*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="NAL9602" *n code=0034 name="Onboard" *n code=0035 name="Onboard ThreadHandler" *n code=0036 name="Power24vConverter" *n code=0037 name="Radio_Surface" *n code=0038 name="Radio_Surface ThreadHandler" *n code=0039 name="RDI_Pathfinder" *n code=003A name="Sonardyne_Nano" *n code=003B name="DeadReckonUsingMultipleVelocitySources" *n code=003C name="NavChart" *n code=003D name="UniversalFixResidualReporter" *n code=003E name="SBIT" *n code=003F name="IBIT" *n code=0040 name="CBIT" *n code=0041 name="GFScanner" *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="run_backseat_on_surface" *n code=0068 name="run_backseat_on_surface:Science" *n code=0069 name="run_backseat_on_surface:Science:A" *n code=006A name="run_backseat_on_surface:Science:B" *n code=006B name="run_backseat_on_surface:Science:C" *n code=006C name="run_backseat_on_surface:Science:D" *n code=006D name="run_backseat_on_surface:Science:E" *n code=006E name="run_backseat_on_surface:Science:F" *n code=006F name="run_backseat_on_surface:Science:Read_Oil" *n code=0070 name="run_backseat_on_surface:Science:OceanCurrent" *n code=0071 name="run_backseat_on_surface:Science:OceanCurrent:A." *n code=0072 name="run_backseat_on_surface:Science:PeakDetectChl" *n code=0073 name="run_backseat_on_surface:Science:PeakDetectChl:A" *n code=0074 name="run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0075 name="run_backseat_on_surface:Science:PeakDetectChl:C" *n code=0076 name="run_backseat_on_surface:Science:EdgeDetectChl" *n code=0077 name="run_backseat_on_surface:Science:EdgeDetectChl:A" *n code=0078 name="run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=0079 name="run_backseat_on_surface:Science:EdgeDetectChl:C" *n code=007A name="run_backseat_on_surface:Science:EdgeDetectChl:D" *n code=007B name="run_backseat_on_surface:Science:HighestChlPeakReport" *n code=007C name="run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=007D name="run_backseat_on_surface:Science:PeakDetectNO3" *n code=007E name="run_backseat_on_surface:Science:PeakDetectNO3:A" *n code=007F name="run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0080 name="run_backseat_on_surface:Science:PeakDetectNO3:C" *n code=0081 name="run_backseat_on_surface:Science:PeakDetectOil" *n code=0082 name="run_backseat_on_surface:Science:PeakDetectOil:A" *n code=0083 name="run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=0084 name="run_backseat_on_surface:Science:PeakDetectOil:C" *n code=0085 name="run_backseat_on_surface:Science:HighestOilPeakReport" *n code=0086 name="run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=0087 name="run_backseat_on_surface:Science:PeakDetectFDOM" *n code=0088 name="run_backseat_on_surface:Science:PeakDetectFDOM:A" *n code=0089 name="run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=008A name="run_backseat_on_surface:Science:PeakDetectFDOM:C" *n code=008B name="run_backseat_on_surface:Science:PeakDetectSalinity" *n code=008C name="run_backseat_on_surface:Science:PeakDetectSalinity:A" *n code=008D name="run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=008E name="run_backseat_on_surface:Science:PeakDetectSalinity:C" *n code=008F name="run_backseat_on_surface:Science:HighestSaltPeakReport" *n code=0090 name="run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0091 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI" *n code=0092 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0093 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=0094 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=0095 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI" *n code=0096 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=0097 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=0098 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=0099 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=009A name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI" *n code=009B name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=009C name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=009D name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=009E name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI" *n code=009F name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00A0 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00A1 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00A2 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00A3 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms" *n code=00A4 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00A5 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00A6 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00A7 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms" *n code=00A8 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00A9 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00AA name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=00AB name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=00AC name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates" *n code=00AD name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=00AE name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=00AF name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=00B0 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=00B1 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=00B2 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=00B3 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=00B4 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=00B5 name="run_backseat_on_surface:Science:ChlThreshTrigger" *n code=00B6 name="run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect" *n code=00B7 name="run_backseat_on_surface:Science:ChlThreshTrigger:B" *n code=00B8 name="run_backseat_on_surface:Science:ChlThreshTrigger:C" *n code=00B9 name="run_backseat_on_surface:BackseatDriver" *n code=00BA name="run_backseat_on_surface:BackseatDriver:A.BackseatDriver" *n code=00BB name="run_backseat_on_surface:C" *n code=00BC name="run_backseat_on_surface:PowerOnly" *n code=00BD name="run_backseat_on_surface:PowerOnly:A" *n code=00BE name="run_backseat_on_surface:PowerOnly:B" *n code=00BF name="run_backseat_on_surface:PowerOnly:C" *n code=00C0 name="run_backseat_on_surface:PowerOnly:D" *n code=00C1 name="run_backseat_on_surface:PowerOnly:E.Wait" *n code=00C2 name="run_backseat_on_surface:E.GoToSurface" *n code=00C3 name="run_backseat_on_surface:CheckIn" *n code=00C4 name="run_backseat_on_surface:CheckIn:Read_GPS" *n code=00C5 name="run_backseat_on_surface:CheckIn:Read_Iridium" *n code=00C6 name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout" *n code=00C7 name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=00C8 name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:B" *n code=00C9 name="run_backseat_on_surface:CheckIn:C.Wait" *n code=00CA name="run_backseat_on_surface:CheckIn:D" *n code=00CB name="run_backseat_on_surface:CheckIn:E" *n code=00CC name="run_backseat_on_surface:G" *n code=00CD name="run_backseat_on_surface:H.Execute" *n code=00CE name="transit" *n code=00CF name="transit:NeedComms" *n code=00D0 name="transit:NeedComms:A" *n code=00D1 name="transit:NeedComms:B.GoToSurface" *n code=00D2 name="transit:NeedComms:C" *n code=00D3 name="transit:NeedComms:C:A_Timeout" *n code=00D4 name="transit:NeedComms:C:A_Timeout:A" *n code=00D5 name="transit:NeedComms:D" *n code=00D6 name="transit:NeedComms:D:A_Timeout" *n code=00D7 name="transit:NeedComms:D:A_Timeout:A" *n code=00D8 name="transit:NeedComms:E" *n code=00D9 name="transit:NeedComms:E:A_Timeout" *n code=00DA name="transit:NeedComms:E:A_Timeout:A" *n code=00DB name="transit:B" *n code=00DC name="transit:C" *n code=00DD name="transit:StandardEnvelopes" *n code=00DE name="transit:StandardEnvelopes:A.AltitudeEnvelope" *n code=00DF name="transit:StandardEnvelopes:B.DepthEnvelope" *n code=00E0 name="transit:StandardEnvelopes:C.OffshoreEnvelope" *n code=00E1 name="transit:E" *n code=00E2 name="transit:F" *n code=00E3 name="transit:G" *n code=00E4 name="transit:BackseatDriver" *n code=00E5 name="transit:BackseatDriver:A.BackseatDriver" *n code=00E6 name="transit:PowerOnly" *n code=00E7 name="transit:PowerOnly:A" *n code=00E8 name="transit:PowerOnly:B" *n code=00E9 name="transit:PowerOnly:C" *n code=00EA name="transit:PowerOnly:D" *n code=00EB name="transit:PowerOnly:E.Wait" *n code=00EC name="transit:BuoyancyHold.Buoyancy" *n code=00ED name="transit:MassHold.Pitch" *n code=00EE name="transit:Transit" *n code=00EF name="transit:Transit:A.Pitch" *n code=00F0 name="transit:Transit:B.SetSpeed" *n code=00F1 name="transit:Transit:Wpt1.Waypoint" *n code=00F2 name="transit:Transit:PhoneHome" *n code=00F3 name="keepstation" *n code=00F4 name="keepstation:NeedComms" *n code=00F5 name="keepstation:NeedComms:A" *n code=00F6 name="keepstation:NeedComms:B.GoToSurface" *n code=00F7 name="keepstation:NeedComms:C" *n code=00F8 name="keepstation:NeedComms:C:A_Timeout" *n code=00F9 name="keepstation:NeedComms:C:A_Timeout:A" *n code=00FA name="keepstation:NeedComms:D" *n code=00FB name="keepstation:NeedComms:D:A_Timeout" *n code=00FC name="keepstation:NeedComms:D:A_Timeout:A" *n code=00FD name="keepstation:NeedComms:E" *n code=00FE name="keepstation:NeedComms:E:A_Timeout" *n code=00FF name="keepstation:NeedComms:E:A_Timeout:A" *n code=0100 name="keepstation:B" *n code=0101 name="keepstation:StandardEnvelopes" *n code=0102 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=0103 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=0104 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=0105 name="keepstation:D" *n code=0106 name="keepstation:E" *n code=0107 name="keepstation:BackseatDriver" *n code=0108 name="keepstation:BackseatDriver:A.BackseatDriver" *n code=0109 name="keepstation:PowerOnly" *n code=010A name="keepstation:PowerOnly:A" *n code=010B name="keepstation:PowerOnly:B" *n code=010C name="keepstation:PowerOnly:C" *n code=010D name="keepstation:PowerOnly:D" *n code=010E name="keepstation:PowerOnly:E.Wait" *n code=010F name="keepstation:H.Pitch" *n code=0110 name="keepstation:SurfaceComms" *n code=0111 name="keepstation:SurfaceComms:A" *n code=0112 name="keepstation:SurfaceComms:B" *n code=0113 name="keepstation:SurfaceComms:setTransit" *n code=0114 name="keepstation:SurfaceComms:setTransit:A" *n code=0115 name="keepstation:SurfaceComms:setStation" *n code=0116 name="keepstation:SurfaceComms:setStation:A" *n code=0117 name="keepstation:SurfaceComms:setSink" *n code=0118 name="keepstation:SurfaceComms:setSink:A" *n code=0119 name="keepstation:StartingMission" *n code=011A name="keepstation:DiveCmd" *n code=011B name="keepstation:DiveCmd:SurfaceSink" *n code=011C name="keepstation:DiveCmd:SurfaceSink:sink" *n code=011D name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy" *n code=011E name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" *n code=011F name="keepstation:DiveCmd:SurfaceSink:sink:C" *n code=0120 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch" *n code=0121 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout" *n code=0122 name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A" *n code=0123 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit" *n code=0124 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A" *n code=0125 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" *n code=0126 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A" *n code=0127 name="keepstation:DiveCmd:TransitToStation" *n code=0128 name="keepstation:DiveCmd:TransitToStation:dive" *n code=0129 name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy" *n code=012A name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" *n code=012B name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed" *n code=012C name="keepstation:DiveCmd:StationKeep" *n code=012D name="keepstation:DiveCmd:StationKeep:A" *n code=012E name="keepstation:DiveCmd:StationKeep:B.Pitch" *n code=012F name="keepstation:DiveCmd:StationKeep:C.KeepStation" *n code=0130 name="keepstation:TransitToStation" *n code=0131 name="keepstation:TransitToStation:Dive" *n code=0132 name="keepstation:TransitToStation:Dive:A" *n code=0133 name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=0134 name="keepstation:TransitToStation:C" *n code=0135 name="keepstation:TransitToStation:D" *n code=0136 name="keepstation:OnStation" *n code=0137 name="keepstation:KeepStation" *n code=0138 name="keepstation:KeepStation:Dive" *n code=0139 name="keepstation:KeepStation:Dive:A" *n code=013A name="keepstation:KeepStation:B.Wait" *n code=013B name="lineCaptureHoming" *n code=013C name="lineCaptureHoming:Science" *n code=013D name="lineCaptureHoming:Science:A" *n code=013E name="lineCaptureHoming:Science:B" *n code=013F name="lineCaptureHoming:Science:C" *n code=0140 name="lineCaptureHoming:Science:D" *n code=0141 name="lineCaptureHoming:Science:E" *n code=0142 name="lineCaptureHoming:Science:F" *n code=0143 name="lineCaptureHoming:Science:Read_Oil" *n code=0144 name="lineCaptureHoming:Science:OceanCurrent" *n code=0145 name="lineCaptureHoming:Science:OceanCurrent:A." *n code=0146 name="lineCaptureHoming:Science:PeakDetectChl" *n code=0147 name="lineCaptureHoming:Science:PeakDetectChl:A" *n code=0148 name="lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0149 name="lineCaptureHoming:Science:PeakDetectChl:C" *n code=014A name="lineCaptureHoming:Science:EdgeDetectChl" *n code=014B name="lineCaptureHoming:Science:EdgeDetectChl:A" *n code=014C name="lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=014D name="lineCaptureHoming:Science:EdgeDetectChl:C" *n code=014E name="lineCaptureHoming:Science:EdgeDetectChl:D" *n code=014F name="lineCaptureHoming:Science:HighestChlPeakReport" *n code=0150 name="lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0151 name="lineCaptureHoming:Science:PeakDetectNO3" *n code=0152 name="lineCaptureHoming:Science:PeakDetectNO3:A" *n code=0153 name="lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0154 name="lineCaptureHoming:Science:PeakDetectNO3:C" *n code=0155 name="lineCaptureHoming:Science:PeakDetectOil" *n code=0156 name="lineCaptureHoming:Science:PeakDetectOil:A" *n code=0157 name="lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=0158 name="lineCaptureHoming:Science:PeakDetectOil:C" *n code=0159 name="lineCaptureHoming:Science:HighestOilPeakReport" *n code=015A name="lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=015B name="lineCaptureHoming:Science:PeakDetectFDOM" *n code=015C name="lineCaptureHoming:Science:PeakDetectFDOM:A" *n code=015D name="lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=015E name="lineCaptureHoming:Science:PeakDetectFDOM:C" *n code=015F name="lineCaptureHoming:Science:PeakDetectSalinity" *n code=0160 name="lineCaptureHoming:Science:PeakDetectSalinity:A" *n code=0161 name="lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0162 