-v>G)G-&IG-ćBG- =G)G)G-ڰ<G- Fe K=YRQ >٣ G >]559j?a55Y iLB?q@LDg::55ْB @E2iDNOT Ignoring new targets: 89.70 m.ir"ir} ProNav: ac range: 89.699997 m, nav range: 87.412529 m, bearing: 85.547294 deg, approach rate: 0.114364 m/s, LOS rate: -0.331256 deg/s, cmd heading: 79.549000 deg, new cmd heading: 79.135387 deg.  i}VcHeadingCmd: 1.381173 target range: 89.699997 and range: 89.70 m.hGʰ?hhhhechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761746:J-BJ)JJ)RJ- ZJ- OT c R W X < ! 3uU@+hBtjcVgg bgjgeaeijeqJe:e@m,BɛmRğ)i m5Ͼii)uc0;隙i~E ?>VFF?F>ZIbIjIrIzI\:IK:IIFZAM?Qx,'^ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264416  /@y *=@9 >Y < Hǿ P¿@`?mR]?Bfÿ)??  /@ɨ #n; "C=:B=T&IIA)AUMb@Mb@Mb@QQ Q)QIQyU{Gz?|?5^?U?UM>U̼ U7@)U @IU@iU@QUz@HmHm.5}Խ }٣ G}F4/ >]559j?a55Y i+B ?m:<q@LDY<;^;;55ؒB @E2iDNOT Ignoring new targets: 89.70 m.i˻"i˻ ProNav: ac range: 89.699997 m, nav range: 87.508461 m, bearing: 85.322650 deg, approach rate: 0.152320 m/s, LOS rate: -0.356295 deg/s, cmd heading: 79.135385 deg, new cmd heading: 78.462225 deg.  it HeadingCmd: 1.369424 target range: 89.699997 and range: 89.70 m.h JI?h h h h ggbgjgBeejeJe:e% @$Bɛ wü) i)$;ib uBDAT read: Tx time:19:44:30.4090 }$Ping request sent.}G CG &IG sBG  =G G G <G FVFH4=H=FZAM?)Gx JDAT read: TxSync time:19:44:30.4083 ,'^A:JECPBJAJJARJE ZJEF/zQ% !b#>Jm? Jm?B&IMb@Mb@Mb@ )Iy)\(?i|?5?{GzG?q>ף ) @I@i׫@½@HH45u0 =YQ > ٣  MGU~Fe m>q]}559uj?a}55Yu iuB}?m}:}8q}@uLDu:u:u55גB @·E addTargetRange:: Added new target pos. range: 90.699997 m, deltaT: 3.531095 s, deltaX: 1.000000 m, approachRate: 0.283198 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 89.70 m.if"if ProNav: ac range: 89.699997 m, nav range: 87.615761 m, bearing: 85.125125 deg, approach rate: 0.182976 m/s, LOS rate: -0.336421 deg/s, cmd heading: 78.462222 deg, new cmd heading: 77.870395 deg.  ifHeadingCmd: 1.359095 target range: 89.699997 and range: 90.70 m.h?hh h h g g bgjgʂBeejeJe̬V@:e i?EBɛEt)I M] iI)Mz;IIiUA٣I MGMFI U>Q]]559Uj?ae55YU iUBaaqe@ULDU):U:U55i u[@qB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 89.70 m.ifû"ifû ProNav: ac range: 89.699997 m, nav range: 87.694580 m, bearing: 84.981553 deg, approach rate: 0.187737 m/s, LOS rate: -0.341664 deg/s, cmd heading: 77.870393 deg, new cmd heading: 77.440070 deg.  i{jHeadingCmd: 1.351584 target range: 89.699997 and range: 90.70 m.h?hhhhggbgjgeejeJe:eE?BɛE)  = i ) 4Y;iEGi Gi Gm <&IGm 'BGi Gi Gm ?DGm <Gi H%˧C H%˧CH%˔CH% ="H% =*H%^v60x,'^A>'@y>L5@9>r>Y>g<>HYBӿ=@?`E`?`R¿?Ӫ?>'@ɨ>Ѝ; >!Cn̆Bn%Ir=irl>)v= va=HziHz5ܽ O=Y EQ  > ٣   G [ >A]M559Ej?aM55YEy iEBIM?qM@ELDEF:E:E55y }@}ŷE2iDNOT Ignoring new targets: 89.70 m.iBĻ"iBĻ ProNav: ac range: 89.699997 m, nav range: 87.745338 m, bearing: 84.841573 deg, approach rate: 0.124509 m/s, LOS rate: -0.343167 deg/s, cmd heading: 77.440070 deg, new cmd heading: 77.020382 deg.  ikHeadingCmd: 1.344259 target range: 89.699997 and range: 90.70 m.h?hhhhg g bg jg e eje1Je9:e=@?雍 Bɛa#) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254088i)6;隱iPRF ZA M% >Dx,e(^A2%@y2f4@92#>Y2_<2H@`ԼԿy{k? z@)d@I&@i@@H5wH5+&5 $=YQ >٣ GF(i >Q]m559Uoj?au55YU iUӯBu?mu:u?qu@ULDU;U<;U55checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758095֒B @ȷE2iDNOT Ignoring new targets: 89.70 m.i"i ProNav: ac range: 89.699997 m, nav range: 87.815506 m, bearing: 84.652651 deg, approach rate: 0.123550 m/s, LOS rate: -0.332385 deg/s, cmd heading: 77.020382 deg, new cmd heading: 76.454087 deg.  idHeadingCmd: 1.334376 target range: 89.699997 and range: 90.70 m.h̪?hhhh g g bg jgBeYeYjeYJea:ee'?Bɛ3) %i);iHE5 J>= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010262VFM0P>F!ZA1MU?x, (^A2#@y22@92:3>Y2Jc`<2H@<ֿ`JE?`P0?`{Ƌ?`D?2#@ɨ2; 2C>B>%IHFHF>5Rʽ RO=YRYQ R>T٣T VGZFZ Z>\]b559^o_j?ab55Y^4 i^įB`fAqf@^MD^>:^";^55l n7@l2iDNOT Ignoring new targets: 89.70 m.i׻"i׻ ProNav: ac range: 89.699997 m, nav range: 87.856079 m, bearing: 84.528165 deg, approach rate: 0.122883 m/s, LOS rate: -0.376855 deg/s, cmd heading: 76.454084 deg, new cmd heading: 76.080805 deg.  iPHeadingCmd: 1.327861 target range: 89.699997 and range: 90.70 m.hV?hhhhggbgjgeejeJe:e%@GGG%IGBG =GG>DG<G F-Bɛ->+M)) -,i))5W:11i5l%FYZAaM>x,5F?(^A2"@y2l;0@92t >Y2o<2HVSؿ@6?#ʰ?0??2"@ɨ2; 0>BB%IID)DHJAMb@Mb@Mb@ )IyZd;?RQ?{Gzt>>ף @)z@I@i(@@H-H-s75=x9 =#=YE!_Q E>I٣I MGMFMl M>Q]]559UHj?a]55YU iUBe ?me:eBq @UMDUNx,fX(^A2z8 @y2GW.@92/ >Y24 <2Hڿ@?`7`:?`fy?`߲?2z8 @ɨ2׍; 0^B^%IHjHj<55r rR=YrQ r>t٣t vGtz, ~>] 5596j?a 55YJ iBDq@ MD2:>:55ђB @=B*** querying acoustic contact ***i9i92iIMDNOT Ignoring new targets: 89.70 m.iU׻"iU׻BDAT read: Rx Time:19:44:32.9351 TRx dataTimestamp_ set to:1736538273.447287checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019141= ProNav: ac range: 89.699997 m, nav range: 87.944656 m, bearing: 84.216016 deg, approach rate: 0.097977 m/s, LOS rate: -0.376851 deg/s, cmd heading: 75.556693 deg, new cmd heading: 75.144870 deg.  i=PEHeadingCmd: 1.311525 target range: 89.699997 and range: 90.70 m.hE?hAhAhAhAgIgIbgIjgIeQejeJe:ed@ Bɛ C)  -ii)uB9qqiuǺ%x,%w(^AB@yBn*@9B69>YBgMq>M; M@)M@IMS@iM@IM@HmHm<5}S }&=Y_ Q >٣ GF >]559, j?a55Y4 iB?m:AH@q @1MD::55ВB  @ηE2iq}DNOT Ignoring new targets: 89.70 m.it"it ProNav: ac range: 89.699997 m, nav range: 87.968483 m, bearing: 84.043767 deg, approach rate: 0.046803 m/s, LOS rate: -0.338260 deg/s, cmd heading: 75.144867 deg, new cmd heading: 74.628272 deg.  i%hHeadingCmd: 1.302509 target range: 89.699997 and range: 90.70 m.h?hhhhggbgjgÂBechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.522055ejeJe:e P6 @Bɛ(t0) )i)H~iK,FI ZAQ i m A DAT read: 19:44:32.9351 LVL= 15088, 22593, 10738, 21267, AGC= 55, IDX= 429,-0.28,-1.454,-0.821, 1.009,-0.392, PHS=-0.974,-0.382, 1.399, RAW= 223.9, -0.4, CAL= 223.8, -5.3, ROT= 286.2, 5.3  Ygot valid direction response: 19:44:32.9351 LVL= 15088, 22593, 10738, 21267, AGC= 55, IDX= 429,-0.28,-1.454,-0.821, 1.009,-0.392, PHS=-0.974,-0.382, 1.399, RAW= 223.9, -0.4, CAL= 223.8, -5.3, ROT= 286.2, 5.3  PDAT read: Bearing 286.2, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 286.2, 5.3 (Local)  DAT read: Range 10 to 50 : 91.4 m (Round-trip 121.9 ms) speed 0.0 m/s  ,DAT read: user:1252>  BDAT read: Tx time:19:44:34.0590  $Ping request sent. m ̶B9i m : m AX)m )Im Sii m Xym þm o?m Dz@ m )m y@Im qim ؟@m q=i i m #ο)֣?N}Im ?im ;m ޤm q=i i  :publishing transmit ping time  Fpublishing direction and range infoi Ym 0-s?H;{]Ui 9i i i )i Ii ii i i i i i )i Ii ii i i i m #ο)֣?N}Ii ii i i i i F$x,Ȑ(^A@y(@9dž>YT<H߿֫?@=?l`??@ɨ; BEu%IU=iU=)y }=HH995Y J=YCڻQ >٣ GFk >9]E559= j?aE55Y= i=BAEfF@qE@=>MD=N:=:=55 @ѷEZj$Kq?bjd;֮ ii (^Aj̶BjB2j?p? d9@jQUH zp0-s?H;{]U"jޤ*jq=p@(@5@0[AU@boZ7*pzx{?Rlɰ?.7¿iʯBjAijD q?i7X  jWBzjj7X jWBjjǰBrjA?m addTargetRange:: Added new target pos. range: 91.400002 m, deltaT: 3.777274 s, deltaX: 0.700005 m, approachRate: 0.185320 m/s, rangeRepo size: 4 } Added new target pos. range: 91.400002 m, bearing: 76.408410 deg, lat: 36.903925 deg, lon: -122.119042 deg, deltaT: 7.308369 s, deltaX: 1.700005 m, approachRate: 0.232611 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 91.40 m.i"i ProNav: ac range: 91.400002 m, nav range: 88.389824 m, bearing: 83.931556 deg, approach rate: 0.000000 m/s, LOS rate: -0.338260 deg/s, cmd heading: 74.628272 deg, new cmd heading: 74.198308 deg.  i HeadingCmd: 1.295005 target range: 91.400002 and range: 91.40 m.h ¥?h hhhggbgjgeejeJe%V@:e%@?雕ۇBɛ'M7) +i)^隙i<[F ZA M >**x,䡪(^AHR=Ha=ZIbIjI0rIzI :I:Iـ3II;I;II;II;b@yb '@9bZP>Ybw=L ٣   G   >]%559i?a%55Y iB!%D@q%@KMDw;:551 =@A2iimDNOT Ignoring new targets: 91.40 m.iuλ"iuλ ProNav: ac range: 91.400002 m, nav range: 88.397263 m, bearing: 83.805960 deg, approach rate: 0.021427 m/s, LOS rate: -0.361744 deg/s, cmd heading: 74.198305 deg, new cmd heading: 73.821554 deg.  iCxHeadingCmd: 1.288429 target range: 91.400002 and range: 91.40 m.h??hhhhggbgjgeejeJe:eɌ?ԇBɛQ) (i)iH1x,|(^A>W@y>$1%@9>O=Y>T3K<>H`S `' ?@6?M !6??>W@ɨ>֐; EJ>E94< E@)E@IAiE@AE@H]H]<55m7 mD=Ym8 Q m>q٣q uGuF} }>]559i?a55Yש ixBO>m:?@q@XMD@x;vw;`55ϒB @ԷE2i]DNOT Ignoring new targets: 91.40 m.ieh"ieh ProNav: ac range: 91.400002 m, nav range: 88.390152 m, bearing: 83.673571 deg, approach rate: -0.017035 m/s, LOS rate: -0.317195 deg/s, cmd heading: 73.821552 deg, new cmd heading: 73.424359 deg.  iYHeadingCmd: 1.281497 target range: 91.400002 and range: 91.40 m.h?hhhhggbgjgԂBeejeJe:e@?̇Bɛ9) 3%i)i `<7x,mY(^A2<@y2d[#@92F=Y2m<2Hk $;?`r?`L??2<@ɨ2>; 2 CbBb~%IId)dHj^Hj5vZ= vS=YzP Q z>|٣| GF > ]559 i?a55Y  i pB=@q@ dMD N; ; 55! -*@)EB*** querying acoustic contact ***iAiA2iQUDNOT Ignoring new targets: 91.40 m.i]"ieu ProNav: ac range: 91.400002 m, nav range: 88.378448 m, bearing: 83.550448 deg, approach rate: -0.030185 m/s, LOS rate: -0.317598 deg/s, cmd heading: 73.424356 deg, new cmd heading: 73.054945 deg.  i}YHeadingCmd: 1.275049 target range: 91.400002 and range: 91.40 m.h4?hhhhggbgjgeejeJe:e *?雽ƇBɛ#E) i)?i}GG%IGBG =GGG<G FD?DDE4 EZIEbIEjIArIAzIE:IE 9IAIAIE;IE ;IEP>;IEP>;YYeT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.VFFZAM>:J LBJ }9JJ RJ ZJ   ?9G.IxC6,)$ f=x,5(^A2DC@y2b!@92/E=Y2~O<2H@&`w?@@ K?`??2DC@ɨ2!; 2CBBB%I-Mb@Mb@Mb@)) )))I)y-?ʡE?:v?-f>->-T< -E@)-@I-j@i-ݸ@)-@HEHE<55U < UD=YUQ U>٣ G@ >]559hi?a55Yr ihB>m:6@q@qMD:;;55 ΒB @ ׷E2iQuDNOT Ignoring new targets: 91.40 m.i}P"i}P ProNav: ac range: 91.400002 m, nav range: 88.342751 m, bearing: 83.420528 deg, approach rate: -0.081793 m/s, LOS rate: -0.297801 deg/s, cmd heading: 73.054945 deg, new cmd heading: 72.665033 deg.  i`Lchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752605HeadingCmd: 1.268244 target range: 91.400002 and range: 91.40 m.hU?hhhhgg bgjgBeejeJe:eCn?雅Bɛ)) /i)9隩iDzF rF fA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007234F ZA M >:NDx,)^A:R@y:Tq@9:O=Y:<:H N[oz?? Vi=?z?`/?:R@ɨ:A; :"CFBF%IHNHNB-5Vz< VV=YZλQ Z>\٣\ ^G^Fb b>d]j559fYi?aj55Yf ifbBhj4@qn@f|MDf|:f:f55p r@p2i DNOT Ignoring new targets: 91.40 m.i4"i4% ProNav: ac range: 91.400002 m, nav range: 88.306999 m, bearing: 83.308867 deg, approach rate: -0.098607 m/s, LOS rate: -0.308098 deg/s, cmd heading: 72.665030 deg, new cmd heading: 72.329917 deg.  i-rS5HeadingCmd: 1.262395 target range: 91.400002 and range: 91.40 m.h5*?h1h9h9h9g9g9bgAjgAeAeAjeIJeI:eM @uBɛ})?)y }diy)}CR隁ipFZAM=>Gq Gq Gu %IGu BGu  =Gq Gq Gu İ<Gu FH5ɨC H5ɨCH5ɓCH5 ="H5 =*H5$4wJx,+)^A>?@y> @9>b=Y><>H;@<? `l^?=ї??>?@ɨ>O; >CZBZ%If)>if<HrHr+5~aw E=Y Q  > ٣   G F-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508082]= e>q]559uVi?a55Yu+ iu[B2@q@uMDu;uA;u{55 @ڷE2iDNOT Ignoring new targets: 91.40 m.i-"i-E ProNav: ac range: 91.400002 m, nav range: 88.260910 m, bearing: 83.181166 deg, approach rate: -0.106076 m/s, LOS rate: -0.294060 deg/s, cmd heading: 72.329914 deg, new cmd heading: 71.946618 deg.  iEIMHeadingCmd: 1.255705 target range: 91.400002 and range: 91.40 m.hM?hIhIhIhIgQgQbgyjgyeyeyjeyJe:e @}Bɛ%) yi)3si<:JNBJ59JJRJ ZJ i}?I?IDE?DIDIEMP5 EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759358VF F ZA M >cQx,E)^AF @yFd@9F4=YF5G=5`e< 5\@)5/@I5@i5 @15@HMHM.5]wu ]D=Y]\Q e>a٣a eGamA m>y]559}i?a55Y}  i}TB>m:+@q@}MD}j:}@;}55 @2iYeDNOT Ignoring new targets: 91.40 m.im>"im> ProNav: ac range: 91.400002 m, nav range: 88.200111 m, bearing: 83.069481 deg, approach rate: -0.145766 m/s, LOS rate: -0.267953 deg/s, cmd heading: 71.946617 deg, new cmd heading: 71.611334 deg.  i7HeadingCmd: 1.249854 target range: 91.400002 and range: 91.40 m.h4?hhhhggbgjg"BeejeJe:e@E@ZI1bI1jI1rI1zI1I1I1I1q=@i=@u=@m=@MBɛMx,)Q U iQ)UQQiUkOWx,M_)^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.283479> @y> @9>.=Y>i<>H@ z\ϮtM?@?@'ж?`a`Pg??> @ɨ>N ; >!CRBR%IHZ{HZ'5bv< bU=Yb/Q b>d٣d fGfFj n>p]v659ri?av65Yr irOBtv)@qv@rMDr :r:r`65| ~@yB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 91.40 m.i,"i, ProNav: ac range: 91.400002 m, nav range: 88.138435 m, bearing: 82.964725 deg, approach rate: -0.160664 m/s, LOS rate: -0.273077 deg/s, cmd heading: 71.611337 deg, new cmd heading: 71.296852 deg.  ii;HeadingCmd: 1.244365 target range: 91.400002 and range: 91.40 m.hYG?h h h h g g bgjge1e9je9Je9:e=3 @雅Bɛ,) i)隉i^G DAT read: Range 10 to 50 : 91.2 m (Round-trip 121.6 ms) speed 0.1 m/s 5 ,DAT read: user:1253> = BDAT read: Tx time:19:44:37.7090 F ZA :J- JBJ- s9JJ) RJ- ZJ-  !" $Ping request sent. E `direction in FSK: [0.516765,-0.853281,-0.069756]M :publishing transmit ping timeA U Fpublishing direction and range infoYlc$W?ͩjN뿼&k۱fB9Y Qi)/Iri5)m;sh?/sh@]x,y)^A 4QO=)Z;i@I5i8@5= !I?Vo!?;̩?I?izNG\5= B:publishing transmit ping timeiBFpublishing direction and range infoYlc$W?ͩjN뿼&k۱9 )Ii )Ii !I?Vo!?;̩?Ii  : @y Y@9 >=Y QN< H S &7? % :Զ?Z@$?? : @ɨ b; =B=%II)AA=JDAT read: TxSync time:19:44:37.7083 uMb@Mb@Mb@qq q)qIqyuףp= ?Mb?Mb?u>u=u< ur@)u\@Iu@iud@qu@HH_,5); #=Y8ŻQ >٣ GF8` >]5659oi?a565Y iFB5'>m=:=!@q=@MD: <S<65m͒B m@mܷEZj p?bj ii5*p)^AjfBj-B2j*'?pXG@mtSvdyrzplc$W?ͩjN뿼&k۱"jG\*j5=pdF54@U@*d-U*pV]?(P?xpz¿iBjAiKh+p?ia  j|XBzjKh+p?ja j|sBjj}Brj&?] addTargetRange:: Added new target pos. range: 91.199997 m, deltaT: 3.549814 s, deltaX: -0.200005 m, approachRate: -0.056342 m/s, rangeRepo size: 4 m Added new target pos. range: 91.199997 m, bearing: 77.059680 deg, lat: 36.904008 deg, lon: -122.119035 deg, deltaT: 3.549814 s, deltaX: -0.200005 m, approachRate: -0.056342 m/s, posRepo size: 4 2iquDNOT Ignoring new targets: 91.20 m.iu"i ProNav: ac range: 91.199997 m, nav range: 90.244492 m, bearing: 77.059368 deg, approach rate: 0.000000 m/s, LOS rate: -0.273077 deg/s, cmd heading: 71.296855 deg, new cmd heading: 70.879502 deg.  iHeadingCmd: 1.237081 target range: 91.199997 and range: 91.20 m.hX?hhhhggbgjgKBeejeJeV@:e?UBɛ]y)Y ]iY)]0YaiezF hArF gAF ZA M >NMex,<)^A6@y6@96#=Y6g<6H {` W`?@`v? ? ?6@ɨ6; 6CZBZz%IHfpHf#5nEo ng=Yn7Q r>p٣p rGpv v>x]~659zzi?a~65Yz iz@B| @q@zMDzB:z:z65  F@ 2i1=DNOT Ignoring new targets: 91.20 m.iE"iE] ProNav: ac range: 91.199997 m, nav range: 90.182777 m, bearing: 76.970306 deg, approach rate: -0.189518 m/s, LOS rate: -0.273689 deg/s, cmd heading: 70.879503 deg, new cmd heading: 70.612135 deg.  i];eHeadingCmd: 1.232414 target range: 91.199997 and range: 91.20 m.he?hahahahagagibgijgieqeqjeqJeq:e}ӏ?雝Bɛm>) i)隡iGx>GG%IGBGGGG<G FFiZAqM>I ) GG SkA  )U Z+yU SkAU BFykx,)^A>p@y><@9>=Y>F<>HH !? ?@Hҝ?@?>p@ɨ>O;  jK=Yn+Q n>l٣l nGnFr r>t]659v_ni?a65Yv= iv9B!%d@q%@vMDvI;vQ;v` 655̒B 5b@5߷E2iY]DNOT Ignoring new targets: 91.20 m.ie"ie- ProNav: ac range: 91.199997 m, nav range: 90.107681 m, bearing: 76.868500 deg, approach rate: -0.183667 m/s, LOS rate: -0.249200 deg/s, cmd heading: 70.612135 deg, new cmd heading: 70.306465 deg.  i5+]HeadingCmd: 1.227079 target range: 91.199997 and range: 91.20 m.h]?hahihqhqgygbg:JVLBJ@9JJRJ ZJ  "  DpT?, jgeIeQjeQJeY:en?Bɛ) i) i 9E]rx,)^AJO@yJn@9J%=YJM#=M; M@)Mr@IM@iM@IMf@HmKHm5ZIbIjIrIzI:Iu9II-Y,; -7=Y5 Q 5>1٣1 5G=F=h =>A]M659Eebi?aM65YEǓ iE2BU&>mU:UT@qU@EMDE ;E;EH65Y ]X@Y2iDNOT Ignoring new targets: 91.20 m.i劻"i劻 ProNav: ac range: 91.199997 m, nav range: 90.012268 m, bearing: 76.761409 deg, approach rate: -0.216151 m/s, LOS rate: -0.242863 deg/s, cmd heading: 70.306463 deg, new cmd heading: 69.984854 deg.  i&HeadingCmd: 1.221466 target range: 91.199997 and range: 91.20 m.hY?hhhhggbgjgTBeejeJe:e0?zBɛ&) i)˻隑iTFe ?Fe ? :? d?FI ZAQ Mu >kxx,V)^A6$s@y6@96H=Y6<6H:@o 뢿 M? Q? ψb?e?6$s@ɨ6; 4VBVo%IH^H^\05f8 fd=YjnQ j>h٣h nGln9 r>t]z659vYi?a~65Yv iv,B|w@q@vMDv*;vg;vk65  @ -B*** querying acoustic contact ***i)i)2i9=DNOT Ignoring new targets: 91.20 m.iE"iEU ProNav: ac range: 91.199997 m, nav range: 89.931908 m, bearing: 76.676633 deg, approach rate: -0.222807 m/s, LOS rate: -0.235258 deg/s, cmd heading: 69.984850 deg, new cmd heading: 69.730299 deg.  iUt!Gey>GaGe%IGeBGe =GaGe?DGe<Ge FHeadingCmd: 1.217023 target range: 91.199997 and range: 91.20 m.hkǛ?hhhhggbgjgeejeJe:e ?sBɛ()) mi)Cֻi3FZAM% >:Ju $NBJq JJq RJu ZJu 5$   /!1:3,'ѭ~x,m)^AB@yBs@9B3=YBQE9y٣ GFS >]659Ni?a65YL i$B>m:@q@MD;;!65  @Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2213262iDNOT Ignoring new targets: 91.20 m.ifo"ifo ProNav: ac range: 91.199997 m, nav range: 89.826500 m, bearing: 76.581007 deg, approach rate: -0.230437 m/s, LOS rate: -0.209298 deg/s, cmd heading: 69.730296 deg, new cmd heading: 69.443083 deg.  i%HeadingCmd: 1.212011 target range: 91.199997 and range: 91.20 m.h%)#?h!h!h!h!g)g)bgijguXBeqeqjeqJey:e}`@iBɛe ) i)5>隹iBF ZA M >Mx,o*^A6|?y64 @96=Y6<6H0` ꟿ`ev?2C?@ʵ Ӛ??6|?ɨ6ʌ; 6CRtBR`%IHXHXf@# fV=YfݙQ f>h٣h jGhn n>p]v659rEi?av65Yr irBtv@qv@rMDrK:r:rx65| ~@|2iDNOT Ignoring new targets: 91.20 m.i "i  ProNav: ac range: 91.199997 m, nav range: 89.727997 m, bearing: 76.496413 deg, approach rate: -0.270600 m/s, LOS rate: -0.232647 deg/s, cmd heading: 69.443087 deg, new cmd heading: 69.189026 deg.  iHeadingCmd: 1.207576 target range: 91.199997 and range: 91.20 m.hܑ?hhhhg g bg jg eejeJe:e`zt@EaBɛM*)I MiI)MIQiUzFgArFhAFZAM>H H %=ˋx, z1*^A BDAT read: Rx Time:19:44:40.2339  TRx dataTimestamp_ set to:1736538280.775204checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978326>-?y> @9>=Y>߹<>Hr" )#? rtV?bW*??>-?ɨ>r; > CJfBJO%IHRHR/5Zj ZJ=Y^@Q ^>\٣` bGbFf f>h]n659j:jK:j65t vj@t2iDNOT Ignoring new targets: 91.20 m.i%"i%5 ProNav: ac range: 91.199997 m, nav range: 89.619858 m, bearing: 76.408595 deg, approach rate: -0.277618 m/s, LOS rate: -0.225719 deg/s, cmd heading: 69.189024 deg, new cmd heading: 68.925257 deg.  i5UHeadingCmd: 1.202973 target range: 91.199997 and range: 91.20 m.hU?hYhYhahagigibgijgieqeqjeqJeq:e}@@:JMMBJIJJIRJM ZJM%#" +,zV& WBɛB) i)S i 6V=i ?11I5?I1D?DDE Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.229375VF 8U>F ZA M >x,"K*^A>4?y>59 @9>=Y><>H znV?%.?ʹ?`?>4?ɨ>Gˌ; >"CNPBN4%IEMb@Mb@Mb@AA A)AIAyECl?{Gz?~jtxE;>Eף=YQ >٣ GF >]659H3i?a65YU i B|>m:1 @q@NDu;t;!65  @ZIYbI]jI]0rIYzIYI]:I]ـ3IY2i]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483723eDNOT Ignoring new targets: 91.20 m.ig"ig} ProNav: ac range: 91.199997 m, nav range: 89.498489 m, bearing: 76.315929 deg, approach rate: -0.264166 m/s, LOS rate: -0.201967 deg/s, cmd heading: 68.925256 deg, new cmd heading: 68.646883 deg.  i HeadingCmd: 1.198114 target range: 91.199997 and range: 91.20 m.h[?hhhhggbgjg6BeejeJe:e @EMBɛE%)A EiA)MyIIiM*=iU[?QQIU[?IYDaD?DDE4 E DAT read: 19:44:40.2339 LVL= 24128, 23537, 11202, 32291, AGC= 58, IDX= 432, 0.08, 0.620,-0.071, 2.014, 1.096, PHS=-0.388,-1.121, 0.915, RAW= 189.2, 6.7, CAL= 189.3, -2.1, ROT= 320.7, 2.1 % Ygot valid direction response: 19:44:40.2339 LVL= 24128, 23537, 11202, 32291, AGC= 58, IDX= 432, 0.08, 0.620,-0.071, 2.014, 1.096, PHS=-0.388,-1.121, 0.915, RAW= 189.2, 6.7, CAL= 189.3, -2.1, ROT= 320.7, 2.1 - PDAT read: Bearing 320.7, 2.1 (Local) 5 ~Local bearing/azimuth received: Bearing 320.7, 2.1 (Local) = DAT read: Range 10 to 50 : 90.5 m (Round-trip 120.7 ms) speed 0.1 m/s E ,DAT read: user:1254> M BDAT read: Tx time:19:44:41.3091 M $Ping request sent.M rix,yg*^A?yn@9.Ϣ=Y5<HQL@I ?`pд?`iT+?C??ɨE;  C%FB%(%IH=H="25m;# m.=Yu.Q u>q٣y }G}F|u >]659)i?a65Y} iBf @q@ND:i<%65 R@EZj\l?bj1` iia*^AjBjʳB2j꣸?p \Q@:'L?p zp,M ?w+A(א¢"j/*jQ =pN+A'@OJV@d ܧ$po[!]D??5XiTBj 8Aizl?i [P  jcBzjzl?jщ jcBjjBrjE:J]ANBJ]}9JJYRJ] ZJ]VF% 0P>F ZA M >/x,bւ*^Ar:4?yr@9r=Yru%ju? ;*y?\}?`?r:4?ɨr; r"C-5B-%IMb@Mb@Mb@ )Iy333333?Q?Mb>< &@)@I@i@=@HH +5w 6=YeQ >a٣a eGam>o m>q]659u< i?a65Yuy iuB.>m:H @q@u!NDuH;uE;u)65 f@-B*** querying acoustic contact ***i)i)2iYeDNOT Ignoring new targets: 90.50 m.imW"imW ProNav: ac range: 90.500000 m, nav range: 87.616562 m, bearing: 82.383111 deg, approach rate: -0.317319 m/s, LOS rate: -0.188744 deg/s, cmd heading: 68.364709 deg, new cmd heading: 68.108222 deg.  iHeadingCmd: 1.188713 target range: 90.500000 and range: 90.50 m.h'?hhhhggbgjg?Bee1je1Je1:e5@?9Bɛ m,) i)mi Ȣ=i'?I'?ID?DDE05 ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFi FA ZAQ Mm >⦊x,*^A%B$IHPH5E7 Ek=YEQ E?I٣I MGMF ?]6599i?a65Yv iBq@*ND*;+;,65 f@2iDNOT Ignoring new targets: 90.50 m.ib"ib ProNav: ac range: 90.500000 m, nav range: 87.508469 m, bearing: 82.318658 deg, approach rate: -0.332040 m/s, LOS rate: -0.198230 deg/s, cmd heading: 68.108222 deg, new cmd heading: 67.914625 deg.  i HeadingCmd: 1.185334 target range: 90.500000 and range: 90.50 m.h?hhh h g g bgjgeejeJe:eɨ?M2BɛMX)Q UiQ)UQQiU!=i]?YYI]?IaDqzDqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007812D%?D!D!E%0 E)Gz>GGt%IGBG =GGG<G FVF 8U>ZIbIjIrIzIݒ:I9III;qI;iI';uI';mFZAM > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2592355 x,*^AUy?yU@9US=YU=UHݿ U"p O>? ݿ@R?fF??Uy?ɨU;; UC:JBJŷ9JJRJ ZJUB]$II)AMb@Mb@Mb@ )IyS?Mb?I +>=94 @)@I@i@@H%^H%558 =/=Y=EQ =>A٣A EGEFEJٽ M>Q]U659Uli?a]65YU2r iUB]O>m]:]g@q]@U7NDU:U:U065 @2iiuDNOT Ignoring new targets: 90.50 m.iu B"iu B ProNav: ac range: 90.500000 m, nav range: 87.357605 m, bearing: 82.236179 deg, approach rate: -0.309757 m/s, LOS rate: -0.169640 deg/s, cmd heading: 67.914627 deg, new cmd heading: 67.666765 deg.  iHeadingCmd: 1.181008 target range: 90.500000 and range: 90.50 m.hD+?hhhhggbgjg*BeejeJe:e@?]'Bɛ]^/)a e=ia)eu"aaieb =imD+?iqIuD+?Iq-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513004D5?D9D9E=2 E9VFQ F1 ZAA M] >x,*^A~B~$IH H 65U  Un=YeQ e?auchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763330٣a uGq} }?]659 i?a65Yn iBq@@ND;;365˒B @E2iDNOT Ignoring new targets: 90.50 m.i]"i]% ProNav: ac range: 90.500000 m, nav range: 87.244362 m, bearing: 82.174012 deg, approach rate: -0.352876 m/s, LOS rate: -0.193970 deg/s, cmd heading: 67.666766 deg, new cmd heading: 67.480023 deg.  i%-HeadingCmd: 1.177749 target range: 90.500000 and range: 90.50 m.h-w?h)h1h1h1g1g1bg9jg9e9e9je9JeA:e;>?-Bɛ-W)) -Mi1)5(11i5 =i=w?!I%w?I!D?DDE0 E% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015482VF Fq ZAy M >G G G H%IG aBG  =G G G <G Fx,`*^A6?y6IC?96J$=Y6=6H ;ڿ*0"R?`=?&ڿ@6?౿`??6?ɨ6=; 6"CBBB$IHJHJ35R RX=YVQ V>T٣T VGZFZQ& Z>\]b659^Ti?ab65Y^0k i^ۮBdf}@qj@^JND^);^);^8765l n@l2iDNOT Ignoring new targets: 90.50 m.i>"i>- ProNav: ac range: 90.500000 m, nav range: 87.115234 m, bearing: 82.111292 deg, approach rate: -0.342789 m/s, LOS rate: -0.166745 deg/s, cmd heading: 67.480022 deg, new cmd heading: 67.291585 deg.  i-5HeadingCmd: 1.174460 target range: 90.500000 and range: 90.50 m.h5T?h1h1h1h1ggbgjgeejeJe:e@ m~GlAZIbIjIrIzIm:I9III;I;I!;I!; )(ylA-BBɛ NJ)  5E i1)5/19i=R =i=T?AAIET?IAD]>D]>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268154D?DD E  E :JBoJBJ9JJRJ ZJVF- 0P>F ZA) MU >= >= %=E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519500x,E+^AR4?yRZr?9R6=YR9Mi`Mb@Mb@Mb@ )Iy(\?~jt?~jtz>D=D &@)Ii/@@HH/5ߤ 7=YuѺQ u>y٣y }G >]659\h?a65Yf iѮB>m:,@q@WND u;Z;I;65 +@2i DNOT Ignoring new targets: 90.50 m.ij<"ij<5 ProNav: ac range: 90.500000 m, nav range: 86.960892 m, bearing: 82.034307 deg, approach rate: -0.329661 m/s, LOS rate: -0.164726 deg/s, cmd heading: 67.291584 deg, new cmd heading: 67.060218 deg.  i=EHeadingCmd: 1.170422 target range: 90.500000 and range: 90.50 m.hE`Е?hAhAhIhIgIgQbgYjg]BeYeajeaJea:em.@ BɛI) Ui)7iHW=i%`Е?))I-`Е?I)D?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771238VF 8U>F ZA M >,NJx,+^A6^?y6I?96?Nj=Y69<6H`/ֿ1p? m?ֿ ? ou Ӟ?4?6^?ɨ6; 6 CRօBR$IHZHZ15bϽ b`=Yf#)Q f?d٣d jGjFjs j?l]r659nh?ar65Yn]c inʮBtvA@qv@n`NDn-:n:nQ>65x z[@xB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 90.50 m.iy."iy. ProNav: ac range: 90.500000 m, nav range: 86.843361 m, bearing: 81.979033 deg, approach rate: -0.323910 m/s, LOS rate: -0.152538 deg/s, cmd heading: 67.060218 deg, new cmd heading: 66.894173 deg.  i^ѻ HeadingCmd: 1.167524 target range: 90.500000 and range: 90.50 m.h jq?h h hh1g1g9bg9jg9e9eAjeAJeA:eE@雕Bɛ(bBDAT read: Rx Time:19:44:43.8329 TRx dataTimestamp_ set to:1736538284.567362checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024458)) 5i1)5>11i5=i=jq?99I=jq?IAGGG%IG=BG =GGG߰<G FD?DDE EZIbIjI1rIzI:I9I3IIR;IT;Iq#;Iq#;VF- 0P>F ZA M- >ա ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275485Z͊x,8+^A:JJBJK9JJRJ ZJ-NZUNA3(! eυBe$I-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 65.93, 69.67, 63.21 @ @ @  @ HHs75d #=YQ >٣ GF >]659h?a65Yz^ iBi+:m:q@mNDX ;(?A65 @E2iQUDNOT Ignoring new targets: 90.50 m.i]q<"i]q<m ProNav: ac range: 90.500000 m, nav range: 86.673271 m, bearing: 81.898709 deg, approach rate: -0.348182 m/s, LOS rate: -0.164750 deg/s, cmd heading: 66.894176 deg, new cmd heading: 66.652733 deg.  im!uHeadingCmd: 1.163310 target range: 90.500000 and range: 90.50 m.huU?hqhqhqhygygbgjgeejeJe:e @BɛF) $i)x]Hiʵ=iU?IU?I-DAT read: 19:44:43.8329 LVL= 26512, 30961, 16786, 28371, AGC= 64, IDX= 437,-0.20, 2.694, 1.795,-2.344, 2.930, PHS=-0.149,-1.088, 1.006, RAW= 183.4, 2.6, CAL= 183.5, -5.7, ROT= 326.5, 5.7 5Ygot valid direction response: 19:44:43.8329 LVL= 26512, 30961, 16786, 28371, AGC= 64, IDX= 437,-0.20, 2.694, 1.795,-2.344, 2.930, PHS=-0.149,-1.088, 1.006, RAW= 183.4, 2.6, CAL= 183.5, -5.7, ROT= 326.5, 5.7 =PDAT read: Bearing 326.5, 5.7 (Local) =~Local bearing/azimuth received: Bearing 326.5, 5.7 (Local) MDAT read: Range 10 to 50 : 89.7 m (Round-trip 119.6 ms) speed 0.3 m/s ],DAT read: user:1255> mBDAT read: Tx time:19:44:44.9091 u$Ping request sent.u JDAT read: TxSync time:19:44:44.9083 F!ZA1MM>6>Պx,U+^AuBu~$IHH/58 N=YQ >٣ G >]659,h?a65YZ iBi :m:q@xNDi ;f?&D65 @Zj5~Po?bj5d~ i1i5D+^Aj5fBj53B2j5j?p5R@oȡHhe!zp5ȍj?L_Vhܸm"j5*j5%=p5<3@1 U@.p5Z?+t? ƿi5PBj5ߜAi5%[o?i5C|  j5MBzj5%[o?j1j5|XBjj5Brj5A? addTargetRange:: Added new target pos. range: 89.699997 m, deltaT: 3.540110 s, deltaX: -0.800003 m, approachRate: -0.225983 m/s, rangeRepo size: 4  Added new target pos. range: 89.699997 m, bearing: 77.178063 deg, lat: 36.903986 deg, lon: -122.119033 deg, deltaT: 3.540110 s, deltaX: -0.800003 m, approachRate: -0.225983 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 89.70 m.i"i ProNav: ac range: 89.699997 m, nav range: 87.877495 m, bearing: 77.106072 deg, approach rate: 0.000000 m/s, LOS rate: -0.164750 deg/s, cmd heading: 66.652736 deg, new cmd heading: 66.450648 deg.  iHeadingCmd: 1.159783 target range: 89.699997 and range: 89.70 m.hs?hhhhggbgjgeejeJelV@:eg?Bɛ Zb)  i ) O  iD=is?Is?ID?DDE0 EG{>GG$IGBG =GGGհ<G FVF0P>F ZA M >dۊx,o+^AZIBbIBjI@rI@zIB-:IB9I@I@IB;IB;IB!;IB!;V?yVi٣i mGmFm3 u>y]}659}5h?a65Y}V i}Bi9m:?q@}ND}:}0?}E65 @2iDNOT Ignoring new targets: 89.70 m.i5"i5 ProNav: ac range: 89.699997 m, nav range: 87.740227 m, bearing: 77.046104 deg, approach rate: -0.363510 m/s, LOS rate: -0.159056 deg/s, cmd heading: 66.450651 deg, new cmd heading: 66.270465 deg.  iQڻHeadingCmd: 1.156638 target range: 89.699997 and range: 89.70 m.h ?hhhhggbgjgeejeJe:e`$?%Bɛ%JYh)) -5i))-=IW))i-=i5 ?19I= ?I9D?DDE0 E:J} MBJ}@9JJyRJ} ZJ}(-247665121/-))&%$#JIfAVF-8U>F ZA M5 >Mx,멉+^AUBUW$I      Mb@Mb@Mb@ )IyMbX?S㥫?/]=t S@)@Ii\@@H eH 15 8=Y%Q %>1٣1 5G5F5 =>9]E659=h?aM65Y=^R i=BiMT:M>mM;MK?qM@=ND=;= ;=I65Y ]@Y2iDNOT Ignoring new targets: 89.70 m.i@+"i@+ ProNav: ac range: 89.699997 m, nav range: 87.600029 m, bearing: 76.981894 deg, approach rate: -0.326384 m/s, LOS rate: -0.149721 deg/s, cmd heading: 66.270464 deg, new cmd heading: 66.077527 deg.  iͻHeadingCmd: 1.153270 target range: 89.699997 and range: 89.70 m.h]?hhhhggbgjgЂBeejeJe:e@?چBɛzvc) i)`ip=i]?I]?ID?DDE0 EVF0P>F ZA M >xx,ƈ+^A23?y22q?92=Y2=2H@/ȿjQ?`[? ǿ@i?-1` ??23?ɨ2; 0NBN@$IHVjHVh 5^ѽ ^d=Yb6Q b>`٣` bG`f% f>l]r659nh?ar65YnN inBtv?qv@nNDn:nH:nL65x ~@~E%B*** querying acoustic contact ***i!i!2i)5DNOT Ignoring new targets: 89.70 m.i=~"i=~E ProNav: ac range: 89.699997 m, nav range: 87.478500 m, bearing: 76.932611 deg, approach rate: -0.336908 m/s, LOS rate: -0.136816 deg/s, cmd heading: 66.077524 deg, new cmd heading: 65.929469 deg.  iMʻMHeadingCmd: 1.150686 target range: 89.699997 and range: 89.70 m.hMI?hQhYhYhYgYgYbgajgaeaeajeaJei:em4}?GUz>GQGU$IGUBGQGQGQGU<GU FH) H)H)H- ="H- =*H-h5}ІBɛ}&s)y ,#i)R(h隩i=iI?II?IDE?DADAEE0 EAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFF ZA M >Zx,Va+^A:JNIMBJN9JJLRJN ZJNGkt[@(   Jf? Jf?Uj?yU??9U˄=YUˁ=UHĿఘ W ?[?ÿ糱?zR?O?Uj?ɨU|; UCaiMb@Mb@Mb@ )Iyp= ף?kt?~jtx> 0=Ļ =@)I@ir@@H H \053c 6=Y%b;Q %>!٣! %G-F- ->1]=6595 h?a=65Y5hJ i5BE^>mE ;E?qE@5ND5:5:5P65I M@Q2iDNOT Ignoring new targets: 89.70 m.i "i% 5 ProNav: ac range: 89.699997 m, nav range: 87.326477 m, bearing: 76.878398 deg, approach rate: -0.339049 m/s, LOS rate: -0.121119 deg/s, cmd heading: 65.929466 deg, new cmd heading: 65.766545 deg.  i=>=HeadingCmd: 1.147843 target range: 89.699997 and range: 89.70 m.h=?h9hAhAhAgAgabgijgm‚BeieijeqJeq:eu @雽ņBɛ޲cchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000608) i)$qi=i?!)I-?I1D?DDE0 EZI bI jI 0rI zI I 9I ـ3I q @i @u @m @VF 8U>F ZA M- > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253281x,k-+^AB?yB.2?9BІ=YB=BHy@v?h?`؟ ?`װ ?@?B?ɨBĢ; B"CNBN8$IHvHv65{ _=Y%.;Q %>!٣) -G-F-⮽ ->1]E65953h?aE65Y5F i5BAE?qE@5ND5;5Q:;5T65Y e@a2iDNOT Ignoring new targets: 89.70 m.i"i ProNav: ac range: 89.699997 m, nav range: 87.198784 m, bearing: 76.836082 deg, approach rate: -0.344945 m/s, LOS rate: -0.114477 deg/s, cmd heading: 65.766546 deg, new cmd heading: 65.639414 deg.  i HeadingCmd: 1.145624 target range: 89.699997 and range: 89.70 m.hΣ?hhhhggbgjgeejeJe:e@-Bɛ-x)) 5[i1)]-xYYi]9=ieΣ?aaIeΣ?IiD-?D)D)E-0 E)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504583Ge{>GaGe$IGe؅BGaGaGaGe<Ge FVFyzFrFFi ZAy M > x, +^A6Z?y6-?96#=Y6O<6H %@#` s? ?nDZ?(!@??6Z?ɨ6; 4BwBB)$IID)DHJHJY45V ZO=YZr>;Q Z>\٣\ bG`bx b>d]j659fh?aj65YfB ifBln?qn@fNDf ;f ;frW65p r?@vE2iDNOT Ignoring new targets: 89.70 m.i"i% ProNav: ac range: 89.699997 m, nav range: 87.062027 m, bearing: 76.794100 deg, approach rate: -0.351278 m/s, LOS rate: -0.108006 deg/s, cmd heading: 65.639416 deg, new cmd heading: 65.513272 deg.  i?HeadingCmd: 1.143422 target range: 89.699997 and range: 89.70 m.h[?hhhhggbgjgeejeJe:et@EBɛEo)I M{iI)M\0IIiM=]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756665i}[?yI[?IDDDE0 E:JZ>MBJ9JJRJ ZJ        S}udTH<0*"VFF ZA M > BDAT read: Rx Time:19:44:47.4313  TRx dataTimestamp_ set to:1736538288.095223 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009647x,* ,^A=pB=!$IMb@Mb@Mb@ )IyX9v?~jt?Mbp>< @)&@I@i\@@HH258 5=YQ >٣ GF   >i]}659m}h?a}65Yme> imB6>m;?q@mNDm;m;mz[65 @2iDNOT Ignoring new targets: 89.70 m.iͺ"iͺ ProNav: ac range: 89.699997 m, nav range: 86.903030 m, bearing: 76.752617 deg, approach rate: -0.343736 m/s, LOS rate: -0.089847 deg/s, cmd heading: 65.513269 deg, new cmd heading: 65.388592 deg.  ivHeadingCmd: 1.141246 target range: 89.699997 and range: 89.70 m.h[?hhhhggbgjgBeejeJe:e, @%Bɛ-dh)) -*i))5(11i5ު=i=[?99I=[?I9ZIUbIUjIU1rIQzIU :IU9IU3IQD?DDE0 EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261528VF F ZAA M >Ux,$,^A6?y6E?96~=Y6<6H`ˠ@)?O?ʟ? Q`1??6?ɨ6/; 6 CBhBB$IHJHJY45RN8 Rf=YV;Q V>T٣X ZGZFZ1 Z>~DAT read: 19:44:47.4313 LVL= 22912, 32753, 16450, 32243, AGC= 66, IDX= 421,-0.20,-0.349,-1.458, 0.307,-0.308, PHS= 0.047,-1.103, 0.613, RAW= 168.9, 5.9, CAL= 168.7, -3.5, ROT= 341.3, 3.5 Ygot valid direction response: 19:44:47.4313 LVL= 22912, 32753, 16450, 32243, AGC= 66, IDX= 421,-0.20,-0.349,-1.458, 0.307,-0.308, PHS= 0.047,-1.103, 0.613, RAW= 168.9, 5.9, CAL= 168.7, -3.5, ROT= 341.3, 3.5  PDAT read: Bearing 341.3, 3.5 (Local)  ~Local bearing/azimuth received: Bearing 341.3, 3.5 (Local) DAT read: Range 10 to 50 : 88.5 m (Round-trip 118.0 ms) speed 0.4 m/s %,DAT read: user:1256> %BDAT read: Tx time:19:44:48.5591 -$Ping request sent.-EJDAT read: TxSync time:19:44:48.5583 VF} @Z>F ?F .?:JU MBJU ŷ9JJQ RJU ZJU    F ZA M >gx,A,^Ar?yrX?9r=YrD S@)I@i@@HH<55e? =Y\:Q >٣ Gd >] 659h?a 65Y5 i}Bh>m;?q@NDB;;Vc65! -/@)B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 88.50 m.iN"iN5 ProNav: ac range: 88.500000 m, nav range: 86.981026 m, bearing: 75.082452 deg, approach rate: -0.356743 m/s, LOS rate: -0.060458 deg/s, cmd heading: 65.273898 deg, new cmd heading: 65.184353 deg.  i5%=HeadingCmd: 1.137682 target range: 88.500000 and range: 88.50 m.h=?hyhyhhggbgjgBeejeJe:e#?BɛT3c)  i)Lia{"=i ?  I ?ID?DDE EI3I3I/.IIIZIbIjI0rIzI-:I9Iـ3I A T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.VF F ZA M >7x,],^A6d?y6?96+=Y6m<6Hn?@x? ??`B@?@b ??6d?ɨ6ٲ; 6C>gB<HJHJ\05Ro Vs=YVQ V?X٣X ZGZFZ Z?\]b659^h?af65Y^2 i^yBdf?qf@^ND^0;^;^+f65h j6@l2i|DNOT Ignoring new targets: 88.50 m.i "i % ProNav: ac range: 88.500000 m, nav range: 86.865616 m, bearing: 75.065032 deg, approach rate: -0.381427 m/s, LOS rate: -0.057648 deg/s, cmd heading: 65.184354 deg, new cmd heading: 65.132026 deg.  i%A-HeadingCmd: 1.136768 target range: 88.500000 and range: 88.50 m.h-?h)h)h)h)g1g1bg1jg1e9e9je9Je9:eE?mBɛmT)i mii)u'qqiu#=i}?yyI}?I!D?DDE0 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995364GGGg$IGBGGGDGG<G FVF8U>FZAM>] x,Nv,^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247253:?y:,?9:=Y:R<:Hx?E?'?@a?2?+o ??:?ɨ: ъ; : CF^BF $IHReHR15V2 ZK=YZ :Q Z>\٣\ ^G^Fb b>d]j659fh?aj65Yf. ifsBhj?qn@fNDf;f;fi65p r@rE2iDNOT Ignoring new targets: 88.50 m.iV"iV- ProNav: ac range: 88.500000 m, nav range: 86.721443 m, bearing: 75.046111 deg, approach rate: -0.356967 m/s, LOS rate: -0.046927 deg/s, cmd heading: 65.132028 deg, new cmd heading: 65.075169 deg.  i-HeadingCmd: 1.135776 target range: 88.500000 and range: 88.50 m.ha?hhhhggbgjgeejeJe:e?{Bɛ֟e) i ) 11i5=j%=i=a?99I=a?I9DIzDMdAD?D D E 1 EE1E1:J%YmLBJ!JJ!RJ% ZJ% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499959VFM0P>F! ZA1 M >#x,,^AZI=bI=jI9rI9zI=M:I=9I9I9MTBM#IIQ)QMb@Mb@Mb@ )Iy\(\?{Gz~jth># j@)=@I@i@\@HtH$55 6=YQ >٣ %G!% %>)]5659-h?a565Y-s* i-lB=>m=;=0?q=@-ND-;-H;-m65A Es@A2iq}DNOT Ignoring new targets: 88.50 m.i}(ٹ"i}(ٹ5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7513395 ProNav: ac range: 88.500000 m, nav range: 86.557808 m, bearing: 75.035470 deg, approach rate: -0.364254 m/s, LOS rate: -0.023732 deg/s, cmd heading: 65.075167 deg, new cmd heading: 65.043183 deg.  i=K=HeadingCmd: 1.135218 target range: 88.500000 and range: 88.50 m.hEN?hAhAhAhAgAgAbgijgmBeqeqjeyJey:e}a?oBɛ_)) -y i))--))i-E'=i5N?11I=N?I9D?DDE0 EVF% 8U> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003413F ZA M% >G z>G G T$IG BG G FDG G <G F*x,a,^A6]ޝ?y6?96=Y6<6Hý?y??@S?? ⮜?`?6]ޝ?ɨ6f; 4RUBR$IHZHZ45b; bc=Yf;Q f>h٣h jGjFn2 n>I]U659Mh?aU65YM& iMfBY] ?q]@MNDM;M,;Mp65e̒B mj@mE2iDNOT Ignoring new targets: 88.50 m.i{"i{ ProNav: ac range: 88.500000 m, nav range: 86.420624 m, bearing: 75.032275 deg, approach rate: -0.366549 m/s, LOS rate: -0.008550 deg/s, cmd heading: 65.043181 deg, new cmd heading: 65.033581 deg.  iǻHeadingCmd: 1.135050 target range: 88.500000 and range: 88.50 m.hRI?hhhhggbgjgeejeJe:e@fBɛYq) <i),.i(=i RI? IRI?ID?DDEO5 EHMC=HIEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255175VFFZAM >:J KBJ JJ RJ ZJ J ? J )?i1x,;,^A2j?y2?92sٓ=Y2A<2H ? g?L?P?G?w)?`?2j?ɨ2R; 2CB\BB$I Mb@Mb@Mb@   ) I y ^I +?L7A`尿 X> +  ) @I @i   f@H%H%65=< EC=YM;Q M>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507311٣ GFᙽ >]659h?a65Y # i`Bf>m;ž?q@OD;%;t65 %@!2iDNOT Ignoring new targets: 88.50 m.iL9"iL9% ProNav: ac range: 88.500000 m, nav range: 86.265541 m, bearing: 75.039420 deg, approach rate: -0.351111 m/s, LOS rate: 0.016207 deg/s, cmd heading: 65.033578 deg, new cmd heading: 65.055053 deg.  i-1:UHeadingCmd: 1.135425 target range: 88.500000 and range: 88.50 m.hUU?hYhYhYhYgYgabgajgmBeqeqjeqJey:e}@-YBɛ-ˑR)) -(i1)5p11i5Ӡ*=i=U?=Ž<=}>I=U?IAD?DDE0 Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761277VFe 0P>Fi Fm ?F9 ZAI Mu >$-7x,,^A6֫?y6m?96:=Y6O<6H R?Ku?@d?`p>? Q?` ò??6֫?ɨ6ʊ; 6CBXBB$IN=iNC=HVHV35Z嵼 ^S=Y~A;Q ~>٣ G ` >!]-659%h?a-65Y% i%[B15Ě?q5@% OD%:%:%w659 =G@9]B*** querying acoustic contact ***iYiY2iimDNOT Ignoring new targets: 88.50 m.im9"iu9 ProNav: ac range: 88.500000 m, nav range: 86.127083 m, bearing: 75.048716 deg, approach rate: -0.383129 m/s, LOS rate: 0.025763 deg/s, cmd heading: 65.055052 deg, new cmd heading: 65.082983 deg.  ir:HeadingCmd: 1.135912 target range: 88.500000 and range: 88.50 m.he?hhhhggbgjgeejeJe:e h@PBɛh) `i)io,=ie?<?c>Ie?IDu?DqDqEuF5 EqVFMH_>BDAT read: Rx Time:19:44:51.0794 TRx dataTimestamp_ set to:1736538291.623960checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013076FAZAIMe4>G{>GGH$IGBGGGG˰<G FHI HIHIHI"HI*HMg4ZIm bIm jIm 1rIi zIm -:Im 9Im 3Ii Ii qu Ii iu Im F;u} Im G;m} ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263265]=x,0 ,^A6?y6?96=Y6'<6H=?A(n?%2?@3?,?y i?~?6?ɨ6; 6"CnUBn$IH~H~85 |)  D=Y ;Q >٣ GF} >!]5659%h?a565Y% e5tIi%UB15?q=@%OD%6);%);%s{65A Ej@A2iy}DNOT Ignoring new targets: 88.50 m.i:"i: ProNav: ac range: 88.500000 m, nav range: 85.979614 m, bearing: 75.061776 deg, approach rate: -0.361661 m/s, LOS rate: 0.032084 deg/s, cmd heading: 65.082981 deg, new cmd heading: 65.122228 deg.  i':HeadingCmd: 1.136597 target range: 88.500000 and range: 88.50 m.h|?hhhhggbgjgeejeJe:eN @EBɛbW) ci)i-=i|?w<f?J>I|?ID?DDE@5 E:JBJ@9JJRJ ZJ *"MzJ0uCk2JIgAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519146VF6'>FZAMu >v>Dx,-^A6?y66?96Θ=Y6i<6Hz??? ??Mw?@?6?ɨ6; 6CNPBR#ImMb@Mb@Mb@ii i)iIiym+?/$Mbpmv>mm m@)mj@ImK@im@im@H}H}<55ռ C=Ym:Q >٣ GF >]659h?a65Y@ iNBE>m ;t?q@OD;-;65 @2iDNOT Ignoring new targets: 88.50 m.irm:"irm: ProNav: ac range: 88.500000 m, nav range: 85.823586 m, bearing: 75.083429 deg, approach rate: -0.373291 m/s, LOS rate: 0.051898 deg/s, cmd heading: 65.122227 deg, new cmd heading: 65.187304 deg.  iw;HeadingCmd: 1.137733 target range: 88.500000 and range: 88.50 m.h=?hhhh!g!g!bg!jg-ƂBe)e)je)Je):e5@]9BɛeײS)a e^ia)eৼaaim{/=im=?mIu=?Iq]DAT read: 19:44:51.0794 LVL= 20800, 26289, 19426, 32755, AGC= 65, IDX= 418,-0.42,-0.785,-2.188,-0.850,-1.066, PHS= 0.370,-1.075, 0.213, RAW= 144.3, 7.2, CAL= 146.7, -1.0, ROT= 3.3, 1.0 uYgot valid direction response: 19:44:51.0794 LVL= 20800, 26289, 19426, 32755, AGC= 65, IDX= 418,-0.42,-0.785,-2.188,-0.850,-1.066, PHS= 0.370,-1.075, 0.213, RAW= 144.3, 7.2, CAL= 146.7, -1.0, ROT= 3.3, 1.0 PDAT read: Bearing 3.3, 1.0 (Local) ~Local bearing/azimuth received: Bearing 3.3, 1.0 (Local) DAT read: Range 10 to 50 : 87.1 m (Round-trip 116.2 ms) speed 0.4 m/s ,DAT read: user:1257> BDAT read: Tx time:19:44:52.2091 $Ping request sent.Z>E/!@ >)#@I5ik=5< I>??h%?bˤv?IUN>ik=5< :publishing transmit ping timeعFpublishing direction and range infoY )+?Cw?W7) ߑ9 )IiD D)E-05 E)E1E1 )Ii I>??h%?bˤv?Ii VFw>FZAM%M>G G G B$IG BG G G G <G FhJx,ʩ+-^ABڻ?yBq?9BQ=YB!٣! %G!- ->1]E6595h?aE65Y5 i5GBAE|?qE@5)OD5:5:565I Uq@QZjE1yn?bjE k iAiE<-^AjE3BjE B2jE\p?pEθOU@ʮ]` @X)YRzpE )+?Cw?W7) ߑ"jEk=*jE5<pEߐ2@q.U@rLpE +K?!?%/IJ6iEuBjEAiE2o?iEJ\  jEkBzjE%[o?jEC| jEP[BjjEBrjE=? addTargetRange:: Added new target pos. range: 87.099998 m, deltaT: 3.780172 s, deltaX: -1.400002 m, approachRate: -0.370354 m/s, rangeRepo size: 4  Added new target pos. range: 87.099998 m, bearing: 77.635294 deg, lat: 36.903986 deg, lon: -122.119027 deg, deltaT: 3.780172 s, deltaX: -1.400002 m, approachRate: -0.370354 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 87.10 m.i"i ProNav: ac range: 87.099998 m, nav range: 85.767250 m, bearing: 76.820267 deg, approach rate: 0.000000 m/s, LOS rate: 0.051898 deg/s, cmd heading: 65.187305 deg, new cmd heading: 65.248488 deg.  iHeadingCmd: 1.138801 target range: 87.099998 and range: 87.10 m.h;đ?hhhhggbgjgeejeJeu`fU@:eu?-BɛL) ؾi)kĪi01=i;đ?9<@#>I;đ?IZIEbIAjIE0rIAzIE:IAIEـ3IAIE;IE;IAIADYDYDYE]!5 EYVF-*S>FZA M-N>:J LOBJ 9JJ RJ ZJ J= ? J= >PQx,DE-^A23?y2]q?925=Y2@<2H S?[?x?%?`0U?Yⲿ??23?ɨ2J-; 2CZTBZ#IEMb@Mb@Mb@AA A)AIAyEK7?zGế~jtxE>E ׽EĻ E@)E@IE5@iE@AE@H]oH]"5m׻ mE=YmoTQ u>q٣q GF쇽 >]659Lh?a65Y i?B>m; ?q@4OD};z;$65͒B @E2iDNOT Ignoring new targets: 87.10 m.i:"i: ProNav: ac range: 87.099998 m, nav range: 85.608063 m, bearing: 76.857084 deg, approach rate: -0.364036 m/s, LOS rate: 0.084350 deg/s, cmd heading: 65.248490 deg, new cmd heading: 65.359145 deg.  ig;HeadingCmd: 1.140732 target range: 87.099998 and range: 87.10 m.h?hhh h1g9gAbgYjg]قBeYeYjeaJea:ee-?!BɛQE) ;i)Gi!2=i?<=I?ID?DDE@5 EVF K>F ZA M >{Wx, `_-^A2l?y2|?92g=Y2 =2H Y?`7@?m-??`8?`@HO? ?2l?ɨ2\; 2"CRXBR$IHZYHZ5b\< bV=Ybs:Q f>d٣d fGdj j>l]r659nh?ar65Yn  in7Btvz?qv@n=ODn':n:nx65y \@޷EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 87.10 m.i`:"i`: ProNav: ac range: 87.099998 m, nav range: 85.463440 m, bearing: 76.893893 deg, approach rate: -0.388132 m/s, LOS rate: 0.098956 deg/s, cmd heading: 65.359146 deg, new cmd heading: 65.469762 deg.  iӇ;HeadingCmd: 1.142663 target range: 87.099998 and range: 87.10 m.hB?hhhhggbgjgeejeJe:e ?Bɛ6J)! %i!)%ɯ!!i%Z4=i-B?-L,<5=I5B?I1D?DDEp0 ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.VFTE>G1G1G5;$IG5BG1G1G1G5<G5 FFZAMF> ~GSkA )=/)y=SkA=BZIM bIM jII rII zIM <:IM 9II II IM ;IM ;IM 1;IM 1;= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490433:]x,;y-^A6m}?y6N?96o=Y6{~=6H`r? ݯ??ȩ?I#?ɲ?@?6m}?ɨ60; 6 CBUBB#IF=iF%=HJhHJ5fM fJ=YfQ j>l٣p rGrFr㍽ r>t]z659vi?az65Yv'  iv/B|~Xs?q~@vHODv;vY;v65 @ 2iDNOT Ignoring new targets: 87.10 m.i:"i: ProNav: ac range: 87.099998 m, nav range: 85.310875 m, bearing: 76.936199 deg, approach rate: -0.377309 m/s, LOS rate: 0.104812 deg/s, cmd heading: 65.469761 deg, new cmd heading: 65.596903 deg.  iݏ;HeadingCmd: 1.144882 target range: 87.099998 and range: 87.10 m.h~?hhhhggbgjgee je Je :e EQ?雕 Bɛ=) {iI)M1QQiU)5=i]~?]#<]j=Ie~?IiDm?DiDqEu4 Eq:JBJK9JJRJ ZJ>NLA761/,(&%$# VF3X>FQZAaM}z>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743237dx,-^A6 v?y6B?96=Y6<8=6H5? ?O?s? Ъ?X:@? ?6 v?ɨ6B; 6#CB[BB$IMMb@Mb@Mb@II I)IIIyMQ?"~jMbpM\>MSM M@)Mj@IMx@iIIM@HeHe:5u< u@=Y}̈́;Q }>٣ GF2 >]659 i?a65Ys i&B>m:i?q@SOD7 ;; ;65 &@2iDNOT Ignoring new targets: 87.10 m.i ;"i ; ProNav: ac range: 87.099998 m, nav range: 85.149475 m, bearing: 76.985892 deg, approach rate: -0.393925 m/s, LOS rate: 0.121514 deg/s, cmd heading: 65.596905 deg, new cmd heading: 65.746266 deg.  iɦ;HeadingCmd: 1.147489 target range: 87.099998 and range: 87.10 m.h?hhhhgg bg jg Be ejeJe:e?MBɛM{6)I MiI)UOYYie7=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994438i?<F=I?ID?DDE{0 EVF=zFrFfAFAZAaM}Y> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246422GA GA GA GA GA GA GA GE <GE FͶjx,$-^A:|n?y:խ?9:ћ=Y:I=:Hq?V,d?@*,? ?mT?gu !?@f?:|n?ɨ:I; :!CbXBb$IHjHj%.5rx rT=Yv;Q v>t٣t zGxzʔ z>|]659~bi?a65Y~* i~B  b?q @~^OD~:~d:~65ΒB %`@%۷E2iIMDNOT Ignoring new targets: 87.10 m.iU;"iU;m ProNav: ac range: 87.099998 m, nav range: 85.005043 m, bearing: 77.033876 deg, approach rate: -0.374834 m/s, LOS rate: 0.124742 deg/s, cmd heading: 65.746267 deg, new cmd heading: 65.890465 deg.  iu8;HeadingCmd: 1.150006 target range: 87.099998 and range: 87.10 m.hb3?hhhhggbgjgeejeJe:e @雥Bɛ0) [i)\ei,9=ib3?<:J] AMBJ] 9JJY RJ] qx,L-^AZJe""" H U(MwE) 6!h?y6?96њ=Y6]i=6H(9?1 8k???z?Ub?`Y?6!h?ɨ6; 6CBVBB$IID)FA-Mb@Mb@Mb@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751375)) )))I)y-Q?)\(~jtx-(>-G-Ļ -@)-S@I)i-@)-@HzH'5} 1=Y_Q >٣ GFO >]659ri?a65Y iBE>m:+a?q@kOD;;,65 @2i9EDNOT Ignoring new targets: 87.10 m.im%;"im%; ProNav: ac range: 87.099998 m, nav range: 84.821037 m, bearing: 77.096239 deg, approach rate: -0.389056 m/s, LOS rate: 0.132143 deg/s, cmd heading: 65.890466 deg, new cmd heading: 66.077959 deg.  i`;HeadingCmd: 1.153278 target range: 87.099998 and range: 87.10 m.h?hhhhggbgjgee jeJe:e@Bɛ]') ii)i:=i?><je;I?ID?DDE"4 EVFo=FiZAyM>BDAT read: Rx Time:19:44:54.7274 TRx dataTimestamp_ set to:1736538295.403429checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004621wx,-^A~[B~$IH H %.5< %g=Y%Q %>)٣) -G-F- ->1]6595'i?a65Y5 i5 Bq@5uOD5Rp<5;5965 7@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 87.10 m.i9;"i9; ProNav: ac range: 87.099998 m, nav range: 84.683304 m, bearing: 77.143118 deg, approach rate: -0.387812 m/s, LOS rate: 0.132210 deg/s, cmd heading: 66.077962 deg, new cmd heading: 66.218827 deg.  ix; HeadingCmd: 1.155737 target range: 87.099998 and range: 87.10 m.h -?h h h h ggbgjgeejeJe!:e%`ܛ @MޅBɛM.)I MiI)]oYYieC;<=ie-?mGGGG =GGDG>DG<G FVF=FZAME>d}x,N-^A"DAT read: 19:44:54.7274 LVL= 23392, 32193, 27122, 32755, AGC= 63, IDX= 413, 0.47,-0.756,-2.249,-1.334,-1.173, PHS= 0.505,-1.029,-0.164, RAW= 124.2, 10.4, CAL= 131.5, 5.8, ROT= 18.5, -5.8 &Ygot valid direction response: 19:44:54.7274 LVL= 23392, 32193, 27122, 32755, AGC= 63, IDX= 413, 0.47,-0.756,-2.249,-1.334,-1.173, PHS= 0.505,-1.029,-0.164, RAW= 124.2, 10.4, CAL= 131.5, 5.8, ROT= 18.5, -5.8 *PDAT read: Bearing 18.5, -5.8 (Local) .~Local bearing/azimuth received: Bearing 18.5, -5.8 (Local) F^?yF ?9F0=YF]=FHn?`A?`8R?`Q??\? ?F^?ɨF7; FCRDAT read: Range 10 to 50 : 85.5 m (Round-trip 114.1 ms) speed 0.4 m/s V,DAT read: user:1258> ZBDAT read: Tx time:19:44:55.8091 Z$Ping request sent.Z)] @I]4Q=i]MQ>]4QϽY Y]d?,?6x88?I]͖=i]8]MQ>]4QϽY Y:publishing transmit ping timeXFpublishing direction and range infoYY] 0? 4?+hg޹?Y9YY Y)YIYiYYYYY Y)YIYHwH+&5iYYY Y]d?,?6x88?IYiYYYY Y A=YQ >٣ G >!]-659%2i?a-65Y% i%B15gW?q5@%OD% <%f<%65ϒB @طEZj]z^Um?bj]"h\ iYi] -^Aj]Bj]۩B2j]p޳?p]bq*T@:@t6G!@zp] 0? 4?+hg޹?"j]MQ>*j]4QϽp]ft$,@\ U@^b@p]8*?*/.I? T?i]jBj]$aAi]UCm?i]6M  j]Bzj]2o?j]J\ j]cBjj]Brj]Q? addTargetRange:: Added new target pos. range: 85.500000 m, deltaT: 3.529509 s, deltaX: -1.599998 m, approachRate: -0.453320 m/s, rangeRepo size: 4  Added new target pos. range: 85.500000 m, bearing: 80.513505 deg, lat: 36.903977 deg, lon: -122.119013 deg, deltaT: 3.529509 s, deltaX: -1.599998 m, approachRate: -0.453320 m/s, posRepo size: 4 2i  DNOT Ignoring new targets: 85.50 m.i"i% ProNav: ac range: 85.500000 m, nav range: 85.497612 m, bearing: 78.028242 deg, approach rate: 0.000000 m/s, LOS rate: 0.132210 deg/s, cmd heading: 66.218827 deg, new cmd heading: 66.400381 deg.  i!UHeadingCmd: 1.158905 target range: 85.500000 and range: 85.50 m.hUW?hQhYhYhaggbgjgeejeJe`U@:e@O?хBɛܛ) nvi!)-޻11i5 ==imW?uE4>VF<Fi ZAq M >gۄx,5_.^A6[?y6'Ɖ?96eȎ=Y6d/=6HK?.+?`? ??@Yձ??6[?ɨ6X; 4RUBPV=iV;ZIzbIzjIxrIxzIz:Iz9IxIxq@i@u@m@eMb@Mb@Mb@aa a)aIaye/$? ףp= y&1|e>eQe` eb@)e=@Ie@ie@aep@HYH5Kn ;=Y.ɻQ >٣ GF >]659=i?a65Y  iB>m:bb?q@OD;;65 @2iquDNOT Ignoring new targets: 85.50 m.i}y/;"i}y/; ProNav: ac range: 85.500000 m, nav range: 85.321091 m, bearing: 78.089601 deg, approach rate: -0.440429 m/s, LOS rate: 0.153410 deg/s, cmd heading: 66.400381 deg, new cmd heading: 66.584837 deg.  i;HeadingCmd: 1.162125 target range: 85.500000 and range: 85.50 m.h?hhhhggbgjgBeejeJe:e,6?ƅBɛtk) ai)?iX?=i%?%<%Y<=IE?IID?DDE0 EVF% 0A<G {>G G G G  =G FDG ?DG <G FH HHH"H*Hʇ4F ZA M% >!x,8..^A2eX?y2$p?92D=Y2l=2H_?Rf? ?%??`|??2eX?ɨ2\; 2!CVVBXHjHj_,5r: vm=YvsQ v?x٣x zGzFz ~?] 659Ei?a 65Y iB_?q@ODW:B:65 @!2iDNOT Ignoring new targets: 85.50 m.i';"i'; ProNav: ac range: 85.500000 m, nav range: 85.178261 m, bearing: 78.140710 deg, approach rate: -0.409196 m/s, LOS rate: 0.146670 deg/s, cmd heading: 66.584837 deg, new cmd heading: 66.738421 deg.  iP;HeadingCmd: 1.164805 target range: 85.500000 and range: 85.50 m.hV?hhhhggbgjg1e9e9je9Je9:e=c?-Bɛ5F)1 5\Ni1)5ck19i=E@=i=V?E9x,H.^A:JNk3IBJN9JJLRJN ZJN޵PB޵#IeMb@Mb@Mb@aa a)aIayei|?5?V-:ve>eheT e@)e&@Ie@ie@aaHdH5 /=YQ >٣ G >]6592Qi?a65Y! iB y>m : (k?q @OD;j;ԩ65ВB @ӷE2i9EDNOT Ignoring new targets: 85.50 m.iM";"iM";] ProNav: ac range: 85.500000 m, nav range: 84.978439 m, bearing: 78.205017 deg, approach rate: -0.441002 m/s, LOS rate: 0.142257 deg/s, cmd heading: 66.738420 deg, new cmd heading: 66.931793 deg.  i]B;eHeadingCmd: 1.168180 target range: 85.500000 and range: 85.50 m.he?hahahahigigibgijguBeqeqjeqJeq:e}@GO?UBɛU)Y ]?iY)]׿YYi]7B=i?#<mI?IDzDhAD=?D9D9E9 E9EAEAZIbIjIrIzI}:IH9IIVFvżFZAM>mx,0a.^AN^PR?yNe?9NG=YN~=NH`?i?^?V1?ˮ ߹?A?N^PR?ɨNӞ; N CfHBf#IIh)hHrHr.5vC vn=YzUN?UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.G}z>GyGyGyG} =GyG}>DG} <G} FVFW5FaZAiM8>H H  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986568Ax,{.^A2iJQ?y2?92i3=Y2=2H@;?]V?`s?`8I?v[k ?٣ GF >!]-659%di?a565Y% i%ԭB15bd?q5@%OD%:%:%b65A E@A2iimDNOT Ignoring new targets: 85.50 m.iu(;"iu(; ProNav: ac range: 85.500000 m, nav range: 84.660645 m, bearing: 78.314619 deg, approach rate: -0.424437 m/s, LOS rate: 0.147582 deg/s, cmd heading: 67.081077 deg, new cmd heading: 67.261226 deg.  i;HeadingCmd: 1.173930 target range: 85.500000 and range: 85.50 m.hUC?hhhhggbgjgeejeJe:e`@Bɛz) 9i)t¼iD=iUC?=<8IUC?ID?DDE0 E:JBJs9JJRJ ZJI echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.239354JfAIVF%:FZAM% >4,x,.^AB`Q?yB?9B/=YB=BH@:?R?? @?3l|B7u @)@IiS@ @HH_,5 @=YtmQ >٣ GiQ: >]659ni?a65Yq i˭B>m:)h?q@OD ;/;65 @2iDNOT Ignoring new targets: 85.50 m.i-*;"i-*;- ProNav: ac range: 85.500000 m, nav range: 84.472496 m, bearing: 78.377861 deg, approach rate: -0.441647 m/s, LOS rate: 0.148780 deg/s, cmd heading: 67.261224 deg, new cmd heading: 67.451370 deg.  i-6;5HeadingCmd: 1.177248 target range: 85.500000 and range: 85.50 m.h5?h1h1h1h1g1g9bg9jg=Be9eAjeAJeA:eE @uBɛu!)q }$iy)};$üyyi} E=i?x<]I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.492871D-?D)D)E-0 E)E5>E5>VF^FZAME>e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742461Gu {>Gq Gu 5$IGu BGq Gq Gu ?DGu <Gu FIA )A ax,ܽ.^A6_R?y6m?96S6H ?`!Y1?`M??@i(П??@?6_R?ɨ6ot; 6 CV*B f.~GrlA^#I |)%$y%lA%+Bm=im%=%@BH|Hb(5-׽ H=YOQ >٣ GF2< >]659yi?a65Y. iíB  Ri?q @OD:6:65ђB =n@=зE2iDNOT Ignoring new targets: 85.50 m.iG&;"iG&; ProNav: ac range: 85.500000 m, nav range: 84.288887 m, bearing: 78.439177 deg, approach rate: -0.434365 m/s, LOS rate: 0.145372 deg/s, cmd heading: 67.451369 deg, new cmd heading: 67.635718 deg.  i;HeadingCmd: 1.180466 target range: 85.500000 and range: 85.50 m.h?hhhhggbgjgeejeJe:e&l@Bɛ~) 9i)iļ!!i%E=i%?-"<-I-?I1D?DDE0 EVFBDAT read: Rx Time:19:44:58.3254 TRx dataTimestamp_ set to:1736538298.932972checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997331FAZAIMmX>?x,n.^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.246630:JLBJ9JJRJ ZJJ- ? J-?޵'B޵#I=Mb@Mb@Mb@99 9)9I9y=)\(?㥛 Mb=G?== =-@)9I=K@i=@9=@HUHU*5eS eA=YmQ m>q٣q uGuFu }>y]659}i?aM65Y} i}BU?mU:UUg?qU@}OD}m<}Z<}^65 @2iAMDNOT Ignoring new targets: 85.50 m.iU";"iU"; ProNav: ac range: 85.500000 m, nav range: 84.098854 m, bearing: 78.504209 deg, approach rate: -0.415137 m/s, LOS rate: 0.142386 deg/s, cmd heading: 67.635716 deg, new cmd heading: 67.831251 deg.  io;HeadingCmd: 1.183879 target range: 85.500000 and range: 85.50 m.hV?hhhhggbgjg BeejeJe:e`+ @雝zBɛ6 ) \&i)gż隡i|G=iV?<XIV?IZI-bI)jI)rI)zI- :I)I)I)D]?DaDaEe0 EiDAT read: 19:44:58.3254 LVL= 25648, 30241, 25986, 32755, AGC= 59, IDX= 424, 0.40, 0.211,-1.290,-0.445,-0.286, PHS= 0.586,-0.956,-0.162, RAW= 121.0, 8.0, CAL= 129.6, 3.8, ROT= 20.4, -3.8  Ygot valid direction response: 19:44:58.3254 LVL= 25648, 30241, 25986, 32755, AGC= 59, IDX= 424, 0.40, 0.211,-1.290,-0.445,-0.286, PHS= 0.586,-0.956,-0.162, RAW= 121.0, 8.0, CAL= 129.6, 3.8, ROT= 20.4, -3.8  PDAT read: Bearing 20.4, -3.8 (Local)  ~Local bearing/azimuth received: Bearing 20.4, -3.8 (Local)  DAT read: Range 10 to 50 : 84.0 m (Round-trip 112.1 ms) speed 0.4 m/s % ,DAT read: user:1259> % BDAT read: Tx time:19:44:59.4092 - $Ping request sent.- )@Iԇ=iK>ԇ 2?J+v?>R?Iԇ  :publishing transmit ping time)  Fpublishing direction and range infoYh#SU?[rB?{S?9 )Ii )Ii 2?J+v?>R?Ii VF LFQ ZAY M} >i}x,.^ARU?yRo*?9RRH ?x^?>?D?` `@>? ?RU?ɨRg; PnBn#IH=jH=h 5}[ }X=YQ >٣ G= >]659xi?a65Y iB:k?q@OD;S;65 A@Zj'Cn?bjȭ6j ii.^AjBjB2ji?p S@3H67=@qD@zph#SU?[rB?{S?"jK>*jԇp,@fOT@dz!@pcK?PR.0nY?+eˎ\?iBjFfAiNCKn?ix[  jBzjjjkBjj٧Brj3? addTargetRange:: Added new target pos. range: 84.000000 m, deltaT: 3.526278 s, deltaX: -1.500000 m, approachRate: -0.425378 m/s, rangeRepo size: 4  Added new target pos. range: 84.000000 m, bearing: 80.079825 deg, lat: 36.903977 deg, lon: -122.119013 deg, deltaT: 3.526278 s, deltaX: -1.500000 m, approachRate: -0.425378 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 84.00 m.i"i ProNav: ac range: 84.000000 m, nav range: 83.925056 m, bearing: 78.561731 deg, approach rate: 0.000000 m/s, LOS rate: 0.142386 deg/s, cmd heading: 67.831251 deg, new cmd heading: 67.979339 deg.  iHeadingCmd: 1.186463 target range: 84.000000 and range: 84.00 m.hޗ?hhhhg g bg jg eejeJeU@:e ?雅qBɛ0) )i)nƼ隑iG=iޗ?GGG/$IG|BGGGG<GFRo<3ǣ JDAT read: TxSync time:19:44:59.4084 I ޗ?ID?DDE0 EEEiAVF&FaZAqM|>Mx,T.^A2`X?y2m?92;Y2A.>2H ?+k?w?9?Y~?u?2`X?ɨ2|; 0R BR#IIT)THZJHZ:5v zU=Yz"Q z>|٣| ~G~F< > ]659 Ti?a65Y  i Bm?q@ OD <; ;  65%ҒB %i@%˷EEB*** querying acoustic contact ***iAiA2iIUDNOT Ignoring new targets: 84.00 m.iU2;"i]2;m ProNav: ac range: 84.000000 m, nav range: 83.748306 m, bearing: 78.618913 deg, approach rate: -0.481362 m/s, LOS rate: 0.156059 deg/s, cmd heading: 67.979336 deg, new cmd heading: 68.151244 deg.  iu4;}HeadingCmd: 1.189464 target range: 84.000000 and range: 84.00 m.h}X@?hyhyhyhygygbgjgeejeJe:e_?雵iBɛ) :i)Ǽi H=iX@?1 <IX@?IDm?DqDqEuA5 Eq5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.:JMBJM9JJIRJM ZJMVFFZAMe >ŋx,,-/^AV_[?yV}?9VlYVc8>VH`vM?@L:?/?`?A(`?@?@{?V_[?ɨV/; V#CfBf#IMb@Mb@Mb@ )IyMb?Mb/$? @)@Ib@i@G@HH_,5- -8=Y-ӬQ 5>9٣9 =G=FE< E>A]U659E0i?a]65YE iEB]?m]:]u?q]@E PDE=;E<;E65a m@i}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9957122iDNOT Ignoring new targets: 84.00 m.ii;"ii; ProNav: ac range: 84.000000 m, nav range: 83.542419 m, bearing: 78.680632 deg, approach rate: -0.460864 m/s, LOS rate: 0.138494 deg/s, cmd heading: 68.151245 deg, new cmd heading: 68.336857 deg.  i;HeadingCmd: 1.192703 target range: 84.000000 and range: 84.00 m.h?hhhhggbgjgBeejeJe:eU?]Bɛ) Ѭf= 8+i ) 0ȼ iH=i?KI<WI?IDE?DADAEMO5 EIVFYFZAMk>G G G $IG hBG G GD5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248236G >DG <G Fаˋx,1/^A6^?y6b?965BY6?>6HD?;j? ^??`F??`p?6^?ɨ6e; 6CBBB#IHJWHJ5R Rg=YV*Q V>X٣X ZGX^c= ^>`]f659bi?af65Yb ibBdf!y?qj@bPDb:b:b65l nS@l2i DNOT Ignoring new targets: 84.00 m.i 4;"i 4; ProNav: ac range: 84.000000 m, nav range: 83.377426 m, bearing: 78.728587 deg, approach rate: -0.468935 m/s, LOS rate: 0.136566 deg/s, cmd heading: 68.336855 deg, new cmd heading: 68.481006 deg.  ir;HeadingCmd: 1.195219 target range: 84.000000 and range: 84.00 m.h?hhhhggbgjgeejeJe:eY?MTBɛMQ? )Q U$Ni)q!ʼ隙iH=i?<"vI?IIـ3Im3IS}-IIIZIbIjIrIzI:I9IIIn;qIo;iI;uI;mD?DDE@5 EE>E4>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500459VF]F ZA M >ҋx,cJ/^A~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754868:J1BJ5h9JJ1RJ5 ZJ5MƸ`?yM?9MҝYMC>MH@?R? }?`?Cv` ?zV?i?MƸ`?ɨM;k; MCYYe=ie>EMb@Mb@Mb@AA A)AIAyE?㥛 S㥛E?EE/ݼ EI@)E\@IE5@iE5@AE@H]H]"25mS` m0=YuQ u>q٣y }G}F}< }>]659޶i?a65Y iB?m:aw?q@'PD;";65ӒB `@ȷE2iDNOT Ignoring new targets: 84.00 m.iK;"iK; ProNav: ac range: 84.000000 m, nav range: 83.163025 m, bearing: 78.792408 deg, approach rate: -0.463725 m/s, LOS rate: 0.138393 deg/s, cmd heading: 68.481007 deg, new cmd heading: 68.672962 deg.  i;HeadingCmd: 1.198569 target range: 84.000000 and range: 84.00 m.hj?hhhhggbgjgBeejeJe:eW?IBɛ>) 8i)l˼il6I=ij?<CjIj?ID?DDEL5 EVF憽FqZAyM~>ՉՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003901؋x,˿d/^A2Db?y29?92HԼY2SF>2H?#@?੗??廿??zd?2Db?ɨ2_; 0RBRu#IHZHZ*5b0< bj=Yf Q f?d٣d fGhj>< j?l]r659n8i?ar65Yn inBtvPy?qz@n2PDnF;ntl;n65 @2i)-DNOT Ignoring new targets: 84.00 m.i5l;"i5l;] ProNav: ac range: 84.000000 m, nav range: 83.000748 m, bearing: 78.839949 deg, approach rate: -0.462914 m/s, LOS rate: 0.135880 deg/s, cmd heading: 68.672962 deg, new cmd heading: 68.815863 deg.  i];eHeadingCmd: 1.201063 target range: 84.000000 and range: 84.00 m.her?hahahihigigqbgjgeejeJe:e \@}@BɛVY) 6i)̼隉i[I=ir?MzmGG$IGYBGGFDG?DG<G FHQ HQHQHU ="HU =*HUk4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257571^Du=D ?D D E 0 E H H ZI bI jI rI zI :I I I I !;I ";I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508820VF 1|F ZA M>sx,H/^A5ӄB5_#IHEHE +5U˒ U*=YUQ ]>Y٣Y ]G]Fe e>i]u659mi?au65Ym imBqqq}@mBPDmQ;m;mJ65 @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 84.00 m.i;"i; ProNav: ac range: 84.000000 m, nav range: 82.777908 m, bearing: 78.905567 deg, approach rate: -0.464052 m/s, LOS rate: 0.137014 deg/s, cmd heading: 68.815863 deg, new cmd heading: 69.013246 deg.  i;HeadingCmd: 1.204508 target range: 84.000000 and range: 84.00 m.hU-?hhhhggbgjgeejeJe:ez@雭4Bɛ) |Bi)Oμ隱iI=i5U-?}ó<RkIU-?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764354^Df=:JBJ 9JJRJ ZJ3hoCH4xJv`OD90& JIDDDE>1 EVFe^Fa ZAy M >x,+/^AFIFH@?)[sW??`0?I?? ?[?FIC )r@I@iH-H--5]% ];=Y]bQ e>a٣a eGeFm%= m>]659i?a65Y iB>m:av?q@OPD::'65 x@ŷE2i9EDNOT Ignoring new targets: 84.00 m.i};"i}; ProNav: ac range: 84.000000 m, nav range: 82.582794 m, bearing: 78.965181 deg, approach rate: -0.431129 m/s, LOS rate: 0.132035 deg/s, cmd heading: 69.013249 deg, new cmd heading: 69.192513 deg.  i:;HeadingCmd: 1.207637 target range: 84.000000 and range: 84.00 m.hۓ?hhhhggbgjgBeejeJe:e @)Bɛ%)@= >;i)OϼiI=iۓ?砲<D@Iۓ?ICCCCGGCG#IGIBG =GGG<G Fuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268377DE ?DA DA EM 0 EI VF ZIMbIMjIIrIIzIM]:IMm9IIIIIM:;IM<;IM;IM;FaZAqM>,x,/^A6rg?y6#?96?Y6; J>6H@?s@Z"?/? Ax?@3 ??MX?6rg?ɨ6; 6CBńBBN#IHJHJ/5R3 RB=YRxQ V>\٣\ ^G^F^ m< b>`]f659bi?aj65Yb ibBlnw?qn@b\PDb&;b';b65rԒB r@r÷E2i uDNOT Ignoring new targets: 84.00 m.i} ;"i ;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522272 ProNav: ac range: 84.000000 m, nav range: 82.398056 m, bearing: 79.020959 deg, approach rate: -0.456615 m/s, LOS rate: 0.138177 deg/s, cmd heading: 69.192514 deg, new cmd heading: 69.360225 deg.  i;UHeadingCmd: 1.210564 target range: 84.000000 and range: 84.00 m.hU?hYhYhYhagagbgjgeejeJe:e @雅Bɛ) 2i)wм隉i!ZI=i?W<s:I?IDD]?DYDYE]P5 EYEe>Ee)>VF5PIFZA!MMt> DAT read: 19:45:01.9235 LVL= 28048, 32753, 29618, 32755, AGC= 59, IDX= 420, 0.25,-1.962, 2.817,-2.477,-2.491, PHS= 0.617,-0.928, 0.012, RAW= 127.1, 4.5, CAL= 134.5, -1.5, ROT= 15.5, 1.5  Ygot valid direction response: 19:45:01.9235 LVL= 28048, 32753, 29618, 32755, AGC= 59, IDX= 420, 0.25,-1.962, 2.817,-2.477,-2.491, PHS= 0.617,-0.928, 0.012, RAW= 127.1, 4.5, CAL= 134.5, -1.5, ROT= 15.5, 1.5  PDAT read: Bearing 15.5, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 15.5, 1.5 (Local)  DAT read: Range 10 to 50 : 82.5 m (Round-trip 110.1 ms) speed 0.3 m/s  ,DAT read: user:1260> :J ʁOBJ 9JJ RJ ZJ zvtohea\YYWUTQPNOLMJHIIIGCA?>>@;7534Wl BDAT read: Tx time:19:45:03.0092  $Ping request sent. M PwM PwEGE+ E`@)EE@IE@iE@AAHH(*5pͼ )=Y%Q %>1٣9 =G9M ]>y]659}i?a65Y}ê i}zB:>m:i?q@}kPD}C<}j=<}65 V@ZjQn?bja iif/^AjBjB2jֲ?p 9S@# 6@exFzpY[?&?P!Κ"jc>*jPw<pm,@|GCT@(@p{ ?Yo$p?BđW,T?iBjocAiݓn?iOWoS  jBzjݓn?jx[ jBjjBrj? addTargetRange:: Added new target pos. range: 82.500000 m, deltaT: 3.785326 s, deltaX: -1.500000 m, approachRate: -0.396267 m/s, rangeRepo size: 4  Added new target pos. range: 82.500000 m, bearing: 80.052697 deg, lat: 36.903966 deg, lon: -122.119013 deg, deltaT: 3.785326 s, deltaX: -1.500000 m, approachRate: -0.396267 m/s, posRepo size: 4 2iIUDNOT Ignoring new targets: 82.50 m.iU"iQ ProNav: ac range: 82.500000 m, nav range: 81.978600 m, bearing: 80.014465 deg, approach rate: 0.000000 m/s, LOS rate: 0.138177 deg/s, cmd heading: 69.360223 deg, new cmd heading: 69.577596 deg.  iHeadingCmd: 1.214358 target range: 82.500000 and range: 82.50 m.hp?hhhhggbgjgӂBeejeJeT@:efe? Bɛ ]1) &i)Ѽi .I=iEp?EFG G #IG :BG G G G ߰<G FVF ;,BzF hArF gAF ZAA c~GM >)x,/^AjA ()v(yvjAv"BMgj?yMK?9M׋pYME>MH@d?`4??>?m` ?@ ?Y?Mgj?ɨM ; M CeBeB#I)m= iH}NH}57s O=YQ >٣ GF= >]659i?a65Y iuBl?q@wPDs;;t65ՒB @E2iDNOT Ignoring new targets: 82.50 m.i>;"i>; ProNav: ac range: 82.500000 m, nav range: 81.814125 m, bearing: 80.073172 deg, approach rate: -0.465683 m/s, LOS rate: 0.166556 deg/s, cmd heading: 69.577593 deg, new cmd heading: 69.754070 deg.  i;HeadingCmd: 1.217438 target range: 82.500000 and range: 82.50 m.h՛?hhhhggbgjgeejeJe:e@\?= Bɛ=)y }iy)Ҽ隁iH=i՛?<o&I՛?IZIbIjIrIzI-:I9III;I;I;I;D?DDEE5 EVF %HF ZA M >}x, 0^A}B}E#IHCH 5U 3< ]>=YmQ u>٣ GF >]659i?a65Yo ioB:JNBJJJRJ ZJ7E<1$sgWA*o^UPHEA=97746434:ORA50,-.,))('&%# q@PD;F;L65 j@%B*** querying acoustic contact ***i!i!2i)5DNOT Ignoring new targets: 82.50 m.i5.;"i5.;E ProNav: ac range: 82.500000 m, nav range: 81.626099 m, bearing: 80.140616 deg, approach rate: -0.423325 m/s, LOS rate: 0.152193 deg/s, cmd heading: 69.754072 deg, new cmd heading: 69.956868 deg.  iM;MHeadingCmd: 1.220978 target range: 82.500000 and range: 82.50 m.hMH?hQhQhQhQgQgQbgYjgYeYeYjeaJea:eek?MBɛM )I MiI)MӼQQiUHH=iUH?]֭<] 9I]H?I^D0f=DzDՁ Յ A T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.D ?D D E 0 E E E eAVFsT)FiZAqM?S x,Q+0^AGj|>GhGj#IGj5BGhGhGhGj<Gj Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.486078ƄBO#IAAMb@Mb@Mb@ )IyQ?Zd;Q롿>\ @)I@i@G@HLH5-< -=Y)Q ->1٣9 =G=F9 =>A]M659E j?aM65YE iEfB>m:we?q@EPDE1x,D0^A:7p?y:iY?9:adY:A?>:H@?`.@?@2Hp? "?Y??=?u¿Ҵ?@?V^?2p?ɨ28̌; 2!C>DŽB>Q#IEMb@Mb@Mb@AA A)AIAyE"~j?V-¿l񢿙ES>EhE E@)E/@IE=@iE@AE\@H]H]*5m=b; m=Yu8Q u>q٣y }G}F}5; }>]659!j?a65Yڔ i[Bk>m:+_?q@PD>;=;65 @2iDNOT Ignoring new targets: 82.50 m.iE;"iE; ProNav: ac range: 82.500000 m, nav range: 81.047455 m, bearing: 80.368660 deg, approach rate: -0.416996 m/s, LOS rate: 0.173016 deg/s, cmd heading: 70.359070 deg, new cmd heading: 70.642747 deg.  iz;HeadingCmd: 1.232949 target range: 82.500000 and range: 82.50 m.hBѝ?hhhhg gbgjgBee!je!Je!:e%@U݄BɛU)Q U+iQ)]85ռYYi]F=ieBѝ?eSQ Q ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746361k x,+0^Aryq?yr?9r Yr76>rH`=?3?@MH? ?@¿`??a?ryq?ɨr; r C ݄B l#IHxH&5-= 5L=Y55Q 5>9٣9 =G=F= < E>A]M659E ,j?aU65YE iEVBQU_?q]@EPDE#;E$;E!65a e@a2iDNOT Ignoring new targets: 82.50 m.i%6;"i%6;5 ProNav: ac range: 82.500000 m, nav range: 80.886086 m, bearing: 80.435347 deg, approach rate: -0.385962 m/s, LOS rate: 0.159820 deg/s, cmd heading: 70.642748 deg, new cmd heading: 70.843207 deg.  i5];=HeadingCmd: 1.236447 target range: 82.500000 and range: 82.50 m.h=C?h9hAhAhAgAgAbgIjgIeIeIjeQJeQ:eU@ @雅ӄBɛ2ɼ) 0&x, F0^AZI*bI*jI*1rI(zI*:I*9I*3I(q.@i.@u.@m.@NA+r?yN8S?9NYN5>NH?@'/c?JO?@O?`¿`eI?/n? a?NA+r?ɨN.; LVBZ}#IMb@Mb@Mb@ )IyK7A`?@5^I ¿Mb>b @)@I@i@f@HH= @=YͻQ > ٣   G  j; >checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250082)]5659-7j?a565Y- i-SB=d>m=:=b?q=@-PD- ;-;-65EגB E@EEeB*** querying acoustic contact ***iaia2iy}DNOT Ignoring new targets: 82.50 m.iI;"iI; ProNav: ac range: 82.500000 m, nav range: 80.707329 m, bearing: 80.507665 deg, approach rate: -0.435097 m/s, LOS rate: 0.176415 deg/s, cmd heading: 70.843207 deg, new cmd heading: 71.060642 deg.  i$;HeadingCmd: 1.240242 target range: 82.500000 and range: 82.50 m.hA?hhhhggbgjgBeeje Je :e r @uȄBɛ}^O)y }d=iy)}ԼyyiD=iA?M<IA?IDD?DDE0 E!VF=FZA M%n>GGCG#IGSBG =GGG<G FHuȩC HuȩCHqHu ="Hu =*Hu4 DAT read: 19:45:05.5216 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 417,-0.26, 0.649,-0.891, 0.205, 0.075, PHS= 0.662,-0.920, 0.126, RAW= 130.6, 1.9, CAL= 136.7, -5.9, ROT= 13.3, 5.9  Ygot valid direction response: 19:45:05.5216 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 417,-0.26, 0.649,-0.891, 0.205, 0.075, PHS= 0.662,-0.920, 0.126, RAW= 130.6, 1.9, CAL= 136.7, -5.9, ROT= 13.3, 5.9  PDAT read: Bearing 13.3, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 13.3, 5.9 (Local)  DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed 0.4 m/s % ,DAT read: user:1261> - BDAT read: Tx time:19:45:06.6092 - $Ping request sent.- @ =) @I Bҽi ,m> B= %|E+-q?BW֖h?"?I bo<>i 4 ,m> B= U :publishing transmit ping time) ] Fpublishing direction and range info Y   ?)FVJ?zBP 9 ) I i ) I i %|E+-q?BW֖h?"?I i u,x,=(0^AnBn#IHtHt=[< EW=YEQ M>I٣I MGMFU U>q]}659u@j?a65Yu! iuPBq@uPDu:u:u365 `@Zj$pn?bj nVW ii7ů0^AjfBjPB2jL̴?peJ`.S@4”2@  zp  ?)FVJ?zBP"j,m>*jB=pN o)@;c T@v?pXE{,?`̓O?:2"?iSBjLAi:wn?i8I  jĈBzj:wn?jOWoS jjjBrjY? addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.526600 s, deltaX: -1.300003 m, approachRate: -0.368628 m/s, rangeRepo size: 4  Added new target pos. range: 81.199997 m, bearing: 80.929407 deg, lat: 36.903962 deg, lon: -122.119010 deg, deltaT: 3.526600 s, deltaX: -1.300003 m, approachRate: -0.368628 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 81.20 m.i"i5 ProNav: ac range: 81.199997 m, nav range: 80.794556 m, bearing: 80.885787 deg, approach rate: 0.000000 m/s, LOS rate: 0.176415 deg/s, cmd heading: 71.060639 deg, new cmd heading: 71.278432 deg.  i1=HeadingCmd: 1.244043 target range: 81.199997 and range: 81.20 m.h=4x,n0^AFis?yFL.?9FgYFo-2>FH?Aٿ? `? Ou?5PÿX?@?a?Fis?ɨFp; FCRBR#I-Mb@Mb@Mb@)) )))I)y-tV?@5^I ¿V-->)- -@)-/@I-@i-@)-z@HEBHE5U9= ]&=Y]K1Q ]>Y٣a eGeFe_< e>i]u759mqMj?a}75Ym& imMB}>m}:}Nf?q}@mPDmv:m:mu75 -@2iDNOT Ignoring new targets: 81.20 m.iG;"iG; ProNav: ac range: 81.199997 m, nav range: 80.584190 m, bearing: 80.969896 deg, approach rate: -0.435679 m/s, LOS rate: 0.174649 deg/s, cmd heading: 71.278433 deg, new cmd heading: 71.531418 deg.  i;HeadingCmd: 1.248459 target range: 81.199997 and range: 81.20 m.h͟?hhhhggbgjgBeejeJe:e@r?}Bɛ) !>i)Ҽ隩iB=i͟?<g"I͟?IZIbIjI0rIzI-:I9Iـ3I^D=D?DDE0 EVFl&FZAM>G G CG "$IG rBG  =G G G <G F/;x,80^A2Au?y2#ޖ?92 ĽY2S->2H`X? cX `?@o?3(?^bÿw?v?e?2Au?ɨ2$`; 0>BB#IHJQHJT5R = RW=YR Q V>T٣T VGTZlg< Z>\]b759^>Wj?ab75Y^@ i^LBdfg?qf@^PD^u ;^:^75h j@jE2iDNOT Ignoring new targets: 81.20 m.i6G;"i6G; ProNav: ac range: 81.199997 m, nav range: 80.419884 m, bearing: 81.035196 deg, approach rate: -0.437337 m/s, LOS rate: 0.174166 deg/s, cmd heading: 71.531417 deg, new cmd heading: 71.727717 deg.  i;HeadingCmd: 1.251885 target range: 81.199997 and range: 81.20 m.h=?hhhhggbgjgeejeJe:ex?Bɛ:F") DX>i)vѼiXA=i%=?%6<%tI%=?I)^D}G=DgAzDdAD?DDE EE%=E%=VF5 ,F ZA! ME >iBx, 1^A^%w?y^ȗ?9^i-ɽY^6k+>^HF?pY?Hv6Hv] 5%= %5=Y%Q ->)٣) -G-F5< 5>9]E759=bj?aE75Y={ i=KBAMUi?qM@=PD=:=:= 75Q U@Q2iDNOT Ignoring new targets: 81.20 m.imM;"imM; ProNav: ac range: 81.199997 m, nav range: 80.223518 m, bearing: 81.112363 deg, approach rate: -0.455909 m/s, LOS rate: 0.179599 deg/s, cmd heading: 71.727717 deg, new cmd heading: 71.959782 deg.  i;HeadingCmd: 1.255935 target range: 81.199997 and range: 81.20 m.h{ ?hhhhggbgjgeejeJe:e}?雅Bɛt)< ӊ>i)uϼ隉ibz@=i{ ?-<KI{ ?ICCCC:JLBJJJRJ ZJD?DDE EZIbIjIrIzI:I9IIVF OF ZA M >Hx,$1^AJ6x?yJY?9JNɽYJŲ+>JHr?%}q??`v?uÿ 9.?@B?e?J6x?ɨJ; J CVABV#IuMb@Mb@Mb@qq q)qIqyuMb?(\¿S㥛u?uzu/ݼ uZ@)u@Iqiqqu3@H`H5O= ==YV/Q >٣ GF&< >]759Znj?a75Yv i?m:"l?q@ QD:Q: 75 g@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 81.20 m.i >K;"i >K; ProNav: ac range: 81.199997 m, nav range: 80.023949 m, bearing: 81.189210 deg, approach rate: -0.460305 m/s, LOS rate: 0.177690 deg/s, cmd heading: 71.959779 deg, new cmd heading: 72.190895 deg.  i;%HeadingCmd: 1.259969 target range: 81.199997 and range: 81.20 m.h%F?h!h!h!h)g)g)bg)jg5ڂBe1e1je1Je1:e=m?-Bɛ-h4)) -ª>i))5ͼ11i5?=i=F?=,<=I=F?IaGiGiGmT$IGmBGiGiGiGm<GiD?DDE0 EIUF=)UrCT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ~GlA )M&yMlAMBVF] _F1 ZAA M] >Nx,>1^AFx?yF?9F7ȽYFwj+>FH???(U?KZÿ ?9? f?Fx?ɨFç; FCROBR#IHZqHZ#5f= fY=Yj!:Q j>h٣l nGln; n>p]v759r[xj?av75Yrr irJBxzl?qz@rQDr;r};r75~ؒB @Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2558042i1=DNOT Ignoring new targets: 81.20 m.i= K;"i= K;U ProNav: ac range: 81.199997 m, nav range: 79.850197 m, bearing: 81.256099 deg, approach rate: -0.460303 m/s, LOS rate: 0.177588 deg/s, cmd heading: 72.190892 deg, new cmd heading: 72.391995 deg.  i];]HeadingCmd: 1.263479 target range: 81.199997 and range: 81.20 m.h]?hahahahagagabgijgieieqjeqJeq:eu=@雝BɛK[;) >i)ʼ隡i==i?][<I?IDl>D>De?DaDiEmO5 EiVFMF ZAM5>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511109:J5 BJ5 9JJ1 RJ5 ZJ5 Ux,8X1^A2y?y21?92|KȽY2)>2H`D?@M?`e?`?@30ÿ9?P? ,i?2y?ɨ2ʋ; 2!CFaBF$IHJAMb@Mb@Mb@ )IyS㥛?Dl?O ̼ @)@I@ib@G@HcHN5%u= %6=Y-l9Q ->)٣) 5G5F=< =>ZIUbIUjIQrIQzIUM:IU*9IQIQi]u759mcj?a}75Ymnm imKB} ?m}:r?q@m)QDm;m;m75ْB |@E2iDNOT Ignoring new targets: 81.20 m.ipI;"ipI; ProNav: ac range: 81.199997 m, nav range: 79.631737 m, bearing: 81.335853 deg, approach rate: -0.481082 m/s, LOS rate: 0.176111 deg/s, cmd heading: 72.391993 deg, new cmd heading: 72.631909 deg.  i;HeadingCmd: 1.267666 target range: 81.199997 and range: 81.20 m.hB?hhhhggbgjg܂BeejeJe:e/@雵Bɛxd;) >i)~Ǽii[<=iB?\?<QSIB?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763780D?DDE0 EVF G] {>GY G] $IG] ȅBGY G] GDGY G] <G] FF ZA M > BDAT read: Rx Time:19:45:09.1193  TRx dataTimestamp_ set to:1736538309.774103 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015701[x,HPr1^A6z?y6X?96ǽY6e))>6HU?^? ?? ÿ׸?(?@Xj?6z?ɨ6; 4BvBB'$IHR]HR5V== Zg=YZ:Q Z>\٣\ ^G^F}"< >]759'j?a75Y$i iLBs?q@5QD;; 75 0@2i DNOT Ignoring new targets: 81.20 m.i-C;"i-C;E ProNav: ac range: 81.199997 m, nav range: 79.453415 m, bearing: 81.400769 deg, approach rate: -0.468775 m/s, LOS rate: 0.171036 deg/s, cmd heading: 72.631911 deg, new cmd heading: 72.827096 deg.  iE;MHeadingCmd: 1.271073 target range: 81.199997 and range: 81.20 m.hM?hIhIhIhIgIgQbg!jg!e)e)jeIJeQ:eU/ @雝zBɛs+<) J>i)Rļi:=i?R<I?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263766^D =DD D D E 0 E E =E =VF FZADAT read: 19:45:09.1193 LVL= 27264, 32177, 29842, 32755, AGC= 62, IDX= 424,-0.37,-2.221, 2.289,-2.760,-2.921, PHS= 0.787,-1.026, 0.157, RAW= 130.0, 1.0, CAL= 136.1, -7.1, ROT= 13.9, 7.1 Ygot valid direction response: 19:45:09.1193 LVL= 27264, 32177, 29842, 32755, AGC= 62, IDX= 424,-0.37,-2.221, 2.289,-2.760,-2.921, PHS= 0.787,-1.026, 0.157, RAW= 130.0, 1.0, CAL= 136.1, -7.1, ROT= 13.9, 7.1 PDAT read: Bearing 13.9, 7.1 (Local) ~Local bearing/azimuth received: Bearing 13.9, 7.1 (Local) M?dx,B1^AFDAT read: Range 10 to 50 : 79.3 m (Round-trip 105.8 ms) speed 0.5 m/s ,DAT read: user:1262> :JBJ+9JJRJ ZJ7PYVLB5(  BDAT read: Tx time:19:45:10.2093 $Ping request sent.مxI?مSم >م6@ څ5<)څq@IڅiڅUlx>څ=ځ ہۅ4?3+'2?~{??Iۅ2>iۅۅUlx>ۅ=ہ ܁:publishing transmit ping timeFpublishing direction and range info؁Y؅!?9Cn?A7X؁9؁؁ ف)فIفiففففف ځ)ځIځiځځځ ہۅ4?3+'2?~{??Iہiہہہہ ܁=B=@$IE=iEp;)M= IMb@Mb@Mb@ )Iy|?5^?QI + ?9 @)@IE@i5@\@H^H5%Vd= -Q٣Q UGUF] ]>a]m759eџj?am75Ye` iePB8?m:?q@eNQDed;e`;e75 @EJDAT read: TxSync time:19:45:10.2085 Zj*j=pf!@ofS@üE?p!+?Bn|Q? Mц?iBj Ai=始m?iCD  jNBzjNCKn?j6M jjj~Brj?5 addTargetRange:: Added new target pos. range: 79.300003 m, deltaT: 3.528102 s, deltaX: -1.899994 m, approachRate: -0.538531 m/s, rangeRepo size: 4 E Added new target pos. range: 79.300003 m, bearing: 83.574136 deg, lat: 36.903957 deg, lon: -122.119007 deg, deltaT: 3.528102 s, deltaX: -1.899994 m, approachRate: -0.538531 m/s, posRepo size: 4 2iaeDNOT Ignoring new targets: 79.30 m.im"ii} ProNav: ac range: 79.300003 m, nav range: 79.246925 m, bearing: 81.912638 deg, approach rate: 0.000000 m/s, LOS rate: 0.171036 deg/s, cmd heading: 72.827097 deg, new cmd heading: 73.197311 deg.  iyHeadingCmd: 1.277534 target range: 79.300003 and range: 79.30 m.h=?hhhhggbgjgBeejeJe@3S@:e@a?% kBɛ% (M;)! % \?i! )- 齼) ) i- <8=i5 =?5 R<5 /I5 =?I9 G G G $IG BG  =G G G <G F^D H<D?DDE@5 EVF%FZA M-)?^nx,f1^AHH =ZIbIjIrIzI:I9III;qI;iI:;uI:;mN~?yNX?9N½YN}>NH@-?M@;5?@?#&?: ¿K? j?{?N~?ɨN; NCZBZ]$IHb.Hb5nS= n(=Yn;Q n>p٣p rGpr< v>x]~759zj?a~75YzZ izSB|~\?q~@z`QDz:zl:z3"75  z@ 5B*** querying acoustic contact ***i1i12i9EDNOT Ignoring new targets: 79.30 m.iEU;"iEU;U ProNav: ac range: 79.300003 m, nav range: 78.997040 m, bearing: 81.993384 deg, approach rate: -0.575840 m/s, LOS rate: 0.186660 deg/s, cmd heading: 73.197314 deg, new cmd heading: 73.440316 deg.  i]<]HeadingCmd: 1.281775 target range: 79.300003 and range: 79.30 m.h]7?hYhahahagagaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bg jg e e je Je:eZ?EaBɛMJ<)I M ?iI)MN QQiUt6=iU7?]̈<]I7?ICCCCD?DDE2 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.921853:J &MBJ h9JJ RJ ZJ R :eI.{'$VF d3F ZA M >Kuvx,j1^AzBzm$IMb@Mb@Mb@ )IytV?/$?̽ @)@Ii@@H!H56N= '=YQ >٣ GF >]759j?a75YS iXB ?m:k?q@rQDe;{;y&755ڒB =@=E2iamDNOT Ignoring new targets: 79.30 m.iu?3;"iu?3;} ProNav: ac range: 79.300003 m, nav range: 78.733078 m, bearing: 82.070334 deg, approach rate: -0.535769 m/s, LOS rate: 0.156711 deg/s, cmd heading: 73.440318 deg, new cmd heading: 73.671941 deg.  i;HeadingCmd: 1.285818 target range: 79.300003 and range: 79.30 m.h?hhhhggbgjgeejeJe:e ¿?WBɛh<)q< +?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.169716i)<隱i"5=i?`<I?ID=hAzD=hAD?DDEO5 EVFFZAM>Gi Gi Gm $IGm BGi Gi Gi Gm <Gm FH5ɨC H5ɨCH1H5 ="H5 =*H525% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.421764|x,*1^A65?y6??96>kY6#>6H&d?` \?}?S?`G e?R?]u?65?ɨ6; 6"CBBB|$IID)DDDHJHJ4fO= f_=Yfh٣h jGjFn= 5>1]E7595j?aE75Y5N i5[BAE,?qE@5QD5[:5 :5)75UےB U@UE2iDNOT Ignoring new targets: 79.30 m.iM1;"iM1; ProNav: ac range: 79.300003 m, nav range: 78.528000 m, bearing: 82.128132 deg, approach rate: -0.548578 m/s, LOS rate: 0.155011 deg/s, cmd heading: 73.671944 deg, new cmd heading: 73.845789 deg.  i;HeadingCmd: 1.288852 target range: 79.300003 and range: 79.30 m.h?hhhhggbgjgeejeJe:e@?OBɛ<) 5?i)4㯼i3=i?C›<HI?ID?DDEp0 EHHIIIIIIZIbIjIrIzI<:I:III;I;I@;I@;checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674275VFFZAM>x,2^A6ڨ?y6q?96Y6-C'>6H ?@v???`Zz? ?s?6ڨ?ɨ6 G; 6!CNυBN$IHVNHV5f= fJ=Yfzh٣h jGhnM< n>p]v759rEj?av75YrI ir^Btvڈ?qz@rQDr:r:r6-75| ~@2i!-DNOT Ignoring new targets: 79.30 m.i-_.;"i-_.;M ProNav: ac range: 79.300003 m, nav range: 78.314041 m, bearing: 82.187827 deg, approach rate: -0.544904 m/s, LOS rate: 0.152446 deg/s, cmd heading: 73.845785 deg, new cmd heading: 74.025361 deg.  iM>;UHeadingCmd: 1.291986 target range: 79.300003 and range: 79.30 m.hU_?hQhQhQhYgYgYbgYjgaeaeajeaJea:emv@雕GBɛR=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.925770)1 5 D?i1)5F99i=2=iE_?Ex,(2^AԅB%$IMb@Mb@Mb@ )IyV-?#~jZd;Oh?㥽j @)z@I@i@@H>H 5n< 9=YQ >٣ GF   >]759j?a75YC iaB?m:܌?q%@QD ;+;1751 5z@5E2iY]DNOT Ignoring new targets: 79.30 m.ie;"ie;u ProNav: ac range: 79.300003 m, nav range: 78.074265 m, bearing: 82.248890 deg, approach rate: -0.540957 m/s, LOS rate: 0.138185 deg/s, cmd heading: 74.025358 deg, new cmd heading: 74.209107 deg.  iu;}HeadingCmd: 1.295193 target range: 79.300003 and range: 79.30 m.h}ȥ?hyhyhhggbgjgBeejeJe:e4@=Bɛ=) K?i)/G|>GG#%IGBBGGGGð<G Fiu V0=iuȥ?}<}HI}ȥ?IyMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.440913^Dm<De>D>DM ?DI DI EU P5 EQ E] =E] =ZI bI jI 1rI zI L:I :I 3I I Q;I R;I R;I R; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.692885VF EFyZAM>yx,?G2^A6?y6/?96X$Y6N(>6H?@? 3?`{? n?`?v?6?ɨ6; 6 C>B>$IB4>iB=)Fp= Fp=HJXHJn5R\= R<=YVT٣T ZGZœFZ< Z>\]f759^Sj?af75Y^= i^cBhj)?qj@^QD^9:^-:^475l n@pB*** querying acoustic contact ***ii2i15DNOT Ignoring new targets: 79.30 m.i=;"i; ProNav: ac range: 79.300003 m, nav range: 77.837196 m, bearing: 82.307678 deg, approach rate: -0.537813 m/s, LOS rate: 0.133773 deg/s, cmd heading: 74.209111 deg, new cmd heading: 74.386011 deg.  i;%HeadingCmd: 1.298281 target range: 79.300003 and range: 79.30 m.h%.?h!h!h)h)g)g)bg)jg1e1e1je1Je1:e=I@雵3BɛlR =)  V?i)iވ.=i.??<m'ƼI.?I^D<D-?D)D)E54 E1BDAT read: Rx Time:19:45:12.7168 TRx dataTimestamp_ set to:1736538313.308328checking for new query: numPingsReceived=0, elapsed TxPingTime=2.943976VFwFZA)M%>:J5 vOBJ5 h9JJ1 RJ5 ZJ5 QQ[=>|gN8)! J= ? J= >ؗx,q`2^A=B=$Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.193818Mb@Mb@Mb@ )IytV?l/$? x@)M@I@i@@HWH5= -=YQ >٣ GÜF >]759Cj?a75YN7 ifB?m:?q@QDu ;; ;975 @2i!-DNOT Ignoring new targets: 79.30 m.i-;"i5;= ProNav: ac range: 79.300003 m, nav range: 77.578133 m, bearing: 82.369727 deg, approach rate: -0.557045 m/s, LOS rate: 0.133865 deg/s, cmd heading: 74.386012 deg, new cmd heading: 74.572781 deg.  iE;MHeadingCmd: 1.301541 target range: 79.300003 and range: 79.30 m.hM☦?hQhQhQhQgQgQbgYjg]BeYeYjeaJea:ee @雍+BɛZH(=)  b?i)Xt隑i;,=i☦?q<*I☦?IC C C C GG@AG{>GGB%IG\BG =GGGڰ<G F ~G )!yEB DAT read: 19:45:12.7168 LVL= 24816, 30193, 26498, 32755, AGC= 63, IDX= 415,-013,-1.016, 0.277, 0.095, PHS= 0.806,-1.064, 0.179, RAW= 130.8, 1.0, CAL= 136.7, -7.2, ROT= 13.3, 7.2  !unknown deviceResponse_: 19:45:12.7168 LVL= 24816, 30193, 26498, 32755, AGC= 63, IDX= 415,-013,-1.016, 0.277, 0.095, PHS= 0.806,-1.064, 0.179, RAW= 130.8, 1.0, CAL= 136.7, -7.2, ROT= 13.3, 7.2  PDAT read: Bearing 13.3, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 13.3, 7.2 (Local) D ?D D E 1 E  DAT read: Range 10 to 50 : 77.5 m (Round-trip 103.4 ms) speed 0.4 m/s  ,DAT read: user:1263>  BDAT read: Tx time:19:45:13.8093  $Ping request sent. x,2^AZ~2?yZp?9ZDYZ)>ZH`?\`=(?^Q??)?@? 0y?Z~2?ɨZ9; ZCfBf$IHn]Hn5v< v@=Yz3x٣x zG|~3< ~> ] 759 j?a75Y l1 i iB?q@ QD y: ; <75%ܒB -n@-E] addTargetRange:: Added new target pos. range: 77.500000 m, deltaT: 3.537804 s, deltaX: -1.800003 m, approachRate: -0.508791 m/s, rangeRepo size: 4 2iYeDNOT Ignoring new targets: 79.30 m.ie;"ie;u ProNav: ac range: 79.300003 m, nav range: 77.343018 m, bearing: 82.424522 deg, approach rate: -0.550026 m/s, LOS rate: 0.128576 deg/s, cmd heading: 74.572784 deg, new cmd heading: 74.737668 deg.  iu{;}HeadingCmd: 1.304418 target range: 79.300003 and range: 77.50 m.h}.?hyhyhhggbgjgeejeJe`S@:e?"Bɛ&3=) i?i)m if(+=i.?b<կI.?IJDAT read: TxSync time:19:45:13.8085 DDDE[4 EVF$FZAM?>Օ %=Օ %=%x,ř2^A:JNNBJN+9JJLRJN ZJNb?yb)?9bYb)>bHU?`}'a?@a?(?U@<?@?k{?b?ɨbB; `jBn$IIp)pprAMb@Mb@Mb@ )Iy@5^I ? rhb?C̼ 5@) @I@iS@ @H!H5u= >=Y ٣ GĜFfW< >]759j?a75Y+ i?m:?q@QD ; ;{@75ݒB @E2i)-DNOT Ignoring new targets: 79.30 m.i5 ;"i5 ;E ProNav: ac range: 79.300003 m, nav range: 77.108925 m, bearing: 82.476517 deg, approach rate: -0.545935 m/s, LOS rate: 0.121628 deg/s, cmd heading: 74.737665 deg, new cmd heading: 74.894124 deg.  iE;MHeadingCmd: 1.307149 target range: 79.300003 and range: 77.50 m.hMP?hIhIhIhIgQgQbgQjgUقBeYeYjeYJeY:e]@H]?雅BɛDC=) dt?iA)E`Aiim)=iuP?uFA ZAI Gm |>Gi Gm a%IGm uBGm  =Gi Gi Gm <Gm FM >;Mx,Ԙ2^A B $IHH4-< -U=Y5Q 5>1٣9 =G=ŜF= E>A]M759E k?aU75YER& iEjBQQqU@EQDE:E[:EC75Y e_@a2iDNOT Ignoring new targets: 79.30 m.iD ;"iD ; ProNav: ac range: 79.300003 m, nav range: 76.900345 m, bearing: 82.523122 deg, approach rate: -0.543453 m/s, LOS rate: 0.121757 deg/s, cmd heading: 74.894124 deg, new cmd heading: 75.034317 deg.  i;HeadingCmd: 1.309596 target range: 79.300003 and range: 77.50 m.h֠?hhhhggbgjgeejeJe:e?Bɛ[=) iz?i)8i]'=i֠? k< ztI ֠?I D?DDEp0 EVFnFaZAiM:>5x,s2^A>׆?y>5?9>7ނY>@">>H? PV? ?m?U?`X?'?ވ?>׆?ɨ>a; > Cb Bb$IHjHj%4v< vO=Yvx٣x zGxz= ~>] 759k?a 75Y  i Ӕ?q@QD::HG75 ,@!=B*** querying acoustic contact ***i9i92iIMDNOT Ignoring new targets: 79.30 m.iU;"iU;m ProNav: ac range: 79.300003 m, nav range: 76.684128 m, bearing: 82.569163 deg, approach rate: -0.547269 m/s, LOS rate: 0.116865 deg/s, cmd heading: 75.034314 deg, new cmd heading: 75.172827 deg.  img;uHeadingCmd: 1.312013 target range: 79.300003 and range: 77.50 m.hu?hqhqhqhqgygybgjgeejeJe:e )?雵 Bɛ`=) ?i)ox}隹ie&=i?<j&+I?IDu?DqDyEy EyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.:J]BJ]h9JJYRJ] ZJ] INOKDC@:64/-*%%!  +!^%VF~FFZAM>ZI- bI- jI- 0rI) zI- \:I- 9I- ـ3I) qE @iE @uE @mE @E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737383tfx,em2^A~?y~.?9~nvY~$>~HD?][Jq??y?K֮?o?ׇ?~?ɨ~^; |B$I>i>)= =Mb@Mb@Mb@ )IyFx?㥛 Q ? @)@I@i@@HKH5< ;=Y a٣a mGmƜFmQq< m>q]}759uk?a}75Yu iuhB: ?m:J?q@u RDu ;u ;u>K75 @E2iDNOT Ignoring new targets: 79.30 m.i;;"i;;  ProNav: ac range: 79.300003 m, nav range: 76.444160 m, bearing: 82.621393 deg, approach rate: -0.525481 m/s, LOS rate: 0.114733 deg/s, cmd heading: 75.172830 deg, new cmd heading: 75.330011 deg.  iz;HeadingCmd: 1.314757 target range: 79.300003 and range: 77.50 m.hI?hhhhgg9bgAjgEƂBeAeIjeIJeI:eM?雕BɛT=) T?i)mi$=iI?Ug<d II?IG G G n%IG BG  =G G G <G  FDQDQDQEY EYVF-K7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989407F ZAM5q>Fx,)3^A>?y>W?9>^Y>w%>>H?@#_??V?Ը`׫? #?Q?>?ɨ>,; >CJBJ$IHVPHV5^G[= b`=Ybd٣d fGdf < j>h]n759juk?ar75Yj2 ijfBpr?qr@jRDj';j;jJN75t zP@x2iDNOT Ignoring new targets: 79.30 m.iT:"iT: ProNav: ac range: 79.300003 m, nav range: 76.259178 m, bearing: 82.661405 deg, approach rate: -0.512750 m/s, LOS rate: 0.111175 deg/s, cmd heading: 75.330013 deg, new cmd heading: 75.450337 deg.  i;HeadingCmd: 1.316857 target range: 79.300003 and range: 77.50 m.hĎ?hhhhggbgjgeejeJe:e @%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2457725Bɛ=w=)9 =?i9)= Ya9AiEH#=iEĎ?M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493378_wƌx,!3^Ajs?yj?9jGYj%>jH?b ?$? 9?@!`@H???js?ɨj; hvBv$I:J-NBJ-+9JJ)RJ- ZJ- p2ZMb@Mb@Mb@ )Iy#~j?٣ GǜF%; %>)]5759-lk?a575Y-u i-cB5b?m=:=?q=@-(RD-:-,:-7R75A E@A2iiuDNOT Ignoring new targets: 79.30 m.iu;"iu; ProNav: ac range: 79.300003 m, nav range: 76.031097 m, bearing: 82.711098 deg, approach rate: -0.526297 m/s, LOS rate: 0.115011 deg/s, cmd heading: 75.450340 deg, new cmd heading: 75.599866 deg.  iܝ;HeadingCmd: 1.319467 target range: 79.300003 and range: 77.50 m.hH?hhhhggbgjgBeejeJe:eK@ZIbIjIrIzI:I:IIBɛnDy=) W?i)Ri\!=iH?<%IH?I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746981D}?DyDyE}w0 EyVF ׹G G G z%IG BG G G G <G FH HHH ="H =*HɆ'5F ZA M >#̌x,43^A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997520IQIY)YaeAHRH5: N=YQ >٣ GȜF >] 759w%k?a 75Yc  i_B  q @5RD:::U75ޒB @E2iAEDNOT Ignoring new targets: 79.30 m.iM":"iM":] ProNav: ac range: 79.300003 m, nav range: 75.829544 m, bearing: 82.755268 deg, approach rate: -0.507557 m/s, LOS rate: 0.111528 deg/s, cmd heading: 75.599867 deg, new cmd heading: 75.732731 deg.  i];mHeadingCmd: 1.321786 target range: 79.300003 and range: 77.50 m.hmE0?hihihihigqgybgyjgyeejeJe:e@@雭Bɛu=) A?i)XC隹imC =iE0?B<6)IE0?IDm?DiDiEu0 EqBDAT read: Rx Time:19:45:16.3145 TRx dataTimestamp_ set to:1736538317.091201%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250496VFFi ZAq M >ӌx,wN3^Ar?yrDM?9r7Yr >rH?`o@???^ ?3?9?r?ɨrJd; r"Cz$Bz$IH H $< %X=Y5I٣I MGIUL< U>Y]e759]/,k?ae75Y]| i][Bae5?qm@]BRD]S:]:]Y75q u@qB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 79.30 m.iB:"iB: ProNav: ac range: 79.300003 m, nav range: 75.635017 m, bearing: 82.797436 deg, approach rate: -0.507393 m/s, LOS rate: 0.110271 deg/s, cmd heading: 75.732735 deg, new cmd heading: 75.859563 deg.  i[;HeadingCmd: 1.323999 target range: 79.300003 and range: 77.50 m.hx?hhhhggbgjgeejeJe:e @ Bɛ B9=)  $?i )5i=ix?<CIx?I!}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502247D?DDE0 EVFmI6FyZAM]>:JqNBJs9JJRJ ZJ09J> J?ZIbIjIrIzI̝:I 9II] DAT read: 19:45:16.3145 LVL= 25104, 32753, 26034, 32755, AGC= 60, IDX= 423, 0.10, 1.740,-0.091, 1.205, 1.004, PHS= 0.824,-1.049, 0.198, RAW= 130.8, 0.3, CAL= 136.8, -8.1, ROT= 13.2, 8.1 e Ygot valid direction response: 19:45:16.3145 LVL= 25104, 32753, 26034, 32755, AGC= 60, IDX= 423, 0.10, 1.740,-0.091, 1.205, 1.004, PHS= 0.824,-1.049, 0.198, RAW= 130.8, 0.3, CAL= 136.8, -8.1, ROT= 13.2, 8.1 m PDAT read: Bearing 13.2, 8.1 (Local) u ~Local bearing/azimuth received: Bearing 13.2, 8.1 (Local) } DAT read: Range 10 to 50 : 75.7 m (Round-trip 101.0 ms) speed 0.4 m/s  ,DAT read: user:1264>  BDAT read: Tx time:19:45:17.4093  $Ping request sent. - @ - ;)- @I- i- k>- >) ) - m?qw?cǬw?I- A>i- f- k>- >) )  :publishing transmit ping time؉  Fpublishing direction and range info) Y- B?+?:N ¿) 9) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) ) - m?qw?cǬw?I) i) ) ) ) ) ٌx,[h3^A>3?y>1q?9>$Y>p>>H G?r?@?? ̲`}נ??`?>3?ɨ>m; >Cޝ%Bޝ$I5Mb@Mb@Mb@11 1)1I5By5)\(?3333335G?55̼ 5@)5Ʒ@I5@i5@15@HMSHM75}չ; }*=Yi;٣ GɜF; >]759{4k?a75Y iVB?m:Ɠ?q@RRD:M:2]75GGG%IGBG =GGG<G FߒB @EZj]qk?bj]*j]>p]q}۲'@_\R@2p]gi?x3?vi]Bj]=@i]x,e3^A6G?y6P?96ļY64">6H`'?`$J?? ? @y?` ??6G?ɨ6?֊; 6CF4BF%IJ=iJp;HN5HN5Vê= Vl=YZ1;x,V3^A:JBAMBJB+9JJ@RJB ZJB   JFgAIFdA6B%IZIbIjIrIzI\:I:IIMb@Mb@Mb@ )IAyMb?I +y&1?9` @)ݸ@I@ir@H-H`5< 9=YQ >٣ G > ]759 pBk?a75Y  i LB?m:_?q@ kRD  ;  ; d75! %@!2iIMDNOT Ignoring new targets: 75.70 m.iUn ;"iUn ;e ProNav: ac range: 75.699997 m, nav range: 75.181099 m, bearing: 82.956561 deg, approach rate: -0.502884 m/s, LOS rate: 0.123650 deg/s, cmd heading: 76.143564 deg, new cmd heading: 76.301968 deg.  ie;mHeadingCmd: 1.331721 target range: 75.699997 and range: 75.70 m.hmu?hihihihigqgybgjgBeejeJe:e?̃BɛK=) |?i).i=iu? U<NIu?IDE?DADAEE0 EIEUhAEUdAIſ=)G}>GG%IGBG =GGG<G F ) E SkA a ) "y SkA BVF 4λF ZA M >Nfx,33^A6\?y6Z?96LnY6 >6HO?(??W?`ӪUɍ?`??6\?ɨ6ފ; 6 Cv:Bv%IH.H55< Y=Y٣ %G%˜F%< %>)]5759-Ik?a575Y-] i-EB9=n?q=@-xRD-;-a;-`g75A EB@A2iy}DNOT Ignoring new targets: 75.70 m.i;"i; ProNav: ac range: 75.699997 m, nav range: 74.998444 m, bearing: 83.000325 deg, approach rate: -0.483805 m/s, LOS rate: 0.116200 deg/s, cmd heading: 76.301969 deg, new cmd heading: 76.433580 deg.  i~;HeadingCmd: 1.334018 target range: 75.699997 and range: 75.70 m.h?hhhhggbgjgeejeJe:e d?ŃBɛ=) :?i)eiȣ=i?<-I?IDu?DqDqEu3 EqVFMF!ZA)MM1>6Nx,3^AGB)%II!)!H5WH55Euy= MG=YMQ M>I٣Q UGU̜FU U>a]m759ekPk?am75YeX ie>Biiqu@eRDe):e:ej75}B }@}EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 75.70 m.i;"i; ProNav: ac range: 75.699997 m, nav range: 74.798798 m, bearing: 83.048417 deg, approach rate: -0.487209 m/s, LOS rate: 0.117675 deg/s, cmd heading: 76.433580 deg, new cmd heading: 76.578241 deg.  i;HeadingCmd: 1.336542 target range: 75.699997 and range: 75.70 m.h?hhhhggbgjgeejeJe:e?]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.雭Bɛ=) S?i)JǻiO=i?<kI?ID?DDE[2 E:JLBJh9JJRJ ZJ J? J>VFw F ZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002602M >yx,3^AJz?yJ3?9J?YJa>JH?E`???ԇ?pۤ@`?:? r?Jz?ɨJ̉; J"CRJBV-%I=Mb@Mb@Mb@99 9)9I9y=Cl?A`"=d>=ٽ=̼ =j@)9I=@i=/@9=@HMkHM 5٣ G= >]759lXk?a75Yc i6B?m:4?q@RD:A:n75 [@2i!-DNOT Ignoring new targets: 75.70 m.i-;"i5;E ProNav: ac range: 75.699997 m, nav range: 74.600662 m, bearing: 83.103340 deg, approach rate: -0.471047 m/s, LOS rate: 0.130921 deg/s, cmd heading: 76.578244 deg, new cmd heading: 76.743450 deg.  iE;EHeadingCmd: 1.339426 target range: 75.699997 and range: 75.70 m.hMOr?hIhIhIhIgIGYGYG]%IG]BGYGYGYG]<G] FgibgqjguBeqeqjeyJey:e}_@雭BɛQ=) դ?i)jr隱i)=iOr?`*<IOr?IDM?DIDIEMO5 EIechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254614VFm߻FA ZAQ M} >ZI bI jI rI zI :I 9I I I ;q I ;i I 8;u I 8;m ax,4^A:?y:F?9:\;Y:>:H`Ͳ?@|U?3?`? kX?`b?:?ɨ:l; :#CRRBR7%IHZuHZH%5bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506592f,= j\=Yj!ol٣l nGn͜Fr: r>t]z759v_k?az75Yv iv.B|~B?q~@vRDv=;v=;vq75 @ 2i15DNOT Ignoring new targets: 75.70 m.i=Q;"i=Q;M ProNav: ac range: 75.699997 m, nav range: 74.425209 m, bearing: 83.152168 deg, approach rate: -0.471119 m/s, LOS rate: 0.131420 deg/s, cmd heading: 76.743452 deg, new cmd heading: 76.890281 deg.  iMb;UHeadingCmd: 1.341989 target range: 75.699997 and range: 75.70 m.hUHƫ?hQhQhQhQgYgYbgYjgYeaeajeaJea:ee>R@雥Bɛ=) k?i)V隩iR=iHƫ?</IHƫ?ID-?D)D)E-?5 E)VFM׹zFUgArFQ}>}4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760323F) ZA1 MU >x,%4^AF?yFU?9F| FHo? mw?@?@? ힿoH??F?ɨF^; FCRQBR5%IV;>iT)Zp= Za=:JzKBJz9JJxRJz ZJz)/.' Mb@Mb@Mb@ )IyV-?:vy&1|>Խ` )Ʒ@I@i@\@H[H5Ԓ ;=YZA٣ GΜF: >]759gk?a75Y i#B?m:N?q@RD#::u75 @2i%DNOT Ignoring new targets: 75.70 m.i%>;"i%>;5 ProNav: ac range: 75.699997 m, nav range: 74.216301 m, bearing: 83.209140 deg, approach rate: -0.480301 m/s, LOS rate: 0.131353 deg/s, cmd heading: 76.890281 deg, new cmd heading: 77.061677 deg.  i5J;=HeadingCmd: 1.344980 target range: 75.699997 and range: 75.70 m.h=N(?h9h9hAhAgAgAbgIjgMBeIeIjeQJeQ:eU 5@}Bɛ=) ?i)?隁i=iN(?M4< }RIN(?IBDAT read: Rx Time:19:45:19.9123 TRx dataTimestamp_ set to:1736538320.620300checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013109DE?DADAEE 5 EAVF (+GQGQGU%IGUBGQGQGQGU~<GU FFZAM > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263241m x,g{94^A>R>?y>{?9>B[I>>Hw?/??k?<8 }?`ؤ?>R>?ɨ>NG; > CV\BVC%IHbXHbn5jp= j[=YjWp٣p rGprEP; v>t]z759vnk?a~75YvJ ivBu?q@vRDvE;v;vx75! %8@!2iiDNOT Ignoring new targets: 75.70 m.i;"i;M ProNav: ac range: 75.699997 m, nav range: 74.037758 m, bearing: 83.257920 deg, approach rate: -0.469327 m/s, LOS rate: 0.128535 deg/s, cmd heading: 77.061678 deg, new cmd heading: 77.208370 deg.  iul;HeadingCmd: 1.347540 target range: 75.699997 and range: 75.70 m.h3|?hhhhggbg jg e1e9jeAJeA:eE VF @雵Bɛp=) ?i)S隹iP=i3|?<lbI3|?IDHa=Ha=ZIbIjIrIzI:I9III;I;I%7;I&7;D?DDE25 E DAT read: 19:45:19.9123 LVL= 24560, 27729, 22514, 31299, AGC= 60, IDX= 416,-0.24,-0.403,-2.072,-0.935,-1.062, PHS= 0.746,-0.963, 0.124, RAW= 128.9, 1.3, CAL= 135.3, -6.6, ROT= 14.7, 6.6 Ygot valid direction response: 19:45:19.9123 LVL= 24560, 27729, 22514, 31299, AGC= 60, IDX= 416,-0.24,-0.403,-2.072,-0.935,-1.062, PHS= 0.746,-0.963, 0.124, RAW= 128.9, 1.3, CAL= 135.3, -6.6, ROT= 14.7, 6.6 %PDAT read: Bearing 14.7, 6.6 (Local) %~Local bearing/azimuth received: Bearing 14.7, 6.6 (Local) 5DAT read: Range 10 to 50 : 74.1 m (Round-trip 98.8 ms) speed 0.4 m/s ,DAT read: user:1265> BDAT read: Tx time:19:45:21.0093 $Ping request sent.?+v=@ ޹<)!@IiG\>= xRΚ?Qz?1w?I>ip³G\>= e :publishing transmit ping timee Fpublishing direction and range infoVFm UY}YX?EoS"?NZl9 )Ii )Ii xRΚ?Qz?1w?Ii FA ZAQ Mm >x,YS4^A6d?y6?96̓6H@?v???ծ`Vy@ ??6d?ɨ6; 6CNaBRI%IHVYHV5f< fK=Yf;h٣h jGjϜF~;; >] 759vk?a75Yf iB9=?q=@RD;;|75EB E@MEZj :k?bj D J i i G4^Aj 3Bj 5B2j L?p  /Q@eȭ2@t!zp }YX?EoS"?NZl"j G\>*j =p nid濉~MiqR@ijp r]2'S?2$i Bj 6i 3n:k?i t=  j qBzj =始m?j CD j NBjj Brj ? addTargetRange:: Added new target pos. range: 74.099998 m, deltaT: 3.526808 s, deltaX: -1.599998 m, approachRate: -0.453668 m/s, rangeRepo size: 4   Added new target pos. range: 74.099998 m, bearing: 90.553788 deg, lat: 36.903937 deg, lon: -122.119003 deg, deltaT: 3.526808 s, deltaX: -1.599998 m, approachRate: -0.453668 m/s, posRepo size: 4 2i DNOT Ignoring new targets: 74.10 m.=JDAT read: TxSync time:19:45:21.0085 iE"iAu ProNav: ac range: 74.099998 m, nav range: 73.784851 m, bearing: 85.080873 deg, approach rate: 0.000000 m/s, LOS rate: 0.128535 deg/s, cmd heading: 77.208370 deg, new cmd heading: 77.369261 deg.  iy}HeadingCmd: 1.350348 target range: 74.099998 and range: 74.10 m.h}7ج?hhhhggbgjgeejeJe`fR@:e )?BɛS=) d?i)e-i -=i-7ج?U?!x,8m4^A2a?y28?92=2H ٣ GМF ,< >GGG%IGBGGGGŰ<G FH HHH"H*H x4!]-759%Mk?a-75Y% i%B5?m5:5 ?q5@%RD%z ;% ;%]759 =@9]B*** querying acoustic contact ***iYiY2iimDNOT Ignoring new targets: 74.10 m.iu6;"iu6; ProNav: ac range: 74.099998 m, nav range: 73.574867 m, bearing: 85.148277 deg, approach rate: -0.495917 m/s, LOS rate: 0.159642 deg/s, cmd heading: 77.369262 deg, new cmd heading: 77.572050 deg.  i;HeadingCmd: 1.353888 target range: 74.099998 and range: 74.10 m.h1L?hhhhggbgjgBeejeJe:et?Bɛlg=) ^?i)ܡ9i=i1L?</$iI1L?IDU?DQDQEUo0 EQET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.VFm^FA ZAQ Mm >ZI bI jI rI zI :I 9I I I R;I T;I 3;I 3; !x,4^A:f?y:?9::H/?`>? ???@/6??:f?ɨ:Ί; : CDFO%IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.976147HVOHVq5ZW ^_=Y^y(`٣` bG`f< f>h]r759jqk?ar75Yj ijBtvu?qv@jRDj<;j<;j75x ~@~E2iAMDNOT Ignoring new targets: 74.10 m.iU+;"iU+;u ProNav: ac range: 74.099998 m, nav range: 73.402969 m, bearing: 85.203255 deg, approach rate: -0.468744 m/s, LOS rate: 0.150270 deg/s, cmd heading: 77.572050 deg, new cmd heading: 77.737371 deg.  iuB;HeadingCmd: 1.356773 target range: 74.099998 and range: 74.10 m.h?hhhhggbgjgeejeJe:e ?Bɛ%=) Ե?iq)uϩ:qqiu=i}?}<} dI?IDzDeAD-?D)D)E) E)E5=E5=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.228112VFmJiFI ZAa M} >'x,4^A]lB]W%I:JBJ]9JJRJ ZJMb@Mb@Mb@ )Iy"~j?Zd;~jtS?ļ S@)I/@i\@H-;H- 5=< =4=Y=Q =>A٣A EGEќFE M>Q]]759Uk?a]75YU( iUB]!?m]:]܋?q]@URDU:U:Uy75i mQ@i2iDNOT Ignoring new targets: 74.10 m.i7;"i7; ProNav: ac range: 74.099998 m, nav range: 73.183182 m, bearing: 85.274895 deg, approach rate: -0.491874 m/s, LOS rate: 0.160807 deg/s, cmd heading: 77.737368 deg, new cmd heading: 77.952930 deg.  i;HeadingCmd: 1.360535 target range: 74.099998 and range: 74.10 m.h&?hhhhggbgjgȂBeejeJe:e&?Bɛ=) ?i)6;i=i&?<I&?I խAթchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.481000D?DDE EGGG%IGBG =GGG<G FVFhF ZA M >e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732568.x,ú4^AJ?yJx1?9Jo=YJ>JH3?`Qi?`Q??y ;m>?`?J?ɨJ; J"CZnBZY%Ib >ib>)b= b=HfdHf5r < vc=Yz: ٣  GҜFA< %>)]=759- k?a=75Y- i-BAEg?qE@-RD-;-y;-75]B ]B@]E2iDNOT Ignoring new targets: 74.10 m.i.;"i.; ProNav: ac range: 74.099998 m, nav range: 73.006073 m, bearing: 85.332275 deg, approach rate: -0.470085 m/s, LOS rate: 0.152671 deg/s, cmd heading: 77.952929 deg, new cmd heading: 78.125489 deg.  i;HeadingCmd: 1.363547 target range: 74.099998 and range: 74.10 m.h?hhhhggbgjgeejeJe:e@'=?}Bɛ}=)y }?iy);隁iU=i?<WI?IIsI{3I{A.IsIsIsZIbIjIrIzI:IO9III;I;If,;If,;D)D)D)E-p0 E)VFՒFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.985176ZAMj>4x,'4^A2?y2pO?92=Y2>2H@ h?`?`!?`3?f`/a a? :?2?ɨ2c; 2 CBzBBh%IHJ]HJ5Rtv= VN=YV]X٣X ZGXZF; ^>`]f759bk?af75Ybۼ ib׬Bdf?qf@b SDb:b:b75h n@l2i DNOT Ignoring new targets: 74.10 m.i 9;"i 9;% ProNav: ac range: 74.099998 m, nav range: 72.816696 m, bearing: 85.393807 deg, approach rate: -0.498284 m/s, LOS rate: 0.162322 deg/s, cmd heading: 78.125486 deg, new cmd heading: 78.310562 deg.  i%;%HeadingCmd: 1.366777 target range: 74.099998 and range: 74.10 m.h-?h)h)h)h)g)g)bg1jg1e1e1je9Je9:e=-@ |Bɛ =)  ?i=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239584)=¦;99i= =iE?Ej checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488104;x,hy4^ABA?yB~?9BC!=YB~*>BH 8?Ş /1???m:? '?@m?BA?ɨBچ; BCN|BNj%I .~GG~>GG%IGBGGGG<G FlA )&ylAOBMMb@Mb@Mb@II I)IIIyMˡE?i|?5Zd;OM?MMj I)M@IM\@iM@IIHzH'5; -=YR;Q >٣ GӜFaK; >]759kk?a75Yж iȬB` ?m:?q@SDA;A;675 e@B*** querying acoustic contact ***ii2i!%DNOT Ignoring new targets: 74.10 m.i-4;"i-4;= ProNav: ac range: 74.099998 m, nav range: 72.579063 m, bearing: 85.468067 deg, approach rate: -0.502180 m/s, LOS rate: 0.157443 deg/s, cmd heading: 78.310564 deg, new cmd heading: 78.534070 deg.  i=;EHeadingCmd: 1.370678 target range: 74.099998 and range: 74.10 m.hEar?hAhAhAhIgIgIbgQjgU؂BeQeQjeYJeY:e]A@雍uBɛ=) ?i);隑i =iar?/<#Iar?ID ?D DE EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.743278VF- N얼F5 ?F5 2?F ZA M- >ZI bI jI rI zI :I u9I I I ;I ;I /;I /;gAx,eT5^ARAPZBDAT read: Rx Time:19:45:23.5099 ^TRx dataTimestamp_ set to:1736538324.152684bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.000055N?yN©?9Nm,=YN>NH`?`7T?@8?m?Nj?k'??N?ɨN ; N C}qBޅ]%II)AHcHN5c [=Yb;Q >٣ GԜF; >] 759k?a 75Y iB  ˎ?q@&SD::759 =@92iDNOT Ignoring new targets: 74.10 m.i0;"i0; ProNav: ac range: 74.099998 m, nav range: 72.389687 m, bearing: 85.527274 deg, approach rate: -0.492792 m/s, LOS rate: 0.154471 deg/s, cmd heading: 78.534068 deg, new cmd heading: 78.712155 deg.  i;HeadingCmd: 1.373786 target range: 74.099998 and range: 74.10 m.h:د?hhhhggbgjgee je Je :e  @uoBɛ}=)y }?iy)}Y;yi =i:د?<.]I:د?IDE?DADAEA EAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.248056VFm Fa ZAq M >L*Hx,W?"5^Aύ?y] ?9!8=Yn>H`?@.j??M3?y?Cs?`?:JBJJJRJ ZJJIgA騵ύ?ɨ8; "CDAT read: 19:45:23.5099 LVL= 19072, 26225, 20722, 27107, AGC= 63, IDX= 423,-0.27, 1.138,-0.430, 0.677, 0.601, PHS= 0.625,-0.984, 0.072, RAW= 130.3, 4.1, CAL= 136.6, -2.7, ROT= 13.4, 2.7 Ygot valid direction response: 19:45:23.5099 LVL= 19072, 26225, 20722, 27107, AGC= 63, IDX= 423,-0.27, 1.138,-0.430, 0.677, 0.601, PHS= 0.625,-0.984, 0.072, RAW= 130.3, 4.1, CAL= 136.6, -2.7, ROT= 13.4, 2.7 PDAT read: Bearing 13.4, 2.7 (Local) ~Local bearing/azimuth received: Bearing 13.4, 2.7 (Local) DAT read: Range 10 to 50 : 72.2 m (Round-trip 96.3 ms) speed 0.4 m/s ,DAT read: user:1266> BDAT read: Tx time:19:45:24.6094 $Ping request sent.ڥA=ڡ ۡۥyPi?zǼW?,n"nL?Iۥ66>iۥmۥ|o>ۥA=ۡ ܡ=:publishing transmit ping time=Fpublishing direction and range infoءYإ`)"?Qv |?P7Vء9ءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡ ۡۥyPi?zǼW?,n"nL?Iۡiۡۡۡۡ ܡsB_%I-Mb@Mb@Mb@)) )))I)y-Q?)\(Zd;O-?-G) -@)-@I-@i-@)-@HpH#5%; - =YuΝ;Q u>q٣q uGyJ; >GGGGGGGG<G F]759k?a75Y; iB ?m:?q@;SD ;:75MB M@UEZjak?bj٣K ii")5^AjfBjoB2jd?p8Q@FR0@cl5 zp`)"?Qv |?P7V"j|o>*jA=p旣 B?6R@ʘFp/n?#o?9i.Bj>ik?iZ>  j}Bzj j}Bjj0Brj?u  addTargetRange:: Added new target pos. range: 72.199997 m, deltaT: 3.531744 s, deltaX: -1.900002 m, approachRate: -0.537978 m/s, rangeRepo size: 4   Added new target pos. range: 72.199997 m, bearing: 89.789364 deg, lat: 36.903893 deg, lon: -122.119001 deg, deltaT: 3.531744 s, deltaX: -1.900002 m, approachRate: -0.537978 m/s, posRepo size: 4 2i  DNOT Ignoring new targets: 72.20 m.i "i   ProNav: ac range: 72.199997 m, nav range: 72.094452 m, bearing: 89.470247 deg, approach rate: 0.000000 m/s, LOS rate: 0.154471 deg/s, cmd heading: 78.712152 deg, new cmd heading: 79.004258 deg.  i  HeadingCmd: 1.378884 target range: 72.199997 and range: 72.20 m.h I?h h h h g g bg jg Be e je Je= R@:eE +?雍 eBɛ =) ^?i ) <隑 i =i I? < ]I I?I D ] =Y e JDAT read: TxSync time:19:45:24.6086 Du ?Dq Dq Eu 4 Eq Ey E} =VF|FQZAaM}?ӧQx,F5^A[?yY?9YA=Y,j>H b? qt?z ??r>?(ݓ?`?[?ɨ;  CUoB]Z%IH,H5 J=Y;Q >٣! %G%՜F-; ->1]=7595k?a=75Y5; i5B9ed?qe@5ISD5;5:;575q uA@q2iDNOT Ignoring new targets: 72.20 m.i^;"i^;] ProNav: ac range: 72.199997 m, nav range: 71.903992 m, bearing: 89.539078 deg, approach rate: -0.537423 m/s, LOS rate: 0.194737 deg/s, cmd heading: 79.004259 deg, new cmd heading: 79.211299 deg.  ie<uHeadingCmd: 1.382498 target range: 72.199997 and range: 72.20 m.hu?hqhqhqhqggbgjgeejeJe:e?-`Bɛ-=)) -?i))5o/<11i5 =i]?]o<]xʼI]?IaD ?D D E o0 EVF5 6F ZA! MU >Wx, `5^A *?yg?9Q-K=Y">H :[?ӱ`@(?I?`?'?b=Y;;Q >٣ G֜F< >]759`k?a75Y iB ?m:]?q@WSD:Z:ԡ75 @ 2i15DNOT Ignoring new targets: 72.20 m.i5<;"i=<;M ProNav: ac range: 72.199997 m, nav range: 71.689392 m, bearing: 89.607644 deg, approach rate: -0.514337 m/s, LOS rate: 0.164826 deg/s, cmd heading: 79.211302 deg, new cmd heading: 79.417615 deg.  iM<;UHeadingCmd: 1.386099 target range: 72.199997 and range: 72.20 m.hUk?hQhQhYhYga:JBJ9JJRJ ZJF<J? J?gabgjgeejeJe:e?5ZBɛ=W=)9 =?i9)=xC<9aie& =imk?m?Ј]x,z5^A19HM8HM@ 5]=: ed=YeQ e>i٣i mGim u>y]}759}k?a75Y} i}Bq@}dSD}:}:}75B @EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 72.20 m.i8;"i8;u ProNav: ac range: 72.199997 m, nav range: 71.510033 m, bearing: 89.665292 deg, approach rate: -0.501807 m/s, LOS rate: 0.161692 deg/s, cmd heading: 79.417615 deg, new cmd heading: 79.590993 deg.  i};}HeadingCmd: 1.389125 target range: 72.199997 and range: 72.20 m.h}α?hhhhggbgjgeejeJe:e৕?MUBɛM1Q=)I U?iQ)UsVT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.dx,\5^AF?yFH%?9FL=YF">FH? ϼ9&?%?@L?? 8??F?ɨFg[; FC^cB^K%IH~lH~K!5%zB %O=Y%!:Q ->)٣1 5G=לFh< >]759k?a75Yx ivB?q@rSD::75 @2iDNOT Ignoring new targets: 72.20 m.i78;"i78; ProNav: ac range: 72.199997 m, nav range: 71.304169 m, bearing: 89.730738 deg, approach rate: -0.505145 m/s, LOS rate: 0.161054 deg/s, cmd heading: 79.590992 deg, new cmd heading: 79.787896 deg.  i;HeadingCmd: 1.392561 target range: 72.199997 and range: 72.20 m.ht??hh h h g g bgjgeejeJe:e?MPBɛM@U>)I U?iQ)UXi:J VWMBJ h9JJ RJ ZJ +]A,  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004721kx,B5^A: ?y:#I?9:6V=Y:$>:H`~?Gb?&?6?3? ܪ`d? ?: ?ɨ:o>; : Cn]BnD%IIp)ppp Mb@Mb@Mb@ )Iy/$?V-~jt ?h @)ݸ@I@i@H{H'5Ӽ A=Y;Q >٣ G؜F.; >]759k?a75Y iiBJ ?m:?q@SD;z;75B {@EGGG%IGBG =GGG<G FH HHH ="H =*H&42i DNOT Ignoring new targets: 72.20 m.iE ;"iE ;U ProNav: ac range: 72.199997 m, nav range: 71.091759 m, bearing: 89.791814 deg, approach rate: -0.485859 m/s, LOS rate: 0.140119 deg/s, cmd heading: 79.787893 deg, new cmd heading: 79.971665 deg.  i]S;]HeadingCmd: 1.395769 target range: 72.199997 and range: 72.20 m.h]?hahahahagagbgjg݂BeejeJe:ek@IBɛҢ=) ?i)n(sqx,5^AV?yV&?9Vd=YV$>VH?b?c.??P#?` w?`?V?ɨV; TjQBj5%IHzHz(*5   V=Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509526٣ GH< >]7597k?a75Yi i]B)y }?iy)k<隁ikx=i?]R<YI?ID-?D)D)E-0 E)VFmn5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760854FI ZAQ Mu >%xx,+5^A)H J@KB.%IZI%bI%jI!rI!zI%ݒ:I%b9I!I!Mb@Mb@Mb@ )IyK7?Q~jtI ?u @)Ʒ@I@i@HH|+5ȼ 1=YQ >٣ GٜF >]759k?a75Y] iPB5 ?m:ȟ?q@SD ;;w75 @2iDNOT Ignoring new targets: 72.20 m.i;"i;:J MBJ+9JJRJ ZJ#m sM5&  ProNav: ac range: 72.199997 m, nav range: 70.654205 m, bearing: 89.912739 deg, approach rate: -0.498371 m/s, LOS rate: 0.134338 deg/s, cmd heading: 80.149927 deg, new cmd heading: 80.335564 deg.  ic;HeadingCmd: 1.402120 target range: 72.199997 and range: 72.20 m.hx?hhhhggbgjg˂Bee je)Je):e- @uBDAT read: Rx Time:19:45:27.1074 uTRx dataTimestamp_ set to:1736538327.679368}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013961雕>Bɛd=) $?i)<隙io=ix?<b̼Ix?IDu?DqDqEu0 EqGGG%IGBGGGG<G FVF 1Fy ZA M > G> =% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265166HA~x,25^A6bz?y6?96*'i=Y6~$>6H`??`8??u? s?Q?6bz?ɨ6; 4>9B>%IB]>iB<HJHJ-5Rؽ Rv=YVr;Q V?T٣T ZGZڜFZ< Z?9]E759=k?aM75Y= i=EBIM?qM@=SD=:=:=75Q U@yB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 72.20 m.i#;"i#; ProNav: ac range: 72.199997 m, nav range: 70.472176 m, bearing: 89.960928 deg, approach rate: -0.539858 m/s, LOS rate: 0.143286 deg/s, cmd heading: 80.335565 deg, new cmd heading: 80.480504 deg.  i;HeadingCmd: 1.404650 target range: 72.199997 and range: 72.20 m.h˳?hh!h!h)g)g)bg)jg)e1eijeiJeq:e / @u9Bɛ}g>)y }ֿ?iy)} eBDAT read: Tx time:19:45:28.2094 m$Ping request sent.mIۡiۡۡۡۡ ܡ)x,6^Ar6Br%IHzHz +5 e  D=YQ >٣ =G9= E>A]M759Ek?aM75YEz iE9BQQqU@ESDEG:Eu:E75y @~EZj Gl?bjUFN iiC 6^AjBjB2jH?p~D9Q@DȏI+@zzpm4Ă]?a3?.='"j+H>*jl$=pa{C+?)y }e?iy)}<隁i7=i-2?-0I<- ʼI52?I1D?DDEH2 EZIbIjIrIzIM:I9IIVF :JE PNBJA JJA RJE ZJE JU hAIQ F ZA M >Tx,/6^AIT)VmC ~G~6?%SkAy~t?9~pg=Y~hl$> 9~H_?`B0?B? K5?^?`,ꬿn? ?~6?ɨ~; |)eyeSkAeBޅ0Bޅ %IGGCGn%IGBGGGG<G FMb@Mb@Mb@ )Iysh|??Zd;Oy&1 ?j<`e @)@I@i@(@HGH5μ 0=YlQ >٣ GۜFrL< >]759sk?a75Ys i,B ?m : /?q @SD);`;75 X@2iYeDNOT Ignoring new targets: 70.30 m.iuq;"i}q; ProNav: ac range: 70.300003 m, nav range: 70.023422 m, bearing: 90.074846 deg, approach rate: -0.539886 m/s, LOS rate: 0.131528 deg/s, cmd heading: 80.661276 deg, new cmd heading: 80.834902 deg.  i;HeadingCmd: 1.410835 target range: 70.300003 and range: 70.30 m.h??hhhhggbg!jg%قBe)e)je)Je):e->?}/Bɛ}=)y I?i)c<i=i??<.I??ID?DDE1 EVF EF ZA M% >m>x,QiI6^ANNH. ?7@&? "G??Xa?su?`@?N)a eʾ?ia)mںfx,qH@m?P`?O?C?Ȩ?[`)?`?p.?ɨ; C%B-$IMb@Mb@Mb@ )IyˡE?ˡE:v?'T @)I@iHDH5 /=YQ >٣ G.< >] 759sl?a75Yh iBa?m:'?q@SD;;%75 @!2i DNOT Ignoring new targets: 70.30 m.i ";"i"; ProNav: ac range: 70.300003 m, nav range: 69.608223 m, bearing: 90.172953 deg, approach rate: -0.511062 m/s, LOS rate: 0.119017 deg/s, cmd heading: 80.963635 deg, new cmd heading: 81.130114 deg.  i%\;-HeadingCmd: 1.415988 target range: 70.300003 and range: 70.30 m.h-??h)h1h1h1g9g9bgAjgEƂBeAeIjeIJeI:eM?:JeBJe9JJaRJe ZJeJu? Ju+?雕%BɛH=)  ?i)Zl<隙iPx,}6^A2:T?y2ϑ?92Mj=Y2~%>2HZH?,B?@P?&?@3?NP??2:T?ɨ28 ; 2CBBB$IHJyHJ'5V/8 Vx=YV߄;Q V?X٣X ZGZݜFZCe; ^?`]f759bg l?af75Yb\d ibBdfM?qf@bSDb`:bl:b75l n@luB*** querying acoustic contact ***iqiq2iDNOT Ignoring new targets: 70.30 m.il ;"il ; ProNav: ac range: 70.300003 m, nav range: 69.439796 m, bearing: 90.212105 deg, approach rate: -0.515600 m/s, LOS rate: 0.120146 deg/s, cmd heading: 81.130114 deg, new cmd heading: 81.247854 deg.  i;HeadingCmd: 1.418043 target range: 70.300003 and range: 70.30 m.hk?hhhhggbgjgeejeJe:e`^?M!Bɛ&>) '?i)g<隹iwx,6^A6[?y6w?96do=Y6k#>6Hc@?@@q?P? +$?@?J Y? ?6[?ɨ6G; 4NBN$IRl>iR>HZHZ|+5bԼ bI=YfJ;Q f>d٣d fGhj`: j>l]v759nIl?av75Yn^ inBtvR?qz@nSDn&;nT&;n75| d@2i)-DNOT Ignoring new targets: 70.30 m.i5;;"i5;;E ProNav: ac range: 70.300003 m, nav range: 69.231941 m, bearing: 90.260667 deg, approach rate: -0.530646 m/s, LOS rate: 0.124350 deg/s, cmd heading: 81.247853 deg, new cmd heading: 81.393977 deg.  iE;MHeadingCmd: 1.420593 target range: 70.300003 and range: 70.30 m.hMյ?hIhIhIhIgQgQbgQjgQeYeYjeYJeY:ee@雕Bɛ>) ?i)m<隙iI checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497354:J g%LBJ h9JJ RJ ZJ   J fAI x,ư6^AJ?yJ$Ư?9JFt=YJ+p#>JH :?`N`m?`WR?@?2?@Ë@N?x?J?ɨJe; J CVBV$IGaGaGe5%IGeRBGaGaGaGe<GaMb@Mb@Mb@ )IyMbX9? ףp= :v?Q8 @) @Ii@@HrH#5KB ;=Y,;Q >٣ GޜFL; >]759zl?a75YBY iB X?m : ?q @ TDB;;j75B @yE2iAEDNOT Ignoring new targets: 70.30 m.iM;"iM;] ProNav: ac range: 70.300003 m, nav range: 69.018944 m, bearing: 90.312635 deg, approach rate: -0.484464 m/s, LOS rate: 0.118566 deg/s, cmd heading: 81.393978 deg, new cmd heading: 81.550362 deg.  i];eHeadingCmd: 1.423322 target range: 70.300003 and range: 70.30 m.hem/?hahahahagigqbgyjg}BeejeJe:e n@雝Bɛ=) ?i)T<ih[ZII bIM jII rII zII IM 9II II II II IM ';IM ';͜x,'6^A:?y:?9:Yx=Y:E)#>:H`j?i?GT? ?~?) E?@W?:?ɨ:3; :C^B^$IHfHf-5n nX=Yn*;Q n>p٣p rGrߜFv; v>x]~759zl?a~75YzlT izB@?q @zTDzB;zB;z75 .@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0015682iIMDNOT Ignoring new targets: 70.30 m.iU;"iU;e ProNav: ac range: 70.300003 m, nav range: 68.835617 m, bearing: 90.357386 deg, approach rate: -0.485868 m/s, LOS rate: 0.118918 deg/s, cmd heading: 81.550362 deg, new cmd heading: 81.684972 deg.  ie9;mHeadingCmd: 1.425672 target range: 70.300003 and range: 70.30 m.hmi|?hihihhggbgjgeejeJe:e j@雅Bɛ< >) b?i)<隩iG¸x,¿6^A?yD?9z=Y_">H?`( n_?@W??@ኝ?@X`g9???ɨ.;  CeBm$II)HH)5  9=Y%k:Q ->٣ G; >]759Kl?a75YN iB?q@&TD;;75 @wE2iDNOT Ignoring new targets: 70.30 m.i;"i;  ProNav: ac range: 70.300003 m, nav range: 68.612328 m, bearing: 90.411757 deg, approach rate: -0.489465 m/s, LOS rate: 0.119574 deg/s, cmd heading: 81.684971 deg, new cmd heading: 81.848616 deg.  i ;HeadingCmd: 1.428528 target range: 70.300003 and range: 70.30 m.hڶ?hhhhggbgjge!e!je!Je!:e%@ @U BɛUQ>)Q U?iQ)]{5 J?D ?D D E  E GAGAGE%IGE=BGAGAGAGE<GE FHǩC HǩCHH ="H =*H |4VF- ļF ZA) M] >8x,6^ADAT read: 19:45:30.7050 LVL= 24256, 31825, 23106, 31203, AGC= 63, IDX= 420, 0.35, 1.830, 0.350, 1.546, 1.360, PHS= 0.558,-0.962, 0.183, RAW= 136.3, 3.3, CAL= 141.2, -4.7, ROT= 8.8, 4.7 Ygot valid direction response: 19:45:30.7050 LVL= 24256, 31825, 23106, 31203, AGC= 63, IDX= 420, 0.35, 1.830, 0.350, 1.546, 1.360, PHS= 0.558,-0.962, 0.183, RAW= 136.3, 3.3, CAL= 141.2, -4.7, ROT= 8.8, 4.7 *PDAT read: Bearing 8.8, 4.7 (Local) *~Local bearing/azimuth received: Bearing 8.8, 4.7 (Local) VDAT read: Range 10 to 50 : 68.6 m (Round-trip 91.5 ms) speed 0.3 m/s n,DAT read: user:1268> rBDAT read: Tx time:19:45:31.8094 r$Ping request sent.r-?@ -k=)-ϸ@I-i-nF>-=) )-SN??1%?I-箑>i-di-nF>-=)u7Q?yu̎?9u~=Yu$>uH`N??Z? I?,j?b? ~?u7Q?ɨu掍; u!CލBލ$I ):publishing transmit ping timepFpublishing direction and range info)Y-*99X?oP.?)9)) )))I)i))))) )))I)i))) )-SN??1%?I)i)))) )Mb@Mb@Mb@ )Iyx&1?A`"I +A?Y94 @) @IS@iZIbIjIrIzI:I*9III9;I:;I(;I(;@H5sH5e$5mP m=Yu:Q u>y٣ GF; >]759p#l?a75Y%H i׫B?m:?q@6TD3A;w;!759 =@AZj-6gl?bj-Q i)i-{6^Aj-3Bj-HB2j-?p-k P@H$@y%{zp-*99X?oP.?"j-nF>*j-=p-nwH?:?Q@ZQɜ p-Spb?\?gHCi-4Bj-D?i-\fl?i-cKE  j-kBzj)j)j-CvBjj-Brj-!? addTargetRange:: Added new target pos. range: 68.599998 m, deltaT: 3.782484 s, deltaX: -1.700005 m, approachRate: -0.449441 m/s, rangeRepo size: 4  Added new target pos. range: 68.599998 m, bearing: 88.513125 deg, lat: 36.903893 deg, lon: -122.119001 deg, deltaT: 3.782484 s, deltaX: -1.700005 m, approachRate: -0.449441 m/s, posRepo size: 4 2i DNOT Ignoring new targets: 68.60 m.i "i = ProNav: ac range: 68.599998 m, nav range: 68.370689 m, bearing: 90.474331 deg, approach rate: 0.000000 m/s, LOS rate: 0.119574 deg/s, cmd heading: 81.848616 deg, new cmd heading: 82.039214 deg.  i9EHeadingCmd: 1.431854 target range: 68.599998 and range: 68.60 m.hEG?hAhIhIhIgIgIbgqjgqeqeyjeyJe}`f&Q@:e}@\r?Bɛl=) ?i)Z=iəǍx,v7^A:?y:1?9:}|=Y:#>:Hx?,`j}?b?@?֞? }3]??:?ɨ:; : CFBF$IHNXHNn5V.= Vx=YZQ Z?X٣\ ^G^Fbz< b ?d]j759fQ'l?aj75Yf D ifΫBlnC?qn@fATDf;fL;f75p rQ@pB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 68.60 m.i;"i;- ProNav: ac range: 68.599998 m, nav range: 68.215424 m, bearing: 90.514074 deg, approach rate: -0.521683 m/s, LOS rate: 0.133838 deg/s, cmd heading: 82.039212 deg, new cmd heading: 82.158712 deg.  i-;HeadingCmd: 1.433940 target range: 68.599998 and range: 68.60 m.hY?hhhhggbgjgeejeJe:e?5Bɛ5V>)9 =?i9)=@=99iEAԼ:JmOBJm9JJiRJm ZJmFZAM >G >G G %IG )BG G G G <G F7͍x,o77^A~B~$IC=iC=) = =Mb@Mb@Mb@ )IyGz?ʡE~jtp>D 5@)M@Ii@@H[H5b 8=YQ >٣ GF > ]759 t-l?a75Y > i «BG?m:?q@ OTD ]< < 75 @2iDNOT Ignoring new targets: 68.60 m.i;"i; ProNav: ac range: 68.599998 m, nav range: 68.007477 m, bearing: 90.577000 deg, approach rate: -0.453875 m/s, LOS rate: 0.137764 deg/s, cmd heading: 82.158713 deg, new cmd heading: 82.348065 deg.  i;HeadingCmd: 1.437245 target range: 68.599998 and range: 68.60 m.h?hhhhggbgjgǂBeejeJe:e?%Bɛ-h>)) -?i))5Pg =11i= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219595;/ԍx,Q7^A> ?y>gK?9>i|=Y>;$>>H`?3 z?mo??3?nb?ଇ?> ?ɨ>W; >CJBJ$IHRUHR5Z#  Z^=Y^u9Q ^>\٣` bG`bǿ< b>d]j759fi2l?aj75Yf9 ifBlr.?qr@f[TDfy-;f-;f 75vB z>@ztE2iDNOT Ignoring new targets: 68.60 m.i%&;"i%&;5 ProNav: ac range: 68.599998 m, nav range: 67.834785 m, bearing: 90.628155 deg, approach rate: -0.488921 m/s, LOS rate: 0.145199 deg/s, cmd heading: 82.348066 deg, new cmd heading: 82.501923 deg.  i5L;5HeadingCmd: 1.439930 target range: 68.599998 and range: 68.60 m.h5O?h9h9h9hAgAgAbgAjgAeIeIjeIJeI:eU ?Bɛ}>) ?i)=i%Mڍx,78k7^AFI?yF6?9FCU=YF4%>FHt_? ?Nq?`jg?@?@'??FI?ɨFj; F C^݅B^$IMMb@Mb@Mb@II I)IIIyMX9v?#~j:vM>M㥽MT M@)IIMj@iIIIHuHu +5}: ?=Yd;Q >٣ GF; >]759G8l?a75Y4 iB?m:~?q@hTD:E:75checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723836 @2iDNOT Ignoring new targets: 68.60 m.i";"i"; ProNav: ac range: 68.599998 m, nav range: 67.634018 m, bearing: 90.689008 deg, approach rate: -0.468373 m/s, LOS rate: 0.142386 deg/s, cmd heading: 82.501923 deg, new cmd heading: 82.685024 deg.  io;HeadingCmd: 1.443126 target range: 68.599998 and range: 68.60 m.hY?hhhhggbgjgBee!je!Je!:e%u?:JBJ9JJRJ ZJ 5.~GMlA eA) ylAB雥Bɛ>) }?i)_=隱ieGiGm$IGmBGiGiGiGml<Gm FD}?DyDyE}0 Eye v?e <u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976621VF F ZA M >0x,7^Am^?ym-?9mQB=Ym&>mH`&J? U ?`;q?^?Y١?H?W?m^?ɨm; mC܅B$II)AEAHH.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228331焻 %*=Y59p;Q 5>1٣9 =G=F: >]759?l?a 75Y- iB?q@zTD;_;75B @rE2iDNOT Ignoring new targets: 68.60 m.i ;"i ; ProNav: ac range: 68.599998 m, nav range: 67.377556 m, bearing: 90.767132 deg, approach rate: -0.457463 m/s, LOS rate: 0.139883 deg/s, cmd heading: 82.685020 deg, new cmd heading: 82.920282 deg.  i;HeadingCmd: 1.447232 target range: 68.599998 and range: 68.60 m.h>?hhhhggbgjgeejeJe:e@@%Bɛ-|>)) -?i))-f=))i52?=zu<=ۼI=>?I9D?DDEp0 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479564VF OüF ZA M >*x,A7^A15$IHEuHEH%5U ][=Y]Q ]?a٣a eGae m?q]u759uCl?a}75Yu * iuByyq}@uTDu:u:u>75 @B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 68.60 m.i-;"i-; ProNav: ac range: 68.599998 m, nav range: 67.232277 m, bearing: 90.811670 deg, approach rate: -0.494595 m/s, LOS rate: 0.151955 deg/s, cmd heading: 82.920279 deg, new cmd heading: 83.054181 deg.  i;HeadingCmd: 1.449569 target range: 68.599998 and range: 68.60 m.hy?hhihihigqgqbgqjgqeyeyjeyJey:e}>3@5Bɛ=z>)A mH?ii)uA=yyi}\<III.IIIZIbIjIrIzI-:Iu9IIq-@i-@u5@m5@iy?7t<{I y?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.732776D DDEz0 E:JIBJIJJIRJM ZJM8@?6/&:BM6 xbLJ]gAI]hAVF~>ԼFZAM>G>GG$IG BGGGGΰ<G FPx, 7^AFHĖ?yF?9FoH=YFJ&>FH? K?` t? ?`?e?`?FHĖ?ɨFq; F CzօBz$IMb@Mb@Mb@BDAT read: Rx Time:19:45:34.3027 TRx dataTimestamp_ set to:1736538334.991354checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984842 )IyV-?1ZdI +|>"۽94 b@)d@I@i/@@HH/5bּ C=Y;Q >٣ GF; >]759Jl?a75Y$ iB?m:?q@TDy;l;75  +@ 2i1=DNOT Ignoring new targets: 68.60 m.i=l>;"i=l>;M ProNav: ac range: 68.599998 m, nav range: 67.036545 m, bearing: 90.881006 deg, approach rate: -0.468593 m/s, LOS rate: 0.166479 deg/s, cmd heading: 83.054178 deg, new cmd heading: 83.262793 deg.  iM;UHeadingCmd: 1.453210 target range: 68.599998 and range: 68.60 m.hU?hQhQhQhQgQgYbgYjg]ւBeaeajeaJea:ee`@Bɛj>) ?i)U#=i<x,n7^A^?yH? ? u?=?@l?`??騥^?ɨ; ޽ӅB޽$I>ip<)= p=HsHe$5+ H=Y2;Q >٣ G; >]759Ql?a 75Y ixB  И?q @TD;w;w75 n@oE2iAMDNOT Ignoring new targets: 68.60 m.iM>;"iU>;e ProNav: ac range: 68.599998 m, nav range: 66.845497 m, bearing: 90.948777 deg, approach rate: -0.469300 m/s, LOS rate: 0.166953 deg/s, cmd heading: 83.262793 deg, new cmd heading: 83.466687 deg.  ie(;}HeadingCmd: 1.456769 target range: 68.599998 and range: 68.60 m.h}dw?hhhhggbgjgeejeJe:e @雕Bɛ$>) ?i)#(=隙iIdw?IDAT read: 19:45:34.3027 LVL= 20064, 32753, 18290, 32755, AGC= 61, IDX= 413, 0.12, 0.047,-1.403,-0.203,-0.392, PHS= 0.527,-0.964, 0.186, RAW= 137.4, 3.7, CAL= 142.0, -4.2, ROT= 8.0, 4.2  Ygot valid direction response: 19:45:34.3027 LVL= 20064, 32753, 18290, 32755, AGC= 61, IDX= 413, 0.12, 0.047,-1.403,-0.203,-0.392, PHS= 0.527,-0.964, 0.186, RAW= 137.4, 3.7, CAL= 142.0, -4.2, ROT= 8.0, 4.2 PDAT read: Bearing 8.0, 4.2 (Local) ~Local bearing/azimuth received: Bearing 8.0, 4.2 (Local) -DAT read: Range 10 to 50 : 66.8 m (Round-trip 89.1 ms) speed 0.4 m/s 5,DAT read: user:1269> DE?DADAEE0 EABDAT read: Tx time:19:45:35.4094 $Ping request sent.>٭.z@ ڭ A=)ڭ@IڭQ iڭ5>ڭQ =ک ۩ۭGx?Q?+?Iۭn>iۭSۭ5>ۭQ =۩ ܩM:publishing transmit ping timeMFpublishing direction and range infoةYح}?L]P-?ة9ةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiککک ۩ۭGx?Q?+?I۩i۩۩۩۩ ܩVFm ߼ZI bI jI rI zI :I :I I F ZA M >U JDAT read: TxSync time:19:45:35.4086 jx,7^AvʅBz$I:JM-NBJM9JJIRJM ZJM9.& JU? JU> Mb@Mb@Mb@   ) I y x&1?:v٣ GF >]759Wl?a75YU ijB%C?m%:%ә?q%@TD&<%<>75) -@1Zjll?bj-R iiV7^AjBjB2j|?p\9~P@%6("@#zp}?L]P-?"j5>*jQ =pdJSX?m +rP@`=pCHs?>?Y^18iBjª?i',l?iJPG  j lBzjrGl?jYA j qBjjBrj1n?% addTargetRange:: Added new target pos. range: 66.800003 m, deltaT: 3.529044 s, deltaX: -1.799995 m, approachRate: -0.510052 m/s, rangeRepo size: 4 U Added new target pos. range: 66.800003 m, bearing: 88.847609 deg, lat: 36.903902 deg, lon: -122.119002 deg, deltaT: 3.529044 s, deltaX: -1.799995 m, approachRate: -0.510052 m/s, posRepo size: 4 2iY]DNOT Ignoring new targets: 66.80 m.ie"iam ProNav: ac range: 66.800003 m, nav range: 66.516495 m, bearing: 90.164953 deg, approach rate: 0.000000 m/s, LOS rate: 0.166953 deg/s, cmd heading: 83.466688 deg, new cmd heading: 83.699753 deg.  iqHeadingCmd: 1.460836 target range: 66.800003 and range: 66.80 m.h?hhhhggbgjgBeejeJe@3P@:e?-Bɛ- >) Թ?i)X-=iջx,Ow 8^A64З?y6 ?96K=Y6n;%>6H?@8?~?@??C??64З?ɨ6N(; 4J˅Bf$IHnuHnH%5v'; vU=Yz6;Q z>|٣| ~G~F~s< >]=759~]l?a=75Y i^B9=?qE@TD$;F;75Q U@Q2iyDNOT Ignoring new targets: 66.80 m.i E;"i E; ProNav: ac range: 66.800003 m, nav range: 66.337372 m, bearing: 90.224184 deg, approach rate: -0.519564 m/s, LOS rate: 0.172271 deg/s, cmd heading: 83.699754 deg, new cmd heading: 83.877928 deg.  it;HeadingCmd: 1.463946 target range: 66.800003 and range: 66.80 m.hb?hhhhggbgjgeejeJe:e E?Bɛ >)vR; ?i)s1=il%x,D%8^A6s?y6F?96=Y6(>6H ;?` ?Ä?t?_?`}ޱ\?Y}?6s?ɨ6; 4>DžBB$IID)DDDHJdHJ5R貼 RO=YVHQ Z>X٣X ZGX^AO< b>l]z859nzcl?az85Yn inRB|~L?q~@nTDn}f;ndI;n85 '@ B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 66.80 m.i@,;"i@,; ProNav: ac range: 66.800003 m, nav range: 66.147583 m, bearing: 90.286346 deg, approach rate: -0.458476 m/s, LOS rate: 0.150595 deg/s, cmd heading: 83.877926 deg, new cmd heading: 84.064945 deg.  i;HeadingCmd: 1.467210 target range: 66.800003 and range: 66.80 m.hͻ?hhhhggbgjgeejeJe:e }r?雭܂BZIbIjI1rIzII9I3Iɛ>) ?i) 6= i"x,l?8^ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.467971UBU$I%Mb@Mb@Mb@!! !)!I!y%y&1?Cl绿I +%`?%;߽%94 %@)%z@I%@i%\@!%z@H=bH=5Mgȼ M1=YUQ U>Q٣Y ]G]F] ]>a]u859ejl?au85Ye  ieCB}J?m}:}?q}@eTDea>;e'<;e85B @mE2iDNOT Ignoring new targets: 66.80 m.iE;"iE; ProNav: ac range: 66.800003 m, nav range: 65.921219 m, bearing: 90.361675 deg, approach rate: -0.518037 m/s, LOS rate: 0.172983 deg/s, cmd heading: 84.064944 deg, new cmd heading: 84.291705 deg.  in;HeadingCmd: 1.471168 target range: 66.800003 and range: 66.80 m.h:O?hhhhggbgjgBeejeJe:e n?雍؂Bɛ>) /?i);=隑i5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719058]x,FH ?&%I??`M?p9?_,?`Qz?F̯?ɨFr; F!CnBn$IHvHvv35~Ֆ ~c=Yӳ;Q >٣  G F Z<  >]8592pl?a%85Y i7B!%%?q%@TD; ; 85) -@5jE2iaeDNOT Ignoring new targets: 66.80 m.ims8;"ims8;} ProNav: ac range: 66.800003 m, nav range: 65.742950 m, bearing: 90.419671 deg, approach rate: -0.494326 m/s, LOS rate: 0.161258 deg/s, cmd heading: 84.291706 deg, new cmd heading: 84.466168 deg.  i}V;HeadingCmd: 1.474213 target range: 66.800003 and range: 66.80 m.h?hhhhggbgjgeejeJe:e5?ՂBɛ>) ?i)?=iCx,Lqs8^A:JJdMBJJ9JJHRJJ ZJJGGG$IGBG =GGG<G F-B-s$I5=i5<Mb@Mb@Mb@ )IyK7A`?J +{Gz ?Ƚ# -@)@I@i@@H H %.5A 7=YQ >!٣! %G)- 5>1]=8595vl?a=85Y5 i5(BEF ?mE:E?qE@5TD5 ;5& ;5 85Q U@Q2i!-DNOT Ignoring new targets: 66.80 m.i5,;"i5,;e ProNav: ac range: 66.800003 m, nav range: 65.511513 m, bearing: 90.489254 deg, approach rate: -0.500082 m/s, LOS rate: 0.150883 deg/s, cmd heading: 84.466170 deg, new cmd heading: 84.675654 deg.  im;mHeadingCmd: 1.477869 target range: 66.800003 and range: 66.80 m.hm*?hqhqhqhqgqgqbgyjg}BeyejeJe:er@҂Bɛ}>) [?i)~E=iLD9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476492D?DDE05 EEEhAVF N޼H AAH ?AF ZA M% >j%#x,'28^A2|?y2?92|F=Y2Xn->2H9?)Ƭ?@D??PL? IJo? u?2|?ɨ28; 2CBBBl$IHJHJ\05^j bd=Yb;Q b>`٣d fGfFf< f>h]n859j{l?ar85Yj ijBprp?qr@jTDj<;j;j%85t v!@x2i!%DNOT Ignoring new targets: 66.80 m.i-8;"i-8; ProNav: ac range: 66.800003 m, nav range: 65.326149 m, bearing: 90.544209 deg, approach rate: -0.543101 m/s, LOS rate: 0.161471 deg/s, cmd heading: 84.675651 deg, new cmd heading: 84.840984 deg.  i;HeadingCmd: 1.480754 target range: 66.800003 and range: 66.80 m.h]?hhhhggbgjgeejechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.728773Je:e3@MςBɛM >)I M?iI)UI=QqiuG)x,8^AB?yB!?9Bn=YB,>BH?@1.?`?0??`V鲿 s?@nu?B?ɨB8; BCNBNa$IHVHV;5^$ ^D=Yb:Q b>`٣d fGfFf; j>h]n859jށl?ar85Yj* ij Bprנ?qr@j UDj:j:j85x ~@|B*** querying acoustic contact ***ii2i!-DNOT Ignoring new targets: 66.80 m.i-0;"i-0;= ProNav: ac range: 66.800003 m, nav range: 65.109085 m, bearing: 90.608314 deg, approach rate: -0.519472 m/s, LOS rate: 0.153926 deg/s, cmd heading: 84.840983 deg, new cmd heading: 85.033939 deg.  i=F;EHeadingCmd: 1.484122 target range: 66.800003 and range: 66.80 m.hE?hAhAhAhIgIgIbgQjgQeQeQjeQJeY:e]` @=̂Bɛ=>)A EL?iA)mN=iqiu~h0x,F8^AFDAT read: 19:45:37.9002 LVL= 20416, 27633, 17186, 30147, AGC= 62, IDX= 419,-0.31, 1.656, 0.232, 1.461, 1.264, PHS= 0.480,-0.986, 0.194, RAW= 139.4, 4.7, CAL= 143.4, -3.2, ROT= 6.6, 3.2 NYgot valid direction response: 19:45:37.9002 LVL= 20416, 27633, 17186, 30147, AGC= 62, IDX= 419,-0.31, 1.656, 0.232, 1.461, 1.264, PHS= 0.480,-0.986, 0.194, RAW= 139.4, 4.7, CAL= 143.4, -3.2, ROT= 6.6, 3.2 RPDAT read: Bearing 6.6, 3.2 (Local) R~Local bearing/azimuth received: Bearing 6.6, 3.2 (Local) VDAT read: Range 10 to 50 : 64.9 m (Round-trip 86.6 ms) speed 0.5 m/s Z,DAT read: user:1270> ^BDAT read: Tx time:19:45:39.0095 ^$Ping request sent.^~]?y~??9~c=Y~,>~HqZ?2?|? ?@w}?m?ku?~]?ɨ~5; ~ CB[$II!)!.>.j|.F>.@ .=).- @I.di.=.d=, ,.=?.?n?I.S>i.w.=.d=, ,:publishing transmit ping time\Fpublishing direction and range info,Y.*f?1`?ᢔ,9,, ,),I,i,,,,, ,),I,i,,, ,.=?.?n?I,i,,,, ,Mb@Mb@Mb@ )Iyq= ףp?ˡEy&1| ?什` @)@I5@i@HH15-b -=Y5n:Q 5>9٣9 =G9; >]859l?a85Y iB ?m:?q@UDU;;b85B @hEH%R=H%p=ZI5bI5jI51rI1zI5ݒ:I59I53I1I5;qEI5;iEI1uEI1mEZj.l?bj.U i,i.v8^Aj.́Bj.B2j.k?p.%ãP@тz@avgІ zp.*f?1`?ᢔ"j.=*j.d=p.Uu?T P@8zzfp.)?9.)?:i.Bj.S?i.WLl?i.X1xJ  j.nBzj.\fl?j.cKE j.nBjj.[Brj.