name="lineCaptureHoming:Science:PeakDetectSalinity:C" *n code=0163 name="lineCaptureHoming:Science:HighestSaltPeakReport" *n code=0164 name="lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0165 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI" *n code=0166 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=0167 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=0168 name="lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=0169 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI" *n code=016A name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=016B name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=016C name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=016D name="lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=016E name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI" *n code=016F name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=0170 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=0171 name="lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=0172 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI" *n code=0173 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=0174 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=0175 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=0176 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=0177 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms" *n code=0178 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A" *n code=0179 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=017A name="lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:C" *n code=017B name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms" *n code=017C name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=017D name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=017E name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=017F name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=0180 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates" *n code=0181 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0182 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=0183 name="lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0184 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0185 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0186 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=0187 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=0188 name="lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=0189 name="lineCaptureHoming:Science:ChlThreshTrigger" *n code=018A name="lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect" *n code=018B name="lineCaptureHoming:Science:ChlThreshTrigger:B" *n code=018C name="lineCaptureHoming:Science:ChlThreshTrigger:C" *n code=018D name="lineCaptureHoming:StandardEnvelopes" *n code=018E name="lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope" *n code=018F name="lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope" *n code=0190 name="lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope" *n code=0191 name="lineCaptureHoming:C" *n code=0192 name="lineCaptureHoming:D" *n code=0193 name="lineCaptureHoming:E" *n code=0194 name="lineCaptureHoming:NeedComms" *n code=0195 name="lineCaptureHoming:NeedComms:A" *n code=0196 name="lineCaptureHoming:NeedComms:B.GoToSurface" *n code=0197 name="lineCaptureHoming:NeedComms:C" *n code=0198 name="lineCaptureHoming:NeedComms:C:A_Timeout" *n code=0199 name="lineCaptureHoming:NeedComms:C:A_Timeout:A" *n code=019A name="lineCaptureHoming:NeedComms:D" *n code=019B name="lineCaptureHoming:NeedComms:D:A_Timeout" *n code=019C name="lineCaptureHoming:NeedComms:D:A_Timeout:A" *n code=019D name="lineCaptureHoming:NeedComms:E" *n code=019E name="lineCaptureHoming:NeedComms:E:A_Timeout" *n code=019F name="lineCaptureHoming:NeedComms:E:A_Timeout:A" *n code=01A0 name="lineCaptureHoming:G" *n code=01A1 name="lineCaptureHoming:H" *n code=01A2 name="lineCaptureHoming:MicromodemComms" *n code=01A3 name="lineCaptureHoming:MicromodemComms:CheckIn" *n code=01A4 name="lineCaptureHoming:MicromodemComms:CheckIn:A" *n code=01A5 name="lineCaptureHoming:MicromodemComms.Redefine.CommsInterval" *n code=01A6 name="lineCaptureHoming:J" *n code=01A7 name="lineCaptureHoming:LineCapture" *n code=01A8 name="lineCaptureHoming:LineCapture:A" *n code=01A9 name="lineCaptureHoming:LineCapture:B" *n code=01AA name="lineCaptureHoming:LineCapture:StandardEnvelopes" *n code=01AB name="lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope" *n code=01AC name="lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope" *n code=01AD name="lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope" *n code=01AE name="lineCaptureHoming:LineCapture:D" *n code=01AF name="lineCaptureHoming:LineCapture:E" *n code=01B0 name="lineCaptureHoming:LineCapture:F" *n code=01B1 name="lineCaptureHoming:LineCapture:G" *n code=01B2 name="lineCaptureHoming:LineCapture:H" *n code=01B3 name="lineCaptureHoming:LineCapture:HoldMass" *n code=01B4 name="lineCaptureHoming:LineCapture:HoldMass:A" *n code=01B5 name="lineCaptureHoming:LineCapture:HoldMass:B.Mass" *n code=01B6 name="lineCaptureHoming:LineCapture:HoldBuoyancy" *n code=01B7 name="lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy" *n code=01B8 name="lineCaptureHoming:LineCapture:HomingSequence" *n code=01B9 name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock" *n code=01BA name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide" *n code=01BB name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock" *n code=01BC name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout" *n code=01BD name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A" *n code=01BE name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B" *n code=01BF name="lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C" *n code=01C0 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance" *n code=01C1 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide" *n code=01C2 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A" *n code=01C3 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange" *n code=01C4 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A" *n code=01C5 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B" *n code=01C6 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed" *n code=01C7 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch" *n code=01C8 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint" *n code=01C9 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout" *n code=01CA name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A" *n code=01CB name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B" *n code=01CC name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F" *n code=01CD name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern" *n code=01CE name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout" *n code=01CF name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A" *n code=01D0 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle" *n code=01D1 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait" *n code=01D2 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:H" *n code=01D3 name="lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:I" *n code=01D4 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance" *n code=01D5 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide" *n code=01D6 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A" *n code=01D7 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange" *n code=01D8 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A" *n code=01D9 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B" *n code=01DA name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl" *n code=01DB name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo" *n code=01DC name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl" *n code=01DD name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch" *n code=01DE name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E" *n code=01DF name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F" *n code=01E0 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture" *n code=01E1 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H" *n code=01E2 name="lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I" *n code=01E3 name="lineCaptureHoming:LineCapture:L.Wait" *n code=01E4 name="lineCaptureHoming:LineCapture:M" *n code=01E5 name="lineCaptureHoming:L" *n code=01E6 name="lineCaptureHoming:M" *n code=01E7 name="lineCaptureHoming:N" *n code=01E8 name="lineCaptureHoming:O" *n code=01E9 name="lineCaptureHoming:P" *n code=01EA name="lineCaptureHoming:Q" *n code=01EB name="lineCaptureHoming:U" *n code=01EC name="lineCaptureHoming:TrackAC." *n code=01ED name="lineCaptureHoming:UpdateNumPings_NotTerminal" *n code=01EE name="lineCaptureHoming:UpdateNumPings_NotTerminal:A" *n code=01EF name="lineCaptureHoming:UpdateNumPings_NotTerminal:B" *n code=01F0 name="lineCaptureHoming:UpdateNumPings_NotTerminal:C" *n code=01F1 name="lineCaptureHoming:UpdateNumPings_NotTerminal:D" *n code=01F2 name="lineCaptureHoming:UpdateNumPings_Terminal" *n code=01F3 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL" *n code=01F4 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A" *n code=01F5 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B" *n code=01F6 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C" *n code=01F7 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D" *n code=01F8 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR" *n code=01F9 name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A" *n code=01FA name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B" *n code=01FB name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C" *n code=01FC name="lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D" *n code=01FD name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse" *n code=01FE name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A" *n code=01FF name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B" *n code=0200 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C" *n code=0201 name="lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D" *n code=0202 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal" *n code=0203 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:A" *n code=0204 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:B" *n code=0205 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:C" *n code=0206 name="lineCaptureHoming:UpdatePingUpdateRate_Terminal:D" *n code=0207 name="lineCaptureHoming:restartDHCP" *n code=0208 name="lineCaptureHoming:restartDHCP:A" *n code=0209 name="lineCaptureHoming:restartDHCP:B.Execute" *n code=020A name="lineCaptureHoming:StartingMission" *n code=020B name="lineCaptureHoming:Z" *n code=020C name="lineCaptureHoming:BA.Execute" *n code=020D name="lineCaptureHoming:InitialDive" *n code=020E name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=020F name="lineCaptureHoming:InitialDive:B.Mass" *n code=0210 name="lineCaptureHoming:InitialDive:C.Pitch" *n code=0211 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=0212 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=0213 name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=0214 name="lineCaptureHoming:RepeatHack" *n code=0215 name="lineCaptureHoming:RepeatHack:A" *n code=0216 name="lineCaptureHoming:Lap" *n code=0217 name="lineCaptureHoming:Lap:A" *n code=0218 name="lineCaptureHoming:Lap:B" *n code=0219 name="lineCaptureHoming:Lap:C" *n code=021A name="lineCaptureHoming:Lap:D" *n code=021B name="lineCaptureHoming:Lap:E" *n code=021C name="lineCaptureHoming:Lap:Docked" *n code=021D name="lineCaptureHoming:Lap:Docked:A" *n code=021E name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=021F name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav" *n code=0220 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:A" *n code=0221 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav" *n code=0222 name="lineCaptureHoming:Lap:Docked:C" *n code=0223 name="lineCaptureHoming:Lap:Docked:D" *n code=0224 name="lineCaptureHoming:Lap:Docked:Docked.Docked" *n code=0225 name="lineCaptureHoming:Lap:Docked:setCompletion" *n code=0226 name="lineCaptureHoming:Lap:Docked:setCompletion:A" *n code=0227 name="lineCaptureHoming:Lap:Docked:setCompletion:B" *n code=0228 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry" *n code=0229 name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:A" *n code=022A name="lineCaptureHoming:Lap:Docked:setCompletion:setRetry:B" *n code=022B name="lineCaptureHoming:Lap:Docked:Detach" *n code=022C name="lineCaptureHoming:Lap:Docked:Detach:A" *n code=022D name="lineCaptureHoming:Lap:Docked:Detach:Undock.Undock" *n code=022E name="lineCaptureHoming:Lap:Docked:Detach:C" *n code=022F name="lineCaptureHoming:Lap:Docked:Wpt1" *n code=0230 name="lineCaptureHoming:Lap:Docked:Wpt1:A" *n code=0231 name="lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch" *n code=0232 name="lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed" *n code=0233 name="lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint" *n code=0234 name="lineCaptureHoming:Lap:Docked:Drift" *n code=0235 name="lineCaptureHoming:Lap:Docked:Drift:A" *n code=0236 name="lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy" *n code=0237 name="lineCaptureHoming:Lap:Docked:Drift:C.Pitch" *n code=0238 name="lineCaptureHoming:Lap:Docked:Drift:D.Point" *n code=0239 name="lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed" *n code=023A name="lineCaptureHoming:Lap:Docked:Drift:F.Wait" *n code=023B name="optimize_roll_speed" *n code=023C name="optimize_roll_speed:NeedComms" *n code=023D name="optimize_roll_speed:NeedComms:A" *n code=023E name="optimize_roll_speed:NeedComms:B.GoToSurface" *n code=023F name="optimize_roll_speed:NeedComms:C" *n code=0240 name="optimize_roll_speed:NeedComms:C:A_Timeout" *n code=0241 name="optimize_roll_speed:NeedComms:C:A_Timeout:A" *n code=0242 name="optimize_roll_speed:NeedComms:D" *n code=0243 name="optimize_roll_speed:NeedComms:D:A_Timeout" *n code=0244 name="optimize_roll_speed:NeedComms:D:A_Timeout:A" *n code=0245 name="optimize_roll_speed:NeedComms:E" *n code=0246 name="optimize_roll_speed:NeedComms:E:A_Timeout" *n code=0247 name="optimize_roll_speed:NeedComms:E:A_Timeout:A" *n code=0248 name="optimize_roll_speed:B" *n code=0249 name="optimize_roll_speed:C" *n code=024A name="optimize_roll_speed:StandardEnvelopes" *n code=024B name="optimize_roll_speed:StandardEnvelopes:A.AltitudeEnvelope" *n code=024C name="optimize_roll_speed:StandardEnvelopes:B.DepthEnvelope" *n code=024D name="optimize_roll_speed:StandardEnvelopes:C.OffshoreEnvelope" *n code=024E name="optimize_roll_speed:E" *n code=024F name="optimize_roll_speed:F" *n code=0250 name="optimize_roll_speed:G" *n code=0251 name="optimize_roll_speed:BackseatDriver" *n