|? addTargetRange:: Added new target pos. range: 64.900002 m, deltaT: 3.542985 s, deltaX: -1.900002 m, approachRate: -0.536271 m/s, rangeRepo size: 4 - Added new target pos. range: 64.900002 m, bearing: 89.265607 deg, lat: 36.903914 deg, lon: -122.119004 deg, deltaT: 3.542985 s, deltaX: -1.900002 m, approachRate: -0.536271 m/s, posRepo size: 4 2i)-DNOT Ignoring new targets: 64.90 m.i5"i1e ProNav: ac range: 64.900002 m, nav range: 64.678436 m, bearing: 89.497528 deg, approach rate: 0.000000 m/s, LOS rate: 0.153926 deg/s, cmd heading: 85.033936 deg, new cmd heading: 85.290613 deg.  iamHeadingCmd: 1.488602 target range: 64.900002 and range: 64.90 m.hm?hihqhhggbgjgBeejeJe9P@:e`?MǂBɛM >)I m?iq)}f"U=yyi}7x,J8^A B >$IHIH5U UT=Y]Q ]>Y٣Y eGeFe m>i]u859mql?a}85Ym imByyq}@m,UDm:mf:m85 }@2iDNOT Ignoring new targets: 64.90 m.i$;"i$; ProNav: ac range: 64.900002 m, nav range: 64.480759 m, bearing: 89.546818 deg, approach rate: -0.575784 m/s, LOS rate: 0.144011 deg/s, cmd heading: 85.290614 deg, new cmd heading: 85.438939 deg.  i;HeadingCmd: 1.491191 target range: 64.900002 and range: 64.90 m.hW߾?hhhhggbgjgeejeJe:e` ?łBɛB&>) %ϰ?i))-؞X=))i-cGy Gy G} $IG} ͅBGy Gy Gy G} <G} F:J dMBJ 9JJ RJ ZJ  g=x,T8^A%}B%0$IMb@Mb@Mb@ )IyQ?Mby&1\?`e C@)@Ii@HtH$5hZ D=YQ >٣ GF >]8598l?a85Y iBV?m:?q@;UDe< <N85B >@eE2iDNOT Ignoring new targets: 64.90 m.i;"i; ProNav: ac range: 64.900002 m, nav range: 64.253571 m, bearing: 89.595790 deg, approach rate: -0.521711 m/s, LOS rate: 0.112856 deg/s, cmd heading: 85.438939 deg, new cmd heading: 85.586373 deg.  i;HeadingCmd: 1.493764 target range: 64.900002 and range: 64.90 m.h3?hhh h ggbgjgBee!je!Je!:e%` ?M‚BɛM>)Q U?iQ)U]=QQi]Dx,9^A:?y:2?9:ݛ=Y:Խ+>:H"?`JH@Y?`)?`Q??v*N?u?:?ɨ:; 8NnBR$IV=iV>?HZgHZ5b b]=Yb;Q f>d٣d fGdjH= n>p]v859r(l?av85Yrd ir֪Bxz?qz@rHUDr:r:r"85| ~'@2iDNOT Ignoring new targets: 64.90 m.i:"i: ProNav: ac range: 64.900002 m, nav range: 64.051109 m, bearing: 89.636302 deg, approach rate: -0.546000 m/s, LOS rate: 0.109599 deg/s, cmd heading: 85.586375 deg, new cmd heading: 85.708296 deg.  io;HeadingCmd: 1.495892 target range: 64.900002 and range: 64.90 m.hcy?hhhhggbgjgeejeJe:e b?%Bɛ%,>)) -?i))-a=))i5eJx, -9^ARQ?yR?9RXO=YR .>RH`@ۼ?J ̞?۲?޿?+?@䳿ҕ?q?RQ?ɨRd; R!CzgB~$IH=H=_,5  6=Y%Mu;Q ->9٣9 eGmFu3< }>աեA]859l?a85Y iƪB?q@YUD?;;&85 @B*** querying acoustic contact ***ii2iAMDNOT Ignoring new targets: 64.90 m.iM:"iM:} ProNav: ac range: 64.900002 m, nav range: 63.798626 m, bearing: 89.685977 deg, approach rate: -0.553280 m/s, LOS rate: 0.109286 deg/s, cmd heading: 85.708294 deg, new cmd heading: 85.857908 deg.  i};HeadingCmd: 1.498503 target range: 64.900002 and range: 64.90 m.hο?hhhhggbgjgeejeJe:e@Z?G!G!G%t$IG%BG% =G%FDG!G%<G% FMBɛMXZ>)I M?iI)UIf=QQiUye T****** received valid address query ******e R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.Qx,G9^AF㌞?yFxʺ?9F=YF> .>FH gd?K`?0?p?^?@#l5?`7p?F㌞?ɨFZ; FCfTBf#I}Mb@Mb@Mb@yy y)yIyy}m?Mb}?}L} }@)}@I}b@i}@y}@HH|+5 @=YV;Q >٣ GFZI5bI5jI50rI1zI5m:I5:I5ـ3I1I5;I5;I5@;I5@;m; m>q]}859ul?a}85Yu iuB.?m:?q@uhUDuH:u:uV*85 @2i1=DNOT Ignoring new targets: 64.90 m.i=h:"i=h: ProNav: ac range: 64.900002 m, nav range: 63.563965 m, bearing: 89.727170 deg, approach rate: -0.541882 m/s, LOS rate: 0.095473 deg/s, cmd heading: 85.857909 deg, new cmd heading: 85.981943 deg.  i ;HeadingCmd: 1.500668 target range: 64.900002 and range: 64.90 m.h?hhhhggbgjgBeejeJe:e }@UBɛUk4>)Q U?iY)]ilk=YYi]*Wx,ka9^A2О?y2?92_=Y2->2Hܻ?`M? ?2 ?W?@д?o?2О?ɨ2; 2CVABZ#IHbHbS<5j jp=Ynܓ;Q n?p٣p rGpv0; v?x]z859zסl?a~85Yz izB?q@ztUDzr>;z?;z%-85B @cE%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5085522iIMDNOT Ignoring new targets: 64.90 m.iUU:"iUU:e ProNav: ac range: 64.900002 m, nav range: 63.388531 m, bearing: 89.757831 deg, approach rate: -0.569517 m/s, LOS rate: 0.099812 deg/s, cmd heading: 85.981946 deg, new cmd heading: 86.074184 deg.  ie;mHeadingCmd: 1.502278 target range: 64.900002 and range: 64.90 m.hmJ?hihihihigigqbgqjgqeyejeJe:eD@雵Bɛ{1'>) -?i)an=隹inD>DU?DQDQEU0 EQE]=E]=VFFZAM>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760668G) G) G- H$IG- BG-  =G) G) G- <G- FH HHH"H*H4:J} nOBJ} h9JJy RJ} ZJ} 4}&(q[L<0$ J ? J .?!^x,F{9^Av1Bv#IMb@Mb@Mb@ )IyZd;O?ly&1|~ ?` @)@I@i@@HH/5 ]  8=YQ >!٣! %G%F- ->1]=8595\l?a=85Y5 i5B= ?m=:=?qE@5UD5 ;5:5185I M@I2iqDNOT Ignoring new targets: 64.90 m.i:"i: ProNav: ac range: 64.900002 m, nav range: 63.152039 m, bearing: 89.794812 deg, approach rate: -0.534464 m/s, LOS rate: 0.083889 deg/s, cmd heading: 86.074181 deg, new cmd heading: 86.185539 deg.  iJf;HeadingCmd: 1.504221 target range: 64.900002 and range: 64.90 m.hT?hhhhggbgjgBeejeJe:eE@Bɛ>) ٞ?i)r=i# checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264367f ex,S$9^A6s?y6o?96厬=Y6}.>6H`*?+Q`Ʊ?t??`5?T ?l?6s?ɨ6"; 6 C>"BB#IHJHJ:5RK Rd=YROT٣T VGVFVd< Z>\]b859^l?ab85Y^ i^BdfO?qf@^UD^6:^y:^&485h j@h2iDNOT Ignoring new targets: 64.90 m.i R:"i R: ProNav: ac range: 64.900002 m, nav range: 62.962379 m, bearing: 89.823791 deg, approach rate: -0.531444 m/s, LOS rate: 0.081448 deg/s, cmd heading: 86.185540 deg, new cmd heading: 86.272740 deg.  i_;HeadingCmd: 1.505743 target range: 64.900002 and range: 64.90 m.h3?hhhhggbgjgeejeJe:e @雕Bɛ>) ?i)v=隙iNOD3kx,/9^ANߟ?yN?9N0=YNZ.>NH@?`zSԼ?U?,?` ?Aߵ@\?;k?Nߟ?ɨN$; NCZ BZ#IHfHf<5vǽ vF=Y~>K;Q > ٣ G-< 5>Y]u859]Kl?a}85Y]̺ i]B?q@]UD];];]785 5G@9=B*** querying acoustic contact ***i9i92iI]DAT read: 19:45:41.4976 LVL= 19888, 32753, 19442, 32755, AGC= 64, IDX= 408, 0.15,-2.224, 2.661,-2.328,-2.536, PHS= 0.400,-1.039, 0.205, RAW= 142.8, 6.5, CAL= 145.7, -1.6, ROT= 4.3, 1.6 eYgot valid direction response: 19:45:41.4976 LVL= 19888, 32753, 19442, 32755, AGC= 64, IDX= 408, 0.15,-2.224, 2.661,-2.328,-2.536, PHS= 0.400,-1.039, 0.205, RAW= 142.8, 6.5, CAL= 145.7, -1.6, ROT= 4.3, 1.6 mPDAT read: Bearing 4.3, 1.6 (Local) DNOT Ignoring new targets: 64.90 m.i%:"i%: ProNav: ac range: 64.900002 m, nav range: 62.736900 m, bearing: 89.857777 deg, approach rate: -0.471465 m/s, LOS rate: 0.071317 deg/s, cmd heading: 86.272741 deg, new cmd heading: 86.375063 deg.  iC;m~Local bearing/azimuth received: Bearing 4.3, 1.6 (Local) DAT read: Range 10 to 50 : 62.9 m (Round-trip 83.9 ms) speed 0.4 m/s ,DAT read: user:1271> GGG$IGhBGGGG<G FHeadingCmd: 1.507529 target range: 64.900002 and range: 64.90 m.h?hhhhggbgjgeejeJe:e@ BDAT read: Tx time:19:45:42.6111  $Ping request sent. ٥٥Q>٥W@ ڥV=)ڥ"@Iڥiڥ`=ڥ<ڡ ۡۥy[N?;?ߕAݼ?Iۥu>iۥm罉ۥ`=ۥ<ۡ ܡ}:publishing transmit ping time }Fpublishing direction and range infoءYإ=7s?E/?|p}ء9ءء ١)١I١i١BɛR >) 5?i)M{=i*rx,9^A=B=#I-Mb@Mb@Mb@)) )))I)y-(\?y&1~jtx-?-`-Ļ ))-E@I-@i-@)-\@HE^HE5M U5=Y]Q ]>Y٣Y ]GeFe e>i]u859m>l?au85Ymô im~B}?m}:}?q}@mUDm& ;m;m;85 k@Zj!m?bjUO ii9^Aj{BjyB2j)q u'?iq)}7~=yi;Fxx,9^A6X?y6a?96^g=Y6%>6H`ն?j@0}? 3?]!? Nֱ?浿]?w?6X?ɨ6G2; 6 C>B>y#IHFHFA5Nl޽ Rj=YR9Q R?T٣T VGVFVL= V?X]b859Zgl?ab85YZ iZtB`b?qb@ZUDZ ;Zi ;Z>85fB j@j^E2i  DNOT Ignoring new targets: 62.90 m.i:"i:% ProNav: ac range: 62.900002 m, nav range: 62.326405 m, bearing: 89.740486 deg, approach rate: -0.527939 m/s, LOS rate: 0.066249 deg/s, cmd heading: 86.458385 deg, new cmd heading: 86.526930 deg.  i%5;-HeadingCmd: 1.510180 target range: 62.900002 and range: 62.90 m.h-M?h)h)h)h)g1g1bg1jg1e9e9je9Je9:eEOe?Bɛ>)  Ŏ?i )  =  i SӿG G #IG :BG G G G <G FFA ZAI M >:J BJ JJ RJ ZJ o~x,9^A21?y2.?92̽=Y2v(>2H? j?e?@D?"?@`:?"t?21?ɨ2C; 2C:ӄB>_#I-bonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 76.81, 63.89, 73.41, :WI,-32768,-32768,-32768,-32768,V b@b b@b b@b  b@b Hf~HfE)5n|ƽ nG=Yr9Q r>p٣p rGtv9< v>x]~859zl?a~85YzL izhBi+:m:?q@zUDz;z>zA85  @ 2i1=DNOT Ignoring new targets: 62.90 m.i:"i:- ProNav: ac range: 62.900002 m, nav range: 62.111027 m, bearing: 89.766658 deg, approach rate: -0.526013 m/s, LOS rate: 0.064141 deg/s, cmd heading: 86.526926 deg, new cmd heading: 86.605714 deg.  i-0;-HeadingCmd: 1.511555 target range: 62.900002 and range: 62.90 m.h5z?h1h1h1h1g1g9bg9jg9e9eAjeAJeA:eEL1?雍Bɛ >) 0?i)=隱ieHI HM @AWx,i:^A6?y6<ξ?969 =Y6+)>6H@i? l@??@?`?Y?p?6?ɨ6'; 6!CrDŽBrQ#IHH3A55b =D=YE|;Q M>Q٣Q UGUF]q>< e>i]}859mOl?a85Ym im\Bi :m:X?q@mUDmEo;mU?m D85 @2iDNOT Ignoring new targets: 62.90 m.i:"i: ProNav: ac range: 62.900002 m, nav range: 61.891388 m, bearing: 89.792525 deg, approach rate: -0.513761 m/s, LOS rate: 0.060721 deg/s, cmd heading: 86.605713 deg, new cmd heading: 86.683589 deg.  i&; HeadingCmd: 1.512914 target range: 62.900002 and range: 62.90 m.h +?h h h hgg1bg9jg9e9e9jeAJeA:eE ,?雵Bɛ >) ‡?i)˄=隹ilF ZA M >ςx,G0:^AZIbIjI0rIzII9Iـ3I>溢?y>y?9>=Y>#/+>>H ?k p??`K?(0?}6?Rm?>溢?ɨ>G; > C^B^C#IHfHf=5n7h nP=Yr;Q r>p٣t vGtvX; v>x]~859zl?a85Yz' izPBi9m T: ?q @zUDz2;z?zE85 q@B*** querying acoustic contact ***ii2i1EDNOT Ignoring new targets: 62.90 m.Gu>GqGu#IGu BGqGqGqGu<Gu Fi5v:"i5v: ProNav: ac range: 62.900002 m, nav range: 61.687805 m, bearing: 89.816418 deg, approach rate: -0.457024 m/s, LOS rate: 0.053813 deg/s, cmd heading: 86.683590 deg, new cmd heading: 86.755504 deg.  i;HeadingCmd: 1.514169 target range: 62.900002 and range: 62.90 m.hL?hhhhggbgjgeejeJe:e`@雝Bɛؿ >) g?i)=i#ekx,%J:^AVKբ?yV?9V7W=YV Z*>VHm߳?l??`? ?b`x? m?VKբ?ɨV*; VC^Bb'#I]] ]] ]]  ] ] ]Mb@Mb@Mb@YY Y)YIYy] ףp= ?~jtMbp?]Q>]ļ]; ]@)]@I]Z@i]@Y]=@HH995jѽ ?=Yɇ;Q >٣ GF: >]859Źl?a85Y iFBiT:>m:?q@UD ; ;I85 @2iDNOT Ignoring new targets: 62.90 m.i :"i : ProNav: ac range: 62.900002 m, nav range: 61.482502 m, bearing: 89.840492 deg, approach rate: -0.561243 m/s, LOS rate: 0.066033 deg/s, cmd heading: 86.755506 deg, new cmd heading: 86.827971 deg.  iE5;HeadingCmd: 1.515434 target range: 62.900002 and range: 62.90 m.h?hhhhggbgjgBeejeJe:eq@%Bɛ%$>)! %0?i!)% =))iMDe!>D?DDEo0 E ՁՅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.473688VFE j>F! ZA) MM >x,vc:^A6 ?y6F?96`=Y6)>6Hx?o??? +.?(?`S÷`?m?6 ?ɨ6; 6!CBBB"#IHJHJ?5^ bY=Yf;Q f>d٣h jGjFj9; j>vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.725467a]m859e̻l?am85YeŔ ie=BimԸ?qm@eUDe:e:e M85 @2iDNOT Ignoring new targets: 62.90 m.i|:"i|:% ProNav: ac range: 62.900002 m, nav range: 61.293526 m, bearing: 89.862514 deg, approach rate: -0.472504 m/s, LOS rate: 0.055232 deg/s, cmd heading: 86.827974 deg, new cmd heading: 86.894243 deg.  i%;-HeadingCmd: 1.516591 target range: 62.900002 and range: 62.90 m.h-?h)h1h1h1g9g9bg9jg9eAeAjeAJeA:eE@雵Bɛ >) ~?i)p=隹i8gGy G} m#IG} ߄BGy Gy Gy G} <G} FF ZA M >:J5 RIBJ5 ]9JJ1 RJ5 ZJ5  DQcuJ+ 6x,0}:^A.C?y.@?9.=Y.e(>.H`?q N??Kɶ?d?@. ? Xm?.C?ɨ.:; ."CBBB#I Mb@Mb@Mb@   ) I y -?:vy&1|? ?> Լ `; @) @I p@i =@  @H%H%p;55酽 5C=Y5;Q 5>9٣9 =G9Eh; E>I]U859Ml?aU85YMď iM5BU>mU:UR?q]@MVDMi ;M ;MP85eB e @e\E2i!EDNOT Ignoring new targets: 62.90 m.iU/:"iU/:m ProNav: ac range: 62.900002 m, nav range: 61.103558 m, bearing: 89.885508 deg, approach rate: -0.461492 m/s, LOS rate: 0.056034 deg/s, cmd heading: 86.894240 deg, new cmd heading: 86.963438 deg.  im;uHeadingCmd: 1.517798 target range: 62.900002 and range: 62.90 m.h7G?hhhhggbgjgBeejeJe:e @Bɛ P >) x?i)Z=iN DAT read: 19:45:45.0969 LVL= 18384, 30113, 16578, 32755, AGC= 63, IDX= 416, 0.24, 0.404,-1.011, 0.354, 0.127, PHS= 0.365,-1.091, 0.225, RAW= 145.0, 7.3, CAL= 147.2, -1.0, ROT= 2.8, 1.0  Ygot valid direction response: 19:45:45.0969 LVL= 18384, 30113, 16578, 32755, AGC= 63, IDX= 416, 0.24, 0.404,-1.011, 0.354, 0.127, PHS= 0.365,-1.091, 0.225, RAW= 145.0, 7.3, CAL= 147.2, -1.0, ROT= 2.8, 1.0  PDAT read: Bearing 2.8, 1.0 (Local)  ~Local bearing/azimuth received: Bearing 2.8, 1.0 (Local)  DAT read: Range 10 to 50 : 61.2 m (Round-trip 81.7 ms) speed 0.4 m/s  ,DAT read: user:1272>  BDAT read: Tx time:19:45:46.2095  $Ping request sent. ٝ 㥋ٝ fff>ٝ p!@ ڝ w>)ڝ l$@Iڝ 5iڝ +H=ڝ 5<ڙ ۙ ۝ ̥b?d?\f*?I۝ mh>i۝ ݫ۝ +H=۝ 5<ۙ ܙ % :publishing transmit ping time - Fpublishing direction and range infoؙ Y؝ tC?t?W7) ߑؙ 9ؙ ؙ ٙ )ٙ Iٙ iٙ ٙ ٙ ٙ ٙ ڙ )ڙ Iڙ iڙ ڙ ڙ ۙ ۝ ̥b?d?\f*?Iۙ iۙ ۙ ۙ lx,:^A UԐ?yUgο?9U=YU(>UH`h?s ????$?C`?l?UԐ?ɨU; QލBލ#II)HHF5k B=Y`;Q >٣ GFԳ; >1]=8595%l?a=85Y5X i5+BAE?qE@5VD5d:5:5UT85I M@IZjU*m?bjQ ii*:^AjtBj)sB2j`?pbN@f@ɯzptC?t?W7) ߑ"j+H=*j5<p]Pj?+攘lN@vip SflY?QG?ên຿idsBjR?i緪+m?i#DG  j[oBzjWLl?jJPG jjjjsBrjJ? addTargetRange:: Added new target pos. range: 61.200001 m, deltaT: 3.525831 s, deltaX: -1.700001 m, approachRate: -0.482156 m/s, rangeRepo size: 4  Added new target pos. range: 61.200001 m, bearing: 88.798717 deg, lat: 36.903917 deg, lon: -122.119004 deg, deltaT: 3.525831 s, deltaX: -1.700001 m, approachRate: -0.482156 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 61.20 m.i"i  ProNav: ac range: 61.200001 m, nav range: 60.854237 m, bearing: 89.841642 deg, approach rate: 0.000000 m/s, LOS rate: 0.056034 deg/s, cmd heading: 86.963437 deg, new cmd heading: 87.039487 deg.  i HeadingCmd: 1.519126 target range: 61.200001 and range: 61.20 m.hr?hhhh!g!gabgijgieieijeqJeuN@:eu?雽Bɛ>) rs?i)(=i@ZI] bI] jIY rIY zI] ̈́:I] H9IY IY lګx,J:^A>uգ?y>?9>&=Y>_'>>H ߱? vu??@Ƶ?? 5?@l?>uգ?ɨ>; >CFzBJ"IHRHR(*5Z; Z[=Y^;Q ^>\٣\ ^GbFbͻ; b>l]u859nl?a}85Ynх in#B?q@n VDnB)I Mm?iI)漏=隑i9IFi ZA M >x,Lk:^AuB"IMb@Mb@Mb@ )Iykt?tD< `@)@Ii@HH3A5 <=YQ >٣ G >]859l?a85Y iB>m:յ?q@-VD::J[85 @2iDNOT Ignoring new targets: 61.20 m.i%:"i%:5 ProNav: ac range: 61.200001 m, nav range: 60.481251 m, bearing: 89.890171 deg, approach rate: -0.567352 m/s, LOS rate: 0.080304 deg/s, cmd heading: 87.100116 deg, new cmd heading: 87.185522 deg.  i5r\;=HeadingCmd: 1.521674 target range: 61.200001 and range: 61.20 m.h=:?h9h9h9h9gAgAbgAjgAeIeIjeQJeQ:eU?}Bɛ}eD>) k?i)=隁iVḎx,?:^A>?y>L?9>c=Y>Ja>>H@??@?2?~A?< L?Cv?>?ɨ>; > CJfBJ"IN=iLbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247915H jH h 5 U=Y%z:Q %>!٣! -G-F57< 5>9]E859=l?aE85Y={ i=BIM?qM@=8VD=:=-:=^85Q U@Q2iyDNOT Ignoring new targets: 61.20 m.i9:"i9: ProNav: ac range: 61.200001 m, nav range: 60.303116 m, bearing: 89.913788 deg, approach rate: -0.464259 m/s, LOS rate: 0.061734 deg/s, cmd heading: 87.185521 deg, new cmd heading: 87.256581 deg.  ix);HeadingCmd: 1.522915 target range: 61.200001 and range: 61.20 m.h?hhhhggbgjgeejeJe:e`b?Bɛ >) d?i)X=ig' x,:^A:J/KBJ+9JJRJ ZJJ? J ?J?yJs?9JaR=YJ L!>JHf ?  ??`h?ٶ?t`?Yr?J?ɨJ@; JCRaBR"I-Mb@Mb@Mb@)) )))I)y-Q?:v:v?->-T-T< -3@)-&@I-@i-@)-@HEHE>5U UF=Y];Q ]>a٣a eGeFe@< e>i]u859mul?a85Ymv im B%I>m-:-?qU@mEVDm)eW;v< e0c?i)j=隉i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0039031Ŏx,;^Ab'?yb?9bh=Yb$">bH@빬?2 ?`.?_??&?4o?b'?ɨb\Ɩ; b"CjYBj"IHvHv=5. P=Y;Q  > ٣   G H: >]%859l?a%85Yq iB!%?q-@QVD:l:e851 5@12iYeDNOT Ignoring new targets: 61.20 m.ie:"ie:} ProNav: ac range: 61.200001 m, nav range: 59.921879 m, bearing: 89.975052 deg, approach rate: -0.526903 m/s, LOS rate: 0.085060 deg/s, cmd heading: 87.350606 deg, new cmd heading: 87.440957 deg.  i}i;HeadingCmd: 1.526133 target range: 61.200001 and range: 61.20 m.hPX?hhhhggbgjgeejeJe:e@@Bɛu6>) Q_?i)?=i\I ) |C U ~G4̎x,2;^A, @)^Qy\^Bv?yv?9v=Yv ">vH?3+??@s?%?˺A?5m?v?ɨvᲖ; v CVB"II ) HH<55- < -H=Y-;Q ->I٣I UGUFU9 >]859l?a85Yl iB!%?q-@^VD2|<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510066o9<]i85B @ZEGGG"IGBGGGGӰ<G FB*** querying acoustic contact ***ii2i)-DNOT Ignoring new targets: 61.20 m.i5|:"i5|:E ProNav: ac range: 61.200001 m, nav range: 59.721081 m, bearing: 90.007568 deg, approach rate: -0.404878 m/s, LOS rate: 0.065783 deg/s, cmd heading: 87.440956 deg, new cmd heading: 87.538831 deg.  iE4;mHeadingCmd: 1.527841 target range: 61.200001 and range: 61.20 m.huJ?hqhqhqhqgqgqbgyjgyeyeyjeJe:e`@Bɛ>) ^?i)- =i:J}BJyJJyRJ} ZJ}DDDEA5 E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759854VF F ZA ME >Ҏx,CL;^Af핥?yf?9f=Yf >fH¬?`??z?ϸ?r?`l?f핥?ɨf; fCnQBr"IMb@Mb@Mb@ )IyGz?Zd;~jt?p>yD< VA)E@I$@i@3@HH85f ?=Y;Q >٣ GF > ]859 l?a85Y .g i Bn>m:±?q@ kVD :  : l85! -?@-WE2iQUDNOT Ignoring new targets: 61.20 m.i]:"i]:m ProNav: ac range: 61.200001 m, nav range: 59.519260 m, bearing: 90.043360 deg, approach rate: -0.590902 m/s, LOS rate: 0.105148 deg/s, cmd heading: 87.538833 deg, new cmd heading: 87.646571 deg.  imS;uHeadingCmd: 1.529721 target range: 61.200001 and range: 61.20 m.hu?hqhqhqhygygybgyjgBeejeJe:eu@HR=Ha=ZI bI jI rI zI :I 9I I I !;qI ";iI ;uI ;mUBɛ]o >)Y ]\?iY)UJ=隁i<M]ڎx,xk;^A>P?y>?9>̊=Y>;>>H`O?`o?˿?̲?`? .?dl?>P?ɨ>舗; >CFBBF"IHNHNMD5V: V9=YZ\٣\ ^G\b b>h]n859jyl?an85Yj}a ijBpr?qr@jyVDjp:j:jp85t v<@t2iDNOT Ignoring new targets: 61.20 m.i:"i%:- ProNav: ac range: 61.200001 m, nav range: 59.303391 m, bearing: 90.082042 deg, approach rate: -0.487593 m/s, LOS rate: 0.087691 deg/s, cmd heading: 87.646572 deg, new cmd heading: 87.763041 deg.  i-p;HeadingCmd: 1.531754 target range: 61.200001 and range: 61.20 m.h?hhhhgg bg1jg9eAeqjeyJey:e`Q @雕Bɛ>) SU?i)=隙is BDAT read: Tx time:19:45:49.8095 $Ping request sent. 둿 jt> $@ Q >) 6&@I i < :   nY& ?!nW?5d8?I >i  < :  u:publishing transmit ping timeuFpublishing direction and range info Y 0?5q?n p\ 9   ) I i      ) I i     nY& ?!nW?5d8?I i     :J BJ s9JJ RJ ZJ  &#"# VFU }:F ZA! M5 >6x,;^Az{?yz3?9zu=YzB>zH&?@u=?]?@6?+B?޼U?'m?z{?ɨz稗; z C8B"I5=i5<}JDAT read: TxSync time:19:45:49.8087 EMb@Mb@Mb@AA A)AIAyEjt?lMb?E?EE< EA)E@IE;@iE@AE@H]H]>5m m'=YuR>;Q u>q٣q uGuF} }>]859l?a85Y[ iЩB+?m:ή?q@VD <<'u85) 5@1ZjU*sm?bjU U iQiUrx;^AjU3mBjUkB2jUl?pU @M@SEo?!3~zpU0?5q?n p\"jU<*jU:pUTаKP@zgIrM@1>kfpUYn?fI ?rF~iUkBjU@iURm?iUhK  jU nBzjUh"m?jU#DG jQjjU=lBrjU-0? addTargetRange:: Added new target pos. range: 59.299999 m, deltaT: 3.530004 s, deltaX: -1.900002 m, approachRate: -0.538243 m/s, rangeRepo size: 4  Added new target pos. range: 59.299999 m, bearing: 87.923886 deg, lat: 36.903926 deg, lon: -122.119004 deg, deltaT: 3.530004 s, deltaX: -1.900002 m, approachRate: -0.538243 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 59.30 m.*iPowering the camera and arming the capture device at range: 59.30 m.h%i%"i!5 ProNav: ac range: 59.299999 m, nav range: 59.060108 m, bearing: 89.161271 deg, approach rate: 0.000000 m/s, LOS rate: 0.087691 deg/s, cmd heading: 87.763040 deg, new cmd heading: 87.900866 deg.  i1eHeadingCmd: 1.534160 target range: 59.299999 and range: 59.30 m.heW_?hahahahahagagibgijgieieqjeqJe`fM@:e?BɛL_>) P?i)%=iE6HI?Sz???b"? G`?r?6?ɨ6F; 4B+BB"IHJHJp;5RL R&=YV=Q V>T٣T VGVFZ< Z>`]f859bl?aj85YbT ib©Bhj[?qj@bVDb;b;bny85p r@p2i  DNOT Ignoring new targets: 59.30 m.*i Powering the camera and arming the capture device at range: 59.30 m.hi`:"i`:- ProNav: ac range: 59.299999 m, nav range: 58.817169 m, bearing: 89.205853 deg, approach rate: -0.529905 m/s, LOS rate: 0.097645 deg/s, cmd heading: 87.900867 deg, new cmd heading: 88.035164 deg.  i-;5HeadingCmd: 1.536503 target range: 59.299999 and range: 59.30 m.h5%?h1h1h1h1h1g9g9bgAjgAeIeIjeJe:e@?=Bɛ=>)A EJ?iI)U'=QQiUǯDADAEE4 EAG1G1G5"IG5[BG5 =G1G1G5<G5 FVFF ZA M >:J MBJ 9JJ RJ ZJ     f PHJ I hAVx,;;^A>+?y>i?9>U=Y>5>>Hk?1`+?ɨ>4; >"CN"BN"I-Mb@Mb@Mb@)) )))I)y-%C?㥛 y&1|?-Z?--`; -A)-@I-QAi-@)-@HeHe\5& ==Y;Q >٣ GF#; >]859l?a85YN iB?mU:UF?q]@VDh<H<2}85mB m?@UEeB*** querying acoustic contact ***iaia2iq}DNOT Ignoring new targets: 59.30 m.*iy}Powering the camera and arming the capture device at range: 59.30 m.hi:"i: ProNav: ac range: 59.299999 m, nav range: 58.597412 m, bearing: 89.244912 deg, approach rate: -0.456008 m/s, LOS rate: 0.081352 deg/s, cmd heading: 88.035162 deg, new cmd heading: 88.152776 deg.  iS_;HeadingCmd: 1.538556 target range: 59.299999 and range: 59.30 m.hi?hhhhhggbgjgBeejeJe:e ?ɛ>) F?i) =  i iS1x,,;^ABp"II!)!H-H-[5= =O=YEQ E>A٣A EGAM M>Q]]859Ul?a]85YUI iUBYaqe@UVDU:U>:U85i mU@q2iDNOT Ignoring new targets: 59.30 m.*iPowering the camera and arming the capture device at range: 59.30 m.hi:"i: ProNav: ac range: 59.299999 m, nav range: 58.395828 m, bearing: 89.281003 deg, approach rate: -0.583979 m/s, LOS rate: 0.104916 deg/s, cmd heading: 88.152778 deg, new cmd heading: 88.261425 deg.  i;HeadingCmd: 1.540452 target range: 59.299999 and range: 59.30 m.h-?hhhhhggbgjgeejeJe:e@|? Bɛ < >)  2>?i)=iٮVx,;^ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.952039Gn>GlGn"IGnABGn =GlGlGn<Gn FH HHH ="H =*H4B'?yd?9\=YhD>H t|?``?}?D?Ժ?}3?Yn?B'?ɨ6I; C Bg"IMb@Mb@Mb@ )IyJ +?㥛 Mbp??; ~A)@IAi@@H@H<5 )=Yz;Q >٣ GF~ >]859l?a85YB iB ?m:?q@VD;;85 @2i9=DNOT Ignoring new targets: 59.30 m.*i9EPowering the camera and arming the capture device at range: 59.30 m.hAiMV:"iMV:] ProNav: ac range: 59.299999 m, nav range: 58.140919 m, bearing: 89.325701 deg, approach rate: -0.522073 m/s, LOS rate: 0.091946 deg/s, cmd heading: 88.261426 deg, new cmd heading: 88.396108 deg.  i]h|;]HeadingCmd: 1.542803 target range: 59.299999 and range: 59.30 m.hez?hahahahahagigibgijgm BeqeqjeqJey:e}@(@雩ɛ4=) :?i)K=隱iD?6DDE 5 E=>9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.202846VF= TF ZA9 M >Yx,O?<^AZ?yZ>:?9Z~=YZ>ZH$? L ?@X?@?21? p(?`l?Z?ɨZC; ZCfBfS"IHn.HnBw5v=˽ v=Yv;Q v ?x٣x zGzFz ~ ?ZI bI jI rI zI :I 9I I I !;I ";I  ;I  ;|]-859~l?a-85Y~> i~B)-?q5@~VD~;~1;~859 =@92iDNOT Ignoring new targets: 59.30 m.*iPowering the camera and arming the capture device at range: 59.30 m.hi :"i : ProNav: ac range: 59.299999 m, nav range: 57.973392 m, bearing: 89.355520 deg, approach rate: -0.502096 m/s, LOS rate: 0.089629 deg/s, cmd heading: 88.396110 deg, new cmd heading: 88.485825 deg.  i v;%HeadingCmd: 1.544369 target range: 59.299999 and range: 59.30 m.h%?h!h!h)h)h)g)g)bg1jg1e1e1je1Je9:e=@雩ɛQ>) 2?i)=隱i/ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705576Sx x,+<^A6?y6H$?96=Y6>6HYz?d??&? 9s?^罿s ?l?6?ɨ6; 6 CbBbC"I hjAAHj:Hj|5rɁ rL=Yv/;Q v>t٣t zGxz?ۺ z>] 859l?a85Y8 i}B?q@VD!*;*;+85%B %@!2iIMDNOT Ignoring new targets: 59.30 m.*iIUPowering the camera and arming the capture device at range: 59.30 m.hQi].:"i].:m ProNav: ac range: 59.299999 m, nav range: 57.762260 m, bearing: 89.393501 deg, approach rate: -0.552444 m/s, LOS rate: 0.099745 deg/s, cmd heading: 88.485825 deg, new cmd heading: 88.600186 deg.  im;uHeadingCmd: 1.546365 target range: 59.299999 and range: 59.30 m.huI?hqhqhqhqhygygybgjgeejeJe:e@雽BɛE6>) R,?i)v =iII?ID]1DYDYE]p0 EYBDAT read: Rx Time:19:45:52.2905 TRx dataTimestamp_ set to:1736538352.899798checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959357GGG"IG#BGGGGGVFzFfArFfAFZAM >:J NBJ 9JJ RJ ZJ J fAI fA`x,E<^AڃB-"Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.210249eMb@Mb@Mb@aa a)aIaye rh?333333Mb`e ?ee eA)e@Ie Aie@aez@H2Hy5 1=YQ >٣ GF >]859l?a85Yh2 ikB ?m:ܰ?q@VD;%;285B @RE=B*** querying acoustic contact ***i9i92iIMDNOT Ignoring new targets: 59.30 m.*iQUPowering the camera and arming the capture device at range: 59.30 m.hQi]$:"i]$:m ProNav: ac range: 59.299999 m, nav range: 57.513260 m, bearing: 89.438258 deg, approach rate: -0.530648 m/s, LOS rate: 0.095794 deg/s, cmd heading: 88.600183 deg, new cmd heading: 88.735034 deg.  im|;uHeadingCmd: 1.548718 target range: 59.299999 and range: 59.30 m.huh } BDAT read: Tx time:19:45:53.4096 } $Ping request sent.} } R#Rx 1: Read range and direction messages. \direction in FSK: [0.985022,0.138436,0.102793] :publishing transmit ping timey  Fpublishing direction and range infoؙ Y؝ sSM?:EHD?zBP?؝ fB9ؙ ؝ M ٝ u)ٝ CIٙ iٝ <ٝ Т>ٝ tٝ o<ٝ @ ڝ [>)ڝ @Iڝ B=iڝ 5>ڝ Bҽڙ ۙ ۝ H{ è?XgĐ?M7?I۝ |>i۝ d[۝ 5>۝ Bҽۙ ܙ  :publishing transmit ping timey  Fpublishing direction and range infoؙ Y؝ sSM?:EHD?zBP?ؙ 9ؙ ؙ ٙ )ٙ Iٙ iٙ ٙ ٙ ٙ ٙ ڙ )ڙ Iڙ iڙ ڙ ڙ ۙ ۝ H{ è?XgĐ?M7?Iۙ iۙ ۙ ۙ ۙ ܙ ̊x,Y_<^A6c?y69?96=Y6>6H#??̺? ?)߻?BN`N?`sj?6c?ɨ6F; 6CbǃBb"IH:H|5-Tս -e=Y-;Q ->1٣1 5G1}: }>]859;l?a85Y?- i\B?q@VD::_85B @PEZj?zk?bj P iiY<^AjfBjvdB2j?p/QL@d謲@+l@zpsSM?:EHD?zBP?"j5>*jBҽp=1kL@B!'?p.Ap|?W#t?iueBj\{i?Ck?iE  jXBzjjj[oBjjDeBrj?] addTargetRange:: Added new target pos. range: 57.500000 m, deltaT: 3.528401 s, deltaX: -1.799999 m, approachRate: -0.510146 m/s, rangeRepo size: 4  Added new target pos. range: 57.500000 m, bearing: 93.916688 deg, lat: 36.903926 deg, lon: -122.119004 deg, deltaT: 3.528401 s, deltaX: -1.799999 m, approachRate: -0.510146 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 57.50 m.*iPowering the camera and arming the capture device at range: 57.50 m.hi"i ProNav: ac range: 57.500000 m, nav range: 57.317139 m, bearing: 89.473660 deg, approach rate: 0.000000 m/s, LOS rate: 0.095794 deg/s, cmd heading: 88.735031 deg, new cmd heading: 88.847715 deg.  iHeadingCmd: 1.550685 target range: 57.500000 and range: 57.50 m.h|?hhhhhggbg jg e ejeJeL@:eU?yɛ=) ?i)nS=JDAT read: TxSync time:19:45:53.4088 ix,|y<^AG*>G(G*Z"IG*BG* =G(G(G* <G*F< ?y]?9y=Y>H M?`$??)ױ?I? |L>?g?騭< ?ɨm; C B "II9)9UAQEMb@Mb@Mb@AA A)AIAyEK7?X9vq٣q }G}F}; }>]859l?a85Y& iMB ?m:k?q@ WD~ ;P;z85 @2iDNOT Ignoring new targets: 57.50 m.*iPowering the camera and arming the capture device at range: 57.50 m.hi:"i:M ProNav: ac range: 57.500000 m, nav range: 57.067757 m, bearing: 89.514040 deg, approach rate: -0.575544 m/s, LOS rate: 0.093599 deg/s, cmd heading: 88.847715 deg, new cmd heading: 88.969384 deg.  iUx;UHeadingCmd: 1.552809 target range: 57.500000 and range: 57.50 m.hUo?hQhYhYhYhYgYgYbgajgeBeejeJe:e?ɛ6=) u?i)J=itVF :_F ZA M >-$x,V<^A~B~!IH JH Ձ5H1H1E  Eu=YEQ M?I٣I MGMFU U?Y]e859]Zl?ae85Y] " i]BBaiqm@]WD]:]6:]c85q ut@q2iDNOT Ignoring new targets: 57.50 m.*iPowering the camera and arming the capture device at range: 57.50 m.hi&:"i&: ProNav: ac range: 57.500000 m, nav range: 56.890926 m, bearing: 89.542890 deg, approach rate: -0.531944 m/s, LOS rate: 0.087055 deg/s, cmd heading: 88.969382 deg, new cmd heading: 89.056199 deg.  in;HeadingCmd: 1.554324 target range: 57.500000 and range: 57.50 m.h?hhhhhggbgjgeejeJe:e?ɛ<=) ?i!)-=)1i=W*x,5<^A26?y24t?92*_=Y27?'>2H?F?y n?`:??!\?`暽d?@\?26?ɨ2u֛; 2 C>BB!IHFHFZ5fh jR=YjQ j>l٣l nGlr< r>t]z859v,l?a~85Yv iv5B|~?q@v$WDvGD;v!E;vʜ85  z@ 2i15DNOT Ignoring new targets: 57.50 m.*i9=Powering the camera and arming the capture device at range: 57.50 m.h9iE{:"iE{:U ProNav: ac range: 57.500000 m, nav range: 56.683807 m, bearing: 89.575079 deg, approach rate: -0.531017 m/s, LOS rate: 0.082829 deg/s, cmd heading: 89.056200 deg, new cmd heading: 89.153121 deg.  iUac;]HeadingCmd: 1.556015 target range: 57.500000 and range: 57.50 m.h]+?hYhYhYhYhYgagabgajgaeieijeiJei:em?雝Bɛ=) 3>i);=隡i::J5 +KBJ5 9JJ1 RJ5 ZJ5 JA IE eA1x,NB<^A2#?y2?92=Y2&>2H`l1? T?_?3?v?n!`'?^?2#?ɨ2v; 2C>sB>!I)B= B=%Mb@Mb@Mb@!! !)!I!y%m?lMbp?%?%%; %zA)%x@I%MAi%@!%=@HM#HMbr5e m@=Y}ŎQ >!٣! %G%F-< ->1]]8595im?ae85Y5 i5&Bm?mm:md?qu@54WD5<5<585 ;@B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 57.50 m.*iPowering the camera and arming the capture device at range: 57.50 m.hi&y:"i&y:E ProNav: ac range: 57.500000 m, nav range: 56.436066 m, bearing: 89.600156 deg, approach rate: -0.535630 m/s, LOS rate: 0.054456 deg/s, cmd heading: 89.153121 deg, new cmd heading: 89.228682 deg.  iE};MHeadingCmd: 1.557334 target range: 57.500000 and range: 57.50 m.hMV?hIhIhIhIhIgIgQbgjgBeejeJe:ey:?ɛm6=)  >i ) =QQi]h̭7x,<^AdB!IH=HH=d5e mL=YmQ m>q٣q uGuFu }>]859Km?a85Y iBq@AWD2::85 '@2iDNOT Ignoring new targets: 57.50 m.*iPowering the camera and arming the capture device at range: 57.50 m.hi1:"iu1: ProNav: ac range: 57.500000 m, nav range: 56.227432 m, bearing: 89.621447 deg, approach rate: -0.572683 m/s, LOS rate: 0.058659 deg/s, cmd heading: 89.228683 deg, new cmd heading: 89.292793 deg.  i!;HeadingCmd: 1.558453 target range: 57.500000 and range: 57.50 m.he{?hhhhhggbgjgeejeJe:e@Yɛ]F=)Y ]>iY)e==aaieݭGE >GA GE !IGE BGE  =GA GA GE <GE F>x,r<^AAA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492785Rn?yRS?9R=YR'>RH@Ң?j??c5?@U4? ) M?v]?Rn?ɨR'; RCjBBrr!IHIH5" A=Y S9Q ->Y٣a eGa; >]859ym?a85Y  i B?q@QWD9:;85 [@NE2iaDNOT Ignoring new targets: 57.50 m.*iPowering the camera and arming the capture device at range: 57.50 m.hiy:"iy: ProNav: ac range: 57.500000 m, nav range: 55.979900 m, bearing: 89.646224 deg, approach rate: -0.541349 m/s, LOS rate: 0.054427 deg/s, cmd heading: 89.292791 deg, new cmd heading: 89.367451 deg.  ii;HeadingCmd: 1.559756 target range: 57.500000 and range: 57.50 m.h?hh!h!hAhIgIgIbgIjgQeQeQjeQJeY:e]V>@雥Bɛ=) >i) ^ۨ=  i #FDx,=^AHxHx~(B~R!IAAMb@Mb@Mb@ )Iym?Mb  A)@IAi@(@H-Hv5" N=YQ >٣ GF >]859m?a85Y iB?m:?q@^WD::.85 @2iDNOT Ignoring new targets: 57.50 m.*iPowering the camera and arming the capture device at range: 57.50 m.lFinal approach. Armed for intercept at range: 57.50 m.\Transitioning guidance mode to: FINAL_APPROACHi@i:"i: ProNav: ac range: 57.500000 m, nav range: 55.775036 m, bearing: 89.658735 deg, approach rate: -0.541231 m/s, LOS rate: 0.033175 deg/s, cmd heading: 89.367452 deg, new cmd heading: 89.405123 deg.  i#:HeadingCmd: 1.560414 target range: 57.500000 and range: 57.50 m.h?hhhhggbg jg тBe ejeJe:e@'@-BDAT read: Rx Time:19:45:55.8879 5TRx dataTimestamp_ set to:1736538356.4272645checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994578Yɛ]v8=)]< e5>i)=H=隩ic checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245384$Kx,.=^AJ?yJ?9JA=YJM#>JH? ?`_?ș?啺?`H?@f?J?ɨJ6&; HVBV;!IHb=Hb}5jmǽ jY=YjJQ n>l٣p rGrFr?= r>t]z859vm?az85Yv) ivB|~2?q~@vkWDv;v;vz85 '@ 2i)5DNOT Ignoring new targets: 57.50 m.*i1i5:"i5:M ProNav: ac range: 57.500000 m, nav range: 55.566319 m, bearing: 89.669005 deg, approach rate: -0.578994 m/s, LOS rate: 0.028595 deg/s, cmd heading: 89.405120 deg, new cmd heading: 89.436045 deg.  iM:UHeadingCmd: 1.560953 target range: 57.500000 and range: 57.50 m.hUS?hQhQhQhQgYgYbgajgaeaeajeaJei:em$ @mBɛmX=) }>i)=隡iGG!IGqBG =GGG<G F=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499776H HHH ="H =*Hh&5VF FI ZAQ Mu >Qx,uUH=^A:JBMLBJB 9JJ@RJB ZJBJHIJgAj.V?yj?9jI=Yj">jH^Ó?q??@y?8?[&?Uj?j.V?ɨj;8; jCzBz!IDAT read: 19:45:55.8879 LVL= 21920, 29377, 20466, 31667, AGC= 61, IDX= 420,-0.00,-2.930, 1.854,-3.102, 3.134, PHS= 0.308,-1.232, 0.044, RAW= 140.8, 12.3, CAL= 143.8, 5.7, ROT= 6.2, -5.7 Ygot valid direction response: 19:45:55.8879 LVL= 21920, 29377, 20466, 31667, AGC= 61, IDX= 420,-0.00,-2.930, 1.854,-3.102, 3.134, PHS= 0.308,-1.232, 0.044, RAW= 140.8, 12.3, CAL= 143.8, 5.7, ROT= 6.2, -5.7 PDAT read: Bearing 6.2, -5.7 (Local) ~Local bearing/azimuth received: Bearing 6.2, -5.7 (Local)  DAT read: Range 10 to 50 : 55.6 m (Round-trip 74.2 ms) speed 0.4 m/s ,DAT read: user:1275> BDAT read: Tx time:19:45:57.0096 $Ping request sent.ٝ-ٝX94=ٝnF@ ڙ)ڝK @Iڝ%=iڝk=ڝ%˽ڙ ۙ۝5 T;?(+`.?ӃF?I۝۩>i۝[۝k=۝%˽ۙ ܙ:publishing transmit ping timeFpublishing direction and range infoؙY؝̒ѧ?Yuق?hܸm?ؙ9ؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ ۙ۝5 T;?(+`.?ӃF?Iۙiۙۙۙۙ ܙMb@Mb@Mb@ )IyJ +?Mbp?~jth??;D; 7 A)@I Ai@AH,H_v5-۽ - =Y-Q 5>1٣1 5G1=6< =>A]m859Em?au85YE iEBu?mu:uj?qu@E}WDEM;E;E85y @Zj>]>k?bjSԾL ii6K=^Ajf^Bj\B2j)?pI90K@$y@"ɵ@zp̒ѧ?Yuق?hܸm?"jk=*j%˽phTQK@s5?pxe/5q?x>mnӁ?i]Bj|isk?iZB  jBzjjE jpBjjb]BrjS? addTargetRange:: Added new target pos. range: 55.599998 m, deltaT: 3.777676 s, deltaX: -1.900002 m, approachRate: -0.502955 m/s, rangeRepo size: 4  Added new target pos. range: 55.599998 m, bearing: 94.073632 deg, lat: 36.903926 deg, lon: -122.119004 deg, deltaT: 3.777676 s, deltaX: -1.900002 m, approachRate: -0.502955 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 55.60 m.*ii"i ProNav: ac range: 55.599998 m, nav range: 55.346012 m, bearing: 89.671295 deg, approach rate: 0.000000 m/s, LOS rate: 0.028595 deg/s, cmd heading: 89.436047 deg, new cmd heading: 89.485314 deg.  i%HeadingCmd: 1.561813 target range: 55.599998 and range: 55.60 m.h%?h!h!h!h)g)g)bg)jg5߂Be1eYjeYJe]K@:e] ()?Bɛ=) xC>i)=iQ'Xx,2b=^A6?y6Q?96=Y6İ">6H|?ga?1?`њ??P$?m?6?ɨ6h֨; 6CNBN IV=iV=)V= THZHZB5 =Y ;_Q  ? ٣  G F< ?!]-859%m?a-85Y% i%ܨB)5?q5@%WD%:%:%85 AB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 55.60 m.*ii]Է"i]Էm ProNav: ac range: 55.599998 m, nav range: 55.185551 m, bearing: 89.670926 deg, approach rate: -0.630854 m/s, LOS rate: -0.001453 deg/s, cmd heading: 89.485314 deg, new cmd heading: 89.484205 deg.  im1uHeadingCmd: 1.561794 target range: 55.599998 and range: 55.60 m.hu?hyhyhyhygygybgjgeejeJe:e?BɛeG=) >i)(B=ix2G G `!IG 4BG =G G G <G Fm checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741510VF 9F ZAME>`x,:;=^AU^?yU?9U;=YU>">UH;l?q=????? |t?2q?U^?ɨU7; U"CmƂBm IMb@Mb@Mb@ )Iy}?5^I?:v?Mbp?M?<; d A)@IiZ@AHHW5-R -!=Y-һQ 5>1٣1 5G5 F=WS< =>A]M859Em?aM85YE  iEѨBMz?mU:U?qU@EWDE3;E7;E85]B ]A]LE2iDNOT Ignoring new targets: 55.60 m.*ii"ie ProNav: ac range: 55.599998 m, nav range: 54.928917 m, bearing: 89.657115 deg, approach rate: -0.524181 m/s, LOS rate: -0.028341 deg/s, cmd heading: 89.484207 deg, new cmd heading: 89.442581 deg.  immHeadingCmd: 1.561068 target range: 55.599998 and range: 55.60 m.hm?hhhhggbgjg˂BeejeJe:ez?雅Bɛ׵=) =i)p=隙i2ZI= zbI= wjI9 rI9 zI= `:I= 9I9 I9 I= o;qU I= p;iU I= :uU I= :m] VF Y=<F ZA M >/vfx,&=^A2^?y2 ?923=Y2Y!>2Hsq@ k?a?z?`?@͸ ?st?2^?ɨ2^; 0>B> IHFfchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.250398HFMD5r rX=YrQ r>t٣t zGxzϨ< ~>|]859~m?a 85Y~ i~ɨB  ?q @~WD~h:~:~J85 iA2iAEDNOT Ignoring new targets: 55.60 m.*iAiM"iM] ProNav: ac range: 55.599998 m, nav range: 54.736980 m, bearing: 89.645129 deg, approach rate: -0.508603 m/s, LOS rate: -0.031874 deg/s, cmd heading: 89.442584 deg, new cmd heading: 89.406498 deg.  i]eHeadingCmd: 1.560438 target range: 55.599998 and range: 55.60 m.hem?hahahahagagibgijgqeqeqjeyJey:e}?雥Bɛﶯ=)  =i)M}=隩iJЯlx,Qݴ=^A(@BNҭ?yN?9N!$=YNA9!>NHa?? }?`]?@[?`u?Nҭ?ɨN+ ; NCZBZ II\)\HbHb`5j jL=YrwQ r>p٣t vGv Fv< v>x]}859z m?a85Yz izB_?q@zWDzRG%CG%!IG%BG!G!G!G%<G!DDDE0 EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756672VFmo<FIZAQM9>:J BJ 9JJ RJ ZJ J I fA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007939Vsx,=^A}B} I-Mb@Mb@Mb@)) )))I)y- ףp= ?S㥛?~jth?-Q>-/<-D; - A)-@I-zAi-@)-GAH]H]7`5mܽ m3=YQ >٣ G F >]859m?a85Y iB>m:?q@WD::85 A2iDNOT Ignoring new targets: 55.60 m.*i i %"i % ProNav: ac range: 55.599998 m, nav range: 54.310535 m, bearing: 89.615469 deg, approach rate: -0.499184 m/s, LOS rate: -0.036203 deg/s, cmd heading: 89.365690 deg, new cmd heading: 89.317166 deg.  iƺ%HeadingCmd: 1.558879 target range: 55.599998 and range: 55.60 m.h%V?h!h)h)h)g)g)bg1jg5Be1e1je9Je9:e=9@eBɛeG:=)a m:ii)mj=iiimؒ6yx,-=^A%nB%m IH5H5\5E E_=YIQ M>I٣I MGIQ U>Y]e859]m?ae85Y]* i]Baiqm@]WD]%:]:]85q uQAqB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 55.60 m.*ii}!"i}!]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512080m ProNav: ac range: 55.599998 m, nav range: 54.136745 m, bearing: 89.602824 deg, approach rate: -0.483550 m/s, LOS rate: -0.035296 deg/s, cmd heading: 89.317168 deg, new cmd heading: 89.279111 deg.  imHeadingCmd: 1.558214 target range: 55.599998 and range: 55.60 m.hs?hhhhggbgjgeejeJe:ebW@雵BɛK=) di)D=隹iz G9 G= IG= ɂBG9 G9 G= @DG= i<G= FVF < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763998F ZA M >wx,>^A%?y%?9%Y=Y%>%H䍿) T??F &v?@)k?*?%?ɨ%; !5aB=] I=4>i=a=Mb@Mb@Mb@ )IyZd;O?S㥛?t< ` A)-@I Ai@A HHe5u >=Yh2Q > ٣   G  Fv< >]%859m?a%85Y iB%>m-:-?q-@WD ;;851 5A12iaeDNOT Ignoring new targets: 55.60 m.*iqi}+"i}+ ProNav: ac range: 55.599998 m, nav range: 53.940472 m, bearing: 89.586764 deg, approach rate: -0.457260 m/s, LOS rate: -0.037552 deg/s, cmd heading: 89.279110 deg, new cmd heading: 89.230754 deg.  i+κHeadingCmd: 1.557370 target range: 55.599998 and range: 55.60 m.hW?hhhhggbgAjgEBeAeIjeIJeQ:eUm@%Bɛ-(=)1 5i1)5.=11i=_~=ImW?Iq:JBJ+9JJRJ ZJeBDAT read: Rx Time:19:45:59.4856 mTRx dataTimestamp_ set to:1736538360.216520uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.018712DmDqDqEu0 EqVF] `<<H H ZI bI rjI rI zI I 9I I I I I :I :F1 ZA9 MU >Ux,L>^A6Ѯ?y6?96l/=Y6>6H̏@ ?? b?=? Մ?6Ѯ?ɨ6<; 4>PB>H IHJHJa5R Re=YRQ R>T٣T VGVFVX+; Z>Xbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268001]f859Zm?af85YZ iZBdj%?qj@ZWDZb;Z%c;Z85nB rKArJE2iDNOT Ignoring new targets: 55.60 m.*ii$"i$ ProNav: ac range: 55.599998 m, nav range: 53.777454 m, bearing: 89.573155 deg, approach rate: -0.430015 m/s, LOS rate: -0.036005 deg/s, cmd heading: 89.230752 deg, new cmd heading: 89.189804 deg.  iź HeadingCmd: 1.556656 target range: 55.599998 and range: 55.60 m.h @?h hhhg1g1bg9jg9e9e9jeAJeA:eEת @Yɛ]==)a e8ia)e ̩=aaimVEAVF=FZAM>DAT read: 19:45:59.4856 LVL= 21728, 26865, 16594, 32627, AGC= 62, IDX= 412,-0.12, 1.319,-0.048, 1.435, 1.189, PHS= 0.218,-1.189, 0.243, RAW= 150.9, 10.3, CAL= 151.4, 1.7, ROT= 358.6, -1.7 Ygot valid direction response: 19:45:59.4856 LVL= 21728, 26865, 16594, 32627, AGC= 62, IDX= 412,-0.12, 1.319,-0.048, 1.435, 1.189, PHS= 0.218,-1.189, 0.243, RAW= 150.9, 10.3, CAL= 151.4, 1.7, ROT= 358.6, -1.7 PDAT read: Bearing 358.6, -1.7 (Local) ~Local bearing/azimuth received: Bearing 358.6, -1.7 (Local) DAT read: Range 10 to 50 : 53.8 m (Round-trip 71.8 ms) speed 0.4 m/s ,DAT read: user:1276> BDAT read: Tx time:19:46:00.6096 $Ping request sent.ud;_>u'1ux>u(@ uX8>)u)@Iu^A6?y6`)?96 ޲=Y6.>6H ??lu?}T]?@*?6?ɨ6; 6!CBJBBA IHJHJa5jHڼ jG=Yj^Q j>l٣| ~G; > ]859 l?a85Y  i B=B?q=@ WD X; ; y85I MwAQZjJ6m?bjuL ii->^Aj3WBjUB2jƁ?puoPJ@7bx`e?zpI^9?s1s `?"j*ȼ*jp?}J@w2v p!Ո?4?lKziVBj&?iڠ6m?iA2C  jZwBzj緪+m?jjZwBjj[VBrj?  addTargetRange:: Added new target pos. range: 53.799999 m, deltaT: 3.535973 s, deltaX: -1.799999 m, approachRate: -0.509053 m/s, rangeRepo size: 4 = Added new target pos. range: 53.799999 m, bearing: 89.303947 deg, lat: 36.903927 deg, lon: -122.119004 deg, deltaT: 3.535973 s, deltaX: -1.799999 m, approachRate: -0.509053 m/s, posRepo size: 4 2i9EDNOT Ignoring new targets: 53.80 m.*iAiM"iG>GCG IGBG =GGG<G F ProNav: ac range: 53.799999 m, nav range: 53.588898 m, bearing: 89.441816 deg, approach rate: 0.000000 m/s, LOS rate: -0.036005 deg/s, cmd heading: 89.189805 deg, new cmd heading: 89.144926 deg.  iHeadingCmd: 1.555872 target range: 53.799999 and range: 53.80 m.h&?hhhhggbgjgeejeJe`fJ@:e@9?eBɛeS=)iJDAT read: TxSync time:19:46:00.6088 m)i)Z=)i-YГx,uP>^Ar>Br2 II|)|AMb@Mb@Mb@ )Iy"~j?:v?:v?S>T<T<  A)p@Ii@AZIybI}qjI}0rIyzIyI}q9I}ـ3IyIyIyI}:I}:HHjC55_/ ==YEQ E>I٣I MGMFM U>Q]]859Ul?a]85YUW iUBe>me:eR?qe@UWDU ;U;U;85i uAq2iDNOT Ignoring new targets: 53.80 m.*ii"i ProNav: ac range: 53.799999 m, nav range: 53.347656 m, bearing: 89.428632 deg, approach rate: -0.462978 m/s, LOS rate: -0.025418 deg/s, cmd heading: 89.144924 deg, new cmd heading: 89.105191 deg.  iHeadingCmd: 1.555179 target range: 53.799999 and range: 53.80 m.h?hhhhggbgjgvBeejeJe:e@!?Bɛ }=)  Bi ) )= iTx, l>^A2q?y2?92:=Y2p>2H `ܤ?@?R`q?`iᴿ@? ?2q?ɨ25Ԥ; 2 C>4B>& IHJHJ)M5R R=YR Q R?T٣T ZGZFZc< Z?\]b859^Yl?ab85Y^ i^Bdf?qf@^XD^;^;^85h j'AlzB*** querying acoustic contact ***ixix2i 5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.DNOT Ignoring new targets: 53.80 m.*iiu"iu ProNav: ac range: 53.799999 m, nav range: 53.220245 m, bearing: 89.420874 deg, approach rate: -0.441331 m/s, LOS rate: -0.026934 deg/s, cmd heading: 89.105193 deg, new cmd heading: 89.081866 deg.  iHeadingCmd: 1.554772 target range: 53.799999 and range: 53.80 m.h?hhhhggbgjgeejeJe:eG|?1ɛ5ņ=)1 5Wi1)==99i=6GGs IGsBGGGG<G FHǪC HǪCHH ="H =*H65VF{=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249084F ZA M >ax,K˅>^AZ?yZH?9Z>=YZT >ZH' @?`?}^@?`7n??Z?ɨZI; ZCf/Bf I]Mb@Mb@Mb@YY Y)YIYy]'1Z?{Gz?Q?]>]#<]u< ]` A)]@I] Ai]@Y]3AHHE5 <=Y[Q >٣ GZ; >]859l?a85Y iB>m:8?q@XDx;?F;85y }OAy2iDNOT Ignoring new targets: 53.80 m.*ii<й"i<й5 ProNav: ac range: 53.799999 m, nav range: 53.026875 m, bearing: 89.410334 deg, approach rate: -0.415956 m/s, LOS rate: -0.022757 deg/s, cmd heading: 89.081868 deg, new cmd heading: 89.050130 deg.  i5y=HeadingCmd: 1.554218 target range: 53.799999 and range: 53.80 m.h=?h9h9h9h9g9g9bgAjgE|BeAeAjeiJeq:eu?ɛ]=:J e^MBJ 9JJ RJ  ZJ      Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499921) ebia)mO{=iiimڕ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751707Kx,<>^A6?y6?96E>=Y6R>6Hsl@ͷ``?1?`Z?Ab??6?ɨ6(>; 6 CB*BB IF>iF>)Fp= F=HJHJQc5V0׼ V\=YVQ Z>X٣X ZGZF^t =>I]U859M!l?a]85YM` iMBY] ?q]@MXDM9;Ms:;M85i mwAi2iDNOT Ignoring new targets: 53.80 m.*iic"ic ProNav: ac range: 53.799999 m, nav range: 52.855778 m, bearing: 89.401207 deg, approach rate: -0.474590 m/s, LOS rate: -0.025396 deg/s, cmd heading: 89.050128 deg, new cmd heading: 89.022661 deg.  ioHeadingCmd: 1.553739 target range: 53.799999 and range: 53.80 m.h?hhhhggbgjgeejeJe:e a?Bɛ=)   mi ) &'=  i '/x,~>^AZI&tbI&njI&1rI$zI&;N:I&99I&3I$q*@i*@u*@m*@BD?yBV?9B3=YBx]>BH`(ݻ@6Q??<~ʴ?``~r?@?BD?ɨB; @N#BR IHZHZ`5f  fH=YfJRQ f>h٣h jGhnm n>p]v859rl?av85Yrб irBtv?qz@r'XDr:r`:r[85| A2i)-DNOT Ignoring new targets: 53.80 m.*i)Ge>GaGeS IGeYBGaGaGaGe<Ge Fi͹"i͹ ProNav: ac range: 53.799999 m, nav range: 52.682755 m, bearing: 89.392496 deg, approach rate: -0.444973 m/s, LOS rate: -0.022476 deg/s, cmd heading: 89.022664 deg, new cmd heading: 88.996445 deg.  ivHeadingCmd: 1.553281 target range: 53.799999 and range: 53.80 m.h?hhhhggbgjgeejeJe!:e%`@iɛm$=)i mN|i)^=隑iSVFmf/=FI ZAY M} >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508043:J xLBJ 9JJ RJ ZJ 8x,2V>^AZ!?yZ?9Z=YZh>ZH7` %?@T<  A)@I AiAHHj5J :=YgQ >٣ GF >]859l?a85Y iB >m : ?q @4XDM::385B AHE2i9EDNOT Ignoring new targets: 53.80 m.*iAiE8"iE8] ProNav: ac range: 53.799999 m, nav range: 52.487041 m, bearing: 89.394298 deg, approach rate: -0.445497 m/s, LOS rate: 0.004116 deg/s, cmd heading: 88.996443 deg, new cmd heading: 89.001867 deg.  i]49]HeadingCmd: 1.553376 target range: 53.799999 and range: 53.80 m.he?hahihihigqgybgjgxBeeje Je:ex@Yɛ]=)a eia)mHI=隩i꾴ƺx,j2>^A2D?y2?92k=Y2T=2H`@ξ?`?WVZ?`TP??2D?ɨ2]; 2 CB$BB IID)DDDHJHJT_5R< Ra=YVQ V>T٣X ZGZFZ Z>\]b859^9l?af85Y^f i^Bdf=?qf@^>XD^:^K:^`85h jAl%BDAT read: Rx Time:19:46:03.0833 %TRx dataTimestamp_ set to:1736538363.743183-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012828UB*** querying acoustic contact ***iQiQ2iDNOT Ignoring new targets: 53.80 m.*ii8"i8 ProNav: ac range: 53.799999 m, nav range: 52.325325 m, bearing: 89.396332 deg, approach rate: -0.423653 m/s, LOS rate: 0.005346 deg/s, cmd heading: 89.001866 deg, new cmd heading: 89.007988 deg.  ij9HeadingCmd: 1.553482 target range: 53.799999 and range: 53.80 m.h?hhhhggbgjgeejeJeQ:eU @ c~G! 9a)u#yqu'Bɛ=) yi)=隑i"Gm>GiGmG IGmOBGm =GiGiGmҰ<Gm Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263723x,$?^A_?y?9=Y.=HӀ3? ?S?`X?@<@E?೬?_?ɨ; C B IMb@Mb@Mb@ )Iysh|??I +:v?>9T< )@I Ai3@AHHa5EL E&=YMi Q M>I٣I MGUF]c̻ ]>i]m859m l?au85Ymy imzBuY>mu:u?qu@mMXDm:mA:m85 A2iDNOT Ignoring new targets: 53.80 m.*iij9"ij9 ProNav: ac range: 53.799999 m, nav range: 52.100349 m, bearing: 89.404358 deg, approach rate: -0.474061 m/s, LOS rate: 0.016984 deg/s, cmd heading: 89.007986 deg, new cmd heading: 89.032167 deg.  i::HeadingCmd: 1.553904 target range: 53.799999 and range: 53.80 m.hW?hhhhggbgjgBeeje Je :e 3 @UDAT read: 19:46:03.0834 LVL= 19792, 25073, 21266, 27187, AGC= 63, IDX= 421,-0.50,-1.043,-2.408,-0.871,-1.147, PHS= 0.192,-1.214, 0.273, RAW= 152.8, 10.4, CAL= 153.0, 1.6, ROT= 357.0, -1.6 eYgot valid direction response: 19:46:03.0834 LVL= 19792, 25073, 21266, 27187, AGC= 63, IDX= 421,-0.50,-1.043,-2.408,-0.871,-1.147, PHS= 0.192,-1.214, 0.273, RAW= 152.8, 10.4, CAL= 153.0, 1.6, ROT= 357.0, -1.6 mPDAT read: Bearing 357.0, -1.6 (Local) u~Local bearing/azimuth received: Bearing 357.0, -1.6 (Local) :JBJ59JJRJ ZJJ? J?DAT read: Range 10 to 50 : 52.2 m (Round-trip 69.6 ms) speed 0.4 m/s ,DAT read: user:1277> BDAT read: Tx time:19:46:04.2097 $Ping request sent.%Zd%Ƌ>%*@ %9>)%*@I%Ǐx,8!?^AZ?yZ?9Z⬡=YZ=ZHw?[?Vm? 8?=0峽?@?Z?ɨZHk; Z"Cf%Bf IHnHnxV5v= vw=YzQ 5?9٣9 =G9=l E?A]M859El?aM85YEi iEuBΏx,;?^AZI6qbI6mjI4rI4zI6D:I6&9I4I4B܅?yBl?9B7l=YB=BH`v@+ռ?`a?@`j?г?yȳ@ڼ?$?B܅?ɨB{О; B CGv>GvCGvA IGvJBGv =GtGvADGv<Gv F=B= IE=iER=)M= M=HUHUI5 ==Y@qQ >٣ GFf >]859_l?a85YR ipB:?q@cXDG::S85 A 2i15DNOT Ignoring new targets: 52.20 m.*i1i=~9"i=~9M ProNav: ac range: 52.200001 m, nav range: 51.861275 m, bearing: 89.274993 deg, approach rate: -0.487825 m/s, LOS rate: 0.017758 deg/s, cmd heading: 89.050797 deg, new cmd heading: 89.071911 deg.  iMB:UHeadingCmd: 1.554598 target range: 52.200001 and range: 52.20 m.qqhU?hhhhggbgjgeejeJe:e rl?9ɛ=~=)9 =ǁi9)E=AAiERՏx,nU?^AJ)?yJ?9J]=YJL=JH`S{`b?`\?F\?@m?/[@?@?J)?ɨJ;; HV&BZ IeMb@Mb@Mb@aa a)aIayeGz?~jt:v?e>ea a)e3@Ie3 Aiev@aeGAH}H}dK5,= E=Y@Q > ٣   G Q; >]%859m?a%85Y2 ijB%>m%:%B?q-@pXD8:4:851 5A12iY]DNOT Ignoring new targets: 52.20 m.*iaie:"ie:u ProNav: ac range: 52.200001 m, nav range: 51.666523 m, bearing: 89.288817 deg, approach rate: -0.471452 m/s, LOS rate: 0.033593 deg/s, cmd heading: 89.071910 deg, new cmd heading: 89.113540 deg.  iuo:}HeadingCmd: 1.555325 target range: 52.200001 and range: 52.20 m.h}?hyhhhggbgjgBeejeJe:e`V?ɛC=)  ti ) @=  i y<HUR=HQi?>P< $ۏx,n?^AB?yB4?9B=YB˜=BHw `!??@d? xJ?{> g??B?ɨB; @R#BR IHZHZB5f fb=YfQ f>h٣h jGjFnj4 n>t]z859vm?az85Yv iveBxz$?qz@vzXDv$:vt:v85B AFE%B*** querying acoustic contact ***i!i!2i)5DNOT Ignoring new targets: 52.20 m.*i1i=9:"i=9:U ProNav: ac range: 52.200001 m, nav range: 51.496635 m, bearing: 89.301141 deg, approach rate: -0.469185 m/s, LOS rate: 0.034146 deg/s, cmd heading: 89.113540 deg, new cmd heading: 89.150631 deg.  iUx:UHeadingCmd: 1.555972 target range: 52.200001 and range: 52.20 m.hm*?hihihihigigqbgqjgqeqeyjeyJey:e}3?雥Bɛp=) jzi)U=隩iWGCG: IGEBGGGGٰ<G FVFN<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.FZAM>nx,e?^A5lS?y5?95+=Y5=5H`|p`L@g??K-q?9? : ? ?5lS?ɨ5; 1}"B} II)Mb@Mb@Mb@ )IyGz?y&1|?p>L`; ` A)`@I AiQAAH5H5^5E*b E4=YEQ E>Y٣a mGF* >]959m?a95Y i]B>m : ?q @XD ;;<95 A2iAMDNOT Ignoring new targets: 52.20 m.*iIiM+Z:"iU+Z:] ProNav: ac range: 52.200001 m, nav range: 51.262867 m, bearing: 89.323594 deg, approach rate: -0.494199 m/s, LOS rate: 0.047684 deg/s, cmd heading: 89.150634 deg, new cmd heading: 89.218302 deg.  ie;mHeadingCmd: 1.557153 target range: 52.200001 and range: 52.20 m.hmP?hihihihigigqbgqjgu˂BeqeyjeyJey:e}@雭BɛW=) |i)k=隱iA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2427956x,s?^AF?yFD!?9F?=YF=FH\Ai? y??``J? 3c@zW?@{?F?ɨF; F"CN$BR IHZHZ`5b< bg=YbG:Q f>d٣d fGdj}' j?l]r959nm?ar95Yn; inWBtv?qv@nXDn:n:n&95x zAx2i!-DNOT Ignoring new targets: 52.20 m.*i)i-Nd:"i-Nd:= ProNav: ac range: 52.200001 m, nav range: 51.097927 m, bearing: 89.340197 deg, approach rate: -0.494144 m/s, LOS rate: 0.049900 deg/s, cmd heading: 89.218301 deg, new cmd heading: 89.268269 deg.  iE;EHeadingCmd: 1.558025 target range: 52.200001 and range: 52.20 m.hE_m?hIhIhIhIgIgIbgQjgQeQeQjeJe:e S@yɛ}~=)y }yiy)f=隁i bx,S?^AGJ>GJCGJA IGJJBGJ =GHGJBDGJ~<GJ FHEC HECHECHE ="HE =*HE5ZI~ybI~bjI~1rI|zI~]:I~t9I~3I|I~;qI~;iI~S:u I~U:m ?y?9L=Y=H4b?@<N? B?zC?@5K?wj/?ҹ?騅?ɨ4; Cޭ#Bޭ IHH^5 6=Y%u6:Q %>!٣! %G-F-λ ->]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746689a]m959em?a95YeR ieNB?q@eXDe 4= BDAT read: Rx Time:19:46:06.6810  TRx dataTimestamp_ set to:1736538367.273011% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001545MU >:J] ҹMBJ] 9JJY RJ] ZJ] +8AKezHx,&?^A2d:?y2w?92%U=Y2jI=2H r? `r??@P!?H?@Ʌ`aG?]?2d:?ɨ2a; 2CRBR IVp>iVC=)V= Vp= Mb@Mb@Mb@   ) I y #~j?9٣9 =G=FE E>I]U959M^m?aU95YMy iMFB]5?me:e?qe@MXDM;Mڋ;M 95  A2iaeDNOT Ignoring new targets: 52.20 m.*iaim":"im":} ProNav: ac range: 52.200001 m, nav range: 50.664562 m, bearing: 89.378607 deg, approach rate: -0.496220 m/s, LOS rate: 0.035590 deg/s, cmd heading: 89.339059 deg, new cmd heading: 89.384000 deg.  i}f:HeadingCmd: 1.560045 target range: 52.200001 and range: 52.20 m.h?hhhhggbgjgׂBeejeJe:e@e @ɛT7|=) i)V+=iXux,8?^AvDAT read: 19:46:06.6810 LVL= 19008, 30401, 15954, 32755, AGC= 60, IDX= 412,-0.15, 0.782,-0.522, 0.850, 0.617, PHS= 0.253,-1.092, 0.230, RAW= 149.1, 9.2, CAL= 149.9, 0.5, ROT= 0.1, -0.5 zYgot valid direction response: 19:46:06.6810 LVL= 19008, 30401, 15954, 32755, AGC= 60, IDX= 412,-0.15, 0.782,-0.522, 0.850, 0.617, PHS= 0.253,-1.092, 0.230, RAW= 149.1, 9.2, CAL= 149.9, 0.5, ROT= 0.1, -0.5 ~PDAT read: Bearing 0.1, -0.5 (Local) ~~Local bearing/azimuth received: Bearing 0.1, -0.5 (Local)  DAT read: Range 10 to 50 : 50.3 m (Round-trip 67.1 ms) speed 0.4 m/s  ,DAT read: user:1278> BDAT read: Tx time:19:46:07.7597 $Ping request sent.I^i^<^7>^Ƌ^k>^ۋ&@ ^l$>)^p'@I^5٣ G >]959 m?a95Ys i=B+?q@XD$<$<95 SAZj^'m?bj^FDR i\i^ޑ?^Aj^3IBj^GB2j^,?p^e;%&I@nW/y?]4?zp^Gf?+(\?B7߁?"j^:*j^5p^-GQYC?դI@WFH p^Vگ!S|?v﮳M? 1i^HBj^>i^34'm?i^ۇI  j^vBzj^34'm?j\j\jj^IBrj^-? addTargetRange:: Added new target pos. range: 50.299999 m, deltaT: 3.527871 s, deltaX: -1.900002 m, approachRate: -0.538569 m/s, rangeRepo size: 4  Added new target pos. range: 50.299999 m, bearing: 89.602858 deg, lat: 36.903926 deg, lon: -122.119003 deg, deltaT: 3.527871 s, deltaX: -1.900002 m, approachRate: -0.538569 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 50.30 m.*ii"i ProNav: ac range: 50.299999 m, nav range: 50.429634 m, bearing: 89.604604 deg, approach rate: 0.000000 m/s, LOS rate: 0.035590 deg/s, cmd heading: 89.384001 deg, new cmd heading: 89.431055 deg.  iHeadingCmd: 1.560866 target range: 50.299999 and range: 50.30 m.h]x?hYhYhYhYgagabgajgaeieijeiJem`f&I@:em?Bɛ8z=) Yi)=iϸGyGyGyG} =GyGyG}<G} FD D D E `0 EE=E>uJDAT read: TxSync time:19:46:07.7589 VF <F ZA! Mu >x,[? @^AޕBޕIMb@Mb@Mb@ )IyK7A`?MbP? ?̼: A)QAIiQA3AHHV5%= -;=Y-Q ->1٣1 5G5F5 5>9]m959= m?am95Y=m i=4Bm' ?mu:u,?q}@=XD=;=;=F95B nADEB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 50.30 m.:J% MBJ% 9JJ!RJ% ZJ%{tngaZTLFD>:6620,+($%!!"  *ii5q:"i5q:M ProNav: ac range: 50.299999 m, nav range: 50.197319 m, bearing: 89.617054 deg, approach rate: -0.549815 m/s, LOS rate: 0.029603 deg/s, cmd heading: 89.431055 deg, new cmd heading: 89.468579 deg.  iM:MHeadingCmd: 1.561521 target range: 50.299999 and range: 50.30 m.hU?hQhQhQhQgQgQbgYjgeڂBeaeijeiJei:em?1ɛ5r=)1 oi)=隙iEj x,&&@^A6q?y6?96G=Y65=6H>h?`??b?`P?̄@ü??6q?ɨ6B; 6C B II)HHN55k 5p=Y5(1Q 5?9٣9 =G=FEf< E?I]U959M m?a]95YMh iM-BY]?q]@MXDM:M:MB95a eAi2i%DNOT Ignoring new targets: 50.30 m.*i!i-}9"i-}9= ProNav: ac range: 50.299999 m, nav range: 50.012424 m, bearing: 89.626023 deg, approach rate: -0.535310 m/s, LOS rate: 0.026063 deg/s, cmd heading: 89.468580 deg, new cmd heading: 89.495586 deg.  i=:=HeadingCmd: 1.561993 target range: 50.299999 and range: 50.30 m.hE`?hAhAhAhIgIgIbgQjgQeQeQjeYJeY:e]?雅Bɛy_=) ݞi)=隉iGU >GQ GU : IGU EBGQ GQ GU CDGU <GU F;x,?@^Ajў?yj`?9jE =Yj]=jHˬY?MB?s?`??(??jў?ɨjG; j"C%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248438-B-IHEHEC5U5) UI=YUh~Q ]>Y٣Y ]GYe\; e>i]u959m m?au95Ymb im$Bq}?q}@mXDm;m);m95 A2iDNOT Ignoring new targets: 50.30 m.*iit9"it9 ProNav: ac range: 50.299999 m, nav range: 49.792709 m, bearing: 89.636419 deg, approach rate: -0.566761 m/s, LOS rate: 0.026933 deg/s, cmd heading: 89.495586 deg, new cmd heading: 89.526910 deg.  iߓ:HeadingCmd: 1.562539 target range: 50.299999 and range: 50.30 m.hJ?hhhhggbgjgeejeJe:e@?雱ɛ^d=) i),=i :Je vNBJe 9JJa RJe ZJe    F%x,Y@^A%ő?y%T?9%r=Y%`$=%H>`??`U? ˄?`W?f*??%ő?ɨ%; % CuBuIZIkbIkjI0rIzI2:I9Iـ3Iq%@i%@u%@m%@Mb@Mb@Mb@ )Iyn?y&1|~jthV?`D A)AIAi AAHH-I5x 3=Y9Q >٣ GFd >] 959 m?a 95Y=\ e tIiBY?m:H?q@XD ; ;95 uA2i-A)-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7527555DNOT Ignoring new targets: 50.30 m.*i1i= 8"i= 8m ProNav: ac range: 50.299999 m, nav range: 49.539536 m, bearing: 89.638628 deg, approach rate: -0.526691 m/s, LOS rate: 0.004621 deg/s, cmd heading: 89.526909 deg, new cmd heading: 89.533573 deg.  imJ9uHeadingCmd: 1.562656 target range: 50.299999 and range: 50.30 m.hu?hqhqhqhygygybgyjgBeejeJe:en?Bɛc=) %(i!)%w=!!i%ІMx,s@^A]܁B]Ie>ie>)ep= ea=HmHme5: d=YQ >٣ GF >]959 m?a95YW iBq@YD:h: 95 A2iDNOT Ignoring new targets: 50.30 m.*iic8"ic8} ProNav: ac range: 50.299999 m, nav range: 49.341068 m, bearing: 89.640376 deg, approach rate: -0.594341 m/s, LOS rate: 0.005256 deg/s, cmd heading: 89.533576 deg, new cmd heading: 89.538841 deg.  i}f9HeadingCmd: 1.562748 target range: 50.299999 and range: 50.30 m.h?hhhhggbgjgeejeJe:eg@雥BɛLI=) EȾi)=i GG( IG6BGGGG<G#FDDDE0 E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256509VF ~<F ZA M5 >7#x,_|@^A=ˁB=IMb@Mb@Mb@ )Iy&1?{Gzt?y&1|?ף;` EA)IAiA AH Hf5 C=YQ >٣  G    >]959 m?a95YP iB%?m%:%?q%@YD::$95) - A12iYeDNOT Ignoring new targets: 50.30 m.*iaim/"im/} ProNav: ac range: 50.299999 m, nav range: 49.104351 m, bearing: 89.636360 deg, approach rate: -0.562747 m/s, LOS rate: -0.009593 deg/s, cmd heading: 89.538842 deg, new cmd heading: 89.526736 deg.  i}ҹHeadingCmd: 1.562536 target range: 50.299999 and range: 50.30 m.h1?hhhhggchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516501bg)jg-ՂBe)e1je1Je1:e5S@Bɛ 0D=)  ھi)-=if_)x, Q@^A68?y6!v?96ۑ=Y61=6H@*s? ?$??3? 73? ?68?ɨ6H; 4FBFIHR HR1h5Vi Zc=Y^:Q ^>`٣` bGbFbo f>d]j959f m?aj95YfeK ifBln?qn@f!YDf;fU;f'95p v AvBEB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 50.30 m.*ii?"i?- ProNav: ac range: 50.299999 m, nav range: 48.900311 m, bearing: 89.633507 deg, approach rate: -0.565228 m/s, LOS rate: -0.007937 deg/s, cmd heading: 89.526739 deg, new cmd heading: 89.518144 deg.  i-L5HeadingCmd: 1.562386 target range: 50.299999 and range: 50.30 m.h=G?h9h9h9h9gAgAbgAjgAeIeIjeIJeI:eM@ɛ,=) i)=iGG G G  IG BG G G BDG <G FG0x,V-@^A6K?y6?96Cѐ=Y67^=6Hp?@f%?@u?X?`!ձ?L e? m?6K?ɨ6q~; 4ZBZ{IIt)ttvAHzHzi5 E=Y àQ  > ٣ GF: %>!]-959% m?a595Y%9E i%B15?q5@%0YD%2:=A9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272831%:%`+95I M AI2iq}DNOT Ignoring new targets: 50.30 m.*iyi"i ProNav: ac range: 50.299999 m, nav range: 48.665981 m, bearing: 89.630048 deg, approach rate: -0.562353 m/s, LOS rate: -0.008342 deg/s, cmd heading: 89.518146 deg, new cmd heading: 89.507718 deg.  i5HeadingCmd: 1.562204 target range: 50.299999 and range: 50.30 m.hP?hhhhggbgjgeejeJe:e c @Bɛ50=) i)嶝=i e DAT read: 19:46:10.2286 LVL= 20976, 31841, 19826, 32755, AGC= 63, IDX= 419, 0.01, 0.915,-0.472, 0.938, 0.745, PHS= 0.257,-1.170, 0.189, RAW= 147.6, 10.4, CAL= 148.9, 2.3, ROT= 1.1, -2.3 m Ygot valid direction response: 19:46:10.2286 LVL= 20976, 31841, 19826, 32755, AGC= 63, IDX= 419, 0.01, 0.915,-0.472, 0.938, 0.745, PHS= 0.257,-1.170, 0.189, RAW= 147.6, 10.4, CAL= 148.9, 2.3, ROT= 1.1, -2.3 u PDAT read: Bearing 1.1, -2.3 (Local) u ~Local bearing/azimuth received: Bearing 1.1, -2.3 (Local)  DAT read: Range 10 to 50 : 48.5 m (Round-trip 64.7 ms) speed 0.4 m/s  ,DAT read: user:1279>  BDAT read: Tx time:19:46:11.3097  $Ping request sent. ٣ Gp: >]959 m?a95Y-> iB ?m:?q@AYD<</95  AMJDAT read: TxSync time:19:46:11.3089 Zj-l?bj-apI i)i-@^Aj-BBj-@B2j-k?p-R 9H@di:?}tk$?zp- [?_Up?.='?"j-nF<*j-l$p-#v࿬$-/=H@xp-T@H?b94ܜi-ABj-i-hl?i-WA  j-}Bzj)j-A2C j)jj-ABrj-A3? addTargetRange:: Added new target pos. range: 48.500000 m, deltaT: 3.537426 s, deltaX: -1.799999 m, approachRate: -0.508844 m/s, rangeRepo size: 4  Added new target pos. range: 48.500000 m, bearing: 90.607968 deg, lat: 36.903926 deg, lon: -122.119003 deg, deltaT: 3.537426 s, deltaX: -1.799999 m, approachRate: -0.508844 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 48.50 m.*ii"i- ProNav: ac range: 48.500000 m, nav range: 48.399593 m, bearing: 89.614275 deg, approach rate: 0.000000 m/s, LOS rate: -0.008342 deg/s, cmd heading: 89.507717 deg, new cmd heading: 89.494925 deg.  i)5HeadingCmd: 1.561981 target range: 48.500000 and range: 48.50 m.h5?h1h1h9h9g9g9bgajgeBeaeajeaJem@H@:em@d?雵Bɛ/5=) i)m=隹i><x,L@^A6h?y6?96 =Y6=6H"G?!`t?`?V?w?@?`?6h?ɨ6&; 6 CB|BBCIHJHJ3A5R2 Rw=YRQ R?T٣X ZGZ FZZ< Z?\]b959^ m?ab95Y^r9 i^Bdf?qf@^LYD^;^;^295l n Al2i DNOT Ignoring new targets: 48.50 m.*i i *"i * ProNav: ac range: 48.500000 m, nav range: 48.220074 m, bearing: 89.602946 deg, approach rate: -0.589515 m/s, LOS rate: -0.037338 deg/s, cmd heading: 89.494924 deg, new cmd heading: 89.460813 deg.  iͺ%HeadingCmd: 1.561386 target range: 48.500000 and range: 48.50 m.h%}?h!h)h)h)g1g1bg9jg9e9e9je9JeA:eEx?iɛm<)m= uiq)uߛ=qqiuGGIGBG =GGG<G FHîC HîCHÓCH ="H =*Hm5VFFZAM >~Cx,{A^A60?y6tn?96։=Y6B=6H@g@8? k?"t? .?713??60?ɨ6g; 4BfBB)IFp=iF<)J= J=]Mb@Mb@Mb@YY Y)YIYy]E?Mb?Mb]?]@=] ]EA)]AI]Ai] AY] AHmHma5}ƽ >=YmQ >٣ G < >]959= m?a95Y3 iڧBA?m:A?q@[YDF-;),;E695  A2iDNOT Ignoring new targets: 48.50 m.*ii8"i8 ProNav: ac range: 48.500000 m, nav range: 47.994659 m, bearing: 89.575347 deg, approach rate: -0.523144 m/s, LOS rate: -0.064354 deg/s, cmd heading: 89.460814 deg, new cmd heading: 89.377626 deg.  i0HeadingCmd: 1.559934 target range: 48.500000 and range: 48.50 m.h?hhhhg g bgjgBee!je!Je!:e-%?UBɛU=)Q U!iY)]=YYi]٣ G!F< >]959qm?a95Y- iЧB?q@iYD>::995B 4 A@E=B*** querying acoustic contact ***i9i92iIMDNOT Ignoring new targets: 48.50 m.*iik"ik ProNav: ac range: 48.500000 m, nav range: 47.780643 m, bearing: 89.547862 deg, approach rate: -0.513110 m/s, LOS rate: -0.066191 deg/s, cmd heading: 89.377629 deg, new cmd heading: 89.294805 deg.  i55HeadingCmd: 1.558488 target range: 48.500000 and range: 48.50 m.h5|?h1h1h1h1g9g9bg9jg9eAeAjeAJeA:eMS1?雭Bɛ<) *i)=隱icG G IG ƁBG =G G G <G !FVF5 +^<ZI lbI cjI 1rI zI <5:I x9I 3I I K?;q I M?;i I :u I :m F9 ZAA Me >rPx,CA^A:G?y:?9:=Y:=:H 1xRv??B`? ?ߔ?-?:G?ɨ:eH; :CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.739253J\٣\ bGb"Fb( b>d]j959fm?aj95Yf( ifȧBhn?qn@fuYDf;f ;f=95x zAx2iDNOT Ignoring new targets: 48.50 m.*iiԖ"iԖ ProNav: ac range: 48.500000 m, nav range: 47.585804 m, bearing: 89.522849 deg, approach rate: -0.511484 m/s, LOS rate: -0.065932 deg/s, cmd heading: 89.294806 deg, new cmd heading: 89.219459 deg.  i4HeadingCmd: 1.557173 target range: 48.500000 and range: 48.50 m.huQ?hhhhggbgjgeejeJe:eC ?aɛm<) 7i)y=隩i Xx,aA^A6eY?y6?96L̉=Y6R=6H@p5?d?p?k6?66S?$?6eY?ɨ6; 4B+BBIID)DFADuMb@Mb@Mb@qq q)qIqyuCl?Mb?I +ud>qu94 uA)uAIu3Aiu$Aqu Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.243367HHj5  "=YA:Q >٣ G#Fg >]-959m?a595Y$" iB5>m5:=?q=@YD@;˷;A95Q ]AY2iDNOT Ignoring new targets: 48.50 m.*iie"ie ProNav: ac range: 48.500000 m, nav range: 47.336140 m, bearing: 89.489423 deg, approach rate: -0.498226 m/s, LOS rate: -0.067055 deg/s, cmd heading: 89.219462 deg, new cmd heading: 89.118657 deg.  i8HeadingCmd: 1.555414 target range: 48.500000 and range: 48.50 m.h?hhhhggbgjgnBeejeiJei:em`@@雕Bɛ>4<) R@i)G=隙i!2^x,{A^A6-?y6k?96G=Y6m=6H!f$ [#??v?uS?]^G?@@?6-?ɨ6; 6 CBBBIHJHJk5R R_=YV:Q V>T٣T VGTZgr Z>]959 m?a%95Y\ iB!%?q%@YD^;8;D95) -oA12iamDNOT Ignoring new targets: 48.50 m.*iiim"im} ProNav: ac range: 48.500000 m, nav range: 47.154831 m, bearing: 89.465223 deg, approach rate: -0.497700 m/s, LOS rate: -0.066687 deg/s, cmd heading: 89.118655 deg, new cmd heading: 89.045774 deg.  i7HeadingCmd: 1.554142 target range: 48.500000 and range: 48.50 m.h ?hhhhggbgjgeejeJe:e]@G>GCGYIGBG =GGCDG<G FɛO<) Ni)=iLe".ex,4A^A2?y2&.?92݋=Y2=2HI9NUY?`?@k}~?@]?7xCK?@R?2?ɨ2; 0> BBIMb@Mb@Mb@ )IyuV??~jtr><D A)Ii AHHhj5ۼ 5=Ye:Q >٣ G$F  >]959"m?a95Y iB>m:?q@YD:w:H95) -A)2iQ]DNOT Ignoring new targets: 48.50 m.*iYi]-"i]-m ProNav: ac range: 48.500000 m, nav range: 46.955315 m, bearing: 89.448571 deg, approach rate: -0.453702 m/s, LOS rate: -0.038027 deg/s, cmd heading: 89.045777 deg, new cmd heading: 88.995610 deg.  imкuHeadingCmd: 1.553266 target range: 48.500000 and range: 48.50 m.huo?hyhyhhg:J6NBJ}9JJRJ ZJC~ytkUC=844112.-*()+/9;70)('&! gbgjgABeejeJe:e@=BɛE><)a eQia)m<=iiimF ZAI Mm >Skx,_A^A6?y6>?96|=Y6D=6H_D?d ?@?`}? J?@9q$? ?6?ɨ6U; 6!C>B>IB0>iB=HJ*HJ|u5R Rc=YRBQ R>T٣T VGTZߍ Z>\]b959^Ym?ab95Y^ i^B`bi?qb@^YD^Q;^;^K95h jAhzB*** querying acoustic contact ***ixix2iDNOT Ignoring new targets: 48.50 m.*ii ;*"i ;* ProNav: ac range: 48.500000 m, nav range: 46.793228 m, bearing: 89.435245 deg, approach rate: -0.451007 m/s, LOS rate: -0.037207 deg/s, cmd heading: 88.995610 deg, new cmd heading: 88.955494 deg.  iG̺HeadingCmd: 1.552566 target range: 48.500000 and range: 48.50 m.h~?hhhhggbgjgeejeJe:e 5 @==%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508128ɛ= <) :`i)b=iXGCGIG[BG =GEDGG<G FZInbIejIrIzI|;:I9IIIJ;IJ;I:I:VF g<F  DAT read: 19:46:13.7764 LVL= 23616, 32529, 19410, 31971, AGC= 62, IDX= 411, 0.20,-1.635,-3.027,-1.597,-1.842, PHS= 0.295,-1.138, 0.241, RAW= 148.1, 8.6, CAL= 149.1, -0.0, ROT= 0.9, 0.0  Ygot valid direction response: 19:46:13.7764 LVL= 23616, 32529, 19410, 31971, AGC= 62, IDX= 411, 0.20,-1.635,-3.027,-1.597,-1.842, PHS= 0.295,-1.138, 0.241, RAW= 148.1, 8.6, CAL= 149.1, -0.0, ROT= 0.9, 0.0  PDAT read: Bearing 0.9, 0.0 (Local)  ~Local bearing/azimuth received: Bearing 0.9, 0.0 (Local)  DAT read: Range 10 to 50 : 46.8 m (Round-trip 62.5 ms) speed 0.4 m/s  ,DAT read: user:1280> ZA) ME >M BDAT read: Tx time:19:46:14.8598 M $Ping request sent.M ٭ = >٭ ٭ v>٭ m%@ ڭ `>)ڭ ۋ&@Iڭ iڭ <ڭ ک ۩ ۭ  g?_0?wI%?Iۭ >iۭ ۭ <ۭ ۩ ܩ } :publishing transmit ping timeI  Fpublishing direction and range infoة Yح G?y&?ة 9ة ة ٩ )٩ I٩ i٩ ٩ ٩ ٩ ٩ ک )ک Iک iک ک ک ۩ ۭ  g?_0?wI%?I۩ i۩ ۩ ۩ ۩ ܩ =rx,fA^Aw?yT?9Es=Yd=H9f?@ዿ?@?†?@2? j`m??騅w?ɨ(; "C޵B޵IHHm5* 5=Y _Q  >)٣1 5G5%F5ș =>A]959Ecl?a95YEe iEB#?q@EYDE&EZjl?bjGTH iixA^Aj3;Bj9B2jA?p#/eG@,q?zpG?y&?"j<*jp~Ͷx7PyXG@؝jp^ Ո{G4h?٥ 찿i:BjiQl?i:@  jguBzjjjZwBjjY:Brjj?5 addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.778956 s, deltaX: -1.700001 m, approachRate: -0.449860 m/s, rangeRepo size: 4 m Added new target pos. range: 46.799999 m, bearing: 90.736831 deg, lat: 36.903926 deg, lon: -122.119003 deg, deltaT: 3.778956 s, deltaX: -1.700001 m, approachRate: -0.449860 m/s, posRepo size: 4 2iimDNOT Ignoring new targets: 46.80 m.*iiiu"iq ProNav: ac range: 46.799999 m, nav range: 46.587257 m, bearing: 89.418722 deg, approach rate: 0.000000 m/s, LOS rate: -0.037207 deg/s, cmd heading: 88.955496 deg, new cmd heading: 88.895068 deg.  iHeadingCmd: 1.551512 target range: 46.799999 and range: 46.80 m.h?hhhhggbgjgeejeJe`ffG@:e`?)ɛ-<)1 =!ei9)==99i=h#Dxx,A^Axx~׀ByIMb@Mb@Mb@ )Iy7A`?:v?Mb`>T< A)~AI/Ai7A AHH:\5_ E=YQ >٣ G&F > ]959 l?a95Y   i B>m:?q@ YD : : XS95! %5A)2iDNOT Ignoring new targets: 46.80 m.*iiݹ"iݹ ProNav: ac range: 46.799999 m, nav range: 46.416031 m, bearing: 89.410513 deg, approach rate: -0.503615 m/s, LOS rate: -0.024234 deg/s, cmd heading: 88.895069 deg, new cmd heading: 88.870351 deg.  i HeadingCmd: 1.551080 target range: 46.799999 and range: 46.80 m.h̉?hhhhgg!bgajge.BeieijeiJei:em.?ɛJ:) ji)̪=iئ~~x,A^AGr>GpGrIGr.BGr =GpGrDDGr°<Gr F=ƀB=dIHMHMa5]W eU=YaQ e>a٣i mGii m>y]959}l?a95Y} i}Bq@}YD}u:}:}V95 A2iDNOT Ignoring new targets: 46.80 m.*ii"iZIobIijIrIzI>:Iڈ9III~O;IO;Ii:Ij:u ProNav: ac range: 46.799999 m, nav range: 46.255543 m, bearing: 89.402763 deg, approach rate: -0.436512 m/s, LOS rate: -0.021151 deg/s, cmd heading: 88.870351 deg, new cmd heading: 88.847022 deg.  i}@hHeadingCmd: 1.550673 target range: 46.799999 and range: 46.80 m.ht|?hhhhggbgjgeejeJe:e?ɛm9) si),7=iMx,B^A2{i?y2 ?92=Y2r=2H&j?w|?z?@q??@:!_??2{i?ɨ26; 2C:€B>_IEMb@Mb@Mb@AA A)AIAyEHzG?~jth?E=>EED; A)AIEAiAAE AH]H][5e mJ=Ym;Q m>q٣q uGu'F}ጺ }>]959l?a95Yp iB>>m;?q@YD ; ;?Z95 A2iDNOT Ignoring new targets: 46.80 m.*iib"ib ProNav: ac range: 46.799999 m, nav range: 46.095463 m, bearing: 89.401513 deg, approach rate: -0.395081 m/s, LOS rate: -0.003097 deg/s, cmd heading: 88.847019 deg, new cmd heading: 88.843254 deg.  i HeadingCmd: 1.550607 target range: 46.799999 and range: 46.80 m.hMz?hhhhggbgjgBeejeJe:e?1ɛ5)1 5oui9)==99i=^Ћx,1B^A: ?y:H?9:Ɂ=Y:&=:H` x?`s[?y?B?&?@v- j`??: ?ɨ:; : CBĀBBaIHJ HJq5R; VX=YV# Q V>T٣X ZGZ(FZ Z>\]b959^l?af95Y^ i^Bdf)?qf@^YD^>:^:^]95h jAlB*** querying acoustic contact ***ii2i DNOT Ignoring new targets: 46.80 m.*ii""i"- ProNav: ac range: 46.799999 m, nav range: 45.946510 m, bearing: 89.400877 deg, approach rate: -0.392605 m/s, LOS rate: -0.001681 deg/s, cmd heading: 88.843255 deg, new cmd heading: 88.841342 deg.  i--HeadingCmd: 1.550574 target range: 46.799999 and range: 46.80 m.h55y?h1h1h1h1g1g1bg9jg9e9eAjeAJeA:eE,?qɛuU)y }tiy)}?=yyi}x5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9960755x,hKB^AB]I x>i <H%HEs5E M@=YUQ U>Y٣Y ]GYe e>i]u959ml?au95Ym imBqyq}@mYDm;m;mEa95 A2iDNOT Ignoring new targets: 46.80 m.*ii5"i5 ProNav: ac range: 46.799999 m, nav range: 45.778496 m, bearing: 89.400155 deg, approach rate: -0.396190 m/s, LOS rate: -0.001709 deg/s, cmd heading: 88.841343 deg, new cmd heading: 88.839169 deg.  i HeadingCmd: 1.550536 target range: 46.799999 and range: 46.80 m.hw?hhhhggbgjgeejeJe:e` 3@ɛ:) Wvi)d=!!i%.:J- BJ- 9JJ) RJ-  ZJ- @LIEFHFA?=82-+&$  ZI5 pbI1 jI5 /rI1 zI5 A:I1 I5 (N3I1 qM @iM @uM @mM @ ☐x,AeB^AZ_?yZL?9Z8=YZf=ZHD ?/1??`̕?`1?_$??Z_?ɨZzϖ; XfBfVIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498677Mb@Mb@Mb@ )Iyn?/$~jt?V>D< A)AIIAiA AHHn5 D=YQ 5>9٣9 EGE)F]t e>]959l?a95Yf iB>m;8?q@YDZ::"e95 A2iDNOT Ignoring new targets: 46.80 m.*ii%:"i%:U ProNav: ac range: 46.799999 m, nav range: 45.600391 m, bearing: 89.413284 deg, approach rate: -0.395163 m/s, LOS rate: 0.029243 deg/s, cmd heading: 88.839171 deg, new cmd heading: 88.878711 deg.  iU:]HeadingCmd: 1.551226 target range: 46.799999 and range: 46.80 m.h]?hYhYhYhYgYgabgajge6BeieijeJe:eA@ɛ@G;) xi)F=i / x,;B^A6?y6>?96Uـ=Y6.=6H?$??@孙?ܮ?`r=ξ?@%?6?ɨ6n/; 6CGB>G@GBIGBBGB =G@G@GBð<GB FR€BR_IHZ HZf5bj= b[=YfQ f>d٣d jGj*Fj2 j>9]E959=m?aE95Y= i=}BAM?qM@=YD=S:=:=Fh95Q UAQ2iDNOT Ignoring new targets: 46.80 m.*ii:"i:M ProNav: ac range: 46.799999 m, nav range: 45.455605 m, bearing: 89.424738 deg, approach rate: -0.401273 m/s, LOS rate: 0.031847 deg/s, cmd heading: 88.878711 deg, new cmd heading: 88.913184 deg.  iMڮ:MHeadingCmd: 1.551828 target range: 46.799999 and range: 46.80 m.hUK?hQhQhQhQgQgYbgYjgYeYeajeaJea:eeb@BɛE`pz)E(.= EuiA)MD=IIiM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256629(x, B^AޕBޕ\II)MMb@Mb@Mb@II I)IIIyMn?{GzMb?M>MףM< MA)MAIM`AiIIM AHe$Her5u\4 }1=Y}Q }>٣ G >]959m?a95Y izBj>m:$?q@ ZD::3l95B A uBDAT read: Tx time:19:46:18.4098 u$Ping request sent.}= B`e>MQ%@ '>)I5i(5 :publishing transmit ping timeqFpublishing direction and range infoY3??r'?W7) ߑ?9 )Ii )Ii g-ؽ?u-??Ii VF= M<F ZA M% >x,ղB^AI*=)*C ZGGh ~Az%?yz?9z>|=Yz=zH?%K??`??P~Z޾??z%?ɨzhC; zC)5 y15 B޽ÀB޽_IH&Hs5m< mL=Ym^Q >٣ G+Fӄ >]959m?a95Y0 iwBL?q@ZD;H;o95 AZj-Z+m?bj-sK i)i-B^Aj-f4Bj-63B2j-߰?p-]N a5F@;T?f/?zp-3??r'?W7) ߑ?"j)*j-5p-ht?.LF@Fap-2(?Ja=1?7#ii-:4Bj->i-}+m?i-b$D  j-yBzj)j-j[C j-]xBjj-d4Brj-'? addTargetRange:: Added new target pos. range: 45.099998 m, deltaT: 3.528208 s, deltaX: -1.700001 m, approachRate: -0.481831 m/s, rangeRepo size: 4  Added new target pos. range: 45.099998 m, bearing: 89.386294 deg, lat: 36.903926 deg, lon: -122.119003 deg, deltaT: 3.528208 s, deltaX: -1.700001 m, approachRate: -0.481831 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 45.10 m.*ii"i ProNav: ac range: 45.099998 m, nav range: 45.097782 m, bearing: 89.453231 deg, approach rate: 0.000000 m/s, LOS rate: 0.031257 deg/s, cmd heading: 88.955919 deg, new cmd heading: 88.994602 deg.  iHeadingCmd: 1.553249 target range: 45.099998 and range: 45.10 m.h?hhhh!g!g!bgIjgIeIeIjeIJeǓF@:eU`W>?EBɛM8)I M+tiI)MԂ=IQiU1GCGIGBGGGG<G FDDDEo0 EVF= y<F ZA! M= >x,ƀB>cIHFHFo5N< Ro=YRܻQ R?T٣T VGV,FV*: V?\]^959^m?ab95Y^x i^uBdfS?qf@^ZD^,;^W-;^r95a eAiB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 45.10 m.*ii":"i": ProNav: ac range: 45.099998 m, nav range: 44.956528 m, bearing: 89.465223 deg, approach rate: -0.417126 m/s, LOS rate: 0.035524 deg/s, cmd heading: 88.994599 deg, new cmd heading: 89.030688 deg.  i :HeadingCmd: 1.553879 target range: 45.099998 and range: 45.10 m.h?hhhhggbgjgeeIjeIJeQ:eU&?Bɛ) Lri ) H=  i W﹐x,2B^A>©?y> ?9>b=Y>N=>H`:t?@>??x6?+?R)?p?>©?ɨ>t; >CJ̀BJkIR=ip>Mb@Mb@Mb@ )Iyw/?V-~jt?>< A)AIihA AHH^5< $=Yt Q >٣ G9 >] 959m?a95Y isB>m:0?q@,ZD;/; w95! %A!2iDNOT Ignoring new targets: 45.10 m.*ii`:"i`:  ProNav: ac range: 45.099998 m, nav range: 44.732037 m, bearing: 89.489265 deg, approach rate: -0.456385 m/s, LOS rate: 0.049122 deg/s, cmd heading: 89.030689 deg, new cmd heading: 89.103177 deg.  i ;HeadingCmd: 1.555144 target range: 45.099998 and range: 45.10 m.h?hhhhggbgjgfBe!eIjeIJeI:eM@;?雱ɛ H;) ni)g=iBZG CG IG BG =G G EDG <G 3FF1 ZAA Me >x,{C^AN?yN?9NE$^=YN=NHq?`B@?^?5?`? ?B?N?ɨN ; LZрBZqIHbHb^5j< j^=YnLFQ n>l٣p rGr-Fr\ r>t]z959vm?az95Yv3 ivqB|~?q@v7ZDvD;vE;vBz95  oA2i1=DNOT Ignoring new targets: 45.10 m.*i9iEm:"iEm:U ProNav: ac range: 45.099998 m, nav range: 44.566410 m, bearing: 89.507436 deg, approach rate: -0.472071 m/s, LOS rate: 0.051984 deg/s, cmd heading: 89.103178 deg, new cmd heading: 89.157894 deg.  iU;]HeadingCmd: 1.556099 target range: 45.099998 and range: 45.10 m.h]?.?hahahahagagabgijgieieijeqJeq:eug?雥Bɛ) ki)|=隩i\ǐx,"lC^AJP?yJk?9JF\=YJ>JH+? @9t< A)QAIi A AH*H|u5 =  8=Y qGQ  >٣ G.FW >!:J-BJ-9JJ)RJ- ZJ-]=959%Sm?a=95Y% i%oB=6>m=:E*?qE@%EZD%;%D;%%~95I M4AI2iquDNOT Ignoring new targets: 45.10 m.*iyi}'͐x,Z-7C^A2+?y2i?92GX=Y2>2H W'?@Y @?A?@Yߡ?!?@ ?`߳?2+?ɨ2|; 2 C>ڀB>|II@)@HF$HFr5N< Rf=YRIQ R>T٣T VGTVUO Z>XfA?fp=fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252318]j959Zu m?aj95YZ  iZmBhn?qn@ZPZDZ:"i>: ProNav: ac range: 45.099998 m, nav range: 44.180805 m, bearing: 89.542103 deg, approach rate: -0.455042 m/s, LOS rate: 0.041638 deg/s, cmd heading: 89.215289 deg, new cmd heading: 89.262354 deg.  i:HeadingCmd: 1.557922 target range: 45.099998 and range: 45.10 m.hi?hhhhggbgjgeejeJe:ep@Bɛ0ѻ) mfi)v=i%ٲGGIGBG =GGFDGڰ<GFVF!j;}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503203FZAM5 >Ԑx,R QC^A28?y2u?92(XP=Y2T>2H`!ǜ? ҹS?@*? q?`? %!??28?ɨ20; 0N܀BN~IHZHZHo5b{ < fH=YfQ f>h٣h jGj/FjRm: n>p]v959r m?av95Yr irkBtv?qv@r\ZDr:ru:rՄ95| ~A|B*** querying acoustic contact ***ii2i)5DNOT Ignoring new targets: 45.10 m.*i1i5U:"i5U:M ProNav: ac range: 45.099998 m, nav range: 43.983509 m, bearing: 89.560147 deg, approach rate: -0.508482 m/s, LOS rate: 0.046713 deg/s, cmd heading: 89.262356 deg, new cmd heading: 89.316731 deg.  iM<;UHeadingCmd: 1.558871 target range: 45.099998 and range: 45.10 m.hU?hQhQhQhQgYgYbgYjgYeaeajeaJea:emu@Bɛ)! -diQ)]:s=Yaie& checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0071249ڐx,ijC^AZpP?yZ?9Z#E=YZ–>ZH ? p?^? ?`R?ͺB??ZpP?ɨZt; Z"CfـBf{IeMb@Mb@Mb@aa a)aIayew/?~jtI +?e?eDe94< e\A)eAIaie7 AaeAHHd5%9 %6=Y%2Q %>)٣) -G-0F5J: 5>9]E959= m?aE95Y= i=gBE?mE:ER?qM@=kZD=:=:=95Q U4AQ2iy}DNOT Ignoring new targets: 45.10 m.*ii&:"i&: ProNav: ac range: 45.099998 m, nav range: 43.747692 m, bearing: 89.574046 deg, approach rate: -0.528013 m/s, LOS rate: 0.031288 deg/s, cmd heading: 89.316731 deg, new cmd heading: 89.358652 deg.  iǫ:HeadingCmd: 1.559603 target range: 45.099998 and range: 45.10 m.h?hhhhggbgjgBeejeJe:e= @BɛmV) ei)p=iG >G CG IG BG =G G G <G %FHuʲC HuʲCHqHu ="Hu =*Huʆ5G!x,QC^AZIbIijIrIzIIڈ9IIIKZ;qIMZ;iIuIk:mb͇?yb[?9b~c:=Ybq>bH EL?o???[?`J l??b͇?ɨbm; b!Cj؀BjzIr%>ir= xz@AHH-I -[=Y5Q 5>1٣1 5G1]; ]>a]959e m?a95Yek iedB?q@exZDe';e;e 95 >ADAT read: 19:46:20.8717 LVL= 18928, 32753, 16594, 32115, AGC= 60, IDX= 411, 0.37, 0.367,-1.031, 0.392, 0.154, PHS= 0.302,-1.137, 0.235, RAW= 147.7, 8.6, CAL= 148.8, -0.0, ROT= 1.2, 0.0 Ygot valid direction response: 19:46:20.8717 LVL= 18928, 32753, 16594, 32115, AGC= 60, IDX= 411, 0.37, 0.367,-1.031, 0.392, 0.154, PHS= 0.302,-1.137, 0.235, RAW= 147.7, 8.6, CAL= 148.8, -0.0, ROT= 1.2, 0.0 PDAT read: Bearing 1.2, 0.0 (Local) ~Local bearing/azimuth received: Bearing 1.2, 0.0 (Local) DAT read: Range 10 to 50 : 43.3 m (Round-trip 57.8 ms) speed 0.4 m/s 2iDNOT Ignoring new targets: 45.10 m.*iiN9"iN9,DAT read: user:1282> =BDAT read: Tx time:19:46:21.9598 E$Ping request sent.E=7=ףp>=$@ =`>)=6&@I=i=<=9 9=b*OkA?Z?Tju7?I=>i=D=<=9 9:publishing transmit ping time9Fpublishing direction and range info9Y=hQ4?_2q?9999 9)9I9i99999 9EBɛE`)9I9i999 9=b*OkA?Z?Tju7?I9i9999 9)A ei)]m=隙iLx,xC^ArҀBrsIMb@Mb@Mb@ )Iy?MbP~jth? ?D; )Ii AAHHG5*Ѽ ?=YQ >٣ G1F >] 9596 m?a 95YG i`B  ?m : r?q@ZD:;95 kA!Zjm+:m?bjm:L iiim'gC^Ajm3-Bjm,B2jm]n?pmp]2/E@pƏ?zpmhQ4?_2q?"jm<*jmpmߖ2J?>jDE@;HDQpmDJ /+t?)Fj?v⥿im -BjmQZ>imjF.m?im$ӓD  jm>zBzjmjF.m?jmb$D jmyBjjm-BrjmWn?:JqBJu9JJqRJu ZJu U~seVMD?90)$   addTargetRange:: Added new target pos. range: 43.299999 m, deltaT: 3.527803 s, deltaX: -1.799999 m, approachRate: -0.510232 m/s, rangeRepo size: 4  Added new target pos. range: 43.299999 m, bearing: 89.717626 deg, lat: 36.903925 deg, lon: -122.119003 deg, deltaT: 3.527803 s, deltaX: -1.799999 m, approachRate: -0.510232 m/s, posRepo size: 4 2i15DNOT Ignoring new targets: 43.30 m.*i9i="i9M ProNav: ac range: 43.299999 m, nav range: 43.276955 m, bearing: 89.717588 deg, approach rate: 0.000000 m/s, LOS rate: 0.027245 deg/s, cmd heading: 89.392956 deg, new cmd heading: 89.424798 deg.  iIUHeadingCmd: 1.560757 target range: 43.299999 and range: 43.30 m.hU?hQhQhYhYgYgYbgajgeBeaeajeaJei:emT?Bɛ) Xhi)j=iNAE=VF F ZA M >vx,wC^A6-ͪ?y6 ?96=Y6>6H%?fA?`F?6ܔ?`?  +?@?6-ͪ?ɨ6; 6C>ЀBRpIH^H^Qc5jUP j^=Yj浼Q n>p٣p rGpv< v>x]z959z m?a~95Yz iz\B|~?q~@zZDz#;z;z95  ~A 2i9=DNOT Ignoring new targets: 43.30 m.*i9iE:79"iE:79U ProNav: ac range: 43.299999 m, nav range: 43.074184 m, bearing: 89.721189 deg, approach rate: -0.561050 m/s, LOS rate: 0.010012 deg/s, cmd heading: 89.424798 deg, new cmd heading: 89.435653 deg.  iU9]HeadingCmd: 1.560947 target range: 43.299999 and range: 43.30 m.h]?hYhYhYhYgagabgajgaeieijeiJei:em`?雕BɛxU) :ii)g=隡ip\GQGUIGUBGQGQGQGQGU#FZIMobIMhjIM1rIIzIM>:IMȆ9IM3IIIMO;IMO;IMԬ:IMլ:VF/:zFhArFgAFIZAYM>]x,UPC^A6~?y6 ?96ܫ=Y6>6H9?F ??@?=???6~?ɨ6`; 6C>ˀB>jIID)DHJHJ N5Vȼ VM=YV"Q Z>X٣X ZGZ2F^^< ^>`]f959b m?af95Yb+ ibYBhji?qj@bZDb:bK:bs95nB nAn8E~B*** querying acoustic contact ***i|i|2i DNOT Ignoring new targets: 43.30 m.*ii>8"i>8- ProNav: ac range: 43.299999 m, nav range: 42.855198 m, bearing: 89.723539 deg, approach rate: -0.550466 m/s, LOS rate: 0.005935 deg/s, cmd heading: 89.435651 deg, new cmd heading: 89.442735 deg.  i-X95HeadingCmd: 1.561070 target range: 43.299999 and range: 43.30 m.h5&?h1h1h1h1g1g9bgAjgAeAeAjeIJeI:eM0?!ɛ%X߻)! %`ki!)-td=))i-x:JqNBJ 9JJRJ ZJ    J gAI  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482767jx,5C^A:8?y:?9::H.߁?`+?? ??^z!?}?:8?ɨ:L ; :CnBn]IuMb@Mb@Mb@qq q)qIqyu&1?y&1|?Mb`u?u`;u uA)qIuvAiqquAHHb5? <=Y`Q >٣ G3Fv; >]959 m?a95Y iUB?m:?q@ZD؛;3;B95 A2iDNOT Ignoring new targets: 43.30 m.*ii"i ProNav: ac range: 43.299999 m, nav range: 42.608536 m, bearing: 89.720611 deg, approach rate: -0.532881 m/s, LOS rate: -0.006360 deg/s, cmd heading: 89.442734 deg, new cmd heading: 89.433902 deg.  iHeadingCmd: 1.560916 target range: 43.299999 and range: 43.30 m.h?hhhhggbgjgBee!je!Je!:e%W?Bɛ[ bGlA -A)1 =Ap)]'y]lAe8Bi)mba=iqiuGM CGI GI GM =GI GI GM <GM FVFu !<F} ?F} ?FY ZIm pbIm sjIm 0rIi zIm A:Im 9Im ـ3Ii Im T;Im T;Im =:Im >:ZA M >x,D^A2X?y2?92&C2H? _YQ?`?"??vgH?б?2X?ɨ2; 2CRBRPIHZ HZ1h5bR bS=Yf@޻Q f>d٣d fGhjD9 j>l]r959n m?ar95Yn inRBtv?qv@nZDnF:n`:n95x zRA|checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9877412i9DNOT Ignoring new targets: 43.30 m.*ii "i e ProNav: ac range: 43.299999 m, nav range: 42.389748 m, bearing: 89.717949 deg, approach rate: -0.602409 m/s, LOS rate: -0.007369 deg/s, cmd heading: 89.433903 deg, new cmd heading: 89.425874 deg.  ieҡmHeadingCmd: 1.560776 target range: 43.299999 and range: 43.30 m.hm?hihihihigigqbgjgeejeJe:e@[@BɛLS) ui)C^=iw checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241279x,Ad D^AnBrCIv?>iv=uMb@Mb@Mb@qq q)qIqyuGz?Mbp?~jtu?u;uD uA)uQAIu`Aiu AquAHHQc5E ?=YQ >٣ G4F >]959 m?a95Y iLB?m::?q@ZD::b95 A2iDNOT Ignoring new targets: 43.30 m.*ii "i  ProNav: ac range: 43.299999 m, nav range: 42.147739 m, bearing: 89.715907 deg, approach rate: -0.568532 m/s, LOS rate: -0.004823 deg/s, cmd heading: 89.425877 deg, new cmd heading: 89.419718 deg.  iS%HeadingCmd: 1.560668 target range: 43.299999 and range: 43.30 m.h%?h!h!h!h!g)g)bg)jg-Be1e1je9Je9:e= 8u@:JLBJ9JJRJ ZJ   9ɛEdGe)A E3ziA)E-Z=AIiMjC x,?:D^A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742745:xݫ?y:?9:#:H~?ص%(??\1?I?!?J?:xݫ?ɨ:Ƒ; :!CFBF-IHNHNHo5VŽ V[=YZ|Q Z>X٣X ZGZ5FbF; f>p]v959r m?av95Yr irGBtv^?qz@rZDr:r:r95| ~:A|2i!%DNOT Ignoring new targets: 43.30 m.*i)i-и"i-и= ProNav: ac range: 43.299999 m, nav range: 41.935211 m, bearing: 89.713774 deg, approach rate: -0.565560 m/s, LOS rate: -0.005706 deg/s, cmd heading: 89.419716 deg, new cmd heading: 89.413283 deg.  i=zEHeadingCmd: 1.560556 target range: 43.299999 and range: 43.30 m.hEN?hAhIhIhIgIgIbgQjgQeQeQjeYJeY:ee`v@雑ɛ) i)W=iGCGIGBG =GGG<GCFDDDEW2 EE=E=ZInbIkjIrIzI|;:I9IIIJ;IJ;I:I:-BDAT read: Rx Time:19:46:24.4195 -TRx dataTimestamp_ set to:1736538385.1772945checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998285VF- Vf<F ZA M- >4x,CTD^A:?y:L.?9::H~0|?r!?[??F$?A??:?ɨ:N_; :"CFBF*IHNHNl5V- VJ=YVQ Z>X٣\ ^G\^: b>`]f959bz m?aj95Yb ibCBhjq?qj@bZDb:b:b+95p rRAr6EB*** querying acoustic contact ***ii2i DNOT Ignoring new targets: 43.30 m.*ii"i% ProNav: ac range: 43.299999 m, nav range: 41.709057 m, bearing: 89.711298 deg, approach rate: -0.563792 m/s, LOS rate: -0.006205 deg/s, cmd heading: 89.413282 deg, new cmd heading: 89.405816 deg.  i-D-HeadingCmd: 1.560426 target range: 43.299999 and range: 43.30 m.h- ?h1h1h1h1g9g9bgAjgAeAeAjeIJeI:eM 3 @uBɛu25)y }iy)}۽T=yyi:J- *MBJ- +9JJ) RJ- ZJ-  DAT read: 19:46:24.4195 LVL= 17040, 32753, 15810, 31363, AGC= 58, IDX= 419, 0.50, 2.959, 1.576, 3.056, 2.731, PHS= 0.316,-1.108, 0.322, RAW= 150.2, 6.7, CAL= 151.4, -2.2, ROT= 358.6, 2.2  Ygot valid direction response: 19:46:24.4195 LVL= 17040, 32753, 15810, 31363, AGC= 58, IDX= 419, 0.50, 2.959, 1.576, 3.056, 2.731, PHS= 0.316,-1.108, 0.322, RAW= 150.2, 6.7, CAL= 151.4, -2.2, ROT= 358.6, 2.2  PDAT read: Bearing 358.6, 2.2 (Local)  ~Local bearing/azimuth received: Bearing 358.6, 2.2 (Local)  DAT read: Range 10 to 50 : 41.5 m (Round-trip 55.4 ms) speed 0.4 m/s  ,DAT read: user:1283>  BDAT read: Tx time:19:46:25.5099  $Ping request sent. UҍU/ݤ>Ug'@ U|=)U)@IUnFiUG@UnF=QE)?yE9?9E~EHz?K$? ??Ȏ?o@k ?F?E)?ɨE); EC QUx?2iG{H?t5?IU5?iUiU*ȼUnF=Q QU:publishing transmit ping timeUFpublishing direction and range infoeBeIIi)iiiQYU*?u.Q9QQ Q)QIQiQQQQQ Q)QIQiQQQ QUx?2iG{H?t5?IQiQQQQ QMb@Mb@Mb@ )Iy rh?:v?Mb ?T< A)IIAi AAH HNg5 %=Y-Q ->1٣1 5G56F=<0: =>A]m959E m?am95YE| iE=Bm ?mm:m?qu@EZDE;E;E95y }AyZjUxJem?bjU>oK iQiUukD^AjU&BjU$B2jU+?pUD@od05Z1xHP}zpU*?u."jU*ȼ*jUnF=pU^{9?5c D@oR pU`k1?|"o?|[iU%BjU?iUofm?iU$ND  jUwBzjQjQjQjjU%BrjUd?= addTargetRange:: Added new target pos. range: 41.500000 m, deltaT: 3.532153 s, deltaX: -1.799999 m, approachRate: -0.509604 m/s, rangeRepo size: 4 m Added new target pos. range: 41.500000 m, bearing: 88.531787 deg, lat: 36.903925 deg, lon: -122.119003 deg, deltaT: 3.532153 s, deltaX: -1.799999 m, approachRate: -0.509604 m/s, posRepo size: 4 2iiuDNOT Ignoring new targets: 41.50 m.*iqiu"iq ProNav: ac range: 41.500000 m, nav range: 41.424873 m, bearing: 89.701126 deg, approach rate: 0.000000 m/s, LOS rate: -0.006205 deg/s, cmd heading: 89.405817 deg, new cmd heading: 89.395767 deg.  iHeadingCmd: 1.560251 target range: 41.500000 and range: 41.50 m.hJ?hhhhggbgjgBeejeJeD@:e`?1ɛ59)Y ]aiY)]O=aaieG CG IG BG G G EDG <G FVF F ZI qbI mjI 1rI zI D:I &9I 3I I KZ;I MZ;I :I :ZA M= >T"x,;ljD^AR[?yRf?9R-7FRH@m??X?@Fu?@?ƈ ?d?R[?ɨR; PbvBbIHnHn:\5z zw=YzDQ z?|٣| ~G~7Fb< ?]959 m?a95Y} i9B?q@ [D(;%);95 YA2i  DNOT Ignoring new targets: 41.50 m.*iiӹ"iӹ- ProNav: ac range: 41.500000 m, nav range: 41.235359 m, bearing: 89.693501 deg, approach rate: -0.572201 m/s, LOS rate: -0.023131 deg/s, cmd heading: 89.395770 deg, new cmd heading: 89.372787 deg.  i-}5HeadingCmd: 1.559849 target range: 41.500000 and range: 41.50 m.h5%?h1h1h1h1g9g9bg9jgAeAeAjeAJeA:eM?qɛu )q uiq)},M=yyi},u(x,|D^A2?y27?92S2H@S}??J# f? >?`7?2?ɨ2T; 2C>sBBIMb@Mb@Mb@ )Iy(\?I +?y&1?94<`e rA)IAi(AH-H-W5=i =G=Y=Q =>A٣A EGAMx@< M>I]]959M( m?a]95YM| iM6B]?me:eI?qe@M[DM;M;M)95i mqAi:JKBJ9JJRJ ZJ2i9EDNOT Ignoring new targets: 41.50 m.*iAiEȹ"iMȹ} ProNav: ac range: 41.500000 m, nav range: 41.026325 m, bearing: 89.684580 deg, approach rate: -0.511896 m/s, LOS rate: -0.021956 deg/s, cmd heading: 89.372786 deg, new cmd heading: 89.345889 deg.  i}q}HeadingCmd: 1.559380 target range: 41.500000 and range: 41.50 m.hÙ?hhhhggbgjg_BeejeJe:e@?Bɛ˼) i)tsI=i֭.x,RD^A2E?y2l?92;Y2 >2H >l`ز?`?@g+u?ss ^?@?2E?ɨ2lZ; 2 C>`B>I)F= F=HJHJP5jo½ jQ=YnJQ n>p٣p vGv8Fv; v>x]~959z m?a95Yzw iz3B?q@z$[Dz<;z;z95   A2i1=DNOT Ignoring new targets: 41.50 m.*i9iE"iEM ProNav: ac range: 41.500000 m, nav range: 40.818626 m, bearing: 89.674942 deg, approach rate: -0.561751 m/s, LOS rate: -0.026202 deg/s, cmd heading: 89.345889 deg, new cmd heading: 89.316826 deg.  iUۏUHeadingCmd: 1.558873 target range: 41.500000 and range: 41.50 m.hU$?hYhYhYhYgYgYbgijgieieijeqJeq:eu 7?雙ɛ ) Ti)*F=隡igGCGIG܀BG =GGFDGɰ<G FHE³C HAHE“CHE ="HE =*HEŽ|5DDDEn0 EVF5<FZAM$>5x,5D^A2?y2WQ?92֚d;Y2>2H@_``??Y wn?Wl?ٹ?2?ɨ2m; 0>VB>IHJ HJq5fvB fK=YjLQ j>h٣h nGn9Frsx r>t]z959v4 m?az95Yvq iv0B|~d?q~@v2[Dv ;v. ;v95 WA%B*** querying acoustic contact ***i!i!2i)5DNOT Ignoring new targets: 41.50 m.*i1iEٹ"iMٹm ProNav: ac range: 41.500000 m, nav range: 40.605019 m, bearing: 89.665387 deg, approach rate: -0.529188 m/s, LOS rate: -0.023796 deg/s, cmd heading: 89.316826 deg, new cmd heading: 89.288011 deg.  imuHeadingCmd: 1.558370 target range: 41.500000 and range: 41.50 m.hux?hqhyhyhygygybgjgeejeJe:e L?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.eBɛ^߼) i)A=ikа;x,D^A2?y2?929;Y2[>2H@IB?@!? ?@-N?@Wtf?>g??2?ɨ2<; 0NIBRI5Mb@Mb@Mb@11 1)1I1y5X9v?{Gzt?~jt5>5ף;5D 5A)5MAI5EAi5vA15AHMHMn5]a٣a mGimƻ m>]959 m?a95Y"l i-B5 >m=:=?q=@@[D ;;95EB EAE4E2iDNOT Ignoring new targets: 41.50 m.*iii"ii ProNav: ac range: 41.500000 m, nav range: 40.386883 m, bearing: 89.659690 deg, approach rate: -0.486888 m/s, LOS rate: -0.012785 deg/s, cmd heading: 89.288010 deg, new cmd heading: 89.270827 deg.  ib HeadingCmd: 1.558070 target range: 41.500000 and range: 41.50 m.hn?hhhhggbgjgDBeejeJe:e`P{@ Bɛ ) i)|>=iYGuCGu_IGuÀBGu =GqGuGDGu<GuFVF E<F ZA M >Bx, E^AF~?yF?9F9_:YF!>FHdd?X??f?X?+^X??F~?ɨFW; F!CNHBRIIT)TTVAHZ'HZ(t5bT bT=Yfe)Q f>d٣h jGj:Fj rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498988 r>t]z959v m?az95YvRg iv*B|~h?q@vL[Dvk;vk;v+95  A2i9=DNOT Ignoring new targets: 41.50 m.*i9iEY"iEYU ProNav: ac range: 41.500000 m, nav range: 40.204247 m, bearing: 89.655404 deg, approach rate: -0.505028 m/s, LOS rate: -0.011905 deg/s, cmd heading: 89.270825 deg, new cmd heading: 89.257909 deg.  iU]HeadingCmd: 1.557844 target range: 41.500000 and range: 41.50 m.h]rg?hYhYhYhagagabgajgieieijeiJei:eu}N@雥Bɛ)) ڔi)1:=隩ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753099)Hx,$E^A2GU?y2Ӓ?92:Y2>2H Ao?n f?`?o?'?!PBe?@~?2GU?ɨ2; 2 CBBBBIMb@Mb@Mb@ )IyX9v?~jth?~jtx>D;Ļ )IAiA(AH-H-n5=μ =C=YEHQ E>A٣A EGM;FME M>Q]]959U m?a]95YUb iU)Be>me:e?qe@UX[DUr;U";U95q uAqZIpbIyjI1rIzIA:I9I3I2iY]DNOT Ignoring new targets: 41.50 m.*iYie"ie ProNav: ac range: 41.500000 m, nav range: 40.005840 m, bearing: 89.652545 deg, approach rate: -0.450772 m/s, LOS rate: -0.006527 deg/s, cmd heading: 89.257909 deg, new cmd heading: 89.249291 deg.  iUHeadingCmd: 1.557694 target range: 41.500000 and range: 41.50 m.hb?hhhhggbgjg.B:JKBJ9JJRJ ZJ J? J>eejeJe:e`@雕Bɛ) i)W6=隙iz checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255057@Nx,|>E^A2`"?y2_?92$.Y2>2Hu?`?U?@?vu?` V`E?lU??2`"?ɨ2}; 2Cb7BfIHE+HEu5f_ E=Y@Q >٣ Gr >]959 m?a 95Y\ G}ս>G}CG}@IG}BG} =GyG}HDG}<G}Fi(Ba?q@e[D<<95 [A2i DNOT Ignoring new targets: 41.50 m.*i i-pָ"i-pָ= ProNav: ac range: 41.500000 m, nav range: 39.804111 m, bearing: 89.650062 deg, approach rate: -0.473634 m/s, LOS rate: -0.005859 deg/s, cmd heading: 89.249290 deg, new cmd heading: 89.241804 deg.  i=EHeadingCmd: 1.557563 target range: 41.500000 and range: 41.50 m.hE<^?hAhAhIhIgIgibgqjgqeqeqjeyJey:e}4M @BɛK;) i)62=i9 ]BDAT read: Tx time:19:46:29.0599 ]$Ping request sent.]>uY+@ q=),@I Ai(~@ A= K|,?ʏ̻?UF̷?I8?il A= e:publishing transmit ping timeYmFpublishing direction and range infoY"J?U|P09 )Ii )Ii K|,?ʏ̻?UF̷?Ii VF Hv<F ZA M >Ux,qvXE^A: ?y:F?9:E\Y:>:H@)y?`k1??@˼w?iKc?1?@$?: ?ɨ::; :CR6BRIZ=iZR=)Z> Z=HbHbp5f,˻ jX=YjQ j>h٣l nGnt]v959v m?az95Yv"X iv'BxzG?qz@vq[Dv:v:v95 eAZj-N n?bj-_EI i)i-d[x,vPrE^A%.B-IMb@Mb@Mb@ )IyK7A`?Mbp~jtx> A)AIAiAAHH4d5 :=YQ >٣ G=F  >]5959 m?a=95YR i&B= >m=:Ea?qE@~[DL;;95Q UAQHmmAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL1Im}Entering USBL mode with 120.000000 count pings at 39.900002 m (mode 2.000000 count ).1I}qI}B*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 39.90 m.*iiJ 8"iJ 8 ProNav: ac range: 39.900002 m, nav range: 39.425373 m, bearing: 89.435634 deg, approach rate: -0.458287 m/s, LOS rate: 0.002190 deg/s, cmd heading: 89.235684 deg, new cmd heading: 89.238601 deg.  iX8]HeadingCmd: 1.557507 target range: 39.900002 and range: 39.90 m.hmg\?hihihqhqgqgqbgyjgyeyeyjeyJe:e@ 3?Bɛ) Ji)L*=iG]CG]'IG]BG] =GYG]IDG]<G]FVF <F ZA M >bx,H4E^A6c?y6?96$lY6T>6H`c?͝? ? iU?@sw ?Q?`?6c?ɨ6Ux; 6CB-BBIHJHJ[5R| R`=YVNQ V>T٣T ZGXZ.)< Z>bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996235d]j959f m?aj95YfgN if%Bhj?qn@f[DfP ;f ;f95rB rAv2Ej^@qII2iDNOT Ignoring new targets: 39.90 m.*iiDŶ"iDŶ- ProNav: ac range: 39.900002 m, nav range: 39.259602 m, bearing: 89.435515 deg, approach rate: -0.465292 m/s, LOS rate: -0.000337 deg/s, cmd heading: 89.238600 deg, new cmd heading: 89.238240 deg.  i-l5HeadingCmd: 1.557501 target range: 39.900002 and range: 39.90 m.h=2\?h9h9h9h9g9g9bgAjgAeAeAjeIJeI:eM j?雅Bɛ|IT) Gi)'=隉i8ix,E^A6r?y6?96 +Y6W>6H`[? 3??68?9 a?'4??6r?ɨ6&; 4>,BBII@)@Mb@Mb@Mb@ )Iyw/?{Gz?Mb`>#< A)AIAiAzAHHX[5 6=YQ > ٣   G >F: >]%959 m?a%95YI i&B->m-:-?q-@[D::95I3I3I/.IIIZIuqbIumjIqrIqzIuD:Iu&9IqIq AjI I :J-BJ-9JJ)RJ- ZJ-   "#2iAMDNOT Ignoring new targets: 39.90 m.*iiiu"iu ProNav: ac range: 39.900002 m, nav range: 39.058060 m, bearing: 89.426437 deg, approach rate: -0.423730 m/s, LOS rate: -0.019184 deg/s, cmd heading: 89.238238 deg, new cmd heading: 89.210864 deg.  iRHeadingCmd: 1.557023 target range: 39.900002 and range: 39.90 m.hL?hhhhggbgjg"BeejeJe:e &?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500456-Bɛ-d;)) -i1)5R7"=11i5Y checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753128;ox,E^A6MQ?y6َ?96bAY6>6Hp?@$/?]?c?a7,?`q? ?6MQ?ɨ6; 6 CB$BBIHJHJm5R<2 Rd=YRxQ V>T٣X ZGX^6˻ ^>`]f959bl m?af95YbD ib'Bdfq?qf@b[Db:bS:b95l nAljxIzzCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLHzzAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL2i DNOT Ignoring new targets: 39.90 m.*i i 4"i4 ProNav: ac range: 39.900002 m, nav range: 38.895958 m, bearing: 89.419601 deg, approach rate: -0.490850 m/s, LOS rate: -0.020786 deg/s, cmd heading: 89.210863 deg, new cmd heading: 89.190269 deg.  i>dHeadingCmd: 1.556664 target range: 39.900002 and range: 39.90 m.h@?hhhhggbgjgeejeJe:e?G޽>GGIGBG =GGG:<G F-Bɛ-Z)) -i))-=11iUG|$vx,zE^A6}?y6 7?96vDY6O>6H@{?%?;?t?ȕ??/?6}?ɨ6,֙; 6!CN'BNIHV&HVs5^ L< bH=Yb_Q b>`٣d fGf?Ff׻ f>h]n959j- m?ar95Yj? ij(Bpr?qr@j[Dj;j;ja95t vAx2i!%DNOT Ignoring new targets: 39.90 m.*i!i-"i-= ProNav: ac range: 39.900002 m, nav range: 38.712486 m, bearing: 89.412523 deg, approach rate: -0.450132 m/s, LOS rate: -0.017447 deg/s, cmd heading: 89.190270 deg, new cmd heading: 89.168935 deg.  i=?EHeadingCmd: 1.556291 target range: 39.900002 and range: 39.90 m.hE4?hAhAhAhAgAgIbgIjgIeIeQjeQJeQ:e] A@雅Bɛ%G) i)=隉i2 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508140L|x,E^A2Ѷ?y2]?92\zKY2=2H r?`m??@|?o o?ǿ??2Ѷ?ɨ2; 0R,BRI)Z= Za=5Mb@Mb@Mb@11 1)1I1y5)\(?5G>55 5\A)5AI5Ai5A15(A AAHHp5;< <=YyQ >٣ G@F >]959Q m?a95Y: i)BG>m:?q@[D;;/95  A-B*** querying acoustic contact ***i)i-x2iIUDNOT Ignoring new targets: 39.90 m.*iQie×"ie× ProNav: ac range: 39.900002 m, nav range: 38.520844 m, bearing: 89.412068 deg, approach rate: -0.434115 m/s, LOS rate: -0.001037 deg/s, cmd heading: 89.168932 deg, new cmd heading: 89.167560 deg.  i6HeadingCmd: 1.556267 target range: 39.900002 and range: 39.90 m.h3?hhhhggbgjgBeejeJe:ez@eBɛm(')i i)t=隑iGCGIGBGGGJDGy<G FHǷC HǶCHǔCH ="H =*H|U6VF] *f<F! ZA1 MU >ZI rbI ljI 0rI zI G:I 9I ـ3I I _;q I _;i I *:u I +:m 4x,r F^A6\?y6?96&YY6I=6H?? ?@?@hj$? 9?M?6\?ɨ6{; 6CRBDAT read: Rx Time:19:46:31.5148 VTRx dataTimestamp_ set to:1736538392.231084Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013043Z)BZIHfHfe5}1 }N=Y Q >٣ G": >]959v m?a95YE6 i+B?q@[DS::95 A2iAMDNOT Ignoring new targets: 39.90 m.*iIiMT"iMT} ProNav: ac range: 39.900002 m, nav range: 38.343739 m, bearing: 89.411945 deg, approach rate: -0.438786 m/s, LOS rate: -0.000305 deg/s, cmd heading: 89.167560 deg, new cmd heading: 89.167191 deg.  iUHeadingCmd: 1.556261 target range: 39.900002 and range: 39.90 m.h3?hhhhggbgjgeejeJe:e@BɛXH)   i )M=QQiUh7_x, O'F^A6k?y6k?96 fY6=6HKf?`???@_ӌ?`?@X?6k?ɨ6L; 6"C>2BBIMb@Mb@Mb@ )Iy!rh?Mbpl> A)AIizAH%H%l5(= H=YQ >٣ GAFY: >]959 m?a95Yb1 i,Bn>m:?q@[D:@:J95  A2iyDNOT Ignoring new targets: 39.90 m.*ii8"i8 ProNav: ac range: 39.900002 m, nav range: 38.158211 m, bearing: 89.414581 deg, approach rate: -0.450863 m/s, LOS rate: 0.006437 deg/s, cmd heading: 89.167191 deg, new cmd heading: 89.175137 deg.  i\9HeadingCmd: 1.556400 target range: 39.900002 and range: 39.90 m.h8?hhhhggbgjg(Be!e!je!Je!:e% @:JLBJ+9JJRJ ZJDAT read: 19:46:31.5148 LVL= 15792, 25585, 15250, 25219, AGC= 57, IDX= 420,-0.24,-1.685,-2.987,-1.436,-1.869, PHS= 0.272,-1.071, 0.429, RAW= 155.5, 5.2, CAL= 156.5, -3.9, ROT= 353.5, 3.9 Ygot valid direction response: 19:46:31.5148 LVL= 15792, 25585, 15250, 25219, AGC= 57, IDX= 420,-0.24,-1.685,-2.987,-1.436,-1.869, PHS= 0.272,-1.071, 0.429, RAW= 155.5, 5.2, CAL= 156.5, -3.9, ROT= 353.5, 3.9 PDAT read: Bearing 353.5, 3.9 (Local) ~Local bearing/azimuth received: Bearing 353.5, 3.9 (Local) DAT read: Range 10 to 50 : 38.0 m (Round-trip 50.7 ms) speed 0.4 m/s ,DAT read: user:1285>  BDAT read: Tx time:19:46:32.6099  $Ping request sent. ٵٵ>ٵ-@ ڵ޹=)ڵ.@Iڵ'giڵn@ڵ'g=ڱ ۱۵yV l?/5U}?gZ?I۵t?i۵+۵V轩۵'g=۱ ܱ}:publishing transmit ping time }Fpublishing direction and range infoرYصCsn}?鼿,::siر9رر ٱ)ٱIٱiٱٱٱٱ雍Bɛ&1) {i)hS=隑iTm JDAT read: TxSync time:19:46:32.6091 Gx,+AF^A6j?y65?96wY6=6Hy?@UY? ?@5?``F? c?@??6j?ɨ6; 6CB8BBIHJ HJg5z_< zV=Y~,Q >٣! %G%BF-Pȸ ->)]5959- m?a=95Y-, i--B9=?q=@-[D-;-<;-95MB M_AM0EZj:Xwn?bjR ii/F^AjBjB2jR?ppˊB@xNy*8zpCsn}?鼿,::si"jV*j'g=p>Nl@ee!B@qh.pA2X?Y>ͷ?DiBje@i"zn?iL  jYvBzjofm?j$ND jjjBrjlh?G>GCGGG =GGKDG_<G F addTargetRange:: Added new target pos. range: 38.000000 m, deltaT: 3.527787 s, deltaX: -1.900002 m, approachRate: -0.538582 m/s, rangeRepo size: 4  Added new target pos. range: 38.000000 m, bearing: 83.402882 deg, lat: 36.903933 deg, lon: -122.119003 deg, deltaT: 3.527787 s, deltaX: -1.900002 m, approachRate: -0.538582 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 38.00 m.*ii"i ProNav: ac range: 38.000000 m, nav range: 37.994377 m, bearing: 88.364372 deg, approach rate: 0.000000 m/s, LOS rate: 0.006437 deg/s, cmd heading: 89.175134 deg, new cmd heading: 89.182354 deg.  iHeadingCmd: 1.556526 target range: 38.000000 and range: 38.00 m.h<Eqx,[F^A6A?y6?96Y6=6H@?`? t?z?h?@'??6A?ɨ6&; 6 CFp٣p rGpvZ; v>x]959zR m?a95Yz)( iz/B?q @z[DzB;z*C;z95 >A2i9=DNOT Ignoring new targets: 38.00 m.*i9iE "iE U ProNav: ac range: 38.000000 m, nav range: 37.815456 m, bearing: 88.361391 deg, approach rate: -0.455630 m/s, LOS rate: -0.007628 deg/s, cmd heading: 89.182354 deg, new cmd heading: 89.173367 deg.  iU]HeadingCmd: 1.556369 target range: 38.000000 and range: 38.00 m.h]7?hYhahahagagabgijgieieijeiJeq:eud?雝Bɛ:H) i)=隡i:J BoHBJ 9JJ RJ  ZJ J I dA6x,}tF^A G&SkA 4) ySkABˈ?yW?9ͨY{=H_b?@?=?'@8>?? ?ˈ?ɨ>; C>BIMb@Mb@Mb@ )Iy/$?MbP> )~AIzAiQAHHL5; *=Y2߻Q >!٣! %G%CF-U_< ->1]=9595[ m?a=95Y5Z" i51B=>m=:=?q=@5[D5:5:5<95I M2AIuB*** querying acoustic contact ***iqiq2iyDNOT Ignoring new targets: 38.00 m.*ii諹"i諹 ProNav: ac range: 38.000000 m, nav range: 37.595047 m, bearing: 88.352452 deg, approach rate: -0.460528 m/s, LOS rate: -0.018787 deg/s, cmd heading: 89.173365 deg, new cmd heading: 89.146391 deg.  iJNHeadingCmd: 1.555898 target range: 38.000000 and range: 38.00 m.h'?hhhhggbgjg.BeejeJe:e`.i?]Bɛh#) i)=隉i=i'?T[<GCG!IGBG =GGLDG<G!FVF9 ZI bI fjI rI zI I 9I I I J;I I :I :F1 ZAA M >x,ӽF^ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500299Nas?yN?9NYN0S=NH!g? R࿓?@?FOi%>)-p= -=H-H-e5M_; Mm=YM9Q M?Q٣Q UGUDF] ]?a]m959ed m?am95Ye, ie2Bim?qm@e[De:e:e>95y }.A2iDNOT Ignoring new targets: 38.00 m.*ii"i ProNav: ac range: 38.000000 m, nav range: 37.436432 m, bearing: 88.346111 deg, approach rate: -0.461763 m/s, LOS rate: -0.018537 deg/s, cmd heading: 89.146393 deg, new cmd heading: 89.127290 deg.  iKHeadingCmd: 1.555565 target range: 38.000000 and range: 38.00 m.h?hhhhggbgjgeejeJe:e?BɛTg) i)5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752336mx,F^A:S?y:}?9:_Y:=:Ho?] ? E?@5V?@? ??:S?ɨ:#6; : CeJBeIH}AAHychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004257&TFailed to parse incomplete device message.J? J>]Mb@Mb@Mb@YY Y)YIYy]/$?~jth?{GztY]D;]ף Y)]AIYi]AY]AHHp5S'= =Y:Q >٣ GEF >]959O m?a95Y i3B >m:?q@ \DK;v;95 A2i1=DNOT Ignoring new targets: 38.00 m.*i9iMԹ"iMԹm ProNav: ac range: 38.000000 m, nav range: 37.184769 m, bearing: 88.333395 deg, approach rate: -0.455473 m/s, LOS rate: -0.023170 deg/s, cmd heading: 89.127289 deg, new cmd heading: 89.088883 deg.  imk~uHeadingCmd: 1.554894 target range: 38.000000 and range: 38.00 m.hu?hqhqhqhqgqgbgjg&Beeje!Je!:e%@Bɛ"L ) ލi)o<iӷ=i?\<G CG -IG BG =G DDG G <G ,FVF E<FZAM>(㱑x,F^Ab.?yk?9WYu6=H`|t?`c̾??? d??Ҿ? ?b.?ɨb; !CquIHHen5; c=Y=9Q >٣ GIP >ZIbIjjIrIzII9IIIIJ;I:I:]E959E m?aM95Y- i4BIMj?qM@\Dג<<'95Q ]AY2iDNOT Ignoring new targets: 38.00 m.*iiȹ"iȹ ProNav: ac range: 38.000000 m, nav range: 37.019169 m, bearing: 88.325230 deg, approach rate: -0.442587 m/s, LOS rate: -0.021920 deg/s, cmd heading: 89.088883 deg, new cmd heading: 89.064277 deg.  ipHeadingCmd: 1.554465 target range: 38.000000 and range: 38.00 m.h?hhhhggbgAjgAeIeIjeIJeI:eM@雝Bɛ7Y) *i)<i=i?m\<߷ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760353 x,F^ARBII9)=AMAMA Mb@Mb@Mb@   ) I y X9v?~jth?~jtx >  Ļ A) hAI Ai A  (AHHo5- = 54=Y5Q 5>9٣9 =G=FF= E>A]:59E8 m?a:5YE  iE5B>m:q@E&\DE)Be1e9je9Je9:e=q@m}Bɛu8)q uiq)u<8872-(! VF! F ZA M5 >f1x,F^A2V?y24?925Y2=2H@]{?%%??'p?ӕ]&?` ?u?2V?ɨ2; 2 C:]B:IHJHJ+p5b͇= f|=YjjQ n ?!٣! -G)- -?1]E:5955 m?aE:5Y5J  i56BAE4?qE@50\D5'!;5!;5 :5Q U<AQmB*** querying acoustic contact ***iiii2iyDNOT Ignoring new targets: 38.00 m.*iiKڹ"iKڹ ProNav: ac range: 38.000000 m, nav range: 36.644108 m, bearing: 88.306875 deg, approach rate: -0.497606 m/s, LOS rate: -0.023856 deg/s, cmd heading: 89.031885 deg, new cmd heading: 89.008926 deg.  iHeadingCmd: 1.553499 target range: 38.000000 and range: 38.00 m.h ?hhhhggbgjgeejeJe:e h @{Bɛna) Wi)k`<i=i ?q]<GG:IGBGGGMDGa<G FVF <FZAM> DAT read: 19:46:35.0625 LVL= 25360, 28305, 17618, 30131, AGC= 59, IDX= 412,-0.42, 2.333, 0.937, 2.610, 2.126, PHS= 0.294,-1.142, 0.481, RAW= 156.0, 4.8, CAL= 157.1, -4.3, ROT= 352.9, 4.3  Ygot valid direction response: 19:46:35.0625 LVL= 25360, 28305, 17618, 30131, AGC= 59, IDX= 412,-0.42, 2.333, 0.937, 2.610, 2.126, PHS= 0.294,-1.142, 0.481, RAW= 156.0, 4.8, CAL= 157.1, -4.3, ROT= 352.9, 4.3  PDAT read: Bearing 352.9, 4.3 (Local)  ~Local bearing/azimuth received: Bearing 352.9, 4.3 (Local)  DAT read: Range 10 to 50 : 36.3 m (Round-trip 48.4 ms) speed 0.4 m/s  ,DAT read: user:1286>  BDAT read: Tx time:19:46:36.1600  $Ping request sent. 5 -5 E>5 @.@ 5 =)5 ~{/@I5 `i5 @5 `=1 1 5 tiP?T ,?_:?I5 !?i5 ]5 5 `=1 1  :publishing transmit ping time  Fpublishing direction and range info1 Y5 rkL?a5]11 91 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 1 5 tiP?T ,?_:?{őx,xG^AIQiQQQQ QNchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.065591E?yE.4?9EYE=EHs{?` %??@;p? O`?-? -?E?ɨEx; EC}bB}IHHm5q< 8=YQ >٣ GGF CO  >]%:590 m?a%:5Y i7BIM3?qM@=\D;;:5Q UAYZjU`pwn?bjUV iQiU3G^AjU3BjUEB2jU?pUA@gU{3CzpUrkL?a5]1"jU*jU`=pUVf@?wwA@=V1pU4ڶ?F0}? hiUBjU6@iU:yn?iUP  jUvBzjUn?jU$ӓD jUvBjjU)BrjUB? addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 3.529086 s, deltaX: -1.700001 m, approachRate: -0.481711 m/s, rangeRepo size: 4 M Added new target pos. range: 36.299999 m, bearing: 83.100589 deg, lat: 36.903951 deg, lon: -122.119003 deg, deltaT: 3.529086 s, deltaX: -1.700001 m, approachRate: -0.481711 m/s, posRepo size: 4 2iIUDNOT Ignoring new targets: 36.30 m.*iQiU"iQ ProNav: ac range: 36.299999 m, nav range: 36.540630 m, bearing: 85.165400 deg, approach rate: 0.000000 m/s, LOS rate: -0.023856 deg/s, cmd heading: 89.008928 deg, new cmd heading: 88.976273 deg.  iHeadingCmd: 1.552929 target range: 36.299999 and range: 36.30 m.h`?hhhhggbgjgeejeJe`f&B@:ex?xBɛ| %) ci)I<<i==iE`?E]ZI% mbI% jI! rI! zI% \8:I% ľ9I! I! q- @i- @u- @m- @Cˑx,1@/G^Allrchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.477340v_BvIz=iz<Mb@Mb@Mb@ )Iyv?Mb`?:JNBJ+9JJRJ ZJ>; EA)AI AiAHH@T5] J=YQ > ٣   G HF >]%:59; m?a%:5Y i9B->m-:-?q-@J\D:w:] :51 =,A92iYeDNOT Ignoring new targets: 36.30 m.*iaimB"imB} ProNav: ac range: 36.299999 m, nav range: 36.345490 m, bearing: 85.140193 deg, approach rate: -0.512510 m/s, LOS rate: -0.066558 deg/s, cmd heading: 88.976273 deg, new cmd heading: 88.900246 deg.  i}6HeadingCmd: 1.551602 target range: 36.299999 and range: 36.30 m.h?hhhhggbgjg;BeejeJe:ey?uBɛTQ) i)4<idw=iM?U^G G G LIG BG =G G LDG v<G FHmʻC HmʺCHiHm ="Hm =*HmS6,ґx,*IG^AfKa?yf֞?9frMǼYf>fH?l?@??P9?'@ ?? ?fKa?ɨf; fCviBvIH H ob5%P= %Z=Y% Q %>)٣) -G)5 < 5>9]E:59=8 m?aE:5Y= i=;BAE$?qM@=V\D=S:=:=:5Q UAQ2iDNOT Ignoring new targets: 36.30 m.*ii%o"i%o- ProNav: ac range: 36.299999 m, nav range: 36.163998 m, bearing: 85.115562 deg, approach rate: -0.459695 m/s, LOS rate: -0.062701 deg/s, cmd heading: 88.900246 deg, new cmd heading: 88.825982 deg.  i5,=HeadingCmd: 1.550306 target range: 36.299999 and range: 36.30 m.h=lp?h9h9h9h9g9g9bgAjgAeAeAjeIJeI:eM?雅sBɛbI?) ci)+{<隉i=ilp?R^<՝ >՝ a= checking for new query: numPingsReceived=1, elapsed TxPingTime=1.233552gUؑx,#bG^A^f?y^?9^y ϼY^V=^Hsj? ?W?$^??Y? P?^f?ɨ^; ^ C jB IHUHU Y5Cv; D=YLQ >٣ GIF9 >Y]:59]5 m?a:5Y]9 i]>B*?q@]c\D]C<]uE<]:5 A2i9EDNOT Ignoring new targets: 36.30 m.*iAiM "im } ProNav: ac range: 36.299999 m, nav range: 35.950386 m, bearing: 85.086192 deg, approach rate: -0.483722 m/s, LOS rate: -0.066903 deg/s, cmd heading: 88.825982 deg, new cmd heading: 88.737348 deg.  i}7HeadingCmd: 1.548759 target range: 36.299999 and range: 36.30 m.h=?hhhhggbgjgeejeJe:etv?oBɛ-) fi))-<))i-=i5=?5Y_<5-ޑx,|G^A:hh?y:?9:/ͼY:ߤ=:Hwj?F [?^? ?`t? ]??:hh?ɨ:; 8FtBFIMb@Mb@Mb@ )IyV-?~jt?Mb`>D< A)hAIiAAHHk5A= F=Y9Q >٣ GJF@8 >]:59 m?a:5Y, iAB>m:?q@p\Db:;:5B A,EB*** querying acoustic contact ***ii2i1=DNOT Ignoring new targets: 36.30 m.*i9iE ̺"iE ̺M ProNav: ac range: 36.299999 m, nav range: 35.759705 m, bearing: 85.053333 deg, approach rate: -0.514859 m/s, LOS rate: -0.089193 deg/s, cmd heading: 88.737346 deg, new cmd heading: 88.638246 deg.  iUt]checking for new query: numPingsReceived=1, elapsed TxPingTime=1.737499HeadingCmd: 1.547029 target range: 36.299999 and range: 36.30 m.h?hhhhggbgjgKBeejeJe:e [?umBɛ}k@)y }~|iy)}"GYG]_IG]ÀBGYGYG]MDG]<G]!FDADADAEE0 EAVF >< checking for new query: numPingsReceived=1, elapsed TxPingTime=1.989854F ZA M >kx,,G^A2X٣X ZGX^l ^>`]f:59b m?af:5Ybb ibCBdf?qj@b{\Db`:b;b:5l nhAl2iDNOT Ignoring new targets: 36.30 m.*iiº"iº ProNav: ac range: 36.299999 m, nav range: 35.578918 m, bearing: 85.022244 deg, approach rate: -0.492198 m/s, LOS rate: -0.085071 deg/s, cmd heading: 88.638247 deg, new cmd heading: 88.544506 deg.  iiHeadingCmd: 1.545393 target range: 36.299999 and range: 36.30 m.hq?hhhhggbgjgee)je1Je1:e5BN@雝jBɛ]B) xi)n<i=iq?!`<eZI% obI% hjI! rI! zI% >:I% Ȇ9I! I! ~x,ʍG^A6?y6RV?961ļY6P=6H@X/w?w??@>f? ?" ?-?6?ɨ6; 6!CVuBVIfDDAT read: Rx Time:19:46:38.3354 fTRx dataTimestamp_ set to:1736538398.783992jPDAT read: Bearing 352.3, 4.7 (Local) n~Local bearing/azimuth received: Bearing 352.3, 4.7 (Local) zDAT read: Range 10 to 50 : 34.7 m (trip time 23.1 ms) speed 0.4 DAT read: 19:46:38.3354 LVL= 18672, 20705, 13634, 20963, AGC= 59, IDX= 166,-0.06, 1.033,-0.300, 1.320, 0.836, PHS= 0.285,-1.089, 0.481, RAW= 156.6, 4.4, CAL= 157.7, -4.7, ROT= 352.3, 4.7 %Ygot valid direction response: 19:46:38.3354 LVL= 18672, 20705, 13634, 20963, AGC= 59, IDX= 166,-0.06, 1.033,-0.300, 1.320, 0.836, PHS= 0.285,-1.089, 0.481, RAW= 156.6, 4.4, CAL= 157.7, -4.7, ROT= 352.3, 4.7 %R#Rx 2: Read range and direction messages.-`direction in FSK: [0.987651,-0.133536,-0.081939]5Fpublishing direction and range infodYf2%՚?86f B9dfH fP)fB5IfQidf>fZddf.@ fnF=)f'0@Ifif@f=d dfn?tM?૳?Ifn#?ifȆf f=d dMchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.510810Iſ=):J5BJ5s9JJ1RJ5 ZJ5&Bz;VdljkI2_hR?+qhd^\XRLHEA@<96310.-)) c~GkA ))]"y]kA]B%Mb@Mb@Mb@!! !)!I!y%x&1?~jtx?Mb`?%A?%;%; %A)%AI!i%A!%(AH}"H}q5T  =Y:Q ->9٣9 EGKF >]:59l m?a:5YV iGBD?m:?q@\D:::5 AZjfp4~n?bjf` idif,G^Ajf Bjf B2jfc?pf" "A@q~hizpf2%՚?86"jf *jf=pfn})@A(A@PċWpfEi?Yԥ?0-粿ifE Bjf^@if4Tn?if5[  jfvBzjf:yn?jfL jfvBjjf Brjf$? addTargetRange:: Added new target pos. range: 34.700001 m, deltaT: 2.520308 s, deltaX: -1.599998 m, approachRate: -0.634842 m/s, rangeRepo size: 4  Added new target pos. range: 34.700001 m, bearing: 82.613396 deg, lat: 36.903962 deg, lon: -122.119007 deg, deltaT: 2.520308 s, deltaX: -1.599998 m, approachRate: -0.634842 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 34.70 m.*ii"i] ProNav: ac range: 34.700001 m, nav range: 35.145100 m, bearing: 82.874541 deg, approach rate: 0.000000 m/s, LOS rate: -0.085071 deg/s, cmd heading: 88.544503 deg, new cmd heading: 88.404609 deg.  iYmHeadingCmd: 1.542951 target range: 34.700001 and range: 34.70 m.hmo?hihqhqhqgqgbgjgaBeejeJeYA@:e?5gBɛ=()9 =xi9)=G<9AiE=iuo?u!`ռx,?G^A6?y6nB?96 żY6=6H y?k?w? dk?: |? ? ?6?ɨ68; 6 C>B>IHbHbi5n = nT=YnQQ n>p٣p rGrLFvغ v>x]~:59zX m?a~:5Yz izJB|~?q~@z\Dz2:z:z!:5  A 2i15DNOT Ignoring new targets: 34.70 m.*i9i=r"i=r]DDAT read: Rx Time:19:46:38.8353 ]TRx dataTimestamp_ set to:1736538399.288725ePDAT read: Bearing 352.6, 5.6 (Local) m~Local bearing/azimuth received: Bearing 352.6, 5.6 (Local) }DAT read: Range 10 to 50 : 34.5 m (trip time 23.0 ms) speed 0.4 DAT read: 19:46:38.8353 LVL= 19952, 32753, 17890, 30643, AGC= 57, IDX= 500, 0.31, 2.143, 0.786, 2.410, 1.907, PHS= 0.323,-1.074, 0.500, RAW= 155.9, 3.4, CAL= 157.4, -5.6, ROT= 352.6, 5.6 Ygot valid direction response: 19:46:38.8353 LVL= 19952, 32753, 17890, 30643, AGC= 57, IDX= 500, 0.31, 2.143, 0.786, 2.410, 1.907, PHS= 0.323,-1.074, 0.500, RAW= 155.9, 3.4, CAL= 157.4, -5.6, ROT= 352.6, 5.6 R#Rx 3: Read range and direction messages.`direction in FSK: [0.986938,-0.128181,-0.097583]Fpublishing direction and range infoYY]?>8hA_1] B9Y]M ])]EI]wi]9]B`>]x]? ProNav: ac range: 34.700001 m, nav range: 34.965630 m, bearing: 82.836240 deg, approach rate: -0.518511 m/s, LOS rate: -0.111226 deg/s, cmd heading: 88.404607 deg, new cmd heading: 88.289112 deg.  i]X$.@ ]s=)]F/@I]+Ƚi]@]+=Y Y]ps?%j?Gy"_?I]H] ?i]s]@]+=Y YHeadingCmd: 1.540936 target range: 34.700001 and range: 34.70 m.hb=?hhhhggchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.018399bgjgeeje Je @A@:e `l?EeBɛEG)A EoqiI)Md*x,gG^A}ث?y}?9}!uüY}C=}H@'?`q?`n?Ms?.@ n? {?^?}ث?ɨ}]; y%B-IHUR=HUa=ZIqbIqjIqrIqzIqIqIqIqMb@Mb@Mb@ )Iyp= ף?{Gzt??ף; A)hAId AiA\AHH8= "=Y9Q >٣ G. >] :59M m?a :5Y iMB  ?m:O?q@\Df::R&:5 AZjnn?bj:[ iixzG^Aj Bj B2j1?ppQA@Ƌ, ]6\^; zp?>8hA_1"j@*j+=p*O@#\ A@QHrpOD?. ,?nigBj@ibpn?iIU mDDAT read: Rx Time:19:46:39.3350 uTRx dataTimestamp_ set to:1736538399.791870}PDAT read: Bearing 352.1, 4.9 (Local) }~Local bearing/azimuth received: Bearing 352.1, 4.9 (Local) DAT read: Range 10 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 DAT read: 19:46:39.3350 LVL= 17552, 30049, 15090, 28403, AGC= 56, IDX= 498,-0.16,-1.369,-2.637,-1.085,-1.555, PHS= 0.275,-1.035, 0.467, RAW= 156.8, 4.2, CAL= 157.9, -4.9, ROT= 352.1, 4.9 Ygot valid direction response: 19:46:39.3350 LVL= 17552, 30049, 15090, 28403, AGC= 56, IDX= 498,-0.16,-1.369,-2.637,-1.085,-1.555, PHS= 0.275,-1.035, 0.467, RAW= 156.8, 4.2, CAL= 157.9, -4.9, ROT= 352.1, 4.9 R#Rx 4: Read range and direction messages.`direction in FSK: [0.986889,-0.136942,-0.085417]Fpublishing direction and range infoqYu[rX%??nSb$ݵufB9quD uau)u:Iuniu8ǔ>uzu> jtBzjjP jYvBjj6 Brj*ݸ?u%/@ uQ =)uA`0@Iu%iuU@u%=q qu^Ԓ?3g? Z?Iu.-$?iuᔕu0 u%=q qmchecking for new query: numPingsReceived=4, elapsed TxPingTime=3.534430} addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 1.007878 s, deltaX: -0.600002 m, approachRate: -0.595312 m/s, rangeRepo size: 4  Added new target pos. range: 34.500000 m, bearing: 82.896910 deg, lat: 36.903962 deg, lon: -122.119008 deg, deltaT: 0.504733 s, deltaX: -0.200001 m, approachRate: -0.396251 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 34.50 m.*ii"i ProNav: ac range: 34.500000 m, nav range: 34.553020 m, bearing: 82.749394 deg, approach rate: 0.000000 m/s, LOS rate: -0.111226 deg/s, cmd heading: 88.289115 deg, new cmd heading: 88.109998 deg.  iHeadingCmd: 1.537810 target range: 34.500000 and range: 34.10 m.h?hhhhggbg jg _Be e jeJe A@:J iOBJ9JJRJ ZJ'$"  J!I%gA:e54?雅bBɛ.<) 'ji)Ƣ<隉iO=i?mRb<Lt =I?IDMDIDIEM0 EI checking for new query: numPingsReceived=4, elapsed TxPingTime=3.753398VFu <F1 ZA9 MU >bGx,%]H^A6ԫ?y6?96]ƼY6=6H?@? Y?@s? Ϙ?;"??G>>G<G>IG>܀BG> =G<G<G>3<G> F6ԫ?ɨ6՗; 6CPRIH^H^.l5-ə 5t=Y5猺Q 5?9٣9 =G=MFE( E?Q]]:59UF m?a]:5YU iUOBaeJ?qe@U\DU:U:U_):5q uAyZjPn?bj:` iiG^AjfBjB2j۷?p&@@sέ>Mzp[rX%??nSb$ݵ"j0 *j%=pU19@@j@@{#pʏ??QɑiBjɑ@io;0n?iD[  jvBzj"zn?jIU jvBjjBrj?2iDNOT Ignoring new targets: 34.50 m.*ii"i ProNav: ac range: 34.500000 m, nav range: 34.373001 m, bearing: 82.710669 deg, approach rate: -0.521987 m/s, LOS rate: -0.112874 deg/s, cmd heading: 88.110000 deg, new cmd heading: 87.993219 deg.  i횻5HeadingCmd: 1.535771 target range: 34.500000 and range: 34.10 m.h=(?h9hAhIhIgIgQbgjgeejeJe:ej?`Bɛs;) xii))-<)Qi]=i](?eGcم5^م%?م.@ څ5z=)څ'0@Iڅ Ľiڅ@څ =ځ ہۅg?7ݹ?&.{?Iۅ "?iۅٶ|ۅ ۅ =ہ ܁uchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.037587VF5 H=F ZA M5 >lx,$H^AJ?yJ ?9JżYJ9=JH k?` ?R?3w?䲘? ??J?ɨJo; J CVBVIH^H^e5fi fK=Yj9Q j>h٣h nGnNFn r>p]v:59rB m?az:5Yr irRBxz2?qz@r\Drh:r"٭ ٭ >٩ ڭ 'g=)ڭ x 0@Iڭ Kiڭ :@ڭ K=ک ۩ ۭ ;? s?|Qw?Iۭ 5b"?iۭ X֋ۭ ۭ K=۩ ܩ M checking for new query: numPingsReceived=6, elapsed TxPingTime=4.533468:J= MBJ= 59JJ9 RJ=  ZJ= VFQ F)ZA1Mu>x,n=H^Az?yz?9zǼYz\=zH?K?8?)z?@ۙ?X??z?ɨzu(; zC B IMb@Mb@Mb@ )Iy%C?MbpZ? )AIiA AHHQc5-< 5=Y=Q =>I٣I MGIU ]>qchecking for new query: numPingsReceived=6, elapsed TxPingTime=4.761086]:59ur m?a:5Yuq iuTB [?m : ?q @u\Du>GmCGmIGmBGm =GmEDGmLDGml<Gm F:eU1"?=[BɛE1)A EgiA)Eٽ ٽ }?>F ZA M= >x,WH^A ].@ Q =) F/@I %i @ %= 1^??m+4?c׉?I p!?i p @ %= bchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.094905v,?yv?9vǼYv =vH`?%@1?`)?`}?? ?? ?v,?ɨv?6; v#CHHm5%덺 %_=Y>1Q >٣ GOF >]:59 m?am:5Y] iVBiu?qu@\D<=<4:5y }AyZj Gnn?bj T?[l!?k 0݌Ni Bj @i ypn?i ۿ]  j wBzj /!yn?j hl[ j jj :Brj 4B?5 addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.508575 s, deltaX: -0.299999 m, approachRate: -0.589882 m/s, rangeRepo size: 4 m Added new target pos. range: 33.299999 m, bearing: 82.649702 deg, lat: 36.903962 deg, lon: -122.119013 deg, deltaT: 0.508575 s, deltaX: -0.299999 m, approachRate: -0.589882 m/s, posRepo size: 4 2iiuDNOT Ignoring new targets: 33.30 m.*iqiq"iq ProNav: ac range: 33.299999 m, nav range: 33.307110 m, bearing: 82.478439 deg, approach rate: 0.000000 m/s, LOS rate: -0.112874 deg/s, cmd heading: 87.682697 deg, new cmd heading: 87.553509 deg.  iHeadingCmd: 1.528097 target range: 33.299999 and range: 33.30 m.h?hhhhggbgjgeejeJe`f@@:e ?5YBɛ5C)Y ]fiY)]_x,?pH^AzB~ I=i%=) a=]DDAT read: Rx Time:19:46:41.3343 ]TRx dataTimestamp_ set to:1736538401.807807ePDAT read: Bearing 352.6, 5.2 (Local) m~Local bearing/azimuth received: Bearing 352.6, 5.2 (Local) }DAT read: Range 10 to 50 : 33.0 m (trip time 22.0 ms) speed 0.4 DAT read: 19:46:41.3343 LVL= 20064, 25697, 15314, 24387, AGC= 57, IDX= 506, 0.22, 0.633,-0.741, 0.908, 0.405, PHS= 0.316,-1.100, 0.500, RAW= 156.0, 3.8, CAL= 157.4, -5.2, ROT= 352.6, 5.2 Ygot valid direction response: 19:46:41.3343 LVL= 20064, 25697, 15314, 24387, AGC= 57, IDX= 506, 0.22, 0.633,-0.741, 0.908, 0.405, PHS= 0.316,-1.100, 0.500, RAW= 156.0, 3.8, CAL= 157.4, -5.2, ROT= 352.6, 5.2 R#Rx 8: Read range and direction messages.`direction in FSK: [0.987590,-0.128265,-0.090633]Fpublishing direction and range infoYY]UoV?C#sqj0L3]B9Y]`N ]ad)];I]C_iY]ʡ>]̌]?]@.@ ]ԇ=)YI]޹iY]޹=Y Y]JI=3M? )N?`~5?I] ?i]ziY]޹=Y Yuchecking for new query: numPingsReceived=8, elapsed TxPingTime=5.553820Mb@Mb@Mb@ )Iy"~j?Mb?~jtxS?<Ļ /A)I AiAHHl5{k< 0=YQ >٣ GPF% %>)]5:59-v m?a5:5Y-7 i-XB=Z?m=:=?q=@-\D-:-;-8:5i mAi:JBJJJRJ ZJ):gqO* Zj]5in?bj]-6e iYi]sH^Aj]Bj]'B2j]@?p]h-dK@@]dV]Ozp]UoV?C#sqj0L3"jY*j]޹=p]aD@O@@baGp]NN>?n ?RkNi]Bj]@i]әbkn?i]_  j]{vBzjYj]F[ j]{vBjj]IBrj]!? addTargetRange:: Added new target pos. range: 33.000000 m, deltaT: 0.496647 s, deltaX: -0.299999 m, approachRate: -0.604049 m/s, rangeRepo size: 4 U Added new target pos. range: 33.000000 m, bearing: 82.684848 deg, lat: 36.903962 deg, lon: -122.119013 deg, deltaT: 0.496647 s, deltaX: -0.299999 m, approachRate: -0.604049 m/s, posRepo size: 4 2iyDNOT Ignoring new targets: 33.00 m.*ii"i- ProNav: ac range: 33.000000 m, nav range: 33.071632 m, bearing: 82.421768 deg, approach rate: 0.000000 m/s, LOS rate: -0.112874 deg/s, cmd heading: 87.553511 deg, new cmd heading: 87.407392 deg.  i)mHeadingCmd: 1.525547 target range: 33.000000 and range: 33.00 m.hmE?hqhhhggbgjgLBee je Je @@:e-=?UWBɛ]~()Y ]ciY)]vG} CG} IG} BG} =Gy G} KDG} <G} FH9 H9H9H9"H9*H=?6VF- #=F ZA1 Mu >&#x,7H^AI3I3I.IIIZI!bI!jI!rI!zI!I!I!I!I!I%T;I!I!f?y?9küYDS=H?i?)? /?܉l? 5y??騭f?ɨQ; CB'IHHe5%< %D=Y-":Q ->)٣) UGQU6 ]>Y]e:59][ m?ae:5Y] i]YBim?qm@]\D]:];]6<:5 AB*** querying acoustic contact ***ii2i!%DNOT Ignoring new targets: 33.00 m.*i!i-=DDAT read: Rx Time:19:46:41.8342 =TRx dataTimestamp_ set to:1736538402.311889EPDAT read: Bearing 352.8, 4.8 (Local) U~Local bearing/azimuth received: Bearing 352.8, 4.8 (Local) eDAT read: Range 10 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4 DAT read: 19:46:41.8342 LVL= 20016, 28097, 17202, 28051, AGC= 57, IDX= 506,-0.31, 0.373,-0.977, 0.644, 0.163, PHS= 0.298,-1.093, 0.478, RAW= 156.0, 4.3, CAL= 157.2, -4.8, ROT= 352.8, 4.8 Ygot valid direction response: 19:46:41.8342 LVL= 20016, 28097, 17202, 28051, AGC= 57, IDX= 506,-0.31, 0.373,-0.977, 0.644, 0.163, PHS= 0.298,-1.093, 0.478, RAW= 156.0, 4.3, CAL= 157.2, -4.8, ROT= 352.8, 4.8 R#Rx 9: Read range and direction messages.`direction in FSK: [0.988635,-0.124894,-0.083678]Fpublishing direction and range info9Y=z9?5 U]k=B99=0N =m)=2CI=mi9=u>=m狿=j>9 =`=)=/@I=i=j @==9 9=]?51?[6?I=W ?i=י===9 9checking for new query: numPingsReceived=9, elapsed TxPingTime=6.039131"i- ProNav: ac range: 33.000000 m, nav range: 32.860126 m, bearing: 82.370567 deg, approach rate: -0.512334 m/s, LOS rate: -0.124824 deg/s, cmd heading: 87.407392 deg, new cmd heading: 87.252801 deg.  iTHeadingCmd: 1.522849 target range: 33.000000 and range: 33.00 m.h?hhhhggbg jg e ejeJe@3s@@:e ?]UBɛ]}C)a eS`ia)|<隁i=i?g<t3=I?ID}DyDyE}5 EyVF -=F ?F > checking for new query: numPingsReceived=9, elapsed TxPingTime=6.273266Fy ZA M >O)x,H^AJF?yJl?9JQYJ>(=JH? S'C?`%?@=? A ?"T?j?JF?ɨJ; HjBj(IHHkf5M#; UY=Ysy:Q >9٣A EGMQF >]:59F m?a:5Y i[B%?q%@ ]Di'<"<?:5 A(EZjmgn?bjm\ iiimH^AjmBjmB2jmླྀ?pm$3WC@@ײ;o%zpmz9?5 U]k"jm*jm=pm}<0@gbڣE@@C_eyipm$t)R;?'US_?oᲿim-Bjm@im_bin?imFV  jmwwBzjmypn?jijijjmBrjm^V? addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 0.504082 s, deltaX: -0.099998 m, approachRate: -0.198377 m/s, rangeRepo size: 4  Added new target pos. range: 32.900002 m, bearing: 82.694683 deg, lat: 36.903961 deg, lon: -122.119013 deg, deltaT: 0.504082 s, deltaX: -0.099998 m, approachRate: -0.198377 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 32.90 m.*ii"i ProNav: ac range: 32.900002 m, nav range: 32.635071 m, bearing: 82.513698 deg, approach rate: 0.000000 m/s, LOS rate: -0.124824 deg/s, cmd heading: 87.252798 deg, new cmd heading: 87.086137 deg.  i%HeadingCmd: 1.519940 target range: 32.900002 and range: 32.90 m.h%c?h!h!h)h)g)g)bg1jg1e1e1je1Je9:e=@?%SBɛ-}.)) -^i))-%o<11i5A=i5c?9=AMDDAT read: Rx Time:19:46:42.3340 MTRx dataTimestamp_ set to:1736538402.816069UPDAT read: Bearing 353.5, 4.8 (Local) ]~Local bearing/azimuth received: Bearing 353.5, 4.8 (Local) uDAT read: Range 10 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 DAT read: 19:46:42.3340 LVL= 20192, 32753, 17074, 28755, AGC= 57, IDX= 503,-0.00,-0.175,-1.519, 0.067,-0.395, PHS= 0.307,-1.077, 0.458, RAW= 155.1, 4.3, CAL= 156.5, -4.8, ROT= 353.5, 4.8 Ygot valid direction response: 19:46:42.3340 LVL= 20192, 32753, 17074, 28755, AGC= 57, IDX= 503,-0.00,-0.175,-1.519, 0.067,-0.395, PHS= 0.307,-1.077, 0.458, RAW= 155.1, 4.3, CAL= 156.5, -4.8, ROT= 353.5, 4.8 T#Rx 10: Read range and direction messages.`direction in FSK: [0.990087,-0.112806,-0.083678]Fpublishing direction and range infoIYMBRqˮ?=%༿U]kMfB9IMN M)MBIMSpiIM/>M#ۉM~>M?-@ I)M.@IIiMn@II IMI}2?{[?:7?IM?iM(ᙽMV轩II Ichecking for new query: numPingsReceived=10, elapsed TxPingTime=6.550393 h< T:=I c?IDDDE05 E:J)bNBJ+9JJRJ ZJVF {/=F ZA  checking for new query: numPingsReceived=10, elapsed TxPingTime=6.778347M>1x,@H^AG=>G=CG=IG=BG= =G9G9G=<G= FUBU,IIY)]AaaMb@Mb@Mb@ )IyMb?Mb`?~jtx?; )Id AiAAHHa5_< (=YQ >!٣! %G%RF- ->]:59i m?a:5Yũ i\B?m:.?q@]D <I;C:5 sAZj(5Cn?bjmU\ iiy:H^AjfBjB2jSK?p?o#@@Q}k ~d zpBRqˮ?=%༿U]k"jV*jpNu @m;/&@@pnRd?0_1?ei1Bjo@iEn?iV  jwBzjәbkn?jj wBjjBrjv? addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.504180 s, deltaX: -0.300003 m, approachRate: -0.595032 m/s, rangeRepo size: 4 E Added new target pos. range: 32.599998 m, bearing: 83.389633 deg, lat: 36.903961 deg, lon: -122.119013 deg, deltaT: 0.504180 s, deltaX: -0.300003 m, approachRate: -0.595032 m/s, posRepo size: 4 2iIMDNOT Ignoring new targets: 32.60 m.*iIiQ"iQZInbIhjIrIzI|;:IȆ9IIIJ;IJ;Iլ:I֬: ProNav: ac range: 32.599998 m, nav range: 32.392551 m, bearing: 82.570124 deg, approach rate: 0.000000 m/s, LOS rate: -0.124824 deg/s, cmd heading: 87.086135 deg, new cmd heading: 86.908270 deg.  iHeadingCmd: 1.516835 target range: 32.599998 and range: 32.60 m.h'?hhhhggbgjgQBeqeqjeyJe}L@@:e} P?QBɛ %)  \i)>a<iÇ=i'? j<E=I'?IDDAT read: Rx Time:19:46:42.8340 TRx dataTimestamp_ set to:1736538403.321325PDAT read: Bearing 353.4, 5.2 (Local) ~Local bearing/azimuth received: Bearing 353.4, 5.2 (Local) DAT read: Range 10 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 DAT read: 19:46:42.8340 LVL= 21424, 29777, 17106, 26179, AGC= 58, IDX= 502, 0.29, 2.336, 0.948, 2.582, 2.093, PHS= 0.331,-1.098, 0.486, RAW= 155.1, 3.8, CAL= 156.6, -5.2, ROT= 353.4, 5.2 %Ygot valid direction response: 19:46:42.8340 LVL= 21424, 29777, 17106, 26179, AGC= 58, IDX= 502, 0.29, 2.336, 0.948, 2.582, 2.093, PHS= 0.331,-1.098, 0.486, RAW= 155.1, 3.8, CAL= 156.6, -5.2, ROT= 353.4, 5.2 -T#Rx 11: Read range and direction messages.=`direction in FSK: [0.989284,-0.114464,-0.090633]=Fpublishing direction and range infoةYح.vr7?uM0L3ة9ةحS ٭Qt)٭BI٭Cfi٭:٭x>٭D٭>٩ ڭԇ=)ڭ.@Iڭ޹iڭ4`@ڭ޹=ک ۩ۭ ?ӅZ[?3ǰ?Iۭ?iۭ'Uۭ뽩ۭ޹=۩ ܩuchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.057140DDDE:5 EVF 4=F ZA M >7x,|EH^AFު?yFU?9FJYF =FH5? t?@? ?`ۘH?@*?@$?Fު?ɨFM; F CbBbIHnHne5rsZ vG=Yv:Q z>٣ GSF >]%:59 m?a-:5Yj i]B)M?qM@%]D;;;TG:5Q ]AYchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.281525Zj} xOn?bj}zW iyi}H^Ajyjy2j}?p}j @@, qzp}.vr7?uM0L3"j}*j}޹=p}f@5RJ!@@p}oso?%)X?G %i} Bj}x@i}c4Qn?i}(nR  j}vBzj}_bin?j}V jyjj}uBrj}?= addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.505256 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 32.599998 m, bearing: 83.149503 deg, lat: 36.903961 deg, lon: -122.119011 deg, deltaT: 0.505256 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iquDNOT Ignoring new targets: 32.60 m.*iqiy"iy ProNav: ac range: 32.599998 m, nav range: 32.364609 m, bearing: 82.599953 deg, approach rate: 0.000000 m/s, LOS rate: -0.124824 deg/s, cmd heading: 86.908270 deg, new cmd heading: 86.772442 deg.  iHeadingCmd: 1.514465 target range: 32.599998 and range: 32.60 m.h?hhhhggbgjgee!je!Je!:e-LL?雭PBɛtY) `i)nWW<隱i=i?j<8A=I?IDDDE`0 EM DDAT read: Rx Time:19:46:43.3337 M TRx dataTimestamp_ set to:1736538403.823756U PDAT read: Bearing 353.6, 4.4 (Local) ] ~Local bearing/azimuth received: Bearing 353.6, 4.4 (Local) m DAT read: Range 10 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4  DAT read: 19:46:43.3337 LVL= 21568, 31329, 16530, 27827, AGC= 58, IDX= 500,-0.21,-1.098,-2.430,-0.855,-1.306, PHS= 0.296,-1.077, 0.448, RAW= 155.2, 4.6, CAL= 156.4, -4.4, ROT= 353.6, 4.4  Ygot valid direction response: 19:46:43.3337 LVL= 21568, 31329, 16530, 27827, AGC= 58, IDX= 500,-0.21,-1.098,-2.430,-0.855,-1.306, PHS= 0.296,-1.077, 0.448, RAW= 155.2, 4.6, CAL= 156.4, -4.4, ROT= 353.6, 4.4  T#Rx 12: Read range and direction messages. `direction in FSK: [0.990839,-0.111140,-0.076719] Fpublishing direction and range infoI YM ][ ?!s.0ۣM fB9I M @T M az)M @IM liI M P>M #ۉM B`>M -\-@ M l=)M R.@IM nFiM |@M nF=I I M ¾?\ܮa?Tƥ?IM ;?iM 2\M i佩M nF=I I  checking for new query: numPingsReceived=12, elapsed TxPingTime=7.550861 } ~G VF% A=zF) rF- hA)5 Xy1 = A& TFailed to parse incomplete device message.F ZA M5 > >x,H^AmBm"IMb@Mb@Mb@ )Iyx&1?MbA? A)QAIM AizA AHHj50< -=YQ >!٣! %G)5 5>Q]]:59U m?a]:5YU/ iU^BE?m:U?q@U4]DU_;U!;UtK:5 AZjEn?bjy֐] iikH^AjfBj%A2j?p3Q?@[q zp][ ?!s.0ۣ"ji*jnF=pb@\?@Lp퐲=?x?/QిixAjp@i눸Gn?i8,X  jxBzjc4Qn?jjwwBjj_Brj哹?U addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.502431 s, deltaX: -0.500000 m, approachRate: -0.995162 m/s, rangeRepo size: 4  Added new target pos. range: 32.099998 m, bearing: 83.258101 deg, lat: 36.903958 deg, lon: -122.119011 deg, deltaT: 0.502431 s, deltaX: -0.500000 m, approachRate: -0.995162 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 32.10 m.*ii"ichecking for new query: numPingsReceived=12, elapsed TxPingTime=7.785288 ProNav: ac range: 32.099998 m, nav range: 32.093109 m, bearing: 83.068905 deg, approach rate: 0.000000 m/s, LOS rate: -0.124824 deg/s, cmd heading: 86.772444 deg, new cmd heading: 86.596861 deg.  iHeadingCmd: 1.511400 target range: 32.099998 and range: 32.10 m.hu?hhhhggbgjg4Be1e1je9JeE @@:eE.?雽NBɛL4) ^i)LJ<i3=G>GGIGBG =GGJDG<GFi u?5JTl<5M=I5u?I9DDDIEMM3 EIZI] obI] gjI] 1rIY zI] >:I] 9I] 3IY I] O;I] O;I] @:I] A:VFI u Aq } DDAT read: Rx Time:19:46:43.8336  TRx dataTimestamp_ set to:1736538404.329337 PDAT read: Bearing 354.4, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 354.4, 5.3 (Local)  DAT read: Range 10 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4  DAT read: 19:46:43.8336 LVL= 19312, 32753, 15570, 30339, AGC= 57, IDX= 499, 0.04, 1.817, 0.457, 2.025, 1.567, PHS= 0.338,-1.063, 0.455, RAW= 154.0, 3.7, CAL= 155.6, -5.3, ROT= 354.4, 5.3 % Ygot valid direction response: 19:46:43.8336 LVL= 19312, 32753, 15570, 30339, AGC= 57, IDX= 499, 0.04, 1.817, 0.457, 2.025, 1.567, PHS= 0.338,-1.063, 0.455, RAW= 154.0, 3.7, CAL= 155.6, -5.3, ROT= 354.4, 5.3 - T#Rx 13: Read range and direction messages.5 `direction in FSK: [0.990972,-0.097166,-0.092371]5 Fpublishing direction and range info؁ Y؅ J ?1'߸{]U؅ B9؁ ؅ pK م )م <FA ZAi M >Ex,<I^AIمviم9مV>مbم>م,@ څ A=)څ-@Iڅqiڅ.@څq=ځ ہۅpY{?Ǥ?f} ?Iۅ?iۅpۅ)+Ƚۅq=ہ ܁vchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.103017~H?y~|?9~Y~G=~HoI?A`պ?`?`\?ٗ@֕???~H?ɨ~; ~C5B5IAiE=)M= M=HuHum5Wu Q=Ydl;Q >٣ GTF@ >]:59& m?a:5Y i_B?q@A]D::N:5 AZj (n?bj݊Z iiI^AjBjYA2jY?pJ ?@1'{]UzpJ ?1'߸{]U"j)+Ƚ*jq=pi G @U?@vpi G?U?viAjH1 H5 ?AǰKx,1I^AZ?yZ /?9ZʧYZٺ=ZH`?K? 6??@;@?i? ?Z?ɨZx; ZCB IDDAT read: Rx Time:19:46:44.3334 TRx dataTimestamp_ set to:1736538404.831678 PDAT read: Bearing 354.5, 5.3 (Local) ~Local bearing/azimuth received: Bearing 354.5, 5.3 (Local) %DAT read: Range 10 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 MDAT read: 19:46:44.3334 LVL= 19552, 26513, 14610, 23283, AGC= 57, IDX= 496, 0.35, 1.046,-0.326, 1.251, 0.791, PHS= 0.343,-1.070, 0.457, RAW= 153.8, 3.7, CAL= 155.5, -5.3, ROT= 354.5, 5.3 UYgot valid direction response: 19:46:44.3334 LVL= 19552, 26513, 14610, 23283, AGC= 57, IDX= 496, 0.35, 1.046,-0.326, 1.251, 0.791, PHS= 0.343,-1.070, 0.457, RAW= 153.8, 3.7, CAL= 155.5, -5.3, ROT= 354.5, 5.3 ]T#Rx 14: Read range and direction messages.e`direction in FSK: [0.991141,-0.095436,-0.092371]eFpublishing direction and range infoYGfl?[n{]UA9`L g)9IZi>>+@ )-@Iiz@ Ԏ҅?U?oVY?Iq5?ix)Ľ checking for new query: numPingsReceived=14, elapsed TxPingTime=8.557918Mb@Mb@Mb@ )IyK?y&1|?{Gz^>`;# A)IiAHHHo5%; %'=Y%:Q m>i٣i uGuUFuݯ u>y]:5:JBoHBJJJRJ ZJ9}F m?a:5Y} iyr>m:F?q@}P]D}SI<}H<}.S:5! %A)Zj)n?bjS\ ii6:5I^AjAjA2j4?pړrMk?@$:36WlzpGfl?[n{]U"j)Ľ*jpAP @?6h?@pd -?ky-?kR״iGAjZ@i*n?i)W  jvBzjEn?jV jvBjj#ArjC? addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.502341 s, deltaX: -0.299999 m, approachRate: -0.597202 m/s, rangeRepo size: 4 - Added new target pos. range: 31.700001 m, bearing: 83.796628 deg, lat: 36.903957 deg, lon: -122.119011 deg, deltaT: 0.502341 s, deltaX: -0.299999 m, approachRate: -0.597202 m/s, posRepo size: 4 2i)-DNOT Ignoring new targets: 31.70 m.*i)i1"i1e ProNav: ac range: 31.700001 m, nav range: 31.642303 m, bearing: 83.225163 deg, approach rate: 0.000000 m/s, LOS rate: -0.124824 deg/s, cmd heading: 86.450743 deg, new cmd heading: 86.259805 deg.  iamHeadingCmd: 1.505518 target range: 31.700001 and range: 31.70 m.hmʹ?hihihihigqgqbgqjgu3BeejeJe@3?@:e?}JBɛ}P.)y }d]iy)v0<隁i=iʹ?>n<&H=Iʹ?IDU DQ DQ E] 2 EY  checking for new query: numPingsReceived=14, elapsed TxPingTime=8.793297G ݽ>G CG G G G G IDG <G FVFu C=F ?F ?FiZAqM>۵Sx,OI^AF?yF?9FsYF=FH w?=??L?`@?`#??F?ɨFm; F!CbBbIHvHvm5~V ~[=Yk2;Q >٣  G    >]:59k m?a:5Y i!%?q%@\]D::`V:5-B -A-&EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 31.70 m.*ii"i ProNav: ac range: 31.700001 m, nav range: 31.464560 m, bearing: 83.189838 deg, approach rate: -0.528517 m/s, LOS rate: -0.105632 deg/s, cmd heading: 86.259805 deg, new cmd heading: 86.153230 deg.  iHeadingCmd: 1.503658 target range: 31.700001 and range: 31.70 m.hw?hhhhggbgjg e ejeJe:eb?DDAT read: Rx Time:19:46:44.8333 TRx dataTimestamp_ set to:1736538405.335885PDAT read: Bearing 355.4, 4.6 (Local) ~Local bearing/azimuth received: Bearing 355.4, 4.6 (Local) DAT read: Range 10 to 50 : 31.4 m (trip time 20.9 ms) speed 0.4 %DAT read: 19:46:44.8333 LVL= 18656, 30513, 16914, 28659, AGC= 56, IDX= 511,-0.19,-0.707,-2.022,-0.530,-0.941, PHS= 0.322,-1.034, 0.408, RAW= 153.1, 4.4, CAL= 154.6, -4.6, ROT= 355.4, 4.6 -Ygot valid direction response: 19:46:44.8333 LVL= 18656, 30513, 16914, 28659, AGC= 56, IDX= 511,-0.19,-0.707,-2.022,-0.530,-0.941, PHS= 0.322,-1.034, 0.408, RAW= 153.1, 4.4, CAL= 154.6, -4.6, ROT= 355.4, 4.6 -T#Rx 15: Read range and direction messages.5`direction in FSK: [0.993568,-0.079941,-0.080199]=Fpublishing direction and range infoYtM[O?6lwzꇴ3A9H 1w)BIoi8/ݤ>Z`>+@ nF=),@Ili(~@l= 79 ?TEf?? ?I4?iϜll= uchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.066526雕HBɛb) ai);&<隙i[=iw?so<lB=Iw?IDYDYDYE]h0 EYVF% 'HF=F ZA M > checking for new query: numPingsReceived=15, elapsed TxPingTime=9.298018$Yx,[iI^A6?y6IT?96lY6=6H)ڝ?+ Ǯ?@?˛?ՕJ?@ӹ??6?ɨ6 ; 6CRBRIIT)TXZAH^H^j5f< jN=YrE!;Q r>x٣  G VF% ->] :59 m?ae:5Yv iij?q@i]Dϻ<<Z:5 AZjbn?bjX iZIpbIjjIrIzIA:I9IIq@i@u@m@i$UI^Aj3AjA2j'?pu2?@å2SmG^%zptM[O?6lwzꇴ"jl*jl=pz_i9 @"y=*?@TsptUK?αC?JkA4ɱiQAjI@iN]n?igS  j]xBzj*n?jU jjj%Arjp?U addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504207 s, deltaX: -0.300001 m, approachRate: -0.594996 m/s, rangeRepo size: 4 e Added new target pos. range: 31.400000 m, bearing: 84.222487 deg, lat: 36.903954 deg, lon: -122.119010 deg, deltaT: 0.504207 s, deltaX: -0.300001 m, approachRate: -0.594996 m/s, posRepo size: 4 2iaDNOT Ignoring new targets: 31.40 m.*ii"i ProNav: ac range: 31.400000 m, nav range: 31.268099 m, bearing: 83.739539 deg, approach rate: 0.000000 m/s, LOS rate: -0.105632 deg/s, cmd heading: 86.153233 deg, new cmd heading: 85.999673 deg.  iHeadingCmd: 1.500977 target range: 31.400000 and range: 31.40 m.h ?hhhhggbgjgeejeJe`ff?@:e?UFBɛU4A)Y ]]iY)]5(>t*@ ԇ=)iw,@IKi@K= vD9?K<)$3?]%?I;?iIiFK= }checking for new query: numPingsReceived=16, elapsed TxPingTime=9.568058i]Z=i ?^q<@=I ?IDDDE`0 E:J BJ 59JJ RJ ! ZJ VF= YhA=F ZA MM >!Aax,BI^A&checking for new query: numPingsReceived=16, elapsed TxPingTime=9.801295V]A?yV~?9VJoYV=VH1B? p ??Y?F/อ?7??V]A?ɨVr; VCrBrIG]н>G]CG]IG]BG] =GYG]HDG]<G] FMb@Mb@Mb@ )Iy-?t<t A)AI7 Ai AG AHHc5%p; %=Y݈;Q >٣ GWFJ  >!]]:59% m?ae:5Y% i!U>m: ?q@%y]D%Hz<%1<%^:5 AZj%0An?bj%@%KX i!i%+uI^Aj%Aj%A2j%Pٻ?p%!>@_&!0zp%ay)?"h󏳿"j%iF*j%K=p%3^? @tiX>@p%z'K?l(g?'mi%zAj%M@i%2/n?i%JoR  j%%wBzj%g*n?j!j%%wBjj%/Arj%?] addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504030 s, deltaX: -0.199999 m, approachRate: -0.396800 m/s, rangeRepo size: 4  Added new target pos. range: 31.200001 m, bearing: 84.085532 deg, lat: 36.903954 deg, lon: -122.119010 deg, deltaT: 0.504030 s, deltaX: -0.199999 m, approachRate: -0.396800 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 31.20 m.*ii"i ProNav: ac range: 31.200001 m, nav range: 31.023027 m, bearing: 83.707178 deg, approach rate: 0.000000 m/s, LOS rate: -0.105632 deg/s, cmd heading: 85.999670 deg, new cmd heading: 85.849016 deg.  iHeadingCmd: 1.498348 target range: 31.200001 and range: 31.20 m.hɿ?hhhhggbgjgBee je Je @33?@:e )?}DBɛ}s?)y {[i)$ <隁iB =iɿ?*r<3=Iɿ?I DDAT read: Rx Time:19:46:45.8330  TRx dataTimestamp_ set to:1736538406.3452735PDAT read: Bearing 356.4, 4.4 (Local) =~Local bearing/azimuth received: Bearing 356.4, 4.4 (Local) UDAT read: Range 10 to 50 : 31.1 m (trip time 20.7 ms) speed 0.4 }DAT read: 19:46:45.8330 LVL= 18880, 29905, 16082, 27395, AGC= 57, IDX= 508,-0.48,-1.151,-2.482,-1.006,-1.398, PHS= 0.334,-1.037, 0.389, RAW= 151.9, 4.5, CAL= 153.6, -4.4, ROT= 356.4, 4.4 Ygot valid direction response: 19:46:45.8330 LVL= 18880, 29905, 16082, 27395, AGC= 57, IDX= 508,-0.48,-1.151,-2.482,-1.006,-1.398, PHS= 0.334,-1.037, 0.389, RAW= 151.9, 4.5, CAL= 153.6, -4.4, ROT= 356.4, 4.4 T#Rx 17: Read range and direction messages.`direction in FSK: [0.995085,-0.062606,-0.076719]Fpublishing direction and range info Y $q?T.0ۣ A9  I t) >I ki   > j +> )@ |٠=) +@I nFi " @ nF=   W+??!~c??I ?i # ) nF=  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.076359DDDE EVFu @A=F1 ZAA M] >gx,#JI^Aj̧?yj ?9jwYj=jHB?`i"?@?w;?R?@M?`?j̧?ɨjq; j CrBr&IH Hh5%= m[=Ym*X;Q u>q٣q uGq}n# }>]:599 m?a:5Y} i?q@]D1;t;a:5 AZj5<_n?bj5p+T Mchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.305293i1i5I^Aj5Aj5.A2j5?p5]Cx>@|d'u1szp5$q?T.0ۣ"j5)*j5nF=p5WrT@b͌|E>@r6gtp5,$H? ?>Hi5"Aj5:@i5n?i5YO  j5xBzj52/n?j5gS j1jj5VArj5{Ȼ? addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.505358 s, deltaX: -0.100000 m, approachRate: -0.197880 m/s, rangeRepo size: 4  Added new target pos. range: 31.100000 m, bearing: 84.607151 deg, lat: 36.903952 deg, lon: -122.119010 deg, deltaT: 0.505358 s, deltaX: -0.100000 m, approachRate: -0.197880 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 31.10 m.*ii"i ProNav: ac range: 31.100000 m, nav range: 30.917130 m, bearing: 84.056099 deg, approach rate: 0.000000 m/s, LOS rate: -0.105632 deg/s, cmd heading: 85.849017 deg, new cmd heading: 85.738543 deg.  iEHeadingCmd: 1.496420 target range: 31.100000 and range: 31.10 m.hE?hAhAhAhAgAgIbgIjgIeIeQjeQJeU?@:eU(&?BBɛZa) 7Wi)a<i =i?r<.=I?IDDDEo0 EZIbIgjI0rIzII9Iـ3I DDAT read: Rx Time:19:46:46.3327  TRx dataTimestamp_ set to:1736538406.848925 PDAT read: Bearing 357.0, 4.2 (Local)  ~Local bearing/azimuth received: Bearing 357.0, 4.2 (Local) - DAT read: Range 10 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 VFU /=] DAT read: 19:46:46.3327 LVL= 18496, 29025, 16514, 25203, AGC= 57, IDX= 505,-0.06,-2.277, 2.644,-2.146,-2.531, PHS= 0.343,-1.061, 0.383, RAW= 151.4, 4.8, CAL= 153.0, -4.2, ROT= 357.0, 4.2 e Ygot valid direction response: 19:46:46.3327 LVL= 18496, 29025, 16514, 25203, AGC= 57, IDX= 505,-0.06,-2.277, 2.644,-2.146,-2.531, PHS= 0.343,-1.061, 0.383, RAW= 151.4, 4.8, CAL= 153.0, -4.2, ROT= 357.0, 4.2 e T#Rx 18: Read range and direction messages.m `direction in FSK: [0.995948,-0.052195,-0.073238]m Fpublishing direction and range info Y -ݱ?Ai[ A9 @H aq) @I sbi > · > )@ =) *@I Q i b@ Q = ?u8?-\?26?I D ?i g橽 QwV Q =  checking for new query: numPingsReceived=18, elapsed TxPingTime=10.584971Fi ZAy M >nx,I^A2tM?y2?92xeY2'=2H`$? =?`?B?@`ܮ???2tM?ɨ2; 0:J~BJ~9JJ|RJ~" ZJ~BI%-t<- -`A))I-M Ai))- AHeHeen5  6=Yl;Q >٣ GXF >]:59I m?a:5Yx ib>m:?q@]D;:e:5 AZjMDm?bjM[ iIiMTI^AjMAjM5A2jM|̽?pM,y>@`; &zpM-ݱ?Ai["jMQwV*jMQ =pMEx@_Ek>@,x[pM(*ys?϶?~C"eiMZAjM+@iMmm?iMĭV  jMAyBzjMN]n?jIjM]xBjjMArjM? addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.503652 s, deltaX: -0.500000 m, approachRate: -0.992749 m/s, rangeRepo size: 4  Added new target pos. range: 30.600000 m, bearing: 84.958348 deg, lat: 36.903951 deg, lon: -122.119010 deg, deltaT: 0.503652 s, deltaX: -0.500000 m, approachRate: -0.992749 m/s, posRepo size: 4 2i)-DNOT Ignoring new targets: 30.60 m.*i)i1"i1= ProNav: ac range: 30.600000 m, nav range: 30.703949 m, bearing: 84.119575 deg, approach rate: 0.000000 m/s, LOS rate: -0.105632 deg/s, cmd heading: 85.738545 deg, new cmd heading: 85.597383 deg.  iAmHeadingCmd: 1.493956 target range: 30.600000 and range: 30.60 m.hm9?hihihihigigqbgqjguBeqeyjeyJe}>@:e}'+?@BɛѰI) Yi)%F;!!i%; =i-9?-s<-[*=I-9?I1uchecking for new query: numPingsReceived=18, elapsed TxPingTime=10.810717GM̽>GMCGMIGMBGM =GIGMGDGM<GM?FHƷC HƶCHƕCH ="H =*HƖ6DDDE EVF eS/=F ZA M >tx,I^A6f?y6(?96-'VY6=6H@?_g? ? Ԧ?Ċ?@??6f?ɨ6 ; 4NBN IHZHZhj5fDDAT read: Rx Time:19:46:46.8327 fTRx dataTimestamp_ set to:1736538407.351724nPDAT read: Bearing 357.4, 4.7 (Local) r~Local bearing/azimuth received: Bearing 357.4, 4.7 (Local) vDAT read: Range 10 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 -DAT read: 19:46:46.8327 LVL= 18384, 31921, 17362, 30131, AGC= 57, IDX= 504, 0.25,-0.613,-1.983,-0.502,-0.889, PHS= 0.364,-1.047, 0.384, RAW= 150.7, 4.3, CAL= 152.6, -4.7, ROT= 357.4, 4.7 5Ygot valid direction response: 19:46:46.8327 LVL= 18384, 31921, 17362, 30131, AGC= 57, IDX= 504, 0.25,-0.613,-1.983,-0.502,-0.889, PHS= 0.364,-1.047, 0.384, RAW= 150.7, 4.3, CAL= 152.6, -4.7, ROT= 357.4, 4.7 =T#Rx 19: Read range and direction messages.E`direction in FSK: [0.995611,-0.045210,-0.081939]EFpublishing direction and range infodYfI{ ?H%d9dfG f|)fCIfuidf5^>ff>faU(@ f`=)ft*@Ifif@f=d df"Qp?-J?,?IfX) ?iff9f=d dechecking for new query: numPingsReceived=19, elapsed TxPingTime=11.081509}S< ^=Y`&;Q >٣ GYF >]:59b m?a:5Yhs i7?q@]D>::h:5 AZjfJͨm?bjfaW idifI^Ajdjf4A2jfEj?pf8w>@"%"zpfI{ ?H%"jf9*jf=pf HH@Ei>@h_pfq|`6?C u? i*ifMAjfF"@if m?if0*R  jf0xBzjfn?jfJoR jdjjf*Arjf!Ҽ? addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.502799 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 30.600000 m, bearing: 85.234237 deg, lat: 36.903949 deg, lon: -122.119009 deg, deltaT: 0.502799 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i!%DNOT Ignoring new targets: 30.60 m.*i!i)"i) ProNav: ac range: 30.600000 m, nav range: 30.520782 m, bearing: 84.520590 deg, approach rate: 0.000000 m/s, LOS rate: -0.105632 deg/s, cmd heading: 85.597386 deg, new cmd heading: 85.480032 deg.  iHeadingCmd: 1.491908 target range: 30.600000 and range: 30.60 m.h?hhhhggbgjgeejeJe:e@?%>Bɛ]) rWi)F;隩i\ =i?t<(=I?IDeDaDaEe0 Ea}checking for new query: numPingsReceived=19, elapsed TxPingTime=11.314310VF *=FQ ZA M >){x,I^AZInbIijI1rIzI|;:Iڈ9I3I5v?y5}?95CY5l=5HRj?@5'?P?`?/u?U?`2?5v?ɨ5 ; 5#CIMI]Mb@Mb@Mb@YY Y)YIYy]!rh?{Gzt?~jt]l?]ף;]ļ ]vA)]QAI]@i]d AY]fAHHo5DDAT read: Rx Time:19:46:47.3324 TRx dataTimestamp_ set to:1736538407.856059PDAT read: Bearing 358.5, 3.3 (Local) ~Local bearing/azimuth received: Bearing 358.5, 3.3 (Local) DAT read: Range 10 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 DAT read: 19:46:47.3324 LVL= 16144, 27953, 14722, 25875, AGC= 56, IDX= 502,-0.24, 2.277, 0.960, 2.368, 2.038, PHS= 0.327,-1.030, 0.327, RAW= 150.0, 5.6, CAL= 151.5, -3.3, ROT= 358.5, 3.3 Ygot valid direction response: 19:46:47.3324 LVL= 16144, 27953, 14722, 25875, AGC= 56, IDX= 502,-0.24, 2.277, 0.960, 2.368, 2.038, PHS= 0.327,-1.030, 0.327, RAW= 150.0, 5.6, CAL= 151.5, -3.3, ROT= 358.5, 3.3 %T#Rx 20: Read range and direction messages.-`direction in FSK: [0.998000,-0.026134,-0.057564]-Fpublishing direction and range infoYQ D?쀞š`8.yA9? 1m)9Iei8l> ׃l>6'@ +=)%:)@Ikic9@k= xdZ?~0?Iԇ?I ?iǽwּk= Mchecking for new query: numPingsReceived=20, elapsed TxPingTime=11.581787UL U$=YUv;Q U>y٣y }G >]:59- m?a:5Yxl iZB?m:{?q@]Dh<h<m:5 B A$EZjͽm?bjX iiI^AjAjA2j8?pUK#>@}CoAGğzpQ D?쀞š`8.y"jwּ*jk=p)@!f>@=֨*pU|rR@?&?-iAj@i"Im?ie7S  jS{Bzjmm?jjxBjjArj1? addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.504335 s, deltaX: -0.400000 m, approachRate: -0.793123 m/s, rangeRepo size: 4  Added new target pos. range: 30.200001 m, bearing: 85.989516 deg, lat: 36.903947 deg, lon: -122.119009 deg, deltaT: 0.504335 s, deltaX: -0.400000 m, approachRate: -0.793123 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 30.20 m.*ii"i ProNav: ac range: 30.200001 m, nav range: 30.236439 m, bearing: 84.928111 deg, approach rate: 0.000000 m/s, LOS rate: -0.105632 deg/s, cmd heading: 85.480029 deg, new cmd heading: 85.314563 deg.  iHeadingCmd: 1.489020 target range: 30.200001 and range: 30.20 m.h5?hhhhggbgjg€BeejeJe@33>@:e@?5;Bɛ5=)9 =Vi9)= b;99i=QO =iE5?:JmBoHBJmh9JJiRJm# ZJm^[%EUu<q&=I5?ID% D! D! E% o0 E! q u =} checking for new query: numPingsReceived=20, elapsed TxPingTime=11.817717G5 ʽ>G1 G1 G1 G5 =G1 G1 G5 <G5 FVF (=F ZAMM>x, J^A=?yL?9W7Y=H@?@!? ?PV?򻐿`?Q?S?騽=?ɨh͓; "CBI)AHHm5= =N=Y=:Q =>A٣A EGEZFM M>Q]}:59U m?a:5YUf iUWB?q@U]DU*sh/ݤ>%@ %=)8(@I'gi@'g= 9<?x,L?wr0?I>iNPD+'g= checking for new query: numPingsReceived=21, elapsed TxPingTime=12.097450VF k%=zF rF F ZA M >$0x,&J^A&checking for new query: numPingsReceived=21, elapsed TxPingTime=12.321296:E?y:?9:Z'Y:\=:H@Ǭ?`P?`?~?@+ @?j??:E?ɨ:[Ɠ; : CnBr IHzHzHo5; `=YW1;Q > ٣   G[F >!]-:59%m?a-:5Y%a i%TB)-?q5@%]D%:%:%s:59 =A9Zj-|m?bj-\?oS i)i-CJ^Aj-Aj-oA2j-e?p-T=@Լ>ԿRzp-RE۔?8 e,::si"j-D+*j-'g=p-?^=@Ԭ!`op-;3[?MJ+BN?W3i-(Aj-`?i-TNm?i-MN  j-zBzj- m?j-0*R j-AyBjj-Arj-I? addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.505102 s, deltaX: -0.200001 m, approachRate: -0.395961 m/s, rangeRepo size: 4  Added new target pos. range: 30.000000 m, bearing: 86.569611 deg, lat: 36.903946 deg, lon: -122.119009 deg, deltaT: 0.505102 s, deltaX: -0.200001 m, approachRate: -0.395961 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 30.00 m.*ii"i ProNav: ac range: 30.000000 m, nav range: 29.854063 m, bearing: 85.177336 deg, approach rate: 0.000000 m/s, LOS rate: -0.056178 deg/s, cmd heading: 85.254544 deg, new cmd heading: 85.195111 deg.  iHeadingCmd: 1.486935 target range: 30.000000 and range: 30.00 m.hS?hhhhggbgjgeejeJe>@:e` W?%7Bɛ-,l) Si) ;iQa =iUS?]35w  > ~%@ =) '@I Ci @ C=   R@?%%?3hm?I >i ]  C=  checking for new query: numPingsReceived=22, elapsed TxPingTime=12.591204lA )ylAAVF /=FI ZAQ Mu >:J +!MBJ 9JJ RJ $ ZJ x,h@J^A2>?y2|?92Y2=2H`LJ?OF?K?`䪭?\@?hu??2>?ɨ2l; 2!CrBr#I-Mb@Mb@Mb@)) )))I)y-V-?Mbp->-- -A)-AI-Ai- A)-p AHeHe.l5(< 3=Ya;Q >٣ GԻ >]:59m?a:5YZ\ i>m:?q@]D;;w:5 AUchecking for new query: numPingsReceived=22, elapsed TxPingTime=12.825384Zj5(m?bj5P i1i5Z7J^Aj53Aj5A2j5?p5亴=@ÿP)zp5.%oB?gM=du M"j5*j5C=p5wGmU?8l=@{qp5sA?Wb?E@i5WAj5?i5(;m?i5ÙrK  j5yBzj5"Im?j1j5yBjj5Arj5?Gƽ>GCGGGGGFDG<GF] addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.503741 s, deltaX: -0.100000 m, approachRate: -0.198515 m/s, rangeRepo size: 4  Added new target pos. range: 29.900000 m, bearing: 86.718092 deg, lat: 36.903942 deg, lon: -122.119009 deg, deltaT: 0.503741 s, deltaX: -0.100000 m, approachRate: -0.198515 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 29.90 m.*ii"i  ProNav: ac range: 29.900000 m, nav range: 29.611116 m, bearing: 85.969672 deg, approach rate: 0.000000 m/s, LOS rate: -0.056178 deg/s, cmd heading: 85.195108 deg, new cmd heading: 85.112549 deg.  iMHeadingCmd: 1.485494 target range: 29.900000 and range: 29.90 m.hU$?hQhYhYhggbgjg&BeejeJe`f=@:eo?=3Bɛ=5)9 =Pi9)E=m;AAiE =iM$?M!xZI bI fjI 0rI zI I 9I ـ3I ] DDAT read: Rx Time:19:46:49.3318 e TRx dataTimestamp_ set to:1736538409.872256m PDAT read: Bearing 0.6, 3.7 (Local) m ~Local bearing/azimuth received: Bearing 0.6, 3.7 (Local) } DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4  DAT read: 19:46:49.3318 LVL= 18160, 32753, 16882, 30771, AGC= 56, IDX= 510, 0.12,-2.764, 2.140,-2.751,-3.061, PHS= 0.385,-1.034, 0.308, RAW= 147.2, 5.0, CAL= 149.4, -3.7, ROT= 0.6, 3.7  Ygot valid direction response: 19:46:49.3318 LVL= 18160, 32753, 16882, 30771, AGC= 56, IDX= 510, 0.12,-2.764, 2.140,-2.751,-3.061, PHS= 0.385,-1.034, 0.308, RAW= 147.2, 5.0, CAL= 149.4, -3.7, ROT= 0.6, 3.7  T#Rx 24: Read range and direction messages. ^direction in FSK: [0.997861,0.010450,-0.064532] Fpublishing direction and range infoY Y] ¹ay? ږf?P0] fA9Y ] F ] )] AI] 3xiY ] >] Z] ->] l$@ ] ¸=)] &@I] Ai] +<] A=Y Y ] ljIX? ; Ɂ-?)??I] ^>i] G2] +<] A=Y Y  checking for new query: numPingsReceived=24, elapsed TxPingTime=13.598392lx,xJ^A-~?y-?9-YY-߅=-H@? $*?p?`]?@W=? E??-~?ɨ-N; -"C=B9Mb@Mb@Mb@ )IyGz?~jth?Mb`>D; )I Aid A AHHm5=V =+=YEi;Q E>A٣A MGM]FM\I M>Q]e:59Um?ae:5YU=Q iQe>me:e?qe@U]DU;U[;U:5q uA:JBJ]9JJRJ% ZJZjRLJm?bjmT ii wJ^AjfAjA2j?pJ}P><=@)?@zp¹ay? ږf?P0"j+<*j A=p1 ?wL~8=@w p??1GtiAj?ium?i*:hO  jzBzj(;m?jjzBjj|Arjc? addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.504475 s, deltaX: -0.300001 m, approachRate: -0.594680 m/s, rangeRepo size: 4  Added new target pos. range: 29.299999 m, bearing: 87.235663 deg, lat: 36.903939 deg, lon: -122.119007 deg, deltaT: 0.504475 s, deltaX: -0.300001 m, approachRate: -0.594680 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 29.30 m.*ii"i ProNav: ac range: 29.299999 m, nav range: 29.310944 m, bearing: 86.706705 deg, approach rate: 0.000000 m/s, LOS rate: -0.056178 deg/s, cmd heading: 85.045814 deg, new cmd heading: 84.962375 deg.  iHeadingCmd: 1.482873 target range: 29.299999 and range: 29.30 m.hν?hhhh g)g)bg1jg5 Be1e1je1Je=L=@:e=@}?雅/BɛSG) (Oi) ;隩i>=iν?zy<l=Iν?I=checking for new query: numPingsReceived=24, elapsed TxPingTime=13.835369DIDIDQEU2 EQEYEYGý>GGGG =GGGְ<GFVF! F ZA M >mx,J^A6)?y6Vg?96޻Y6X=6HM?1Ԓ?? ?@`{?`?`D?6)?ɨ6T; 6CRBR3IHZHZe5r٬= r|=Yr(;Q v ?x٣x zGx~  ?!]-:59%tm?a-:5Y%,M i!)-E?q-@%]D%:%:%|:5] B ]`A]EB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 29.30 m.*iir8"ir8 ProNav: ac range: 29.299999 m, nav range: 29.156355 m, bearing: 86.707735 deg, approach rate: -0.495779 m/s, LOS rate: 0.003319 deg/s, cmd heading: 84.962376 deg, new cmd heading: 84.965481 deg.  i9=HeadingCmd: 1.482927 target range: 29.299999 and range: 29.30 m.h=н?h9h9h9h9g9gAbgAjgAeAeIjeIJeI:eM`?DDAT read: Rx Time:19:46:49.8317 TRx dataTimestamp_ set to:1736538410.375854PDAT read: Bearing 1.3, 2.3 (Local) ~Local bearing/azimuth received: Bearing 1.3, 2.3 (Local) DAT read: Range 10 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 DAT read: 19:46:49.8317 LVL= 17984, 31793, 17474, 31347, AGC= 56, IDX= 510,-0.49, 3.128, 1.775, 3.129, 2.862, PHS= 0.354,-1.040, 0.264, RAW= 146.7, 6.3, CAL= 148.7, -2.3, ROT= 1.3, 2.3 Ygot valid direction response: 19:46:49.8317 LVL= 17984, 31793, 17474, 31347, AGC= 56, IDX= 510,-0.49, 3.128, 1.775, 3.129, 2.862, PHS= 0.354,-1.040, 0.264, RAW= 146.7, 6.3, CAL= 148.7, -2.3, ROT= 1.3, 2.3 T#Rx 25: Read range and direction messages.^direction in FSK: [0.998937,0.022669,-0.040132]Fpublishing direction and range infoءYإ+K?6?.='إA9ءإ@F ٥1|)٥BDI٥szi١٥}?>٥٥+>٥#@ ڥz0=)ڥx&@Iڥl$iڥ޹<ڥl$=ڡ ۡۥj?Nu?2{?Iۥ~>iۥ58Ὁۥ޹<ۥl$=ۡ ܡ%checking for new query: numPingsReceived=25, elapsed TxPingTime=14.102889U-BɛU&p)Q U0GiQ)]B:YYi]J=ieн?eyM checking for new query: numPingsReceived=25, elapsed TxPingTime=14.337224ߜx,bJ^A]ڣ?y]n?9]%ŻY]j=]H???@窱?@v⊿x?@!??]ڣ?ɨ]>; ]CuBqIy)}AyyHHm59: ?=Y2:Q >٣ G^F >]:59m?a:5YG iUB?q@^D<<0:5! =]A9ZjMX!}m?bjbO ii J^AjAjGA2j%?pȮ=@SA?fbszp+K?6?.='"j޹<*jl$=pnAlE/?BGL=@aipx,{82?&vn5?` +iwAjz?iQ}m?i~bJ  j}Bzjum?jʦIL jjj'Arj? addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503598 s, deltaX: -0.199999 m, approachRate: -0.397140 m/s, rangeRepo size: 4 E Added new target pos. range: 29.100000 m, bearing: 87.514098 deg, lat: 36.903936 deg, lon: -122.119006 deg, deltaT: 0.503598 s, deltaX: -0.199999 m, approachRate: -0.397140 m/s, posRepo size: 4 2iIMDNOT Ignoring new targets: 29.10 m.*iIiU"iQ ProNav: ac range: 29.100000 m, nav range: 29.019135 m, bearing: 87.256601 deg, approach rate: 0.000000 m/s, LOS rate: 0.003319 deg/s, cmd heading: 84.965484 deg, new cmd heading: 84.970297 deg.  iHeadingCmd: 1.483011 target range: 29.100000 and range: 29.10 m.hRӽ?hhhhggbgjgeejeJe=@:en?*BɛwH)9 =Ei9)=]:99i=t=iERӽ?Erz٥+٥}>٥e#@ ڥ=)ڥm%@Iڥiڥ=ڥ=ڡ ۡۥԾI ?=?8񹞍?Iۥn>iۥ5콉ۥ=ۥ=ۡ ܡ%checking for new query: numPingsReceived=26, elapsed TxPingTime=14.606167DDDE"5 E:J BJ 9JJ RJ & ZJ J I fAVF F ZA M >$ⱒx,?J^Achecking for new query: numPingsReceived=26, elapsed TxPingTime=14.841321zBz<IGGGIGBGGGGʰ<G FMb@Mb@Mb@ )Iy`"?~jth~jth>DD `A);AIi AQ AHHhj5 < "=YQ >٣ G_F > ]:59 m?a:5Y A i >m:c?q@ ^D ; ; :5! %(A)Zjefm?bjR iiNJ^AjAjA2jB?p<@tfYGo? Mzp6t?qV??Iz"j=*j=pZ?7<<@L֓ p|T?kY?D@}]iiAjx?ifm?iq@N  j~BzjQ}m?jj}Bjj'Arj{?} addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.503910 s, deltaX: -0.400000 m, approachRate: -0.793792 m/s, rangeRepo size: 4  Added new target pos. range: 28.700001 m, bearing: 88.059837 deg, lat: 36.903935 deg, lon: -122.119006 deg, deltaT: 0.503910 s, deltaX: -0.400000 m, approachRate: -0.793792 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 28.70 m.*ii"i ProNav: ac range: 28.700001 m, nav range: 28.769049 m, bearing: 87.523430 deg, approach rate: 0.000000 m/s, LOS rate: 0.003319 deg/s, cmd heading: 84.970299 deg, new cmd heading: 84.974686 deg.  iHeadingCmd: 1.483088 target range: 28.700001 and range: 28.70 m.hս?hhhhggbgjgBeejeJe@3<@:eǚ?(BɛzP) 1Ai)ubJ9yyi}=iս?z<:Iڈ9III~O;qIO;iIi:uIj:mDIDIDIEU94 EQDDAT read: Rx Time:19:46:50.8314 TRx dataTimestamp_ set to:1736538411.385041PDAT read: Bearing 2.5, 3.2 (Local) ~Local bearing/azimuth received: Bearing 2.5, 3.2 (Local) 5DAT read: Range 10 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 UDAT read: 19:46:50.8314 LVL= 18384, 32753, 16594, 32755, AGC= 55, IDX= 506, 0.23,-1.850, 3.056,-1.899,-2.163, PHS= 0.401,-1.017, 0.261, RAW= 144.9, 5.3, CAL= 147.5, -3.2, ROT= 2.5, 3.2 ]Ygot valid direction response: 19:46:50.8314 LVL= 18384, 32753, 16594, 32755, AGC= 55, IDX= 506, 0.23,-1.850, 3.056,-1.899,-2.163, PHS= 0.401,-1.017, 0.261, RAW= 144.9, 5.3, CAL= 147.5, -3.2, ROT= 2.5, 3.2 ]T#Rx 27: Read range and direction messages.^direction in FSK: [0.997490,0.043551,-0.055822]Fpublishing direction and range infoYWH"q?o]L?ᢔ9G )@Ii7O>-ˡ>!@ q=)S$@Idi¸2=d= @ j ?M?ٿ?I'>i6a¸2=d= checking for new query: numPingsReceived=27, elapsed TxPingTime=15.123833VF5 N<F ZA M >x,ŮJ^Ay};IHHe5  w=YQ ?٣ G ?]:59m?a:5YK= iTBq@ ^D:)::5 /AZj=oeHm?bj=X O i9i=J^Aj9j92j=a?p=à<@BZư?: zp=WH"q?o]L?ᢔ"j=¸2=*j=d=p=k_:?/L<@R`h0p=.oJ[p?)?lci=PAj=?i=[Hm?i= A  DDAT read: Rx Time:19:46:51.3311  TRx dataTimestamp_ set to:1736538411.889088% PDAT read: Bearing 3.8, 0.7 (Local) % ~Local bearing/azimuth received: Bearing 3.8, 0.7 (Local) 5 DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 U DAT read: 19:46:51.3311 LVL= 18464, 32753, 17170, 32755, AGC= 56, IDX= 504,-0.23, 0.730,-0.611, 0.656, 0.461, PHS= 0.357,-1.025, 0.192, RAW= 143.7, 7.3, CAL= 146.2, -0.7, ROT= 3.8, 0.7 e Ygot valid direction response: 19:46:51.3311 LVL= 18464, 32753, 17170, 32755, AGC= 56, IDX= 504,-0.23, 0.730,-0.611, 0.656, 0.461, PHS= 0.357,-1.025, 0.192, RAW= 143.7, 7.3, CAL= 146.2, -0.7, ROT= 3.8, 0.7 e T#Rx 28: Read range and direction messages.m ^direction in FSK: [0.997727,0.066269,-0.012217]m Fpublishing direction and range info Y :u-a?Q&{?I: A9  H  ) CI i 8 ȶ> 33 D> @  w>) N#@I +Hi ԇ= +H<   -6WL?G?#W?I >i  ԇ= +H<   checking for new query: numPingsReceived=28, elapsed TxPingTime=15.6152661x,‰J^A6?y68M?96LkY6u=6He?@ $=?$?`M?`a`tm?@b?R?6?ɨ6+; 6 C~B~EI=i=) = =Mb@Mb@Mb@ )IyCl?I +d>94 vA)QAIM AiM A AHHa5= :=Y&;Q >٣ G`Ff >]:59m?a:5Y7 iUB%t>m%:%s?q%@.^Dj:f:_:5:JUJBJU59JJQRJU' ZJU a eAaZjE75-m?bjE=U iAiEJ^AjEAjE A2jE?pE|"<@fڡ?d9 ֿzpE:u-a?Q&{?I:"jEԇ=*jE+H<pEb6`J?oo72<@Y}}I pEUs[W|?s?8k\iEAjES>iE4Y-m?iE P  jEBzjEfm?jEq@N jAjjEArjE;? addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.504047 s, deltaX: -0.500000 m, approachRate: -0.991971 m/s, rangeRepo size: 4  Added new target pos. range: 28.200001 m, bearing: 89.482828 deg, lat: 36.903933 deg, lon: -122.119007 deg, deltaT: 0.504047 s, deltaX: -0.500000 m, approachRate: -0.991971 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 28.20 m.*ii"i ProNav: ac range: 28.200001 m, nav range: 28.315514 m, bearing: 88.101757 deg, approach rate: 0.000000 m/s, LOS rate: 0.003319 deg/s, cmd heading: 84.978147 deg, new cmd heading: 84.982730 deg.  i%HeadingCmd: 1.483228 target range: 28.200001 and range: 28.20 m.h%nڽ?h!h!h!h)g)g)bg)jg--Be1e1je1Je5@33<@:e=@~?#BɛA) U;i)-XiY=inڽ?%&{<%+,GGIGBGGE`0 EGG<G!FHeƳC HeƳCHeƓCHe ="He =*He"5VF <ZI% nbI% hjI% 1rI! zI% |;:I% Ȇ9I% 3I! I% J;I% J;I% Ԭ:I% լ:F ZA M >\Œx,}K^AF΢?yFn ?9F[;YF=FH? λ 2??6ӳ?F@qg?U? ?F΢?ɨFߑ; D^Bb?IHzHzKk5( b=Y 0;Q  > eDDAT read: Rx Time:19:46:51.8311 mTRx dataTimestamp_ set to:1736538412.396923}PDAT read: Bearing 3.3, 2.0 (Local) }~Local bearing/azimuth received: Bearing 3.3, 2.0 (Local) DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 DAT read: 19:46:51.8311 LVL= 17232, 30865, 16866, 31795, AGC= 56, IDX= 503, 0.11,-2.634, 2.257,-2.707,-2.937, PHS= 0.392,-1.041, 0.228, RAW= 144.0, 6.3, CAL= 146.7, -2.0, ROT= 3.3, 2.0 Ygot valid direction response: 19:46:51.8311 LVL= 17232, 30865, 16866, 31795, AGC= 56, IDX= 503, 0.11,-2.634, 2.257,-2.707,-2.937, PHS= 0.392,-1.041, 0.228, RAW= 144.0, 6.3, CAL= 146.7, -2.0, ROT= 3.3, 2.0 T#Rx 29: Read range and direction messages.^direction in FSK: [0.997734,0.057529,-0.034899]Fpublishing direction and range info٣ GaF >]:59{m?a:5Y2 i2?q@aYe o?Irot?Xޡa9aePC ex)eAIe3|iae9>e}?exi>e| @ ez0=)e#@Ie5iek=e5=a aeتvQ?vs?b@:?Ie5t>iem߽ek=e5=a a:^D#<P$<:55B 5A1Mchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.127945ZjeJqBm?bjeP iaie0gK^Ajaja2je?peq"<@|X?ƏTI~zpe o?Irot?Xޡ"jek=*je5=pe"KP?/<@dۭhpeS7iđ?0d?2=3ie}Aje>ie~Bm?ie(L  jee~Bzje[Hm?je(L jee~BjjeArje? addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.507835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 28.200001 m, bearing: 89.005487 deg, lat: 36.903930 deg, lon: -122.119006 deg, deltaT: 0.507835 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 28.20 m.*ii"iu ProNav: ac range: 28.200001 m, nav range: 28.191839 m, bearing: 88.860327 deg, approach rate: 0.000000 m/s, LOS rate: 0.003319 deg/s, cmd heading: 84.982730 deg, new cmd heading: 84.986359 deg.  iquHeadingCmd: 1.483292 target range: 28.200001 and range: 28.20 m.h}ܽ?hyhyhyhygygybgjgeejeJe:e1"?U"BɛUɼ_)Q Uchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.353382߂˒x,H0K^AF?yFž?9FnYF=FHɏ?`H??f?3݄@m_?@h?G?F?ɨFTё; FCRBRCIHZHZc5fr< fO=Yj";Q ~>٣ EGAU >A]:59E?m?a:5YES- iA?q@EG^DEUSU-2>U@ Uw>)U:M"@IU5iU=U5iU:U=U5 checking for new query: numPingsReceived=30, elapsed TxPingTime=16.857904kҒx,t&JK^AGrĽ>GpGrIGrBGpGpGpGr%<GrPFޭBޭRII)EMb@Mb@Mb@AA A)AIAyE+?I +{GztEv>AEף E`A)EAIEd AiE7 AAEz AH]H]_5mI= u&=YuQ u>y٣y }G}bF} >]:59"m?a:5Y' iSB>m:?q@U^D ;:;:5 AZjGm?bj;O ii\Y9K^AjfAjA2j8T?pkC;@09,8@]:p ϿzpXI$?'D?B7߁"j=*j5<p[,;*;@`Q?pZYZaPk?`H[?ifAjmi?m?iK  jЀBzj~Bm?jj~Bjj!Arj?u addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.499156 s, deltaX: -0.400002 m, approachRate: -0.801356 m/s, rangeRepo size: 4  Added new target pos. range: 27.799999 m, bearing: 90.119538 deg, lat: 36.903929 deg, lon: -122.119006 deg, deltaT: 0.499156 s, deltaX: -0.400002 m, approachRate: -0.801356 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 27.80 m.*ii"i ProNav: ac range: 27.799999 m, nav range: 27.766172 m, bearing: 89.079696 deg, approach rate: 0.000000 m/s, LOS rate: 0.082837 deg/s, cmd heading: 85.090941 deg, new cmd heading: 85.200473 deg.  iHeadingCmd: 1.487029 target range: 27.799999 and range: 27.80 m.hV?hhhhggbgjg.BeejeJe;@:e?I3I3I/.IIIZIEqbIEgjIE0rIAzIED:IE9IEـ3IAIEJZ;IEMZ;IE?:IE@:雥BɛG) 2i))隩iV=iV?*|<LmmV->mbd@ m>)m!@Im+imK=m+immK=m+ؒx,cK^AnBnJIHv Hvh5D1  |=Y Q   ?٣ GcF = ?A]M:59Em?aM:5YE9# iAQQqU@E`^DEK:E:E:5y TAZjT m?bj{S iiɯYK^AjAjA2j=?p󞟾c;@ 7+@@"*nҿzpK?%t?/;r"jK=*j+<ph5пo0#;@^ɵ?pqg܂X?zE?iAji81 m?i7N  jBzj4Y-m?jjBjjArj??= addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.505275 s, deltaX: -0.299999 m, approachRate: -0.593735 m/s, rangeRepo size: 4 u Added new target pos. range: 27.500000 m, bearing: 90.527670 deg, lat: 36.903927 deg, lon: -122.119006 deg, deltaT: 0.505275 s, deltaX: -0.299999 m, approachRate: -0.593735 m/s, posRepo size: 4 2iquDNOT Ignoring new targets: 27.50 m.*iyiy"iy ProNav: ac range: 27.500000 m, nav range: 27.600039 m, bearing: 89.634962 deg, approach rate: 0.000000 m/s, LOS rate: 0.082837 deg/s, cmd heading: 85.200476 deg, new cmd heading: 85.281730 deg.  ichecking for new query: numPingsReceived=31, elapsed TxPingTime=17.361364HeadingCmd: 1.488447 target range: 27.500000 and range: 27.50 m.hn?hhhhggbgjgeejeJe;@:e΋?EBɛEUl)I U5iQ)UGQQiU=imn?u5|DUDYDYE]2 EYVF 7ͤ< ~G) M A} DDAT read: Rx Time:19:46:53.3304  TRx dataTimestamp_ set to:1736538413.905516 PDAT read: Bearing 5.3, 0.2 (Local)  ~Local bearing/azimuth received: Bearing 5.3, 0.2 (Local)  DAT read: Range 10 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 F ZA  DAT read: 19:46:53.3304 LVL= 17712, 27281, 17874, 27875, AGC= 56, IDX= 496, 0.45, 0.172,-1.241, 0.039,-0.130, PHS= 0.390,-1.064, 0.165, RAW= 141.7, 7.6, CAL= 144.7, -0.2, ROT= 5.3, 0.2 M > Ygot valid direction response: 19:46:53.3304 LVL= 17712, 27281, 17874, 27875, AGC= 56, IDX= 496, 0.45, 0.172,-1.241, 0.039,-0.130, PHS= 0.390,-1.064, 0.165, RAW= 141.7, 7.6, CAL= 144.7, -0.2, ROT= 5.3, 0.2  T#Rx 32: Read range and direction messages. ^direction in FSK: [0.995719,0.092370,-0.003491]% Fpublishing direction and range infoy Y} ,Q?i䏥?QC1ml} A9y } 0E } j)} EI} li} 8} >} '1} (>} G@ } >)} !@I} di} q=} d;y y } `-ew?>~?)A?I} :>i} l&} q=} d;y y = checking for new query: numPingsReceived=32, elapsed TxPingTime=17.640064)M {yI M 0Aޒx,U}K^AJr?yJ)?9J c:YJ=JHŵ? o?R?Ѫ?)@AxL`?`?Jr?ɨJ; HZBZKImMb@Mb@Mb@ii i)iIiym^I +?~jtxy&1|mX>mĻm` mA)m;AImM AimM Aim AH Hf5; 1=Y;Q >٣ GF& >]5:59X m?a5:5YS iQB=c>m=:=˼?q=@n^D ;};%:5A EJAI:J&(KBJs9JJRJ) ZJZjFm?bj}fpU iiyK^AjAj-A2j?p'_c;@$@LK\Nzp,Q?i䏥?QC1ml"jq=*jd;p|bYɿ8sO*2;@V_y?pҀt,}lר?n ~Q%v?iAjHim?iEP  jBzj?m?j7N jBjj3ArjD? addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.504162 s, deltaX: -0.299999 m, approachRate: -0.595045 m/s, rangeRepo size: 4 % Added new target pos. range: 27.200001 m, bearing: 90.412672 deg, lat: 36.903924 deg, lon: -122.119008 deg, deltaT: 0.504162 s, deltaX: -0.299999 m, approachRate: -0.595045 m/s, posRepo size: 4 2i!eDNOT Ignoring new targets: 27.20 m.*iaii"ii} ProNav: ac range: 27.200001 m, nav range: 27.275209 m, bearing: 90.201797 deg, approach rate: 0.000000 m/s, LOS rate: 0.082837 deg/s, cmd heading: 85.281728 deg, new cmd heading: 85.397977 deg.  iyHeadingCmd: 1.490476 target range: 27.200001 and range: 27.20 m.hǾ?hhhhggbgjg-BeejeJe@33;@:ex,6ΗK^A2ܡ?y2C?92Ƚ:Y2=2H`S?*Vۻ??`2͵? D+W`t?@?2ܡ?ɨ2; 2C>B>JIBchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.369165x,K^A6?y6d?96s:Y6)=6H@?8 >? f?4?8 M_)N??6?ɨ6\; 6CBBBYIHbHbl5 _=  E=Y =:Q  >٣ GeF >1]:5HHBA95P#m?a]:5Y5 i5MBae?qm@5^D50<5<5:5 A]B*** querying acoustic contact ***iYiY2iiDNOT Ignoring new targets: 27.20 m.*ii:"i: ProNav: ac range: 27.200001 m, nav range: 26.912630 m, bearing: 90.279448 deg, approach rate: -0.418639 m/s, LOS rate: 0.091200 deg/s, cmd heading: 85.505492 deg, new cmd heading: 85.632503 deg.  i[z;HeadingCmd: 1.494569 target range: 27.200001 and range: 27.00 m.h N?hhhhggbgjgeejeJe:e ?=DDAT read: Rx Time:19:46:54.3301 =TRx dataTimestamp_ set to:1736538414.912025EPDAT read: Bearing 5.8, 0.1 (Local) M~Local bearing/azimuth received: Bearing 5.8, 0.1 (Local) ]DAT read: Range 10 to 50 : 26.7 m (trip time 17.8 ms) speed 0.4 DAT read: 19:46:54.3301 LVL= 19408, 28849, 18642, 30835, AGC= 56, IDX= 509, 0.28, 0.647,-0.783, 0.490, 0.331, PHS= 0.404,-1.068, 0.156, RAW= 141.0, 7.5, CAL= 144.2, -0.1, ROT= 5.8, 0.1 Ygot valid direction response: 19:46:54.3301 LVL= 19408, 28849, 18642, 30835, AGC= 56, IDX= 509, 0.28, 0.647,-0.783, 0.490, 0.331, PHS= 0.404,-1.068, 0.156, RAW= 141.0, 7.5, CAL= 144.2, -0.1, ROT= 5.8, 0.1 T#Rx 34: Read range and direction messages.^direction in FSK: [0.994879,0.101056,-0.001745]Fpublishing direction and range info9Y=` ?Q޹?n p\=A99=K =p)=HI=sxi9=>=9=w>=@ = >)=!@I=i=4Q==:9 9=*5?]?|Gz縲?I=/>i==4Q==:9 9checking for new query: numPingsReceived=34, elapsed TxPingTime=18.638372eBɛeW@)a e@-ii)miiim"=iu N?uѓ{Gy G} IG} BG} =Gy Gy G} +<G} RFF ZA M5>`x,?SK^A5B5VIMb@Mb@Mb@ )Iy`"?Mbpy&1|> vA)AIi AQ AH HNg5 %=YQ >٣ G >] :59-%m?a :5Y  iKB>m:&?q@^D ; ;:5B A%EZj{m?bjpR ii^K^AjAj4A2j?p_2:@Sz@ۧzp` ?Q޹?n p\"j4Q=*j:pJgÊؿwM:@[ ?p NBi?'E~?iAjVľi/m?ib2N  j"Bzjm?jb2N jЀBjjArjF? addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504570 s, deltaX: -0.299999 m, approachRate: -0.594564 m/s, rangeRepo size: 4 M Added new target pos. range: 26.700001 m, bearing: 90.822942 deg, lat: 36.903924 deg, lon: -122.119007 deg, deltaT: 1.006509 s, deltaX: -0.500000 m, approachRate: -0.496767 m/s, posRepo size: 4 2iIMDNOT Ignoring new targets: 26.70 m.*iIiU"iQ ProNav: ac range: 26.700001 m, nav range: 26.697697 m, bearing: 90.543335 deg, approach rate: 0.000000 m/s, LOS rate: 0.091200 deg/s, cmd heading: 85.632500 deg, new cmd heading: 85.756441 deg.  iHeadingCmd: 1.496732 target range: 26.700001 and range: 26.70 m.h씿?hhhhggbgjg,BeejeJe}@3:@:ec?BɛJ) w-i) !i=i=씿?=4{}Ȇ}=} @ }nF>)}@I}S?/i}ƛ}=}y yUchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.156385DDDE05 EVF5 Mh <F ZA M >x,K^A6w?y6?96,:;Y6)=6HuJ??@?`4?`zD`??6w?ɨ6; 6 CBBB[IID)DDFAHJHJl5V< Vb=YZh9Q Z>X٣X ^G^fF`b4=fchecking for new query: numPingsReceived=35, elapsed TxPingTime=19.377743^ n>p]v:59r&m?az:5Yr irJBxz?qz@r^Dr:r:r-:5| AZj쾪l?bjQ iiOK^AjAjhA2j?p иf:@6n/ @# }@?zp ?KNL? `?"j=*jp Gw1D\:@_e?plQ"|`l??iAj?:iW%Dl?iL  jBzj81 m?jjBjj-Arj? addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.506756 s, deltaX: -0.100000 m, approachRate: -0.197334 m/s, rangeRepo size: 4   Added new target pos. range: 26.600000 m, bearing: 91.568595 deg, lat: 36.903923 deg, lon: -122.119007 deg, deltaT: 0.506756 s, deltaX: -0.100000 m, approachRate: -0.197334 m/s, posRepo size: 4 2i15DNOT Ignoring new targets: 26.60 m.*i1i9"i9M ProNav: ac range: 26.600000 m, nav range: 26.522400 m, bearing: 90.753154 deg, approach rate: 0.000000 m/s, LOS rate: 0.091200 deg/s, cmd heading: 85.756440 deg, new cmd heading: 85.865862 deg.  iIuHeadingCmd: 1.498642 target range: 26.600000 and range: 26.60 m.huӿ?hqhqhqhygygybgyjgeejeJe:@:e?Bɛnc`) *i))»i=iӿ?-z<-f?;I-ӿ?I1HiHmR=ZIlbIdjI0rIzI<5:I|9Iـ3Iq@i@u@m@^DUm,=DDAT read: Rx Time:19:46:55.3298 TRx dataTimestamp_ set to:1736538415.921814PDAT read: Bearing 6.7, -0.9 (Local) ~Local bearing/azimuth received: Bearing 6.7, -0.9 (Local) DAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 DAT read: 19:46:55.3298 LVL= 18704, 28657, 14994, 31363, AGC= 54, IDX= 506, 0.14, 0.325,-1.082, 0.142, 0.020, PHS= 0.393,-1.054, 0.119, RAW= 139.7, 8.2, CAL= 143.3, 0.9, ROT= 6.7, -0.9 Ygot valid direction response: 19:46:55.3298 LVL= 18704, 28657, 14994, 31363, AGC= 54, IDX= 506, 0.14, 0.325,-1.082, 0.142, 0.020, PHS= 0.393,-1.054, 0.119, RAW= 139.7, 8.2, CAL= 143.3, 0.9, ROT= 6.7, -0.9 T#Rx 36: Read range and direction messages.\direction in FSK: [0.993048,0.116656,0.015707] Fpublishing direction and range info؉Y؍ ?Ho`0ݽ?y&?؍fA9؉؍I ٍo)ٍ:Iٍziٍ6ٍL7>ٍy醿ٍF=ى ڍC>)ڍQ @Iڍiۍbۍ|=ۍۉ ܉ checking for new query: numPingsReceived=36, elapsed TxPingTime=19.666889D D D E @5 E VF ;:JiBJm+9JJiRJm+ ZJmJ? J?FZAM>x,(L^AV?yVݽ?9Vq;YV=VH`]]? z?`?-F? 5``-? ?V?ɨV9Ǒ; V"CvƀBvcImchecking for new query: numPingsReceived=36, elapsed TxPingTime=19.883240G>GCGIGBG =GGEDGc<GtF Mb@Mb@Mb@   ) I y I +?~jtx Ļ t A) $AI i  A  ( AH%H%i55< 5=Y5=Q 5>9٣ GgF >]:59(m?a:5YP iFBI>m:?q@^D^;;v:5 AZjEl?bjE}yQ iAiEK^AjEfAjEA2jE0?pE/T:@j.c@,Ep?zpE ?Ho`0ݽ?y&?"jE|=*jEpE*[W]8G:@ÒM?pE#:(v? B=?iE?AjE4iEol?iEL  jE3BzjE/m?jAjE"BjjEArjE&?= addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.503033 s, deltaX: -0.300001 m, approachRate: -0.596385 m/s, rangeRepo size: 4 M Added new target pos. range: 26.299999 m, bearing: 91.539287 deg, lat: 36.903922 deg, lon: -122.119007 deg, deltaT: 0.503033 s, deltaX: -0.300001 m, approachRate: -0.596385 m/s, posRepo size: 4 2iqDNOT Ignoring new targets: 26.30 m.*ii"i ProNav: ac range: 26.299999 m, nav range: 26.236364 m, bearing: 90.935137 deg, approach rate: 0.000000 m/s, LOS rate: 0.091200 deg/s, cmd heading: 85.865860 deg, new cmd heading: 86.027768 deg.  iHeadingCmd: 1.501468 target range: 26.299999 and range: 26.30 m.h0?hhhhggbgjg1BeejeJeL:@:e? Bɛ R2) &i)bAܻi=i0?z<%h:I%0?I! DDAT read: Rx Time:19:46:55.8297  TRx dataTimestamp_ set to:1736538416.423886 PDAT read: Bearing 7.0, -2.2 (Local)  ~Local bearing/azimuth received: Bearing 7.0, -2.2 (Local) - DAT read: Range 10 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 ] DAT read: 19:46:55.8297 LVL= 18544, 28145, 18914, 30451, AGC= 56, IDX= 506,-0.42, 0.347,-1.063, 0.155, 0.061, PHS= 0.374,-1.077, 0.091, RAW= 139.4, 9.2, CAL= 143.0, 2.2, ROT= 7.0, -2.2 e Ygot valid direction response: 19:46:55.8297 LVL= 18544, 28145, 18914, 30451, AGC= 56, IDX= 506,-0.42, 0.347,-1.063, 0.155, 0.061, PHS= 0.374,-1.077, 0.091, RAW= 139.4, 9.2, CAL= 143.0, 2.2, ROT= 7.0, -2.2 e T#Rx 37: Read range and direction messages.m \direction in FSK: [0.991815,0.121780,0.038388]u Fpublishing direction and range info Y 3n?Q@,?.? A9 pH m) II vi 8 |> #ۉ 5^= @ l$>) @I nF=i 5= nF P?͠4?OO)?I YZ>i o$ 5= nF - checking for new query: numPingsReceived=37, elapsed TxPingTime=20.170828^D gW=D D DEo0 Echecking for new query: numPingsReceived=37, elapsed TxPingTime=20.385279VF!j;F?F!?FZAM$? x,m1L^A ŀB bIi<)a= p=H%H%i55#j 5=Y5Q =>9٣9 =G=hFE E>]:59+m?a:5Yd iCBq@^D:;L:5 AZj_l?bjKrP ii L^AjAjnA2j?pDE9@~tm @`:?zp3n?Q@,?.?"j5=*jnFpʺSL迬E:@Hz_?pZ?CJφ?irAjzDiql?iuK  jdBzjol?jL j3Bjj9Arjt?ZIhbIajI1rIzI(:Ip9I3Ie addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.502072 s, deltaX: -0.199999 m, approachRate: -0.398347 m/s, rangeRepo size: 4  Added new target pos. range: 26.100000 m, bearing: 91.687204 deg, lat: 36.903920 deg, lon: -122.119007 deg, deltaT: 0.502072 s, deltaX: -0.199999 m, approachRate: -0.398347 m/s, posRepo size: 4 2i9EDNOT Ignoring new targets: 26.10 m.*iAiA"iI} ProNav: ac range: 26.100000 m, nav range: 26.028215 m, bearing: 91.611442 deg, approach rate: 0.000000 m/s, LOS rate: 0.091200 deg/s, cmd heading: 86.027769 deg, new cmd heading: 86.170845 deg.  iyHeadingCmd: 1.503965 target range: 26.100000 and range: 26.10 m.h?hhhhggbgjgDDAT read: Rx Time:19:46:56.3294 TRx dataTimestamp_ set to:1736538416.927963PDAT read: Bearing 6.9, -2.5 (Local) ~Local bearing/azimuth received: Bearing 6.9, -2.5 (Local) DAT read: Range 10 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4  DAT read: 19:46:56.3294 LVL= 17536, 26801, 17074, 26451, AGC= 55, IDX= 503,-0.04,-0.613,-2.037,-0.804,-0.895, PHS= 0.370,-1.095, 0.088, RAW= 139.6, 9.5, CAL= 143.1, 2.5, ROT= 6.9, -2.5 Ygot valid direction response: 19:46:56.3294 LVL= 17536, 26801, 17074, 26451, AGC= 55, IDX= 503,-0.04,-0.613,-2.037,-0.804,-0.895, PHS= 0.370,-1.095, 0.088, RAW= 139.6, 9.5, CAL= 143.1, 2.5, ROT= 6.9, -2.5 T#Rx 38: Read range and direction messages.%\direction in FSK: [0.991812,0.120022,0.043619]%Fpublishing direction and range infoY*0z?ᖎ[˹?GU?A9D h)BISgi7p>(X9=I@ )>) @I¸2=iϢ=¸2 )?1'? =F?I鰮>i)Ϣ=¸2 Echecking for new query: numPingsReceived=38, elapsed TxPingTime=20.654182eAeIjeIJeM@39@:eM`?}Bɛ}O:)y }s&i)x隁i'g=i?BZy<gƺI?ICCCCD D D E `0 E :J BJ 9JJ RJ , ZJ J) I- gA DDAT read: Rx Time:19:46:56.8293  TRx dataTimestamp_ set to:1736538417.182613G >G G IG BG =G G DDG +<G FFH H̲C checking for new query: numPingsReceived=38, elapsed TxPingTime=20.895315H̔CH"H =*H̍5VF:FZAM5?9x,(SL^ANVġ?yN?9N8YN6u=NH?@A?w?D?`ꅿ8z@xٿ?Z?NVġ?ɨNS; LZ̀BZmIEMb@Mb@Mb@AA A)AIAyEx?I +y&1|EK>E94E` A)EAIE AiE AAEz AH] H]g5m9< m=YmsQ m>q٣q uGuiFu; }>]:59g-m?a:5Y iABb>m:X?q@^D:V::5 wAZj il?bj #T i i c;L^Aj Aj ?A2j ќ?p Tm,U}9@<^7@)Hְ?zp *0z?ᖎ[˹?GU?"j Ϣ=*j ¸2p  xo濊r@9@.m?p L?qZ}?[ɭ?i ,Aj +6i pl?i P  j ˃Bzj j j Bjj 7Arj ? addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504077 s, deltaX: -0.400000 m, approachRate: -0.793529 m/s, rangeRepo size: 4  Added new target pos. range: 25.700001 m, bearing: 91.589345 deg, lat: 36.903920 deg, lon: -122.119007 deg, deltaT: 0.504077 s, deltaX: -0.400000 m, approachRate: -0.793529 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 25.70 m.*ii"i ProNav: ac range: 25.700001 m, nav range: 25.776966 m, bearing: 91.687464 deg, approach rate: 0.000000 m/s, LOS rate: 0.091200 deg/s, cmd heading: 86.170848 deg, new cmd heading: 86.317875 deg.  iHeadingCmd: 1.506531 target range: 25.700001 and range: 25.70 m.h?hhhhggbgjgCBeejeJe:eE?%Bɛ%J)) -!i))-2))i-Q$=i5?5ux<5/I5?IPDAT read: Bearing 6.6, -1.2 (Local) ~Local bearing/azimuth received: Bearing 6.6, -1.2 (Local) DAT read: Range 10 to 50 : 25.5 m (trip time 17.0 ms) speed 0.4 -DAT read: 19:46:56.8293 LVL= 18192, 29793, 16706, 29539, AGC= 55, IDX= 501, 0.28, 0.965,-0.493, 0.777, 0.653, PHS= 0.400,-1.100, 0.121, RAW= 139.9, 8.4, CAL= 143.4, 1.2, ROT= 6.6, -1.2 =Ygot valid direction response: 19:46:56.8293 LVL= 18192, 29793, 16706, 29539, AGC= 55, IDX= 501, 0.28, 0.965,-0.493, 0.777, 0.653, PHS= 0.400,-1.100, 0.121, RAW= 139.9, 8.4, CAL= 143.4, 1.2, ROT= 6.6, -1.2 ET#Rx 39: Read range and direction messages.M\direction in FSK: [0.993155,0.114912,0.020942]UFpublishing direction and range infoYn?pj?_2q?A9G at)BAIcsi>̌=E@ Q >)- @IiS= checking for new query: numPingsReceived=39, elapsed TxPingTime=21.162739DDDEo0 EVF zQF ZA M > DDAT read: Rx Time:19:46:57.3291  TRx dataTimestamp_ set to:1736538417.686799 PDAT read: Bearing 7.3, -2.6 (Local)  ~Local bearing/azimuth received: Bearing 7.3, -2.6 (Local)  checking for new query: numPingsReceived=39, elapsed TxPingTime=21.405846x,KmL^A рB qIHHm5-< 5?=Y5Q 5>1٣9 =G9= =>a]u:59eH/m?au:5YeJ ie?Byyq}@e^De6;e:e:5B ^AEZj65l?bj`S ii%[L^AjAjA2jN?pjPPS9@)5A)q@Ȏ?zpn?pj?_2q?"j=*jpU(y9@?pOm?dV?Пh?iAj]%il?iO  jBzjjjjjArjR? addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.502771 s, deltaX: -0.200001 m, approachRate: -0.397797 m/s, rangeRepo size: 4 M Added new target pos. range: 25.500000 m, bearing: 91.452456 deg, lat: 36.903920 deg, lon: -122.119007 deg, deltaT: 0.502771 s, deltaX: -0.200001 m, approachRate: -0.397797 m/s, posRepo size: 4 2iQUDNOT Ignoring new targets: 25.50 m.*iQiY"iY ProNav: ac range: 25.500000 m, nav range: 25.570404 m, bearing: 91.751094 deg, approach rate: 0.000000 m/s, LOS rate: 0.091200 deg/s, cmd heading: 86.317875 deg, new cmd heading: 86.432062 deg.  iHeadingCmd: 1.508524 target range: 25.500000 and range: 25.50 m.hQ?hhhhggbgjgeejeJe9@:e@˞?ɛuN) >i) 隹i=iQ?w<nˎIQ?IZInbIbjIrIzI|;:It9IIDDDE E%DAT read: Range 10 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4 ]DAT read: 19:46:57.3291 LVL= 19488, 32753, 16162, 32755, AGC= 53, IDX= 499,-0.20,-2.178, 2.746,-2.367,-2.447, PHS= 0.356,-1.044, 0.077, RAW= 139.1, 9.5, CAL= 142.7, 2.6, ROT= 7.3, -2.6 mYgot valid direction response: 19:46:57.3291 LVL= 19488, 32753, 16162, 32755, AGC= 53, IDX= 499,-0.20,-2.178, 2.746,-2.367,-2.447, PHS= 0.356,-1.044, 0.077, RAW= 139.1, 9.5, CAL= 142.7, 2.6, ROT= 7.3, -2.6 mT#Rx 40: Read range and direction messages.}\direction in FSK: [0.990873,0.126934,0.045363]Fpublishing direction and range infoY$? ]??99?A9 L )"?Ii5E>ˡ-=O`@ )>)e@I9=iw>9 g(e?#2l1Ƴ?Hj>?I>i*w>9 checking for new query: numPingsReceived=40, elapsed TxPingTime=21.668041VF5 i"zF9 rF9 F ZA M >!x,L^A:J|BJ|JJ|RJ~- ZJ~ EЀB]pIIi)i-only read 0 of 1 data item for BIT error. Device response is::TS1.0, 0.0,1493.5, 0 @ @ @  @ H5H5i5Gu>GqGuIGu#BGu =GqGqGu<Gu3FDDAT read: Rx Time:19:46:57.8291 TRx dataTimestamp_ set to:1736538418.199007PDAT read: Bearing 6.5, -1.2 (Local) ~Local bearing/azimuth received: Bearing 6.5, -1.2 (Local) DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 -Z#Rx 41: Read range message, but no direction.رصA9رc 3=YQ >٣ GjFchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.944004   >]:59G1m?a:5Y~ i=Bi+:!m%:!q5@^Djr;>:5A MlAMEZjl?bj7*Y iiL^AjAj{A2jx?p68@/} @)OH!7?zp$? ]??99?"jw>*j9pP?[4} 9@iDg?p6N|j[?J?q?iOAj\iXl?iT  j݃BzjjO jdBjj&Arj#? addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.768273 s, deltaX: -0.400000 m, approachRate: -0.520648 m/s, rangeRepo size: 4  Added new target pos. range: 25.100000 m, bearing: 91.974194 deg, lat: 36.903920 deg, lon: -122.119008 deg, deltaT: 0.768273 s, deltaX: -0.400000 m, approachRate: -0.520648 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 25.10 m.*ii"i  ProNav: ac range: 25.100000 m, nav range: 25.268982 m, bearing: 91.825675 deg, approach rate: 0.000000 m/s, LOS rate: 0.091200 deg/s, cmd heading: 86.432062 deg, new cmd heading: 86.560961 deg.  i  HeadingCmd: 1.510774 target range: 25.100000 and range: 25.10 m.h a?hhhhggIbgyjgyeyejeJe9@:e3.?%Bɛ%D)! %^i!)%))i-=iU a?U$wE>% DAT read: 19:46:57.8291 LVL= 19920, 28145, 17746, 31827, AGC= 52, IDX= 498, 0.09, 0.315,-1.076, 0.143, 0.024, PHS= 0.379,-1.053, 0.117, RAW= 140.1, 8.5, CAL= 143.5, 1.2, ROT= 6.5, -1.2 - Ygot valid direction response: 19:46:57.8291 LVL= 19920, 28145, 17746, 31827, AGC= 52, IDX= 498, 0.09, 0.315,-1.076, 0.143, 0.024, PHS= 0.379,-1.053, 0.117, RAW= 140.1, 8.5, CAL= 143.5, 1.2, ROT= 6.5, -1.2 5 Z#Rx 42: Read direction message, but no range.5 \direction in FSK: [0.993354,0.113178,0.020942] Y i88?4B?_2q?9  M  m) REI S|i 4 J > Ȇ = C~@  >) J @I i $ V= U checking for new query: numPingsReceived=42, elapsed TxPingTime=22.159309VF b(Fa ZAq M >w(x,FH~?? ? 9?JCs?@? n?F?ɨF4; FC^ԀBbuI ddHjHje5 <  h=Y \Q >1٣1 5G5kF=Ƽ; =>A]M:59E2m?aM:5YE  iEmmt>m@ m5>)m @Im5imBmB=m5i ichecking for new query: numPingsReceived=43, elapsed TxPingTime=22.496441I ) GGVF% TE kAZI hbI ^jI 0rI zI (:I d9 AI ـ3I )% y- kA- AFy ZA  checking for new query: numPingsReceived=43, elapsed TxPingTime=22.658026 @  BM >.x,.SL^A=րB=wI-only read 0 of 1 data item for BIT error. Device response is::TS,25011011480711,3.0, 0.0,1493.5, 0 HHKk5 < :=YQ %>!٣! %G!- ->Q]]:59U4m?a]:5YU iU;Bi]9amei:aqe@U_DU:U?U:5q u:AqZjm?bj\,S ii۾L^Aj3AjA2j1?pJ ad8@4EOy@R+.?zpEK?gZP?B7߁?"jB=*j5p`:*$ڿ59j>8@| D?pv kP?|\T?iAj9Ծiqm?ijN  j*Bzjpl?jjjj!Arj)?  addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.500142 s, deltaX: -0.200001 m, approachRate: -0.399888 m/s, rangeRepo size: 4 = Added new target pos. range: 24.900000 m, bearing: 90.954160 deg, lat: 36.903920 deg, lon: -122.119008 deg, deltaT: 0.500142 s, deltaX: -0.200001 m, approachRate: -0.399888 m/s, posRepo size: 4 2i9EDNOT Ignoring new targets: 24.90 m.*iAiE"iA} ProNav: ac range: 24.900000 m, nav range: 24.891411 m, bearing: 91.835626 deg, approach rate: 0.000000 m/s, LOS rate: 0.157859 deg/s, cmd heading: 86.720890 deg, new cmd heading: 86.928916 deg.  iyHeadingCmd: 1.517196 target range: 24.900000 and range: 24.90 m.hy3?hhhhggbgjgeejeJe`f8@:e@W? BɛoBN)) -i))-%11i5=i5y3?=Iu<=#I=y3?I9DDDER1 E:JKBJ+9JJRJ. ZJG>GCGIG.BG =GGG<G FuDDAT read: Rx Time:19:46:58.8288 TRx dataTimestamp_ set to:1736538419.202808PDAT read: Bearing 6.5, -2.4 (Local) ~Local bearing/azimuth received: Bearing 6.5, -2.4 (Local) DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 -Z#Rx 44: Read range message, but no direction.y}fA9ychecking for new query: numPingsReceived=44, elapsed TxPingTime=22.927773VF ̻F F >F ZA M >{5x,0L^A2PH?y2؅?92 fY2x>2H ?` ???i ?@??2PH?ɨ2dˑ; 2C>ՀBBvIFC=iDHJHJ.l5rӻ ra=YrFQ r>t٣t vGvlFz; z>|]:59~(6m?a:5Y~ i~:Bi9m=: ?q @~_D~V:~?~L:5 DA addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.503659 s, deltaX: -0.100000 m, approachRate: -0.198548 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 24.90 m.*ii1;"i1; ProNav: ac range: 24.900000 m, nav range: 24.717026 m, bearing: 91.890543 deg, approach rate: -0.490357 m/s, LOS rate: 0.155512 deg/s, cmd heading: 86.928917 deg, new cmd heading: 87.094830 deg.  is;HeadingCmd: 1.520092 target range: 24.900000 and range: 24.80 m.h\?hhhhggbgjgee je Je 8@:e ?չսADAT read: 19:46:58.8288 LVL= 19056, 32753, 17186, 32755, AGC= 55, IDX= 511,-0.12,-1.251,-2.615,-1.416,-1.513, PHS= 0.350,-1.055, 0.094, RAW= 140.2, 9.5, CAL= 143.5, 2.4, ROT= 6.5, -2.4 Ygot valid direction response: 19:46:58.8288 LVL= 19056, 32753, 17186, 32755, AGC= 55, IDX= 511,-0.12,-1.251,-2.615,-1.416,-1.513, PHS= 0.350,-1.055, 0.094, RAW= 140.2, 9.5, CAL= 143.5, 2.4, ROT= 6.5, -2.4 Z#Rx 45: Read direction message, but no range.\direction in FSK: [0.992700,0.113104,0.041876]عYؽdx3?`? ۷p?9عؽpJ ٽ)ٽ"CIٽiٹٽ33>ٽ= ٽ=ٽۚ@ ڽ)>)ڽJ @Iڽ+=iڽV=ڽ+ڹ۽܇m?ͫf?a* ?I۽ >i۽)۽V=۽+checking for new query: numPingsReceived=45, elapsed TxPingTime=23.172804QɛU Ke)Q U iQ)],YYi]ke=ie\?eUt DDAT read: Rx Time:19:46:59.3286  TRx dataTimestamp_ set to:1736538419.707476 PDAT read: Bearing 5.1, 0.1 (Local)  ~Local bearing/azimuth received: Bearing 5.1, 0.1 (Local)  DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 - Z#Rx 46: Read range message, but no direction.؉ ؍ A9؉ - checking for new query: numPingsReceived=46, elapsed TxPingTime=23.438091`;x, L^A6y?y6?96P=Y6,} >6H g?Ɯ`???ǖ@'?@%"??6y?ɨ6; 6 C~ӀB~tIH H j5=:  ED=YEQ E>I٣I MGMmFM`j; U>y]:59}7m?a:5Y} iyi9m:?q@}_D}A;}@}:5 RAZj">m?bjhlU iiIGL^AjAjA2jf?pDh7R8@YN+@XRNj?zpdx3?`? ۷p?"jV=*j+pfl-fvyLo8@ݴ?pLBͤ!S/?R" ?p?izAj1#i;+m?ivP  j*Bzjl?jP j˃BjjArjz?M addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504668 s, deltaX: -0.299999 m, approachRate: -0.594449 m/s, rangeRepo size: 4 } Added new target pos. range: 24.500000 m, bearing: 91.494437 deg, lat: 36.903921 deg, lon: -122.119008 deg, deltaT: 1.008327 s, deltaX: -0.400000 m, approachRate: -0.396696 m/s, posRepo size: 4 2iy}DNOT Ignoring new targets: 24.50 m.*iyi"i ProNav: ac range: 24.500000 m, nav range: 24.476141 m, bearing: 91.751363 deg, approach rate: 0.000000 m/s, LOS rate: 0.155512 deg/s, cmd heading: 87.094829 deg, new cmd heading: 87.294379 deg.  iHeadingCmd: 1.523574 target range: 24.500000 and range: 24.50 m.h|?hhhhggbgjgeejeJe8@:e?E BɛEXV)A EiA)Et5IIiM=iu|?ubtl(>@  >)!@IiK=:[0*g? 5?Iث?I>i K=:checking for new query: numPingsReceived=47, elapsed TxPingTime=23.693064VF ZF ZA M= >rBx, M^A:J.BJ.9JJ,RJ./ ZJ.   GJ>GJCGJIGJ3BGJ =GJFDGJCDGJ<GJFJ> J?}DDAT read: Rx Time:19:46:59.8284 TRx dataTimestamp_ set to:1736538420.215535PDAT read: Bearing 4.9, -0.4 (Local) ~Local bearing/azimuth received: Bearing 4.9, -0.4 (Local) DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4 ]DAT read: 19:46:59.8284 LVL= 18112, 32753, 16658, 32755, AGC= 54, IDX= 507,-0.49,-1.321,-2.677,-1.432,-1.590, PHS= 0.357,-1.040, 0.155, RAW= 142.3, 8.1, CAL= 145.1, 0.4, ROT= 4.9, -0.4 Ygot valid direction response: 19:46:59.8284 LVL= 18112, 32753, 16658, 32755, AGC= 54, IDX= 507,-0.49,-1.321,-2.677,-1.432,-1.590, PHS= 0.357,-1.040, 0.155, RAW= 142.3, 8.1, CAL= 145.1, 0.4, ROT= 4.9, -0.4 T#Rx 48: Read range and direction messages.}̢?y} ?9}oiY} >}H@? @??X?TT-?Jr??}̢?ɨ}2;\direction in FSK: [0.996321,0.085415,0.006981]Fpublishing direction and range info }CyY}N?c8ݵ?a|?}AՀBvI9y}F })}AI}iy}ȶ>}}R>}\@ }>)} "@I};i}%=}y y}@(ǕN? = ?oo?I}c>i}0}%=}y ychecking for new query: numPingsReceived=48, elapsed TxPingTime=24.011070mm mm mm  m m ZIjbIhjI1rIzI.:IȆ9I3II~4;qI4;iIӬ:uIլ:mmMb@Mb@Mb@ii i)iIiymMb?{GzMbPm?m#m m/A)mAIiim Aim AHeHed5; =Y Q >٣ GɆ; >]-:59j:m?a-:5Y i;Bi5T:5?m5:5?q5@3_Do;;:5B KAEZj}sJ/m?bj}ύS iyi}S M^Aj}Aj}SA2j}?p}k|h8@1K@ ?zp}N?c8ݵ?a|?"j}%=*j}p}#j/8@VP ]?p}μ|v1{?CĠ?i}~Aj} i} 8/m? checking for new query: numPingsReceived=48, elapsed TxPingTime=24.173351i}+-[O  j}jBzj};+m?j}+-[O j}Bjj}Arj}ԗ?]  addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.508059 s, deltaX: -0.299999 m, approachRate: -0.590481 m/s, rangeRepo size: 4   Added new target pos. range: 24.200001 m, bearing: 90.314738 deg, lat: 36.903922 deg, lon: -122.119008 deg, deltaT: 0.508059 s, deltaX: -0.299999 m, approachRate: -0.590481 m/s, posRepo size: 4 2i  DNOT Ignoring new targets: 24.20 m.*i i "i   ProNav: ac range: 24.200001 m, nav range: 24.195860 m, bearing: 91.580622 deg, approach rate: 0.000000 m/s, LOS rate: 0.155512 deg/s, cmd heading: 87.294380 deg, new cmd heading: 87.589547 deg.  i  HeadingCmd: 1.528726 target range: 24.200001 and range: 24.20 m.h K?h h h h g g bg jg PBei ei jei Jem @338@:eu ?1 ɛ5 8)9 = i9 )= B9 9 i= =iE K?M wrE >DDAT read: Rx Time:19:47:00.3281 TRx dataTimestamp_ set to:1736538420.721874PDAT read: Bearing 4.4, -0.3 (Local) ~Local bearing/azimuth received: Bearing 4.4, -0.3 (Local) VF-f AzF1rF1]DAT read: Range 10 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 DAT read: 19:47:00.3281 LVL= 17648, 31137, 15570, 30131, AGC= 54, IDX= 504,-0.12,-2.812, 2.126,-2.903,-3.070, PHS= 0.347,-1.040, 0.164, RAW= 143.0, 8.2, CAL= 145.6, 0.3, ROT= 4.4, -0.3 Ygot valid direction response: 19:47:00.3281 LVL= 17648, 31137, 15570, 30131, AGC= 54, IDX= 504,-0.12,-2.812, 2.126,-2.903,-3.070, PHS= 0.347,-1.040, 0.164, RAW= 143.0, 8.2, CAL= 145.6, 0.3, ROT= 4.4, -0.3 T#Rx 49: Read range and direction messages.\direction in FSK: [0.997039,0.076718,0.005236]Fpublishing direction and range infoY?@hʣ?sNru?A9D y)<Iui>'>@ C>F ZAM5?Kx,0M^A)E"@IE;iEnF=EA AEs'?P4q?z/(?IE>iEYEnF=EA ARchecking for new query: numPingsReceived=49, elapsed TxPingTime=24.493986^i?y^?9^,Y^T >^HA̲? v?`Q٣Q UGUnF]M< ]>a]e:59e;m?am:5Ye ie=Bi)?q@e?_De!;e;eB:5 mAZjES78m?bjEͦ[ iAiE/3.M^AjEAjEYA2jEM?pE{X<7@@i?*^`T?enP?iEzAjE5iE 18m?iEvW  jEBzjEqm?jEvP jEBjjEArjEr? addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.506339 s, deltaX: -0.500000 m, approachRate: -0.987481 m/s, rangeRepo size: 4 - Added new target pos. range: 23.700001 m, bearing: 90.106950 deg, lat: 36.903924 deg, lon: -122.119008 deg, deltaT: 0.506339 s, deltaX: -0.500000 m, approachRate: -0.987481 m/s, posRepo size: 4 2i)5DNOT Ignoring new targets: 23.70 m.*i1i1"i1m ProNav: ac range: 23.700001 m, nav range: 23.943281 m, bearing: 91.198773 deg, approach rate: 0.000000 m/s, LOS rate: 0.155512 deg/s, cmd heading: 87.589547 deg, new cmd heading: 87.770037 deg.  iiuHeadingCmd: 1.531876 target range: 23.700001 and range: 23.70 m.hu?hqhqhqhqgqgqbgyjgyeyejeJe@37@:e`~? ɛ Vk)  i) Ii?=i?EqRx,JM^AGf>GfCGdGdGf =GdGdGfŰ<Gf F:J 4MBJ h9JJ RJ 0 ZJ  DDAT read: Rx Time:19:47:00.8281 TRx dataTimestamp_ set to:1736538421.223944PDAT read: Bearing 3.0, 1.9 (Local) ~Local bearing/azimuth received: Bearing 3.0, 1.9 (Local) DAT read: Range 10 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 eDAT read: 19:47:00.8281 LVL= 16080, 32753, 16498, 30099, AGC= 54, IDX= 503, 0.14, 0.076,-1.314, 0.016,-0.219, PHS= 0.383,-1.048, 0.233, RAW= 144.5, 6.4, CAL= 147.0, -1.9, ROT= 3.0, 1.9 mYgot valid direction response: 19:47:00.8281 LVL= 16080, 32753, 16498, 30099, AGC= 54, IDX= 503, 0.14, 0.076,-1.314, 0.016,-0.219, PHS= 0.383,-1.048, 0.233, RAW= 144.5, 6.4, CAL= 147.0, -1.9, ROT= 3.0, 1.9 T#Rx 50: Read range and direction messages.^direction in FSK: [0.998081,0.052307,-0.033155]£?yV?9YYe>H? =b? Y? ?j?/?@?£?ɨ; %րB%wIMFpublishing direction and range infoY2vF?'Ȫ?B39> )r@Iui>$n>vh!@ =)Y3$@IiPwV== ?X?TZg6g?(MX?I.>iS佉PwV== checking for new query: numPingsReceived=50, elapsed TxPingTime=24.997038-Mb@Mb@Mb@)) )))I)y-Mb?Mbp~jth-?--D -A))I-M Ai- A)- AHHi5< =Y7Q >٣ GoF; >]:59=m?a:5Y4 i?B?m:?q@Q_D<v<:5 @AZIhbI^jI0rIzI(:Id9Iـ3II);I);I:I:Zj3 Zm?bjT iiUNM^Ajj2j;?p[F፧7@r9?Yǃk%zp2vF?'Ȫ?B3"jPwV=*j=p H? ގ7@yac p)BM?!q "?s&}eiAj>iPPZm?iѫO  jBzj 8/m?jѫO jjBjjArj?U addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.502070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 23.700001 m, bearing: 89.180209 deg, lat: 36.903927 deg, lon: -122.119008 deg, deltaT: 0.502070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iamDNOT Ignoring new targets: 23.70 m.*iii"i ProNav: ac range: 23.700001 m, nav range: 23.698120 m, bearing: 90.416555 deg, approach rate: 0.000000 m/s, LOS rate: 0.155512 deg/s, cmd heading: 87.770035 deg, new cmd heading: 88.036011 deg.  iHeadingCmd: 1.536518 target range: 23.700001 and range: 23.70 m.h?hhhhggbg) jg- `Be) e1 je1 Je1 :e5 +?m checking for new query: numPingsReceived=50, elapsed TxPingTime=25.184736 ɛ gD) i ) U i ߐ=i ? :;p< pI ?I D D D E o0 E VF*UF?F,?FZA%DDAT read: Rx Time:19:47:01.3278 -TRx dataTimestamp_ set to:1736538421.727608=PDAT read: Bearing 2.6, 1.5 (Local) =~Local bearing/azimuth received: Bearing 2.6, 1.5 (Local) MDAT read: Range 10 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4 uDAT read: 19:47:01.3278 LVL= 18064, 32753, 18130, 32755, AGC= 54, IDX= 501,-0.48,-2.090, 2.845,-2.129,-2.359, PHS= 0.357,-1.033, 0.227, RAW= 145.1, 6.8, CAL= 147.4, -1.5, ROT= 2.6, 1.5 Ygot valid direction response: 19:47:01.3278 LVL= 18064, 32753, 18130, 32755, AGC= 54, IDX= 501,-0.48,-2.090, 2.845,-2.129,-2.359, PHS= 0.357,-1.033, 0.227, RAW= 145.1, 6.8, CAL= 147.4, -1.5, ROT= 2.6, 1.5 T#Rx 51: Read range and direction messages.^direction in FSK: [0.998628,0.045347,-0.026177]Fpublishing direction and range info!Y% :??m7?P!Κ%fA9!%F !M?c[x,zoM^A61?y6(o?96ԼY6ȵ>6H`X9rh> "@ =)$@IPwּi9=Pw< "夁?E8?#aX?IԮ>iU9=Pw< zchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.487087~ʀB~iIH  H g5kQ 5=YQ >٣ GpFN; >]:592?m?a:5Y iAB?q5@`_D"%<a%<:59 EAAZjD6cm?bjagX ii!nM^AjfAj+A2j?p$zD7@ ?e}zp :??m7?P!Κ"j9=*jPw<pB+HV?P@XßK7@pm^?p_pX6?yb?(lPVz?i\Aj>i?y dm?iZT  jBzj 18m?jvP jjjlArj?% addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.503664 s, deltaX: -0.400002 m, approachRate: -0.794183 m/s, rangeRepo size: 4 U Added new target pos. range: 23.299999 m, bearing: 88.924931 deg, lat: 36.903928 deg, lon: -122.119008 deg, deltaT: 0.503664 s, deltaX: -0.400002 m, approachRate: -0.794183 m/s, posRepo size: 4 2iQUDNOT Ignoring new targets: 23.30 m.*iQiY"iY ProNav: ac range: 23.299999 m, nav range: 23.427755 m, bearing: 90.203290 deg, approach rate: 0.000000 m/s, LOS rate: 0.155512 deg/s, cmd heading: 88.036009 deg, new cmd heading: 88.231049 deg.  iHeadingCmd: 1.539922 target range: 23.299999 and range: 23.30 m.h-?hhhhggbgjgeejeJeL7@:e?aɛej)i m ii)m]iiiu=iu-?}qDoLbx,rM^AGM>GMCGIGIGIGIGIGMڰ<GMFHC HCHH ="H =*Hˣ6:Jg%LBJ+9JJRJ1 5ˀB=jIuDDAT read: Rx Time:19:47:01.8277 }TRx dataTimestamp_ set to:1736538422.230897PDAT read: Bearing 1.8, 1.8 (Local) ~Local bearing/azimuth received: Bearing 1.8, 1.8 (Local) DAT read: Range 10 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 DAT read: 19:47:01.8277 LVL= 17392, 32753, 18290, 32755, AGC= 54, IDX= 500,-0.11,-1.171,-2.522,-1.184,-1.433, PHS= 0.350,-1.042, 0.246, RAW= 146.2, 6.7, CAL= 148.2, -1.8, ROT= 1.8, 1.8 Ygot valid direction response: 19:47:01.8277 LVL= 17392, 32753, 18290, 32755, AGC= 54, IDX= 500,-0.11,-1.171,-2.522,-1.184,-1.433, PHS= 0.350,-1.042, 0.246, RAW= 146.2, 6.7, CAL= 148.2, -1.8, ROT= 1.8, 1.8 T#Rx 52: Read range and direction messages.^direction in FSK: [0.999013,0.031395,-0.031411]Fpublishing direction and range infoqYuN?֏ ?Izu̸A9quC q)urGIqiqu33>uB`um{>uN#@ u|=)u~%@Iuiu=u=q qu(]? "#f?Dĕڽ?Iu>iuH\iu=u=q qchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.958471ZJMb@Mb@Mb@ )Iy?Mb`?Mbf?; A)AI Ai A AHMHMKk5; =YQ >٣ GqF >]:59@m?a:5Y iCBj?m:1?q@r_D]: ::5! %A!Zju2~m?bju}V iqiuǎM^Aju̸AjuA2ju?pu_7@j5?e^8zpuN?֏ ?Iz"ju=*ju=pul ?(7@Md;gvpuaL?{k?@bEiuAju?HA?`&`I?`p?ӳ?¥??y?騕Sl?ɨ; CĀBaIDDAT read: Rx Time:19:47:02.3275 TRx dataTimestamp_ set to:1736538422.731849PDAT read: Bearing 0.3, 3.2 (Local) ~Local bearing/azimuth received: Bearing 0.3, 3.2 (Local) %DAT read: Range 10 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 mDAT read: 19:47:02.3275 LVL= 16608, 30369, 17282, 28963, AGC= 54, IDX= 497, 0.13,-0.461,-1.862,-0.435,-0.747, PHS= 0.375,-1.067, 0.309, RAW= 147.7, 5.5, CAL= 149.7, -3.2, ROT= 0.3, 3.2 uYgot valid direction response: 19:47:02.3275 LVL= 16608, 30369, 17282, 28963, AGC= 54, IDX= 497, 0.13,-0.461,-1.862,-0.435,-0.747, PHS= 0.375,-1.067, 0.309, RAW= 147.7, 5.5, CAL= 149.7, -3.2, ROT= 0.3, 3.2 }T#Rx 53: Read range and direction messages.^direction in FSK: [0.998427,0.005228,-0.055822]Fpublishing direction and range infoYm^W? iu?ᢔfA9@ v)CI#qi>u?5>$@  =)m7'@Idi;d=  xbt5?@M?j:Lx?IR>iĽ;d= checking for new query: numPingsReceived=53, elapsed TxPingTime=26.461872H HNg5O  @=YQ >٣ G< >!]%:59%Am?a-:5Y%Ҭ i%EBIUm?qU@%_D%;%;%b:5]B ]A]EZj%m?bjX ii֮M^AjfAj2A2j\?pu6@:|?h]zpm^W? iu?ᢔ"j;*jd=p$;?K)6@L ݿpJc:Ȧ?š@?bRni.Aj߁?i| m?ioT  jBzj?y dm?jZT jĀBjj]Arj?= addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.500952 s, deltaX: -0.300001 m, approachRate: -0.598862 m/s, rangeRepo size: 4 m Added new target pos. range: 22.799999 m, bearing: 87.448878 deg, lat: 36.903933 deg, lon: -122.119010 deg, deltaT: 0.500952 s, deltaX: -0.300001 m, approachRate: -0.598862 m/s, posRepo size: 4 2iiuDNOT Ignoring new targets: 22.80 m.*iqiq"iq ProNav: ac range: 22.799999 m, nav range: 22.795853 m, bearing: 88.973474 deg, approach rate: 0.000000 m/s, LOS rate: 0.155512 deg/s, cmd heading: 88.490893 deg, new cmd heading: 88.674512 deg.  iHeadingCmd: 1.547662 target range: 22.799999 and range: 22.80 m.h?hhhhggbgjgeejeJe6@:e%Q-?雑ɛq) #i)q隙iX =i?vl<MI?IDQDYDYE]o0 EYHyH}AA checking for new query: numPingsReceived=53, elapsed TxPingTime=26.695736VF} ՒF9 ZAI Mu > qx,M^A2إ?y2?92MY2E>2H ޫ?}`O?/?ը?@ڦ??@?2إ?ɨ2{; 2 CvBvSI||}Mb@Mb@Mb@yy y)yIyy}Mb?Mb`?~jt}?y}D }3A)}pAI} Ai}~Ay}z AHHe5]U e?=YsɻQ >٣ GG>GCGIG.BG =GGG<G F-rF5; =>]:59Bm?a:5:JBJ9JJRJ2 ZJ"$%$!JIDDAT read: Rx Time:19:47:02.8274 TRx dataTimestamp_ set to:1736538423.235818PDAT read: Bearing 359.5, 3.8 (Local) ~Local bearing/azimuth received: Bearing 359.5, 3.8 (Local) DAT read: Range 10 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4 5DAT read: 19:47:02.8274 LVL= 17888, 28657, 15922, 26739, AGC= 53, IDX= 496, 0.44, 1.272,-0.097, 1.320, 0.990, PHS= 0.370,-1.040, 0.328, RAW= 148.5, 5.0, CAL= 150.5, -3.8, ROT= 359.5, 3.8 EYgot valid direction response: 19:47:02.8274 LVL= 17888, 28657, 15922, 26739, AGC= 53, IDX= 496, 0.44, 1.272,-0.097, 1.320, 0.990, PHS= 0.370,-1.040, 0.328, RAW= 148.5, 5.0, CAL= 150.5, -3.8, ROT= 359.5, 3.8 ET#Rx 54: Read range and direction messages.M`direction in FSK: [0.997763,-0.008707,-0.066274]MFpublishing direction and range infoY@ҫ?pӰ Ձ{SA9E o)2>Ishi5p>>H%@ ¸=)0(@Iԇi^@ԇ= h*?s̆Sl?To\$1?I>i ƱDԇ= mchecking for new query: numPingsReceived=54, elapsed TxPingTime=26.961115Y iGBu?mu:u?qu@_D<i<Y:5y }1AyZjl?m?bjxU iiM^AjAjfA2jB7?pA 46@#9Lɿ>5zp@ҫ?pӰ Ձ{S"jD*jԇ=p#nh?ĥT6@c}pRFK[?Wc?h iiBAjC?ièm?iQ  j~Bzj2l~m?j&:zR jBjj$Arj9?  addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503969 s, deltaX: -0.099998 m, approachRate: -0.198422 m/s, rangeRepo size: 4 E Added new target pos. range: 22.700001 m, bearing: 86.935535 deg, lat: 36.903935 deg, lon: -122.119009 deg, deltaT: 0.503969 s, deltaX: -0.099998 m, approachRate: -0.198422 m/s, posRepo size: 4 2iAMDNOT Ignoring new targets: 22.70 m.*iIiI"iIm ProNav: ac range: 22.700001 m, nav range: 22.642611 m, bearing: 88.196165 deg, approach rate: 0.000000 m/s, LOS rate: 0.155512 deg/s, cmd heading: 88.674516 deg, new cmd heading: 88.895265 deg.  iquHeadingCmd: 1.551515 target range: 22.700001 and range: 22.70 m.hu ?hyhyhyhygygbgjg.BeejeJe@36@:ev2?Yɛ]3p)Y e)ia)e{aaie*!=im ?mVk+xx,EM^AF\?yF?9F(#YFn>FHΩ?੟xz?@? ᐦ? c?`?@$?F\?ɨF; DrBrPIH=H=]5aJ G=YӻQ >٣ GsF2+< > ]%:59 BCm?a%:5Y  i IB!%?q%@ _D ; ; :5I MFAQB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 22.70 m.*ii79"i79 ProNav: ac range: 22.700001 m, nav range: 22.447657 m, bearing: 88.201982 deg, approach rate: -0.556291 m/s, LOS rate: 0.016744 deg/s, cmd heading: 88.895267 deg, new cmd heading: 88.912871 deg.  i7:5HeadingCmd: 1.551822 target range: 22.700001 and range: 22.70 m.h5?h1h1h1h1g9g9bg9jg9eAejeJe:eڏ?ɛ ) 3+i)Gid!=i ? k< ))I ?ID>D>DDDE0 EeDDAT read: Rx Time:19:47:03.3271 eTRx dataTimestamp_ set to:1736538423.744557uPDAT read: Bearing 358.5, 3.5 (Local) }~Local bearing/azimuth received: Bearing 358.5, 3.5 (Local) DAT read: Range 10 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 DAT read: 19:47:03.3271 LVL= 18160, 32753, 16722, 31475, AGC= 55, IDX= 510,-0.15,-0.771,-2.125,-0.684,-1.026, PHS= 0.343,-1.052, 0.339, RAW= 149.9, 5.4, CAL= 151.5, -3.5, ROT= 358.5, 3.5 Ygot valid direction response: 19:47:03.3271 LVL= 18160, 32753, 16722, 31475, AGC= 55, IDX= 510,-0.15,-0.771,-2.125,-0.684,-1.026, PHS= 0.343,-1.052, 0.339, RAW= 149.9, 5.4, CAL= 151.5, -3.5, ROT= 358.5, 3.5 T#Rx 55: Read range and direction messages.`direction in FSK: [0.997793,-0.026128,-0.061049]Fpublishing direction and range infoaYe??If^.xAeA9aeF e)eRAIezie7e>e𧆿eh>ep'@ e=)e%:)@Ie5ziec9@e5z=a aelDž?/B?kk?Ieg?ieÿewּe5z=a achecking for new query: numPingsReceived=55, elapsed TxPingTime=27.491472VF% UF- ?F- ? ] Gu lA ) y lA AF ZA! M5 >>S~x,M^AZϦ?yZN ?9Z-YZ>ZHk? ృ??? Y ???ZϦ?ɨZ7ߒ; ZCchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.708338BSIHHl5K< 9=YԻQ >)٣) -G)5< 5>9]E:59=Dm?aE:5Y= i=KBA?q@=_D=-<=-<=:5 /AZj[Ќm?bj&W iiҦM^AjAjmA2j?p畞&6@/O̙7zp??If^.xA"jwּ*j5z=pU?:B&6@<}n!߿pNz'T? 6/Y?b oi2Aj??iunVm?iT  jBzj| m?jT jBjj_Arj]?U addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.508739 s, deltaX: -0.500000 m, approachRate: -0.982822 m/s, rangeRepo size: 4  Added new target pos. range: 22.200001 m, bearing: 86.342079 deg, lat: 36.903938 deg, lon: -122.119010 deg, deltaT: 0.508739 s, deltaX: -0.500000 m, approachRate: -0.982822 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 22.20 m.*ii"i ProNav: ac range: 22.200001 m, nav range: 22.171404 m, bearing: 87.450274 deg, approach rate: 0.000000 m/s, LOS rate: 0.016744 deg/s, cmd heading: 88.912869 deg, new cmd heading: 88.935838 deg.  iHeadingCmd: 1.552223 target range: 22.200001 and range: 22.20 m.h@?hhhhggbgjgeejeJe@336@:e 0?雽 Bɛ^u)  *i)i!=i@?3j<I@?ID]DaDaEe~0 EiGGCGIG)BGGGG<G!Fu DDAT read: Rx Time:19:47:03.8270 u TRx dataTimestamp_ set to:1736538424.248055} PDAT read: Bearing 357.5, 4.6 (Local)  ~Local bearing/azimuth received: Bearing 357.5, 4.6 (Local)  DAT read: Range 10 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 :J LBJ +9JJ RJ 3 ZJ  ?Yiq}{tog`]RLHB>72.,)%  DAT read: 19:47:03.8270 LVL= 16352, 25953, 14898, 25587, AGC= 54, IDX= 508, 0.13, 0.586,-0.772, 0.694, 0.314, PHS= 0.360,-1.039, 0.378, RAW= 150.6, 4.3, CAL= 152.5, -4.6, ROT= 357.5, 4.6  Ygot valid direction response: 19:47:03.8270 LVL= 16352, 25953, 14898, 25587, AGC= 54, IDX= 508, 0.13, 0.586,-0.772, 0.694, 0.314, PHS= 0.360,-1.039, 0.378, RAW= 150.6, 4.3, CAL= 152.5, -4.6, ROT= 357.5, 4.6  T#Rx 56: Read range and direction messages. `direction in FSK: [0.995830,-0.043479,-0.080199] Fpublishing direction and range infoq Yu  \7?jBzꇴu ̰A9q u ? u ae)u 2:Iu ciu 6u Q>u u 7>u 8(@ u `=)u X*@Iu liu i@u l=q q u N0t?5kB?رQJ?Iu ?iu *}u Ѹ2u l=q q  checking for new query: numPingsReceived=56, elapsed TxPingTime=27.998169VF] -,F ZA! MM >:x,N^ARO?yR?9R7YRb>RH??`*?Vk??`;??RO?ɨR; R C=B=GIEpף;u A)lAI AiA AHUHU4d5e; D=YJQ >٣ GtF <  >]m:59Dm?au:5Y iMB}>m}:}g?q}@checking for new query: numPingsReceived=56, elapsed TxPingTime=28.209280_DǺ<<O:5 ~AZj]m?bjdU ii"N^Aj̰AjA2j%?pդB6@M"5[zp \7?jBzꇴ"jѸ2*jl=pd:?8=C6@*kpB6?*?\ Ji*Aj?ivm?iRQ  j}Bzjèm?j&:zR jBjj;Arj%? addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503498 s, deltaX: -0.100000 m, approachRate: -0.198611 m/s, rangeRepo size: 4  Added new target pos. range: 22.100000 m, bearing: 85.742838 deg, lat: 36.903940 deg, lon: -122.119009 deg, deltaT: 0.503498 s, deltaX: -0.100000 m, approachRate: -0.198611 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 22.10 m.*ii"i ProNav: ac range: 22.100000 m, nav range: 22.029131 m, bearing: 86.904613 deg, approach rate: 0.000000 m/s, LOS rate: 0.016744 deg/s, cmd heading: 88.935839 deg, new cmd heading: 88.958187 deg.  i HeadingCmd: 1.552613 target range: 22.100000 and range: 22.10 m.h ?h h h h g g bgjg/Be1e9je9Je=6@:e=?雁ɛS) :/i)e隉i!=i?Ri<^֋x,1N^AJFpublishing direction and range infoY)x_e?X!ө.0ۣfA90@ 1})?IsiV>\v>[(@ l=){*@InFi8q@nF= LlՍG?i`?c/V?Iƅ ?ikݢQQOnF= Vchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.507698z?yz?9z@Yz6>zHC?@?|?@?Ϫ??۝?z?ɨz; zC B @IHHe5M' U`=YU+ͻQ U>Y٣a eGeuFe < e?]:59Dm?a:5Yq iNB?q@_D:W:^:5 AZj؀m?bjY ii=C0N^AjfAj?A2j ?p95@3GStzp)x_e?X!ө.0ۣ"jQQO*jnF=pA? 5@R)ZWpR?՘y?_x\iAj?i[]sm?iDP?U  j(~BzjunVm?jT j~BjjwArjq? addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.506049 s, deltaX: -0.300001 m, approachRate: -0.592830 m/s, rangeRepo size: 4  Added new target pos. range: 21.799999 m, bearing: 85.515074 deg, lat: 36.903942 deg, lon: -122.119010 deg, deltaT: 0.506049 s, deltaX: -0.300001 m, approachRate: -0.592830 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 21.80 m.*ii"i ProNav: ac range: 21.799999 m, nav range: 21.808308 m, bearing: 86.304637 deg, approach rate: 0.000000 m/s, LOS rate: 0.016744 deg/s, cmd heading: 88.958187 deg, new cmd heading: 88.974963 deg.  iHeadingCmd: 1.552906 target range: 21.799999 and range: 21.80 m.h?hhhhggbgjge!e!je!Je%5@:e-)?Iـ3I3IA.IIIZIkbIfjIrIzI2:I9IIq@i@u@m@Bɛ`) e2i)яi+"=i?mh<2I?IDD}DyDyE2 EE=E=checking for new query: numPingsReceived=57, elapsed TxPingTime=28.716696VF VzF rF F ZA M >x,vKN^AGn>GlGnIGnBGn =GlGlGn<GnF)) )]DDAT read: Rx Time:19:47:04.8267 ]TRx dataTimestamp_ set to:1736538425.255753ePDAT read: Bearing 356.4, 4.8 (Local) m~Local bearing/azimuth received: Bearing 356.4, 4.8 (Local) }DAT read: Range 10 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4 DAT read: 19:47:04.8267 LVL= 16560, 31585, 15618, 31699, AGC= 53, IDX= 505,-0.05,-1.154,-2.446,-1.011,-1.399, PHS= 0.333,-1.000, 0.385, RAW= 151.9, 4.2, CAL= 153.6, -4.8, ROT= 356.4, 4.8 Ygot valid direction response: 19:47:04.8267 LVL= 16560, 31585, 15618, 31699, AGC= 53, IDX= 505,-0.05,-1.154,-2.446,-1.011,-1.399, PHS= 0.333,-1.000, 0.385, RAW= 151.9, 4.2, CAL= 153.6, -4.8, ROT= 356.4, 4.8 T#Rx 58: Read range and direction messages.`direction in FSK: [0.994526,-0.062571,-0.083678]Fpublishing direction and range infoYY]G*6)?,U]k]̬A9Y]@ ]a{)]=I]{B<Ii]5]~>]]>])@ ]Q =)]+@I]i]" @]=Y Y]IO?襯?Oz,v?I]s?i]=敽])]=Y Ychecking for new query: numPingsReceived=58, elapsed TxPingTime=28.990547:J%NNBJ!JJ!RJ%4 ZJ% Mb@Mb@Mb@ )Iyv?{Gz?{Gz>#<ף A)AI~Ai A AHHl5l =YQ >٣  G  >A]M:59E-Em?aM:5YE iEPBM>mM:M]?qU@E_DE:E:E:5B AEZj]=m?bj]zr=X iYi]B^PN^Aj]̬Aj]A2j]9?p][SqU{5@WٟGzp]G*6)?,U]k"j])*j]=p]N"?5:}5@#3"p]@W^Ͷ?J?Jfi]Aj]E?i]}Om?i]I{T  j]g}Bzj]vm?jYj](~Bjj]Arj]_? addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.501649 s, deltaX: -0.199999 m, approachRate: -0.398683 m/s, rangeRepo size: 4  Added new target pos. range: 21.600000 m, bearing: 84.884448 deg, lat: 36.903944 deg, lon: -122.119010 deg, deltaT: 0.501649 s, deltaX: -0.199999 m, approachRate: -0.398683 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 21.60 m.*ii"i% ProNav: ac range: 21.600000 m, nav range: 21.569685 m, bearing: 85.662160 deg, approach rate: 0.000000 m/s, LOS rate: 0.016744 deg/s, cmd heading: 88.974962 deg, new cmd heading: 89.001443 deg.  i!eHeadingCmd: 1.553368 target range: 21.600000 and range: 21.60 m.he?hahihhggbgjgBeejeJe5@:e?Bɛ$})  4i ) ŕ i[k"=i?L9h<RnI?ID D D E 0 E   A checking for new query: numPingsReceived=58, elapsed TxPingTime=29.219509VF g{FZAM>x,;jN^A^0v?y^?9^ QY^(!>^H i?`Рj?`?`?`bkz?%+?֘?^0v?ɨ^S; ^C=BE?IIa)aAH%H%i55P< 5M=Y='!Q =>9٣9 =G=vFEj< e>i]u;59mLEm?au;5Ym imQBy}?q}@m_Dm:m:mW;5 AB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 21.60 m.*iiֺ"iֺDDAT read: Rx Time:19:47:05.3265 TRx dataTimestamp_ set to:1736538425.759927PDAT read: Bearing 355.2, 5.9 (Local) %~Local bearing/azimuth received: Bearing 355.2, 5.9 (Local) 5DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 UDAT read: 19:47:05.3265 LVL= 18096, 28465, 15170, 25843, AGC= 54, IDX= 502, 0.22,-0.308,-1.649,-0.136,-0.582, PHS= 0.363,-1.020, 0.443, RAW= 152.8, 3.0, CAL= 154.8, -5.9, ROT= 355.2, 5.9 eYgot valid direction response: 19:47:05.3265 LVL= 18096, 28465, 15170, 25843, AGC= 54, IDX= 502, 0.22,-0.308,-1.649,-0.136,-0.582, PHS= 0.363,-1.020, 0.443, RAW= 152.8, 3.0, CAL= 154.8, -5.9, ROT= 355.2, 5.9 mT#Rx 59: Read range and direction messages.u`direction in FSK: [0.991214,-0.083235,-0.102793]uFpublishing direction and range infoY=?HYONzBPfA9F 1o)B;Idi6#۹>\>*@ PwV=),@IBҽia@B= DB5?M?.Oa'?I~?i4RYB= checking for new query: numPingsReceived=59, elapsed TxPingTime=29.487335 ProNav: ac range: 21.600000 m, nav range: 21.381405 m, bearing: 85.627729 deg, approach rate: -0.507252 m/s, LOS rate: -0.093580 deg/s, cmd heading: 89.001443 deg, new cmd heading: 88.897239 deg.  irHeadingCmd: 1.551550 target range: 21.600000 and range: 21.60 m.h-?hhhhggbgjge!e!je!Je%L5@:e%@1?ɛ2) 3i)@i˥"=i -? g< sPU;I -?IDmDiDiEm1 EiHe4=He=ZImjbIm_jIirIizIm.:Im=h9IiIi checking for new query: numPingsReceived=59, elapsed TxPingTime=29.723759VF ]UF ZA M >Ex,VN^A6?y6 ?96WY6z>6HP? ?`|?s2?T?`=?@n?6?ɨ6_T; 6"CJBN8ImMb@Mb@Mb@ii i)iIiymm?y&1|?I +m>m`;m9 i)mVAImhAiiim AHHob5 K=YQ >٣ GwF; >];59uEm?a;5YӀ iRB>m:?q@_DJj; |;;5 AZj>0m?bj(W iipN^AjfAjFA2jf?p;5@NB]'Ezp=?HYONzBP"j*jB=pcIA@`D'5@ p(@:?g>]?$&i>AjZ@i7[m?ik%zS  j|Bzj[]sm?jj}BjjArj8ξ?} addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504174 s, deltaX: -0.300001 m, approachRate: -0.595035 m/s, rangeRepo size: 4  Added new target pos. range: 21.299999 m, bearing: 84.333087 deg, lat: 36.903945 deg, lon: -122.119010 deg, deltaT: 0.504174 s, deltaX: -0.300001 m, approachRate: -0.595035 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 21.30 m.*iiE"iI ProNav: ac range: 21.299999 m, nav range: 21.200230 m, bearing: 85.409000 deg, approach rate: 0.000000 m/s, LOS rate: -0.093580 deg/s, cmd heading: 88.897241 deg, new cmd heading: 88.783180 deg. GGCGIGBG =GGBDG"<G4F iUHeadingCmd: 1.549559 target range: 21.299999 and range: 21.30 m.h]W?hyhyhyhyggbgjgBeejeJe:eIمCqiم5م>:JuKBJuh9JJqRJu5 ZJu.-'!'+0017;DZhihed`J? J?مAمR>م+@ څ5z=)څ-@Iڅ Ľiڅz@څ =ځ ہۅx"If?n[߿?<ݮ?Iۅ?iۅ>wۅ)Ľۅ =ہ ܁checking for new query: numPingsReceived=60, elapsed TxPingTime=30.011341DDDE@5 EVF:FIZAqM> px,+2N^Anchecking for new query: numPingsReceived=60, elapsed TxPingTime=30.225189rBr>IHzHz7`5=< =P=YEQ E>A٣I MGIM u>y];59}Em?a;5Y}{ iyq@}_D}`;}a;}M;5 AZjF n?bjc~U iiN^AjAjzA2j-?pW5@>.8&dAzp?OGqlaVX"j)Ľ*j =p54m@dw5@a{Fpdq,?ۄ$?biCAjm@iU n?i+Q  j}|Bzj}Om?jk%zS jg}BjjwArja?u addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503910 s, deltaX: -0.099998 m, approachRate: -0.198445 m/s, rangeRepo size: 4  Added new target pos. range: 21.200001 m, bearing: 83.581714 deg, lat: 36.903947 deg, lon: -122.119010 deg, deltaT: 0.503910 s, deltaX: -0.099998 m, approachRate: -0.198445 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 21.20 m.*ii"i ProNav: ac range: 21.200001 m, nav range: 21.058266 m, bearing: 84.771794 deg, approach rate: 0.000000 m/s, LOS rate: -0.093580 deg/s, cmd heading: 88.783184 deg, new cmd heading: 88.669765 deg.  iHeadingCmd: 1.547579 target range: 21.200001 and range: 21.20 m.h?hhhhggbgjgeejeJe@335@:e`?mBɛujD)y 04i)W+隡i#=i?DZg<v;I?IDDDEa4 EDDAT read: Rx Time:19:47:06.3261 TRx dataTimestamp_ set to:1736538426.767836PDAT read: Bearing 353.5, 5.7 (Local) ~Local bearing/azimuth received: Bearing 353.5, 5.7 (Local) DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4 DAT read: 19:47:06.3261 LVL= 22832, 28577, 16546, 25523, AGC= 54, IDX= 499,-0.05,-1.689,-3.017,-1.459,-1.932, PHS= 0.332,-1.038, 0.471, RAW= 154.8, 3.3, CAL= 156.5, -5.7, ROT= 353.5, 5.7 Ygot valid direction response: 19:47:06.3261 LVL= 22832, 28577, 16546, 25523, AGC= 54, IDX= 499,-0.05,-1.689,-3.017,-1.459,-1.932, PHS= 0.332,-1.038, 0.471, RAW= 154.8, 3.3, CAL= 156.5, -5.7, ROT= 353.5, 5.7 T#Rx 61: Read range and direction messages.`direction in FSK: [0.988659,-0.112644,-0.099320]Fpublishing direction and range infoؑYؕ#?I|e6ּhܸmؕA9ؑؕ0Y ٕo)ٕ@Iٕciٕ6ٕ>ٕ/݄ٕ&>ٕ,@ ڕk=)ڕ.@Iڕ%˽iڕn@ڕ%=ڑ ۑەt@]=?`@9?X uf?IەDf?iەTkەV轩ە%=ۑ ܑ checking for new query: numPingsReceived=61, elapsed TxPingTime=30.510818VF ;F ZA M >x,N^A:3?y:$q?9:?cY:+,>:H >?i? ?@1٣1 5G5xF]< ]>aZIibI^jI1rIzI+:Id9I3I];59eEm?a;5Ye w ieSB9?q@e`DeG G IG BG =G G G Ӱ<G FHɮC HɮCHɓCH ="H =*Hɝ5VF} O; DDAT read: Rx Time:19:47:06.8261  TRx dataTimestamp_ set to:1736538427.274340 PDAT read: Bearing 353.3, 6.5 (Local)  ~Local bearing/azimuth received: Bearing 353.3, 6.5 (Local)  DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4  DAT read: 19:47:06.8261 LVL= 17728, 24753, 15522, 24483, AGC= 53, IDX= 498, 0.28, 0.587,-0.766, 0.819, 0.316, PHS= 0.359,-1.034, 0.501, RAW= 154.8, 2.4, CAL= 156.7, -6.5, ROT= 353.3, 6.5 F9 ZAA Me >x,N^A"Ygot valid direction response: 19:47:06.8261 LVL= 17728, 24753, 15522, 24483, AGC= 53, IDX= 498, 0.28, 0.587,-0.766, 0.819, 0.316, PHS= 0.359,-1.034, 0.501, RAW= 154.8, 2.4, CAL= 156.7, -6.5, ROT= 353.3, 6.5 &T#Rx 62: Read range and direction messages.:JJiMBJJ9JJHRJJ6 ZJJ_^^^`^YSRRQRNMIEEFA<:7653.,,/.)))(%%$"" !JLILZ`direction in FSK: [0.986786,-0.115921,-0.113203]ZFpublishing direction and range infoY^e?N59@E `)<I_i5η>ZA? +=) /@IViQ@V= jt@?*G_??0nk?I~?ii+|ゥV= ~checking for new query: numPingsReceived=62, elapsed TxPingTime=31.037411ޭBޭNIMb@Mb@Mb@ )IyˡE?Mb?<t )h@IQAid A= AH Hf5E$'= M!=YMQ M>Q٣Q UGUyFU }>];59Em?a;5Yp iXB >m:I?q@`D:,::;5 \AZjΰ# n?bj*Y iiɎN^Ajj2joӸ?pV-m4@v{@P2TDczp^e?N5"j|*jV=p@R@LFz4@5tpʚA%?1?Nq粿iңAj"'@i7!n?i5~U  jK{BzjU n?jje|Bjj6Arj[? addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.506504 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 20.700001 m, bearing: 82.732381 deg, lat: 36.903951 deg, lon: -122.119010 deg, deltaT: 0.506504 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i9=DNOT Ignoring new targets: 20.70 m.*i9iA"iAu ProNav: ac range: 20.700001 m, nav range: 20.651411 m, bearing: 83.418366 deg, approach rate: 0.000000 m/s, LOS rate: -0.093580 deg/s, cmd heading: 88.553519 deg, new cmd heading: 88.414083 deg.  iy}HeadingCmd: 1.543117 target range: 20.700001 and range: 20.70 m.h}ڄ?hhhhggbgjgBeejeJe:e?ɛ醽checking for new query: numPingsReceived=62, elapsed TxPingTime=31.237335)) --i))-))i5c#=i5ڄ?==g<=?cQ>'-@ k]=)F/@IBҽi@B= ?i'MH?+"zW?I?i%\@B= echecking for new query: numPingsReceived=63, elapsed TxPingTime=31.510216VF 2<FZAM?^x,N^AZIjbIdjI0rIzI.:I|9Iـ3I-?y-'?9-LVsY-˕>-H@%?z ?`?%? 5f??@ ?-?ɨ-l; )ޅBޅTIHHd5< =YQ M>I٣I MGMzFU; U>Y]e;59]EEm?ae;5Y]nj i]^B?q@]"`D]I<]O<];5) -9A-Echecking for new query: numPingsReceived=63, elapsed TxPingTime=31.743900Zje׵.n?bjed2] iaie`N^AjefAjeSA2jeb?pej74@8 zpeU!Ǽ?GfzBP"je@*jeB=peY&Q@]4@dpeO?78!kТ?}hbLieAje2@ieܥX0n?ieF^Y  je||Bzjeʕn?je5~U jajje'Arjef? addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.505468 s, deltaX: -0.400002 m, approachRate: -0.791349 m/s, rangeRepo size: 4  Added new target pos. range: 20.299999 m, bearing: 82.086531 deg, lat: 36.903953 deg, lon: -122.119010 deg, deltaT: 0.505468 s, deltaX: -0.400002 m, approachRate: -0.791349 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 20.30 m.*ii"i ProNav: ac range: 20.299999 m, nav range: 20.394165 m, bearing: 82.697352 deg, approach rate: 0.000000 m/s, LOS rate: -0.093580 deg/s, cmd heading: 88.414080 deg, new cmd heading: 88.239359 deg.  iHeadingCmd: 1.540067 target range: 20.299999 and range: 20.30 m.h ?hhhhgg!bg!jg!e!e)je)Je-L4@:eU`?雑ɛv) ]+i)U隙ig#=i ?sg<ĚGA GE IGE .BGA GA GA GE 6<GE ?F^D x/== DDAT read: Rx Time:19:47:07.8257 E TRx dataTimestamp_ set to:1736538428.283765M PDAT read: Bearing 353.3, 6.4 (Local) M ~Local bearing/azimuth received: Bearing 353.3, 6.4 (Local) e DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed 0.4  DAT read: 19:47:07.8257 LVL= 19744, 32321, 19090, 32755, AGC= 52, IDX= 511, 0.08,-0.446,-1.784,-0.217,-0.711, PHS= 0.353,-1.026, 0.491, RAW= 154.7, 2.5, CAL= 156.7, -6.4, ROT= 353.3, 6.4  Ygot valid direction response: 19:47:07.8257 LVL= 19744, 32321, 19090, 32755, AGC= 52, IDX= 511, 0.08,-0.446,-1.784,-0.217,-0.711, PHS= 0.353,-1.026, 0.491, RAW= 154.7, 2.5, CAL= 156.7, -6.4, ROT= 353.3, 6.4  T#Rx 64: Read range and direction messages. `direction in FSK: [0.986981,-0.115944,-0.111469] Fpublishing direction and range info9 Y= r@ZY?  -V:= ̠A99 = M = A~)= JI= i= 4= j>= S= Zd>= 3,@ = ¸2=)=  /@I= i= Q@= =9 9 = pF?ߞ5?C3?I= c?i= H5= |ゥ= =9 9  checking for new query: numPingsReceived=64, elapsed TxPingTime=32.018398Di Di Di Em o0 Ei :J )NBJ 9JJ RJ 7 ZJ    VFuzQ<F1ZA9MU?`Ǔx,O^Achecking for new query: numPingsReceived=64, elapsed TxPingTime=32.245064ޝ̀BޝmImMb@Mb@Mb@ii i)iIiym%C?~jtxmZ>mmĻ mA)iImAim AimG AHHe5=  =YQ >٣ G{F >];59Em?a;5Yc idB_>m: ?q@2`DG;k;;5 AZju(Rn?bjuZ iqiu5)O^Aju̠AjuA2ju?puj 5&3@&"Ф@zpur@ZY?  -V:"ju|*ju=pu*@@f3@}cE0puLɿ?j?xeiu.Aju@iu)n?iuNmW  ju$|BzjqjuNmW jqjjuArjuz?M addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.503957 s, deltaX: -0.199999 m, approachRate: -0.396857 m/s, rangeRepo size: 4 ] Added new target pos. range: 20.100000 m, bearing: 82.850377 deg, lat: 36.903953 deg, lon: -122.119011 deg, deltaT: 0.503957 s, deltaX: -0.199999 m, approachRate: -0.396857 m/s, posRepo size: 4 2iYeDNOT Ignoring new targets: 20.10 m.*iaia"iau ProNav: ac range: 20.100000 m, nav range: 20.064987 m, bearing: 82.594324 deg, approach rate: 0.000000 m/s, LOS rate: -0.093580 deg/s, cmd heading: 88.239357 deg, new cmd heading: 88.101718 deg.  iq}HeadingCmd: 1.537665 target range: 20.100000 and range: 20.10 m.h}5?hyhyhhggbgjg݁Be e je Je 4@:e`D?Qɛ]")y })!iy)/n隁is#=i5?g<Zj] ] >] c-@ ] d=)] .@I] 4QϽi] 4`@] 4Q=Y Y ] q 2? J?pikPp?I] ?i] c] 뽩] 4Q=Y Y  checking for new query: numPingsReceived=65, elapsed TxPingTime=32.538235I ) }G kA  )E %yE kAE ~AVF <FZAM>Γx,=O^Arˮ?yrR?9r}{Yrpt >rH@~?b.?`?W? bl ^q?@`X?Ԥ?rˮ?ɨrɑ; rCE݀BEIHeHer^5}[= }8=Y}~Q }>٣ G4; >];59(Fm?a;5Yn^ iiB(?q@?`DG:2:;5 AZj5<n?bj5`] echecking for new query: numPingsReceived=65, elapsed TxPingTime=32.751827i1i5H2O^Aj5fAj5ZA2j5E#?p5-Sn3@.0zp58 ?AE+hg޹"j5*j54Q=p5ÿ*9@l3@w0~Wp5 ?cx?b@M(i5Aj5@i5`n?i5*Y  j5d}Bzj1j5*Y j1jj5KArj5P? addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.505742 s, deltaX: -0.300001 m, approachRate: -0.593190 m/s, rangeRepo size: 4 % Added new target pos. range: 19.799999 m, bearing: 82.871979 deg, lat: 36.903953 deg, lon: -122.119012 deg, deltaT: 0.505742 s, deltaX: -0.300001 m, approachRate: -0.593190 m/s, posRepo size: 4 2i!-DNOT Ignoring new targets: 19.80 m.*i)i)"i1e ProNav: ac range: 19.799999 m, nav range: 19.786673 m, bearing: 82.502674 deg, approach rate: 0.000000 m/s, LOS rate: -0.093580 deg/s, cmd heading: 88.101715 deg, new cmd heading: 87.960617 deg.  iamHeadingCmd: 1.535202 target range: 19.799999 and range: 19.80 m.hm?hihihihigqgqbgqjgeejeJe3@:e@?Bɛwx) 2i)Rip#=i?h<noGCGIGGBGGGG<G#F = DDAT read: Rx Time:19:47:08.8254  TRx dataTimestamp_ set to:1736538429.292140 PDAT read: Bearing 353.1, 4.7 (Local)  ~Local bearing/azimuth received: Bearing 353.1, 4.7 (Local) % DAT read: Range 10 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4 M DAT read: 19:47:08.8254 LVL= 19168, 26721, 14626, 26323, AGC= 53, IDX= 508,-0.15,-1.059,-2.454,-0.795,-1.282, PHS= 0.311,-1.125, 0.484, RAW= 155.6, 4.4, CAL= 156.9, -4.7, ROT= 353.1, 4.7 U Ygot valid direction response: 19:47:08.8254 LVL= 19168, 26721, 14626, 26323, AGC= 53, IDX= 508,-0.15,-1.059,-2.454,-0.795,-1.282, PHS= 0.311,-1.125, 0.484, RAW= 155.6, 4.4, CAL= 156.9, -4.7, ROT= 353.1, 4.7 U T#Rx 66: Read range and direction messages.e `direction in FSK: [0.989419,-0.119733,-0.081939]e Fpublishing direction and range info Y ֻGR?i˦ A9  J  ah) "9I fi 5 d;>  > -@  nF=) LB/@I i P5@ =   X?F?xgw?I &?i ⛽  =   checking for new query: numPingsReceived=66, elapsed TxPingTime=33.018513VFU 7ͤ<:J xLBJ +9JJ RJ 8 ZJ F ZA M] >IՓx,0WO^AF礩?yFn?9Fo)|YF+ >FH`f^?`8/?@?b?~t@?@ ?@?F礩?ɨFI; DRBRIMb@Mb@Mb@ )Iy?MbPf> A)~@I$Ai AHH=X5ZImbIgjI1rIzI\8:I9I3IID;q ID;i I=:uI>:m] = ]/=Y]|Q e>q٣q G|FB' >];59Fm?a;5YX ioBf>m:?q@M`D;;";5 QAZj5)t n?bj5Z i1i5lRO^Aj5Aj5A2j5=?p57}3@߮zp5ֻGR?i˦"j5*j5=p5`kx@{ "3@Bp55L?ԏ픲?@]i5Aj5&@i5O7"n?i5CV  j5Bzj57!n?j5NmW j5||Bjj5FArj5{? addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.502633 s, deltaX: -0.099998 m, approachRate: -0.198949 m/s, rangeRepo size: 4 5 Added new target pos. range: 19.700001 m, bearing: 82.392827 deg, lat: 36.903953 deg, lon: -122.119011 deg, deltaT: 0.502633 s, deltaX: -0.099998 m, approachRate: -0.198949 m/s, posRepo size: 4 2i9=DNOT Ignoring new targets: 19.70 m.*i9iA"iAUchecking for new query: numPingsReceived=66, elapsed TxPingTime=33.253429 ProNav: ac range: 19.700001 m, nav range: 19.659477 m, bearing: 82.403736 deg, approach rate: 0.000000 m/s, LOS rate: -0.093580 deg/s, cmd heading: 87.960617 deg, new cmd heading: 87.837175 deg.  iHeadingCmd: 1.533048 target range: 19.700001 and range: 19.70 m.h:?hhhhggbgjgBeejeJe@33@:e R?9ɛ=u)9 =d i9)EY¼AAiej#=im:?mqh- Đ- >- 3,@ - A=)- !z.@I- qi- e@- q=) ) - zC?y9S(?J!ð?I- ?i- 1- iݽ- q=) )  checking for new query: numPingsReceived=67, elapsed TxPingTime=33.526089M >yܓx,TStO^A^?y^ ?9^"x|Y^U>^H ? ɸ@??@?Ts扯? ;?0?^?ɨ^; ^"CvBvIHHc5 = [=YRQ >A٣A EGE}FEN: M>I]U;59MFm?a];5YMnT iMuBY]?q@MW`DM;Mb;MX%;5 AZjn?bjzb ii!:sO^AjAjA2jʹ?p:"LZ3@`q6Q`zp` ,D?ț{]U"jiݽ*jq=p.KT.C@1Yp 3@KQpn-o?,(*?rhKĦi[Aj@iNn?iJB^  j~Bzj)n?j*Y jd}Bjj.Arj@?m addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.508283 s, deltaX: -0.500000 m, approachRate: -0.983704 m/s, rangeRepo size: 4  Added new target pos. range: 19.200001 m, bearing: 83.164815 deg, lat: 36.903952 deg, lon: -122.119012 deg, deltaT: 0.508283 s, deltaX: -0.500000 m, approachRate: -0.983704 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 19.20 m.*ii"i ProNav: ac range: 19.200001 m, nav range: 19.397503 m, bearing: 82.648128 deg, approach rate: 0.000000 m/s, LOS rate: -0.093580 deg/s, cmd heading: 87.837175 deg, new cmd heading: 87.735266 deg.  iHeadingCmd: 1.531269 target range: 19.200001 and range: 19.20 m.h?hhhhggbgjgee1je1Je=@333@:e=`b?雅Bɛ) i)%jż隉il#=i?h<]x,O^AGGG.IGkBGGGGT<GTFn?ynH?9n|{Yn.>nH ?F? ?C?ly?%r? z?n?ɨn; n CvBvIMMb@Mb@Mb@II I)IIIyMuV?~jtx{Gzt?Mr>MĻMף; MdA)M@IMAiM AIM ADDAT read: Rx Time:19:47:09.8251 TRx dataTimestamp_ set to:1736538430.304614PDAT read: Bearing 353.3, 4.2 (Local) ~Local bearing/azimuth received: Bearing 353.3, 4.2 (Local) DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4 DAT read: 19:47:09.8251 LVL= 23280, 26321, 17586, 27059, AGC= 53, IDX= 505,-0.33,-1.473,-2.908,-1.206,-1.692, PHS= 0.307,-1.170, 0.483, RAW= 155.6, 4.9, CAL= 156.7, -4.2, ROT= 353.3, 4.2 Ygot valid direction response: 19:47:09.8251 LVL= 23280, 26321, 17586, 27059, AGC= 53, IDX= 505,-0.33,-1.473,-2.908,-1.206,-1.692, PHS= 0.307,-1.170, 0.483, RAW= 155.6, 4.9, CAL= 156.7, -4.2, ROT= 353.3, 4.2 T#Rx 68: Read range and direction messages.`direction in FSK: [0.990503,-0.116358,-0.073238]Fpublishing direction and range infoؑYؕi:4?;-ɽؑ9ؑؕZ ٕf)ٕDIٕiiّٕ/>ٕ•HHb5= .=Y09Q >ٕK>ٕ-@ ڕ%=)ڕ /@IڕQ iڕQ@ڕQ =ڑ ۑەD\^?m}?L%<˵?IەE?iەە|ゥەQ =ۑ ܑMchecking for new query: numPingsReceived=68, elapsed TxPingTime=34.038273Q٣Q UGQUz }>];59Gm?a;5YN i|B{>m:?q@e`D;1;);5B  A EZjn?bj@s\ :J5BJ5 9JJ1RJ59 ZJ5ii~O^Ajj2j[E?p}Ʌ3@O'`iHzpi:4?;-ɽ"j|*jQ =pSV@K@3@.#Op= checking for new query: numPingsReceived=68, elapsed TxPingTime=34.265682VF% <F ZA M >Lx,pO^AF?yF4?9F{YFWS>FH@?ຼ ??G?mv?N7?@b?F?ɨF; Dޅ'BލII)  AH%H%:\5N= G=Y_8Q >٣ G~F| >];59DHm?a;5YJ iB?q@q`D:\:,;5 AB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 19.20 m.*ii"im ProNav: ac range: 19.200001 m, nav range: 19.008556 m, bearing: 82.544688 deg, approach rate: -0.474257 m/s, LOS rate: -0.129106 deg/s, cmd heading: 87.602306 deg, new cmd heading: 87.455403 deg.  im5uHeadingCmd: 1.526385 target range: 19.200001 and range: 19.20 m.hu`?hqhqhqhqgygybgyjgyeejeJe:e9?ɛl) Yi)˼iE#=i%`?%i<%!I3ei4>tDDDE@5 Em>c-@ Q =).@I%i@%= A'?&x,IO^A.checking for new query: numPingsReceived=69, elapsed TxPingTime=34.771931mNn?ym֫?9m{Ym>mH@9? ?@?4?r@jr?&??mNn?ɨm; mC}8BޅIMb@Mb@Mb@ )Iy`"?{GzMb?>#< A)IiAHEHE Y5u= }/=Y8Q >٣ GF >];598Im?a ;5YC iB>m:?q%@`DL< <'1;5GGGfIGBGGGG <GFQ UFAQZj%P n?bj%\ i!i%ųO^Aj%fAj%gA2j%Z$?p%*τ@2@藄q\??zp%s l Ű? Ab$ݵ"j%i0*j%%=p%b@A2@zp%p(E?VU?sh8i%"Aj%(@i%ٜ n?i%xX  j%Bzj%`n?j!j%Bjj%0Arj%? addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504338 s, deltaX: -0.400002 m, approachRate: -0.793122 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 82.873871 deg, lat: 36.903951 deg, lon: -122.119012 deg, deltaT: 0.504338 s, deltaX: -0.400002 m, approachRate: -0.793122 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.80 m.*ii%"i!U ProNav: ac range: 18.799999 m, nav range: 18.773746 m, bearing: 82.603220 deg, approach rate: 0.000000 m/s, LOS rate: -0.129106 deg/s, cmd heading: 87.455402 deg, new cmd heading: 87.250831 deg.  iQ]HeadingCmd: 1.522814 target range: 18.799999 and range: 18.80 m.h]?hYhYhahagagabgajgm8BeejeJe2@:e`F\?ɛ5qO) վi)oϼi#=DDAT read: Rx Time:19:47:10.8249 TRx dataTimestamp_ set to:1736538431.311784PDAT read: Bearing 354.0, 5.0 (Local) ~Local bearing/azimuth received: Bearing 354.0, 5.0 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 EDAT read: 19:47:10.8249 LVL= 20864, 27345, 16114, 26755, AGC= 52, IDX= 501, 0.41, 0.059,-1.405, 0.292,-0.203, PHS= 0.350,-1.155, 0.492, RAW= 154.5, 4.0, CAL= 156.0, -5.0, ROT= 354.0, 5.0 MYgot valid direction response: 19:47:10.8249 LVL= 20864, 27345, 16114, 26755, AGC= 52, IDX= 501, 0.41, 0.059,-1.405, 0.292,-0.203, PHS= 0.350,-1.155, 0.492, RAW= 154.5, 4.0, CAL= 156.0, -5.0, ROT= 354.0, 5.0 UT#Rx 70: Read range and direction messages.]`direction in FSK: [0.990737,-0.104131,-0.087156]]Fpublishing direction and range infoY.S?5-YRO9Q j)>Ihi33> ד,@ 5=)@.@I¸i@¸= vT}Q? 2!-?zM?I?i"iwֽ¸= }checking for new query: numPingsReceived=70, elapsed TxPingTime=35.038731i?j<l=I?I:J BJ h9JJ RJ : ZJ &_^6"7 / o;" J I DY DY DY E] 0 Ea Ei Ei ZI5 obI5 hjI5 1rI1 zI5 >:I5 Ȇ9I5 3I1 I5 {O;I5 ~O;I5 Ҭ:I5 Ԭ:VFF<F?F?FAZAaM?x,yO^A checking for new query: numPingsReceived=70, elapsed TxPingTime=35.273239 Z?y ?9 s{Y _;> H? @F??@ӱ?qhi??`? Z?ɨ ;  COB% IH]H]Y5= E=Y/9Q >٣ GǺ >];59 Jm?a;5Y> iB?q@`D>:l:4;5  AZjn?bjgV iiEO^Ajj2j=?pHo82@ AR{h7zp.S?5-YRO"jiwֽ*j¸=pȖ@ŲS˦2@(o/*p]L?kqO?]qi6Aj@i0#n?ipS  jBzjٜ n?jxX jBjjArj ?u addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502832 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 83.139444 deg, lat: 36.903951 deg, lon: -122.119012 deg, deltaT: 0.502832 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.80 m.*ii"i ProNav: ac range: 18.799999 m, nav range: 18.592709 m, bearing: 82.829090 deg, approach rate: 0.000000 m/s, LOS rate: -0.129106 deg/s, cmd heading: 87.250831 deg, new cmd heading: 87.109999 deg.  iHeadingCmd: 1.520356 target range: 18.799999 and range: 18.80 m.h ?hhh h g g bg jgeejeJe9:e=?ɛ JW)  5྾i9)EڼѼAAiM"=ie ?mk?"Yv M̔A9[ e)FI3ii5>T㕿33>^-@ ¸=)R.@ICi|@C= <&?r/Zq?k?IR?i0i佩C= Mchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.542389VF <Fi ZAq M >x,5O^A6=??y6|?96ŸzY6)=6H?/>?@{?? i`N?4?ȱ?6=??ɨ6KБ; 6CBZBBIF=iF=)J= HHLHLji= jX=YnM :Q n>٣ %G%F% %>)]5;59-Jm?a5;5Y-9 i-BY]?q]@-`D-g;-;- 8;5a m: AiZjBn?bj]W ii28O^Aj̔AjГA2jx?plo2@%IOĪ`Gzp>?"Yv M"ji*jC=p 9@3Op2@8/Gܿp/# ?IuR?\@iAj@i Xn?i8 &T  jvBzjjjBjjAArj?} addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504146 s, deltaX: -0.199999 m, approachRate: -0.396708 m/s, rangeRepo size: 4  Added new target pos. range: 18.600000 m, bearing: 82.573987 deg, lat: 36.903951 deg, lon: -122.119012 deg, deltaT: 0.504146 s, deltaX: -0.199999 m, approachRate: -0.396708 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.60 m.*ii"i ProNav: ac range: 18.600000 m, nav range: 18.407024 m, bearing: 82.785878 deg, approach rate: 0.000000 m/s, LOS rate: -0.129106 deg/s, cmd heading: 87.109999 deg, new cmd heading: 86.955886 deg.  iHeadingCmd: 1.517667 target range: 18.600000 and range: 18.60 m.hB?Echecking for new query: numPingsReceived=71, elapsed TxPingTime=35.778984hhihihigqgqbgqjgqeyeyjeyJe}2@:e}?)ɛ5K)9 e㳾ii)u30Լqqi}"=iB?'k<[=IB?IDDDE2 EG=>G9G=IG=ƁBG= =G9G9G=3<G=8FHȭC HȭCHH ="H =*H:4 DDAT read: Rx Time:19:47:11.8246  TRx dataTimestamp_ set to:1736538432.320656 PDAT read: Bearing 354.2, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 354.2, 4.9 (Local)  DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.4 = DAT read: 19:47:11.8246 LVL= 18784, 30417, 16994, 29619, AGC= 52, IDX= 497, 0.19,-0.796,-2.232,-0.572,-1.051, PHS= 0.343,-1.134, 0.476, RAW= 154.3, 4.1, CAL= 155.8, -4.9, ROT= 354.2, 4.9 E Ygot valid direction response: 19:47:11.8246 LVL= 18784, 30417, 16994, 29619, AGC= 52, IDX= 497, 0.19,-0.796,-2.232,-0.572,-1.051, PHS= 0.343,-1.134, 0.476, RAW= 154.3, 4.1, CAL= 155.8, -4.9, ROT= 354.2, 4.9 E T#Rx 72: Read range and direction messages.M `direction in FSK: [0.991245,-0.100687,-0.085417]M Fpublishing direction and range info Y SF?/T^ƹb$ݵ A9 `I v) bBI si 4 > & F> Z,@ C=) .@I %i @ %= FB|`?ٷG ?,|e_?I ?i  )QϽ %= u checking for new query: numPingsReceived=72, elapsed TxPingTime=36.047394VF] e[=F1 ZA9 :JU NBJU 9JJQ RJU ; ZJU *3#JY  J] ?Mm > x,NP^AriBr,IZIbIojI/rIzIIK9I(N3IIII:I:Mb@Mb@Mb@ )IyV-?:v~jtx?|>T; A)@I(AiQ A(AHHaO5-k= -=Y5Q U>a٣a eGeFe m>i]M;59mLm?aM;5Ym33 imBU>mU:U?qU@m`Dm@\2@<_=checking for new query: numPingsReceived=72, elapsed TxPingTime=36.282562p ?+#+?50aiAj @iOn?i'}O  jBzjj8 &T jBjjArj? addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504726 s, deltaX: -0.100000 m, approachRate: -0.198128 m/s, rangeRepo size: 4  Added new target pos. range: 18.500000 m, bearing: 83.270945 deg, lat: 36.903951 deg, lon: -122.119010 deg, deltaT: 0.504726 s, deltaX: -0.100000 m, approachRate: -0.198128 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 18.50 m.*ii"i ProNav: ac range: 18.500000 m, nav range: 18.328028 m, bearing: 82.799160 deg, approach rate: 0.000000 m/s, LOS rate: -0.129106 deg/s, cmd heading: 86.955890 deg, new cmd heading: 86.745559 deg.  iHeadingCmd: 1.513996 target range: 18.500000 and range: 18.50 m.h?hhhhgAgIbgIjgMTBeIeQjeQJeU2@:eU`l?雹ɛg=) ֤i)ּi0"=i?l<a=I?IDDDDEy1 EE=E= DDAT read: Rx Time:19:47:12.3243  TRx dataTimestamp_ set to:1736538432.823824 PDAT read: Bearing 354.3, 4.1 (Local)  ~Local bearing/azimuth received: Bearing 354.3, 4.1 (Local)  DAT read: Range 10 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4 - DAT read: 19:47:12.3243 LVL= 17120, 30193, 15986, 29475, AGC= 51, IDX= 495,-0.26, 2.745, 1.337, 2.976, 2.522, PHS= 0.311,-1.138, 0.451, RAW= 154.6, 5.0, CAL= 155.7, -4.1, ROT= 354.3, 4.1 5 Ygot valid direction response: 19:47:12.3243 LVL= 17120, 30193, 15986, 29475, AGC= 51, IDX= 495,-0.26, 2.745, 1.337, 2.976, 2.522, PHS= 0.311,-1.138, 0.451, RAW= 154.6, 5.0, CAL= 155.7, -4.1, ROT= 354.3, 4.1 5 T#Rx 73: Read range and direction messages.= `direction in FSK: [0.992509,-0.099066,-0.071497]= Fpublishing direction and range info Y E;`>?\\ M A9 B u) r>I #si 3 d;> y> ,@ ¸=) '-@I Ci @ C= q伐@?S:?<??I un?i _6 )˽ C= e checking for new query: numPingsReceived=73, elapsed TxPingTime=36.549679VFe =zFi rFi FQZAYM}>T_ x,{8P^AN?yNg3?9N+zYN$=NH Ӟ?¾?@??q x@?`.?`?N?ɨNf5; N CfxBf>IHrHrK5X= <=Y9Q >٣ GF >]-;59 Mm?a-;5Y- iB)-?q-@`D;;D@;59 =L A= EZj?n?bjZ ii4P^AjAj A2j?pW!C{1@P?\\ M"j)˽*jC=p 8@X+1@ּ,1ٿpQ_?G{ '?nJٖiAj @iKsn?iV  jBzj0#n?jjjjِArjZi?5 addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503168 s, deltaX: -0.500000 m, approachRate: -0.993704 m/s, rangeRepo size: 4 m Added new target pos. range: 18.000000 m, bearing: 83.129766 deg, lat: 36.903950 deg, lon: -122.119010 deg, deltaT: 0.503168 s, deltaX: -0.500000 m, approachRate: -0.993704 m/s, posRepo size: 4 2iimDNOT Ignoring new targets: 18.00 m.*iiiq"iq ProNav: ac range: 18.000000 m, nav range: 18.105968 m, bearing: 82.994514 deg, approach rate: 0.000000 m/s, LOS rate: -0.129106 deg/s, cmd heading: 86.745561 deg, new cmd heading: 86.590958 deg.  iHeadingCmd: 1.511297 target range: 18.000000 and range: 18.00 m.h1r?hhhhgg9bg9jg9e9eAjeAJeE2@:eE ?雱ɛ?)  i)ؼ隹i a"=i1r?m<=I1r?IA%checking for new query: numPingsReceived=73, elapsed TxPingTime=36.786598DDDE@5 EG >G CG IG BG =G G ADG A<G ?FVF =F) ZA1 MM >8Cx,QP^AU綨?yUn?9UZyYU[m=UH@4e?@_??@F?i B?B-??U綨?ɨUl; UCeBeQI}DDAT read: Rx Time:19:47:12.8242 TRx dataTimestamp_ set to:1736538433.327802PDAT read: Bearing 354.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 354.6, 4.6 (Local) DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 DAT read: 19:47:12.8242 LVL= 15824, 27121, 14690, 26723, AGC= 51, IDX= 510, 0.10,-1.227,-2.666,-1.014,-1.479, PHS= 0.339,-1.140, 0.462, RAW= 153.9, 4.4, CAL= 155.4, -4.6, ROT= 354.6, 4.6 Ygot valid direction response: 19:47:12.8242 LVL= 15824, 27121, 14690, 26723, AGC= 51, IDX= 510, 0.10,-1.227,-2.666,-1.014,-1.479, PHS= 0.339,-1.140, 0.462, RAW= 153.9, 4.4, CAL= 155.4, -4.6, ROT= 354.6, 4.6 T#Rx 74: Read range and direction messages.`direction in FSK: [0.992355,-0.093805,-0.080199]Fpublishing direction and range infoyY}Z,_?B\zzꇴ}3A9y}= }i)}b9I}chiy}h>}둿}D>}o+@ }nF=)}^-@I}li} @}l=y y}>_v?U?*puϳ?I}?i}F}}l=y ychecking for new query: numPingsReceived=74, elapsed TxPingTime=37.053932I)))5A1Mb@Mb@Mb@ )IyˡE?~jtMb`??D;  A)IAiAH5H5xV59= 3=YQ:Q >٣ G >];592Nm?a;5Y' iB?m:?q@`D:E::J%}2LBJ%+9JJ!RJ%< ZJ%WD;59 = A9Zj}Ddm?bj}U iyi}TP^Aj}3Aj}?A2j}:?p}>^1@K }zp}Z,_?B\zzꇴ"j}*j}l=p}堧a@ٔ1@X"Rp}7d5?.iQ?@pi},Aj}k@i}ˬm?i}ӴR  j}rBzj}On?j}pS j}rBjj} Arj}?- addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503978 s, deltaX: -0.100000 m, approachRate: -0.198422 m/s, rangeRepo size: 4 ] Added new target pos. range: 17.900000 m, bearing: 83.359378 deg, lat: 36.903949 deg, lon: -122.119010 deg, deltaT: 0.503978 s, deltaX: -0.100000 m, approachRate: -0.198422 m/s, posRepo size: 4 2iYeDNOT Ignoring new targets: 17.90 m.*iaia"ii ProNav: ac range: 17.900000 m, nav range: 17.879576 m, bearing: 83.124294 deg, approach rate: 0.000000 m/s, LOS rate: -0.129106 deg/s, cmd heading: 86.590959 deg, new cmd heading: 86.409856 deg.  iHeadingCmd: 1.508137 target range: 17.900000 and range: 17.90 m.h ?hhhhggbgjgcBeejeJe`f1@:e`PQ?9ɛ=1)9 =hiA)EڼAAiE"=ZImqbImmjIm0rIizImD:Im&9Imـ3IiImHZ;ImJZ;Im:Im:i ? n<:H =I ?I- checking for new query: numPingsReceived=74, elapsed TxPingTime=37.289379DE DI DI EM 1 EQ VF FaZAiM>tx,WpP^ABㄨ?yBj?9B wYB=BH,?@H?@|??Q ܮ? ý?s?Bㄨ?ɨB; B C^B^YIHfHfP5 = P=Y8:Q  > ٣   G F5)| 5>9]E;59=,Om?aE;5Y=! i=BIM?qM@=`D=h:=2:=G;5Q U AQB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 17.90 m.*ii"i ProNav: ac range: 17.900000 m, nav range: 17.674318 m, bearing: 83.082007 deg, approach rate: -0.568588 m/s, LOS rate: -0.118501 deg/s, cmd heading: 86.409857 deg, new cmd heading: 86.281523 deg.  iHeadingCmd: 1.505897 target range: 17.900000 and range: 17.90 m.h9?hhhhggbg)jg)e1e1je1Je1:e5?]DDAT read: Rx Time:19:47:13.3240 ]TRx dataTimestamp_ set to:1736538433.831831ePDAT read: Bearing 354.6, 3.9 (Local) m~Local bearing/azimuth received: Bearing 354.6, 3.9 (Local) }DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 DAT read: 19:47:13.3240 LVL= 17728, 31265, 16434, 29923, AGC= 51, IDX= 508,-0.42, 2.163, 0.756, 2.383, 1.941, PHS= 0.310,-1.138, 0.439, RAW= 154.2, 5.2, CAL= 155.4, -3.9, ROT= 354.6, 3.9 Ygot valid direction response: 19:47:13.3240 LVL= 17728, 31265, 16434, 29923, AGC= 51, IDX= 508,-0.42, 2.163, 0.756, 2.383, 1.941, PHS= 0.310,-1.138, 0.439, RAW= 154.2, 5.2, CAL= 155.4, -3.9, ROT= 354.6, 3.9 T#Rx 75: Read range and direction messages.`direction in FSK: [0.993257,-0.093890,-0.068015]Fpublishing direction and range infoYY].?0 ,::si]̌A9Y]@E ]!z)]2@I]tiY]R>]B]>]9>,@ ]޹=)YI]'giY]'g=Y Y]zVyY?ǃ+?`:"?I]u?i]6Y]'g=Y Ychecking for new query: numPingsReceived=75, elapsed TxPingTime=37.566284ɛ<)) -뀾i))-uUܼ))i-!=i59?57o<5f"=I=9?I9 bG )E,yIM"ADDDE5 EVFE k[=FM ?FM ? checking for new query: numPingsReceived=75, elapsed TxPingTime=37.793636F! ZA1 M] >Zq"x,>P^AIO?yЌ?97tY)x=H? b?@Q? Ϝ?@5? p??騅IO?ɨ; CBaIGGGIGBG =GGGe<GXFMb@Mb@Mb@ )Iyv/?٣ GF%e %>)]5;59-Pm?a5;5Y- i-B5 ?m5:5?q5@-`D-:-b:-K;5EB Er AEEZjn?bjc!Q iimNbm>mv+@ mK=)m,@Im5ima@m5=i im?5q?2&b?Im?DDDE5 Eimmm5=i ichecking for new query: numPingsReceived=76, elapsed TxPingTime=38.097839:JEBJE9JJARJE= ZJE+#VF =F ZA M >T(x,P^A`bAfchecking for new query: numPingsReceived=76, elapsed TxPingTime=38.297588j,?yjj?9jUrYj*=jH` ?@?Q??@;?@}??j,?ɨjJt; j C=B=iIUp ٣1 =G9Ma7 M>Y]m;59]Qm?am;5Y] i]çBim_?qm@]`D]e;];]O;5 = AZj+im?bjuRQ iiP^Aj3AjFA2jҺ?pr K1@ػ$:= VkzpչeYb?\ō^&k۱"j*j5=py?HţI1@69]ֿp8j?Qϲ?JGDiOAj5?ik}m?iLN  jBzjKsn?j'}O jBjjArju?] addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.505726 s, deltaX: -0.200001 m, approachRate: -0.395473 m/s, rangeRepo size: 4  Added new target pos. range: 17.400000 m, bearing: 83.625988 deg, lat: 36.903949 deg, lon: -122.119008 deg, deltaT: 0.505726 s, deltaX: -0.200001 m, approachRate: -0.395473 m/s, posRepo size: 4 2i DNOT Ignoring new targets: 17.40 m.*i i1"i1 ProNav: ac range: 17.400000 m, nav range: 17.370897 m, bearing: 83.066391 deg, approach rate: 0.000000 m/s, LOS rate: -0.118501 deg/s, cmd heading: 86.114882 deg, new cmd heading: 85.976876 deg.  iHeadingCmd: 1.500580 target range: 17.400000 and range: 17.40 m.h?hh!h!h!g!g)bg)jg)e)e1je1Je5`ff1@:e50D?}Bɛ&0) ji)߼隡iu!=i?6&q<e ,=I?IDuDqDyE}e4 Ey}DDAT read: Rx Time:19:47:14.3237 }TRx dataTimestamp_ set to:1736538434.839919PDAT read: Bearing 355.2, 4.5 (Local) ~Local bearing/azimuth received: Bearing 355.2, 4.5 (Local) DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 DAT read: 19:47:14.3237 LVL= 18784, 23601, 16194, 24115, AGC= 52, IDX= 504, 0.22,-1.742, 3.066,-1.544,-2.006, PHS= 0.352,-1.165, 0.459, RAW= 153.4, 4.5, CAL= 154.8, -4.5, ROT= 355.2, 4.5 Ygot valid direction response: 19:47:14.3237 LVL= 18784, 23601, 16194, 24115, AGC= 52, IDX= 504, 0.22,-1.742, 3.066,-1.544,-2.006, PHS= 0.352,-1.165, 0.459, RAW= 153.4, 4.5, CAL= 154.8, -4.5, ROT= 355.2, 4.5 T#Rx 77: Read range and direction messages.`direction in FSK: [0.993421,-0.083420,-0.078459]Fpublishing direction and range infoyY}~o?[5;}̈A9y}`I }1\)}B?I}3^i}4}X9>}} >}uY+@ }|٠=)yI}|٠iy}|٠=y y}m[?T͐?H%FM?I} ?i}敢y}|٠=y ychecking for new query: numPingsReceived=77, elapsed TxPingTime=38.566563VF} "=F9 ZAI Me >?.x,P^A6?y6:?96oY6=6H`\M? K???`t?`}? R?6?ɨ6u9; 6C B lIH%H% R5HIHMBAZIUsbIQjIU1rIQzIUK:IQIU3IQq]@i]@u]@m]@zQ< N=Yd:Q >٣ GFG{ >];59Rm?a;5YN iǧB/?q@`D::}R;5) -( A)Zjkm?bj S iiGG IGBG =GGGɰ<G FVF O'=F ZA M >} DDAT read: Rx Time:19:47:14.8236 } TRx dataTimestamp_ set to:1736538435.343861 PDAT read: Bearing 355.8, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 355.8, 3.9 (Local)  DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4  DAT read: 19:47:14.8236 LVL= 21408, 29169, 16242, 27331, AGC= 52, IDX= 504,-0.38,-1.527,-2.978,-1.348,-1.776, PHS= 0.337,-1.155, 0.425, RAW= 152.8, 5.2, CAL= 154.2, -3.9, ROT= 355.8, 3.9  Ygot valid direction response: 19:47:14.8236 LVL= 21408, 29169, 16242, 27331, AGC= 52, IDX= 504,-0.38,-1.527,-2.978,-1.348,-1.776, PHS= 0.337,-1.155, 0.425, RAW= 152.8, 5.2, CAL= 154.2, -3.9, ROT= 355.8, 3.9  T#Rx 78: Read range and direction messages. `direction in FSK: [0.995005,-0.073069,-0.068015] Fpublishing direction and range infoy Y} vՐ?tl*,::si} A9y } S } q)} r?I} jiy } D>} ד} >} *@ } ޹=)} 9>,@I} 'gi} Y@} 'g=y y } ff~?NnH?(kq ?I} ?i} } i } 'g=y y  checking for new query: numPingsReceived=78, elapsed TxPingTime=39.0701455x,JP^A2٧?y20?92lY2x=2H أ?tμ? ?Z?`P? Y?/?2٧?ɨ2]; 2C>BNkI:JLBJ+9JJRJ> ZJJ!I%hAMb@Mb@Mb@ )Iy rh?~jtx?{GzC ?;# A)Ii AfAHHDP5= =3=Y=:Q E>A٣A EGEFM m>q]};59uSm?a};5Yu  iu̧B}K ?m:?q@u aDu:u:uyV;5B 5 AEZj8Pm?bjjYWO iiP^AjAjA2jʻ?pgB0@;}pn zpvՐ?tl*,::si"ji *j'g=psΏ$?W-0@] tӿp <5|??0Hi?Aj$?im?ibL  jBzjk}m?jKN jBjj[Arj? addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503942 s, deltaX: -0.100000 m, approachRate: -0.198436 m/s, rangeRepo size: 4  Added new target pos. range: 17.000000 m, bearing: 84.060189 deg, lat: 36.903948 deg, lon: -122.119008 deg, deltaT: 0.503942 s, deltaX: -0.100000 m, approachRate: -0.198436 m/s, posRepo size: 4 2i DNOT Ignoring new targets: 17.00 m.*i i "i  ProNav: ac range: 17.000000 m, nav range: 16.919907 m, bearing: 83.516627 deg, approach rate: 0.000000 m/s, LOS rate: -0.118501 deg/s, cmd heading: 85.837835 deg, new cmd heading: 85.670498 deg.  iEHeadingCmd: 1.495232 target range: 17.000000 and range: 17.00 m.hEc?hIhIhIhIgIgIbgQjgUOBeQeQjeYJe]1@:e]S?Bɛ.) pji)Di%!=i%c?%js<-5=I-c?I)checking for new query: numPingsReceived=78, elapsed TxPingTime=39.306564DDDE_0 EVF *=F ZA M >"<x,hP^A) 6Ğ?y6K?96iY6=6HĤ?`?@?@T?dY/?`5??6Ğ?ɨ6V; 4BBBjIID)DHJHJ{R5R$b Rp=YV;Q V?T٣X ZGXZ۬ ^?`]f;59bSm?af;5Yb ibЧBdf?qj@baDb;b;bjY;5l n: Al~B*** querying acoustic contact ***i|i|2i  DNOT Ignoring new targets: 17.00 m.*i iM"iM% ProNav: ac range: 17.000000 m, nav range: 16.737379 m, bearing: 83.463019 deg, approach rate: -0.605187 m/s, LOS rate: -0.179683 deg/s, cmd heading: 85.670496 deg, new cmd heading: 85.507917 deg.  i%-HeadingCmd: 1.492395 target range: 17.000000 and range: 17.00 m.h-?h)h)h)h)g)g1bg1jg1e9e9je9Je9:e=x?DDAT read: Rx Time:19:47:15.3233 TRx dataTimestamp_ set to:1736538435.847777PDAT read: Bearing 356.7, 3.3 (Local) ~Local bearing/azimuth received: Bearing 356.7, 3.3 (Local) DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 DAT read: 19:47:15.3233 LVL= 18352, 26673, 15106, 26771, AGC= 50, IDX= 501,-0.06,-3.056, 1.814,-2.903, 2.990, PHS= 0.325,-1.129, 0.387, RAW= 152.1, 5.7, CAL= 153.3, -3.3, ROT= 356.7, 3.3 Ygot valid direction response: 19:47:15.3233 LVL= 18352, 26673, 15106, 26771, AGC= 50, IDX= 501,-0.06,-3.056, 1.814,-2.903, 2.990, PHS= 0.325,-1.129, 0.387, RAW= 152.1, 5.7, CAL= 153.3, -3.3, ROT= 356.7, 3.3 T#Rx 79: Read range and direction messages.`direction in FSK: [0.996686,-0.057468,-0.057564]Fpublishing direction and range infoؙY؝?1 {l`8.y؝A9ؙ؝G ٝ1h)ٝ;Iٝhiٝ2ٝff>ٝٝ$>ٝ)@ ڝ%=)ڝ<+@Iڝkiڝ8@ڝk=ڙ ۙ۝5E?Hl?ڼZpF?I۝$K?i۝ʽ۝Qk۝k=ۙ ܙchecking for new query: numPingsReceived=79, elapsed TxPingTime=39.574219雍Bɛ><) li)隑iM =i?s<9=I?IDeDaDaEep0 EaIIIIIIZIpbIjI0rIzIA:IIـ3IVF*1=A E AU checking for new query: numPingsReceived=79, elapsed TxPingTime=39.810249Fa ZAq M > Cx,j Q^Aos?y?9ǖfYv=H?q?t~???@ @ά???os?ɨ;  C=B=eIG>GGGG =GGG<GF5Mb@Mb@Mb@11 1)1I1y5S㥛?~jt? rh5$?5D<5C 5 A)5C@I5Ai5lA15AHMHMU5]] ]2=Y]c:Q ]>a٣a eGeFm< m>q]};59u ٽqm)ٽr8Iٽliٹٽ>ٽٽ+>ٽaU(@ ڽ=)ڽ;*@IڽCiڽ@ڽC=ڹ ۹۽pdpm?eٹAC?"?I۽ ?i۽<۽Q+۽C=۹ ܹ5checking for new query: numPingsReceived=80, elapsed TxPingTime=40.103958:JBJs9JJRJ? ZJJ ? J>VFe f6=F ?F ,?F ZA M >] checking for new query: numPingsReceived=80, elapsed TxPingTime=40.313309:Ix,&Q^A2'?y2pe?92N7bY2.=2H힦? 4?? ]?@;C? ~??2'?ɨ2; 2CJBJ]IHRHRDP5Z Zh=Y^F;Q ^>`٣! -G)5Dλ 5>];59Tm?a;5YB i֧B?qe@5aDO< <`;5  AZjt=m?bjsM ii|Q^Aj3AjTA2j?pr hW0@fրA6zp\<(?z1b M"jQ+*jC=pd?:X0@0 *տpTq?{?h3HiƂAj&?iDm?i{J  jBzjm?jzAM jBjjArjٵAٵQ>ٵ'@ ڵ%=)ڵ)@Iڵdiڵ@ڵd=ڱ ۱۵lF{v?r6?z?I۵o?i۵m+̽۵ѭ۵d=۱ ܱU checking for new query: numPingsReceived=81, elapsed TxPingTime=40.619877VFE @A=ZI obI jjI rI zI >:I 9I I F ZA M% >Px,IBQ^A=-?y=)?9=ڔ^Y=ä==H@?`7?8?9o?,ϫ??@?=-?ɨ=P; ="CUBUeI]=i]4<HeHeQ5< 0=Y:Q >٣ GFބ >5checking for new query: numPingsReceived=81, elapsed TxPingTime=40.8173689]E;59=Tm?aE;5Y=* i=٧BAE?qm@=DaD=};=;=d;5q uZ AqZj cm?bj \T i i 6Q^Aj f~Aj |A2j z?p H /@5߿a^7fzp 0?|]ᢔ"j ѭ*j d=p q؝??/@h=p MI6?ť&?v^-kri }Aj ̐?i bBm?i VQ  j rBzj ;gm?j j Bjj Arj ? addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503023 s, deltaX: -0.500000 m, approachRate: -0.993990 m/s, rangeRepo size: 4 e Added new target pos. range: 15.900000 m, bearing: 85.920026 deg, lat: 36.903945 deg, lon: -122.119007 deg, deltaT: 0.503023 s, deltaX: -0.500000 m, approachRate: -0.993990 m/s, posRepo size: 4 2iiDNOT Ignoring new targets: 15.90 m.*ii"i ProNav: ac range: 15.900000 m, nav range: 16.065968 m, bearing: 84.584401 deg, approach rate: 0.000000 m/s, LOS rate: -0.179683 deg/s, cmd heading: 85.013794 deg, new cmd heading: 84.781330 deg.  iHeadingCmd: 1.479713 target range: 15.900000 and range: 15.90 m.h?g?h!h)h)h)g)g)bgQjgQeQeYjeYJe]/@:e]?雭BG>GGGGGGGl<G]FH}ƬC H}ƬCHyH} ="H} =*H}A4ɛ  6)  {i)Siu =i?g?(w<(UR=I?g?I!DDDE E DDAT read: Rx Time:19:47:16.8228  TRx dataTimestamp_ set to:1736538437.359957 PDAT read: Bearing 359.8, 2.4 (Local)  ~Local bearing/azimuth received: Bearing 359.8, 2.4 (Local)  DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 = DAT read: 19:47:16.8228 LVL= 16880, 26513, 14178, 26499, AGC= 51, IDX= 512,-0.07,-1.825, 2.467,-1.789,-2.222, PHS= 0.484,-1.548, 0.430, RAW= 148.6, 6.4, CAL= 150.2, -2.4, ROT= 359.8, 2.4 E Ygot valid direction response: 19:47:16.8228 LVL= 16880, 26513, 14178, 26499, AGC= 51, IDX= 512,-0.07,-1.825, 2.467,-1.789,-2.222, PHS= 0.484,-1.548, 0.430, RAW= 148.6, 6.4, CAL= 150.2, -2.4, ROT= 359.8, 2.4 M T#Rx 82: Read range and direction messages.U `direction in FSK: [0.999117,-0.003488,-0.041876]U Fpublishing direction and range info Y Ь?hp2l ۷p |A9 A g) b7I gi > $ƿ (> %@ =) g'@I +i B@ += ?H? ho?I C?i 㽉 d += m checking for new query: numPingsReceived=82, elapsed TxPingTime=41.087440VF YhA=:J BJ 9JJ RJ @ ZJ Z- "<ID<5-'!J hAI FZA M%>kWx,t_Q^AF?yFy?9F[XYF%=FH? -? ?? ? ??6?F?ɨFL; DbBb[I]Mb@Mb@Mb@YY Y)YIYy]Mb?~jtx? rh]?];Y ] A)]-@I]ZAi]VAY](AHH[W5 %=Y:;Q >٣ GFNƻ  >];59Um?a;5Y iܧB'?m:?q@TaD:E:h;5I M AMEmchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.321358ZjMi'm?bjM=܌O iIiM WQ^AjM|AjM{A2jM?pM?tt/@Jn6M,zpMЬ?hp2l ۷p"jMd*jM+=pMF?܈uɏ/@ôY?pMO'?,?4Z?iM~|AjM6B?iMm?iM1L  jMBzjMDm?jM1L jMXBjjML}ArjMپ?- addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503511 s, deltaX: -0.099999 m, approachRate: -0.198604 m/s, rangeRepo size: 4 = Added new target pos. range: 15.800000 m, bearing: 87.247678 deg, lat: 36.903942 deg, lon: -122.119007 deg, deltaT: 0.503511 s, deltaX: -0.099999 m, approachRate: -0.198604 m/s, posRepo size: 4 2iIMDNOT Ignoring new targets: 15.80 m.*iIiQ"iQ ProNav: ac range: 15.800000 m, nav range: 15.831175 m, bearing: 85.429488 deg, approach rate: 0.000000 m/s, LOS rate: -0.179683 deg/s, cmd heading: 84.781328 deg, new cmd heading: 84.534432 deg.  iHeadingCmd: 1.475404 target range: 15.800000 and range: 15.80 m.h ڼ?hhhhggbg!jg%Be!e!je)Je-/@:e-`?Bɛ%<)  i)i[ =i ڼ?)y<V=I ڼ?I!DDDE E% DDAT read: Rx Time:19:47:17.3227 - TRx dataTimestamp_ set to:1736538437.8638565 PDAT read: Bearing 359.5, 3.4 (Local) 5 ~Local bearing/azimuth received: Bearing 359.5, 3.4 (Local) E DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 m DAT read: 19:47:17.3227 LVL= 17696, 32753, 17298, 32755, AGC= 51, IDX= 509, 0.18,-2.383, 2.421,-2.329,-2.679, PHS= 0.384,-1.136, 0.347, RAW= 148.8, 5.4, CAL= 150.5, -3.4, ROT= 359.5, 3.4 } Ygot valid direction response: 19:47:17.3227 LVL= 17696, 32753, 17298, 32755, AGC= 51, IDX= 509, 0.18,-2.383, 2.421,-2.329,-2.679, PHS= 0.384,-1.136, 0.347, RAW= 148.8, 5.4, CAL= 150.5, -3.4, ROT= 359.5, 3.4  T#Rx 83: Read range and direction messages. `direction in FSK: [0.998202,-0.008711,-0.059306] Fpublishing direction and range info! Y% 3fD? ׁCg]% yA9! % E % )% CI% i! % >% sh% >% 6&@ % =)% 0(@I% si% ^@% s=! ! % oF?Cm˫?Mn&L?I% 4?i% 4½% D% s=! !  checking for new query: numPingsReceived=83, elapsed TxPingTime=41.590672VF ^x,7|Q^A^0?y^an?9^TY^, =^Hy?h? ?Pz?/ U?`ɻ??^0?ɨ^pa; ^ CjBjUIHrHrX5ɼ %N=Y%<;Q %>)٣) -G-F-޻ ->A];59EDVm?a;5YE? iEާBb?q@EaaDEGG G IVF 8U=G BG G G G <G FFa ZAi M >gex,Q^A02<6DDAT read: Rx Time:19:47:17.8226 :TRx dataTimestamp_ set to:1736538438.367884BPDAT read: Bearing 0.1, 2.4 (Local) B~Local bearing/azimuth received: Bearing 0.1, 2.4 (Local) JDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 ZDAT read: 19:47:17.8226 LVL= 14832, 25873, 14626, 27091, AGC= 50, IDX= 509,-0.45,-2.716, 2.111,-2.675,-2.990, PHS= 0.362,-1.136, 0.312, RAW= 148.3, 6.3, CAL= 149.9, -2.4, ROT= 0.1, 2.4 ^Ygot valid direction response: 19:47:17.8226 LVL= 14832, 25873, 14626, 27091, AGC= 50, IDX= 509,-0.45,-2.716, 2.111,-2.675,-2.990, PHS= 0.362,-1.136, 0.312, RAW= 148.3, 6.3, CAL= 149.9, -2.4, ROT= 0.1, 2.4 bT#Rx 84: Read range and direction messages.f^direction in FSK: [0.999121,0.001744,-0.041876]fFpublishing direction and range info4Y67`??os+4\? ۷p6xA9469 6e)6"9I6ii626X>46w>6%@ 6z0=)6p'@I6+i6:6+=4 46`?NN:,?gQN~3?I6+ >i6/⽉6:6+=4 4rchecking for new query: numPingsReceived=84, elapsed TxPingTime=42.093544z}?yz?9z]MYz=zH`gn?`H??`-?`֕`?@P[??z}?ɨz; zCޥBޥYII)UMb@Mb@Mb@QQ Q)QIQyU ףp= ?Mb?~jtUQ>U٣ G >];59Vm?a;5Y iB>m:?q @paD; ;p;5  A&MTFailed to parse incomplete device message.Zj6kx,毱Q^ABjG?yB?9BGYB]=BH?`2w? ?7T?``?,6??BjG?ɨBӡ; B C^B^OIHfHf:\5r7 rv=Yr;Q r?t٣t vGvFz$ z?|];59~Vm?a;5Y~ i~B??q @~zaD~;~;~s;5  A5B*** querying acoustic contact ***i1i12iAEDNOT Ignoring new targets: 15.50 m.*iAiM"iMe ProNav: ac range: 15.500000 m, nav range: 15.206437 m, bearing: 86.854911 deg, approach rate: -0.520504 m/s, LOS rate: -0.064542 deg/s, cmd heading: 84.061891 deg, new cmd heading: 84.002673 deg.  ie-1mHeadingCmd: 1.466123 target range: 15.500000 and range: 15.50 m.hm?hihihihqgqgqbgqjgqeyeyjeyJey:exA?雩ɛfY) Βi)`隱iN =i?|<S=I?IIſ=)|CDDAT read: Rx Time:19:47:18.3223 %TRx dataTimestamp_ set to:1736538438.8776625PDAT read: Bearing 1.2, 1.4 (Local) 5~Local bearing/azimuth received: Bearing 1.2, 1.4 (Local) UDAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 }DAT read: 19:47:18.3223 LVL= 16464, 29553, 15762, 30707, AGC= 50, IDX= 506,-0.12, 1.592, 0.140, 1.597, 1.325, PHS= 0.355,-1.138, 0.269, RAW= 147.1, 7.1, CAL= 148.8, -1.4, ROT= 1.2, 1.4 Ygot valid direction response: 19:47:18.3223 LVL= 16464, 29553, 15762, 30707, AGC= 50, IDX= 506,-0.12, 1.592, 0.140, 1.597, 1.325, PHS= 0.355,-1.138, 0.269, RAW= 147.1, 7.1, CAL= 148.8, -1.4, ROT= 1.2, 1.4 T#Rx 85: Read range and direction messages.^direction in FSK: [0.999482,0.020936,-0.024432]Fpublishing direction and range infoY-? yɖJp?{JpA9P@ qs)=Iwiµ>^>O$@ =)6&@I+ȼi<+< $w4F?cBA?w 6˿?I>iF<+< checking for new query: numPingsReceived=85, elapsed TxPingTime=42.606358DDDE4 ~GlA E 1)e%ymlAuAH)H-@AVFYFe?Fe?F ZA) M= > checking for new query: numPingsReceived=85, elapsed TxPingTime=42.839058,rx,Q^AMBUQIGGGIGBGGGG!<G%FMb@Mb@Mb@ )Iyoʡ?{Gz?y&1>#<`e  A)@I@iAAHHDP5%; -+=Y-Q ->1٣1 5G5F5 5>9]M;59=Wm?aM;5Y= i=BM8>mM:U?qU@=aD=e&;=7 ;=w;5Y ] AYZjU`m?bjU,N iQiU+Q^AjUpAjUhnA2jU?pUV3 -@x\E?st׿zpU-? yɖJp?{J"jU<*jU+<pUxF%?6u>|l-@ڿ?pU;\I*?1/?q}-UY?iUoAjU=?iUmkm?iU=1L  jUTBzjU'm?jQjUӁBjjUoArjUۜ? addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.509778 s, deltaX: -0.500000 m, approachRate: -0.980819 m/s, rangeRepo size: 4 E Added new target pos. range: 15.000000 m, bearing: 87.966057 deg, lat: 36.903938 deg, lon: -122.119007 deg, deltaT: 0.509778 s, deltaX: -0.500000 m, approachRate: -0.980819 m/s, posRepo size: 4 2iIMDNOT Ignoring new targets: 15.00 m.*iQiU"iQe ProNav: ac range: 15.000000 m, nav range: 14.981489 m, bearing: 87.113182 deg, approach rate: 0.000000 m/s, LOS rate: -0.064542 deg/s, cmd heading: 84.002673 deg, new cmd heading: 83.909218 deg.  iimHeadingCmd: 1.464492 target range: 15.000000 and range: 15.00 m.hmzt?hqhqhqhqgqgqbgjgŁBeejeJe.@:e ?Bɛ!A) i)iOH =izt?%*~<%o[=I%zt?I!-DDAT read: Rx Time:19:47:18.8222 5TRx dataTimestamp_ set to:1736538439.381987EPDAT read: Bearing 1.7, 1.9 (Local) M~Local bearing/azimuth received: Bearing 1.7, 1.9 (Local) eDAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4 DAT read: 19:47:18.8222 LVL= 16160, 26465, 14898, 27091, AGC= 50, IDX= 504, 0.14, 2.948, 1.452, 2.926, 2.646, PHS= 0.389,-1.148, 0.276, RAW= 146.2, 6.6, CAL= 148.3, -1.9, ROT= 1.7, 1.9 Ygot valid direction response: 19:47:18.8222 LVL= 16160, 26465, 14898, 27091, AGC= 50, IDX= 504, 0.14, 2.948, 1.452, 2.926, 2.646, PHS= 0.389,-1.148, 0.276, RAW= 146.2, 6.6, CAL= 148.3, -1.9, ROT= 1.7, 1.9 T#Rx 86: Read range and direction messages.^direction in FSK: [0.999010,0.029650,-0.033155]Fpublishing direction and range info)Y-.|?--O>-N#@ -=)-%@I-i-<-=) )-c4?V?^li-HDDDE?5 E-<-=) )checking for new query: numPingsReceived=86, elapsed TxPingTime=43.139519:J= LBJ= 9JJ9 RJ= B ZJ= VF 8U=ZIM qbIM tjIM 1rII zIM D:IM 9IM 3II IM GZ;qU II iU IM :u] IM :m] F ZA ME >xx,DQ^AYachecking for new query: numPingsReceived=86, elapsed TxPingTime=43.341602=ip<HHZ5? c=YQ >٣ G >];59Xm?a%;5Y iB!!q%@aD|;;z;5Q U AQZjmZ [xm?bjmC~L iiimzrQ^AjmfnAjmlA2jm?pm?-@mw0F?;!(߿zpm.|?imNxm?imW@J  jmBzjmm?jm=1L jmBjjmcmArjm?U addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504325 s, deltaX: -0.100000 m, approachRate: -0.198286 m/s, rangeRepo size: 4  Added new target pos. range: 14.900000 m, bearing: 88.515755 deg, lat: 36.903938 deg, lon: -122.119006 deg, deltaT: 0.504325 s, deltaX: -0.100000 m, approachRate: -0.198286 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 14.90 m.*ii"i ProNav: ac range: 14.900000 m, nav range: 14.836680 m, bearing: 87.179368 deg, approach rate: 0.000000 m/s, LOS rate: -0.064542 deg/s, cmd heading: 83.909215 deg, new cmd heading: 83.829835 deg.  iHeadingCmd: 1.463107 target range: 14.900000 and range: 14.90 m.hG?hhhhgg bg jg e ejeJe-@:es?]BɛK) i)隁iK =iG?<nW`=IG?IDDDE05 E5 DDAT read: Rx Time:19:47:19.3219 = TRx dataTimestamp_ set to:1736538439.883735E PDAT read: Bearing 2.9, 0.5 (Local) E ~Local bearing/azimuth received: Bearing 2.9, 0.5 (Local) ] DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 } DAT read: 19:47:19.3219 LVL= 17248, 31777, 16002, 32467, AGC= 50, IDX= 502,-0.43,-0.278,-1.741,-0.330,-0.556, PHS= 0.365,-1.138, 0.222, RAW= 145.1, 7.7, CAL= 147.1, -0.5, ROT= 2.9, 0.5  Ygot valid direction response: 19:47:19.3219 LVL= 17248, 31777, 16002, 32467, AGC= 50, IDX= 502,-0.43,-0.278,-1.741,-0.330,-0.556, PHS= 0.365,-1.138, 0.222, RAW= 145.1, 7.7, CAL= 147.1, -0.5, ROT= 2.9, 0.5  T#Rx 87: Read range and direction messages. ^direction in FSK: [0.998681,0.050591,-0.008727] Fpublishing direction and range info1 Y5 ֋2?9?B7߁5 ffA91 5 `C 5 !|)5 >I5 ~i1 5 H>5 5 Sc>5 "@ 5 >)5 O$@I5 5i5 4QO=5 5<1 1 5 %չ?5b:?i2?I5 >i5  5 4QO=5 5<1 1  checking for new query: numPingsReceived=87, elapsed TxPingTime=43.610340VF X=F ZA M > x,7R^An?yn-%?9n(Yn=nH˳?V@E??@ܢ?2?/#?`5?n?ɨn; nCHC=Ha=ޕBޕPIHH@T5mj m;=YuĎq٣q }G}F}- }>];59Xm?a;5Y6 iBJ?q@aDl::~;5B  AEZjaxm?bjVT iiQ^AjffAjdA2ji?px,@|O?T'zp֋2?9?B7߁"j4QO=*j5<pĄ?X&M|,@dQIT?p'͚?{e?