code=0252 name="optimize_roll_speed:BackseatDriver:A.BackseatDriver" *n code=0253 name="optimize_roll_speed:PowerOnly" *n code=0254 name="optimize_roll_speed:PowerOnly:A" *n code=0255 name="optimize_roll_speed:PowerOnly:B" *n code=0256 name="optimize_roll_speed:PowerOnly:C" *n code=0257 name="optimize_roll_speed:PowerOnly:D" *n code=0258 name="optimize_roll_speed:PowerOnly:E.Wait" *n code=0259 name="optimize_roll_speed:StartingMission" *n code=025A name="optimize_roll_speed:BuoyancyHold.Buoyancy" *n code=025B name="optimize_roll_speed:MassHold.Pitch" *n code=025C name="optimize_roll_speed:Transit" *n code=025D name="optimize_roll_speed:Transit:A.Pitch" *n code=025E name="optimize_roll_speed:Transit:B.SetRollSpeed" *n code=025F name="optimize_roll_speed:Transit:Wpt1.Waypoint" *n code=0260 name="optimize_roll_speed:Transit:PhoneHome" *n code=0261 name="ballast_and_trim" *n code=0262 name="ballast_and_trim:Science" *n code=0263 name="ballast_and_trim:Science:A" *n code=0264 name="ballast_and_trim:Science:B" *n code=0265 name="ballast_and_trim:Science:C" *n code=0266 name="ballast_and_trim:Science:D" *n code=0267 name="ballast_and_trim:Science:E" *n code=0268 name="ballast_and_trim:Science:F" *n code=0269 name="ballast_and_trim:Science:Read_Oil" *n code=026A name="ballast_and_trim:Science:OceanCurrent" *n code=026B name="ballast_and_trim:Science:OceanCurrent:A." *n code=026C name="ballast_and_trim:Science:PeakDetectChl" *n code=026D name="ballast_and_trim:Science:PeakDetectChl:A" *n code=026E name="ballast_and_trim:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=026F name="ballast_and_trim:Science:PeakDetectChl:C" *n code=0270 name="ballast_and_trim:Science:EdgeDetectChl" *n code=0271 name="ballast_and_trim:Science:EdgeDetectChl:A" *n code=0272 name="ballast_and_trim:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=0273 name="ballast_and_trim:Science:EdgeDetectChl:C" *n code=0274 name="ballast_and_trim:Science:EdgeDetectChl:D" *n code=0275 name="ballast_and_trim:Science:HighestChlPeakReport" *n code=0276 name="ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0277 name="ballast_and_trim:Science:PeakDetectNO3" *n code=0278 name="ballast_and_trim:Science:PeakDetectNO3:A" *n code=0279 name="ballast_and_trim:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=027A name="ballast_and_trim:Science:PeakDetectNO3:C" *n code=027B name="ballast_and_trim:Science:PeakDetectOil" *n code=027C name="ballast_and_trim:Science:PeakDetectOil:A" *n code=027D name="ballast_and_trim:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=027E name="ballast_and_trim:Science:PeakDetectOil:C" *n code=027F name="ballast_and_trim:Science:HighestOilPeakReport" *n code=0280 name="ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=0281 name="ballast_and_trim:Science:PeakDetectFDOM" *n code=0282 name="ballast_and_trim:Science:PeakDetectFDOM:A" *n code=0283 name="ballast_and_trim:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0284 name="ballast_and_trim:Science:PeakDetectFDOM:C" *n code=0285 name="ballast_and_trim:Science:PeakDetectSalinity" *n code=0286 name="ballast_and_trim:Science:PeakDetectSalinity:A" *n code=0287 name="ballast_and_trim:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0288 name="ballast_and_trim:Science:PeakDetectSalinity:C" *n code=0289 name="ballast_and_trim:Science:HighestSaltPeakReport" *n code=028A name="ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=028B name="ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI" *n code=028C name="ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=028D name="ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=028E name="ballast_and_trim:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=028F name="ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI" *n code=0290 name="ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=0291 name="ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=0292 name="ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=0293 name="ballast_and_trim:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=0294 name="ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI" *n code=0295 name="ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=0296 name="ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=0297 name="ballast_and_trim:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=0298 name="ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI" *n code=0299 name="ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=029A name="ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=029B name="ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=029C name="ballast_and_trim:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=029D name="ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms" *n code=029E name="ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:A" *n code=029F name="ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=02A0 name="ballast_and_trim:Science:PeakDetectPlanktivoreDiatoms:C" *n code=02A1 name="ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms" *n code=02A2 name="ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=02A3 name="ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=02A4 name="ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=02A5 name="ballast_and_trim:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=02A6 name="ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates" *n code=02A7 name="ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=02A8 name="ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=02A9 name="ballast_and_trim:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=02AA name="ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=02AB name="ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=02AC name="ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=02AD name="ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=02AE name="ballast_and_trim:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=02AF name="ballast_and_trim:Science:ChlThreshTrigger" *n code=02B0 name="ballast_and_trim:Science:ChlThreshTrigger:A.ValueDetect" *n code=02B1 name="ballast_and_trim:Science:ChlThreshTrigger:B" *n code=02B2 name="ballast_and_trim:Science:ChlThreshTrigger:C" *n code=02B3 name="ballast_and_trim:NeedComms" *n code=02B4 name="ballast_and_trim:NeedComms:A" *n code=02B5 name="ballast_and_trim:NeedComms:B.GoToSurface" *n code=02B6 name="ballast_and_trim:NeedComms:C" *n code=02B7 name="ballast_and_trim:NeedComms:C:A_Timeout" *n code=02B8 name="ballast_and_trim:NeedComms:C:A_Timeout:A" *n code=02B9 name="ballast_and_trim:NeedComms:D" *n code=02BA name="ballast_and_trim:NeedComms:D:A_Timeout" *n code=02BB name="ballast_and_trim:NeedComms:D:A_Timeout:A" *n code=02BC name="ballast_and_trim:NeedComms:E" *n code=02BD name="ballast_and_trim:NeedComms:E:A_Timeout" *n code=02BE name="ballast_and_trim:NeedComms:E:A_Timeout:A" *n code=02BF name="ballast_and_trim:C" *n code=02C0 name="ballast_and_trim:StandardEnvelopes" *n code=02C1 name="ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope" *n code=02C2 name="ballast_and_trim:StandardEnvelopes:B.DepthEnvelope" *n code=02C3 name="ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope" *n code=02C4 name="ballast_and_trim:E" *n code=02C5 name="ballast_and_trim:F" *n code=02C6 name="ballast_and_trim:G" *n code=02C7 name="ballast_and_trim:BackseatDriver" *n code=02C8 name="ballast_and_trim:BackseatDriver:A.BackseatDriver" *n code=02C9 name="ballast_and_trim:PowerOnly" *n code=02CA name="ballast_and_trim:PowerOnly:A" *n code=02CB name="ballast_and_trim:PowerOnly:B" *n code=02CC name="ballast_and_trim:PowerOnly:C" *n code=02CD name="ballast_and_trim:PowerOnly:D" *n code=02CE name="ballast_and_trim:PowerOnly:E.Wait" *n code=02CF name="ballast_and_trim:CheckTargetDepths" *n code=02D0 name="ballast_and_trim:CheckTargetDepths:CheckDepth1" *n code=02D1 name="ballast_and_trim:CheckTargetDepths:CheckDepth1:A" *n code=02D2 name="ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute" *n code=02D3 name="ballast_and_trim:CheckTargetDepths:CheckDepth2" *n code=02D4 name="ballast_and_trim:CheckTargetDepths:CheckDepth2:A" *n code=02D5 name="ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute" *n code=02D6 name="ballast_and_trim:CheckTargetDepths:C" *n code=02D7 name="ballast_and_trim:StartingMission" *n code=02D8 name="ballast_and_trim:StartingMission:A" *n code=02D9 name="ballast_and_trim:StartingMission:StartingMission" *n code=02DA name="ballast_and_trim:RunBallastAndTrim" *n code=02DB name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim" *n code=02DC name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:A" *n code=02DD name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:B" *n code=02DE name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:C" *n code=02DF name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:D" *n code=02E0 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:E" *n code=02E1 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:F" *n code=02E2 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth" *n code=02E3 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:A" *n code=02E4 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold" *n code=02E5 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point" *n code=02E6 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy" *n code=02E7 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch" *n code=02E8 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive" *n code=02E9 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:A" *n code=02EA name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait" *n code=02EB name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth" *n code=02EC name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:A" *n code=02ED name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed" *n code=02EE name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch" *n code=02EF name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout" *n code=02F0 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:A" *n code=02F1 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute" *n code=02F2 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth" *n code=02F3 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed" *n code=02F4 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch" *n code=02F5 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:C" *n code=02F6 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait" *n code=02F7 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:E.Execute" *n code=02F8 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F" *n code=02F9 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:G." *n code=02FA name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertDepthDeadband" *n code=02FB name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertApproachSpeed" *n code=02FC name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertApproachDepthRate" *n code=02FD name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertApproachPitchLimit" *n code=02FE name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertApproachSettleTimePreDive" *n code=02FF name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertApproachDepthTimeout" *n code=0300 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertSettleTime" *n code=0301 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.EstTimeout" *n code=0302 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.MinEstTime" *n code=0303 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.MassEstErrorBound" *n code=0304 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.BuoyEstErrorBound" *n code=0305 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.EstConfidence" *n code=0306 name="ballast_and_trim:RunBallastAndTrim:BallastAndTrim.Redefine.InsertMassDeadband" *n code=0307 name="ballast_and_trim:RunBallastAndTrim:RunDepth1" *n code=0308 name="ballast_and_trim:RunBallastAndTrim:RunDepth1:A" *n code=0309 name="ballast_and_trim:RunBallastAndTrim:RunDepth1:B" *n code=030A name="ballast_and_trim:RunBallastAndTrim:RunDepth2" *n code=030B name="ballast_and_trim:RunBallastAndTrim:RunDepth2:A" *n code=030C name="ballast_and_trim:RunBallastAndTrim:RunDepth2:B" *n code=030D name="ballast_and_trim:EndingMission" *n code=030E name="calibrate_sparton_compass" *n code=030F name="calibrate_sparton_compass:Science" *n code=0310 name="calibrate_sparton_compass:Science:A" *n code=0311 name="calibrate_sparton_compass:Science:B" *n code=0312 name="calibrate_sparton_compass:Science:C" *n code=0313 name="calibrate_sparton_compass:Science:D" *n code=0314 name="calibrate_sparton_compass:Science:E" *n code=0315 name="calibrate_sparton_compass:Science:F" *n code=0316 name="calibrate_sparton_compass:Science:Read_Oil" *n code=0317 name="calibrate_sparton_compass:Science:OceanCurrent" *n code=0318 name="calibrate_sparton_compass:Science:OceanCurrent:A." *n code=0319 name="calibrate_sparton_compass:Science:PeakDetectChl" *n code=031A name="calibrate_sparton_compass:Science:PeakDetectChl:A" *n code=031B name="calibrate_sparton_compass:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=031C name="calibrate_sparton_compass:Science:PeakDetectChl:C" *n code=031D name="calibrate_sparton_compass:Science:EdgeDetectChl" *n code=031E name="calibrate_sparton_compass:Science:EdgeDetectChl:A" *n code=031F name="calibrate_sparton_compass:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=0320 name="calibrate_sparton_compass:Science:EdgeDetectChl:C" *n code=0321 name="calibrate_sparton_compass:Science:EdgeDetectChl:D" *n code=0322 name="calibrate_sparton_compass:Science:HighestChlPeakReport" *n code=0323 name="calibrate_sparton_compass:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=0324 name="calibrate_sparton_compass:Science:PeakDetectNO3" *n code=0325 name="calibrate_sparton_compass:Science:PeakDetectNO3:A" *n code=0326 name="calibrate_sparton_compass:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0327 name="calibrate_sparton_compass:Science:PeakDetectNO3:C" *n code=0328 name="calibrate_sparton_compass:Science:PeakDetectOil" *n code=0329 name="calibrate_sparton_compass:Science:PeakDetectOil:A" *n code=032A name="calibrate_sparton_compass:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=032B name="calibrate_sparton_compass:Science:PeakDetectOil:C" *n code=032C name="calibrate_sparton_compass:Science:HighestOilPeakReport" *n code=032D name="calibrate_sparton_compass:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=032E name="calibrate_sparton_compass:Science:PeakDetectFDOM" *n code=032F name="calibrate_sparton_compass:Science:PeakDetectFDOM:A" *n code=0330 name="calibrate_sparton_compass:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=0331 name="calibrate_sparton_compass:Science:PeakDetectFDOM:C" *n code=0332 name="calibrate_sparton_compass:Science:PeakDetectSalinity" *n code=0333 name="calibrate_sparton_compass:Science:PeakDetectSalinity:A" *n code=0334 name="calibrate_sparton_compass:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=0335 name="calibrate_sparton_compass:Science:PeakDetectSalinity:C" *n code=0336 name="calibrate_sparton_compass:Science:HighestSaltPeakReport" *n code=0337 name="calibrate_sparton_compass:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=0338 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI" *n code=0339 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=033A name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=033B name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=033C name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI" *n code=033D name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=033E name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=033F name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=0340 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=0341 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI" *n code=0342 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=0343 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=0344 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=0345 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI" *n code=0346 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=0347 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=0348 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=0349 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=034A name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms" *n code=034B name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:A" *n code=034C name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=034D name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDiatoms:C" *n code=034E name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms" *n code=034F name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=0350 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=0351 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=0352 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=0353 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates" *n code=0354 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0355 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=0356 name="calibrate_sparton_compass:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0357 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0358 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0359 name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=035A name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=035B name="calibrate_sparton_compass:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=035C name="calibrate_sparton_compass:Science:ChlThreshTrigger" *n code=035D name="calibrate_sparton_compass:Science:ChlThreshTrigger:A.ValueDetect" *n code=035E name="calibrate_sparton_compass:Science:ChlThreshTrigger:B" *n code=035F name="calibrate_sparton_compass:Science:ChlThreshTrigger:C" *n code=0360 name="calibrate_sparton_compass:NeedComms" *n code=0361 name="calibrate_sparton_compass:NeedComms:A" *n code=0362 name="calibrate_sparton_compass:NeedComms:B.GoToSurface" *n code=0363 name="calibrate_sparton_compass:NeedComms:C" *n code=0364 name="calibrate_sparton_compass:NeedComms:C:A_Timeout" *n code=0365 name="calibrate_sparton_compass:NeedComms:C:A_Timeout:A" *n code=0366 name="calibrate_sparton_compass:NeedComms:D" *n code=0367 name="calibrate_sparton_compass:NeedComms:D:A_Timeout" *n code=0368 name="calibrate_sparton_compass:NeedComms:D:A_Timeout:A" *n code=0369 name="calibrate_sparton_compass:NeedComms:E" *n code=036A name="calibrate_sparton_compass:NeedComms:E:A_Timeout" *n code=036B name="calibrate_sparton_compass:NeedComms:E:A_Timeout:A" *n code=036C name="calibrate_sparton_compass:C" *n code=036D name="calibrate_sparton_compass:StandardEnvelopes" *n code=036E name="calibrate_sparton_compass:StandardEnvelopes:A.AltitudeEnvelope" *n code=036F name="calibrate_sparton_compass:StandardEnvelopes:B.DepthEnvelope" *n code=0370 name="calibrate_sparton_compass:StandardEnvelopes:C.OffshoreEnvelope" *n code=0371 name="calibrate_sparton_compass:E" *n code=0372 name="calibrate_sparton_compass:F" *n code=0373 name="calibrate_sparton_compass:G" *n code=0374 name="calibrate_sparton_compass:BackseatDriver" *n code=0375 name="calibrate_sparton_compass:BackseatDriver:A.BackseatDriver" *n code=0376 name="calibrate_sparton_compass:PowerOnly" *n code=0377 name="calibrate_sparton_compass:PowerOnly:A" *n code=0378 name="calibrate_sparton_compass:PowerOnly:B" *n code=0379 name="calibrate_sparton_compass:PowerOnly:C" *n code=037A name="calibrate_sparton_compass:PowerOnly:D" *n code=037B name="calibrate_sparton_compass:PowerOnly:E.Wait" *n code=037C name="calibrate_sparton_compass:StartingMission" *n code=037D name="calibrate_sparton_compass:K.Pitch" *n code=037E name="calibrate_sparton_compass:L.Buoyancy" *n code=037F name="calibrate_sparton_compass:M.DepthEnvelope" *n code=0380 name="calibrate_sparton_compass:N.AltitudeEnvelope" *n code=0381 name="calibrate_sparton_compass:O.YoYo" *n code=0382 name="calibrate_sparton_compass:AdaptCal" *n code=0383 name="calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit" *n code=0384 name="calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout" *n code=0385 name="calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:A" *n code=0386 name="calibrate_sparton_compass:AdaptCal:WaitForCalibrationInit:A_Timeout:B.Execute" *n code=0387 name="calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints" *n code=0388 name="calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:A.Point" *n code=0389 name="calibrate_sparton_compass:AdaptCal:AcquireCalibrationPoints:B.SetSpeed" *n code=038A name="calibrate_sparton_compass:AdaptCal:C.CalibrateAHRS_M2" *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 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size=0001 fl=04 *a code=1602 owner=0380 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1603 owner=0380 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1604 owner=0380 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1605 owner=0380 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1606 owner=0380 element=050A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1607 owner=0380 element=0509 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1608 owner=0380 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1609 owner=0380 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=160A owner=0380 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=160B owner=0380 element=0508 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=160C owner=0381 element=04BB universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=160D owner=0381 element=04B5 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=160E owner=0381 element=04B1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=160F owner=0381 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *a code=1610 owner=0381 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1611 owner=0381 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=1612 owner=0381 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=1613 owner=0381 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1614 owner=0381 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1615 owner=0381 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1616 owner=0381 element=0503 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1617 owner=0381 element=0505 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1618 owner=0381 element=0506 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1619 owner=0388 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=161A owner=0388 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=161B owner=0388 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=161C owner=0388 element=051A universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=161D owner=0388 element=051D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=161E owner=0388 element=051E universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=161F owner=0388 element=051F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1620 owner=0388 element=051B universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=1621 owner=0388 element=051C universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=1622 owner=0389 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1623 owner=0389 element=050C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=1624 owner=0389 element=050B universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=1625 owner=0315 element=07BC universal=3FFF unitName="photon_per_second" type=0B size=0003 fl=04 *a code=1626 owner=0314 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1627 owner=0312 element=0788 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=1628 owner=0312 element=078B universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=1629 owner=0311 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=162A owner=0311 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=162B owner=0363 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=162C owner=0366 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=162D owner=0369 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=162E owner=0383 element=0555 universal=3FFF unitName="count" type=0D size=0004 fl=04 AInitialize.񃿱AInitialize.1BInitialize.?I? ? ? ? ? i? =8 0got command restart logsE?I E?J E?J EJ `5E?J A?L A?R NT p>C,KYLA~~ΉI  I (2e a=yQ >٥ G > ;4Μ? ;49b I* 8y  9 ?5>i?)<@l;4Y]jBY: HBL=Л<҂L?m Imk\=)uH‰u̒8Iu uqu:yi}A) ֐C=G A Y Ay(AE}?EEEO0E)Y Y H<H4<HHHDHs=HHHH<HF6G R`U=A A N >K% [P"K% 89*K! 2K% ,:K% Y;r  nznV#?XY!_j aJ,;7*YLA9VOQ@V_@YVu3yV#=VH`m@6?(? ֿ@U?Ux?w?? VOQ@V,;)T5ߜ5@ &)Ii+'# # #) M=IIUIU3e e>=yJ'=Q >٥饩 Ga >;4Μ? ;49 I` [8y8?n>iL<g@m;4iuBq:! !!!҂!静I)NH‰I vH;iEEEEE6Gm#*=AyA:JBJJJIRJZJ :bJ9JQf6JzJk;jJl;J|#;rJ}#;N>P, DYLA9NLP@N8`^@YN8̼yN=NH`~;? @fԿ ?m? &? ? NLP@N ;)NwC D :IIb2; =y =Q 5>٥11 5G9=A =>AM;4EΜ?M;49E IE18y8??E>iE()KH‰I i˪;i D5 ʃ:H H H H "H H H H <H +F إ<ץ<E?EEE>1EF}AF|A6GFAK=P"K=M9*K92K=-:K=!WU8~YO ol3>#uwD*g7Z6j} t ^   A1N ?:Y, fYLA9uwQ@uԪ_@Yu;yu]3>uH: LR?ٷ`Z#ֿ`?`qo`b?$? uwQ@uS;)u{C C)ɺ @Cɻ i I  I i  )C Ļɼ̏CIY)aia)aIeAaɽa iɾiiiiiiiqq)q qIqٯq0aIaI aMaM aQaQ aEaE x&1??B`"?>f>َ> )Y(\?A`"MbX9Կyz>ٽʡB )BIByuBII3u= }%=yn=Q >٥ G%= >;48Μ?E;49 IMT:yM4>M:M6M??im'<*'<f;4QUrBY: ҂bsR)u,H‰qIq u巩y}0;iDŃ::J} BJ} JJ} >RJy ZJ} m:bJ} :J} u]6Jy zJ} ;jJ} ;J} J;rJ} J;>E ?BɺEYEYEaEeo0EaFmFmFiFiAAN&?c,k~YLA9WO@ ^@YH J?L@Կ?k_@? ? WO@骕a@;)xC;хBII3= =y٥    GU&7 U>Ye;4]tΜ?e;49]M I]yim2m?]..?i]:]:]4;4quYBq: ҂bs1js1rs1zs5q@AII)MG‰II -6.<iD}:>Ee&<GG>AE?EEE0E~G AAAN>K RP"K #9*K 2K .:K AM&TDH[e'\ &0UBDE25*qy8;H! j,#YLA961O@6]@Y6;y6^[F>6HvV?qwZԿ%`A?u~ ?f? 61O@6#;)4~y<CI-I-b2ee= ej=ymQ m?٥mL?mL? uGuFuH u?y;4}YlΜ?;49} I}Ͽy=?}nG?i}u:}>:};4OBE:I I҂bsjsrszs`?IIQ)UG‰QIQ U]QU;8EE3=E?EEE`5EjGG>bG=~GAAN>:J%BJ%JJ%RRJ!ZJ%ݒ:bJ%9J%m6J!5@5@5@5@p,YLA9>W@O@>S]@Y>|*y>ͬ =>H`b?ج?,ӿ`x?N?P?6? >W@O@>Ȋ;)>yCR6;Rd\BIZ IZ<2H A=yQ >٥ GF· > U;4  aΜ?U;49  I ߿yY]IH]? i?i P#< (< Ԯ;4YB: ҂bs)js)rs)zs-o@靁Iӝ>)G‰I JR<iC|AC{AD́:D=D=>E=zEE1E9E9E=4E9~GAA1N=>yw,3YLA9F-N@FXA\@YFNyF^F!٥饡 G >Q];4UTΜ?];49U IUyaeG@e?U?iU:U:Uh;4iunBq: ҂bs1js1rs1zs5@靁I)#H‰I 7l<iKP"K9*K2K/:KM3I.|Q\:[W+7 C.<KW7D=A:>E j>EEEE2E~G A A N >I},YLA9>K@>] Z@Y>:y>D=>H@U??`Gпº?KU?ꌸ?@? >K@>I0;)>zCNGR5:JBJJJ6RJZJ}:bJ9JW6JzJ;jJ;J17;rJ27;aI@a aM@a aQ@a aE@a a)@a K7T㥛 ~jt?I = )IMb@Mb@Mb@i‰© )IiIUIU?13e!= e@=ye~=Q m>٥i饩 GFj >;4JΜ?;49 I+:y:G ??i %<>N;4eBE:q qqq҂qI >)H‰I! -G)53[<9i9D :>E >E E E E 2E ZG |ARG |A~GY Aa Ay N >1,ZLA9:K@:Y@Y:Sy:#iR>:Hn? |пd7`U;???`O? :K@:!щ;):xCJlJIrIr0zo!< ze=y=$=Q =>٥99 =GEFEmP E>IU;4MAΜ?U;49M+! IMH :y:@?M?iM&C >D :D{ADzA HHH}W>HyH}HCH}<H} =HyHyH}<H}DF>E( >Ee ?Ea Ei Em O0Ei ~GA AI AY N >Ku P"Ku 89*Kq 2Ku 0:Ku bj"{a6]5qwWtT6/zX/OTk Z,ak+ZLA96vM@6[@Y6Ty6>6H`sY?@\2ҿ/@?m??`ˌ? 6vM@6;)4N RIZ IZ2]$8< eD=ye QQ e>٥iq uG= >;4 7Μ?;49 " I9y:`8?\?i,:?C;4aB:) 11q҂yI))5 H‰9I9 EAEܚ<iDm:D}D}DDE ?E E E E ~Ga Aq A N >A,|EEZLA9>m{M@>ʎ[@Y>?\y>>>H`J? 6ҿ p7o??(^? c? >m{M@>W;)>yCbbIrIr3vď zR=yz7Q z>٥|| =G=FEI: E>Q;4Uj-Μ?;49U" IU9yN:^5?U?iUm%bG-?~GAAN J>)  .G ~A! U  YU ~AyU BJMd6Jd6Jj2:J BJ JJ DRJ ZJ m:bJ 9J Jb6J  @ @ @ @s,)A_ZLAHzX>HxHzHzHz =HxHxHzɓ<HzSF%Y%aIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a a)a) ~jt?l?QD=>u )IMb@Mb@Mb@i vBK P"K9*K2K1:K  A 8 s  D C P l 2  =  4,]CRDXkd5?iL)IyvBI  I ̍2ܼ  =yQ >٥饹 G F > ;4 Μ?;49 t$ I #9y':? ?i M: I @ [;4!%wBa: !!!҂!靉I)6H‰I Bv<iC{ACzAD {:Eu ?Eq Eq E} ^0Ey ~GI AY Ai N} >E,iyZLA9f^J@f0X@Yf:yf@W/>fH?dn?Ϳј?W??? f^J@f;)fxCvz|II2U% ]=y =Q 8?٥饩 G^ 8?;4Μ?;49$ I|(o9y:wD?N?i+<@;4 |B:i iii҂quB*** querying acoustic contact ***JqRqI)%@H‰!I! % !%m<)i)D5&{: u=q }2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.E?EEEO0E~G)A9AQN]v>ˍ,ZLA9>JK@>Y@Y>y>=>H?'a?΁п`(X?Z? iW?? >JK@>v;)>yCRR6IZIZ<2r*DAT read: user:573> vBDAT read: Tx time:05:55:53.4679 v$Ping request sent.z٥饙 G F3|= >;4RΜ?;49$ I0B9y90H??i$<W2@;4BE:Q QYY҂YI>)JH‰I 4  b<iDy::JBJJJ1RJZJ̈́:bJ9JR6JE?EEEEHHHH"HHH~GAHv<HFi]>I>A!N-p>JDAT read: TxSync time:05:55:53.4671 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251813K J >뷪,ZLA969K@6;MY@Y6&!٥ G >;4Μ?;49$ IE99y1595G5?N@ia%<L@;49EuBA: ҂I(>)3H‰I  Ǹ  <ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502765D^x:E?EEEE~GyAAN^> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754794,ZLAI)@9:KkJ@:~X@Y:hFży:.,>:H ֢?npο:^?0? &z?`s? :KkJ@:R;):zCZ1ZIbIb2nG< nY=ynwQ r>٥pp rGr FvD v>x~;4z͜?~;49z$ Iz@8y 9 D ?z @iz"),H‰I ߸Խ<iDv:Ee?EiEiEm_0Ei~GYAaAqN9>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006869:J BJ JJ 3RJ ZJ M:bJ :J T6J η,ZLAH0H0H2H2JKH0H0H0H2<H2=F M ?MU?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589549%^PJ@%cX@Y%\fy%wc>%H +(?sP?Pο:]?`Ǭ?'?*? %^PJ@%;)!uH+uaIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a "~?:v?Q?S>T== )IMb@Mb@Mb@i mB)BIyˆBI%I%V835FG; 5=y=Q ]>٥aa eGe FeO m>q;4u"͜?;49ux% IuqK8yi9@?u@iu:uԂ@u;4[BqB!E: ҂YIa)e*H‰aIa eyaeE t>Em ?Ei Ei Em O0Eq ~GA AQ Aa Nm >ۄ,ZLAUVsUIeIe2ؘ= b=yQ >٥ G > ;4͜? ;49% IR8y=9?@i!;3@;4cB!:Q QQY҂Y靡I)H‰I  6=iDs:Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763883>Ee>E?EEE}0E~GAA Nm> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148411m,[LA9F@jT@YΨy;>>Hy?c` ǿ&?`?`ģ? r? F@΋;)yCU{.UIe Ieb3 N=y=Q >٥饩 G F >;4͜?;49% IZ8y9TG?"@i:@ ;4qB:Y YYY҂YI??)>)+H‰I y =i:JqBJuJJu=RJqZJqbJu9Ju\6JqDr:D=D= H<H<HHH/HMHHHHk<HFHHHHI Iū@5]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267670>E4>EA EA EA EE _0EA ~G A! AA NU >K P"K *K 2K 4:K C tGjNNv[   } y Ef=R4qx?)c,0[LA96G@6_!U@Y6}y6Tm=6H`m/?Kuǿ@;z=??p?`? 6G@67^;)4RIR Ij Ij(2 m T=y=u :Q =>٥AA EGEFE< E>IU;4M͜?U;49M% IMb}[8yy}8}F@}?M*@iMO;Mf@M;4tB$E: ҂ I ) 2H‰I1 =#9=R=AiACM?CM9?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518647D- q:>E0>EEEEE5E~GYAaAyN[> e >e <m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770958z,eJ[LA9>-F@>T@Y>fy>c=>HEyb?4wh ǿ9H?