@?i(fAj>i~xm?i-GQGUIGUBGQGQGQGU<GUmF DDAT read: Rx Time:19:47:19.8218  TRx dataTimestamp_ set to:1736538440.388323 PDAT read: Bearing 3.6, 0.1 (Local)  ~Local bearing/azimuth received: Bearing 3.6, 0.1 (Local)  DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 5 DAT read: 19:47:19.8218 LVL= 17392, 26753, 15138, 27683, AGC= 50, IDX= 501,-0.03, 0.581,-0.903, 0.502, 0.295, PHS= 0.374,-1.151, 0.204, RAW= 144.2, 8.0, CAL= 146.4, -0.1, ROT= 3.6, 0.1 = Ygot valid direction response: 19:47:19.8218 LVL= 17392, 26753, 15138, 27683, AGC= 50, IDX= 501,-0.03, 0.581,-0.903, 0.502, 0.295, PHS= 0.374,-1.151, 0.204, RAW= 144.2, 8.0, CAL= 146.4, -0.1, ROT= 3.6, 0.1 = T#Rx 88: Read range and direction messages.E ^direction in FSK: [0.998025,0.062790,-0.001745]M Fpublishing direction and range info Y =?dTo?n p\ dA9 C h) ";I #li |> S `P> !@ 5>) Ƈ#@I i = : ]n%?Ʃ?ɽ?I >i c = : m checking for new query: numPingsReceived=88, elapsed TxPingTime=44.116520VF= @Z=zF9 rF9 F!ZA)ME>"x,R^AUc?yU=?9Ug"YU!=UH Ӵ?`G? d? t?b K?@+??Uc?ɨUG; QeBeYI:JBJJJRJC ZJ  JgAIgAZIbIjjI0rIzII9Iـ3IIII:I:%Mb@Mb@Mb@!! !)!I!y%Q?~jtx%Ļ%t % A)%@I%@i%QA!%3AH=H=X[5M5< M%=YMJ;Q U>Q٣Q UGUF] ]>a]m;59eZm?am;5YeY ieBm>mm:u5?qu@eaDe:e:e;5y } AyZj#qm?bjQ iiIR^AjdAjGcA2j,?pr 7$,@l-?n*zp=?dTo?n p\"j=*j:p2 ^k&?$,@\??p{x[0?rZlj?܄;?idAj3>i5.Jqm?i O  j҂Bzj~xm?jjTBjjVfArj? addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504588 s, deltaX: -0.099999 m, approachRate: -0.198180 m/s, rangeRepo size: 4  Added new target pos. range: 14.300000 m, bearing: 88.925210 deg, lat: 36.903935 deg, lon: -122.119006 deg, deltaT: 0.504588 s, deltaX: -0.099999 m, approachRate: -0.198180 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 14.30 m.*ii"i ProNav: ac range: 14.300000 m, nav range: 14.396179 m, bearing: 88.581869 deg, approach rate: 0.000000 m/s, LOS rate: -0.064542 deg/s, cmd heading: 83.752606 deg, new cmd heading: 83.653858 deg.  iHeadingCmd: 1.460035 target range: 14.300000 and range: 14.30 m.ho?hhhhgg!bg!jg%ځBe!e)je)Je-,@:e-@)?Mchecking for new query: numPingsReceived=88, elapsed TxPingTime=44.350525雭BɛB) !i)`隱i =io?Q<w>=Io?IDDDE5 EVFH-=F ZA M >/Ix,7R^A2ɡ?y2A?92(]Y2P(=2H? 4˸?@?`9?@̧m???2ɡ?ɨ2P; 2 CRDDAT read: Rx Time:19:47:20.3216 VTRx dataTimestamp_ set to:1736538440.891690ZPDAT read: Bearing 4.2, 0.4 (Local) Z~Local bearing/azimuth received: Bearing 4.2, 0.4 (Local) bDAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 vDAT read: 19:47:20.3216 LVL= 16176, 28849, 15346, 29219, AGC= 50, IDX= 498, 0.25, 0.661,-0.849, 0.553, 0.350, PHS= 0.400,-1.152, 0.200, RAW= 143.2, 7.6, CAL= 145.8, -0.4, ROT= 4.2, 0.4 zYgot valid direction response: 19:47:20.3216 LVL= 16176, 28849, 15346, 29219, AGC= 50, IDX= 498, 0.25, 0.661,-0.849, 0.553, 0.350, PHS= 0.400,-1.152, 0.200, RAW= 143.2, 7.6, CAL= 145.8, -0.4, ROT= 4.2, 0.4 zT#Rx 89: Read range and direction messages.~^direction in FSK: [0.997290,0.073236,-0.006981]Fpublishing direction and range infoPYR?&7?a|R`A9PR0? Rp)R;IR#riPR>RtRL>R@ R>)R4"@IRiRQ =R;P PRA'?]?c#?IRtK>iRRQ =R;P P%checking for new query: numPingsReceived=89, elapsed TxPingTime=44.617332ޑޑI)AHH^S5ً: `=Y%;Q %>!٣) -G)-S U>Y]e;59]\m?ae;5Y] i]Bae?qe@]aD]/:]:]6;5q u AqZjRCjm?bjRsT iPiRs9R^AjR`AjR^A2jRu?pR`r+@A_/g? UzpR?&7?a|"jRQ =*jR;pR,Jg? !+@iR+jm?iR7iR  jRBzjRNxm?jR O jRBjjRaArjRGY GY GY GY GY GY GY G] <G] xF?x,QR^A~B~`I@ @ @  @ HH]5+< N=YQ >٣ GF >] ;59]m?a ;5Y6 iBi +: m : q@aDs;>;5! - A)EB*** querying acoustic contact ***iIiI2iaeDNOT Ignoring new targets: 14.00 m.*iaimG%;"imG%;} ProNav: ac range: 14.000000 m, nav range: 13.940390 m, bearing: 88.682471 deg, approach rate: -0.472082 m/s, LOS rate: 0.144497 deg/s, cmd heading: 83.584918 deg, new cmd heading: 83.750225 deg.  i}U;HeadingCmd: 1.461717 target range: 14.000000 and range: 14.00 m.h?hhhhggbgjgeejeJe:e+?ɛN) i)Iiim! =iu?}}8<} =I}?DDAT read: Rx Time:19:47:20.8215 TRx dataTimestamp_ set to:1736538441.397913PDAT read: Bearing 5.3, -1.6 (Local) ~Local bearing/azimuth received: Bearing 5.3, -1.6 (Local) DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 DAT read: 19:47:20.8215 LVL= 16672, 32753, 16594, 32755, AGC= 50, IDX= 498,-0.31, 0.350,-1.124, 0.209, 0.067, PHS= 0.371,-1.144, 0.139, RAW= 141.8, 9.0, CAL= 144.7, 1.6, ROT= 5.3, -1.6 Ygot valid direction response: 19:47:20.8215 LVL= 16672, 32753, 16594, 32755, AGC= 50, IDX= 498,-0.31, 0.350,-1.124, 0.209, 0.067, PHS= 0.371,-1.144, 0.139, RAW= 141.8, 9.0, CAL= 144.7, 1.6, ROT= 5.3, -1.6 T#Rx 90: Read range and direction messages.%\direction in FSK: [0.995336,0.092335,0.027922]-Fpublishing direction and range infoةYح?'?=?|p}?ح\A9ةح A ٭)٭@I٭i٩٭>٭n٭V>٭bd@ ڭ| >)ڭ!@Iڭiۭ!ۭq=ۭ۩ ܩEchecking for new query: numPingsReceived=90, elapsed TxPingTime=45.127914IDDDE EVF$=FyZAM~>:JܗLBJJJRJD ZJ'6@EEEA>=:962.++)&%J? J>ZIsbIjIrIzIK:IIIIe;Ie;IIE checking for new query: numPingsReceived=90, elapsed TxPingTime=45.357277~x,lR^A?y0ܼ?9+Y=HZ? IZ?? DY? `???騍?ɨ; CޝBޝbIHHX5; H=Yt٣ GF >];595_m?a;5Ye iBi :m:o?q@aD;y;M?V;5 x A Zjcfm?bj/Q iihwYR^Aj\AjU[A2j N?pGx+@1c?)nXj?zp?'?=?|p}?"jq=*jpr}״?pna;+@$=?pjE*x?+\?.zuxb?i9\Aj=ifm?iAN  jBzj5.Jqm?jjBjj\Arj?] addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.506223 s, deltaX: -0.200000 m, approachRate: -0.395082 m/s, rangeRepo size: 4 m Added new target pos. range: 13.800000 m, bearing: 89.661105 deg, lat: 36.903934 deg, lon: -122.119008 deg, deltaT: 0.506223 s, deltaX: -0.200000 m, approachRate: -0.395082 m/s, posRepo size: 4 2iiuDNOT Ignoring new targets: 13.80 m.*iqiu"iy ProNav: ac range: 13.800000 m, nav range: 13.755521 m, bearing: 89.106170 deg, approach rate: 0.000000 m/s, LOS rate: 0.144497 deg/s, cmd heading: 83.750222 deg, new cmd heading: 83.926939 deg.  iHeadingCmd: 1.464801 target range: 13.800000 and range: 13.80 m.h~?hhhhggbgjgeejeJe+@:e ?ɛOI) i)ji !=i~?h[<Ⱥ}•}">}G@ }Q >)yI}di}M\y}dy ychecking for new query: numPingsReceived=91, elapsed TxPingTime=45.626965VF%{=FZAM >`x,GȅR^A6?y65\?96h Y6=6H X?5??Z?@/ -,? Z+?s?6?ɨ68; 4fBfpIhij=) a=H%H%M55d= 5U=Y]o;Q ]>Y٣Y eGae$ e>q];59u`m?a;5Yu´ iuBi9mw:?q@uaDu%,GGIGBGGGG8<G4FH HHH"H*HŤe4h?hihqhqhqgqgybgyjgyeejeJe+@:e`H?ɛ;) &wi)in?!=i? j<A DAT read: 19:47:21.8212 LVL= 20640, 23153, 19186, 28403, AGC= 49, IDX= 511,-0.35,-1.041,-2.592,-1.226,-1.336, PHS= 0.383,-1.210, 0.106, RAW= 140.6, 9.8, CAL= 143.8, 2.7, ROT= 6.2, -2.7  Ygot valid direction response: 19:47:21.8212 LVL= 20640, 23153, 19186, 28403, AGC= 49, IDX= 511,-0.35,-1.041,-2.592,-1.226,-1.336, PHS= 0.383,-1.210, 0.106, RAW= 140.6, 9.8, CAL= 143.8, 2.7, ROT= 6.2, -2.7  T#Rx 92: Read range and direction messages. \direction in FSK: [0.993047,0.107879,0.047106]e Fpublishing direction and range infoع Yؽ 33 ??P7V?ؽ fVA9ع ؽ P ٽ qZ)ٽ JIٽ niٹ ٽ >ٽ Hᚿٽ =ٽ = @ ڽ %/>)ڽ K @Iڽ A=iڽ k=ڽ Aڹ ۹ ۽ jꡣX?rd9?3l?I۽ td>i۽ lV/۽ k=۽ A۹ ܹ  checking for new query: numPingsReceived=92, elapsed TxPingTime=46.181602׋x,R^AV?yV?9VKYVe =VHU=? L?? B?h? ??V?ɨV] ; TeBe~I:JMBJJJRJE ZJ J I ZI]ubI]qjI]1rIYzI][Q:I]q9I]3IYI]o;I]o;I]:I]:      Mb@Mb@Mb@ )IyS㥛?~jty&1|>` A)@I@i(AAHHxV5^A= '=Y>H;Q >٣ GF >9]E;59=cm?aE;5Y= i=BiT:>m:?q@=aD=K.<=.<=x;5B  AEZj@cm?bjQ  checking for new query: numPingsReceived=92, elapsed TxPingTime=46.369308ii/R^AjfVAjTA2j?pT*@e!?P3?zp33 ??P7V?"jk=*jAp@[YNj0*@,}F?pxi/'cc?/?iUAjrRi)?cm?ihaO  jBzjwCjm?jhaO j(BjjUArjC? addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.508888 s, deltaX: -0.100000 m, approachRate: -0.196508 m/s, rangeRepo size: 4  Added new target pos. range: 13.400000 m, bearing: 90.013786 deg, lat: 36.903933 deg, lon: -122.119008 deg, deltaT: 0.508888 s, deltaX: -0.100000 m, approachRate: -0.196508 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 13.40 m.*ii"iE ProNav: ac range: 13.400000 m, nav range: 13.345994 m, bearing: 89.643266 deg, approach rate: 0.000000 m/s, LOS rate: 0.144497 deg/s, cmd heading: 84.128082 deg, new cmd heading: 84.328861 deg.  iIHeadingCmd: 1.471816 target range: 13.400000 and range: 13.40 m.hzd?hhhhggbgjgʁBeejeJe*@:e ?1ɛ=;)9 =h_i9)=AAiEs!=iEzd?M[ L7 d;= C~@ 6&>) - @I nF=i = nF ?c?W{?I 1>i & = nF E checking for new query: numPingsReceived=93, elapsed TxPingTime=46.638718VF-N<FZAM>Lx,B?R^AF6?yFs?9FO{YFa(=FH`>(?6 ??2?@C`&n?? ?F6?ɨFռ; FCrBr}IHUHUJ5ev eE=YeU;Q >٣ GF >];59em?a;5Y8 iBA?q@aD);; ;5  AZj5E`m?bj5|T i1i5W]R^Aj5QAj55PA2j5ʠ?p5<*@8Ƶ?C?zp5-&?(if?.?"j5=*j5nFp5S?*@ x!?p5Zzr,0?|z7?i5PAj5li5`m?i5!=9R  j5ȃBzj5fm?j5Y1Q j5Bjj5>QArj5? addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.502779 s, deltaX: -0.299999 m, approachRate: -0.596682 m/s, rangeRepo size: 4  Added new target pos. range: 13.100000 m, bearing: 90.253420 deg, lat: 36.903933 deg, lon: -122.119009 deg, deltaT: 0.502779 s, deltaX: -0.299999 m, approachRate: -0.596682 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 13.10 m.*i!i!"i!5 ProNav: ac range: 13.100000 m, nav range: 13.077744 m, bearing: 89.984564 deg, approach rate: 0.000000 m/s, LOS rate: 0.144497 deg/s, cmd heading: 84.328862 deg, new cmd heading: 84.498541 deg.  i1=HeadingCmd: 1.474778 target range: 13.100000 and range: 13.10 m.h=ż?hYhYhahagagabgijgieieijeiJeu@33*@:eu@$?ɛB%E) `i)0i6!=iż?=<N;Iż?Iuchecking for new query: numPingsReceived=93, elapsed TxPingTime=46.876354DDDE{0 EVF"<FZAMm>G) G) G- IG- BG) G) G- @DG- "<G- #Fx,R^AzDDAT read: Rx Time:19:47:22.8208 zTRx dataTimestamp_ set to:1736538443.421030PDAT read: Bearing 7.0, -3.1 (Local) ~Local bearing/azimuth received: Bearing 7.0, -3.1 (Local) DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 BII)9=A]DAT read: 19:47:22.8208 LVL= 20784, 23089, 20082, 29027, AGC= 49, IDX= 507,-0.44,-1.862, 2.851,-2.083,-2.169, PHS= 0.396,-1.216, 0.083, RAW= 139.5, 10.0, CAL= 143.0, 3.1, ROT= 7.0, -3.1 eYgot valid direction response: 19:47:22.8208 LVL= 20784, 23089, 20082, 29027, AGC= 49, IDX= 507,-0.44,-1.862, 2.851,-2.083,-2.169, PHS= 0.396,-1.216, 0.083, RAW= 139.5, 10.0, CAL= 143.0, 3.1, ROT= 7.0, -3.1 eT#Rx 94: Read range and direction messages.\direction in FSK: [0.991094,0.121691,0.054079]Fpublishing direction and range infoxYzxwj2 ?1Y$'?ʾ7?zLA9xz0Q z1Z)zrNIzcqiz1z>z㥛z=z@ z¸2>)z@Izk]=iz5=zk]x xzm号?/!c?U~b/?IzXϭ>izd2z5=zk]x xchecking for new query: numPingsReceived=94, elapsed TxPingTime=47.195950UMb@Mb@Mb@QQ Q)QIQyU#~j?l~jthU>UUD UA)U@IUp@iUAQUpAHmHmR5}= }"=YQ >٣ G >];59Vim?a;5YX iB>m:?q@bDt;x;q;5 < AZjz]^m?bjzqV ixiz(R^AjzLAjzpKA2jzP?pzj.a;_)@b?T&?zpzxwj2 ?1Y$'?ʾ7?"jz5=*jzk]pzu^r:Jdz)@?pz`􃿹KU?Y^G"Ը?izKAjzpiz{^m?izbT  jz9Bzjz)?cm?jxjzȃBjjzMArjz?:JLBJh9JJRJF ZJ!!!J? J? addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.509083 s, deltaX: -0.300000 m, approachRate: -0.589295 m/s, rangeRepo size: 4  Added new target pos. range: 12.800000 m, bearing: 90.560958 deg, lat: 36.903932 deg, lon: -122.119009 deg, deltaT: 0.509083 s, deltaX: -0.300000 m, approachRate: -0.589295 m/s, posRepo size: 4 2i  DNOT Ignoring new targets: 12.80 m.*i i"ie ProNav: ac range: 12.800000 m, nav range: 12.854928 m, bearing: 90.321958 deg, approach rate: 0.000000 m/s, LOS rate: 0.144497 deg/s, cmd heading: 84.498538 deg, new cmd heading: 84.715461 deg.  iamHeadingCmd: 1.478564 target range: 12.800000 and range: 12.80 m.hmA?hihihihigqgqbgqjguҁBeejeJe)@:eo?ɛ0) ;i)Ei`!=i=A?=H<=:;I=A?I9DDAT read: Rx Time:19:47:23.3206 TRx dataTimestamp_ set to:1736538443.677130PDAT read: Bearing 7.7, -3.3 (Local) ~Local bearing/azimuth received: Bearing 7.7, -3.3 (Local) checking for new query: numPingsReceived=94, elapsed TxPingTime=47.394054D D D! E% o0 E) VFu zQ<F)ZA1MU>x,R^A b.~GrkA v??yvκ?9v)=y=kA=AYvs=vH.p?̻??u?d?cü? ?v??ɨv ; tUʁBUIHmHmxV5}H= }\=Y};Q >٣ GFa >];59km?a;5Y iBr?q@bD::;5  AB*** querying acoustic contact ***ii2iDNOT Ignoring new targets: 12.80 m.*ii;DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 %DAT read: 19:47:23.3206 LVL= 19520, 22225, 17554, 28323, AGC= 48, IDX= 504,-0.02,-2.715, 2.017,-2.955,-3.024, PHS= 0.397,-1.196, 0.066, RAW= 138.7, 10.1, CAL= 142.3, 3.3, ROT= 7.7, -3.3 -Ygot valid direction response: 19:47:23.3206 LVL= 19520, 22225, 17554, 28323, AGC= 48, IDX= 504,-0.02,-2.715, 2.017,-2.955,-3.024, PHS= 0.397,-1.196, 0.066, RAW= 138.7, 10.1, CAL= 142.3, 3.3, ROT= 7.7, -3.3 5T#Rx 95: Read range and direction messages.=\direction in FSK: [0.989340,0.133764,0.057564]=Fpublishing direction and range infoY'J?-?`8.y?HA9@L V)DIni0C>+=@ J4>)\@Ik=i >k !? m%?i_4 >k Uchecking for new query: numPingsReceived=95, elapsed TxPingTime=47.645809"i];u ProNav: ac range: 12.800000 m, nav range: 12.693217 m, bearing: 90.468393 deg, approach rate: -0.478478 m/s, LOS rate: 0.438798 deg/s, cmd heading: 84.715458 deg, new cmd heading: 85.160349 deg.  iu<}HeadingCmd: 1.486328 target range: 12.800000 and range: 12.80 m.h}@?hyhyhyhygygbgjgeQeYjeJe)@:e`?雡ɛR0) &!i)隩i "=i@?thI@?IDUDQDQEU0 EQHHR=ZIbIwjI0rIzII9Iـ3Iq@i@u@m@VF-*;FZAM>% DDAT read: Rx Time:19:47:23.8206 5 TRx dataTimestamp_ set to:1736538444.192229] PDAT read: Bearing 7.7, -2.4 (Local) e ~Local bearing/azimuth received: Bearing 7.7, -2.4 (Local)  DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 - Z#Rx 96: Read range message, but no direction.) ) 9) u checking for new query: numPingsReceived=96, elapsed TxPingTime=47.919643YĔx,fS^AGn>GlGn IGn,BGlGlGlGn<GnFE`?yE?9EEYE=EH@Ѽ? h??ֻ? ?@C_?@?E`?ɨEэ; AޝӁBޝIMb@Mb@Mb@ )IyK7A`?~jt{Gzt>Dף )@IZAiHH R5:= +=Y:Q >٣ GFM >];59om?a;5Yg iBM>m:?q@bD ; ;Р;5  AZj]S`m?bj]T iYi]{M S^Aj]HAj]FA2j]O?p]naƻ(@}? dld?zp]'J?-?`8.y?"j] >*j]kp]prƿ55v(@HK?p]@xQjZ?~q҄?i]FAj]=7i]`m?i]XR  j]QBzj]`m?j]!=9R j]Bjj]TGArj]?M addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.771199 s, deltaX: -0.300000 m, approachRate: -0.389005 m/s, rangeRepo size: 4  Added new target pos. range: 12.500000 m, bearing: 90.824355 deg, lat: 36.903932 deg, lon: -122.119009 deg, deltaT: 0.771199 s, deltaX: -0.300000 m, approachRate: -0.389005 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 12.50 m.*ii"iDAT read: 19:47:23.8206 LVL= 21456, 24977, 16242, 30307, AGC= 48, IDX= 503, 0.37, 0.387,-1.162, 0.143, 0.056, PHS= 0.419,-1.172, 0.084, RAW= 138.5, 9.2, CAL= 142.3, 2.4, ROT= 7.7, -2.4 %Ygot valid direction response: 19:47:23.8206 LVL= 21456, 24977, 16242, 30307, AGC= 48, IDX= 503, 0.37, 0.387,-1.162, 0.143, 0.056, PHS= 0.419,-1.172, 0.084, RAW= 138.5, 9.2, CAL= 142.3, 2.4, ROT= 7.7, -2.4 -Z#Rx 97: Read direction message, but no range.5\direction in FSK: [0.990114,0.133869,0.041876]YzAm?"? ۷p?9S a)r?Icvi+>1=@ l$>)I+=i+ zΓ?مT?w?I$>iD%+Uchecking for new query: numPingsReceived=97, elapsed TxPingTime=48.147758u ProNav: ac range: 12.500000 m, nav range: 12.458150 m, bearing: 90.821451 deg, approach rate: 0.000000 m/s, LOS rate: 0.438798 deg/s, cmd heading: 85.160349 deg, new cmd heading: 85.793268 deg.  iq}HeadingCmd: 1.497375 target range: 12.500000 and range: 12.50 m.h}?hyhhhggbgjgBeejeJe:em6?Bɛ"() i) K  i 8@"=iu?quSҌIu?IyDDDE{0 E:J MBJ 9JJ RJ G ZJ J! I! VF {/; DDAT read: Rx Time:19:47:24.3204  TRx dataTimestamp_ set to:1736538444.682973- PDAT read: Bearing 8.9, -4.6 (Local) 5 ~Local bearing/azimuth received: Bearing 8.9, -4.6 (Local) ] DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 Fi ZA - Z#Rx 98: Read range message, but no direction. 3CAM >? ˔x,#N.S^A9Ichecking for new query: numPingsReceived=98, elapsed TxPingTime=48.436661 ?y O?9 ԼY = HPn? w??Kr?F ?j?.? ?ɨ  ; !C%ہBeIHHQ5= <=Y^;Q >٣ GF >)]5;59-sm?a5;5Y-2 i)1=;?q=@-*bD-:-:-;5a eQ AeEZjM-em?bjM^=W iIiMԵ+S^AjM3CAjMAA2jM?pMASɥ((@ȣГ!?qR'Y?zpMzAm?"? ۷p?"jI*jM+pM%]Ŀ,P(@A >?pMO0s]?@+-M?iMBAjM'iMtem?iMz4T  jMBzjIjMXR jIjjMCArjMb?5 addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.490744 s, deltaX: -0.300000 m, approachRate: -0.611317 m/s, rangeRepo size: 4 e Added new target pos. range: 12.200000 m, bearing: 90.772622 deg, lat: 36.903932 deg, lon: -122.119009 deg, deltaT: 0.490744 s, deltaX: -0.300000 m, approachRate: -0.611317 m/s, posRepo size: 4 2iimDNOT Ignoring new targets: 12.20 m.*iiii"iq  ProNav: ac range: 12.200000 m, nav range: 12.240788 m, bearing: 91.040472 deg, approach rate: 0.000000 m/s, LOS rate: 0.438798 deg/s, cmd heading: 85.793269 deg, new cmd heading: 86.396819 deg.  i  HeadingCmd: 1.507909 target range: 12.200000 and range: 12.20 m.h)?hhhhggqbgjgeejeJe`ff(@:e`?ɛ$) i)%;!!i%v"=i-)?)-I-)?uDAT read: 19:47:24.3204 LVL= 21472, 25441, 20146, 28611, AGC= 51, IDX= 501,-0.10,-2.547, 2.179,-2.831,-2.851, PHS= 0.392,-1.206, 0.018, RAW= 137.1, 11.0, CAL= 141.1, 4.6, ROT= 8.9, -4.6 }Ygot valid direction response: 19:47:24.3204 LVL= 21472, 25441, 20146, 28611, AGC= 51, IDX= 501,-0.10,-2.547, 2.179,-2.831,-2.851, PHS= 0.392,-1.206, 0.018, RAW= 137.1, 11.0, CAL= 141.1, 4.6, ROT= 8.9, -4.6 Z#Rx 99: Read direction message, but no range.\direction in FSK: [0.984778,0.154212,0.080199]QYUw)L? dQ8?zꇴ?9QUS Uac)UNIUoiU3U9>U5^Ut)U7@IUl=iU>UlQUԛf#?(uq?l?IU>iUTDU>Ulchecking for new query: numPingsReceived=99, elapsed TxPingTime=48.651981IDEDADIEMo0 EIEU>EU0>VF% ͔ F ZA M >ZI= bI= pjI9 rI9 zI= [:I= ^9I9 I9 #єx,^HS^A~BIADDAT read: Rx Time:19:47:24.8204 TRx dataTimestamp_ set to:1736538445.187734PDAT read: Bearing 9.2, -3.6 (Local)  ~Local bearing/azimuth received: Bearing 9.2, -3.6 (Local) -DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 -=\#Rx 100: Read range message, but no direction.9Uchecking for new query: numPingsReceived=100, elapsed TxPingTime=48.911526HHY5޽= P=YQ >٣ G U>Y]e;59]wm?ae;5Y]X iYiq@]6bD]<]* <]7;5 AZjXm?bjުS G!G!G%4 IG%@BG!G!G!G%W<G%IFiiLS^Ajj2j#?p<#sP(@]V )?AEO?zpw)L? dQ8?zꇴ?"j>*jlpz3׿3(@LBz?pdl{鐝?,f?iAAjiXm?i5Q  jBzj`m?jj9Bjj@Arjo?u addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504761 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 12.200000 m, bearing: 91.715801 deg, lat: 36.903932 deg, lon: -122.119009 deg, deltaT: 0.504761 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 12.20 m.*ii"i ProNav: ac range: 12.200000 m, nav range: 12.057483 m, bearing: 91.251212 deg, approach rate: 0.000000 m/s, LOS rate: 0.438798 deg/s, cmd heading: 86.396818 deg, new cmd heading: 87.023237 deg.  iHeadingCmd: 1.518842 target range: 12.200000 and range: 12.20 m.hji?hhhh1g1g9bg9jg9e9eAjeAJeA:eEh?雍BɛB) ̭i)L隹i٣"=iji?Iji?IDM DI DI EM {0 EQ  DAT read: 19:47:24.8204 LVL= 18048, 29761, 16370, 31075, AGC= 49, IDX= 500, 0.38,-0.858,-2.388,-1.147,-1.183, PHS= 0.413,-1.159, 0.033, RAW= 136.6, 10.1, CAL= 140.8, 3.6, ROT= 9.2, -3.6  Ygot valid direction response: 19:47:24.8204 LVL= 18048, 29761, 16370, 31075, AGC= 49, IDX= 500, 0.38,-0.858,-2.388,-1.147,-1.183, PHS= 0.413,-1.159, 0.033, RAW= 136.6, 10.1, CAL= 140.8, 3.6, ROT= 9.2, -3.6  \#Rx 101: Read direction message, but no range. \direction in FSK: [0.985188,0.159566,0.062791]؁ Y؅ tƩ?4l?֏ ?9؁ ؅ F م At)م ?Iم cyiم 1م t>م Zم +=م k@ څ J4>)څ nF@Iڅ =iڅ l$>څ ځ ۅ hH1?[M?Ԑ[]?Iۅ .d>iۅ 3ۅ l$>ۅ  checking for new query: numPingsReceived=101, elapsed TxPingTime=49.162609VFu 'FIZAQMu>\%ٔx,_\fS^A:J:BoIBJ:9JJ8RJ:H ZJ:JB? JB?j?yj|X?9j{μYjU"=jH@[? ˍ`kݾ? U?X?}Ι?̿??j?ɨj$; jCvBvIuMb@Mb@Mb@qq q)qIqyukt?{Gz{Gztu >u#q u A)qIup@iuAquAHH`= 9=YV:Q >٣ GF,: >];59Wzm?a;5Y= iB>m:?q@CbD::;5B _AE2iQeDNOT Ignoring new targets: 12.20 m.DDAT read: Rx Time:19:47:25.3201 TRx dataTimestamp_ set to:1736538445.695701PDAT read: Bearing 10.2, -5.4 (Local) ~Local bearing/azimuth received: Bearing 10.2, -5.4 (Local) EDAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 -U\#Rx 102: Read range message, but no direction.3;A9*ii{2<"i{2<checking for new query: numPingsReceived=102, elapsed TxPingTime=49.436844 ProNav: ac range: 12.200000 m, nav range: 11.864706 m, bearing: 91.459377 deg, approach rate: -0.568787 m/s, LOS rate: 0.624169 deg/s, cmd heading: 87.023235 deg, new cmd heading: 87.657851 deg.  i.< HeadingCmd: 1.529918 target range: 12.200000 and range: 12.20 m.h [?h h h h g gbgjgBeejeJe`ff'@:e= 8?雕Bɛ) Xsi)@i"=i[?v+8I[?ID1D9D9E=/1 E9VF nFZAM> DAT read: 19:47:25.3201 LVL= 19696, 27361, 18066, 29747, AGC= 50, IDX= 498,-0.05, 2.566, 1.036, 2.249, 2.266, PHS= 0.388,-1.183,-0.020, RAW= 135.5, 11.5, CAL= 139.8, 5.4, ROT= 10.2, -5.4  Ygot valid direction response: 19:47:25.3201 LVL= 19696, 27361, 18066, 29747, AGC= 50, IDX= 498,-0.05, 2.566, 1.036, 2.249, 2.266, PHS= 0.388,-1.183,-0.020, RAW= 135.5, 11.5, CAL= 139.8, 5.4, ROT= 10.2, -5.4  \#Rx 103: Read direction message, but no range. \direction in FSK: [0.979828,0.176299,0.094108]؉ Y؍ 8Z? ?|ӄ{?9؉ ؍ L ٍ j)ٍ FIٍ 3tiٍ 2ٍ >ٍ lٍ ףٍ Z@ ڍ M>)ڍ y(@Iڍ =iڍ K6>ڍ ډ ۍ UZ6?`[$ ?~OuX=?Iۍ >iۍ %Nۍ K6>ۍ  checking for new query: numPingsReceived=103, elapsed TxPingTime=49.666538' x,c&S^A6Z?y66H!ݼ?H`8?`%?pʻ?'= ͙??`}?6Z?ɨ6>p; 6CNBNI TVBAHVHV N5f,= fY=Yf=S7Q f>h٣h jGhn; ~>];59F}m?a;5Y i?q5@NbDkp<p<3;5 +AZj--BJm?bj-lW i)i-]lS^Aj-3;Aj-9A2j-?p-qGQ&@c@f@WO?zp-8Z? ?|ӄ{?"j-K6>*j-p-f$8x'؞"'@bb?p-8u"In,jO? }x ?i-9Aj-i-Jm?i-U  j-MBzj-{^m?j-bT j-QBjj-9Arj-R ?  addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.507967 s, deltaX: -0.500000 m, approachRate: -0.984316 m/s, rangeRepo size: 4 % Added new target pos. range: 11.700000 m, bearing: 92.972691 deg, lat: 36.903932 deg, lon: -122.119010 deg, deltaT: 0.507967 s, deltaX: -0.500000 m, approachRate: -0.984316 m/s, posRepo size: 4 2i)-DNOT Ignoring new targets: 11.70 m.*i)i5"i1E ProNav: ac range: 11.700000 m, nav range: 11.616448 m, bearing: 91.782564 deg, approach rate: 0.000000 m/s, LOS rate: 0.624169 deg/s, cmd heading: 87.657849 deg, new cmd heading: 88.394262 deg.  iAMHeadingCmd: 1.542771 target range: 11.700000 and range: 11.70 m.hMy?hIhIhIhIgIgQbgQjgQeYeYjeYJeY:eet?雉ɛգ) (;i)8ai"=i%y?!%\I%y?I)ZI5qbI5tjI1rI1zI5D:I59I1I1DYDYDYEe05 Ea=DDAT read: Rx Time:19:47:25.8201 MTRx dataTimestamp_ set to:1736538446.207489mPDAT read: Bearing 9.7, -3.9 (Local) u~Local bearing/azimuth received: Bearing 9.7, -3.9 (Local) DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4 VFFyZAM>DAT read: 19:47:25.8201 LVL= 19008, 27057, 17906, 29651, AGC= 49, IDX= 497, 0.37,-0.790,-2.364,-1.106,-1.128, PHS= 0.427,-1.189, 0.020, RAW= 136.0, 10.2, CAL= 140.3, 3.9, ROT= 9.7, -3.9 Ygot valid direction response: 19:47:25.8201 LVL= 19008, 27057, 17906, 29651, AGC= 49, IDX= 497, 0.37,-0.790,-2.364,-1.106,-1.128, PHS= 0.427,-1.189, 0.020, RAW= 136.0, 10.2, CAL= 140.3, 3.9, ROT= 9.7, -3.9 V#Rx 104: Read range and direction messages.\direction in FSK: [0.983421,0.168099,0.068015]Fpublishing direction and range infoAYEU/x?dQF?,::si?A9AE@J Ei)EEIEsiE1E>E'1E ף)Et@IE'g=iE-\->E'gA AEONFFF?_wKeY? 2,?IEM>iE6E-\->E'gA Achecking for new query: numPingsReceived=104, elapsed TxPingTime=49.992603G G G Z IG ^BG G G G &<G %FE4x,S^An BnIEchecking for new query: numPingsReceived=104, elapsed TxPingTime=50.157276Mb@Mb@Mb@ )Iy ףp= ?ˡEMbpQ>'  A)@I@iAAHHW5 W=  8=Y Q  >٣ GF >!]-;59%ʀm?a-;5Y% i%B-6>m:?q@%\bD%lj<%i<% ;5 AZju57Sm?bjuG5Q iqiuGS^Ajqjq2ju?pu2'@uHw?Kw?zpuU/x?dQF?,::si?"ju-\->*ju'gpuHN/H8'@h =\?pu$)e=A?{ L5?iu9AjuD iu8FSm?iuAq-O  juBzjuXm?juXR juBjju7Arjuc?U addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.511788 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 11.700000 m, bearing: 92.663308 deg, lat: 36.903931 deg, lon: -122.119009 deg, deltaT: 0.511788 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iaDNOT Ignoring new targets: 11.70 m.*ii"i ProNav: ac range: 11.700000 m, nav range: 11.484940 m, bearing: 92.384749 deg, approach rate: 0.000000 m/s, LOS rate: 0.624169 deg/s, cmd heading: 88.394259 deg, new cmd heading: 89.221554 deg.  iHeadingCmd: 1.557210 target range: 11.700000 and range: 11.70 m.hR?hhhhggbgjg+BeejeJe:e`1?EBɛE )I MpiI)M)uIIiM&#=iUR?Q]I]R?IYDDDE5 E:JBJ9JJRJI ZJJI A - DDAT read: Rx Time:19:47:26.3198 = TRx dataTimestamp_ set to:1736538446.707506U PDAT read: Bearing 10.7, -5.6 (Local) ] ~Local bearing/azimuth received: Bearing 10.7, -5.6 (Local)  DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4 - \#Rx 105: Read range message, but no direction.1 5 4A91  checking for new query: numPingsReceived=105, elapsed TxPingTime=50.433266VF zF rF Fy ZA M >^x,S^A:<8?y:u?9:ӼY:u >:H $?*?@?G?Τ A~? O?@?:<8?ɨ:; :CvBv IH=H==X5R\= I=Y%EٺQ %>!٣) -G-F-9< M>a]m;59em?am;5Ye{ ia?q@eibDeO;e;e;5 rAB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.500017 s, deltaX: -0.400000 m, approachRate: -0.799972 m/s, rangeRepo size: 4 2iDNOT Ignoring new targets: 11.70 m.*i!i%(<"i%(<5 ProNav: ac range: 11.700000 m, nav range: 11.289640 m, bearing: 92.617114 deg, approach rate: -0.486978 m/s, LOS rate: 0.589423 deg/s, cmd heading: 89.221552 deg, new cmd heading: 89.930668 deg.  i5B<=HeadingCmd: 1.569586 target range: 11.700000 and range: 11.30 m.h=4?h9h9hAhAgAgAbgAjgIeIeIjeQJeU&@:e]'?雍Bɛ)  ;i)os隑i~#=i4?I4?IDAT read: 19:47:26.3198 LVL= 20256, 23921, 16466, 31315, AGC= 48, IDX= 495,-0.11, 2.581, 1.057, 2.247, 2.277, PHS= 0.392,-1.173,-0.033, RAW= 134.8, 11.6, CAL= 139.3, 5.6, ROT= 10.7, -5.6 Ygot valid direction response: 19:47:26.3198 LVL= 20256, 23921, 16466, 31315, AGC= 48, IDX= 495,-0.11, 2.581, 1.057, 2.247, 2.277, PHS= 0.392,-1.173,-0.033, RAW= 134.8, 11.6, CAL= 139.3, 5.6, ROT= 10.7, -5.6 \#Rx 106: Read direction message, but no range.\direction in FSK: [0.977923,0.184781,0.097583]IYM%K?24;?A_1?9IM O Mq])MR@IMSziM0M9>M$M+M@ M4QO>)M@IM+=iMt;?>M+ȽIM6O?㷲?DBg?IMa >iMR]OMt;?>M+Ƚchecking for new query: numPingsReceived=106, elapsed TxPingTime=50.687695DADADAEE_0 EAVF=3,)F1ZAIM}>IsI{3I{.-IsIsIsZIU ubIU pjIQ rIQ zIU [Q:IU ^9IQ IQ % DDAT read: Rx Time:19:47:26.8197 - TRx dataTimestamp_ set to:1736538447.208497M PDAT read: Bearing 9.7, -3.9 (Local) yGx,S^A>~Local bearing/azimuth received: Bearing 9.7, -3.9 (Local) FDAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 fȟ?yfJ?9fټYfHk>fH=?a|`?? ?35?8?+?fȟ?ɨfR; dZDAT read: 19:47:26.8197 LVL= 21024, 26033, 18290, 30355, AGC= 49, IDX= 509, 0.25,-1.537,-3.124,-1.856,-1.878, PHS= 0.429,-1.199, 0.019, RAW= 136.0, 10.3, CAL= 140.3, 3.9, ROT= 9.7, -3.9 rYgot valid direction response: 19:47:26.8197 LVL= 21024, 26033, 18290, 30355, AGC= 49, IDX= 509, 0.25,-1.537,-3.124,-1.856,-1.878, PHS= 0.429,-1.199, 0.019, RAW= 136.0, 10.3, CAL= 140.3, 3.9, ROT= 9.7, -3.9 rV#Rx 107: Read range and direction messages.v\direction in FSK: [0.983421,0.168099,0.068015]vFpublishing direction and range infoQYUU/x?dQF?,::si?U1A9QU R Ue)UrGIUviU1U>UxU㥛)Ut@IU'g=iU-\->U'gQ QUِ@GE?6X?4l?IU7>iUf7U-\->U'gQ Q=&B= I)E= E=Uchecking for new query: numPingsReceived=107, elapsed TxPingTime=50.964027HMHMY5= U=YQ >٣ G$<< >];59ֆm?a;5Y w iB?q @tbDC <@<;5 AG>GGs IGsBGGGGP<GDFHi HiHiHi"Hi*Hm7A4ZjU^OSm?bjUY W iQiUXS^AjU1AjUk0A2jU6?pULC%@ ;?9U(?zpUU/x?dQF?,::si?"jQ*jQpU2^ٲ~H&@#e?pUF."=d.}?L\?iU0AjUiUJRm?iUl U  jUȄBzjU8FSm?jUz4T jUȄBjjUv0ArjU*? addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.500991 s, deltaX: -0.200000 m, approachRate: -0.399208 m/s, rangeRepo size: 4 % Added new target pos. range: 11.100000 m, bearing: 93.201750 deg, lat: 36.903931 deg, lon: -122.119010 deg, deltaT: 1.001008 s, deltaX: -0.599999 m, approachRate: -0.599395 m/s, posRepo size: 4 2i!%DNOT Ignoring new targets: 11.10 m.*i!i-"i)= ProNav: ac range: 11.100000 m, nav range: 11.029041 m, bearing: 93.180400 deg, approach rate: 0.000000 m/s, LOS rate: 0.589423 deg/s, cmd heading: 89.930669 deg, new cmd heading: 90.729947 deg.  iyHeadingCmd: 1.583536 target range: 11.100000 and range: 11.10 m.hQ?hhhhggbgjgeejeJe@33&@:e@6?Qɛuq)y }=iy)}Ryyi} *#=iQ?3/IQ?Iechecking for new query: numPingsReceived=107, elapsed TxPingTime=51.166695DDDEg4 EVF bFq ZAy M >x,&S^A:J8BJ:9JJ8RJ:J ZJ:!B4!:!;HD5,  Ky=wO#jD+JB? JB?޽*B޽ IDDAT read: Rx Time:19:47:27.3194 TRx dataTimestamp_ set to:1736538447.715299PDAT read: Bearing 10.7, -6.0 (Local) ~Local bearing/azimuth received: Bearing 10.7, -6.0 (Local) DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 uDAT read: 19:47:27.3194 LVL= 20832, 25073, 16290, 32755, AGC= 48, IDX= 507,-0.22, 1.400,-0.136, 1.066, 1.102, PHS= 0.386,-1.191,-0.040, RAW= 134.9, 11.9, CAL= 139.3, 6.0, ROT= 10.7, -6.0 }Ygot valid direction response: 19:47:27.3194 LVL= 20832, 25073, 16290, 32755, AGC= 48, IDX= 507,-0.22, 1.400,-0.136, 1.066, 1.102, PHS= 0.386,-1.191,-0.040, RAW= 134.9, 11.9, CAL= 139.3, 6.0, ROT= 10.7, -6.0 V#Rx 108: Read range and direction messages.\direction in FSK: [0.977230,0.184650,0.104528]Fpublishing direction and range infoرYصqwE?ek?4ޮ`º?ص3+A9رص`Q ٵa)ٵ?Iٵiٵ0ٵˡ>ٵrٵ #ٵK@ ڵȭT>)ڵ@IڵPw=iڵt;?>ڵPwֽڱ ۱۵'ܔB?@^0O?dnGz?I۵Մ>i۵\U۵t;?>۵Pwֽ۱ ܱ%checking for new query: numPingsReceived=108, elapsed TxPingTime=51.473129mMb@Mb@Mb@ii i)iIiymX9v?Mb~jthm>mmD m; A)mb@Im@imAimGAHHJH5I< =YQ >٣ GF >!]-;59%nm?a-;5Y%Hp e5tIi%B5|>m5:5?q5@%bD%;%h<%;5 AZjiNm?bj^\ iiuS^Aj3+Aj*A2j?pR $@ҫ?w0?zpqwE?ek?4ޮ`º?"jt;?>*jPwֽp>]濢%@e ?pȉ'‡?@Y`?i(Aj7iNm?iZ  jBzjJRm?jl U jBjjI,Arj#?] addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.506802 s, deltaX: -0.400001 m, approachRate: -0.789264 m/s, rangeRepo size: 4  Added new target pos. range: 10.700000 m, bearing: 93.890716 deg, lat: 36.903931 deg, lon: -122.119010 deg, deltaT: 0.506802 s, deltaX: -0.400001 m, approachRate: -0.789264 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 10.70 m.*ii"i ProNav: ac range: 10.700000 m, nav range: 10.767933 m, bearing: 93.504545 deg, approach rate: 0.000000 m/s, LOS rate: 0.589423 deg/s, cmd heading: 90.729945 deg, new cmd heading: 91.621259 deg.  iHeadingCmd: 1.599093 target range: 10.700000 and range: 10.70 m.h?hhhhggbgjg9Bee)je)Je-`ff%@:e-/?BɛAC)! % %=i! )% )! ! i% 6#=i- ?) 5 -I5 ?I1 - checking for new query: numPingsReceived=108, elapsed TxPingTime=51.669960D D D E 05 E VF FQ ZAY Mu >x,ET^A=U?y=?9=[Y=Ev(>=H ?ot?p?ٍjٍu<ٍk@ ڍB>)ڍnF@Iڍ|٠=iڍl$>ڍ|٠ډ ۉۍA`?Y-?ȆM?Iۍ+>iۍAۍl$>ۍ|٠i?I?Iۉ ܉ checking for new query: numPingsReceived=109, elapsed TxPingTime=51.974728DuDyDyE`0 EGU>GQGU IGUBGU =GQGUADGUA<GU8FVF  checking for new query: numPingsReceived=109, elapsed TxPingTime=52.173489F ZA M >V`x,AT^A) F-`?yF?9FBmYF<0>FH۴?o@??@U+?s'L???F-`?ɨF; F C^8B^+ I5Mb@Mb@Mb@11 1)1I1y5#~j?Mb~jtx5?55Ļ 5d A)5-@I5~@i5A15AHEHEZ5L< *=Y:Q >٣ GF.< >];59m?a-;5Ye iB-?m5:5?q5@bD7<6<g;59 =rA9ZjeVm?bje[3P iaieI T^Ajaja2je;?pe5#A%@3HI?hH?zpe%"}?\7f?5;?"jel$>*je|٠peҕ4(%@LB?pe9k.&{@~? dPd?ieD)Aje$-ieh Um?ieO  je Bzjajaje Bjje%Arje? addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.501088 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 10.700000 m, bearing: 93.658025 deg, lat: 36.903931 deg, lon: -122.119010 deg, deltaT: 0.501088 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2iDNOT Ignoring new targets: 10.70 m.*iZIesbIemjIarIazIeK:Ie&9IaIaIee;quIee;iuIe:uuIe:mui"i ProNav: ac range: 10.700000 m, nav range: 10.374860 m, bearing: 93.916522 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 92.161115 deg, new cmd heading: 93.161530 deg.  iHeadingCmd: 1.625975 target range: 10.700000 and range: 10.70 m.h?hhhhggbgjgWBeejeJe:eA?QɛU,e:J]5PBJ]9JJYRJ]K ZJ]xg]QA,~ypkgda_]\]\XUQRPLJEC?==8401,+*+)&$#)y }̌=i)隉i#=i?Vc½I?ID!zD!=DDAT read: Rx Time:19:47:28.3191 UTRx dataTimestamp_ set to:1736538448.720679mPDAT read: Bearing 9.2, -5.0 (Local) }~Local bearing/azimuth received: Bearing 9.2, -5.0 (Local) DDDE EEEVF DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 FA ZAI Mm > DAT read: 19:47:28.3191 LVL= 19904, 24721, 15234, 29619, AGC= 47, IDX= 504,-0.46, 2.290, 0.776, 2.008, 2.000, PHS= 0.378,-1.176, 0.005, RAW= 136.7, 11.3, CAL= 140.8, 5.0, ROT= 9.2, -5.0  Ygot valid direction response: 19:47:28.3191 LVL= 19904, 24721, 15234, 29619, AGC= 47, IDX= 504,-0.46, 2.290, 0.776, 2.008, 2.000, PHS= 0.378,-1.176, 0.005, RAW= 136.7, 11.3, CAL= 140.8, 5.0, ROT= 9.2, -5.0  V#Rx 110: Read range and direction messages. \direction in FSK: [0.983380,0.159273,0.087156] Fpublishing direction and range infoAYE5&w?{ c?O?E3#A9AEM E`)E;IEsiE/E7>E+E ף;E@ EI>)AIE¸=iAE¸A AE—l?a ?hE ?IEP>iEӫIAE¸A A5 checking for new query: numPingsReceived=110, elapsed TxPingTime=52.527447I )  x,8T^A >-GNlA Xn9Bn, IHvHvX[5; g=Y%Q %>!٣) -G)- ->a]m;59edm?am;5Ye` ieBq)u,yulAuAq@ebDexU \direction in FSK: [0.985043,0.145458,0.092371]U Fpublishing direction and range infoI YM B,íx?#b?{]U?M !A9I M K M ab)M 2CIM }iI M µ>M 9M T)M 2+@IM q=iM Q >M qI I M _ +?x8?w?IM Ǜ>iM $QM Q >M qI I  checking for new query: numPingsReceived=111, elapsed TxPingTime=52.987686hnx, RT^AGHGHGJ IGJBGHGHGHGJ5<GJ0Ff?yf7?9fYf=>fHV?@oh8??L?@@1??nn?f?ɨf|K; d=>BE2 IHHX5~< ==Y UQ 5>A٣A MGMF]E<= e>];59#m?a;5YZ iB ?q@bDw<Vq<b;5 IA!Zj}Zm?bj}IV iyi}nNNT^Aj}!Aj} A2j}?p}1#@#?IʇA?zp}B,íx?#b?{]U?"j}Q >*j}qp}k*CmH=8#@Po?p}y2ҰFgՋ??i}NAj})i}T5Zm?i}[T  j}\Bzj}h Um?jyj}+Bjj}^Arj}I? addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.502858 s, deltaX: -0.099999 m, approachRate: -0.198862 m/s, rangeRepo size: 4  Added new target pos. range: 10.100000 m, bearing: 93.813763 deg, lat: 36.903931 deg, lon: -122.119010 deg, deltaT: 0.502858 s, deltaX: -0.099999 m, approachRate: -0.198862 m/s, posRepo size: 4 2i DNOT Ignoring new targets: 10.10 m.*i i "i ProNav: ac range: 10.100000 m, nav range: 9.960544 m, bearing: 94.130142 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 93.932948 deg, new cmd heading: 94.849507 deg.  ieHeadingCmd: 1.655436 target range: 10.100000 and range: 10.10 m.heU?hihihihigigibgqjgqeyeyjeyJe@33$@:ed?1ɛ5tۼ)1 5=i1)=%@99i="=iEU?AEͽIEU?IIchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.181576DDDE}0 EVFgSFQZAYMu>ZI rbI jI rI zI G:I I I I _;I _;I I :J JNBJ JJ RJ L ZJ "!     ]x,slT^AjAhrDDAT read: Rx Time:19:47:29.3188 rTRx dataTimestamp_ set to:1736538449.724173vPDAT read: Bearing 6.2, -3.1 (Local) z~Local bearing/azimuth received: Bearing 6.2, -3.1 (Local) DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 %DAT read: 19:47:29.3188 LVL= 20016, 24433, 17458, 32291, AGC= 48, IDX= 500, 0.22,-2.297, 2.441,-2.481,-2.582, PHS= 0.373,-1.214, 0.098, RAW= 140.7, 10.1, CAL= 143.8, 3.1, ROT= 6.2, -3.1 -Ygot valid direction response: 19:47:29.3188 LVL= 20016, 24433, 17458, 32291, AGC= 48, IDX= 500, 0.22,-2.297, 2.441,-2.481,-2.582, PHS= 0.373,-1.214, 0.098, RAW= 140.7, 10.1, CAL= 143.8, 3.1, ROT= 6.2, -3.1 5V#Rx 112: Read range and direction messages.=\direction in FSK: [0.992696,0.107841,0.054079]=Fpublishing direction and range infopYrG"*?7|?ʾ7?rA9pr0N rq_)r2DIr#~ir0r>rZdr9=r)@ rJ4>)rK @Irk]=irk=rk]p prXy?x6ir45rk=rk]p p 0m?y ?9 n&Y D> H@r? b@/???U3ۤ?s?6b? 0m?ɨ rs; !CBB%7 IMchecking for new query: numPingsReceived=112, elapsed TxPingTime=53.467770}Mb@Mb@Mb@yy y)yIyy}S㥛?~jty&1|}$?}D}` }A)}@Iyi}Ay}fAHHL5< .=YFQ >!٣! %G%F%< ->)]5;59-m?a=;5Y-T i-B}0?m}:}?q}@-bD-%<-z%<-`;5 $AZjre~mm?bjrt V ipirXnT^AjrAjrA2jr?prlt#@}^T)?J̐?zprG"*?7|?ʾ7?"jrk=*jrk]prfg,Aܿo*Vs#@I7?pr#ji[ߢ?Yp 4?irAjrirލmm?irWT  jrBzjrT5Zm?jr[T jpjjrArjr?} addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.500636 s, deltaX: -0.300000 m, approachRate: -0.599238 m/s, rangeRepo size: 4  Added new target pos. range: 9.800000 m, bearing: 92.654357 deg, lat: 36.903932 deg, lon: -122.119010 deg, deltaT: 0.500636 s, deltaX: -0.300000 m, approachRate: -0.599238 m/s, posRepo size: 4 2iBNOT Ignoring new targets: 9.80 m.*i6Short final. Range: 9.80 m.VTransitioning guidance mode to: SHORT_FINALi@@i"i ProNav: ac range: 9.800000 m, nav range: 9.741739 m, bearing: 94.005271 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 94.849505 deg, new cmd heading: 95.808962 deg.  i |HeadingCmd: 1.672182 target range: 9.800000 and range: 9.80 m.h  ?h h h h g1g1bg9jg=uBe9e9je9JeE#@:eEC? ɛ-ʋּ)) -(=i1)5N11i5گ"=i= ?9=RؽI= ?IADx>D>checking for new query: numPingsReceived=112, elapsed TxPingTime=53.686390D! D! D! E% o0 E! VFE _ҽH R=H F!ZAQM5>k"x,yT^ADDAT read: Rx Time:19:47:29.8187 TRx dataTimestamp_ set to:1736538450.227797PDAT read: Bearing 5.1, -4.1 (Local) ~Local bearing/azimuth received: Bearing 5.1, -4.1 (Local) %DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4 MDAT read: 19:47:29.8187 LVL= 18896, 23985, 17970, 27091, AGC= 48, IDX= 500,-0.31,-3.098, 1.674, 3.046, 2.949, PHS= 0.324,-1.228, 0.094, RAW= 142.1, 11.2, CAL= 144.9, 4.1, ROT= 5.1, -4.1 eYgot valid direction response: 19:47:29.8187 LVL= 18896, 23985, 17970, 27091, AGC= 48, IDX= 500,-0.31,-3.098, 1.674, 3.046, 2.949, PHS= 0.324,-1.228, 0.094, RAW= 142.1, 11.2, CAL= 144.9, 4.1, ROT= 5.1, -4.1 eV#Rx 113: Read range and direction messages.m\direction in FSK: [0.993492,0.088667,0.071497]uFpublishing direction and range infoYǦ?.Pݲ? M?A9I ])2FIiiT>/=,@ +H>)!@IC=iK=C VC?+ ?c?I>iȒGK=C checking for new query: numPingsReceived=113, elapsed TxPingTime=53.955395%7ܧ?y%?9%'3Y%"M>%H@]ң?HXI?? ?੿@'c?~?`S?%7ܧ?ɨ%; % CEB; IHHK5=d<< =,=Y=qλQ =>A٣A EGAM< M>Y]];59]Ĕm?ae;5Y]N i]BaGGG IGBGGGG<G Fe?q@]bD]6e<]e<];5 AEZjݛ;ym?bjw&U ii:T^AjAjA2j|?pҊD6#@h =?n1?zpǦ?.Pݲ? M?"jK=*jCpR տ%[q#@"?p9u_Fʧr?ͺ(?i.AjjiLv ym?ij{S  jɄBzj$^[m?jWT j Bjj Arj>?E addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503624 s, deltaX: -0.200000 m, approachRate: -0.397121 m/s, rangeRepo size: 4  Added new target pos. range: 9.600000 m, bearing: 91.980690 deg, lat: 36.903932 deg, lon: -122.119010 deg, deltaT: 0.503624 s, deltaX: -0.200000 m, approachRate: -0.397121 m/s, posRepo size: 4 2i*i-zIgnoring new targets. Set target to previous: 9.60 m. 9.80 m.i"iE ProNav: ac range: 9.800000 m, nav range: 9.496673 m, bearing: 94.196278 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 95.808962 deg, new cmd heading: 96.799054 deg.  iAM|HeadingCmd: 1.689462 target range: 9.800000 and range: 9.60 m.hML@?hIhIhIhIggbgjgeejeJe@33#@:e`{-?ɛ;ּ) =i))-)1i5sa"=i5L@?9=ϑI=L@?I9թթchecking for new query: numPingsReceived=113, elapsed TxPingTime=54.189625D D D E a0 E ZI tbI njI rI zI ;N:I 99I I I zj;I }j;I R:I S:VF!F:J%MBJ%9JJ!RJ%M ZJ%ZAaM ?+x,6T^A&DDAT read: Rx Time:19:47:30.3184 *TRx dataTimestamp_ set to:1736538450.731906.PDAT read: Bearing 3.5, -2.2 (Local) .~Local bearing/azimuth received: Bearing 3.5, -2.2 (Local) 6DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 JDAT read: 19:47:30.3184 LVL= 17392, 24273, 14450, 27283, AGC= 46, IDX= 497, 0.01,-2.872, 1.938,-2.945,-3.108, PHS= 0.324,-1.190, 0.160, RAW= 144.3, 9.9, CAL= 146.5, 2.2, ROT= 3.5, -2.2 NYgot valid direction response: 19:47:30.3184 LVL= 17392, 24273, 14450, 27283, AGC= 46, IDX= 497, 0.01,-2.872, 1.938,-2.945,-3.108, PHS= 0.324,-1.190, 0.160, RAW= 144.3, 9.9, CAL= 146.5, 2.2, ROT= 3.5, -2.2 NV#Rx 114: Read range and direction messages.R\direction in FSK: [0.997399,0.061004,0.038388]VFpublishing direction and range info(Y*;~?-4;?.?*3A9(*C *^)*r8I*ji*.(*Q* #>*E/!@ *;0>)*_#@I*nF=i*5z=*nF( (*fPjJ?KA?4?I*w>i*/*5z=*nF( (rchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.4610755CB=8 IMb@Mb@Mb@ )IyJ +?~jth~jtx?DĻ A)@I@i?AAH-H-S5=[ ==YEQ E>A٣i uGuF} }>];59ؕm?a;5Y F i B?m:?q@bD;;};5 #AZj*"hm?bj*4XV i(i*׮T^Aj*3Aj*8A2j*?p*:&Z"@0?(TM?zp*;~?-4;?.?"j*5z=*j*nFp*,4|.*;fQ"@ `&z?p*D}Ëx1/z?*\U?i*Aj*pi*gBVm?i*/T  j*Bzj*ލmm?j*[T j*ɄBjj*Arj*? addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504109 s, deltaX: -0.400001 m, approachRate: -0.793480 m/s, rangeRepo size: 4  Added new target pos. range: 9.200000 m, bearing: 90.780203 deg, lat: 36.903934 deg, lon: -122.119010 deg, deltaT: 1.007733 s, deltaX: -0.600000 m, approachRate: -0.595396 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.20 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 9.193786 m, bearing: 94.414874 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 96.799053 deg, new cmd heading: 97.952404 deg.  i|HeadingCmd: 1.709592 target range: 9.800000 and range: 9.20 m.h?hhh!h!g!g!bg!jg-{Be)e)je)Je5`ff"@:e5`?雙ɛIռ) T=i) '隡i"=i?}I?Ichecking for new query: numPingsReceived=114, elapsed TxPingTime=54.694118DuDqDqEu`0 EqVF] -۽H @AH F ZA) MU >n2x,3T^AĬ?yw?9]Ya>H3:? 9??o@?@8?.?騭Ĭ?ɨ\; C9 IHH)M5: _=YQ >٣ GF%%= %>1]5;595m?a=;5Y5 A i5B9=?q=@5bD5:5l:5;5AUDDAT read: Rx Time:19:47:30.8183 ]TRx dataTimestamp_ set to:1736538451.236019mPDAT read: Bearing 1.1, -0.1 (Local) m~Local bearing/azimuth received: Bearing 1.1, -0.1 (Local) }DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 DAT read: 19:47:30.8183 LVL= 17200, 28401, 16018, 31843, AGC= 47, IDX= 511, 0.29,-1.498,-2.997,-1.475,-1.729, PHS= 0.318,-1.222, 0.250, RAW= 147.8, 8.7, CAL= 148.9, 0.1, ROT= 1.1, -0.1 Ygot valid direction response: 19:47:30.8183 LVL= 17200, 28401, 16018, 31843, AGC= 47, IDX= 511, 0.29,-1.498,-2.997,-1.475,-1.729, PHS= 0.318,-1.222, 0.250, RAW= 147.8, 8.7, CAL= 148.9, 0.1, ROT= 1.1, -0.1 V#Rx 115: Read range and direction messages.\direction in FSK: [0.999814,0.019197,0.001745]Fpublishing direction and range infoYY]Sz?\A5|?n p\?]A9Y]0C ]n)]>I]c|i]/]Т>]j]>]%@ ]|>)]R&@ M!A!I]:i]nF<]Y Y]c zE?Eqw?~i?I]c>i]m]nF<]Y YUchecking for new query: numPingsReceived=115, elapsed TxPingTime=54.977989Zj]Obm?bj]U iYi]T^Aj]Aj] A2j]\?p]\6 $!@8?]-?zp]Sz?\A5|?n p\?"j]nF<*j]p]0HqrͫĿ!@4\K?p]d_JhA? `oܾ?i]Aj]^%i]5*Km?i]YgT  j]XBzj]Lv ym?j]YgT j]Bjj]Arj]W? addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504113 s, deltaX: -0.200000 m, approachRate: -0.396736 m/s, rangeRepo size: 4  Added new target pos. range: 9.000000 m, bearing: 91.030010 deg, lat: 36.903935 deg, lon: -122.119010 deg, deltaT: 1.511846 s, deltaX: -0.800000 m, approachRate: -0.529155 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 9.00 m. 9.80 m.i"i% ProNav: ac range: 9.800000 m, nav range: 9.004874 m, bearing: 94.511841 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 97.952405 deg, new cmd heading: 98.740384 deg.  i)-|HeadingCmd: 1.723345 target range: 9.800000 and range: 9.00 m.h-?h)h1h1h1g1g1bg9jg9e9eajeaJem"@:emZ?G>GCG IGBGGG@DG<GFBɛ4ϼ)@< ض=i9)=99i=!=iE?IM ӽIU?IyDDDEo0 EEAEAVFMzFIrFMgAF ZA M5 > checking for new query: numPingsReceived=115, elapsed TxPingTime=55.1980098x,T^A6w?y6T?960lY6g>6H)L J.׺?`?R`q?`?#?6w?ɨ6; 6CBFBB= IMb@Mb@Mb@ )IyL7A`?Mb`?Mb+?; A)@IiVA3AH-H-GL5}v< }D=Y Q >٣ G= >ZIwbIxjIrIzIW:I9IIIz;Iz;I&:I':];59m?a;5Y&; iB/?m:?q@cD:V:M;5 A!-B*** querying acoustic contact ***i)i):JjIBJJJRJN ZJ2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.ic;"ic;% ProNav: ac range: 9.800000 m, nav range: 8.781393 m, bearing: 94.597679 deg, approach rate: -0.504043 m/s, LOS rate: 0.198527 deg/s, cmd heading: 98.740384 deg, new cmd heading: 99.004449 deg.  i%?<-|HeadingCmd: 1.727954 target range: 9.800000 and range: 9.00 m.h--?h)h)h)h)g1g1bg1jg5Be9e9je9Je9mDDAT read: Rx Time:19:47:31.3181 uTRx dataTimestamp_ set to:1736538451.739819}PDAT read: Bearing 358.7, -0.8 (Local) }~Local bearing/azimuth received: Bearing 358.7, -0.8 (Local) DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 DAT read: 19:47:31.3181 LVL= 16752, 26609, 16210, 28531, AGC= 47, IDX= 509,-0.25, 1.463, 0.014, 1.578, 1.301, PHS= 0.250,-1.240, 0.274, RAW= 150.8, 9.6, CAL= 151.3, 0.8, ROT= 358.7, -0.8 Ygot valid direction response: 19:47:31.3181 LVL= 16752, 26609, 16210, 28531, AGC= 47, IDX= 509,-0.25, 1.463, 0.014, 1.578, 1.301, PHS= 0.250,-1.240, 0.274, RAW= 150.8, 9.6, CAL= 151.3, 0.8, ROT= 358.7, -0.8 V#Rx 116: Read range and direction messages.^direction in FSK: [0.999645,-0.022685,0.013962]Fpublishing direction and range infoiYmy"@?7:4?m3 A9impA mg)mR?Imsoiim>mRmI>mq(@ m+>)m)@Imds @x,U^ABB7 IC=i=)= =H%H%~N55> 5J=Y=Q =>9٣9 EGEFE E>I]U;59M,m?aU;5YM5 iMBYYq]@McDM;M&;M;5i m.AiZjU4m?bjU|R iQiU2YT^AjU3 AjUF A2jUx?pU!d!@##Cɿ?zpUy"@?7:4?"jU޹*jUdpU5DDAT read: Rx Time:19:47:31.8180 5TRx dataTimestamp_ set to:1736538452.243901EPDAT read: Bearing 355.9, 1.3 (Local) E~Local bearing/azimuth received: Bearing 355.9, 1.3 (Local) UDAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4 }DAT read: 19:47:31.8180 LVL= 18144, 32497, 16178, 32755, AGC= 47, IDX= 508, 0.03,-1.772, 3.083,-1.567,-1.935, PHS= 0.251,-1.219, 0.365, RAW= 153.7, 7.9, CAL= 154.1, -1.3, ROT= 355.9, 1.3 Ygot valid direction response: 19:47:31.8180 LVL= 18144, 32497, 16178, 32755, AGC= 47, IDX= 508, 0.03,-1.772, 3.083,-1.567,-1.935, PHS= 0.251,-1.219, 0.365, RAW= 153.7, 7.9, CAL= 154.1, -1.3, ROT= 355.9, 1.3 V#Rx 117: Read range and direction messages.`direction in FSK: [0.997184,-0.071479,-0.022687]Fpublishing direction and range info1Y52r7|?.$wLNGY;5 A915F 5~)52?I5i15>515H>5>+@ 50 >)5!,@I5޹i5@5޹<1 1549^?v%1?.묵?I5ۑ?i5y 5i5޹<1 1checking for new query: numPingsReceived=117, elapsed TxPingTime=56.006180G G G IG BG =G G G <G FHA HAHAHE ="HA*HEr5EFx,NU^A?y??9YX{m>HQ4@??ʫ%z?`[??騽?ɨ2;  C=B1 Ichecking for new query: numPingsReceived=117, elapsed TxPingTime=56.2053115Mb@Mb@Mb@11 1)1I1y5 r?~jtxQ5?5Ļ5u 5A)5x@I5$@i5A15AHHN5e *=YpQ >٣ GFvg= >];59jm?a;5Y/ iB?m:?q@$cD8:}-<;5MB MVAMEZjmpm?bjmˡN iiimU^Ajm AjmA2jm>?pm_! &!@ߐͫ$Cfȿzpm2r7|?.$wLNGY;"jmi*jm޹<pmxvP?xo0!@Vz?pmfZP&z??ɤm@ƚ?im AjmR>imQ)m?imA&L  jmBzjmgBVm?jmj{S jmiBjjmYArjmt? addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504082 s, deltaX: -0.099999 m, approachRate: -0.198379 m/s, rangeRepo size: 4  Added new target pos. range: 8.600000 m, bearing: 88.629833 deg, lat: 36.903937 deg, lon: -122.119010 deg, deltaT: 2.519728 s, deltaX: -1.200000 m, approachRate: -0.476242 m/s, posRepo size: 4 2i!*i!%zIgnoring new targets. Set target to previous: 8.60 m. 9.80 m.i)"i)] ProNav: ac range: 9.800000 m, nav range: 8.322001 m, bearing: 94.761069 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 99.716759 deg, new cmd heading: 100.774265 deg.  iYe|HeadingCmd: 1.758843 target range: 9.800000 and range: 8.60 m.he!?hahihihigigibgqjgu{BeqeqjeJe@33!@:e@q?BɛƵܼ) X=i)iG =i!?ѽI%!?I!ZIsbIljIrIzIK:I9IIIe;Ie;I':I(::J BJ S9JJ RJ O ZJ w8  J I fAM DDAT read: Rx Time:19:47:32.3178 M TRx dataTimestamp_ set to:1736538452.747853U PDAT read: Bearing 352.8, 1.9 (Local) ] ~Local bearing/azimuth received: Bearing 352.8, 1.9 (Local) m DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4  DAT read: 19:47:32.3178 LVL= 18624, 27425, 15714, 28227, AGC= 47, IDX= 505, 0.32,-2.468, 2.387,-2.150,-2.596, PHS= 0.216,-1.253, 0.443, RAW= 157.1, 7.5, CAL= 157.2, -1.9, ROT= 352.8, 1.9  Ygot valid direction response: 19:47:32.3178 LVL= 18624, 27425, 15714, 28227, AGC= 47, IDX= 505, 0.32,-2.468, 2.387,-2.150,-2.596, PHS= 0.216,-1.253, 0.443, RAW= 157.1, 7.5, CAL= 157.2, -1.9, ROT= 352.8, 1.9  V#Rx 118: Read range and direction messages. `direction in FSK: [0.991569,-0.125265,-0.033155] Fpublishing direction and range infoI YM Y?FB3M A9I M H M !k)M b=IM CniI M /]>M NbM >M ~{/@ M >)M /@IM iM j @M =I I M MJwO?9w!?pS w?IM [%?iM M M =I I  checking for new query: numPingsReceived=118, elapsed TxPingTime=56.473175^D .=DU DQ DQ EU `0 EQ E] R>E] >VF}ݺF}?F}7?F1ZAAMe?Nx,^>U^AJchecking for new query: numPingsReceived=118, elapsed TxPingTime=56.709427f5ݳ?yf?9fYfp>fH5 @?{?±-i@^~?? ?f5ݳ?ɨfr[; fCrCBr8 III)IHUHUR5eG< e$=YmQ m>i٣q uGuFu< u>y];59}Xm?a;5Y}l( i}!B?q@}4cD};}h;}M;5 *AZjm>m?bjm}O iiim/U^AjmAjmA2jmx?pmЕ`u @s[)tѿzpmY?FB3"jm*jm=pm5~?NO @ે{?pmըЛZ?f,Yk?<[}z?imAjm>im!мm?im$N  jm^BzjmtDm?jm|wP jmXBjjmArjm? addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503952 s, deltaX: -0.300000 m, approachRate: -0.595295 m/s, rangeRepo size: 4  Added new target pos. range: 8.300000 m, bearing: 86.601153 deg, lat: 36.903939 deg, lon: -122.119008 deg, deltaT: 3.023680 s, deltaX: -1.500000 m, approachRate: -0.496084 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 8.30 m. 9.80 m.i"i  ProNav: ac range: 9.800000 m, nav range: 8.070826 m, bearing: 94.819274 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 100.774264 deg, new cmd heading: 101.797063 deg.  i|HeadingCmd: 1.776694 target range: 9.800000 and range: 8.30 m.hj?hhhhgAgAbgIjgIeIeIjeIJeU @:eU?雽Bɛּ) T=i)fi3=ij?ؽIj?I^Dط<DiDiDqEun0 EqVFeLĽF!ZA)MDDAT read: Rx Time:19:47:32.8177 MTRx dataTimestamp_ set to:1736538453.251840mPDAT read: Bearing 349.9, 2.4 (Local) m~Local bearing/azimuth received: Bearing 349.9, 2.4 (Local) }DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 DAT read: 19:47:32.8177 LVL= 18224, 29809, 14258, 30611, AGC= 46, IDX= 505,-0.21,-2.912, 2.030,-2.499,-2.992, PHS= 0.168,-1.214, 0.490, RAW= 160.2, 7.1, CAL= 160.1, -2.4, ROT= 349.9, 2.4 Ygot valid direction response: 19:47:32.8177 LVL= 18224, 29809, 14258, 30611, AGC= 46, IDX= 505,-0.21,-2.912, 2.030,-2.499,-2.992, PHS= 0.168,-1.214, 0.490, RAW= 160.2, 7.1, CAL= 160.1, -2.4, ROT= 349.9, 2.4 V#Rx 119: Read range and direction messages.`direction in FSK: [0.983640,-0.175213,-0.041876]Fpublishing direction and range infoIYMIy?_Ӫamƿ ۷pMA9IM0G Mqt)M7IMwiM.M1,>MZdMH>M2@ M=)M[2@IM+iMk@M+=I IM͏&];Dؿ?IM&3?iMkMT4M+=I Ichecking for new query: numPingsReceived=119, elapsed TxPingTime=56.979382M>G} >G} CGy Gy G} =Gy Gy G} %<G} #FdUx,XU^ABB7 Ichecking for new query: numPingsReceived=119, elapsed TxPingTime=57.214554eMb@Mb@Mb@aa a)aIayeGz?Mb`?Mbep>e;e a)eb@Ie@ieAaeAH}H} N5뗻 !=YQ >٣ G >];59m?a;5Y! i&B>m:?q@DcD;;;5 3A!Zjm?bjKN ii&PU^AjAjA2js?pJR@B(&"QUտzpIy?_Ӫamƿ ۷p"jT4*j+=pE?|`] @?2Vpc7nW*?e?t\iAj \?i Ym?iLM  jBzjQ)m?j$N jBjjArj}P? addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503987 s, deltaX: -0.200000 m, approachRate: -0.396835 m/s, rangeRepo size: 4  Added new target pos. range: 8.100000 m, bearing: 83.907986 deg, lat: 36.903940 deg, lon: -122.119007 deg, deltaT: 3.527667 s, deltaX: -1.700000 m, approachRate: -0.481905 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 8.10 m. 9.80 m.i"i- ProNav: ac range: 9.800000 m, nav range: 7.815902 m, bearing: 94.852222 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 101.797064 deg, new cmd heading: 102.868397 deg.  i)U|HeadingCmd: 1.795392 target range: 9.800000 and range: 8.10 m.hUj?hQhYhYhYgYgYbgajgekBeaeajeaJem@33 @:em`;?雕Bɛؼ) =i)R隙is=ij?Ij?ICCCC:J MBJ 9JJ RJ P ZJ *g{h[ND8,# r\PF>:;9J- ? J- ?m DDAT read: Rx Time:19:47:33.3174 u TRx dataTimestamp_ set to:1736538453.757829 PDAT read: Bearing 347.6, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 347.6, 3.4 (Local)  DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4  DAT read: 19:47:33.3174 LVL= 18880, 32753, 14834, 32755, AGC= 46, IDX= 502, 0.04,-2.391, 2.556,-1.901,-2.470, PHS= 0.166,-1.210, 0.566, RAW= 162.4, 6.0, CAL= 162.4, -3.4, ROT= 347.6, 3.4  Ygot valid direction response: 19:47:33.3174 LVL= 18880, 32753, 14834, 32755, AGC= 46, IDX= 502, 0.04,-2.391, 2.556,-1.901,-2.470, PHS= 0.166,-1.210, 0.566, RAW= 162.4, 6.0, CAL= 162.4, -3.4, ROT= 347.6, 3.4  V#Rx 120: Read range and direction messages.D D D E `0 E E `direction in FSK: [0.974953,-0.214357,-0.059306]m Fpublishing direction and range infoi Ym Ā2?p˿Cg]m f@9i m I m )m 9Im ii m )>m Hᚿm `?m g5@ m Pw=)m g5@Im sim "@m s=i i m !|ր? |u?Nh?Im n=?im }սm t]m s=i i  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with 120 pings in terminal homing one-way mode. H~G VFM}ѽ)UyY]AzFqrFuhAFIZAQMu?z^x,V+}U^AR"?yR%`?9R9tYR2q>RHJ??`Ӫxɳ? 7??R"?ɨRd; RCZ?B^4 IHfHf=X55( 3=YBQ  > ٣) 5G5F5= 5>9]E;59=m?aE;5Y= i=+BIM?qM@=ScD=0:;=;;=;5q }CA}EA E AM DDAT read: Rx Time:19:47:33.8174 U TRx dataTimestamp_ set to:1736538454.260263] PDAT read: Bearing 344.9, 3.7 (Local) e ~Local bearing/azimuth received: Bearing 344.9, 3.7 (Local) m DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4  DAT read: 19:47:33.8174 LVL= 20080, 32753, 14370, 32755, AGC= 46, IDX= 501, 0.38,-1.444,-2.741,-0.863,-1.487, PHS= 0.132,-1.206, 0.622, RAW= 165.0, 5.6, CAL= 165.1, -3.7, ROT= 344.9, 3.7  Ygot valid direction response: 19:47:33.8174 LVL= 20080, 32753, 14370, 32755, AGC= 46, IDX= 501, 0.38,-1.444,-2.741,-0.863,-1.487, PHS= 0.132,-1.206, 0.622, RAW= 165.0, 5.6, CAL= 165.1, -3.7, ROT= 344.9, 3.7  R#Rx 1: Read range and direction messages. `direction in FSK: [0.963460,-0.259962,-0.064532] Fpublishing direction and range infoI YM |Wq?76пP0I 9I M pN I )M "8II iI M +>M 5^M d;?M N8@ M +=)M !k8@IM AiM @M A=I I M  A?Tb?_@U*ظ?IM &I?iM ǽM ZM A=I I  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.GQ GU @AG] >G] CGY GY G] =GY GY G] <G] Fxex,=U^A6ú?y6?96|ݡY6lo>6H4 ? ?U@2`K6?J?7?6ú?ɨ6>,; 6 CNABN5 IHVHV&Q5;  K=Y=Q =>9٣9 =GEFE= E>I]U;59Mލm?a};5YM iM0By}w?q}@M`cDM;Mw;MJ;5 8AZjZm?bjO ii&U^Ajj2j7?p#Ͱ@}2)0߿zp|Wq?76пP0"jZ*j A=pf{%?e&@r<# ֿp*?$]? էi@j/?incm?iM  jBzjizm?jM jBjjO@rj&׻?U addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.502434 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 e Added new target pos. range: 7.700000 m, bearing: 82.460072 deg, lat: 36.903944 deg, lon: -122.119007 deg, deltaT: 4.536090 s, deltaX: -2.100000 m, approachRate: -0.462954 m/s, posRepo size: 4 e DDAT read: Rx Time:19:47:34.3171 e TRx dataTimestamp_ set to:1736538454.763887m PDAT read: Bearing 342.2, 3.8 (Local) u ~Local bearing/azimuth received: Bearing 342.2, 3.8 (Local)  DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4  DAT read: 19:47:34.3171 LVL= 21296, 32753, 14546, 32755, AGC= 46, IDX= 499,-0.18, 2.148, 0.917, 2.815, 2.151, PHS= 0.085,-1.188, 0.661, RAW= 167.7, 5.4, CAL= 167.8, -3.8, ROT= 342.2, 3.8  Ygot valid direction response: 19:47:34.3171 LVL= 21296, 32753, 14546, 32755, AGC= 46, IDX= 499,-0.18, 2.148, 0.917, 2.815, 2.151, PHS= 0.085,-1.188, 0.661, RAW= 167.7, 5.4, CAL= 167.8, -3.8, ROT= 342.2, 3.8  R#Rx 1: Read range and direction messages. `direction in FSK: [0.950036,-0.305023,-0.066274] Fpublishing direction and range infoa Ye Qf?!~ӿ{Se f@9a e 0S a )e 8Ia ia e {=e be L7)?e R;@ e =)e 5o;@Ie ԇie @e ԇ=a a e s"n?<ۚƑ?]l5M?Ie 9U?ie ½e e ԇ=a a  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.:J INBJ 9JJ RJ Q ZJ 40*%#6nn_PE7)  !kx,DU^AJIgAvb?yv?9vC̤Yv[m>vH@6x?.?@8Uד? ^?`2 ?vb?ɨvi; vCe?Be3 I%Mb@Mb@Mb@!! !)!I!y%ʡE?:v? rh%>%T<%C %`A)%=@I%@i%;A!%AH]H]@T5 !=Y8Q >٣ GF< >]m;59m?a};5YN i7B>m:J?q @ocD<<;5 HAZjxm?bj V iiU^Ajf@j@2j(?pј=m\@rkX7>w޿zpQf?!~ӿ{S"j*jԇ=p)̊?jy/^@O>aBڿp忏?lp?fIi@j?iZ m?i uU  jiBzj Ym?j$N jBjj@rj]? addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503624 s, deltaX: -0.500000 m, approachRate: -0.992804 m/s, rangeRepo size: 4  Added new target pos. range: 7.200000 m, bearing: 80.643178 deg, lat: 36.903945 deg, lon: -122.119007 deg, deltaT: 5.039714 s, deltaX: -2.600000 m, approachRate: -0.515902 m/s, posRepo size: 4 2i*i!-zIgnoring new targets. Set target to previous: 7.20 m. 9.80 m.i1"i1} ProNav: ac range: 9.800000 m, nav range: 7.150074 m, bearing: 94.611211 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 104.795640 deg, new cmd heading: 105.796332 deg.  i|HeadingCmd: 1.846494 target range: 9.800000 and range: 7.20 m.hY?hhhhggbgjgIBeejeJe@:ek?ZI ybI zjI rI zI ]:I 9I I rx,U^A)l n@eO?ye?9eTŦYe4o>eH_<?Ƙ? Xÿ@% Ҵ???eO?ɨeD; a}MB}E II)HH N5= p=Y9Q ?٣ G|+= ?];59nm?a;5YQ  uDDAT read: Rx Time:19:47:34.8169 }TRx dataTimestamp_ set to:1736538455.267838PDAT read: Bearing 341.1, 4.3 (Local) ~Local bearing/azimuth received: Bearing 341.1, 4.3 (Local) DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 DAT read: 19:47:34.8169 LVL= 20128, 32753, 15810, 32755, AGC= 46, IDX= 497, 0.11,-2.034, 3.006,-1.317,-2.029, PHS= 0.083,-1.201, 0.709, RAW= 168.7, 4.9, CAL= 168.9, -4.3, ROT= 341.1, 4.3 Ygot valid direction response: 19:47:34.8169 LVL= 20128, 32753, 15810, 32755, AGC= 46, IDX= 497, 0.11,-2.034, 3.006,-1.317,-2.029, PHS= 0.083,-1.201, 0.709, RAW= 168.7, 4.9, CAL= 168.9, -4.3, ROT= 341.1, 4.3 R#Rx 1: Read range and direction messages.`direction in FSK: [0.943422,-0.323006,-0.074979]Fpublishing direction and range infoyi;BY}6b=0?AeԿ]1}@9y}N y)}=Iyiy}=}^}5?}p<@ }%=)}<@I}`i}@}`=y y}Sz?{?w޵?I} Y?i}d+}Z䨾}`=y y 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.E?qM@ycD==&==;5Q UAUEZj}zbdm?bj}RnZ iyi}B$U^Aj}@j}U@2j}5޳?p} . @[tOg(zp}6b=0?AeԿ]1"j}Z䨾*j}`=p} Ǯ&?ZK'@؛. ߿p}fJu ?7j{?1 i}=@j}5?i}m?i}wY  j}TBzj}ncm?j}i2R j}Bjj}@rj}õ?- addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.503951 s, deltaX: -0.300000 m, approachRate: -0.595295 m/s, rangeRepo size: 4 = Added new target pos. range: 6.900000 m, bearing: 80.513100 deg, lat: 36.903946 deg, lon: -122.119009 deg, deltaT: 5.543665 s, deltaX: -2.900000 m, approachRate: -0.523120 m/s, posRepo size: 4 Gm>GiGm IGmBGiGiGiGm<GmF2iy*izIgnoring new targets. Set target to previous: 6.90 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 6.997009 m, bearing: 94.496084 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 105.796331 deg, new cmd heading: 106.514317 deg.  i|HeadingCmd: 1.859025 target range: 9.800000 and range: 6.90 m.h?hhhhggbgjgeejeJe@:e@?]Bɛ] 7ļ)Y ],=ia)e}aaie=im?im:ؽIm?IqD%D!D)E=}0 E9% 0yx,5U^AjFBj< I-only read 1 of 4 data items for water velocity. Device response is::WS,-3V @ @ @  @ HH^S5  E=YQ >٣ GF > ]%<59 m?a-<5Y E i @Bi5+:1m=:9q@ cD < > <5i mAqMB*** querying acoustic contact ***iIiI2iy*iyzIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iջ"iջ ProNav: ac range: 9.800000 m, nav range: 6.803464 m, bearing: 94.343060 deg, approach rate: -0.459835 m/s, LOS rate: -0.373904 deg/s, cmd heading: 106.514314 deg, new cmd heading: 106.042195 deg.  iM|HeadingCmd: 1.850785 target range: 9.800000 and range: 6.90 m.h?hhhhggbg jg eejeJe:e?]DDAT read: Rx Time:19:47:35.3167 eTRx dataTimestamp_ set to:1736538455.772750mPDAT read: Bearing 339.0, 4.0 (Local) u~Local bearing/azimuth received: Bearing 339.0, 4.0 (Local) DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed 0.4 DAT read: 19:47:35.3167 LVL= 22992, 32753, 14882, 32755, AGC= 46, IDX= 511,-0.40, 1.467, 0.282, 2.258, 1.524, PHS= 0.031,-1.195, 0.731, RAW= 171.0, 5.2, CAL= 171.0, -4.0, ROT= 339.0, 4.0 Ygot valid direction response: 19:47:35.3167 LVL= 22992, 32753, 14882, 32755, AGC= 46, IDX= 511,-0.40, 1.467, 0.282, 2.258, 1.524, PHS= 0.031,-1.195, 0.731, RAW= 171.0, 5.2, CAL= 171.0, -4.0, ROT= 339.0, 4.0 R#Rx 1: Read range and direction messages.`direction in FSK: [0.931306,-0.357495,-0.069756]Fpublishing direction and range infoaYe`B?pW(3ֿ&k۱e3@9aeY a)e":Iaiae J +?雭BɛԼ) =i)隱i=i?BɽI?ID!D!D!E%0 E)VFE uٽ x,X:V^AU?yUS?9UYUZq>UHſ`.?s?`'ǿ kि`[1?@?*?U?ɨU{; UCޭNBޭF IHHJ5= 9=YVQ >٣ GF%"= %>)]u<59-$m?au<5Y- i-FBiu :qm}:}?q}@-cD-,<-^?-*<5 AZjtm?bj]?X iitU^Aj3@j@2j?pT#@0F+wݿzp`B?pW(3ֿ&k۱"jj*j5=p?1@Tc ߿p~4?~hp?7ݲi@j?iϓ_m?iW  jUBzjj uU jiBjj@rjղ?E addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504912 s, deltaX: -0.300000 m, approachRate: -0.594163 m/s, rangeRepo size: 4 } Added new target pos. range: 6.600000 m, bearing: 80.113740 deg, lat: 36.903946 deg, lon: -122.119010 deg, deltaT: 6.048577 s, deltaX: -3.200000 m, approachRate: -0.529050 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 6.60 m. 9.80 m.i"iF<U ProNav: ac range: 9.800000 m, nav range: 6.598793 m, bearing: 94.118208 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 106.042198 deg, new cmd heading: 106.868484 deg.  iU<|HeadingCmd: 1.865207 target range: 9.800000 and range: 6.60 m.h?hhhhZIrbInjIrIzIG:I99IIgQgYbgijgqeejeJe`ff@:e@?  Bɛ |˼)  =i )NiL5=i?5I?I!mDDAT read: Rx Time:19:47:35.8166 mTRx dataTimestamp_ set to:1736538456.277263}PDAT read: Bearing 337.6, 3.9 (Local) ~Local bearing/azimuth received: Bearing 337.6, 3.9 (Local) DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 DDDE0 EEEDAT read: 19:47:35.8166 LVL= 24720, 32753, 15378, 32755, AGC= 46, IDX= 510, 0.02,-2.586, 2.528,-1.738,-2.500, PHS= 0.002,-1.208, 0.759, RAW= 172.4, 5.2, CAL= 172.4, -3.9, ROT= 337.6, 3.9 Ygot valid direction response: 19:47:35.8166 LVL= 24720, 32753, 15378, 32755, AGC= 46, IDX= 510, 0.02,-2.586, 2.528,-1.738,-2.500, PHS= 0.002,-1.208, 0.759, RAW= 172.4, 5.2, CAL= 172.4, -3.9, ROT= 337.6, 3.9 R#Rx 1: Read range and direction messages.`direction in FSK: [0.922405,-0.380188,-0.068015]VFN̽G) G) G- IG- ɂBG) G) G) G- <G- FFpublishing direction and range infoiYmKW? Uؿ,::sim@9im` i)m<Iiiimo;mmMB?m@@ i)m@@Im'gim)@m'g=i im_Zn?,noA?Iq?Im >j?imлm+Ⱦm'g=i i  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.F ZA M ><x,V^A#<D A)@I@iAzAHH]5M< M=YMQ U>Q٣Q UGQ] }>]<59y~m?a<5Y  iMBiT:f>m:?q@cD;l; <5 AZjwm?bjJU iiV^Aj@j@2jw?p@LWG~?[KܿzpKW? Uؿ,::si"j+Ⱦ*j'g=pB?Xk@~W:ph?ϗI?di^@j?ik-m?i9T  jRBzjm?jjUBjj_@rj ? addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504513 s, deltaX: -0.100000 m, approachRate: -0.198211 m/s, rangeRepo size: 4  Added new target pos. range: 6.500000 m, bearing: 78.731800 deg, lat: 36.903947 deg, lon: -122.119010 deg, deltaT: 6.553090 s, deltaX: -3.300000 m, approachRate: -0.503579 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 6.50 m. 9.80 m.i9"iA ProNav: ac range: 9.800000 m, nav range: 6.375572 m, bearing: 93.870403 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 106.868487 deg, new cmd heading: 107.944449 deg.  i |HeadingCmd: 1.883986 target range: 9.800000 and range: 6.50 m.ht&?hhhhggbg jg LBe e je Je @:e *Q?e "Bɛ ,ɼ) |=i ) zt隉 i !:=i t&? ԽI t&?I u DDAT read: Rx Time:19:47:36.3165 } TRx dataTimestamp_ set to:1736538456.781301 PDAT read: Bearing 336.4, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 336.4, 3.4 (Local)  DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 :J a3JBJ +9JJ RJ S ZJ MnZMw(vgT@!ypdXLB:3/J I hAD% D! D! E% p0 E! e DAT read: 19:47:36.3165 LVL= 23536, 32753, 13586, 32755, AGC= 45, IDX= 508,-0.42, 1.254, 0.112, 2.153, 1.386, PHS=-0.044,-1.227, 0.764, RAW= 173.8, 5.9, CAL= 173.6, -3.4, ROT= 336.4, 3.4 m Ygot valid direction response: 19:47:36.3165 LVL= 23536, 32753, 13586, 32755, AGC= 45, IDX= 508,-0.42, 1.254, 0.112, 2.153, 1.386, PHS=-0.044,-1.227, 0.764, RAW= 173.8, 5.9, CAL= 173.6, -3.4, ROT= 336.4, 3.4 m R#Rx 1: Read range and direction messages.u `direction in FSK: [0.914750,-0.399645,-0.059306] Fpublishing direction and range infoy Y} O-E?kƓٿCg]} f@9y } [ y )} 5Iy i} -} X94} V} C?} "B@ } B=)} A@I} si} @} s=y y } S*N? ?#X:Q?I} {Zp?i} 6ҽ} JҾ} s=y y  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VFo̽FZAM?Nx,l&=V^A{?y?9E Yt>H`ȿ`a`?@H?ʿA]?`1?`i?{?ɨ[;  CMbBM_ IHH]5_n= K=YܺQ >٣ GFw= >]<598{m?a<5Y iSB?q@cD;;# <5 %1A!M DDAT read: Rx Time:19:47:36.8164  TRx dataTimestamp_ set to:1736538457.283840 PDAT read: Bearing 336.0, 2.8 (Local)  ~Local bearing/azimuth received: Bearing 336.0, 2.8 (Local) 5 DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 ] DAT read: 19:47:36.8164 LVL= 22304, 31521, 11650, 32755, AGC= 44, IDX= 507, 0.08,-2.699, 2.447,-1.775,-2.534, PHS=-0.077,-1.255, 0.756, RAW= 174.3, 6.6, CAL= 174.0, -2.8, ROT= 336.0, 2.8 e Ygot valid direction response: 19:47:36.8164 LVL= 22304, 31521, 11650, 32755, AGC= 44, IDX= 507, 0.08,-2.699, 2.447,-1.775,-2.534, PHS=-0.077,-1.255, 0.756, RAW= 174.3, 6.6, CAL= 174.0, -2.8, ROT= 336.0, 2.8 m R#Rx 1: Read range and direction messages.u `direction in FSK: [0.912455,-0.406251,-0.048850]u Fpublishing direction and range info Y 2?J7Vڿs!D 9 W !{) -I i , - ף 7A? B@ =) \B@I +Hi f@ +H= wR?7\Ϙ?ږ?I r?i > Jw־ +H=  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.G >G CG IG ؂BG G G ADG ɰ<G FH}˫C H}˫CHyH} ="Hy*H}4wx,VV^A6;?y6?96lY6`t>6H`pʿaI?2? UA̿3 0g?`&??6;?ɨ6э; 4NpBNo IHVHVT56= P=YB¹Q >٣ GF =  >9]E<59=wm?aM<5Y= i=XBIMv?qM@=cD=:=:=<5a AZjEΛm?bjEgS iAiEo*RV^AjAjE@2jE|U?pE~K@VNi&mc22bӿzpE2?J7Vڿs!D"jEJw־*jE+H=pE#_/K>?O]s R@]|xڿpEnX/?>Sa?6[iE@jE?iERm?iE>R  jEBzjEϓ_m?jAjAjjE@rjEP? addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502539 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 6.200000 m, bearing: 79.378792 deg, lat: 36.903946 deg, lon: -122.119011 deg, deltaT: 7.559667 s, deltaX: -3.600000 m, approachRate: -0.476211 m/s, posRepo size: 4 2iQ*iQ]zIgnoring new targets. Set target to previous: 6.20 m. 9.80 m.iYei)1i=iZ3?`AIZ3?IDDDE0 EE >E>VF ս- DDAT read: Rx Time:19:47:37.3163 5 TRx dataTimestamp_ set to:1736538457.789362E PDAT read: Bearing 334.8, 1.9 (Local) E ~Local bearing/azimuth received: Bearing 334.8, 1.9 (Local) e DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 Fq ZAy M >DGx,sV^A:JJOBJ9JJRJT ZJ*)$#  !xZHZ0 >DAT read: 19:47:37.3163 LVL= 23264, 29665, 10674, 31107, AGC= 43, IDX= 505,-0.22, 0.447,-0.654, 1.415, 0.670, PHS=-0.136,-1.278, 0.742, RAW= 175.7, 7.7, CAL= 175.2, -1.9, ROT= 334.8, 1.9 BYgot valid direction response: 19:47:37.3163 LVL= 23264, 29665, 10674, 31107, AGC= 43, IDX= 505,-0.22, 0.447,-0.654, 1.415, 0.670, PHS=-0.136,-1.278, 0.742, RAW= 175.7, 7.7, CAL= 175.2, -1.9, ROT= 334.8, 1.9 BR#Rx 1: Read range and direction messages.f`direction in FSK: [0.904330,-0.425545,-0.033155]fFpublishing direction and range infoY WD?{p!<ۿB3@9Z s))Iyi+C =??BD@  >)EC@Ii@= Ȥi?0?1-?Inx?i z0ᾩ=  %?y W?9 WY eu> HͿ? ?`wϿn?*N?z? %?ɨ j&; xBz I %2Acoustic response timeout-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.II)IMb@Mb@Mb@ )Iyjt?{Gz?ף<t A)@Ip@iA@HH~N5- = -#=Y5QvQ 5>1٣1 =Gy}e= }>]<59rm?a<5Y iaB >m:?q@cD.<.<<5 B AEZjU#m?bjQ&lS iirV^Aj@j@2j ϱ?pHAu3@\}zmL͒vɿzp WD?{p!<ۿB3"jz0*j=pe+7P? w@0\Jտp(2It?l?$x%c@i@j?icjm?i3dR  jɁBzj Sm?j9T jsBjj@rjN?- addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.505522 s, deltaX: -0.200000 m, approachRate: -0.395630 m/s, rangeRepo size: 4  Added new target pos. range: 6.000000 m, bearing: 79.591338 deg, lat: 36.903946 deg, lon: -122.119010 deg, deltaT: 8.065189 s, deltaX: -3.800000 m, approachRate: -0.471161 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 6.00 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 5.817080 m, bearing: 92.845749 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 109.757493 deg, new cmd heading: 110.692976 deg.  i|HeadingCmd: 1.931957 target range: 9.800000 and range: 6.00 m.h-]J?h)h)h)h)g)g)bg1jg5;Be1e9je9Je=@:e=@?'Bɛ.T) !>i)ti=i]J?OI]J?I99=(x,h@V^AH}C=H}a=B IHH[W5= _=YQ >!٣! %G%F- ->1]=<595nm?a=<5Y5 i5gBAAqE@5cD5:5K:5(<5q uAuEDDAT read: Rx Time:19:47:37.8163 TRx dataTimestamp_ set to:1736538458.291919PDAT read: Bearing 334.2, 1.3 (Local) ~Local bearing/azimuth received: Bearing 334.2, 1.3 (Local) DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 -B*** querying acoustic contact ***i1i12i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i\DAT read: 19:47:37.8163 LVL= 21824, 26353, 11362, 27843, AGC= 43, IDX= 504, 0.30,-2.660, 2.527,-1.657,-2.396, PHS=-0.175,-1.313, 0.737, RAW= 176.4, 8.5, CAL= 175.8, -1.3, ROT= 334.2, 1.3 Ygot valid direction response: 19:47:37.8163 LVL= 21824, 26353, 11362, 27843, AGC= 43, IDX= 504, 0.30,-2.660, 2.527,-1.657,-2.396, PHS=-0.175,-1.313, 0.737, RAW= 176.4, 8.5, CAL= 175.8, -1.3, ROT= 334.2, 1.3 "i\ ProNav: ac range: 9.800000 m, nav range: 5.664053 m, bearing: 92.473002 deg, approach rate: -0.437160 m/s, LOS rate: -1.093607 deg/s, cmd heading: 110.692976 deg, new cmd heading: 109.544684 deg.  i;|HeadingCmd: 1.911915 target range: 9.800000 and range: 6.00 m.h?R#Rx 1: Read range and direction messages. `direction in FSK: [0.900087,-0.435119,-0.022687] Fpublishing direction and range infohhhhggbgjgeejeG->G)G- !IG-BG- =G)G)G-<G-FؙY؝ >w?]ۿNGY;ؙ9ؙ؝@U ٝf)ٝb,Iٝliٙٝ333ٝbٝ)ڝ^D@Iڝ޹iڝ @ڝ޹<ڙ ۙ۝("?Z]^@Y?G9>?I۝o{?i۝۝ 澩۝޹<ۙ ܙ }2Acoustic response timeoutJe:e?Querying Benthos address 50 with 120 pings in terminal homing one-way mode. )Bɛ r)  8>i )li~=i?={}{<=I=?IA^Dm <M :H`-пR?? qѿm>?r ??:t?ɨ:8; :CVBZ I,DAT read: user:1287> BDAT read: Tx time:19:47:38.7109 $Ping request sent.< IA)IC@iA@H5H5GL5EE= E=YMߴ:Q M>Q٣Q UGUF]S= ]>a]<59ephm?a<5Ye ierB>m:?q@ecDe};e;e<5 A:J3NBJ9JJRJU ZJZjm?bjF$I iiͮV^Ajj2j񎩳?p"@?ԽzԂlzp >w?]ۿNGY;"j *j޹<pipq9?.G@dyqҿpK&F? ?ڡMi@jI?ixm?iH  jBzjRm?j>R jBjj@rj? addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.502557 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 6.000000 m, bearing: 80.421041 deg, lat: 36.903945 deg, lon: -122.119009 deg, deltaT: 8.567746 s, deltaX: -3.800000 m, approachRate: -0.443524 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 6.00 m. 9.80 m.i"iF< ProNav: ac range: 9.800000 m, nav range: 5.439676 m, bearing: 91.778808 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 109.544684 deg, new cmd heading: 110.634050 deg.  i<|HeadingCmd: 1.930928 target range: 9.800000 and range: 6.00 m.h(?hhhhggbgjgZBeejeJe:eQ?+Bɛ]()a exN>ia)eaaimg=im(?uMxqZx,V^A]B] Ie5= I=YQ >٣ GF >]<59cm?a%<5YN i|B!!q%@cD::f <5) ->A12i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iNּ"iNּ ProNav: ac range: 9.800000 m, nav range: 5.268140 m, bearing: 91.206283 deg, approach rate: -0.434931 m/s, LOS rate: -1.498886 deg/s, cmd heading: 110.634052 deg, new cmd heading: 108.861145 deg.  i|HeadingCmd: 1.899985 target range: 9.800000 and range: 6.00 m.h2?hhhhggbgjgeejeJe:e?]-Bɛ] f)Y eg>ia)eRaaie =i?g7I2?ICCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.507853G>GG.!IG BG =GGG#<G!FDDDE0 EE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759341VF &F ZA M>Khx,uV^A)q qeg?ye?9e+Ye-di>eH ҿ,?k? Pӿg_?.?H?eg?ɨe1; a}B} IZI bI jI 1rI zI I I 3I I I I I mMb@Mb@Mb@ii i)iIiymʡE?+?Mb?m>m=m< mA)m@Im-@iiimz@HH=5 0= =YzQ >٣ Gx= >]<59\m?a<5Y iB>m:?q@cD.; ;$<5 A2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iz"iz ProNav: ac range: 9.800000 m, nav range: 5.060743 m, bearing: 90.324060 deg, approach rate: -0.409028 m/s, LOS rate: -1.811153 deg/s, cmd heading: 108.861146 deg, new cmd heading: 106.108243 deg.  i_|HeadingCmd: 1.851938 target range: 9.800000 and range: 6.00 m.hP ?hhhh!g!g!bg!jg)e1ejeJe:e?0Bɛۥq) |x>i ) D  i ô=i=*?9=H=I=P ?IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011036:JBJJJRJV ZJTWJ3wob[VOH?82-)!DDDE?5 EVF@zFgArFdAFZAM>Ix,32W^A=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262649EBE IHUHUV85(= o=YQ ?٣ GF ?]<59Xm?a<5YB iBq@dD::'<5 SA2i*i!%zIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i-"i-= ProNav: ac range: 9.800000 m, nav range: 4.923697 m, bearing: 89.697096 deg, approach rate: -0.401242 m/s, LOS rate: -1.886672 deg/s, cmd heading: 106.108246 deg, new cmd heading: 104.175772 deg.  i=١E|HeadingCmd: 1.818210 target range: 9.800000 and range: 6.00 m.hE?hAhAhAhAgAgIbgIjgIeQeQjeQJeQ:e]W?}2Bɛ|) >i)隁i.=i0?XE=I?IDMDIDIEM_0 EIE]=E]=VF-OSFZAM-O>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514825G) G) G- Z!IG- /BG- =G) G) G- <G- FQqƕx,W^A2?y22?92=Y2dh>2H%Կe`?B?Կq@? \?@W?2?ɨ25Z; 2 CN̂BR IIT)THZHZ&Q5b= b\=Yf<;Q f>d٣d fGjFjI= j>l]r<59nRm?ar<5Yn` inBtv?qv@n dDn:n:n +<5| ~A|B*** querying acoustic contact ***ii2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iG"iG ProNav: ac range: 9.800000 m, nav range: 4.777096 m, bearing: 88.929347 deg, approach rate: -0.376507 m/s, LOS rate: -2.032210 deg/s, cmd heading: 104.175773 deg, new cmd heading: 101.803273 deg.  iV|HeadingCmd: 1.776802 target range: 9.800000 and range: 6.00 m.hBn?hhhhggbgjg e e je Je:e@@=4Bɛ=)A E+>iA)EAAiE=iM?IM=IMBn?IQmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.770030DDDE`0 EVF- %:ZI5 tbI5 njI5 0rI1 zI5 ;N:I5 99I5 ـ3I1 I5 zj;I5 }j;I5 R:I5 S:F! ZA) MM > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0187878̕x,4W^AJ^?yJM?9JmڠYJc>JH ԿY? .?FտM@?4'??J^?ɨJz; HVւBV I:J~ NBJ~9JJ|RJ~W ZJ~  J fAI fAUMb@Mb@Mb@QQ Q)QIQyUkt?)\(?UGa=Ut< Ud A)U@IU@iUAQU@HeHe Y5u;= }?=Y}h;Q }>٣ G< >]<59Km?a<5Y iB>m:@q@dDa;;.<5 AE2iI*iIuzIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i}qA"i}qA ProNav: ac range: 9.800000 m, nav range: 4.598648 m, bearing: 87.824878 deg, approach rate: -0.420890 m/s, LOS rate: -2.705941 deg/s, cmd heading: 101.803273 deg, new cmd heading: 98.365634 deg.  i"|HeadingCmd: 1.716804 target range: 9.800000 and range: 6.00 m.h=?hhhhggbgjgVBeejeJe:e@e6Bɛm&) >i)隡i=i=?Z.>I=?IDeDaDaEa EaVF=r7FZA!M=r>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270837wӕx,NW^AUBU!IHeHeT5}= }J=Y}Q }>٣ GF >]<59Dm?a<5Y iBq@%dDI;g:d2<5 A2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iW"iW ProNav: ac range: 9.800000 m, nav range: 4.431064 m, bearing: 86.695280 deg, approach rate: -0.430103 m/s, LOS rate: -3.008545 deg/s, cmd heading: 98.365632 deg, new cmd heading: 94.853308 deg.  i |HeadingCmd: 1.655503 target range: 9.800000 and range: 6.00 m.h?hhhhggbgjge e je Je :e @=8BɛEhz)A E>iA)EAIiM =DDAT read: Rx Time:19:47:40.8459 TRx dataTimestamp_ set to:1736538461.320725PDAT read: Bearing 322.0, -3.0 (Local) ~Local bearing/azimuth received: Bearing 322.0, -3.0 (Local) DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.3 DAT read: 19:47:40.8459 LVL= 26480, 22129, 11954, 30387, AGC= 40, IDX= 264, 0.29, 3.126, 2.349,-1.704,-2.545, PHS=-0.524,-1.343, 0.838, RAW= 188.2, 10.8, CAL= 188.0, 3.0, ROT= 322.0, -3.0 Ygot valid direction response: 19:47:40.8459 LVL= 26480, 22129, 11954, 30387, AGC= 40, IDX= 264, 0.29, 3.126, 2.349,-1.704,-2.545, PHS=-0.524,-1.343, 0.838, RAW= 188.2, 10.8, CAL= 188.0, 3.0, ROT= 322.0, -3.0 R#Rx 1: Read range and direction messages.^direction in FSK: [0.786931,-0.614818,0.052336]Fpublishing direction and range infoY>T.?9 yoU˪?@9pg qV).Ivi($m竿+V?8R@ A>)~Q@IPwV=iֳ@PwV 5^?.޾.?g^]?IP?i@)PwV mchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.545696G>GCG!IGRBG =GGGH<G;FiMm?IMF>IM?IQDDDE EEgAEVF@^;FqZAyM~>m checking for new query: numPingsReceived=1, elapsed TxPingTime=2.775606ٕx,phW^A:"?y: `?9:̔Y:AU>:H ̨տH`? ?&ֿԸl?m?s?@9?:"?ɨ:Aˌ; 8RBR!IVG>iV<5Mb@Mb@Mb@11 1)1I1y5Zd;?Mb?y&1|?5>5=5`; 5 A)1I5@i5A15@HMHMM5}(= }J=Y|n٣ GF]"= >]}<59m:@q@2dD<<6<5 ~AZIvbIrjIrIzI{T:I9IIIFu;IIu;I:I:Zj@Em?bjPT ii†TW^Aj@j @2j?pZT @("=h@@%?zp>T.?9 yoU˪?"j)*jPwVpHB)?pn@fAp]f?r :p?˾Ri@jJ?i=ըm?iS  j͂Bzjcjm?jjɁBjjo@rj|? addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 3.028806 s, deltaX: -1.500000 m, approachRate: -0.495245 m/s, rangeRepo size: 4 M Added new target pos. range: 4.500000 m, bearing: 72.070366 deg, lat: 36.903944 deg, lon: -122.119009 deg, deltaT: 11.596552 s, deltaX: -5.300000 m, approachRate: -0.457032 m/s, posRepo size: 4 2iQ*iQUzIgnoring new targets. Set target to previous: 4.50 m. 9.80 m.i]"i]F< ProNav: ac range: 9.800000 m, nav range: 4.257722 m, bearing: 85.321120 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 94.853310 deg, new cmd heading: 95.847030 deg.  i<|HeadingCmd: 1.672846 target range: 9.800000 and range: 4.50 m.h?hhhhggbgjgoBeejeJe@:e?;Bɛ) >i)i =iE?AEm^>IE?IIAADDAT read: Rx Time:19:47:41.3458 TRx dataTimestamp_ set to:1736538461.824818PDAT read: Bearing 319.2, -9.9 (Local) ~Local bearing/azimuth received: Bearing 319.2, -9.9 (Local)  DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.3 EDAT read: 19:47:41.3458 LVL= 31312, 26209, 14290, 32755, AGC= 39, IDX= 502, 0.35, 0.794, 0.176, 2.273, 1.529, PHS=-0.647,-1.306, 0.741, RAW= 191.6, 13.3, CAL= 190.8, 9.9, ROT= 319.2, -9.9 UYgot valid direction response: 19:47:41.3458 LVL= 31312, 26209, 14290, 32755, AGC= 39, IDX= 502, 0.35, 0.794, 0.176, 2.273, 1.529, PHS=-0.647,-1.306, 0.741, RAW= 191.6, 13.3, CAL= 190.8, 9.9, ROT= 319.2, -9.9 UR#Rx 2: Read range and direction messages.m^direction in FSK: [0.745723,-0.643691,0.171929]mFpublishing direction and range infoYx?!?f@9Pz af)7DDDEn0 EIi'ˡ%:JuCLBJu9JJqRJuX ZJu+-=?V@ ,m>)+ U@I;0>VF4q=iaF@;0 1r???K }?Iw?iKnK6;0 checking for new query: numPingsReceived=2, elapsed TxPingTime=3.092989FQZAaM}>x,dsW^A%checking for new query: numPingsReceived=2, elapsed TxPingTime=3.278796%B-!!IH=H=C5M = MN=YMQ U>Q٣Q UGQ} >]<595m?a<5Yҿ įBq@>dD;;q9<5 FAZj+z/m?bj^Z iitW^Ajf@j@2j,?p,i @rĠ@v?zpx?!?"jK6*j;0pT(?`m@[?pEn?q@N\?cm?ix@j@?im?iY  jBzjxm?jjBjj@rj͙? addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504093 s, deltaX: -0.300000 m, approachRate: -0.595129 m/s, rangeRepo size: 4  Added new target pos. range: 4.200000 m, bearing: 67.923639 deg, lat: 36.903942 deg, lon: -122.119009 deg, deltaT: 12.100645 s, deltaX: -5.600000 m, approachRate: -0.462785 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 4.20 m. 9.80 m.i"i % ProNav: ac range: 9.800000 m, nav range: 4.095170 m, bearing: 83.905659 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 95.847034 deg, new cmd heading: 96.583861 deg.  i!=|HeadingCmd: 1.685706 target range: 9.800000 and range: 4.20 m.h=:?h9h9h9h9gAgAbgijgieqeqjeqJe}@:e}@o?=Bɛ-)) -~>i1)5O11i5 =iEt?AEXS>IE:?IiH R=H =D!D!D)E-0 E)VFb=FZAM%>DDAT read: Rx Time:19:47:41.8457 TRx dataTimestamp_ set to:1736538462.327843PDAT read: Bearing 317.2, -20.4 (Local) ~Local bearing/azimuth received: Bearing 317.2, -20.4 (Local) DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed 0.2 - DAT read: 19:47:41.8457 LVL= 32752, 32753, 16066, 32755, AGC= 37, IDX= 501, 0.35, 1.003, 0.512, 2.502, 1.897, PHS=-0.807,-1.339, 0.602, RAW= 194.6, 17.4, CAL= 192.8, 20.4, ROT= 317.2, -20.4 5 Ygot valid direction response: 19:47:41.8457 LVL= 32752, 32753, 16066, 32755, AGC= 37, IDX= 501, 0.35, 1.003, 0.512, 2.502, 1.897, PHS=-0.807,-1.339, 0.602, RAW= 194.6, 17.4, CAL= 192.8, 20.4, ROT= 317.2, -20.4 5 R#Rx 3: Read range and direction messages.= ^direction in FSK: [0.687712,-0.636828,0.348572]= Fpublishing direction and range infoY6I-?z^`<O?3@9 )>Ii%NZd?^Y@ |>)\W@IK>im(@K RV\1?V5`o?i6/?I4?iq⛾m;?K  checking for new query: numPingsReceived=3, elapsed TxPingTime=3.559054G >G G !IG qBG =G G @DG U<G CFHɬC HɬCHH ="H =*HN5x,'PW^A66H/ֿ`^?@\?@fֿxk??8^?d?6BB8!IHJHJJ5=и= EK=YEI٣I MGMFM.< M>Y]e<59]-m?ae<5Y]F i]֨BimQ@qm@]KdD] :]:]<<5uB u\@EZj >m?bj ~] i i aW^Aj 3@j S@2j 7?p 4@aPɝiI)UUQQiU $ =i]?Y]ͥF>I]?IaDqDDDE0 EE >E>VF T=Fa ZAq M > DDAT read: Rx Time:19:47:42.3455  TRx dataTimestamp_ set to:1736538462.834155 PDAT read: Bearing 313.6, -20.9 (Local)  ~Local bearing/azimuth received: Bearing 313.6, -20.9 (Local) - DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed 0.2 M DAT read: 19:47:42.3455 LVL= 26384, 28193, 12770, 32755, AGC= 35, IDX= 500,-0.30, 2.339, 1.995,-2.486,-3.061, PHS=-0.796,-1.181, 0.572, RAW= 197.9, 17.3, CAL= 196.4, 20.9, ROT= 313.6, -20.9 x, &W^AYgot valid direction response: 19:47:42.3455 LVL= 26384, 28193, 12770, 32755, AGC= 35, IDX= 500,-0.30, 2.339, 1.995,-2.486,-3.061, PHS=-0.796,-1.181, 0.572, RAW= 197.9, 17.3, CAL= 196.4, 20.9, ROT= 313.6, -20.9 R#Rx 4: Read range and direction messages.^direction in FSK: [0.644246,-0.676525,0.356738]Fpublishing direction and range info)Y-F?b O?-3s@9)-g -!n)-1I)i-#-K-+-n?-q]@ -#>)-a[@I-ú>i-%@-ú) )-.P?jz ?V?I-I?i-􃚾-5QO-ú) )*checking for new query: numPingsReceived=4, elapsed TxPingTime=4.059990vp?yvK?9vwYv&>vHֿ@A ??`qֿ?@Uޮ?@{??vp?ɨvߍ; v C~B=!II ) :J+KBJ9JJRJY ZJv}X\ m*}aF, Mb@Mb@Mb@ )Iy?V-?~jth??m=D;  A)@I@iQ@@HHH5E < E.=YMO/q٣y }GFkA >]<59$m?a<5Y iB?m:g@q@ZdD/:M:A<5 @Zj-}m?bj-b i)i-bW^Aj-3s@j-q@2j-L?p-#ƕ@m8Fm4?zp-F?b O?"j-5QO*j-úp-紪%? @ozR?p-[c?V]p5?R]Q?i-oL@j--?i-Rm?i-Rqa  j-:Bzj-m?j-Y j-Bjj-cz@rj-? addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.506312 s, deltaX: -0.300000 m, approachRate: -0.592520 m/s, rangeRepo size: 4  Added new target pos. range: 3.800000 m, bearing: 61.157052 deg, lat: 36.903942 deg, lon: -122.119012 deg, deltaT: 13.109982 s, deltaX: -6.000000 m, approachRate: -0.457667 m/s, posRepo size: 4 2i!*i!-zIgnoring new targets. Set target to previous: 3.80 m. 9.80 m.i)"i1= ProNav: ac range: 9.800000 m, nav range: 3.737939 m, bearing: 80.242841 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 97.404795 deg, new cmd heading: 98.412115 deg.  i9e|HeadingCmd: 1.717615 target range: 9.800000 and range: 3.80 m.he?hihihihigigibgqjguJBeqeqjeyJe}`ff@:e})r?CBɛ :) >i!)%j!!i%BH =i-?)-k6>I-?I1Echecking for new query: numPingsReceived=4, elapsed TxPingTime=4.287357DDDE0 EVFq=FQ ZAa M >H! H! ZI9 bI= ojI= 1rI9 zI9 I= K9I= 3I9 qE @iM @uM @mM @"x,dW^A2m?y2?92`Y2E >2Hdտݶ,??Tֿiq? k? f?2m?ɨ2ގ; 2C^&BbO!IHjHjI5= w=YL)ڥT_@Iڥ޹>iڥ@ڥ޹ڡ ۡۥI u?>R?R g?Iۥk?iۥTۥu0aۥ޹ۡ ܡEchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.560465Gu>GqGu!IGuBGqGqGuADGu <Gu F雵EBɛm;) >i) ޼i =iY?k|<4>Is?IDDDE/5 EVF}#>FYZAaM}{>e checking for new query: numPingsReceived=5, elapsed TxPingTime=4.793625x,W^A2?y2r?92FY2=2Hfeտ cۿ?d?`տ|@ܨ?b? ?2?ɨ2c; 0^-B^X!IMb@Mb@Mb@ )Iy)\(?x&?MbPG?7= A)@I@i@@HH995< .=YaV٣ G F z  >]<59m?a<5Y; iB%i?m%:%@q%@tdD{::H<5 B @EZjAem?bjK\ ii'W^Ajj2jI?p!]nla@u7$+?zp@\ t?R _S{?"ju0a*j޹p7M|? y׃^@N'?pl}?V??YP9!?iB@j?i(m?iK[  jrBzjjK[ j:Bjjg@rj&?E addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.502097 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 3.800000 m, bearing: 57.136400 deg, lat: 36.903942 deg, lon: -122.119013 deg, deltaT: 13.612079 s, deltaX: -6.000000 m, approachRate: -0.440785 m/s, posRepo size: 4 2iY*iY]zIgnoring new targets. Set target to previous: 3.80 m. 9.80 m.i"iF< ProNav: ac range: 9.800000 m, nav range: 3.426295 m, bearing: 76.265804 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 93.755404 deg, new cmd heading: 94.748500 deg.  i<|HeadingCmd: 1.653673 target range: 9.800000 and range: 3.80 m.h?hhhhggbgjgBeejeJe:e?DDAT read: Rx Time:19:47:43.3453 TRx dataTimestamp_ set to:1736538463.839880PDAT read: Bearing 305.5, -16.1 (Local) ~Local bearing/azimuth received: Bearing 305.5, -16.1 (Local) DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.1 DAT read: 19:47:43.3453 LVL= 25040, 29425, 14370, 31987, AGC= 31, IDX= 498, 0.06,-2.041,-2.201,-0.384,-1.091, PHS=-0.863,-1.064, 0.704, RAW= 204.0, 14.5, CAL= 204.5, 16.1, ROT= 305.5, -16.1 Ygot valid direction response: 19:47:43.3453 LVL= 25040, 29425, 14370, 31987, AGC= 31, IDX= 498, 0.06,-2.041,-2.201,-0.384,-1.091, PHS=-0.863,-1.064, 0.704, RAW= 204.0, 14.5, CAL= 204.5, 16.1, ROT= 305.5, -16.1 R#Rx 6: Read range and direction messages.^direction in FSK: [0.557927,-0.782185,0.277315]Fpublishing direction and range infoةYح#}s?Oz/?ح`@9ةحa ٭r)٭"8I٭|i٭٭\٭'1٭X94?GBɛ";)! %o>i!)% ڼ!!i% =i-?)-I-?I1٭c@ ڭ>)ڭmd@Iڭޏ>iڭ@ڭޏک ۩ۭkqH¼?e\?8CmL?Iۭ?iۭ\;ۭ%sۭޏ۩ ܩUchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.065147DzD:JNBJs9JJRJZ ZJ    ~GlA DMDIDIEM?5 EQE]hAEY)u&y}lA}BVF- D>zF= hArF= hAF! ZAA Me >(x,X^An8Brf!I checking for new query: numPingsReceived=6, elapsed TxPingTime=5.296013٣ G >]<59|m?a<5Yا iB q @dDK::7K<55B 5@5EZjz m?bj׹_ iiW^Aj`@j^@2j9o?p q>?!1Kғ1*?zp#}s?Oz/?"j%s*jޏpNP54@q͢ @,?pJ7τ?ȁXL%2?Y|1?i_0@j@i+m?iX>_  jBzjj_] jjj^@rjRr?e addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503628 s, deltaX: -0.300000 m, approachRate: -0.595678 m/s, rangeRepo size: 4  Added new target pos. range: 3.500000 m, bearing: 53.684388 deg, lat: 36.903942 deg, lon: -122.119014 deg, deltaT: 14.115707 s, deltaX: -6.300000 m, approachRate: -0.446311 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 3.50 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 3.287116 m, bearing: 74.135349 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 94.748500 deg, new cmd heading: 95.525748 deg.  i|HeadingCmd: 1.667239 target range: 9.800000 and range: 3.50 m.hh?hhh h ggbgIjgIeQeYjeYJe @:e:?IBɛ0;) >i)׼i =ZIbI}jIrIzIp:IS9IIih?fZ>Ih?IDDDE4 EDDAT read: Rx Time:19:47:43.8453 TRx dataTimestamp_ set to:1736538464.343888PDAT read: Bearing 301.9, -13.0 (Local) ~Local bearing/azimuth received: Bearing 301.9, -13.0 (Local) DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.1  DAT read: 19:47:43.8453 LVL= 23920, 28433, 16498, 29123, AGC= 30, IDX= 498, 0.39,-1.781,-1.866,-0.008,-0.794, PHS=-0.899,-1.025, 0.783, RAW= 206.4, 13.0, CAL= 208.1, 13.0, ROT= 301.9, -13.0  Ygot valid direction response: 19:47:43.8453 LVL= 23920, 28433, 16498, 29123, AGC= 30, IDX= 498, 0.39,-1.781,-1.866,-0.008,-0.794, PHS=-0.899,-1.025, 0.783, RAW= 206.4, 13.0, CAL= 208.1, 13.0, ROT= 301.9, -13.0  R#Rx 7: Read range and direction messages. ^direction in FSK: [0.514894,-0.827213,0.224951] Fpublishing direction and range infoعYؽβz?x꿃:/2?ع9عؽp] ٽo)ٽr@Iٽqiٽٽ$fٽ33ٽrH?ٽf@ ڽVh>)ڽ/sh@IڽVh>iڽޜ@ڽVhڹ ۹۽~4"?&O?]D?I۽t?i۽\3h۽ˁ۽Vh۹ ܹ= checking for new query: numPingsReceived=7, elapsed TxPingTime=5.564296Gu >Gq Gu !IGu BGu =Gq Gq Gu B<Gu 6FVF D>FY ZAa M} >#x,X^AFӠ?yFV?9FCYF'=FH Կ:F)?X^?*Կ@;`p?J??FӠ?ɨF); D~CB~t!IHmHm)M5}x]= }J=Yz=Q >٣ GF-X ->1]=<595m?a=<5Y5Т i5BAE^@qe@5dD5;5;5N<5y }P@yZj7/m?bjc^ iiCX^Ajjchecking for new query: numPingsReceived=7, elapsed TxPingTime=5.8039652j\?px?Jiu)S8S1?zpβz?x꿃:/2?"jˁ*jVhpvf{@'@@XD*?p{0z?sI?brA ?iV'@jW@ioDpm?ifd]  jBzj(m?jfd] jjjvX@rj7b? addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.500000 m, bearing: 49.417015 deg, lat: 36.903942 deg, lon: -122.119014 deg, deltaT: 14.619715 s, deltaX: -6.300000 m, approachRate: -0.430925 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 3.50 m. 9.80 m.i"i% ProNav: ac range: 9.800000 m, nav range: 3.131885 m, bearing: 71.554107 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 95.525748 deg, new cmd heading: 96.525272 deg.  i!]|HeadingCmd: 1.684684 target range: 9.800000 and range: 3.50 m.h]?hahahhggbgjgeejeJe :e@?LBɛ;) m>i)Ӽi%t=ie?l:>I?I D] DY DY E] ;5 Ea VF5 JT> DDAT read: Rx Time:19:47:44.3452  TRx dataTimestamp_ set to:1736538464.848280 PDAT read: Bearing 296.5, -10.7 (Local)  ~Local bearing/azimuth received: Bearing 296.5, -10.7 (Local)  DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.1  DAT read: 19:47:44.3452 LVL= 26816, 32753, 16146, 32131, AGC= 31, IDX= 497,-0.14, 1.844, 1.896,-2.508, 2.905, PHS=-0.973,-0.962, 0.868, RAW= 210.3, 11.6, CAL= 213.5, 10.7, ROT= 296.5, -10.7 F ZA M- >5 Ygot valid direction response: 19:47:44.3452 LVL= 26816, 32753, 16146, 32131, AGC= 31, IDX= 497,-0.14, 1.844, 1.896,-2.508, 2.905, PHS=-0.973,-0.962, 0.868, RAW= 210.3, 11.6, CAL= 213.5, 10.7, ROT= 296.5, -10.7 5 R#Rx 8: Read range and direction messages.= ^direction in FSK: [0.438439,-0.879374,0.185667]E Fpublishing direction and range infoؙ BH x,7X^AY8]{d?r # &K{?3S@9h )?I}iyEv?5^?Ij@ 4QO>)W{n@It;?>iʘ@t;? 1xt,X?=?I?iOC܍t;? checking for new query: numPingsReceived=8, elapsed TxPingTime=6.081365M?yMi?9MDZYM"+=MH`ҿ= ?@Y?`D&ҿa8?qa?`?M?ɨMM3; IޥKBޥ~!I:JqKBJJJRJ[ ZJmMb@Mb@Mb@ii i)iIiymV-?J +?~jtxm|>mH=mĻ m@)m&@Iiimp@im@HHD5= )=Y:٣ GFV >I]U<59M:l?aU<5YM  iMBU^?mU:U]?q]@MdDMj:M:MR<5a @Zjm?bj*Yc ii8J6X^Aj3S@jQ@2jvC>?pyL&?YY)7í_ jBjjWO@rj2QO? addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.504392 s, deltaX: -0.200000 m, approachRate: -0.396517 m/s, rangeRepo size: 4 } Added new target pos. range: 3.300000 m, bearing: 42.583190 deg, lat: 36.903942 deg, lon: -122.119015 deg, deltaT: 15.124107 s, deltaX: -6.500000 m, approachRate: -0.429777 m/s, posRepo size: 4 2i*izIgnoring new targets. Set target to previous: 3.30 m. 9.80 m.i"i ProNav: ac range: 9.800000 m, nav range: 2.956400 m, bearing: 68.580592 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 96.525272 deg, new cmd heading: 97.342613 deg.  i|HeadingCmd: 1.698949 target range: 9.800000 and range: 3.30 m.h*w?hhhhggbgjgBeejeJe`ff @:e ` ?NBɛNG<) >i)м checking for new query: numPingsReceived=8, elapsed TxPingTime=6.304535i=i-*w?qu" >Iu*w?IyD D D E `0 E ZI |bI zjI 0rI zI ;g:I 9I ـ3I VFM 8Y>FU ?FU 9?F!ZA)MM>+x,`UX^A2DDAT read: Rx Time:19:47:44.8452 6TRx dataTimestamp_ set to:1736538465.351743>PDAT read: Bearing 291.6, -0.8 (Local) >~Local bearing/azimuth received: Bearing 291.6, -0.8 (Local) FDAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.1 ZDAT read: 19:47:44.8452 LVL= 29472, 30641, 15506, 31859, AGC= 32, IDX= 513, 0.21,-2.709,-2.404,-0.304,-1.564, PHS=-1.057,-0.792, 1.257, RAW= 216.0, 5.4, CAL= 218.4, 0.8, ROT= 291.6, -0.8 ^Ygot valid direction response: 19:47:44.8452 LVL= 29472, 30641, 15506, 31859, AGC= 32, IDX= 513, 0.21,-2.709,-2.404,-0.304,-1.564, PHS=-1.057,-0.792, 1.257, RAW= 216.0, 5.4, CAL= 218.4, 0.8, ROT= 291.6, -0.8 ^R#Rx 9: Read range and direction messages.b^direction in FSK: [0.368089,-0.929686,0.013962]bFpublishing direction and range info4Y6mlĎ?&l4?4946 s 6w)6<I6s|i6 6K6J6`?6:Fq@ 6=)6s@I6dA٣A EGAE4 M>]<59l?a<5Y i?q@dDp::V<5 -@)Zj6m?bj6c i4i6VX^Aj4j42j6R%?p6}\bo?>ɬ90 Q*?zp6mlĎ?&l4?"j6Θ*j6dp6] XI@j"&K?dhp68Tea*?QB?kO`{i65?j6(@i6ƫm?i6霙c  j6MBzj6oDpm?j4j6Bjj6nN@rj6w:? addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503463 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.300000 m, bearing: 37.001282 deg, lat: 36.903943 deg, lon: -122.119015 deg, deltaT: 15.627570 s, deltaX: -6.500000 m, approachRate: -0.415932 m/s, posRepo size: 4 2i*iEzIgnoring new targets. Set target to previous: 3.30 m. 9.80 m.iA"iIU ProNav: ac range: 9.800000 m, nav range: 2.805977 m, bearing: 65.704919 deg, approach rate: 0.000000 m/s, LOS rate: 0.695482 deg/s, cmd heading: 97.342613 deg, new cmd heading: 98.236641 deg.  iQ]|HeadingCmd: 1.714553 target range: 9.800000 and range: 3.30 m.h]xv?hYhahahagagibgijgieieqjeqJeq:eu@~?PBɛ"0<)  4?i ) Jͼ  i =ixv?Y=Ixv?I!DDDE E-checking for new query: numPingsReceived=9, elapsed TxPingTime=6.809090VF*T>F ZA ME >2Tx,MoX^AV?yV ?9V*J YVO!٣! %G%F-o@ ->9]=<59=Tl?aE<5Y= i9iE+:AmE:E?qE@=dD=:=>=ZY<5q u@qB*** querying acoustic contact ***ii2i*izIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.iM"iM] ProNav: ac range: 9.800000 m, nav range: 2.669995 m, bearing: 62.790501 deg, approach rate: -0.362798 m/s, LOS rate: -8.168126 deg/s, cmd heading: 98.236644 deg, new cmd heading: 89.129539 deg.  ie-uDDAT read: Rx Time:19:47:45.3452 }TRx dataTimestamp_ set to:1736538465.855495DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.1 -Z#Rx 10: Read range message, but no direction.qq9qchecking for new query: numPingsReceived=10, elapsed TxPingTime=7.062974|HeadingCmd: 1.555604 target range: 9.800000 and range: 3.30 m.h?hhhhggbgjgeejeJe:e`s?RBɛE<) }?i)ɼiv=i?ƒ<%=I%?I):J=BJ9JJ9RJ=\ ZJ=JU? JU?DDDEe0 EVF6w+>FiZAM>% checking for new query: numPingsReceived=10, elapsed TxPingTime=7.3109409="x,EdX^AJ [?yJ?9JYJN\?J [?ɨJ8; JC^bB^!IHnHnL5z׋< z_=Y~|٣| GF V > ]<59 Vl?aM<5Y  i Bi :m:$?q@ dD r= J? s[<5u B uo@}EU addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503752 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iUUTStarting intercept timer at range: 3.30 m.*iQ]zIgnoring new targets. Set target to previous: 9.80 m. 9.80 m.i]"ie ProNav: ac range: 9.800000 m, nav range: 2.546083 m, bearing: 59.816938 deg, approach rate: -0.299420 m/s, LOS rate: -7.531589 deg/s, cmd heading: 89.129536 deg, new cmd heading: 79.860608 deg.  i|HeadingCmd: 1.393831 target range: 9.800000 and range: 3.30 m.h i?hhhhggbgjgZI}bI}jIrIzI[j:IS9IIeejeJe:e?雭SBɛP<) 9?i)^Ƽ隱i.E=i%u? =I i?IDaDaDaEeo0 EiDDAT read: Rx Time:19:47:45.8451 TRx dataTimestamp_ set to:1736538466.362281PDAT read: Bearing 289.3, -4.9 (Local) ~Local bearing/azimuth received: Bearing 289.3, -4.9 (Local) DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 DAT read: 19:47:45.8451 LVL= 17632, 21041, 11138, 21379, AGC= 31, IDX= 511, 0.40, 2.275, 2.605,-1.729,-2.838, PHS=-1.082,-0.793, 1.106, RAW= 217.0, 7.5, CAL= 220.7, 4.9, ROT= 289.3, -4.9 GGAAG>GG"IG̃BGGGG <G F-Ygot valid direction response: 19:47:45.8451 LVL= 17632, 21041, 11138, 21379, AGC= 31, IDX= 511, 0.40, 2.275, 2.605,-1.729,-2.838, PHS=-1.082,-0.793, 1.106, RAW= 217.0, 7.5, CAL= 220.7, 4.9, ROT= 289.3, -4.9 VF52 >zF9rF9T#Rx 11: Read range and direction messages.^direction in FSK: [0.329306,-0.940352,0.085417]Fpublishing direction and range infoؑYؕU3RZ?{\b$ݵ?ؕL@9ؑؕD ٕ1R)ٕ+IٕSiٕٕ~ٕ KFZAM>ٕh?ٕ.dr@ ڕ >)ڕ6v@Iڕ%=iڕZ@ڕ%ڑ ۑەeھo@}??IەI?iەsە򝿩ە%ۑ ܑ=checking for new query: numPingsReceived=11, elapsed TxPingTime=7.620137\e(x,7X^A:/?y:U?9: ;Y:<:H ˿Ee?@F?n ˿ ^?Xt |٣| ~G|3 > ]<59  l?a<5Y u i Bi9ma:?q@ dD t; p? R]<5! -?@)ZjNJm?bj] Echecking for new query: numPingsReceived=11, elapsed TxPingTime=7.817709ii/X^AjL@jpK@2j ?p)EH?0gne| N~?zpU3RZ?{\b$ݵ?"j*j%pl@4RH?˹:IQ?IDDDE0 E DDAT read: Rx Time:19:47:46.3450  TRx dataTimestamp_ set to:1736538466.866118 PDAT read: Bearing 287.5, -2.9 (Local)  ~Local bearing/azimuth received: Bearing 287.5, -2.9 (Local)  DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0  DAT read: 19:47:46.3450 LVL= 17168, 21473, 13618, 22227, AGC= 31, IDX= 510, 0.15, 0.182, 0.631, 2.621, 1.397, PHS=-1.127,-0.719, 1.221, RAW= 219.4, 5.8, CAL= 222.5, 2.9, ROT= 287.5, -2.9  Ygot valid direction response: 19:47:46.3450 LVL= 17168, 21473, 13618, 22227, AGC= 31, IDX= 510, 0.15, 0.182, 0.631, 2.621, 1.397, PHS=-1.127,-0.719, 1.221, RAW= 219.4, 5.8, CAL= 222.5, 2.9, ROT= 287.5, -2.9  T#Rx 12: Read range and direction messages. ^direction in FSK: [0.300321,-0.952496,0.050593] Fpublishing direction and range infoء Yإ [u8?yz|rQ?إ @@9ء إ C ٥ S)٥ 25I٥ Vi١ ٥ A٥ b8٥ I?٥ xu@ ڥ 4Q=)ڥ x@Iڥ 4QO=iڥ @ڥ 4QOڡ ۡ ۥ Ŀ~i?\[?Iۥ ?iۥ ƍϽۥ oۥ 4QOۡ ܡ % checking for new query: numPingsReceived=12, elapsed TxPingTime=8.085714VF= # >F ZA M >&.x,/X^A:JBJ9JJRJ] ZJ )OzJgAIgA^S?y^??9^q?<D @)@I@i@=@H H C5I= ,=Y%d!٣! MGMFU U>Y]e<59]l?ae<5Y] i]BieT:eX>m:?q@]dD]z(<](<]a<5 @Zjm?bjp-] iiznX^Aj@@j>@2jא?p#?!t}m?zp[u8?yz|rQ?"jo*j4QOpB@BdO?Ud[?pXh ?Wi?Dž_y?iʸ?j>(@i;Km?i%r]  jBzjjfd] jԃBjj^D@rj> addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503837 s, deltaX: -0.200000 m, approachRate: -0.396954 m/s, rangeRepo size: 4  Added new target pos. range: 3.000000 m, bearing: 28.774519 deg, lat: 36.903943 deg, lon: -122.119014 deg, deltaT: 17.141945 s, deltaX: -6.800000 m, approachRate: -0.396688 m/s, posRepo size: 4 2iRStopped intercept timer at range: 3.00 m.*iBIntercept lockout. Range: 3.00 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUTi@hhhhhggbgjgBeejechecking for new query: numPingsReceived=12, elapsed TxPingTime=8.318937Je@:e@`?EWBɛM\<)I M ?iI)MKIIiU!=ie??imV?>IqIDADADAEM0 EIVF ޥ > DDAT read: Rx Time:19:47:46.8451  TRx dataTimestamp_ set to:1736538467.368070 DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 - Z#Rx 13: Read range message, but no direction.ء إ L@9ء  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.576892F G >G G ""IG уBG G G G <G vFH̫C H̫CHH ="H =*HC5ZA M >+6x,X^A%wB%!IH5H5-I5]< eR=YeQ m>i٣i mGmFu u>y]<59}Gl?a<5Y}  i}Bq@}dD};};}d<5 @ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.501952 s, deltaX: 0.200000 m, approachRate: 0.398445 m/s, rangeRepo size: 4 2iTStarting intercept timer at range: 3.20 m.*ihhhhhggbgjgeejeJe @:e`SY?XBɛ<) k?i)%廼!!i%; =i-?)-m}>I)I1DDDE!5 EVF >F?F)?FQZAqM:>checking for new query: numPingsReceived=13, elapsed TxPingTime=8.826235ZI ybI zjI rI zI ]:I 9I I I ;q I ;i I P:u I Q:m =<x,TX^A!II!)!))Mb@Mb@Mb@ )Iym?Mb> @)@I@i@HHJ5as; B=YQ >٣ G    >%DDAT read: Rx Time:19:47:47.3450 -TRx dataTimestamp_ set to:1736538467.8720355DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -=Z#Rx 14: Read range message, but no direction.!%@@9!Echecking for new query: numPingsReceived=14, elapsed TxPingTime=9.079749I]U<59Ml?aU<5YMy iMBU>m]:]M?q]@MdDM\ ;MC ;Mh<5a e@aB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503965 s, deltaX: -0.200000 m, approachRate: -0.396853 m/s, rangeRepo size: 4 2iRStopped intercept timer at range: 3.00 m.*ihhhhhggbgjgBeejeJe@:e=z?YBɛ`{<) ?i)ui=i ? >II:J-LBJ-9JJ)RJ-^ ZJ-{qh[PID;630,,*+($!  ^D]<Di Di Di Em 0 Ei  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.326913VFE D;>F! ZAA Mm >$Cx,Q/ Y^A{B!IH-H-)M5=< EW=YAQ E>I٣I MGMFI U>Q]]<59Ul?ae<5YUju iUBaaqe@UeDU#;U;Uk<5q u@y2iTStarting intercept timer at range: 3.00 m.*ihhhhhggbgjgeHUC=HU=eijeqJey:e}`?雭[Bɛ<) N?i)1Q隱iH=iL9?II^D( <D9D9D9E=_0 E9MDDAT read: Rx Time:19:47:47.8451 MTRx dataTimestamp_ set to:1736538468.379278]DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 -]Z#Rx 15: Read range message, but no direction.IML@GiGiGiGiGm =GiGmADGm*<Gm#F9Ichecking for new query: numPingsReceived=15, elapsed TxPingTime=9.590441VFm =>FA ZAQ Mm >PIx,'Y^A^checking for new query: numPingsReceived=15, elapsed TxPingTime=9.837641mf~?ym?9m%=YmU$=mH*ȡ?`?1i 8ǥ?#` ?`?mf~?ɨm"; i=BE!IeMb@Mb@Mb@aa a)aIayeˡE?I +~jtxe>e94eĻ eC@)e@IeC@ie@ae3@H}H}J5= *=Y+[=Q >٣ GFN >]<59l?a<5Yo iB>m:?q@eD:]:p<5 F@E addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.507243 s, deltaX: 0.200000 m, approachRate: 0.394288 m/s, rangeRepo size: 4 2iRStopped intercept timer at range: 3.20 m.*ihh h h h g g bgjgBeejeJe @:e |a?\Bɛ <)(= b?i)ܯiy>=i9Ѯ?IIZIuxbIuujIu/rIqzIuZ:Iu9Iu(N3IqIu ;Iu ;Iuf:Iug:UDDAT read: Rx Time:19:47:48.3449 ]TRx dataTimestamp_ set to:1736538468.883345eDAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 -eZ#Rx 16: Read range message, but no direction.Y]9@9Yuchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.091098I)  ^De r= kA ) )u $yu kAu AD D D E 2 E E =E :J ^NBJ `9JJ RJ _ ZJ  "19<::761/+*)$   VF OV>zF rF F ZA M >)zPx,`BY^A27O?y2?921=Y2T=2H ޾`4u?n?eyS?<Ţ?@?27O?ɨ2#; 2 C:B>!IHDHDN N}=YNUF)ZA9M]u> A  DDAT read: Rx Time:19:47:48.8450  TRx dataTimestamp_ set to:1736538469.388289 DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 - Z#Rx 17: Read range message, but no direction. @@9  checking for new query: numPingsReceived=17, elapsed TxPingTime=10.595175G G G G G G G @DG <G FVx,p[Y^ABd?yB>?9B$I=YB=BH Jg? ?d蹿? !@Z??Bd?ɨB~"; BCv{Bz!IHHJ5 C=Y]!٣! %G%F-/ ->1]=<595l?a=<5Y5f i5ۨB9E0?qE@5$eD5;5;5v<5I M@I addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504944 s, deltaX: 0.100000 m, approachRate: 0.198042 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe@:eR?^Bɛj6<) u?i)#i=iı?ht>II^D)=]checking for new query: numPingsReceived=17, elapsed TxPingTime=10.845336D]DaDaEi EiISI[3I[S}.ISISISZI ~bI yjI 0rI zI {m:I 9I ـ3I I <;I =;I :I :VF 6>F ZA M >,,]x,?wY^AnDDAT read: Rx Time:19:47:49.3450 rTRx dataTimestamp_ set to:1736538469.891336vDAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -vZ#Rx 18: Read range message, but no direction.ll9lzchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.098290yB!IMb@Mb@Mb@ )Iy rh?{GzMb>ף Z@)@I@iK@@HH&Q5`  3=YQ >٣ GF >]<59ol?a<5Ya iԨB >m : ?q @2eD;;z<5 @]B*** querying acoustic contact ***iYiY addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503047 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iRStopped intercept timer at range: 3.00 m.*ihhhhhggbgjgBeejeJe:e?U_Bɛ]g<)Y ] ?:J]MBJ]9JJYRJ]` ZJ]^? 6 Gz )>m Jm ? Jm ?iy)e隁ihs=iQ?g>IICCCCchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.348301D D D E _0 E Ey Ey VF5 N|>F ZA M5 >}dx,ِY^A6A?y6?96=-r=Y6Bs<6H@䮿??~ ?$Ai??6A?ɨ65U; 6 C>wBB!IHFHF)M5R Rd=YRT٣T VGTV  Z?`]b<59b6l?af<5Yb] ibΨBdfH?qf@bIIDDDE0 E DDAT read: Rx Time:19:47:49.8450  TRx dataTimestamp_ set to:1736538470.395285DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -%Z#Rx 19: Read range message, but no direction.  9 5checking for new query: numPingsReceived=19, elapsed TxPingTime=11.603877GIGIGM"IGMǃBGIGIGMADGMM<GM=FVF+u>FZAME> checking for new query: numPingsReceived=19, elapsed TxPingTime=11.851008@jx,Y^A n?y |?9 =Y ; H gt? ?I3@k?\9O~?? n?ɨ E; %rB%!IMb@Mb@Mb@ )Iyq= ףp?y&1y&1|>`` @)@I@iHHK5H )=Y&$٣ GFoO >]<59l?a<5Y.W iŨB>m:?q@JeDG;E;<5 r@ addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503949 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iRStopped intercept timer at range: 3.00 m.*ihhhhhggbgjgBeejeJe:e D?ZI xbI vjI rI zI Z:I ϣ9I I I  ;I  ;I :I :]aBɛ]Vn<)a ex?ia)escaaiew =iim]<IiIqDDDE0 EDDAT read: Rx Time:19:47:50.3449 TRx dataTimestamp_ set to:1736538470.899907DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 - Z#Rx 20: Read range message, but no direction.9@9checking for new query: numPingsReceived=20, elapsed TxPingTime=12.107812VFU Y?u>:J 2OBJ 9JJ RJ a ZJ [ ]JrZRKLOJ]T3 I*_MB=81/-,-.,),,+9EagUG=3/+*(J I hAF1 ZA9 M] >qx,_|Y^A2l?y2?92PE=Y2֎;2H`.Ol?l?@jh?:eCq??2l?ɨ2<; 2C:kB:!IH~H~jC5c %q=Y-7B =iF <_>IIchecking for new query: numPingsReceived=20, elapsed TxPingTime=12.355790DQDQDYE]05 EYEe4>Ee>VF5!r>FZAM-->G5 >G1 G5 "IG5 BG5 =G1 G5 @DG5 _<G5 IFU DDAT read: Rx Time:19:47:50.8450 U TRx dataTimestamp_ set to:1736538471.408022] DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 -e Z#Rx 21: Read range message, but no direction.Q U @@9Q m checking for new query: numPingsReceived=21, elapsed TxPingTime=12.614887=wx,^Y^AhB!IHHF5Ej EG=YMQ M>I٣I MGIU U>Y]m<59]l?am<5Y] N i]Bqqqu@]`eD]sQ;]GD;]p<5} B @E addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.508115 s, deltaX: 0.100000 m, approachRate: 0.196806 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe@:e?ɛ- ~<)) -?i1)5b11i5 =i9=<=%6 >I9IADDDE/5 Eխ=խ<checking for new query: numPingsReceived=21, elapsed TxPingTime=12.866777VF $I>FZAAM%>Nf}x,3Y^A68?y60v?96=Y6 9<6H'X?`ˌ?@>?@բ? S@?^ r-??68?ɨ6c; 4B_BB!I DDAT read: Rx Time:19:47:51.3449  TRx dataTimestamp_ set to:1736538471.911856PDAT read: Bearing 249.4, -4.4 (Local) ~Local bearing/azimuth received: Bearing 249.4, -4.4 (Local) -DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.1 UDAT read: 19:47:51.3449 LVL= 13296, 10737, 10066, 15747, AGC= 27, IDX= 509, 0.16,-1.824, 0.075, 0.748,-0.178, PHS=-1.559, 0.300, 0.923, RAW= 256.0, 3.0, CAL= 260.6, 4.4, ROT= 249.4, -4.4 ]Ygot valid direction response: 19:47:51.3449 LVL= 13296, 10737, 10066, 15747, AGC= 27, IDX= 509, 0.16,-1.824, 0.075, 0.748,-0.178, PHS=-1.559, 0.300, 0.923, RAW= 256.0, 3.0, CAL= 260.6, 4.4, ROT= 249.4, -4.4 eT#Rx 22: Read range and direction messages.m`direction in FSK: [-0.350805,-0.933301,0.076719]mFpublishing direction and range info Y I nsֿnT.0ۣ? 9@9  3 )) R'I =i  Pǿ > Il? 5@ PwV=) 狑@I nF=i J@ nF   !l翄Te:v.?(?I s@i ZY 3 nF  checking for new query: numPingsReceived=22, elapsed TxPingTime=13.131994Mb@Mb@Mb@ )Iy'1Z?Zd;O~jt>jD )@I@ib@@HHN5 '  >=Y ٣ GF0 >!]-<59%zl?a-<5Y%(I i%B-4>m5:5Խ?q5@%leD%l;%;%0<59 =@AZj z3m?bj ;e i i [Y^Aj 9@j ]8@2j @p &KG)5-}ez?zp I nsֿnT.0ۣ?"j 3*j nFp ^@s P)?p Py?m):j3ؿag?i ]j *@i }Om?i Fg f  j Bzj j g b j jj jA@rj @ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503834 s, deltaX: -0.100000 m, approachRate: -0.198478 m/s, rangeRepo size: 4  Added new target pos. range: 2.900000 m, bearing: 337.680848 deg, lat: 36.903943 deg, lon: -122.119016 deg, deltaT: 5.045738 s, deltaX: -0.100000 m, approachRate: -0.019819 m/s, posRepo size: 4 2iRStopped intercept timer at range: 2.90 m.*ihhhhhggbgjgBeejeJe@33@:e}?cB:J%$OBJ%s9JJ!RJ%b ZJ%%!!"! J5> J5>ɛ%pc<)EN= E\>iA)E+IIiM =iIUF ZA! M= >Cx,vZ^AFr,?yFi?9F=YFZIzbIujIrIzI`:I9IIq%@i%@u%@m%@)٣) -G-FUl U>Y]e<59]l?ae<5Y]D i]BaeѺ?qe@]weD]:]:]w<5 ,@B*** querying acoustic contact ***ii2iTStarting intercept timer at range: 2.90 m.*ihhhhhggbg jg e ejeJe:e H?]dBɛ]<)a e>ia)eξaio =iݚ<02=IIGGG!IGBGGGG<GFH HHH ="H =*H545DDAT read: Rx Time:19:47:51.8451 =TRx dataTimestamp_ set to:1736538472.417576UPDAT read: Bearing 242.7, -6.4 (Local) U~Local bearing/azimuth received: Bearing 242.7, -6.4 (Local) mDAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.1 DyDyDE_0 EDAT read: 19:47:51.8451 LVL= 13264, 12257, 9714, 16147, AGC= 28, IDX= 511,-0.29,-3.050,-0.973,-0.615,-1.334, PHS=-1.627, 0.408, 0.716, RAW= 263.1, 4.6, CAL= 267.3, 6.4, ROT= 242.7, -6.4 Ygot valid direction response: 19:47:51.8451 LVL= 13264, 12257, 9714, 16147, AGC= 28, IDX= 511,-0.29,-3.050,-0.973,-0.615,-1.334, PHS=-1.627, 0.408, 0.716, RAW= 263.1, 4.6, CAL= 267.3, 6.4, ROT= 242.7, -6.4 T#Rx 23: Read range and direction messages.`direction in FSK: [-0.455791,-0.883079,0.111469]Fpublishing direction and range info9Y=/%h+ݿ x/B -V:?=L@99=3 =/)=%I=?i==Aп=`>=K7?=Y@ =l=)=I@I==i=@=9 9=T2sU} R ,?kn ?I=@i=ͤ=}=9 9checking for new query: numPingsReceived=23, elapsed TxPingTime=13.644849VF],>F1ZA9MeU> checking for new query: numPingsReceived=23, elapsed TxPingTime=13.872473nx,+Z^AMc?yMn?9Mҩ=YM=MHĴ?0????`?@4t,?@?Mc?ɨM#; ImMBm!IIq)q-only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768V @ %@% %@%  %@% H-H-@T5=4! =+=YE;Q E>A٣I MGIM< M>Q]]<59UVl?a]<5YUj? iUBie+:ame:e?qe@UeDU;U\>Uʒ<5i m@qZjmu/?m?bjmj iiimZ^AjmL@jmpK@2jm}@pmH%%ViVYm.?zpm/%h+ݿ x/B -V:?"jm}*jmpmZ @L| ;uE ?pmƆ?>ĕ࿆=fW?imIԿjm|-@im m?im\k  jmBzjm;Km?jm霙c jijjmC@rjm$@ addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.505720 s, deltaX: 0.300000 m, approachRate: 0.593214 m/s, rangeRepo size: 4  Added new target pos. range: 3.200000 m, bearing: 328.540703 deg, lat: 36.903943 deg, lon: -122.119016 deg, deltaT: 0.505720 s, deltaX: 0.300000 m, approachRate: 0.593214 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe @:ef?ɛA<) ~>i),#iŏ =i܍<-=IIDYDYDYE]`0 Ea=DDAT read: Rx Time:19:47:52.3451 ETRx dataTimestamp_ set to:1736538472.920707MPDAT read: Bearing 239.5, -8.3 (Local) M~Local bearing/azimuth received: Bearing 239.5, -8.3 (Local) ]DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.1 DAT read: 19:47:52.3451 LVL= 16832, 16321, 11250, 22259, AGC= 28, IDX= 510, 0.12,-2.175,-0.075, 0.148,-0.441, PHS=-1.646, 0.413, 0.586, RAW= 266.0, 6.1, CAL= 270.5, 8.3, ROT= 239.5, -8.3 Ygot valid direction response: 19:47:52.3451 LVL= 16832, 16321, 11250, 22259, AGC= 28, IDX= 510, 0.12,-2.175,-0.075, 0.148,-0.441, PHS=-1.646, 0.413, 0.586, RAW= 266.0, 6.1, CAL= 270.5, 8.3, ROT= 239.5, -8.3 T#Rx 24: Read range and direction messages.`direction in FSK: [-0.502222,-0.852604,0.144356]Fpublishing direction and range info9Y= 34xH'ЌCz?999=A =?)=+I=Vi9=!ҿ=t>=?=@ =^ =)=a@I=V>i=Å@=V9 9=usa꿩Fkf?.@?I=#@i=ٽ==V9 9checking for new query: numPingsReceived=24, elapsed TxPingTime=14.140404VF>FZAM>:J MBJ 9JJ RJ c ZJ   Px,EZ^A2?y24?928=Y2a9=2Hq?`J? }?`/?Ǵ?@X??2?ɨ2v4; 2 CBGBBx!IHJHJ~N5z! zy=Y~ 1i )511i=Z=iq}<E|=II^DK'=HAAHBAZIxbI~jI1rIzIZ:If9I3IDQ DQ DY E] _0 EY G G G !IG BG =G G G Q<G ?FM DDAT read: Rx Time:19:47:52.8453 U TRx dataTimestamp_ set to:1736538473.423395] DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.1 -] Z#Rx 25: Read range message, but no direction.I M `@9I e checking for new query: numPingsReceived=25, elapsed TxPingTime=14.630347VF5 =F ZA M>]x,YcZ^A6*?y6g?96}=Y6*T=6H`n?@`?@-?/?>?綿`g?2?6*?ɨ6a; 4>@BBo!IHbHb[W5~ ~1=Y;Q >٣ GÝF .  >]<59'l?a<5Y\6 iBi%9!m%~:%?q%@eDw:?Җ<51 5@1 addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.502688 s, deltaX: 0.300000 m, approachRate: 0.596792 m/s, rangeRepo size: 4 2iRStopped intercept timer at range: 3.50 m.*ihhhhhggbgjgeejeJe @:e?5eBɛ58J<)9 =&>i9)=99i=Wq=iam -G lA ) )U Yy] lA] AՉ Ս A DDAT read: Rx Time:19:47:53.3453  TRx dataTimestamp_ set to:1736538473.927988 PDAT read: Bearing 235.2, -9.2 (Local)  ~Local bearing/azimuth received: Bearing 235.2, -9.2 (Local)  DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.2  DAT read: 19:47:53.3453 LVL= 20176, 14577, 10722, 19955, AGC= 31, IDX= 511, 0.37,-1.995, 0.206, 0.253,-0.228, PHS=-1.679, 0.481, 0.478, RAW= 270.1, 6.7, CAL= 274.8, 9.2, ROT= 235.2, -9.2  Ygot valid direction response: 19:47:53.3453 LVL= 20176, 14577, 10722, 19955, AGC= 31, IDX= 511, 0.37,-1.995, 0.206, 0.253,-0.228, PHS=-1.679, 0.481, 0.478, RAW= 270.1, 6.7, CAL= 274.8, 9.2, ROT= 235.2, -9.2  T#Rx 26: Read range and direction messages. `direction in FSK: [-0.563372,-0.810586,0.159881] Fpublishing direction and range infoؙ Y؝ ղ$⿪ixMRČsv?ؙ 9ؙ ؝ N ٝ 8)ٝ )Iٝ Miٝ ٝ yֿٝ E>ٝ j>ٝ 0ږ@ ڝ |=)ڝ .z@Iڝ l$>iڝ G\@ڝ l$ڙ ۙ ۝  9W뿶4?;?I۝ '@i۝ j۝ 'g ۝ l$ۙ ܙ  checking for new query: numPingsReceived=26, elapsed TxPingTime=15.147881x,|Z^AB?y;?9f=Yk=Hn?`N?z?e??@Rv??B?ɨ_; !Cޥ1Bޥ]!ID @)@IQ@i@HeHeT5Zm &=Y٣ G:JӂLBJs9JJRJd ZJ !''***-375* >] <59Sl?a <5Y0 itBiT:>m:ڱ?q@eD;};#<5I M@QZjm?bjjMjn ii(d{Z^Aj`@j^@2j)@pu\H,E ?zpղ$⿪ixMRČsv?"j'g *jl$p oJK@c`QD+?pݶy1?E%x\ ?iLjZ"@i^m?in  jIBzj^m?j\k jBjj6W@rj%@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 3.500000 m, bearing: 317.208191 deg, lat: 36.903942 deg, lon: -122.119020 deg, deltaT: 1.007281 s, deltaX: 0.300000 m, approachRate: 0.297831 m/s, posRepo size: 4 2i*ihhhhhggbgjgBee je Je:e i)i8=i$<</ dx,NКZ^AG G G"!IG"lBG G G G"<G"kF2DDAT read: Rx Time:19:47:53.8454 2TRx dataTimestamp_ set to:1736538474.4313786DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.2 -:Z#Rx 27: Read range message, but no direction.02ff@90>checking for new query: numPingsReceived=27, elapsed TxPingTime=15.638298Z V?yZ?9Z'=YZ=ZHI?vq@)?`h?`%?`?`;`J?`l?Z V?ɨZ; ZCuBuE!IHHI5Wƽ K=Y:Q >٣ GĝF3 >]<59l?a<5Y, iiB1?q@eD;;<5! %@-EEB*** querying acoustic contact ***iAiA} addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.503390 s, deltaX: 0.100000 m, approachRate: 0.198653 m/s, rangeRepo size: 4 2i}TStarting intercept timer at range: 3.60 m.*ihhhhhggbgjgeejeJe @:e ӡ?ɛ.5<)) -T>i))-))i-=i155+<57x,˞Z^AnBrD!ImMb@Mb@Mb@ii i)iIiym333333?{Gzt?:vimף;mT m@)m@Im@imK@im@HH~N5@ M=YQ >٣ GŝF >]<59Bl?a<5Y1( i_B>m:[?q@eDH::"<5 @2i RStopped intercept timer at range: 3.60 m.*ihhhhhggbgjg BeejeJe:e?1ɛ=Y<)9 =·>i9)=99iEF=iAMzD]>DDAT read: Rx Time:19:47:54.3453 TRx dataTimestamp_ set to:1736538474.937773DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.3 -Z#Rx 28: Read range message, but no direction.؉؍`@9؉checking for new query: numPingsReceived=28, elapsed TxPingTime=16.144600DDDE0 EEEVFi]=FZAMb>:Jm MBJm}9JJiRJme ZJm= checking for new query: numPingsReceived=28, elapsed TxPingTime=16.392912x,Z^Ar˔?yr?9r8=Yr=rHe?Q =? L?@?@?2 ??r˔?ɨr; rCzBz3!II ) H-H-xV5]> ]M=YeBQ m>i٣i uGquJ }>y]<59}l?a<5Y}# i}TBӲ?q@}eD}%:}:}<5 @ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.506395 s, deltaX: -0.100000 m, approachRate: -0.197474 m/s, rangeRepo size: 4 2iTStarting intercept timer at range: 3.50 m.*ihhhhhggbgjgeejeJe @:e@?!ɛ%_ <)! %ܩ>i!)%{))i-)'=i)5Cǎ<5V䶻I1I9ZIwbIujIrIzIW:I9IIDDDE'2 EVFm<FZAMD>G!G!G%!IG%MBG!G!G!G%h<G%PFY]AmDDAT read: Rx Time:19:47:54.8455 mTRx dataTimestamp_ set to:1736538475.440066uPDAT read: Bearing 229.0, -9.8 (Local) }~Local bearing/azimuth received: Bearing 229.0, -9.8 (Local) DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed -0.3 DAT read: 19:47:54.8455 LVL= 11600, 8753, 5810, 12275, AGC= 34, IDX= 2, 0.15, 1.799,-2.123,-2.348,-2.683, PHS=-1.714, 0.607, 0.332, RAW= 276.2, 7.1, CAL= 281.0, 9.8, ROT= 229.0, -9.8 Ygot valid direction response: 19:47:54.8455 LVL= 11600, 8753, 5810, 12275, AGC= 34, IDX= 2, 0.15, 1.799,-2.123,-2.348,-2.683, PHS=-1.714, 0.607, 0.332, RAW= 276.2, 7.1, CAL= 281.0, 9.8, ROT= 229.0, -9.8 T#Rx 29: Read range and direction messages.`direction in FSK: [-0.646486,-0.743697,0.170209]Fpublishing direction and range infoiYm !M5]rl?m3s@9imP- m1")mIm/im"mZdۿmZd?m>mZB@ m=)m@Im%/>im@m%/i imN7"JAIuj? 1x?Im3.@im,mTm%/i ichecking for new query: numPingsReceived=29, elapsed TxPingTime=16.659712Wx,SZ^A6 ?y6[H?96B|=Y6RU=6H?EG?@PE?,j? 7?'g@? ?6 ?ɨ6‰; 6 CRBR !IH^H^L5 웽  R=Y7Q >٣ GƝFOw %>!]-<59%1l?a5<5Y% i%JB15?q=@%eD%;;%<;%<5A EYAIZjm?bjtk ii *Z^Aj3s@jq@2j|@p50=?zp !M5]rl?"jT*j%/pi)^v隩i.}=iG< IID!D!D)E-0 E) checking for new query: numPingsReceived=30, elapsed TxPingTime=17.147760VFe x,-[^A>|?y>[?9> =Y>h=>H@?`375? [@?_?3??k?>|?ɨ>; =C<=t =@)=@I=~@i=b@9=@HUHU{R5eL eE=YeѻQ m>i٣i mGmǝFuG+ u>y]<59}ll?a<5Y} i}@B>m:6?q@}eD}:}:}<5 B AE addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.266570 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iRStopped intercept timer at range: 3.80 m.*ihhhhhggbgjgBeejeJe:e?:J5BJ5s9JJ1RJ5f ZJ5    ɛ:;) $>i)sit=iߍ<BIID1DDDE(5 EDDAT read: Rx Time:19:47:55.8458 TRx dataTimestamp_ set to:1736538476.198834checking for new query: numPingsReceived=30, elapsed TxPingTime=17.404867E>E)>VFo;FZAMf>ZI bI xjI rI zI I 9I I GA GA GE Z!IGE /BGA GA GA ɯƖxGm^<GmIF, [^A&DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed -0.3 -*Z#Rx 31: Read range message, but no direction. "f@9 .checking for new query: numPingsReceived=31, elapsed TxPingTime=17.6529695R?y59?95=Y5UX=5H@٣ G O >]<59l?a<5Y i7B?q@eDs;+;5<5B AB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.739726 s, deltaX: 0.400000 m, approachRate: 0.540741 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe@:eh?ɛ4h;) >i)zo i ҍ=i)5k`<5NI1I1DDDE!4 EVFFyZAM^> DDAT read: Rx Time:19:47:56.3458 TRx dataTimestamp_ set to:1736538476.702559%DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed -0.4 --Z#Rx 32: Read range message, but no direction.95checking for new query: numPingsReceived=32, elapsed TxPingTime=17.910124̖x,)5[^AvBv!IMb@Mb@Mb@ )Iy> ףp=?Mb?Mb>< Q@)@I@i@=@HH^S5e G=YQ >٣ GȝF >]<59l?a<5Y_ i.B>m;L?q@eD:w:˳<5 A addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.256197 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2i*ihhhh!h!g!g!bg!jg-Be)e)je)Je):e5?mcBɛL};) >i)9li=i!<0MIIUchecking for new query: numPingsReceived=32, elapsed TxPingTime=18.154924DDDE`0 E:J$LBJ@9JJRJg ZJJIVFJF ZA M > DDAT read: Rx Time:19:47:56.8459 % TRx dataTimestamp_ set to:1736538477.2065635 DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 -5 Z#Rx 33: Read range message, but no direction.! % @9! = checking for new query: numPingsReceived=33, elapsed TxPingTime=18.413910Ӗx,9O[^A]?y]?9]=Y] =]H??dH?@o??[μ?u?]?ɨ]ԋ; YقB IHH5  5A=Y5Q =>9٣9 EGEɝFE4Z; E>I]U<59Ml?aU<5YM  iM&BY]?q]@MeDM;M;M<5eB e&AeE addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.504004 s, deltaX: 0.300000 m, approachRate: 0.595234 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe@:eU?ɛX:) l>i) iij=ii<8IIDzDD]DYDYEY EYEaEaGGG;!IGBGGGG8<G.FH HHH"H*HƉ4Mchecking for new query: numPingsReceived=33, elapsed TxPingTime=18.659128VF=TF ZA! M= >ٖx,i[^A:?y:?9:l=Y:=:H`?7?M? ?U?Ed??:?ɨ:; :CFӂBF IIH)JAHVHV~N5Z? ^h=Y^AQ ^>`٣` bG`fs; f>h]n<59jl?an<5Yj$  ijBln?qr@jfDj;hj<5t vYAt2i*ihhhhh1g9gAbgIjgQeaeijeiJeq:e}n?ս<ս%=DDAT read: Rx Time:19:47:57.3459 TRx dataTimestamp_ set to:1736538477.707736DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 -Z#Rx 34: Read range message, but no direction.9checking for new query: numPingsReceived=34, elapsed TxPingTime=18.914791bBɛ:) `>i)^f隹i~=i<C(IIDDDEe0 EZIbItjI1rIzII9I3IIz;qIz;iI:uI:mVF Bv4u checking for new query: numPingsReceived=34, elapsed TxPingTime=19.163055F ZA M- >px,{[^A2?y2_A?92p=Y2>2H#?^@Ӑ?@S? _?`y?Wq`N*?7?2?ɨ2d; 2 C>҂B> IEMb@Mb@Mb@AA A)AIAyE|?5^?~jtx?MbpE>E;E EA)AIAiE@AE(@HUHUO5e3o e@=YmT7Q m>i٣i uGuʝFu&; }>]<59il?a<5Y iB>m;D?q@fD ; ;R<5 _A addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.501173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgBeejeJe:e`gC?!ɛ-hĦ:)) -`>i))-jc)1iEGe=iIMG G G (!IG BG G G G <G Fx,]R[^Achecking for new query: numPingsReceived=35, elapsed TxPingTime=19.666885:O?y:1?9:3#=Y:^>:HO?@>? Z? 4?`r? An?ަ?:O?ɨ:J; :CFɂBF IHNHNH5VA VW=YVSHQ Z>X٣X ZGX^; ^>I]U<59Ml?aU<5YM] iMBQU?q]@MfDMr;M;M<5i mAiB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.505910 s, deltaX: 0.200000 m, approachRate: 0.395327 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe@:eC?aBɛ;:) O>i)`i6=i.<̻IIDDDE0 EE=E=DDAT read: Rx Time:19:47:58.3460 TRx dataTimestamp_ set to:1736538478.715568DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4 -Z#Rx 36: Read range message, but no direction.9checking for new query: numPingsReceived=36, elapsed TxPingTime=19.922472VFJFZA! M= > (x,.[^AZIBybIB|jIB0rI@zIB]:IB@9IBـ3I@IB;IB;IB{:IB|:~͂B~ I]]D ]A)YI]~@i]@Y]@HuHuP5< $=YQ >٣ G˝F >]<59:m?a<5Y i B>m:x?q@*fD;;<5 Ae addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.501922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2ii*iihihihihihigqgqbgqjguBeyeyjeyJey:e}?`Bɛ[) [>i)wH]i'@=iᲊ<ػIIDDDE0 E:J vLBJ @9JJ RJ i ZJ  < DDAT read: Rx Time:19:47:58.8462  TRx dataTimestamp_ set to:1736538479.222946% DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed -0.4 -5 Z#Rx 37: Read range message, but no direction.  @9 M checking for new query: numPingsReceived=37, elapsed TxPingTime=20.435831VF ̻Fq ZA M >Xx,;[^Aܔ?yy?9(_=Y>H ? '=? d?x??᫿G??@ ?ܔ?ɨo; !C-ĂB- IH=H=L5H d=Y μQ >٣ G̝F ?<  >]E<59m?aE<5Y iBAE?qE@4fDX;r;:<5Q UAQ addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.507378 s, deltaX: 0.300000 m, approachRate: 0.591276 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe@:eW?HH@AM_BɛMP7:)I URK>iQ)UZQQiU=ibb<+IIGGG!IGBGGGG<G FDMDIDIEM2 EQchecking for new query: numPingsReceived=37, elapsed TxPingTime=20.675055VF F ZA M >zx,V[^Ab3!?yb^?9bO_L=YbG>bH?@i? j?7? fT?@3 ?`A?b3!?ɨb鎋; bCnÂBn IHvHv=X5~ U=Y>DQ  > ٣   G O; >%DDAT read: Rx Time:19:47:59.3463 -TRx dataTimestamp_ set to:1736538479.723789EDAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed -0.4 -]Z#Rx 38: Read range message, but no direction.!%3@9!mchecking for new query: numPingsReceived=38, elapsed TxPingTime=20.9361841]=<595m?a=<5Y5 i5BAEM?qE@5?fD5y:5d:5<5I mAqE addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.500843 s, deltaX: 0.100000 m, approachRate: 0.199663 m/s, rangeRepo size: 4 2iI*iQhQhQhYhYhYggbgjgeejeJe`ff@:e?U^BɛU*)Q UJ>iQ)]Wyyi}C=ie <fSIIZI=vbI=ujI9rI9zI={T:I=9I9I9I=Fu;I=Iu;I=f:I=g:DuDqDqEu1 EqEyEychecking for new query: numPingsReceived=38, elapsed TxPingTime=21.179291VF *Fq ZAy M >yx,_]\^A6⁕?y6c?96Ǡ8=Y6E>6H})?`p?Mp? ?@đ?`??6⁕?ɨ6; 6CZBZ II\)^A`bA:J-2QKBJ-9JJ)RJ-j ZJ-Mb@Mb@Mb@ )IyCl?t A)x@IiC@ @HHP5 : *=YN$Q %>A٣I MGM͝FM; M>Q]]<59U m?a]<5YU iUBeG>m:!?q@ULfDUO;U;U<5B AE2i*ihhhhhDDAT read: Rx Time:19:47:59.8465 TRx dataTimestamp_ set to:1736538480.227447DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 -Z#Rx 39: Read range message, but no direction.̬@9checking for new query: numPingsReceived=39, elapsed TxPingTime=21.434361gg!bg!jg%Be!e)je)Je-@:e5 ؁?\BɛDE:) G>i)LMUi3?=ilj<މ:IIDDDE55 EG G G G G G G G 7<G .FVF ï checking for new query: numPingsReceived=39, elapsed TxPingTime=21.684246F ZA M >_x," \^AV"?yV?9Vƺ%=YV+>VHY? @Tf?Ut?y?@Ǩ?`浤&??V"?ɨV?; V C^ÂB^ IHfHfDP5no< rw=YreQ r?p٣t vGvΝFv; v ?x]<59zA m?a<5Yz izBX?q@zUfDz ;z ;z<5 A=B*** querying acoustic contact ***i9i9M addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503658 s, deltaX: 0.300000 m, approachRate: 0.595643 m/s, rangeRepo size: 4 2iQ*iQhQhQhQhQhQgQgYbgYjgYeaeajeaJea:em ~?ɛW;) O>i)0@Sij=i1< ;IIDDDE`0 EVF9FZAM5O>DDAT read: Rx Time:19:48:00.3465 TRx dataTimestamp_ set to:1736538480.731232 DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 -Z#Rx 40: Read range message, but no direction.9checking for new query: numPingsReceived=40, elapsed TxPingTime=21.938181III.-IIIZI bI tjI rI zI I 9I I I I I :I : x,9\^A2?y2l(?92[=Y2D>2Hf?`wi?w?`3??@Eu??2?ɨ2I9; 2CbłBb I Mb@Mb@Mb@   ) I y Q? rh~jth > C D A) b@I h@i Z@  \@H%H%&Q5=3; =6=Y= Q =>A٣A EGAEb; M>]checking for new query: numPingsReceived=40, elapsed TxPingTime=22.186962I]e<59Mm?am<5YM iMBm>mm:mӨ?qm@MbfDM;M;Mu<5 AE addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503785 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2i*ihhhhhgg!bg!jg%!Be!e)je)Jei:em`]?ZBɛmL:)) -.U>i))-P))i-) =i15@T<=`;I9I9DIzDIDDDE EE=E=:JBHBJ59JJRJk ZJA $S~xpf\[x(9DNZf|wc[ DDAT read: Rx Time:19:48:00.8468  TRx dataTimestamp_ set to:1736538481.235364 DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 - Z#Rx 41: Read range message, but no direction. ̼@9 % checking for new query: numPingsReceived=41, elapsed TxPingTime=22.442295VF- }:F ZA MM >x,S\^A:)?y:^g?9:9=Y:>:HZ?@p?{? ?.r? 1? ?:)?ɨ:j; : CFBF IR=iR;HbHb@T5n nc=YnIQ r>p٣p rGrϝFv; v>x]~<59zm?a~<5Yz izB|?q@zlfDz;zU;z<5  A = addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504132 s, deltaX: 0.500000 m, approachRate: 0.991804 m/s, rangeRepo size: 4 2i9*iAhAhAhAhAhAgAgAbgIjgIeIeIjeQJeU@:eU \?雍YBɛ,%J;) O>i)M隑ix =i,<R9;IIDDDEo0 EGu>GqGu"!IGuBGu =GqGqGua<GuMFimAuchecking for new query: numPingsReceived=41, elapsed TxPingTime=22.692505VF 7eD;FZA M5 >Zx,m\^A6F?y6~?96ը6Hrk?!S?`I~??H;?:ԛ??6F?ɨ6; 6CBłBB IHJHJF5RE< RN=YV7Q V>bDDAT read: Rx Time:19:48:01.3469 fTRx dataTimestamp_ set to:1736538481.739477jDAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 -nZ#Rx 42: Read range message, but no direction.df@9drchecking for new query: numPingsReceived=42, elapsed TxPingTime=22.946531\٣p vGvНFv/; v>x]~<59zm?a~<5Yz izB1?q@zxfDz;z;z!<5  AM addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504113 s, deltaX: 0.100000 m, approachRate: 0.198368 m/s, rangeRepo size: 4 2iQ*iQhQhQhQhQhYgYgYbgYjgaeaeajeaJee@:emIE?WBɛc:) Z>i)%՛J!QiU =i<gx;IID9DADAEE`0 EAchecking for new query: numPingsReceived=42, elapsed TxPingTime=23.196280VFe 1;F9 ZAI Mm >~!x,\^AȂB IMb@Mb@Mb@ )Iy/$?v/~jtx&>xiĻ hA)I~@i@G@HHxV5 q< 5=Y%Q %>1٣9 =G9M M>]<594m?a<5Y9 iB>m:~?q@fDz:]:;<5 :J4OBJJJRJl ZJUSRMNN7'zQB:650+* A)2iq*iqhyhyhyhyhygygybgjgCBeejeJe:eW?DDAT read: Rx Time:19:48:01.8470 TRx dataTimestamp_ set to:1736538482.243362DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 -Z#Rx 43: Read range message, but no direction.f@9checking for new query: numPingsReceived=43, elapsed TxPingTime=23.450422VBɛp&F;) d>i)-Gi2!