Ԍ?oǻ?? >-F@>:];)>|C^Eb>IjIj(1% %I=y-Wg;Q ->٥)1 5G15Ϙ 5>iu;4m͜?u;49m% ImKk18y8~E@?m1@imJ;mw@m;4B: ҂YIa)eMH‰iIi /,=iDuo:BDAT read: Rx Time:05:55:56.0104 TRx dataTimestamp_ set to:1749102957.351529checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025001>E`=(>E E E E p5E I I 4=~G A A) NE >H! H! H% H% H%  =H! H! H% W<H% FK,Od[LA9FE@FMS@YFOyF5>FH`w l?q?ſ?@? L? 8n? FE@FnF;)FzCrxrB v=v=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274627xzAaI%aI% aM%aM% aQ%aQ% aE%aE% %{Gz"~j?bX9ƿ%ף%S=%E6 !)!Y%J +?X9vϿGz?y%H>%}%p>%MB %4B)%I%kB%y%LBI]I]1rc 5=yQ >٥饑 GF ><4͜?<49" IeT:y>;@?;@iQ;;3<4B: ҂bs]?js]?rs]!@zs]׸ @iIu>)uOH‰qIq u=qu=yiyDe2n:KP"K9*K2K5:K K  g | C Te   B >^ s  WB~,RJe}AJe}A>EmQ3(>DAT read: 05:55:56.0104 LVL= 12368, 24273, 19570, 20067, AGC= 65, IDX= 340,-0.29,-2.530, 2.573,-2.684, 2.824, PHS= 1.017,-0.204, 0.772, RAW= 139.1, -26.6, CAL= 143.8, -32.5, ROT= 6.2, 32.5  Ygot valid direction response: 05:55:56.0104 LVL= 12368, 24273, 19570, 20067, AGC= 65, IDX= 340,-0.29,-2.530, 2.573,-2.684, 2.824, PHS= 1.017,-0.204, 0.772, RAW= 139.1, -26.6, CAL= 143.8, -32.5, ROT= 6.2, 32.5  PDAT read: Bearing 6.2, 32.5 (Local)  ~Local bearing/azimuth received: Bearing 6.2, 32.5 (Local) - DAT read: Range 10 to 50 : 103.7 m (Round-trip 138.3 ms) speed -0.2 m/s = R#Rx 1: Read range and direction messages. ^direction in FSK: [0.838458,0.091086,-0.537300] Fpublishing direction and range infoye?=dQ?Ef1ΌfBY P0)^IrLicNA-?`PˡE? O`@),IK @i6k=6? )J ?X?,jjܿipd>>k=6? )E E E E% d5E! ~G A A9 NE >T,~[LA:J&BJ&JJ&6RJ$ZJ&:bJ&:J&W6J$zJ&Q;*jJ&R;*J&C;*rJ&C;.9JG@JU@YJfU׽yJ춎>JHB੨?b?ǿl ?`ݺ??Q? 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B@B*;)BCN AN2GIVIV1f7v> fI=yfa:Q f>٥hh jHjgFj& n>pvA4rxƜ?vA49rF Ir@ytv4@z?rAiru:r:rA4|~B|: ҂bsAjsArsAzsE<@QI)$‰I =iDE9QKmQ"Ki*Ki2Kmk:Km2}?)-6$D3eL7 `v["|63J.m [0EaEiEiEiEi~GAAaAN<>y Hu<Hu<Hu>HuCHurGHuAHuN =Hu)DHqHu<HuuFԩ PN,(  zH=yzi;Q z>٥x| ~H~hF~w > A4qiƜ? A49ZE I@y4@?Aii;A;A4-OB-bB5׬E:A III҂IbsijsirsizsmS<@yIy)}%$‰I l=iC>C>D5?9ԱEiEiEiEm^0EijGu?bGu>~GaAiAN9> r:U,UiLA96X@6#'@Y6?y6 =6H- T޿C??ſ ?? ɳ? 6X@6;)6CR:ARGI^I^3f> fM=yf]g;Q f>٥hh jHhj^;l n>pvA4r^ZƜ?vA49rC Ir@yx4@?rAir;r;rA4 (B:! )))҂)bsIjsIrsIzsMV<@YIa)e#‰aIa aaer=iiiDu:9ljG -Y1y5B>E}l9=9E)E)E1E5O0E1~G A A1 N= >K Q"K 9*K 2K l:K k*oPhd:AY_2vC9P\!`:>2%uEhJ ?J >a d[,oiLA96$@6,8'@Y6my6=6H ] i޿`I? ? ञĿ?]? ? 6$@6;)6C^A^G`9!rh?J +?l'?= )Yn? ףp= +?yV.?Q>B )/KBIByBI H>HCHGHAHJ =HHUDH<HFI F3=v> =5=y=T;Q E>٥AA EHEiFM5; M>Q]A4UYJƜ?]A49U? IU5@y]T4?]:e@e?UAiUE:U:UA4imBmڬE: ҂bs$=js$=rs@zs?靹I)B#‰I u=iiD39>E+=:JEBJEJJEpRJAZJE:bJE9JE܂6JAzJE;jJE;JE1;rJE1;EEEE_0Eԩ~GAA N% > Kb,RiLA9>.X@>k'@Y>y> =>H=`X޿1K??`!Ŀ@?`(?`? >.X@>J7;)>CJAJ-GI I T3U> UZ=ԙyU;Q >٥ HjF< >A4l<Ɯ?A49; I@y@?RAi;_;WA4B: ҂%B*** querying acoustic contact ***J!R!bsAjsArsAzsE;R?aIa)e"‰aIi iimq=iiqCyC}}ADw-9DDDD ]2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.E?EEEo0E~G A A N > Kuh,yiLA9B#@B}'@YByB=BH x ޿;U??)ÿ`??Ϳ? B#@B[ч;)BCZmAZG\IEIE2f> G=y;;Q >٥饑 H < >A4;.Ɯ?A498 I @y@?Ai;;/A4BݬE:y y҂bsjsrszs1?I)d"‰I =i رױ*DAT read: user:574> BDAT read: Tx time:05:56:53.8185 $Ping request sent.+AZ[BF`I" AAS3.MQ Wh4x/f0GD'9JJ!E?EEE5E~GyAAN^>H%>H%CH%GH%AH%Q =H!H%SDH%><H%Fie JDAT read: TxSync time:05:56:53.8177 m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250213ԙ 3n,iiLA96@6'@Y6y6(=6H] `ݿ`]?@ F=yu;Q >٥ HkF< >B4yƜ?B494 IWAy6@?Ai=;h;B4JB:1 199҂Absjsrszs7?QIQ)U!‰YIY YY]Ry=iD!9E1E1E1E5O0E1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501528~G)A9AINuy>! u,/iLA 9B@Bh(@YB*yB=BH@ݿ]?s?nDwÿ`ٲ?S?? B@B;)BCchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753261AG:JABJEJJEdRJAZJAbJE9JE|6JAU@U@U@U@I]#I]%x3yCU> 1=y8:Q >٥饑 HlF; >B4Ɯ?B49/ IAyc@?Ai;;B4NBB߬E:  ҂bsIjsIrsIzsM?静I)!‰I =iCe>CeC>ԙD=L9zEAEEEE+4EjGbG ?~G A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005392 A N >K} Q"K} 9*Ky 2K} n:K} )IR T>te ^Uw:U@a4f 60J ?J ?m{,iLALi) I !)%A!%F!)-Ai-tI-F)I)i5A 5н1)11 =A=,9999I=,)AiA)AIE|AAI IQYYiYYٯa}A}ؿGH>HCHGH AHN =HHPDHs<HFaI@a aM@a aQ@a aE@a a)@a |?5^?Mb`Q-?u )IMb@Mb@Mb@i‰© )IiI]I]V83b> H=yQ >٥ H >!-B4%Ŝ?-B49%+ I%gA5+:y15t:15?%Ai%,:%>%#B49=B9: ҂ I )!‰I =%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257311i9D9E?EEEP0E~GAAN> -, jLABchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509498!9]@](@Y] y]s5=]H#tݿ?9?X:0{ÿev?>i?c? ]@];)]CAGIIF2Q]_> e=ye;Q e>٥ii mHmmFuE u>yB4}Ŝ?B49}& I} A :yE:@?}Bi}:}o?}^/B4'BE: ҂I) ‰I 3=i5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761430:J] BJ] JJ] aRJY ZJ] :bJ] =9J] y6JY De 9ԁ E ?E E E E ZG RG ~G1 A9 AY Ne >ψ,$jLA9N@NA'@YNyN07=NH$`޿ %??`+@nxÿ@8?`?? /? N@Nr;)NCAM AMGI]I]3M$? =yiԙHx>HCHXGH$AHY =H*DHKDH<HFHuCHuCHuǙCHuN =IuP = IuG6 - A- A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265802,>jLA9Z5t@Z'@YZ޾yZfՌ=ZH V޿@??:Qÿ@??? Z5t@Z&;)ZCf7!AfCGIrIr2~C> ~V=y 2٥   H nF @  >B4_Ŝ?B49-! IA%9y!%:% @%?Bi ;u?9B4)-N~B1:A AAI҂I靁IG8>)‰I  =iD]9YE?EEEb5E~G!A1AANM1>ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517222Ա mՕ,wXjLA9>t@>2'@Y>ܾy> =>H`޿%M??X?$?ÿ`? 87?` ? >t@>;)>CV"AVnGTV@A)\ ^<IbIb3n#> nL=yr٥pp vHvoFvS v>x~B4zŜ?~B49zM IzA9y9@?zBizA;z?z=B4  }BE:! !))҂)aIa)eA‰aIi iim:=qiqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770060ԱD_9I9I9:JUBJUJJU:RJQZJU]:bJUu9JU)  BDAT read: Rx Time:05:56:56.3546  TRx dataTimestamp_ set to:1749103017.699292 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022291K Q"K 9*K 2K p:K NS,gdUpF ]L~MH#J2'lM"!'F.,_xH#J ?J >Q ,]rjLA9ZB@Z&@YZ ۾yZ#=ZHe ߿@= ??@ djÿ ?R?? ZB@Z;)ZCn$An]GH->HCHGH(AH^ =HHDDH<HFaIaI aMaM aQaQ aEaE a)a) ?l?~jtx@?=Ļ )YS?333333?A`"yZ?=ٽB zB)DFBIy(nBI$I<3b> 9=y ٱ;Q  >٥  H耼 >%B4Ŝ?-B49@ IA-T:y-#]?-u:-)-@-?JBi ; ;yMB4=MB=x}B=E:Q QQQ҂Qbs}>js}>rs}<zs} *@静I)‰I X=i)D8 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274108EE?EAEAEEO0EAY~GqAAN]>ԉ ,7jLANDAT read: 05:56:56.3546 LVL= 18080, 23025, 21138, 29715, AGC= 60, IDX= 256, 0.30,-1.312,-3.111, 2.888,-1.913, PHS= 0.689,-1.150,-1.485, RAW= 81.8, 18.7, CAL= 85.0, 26.3, ROT= 65.0, -26.3 RYgot valid direction response: 05:56:56.3546 LVL= 18080, 23025, 21138, 29715, AGC= 60, IDX= 256, 0.30,-1.312,-3.111, 2.888,-1.913, PHS= 0.689,-1.150,-1.485, RAW= 81.8, 18.7, CAL= 85.0, 26.3, ROT= 65.0, -26.3 VPDAT read: Bearing 65.0, -26.3 (Local) V~Local bearing/azimuth received: Bearing 65.0, -26.3 (Local) ZDAT read: Range 10 to 50 : 99.0 m (Round-trip 132.0 ms) speed 0.1 m/s ^R#Rx 1: Read range and direction messages.b\direction in FSK: [0.378872,0.812493,0.443071]bFpublishing direction and range info,y.@an??{?j3,G[?.BY, .F).YI.Ri.t.<.Nb0?.33.{ .3?).>I.N?i.>.6?. ,),.N"?`:0͍j5?i.)*l9~,@~?&@Y~R۾y~=~H`W s߿? ?~`xÿ??? ? ~,@..6?. ,),~Kb;)~C&AGi=I<IIUs> =y:Q >٥ HpF(s >B4Ŝ?B49S IAy,@?Bi1; ;_B4  |B E:1 111҂1Z,b.8jLA.B.B.@ʁ.YB@I؍T@ZQE@.@an??{?j3,G[?.6?.ҁ.dUD)I1:vM|4N@.f-Wج ;㿰4T?z.k.Nj.?r./1$ .Bbsijsirsizsm)@yI)\‰I ,=i1)> UCAAD58 G 1Y y 2B:JU BJU JJU .RJQ ZJU =:bJU 9JU P6JQ a >E =zE ԡ Em?EiEiEm_0Ei~GIAYAiNu?,jLA9F@FB%@YF۾yFOv=FH>W ?M?h@{Ŀ \?>?? 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Device response is::TS,25060421590986,35.0, +13.31501.4, 0 aI@a aM@a aQ@a aE@a I  I V2> D=y%,Q %>٥!! %H-ɠF- ->1=I45*?=I495w I5zBE+:yAEK:E7?E?5mBi5;5>5I4IMH6BME:a aai҂iԹqIq)}yI `=iEIEIEQEU`5EQ~GAAYAiN}7> ؽ<׽<:JYBJLJJRJZJ9bJq9JJ H- V>H- CH- HH- AH- o =H) H- DH- X<H- EA [+",TxLA9F|?FQ @YFC yF"=FHG >N??`^`L#ٿ?of?W? F|?FAއ;)FCRiARHIZIZ3bS> bQ=ybܲQ f>٥dd fHdj) j>lrI4nr"?rI49nq In<Br :ypr$:v?v?nBin;nAqԙ U(,{xLA9>(?>g @Y># y>!q=>Hf) h@??jl`QgٿЧ?A?@M? >(?> ·;)>CJAJTHLL)Rp< RIVIV2^=> ^K=yŲQ >٥!! %H%ʠF-- ->)5I4-?=I49-j I- BE9yAE:E,?E?-Bi-$;-ќ?-sI4IM 5BME: ҂B*** querying acoustic contact ***JR靹I)lI =iqEEEEE 52Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.~GiAAN>KP"K9*K2K:K-b } s- I   U\fE)kt\h0Oz#G3R\BKg>J>J ?ԡ *DAT read: user:575>  BDAT read: Tx time:05:57:54.0691  $Ping request sent. R?>W @Y> y>=>H ڇq?@?D ٿ`Y??XF? >R?>;)>C:Jr]BJpJJrWRJpZJr]:bJpJr 5Jp]A]HImImT3> <=yQ >٥饩 HˠF6 >I4W?I49b I B%9y!%9%?%?&Bi,::?I4)-4B):q qqq҂yI)fI \=iGG?AHl>HCHOHHAHn =HH DH<H^EEEEEE~GAANF>=JDAT read: TxSync time:05:57:54.0683 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.248869I ui5,xLA 9>?>Qm @Y>u' y>=>H*߿+@zE? |!?Z?ٿ? ?,>? >?>;)>C=A=HIM%IM)3e> eN=yeQ e>٥ii mHimwG u>y}I4}R?I49}\ I} B9y9??}Bi}(:}@}I44B4BE:Q QQQ҂Q ؕ=ו4=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500268靹Ik=)/I b=iiEEEEE~G9AԡANb> U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753581KE ΤP"KE S9*KA 2KE :KE  [DlbyY+"=&]\s#"0f t) ,hF;,xLAT9n͒?n @YnLynt-+ 7=y#Q >٥ H̠F >I4?I49T IY BT:yR?:@?UBi;;qI43B:) IIQ҂Qbsf=jsf=rs@zsC=?靡I)-I y=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004564E)E)E)E-P0E)ZGIRGI:JYBJKJJYRJZJ9bJK9J-5J~G!A1AANMt>H >H CH HH AH y =H >DH "DH <H :E) xzB,(e yLA||checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256093 9?#~ @YhyP\<H߿`[`?F?@|Gۿ`?^?3'? ?};)CAHI Ib3> Y=yQ >٥ H͠Fy > I4:? I49N I By  I@?ߏBiq::I42BE:1 119҂9bsjsrszskQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507918I I @Aԁ H,Z$yLA9BJ?B @YB"yB mQ=yuDŽQ u>٥qq }Hy} }>I4"⼜?I49SH I By@?oBi;;I4B2B: ҂bsjsrszs;?I)I  = i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759860yKnP"Kػ9*K2K:K-z<\:y~_-'|T d |:LVT:j[c%J ?J?>EMm=ԩE?EEEh0E~GAAN>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011848N,>yLAԹ;AlH Hu<Hu<H>HCHHHZAH| =HH%DH<H~EHEãCHEãCHE×CHEo =IEq = IE&7II#3Fu> '=yQ >٥ H%ΠF% %>1EJ45Ҽ?EJ495Q@ I5W ByIIM?5$Bi5@;55;5>J4QU1BQ:i iii҂qbsjsrszs静I)ĦI ^=i>E}=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2644521EQEQEQEU0EQ~G A A N >a U,WyLA9F?F @YF yFD5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768921K P"K ͼ9*K 2K :K &+1v &NSK j mhk?>^=Cz =3  6-J }AJ }AԹ >[,qyLA96?6Þ @Y6y6<6H০ݿ??@|`ۿ`??? 6?6Ɨ;)4bAbHd? ?=yWQ %>٥!! %H!- ->ԙ1J45?J4954 I5ByO?:G @?5+Bi5®<5 ;5-J40B: ҂bs=js=rsתL?zs +@)I1)5_1I1 99=H=IiQEE E E O0EZG-}ARG-~ABDAT read: Rx Time:05:57:56.6443 TRx dataTimestamp_ set to:1749103077.960191checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021971~G!A)A9NMR>Hu >Hu CHu |HHu 6AHu } =Hq Hu 'DHu М<Hu >E! ,b,yLAvchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2729189nC?n.5 @Ynyn %J=y%"Q ->٥)) -H-РF5M 5>9EJ4=?EJ49=/ I=]ByAM @M?=Bi=Q;=b;=X,J4e+Be/BeE:y yy҂bs9js9rs9zs=1+@qIq)u'qIy yy}=yiEE?EAEAEEP0EA)~G!AAAiN|> ؕ<ו<DAT read: 05:57:56.6443 LVL= 18800, 22225, 21138, 27491, AGC= 61, IDX= 324,-0.44, 1.560, 3.087, 0.809, 1.286, PHS= 0.362, 1.848,-0.480, RAW= 350.9, -16.7, CAL= 352.9, -23.2, ROT= 157.1, 23.2 Ygot valid direction response: 05:57:56.6443 LVL= 18800, 22225, 21138, 27491, AGC= 61, IDX= 324,-0.44, 1.560, 3.087, 0.809, 1.286, PHS= 0.362, 1.848,-0.480, RAW= 350.9, -16.7, CAL= 352.9, -23.2, ROT= 157.1, 23.2 PDAT read: Bearing 157.1, 23.2 (Local) ~Local bearing/azimuth received: Bearing 157.1, 23.2 (Local) DAT read: Range 10 to 50 : 128.2 m (Round-trip 171.0 ms) speed -1.2 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.846694,0.357657,-0.393942]Fpublishing direction and range infoڑyڕ5뿫g0?3X6ٿڕ3CYڑ ەpI)ەVIۑiەckە=ەX>I ) C:J YBJ JJ ZRJ ZJ 9bJ J e5J zJ :jJ :J rJ ەD?ە ܕ@q )ܕ;Iܕ@iܕ4QϾ - Y y U Bܕ~{/@ܕ4Q> ݑ)ݑݕGTbpR 4-]+]ҿiݕg-ݕ>ݕ~{/@ݕ4Q> ޑ)ޑh,TyLA9B?BI@YBLAyB@  ]=yQ >٥19 =H=ѠF=<; =>AMJ4E?MJ49E) IE ByQU @U?E6BiEc;E;Eb9J4yN/B: ҂ZbsyLABBx@ʁe8zZFF@Y4I5뿫g0?3X6ٿ~{/@4Q>ҁWNb'VTX 7K&U俰3TzjjLC)?rfe CLC)?fe  CꁽBB@bs9js9rs9zs=Y\+@iIq)uqIq qq}t=yiIE?E E E ^0E ~GAAN(>K]P"K]9*KY2K]:K]1U 0c = d3 y.5ixvO~6`f*Nr #dx Jm>Jm>qԩ So,myLA<9:X?:@Y:uy:<:Hܿ {? ?#ۿ<?u ?`? :X?:H;):CR4ARHI^ I^̍2bY> bO=yf<Q f>٥dd jHhj( j>lrJ4n?rJ49n# InBytvd @v?nBinh:n:n GJ4xz.B|: !҂!bsjsrszsB+@I)ˠI D=iGG@AH%м>H%CH%JHH%&AH% =H!H%(DH%Ϝ<H%KEԩEEEE0E~GAAN > v,CyLA9B 4?Bb@YBԢyB] bK=ybQ b>٥dd fHfҠFf4 j>lhvJ4j?zJ49j IjBy|~Q @~?jFBijL;j3;jUJ4*B.B E: !!҂!bsAjsArsAzsEE+@QIY)]zYIY YY]A=aiiEQEQEYE]p5Ea:JBJMJJWRJZJbJ9J 5JzJ: jJ:JF:rJH:~GAAN>>1a K P"K *K 2K :K h3^P 2  Fd?m1ge  O@&qJ J U.|,<yLA9J7?JN@YJyJ=JH_ܿ z"?@?m`Gۿ@#*? ?? ? 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G?Eˊ;)C]CB]H m=i) <I I(2i> V=y ٥ He e>iuQ4mݨ?uQ49m ImiByq}?}?mBim;m ;mcQ4AE: Ա҂B*** querying acoustic contact ***JRx7I)+59I B=iD 8>E6=K P"K9*K2K:Ko:&M2G9vN  :Pf;Vt;pJJ -2Acoustic response timeout-Querying Benthos address 50 with one ping in standard two-way mode.E]?EYEYE]O0EY~G9AQAiN}z> 1 "!,JLAF*DAT read: user:576> JBDAT read: Tx time:05:58:54.0696 J$Ping request sent.N ]3=ymۂ٥ H+F >]Q4?eQ49 ITiBy??cBi=<tQ4ae/Ai:y ҂cuI)ou^9I 쿴=!i!C-}AC-}AADU85checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249612i >E} #'=zE G G AAH E>H CH #HH DBH ) =H H GDH <H >Eԑ E5 ?E1 E9 E= .1E9 jGM >bGM >~G AA1NE>!,2هLA9F_?F?YFҗlyFK=FH `ؿ -? ?ٿoǿO?bG?? F_?F^ۋ;)FCRDBRHԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501824Mb@Mb@Mb@ )Y?~jty&1y,?D`߲A A)AIAyAIIF3oZ> C=y٥ H,F]V< > Q4;?Q49` IiByb-?:??Bi;<:_Q4!%xA!:9 999҂9GցI)^n9I !!%ϼ=)i1ԩD8KU P"KU 9*KQ 2KU :KU mj % 5 , ,lc+ l E "N;B $?9)U A !L\(e  5 . } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758417 >E $=E E E E 1E ~GAA)1N=> !,LA9bm/?bV?Ybcdyb=bHVؿ 46?`?@ٿ@ƿ P?`c^?!? bm/?b;)`checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005651!EDBEHAE@AIBAI&I3U= ]=y]o٥aa eHae- e>iIyI}R=:JBJPJJRJZJbJ*9JJQ4m??Q49mP ImiBy??mBim;;m;mqQ4 BAE: ҂-qGI))-N-I9I) 1151=9iAaԁ D 8 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258116ԩ H->HCHHHEBH$ =HHFDHj<HE>E=1=E?EEE_0EZGRG|A~G)A1AINU?Љ",zlLA9Bb?B@?YBx\yB61=BHWؿ}7? Q?ٿ2ſX?x?M/? Bb?Bؤ;)BCiHJA)J' JFIH L)NANHLLPPiRףIPPIPiVA VQT)TX XXXXX^AI^`e)\i\)\I^A^bF `ٯ`jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509720n"EBnvHԩMb@Mb@Mb@ )Ym?~jt:vy.?TA +A)IAyAIIT3E70> M=yMm٥IQ UHU-FU֝ U>Q4?Q49^ IjBy.?:0??]Bi::>Q4>AE: ҂N/I)l79I i=iD78ׁׁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762831K(Q"K*K2K:K3 p?   ; y [ +  (  : 0  ^ y Qun>E5 ·3=1 E ?E E E o0E ~G A A N- > ",7LA96/?6?Y6Sy6=6H[Qؿ =c??ٿĿD?q? *>? 6/?6;)6C1wEBHII2^> U=y٥ H.F[Q >Q4}?Q49 IAjBy ??Bi;;Q4A:) )))҂)U̻?IY)]"]9IY YY]!=i5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015814Y:J[BJNJJJRJZJ:bJ!9J4JDp8ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265766 >E h*=E E E E p0E ~Ga Ai A N >",SLAH6>H6CH6HH6$FBH6! =H4H6ADH6Ϛ<H6bEH=CH=CH=CH=) =I=' = I=Ń69V?V6?YVKyV=VH Iؿ`C?f?ٿqÿ?6?@Nf?2L? V?VՍ;)VCEB(H ==Mb@Mb@Mb@ )YDl?S㥛MbyO-?/ݼʮA ZA)IAIMAyA) 4<II(= )=y٥ H/F' >QYeR4]s?mR49]| I]jBymv-?m:m?m?]Bi],:]I:] R4y}Ay: ҂=I9)==9I9 AAExW=AiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517743ԁD8DDDDԱ m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771224K Q"K 9*K 2K :K Ws [ > E  m 1 HQN g&".STrb` E E E E _0E jG bG >~GAA1NE>`",sLA9N?N?YNq:yNx=NH 0VؿoEQ~?`?tٿ*J-? `??`fc? N?N;)NCZEBZH\If If<2n/> n<=ynp=Q r>٥pp rHpv v>xR4zk?R49zu IzjBy ??zBiz;z;zR4)-A-E:A AAI҂Iu Iq)u}9Iy yy}oY=iDu:8EE E E O0EBDAT read: Rx Time:05:58:56.7004 TRx dataTimestamp_ set to:1749103137.968173checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023948~GAANC>Iu4=Iu=:J}]BJ}RJJ}LRJyZJ}]:bJ}S29J}4JyI .E#",cLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273702%@FB%HMb@Mb@Mb@ )YM?Zd;O~jthyn2?jDVA A)ԓAI9Ay AII2> :=yQ >٥ H0F >  R4 b?R49 ~n I jBy2?:?? Bi  ;  ; )R4!%A%E:9 999҂9/I)߾ 9I    4=1i1H}ѽ>H}CH}bHH}FBH}# =HyH}=DH}<H}iED IE?EEEE~G9AYyAEDAT read: 05:58:56.7004 LVL= 23712, 18289, 20786, 28147, AGC= 64, IDX= 477,-0.22,-0.260, 1.510,-0.552,-0.467, PHS= 0.295, 2.024,-0.089, RAW= 339.8, -22.0, CAL= 343.8, -31.8, ROT= 166.2, 31.8 UYgot valid direction response: 05:58:56.7004 LVL= 23712, 18289, 20786, 28147, AGC= 64, IDX= 477,-0.22,-0.260, 1.510,-0.552,-0.467, PHS= 0.295, 2.024,-0.089, RAW= 339.8, -22.0, CAL= 343.8, -31.8, ROT= 166.2, 31.8 ]PDAT read: Bearing 166.2, 31.8 (Local) e~Local bearing/azimuth received: Bearing 166.2, 31.8 (Local) N>}DAT read: Range 10 to 50 : 169.9 m (Round-trip 226.6 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.825360,0.202728,-0.526956]Fpublishing direction and range infoy /Yib?GW࿹)CY \)qGI2Qim@= >7@E ǽ@) ľI@iq9@q? )2{N׿i >9@q? ))U T> U Cԩ G E @%YA yE >&Bo)",ݔLA9>?>?Y>L*y>p֚=>H$ؿ?j?? ٿ@hn{0??w? >?>';)>CRFBR*HI^ I^2v8> v\=yv1.=Q v>٥xx zHz1FzF; >!-R4%Z?-R49%$h I%kBy15?5?y%8Bi%ߠ<%<%7R4wA:a aai҂iZ b #2LA (C (C O@ʁ W+ia05%A@vi;V  /Yib?GW 9@ q?ҁ  ǡ^_$@=)`^rZ ?x-)axz N "Aj D3?r   Ri D3?   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V",\LA9>?>S ?Y>Zy>ɪ=>H{ٿ *@ ?/?4ٿ R?\+?? >?>!;) 7=yR٥ H"; >R4?R497 IlBy%.?:d??-Bi;F;ÛR4A:   ҂ :J=YBJ=QJJ=GRJ9ZJ=9bJ=-.9J=c4J9zJ=^:jJ=c:J=4:rJ=4:UIQ)UP]9IY ]Y]X=aiq)Dm9EEEEE~GQYAaAN}>ԉ K P"K 9*K 2K :K 6x4 +  C H0&A C);3& :   }WEk^4|tE*AJ >J >\",?U?௭? :?:;):CFGBFHIRIR3Vg= Zq=yZbEU)=ԱE E E E E jGE >bGE ?~G) AQ A N > c",GLA9:z?:9?Y:0X߽y:=:H@6ٿ(? }4?@ٿqⰿܻ?电?@? :z?:gь;):CF%HBJ*H5Mb@Mb@Mb@111 1)1Y5?MbPS㥛y5,?55/ݼ5=A 5+A)5AI5"A1y5AIMIM 3ԹU= @=yH٥ H7Fs: >R4A ?R49+ IHCHHH|HBH =HEDH3DHO<HH}«CH}ªCH}—CH}# =I}# = I}6DU" 9>E5JM=EEEE_0E~GAANi>:Je ZBJe XJJe DRJa ZJe 9bJe 5K9Je 4Ja zJe ,:jJe 0:Je f:rJe f:9 /j",,LA9F ?FdG?YFjԽyF,D=FH@ٿ`'t?@I7?`ٿ 2@y?ӣ?p? F ?Fu ;)FCRIHBRWHIZIZ(*3b= bT=yfi٥dd jHhjM: j>lrR4n?rR49n% InLlBytv?v?nBin:n:nR4x~A|1BhAggregate::uninitialize lineCaptureHoming:RepeatHackqBVAggregate::initialize lineCaptureHoming:LapEs:IM MIMIiUDF 99KNQ"Ks9*K2K:K]yw(Td$Xczg zJLY1D}5P;  JJ>EgW=EM?EIEIEMP0EQq~G A A N >ԙ p",ĉLA9>?>JC?Y>ʽy>u=>H4Bٿ)@? Q;?ٿ N??O? >?>׌;)>CJ|HBJHIjIj2z= zG=y~c>٥|| H8F > R4 ?R49 U I ]lBy?? HBi 3; ; HR4!%A!R=X=1=C=ZAggregate::initialize lineCaptureHoming:Lap:BqIy yyyiqDc 9DDD D ԙEIEIEIEMe0EIZG]RG]jG]bG]~G]AaAyGG@AHL>HCHHHHBH =HH1DHe<H|EN> w",݉LA9B?Bf??YBfyBx"=BH#Cٿ@+h?>?'ٿ`8&5?鄵?)? B?B&;)BCVHBVHMb@Mb@Mb@ )YuV?~jthI +yr(?D9 )I=AyGAII= :=y G!٥    H  >%R4?%R49\ IolBy-(?-:-?-?BiV::R415GA9i]efAggregate::initialize lineCaptureHoming:LineCaptureje eAggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopesjeeJInitialize AltitudeEnvelopeComponent.1ke eDInitialize DepthEnvelopeComponent.qkeeJInitialize OffshoreEnvelopeComponent.qlelmlmmxAggregate::initialize lineCaptureHoming:LineCapture:HoldMass1mmqmmmInitialize.mm mAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancymmmK= /P"K9 *K9 2K= :K= N)7HG1F\Q2 #\9R! {NATa,) uZ39JE ?JE >G}",LA9:`?:?Y:ay:s=:H@=eٿ`"[˽?9?@zٿ`B? 2?H? :`?:/a;):CFHBFHININ2V= Vc=yZw;Q Z>٥XX ZHX^; ^>`fR4b趜?fR49b Ib}lByhjQ?j?bTBib%:b>:b/R4lnAnEzC@zAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminalzg@Entering Terminal tracking update period 2.000000 s sec at 169.899994 m (mode 0.000000 count ).1} | | ||@žP@qjkbs1js1rs1zs5Q?III IIIQiQQD 9I%R=I%p=:J-YBJ-TJJ-FRJ)ZJ-9bJ-:9J-4J)5@5@5@5@yEEEEo5EAAN>Թ 52",LA@9J?J?YJqҷyJZ>=JH ٿ4@Wy? 5?@ٿ]\i?8E?? J?J ;)JC^HB^HUMb@Mb@Mb@QQQ Q)QYUE?=y};Q >٥ HM; >R4޶?R49 IlBy&?:???Bim ;; ;PR4AE@1qB*** querying acoustic contact ***JR}||||u@|@kkH]>>H]CH]]HH]IBH] =HYH]0DH];<H].Ebs&?js&?rs@zs/??I iԩD9E?EEEO0EAANG>}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. Y",Hj+LAI)@9>?>[?Y>dy>[=>Hٿ @w?1?ڿ~eE?,&?? >?>_;)>CRIBVOHI-I-?13m"= uK=y4;Q >٥ H[p; >S48ֶ?S49n IlByu??kBi ;;x S4VA@q}||||@|Q@k1lbs!js!rs!zs%u?1I1 9999iACICM~A*DAT read: user:577> BDAT read: Tx time:05:59:03.9197 $Ping request sent.jE 1E?EEEP0EAAN">K]5P"KY*KY2K]:K]{ u 5 p  ^yV KJi n*vXI:<Q ؅ %=ׅ < JDAT read: TxSync time:05:59:03.9189  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250850ԡ C"J;4J;4J;0:JuVBJuMJJuHRJqZJu9bJu9JuԺ4Jq,MELA9F?F?YFm뫽yFE=FH+ٿ@?0?$ڿ Š v?@꘻?`>? F?F;)FCY(IBhHIIm?35'= =%=yM;Q U>٥Ya mHiue ; }>)imS4mʶ?uS49m# ImlByqu?u?mBim:m:mS4+AE‚G@rCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalC@Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal}||||@M/@|1l1n ܭAggregate::initialize lineCaptureHoming:LineCapture:HomingSequenceqnܵAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockn ݵAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guidenݵInitialize.ݵdInitializing internal variables to default values.1p Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceqpAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq Initialize.qInitialize.p1u Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidancequAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guidev Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlvInitialize.1w Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqwInitialize.wwuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502969bs js rs zs ~?I iD%9Q H]<H]4<He8>HeCHeHHepIBHaHaHe/DHef<HeeEEM ?EI EI EM O0EI AY Aq N} >ԁ m",%_LA )ɿ%D!!)-Ai)I1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7539321IAiEA II)II IIQQQQIQ)QiY)YI]AYY YaeAaiaaٯa}XIB}HQ%Mb@Mb@Mb@!!! !)!Y%Cl?I +MbP?y%;?%9%:%=A %A)%AI%A!y%AIUIU(*3e> eY=yeQ e>٥ii mHiu u>yS4}VĶ?S49} I}lByT?:??}Bi}S<}/<})S4)-ʹA11u] eAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidancequeeAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideueve mAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlvmmUninitialize.1wm mAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqwmwmwm1pm mAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceqpmmAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guidepuqu uUninitialize.quqnuuInitialize.udInitializing internal variables to default values.}PDetached from dock at depth 50.336430 m.}}}y}y}}}||||@bsT?jsT?rs:@zsk?II iԁD9EqEqEqEuP0EyAAN>ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005811Ɩ", xLA,K2P"K29*K02K2:K23  ~ x 4 w X 8 _ j k $ M 2 {{v> R  H V I(%$+9 ? > ?Y -{y >= H ڿIF?`?ڿ&` *?v?%? ? g;) CdIBHI=I=#3C= W=yX٥ Hx< > S4? S49# IlBy??Bi;P;97S4A}]}a}a}a}a}a|a|i||)"@ԉbsjsrszs?II Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257689iD9:JYBJNJJQRJZJ9bJ!9J4J"E&Changing to mode: 3"EDetach mode.zEAԹ" 2Commanding negative:54402E?EEE_0EA9 Aa N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509743}",֒LA\IBHH >H CH HH IBH  =H H -DH n<H UEMb@Mb@Mb@ )YbX9?L7A`堿~jt?yE?+D<QA A)ZAIyAII2= D=yQ >٥ H% %>)5S4-?5S49-0 I-lBy5?=:=?=?-}Bi- ;-;-ES4EBELAEEeB*** querying acoustic contact ***JaRa}i}i}i}i}q}q|y|||@5@bs?js?rsC@zs?II iD 9E>EEE1EAANg>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761752A ȧ",%LA9>?>(?Y>Ðy>>>HP/ڿ`!s??ڿ\?'? ݩ? >?>;)>CJIBJHI I  3E = Em=yE=8E   C  \_ qQk&&^@<BUJJ~Ay>EUlT=E ;E E E 0E A A N- >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265870ԡ :J- WBJ- uJJ- GRJ) ZJ- ;9bJ- 9J- c4J) ", ƊLAI@)@9v?v\ ?Yvgyv>vH@L$ڿe?"?/yڿPzɰ?@?ͩ? v?vQ;)vCIB#HIIm?3%= -L=y59N٥99 =H9E4 E>IUS4Md?US49Mh IMmByY]?]?M]BiM;M;M_S4aeAaq}}}}}}||||`]!@bsjsrszs?QIQIQ QYYYiaCiCm|AD-9>E B4=ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518659E^9EEEO0EA A!N-N>GGAAH>HCHpHHIBH =HH*DHl<H4EHǠCHǟCHǖCH =I = Iǹ6 )",iLA-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770503]IB]FHonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 214.38, 186.82, 194.23 aI@a aM@a aQ@a aE@a II(1= A=yQ >٥ H >S4?S49L I,mB+:y:?Bib:>kS4A})})}1}1}}||||A"@1I1I1 1119i9D-09>EX;E}6EyEyEyEyAANa>1BDAT read: Rx Time:05:59:06.5572 TRx dataTimestamp_ set to:1749103147.795353checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022848a ",xCLA9:s?: ?Y:וcy: >:H`<(ڿ@ω?&?Veڿ8s?n?!?? :s?:y;):CJIBJaHKN^P"KN9*KL2KN:KNI5dQPTYt.<r?bY?>k .g1,5IZIZ 2bl= f\=yf٥hh jHhj j>pvS4rs?vS49r Ir;mBv :ytvl:v?v?rKBirM:rK?r;tS4|~Ay}}}}}}||||@"@ II !!!)i)1D5(9DM}ADM}AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277844i:JaBJeKJJeERJaZJabJeK9Je4Ja>E"rE%$?jE%?ԑE3EEEEAAN >  8DAT read: $Error in header  *Received a bad header ",LADAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5457379% ?%1?Y%Ky%L >%H`;ڿ@i? %?`Jjڿp?`]?o?|? % ?%o;)!H>HCHHH1JBH =HH(DH<HEJBtHAԑaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YGz?٥ H#; >mS4ȓ?uS49" IDmBuT:yu?u:u?u?Bik<j<΄S4yvAEB*** querying acoustic contact ***JR}}}}}}||||#@bs5?js5?rs5@zs5 ?iIqIq qqqyiyDei9DuDuDqDq]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782027)t> CG-rAA '$YrAy$BE c1E E E E A A N > ",-LA9FJ?Fxq?YFd.yFd>FH)[ڿ }g? ?xڿ٥ H; >S4?S49[ IJmBy  _? ?KBi;_;S4NAE}A}I}I}I}I}Q|Q|Q|Q|]@&$@bsyjsyrsyzs};_?)I)I) )))1i1D%9!EE/EEE}0EKP"K 9*K2K:K,W}gRPuBtpCerwF h R ( ! J|AJ|AAA Nm>I m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286201 ",GLA9~?~;?Y~ y~,>~H@zڿ G?@?@7ڿ0??I?@? ~?~Qy;)~CiA)` !I! !)%A%!!))i-I))I1i5A 5G5F)19 9999AEAIE㥽)AiA)AIMAM I IٯIU-JBUHIeIe(*uӃ= ud=y}٥yy H; >S4?S49= IMmBy??BiGD;,;`S4A}}}}}}||||l%@bsjsrszs3?I!I! !!))i1D59zEAIE@-EEE@5EA Aachecking for new query: numPingsReceived=0, elapsed TxPingTime=4.539107NB>q HH<H>HCHHHdJBHHHH<HvEԡ ", aLA96?6!@Y6Gռy6t>@6HQڿ@??ڿ 蜢?3?\? w? 6?6S;)6C ==%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789880)))1 1MMb@Mb@Mb@III I)IYMK7?333333 rhyMI ?MMCMMA MA)MʜAIMAIyMןAIeIe1yl٥ H; >S4?S49! IGmBy ?::JYBJMJJIRJZJ9bJ9JF4JzJa:jJf:J):rJ,:f?-?/BiP<5<S4199}y}y}}}ԩ}||||@Z&@bs ?js ?rs@zsFf?)I1I1 1119i9D}!9E)EE!E%L5E!A1AANUu>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042002 3",{LA9>G?>7@Y>Uy>->>H /ڿ_?@W ?ȯڿ??@L?D? >G?>б;)>ClKEP"K9*K2K:K < E op G4 0iY ^ jw9\+i?Vudy.X"_&AHJJ>0JBHI-I-2=M`; =٥AA EHIM< M>Q]S4U}?]S49U IU@mByae?e?UBiU;U;UXS4imAi}}}}}}|||| '@bsYjsYrsYzs]N?yII iDM"9 5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294180EE7(EAEIEMO0EIAiAyN9>9i  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545695",qqLA9HM>HIHMHHMJBHM =HIHIHMɛ<HME9[?x@Yg9y>H'ۿ G?0?Oڿƛ?`4|?? [?骝K;)CHJBHMb@Mb@Mb@ )Yp= ף?٥ HG< >S4w?S49 I+mBy?:??Bi::YS4  A-B*** querying acoustic contact ***J)R)}1}1}1}1}1}9|A|I|I|UE'@bsu?jsu?rsu@zsu?II! !!!)i)aD,$9bE ZE }AE%EEEN0EAANc>=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797791ԉ:JBJZJJHRJZJbJS9JԺ4JzJb:jJg:JQu:rJTu:Թ tD",FBLA%EJB-HIԙi٥    H  >!5S4%r?5S49%$ I%mBy11=?%vBi%E;%,3;%~S4AEAEE}a}a}i}i}i}i|i|ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.049783||(@bs1js1rs1zs1YIYIa aaaaiiDM$9E"EEEO0EAANG>Ke0P"KeU9*Ka2Ke:KeqNBwD AT>]UkU8 r QJ&456M checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301744 I I AAD+",ɋLA9Vj?V@YVVH Wۿ\?\?\ڿ`&?@`G?`? Vj?Vh;)VCzPJB~HIII< O=yV٥ H< >S42m?S49 ImBy~??Bi:B:LS4طAE})})})})})}1|1|1|1|==|)@bsYjsYrsYzs]~?iIiIi iiqqiyDU&9E# EEE|0E)AIAiN;>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556093G9G9HEؼ>HECHAHAHE =HAHE'DHE<HE7EQԁ +\",LA9>2?>c@Y>p >>Hۿd`? ?@sۿ H??U#;?@c? >2?>JT;)<^MJB^H`~checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805984%Mb@Mb@Mb@!!! !)!Y%\(\?A`"A`"y%>%Y%Y%A %-A)%ߠAI%A!y%AI5 I5(2IEʵ MB=yUC٥Ya eHam< m>q}S4ug?}S49uϢ IulBy}>}:??uJBiuV:u=::JXBJKJJKRJZJ{9bJK9J(4JzJ:jJ:J :rJ :u&S4ܷA}}}}}}||||V*@bs>js>rs6@zs?II iD}(9rE?jE?yEEEE0EA!A9NEQ>ססchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.057950Ա -",LA9f?fV@Yf=yfvB%>fH@Yܿ(y?I?@Vۿ?ء.?? f?fbU;)fCr:JBrHK]P"K]9*KY2K]:K]jhY [ZQv]*(+#8)F /  Kgn)i iI}I}b1AK T=y6=Q >٥ H< >T4va?T491 IlBy??Bi::T4AݕZDetected possible detachment. Starting timer.}}}}}|||| +@ԱbsjsrszsN?II iD =checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314695EEEEo5EAANB>  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5708289 Hl#,LA9Jo?J&@YJ1=yJ7(>JH:ܿlyi??vۿZ?M4?? Jo?Jx;)JCHnܼ>HlHnHHnnJBHn =HlHlHnm<HnEHCHCHCH =I = Iq5u6JBuH]Mb@Mb@Mb@YYY Y)YY]ˡE?:vi|?5y]>]T]q]A Y)]QAI]AYyYImImT3}_ }?=y٥ H.< >T4?Z?T49 IlBy>:X@?Bi;;T4 A 5B*** querying acoustic contact ***J1R1}9}9}9}A}A|a|a|i|mn+@bs>js>rs$@zsgX@II AiID*99EEEES5EAANi> ]<]<echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.823970:JBJNJJRJZJbJ!9JJzJ:jJ:JT:rJV:a #,A0LA9F[?Fx@YF-?R=yF,>FHtܿS_I??@~ۿ?`D a?? F[?Fr;)DV8JBVHI^I^3f; fj=yjĺԑKP"K`9*K2K:KfB%$*ru|1s2 KpP A4C_5 e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.3257556HܮܿGU/?`$?4ۿLI?`N`^? r~? 6?6;)4LR@JBVHI-I-2< ?=y˖٥ H< >T4^M?T49W I`lBy@?Bi::,T4BAE} } } } } | |||O-@bs1js1rs1zs5@AIIII IIIQiC ?C#?Dw-9E)E)E1E1E1Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=8.579777A N-N> HH4<H׼>HHHHZJBH =HHHG<HE) ͦ#,IdLA:GBAL n,YnAyn?.B|checking for new query: numPingsReceived=0, elapsed TxPingTime=8.8298839e?eƒ@YeJR=ye[+>eH ܿ`L8w?}y? ۿ65?&CR?z? e?e;)eC.JBHMb@Mb@Mb@ )Yn?:v?y>T<L^A (A)AIQAyAII3" 5=y7٥    H  < >%T4E?%T49 I=lBy%>%:%@%?Bi;;tjs>rsQ<zs@II i)Dp/9E=E9E9E9E9AIAaNuW>Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.081715y #,;~LA9>&t?>]@Y>=y>+>>H@ݿ DR?`fh? ܿ[?@ @P? v? >&t?> ;)>C^AJBbHIj Ij(2re= ru=yrֵbsjsrszs@!I)I) )))1iQD-/9bE1ZE5~A5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334335ԉEEEE_0EAAN+>:J\BJUJJGRJZJ=:bJ>9Jc4J@@@@Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.588193 %#,LAHJؼ>HHHJHHJ;JBHJ =HHHHHJh<HJE9j5?je@Yj^A=yjk+>jHDBݿ<$u?`W?_,ܿ`?@9ⴿ`A?r? j5?jX;)jCIJBHMb@Mb@Mb@Ա )Y rh?X9v? rhyC><C A XA)AIAy AII35< 56=y=٥99 EHAE}< E>I]T4M7?]T49M IMlBye>e;e@e?MBiM:M:MWT4quAqB*** querying acoustic contact ***JR}}}}}|||| O/@bs5>js5>rs5t=zs5>@AIAIi qqqyiyC~AC~AD19E5E9E9E=o0E9AIAYNmV>5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.837678 9 +#,ѱLA9>^?>B@Y>_=y>+>>Hwrݿ3@k?SE?`Oܿ?☶@[E?`m? >^?>0;)>CJQJBJHIR IRV2Z< Zg=y^S٥    H "< >%T4'1?%T49т IkBy)-% @-? Bi::dT415ԷA1}Y}Y}Y}Y}a|a|i|i|unZ0@bsjsrszsl% @II iםAםAAK-UQ"K-۵9*K)2K-:K-JFy@PaW t  Z N k U*.9[ ! UXQ "$L% &J=}AJ=}AiU *DAT read: user:578> e FH`Ţݿ@(.? 3?nܿ?J`?e? F?Ft;)DRWJBRHIZIZF2bo|< bI=yf ٥dd fHhj< j>lrT4n)?rT49n` InkBytve @v?nZBin%:n:nWrT4xzƷAzE})})})}1}1|9|A|I|M0@bs9js9rs9zs=e @QIqIq qyyyiԙDm39E E EE05EAQAyG?AG?AH޼>HCHHH'JBHHHH?<HE 8#,LA9FE?F@YFK=yFR/>FHݿ ?!?@ܿx?&޹b?@^? FE?Fⶊ;)D^gJBbHBDAT read: Response Not Received *response not received *DAT read: user:579>  BDAT read: Tx time:05:59:14.8698 $Ping request sent.\=u (A)שAIAyAII 3= ==yi٥ H; >T4N"?T49{ IkBy > ; @?BiE;Z;T4A} } }}}||||>71@bs] >js] >rs]=zs] @II iC?C'?D269EEEE 5EAANe>JDAT read: TxSync time:05:59:14.8690 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250955I ?#,nLA9V?V@YVxt=yVT.>VH޿ ۀ? ?@ܿ*!? a@׏?@C[? V?V;)VCbyJBfHhIEIEF3}?4= L=ys٥ H0< >T43?T49kx IkBy= @?Bi;n;T4A}}}}}||||+1@bs!js!rs!zs%k= @9I9I9 AAAAiIKMQ"KM#9*KI2KM:KM&$"\!"D#!!  AG 1 w "=!~}7+r[  .[Je>Je ?iDmV69checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502914EEEEO0E!A1AANM1>IYI]a=J 4J~4JI 1:JeZBJeRJJeNRJaZJe9bJeS29Je|4Jaԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757132F#,FLAH>HHHHJBH =HH(DHR<HE\9-?-q@Y-Z=y-">-H`k޿)@??`=ݿy?<"?@cg? -?-*H;))EmJBEHMb@Mb@Mb@ )Yrh|?Mb?~jthy>=D/A )AIyסAII#3μ 6=yX;Q >٥ H`< > T4 ?T49 t I kBy>;% @%? QBi 1; ;?; 8T415A1eB*** querying acoustic contact ***JaRa}y}}}}||||@ 2@bsU>jsU>rsU4=zsU @II iDs89zE!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006441!]PExceeded connect timeout, disconnecting.EEEEEAAN>9 b.L#,r3LAI)9>a?>@Y>y=y>(&>>H ޿q,?? pݿ?@h~`?^? >a?>m;)>CJJBJHP) I- I-b3m= mf=ymc٥qq uHq}h< }>T4q ?T49q IkBy` @?Bi::T4aA E}}}}}||||}b2@bsjsrszsq` @ I I iC!C!D:9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274834IEEEEX0EAAN>yK 5Q"K *K 2K :K ! sU l z S6 _ - r m rDfsc6P U /{ إ >ץ ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526231ԩ I I BA:J YBJ HJJ KRJ ZJ 9bJ 9J (4J _S#,LLA9V?V@@YVF=yVI)>VH޿@, ??ݿ?