=i9Eˆ checking for new query: numPingsReceived=43, elapsed TxPingTime=23.698872 (x,n\^AB/?yB?9BrBH.?+@j???u} ʲ!??B/?ɨBr; B"CJ‚BJ IIL)LHVHVG5^@ ^`=Y^ȼQ b>`٣` bGfѝFj(< j>l]r<59n"m?ar<5Yn& inBtv?qv@nfDn:n:n5<5x zA|B*** querying acoustic contact ***ii- addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503885 s, deltaX: 0.200000 m, approachRate: 0.396916 m/s, rangeRepo size: 4 2i)*i)h)h)h)h1h1g1g1bg9jg9e9e9je9JeE@:eE?-TBɛ-쳈;)5*= 5Z\>i1)5E11i5[!=i9=N0.x,υ\^A>V?y>8?9>`]>>Hg?@_/H?H??`v`??>V?ɨ>; >!CJĂBJ I-Mb@Mb@Mb@)) )))I)y-\(\? rhy&1|->-C-` -QA))I-@i))-\@HMHMR5U; mA=Ym>/Q m>q٣q uGuҝFuÙ; }>]<59e'm?a<5Y iۧBO>m:?q@fD8:w:<5 B AE%checking for new query: numPingsReceived=44, elapsed TxPingTime=24.203100m addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504543 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2ii*iihihihihihqggbgjg BeejeJe:e $?RBɛ H;) hb>i)6AiZ!=i!%D<%$@5x,b\^AÂB% IH5H5^S5uY uJ=YuQ }>y٣y }G >]<59w,m?a<5Y iקBq@fDw;;s<5 A addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504625 s, deltaX: 0.300000 m, approachRate: 0.594501 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe@:e/?ZIxbIrjI/rIzIZ:I9I(N3I雕QBɛ j;) c>i)j?隡ib!=iFi< FI ZAY Mu >C;x,>\^A6[@?y6}?96;FDDAT read: Rx Time:19:48:03.3473 FTRx dataTimestamp_ set to:1736538483.755557JDAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed -0.4 -NZ#Rx 46: Read range message, but no direction.DD9DRchecking for new query: numPingsReceived=46, elapsed TxPingTime=24.962498Y6>6H w?5Hb?`؋?bV?M``u??6[@?ɨ6gӋ; 4nBn IrC=ir<HzHzD5 ws  O=YQ >٣ GӝF; >!]-<59%S1m?a-<5Y% i%ӧB15H?q5@%fD%K:%:%<5A EAEE addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503027 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe:e@8?OBɛۊ;) ^a>i)bZ<i!=iT<]@Bx,j ]^Aޱޱ:JMBJ59JJRJn ZJ      ]DDAT read: Rx Time:19:48:03.8475 eTRx dataTimestamp_ set to:1736538484.260973DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed -0.3 -Z#Rx 47: Read range message, but no direction.ae@9achecking for new query: numPingsReceived=47, elapsed TxPingTime=25.472317Mb@Mb@Mb@ )Iy)\(?V-{GzG?h# A)@Ii@G@HH&Q5E; M =YUQ }>y٣y }G}ԝF >]<598m?a<5Yq i̧B=?m=:='?qE@fD;<<<5I MAI addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.505416 s, deltaX: 0.300000 m, approachRate: 0.593571 m/s, rangeRepo size: 4 2i*ihhhhhggbgjg;Be ejeJe@33@:e%@B?HR=H4=ZItbImjI0rIzI;N:I&9Iـ3ILBɛ:) h>i)7i!=i1<;fH?@@{?؏?P?x{? ??fm?ɨfx; f CB IHH N50| =Y-fQ 5>A٣I MGM՝F]ŷ; e>q]<59u?m?a-<5Yu iuǧB15?q]@ufDukia)eP3aaim{!=ii}"<}ag5H}?C`XO?`t? T?ܠ I?@c?B?5˞?ɨ5iC; 5C}B IH9H=BAZIQbIUojIU1rIQzIQIUK9IU3IQMb@Mb@Mb@ )IyRQ?{Gz{Gz?ף QA)Ii@@HHF5x =YɻQ >٣ G֝FeO >]<59KGm?a<5YZ içB.?m:{?q@fD::<5!B WAE% addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504320 s, deltaX: 0.500000 m, approachRate: 0.991434 m/s, rangeRepo size: 4 2i!*i)h)G=>G9G=A!IG=BG= =G9G=ADG=<G9hQhQhQhQgYgYbgYjg]+BeaeajeaJee@:em ?-HBɛ5K;)9 =[>i9)=M/AAiEGX!=iAUeH ?#I#? ??O9ؐ?_e?߲?N?ɨnj; C]Bm IEMb@Mb@Mb@AA A)AIAyE}?5^I?㥛 :vEM?EET EA)AIE@iE$@AAHUHUDP5e( e%=YmKQ m>q٣q }Gy}: >]=59Mm?a=5Y iB?m:\?q@fD:w:=5 {A!m addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503795 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2iq*iqhhhhhggbgjg'BeejeJe:eV?FBɛ%;) %W>i!)%q|,!!i%6!=i)-3<-Jn<checking for new query: numPingsReceived=50, elapsed TxPingTime=27.226978I)IDeDaDaEe_0 EiVF P<Fa ZAq M >Kcx,]^A^DDAT read: Rx Time:19:48:05.8481 bTRx dataTimestamp_ set to:1736538486.275351fDAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 -jZ#Rx 51: Read range message, but no direction.`bf@9`nchecking for new query: numPingsReceived=51, elapsed TxPingTime=27.482338:JrJBJr9JJpRJrp ZJr ޕBޕ IHHS5== =[=Y=Q =>A٣A EGEםFM m>q]}=59uRm?a}=5Yu iuByyq}@u gDu[:u:u2=5 AE] addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504016 s, deltaX: 0.300000 m, approachRate: 0.595219 m/s, rangeRepo size: 4 2iY*iYhYhYhYhYhYgagabgijgieieijeiJeu@:euc?雝DBɛD;) RI>i)h(*隡i =i)<Cmxix,jީ]^A) @:ӗ?y:$?9:gY:$>:H`?NI? "?Z?@L??@ǵ?:ӗ?ɨ:; 8FBF IHRHRaO5V< Zh=YZwQ Z>X٣\ ^G\b8: b>d]j=59f Wm?aj=5Yf ifBhjn?qj@fgDf`:fl:f= =5x ~A2i*ihhhhhggbgjgeejeJe:e෯?BBɛd;)bo= UU>iQ)U'YYi] z =iYe5 checking for new query: numPingsReceived=52, elapsed TxPingTime=28.234833'px,]^A6t?y6$?96NǼY6 >6H`?JP`.?w?t٣ G؝F: >]=59\m?a=5Y٘ iB7?m:?q@%gD:; =5 =AB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.505051 s, deltaX: 0.100000 m, approachRate: 0.198001 m/s, rangeRepo size: 4 2i*ih!h!h!h!h!g!g!bg)jg- Be)e)je1Je@33@:e ?E@BɛEW:)I MX3>iI)u6%qqiu =iy,<Z,)'@IG\>i^Y@G\ Ouʿ9s?Iъ;in,8G\ uchecking for new query: numPingsReceived=53, elapsed TxPingTime=28.506157VF l o<Fi ZAq M >wx,R]^AGB>G@GB4!IGBBG@G@GB@DGB԰<GB FHI HIHIHM ="HM =*HMl4n?ynfD?9n$ؼYn$$>nH 7?oQ3?M??8?,?ݴ?n?ɨno; n CvBv IH~H~S5   T=YQ >٣ GٝF#; %>!]-=59%}`m?a5=5Y%Γ i%B15Ԧ?q5@%2gD%;%%;%i=5A ExAAZj qm?bjr2b ii4,]^AjAjA2jz@p'ôS$eRc=7q@zpԬ4c` t5ϿN=?"j8*jG\ptcю?e{Xy0?p߆?(ۀ?i]jw?i6gm?ic  jBzjI߶m?jjIBjjtArjĚ@ addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503546 s, deltaX: 0.300000 m, approachRate: 0.595775 m/s, rangeRepo size: 4  Added new target pos. range: 8.100000 m, bearing: 276.991231 deg, lat: 36.903941 deg, lon: -122.119020 deg, deltaT: 11.843882 s, deltaX: 4.300000 m, approachRate: 0.363057 m/s, posRepo size: 4 2i*ihhhhhggbgjgeejeJe@33 @:e ]?=checking for new query: numPingsReceived=53, elapsed TxPingTime=28.738907雕>Bɛ :) (>i)&#隙iɽ=i<R DDAT read: Rx Time:19:48:07.3486  TRx dataTimestamp_ set to:1736538487.787645 DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 - Z#Rx 54: Read range message, but no direction. fA9  checking for new query: numPingsReceived=54, elapsed TxPingTime=28.9945629}x,-x]^AJ ?yJX?9JwYJ>JH ? T@???@~-?? ?J ?ɨJS; JCVBV IHrHrW5 }; J=Y%gQ ->9٣A EGI] : ]>y]E=59}?em?aM=5Y}] i}BY]?q]@}?gD}<}<}=5"B vA߶EHHAAZIbIjI1rIzII9I3IIII] ;I] ;e addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503697 s, deltaX: 0.299999 m, approachRate: 0.595595 m/s, rangeRepo size: 4 2ia*iahahhhhggbgjgeejeJe @:e0? ;Bɛ :)  6/>i) iM=i<mx,^^A5%?y5/c?95Y5 4>5H`Q?2U@˿?༑? ?yȩ?@L?`?5%?ɨ5J; 5 C޽B ImMb@Mb@Mb@ii i)iIiym?Mb٣ GڝF: >]=59jm?a=5Y iB?m:?q@PgD#::=5I MAI addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503597 s, deltaX: 0.500000 m, approachRate: 0.992857 m/s, rangeRepo size: 4 2i*ihhhhhggGGG"!IGBGGGG<GFbg9jg=BeAeAjeAJeE!@:eE@$?8Bɛ 8) !>i)=ir=i <%x,!2^^ADDAT read: Rx Time:19:48:08.3490 TRx dataTimestamp_ set to:1736538488.795354DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed -0.5 -Z#Rx 56: Read range message, but no direction. A9 checking for new query: numPingsReceived=56, elapsed TxPingTime=30.002283~B IH%H% Y5-W -A=Y5Q 5>1٣1 =G=۝F= =>A]M=59E3om?aM=5YE) iEBQQqU@E^gDE:E:EX=5Y m Ai addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504112 s, deltaX: 0.100000 m, approachRate: 0.198369 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe"@:e˸?I)rC ~G=kA Y)=ykAA6BɛZ.:) ZIbIojI0rIzIIK9Iـ3IIII:I: Z>i)=)i-j=i15*<=zD >Dq Dq Dq Eu o0 Eq DDAT read: Rx Time:19:48:08.8492 TRx dataTimestamp_ set to:1736538489.300831PDAT read: Bearing 201.9, 6.7 (Local) ~Local bearing/azimuth received: Bearing 201.9, 6.7 (Local) DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 VFDAT read: 19:48:08.8492 LVL= 32752, 30305, 26290, 32755, AGC= 59, IDX= 501, 0.49, 2.454,-1.236,-2.629,-2.695, PHS=-1.046, 1.506, 0.063, RAW= 304.3, -4.8, CAL= 308.1, -6.7, ROT= 201.9, 6.7  Ygot valid direction response: 19:48:08.8492 LVL= 32752, 30305, 26290, 32755, AGC= 59, IDX= 501, 0.49, 2.454,-1.236,-2.629,-2.695, PHS=-1.046, 1.506, 0.063, RAW= 304.3, -4.8, CAL= 308.1, -6.7, ROT= 201.9, 6.7  T#Rx 57: Read range and direction messages.bdirection in FSK: [-0.921500,-0.370440,-0.116671]Fpublishing direction and range info؉Y؍P3|K׿mu"޽؍A9؉؍ ٍav)ٍfIىiٍ;ٍTㅿٍ?ٍ%=ٍ@ ڍ)ڍT@Iڍ|iڍCa@ڍ|=ډ ۉۍGn{8aZHIۍ1Y٣ GܝF >]=59Jum?a=5Yz iBi+:m:q@qgD;?v =5 5AܶEZjj+n?bjd ii@S^^AjAjA2j]@pz8#!y\ o0P\zpP3|K׿mu"޽"jr0*j|=pw6cT?0 0!W pֵל?,,K%ȿij2?iP n?iof  j}Bzjjjjj5Arj@GGG!IGBGGGGð<G F addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.505477 s, deltaX: 0.300000 m, approachRate: 0.593499 m/s, rangeRepo size: 4 ] Added new target pos. range: 9.300000 m, bearing: 281.763809 deg, lat: 36.903941 deg, lon: -122.119020 deg, deltaT: 2.016883 s, deltaX: 1.200000 m, approachRate: 0.594977 m/s, posRepo size: 4 2ia*iahahihihihggbgjgeejeJe"@:e` ?2Bɛ X)  ->i))5i;11i5.=i9=<9I9I9checking for new query: numPingsReceived=57, elapsed TxPingTime=30.754875DDDE0 EVF- T<F ZAA Me >鱛x,_ q^^A6KE?y6˂?96Y6>6H s?@ZӪ???@@X٣X ZGX^n8; ^?`]f=59bxm?af=5YbLv ibBif :dmf:j2?qj@b|gDb:b=m?bn"=5l nAl~B*** querying acoustic contact ***i|i|2i *i h h h h h ggbgjg!%%=-DDAT read: Rx Time:19:48:09.3492 5TRx dataTimestamp_ set to:1736538489.804922=PDAT read: Bearing 199.8, 6.6 (Local) =~Local bearing/azimuth received: Bearing 199.8, 6.6 (Local) MDAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 DAT read: 19:48:09.3492 LVL= 32624, 32673, 25762, 32755, AGC= 59, IDX= 502, 0.10, 1.608,-2.079, 2.730, 2.717, PHS=-1.021, 1.534, 0.010, RAW= 306.3, -4.7, CAL= 310.2, -6.6, ROT= 199.8, 6.6 Ygot valid direction response: 19:48:09.3492 LVL= 32624, 32673, 25762, 32755, AGC= 59, IDX= 502, 0.10, 1.608,-2.079, 2.730, 2.717, PHS=-1.021, 1.534, 0.010, RAW= 306.3, -4.7, CAL= 310.2, -6.6, ROT= 199.8, 6.6 T#Rx 58: Read range and direction messages.bdirection in FSK: [-0.934645,-0.336493,-0.114937]Fpublishing direction and range info1Y5\UտNZl1915p 5)5dI1i15!5Z?5 #<5@ 5)5?@I5i5-_@5=1 15Rn￸te<?WM0I5!Ai5#=525=1 1 checking for new query: numPingsReceived=58, elapsed TxPingTime=31.036448e e je1Je1:e5>#?}0Bɛ}9) =i)g隁ioz=i<{x,:^^A:Y?y:?9::H`x`?[ ?`?`?tѩ\?Z-?`\?:Y?ɨ:c; :C^kB^i I      Mb@Mb@Mb@ )Iy rh?tu A)b@Ip@ip@HHS5 *=Y:Q >٣ GݝF6: >!]%=59%"|m?a-=5Y%p i!i-T:->m-:5?q5@%gD%;%-;%&=59 =A9ZjeNEm?bje3\ iaie؃s^^Ajaja2jeFD@pe%Fhb!^ "Gzpe\UտNZl"je2*je=peeC?Mk"i&peQYe?7ǿieje?ieLF$m?ieC]  je}Bzje^m?jeof jajjeArjeP@ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504091 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 9.300000 m, bearing: 279.794445 deg, lat: 36.903942 deg, lon: -122.119018 deg, deltaT: 0.504091 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i*ihhhhhggbgjgBeejeJe:e`4?-Bɛ඘) L=i)m#i =i<LSA AE)!&.59WոIE@iE=Ee4E >A Achecking for new query: numPingsReceived=59, elapsed TxPingTime=31.532486:J!BJ%9JJ!RJ%t ZJ%J5> J5>DiDiDiEm05 EqVF r<G G G IG BG G G G װ<G FFa ZAq M > checking for new query: numPingsReceived=59, elapsed TxPingTime=31.763121èx,쿤^^A~hB~f IH H X[59 %o=Y%Q %?)٣) -G-ޝF- 5?1]]=595s~m?ae=5Y5nl i1iiqm@5gD5;5,;5)=5u#B AڶEZjuKPm?bju4d iqiu͓^^AjuAjuA2juw@puj}gk"<gPzpuyıԿL`u&"jue4*ju >pu y>TV?O_C"V|puI3 A AEl{`ÿ5 LIEi?iEz=Eo5E>A Achecking for new query: numPingsReceived=60, elapsed TxPingTime=32.031239VFM <F ZA M5 >%x,^^AH4=H<w?y ?9Y@>HB?%\8?@?@?@n2?`;?H?w?ɨ̈; !CkBi Ichecking for new query: numPingsReceived=60, elapsed TxPingTime=32.267059]Mb@Mb@Mb@YY Y)YIYy])\(?:v?~jt]G>]T<]D ]A)]x@I]C@iYY]@HuHu{R5t9< )=YB;Q >٣ GߝF: >]=59m?a=5Yf iv>m:?q@gD;;-=5 AZjmm?bjm根` iiim^^Ajiji2jm˚@pmK_h"^3e-gzpm5S}ެҿcK "jmo5*jm>pm}Y0?gAZ#V=pm.)T?2Q,R5>ȿimjm?imm?imGeb  jmi}Bzjijmc jm}BjjmArjmfU@ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.502291 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 9.800000 m, bearing: 277.159631 deg, lat: 36.903948 deg, lon: -122.119016 deg, deltaT: 0.502291 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2i)*i)h)h)h)h)h)g1g1bg1jg5Be9e9jeJe:eq?='Bɛ=`3ȹ)A E>iA)M͚IQiUn6=iy}><Ŝmҿ) E 3#A9A E Po E t)E bIA iE 8E ;oE ?E @E @ E Ľ)E h@IE iE ~[@E >A A E 6mg■`[ſ&xIE H>iE m=E 6E >A A  checking for new query: numPingsReceived=61, elapsed TxPingTime=32.540653:J BJ h9JJ RJ u ZJ J I hAVF p<F ZA M >I(x,k^^An i?yn?9n,Yn1@>nH`Q? l[X?ʔ? H?^`$?@;??n i?ɨn<; ltBu IHHZ5 N= [=Y4;Q >٣ GΚ > ]=59 vm?a%=5Y b i B15׸?q=@ gD ; ; 1=5ZIvbItjIrIzI{T:I9IIq@i@u@m@ sAGGG IG݂BGGGG<G FZj8m?bjaf ii3^^Aj3#Aj"A2jW\@pv}Zc#ǿ)zp&&i>mҿ) "j6*j>pU^?aƎ#J3ޑ.pʍJ?)?2$6ȿij^?i־0m?iJh  j}Bzjjof ji}BjjArjB&@ addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503939 s, deltaX: 0.400000 m, approachRate: 0.793746 m/s, rangeRepo size: 4  Added new target pos. range: 10.200000 m, bearing: 276.381776 deg, lat: 36.903948 deg, lon: -122.119018 deg, deltaT: 0.503939 s, deltaX: 0.400000 m, approachRate: 0.793746 m/s, posRepo size: 4 2i*ihh h h h ggbg!jg!e)e)je1Je=`ff$@:eEp?雭$Bɛ;) !>i)}隱iV=i!"<CMx,^^A6DDAT read: Rx Time:19:48:11.3499 :TRx dataTimestamp_ set to:1736538491.820113>DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed -0.4 -BZ#Rx 62: Read range message, but no direction.8:f&A98Fchecking for new query: numPingsReceived=62, elapsed TxPingTime=33.027046Jx?yJJH@A?Z@.??}?MDTh?@NY??Jx?ɨJW; JCoBn IHHW5%ۼ %H=Y%:Q %>)٣) -G-F5: 5>9]E=59=_m?aE=5Y=] i9IM?qM@=gD=:=):=4=5UB UAQB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504461 s, deltaX: 0.200000 m, approachRate: 0.396462 m/s, rangeRepo size: 4 2i*ihhh)h)h1g1g1bg1jg9e9e9je9Je=$@:eE9?-!Bɛ-p;)) -~>i))5q11i5;o=i9=+<=#Ŝ5×x,s _^A:J\?y:ə?9:ؼY:>:H ]?9YPV?@?`? ?`,h??:J\?ɨ:6; :CBmBBm I-Zonly read 0 of 1 data item for BIT error. Device response is::TS,25011011492019,35.0, +11.068,-32768,V Z@Z Z@Z Z@Z  Z@Z H^H^S5jtջ jc=Yjf;Q j>l٣l nGlr~ r>t]z=59vm?az=5YvY itiz+:xmz:~˸?q~@vgDve;v˹>v:7=5 A2i)*i1h1h1h1h1h1g1g9bg9jg9eAeAjeAJeA:eEw?uBɛutZ;)Y ]*>iY)] YYi]E=iaeO2VFM)ş<IIIS}.IG>GG IG؂BGGGG,<G(FH HHH"H*HqN4IIZIrbIkjIrIzIG:I9III_;q I_;i I:u I:m F! ZA) M >% checking for new query: numPingsReceived=63, elapsed TxPingTime=33.778816 _ɗx,QN'_^AJ%T?yJ?9JlѼYJ=9>JH`f?/Y \C? ?R?>,?MZ?@,?J%T?ɨJ; HVuBVu IHbHb R5j= jJ=Yji;Q j>l٣p rGrFr%! r>t]z=59vm?az=5YvU ivBi~ :|m~:~ø?q~@vgDvc;vrD?v9=5  A E addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504425 s, deltaX: 0.300000 m, approachRate: 0.594737 m/s, rangeRepo size: 4 2iA*iAhAhAhAhIhIgIgIbgQjgQeQeQjeQJe]`ff%@:e]Z?雅Bɛq;) 3>i) 隉i=i}8<:ŔKЗx,=A_^A- R?y-?9-^ʼY-J>-HPh?oY`-?@?`?ʦbQ? 'K?պ?- R?ɨ-͇; -!CEBE IM=iM<checking for new query: numPingsReceived=64, elapsed TxPingTime=34.283146      Mb@Mb@Mb@ )Iyx&1?~jt?MbPA>D< A)b@IZ@i@@HHJ5%= -6=Y5&:Q 5>1٣1 5G5F=^ =>A]M=59E*m?aM=5YEO iEBiUT:UW>mU:U?qU@EgDE ;E ;Ew==5Y ]VA]ضE- addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.502755 s, deltaX: 0.100000 m, approachRate: 0.198905 m/s, rangeRepo size: 4 2i)*i)h1h1h1h1h1g1g1bg9jg=Be9e9jeAJee%@:ee b?雍Bɛ>;) [>i)S隙iA=i@<9:J BJ 9JJ RJ w ZJ (+*(&" J I gA q֗x,[_^A24?y2q?92Y2>2H ?4X@.?@?? A?F? 4?24?ɨ2u; 2 CNBR IHZHZU5b< fe=Yf&V;Q f>h٣h jGhj3( j>p]r=59rm?av=5YrK irBtv?qv@rgDr`:r;r@=5  ;Am addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504816 s, deltaX: 0.300000 m, approachRate: 0.594276 m/s, rangeRepo size: 4 2ii*iihihqhqhqhqgqgqbg1jg1e9e9je9Je=@33&@:eE?ZI}qbIyjIyrIyzI}D:IyIyIyq@i@u@m@GGCG IG݂BG =GGADG<GF%Bɛ%y<)! %Pi>i!)-k))i-h=i150C<5ܗx,t_^A&DDAT read: Rx Time:19:48:13.3504 *TRx dataTimestamp_ set to:1736538493.835479.DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed -0.4 -2Z#Rx 66: Read range message, but no direction.$&4A9$6checking for new query: numPingsReceived=66, elapsed TxPingTime=35.043140eBe IHuHu&Q5e5= 9=YQ >٣ GF >!]-=59%m?a-=5Y%F i%B))q-@%gD%:%W:%zD=5Y eAa .~GlA 1)mXymlAm^AuB*** querying acoustic contact ***iqiq addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503370 s, deltaX: 0.200000 m, approachRate: 0.397322 m/s, rangeRepo size: 4 2i*ihhhhhggbgjgeejeJe&@:e@ ?=Bɛ=<)i mf>ii)mqqiub=iq}F<}mx,_^A6?y6FE?96+ɯY6$>6H? V`#?N? 0???t8?`?6?ɨ6W; 4BBB IID)DMMb@Mb@Mb@II I)IIIyM!rh?{Gzt?Mb`?Ml>Mף;M; MA)MK@IMp@iIIM@HeHe R5u(= }R=Y};Q }>٣ GFe >]=59Um?a=5Y7B iBp>m:?q@gD7;;G=5B AնE2i*ihhhhhggbgjgBeejeJe:eg?% Bɛ-!SY<)) ->i))-f))i5U=i9EEGG!IGBGGG@DG9<G1FF) ZA1 MU > checking for new query: numPingsReceived=67, elapsed TxPingTime=35.796772hx,_^A%?y%P7?9%Y%]>%H`ڿ?`VV ? ?:B?`Ѥ1?u)?୼?%?ɨ%; %C=B= IHMHMK5]= eL=YeK;Q e>i٣i mGimK u>]u=59m?a}=5Y= iBy}?q}@hD<`}<XK=5 =A addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504715 s, deltaX: 0.400000 m, approachRate: 0.792526 m/s, rangeRepo size: 4 2i*ihhhhhggbg jg e)e1je1Je5`ff'@:e5D?雝 Bɛ|W<) >i))-))1i5P=i1=B<=A9ichecking for new query: numPingsReceived=68, elapsed TxPingTime=36.052475VF Ӕ<F ZA M >x,x_^Achecking for new query: numPingsReceived=68, elapsed TxPingTime=36.298790MBM IMb@Mb@Mb@ )Iykt?~jtxMb? >Ļ< lA)IZ@i3@HHF5S= 1=Y%Q %>1٣1 5G5F= =>I]U=59Mm?a]=5YM7 iMB].>m]:]P?qe@MhDMF;MD;MhO=5uB uAqu addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503827 s, deltaX: 0.200000 m, approachRate: 0.396961 m/s, rangeRepo size: 4 2iq*iu-}ZTarget missed at range: 11.90 m. Rolling out.h}NTransitioning guidance mode to: ROLLOUTi@hhhhhhggbgjgρBeejeJe'@:e W?雥B) >i)(隩Fiix,_^AG(G*CG*(!IG*BG(G(G*ADG*<G*F%Ǘ?y%2?9%U{Y%)">%H?T? .?|?ͣ#? ??%Ǘ?ɨ%U~; % C=B= IE4=iE=)E= Ep=ZIUsbIUpjIQrIQzIUK:IU^9IQIQIUe;q]IUe;i]IU|:ueIU}:meHMHMI55| = 59=Y5&;Q =>9٣9 =G=FEc E>I]U=59Mm?aU=5YM2 iMBY]?q]@M"hDMW:M :M?S=5a eAaqK}}Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseKEntering Midcourse tracking update period 60.000000 s sec at 11.900000 m (mode 5.000000 count ).KK1J Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRqJchecking for new query: numPingsReceived=69, elapsed TxPingTime=36.804249Resuming normal ranging with 1.000000 count pings 11.900000 m (mode 5.000000 count ).qJJM addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504667 s, deltaX: 0.400001 m, approachRate: 0.792603 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 10.20 m.hQhYhYhYhYhYgYgYbgajg9 sAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy9s@Uninitialize Buoyancy Component.ejeJe(@:e?U{) >i9)3ıi i  ' oox,_^A6?y6>?964Y6r>6H@?`S[ƾ???@gW[?`7??6?ɨ6J; 6"CJ΂BJ IHVHVn5=d= =B=YES ;Q E>E٣E EGIMd! M>Q]]=59Um?a]=5YUd- iU§Bae?qe@U/hDU:U:UV=5}B AӶE kN@K1Lj?JJ addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.502743 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 10.20 m.hQhYhahhhggbgjgejeJe:e@K?r\.>z\.>\@\c?4) g>i9)ρ4iMchecking for new query: numPingsReceived=70, elapsed TxPingTime=37.307896iaae>b DDAT read: Rx Time:19:48:15.8513  TRx dataTimestamp_ set to:1736538496.355323 DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.6 - Z#Rx 71: Read range message, but no direction. HA9  checking for new query: numPingsReceived=71, elapsed TxPingTime=37.562256x,&n`^Ae߂Be IMb@Mb@Mb@ )Iy+?~jtMbP?v>: A)=@Ip@i@@H H hj5= %==Y%Q ->)٣1 5G15 =>9]E=59=m?aE=5Y=' i=ħBM>mM:M?qM@==hD=s:=V:=Z=5:JUMBJU9JJQRJUz ZJUa mAik1LqLjJ1K addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503892 s, deltaX: 0.200000 m, approachRate: 0.396910 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 10.20 m.hhhhhhggbgjgBejeJe)@:e`#?r\>z\>\@\?) >im29)qub4qiqiyy}"HdGGM!IG%BG =GG@DG<GFmAmA}checking for new query: numPingsReceived=71, elapsed TxPingTime=37.814342^D =D>D?D O&D D E _0 E E E gAVF-8\<ZA9MU>> x,w5`^A>ߗ?y>Z?9>9Y> >>H ?`L??I? ]?@~I?*??>ߗ?ɨ>a; >!CnDDAT read: Rx Time:19:48:16.3513 nTRx dataTimestamp_ set to:1736538496.863244vDAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 -vZ#Rx 72: Read range message, but no direction.ll9lzchecking for new query: numPingsReceived=72, elapsed TxPingTime=38.070156ޕBޕ!II)AAHHi5&= 1=YQ >٣ G |; >]%=59m?a%=5Y! iƧB!%;?q-@KhDx;t;^=5Q UAAQkqLtCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseqKAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcoursej1KCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1J Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.507921 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 10.20 m.hhhhhhgg bg jg e jeJe:eƲ?r\Qz\Q\Q\U;?u9)y }>i}:9)y}z4yiyid~tx,>O`^A2?y25?92įY2>2H|?F٣ G : >]=59zm?a=5Y i"?m:?q@XhDs:,:4b=5 ;A%DNOT Ignoring new targets: 10.20 m.h!h!h)h)h)h)g)g)bg1jg=Be9je9JeA:eE?r\e"?z\e"?\e&@\eٸ?uį)q ug>iut9)y}5iiWD`JBJ9JJRJ{ ZJJIGGCGm!IG>BG =GGADG <GFHȬC HȬCHH ="H =*H,4VFe y<ZAq M > checking for new query: numPingsReceived=73, elapsed TxPingTime=38.818867x, +i`^Abs?ybY?9bdYYbC>bH W?`@V3? J?U'?P^,?ȶ?>?bs?ɨb.; bCnBn!IHvHven5~= W=Y ٣   G  6B;  >]=59Am?a%=5Y i!%?q%@dhD::e=5) 5A1e addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.501063 s, deltaX: 0.400000 m, approachRate: 0.798302 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 10.20 m.hihihihqhqhqgqgqbgyjgyeyjeyJe)@:e/?r\z\\\?udY)q u>iu9)y}S95yiyi#f x,`^A?yFV?9Y Y>H 2?=`4? ?:?`8A??ڤ?騥?ɨw; CսAսAchecking for new query: numPingsReceived=74, elapsed TxPingTime=39.323654B!I%q $A)=@I@i@(@H+Hu5%)< %'=Y-*1٣9 =G9E%o E>Q]]=59Uɰm?a]=5YU iUħBe>me:eҤ?qe@UthDUz\%>\%d@\%6Ҥ?=Y )9 = >i9)|X5ii*(x,@`^A^?y^:?9^\Y^>^H?:7 ?ओ?@Mi?`ܝKs?h?4?^?ɨ^@; \fBf'!IH--H-v5=J= =G=YE;A٣I MGIM M>Y]e=59]cm?ae=5Y]  i]§Bae?qe@]hD]:]:]em=5uB ufAuζE addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503851 s, deltaX: 0.500000 m, approachRate: 0.992357 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 10.20 m.hhhhhhggbgjgejeJe*@:eT?r\z\\\븤?\) r>i9)s5ii!!%-ʂe DDAT read: Rx Time:19:48:18.3519 m TRx dataTimestamp_ set to:1736538498.875754u PDAT read: Bearing 199.6, -1.8 (Local) u ~Local bearing/azimuth received: Bearing 199.6, -1.8 (Local)  DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed -0.4  DAT read: 19:48:18.3519 LVL= 24048, 28817, 19346, 32243, AGC= 56, IDX= 513, 0.20,-2.735,-0.403,-1.755,-1.545, PHS=-1.102, 1.189,-0.213, RAW= 307.4, 1.3, CAL= 310.4, 1.8, ROT= 199.6, -1.8  Ygot valid direction response: 19:48:18.3519 LVL= 24048, 28817, 19346, 32243, AGC= 56, IDX= 513, 0.20,-2.735,-0.403,-1.755,-1.545, PHS=-1.102, 1.189,-0.213, RAW= 307.4, 1.3, CAL= 310.4, 1.8, ROT= 199.6, -1.8  T#Rx 76: Read range and direction messages.I ) E ~G3Q.x, `^A"kA ,)JyJkAJ BN`direction in FSK: [-0.941593,-0.335286,0.031411]nFpublishing direction and range infoؙY؝0!4cTuտIz?ؙ9ؙ؝] ٝp)ٝKIٝ}iٙٝVٝ'1?ٝZٝ>@ ڝ޹<)ڝ-\@Iڝ=iڝ^@ڝڙ ۙ۝X`M>h?8˖?I۝j@i۝b۝#+3۝ۙ ܙchecking for new query: numPingsReceived=76, elapsed TxPingTime=40.1944895B5 !IHE'HE(t5u }8=YQ >٣ G >]=59cm?a=5Y iBq@hD::Eq=5 AZj\n?bjŠ` ii[ `^AjfVAjTA2j @p<)jש$K?zp0!4cTuտIz?"j#+3*jpRu<4@s[*nԿp\?x￧nAy͘iRj@ihƴn?ib  jYBzjjb ZIvbIojIrIzI{T:IK9IIjjj&SArj.u@- addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503833 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 13.400000 m, bearing: 280.324438 deg, lat: 36.903948 deg, lon: -122.119016 deg, deltaT: 7.560102 s, deltaX: 3.200000 m, approachRate: 0.423275 m/s, posRepo size: 4 EDNOT Ignoring new targets: 13.40 m.hAhAhAhahihigqgybgjgejeJe:e@؛?checking for new query: numPingsReceived=76, elapsed TxPingTime=40.334583r\az\a\a\a) r>i/9)>5ii 5⡃5x,s`^ADDAT read: Rx Time:19:48:18.8521 TRx dataTimestamp_ set to:1736538499.379360"DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 -&Z#Rx 77: Read range message, but no direction.3[A9*checking for new query: numPingsReceived=77, elapsed TxPingTime=40.586296Rė?yR?9Rv;YR>RH?/ ¢?B?`-?˓y?`|?Rė?ɨRE; P^B^'!II`)bAUMb@Mb@Mb@QQ Q)QIQyUK7A`?ʡEMbU>UU U;A)U@IU@iU@QQHm;Hm}5< K=Y٣ Gˍ >]=59dm?a=5Y iBEn>mE:E?qE@hDص<<t=5Q UeAQ addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503606 s, deltaX: 0.300000 m, approachRate: 0.595704 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhhggbgjg.BejeJe`ff+@:eW?r\En>z\En>\EF@\E_?}v;)  >i9)隍`5iilGG!IGWBG =GGG-<G(FD=&8D9D9E=d2 E9AAchecking for new query: numPingsReceived=77, elapsed TxPingTime=40.837044VF= <ZAQ Mm >r;x,@`^A:?y:?9:jA:H ]? )`???L`(2f?@?:?ɨ:S; :CVBV!IH^MH^5f fX=Yftvh٣h jGhn n>t]z=59vm?az=5Yv ivBxz?q~@vhDv:vk:vx=5 A5DNOT Ignoring new targets: 13.40 m.h1h1h1h1h1h1g1g9bg9jg9eAjeAJeA:eE?r\az\a\a\e?}jA<)y } >i.9)隅5jii h] checking for new query: numPingsReceived=78, elapsed TxPingTime=41.348766Bx,Sv a^Az?yz?9zrbzHF4?%@N?|?4L?.`L$5??z?ɨz~; zCB&!IMb@Mb@Mb@ )Iy&1?sh|?{Gz>ף A)@I@ip@HKH55n< 55=Y5[9٣9 EGAMK M>Q]]=59Um?a]=5YU iUB]k>m]:eK?qe@UhDU#:UA:U |=5i mjAq addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503982 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhhggbgjg-BejeJe:e'?r\k>z\k>\ǣ@\K?rb<)  >i69)5JiiF7T:J KBJ JJ RJ ~ ZJ  @J*VG >G CG !IG RBG =G G @DG @<G 4F:Hx,B%a^A>+m?y>?9>ԠO">>H&J?f#@Vm??`ȁ?g 2??>+m?ɨ>,; > CJBJ!IN=iN=HjOHj5r|: rc=Yvvt٣t zGxz z>|]=59~ m?a=5Y~G i~B  1?q @~hD~g:~:~-=5 Am addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.507933 s, deltaX: 0.400001 m, approachRate: 0.787507 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 13.40 m.hqhqhqhqhqhqgqgybgyjgyejeJe@33,@:e`z?r\z\\\#1?Ԡ<) >i9)隽H5ƺiiLOx,'?a^A6{+?y6h?966H@?h?@R??h?;@E? ?6{+?ɨ6_; 6CBBB!IHNFHN5VA VN=YV;X٣X ZGX^4 ^>`]f=59bm?af=5Yb7 ibBhj?qj@bhDb:b:b=5l nAn˶E addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504164 s, deltaX: 0.200000 m, approachRate: 0.396696 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.h!h!h!h!h!g!g!bg)jg)e)je)Je5,@:e5֧?r\z\\\?<) >>iF9)J5Ug Vx,mYa^ADDAT read: Rx Time:19:48:20.8527 TRx dataTimestamp_ set to:1736538501.404221"DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3 -&Z#Rx 81: Read range message, but no direction.iA9*checking for new query: numPingsReceived=81, elapsed TxPingTime=42.611141vBv!IEMb@Mb@Mb@AA A)AIAyEGz?ˡE{GzEp>E什A E;A)E@IAiEC@AAHUHU-I5Qc -=YQ >٣ G >]=59m?a=5Y iBN>m ;͘?q@hD':;φ=5 2AʶE} addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.508782 s, deltaX: 0.300000 m, approachRate: 0.589644 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgBejeJe@33-@:e "5?:JNBJ}9JJRJ ZJe2Qrg^S>(    JIr\N>z\N>\5@\<͘? )I U >iU9)QU$5UBGqGqGqGu<Gu FZIuybIujIqrIqzIu]:Iuy9IqIqIu;q}Iu;i}Iu::u}Iu;:mchecking for new query: numPingsReceived=81, elapsed TxPingTime=42.861736C9DD ?D D E `0 E VFA.<ZAM>{]x,xa^A2ۖ?y2?92h/=Y2">2H(?e_?I?o??@d륿I??A?2ۖ?ɨ2; 2 C>B> IHFHFJ5R\O R@=YVT٣T VGX^DDAT read: Rx Time:19:48:21.3528 bTRx dataTimestamp_ set to:1736538501.907590fDAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4 -jZ#Rx 82: Read range message, but no direction.`b3kA9`nchecking for new query: numPingsReceived=82, elapsed TxPingTime=43.114536rϹ r>t]z=59vm?az=5Yv ivBxzr?q~@vhDvo;v;v=5 A5 addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503369 s, deltaX: 0.099999 m, approachRate: 0.198660 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 13.40 m.h9h9h9h9h9g9gAbgAjgAeAjeyJe}`ff-@:e_?r\z\\\r?h/=)  >i;9)5ii%C%v9D?DDE0 Echecking for new query: numPingsReceived=82, elapsed TxPingTime=43.365326VF 2<ZA M5 >_cdx,ga^AfY?yf?9f^G=Yf$>fH?..?{??H?@M騿f?p?fY?ɨfo; fCvۂBv IMb@Mb@Mb@ )IyQ?V-Mb>h A)I$@i-@@HHX5$̼ :=YsZ٣ Gu >]=59m?a=5YZ iyB>m;?q@hD::N=5 ADNOT Ignoring new targets: 13.40 m.hhhhhggbgjgBejeJe:e)??r\->z\->\-G@\-t?e^G=)a e>ie9)im5iiiiqquߧ;IqIyDDAT read: Rx Time:19:48:21.8530 TRx dataTimestamp_ set to:1736538502.411736DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.3 -Z#Rx 83: Read range message, but no direction.pA9checking for new query: numPingsReceived=83, elapsed TxPingTime=43.618649Cd9:JxNBJ 9JJRJ ZJ  J? J'?G>GGT!IG*BGGGGа<G FHǫC HǫCHH ="H =*H 5ZI }bI jI rI zI [j:I 9I I I ;I ;I G;I G;D= ?DA DA EE o0 EA } checking for new query: numPingsReceived=83, elapsed TxPingTime=43.866875VF- P <ZAY Mu >kx,a^A2a{?y2า?92)^=Y2'>2H@1?@ *? w? ?,C?ܫ? ҂BB IHJHJ=X5Ra9 RI=YRhT٣T VGTZS Z>\]b=59^7m?ab=5Y^ i^pBdf˜?qf@^hD^6;^M7;^ڑ=5h nAl  addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504146 s, deltaX: 0.300000 m, approachRate: 0.595066 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgejeJe%.@:e%@?r\Az\A\A\E˜?)^=) H>i99)p5ii   ;I I DDAT read: Rx Time:19:48:22.3530 TRx dataTimestamp_ set to:1736538502.915400DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.3 -Z#Rx 84: Read range message, but no direction.عع9عchecking for new query: numPingsReceived=84, elapsed TxPingTime=44.122341Cv9D9DADAEE0 EAVF- *;ZA9 MU >rx,:xa^A-checking for new query: numPingsReceived=84, elapsed TxPingTime=44.373543=ςBE IMb@Mb@Mb@ )IyzG?)\(Mb >Ga A)@Ih@i@@HHT5 -  =YQ >٣ G >!]-=59%m?a-=5Y%7 i%gB=>m=0;=?q=@%hD%>;%<;%\=5A EAA} addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503664 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 13.40 m.hyhhhhggbgjgBejeJe:em?r\>z\>\)@\?) R>i9)36iiZ9;IIBBCd9DE?DIDIEM3 EI<DDAT read: Rx Time:19:48:22.8531 TRx dataTimestamp_ set to:1736538503.420971DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed -0.3 -Z#Rx 85: Read range message, but no direction.3sA9 checking for new query: numPingsReceived=85, elapsed TxPingTime=44.630737VF- o;ZA9 M] >&xx,/a^AGDGDGF4!IGFBGF =GDGDGF <GFF:JRg%LBJPJJPRJR ZJR    JZhAIZhA=ǂBE IHUHU]5mY u=YqQ u ?y٣y }Gy  ?]=59sm?a=5Y ibBq@hD.:Q;=5 ]AII3I.IIIZI|bIjI0rIzI;g:I9Iـ3IIՊ;I׊;I2;I3; addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.505571 s, deltaX: 0.200000 m, approachRate: 0.395592 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjg e je Je `ff.@:e `?r\)z\)\)\)9)A E>iE9)AE" 6AiAiIIIIIIC95checking for new query: numPingsReceived=85, elapsed TxPingTime=44.875259DDDE'4 EEEVF ;ZA M > DDAT read: Rx Time:19:48:23.3531  TRx dataTimestamp_ set to:1736538503.924248 DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed -0.1 - Z#Rx 86: Read range message, but no direction. 9  checking for new query: numPingsReceived=86, elapsed TxPingTime=45.131180|P~x, a^A ~G$ ,)JGyHJBU/?yU?9U=YUD,>UH` ? `?`e? 2?e?`n?`u?U/?ɨUg; U#CHHr^5YG8=Q >٣ GfU >]=59[m?a=5Y iYB?q@iDu::=5B `AǶE% addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503277 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 13.40 m.h)h)h1h1h1g1g1bg9jg9e9je9Je9:eE?r\Yz\Y\Y\]?=) iW9)隝6ii:IIAA]checking for new query: numPingsReceived=86, elapsed TxPingTime=45.382431C9D D D E =5 E E E E E ZAy M >مx,b^AnȂBn IIp)rA]DDAT read: Rx Time:19:48:23.8533 ]TRx dataTimestamp_ set to:1736538504.427401eDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 -mZ#Rx 87: Read range message, but no direction.Y]xA9Yuchecking for new query: numPingsReceived=87, elapsed TxPingTime=45.634354Mb@Mb@Mb@ )IyDl?~jt{GztO>ף A)@IlAi@\@HH]592; ٣ G >]=59`m?a=5Y iRB>m >; ?q @ iD? ;X ;=5 WAU addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503153 s, deltaX: 0.300000 m, approachRate: 0.596240 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 13.40 m.hQhQhQhYhYgYgYbgYjge$BeajeaJee/@:em@?r\>z\>\@\5?Q)Q ]ף>i]9)Y]^6YiYilC;IIGIGIGM!IGMBGIGIGIGM <GMF:J"TLBJ@9JJRJ ZJZIbI|jIrIzII@9III֊;II{:I|:C%9 checking for new query: numPingsReceived=87, elapsed TxPingTime=45.883106D ?D D E 45 E ZA! MM >x,-]2b^AB IH-H-uZ5=/ =V=YAQ E>A٣A EGII M>Q]]=59Um?a]=5YU iULBYaqe@UiDU:U>:U=5i mAi DNOT Ignoring new targets: 13.40 m.h hhhhggbgjgejeJe:e%p?r\9z\9\9\9Q)Q Uo>iU9)QU6QiYiYYaIaIaC9ae%=uDDAT read: Rx Time:19:48:24.3533 uTRx dataTimestamp_ set to:1736538504.932578DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 -Z#Rx 88: Read range message, but no direction.qq9qchecking for new query: numPingsReceived=88, elapsed TxPingTime=46.141087DYDYDYEe`0 EaZAMG>H R=H a=5 checking for new query: numPingsReceived=88, elapsed TxPingTime=46.389282풘x,ILb^AmBu I Mb@Mb@Mb@   ) I y  r?Q >   A) =@I Ai @  @H%H%7`55> 5.=Y9Q =>9٣9 EGAA E>I]U=59Mm?aU=5YM iMFBUz>m]M;]A?q]@MiDM:M:M=5i uAq% addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505177 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 13.40 m.h)h)h)h)h)g1g1bg1jg5*BeYjeYJeY:e]o?r\z>z\z>\W@\A?) >>i^9)6iiIImDDAT read: Rx Time:19:48:24.8534 uTRx dataTimestamp_ set to:1736538505.435269DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 -Z#Rx 89: Read range message, but no direction.quyA9qchecking for new query: numPingsReceived=89, elapsed TxPingTime=46.643898C9D D D E 2 E ZA M >G9 G9 G= IG= BG9 G9 G9 G= A<G= 4F:J% BoIBJ% 9JJ! RJ% ZJ% j-k '_ u 5\T1 x,!fb^A:le?y:뢱?9:=Y:62>:H 5? n?X??_ͪ?1`#?@:e?:le?ɨ:; :CFBF IHNHN[W5V V=YV!=Q V ?X٣X ZGX^C ^ ?`]f=59bm?af=5Yb ibBBdf?qf@b iDb:b:b=5l n AnŶE  addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.502691 s, deltaX: 0.100000 m, approachRate: 0.198930 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjge!je!Je%@33/@:e%@?r\z\\\? =) 5q>iE9)I隅#6iiDIchecking for new query: numPingsReceived=89, elapsed TxPingTime=46.892845IBBgAC9D ?D D E _0 E  DDAT read: Rx Time:19:48:25.3534  TRx dataTimestamp_ set to:1736538505.941241 DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 - Z#Rx 90: Read range message, but no direction.ؙ ؙ 9ؙ  checking for new query: numPingsReceived=90, elapsed TxPingTime=47.148186VFu )<ZA M >󟠘x,b^A6Z?y6d?96`=Y6a4>6H 2>? 8?@V?`?y?]Ķ`W?`Ea?6Z?ɨ6k; 6C>B> IHJHJZ5RJ< R7=YV;Q V>T٣T ZGXZ< Z>\]b=59^m?ab=5Y^  i^;Bdfݢ?qf@^'iD^o;^;^ˮ=5h jAh addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.505972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbg!jg!e!je)Je):e-o?r\Iz\I\I\M\ݢ?]`=)Y ]q>i]9)6(6iiKIIHHZI)bI-xjI-1rI)zI)I-9I-3I)q5@i5@u5@m5@checking for new query: numPingsReceived=90, elapsed TxPingTime=47.395294C9DhAzDhAD5 ?D1 D1 E1  E1 VF ;ZA M5 >x,Ib^ADDAT read: Rx Time:19:48:25.8536 TRx dataTimestamp_ set to:1736538506.447568DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed -0.2 -Z#Rx 91: Read range message, but no direction.f~A9"checking for new query: numPingsReceived=91, elapsed TxPingTime=47.654495NwR?yN?9N=YN.4>NH@E?@@:&?U? ?0?"]?:`?NwR?ɨN; N CVBV I}Mb@Mb@Mb@yy y)yIyy}V-?~jt~jth?}|>}}D; } A)yI}Ai}@y}@HH]5^C /=Y;Q >٣ G| >]=59yn?a=5Y i6B}>mV;?q@/iD::=5 8A addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.506327 s, deltaX: 0.299999 m, approachRate: 0.592501 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhh!h!h!g!g!bg)jg-;Be)je1Je5/@:e5J?r\U}>z\U}>\U@\U?e=)q uHa>iu9)qu ,6yiyiyo-IIGG@A-$XFailed to parse device response: 25,9094.33 &-TFailed to parse incomplete device message.checking for new query: numPingsReceived=91, elapsed TxPingTime=47.904957C9D ?D D E `0 E E a=E p=VF }:ZA M%>ϭx,Bb^A2Q?y2{?92=Y2{5>2HE?I?@T?? ?RM`z? !^?2Q?ɨ2z.; 2C@B IID)FAHNHNW5V VM=YZY.;Q Z>X٣X ZGX^D ^>`]f=59bn?af=5Yb ib1Bhj?qj@b5iDb);b};bZ=5l n:AlmDDAT read: Rx Time:19:48:26.3536 uTRx dataTimestamp_ set to:1736538506.951354DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed -0.3 -Z#Rx 92: Read range message, but no direction.ii9ichecking for new query: numPingsReceived=92, elapsed TxPingTime=48.159828 addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503786 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhg g bg jg ejeJe:e1?r\Qz\Q\Q\U`?m=)i m`>im`9)im/6iiqiqy I IC%i?B%=?CD?DDE0 EZI}bIjIrIzI[j:III) )  DDAT read: Rx Time:19:48:26.8537  TRx dataTimestamp_ set to:1736538507.222766VF 9e DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 ZAq - Z#Rx 93: Read range message, but no direction.ر M >ص ̀A9ر % checking for new query: numPingsReceived=93, elapsed TxPingTime=48.472549/x,(b^A22H@Y?@ O_?S?!??2@N?`\?2UtU U A)QIQiU@QU@HmHmX[5) >=Y*;Q >٣ G5ź >]=59n?a=5Y i,Bht>m^;?q@z\-ht>\-x@\-8?1=) u>i 9)隥36iiѡIIC9checking for new query: numPingsReceived=93, elapsed TxPingTime=48.659580DaDaDaEe?5 EaG>GG IGɂBGGGG'<G!FVF- }:ZA1 MU >:J 7NBJ U9JJ RJ ZJ }umkjee_VRPRX^^]_[RMFغx,gb^ADDAT read: Rx Time:19:48:27.3537 TRx dataTimestamp_ set to:1736538507.716996DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed -0.2 -"Z#Rx 94: Read range message, but no direction.9&checking for new query: numPingsReceived=94, elapsed TxPingTime=48.923988FG?yF;?9F=YF6>FHN??R?x? ~? z׷l?@Z?FG?ɨFB ; F"CNBN IHVHVR5^ ^X=Yb,;Q b>`٣` fGdff: f>h]z=59jn?a=5Yj ij'B  ?q @jAiDj;j;ji=5Y ]eAY addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.494230 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjge!je!Je!:e%M?r\az\a\a\eA?=) r>i9)隥p76ii^IIC%9D?DDE/5 EEhAEhAՑՕ<checking for new query: numPingsReceived=94, elapsed TxPingTime=49.163139VF !ZA M= >x,]Qc^AZI2wbI2vjI0rI0zI2W:I2ϣ9I0I0FU?yF=?9F!==YFF7>FH@?L@?S??í? ? Y?FU?ɨF4; FCRBR IZ4=iZ4<)^= ^=HbHbS5j{ nI=Yr:Q r>t٣t vGxz : ~>]=59 n?a=5YB i!B%?q%@HiD;';=51 5AADNOT Ignoring new targets: 13.40 m.hhhhhggbgjgejeJe:e?r\Qz\Q\Q\Ug?e!==)a el>im9)im*;6iiiiqq}IyIDDAT read: Rx Time:19:48:27.8538 %TRx dataTimestamp_ set to:1736538508.215979=DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 -EZ#Rx 95: Read range message, but no direction.A9]checking for new query: numPingsReceived=95, elapsed TxPingTime=49.427479C9DDDE65 E checking for new query: numPingsReceived=95, elapsed TxPingTime=49.666744VFQ ZAq M >Șx,b!c^A:?y:ñ?9:=Y:8>:H`<?` ?U?C??F #?qW?:?ɨ:v0; :!CZBZ IUMb@Mb@Mb@QQGqGqGu IGuBGqGqGqGu<GuFH  H H H ="H =*H 3 Q)QIQyU rh?:v~jthUl>UԼUD U A)UK@IU;AiU@QUz@HHO5w< :=YE9Q >٣ G\; >]=59F n?a=5Y iBn>md;֣?q@NiDv;m};=5 dA addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.498983 s, deltaX: 0.100000 m, approachRate: 0.200408 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgUBejeJe@330@:e?r\5n>z\5n>\5y@\5֣?:J}NBJyJJyRJ} ZJ}C@<964/,,''#!!-#  QB +@{m_N]t E ` ;%+TJgAIgA5=)1 5#>i59)15=61i9i9AEPP:IAIADDAT read: Rx Time:19:48:28.3539 TRx dataTimestamp_ set to:1736538508.715632DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0 -Z#Rx 96: Read range message, but no direction.3A9checking for new query: numPingsReceived=96, elapsed TxPingTime=49.922565C89D) D) D) E- ?5 E) I) )1 iG ) y A} checking for new query: numPingsReceived=96, elapsed TxPingTime=50.170872VFZA1MM>)Ϙx,?c^A6Ơ?y6Dޱ?96 =Y6T9>6H@?K?9V? ?M?G-?@V?6Ơ?ɨ6; 6C>BB IHJHJ=X5N. R==YR8Q R>T٣T VGTZC: Z>X]^=59Zn?ab=5YZ3 iZB`b?qb@ZTiDZ;Z!;Z=5l nrAl  addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.499653 s, deltaX: 0.199999 m, approachRate: 0.400275 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgejeJe`ff0@:eA}?r\Iz\I\I\M? =)q u> >iu9)y}@6yiyi~:IIZI]xbI]tjI]0rIYzI]Z:I]9I]ـ3IYDDAT read: Rx Time:19:48:28.8541 TRx dataTimestamp_ set to:1736538509.219959DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2 -Z#Rx 97: Read range message, but no direction.A9checking for new query: numPingsReceived=97, elapsed TxPingTime=50.426926Cn9Dq Dy Dy E} @5 Ey E =E =VF 9ZA M >֘x,vm\c^A6?y6?96=Y6U:>6H?`O?#Z?@?N?@ !?]U?6?ɨ6Nχ; 6!C>B> II@)@DFAjchecking for new query: numPingsReceived=97, elapsed TxPingTime=50.674923Mb@Mb@Mb@ )Iy$C?Mby&1|Z>` )b@IAi@HHS5+ &=Y8Q >٣ G; >] =59yn?a =5Y i B \>m v; ?q @[iD;3;=5B A¶EU addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504327 s, deltaX: 0.300001 m, approachRate: 0.594854 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 13.40 m.hYhYhYhYhYgYgYbgajgeQBeijeiJem@30@:em@'h?r\\>z\\>\DJ@\?=) #>i%9)!%DC6!i!i))-{RH;I)I1G >G G  IG BG  =G G G ٰ<G  FD?DDE_0 E:JOBJ9JJRJ ZJZ(]-i0  J ? J?DDAT read: Rx Time:19:48:29.3541 TRx dataTimestamp_ set to:1736538509.726060DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.1 -Z#Rx 98: Read range message, but no direction.ؙؙ9ؙchecking for new query: numPingsReceived=98, elapsed TxPingTime=50.940643VFu _:ZA M >ܘx,l&vc^A6?y6}8?96=Y6e<>6H!? ?`M\?ap?͏?AZQ?@+T?6?ɨ6MÇ; 6CRBR IH^H^DP5fs f_=YjuQ j>h٣h jGln ; n>p]v=59rn?av=5Yr irBxz?qz@r`iDr:r:r=5| ~A|] addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.506101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 13.40 m.hYhYhahahagagabgijgieijeiJei:euU?r\z\\\*?=)  >i9)隥E6iil6l;IID1D1D1E1 E1checking for new query: numPingsReceived=98, elapsed TxPingTime=51.179600VFu 1;ZAM> DDAT read: Rx Time:19:48:29.8542  TRx dataTimestamp_ set to:1736538510.227243 DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.2 - Z#Rx 99: Read range message, but no direction.ء إ A9ء  checking for new query: numPingsReceived=99, elapsed TxPingTime=51.434170x,c^AB I-only read 0 of 1 data item for altitude. Device response is::BD, +40. +163.29, +6.05, 7.90, 0.00 @ @ @  @ HHK5iK; #=YQ >٣ G >]=59an?a=5Y iBi+:mG;q@giD ;?=5 A addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.501183 s, deltaX: 0.299999 m, approachRate: 0.598582 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgejeJe1@:ez?1)9 =>i=9)9=[H69i9i^d;IIchecking for new query: numPingsReceived=99, elapsed TxPingTime=51.684048D?DDE EEEG >G G IG BG G G G <G FVF l;ZA M >ZI zbI jI /rI zI `:I I (N3I I o;q- I q;i- I :u- I :m- fx,ީc^A:J^hNBJ^۵9JJ\RJ^ ZJ^ "X=TJdIdB IiY9)FJ6iiIID-?D)D)E-o0 E)VFM !j;ZAQ Mu > checking for new query: numPingsReceived=100, elapsed TxPingTime=52.186970x,طc^A.8?yu?9ު=Yc<>H #h?`? d??ר?@UU?Y?騝.8?ɨ;  C޵B޵ IHH=X52 0=YjQ >٣ Gy; >]=59n?a=5Y iBi9m;J?q@riD~:B?=5 AEu addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504137 s, deltaX: -0.200001 m, approachRate: -0.396719 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgejeJe:e`*?ު=)  >i9)xL6ii;II B B CBmDDAT read: Rx Time:19:48:30.8542 uTRx dataTimestamp_ set to:1736538511.235817}DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.2 -\#Rx 101: Read range message, but no direction.quA9qchecking for new query: numPingsReceived=101, elapsed TxPingTime=52.443130D>D>D%?D!D)E-n0 E)VF} g;ZA M >x,c^A>,?y>Kj?9>Υ=Y>5<>>H`xt??e???` `?Q? [?>,?ɨ>Y; >CJBJ Ibchecking for new query: numPingsReceived=101, elapsed TxPingTime=52.691383      Mb@Mb@Mb@ )IyJ +?&1~jtH>PD  A)I;AiC@@ HHV5n< s=YiQ ?٣ G ?]=59Bn?a=5Y iBiT:O>m;X?q@viD ;=5 A- addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504437 s, deltaX: 0.200001 m, approachRate: 0.396483 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 13.40 m.h)h1h1h1h1g1g1bgAjgE]BeAjeAJeM1@:eMY?r\eO>z\eO>\e@\eX?}Υ=)y }H=i9)隅N6iiؘ;IIGGGGG =GGG<G FDM?DIDIEM?5 EIZIbIpjI0rIzII^9Iـ3IIII|:I}::J5WMBJ59JJ1RJ5 ZJ5Xp._#xeTE9/'!  0SK75;Je? Je?mDDAT read: Rx Time:19:48:31.3542 uTRx dataTimestamp_ set to:1736538511.739240}DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 -}\#Rx 102: Read range message, but no direction.ii9ichecking for new query: numPingsReceived=102, elapsed TxPingTime=52.946198VF;ZAM>|:x,{c^AZ/?yZm?9Z=YZ<>ZH@r?&?{g??_L?V U_?\?Z/?ɨZ; XfBf IIh)hHnHn[5v* vY=YzQ z>|٣| ~G|~Xp9 >] =59n?a =5Y5 iB`?q@{iD2;4;=5! %A!] addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503423 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 13.40 m.hahahahahagagibgijgieijeqJeq:eu,d?r\z\\\`?=) H=i29)隵O6ii;IIDIDIDIEM?4 EIchecking for new query: numPingsReceived=102, elapsed TxPingTime=53.195778VFeCQ;ZAqM}>} DDAT read: Rx Time:19:48:31.8543  TRx dataTimestamp_ set to:1736538512.243230 DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 - \#Rx 103: Read range message, but no direction.y } ̈A9y  checking for new query: numPingsReceived=103, elapsed TxPingTime=53.450214x,Ld^A?y\[?9ʚ=Y<>H??oh??@פ?@Tg?^??ɨi;  C=BE IHH:\5< .=Y7ûQ >٣ G >]=59 #n?a=5Y iۦBS?q@iD;#:=5! %A)] addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503990 s, deltaX: 0.100000 m, approachRate: 0.198417 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 13.40 m.hahahahahagagabgijgieijeqJeu1@:eu ?r\z\\\S?ʚ=) =i?9)隵Q6iib;IIDDe?DaDaEm4 EiE}E}E}E}checking for new query: numPingsReceived=103, elapsed TxPingTime=53.698872ZA9 MU >G G G G G =G G G <G FZI {bI xjI rI zI d:I 9I I I #;I $;I &:I ':K x,^,+d^ARr-?yRj?9R=YRҮ=>RHw? ? j? ? Q?玲 R?^?Rr-?ɨRя; PvBz I:J=NBJ=U9JJ9RJ= ZJ=Brb?'IJAIAMb@Mb@Mb@ )IyV-?&1{Gz|?># zA)x@IAi\@=DDAT read: Rx Time:19:48:32.3543 =TRx dataTimestamp_ set to:1736538512.747234EDAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 -M\#Rx 104: Read range message, but no direction.9999Uchecking for new query: numPingsReceived=104, elapsed TxPingTime=53.954224HH=X5*O K=YQ >٣ MGIU8: U>Y]]=59]%n?ae=5Y] i]ԦBeF>me;e?qe@]iD]{:]N<]=5 AE addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504004 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 13.40 m.hahahihihigigibgqjgusBeqjeqJeq:e} ~Ų?r\F>z\F>\@\?=) \=i9)R6iiIIMi;IQIYD1D1D1E54 E1ZAIMew> checking for new query: numPingsReceived=104, elapsed TxPingTime=54.2027931x,uEd^A6_$?y6a?96mY=Y6=>6H?`?Fl??@á?DZNJ? `?6_$?ɨ6웇; 6"CbBb IfEAAMDDAT read: Rx Time:19:48:32.8544 MTRx dataTimestamp_ set to:1736538513.251483eDAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2 -e\#Rx 105: Read range message, but no direction.IMfA9Imchecking for new query: numPingsReceived=105, elapsed TxPingTime=54.459538\x,^d^A6??y6t}?96K=Y6=>6Hg?Mʮ?]o? ?t&?M氿L?b?6??ɨ6D; 6 CVchecking for new query: numPingsReceived=105, elapsed TxPingTime=54.707573zBz IMb@Mb@Mb@ )Iy-?Zd;Oj<t )b@IAiZ@@HH[5t >=YYQ >٣ G; >]=59*n?a=5Y iȦB~;>m;Y?q@iD;;V=5 0A addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504249 s, deltaX: 0.199999 m, approachRate: 0.396627 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhh!h!g!g)bg)jg-`Be1je1Je=L1@:e= j?r\~;>z\~;>\@\GY?%K=)! %T=i%9GaGaGaGaGaGaGaGe<GeFH! H!H!H% ="H% =*H%Þ4)隅\U6ii;IIDaDaDaEe`0 EaZAqM:>ZIbIsjI1rIzI:I9I3IIn;Ip;I<:I=::JUNBJU۵9JJQRJU ZJUx1 Yj]b`Q>."  Je? Je>UDDAT read: Rx Time:19:48:33.3544 ]TRx dataTimestamp_ set to:1736538513.755248eDAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.4 -m\#Rx 106: Read range message, but no direction.YY9Yuchecking for new query: numPingsReceived=106, elapsed TxPingTime=54.962231x,kxd^AF,?yF0j?9F=YF(E=>FH|? @?p??@G? Cz? zd?F,?ɨFC^; FCbBb IHjHj Y5 ej  U=Y$Q >٣ GBɺ %>!]-=59%-n?a-=5Y% i%æB15H?q5@%iD%:%:%=5 GlA A) y lA AQ ]GAY addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503765 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgejeJe:e?r\!z\!\!\%AH?u=)q }=i}9)y}V6yiyiʗ;Ichecking for new query: numPingsReceived=106, elapsed TxPingTime=55.211090IDaDaDaEeh0 EaVF o;ZA M >e DDAT read: Rx Time:19:48:33.8546 m TRx dataTimestamp_ set to:1736538514.259351u DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 -u \#Rx 107: Read range message, but no direction.a e ̌A9a } checking for new query: numPingsReceived=107, elapsed TxPingTime=55.466335Vn$x,d^A<.?yk?9pt=Y;>H`{?9@M?q?@"?T?? n N?>h?騥<.?ɨ;  C5B5 II9)9Mb@Mb@Mb@ )IyS?/$Mb/>,  A)x@Ii@AHH{R5%CJ -"=Y-ػQ ->1٣1 5G15_8 5>9]E=59= 0n?aM=5Y= i=BM~4>mM;M?qM@=iD=;=;==5Q UcA]E addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504103 s, deltaX: 0.300001 m, approachRate: 0.595119 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjgnBejeJe1@:e@c{?r\~4>z\~4>\Z@\]?pt=) L=iQ9)W6iiꖛ;IIDDDEo0 Echecking for new query: numPingsReceived=107, elapsed TxPingTime=55.714813GQ GQ GU IGU BGQ GQ GQ GU ,<GU %FVF CQ;ZA M >\*x,=d^A~5?y~`s?9~zf=Y~;>~H Nu?6?s?h?K?J̬K?i?~5?ɨ~nÈ; |B IH%H%&Q5mv m=:Ju5NBJu9JJqRJu ZJuJ}hAI}hAYK/Q  ?٣ Ge@:  ?]=591n?a=5Y iB?q@iDG:S:=5 ADNOT Ignoring new targets: 13.40 m.hhhhhggbgjgejeJe:e ?DDAT read: Rx Time:19:48:34.3546 TRx dataTimestamp_ set to:1736538514.763408%DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.1 -%\#Rx 108: Read range message, but no direction.9-checking for new query: numPingsReceived=108, elapsed TxPingTime=55.970409r\1z\1\1\5o?Ezf=)I M1=iMn9)IM9X6QiQiQY].;IYIYDmp>Dm>D?DDE?5 EVF%@;ZA1MM> checking for new query: numPingsReceived=108, elapsed TxPingTime=56.222359Y1x,Gd^A:2?y:_p?9:#+X=Y:;>:H@[y?@ ?'u? V?|{?.I?@k?:2?ɨ:; 8FBF IHNHN[W5ZR[ ZX=YZUQ Z>\٣\ ^G\bO b>d]j=59f4n?aj=5Yf ifBhhqj@fiDf::f:f+=5p rAp addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504057 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hh!h!h!h!g!g!bg)jg1e1je1Je1:e5@?r\az\a\a\e?#+X=) =i9)隵X6ii19=v;I9IAIIIA.IIIZIybItjI0rIzI]:I9Iـ3Iq@i@u@m@D D D E  5 E -DDAT read: Rx Time:19:48:34.8547 -TRx dataTimestamp_ set to:1736538515.267325=DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 -M\#Rx 109: Read range message, but no direction.)-A9)Uchecking for new query: numPingsReceived=109, elapsed TxPingTime=56.475689VF6I;ZA)bAER1JM>K7x,*d^AFchecking for new query: numPingsReceived=109, elapsed TxPingTime=56.722897NI?yNNH@c?+?@w?-??=8k?@k?NI?ɨNZ; LV~BV I)^= ^p=EMb@Mb@Mb@AA A)AIAyES? rhI +AEC E94 A)AIE$AiAAE@HeHe N5mq u?=Yu0Q u>y٣y }Gy}^: >]=59K6n?a=5Y! iB2>m;"?q@iD0;#;=5 A addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503917 s, deltaX: 0.100000 m, approachRate: 0.198446 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhgGGGGGGGGQ<GAFgibgqjgu`BeqjeyJe}@31@:e}S?r\2>z\2>\@\"?-J=)) -u=i-9)15Y61i1i99=;I9IAD?DDE'5 E:JBJ9JJRJ ZJ73fL' ym$GZc/ J ? J?=DDAT read: Rx Time:19:48:35.3546 =TRx dataTimestamp_ set to:1736538515.771708EDAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 -M\#Rx 110: Read range message, but no direction.9=̌A99Uchecking for new query: numPingsReceived=110, elapsed TxPingTime=56.978687VF% {/;ZAI M >=x,l d^A2C?y2*?92r<=Y2/;>2H@j?`?x?'?飉?:zV?m?2C?ɨ2-,; 2C>zB>| IHJHJxV5fۿ jU=Y~W Q > ٣  G= =>9]E>59=O8n?aM>5Y=r i=BIM?qM@=iD=2:=:=]>5i mAi% addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504383 s, deltaX: -0.100000 m, approachRate: -0.198263 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 13.40 m.h)h)h)h)h1g1g1bg1jg1e9je9Je=1@:e=m?r\Yz\Y\Y\]{?ur<=)q uP=iu9)y}Z6yiyi0 ;IIDchecking for new query: numPingsReceived=110, elapsed TxPingTime=57.227421D1D1D1E5_0 E1VFM;ZAYMu>ZIvbIvjI/rIzI{T:Iϣ9I(N3IE DDAT read: Rx Time:19:48:35.8548 E TRx dataTimestamp_ set to:1736538516.275248M DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 -U \#Rx 111: Read range message, but no direction.A E 3A9A ] checking for new query: numPingsReceived=111, elapsed TxPingTime=57.482189Dx,oe^A%[\?y%ٙ?9%.=Y%8};>%HUS?@C ?z???`إ H?@o?%[\?ɨ%5q; %!CrBr IHMHM:\5 /=YQ >i٣i uGqu+: u>y]>59}:n?a>5Y}i i}B7?q@}iD};}G;}>5 A- addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503540 s, deltaX: 0.299999 m, approachRate: 0.595780 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 13.40 m.h)h1h1h1h1g1g1bg9jg9e9je9Je=`f1@:eE=?r\yz\y\y\}7?.=) (=i}9)隽L[6ii};I I DDDE EEhAEhAchecking for new query: numPingsReceived=111, elapsed TxPingTime=57.735893G>GG IGBG =GGG<G FVF ;ZA M >Jx,l-e^A:^?y:?9:p!=Y:=V;>:HcR?j@}?|??7z?,D? q?:^?ɨ:; :CRiBRg ImMb@Mb@Mb@ii i)iIiym+?mtmD md A)mb@ImAim@im@HHDP5N `=YhQ >٣ G!9 ?]>59;n?a>5Y  iBE!>m;ܥ?q@iDy;/x;>5 ]ADNOT Ignoring new targets: 13.40 m.hhhhhggbgjg ;Be je Je :e 0?:JXNBJ#9JJRJ ZJ    -DDAT read: Rx Time:19:48:36.3548 5TRx dataTimestamp_ set to:1736538516.785350=DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 -E\#Rx 112: Read range message, but no direction.))9)Mchecking for new query: numPingsReceived=112, elapsed TxPingTime=57.992317r\eE!>z\eE!>\eb@\e&ܥ?}p!=)y }T=i}9)y}\6iiF;IIDDDE EVFU;ZAM> < checking for new query: numPingsReceived=112, elapsed TxPingTime=58.243118Qx,Ge^A:i?y:M?9:u=Y:b;>:H`G?y? }? ?i?`{lY?@q?:i?ɨ:; :C^dB^a IHnHnX5z zU=Y~ Q ~>٣ G s: >]->59[=n?a->5Y iB15?q5@iD:;:K; >5A EAI5 addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.510102 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 13.40 m.h9h9h9h9h9gAgAbgAjgAeIjeIJeI:eM`?ZIxbIpjI0rIzIZ:I^9Iـ3Ir\Az\A\A\E@?u=) =ia9)隽]6ii;IIDzDMDDAT read: Rx Time:19:48:36.8549 UTRx dataTimestamp_ set to:1736538517.292032]DAT read: Range 10 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 -e\#Rx 113: Read range message, but no direction.IMA9Imchecking for new query: numPingsReceived=113, elapsed TxPingTime=58.499310DDDE`0 EVF ;ZA M >Wx,zoae^A:?y:?9:=Y:~<>:HE1?"?i??%?@*ᠿ`j? 9q?:?ɨ:vC; :CRchecking for new query: numPingsReceived=113, elapsed TxPingTime=58.746758VYBVS IMb@Mb@Mb@ )Iy̼C  A)x@IAif@HHR5T >=YdQ >٣ G: >]>59?n?a>5Y iB>m;?q@iD;;>5 A% addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.506682 s, deltaX: 0.100000 m, approachRate: 0.197363 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 13.40 m.h!h!h!h!h)g)g)bg)jg5&Be1je1Je=2@:e=k`?r\]>z\]>\]@\]?m=)i m=im9)qu_6qiqiy;IIG>GG IGBGGGG̰<G FDDDE0 EUDDAT read: Rx Time:19:48:37.3549 ]TRx dataTimestamp_ set to:1736538517.795389eDAT read: Range 10 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 -m\#Rx 114: Read range message, but no direction.YY9Yuchecking for new query: numPingsReceived=114, elapsed TxPingTime=59.003120:J}LBJyJJyRJ} ZJ}  J? J ?VFo;ZAM>!^x,F{e^A2?y2Բ?922H@?)?,?`n?`gaa?|r?2?ɨ2m; 0BZBBU IHXHXf; f[=YfQ f>h٣h jGhr: r>t]z>59vu@n?az>5Yv ivBxzʟ?qz@viDv:v>:v>5 A5 addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503357 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 13.40 m.h9h9h9h9h9g9gAbgAjgAeAjeIJeI:eM ?r\iz\i\i\mʟ?<) =i9)  !a6 i i15| ;I1I9checking for new query: numPingsReceived=114, elapsed TxPingTime=59.251030DDDEq4 EVF;ZAM>ZIybIujI1rIzI]:I9I3Ie DDAT read: Rx Time:19:48:37.8550 m TRx dataTimestamp_ set to:1736538518.299263u DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 -u \#Rx 115: Read range message, but no direction.a e A9a  checking for new query: numPingsReceived=115, elapsed TxPingTime=59.506817 ex,l!e^Aj.?yj?9jjH ??@?J? w`Gxx?r?j.?ɨj2; j C]IB]@ IH=H==X5  $=YkQ >٣ G: >]>59cBn?a>5YϏ iB?q@iDG::F>5B [AE% addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503874 s, deltaX: 0.200001 m, approachRate: 0.396926 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 13.40 m.h)h)h)h)h)g1g1bg1jg1e9je9Je=@332@:eE ?r\az\a\a\e?u<)q }=i}X9)y}`b6yiyi]D>D?DDE1 Echecking for new query: numPingsReceived=115, elapsed TxPingTime=59.755806GGG IGBGGGG<G FHa HaHaHe ="He =*He`4VF @^;ZA M >3kx,Te^A6 ?y6?966HT???`N?? (`@{?r?6 ?ɨ6a; 6CRABR6 IeMb@Mb@Mb@aa a)aIayerh|?X9v{Gze=eeף eM A)aIeAie@aaH}H}Q5C t=Y@ Q ?٣ G ?]>59Cn?a>5Yˎ iB~>m;G?q@iD ; ;/>5 ADNOT Ignoring new targets: 13.40 m.hhhhhggbgjgBejeJe:e?%DDAT read: Rx Time:19:48:38.3550 -TRx dataTimestamp_ set to:1736538518.8042495DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 -=\#Rx 116: Read range message, but no direction.!!9!=checking for new query: numPingsReceived=116, elapsed TxPingTime=60.011204r\U~>z\U~>\US)@\UG?e<)i m=imU9)imc6iiiiqq};IyIy:JKBJJJRJ ZJJID-?D)D)E-4 E)IF=)|C ~G )cyAVFmZ,;ZAyM> checking for new query: numPingsReceived=116, elapsed TxPingTime=60.258854Orx,8e^AJM?yJ?9J:JH?.?? "?CO ?r?JM?ɨJ; HZ;BZ/ IHjHj R5v vU=YzuQ z>٣ G ‰:  >]%>59BEn?a%>5Y iB)-Z?q-@iD!;!;>59 =A9m addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504986 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 13.40 m.hqhqhqhhg)g1bgYjgYeajeiJei:eml?ZIwbIsjIrIzIW:I9IIr\1z\1\1\5!Z?E:<)A E=iE9)AMVe6IiIiqq}Exx,e^A:Z?y:۲?9::H ?b??'?W gR?`cu?:Z?ɨ:Ç; : CB6BB( IRchecking for new query: numPingsReceived=117, elapsed TxPingTime=60.766926uMb@Mb@Mb@qq q)qIqyuMbX?X9v{Gzu=qq u A)ub@IulAiu;@qu @HHU5oʼ ?=YKQ >٣ G >]>59Fn?a>5Y izB_=m;А?q@iD<::A!>5 A  addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.508323 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 13.40 m.hhhhhggbgjg% Be!je!Je!:e%,?r\E_=z\E_=\EY@\E#А?]<)a eأ=ie9)aef6aiaiiiml;IqGyGyG} IG}BG} =GyGyG}<G}FIDM?DIDIEM_0 EI]DDAT read: Rx Time:19:48:39.3550 eTRx dataTimestamp_ set to:1736538519.816192mDAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 -u\#Rx 118: Read range message, but no direction.aa9a}checking for new query: numPingsReceived=118, elapsed TxPingTime=61.023872VFZAM>:JE BJE 9JJA RJE ZJE JU ? JU ?Ts~x,e^AF ?yFϲ?9FAFH"?`@A?d?(?玿?@d٣d fGhj j>l]r>59n2Hn?ar>5Yn intBtvÐ?qv@niDn\:nG:n$>5x z7Ax% addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503620 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 13.40 m.h)h)h)h)h)g1g1bg1jg9e9je9Je9:e=x?r\z\\\SÐ?A<) ԃ=i9)隝g6ii;IID?DDE`0 Echecking for new query: numPingsReceived=118, elapsed TxPingTime=61.271786VFm;ZAyM~>e DDAT read: Rx Time:19:48:39.8551 e TRx dataTimestamp_ set to:1736538520.319966u DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 -u \#Rx 119: Read range message, but no direction.a e fA9a } checking for new query: numPingsReceived=119, elapsed TxPingTime=61.526932Zx,.vf^AUn?yU?9UrUH E?9 2?`?e>?%sB 9?@w?Un?ɨU; Qޅ(Bޅ IHH~N5ż :=Y Q >٣ G5 5>]>59In?a>5Y inB?q@iD_<]<(>5Q ]bAa5 addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503774 s, deltaX: 0.099998 m, approachRate: 0.198499 m/s, rangeRepo size: 4 5DNOT Ignoring new targets: 13.40 m.h1h1h1h9h9g9g9bgajgaeajeaJemL2@:emg?r\z\\\?r<) p\=i9)h6iiaae;IaIiDqzDqchecking for new query: numPingsReceived=119, elapsed TxPingTime=61.775414D?DDE_0 EGGG IG}BG =GGG <GFVF o;ZA MM >ZI xbI ujI rI zI Z:I 9I I I ;q I ;i I f:u I g:m Kx, N0f^AV3e?yV?9VrOVH`aO?QL?@?`:? .\`?@u?V3e?ɨV7ވ; V!C``Mb@Mb@Mb@ )Iysh|??~jt~jt= M A)I@i@p@HHU5YQ >٣ G? >]>59gKn?a>5Yˉ iiB=m<Հ?q@iD>;2;+>5  DNOT Ignoring new targets: 13.40 m.%DDAT read: Rx Time:19:48:40.3552 %TRx dataTimestamp_ set to:1736538520.824298-PDAT read: Bearing 185.8, 9.6 (Local) 5~Local bearing/azimuth received: Bearing 185.8, 9.6 (Local) EDAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 eDAT read: 19:48:40.3552 LVL= 21808, 29425, 20882, 32755, AGC= 61, IDX= 510, 0.10,-1.359, 1.045,-0.861,-0.601, PHS=-0.670, 1.694,-0.262, RAW= 320.7, -7.0, CAL= 324.2, -9.6, ROT= 185.8, 9.6 Ygot valid direction response: 19:48:40.3552 LVL= 21808, 29425, 20882, 32755, AGC= 61, IDX= 510, 0.10,-1.359, 1.045,-0.861,-0.601, PHS=-0.670, 1.694,-0.262, RAW= 320.7, -7.0, CAL= 324.2, -9.6, ROT= 185.8, 9.6 V#Rx 120: Read range and direction messages.bdirection in FSK: [-0.980948,-0.099641,-0.166769]Fpublishing direction and range info!Y%#qmcMv8_Xſ%A9!%0U %r)%QI%i%=%+%?%$%@ %5)%D@I%+i%dO@%+>! !%"E;7cvֿ+bFI%1i%~=%QB%+>! !T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with 120 pings in terminal homing one-way mode.h hhhhggbgjgBeje)Je52@:e5j?r\m=z\m=\mR@\mՀ?rO<)  >i"9)隭j6iit;II:JEBHBJE9JJARJE ZJEDE?DADAEEo0 EAVF% ;ZA1 MM > NH`u~?` `?@?@^? TM? Ft?N}5?ɨNG; LV-BZ IHbHbW5jN< jp٣p rGpv| z>|]>59~Ln?a >5Y~  i~dB  ?q @~iD~:~#:~-/>5 :AZjU(m?bjU&=c iQiUL4f^AjUAjUA2jUT@pUhE[%2ïɀf~Q爮zpU#qmcMv8_Xſ"jUQB*jU+>pUb@ӣ2 5f[ pU@ŨYȜWZ&/ſiUjUiUm?iU-wjf  jUwBzjUm?jU-wjf jU}BjjUIArjUM@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504332 s, deltaX: 0.200001 m, approachRate: 0.396566 m/s, rangeRepo size: 4  Added new target pos. range: 18.500000 m, bearing: 263.796750 deg, lat: 36.903946 deg, lon: -122.119018 deg, deltaT: 21.948544 s, deltaX: 5.100000 m, approachRate: 0.232362 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.50 m.h h h h hggbgjgejeJe:e% ?r\9z\9\9\=Y?M5<)Q U >iU9)QUl6QiYiaaeo;IiIiHqHqD!D)D)E-\1 E)-,DAT read: user:1288> =BDAT read: Command 'l' not found M`unknown deviceResponse_: Command 'l' not found ]"DAT read: Error e@unknown deviceResponse_: Error e,DAT read: user:1289> ex,3cf^A6?y6dO?96 p6H? O?@~? Xw?ܗM@x?t?6?ɨ6Ԉ; 6 CB4DAT read: T tm:1:8413618 FRunknown deviceResponse_: T tm:1:8413618 FJDAT read: TxSync time:19:48:41.3610 J٣ %G!%` %>)]5>59-Nn?a5>5Y-Z i-^B=r=m=5<=l?q=@-iD-:-k:-S3>5I M{AI}DNOT Ignoring new targets: 18.50 m.hyhyhyhyhyggbgjgBejeJe:eU?r\r=z\r=\ӝ@\Ol? p<)  >iC9)n6ii;IIDi>DDaDaDaEe1 EaZIbIwjI0rIzII9Iـ3IIII:I:5:J BJ `9JJ RJ ZJ J ? J &?x,^}f^AV?yV*@?9Vo;YVI<>VH?@N`S4?~?8|?gz@&g?u?V?ɨVH; Tf&BdHnHngG5vc; vu=YzQ z?x٣| ~G|~ ?] >59On?a >5Y݇ iZBk?q@iD::=6>5 %wA!MDNOT Ignoring new targets: 18.50 m.hQhQhQhQhQgQgQbgjgejeJe:e B?r\Qz\Q\Q\Uk?mo;)i mP>iuF9)隝p6ii5l;IIE bH@~?t`s? f? ??@01t@?~?b{5?ɨbu; bCln IHvHv^S5~: I=YݻQ  > ٣   G y; >]%>59:Qn?a%>5YE iVB!%l?q-@iD:>:9>51 5xA5EeDNOT Ignoring new targets: 18.50 m.hahahahahagagibgijgieijeqJeq:eu}?r\z\\\3l? ;) >i9) s6ii!)eu;IaIqDqDyDyE_0 EZI ybI vjI 1rI zI ]:I ϣ9I 3I I ;I ;I :I :Ыx,f^A6i?y6.?9665;Y6 8>6HdK??? ?C@ԦfT?z?6i?ɨ6-d; 6 Cb1Bf" I)j= j=]Mb@Mb@Mb@YY Y)YIYy])\(?٣ Gw; >]>59Rn?a>5Y iRB,=mG<X?q@iD::y=>5 ADNOT Ignoring new targets: 18.50 m.hhhhhiy9)7u6!i!i!)-oT;I)I1D9:JBJ9JJRJ ZJJgAIfADDDE EVF- @;ZA1 MU >խ 5?խ ? 6HS??h??`X? xy?6`a?ɨ6_; 4b6Bb) IHjHjZ5r< rU=YvUQ v>t٣x zGxz- z>I]U>59M(Tn?a]>5YM< iMOBY]X?q]@MiDMa;M;M@>5a mAiDNOT Ignoring new targets: 18.50 m.hhhhhggbgjgejeJe:e B@r\z\\\X? :) >i9)bw6ii;II 縙x,%Zf^A.NH`f? ?@}?h?C ] `@?w?N?ɨN$7; N!CZ>BZ2 IEMb@Mb@Mb@AA A)AIAGGGy IGxBGGGGа<G FHq HqHqHu ="Hu =*Hu(4yEi|?5?~jtMbpEq=EļE A)AIE~@iAAE@ BAHHS5U* = U5=YU':Q U>Y٣Y ]GYe e>]>59eUn?a>5Y iMB=mO<؂?q@iD::D>5 ADNOT Ignoring new targets: 18.50 m.hhhhhgAgAbgIjgMBeIjeIJeQ:eU@r\=z\=\@\!؂?mx:)! %^>i%9))-y61i1i9AE2B;IAIIZIabIewjIarIazIaIe9IaIaIaIaIe:Ie:DaDaDaEe_0 Ea :J BJ JJ RJ ZJ   I/w[8 = iGQ i ) ty 'A* x,&f^A) ^6?y^ر?9^:Y^;>^H?XC?y??B矿\P?v?^6?ɨ^Y; ^C%JB%A II1)1H]H]T5mot= m[=YmHQ u>q٣q uGq} }>]>59mVn?a>5Y iKB?q@iD\::H>5 [ADNOT Ignoring new targets: 18.50 m.hhhhhggbgjgejeJe:e @r\9z\9\9\=?}:)y }*&>i}9)y}H|6iiN:IIDzD}DDAT read: Rx Time:19:48:43.5153 TRx dataTimestamp_ set to:1736538524.099865PDAT read: Bearing 186.5, 8.9 (Local) ~Local bearing/azimuth received: Bearing 186.5, 8.9 (Local) DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 DAT read: 19:48:43.5153 LVL= 26016, 32561, 23538, 32755, AGC= 65, IDX= 326,-0.20,-1.281, 1.141,-0.753,-0.489, PHS=-0.704, 1.677,-0.267, RAW= 320.1, -6.5, CAL= 323.5, -8.9, ROT= 186.5, 8.9 =Ygot valid direction response: 19:48:43.5153 LVL= 26016, 32561, 23538, 32755, AGC= 65, IDX= 326,-0.20,-1.281, 1.141,-0.753,-0.489, PHS=-0.704, 1.677,-0.267, RAW= 320.1, -6.5, CAL= 323.5, -8.9, ROT= 186.5, 8.9 ER#Rx 1: Read range and direction messages.]bdirection in FSK: [-0.981609,-0.111840,-0.154710]]Fpublishing direction and range infoyY}tWiNpjÿ}fA9y}e }1)}[Iyi}A}X94}?}9}Dz@ }V)}.@I}i}RP@}>y y}td]տ"%뼿I}ɣ2i}=}&A}>y y 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.DDDEo0 EVF']?;ZAM?>% -H`F? `{?lw???@R/VB?w?-j?ɨ-Ӌ; -!CMNBMF IH]H]Q5mȻ< mH=YQ >٣ Gi >]>59Wn?a>5Y| iJBN?q@iDo;;K>5 5AZjvkm?bj|Y ii0dg^AjfAjlA2ji@pXbj1_ ܵLzptWiNpjÿ"j&A*j>p=j+1GpW pH4xW-*_krſijiim?i#]  jxBzj־0m?jb jjjArjM@m addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 3.275567 s, deltaX: -0.200001 m, approachRate: -0.061058 m/s, rangeRepo size: 4  Added new target pos. range: 18.299999 m, bearing: 264.289438 deg, lat: 36.903946 deg, lon: -122.119016 deg, deltaT: 3.275567 s, deltaX: -0.200001 m, approachRate: -0.061058 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhhhhggbgjgejeJeL2@:e1"?r\z\\\N?z:) />i|9)隵U6ii8jIIeY Y]KQ9; 4%)ֿG>{I]\F2i]8`=]"B]| >Y Y 2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.G>GG IGBG =GGG"<GFVF .A;ZA! M= >G̙x,2g^AvVBvO IMb@Mb@Mb@ )Iyl?~jt= )K@IQ@i;@z@٣ G!M U>]>59Xn?a>5Y iIBw=m-<?q@iDi <U<O>5 AZj-om?bjl~X iic&g^AjjmA2jxn@p 1nى;Xzp1]GkNp Ŀ"j"B*j| >p]eF4B13w¬) p8Mxr`݀YoQƿilj3iR_m?iZ[  jzjim?jjxBjj:Arj@ addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503247 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.299999 m, bearing: 263.975121 deg, lat: 36.903942 deg, lon: -122.119016 deg, deltaT: 0.503247 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhhhhg:JMBJk9JJRJ ZJgbgjgBejeJe:e?r\]w=z\]w=\]@\]?) #>is9)隕6ii$'IIDYDYDYE]~0 EY DDAT read: Rx Time:19:48:44.5153  TRx dataTimestamp_ set to:1736538525.107890 FDAT read: Bearing18.4 .2(Local)  tLocal bearing/azimuth received: Bearing18.4 .2(Local)  DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0  DAT read: 19:48:44.5153 LVL= 25040, 32753, 24530, 32755, AGC= 64, IDX= 501, 0.09,-1.642, 0.713,-1.134,-0.853, PHS=-0.701, 1.614,-0.284, RAW= 320.3, -5.9, CAL= 323.6, -8.2, ROT= 186.4, 8.2  Ygot valid direction response: 19:48:44.5153 LVL= 25040, 32753, 24530, 32755, AGC= 64, IDX= 501, 0.09,-1.642, 0.713,-1.134,-0.853, PHS=-0.701, 1.614,-0.284, RAW= 320.3, -5.9, CAL= 323.6, -8.2, ROT= 186.4, 8.2  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.983608,-0.110329,-0.142629] Fpublishing direction and range infoؑ Yؕ !@yؑY>x0A¿ؑ 9ؑ ؕ a ٕ )ٕ _Iّ iّ ٕ t3ٕ ?ٕ shٕ @ ڕ Bҽ)ڕ {@Iڕ Ciڕ 5P@ڕ C>ڑ ۑ ە qOw.ֿG~Iە j2iە V=ە Aە C>ۑ ܑ 5 2Acoustic response timeout5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF% }:ZA1 M] >Cәx,}Lg^AJ?yJ5V?9JZ8YJ9>JH??`s?%4? ;UQ @?y?J?ɨJ[R; JCf^BfZ Ij=ij<HHP@55;= 5^=Y]ziQ ]>a٣a eGam m?q]>59uYn?a>5Yu  iuHB?q@uiDu.;ui;uR>5 AZjm?bjjXY iiFg^Ajj2jZ@pM2(&qRzp!@yؑY>x0A¿"jA*jC>pyT1@o1qqpxeUvoklw,Ŀiďji(m?i~\  jyBzj(m?j#] jjjArj{@ZI=wbI=qjI9rI9zI=W:I=q9I9I9qE@iE@uE@mE@ addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504778 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.299999 m, bearing: 264.191113 deg, lat: 36.903942 deg, lon: -122.119014 deg, deltaT: 0.504778 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhhhhggbgjgejeJe:ec#?r\Az\A\A\EQ?}Z8)y } 5>i}9)y}M6yiisIIBBCBD-e>D-!>A]DDAT read: Rx Time:19:48:45.0154 mTRx dataTimestamp_ set to:1736538525.374595PDAT read: Bearing 186.6, 8.3 (Local) ~Local bearing/azimuth received: Bearing 186.6, 8.3 (Local) DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed -0.5 -X#Rx 1: Read range message, but no direction.aeA9aDDDE?5 E m2Acoustic response timeoutuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF5 9ZAi M >q3ٙx,pfg^A.DAT read: 19:48:45.0154 LVL= 29552, 30017, 29858, 32755, AGC= 64, IDX= 502, 0.25,-0.636, 1.771,-0.109, 0.169, PHS=-0.716, 1.649,-0.281, RAW= 320.0, -6.0, CAL= 32., 8.3,RO=186.6, 8.3 2)unknown deviceResponse_: 19:48:45.0154 LVL= 29552, 30017, 29858, 32755, AGC= 64, IDX= 502, 0.25,-0.636, 1.771,-0.109, 0.169, PHS=-0.716, 1.649,-0.281, RAW= 320.0, -6.0, CAL= 32., 8.3,RO=186.6, 8.3 6bH@? R? \s?s7? iN@rGG IGBGGGG<G FMb@Mb@Mb@ )IybX9ȶ?٣ G >]>59[n?a>5Y  i=m<?q@iD;P;V>5! %eA! addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.266705 s, deltaX: 0.200001 m, approachRate: 0.749895 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhhhhggbgjg!BejeJe2@:e?r\=z\=\@\c?5)1 5^>i5B9)9=x6=:J= BJ= 9JJ9 RJ= ZJ= Je ? Je ?x,dg^A20?y2m?92VpY2:>2H??t? ?@A N=?2?Xx?20?ɨ2u; 2"CNqBRq IHZHZK5bG= bs=YbQ#Q b?d٣d fGdj`4; j?h]r>59j[n?ar>5YjJ ijGBpv ?qv@jiDj] ;j1;j|Y>5 !ADNOT Ignoring new targets: 18.30 m.hhhhhggbg jg e je Je :e$[?r\Iz\I\I\M ?Vp) * >iS9)隵6C DDAT read: Rx Time:19:48:46.0153 - TRx dataTimestamp_ set to:1736538526.370753E PDAT read: Bearing 186.7, 8.2 (Local) M ~Local bearing/azimuth received: Bearing 186.7, 8.2 (Local) U :HA?@*,?@w? ?`L?O?v?:Yo?ɨ:>; :CByBB{ IH^H^D5f= fG=Yz։Q z>x٣| ~G|~h; ~>] >59)]n?a >5Y^ i15L?q5@iD; ;]>59 =AA addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.740888 s, deltaX: -0.200001 m, approachRate: -0.269947 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhIhIhIhIgQgQbgQjgQeYjeYJe]L2@:e]@#?r\z\\\L?vf) .0>iE9)IM6UMGG IGBGGGG<<G2FVF ïZA M >{x,O\g^A6Ę?y6Aֱ?964~ϺY6ծ;>6H? ?`y??~Y?GT?v?6Ę?ɨ69ʇ; 6CBBB IEMb@Mb@Mb@AA AաաDDAT read: Rx Time:19:48:46.5152 TRx dataTimestamp_ set to:1736538526.875390PDAT read: Bearing 186.9, 7.5 (Local) ~Local bearing/azimuth received: Bearing 186.9, 7.5 (Local)  DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 --X#Rx 1: Read range message, but no direction.A9 M2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.)AIAyE:v? rhE=ECE E7 A)Eb@IAiE;@AEz@HH0E5-< 5+=Y5ֿQ 5>9٣9 =G9=-; E>A]u>59E^n?au>5YE eutIiEFBu=mu;up?q}@EiDE;E;EFa>5 A addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.759907 s, deltaX: -0.099998 m, approachRate: -0.131593 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhhhhggbgIjgM-BeIjeQJeU@332@:eU?r\=z\=\@\p?-4~Ϻ)) -#>i-L9)15v65 DAT read: 19:48:46.5152 LVL= 32032, 32753, 29122, 32755, AGC= 63, IDX= 501, 0.02, 2.242,-167 .767, 3.055, PHS=-0.725, 1.589,-.21,RW= 319.8, -5.4, CAL= 323.1, -7.5, ROT= 186.9, 7.5  !unknown deviceResponse_: 19:48:46.5152 LVL= 32032, 32753, 29122, 32755, AGC= 63, IDX= 501, 0.02, 2.242,-167 .767, 3.055, PHS=-0.725, 1.589,-.21,RW= 319.8, -5.4, CAL= 323.1, -7.5, ROT= 186.9, 7.5  59_n?a>5Y7~ iq@iDP:::Md>5 ADNOT Ignoring new targets: 18.30 m.hhhhhggbgjgejeJe:e@?HaHe%=ZImxbImojIm1rIizImZ:ImK9Im3Iir\z\\\) <&>i9)6 hp3kտn%y`I2i Z=&A'g >  U2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF5 G:ZA M >U %HE? V?`n?i?go?`^?@Ev?%?ɨ%; %C=BGIGIGM IGM΂BGIGIGIGM<GMF= IEMb@Mb@Mb@AA A)AIAyEq= ףp?I +~jthE=E9ED E A)AIEh@iEh@AE@HeHeJ5u z= u9=Y}$Q }>y٣y }Gy< >]>59!an?a>5Y| iDB=m;(?q@iD0;4;'h>5 6AZj -m?bjY iiFg^AjAjA2j@pZ62b&[- zpHs= M _"j&A*j'g >pV/!w>%12Zq^Wpf㶿)d?x￳@/ĿijӿipŻm?ibB\  jqyBzjj~\ jjjlArjp@  addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503943 s, deltaX: 0.299999 m, approachRate: 0.595304 m/s, rangeRepo size: 4  Added new target pos. range: 18.500000 m, bearing: 264.804795 deg, lat: 36.903942 deg, lon: -122.119013 deg, deltaT: 2.271443 s, deltaX: 0.200001 m, approachRate: 0.088050 m/s, posRepo size: 4 %DNOT Ignoring new targets: 18.50 m.h!h!h!h!h!g)g)bg)jg-VBe1je1Je52@:e5?r\=z\=\f@\&(?5((})1 5H=i5g9)9=6=:J BJ 9JJ RJ ZJ ZA! I u | C  rLa,J ? J >vx,h^AF;?yF9y?9F5tYF=;>FH x?`??@?nr? S?v?F;?ɨF"; D^Bb IHjHjJH5 ŋ  f=YVQ >٣ G$; >!]->59%Zbn?a->5Y%{ i%CB)5D?q5@%iD%v<%<%Ak>5 AE addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504343 s, deltaX: -0.200001 m, approachRate: -0.396557 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 18.50 m.hAhIhIhIhIgIgIbgqjgqeqjeyJe}L2@:e}`?5DAT read: 19:48:47.5153 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502,-0.33, 1.457,-2.459, 1.963, 2.258, PHS=-0.714, 1.613,-0.299, RAW= 320.4, -5.6, CAL= 323.7, -7.7, ROT= 186.3, 7.7 =Ygot valid direction response: 19:48:47.5153 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 502,-0.33, 1.457,-2.459, 1.963, 2.258, PHS=-0.714, 1.613,-0.299, RAW= 320.4, -5.6, CAL= 323.7, -7.7, ROT= 186.3, 7.7 EX#Rx 1: Read direction message, but no range.Mbdirection in FSK: [-0.984999,-0.108745,-0.133986]Y*F;+ֻL`u&9 )IiA6v?@ +Ƚ)ɴ@I i_P@ >ՙK͆,ֿ#6T#I?M2i_p=VB >e Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Qx,:h^A5V?y5?95(誻Y5;>5H 9^??Ձ?t?֢\u? @?w?5V?ɨ5; 5"CuBu IHHS<5!= 9=Y%ԺQ E>I٣I MGIUo: ]>]>59cn?a>5Yz iBB^?q@iDJM<P<3o>5Q UYAY=DAT read: 19:48:48.0154 LVL= 25888, 30705, 22818, 32755, AGC= 64, IDX= 503,-0.04,-3.068,-0.736,-2.549,-2.282, PHS=-0.697, 1.594,-0.270, RAW= 319.9, -6.0, CAL= 323.3, -8.2, ROT= 186.7, 8.2 EYgot valid direction response: 19:48:48.0154 LVL= 25888, 30705, 22818, 32755, AGC= 64, IDX= 503,-0.04,-3.068,-0.736,-2.549,-2.282, PHS=-0.697, 1.594,-0.270, RAW= 319.9, -6.0, CAL= 323.3, -8.2, ROT= 186.7, 8.2 MX#Rx 1: Read direction message, but no range.Ubdirection in FSK: [-0.983017,-0.115478,-0.142629]YUttC7x0A¿9 e w)"YIi@n21?q=v@ Pwֽ)@ICiP@C>Va^F)տxx5IR2i\=AC>mp &r"LA12 o/p b@_5Txq Ŀi j ֿi m?i rY  j }yBzj im?j bB\ j yBjj Arj i@GU>GQGU IGU؂BGQGQGQGU<GUFH HHH ="H =*HǾQ4 addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503704 s, deltaX: 0.200001 m, approachRate: 0.397060 m/s, rangeRepo size: 4  Added new target pos. range: 18.500000 m, bearing: 264.732879 deg, lat: 36.903942 deg, lon: -122.119013 deg, deltaT: 1.008047 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.50 m.hhhhhggbgjgejeJe2@:e?r\az\a\a\e^?}(誻)y }=i}I9)隝@6D>DQ DY DY E] f0 EY %DDAT read: Rx Time:19:48:48.5155 -TRx dataTimestamp_ set to:1736538528.899528UPDAT read: Bearing 186.2, 8.1 (Local) VFt;ZAM>x,@:h^AIJſ=)NrC ~c~G !M~Local bearing/azimuth received: Bearing 186.2, 8.1 (Local) )U쵿yQU!ADAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed -0.2  Vv?y ӳ?9 _3Y +_;> H`>??3?@?@cc&w?eJ?w? Vv?ɨ ;  C%B% I)-AuDAT read: 19:48:48.5155 LVL= 28240, 32753, 26866, 32755, AGC= 64, IDX= 502, 0.23,-1.793, 0.530,-1.297,-1.014, PHS=-0.691, 1.591,-0.287, RAW= 320.4, -5.9, CAL= 323.8, -8.1, ROT= 186.2, 8.1 Ygot valid direction response: 19:48:48.5155 LVL= 28240, 32753, 26866, 32755, AGC= 64, IDX= 502, 0.23,-1.793, 0.530,-1.297,-1.014, PHS=-0.691, 1.591,-0.287, RAW= 320.4, -5.9, CAL= 323.8, -8.1, ROT= 186.2, 8.1 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.984233,-0.106922,-0.140901]Fpublishing direction and range infoYH%~%F<_:N ¿̔A9Pn )hIi`0?@ Bҽ:J5?DPBJ5-9JJ1RJ5 ZJ5fF N*waN:+{tk]RF;4+% JEhAIEhA)ش@IiO@> miAnJ(>ֿT*I72i="B> U2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Mb@Mb@Mb@ )Iyy&1?:vq٣q uGq}N: }>]>59fn?a>5Yx i>B2=m;Ǘ?q@jD*'<&<It>5 uAZj@m?bjbW iiޑ9h^Aj̔AjϓA2jɓ@p'5N2` RzpH%~%F<_:N ¿"j"B*j>ptuںD2KMVp cMEPӛm�Ŀi%j|ܿibm?ipGZ  jxBzjbm?jZ[ jjjNArjo̓@ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.512148 s, deltaX: 0.100000 m, approachRate: 0.195257 m/s, rangeRepo size: 4 ڑ ۑەʏʡ:տGBIەH3iە0=ە+>Aە|>ۑ ܑ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF=;ZAQMm?x,lah^Ap?yr?9R»Y:>H)D?`??@?` QJx?`=?`w?p?ɨ+; uBu IuMb@Mb@Mb@qq q)qIqyuB`"۹?L7A`堿Mbu=u+u u7 A)qIqiqquz@HH>5٣ Gf >]>59/hn?a>5Yw i8B=m;K?q@jDn;l;y>5  A GGG IGBGGGGC<G6FZjxm?bj_CZ iiyYh^AjfAjfA2j)@pxFq2UoFYqzpM@ae3e־ni\ÿ"j+>A*j|>p[TxFq2S + pMQẴ7dᅦ5=lƿij¿iʇ m?ix~]  jwBzjpŻm?jbB\ jjjѓArj>ȓ@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.498489 s, deltaX: 0.199999 m, approachRate: 0.401210 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 265.286588 deg, lat: 36.903945 deg, lon: -122.119013 deg, deltaT: 0.498489 s, deltaX: 0.199999 m, approachRate: 0.401210 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggIbgIjgM/BeQjeQJeU2@:eU [?r\=z\=\@\K?R») #>i\9)Ӎ6Eډ ۉ ۍ )OY*7;]տ&!RIۍ L2iۍ =ۍ Aۍ >ۉ ܉ U 2Acoustic response timeoutU Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VFe o;ZAi M >x,$}h^An.?ynƲ?9n?ϻYn!;>nHJ,?y??ߨ??@y?@?`w?n.?ɨnv; n!CvwB5x IHEHEdK5UJ[ ]`=YQ >٣ G; >]>59in?a>5Yv i4Be?q@jD:S:U|>5 AZjm?bj{Z iiyh^Ajj2j@ppH2~{" 60zph9ICQ[*) :JEaOBJE9JJARJE ZJE{xuqollgfe^[WOLIECEC@?;;:6871010-+*(%&%#!  "jA*j>p]/0&*2`Ewpo@O}~AyĿijzɿiim?i^  j!yBzjm?jj!yBjjArjpƓ@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4   Added new target pos. range: 18.799999 m, bearing: 265.136749 deg, lat: 36.903945 deg, lon: -122.119013 deg, deltaT: 0.504128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeaJea:eeS?r\z\\\oe??ϻ) >im9)隵6%x,h^A-DDAT read: Rx Time:19:48:50.0156 ETRx dataTimestamp_ set to:1736538530.409434ePDAT read: Bearing 186.3, 8.1 (Local) m~Local bearing/azimuth received: Bearing 186.3, 8.1 (Local) }DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 DAT read: 19:48:50.0156 LVL= 28768, 30641, 25698, 32755, AGC= 64, IDX= 504,-0.34, 2.834,-1.083,-2.942,-2.656, PHS=-0.705, 1.620,-0.288, RAW= 320.3, -5.9, CAL= 323.7, -8.1, ROT= 186.3, 8.1 Ygot valid direction response: 19:48:50.0156 LVL= 28768, 30641, 25698, 32755, AGC= 64, IDX= 504,-0.34, 2.834,-1.083,-2.942,-2.656, PHS=-0.705, 1.620,-0.288, RAW= 320.3, -5.9, CAL= 323.7, -8.1, ROT= 186.3, 8.1 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.984045,-0.108640,-0.140901]Fpublishing direction and range info1Y5(K}兜ϻ:N ¿1915`p 5w)5bdI1i5@5z45)\?5t5@ 5Bҽ)5ɴ@I5i5_P@5>1 15~χH/ֿIpԊJI5^2i5q=5VB5>1 1  2Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ezBm| I)Mp= M=HeHe)M5 C< &=YQ >)٣1 5G9= e>i]m>59mkn?au>5Ymxu im.Bqqqu@m jDm:m:m>5 AZj5Gm?bj5?cX i1i5+4h^Aj1j12j5ݓ@p5"2;VS. 1zp5(K}兜ϻ:N ¿"j5VB*j5>p5KD+(Mk4Lw2=^}6(p57doe vn￀(ſi5j5Aٿi5m?i5b[  j5xBzj5m?j5b[ j5xBjj5YArj5 ݓ@m addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.507289 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 18.799999 m, bearing: 264.748402 deg, lat: 36.903945 deg, lon: -122.119013 deg, deltaT: 0.507289 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.80 m.hihihqhhggbg9jg9eAjeIJeq:e}@c?r\!z\!\!\!Q)Y ]>i]9)Y]C6];iYia 1;II,x,h^ANc?yNŲ?9N ԻYN<>NH`-????`whz? `?v?Nc?ɨN; N"CvnB~m IDDAT read: Rx Time:19:48:50.5155 TRx dataTimestamp_ set to:1736538530.911751=PDAT read: Bearing 185.8, 8.3 (Local) E~Local bearing/azimuth received: Bearing 185.8, 8.3 (Local) UDAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0 DAT read: 19:48:50.5155 LVL= 32016, 32753, 27362, 32755, AGC= 66, IDX= 503, 0.04, 2.987,-0.908,-2.806,-2.510, PHS=-0.698, 1.649,-0.299, RAW= 320.9, -6.0, CAL= 324.2, -8.3, ROT= 185.8, 8.3 Ygot valid direction response: 19:48:50.5155 LVL= 32016, 32753, 27362, 32755, AGC= 66, IDX= 503, 0.04, 2.987,-0.908,-2.806,-2.510, PHS=-0.698, 1.649,-0.299, RAW= 320.9, -6.0, CAL= 324.2, -8.3, ROT= 185.8, 8.3 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.984460,-0.099998,-0.144356]Fpublishing direction and range infoY5Bs'ЌCz¿̔A9} )jIiB!2o?p9@ Pwֽ)D@IVidO@V> 9Bt dֿʺEI1i<=QBV>  -2Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.EMb@Mb@Mb@AA A)AIAyEMbX9? rh/$Eʡ=EC E EM A)AIEh@iE;@AEp@HUHUgG5B &=YQ >٣ GL >] >59[mn?a >5Yt i(BP=m<?q@ jD%< &<>5a e8AaZj.km?bj R ii!Zh^Aj̔AjϓA2j@p2/O2٭'cIzzp5Bs'ЌCz¿"jQB*jV>plJ|?2ɾp84yk:STd(~Qſijibm?ii9)Y6:ii)))I)I1DDDE`0 E 4x,qh^A6]~?y6ڻ?96{ϻY6~;>6H6??`?2?@j\y?\?:v?6]~?ɨ6st; 6CBbBB_ IHJHJ Y5R$ R=YVn9Q V?T٣T VGXZx Z?\]b>59^ann?ab>5Y^s i^$Bdf?qf@^jD^:^:^l>5h jAlDNOT Ignoring new targets: 18.60 m.hhhhhg g bg jg ejeJe:e?HHa=r\z\\\)?-{ϻ)1 5=i5Q9)15 65i1i99E7;IAIABiBiCiBiDzDhADDAT read: Rx Time:19:48:51.0157 TRx dataTimestamp_ set to:1736538531.415665PDAT read: Bearing 186.1, 8.5 (Local) ~Local bearing/azimuth received: Bearing 186.1, 8.5 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 DAT read: 19:48:51.0157 LVL= 26064, 30321, 22466, 32755, AGC= 66, IDX= 504, 0.41,-1.611, 0.787,-1.104,-0.821, PHS=-0.702, 1.655,-0.286, RAW= 320.5, -6.2, CAL= 323.9, -8.5, ROT= 186.1, 8.5 Ygot valid direction response: 19:48:51.0157 LVL= 26064, 30321, 22466, 32755, AGC= 66, IDX= 504, 0.41,-1.611, 0.787,-1.104,-0.821, PHS=-0.702, 1.655,-0.286, RAW= 320.5, -6.2, CAL= 323.9, -8.5, ROT= 186.1, 8.5 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.983416,-0.105097,-0.147809]Fpublishing direction and range info؉Y؍j[$xOAP线%)k¿؍fA9؉؍e ٍqv)ٍWIىiىٍF3ٍ ?ٍnٍ?@ ڍkݽ)ڍ_@Iڍiڍ.O@ڍ>ډ ۉۍ:A#n~uDֿ mIۍ.2iۍ=ۍ?Bۍ>ۉ ܉ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.D1D1D1E5F1 E1VF &;ZA M% > ٣ G >]>59=pn?a>5Y_s iBe=m1<*N?q@jD;;>5 A EZj Em?bjtU iiAh^AjfAjfA2jU@p"|2;!C%A;zpj[$xOAP线%)k¿"j?B*j>pO˙i Uo2{׭ pueuϨabZWſijSiCm?iY  jwBzjjjxxBjjArjȓ@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503914 s, deltaX: 0.199999 m, approachRate: 0.396891 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 264.449774 deg, lat: 36.903945 deg, lon: -122.119013 deg, deltaT: 0.503914 s, deltaX: 0.199999 m, approachRate: 0.396891 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgBe!je)Je-2@:e- ?r\me=z\me=\mx@\m*N?y)y }#>i}*9)y隅v6ii;IIZI xbI xjI 0rI zI Z:I 9I ـ3I I  ;I  ;I &:I ':D?DDE1 EE=E=DDAT read: Rx Time:19:48:51.5156 TRx dataTimestamp_ set to:1736538531.917851PDAT read: Bearing 186.4, 8.4 (Local) ~Local bearing/azimuth received: Bearing 186.4, 8.4 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 DAT read: 19:48:51.5156 LVL= 22304, 31441, 21490, 30707, AGC= 65, IDX= 504,-0.11, 1.518,-2.360, 2.038, 2.317, PHS=-0.711, 1.654,-0.281, RAW= 320.2, -6.1, CAL= 323.6, -8.4, ROT= 186.4, 8.4 Ygot valid direction response: 19:48:51.5156 LVL= 22304, 31441, 21490, 30707, AGC= 65, IDX= 504,-0.11, 1.518,-2.360, 2.038, 2.317, PHS=-0.711, 1.654,-0.281, RAW= 320.2, -6.1, CAL= 323.6, -8.4, ROT= 186.4, 8.4 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.983107,-0.110273,-0.146083]Fpublishing direction and range info؉Y؍uvu|:/8ٲ¿؉9؉؍ W ٍz)ٍSIٍwiٍAٍ6ٍF?ٍ;ߏٍ[ղ@ ڍ^ ڽ)ڍ{@IڍQ iڍ5P@ڍQ >ډ ۉۍ|~' տ(_MIۍ 2iۍF=ۍAۍQ >ۉ ܉ u2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF ;ZA M% >:JU JNBJU 9JJQ RJU ZJU }n; *Ax,i^A2J?y2N?92Y2;>2H i??Q?? u?Q?v?2J?ɨ2; 2!CFOBFG IHRHR Y5ze zj=Y~SA;Q ~>|٣ G >)]5>59-qn?a5>5Y-r i-B9=M?q=@-jD-P:-:->5A e5AiZjhm?bjU iih^Ajj2jғ@pp{2*|ŕ="zpuvu|:/8ٲ¿"jA*jQ >p˺ve(s29h p2hDkgɘſij ܿiPm?iiX  jwBzjjY jjjOArj꼓@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502186 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 264.676651 deg, lat: 36.903945 deg, lon: -122.119012 deg, deltaT: 0.502186 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 18.80 m.h)h)h1h1h1g1g1bg9jg9e9jeJe:e?%=4=iM>9)IU6UiQiQ";IIDqDyDyE}05 EyHHVF 5;ZA M= > DDAT read: Rx Time:19:48:52.0158  TRx dataTimestamp_ set to:1736538532.420284 PDAT read: Bearing 185.8, 8.0 (Local)  ~Local bearing/azimuth received: Bearing 185.8, 8.0 (Local)  DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2  DAT read: 19:48:52.0158 LVL= 25664, 32609, 24306, 32755, AGC= 63, IDX= 505, 0.27, 3.030,-0.933,-2.777,-2.481, PHS=-0.684, 1.595,-0.299, RAW= 320.9, -5.8, CAL= 324.2, -8.0, ROT= 185.8, 8.0 - Ygot valid direction response: 19:48:52.0158 LVL= 25664, 32609, 24306, 32755, AGC= 63, IDX= 505, 0.27, 3.030,-0.933,-2.777,-2.481, PHS=-0.684, 1.595,-0.299, RAW= 320.9, -5.8, CAL= 324.2, -8.0, ROT= 185.8, 8.0 5 R#Rx 1: Read range and direction messages.= bdirection in FSK: [-0.985199,-0.100073,-0.139173]= Fpublishing direction and range info؁ Y؅ 9sa#s^H@l؅ 3A9؁ ؅ @d م a)م ^Iم iم ?م /م (?م م p9@ څ 4QϽ)څ D@Iڅ 5iڅ dO@څ 5>ځ ہ ۅ ݒ Gmֿ#t+Iۅ g1iۅ +=ۅ QBۅ 5>ہ ܁ U 2Acoustic response timeoutU Querying Benthos address 50 with 120 pings in terminal homing one-way mode.LGx,=i^ARj9?yRv?9R YR;>RH z? ?@? ^?@%â@vs?Z?@cv?Rj9?ɨR; RCZNB^F IHvHvGL5/ A=Y::Q >٣ G >]>59Lsn?a>5Ybr iBM?q@jD;;F>5 8AZjKum?bjGX iii^Aj3Aj1A2j@pxȞ2>C2; zp9sa#s^H@l"jQB*j5>p`keS!vI)2$)~(p.nq:ݹb]Kl[`sĿiyjji?cm?iV[  jxBzjCm?jjjjArj@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.502433 s, deltaX: 0.100000 m, approachRate: 0.199032 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 264.125677 deg, lat: 36.903945 deg, lon: -122.119012 deg, deltaT: 0.502433 s, deltaX: 0.100000 m, approachRate: 0.199032 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjgejeJe`f2@:e@@i?r\Yz\Y\Y\]M? )  >i9)6 i i!QUyc;IYIZI% ybI% ujI! rI! zI% ]:I% 9I! I! I% ;I% ;I% f:I% h:ayMx,8i^AEDDAT read: Rx Time:19:48:52.5157 ETRx dataTimestamp_ set to:1736538532.923813MPDAT read: Bearing 185.8, 7.9 (Local) U~Local bearing/azimuth received: Bearing 185.8, 7.9 (Local) eDAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 DAT read: 19:48:52.5157 LVL= 24944, 29233, 22050, 32755, AGC= 62, IDX= 505,-0.34, 0.019, 2.408, 0.507, 0.815, PHS=-0.709, 1.640,-0.311, RAW= 320.9, -5.8, CAL= 324.2, -7.9, ROT= 185.8, 7.9 Ygot valid direction response: 19:48:52.5157 LVL= 24944, 29233, 22050, 32755, AGC= 62, IDX= 505,-0.34, 0.019, 2.408, 0.507, 0.815, PHS=-0.709, 1.640,-0.311, RAW= 320.9, -5.8, CAL= 324.2, -7.9, ROT= 185.8, 7.9 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.985439,-0.100097,-0.137445]Fpublishing direction and range infoAYE;1߶QyjȗEfA9AEpa E1r)E"VIAiE>E5E?Ed;A A)AIE0 iAE0 >A= ?y=F?9=ꃻY=~;>=H??x~?`1?`脢@[}p?1T?`v?= ?ɨ=݆; = C AE@Mֿ TKIE1iEz=AE0 >A A u2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.޵>B޵3 IMb@Mb@Mb@ )Iyy&1?{Gz`<# )IQ@iHHQ5Ty =Yd:Q >٣ GY< >] >59tn?a>5Yr iB`=mq<?q@jD::Ė>5! %A!ZjE1m?bjE[U iAiE;i^AjEfAjEfA2jEz@pEo020 zpE;1߶Qyjȗ"jA*jE0 >pE4*i9)隥 6AiiKq;IID?DDE-5 EEEiATx,+Si^A>?y>))?9>)OY> <>>Ho?` ?1}?`R?@V4 5i? _?7v?>?ɨ>x; >CJ4BJ& IHRHRW5ZV Z=Y^XE;Q ^?\٣\ bG`bL b?d]j>59fun?an>5Yfq ifBln;?qr@fjDf#;fn$;fE>5t vAtDNOT Ignoring new targets: 18.80 m.hhhhhggbg!jg!H)H-p=e!je1Je1:e5?r\Qz\Q\Q\Uk;?u)O)q }>i} 9)隅 6fRiiFB;IIDDAT read: Rx Time:19:48:53.0158 TRx dataTimestamp_ set to:1736538533.429075PDAT read: Bearing 185.7, 8.6 (Local) ~Local bearing/azimuth received: Bearing 185.7, 8.6 (Local) D?DDE_0 EDAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.0 EDAT read: 19:48:53.0158 LVL= 24240, 30241, 23218, 32755, AGC= 62, IDX= 506,-0.17, 1.647,-2.233, 2.137, 2.428, PHS=-0.693, 1.669,-0.294, RAW= 320.9, -6.3, CAL= 324.3, -8.6, ROT= 185.7, 8.6 }Ygot valid direction response: 19:48:53.0158 LVL= 24240, 30241, 23218, 32755, AGC= 62, IDX= 506,-0.17, 1.647,-2.233, 2.137, 2.428, PHS=-0.693, 1.669,-0.294, RAW= 320.9, -6.3, CAL= 324.3, -8.6, ROT= 185.7, 8.6 }R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.983868,-0.098203,-0.149535]Fpublishing direction and range infoرVFiV;ZAM">Yص1{ZJY#S&r#ÿص3A9رص^ ٵ!v)ٵZIٱiٱٵsh1ٵˡ?ٵ+ٱ ڵz0)ڵ@Iڵ`iڵmO@ڵ`>ڱ ۱۵KΚdֿ%I۵@1i۵U=۵B۵`>۱ ܱ U2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.I M <U 6H`H?=?z??&$c?%I?`Gw?6?ɨ6 ; 6CB:BB- IEMb@Mb@Mb@AA A)AIAyEMbp?{Gz{GzE;AEף A)E=@IE$@iE@AE@HeHeJH5u8< }@=Y}{:Q }>٣ G{ >]>59;wn?a>5Yq iB7=m<q@jDz;;>5 AZj m?bj;V iiu[i^Aj3Aj1A2jE@p#7X2Jv)Ub:zp1{ZJY#S&r#ÿ"jB*j`>pijSb\O2(8IK pC]۝[*ziſi*ji١m?iLY  jwBzjjY jwBjjArj@p@  addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.505262 s, deltaX: 0.100000 m, approachRate: 0.197918 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 263.689241 deg, lat: 36.903944 deg, lon: -122.119012 deg, deltaT: 0.505262 s, deltaX: 0.100000 m, approachRate: 0.197918 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.h!h!h!h!h!g!g!bg)jg-΁Be)je)Je5`f2@:e5@x?r\7=z\7=\`@\@0)  W>i9)ՙ6hii:IID1D?DDE EDDAT read: Rx Time:19:48:53.5157 TRx dataTimestamp_ set to:1736538533.931950PDAT read: Bearing 185.5, 8.6 (Local) ~Local bearing/azimuth received: Bearing 185.5, 8.6 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 DAT read: 19:48:53.5157 LVL= 24464, 28753, 23410, 32755, AGC= 64, IDX= 505,-0.09, 1.592,-2.289, 2.070, 2.368, PHS=-0.688, 1.673,-0.301, RAW= 321.2, -6.3, CAL= 324.5, -8.6, ROT= 185.5, 8.6 ]Ygot valid direction response: 19:48:53.5157 LVL= 24464, 28753, 23410, 32755, AGC= 64, IDX= 505,-0.09, 1.592,-2.289, 2.070, 2.368, PHS=-0.688, 1.673,-0.301, RAW= 321.2, -6.3, CAL= 324.5, -8.6, ROT= 185.5, 8.6 uR#Rx 1: Read range and direction messages. ~G bdirection in FSK: [-0.984204,-0.094768,-0.149535]Fpublishing direction and range infoYPk~B6BS&r#ÿfA) Sy  ҰA9_ Qp)r[Ii@ 0$?Ud@ )(<@Ii4O@ g$c71׿]+I^1i=B  %2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VFm q;ZAy M >:J5 BHBJ5 u9JJ1 RJ5 ZJ5    JE ? JE ?ax,Ri^An5Bn' IttHzHz@T5٣ G >]>59xn?a>5Yq iBq@jD%:S:>5 AZj'm?bjrS ii{i^AjfAjfA2jg)@pj2, pn;<_Y￉ȅFUſiWjvi֏m?i4W  jwBzj?cm?jiX jjjArj!e@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502875 s, deltaX: -0.100000 m, approachRate: -0.198857 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 263.492073 deg, lat: 36.903944 deg, lon: -122.119012 deg, deltaT: 0.502875 s, deltaX: -0.100000 m, approachRate: -0.198857 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeJe2@:e 4?r\z\\\I)I M>N>iMO9)QU6U&iQiyy}m:IyIZI}xbI}tjI}1rIyzI}Z:I}9I}3Iyq@i@u@m@DDDE E DDAT read: Rx Time:19:48:54.0157  TRx dataTimestamp_ set to:1736538534.436523 PDAT read: Bearing 185.0, 9.0 (Local)  ~Local bearing/azimuth received: Bearing 185.0, 9.0 (Local)  DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0  DAT read: 19:48:54.0157 LVL= 24560, 32753, 21922, 32755, AGC= 63, IDX= 505,-0.06, 2.507,-1.389, 2.964,-3.021, PHS=-0.667, 1.679,-0.301, RAW= 321.7, -6.6, CAL= 325.0, -9.0, ROT= 185.0, 9.0 % Ygot valid direction response: 19:48:54.0157 LVL= 24560, 32753, 21922, 32755, AGC= 63, IDX= 505,-0.06, 2.507,-1.389, 2.964,-3.021, PHS=-0.667, 1.679,-0.301, RAW= 321.7, -6.6, CAL= 325.0, -9.0, ROT= 185.0, 9.0 - R#Rx 1: Read range and direction messages.- bdirection in FSK: [-0.983930,-0.086083,-0.156434]5 Fpublishing direction and range info Y ۄZ|~c p Ŀ 9 _ ) UI i ? * y? ӫ@ ) @I | i N@ | > hp*IfDx׿Ų>I &0i yw= zC | >  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF5 :ZAA M} >gx,{i^Aޕ1Bޕ" IHH R5U UN=YYQ ]>a٣a G >]>59yn?a >5Yr iBq%@jD<q<h>5 %A!pڒ#?t a2V pZ>&A!mH￵ſijim?i8V  jvwBzj١m?jX jwBjjArj5@5 addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504573 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 E Added new target pos. range: 18.799999 m, bearing: 262.924740 deg, lat: 36.903944 deg, lon: -122.119012 deg, deltaT: 0.504573 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 18.80 m.hIhIh)h)h)g)g1bg1jg1e1je9Je9:e=)?r\yz\y\y\y) pE>i19)隵a6"iiIID ?D D E  E  DDAT read: Rx Time:19:48:54.5157  TRx dataTimestamp_ set to:1736538534.939925 PDAT read: Bearing 184.9, 8.7 (Local)  ~Local bearing/azimuth received: Bearing 184.9, 8.7 (Local)  DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0  DAT read: 19:48:54.5157 LVL= 22992, 31089, 22482, 32755, AGC= 62, IDX= 504,-0.04, 1.122,-2.808, 1.567, 1.874, PHS=-0.664, 1.648,-0.310, RAW= 321.8, -6.3, CAL= 325.1, -8.7, ROT= 184.9, 8.7  Ygot valid direction response: 19:48:54.5157 LVL= 22992, 31089, 22482, 32755, AGC= 62, IDX= 504,-0.04, 1.122,-2.808, 1.567, 1.874, PHS=-0.664, 1.648,-0.310, RAW= 321.8, -6.3, CAL= 325.1, -8.7, ROT= 184.9, 8.7  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.984881,-0.084434,-0.151261] Fpublishing direction and range infoع Yؽ %12xni\ÿع 9ع ؽ Y ٽ qy)ٽ WIٹ iٽ >ٽ )ٽ ?ٽ Rٽ @ ڽ z0)ڽ @Iڽ |iڽ N@ڽ |>ڹ ۹ ۽ UK9׿ rI۽ 0i۽ Y=۽ C۽ |>۹ ܹ = 2Acoustic response timeout= Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF:ZAM>Dpx,! i^AUsM?yU?9U+99YU3<>UHc?\ ?v?@:?h`%5`d?v?UsM?ɨU; Qލ5Bލ' IMb@Mb@Mb@ )IyI +lMb94  A)Ii$@HH N5:JULBJUk9JJQRJU ZJU JaIaud< }=Y};Q }>٣ Gǻ >]>59({n?a>5Y>r iB&+=m<jq@jD;/;>5 AZj-[m?bj-OS i)i-'i^Aj)j)2j-@p-5IG 2eYqzp-%12xni\ÿ"j-C*j-|>p-_Ko|9I1e2 Fp-^&0Oᅳ1Ŀi-)j-i-Lm?i-V  j-xBzj-֏m?j-4W j)jj->Arj-@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503402 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 18.799999 m, bearing: 262.689737 deg, lat: 36.903943 deg, lon: -122.119011 deg, deltaT: 0.503402 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]i*9)6iiAIMjIIIIZI ybI wjI rI zI ]:I 9I I C D zD iAD ?D D E 4 E  DDAT read: Rx Time:19:48:55.0158  TRx dataTimestamp_ set to:1736538535.443940 PDAT read: Bearing 185.4, 9.2 (Local)  ~Local bearing/azimuth received: Bearing 185.4, 9.2 (Local) 5 DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.1 e DAT read: 19:48:55.0158 LVL= 22384, 30433, 20754, 32755, AGC= 63, IDX= 505,-0.07, 3.052,-0.834,-2.756,-2.474, PHS=-0.669, 1.687,-0.285, RAW= 321.2, -6.8, CAL= 324.6, -9.2, ROT= 185.4, 9.2 m Ygot valid direction response: 19:48:55.0158 LVL= 22384, 30433, 20754, 32755, AGC= 63, IDX= 505,-0.07, 3.052,-0.834,-2.756,-2.474, PHS=-0.669, 1.687,-0.285, RAW= 321.2, -6.8, CAL= 324.6, -9.2, ROT= 185.4, 9.2 u R#Rx 1: Read range and direction messages.} bdirection in FSK: [-0.982755,-0.092898,-0.159881]} Fpublishing direction and range info Y Mrhh#ȷČsvĿ 3A9  pW  v) QI i ? C+ ? 둾 Ud@  ) uJ@I l$i O@ l$>    BVc1)㞏 ׿QI }O1i VK= C l$>  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF:ZAM ?ŧxx,Mi^A^?y^^H`?@h?zr?1W?_4a`U?v?^?ɨ^~; ^Cf2Bf$ I%%=i%=)U= Ua=H]H]JH5m m)=Ymx;Q >٣ GS >]%>59r|n?aU>5Ywr iBYeJqe@jDh<h<S>5 AZjLm?bjJV iiii^Aj3Aj1A2jܒ@pD2Lz2b) pV;Sv1H￀.0ƿiғj%i2m?iEY  jdwBzj2m?jjwBG1G1G5 IG5BG1G1G1G5x<G5^FjjRArj`ؒ@u addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504015 s, deltaX: 0.100000 m, approachRate: 0.198408 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 262.955004 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.504015 s, deltaX: 0.100000 m, approachRate: 0.198408 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjgejeJe`f2@:e`T?r\9z\9\9\=@Ms ;)Q UR>iU9)QU6UiQiyy} ?IyIC y9D= ?DA DI EM 05 EQ Ց Օ A DDAT read: Rx Time:19:48:55.5157  TRx dataTimestamp_ set to:1736538535.947623 DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.ؙ ؝ fA9ؙ  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF'HZAM?Wx,j^A2?y2V"?92})F;Y2ײ;>2H`? ?>q?u?`~ -hT?@v?2?ɨ2E; 2 C>CB>8 I:J0(LBJ9JJRJ ZJ  J ? J&?Mb@Mb@Mb@ )Iy~jt rh{GzDC # )I@i@@HHJ5it= =Y%:Q %>1٣1 5G1=º =>I]U>59M}n?a]>5YMr iMB]B=m]<] qe@MjDMO;MkO;M>5q uAq- addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503683 s, deltaX: -0.100000 m, approachRate: -0.198538 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 18.90 m.h)h)h)h1h1g1g1bg9jg=ȁBe9ei 9)=6=bi9iAAE2d^IAIIZIzbIsjI0rIzI`:I9Iـ3IC9D ?D D E 4 E  DDAT read: Rx Time:19:48:56.0158 % TRx dataTimestamp_ set to:1736538536.4517555 PDAT read: Bearing 185.2, 9.1 (Local) 5 ~Local bearing/azimuth received: Bearing 185.2, 9.1 (Local) E DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.0 } DAT read: 19:48:56.0158 LVL= 23168, 32113, 23154, 32755, AGC= 62, IDX= 505,-0.16, 2.955,-0.942,-2.864,-2.574, PHS=-0.666, 1.679,-0.293, RAW= 321.5, -6.7, CAL= 324.8, -9.1, ROT= 185.2, 9.1  Ygot valid direction response: 19:48:56.0158 LVL= 23168, 32113, 23154, 32755, AGC= 62, IDX= 505,-0.16, 2.955,-0.942,-2.864,-2.574, PHS=-0.666, 1.679,-0.293, RAW= 321.5, -6.7, CAL= 324.8, -9.1, ROT= 185.2, 9.1  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.983350,-0.089492,-0.158158] Fpublishing direction and range info Y Ætw￾Q趿@\~>Ŀ 3A9  Z  q}) rZI i > ~* y?  :@  |) g@I "i N@ ">    y@DRI׿cEI 1i = @C ">   2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF=i"ZAAMe? x,%j^ABĔ?yB{?9B/v;YBz;>BH(??@c?o? ?@n@M? w?BĔ?ɨBQ; BCHHHVHVZ5Y^p:Q ^>`٣` bG`f f>h]n>59j~n?ar>5Yjr ijݥBprh qr@jjDj:j:j>5x xxZj=m?bj=V i9i=j^Aj9j92j=Ӵ@p= yT3ו2_a@lzp=Ætw￾Q趿@\~>Ŀ"j=@C*j=">p=δ&աz2@+k p=Ycl0>I \ſi=Փj=i=ﻹm?i=Y  j=wBzj=m?j9j=wBjj==Arj=@m addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504132 s, deltaX: 0.100000 m, approachRate: 0.198362 m/s, rangeRepo size: 4 } Added new target pos. range: 18.900000 m, bearing: 262.676701 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 1.007815 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjgejeJe`f2@:e?r\z\\\b@e/v;)i iiu9)y}6}|AiiI!I1uGGGGGGG#<GF 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.C]=B]N>CF9D1 D9 D9 E= 1 E9  DDAT read: Rx Time:19:48:56.5157 % TRx dataTimestamp_ set to:1736538536.956190- PDAT read: Bearing 185.4, 9.2 (Local) - ~Local bearing/azimuth received: Bearing 185.4, 9.2 (Local) = DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 e DAT read: 19:48:56.5157 LVL= 29456, 31313, 23634, 32755, AGC= 62, IDX= 504,-0.20, 2.035,-1.827, 2.514, 2.800, PHS=-0.677, 1.703,-0.289, RAW= 321.3, -6.7, CAL= 324.6, -9.2, ROT= 185.4, 9.2  Ygot valid direction response: 19:48:56.5157 LVL= 29456, 31313, 23634, 32755, AGC= 62, IDX= 504,-0.20, 2.035,-1.827, 2.514, 2.800, PHS=-0.677, 1.703,-0.289, RAW= 321.3, -6.7, CAL= 324.6, -9.2, ROT= 185.4, 9.2  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.982755,-0.092898,-0.159881] Fpublishing direction and range info! Y% Mrhh#ȷČsvĿ% fA9! % s % Qz)% R\I! i! % O-% ?% % r@ ! )% uJ@I% l$i% O@% l$>! ! % hW}SSi` ׿vaI% P1i% -=% C% l$>! !  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VFZ#ZA)ME>;萚x, Cj^ANBF IMb@Mb@Mb@ )Iy{GzL7A`堿{Gzt#+ף )Ii@@HHK5 < Y٣Y ]Gae e>i]}>59mn?a}>5Ym%s imڥB=m<q@mjDmS;mX;m>5 9AZje?m?bjez.T iaie82=j^AjefAjefA2jeNΒ@pe+ y2'aU- zpeMrhh#ȷČsvĿ"jeC*jel$>pe 2n+90~a2 peqA`sv wIdƗſie jewiem?iegW  jewBzjajegW jewBjje@Arjep@:J-{]LBJ)JJ)RJ- ZJ-M addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504435 s, deltaX: -0.100000 m, approachRate: -0.198242 m/s, rangeRepo size: 4 e Added new target pos. range: 18.799999 m, bearing: 262.854919 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.504435 s, deltaX: -0.100000 m, approachRate: -0.198242 m/s, posRepo size: 4 mDNOT Ignoring new targets: 18.80 m.hihihqhqhqgqgqbgyjg}ށBejeJe2@:e ?r\-=z\-=\-a@\-/@9)Y ]Ha>i]"9)ae06eViaiiim0sIiIqZx,cj^Aj?yj ?9j;Yj<>jH?`e? hn? ? 6u ra?v?j?ɨj ; jCvVBvP IH~H~T5 ] =  3=Y CI;Q 5>1٣9 =G9= =>A]M>59E:n?aM>5YEUs iEإBquq}@E jDE3;E~;Ep>5 AZjgE#m?bjkT ii'k]j^Ajj2j@p 7x2KaU- zpp]ˢ器ČsvĿ"jB*jpj=hNtlc2 & pp¾ Lx[vUſijim?i4W  jwBzj2m?j4W jwBjjLArj@] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503475 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.996776 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.503475 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeJe:e@C?r\Iz\I\I\M$@;) Hq>i9)  <6 K̻iiIIUXIQIi GYG] IG]BG] =GYGYG]<G]FCE49DQD ?D D E 0 E Ea Ee hA DDAT read: Rx Time:19:48:57.5156  TRx dataTimestamp_ set to:1736538537.963667 PDAT read: Bearing 184.9, 9.2 (Local)  ~Local bearing/azimuth received: Bearing 184.9, 9.2 (Local)  DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0  DAT read: 19:48:57.5156 LVL= 23280, 29329, 24290, 32755, AGC= 62, IDX= 503,-0.24,-0.301, 2.106, 0.156, 0.451, PHS=-0.664, 1.702,-0.298, RAW= 321.7, -6.8, CAL= 325.1, -9.2, ROT= 184.9, 9.2  Ygot valid direction response: 19:48:57.5156 LVL= 23280, 29329, 24290, 32755, AGC= 62, IDX= 503,-0.24,-0.301, 2.106, 0.156, 0.451, PHS=-0.664, 1.702,-0.298, RAW= 321.7, -6.8, CAL= 325.1, -9.2, ROT= 184.9, 9.2  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.983529,-0.084318,-0.159881] Fpublishing direction and range infoع Yؽ G]y] ^ޕČsvĿع 9ع ؽ Z ٽ r)ٽ ^Iٹ iٽ >ٽ )ٹ ٽ uٽ ӫ@ ڽ )ڽ @Iڹ iڽ N@ڹ ڹ ۹ ۽ zs*z׿F3&I۽ 0i۽ =۽ C۹ ۹ ܹ  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF@KZAM>lx,ȁj^A]BY IMb@Mb@Mb@ )Iyy&1|?X9vMb``; )I;@i@HHY5T< =YQ >٣ G > ]>59 n?a>5Y Qs i ֥Bn=m<V=q@ !jD : : %>5I MAQZjZm?bjS ii}j^AjjeA2j@pU}2e\aU- zpG]y] ^ޕČsvĿ"jC*jpK4?^2@A1 p/L df(JCCqſiji'm?i8W  j"xBzjjjjjRArj@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.307833 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.504002 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhg:JBHBJk9JJRJ ZJ  !X}ungaZgbgjgBejeJe:e?r\%n=z\%n=\%0@\%V=Q)Q UHa>i]X9)Y]I6]6iYiaaetsIaIiBhABhAյ=յ4=q q u ܜf\W ׿&RtGIu ?P1iu "=u Cu 6&>q q =2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VFV'SZAM?kx,Pj^AJ|?yJ԰?9J ;YJ.<>JH??m??n@v c?u?J|?ɨJ; HVnBVm IHnHnDP5v= v3=YUM:Q U>Q٣Q ]GY]홺 ]>a]>59eكn?a>5YeMs ieԥB=q@e"jDe;e;e@>5 ;AZj\m?bjXT9T iij^Ajj2j@p|ux2 (vf"NzpqpLthƷoĿ"jC*j6&>p"ҳݴN$ _v`2Ya pIC׿GLiſijilξm?irW  j xBzjm?jrW jwBjj5Arj@] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504035 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.748500 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.504035 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeJe:en?r\ z\ \ \ =E ;)A Mr>iMO9)IMu6M9iIiQQ]IYICX9GYGYG] IG]BG] =GYGYG]V<G]CFH HHH"H =*H65I ) |C䑮x,Lj^A *~G6kABDDAT read: Rx Time:19:48:58.5156 FTRx dataTimestamp_ set to:1736538538.971782JPDAT read: Bearing 185.3, 8.8 (Local) J~Local bearing/azimuth received: Bearing 185.3, 8.8 (Local) VDAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 fDAT read: 19:48:58.5156 LVL= 21920, 29089, 20626, 32755, AGC= 64, IDX= 503,-0.22,-0.633, 1.784,-0.159, 0.139, PHS=-0.684, 1.692,-0.301, RAW= 321.4, -6.4, CAL= 324.7, -8.8, ROT= 185.3, 8.8 jYgot valid direction response: 19:48:58.5156 LVL= 21920, 29089, 20626, 32755, AGC= 64, IDX= 503,-0.22,-0.633, 1.784,-0.159, 0.139, PHS=-0.684, 1.692,-0.301, RAW= 321.4, -6.4, CAL= 324.7, -8.8, ROT= 185.3, 8.8 nR#Rx 1: Read range and direction messages.rbdirection in FSK: [-0.984003,-0.091283,-0.152986]rFpublishing direction and range infoDYFL|ܹ[rV^8C ÿD9DFU Fq)FPIDiDF/Fu?FF퀳@ F)FX@IFnFiFjN@FnF>D DF淚 #W+׿JǼIF 21iF=FK$CFnF>D D 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. A)hykA8AuY?uLA-{B-~ IMb@Mb@Mb@ )Iy~jt?Mb~jth<D 7 A)I$@i@@H=H=X5MD= M=YUQ U>Q٣Y G >]>59sn?a>5Y s iѥBL$=m<>q@#jDA; ?;>5! %A!ZjF}Mm?bjFVT iDiF1j^AjDjD2jFo@pF2?uTeRzpFL|ܹ[rV^8C ÿ"jFK$C*jFnF>pFJa#wg2 ,|OpFV=迿SDAĿiF;jFiFm?iF(W  jFxBzjFlξm?jDjF xBjjFKArjFO@= addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 18.799999 m, bearing: 262.743905 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.504080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 :J5TNBJ59JJ1RJ5 ZJ5O?4+()$" mDNOT Ignoring new targets: 18.80 m.hqhqhqhqhqgqgqbgyjg}BeyjeyJe:e@9C?r\L$=z\L$=\tc@\U>)  W>i9)t6܉;ii I5Eu>DDAT read: Rx Time:19:48:59.0157 TRx dataTimestamp_ set to:1736538539.478836 PDAT read: Bearing 185.1, 8.9 (Local)  ~Local bearing/azimuth received: Bearing 185.1, 8.9 (Local) %DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 mDAT read: 19:48:59.0157 LVL= 21744, 27473, 20882, 28931, AGC= 62, IDX= 504,-0.19, 0.032, 2.465, 0.501, 0.805, PHS=-0.685, 1.706,-0.307, RAW= 321.5, -6.5, CAL= 324.9, -8.9, ROT= 185.1, 8.9 uYgot valid direction response: 19:48:59.0157 LVL= 21744, 27473, 20882, 28931, AGC= 62, IDX= 504,-0.19, 0.032, 2.465, 0.501, 0.805, PHS=-0.685, 1.706,-0.307, RAW= 321.5, -6.5, CAL= 324.9, -8.9, ROT= 185.1, 8.9 uR#Rx 1: Read range and direction messages.}bdirection in FSK: [-0.984049,-0.087824,-0.154710]Fpublishing direction and range infoY,7sS}t{jÿ9T Qk)QIqi>)\/5^?/:@ V)Yu@Ii:N@> Zss%S.Z׿! ؼI60i>={]C>  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VFMV'SZAYMu#?sx,j^AeM?ye?9e#;Ye;>eH t? -?n??@ bv \?Ev?eM?ɨe; eC޽B II)HHR5m< u=YuQ u>y٣y }Gyu: >]>59 n?a >5Yr iϥB>q@$jD?&<+x<>5 A-<-<5pt1,SMO&d2ozpQbMVO Gʱ[Ŀi&jfim?iqcW  jxBzjjj"xBjjdArj@u addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.507054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.575715 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.507054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeJe:e@d-#;)1 5f>i5@9)1565 $)~Gn׿ }1UI 0i = |>  2Acoustic response timeoutD D D E ^0 E  Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VFZAM ?<šx,B_ k^ARʿ?yRG?9R;YR;>RH@;?@@?@ro??˝:JNMBJk9JJRJ ZJJ> J>٣ GmX: >]>59gn?a>5YHr iͥBNF=m<`?q@&jD::Y>5  AZj}0bm?bj}nS iyi}j^Ajyjy2j}@p}$2v?nYqzp}?).8~ni\ÿ"jy*j}|>p}EOi9)隕w6s7a a e _ڢc]\ ׿k;߻Ie D1M >ie ,q=e Ce `>a a  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.dȚx,"5#k^Aj{є?yj?9j;Yj<>jH?`6? Ip??@(sa?v?j{є?ɨjfކ; j C޽B޽ IHHQ5s= H=Y^Q >!٣! %G!-#: ->)]]>59-wn?a]>5Y-q i-̥BY]`?qe@-'jD-;-;->5i mAiZjT4m?bjSS iik^Ajj2j@pc=2)M̧6=x}zp]!ҷS&r#ÿ"jC*j`>p '#4k2`p&Ҕ྿.j8ZPURbĿi^jijbm?i 1W  jMyBzjm?jjxBjjArj@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504968 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 18.799999 m, bearing: 262.982442 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.504968 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 18.80 m.hQhQhQhYhYgagbgjgejeJe:edT?r\z\\\C`? ;) o>if9)IUx6U2dDD D D E  E E E ZI }bI jI 1rI zI [j:I 9I 3I I ;I ;I ;I ;] DDAT read: Rx Time:19:49:00.5156 e TRx dataTimestamp_ set to:1736538540.987886m PDAT read: Bearing 185.0, 8.7 (Local) u ~Local bearing/azimuth received: Bearing 185.0, 8.7 (Local)  DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0  DAT read: 19:49:00.5156 LVL= 24144, 29553, 25522, 32755, AGC= 63, IDX= 503, 0.01,-0.080, 2.295, 0.371, 0.678, PHS=-0.670, 1.664,-0.310, RAW= 321.8, -6.3, CAL= 325.0, -8.7, ROT= 185.0, 8.7  Ygot valid direction response: 19:49:00.5156 LVL= 24144, 29553, 25522, 32755, AGC= 63, IDX= 503, 0.01,-0.080, 2.295, 0.371, 0.678, PHS=-0.670, 1.664,-0.310, RAW= 321.8, -6.3, CAL= 325.0, -8.7, ROT= 185.0, 8.7  R#Rx 1: Read range and direction messages.VF ]UZA M > Кx,z@k^A*bdirection in FSK: [-0.984732,-0.086153,-0.151261]*Fpublishing direction and range infoYzr2Ini\ÿ9P^ qs)cIi?+?R@ z0)@I|iN@|> WkՕ׿?UEIE0i=zC|> m2Acoustic response timeoutuQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.%y?y%!?9%;Y%;>%H 8?1 %?1q?|?/qV?v?%y?ɨ%9; %CޝBޝ I4=ia=Mb@Mb@Mb@ )Iyy&1?/${Gzt`e=ף  A)Ii@@HHH5Eƕ E=YMQ M>Q٣Q Ge: >]>59ӊn?a>5Y&q iɥBu=m]<?q@)jDz;;>5  A Zjpi9)隕w6 ,:{_o׿R껿Il0i=C`>  E2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VFOPZA MM?ؚx,dk^AU%?yUb?9U3;YU3<>UHY??@=t?5?@{sf`d?v?U%?ɨUن; UCmBm IHHJ5< +=YEQ >٣ G; >]>59n?a>5Yp iǥB?q@+jDi;;>5 AZj~m?bj8oR iiz_k^Ajj2j @pBW2%8^̧6=x}zp{ ЧH!W򉽴S&r#ÿ"jC*j`>p_#.f2pwKgUQT?^Ŀi1jEi=m?i?U  jQyBzjj 1W j/yBjj Arj@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.440471 deg, lat: 36.903942 deg, lon: -122.119011 deg, deltaT: 0.503936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeJe:e2?r\9z\9\9\=W?U3;)Q Ul>iU9)Y]z6]ޚx,~k^A6L?y6I?96:Y6+<>6Hc?` ?v?` ? /`^c?v?6L?ɨ6; 6!C>BFDDAT read: Rx Time:19:49:01.5156 JTRx dataTimestamp_ set to:1736538541.995838NPDAT read: Bearing 184.7, 8.3 (Local) N~Local bearing/azimuth received: Bearing 184.7, 8.3 (Local) VDAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.1 nDAT read: 19:49:01.5156 LVL= 25536, 28497, 22274, 32307, AGC= 64, IDX= 502, 0.12, 1.270,-2.721, 1.695, 2.010, PHS=-0.652, 1.600,-0.318, RAW= 322.1, -6.0, CAL= 325.3, -8.3, ROT= 184.7, 8.3 rYgot valid direction response: 19:49:01.5156 LVL= 25536, 28497, 22274, 32307, AGC= 64, IDX= 502, 0.12, 1.270,-2.721, 1.695, 2.010, PHS=-0.652, 1.600,-0.318, RAW= 322.1, -6.0, CAL= 325.3, -8.3, ROT= 184.7, 8.3 rR#Rx 1: Read range and direction messages.vbdirection in FSK: [-0.986198,-0.081080,-0.144356]vFpublishing direction and range infoDYF[{6'ЌCz¿D9DFc FQo)FWIF3~iF@Fy&F?FТF@ FPwֽ)DIFViDFV>D DF{5L׿9yHD D -2Acoustic response timeout-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.> IeMb@Mb@Mb@aa a)aIe[Dyey&1?:vy&1|aeԼe` e A)eK@Ie;@ie@ae@HHDP5)$= 6=Y;Q >٣ G0; > ]U>59 Gn?au>5Y o i ĥBu~=muU5}B FAEZjFrQ m?bjFvQ iDiFϻk^AjDjD2jF@pF9 `28cОFPzpF[{6'ЌCz¿"jD*jFV>pF&w9Vj2|$"MpFrV{\ŦkYWHSÿiFUjFiFm?iFU  jFyBzjF+m?jF/U jFMyBjjFڔArjFɠ@] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.565967 deg, lat: 36.903943 deg, lon: -122.119011 deg, deltaT: 0.504016 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgBBejeJe:eӾ?r\~=z\~=\ '@\Lz?]:)Y ] W>i]9)隅N6ҝE=M#x,k^Abf?ybn?9b:Yb;>bHJ?,?Bw?`?|aQ[? nv?bf?ɨbs; bCttI)  H%H% N5E=: E^=YE Q M>I٣I MGIU ; U>]>59\n?a>5Yko i¥Bz?q@.jD::>5 DA%DNOT Ignoring new targets: 18.80 m.h!h!h!h1h1g1g9bg9jg9e9jeAJeA:eE?r\az\a\a\ez?:) pW>i99)隽ؼ6S%?T㥾4@ z0)@I`ivM@`> wZc;mZؿ{?ۻI/i)K=?BD`>  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.D?DDEo0 EVF) ZA9 M] > ~H 7? ?x??۠uD?w?~gy?ɨ~)O; |5B5 IMb@Mb@Mb@ )IAyS㥫?I +/]=̼94 )=@I$@i@@H-H-@5ml m.=Yu Q u>y٣y }GZI{bIzjI0rIzId:I9Iـ3II";I$;IP:IQ:y%: %>)]5>59-n?a5>5Y-n i-B5w=m5[<5~?q5@-0jD-4:-R:-1>5A EiAAZjEm?bjEO iAiEak^AjAjEeA2jE:q@pE1J20†Ļ6=x}zpEd\S&r#ÿ"jE?BD*jE`>pEn$#!] b2sҥ"pE? 7HN##BRKbLlĿiEjE!iEfm?iEz&S  jEAyBzjAjE?U jAjjEArjEH@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.203911 deg, lat: 36.903943 deg, lon: -122.119010 deg, deltaT: 0.503941 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjg8BejeJe:eƃ?r\w=z\w=\/@\~?֮C8) Ha>i=9)  ̾6 ) )-WU4p,O׿lKI-J0i-=- D-| >) ) 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF5 FZAI M >&x,7k^A6?y6?96nY64R;>6H?*?`Wz?@?`B P?`H?`Ow?6?ɨ6v; 4bBb Ii`HjHj>5%i -w=Y-mUQ -?1٣1 5G1U; ]?Y]m>59]n?am>5Y]cn i]Bqur~?qu@]1jD}5 AE:JBJ9JJRJ ZJZje-m?bje6O iaieXk^Ajaja2je @pej̇2wYUOQE.zpe䍤^3^ֳp Ŀ"je D*je| >pe"H֒йU^2 h peO֊8CᅲpGeſiejeieyTm?ieqJR  jexBzjajeU jeAyBjjeArje@} addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.412443 deg, lat: 36.903943 deg, lon: -122.119010 deg, deltaT: 0.505646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeJe:e?r\z\\\Wr~?n) Z>i<9)a69 9 = 4m T)ؿIuƻI= !0i= =9 = >9 9  2Acoustic response timeoutZA)  Querying Benthos address 50 with 120 pings in terminal homing one-way mode.M >Ox,k^A6?y6v?96iY6;>6Hk?o?`-{?`e?``B`?R?`v?6?ɨ61Ɔ; 6!CRBR ITiV=)V= Vp=HZHZdK5r vO=YvQ v>x٣x zGxz: ~>Y]e>59]n?ae>5Y]m i]Bim~?qm@]3jD]>:]`:]p>5q uAqZju?mm?bju@LO iqiuk^Ajqjq2ju@puxaC2ZW!C%A;zpu rIlhݳ%)k¿"jq*ju>pu|EIG.mne28xGpuƫhDP£ eéĿiu+ju>iu0m?iuR  ju yBzjuyTm?juz&S jqjjuArjuz@] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503578 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 m Added new target pos. range: 18.799999 m, bearing: 262.536235 deg, lat: 36.903943 deg, lon: -122.119009 deg, deltaT: 0.503578 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeJe:e ?r\z\\\G~?i) R>i9) 6ڕ c~G lA  A)M 6 yM lAM BE DDAT read: Rx Time:19:49:03.5157 E TRx dataTimestamp_ set to:1736538544.011700U PDAT read: Bearing 184.5, 8.2 (Local) U ~Local bearing/azimuth received: Bearing 184.5, 8.2 (Local) 8x,Bl^A*DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 bDAT read: 19:49:03.5157 LVL= 24384, 30529, 23330, 32755, AGC= 64, IDX= 503, 0.07, 0.274, 2.605, 0.698, 1.024, PHS=-0.662, 1.628,-0.329, RAW= 322.3, -6.0, CAL= 325.5, -8.2, ROT= 184.5, 8.2 jYgot valid direction response: 19:49:03.5157 LVL= 24384, 30529, 23330, 32755, AGC= 64, IDX= 503, 0.07, 0.274, 2.605, 0.698, 1.024, PHS=-0.662, 1.628,-0.329, RAW= 322.3, -6.0, CAL= 325.5, -8.2, ROT= 184.5, 8.2 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.986725,-0.077657,-0.142629]Fpublishing direction and range infoqYuq`@WkQ᳿x0A¿q9qu@_ uAw)u"[Iqiu@ux)uNb?urq uPwֽ)qIuCiquC>q qu* ڡso+ ؿ ǦIu00iuyq=quC>q q ]2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode. B IMb@Mb@Mb@ )Iy~jt? rha٣a eGam m>q]u>59uSn?a}>5YuFm iuB{=mW<T?q@u5jDu;u;u#>5 AZjuVm?bjun*O iqiul^AjqjufA2ju@pu 2S[7Pszpuq`@WkQ᳿x0A¿"jq*juC>pub2R('Ji21QӃpuJ`]rL"Wᅩ0AĿiuOju9iuixm?iuGeR  ju{yBzjum?juR jqjjuArju@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502697 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.592094 deg, lat: 36.903943 deg, lon: -122.119009 deg, deltaT: 0.502697 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgLBejeJe:e (?r\{=z\{=\&W@\T?))Q U#>iUg9)QU6]ڊx,7l^Af?yfR;?9faYf;>fH?`?`}?:? q?`]?`Cv?f?ɨf; drBr IHzHzB5 =YQ ? ٣   G  :; ?]%>59Sn?a%>5Yl iB)-)U?q-@6jD::>59 =aA9mDNOT Ignoring new targets: 18.80 m.hihihihihigqDDAT read: Rx Time:19:49:04.0159 TRx dataTimestamp_ set to:1736538544.515880PDAT read: Bearing 184.4, 8.4 (Local) ~Local bearing/azimuth received: Bearing 184.4, 8.4 (Local) DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.0 DAT read: 19:49:04.0159 LVL= 24624, 31297, 20978, 30899, AGC= 64, IDX= 504, 0.29, 2.354,-1.608, 2.769, 3.094, PHS=-0.652, 1.628,-0.327, RAW= 322.4, -6.1, CAL= 325.6, -8.4, ROT= 184.4, 8.4 Ygot valid direction response: 19:49:04.0159 LVL= 24624, 31297, 20978, 30899, AGC= 64, IDX= 504, 0.29, 2.354,-1.608, 2.769, 3.094, PHS=-0.652, 1.628,-0.327, RAW= 322.4, -6.1, CAL= 325.6, -8.4, ROT= 184.4, 8.4 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.986357,-0.075896,-0.146083]Fpublishing direction and range info؁Y؅@;!m/8ٲ¿؅̘A9؁؅0` مAz)مQgqbgjgQeQjeQJeU3@:e]`?Iمxiفمy&فمlم@ څ^ ڽ)څoٵ@IڅQ iڅM@څQ >ځ ہۅ)Ai0DGؿ.^kWIۅH0iۅ\&=ۅ%DۅQ >ہ ܁ 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.r\z\\\)U?a) =iZ9) zGY G] !IG] BGY GY GY G] <G] FM > =H?`BF?@1?@?q5@^v?H?`3w?=?ɨ=O#; =CޅBޅ II)AuMb@Mb@Mb@qq q)qIqyu:v?ˡEZd;Ou٣ G): >]%>59n?a->5Yl iB- \=m-w<- >q-@7jD7::5>5Q ]AaZjDzm?bj1U ii.!l^Aj̘AjȗAEDDAT read: Rx Time:19:49:04.5158 ETRx dataTimestamp_ set to:1736538545.043790MPDAT read: Bearing 184.5, 8.6 (Local) U~Local bearing/azimuth received: Bearing 184.5, 8.6 (Local) eDAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.3 DAT read: 19:49:04.5158 LVL= 24432, 28785, 23970, 32755, AGC= 64, IDX= 504,-0.30,-1.405, 0.969,-0.976,-0.654, PHS=-0.663, 1.670,-0.325, RAW= 322.3, -6.3, CAL= 325.5, -8.6, ROT= 184.5, 8.6 Ygot valid direction response: 19:49:04.5158 LVL= 24432, 28785, 23970, 32755, AGC= 64, IDX= 504,-0.30,-1.405, 0.969,-0.976,-0.654, PHS=-0.663, 1.670,-0.325, RAW= 322.3, -6.3, CAL= 325.5, -8.6, ROT= 184.5, 8.6 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.985708,-0.077577,-0.149535]Fpublishing direction and range infoAYEgNO ܳS&r#ÿE3A9AEp_ Eqp)E]IEiAE^)E?EffE@ Ez0)E"˵@IE`iEN@E`>A AE IxmAF"ؿt۸IE (0iE9=E DE`>A A 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.2j&@pXQ2mo1 LRzp@;!m/8ٲ¿"j%D*jQ >pT][[O2kc_4@p7HOxĿijim?iP Y  jxBzj0m?jj yBjjהArjk@U addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 1.032090 s, deltaX: 0.100000 m, approachRate: 0.096891 m/s, rangeRepo size: 4 e Added new target pos. range: 19.100000 m, bearing: 262.623000 deg, lat: 36.903943 deg, lon: -122.119009 deg, deltaT: 0.504180 s, deltaX: 0.300001 m, approachRate: 0.595028 m/s, posRepo size: 4 eDNOT Ignoring new targets: 19.10 m.hahihihihggbgjgBejeJe`f2@:e ?r\ \=z\ \=\@\m >M0㶻)I Mk>iM$9)QU13Uv<jx,Tl^AR?yRV?9RһYR:>RH/?#?@?? #@tWz?7? w?R?ɨRq; RCZ~BZ IHdHdj6 ni=YnQ n>p٣p rGpvE v>x]z?59z4n?a~?5Yzl izB|E%>qE@z8jDz4p Ԃ:E~B{2o@R p /ywBJc4;joſi ړj i DNm?i fS  j TxBzj ixm?j j xBjj ߔArj @]DNOT Ignoring new targets: 19.10 m.hYhYhahahagagabgijgieijeJe:eA?r\z\\\E%>һ) [>i39)Z3G G !IG BG G G VFu2;5ż =YQ >٣ G >]?59n?a?5Yl iB?I=m<q@:jD,;u*;?5 AZjqm?bjKO ii cl^Ajj2j׋@pGw9&2Sb:zp0#ʼnĉS&r#ÿ"j^D*jpQ:\EHx2d- pUaRӶM'wF￰PſiƓji}m?i[7S  jWxBzjj[7S jjjArj@m addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503914 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 18.900000 m, bearing: 262.390049 deg, lat: 36.903943 deg, lon: -122.119009 deg, deltaT: 1.031824 s, deltaX: -0.200001 m, approachRate: -0.193832 m/s, posRepo size: 4 }DNOT Ignoring new targets: 18.90 m.hyhhhhggbgjgBejeJe:e#,?r\?I=z\?I=\/[@\a@) >i9)F4;iiIIDDAT read: Rx Time:19:49:05.5158 TRx dataTimestamp_ set to:1736538546.052911PDAT read: Bearing 184.3, 8.3 (Local) ~Local bearing/azimuth received: Bearing 184.3, 8.3 (Local) DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.0 DAT read: 19:49:05.5158 LVL= 22352, 27601, 21682, 32755, AGC= 64, IDX= 503, 0.19,-1.784, 0.534,-1.371,-1.042, PHS=-0.654, 1.623,-0.332, RAW= 322.5, -6.0, CAL= 325.7, -8.3, ROT= 184.3, 8.3  Ygot valid direction response: 19:49:05.5158 LVL= 22352, 27601, 21682, 32755, AGC= 64, IDX= 503, 0.19,-1.784, 0.534,-1.371,-1.042, PHS=-0.654, 1.623,-0.332, RAW= 322.5, -6.0, CAL= 325.7, -8.3, ROT= 184.3, 8.3  R#Rx 1: Read range and direction messages.D}?DyDyE}65 Eybdirection in FSK: [-0.986740,-0.074193,-0.144356]Fpublishing direction and range infoؑYؕIc`�W'ЌCz¿ؑ9ؑؕPW ٕk)ٕTIّiّٕl'ٕw?ٕٕ4@ ڕPwֽ)ڕ@IڕViڕvM@ڕV>ڑ ۑەþK g]HYؿAݺIە/iەO=ە?BDەV>ۑ ܑ e2Acoustic response timeouteQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF @;ZA M >̢#x, @l^A27?y2u?92YAY2 =>2Ho|?@?7?? >Lȃ?? it?27?ɨ2Զ; 2CReBRc IHZHZ#U5ݽ M=Ye &Q e ?a٣a mGiDB;  ?]?59n?a?5Yl iBq@<U;{ ?52¦o:ßzpIc`�W'ЌCz¿"j?BD*jV>pBD[|2y}p>)JMO ſiji#m?ijS :J^MBJJJRJ ZJ J? J"? jQxBzjm?jfS jWxBjj"Arj@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.505207 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 262.580121 deg, lat: 36.903943 deg, lon: -122.119010 deg, deltaT: 0.505207 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbg jg e jeJe:e H?r\qz\q\q\u'@YA) g>i9)隍@u5ii)-;I)I9D!D!D)E-_0 E)ZIbIyjIrIzII9II DDAT read: Rx Time:19:49:06.0159  TRx dataTimestamp_ set to:1736538546.555814 PDAT read: Bearing 183.9, 7.7 (Local)  ~Local bearing/azimuth received: Bearing 183.9, 7.7 (Local)  DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed -0.1  DAT read: 19:49:06.0159 LVL= 24816, 29009, 24930, 32755, AGC= 63, IDX= 505,-0.49,-2.441,-0.125,-2.049,-1.692, PHS=-0.661, 1.614,-0.360, RAW= 323.0, -5.6, CAL= 326.1, -7.7, ROT= 183.9, 7.7  Ygot valid direction response: 19:49:06.0159 LVL= 24816, 29009, 24930, 32755, AGC= 63, IDX= 505,-0.49,-2.441,-0.125,-2.049,-1.692, PHS=-0.661, 1.614,-0.360, RAW= 323.0, -5.6, CAL= 326.1, -7.7, ROT= 183.9, 7.7  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.988688,-0.067402,-0.133986] Fpublishing direction and range infoر Yص h)UR:;>AL`u&ص ̘A9ر ص ` ٵ Qq)ٵ baIٱ iٵ ?ٵ L7)ٵ ?ٵ Qٵ e@ ڵ +Ƚ)ڵ @Iڵ iڵ kM@ڵ >ڱ ۱ ۵  $P=AUؿGNI۵ ]/i۵ '=۵ D۵ >۱ ܱ - 2Acoustic response timeout- Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF- ;ZA1 M >)x,l^ARYE?yRւ?9R&+YRUb=>RHn?i`?? I?d?@y?`s?RYE?ɨRY{; RCYBS IH-H--I5=v =H=YEQ E>A٣A MGIM: M>]?590n?a?5Yl iBxq@;jD:S: ?5 AZjm?bjuV iiul^Aj̘AjȗA2jƁ@pAL`u&"jD*j >p-zᤝ2n (Bpz !"Ujÿijh!i Cm?itWY  jxBzjjjS jjj0Arjӆ@E addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.502903 s, deltaX: 0.200001 m, approachRate: 0.397693 m/s, rangeRepo size: 4 u Added new target pos. range: 19.100000 m, bearing: 262.319635 deg, lat: 36.903943 deg, lon: -122.119010 deg, deltaT: 0.502903 s, deltaX: 0.200001 m, approachRate: 0.397693 m/s, posRepo size: 4 }DNOT Ignoring new targets: 19.10 m.hyhyhyhyhyggbgjgejeJe3@:e?r\z\\\@&+) N>i9)|L3aii  Nѯ;I I)G9G9G= IG=ӂBG9G9G9G=_<G=IFDDDE`0 E;0x,l^A6DDAT read: Rx Time:19:49:06.5158 6TRx dataTimestamp_ set to:1736538547.059609>PDAT read: Bearing 184.6, 7.5 (Local) >~Local bearing/azimuth received: Bearing 184.6, 7.5 (Local) FDAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.0 VDAT read: 19:49:06.5158 LVL= 29472, 32609, 26674, 32755, AGC= 64, IDX= 504,-0.25, 2.378,-1.560, 2.801,-3.134, PHS=-0.684, 1.620,-0.352, RAW= 322.3, -5.5, CAL= 325.4, -7.5, ROT= 184.6, 7.5 bYgot valid direction response: 19:49:06.5158 LVL= 29472, 32609, 26674, 32755, AGC= 64, IDX= 504,-0.25, 2.378,-1.560, 2.801,-3.134, PHS=-0.684, 1.620,-0.352, RAW= 322.3, -5.5, CAL= 325.4, -7.5, ROT= 184.6, 7.5 bR#Rx 1: Read range and direction messages.fbdirection in FSK: [-0.988251,-0.079513,-0.130526]fFpublishing direction and range info4Y6=;.ᅦZ /63A946 s 6a)62hI4i6@6/6)\?6X96@ 6 Ľ)6ּ@I6 i6?3N@6 >4 46vLu7ؿw".dI6i0i6tl=6vC6 >4 4 v2Acoustic response timeoutvQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.m-?ymj?9m9M5Ymu =>mH ?@?@?`?@?@?@Jt?m-?ɨm-{; mC\BW II!)!5Mb@Mb@Mb@11 1)1I1y5/$&1X9v55P5 5 A)5@I5@i115Q@HuHuN5H<  =YQ >٣ Gn >]?59n?a?5Ym iB=mQ<4q@=jD;;l?5 AZj6m?bj6R i4i6l^Aj63Aj61A2j6'@p62.rp &Mzp6=;.ᅦZ /"j6vC*j6 >p6QŦ/%}@2fFaBp6O˾'tJbT%yÿi6Jj6i6\Rm?i64[U  j6yBzj6#m?j4j4jj6 Arj6@= addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503795 s, deltaX: -0.200001 m, approachRate: -0.396988 m/s, rangeRepo size: 4 M Added new target pos. range: 18.900000 m, bearing: 263.007705 deg, lat: 36.903944 deg, lon: -122.119010 deg, deltaT: 0.503795 s, deltaX: -0.200001 m, approachRate: -0.396988 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjgȁBejeJe`f2@:eU?r\=z\=\ L@\B@i]9)aeo 4e+Tiaiiim#;II&- TFailed to parse incomplete device message.DQ DQ DQ E] 12 EY H H 4=ZI {bI zjI 1rI zI d:I 9I 3I VF;ZAM><8x,\l^AJ I ^?y^`Z?9^jH?Y^<>^H?@?`~??W?@Jt?t?^?ɨ^}q; ^C~DDAT read: Rx Time:19:49:07.0159 TRx dataTimestamp_ set to:1736538547.563769 PDAT read: Bearing 183.8, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 183.8, 7.6 (Local) DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.0 MDAT read: 19:49:07.0159 LVL= 22752, 30401, 22002, 32755, AGC= 64, IDX= 505,-0.16,-2.881,-0.557,-2.493,-2.128, PHS=-0.665, 1.618,-0.368, RAW= 323.1, -5.5, CAL= 326.2, -7.6, ROT= 183.8, 7.6 UYgot valid direction response: 19:49:07.0159 LVL= 22752, 30401, 22002, 32755, AGC= 64, IDX= 505,-0.16,-2.881,-0.557,-2.493,-2.128, PHS=-0.665, 1.618,-0.368, RAW= 323.1, -5.5, CAL= 326.2, -7.6, ROT= 183.8, 7.6 ]R#Rx 1: Read range and direction messages.ebdirection in FSK: [-0.989036,-0.065692,-0.132256]eFpublishing direction and range info|Y~z/ʁ.Ѱ) ~̘A9|~X ~v)~UI|i|~q=*~?~j~s@ |)~8/@I~i~|NM@~>| |~J%JoAdٿ?I~:/i~j=~9D~>| | }2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ޕKBޕB IHHU5=ǣ =G=Y=ĺQ =>A٣A EGAm m>q]}?59uJn?a}?5YuPm iuwBy}0q}@u>jDu:u:u?5 WAZj~-2m?bj~5V i|i~l^Aj~̘Aj~ȗA2j~m@p~]2|6POlr5zp~z/ʁ.Ѱ) "j~9D*j~>p~,Jt2Ӂsfxp~j8#a1kSgÿi~j~t$i~m?i~Y  j~xBzj~}m?j~4[U j~xBjj~Arj~s@= addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504160 s, deltaX: 0.200001 m, approachRate: 0.396701 m/s, rangeRepo size: 4 M Added new target pos. range: 19.100000 m, bearing: 262.174894 deg, lat: 36.903943 deg, lon: -122.119010 deg, deltaT: 0.504160 s, deltaX: 0.200001 m, approachRate: 0.396701 m/s, posRepo size: 4 UDNOT Ignoring new targets: 19.10 m.hQhQhQhQhQgYgybgjgejeJe3@:e?r\!z\!\!\%҉@UjH?)y }>i})9)y}M4}Ԙiyi3;IIBBCBDDDE`0 EGGG IGBGGGGT<GAFAA>x,l^A6?y6 )?96FY6;>6H(?l ?|??/`Ԉ?@S?0v?6?ɨ66; 6!CRNBRF IMb@Mb@Mb@ )Iy&1QPL )@Ii@H H X5=*n< =K=YESQ E>A٣A EGIMqw M>Q]]?59Unn?a]?5YUm iUoBe=me+i9)隕4üii7@;IIDDAT read: Rx Time:19:49:07.5158 TRx dataTimestamp_ set to:1736538548.067804-PDAT read: Bearing 184.4, 7.7 (Local) -~Local bearing/azimuth received: Bearing 184.4, 7.7 (Local) =DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.0 uDAT read: 19:49:07.5158 LVL= 23968, 28593, 20690, 32755, AGC= 65, IDX= 504,-0.21,-2.942,-0.549,-2.517,-2.163, PHS=-0.691, 1.661,-0.357, RAW= 322.4, -5.6, CAL= 325.6, -7.7, ROT= 184.4, 7.7 }Ygot valid direction response: 19:49:07.5158 LVL= 23968, 28593, 20690, 32755, AGC= 65, IDX= 504,-0.21,-2.942,-0.549,-2.517,-2.163, PHS=-0.691, 1.661,-0.357, RAW= 322.4, -5.6, CAL= 325.6, -7.7, ROT= 184.4, 7.7 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.988063,-0.076027,-0.133986]Fpublishing direction and range infoY5@N5 ivL`u&3A9] o)PIiA`0?ȶ@ +Ƚ)oٵ@I iM@ > FSntUؿ,HYN I/i=%D >  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.DDDEj0 EVFM )o;ZAQ Mu > }H ?{? {? s2?妿F?=?'w?}ԕ?ɨ}'; }"CFB< I=iC=)-= )H]H]@T5! @=Y`Q >٣ GԺ >]5?59n?a5?5Yn ifB15q=@BjD";*;B?5A EAAZj-bsm?bj-J4R i)i-Vm^Aj-3Aj-1A2j-@p-KB29ROd:Bzp-5@N5 ivL`u&"j-%D*j- >p-󦦎"a&2 !ip-5\E2$xCVGt<Ŀi-j-i-um?i-Ӛ/V  j-xBzj-#m?j-Ӛ/V j)jj-eArj-텒@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504035 s, deltaX: -0.200001 m, approachRate: -0.396799 m/s, rangeRepo size: 4 5 Added new target pos. range: 18.900000 m, bearing: 262.636375 deg, lat: 36.903944 deg, lon: -122.119011 deg, deltaT: 0.504035 s, deltaX: -0.200001 m, approachRate: -0.396799 m/s, posRepo size: 4 =DNOT Ignoring new targets: 18.90 m.h9h9h9h9h9g9gAbgAjgaeijeiJem`f2@:em?r\z\\\@MO)I M>iM9)QU4UiQiYY]!;IYIaDiDDAT read: Rx Time:19:49:08.0159  TRx dataTimestamp_ set to:1736538548.572017PDAT read: Bearing 184.0, 8.1 (Local) ~Local bearing/azimuth received: Bearing 184.0, 8.1 (Local) %DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed -0.4 D5?D1D9E=n0 E9mDAT read: 19:49:08.0159 LVL= 21392, 28753, 21298, 32755, AGC= 64, IDX= 505,-0.27,-1.287, 1.083,-0.884,-0.532, PHS=-0.666, 1.663,-0.355, RAW= 322.9, -5.9, CAL= 326.0, -8.1, ROT= 184.0, 8.1 Ygot valid direction response: 19:49:08.0159 LVL= 21392, 28753, 21298, 32755, AGC= 64, IDX= 505,-0.27,-1.287, 1.083,-0.884,-0.532, PHS=-0.666, 1.663,-0.355, RAW= 322.9, -5.9, CAL= 326.0, -8.1, ROT= 184.0, 8.1 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.987612,-0.069060,-0.140901]Fpublishing direction and range infoY( 򭱿:N ¿̘A9S Qp)2SIi@~*/?