>ϾJ?U? V?Vz;)VCy%JB%;HI"Iq3L= )=y//٥ H< >T4?T49n IvkBy @?Bi ::yT4  /A E})})}1}1}1|1|1|1|=n2@ԡbsajsarsazse @II checking for new query: numPingsReceived=0, elapsed TxPingTime=1.780066 H)H-p<HM>HMCHIHIHM =HIHIHMM<HMEHHHH =I = IF5iD<9E E E E L0E A A N > R@Y#,ufLA  nManaging dock network, ignoring radio surface power off )))ɿ-))11i1I11I9i=A 99)9A AEAAAIII)IiI)IIMAIQ QQUAQiQQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.029906ٯa}JB}WH-Mb@Mb@Mb@))) )))Y-gfffff?I +?-94<-t<-A -A)-AI-A)y-AIEIE2]߂= ]g=y]Q ]>٥aa eHae m>i}T4m?}T49mOk ImkkByY>;@?m-Bimp/;m-;mT4A}}}}}||||@3@bsY>jsY>rsi=zsM@I!I! !))IiID)EEEEm0EAANh>1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282257Y )`#,)LA9:_?:]@Y:>y:j,>:HZ%߿!=???@ݿ?H?F? :_?:IP;)8JBTHi%>I%<I-I-3E E^=yEU٥II MHIMp< U>Y]T4]4?eT49]hh I]^kByae@e?]oBi]q:]:]T4qA}!}!})})})|)|)1|1|UI3@bsjsrszs@II iK-P"K-`9*K)2K-:K-CW.zpiI;{/ R#`199>0@7@U>o;?8B4/L+'"FoPH F  ; ' 2c^  D==9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.534528EEEIEIEMp5EQaAiAN<>ԉ H= ܼ>H= CH= HH= 'JBH9 H9 H= 'DH= z<H= &Eif#,暍LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.8056089M?M?@YMO# >yMC0>MH@߿`f Q?@^?mݿ@?V?MףM:MвA MʓA)MвAIIIyMAIeIe2ud< u*=yu+٥y H; >T4?T49d IEkBy>;@?Biߓ<̓<T4!%A!eB*** querying acoustic contact ***JaRa}q}q}q}q)> C}|| G! ezYaye B|y| 4@ԑ[ @R BbsM>jsM>rsM|5@zsM@yIyI iDe5?9rEmp>jEm> Y><checking for new query: numPingsReceived=0, elapsed TxPingTime=3.055982:Jm[BJm<JJmFRJiZJm:bJm:Jm4JizJm:jJm:Jm;rJm;ԹE E E E 0E! A1 AA N] > ,l#,ӠLA9:B?:Y@Y:mi>y:4>:He߿?C?ݿh?0) K #Q"K #9*K 2K :K ,6nir}vzfhx@_0~rKC7W;9,=:U`:2 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.558021fts#,p}΍LA$9?@Yn>yg5>H`3߿`7?u?`ݿ?]¿b?+? ?骽;)CJBH =)p; I I 2 6=y}٥!! %H!%h; %>)5U4-M굜?=U49-`^ I-kBy9=.@=?-IBi-;-;-0U4IUA] E}}}}}||||Z4@ibsjsrszs.@II )i1DB9H߼>HHHH;JBHHH(DHq<HEEEEԡEEA)AQN]v>DAT read: 05:59:17.5120 LVL= 19008, 20721, 16466, 32755, AGC= 64, IDX= 465, 0.20,-1.052, 0.482,-1.294,-1.632, PHS= 0.668, 2.160, 0.334, RAW= 339.9, -33.6, CAL= 345.5, -47.0, ROT= 164.5, 47.0 Ygot valid direction response: 05:59:17.5120 LVL= 19008, 20721, 16466, 32755, AGC= 64, IDX= 465, 0.20,-1.052, 0.482,-1.294,-1.632, PHS= 0.668, 2.160, 0.334, RAW= 339.9, -33.6, CAL= 345.5, -47.0, ROT= 164.5, 47.0 DAT read: Range 10 to 50 : 178.5 m (Round-trip 238.0 ms) speed -0.4 m/s *DAT read: user:580> BDAT read: Tx time:05:59:18.6198 $Ping request sent. Mֽ@)MQ IM@iM~QM7@M~Q? I)IMXʩt1ῌo2?ŲiMM9?M7@M~Q? I)IM:publishing transmit ping timeMFpublishing direction and range infoIyMO]LE+T??g翹IYI I)IIIiIIIII I)IIIiIII I)IMXʩt1ῌo2?ŲiIIII I)I ֞y#,YLA9>0?>+@Y>>y>G5>>H߿@ޜ?a?`@,޿`P?`¿y`? (? >0?>[;)>CLRJBRHJDAT read: TxSync time:05:59:18.6190 Mb@Mb@Mb@ )Y'1Z?+ rhyТ>CtA A)AIAyII 3G= L=y3;Q >٥  H  )<  >:J=WBJ=RJJ=IRJ9ZJ=;9bJ=S29J=F4J9zJ=ʛ:jJ=ϛ:J=;:rJ=<:Q]U4U嵜?eU49UI[ IUkBymD>m%;m?m?UBiUvBjsD>rs+(@zs}?II iDC9zEE]EYEYEaEaAyAN]>! #,+2LA9F.?F@YF->yF8>FH`~ ? ^A? e޿*?*¿?>#? F.?Ff;)FCRJBRHIZIZ2f< j`=yj :Q j>٥ll nHlr< r>tvU4v!ⵜ?zU49vX IvjByxz?z?vBiv:v:vU4 A })})})})})|1|1|1|5?bsajsarsazse ?yIyIy yyyiDuE9KP"K`9*K2K:K%K+u4]Iuic # UY 7, J?J ?E E E E _0E A)A1N=>Qԉ H >H H HH OJBH  =H H H <H NE#,VLA9 ? @Y )!>y o<> HGlߴ?"?@޿@ ?ÿ)?? ? c;) C9KBHamMb@Mb@Mb@iii i)iYmS?y&1L7A`堿ym>m`em+mA mA)mtAImAiymQAI I(2< =yi;Q >٥ H}Y< >U4Bݵ?U49T IjBy*>+;??BiH;<;.U4pAB*** querying acoustic contact ***JR}}}}}|||| ?bs5*>js5*>rs51@zs5?AIIII IIIQiQCe?Ce?D-E9bEM~AZEIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԹEEEEO0EAAN>:JU[BJUJJJUJRJQZJU:bJU&9JU4JQzJU:jJU:JU:rJU: ݌#,#5LA96?6ː@Y6$C>y6P;>6HwR@??cC߿??5ÿ`1?@? 6?6;)6CiDD)Fj DID H)JAJPHHLLiNĻIPPIPiRA R;߽P)PT TTTTXZAIZ\)ZQFiX)\I^A^\ \ٯ\bKBfHIn"Inq3vN< v=yv9;Q z ?٥|| H h<  ?U4ڵ?U49R IjBy???Bi;I;h8U4)-hA)}}}}}||||`f?bsjsrszs?IIQIQ QQQYiYAAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.458833DM]H9EEEE%g2E!A1AANU2>)K NP"K 9*K 2K :K F2%/@,,\oOPGQ.FlG 'zZ+|!\zJ J {A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713353Y Iq Iu @Ajړ#,R)PLA96o?6 @Y6>y6:>6H@F@~U?@$? vs߿%v?ÿ?? 6o?6$;)6C KB HIIT3d; 6=y;Q >٥ %H!%< %>)5U4-|ֵ?5U49-vO I-ujBy9=A?=?-Bi-b:-:-GU4AEeAM E}i}i}i}i}i|i|q|q|uf?bsjsrszsA?II iDqH>9HCHHHZJBH =HH+DHO<H EEEEEq5E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964015AANUt>aԉ #,iLA9F*?F@YFq>yF8>FHԣ <U? ?u߿?ÿ`_?`? F*?F|;)FC=JB=Hechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.213795:JXBJHJJDRJZJ{9bJ9J4JzJ:jJ:J9rJ9qeMb@Mb@Mb@aaa a)aYeQ? rhV-ye\>eCemeA eƓA)eAIeƓAayeAI"Iq3 1=y ;Q  >٥   H; >%U4ҵ?%U49SL I@jByM|>M4;M6?M?Bi;[;?XU4QUwAY}}}}}|||| @bs|>js|>rs'p@zs6?II iC}ACԡDJ9EUEQEYE]p5EYAiAyN|> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465763 #,σLA9V=^?VhB@YV; >yV8>VHZ`<-?e?߿?ÿ6?@? V=^?VS;)VCrJBrHtI]I]<2.3 w=y;Q ?٥ HH< ?U4Tе?U49!J IjBy??BiP:~:cU4A}}}}}|||| Ӌ@bs)js)rs)zs-^?9I9IA AAAAiDL9K! H5 >H5 CH5 HH5 dJBH5  =H1 H5 ,DH5 *<H5 EH H ˚CH ˕CH  =I  I ˇ6- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971697##,LA 9z?@Y >yV6:>HRM*? i?f?`Ŀ?@? z?;)CJBHMb@Mb@Mb@ )YNbX9?A`"333333y>YnA A)AIAyAI=I= 2M' M2=yM:Q U>٥QQ UHQ]< ]>ia}U4e̵?}U49eaG IeiBy>?;??e+Bie<;e&;esU4BA E}}}}}||||9 @bs>js>rs@zsb?!I)I) )))1i1D=L9ԑEEEEO0EA!A9NEs>}BDAT read: Rx Time:05:59:21.2635 TRx dataTimestamp_ set to:1749103162.708513checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224606 8#,GuLA9BW?B@YBR!>yBw:>BHl C ??`# \?Ŀ?`? BW?BV;)BCLRJBR}HIZIZ<2j j~=yj:Q n ?٥pp rHprai< v ?tzU4vɵ?zU49vrE IviBy|~?~?vTBiv;v;v~U4 A %B*** querying acoustic contact ***J!R!})})})}1}1|1|1|1|= @bsijsirsizsm?yIyI iC?C%?DUO9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475458EEEEEAAN*>K% P"K% `9*K! 2K% :K% } Q14'%>zi`'Fj>{1tdx) ؅ %=ׅ < DAT read: 05:59:21.2635 LVL= 22256, 22513, 21362, 32755, AGC= 63, IDX= 151, 0.09,-2.252,-0.901,-3.129,-2.056, PHS=-0.108, 1.202,-1.076, RAW= 355.0, -0.2, CAL= 355.6, -1.1, ROT= 154.4, 1.1  Ygot valid direction response: 05:59:21.2635 LVL= 22256, 22513, 21362, 32755, AGC= 63, IDX= 151, 0.09,-2.252,-0.901,-3.129,-2.056, PHS=-0.108, 1.202,-1.076, RAW= 355.0, -0.2, CAL= 355.6, -1.1, ROT= 154.4, 1.1  PDAT read: Bearing 154.4, 1.1 (Local)  ~Local bearing/azimuth received: Bearing 154.4, 1.1 (Local)  DAT read: Range 10 to 50 : 179.7 m (Round-trip 239.6 ms) speed -0.1 m/s  *DAT read: user:581>  BDAT read: Tx time:05:59:22.3698  $Ping request sent. yb:>bH`P?,?@zD (?@Ŀd?? b?b`;)bC|JBfHIIU2 }B=y}c%Q }>٥ H7< >U4EƵ?U49B IiByG??Bi#<$<΍U4AZb}͎LAm2Cm2C}@ʁQZGd̂IES@P1g w6s쿥ǎ?]~iw,@nF<ҁ;L4@ktae2\A@u*3?nG{!WI?z-AjA(顼?r ̬B}}}}}|||`fvf@| ?bsqjsqrsqzsuBG?II i QH >HHHHZJBHHHH<HEDy G ĀA Y ĀAy Bԡ "M#,4LA9:?:u @Y: >y::>:H@= g?`2}?g8-?  Ŀ@ ?? :?:;):CjJBjVHqmMb@Mb@Mb@iii i)iYm?Mb#~jym>mm㥽m?A i)iImƓAiyiI#I%x3 D=yh-Q >٥ HI< >U4Wµ?U49@ INiBy>H;@?Bi;;/U4A}}}}}|||| ?bs>js>rs@zs@1I1I1 1119i9D%`Q9ԡEEEEo0EAAN5O> 2#,LA9>?> @Y>P>y>?>>HLw[?8[?@(@P?ÿ?@? >?>l;)٥`` bH`b:< f>djU4f?jU49f> If iByl]@]?fBif:J ]BJ RJJ HRJ ZJ ]:bJ S29J Ժ4J 1H H H HH ;JBH  =H H H <H EY ^#,6LA94?T @Y>y>>H`5߱?`C?7?`ÿ@Xi?;? 4?骍;)CJB9H1=Mb@Mb@Mb@999 9)9Y= +?Mb/$y=v>===A =ƓA)=AI=A9y9I]I]3m» u1=yuQ u>٥yy }Hy}?< }>U4?U49y< IhBy>O; @?Bi;;IU4/A}}}}}||||!?bs>js>rs@zs @II iDS9aE=E9E9E9E9AIAaN}Y> U)?U-?ԉ #,ü8LA9F5=?F @YF>yF;>FH`݈?*?Q `?_ÿ?? F5=?F;)FCRJBR+HIbIbb1j ji=yj!Q j>٥ll nHlr< r>tzU4v?zU49v: ztIIvhByxz @z?vEBiv;vv;vU4FAB*** querying acoustic contact ***J!R!}1}9}9}9}9|A|A|A|E=x?bsajsarsazse @yIyIy yyiԑDU9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E-E)E)E-K0E)AIAYNu>m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004119K /P"K 9*K 2K :K _31:};+C 7y0B8  C t b HhrQ7 f K :J% UBJ% NJJ% ERJ! ZJ% 9bJ% !9J% 4J!  mp#,RLA9f?f @Yfj>yf48>fH 2`zaC??` `?@yÿ ݰ?P? f?fOʌ;)fCnJBHI-I-<2=k =D=y=%^Q =>٥AA EHAM < M>Q]U4U?]U49U8 IUhByY] @]?UuBiUw;U/;U#U4imAi}}}}}||||@bsjsrszs @II iC?C*?DV9rEG>jE>Hm>HiHmHHmJBHm =HiHiHm<HmEEEEEO0EAAN >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255741)A #,ulLA@9:%?:9& @Y:>y:G9>:H`iO?` ?`%? ]ÿ?? :%?:`;):CNdJBNH%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507662Mb@Mb@Mb@ )YQ?{Gz?lyu>ף<jA “A) AIAyQAIIm?3 B=yQ >٥ H< >U4p?U496 I[hBy>R;e@?BiNi;];U4  A E}1}1}1}1}9|9|9|9|=t@bs]>js]>rs]E=zs]!e@II )i1ԩD FX9EEEEEAANB>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759508 v#,ZHLAp9N?qf @Yk(>yh;>H@V??=?p2ÿc? ? N?骭wK;)C]JBHII(*3= H=yVQ >٥ H< >  U4 ?U49 5 I 0hBy@? Bi ; ; +U4!%A!}i}i}i}i}q|y|||@@bsjsrszs/@II iDcZ9 5BDAT read: Rx Time:05:59:24.9867 5TRx dataTimestamp_ set to:1749103166.235391=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012730Kk.Q"Kk9*K2K:K w V  Q % 9M w5L^%. e j S W  0 b|ZV39.J>J>:JZBJKJJDRJZJ9bJK9J4JE-E)E)E)E)A9AQN]2>9H} $>H} CH} cHH} IBH}  =Hy H} .DH} <H} EԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266112V#,;LAy9H)? @Y(>y<>H@)B+??fWc?`ÿ6?? H)?E;)CNJBHMb@Mb@Mb@ )Ye;O?L7A`?Zd;yt>+=y;A OA)jAIypAI I <2u 8=y\Q >٥!! %H!-< 5>AMV4E˟?MV49E73 IEhByM~>UU;U@U?E BiE:E:EV4Y]շAY}y}y}}}||||nD @bs~>js~>rs* >zs@IIIII IIQQiQCe}ACe}AD=\9zEIEEEEP0EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517563AaANM> =#,LA9>?> @Y>Л>y>;>>HF. #հ?@S?w?¿D?? >?>>;)>CVXJBVHI]I]#30< c=yrQ >٥ H>< >V4?V491 IgBy@?7Bi6););D V4·A5B*** querying acoustic contact ***J1R1}9}9}9}9}A|A|A|A|Mj(@bsijsm~>rsizsm@yIyI iיםAEDAT read: 05:59:24.9867 LVL= 16720, 12401, 15538, 20403, AGC= 65, IDX= 141, 0.50, 1.322, 2.527, 0.810, 0.601, PHS= 0.809, 1.972, 0.206, RAW= 349.6, -34.2, CAL= 357.8, -47.2, ROT= 152.2, 47.2 Ygot valid direction response: 05:59:24.9867 LVL= 16720, 12401, 15538, 20403, AGC= 65, IDX= 141, 0.50, 1.322, 2.527, 0.810, 0.601, PHS= 0.809, 1.972, 0.206, RAW= 349.6, -34.2, CAL= 357.8, -47.2, ROT= 152.2, 47.2 PDAT read: Bearing 152.2, 47.2 (Local) ~Local bearing/azimuth received: Bearing 152.2, 47.2 (Local) DAT read: Range 10 to 50 : 159.4 m (Round-trip 212.6 ms) speed -0.1 m/s *DAT read: user:582> BDAT read: Tx time:05:59:26.0699 $Ping request sent. ܥ@@)ܥIܥM@iܥBRܥP*@ܥBR? ݡ)ݡݥ8[^%*+l*iݥEݥ?ݥP*@ݥBR? ޡ)ޡ}:publishing transmit ping time}Fpublishing direction and range infoڡyڥ7 ;G?WBz翹ڡYڡ ۡ)ۡD\9Iۡiۡۡۡۡۡ ܡ)ܡIܡiܡܡܡ ݡ)ݡݥ8[^%*+l*iݡݡݡݡ ޡ)ޡ)EEEE0EAA)N=Q>QK SP"K 9*K 2K :K E~8!Ks , e k Y ] [[ R* . t - 7fGlJ J ~AJ c4J c4J 0:JY BJ] QJJ] ARJY ZJY bJ] -.9J] 4JY y z#,ӏLA96??63 @Y6m>y6:>6H@d@đ?`?@;M?¿?`#? 6??6t;)4RTJBRHXI-.I-3 ! N=yQ >٥ H1< >V4?V490 IgBy;@?fBiu:b;"V4ʷAZb􈀿LAGCGCU@ʁm[2WckI@^ߕ]7 ;G?WBzP*@BR?ҁz@P^<`vcVsjx[4?sBB >z@jp?r7č '?  8CϚ@}}}}}!|)|)|-c@|5`1?QbsYjs]~>rsYzs]Q;@iIiI iD^9GM@AGIH]@>H]CH]>HH]IBH] =HYH]0DH]3<H]*EHÝCHÞCHH =I = I\6ԁEEEE4EA!AINmW>ԩ K#,LA9>*?> @Y>>y>S2>>H`G@?o?@y@!k?#¿?Z3? >*?> f;)>C^^JB^HMb@Mb@Mb@ )YX9v?J +?~jtys>H=DjA  A)AIyGAI IV2-< -A=y-Q 5>٥11 5H9=< =>AMV4E?MV49EM. IEgByM}>UV;U@]?EBiE[;Ea;E)V4imAmE}}}}}||||@Z?Աbs}>js}>rsO>zs@II iiqC}?C}?D _9bE}AZE~AE=E9E9E=`5E9AIAaN}X> 9 O$,LA9F?F> @YF>yFX2>FH`ٸ@c? J?+?@ó`?@6? F?FE;)FCV_JBVHIjIj?13~TQ; `=yCQ >٥    H  j_<  >V4?%V49, IgBy!%d@%?Bi;;6V4)-A1}a}a}a}a}i|i|i|i|m?bsjsrszs:d@II iD^9EUEQEQEUN0EQAaAyN>IR=Ip=K%P"K%9*K!2K%:K%0SVRMnQ_#wk }'gj ( &  w ] K J G J5?J5>9i H= >>H9 H= 1HH= IBH=  =H9 H9 H= <H= E4$,f!LA)> C%GEAY .YAylBElJBEHaMb@Mb@Mb@ )Ym?Zd;O?j<=t A)IOAy AI%I%25< 5 =y5Q =>٥99 EHAE E>IUV4M?UV49M* IMjgByUu>]\;]D@]?MBiM;M;MHV4aeAa}}}}}|||| G?bsu>jsu>rsG>zsD@II iCC|ADJa9ԑEMEIEIEMO0EIAYAqN}{>:JBJLJJERJZJbJq9J4JzJ.:jJ3:J:rJ: $$,S;LAL9V?V, @YV>yVm;>VHD??i?l4c?0@?2/? V?V^d;)VCbvJBbHIj Ij2r7= r=yv - &?- <5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2243821 KU EP"KU -9*KQ 2KU :KU _ j 2  ?P 8 L E 6 C }q6;L' w E'',0103.+y)&##c^u ( w B$,fULA9Bg?B5 @YBOM>yB:>BHࣝK:?[?;p vJ=yzBQ z>٥|| ~H h;  >%V4v?%V49' I@gBy!%@-?WBi[:g:5aV415A1}q}q}q}q}q||||@@bs9js9rs9zs=@III iDe9H?>HHHH =HH1DH<HE EEEEP0EA)AIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.476275N9>9a C$,>@oLA9B?B @YB`>yB9>BH$  ?/M?d? o'?`Q5? B?B⹎;)BCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7272189:JXBJJJDRJZJ{9bJJ4JzJ:jJ:JrJJBHMb@Mb@Mb@ )Yx&1?Q?~jtyA`><ļ )AIAy@AII2== "=yi[Q >٥ H; > V4Wp? V49% I)gByc>n;@?Bi;;rV4ZAi}q}q}q}q}y|y|y|y|}$@bsc>jsc>rs h >zs@II iC&?CDe9zEEUEQEYE]O0EYAiAyN|>ԑuBDAT read: Rx Time:05:59:28.6875 }TRx dataTimestamp_ set to:1749103170.015335}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980249 ."$,&LA96$@6'8@Y6K>y6'8>6H=@{ I?K}tQ"K}k9*Ky2K}:K}  M E P u ' IF5N|tm6!%#onRn tMD}mH 3>H CH JHH IBH  =H H 0DH ܚ<H EA  DAT read: 05:59:28.6875 LVL= 20464, 18481, 24290, 32211, AGC= 64, IDX= 157, 0.22, 1.672, 3.063, 0.548, 1.639, PHS= 0.121, 1.471,-1.094, RAW= 358.2, -4.5, CAL= 358.6, -7.0, ROT= 151.4, 7.0  Ygot valid direction response: 05:59:28.6875 LVL= 20464, 18481, 24290, 32211, AGC= 64, IDX= 157, 0.22, 1.672, 3.063, 0.548, 1.639, PHS= 0.121, 1.471,-1.094, RAW= 358.2, -4.5, CAL= 358.6, -7.0, ROT= 151.4, 7.0  PDAT read: Bearing 151.4, 7.0 (Local)  ~Local bearing/azimuth received: Bearing 151.4, 7.0 (Local)  DAT read: Range 10 to 50 : 160.1 m (Round-trip 213.5 ms) speed -0.4 m/s  *DAT read: user:583>  BDAT read: Tx time:05:59:29.7699  $Ping request sent. ףp=?~jt?~jtyQ>D<A )IAyGA)4< 4<II2 = %=y%Q %>٥)) -H)- 5>YeV4]e?eV49]y" I]gBye-S>e;e @e?]Bi]/:]:]V4AJDAT read: TxSync time:05:59:29.7691 Zb@2LACC9@ʁOQaQ~js-S>rs)~o=zs @II !!!)i1C=~AC=}AiD j9bE ZE E E E E O0E A A N >ԙ .$,ӼLA9>@>@Y>m:=y>z:>>H}H⓱?`?M? R?:? >@>w ;)>C=JBEvHI])I]W3mY= m=yu`Q u3?٥qy }Hy}= }3?V4b?V49! IfBy@?BiP::(V4ɶAB*** querying acoustic contact ***JR}}}}}||||?bsjsrszs@]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.qII iD)j9E%E!E!E%54E!A1AINe4>ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739892K P"K 9*K 2K :K f2k\1VR {s W. D Z Vg\ ' B h; qg5$,֐LA9:@:I*@Y:=y:,>:H@N3@5??P8? sʾ MY?`P? :@:z;):CFJBFH)H HININ(*3Vn5= VW=yZQ Z>٥XX ^H\^f< ^>`fV4b^?fV49b IbfByhj@j?b-Bib%:b:biV4lnAp}}}}}| | | |  ?bsjsrszsm@II iD"l9H]0>HYH]HH]JBHYHYH]/DH]<H]EEEEEO0EAAN*>}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993341) ړ;$,KLA fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2450529vp@vN@YvS=yvk/>vH'@w? ?~(? @|?@^P? vp@vՖ;)t JBH =>:J]YBJ]IJJ]GRJYZJ]9bJ] 9J]c4JYzJ]c:jJ]h:J]9rJ]9Mb@Mb@Mb@ )YV-?{Gz{Gzy|?>#ףȲA “A)VAIdAy ABAIIm?3 = ,=yλQ >٥ HG;< >V44Z?V49, IfBy@>;C @?ZBi:M:V4IA}}}}}||||M?bs]@>js]@>rs]2Z@zs]8C @iIiIi iiqqiyC}?C}?Dl9ԁE5E1E1E1E1AIAYNex>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.495838ԩ {B$,g LA<9J©@J @YJ%=yJ)3>JH`?|?1>?@s@"?`]M? J©@Jܘ;)HVKBVHI% I%V2u = ud=y}λQ }>٥yy }Hy !< >V4V?V49 IfBy @?{BiQ; ;V4iADetached at range: 160.10 m. Transitioning docking module to standby.}}}}}|||| B?bsjsrszs? @II iDn9Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747921E=E9E9E=P0E9K;P"K9*K2K:K|_ <<+,6uB+L|NwLFkI\ w u  @YAANG>HU '>HU CHU HHU EJBHQ HQ HQ HU <HU EH-ɡCH-ɡCH-ɔCH- =I- = I-=5!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001083~H$,?$LA9e@e@Ye<=yei>3>eH`ΰ? ?xB? %?N? e@e]{;)aKBH)iiIm>Mb@Mb@Mb@ )Y(\?Q롿y&1y.>\`  A)IyAI  I ̍2+= =yHQ >٥!! %H)-]; ->1=V45XS?=V495 I5fBy=4>E;E@E?5Bi5;5;5V4IM=AI}}}y}y}y}}|||| @bs4>js4>rs@zs@II ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254135YDp9"&Changing to mode: 1"Standby mode." 2Commanding positive:54488ԉ E E E E O0E A A N% >SN$,>LAiprA)rH pIp t)vAv½ttxxizףIxxIxizA ~t|)|| ||AI@)i ) I A G F ٯ =.KB=HYII2%= %=y-Q -?=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504214٥QQ UHQ] ]?amV4e;Q?mV49e IefByiiu?eBie*;e},;eV4AB*** querying acoustic contact ***JR}}}}}}||||4j@bsQjsQrsQzsQaIaIi iiDmq9ԑEE0EAEIEMo0EIAaAqNY>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755903:J BJ JJJ HRJ ZJ bJ &9J Ժ4J  @ @ @ @ K )P"K 9*K 2K :K oj:Cv#eaP,&6C^5prM-RM$)JVioU$,WLA9JF @J @YJ=yJy4>JH KTS?}?Zc?@bV?N? JF @J;)JC=HKB=HIMIMb1]P= ]X=ye Q e>٥aa mHim"< m>q}V4uN?