µeW@ Bҽ)@IiM@> et&PC ؿXحcI,q/i'= D>  =2Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF] ;ZAi M >TKx,/m^A6?y6x?96RY6*:>6H ? `?y? X?[?:?Hw?6?ɨ6w; 6 CNEBN; IHZHZ)M5r{c rr=YrQ r?t٣t vGtzos z?|]?59~n?a?5Y~o i~`Bބq@~CjD~:~S:~+ ?5  AZjUm?bjU}W iQiU$m^AjU̘AjUȗA2jUb@pU=+25.SszpU( 򭱿:N ¿"jU D*jU>pUu>2Ҵ pU X]\GnDnRx.ĿiUNjU%iUTQm?iUKZ  jUxBzjUTQm?jUtWY GaGaGe IGeBGaGaGaGe<Ge FH) H)H)H)"H)*H-*3jQjjUNArjU^@ addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504213 s, deltaX: 0.200001 m, approachRate: 0.396659 m/s, rangeRepo size: 4  Added new target pos. range: 19.100000 m, bearing: 262.097482 deg, lat: 36.903943 deg, lon: -122.119012 deg, deltaT: 0.504213 s, deltaX: 0.200001 m, approachRate: 0.396659 m/s, posRepo size: 4 DNOT Ignoring new targets: 19.10 m.hhhhhggbgjgejeJe3@:e^)?r\z\\\Oا@R) G>ig9)4ii  `8:I I u- DDAT read: Rx Time:19:49:08.5158 5 TRx dataTimestamp_ set to:1736538549.075802= PDAT read: Bearing 184.1, 7.6 (Local) = ~Local bearing/azimuth received: Bearing 184.1, 7.6 (Local) U DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.1 u DAT read: 19:49:08.5158 LVL= 24896, 32753, 26354, 32755, AGC= 64, IDX= 504,-0.44,-1.303, 1.025,-0.904,-0.545, PHS=-0.670, 1.616,-0.362, RAW= 322.9, -5.5, CAL= 325.9, -7.6, ROT= 184.1, 7.6  Ygot valid direction response: 19:49:08.5158 LVL= 24896, 32753, 26354, 32755, AGC= 64, IDX= 504,-0.44,-1.303, 1.025,-0.904,-0.545, PHS=-0.670, 1.616,-0.362, RAW= 322.9, -5.5, CAL= 325.9, -7.6, ROT= 184.1, 7.6  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.988679,-0.070869,-0.132256] Fpublishing direction and range info) Y- -ٸALO$) - 3A9) - @a - )- fI) i) - +- ?- X) - Ľ)- S@I- i- EM@- >) ) - OZzY5ؿ))|I- n/i- 4=- p{D- >) )  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.;Rx,ZIm^AR?yR?9RNYYRb:>RH`X1?@{?@w?@i?@\)?@*?w?R?ɨRY; RCeABe6 IMb@Mb@Mb@ )Iyx&J +Zd;O7Hj ~A)I@i@@HHuZ5=@ =*=YE_VQ E>A٣I MGIu,7 u>y]}?59}n?a?5Y}p i}XBf=m<q@}FjD}:}:}h$?5 AEZje8m?bje._T iaieDm^Aje3Aje1A2jer@pe 2a)PnN>HFzpe-ٸALO$) "jep{D*je>peo:u2qG6Upe\G 1ڂ Q￿ÿieje!ieV0m?ieU\QW  jexBzjeV0m?jeU\QW jexBjjeYArjer@u addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503785 s, deltaX: -0.200001 m, approachRate: -0.396996 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 262.215010 deg, lat: 36.903944 deg, lon: -122.119011 deg, deltaT: 0.503785 s, deltaX: -0.200001 m, approachRate: -0.396996 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjgBejeJe`f2@:e ?r\f=z\f=\yq@\@-NY)) ->i-9))541i1i99=̩9I9I9gXx,5Acm^ABQe?yB΢?9Bfo\YBX:>BHK?@9?uv?̙?F@?H¿ir&jr;#ir>m?ir0X  jrwyBzjr>m?jr0X jpjjrArjrj@- addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504039 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 18.900000 m, bearing: 262.158181 deg, lat: 36.903944 deg, lon: -122.119012 deg, deltaT: 0.504039 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 18.90 m.hIhIhIhIhIgQgQbgQjgQeYjeYJeY:e]`?r\z\\\ꡣ@%fo\)) ->i-9))-"5)i1i11=I9IYGqGqGu IGuBGu =GqGqGuH<Gu8F [D0X[Bؿ|ϷIs/i_ž= A> .2Acoustic response timeout.Querying Benthos address 50 with 120 pings in terminal homing one-way mode.J+?yh?9cY[;>H? 9ơ?s?@?M {? MY?u?J+?ɨ$;  C-QB-J IMb@Mb@Mb@ )IyV-ktQh 0u )I@i@ @HHV5-<  ٣   G 6 >]%?592n?a%?5Yq iJB%=m-<-lq-@KjD::-?5Q U#AQZjm?bjpS ii먅m^AjfAjeA2jIS@p H2#s^zpIo)YzOZ_|"j*j A>pfF{>e2 RFpuΝZeP6{ÿi.j%i (m?iEV  j"yBzjjU\QW jjj͔Arj]@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.508594 s, deltaX: -0.100000 m, approachRate: -0.196621 m/s, rangeRepo size: 4 % Added new target pos. range: 18.799999 m, bearing: 261.994502 deg, lat: 36.903944 deg, lon: -122.119011 deg, deltaT: 0.508594 s, deltaX: -0.100000 m, approachRate: -0.196621 m/s, posRepo size: 4 -DNOT Ignoring new targets: 18.80 m.h)h)h)hihqgqgqbgqjg}BeyjeyJe}2@:e ?r\=z\=\k@\4@c) >i89)05iitII) <   n[%>ڶؿQPI[/i=p{D>  M2Acoustic response timeoutMQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VF-FZA9MU?Oix,5m^AF?yF*/?9Fh%eYFI;>FH?@`Q?q?` ? Y>o?Z?u?F?ɨF{; Db_Bf[ IHmHmQ5j= .=Y-*Q ->1٣1 5G1=r =>A]?59E9n?a?5YEr iEDBq@EMjDE*HFzp-ٸALO$) "jp{D*j>pOMA/{2:py(ZK￞ek]Ŀiܓj/'inm?iwDY  jxBzj (m?j0X jxBjjArj+P@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503345 s, deltaX: 0.100000 m, approachRate: 0.198672 m/s, rangeRepo size: 4 GGGGG =GGG<GFE Added new target pos. range: 18.900000 m, bearing: 261.955188 deg, lat: 36.903944 deg, lon: -122.119012 deg, deltaT: 0.503345 s, deltaX: 0.100000 m, approachRate: 0.198672 m/s, posRepo size: 4 MDNOT Ignoring new targets: 18.90 m.hIhIhIhIhIgIgQbgQjgYeYjeYJee`f2@:eed=?r\z\\\O&@h%e) ¶>i9)YK5%(qx,m^A>\Δ?y> ?9>m.hY>G<>>Hb? ?@mo?%?@r?`_?mu?>\Δ?ɨ>k; <NDDAT read: Rx Time:19:49:10.5157 RTRx dataTimestamp_ set to:1736538551.095707VPDAT read: Bearing 184.6, 7.4 (Local) V~Local bearing/azimuth received: Bearing 184.6, 7.4 (Local) ^DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 rDAT read: 19:49:10.5157 LVL= 25264, 30529, 24178, 32755, AGC= 63, IDX= 502,-0.32,-1.815, 0.550,-1.390,-1.033, PHS=-0.694, 1.630,-0.359, RAW= 322.4, -5.4, CAL= 325.4, -7.4, ROT= 184.6, 7.4 vYgot valid direction response: 19:49:10.5157 LVL= 25264, 30529, 24178, 32755, AGC= 63, IDX= 502,-0.32,-1.815, 0.550,-1.390,-1.033, PHS=-0.694, 1.630,-0.359, RAW= 322.4, -5.4, CAL= 325.4, -7.4, ROT= 184.6, 7.4 zR#Rx 1: Read range and direction messages.zbdirection in FSK: [-0.988477,-0.079531,-0.128796]~Fpublishing direction and range infoLYN@=3QV$\OZ_|NfA9LNb NAw)Nr^ILiLN1Nף?NηN@ N)Nּ@IN AiN?3N@N A>L LN -xrW7ؿ3c巿IN;0iNsr=NvCN A>L L 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.=oBEn I%Mb@Mb@Mb@!! !)!I!y%Q٣ G >] ?59'n?a ?5Ys iAB ӏ=m <<oq@OjD:4:l5?5Y ]7AaZjN'm?bjN!U iLiN m^AjNfAjNeA2jN}@pNl]W2`;Ds^zpN@=3QV$\OZ_|"jNvC*jN A>pN}hҭyIi2†UUpNRé9q"Vf9ÿiNHjNiN(m?iNX  jN3yBzjN>m?jLjN"yBjjNArjNRR@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503927 s, deltaX: -0.100000 m, approachRate: -0.198442 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.422567 deg, lat: 36.903944 deg, lon: -122.119012 deg, deltaT: 0.503927 s, deltaX: -0.100000 m, approachRate: -0.198442 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgƁBejeJe2@:e׻?r\-ӏ=z\-ӏ=\-k@\-s@]m.h)Y ]>ie9)aea5aiaiPIIMmwx,Z)m^A:☔?y:_ְ?9:jY:w<>:H?o@?l?X?%T? `?@cu?:☔?ɨ:; 8FBF IHRHRZ5Z= Z=Y^Q ^?\٣` bG`b< b?d]j?59fn?aj?5YfMt if?Blnqn@fQjDf;fb;f8?5p rApDNOT Ignoring new targets: 18.80 m.h!h!h!h)h)g)g9bgAjgAeAjeAJeA:eM@Ȳ?r\ z\ \ \ f@%j)! %^>i%r9)!-)i)iQQU.oIYIY}DDAT read: Rx Time:19:49:11.0158 TRx dataTimestamp_ set to:1736538551.600858PDAT read: Bearing 183.7, 6.9 (Local) ~Local bearing/azimuth received: Bearing 183.7, 6.9 (Local) DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.0 DAT read: 19:49:11.0158 LVL= 27184, 32417, 24642, 32755, AGC= 65, IDX= 502, 0.30, 1.292,-2.723, 1.664, 2.044, PHS=-0.664, 1.563,-0.383, RAW= 323.3, -5.0, CAL= 326.3, -6.9, ROT= 183.7, 6.9 Ygot valid direction response: 19:49:11.0158 LVL= 27184, 32417, 24642, 32755, AGC= 65, IDX= 502, 0.30, 1.292,-2.723, 1.664, 2.044, PHS=-0.664, 1.563,-0.383, RAW= 323.3, -5.0, CAL= 326.3, -6.9, ROT= 183.7, 6.9 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.990688,-0.064065,-0.120137]Fpublishing direction and range infoyY}[px>-frjƹI}3A9y}0j }~)}B`Iyi}A})DDD E 15 E }b?}ľ}@ }¸)}=@I}Ϣi}1M@}Ϣ=y y}|+EfNDٿ=:&I}.i}j=}D}Ϣ=y y =2Acoustic response timeoutEQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VFr2ZA)MU2>G G G IG BG G G G B<G 4F   H@7?j*?%k?@Gz?`꨿ v?S?u?t?ɨǻ; CB II)))-A)Mb@Mb@Mb@ )IyL7A`堿{GzMb`+# ~A)I@i@@HH{R5ͭ< +=YBEQ >٣ G >] ?59n?a?5Yt i=BT=m<dq@RjDZ:w:G-frjƹI"jD*jϢ=p;KB,/~2ap۟r¿9ȞP￲KH|y¿ijy1i Ym?i\  j"zBzj (m?jX j3yBjjxArj=@} addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.505151 s, deltaX: 0.100000 m, approachRate: 0.197961 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 261.473090 deg, lat: 36.903944 deg, lon: -122.119012 deg, deltaT: 0.505151 s, deltaX: 0.100000 m, approachRate: 0.197961 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhgZIbI{jIrIzII-9IIIII:I:g1bg9jg=Be9je9JeE`f2@:eE?r\}T=z\}T=\} @\}@p) >i9)隭3iiʻIIDiDqDqEu?5 Eq@DAT read: RxTie:19:49:11.5157 ^unknown deviceResponse_: RxTie:19:49:11.5157 PDAT read: Bearing 184.3, 6.7 (Local) ~Local bearing/azimuth received: Bearing 184.3, 6.7 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 =ADAT read: 19:49:11.5157 LVL= 22832, 32593, 22082, 32755, AGC= 63, IDX= 501, 0.10,-0.710, 1.602,-0.307, 0.067, PHS=-0.689, 1.582,-0.378, RAW= 322.7, -4.9, CAL= 325.7, -6.7, ROT= 184.3, 6.7RX DATA OVERRUN egot valid direction response: 19:49:11.5157 LVL= 22832, 32593, 22082, 32755, AGC= 63, IDX= 501, 0.10,-0.710, 1.602,-0.307, 0.067, PHS=-0.689, 1.582,-0.378, RAW= 322.7, -4.9, CAL= 325.7, -6.7, ROT= 184.3, 6.7RX DATA OVERRUN mR#Rx 1: Read range and direction messages.ubdirection in FSK: [-0.990375,-0.074467,-0.116671]uFpublishing direction and range infoؑYؕt&j*@mu"޽ؕfA9ؑؕ0Y ٕQ)ٕBVIّiٕ?ٕNb0ٕ~?ٕ7ٕ:@ ڕ%)ڕ@Iڕ|iڕvM@ڕ|=ڑ ۑەR~x,n^A6'M?y6?96tY6;>6H1^???i?`?E)? W?u?6'M?ɨ6忈; 6!C>B> IHJHJ@T5b> fw=YfIQ f?h٣h jGhjm ?!]-?59%n?a-?5Y%(u i%;B)-cdq-@%SjD%):%l:%???5Y ]AYZj m?bjcW iin^AjfAjeA2jX@pz2<R?Lf Nlbzpt&j*@mu"޽"j?BD*j|=pعMfMm2ҕΰpOs~hGխ|s]_?P¿ijj%iU+m?iaZ  juzBzjjwDY jjjArj:@5t)1 5g>i=9)9=9i9iAaeIaIiBqBqCqBqD?DDE 5 E bDAT read: RX DATA OVERRUNRx Time:19:49:12.0157  TRx dataTimestamp_ set to:1736538552.612392 DDAT read: Bearing 184.1, . (Lca)  bunknown deviceResponse_: Bearing 184.1, . (Lca)  DAT read: age 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.1  unknown deviceResponse_: age 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.1  DAT read: 19:49:12.0157 LVL= 28832, 32241, 24674, 32755, AGC= 64, IDX= 502,-0.05,-1.540, 0.797,-1.142,-0.754, PHS=-0.698, 1.599,-0.391, RAW= 322.9, -4.8, CAL= 325.9, -6.6, ROT= 184.1, 6.6 5 Ygot valid direction response: 19:49:12.0157 LVL= 28832, 32241, 24674, 32755, AGC= 64, IDX= 502,-0.05,-1.540, 0.797,-1.142,-0.754, PHS=-0.698, 1.599,-0.391, RAW= 322.9, -4.8, CAL= 325.9, -6.6, ROT= 184.1, 6.6 E X#Rx 1: Read direction message, but no range.M bdirection in FSK: [-0.990831,-0.071024,-0.114937]ر Yص o,*.NZl9ر ص p ٵ })ٵ b`Iٱ iٵ @ٵ !2ٵ ?ٵ '1Ⱦٵ eW@ ڵ )ڵ S@Iڵ iڵ EM@ڵ =ڱ ۵ 98^ %ؿ85LI۵ s/i۵ =۵ p{D۵ =e ԧx,W,n^A:-?y:j?9:Y}Y:r;>:H}?@`?g?@?~?2L?@)v?:-?ɨ:l; : CBBB IHJHJK5bY= fJ=YfQ f>h٣h jGhj n>]?59n?a ?5Yu i9B  dq @UjD:K:B?5 ]|AYDNOT Ignoring new targets: 18.80 m.hhhhhggbgjgejeJe:e?r\z\\\Y|@EY})A Mg>iM9)IM3IiIiQQU/IYIYG9G9G= IG=΂BG9G9G9G=<G=tFD?DDE_0 E5DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:12.5156 =TRx dataTimestamp_ set to:1736538552.868698PDAT read: Bearing 183.9, 6.8 (Local) ~Local bearing/azimuth received: Bearing 183.9, 6.8 (Local) UDAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.1191 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.VFZAM>#x,Fn^ABDAT read: 19:49:12.5156 LVL= 28464, 30865, 23874, 32755, AGC= 64, IDX= 501,-0.15, 2.596,-1.382, 2.981,-2.920, PHS=-0.678, 1.585,-0.385, RAW= 323.2, -4.9, CAL= 326.1, -6.8, ROT= 183.9, 6.8 FYgot valid direction response: 19:49:12.5156 LVL= 28464, 30865, 23874, 32755, AGC= 64, IDX= 501,-0.15, 2.596,-1.382, 2.981,-2.920, PHS=-0.678, 1.585,-0.385, RAW= 323.2, -4.9, CAL= 326.1, -6.8, ROT= 183.9, 6.8 FX#Rx 1: Read direction message, but no range.Rbdirection in FSK: [-0.990666,-0.067537,-0.118404],Y.X_*>JEO9,.0o .x).B]I,i,.h-.H?.ž.J@ .%). @I.i.kM@.=,.淊O~ ٿ*I.%0/i.ް=.D.=^٣) -G)5 5>9]=?59=n?aE?5Y=u i=:BE<mE=Ebqe@9=S;=G;=F?5q uAqZjeЅm?bje GW iaie7n^Ajaja2je@peU"2P{7=zpeX_*>JEO"jeD*je=peH-Ltg2Nڅpe6¿;k\RPp¿ie8je.ie>m?iehZ  jezBzjenm?jehZ je"zBjjeƔArje9+@U addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.760752 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 261.565910 deg, lat: 36.903943 deg, lon: -122.119013 deg, deltaT: 0.760752 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjgBejeJe:e0?r\<z\<\NI@\@ ) 4>i9)IM:4IiIiQQU0!IQIyDDDE EEDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:13.0156 UTRx dataTimestamp_ set to:1736538553.374046mPDAT read: Bearing 184.0, 6.5 (Local) u~Local bearing/azimuth received: Bearing 184.0, 6.5 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.II9I 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.:J BJ k9JJ RJ ZJ  VF ZA! M= >cėx,`n^AHDHFp=ZIJ~bIJ|jIHrIHzIJ{m:IJ@9IHIHqN@iN@uN@mN@^?y^MU?9^ VY^%;>^H@`? `Ł?|f?$?@ & ?@W?`u?^?ɨ^; ^CfÂBf IHnHnB5z= zq=Y~\Q ~?|٣| GX ? ]?59 n?a?5Y u i Ÿq@ VjD : : I?5! %A!U addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505348 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 18.80 m.hYhYhYhYhYgagibgqjgqeyjeJe:e3?r\z\\\@E V)I Mξ>iM9)IM4QiQiQY]? IYIaDAT read: 19:49:13.0156 LVL= 25584, 31713, 23106, 32755, AGC= 64, IDX= 501-02 1466,-.8, 1.858, 2.252, PHS=-0.698, 1.597,-0.397, RAW= 323.1, -4.7, CAL= 326.0, -6.5, ROT= 184.0, 6.5 !unknown deviceResponse_: 19:49:13.0156 LVL= 25584, 31713, 23106, 32755, AGC= 64, IDX= 501-02 1466,-.8, 1.858, 2.252, PHS=-0.698, 1.597,-0.397, RAW= 323.1, -4.7, CAL= 326.0, -6.5, ROT= 184.0, 6.5 G) G) G- !IG- BG- =G) G) G- O<G- =FH HHH"H*HȽ%4U DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:13.5155 m TRx dataTimestamp_ set to:1736538553.880725 PDAT read: Bearing 184.4, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 184.4, 5.9 (Local) 蝛x,`Wzn^A*DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0 ~G )MؿyQUmA]DAT read: 19:49:13.5155 LVL= 25664, 28145, 21618, 32755, AGC= 64, IDX= 500,-0.41, 1.198,-2.778, 1.601, 1.997, PHS=-0.710, 1.555,-0.399, RAW= 322.7, -4.2, CAL= 325.6, -5.9, ROT= 184.4, 5.9 eYgot valid direction response: 19:49:13.5155 LVL= 25664, 28145, 21618, 32755, AGC= 64, IDX= 500,-0.41, 1.198,-2.778, 1.601, 1.997, PHS=-0.710, 1.555,-0.399, RAW= 322.7, -4.2, CAL= 325.6, -5.9, ROT= 184.4, 5.9 eR#Rx 1: Read range and direction messages.bdirection in FSK: [-0.991771,-0.076313,-0.102793]Fpublishing direction and range infoؑYؕ떼qN9zBPؕ̔A9ؑؕ@d ٕm)ٕrTIّiّٕ5ٕ= ?ٕIٕ̾:@ ڕQ )ڕoٵ@IڕBҽiڕM@ڕB=ڑ ۑە52QkoQoؿmHXIەϭ/iەޓ=+)?yf?9)TY;>H@?` ?2g?J?#@I?`X?@Ou?+)?ɨ; #Cە%DەB=ۑ ܑ U2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.}ƂB} IMb@Mb@Mb@ )IyL7A`?:v~jtx?+=Լ;  A)I@i$@@HMHM:5]F< ] =Ye Q e>a٣a eGamo: m>uD2E pt.qg_<&m₩ii!jim?iV  j{BzjU+m?jjuzBjjҔArjB@% addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.506679 s, deltaX: -0.199999 m, approachRate: -0.394725 m/s, rangeRepo size: 4  Added new target pos. range: 18.600000 m, bearing: 262.216194 deg, lat: 36.903944 deg, lon: -122.119013 deg, deltaT: 1.012027 s, deltaX: -0.199999 m, approachRate: -0.197622 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.60 m.hhhhhggbgjg7BejeJe2@:e?r\- -=z\- -=\- H@\- c2?e )T)i m ]>im 9)i m ִ4i ii iq q u P2Iq I D e>D >DU ?DQ DQ EU _0 EY Ea Ea UDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:14.0156 eTRx dataTimestamp_ set to:1736538554.381526PDAT read: Bearing 184.2, 6.0 (Local) ~Local bearing/azimuth received: Bearing 184.2, 6.0 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 VF>uZAM=?Zæx,]n^A:J.&KBJ.۵9JJ,RJ. ZJ.NDAT read: 19:49:14.0156 LVL= 24464, 29265, 26050, 32387, AGC= 63, IDX= 500, 0.37,-0.767, 1.496,-0.378, 0.011, PHS=-0.690, 1.532,-0.392, RAW= 322.9, -4.4, CAL= 325.8, -6.0, ROT= 184.2, 6.0 RYgot valid direction response: 19:49:14.0156 LVL= 24464, 29265, 26050, 32387, AGC= 63, IDX= 500, 0.37,-0.767, 1.496,-0.378, 0.011, PHS=-0.690, 1.532,-0.392, RAW= 322.9, -4.4, CAL= 325.8, -6.0, ROT= 184.2, 6.0 RR#Rx 1: Read range and direction messages.Vbdirection in FSK: [-0.991851,-0.072837,-0.104528]VFpublishing direction and range infoءYإ(j}>m;q4ޮ`ºإfA9ءإ_ ٥Qr)٥eI٥~i٥?٥ף0٥?٥9Ⱦ٥eW@ ڥnF)ڥ@IڥPwֽiڥM@ڥPw=ڡ ۡۥz \dSTؿNpIۥzz/iۥ=ۥ^DۥPw=ۡ ܡ -2Acoustic response timeout-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.3?y$q?9%YҖ;>Hv?n?}g? &? 0ed?@CP?zu?騍3?ɨʷ; C޵ׂB޵ IHHBAZI}bIxjIrIzI[j:I9IIHH751= A=Y^Q >٣ G%E: %>I]U?59MTn?a]?5YMu iIY]2?q]@MYjDM:M:MR?5 AZjm?bjW iijn^AjfAjfA2jW@p㩔2*PFc]k|1qzp(j}>m;q4ޮ`º"j^D*jPw=pnwiRr2o;Fp7 ?8 f￿DoyAij}%i}lnm?i%6[  j{BzjjaZ jzBjjArj!=@u addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.500801 s, deltaX: 0.199999 m, approachRate: 0.399358 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 262.021105 deg, lat: 36.903944 deg, lon: -122.119013 deg, deltaT: 0.500801 s, deltaX: 0.199999 m, approachRate: 0.399358 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhggbgjg!e!je!Je%2@:e%@q?r\Az\A\A\E2?U%)y }>i}9)y}k4yiyiPIIH@q?@i?g? )?@∫$?O?eu?8?ɨ-ه; !C߂B IMb@Mb@Mb@ )Iyv/?y&1xi=`  A)&@I@iG@HH=5< =YQ >٣ G9 >)]@p}/Ut297HTOzp}By_VñzBP"j} D*j}B=p}h73?2,Lp}_y!\=e*" i}j};'i}m?i}oDU  j}{Bzj}m?j}hZ j}{Bjj}Arj}K@ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.506669 s, deltaX: -0.199999 m, approachRate: -0.394733 m/s, rangeRepo size: 4  Added new target pos. range: 18.600000 m, bearing: 261.851065 deg, lat: 36.903945 deg, lon: -122.119013 deg, deltaT: 0.506669 s, deltaX: -0.199999 m, approachRate: -0.394733 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.60 m.hhhhhg gbgjgZBejeJe2@:e/?r\]=z\]=\]Ws@\]km?u')q u>iu9)y}5yiyiIIC=B=CiD?DDE"5 E U DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:15.0156 ] TRx dataTimestamp_ set to:1736538555.391869 PDAT read: Bearing 183.9, 6.4 (Local)  ~Local bearing/azimuth received: Bearing 183.9, 6.4 (Local)  DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.Q U fA9Q  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.VF} >uZA ME>x,^0n^A:JZN KBJZk9JJXRJZ ZJZ;V/|] J?y?9 YԒ;>H@`?D`f? Qh?ુ? ߫a? O? Cu? J?ɨ5; CMBM!IH]H]B51= Q=YQ >٣ G: >]?59hn?a?5Ys i9Bn?q@]jD::[?5 |A MB*** querying acoustic contact ***iIiMe addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503674 s, deltaX: 0.199999 m, approachRate: 0.397080 m/s, rangeRepo size: 4 H%=HR=ZI{bIjIrIzId:I9IIDNOT Ignoring new targets: 18.60 m.hhhhhgg!bg!jg!e)je)Je-2@:e-@I?r\Iz\I\I\Mn?} ) >i 9)隅5iiG G G `!IG 4BG G G G /<G %F6x,n^ADAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:15.5155 -TRx dataTimestamp_ set to:1736538555.895759MPDAT read: Bearing 184.1, 6.7 (Local) ]~Local bearing/azimuth received: Bearing 184.1, 6.7 (Local) DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed -0.2 DAT read: 19:49:15.5155 LVL= 25472, 31265, 22178, 32755, AGC= 63, IDX= 500,-0.04, 0.602, 2.964, 1.004, 1.392, PHS=-0.703, 1.618,-0.392, RAW= 322.9, -4.9, CAL= 325.9, -6.7, ROT= 184.1, 6.7 -Ygot valid direction response: 19:49:15.5155 LVL= 25472, 31265, 22178, 32755, AGC= 63, IDX= 500,-0.04, 0.602, 2.964, 1.004, 1.392, PHS=-0.703, 1.618,-0.392, RAW= 322.9, -4.9, CAL= 325.9, -6.7, ROT= 184.1, 6.7 -R#Rx 1: Read range and direction messages.5bdirection in FSK: [-0.990629,-0.071009,-0.116671]=Fpublishing direction and range info!Y%Od;s -mu"޽%̔A9!%c %!z)%VS?y6?9ߺY;>H@W? {e?h?wt? *?]R?@u?騕S?ɨq; "CޥBޭ II)I!i!%3%?%9Ⱦ%eW@ %%)%S@I%|i%EM@%|=! !%{m^=TؿޕdI%x/i%=%p{D%|=! ! 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Iyi|?5?~jty&1|q=ļ`  A)@I@iQ@HH65] ] =YeQ e>a٣a mGi: >]?59n?a?5Yr i6B;=mO<n?q@_jD::E`?5 AZj%m?bj%ffO i!i%Tn^Aj!j!2j%>@p%#؋l2Kk2p!o0P\zp%Od;s -mu"޽"j%p{D*j%|=p%%vHFz<52<>ӭ^p%Ԙ²Z-US~>Wÿi%j%&i%Wm?i%.R  j%zBzj%}lnm?j%V j!jj%bArj%9@e addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503890 s, deltaX: -0.199999 m, approachRate: -0.396910 m/s, rangeRepo size: 4 i 9) +5 i i! ! % XI! I) D D D E ?5 E ZA M >ěx,~o^AJRZ?yJЗ?9J䲼YJ-;>JHyP?8R? h?@j?y \?`B? u?JRZ?ɨJtE; J CR܂BR IH^H^C5f j=YjQ jl?h٣l =G9E: E]?I]U?59Mn?aU?5YMr iM5BQs?q@M`jDM&i 9)隥;65ii{ػII%DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:16.0157 5TRx dataTimestamp_ set to:1736538556.398343UPDAT read: Bearing 184.3, 6.7 (Local) ]~Local bearing/azimuth received: Bearing 184.3, 6.7 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 DDDEc0 EZA)MU2>DAT read: 19:49:16.0157 LVL= 26784, 31217, 25074, 32755, AGC= 64, IDX= 501, 0.25, 2.544,-1.395, 2.952,-2.949, PHS=-0.702, 1.602,-0.384, RAW= 322.7, -4.8, CAL= 325.7, -6.7, ROT= 184.3, 6.7 Ygot valid direction response: 19:49:16.0157 LVL= 26784, 31217, 25074, 32755, AGC= 64, IDX= 501, 0.25, 2.544,-1.395, 2.952,-2.949, PHS=-0.702, 1.602,-0.384, RAW= 322.7, -4.8, CAL= 325.7, -6.7, ROT= 184.3, 6.7 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.990375,-0.074467,-0.116671]Fpublishing direction and range info)Y-t&j*@mu"޽-fA9)-h -y)-aI)i-@-F3-V?-ľ-:@ -)-@I)i-vM@)) )-J-kKzؿ;!I-N/i-[=-?BD)) ) U2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.:J]iMBJ-9JJRJ ZJ*|i-HHAAZIzbI}jI0rIzI`:IS9Iـ3I ZH=?`X?i?T?ӷ@ ?K?u?ZMm?ɨZ; X-߂B- IH=H=E5Md< MB=YMߨQ U>Q٣Q ]GY]*: ]>a]m?59en?am?5Ye r ie3Biu?qu@eajDer;e ;ee?5y }AyZjUm?bjUix9)隽cH5ii@ʻIIDDDE0 EZAGGGy!IGHBGGGGG<G6FM!>MDAT read: RX DATA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:16.5157 ]TRx dataTimestamp_ set to:1736538556.906500PDAT read: Bearing 184.1, 6.7 (Local) ~Local bearing/azimuth received: Bearing 184.1, 6.7 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 DAT read: 19:49:16.5157 LVL= 27952, 31025, 24658, 32755, AGC= 63, IDX= 501,-0.27,-1.522, 0.840,-1.123,-0.734, PHS=-0.700, 1.620,-0.393, RAW= 323.0, -4.9, CAL= 325.9, -6.7, ROT= 184.1, 6.7 Ygot valid direction response: 19:49:16.5157 LVL= 27952, 31025, 24658, 32755, AGC= 63, IDX= 501,-0.27,-1.522, 0.840,-1.123,-0.734, PHS=-0.700, 1.620,-0.393, RAW= 323.0, -4.9, CAL= 325.9, -6.7, ROT= 184.1, 6.7 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.990629,-0.071009,-0.116671]Fpublishing direction and range infoQYUOd;s -mu"޽Q9QU0m U1y)UR`IQiU?U333U)\?UL7ɾUe@ U%)US@IQiUEM@QQ QUA>Ycۄؿ^GbŵIU]/iUe=Up{DQQ Q E2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.ћx,Do^A2f\?y2䙰?92BǸY2g&;>2HVN?@LM?h?bd?@Ҭg? B?u?2f\?ɨ2E; 2CNԂBN IR4=iPmMb@Mb@Mb@ii i)iIiymZd;O?Q٣ G >]=?59n?a=?5Yq i.BEl=mEeiu9)qu[5qiqiyy}ܻIyIBBCBD}?DyDyE}0 EyM DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:17.0158 ] TRx dataTimestamp_ set to:1736538557.408663} PDAT read: Bearing 183.3, 6.6 (Local)  ~Local bearing/azimuth received: Bearing 183.3, 6.6 (Local)  DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.1 VF +DZA M > DAT read: 19:49:17.0158 LVL= 26416, 32753, 24338, 32755, AGC= 65, IDX= 502, 0.02, 0.585, 2.910, 0.946, 1.354, PHS=-0.681, 1.603,-0.411, RAW= 323.8, -4.8, CAL= 326.7, -6.6, ROT= 183.3, 6.6 - Ygot valid direction response: 19:49:17.0158 LVL= 26416, 32753, 24338, 32755, AGC= 65, IDX= 502, 0.02, 0.585, 2.910, 0.946, 1.354, PHS=-0.681, 1.603,-0.411, RAW= 323.8, -4.8, CAL= 326.7, -6.6, ROT= 183.3, 6.6 5 R#Rx 1: Read range and direction messages.U bdirection in FSK: [-0.991726,-0.057182,-0.114937]U Fpublishing direction and range infoQ YU E7hGNZlU 3A9Q U 0g U )U _IQ iU AU V.U /?U nҾU ش@ U )U v@IU iU L@U =Q Q U )<-'*ٿVH6?@`? i?K?ꬿ|M?%V? t?V)t?ɨV; VC:J57NBJ5k9JJ1RJ5 ZJ5UЂBU IHeHe:5 K=YQ >٣ G: >]?59)n?a?5Y(q i*B^?q@djD2::l?5  1AIHC=H=Zjm?bjT ZIM}bIM|jIIrIIzIM[j:IM@9IIIIii'Zo^Aj3Aj1A2jhؑ@pk]2"|J񿸔#`zpE7hGNZl"j4`E*j=p >dy2W %?pPÿɩpG?yG¿i˓jh8i#Zm?iX[W  jzBzjjjzBjjܔArj6@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.502163 s, deltaX: 0.100000 m, approachRate: 0.199139 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 261.135071 deg, lat: 36.903945 deg, lon: -122.119011 deg, deltaT: 0.502163 s, deltaX: 0.100000 m, approachRate: 0.199139 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjge je Je `f2@:e x?r\Iz\I\I\Mc^?]p) ċ>i/9)隍xm5iivûIIeG G G s!IG CBG =G G G <G Fkݛx,Gxo^ADAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:17.5158  TRx dataTimestamp_ set to:1736538557.912559-PDAT read: Bearing 183.7, 6.5 (Local) -~Local bearing/azimuth received: Bearing 183.7, 6.5 (Local) }DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.0 ^r?yܯ?9_Yg;>H 8?i`a?@i?@ L?jk?W?@pt?^r?ɨ;  CB IHH=50  G=DAT read: 19:49:17.5158 LVL= 26656, 30145, 27586, 32755, AGC= 64, IDX= 501, 0.30, 0.451, 2.761, 0.826, 1.225, PHS=-0.686, 1.583,-0.401, RAW= 323.4, -4.7, CAL= 326.3, -6.5, ROT= 183.7, 6.5 YQ >Ygot valid direction response: 19:49:17.5158 LVL= 26656, 30145, 27586, 32755, AGC= 64, IDX= 501, 0.30, 0.451, 2.761, 0.826, 1.225, PHS=-0.686, 1.583,-0.401, RAW= 323.4, -4.7, CAL= 326.3, -6.5, ROT= 183.7, 6.5 MR#Rx 1: Read range and direction messages.9bdirection in FSK: [-0.991501,-0.064117,-0.113203]Fpublishing direction and range infoY` `gj5٣ G9] ]>a]m?59en?am?5Yep ie$Bqu^?qu@efjDe:e:ep?5 h u)kIi@/?O;➴@ )=@IVi1M@V= W_jOFQ^Oٿ6lW|洿Ic.ic=DV=  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. AZjom?bjFѨT ii^gzo^Ajj2j@pG2Qac~zp` `gj5"jD*jV=pivVy~2Eczpl'¿(]mlPᅣw¿ij/i0m?iDW  jzBzjj W jzBjj>Arj*2@  addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 18.900000 m, bearing: 261.544958 deg, lat: 36.903945 deg, lon: -122.119011 deg, deltaT: 0.503896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 EDNOT Ignoring new targets: 18.90 m.hAhAhAhAhAgIgIbgjgejeJe:e f?r\z\\\^?_) y>i9)隽E5iiTȻIID]>D>m0x,ŕo^A6Yt?y6ױ?96PɹY6$<>6H`6? `Zl?`i?J?`謿8? 5a? t?6Yt?ɨ6; 6CNBR II\)\UDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:18.0158 ]TRx dataTimestamp_ set to:1736538558.416825mPDAT read: Bearing 183.3, 7.7 (Local) m~Local bearing/azimuth received: Bearing 183.3, 7.7 (Local) }DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.0 UDAT read: 19:49:18.0158 LVL= 27728, 29681, 26658, 32755, AGC= 62, IDX= 502,-0.39,-0.341, 2.021, 0.027, 0.411, PHS=-0.665, 1.656,-0.388, RAW= 323.7, -5.6, CAL= 326.7, -7.7, ROT= 183.3, 7.7 Ygot valid direction response: 19:49:18.0158 LVL= 27728, 29681, 26658, 32755, AGC= 62, IDX= 502,-0.39,-0.341, 2.021, 0.027, 0.411, PHS=-0.665, 1.656,-0.388, RAW= 323.7, -5.6, CAL= 326.7, -7.7, ROT= 183.3, 7.7 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.989340,-0.057045,-0.133986]Fpublishing direction and range infoYY]1(LDm4L`u&Y9Y]Pl ]s)]"hIYi]>]q=*]?]ƾ]ɴ@ ]+Ƚ)]v@I] i]L@Mb@Mb@Mb@ )IyI +?l:v] >Y Y]y_k(՚ۡٿ:=& I]ێ.i]><=]4`E] >Y Y 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.94<Լ )I@i@ @H-H->5_ =Yi9Q >٣ G9 >] ?59n?a ?5Yp iB >=m < (>q @gjD:;,u?59 =$A9:JBJ89JJRJ ZJ Zj]m?bj]yVR iYi]Co^AjYjY2j]캑@p]b4ىҲ2>r@Od:Bzp]1(LDm4L`u&"j]4`E*j] >p]$"l 2h2dBXp]QҳÿIE+A! ſi]Fj]<i]\=m?i]U  j]xBzj]0m?jYj]nzBjj]_Arj]* @] addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504266 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 260.928850 deg, lat: 36.903944 deg, lon: -122.119011 deg, deltaT: 0.504266 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjg BejeJe:e?r\>=z\>=\- @\(>Pɹ) >i9)Ɋ5ii!!-֟ƻI)IIDDDE0 Eչ չ  x,צo^AFQ?yFm?9FfYF;>FHX?Yc?ah?n?ZŬ@V̖?`W?t?FQ?ɨF; F CVBV IHbHbP5nQ n=Yr:Q r?p٣p rGtv_ v?1]=?595ʻn?a=?5Y5p i5BAE/'>qE@5hjD5k:5:5w?5I MAQ-$pFailed to parse device response: 6.1874,3.70205,9090.30 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjgejeJe:eE?r\z\\\/'>f)  (>i +9)   i i.ZIID?DDE_0 EeDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:18.5157 mTRx dataTimestamp_ set to:1736538558.919886uPDAT read: Bearing 183.0, 7.2 (Local) }~Local bearing/azimuth received: Bearing 183.0, 7.2 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 ]DAT read: 19:49:18.5157 LVL= 25472, 32753, 21922, 32755, AGC= 65, IDX= 501,-0.26, 0.188, 2.499, 0.535, 0.932, PHS=-0.655, 1.614,-0.399, RAW= 324.1, -5.2, CAL= 327.0, -7.2, ROT= 183.0, 7.2 uYgot valid direction response: 19:49:18.5157 LVL= 25472, 32753, 21922, 32755, AGC= 65, IDX= 501,-0.26, 0.188, 2.499, 0.535, 0.932, PHS=-0.655, 1.614,-0.399, RAW= 324.1, -5.2, CAL= 327.0, -7.2, ROT= 183.0, 7.2 uR#Rx 1: Read range and direction messages.}bdirection in FSK: [-0.990755,-0.051923,-0.125333]Fpublishing direction and range infoiYmĜ Ct oܰcK mfA9imc m)mUIiimAm'm?mI̾m@ m޹)m@ImimiL@m>i imS [2"D}ڿferIm'.imڻ=mEm>i i 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I)rC MiGa ) gٿy AVFM̻ZAiM>ZI zbI yjI 1rI zI `:I 9I 3I  ?y:{?9:౼Y:;>:H k? `b?g?S?;?T? t?:R>?ɨ:; :CbBb I-zonly read 0 of 1 data item for BIT error. Device response is::TS,25011011502722,35.0, 0.0,1493.5, 0 z@z z@z z@~  ~@~ HH;5 A=Y:Q >٣ G >]?59n?a?5Yvp iBi+:mf< &>q@ijD$:B>z?5 AZjm?bjuP iijߺo^AjfAjfA2j@pUW@N2<ː8zpĜ Ct oܰcK "jE*j>pJ/S2?0p3Ŀ9h$2_z ÿijxAi*>m?iQbOS  jyBzj#Zm?j[V jazBjjhArj@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503061 s, deltaX: -0.100000 m, approachRate: -0.198784 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 260.633918 deg, lat: 36.903943 deg, lon: -122.119011 deg, deltaT: 0.503061 s, deltaX: -0.100000 m, approachRate: -0.198784 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.80 m.h)h)h)h)h)g1g1bg1jg1e9je9Je=2@:e=Q?౼) >i^9)隵3iiIIDDe?DaDaEe^0 EaE}=E}=IM<eDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:19.0158 eTRx dataTimestamp_ set to:1736538559.420156uPDAT read: Bearing 182.5, 7.4 (Local) u~Local bearing/azimuth received: Bearing 182.5, 7.4 (Local) DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.1 DAT read: 19:49:19.0158 LVL= 29744, 32753, 26722, 32755, AGC= 63, IDX= 502,-0.11, 1.479,-2.536, 1.801, 2.200, PHS=-0.632, 1.594,-0.402, RAW= 324.6, -5.3, CAL= 327.5, -7.4, ROT= 182.5, 7.4 Ygot valid direction response: 19:49:19.0158 LVL= 29744, 32753, 26722, 32755, AGC= 63, IDX= 502,-0.11, 1.479,-2.536, 1.801, 2.200, PHS=-0.632, 1.594,-0.402, RAW= 324.6, -5.3, CAL= 327.5, -7.4, ROT= 182.5, 7.4 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.990727,-0.043256,-0.128796]Fpublishing direction and range infoaYe ᅣ%OZ_|e3A9ae0t a)ebhIaie?e!e1?e;euJ@ eq)e@Ie AieK@e A>a aeJhŸTڿr̷Ie-ie˭=eDFe A>a a 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VFm UZAy M >:J QJBJ 9JJ RJ ZJ #JSL?6-#  fx,Co^A2?y2:?92wY2;>2H?M?d??=a?=?v?2?ɨ2; 2CBBB IF٣ G >]?59n?a?5Ygp i Bi :m;<">q@1:sR?*}?5 AZj~m?bjtQ iio^Aj3Aj1A2ju5@p2w.L)꿧W&Qyzp ᅣ%OZ_|"jDF*j A>pB $yc2:梿vptſ +l!:ÿijOi m?i<T  jqyBzj\=m?jU jyBjji 9))5A41i9i99EIAIiDDDE_0 E GGG;!IGBGGGG<GFHA HAHAHA"HA*HE$k4VF ZA9 M ] DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:19.5157 e TRx dataTimestamp_ set to:1736538559.921488m PDAT read: Bearing 182.9, 6.8 (Local) m ~Local bearing/azimuth received: Bearing 182.9, 6.8 (Local) } DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4  DAT read: 19:49:19.5157 LVL= 25840, 30577, 24818, 32755, AGC= 64, IDX= 501, 0.07, 0.152, 2.440, 0.490, 0.898, PHS=-0.658, 1.589,-0.411, RAW= 324.2, -4.9, CAL= 327.1, -6.8, ROT= 182.9, 6.8  Ygot valid direction response: 19:49:19.5157 LVL= 25840, 30577, 24818, 32755, AGC= 64, IDX= 501, 0.07, 0.152, 2.440, 0.490, 0.898, PHS=-0.658, 1.589,-0.411, RAW= 324.2, -4.9, CAL= 327.1, -6.8, ROT= 182.9, 6.8  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.991694,-0.050237,-0.118404] Fpublishing direction and range infoY Y] $) EO] fA9Y ] d ] qw)] `IY i] @] r(] Zd?] nҾ] D@ ] %)] 毶@I] i] ML@] =Y Y ] .bƹ/ /ڿL &|I] -i] =] E] =Y Y  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.x,%ՑՑ]?59hn?a?5Yq iBiT:=m <q@ljD;;?5 AZj}m?bj]Q iio^AjfAjeA2j}@p6Ҥ2U8{7=zp$) EO"jE*j=p^э~W2spPĿ8+3¿ijnDiżm?irT  j zBzj*>m?j<T jjjĔArjh@U addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.501332 s, deltaX: -0.100000 m, approachRate: -0.199469 m/s, rangeRepo size: 4 e Added new target pos. range: 18.799999 m, bearing: 260.500906 deg, lat: 36.903942 deg, lon: -122.119010 deg, deltaT: 0.501332 s, deltaX: -0.100000 m, approachRate: -0.199469 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.80 m.hahahihihigigqbgqjguBeqjeyJe}2@:e} ?r\=z\=\to@\jҡ@i)i m>iu9)qu4qiqi4GIIC m DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:20.0158 m TRx dataTimestamp_ set to:1736538560.427216} PDAT read: Bearing 182.3, 6.7 (Local)  ~Local bearing/azimuth received: Bearing 182.3, 6.7 (Local)  DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.1 D D D E A2 E E E  DAT read: 19:49:20.0158 LVL= 31344, 32753, 29394, 32755, AGC= 63, IDX= 502, 0.00, 1.966,-2.081, 2.273, 2.691, PHS=-0.637, 1.558,-0.421, RAW= 324.9, -4.8, CAL= 327.7, -6.7, ROT= 182.3, 6.7  Ygot valid direction response: 19:49:20.0158 LVL= 31344, 32753, 29394, 32755, AGC= 63, IDX= 502, 0.00, 1.966,-2.081, 2.273, 2.691, PHS=-0.637, 1.558,-0.421, RAW= 324.9, -4.8, CAL= 327.7, -6.7, ROT= 182.3, 6.7  R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.992371,-0.039858,-0.116671]Fpublishing direction and range infoi Ym 7pm?9FYF3;>FHC? a? ]?@s?x?@@D?`Gv?Fb?ɨF&; F CjvBjw IHrHr Y5~ ~:=Y~٣ G2  > ]?59 qn?a%?5Y wr i B!%q%@ ojD <;; ;; ?51 =A9Zj.m?bjNT iiWp^Aj3Aj1A2j@p-L|2a!迄yPzp7pmi9)Դ4iս =չ  DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:20.5157  TRx dataTimestamp_ set to:1736538560.929162 PDAT read: Bearing 182.3, 8.0 (Local)  ~Local bearing/azimuth received: Bearing 182.3, 8.0 (Local)  DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 M DAT read: 19:49:20.5157 LVL= 24160, 28849, 22962, 32755, AGC= 64, IDX= 501,-0.17, 0.921,-3.037, 1.244, 1.639, PHS=-0.629, 1.654,-0.398, RAW= 324.7, -5.8, CAL= 327.7, -8.0, ROT= 182.3, 8.0 ] Ygot valid direction response: 19:49:20.5157 LVL= 24160, 28849, 22962, 32755, AGC= 64, IDX= 501,-0.17, 0.921,-3.037, 1.244, 1.639, PHS=-0.629, 1.654,-0.398, RAW= 324.7, -5.8, CAL= 327.7, -8.0, ROT= 182.3, 8.0 e R#Rx 1: Read range and direction messages.u bdirection in FSK: [-0.989470,-0.039741,-0.139173] Fpublishing direction and range info Y gy¢-XH@l fA9 `^ p) YI i @ %! F? ˾ X@ 4QϽ) I 5i rx,N>p^A 5> 83쿤)ڿ%9ﹿI q-i k= 5> V2Acoustic response timeoutVQuerying Benthos address 50 with one ping in standard two-way mode.:|-?y:j?9:UY:;>:H 7x?E y?`[? ?`x_?W?u?:|-?ɨ:r; 8]{Be} II)AH-H-N5ZIU}bIU~jIU2rIQzIU[j:IUf9IUc3IQIU;IU;IU:IU:M< '=Y3;Q >٣ G&Z >]?59n?a?5Ys iBq@qjDW::?5 AZj ䷛m?bj AP i i dw;p^Aj fAj eA2j RԐ@p :Z2іXzp gy¢-XH@l"j *j 5>p S8 pR,<2]Fo, p  lǿ?^Vl ފLwĿi j 1\i km?i S  j xBzj m?j rT j jj ~Arj H@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.501946 s, deltaX: -0.100000 m, approachRate: -0.199225 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 259.315988 deg, lat: 36.903940 deg, lon: -122.119010 deg, deltaT: 0.501946 s, deltaX: -0.100000 m, approachRate: -0.199225 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhh g g bgjgejeJe2@:eEH?r\z\\\]@%i]9)aev4aiaiiim[iIiIiC]9DDDE5 EVF lVZA! Mm >U_x,MZp^A>DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:21.0158 >TRx dataTimestamp_ set to:1736538561.432959FPDAT read: Bearing 181.9, 7.2 (Local) F~Local bearing/azimuth received: Bearing 181.9, 7.2 (Local) RDAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.1 bDAT read: 19:49:21.0158 LVL= 30032, 32753, 27810, 32755, AGC= 64, IDX= 501, 0.47,-1.829, 0.411,-1.537,-1.123, PHS=-0.618, 1.580,-0.417, RAW= 325.3, -5.2, CAL= 328.1, -7.2, ROT= 181.9, 7.2 jYgot valid direction response: 19:49:21.0158 LVL= 30032, 32753, 27810, 32755, AGC= 64, IDX= 501, 0.47,-1.829, 0.411,-1.537,-1.123, PHS=-0.618, 1.580,-0.417, RAW= 325.3, -5.2, CAL= 328.1, -7.2, ROT= 181.9, 7.2 jR#Rx 1: Read range and direction messages.nbdirection in FSK: [-0.991569,-0.032894,-0.125333]nFpublishing direction and range info<r7?yr$?9r oYr;>rH1?f`6?W??c@?`fX?u?r7?ɨrv; p~qB~q IY> qrrנcK >3A9<>Pu >)>lI?5>q=?>վ>@ >޹)>>@I>i>+/K@>>< <>x쿳pSQ1ۿ:VI>,i>9=>F>>< < U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.Mb@Mb@Mb@ )Iy:vp= ףQԽ A)@Ip@i@p@HH{R5M U0=YU+B;Q U>Y٣Y ]GY] e>a]u?59en?au?5Yet ieBuI>m};} q}@eujDe$;eP#;e?5 &A:JRIBJ9JJRJ ZJJIhAZj>þߖm?bj>mIU i<i>[p^Aj>3Aj>1A2j>@p>˛2m>nxbQLzp> qrrנcK "j>F*j>>p> c y\[2XYp>i Hȿ3ike¿i>ڒj>}ei>Ԕܔm?i>X  j>zBzj>7m?j><T j>zBjj>=Arj>@ addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503797 s, deltaX: 0.100000 m, approachRate: 0.198493 m/s, rangeRepo size: 4  Added new target pos. range: 18.900000 m, bearing: 258.947157 deg, lat: 36.903940 deg, lon: -122.119010 deg, deltaT: 0.503797 s, deltaX: 0.100000 m, approachRate: 0.198493 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.90 m.hhhhhggbgjgBejeJe`f2@:eMb?r\ I>z\ I>\ l@\ Ǡ@E o)A E>iE9)AM 5IiIiIQU~2IQIQA n2e쿒~ڿ@62>IR-i&P=F>  &2Acoustic response timeout&Querying Benthos address 50 with one ping in standard two-way mode.b7?yb?9bQVYb,;>bH?@h@? T? D?n@ ʊ?`\?@u?b7?ɨbV; b!CeuBޝv I)p= p=ZIe{bIeyjIe1rIazIed:Ie9Ie3IaIe";Ie$;Ie:Ie:Mb@Mb@Mb@ )Iyv/X9v~jtx齹} hA)@Ii@z@HH N5#0< =Y";Q >٣ G Z  >]?59n?a?5Yv iؤBL>m;Gq%@-p!s -.E82p‰5O6ȿE?z\L>\h@\>@QV) >i9)05iiݍIIC 9DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:22.0156 TRx dataTimestamp_ set to:1736538562.443318PDAT read: Bearing 181.8, 8.0 (Local) ~Local bearing/azimuth received: Bearing 181.8, 8.0 (Local) -DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 D9D9D9E=_0 EA}DAT read: 19:49:22.0156 LVL= 30960, 32753, 26466, 32755, AGC= 65, IDX= 500,-0.19, 2.842,-1.142, 3.138,-2.741, PHS=-0.613, 1.646,-0.408, RAW= 325.3, -5.8, CAL= 328.2, -8.0, ROT= 181.8, 8.0 Ygot valid direction response: 19:49:22.0156 LVL= 30960, 32753, 26466, 32755, AGC= 65, IDX= 500,-0.19, 2.842,-1.142, 3.138,-2.741, PHS=-0.613, 1.646,-0.408, RAW= 325.3, -5.8, CAL= 328.2, -8.0, ROT= 181.8, 8.0 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.989779,-0.031105,-0.139173]Fpublishing direction and range infoYPTE~ڟH@l9x )bgIiA!?`о@ 4QϽ)-M@I5iK@5> INKz3ۿ}#I,iOl=" G5>  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF}:J}BoHBJyJJyRJ} ZJ}J? J?ZAM%?!)x,'Np^AEzBE| IHUHUQ5e< e/=YmQ m>i٣i mGqu u>y]?59}n?a?5Y}fx i}ФBq@}~jD}S:}>:}z?5 AZj Bm?bj~T iiR_p^Ajj2j k@p}ӟ82R)~іXzpPTE~ڟH@l"j" G*j5>p j 9*42}apjnU ɿn3-ÿijWki1m?iW  jDyBzjVm?jϣW jDyBjjEArjY@= addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505251 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 18.799999 m, bearing: 258.579726 deg, lat: 36.903938 deg, lon: -122.119011 deg, deltaT: 0.505251 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 18.80 m.hYhYhYhahagagabgajgieijeiJei:eu?r\z\\\) >i/9)隭L5i DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:22.5156  TRx dataTimestamp_ set to:1736538562.944886 PDAT read: Bearing 182.5, 7.9 (Local)  ~Local bearing/azimuth received: Bearing 182.5, 7.9 (Local)  DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0  DAT read: 19:49:22.5156 LVL= 25248, 26145, 21490, 32755, AGC= 63, IDX= 498, 0.32, 2.939,-1.044,-3.019,-2.629, PHS=-0.628, 1.632,-0.393, RAW= 324.6, -5.7, CAL= 327.5, -7.9, ROT= 182.5, 7.9  Ygot valid direction response: 19:49:22.5156 LVL= 25248, 26145, 21490, 32755, AGC= 63, IDX= 498, 0.32, 2.939,-1.044,-3.019,-2.629, PHS=-0.628, 1.632,-0.393, RAW= 324.6, -5.7, CAL= 327.5, -7.9, ROT= 182.5, 7.9  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.989567,-0.043205,-0.137445] Fpublishing direction and range infoؑ Yؕ gЇ,yjȗؑ 9ؑ ؕ b ٕ !f)ٕ SIّ iٕ ?ٕ ٕ `?ٕ L7ɾٕ uJ@ ڕ %˽)ڕ @Iڕ 0 iڕ K@ڕ 0 >ڑ ۑ ە O쿯nat{ڿnFIە ߜ-iە =ە DFە 0 >ۑ ܑ  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.:/x,߿p^Ȃ?y ?9sYQ;>H`?? ? I?*?0@?U?@^v?̑?ɨ†; CB I q٣ G_1 >]?59n?a?5Y&z iɤB=m;q@jD*<&<Ĝ?5! %tA!ZjٝԜm?bjd ZW iiyp^Ajj2jۚ@p+$2ڎ鿬 zpgЇ,yjȗ"jDF*j0 >pSMY* 4M<2m1pi 79) zn5 i i I I B hAB hA DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:23.0156  TRx dataTimestamp_ set to:1736538563.450457 PDAT read: Bearing 182.6, 8.2 (Local)  ~Local bearing/azimuth received: Bearing 182.6, 8.2 (Local)  DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 DAT read: 19:49:23.0156 LVL= 30192, 27361, 26178, 32755, AGC= 63, IDX= 499,-0.01,-3.035,-0.686,-2.699,-2.311, PHS=-0.636, 1.672,-0.390, RAW= 324.5, -5.9, CAL= 327.4, -8.2, ROT= 182.6, 8.2 %Ygot valid direction response: 19:49:23.0156 LVL= 30192, 27361, 26178, 32755, AGC= 63, IDX= 499,-0.01,-3.035,-0.686,-2.699,-2.311, PHS=-0.636, 1.672,-0.390, RAW= 324.5, -5.9, CAL= 327.4, -8.2, ROT= 182.6, 8.2 -R#Rx 1: Read range and direction messages.CM 9DQzDQbdirection in FSK: [-0.988757,-0.044899,-0.142629]Fpublishing direction and range info Y $]!b?nx0A¿ 9 u j) BfI i " ? Ǿ (<@ Bҽ) ڶ@I Ci WK@ C> o"q"Tڿ˭ x}I -i M= ^(F C> 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D?DDE^0 EZI~bIwjI0rIzI{m:I9Iـ3Iq@i@u@m@:JBJk9JJRJ ZJ "!"$" !  VF fZAM-)?:x,L4p^AFrt?yF?9F&VYF<>FHx(?>T?`AE?Z?Q}`j~?)_? v?Frt?ɨFņ; FCZBZ II\)\HbHb~N5r= r7=5٣ GA >]?59Hn?a?5Y{{ iĤB젿q@jD;;ʠ?5 AZj%>Ym?bj%7X i!i%Jp^Aj!j!2j%@p%p氖27Pszp%$]!b?nx0A¿"j%^(F*j%C>p% = 729pmp%Z+ȿ$Fo 3ÿi%j%fi%;Rm?i%Pj[  j%yBzj!j%X j%yBjj%Arj%@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.505571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 258.799942 deg, lat: 36.903938 deg, lon: -122.119012 deg, deltaT: 0.505571 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhhhhgg bg jg e jeJe:e?r\Qz\Q\Q\UԠ@e&V)a es>ie89)im5iiiiqquμIqIqGGG IGӂBGGGG<GF<<DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:23.5155  TRx dataTimestamp_ set to:1736538563.953840 PDAT read: Bearing 182.5, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 182.5, 7.8 (Local) E DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0  DAT read: 19:49:23.5155 LVL= 25056, 29073, 20274, 32755, AGC= 63, IDX= 498,-0.35, 1.189,-2.755, 1.520, 1.919, PHS=-0.642, 1.656,-0.403, RAW= 324.6, -5.6, CAL= 327.5, -7.8, ROT= 182.5, 7.8 c~G kA  AC% )9)- {y- kA5 A} Ygot valid direction response: 19:49:23.5155 LVL= 25056, 29073, 20274, 32755, AGC= 63, IDX= 498,-0.35, 1.189,-2.755, 1.520, 1.919, PHS=-0.642, 1.656,-0.403, RAW= 324.6, -5.6, CAL= 327.5, -7.8, ROT= 182.5, 7.8  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.989805,-0.043216,-0.135716] Fpublishing direction and range infoYU@{￳Md M _̔A9a q)2OIiZ$?VξuJ@ +Ƚ)@I'g iK@'g > x/oWhC|ڿ}{'&I4-iq=DF'g >  m 2Acoustic response timeoutD D D E 5 E  Querying Benthos address 50 with one ping in standard two-way mode.VF8ZAM?ǷBx,Mf q^AfrH OJ?@a?pC?@?kV|?U?v?rQ?ɨr І; r C=B= IMb@Mb@Mb@ )Iy333333J +MbP?H: A)@I@i@p@HHQ5<  =YD:Q >٣ G >] ?59n?a ?5Y| i¤B |=m <-6q5@jD;;?59 =A9Zj^Fm?bjVfT ii p^Aj̔AjϓA2j~@pi2۸鿻ΒJ1zpU@{￳Md M _"jDF*j'g >p( <]{ 2m6p2_ȿnlE¿iOjQfi*m?iW  j>zBzj;Rm?jW jjj3Arjs@ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503383 s, deltaX: -0.199999 m, approachRate: -0.397310 m/s, rangeRepo size: 4  Added new target pos. range: 18.600000 m, bearing: 258.717869 deg, lat: 36.903938 deg, lon: -122.119011 deg, deltaT: 0.503383 s, deltaX: -0.199999 m, approachRate: -0.397310 m/s, posRepo size: 4 -DNOT Ignoring new targets: 18.60 m.h)h)h)h)h)g1g1bg1jg5Be9je9JeE2@:em`З?r\|=z\|=\n@\[B@) >i9)5iisӼII)Cuf?BuY?DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:24.0156 TRx dataTimestamp_ set to:1736538564.457373PDAT read: Bearing 181.8, 8.0 (Local) ~Local bearing/azimuth received: Bearing 181.8, 8.0 (Local) DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 DAT read: 19:49:24.0156 LVL= 26000, 32753, 24466, 32755, AGC= 65, IDX= 498, 0.20,-2.259, 0.010,-1.968,-1.566, PHS=-0.605, 1.623,-0.405, RAW= 325.3, -5.8, CAL= 328.2, -8.0, ROT= 181.8, 8.0 Ygot valid direction response: 19:49:24.0156 LVL= 26000, 32753, 24466, 32755, AGC= 65, IDX= 498, 0.20,-2.259, 0.010,-1.968,-1.566, PHS=-0.605, 1.623,-0.405, RAW= 325.3, -5.8, CAL= 328.2, -8.0, ROT= 181.8, 8.0 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.989779,-0.031105,-0.139173]Fpublishing direction and range info؉Y؍PTE~ڟH@l؍fA9؉؍e ٍ)ٍ_IىiٍAٍHٍw?ٍ)\Ͼٍ@ ڍ4QϽ)ڍ-M@Iڍ5iڍK@ڍ5>ډ ۉۍb 쿙kBۿqڹIۍԿ,iۍ.=ۍ" Gۍ5>ۉ ܉  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Ce ;9D ?D1 D1 E5 1 E1 E9 E9 ZIa bIe zjIa rIa zIa Ie 9Ia Ia :J MBJ JJ RJ ZJ "  :Y& ? L S5nH@a?@?.B??L{?R?`v?n:?ɨn; lzBz I~!٣! eGam u>]?59)n?a?5Y} iBMq@jDL;X;X?5  AZjelSm?bjeШY iaieEq^AjefAjeeA2je@pe}ӟ82R)~іXzpePTE~ڟH@l"je" G*je5>pePe P.2[qpe≄kʿF]Cÿiepje\xieA&m?ieӅ\  je1zBzjaje=+Z jeyBjjeArjep@ addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503533 s, deltaX: 0.199999 m, approachRate: 0.397191 m/s, rangeRepo size: 4  Added new target pos. range: 18.799999 m, bearing: 257.950619 deg, lat: 36.903938 deg, lon: -122.119013 deg, deltaT: 0.503533 s, deltaX: 0.199999 m, approachRate: 0.397191 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.80 m.hhGGG!IGBGGGG<G FH HHH ="H =*H4hhhg!g)bg1jgAeAjeIJe2@:e?r\az\a\a\eb<@5޻) >i9) 5iizؼII=DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:24.5154 ETRx dataTimestamp_ set to:1736538564.961103MPDAT read: Bearing 182.8, 7.9 (Local) M~Local bearing/azimuth received: Bearing 182.8, 7.9 (Local) ]DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 DAT read: 19:49:24.5154 LVL= 23488, 27489, 19842, 32755, AGC= 64, IDX= 497, 0.01, 1.272,-2.670, 1.615, 2.004, PHS=-0.644, 1.657,-0.392, RAW= 324.3, -5.7, CAL= 327.2, -7.9, ROT= 182.8, 7.9 Ygot valid direction response: 19:49:24.5154 LVL= 23488, 27489, 19842, 32755, AGC= 64, IDX= 497, 0.01, 1.272,-2.670, 1.615, 2.004, PHS=-0.644, 1.657,-0.392, RAW= 324.3, -5.7, CAL= 327.2, -7.9, ROT= 182.8, 7.9 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.989327,-0.048386,-0.137445]Fpublishing direction and range info9Y=M"ƨyjȗ=A99=[ =ak)=MI9i=@=/$=?=9Ⱦ=@ =%˽)=3@I=0 i=0L@=0 >9 9=dH{*R,ڿaJ珕I=-i===.E=0 >9 9 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.C \9D ?D D E 0 E  6HPJ?ÿ Ǜ?mC?@?m3Z}?9V?{v?6Q?ɨ6; 4BʂBB I%Mb@Mb@Mb@!! !)!I!y%٣ G: >]?59bn?a?5Yy~ iR=m<}q@jD ;] ;خ?5 bAZjmj&m?bjm@CT iiim=q^AjmAjmA2jm\@pm sM2U8|WzpmM"ƨyjȗ"jm.E*jm0 >pmt| V~1hh6Zpm3B! 'ȿ.r RUÿimjmo_im0m?imiW  jmgzBzjm@Ӛm?jijm1zBjjmvArjmwp@e addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503730 s, deltaX: -0.299999 m, approachRate: -0.595556 m/s, rangeRepo size: 4 u Added new target pos. range: 18.500000 m, bearing: 258.994558 deg, lat: 36.903938 deg, lon: -122.119013 deg, deltaT: 0.503730 s, deltaX: -0.299999 m, approachRate: -0.595556 m/s, posRepo size: 4 }DNOT Ignoring new targets: 18.50 m.hyhyhyhyhggbgjg BejeJe2@:e t?r\R=z\R=\S{@\mY@) q>i9)5iiKѼIIaMDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:25.0154 ]TRx dataTimestamp_ set to:1736538565.466703mDAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 -uX#Rx 1: Read range message, but no direction.QQ9Q }2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.CJ9D ?D! D! E% 0 E! ZI bI jI 1rI zI p:I ľ9I 3I :J PBJ 9JJ RJ ZJ Z.7f q#uM(jWB4$ |tnookd`]YUQQPOLIFVF= ϼZAA Me >5Zx,lq^ABfH6? ?@wD??`?]?v?fe?ɨfǬ; drBr IHzHzaO5= >=Y  Q  > ٣ G": >]%?59]n?a%?5Y~ i)-}q-@jDS::u?51 5A9  addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.505600 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 18.50 m.hh1h1h1h1g1g9bg9jg9e9jeAJeA:eE.?r\az\a\a\ev^@) >>i9)隥iiͼIIBBGGG(!IGBGGGG <G FCn9EDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:25.5153 MTRx dataTimestamp_ set to:1736538565.969286]DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 -eX#Rx 1: Read range message, but no direction.IMfA9I e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.DyDyDyE}P3 EyE=E=VF ZA9 M} >%bx,q^A) f/?yf?9f Yf0;>fH@?@?E?@=t?@P `(?`_Z?1v?f/?ɨf ; dtv II|)|Mb@Mb@Mb@ )IyMb`?V-{Gzt?;ף; A)I@i@p@HHjC5F[: 0=Y>Q >٣ G: >]?59n?a?5Y~ i<m<q@jD;;?5 Ami9)x3iis-ȼIICej9D D D E )1 E 5 DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:26.0154 5 TRx dataTimestamp_ set to:1736538566.474377= PDAT read: Bearing 179.0, 6.2 (Local) E ~Local bearing/azimuth received: Bearing 179.0, 6.2 (Local) U DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0  DAT read: 19:49:26.0154 LVL= 23232, 30529, 25058, 32755, AGC= 63, IDX= 512, 0.40, 0.052, 1.910, 0.195, 0.631, PHS=-0.491, 1.326,-0.439, RAW= 328.5, -4.5, CAL= 331.0, -6.2, ROT= 179.0, 6.2  Ygot valid direction response: 19:49:26.0154 LVL= 23232, 30529, 25058, 32755, AGC= 63, IDX= 512, 0.40, 0.052, 1.910, 0.195, 0.631, PHS=-0.491, 1.326,-0.439, RAW= 328.5, -4.5, CAL= 331.0, -6.2, ROT= 179.0, 6.2  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.994000,0.017350,-0.107999]m Fpublishing direction and range info1 Y5 T$` Q1Lđ?Niإ5 A91 5 Z 5 Aw)5 aI1 i5 ?5 Zd5 ^?5 5 x@ 5 |٠)5 ݸ@I5 kݽi5 G@5 k=1 1 5 μrS쿀tR޿-I5 ))i5 鸟=5 G@5 k=1 1  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.VF]μZAaM>eix,3kq^A6ڲ?ZI>bI>}jI>0rI<zI>y:I>S9I>ـ3I6HW? `?eH?>?@7w Ӄ?`j?Xu?6ڲ?ɨ6!k; 6"CB !IHH=552\= 52=Y5"Q 5>9٣9 =G9ET; E>A]U?59En?aU?5YE  iAQU]qU@EjDE;E;E?5]B eIAeE:JmtOBJm9JJiRJm ZJmDB>:7613210..,+)''     Zj5mUm?bj5ЊGQ i1i51\q^Aj1j12j5hԎ@p5Gc2?9zp5T$` Q1Lđ?Niإ"j5G@*j5k=p5 M>1’p5VϿkӱ gԼi5j5i5(Rm?i5gT  j5}Bzj5;Rm?j5W j5>zBjj5Arj53M@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.505091 s, deltaX: 0.200001 m, approachRate: 0.395970 m/s, rangeRepo size: 4  Added new target pos. range: 18.500000 m, bearing: 255.735617 deg, lat: 36.903938 deg, lon: -122.119011 deg, deltaT: 1.513274 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.50 m.hhhhhggbgjgejeJe2@:e D2?r\ z\ \ \ t@%K)! %*>i%m9))-W4)i)i115 ½I1I1] DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:26.5153  TRx dataTimestamp_ set to:1736538566.976921 PDAT read: Bearing 182.3, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 182.3, 7.2 (Local) % DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed -0.1 U DAT read: 19:49:26.5153 LVL= 25984, 32753, 24514, 32755, AGC= 63, IDX= 511, 0.18, 1.114,-2.920, 1.423, 1.830, PHS=-0.628, 1.580,-0.410, RAW= 324.9, -5.2, CAL= 327.7, -7.2, ROT= 182.3, 7.2 ] Ygot valid direction response: 19:49:26.5153 LVL= 25984, 32753, 24514, 32755, AGC= 63, IDX= 511, 0.18, 1.114,-2.920, 1.423, 1.830, PHS=-0.628, 1.580,-0.410, RAW= 324.9, -5.2, CAL= 327.7, -7.2, ROT= 182.3, 7.2 ] R#Rx 1: Read range and direction messages.e bdirection in FSK: [-0.991315,-0.039815,-0.125333]e Fpublishing direction and range info Y ,۸&ڮbcK fA9 e ) _I i q=? Ѿ Yu@ ޹) @I i K@ > 5Y쿘L4ڿ(<.I J-i "= (~F >  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Gpx,)q^Afԑ?yf?9f4Yf 7<>fH? @?J?`?w?d?u?fԑ?ɨf;̇; f CޝBޝ!IHH>5= B=Y:TQ >٣ G; >1]=?595n?aE?5Y5 i1AEOqE@5jD52:5u:5M?5I MAQZjEl#m?bjE@P iAiEq^AjEfAjElA2jE@pEIiJ$2}ܬSPIYzpE,۸&ڮbcK "jE(~F*jE>pE~0 )F1VܴpE>4G}ȿ:|■L{u¿iE2jE`iE5m?iE-_S  jE{BzjE*m?jEiW jEgzBjjEjArjEP@ addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.502544 s, deltaX: -0.200001 m, approachRate: -0.397977 m/s, rangeRepo size: 4 M Added new target pos. range: 18.299999 m, bearing: 258.857021 deg, lat: 36.903938 deg, lon: -122.119011 deg, deltaT: 0.502544 s, deltaX: -0.200001 m, approachRate: -0.397977 m/s, posRepo size: 4 UDNOT Ignoring new targets: 18.30 m.hQhQhQhQhQgQgQbgYjgYeYjeJeL2@:e hZ?r\z\\\_}@4) >i9)L4ii)I I DzDervx,q^A2t?y2C?92"ZKY2k<>2Hb? ? L?)?`bk? k?u?2t?ɨ2; 2C>B>!IB=i@)F= F%=UMb@Mb@Mb@QQ Q)QIQyUV-?~jtMbP?U٣ G}; >]?59~n?a?5Y~ i=m<I?q@::?5DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:27.0153 TRx dataTimestamp_ set to:1736538567.480041DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. A% addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503120 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 18.30 m.h)h)h)h)h)g1g1bg1jg=DBe9je9Je9:e=@ˏ?r\=z\=\y@\I? "ZK)  -R>i-9)15N41i1i99=I9IADDDE_0 E:JMBJu9JJRJ ZJ 0VF+PZAM >m 2Huz?@z?M??@/[? GX? u?2%?ɨ2=; 2C:B:!IH@H@N; R[=YVUQ V>\٣\ bG`f&; f>l]~?59nFn?a ?5Yn~ inBGAGAGEy!IGEHBGAGAGAGE<GE FDI?q@njDn=n=n?5 =AADNOT Ignoring new targets: 18.30 m.hhhhhgg bg jg e)je1Je1:e5w?r\qz\q\q\uDI?Td) >i=9)隍5iiIIDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:27.5152 TRx dataTimestamp_ set to:1736538567.987184PDAT read: Bearing 182.1, 6.6 (Local) ~Local bearing/azimuth received: Bearing 182.1, 6.6 (Local) DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 EDAT read: 19:49:27.5152 LVL= 29680, 32753, 26082, 32755, AGC= 63, IDX= 511, 0.17, 1.018,-3.036, 1.312, 1.739, PHS=-0.634, 1.555,-0.430, RAW= 325.2, -4.7, CAL= 327.9, -6.6, ROT= 182.1, 6.6 MYgot valid direction response: 19:49:27.5152 LVL= 29680, 32753, 26082, 32755, AGC= 63, IDX= 511, 0.17, 1.018,-3.036, 1.312, 1.739, PHS=-0.634, 1.555,-0.430, RAW= 325.2, -4.7, CAL= 327.9, -6.6, ROT= 182.1, 6.6 UR#Rx 1: Read range and direction messages.]bdirection in FSK: [-0.992706,-0.036401,-0.114937]]Fpublishing direction and range infoYs> #NZlA9s )eIiM"= ?(ܾ>@ )H"@Ii\hK@= 2A[2'ۿ <%I,iF[=YF=  }2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.DDDE`0 EZI bI jI 1rI VF ~FZA) zI p:I 9I 3I I ;q} I ;i I ' ;u I ( ;m M >x,r^Ai٣q uGqu }>y]?59}Pn?a?5Y}<~ i}Bx,=m<qW?q@}jD}:}:}?5 AZjom?bjhwM ii.q^AjAjA2jV@p62F+3忛 \zps> #NZl"jYF*j=p r  f17unp\ibȿ!L£ij]ig%m?i{P  jG|Bzj0m?jgT j{BjjArjx@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.507143 s, deltaX: -0.099998 m, approachRate: -0.197180 m/s, rangeRepo size: 4  Added new target pos. range: 18.200001 m, bearing: 258.917449 deg, lat: 36.903940 deg, lon: -122.119010 deg, deltaT: 1.010263 s, deltaX: -0.099998 m, approachRate: -0.098983 m/s, posRepo size: 4  DNOT Ignoring new targets: 18.20 m.h h h h hggbgjgLBejeJe@332@:e% ?r\Ex,=z\Ex,=\E@\EqW?Q)Y ]4>i]9)Y]5YiYiaaeIaIiBuBuCuBuD>D>D?DDEn0 EE=Ep=DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:28.0154 TRx dataTimestamp_ set to:1736538568.488342DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.A9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF ZA M >x,՗(r^A6K?y6Ԯ?96὎Y6ި;>6H' ?\d?^S?6?@Gב?R?@u?6K?ɨ6; 6CBBB!IID)DHNHN:5VOB Vb=YZt$Q Z?X٣X ZGX^:#< ^?`]f?59bn?af?5Yb} ibBhjpX?qj@bjDbe:b:b?5l nAp addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.501158 s, deltaX: 0.299999 m, approachRate: 0.598612 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.20 m.hh!h!h!h!g!g!bg)jg)e)je)Je-2@:e5?:J ULBJ9JJRJ ZJ+wsN% r\z\\\pX?-὎)) ->i-9)1u-5qiyiyy'II5IQ )Q -G lA DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:28.5153  TRx dataTimestamp_ set to:1736538568.993064 PDAT read: Bearing 185.7, -6.6 (Local)  ~Local bearing/azimuth received: Bearing 185.7, -6.6 (Local)  DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.1 = DAT read: 19:49:28.5153 LVL= 27104, 28305, 27042, 32755, AGC= 62, IDX= 512,-0.39, 2.807,-1.133,-3.027,-2.339, PHS=-1.049, 1.252,-0.691, RAW= 321.7, 4.6, CAL= 324.3, 6.6, ROT= 185.7, -6.6 E Ygot valid direction response: 19:49:28.5153 LVL= 27104, 28305, 27042, 32755, AGC= 62, IDX= 512,-0.39, 2.807,-1.133,-3.027,-2.339, PHS=-1.049, 1.252,-0.691, RAW= 321.7, 4.6, CAL= 324.3, 6.6, ROT= 185.7, -6.6 M R#Rx 1: Read range and direction messages.U `direction in FSK: [-0.988461,-0.098662,0.114937]U Fpublishing direction and range info Y 1+y-j߭ANZl? fA9 i n) iI i > E A? `0 ӫ@ l=) @I =i mO@ T\e׿ y͗?I 20i i B m 2Acoustic response timeoutm Querying Benthos address 50 with one ping in standard two-way mode. } A) y lA A򕐜x,tBr^Aޒ?y?9AFY%;>H .?` |]?V??Rwȓ?T? >u?ޒ?ɨ!; B!IH-H-V85e}  e?=YeHQ m>i٣i mGqϞ; >]%?59n?a%?5Y} iB)-Y?q-@jD":e:?51 = AAZj%Un?bj%MpY i!i%\?r^Aj%fAj%lA2j%U@p% 2v/[_@zp%1+y-j߭ANZl?"j%B*j%ZI~bI{jI0rIzI{m:I-9Iـ3II<;I=;I:I:p%ɐqՋX.2|':?p%2vvypAn?i%uj%^Ŀi%J(Tn?i%pߠ\  j%Bzj%5m?j!j%G|Bjj%ÑArj%ꃐ@- addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504722 s, deltaX: -0.200001 m, approachRate: -0.396259 m/s, rangeRepo size: 4 = Added new target pos. range: 18.299999 m, bearing: 265.177144 deg, lat: 36.903940 deg, lon: -122.119010 deg, deltaT: 1.005880 s, deltaX: 0.099998 m, approachRate: 0.099414 m/s, posRepo size: 4 eDNOT Ignoring new targets: 18.30 m.hahahahahigigibgijgieqjeqJeuL2@:eu ?r\z\\\+Y?AF) >iO9)IF5ii)IID=x,,J\r^ABO?yBU?9BˬYBJ;>BH@X?@ Z?MY?n? ?`GY?t?BO?ɨB^; BCJBJ!I-Mb@Mb@Mb@)) )))I)y-Mb?S㥛٣ G; >]?59n?a?5DAT read: RX DATA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:29.0153 TRx dataTimestamp_ set to:1736538569.496675DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.ةة9ة 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.YR} iB:=m<??q@jDK-<-<J?5 -A addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503611 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhhhhggbgjgCBejeJe:e?r\e:=z\e:=\et@\eυ??ˬ) >i9)Z5ii)-IjI)I1DDDE45 E:J%MBJ9JJRJ ZJ-;>93e 뜜x,2vr^AGhGhGhGhGhGhGhGj<GjFH HHH"H*Hl4޵B޵!I٣! %G!% %>)]5?59-3n?a=?5Y-| i-B9AqE@-jD-#;-$;-J?5I MAIDNOT Ignoring new targets: 18.30 m.hhhhhggbgjgejeJe:e|?r\z\\\9DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:29.5153 TRx dataTimestamp_ set to:1736538570.000976PDAT read: Bearing 182.2, 5.7 (Local) ~Local bearing/azimuth received: Bearing 182.2, 5.7 (Local) DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 DAT read: 19:49:29.5153 LVL= 20608, 27857, 18562, 32755, AGC= 62, IDX= 511, 0.01,-2.350,-0.123,-2.055,-1.607, PHS=-0.655, 1.531,-0.451, RAW= 325.2, -4.1, CAL= 327.8, -5.7, ROT= 182.2, 5.7  Ygot valid direction response: 19:49:29.5153 LVL= 20608, 27857, 18562, 32755, AGC= 62, IDX= 511, 0.01,-2.350,-0.123,-2.055,-1.607, PHS=-0.655, 1.531,-0.451, RAW= 325.2, -4.1, CAL= 327.8, -5.7, ROT= 182.2, 5.7  R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.994322,-0.038198,-0.099320]Fpublishing direction and range infoعYؽ[|￧[򍭎hܸmع9عؽP ٽl)ٽHIٹiٹٽ'ٽ?ٽyٽ>@ ڽC)ڽ@Iڽ%˽iڽK@ڽ%=ڹ ۹۽ 1aB"ۿ}EXI۽,i۽g=۽F۽%=۹ ܹ U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.) H>ik9)隥;o5iinIIDU?DQDQE]25 EYZI bI zjI rI zI I 9I I I I I P:I Q:VF= iZAA Me >U ٣ G >!]-?59%=n?a-?5Y%| i%B5 9=m5<5@Z>q5@!%;%;%?59 EAAZjTm?bj3@P iir^Ajj2j@puZ]<322=c^fkzp[|￧[򍭎hܸm"jF*j%=pdC3 u1O/bp~%ƿ~9KiێjQi=m?iY(bS  j|Bzjg%m?jY(bS j|BjjArj@5 addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504301 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.299999 m, bearing: 259.606633 deg, lat: 36.903941 deg, lon: -122.119010 deg, deltaT: 1.007912 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhhhhggbg!jg%&Be)je)Je):e- ?r\m 9=z\m 9=\m@\mj@Z>y)! %R>i%9)!%5!i!i)))I1I1DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:30.0154 TRx dataTimestamp_ set to:1736538570.505301PDAT read: Bearing 208.2, 5.6 (Local) ~Local bearing/azimuth received: Bearing 208.2, 5.6 (Local) DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 DAT read: 19:49:30.0154 LVL= 26640, 28401, 25522, 32755, AGC= 63, IDX= 512, 0.20,-1.981, 0.434,-0.644,-0.816, PHS=-1.077, 1.297, 0.169, RAW= 298.3, -3.8, CAL= 301.8, -5.6, ROT= 208.2, 5.6 Ygot valid direction response: 19:49:30.0154 LVL= 26640, 28401, 25522, 32755, AGC= 63, IDX= 512, 0.20,-1.981, 0.434,-0.644,-0.816, PHS=-1.077, 1.297, 0.169, RAW= 298.3, -3.8, CAL= 301.8, -5.6, ROT= 208.2, 5.6 R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.877097,-0.470295,-0.097583]-Fpublishing direction and range infoةYحXc*z.R޿A_1حA9ةحh ٭n)٭cI٩i٭?٭#ۉ٭?٭V->٭&@ ڭԇ)ڭ@Iڭ+ȽiڭǏh@ڭ+=ک ۩ۭ"bkN?0LVuIۭ9G@iۭ=ۭ)ۭ+=۩ ܩ E2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.C% 9D) zD) D ?D D E 0 E E =E =:JMWLBJIJJIRJM ZJM,&! AAM=HE? gx/?`^? ?@.?bP?s?=?ɨ=ff; 9UςBU IY]AHmHmP@5}p }$=Y}F`Q }>٣ GA< >]?59n?a?5Y| iBc>q@jDt::?5 9AZjmup?bjm&D iiimVr^AjmAjmA2jm"@pmo90 Dkpf!+qzpmXc*z.R޿A_1"jm)*jm+=pmsg@yl1Ud~pmpA?.حj#i-_ʿimcjm3@imFzxp?immG  jm`vBzjm=m?jm-_S jmG|BjjmJArjm@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504325 s, deltaX: 0.200001 m, approachRate: 0.396571 m/s, rangeRepo size: 4 u Added new target pos. range: 18.500000 m, bearing: 285.745445 deg, lat: 36.903943 deg, lon: -122.119009 deg, deltaT: 0.504325 s, deltaX: 0.200001 m, approachRate: 0.396571 m/s, posRepo size: 4 uDNOT Ignoring new targets: 18.50 m.hqhyhyhyhygygybgjgejeJe2@:e ?GQGQGU!IGUWBGU =GQGQGU.<GU#Fr\Iz\I\I\Mc> ) Q>i"9)隕5ii<2IIDqDqDqEu 5 EqEDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:30.5154 MTRx dataTimestamp_ set to:1736538571.009943UPDAT read: Bearing 181.3, 6.0 (Local) ]~Local bearing/azimuth received: Bearing 181.3, 6.0 (Local) mDAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1 DAT read: 19:49:30.5154 LVL= 23376, 26481, 24562, 32755, AGC= 63, IDX= 511, 0.39,-1.172, 1.048,-0.915,-0.453, PHS=-0.631, 1.547,-0.466, RAW= 326.1, -4.3, CAL= 328.7, -6.0, ROT= 181.3, 6.0 Ygot valid direction response: 19:49:30.5154 LVL= 23376, 26481, 24562, 32755, AGC= 63, IDX= 511, 0.39,-1.172, 1.048,-0.915,-0.453, PHS=-0.631, 1.547,-0.466, RAW= 326.1, -4.3, CAL= 328.7, -6.0, ROT= 181.3, 6.0 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.994266,-0.022563,-0.104528]Fpublishing direction and range infoIYMkBt-4ޮ`ºI9IMP[ Mqg)M_IIiIM7!M?MM @ M`)M@IMPwֽiMJ@MPw=I IMtɰܿ6qVIM+iM0֚=MGMPw=I I 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF wqZA M% >I{ـ3'x,Y1r^AI3IT.IIIZImbImjIirIizImy:Imy9IiIiIm;Im ;Im::Im;:5R?y5ۯ?95Y5ʕ;>5H?@g%? E^?? X?`N?zs?5R?ɨ5; 1EǂBM I٣ G u>]?59n?a?5YC} iB=mQ<q@jD::?5 yAZj}c 8m?bj}S iyi}r^Ajyjy2j}ᘐ@p}_d2lڿ0zp}kBt-4ޮ`º"j}G*j}Pw=p}dd: ݔQC1.srp}Piȿj!mfi}j}ai}a:=m?i}fW  j}{Bzjyj}Y(bS jyjj}2Arj}@@ addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504642 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.500000 m, bearing: 258.900257 deg, lat: 36.903943 deg, lon: -122.119010 deg, deltaT: 0.504642 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.50 m.hhhhhggbg jg Be je Je :e- ۼ?r\e =z\e =\e @\e @u )y } >i 9) 5 i i Ɏ9I I M DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:31.0155 U TRx dataTimestamp_ set to:1736538571.512101] DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0 -] X#Rx 1: Read range message, but no direction.I M ̔A9I e 2Acoustic response timeoute Querying Benthos address 50 with one ping in standard two-way mode.Du a>Du >D D D E 0 E E E VF=K7ZAAMm ?ຜx,r^A62?y6?96Y6U;>6H?`!?^?o?ֳ|?|S?r?62?ɨ6z; 6 CVBV IHbHbF5jFƽ jM=YnsQ n>l٣l rGpr : r>t]z?59vn?az?5Yv} ivB|~qq~@vjDv:vP:v?5:JVLBJ9JJRJ ZJ AM addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.502158 s, deltaX: 0.100000 m, approachRate: 0.199141 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 18.50 m.hQhQhQhQhQgQgYbgYjgYeYjeaJee2@:ee?i59)15a59i9iAAEF_2IAIADDDE_0 EG!G!G%s!IG%CBG% =G!G!G%9<G%,FVFc?ZAM> DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:31.5154  TRx dataTimestamp_ set to:1736538572.023990 DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.؁ ؅ A9؁  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.ֽx,Ms^AB IAiE<)I M=HYHY @=YQ >٣ G >]=?59Rn?aE?5Y} iBIIq]@jD<<?5y WA5 addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.511889 s, deltaX: -0.100000 m, approachRate: -0.195356 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 18.50 m.h9h9h9h9hAgAgAbgijgieijeiJem2@:eu2?r\z\\\) >i9;ǜx,K!s^A"DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:32.0155 &TRx dataTimestamp_ set to:1736538572.528975*PDAT read: Bearing 185.9, 9.3 (Local) *~Local bearing/azimuth received: Bearing 185.9, 9.3 (Local) 2DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0 JDAT read: 19:49:32.0155 LVL= 26064, 31009, 24498, 32755, AGC= 64, IDX= 513, 0.00, 3.068,-0.765,-2.705,-2.435, PHS=-0.692, 1.717,-0.273, RAW= 320.6, -6.8, CAL= 324.1, -9.3, ROT= 185.9, 9.3 NYgot valid direction response: 19:49:32.0155 LVL= 26064, 31009, 24498, 32755, AGC= 64, IDX= 513, 0.00, 3.068,-0.765,-2.705,-2.435, PHS=-0.692, 1.717,-0.273, RAW= 320.6, -6.8, CAL= 324.1, -9.3, ROT= 185.9, 9.3 NR#Rx 1: Read range and direction messages.Rbdirection in FSK: [-0.981628,-0.101441,-0.161604]RFpublishing direction and range info$Y&~i↑ oĿ&̔A9$r?yr6¯?&e &!y)&_I$i&@&&1&?&Ƌ&@ &)&@I&6&i&O@&6&>$ $&حmdֿһ\;QI& 2i&=&xB&6&>$ $ 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.9r9Yr;>rH ?Y`?$\?`?A zƠ?U?Gr?r?ɨr]; rC%B% IMb@Mb@Mb@ )Iy)\(J +y&1GaH` hA)Ii@z@HH6=5vD *=YQ =>9٣9 =G9E" E>I]U?59Mn?aU?5YM~ iM|Bc=m(<싿q@MjDM p&np?84 22q*p&iuevL5 Q`ʿi&Yj&i&\ n?i&Z  j&uBzj&\ n?j&fW j&{Bjj&Arj&_@ addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504985 s, deltaX: 0.100000 m, approachRate: 0.198026 m/s, rangeRepo size: 4  Added new target pos. range: 18.600000 m, bearing: 262.794518 deg, lat: 36.903953 deg, lon: -122.119011 deg, deltaT: 1.519032 s, deltaX: 0.100000 m, approachRate: 0.065832 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.60 m.hhhhhggbgjg΁BejeJe2@:e ?r\5c=z\5c=\5w@\5@E9)I m>im9)ima5iiiiqq}EIyIyBBCBD:JEBJE9JJARJE ZJEfΜx,Ndf?y>a?9>, Y>=;>>H(=?@;@h ?@|Z?L?x@$?QS? )r?>f?ɨ>L; >CJBJ IHRHRR5Z Z=YZQ ^ ?\٣\ ^G\bRA b?h]n?59jkn?an?5Yj& ijvBlnqn@jjDj:j2:j?5t v AtDNOT Ignoring new targets: 18.60 m.hhhhhggbg!jg!e!je!Je!:e-s?r\Az\A\A\Eq@], )a e>ie9)ae5aiaiiqujQIqIqDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:32.5154 TRx dataTimestamp_ set to:1736538573.033394DDDEk0 EDAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.A9 %2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.VFZAM5 >] zH!k?/?W?`:? ?`k=?r?z7?ɨzM`; zC B  II)AMb@Mb@Mb@ )Iy~jtv/xi̼ A)@I@i@@HHF5O :=YQ >٣ G5V >]?59n?a?5Y inB/=m<qq@jD;";?5 dA  addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504419 s, deltaX: -0.100000 m, approachRate: -0.198249 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.60 m.hhhhhggbgjgBeje!Je%2@:e%@?r\%/=z\%/=\%>r@\%@5L )1 5)>i59)9}5ii'eIIDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:33.0154 TRx dataTimestamp_ set to:1736538573.537064DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 -X#Rx 1: Read range message, but no direction.9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.DyDyDyE}_0 EyZIe bIe }jIa rIa zIe p:Ie S9Ia Ia VF KZA M >]vۜx,ps^A6?y6yT?96 Y6~;>6H*? ,?2V?` W?۱g?@J?8r?6?ɨ6vl; 6CBBB IHNHNJ5VG V^=YZʗQ Z>:JXBJZ9JJXRJZ ZJZ`٣` fGdf1 f>h]n?59jn?an?5Yj ijfBprqr@jjDj:j:j?5t vAtiQ9)隍5ii=dqIIDDDE0 EGAGAGE4!IGEBGE =GAGAGE<GE FVF:_ZAyM:> E~GQ i)gٿyADAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:33.5153 TRx dataTimestamp_ set to:1736538574.040992PDAT read: Bearing 180.6, 5.9 (Local) ~Local bearing/azimuth received: Bearing 180.6, 5.9 (Local) DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 % DAT read: 19:49:33.5153 LVL= 26400, 29425, 23858, 32755, AGC= 63, IDX= 511,-0.17, 1.662,-2.406, 1.888, 2.374, PHS=-0.624, 1.550,-0.489, RAW= 326.8, -4.2, CAL= 329.4, -5.9, ROT= 180.6, 5.9 - Ygot valid direction response: 19:49:33.5153 LVL= 26400, 29425, 23858, 32755, AGC= 63, IDX= 511,-0.17, 1.662,-2.406, 1.888, 2.374, PHS=-0.624, 1.550,-0.489, RAW= 326.8, -4.2, CAL= 329.4, -5.9, ROT= 180.6, 5.9 - R#Rx 1: Read range and direction messages.= bdirection in FSK: [-0.994648,-0.010416,-0.102793]= Fpublishing direction and range infoYb(JaVH?`d?S??`y?_G?@Fr?Vے?ɨV8; V C޽B IHH#U5u  u%=Yu:Q }>٣ Gj >%i&9)5iisbIIDDDE`0 E DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:34.0154  TRx dataTimestamp_ set to:1736538574.543946 DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 - X#Rx 1: Read range message, but no direction. A9  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.VF JiZA M >x,+s^A>s?y?9gY2<>H`9+? ?M?:?Sq2?`?p?騍>s?ɨ; CޥBޥ I)= p=HyHyZIbI~jIrIzIs:If9IIMb@Mb@Mb@ )Iy&1J +I +нH9 )I-@i@@HHK5B < $=Y-Q >٣ GGػ >]@59Hn?a@5Yj iTB=m;q@jD:M:e@5 A addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.502954 s, deltaX: 0.200001 m, approachRate: 0.397652 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.30 m.hhh!h!h!g!g!bg)jg-Be)je1Je52@:e5?r\]=z\]=\]>e@\]h@mg)q uH>iu9)qu6qiqiyy}7Iy:JBJ9JJRJ ZJJ> J>~H6d?P?J?%?k2?dj?~p?~8?ɨ~U<; ~"CzB | IHHD5u u9=Y}Q }>y٣ G >]@59n?a@5Y iLBخq@jD:%:J@5 AZjEm?bjEʙR iAiErms^AjEAjEA2jE @pEN!2dPAĿz峴zpEQ A΁b$ݵ"jEH*jE%=pES31 jIpE˿0EiE4jEviEem?iE׺U  jE'|BzjEa:=m?jE׺U jAjjE2ArjEC@- addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.509609 s, deltaX: -0.299999 m, approachRate: -0.588685 m/s, rangeRepo size: 4 ]i-9)QU 6QiQiYY]IaIaBhABhACu 9Dy D D D E  E E E iA DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:35.0153  TRx dataTimestamp_ set to:1736538575.556972- PDAT read: Bearing 180.4, 5.4 (Local) - ~Local bearing/azimuth received: Bearing 180.4, 5.4 (Local) = DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 ] DAT read: 19:49:35.0153 LVL= 28656, 31153, 24434, 32755, AGC= 62, IDX= 511,-0.07,-0.862, 1.325,-0.651,-0.150, PHS=-0.623, 1.522,-0.504, RAW= 327.2, -3.8, CAL= 329.6, -5.4, ROT= 180.4, 5.4  Ygot valid direction response: 19:49:35.0153 LVL= 28656, 31153, 24434, 32755, AGC= 62, IDX= 511,-0.07,-0.862, 1.325,-0.651,-0.150, PHS=-0.623, 1.522,-0.504, RAW= 327.2, -3.8, CAL= 329.6, -5.4, ROT= 180.4, 5.4  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.995538,-0.006950,-0.094108] Fpublishing direction and range info Y Fqᅢnfw||ӄ{ fA9  o  y) r_I i > | ? % 3@  ԇ) X@I i ٣ G >]@59n?a@5Yo iEB>m;ݹq@jD" ; ; @5 AZj}t֞m?bj}AV iyi}ns^Aj}fAj}lA2j}Ϗ@p}CR72=NGMzp}Fqᅢnfw||ӄ{"j}yH*j}=p}Cw\RpIW13kp}|˿_ާ~Si}j}{i}šm?i}+#-Y  j}{Bzj}|pݤm?j}fW j}{Bjj}dArj};@M addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503417 s, deltaX: 0.099998 m, approachRate: 0.198639 m/s, rangeRepo size: 4 ] Added new target pos. range: 18.299999 m, bearing: 257.493031 deg, lat: 36.903939 deg, lon: -122.119011 deg, deltaT: 0.503417 s, deltaX: 0.099998 m, approachRate: 0.198639 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 18.30 m.hYhYhahahagagabgijgmBeqjeqJe}L2@:e}@HO?r\>z\>\_@\@) )>im9)隭e6ii19= CI9I9:JBHBJ9JJRJ ZJ  x,t^ADAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:35.5152 TRx dataTimestamp_ set to:1736538576.064801"PDAT read: Bearing 181.1, 5.3 (Local) &~Local bearing/azimuth received: Bearing 181.1, 5.3 (Local) .DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 BDAT read: 19:49:35.5152 LVL= 26064, 29761, 24498, 32755, AGC= 64, IDX= 510,-0.38,-2.094, 0.100,-1.850,-1.368, PHS=-0.638, 1.515,-0.485, RAW= 326.3, -3.8, CAL= 328.9, -5.3, ROT= 181.1, 5.3 FYgot valid direction response: 19:49:35.5152 LVL= 26064, 29761, 24498, 32755, AGC= 64, IDX= 510,-0.38,-2.094, 0.100,-1.850,-1.368, PHS=-0.638, 1.515,-0.485, RAW= 326.3, -3.8, CAL= 328.9, -5.3, ROT= 181.1, 5.3 FR#Rx 1: Read range and direction messages.Jbdirection in FSK: [-0.995541,-0.019115,-0.092371]JFpublishing direction and range infoYꧧ5y:ⲻ{]UA9e At)_Ii@S#?Q=@ )B@IqihJJ@q= !ެ쿍(Wܿ`IC+iL6=MGq=  V2Acoustic response timeoutZQuerying Benthos address 50 with one ping in standard two-way mode.?y;?9WY;>HL?!P?hC? l?8)? X?@]q??ɨ{; CލBލ IHHJ5; ^=YPC9Q >٣ GY< >]@59>n?a@5Y i?Bfq@jD;/;2 @5) -A)Zj!%m?bj9U ii%t^AjAjA2j~@pl2I^Dֿ>zpꧧ5y:ⲻ{]U"jMG*jq=p&Oh$ M1Z"gpA#jyʿ^ lEԜi2jpiB'm?iSX  j{BzjjSX j{Bjj~Arj @ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.507829 s, deltaX: -0.099998 m, approachRate: -0.196914 m/s, rangeRepo size: 4 u Added new target pos. range: 18.200001 m, bearing: 257.960347 deg, lat: 36.903939 deg, lon: -122.119012 deg, deltaT: 0.507829 s, deltaX: -0.099998 m, approachRate: -0.196914 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.20 m.hhhhhggbgjgejeJe@332@:eRb?r\iz\i\i\mIv@W) E\>iE9)IU6QiQi3żIIx, }t^A5s?y5s?95ݭY5߻;>5H$?@{`j?t@?s?@ ?@)R?`q?5s?ɨ5P[; 5!CޭBޭ IeDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:36.0152 }TRx dataTimestamp_ set to:1736538576.572874PDAT read: Bearing 181.3, 5.8 (Local) ~Local bearing/azimuth received: Bearing 181.3, 5.8 (Local) DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 DAT read: 19:49:36.0152 LVL= 25200, 31441, 23458, 32755, AGC= 63, IDX= 510, 0.20, 0.312, 2.572, 0.569, 1.048, PHS=-0.648, 1.572,-0.482, RAW= 326.1, -4.2, CAL= 328.7, -5.8, ROT= 181.3, 5.8 Ygot valid direction response: 19:49:36.0152 LVL= 25200, 31441, 23458, 32755, AGC= 63, IDX= 510, 0.20, 0.312, 2.572, 0.569, 1.048, PHS=-0.648, 1.572,-0.482, RAW= 326.1, -4.2, CAL= 328.7, -5.8, ROT= 181.3, 5.8 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.994625,-0.022571,-0.101056]Fpublishing direction and range infoyY}+@ :+hg޹y9y}pb }z)}[Iyi}?}T%}L7?}} @ }Q )}@I}4QϽi}J@}4Q=y y}%/JO쿹"ܿ|頲I}+i} )=}G}4Q=y y U2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.eMb@Mb@Mb@aa a)aIayeX9vl~jteeeD ehA)e@Ie@ie@aaHHJH5(< =Y}9Q >٣ GG >]@59n?a@5Y i9B>m;q@jDq ;C ;*@5! %A!Zj} m?bj}OV iyi}$t^Ajyjy2j}y@p}{d'2WJڿovmzp}+@ :+hg޹"j}G*j}4Q=p}fA1'J+p}| Tmʿ7Z(i}j}|pi}m?i}Z  j}zBzjyjyjyjj}Arj}.@  addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.508073 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 M Added new target pos. range: 18.200001 m, bearing: 257.967190 deg, lat: 36.903939 deg, lon: -122.119012 deg, deltaT: 0.508073 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 UDNOT Ignoring new targets: 18.20 m.hYhYhYhahagagbgjgBejeJe:e`ˀ?r\>z\>\Ԟ[@\@Mݭ)a e)>ie9)ae!6aiiiiquIͼIqIyDzDD ?D D E  E E =E = x,.FH0o? *?ziT9)'6iihݼIIDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:36.5152 TRx dataTimestamp_ set to:1736538577.075078PDAT read: Bearing 180.9, 6.1 (Local) ~Local bearing/azimuth received: Bearing 180.9, 6.1 (Local) DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 ]DAT read: 19:49:36.5152 LVL= 29792, 32753, 29650, 32755, AGC= 63, IDX= 509,-0.05,-2.390,-0.160,-2.152,-1.675, PHS=-0.626, 1.562,-0.479, RAW= 326.6, -4.4, CAL= 329.1, -6.1, ROT= 180.9, 6.1 Ygot valid direction response: 19:49:36.5152 LVL= 29792, 32753, 29650, 32755, AGC= 63, IDX= 509,-0.05,-2.390,-0.160,-2.152,-1.675, PHS=-0.626, 1.562,-0.479, RAW= 326.6, -4.4, CAL= 329.1, -6.1, ROT= 180.9, 6.1 R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.994215,-0.015618,-0.106264]Fpublishing direction and range infoY0EetO4D?DDE0 E9`t )sIiA ?}?ih@ nF)ͷ@I^ ڽi6J@^ = k, Cܿʟu:xIpf+ib=H^ =  e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.ZI5bI5yjI51rI1zI5v:I59I53I1I5U;qUI5V;iUI5:uUI5:mUVFvżZAM>] ٣ G >]@59,n?a@5Y i1B=m;q@jDCE;mC;@5 AZj`1ٟm?bjX iiDt^Ajj2jY@p}}?2`' /1ҿ.=zp0EetO4"jH*j^ =p!GZbypJb1tfSoyp=bj˿Q%C=0¿ij{iѣm?i[  jzBzjem?j+#-Y jjjtArj?ҏ@m addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.502204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 18.200001 m, bearing: 257.385826 deg, lat: 36.903939 deg, lon: -122.119012 deg, deltaT: 0.502204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.20 m.hhhhhggbgjgBejeJe:eak?r\U=z\U=\UO]@\UUΙ@) g>i9)隕/6iiۼIIBBCBDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:37.0152 TRx dataTimestamp_ set to:1736538577.577193PDAT read: Bearing 181.4, 5.9 (Local) ~Local bearing/azimuth received: Bearing 181.4, 5.9 (Local) DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 %DAT read: 19:49:37.0152 LVL= 27760, 32753, 24034, 32755, AGC= 63, IDX= 509,-0.37,-2.860,-0.593,-2.598,-2.124, PHS=-0.649, 1.578,-0.477, RAW= 326.0, -4.3, CAL= 328.6, -5.9, ROT= 181.4, 5.9 -Ygot valid direction response: 19:49:37.0152 LVL= 27760, 32753, 24034, 32755, AGC= 63, IDX= 509,-0.37,-2.860,-0.593,-2.598,-2.124, PHS=-0.649, 1.578,-0.477, RAW= 326.0, -4.3, CAL= 328.6, -5.9, ROT= 181.4, 5.9 -R#Rx 1: Read range and direction messages.=bdirection in FSK: [-0.994406,-0.024303,-0.102793]=Fpublishing direction and range infoYdN,m☿zBP9pl )]Ii$&?X9@ `)^@IBҽi0J@B= RU쿕OZۿTeID+i 7=GB=DQDYDYE]0 EY  u2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.VF} ԼZA M >x,ۅpt^AJ/h?yJ?9J YJ;>JH|*?ȻY?q2? ?m`=??Z? q?J/h?ɨJ^; HvBv I xzAAHHJ5 .= l=Y;Q ?٣ G%m %?!]-@59%un?a5@5Y% i%.B15ʽq5@%jD%:%:%@5A EAAZj0m?bjY iidt^Ajj2jۏ@pP"2jNܿHzzpdN,m☿zBP"jG*jB=p\jb-1(Jl3:pMɰxD˿b).iόj#xi[m?i\  j!{Bzj[m?jZ j!{BjjeArjя@ addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.502115 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 18.200001 m, bearing: 257.577612 deg, lat: 36.903939 deg, lon: -122.119012 deg, deltaT: 0.502115 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.20 m.hhhhhggbgjgejeJe:e`?i9)隭66i:J MBJ9JJRJ ZJ5Oe{ GhzohYNC6/+% iIID9D=%>G>GG !IGBGGGGX<GFD?DDE5 EEEVF- ~>ԼZA1 MU > DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:37.5150  TRx dataTimestamp_ set to:1736538578.080898 PDAT read: Bearing 181.7, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 181.7, 5.9 (Local)  DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.1 U DAT read: 19:49:37.5150 LVL= 30896, 32033, 23010, 32755, AGC= 64, IDX= 507, 0.13,-1.990, 0.263,-1.715,-1.253, PHS=-0.649, 1.563,-0.465, RAW= 325.7, -4.3, CAL= 328.3, -5.9, ROT= 181.7, 5.9 ] Ygot valid direction response: 19:49:37.5150 LVL= 30896, 32033, 23010, 32755, AGC= 64, IDX= 507, 0.13,-1.990, 0.263,-1.715,-1.253, PHS=-0.649, 1.563,-0.465, RAW= 325.7, -4.3, CAL= 328.3, -5.9, ROT= 181.7, 5.9 ] R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.994265,-0.029509,-0.102793] Fpublishing direction and range info Y ZQQK7zBP 3A9 x !}) YI i @ b? { @ ) x[@I i J@ + iz8ۿ@KI eZ,i = )G  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.E{"x,ht^A)0 0fU ?yfH?9fYfa;>fH?I`?`v-?xN?K?iL?@r?fU ?ɨfJ; fC~B II ) HHB5e%= mE=Ym:Q m>q٣q uGqڻ >ZIbI|jIrIzIp:I@9III;I;I{:I|:]@59n?a@5Y2 i*B&q@jD4;V;@5 yA Zj m?bj 4xsS i i o-t^Aj 3Aj ?A2j M@p )71aV:胞pzp ZQQK7zBP"j )G*j p թ*ԗ,4LGQ18 u%p ʿx$]h'i j dqi m?i c}V  j V{Bzj B'm?j j jj ݎArj b@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503705 s, deltaX: -0.300001 m, approachRate: -0.595589 m/s, rangeRepo size: 4  Added new target pos. range: 17.900000 m, bearing: 257.714221 deg, lat: 36.903940 deg, lon: -122.119012 deg, deltaT: 0.503705 s, deltaX: -0.300001 m, approachRate: -0.595589 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hhhhhggbg jg e je Je `f1@:e ?%i9)隕?6iiAm IID?DDE05 EVFZAM>s(x,?t^A6^܏?y6?96>Y6;>6H? uy?*?}?{`Ļ?P?r?6^܏?ɨ6(; 6 CJDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:38.0151 NTRx dataTimestamp_ set to:1736538578.585134VPDAT read: Bearing 181.7, 6.0 (Local) V~Local bearing/azimuth received: Bearing 181.7, 6.0 (Local) ^DAT read: Range 10 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 nDAT read: 19:49:38.0151 LVL= 25696, 30273, 23682, 32755, AGC= 63, IDX= 508,-0.15,-2.380,-0.126,-2.102,-1.643, PHS=-0.649, 1.564,-0.462, RAW= 325.6, -4.3, CAL= 328.3, -6.0, ROT= 181.7, 6.0 rYgot valid direction response: 19:49:38.0151 LVL= 25696, 30273, 23682, 32755, AGC= 63, IDX= 508,-0.15,-2.380,-0.126,-2.102,-1.643, PHS=-0.649, 1.564,-0.462, RAW= 325.6, -4.3, CAL= 328.3, -6.0, ROT= 181.7, 6.0 vR#Rx 1: Read range and direction messages.zbdirection in FSK: [-0.994084,-0.029504,-0.104528]zFpublishing direction and range infoHYJ ]764ޮ`ºJA9HJ`d JAv)J\IHiJ?HJ'1?JDJoٵ@ H)HIJPwֽiHJPw=H HJ3 ?)ۿ^C;IJn,iJ=HJPw=H H  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.=BE IMb@Mb@Mb@ )IyMbXQ롿Mbpʽ\ A)@IC@i@@HH>53b< 4=Y2j:Q >٣ GLS >] @593n?a @5Yh i'BU4=mU;U㻿qU@jDu-<6-<l#@5Y ]_AaZjJנ1m?bjJV iHiJrt^AjJAjJ A2jJ@pJ|Wf1a@zpJ ]764ޮ`º"jH*jJPw=pJimh1ƒ>pJg}/˿Z~"ZiJ@jJtiJA m?iJQY  jJ7{BzjJA m?jHjHjjJArjJ@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504236 s, deltaX: 0.100000 m, approachRate: 0.198321 m/s, rangeRepo size: 4 M Added new target pos. range: 18.000000 m, bearing: 257.612789 deg, lat: 36.903940 deg, lon: -122.119012 deg, deltaT: 0.504236 s, deltaX: 0.100000 m, approachRate: 0.198321 m/s, posRepo size: 4 MDNOT Ignoring new targets: 18.00 m.hQhQhQhQhQgQgQbgYjg]ށBeYjeYJee2@:eeؿ?r\4=z\4=\{^@\@>) >i 9)E6iH@AH@AiNIID?DDE5 EE=?=;;=>;;G >G G !IG BG =G G G D<G 4FVF= oZAA M} >-.x,;qt^AIF=) F~G\ h)UϿy!%A?y٫?9=XY!;>H? ? }'??`l@Oj?.U?vr?騭?ɨ҆; ޽B޽ IubDAT read: RX DATA OVERRUNRx Time:19:49:38.5150 }TRx dataTimestamp_ set to:1736538579.088871PDAT read: Bearing 181.8, 5.0 (Local) ~Local bearing/azimuth received: Bearing 181.8, 5.0 (Local) DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 DAT read: 19:49:38.5150 LVL= 31488, 30033, 26690, 32755, AGC= 63, IDX= 506, 0.41,-2.364,-0.158,-2.090,-1.616, PHS=-0.660, 1.505,-0.477, RAW= 325.6, -3RX .6, CAL= 328.2, -5.0, ROT= 181.8, 5.0 Munknown deviceResponse_: 19:49:38.5150 LVL= 31488, 30033, 26690, 32755, AGC= 63, IDX= 506, 0.41,-2.364,-0.158,-2.090,-1.616, PHS=-0.660, 1.505,-0.477, RAW= 325.6, -3RX .6, CAL= 328.2, -5.0, ROT= 181.8, 5.0 -X#Rx 1: Read range message, but no direction.y}3A9y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.HHB5Mx= M4=YM|:Q M>Q٣Q UGQU ]>]@59n?a@5Y i$B%q@jD<<o'@5B AE addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503737 s, deltaX: -0.100000 m, approachRate: -0.198517 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 18.00 m.hhhhhggbgjgejeJe`f1@:e,?r\Yz\Y\Y\]@=X) >iE9)隕M6iiIIDaDaDaEe]0 EiEu=Eu >ZIbIjIrIzIs:I59III;I;I;I;5 6x,ۉt^A5Wi?y5զ?95aY5f;>5H :#?@ ?$? ?`q_ +?T?@r?5Wi?ɨ5; 5!CMЂBM IMb@Mb@Mb@ )Iy~jt/$~jtx,Ļ A)I-@i@@HEHE0E5mŝ= uO=Yuמ:Q u>y٣y }Gy}_ >]@59Vn?a@5Y i!BB=m<ާq@jD;};*@5 -A=DNOT Ignoring new targets: 18.00 m.h9h9h9h9hagagabgijgmBeijeiJeq:eu"?r\B=z\B=\_i@\W@a) H>i9)  \T6 i i,IIbDAT read: RX DATA OVERRUNRx Time:19:49:39.0150 TRx dataTimestamp_ set to:1736538579.598459%PDAT read: Bearing 182.3, 4.7 (Local) -~Local bearing/azimuth received: Bearing 182.3, 4.7 (Local) EDAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 eADAT read: 19:49:39.0150 LVL= 32704, 32497, 28594, 32755, AGC= 64, IDX= 507, 0.07,-2.026, 0.210,-1.732,-1.253, PHS=-0.684, 1.510,-0.481, RAW= 325.2, -3.3, CAL= 327.7, -4.7, ROT= 182.3, 4.7RX DATA OVERRUN -!-JgetPosition uart error serial timeout]!-\Buoyancy getPosition uart error.serial timeout--!-(Communications Fault- got valid direction response: 19:49:39.0150 LVL= 32704, 32497, 28594, 32755, AGC= 64, IDX= 507, 0.07,-2.026, 0.210,-1.732,-1.253, PHS=-0.684, 1.510,-0.481, RAW= 325.2, -3.3, CAL= 327.7, -4.7, ROT= 182.3, 4.7RX DATA OVERRUN R#Rx 1: Read range and direction messages.bdirection in FSK: [-0.995834,-0.039997,-0.081939]Fpublishing direction and range infoY.5Jyz9 ~)oIi@/G?E>@ k)@IiK@= !쿇>3ۿ2"ΰI,im=(~F=  2Acoustic response timeout- Querying Benthos address 50 with one ping in standard two-way mode.D ?D D E 1 E Չ Ս A .B=x,9t^A:JijNBJ9JJRJ ZJ89776613401/+)''()&%&#&%$""! Ge>GaGe;!IGeBGe =GaGaGe<GeFH1 H1H1H1"H1*H5<4ub1?yun?9ufYu;>uH@Y? 9?`!? -+?mK`?Y? r?ub1?ɨu; u CׂB  IH=H=S<5M< M0=YMc:Q U>Q٣Q uGq}en }>]@590n?a@5Y iBq@jD::.@5 AZjEm?bjE:Y iAiE'Mt^AjE3AjE?A2jE,@pEIVO1EA濉wzpE.5Jyz"jE(~F*jE=pEOs6 0 d1vpEɭVʿ!̢jΤ]iE'jEiiE2Rym?iE\  jE0}BzjAjE[ jE7{BjjEArjEΏ@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.509588 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.900000 m, bearing: 258.143942 deg, lat: 36.903940 deg, lon: -122.119013 deg, deltaT: 1.013325 s, deltaX: -0.100000 m, approachRate: -0.098685 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hhhhhggbgjge je)Je):e5(?r\qz\q\q\u @f) >i9)s\6ii II bDAT read: RX DATA OVERRUNRx Time:19:49:39.5149 TRx dataTimestamp_ set to:1736538580.099604%PDAT read: Bearing 182.0, 5.2 (Local) -~Local bearing/azimuth received: Bearing 182.0, 5.2 (Local) MDAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.1 D?DDE_0 E%MDAT read: 19:49:39.5149 LVL= 23856, 23953, 22146, 31923, AGC= 64, IDX= 506,-0.20, 1.333,-2.687, 1.620, 2.097, PHS=-0.676, 1.546,-0.479, RAW= 325.4, -3RX .7, CAL= 328.0, -5.2, ROT= 182.0, RX DATA OVERRUN5.2 munknown deviceResponse_: 19:49:39.5149 LVL= 23856, 23953, 22146, 31923, AGC= 64, IDX= 506,-0.20, 1.333,-2.687, 1.620, 2.097, PHS=-0.676, 1.546,-0.479, RAW= 325.4, -3RX .7, CAL= 328.0, -5.2, ROT= 182.0, RX DATA OVERRUN5.2 -mX#Rx 1: Read range message, but no direction.  A9  u2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF :4ZA M >ZI- bI- ~jI- 0rI) zI- y:I- f9I- ـ3I) I- ;I- ;I- :Dx,#Ku^AIm:eH]??f?U?`?E?U? r??ɨ; C%B-!I Mb@Mb@Mb@   ) I y A`"Mb` L Y  QA) I @i @  3@HMHM=5]p= #=Y|G:Q >٣ GN$ >]@59n?a@5YW iBG=m6<Gq@jD@::^3@5 tA addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.501145 s, deltaX: -0.199999 m, approachRate: -0.399084 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 17.90 m.hhhhhggbgjgBejeJe@31@:e$?r\G=z\G=\0}@\&@=T8)A Eg>iE9)AEvd6AiAiqqu$IqIqDzDD ?D D E  E E E hA- bDAT read: RX DATA OVERRUNRx Time:19:49:40.0150 - TRx dataTimestamp_ set to:1736538580.603239= PDAT read: Bearing 181.5, 5.4 (Local) = ~Local bearing/azimuth received: Bearing 181.5, 5.4 (Local) M DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0  ADAT read: 19:49:40.0150 LVL= 26064, 32753, 22930, 32755, AGC= 62, IDX= 506, 0.34,-2.578,-0.354,-2.314,-1.837, PHS=-0.652, 1.530,-0.480, RAW= 325.9, -3.8, CAL= 328.5, -5.4, ROT= 181.5, 5.4RX DATA OVERRUN  got valid direction response: 19:49:40.0150 LVL= 26064, 32753, 22930, 32755, AGC= 62, IDX= 506, 0.34,-2.578,-0.354,-2.314,-1.837, PHS=-0.652, 1.530,-0.480, RAW= 325.9, -3.8, CAL= 328.5, -5.4, ROT= 181.5, 5.4RX DATA OVERRUN  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.995221,-0.026061,-0.094108] Fpublishing direction and range info) Y- P _ਯ|ӄ{- 3A9) - e - )- YI) i- >- y&- ?- - S@ - ԇ)- x@I- i- ɼJ@- =) ) - j|tۿ|{I- ,i- =- bG- =) ) e 2Acoustic response timeoute Querying Benthos address 50 with one ping in standard two-way mode.VF ZAM5>s=Kx,$/u^AZY?yZ?9Z%YZ <>ZH ? b\?[?{?0 Þ?\?r?ZY?ɨZ:; Z CzBz!IH-H-95=q= ==Y=:Q E?A٣a eG.x ?]@59n?a@5Yѓ iBq@jD::6@5 ,AZjum?bjuX iqiux&u^Ajqjq2ju@pu41aJݿzpuP _ਯ|ӄ{"jubG*ju=pu~}̛+BN14pu*(v_̿y[:q!Fiurju}iu{m?iuH[  ju|BzjqjuH[ juV{BjjuArju@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503635 s, deltaX: 0.199999 m, approachRate: 0.397111 m/s, rangeRepo size: 4  Added new target pos. range: 17.900000 m, bearing: 257.086670 deg, lat: 36.903940 deg, lon: -122.119013 deg, deltaT: 1.004780 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hhhhhggbgjgejeJe`f1@:e ?r\z\\\@%) g>i9)j6ii _(II}E bDAT read: RX DATA OVERRUNRx Time:19:49:40.5148 M TRx dataTimestamp_ set to:1736538581.105656U PDAT read: Bearing 181.9, 4.8 (Local) U ~Local bearing/azimuth received: Bearing 181.9, 4.8 (Local) e DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.1  ADAT read: 19:49:40.5148 LVL= 25936, 26993, 23538, 32755, AGC= 63, IDX= 505,-0.01, 1.982,-2.093, 2.260, 2.738, PHS=-0.668, 1.499,-0.481, RAW= 325.5, -3.4, CAL= 328.1, -4.8, ROT= 181.9, 4.RX DATA OVERRUN8  got valid direction response: 19:49:40.5148 LVL= 25936, 26993, 23538, 32755, AGC= 63, IDX= 505,-0.01, 1.982,-2.093, 2.260, 2.738, PHS=-0.668, 1.499,-0.481, RAW= 325.5, -3.4, CAL= 328.1, -4.8, ROT= 181.9, 4.RX DATA OVERRUN8  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.997016,-0.033074,-0.069756] Fpublishing direction and range infoA YE k|E￟*!&k۱E ̌A9A E Pe E qi)E [IA iE ?E +E ;߿?E EE "˵@ E s)E >@IE iE +/K@E 5=A A E ܂ދ쿃T҉ۿ*4hIE C,iE &js=E FE 5=A A  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Rx,kHu^A!?y?9&Y9;>H?Ԣ?`*?@?(q?L?rs?!?ɨԈ; !CB!IH=H=I5M= M;=YM=:Q M>q٣q }Gy˂ >]@59=n?a@5Y iBq@jDm;;9@5B AEZjҬm?bj\zS iiFu^AǰAj܋A2j@p<[R'1_UYczpk|E￟*!&k۱"jF*j5=pz 1E7?1 (v-Yp!f>˿up₩pJ)iɈjoim?iV  j~Bzjm?jQY j|BjjArj@ZIbI}jIrIzIIS9IIIII:I:} addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.502417 s, deltaX: -0.299999 m, approachRate: -0.597112 m/s, rangeRepo size: 4  Added new target pos. range: 17.600000 m, bearing: 257.642712 deg, lat: 36.903940 deg, lon: -122.119012 deg, deltaT: 0.502417 s, deltaX: -0.299999 m, approachRate: -0.597112 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.60 m.hhhhhggbgjgejeJe1@:e@?r\ z\ \ \ @i=b9)AMs6Qii\.I1I9De>De>D D D E _0 E E >E >VF #ZAM=>:Yx,fu^AbDAT read: RX DATA OVERRUNRx Time:19:49:41.0148 TRx dataTimestamp_ set to:1736538581.608501JDAT read: Berin 80.7, 5.4 (Local) xLocal bearing/azimuth received: Berin 80.7, 5.4 (Local) "DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2DAT read: 19:49:41.0148 LVL= 25744, 32081, 26210, 32755, AGC= 63, IDX= 505,-0.27, 1.489,-2.616, 1.715, 2.204, PHS=-0.627, 1.510,-0.492, RAW= 326.8, -3.8, CAL= 329.3, -5.4, ROT= 180.7, 5.4 ZYgot valid direction response: 19:49:41.0148 LVL= 25744, 32081, 26210, 32755, AGC= 63, IDX= 505,-0.27, 1.489,-2.616, 1.715, 2.204, PHS=-0.627, 1.510,-0.492, RAW= 326.8, -3.8, CAL= 329.3, -5.4, ROT= 180.7, 5.4 ZR#Rx 1: Read range and direction messages.^bdirection in FSK: [-0.995488,-0.012163,-0.094108]^Fpublishing direction and range info Yn\m舿|ӄ{ 9 d Q})bfI i  G?m@ ԇ)r@IiI@= U<œKܿ} I)+i*b=GH= 52Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode. ?yϪ?9Y;>H`?=@??`b?'`B?`P?Ms? ?ɨƇ; C%B%3!I}Mb@Mb@Mb@yy y)yIyy} ٣   G 0 >1]=@595]n?a=@5Y5 i5B= m=m=e<=u qE@5jD5:5:5O>@5Q U=AQZjAum?bj>P i ifu^Aj j 2j@p.D1Uf˿6;zpn\m舿|ӄ{"jGH*j=p]30bzpN7[bοL:%ٲƿijiq1Om?iS  ja}BzjA m?j j0}BjjArj @% addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.502845 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 17.600000 m, bearing: 256.159099 deg, lat: 36.903940 deg, lon: -122.119012 deg, deltaT: 0.502845 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 17.60 m.hYhYhYhahagagabgajgmBBejeJe:e?r\ m=z\ m=\ଌ@\a@) >iJ9)z6ii  0II! !-8Uninitialize Buoyancy Servo.!-Powering downB)B)C1B1DAT read: RX DATA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:41.5147 TRx dataTimestamp_ set to:1736538581.868037D!D)D)E-`0 E1uPDAT read: Bearing 180.8, 5.0 (Local) }~Local bearing/azimuth received: Bearing 180.8, 5.0 (Local) DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.  3A9  - 2Acoustic response timeout:JU iMBJU 9JJQ RJU ZJU ,7EUdo}}~zywutvsomgYDG G G !IG MBG G G G ?<G 0F Querying Benthos address 50 with one ping in standard two-way mode.VF% 3,)ZA) ME >7`x,Wvu^AZc?yZ,?9Z%"YZ";>ZH`-"?@ž@K?#?@?@&*?`K?s?Zc?ɨZc; XfBf6!IzC=iz=H=H=p;5]'r< e=YmG:Q m ?٣ G ?]]@59n?a]@5Y+ iBae q@jDE<G<#A@5 *AuDAT read: 19:49:41.5147 LVL= 27792, 30705, 25394, 32755, AGC= 64, IDX= 503, 0.28, 3.030,-1.126,-3.029,-2.543, PHS=-0.622, 1.464,-0.489, RAW= 326.7, -3.5, CAL= 329.2, -5.0, ROT= 180.8, 5.0 Ygot valid direction response: 19:49:41.5147 LVL= 27792, 30705, 25394, 32755, AGC= 64, IDX= 503, 0.28, 3.030,-1.126,-3.029,-2.543, PHS=-0.622, 1.464,-0.489, RAW= 326.7, -3.5, CAL= 329.2, -5.0, ROT= 180.8, 5.0 X#Rx 1: Read direction message, but no range.bdirection in FSK: [-0.996098,-0.013909,-0.087156])Y--¢cS|O9)-l -w)-2cI)i-@-d;-Zd?-5^-v@ -5z)-'ܷ@I-¸i-I@-¸=)-\QU#żܿ)yI-2+i-f|=-+H-¸=5ο*/B2 $ iMFjMjiMɝm?iM]O  jM}BzjM{m?jMV jMa}BjjMTArjM'c@= addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.259536 s, deltaX: -0.200001 m, approachRate: -0.770609 m/s, rangeRepo size: 4 M Added new target pos. range: 17.400000 m, bearing: 256.251235 deg, lat: 36.903939 deg, lon: -122.119011 deg, deltaT: 0.259536 s, deltaX: -0.200001 m, approachRate: -0.770609 m/s, posRepo size: 4 MDNOT Ignoring new targets: 17.40 m.hQhQhQhQhQgQgbgjgejeJe`ff1@:e@_?r\ z\ \ \ 7U@=%")9 =4>i=9)AE6AiAiIIM9P5IIIQD ?D D E o0 E% DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:42.0147 = TRx dataTimestamp_ set to:1736538582.372826] PDAT read: Bearing 181.0, 5.4 (Local) m ~Local bearing/azimuth received: Bearing 181.0, 5.4 (Local)  DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.) ) 9) % 2Acoustic response timeout% Querying Benthos address 50 with one ping in standard two-way mode.VF B4.ZA M > fx,͛u^A}B}a٣a eGam m>q]}@59un?a}@5Yu' iuB}Zy=m}Y<}ӥ<q@ujDu:uN:uXE@5 A addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504789 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 17.40 m.hhh!h)h)g)g)bg)jg5IBe1je1Je1:e5?r\uZy=z\uZy=\ueÞ@\uQӥ<) >i9)6iib4IID DAT read: 19:49:42.0147 LVL= 23088, 25873, 24210, 32755, AGC= 63, IDX= 504, 0.08,-1.998, 0.215,-1.760,-1.270, PHS=-0.640, 1.532,-0.494,RA= 326.5, -3.8, CAL= 329.0, -5.4, ROT= 181.0, 5.4 9unknown deviceResponse_: 19:49:42.0147 LVL= 23088, 25873, 24210, 32755, AGC= 63, IDX= 504, 0.08,-1.998, 0.215,-1.760,-1.270, PHS=-0.640, 1.532,-0.494,RA= 326.5, -3.8, CAL= 329.0, -5.4, ROT= 181.0, 5.4 Jlx,]u^A2F?y2?92Y2;>2H@ ??` ?n?c?`(` ϝ?jU?@4s?2F?ɨ2V; 2CBBBF!IHVHVA5tvAUDAT read: RX DATA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:42.5147 ]TRx dataTimestamp_ set to:1736538582.881658K= ~=Y_:Q >٣  GPDAT read: Bearing 180.5, 5.1 (Local) %~Local bearing/azimuth received: Bearing 180.5, 5.1 (Local) et e>DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 GG?AGGG!IGgBG =GGG:<G,F:JOBJu9JJRJ ZJ40.-,***)'%#"#!"  ]@59 n?a@5Y$ i BO<q@jD;;H@5 @5DAT read: 19:49:42.5147 LVL= 27168, 29089, 23906, 32755, AGC= 63, IDX= 503, 0.04, 2.729,-1.380, 2.943,-2.839, PHS=-0.627, 1.506,-0.504, RAW= 327.1, -3.7, CAL= 329.5, -5.1, ROT= 180.5, 5.1 =Ygot valid direction response: 19:49:42.5147 LVL= 27168, 29089, 23906, 32755, AGC= 63, IDX= 503, 0.04, 2.729,-1.380, 2.943,-2.839, PHS=-0.627, 1.506,-0.504, RAW= 327.1, -3.7, CAL= 329.5, -5.1, ROT= 180.5, 5.1 =R#Rx 1: Read range and direction messages.Ebdirection in FSK: [-0.996003,-0.008692,-0.088894]MFpublishing direction and range infoQDNOT Ignoring new targets: 17.40 m.hhhhhggYUBAc*́Q9QU j Uq)Ub]IQiU?U U?U%U毶@ U A)U @IUKiU՞I@UK=Q QU2ԛp쿢Y ݿmqTIU*iUG=UHUK=Q Q 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.bgjgejeJe:eݴ?r\z\\\O<%)! %>iEF9)IM6IiIiQQU7IQIY !e4Initializing EZServoServo. !6Initializing BuoyancyServo.D}?DyDyE}?5 Eyγsx,bu^ABE!I!!H-H-75= =D=YEQ E>A٣A EGIM M>a]m@59en?am@5Ye! ie Biiqu@ejDe:e:eK@5y }@y addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.508832 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 17.40 m.hhhhhggbgjgejeJe:eu`m7?5DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:49:43.0148 ETRx dataTimestamp_ set to:1736538583.414130ePDAT read: Bearing 180.2, 4.9 (Local) m~Local bearing/azimuth received: Bearing 180.2, 4.9 (Local) }DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.1 r\z\\\DAT read: 19:49:43.0148 LVL= 25296, 24993, 23794, 32755, AGC= 61, IDX= 504, 0.13, 2.601,-1.529, 2.797,-2.973, PHS=-0.622, 1.491,-0.516, RAW= 327.5, -3.5, CAL= 329.8, -4.9, ROT= 180.2, 4.9 Ygot valid direction response: 19:49:43.0148 LVL= 25296, 24993, 23794, 32755, AGC= 61, IDX= 504, 0.13, 2.601,-1.529, 2.797,-2.973, PHS=-0.622, 1.491,-0.516, RAW= 327.5, -3.5, CAL= 329.8, -4.9, ROT= 180.2, 4.9 R#Rx 1: Read range and direction messages.) >i%9)!%6!i!i))-tw7I)I1=bdirection in FSK: [-0.996339,-0.003478,-0.085417]=Fpublishing direction and range info9Y=IvYj}lb$ݵ=̌A99=b =a)=\I9i===d;=پ?==@ =5z)=1@I=%i= II@=%=9 9=QX@Djrݿ/I=f*i=Iw==H=%=9 9 U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.DDDE EVF5 3ZAA M] >kyx,yu^ABH`;?T?@?`!?`5!!?XK? s?BQI?ɨB; BCN#BNK!IEMb@Mb@Mb@AA A)AIAyEMb?V-Mb`E=EmE EA)E@IEZ@iE@AEp@H H 35]< ]9=Y]9Q ]>a٣a mGimDo9 m>q]}@59u0n?a}@5Yu iuB=mH<{>q@ujDue;u;uO@5 >@Zjem?bje@3P iaieu^AjěAje܋A2jeŎ@pet2|*14VO zpeIvYj}lb$ݵ"jeH*je%=pe7"[D0Xc pe3lϿ}+(iejeيieBjm?ie,S  jeA~Bzjeɝm?jeS je}BjjeċArjeT@ addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.532472 s, deltaX: 0.200001 m, approachRate: 0.375608 m/s, rangeRepo size: 4 ] Added new target pos. range: 17.600000 m, bearing: 255.632000 deg, lat: 36.903938 deg, lon: -122.119010 deg, deltaT: 1.546093 s, deltaX: 0.200001 m, approachRate: 0.129359 m/s, posRepo size: 4 eDNOT Ignoring new targets: 17.60 m.hahahahahigigibgijgm`BeqjeqJeu1@:eu3?r\=z\=\@\{>) >i9)i6ii6IID zD ZIebIe~jIarIazIev:Ief9IaIaD?DDE`0 EE=E=hDAT read: RX DATA OVERRUNRX DATA OVERRUNuser:1290> BDAT read: Tx time:19:49:43.9126 $Ping request sent. A)5 ˻y1 5 AÀx,5v^ABe?yB?9BVYBm;>BH5 ?@?(?@ i?`HN?ds?Be?ɨB?; BCJBJD!IHRHR=5Z  Zk=Y^~PQ ^?|٣ G ;  >]5@59n?a]@5Y iBae>qe@jD,<.&<R@5i u@qDNOT Ignoring new targets: 17.60 m.hhhhhggbgjgejeJe:e%ڏ?r\iz\i\i\m>}V) >i9)隅46ii3II=JDAT read: TxSync time:19:49:43.9119 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251924DDDE EVF ZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503914MM >t톝x,gv^A%B%=!IMb@Mb@Mb@ )IyˡE?y&1~jtx'=`eĻ ~A)Ii@@H\H45Ѽ 9=YQ >٣ G >a]e@59ejo?am@5Yem ieBm=mm>qm@ejDe8:e:eV@5y }@yDNOT Ignoring new targets: 17.60 m.hhhhhggbgjg_BejeJe:e ?r\=z\=\@\ů>) R>i"9),6ii  ">4I I DDDEl0 EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753927VF3ZAM>ZI bI }jI rI zI p:I S9I I x, 6v^A6g֎?y6?96Y6U<>6HBB2!IHZHZ>5z\@ ~Z=Y~ĆQ ~>٣ G <  >]@59No?a@5Y) iB>q@jD+;;Y@5) -EA)]DNOT Ignoring new targets: 17.60 m.hYhYhYhYhagagabgajgieijeiJei:em@?r\z\\\ť>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005972) R>i9)隵̕6ii}&IIDe>D>G9G9G=!IG=BG9G9G9G=<G= FH HHH"H*H}4:JLBJ9JJRJ ZJDiDiDiEu 1 EqEyE}gAVFZAM>M >M @] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258953x,Pv^AJC?yJ,?9J0YJD<>JHG?ժ?7"?` ?hҲ8?r?`p?JC?ɨJZ; J CVBV)!IHb_Hb5jn  jM=YjQ j>l٣l nGlr < r>t]z@59vdo?az@5Yvݓ ivBxz>qz@vjDv:vL:vR]@5 }ADNOT Ignoring new targets: 17.60 m.hhhhhggbgjgejeJe:e|?r\!z\!\!\%>U0)Q UR>i]=9)Y]6YiYiaaeWHIaIiDDDE3 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513357VF%$$ZAM>} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765335=x,jv^A2?y2[?92<Y2<>2H l? ^?: ?`f4?[k?t?p?2?ɨ2Q; 2!C>B>!IDFAMb@Mb@Mb@ )IyQ?)\(:v\=GaT hA)Ii@@H-H-=5=M_ =A=Y=:Q E>A٣A EGAMS4 M>]@59o?a@5Y iB$=mG<̾>q@jD,::(a@5 ADNOT Ignoring new targets: 17.60 m.hhhhhggbgjg.BejeJe:e@r\U$=z\U$=\U@\U̾>u<)q u>i}9)y}6yiyif"IIZI-bI-jI)rI)zI-:I-9I)I)D?DDE2 EՑՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014856GGG!IGBG =GGG<GF:J% KBJ% u9JJ! RJ% ZJ% VF ZA M% >!x,˾v^A:?y:{'?9:Y:k<>:H!?̥?p? k??`!?@h?q?:?ɨ:; :CRBR!IHZHZV85bŹ bS=Yb3:Q f>d٣d fGdj! j>l]r@59nco?ar@5Yna inBprֽ>qv@njDnM;n::nfd@5x zlAxDNOT Ignoring new targets: 17.60 m.h!h!h!h!h!g)g)bg1jg9eAjeAJeI:eU@@r\qz\q\q\uֽ>) ͺ>i9)隕6ii'IIDchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267418D?DDE_0 EE!E%=VF5ZAIMew> DDAT read: Rx Time:19:49:46.0655 e TRx dataTimestamp_ set to:1736538586.429112 PDAT read: Bearing 178.9, 6.6 (Local)  ~Local bearing/azimuth received: Bearing 178.9, 6.6 (Local) - DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1 M DAT read: 19:49:46.0655 LVL= 28000, 32017, 24738, 32755, AGC= 63, IDX= 479, 0.25,-1.940, 0.285,-1.792,-1.273, PHS=-0.579, 1.604,-0.522, RAW= 328.7, -4.7, CAL= 331.1, -6.6, ROT= 178.9, 6.6 'Lx,v^ABYgot valid direction response: 19:49:46.0655 LVL= 28000, 32017, 24738, 32755, AGC= 63, IDX= 479, 0.25,-1.940, 0.285,-1.792,-1.273, PHS=-0.579, 1.604,-0.522, RAW= 328.7, -4.7, CAL= 331.1, -6.6, ROT= 178.9, 6.6 BR#Rx 1: Read range and direction messages.F`direction in FSK: [-0.993190,0.019070,-0.114937]FFpublishing direction and range info Y 05ᅵ0?NZl 3A9 `m }) `I i ? X9 O? ˡ @ ) @I i MG@ = 뿜82޿^Z~ I )i Ş= MG@ = =ۂBE I5Mb@Mb@Mb@11 1)1I1y5~jtx?T㥛 Zd;O5;55j 1)5@I5C@i115(@HmHm6=5\ !=YQ >٣ G >]-@59 o?a5@5Yw iB5=m5E<5q5@jD::h@59 EAAZj Pym?bj /Q i i vv^Aj 3Aj ?A2j @p >11TJ?Auzp 05ᅵ0?NZl"j MG@*j =p |bT+u81]˭'p ӈy"ѿY?oX¿i }j \i )wm?i T  j {Bzj q1Om?j j jj Arj @ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 3.014982 s, deltaX: 0.299999 m, approachRate: 0.099503 m/s, rangeRepo size: 4 - Added new target pos. range: 17.900000 m, bearing: 254.309946 deg, lat: 36.903938 deg, lon: -122.119010 deg, deltaT: 3.014982 s, deltaX: 0.299999 m, approachRate: 0.099503 m/s, posRepo size: 4 -DNOT Ignoring new targets: 17.90 m.h1h1h1h1h1g1g1bg9jg=Be9jeaJee`f1@:ee ?r\=z\=\ՙ@\q|@)  >i9)隽6ii'II > =C 9D D D E 0 E  DDAT read: Rx Time:19:49:46.5655  TRx dataTimestamp_ set to:1736538586.931705 PDAT read: Bearing 178.7, 6.8 (Local) ~Local bearing/azimuth received: Bearing 178.7, 6.8 (Local) GAGAGE!IGElBGAGAGAGE<GE FDAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 -EX#Rx 2: Read range message, but no direction. 9 :JjIBJJJRJ ZJVF%,&ZA)ME?,x,4v^Ab)ݎ?yb?9b _YbI;>bH??@?i{?n ʟ?U?r?b)ݎ?ɨbI; b C~ɂB~ I) p= =H5H5J5Mǝ M7=YuK:Q }>٣ G b >]@59 o?a@5Y iBSq@jD;b;l@5  iA ] addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.502593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 17.90 m.hahahahahggbgjgejeJe:e !?r\az\a\a\ev@u _)y }q>i}9)y}6yiyi^{(II=DAT read: 19:49:46.5655 LVL= 27888, 29217, 22242, 32755, AGC= 62, IDX= 511,-0.37, 1.540,-2.507, 1.681, 2.201, PHS=-0.573, 1.622,-0.523, RAW= 328.9, -4.9, CAL= 331.3, -6.8, ROT= 178.7, 6.8 EYgot valid direction response: 19:49:46.5655 LVL= 27888, 29217, 22242, 32755, AGC= 62, IDX= 511,-0.37, 1.540,-2.507, 1.681, 2.201, PHS=-0.573, 1.622,-0.523, RAW= 328.9, -4.9, CAL= 331.3, -6.8, ROT= 178.7, 6.8 MX#Rx 3: Read direction message, but no range.]`direction in FSK: [-0.992710,0.022528,-0.118404]Y_GK-MW?EO9l !r)VIi>!?TB@ %)g@IiG@=Mz.l޿3lڵI(i =G@=Cm9D D D E 0 E ZIm bIm |jIi rIi zIm }:Im @9Ii Ii Im ;q} Im ;i} Im {:u Im |:m  DDAT read: Rx Time:19:49:47.0656  TRx dataTimestamp_ set to:1736538587.436331 DAT read: Range 10 to 50 : 18.0 m (trip time 12.0 ms) speed 0.1 VF5 3,)ZA - X#Rx 4: Read range message, but no direction. A9 M >3x,5v^A2?y2J ?928Y2;>2HD?`A`?,?=w?`@ͥ? P? s?2?ɨ29; 2!C^Bb IMb@Mb@Mb@ )Iykt~jt:v 0DԼ )@IZ@iH%H%G55 5&=Y=9Q =>9٣9 EGAE9 E>I]U@59M\o?aU@5YM0 iM٣B]Q=m]><]q]@MjDM:M:Mq@5a mAiZjusum?bjucT iqiuv^AjuAju A2ju@puHh16?2 zpu_GK-MW?EO"juG@*ju=puq+뱖HMJ~!1I&ypu_&0cѿntϓK¿iu ju|iu`Erm?iu W  ju({BzjuBjm?jqjua}BjjuArjui@ addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504626 s, deltaX: 0.100000 m, approachRate: 0.198167 m/s, rangeRepo size: 4  Added new target pos. range: 18.000000 m, bearing: 254.067903 deg, lat: 36.903937 deg, lon: -122.119010 deg, deltaT: 1.007219 s, deltaX: 0.100000 m, approachRate: 0.099284 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.00 m.hhhhhg9gAbgAjgEBeAjeIJeM2@:eMW?r\Q=z\Q=\"~@\_@8)  >i9)6ii+'IIC=9DIzDMiAD D D E 0 E E E jAH H a=VFnq'EDDAT read: Rx Time:19:49:47.5655 UTRx dataTimestamp_ set to:1736538587.939733Gu>GqGu!IGuMBGu =GqGqGu<GuFZAM->?˾x, v^APDAT read: Bearing 178.1, 6.9 (Local) ~Local bearing/azimuth received: Bearing 178.1, 6.9 (Local) DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed -0.2 NDAT read: 19:49:47.5655 LVL= 28976, 29809, 24914, 32755, AGC= 61, IDX= 511,-0.29,-0.585, 1.606,-0.472, 0.053, PHS=-0.550, 1.600,-0.528, RAW= 329.5, -4.9, CAL= 331.9, -6.9, ROT= 178.1, 6.9 fYgot valid direction response: 19:49:47.5655 LVL= 28976, 29809, 24914, 32755, AGC= 61, IDX= 511,-0.29,-0.585, 1.606,-0.472, 0.053, PHS=-0.550, 1.600,-0.528, RAW= 329.5, -4.9, CAL= 331.9, -6.9, ROT= 178.1, 6.9 fR#Rx 5: Read range and direction messages.j`direction in FSK: [-0.992212,0.032915,-0.120137]jFpublishing direction and range infoؙY؝Om2,7ڠ?rjƹI؝3A9ؙ؝0q ٝqt)ٝRaIٙiٝ=ٝ ٝ?ٝ+ٝ @ ڙ)ڝ0^@IڝϢiڝF@ڝϢ=ڙ ۙ۝OIFW-qc߿T݅ZI۝%(i۝B=۝F@۝Ϣ=:JeBHBJek9JJaRJe ZJeۙ ܙ5?y5"?95Y5#<>5H,?c?`r?q٣y }Gy}G9 }>]@59o?a@5Y iУBq@jD;J;u@5 AZj[im?bjgQ ii$v^Aj3Aj?A2j@p^eȵ1}?4zpOm2,7ڠ?rjƹI"jF@*jϢ=p}†-"%'0L$aZp*%: ҿM<]{H1¿ijliPfm?iKaT  j {Bzj)wm?jKaT j{BjjPArj@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503402 s, deltaX: -0.100000 m, approachRate: -0.198649 m/s, rangeRepo size: 4  Added new target pos. range: 17.900000 m, bearing: 253.458820 deg, lat: 36.903935 deg, lon: -122.119010 deg, deltaT: 0.503402 s, deltaX: -0.100000 m, approachRate: -0.198649 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hhhhhgg bg jg ejeJe`f1@:e?r\z\\\f@) ׸>i 9)   i iII!C%9D?DDE EZI bI jI 0rI zI p:I y9I ـ3I I ;I ;I ::I ;:VF ,&ZA M >Ɲx,Ow^ADDAT read: Rx Time:19:49:48.0655 TRx dataTimestamp_ set to:1736538588.459065PDAT read: Bearing 177.8, 7.3 (Local) ~Local bearing/azimuth received: Bearing 177.8, 7.3 (Local) DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed -0.1 %B% IEDAT read: 19:49:48.0655 LVL= 23728, 27281, 20722, 32755, AGC= 63, IDX= 511,-0.17,-0.511, 1.632,-0.409, 0.098, PHS=-0.521, 1.581,-0.510, RAW= 329.7, -5.3, CAL= 332.2, -7.3, ROT= 177.8, 7.3 MYgot valid direction response: 19:49:48.0655 LVL= 23728, 27281, 20722, 32755, AGC= 63, IDX= 511,-0.17,-0.511, 1.632,-0.409, 0.098, PHS=-0.521, 1.581,-0.510, RAW= 329.7, -5.3, CAL= 332.2, -7.3, ROT= 177.8, 7.3 UR#Rx 6: Read range and direction messages.]`direction in FSK: [-0.991163,0.038077,-0.127065]]Fpublishing direction and range infoYV*↑L~? C(g= /߿'I'izi=F@w> =Mb@Mb@Mb@99 9)9I9y=Zd;OJ +V-=j=H= =~A)9I=-@i999HuHuDP5d %=YQ >٣ G >]@59o?a@5Y2 iţB=m;q@jDa;U;z@5 AEZj\am?bjrQ iiRaw^Ajj2jY@pa!1o?E2zpV*↑L~?p X)aB+0|w0pΕAiҿnGSs¿ijˤi%^m?i^kT  jzBzj`Erm?j^kT j({BjjArj@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.519332 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.900000 m, bearing: 253.088142 deg, lat: 36.903934 deg, lon: -122.119010 deg, deltaT: 0.519332 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hhhhhggbgjgBejeJe:eB?r\E=z\E=\Ebh@\Em@q)y } >i}9)y}3yiyi'IID ?D D E 0 E HM AAHM BAVF ZA M >͝x,66w^A:?y:@?9:KY:4;>:H?/? 9??JTם?@[U?3s?:?ɨ:ۿ; : CvmBvl IH~H~T5w =YS{;Q ?٣ GĻ %?)]5@59-0o?a5@5Y- i-B15Ǯq5@-jD-u:-:-|@5A ERAAmDNOT Ignoring new targets: 17.90 m.hihqhqhqhqgqgqbgyjgyeyjeyJe:ed?r\z\\\^@K) >i9)  i ij.IGGGG!IG BG =GGG<GFMDDAT read: Rx Time:19:49:48.5654 UTRx dataTimestamp_ set to:1736538588.960780PDAT read: Bearing 178.2, 6.9 (Local) ~Local bearing/azimuth received: Bearing 178.2, 6.9 (Local) DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 DAT read: 19:49:48.5654 LVL= 24880, 28401, 25458, 32755, AGC= 63, IDX= 510,-0.05,-2.993,-0.794,-2.877,-2.354, PHS=-0.551, 1.607,-0.526, RAW= 329.4, -5.0, CAL= 331.8, -6.9, ROT= 178.2, 6.9 Ygot valid direction response: 19:49:48.5654 LVL= 24880, 28401, 25458, 32755, AGC= 63, IDX= 510,-0.05,-2.993,-0.794,-2.877,-2.354, PHS=-0.551, 1.607,-0.526, RAW= 329.4, -5.0, CAL= 331.8, -6.9, ROT= 178.2, 6.9 R#Rx 7: Read range and direction messages.IDD> `direction in FSK: [-0.992267,0.031183,-0.120137] Fpublishing direction and range infoQI%ſ=)%mCYU"Lh,?rjƹI GGkA UA9QU0a Un) Fy kA A)UrcIQiQUV U-?UU@ U¸)UO@IUϢiU" G@UϢ=Q QU?*d!aQ߿E:J5BJ59JJ1RJ5 ZJ5DM?DIDIEM 5 EIEU=EU=IU2(iUg=U" G@UϢ=Q QVFY ZA M >ӝx,BPw^ANՆ?yNTĪ?9NRYYNa;>NH`4?Q?@d??r䱿'*?NH?`s?NՆ?ɨN㴇; NCZnBZn I^=i^R=HfHfDP5n< nO=Yri:Q r>p٣p vGtv+ v>x]@59zo?a@5Yz izB访q @zjDz;z9:z6@5 DAZjxnm?bjTO iik}=w^AjAjA2j5@p\)1x?zp"Lh,?rjƹI"j" G@*jϢ=pq\8!0x dMp=RҿH q\N*R¿iYj8ikm?irR  jzBzjkm?jj {BjjČArj,@m addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.501715 s, deltaX: -0.199999 m, approachRate: -0.398630 m/s, rangeRepo size: 4 } Added new target pos. range: 17.700001 m, bearing: 253.398194 deg, lat: 36.903933 deg, lon: -122.119010 deg, deltaT: 0.501715 s, deltaX: -0.199999 m, approachRate: -0.398630 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.70 m.hhhhhggbgjgejeJe@31@:eM?r\z\\\U@RY) p>i9)p3iij1IIZI~bI}jI1rIzI{m:IS9I3II<;I=;I:I:DqDqDqEu_0 EqDDAT read: Rx Time:19:49:49.0655 TRx dataTimestamp_ set to:1736538589.477336PDAT read: Bearing 178.0, 7.5 (Local) ~Local bearing/azimuth received: Bearing 178.0, 7.5 (Local) MDAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 DAT read: 19:49:49.0655 LVL= 24144, 26737, 24050, 32147, AGC= 62, IDX= 511,-0.22,-0.626, 1.584,-0.513, 0.000, PHS=-0.538, 1.631,-0.517, RAW= 329.5, -5.4, CAL= 332.0, -7.5, ROT= 178.0, 7.5 Ygot valid direction response: 19:49:49.0655 LVL= 24144, 26737, 24050, 32147, AGC= 62, IDX= 511,-0.22,-0.626, 1.584,-0.513, 0.000, PHS=-0.538, 1.631,-0.517, RAW= 329.5, -5.4, CAL= 332.0, -7.5, ROT= 178.0, 7.5 R#Rx 8: Read range and direction messages.%`direction in FSK: [-0.990841,0.034601,-0.130526]%Fpublishing direction and range infoYn7,4? /3A9VFUg0ZAYM}>P^ qh)]I}i>^ ?Z @ )}l@I iF@ > zbp&9뿌lzd߿KXˈ IA(i=F@ > C ڝx, jw^AR=V?yR?9RQYR;>RH/?K???@"R)?M?s?R=V?ɨRu; R CnYBnT IuMb@Mb@Mb@qq q)qIqyuV-¿Zd;Oy&1uhuj=Y;Q >٣ Gb >]@59o?a@5Y iB>m; Ŀq@jD:H:@5 A=<Zj8@`m?bjzT ii^w^Aj3Aj?A2jM@pE9m1bX#?/5t^zpn7,4? /"jF@*j >pW=0L޸+0._p`ޣҿXsBpÿiiji^m?iW  jzBzjPfm?jjzBjjnArjj@  addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.516556 s, deltaX: 0.199999 m, approachRate: 0.387177 m/s, rangeRepo size: 4  Added new target pos. range: 17.900000 m, bearing: 253.003435 deg, lat: 36.903933 deg, lon: -122.119010 deg, deltaT: 0.516556 s, deltaX: 0.199999 m, approachRate: 0.387177 m/s, posRepo size: 4 %DNOT Ignoring new targets: 17.90 m.h!h!h!h!h!g)g)bgIjgMnBeQjeQJeU`f1@:eU?r\>z\>\]@\ @Q) >i[9)Z4ii6II HHD?DDE EG >G G !IG BG =G G G <G FH HHH ="H*Hƹ4 DDAT read: Rx Time:19:49:49.5655  TRx dataTimestamp_ set to:1736538589.981258 PDAT read: Bearing 177.5, 6.9 (Local)  ~Local bearing/azimuth received: Bearing 177.5, 6.9 (Local)  DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 - DAT read: 19:49:49.5655 LVL= 22768, 27825, 22146, 32755, AGC= 63, IDX= 509, 0.33, 1.314,-2.828, 1.398, 1.927, PHS=-0.525, 1.575,-0.532, RAW= 330.2, -5.0, CAL= 332.5, -6.9, ROT= 177.5, 6.9 = Ygot valid direction response: 19:49:49.5655 LVL= 22768, 27825, 22146, 32755, AGC= 63, IDX= 509, 0.33, 1.314,-2.828, 1.398, 1.927, PHS=-0.525, 1.575,-0.532, RAW= 330.2, -5.0, CAL= 332.5, -6.9, ROT= 177.5, 6.9 E R#Rx 9: Read range and direction messages.M `direction in FSK: [-0.991812,0.043303,-0.120137]M Fpublishing direction and range info Y d||r +?rjƹI 9 X l) VI i ? ff ? '1 !k@ ¸) @I Ϣi DF@ Ϣ= 8K5뿫.Pu^X4I ]'i ۱= DF@ Ϣ= VFe /ZAy M >:J JBJ -9JJ RJ ZJ J gAI fAGx,aw^AF%-?yFj?9FgۼYF#v;>FH`W? Қ ? {?p=?`@l?@-K?8t?F%-?ɨFv; FC~SB~L IH H {R5 S=Y%:Q %>!٣) -G)-S ->1]@595Bo?a@5Y5* i5B5Ŀq@5kD5e<5O<5X@5 AZj 77Um?bj 0U i i ~w^Aj j >A2j : @p Qo1/"?4zp d||r +?rjƹI"j DF@*j Ϣ=p "LDBp{0'$ĕp ]CiӿkiA=EL,i Sj "i D+;Rm?i 02X  j zBzj %^m?j j zBjj 9Arj 7@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 17.900000 m, bearing: 252.552026 deg, lat: 36.903932 deg, lon: -122.119010 deg, deltaT: 0.503922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 MDNOT Ignoring new targets: 17.90 m.hQhQhQhQhQgYgYbgajgaeajeiJei:e8?r\z\\\u@gۼ) >i9)4ii!!%:I!IIBQBQCQBQD]?DaDaEe`0 EaZIbIwjIrIzI:I9IIIn;Io;I:I:VF d3ZA MU >!x,w^AVDDAT read: Rx Time:19:49:50.0655 ^TRx dataTimestamp_ set to:1736538590.489665nPDAT read: Bearing 177.4, 7.2 (Local) r~Local bearing/azimuth received: Bearing 177.4, 7.2 (Local)  DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 uDAT read: 19:49:50.0655 LVL= 23984, 28193, 24114, 32755, AGC= 60, IDX= 510,-0.03, 2.054,-2.051, 2.136, 2.668, PHS=-0.525, 1.611,-0.535, RAW= 330.2, -5.2, CAL= 332.6, -7.2, ROT= 177.4, 7.2 }Ygot valid direction response: 19:49:50.0655 LVL= 23984, 28193, 24114, 32755, AGC= 60, IDX= 510,-0.03, 2.054,-2.051, 2.136, 2.668, PHS=-0.525, 1.611,-0.535, RAW= 330.2, -5.2, CAL= 332.6, -7.2, ROT= 177.4, 7.2 }T#Rx 10: Read range and direction messages.`direction in FSK: [-0.991093,0.045005,-0.125333]Fpublishing direction and range infoXYZE{  ?cK X9XZ] Z!n)Z2^IXiZ<XZ?5?ZX Z޹)ZF¹@IZiZ_(F@Z>X XZ'B.~ϱ Q@}2IZJ'iZ+չ=Z_(F@Z>X XލKBލB II)AEMb@Mb@Mb@AA A)AIAyEClǿI +~jtEd;E94ED EA)E@IEC@iE@AE@HHZ5 =YQ >٣ G >]@59o?a@5Yɝ iB!<>m;q@ kDq&<%<1@5 _A!ZjZgtPm?bjZ+W iXiZVw^AjXjX2jZ#@pZP1X2o?zpZE{  ?cK "jZ_(F@*jZ>pZ 'VBo q0AoDpZ.N6(ӿ_>1&($+¿iZjZziZ>^Mm?iZ8Z  jZtzBzjZ^m?jZW jZzBjjZ\ArjZ @@ addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.508407 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 17.900000 m, bearing: 252.397544 deg, lat: 36.903932 deg, lon: -122.119011 deg, deltaT: 0.508407 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.90 m.hhhhhggbgjgKBejeJe:e?r\E!<>z\E!<>\EL@\E@y) ?i9)隕4ii:IID% ?D! D) E- ^0 E) H H @AVFE W5ZAQ M >x,w^AGQGQGU IGUɂBGQGQGQGU'<GUF?y($?9vͼY2<>Hv?Y@??`7?Q}?|^? s??ɨX(; CFB< IH H {R5 w=Y;Q %?!٣! %G!=DDAT read: Rx Time:19:49:50.5654 ETRx dataTimestamp_ set to:1736538590.987799MPDAT read: Bearing 177.6, 7.1 (Local) M~Local bearing/azimuth received: Bearing 177.6, 7.1 (Local) ]DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.2 DAT read: 19:49:50.5654 LVL= 29680, 30129, 25938, 32755, AGC= 63, IDX= 509,-0.49, 0.366, 2.578, 0.455, 0.994, PHS=-0.540, 1.631,-0.542, RAW= 330.0, -5.1, CAL= 332.4, -7.1, ROT= 177.6, 7.1 Ygot valid direction response: 19:49:50.5654 LVL= 29680, 30129, 25938, 32755, AGC= 63, IDX= 509,-0.49, 0.366, 2.578, 0.455, 0.994, PHS=-0.540, 1.631,-0.542, RAW= 330.0, -5.1, CAL= 332.4, -7.1, ROT= 177.6, 7.1 T#Rx 11: Read range and direction messages.`direction in FSK: [-0.991461,0.041555,-0.123601]Fpublishing direction and range info9Y=dt $2F?A7X=A99=s =u)=ReI9i=?=q= =?= =N@ =K)=@I=i=aF@==9 9=Ѓ~Ʃ?߿0`ɶI=%'i=܈==aF@==9 9+ʻ ?]@59o?a@5Yo iBq@ kD;;=@5 AEZj=Vm?bj=T i9i=8w^Aj=Aj=A2j=@p=½19X?ﳶzp=dt $2F?A7X"j=aF@*j==p=Xb;@eY04?p=1pɛӿܖ!8Gi=j=˨i=Sm?i=sW  j=zBzj=Sm?j=sW j=zBjj=:Arj=@5 addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.498134 s, deltaX: -0.199999 m, approachRate: -0.401496 m/s, rangeRepo size: 4 m Added new target pos. range: 17.700001 m, bearing: 252.486943 deg, lat: 36.903931 deg, lon: -122.119011 deg, deltaT: 0.498134 s, deltaX: -0.199999 m, approachRate: -0.401496 m/s, posRepo size: 4 uDNOT Ignoring new targets: 17.70 m.hqhqhqhqhqgygybgyjgy:JBoHBJJJRJ ZJJ? J?ejeJe@31@:e?r\z\\\@vͼ) >i .9)  5 i i!!%(BI!I)D?DDE`0 EVF o5ZA M >x,w^A:?y:?9:QǼY: <>:H? ? ?$?.?]? s?:?ɨ:-߆; : C^HBb? IHfHf R5ng< rd=Yr ;Q r>t٣t vGtvT v?x]~@59zo?a@5Yz  izBq@zkDz;z ;z6@5  qAEDNOT Ignoring new targets: 17.70 m.hIhIhIhIhIgIgIbgQjgQeQjeQJeY:ee?r\yz\y\y\}@QǼ) g>i9)隕15iiEIID?DDE1 EE=E>DDAT read: Rx Time:19:49:51.0654 TRx dataTimestamp_ set to:1736538591.496226PDAT read: Bearing 177.2, 7.2 (Local) ~Local bearing/azimuth received: Bearing 177.2, 7.2 (Local) DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.1 }DAT read: 19:49:51.0654 LVL= 27376, 29073, 24322, 32755, AGC= 61, IDX= 509, 0.00, 1.983,-2.104, 2.054, 2.597, PHS=-0.526, 1.630,-0.546, RAW= 330.4, -5.2, CAL= 332.8, -7.2, ROT= 177.2, 7.2 Ygot valid direction response: 19:49:51.0654 LVL= 27376, 29073, 24322, 32755, AGC= 61, IDX= 509, 0.00, 1.983,-2.104, 2.054, 2.597, PHS=-0.526, 1.630,-0.546, RAW= 330.4, -5.2, CAL= 332.8, -7.2, ROT= 177.2, 7.2 T#Rx 12: Read range and direction messages.VFf:ZAM>%`direction in FSK: [-0.990930,0.048465,-0.125333]%Fpublishing direction and range infoؑYؕ.T[zp[Ш?cK ؑ9ؑؕj ٕq)ٕ_Iّiٕ=ٕٕף?ٕ ٕ@ ڕ޹)ڕ޹@Iڕiڕ.E@ڕ>ڑ ۑەrdx%:{'CT8Iە3 'iە=ە.E@ە>ۑ ܑ&x, w^A2?y2sک?92d¼Y28<>2H@C?Z?z ?`?A?c?s?2?ɨ2Ɇ; 2!C<>> IF٣ G0 >]@59c o?a@5Y iBC>m;q@kD::@5 uAZjEm?bjDW ii+w^Ajj2j{@pt1Ks?‹Gzp.T[zp[Ш?cK "j.E@*j>p\ 0$`px[ӿ XS"iWjݭiBm?ib1Z  jzBzjD+;Rm?j02X jjjeArj-@ addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.508427 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 % Added new target pos. range: 17.700001 m, bearing: 251.945326 deg, lat: 36.903931 deg, lon: -122.119012 deg, deltaT: 0.508427 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 -DNOT Ignoring new targets: 17.70 m.h)h)h)h)h)g1g1bg1jg5MBe9je9Je9:e=@?r\]BC>z\]BC>\]eC@\]i@ud¼)q u>iu9)quR5qiyiyyHIIZI5bI5yjI50rI1zI5p:I59I5ـ3I1qE@iE@uE@mE@D?DDE@5 EGqGqGu IGuBGu =GqGqGu<Gu Fii}DDAT read: Rx Time:19:49:51.5653 TRx dataTimestamp_ set to:1736538591.997051PDAT read: Bearing 177.4, 6.8 (Local) ~Local bearing/azimuth received: Bearing 177.4, 6.8 (Local) VF{TBZADAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 DAT read: 19:49:51.5653 LVL= 26416, 32753, 27298, 32755, AGC= 61, IDX= 507, 0.40, 1.243,-2.850, 1.325, 1.870, PHS=-0.539, 1.611,-0.548, RAW= 330.2, -4.9, CAL= 332.6, -6.8, ROT= 177.4, 6.8 Ygot valid direction response: 19:49:51.5653 LVL= 26416, 32753, 27298, 32755, AGC= 61, IDX= 507, 0.40, 1.243,-2.850, 1.325, 1.870, PHS=-0.539, 1.611,-0.548, RAW= 330.2, -4.9, CAL= 332.6, -6.8, ROT= 177.4, 6.8 T#Rx 13: Read range and direction messages.M > `direction in FSK: [-0.991943,0.045044,-0.118404] Fpublishing direction and range info؁Y؅8ycD ?EO؅̌A9؁؅0g م)مjIفiفم م?5?مI م!k@ څ%)څF¹@Iڅiڅ_(F@څ=ځ ہۅoNߵ| ࿃lPIۅQ'iۅë=ۅ_(F@ۅ=ہ ܁:J BJ k9JJ RJ ZJ   J hAI hA~x,x^ARBK IH5H5P5MQ= UM=YUQ e>i٣i uGqu }>]@59V o?a@5Y iq@kDK;hL;o@5 "AZj OLm?bjAW iiw^AǰAj܋A2jS݌@pELu1ӄye^?$ثzp8ycD ?EO"j_(F@*j=p6]Pc0ȣpR̲TU`ӿ 4[iijiO QIm?i^Z  j`{Bzj>^Mm?jb1Z jzBjjTArj@ addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.500825 s, deltaX: -0.100000 m, approachRate: -0.199671 m/s, rangeRepo size: 4  Added new target pos. range: 17.600000 m, bearing: 252.217006 deg, lat: 36.903930 deg, lon: -122.119012 deg, deltaT: 0.500825 s, deltaX: -0.100000 m, approachRate: -0.199671 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.60 m.hhhhhggbgjgejeJe1@:e?r\qz\q\q\q) ?i9)隍t5iiaHIID%?D!D!E%?5 E!VFe CQEZA  DDAT read: Rx Time:19:49:52.0652  TRx dataTimestamp_ set to:1736538592.504360 PDAT read: Bearing 177.7, 7.0 (Local)  ~Local bearing/azimuth received: Bearing 177.7, 7.0 (Local) M} >x,"x^AZDAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.1 nDAT read: 19:49:52.0652 LVL= 28336, 31105, 26098, 32755, AGC= 62, IDX= 507,-0.15,-0.161, 2.081,-0.066, 0.480, PHS=-0.553, 1.649,-0.549, RAW= 329.9, -5.0, CAL= 332.3, -7.0, ROT= 177.7, 7.0 rYgot valid direction response: 19:49:52.0652 LVL= 28336, 31105, 26098, 32755, AGC= 62, IDX= 507,-0.15,-0.161, 2.081,-0.066, 0.480, PHS=-0.553, 1.649,-0.549, RAW= 329.9, -5.0, CAL= 332.3, -7.0, ROT= 177.7, 7.0 rT#Rx 14: Read range and direction messages.m`direction in FSK: [-0.991747,0.039833,-0.121869]uFpublishing direction and range infoةYح!Ac5d?UM7P2ح3A9ةحn ٭y)٭eI٩i٭>٭h ٭o?٭D ٭<@@ ڭ¸)ڭa@Iڭ5iڭ(~F@ڭ5=ک ۩ۭliC߿[hujIۭ'iۭ=ۭ(~F@ۭ5=۩ ܩOl?yͩ?9ZYJ<>H? )`4? ? ? ?@e?@s?Ol?ɨꘆ; \BW IMb@Mb@Mb@ )IyMbȿS㥛MbP?@/ݼ: A)@I-@i@@HH[5= %=Y%,:Q %>)٣) -G)U6 U>Y]e@59]r o?ae@5Y] i]Be}B>me;e^ֿqm@]"kD]:]:]@5 AZjyTm?bjjժU iioG x^Aj3AjEA2j@p^A1"Is-?Mzp!Ac5d?UM7P2"j(~F@*j5=p6+@vYn0 !吆pȞ;/ӿxyK8?Qitji9Qm?iTX  jN{BzjjjjjArj@U addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.507309 s, deltaX: -0.200001 m, approachRate: -0.394239 m/s, rangeRepo size: 4 e Added new target pos. range: 17.400000 m, bearing: 252.389780 deg, lat: 36.903930 deg, lon: -122.119012 deg, deltaT: 0.507309 s, deltaX: -0.200001 m, approachRate: -0.394239 m/s, posRepo size: 4 eDNOT Ignoring new targets: 17.40 m.hahihhhggbgjgkBejeJe`ff1@:e /?r\}B>z\}B>\0R@\ x@ Z)  >i$9)5iikMII!ZI bI }jI rI zI v:I S9I I CM 9D l>D >D- ?D) D) E5 _0 E1 GQ GQ GU IGU BGU =GQ GQ GU <GU FEq Eu iAuDDAT read: Rx Time:19:49:52.5650 uTRx dataTimestamp_ set to:1736538593.004931}PDAT read: Bearing 177.7, 6.4 (Local) ~Local bearing/azimuth received: Bearing 177.7, 6.4 (Local) DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 DAT read: 19:49:52.5650 LVL= 25952, 30305, 25538, 32755, AGC= 63, IDX= 505, 0.08, 0.505, 2.697, 0.597, 1.149, PHS=-0.556, 1.594,-0.555, RAW= 330.0, -4.5, CAL= 332.3, -6.4, ROT= 177.7, 6.4 Ygot valid direction response: 19:49:52.5650 LVL= 25952, 30305, 25538, 32755, AGC= 63, IDX= 505, 0.08, 0.505, 2.697, 0.597, 1.149, PHS=-0.556, 1.594,-0.555, RAW= 330.0, -4.5, CAL= 332.3, -6.4, ROT= 177.7, 6.4 T#Rx 15: Read range and direction messages.`direction in FSK: [-0.992967,0.039882,-0.111469]Fpublishing direction and range infoqYuBlcᅰ x2ck? -V:üA9qu`e uav)ucIqiu?uVu1?u{uN@ u|٠)qIuiqu=q quϭ'ס뿍eI߿ɟ!FIuГ'iu\=qu=q q:J ,LBJ JJ RJ  ZJ "9JS^{X!c  xQ&yL* wdUJ8(VFmEZAqM?4x,DFx^ABG?yB?9B#YB^;>BHG7?_Y? t? .?c?\?At?BG?ɨB; B CZjB^h II`)bA`bAHfHfJ5]p= ]5=Ye\9Q m>y٣y }G! >]-@59o?a-@5Y iB15ֿq5@'kD\<;@59 =gA9Zjm2\m?bjml,9Q iiimP@x^Ajm̈AjmA2jm@pm"\Z0۴??)dvzpmBlcᅰ x2ck? -V:"ji*jm=pm~71ly4},0Vȓpmjh(ӿ\:^E|9imgjmͣimURYm?im T  jmH|Bzjm9Qm?jmTX jmN{Bjjm=Arjm@ addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.500571 s, deltaX: -0.299999 m, approachRate: -0.599314 m/s, rangeRepo size: 4 - Added new target pos. range: 17.100000 m, bearing: 252.439364 deg, lat: 36.903931 deg, lon: -122.119012 deg, deltaT: 0.500571 s, deltaX: -0.299999 m, approachRate: -0.599314 m/s, posRepo size: 4 5DNOT Ignoring new targets: 17.10 m.h1h1h1h1h9g9g9bg9jg9eAjeaJee1@:em6S?r\z\\\n@#) >>i9)5ii}QII!C 9DDDE0 EVF PIZA MM >A A e DDAT read: Rx Time:19:49:53.0651 u TRx dataTimestamp_ set to:1736538593.513641 PDAT read: Bearing 177.6, 6.6 (Local)  ~Local bearing/azimuth received: Bearing 177.6, 6.6 (Local) x,|ax^ADAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.1 DAT read: 19:49:53.0651 LVL= 24368, 26225, 25458, 32755, AGC= 63, IDX= 505, 0.35, 2.803,-1.313, 2.892,-2.851, PHS=-0.541, 1.585,-0.543, RAW= 330.1, -4.8, CAL= 332.4, -6.6, ROT= 177.6, 6.6 Ygot valid direction response: 19:49:53.0651 LVL= 24368, 26225, 25458, 32755, AGC= 63, IDX= 505, 0.35, 2.803,-1.313, 2.892,-2.851, PHS=-0.541, 1.585,-0.543, RAW= 330.1, -4.8, CAL= 332.4, -6.6, ROT= 177.6, 6.6 T#Rx 16: Read range and direction messages.`direction in FSK: [-0.992501,0.041598,-0.114937]Fpublishing direction and range info!Y%qP$ZL?NZl%fA9!%0_ %qf)%rcI!i!%~ %H?%  %\@ %)%@I%i%aF@%=! !%`8D뿣G@߿*>I%'i%(=%aF@%=! !~-?yj?9'>Y;>HeP? <`?? D?'`4?X? Rt?~-?ɨ:; C-B- IMb@Mb@Mb@ )Iyl¿~jth? rh?D;C< A)IC@i@G@H-H-K5=[= ==YE~Q E>A٣A MGIM M>Q]@59U o?a@5YU iUB>m;q@U,kDU-z\U>\UG@\U @'>) ?i9)隕35iiSIIC=B=C9DD D! D! E% o0 E! Hy H} =IcIk3Ik.IcIcIcZI bI jI 1rI zI p:I 9I 3I Gy Gy G} IG} BGy Gy Gy G} <<G} /FVF_NZADDAT read: Rx Time:19:49:53.5649 TRx dataTimestamp_ set to:1736538594.012063PDAT read: Bearing 177.3, 6.7 (Local) ~Local bearing/azimuth received: Bearing 177.3, 6.7 (Local) DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 DAT read: 19:49:53.5649 LVL= 24688, 30689, 25938, 32755, AGC= 61, IDX= 504,-0.23, 0.006, 2.159, 0.080, 0.625, PHS=-0.531, 1.581,-0.548, RAW= 330.4, -4.8, CAL= 332.7, -6.7, ROT= 177.3, 6.7 %Ygot valid direction response: 19:49:53.5649 LVL= 24688, 30689, 25938, 32755, AGC= 61, IDX= 504,-0.23, 0.006, 2.159, 0.080, 0.625, PHS=-0.531, 1.581,-0.548, RAW= 330.4, -4.8, CAL= 332.7, -6.7, ROT= 177.3, 6.7 -T#Rx 17: Read range and direction messages.5`direction in FSK: [-0.992068,0.046785,-0.116671]5Fpublishing direction and range infoYkh?)?mu"޽A9p` w)ReIi=MU? eH~Gx x5^?I @ )й@I|i F@|= Ywb@z"WDZIv'iN= F@|= lA,zx^A ): y:lA:uB[;?yx?9ļYK<>HB?1?@?@2?lJD?e? s?[;?ɨ[>; CB I:JOBJ#9JJRJ ZJ}{xvsqnlkgd`\ZWSROOLKJIHDA?=H-H-)M5$= B=YܣQ >٣ G: >]@59o?a@5Y iBq@0kD::@5) -A)ZjPm?bj|Q iiŀx^AjAjA2jp@p(Uz0ks?9zpkh?)?mu"޽"j F@*j|=px&*0 0\Lp<0ӿ|M+9i9jiNm?i FS  j[|BzjjTX j|Bjj2Arj֌@E addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.498422 s, deltaX: -0.299999 m, approachRate: -0.601898 m/s, rangeRepo size: 4  Added new target pos. range: 17.000000 m, bearing: 251.966004 deg, lat: 36.903930 deg, lon: -122.119012 deg, deltaT: 0.498422 s, deltaX: -0.299999 m, approachRate: -0.601898 m/s, posRepo size: 4 DNOT Ignoring new targets: 17.00 m.hhhhhggbgjgejeJe1@:ec?r\ z\ \ \ @=ļ)A EC ?iE9)AE5AiAiIIUQIQIQC 9D D D E `0 E VFNUDDAT read: Rx Time:19:49:54.0649 eTRx dataTimestamp_ set to:1736538594.533559PDAT read: Bearing 177.3, 5.8 (Local) ~Local bearing/azimuth received: Bearing 177.3, 5.8 (Local) -DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 ZADAT read: 19:49:54.0649 LVL= 25072, 29985, 23602, 32755, AGC= 62, IDX= 504, 0.07, 2.335,-1.859, 2.408, 2.961, PHS=-0.538, 1.510,-0.556, RAW= 330.4, -4.1, CAL= 332.7, -5.8, ROT= 177.3, 5.8 M?(x&Ygot valid direction response: 19:49:54.0649 LVL= 25072, 29985, 23602, 32755, AGC= 62, IDX= 504, 0.07, 2.335,-1.859, 2.408, 2.961, PHS=-0.538, 1.510,-0.556, RAW= 330.4, -4.1, CAL= 332.7, -5.8, ROT= 177.3, 5.8 &T#Rx 18: Read range and direction messages.*`direction in FSK: [-0.993776,0.046865,-0.101056].Fpublishing direction and range infoY0)z7?+hg޹9a !u)2\,عx^AIi>^ G?V C)I4QϽi4Q= Lf@뿠C +࿌d'AI 'i.=4Q= /?ym?9ɼYj <>H)N?@~Z??];?@fm"? ]? s?/?ɨ:; C]B] ImMb@Mb@Mb@ii i)iIiym:vMbp?I +?mԽm;m9< m$A)m@Im-@iiim=@HHH5=  =YxQ >٣ GK >]@59o?a@5Y iB=m;q@4kDZ::@5 !AZjq_Rm?bj˅S ii%x^Ajj2jΌ@p50 w~?{|zp0)z7?+hg޹"j*j4Q=pzo0ekHSpG\TZӿy?i7@%i=x9)隍V5iiYSI I)BMhABMgAZIbIjI2rIzIy:Iy9Ic3IC 9G G G IG ݂BG G G G <G FH HHH ="H*H,L4Du ?Dq Dq E} 4 Ey E E hA DDAT read: Rx Time:19:49:54.5648  TRx dataTimestamp_ set to:1736538595.037205 PDAT read: Bearing 177.3, 5.9 (Local)  ~Local bearing/azimuth received: Bearing 177.3, 5.9 (Local)  DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0  DAT read: 19:49:54.5648 LVL= 29360, 29777, 24930, 32755, AGC= 62, IDX= 503,-0.36,-1.251, 0.856,-1.181,-0.625, PHS=-0.538, 1.528,-0.559, RAW= 330.5, -4.2, CAL= 332.7, -5.9, ROT= 177.3, 5.9  Ygot valid direction response: 19:49:54.5648 LVL= 29360, 29777, 24930, 32755, AGC= 62, IDX= 503,-0.36,-1.251, 0.856,-1.181,-0.625, PHS=-0.538, 1.528,-0.559, RAW= 330.5, -4.2, CAL= 332.7, -5.9, ROT= 177.3, 5.9  T#Rx 19: Read range and direction messages.`direction in FSK: [-0.993599,0.046857,-0.102793]Fpublishing direction and range infoة Yح YX=C?zBPح fA9ة ح r ٭ Qt)٭ baI٩ i٩ ٩ ٭ ?٭ ٭ @ ڭ Q )ک Iڭ Bҽiک ڭ B=ک ۩ ۭ .eh뿅{s23Iۭ &iۭ =۩ ۭ B=۩ ܩ :JeNBJe-9JJaRJe ZJe;9;754645300/.-1/)$$!""  VF]_NZAqM?2x,$x^AލƂBޕ II)HH>57= =YQ >٣ G >]@59do?a @5Y iB  q@8kD<;@5B }AEZj)Vm?bj&O iiax^AjfAjA2jˌ@pID00?S85qzpYX=C?zBP"j*jB=pڮG+/9Ο,jp{q`ӿ(x=0_6뽿i~j#i%Sm?iR  j}Bzjj T j[|BjjArj@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503646 s, deltaX: -0.200001 m, approachRate: -0.397106 m/s, rangeRepo size: 4  Added new target pos. range: 16.799999 m, bearing: 252.095720 deg, lat: 36.903930 deg, lon: -122.119010 deg, deltaT: 0.503646 s, deltaX: -0.200001 m, approachRate: -0.397106 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.80 m.hhhhhggbgjgejeJe0@:e8?r\z\\\) ?i|9)  5 i i^SIIC%9DDDE_0 EVF NZA M > DDAT read: Rx Time:19:49:55.0648  TRx dataTimestamp_ set to:1736538595.545155 PDAT read: Bearing 177.3, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 177.3, 5.4 (Local)  DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 8x,x^AVDAT read: 19:49:55.0648 LVL= 27072, 29873, 23538, 32755, AGC= 62, IDX= 503, 0.12, 0.957, 3.076, 1.028, 1.601, PHS=-0.556, 1.522,-0.576, RAW= 330.5, -3.8, CAL= 332.7, -5.4, ROT= 177.3, 5.4 ZYgot valid direction response: 19:49:55.0648 LVL= 27072, 29873, 23538, 32755, AGC= 62, IDX= 503, 0.12, 0.957, 3.076, 1.028, 1.601, PHS=-0.556, 1.522,-0.576, RAW= 330.5, -3.8, CAL= 332.7, -5.4, ROT= 177.3, 5.4 ZT#Rx 20: Read range and direction messages.~`direction in FSK: [-0.994457,0.046897,-0.094108]Fpublishing direction and range infoعYؽᅫ?|ӄ{ع9عؽi ٽt)ٽ[IٹiٹٽVٽ?ٽtٹ ڽԇ)ڹIڽiڹڽ=ڹ ۹۽\^=މ1CްI۽N'i۽* =۹۽=۹ ܹ?yϩ?9Y#<>H_?a? ?A?'`E?K`? r?騵?ɨ^;  CB IMb@Mb@Mb@ )IyMbS㥛 rh?@/ݼC< A)Ii@3@HH=5M= M'=YMQ M>Q٣Q UGQ]; ]>]@59o?a@5Y0 iBh=mi<q@:kD::m@5 AZj*\m?bjQ iix^Ajj2j@pv0\ːE6?2 28Kzpᅫ?|ӄ{"j*j=p*<i/(#pGXHFӿnMRi~jiYm?i}TT  j?~Bzjj}TT j}BjjۅArj@ addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.507950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.799999 m, bearing: 252.358208 deg, lat: 36.903930 deg, lon: -122.119010 deg, deltaT: 0.507950 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.80 m.hhhhhggbgjgBejeJe:eM?r\=h=z\=h=\= oj@\=@M)Q Ug>iu9)q}yiyiy\HIIH H 4=C 9Gm >Gi Gm .!IGm BGi Gi Gi Gm "<Gm FD ?D D E 5 E uDDAT read: Rx Time:19:49:55.5647 uTRx dataTimestamp_ set to:1736538596.043957}PDAT read: Bearing 176.9, 5.3 (Local) ~Local bearing/azimuth received: Bearing 176.9, 5.3 (Local) DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.1 DAT read: 19:49:55.5647 LVL= 25920, 30145, 25474, 32755, AGC= 62, IDX= 502,-0.18,-3.084,-0.984,-3.034,-2.451, PHS=-0.545, 1.514,-0.586, RAW= 331.0, -3.7, CAL= 333.1, -5.3, ROT= 176.9, 5.3 Ygot valid direction response: 19:49:55.5647 LVL= 25920, 30145, 25474, 32755, AGC= 62, IDX= 502,-0.18,-3.084,-0.984,-3.034,-2.451, PHS=-0.545, 1.514,-0.586, RAW= 331.0, -3.7, CAL= 333.1, -5.3, ROT= 176.9, 5.3 T#Rx 21: Read range and direction messages.`direction in FSK: [-0.994268,0.053848,-0.092371]Fpublishing direction and range infoqYuV 鑫?{]UuA9qu@e uu)ucIqiqu u?uuݸ@ u A)u @IuqiueE@uq=q quŭ`6oaqࡰIu|u&iu'=ueE@uq=q qVFZAM ?@Ax,{y^A:JFgMBJFk9JJDRJF ZJFJRgAIRgAB!IHHB5G= $=YQ >٣ G >]%@59o?a%@5Y iB!)q-@;kD:S:ۼ@51 5A1Zj, Wm?bjÛ O ii1y^AjAjA2j߻@pAq0??UqzpV 鑫?{]U"jeE@*jq=pT׉~֒/™4pC tӿ%@e,ܻi|jNi)s+Tm?iQ  j~Bzj%Sm?j FS j}BjjkArj@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.498802 s, deltaX: -0.099998 m, approachRate: -0.200477 m/s, rangeRepo size: 4  Added new target pos. range: 16.700001 m, bearing: 251.983021 deg, lat: 36.903931 deg, lon: -122.119010 deg, deltaT: 0.498802 s, deltaX: -0.099998 m, approachRate: -0.200477 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.70 m.hhhhhggbgjgejeJe@30@:eX?r\Yz\Y\Y\Yi)q uh>i}e9)y}7 4yiyi,IIIZI=bI={jI=1rI9zI=s:I=-9I=3I9I=;qMI=;iMI=:uMI=:mMC 9D ?D D E 05 E 5 A1 U DDAT read: Rx Time:19:49:56.0646 e TRx dataTimestamp_ set to:1736538596.562287 PDAT read: Bearing 176.8, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 176.8, 5.4 (Local)  DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 VFKGZAM>eIx,i'y^ABDAT read: 19:49:56.0646 LVL= 25328, 24865, 27362, 32755, AGC= 62, IDX= 501, 0.26,-0.333, 1.774,-0.288, 0.296, PHS=-0.542, 1.524,-0.587, RAW= 331.1, -3.8, CAL= 333.2, -5.4, ROT= 176.8, 5.4 FYgot valid direction response: 19:49:56.0646 LVL= 25328, 24865, 27362, 32755, AGC= 62, IDX= 501, 0.26,-0.333, 1.774,-0.288, 0.296, PHS=-0.542, 1.524,-0.587, RAW= 331.1, -3.8, CAL= 333.2, -5.4, ROT= 176.8, 5.4 ZT#Rx 22: Read range and direction messages.^`direction in FSK: [-0.994010,0.055574,-0.094108]^Fpublishing direction and range infoYfVDkD&t?|ӄ{A9b !a)jIi o?E@ ԇ)@Ii|E@= rۍ?yr?9rYr ;>rH? `? ?q?@/Ͳ)?Y?r?N2Y-H:zTRq`I[&iٷ=|E@= rۍ?ɨrS<; r"CލBލ!I Mb@Mb@Mb@   ) I y :v??  T< < ) @I C@i $@  (@HuHu757 = =YQ >٣ Gu; >] @59~o?a @5Y iB<m<@@q@i9)׃4iikVAIIBBhAC 9D9 G! G! G% m!IG% >BG! G! G! G% <G% FD ?D D E r1 E E E  DDAT read: Rx Time:19:49:56.5646  TRx dataTimestamp_ set to:1736538597.060469 PDAT read: Bearing 176.1, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 176.1, 5.4 (Local)  DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0  DAT read: 19:49:56.5646 LVL= 30576, 32753, 26002, 32755, AGC= 62, IDX= 500,-0.01,-1.833, 0.245,-1.818,-1.222, PHS=-0.523, 1.513,-0.599, RAW= 331.8, -3.8, CAL= 333.9, -5.4, ROT= 176.1, 5.4  Ygot valid direction response: 19:49:56.5646 LVL= 30576, 32753, 26002, 32755, AGC= 62, IDX= 500,-0.01,-1.833, 0.245,-1.818,-1.222, PHS=-0.523, 1.513,-0.599, RAW= 331.8, -3.8, CAL= 333.9, -5.4, ROT= 176.1, 5.4  T#Rx 23: Read range and direction messages. `direction in FSK: [-0.993257,0.067713,-0.094108] Fpublishing direction and range infoؑ Yؕ _U?|ӄ{ؑ 9ؑ ؕ pw ٕ )ٕ eIّ iّ ٕ Tٕ ?ٕ Xٕ O@ ڑ )ڕ %|@Iڑ iڕ D@ڑ ڑ ۑ ە Cn!&Yk>j |YIە r%iە <=ە D@ۑ ۑ ܑ VFHZAM?Rx,Hy^A:JVKBJV#9JJTRJV ZJV    6?ys?9 YX;>H2M?@`ϥ???섳?UT? q?騍 6?ɨ; CޥBޥA!IHH?5= 2=YQ >٣ G; >9]E@59=,o?aE@5Y=ޱ i=BIM@@qM@9=W:=y:=t@5Q U@QZj5bOm?bj5sH i1i5Cy^Aj1j12j5sq@p5F;c0]}U?0u`7zp5_U?|ӄ{"j5D@*j1p5+b V#/=b$:p5 K6ԿT #,WaOi5xj5¦i5dMm?i5sMK  j5~Bzj1j5Q j5~Bjj5˄Arj5Կ@- addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.498182 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ] Added new target pos. range: 16.500000 m, bearing: 251.462500 deg, lat: 36.903931 deg, lon: -122.119009 deg, deltaT: 0.498182 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 eDNOT Ignoring new targets: 16.50 m.hahahahahagigibgijgieqjeJe:e^?r\z\\\@@ ) ?>iM9)ii~7IIUf6Xx,rby^AB`w?yBߴ?9BDYB9&<>BHA ?v >?s?5?᳿ۜ? _?p?B`w?ɨBB; B C-DDAT read: Rx Time:19:49:57.0647 =TRx dataTimestamp_ set to:1736538597.577213ePDAT read: Bearing 175.4, 5.8 (Local) m~Local bearing/azimuth received: Bearing 175.4, 5.8 (Local) DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0 !!DAT read: 19:49:57.0647 LVL= 28624, 31345, 23890, 32755, AGC= 63, IDX= 501,-0.10,-1.788, 0.299,-1.802,-1.196, PHS=-0.504, 1.542,-0.609, RAW= 332.5, -4.1, CAL= 334.6, -5.8, ROT= 175.4, 5.8 5Ygot valid direction response: 19:49:57.0647 LVL= 28624, 31345, 23890, 32755, AGC= 63, IDX= 501,-0.10,-1.788, 0.299,-1.802,-1.196, PHS=-0.504, 1.542,-0.609, RAW= 332.5, -4.1, CAL= 334.6, -5.8, ROT= 175.4, 5.8 =T#Rx 24: Read range and direction messages.=`direction in FSK: [-0.991676,0.079788,-0.101056]EFpublishing direction and range info1Y5[tϻp;m?+hg޹5A915o 5qz)5R]I1i5?5%5B`?5m5@ 5C)5;@I54QϽi5vC@54Q=1 15|@bE;#῜o pI5$i5=5vC@54Q=1 1Mb@Mb@Mb@ )Iy:v? rhI +?<C94< A)Ii@3@HH35m: m=Ym1_Q m>q٣q uGq}?}; }>]@598o?a@5Y iB=m<=4?q@=kDR;[O;@5 @Zj51=m?bj56RK i1i5dy^Aj5Aj5A2j5#@p5j0 Q?"zp5[tϻp;m?+hg޹"j5vC@*j54Q=p5?.+P/ψ"p5Կ)%)^0꾿i5zj5_i5D:m?i5(N  j5$~Bzj1j5(N j1jj5ӃArj5ͥ@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.516744 s, deltaX: 0.200001 m, approachRate: 0.387040 m/s, rangeRepo size: 4  Added new target pos. range: 16.700001 m, bearing: 250.809866 deg, lat: 36.903931 deg, lon: -122.119007 deg, deltaT: 0.516744 s, deltaX: 0.200001 m, approachRate: 0.387040 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.70 m.hhhhhggbgjg4BejeJe@30@:eJ?r\e=z\e=\e@\e=4?uD)q }g>i}9)y}4yiyi1IIDzDhADi Di Di Em "5 Ei Eq Eu =G G G !IG gBG G G G %<G FVF 8ZA M >&_x,qy^A6?y6?ݪ?96iY6<>6H@?`^?M? ь?>?Z?@tp?6?ɨ63F; 4>#B>L!IHJHJ6=5Nq= R=YRqQ R?T٣T VGTZr; Z?X]^@59Zo?ab@5YZn iZB`b}4?qb@Z>kDZ;Z2;Z@5h j.@lDNOT Ignoring new targets: 16.70 m.hhh h h g g bgjgejeJe:e@&?r\1z\1\1\5}4?i) g>i9)隭c4iisb-IIDDAT read: Rx Time:19:49:57.5646 TRx dataTimestamp_ set to:1736538598.076136PDAT read: Bearing 174.9, 5.5 (Local) ~Local bearing/azimuth received: Bearing 174.9, 5.5 (Local) DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 DAT read: 19:49:57.5646 LVL= 29168, 32161, 27682, 32755, AGC= 62, IDX= 500,-0.05, 1.985,-2.193, 1.944, 2.580, PHS=-0.508, 1.557,-0.639, RAW= 333.1, -3.9, CAL= 335.1, -5.5, ROT= 174.9, 5.5  Ygot valid direction response: 19:49:57.5646 LVL= 29168, 32161, 27682, 32755, AGC= 62, IDX= 500,-0.05, 1.985,-2.193, 1.944, 2.580, PHS=-0.508, 1.557,-0.639, RAW= 333.1, -3.9, CAL= 335.1, -5.5, ROT= 174.9, 5.5  T#Rx 25: Read range and direction messages.=`direction in FSK: [-0.991455,0.088485,-0.095846]=Fpublishing direction and range info؉Y؍a Ъ/?aVX؍A9؉؍q ٍ})ٍ"lIىiٍ>ٍJ ٍK?ٍ#ٍ @ ڍ'g)ڍ'@Iڍ Ľiڍ|]C@ڍ =ډ ۉۍ%NQ3-iῊrZIۍ%$iۍ=ۍ|]C@ۍ =ۉ ܉DDDE_0 EVF0ZAM$>:J7 MBJu9JJRJ ZJ nfx,8y^AZI:bI:yjI8rI8zI:y:I:9I8I8I:;I: ;I::I:: ?y v!?9 z#Y P<> H?@8??"@?ԝ`m?@bc?so? ?ɨ ; !Cޝ+BޥV!Iy٣y }Gy}(; >]@59o?a@5Y. iB4?q@?kD;m;@5 @ZjkF>m?bjlE iij߄y^AjAjA2j}@ppLq[0&#,\?Mzpa Ъ/?aVX"j|]C@*j =p\c|/{..mrKpkp&տHs~8i9wji7;m?iJBH  j~BzjdMm?jL j~BjjʃArjo@ addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.498923 s, deltaX: -0.200001 m, approachRate: -0.400865 m/s, rangeRepo size: 4  Added new target pos. range: 16.500000 m, bearing: 250.560540 deg, lat: 36.903930 deg, lon: -122.119007 deg, deltaT: 0.498923 s, deltaX: -0.200001 m, approachRate: -0.400865 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.50 m.hhhhhggbgjgejeJe0@:e=?r\z\\\O4?z#) 4>i9)隍4iiʽ&IIDDAT read: Rx Time:19:49:58.0647 -TRx dataTimestamp_ set to:1736538598.594765UPDAT read: Bearing 174.8, 5.7 (Local) u~Local bearing/azimuth received: Bearing 174.8, 5.7 (Local) D?DDE E}DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.4 DAT read: 19:49:58.0647 LVL= 25968, 25057, 24178, 32755, AGC= 60, IDX= 501, 0.14, 2.362,-1.836, 2.316, 2.947, PHS=-0.497, 1.548,-0.634, RAW= 333.2, -4.0, CAL= 335.2, -5.7, ROT= 174.8, 5.7 Ygot valid direction response: 19:49:58.0647 LVL= 25968, 25057, 24178, 32755, AGC= 60, IDX= 501, 0.14, 2.362,-1.836, 2.316, 2.947, PHS=-0.497, 1.548,-0.634, RAW= 333.2, -4.0, CAL= 335.2, -5.7, ROT= 174.8, 5.7 T#Rx 26: Read range and direction messages.%`direction in FSK: [-0.990960,0.090184,-0.099320]%Fpublishing direction and range info!Y%nm.eR?hܸm%A9!%pe %a)%r^I!i%<%v%$?%M"%@ %5)%6@I%%˽i%@C@%%=! !%a0ܩZ|r~cɱI%n#i%{h=%@C@%%=! !VF H0ZA M- >..lx,y^A2b ?y2H?92FI*Y2c*<>2H {?w~?`p??@G?K^?o?2b ?ɨ2O; 2CfBfF!ImMb@Mb@Mb@ii i)iIiym{Gz?Zd;y&1|m#=mym` mA)iImZ@im$@im@HH85 W=YQ >٣ GQ; >]@59o?a@5Y iB=m5<g>q@@kD~ ;?;@5 @ZjUBc9m?bjUI iQiUy^AjUAjUA2jU@pU1č0;y?\ɉzpUnm.eR?hܸm"jU@C@*jU%=pUn#5o?/.lVVpU5տdJHNiUyjUiUUhw6m?iUbL  jU~BzjU7;m?jUbL jU~BjjUrArjU@% addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.518629 s, deltaX: 0.200001 m, approachRate: 0.385634 m/s, rangeRepo size: 4  Added new target pos. range: 16.700001 m, bearing: 250.492772 deg, lat: 36.903928 deg, lon: -122.119007 deg, deltaT: 0.518629 s, deltaX: 0.200001 m, approachRate: 0.385634 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.70 m.hhhhhggbgjgfBejeJe @30@:e5?r\M=z\M=\M^@\Meg>HqHqFI*) R>i`9)s4i)i9i"IIBBCEBEGGG!IGBGGGGT<G?FI F=) rC G )>y!AD?DDE EuE?u{A DDAT read: Rx Time:19:49:58.5646  TRx dataTimestamp_ set to:1736538599.095827% PDAT read: Bearing 174.2, 5.5 (Local) - ~Local bearing/azimuth received: Bearing 174.2, 5.5 (Local) 5 DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 e DAT read: 19:49:58.5646 LVL= 30992, 30929, 27986, 32755, AGC= 62, IDX= 500, 0.43, 0.258, 2.351, 0.181, 0.837, PHS=-0.491, 1.561,-0.659, RAW= 333.9, -3.9, CAL= 335.8, -5.5, ROT= 174.2, 5.5 m Ygot valid direction response: 19:49:58.5646 LVL= 30992, 30929, 27986, 32755, AGC= 62, IDX= 500, 0.43, 0.258, 2.351, 0.181, 0.837, PHS=-0.491, 1.561,-0.659, RAW= 333.9, -3.9, CAL= 335.8, -5.5, ROT= 174.2, 5.5 u T#Rx 27: Read range and direction messages.} `direction in FSK: [-0.990300,0.100591,-0.095846]} Fpublishing direction and range info Y :8U?aVX A9  y  x) RmI i > Zd ? 9( %|@  'g) ͋@I Ľi QB@ =    Jx1)W`UI 2#i Ɋ= QB@ =  VF% &ZA1 MU >:J .LBJ 9JJ RJ ZJ J ? J $?>sx,y^A26?y2Ot?921Y2;>2HQ?`M}?`??NK?V? n?26?ɨ2^; 2!C> B>I!IHFHF95N<< b[=Yb|Q b>d٣d fGdf/f; j>h]~@59j o?a@5Yj ijB7>q@jBkDj;j;j@5  ^@ZjMC6m?bjM*C iIiM"y^AjMAjMA2jM@pMRyW0̹ڣX?MzpM:8U?aVX"jMQB@*jM =pM}."e;m(D.INpM#Sտ$a^}\iMZvjM.iM3m?iMMF  jMm~BzjMD:m?jMsMK jMm~BjjMFArjM@  addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.501062 s, deltaX: -0.200001 m, approachRate: -0.399154 m/s, rangeRepo size: 4 E Added new target pos. range: 16.500000 m, bearing: 250.015285 deg, lat: 36.903928 deg, lon: -122.119006 deg, deltaT: 0.501062 s, deltaX: -0.200001 m, approachRate: -0.399154 m/s, posRepo size: 4 EDNOT Ignoring new targets: 16.50 m.hAhAhAhIhIgIgIbgQjgqeyjeJe0@:e r3?r\ z\ \ \ 7>u1)y }>i}9)y} 5yiyiރIIDIDIDIEM0 EIZIbI|jIrIzIs:I@9III;I;I{:I|:VFm `i"ZAq M >M DDAT read: Rx Time:19:49:59.0648 :Byx,sy^ATRx dataTimestamp_ set to:1736538599.6107186PDAT read: Bearing 173.7, 5.7 (Local) :~Local bearing/azimuth received: Bearing 173.7, 5.7 (Local) =DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed -0.1 DAT read: 19:49:59.0648 LVL= 23712, 25201, 22578, 32755, AGC= 63, IDX= 502,-0.22,-0.672, 1.436,-0.772,-0.101, PHS=-0.483, 1.584,-0.674, RAW= 334.4, -4.0, CAL= 336.3, -5.7, ROT= 173.7, 5.7 Ygot valid direction response: 19:49:59.0648 LVL= 23712, 25201, 22578, 32755, AGC= 63, IDX= 502,-0.22,-0.672, 1.436,-0.772,-0.101, PHS=-0.483, 1.584,-0.674, RAW= 334.4, -4.0, CAL= 336.3, -5.7, ROT= 173.7, 5.7 T#Rx 28: Read range and direction messages.`direction in FSK: [-0.989046,0.109192,-0.099320]Fpublishing direction and range infoY|WD]?hܸmfA9\ qb)2XIi?K?D,ú@ 5)Jӻ@I%˽iWB@%= \$:YD;NWƱIm"iS=WB@%= d?yE?9;6Yl;<>H#?L=? ?@?eڦ?_? m?d?ɨ; CUBU9!IIY)YMb@Mb@Mb@ )IyX9v?Zd;Q<u  A)IC@if@HHP@5=: ==YE*Q E>A٣I MGIM&; M>Q]}@59U o?a}@5YUe iUBv=m=<,>q@UDkDU;U;U@5 AZjS&m?bjPI iiy^AjfAjA2ja@pŰ024Y?:xzp|WD]?hܸm"jWB@*j%=prfGJs6@/>BMW]pr\.ֿD@d+izjRi@#m?iuL  j}BzjUhw6m?juL j$~BjjƄArjUˋ@M addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.514891 s, deltaX: 0.299999 m, approachRate: 0.582646 m/s, rangeRepo size: 4 } Added new target pos. range: 16.799999 m, bearing: 249.562971 deg, lat: 36.903928 deg, lon: -122.119006 deg, deltaT: 0.514891 s, deltaX: 0.299999 m, approachRate: 0.582646 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.80 m.hhhhhggbgjg`BejeJe0@:e`\?r\v=z\v=\ץ@\,>;6) 4>iP9)g#5i i  5CI1I9DAD?DDEn0 EE=E=G G G !IG BG =G G G <G FH HHH"H*HI4VF ZA! M= >需x,!z^A::n?y:?9:t;Y: ;>:HZ?@m? ?C?kܵu?-T? n?::n?ɨ:; : CBBB5!IHNHN6=5Vޒ V=YZQ Z?X٣X ZG\^U: ^?`]f@59bio?af@5YbB ibBhjz>qj@bEkDbQ;b ;be@5l n,ApDNOT Ignoring new targets: 16.80 m.hhhhhggbgjgejeJe:e ?r\z\\\z>DDAT read: Rx Time:19:49:59.5647 TRx dataTimestamp_ set to:1736538600.104253PDAT read: Bearing 173.1, 5.6 (Local)  ~Local bearing/azimuth received: Bearing 173.1, 5.6 (Local) DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0 =DAT read: 19:49:59.5647 LVL= 32752, 30129, 28194, 32755, AGC= 65, IDX= 501,-0.00,-0.631, 1.449,-0.759,-0.076, PHS=-0.467, 1.572,-0.686, RAW= 335.0, -3.9, CAL= 336.9, -5.6, ROT= 173.1, 5.6 EYgot valid direction response: 19:49:59.5647 LVL= 32752, 30129, 28194, 32755, AGC= 65, IDX= 501,-0.00,-0.631, 1.449,-0.759,-0.076, PHS=-0.467, 1.572,-0.686, RAW= 335.0, -3.9, CAL= 336.9, -5.6, ROT= 173.1, 5.6 MT#Rx 29: Read range and direction messages.U`direction in FSK: [-0.988019,0.119563,-0.097583]UFpublishing direction and range infoYץȷڝ]H?A_1A9 u)"nIiAᄅL7?/k@ 'g))@I+Ƚmt;)i m>imh9)qu55qiqiyy}]IyIiZA@+= V_#bST`#I!iq=ZA@+= DDDE=5 E:J5BJ1JJ1RJ5 ZJ5GJEhAIAVFoZAM>y†x,!Zz^AZIN~bINyjILrILzIN{m:IN9ILILIN<;IN=;IN:IN:?yī?9 @Y5<>H?`#r?!?s{?|`2? E^?+m??ɨ.; C-B-)!IH=H=m?5UC U@=Y] "Q ]>Y٣Y eGae: e>i]}@59mo?a}@5Ym imBy}>q}@mGkDm;m;m@5B AEZj5yNs!m?bj55 @)1 53>i=o9)9=K59i9iAAmIiIiDDDE5 E-DDAT read: Rx Time:19:50:00.0647 5TRx dataTimestamp_ set to:1736538600.612445PDAT read: Bearing 172.9, 5.4 (Local) ~Local bearing/azimuth received: Bearing 172.9, 5.4 (Local) ]DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.1 DAT read: 19:50:00.0647 LVL= 27872, 27217, 24930, 32755, AGC= 63, IDX= 501, 0.26, 0.048, 2.086,-0.085, 0.594, PHS=-0.458, 1.540,-0.682, RAW= 335.3, -3.8, CAL= 337.1, -5.4, ROT= 172.9, 5.4  Ygot valid direction response: 19:50:00.0647 LVL= 27872, 27217, 24930, 32755, AGC= 63, IDX= 501, 0.26, 0.048, 2.086,-0.085, 0.594, PHS=-0.458, 1.540,-0.682, RAW= 335.3, -3.8, CAL= 337.1, -5.4, ROT= 172.9, 5.4 ]T#Rx 30: Read range and direction messages.e`direction in FSK: [-0.987928,0.123053,-0.094108]eFpublishing direction and range info)Y-z|܋f?|ӄ{)9)-l -Qj)-baI)i-?-~꾩-?-.-PD@ -ԇ)-E@I-i-!A@-=) )-N{a@.m⿺ Y I-!i-|=-!A@-=) )VF ZA M >錞x,(6z^A:|?y:?9: OCY:;>:H ?a?` ?ȁ?@K g?T?@Sm?:|?ɨ:D; 8bBb!ImMb@Mb@Mb@ii i)iIiymMbp?X9v{Gzm;m}mף m~A)iIiiiim@HH:5 G=Y}Q >٣ GXL >]@59o?a@5Y# iB=mK<4 q@IkDM7;5;@5 AZjep<m?bjeoD iaieM2'z^Ajaja2je@pe0w p@}eO%zpez|܋f?|ӄ{"je!A@*je=pe is.IpeBQgֿiB9)d5ii!%I!I)D1zD1D?DDE5 EEEiAAA%DDAT read: Rx Time:19:50:00.5647 %TRx dataTimestamp_ set to:1736538601.112207-PDAT read: Bearing 172.5, 5.6 (Local) 5~Local bearing/azimuth received: Bearing 172.5, 5.6 (Local) EDAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2 mDAT read: 19:50:00.5647 LVL= 32496, 32753, 32210, 32755, AGC= 65, IDX= 501,-0.32,-2.605,-0.530,-2.761,-2.062, PHS=-0.455, 1.579,-0.702, RAW= 335.7, -3.9, CAL= 337.5, -5.6, ROT= 172.5, 5.6 uYgot valid direction response: 19:50:00.5647 LVL= 32496, 32753, 32210, 32755, AGC= 65, IDX= 501,-0.32,-2.605,-0.530,-2.761,-2.062, PHS=-0.455, 1.579,-0.702, RAW= 335.7, -3.9, CAL= 337.5, -5.6, ROT= 172.5, 5.6 }T#Rx 31: Read range and direction messages.`direction in FSK: [-0.986713,0.129903,-0.097583]Fpublishing direction and range info!Y%KU]'~Rq?A_1!9!%~ %)%}I!i%A%辩%?%F3%}@ %'g)%~@I%+Ƚi%2@@%+=! !% 鿺RᴜPI%:!i%޶=%2@@%+=! !VF ZA M >:J} MBJ} 89JJy RJ} ZJ} k\NA+$ ѓx,:Pz^A6v|?y6?96`FEY6U<<>6H ?óh? ?@~?in@[?^? l?6v|?ɨ6; 6CRBR!IHZHZs75b,z bY=YfQ f>d٣h jGhji j>l]r@59nuo?ar@5Yn7 inBtvqv@nJkDn:n:n@5x zrAxZjUIkm?bjUhC iQiUf.Gz^AjQjQ2jU@pU-$dez0<&Z@JۜzpUKU]'~Rq?A_1"jU2@@*jU+=pUzXh_d-{.( pUY׿y5ziUvjUiUQm?iUeuF  jU}BzjU<1 m?jU-ٵG jU~BjjUArjU@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.499762 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.700001 m, bearing: 248.438542 deg, lat: 36.903925 deg, lon: -122.119005 deg, deltaT: 0.499762 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.70 m.hhhhhggbgjgejeJe:e`"P?r\z\\\@`FE) >i9)隭Qx5ii4IIDu?DqDqE}_0 EyVFZAM5 >M DDAT read: Rx Time:19:50:01.0648 U TRx dataTimestamp_ set to:1736538601.620316u PDAT read: Bearing 172.4, 5.6 (Local)  ~Local bearing/azimuth received: Bearing 172.4, 5.6 (Local)  DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 x,iz^AvDAT read: 19:50:01.0648 LVL= 28944, 28481, 28258, 32755, AGC= 63, IDX= 502,-0.07,-1.409, 0.620,-1.565,-0.877, PHS=-0.444, 1.545,-0.690, RAW= 335.8, -3.9, CAL= 337.6, -5.6, ROT= 172.4, 5.6 =Ygot valid direction response: 19:50:01.0648 LVL= 28944, 28481, 28258, 32755, AGC= 63, IDX= 502,-0.07,-1.409, 0.620,-1.565,-0.877, PHS=-0.444, 1.545,-0.690, RAW= 335.8, -3.9, CAL= 337.6, -5.6, ROT= 172.4, 5.6 =T#Rx 32: Read range and direction messages.E`direction in FSK: [-0.986485,0.131625,-0.097583]EFpublishing direction and range infoyY}ųH:?A_1}fA9y}q }Ao)}bnIyi}?}S㾩}?}ף0}͋@ y)})@Iyi}@@yy y}g7 8 *--{I}!i}.=}@@yy y\\?yۙ?9EY[`<>H*?`li? ?ܛ?(?c?el?\\?ɨf; !CmނBm IMb@Mb@Mb@ )IyI٣I MGIUN U>Y]m@59]!o?am@5Y]Ұ i]Bmz=muGi=9)9=59i9iAAEIAIID}a>D}>D?D!D)E) E)EU=EU=ZIbI|jI0rIzIv:I@9Iـ3Iq@i@u@m@G G G !IG {BG =G G G _<G GFVFm ZA M > x,Yz^A>mH?y>셫?9>X*FY>j<>>H8>?˰h??8?菶¨?Id?Kl?>mH?ɨ>; >CjȂBj IIl)lHrHrG5z  z=Y~Q ~?|٣| G ?]@59o?a@5Y- iBs\q%@MkDu::3@5) -tA)]DNOT Ignoring new targets: 16.80 m.hYhYhYhYhYgagabgajgaeijeiJei:em ?DDAT read: Rx Time:19:50:01.5647 TRx dataTimestamp_ set to:1736538602.120657PDAT read: Bearing 171.9, 5.7 (Local) ~Local bearing/azimuth received: Bearing 171.9, 5.7 (Local) DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0  DAT read: 19:50:01.5647 LVL= 29008, 32689, 26290, 32755, AGC= 64, IDX= 501, 0.01,-1.093, 0.929,-1.274,-0.575, PHS=-0.430, 1.551,-0.702, RAW= 336.3, -4.0, CAL= 338.1, -5.7, ROT= 171.9, 5.7 Ygot valid direction response: 19:50:01.5647 LVL= 29008, 32689, 26290, 32755, AGC= 64, IDX= 501, 0.01,-1.093, 0.929,-1.274,-0.575, PHS=-0.430, 1.551,-0.702, RAW= 336.3, -4.0, CAL= 338.1, -5.7, ROT= 171.9, 5.7 T#Rx 33: Read range and direction messages.%`direction in FSK: [-0.985129,0.140205,-0.099320]eFpublishing direction and range infoؙY؝'B,^:?hܸm؝A9ؙ؝Pq ٝ)ٝfIٙiٝ@ٝ(ܾٝ+?ٝF3ٝJӻ@ ڝ5)ڝԼ@Iڝ%˽iڝ@@ڝ%=ڙ ۙ۝\s3O_#nqH}±I۝u i۝3=۝@@۝%=ۙ ܙr\z\\\c@X*F) ֧>i59)iiI!I!:J}MBJ}9JJyRJ} ZJ}    C9Dy Dy D E `0 E VF ZA M >x,"z^A6M"?y6_?96GEY6Fs<>6H]c?@Xg?`f?@??ye?Sl?6M"?ɨ6YV; 6 CBBB IHbHbK5jP{ j5=Yn)9Q r>p٣t vGtv,( z>x]~@59zo?a~@5Yz izB\q@zOkDz:zG:z'@5  AZj=9'? m?bj=C i9i=ظz^Aj=Aj=A2j=ES@p=p%s0Zr5:@\ɉzp='B,^:?hܸm"j=@@*j=%=p=ʉ2Ѹ.Ip=OY$ؿmʐcY눌i=euj=i=򷑶m?i=yE  j=|}Bzj=Qm?j=-ٵG j=}Bjj=Arj=@u addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.500341 s, deltaX: -0.099998 m, approachRate: -0.199861 m/s, rangeRepo size: 4  Added new target pos. range: 16.700001 m, bearing: 247.670433 deg, lat: 36.903924 deg, lon: -122.119005 deg, deltaT: 0.500341 s, deltaX: -0.099998 m, approachRate: -0.199861 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.70 m.hhhhhggbgjgejeJe@30@:e%?r\z\\\w@GE) >i!9)3ii!II5DDAT read: Rx Time:19:50:02.0648 ETRx dataTimestamp_ set to:1736538602.628708ePDAT read: Bearing 171.9, 5.7 (Local) u~Local bearing/azimuth received: Bearing 171.9, 5.7 (Local) D9D9DAEEo0 EADAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed -0.1 ]DAT read: 19:50:02.0648 LVL= 25408, 27377, 22242, 32755, AGC= 62, IDX= 502,-0.01, 1.558,-2.727, 1.381, 2.070, PHS=-0.424, 1.534,-0.692, RAW= 336.3, -4.0, CAL= 338.1, -5.7, ROT= 171.9, 5.7 eYgot valid direction response: 19:50:02.0648 LVL= 25408, 27377, 22242, 32755, AGC= 62, IDX= 502,-0.01, 1.558,-2.727, 1.381, 2.070, PHS=-0.424, 1.534,-0.692, RAW= 336.3, -4.0, CAL= 338.1, -5.7, ROT= 171.9, 5.7 eT#Rx 34: Read range and direction messages.`direction in FSK: [-0.985129,0.140205,-0.099320]Fpublishing direction and range info1Y5'B,^:?hܸm5fA915@c 5j)5VI1i5>5پ5Z?5&11 1)1I1i111 15#Z{.d⿧e6!I5z i5&=111 1VFMZAM>&x,GZz^AZIVbIV~jIV1rITzIVy:IVf9IV3IT5B5 IGYGYG]!IG]WBG] =GYGYG]<G] FMb@Mb@Mb@ )Iy+:vZd;Oj hA)@Ii$@@H5H5gG5eK e(=YmQ m>i٣i uGqu u>y]@59}o?a@5Y}̲ i}B=m <<q@}RkD};};}f@5 AZjm̀=m?bjmݔF iiimi59)YeND4aiaiaimr!IiIiD%DDAT read: Rx Time:19:50:02.5648 %TRx dataTimestamp_ set to:1736538603.127832-PDAT read: Bearing 172.2, 6.4 (Local) 5~Local bearing/azimuth received: Bearing 172.2, 6.4 (Local) MDAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed -0.3 DAT read: 19:50:02.5648 LVL= 26784, 32753, 25490, 32755, AGC= 64, IDX= 501,-0.09, 1.633,-2.623, 1.471, 2.140, PHS=-0.419, 1.567,-0.671, RAW= 335.9, -4.5, CAL= 337.8, -6.4, ROT= 172.2, 6.4 Ygot valid direction response: 19:50:02.5648 LVL= 26784, 32753, 25490, 32755, AGC= 64, IDX= 501,-0.09, 1.633,-2.623, 1.471, 2.140, PHS=-0.419, 1.567,-0.671, RAW= 335.9, -4.5, CAL= 337.8, -6.4, ROT= 172.2, 6.4 T#Rx 35: Read range and direction messages.`direction in FSK: [-0.984573,0.134870,-0.111469]Fpublishing direction and range info!Y%ǣs9jjC? -V:!9!%h %)%cI!i%@%+־%u?%+%@ %|٠)%@I%i%hY@@%=! !%8}n~g EI%3 i%S=%hY@@%=! !D1D1D1E=_0 E9EAEA:J= LBJ= k9JJ9 RJ= ZJ=   *:DIPTV^bdda^\XUSPLIC?;:643-)($"VFu w!ZA M > x,R)z^ABDӎ?yB?9B{BYB<>BH l?@hZ??`$?2zM?@TZ?m?BDӎ?ɨB|$; @NBN IRie=9)ae4aiaiiiuw*IqIqDDDE0 EEEEE5 DDAT read: Rx Time:19:50:03.0648 = TRx dataTimestamp_ set to:1736538603.631943E PDAT read: Bearing 171.9, 6.4 (Local) E ~Local bearing/azimuth received: Bearing 171.9, 6.4 (Local) ] DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4  DAT read: 19:50:03.0648 LVL= 24544, 28593, 25970, 32755, AGC= 63, IDX= 501, 0.02, 0.570, 2.592, 0.392, 1.070, PHS=-0.412, 1.569,-0.681, RAW= 336.3, -4.5, CAL= 338.1, -6.4, ROT= 171.9, 6.4 ZA) Mu > Ygot valid direction response: 19:50:03.0648 LVL= 24544, 28593, 25970, 32755, AGC= 63, IDX= 501, 0.02, 0.570, 2.592, 0.392, 1.070, PHS=-0.412, 1.569,-0.681, RAW= 336.3, -4.5, CAL= 338.1, -6.4, ROT= 171.9, 6.4  T#Rx 36: Read range and direction messages. `direction in FSK: [-0.983854,0.140023,-0.111469] Fpublishing direction and range info1 Y5 ̺{ᅬH? -V:1 91 5 _ 5 o)5 reI1 i5 ?5 Ҿ5 ?5 V.5 Jӻ@ 1 )5 Լ@I1 i5 @@1 1 1 5 t=w9x .I5 ; i5 B=5 @@1 1 1 4x,z^A6?y6ߪ?96t@Y6;>6H ?`@yN?e?`4X?`fR ?@N?m?6?ɨ6.; 4RBR IMb@Mb@Mb@ )Iy"~j{GzS㽹Lף ~A)@I@i@@HH0 *=Y:Q >!٣! %G!%N ->Q]]@59U8o?a]@5YU iUsB]=m];]ִqe@UWkDU:U:Ug@5 OAZje m?bje4G iaieqz^Ajaja2je @peʞ[0,&β@n*}zpe̺{ᅬH? -V:"je@@*jape^&෼.vwzpeYO[xؿkFx+ieujeieOwl?ie'I  jeZ|Bzjem?jeII jeI}Bjjë́ArjebF@] addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504111 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 16.799999 m, bearing: 247.316628 deg, lat: 36.903923 deg, lon: -122.119005 deg, deltaT: 0.504111 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.80 m.hhhhhggbgjgŁBejeJe:e@?r\==z\==\=&d@\=5ڛ@HH=ZI~bIjIrIzI{m:I9IIt@)Q U>i]9)Y]4YiYiaae .IaIiGYGYG]`!IG]4BGYGYGYG]+<G]"F ~GDDD E o0 E ZA = AMM >)u yq u CAM DDAT read: Rx Time:19:50:03.5647 M TRx dataTimestamp_ set to:1736538604.136697žx,w{^A&PDAT read: Bearing 171.3, 6.3 (Local) &~Local bearing/azimuth received: Bearing 171.3, 6.3 (Local) BDAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.1 zIt?DAT read: 19:50:03.5647 LVL= 23952, 28721, 27570, 32755, AGC= 64, IDX= 500,-0.13,-0.662, 1.349,-0.867,-0.173, PHS=-0.401, 1.569,-0.698, RAW= 336.9, -4.4, CAL= 338.7, -6.3, ROT= 171.3, 6.3 -Ygot valid direction response: 19:50:03.5647 LVL= 23952, 28721, 27570, 32755, AGC= 64, IDX= 500,-0.13,-0.662, 1.349,-0.867,-0.173, PHS=-0.401, 1.569,-0.698, RAW= 336.9, -4.4, CAL= 338.7, -6.3, ROT= 171.3, 6.3 -T#Rx 37: Read range and direction messages.5`direction in FSK: [-0.982524,0.150347,-0.109734]5Fpublishing direction and range infoyyzȱ?9zzH ' ?ߤZ? ?`?bEಝ?`;Y?m?zIt?ɨz-; xMBM IH]H]-I5m鍽 mj=Y}Apel>?,=Yu{;Q >}A9y}] }1p)}kIyi}@}O;y}!2})@ }nF)}p*@I}z0i} X?@}z0=y y}\R}n\*㿜7G߳I}i}%=} X?@}z0=y y٣ Gw >] A59o?a A5Y etIilB5 q5@ZkD;;A59 EAAZj}wl?bj}I;D iyi}{^Aj}Aj}A2j}É@p}>c|h0#98@M-Rzp}Apel>?,="j} X?@*j}z0=p}tS(?%Vl.fp}n6&ٿ uU&mhEi}fsj}i}'l?i}?F  j}|Bzj}Pm?jyj}|Bjj}Arj}Z0@ addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504754 s, deltaX: -0.099998 m, approachRate: -0.198113 m/s, rangeRepo size: 4  Added new target pos. range: 16.700001 m, bearing: 246.665568 deg, lat: 36.903922 deg, lon: -122.119005 deg, deltaT: 0.504754 s, deltaX: -0.099998 m, approachRate: -0.198113 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.70 m.hhhhhggbgjgeje:JMNBJM#9JJIRJM ZJM )TA:756430.)JQIQJe@30@:ee?r\z\\\͛@5<)1 5I>i5S9)9=49i9iaaep3IaIiBiBiCqBqDQDYDYE]?5 EYZAM>GȞx,#"{^A6 6?y6s?96o9Y6;>6HI?F`uW? ??#@.? U?`5n?6 6?ɨ6$; 6CNlBNk IIP)PHVHVMD5Mͽ P=YN ;Q >!٣! %G!%! ->)]5A59-]o?a=A5Y-I i-fB9=Iq=@-]kD-b;-;-A5A MTAI}DNOT Ignoring new targets: 16.70 m.hyhyhyhyhyggbgjgejeJe:e\5?r\z\\\~@o9) >i9)ii39IIDDAT read: Rx Time:19:50:04.0648 %TRx dataTimestamp_ set to:1736538604.643722]PDAT read: Bearing 171.2, 5.9 (Local) e~Local bearing/azimuth received: Bearing 171.2, 5.9 (Local) DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 DDDE_0 EZA!M+>eDAT read: 19:50:04.0648 LVL= 25200, 30929, 27298, 32755, AGC= 62, IDX= 501,-0.46, 1.851,-2.473, 1.645, 2.337, PHS=-0.398, 1.520,-0.696, RAW= 337.1, -4.1, CAL= 338.8, -5.9, ROT= 171.2, 5.9 mYgot valid direction response: 19:50:04.0648 LVL= 25200, 30929, 27298, 32755, AGC= 62, IDX= 501,-0.46, 1.851,-2.473, 1.645, 2.337, PHS=-0.398, 1.520,-0.696, RAW= 337.1, -4.1, CAL= 338.8, -5.9, ROT= 171.2, 5.9 uT#Rx 38: Read range and direction messages.}`direction in FSK: [-0.982994,0.152175,-0.102793]Fpublishing direction and range infoYszVt{{z?zBPfA9pb x)jIi>˾\?-2E@ C)8@IBҽit;?@B= XsBlBVE@5vIiғ=t;?@B= ա ե <0vΞx,<{^AIcIk3Ik .IcIcIcZIFbIFzjIDrIDzIFp:IF9IDID0?yN?95Y><>Hm?ie? ?5?n`i?` `? n?0?ɨa; kBi IGGG.!IG BGGGG<GFH HHH"H*Ho+4}Mb@Mb@Mb@yy y)yIyy}M¿J +٣ GW! >]A59o?aA5Y i^B>m;q@akD:: A5 _AZjE/l?bjEjI iAiE2){^AjEfAjEA2jEΧ@pESؔ0,s@S85qzpEszVt{{z?zBP"jEt;?@*jEB=pET?.z\>\0^@\@=5)A E>iE9)AE3AiAiIIMU=IIIy DDAT read: Rx Time:19:50:04.5646 TRx dataTimestamp_ set to:1736538605.145279%PDAT read: Bearing 171.5, 6.6 (Local) %~Local bearing/azimuth received: Bearing 171.5, 6.6 (Local) EDAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 }DAT read: 19:50:04.5646 LVL= 26224, 31393, 25874, 32755, AGC= 62, IDX= 499, 0.11, 2.784,-1.506, 2.594,-3.016, PHS=-0.395, 1.557,-0.676, RAW= 336.6, -4.7, CAL= 338.5, -6.6, ROT= 171.5, 6.6 Ygot valid direction response: 19:50:04.5646 LVL= 26224, 31393, 25874, 32755, AGC= 62, IDX= 499, 0.11, 2.784,-1.506, 2.594,-3.016, PHS=-0.395, 1.557,-0.676, RAW= 336.6, -4.7, CAL= 338.5, -6.6, ROT= 171.5, 6.6 T#Rx 39: Read range and direction messages.`direction in FSK: [-0.982461,0.146830,-0.114937]Fpublishing direction and range info Y Rp96R?NZl A9  pf z) eI i  q=ʾ K? V- /@ )  @I i =?@ =   b,y{ϴI O$ i = =?@ =  D?DDE^0 E:J _MBJ -9JJ RJ ZJ )%#  J ? J "?VF5 *&ZA9 M] >UW՞x,gV{^AVύ?yV4 ?9V1YVw!<>VH`߭?que?T ? 5?*ȵ@!? \? n?Vύ?ɨVm; TfYBfT IHnHnP@5vƽ vl=YzU;Q z?x٣| ~G|~ ?] A59o?a A5Yk iXBq@dkD~:G: A5! %A)ZjMOl?bjM/C iIiM@LI{^AjMAjMA2jMᮉ@pMb~50sȬa@YWzpMRp96R?NZl"jM=?@*jM=pMuz <.N~pMA yIٿ`tiM!pjMiMl?iME  jM7|BzjMl?jIjMZ|BjjMArjMʉ@] addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.501557 s, deltaX: -0.299999 m, approachRate: -0.598136 m/s, rangeRepo size: 4  Added new target pos. range: 16.500000 m, bearing: 246.520689 deg, lat: 36.903921 deg, lon: -122.119005 deg, deltaT: 0.501557 s, deltaX: -0.299999 m, approachRate: -0.598136 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.50 m.hhhhhg!g)bg9jg9eAjeAJeu0@:e}]?r\z\\\ܘ@ 1)) ->i-9))-fO41i1i19=SaDI9I9D?DDE_0 EVFb9ZAMj> DDAT read: Rx Time:19:50:05.0647  TRx dataTimestamp_ set to:1736538605.647708% PDAT read: Bearing 171.0, 6.8 (Local) - ~Local bearing/azimuth received: Bearing 171.0, 6.8 (Local) ] DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 } DAT read: 19:50:05.0647 LVL= 26096, 29809, 23186, 32755, AGC= 62, IDX= 500,-0.20, 2.759,-1.527, 2.545,-3.056, PHS=-0.380, 1.577,-0.685, RAW= 337.1, -4.9, CAL= 339.0, -6.8, ROT= 171.0, 6.8  Ygot valid direction response: 19:50:05.0647 LVL= 26096, 29809, 23186, 32755, AGC= 62, IDX= 500,-0.20, 2.759,-1.527, 2.545,-3.056, PHS=-0.380, 1.577,-0.685, RAW= 337.1, -4.9, CAL= 339.0, -6.8, ROT= 171.0, 6.8  T#Rx 40: Read range and direction messages. `direction in FSK: [-0.980740,0.155334,-0.118404] Fpublishing direction and range info Y F1F9b*j?EO A9  e  qt) ZI i  \¾ #? )\/ E@  %) TU@I i C?@ =   k鿮;?" I Vi = C?@ =  ۞x,$Hp{^A2?y2?92-Y2~<>2H?{Eg??@W?t˴? Z?`n?2?ɨ24m; 2 CBVBBP IMb@Mb@Mb@ )IyˡEĿJ +y&1'`e hA)@IC@i@z@HHB5eb e5=YeB:Q e>i٣i mGium u>]A597o?aA5Yo iQB/>m;=ſq@ikD';;A5 AZjEz\%/>\%[@\%@=-)9 =>i=N9)9=:4AiAiiqu!FIqIqDADADAEI EIEm%=Em=GGG!IGBGGGGn<GTFVFE ,$=ZAI Mm >5 DDAT read: Rx Time:19:50:05.5645 = TRx dataTimestamp_ set to:1736538606.153793E PDAT read: Bearing 171.4, 7.2 (Local) M ~Local bearing/azimuth received: Bearing 171.4, 7.2 (Local) kx,${^ADAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.1 FDAT read: 19:50:05.5645 LVL= 24112, 29537, 22626, 32755, AGC= 62, IDX= 498, 0.26, 2.959,-1.296, 2.759,-2.853, PHS=-0.383, 1.604,-0.674, RAW= 336.7, -5.1, CAL= 338.6, -7.2, ROT= 171.4, 7.2 JYgot valid direction response: 19:50:05.5645 LVL= 24112, 29537, 22626, 32755, AGC= 62, IDX= 498, 0.26, 2.959,-1.296, 2.759,-2.853, PHS=-0.383, 1.604,-0.674, RAW= 336.7, -5.1, CAL= 338.6, -7.2, ROT= 171.4, 7.2 JT#Rx 41: Read range and direction messages.`direction in FSK: [-0.980960,0.148356,-0.125333]Fpublishing direction and range infoaYe d9lW?cK e3A9ae0^ eas)ebXIaiaeľeO?eD,e| @ eK)e$@Ieiet?@e>a aebG鿌Ӎ㿰[ЂIe ieb=et?@e>a aezM?ye?9e$Ye;>eH-?j` e?`v??@M1'?QP?@;p?ezM?ɨe; e!C޽XB޽R IHHI5; B=Yթ;Q >٣ G >]A59`o?aA5YO iKB  ſq-@nkD;u;}A51 =A9Zje~3 l?bjeC iaie׉{^Aje3AjeSA2jep@pegxv0>v@qzpe d9lW?cK "jet?@*je>pe?M(XW (-S'pekٿlڪN\YZiemjeieYl?ieQ E  je{BzjeYl?je?F je7|BjjeVArjez@ addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.506085 s, deltaX: -0.300001 m, approachRate: -0.592788 m/s, rangeRepo size: 4 E Added new target pos. range: 16.400000 m, bearing: 246.086696 deg, lat: 36.903921 deg, lon: -122.119004 deg, deltaT: 0.506085 s, deltaX: -0.300001 m, approachRate: -0.592788 m/s, posRepo size: 4 MDNOT Ignoring new targets: 16.40 m.hIhIhIhIhIgQgQbgQjgQeYjeYJe]`ff0@:e]`?r\z\\\%@:J+LBJk9JJRJ ZJJIhA$) >i 9)  !4 i iQIID!DDDEo0 EZI bI {jI 0rI zI I -9I ـ3I I ;q I ;i I :u I :m VF BDZA M >דx,{^A~FB~< IH H )M5ҽ m=Y%Q %?!٣) -G)- -?1]EA595o?aEA5Y5ؿ i5FBAAqM@5rkD5p/;5/;5A5Q UAQDNOT Ignoring new targets: 16.40 m.hhhhhggbgjgejeJe:e am?r\z\\\) R>i9)ii%PIIDDAT read: Rx Time:19:50:06.0646 TRx dataTimestamp_ set to:1736538606.658818 PDAT read: Bearing 170.9, 6.8 (Local) ~Local bearing/azimuth received: Bearing 170.9, 6.8 (Local) %DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 DYDqDqE}85 EyDAT read: 19:50:06.0646 LVL= 23536, 24657, 22002, 32755, AGC= 62, IDX= 499,-0.15,-3.119,-1.111, 2.940,-2.651, PHS=-0.380, 1.587,-0.695, RAW= 337.3, -4.8, CAL= 339.1, -6.8, ROT= 170.9, 6.8 VF}NZAMu6>EYgot valid direction response: 19:50:06.0646 LVL= 23536, 24657, 22002, 32755, AGC= 62, IDX= 499,-0.15,-3.119,-1.111, 2.940,-2.651, PHS=-0.380, 1.587,-0.695, RAW= 337.3, -4.8, CAL= 339.1, -6.8, ROT= 170.9, 6.8 T#Rx 42: Read range and direction messages.`direction in FSK: [-0.980468,0.157046,-0.118404]Fpublishing direction and range infoY!'_2?EOA9[ Q`)UIi\¾"?1Db@ )c@Ii>@= ?[8T4v㎵I`iv=>@= x,2{^AH,H.BAV ?yV G?9VYV#<>VH`o?-{???@ش@? A^?4p?V ?ɨV; V CzIBz@ IGGG IGɂBGGGG<GFMb@Mb@Mb@ )IyQſ ףp= I +(Q894 )@I@i@@HH>5=o< =9=YE;Q E>A٣A EGIM M>Q]]A59Uo?a]A5YU iU@Be~/>me;eȿqe@UvkDUE:U:U]A5i mjAqZjFkl?bjG ii*{^AjAjA2jo$@p--0r@ܿ6Bzp!'_2?EO"j>@*j=pō+o-QhpR,SGڿ0nipnji,jl?ienJ  jO|Bzjrl?jenJ jjjArjNT@m addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.505025 s, deltaX: 0.100000 m, approachRate: 0.198011 m/s, rangeRepo size: 4 } Added new target pos. range: 16.500000 m, bearing: 245.552380 deg, lat: 36.903920 deg, lon: -122.119006 deg, deltaT: 0.505025 s, deltaX: 0.100000 m, approachRate: 0.198011 m/s, posRepo size: 4 }DNOT Ignoring new targets: 16.50 m.hyhhhhggbgjgmBejeJe0@:eK9?r\~/>z\~/>\!Z@\@ )  )>i z9)3iiAE*XIAIADDAT read: Rx Time:19:50:06.5644 TRx dataTimestamp_ set to:1736538607.161373PDAT read: Bearing 170.6, 7.2 (Local) ~Local bearing/azimuth received: Bearing 170.6, 7.2 (Local) DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed 0.2 D1D1D9E=?5 E9DAT read: 19:50:06.5644 LVL= 23904, 27233, 21730, 32755, AGC= 64, IDX= 497, 0.30,-2.688,-0.697,-2.925,-2.239, PHS=-0.361, 1.589,-0.688, RAW= 337.6, -5.1, CAL= 339.4, -7.2, ROT= 170.6, 7.2 Ygot valid direction response: 19:50:06.5644 LVL= 23904, 27233, 21730, 32755, AGC= 64, IDX= 497, 0.30,-2.688,-0.697,-2.925,-2.239, PHS=-0.361, 1.589,-0.688, RAW= 337.6, -5.1, CAL= 339.4, -7.2, ROT= 170.6, 7.2 T#Rx 43: Read range and direction messages.%`direction in FSK: [-0.978793,0.162038,-0.125333]-Fpublishing direction and range infoYԶb@> 5=ou.?ԶIi/=>@> VF] _NZAi M >:J BJ `9JJ RJ ZJ J ? J ?%x,{^Abx?yb2?9bNYb7<>bH`A???@&?@ƭ(? m?o?bx?ɨb; bCrJBrA IHzHzJ5; `=Y%!;Q ->1]DDAT read: Rx Time:19:50:07.0644 eTRx dataTimestamp_ set to:1736538607.414572٣1 uGyԺ >]A59o?aA5Y i;Bȿq@{kD;;A5 dAZj-zkl?bj-D@ i)i-S{^Aj-Aj-A2j-?@p-/Vf$H@|A>zp-Զb@*j->p-s`SK0L0&-'?p-G[ڿC쿩4Ri-1ij- i-bcl?i-Y~C  j-&|Bzj-bcl?j-E j-&|Bjj-#Arj-@ addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.502555 s, deltaX: -0.299999 m, approachRate: -0.596948 m/s, rangeRepo size: 4  Added new target pos. range: 16.200001 m, bearing: 245.145414 deg, lat: 36.903919 deg, lon: -122.119004 deg, deltaT: 0.502555 s, deltaX: -0.299999 m, approachRate: -0.596948 m/s, posRepo size: 4 %DNOT Ignoring new targets: 16.20 m.h!hAhIhIhIgIgIbgQjgQeQjeQJeU@330@:e]ls?r\z\\\@N) >i29)k4iih{YIIDzDDyDyDyE05 EDAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -0.1 -Z#Rx 44: Read range message, but no direction.9VFe SZA MU >Yx,Н{^A6ƌ?y6m?96Y6z<>6H@?"ൎ?`R?X?ᵢ?@Qi?>p?6ƌ?ɨ6 ; 6CBLBBC IMb@Mb@Mb@ )Iy'1ZĿˡE~jtx"'Ļ )@IZ@i@H-H-S<5=,< =G=Y=\ ;Q E>A٣A EGAM#j M>Y]eA59]o?aeA5Y]8 i]7BeA(>me;e ʿqe@]kD]:]k:]$"A5q uTAq} addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.500964 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 16.20 m.hhhhhggbgjgBejeJe:e`?r\UA(>z\UA(>\U6Y@\Uӌ@) >ij9)隕4iir^IIeDDAT read: Rx Time:19:50:07.5642 uTRx dataTimestamp_ set to:1736538607.919687PDAT read: Bearing 170.9, 6.7 (Local) ~Local bearing/azimuth received: Bearing 170.9, 6.7 (Local) DyDDE_0 EHuR=Hua=GGG IGBGGGG<G FVF} lSZA M > DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.2 M DAT read: 19:50:07.5642 LVL= 26704, 28657, 27122, 32755, AGC= 61, IDX= 511, 0.26, 2.264,-2.026, 2.039, 2.731, PHS=-0.379, 1.574,-0.694, RAW= 337.4, -4.7, CAL= 339.1, -6.7, ROT= 170.9, 6.7 x,ke |^AYgot valid direction response: 19:50:07.5642 LVL= 26704, 28657, 27122, 32755, AGC= 61, IDX= 511, 0.26, 2.264,-2.026, 2.039, 2.731, PHS=-0.379, 1.574,-0.694, RAW= 337.4, -4.7, CAL= 339.1, -6.7, ROT= 170.9, 6.7 T#Rx 45: Read range and direction messages.`direction in FSK: [-0.980670,0.157078,-0.116671]Fpublishing direction and range info9Y= VaᅡA"?mu"޽=f~A99=Ph =o)=iI9i===J ¾=x?=1=p@ =)=c@I=|i=>@=|=9 9=^ΣIpXW=Z!@=|=9 9)0 2@R?yR?9RYRzd<>RH&?1??i? _a?`f? p?R?ɨRw; R!CZNBZE IHHN5; E=Y:Q >٣ G >Y]eA59]to?aeA5Y] i]3Baeʿqe@]kD]:]K:]%A5y }GAyZj=4,l?bj=k> i9i= |^Aj=f~Aj=|A2j=K@p=(/p//@ \@*j=|=p= a[{?'R,lp=jviڿ7a;i=ej=i=3}l?i=9UBA  j=|Bzj9j=Q E j9jj=Arj=߈@5 addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.506091 s, deltaX: -0.300001 m, approachRate: -0.592781 m/s, rangeRepo size: 4 m Added new target pos. range: 15.900000 m, bearing: 245.432500 deg, lat: 36.903919 deg, lon: -122.119004 deg, deltaT: 1.007055 s, deltaX: -0.300001 m, approachRate: -0.297899 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.90 m.hqhqhqhqhqgygybgyjgyejeJe/@:e ݿ?r\z\\\F@%)I MG>iU9)Q]4YiYiqq}f_IyIy:JBoHBJu9JJRJ ZJJIgAD9DADAEA EA}DDAT read: Rx Time:19:50:08.0643 TRx dataTimestamp_ set to:1736538608.423608DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.1 -Z#Rx 46: Read range message, but no direction.؁؅̀A9؁ZI bI zjI rI zI I 9I I I I I P:I Q:VF% I]ZA9 Me >x,A%|^A:?y: ߨ?9:Y:&<>:H#??[?J?]>[?@6_?q?:?ɨ:|; : CBQBBJ IHNHNJ5V< VZ=YZ:Q Z>X٣\ ^G\^H b>`]fA59bio?ajA5Yb ib0Bhj1ʿqj@bkDb:b:b)A5p r,Ap addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.255180 s, deltaX: 0.200001 m, approachRate: 0.783763 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.90 m.hhhh!h!g!g)bg)jg)e)je1Je50@:e5`F?r\Qz\Q\Q\Ue@e)a e>im59)im5iiiiqquaIqIyDe>DDDDEo0 EVF]ZA!MMs> DDAT read: Rx Time:19:50:08.5641  TRx dataTimestamp_ set to:1736538608.926751 PDAT read: Bearing 170.8, 7.0 (Local)  ~Local bearing/azimuth received: Bearing 170.8, 7.0 (Local)  DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 - Z#Rx 47: Read range message, but no direction.؉ ؍ |A9؉ x,?|^A6|?y6Ө?96 Y6;>6H`? ? ??`#Sܡ?U?q?6|?ɨ6i{; 6CIJſ=)JmCj[B z.~G )GIGIGM IGMBGIGIGIGM<GMFjV I)uyquJAMb@Mb@Mb@ )IySÿZd;O~jthj<D A)IC@iH%H%D5U= U&=Y]-\:Q ]>Y٣Y eGaeS4 e>]A59o?aA5Y i+B!>m;[Ŀq@kD:w:[-A5 A% addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503143 s, deltaX: -0.300000 m, approachRate: -0.596252 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 15.90 m.hIhIhIhahagigibgijgmBeqjeqJeu/@:eusD?r\!>z\!>\[@\@ ) >i9)隽O 5iiJbIIDAT read: 19:50:08.5641 LVL= 24752, 28305, 23858, 32755, AGC= 63, IDX= 510, 0.25, 2.185,-2.080, 1.957, 2.650, PHS=-0.377, 1.601,-0.696, RAW= 337.4, -5.0, CAL= 339.2, -7.0, ROT= 170.8, 7.0  Ygot valid direction response: 19:50:08.5641 LVL= 24752, 28305, 23858, 32755, AGC= 63, IDX= 510, 0.25, 2.185,-2.080, 1.957, 2.650, PHS=-0.377, 1.601,-0.696, RAW= 337.4, -5.0, CAL= 339.2, -7.0, ROT= 170.8, 7.0  Z#Rx 48: Read direction message, but no range.%`direction in FSK: [-0.979778,0.158689,-0.121869]Yp|XZPO?UM7P29` n)2]Ii?%?-2 ¸)q@I5i>@5=9Og]V IY㿥v ITSi\=>@5=DDDE_0 EVF I]ZA1 MU >:J} BJ} k9JJy RJ} ZJ} . ^ KJ > J >x,X|^A2y?y2Ψ?92 Y2R<>2H@?``?@??@ ? s^?dq?2y?ɨ2z; 2 C:bB:^ I@BAHNHNaO5b.= f=Yj:Q n ?t٣x zG| G ?EDDAT read: Rx Time:19:50:09.0642 UTRx dataTimestamp_ set to:1736538609.431921uPDAT read: Bearing 170.5, 6.8 (Local) }~Local bearing/azimuth received: Bearing 170.5, 6.8 (Local) DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed -0.2 -Z#Rx 49: Read range message, but no direction.IMf~A9Iy]A59}o?aA5Y}. i}(BaĿq@}kD}9;};}0A5 AZjM c&l?bjM[C iIiM[|^AjIjI2jM@pMږ-(/po/@loVzpMp|XZPO?UM7P2"jM>@*jM5=pM-RMuC,|7pMڿxbcܿiM*ejMiMol?iMleE  jM|BzjMol?jMleE jMO|BjjMl|ArjM@ZIYbI]{jI]1rIYzIYI]-9I]3IYIYIYI]:I]: addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.505170 s, deltaX: 0.099999 m, approachRate: 0.197952 m/s, rangeRepo size: 4   Added new target pos. range: 15.900000 m, bearing: 245.211546 deg, lat: 36.903920 deg, lon: -122.119004 deg, deltaT: 1.263493 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4  DNOT Ignoring new targets: 15.90 m.h hhhhggbgjgejeJe%/@:eE ?r\Yz\Y\Y\]b@ ) >iy9)隝\;5iiBcIIDQDQDYE]g0 EYDAT read: 19:50:09.0642 LVL= 27536, 29073, 30450, 32755, AGC= 63, IDX= 511,-0.15, 0.932, 2.951, 0.686, 1.394, PHS=-0.374, 1.604,-0.711, RAW= 337.7, -4.8, CAL= 339.5, -6.8, ROT= 170.5, 6.8 Ygot valid direction response: 19:50:09.0642 LVL= 27536, 29073, 30450, 32755, AGC= 63, IDX= 511,-0.15, 0.932, 2.951, 0.686, 1.394, PHS=-0.374, 1.604,-0.711, RAW= 337.7, -4.8, CAL= 339.5, -6.8, ROT= 170.5, 6.8 Z#Rx 50: Read direction message, but no range. `direction in FSK: [-0.979348,0.163887,-0.118404]Y%V<;?EO9k q)vIi|O?6v@ )ќ@IiIs>@=%GCA6u~/ֻԂzI i=Is>@=VF ]ZA M > x, r|^ARq?yR?9RF YR/<>RH?a`?? O?g?`?eq?Rq?ɨR; R"CZeBbb IMb@Mb@Mb@ )IyS㥛&1$P  A)@Ii$@f@HUHUE5eQ< e2=YmV:Q >٣ G >]A59eo?aA5Y i%B->m-;-vq-@kD;;B4A51 =A9MDDAT read: Rx Time:19:50:09.5640 UTRx dataTimestamp_ set to:1736538609.935156mPDAT read: Bearing 170.9, 6.7 (Local) u~Local bearing/azimuth received: Bearing 170.9, 6.7 (Local) DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 -Z#Rx 51: Read range message, but no direction.IDNOT Ignoring new targets: 15.90 m.hhhhhgg!bg)jg5BMyA9Ie9jeYJe]@33/@:ee)?r\>z\>\`@\@r@F ) 4>i9)(R5iiIeIIDH]C=H]%=GE>GAGAGAGAGAGAGE <GE FH HHH"H*HƢ4DyDDE~0 EVF ^ZA  DAT read: 19:50:09.5640 LVL= 24096, 27409, 22898, 32755, AGC= 63, IDX= 509, 0.27, 0.857, 2.867, 0.631, 1.327, PHS=-0.383, 1.586,-0.699, RAW= 337.3, -4.7, CAL= 339.1, -6.7, ROT= 170.9, 6.7  Ygot valid direction response: 19:50:09.5640 LVL= 24096, 27409, 22898, 32755, AGC= 63, IDX= 509, 0.27, 0.857, 2.867, 0.631, 1.327, PHS=-0.383, 1.586,-0.699, RAW= 337.3, -4.7, CAL= 339.1, -6.7, ROT= 170.9, 6.7  Z#Rx 52: Read direction message, but no range. `direction in FSK: [-0.980670,0.157078,-0.116671] Y  VaᅡA"?mu"޽9 ^ k) rYI i ľ ? 2 Db@ ) c@I |i >@ |= zj[?vVQ`2I \i ǩ= >@ |=M= >B"x,V|^A6?y6Ǩ?96 Y6<>6HD?n`9?L?4? R?k?p?6?ɨ6n; 6C>qB>q IHFHFdK5N= No=YR9Q R?P٣T VGTVl: V ?\]bA59^o?abA5Y^ i^#Bdfmqf@^kD^:^u:^7A5 /AZju$!m?bjU? ii{|^AjyAjwA2j@p?HϘ.lh#t@zzp VaᅡA"?mu"޽"j>@*j|=p,3(4', rkp)@,ڿӣUU`{i>ajiӀl?i@A  jt}BzjjY~C j|BjjyArj=ƈ@- addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503235 s, deltaX: -0.299999 m, approachRate: -0.596141 m/s, rangeRepo size: 4 ] Added new target pos. range: 15.600000 m, bearing: 245.352137 deg, lat: 36.903920 deg, lon: -122.119003 deg, deltaT: 0.503235 s, deltaX: -0.299999 m, approachRate: -0.596141 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.60 m.hYhYhYhahagagabgjgejeJe:e?r\z\\\st@ ) >i9)Vg5ii8cI I!:Ju[OBJu9JJqRJu ZJubD( JI}DDAT read: Rx Time:19:50:10.0641 TRx dataTimestamp_ set to:1736538610.441144PDAT read: Bearing 170.2, 6.5 (Local) ~Local bearing/azimuth received: Bearing 170.2, 6.5 (Local) DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 --Z#Rx 53: Read range message, but no direction.؁؅|A9؁Cm 9D D D E p0 E VF%cZA1MM>!*x,5~|^AB{?yBq?9BX YBX<>BH?`ς?@o??@ZV=XZHmeԭYnyIZAiZ)=Z>@ZV=HVHVJ5f9= )=Y 9Q >٣ G%i %>)]5A59-{ o?a5A5Y- i- B9={q=@-kD-:-W:-U;A5EB EAEEZjPxl?bj&- D ii;|^Aj|Aj{A2jw@p;P.&:N`@FyS&zpTd@?5"j>@*jV=prna844a,| [pi9)  f5 i i15eI1I9DDDEV2 Eu=u=DDAT read: Rx Time:19:50:10.5639 TRx dataTimestamp_ set to:1736538610.944928PDAT read: Bearing 170.4, 6.4 (Local) ~Local bearing/azimuth received: Bearing 170.4, 6.4 (Local) - DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.1 - Z#Rx 55: Read range message, but no direction.ؑؕxA9ؑZI bI xjI 0rI zI }:I 9I ـ3I q @i @u @m @VF TvaZA M >G] >GY G] IG] ĂBG] =GY GY G] <G] F'1x,>|^ArBr I}Mb@Mb@Mb@yy y)yIyy}&1S㥫}н}/]y }A)yI}-@iyy}p@HHJH5 >= B=YQ >٣ G >]A59g!o?aA5Y iB]=m;ūq@kD::?A5 A  addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503784 s, deltaX: -0.300000 m, approachRate: -0.595494 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 15.80 m.h h h h hgqgqbgyjg}ÁBejeJe/@:ez?r\]=z\]=\69h@\@1)9 =>i=>9)AE5AiAiiim(3eIqIqDyzDyDAT read: 19:50:10.5639 LVL= 24560, 27233, 25042, 32755, AGC= 62, IDX= 508, 0.35, 0.260, 2.256, 0.009, 0.725, PHS=-0.377, 1.578,-0.719, RAW= 337.9, -4.5, CAL= 339.6, -6.4, ROT= 170.4, 6.4 Ygot valid direction response: 19:50:10.5639 LVL= 24560, 27233, 25042, 32755, AGC= 62, IDX= 508, 0.35, 0.260, 2.256, 0.009, 0.725, PHS=-0.377, 1.578,-0.719, RAW= 337.9, -4.5, CAL= 339.6, -6.4, ROT= 170.4, 6.4 Z#Rx 56: Read direction message, but no range.`direction in FSK: [-0.979851,0.165729,-0.111469]Y1Zӯ6? -V:9_ aj)aIi>%?b8@ |٠)@IiV>@= .)-KpBIKi@=V>@=D!D!D)E-3 E)VFe ф`ZAq M >:J 0LBJ ۵9JJ RJ ZJ  J ? J #? DDAT read: Rx Time:19:50:11.0639  TRx dataTimestamp_ set to:1736538611.447468 PDAT read: Bearing 170.0, 6.9 (Local)  ~Local bearing/azimuth received: Bearing 170.0, 6.9 (Local) .7x,P|^ADAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 DAT read: 19:50:11.0639 LVL= 29168, 24801, 26386, 32755, AGC= 62, IDX= 508,-0.06,-0.728, 1.285,-1.001,-0.281, PHS=-0.359, 1.613,-0.723, RAW= 338.3, -4.9, CAL= 340.0, -6.9, ROT= 170.0, 6.9 Њ?yPȨ?9 Y*<>Hg?)?3?V? @?_?Rq?騽Њ?ɨ; !CYgot valid direction response: 19:50:11.0639 LVL= 29168, 24801, 26386, 32755, AGC= 62, IDX= 508,-0.06,-0.728, 1.285,-1.001,-0.281, PHS=-0.359, 1.613,-0.723, RAW= 338.3, -4.9, CAL= 340.0, -6.9, ROT= 170.0, 6.9 T#Rx 57: Read range and direction messages.%`direction in FSK: [-0.977675,0.172391,-0.120137]%Fpublishing direction and range infoYoONI]N?rjƹI9q `)gIiηv?9=B= I>@ %)N@IϢiN=@Ϣ= dcK鿔\{IZ@iR.=N=@Ϣ= HMHM0E57= ;=Y̭Q >٣  MGIU: U>Y]]A59]h"o?aeA5Y]D i]Baeqe@]kD]:]:]CA5 AZjkl?bj> iiQ|^AjxAjYvA2jS@p>cN.#$^`@7k?zpoONI]N?rjƹI"jN=@*jϢ=pt'Mov+7LpW(kۿgGZ[Ұ¾i^jill?iv@  j}Bzjll?j@A jt}BjjvArj@% addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502540 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 15.500000 m, bearing: 244.432544 deg, lat: 36.903920 deg, lon: -122.119002 deg, deltaT: 1.006324 s, deltaX: -0.300000 m, approachRate: -0.298115 m/s, posRepo size: 4 5DNOT Ignoring new targets: 15.50 m.h1h9h9h9h9g9gybgjgejeJe:e;?r\z\\\"@E )A E>iE9)IM5IiIiQQUcIQIDQDYDYE]5 EaVF9 ZAA Me >^^=x,s|^A:?y:+˨?9:Y:c;>:H?`фV? J?a?} á?`W?q?:?ɨ:; :CB IIY)Y]DDAT read: Rx Time:19:50:11.5638 mTRx dataTimestamp_ set to:1736538611.953891PDAT read: Bearing 169.7, 6.6 (Local) ~Local bearing/azimuth received: Bearing 169.7, 6.6 (Local) %DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 DAT read: 19:50:11.5638 LVL= 24672, 27057, 25154, 32755, AGC= 62, IDX= 506, 0.30, 0.568, 2.543, 0.291, 1.013, PHS=-0.356, 1.577,-0.725, RAW= 338.6, -4.7, CAL= 340.3, -6.6, ROT= 169.7, 6.6 Ygot valid direction response: 19:50:11.5638 LVL= 24672, 27057, 25154, 32755, AGC= 62, IDX= 506, 0.30, 0.568, 2.543, 0.291, 1.013, PHS=-0.356, 1.577,-0.725, RAW= 338.6, -4.7, CAL= 340.3, -6.6, ROT= 169.7, 6.6 T#Rx 58: Read range and direction messages.`direction in FSK: [-0.977365,0.177617,-0.114937]Fpublishing direction and range infoaYe@FOy)?NZletA9ae`` ei)eBbIaiaeEe#?e9e$@ e)e3@Ieie=@e=a aegsYnW䴿Ie"ieU=e=@e=a a-Mb@Mb@Mb@)) )))I)y-{GzS㥫~jtx?-ףZImbImzjIirIizImp:Im9IiIi)-; -~A))I-p@i))-@HH@5gm= -=GGG IG݂BG =GGG<G FY5Q >٣ G%D9 %>!]-A59%#o?aUA5Y%a i%BU =mU i9)%}5!i!i115cI1I9D ?D D E 5 E VF9ZAIMe>/NEx,@}^AB͍?yBM˨?9BQYB><>BH``? j`? B?? )֡?Wb?q?B͍?ɨB|; BCJBJ IHVHVjC5b&= bo=YbQ b?d٣d fGdjM7 j?l]rA59n$o?arA5Yn+ inBppqr@nkDn.:n:nIA5x z%AxDNOT Ignoring new targets: 15.30 m.hh!h!h!h!g!g)bg1jg1e1je1Je9:e=?r\Yz\Y\Y\]С@mQ)q u{>iu9)quݱ5qiqiyy}EcIIBBCB:JKBJ9JJRJ ZJ*.)%  JIhAUDDAT read: Rx Time:19:50:12.0639 eTRx dataTimestamp_ set to:1736538612.456701PDAT read: Bearing 169.3, 7.6 (Local) ~Local bearing/azimuth received: Bearing 169.3, 7.6 (Local) DDDE_0 EDAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 DAT read: 19:50:12.0639 LVL= 24016, 29889, 21666, 32755, AGC= 62, IDX= 507,-0.01,-0.009, 2.017,-0.320, 0.409, PHS=-0.330, 1.655,-0.732, RAW= 339.0, -5.4, CAL= 340.7, -7.6, ROT= 169.3, 7.6 Ygot valid direction response: 19:50:12.0639 LVL= 24016, 29889, 21666, 32755, AGC= 62, IDX= 507,-0.01,-0.009, 2.017,-0.320, 0.409, PHS=-0.330, 1.655,-0.732, RAW= 339.0, -5.4, CAL= 340.7, -7.6, ROT= 169.3, 7.6 T#Rx 59: Read range and direction messages.`direction in FSK: [-0.973981,0.184035,-0.132256]Fpublishing direction and range infoQYUc{i*ᅦy?) UxA9QU] Ut)UTIQiQUU ?UZd;UTU@ U)UdH@IUiU$=@U>Q QUl;AX=z#IUqiUrf=U$=@U>Q QVFEbZAQMm>rKx,0}^An?yn~Ш?9nJYn:;>nH,?T?h??@Kb(?Y?`Mq?n?ɨn%; n"C%B- IHiHi< >=Y4Q >q٣q uGq}9 >]A59%o?aA5YD iBq@kDQ<9R<MA5 A ZjDtl?bj> ii:}^AjxAjYvA2j@p/1.1@yXfzpc{i*ᅦy?) "j$=@*j>p/Mf^͈+ډU<p9u/ܿW,/l/iF\joiiU9)Y]z5YiYiaae0cIaIi iZI}bI}jIyrIyzI}y:I}9IyIyGGG!IGBGGGG<G FD ?D D E  E E >E =VF5 XbZAA M] >^Rx,L}^A2>?y2?92[ Y23h<>2H?`ҍ? ? r?Kr`#?&g?xp?2>?ɨ2Y1; 2C>ςB> IBR=iB=HJA%Mb@Mb@Mb@!! !)!I!y%A`"y&1Q٣Q UGQ] ; ]>a]A59eA'o?aA5Ye ia =m *< @q @ekDeGi9)ii_IIDDDE`0 E:JEżLBJE9JJARJE ZJEJ ? J%?eDDAT read: Rx Time:19:50:13.0638 mTRx dataTimestamp_ set to:1736538613.463402PDAT read: Bearing 168.3, 6.7 (Local) ~Local bearing/azimuth received: Bearing 168.3, 6.7 (Local) DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 DAT read: 19:50:13.0638 LVL= 22416, 27953, 21730, 32755, AGC= 64, IDX= 506, 0.13, 2.071,-2.258, 1.723, 2.482, PHS=-0.323, 1.590,-0.762, RAW= 340.1, -4.7, CAL= 341.7, -6.7, ROT= 168.3, 6.7 Ygot valid direction response: 19:50:13.0638 LVL= 22416, 27953, 21730, 32755, AGC= 64, IDX= 506, 0.13, 2.071,-2.258, 1.723, 2.482, PHS=-0.323, 1.590,-0.762, RAW= 340.1, -4.7, CAL= 341.7, -6.7, ROT= 168.3, 6.7 T#Rx 61: Read range and direction messages.`direction in FSK: [-0.972535,0.201402,-0.116671]Fpublishing direction and range infoaYerw]+?mu"޽etA9aeW e1m)eTIaiaeB`e?eoCe@ e)e_׾@Ie|ie/;@e|=a aeeiaEd'Z‹ّ IeBie\m=e/;@e|=a aVF ZA M >Yx,e}^ARD?yR?9R0YRJ<>RHR?@??q?`?OԢ?Oc? tp?RD?ɨR); R!CẐB^ IHfHfjC5~V ~S=YֺQ >٣  G  ]!  >]=A59(o?a]A5Y iBY]Aqe@kD(<(<TA5i mQAiZjZl?bjٟ9 iia]}^AjtAj+sA2jϢ@p8ss-Ҧ@8\mzprw]+?mu"޽"j/;@*j|=pݺPV? +"pQqFݿݥRJ쿡fXeimXji6l?i;  j~Bzjj1< jK~BjjrArjN@ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503601 s, deltaX: 0.100000 m, approachRate: 0.198571 m/s, rangeRepo size: 4 5 Added new target pos. range: 15.300000 m, bearing: 242.855284 deg, lat: 36.903920 deg, lon: -122.119000 deg, deltaT: 0.503601 s, deltaX: 0.100000 m, approachRate: 0.198571 m/s, posRepo size: 4 =DNOT Ignoring new targets: 15.30 m.h9h9h9h9h9gAgAbgAjgAeIjeIJeM.@:eM`?r\z\\\`@0) >iZ9)隝3iik`IID)DDDEo0 EVF ф`ZA M] > DDAT read: Rx Time:19:50:13.5637  TRx dataTimestamp_ set to:1736538613.968729 PDAT read: Bearing 167.8, 7.2 (Local)  ~Local bearing/azimuth received: Bearing 167.8, 7.2 (Local)  DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0  DAT read: 19:50:13.5637 LVL= 23024, 29169, 24466, 32755, AGC= 62, IDX= 505,-0.02,-0.494, 1.470,-0.873,-0.108, PHS=-0.299, 1.625,-0.768, RAW= 340.7, -5.1, CAL= 342.2, -7.2, ROT= 167.8, 7.2  Ygot valid direction response: 19:50:13.5637 LVL= 23024, 29169, 24466, 32755, AGC= 62, IDX= 505,-0.02,-0.494, 1.470,-0.873,-0.108, PHS=-0.299, 1.625,-0.768, RAW= 340.7, -5.1, CAL= 342.2, -7.2, ROT= 167.8, 7.2  T#Rx 62: Read range and direction messages. `direction in FSK: [-0.969709,0.209658,-0.125333] Fpublishing direction and range infoؑ Yؕ Fn}?cK ؕ 3sA9ؑ ؕ Y ٕ q)ٕ _Iّ iٕ >ٕ ٕ ?ٕ Dٕ dH@ ڕ K)ڕ @Iڕ iڕ 5o;@ڕ >ڑ ۑ ە SRB-?8Ae6涿Iە ܥiە jv=ە 5o;@ە >ۑ ܑ <,_x,}^A jNGt )5пy15JAH=4=H9ZIMbIM}jIIrIIzIMv:IMS9IIIIˌ?GGGA!IGBGGGG<GFyx ?9MmYY<>HZ?` ?K?cM?@ȴ~L?@ e?p?騕ˌ?ɨʆ; CׂB IEMb@Mb@Mb@AA A)AIAyE:v{Gz?EԼELE#< E~A)E@IEp@iEh@AE\@ yyH}H}=52=  =YQ >٣ %G!%: E>Q]]A59U|*o?a]A5YU# iQ]pj=megpY,^*-4pϮݿuN!쿿1diUj@i&l?i&8  jN~Bzji9)隭h)4ii]IIDU?DQDQEUd0 EQEehAEeiAVFq ZA M >Efx,N}^A:JzJBJz9JJxRJz ZJzDDAT read: Rx Time:19:50:14.0638 TRx dataTimestamp_ set to:1736538614.469468PDAT read: Bearing 167.4, 7.3 (Local) ~Local bearing/azimuth received: Bearing 167.4, 7.3 (Local) DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 ?y@.?9!Y%<>H+?&Op? ?6 ?@j+@;?:^? o?騵?ɨ߆;  CDAT read: 19:50:14.0638 LVL= 22288, 28849, 21746, 32755, AGC= 63, IDX= 506,-0.12,-0.890, 1.100,-1.296,-0.510, PHS=-0.291, 1.658,-0.789, RAW= 341.1, -5.2, CAL= 342.6, -7.3, ROT= 167.4, 7.3 Ygot valid direction response: 19:50:14.0638 LVL= 22288, 28849, 21746, 32755, AGC= 63, IDX= 506,-0.12,-0.890, 1.100,-1.296,-0.510, PHS=-0.291, 1.658,-0.789, RAW= 341.1, -5.2, CAL= 342.6, -7.3, ROT= 167.4, 7.3 T#Rx 63: Read range and direction messages.-߂B- II1)1HE`direction in FSK: [-0.968006,0.216375,-0.127065]Fpublishing direction and range infoY;E-? О?ΐ俳PBI&iMT=HE>5  =  E=YQ >٣ G0; >:@w> ]A59,o?aA5Y i8q@kD4;;]A5 AZjb5l?bj(L7 ii }^AjtAj+sA2j$@pBj-{ @(zp;E-?pZfG*!۷@p@[Sݿ2~$5 ioVjHiIjl?i9  j.~Bzj6l?j8h: jjj&rArjw@% addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.500739 s, deltaX: 0.100000 m, approachRate: 0.199706 m/s, rangeRepo size: 4 U Added new target pos. range: 15.300000 m, bearing: 241.974178 deg, lat: 36.903919 deg, lon: -122.118999 deg, deltaT: 0.500739 s, deltaX: 0.100000 m, approachRate: 0.199706 m/s, posRepo size: 4 ]DNOT Ignoring new targets: 15.30 m.hYhYhYhahaggbgjgejeJe.@:ezo?r\z\\\c@ !) >i 9) U4 i i   )YI I i i D ?D D E `0 E VF=T[ZAM?}1nx,}^AMDDAT read: Rx Time:19:50:14.5637 MTRx dataTimestamp_ set to:1736538614.971879UPDAT read: Bearing 167.3, 6.8 (Local) ]~Local bearing/azimuth received: Bearing 167.3, 6.8 (Local) mDAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 DAT read: 19:50:14.5637 LVL= 23792, 30193, 26098, 32755, AGC= 61, IDX= 505,-0.14,-2.901,-0.925, 2.975,-2.510, PHS=-0.303, 1.632,-0.801, RAW= 341.2, -4.8, CAL= 342.7, -6.8, ROT= 167.3, 6.8 Ygot valid direction response: 19:50:14.5637 LVL= 23792, 30193, 26098, 32755, AGC= 61, IDX= 505,-0.14,-2.901,-0.925, 2.975,-2.510, PHS=-0.303, 1.632,-0.801, RAW= 341.2, -4.8, CAL= 342.7, -6.8, ROT= 167.3, 6.8 T#Rx 64: Read range and direction messages.`direction in FSK: [-0.968672,0.218300,-0.118404]Fpublishing direction and range infoIYM臨\1=?EOM3sA9IM\ Mu)MeIIiM=M"M`?MVMM⏾@ M)MYf@IMiM;:@M=I IM9ilf葵NdIMiMU=M;:@M=I Ieo?ye8?9e~m%YeCE<>eH|?`'n?d? ?@._`?? a?\o?eo?ɨe5; a}B} IHiHm@AGGGf!IG9BGGGG <G FHy HyHyHy"Hy*H}4Mb@Mb@Mb@ )Iy{Gz٣ G%0 : %>y]A59}r.o?aA5Y} iyT=m<q@}kD}A;};}jbA5 AZjMl?bjMzP5 iIiMD3}^AjM3sAjMqA2jM&@pM.@ r-> @QzpM臨\1=?EO"jM;:@*jM=pM>]*6uFVpM6jݿfR{iMEUjMiMUl?iM8  jM~BzjM&l?jM9 jMR~BjjM#rArjMG@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.502411 s, deltaX: -0.100000 m, approachRate: -0.199041 m/s, rangeRepo size: 4  Added new target pos. range: 15.200000 m, bearing: 241.987580 deg, lat: 36.903918 deg, lon: -122.118999 deg, deltaT: 0.502411 s, deltaX: -0.100000 m, approachRate: -0.199041 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.20 m.hhhhhggbgjgFBejeJe`ff.@:er?r\5 T=z\5 T=\5 z@\5 @E ~m%)A m >im <9)i m 4i ii iq q u +XIq Iy D= ?DA DA EE _0 EA VFZAM?vx,}^A:J"KBJ"9JJ RJ" ZJ" J2? J2>RDDAT read: Rx Time:19:50:15.0637 VTRx dataTimestamp_ set to:1736538615.475807ZPDAT read: Bearing 167.0, 6.5 (Local) Z~Local bearing/azimuth received: Bearing 167.0, 6.5 (Local) bDAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0  DAT read: 19:50:15.0637 LVL= 25168, 30833, 25426, 32755, AGC= 61, IDX= 505,-0.10, 1.819,-2.518, 1.402, 2.206, PHS=-0.299, 1.606,-0.807, RAW= 341.5, -4.6, CAL= 343.0, -6.5, ROT= 167.0, 6.5 Ygot valid direction response: 19:50:15.0637 LVL= 25168, 30833, 25426, 32755, AGC= 61, IDX= 505,-0.10, 1.819,-2.518, 1.402, 2.206, PHS=-0.299, 1.606,-0.807, RAW= 341.5, -4.6, CAL= 343.0, -6.5, ROT= 167.0, 6.5 T#Rx 65: Read range and direction messages.`direction in FSK: [-0.968107,0.223505,-0.113203]%Fpublishing direction and range infoPYRѺ1Л?5P9PRPb Rqx)RRcIPiPRRh?RNRƺ@ Rl)R=@IRViRq:@RV=P PRU#4$ yIRiR=Rq:@RV=P PUBU!I]=i]=HmHm?5ZIbI{jI1rIzII-9I3IIU;qIV;iIuIm< @=YQ >٣ G >]A59 0o?aA5Y( iBq@kD;;eA5B AEZjR:ol?bjR t5 iPiRs}^AjPjP2jR@pRrQt1n-o- @tzpRѺ1Л?5"jRq:@*jRV=pRNeŇ=*j.pRJK޿($~ iRTjRiR ll?iR7  jR%BzjRUl?jR&8 jR~BjjRqArjR@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 - Added new target pos. range: 15.200000 m, bearing: 241.749892 deg, lat: 36.903918 deg, lon: -122.118998 deg, deltaT: 0.503928 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 5DNOT Ignoring new targets: 15.20 m.h1h1h1h1h1g9g9bgajgieijeqJeq:e?r\z\\\))1 53>i5 9)Yee4aiiiIIDU?DQDQEQ EQVF {XZA M] >(}x,}^AB% IDDAT read: Rx Time:19:50:15.5636 TRx dataTimestamp_ set to:1736538615.979755PDAT read: Bearing 167.0, 7.0 (Local) ~Local bearing/azimuth received: Bearing 167.0, 7.0 (Local) DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.2 DAT read: 19:50:15.5636 LVL= 22736, 28097, 24674, 32755, AGC= 62, IDX= 504,-0.02,-0.281, 1.697,-0.704, 0.099, PHS=-0.292, 1.646,-0.806, RAW= 341.5, -5.0, CAL= 343.0, -7.0, ROT= 167.0, 7.0 uYgot valid direction response: 19:50:15.5636 LVL= 22736, 28097, 24674, 32755, AGC= 62, IDX= 504,-0.02,-0.281, 1.697,-0.704, 0.099, PHS=-0.292, 1.646,-0.806, RAW= 341.5, -5.0, CAL= 343.0, -7.0, ROT= 167.0, 7.0 uT#Rx 66: Read range and direction messages.Mb@Mb@Mb@ )IyMb`~jt{Gzt?Dף;  A)I@i~@G@HH>5t 8=YQ >٣ G >]A591o?aA5YP iE=m<q@kD ::`direction in FSK: [-0.967107,0.223274,-0.121869]Fpublishing direction and range infoرYصzA?UM7P2صpA9رصX ٵm)ٵb`Iٱiٵ>ٵٵ!?ٵVNٱ ڵ¸)ڱIڵ5iڱڵ5=ڱ ۱۵U,翂!4I۵i۵=iA5A EAA۱۵5=۱ ܱZjl?bj.pc0 iiN}^AjpAjfnA2j7@pBY6b-t @3 ?zpzA?UM7P2"j*j5=py\3iQjMil?if/2  j~Bzjj8 j~BjjqArj*@HC=H=GGG!IGMBGGGGذ<G Fu addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503948 s, deltaX: -0.200000 m, approachRate: -0.396866 m/s, rangeRepo size: 4  Added new target pos. range: 15.000000 m, bearing: 241.655128 deg, lat: 36.903918 deg, lon: -122.118998 deg, deltaT: 0.503948 s, deltaX: -0.200000 m, approachRate: -0.396866 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.00 m.hhhhhggbgjg^BejeJe.@:e?r\%E=z\%E=\%v@\%@A)A E>iE9)AE4IiiiqqqIqIyD!D)D)E) E)VFM XZAQ Mm >qx,0-~^A64?y6r?96w1Y6<>6H7D?/T?@??@--?VY?n?64?ɨ6A; 4>݂BB IHFHF"25RR R=YRRQ V?T٣T VGTZһ; Z?\]bA59^2o?abA5Y^l i^B`bqf@^kD^ :^:^qlA5p rApB*** querying acoustic contact ***iiDNOT Ignoring new targets: 15.00 m.hhhhhgg!bg!jg!e!je)Je):e- ?r\Iz\I\I\M@w1)  >iI9) 5ii  iQI IDDDE?5 E:J5e^LBJ59JJ1RJ5 ZJ5UJAIADDAT read: Rx Time:19:50:16.0637 TRx dataTimestamp_ set to:1736538616.483747PDAT read: Bearing 167.0, 6.7 (Local) ~Local bearing/azimuth received: Bearing 167.0, 6.7 (Local) DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed -0.2 DAT read: 19:50:16.0637 LVL= 23152, 27793, 22466, 32755, AGC= 62, IDX= 505, 0.05, 1.440,-2.880, 1.021, 1.826, PHS=-0.298, 1.624,-0.808, RAW= 341.5, -4.7, CAL= 343.0, -6.7, ROT= 167.0, 6.7 Ygot valid direction response: 19:50:16.0637 LVL= 23152, 27793, 22466, 32755, AGC= 62, IDX= 505, 0.05, 1.440,-2.880, 1.021, 1.826, PHS=-0.298, 1.624,-0.808, RAW= 341.5, -4.7, CAL= 343.0, -6.7, ROT= 167.0, 6.7 T#Rx 67: Read range and direction messages.`direction in FSK: [-0.967716,0.223415,-0.116671]Fpublishing direction and range infoءYإ,ԩۘ?mu"޽إ3sA9ءإpZ ٥l)٥WI١i١٥u٥;?٥N١ ڥ)ڡIڥ|iڡڥ|=ڡ ۡۥy7;Iۥiۥw=ۡۥ|=ۡ ܡ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I ـ3I 3I .IIIZI}bIjIrIzI[j:I9III;I;I|;I};VF;XZA M%>x,f,~^A2H?y2G?924Y2F9<>2Ha0?ےAV??@?`s*s?|_?-n?2H?ɨ2{; 0RւBR IIT)THZHZ65z zF=٣! %G!%: %>)]5A59-4o?a=A5Y- i-B9=q=@-kD-f;-;-pA5A EAIZj5l?bjkf5 ii~^Aj3sAjqA2j@p]T&k-* @ogC_zp,ԩۘ?mu"޽"j*j|=p}9Bj*J ̐Pp߷7C8ݿ`~Q쿠`@qνiTji6l?i :8  j~BzjjjjjqArj@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503992 s, deltaX: 0.200000 m, approachRate: 0.396831 m/s, rangeRepo size: 4  Added new target pos. range: 15.200000 m, bearing: 241.841523 deg, lat: 36.903918 deg, lon: -122.118998 deg, deltaT: 0.503992 s, deltaX: 0.200000 m, approachRate: 0.396831 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.20 m.hhhhhggbgjgejeJe`ff.@:e?r\z\\\K@4)  q>i9)5i iwPIIDQDQDYE]5 Eaխ<խ<DDAT read: Rx Time:19:50:16.5636 TRx dataTimestamp_ set to:1736538616.989155PDAT read: Bearing 167.2, 6.6 (Local) ~Local bearing/azimuth received: Bearing 167.2, 6.6 (Local) DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 VFMZAM >= DAT read: 19:50:16.5636 LVL= 24816, 28657, 25074, 32755, AGC= 62, IDX= 504, 0.16, 0.130, 2.088,-0.277, 0.522, PHS=-0.303, 1.614,-0.802, RAW= 341.3, -4.7, CAL= 342.8, -6.6, ROT= 167.2, 6.6 E Ygot valid direction response: 19:50:16.5636 LVL= 24816, 28657, 25074, 32755, AGC= 62, IDX= 504, 0.16, 0.130, 2.088,-0.277, 0.522, PHS=-0.303, 1.614,-0.802, RAW= 341.3, -4.7, CAL= 342.8, -6.6, ROT= 167.2, 6.6 u R#Rx 1: Read range and direction messages.} `direction in FSK: [-0.968687,0.220080,-0.114937]} Fpublishing direction and range infoYAx{0x#+?NZlpA9` o)aIi"?OM-@ )t@Ii:@= BU @ 3ȴIxi(v=:@=   2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.G G G !IG WBG G G G <G F-x,F~^A~ςB~ IMb@Mb@Mb@ )IyA٣A EGAM M>Q]]A59U6o?a]A5YU iUBe<=me>i9)I隍-5iijPIID?DDE05 EVF= MZAA Me > DDAT read: Rx Time:19:50:17.0637  TRx dataTimestamp_ set to:1736538617.491653 PDAT read: Bearing 167.0, 6.8 (Local)  ~Local bearing/azimuth received: Bearing 167.0, 6.8 (Local)  DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0  DAT read: 19:50:17.0637 LVL= 24688, 26385, 25186, 32755, AGC= 62, IDX= 505, 0.30, 1.306,-3.007, 0.882, 1.689, PHS=-0.295, 1.634,-0.811, RAW= 341.5, -4.8, CAL= 343.0, -6.8, ROT= 167.0, 6.8  Ygot valid direction response: 19:50:17.0637 LVL= 24688, 26385, 25186, 32755, AGC= 62, IDX= 505, 0.30, 1.306,-3.007, 0.882, 1.689, PHS=-0.295, 1.634,-0.811, RAW= 341.5, -4.8, CAL= 343.0, -6.8, ROT= 167.0, 6.8  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.967516,0.223369,-0.118404]% Fpublishing direction and range info Y h*z o?y ,?9  ;Y D3<> H  ?๕ IL??"?@`a?O^?m? o?ɨ -'; C=‚B= IZIbI{jIrIzIs:I-9III;I;I:I:H]H]p;5v} D=Y}Q >٣ G:; >]A597o?aA5Y i B߾q%@kD:::wA5) -A)Zj|Il?bjIJV6 ii>w_~^Aj3sAjqA2j@pz\di-3`) @Qzph*zim9)imq>5qiqiqy}RLIyIy x,fz~^Ap?y;?9H?ڕ`K???ۜ?F`?``m?p?ɨ/;  CB I=YeQ m>i٣i mGiuG8 u>yGGG!IGRBGGGGϰ<G F]A59}8o?aA5Y}z i}B/y=mZ<&^q@}kD}-=}#=}Z{A5 AZju*l?bjuJ7 iqiu~^Ajqjq2ju 7@puJbu-  @BCzpuTEh?Niإ"ju :@*juk=pu_ąF-*$|'pud\ݿ 1آ5iuUju4iul?iu ;:  ju~Bzju#Ll?ju :8 jqjjuqArju/@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.200000 m, bearing: 242.101487 deg, lat: 36.903919 deg, lon: -122.118998 deg, deltaT: 0.504173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.20 m.hhhhhggbg jg9BejeJe:e`P?r\u/y=z\u/y=\ub@\uK@<) u>iP9)隽N5iiLII% *x,aޙ~^AMBU IHuHu>5z 1=YQ >٣ G >]A599:o?aA5Y DDAT read: Rx Time:19:50:18.0638 TRx dataTimestamp_ set to:1736538618.499718PDAT read: Bearing 166.9, 6.0 (Local) ~Local bearing/azimuth received: Bearing 166.9, 6.0 (Local) DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 =DAT read: 19:50:18.0638 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.41,-0.030, 1.932,-0.459, 0.372, PHS=-0.314, 1.607,-0.834, RAW= 341.7, -4.2, CAL= 343.1, -6.0, ROT= 166.9, 6.0 EYgot valid direction response: 19:50:18.0638 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 506,-0.41,-0.030, 1.932,-0.459, 0.372, PHS=-0.314, 1.607,-0.834, RAW= 341.7, -4.2, CAL= 343.1, -6.0, ROT= 166.9, 6.0 ER#Rx 1: Read range and direction messages.M`direction in FSK: [-0.968640,0.225410,-0.104528]UFpublishing direction and range infoY27;?4ޮ`ºtA9 )Ii<Ġ-?:J]BJ]`9JJYRJ] ZJ]  JiIiU_׾@ Q )@IPwֽim:@Pw= "1v HG7q)󚲿I i9=m:@Pw=  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.iB99q=@kDL=M=eA5A E5AAZj>l?bj[: iia~^AjtAj+sA2jf @p6~-9GM @jrzp27;?4ޮ`º"jm:@*jPw=p>foٴ**ӞdpXݿ<-Kt~+iVji*;l?i\<  j~Bzjj8 jjj(qArjE@ addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503892 s, deltaX: 0.100000 m, approachRate: 0.198456 m/s, rangeRepo size: 4 ZI)bI-jI-0rI)zI)I-9I-ـ3I)qE@iE@uE@mE@ Added new target pos. range: 15.300000 m, bearing: 241.943161 deg, lat: 36.903919 deg, lon: -122.118998 deg, deltaT: 0.503892 s, deltaX: 0.100000 m, approachRate: 0.198456 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.30 m.hhhhhggbgjgejeJe.@:e .?r\)z\)\)\)) m>i]9)隅a_5iiIIDe?DaDiEm4 Ei jx,~^ABc?yB{?9BÃ@YB<>BH? >?{??ֶ3?Z? Gm?Bc?ɨBw; B!CNBN IHnHnB5  Z=Y9Q >٣ G >!]eA59%z;o?amA5Y%w i%By+^q@%kD%_<%E<%A5 AMDNOT Ignoring new targets: 15.30 m.hQhQhQhQhQgqgybgyjgyeyjeJe:eai?r\z\\\nJ@Ã@) 5>i9)ii  &NI I DzD]DDAT read: Rx Time:19:50:18.5637 eTRx dataTimestamp_ set to:1736538619.004641uDAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 -}X#Rx 1: Read range message, but no direction.Y]3sA9Y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IF=)cCDDDE_0 E 5~GA )5Ry15AAGIGIGMm!IGM>BGIGIGIGM<GMFVF dLZA ME > x,غ~^A:S?y:?9:?Y:7l<>:H h%?3yG???@<׶?d?@l?:S?ɨ:f; :CFBF IIH)HbAbAbq٣q }GyG >]A59i%9)!%Wf3)i)iQQUOIQIYDDDE`0 E }DDAT read: Rx Time:19:50:19.0637 }TRx dataTimestamp_ set to:1736538619.507807PDAT read: Bearing 166.2, 7.2 (Local) ~Local bearing/azimuth received: Bearing 166.2, 7.2 (Local) DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 DAT read: 19:50:19.0637 LVL= 25168, 30593, 25394, 32755, AGC= 61, IDX= 505,-0.24,-1.531, 0.423,-1.995,-1.178, PHS=-0.265, 1.648,-0.820, RAW= 342.4, -5.1, CAL= 343.8, -7.2, ROT= 166.2, 7.2 Ygot valid direction response: 19:50:19.0637 LVL= 25168, 30593, 25394, 32755, AGC= 61, IDX= 505,-0.24,-1.531, 0.423,-1.995,-1.178, PHS=-0.265, 1.648,-0.820, RAW= 342.4, -5.1, CAL= 343.8, -7.2, ROT= 166.2, 7.2 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.963477,0.236653,-0.125333]Fpublishing direction and range infoyY}2آJ?cK y9y}Pb }w)}2cIyi}=}}?}Q}t;@ }K)}@I}i}9@}>y y}{翣A{2-II}Ii}PM=}9@}>y y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.:J LBJ -9JJ RJ ZJ J5 ? J5 $?VF _NZA M >x,ę~^AR>)?yRf?9RXT?YRP<>RH`M?)`:?`??@׶ Q?`Z?fm?R>)?ɨR~g; R!CZoBZn IHHMD5-,ν -N=Y-9Q 5>1٣1 UGY]XQ ]>a]mA59e>o?amA5Ye  ieBiu⋿qu@ekDe:e~:eĉA5 =AZj=+l?bji5 ii~^Aj3sAjqA2js@p,(J-5{ @o%{zp2آJ?cK "j9@*j>prW#VZ*0Y4`p׳a޿d뿔EziRjiul?i/58  jF}BzjjjjjkpArjSՆ@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503166 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 15.200000 m, bearing: 240.901387 deg, lat: 36.903919 deg, lon: -122.118998 deg, deltaT: 1.008089 s, deltaX: -0.100000 m, approachRate: -0.099198 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.20 m.hhhhhggbgjgejeJe:eY?r\Iz\I\I\MI@]XT?)a eB>ie{9)aeaiai̖TII DDAT read: Rx Time:19:50:19.5636  TRx dataTimestamp_ set to:1736538620.015299 DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.ء إ pA9ء  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Xx,er^AGGGA!IGBGGGG<GFH HHH"H*HA4ZIebIe|jIarIazIev:Ie@9IaIaIeU;quIeV;iuIe{:u}Ie|:m}?yS?9>Y_<>H@`?` D?`? )?UζG?}c? m?騍?ɨ^; C=eB=b I Mb@Mb@Mb@   ) I y MbXQ뱿~jt ʽ \ ļ  A) I p@i   G@H-H-P@5E, E-=Y.:Q >٣ GA >]A59?o?aA5Ym iB"=m;q@kDG;p/;A5 A] addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.507492 s, deltaX: -0.200000 m, approachRate: -0.394094 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 15.20 m.hahahahahaggbgjgBejeJe.@:eq?r\"=z\"=\{sp@\՗@ >) >i9)3ii,VIID]>D;>Ɵx,[^A~1ڌ?y~?9~7T;Y~8<<>~Hޚ?@????Jph?e_?@m?~1ڌ?ɨ~a; ~!CLBD Ii9)ii\IIB hAB iA]DDAT read: Rx Time:19:50:20.0637 eTRx dataTimestamp_ set to:1736538620.520484mPDAT read: Bearing 166.9, 7.2 (Local) u~Local bearing/azimuth received: Bearing 166.9, 7.2 (Local) DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed -0.1 DAT read: 19:50:20.0637 LVL= 23536, 28593, 23266, 32755, AGC= 62, IDX= 504, 0.22,-1.549, 0.410,-1.976,-1.181, PHS=-0.280, 1.638,-0.799, RAW= 341.7, -5.1, CAL= 343.1, -7.2, ROT= 166.9, 7.2 Ygot valid direction response: 19:50:20.0637 LVL= 23536, 28593, 23266, 32755, AGC= 62, IDX= 504, 0.22,-1.549, 0.410,-1.976,-1.181, PHS=-0.280, 1.638,-0.799, RAW= 341.7, -5.1, CAL= 343.1, -7.2, ROT= 166.9, 7.2 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.966296,0.224864,-0.125333]Fpublishing direction and range infoaYesq=\iiJZ?cK e3sA9ae[ eo)eZIaie>e)\e?:J BJ 9JJ RJ  ZJ #.7ACGHD?<;:<70+&! $JIeDLe_׾@ a)e@Iaiem:@aa aeac$70:-Ie)ieO=em:@aa a U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.C}f9D D D E0 E 0̟x,&6^A62?y6?969Y6H<>6H? A?`?w2?@w/? a?m?62?ɨ61; 6#CJFBN< IHZHZJH5b fR=Yfǒ:Q f>h٣h jGhj$ n>p]rA59rAo?avA5Yr ir֢BtvBqv@rkDr2:r:r5A5x zA|Zjl?bjp: iiO!^Ajj2j4҆@pTd&`-ވZW @o%{zpsq=\iiJZ?cK "jm:@*jpg#sNz*aهpqde޿}msȀiSjil?ixJ=  j|Bzjj ;: j=~BjjoArj^@ addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.505185 s, deltaX: 0.200000 m, approachRate: 0.395894 m/s, rangeRepo size: 4  Added new target pos. range: 15.200000 m, bearing: 241.396269 deg, lat: 36.903919 deg, lon: -122.118999 deg, deltaT: 1.012677 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.20 m.hhhhhggbg!jg!e!je!Je%`ff.@:eM?r\z\\\M@9) nM>i9)隝&e3ii_II}DDAT read: Rx Time:19:50:20.5636 }TRx dataTimestamp_ set to:1736538621.025076PDAT read: Bearing 166.8, 7.6 (Local) ~Local bearing/azimuth received: Bearing 166.8, 7.6 (Local) DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 DAT read: 19:50:20.5636 LVL= 23248, 32753, 24770, 32755, AGC= 62, IDX= 503, 0.14, 2.875,-1.448, 2.443,-3.053, PHS=-0.267, 1.652,-0.790, RAW= 341.7, -5.4, CAL= 343.2, -7.6, ROT= 166.8, 7.6 Ygot valid direction response: 19:50:20.5636 LVL= 23248, 32753, 24770, 32755, AGC= 62, IDX= 503, 0.14, 2.875,-1.448, 2.443,-3.053, PHS=-0.267, 1.652,-0.790, RAW= 341.7, -5.4, CAL= 343.2, -7.6, ROT= 166.8, 7.6 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.965027,0.226345,-0.132256]Fpublishing direction and range infoyY}h ?) }pA9y}Z })}`Iyiy}9}t?}q=Jy })}֭@I}i}AQ:@}>y y}ުs5I}qi}/=}AQ:@}>y y e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.GGG!IGBGGGG<GFZI}bI}jI}1rIyzI}s:I}9I}3IyI};I};I}' ;I}( ;Cx9D D D E ~0 E  E0՟x,+U^A:q?y:?9:7$6Y:e;>:H?ਆ 8?`p?}?A ¦? W?fn?:q?ɨ:_; : CB=BB1 IUMb@Mb@Mb@QQ Q)QIQyUx&lZd;OU7 UUj U A)U@IQiUh@QUQ@ iiHuHuB5\ =Yz:Q >٣ G >]A59hCo?aA5Y| iˢB>m;:q@kD;;A5 AZjtl?bj'7 iiؚA^AjpAjfnA2ja@pqg,JdO) @W.1սzph ?) "jAQ:@*j>pn{ W*FcpRy޿@F%iGPjivl?iy~p9  j|Bzjl?jjF}BjjnArj@% addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504592 s, deltaX: -0.200000 m, approachRate: -0.396359 m/s, rangeRepo size: 4 e Added new target pos. range: 15.000000 m, bearing: 241.096753 deg, lat: 36.903919 deg, lon: -122.118999 deg, deltaT: 0.504592 s, deltaX: -0.200000 m, approachRate: -0.396359 m/s, posRepo size: 4 uDNOT Ignoring new targets: 15.00 m.hqhyhyhyhg gbgAjgEBeIjeQJe].@:e`B?r\ >z\ >\ Zi@\ +@E7$6)A E{>iEq9)AE 4IiIiIQU?`gIQIQDDAT read: Rx Time:19:50:21.0638 TRx dataTimestamp_ set to:1736538621.527973PDAT read: Bearing 166.6, 7.6 (Local) ~Local bearing/azimuth received: Bearing 166.6, 7.6 (Local) DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0  DAT read: 19:50:21.0638 LVL= 28144, 28241, 27602, 32755, AGC= 63, IDX= 505, 0.06,-2.622,-0.666,-3.060,-2.270, PHS=-0.264, 1.651,-0.793, RAW= 341.9, -5.4, CAL= 343.4, -7.6, ROT= 166.6, 7.6 Ygot valid direction response: 19:50:21.0638 LVL= 28144, 28241, 27602, 32755, AGC= 63, IDX= 505, 0.06,-2.622,-0.666,-3.060,-2.270, PHS=-0.264, 1.651,-0.793, RAW= 341.9, -5.4, CAL= 343.4, -7.6, ROT= 166.6, 7.6 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.964231,0.229712,-0.132256]%Fpublishing direction and range infoY/l p3g?) tA9m Qn)kIi?+S? K@ )nʿ@Ii:@ {>B翶C忉4IJi֌=:@  =2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.:JMBJ#9JJRJ ZJJ ? J?C9D! D) D) E- o0 E) e Xqܟx,M0t^A6N?y6&?96;3Y6z <>6HE? 0 >? {??q@.x?{\?@an?6N?ɨ6=; 6Cj$Bj IH H L5ҽ ,=Y:Q >٣ G >]A59Do?aA5YY iB`q@kD::A5) -A)Zjl?bj|? iiOa^AjtAj+sA2j@pre-L @P,0zp/l p3g?) "j:@*jpr#~*d/Ep0o޿M{Ѵ`+iSji6l?iYA  jN|Bzj*;l?j\< j|BjjdoArj@m addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.502897 s, deltaX: 0.300000 m, approachRate: 0.596544 m/s, rangeRepo size: 4  Added new target pos. range: 15.300000 m, bearing: 240.840560 deg, lat: 36.903918 deg, lon: -122.119000 deg, deltaT: 0.502897 s, deltaX: 0.300000 m, approachRate: 0.596544 m/s, posRepo size: 4 DNOT Ignoring new targets: 15.30 m.hhhhhggbgQjgQejeJe.@:ew?r\iz\i\i\m@;3) v>i9)隥iirjIIDDAT read: Rx Time:19:50:21.5637 TRx dataTimestamp_ set to:1736538622.032572DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.ءإ3sA9ء 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D?DDE0 EGGG IGɂBG =GGGG<G7FZIbIjI0rIzIv:I9Iـ3IIU;IV;I2;I3;VF XbZA M5 >3Jx,q̍^AB IMb@Mb@Mb@ )IyjtĿ333333 rh C  A)Ii~@@HHZ5 E=YQ >٣ G > A m=;=qE@5kD5:5,:5A5I MAI} addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504599 s, deltaX: -0.100000 m, approachRate: -0.198178 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 15.30 m.hhhhhggbgjgBejeJe`ff.@:e%?r\3>z\3>\ve@\tO@) >>i9)7t3iiiIIAD?DDE 5 E DDAT read: Rx Time:19:50:22.0637  TRx dataTimestamp_ set to:1736538622.536410 PDAT read: Bearing 167.0, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 167.0, 7.6 (Local)  DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0  DAT read: 19:50:22.0637 LVL= 27616, 28897, 27858, 32755, AGC= 60, IDX= 504, 0.39,-2.279,-0.304,-2.703,-1.919, PHS=-0.272, 1.662,-0.787, RAW= 341.5, -5.4, CAL= 343.0, -7.6, ROT= 167.0, 7.6 % Ygot valid direction response: 19:50:22.0637 LVL= 27616, 28897, 27858, 32755, AGC= 60, IDX= 504, 0.39,-2.279,-0.304,-2.703,-1.919, PHS=-0.272, 1.662,-0.787, RAW= 341.5, -5.4, CAL= 343.0, -7.6, ROT= 167.0, 7.6 - R#Rx 1: Read range and direction messages.5 `direction in FSK: [-0.965811,0.222975,-0.132256]5 Fpublishing direction and range info Y %B#%_-r?) 9 k p) lI i < C j? xI ƺ@ ) =@I i q:@ ;J`n翻 s)}0KI i = q:@ U 2Acoustic response timeoutVFU cZAa } Querying Benthos address 50 with one ping in standard two-way mode.M >:J BJ 9JJ RJ ZJ J! I! $ox,Ց^AB0Ћ?yB ?9BR-YBu;>BHN?6| :? ?`;$?2@$?eV?`@o?B0Ћ?ɨB ׆; B"CjBjIHvHv[5]3 ]U=Y]};Q e>a٣a eGam% m>q]A59uFo?aA5Yu iuBq@ukDui(9)隝4iixII-Wx,*p^A6Y?y6ʧ?96(Y6>B<>6H`%o?`Dw`WH? ? /i?} `?Ra?o?6Y?ɨ6T; 6 CFDDAT read: Rx Time:19:50:22.5636 FTRx dataTimestamp_ set to:1736538623.039848JPDAT read: Bearing 166.8, 7.4 (Local) N~Local bearing/azimuth received: Bearing 166.8, 7.4 (Local) VDAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 fDAT read: 19:50:22.5636 LVL= 28448, 27041, 28450, 32755, AGC= 61, IDX= 503, 0.01, 2.538,-1.780, 2.104, 2.898, PHS=-0.272, 1.652,-0.797, RAW= 341.7, -5.3, CAL= 343.2, -7.4, ROT= 166.8, 7.4 nYgot valid direction response: 19:50:22.5636 LVL= 28448, 27041, 28450, 32755, AGC= 61, IDX= 503, 0.01, 2.538,-1.780, 2.104, 2.898, PHS=-0.272, 1.652,-0.797, RAW= 341.7, -5.3, CAL= 343.2, -7.4, ROT= 166.8, 7.4 nR#Rx 1: Read range and direction messages.r`direction in FSK: [-0.965470,0.226449,-0.128796]vFpublishing direction and range infoDYFK!mF?OZ_|FpA9DF o Fi)F"oIDiF=DFt?F1LF_׾@ Fq)F֭@IF AiFAQ:@F A>D DFe=$@x7 pIF,niF|=FAQ:@F A>D D 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.GGG IGBG =GGG԰<G FZIbI}jIrIzIy:IS9III;I ;I:I:޵B޵I-only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V @ @ @  @ HH@T5] &=Y ;Q  >٣ G >Q]A59UGo?aA5YU  iUBi+:mu;˳q@UkDU<<pFf})q߄)7fpFS= ߿BX;PiFOjFiF#l?iFÉ@  jF|BzjFl?jFÉ@ jDjjF>nArjFm@5 addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503438 s, deltaX: -0.200000 m, approachRate: -0.397268 m/s, rangeRepo size: 4 e Added new target pos. range: 15.000000 m, bearing: 240.741416 deg, lat: 36.903919 deg, lon: -122.119001 deg, deltaT: 0.503438 s, deltaX: -0.200000 m, approachRate: -0.397268 m/s, posRepo size: 4 eDNOT Ignoring new targets: 15.00 m.hihihihihigigibgqjgqeqjeJe.@:e t?() z|>i9)vH4ii7~II=px, ^A:D?y:f?9:%Y:.<>:HC?rG?? a?@?뵿 졤?+_?o?:D?ɨ:; :!CB BBIHRHRJ5V Zt=YZT*;Q Z?\٣\ ^G\bػ b?d]fA59fHo?ajA5Yf ifBij :hmjG;jqU@fkDfFi9)Z{4ii.͂IIBBCB]DDAT read: Rx Time:19:50:23.0635 ]TRx dataTimestamp_ set to:1736538623.543658mPDAT read: Bearing 166.5, 7.4 (Local) m~Local bearing/azimuth received: Bearing 166.5, 7.4 (Local) }DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 DAT read: 19:50:23.0635 LVL= 26736, 31697, 30258, 32755, AGC= 61, IDX= 503,-0.47, 2.395,-1.924, 1.947, 2.749, PHS=-0.267, 1.657,-0.805, RAW= 342.0, -5.3, CAL= 343.5, -7.4, ROT= 166.5, 7.4 Ygot valid direction response: 19:50:23.0635 LVL= 26736, 31697, 30258, 32755, AGC= 61, IDX= 503,-0.47, 2.395,-1.924, 1.947, 2.749, PHS=-0.267, 1.657,-0.805, RAW= 342.0, -5.3, CAL= 343.5, -7.4, ROT= 166.5, 7.4 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.964271,0.231501,-0.128796]Fpublishing direction and range infoYY]L$JO :H`?@n]?@m? ?˵@.?r?n?:?ɨ:; :CFBFIHNHNT5VϾ VK=YV;Q Z>X٣X ZGX^F ^>`]fA59bIo?afA5YbL ibBif9hmj!;jCqj@bkDb\:b?b"A5l nApZjOXl?bj)O= iiK^AjfnAjlA2j.@p3c;,L @'*erzpL$JO Gi<9)4i A)=y9EDAiIIM?IIIID]x>D]>mDDAT read: Rx Time:19:50:23.5634 mTRx dataTimestamp_ set to:1736538624.047517}DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 -}X#Rx 1: Read range message, but no direction.im3kA9i 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.GGG IGBGGGG+<G#FDADADAEE`0 EIZI5bI5jI51rI1zI5s:I5y9I53I1I5;I5;I5::I5;:VF] ZAi M >/x,^Ab٣ G >]A59"Jo?aA5YY iBiT:->m;Vq@kDn;;/A5 A addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503859 s, deltaX: -0.200000 m, approachRate: -0.396936 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.90 m.hhhhhggbgjgyBejeJe`ff-@:e ?r\%->z\%->\%k_@\%2z@1)9 =>>i=9)9=49i9iAAEU,IIIDaDaDaEep0 EauDDAT read: Rx Time:19:50:24.0634 }TRx dataTimestamp_ set to:1736538624.551628DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.2 -X#Rx 1: Read range message, but no direction.yy9y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF 4ZA M >:JE BJE -9JJA RJE ZJE JI II Z x,m+^AFŠ?yFEަ?9FmYFv<>FH`?f@X??O/?ze8?@h?o?FŠ?ɨF; DnBnIHvHv{R5~U< ~f=Yʭ;Q >٣  G   /  >]A59Jo?aA5Y iB!%Ծq%@kDj;;IA5-B -zA-E5 addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504111 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 14.90 m.h9h9h9h9h9g9gAbgIjgIeQjeYJeY:e]?r\!z\!\!\%Z@m) >>i9)隅4iiIIm DDAT read: Rx Time:19:50:24.5634  TRx dataTimestamp_ set to:1736538625.055156 DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.2 - X#Rx 1: Read range message, but no direction.؁ ؁ 9؁  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.]Ax,CE^AG$G$G&s IG&sBG& =G$G$G&<G&FH  H H H "H *H 4]W?y] ?9]aRY] <>]HS?@RbIO?`U?U?H@=?@[?p?]W?ɨ][; ]CuBuI Mb@Mb@Mb@   ) I y ףp= ÿ/$Mb`?  , ; M A) &@I @i   @H%H%P5=; =+=YE;Q E>A٣A EGAMk M>Q]]A59U~Jo?a]A5YU iUB]t$>me;eɿqe@UkDU:UV:UuA5i moAi addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503528 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.90 m.hhhhhggbg!jg%Be!je!JeI:eM h?r\t$>z\t$>\IY@\;@UaR)Q UHa>i]9)Y]5YiYiݦIIDE >VF} ZA M >Zkx,u_^A)@ @6=?y6u{?96Y6Q<>6H@?_\?@?d?!`>;?d?p?6=?ɨ6,; 4RBRIHZHZ Y5bT= b}=Yf2*;Q f ?d٣h jGhjB j ?l]rA59nvJo?avA5YnL inBtvɿqv@nkDn:n:nHA5x z*A|%DNOT Ignoring new targets: 14.90 m.h)h)h)h)h)g)g)bg1jg1e1je1Je9:e=(?r\z\\\@) |r>i9)5ii!!%􌏽I!I)=DDAT read: Rx Time:19:50:25.0634 ETRx dataTimestamp_ set to:1736538625.559386MDAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 -MX#Rx 1: Read range message, but no direction.9999 U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.:JMBIBJM9JJIRJM ZJMJU? JU>ZIe~bIejIarIazIe{m:IeH9IaIaqm@im@uu@mu@C9Du?DqDqE}}1 Ey ܩx,Oy^An?yn0D?9n Ync9<>nH,?@"\v^?v?c? @K?`a?/q?n?ɨnl; lB IH-H-L5E= E@=YEg";Q E>I٣I MGIU U>Y]eA59]iJo?aeA5Y] i]Bae0ʿqe@]lD]:]~:]A5q uAq addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504230 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.90 m.hhhhhggbgQjgQeqjeyJe:e\?r\az\a\a\e@ ) >>iu9)" 5i i  ԪII%DDAT read: Rx Time:19:50:25.5633 %TRx dataTimestamp_ set to:1736538626.063371-DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 -5X#Rx 1: Read range message, but no direction.!%iA9! =2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.GGGl IGnBG =GGGհ<G FH-4=H-4=DIDIDQEU 5 EQVFu ZA M >$x,a^A: ?y:$?9:J* Y:l0<>:H;?Yb??Ւ?ǴrD?`?wq?: ?ɨ:;B٣ Gl >] A59~Jo?a A5Y iB t>m;.ǿq@lD ; ;A5! %A!u addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503985 s, deltaX: -0.099999 m, approachRate: -0.198417 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 14.90 m.hhhhhggbgjgBejeJe@33-@:e@z?r\Mt>z\Mt>\MHk[@\M+D@]J* )a eHa>ie9)a隍.5iiIID]?DYDYE]^0 EaEiEi=DDAT read: Rx Time:19:50:26.0633 =TRx dataTimestamp_ set to:1736538626.567348MDAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 -UX#Rx 1: Read range message, but no direction.9999 ]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.VFE eZAY M} >ZI bI jI rI zI v:I 9I I :J} KBJ} u9JJy RJ} ZJ} PnUM,ufYIC<5/.+&"   *x,^Ann?yn֥?9nYnY<>nHa?Sp???@Vv z\?#f? q?nn?ɨn; n"Cv(Bv IHHJH5 ũ= n=YM;Q M?I٣I MGQUNݻ U>Y]eA59]Jo?aeA5Y], i]Bim}ǿqm@]lD]P:]q:] A5q umAq addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503977 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.90 m.hhhhhggbgjgejeJe:e@)?r\z\\\0@) |~>iN9)=5ii!%7CI!I!9 9 E DDAT read: Rx Time:19:50:26.5632 E TRx dataTimestamp_ set to:1736538627.071610M DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 -U X#Rx 1: Read range message, but no direction.A E ffA9A ] 2Acoustic response timeout] Querying Benthos address 50 with one ping in standard two-way mode.G G G y IG xBG G G G <G F1x,uƀ^AEN?yE?9E YE<>EHk?Qy?@?u?kR ?k?`q?EN?ɨEч; EC5B' I5Mb@Mb@Mb@11 1)1I1y5Zd;kty&1|?55 05`; 57 A)5=@I1i5h@11HMHM?5]R= ]+=Ye:Q e>a٣a mGiu u>]A59Jo?aA5Y iB>m;qq@ lD;;0A5 A addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504262 s, deltaX: -0.200001 m, approachRate: -0.396621 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.90 m.hhhhhggbgjgāBejeJe,@:e?r\}>z\}>\}̿^@\}]@ ) Ha>i*9)IM5ii!!%I!I)7x,^A6{I?y6?96Y6;>6H*?N6i?@??P& G? qW?r?6{I?ɨ6ԇ; 4Bi19)隍Y5iiIIDDAT read: Rx Time:19:50:27.0631 TRx dataTimestamp_ set to:1736538627.575232DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.dA9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.D?DDE 1 E IK3IK3IKA.ICICICZIbIjI2rIzIIy9Ic3I:JqNBJk9JJRJ ZJ & &"gM:( j`-J> J?VF@ZA M-p> :H?M{?@D??AK?@5d?fr?:K@?ɨ:·; :!CFEBF; IJ=iJ<HRHRm?5Z5= ZN=Y^;Q ^>\٣\ ^G`bg9 b>d]jA59fhKo?ajA5Yf; ifBlnqn@flDf;f;f{A5p rAp addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503622 s, deltaX: -0.099999 m, approachRate: -0.198560 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.90 m.hhh!h!h!g!g)bg)jg)e)je1Je,@:e`G?r\z\\\4@=c)9 = >i=9)AEZj5AiAiII3IIBBCB DDAT read: Rx Time:19:50:27.5630 TRx dataTimestamp_ set to:1736538628.080305%DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed 0.1 --X#Rx 1: Read range message, but no direction.  aA9  -2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.DE?DADAEEG1 EAGGG IGBGGGG1<G(FVF AZA M >Dx,h^A.FHෘ?}K@Sx??f?೿`}?]?`r?Fk'?ɨF; FCR[BRV IMb@Mb@Mb@ )Iy&1Zd;OMb?нj<< M A)I@i~@(@HHJH5$= :=Y:Q >٣ G# >]A59Lo?aA5Y iB=m;q@lD* ;;SA5 A= addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.505073 s, deltaX: -0.200000 m, approachRate: -0.395982 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 14.90 m.h9h9hAhAhAgAgAbgIjgMBeIjeIJeU@33,@:eU!?r\u=z\u=\u?-d@\ud@-r)) -.>i-9)15u51i1i99=I9I9DDDE/5 EDDAT read: Rx Time:19:50:28.0630 TRx dataTimestamp_ set to:1736538628.583306%DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed 0.0 --X#Rx 1: Read range message, but no direction.9 52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.VF ޚZA! MU >ZIA bIA jIE 0rIA zIA IA IE ـ3IA :J %NBJ -9JJ RJ ZJ   J gAI gAKx,7.^A6S*?y6g?96Y6)a<>6Ha?KK?@??ȳ:?@g? }r?6S*?ɨ6cx; 6 CbdBba IHjHjF55;= 5U=Y5:Q =>9٣9 EGAEjr9 E>I]UA59MLo?aUA5YM iIQ]q]@MlDM;MU;MA5a eAa addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503001 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.90 m.hhhhhggbgjgejeJe:e`~?r\z\\\@) @>iJ9)5iid%IIuIQ )Q ~G 5 A)u ܹyq } īA- DDAT read: Rx Time:19:50:28.5629 5 TRx dataTimestamp_ set to:1736538629.088298= DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed -0.4 -E X#Rx 1: Read range message, but no direction.1 5 `A91 E 2Acoustic response timeoutM Querying Benthos address 50 with one ping in standard two-way mode.G G G IG BG =G G G <G F Qx,H^A> ?y>W?9>Y>b<>>H7?I ܈?`? ? 䴳@&Ϝ?h?r?> ?ɨ>w ; <HHAA lB k II)HUHUjC5*= C=Y:Q >٣ G >]A59.Mo?aA5Y iBϵq@lD`::gA5 OAQ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504992 s, deltaX: -0.100000 m, approachRate: -0.198024 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.90 m.hhhhhggbgjgejeJe,@:e?r\z\\\@U)Y ]P>i]P9)Y]5aiaiaim0IID%?D!D!E) E)}Xx,0a^A:c?y:O?9:JY:*<>:H@?I?}?U?wՖ?2a?r?:c?ɨ:gֆ; :!CbtBft IHnHnF5v= vW=Yv :Q v>x٣x zGx~" ~>] A59Mo?a A5Y iB  ׵q @lD~::A5 AMDNOT Ignoring new targets: 14.90 m.hIhQhQhQhQgQgQbgYjgYeYjeaJea:ee` +?r\z\\\@J) J_>i9)隝'5iikIIDzDiADDAT read: Rx Time:19:50:29.0629 TRx dataTimestamp_ set to:1736538629.595294 PDAT read: Bearing 157.7, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 157.7, 4.4 (Local) %DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.1 DAT read: 19:50:29.0629 LVL= 26576, 32753, 26386, 32755, AGC= 62, IDX= 512,-0.08, 2.261,-2.743, 1.619, 2.438, PHS=-0.089, 1.149,-0.822, RAW= 351.6, -2.8, CAL= 352.3, -4.4, ROT= 157.7, 4.4 Ygot valid direction response: 19:50:29.0629 LVL= 26576, 32753, 26386, 32755, AGC= 62, IDX= 512,-0.08, 2.261,-2.743, 1.619, 2.438, PHS=-0.089, 1.149,-0.822, RAW= 351.6, -2.8, CAL= 352.3, -4.4, ROT= 157.7, 4.4 R#Rx 1: Read range and direction messages.`direction in FSK: [-0.922483,0.378338,-0.076719]Fpublishing direction and range infoYm([6?.0ۣ9g )gIi>Eo?nR^@ +H)@InFi'0@nF= wv8*s hE̥:Ipi G='0@nF=  E2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.DQDQDYEY EYEe=Ee>:J.KBJu9JJRJ ZJ VFU)ZAqM}> 6HK?H ?? w ? @?b?r?6t ?ɨ6; 6 C^B^ IHfHf>5nZ= rK=YrW:Q r>t٣t vGtv1 v>x]UA59zFNo?aUA5Yz% ixQUൿq]@z lDzSEmܿp5[VUE>>i5.j5 i5Vsll?i5D"  j5Bzj59l?j1j5|Bjj5aArj5)@ addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.506996 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 14.000000 m, bearing: 231.264806 deg, lat: 36.903918 deg, lon: -122.119001 deg, deltaT: 6.051636 s, deltaX: -0.900000 m, approachRate: -0.148720 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe:e`Υ?r\z\\\@%)! %Nu>i%9)!%5)i)i)15I1I9DDDEl0 E DDAT read: Rx Time:19:50:29.5628 TRx dataTimestamp_ set to:1736538630.099652DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0 -%X#Rx 1: Read range message, but no direction.\A9 -2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.GiGiGm IGmBGiGiGiGm<Gm FH1 H1H1H1"H1*H5ŝ4HC=H=ZI-bI-jI)rI)zI-}:I-59I)I)I-;q=I-;iEI-;uEI-;mEVFUbZAYM}>+ex,W^A"FHĵ?2Gy??`?`(i?@U?s?F]?ɨF; DnBn I@ @ @  @ HH>5 <  ,=Y ڪ9Q >٣ G >!]eA59%No?amA5Y% i%Bim+:imm;mqm@%$lD%"<%>%A5y }Ay addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504358 s, deltaX: -0.200000 m, approachRate: -0.396543 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe+@:e`B>?) s>i 9)ڞ5ii   kI IDDAT read: Rx Time:19:50:30.0629 TRx dataTimestamp_ set to:1736538630.599670DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.1 - X#Rx 1: Read range message, but no direction.`A9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.C |9D e>D >:J KBJ -9JJ RJ ZJ D D D E _0 E E E hAVF)ե<ե<5H k? IG@?a??`?`^?,s?5V?ɨ5n; 1B IH H GL55B)= 5&=Y=J+Q =>9٣9 EGAE9 E>I]UA59MOo?aUA5YM iMBi] :Yme;eqe@M'lDM;;Mrx?M[A5i m0Ai addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.500018 s, deltaX: 0.200000 m, approachRate: 0.399985 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe,@:eB=? ) ڋ>i9)5ii IIDDDE EVF銝ZADDAT read: Rx Time:19:50:30.5628 TRx dataTimestamp_ set to:1736538631.103701DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؁؅\A9؁ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.M>GGG IGӂBG =GGG <G FH H ZI bI |jI 1rI zI v:I @9I 3I I U;I V;I {:I |:sx,Ё^A~B~ I٣ G >]A59]Ro?aA5Y i|BiT:ź=m<s,q@*lDC::[A5B -A-E addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504031 s, deltaX: -0.200000 m, approachRate: -0.396801 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgdBeAjeAJeM+@:eMz*zx,^A:JBJu9JJRJ ZJB II)HHMD5 =<  j=Y Q >٣ G >!]-A59%lTo?a-A5Y%+ i%{B))q5@%,lD%:%:%_A59 =A9m addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503630 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 14.00 m.hqhqhqhqhqgygybgyjgyejeJe:e ?r\z\\\) =i9)隽¯5ii韽IIDDDE0 E=x,^A]DDAT read: Rx Time:19:50:31.5628 eTRx dataTimestamp_ set to:1736538632.115624GGG !IGBG =GGG<G F%DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0 -5X#Rx 1: Read range message, but no direction.YY9Y 52Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.4?y7?9 YLR<>H?G@(???`ydz?`e?`r?4?ɨNņ; MBU IHaHe%=ZIqbIujIqrIqzIqIu9IqIqIqIqIu ;Iu ;Mb@Mb@Mb@ )IyZd;OktMb`?j ;  A)b@IiVA@H5H50E5 =YҺQ >٣ G9 >]A59Wo?aA5Y iwB]=m<H q@/lD::A5 A addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.508293 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 14.00 m.h!h!h!h!h!g!g)bg)jg-ZBe)je1Je1:e5`J?r\U]=z\U]=\Uo@\UƷ@e )i m=im9)im15iiiiqq}cIyIyD?DDE0 EQx,W^A6Q?y6D?96Y6E<>6H+?@H`"~?? ? ⳿{?]d?@r?6Q?ɨ6sˆ; 6CDDHNHNV85^n: ^=Y^OQ b4?`٣` bG`fv: f5?h]nA59jRYo?arA5Yj ijuBpr( qr@j0lDj:jG:jA5t MAQDNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe:e+?r\ z\ \ \ ʷ@) %=i%9)!%^5!i!iIim IiIiBqBqCqBq-DDAT read: Rx Time:19:50:32.0629 5TRx dataTimestamp_ set to:1736538632.616191EDAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed -0.1 -MX#Rx 1: Read range message, but no direction.)-`A9) M2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.De?DaDaEe5 Ea:JBJJJRJ ZJ'2fy . & ? , F 2 ) yVF銝ZAM> %H༣?I`}? ?[?D`?f?^r?%n?ɨ%l; !uBu I}٣ GZ': >]A59\o?aA5Y irB q@3lD:K:A5 Au addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.500567 s, deltaX: 0.200000 m, approachRate: 0.399547 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 14.00 m.hyhyhyhyhyggbgjgejeJe,@:e?r\Iz\I\I\Mͷ@]N/)Y ]\=i]+9)隅45iiR{IID?DDE2 EAGyGyG}!IG}BG} =GyGyG}ڰ<G} FEADDAT read: Rx Time:19:50:32.5628 TRx dataTimestamp_ set to:1736538633.135862DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed -0.1 -X#Rx 1: Read range message, but no direction.رص\A9ر 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VFE vZAI ZIe bIe ~jIa rIa zIe }:Ie f9Ia Ia Ie ;Ie ;Ie :Ie :M >C^x,TRR^A2?y2~]?92 Y2'<>2H *? ?Kr??@+?E֡?y`?@~r?2?ɨ2G; 2 CJBJ IMMb@Mb@Mb@II I)IIIyM٣ G: >]A59L^o?aA5Y inBH=m)<q@5lD::_A5 XA addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.519671 s, deltaX: -0.200000 m, approachRate: -0.384859 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjg]BejeJe +@:e ?r\%H=z\%H=\%Z@\%@= )9 =T=i=\9)AE5AiAiIIMIIIQ DDAT read: Rx Time:19:50:33.0629  TRx dataTimestamp_ set to:1736538633.636289 DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed -0.2 - X#Rx 1: Read range message, but no direction.ر ص `A9ر  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.%x,s,l^A:2?y:Zp?9:!Y:d<>:H ?aLv?`&? ?}9@"?g?r?:2?ɨ:[; :CbBb IHjHjm?5v vT=YvQ v>x٣x zGx~5: ~>] A59q`o?a A5Y^  ijB  q @7lD::A5 AU addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.500427 s, deltaX: 0.200000 m, approachRate: 0.399658 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 14.00 m.hQhQhQhQhYgYgabgijgieijeiJeu,@:eu ̹?r\z\\\2@!) =iJ9)隭]5iiII:JuVsPBJu9JJqRJu ZJu ')&"J? J?D1D1D1E1 E1E=E=E=E= .~G A) y  bArx,^AGGG"!IGBGGGGѰ<G FDDAT read: Rx Time:19:50:33.5628 TRx dataTimestamp_ set to:1736538634.144077DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؁؅\A9؁ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.}wB}x II)Mb@Mb@Mb@ )IyZd;OX9v٣ G   >]-B59bo?a-B5Y  idB-=m5F<5#q5@9lD;&;oB5A MAI addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.507788 s, deltaX: -0.200000 m, approachRate: -0.393865 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhgg1bg9jg=SBe9je9JeE+@:eE?r\=z\=\m@\@) \=i(9)隽 5iiUIIDDDE EZAM > 6H`5?M#t?? ? 7?n?]q?6D?ɨ6; 6 C^`B^] IHfHfB5n& n=YrЙQ r%?p٣p rGtv; v&?x]~B59zco?a~B5Yz+  izaB|]#q@z:lDz:z:zB5  A EDNOT Ignoring new targets: 14.00 m.hAhAhAhAhAgAgIbgIjgIeIjeQJeQ:eUz?r\qz\q\q\u@) :JLBJ9JJRJ ZJ JhAIhA ˹^A->?y-n|?9-0Y-E<>-H ?`Ml??@9?``F?l?Nq?->?ɨ-_?; -CEQBEI IHeHeJH5 @=YQ >٣ Gܹ >]B59eo?aB5Y  i]Bq@Ϭx,Ǜӂ^A2L?y2?92tY2<>2HQ?N`l?`P??˴@͠?@;p? q?2L?ɨ25; 2!CAB5 I %=i ) = =Mb@Mb@Mb@ )IyI +A`"٣ G: >]B59fo?aB5Y1  iWB ϑ=m :< q @=lD::" B5 AZA MM?Px,^A6B?y6b?96ĉ Y66i<>6H`?N \?s? ?d0?g?@/q?6B?ɨ67; 6C>2BB$ IHJHJB5R/z R1=YRhֺQ V>T٣T VGTZ=) Z>\]bB59^Sho?abB5Y^  i^PB`bqf@^?lD^~:^:^&B5h j"Ah~DNOT Ignoring new targets: 14.00 m.h|hhhhggbg jg e je Je:e >?r\)z\)\)\- @Eĉ )A E=iE9)IM;G3IiIiQQUy IQIYCm=Bm>C95DDAT read: Rx Time:19:50:35.5628 =TRx dataTimestamp_ set to:1736538635.912054MG G G IG ؂BG G G G @<G 2F DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.1 - X#Rx 1: Read range message, but no direction. \A9  2Acoustic response timeout% Querying Benthos address 50 with one ping in standard two-way mode.z5àx,u ^ArBr IuMb@Mb@Mb@qq q)qIqyu{GzI +I +uףu94u9 q)ub@Iu@iuVAqu@HH3A5` <=YQ >٣ G >]B59ho?aB5Y  iIBV=m <q@BlD;;B5 A  addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 1.008843 s, deltaX: -0.200000 m, approachRate: -0.198247 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 14.00 m.h h hhhggbgjgہBejeJe%+@:e%`?r\EV=z\EV=\Ep>i@\E@Y)a e=ie9)aeaiaiiiiIiI=DDAT read: Rx Time:19:50:36.0629 MTRx dataTimestamp_ set to:1736538636.414845Mɠx,n(^A6X*?y6g?96b Y6<>6H࢖?MO?`?@5?@gjK?F^?q?6X*?ɨ6φ; 6!CB BBIID)DHJAHNHNV5~DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed -0.1 -X#Rx 1: Read range message, but no direction.xz`A9x 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode. B=YQ >٣ G >]B59}io?aB5Y  iBBq@DlD::B5 -jA)e addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.501810 s, deltaX: 0.200000 m, approachRate: 0.398557 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 14.00 m.hahihihihigigqbgqjgqeqjeyJe},@:e}ũ?ZIbIjIrIzII9IIr\z\\\@ b )  $=i 9)C2iinII:JuBoHBJu#9JJqRJu ZJuAC?1 ,F_{bJ<0$JIDDDE5 EDDAT read: Rx Time:19:50:36.5628 TRx dataTimestamp_ set to:1736538636.917114DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.عؽ\A9ع 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF ZA M > Рx,9GB^AF,"?yF_?9FYF<>FH@?;L Ra?=?d?@@?0n?p?F,"?ɨFH; DVBZIHbHb R5j:  jW=Yjj:Q n>l٣l nGlr, r>t]zB59vio?azB5Yv iv;Bxzq~@vFlDv:vQ;vB5 ? A = addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.254822 s, deltaX: -0.200000 m, approachRate: -0.784861 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 14.00 m.hAhAhAhAhAgAgAbgIjgIeIjeQJeU+@:eU?r\z\\\ܠ@-)) 5x=i5*9)151i1i99=ۨI9IADDD DDAT read: Rx Time:19:50:37.0628  TRx dataTimestamp_ set to:1736538637.419795 DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.3 - X#Rx 1: Read range message, but no direction.ع ع 9ع  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.֠x,\^A2?y2\,?92Y2A<>2H V?IV?ջ?` ?`&괿`)ܠ?c? q?2?ɨ2z; 2C}B}I-Uonly read 0 of 1 data item for altitude. Device response is::BD, +34.89, +161.42, +4.0 U@U ]@] ]@]  ]@] HeHeuZ5mU] u3=Y}g:Q }>y٣y }G` >]B59jo?aB5Y i4Bi+:m;q@IlDR;>)B5  A addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.502681 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe:e`?%)! %Z:J NBJ 9JJ RJ  ZJ  )ܠx, u^A2~Ԉ?y2?92Y2i<>2H?oF@h?2?`?ʹ}?Pq?q?2~Ԉ?ɨ2o; 2C>ցB>IF=iF=HJHJDP5R Rm=YR? ;Q V?T٣T VGTZ  Z?\]bB59^ko?abB5Y^ i^.Bib :`mb;fqf@^KlD^:^M?^#!B5jB j AjEDNOT Ignoring new targets: 14.00 m.hhhhhg g bg jg ejeJe:e3L?=)A EiE 9)AEӥ0AiAiQQII}DDAT read: Rx Time:19:50:37.5628 }TRx dataTimestamp_ set to:1736538637.923398DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.yy9y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.DDDEf0 EVFvZAM>= 6H?A\]?@?=?v@` ?nc?q?6?ɨ61s; 6 CB΁BBIMM MM MM  M M MMb@Mb@Mb@II I)IIIyMQſˡEZd;OM(M'Mj I)IIM@iIIMp@HeHeGL5u u>=Y};Q }>y٣ Gգ >]B59jo?aB5Yg i&BiT:/>m;ѿq@OlD;;$B5 ? A addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503603 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgBejeJe:e?r\/>z\/>\6X@\/@-bX)1 5 >i59)9=39i9iAAEIAIIBIBICUBUD?DDEo0 EDDAT read: Rx Time:19:50:38.0629 TRx dataTimestamp_ set to:1736538638.428256DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.ؑؕ`A9ؑ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF- 銝ZA1 MU >x,^A6ZW?y6ڔ?96һY6<>6Ho?@s= ~j??Y?}zE?k?`q?6ZW?ɨ6m; 4>āBBIHJHJ^5R:\ RX=YV=;Q V>T٣X ZGXZ Z>`]bB59bIjo?afB5Yb ib Bdfѿqf@bSlDb:b`:b3(B5h n ArDDAT read: Rx Time:19:50:38.5628 TRx dataTimestamp_ set to:1736538638.931323DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.ؑؕ\A9ؑ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I ) mC ~G! = Axx,){Ã^A2 ?y2>?92<Y2@<>2H&?U7Ph?,??`">`ڎ?`c?`r?2 ?ɨ2x; 2CBBBI)JyHJ˩AIL)LHrHrZ5   D=YNW;Q >٣ Gλ %>!]-B59%io?a-B5Y% i%B15'ҿq5@%XlD%:%:%+B5A E AA} addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503067 s, deltaX: -0.200000 m, approachRate: -0.397561 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe+@:eM?r\z\\\@<) t=i9)L3ii&IIDYDYDaEe05 EaGGG IG,B DDAT read: Rx Time:19:50:39.0627  TRx dataTimestamp_ set to:1736538639.436027 DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.ة ح 3[A9ة  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.x,GV݃^A6MLJ?y6?964Y6{f<>6HA?2 t?]?? L /?@h? r?6MLJ?ɨ6E; 6 CRBRIMb@Mb@Mb@ )IyJ +ɿy&1HL`e M A)K@I@iHH[W5˸ ==YJ;Q >٣ G\ > ]B59 wio?aB5Y 4 i BO>m; пq@ ]lD j; o; /B5! % A!] addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504704 s, deltaX: -0.100000 m, approachRate: -0.198137 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 14.00 m.hahahahahagigibgijgmwBeqjeyJe}`ff+@:e}t?r\O>z\O>\* Y@\@ 4)) 5 >i59)1531i1i99=vI9IADDDE*5 E:J5 BJ5 89JJ1 RJ5  ZJ5 A, JE ? JE #?'x,I.^A2v?y2 ?92G!ԼY2{_<>2Hh?W,`|? ?@r?f? g?`s?2v?ɨ2y; 0:B:IHBHB:\5J; Jc=YN;Q N>P٣P RGPR V>T]ZB59Vio?a^B5YV iV B\^rпqb@VblDV9;VK;V2B5l r ApmDNOT Ignoring new targets: 14.00 m.hihqhqhhggbg jg e1je1Je9:e=?mDDAT read: Rx Time:19:50:39.5625 mTRx dataTimestamp_ set to:1736538639.941190}DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.0 -}X#Rx 1: Read range message, but no direction.imfVA9i 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.r\z\\\)@G!Լ)  >i9)c4iiII D1D5>DDDE\0 EE>E>VF- LZAY M >G G G  IG BG =G G G ʰ<G FH HHH"H*H4 ٣ G >]B59ho?aB5Y i BU>m~;zοq@hlDE::6B5  A  addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.505163 s, deltaX: -0.300000 m, approachRate: -0.593868 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 14.00 m.h hhhqhqgqgybgyjg}BejeJe*@:e?r\U>z\U>\{Y@\6q@) =iA9)>4ii    I)I1DDDE_0 EmDDAT read: Rx Time:19:50:40.0626 uTRx dataTimestamp_ set to:1736538640.443987DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed 0.1 -X#Rx 1: Read range message, but no direction.imXA9i 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF iZA M5 >: x,*^A2?y2J)?92ӺY2R<>2Hu?`U!K?v??l&Y?f?s?2?ɨ2"Y; 2!CRǁBRIHZHZ Y5bt٣t vGtvX7 z>|]B59~zho?aB5Y~ i~B  Ͽq @~mlD~:~:~9B5 z A addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.502797 s, deltaX: 0.100000 m, approachRate: 0.198888 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe+@:e?r\Yz\Y\Y\]M@mӺ)i m >iq9)隕`4iin IIDiDiDiEi Ei:J]LBJ]#9JJYRJ] ZJ]JaIegAbDAT read: RX DATA OVERRUNRx Time:19:50:40.5625 TRx dataTimestamp_ set to:1736538640.948906DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؁؅3SA9؁ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VFZAM>_#x,D^A2z?y2آ?92ծY2$;>2H ??֓? +E?ZಿFڕ?[?@t?2z?ɨ2`; 2 C>ցB>IHFHFN5f"= jK=Ynm;Q n>p٣p rGpvƻ v>x]~B59z"ho?a~B5Yz  izB|~XϿq@zrlDz;z;zo=B5   A = addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504919 s, deltaX: -0.300000 m, approachRate: -0.594155 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 14.00 m.hAhAhAhAhAgAgIbgIjgIeIjeQJeU`ff*@:eU?r\qz\q\q\u9@ծ) J)>i9)隍4iiIIDG9G9G= IG=!BG9D}?DyDEo0 EEEiAG9G9G=߰<} RH-?@?@5?`a?Oc]?@e?[t?Rg?ɨR~; PrBvIIx)xMb@Mb@Mb@ )IyV-ǿT㥛 ~jtx?|?; )K@I$@ih@p@HH R5 J=  8=Y W;Q  >٣ Gl >!]-B59%Qho?a-B5Y%# i%B-(J>m-;-ſq-@%xlD%:%;%NAB59 =U AAu addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503988 s, deltaX: 0.200000 m, approachRate: 0.396834 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 14.00 m.hyhyhyhyhyggbgjgBejeJe*@:eNϻ?r\(J>z\(J>\]@\w@)  >i9)M4IiIiQQUCIQIYDDDEp0 Eux,Gux^A:J"BJ"9JJ RJ" ZJ" J&? J& ?F?yF[?9FM9YF<>FHk?@??j?\@?`? t?F?ɨFJ; FCnBrIHHQ5%= %Z=Y%Cz;Q %>)٣) -G)-Ļ 5>1]EB595vho?aEB5Y5% i5BAEƿqE@5}lD5;5[:5DB5I U AQ}DNOT Ignoring new targets: 14.00 m.hyhyhyhhggbgjgejeJe:e@(?r\z\\\@M9) >iF9)4ii ĽIUDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:50:41.5624 ]TRx dataTimestamp_ set to:1736538641.958824}DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.1 -X#Rx 1: Read range message, but no direction.Y]QA9Y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ID?DDEr1 EVFZAMGI GI GM ( IGM 6BGI GI GI GM <GM FM ^H? ޭ?`?y?((Ȗ?e? t?^@?ɨ^Ph; ^CjBjIeMb@Mb@Mb@aa a)aIaye~jtÿV-I +?eehe94< e A)ex@Ie;@ie@aef@HH Y5 m= C=Y(;Q >٣ G" >]B59Gio?aB5Y& iB(,>m;`q@lD ;;:HB5 A addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.505930 s, deltaX: -0.299999 m, approachRate: -0.592966 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhg g bg jg ́BejeJe@33*@:e`Q?r\5(,>z\5(,>\5te@\57@Md)I M=iM9)IMŵ4ii:ƽIIDzDDDDE55 EE>E)>uDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:50:42.0623 uTRx dataTimestamp_ set to:1736538642.464647DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed 0.2 -X#Rx 1: Read range message, but no direction.qufNA9q 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VFNZAM>*x,4^A6?y6?960Y6 <>6H=???ļ?ﱿ?a?u?6?ɨ6K>; 6 C>BBIDiFp<)Fp= F=HJHJU5R= RZ=YVZ;Q V>T٣T ZGXZ2 Z>^Jx,;s-^A2Y?y2ʡ?92I3fY2L<>2HS?@???@g} +ƌ?@m_?ru?2Y?ɨ25"; 2CRTBRM IHZfx٣x zGx~E9 ~>] B59po?a B5Yj. i  jxq@lD::8]B5B AEe addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504059 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 14.00 m.hihihihihigigqbgqjgqeqjeJe:e ?r\z\\\@I3f) HA=i9)4ii˽IIDZI]bI]jIYrIYzI]v:I]y9IYIYqm@im@um@mm@Du?DqDqEun1 EqE}0>E}J>:J=UMBJu9JJRJ ZJVFZAM>}DAT read: RX DATA OVERRUNRX DATA OVERRUNRX DATA OVERRUNRx Time:19:50:44.5621 TRx dataTimestamp_ set to:1736538644.988287DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed -0.1 -X#Rx 1: Read range message, but no direction.؁؁9؁ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.vQx,XG^AVd?yV?9V^siYVYT<>VH??>? ʃ??ƀ+.?h?u?Vd?ɨVV; V!Cb[BfU Ij٣ %G!-G; ->]B59ro?aB5Y;/ iBxq@lD";۞;`B5 AG1G1G5 IG5BG5 =G1G1G5<G1H HHH ="H =*H)4M addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 14.00 m.hQhQhQhQhQgYgYbgYjgYeajeaJea:ee0?r\z\\\ @^si) Py=i9)隝4ii7ɽII DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:50:45.0622  TRx dataTimestamp_ set to:1736538645.491982 DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.؁ ؅ LA9؁  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Wx,T5a^AcB` I]Mb@Mb@Mb@YY Y)YIYy]Zd;Op= ף{Gzt?]j]]ף; ]M A)]@I]h@i]lAY]AHuHuF5= 5=YQ >٣ G >]B59to?aB5Y/ iB=m?<&%q@lD ;;dB5 A addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503695 s, deltaX: 0.200000 m, approachRate: 0.397065 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgIBejeJe)@:e E?r\=z\=\@\j@) L=i9)5iiɽIIA::662-(&  #FhyJ ? J $?DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:50:45.5621 TRx dataTimestamp_ set to:1736538645.996953DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.ؙ؝IA9ؙ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VFZAM> `x,'^A]Q?y]5?9]tY]V<>]H`v ?\ ?ঈ??G?`?h?@t?]Q?ɨ]P; ] Cޝ`Bޝ\ IHHdK5L .=Y GQ  >٣ G_; >a]B59evo?aB5Ye:0 ieB$q@elDe;e@;ehB5B AE- addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504971 s, deltaX: -0.200000 m, approachRate: -0.396062 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 14.00 m.h)h)h)h)h1g1g1bg1jg9e9jeAJeE@33)@:eMTO?r\z\\\|@mt)i u4=ip9)5iiŽII GGG IGBGGGG<GFD!D!D!E-0 E)UAfx,=^A6?y6xR?96\yY6<>6H?N;?@?,? '`3?@}n?t?6?ɨ6; 4BaBB^ IID)DHHuMb@Mb@Mb@qq q)qIqyuMbpy&1Mbpuu`eu uzA)qIuQ@iuAqu(AHHp;5E< P=YDQ >٣ G; >]B59txo?aB5Ym0 iBf=mk<q@lD&;.+;FlB5 A DNOT Ignoring new targets: 14.00 m.h hhhhggbgjgMBeje!Je!:e%?r\Ef=z\Ef=\E@\E&@e\y)a e#=ie9)ae5iiiiiqumĽIqIyhDAT read: RX DATA OVERRUNRX DATA OVERRUNuser:1291> m DDAT read: Command 'bl' not found u bunknown deviceResponse_: Command 'bl' not found } "DAT read: Error } @unknown deviceResponse_: Error } ,DAT read: user:1292>  BDAT read: Tx time:19:50:46.5635  $Ping request sent. 6H`8? ???&?lg?t?6^3?ɨ6Wۆ; 6!Cn^BnZ IHH3A55k 5R=Y5Q 5>Y٣Y ]Gae; e>i]uB59m$zo?auB5Ym0 imBq@mlDm;m;moB5 ADNOT Ignoring new targets: 14.00 m.hh!h!h!h!g!g!bg)jgQeqjeqJey:e}?r\z\\\/@1) 8 =i 9) 5iiýIIDaDiDiEm_0 Ei:JNBJu9JJRJ ZJ1_n[K<72( xngbZVNEFC?<72..,**JIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248160VFu8uĽZAM>G! G! G% IG% BG! G! G! G% <G% F'Wsx,΅^A6 `?y6?96Y6h<>6H@?`?5?o?ı”?@+r?`Nt?6 `?ɨ6; 6CnVBnO IHvHvC5-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5017215* 5J=YmlQ m>q٣q uGy}2[; }>]B59{o?aB5Y0 iBBq@lD7;;IsB5 ADNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe:e@?r\z\\\;@M)I MЊ'@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752295VF u[ýZAA M] >(yx,^AJ؆?yJ?9JYJfD2>JH? u+??`:?{2?*?‚?J؆?ɨJ; J CVMBVD IZ٣ Ge< >]B59g}o?aB5Y1 iBX`=mr<q@lDt::vB5 IA DNOT Ignoring new targets: 14.00 m.h h hhhggbgjgeje!Je!:e%`d?r\EX`=z\EX`=\E@\E^@])Y ]iY)YYYiaiaamIiIBBCB5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005020D?D D E  EZI=bI=jI9rI9zI=}:I=ľ9I9I9VF- NZA1 MU >:J] bLOBJ] 9JJY RJ]  ZJ] )&"   Je ? Je ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256134=fx,Ҭ^AFjK?yFꈣ?9F ӢYFnq5>FH@~?/ ?? ?ձ Z??$~?FjK?ɨFJ; DN=BN1 IHVHV995^G b[=YbEQ b>d٣h jGhr< r>x]B59z~o?aB5YzS1 izB!%"q-@zlDzd;z;z-zB51 5A1DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe :e  @r\!z\!\!\%}@= Ӣ)9 =i=9)9E 5AiAiAIM>IIIIDYD ?D D E z0 E GGG IGBGGGG<G F=A9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508388VFu87ZAM > x,^A5B' IMb@Mb@Mb@ )Iy+ ףp= I +Q89 )IiAAHHJH5 8=YQ >٣ G > ]B59 o?aB5Y 1 i ݡB=mQ<ʆq@ lD ] ; D; ~B5! % A)eDNOT Ignoring new targets: 14.00 m.hahahahahagigibgijgu0BeqjeqJeq:e}`@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760218r\=z\=\@\W]@) #E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012003dx,b5^A6E6?y6s?964Y6:>6HH?`'ཇ? ?? ѱN?`$/? w?6E6?ɨ6[; 4V,BV IXZAH^H^S5f@ f`=Yj;Q j>h٣h nGlnR n>p]vB59ro?avB5Yr[2 irסBxz.qz@rlDr:rh:r8B5| ~QA5DNOT Ignoring new targets: 14.00 m.h1h1h1h1h1g1g9bg9jg9eAjeAJeA:eE@r\az\a\a\eD@u4)y }i}}9)y} 5yii0fIID9D9D9E=05 E9:JF'MBJ9JJRJ ZJ JfAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264054II)McC G9VF}ٲZAM> )yAG G G IG BG G G G ΰ<G Fڢx,F@O^A25'?y2d?92Y2~;>2H?$`?@? ?`ԱR?dM?u?25'?ɨ2i; 0>BB IHJHJK5fн fJ=YfXO:Q f>h٣h jGhjY n>p]vB59ro?avB5Yr2 irѡBxzMqz@rlDrC&;r&;rB5EDDAT read: Rx Time:19:50:48.7097 ETRx dataTimestamp_ set to:1736538649.279392eDAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed 0.0 -}X#Rx 1: Read range message, but no direction.AELA9A AZIbI{jIrIzIp:I-9III;qI;iI:uI:m addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 3.282439 s, deltaX: 0.200000 m, approachRate: 0.060930 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhgg)bg)jg)e1je1Je5)@:e5`D?r\z\=\\<@) xEi9)ii@IID zD DDDE4 EE=E=VF &ZAi M >(͙x,*i^A6?y6 D?96Y6f4<>6H/?`!@?E?@?ʱ|‘?c?t?6?ɨ6=ɉ; 6"C> B>I=Mb@Mb@Mb@99 9)9I9y=㥛 ףp= S㥛=9=/ݼ =d A)=x@I=h@i=VA9=@HUHU@T5eZ eA=Ym:Q m>i٣i uGqu u>y]B59}1o?aB5Y}3 i}ɡB =m<.q@}lD};};}sB5 VADNOT Ignoring new targets: 14.00 m.hhhhhggbgjgBejeJe:e&?r\ =z\ =\jl@\?D@) u=i9)D]2ii!!%̸I!I)MDDAT read: Rx Time:19:50:49.2096 UTRx dataTimestamp_ set to:1736538649.783295eDAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.0 -eX#Rx 2: Read range message, but no direction.QUIA9QC}J9D?DDE?5 E:J sLBJ 9JJ RJ  ZJ [yE VFU U ZAi M >x,僆^AJ߆?yJH?9J{YJ<>JH?F௻?@}? 21?@A± o?-`? u?J߆?ɨJ\; HRBRIV?>iVp;)Za= Za=H^H^P5n nL=YmF:Q m>q٣q uGqu9 }>y]B59}ło?aB5Y}4 i}¡BUq@}lD};};}B5 A addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503903 s, deltaX: -0.200000 m, approachRate: -0.396901 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe@33)@:e,?r\z\\\[:@-{)1 5 x,S^A~B~IMb@Mb@Mb@ )IyV-y&1L` )@IiAHH[5U <=YQ >٣ G >]B59o?aB5Y6 iB}>m;Sq@lDN;;B5  E A E addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504477 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 14.00 m.hIhIhIhIhIgQgYbgajgeԁBeajeaJea:em@@0?r\}>z\}>\c@\@) L=i9)隥 3iiIIQDDDE EVF eZA M= >- DDAT read: Rx Time:19:50:50.2094 5 TRx dataTimestamp_ set to:1736538650.796058= DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0 -E X#Rx 4: Read range message, but no direction.1 5 HA91 9x,w^A6ӎ?y6S̢?96 Y6,*<>6H?`#?௓?%Z?0a?b? u?6ӎ?ɨ6; 6 C^ށB^IHfHf[W5r r[=Yr5;Q r>t٣t vGtv?ٻ z>|]~B59~Ro?aB5Y~97 i~Bq@~lD~:~:~B5   AM addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.508286 s, deltaX: -0.100000 m, approachRate: -0.196740 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 14.00 m.hQhQhQhQhQgYgYbgYjgYeajeaJee)@:ee@?r\z\\\@ ) G G G G IG OBG G G G 7<G -Fux,Jц^A2!r?y2?92{Y2$<>2H H??॑?i?܉z?n? t?2!r?ɨ2Ӓ; 2!CBՁBBIID)DDFAHJHJ#U5R9 VN=YV:Q V>T٣X ZGXZ Z>bAbAfDDAT read: Rx Time:19:50:50.7095 fTRx dataTimestamp_ set to:1736538651.295670jDAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0 -nX#Rx 5: Read range message, but no direction.dd9dp]vB59ro?avB5Yr8 irBtzqz@rlDr\:r~:rB5  AZI-bI-~jI)rI)zI-s:I-f9I)I)I-;I-;I-:I-: addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.499612 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe:e?r\az\a\a\e%ݘ@{) 3;i9)隵z$3ii&nIID}?DyDyE}`0 EVF &+ZA M >#Jx,_(^A6.?y6il?96JpY6y'<>6Hn? t??` ?'n@ ?wb?;u?6.?ɨ6`; 6C>́B>I=Mb@Mb@Mb@99 9)9I9y=333333ÿ~jtZd;O==D=j =zA)=@I9i99=(AHQHQm m>=Ymc:Q u>q٣q }Gy}w }>]B59xo?aB5YC: iB">m;˿q@lD::5B5 H ADNOT Ignoring new targets: 14.00 m.hhhhhggbgjgBejeJe:e-?r\">z\">\\@\u@Jp) #=i9)GI3ii!!-ýI)I)B1B1C1B1DDAT read: Rx Time:19:50:51.2094 TRx dataTimestamp_ set to:1736538651.800441DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.1 -X#Rx 6: Read range message, but no direction.9Dm?DiDiEm.1 EiH)H-@AVFG?ZAM>Ս %=Ս <:J OBJ 9JJ RJ  ZJ    wM( J ? J >B1x,X^A2p?y2D?925eY2?<>2HP?( ?`?h?`S`|?e?`,u?2p?ɨ2; 2"CLRIHVHVT_5^; bV=Yb#:Q b>d٣d fGdfN j>h]nB59jZo?arB5Yj; ijBpr̿qr@jlDj;j ;jB5t vE Ax% addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504771 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 14.00 m.h)h)h)h)h)g1g1bg1jg1e9jeAJeA:eM`q?r\!z\!\!\%@]5e)a e'=ieC9)ams3iiiiTŽIIGGG! IG1BG =GGG<G FDaDaDaEe2 EaDDAT read: Rx Time:19:50:51.7094 TRx dataTimestamp_ set to:1736538652.304342DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0 - X#Rx 7: Read range message, but no direction.9ZI=bI={jI9rI9zI=p:I=-9I9I9I=;I=;I=:I=:VFM rZA M >k[ǡx,^A)@ 6^ԅ?y6?96XY6O<>6H1?` M? &?`x?7/?`g?)u?6^ԅ?ɨ6߇; 6CBƁBBI)F= Fp=]Mb@Mb@Mb@YY Y)YIYy]MbX9Ŀy&1Q]!]`e]u ]d A)]x@I]Q@i]@Y] @HuHu[W5  >=Y':Q >٣ Gm >]B59ro?aB5Y= iBV,>m; ǿq@lDf::MB5  A addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503901 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgBeje Je :e E?]DDAT read: Rx Time:19:50:52.2093 eTRx dataTimestamp_ set to:1736538652.559037r\V,>z\V,>\^@\L@X) أ=i9)3ii!%dȽI!IQD?DDE 5 EVF 2ZA M5 > DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0 - X#Rx 8: Read range message, but no direction. DA9 ͡x,8^A6&?y6?96+OY6.<>6HB?[h?`?`? ?c?@iu?6&?ɨ6/; 6 CRˁBRIHZHZS5bi< bX=Yb|:Q f>d٣d fGdj9 j>l]rB59no?arB5Yn^? inBpr/ǿqv@nlDn):n:nB5x zU Ax- addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.502479 s, deltaX: -0.200000 m, approachRate: -0.398026 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 14.00 m.h)h1h1h1h1g1g1bg9jg9e9jeAJeE(@:eE $Ҿ?r\az\a\a\eD@u+O)q }@=i}9)y}3ii'ɽIID?DDE_0 E]DDAT read: Rx Time:19:50:52.7094 mTRx dataTimestamp_ set to:1736538653.062140:JPMBJ9JJRJ ZJ '92'  JhAIgAVF8uĽZA)MEs>G G G  IG 'BG G G G <G F_mԡx,R^A2؋?y2Xɡ?92DY2n<>2HbT??@Ѐ??@x|?qk?u?2؋?ɨ2Z; 2CVDAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.0 -VX#Rx 9: Read range message, but no direction.PRHA9P^ƁB^IH]H]xV5u u@=Yu:Q }>y٣y }G. >]B59o?aB5Yڡx,ll^A6Vj?y6֧?96?Y6k<>6H@^d??N~?`? ?`?u?6Vj?ɨ6R; 6C>́B>IID)DMb@Mb@Mb@ )Iy#~jĿV-Mb%m A)@Ih@iQAH-H-N55 < =N=Y=sK:Q E>I٣I MGIU( U>]B59o?aB5YC iBc0>m;ƿq@lD::ΫB5 P AM addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.256429 s, deltaX: -0.300000 m, approachRate: -1.169915 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 14.00 m.hIhIhQhQhQgqgqbgyjg}BeyjeyJe`ff(@:e@e?r\c0>z\c0>\_@\ @?)  5 c~Gm DDAT read: Rx Time:19:50:53.7092 u TRx dataTimestamp_ set to:1736538654.068017} DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.1 - Z#Rx 11: Read range message, but no direction.i i 9i :J LBJ 89JJ RJ  ZJ   J ? J #? ) x,H^A)NοyLRA}΁B}IHH~N5Z6< B=YQ >٣ G >] B59o?a B5YD iB q@lDn$;F;B5! %= A! addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.501286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgejeJe:e -?r\z\\\) =i9)%4!i!i!)-NͽI)I1GqGqGu IGu!BGqGqGqGu3<Gu*FD?DDE`0 EVFZAM>[x,/^A6qA?y6~?96F6Y61<>6Hw?b`?@A{??I氿 Ȇ?@c?u?6qA?ɨ6+; 6CJ܁BJI]Mb@Mb@Mb@YY Y)YIYy](\¿Zd;Mbp]z]y] ]d A)]x@I]Q@i]~@Y]@HHO5= I=Y:Q >٣ G H  >%DDAT read: Rx Time:19:50:54.2091 -TRx dataTimestamp_ set to:1736538654.572950=DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0 -MZ#Rx 12: Read range message, but no direction.!%@A9!i]uB59mPo?a}B5YmF imB}"!>m};}q}@mlDm;m:m-B5  A} addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504933 s, deltaX: -0.200000 m, approachRate: -0.396092 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 14.00 m.hyhyhyhhggAbgIjgMBeIjeIJeM(@:eU@"?r\"!>z\"!>\2b@\T@F6) T=i 9)  (4ii9y}YϽIyIDM?DiDqEq EqEyE}hAZI% bI% jI! rI! zI% y:I% 9I! I! VF ` ǽZA M >x,^AN7?yN)u?9N 1YN<>NH |?x?z?@j ?`A᰿6?@r? t?N7?ɨNbĆ; N!CVBVIZp٣t vGxzfT z>|]B59~o?a B5Y~ H i~|B  q @~lD~:~:~LB5  AEDNOT Ignoring new targets: 14.00 m.hIhIhIhIhIgIgIbgQjgQeQjeQJeY:e] $?r\z\\\Q@ 1) =ih9)隥?4iiϽIIDqDqDqE}?5 Ey-DDAT read: Rx Time:19:50:54.7091 -TRx dataTimestamp_ set to:1736538655.0752525DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed 0.0 -=Z#Rx 13: Read range message, but no direction.))9):JLBJ9JJRJ ZJ#<ep>qZr~p[M7^(~W#pQrJ)I-hAVFG}ɽZAM>GQ GQ GU  IGU ,BGQ GQ GQ GU <GU FH HHH"H*H`4[x,/Ӈ^A6e?y6X?961Y6Av<>6H?@?@ax?`?簿@';?pl?,u?6e?ɨ6I; 6CNBNIHTHTr< rI=YvɷQ v>t٣t zGxz z>|]B59~o?aB5Y~I i~yB  q @~lD~:~:~ԹB5 u A] addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.502302 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 14.00 m.hahahahahagagabgijgieijeiJeq:eu?r\z\\\J@1)! %T=i%9)!%q]4!i!i))=kѽI9IQDIDQDYE]15 Ea5DDAT read: Rx Time:19:50:55.2090 =TRx dataTimestamp_ set to:1736538655.579341EDAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed 0.0 -EZ#Rx 14: Read range message, but no direction.15f>A91VFJʽZAM>Bx,1^A2?!?y2^?92_6Y2<>2H6?{ {?x?`?`܆?p?t?2?!?ɨ2s; 0NBRIeMb@Mb@Mb@aa a)aIayeZd;T㥛 Mb`eee eA)e@Ieh@ie@ae(AH}H}[W54< @=Y>Q >٣ G9 >]B59߅o?aB5YNK iuB >m;ݴq@lD ;:B5 P A addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504089 s, deltaX: -0.100000 m, approachRate: -0.198378 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhh h h g g bgjg؁BejeJe'@:e?r\E >z\E >\Eg@\E؛@_6) #=iK9)g4iibнIIDzDDDDE4 EE4>EJ>ZIbIjIrIzIv:I9IIVFZAM >E DDAT read: Rx Time:19:50:55.7090 M TRx dataTimestamp_ set to:1736538656.083288] DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.2 -] Z#Rx 15: Read range message, but no direction.A A 9A x,^A:J" )PBJ"`9JJ RJ" ZJ"i*W># |zvwxumc\ZVSTSPROLKIB=:EUG950..+),0?yT?9;9Yܧ<>HF?c?w?}? &:?r?t??ɨ!;  CUBUIIa)aaaHqHqU= J=YQ >٣ GR >]B59o?aB5YL irB紿q@lD ; ;B5 A addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhg!g!bg)jg1e9jeAJeA:eM?r\yz\y\y\}՛@;9) Hz=i9)隝w4iGGG4 IG@BG =GGG <G Fi))5ѽI1I1D?DDE_0 EVFkͽZAM >bx,m!^AF,"?yF_?9FBYF<>FH?@?@x?`?b&`jV?Io?t?F,"?ɨFɟ; F"CRBRIMb@Mb@Mb@ )Iy+ηi|?5Mbpvq d A)I;@iVA\@HHaO5< G=Y6Q >٣ G|b: >]B59o?aB5YM ioB=m;q@lDDDAT read: Rx Time:19:50:56.2089 TRx dataTimestamp_ set to:1736538656.587527 DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed -0.1 -Z#Rx 16: Read range message, but no direction.3;A9I8;j<B5 A addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504239 s, deltaX: -0.200000 m, approachRate: -0.396637 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbgjgفBe!je!Je%`ff'@:e%&?r\=z\=\T>m@\@B) \=i9)l4 i iнIID?DDE EVF rWͽZA M >ZI bI |jI rI zI p:I @9I I !x,F;^A6.?y6l?96?IY6 <>6H`̀? `+? y?k ? J?@0?(u? t?6.?ɨ6; 6C>BBIHJHJF5R_!= R_=YRӔQ R>T٣T VGTZ+: Z>\]bB59^Qo?abB5Y^N i^lB`f奔qf@^lD^3;^k4;^B5h jAlDNOT Ignoring new targets: 14.00 m.hh h h h g g bgjgejeJe:e?r\1z\1\1\5ߓ@%?I)! %=i%9))-4)i)i11=нI9I9DEa>DE>DDDE`0 EEE DDAT read: Rx Time:19:50:56.7090 TRx dataTimestamp_ set to:1736538657.091312DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.1 -Z#Rx 17: Read range message, but no direction.  f>A9 :JOBJk9JJRJ ZJ/,(&#" !      VFZAM>GGGM IGTBGGGG<G FV x,0U^A.A,:5?y:(s?9:tPRY:x<>:H`d}? E?2z??@X I?`l?t?:5?ɨ:V; : CF BFIJ`٣` bG`b : f>d]jB59f8o?ajB5Yf P ifiBln橿qn@flDf:f:fnB5p rgArE addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503785 s, deltaX: 0.200000 m, approachRate: 0.396994 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhg!g)bg)jg)e)je1Je5'@:e5`?r\Iz\I\I\M8@etPR)a e(=ie9)amg4iiiiiquϽIqIqD9D9DAEE0 EqVFZADDAT read: Rx Time:19:50:57.2089 TRx dataTimestamp_ set to:1736538657.595453%DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.0 -%Z#Rx 18: Read range message, but no direction.3;A9M5>3x,7n^A6U?y66?96E[Y6a<>6Hn? Z`'?@|?!?q@nh?p?@t?6U?ɨ67; 6CRBRI5Mb@Mb@Mb@11 1)1I1y5㥛 i|?5~jtx515Ļ 5A)1I5h@i5lA15AH}H}-I5D< >=Y:Q >٣ G; >]B59co?aB5YQ ieB=m <q@lD ;;2B5 7A addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504141 s, deltaX: -0.200000 m, approachRate: -0.396714 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 14.00 m.hhhhhggbg jg  Be jeJe`ff'@:e ?r\5=z\5=\5t@\5M)@ME[)I M#% DDAT read: Rx Time:19:50:57.7088 - TRx dataTimestamp_ set to:1736538658.0992875 DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed 0.1 -= Z#Rx 19: Read range message, but no direction.) - 9A9) s"x,2㈈^A:J^xMBJ^9JJ\RJ^ ZJ^  Jj? Jj?e_?ye3?9eqfYe8$<>eHIi? 4?C}?? r ͌?b?`Ru?e_?ɨe;; eC}B}IHH N5r; I=Y:ܺQ >٣ GD: >]B59o?aB5YQ iaBq@lD::B5 +A] addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503834 s, deltaX: -0.099999 m, approachRate: -0.198477 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 14.00 m.hahahahahagagiGGG` IGdBG =GGG"<GFbgjgejeJe@33'@:e?r\Iz\I\I\M,@]qf)Y eWE>ZIbI~jIrIzIv:If9IIIU;qIV;iI:uI:mVFE kͽZAQ Mm >E(x,^AV?yVǡ?9VcpYV9<>VHU?@?f? ?m@ ?o?`t?V?ɨVv; VCޑޕII) DDAT read: Rx Time:19:50:58.2087 TRx dataTimestamp_ set to:1736538658.608967%PDAT read: Bearing 164.7, 9.4 (Local) -~Local bearing/azimuth received: Bearing 164.7, 9.4 (Local) =DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.0 DAT read: 19:50:58.2087 LVL= 31568, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.07,-3.010,-1.719, 2.949,-2.811, PHS=-0.111, 1.139,-0.525, RAW= 343.8, -6.8, CAL= 345.3, -9.4, ROT= 164.7, 9.4 Ygot valid direction response: 19:50:58.2087 LVL= 31568, 32753, 32754, 32755, AGC= 59, IDX= 512, 0.07,-3.010,-1.719, 2.949,-2.811, PHS=-0.111, 1.139,-0.525, RAW= 343.8, -6.8, CAL= 345.3, -9.4, ROT= 164.7, 9.4 T#Rx 20: Read range and direction messages.`direction in FSK: [-0.951605,0.260330,-0.163326]Fpublishing direction and range info Y -\sk_m>?$vzĿ f6A9  P{ ) I i ; S㽩 ʑ? ff @ ) @I 'i 7@ '>   4'5Iv#Do!I i ښ= 7@ '>  Mb@Mb@Mb@ )IyV-v/Qhxiu zA)x@IiA(AHH~N5 =YfQ >٣ G; >]B59Ԍo?aB5Y#S iZB =m < q @lD]:uB5 .AZj vm?bj ?G i i Q^Aj f6Aj /5A2j 9@p tT%m@ bWhzp -\sk_m>?$vzĿ"j 7@*j '>p  &Y%Nk"VA"p Fsg16Kn<i hj i ?ism?i &I  j W~Bzj QKl?j j |Bjj  BArj ~@ addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.509680 s, deltaX: -0.200001 m, approachRate: -0.392405 m/s, rangeRepo size: 4  Added new target pos. range: 11.400000 m, bearing: 235.668231 deg, lat: 36.903918 deg, lon: -122.119001 deg, deltaT: 29.013673 s, deltaX: -2.600000 m, approachRate: -0.089613 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe&@:e ?r\e=z\e=\eZt@\e@@cp) #=i9)隽4ii#˽IID ?D D E o0 E H H a=VFrWͽZAM>0x,[ˆ^AI,), -G )۲yMDDAT read: Rx Time:19:50:58.7088 MTRx dataTimestamp_ set to:1736538659.111298UPDAT read: Bearing 154.7, -4.6 (Local) ]~Local bearing/azimuth received: Bearing 154.7, -4.6 (Local) mDAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed 0.0 DAT read: 19:50:58.7088 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 513, 0.04,-2.275,-1.197,-2.937,-2.002, PHS=-0.186, 0.852,-0.939, RAW= 354.8, 3.5, CAL= 355.3, 4.6, ROT= 154.7, -4.6 Ygot valid direction response: 19:50:58.7088 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 513, 0.04,-2.275,-1.197,-2.937,-2.002, PHS=-0.186, 0.852,-0.939, RAW= 354.8, 3.5, CAL= 355.3, 4.6, ROT= 154.7, -4.6 T#Rx 21: Read range and direction messages.^direction in FSK: [-0.901170,0.425981,0.080199]Fpublishing direction and range infoIYM!Lc5FC?zꇴ?M9A9IM I)IIIiM:Mv>MZ?MNbpM_(@ M5z=)Mo@IMl=iM3,@MlI IMɧWnп[/rVe?IM iM~}M3,@MlI ILA]?]DA޵ B޵I:J5 LBJ5k9JJ1RJ5 ZJ5,0 IrL5 kD& {peZNE=7-$JAIEgAHuHuQ5> .=YQ >٣ G  u>y]B59}o?aB5Y}2T i}SBGGGl IGnBG =GGG<G Fq@}lD}:h<}h<}B5 DAZjMm?bjMQ4 iIiMLj^AjM9AjM]8A2jM1@pMT<;$ @`?zpM!Lc5FC?zꇴ?"jM3,@*jMlpMUoQ8bޘ%!H?pMbUc4=֝'#a?iM, jMKiM m?iMN6  jMbBzjM#l?jM@? jMW~BjjMAArjMn~@ addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.502331 s, deltaX: 0.200001 m, approachRate: 0.398145 m/s, rangeRepo size: 4  Added new target pos. range: 11.600000 m, bearing: 228.316524 deg, lat: 36.903919 deg, lon: -122.119001 deg, deltaT: 0.502331 s, deltaX: 0.200001 m, approachRate: 0.398145 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.60 m.hhhhhggAbgAjgAeAjeIJeM@33'@:eM?r\z\\\) x =i9)y4ii˽IID D D E  E ZI5 }bI5 |jI1 rI1 zI5 [j:I5 @9I1 I1 I5 ;I5 ;I5 {:I5 |:VF gɽZA1M>7x,^A>>?y>?9>vY>g<>>H C?m`ɷ???@??3j?@t?>>?ɨ>h; >CFBFIMb@Mb@Mb@ )Iy+v/I +9 A)@I;@iVAAHH N5 < U=YQ >٣ G!-.<; ->1]=B595َo?a=B5Y5U i5MB==m=<=qE@5lD5:5:5B5I M$AI DDAT read: Rx Time:19:50:59.2087  TRx dataTimestamp_ set to:1736538659.615398DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.0 -Z#Rx 22: Read range message, but no direction.  f6A9 } addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504100 s, deltaX: -0.200001 m, approachRate: -0.396748 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 11.60 m.hyhyhhhggbgjgBejeJe&@:e MJ?r\=z\=\usq@\@-v)1 5L=i5'9)1549i9iAAEɽIAIADQzDUgADDDE1 EEEVF kʽZA! ME >W=x,^ABI-C=i-=HEHEZ5U< U[=YUQ U>Y٣Y ]Gae e>i]uB59mo?auB5YmU imGBqqqu@mlDm;mo;m+B5 ADNOT Ignoring new targets: 11.60 m.hhhhhggbgjgejeJe:e?r\z\\\) 0[=i|9)隥4iiɽIID?DDE4 EUDDAT read: Rx Time:19:50:59.7089 UTRx dataTimestamp_ set to:1736538660.120922mPDAT read: Bearing 152.3, -8.9 (Local) m~Local bearing/azimuth received: Bearing 152.3, -8.9 (Local) DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.0 DAT read: 19:50:59.7089 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 513,-0.04, 1.936, 3.142, 1.032, 2.275, PHS=-0.251, 0.914,-1.246, RAW= 357.4, 6.3, CAL= 357.7, 8.9, ROT= 152.3, -8.9 Ygot valid direction response: 19:50:59.7089 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 513,-0.04, 1.936, 3.142, 1.032, 2.275, PHS=-0.251, 0.914,-1.246, RAW= 357.4, 6.3, CAL= 357.7, 8.9, ROT= 152.3, -8.9 T#Rx 23: Read range and direction messages.^direction in FSK: [-0.874733,0.459245,0.154710]Fpublishing direction and range infoQYU-1Ed?j?U3;A9QQ Q)QIQiU8UUi?U|U@ Uz0=)U@IU>iU*@UQ QU'P#῞Q!꿡n?IUiUཉU*@UQ Q:JUPBJU9JJQRJU ZJU (z=3}ytqrrqmhc` ?  msaSJFING G G G G G G G ܰ<G FH HHH ="H =*Hm4VF ɽZA M >Dx,p\^A>?y>?9>=Y><>>H?ɨ>; `٣` fGdf: f>h]nB59jo?anB5YjV ij@Bprsqr@jlDj;j;jB5t vAvEZjPOm?bj{0 ii0^Aj3;Aj9A2jS}@pȐ/x$a,~@)Y7?zp-1Ed?j?"j*@*jp͌?4*Ŵ (o%@pdQ{]必n|ТY?i jiװAl?i1  jCBzjװAl?jN6 jBjjb8ArjF}@e addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.505524 s, deltaX: 0.300000 m, approachRate: 0.593444 m/s, rangeRepo size: 4  Added new target pos. range: 11.700000 m, bearing: 226.790661 deg, lat: 36.903922 deg, lon: -122.118997 deg, deltaT: 1.009624 s, deltaX: 0.099999 m, approachRate: 0.099046 m/s, posRepo size: 4 DNOT Ignoring new targets: 11.70 m.hhhhhggbgjgejeZIbIjIrIzIv:I9IIIU;IV;I] ;I] ;Je`ff'@:e@?r\qz\q\q\u@=) 0c=i-:9))-4)i)i115 ɽI1I9DDDAEEB4 EAU DDAT read: Rx Time:19:51:00.2088 U TRx dataTimestamp_ set to:1736538660.623406] DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed -0.1 -e Z#Rx 24: Read range message, but no direction.Q U 9A9Q VF gɽZA M- >`Kx,=.^A6?y6r?96Y6q<>6HH?a? ? ?@"\??@j`? u?6?ɨ6~; 6 CRBRI%Mb@Mb@Mb@!! !)!I!y%MbZd;%%y%̼ %d A)%x@I%Q@i!!%\@H]H]xV5eB m2=YQ >٣ Ggߺ >]B59o?aB5Y)X i7B#=m;q@mD;;B5 'A} addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.502484 s, deltaX: -0.099999 m, approachRate: -0.199010 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.70 m.hhhhhggbgjgBejeJe@33'@:el:?r\#=z\#=\m@\#@) \=i,9)4ii!!EʽIAIIDUt>DQD?DDE_0 EE=E=VF G}ɽZAQ M >Q U <e DDAT read: Rx Time:19:51:00.7087 e TRx dataTimestamp_ set to:1736538661.127922m PDAT read: Bearing 150.5, 0.6 (Local) u ~Local bearing/azimuth received: Bearing 150.5, 0.6 (Local)  DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.0  DAT read: 19:51:00.7087 LVL= 29504, 32753, 32754, 32755, AGC= 56, IDX= 512,-0.24, 0.808, 1.597, 0.188, 0.916, PHS=-0.020, 0.728,-0.731, RAW= 359.1, 0.4, CAL= 359.5, -0.6, ROT= 150.5, 0.6  Ygot valid direction response: 19:51:00.7087 LVL= 29504, 32753, 32754, 32755, AGC= 56, IDX= 512,-0.24, 0.808, 1.597, 0.188, 0.916, PHS=-0.020, 0.728,-0.731, RAW= 359.1, 0.4, CAL= 359.5, -0.6, ROT= 150.5, 0.6  T#Rx 25: Read range and direction messages. `direction in FSK: [-0.870308,0.492397,-0.010472] Fpublishing direction and range infoa Ye H;f16m?/;re f6A9a e @s a )a Ia ia e ףe 5^:?e ";e -@ e ;)e ^@Ie +ie 0(@e +w  i4j # tbRD:4*!BII)HH{R55F< =C=Y=Q =>A٣A EGAE M>Q]UB59UZo?a]B5YUMY iU/BYYq]@UmDUG:Uu:U2B5a mAiZjtl?bjŇ% GGGGG =GGG<G Fii/H^Ajf6Aj/5A2jqy@pK)#9h t@kFzpH;f16m?/;r"j0(@*j+<pga. Y'-7zȳ?pL;L忠?ijoi1l?ie&  jBzjj1 jBjj5Arj{|@= addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504516 s, deltaX: -0.200001 m, approachRate: -0.396421 m/s, rangeRepo size: 4 M Added new target pos. range: 11.400000 m, bearing: 223.314354 deg, lat: 36.903922 deg, lon: -122.118995 deg, deltaT: 1.007000 s, deltaX: -0.300000 m, approachRate: -0.297915 m/s, posRepo size: 4 MDNOT Ignoring new targets: 11.40 m.hQhQhQhQhQgQgQbgYjgYeYjeYJee&@:ee Ӆ?r\z\\\) =ib9)隵4iiwʽIIDDDE EIIIIIIZI]bI]yjIYrIYzI]y:I]9IYIYI];I] ;I]:I]:VF ZA MU > iXx,Fc^Af{?yfl?9faYf;>fH[?@?? ?@?V?`u?f{?ɨfz+; fCrBrIMb@Mb@Mb@ )IyCl绿p= ף~jt;߽ļ  A)@Ih@i@HH@T5% -K=Y-w1:Q ->1٣1 5G15F =>9]EB59=*o?aMB5Y=Z i=(BMB>mM;MqU@=mD=;=g;=B5Y ]6AYuDDAT read: Rx Time:19:51:01.2086 }TRx dataTimestamp_ set to:1736538661.631374DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0 -Z#Rx 26: Read range message, but no direction.qu4A9q addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503452 s, deltaX: -0.099999 m, approachRate: -0.198628 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe&@:e?r\B>z\B>\yk@\@a) \=i9)  g4 i i;̽IIDDDE`0 EVF gɽZA M= >% A% A^x,}^A2u?y23?92W݄Y2-J<>2H ^?`o*?~?b? {?f?t?2u?ɨ2; 2 CBBB IHJHJN5jU= jc=Yj:Q j>l٣l rGpro r>t]~B59vo?a B5Yv[ iv!B  (q @v mDvѓ;v;vB5 AEDNOT Ignoring new targets: 11.40 m.hIhIhIhIhIgIgIbgQjgQeQjeQJeY:e]}?r\z\\\@W݄) ĵ=i9)隝14iiX̽IIDDADADAEM0 EIEeiAEeiADDAT read: Rx Time:19:51:01.7087 TRx dataTimestamp_ set to:1736538662.136069DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.0 -Z#Rx 27: Read range message, but no direction.ؑؕf6A9ؑVF]kʽZAiM{>:JmKLPBJiJJiRJm ZJmGGGGG =GGG<G FEwex,얉^ABQ?yB?9B*YB.<>BHo?Q?{?`?@0?*c? u?BQ?ɨBﺆ; @RBR I)V= V=HZHZ^S5z!L zH=Yz:Q z>|٣ G( >]B59o?aB5Y] iBMq@mD!;{!;B5 A  addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504695 s, deltaX: 0.099999 m, approachRate: 0.198138 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 11.40 m.h h hhhggbgjg!e!je!Je%&@:e%ٲ?r\Az\A\A\E[@e*)a e\=ie9)im[4iiiiqquνIqIyD1D1D9E=T3 E9VFMJʽDDAT read: Rx Time:19:51:02.2086 TRx dataTimestamp_ set to:1736538662.639293DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0 -Z#Rx 28: Read range message, but no direction.ؑؕ4A9ؑZAM>&kx,ǰ^A:M?y:?9:x~Y:ȃ<>:H q?ͺ? {?? Ώ?`m?t?:M?ɨ:; 8FBFI-Mb@Mb@Mb@)) )))I)y-V-Dl/$--O- ))-b@I-;@i-VA)-f@HMHMJ5e/ eC=Ye-:Q e>i٣i mGiuk u>y]B59}o?aB5Y}v^ i}B >m;ίq@}mD}{:}:}B5 A addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503224 s, deltaX: -0.099999 m, approachRate: -0.198718 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhQhQgQgYbgYjg]߁BeYjeaJee&@:ee@?r\ >z\ >\gk@\,@x~) =i9)4iiνIID?DDE75 EZI-bI-jI-7rI)zI-v:I-9I-4I)q5@i5@u5@m5@VF- ʽZAQ Mu > DDAT read: Rx Time:19:51:02.7086  TRx dataTimestamp_ set to:1736538663.143987 DAT read: Range 10 to 50 : 11.3 m (trip time 7.5 ms) speed 0.0 - Z#Rx 29: Read range message, but no direction.ة ة 9ة rx,Lʉ^Az?yzZ?9zuYzJ<>zH+?Hѵ?` x? ?(㱿?f?`t?z?ɨzӉ; x]Be IHmHmS5}= H=Y:Q >٣ Go >]B59o?aB5Y_ i Bq@mD:-:B5 A addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504694 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e?r\)z\)\)\-@Eu)A E=iER9)IM5IiIGYGYGYGYGYGYGYG]<G] F:Juk3IBJu9JJqRJu ZJu#-E82+%#ii֍ѽIIDzDiADDDE3 EE=E=AVF ʽZAME>xx,֍^Av ?yvJ?9v2NqYvs<>vH͐?H?@v?? Bڱ~)? k? t?v ?ɨv; t%&B% II)))15AMb@Mb@Mb@ )Iyy&1V-Q`役hu  A)IQ@i@ @H5H5Q5EW= E>=YM,:Q M>UDDAT read: Rx Time:19:51:03.2085 ]TRx dataTimestamp_ set to:1736538663.647439eDAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.0 -eZ#Rx 30: Read range message, but no direction.QU1A9Q٣ G >]C59o?aC5YQa iB>m;q@mD ;;vC5 A addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503452 s, deltaX: -0.200000 m, approachRate: -0.397257 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe@33&@:e ;?r\%>z\%>\%8m@\%m+@52Nq)9 =أ=i=9)9= 59i9iIIM'ҽIIIQDDDE_0 EVF rWͽZA M5 >H1 H1 ZIE bIE }jIE 0rIA zIE s:IE S9IE ـ3IA O~x,X^A6Wф?y6?96VgY6<>6H ?? cr?0?±+? ^?`u?6Wф?ɨ6f; 6Cb"Bb IHnHnR5v@ vc=Yz):Q z>x٣| ~G| > ] C59 wo?aC5Y ~b i B̫q@ mD : h: C5) -A1eDNOT Ignoring new targets: 11.40 m.hahahahahagagibgijgieijeqJeq:eu _?r\z\\\@Vg) =i9)隭^5iiRoսII }G )EyAE̠ADM?DIDIEI EIuDDAT read: Rx Time:19:51:03.7085 uTRx dataTimestamp_ set to:1736538664.152515DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.0 -Z#Rx 31: Read range message, but no direction.qq9qVFAZAiM}>GYGYG]y IG]xBGYGYGYG]<G] F:JMBJu9JJRJ ZJJ ? J>UŅx,a4^A2vÄ?y2?92zbY2q=<>2H?&ƹ?Zq?7?` O?@=e?`4u?2vÄ?ɨ2 z; 2C:3B:% IHJHJ)M5Z= ZN=YZ T:Q Z>d٣d fGdj j>l]rC59nto?arC5Ync inBprݫqv@nmDn:n>:n C5x zAx5 addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.505076 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 11.40 m.h9h9h9hAhAgAgAbgAjgIeIjeIJeI:eM'?r\iz\i\i\m@zb) =i9)&5 i i սIIDDDE`0 EEhAEhAVF-yϽZA9Mm>}DDAT read: Rx Time:19:51:04.2084 }TRx dataTimestamp_ set to:1736538664.655394DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0 -Z#Rx 32: Read range message, but no direction.y}0A9yFx,2^A) :?y::?9:]Y:q<>:H?@+?@o?zE?௰? k? t?:?ɨ:; 8r5Bv' Iz٣ G_ >]C59o?aC5Ye iBQ=m;q@"mD{:: C5 A= addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.502879 s, deltaX: -0.100000 m, approachRate: -0.198856 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 11.40 m.hAhAhAhAhAgAgIbgIjgIeIjeQJe&@:e?r\]Q=z\]Q=\]F'o@\]+@]) =ic9)隝5iiQ׽AIIZIbIyjI1rIzIp:I9I3ID?DDE EVF ZA M > DDAT read: Rx Time:19:51:04.7084  TRx dataTimestamp_ set to:1736538665.160164 DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0 - Z#Rx 33: Read range message, but no direction.؉ ؉ 9؉ "ؒx,K^Ab!?yb͠?9bzYYbAB<>bH?@? sm?CQ?~>?`e?;u?b!?ɨbS; b C5;B=/ IHMHMT5]< ]Q=Ye :Q e>a٣a eGim m>q]C59uo?aC5Yu:f iuBq@u%mDuPB;uB;u>C5 A addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504770 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e@w?GGG IGBG =GGGݰ<G FH HHH"H*H=}4r\)z\)\)\-)%@EzY)A E=iE9)AE>%5IiIiIQU_ؽIQIY:JBJ9JJRJ ZJZ[g\7%?JIhAD D D E 1 E VF5}ѽZAQMu> x,e^A^o?y^Π?9^JWY^|<>^H?~@?@m?P?֦%?r?`t?^o?ɨ^e; ^Cj?Bj3 Iuu uMb@Mb@Mb@qq q)qIqyulv/~jtxuuxiuĻ uA)qIuQ@iqqu(AHH{R5ˎ< @=Y9Q > ٣   G 8 >]C59o?a%C5-DDAT read: Rx Time:19:51:05.2083 5TRx dataTimestamp_ set to:1736538665.663400=DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0 -=Z#Rx 34: Read range message, but no direction.)-,A9)Y5g iBM=mM E;>VFZAM>ZI bI }jI rI zI }:I S9I I h+x,0^AF}?yF%?9F8UYFp<>FH?>?` l?Z?`䦊?`k?t?F}?ɨF); DFB< II)AAH-H- R5E!= EX=YM9Q M>I٣I UGQUѺ U>Y]eC59]o?amC5Y]h i]Bimwqm@]*mD]2:]:]GC5q uAyDNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e`?r\z\\\ 2@8U) [=is9)隽S+5iiQٽI ID?DDE 5 EUDDAT read: Rx Time:19:51:05.7083 ]TRx dataTimestamp_ set to:1736538666.168573eDAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0 -mZ#Rx 35: Read range message, but no direction.QQ9QGGG IGBGGGG<GFVF\ ѽ:JOBJJJRJ! ZJ4HOMGJ ? J >ZA M- >x,x^ABݖ?yB^Ԡ?9BZYB%<>BH?-&? m?`M?9=V?un?@t?Bݖ?ɨBW; BCJLBJC IHZHZdK5z< ~O=Y]Q  >٣ GM: M>Q]UC59Uo?a]C5YUh iUBY]]q]@U,mDU;U;UC5i mQAi addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.505173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e@5?r\z\\\8@Z) =i@9)p/5ii  ׽I I!D?DDE_0 EVF#eӽZAM=>]DDAT read: Rx Time:19:51:06.2083 ]TRx dataTimestamp_ set to:1736538666.671407eDAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.0 -mZ#Rx 36: Read range message, but no direction.Y]3+A9YAx,9٣9 =G9= E>A]UC59Epo?aUC5YEi iEBUi=mU4] <] <e DDAT read: Rx Time:19:51:06.7084 e TRx dataTimestamp_ set to:1736538667.175952m DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0 -u Z#Rx 37: Read range message, but no direction.a e 0A9a %x,2͊^AJǢ?yJH?9J_]YJ+J<>JH`=?@{?n?G?ƫ? f?*u?JǢ?ɨJ.H; J CMKBIU٣ Gpv: >]C59Eo?aC5Ysj iݠBvq@0mD?;y;!C5 VAu addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504545 s, deltaX: 0.300000 m, approachRate: 0.594595 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 11.40 m.hyhyhyhyhygygbgjgejeJe&@:e?r\z\\\1r@_]) (|=i9) {75 i :J-LBJ-9JJ)RJ-" ZJ-DA==;73-)%!!    iAAE'8׽IAIID DDE EVFM #eӽZAQ Mu >Wx,.^AޕGBޕ> I DDAT read: Rx Time:19:51:07.2083 TRx dataTimestamp_ set to:1736538667.679323DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0 -Z#Rx 38: Read range message, but no direction.,A9MMb@Mb@Mb@II I)IIIyMˡEy٣y }Gy >]C59o?aC5Yk i٠Bc=mn<jq@1mD:=:%C5 vA addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503371 s, deltaX: -0.200000 m, approachRate: -0.397321 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjg.BejeJe%@:e?r\c=z\c=\j-w@\Q@A)A ML=iM*9)IM:5IiIiQquY׽IyIyD DDE`0 Eչ չ VFU ҽZAa M} >57x,^Aޥ٣ G >]C59o?aC5Yk i֠Bq@3mD:"<)C5 ADNOT Ignoring new targets: 11.40 m.hhhhhg!g)bg)jg)e1je1Je9:e=(?r\Yz\Y\Y\Yi)i mD>5DDAT read: Rx Time:19:51:07.7084 =TRx dataTimestamp_ set to:1736538668.184517MDAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.0 -UZ#Rx 39: Read range message, but no direction.150A91DYDYDYE]o0 EYGGG IGBG =GGG<G FVFm #eӽZAq :J MBJ u9JJ RJ # ZJ M >`aƢx,^A>B2 IAAHHI55[< =T=Y9Q =>A٣A EGAI M>I]eC59M4o?aeC5YMk iMҠBiiqu@M4mDM`;M;Mp,C5 AZIbI~jI2rIzIs:If9Ic3II;qI;iI:uI:m addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.505194 s, deltaX: 0.200000 m, approachRate: 0.395887 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe&@:e?r\z\\\))) -0=i-.9)15>51i1i999I9IADDDEI4 EVF5ҽ=DDAT read: Rx Time:19:51:08.2083 ETRx dataTimestamp_ set to:1736538668.687929MDAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0 -UZ#Rx 40: Read range message, but no direction.9=,A99ZAaM}>Ë̢x,4^A:?y:a=?9:wkY:q;>:H?@G?@u?2? n?]?u?:?ɨ:_; :CR9BR, IEMb@Mb@Mb@AA A)AIAyEJ +:v~jtEHEԼE Ed A)E@IAiAAE@H]H]F5m¼ uG=Yu# Q u>y٣y }GyB; >]C59jo?aC5Yl i͠B*p=mb<Sq@5mD ;; 0C5 A addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503412 s, deltaX: -0.200000 m, approachRate: -0.397289 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe%@:eutw?r\*p=z\*p=\Hh@\z@wk) u=i9)B5iiѽIIDDDE85 EI-=)5]C H~G )M쵿yIM!AVF!ҽZAM>E DDAT read: Rx Time:19:51:08.7083 M TRx dataTimestamp_ set to:1736538669.191218U DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0 -U Z#Rx 41: Read range message, but no direction.A A 9A xӢx,ŏN^AG9G9G= IG=BG9G9G9G=<G=Fg?y\?9=>lY!<>H?r ?Ux?& ?@ĺ?a?Lu?騅g?ɨy; C޽*B޽ IH H #U5 ?=Y%Q %>!٣! -G)-y; 5>1]=C595o?aEC5Y5+m i5ȠBIM5qM@57mD55;56;53C5Q U\AY addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503289 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e@>?r\z\\\@=>l) =i 9)D5iiнIID:J<LBJ9JJRJ$ ZJJID?DDE4 EEEZI~bIjI0rIzI{m:I9Iـ3II<;I=;I2;I3;VF`KҽZA M5 >٢x,bh^ADDAT read: Rx Time:19:51:09.2083 TRx dataTimestamp_ set to:1736538669.695287DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.0 - Z#Rx 42: Read range message, but no direction.3+A9"B Ii=Mb@Mb@Mb@ )Iy333333y&1S㥛`/ݼ zA)b@IQ@ih@@HHJ5  /=Y Q  >٣ G >]%C59o?a-C5Y n iB-=m-<-˿q5@9mDE;C;7C59 EAAu addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504069 s, deltaX: -0.100000 m, approachRate: -0.198386 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 11.40 m.hqhyhyhyhygygbgjgBejeJe`ff%@:e?r\=z\=\_@\~J@) T=iU9)J5ii#ѽIIDqDyDyE}4 EyVF νZA M >x,WB^A6Y?y6?96xbnY6<>6Hll??@|?? ̍?_?^u?6Y?ɨ6 `; 6CbBb IH~H~N5  , m=YmP׹Q m ?q٣q uGq}; } ?]C59o?aC5Yn iBʿq@;mD4;1;:C5 ADNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e@?r\z\\\6Y@xbn) =i9)HO5!i!i!)-ͽI)I)DDDE_0 EDDAT read: Rx Time:19:51:09.7083 TRx dataTimestamp_ set to:1736538670.199369DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0 -Z#Rx 43: Read range message, but no direction.,A9G1G1G5 IG5BG1G1G1G5<G5 FH HHH ="H =*H{4VFνZAM>:J BJ u9JJ RJ % ZJ J ? J >x,e^A:%\?y:?9:hY: <>:H`j? ?|? a?@t^?@R_?`ou?:%\?ɨ:); : CNBNIHVHV R5^(C bP=Ybm:Q b>d٣d fGdfr9 j>h]nC59jo?arC5Yjo ijBprʿqr@j=mDj:j:j=C5t v#AxZIbIjI1rIzIv:Iy9I3IIU;IV;I::I;: addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504082 s, deltaX: 0.100000 m, approachRate: 0.198381 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 11.40 m.h!h!h!h!h!g)g)bgIjgQeQjeQJeU%@:eUm5?r\z\\\Y@h) o=i9)$S5iiνII)D?DDE`0 EDDAT read: Rx Time:19:51:10.2083 TRx dataTimestamp_ set to:1736538670.703375%DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.0 -%Z#Rx 44: Read range message, but no direction.3+A9VF νZA M5 >x,嵋^A6p?y6%?96yeY6<>6H 7a?@Z?~? O?DŽ`?`?@mu?6p?ɨ6 +; 6!CBBBIID)DMb@Mb@Mb@ )IyS㥻:vQ/ݽԼ M A)x@Ii@HHQ5? <=Y39Q >٣ G: >]C59 o?aC5Yp iB=m;ؿq@@mDmG; F;AC5 rAE addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504006 s, deltaX: -0.100000 m, approachRate: -0.198411 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 11.40 m.h!h!h!h!h!g)g)bg)jg-ρBe1je1Je5`ff%@:e=@6?r\=z\=\.X@\Zܒ@ye) H=i9)VZ5ii̽II!D?DDE_0 EVF RCͽZA M >% DDAT read: Rx Time:19:51:10.7083 - TRx dataTimestamp_ set to:1736538671.2073465 DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0 -= Z#Rx 45: Read range message, but no direction.) - ,A9) x,Uϋ^AGpGpGrs IGrsBGpGpGpGr<Gr F ?yš?9 `YTm<>H V? r ^?\?@? n?"k?t? ?ɨ`9; CBIH5H5G5 G=YBU:Q >٣ G: >]C59o?aC5Yq iB  ؿq @CmD.::XEC5 Au addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503971 s, deltaX: 0.100000 m, approachRate: 0.198425 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 11.40 m.hyhyhyhyhygygybgjgejeJe%@:e`$?r\z\\\,@ `) |=i9)``5ii)15˽I1I9&TFailed to parse incomplete device message.D?DDE0 EZIbIzjI0rIzIs:I9Iـ3II;I;IP:IQ:VFrWͽZAM>J I x,^A޵B޵IDDAT read: Rx Time:19:51:11.2083 TRx dataTimestamp_ set to:1736538671.715848DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.0 - Z#Rx 46: Read range message, but no direction.3+A9Mb@Mb@Mb@ )IyV-¿L7A`堿V-h+ 7 A)K@I$@iz@HHY5թ <=YQ >٣ G >]C59o?aC5Ys iB5>m;ؿq@GmD ;;"IC5 A addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.508502 s, deltaX: -0.100000 m, approachRate: -0.196657 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hh h h hggbg9jgUBeQjeYJe]`ff%@:e]@NC?r\}5>z\}5>\}W@\}] @) #>i{9)隽k5ii˽IIDe>D>D?DDE0 EVF ˽ZA M >x, ^AVl?yVġ?9VLYV<>VH uV? 7?`n?`b? *?n? t?Vl?ɨV@; T^B^IbiZ9)隥2u5iiG˽IIDDDE05 EDDAT read: Rx Time:19:51:11.7083 TRx dataTimestamp_ set to:1736538672.216428DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.0 -Z#Rx 47: Read range message, but no direction.,A9GGGS IGYBG =GGGy<G FVFN̽ZAM >:J5 uJBJ5 k9JJ1 RJ5 ' ZJ5 x,o^AAJr?yJD?9J1AYJ>U<>JH`X`?)6?~? J?^@1?`Qh?Fu?Jr?ɨJHC; J CRBRIH^H^ Y5f fL=Yf!:Q j>h٣h jGhnκ n>p]vC59ro?avC5Yrkv irBxz1ؿqz@rMmDr2;r2;rOC5| A= addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.500580 s, deltaX: 0.100000 m, approachRate: 0.199769 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 11.40 m.h)h)h1h1h1g9g9bgAjgAeAjeIJeM%@:eM\?r\z\\\@1A) #>i"9)  5 iiaim ͽIiIyDu?DqDqEu4 Ey DDAT read: Rx Time:19:51:12.2082 TRx dataTimestamp_ set to:1736538672.723646=DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.0 -=Z#Rx 48: Read range message, but no direction.(A9VF ˽ZA M >' x,-7^A6d?y6?964Y6LQ<>6Hjg??}??[԰y?g?_u?6d?ɨ6$; 4RBRIMb@Mb@Mb@ )Iy(\ſZd;Oy&1.j<`  A)b@I;@iQ@@HHI5^ :=Y1:Q >٣ G >]C59go?aC5Ymx iB 6>m ; ҿq @RmD::vSC5 : AM addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.507218 s, deltaX: -0.300000 m, approachRate: -0.591462 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 11.40 m.hQhQhQhYhYgYgYbgYjgeBeajeaJee%@:ee?r\6>z\6>\~Y@\^@4) >i9)5ii!!%RͽI)I)DYIsI{Y3I{\00IsIsIsZI|bI|jIrIzI;g:I@9IIq@i@u@m@DDDE_0 EE=E=VFN̽ZA ME > DDAT read: Rx Time:19:51:12.7082  TRx dataTimestamp_ set to:1736538673.223258 DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.0 - Z#Rx 49: Read range message, but no direction. 9 rx,Q^AGDGDGFG IGFOBGDGDGDGFΰ<GF F6?yt?9Yb<>H$}?x?z?@? |?@(j?ju?騅6?ɨl; BII)HHQ5y< G=Y%n;Q %>!٣) -G)-\ ->1]=C595o?aEC5Y5Oz i5~BAEҿqE@5WmD5:5E:5WC5I U! AQ addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.499612 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:eM?r\z\\\\R@)  >i9)5ii;нIIDIDQDQEQ EQ:J}BJ}89JJyRJ}( ZJ}J? J ?VFmo̽ZAyM>=x,j^ADDAT read: Rx Time:19:51:13.2081 TRx dataTimestamp_ set to:1736538673.731300DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.0 -Z#Rx 50: Read range message, but no direction.f&A9ޅBޅI%Mb@Mb@Mb@!! !)!I!y%Mbȿ:v rh%@%T%C !)%K@I!i%;@!%z@H=H=DP5M0I= M+=YUQ U>Q٣Q ]GY] ]>a]mC59ezo?amC5Ye| iexBuH>mu;uпqu@e]mDeE:e:e8[C5 A addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.508042 s, deltaX: -0.100000 m, approachRate: -0.196835 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe$@:e ?r\ H>z\ H>\ UZ@\ @) %#>i%p9)!%`5!i!i))-ϽI)I1D1D1D1E1 E1a e AH H ZI bI jI 1rI zI p:I I 3I VF yϽZA ] ~Gy ) y AM >si!x,셌^A BIH%H%Z55,= 5=Y1Q = ?9٣9 =G9A E ?Q]]C59U+o?a]C5YU_~ iUsBYYqe@UamDU:U:U^C5q uZAqDNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e`7?r\ z\ \ \ ))1 5r=>i549)1=59i9i$ϽIIDzD=DDAT read: Rx Time:19:51:13.7081 ETRx dataTimestamp_ set to:1736538674.231456MvDAT read: Range 10 to 50 : 10.4 m (trip ms) speed 0.0 -MZ#Rx 51: Read range message, but no direction.AA9AGGGGGGGG<G FDDYDYE]k0 EY:J1 BJ5 9JJ1 RJ5 ) ZJ5 JA IA VF ZA M >'x,^AFa?yFE?9F.YF<>FH;?@ ?0w? b*?O }?Ap?`Gu?Fa?ɨF; FCRBRIHZHZ N5b< bS=Ybȸ;Q f>d٣d fGdj0n j>!]uC59%o?auC5Y% i%mBq}пq}@%fmD%)<%:%aC5 /AE addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.500156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e`f?r\z\\\۔@U.)Y ]@H>i]9)Y]5YiYiaamҽIiIiD?D!D!E-}0 E)ae<}DDAT read: Rx Time:19:51:14.2080 TRx dataTimestamp_ set to:1736538674.740407DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.1 -Z#Rx 52: Read range message, but no direction.؁؅3#A9؁VF} YϽZA M >l-x,c{^A6?y65?96ػY6D<>6HF?@ E?u?(4?@ϯ{?@%_?v?6?ɨ6#; 6CRBR IuMb@Mb@Mb@qq q)qIqyubX9ƿ rhQuE6uCuu u7 A)u=@Iu@iqqu@HHuZ5u= >=Y:Q >٣ GF >]C59o?aC5Y igBC>m;Ŀq@kmDZ::-eC5 A  addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.508951 s, deltaX: -0.200000 m, approachRate: -0.392965 m/s, rangeRepo size: 4  DNOT Ignoring new targets: 11.40 m.h hhhhggbgjgBeje!Je-`ff$@:e-e7?r\MC>z\MC>\Mj`@\M7@]ػ)Y ] W>i]9)aeӡ5aiaiiimӽIiIqD-?D)D1E575 E1HC=HR=ZI~bI~jIrIzI{m:If9IIVFmyϽZAyM>m DDAT read: Rx Time:19:51:14.7081 m TRx dataTimestamp_ set to:1736538675.239328} DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.0 -} Z#Rx 53: Read range message, but no direction.i m f&A9i G G G Z IG ^BG =G G G `<G FH HHH ="H =*HU4ӛ4x,Tӌ^A24?y2@?92˻Y21<>2H??v? /?y?`@d?u?24?ɨ2; 0b%Bb IHjHj~N52=  T=Y :Q  >٣ GBs: >!]%C59%-o?a-C5Y%j i%bB)-Ŀq-@%pmD%%:%:%hC51 =A9 addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.498921 s, deltaX: 0.200000 m, approachRate: 0.400865 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe$@:eͿ?r\Az\A\A\E@˻) >h>i9))5iieҽII:JIBJMk9JJIRJM* ZJMJ ? J?D?DDE?5 EEE=VF YϽZA M >:x,@^A5DDAT read: Rx Time:19:51:15.2080 ETRx dataTimestamp_ set to:1736538675.746833eDAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.1 -}Z#Rx 54: Read range message, but no direction.9=3#A99ޭ2Bޭ# I]Mb@Mb@Mb@YY Y)YIYy]MbX9Ŀx&{Gz]!]7]# Y)]&@I]@i]$@Y]@HHN5M= '=YQ >٣ G >]C59o?aC5Y i\B 0>m;q@umD/;;lC5 A addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.507505 s, deltaX: -0.200000 m, approachRate: -0.394084 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbg!jg%Be)je)Je-`ff$@:e-c?r\M 0>z\M 0>\Mb@\Mi-@Y)Y Ha>i#9)隍ڰ5ii ҽIIDDDE4 EVF ZA) ME >H @AH @AZI bI xjI rI zI s:I 9I I XAx, ^AzGBz= IHH N5-L= 5}=Y1Q = ?A٣A MGII U ?a]mC59e o?amC5Ye ieXBqqqu@exmDe1.;eJ;eoC5 wADNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e]?r\z\\\))) ->>i-9)151iihҽII5DDAT read: Rx Time:19:51:15.7080 =TRx dataTimestamp_ set to:1736538676.248047MDAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0 -UZ#Rx 55: Read range message, but no direction.9999D?DDE_0 EGGG IG}BG =GGG|<G FVF ZA M5 >:J JBJ 9JJ RJ + ZJ xytnhe^ZVRKEA==72/0)%!  J I Gx, ^AN"?yN:?9NIYNK<>NH࢘? ? hv? 4?H/v? `?`v?N"?ɨN5; N CfTBfM IHzHzM5e= mH=Y};:Q >٣ G1 >]C59|o?aC5Y iSBq@}mDM; V;GsC5  AB*** querying acoustic contact ***ii addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.501214 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhh!h!g!g!bg!jg)e)je)Je):e5@˞?r\Iz\I\I\M+@]I)a e>ie9)ae3aiaiiqurҽIqIyDYDYDaEe^0 Ea]DDAT read: Rx Time:19:51:16.2079 eTRx dataTimestamp_ set to:1736538676.755528DAT read: Range 10 to 50 : 10.1 m (trip time 6.7 ms) speed 0.0 -Z#Rx 56: Read range message, but no direction.Y]!A9Y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF ZA M >Nx,:^A:1?y:V?9:HYY:<>:HE?@Z ?@x? &?`'X@ w? Sa? v?:1?ɨ:; :C^eB^b Ib٣ G ; >]C59\o?aC5YS iOB >m;yq@mD;z;vC5 Au addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.507481 s, deltaX: -0.099999 m, approachRate: -0.197051 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 11.40 m.hyhyhyhyhyggbgjg Bz\ >\j@\x@HY) -R8>i-9))-N3)i1i11=/ѽI9I9DDDE_0 EVF ZA M >M DDAT read: Rx Time:19:51:16.7078 M TRx dataTimestamp_ set to:1736538677.255403U DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.0 -] X#Rx 1: Read range message, but no direction.I M fA9I e 2Acoustic response timeoute Querying Benthos address 50 with one ping in standard two-way mode.G G G IG BG G G G <G FwTx,bT^A6%?y6sc?96Y6I<>6H2?]?y?Z ?t[ w?`:g?u?6%?ɨ6; 6!CRnBRn IHZHZH5bK= bY=Yf޸Q f>d٣d fGdjr: j>l]~C59n-o?a~C5Yn inLBmq@nmDnc;n;nzC5  8A E addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.499875 s, deltaX: -0.200001 m, approachRate: -0.400102 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 11.40 m.hAhAhAhIhIgIgIbgIjgQeQjeQJeU#@:eU5?r\z\\\@) K>il9)隭P-4iiнIIDDDE0 E:JNBJ9JJRJ, ZJ   HrSB8/)''&&(&&$#J? J?[x,#n^ADDAT read: Rx Time:19:51:17.2077 %TRx dataTimestamp_ set to:1736538677.762401=DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.0 -UX#Rx 1: Read range message, but no direction.A9 e2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.:?yw?9,λY ;>H{??{? ?v@Zy?6Z?Xv?:?ɨi;  CvBw IMb@Mb@Mb@ )IyZd;OQ뱿٣ G ?:  >]C59o?aC5Y iFBx=m;ԟq@mD::~C5) -A)e addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.506998 s, deltaX: -0.099999 m, approachRate: -0.197238 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 11.40 m.hihihihihigqgqbgqjgu$BeyjeyJe}#@:e}Go?r\x=z\x=\\r@\@,λ) #>i9)隽Z4iizϽIIHd?q? ~??|?`c? u?i?ɨ(; C5B5 II9)9EAEAHMHMGL5]= ]@=Y]Q ]>a٣a eGam7_; m>q]}C59uo?aC5YuL iuABq@umDu:u:uIC5 wA addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.502691 s, deltaX: 0.099999 m, approachRate: 0.198928 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe#@:e`&á?GGG IGɂBGGGGʰ<G Fr\z\\\&@<) E>i99)4ii!IM, ͽIIIiDD!D!E%0 E!:JWMBJ9JJRJ- ZJ     JImZIE bIE jIA rIA zIE }:IE 9IA IA IE ;IE ;IE ] ;IE ] ;ix,Mب^A2G?y2͡?92̨Y2;>2H@{R? .?|??ԯ?cW?`gv?2G?ɨ2a; 2 CNBR IHZHZMD5jۯ= nV=YrQ r>p٣t vGt~H; ~> ]uC59 6o?auC5Y e i =By}yq}@ mD "]< {Z< C5B AEDNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e?r\z\\\1@̨) tg>i9)y4ii   ^ ˽I IDyDDE35 EDDAT read: Rx Time:19:51:18.2077 %TRx dataTimestamp_ set to:1736538678.772054EDAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.1 -]X#Rx 1: Read range message, but no direction.A9 u2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.VFN̽ZAM> ٣ G >]%C59Ѧo?a%C5Y[ i6B%=m-<-jq-@mDPB;B;ĉC59 =A9 addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.506962 s, deltaX: -0.099999 m, approachRate: -0.197252 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbg!jg%KBe!jeIJeM#@:eMFB?r\=z\=\S}@\W5@) #>i9)V4ii˽IID l>D >DDDE?5 EEEhA==DDAT read: Rx Time:19:51:18.7078 TRx dataTimestamp_ set to:1736538679.271601DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.fA9 %2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.GGG!IGBG =GGG<GFVF ZA M% >vx,ѐ܍^A6?y6 9?96Y6<>6H:?@n `? s? @?`$-?9^?u?6?ɨ6); 6!CBBB IFi49)隽y4iiĽIIZI1bI5jI1rI1zI1I5H9I1I1I1I1I5R;I5R;D]?DYDYE]_0 EaVFmkʽZAyM>- DDAT read: Rx Time:19:51:19.2076 = TRx dataTimestamp_ set to:1736538679.780195] DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.0 -m X#Rx 1: Read range message, but no direction.1 5 A91  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.-|x,j^A:)?y:Fg?9: Y:v;>:H+ ?+ ?`Ռ?w? B`?J]?u?:)?ɨ:n; :CRBR I5Mb@Mb@Mb@11 1)1I1y5 ףp= Q~jt5Q85u5 1)1I5@i115@HMHM-I5]k< ]@=Y]Q e>a٣a eGamX; m>q]}C59u`o?a}C5Yu iu+B}s=m}+<}zq@umDu ;u;u[C5 cA addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.508594 s, deltaX: -0.299999 m, approachRate: -0.589860 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgMBejeJe@33#@:eವ?r\us=z\us=\uT4@\ug@ ) R8>i9)隍84ii=`ýIIBBCBD?DDE Emx,D^A2T?y20?92nV,Y2PL<>2H?@&@g???d?Ng?qu?2T?ɨ2; 2 CRBR IHZHZMD5bDDAT read: Rx Time:19:51:19.7078 fTRx dataTimestamp_ set to:1736538680.279435jDAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.1 -nX#Rx 1: Read range message, but no direction.dffA9d n2Acoustic response timeoutrQuerying Benthos address 50 with one ping in standard two-way mode.~< ~Q=YuQ >٣  G  Z;  >GGG!IGBGGGG<G FH HHH"H*H4]C59o?aC5YN i%B|zq@mD<<ȓC5 VAe addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.499240 s, deltaX: 0.299999 m, approachRate: 0.600912 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 11.40 m.hihihihihigqgybgyjgyejeJe#@:e4?r\ z\ \ \ Y@=nV,)9 =;>i=9)AE4AiAiII>IIDD!D!D!E) E)E5=E5=:JuLBJu`9JJqRJu/ ZJuZI] bI] }jI] 0rIY zI] s:I] S9I] ـ3IY I] ;I] ;I] :I] : x,*^AF:n?yF?9F9:YFa;>FHf?``?Ǒ?w?`ֆG? hW?v?F:n?ɨF1; F!CPR IIT)THZHZI5b\: bN=Yf Q f>d٣h jGhj; j>l]rC59no?arC5Yn inBtv.zqv@nmDn::n:nAC5x zUAx=DNOT Ignoring new targets: 11.40 m.h9h9h9hAhAgAgIbgIjgQeYjeaJea:em@&?r\z\\\ ʩ@9:) ;>iA9)隵g 5iiIID?DDEo0 E<<%DDAT read: Rx Time:19:51:20.2077 ETRx dataTimestamp_ set to:1736538680.795766DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.15A91 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF2ZAM> BHd?@??`I_??c?yu?B9?ɨBc; B CJBJ IMb@Mb@Mb@ )Iy/$QS㥛,/ݼ )Iih@(@HHG5˃ ;=YQ >٣ GAR; >]C59zo?aC5Y iBܟ=m*<.tq@mD ::C5 qA- addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.516331 s, deltaX: -0.099999 m, approachRate: -0.193673 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgPBejeJe#@:e@2?r\Eܟ=z\Eܟ=\E@@\E@eKqD)i m.>im9)im'5iiqiqq}IyIyD=?D9DAEA EADDAT read: Rx Time:19:51:20.7077 TRx dataTimestamp_ set to:1736538681.287580DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.GGG(!IGBG =GGG\<G FVF JZA M- >4x,]^A:?y:$?9:=PY:;>:H_??Ε?X?°?P? Ev?:?ɨ: S; :!C^Bb IHjHjL5r; rZ=Yr:Q r>t٣t vGtv^: z>x]~C59zo?aC5Yz izBsq@zmDz8;z{;zWC5  iAM addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.491814 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 11.40 m.hQhQhQhQhQgYgYbgYjgYeajeaJea:ee@y?r\z\\\ސ@=P) 0>i9)隥p 5iiNII=DqDyDE@5 EVFgSZAM> DDAT read: Rx Time:19:51:21.2076  TRx dataTimestamp_ set to:1736538681.7947235 DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.0 -E X#Rx 1: Read range message, but no direction. A9 ] 2Acoustic response timeoute Querying Benthos address 50 with one ping in standard two-way mode.Gx,w^A2܆?y2R?92]Y2;>2H m?  y? ?٣ Gz; >]C59 o?aC5Yܕ iBò=m<q@mD;e;C5B AE- addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.507143 s, deltaX: -0.200000 m, approachRate: -0.394366 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 11.40 m.h)h1h1h1h1g1g9bg9jg=/Be9jeAJeE@33#@:eE ?r\}ò=z\}ò=\}@\}f@]) Ha>iJ9)隝>/5iigcIIEx,i^AG0G0G2"!IG2BG0G0G0G2E<G2z FF?yF'?9F;dYFX;>FH` ?@@?`?`M5?ꘌ?Z?u?F?ɨF+; F CRBR IH}H}S5 >=YUQ >٣ G?t: >]C59_o?aC5Y etIiBq@mD<<j<C5  -A)} addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.501319 s, deltaX: 0.299999 m, approachRate: 0.598420 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe#@:e?r\z\\\@%;d)) -Q>i-/9))-C=5)i)i11= I9I9C!D?DDE;5 EmDDAT read: Rx Time:19:51:22.2077 }TRx dataTimestamp_ set to:1736538682.551023ժx,r^A6?y6O?96߯kY6Q<>6Hߙ?` `?@{? ?g@u?@g?u?6?ɨ6ok; 4RBR IHfHfR5z^ zU=Y~Q ~>٣ G R;  > ]C59 o?aC5Y F i Bdq@ mD ; 51; i}9)隅?J5AiAiIIMѷIIIQCYDei>De>D?DDE@5 Em x,HSǎ^A6?y6T[?962pY6><>6HA?n!?L?`?@?Le?@u?6?ɨ6; 6CBBB IID)DMb@Mb@Mb@ )IyDly&1 rhO`eC )=@I@i$@@H H K5$ 9=Y%^#Q %>)٣1 5G1=$S: =>A]MC59Eo?aMC5YE4 iEBM=mM iB9)Y5ii  \[I Izx,^Af7?yfu?9fuYfV!<>fH?# O? ? ?@%Ѣ?a?;u?f7?ɨf%; fC~B IHH Y5%  %9=Y%1Q ->)٣) -G)U1: U>Y]eC59]o?aeC5Y]" i]ޟBae<qe@]mD]:]%:]C5 AM addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.505131 s, deltaX: 0.300000 m, approachRate: 0.593906 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 11.40 m.hQhQhQhQhQgYgYbgYjgYeajeaJee@33$@:eeJ#?r\z\\\@@u) ,f>i9)隝h5ii_ IIձձDAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms sed -0.1 -X#Rx 1: Read range message, but no direction.رصfA9ر 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.CU9D ?D! D! E% 05 E) VFM #ZAQ Mu >=lx,^A:&?y:,d?9:tY:>;>:H?` #l??Z?铎? P?@v?:&?ɨ:y; :CZBZ IDDAT read: Rx Time:19:51:23.7078 -TRx dataTimestamp_ set to:1736538684.064576My٣ G9u >]C59Oo?aC5Y iџB=m;q@mD};;C5 Ae addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503042 s, deltaX: -0.200001 m, approachRate: -0.397583 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 11.40 m.hihihihihigigqbgjgBejeJe#@:e`?r\=z\=\bi@\I@t) ]>i29)隥}5iiRIIC9DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.ءء9ء 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.G1 G1 G5 !IG5 BG1 G1 G1 G5 u<G5 FDa Da Di Em %5 Ei VF 2ZA M >Hǣx,*^A) :Q5?y:r?9:sY:p)<>:H?G#F??!?Ba?b?3u?:Q5?ɨ:Wȇ; 8BtBFt IHNHNR5Vʽ Vw=YVC9Q V?X٣X ZGX^;: ^ ?d]jC59fĵo?anC5Yf} ifʟBlnqn@fmDf):f:fC5t zAx% addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503927 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 11.40 m.h)h)h)h)h)g)g1bg1jg1e1je9Je9:eE@}?r\az\a\a\e @us)y } }>i}9)y%݅5!i!i9IUIQDDAT read: Rx Time:19:51:24.2077 TRx dataTimestamp_ set to:1736538684.563806DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.ءإA9ء 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I:JNBJ9JJRJ3 ZJ7 To8 UJa;hQ>4(CDM?DIDIEM_0 EIVF ZA M >M H+?!`?`??ɍ?` b?Du?3"?ɨaȇ;  C%uB-v IMb@Mb@Mb@ )Iy!rhˡEQl罹'  A)@Ii@HHP5; 6=Y\):Q %>!٣! %G!-t ->1]EC595ʵo?aEC5Y5 i5BE=mM;MMȿqM@5mD5@;5}0;5C5Q UAQ addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.253155 s, deltaX: -0.099999 m, approachRate: -0.395013 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe#@:ez?r\=z\=\yV_@\b@3On) ]>i9)h5iiiiuqIqIqDDAT read: Rx Time:19:51:24.7078 TRx dataTimestamp_ set to:1736538685.069454DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.fA9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.C89HH4=ZIbIjI0rIzIs:I9Iـ3ID% ?D! D) E)  E) VFM 2ZAY u Rԣx,UT^AGGG IG؂BGGGG}<G FH HHH ="H =*HR4J#?yJa?9JFiYJU<>JH ?!?Ğ?? `!?,h?u?J#?ɨJЇ; J!CVmBVm IH^H^DP5fB fK=YjP:Q j>l٣l rGpr8 r>1]=C595ѵo?a=C5Y5' i5B9EOȿqE@5mD5:5:5C5I M@AI addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.505648 s, deltaX: 0.099999 m, approachRate: 0.197765 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgeje Je #@:e ?r\Iz\I\I\M@]Fi) >ip9)隍B5ii3IIC-9DDAT read: Rx Time:19:51:25.2077 TRx dataTimestamp_ set to:1736538685.571345DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؉؍A9؉ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.:J%&PBJ9JJRJ4 ZJvqnkd]]\ZURQNNKIDCBCA=;7332/.+)'&$%&$#"&! DDDE EVF% 5ZA) MM >ۣx,Np^A: ?y:LK?9:*bY: 4<>:H?@`?@;?`$?E?d?Bu?: ?ɨ:; : CFoBFo IPRAH^H^&Q5n(; r;=Yvs{:Q v>x٣x ~G|ƺ  >]-C59ֵo?a-C5Y~ iB)-eȿq5@mDF;6;C59 =6A9} addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.501891 s, deltaX: -0.099999 m, approachRate: -0.199245 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 11.40 m.hyhhhhggbgjgejeJe#@:en?r\z\\\@*b) >i9Hy H} AAx,t|^AZI:bI8jI:1rI8zI:}:I8I:3I8F?yFVN?9Fo]YF;>FH?r ?z?=$? ذ@? [?u?F?ɨF; F!CRlBRk IEMb@Mb@Mb@AA A)AIAyEMb+S㥛EEE/ݼ E A)E&@IAiE$@AE@HHX5k <=Y:Q >٣ G5a9 >]C59o?aC5Y iB >m;οq@mD;;C5 OA5 addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503993 s, deltaX: 0.099999 m, approachRate: 0.198414 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 11.40 m.h9h9h9h9h9gAgAbgIjgMBeIjeIJeU#@:eUX?r\m >z\m >\ms[@\mߎ@o]) u>i9)隍5ii=IICDp>D>GAGE IGE΂BGE =GAGAGE<GE FD]?DYDYE]0 EYEaEaVF} x,<^A6DDAT read: Rx Time:19:51:26.2076 6TRx dataTimestamp_ set to:1736538686.579352:DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.1 ->X#Rx 1: Read range message, but no direction.46A94 B2Acoustic response timeoutBQuerying Benthos address 50 with one ping in standard two-way mode.Mk?yMA?9M>TYM';>MH ?@h?? +? Bv?@Y?u?Mk?ɨMrt; M C}rB}r IHH^S5< J=Y:Q >٣ Gu:JZ=NBJ-9JJRJ5 ZJ    >9]EC59=yo?aEC5Y=l i=BIMοqM@=mD=:=:=CC5q uAy addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504014 s, deltaX: -0.299999 m, approachRate: -0.595220 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe@33#@:e`O?r\yz\y\y\}@>T) J>i9)5ii總IICy9DDDE0 E==x,^A2?y2E?92IOY2;>2H???d+? ?tT?v?2?ɨ2/; 0>uB>v IB=iB;)F= FR=Mb@Mb@Mb@ )IynlZd;OVj  A)@I@i@@H-H- Y55P{< =V=Y=D`:Q =>A٣A EGAM 9 M>I]UC59M,o?aC5YMң iMB)>m;ѿq@MmDMѓz\ )>\ :Y@\ M@%IO)! %>i%9)!%!5)i)}DDAT read: Rx Time:19:51:26.7076 }TRx dataTimestamp_ set to:1736538687.083566DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed 0.1 -X#Rx 1: Read range message, but no direction.yy9y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.iIIC9HIHMp=D%?D!D!E%<5 E)VFE 87ZAQ Mm >- rH ? ??e'?%? HZ?`u?r?ɨr@; pzsBzt IH H P5a L=Y:Q %>!٣! %G!-(R: ->1]5C595ڴo?a=C5Y5Q i5B9=ѿqE@5mD5& ;5 ;5C5I MAI addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504214 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e?r\z\\\x@H) ̗>i9)15iiYaeIaIaC1D?DDE^0 EDDAT read: Rx Time:19:51:27.2074 TRx dataTimestamp_ set to:1736538687.587254DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؁؅A9؁ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.:J5LBJ5M9JJ1RJ56 ZJ5ZIebIe|jIe2rIazIe:Ie@9Iec3IaIe!;quIe#;iuIe{:uuIe|:muVF- ᷽ZA9 MU >Jx,B^A: ?y:.K?9:BCY:;>:H@'?`? i?*?fr t?,U?'v?: ?ɨ:; 8F{BF~ IHbHb@T5j2= jN=YnN:Q n>l٣l nGlr r>t]~C59vo?a~C5Yvͦ ivB ѿq @vmDv<;vΣ;v}C5! %A)} addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503688 s, deltaX: -0.300000 m, approachRate: -0.595607 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe"@:eH?r\z\\\@i9)P5iiKRIIC d?B i?C 9D?DDE4 E DDAT read: Rx Time:19:51:27.7075  TRx dataTimestamp_ set to:1736538688.091222 DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.0 - X#Rx 1: Read range message, but no direction.؁ ؅ A9؁  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.HQ HQ VF ZA M >x, ^A6@"?y6_?96@Y6<>6H@R?@ ??!?@~d7?`I`?u?6@"?ɨ6r; 6!CByBB{ IID)DJAJA%Mb@Mb@Mb@!! !)!I!y%@5^I ¿/$~jt%b%,% % A)%@I%@i%@!%Q@HH^S5)2 ==Y:Q >٣ Gþ: >]C59]o?aC5Yu iB>m;!Ϳq@mD;[;BC5 A% addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503968 s, deltaX: 0.200000 m, approachRate: 0.396850 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 11.40 m.h)h)h)h)h)g1g1bg9jg=Be9je9JeE#@:eE` ?r\]>z\]>\][@\]{Ǖ@u@)q u{>iuH9)y}5yiyi]"IIG x,,%^A DDAT read: Rx Time:19:51:28.2073 TRx dataTimestamp_ set to:1736538688.595417DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.0 -X#Rx 1: Read range message, but no direction. 3A9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.N?yNW?9N;YN;>NHt٣t vGtzS* z>x]~C59z7o?aC5Yz izB)Ϳq @zmDz>;z;zC5 tAM addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504195 s, deltaX: -0.300000 m, approachRate: -0.595008 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 11.40 m.hQhQhQhQhQgQgQbgYjgYeYjeYJee`ff"@:ee ?ZIbIjI1rIzI:I9I3IIn;Io;I;I;:JBHBJ 9JJRJ7 ZJ5Xp{zsje]WPKC<3,*'! J gAI gAr\9z\9\9\=ŕ@U;)Q U>iUm9)QU@5YiYiaaeIaIaC=9DDDE`0 E_+x, ?^A6a4?y6q?96.6H?` "b? B?`I?@5O㓇?\?`u?6a4?ɨ6U; 4>B> I=Mb@Mb@Mb@99 9)9I9y=K7&1{Gz=I =P=ף = A)9I9i=@9=@HUHU@T5et< eC=YmQ m>i٣q uGqu\: u>]C59co?aC5Y i|B>m;Ŀq@mDr;;EC5 [A=DNOT Ignoring new targets: 11.40 m.h9h9h9h9h9g9gAbgIjgM܁BeIjeIJeII) NG99EDDAT read: Rx Time:19:51:28.7075 ETRx dataTimestamp_ set to:1736538689.100320UDAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.1 -]X#Rx 1: Read range message, but no direction.AEA9A ]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.q:eU2X? )>yzAr\%>z\%>\%_@\%@].<)Y ]>ief9)a隍5iix,_yY^A~B I =i <) a= p=HHJ5M;= ML=YUQ U>Q٣Y ]GYe e>i]mC59mo?auC5Ym  imvBqqqu@mmDm:mq:mC5 A addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.504903 s, deltaX: 0.300000 m, approachRate: 0.594174 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe#@:e`?r\z\\\)  |>i 9)  5 i iIICu9D!D!D!E%L1 E)EDDAT read: Rx Time:19:51:29.2074 MTRx dataTimestamp_ set to:1736538689.603310UDAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed 0.1 -UX#Rx 1: Read range message, but no direction.AEA9A ]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.ZIbIjI0rIzI=:I59Iـ3IIԥ;I֥;I;I;:JNBJk9JJRJ8 ZJJ? JVFm .qZAy M >>x,\s^A>X?y>(?9>hlDY>Z;>>HEx? % ?֢?@x?Uf?I?v?>X?ɨ>; >C^B^ IHfHf N5n`= nQ=Yr韺Q r>p٣p vGtv6:; v>x]~C59zo?a~C5Yz izpBĿq@zmDz;z;z+C5  A E addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.502990 s, deltaX: -0.200000 m, approachRate: -0.397622 m/s, rangeRepo size: 4 EDNOT Ignoring new targets: 11.40 m.hAhIhIhIhIgIgQbgYjgaeajeiJeu"@:e} ?i9)隵[6iiFIIC9DDDE0 EE=E=U DDAT read: Rx Time:19:51:29.7074 ] TRx dataTimestamp_ set to:1736538690.108189m DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed 0.0 -u X#Rx 1: Read range message, but no direction.Q Q 9Q u 2Acoustic response timeoutu Querying Benthos address 50 with one ping in standard two-way mode.VF ZA M >^#x,^A> ?y>?9>.IY>;>>Hde?'? ?`?Ra%?@(W?v?> ?ɨ>G; >"CJBJ I%Mb@Mb@Mb@!! !)!I!y%ʡEV-~jt%ケ%m% %A)!I%@i%@!% @HMHMJ5u= };=Y}-Q }>٣ G3; >]C59ao?aC5Y iiB!>m;Gq@mD:H;C5 A} addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504879 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe:eH.?r\!>z\!>\&f@\>@ .I)  >i 9)  6iiuPIICN?Bd?G>GG !IGBGGGG{<G FH HHH"H*Hó3= *x,:^AJ ݇?yJ?9JL^YJ#<>JH@8?.J?*?@?Ceɋ?b? bu?J ݇?ɨJ=; J$CrBr IIt)txzAHHGL5   $=Y *Q >Q٣Q UGY]^; ]>a]mC59e&o?amC5Ye ieaBim趿q@emDe%iE9)AE 6ii7uIIߏ1x,.Ɛ^A2DDAT read: Rx Time:19:51:30.7073 6TRx dataTimestamp_ set to:1736538691.115281:DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.0 ->X#Rx 1: Read range message, but no direction.4494 B2Acoustic response timeoutBQuerying Benthos address 50 with one ping in standard two-way mode.eBe IMb@Mb@Mb@ )IyS㥻Q뱿~jt/ݽ\ļ ~A)I@i@@HH N5= <=YQ >٣  G  >]C59Eo?a%C5Y  iXB%>m%;%樿q%@mD::$C51 58A1e addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503764 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 11.40 m.hqhqhqhqhqgqgqbgyjg}BeyjeyJe:e`6?r\>z\>\m@\H֞@) R>i9)6ii))-᭽I)I)C9DDDE4 EEEGGGGG"!IGBGGGGK<G~ F7x,l^A68?y6u?96N|Y6<>6H ?5?`h??.簿@?@'^?Wu?68?ɨ6; 6"C>B> IHFHFJ5R= Rz=YR+Q V?T٣T VGTZ\ < Z?\]bC59^#o?abC5Y^ i^RB`bqf@^mD^:^G:^C5h jAhDNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e ?r\z\\\@5N|)1 5R>i59)15769i9i9AElIAIABIBIC-)9}DDAT read: Rx Time:19:51:31.2072 }TRx dataTimestamp_ set to:1736538691.620448DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.y}A9y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.DDDE_0 E:JޓMBJ9JJRJ: ZJVF% 'ZA1 MM > H l?8`?H?t|?~`ѐ?`?u?騍b?ɨQ>; CB Ii=)= =H%H%H5] < e1=YmQ u>٣ G7; >]C59do?aC5Y iIBQq@mD&;q';C5 A addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.505167 s, deltaX: -0.200000 m, approachRate: -0.395908 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 11.40 m.hQhYhYhhggbgjgejeJe"@:e`c?r\z\\\q@)! %R>i%9)!%6!i!i))5qI1I1}DDAT read: Rx Time:19:51:31.7073 TRx dataTimestamp_ set to:1736538692.123259DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.y}3A9y 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ZIubIu|jIu1rIqzIuy:Iu@9Iu3Iqq}@i}@u}@m}@C J9DU ?DY DY E] .5 EY Ee =Ee >G G G 4!IG BG G G G <G F-٣   G >)]5C59-$o?a5C5Y-1 i-=B5/=m5;5q5@-mD-o;-\:-C5 ADDAT read: Rx Time:19:51:32.2072 TRx dataTimestamp_ set to:1736538692.627312=DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.0 -UX#Rx 1: Read range message, but no direction.A9 ]2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode. addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 1.006864 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe:e`K:?r\/=z\/=\r@\O@:J yJBJ #9JJ RJ ; ZJ 9 )A E >iE 9)A E &6A iA iI I U tIQ IQ C j9 Q٣Q UGYY e>q]}D59uo?aD5Yu iu/BT=m;ɜq@umDuc;u`;u+D5 AZIbI{jIrIzI:I-9II addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504055 s, deltaX: 0.200000 m, approachRate: 0.396782 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBe je Je `ff"@:e @?r\mT=z\mT=\m)t@\mdݡ@) q>i9)隥-6iiKIIDDDE[2 EGGGG!IG BGGGG<G F} '6H?LGn?N???Qd? t?6?ɨ6g; 6!CRBR IHZHZ R5b4 bh=YfkQ f>d٣h jGhnj< n>p]vD59rCo?avD5Yr ir'Bxz웿qz@rmDr:r:r;D5 A 5DNOT Ignoring new targets: 11.40 m.h1h1h1h1h1g9g9bg9jgAeAjeAJeA:eE|?r\iz\i\i\m@}') >>i9)隅26iiDIIDU?DQDQEU_0 EQEYE]gAADDAT read: Rx Time:19:51:33.2072 TRx dataTimestamp_ set to:1736538693.636240DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.A9  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.VFZA!M=r>:J-BoHBJ--9JJ)RJ-< ZJ-@Z2   Xi]x,}@x^A"NH? J?U?`z?] s?@Z?@Nt?N;?ɨN]; LV‚BV IH^H^ N5fL< fI=Yj2fQ j>9٣A EGAM ; >]D59o?aD5Y iBq@mD:: D5 AU addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504873 s, deltaX: -0.200000 m, approachRate: -0.396139 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 11.40 m.hQhQhQhYhYgYgYbgYjgaeajeaJee"@:em?r\z\\\ @-)1 =׼>iuP9)隕496ii,9II ~GlA D1D1D1E54 E9)]O yelAeBDDAT read: Rx Time:19:51:33.7073 TRx dataTimestamp_ set to:1736538694.140073 DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.3A9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.H H BAZI bI jI rI zI }:I 9I I VF ZA M >tNdx,^A6o?y6?960ƼY6!O<>6Hv?`Mf???줲И?9f? s?6o?ɨ6 ; 6 CBƂBB I)F= Fp=UMb@Mb@Mb@QQ Q)QIQyU+η٣ G|; >]D59o?aD5Y8 iB,=m;ܝq@mD3;2;|D5 zA addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.503833 s, deltaX: 0.200000 m, approachRate: 0.396957 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe`ff"@:e@2?r\%,=z\%,=\%9s@\%Ș@=0Ƽ)9 =>i=9)AE>6AiAiIIMY>IIIIGGGM!IG%BGGGGW<G FU DDAT read: Rx Time:19:51:34.2072  TRx dataTimestamp_ set to:1736538694.643272 DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.0 - X#Rx 1: Read range message, but no direction. A9  2Acoustic response timeout% Querying Benthos address 50 with one ping in standard two-way mode.nxjx,꫑^A ȅ?y Jå?9 ѼY %<> Hk?6P&??k?ﲿ 5?`?ys? ȅ?ɨ J; CEłBE IHQHQz< I=Y[Q >٣ G : >]D59Ao?aD5Y] i Bq@mDP:\:D5 A:JNBJ89JJRJ= ZJJ!I%hA} addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503199 s, deltaX: -0.200000 m, approachRate: -0.397457 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 11.40 m.hyhyhyhyhggbgjgejeJe"@:e'?r\z\\\@Ѽ) >i=9)CE6ii t{II!BBCBD9DDDE EE>E!>m_qx,nő^A2e?y2?92ݼY26<>2H@V? SИ???:`&?b?s?2e?ɨ2n; 2!C>ǂB> I=Mb@Mb@Mb@99 9)9I9y=Cl绿 rhQ롿=;߽=C=\ =hA)=@I=Z@i=@9=@HUHU&Q5u\; uL=Yu,lQ }>٣ G[; >]D59:o?aD5Y iBY>m;q@nD:b;i@;D5DDAT read: Rx Time:19:51:34.7073 TRx dataTimestamp_ set to:1736538695.148391DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.3A9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.A ErAI] addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.505119 s, deltaX: 0.200000 m, approachRate: 0.395946 m/s, rangeRepo size: 4 eDNOT Ignoring new targets: 11.40 m.hahahahahagigbgjgBejeJe`ff"@:eN?II3IA.IIIZIbIjI0rIzI:IIـ3Ir\Y>z\Y>\ml@\4b@Uݼ)Q U>iU9)QUK6YiYiYae#IaIaD%?D!D!E%`0 E!GGGT!IG*BGGGG<G FHY HYHYHY"HY*H]Ȫ4m 4wx,ܟߑ^A><Ɖ?y>?9>Y> 5<>>HqL?qUm???Q?bb?r?><Ɖ?ɨ>Ї; >"CPPIT)TTVAHZHZO5f: fU=YjSQ j>h٣l nGln: r>p]vD59r*o?avD5YrԿ irBxzqz@rnDr:rh:rD5 pA5DNOT Ignoring new targets: 11.40 m.h1h1h1h1h1g1g1bgAjgAeAjeIJeI:eMA?r\iz\i\i\mni@) >i9)隝xQ6ii%IID D D E 1 E DDAT read: Rx Time:19:51:35.2072 TRx dataTimestamp_ set to:1736538695.652331DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.A9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VFۂZAM=>:Jmk3IBJm9JJiRJm> ZJm J} ? J}>}x,l|^ANH@@?WX? ?@2?dz`L?]?r?N މ?ɨN); N CẐB^ IH-H-Q5M< MB=YUMQ U>Q٣Q ]GY]: e>i]}D59m3o?aD5Ym( imBwq@m nDme;m@;mD5 JA addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503940 s, deltaX: -0.200000 m, approachRate: -0.396872 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbg jg e je Je "@:e@?r\9z\9\9\=q@Ai) >i9)*X6ii%]I!I1DzDDDDE?5 EE E iADDAT read: Rx Time:19:51:35.7073 TRx dataTimestamp_ set to:1736538696.156429DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.3A9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.VF ZA M >x,=b^AJR?yJ%?9JYJY<>JH@;?hX? q??|ST?gf? r?JR?ɨJk; H^ЂB^ IMb@Mb@Mb@ )IyCl绿p= ףQ A)@IC@i@@ HHS5< D=Y.Q >٣ GD: >]D59(o?aD5Yy iB>m;Zq@ nD;;4 D5 +A% addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504098 s, deltaX: 0.200000 m, approachRate: 0.396748 m/s, rangeRepo size: 4 %DNOT Ignoring new targets: 11.40 m.h!h)h)h)h)G=>G9G=Z!IG=/BG9G9G9G=<G= Fg)gIbgQjgUBeQjeYJe]`ff"@:e] ?r\>z\>\yk@\G@-iM9)QU_6QiQiYY]IYIaD=?D9DAEE5 EAVFe @ZAq M > DDAT read: Rx Time:19:51:36.2072  TRx dataTimestamp_ set to:1736538696.659256 DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.0 - X#Rx 1: Read range message, but no direction. A9  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.*銤x,a-^A) @ZI bI"jI rI zI I"y9I I I";q&I";i&I"::u*I";:m*~C?y~+?9~Y~u <>~H8?`Y[n?@? ?DOP?@\?@+r?~C?ɨ~4; ~!C ԂB  IH)H)}< }J=YMQ >٣ Gn9 >]D59o?aD5Y iמBJq@nD`::#D5  A:J-FLBJ-9JJ)RJ-? ZJ- "())$  J=hAI=gAu addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.502827 s, deltaX: -0.200000 m, approachRate: -0.397751 m/s, rangeRepo size: 4 uDNOT Ignoring new targets: 11.40 m.hqhqhqhqhygygybgyjgyejeJe"@:eS?r\z\\\G@) >iu9)f6iiXI!I)E >VFI ZAa M >>qx,u>J^ADDAT read: Rx Time:19:51:36.7073 TRx dataTimestamp_ set to:1736538697.164083DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.3A9 &2Acoustic response timeout&Querying Benthos address 50 with one ping in standard two-way mode.?y`5?9YF<>H3? mZ@m??`B?<JҠ?c?q?騕?ɨ6;  CޭقBޭ IMb@Mb@Mb@ )Iy!rh~jtl罹Lļ hA)@Ii@@HH@T52< '=Y3Q >٣ G: >]D59o?a D5YK iΞB >m ; /q @nD&;%;(D5 AU addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504827 s, deltaX: 0.200000 m, approachRate: 0.396175 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 11.40 m.hYhYhYhYhYgYgabgajgeBeajeiJem`ff"@:em?r\>z\>\c@\C@) >iG9)隥m6iiw蒽IIC9DDDE3 EGGGf!IG9BGGGGv<G F<.x,rc^A6?y6(2?96/` Y6?S<>6HY5?Z@f?v?? fȴ@.K?@e?Aq?6?ɨ6; 6CRՂBR IHZHZ#U5b" fu=Yf5Q f?h٣h jGhj j?l]rD59no?avD5YnX inȞBtv0qv@nnDn:n:n*D5x zA|%DNOT Ignoring new targets: 11.40 m.h!h!h)h)h)g)g)bg1jg1ejeJe:eo_?r\z\\\C@-/` )) 5>i5"9)QU^s6QiQiYY]MIaIa=DDAT read: Rx Time:19:51:37.2072 ETRx dataTimestamp_ set to:1736538697.667680MDAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.0 -MX#Rx 1: Read range message, but no direction.9=A99 U2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.Ce9D?D D E _0 E ZI5bI5~jI51rI1zI5v:I5f9I53I1I5U;I5V;I5:I5::J2MBJ9JJRJ@ ZJ*n<q<%J> J?VFE мZAQ M} > nH4?G[W?G??@`7ˡ?`+^?Kq?n?ɨn; nC܂B IH-H-GL5M= M@=YMQ U>Q٣Q UGQ]/8 ]>a]mD59ewo?amD5Ye ieBim)qm@enDe:e\:e.D59 EAI addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503597 s, deltaX: -0.200000 m, approachRate: -0.397143 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe"@:eӀ?r\!z\!\!\%xE@a) >i9)yz6ii I I CX9D-DDAT read: Rx Time:19:51:37.7072 -TRx dataTimestamp_ set to:1736538698.172175=DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.0 -EX#Rx 1: Read range message, but no direction.))9) M2Acoustic response timeoutMQuerying Benthos address 50 with one ping in standard two-way mode.Du?DqDyEy EyEEVF zZA M >x,^AG4G4G6s!IG6CBG6 =G4G4G6|<G6 FF#?yF3?9F&YYFO<>FH@`4?`R[W??v?@>1**?Fd?p?F#?ɨFn; F"C B!I ٣ G7 >!]-D59%o?a-D5Y% i%B-q=m-;-¿q-@%nD%V:%:%\2D59 =zA9 addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504495 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe:e`T?r\-q=z\-q=\-_@\-k@]&Y)Y ]H>ie49)ae6aiaiibIICiD?DDE`0 E U DDAT read: Rx Time:19:51:38.2070 U TRx dataTimestamp_ set to:1736538698.675325] DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -e X#Rx 1: Read range message, but no direction.Q U 3 A9Q m 2Acoustic response timeoutm Querying Benthos address 50 with one ping in standard two-way mode.VF ZA M >ZIA bIE {jIA rIA zIA IE -9IA IA IA IA IE :IE :ϫx,^A~B~ IH H J55 5Y=Y=Q =>A٣A EGAE M>I]UD5:JҹMBJ9JJRJA ZJ?M-$ JgAI9Mo?aD5YM" iMBq@MnDM[ie9)ae6aiaiiiiIiIqcx,X˒^A DDAT read: Rx Time:19:51:38.7071  TRx dataTimestamp_ set to:1736538699.179408DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed 0.0 -X#Rx 1: Read range message, but no direction. fA9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.J?yJ<>?9JpYJ.<>JH@ /?`\G?`b?@S}?·? _?p?J?ɨJ̇; JCVBV!I--only read 2 of 4 data items for bottom velocity. Device response is::BS, 00, -17,A -@- -@- -@-  -@- H5H5C5M< MI=YMwpQ M>Q٣Q UGQ]Q: ]>i]uD59mo?auD5Ym` imBi}+:ym};}¿q}@m"nDmm8D5a erAa addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504083 s, deltaX: 0.200000 m, approachRate: 0.396760 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe!@:eX?]p)Y ]H>i]9)ae6aiaiiim\jIiIiGiGiGm!IGmMBGm =GiGiGms<Gm Fx,C^A6?y645?96Y6b;>6HK3?\@g6?`?@?5?vS?p?6?ɨ6F; 6 C>B>!IHJHJI5R < R>=YzQ z>|٣| ~G|~ $ > ]D59 Io?aD5Y  i Bi :m;¿q@ %nD ,: /Y? ;D5) 5JA1DNOT Ignoring new targets: 11.40 m.hաեADDAT read: Rx Time:19:51:39.2070 TRx dataTimestamp_ set to:1736538699.685247DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.عؽ3 A9ع 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.hhhhggbg jg e jeJe`ff!@:e%@F?) I>i+9)隭h6iiIIZIbI~jI2rIzIIf9Ic3IIII:I:CDiDiDiEm?5 Ei:JeMBJe۵9JJaRJeB ZJe  ] vx,J^AT?yM?9•YGU<>H@]'?]E?!?r?õq?kd?@p?騝T?ɨ =; CB !IH-H-A5]'; e2=YmoQ u>y٣ GU: >]D59o?aD5Y iBi9mk;o¿q@)nDV:?,=D5 EA addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.505839 s, deltaX: -0.200000 m, approachRate: -0.395382 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:eb?DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:39.7071 TRx dataTimestamp_ set to:1736538700.188258DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.fA9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.5•)1 5>i59)9=k69iAiAIMIIIIC 9G G G !IG WBG =G G G v<G FH HHH"H =*Hʾ3D! D! D! E% o0 E! E) E- hA} bH"?Q_@5? ?l?@G?`[?@(p?b?ɨbOn; b CnBr!I      Mb@Mb@Mb@ )IyRQ/$ rh½,C A)@I@i@=@HHD5 (=YeQ >٣ G : >]D59o?aD5Y` iBiT:=m;`q@,nD;;ZAD5  OAE addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503011 s, deltaX: 0.200000 m, approachRate: 0.397605 m/s, rangeRepo size: 4 MDNOT Ignoring new targets: 11.40 m.hIhIhIhIhIgQgQbgQjgUBeYjeYJe]!@:e]@K?r\}=z\}=\}c@\}w@},) >i9)隝_6ii 'IIDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:40.2069 TRx dataTimestamp_ set to:1736538700.692073DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0 -X#Rx 1: Read range message, but no direction. A9 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.C59DDDE0 E:J LBJ 9JJ RJ C ZJ u eΤx,.=^ABN?yBL?9B}YB<>BH '?`^>2??p??Y?0p?BN?ɨB7j; BCJBJ !IHVHVF5ZQ< ^P=Y^pQ ^>`٣` GeN e>i]uD59mdo?auD5Ymy imBqujqu@m.nDmP:m:mDD5 .AE5 addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503815 s, deltaX: -0.299999 m, approachRate: -0.595455 m/s, rangeRepo size: 4 UDNOT Ignoring new targets: 11.40 m.hQhYhyhhggbg9jg9eAjeAJeE@33!@:eEO?r\z\\\2u@U})Y ]]>iek9)隍ė6iiII DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:40.7070 TRx dataTimestamp_ set to:1736538701.196038DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.  3 A9  %2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.HH4=ZI1 bI5 jI5 1rI1 zI1 I5 9I5 3I1 q= @iE @uE @mE @C 9Da Da Di Em o0 Ei G% >G! G! G! G% =G! G! G% y<G% FRH@I?`3``Z,??`g?,?@U?`>p?R ?ɨR5; PZBZ!IMMb@Mb@Mb@II I)IIIyM+η~jtMvMLMļ MQA)IIIiIIM@HH6=5Y~ =YqAQ >٣ G: >]D59=o?a%D5Y iB-=m5;5q=@2nDT;;ID5A EQAA} addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503965 s, deltaX: 0.099999 m, approachRate: 0.198425 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe`ff!@:e?r\=z\=\h@\#@o!) >i9)6iiːIIDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:41.2069 TRx dataTimestamp_ set to:1736538701.701395DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؉؍ A9؉ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.C9DiDqDqEu0 Eq:J BJ 89JJ RJ D ZJ VF ZA M >ݤx,{z^A2T?y2[?92`0!Y24<>2Hd ?@_@3??@h? r@$?]?o?2T?ɨ2b; 2 C>BB!IHZHZI5jr jQ=Yn9Q r>t٣x zGx~T: >]-D5Y]=eit9)隍6iim IIC9DyDyDE25 E DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:41.7070  TRx dataTimestamp_ set to:1736538702.204048 DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -% X#Rx 1: Read range message, but no direction.  3 A9 % 2Acoustic response timeout- Querying Benthos address 50 with one ping in standard two-way mode.VF 8ZA M >ZI bI zjI rI zI y:I 9I I x,ٓ^A=B= !IMb@Mb@Mb@ )IyzGếV-V- ׽m A)Ii@HHp;5 <  8=Y Q >٣ G >!]-D59%o?a-D5Y%> i%wB5=m5;5aq5@%8nD% ;%;%PD59 =1AA} addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.502653 s, deltaX: 0.099999 m, approachRate: 0.198943 m/s, rangeRepo size: 4 }DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe`ff!@:eSU?GGG!IG\BGGGG<G Fr\=z\=\[\i@\i@) >i9)6iifIIBhABhAC 9m% DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:42.2069 - TRx dataTimestamp_ set to:1736538702.7079445 DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0 -= X#Rx 1: Read range message, but no direction.! % A9! = 2Acoustic response timeout= Querying Benthos address 50 with one ping in standard two-way mode.x, ^A2D"?y2_?920k Y2;>2H?@R`@ ,? ?@g?`P  ?>S?rp?2D"?ɨ2M; 0>B> IHFHFE5Nwd Re=YZS :Q Z>\٣` bG`b9 b>d]jD59fWo?ajD5YfQ ifoBln[qn@f:nDfj;fD;fTD5p rAt addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503896 s, deltaX: -0.099999 m, approachRate: -0.198453 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe@33!@:e ?r\z\\\@U0k )Q U>i]9)Y]6YiYiaaeIaIi:JBJu9JJRJE ZJ  C9S x,_ȓ^Au ?yu]?9u+YuI;>uH`?```$?`?oi??#J?p?u ?ɨuކ; uCލBލ!I%Mb@Mb@Mb@!! !)!I!y%S㥻V-X9v%/ݽ%h% %QA)%@I%@i%@!%@H=H=P@5MW< M,=eDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:42.7070 eTRx dataTimestamp_ set to:1736538703.212027mDAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -uX#Rx 1: Read range message, but no direction.ae3 A9a u2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.YM19Q >٣ G >]D59o?aD5Y idB>m;3q-@>nD<<DXD51 =IA9 addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504083 s, deltaX: 0.099999 m, approachRate: 0.198379 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe`ff!@:ec?ZIIbIMjIIrIIzIIIM9IIIIr\m>z\m>\m7Hn@\m@}+)y }?i}9)隭*6iiIIG9G9G=!IG=WBG9G9G9G=<G= FCe 9 VFAZAQMm?x,s^A637?y6t?96~$Y6;>6H`?xa 1?w?^?䵿G? T? yp?637?ɨ6; 6#C>B>!IHbHbN5nu_ n2=Yrw9Q r>p٣t vGt%^: %>)]5D59-o?a=D5Y-F i-XB9= q=@-BnD-< ;-iD;-E\D5i mcAqDNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:eQ?r\z\\\@~$) >i9)>6ii'IIC G?B ]?UDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:43.2069 ]TRx dataTimestamp_ set to:1736538703.716124mDAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0 -mX#Rx 1: Read range message, but no direction.QU A9Q u2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.C9DYDYDYE]_0 EY:JE~KBJEk9JJARJEF ZJEVF}zZAM> bH@?` 96?L?a?˵A?U?@p?b2?ɨbY; b CjBj In {G A)yEAY٣ G" >!]MD59%Ko?aD5Y% i%MB(q@%EnD%<%<%X`D5 AE addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504097 s, deltaX: -0.099999 m, approachRate: -0.198373 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhgg!bg)jg)e)je)Je5@33!@:e5?uDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:43.7070 uTRx dataTimestamp_ set to:1736538704.220423DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.qu3 A9q 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.r\z\\\Ѕ@[)! %>i% 9))-´6)i1iYae9IaIiHQHUAAZIebIeyjIarIazIes:Ie9IaIaC ,9G) G) G- !IG- RBG) G) G) G- <G- FD9 D9 D9 E= 05 E9 EA EA - FH@+?`]:? ?@x?`^? mT?p?F?ɨF; F"CNBR!I-fonly read 0 of 1 data item for BIT error. Device response is::TS,25011011525235,35.0, +11.0, 0., 0 f@f f@f f@f  f@f HjHjL5r< r=Yr:Q v>t٣t zGxz z>|] D59~o?a D5Y~~ i~@Bi+:m;Xq@~JnD~$P;~?~FdD5 lA!U addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504299 s, deltaX: 0.099999 m, approachRate: 0.198294 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 11.40 m.hYhYhYhYhYgYgYbgajgaeijeiJeu`ff!@:eu ?DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:44.2069 TRx dataTimestamp_ set to:1736538704.724082DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.رص A9ر 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.) >i9)隥#6iiaIIC9:JBoHBJ9JJRJG ZJJID1 D9 D9 E= 2 E9 e x,Y5G^AJ#?yJ(?9JTYJ4;>JHy9?[ 8? ??u~ɢ?O?`q?J#?ɨJƆ; JCPV!IH^H^[W5r@,; v8=Y~z:Q ~>٣ Gs >]%D59.o?a-D5Y i4Bi= :9m=;MxqU@NnDn\<?fD5 hAe addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503659 s, deltaX: -0.099999 m, approachRate: -0.198546 m/s, rangeRepo size: 4 mDNOT Ignoring new targets: 11.40 m.hihihihihigigqbgqjgqDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:44.7070 TRx dataTimestamp_ set to:1736538705.228122DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؉؍3 A9؉ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ejeJe:e ut|?T)  >i 9)  6 i iӓIICM9G! G! G! G! G! G! G! G% <G% FH HHH"H =*HȲ4D1 D1 D1 E5 1 E1 - Wx,Ee^ABى?yB?9B=YB;>BHB?PZB???@_?`W?4q?Bى?ɨB; B"CNBN!IIP)PPRA55 55 55  5 5 5Mb@Mb@Mb@11 1)1I1y5x&sh|?y&157 55` 5;A)1I1i115@HMHM N5e"O; e%=Ye:Q e>i٣i mGiuj u>y]D59}o?aD5Y} i})BiT:#>m;q@}RnD}b;}:} kD5 aA addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504040 s, deltaX: 0.099999 m, approachRate: 0.198396 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hihihihihigigibgqjgu߁BeqjeyJey:e}l?r\#>z\#>\֍l@\|Ҟ@=) ?i9)6iiIIMDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:45.2070 UTRx dataTimestamp_ set to:1736538705.732139]DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -eX#Rx 1: Read range message, but no direction.II9I m2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.ZI=bI=xjI9rI9zI=v:I=9I9I9I9qEI9iEI=&:uMI=':mMCm_9D D D E ?5 E :J BJ k9JJ RJ H ZJ J ? J > | x, ^AލBޕ!IHH= 5=YQ >٣ G >]D59o?aD5Y iBq@WnD::oD5 &A = addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504017 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 =DNOT Ignoring new targets: 11.40 m.h9h9h9h9hAgAgAbgIjgIeIjeIJeQ:eU !?r\yz\y\y\y1)1 5?i5`9)9=69i9i#{IIC??B"?C=m9EDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:45.7070 UTRx dataTimestamp_ set to:1736538706.238478eDAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 -mX#Rx 1: Read range message, but no direction.QQ9Q u2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.D ?DDE4 EH!H!VF- ZA9 M] >G G G !IG WBG G G G ư<G F&x,9ԛ^A 2?y ݥ?9 Y *;> H]? &V1G?r?m? #?`U?q? 2?ɨ ^3;  C%B%!I٣ G >]D59ko?aD5Y+ iB>m;q@[nDV:R:rD5 A addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.506339 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hh hhhggbgjgBejeJe:e"?r\%>z\%>\%Ol@\%Ξ@U)Q U?iU9)Y] 6YiYiIIC9Di>DU DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:46.2069 ] TRx dataTimestamp_ set to:1736538706.740844m DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0 -u X#Rx 1: Read range message, but no direction.Y ] A9Y } 2Acoustic response timeout} Querying Benthos address 50 with one ping in standard two-way mode.DY Da Da Ee /5 Ea II3I .IIIZIE |bIE jIA rIA zIE ;g:IE y9IA IA IE Պ;IE ׊;IE ::IE ;:VFZAM>.x,)^AB??yB?9B)&YB%<>BH|Y?1٣1 5G1=#: =>A]D59Eo?aD5YE iE Bq@E_nDE{٣ G >]D59ao?aD5Y iB>m;Pq@dnD;;~{D5 iA- addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504461 s, deltaX: 0.099999 m, approachRate: 0.198230 m/s, rangeRepo size: 4 -DNOT Ignoring new targets: 11.40 m.h)h)h1h1h1g1g1bg9jg=Be9je9JeE`ff!@:eM`a?r\e>z\e>\eGl@\e@q)y }?i}.9)y6iiI I CE9 DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:47.2069  TRx dataTimestamp_ set to:1736538707.747983 DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0 - X#Rx 1: Read range message, but no direction. A9  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.D D D E ?5 E ZI bI {jI 0rI zI I -9I ـ3I I I I :I :VF=@ZAIMe>B=x,^A6*?y6?96+iY6H<>6HCS?V@W???@`:̡?c? q?6*?ɨ68; 6!C> B>-!IHJHJ)M5R*< RI=YVv&Q V>x٣x zGx~*{: ~>] D59o?a D5Y- iBDq@gnD|4;E5;D5! %YA!U addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.502678 s, deltaX: -0.099999 m, approachRate: -0.198933 m/s, rangeRepo size: 4 ]DNOT Ignoring new targets: 11.40 m.hYhYhYhYhYgagabgajgaeijeiJem@33!@:euh?r\z\\\@+i) ?iF9)隵66ii8IID:JBJ9JJRJJ ZJ DAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:47.7070  TRx dataTimestamp_ set to:1736538708.252450 DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0 - X#Rx 1: Read range message, but no direction. 3 A9  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.Dx,2Y^Ar?yr/?9rYrUF<>rHjU?VV?@? ?wҡ?Fc? q?r?ɨr7; pz Bz1!II!)!!%A5Mb@Mb@Mb@11 1)1I1y5|?5^X9v{Gz5ҽ5}5# 5QA)5@I5@i5@15@HEHEH5Um< ]2=Y]#ڸQ ]>a٣a eGae e>i]uD59mo?a}D5Ym imB}=m};}q}@mknDmL ;m;mD5 >A addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504467 s, deltaX: 0.099999 m, approachRate: 0.198228 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe`ff!@:e?r\=z\=\vk@\Q̞@-)i m?im9)qu6qiqiyy}IyIGGG!IGlBGGGG<G FDDDE E%Jx,7-^AR։?yR#?9RxYR-<>RHC?xYP??@~?@n;.?`?p?R։?ɨR(O; R CZBZ;!IH~H~C5 '=  b=YTQ >٣ GK; %>!]-D59%o?a-D5Y% i%B15樿q5@%mnD%~:%:%-D59 =AAuDNOT Ignoring new targets: 11.40 m.hqDAT read: RX DATA OVERRUNRX DATA OVERRUNRx Time:19:51:48.2069 TRx dataTimestamp_ set to:1736538708.756095DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.؁؅ A9؁ 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.hhhhggbgjgejeJe@33!@:e@j?r\z\\\E֞@x) ?il9)6ii   h7I I ZI}{bI}}jI}1rIyzI}d:I}S9I}3IyI}";I}$;I}:I}:DDDEo0 EVFZAM>:JuJBJ-9JJRJK ZJJIE 6HZ9?`Z}P?`;??V s? b?p?6?ɨ6"; 6C ~GRlA ^AbB)v yvlAvAj7!IH H @5%#l %I=Y-Q ->1٣1 5G1Em: E>I]]D59Mo?a]D5YM iMBaeϨqe@MpnDMlK;MI;MD5q }Ay addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503645 s, deltaX: -0.099999 m, approachRate: -0.198551 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e`x?r\z\\\۞@}`)yhDAT read: RX DATA OVERRUNRX DATA OVERRUNuser:1293> FDAT read: Command 'r50' not found dunknown deviceResponse_: Command 'r50' not found "DAT read: Error @unknown deviceResponse_: Error ,DAT read: user:1294> BDAT read: Tx time:19:51:49.2144 $Ping request sent.] JDAT read: TxSync time:19:51:49.2136 e checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243011Wx,a^AUBU:!IYi]=Mb@Mb@Mb@ )Iy/${Gz{Gzt#ף ;A)I@i@G@H H P@5%< %:=Y%Q ->)٣) -G)5 5>9]ED59="o?aED5Y= i=BEо=mEZI5 |bI5 jI5 0rI1 zI5 ;g:I5 9I5 ـ3I1 I5 Պ;I5 ׊;I5 2;I5 3;c^x,z^A2dH?y2煦?92M[Y2{ <>2H`a ? a _A?? X?@8j?>[?yp?2dH?ɨ2ن; 2 C@B9!IHJHJ25R Vg=YVQ V>X٣X ZGXZA< ^>`]bD59bo?afD5Yb ibBdfeqf@bunDb%:b:bD5h n Al DNOT Ignoring new targets: 11.40 m.h h h h h ggbgjgejeJe:e%@.?r\9z\9\9\=@MM[)Q Uu?iU9)Q]-6YiYiYaeIaIa:JJBJ89JJRJL ZJJ? J>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747319D?DDE5 EZAM= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998184dx,^A:4m?y:?9:"Y:@@>:HV?__??I٣I MGIM.; U>Q]eD59Uo?aeD5YU iUBe=mmDGYGYG]!IG]BGYGYGYG]z<G] FH HHH"H*HÚf4DIDIDIEM)4 EIZAiM>%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250246kx,-y^A6?y6/?96V.Y6v>>6H`?@Akq??@? JYѥ?:?`dk?6?ɨ6l; 6 Cb Bb/!IId)dHn}Hn(5x M=YQ %>!٣! %G!-%< ->1]=D595o?a=D5Y5 i5۝B9=趿qE@5znD5^;5;5՗D5I UOAQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502384DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgejeJe:e@s/@r\z\\\U@V.) >iu9)g6i i YIID?DDE_0 EZAM=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754132:JM BJI JJI RJM M ZJM JU hAIU fAqx,mUȕ^AJ?yJWS?9J1YJ<>JH i?o`P??? ?\ȶ,:?u?bm?J?ɨJ̬; J!CZ BZ-!IHfHf.5vk vM=YzQ z>|٣ G4; >!]-D59%o?a5D5Y% i%՝B1=q@%}nD%<%<%XD5 YAmDNOT Ignoring new targets: 11.40 m.hihqhqhqhygygbgjgejeJe:e@r\z\\\:b@1) >i9)隝6iiXIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.008571DDDE EHaHaZIm}bImjIirIizIm[j:Imľ9IiIiq@i@u@m@G G G !IG BG G G G <G FVF% ęZA1 MM >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2581125xx,"p^A%B-$!IMb@Mb@Mb@ )Iyl~jt rh ;A)I@iQ@HH85  7=YQ >٣! %G!% %>)]5D59-o?a5D5Y- i-ϝB==m=<=q=@-nD-;-;-5D5A EAME}DNOT Ignoring new targets: 11.40 m.hyhyhyhyhggbgjgBejeJe:e@r\=z\=\llg@\zi@) = ?i#9)6iiIICu9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510833DD) D) D) E)  E) VF ҆ZA M5 >P~x,| ^A) @>&?y>Jd?9>4Y>h <>>H #?1r=$??!?ֶ<? v\?\n?>&?ɨ>χ; >"CRBR%!IV8>iV=HZHZB5ff; fe=YfsQ f>h٣h jGhj: n>p]vD59ro?azD5Yr irʝBxzq~@rnDr];rش;rUD5! %A)UDNOT Ignoring new targets: 11.40 m.hQhQhQhQhQgYgYbgYjgaeajeaJea:ee, @r\z\\\o@4)  ?i9)隭 7iiIIC9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763446:JIBJM9JJIRJMN ZJMD)D1D1E5v0 E9VF憽ZAM> BDAT read: Rx Time:19:51:51.6300  TRx dataTimestamp_ set to:1736538712.290535 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0202788x,^AHH@AZI{bIjI2rIzId:IIc3IBR?yB8?9B 7YBO<>BH ϊ?t@'?)??g.ަ? b? m?BR?ɨBj; B CB!IMb@Mb@Mb@ )Iy ףp= Mb~jtQ@ļ )I@i@@HH<5A :=YIغQ >٣ GG; >]D59o?aD5Y iB=m; q@nD:=:+D5  A =DNOT Ignoring new targets: 11.40 m.h9h9h9h9h9gAgAbgAjgAeIjeIJeI:eMI @GGG!IG{BGGGGy<G Fr\=z\=\g@\)@% 7)! %?i%9))-D7)i)iEIIC=B=Cm9D?DDE0 E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267411VF) ZA9 Me >\cx,/^AN?yN6ϧ?9N.>YN;>NH l? z`#?@?F?S֧?@U?@m?N?ɨNׇ; NCZBZ !IHbHbC5jMi j]=YnQ n>p٣p rGpr; v>t]zD59v'o?azD5Yv ivB|~q~@vnDv;v;vhD5 9A mDAT read: Range 10 to 50 : 8.6 m (Round-trip 11.5 ms) speed 0.0 m/s m,DAT read: user:1295> uBDAT read: Tx time:19:51:52.7144 u$Ping request sent.u) q>i9)A7ii{IIC59D9zD9D?DDEo0 EEhAEhA JDAT read: TxSync time:19:51:52.7136 :J BoHBJ k9JJ RJ O ZJ VF  ZA! M= >x,MK^A2L΋?y2 ?92xCY27<>2HN?}`???ml?3^?`l?2L΋?ɨ2; 0>BB IIL)LHVHVL5nv r<=YvK,Q z>|٣| ~G b;  >]%D59o?a-D5Y iB15~q5@nD`F;L;?D5A EAADNOT Ignoring new targets: 11.40 m.hhhhhggbg)jg)e9jeaJei:eu` ?ՑՑr\z\\\>@xC)  >i9)b7iiuIIZIYbI]jI]1rIYzIYI]y9I]3IYG G G !IG lBG G G G ɰ<G  FC= 9D D D E `0 E VFwZAM%>lOx,>k^A6?y68F?96uGY60D>6H&2?`vo?P?i?\/-?`\X?``?6?ɨ6:; 6"C>ڂB> IUMb@Mb@Mb@QQ Q)QIQyUv/QV-Ux齹UuU Q)QIU@iU@QUQ@HeHe95}Ƽ }=Y}Q }>٣ G'd; >]D59o?aD5Ya iB7>m;ⰿq@nD::D5 ADNOT Ignoring new targets: 11.40 m.hhhhhggbgjgŁBejeJe:e@]?r\7>z\7>\h@\!ל@%uG) = ?i9)隭 7iin%pIIDDDE05 EVF 1|ZAM >:J BJ -9JJ RJ P ZJ f\lM`D{-hP@5*! L1x,^A2D?y2?92zMY2A>2H ,? c~?@{?rv?JQ? ?c?2D?ɨ2d; 2!CRЂBV I AeSkA }AHiHi)ySkAB#C G=YjQ >٣ G; >] D59o?a%D5Y iB!%q%@nD;ם;ZD51 ='A9-DNOT Ignoring new targets: 11.40 m.h)h1h1h1h1g1g1bg9jg9e9je9JeA:eE"M?r\z\\\U@zM) =?i9)隝 7iim jIIDx>D>D!D!D!E-5 E)EM=EM>ZIzbI}jIrIzI`:IS9IIVF qZA M >GA GA GE !IGE RBGA GA GA GE <GE Fh[x,۞^A6 ?y6M?96NY6P?>6H`G.?~vf?`&?म?E ? Ѿ?Bg?6 ?ɨ61; 6C>ςB> IB=iB>%Mb@Mb@Mb@!! !)!I!y%nQ٣Q UGQUㆻ >]D59o?aD5YH iB6#>m;ݰq@nD{::ٸD5 *A-DNOT Ignoring new targets: 11.40 m.h)h1h1h1h1gAgAbgAjgEBeIjeIJeI:eMD?r\m6#>z\m6#>\mLg@\m؜@N) ?i9)隍 7iiRpIIDIDIDIEM_0 EIVFmZAM>x,^A6?y6&/?96NY6K>>6H`X٣X ZG\^U ^>`]fD59b|o?afD5Yb ibBhjqj@bnDbG:b2:bD5l nbAlDNOT Ignoring new targets: 11.40 m.hhhhhggbg!jg!e!je!Je):e-@r\Az\A\A\EӜ@]N)Y ].?i]&9)ae7aiaiiim sIiIiD?DDE E:J]c OBJ]9JJYRJ]Q ZJ]J}fAI}gAVFUoZAM>ox,Җ^A?y?9D@MY=>HW? s|@?`?+?2H?v?j?騍?ɨ; !CĂB IMb@Mb@Mb@ )IyMbX9Ŀ{Gz!ף̼ ;A)Ii@Q@HHaO5Յ +=YY9Q >٣ GVf >] D59o?a D5Y i~B %7>m;_q@nD;n;z\%7>\g@\@D@M) = ?iH9)隭97iiKyIIBBCBDG>GGs!IGCBGGGG<G FH HHH"H*H>m4D?DDE EEgAEMl>Ma=VF% !rZA) MM >x,Gq^A6 ?y6?96pPMY6<>6H@^?{??`q? 5M?q?`j?6 ?ɨ6; 4BȂBB IID)DDFAHJHJ@T5V< Vx=YZDQ Z?\٣` bG`b b?d]jD59fo?ajD5YfV ifvBlnlqn@fnDf;f ;f!D5p rbAtDNOT Ignoring new targets: 11.40 m.hhhhhggbg!jg!e!je!Je!:e-Ç@r\z\\\@pPM) = ?ir9)E7ii   NzI I BDAT read: Rx Time:19:51:55.1300 TRx dataTimestamp_ set to:1736538715.815219DDDE0 EZI{bIjIrIzId:I9III";qI$;iI' ;uI( ;mVF-|ZA9MU>x,N^A:JBJ9JJRJR ZJB J ? J?>?y>"?9>kLY><>>H`r?y ?`F???@5`? j?[k?>?ɨ>; > CJBJ IHRHRGL5Z1 ZJ=YZ9Q ^>\٣\ bG`bM b>d]jD59fo?ajD5Yf% ifmBhnqn@fnDf";f";fD5p vAtDNOT Ignoring new targets: 11.40 m.hhhhhggbg!jg!e!je!Je!:e-` @r\Qz\Q\Q\Uw@ukL)y }?i}'9)y隅a7ii~II9D!D)D)E-0 E)DAT read: Range 10 to 50 : 8.6 m (Round-trip 11.5 ms) speed 0.0 m/s  ,DAT read: user:1296> BDAT read: Tx time:19:51:56.2144 %$Ping request sent.-G G G f!IG 9BG G G G <G Fǥx, $ ^AB0i?yB?9B>LYBR<>BH~?ax??(X?>K?`?k?B0i?ɨB:; @JłBJ IUMb@Mb@Mb@QQ Q)QIQyUK7A`ſ ףp= /$U+UQU UA)Ur@IU@iU@QU@HiHi}< }>=YWQ >٣ G >]D59$o?aD5Y2 icBrC>m;ȭq@nD::jD5 A addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 3.530853 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe :e ?JDAT read: TxSync time:19:51:56.2136 r\=rC>z\=rC>\=ph@\=@M>L)I M\?iU^9)7iiIIDIzDID?DDE]3 EE=E=VF 1|ZA M1 ZI zbI jI 0rI zI `:I I ـ3I I o;I p;I I ͥx,]9^ANĄ?yNH§?9N˧PYN<<>NH cq? z?? 8?'l@?]?k?NĄ?ɨN; LVBV IZ=iZ=)^= ^=HbHbm?5j. jV=YjQ n>p٣p rGtv; v>x]~D59zio?a~D5Yz izZBq@znDz ;z ;zD5  A =DNOT Ignoring new targets: 11.40 m.h9h9h9h9h9gAgAbgAjgAeIjeIJeI:eM`?r\qz\q\q\u@˧P)  ?iU9)隍7iiM}IID=?D9D9EEq3 EA:JcMBJ9JJRJS ZJVF]WtZAiM}>ԥx,YS^Ans?yn?9n#STYn W5>nH u`?Յ??'?@8-Y?ׄ? u?ns?ɨnZ; nCMǂBM IHH:5.< <=YLQ >٣ G%O; ->A]eD59Eo?amD5YE( iEOBiu^HC=Hq@EnDE˛ڥx,m^AbՋ?yb*?9brXYb!L8>bHI?A@v?h? ?  ??mp?bՋ?ɨb; b!Cz͂Bz IMb@Mb@Mb@ )Iy/$ſ/$y&1,`e A)\@Ii@@HH\05< H=Ys"Q >٣ G%h; >]D59o?aD5Y  iHB@>m;q@nD::D5 BAEEDNOT Ignoring new targets: 11.40 m.hIhIhIhIhIgQgQbgYjg]BeYjeYJeY:ee?r\}@>z\}@>\}Bf@\}i@rX) ?i/9)隝j7ii:-uIIII3IA.IIIZI}bIjI1rIzI[j:I"9I3II;I;I;I;CM9D]R>D]>DDDE-5 EEhAEiA:J BJ 9JJ RJ T ZJ +-+'%"!6iVF ZA! ME >Lx,^AJe?yJ翧?9JbZTYJ:>JHWr?}G??@ ٣  G.̻ >]%D59Eo?a%D5Y  i@B)-밿q-@nD:D51 ='A9eDNOT Ignoring new targets: 11.40 m.hahihihihigigibgqjgqeqjeqJey:e}?r\z\\\ ՜@bZT) a ?i 9)!7iiƕIIC DDDE_0 EHHBAVF yZA M5 >G G G m!IG >BG G G G s<G Fdx,r3^A6!7?y6t?96_OY6f;>6H?`v?"?>?@d'?@C?@l?6!7?ɨ6}; 4B݂BB IUMb@Mb@Mb@QQ Q)QIQyU/$ÿV-~jtxUUhUĻ U;A)Ur@IQiQQQHmHmE5}z= E=Y?;Q >٣ GP >]D597o?aD5Y  i:B,>m;Eq@nD:PD5 ADNOT Ignoring new targets: 11.40 m.hhhhhggbgjg΁BejeJe:e@X@r\%,>z\%,>\%Xd@\%@=_O)9 =?i=9)9E#7AiAiAIM}IIIICDaDaDaEa EaVFm wZA M >ZI- |bI- jI- 0rI) zI- ;g:I- 9I- ـ3I) I- Պ;I- ׊;I- 2;I- 3;x,^AF?yF}.?9FLYFD;>FHݸ?q??@?X㕩?L?l?F?ɨF; DNقBN IHVHVF5^{ ^X=Yb:Q b>`٣` fGdf f>h]nD59jo?anD5Yjn  ij5Bprqr@jnDjG ;j ;jD5x zA|%DNOT Ignoring new targets: 11.40 m.h!h!h!h!h)g)g)bg)jg)e1je1Je1:e5@0`@r\Qz\Q\Q\Uw@mL)i m?im9)qu%7qiqi99=8I9IACM=BM8>I=)XC ~GkA ))UryUkAULB?AC%9D):J̨MBJ89JJRJU ZJ,340'" {j`VOLID>2)&%#!     D?DDE EE=E= A BDAT read: Rx Time:19:51:58.6299  TRx dataTimestamp_ set to:1736538719.343751VF b:ZAI M >x,5ؗ^ASNJ?y?9xH`? nd?>??iTd?^W?cl?騵SNJ?ɨ{g; CB I{>i<)= R=Mb@Mb@Mb@ )Iy rhX9v~jthC }D QA)@I@i@@GGGy!IGHBGGGG<G FH5H5-I5 = =Y!>:Q >٣ Gq! >]D59 o?aD5Yk i0B>m;Jq@nD:*: D5 ADNOT Ignoring new targets: 11.40 m.hhhhhggbgjgBejeJe:eW @r\>z\>\od@\*@5x<x,^ADAT read: Range 10 to 50 : 8.5 m (Round-trip 11.4 ms) speed 0.0 m/s ,DAT read: user:1297> BDAT read: Tx time:19:51:59.7144 $Ping request sent. +<)SF>I+HIY <>H?ic? U?N ?V l3?X? }l?z?ɨ܇;  CB!IHHF5< 2=YmX:Q >٣ G >]D59o?aD5Y7 i+Bq@nD::2D5I M[AUEZjW:)mm?bj* h ii*^AjAjA2jWb@p`UMӛK@Ah?zpjOA908Q?I:?"jl@*j+Hp 1(K F)?pGDL-5ou8ٿΝ['?iTjiyhm?iGh  jBzj m?jN6 jBjjArjLS@ addTargetRange:: Added new target pos. range: 8.500000 m, deltaT: 3.525012 s, deltaX: -0.100000 m, approachRate: -0.028369 m/s, rangeRepo size: 4 - Added new target pos. range: 8.500000 m, bearing: 203.194174 deg, lat: 36.903923 deg, lon: -122.118997 deg, deltaT: 58.718422 s, deltaX: -2.900000 m, approachRate: -0.049388 m/s, posRepo size: 4 -BNOT Ignoring new targets: 8.50 m.h)h)h)h1h1g1g1bgYjgYeYjeYJee!@:ee;?r\z\\\Ʃ@>I) f?i9)*7iiTII =<%JDAT read: TxSync time:19:51:59.7136 D?DDE E:J NBJ k9JJ RJ V ZJ  KvoXIVF jZAi M >!<x,+^Arv?yrݦ?9rMYr!:>rH`?m`?q? 8 ?Ru?_3?`m?rv?ɨr ; r!CB!IHHy/5T^= 54=YE Q M>q٣q }Gy}!; }>ZIbIjI1rIzII9I3Iq@i@u@m@]D59o?aD5Y i&Bmq@nD.;i;Y x,8i+^A6Ί?y6H ?96SOY6Z8>6H`7?t`Kg?@V??\P??q?6Ί?ɨ6O; 6CBBB!IDFA%Mb@Mb@Mb@!! !)!I!y%"~j)\(Mb`%S㽹%Ga% %;A)%@I%@i!!!H{H'5A y=YhQ  ?٣ GH; ?]D59jo?aD5Y i#B=m;q@nDo7;06;D5 ABNOT Ignoring new targets: 8.50 m.hh!h!h!h!g!g!bg)jg-Be)je)Je1:e5?r\]=z\]=\]f@\]$Ϝ@mSO)q u?iu9)qul.7qiyiyy6IID ?D D E 5 E VF-ZA9M]>h@x,?E^A}(?y}xf?9}PY}9>}H`? %x,???c?i?`'o?}(?ɨ}LJ; }CލBޕ!IH|Hb(5 ?L=  E=YOQ >٣ %G!-; ->1]ED595;o?aED5Y5O i5BIMqM@5nD5*$;5s:;5D5Y eAaBNOT Ignoring new targets: 8.50 m.hhhhhggbgjgejeJe:e;?r\z\\\@P) M?i9)07)i)i115I1I9:Jl,MBJ89JJRJW ZJ@==Bpq\G<8=E<6420/0.-,,,)**'%$##$# DDDEp4 EVFL쇽ZAM= >ZI }bI jI rI zI [j:I 9I I G G G !IG gBG G G G ݰ<G FKkx,6_^A2Uފ?y2?92}qLY2:>2H?"r??`? G@x? '?yn?2Uފ?ɨ2?!; 2 C<>!IUMb@Mb@Mb@QQ Q)QIQyUI +Mb`U̽U94Q UhA)QIQiU@QU@HmHm85 S=Y /;Q >٣ G >]D59o?aD5Ye iB=m;׶q@nDM:I:D5 ABNOT Ignoring new targets: 8.50 m.hhhhhggbgjg BejeJe:eC?r\=z\=\#c@\Y@}qL) >i9)隽t27iiIIBBCBDUi>DU!>>w?D?DDE^0 EE=E=VF  ZA M1 7x,x^A6?y6?96)IY6c;>6H?@n?`?`'?:5?C?qm?6?ɨ6 ; 4RBR$!IV8>iV>)Vp= Vp=HZHZp;5b< fW=Yf:Q f>d٣h jGhjSa j>9]ED59=;o?aED5Y= i=BAMqM@=nD=:=:=bD5Q UAQBNOT Ignoring new targets: 8.50 m.hhhhhggbgjgejeJe:e`F@r\z\\\hN@)I) q>i9)U47iiyՉIIDDDE`0 EVFZAM >:J] gNBJ] 9JJY RJ] X ZJ]    Jm ? Jm ?|$x,$Ӓ^A2x?y2?92GY2n;>2HZ?j@7? Y?#?@0`?;E? m?2x?ɨ2; 2"C:B:&!IHFHFgG5J; NM=YN :Q N>P٣P RGPV^ V>X]ZD59Zo?a^D5YZ iZB`bBqb@ZnDZ_N;Z[O;ZD5p rAp-BNOT Ignoring new targets: 8.50 m.h1h1h1h1h1g1g1bgjgejeJe:e @r\z\\\L?@MG)I M>iM_9)IMO67QiQiIIZI|bIjIrIzI;g:Iľ9IIDDDE EGGG!IGqBGGGG<G FVFVZAM >*x,^A>j?y>?9>GY>;>>H"?h@?|?@3*?2?S? l?>j?ɨ>6; >!C=B= !ImMb@Mb@Mb@ii i)iIiym#~jMbMb`m㥽m@i m;A)m\@Iiiiim@HHm?5 +=Y9Q >٣ G;j  >]E59o?aE5Y iB%տ=m% <%!q%@nD,;;E5Q UAYBNOT Ignoring new targets: 8.50 m.hhhhhgIgIbgQjgUBeQjeQJeQ:e]%@r\տ=z\տ=\ j@\Ǟ@G) ?i9)隽87iiaWIIDMBDAT read: Rx Time:19:52:02.1299 MTRx dataTimestamp_ set to:1736538722.871242D?DDE EEgAEhAVF 0ZA M >|1x,Ƙ^A2LL?y2ω?92%iFY2$;>2H?f ??@8?0ʨ?@R?m?2LL?ɨ2; 2"CRBR!IIT)TXXH^H^jC5f fs=Yfi:Q f?h٣h jGhUv) U>a]mE59eQo?amE5Ye ieBqu?q}@enDej;el;eE5 ABNOT Ignoring new targets: 8.50 m.h hhhhg!g)bg9jg9eAjeQJeY:e] @r\z\\\ @%iF) .?i9):7iiAAMIIII:JELBJE9JJARJEY ZJE>nwG! dywxxJUgAIQD?DDE0 EDAT read: 19:52:02.1299 LVL= 13376, 13009, 14386, 20627, AGC= 36, IDX= 448, 0.25,-2.830,-2.891, 1.246, 2.770, PHS= 0.771, 0.669,-1.527, RAW= 32.2, 0.8, CAL= 31.4, -0.3, ROT= 118.6, 0.3 Ygot valid direction response: 19:52:02.1299 LVL= 13376, 13009, 14386, 20627, AGC= 36, IDX= 448, 0.25,-2.830,-2.891, 1.246, 2.770, PHS= 0.771, 0.669,-1.527, RAW= 32.2, 0.8, CAL= 31.4, -0.3, ROT= 118.6, 0.3 PDAT read: Bearing 118.6, 0.3 (Local) ~Local bearing/azimuth received: Bearing 118.6, 0.3 (Local)  DAT read: Range 10 to 50 : 8.4 m (Round-trip 11.3 ms) speed 0.0 m/s  ,DAT read: user:1298>  BDAT read: Tx time:19:52:03.2145  $Ping request sent. G >G G !IG vBG G G G `<G F7x,l^Aفف ځ)ځIځiځځځ ہۅJF?;W-ye?Iہiہہہہ ܁E S?yE?9E{FYE<>EHD?@f??`A5?3̨?Z?l?E S?ɨEۇ; E CB"!I]Mb@Mb@Mb@YY Y)YIYy]ʡE ףp= Mbp]]Q8] ]A)]@I]@i]@Y]3@HHC5n< $=YQ >٣ G9 >]E593o?a E5Y i B ն=m < <q @nDd;;CE5 AZjmWm?bjDO iiؘ^AjfAjA2jȔX@pMuu~@}hN҄zp%Ǣ޿dV?sNru"j;z@*j;p>* B&|5 Ҹ?pPwοy?ijTisSm?iRP  j8Bzjjj8BjjArj5P@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 3.528708 s, deltaX: -0.100000 m, approachRate: -0.028339 m/s, rangeRepo size: 4  Added new target pos. range: 8.400000 m, bearing: 193.893551 deg, lat: 36.903923 deg, lon: -122.118997 deg, deltaT: 3.528708 s, deltaX: -0.100000 m, approachRate: -0.028339 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.40 m.hhhhhg g bg jg BejeJe @:e ?r\ն=z\ն=\ j@\@{F) g>i9)<7iirYIIC= 9DM gAzDI D D D E _0 E E E =VF^ZA M=?ɗ@x,|^A6?y6?96I5LY6d)>6H^?`?@?5?1L@?` ?"?6?ɨ6ʇ; 4>BB!IHJHJ75R& R==YR{UQ R>T٣T VGTVd; Z>\]bE59^o?abE5Y^ i^ B`bȨqb@^nD^%:^:^ E5h jAhBNOT Ignoring new targets: 8.40 m.h h h h h g g bgjgejeJe:ee?r\9z\9\9\=ݞ@MI5L)I Mg>iU,9)QUc>7QiQiYY]IYIa c~G )"ynBD?DDE.1 EEEEEZAQMu>:J$NBJu9JJRJZ ZJ|@<<:3.-,(&#!  ##&$$%''+)" Fx,\^AGm>GiGm!IGmqBGiGiGiGm<Gm FMw?yMt?9MSyLYMw,>MH0? |@ ??6?`򇷿r?@wr?Ձ?Mw?ɨM; M!C޽B޽!IC=il>)= = Mb@Mb@Mb@   ) I y 333333kt{Gzt   0 ף A) I i ;@  @HH/5-_ -'=Y5h Q 5>1٣9 =G9=F =>A]UE59Eo?aUE5YE iEB]Y=m]<]%q]@EnDE\(;E&;EFE5i mAiBNOT Ignoring new targets: 8.40 m.hhhhhggbgjg]BeqjeyJey:e}n?r\Y=z\Y=\ aj@\u@SyL) H>i9)隵f@7iiIIDDDE0 EZAMn>Lx,9*6^A6(?y6?96wGPY6/>6H?`}zg?;??M䷿?`?&}?6(?ɨ6\n; 4>B>!IHFHFgG5R; R=YV>Q V ?X٣X ZGX^X; ^ ? ]E59 go?aE5Y c i Bq@ nD U; ; )E5! %A)eBNOT Ignoring new targets: 8.40 m.hahahahihigigibgijgqeqjeqJeq:e}M?r\z\\\S@wGP) |>i9)隵A7ii IIDp>D>Dm?DiDqEu_0 EqZIzbIjIrIzI`:I9IIIo;qIq;iIg;uIh;mZAM=&Sx,uP^A6?y6?96"MY63>6H`? w@?*? ?@?K?Tx?6?ɨ6ύ; 6 CRBR!IHXHXbk bH=Yb3:Q b>d٣d fGdj޹ j>h]rE59jo?arE5YjA ijBpr qr@jnDj;j;jE5x zUAxBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e@ ?r\)z\)\)\-ꌞ@E"M)I M{>iMg9)IMC7IiIiQQ]IYIY:J=MBJ9JJRJ[ ZJD D D E  E ZAM= >G}>GyG}!IG}lBGyGyGyG}<G} FH) H)H)H)"H)*H-Ǯ$4Yx,i^A6Ś?y6Hئ?96!HY6<-7>6H?qU?`??O?@m?@s?6Ś?ɨ6; 6!C^B^!II`)`dfAUMb@Mb@Mb@QQ Q)QIQyU㥛 S㥫{GztUU/]Q UQA)U@IQiU@QU3@HmHmJ5}n ?=Y;Q >٣ G >]E597p?aE5Y2  iB>=m<q@nD::_E5 nABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBejeqJey:e}@r\>=z\>=\q@\I@!H) g>iu9)E7ii%⊽IIBBC B DDDE EVF ZA M5 >ZI |bI ~jI rI zI ;g:I f9I I I ֊;I ׊;I :I :`x,ϻ^A6?y6zڦ?961HY69>6H? nZ??? `? ?`?p?6?ɨ6; 6 C>B> IHJHJB5Rg* RZ=YR:Q R>T٣T VGTV ;9 Z>X]~E59Z5p?aE5YZ! iZBq@ZnDZ&i9)FG7ii9IID)BDAT read: Rx Time:19:52:05.6299 TRx dataTimestamp_ set to:1736538726.152241D?DDE EVF tZAM=>:J KBJ u9JJ RJ \ ZJ gx,䣝^AGGG!IGbBGGGGx<G F?y0æ?9*VFY;>H@?7k?b??`JȨ?;?0n?騝?ɨ8; "C޵߂B޵ IeMb@Mb@Mb@aa a)aIaye㥛 X9v~jthae}eD ehA)aIe@ie$@ae@HuHuG5> -=Yl:Q >٣ GNź >!]-E59%p?a5E5Y%" i%B5>=m5 <50q5@%nD%:% :%!E59 EAABNOT Ignoring new targets: 8.40 m.hhhhhggbgjg Be je Je :e  @r\M>=z\M>=\Mv@\M@}*VF) H>i9)隅8mx,u^A6;V?y6?96DY6^;>6H@?lg@?^? 5?? K? m?6;V?ɨ6; 6!CRׂBV Ib>ib;)d fp=HfHf6=5nB rm=YrJ:Q r?t٣t vGtv؉ z?x]E59zp?aE5Yz" izBcq@znDzK:z:z$E5 AmDAT read: 19:52:05.6299 LVL= 13424, 12577, 14242, 18387, AGC= 38, IDX= 448,-0.28, 2.471, 2.271, 0.225, 1.744, PHS= 0.815, 0.574,-1.521, RAW= 35.4, 1.2, CAL= 34.5, 0.3, ROT= 115.5, -0.3 }Ygot valid direction response: 19:52:05.6299 LVL= 13424, 12577, 14242, 18387, AGC= 38, IDX= 448,-0.28, 2.471, 2.271, 0.225, 1.744, PHS= 0.815, 0.574,-1.521, RAW= 35.4, 1.2, CAL= 34.5, 0.3, ROT= 115.5, -0.3 PDAT read: Bearing 115.5, -0.3 (Local) ~Local bearing/azimuth received: Bearing 115.5, -0.3 (Local) DAT read: Range 10 to 50 : 8.4 m (Round-trip 11.3 ms) speed 0.0 m/s ,DAT read: user:1299> BDAT read: Tx time:19:52:06.7145 $Ping request sent.i=#9)AEJ7IiYZIu~bIujIu0rIqzIu{m:Iu9Iuـ3IqIu<;Iu=;Iug;Iuh;iIID)D)D1E50 E1VF 0ZA M- >ttx,Jљ^A2Z?y2Q?92vFY27<>2H?`2g@,??`1?`+6?T٣X ZGXZ9 Z>\]bE59^3p?abE5Y^# i^Bdf^qf@^nD^:^2:^@(E5h jAhZjmLOgZm?bjm4L iiim%^Ajiji2jmw6U@pmӊ:* S@}hN҄?zpm'Neۿm[L?sNru?"jm@*jm󧒫pm`P JEkX?pm0pf￴aǿo~;?imȿjmimUm?imvM  jmVBzjmsSm?jmvM jijjmjArjmK*U@ addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 3.531451 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 8.400000 m, bearing: 190.877984 deg, lat: 36.903931 deg, lon: -122.119007 deg, deltaT: 3.531451 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.40 m.hhhhhggbgjgeje Je :e O?r\z\\\#x@%vF)! %>i%\9)!-L7)i)i썽IIDhAzD:JyJBJ9JJRJ] ZJD?DDE42 EH}R=H}p=G%>G!G%!IG%RBG!G!G!G%<G% FVF rZA M >hIzx,N%^A:\Ê?y:?9:}LY:\:>:H? ~p??`?cW@S?'?jn?:\Ê?ɨ:B; :CFʂBF IMb@Mb@Mb@ )IyˡEV-{Gzt什hף )@Ii@H-H-B5=[ EA=YE߀Q E>I٣I MGIM; U>Y]eE59]p?aeE5Y]$ i]Bm`=mm;m㐿qm@]oD]8:]:]+E5q uUAyBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBejeJe:e Z?r\`=z\`=\v@\פ@}L) H>i'9)AN7iiOꇽIIDDDE5 EE=E=VF^ZAM>ZI }bI jI 1rI zI [j:I "9I 3I I ;I ;I ;I ;@1x,P^A6 ؊?y6?96PY6":>6H ?q???@$?@U6?Um?6 ؊?ɨ6; 6C>ɂB> IHFHF05N榻 RU=YR'Q R>T٣T VGTV: Z> ]E59 Qp?aE5Y % i Bːq@ oD ; D; e/E5! %]A)]BNOT Ignoring new targets: 8.40 m.hYhYhYhYhagagabgajgaeijeiJei:em}?r\z\\\ܤ@P) H>i9)隥P7ii|IID1D1D1E5]0 E1VFUVZAaM}{>a a :J= BJ= 9JJ9 RJ= ^ ZJ= I_x,^AHH@AGpGpGry!IGrHBGpGpGpGr<Gr FE?yE2ئ?9EߪMYEC;>EH@e?`l`?? [?:?@V?4l?E?ɨE[Ո; E"CeBe I5Mb@Mb@Mb@11 1)1I1y5Zd;O㥛 ~jtx5j55Ļ 5A)1I5@i115(@HMHM0E5]*B ]%=Y]:Q e>a٣a eGim x m>q]}E59u p?a}E5Yu0' iuݜB}=m};}q@uoDu:u#;u3E5 ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBejeJe:e7?r\=z\=\ss@\.c@-ߪM)1 5 >i509)9Q7iiDDDDE_0 EVF 憽ZA M >̅x,Է8^A~B IH H H5%P -w=Y-Q -?1٣1 5G15 =?A]EE59EY p?aME5YE( iEٜBIIqM@E oDE,:E{:E6E5Q ]AY BNOT Ignoring new targets: 8.40 m.h h h h h g gbg9jg9e9jeAJeA:eE um@r\z\\\)  >iO9)tS7iiݱIIIYI] 3I]L.IYIYIYZIbIjI2rIzII9Ic3IIII ;I ;DDDE EVFZAMA>IF=) M-GelA uA)_ylAHA]mx,R^A:Jf?y:ͣ?9:~JY:H<>:H?`h`a??`(?piT?_?` l?:Jf?ɨ:Y; : CFBF IHNHNdK5V VS=YZ:Q Z>X٣X ZGX^ ^>`]fE59b p?afE5Yb4) ibԜBdj떿qj@b oDb:b:b9E5l r+Ap BNOT Ignoring new targets: 8.40 m.h h hhhggbgjgejeJe!:e% \@r\9z\9\9\=U@U~J)Q U>>iUX9)QUT7YiYiaae)ÍIiIDM?DQDQEU0 EQE]E]E]E]:J%BoHBJ%89JJ!RJ%_ ZJ% G>GG`!IG4BGGGG<G FZAiM> BDAT read: Rx Time:19:52:09.1301  TRx dataTimestamp_ set to:1736538729.679155x,ll^A2`:?y2w?92IY2߉<>2H@?d`[??`z>?rja ?g?`k?2`:?ɨ2; 2!CNBR IMb@Mb@Mb@ )Iy1ZdMbX9Mb"۽ʡ QA)@I@i@HHjC5ü 8=Y)k:Q >٣ G]E59xp?aE5Y* iΜBq>m;q@oDX ;:=E5  VA EBNOT Ignoring new targets: 8.40 m.hAhAhAhAhIgIgIbgIjgM΁BejeJe:e@r\5q>z\5q>\5q@\5 @MI)i m)>imk9)quV7qiqiyy}UIyIDD!D!D!E! E)ZAQMm5>px,AH^A6?y6!Z?96dIY6N<>6H`S?`Bc ?#?L?@ p?``?,l?6?ɨ6; 6"CRBR IHfHfJ5 %  X=Y7Q >٣ G5 >]E59p?aE5Y+ iɜBܛq@oD; ;>AE5 AuBNOT Ignoring new targets: 8.40 m.hqhyhyhyhygygybgjgejeJe:e1 @DAT read: Range 10 to 50 : 8.6 m (Round-trip 11.5 ms) speed 0.0 m/s ,DAT read: user:1300> -X#Rx 6: Read range message, but no direction.ؑؕ A9ؑr\Az\A\A\E@}dI)y }>i}J9)y}vX7yiiNIIDADADAEEZ1 EAZAYMu6>U BDAT read: Tx time:19:52:10.2145 U $Ping request sent.U ٣ G >]E59Rp?a E5Y- iB O>m ; Uq @oDg;;lEE5 AEU addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 3.276042 s, deltaX: 0.200001 m, approachRate: 0.061050 m/s, rangeRepo size: 4 mBNOT Ignoring new targets: 8.40 m.hihihqhqhqgygbgjgЁBejeJe@33!@:e H3?r\MO>z\MO>\M;j@\Ms:@y)y >i99)隅)Z7ii!II1D?DDE0 EZAM>Wԭx,C^AJ?yJP?9JxMYJB>JH#?j[ I? ?E?``N? Q? 3c?J?ɨJe; JCVBV IH^H^;5f f=YjiQ j?h٣h jGhrJ r?p]vE59r*p?azE5Yr. irBxzuqz@roDr%:r:rHE5  bA 5BNOT Ignoring new targets: 8.40 m.h1h9h9h9h9g9gAbgAjgAeAjeIJeI:eM؀?r\iz\i\i\m2@xM) >i9)隍_[7ii揑IIDzDD5?D1D9E=_0 E9VFUjZAiM}>0ôx,Ӛ^A>5?y>Hs?9> -PY>~?>>H?\a@9?"?7?$`?@L?f?>5?ɨ>r; > CJBJ IHRHR75^ ^K=Y^ֺQ b>`٣` bG`f.; f>]%E59Sp?a%E5YU0 iB)-Dq-@oD$;5;KE59 =~AEEmBNOT Ignoring new targets: 8.40 m.hihihihqhqgqgqbgyjgyeyjeyJey:e?r\z\\\>@ -P) >i9)隽\7iiIIDaDaDaEa Ea:JKBJ9JJRJa ZJ G9G9G=.!IG= BG9G9G9G= <G= FZI]|bI]jI]1rIYzI];g:I]9I]3IYI]֊;I]׊;I] ;I] ;VFmZAM>度x,F^A2?y2D?92PY2=>2H V)?^`??O?@`??i?2?ɨ2_; 2CRBR IV=iV??)V= V=5Mb@Mb@Mb@11 1)1I1y5ףp= ÿl{Gz555# 5 A)1I5@i115p@HH35ɼ >=Y#U8Q >٣ GX >]E59Ip?aE5Y/2 iB-0>m;q@#oDs::ZOE5 ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjg Be je Je :e ?r\=-0>z\=-0>\=e@\=@UP)Y ]>i]9)Y]c^7YiYiaae%IiIiD D D E  E VF1ZAiM>Ox,B^A:?y:,ޥ?9:n7KY:<>:H Z?`Z ??`}?Bd?p?`4k?:?ɨ:; :"CFwBJy IHZHZ R5fN- fX=YjM;Q j>l٣l rGpv v>x]E59z"p?a E5Yz3 izB 贿q@z'oDzǀ;zLy;zRE5! %A!mBNOT Ignoring new targets: 8.40 m.hihihihqhqgqgybgjgejeJe:e@?r\z\\\՛@n7K) ^>i9)_7iiw#IIDDDE EEhAEhAVF ZAM>:J >BKBJ 9JJ RJ b ZJ *?Ca" v8b!i<|oe]RG9 G9 G= !IG= BG9 G9 G9 G= <G= FxǦx,'j!^AZIbIjI2rIzII9Ic3IIՊ;II;I;uhg?yu뤥?9uWGYu<>uH v?`VI???@ܗz?m?k?uhg?ɨu; uCލsBލs IeMb@Mb@Mb@aa a)aIaye-ƿDlI +e?5eOe94 ehA)e@Ie-@ieh@aaH}H})M5 %=Y:Q >٣ Gh >] E59p?a E5YG6 iB B>m;q@-oDf<f<VE5  AmBNOT Ignoring new targets: 8.40 m.hihihihihigigqbgqjguBeqjeyJey:e} 6@r\B>z\B>\`@\ j@-WG)) ->i-9)15a71i9iIQUԖIQIYD?DDE EVF @ZA) Me >!Φx,F;^A:'?y:Me?9:DY:;<>:H:?!S?@?/?@~@И?^?@l?:'?ɨ:;*; :"CRqBRq IIT)TTVAHZHZ&Q5j" j=Yj:Q n?p٣p rGtvyɻ v ?x]~E59z+p?a~E5Yz7 izB־q@z1oDz;z5;zYE5  A =BNOT Ignoring new targets: 8.40 m.h9h9h9h9h9gAgAbgIjgIeQjeQJeY:e]M@r\z\\\HZ@ D)  >i 9)  b7ii,ޝII!D?DDE?5 EVFęZAM>BDAT read: Rx Time:19:52:12.6302 TRx dataTimestamp_ set to:1736538733.207223 զx,W!U^A:?y: M?9:voCY:MX<>:H?`?Q?f???s`k?Jb?l?:?ɨ:dA; :!CFjBFh IHNHNDP5Z ZL=Y^{b:Q ^>`٣` bG`b f>d]jE59fp?ajE5Yf9 ifBln﾿qn@f6oDfM;f;f6]E5p rTAtBNOT Ignoring new targets: 8.40 m.hhhhhggbg!jg!e!je)Je):e-| @r\Iz\I\I\MS@]voC)a e>ie)9)aeQd7aiaiiimIqIqD5?D1D1E54 E9EE=EE>:JOBJ9JJRJc ZJJE@<74(&">8yIyfUI=2-% GGG!IGBGGGG<G FHEC=HE%=ZIQbIUjIU1rIQzIQIU9IU3IQIU֊;IQIU' ;IU( ;VF]ZAM> DAT read: Range 10 to 50 : 8.7 m (Round-trip 11.6 ms) speed 0.0 m/s  ,DAT read: user:1301>  BDAT read: Tx time:19:52:13.7145  $Ping request sent. JH?M ?p?`.?g+?Dh?l?J?ɨJه; JC%lB%k IMb@Mb@Mb@ )IyZd;OǿʡEI٣I UGQUG U>Y]eE59]tp?aeE5Y](< i]BmtL>mm;mqm@];oD]:]w:]1aE5q uFAy- addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 3.527893 s, deltaX: 0.099999 m, approachRate: 0.028345 m/s, rangeRepo size: 4 5BNOT Ignoring new targets: 8.40 m.h1h1h1h1h1g1g9bg9jg=Be9jeAJeE`ff!@:eE`?r\tL>z\tL>\cmb@\2"@.pA) 4>i9)隽e7iiaam8IiIiDDD!E% 5 E!JDAT read: TxSync time:19:52:13.7137 VFm 銝ZA M > G kA - Ax,/݈^A)>5y>kABBAr҈?yr}?9rG9BYrg<>rH? M?T?`?uD?Hd?l?r҈?ɨr; rCkBj I=i=)= =H%H%J55jO 5^=Y=OQ =>9٣9 =GAE E>I]UE59Mp?aUE5YM> iMBY]Ļq]@M@oDM(;M6);MjdE5i mJAqBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e ?r\z\\\@G9B) >i9)隥5g7iiIIDe?DaDaEm_0 EiVF+ZAM>G G G IG ݂BG G G G <G F:J5 HNBJ5 `9JJ1 RJ5 d ZJ5 f_])L&   Ix,D¢^AH,H,>?y>?9>eHY><>>Ht?N???@ո@- ?`p?@~k?>?ɨ>; > CEiBEg IHHdK5eJ- 8=Y[Q >٣ Ge: > ]E59 p?aE5Y s@ i B!MqM@ FoD $; ,; thE5]B eABNOT Ignoring new targets: 8.40 m.hhhhhgg bg jg e jeJe:eY?r\Qz\Q\Q\UT"@eH) 4>i9)隕h7ii+砽IIDQDQDQEU^0 EYVF= ZAI Me >ox,^A6+?y6)?96|LY6s)<>6H`j?P? ?? ?@[?l?6+?ɨ6r; 4>lB>j IMb@Mb@Mb@ )Iy^I +ǿ rhMb`X9C  A)IC@ih@ @HeHe85m`q< m\=Yuw@Q u>y٣y }Gy: >]E59Op?aE5Y;B i|BF>m;q@JoDG ;* ;kE5 sABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgÁBejeJe:e?r\ F>z\ F>\ `@\ 5$@|L)! %>i%9)!%i7!i!i)9E"$IAIAZIybI}jI}0rIyzIyI}ľ9I}ـ3Iyq@i@u@m@DDDEa0 EVFr_ZAM}>Wx,h֛^A~nB~n II)HH95-R< -O=Y-Q ->1٣1 5G15 =>A]EE59Ep?aME5YE8D iEwBIIqM@EOoDE:E%:EnE5Q U^AYBNOT Ignoring new targets: 8.40 m.hhhhhggbgjge je Je :e`N?r\1z\1\1\1I)I M>iM9)IUDk7QiQiYY]rTIYIYD?DDE0 EGGGGGGGG<GFHi HiHiHi"Hi*Hm.4:J}NBJ}k9JJyRJ}e ZJ}VF27ZA)M>x,D^A^a?y^?9^FY^?;>^Hx?F?@?>!?@iڸܨ?U?`l?^a?ɨ^0; \rvBrw IMb@Mb@Mb@ )Iy/$ſDl~jth?,OD; ~A)@I-@i~@HH~N5q= A=Yr\;Q >٣ G1$ >Q]]E59Uwp?aeE5YUNF iUsBe:>me;e׻qe@UToDU:U:UrE5i u!AqBNOT Ignoring new targets: 8.40 m.hhhhhggbgjǵBejeJe:e{@r\:>z\:>\b@\@F) >i?9)l7iiWIIDm?DiDqEu 1 EqVFZAM>ZI ~bI jI 1rI zI {m:I "9I 3I kx,' ^AF3?yFlq?9FK1DYF)<>FH< ?Bü?? 08?¸ƒ?\? l?F3?ɨFz; F!CbtBbu IHnHnR5r vY=Yv:Q v>x٣x zGx~po ~>]E59p?a E5YH ipB  q @XoD:G:uE5 .AEBNOT Ignoring new targets: 8.40 m.hAhIhIhIhQgQgQbgYjgYeYjeYJea:ee@r\z\\\W@K1D) ]>i9)隝m7ii⩽IID5?D1D1E55 E1VFZAM- >G G G IG BG G G G <G Fԓx,#^A:JB2KBJB9JJ@RJBf ZJBV?yV@L?9VMCYV+;<>VH?F@-?|?GJ?¸Xg?^?`l?V?ɨV?D; V C^B^ Ibe>ib< dfBAHrHr R5uT= B=Y@:Q >٣ G* >1]E595p?aE5Y5J i5lB+q@5]oD5<5<5yE5 AUB*** querying acoustic contact ***iQiQeBNOT Ignoring new targets: 8.40 m.hahahahahagagibgijgejeJe:eb@r\z\\\@UMC)Q U>iU9)QUno7YiYiYaeƫIaImBDAT read: Rx Time:19:52:16.1301 uTRx dataTimestamp_ set to:1736538736.739940}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.D-?D)D)E-35 E)VFA ZAa M > x,=^A2|?y2B?92DY2<>2Ht ?@?r?`?N?ָ?qY?`l?2|?ɨ2; 0JBN Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277189=Mb@Mb@Mb@99 9)9I9y=V-¿ rhMb?=h=C=< = A)=@I=C@i99=@HUHUB5e_< eK=YeMQ m>i٣i mGiu> u>y]E59}p?aE5Y}K i}jBm!>m;Tq@}aoD}o:}:},}E5 AEBNOT Ignoring new targets: 8.40 m.hAhIhIhIhIgIgIbgqjg}BeyjeyJey:e}@ @r\m!>z\m!>\e@\@D) ]>i9)p7ii髽IIZIebIejIe0rIazIe]:Ie9Ieـ3IaDDDE\0 EDAT read: Range 10 to 50 : 8.6 m (Round-trip 11.5 ms) speed 0.0 m/s ,DAT read: user:1302> BDAT read: Tx time:19:52:17.2145 $Ping request sent.ȧx,oW^A2?y2E>?92qEY2qx<>2H"?>?M?@M?@O?븿?f? Hl?2?ɨ2K; 2!CbBf IHnHnR5v$ vR=Yv:Q v>x٣| ~G|~)¹ ~>] E59Yp?a E5YBM ihBYq@eoD::E5! %A!U addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 3.533370 s, deltaX: -0.099999 m, approachRate: -0.028301 m/s, rangeRepo size: 4 ]BNOT Ignoring new targets: 8.40 m.hYhYhYhYhYgagabgajgaeijeiJem@33!@:em'?r\z\\\@qE) ]>ie9)隭q7iiIID)D1D1E5_0 E1JDAT read: TxSync time:19:52:17.2137 G)G)G- !IG-BG)G)G)G-˰<G- F:JBJu9JJRJg ZJVFun[ZAM>x,q^A6P?y6W?96JY6B<>6H@.?A E??`@?$ =?*_?&l?6P?ɨ6; 6 CBBB IID)FAEMb@Mb@Mb@AA A)AIAyES㥻 rh-Q }>٣ G: >]E59p?aE5YN ifB>m;Dq@ioD;;BE5 ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBejeJe:e?r\ >z\ >\ `m@\ ;@J) %>i%B9)!%r7!i!i))-I)I1D9zD9DDDE`0 EE=E>VFNGZAM]>ZIm }bIi jIm 1rIi zIm [j:Ii Im 3Ii "x,^i^A60u?y6?96gOY6=>6H U?F? ? 2?4o'?~?i?60u?ɨ6xކ; 4^B^ IHfHfjC5r< rT=Yrd`Q v>t٣t vGtzG; z>|]E59~p?aE5Y~O i~dB褿q@~loD~W:~):~E5 tAEBNOT Ignoring new targets: 8.40 m.hAhIhIhIhIgIgIbgQjgQeQjeQJe:e`?=>=%@r\Az\A\A\E՟@}gO) >i9)隅s7iiG! G! G% !IG% BG% =G! G! G% <G% Fp(x,C^AHAAHAA:,?y:?9:VWY:c<>:H?kL@?ྰ??Ĺ?&k?6j?:,?ɨ:; :C:JpBJr-9JJpRJrh ZJrJz? Jz#?~B~ IH H Y455o9< 5E=YEQ M>Q٣Y eGam·; u>]E59!p?aE5Y9Q ibBq@ooD;;OE5 ]AEuBNOT Ignoring new targets: 8.40 m.hyhyhyhyhygygybgjgejeJe:ehT?r\z\\\@-VW)) =>i=B9)A隅t7iiIID=?DADAEA EAVFe ZAi M >] /x,^AbBb IMb@Mb@Mb@ )Iykt㥛 {Gz? #<  A)@Ip@iVAHH:5+< C=YQ >٣ G >]E59"p?aE5YVR i`B=m;`q@roD3:{:E5 /A BNOT Ignoring new targets: 8.40 m.h h hhhggbgjgBeje!Je!:e%`-?r\E=z\E=\E8v@\Ew@Q)Q U>i]9)Y]u7YiYiaaeG\IaIiI=)D-?D)D)E->5 E)E1E5gA ~GlA A)-y-lA-AVFmԣZAyM>5x,؜^A:~x?y:?9:WY:L<>:HM?@PI? ?L ?˹5ߪ?k_?j?:~x?ɨ:t; 8DDH}H}?5: F=Yz$9Q >٣ G0 >] E59D$p?a E5YuS i_B  q @uoD:\:E5 +AMBNOT Ignoring new targets: 8.40 m.hIhIhIhIhIgIgIbgQjgQeYjeYJea:ee@=@r\z\\\cj@W) >i9)隥v7iiIIDiDiDiEm4 EiGGG(!IGBG =GGG/<G%FZIAbIEjIArIAzIAIE59IAIAIE;qUIE;iUIE;uUIE;mU:J1BJ59JJ1RJ5i ZJ5JAIEhAVFQZAM> <x,^ANr?yN?9NXYNL<>NHJ? I?j?; ?@广@?:_?`j?Nr?ɨN_; N!CvBv IuMb@Mb@Mb@qq q)qIqyux&㥛 Mb?u7qu< u7 A)u&@Iu@iuAqu3@HHB5A O=YQ >٣ Gh >]E59%p?aE5YUT i]B=m<ۂq@xoD;:E5 0ABNOT Ignoring new targets: 8.40 m.hhhhhggbg jg -BejeJe:e7@r\5=z\5=\5~@\5 Y@MX) L>i9)w7iiIIDDDE4 EVF YZA M >Cx,m ^A6d?y6?96 ZY6D<>6H?dH ,?@F?F?@#P?-^?vj?6d?ɨ6; 6C>BB IID)FADFAHJHJJH5Vt< V\=YVQ Z>X٣X ZGX^ ^>`]fE59b'p?afE5Yb*U ib[Bdf炿qj@bzoDb:b2:b4E5l n"Al BNOT Ignoring new targets: 8.40 m.h h h h hggbgjgejeJe:e@r\z\\\U@%BDAT read: Rx Time:19:52:19.6304 -TRx dataTimestamp_ set to:1736538740.268127 Z)) -fP>i5v9)1Ux7YiYiiiu5IIDiDiDiEm_0 EiVFZAM>G G G .!IG BG G G G <G FH HHH"H*H]4HQ HU BAIIIg.IIIZIe |bIe jIe 2rIa zIe ;g:Ie 9Ie c3Ia Ie ֊;Ie ׊;Ie g;Ie h;>AIx,R&^ARx?yRC?9RԶ]YRd<>RH?I/?]?^?j1c?`a?@i?Rx?ɨR!; R CvBv I:J1BJ5-9JJ1RJ5j ZJ5JE? JE!?HHK5d8 5=Y5غQ =>A٣I uGyF: >]E59)p?aE5Y;V iYB)=тq=@}oD$<"<eE5 7ABNOT Ignoring new targets: 8.40 m.hhhhhg g bg jg ejeJe:e` @r\Qz\Q\Q\Ue[@Զ]) 2K>i9)隝qy7ii"IIDAT read: Range 10 to 50 : 8.7 m (Round-trip 11.7 ms) speed 0.0 m/s ,DAT read: user:1303> BDAT read: Tx time:19:52:20.7146 $Ping request sent.cPx,fA^AJjo?yJ?9JP_YJf<>JH)?lI???L`?`a?`i?Jjo?ɨJd; HVBZ I]Mb@Mb@Mb@YY Y)YIYy])\(~jt{Gzt?]Ga]]ף; Y)]=@I]p@i]lAYYHuHu85< J=YQ >٣ G@ >]E59+p?aE5YV iWBg=m <vhq@oD;b:E5 A addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 3.526677 s, deltaX: 0.099999 m, approachRate: 0.028355 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 8.40 m.hhhhhggbgjg0BejeJe`ff!@:e`<?r\g=z\g=\ @\@P_) L>i9)8z7ii  jI I D?DDE_0 EVF#mZAM>Vx,T[^ArBr IHzHz>5l T=Y Q  > ٣  G >]%E59]-p?a%E5YW iTB))q-@oDP:~: E51 5uA1mBNOT Ignoring new targets: 8.40 m.hihihihihigigqbgqjgqeyjeyJey:e}?r\z\\\) 6>iV9)隵z7iiIIDzDD5?D1D1E50 E1E9E=hAGGGGGGGG<G FZIbIjI0rIzII9Iـ3IIՊ;II;I;:J KBJ9JJRJk ZJVFUCZAYMuz>\x,.u^A%B% IMb@Mb@Mb@ )Iyv/+Mbp?xi;  A)K@I@iAz@HH75 ==YQ >٣ G >]E59~/p?aE5YX iQB=m <iq@oD::ЧE5  A EBNOT Ignoring new targets: 8.40 m.hAhAhAhAhIgIgQbgQjgU2BeYjeYJeY:e]2?r\}=z\}=\}@\}ԫ@) #>i<9)隕{7iibIID?DDEW1 EEEEEAZAqM>cx,^A2/?y2jm?92բnY2s;>2H? X@i?9??麿Э?I?@+i?2/?ɨ2; 0>BB IHJHJ55RA Ra=YVZ(Q V>T٣T VGXZ0< Z>\]bE59^M1p?abE5Y^IY i^OBdfiU9)Q]*|7YiYiYaef=IaIaDDDE5 EZAM>G G G (!IG BG =G G G <G FZI }bI jI rI zI [j:I y9I I I ;I ;I ::I <:ix,bب^ARB?yRRH R?Tt?` ?Q? 꺿q?V?@h?RB?ɨR^4; PnsBnt IxzAH~H~aO5    D=Y[:Q >٣ Gi %>!]-E59%^3p?a-E5Y%Z i%LB15hq5@%oD%::JMBJM9JJIRJMl ZJM ^V ;%:%E5 4A-BNOT Ignoring new targets: 8.40 m.hIhQhQhYhYgagabgajgaeijeiJe:ey?r\z\\\@}5m) <>i9)|7ii!AMџIIIID?DDE 5 EZAML>px,h^A:_?y:?9:*jY:b+<>:HY?@!O`u?`?`?@׺/A?`Y?@h?:_?ɨ:7; :#CFnBFm IEMb@Mb@Mb@AA A)AIAyEi|?5MbX9MbP?EqEʡE: Ed A)Eb@IE@iAAE@H}H}F5ͼ C=Y:Q >٣ G >]E59q5p?aE5YZ iHB=m<wlq@oDY;;NE5 _ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjg1BejeJe :e @r\%=z\%=\%D@\%@*j) =i9).}7ii15ݣI1I9CE=BE=C9D D D E ?5 E ZA M >[vx,[ܝ^A6?y6Ȥ?96hY6k<>6H`?)L|?m?(? Ӻ?a?h?6?ɨ6LF; 6!CBfBBc IHJHJ{R5R@3 VZ=YV#l:Q V>X٣X ZGXb J b>d]jE59fL7p?ajE5Yf[ ifEBhjlqj@foDf/;f ;fE5p rApBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e@`@r\z\\\w@h) ,=i/9)}7iiIIC9=AGGG!IGBG =GGG<G FDDDE_0 E:JuPBJu89JJqRJum ZJuh2VFZAMm > BDAT read: Rx Time:19:52:23.1308  TRx dataTimestamp_ set to:1736538743.804003-|x,j^AVcS?yV琤?9V@gYV]<>VH@?jHx?? g?`̺@1?B`?h?VcS?ɨVE.; VCfYBfT Ij>ijp;)n= na=Mb@Mb@Mb@ )IyʡEMbX9~jthD 7 A)K@IiAz@HH5a 9=Y]:Q >٣ GXz >]E59?9p?aE5Y\ i@B=m;q@oD::nE5 A-BNOT Ignoring new targets: 8.40 m.h)h)h)h)h)g1g1bg9jg=Be9je9Je9:eE/9 @r\]=z\]=\]%|@\]@m@g)q u#>iut9)quA~7yiyiycIIC9D5?D1D1E9 E9ZI{bIjI1rIzId:I9I3Iq@i@u@m@ .~G 9 ) py hAVF5 0ZAI Mm >L냧x,"p^AB2?yBqp?9B{fYBVZ<>BH?1F+v??@B ?@̺ά?`_? i?B2?ɨB; B"CJHBN> IHVHVL5^ ^[=Y^9Q b>`٣` fGdfM. f>h]rE59j:p?avE5Yj] iji}9)y}~7DAT read: Range 10 to 50 : 9.0 m (Round-trip 12.1 ms) speed -0.1 m/s ,DAT read: user:1304> BDAT read: Tx time:19:52:24.2146 $Ping request sent.f5x,c*^A> ?y>C?9>dY>t<>>HN?@BJ}?@?6??g?h?> ?ɨ>n; > CNt٣t vGtz^W z>x] E59zCx,V~D^A4B& I  AMb@Mb@Mb@ )IyEԸ333333MbPƽZI%|bI%jI%0rI!zI%;g:I%9I%ـ3I! M A)I@iAp@HMHM:5m m5=YuQ u>y٣ G >]E59e>p?aE5Y(` i3B=m;2q@oD3{;5k;ME5 ,ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBejeJe:eB?r\=z\=\/s@\ @)! % >i%9)!%7)i)iiimګIiIqC9D! D! D! E% `0 E) VFMZAQMu>Jx,b^ABAJ?yBŇ?9B GiYB;>BH W?`I KZ?ߧ?`?@3຿$?@dF?@i?BAJ?ɨB?; B!CJ%BN IHVHV?5fz fC=GlGlGn IGnBGlGlGlGn<Gn FH HHH ="H =*H4Y~5Q ~>|٣ G; > ]E59 ?p?aE5Y ja i .B虿q@ oD /< @< E5 ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjge!je!Je!:e%?r\z\\\ŕ@ Gi) =i9)隽7iiIIC=B=:J57OBJ1JJ1RJ5o ZJ5kM6#{uqljgeb]Y\\]][\YVXe]<bY,C9u>u?D% ?D! D! E% a0 E! VFE 憧ZAQ Mm >x,^~^A) B1?yBE?9BdWbYB[<>BH`j?B@B{?`?m7?=G?[`?@i?B1?ɨB"; B#CNBNI-Mb@Mb@Mb@)) )))I)y-i|?5V-Mbp--h- -7 A)-x@I-@i))-@HEHEU5U$ U3=YUr;Q ]>Y٣Y ]GYe/ e>i]uE59m5Ap?auE5Ymb im)Bu >mu;}q}@moDm ;m ;mE5 /ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgׁBejeJe:eY?r\ >z\ >\~k@\@}dWb)y }=i}9)y}R7yiiW;IIZIbIjIrIzII9IIC9De?DaDaEe0 EiVF GçZA M >tx,6^A>?y>ڣ?9>ZY>-<>>H#Q?;{? "?o?AG!T? S[?j?>?ɨ>!͆; > CJBNIHVHVX5^ ^N=Y^_;Q b>`٣` bG`f f>h]nE59jLBp?anE5Yj\d ij$Blrqr@joDju:j:jhE5t vAtBNOT Ignoring new targets: 8.40 m.hhhh!h!g!g!bg!jg)e)je)Je1:e5 @r\Iz\I\I\M@eZ)a e$=ie&9)ae|7aiiiqquNIqIqDD D E _0 E E=E!>VF&ZAM>GaGaGe IGeBGaGaGaGe<GeF:J "TOBJ 9JJ RJ p ZJ cI4& ]Ax,g^AF;\?yF?9F6SYF <>FH`p? [5?@.?}?@R@t? Li?@j?F;\?ɨFj; FCBIMb@Mb@Mb@ )IyDlMby&1|O ` d A)I@iAAHH)M5i :=Yk~;Q >٣ Gu >]E59Cp?aE5Yf iB>m;[q@oD:A:?E5  : AUBNOT Ignoring new targets: 8.40 m.hQhQhQhYhYgYgYbgajgeفBeajeaJea:em @r\M>z\M>\Md@\M@]6S)Y eL=ie9)隅7iiQ崽IID=?D9D9E9 E9VFe ZAq M >ZI! bI% jI% 1rI! zI! I% H9I% 3I! W%x,1͞^A6G ?y6F?96LY6<>6H@?.{?ړ? ?ԫ@W?@g?uk?6G ?ɨ6d; 6$CRBRIHZHZV5b2 b^=YbƖ;Q b>d٣d fGdj j>h]rE59jCp?avE5Yjg ijBtvqv@joDj2;j.+;juE5x z| A|%BNOT Ignoring new targets: 8.40 m.h!h!h)h)h)g)g)bg1jg1e1je1Je1:eN@r\z\\\C@L) 0 =i9)71i1i99E,IAIAD?DDE EBDAT read: Rx Time:19:52:26.6311 TRx dataTimestamp_ set to:1736538747.332774VF#ZAM>Ga Ga Ge y IGe xBGe =Ga Ga Ge <Ge F^x,L^A6Ȇ?y6?96EY68<>6H`6?`)??3?zX?h?l?6Ȇ?ɨ6; 6"CVہBVIH^H^~N5f fH=Yf;Q j>h٣h jGhn n>p]vE59rDDp?avE5Yr"i irBtvqz@roDr:r:rE5| ~ A|5BNOT Ignoring new targets: 8.40 m.h1h1h1h1h1g9g9bg9jgAeAjeAJeA:eE @r\az\a\a\eњ@E) f;i9)7ii   HI IDD?DDE`0 EEhAEhA:J,pLBJ9JJRJq ZJ8LKF<83.+)$ DAT read: Range 10 to 50 : 9.3 m (Round-trip 12.4 ms) speed 0.0 m/s ,DAT read: user:1305> BDAT read: Tx time:19:52:27.7146 -$Ping request sent.-7x,G^A6r?y6?960>Y6b<>6H? #`?`1?  ?.ç?@n?l?6r?ɨ6#; 6 CVׁBVIEMb@Mb@Mb@AA A)AIAyEˡEĿDl~jtxE'EOEĻ A)E@IAiEAAAH]H]T5m= mB=Ym;Q m>q٣q uGq}# }>]E59Dp?aE5Yk iBL6>m;q@oDA::E5  A addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 3.530566 s, deltaX: 0.300000 m, approachRate: 0.084972 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBejeJe"@:eԳ?r\ L6>z\ L6>\ njb@\ Z@9=A=JDAT read: TxSync time:19:52:27.7138 0>) L=i9)隥ƀ7iix쿽IIBBCBD?DDEo0 EZIbIjI0rIzIp:Iľ9Iـ3IVF- #ZA1 MU >bƧx, ^A~ˁB~IHHJ5%v %O=Y%Q ->)٣) -G)5 5>i]uE59mZEp?a}E5Yml im Bq@moDmLZ;m[;m7E5 z ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e@g}?r\z\\\)  p:J} &6MBJ} u9JJy RJ} r ZJ}    rpU~9D ̧x,K5^AF7†?yF?9F€6YFb;>FH`ϻ?@$)`??s?@^)Φ?E?9o?F7†?ɨF; F#CfÁBjI)v= vp=Mb@Mb@Mb@ )IybX9ƿV-~jthE6hD )IiA\@ HHM5  :=Y#;Q >٣ Gޕ; >]E59Ep?aE5Yo iBBD>m; gq @oD;;E5  AeBNOT Ignoring new targets: 8.40 m.hahahihihigigibgqjguBeqjeqJeq:e}u7?r\BD>z\BD>\2Za@\5@€6) \=i9)隭7iiIIDaDaDaEe25 EiVFDZAM>I ) C u NG kA A) y kA %ALӧx,N^A6?y6Ң?967-*Y6w;>6H7? &$?[??úD?`,Q?o?6?ɨ6(; 6"CNƁBRIHZHZjC5z< z_=Yzr|٣| ~Gx > ]E59 OFp?aE5Y p i Bq@ oD  ;  ; 2E5-B - A-EUBNOT Ignoring new targets: 8.40 m.hYhYhYhYhYgYgabgajgaeajeiJei:em`q?r\z\\\")@7-*) (=i9)隥7ii IIDiDqDqEuP0 EqVF#鼽ZAM>G G G . IG ;BG =G G G <G FA E Aگ٧x,@h^A2d7?y2t?927 Y2<>2H,?W?=?eA?PH?@Z?%p?2d7?ɨ2; 2!CBBBIHJHJX5b@ bM=Yf;Q f>d٣d fGhj j>l]rE59nFp?arE5Ynr inBtvqv@noDnN:n:nE5x ~ A|BNOT Ignoring new targets: 8.40 m.hhhhhggZI}bIjIrIzI[j:I9IIIqIiIg;uIh;mbgjgejeJe:e?r\9z\9\9\=@u7 )q uk=i}E9)y}<7yiyiýIIDE?DIDIEM_0 EI:J]qNBJ]9JJYRJ]s ZJ]u\F)! VFZAM>Tx,Tr^A6ƅ?y6L?96IY6%<>6H]5??@?@}?˶&?^?p?6ƅ?ɨ6; 6"CBÁBBIJAJAMb@Mb@Mb@ )IyMbȿ㥛 Mb`?@;  A)x@I$@iAAH5H5ob5E= EC=YM>;Q M>I٣I UGQU U>Y]eE59]4Gp?amE5Y]"u i]BuN>mu;uq@]oD]<]<]YE5   A BNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBejeJe:eY@r\N>z\N>\ `@\Fʘ@]I)Y ]L=i]9)aeW7aiaiqq}EɽIyIDADADAEA EAEIEIVFm G?ZAy M >x,DP^AVSl?yVש?9Vb^ YV,v<>VH`?| O ? z?i?oKJ?\i? q?VSl?ɨV;; V C^B^IHjHja5rKԼ vP=Yv;Q v>x٣x zGxz z>] E59Gp?a E5Y5w iB  tq @oD::E5  AEBNOT Ignoring new targets: 8.40 m.hAhIhIhIhQgQgQbgYjgYeajeaJea:ee,4@r\z\\\ֲ@b^ ) 0#=iu9)隕k7iiFͽIIGGG IG'BG =GGGȰ<G FHI HIHIHM ="HI*HMEt4C|9HHAAZIbIjIrIzII9IIIII2;I3;DqDqDqEu^0 Eq:J {5MBJ 9JJ RJ t ZJ Pw$vQ3CC yfUD7-$ VF YĽ BDAT read: Rx Time:19:52:30.1312  TRx dataTimestamp_ set to:1736538750.865169ZAY M >x,`^A>?y>C;?9>Y>l<>>H?3 ? r??̵ݟ? h?q?>?ɨ>0; >!CJāBJImMb@Mb@Mb@ii i)iIiymClǿʡEMb?md;mm< mzA)m@IiiiimzAH}H}Qc5< ,=Y;Q >٣ Gu >]E59MHp?aE5Yy iBxK>m;q@oD :(:E5  ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBe jeJe:e @r\MxK>z\MxK>\M>b@\M3@])Y ]x,Eӟ^A6?y6?96h[Y6<>6H@?`.? l? ?P gJ?vm?`5r?6?ɨ6]; 6CBЁBBIHN HNNg5Z}= Z[=YZ;Q ^>\٣\ ^G\b b>d]jE59fHp?ajE5Yf{ ifBhjqj@foDf :fq:f1E5p rK ApBNOT Ignoring new targets: 8.40 m.hhhhhggbg!jg!e)je)Je):e-`8 @r\Iz\I\I\M@h[) `0=i9)7ii'׽IIDAT read: Range 10 to 50 : 9.3 m (Round-trip 12.5 ms) speed 0.0 m/s  ,DAT read: user:1306> BDAT read: Tx time:19:52:31.2146 $Ping request sent.Em0>G G G G G =G G G <G F JDAT read: TxSync time:19:52:31.2138 VF= VνZAA Me >x,{^AI[ـ3I[3I[.ISISISZI|bIjI1rI zI;g:I9I3I I֊;I׊;I;I;b6L?yb?9bCZּYb<>bH?@ =?4f?L?شʚ?@%l?r?b6L?ɨbp=; b C||H H N5w C=Y%;Q %>!٣! %G!-ܻ 5>1]=E595kIp?a=E5Y5} i5BAEsqE@5oD5:5C:5E5I MM AQ addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 3.525447 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:eE?r\z\\\r@UCZּ)Q U.=iU]9)Y]7YiYia!%ZܽI!I):J]BYOBJ]u9JJYRJ]u ZJ] @anwxuqmkpv{ysif^WSNHE=63/,'&! R=%>DE?DADAEM0 EIVF] _ҽZAy M >x,^AځB%I Mb@Mb@Mb@   ) I y +ÿ~jtQ?   u< A) I Q@i A  H%H%J556= =:=Y=Q =>A٣A EGAE M>I]UF59MWJp?a]F5YM iMB]Z2>m];]q]@MoDM ;M";MF5q u AqBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgЁBejeJe:e`?r\}Z2>z\}Z2>\}[f@\}j@) x, ^A65?y6?96 lҼY608>6H?H?Zn?!?=R L?&?Fx?65?ɨ6 ; 6!Cb߁BbIHjHjC5rK< rb=Yv:Q v>t٣t zGxz< z>|]F59~Kp?a F5Y~q i|  .q @~oD~ ;~ ;~F5  AMBNOT Ignoring new targets: 8.40 m.hIhIhIhIhQgQgQbgYjgYeYjeYJeY:ee?r\yz\y\y\}>@ lҼ) uP:J} d'NBJ} 89JJy RJ} v ZJ}  2II, x,E:^AR?yR?Ơ?9R5ɼYRs6:>RH@?c@ ?7k?@7?@Q6 &?@;$? ~v?R?ɨR; RCjBjIeMb@Mb@Mb@aa a)aIayeL7A`㥛 ٣ G M >]F596Lp?aF5Y i>m;4q@oDo::F5  ABNOT Ignoring new targets: 8.40 m.hhh h h g g bgjgBejeJe:e.?r\>z\>\di@\B@5ɼ) #ik9)7iiwؽI!I!DDDE[0 EVF %ֽZA M5 >x,1`T^A2:?y2w?92᳼Y2;;>2H@A?`[@?e?*b?`ij{?@D? u?2:?ɨ2!; 2"CNBRIHVHV^5^= bX=Yb6;Q b>d٣d fGdfϻ j>h]nF59j,Mp?arF5Yj ihprqr@joDj<;j;j F5t zX AxBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e@r\z\\\w/@᳼) Pi9)7i i  (ݽIIBBC!B!D%?D)D)E-^0 E)VFIZAYMu>GGG( IG6BG =GGGr<G Fx,@n^A2҃?y2?929Y2|;>2H%? c?`]?@? G@覓?`~T?`>u?2҃?ɨ2a; 2C>B>IHFHFX5N< RL=YRp;Q R>T٣T VGTV Z>X]^F59Z,Np?abF5YZ) iZB`b诿qb@ZoDZ;Z:ZZF5d j; AhBNOT Ignoring new targets: 8.40 m.hhhh h g g bg jgejeJe:e-*@r\1z\1\1\5@E9)I MiMy9)IM7IiIiQY]ZIYIaDDDE_0 EE4>E>:JܞLBJu9JJRJw ZJVF ZA1MU>_!x,'^A88>BDAT read: Rx Time:19:52:33.6314 BTRx dataTimestamp_ set to:1736538754.142401 vc~G lA -A)} y}lA}A?y(֟?9dY),<>HVA?@`?Y?`? 6ಿ us?`b?@t?騥?ɨ;; C޵B޵IZIbI{jIrIzII-9IIq%@i%@u%@m%@Mb@Mb@Mb@ )Iy|?5^Mb{Gz?ҽף< )@I@iAAHHT_58=  =Y ʈ;Q  >٣ G&_ >]%F59Op?aMF5YƇ iBM=mM;M稿qM@oD6;;F5Y eAaBNOT Ignoring new targets: 8.40 m.hhhhhggbgjg"BejeJe:eYY@r\=z\=\l@\՞@d) \i9)隕d7iiq+IIDYDYDYEY EYVF uٽZA) ME >(x,J^A6u?y6?96%~Y6`z<>6H!R?@*6?W?`?@Nď?l?@t?6u?ɨ6; 6 CRBRIHZHZT5bN= f=Yf;Q f?d٣h jGhjRl j?1]=F595IPp?a=F5Y5 i5BAE qE@5oD5;5;5F5MB MAMEuBNOT Ignoring new targets: 8.40 m.hyhyhyhyhyggbgjgejeJe:e S @r\z\\\͞@%~) X`i9)L7iiIIGGGA IGJBGGGGT<G FDDDE1 EVFm}[ܽZAM>:J BJ 89JJ RJ x U DAT read: Range 10 to 50 : 9.3 m (Round-trip 12.5 ms) speed -0.1 m/s m ,DAT read: user:1307>  BDAT read: Tx time:19:52:34.7147  $Ping request sent. ]H?X?@@Ӛ?&V??]?`f? u?]h?ɨ]T; Ym BmI}A}AMb@Mb@Mb@ )Iy333333QMb?u< 3A)@IAiAHH{R5< "=Y:Q >٣   G G >I]UF59MQp?aUF5YM iMBUj=m]<]1q]@MpDM:M4:MF5 pA addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 3.533575 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 8.40 m.hhhhh!g!g!bg!jg-IBe)je)Je):e-ן?r\Mj=z\Mj=\M>t@\M@}Fo) i&9)隅7ii@GIIDQDQDQEU0 EQZI1 bI5 jI5 0rI1 zI1 I5 ľ9I5 ـ3I1 VF9 ZAA M] >)5x,ՠ^A:Ki?y:Ц?9:bY:<>:H X?K@Q?GV? '?@r3!P?o?t?:Ki?ɨ:; :!CBBFIHNHN0E5Vz V=YV*;Q V?X٣X ZGX^q8 ^?`]fF59bRp?afF5Yb ibBdf/qf@bpDb\:b:b{F5l nA9BNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e?r\z\\\@ b)  i9)Ȁ7ii!%I!I!D?DDE4 EVF ZAM>GGGS IGYBG =GGG<G FH9 H9H9H= ="H9*H=ȃ5Ց Ց H= 4=H9 R;x,|}^Af`?yf?9fvYfW2>fH4?pt?[??ı?`6??f`?ɨf; f"CrBvIHzHz?5j=  D=Y 뎻Q  >٣ G; >!]-F59%Sp?a-F5Y% i%B)-q-@%pD%S:%:%!F5 ZA BNOT Ignoring new targets: 8.40 m.h h h h h g gbgjgQeYjeYJeY:e]?r\z\\\p@v) i9)隵7iiII:J%VLBJ%9JJ!RJ%y ZJ%    CU9D?DDE3 EVF oZA) Me >Bx,7 ^A:oa?y:?9:cY:L98>:H ?nl? qi?4b?8`F ?? z?:oa?ɨ:gb; :!CZBZIb=ibA?MMb@Mb@Mb@II I)IIIyMy&1T㥛 q٣y }Gy?< >]F59|Up?aF5Y iB=m<̈́q@pDa';v&;%F5 bABNOT Ignoring new targets: 8.40 m.hhhZIbIjI1rIzII9I3Ihhggbg jg KBe je Je :eI?r\=z\=\y@\ܧ@c) i9)J7ii[pٽII!>??C9DM ?DI DI EM ?5 EI VFu wZAy G G G ` IG dBG G G G <G FM >5Ix,7l(^A:TD?y:؁?9:1=vY:*8:>:H?`\h?`g?r?5 Zǎ?`%?x?:TD?ɨ:5; :"CJBNIH^H^~N5b f?=Yfw;Q f>l٣l nGlr r>t]zF59v Wp?azF5YvT ivBxz섿qz@v pDv;v;v(F5 ABNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e_?r\iz\i\i\mԧ@}1=v) x i9)隭7iigJܽIIHH@ACM9:JdLBJ9JJRJz ZJ    $j@u~( % K Z N 7  p  W D- ?D) D1 E5 15 E1 Jm ? Jm >VFe ؽZAq M >&Qx,D^A:,?y:i?9:LjY::>:H ??e?@~?`\?1Q٣Q UGQ]ĺ e>]F59Yp?aF5Y( iBN=m$<iq@ pD,;,;+-F5 AMBNOT Ignoring new targets: 8.40 m.hIhihihihigigibgqjguCBeqjeqJey:eY@r\eN=z\eN=\eރ@\eѫ@Lj) in9)隥k7iiFݽIIZIm|bImjIirIizIm;g:Imy9IiIiCF9Dy Dy D E ?5 E E E hAVF]ؽZAiM>uvXx,~c^A6E?y6r?96qkiY6_;>6HP?`T?`g?q?@p--?Z?`u?6E?ɨ6>; 6#C^B^IHfHf#U5nB r6=YrS9Q r>t٣t zGx~: ~>] F59Zp?a F5Yߎ iB  iq @pD~::0F5 %A!MBNOT Ignoring new targets: 8.40 m.hIhIhIhIhQgQgQbgYjgYeYjeYJeY:ee@GYGYGYGYGYGYGYG]<G] Fr\z\\\׫@qki) i 9)~7iim۽II}BDAT read: Rx Time:19:52:37.1318 TRx dataTimestamp_ set to:1736538757.668518C9D% ?D) D) E- 05 E) - >- =:J MPBJ -9JJ RJ { ZJ K~@jBtY6s]MC<3'slifaVF5 ؽZAI Me >(_x,^AN}J?yN?9NJkYNR8<>NH@"? P`?g?n?@W&|?d? +u?N}J?ɨN; N"CZBZIMb@Mb@Mb@ )Iy&1ˡEMbP什 3A)IiAHHU5 /=YZQ >٣ G؜9 >]F59/]p?aF5Yď iBq=m<bq@pD;̖;4F5   A =BNOT Ignoring new targets: 8.40 m.h9h9h9h9h9gAgAbgAjgE*BeIjeIJeI:eMa @r\q=z\q=\@\@=Jk)9 =i=9)AEI~7AiAiIIIIIIIC}9D D D E 5 E VF ZA % DAT read: Range 10 to 50 : 9.6 m (Round-trip 12.9 ms) speed -0.1 m/s - ,DAT read: user:1308> 5 BDAT read: Tx time:19:52:38.2147 5 $Ping request sent.5 *fx,嗛^AJT?yJ(?9J,qYJ1<>JHI?Cʧ?h?`#i?@!?@c?@+u?JT?ɨJ{v; J CE܁BEIHH~N5R :=Y H٣ GM5: >)]UF59-n_p?a]F5Y- i-ߛBY]bq]@-pD-:-:-8F5eB e AmE addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 3.526368 s, deltaX: 0.300000 m, approachRate: 0.085073 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 8.40 m.hh!h!h!h!gIgIbgIjgIeQjeQJeU@33#@:eU?r\z\\\ȸ@,q) Ri9)}7 i i !9۽IIDIDDDE_0 EE >E%>GAGAGEM IGETBGAGAGAGAGAVF ZI- bI) jI) rI) zI- v:I) I) I) I- U;q5 I- V;i5 I- ::u= I- <:m= ZAQ M >lx,q^A2l?y2o?92:;yY2<>2H? ?j?@[?`|3'?t?@Rt?2l?ɨ2ω; 2C>ہBBIHJHJ0E5Rr  R_=YV&Q V>T٣T ZGXZ; Z>\]bF59^9ap?abF5Y^O i^ڛBdfbqf@^pD^P:^:^I9 )E XC ~G SkA % A)U yU SkAU Amsx,}>ϡ^ÁBIMb@Mb@Mb@ )Iy)٣) -G)5 5>9]EF59=jcp?aEF5Y=n i=ӛBE=mE;EqM@=pD=:=w:=?F5Q Ug AQBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgBejeJe:e?r\=z\=\eڀ@\`@) i9)k|7ii ڽIIDDDE0 EVF5ٽZAM>G9 G9 G= 4 IG= @BG9 G9 G9 G= x<G= Fyx,C^A6?y6.?96֌Y6מG>6H?@?n?-?i@??c?6?ɨ6{@; 6CrBrIHzHzm?5i ^=YQ  > ٣   G ; >]%F592ep?a%F5YV i͛B!-q-@pD::/CF51 5 A1mBNOT Ignoring new targets: 8.40 m.hihqhqhqhqgqgqbgyjgyeyjeJe:e M?r\z\\\Id@֌) 43i9){7iiIֽIIDzDDDDE?5 EEEdAZIbIjI0rIzII9Iـ3IIII2;I3;VFؽZAM>:JE MBJA JJA RJE } ZJE  x,f^A>D?y>ݠ?9>EY>UaD>>H ?`?`6n? 4?9eȑ?`d?`h?>D?ɨ>; >!CFBJIIL)LeMb@Mb@Mb@aa a)aIayeRQ+η rhe½eveC e3A)e@IaieAae AH} H}Ng5 B=YٹQ >٣ G2 >]F59"gp?aF5Y etIiśB> >m;+q@ pD5;4;FF5  ABNOT Ignoring new targets: 8.40 m.hhhhhggbg jg BejeJe!:e%W?r\E> >z\E> >\Ez@\EŤ@eE)i m\i}9)隅){7iiK׽II!BQBQCYBYIMADe?DaDaEe@5 EaVF ׽ZA M >݆x,>^A6(?y6 f?96Y6fA>6H?"s#?e?s?첿f??@m?6(?ɨ6S; 6 CBBBIHNHN]5VQD VZ=YZ;Q Z>X٣X ZG\^ ^>`]fF59bhp?afF5Yb˕ ibBhjqj@b#pDb:b:b%JF5l nV ApBNOT Ignoring new targets: 8.40 m.hhhhhggbgjge!je!Je!:e% f@r\Az\A\A\Eʪ@U)Q ]!i39)z7iig޽II D?DDE]0 EGGG IG'BGGGGa<G FH HHH"H*HŴ4VF5LֽZA9M]>ZI ~bI jI 1rI zI {m:I y9I 3I I <;I =;I ::I <:I x,6^A:σ?y:d ?9:Y:́>>:H7'?@? ^?~?²?U?q?:σ?ɨ:/Ȉ; :CFBJoIHRHRe5Z- ZJ=YZHt:Q Z>\٣\ ^G\bڻ b>d]jF59fjp?ajF5Yf  ifBhjqj@f&pDf:fu:fMF5p r ApBNOT Ignoring new targets: 8.40 m.hhhhhggbg!jg!e!je!Je):e-o@r\Iz\I\I\MǗ@])Y ]@i]9)aey7aiaiiiuIqIyDl>D>D9D9D9EE_0 EAEe=Ee=:J-nLBJ-9JJ)RJ-~ ZJ-VFUݽZAM )>m BDAT read: Rx Time:19:52:40.6322 m TRx dataTimestamp_ set to:1736538761.195158Yx,QP^A:?y: ?9:_Y:4=>:H`X;?U?Z?? ??`r?:?ɨ:(; :"CbBbjIj>ijp<)rp= r=Mb@Mb@Mb@ )IyX9vJ +~jtȽ A)IAiAAHHZ5u 7=Y:Q >٣   G  =  >]F59lp?a%F5Y iB% >m%;%"q%@*pD:#:QF5) - A1eBNOT Ignoring new targets: 8.40 m.hahahahahagigibgijgmBeqjeqJeq:euS@r\ >z\ >\1'u@\=ǡ@_) R8i9)隭y7iiFXIIDIDIDIEI EIVF޽ZAM>G G G IG BG G G G (<G g F x,yj^AzLo?yzѬ?9z`xYzy =>zHU?@+?`V??I ?P~?s?zLo?ɨzQe; z!CB SIDAT read: Range 10 to 50 : 9.9 m (Round-trip 13.3 ms) speed -0.1 m/s 5,DAT read: user:1309> eBDAT read: Tx time:19:52:41.7147 m$Ping request sent.u)٣) 5G15 5>9]EF59=Wnp?aEF5Y=? i=BIMWqM@=.pD=;=D;=+UF5Q U AY addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 3.276148 s, deltaX: 0.299999 m, approachRate: 0.091571 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe#@:e@/?r\z\\\@U`x)Q U]iUI9)Y]x7YiYiE'IIHC=HR=ZI}bI~jIrIzI[j:If9III;I;I:I:DYDYDYEY EYJDAT read: TxSync time:19:52:41.7139 VF ߽ZA :J k3IBJ 9JJ RJ  ZJ qXw5j0w_M@4)# J1 I1 Me >ex,;^AV7_?yV?9VisYV=>VH\?L@?]U?c? ~ b??s?V7_?ɨV; V CfBfMIMb@Mb@Mb@ )Iy rhZd;OMbC j )-@IiAAHHe5 M=YU:Q >٣ G > ] F59 op?aF5Y  i B(>m;q@ 2pD S.; %-; XF5! - A)BNOT Ignoring new targets: 8.40 m.hhhhhggbg jg ہBejeJe:eu?r\](>z\](>\]d o@\]1Ȟ@is) .i9)隵nw7ii3IIC9DDA DA DA EE `0 EA EQ EU iAVFmcZAyM>pOx,ۢ^A:؈?y:]Ɵ?9:UY:o3>:H H? @?X?]?@@t?@ T? S?:؈?ɨ:K; :#CB{BBCIId)dHjHjU5re v8=Yv5Q v>x٣x zGx~F;; ~>|] F59~.qp?a F5Y~ i~B  q@~7pD~;~u;~\F5B  AEMBNOT Ignoring new targets: 8.40 m.hIhQhQhQhQgQgQbgYjgYeYjeYJeY:ee@?r\yz\y\y\}.@U) ?i9)隝v7ii$IIGIGIGMIGMBGIGIGIGM<GM FDe?DaDaEm0 EiVFZAHHM>ox,"^AF#?yF?9FYFm6>FH:?D ?Z?`K?G`א??}?F#?ɨF ; F CTTHbHb{R5YjxQ j>l٣l nGlr; r>t]zF59vrp?azF5YvY ivBxzqz@v;pDv:vkI3Iw3I.-IIIZI ~bI jI rI zI {m:I 59I I q @i @u @m @VWx,g֢^AJy?yJ?9Jn YJ58>JH@sP?^`@*?RW??`QRC??y?Jy?ɨJ; JCVwBV>I=Mb@Mb@Mb@99 9)9I9y=~jtÿli٣i mGiuU u>]F59=sp?aF5Y< iB[->m;;q@@pDM::cF5  AEBNOT Ignoring new targets: 8.40 m.hAhAhAhAhAgIgIbgIjgMفBeQjeQJe:eॿ?r\[->z\[->\f@\@n ) Bi9)u7ii 15\I1I1D?DDE55 EVFcZAM >GI GI GQ GQ GU IGU ځBGQ GQ GQ GU <GU F낻x,EH^A:T?y:X?9:a`Y::>:H|?@(o?P??h  ?4?`xw?:T?ɨ:j; : C^tB^:I`ibN>HjHjn5r rS=Yru;Q v>x٣x zGxz ~>] F59sp?a F5Y iBq@DpD::gF5 %. A!MBNOT Ignoring new targets: 8.40 m.hIhIhIhIhIgQgQbgQjgYeYjeYJeY:eer@r\z\\\f@a`) HiK9)隥Yt7iiIIDm?DiDqEu]0 Eq}?}<VFuwZAM>:JMBJ9JJRJ ZJ ) m¨x,Q/ ^A.lA <)nynlAnA?y?90HYx;>H?Re?gH?0?@a?`M?~v??ɨP; #CmB1IMb@Mb@Mb@ )Iy'1ZĿ~jt{Gz"# IA)@IAiAAH H i5q 8=Y%T;Q %>!٣! -G)Xӻ >]F59tp?aF5Y iB4>m;q@IpD :I:kF5 e ABNOT Ignoring new targets: 8.40 m.hhhhhggbg jg āBe je Je :e{@r\-4>z\-4>\-3e@\- @=0H)A E.iEQ9)AEs7IiIiQY]IYIYBaBaCiBiZIbIjIrIzII9IID?DDEO0 EVF ZA M >Ȩx,#^A6{?y6d?96U8Y6]<>6H?@0?uC?`KO?Ɀ ?ii?Gu?6{?ɨ6a; 4BoBB4IHJHJKk5R4< Rg=YR8;Q R>T٣T ZGXZV Z?\]bF59^up?afF5Y^ i^|BdfKqf@^MpD^%:^h:^nF5h jU Al}BNOT Ignoring new targets: 8.40 m.hyhyhyhyhggbgjgejeJe:e@GGGIGˁBG =GGGư<G Fr\)z\)\)\-@]U8)Y e*ie9)aer7aiaig{IIDi>D!>BDAT read: Rx Time:19:52:44.1328 TRx dataTimestamp_ set to:1736538764.723858D)D)D)E-_0 E)VFM ZAY M} >Ψx,=^A:J'?y:d?9:х)Y:v<>:H`?d ?@ ٣  G˻ >!]-F59%up?a-F5Y%y i%vB)-q-@%QpD%:%u:%qF59 = A9BNOT Ignoring new targets: 8.40 m.hhhhhgg:JBJu9JJRJ ZJ    bg1jg9eAjeIJeq:euG @r\z\\\1@х))) -:i5)9)1=0r79i9iAimIiIiD!D)D)E) E1DAT read: Range 10 to 50 : 10.3 m (Round-trip 13.8 ms) speed 0.0 m/s ,DAT read: user:1310> -BDAT read: Tx time:19:52:45.2148 5$Ping request sent.5ZI }bI {jI 0rI zI [j:I -9I ـ3I vըx,W^A2?y2-?92Y2ߋ<>2H ? ?8??@?>?*o?`%u?2?ɨ2; 2CRjBV-IeMb@Mb@Mb@aa a)aIaye~jtÿMb`eeLe a)aIaieAaeAH}H}]5T< B=Y:Q >٣ GA >]F59|up?aF5Y> itB#>m;*̿q@VpD ;* ;cuF5 ~ A addTargetRange:: Added new target pos. range: 10.300000 m, deltaT: 3.528162 s, deltaX: 0.400001 m, approachRate: 0.113374 m/s, rangeRepo size: 4 BNOT Ignoring new targets: 8.40 m.hhhhhggbg jg ƁBe je Je $@:ef?r\-#>z\-#>\-f]@\-Z@E)A EP8iE9)AMq7IiIiIQUFBIQIY]JDAT read: TxSync time:19:52:45.2140 DDDE0 EVFZAM>GGGIGBG =GGG<G FH HHH"H*HΎ4ۨx,q^A:?y:'%?9:$Y:YS<>:H?U.?`q7? ? ˱@%?@3h?qu?:?ɨ:E;; :"CFrBF7IHNHNB5VC&= VZ=YZsQ Z>X٣\ ^G\^( b>`]fF59b]up?ajF5Ybҫ ibqBln1̿qn@bZpDbG;bG;bxF5p v@ AtBNOT Ignoring new targets: 8.40 m.hhhhhggbg!jg!e!je!Je!:e-?r\Az\A\A\E@e$)a e(ie9)imp7iiiiqqu[IqIyDD?DDE?5 EE?>Et>VFZAMj>:J MnLBJ 89JJ RJ ZJ 6=x,g^AF?yFeF?9Fu&(YF7>FH? [+?@(:??p?? {?F?ɨF; F!CnnBn3Irp=ir=AMb@Mb@Mb@ )IyQˡEMbP\' `A)-@IAi$A(AHHr^5+e ,=YOQ >٣ G ; >]F59 up?aF5Y ioBb>m;%пq%@^pD{::|F5) -[ AIBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgځBejeJe:e 7?r\ b>z\ b>\ K[@\  @u&()! % Wi%P9)!%o7ZIu~bIutjIu1rIqzIu{m:Iu9Iu3IqyiyiIID]?DYDYE]?1 EaVF ZA M >x,>B^A6?y6?96K2Y6E0:>6H??r?C?O?@l[?$?@zx?6?ɨ6qM; 4RtBR9IHZHZGL5f}= fs=YfQ j?h٣h jGhn*4< n?p]vF59rtp?avF5Yr irmBtvϿqz@rapDr:r:rF5| }0 AyBNOT Ignoring new targets: 8.40 m.hhhhhggbgjgejeJe:e@?r\z\\\(@K2)