}V49u IufBy@?uBiuT:uQ;uV4B޵AEԹ}}}}}}q|q|y|y|}g}@bsjsrszs@II H<H<H(>HHHHJBH =HH.DH<HE 1i9DM,s9]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009339E!EEE1EAA)N=P>G=ĀAi YĀAyBA O[$,qLA9:,@:?@Y:u =y:7>:H ` ??c%?X?K? :,@:V$;):CRBDAT read: Rx Time:05:59:32.4159 VTRx dataTimestamp_ set to:1749103173.799270Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.260888}VKB}H ==only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 222.44, 183.66, 185.70 aI@a aM@a aQ@a aE@a I I(2 =  @=y٥ H%$; %>)5V4-K?5V49-r I-jfB=+:y9=t;=@=?-Ci-;->-V4AEAA}}}}}}|||| @AIQIQ QQQYiYD-ts9AEE$EEE;5EAANF>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512138qԡ b$,LA9~*U@~th@Y~&H=y~:>~H$a? ?o@6@?h?H? ~*U@~q;)~CeKB)HI)I)== =X=yEziQ E>٥Q Hw; >W4I?W49 IUfB :yF;*@?Ci;\Q?W4A}}}}}}||||z @)I)I) )111i9iDIu9DAT read: 05:59:32.4159 LVL= 15392, 15889, 15794, 20371, AGC= 61, IDX= 201,-0.19,-2.860,-1.516, 2.958, 2.789, PHS= 0.722, 2.025, 0.166, RAW= 346.9, -31.9, CAL= 354.2, -45.0, ROT= 155.8, 45.0 Ygot valid direction response: 05:59:32.4159 LVL= 15392, 15889, 15794, 20371, AGC= 61, IDX= 201,-0.19,-2.860,-1.516, 2.958, 2.789, PHS= 0.722, 2.025, 0.166, RAW= 346.9, -31.9, CAL= 354.2, -45.0, ROT= 155.8, 45.0 PDAT read: Bearing 155.8, 45.0 (Local) ~Local bearing/azimuth received: Bearing 155.8, 45.0 (Local)  DAT read: Range 10 to 50 : 181.3 m (Round-trip 241.8 ms) speed 0.0 m/s *DAT read: user:584> IEC=IEa=:J]VBJ]LJJ]IRJYZJ]9bJ]q9J]F4JYmBDAT read: Tx time:05:59:33.5199 u$Ping request sent.uI۵=i۵O۵=۵8?۵@۵)> ܵپ@)ܵӇIܵ@iܵIܵ.@ܵI? ݱ)ݱݵ:⿼Wyiݵݵ?ݵ.@ݵI? ޱ)ޱ :publishing transmit ping timeqFpublishing direction and range infoڱyڵ0WgHg?An濹ڱYڱ ۱)۱I۱i۱۱۱E=&EAEAEE@0EAAYAiN}7>ԙ۱۱ ܱ)ܱIܱiܱܱܱ ݱ)ݱݵ:⿼Wyiݱݱݱݱ ޱ)ޱKP"K9*K2K :K f=6#.e  '?u>4AA}w1]yZ J%?J%>H#>HCHQHHJBH =HHH<HEm JDAT read: TxSync time:05:59:33.5191 h$,LAmKB4HIuIu0ب< D=yQ >٥ H >W43F?W49X I?fB%9y)5 ;1=?&Ci3<?~ W4AZbzLA4C4C@ʁd<Į]PJ@.? _0WgHg?An.@I?ҁ l7@y|Db?mǝYkڷ7ɧ?H]ȝ,]j)6z'fAj-?r  nNe՘?   C\@}I}I}I}I}I}I|Q|Q|Uf@|U?II iDw9EU)EQEQEQEQAaAyNZ>! Lo$,eLA~zKB~CHaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YHPA A)AIbAyII2< F=yQ >٥ H >W4GD?W49 I fB T:y G$>%;%O?%?5Ci;z;W4)5{A1MB*** querying acoustic contact ***JIRI}Q}Y}Y}Y}Y}Y|Y|a|a|e~q?bsG$>jsG$>rs@zskO?II iQDw9E-+E)E)E5O0E1AQAiN}7>yԡ = a= T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.:Jm [BJm NJJm HRJi ZJm :bJm !9Jm Ժ4Ji v$,FCّLAKP"K*K2K :K{2f N1jj#w"|<(}}]0uBWMqu<9BQ@Be@YB=yB42>BH Vq`ԡ?@U?s?`u ?`8\? BQ@B8;)BCN}KBNHHIVIV3^p< ^_=ybvQ b>٥`` bHdf,= f>hnW4jzB?nW49j IjfBypr?r?jBCij;j7;j`&W4tvtAt} } }}}}||||4?bs9js9rs9zs=?IIIIQ QQQYiYD=y9GG@AH >HHHHJBH =HHH<HEԱE.EEEo0EAA N>%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234200 m.|$,LAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.4864199Vt@V@YVX2=yV5>VH?Y`?EB?@?`@Fj?Y? Vt@V);)T|{KBEHMb@Mb@Mb@ )YDl? ףp= Zd;yO >Q8yfA )߭AI3AyII2< ;=y1Q >٥ Hy< >uW4I@?uW49K IeBy}:!>};}@}?QCi<<5W4xAE}}}}}}||||@j?bs%:!>js%:!>rs%@zs%{@aIiI i1D |9E]%1EYEYE]d0EaAyAN]>Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738507ԉ E$, LA9>i@>@Y>=y> o4>>H  O\?@8?@3 `?꧸XU?[? >i@>s;)>CrKBvQH)x xI~I~ 2 2<  W=y ^Q >٥ H=; >!-W4%d>?5W49% I%eBy9=@=?%_Ci%d;%e;%BW4AMdAIY}q}q}q}q}q}q|y|y|y|@a%?bsjsrszsF@II iC?C?Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990287:J=YBJ=TJJ=JRJ9ZJ=9bJ=:9J=4J9ԉE]3EEEP5EAA N*>KEuP"K9*K2K :KG+IgXz9P d s P 4 - * | yKO2A`z`6ԱH ">H H HH %KBH  =H H H <H 9E E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242138JB$,&LA9ZN@Z@YZ9=yZ4>ZH`øFV?1?J?`}`K? \? ZN@Zr;)XKB%JHԹI I2UJ ]9=yeQ m>٥ HW; > W4  9 x($,@LA9F@F^@YF1=yFFi6>FHz9SͲ?%?!z?G)?Z? F@FI;)FCRKBRWHTMb@Mb@Mb@ )Y㥛 ?MbL7A`尿y>+A KA)=AIyסAII(1< S=y Q >٥ H9; > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747786uW49?}W49w I{eByO'>;@?|Ci<<_W4ZAB*** querying acoustic contact ***JR}1}1}1}1}1}1|9|9|9|=K~@bsO'>jsO'>rsL(@zsd@II iD~9AE}8EyEE1EAANg>i BDAT read: Rx Time:05:59:36.1117  TRx dataTimestamp_ set to:1749103177.327502 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999434ԡ T$,aZLAKNP"KN-9*KL2KN :KN41EM zI $;[T   B KC,5%c i }KBHH H1H5٥  H >HIHIHMHHM/KBHM =HIHIHM<HMSEHŸCHŸCH“CH =I IH5!W4%6?W49% I%TeBy?%Ci%:c<%mc<%oW4tA}}}}}}|||| @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250325bs!js!rs!zs!1I1I1 1999iACM|ACIԙDF9bE5|AZE5|AEr;EEE@0EA1AiN> .|$,]tLA>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504366:J[BJJJJERJZJ:bJ&9J4JzJ:MjJ:MJ:UrJ:U9}]@}%q@Y}Z=y};>}HV`[޳? ?%G?A;? BT? }]@}0;)}C~KBIHMb@Mb@Mb@ )Y/$?MbDly>O )AIAyAII: :=yQ >٥ HI< > W4}3?W49 I/eBy,>;@?Ci7 ;] ;~W4%rA!}Q}Q}Q}Q}Q}Y|Y|Y|Y|]`@ @bs,>js,>rsG@zs@)I)I) 1111i9D%g9E=EEE?0EAAN>eDAT read: 05:59:36.1117 LVL= 19328, 18545, 19858, 27123, AGC= 60, IDX= 383,-0.23,-1.100, 0.166,-2.230,-0.994, PHS=-0.018, 1.207,-1.239, RAW= 359.9, 0.5, CAL= 0.2, -0.5, ROT= 149.8, 0.5 uYgot valid direction response: 05:59:36.1117 LVL= 19328, 18545, 19858, 27123, AGC= 60, IDX= 383,-0.23,-1.100, 0.166,-2.230,-0.994, PHS=-0.018, 1.207,-1.239, RAW= 359.9, 0.5, CAL= 0.2, -0.5, ROT= 149.8, 0.5 }PDAT read: Bearing 149.8, 0.5 (Local) }~Local bearing/azimuth received: Bearing 149.8, 0.5 (Local) DAT read: Range 10 to 50 : 140.7 m (Round-trip 187.6 ms) speed 0.4 m/s *DAT read: user:585> BDAT read: Tx time:05:59:37.2199 $Ping request sent.@><@Y>=y>=>>H+ 9 e$??b?K:g? US? >@>T;)>C^{KB^EHI%I%E_! E=yElQ E ?٥II MHIul< u ?yW4}0?W49} I}eByd@?}Ci}q:}:}W4xAZIbMobLAM CM CM, @ʁMMz/^OQ@e}}ЁM$ާS}gҔ?B7߁MT'@M5<ҁMMAjM?rM MBMA(顼?I M{BMSCMd@}q}q}y}y}y}y|y|y|`fa@|`=C?bsjsrszsd@II i)D E?EEEP0EAANF>QKBP"K89*K2K:K a  6?e+~!9"$5+c]8~sqZ/pHE >HA HA HA HA HA HA HE <HA ԁ ) C G rA A  `Y rAy }aB!$,d LA<9s@2@YD=y=>H@<`@l?`R?s?(@{? T? s@z;)mtKBm٥ H < >5W4P-?=W49 IdBy9=@=?Cix<:<ęW4AUAUEԩ}}}}}}||||H?bs!js!rs!zs%@1I9I9 999aiaCm%?Cm.?DE9rEM?jEM?E?EEE_0EJԺ4Jü4J0:JZBJMJJLRJZJ9bJ9J4JzJ/:jJ4:J*:rJ-:AAAYNew> yw$,LA9>_s@>@Y>}̯=y>L$;>>H\ 2???T-?Y? >_s@>y;)>C^iKB^/H Mb@Mb@Mb@ )YˡE?{Gzt?Dly'>ף;A )Iy3AII#3ټ N=yQ >٥ HG`< >AW4)?W49 IdByD6>;@?Ci;;;W4A%4Docking module at standby.}!}!}!}!})|)|)|)|-`G?bsUD6>jsUD6>rsUѭ<zsUp@IIQIQ QQQYia)DM9E?EEE2EAANM>Qԁ {$,ےLA9>@>@Y>'l=y>r9>>H`y`2ҳ?8?@_Z? ?`|]? >@>TЖ;)>CFfKBJ+HIRIR<2ZQ  Z]=ybQ b>٥dd jHhjI< j>lrW4n%?rW49n| IndBytv@v?nCin:n%:nW4xzAxK~P"K~9*K|2K~:K~}\S?fE36VQx-<b3;DyX. _J |AJ |A%B*** querying acoustic contact ***J!R!-8Undocking sequence complete.n5o5}1|1|1yGGAA|| љ?bsajsarsazse@I iH>HHHH =HHHϚ<HqEDu9ԱT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E?EE E 4E A)AAN]2> ʼ$,;LA"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7473939B@B2 @YBЪ=yB>9>BH`4~³??@L?S@?O^? B@B;)BC:JruBJrNJJrERJpZJr[Q:bJr!9Jr4JpzJro;jJro;JrU:rJrW:]oKB]6H=Mb@Mb@Mb@999 9)9Y=bX9?:v?Dly=E6>=<9=A =A)="AI=/A9y=AI I<2n< /=y ܺQ >٥ H ; >W4= ?W49= IdByJE>;!@?Ci ;e ;W4AHTransitioning to midcourse guidance.oo } | | ||'?bsEJE>jsEJE>rsEʅ>zsEq!@QIY YYYYiaCiCm|ADȄ9zEE?EEE3EAANd>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9996471Y $,֌LA9:$@: 8@Y: /=y::>:Hpt ?p?_? @!? \? :$@:Г;):CNkKBN1HIV IV̍2^JM bn=ybQ b?٥`d fHdfW < f?hnW4j?rW49jV IjodBypr&"@r?jCij:j:jW4tvAx}@oݥCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guiden ݥAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideܥCompleted lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock}||||`@bsjsrszsB&"@I !!!i)1D-ڄ9]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253342IIp=E?EEEM0EAAN!>YKutP"Ku-9*Kq2Ku:Ku c "4h_i C  p ` b   )  05;i^+2  J>J>ԉH>HCHHH =HH-DH<HFE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503442 l$,)LA9W@j@Yަ=y`:>H`b@?_?E? մ?@]? W@;)5oKB56HIeIe(*2*< 6=yEp"Q M>ԁ٥ H ; >UW4F?]W49 IIdByimU"@m?Ci<%<jW4A1p %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceqp%%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideq% %Initialize.q--Initialize.pU1pUq]2~e~aqe}ipAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1qrTransitioning to terminal guidance at range 140.699997 m 1qqqNavigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )p1r :Initialize WaypointComponent.=ZNavigating to waypoint: 36.905698,-122.116120}|| | | `@bsIjsIrsIzsMyU"@ $HB靍P=I)R?I _9iAԡUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756322D9:JUBJJJJARJZJ9bJ&9J4JzJ2:jJ7:J:rJ:E?EEEL0EA)AANM> $,K9CLA9:Ԓ@:@Y:%=y:9>:H`IN?|L?(`#? ?_? :Ԓ@:9;)8bmKBb4HMb@Mb@Mb@BDAT read: Rx Time:05:59:39.8665 TRx dataTimestamp_ set to:1749103181.108411checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010245 )YK?/$?x&y^:>,=7 vA)AIyfAII 3 M=y]Q >٥   H  <  >W4>?%W49+ I-dBy%2K>%;%m'@%?"Ci'::zW4)-A1mZNavigating to waypoint: 36.905698,-122.116120j~mb~mjۿr~iz~i2~i~q}}@qqCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangepAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange}||||%@bs2K>js2K>rs=h>zsm'@ 靥/^=I).R?Ib: 69ɢ߾> }Y?I> (kpHeading = 0.400000i : (kiHeading = 0.001000  >i 8) 8iD9!EyEyEyE}O0EyAAN_>I u =u =u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260322$,]LA 9>@>/@Y>f=y> :>>Hew95?9?`=P ?{'`b#?0_? >@>;)>CJKBJKHI^I^fXN= f`=yf5qQ j>٥hh jHhn< n>pzW4rP ?zW49rH IrdBy|~'@?r4CirnZ;rEs;rHCHHH =HH*DH<HEquAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guidev Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlvInitialize.1w Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqwInitialize.wwu1u%w%J%h7w%B%h71w- -Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlqw-v-v-~)~-fB5$Terminal guidance.u51x5 UInitialize. UdInitializing internal variables to default values.UZTransitioning guidance mode to: UNINITIALIZEDQ]DRollout timeout set to 300.00 sec.=]VIIR filter is initialized with decay: 0.00.ebTransitioning guidance mode to: TERMINAL_GUIDANCEe?1pe eAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidanceqpeeAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guideqe eUninitialize.qe1re m>Uninitialize WaypointComponent.}i|i|i|i|u` @bsjsrszsF'@ KBɝf=I)I3a: <iyD 9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514790EiEiEqE}`0EyAANL>ԡ $,svLA*DAT read: 05:59:39.8665 LVL= 15792, 21601, 16994, 28019, AGC= 63, IDX= 493, 0.01, 2.820,-2.198, 2.211, 2.100, PHS= 0.808, 2.032, 0.108, RAW= 351.1, -31.7, CAL= 359.1, -44.6, ROT= 150.9, 44.6 .Ygot valid direction response: 05:59:39.8665 LVL= 15792, 21601, 16994, 28019, AGC= 63, IDX= 493, 0.01, 2.820,-2.198, 2.211, 2.100, PHS= 0.808, 2.032, 0.108, RAW= 351.1, -31.7, CAL= 359.1, -44.6, ROT= 150.9, 44.6 2PDAT read: Bearing 150.9, 44.6 (Local) 6~Local bearing/azimuth received: Bearing 150.9, 44.6 (Local) :DAT read: Range 10 to 50 : 181.7 m (Round-trip 242.3 ms) speed -0.4 m/s B*DAT read: user:586> FBDAT read: Tx time:05:59:40.9700 J$Ping request sent.J)?Ў x濹5CY =)aTIbBism?N?J @/= [@) I-@iSFG(@SFG? )?0,ꚔJib ?(@SFG? )f:publishing transmit ping timeHfFpublishing direction and range infoy7'mp>)?Ў x濹Y )Ii )Ii )?0,ꚔJi )9@@Yݚ=yZ<>H5 {$@n? 2'?P 6,?@Iγ qW?]? @骥vK;)Cu|KBuFHyMb@Mb@Mb@ )YI +?&1?X9vy94>P=}zA A)QAIyAII35 i 5 ٥9 9 E HA E ; M >Q U X4U ?] X49U IU cBy] F>] ;] +@] ?U SCiU :U :U X4 tA ZbP5wLAh4Ch4Cx@ʁPbn\{4})?Ў x(@SFG?ҁ5@]0>8byZe:?A鿿{rvzAjGG!?r> Te՘?>  CsЛ@) =  addTargetRange:: Added new target pos. range: 181.699997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 A E U  Added new target pos. range: 180.408813 m, bearing: 278.438938 deg, lat: 36.906097 deg, lon: -122.116132 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 Q ] FNOT Ignoring new targets: 180.41 m.y y   ProNav pure pursuit: ac range: 180.408813 m, nav range: 147.567764 m, bearing: 278.984345 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 133.276976 deg, new cmd heading: 278.984345 deg.  HeadingCmd: 4.869195 target range: 180.408813 and range: 181.70 m.b sЛ@Z r j R J B ~ ~ } | | | `ff@| ^?bs F>js F>rs h>zs 1+@ A E 3۰9IE o<)E `I IM : I M M ߺ:U ZB?Q IU L?} (kpHeading = 0.800000i} ;} (kiHeading = 0.004000} >i} sЛ@i ADU M9rE] >jE] >Q E E E E G0E A AN>9$,ɐLA:JWBJZJJCRJZJ;9bJS9J4J @ @@@9@@YӔ=y40>H7@ n?|??`L?`q? @vڏ;)C I)MAɿMIIQUAiQIQQYIyi}A yy) …A‰‰I‰)‰i‰)ÑIÕA‘‘ ÑÑíAñiññٯKBfHIIM3= =ygQ ?٥ HR"= ?X4?X494 IcBy+@?aCi;;X4AAiFNOT Ignoring new targets: 180.41 m.: ProNav pure pursuit: ac range: 180.408813 m, nav range: 147.597794 m, bearing: 279.000777 deg, approach rate: 0.108419 m/s, LOS rate: nan deg/s, cmd heading: 278.984350 deg, new cmd heading: 279.000777 deg. HeadingCmd: 4.869482 target range: 180.408813 and range: 181.70 m.bқ@ZrjRJB~~}||| |?ԉbsjsrszs.+@KP"K9*K2K:KhF$=okfF2;K!nV+LN `zJk + &ukj`-J KB^;I)<I: 9D:%5?H%>H%CH%HH%CKBH% =H!H%)DH%<H%EHEƞCHEƝCHEƕCHE =IE = IE6!AiEқ@iID%79E?EEEO0E 6G ;AAN>f[$,AԳLAKByHMb@Mb@Mb@ )Y/$?A`"?y,>Y=L ԎA)GAIAyQAIIF2 = 1=yQ >٥ H >X4?X49K IcBy;>;r,@?uCiZ::+X4!AQY]FNOT Ignoring new targets: 180.41 m.e=:au ProNav pure pursuit: ac range: 180.408813 m, nav range: 147.643204 m, bearing: 279.026294 deg, approach rate: 0.101347 m/s, LOS rate: nan deg/s, cmd heading: 279.000769 deg, new cmd heading: 279.026294 deg. }HeadingCmd: 4.869927 target range: 180.408813 and range: 181.70 m.b}r֛@ZyryjyRJB~~}||||E ?bs];>js];>rs]v>zs] r,@ 靝ΘA;I)=I_: :?ir֛@iDn9ԉE]?EYEaEe]0Ea6GUsq<~G- AA9 AI N] >Ա 4$,Ts͓LA9F@F@YF=yF'4>FHL F޳?? :@?@s {Y?/n? F@F0v;)DP=KBEHII3J= \=ytQ >٥L?L? H< M>Q]X4U?eX49U IUcByae,@e?UCiU:U:U>9X4imAqFNOT Ignoring new targets: 180.41 m.: ProNav pure pursuit: ac range: 180.408813 m, nav range: 147.681244 m, bearing: 279.047819 deg, approach rate: 0.099372 m/s, LOS rate: nan deg/s, cmd heading: 279.026287 deg, new cmd heading: 279.047819 deg. HeadingCmd: 4.870303 target range: 180.408813 and range: 181.70 m.bٛ@ZrjRJB~~}||||@? KB%E;I!)%HZ=!I%Z': !!-M:-"> ?11i5ٛ@i1C=?C=>DMj9:JXBJOJJJRJZJ{9bJ%9J4J>E0::zEG) G- @AH ޼>H H 2HH lKBH  =H H (DH <H sEK P"K *K 2K :K g8|@q_ x  ) 2 2&>=TG*z4S3--EE ?EI EI EM O0EI ԁ F a=F a=6G] =- )G~GA AY Ai Nu >p$,LA 9>@>@Y>N=y>Sg8>>H+P "??8?9*?mh? >@> 6;)>CNĀARKBRHI^I^b1|%AA5!= ]T= e)YeĀAye*BymXQ m>٥iq uHu9FuO: }>X4?X49 IcBy,@?Ci";F;FX4ܴA E5B*** querying acoustic contact ***J1R19EFNOT Ignoring new targets: 180.41 m.E\y:Au ProNav pure pursuit: ac range: 180.408813 m, nav range: 147.719238 m, bearing: 279.069359 deg, approach rate: 0.096159 m/s, LOS rate: nan deg/s, cmd heading: 279.047816 deg, new cmd heading: 279.069359 deg. }HeadingCmd: 4.870679 target range: 180.408813 and range: 181.70 m.bܛ@ZrjRJB~~}|||| ? KBs;1IA)MH=QI]6: Ya:{>iܛ@iD=x9Y>E]<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E ?E E E 0E 6G h@=jG =bG =ԉ ~G A A N >W%,ioLA9B@B2@YB_=yB9>BH`oP`۴?`?t[@?`q`?g? B@B ;)@RKBRHYuMb@Mb@Mb@qqq q)qYu7A`?I +?lyu>u94=uu¬A q)qIuAqyupAIIO,= D=y-JQ >٥ H:Fr8 >X4괜?X49 IcBy!>;T+@?CiI::TX4AFNOT Ignoring new targets: 180.41 m. sd: - ProNav pure pursuit: ac range: 180.408813 m, nav range: 147.755875 m, bearing: 279.089135 deg, approach rate: 0.092525 m/s, LOS rate: nan deg/s, cmd heading: 279.069372 deg, new cmd heading: 279.089135 deg. 5HeadingCmd: 4.871024 target range: 180.408813 and range: 181.70 m.b5nߛ@Z1r9j9R9J9B9~A~A}A|A|A|I|M@ KB5\;I1)5J=1I=G: 99=?`:E">AAiEnߛ@iAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254226D=9ԉ>ER5<E! E) E) E- ;1E)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5058616G K'>:J ZBJ MJJ HRJ ZJ 9bJ 9J Ժ4J ~G A A N% >%,SLA9F@F@YF5=yF݀4>FHvMw@> ? ?`Ļ@? ߍ`d?n? F@F4;)DbKBbHIn In̍2r!(= vW=yv&e9Q v>٥x) 5H15 5>9EX4=崜?EX49=T I=rcByIM?+@M?=Ci=:=:=bX4QUAYFNOT Ignoring new targets: 180.41 m.Z: ProNav pure pursuit: ac range: 180.408813 m, nav range: 147.790588 m, bearing: 279.107808 deg, approach rate: 0.088975 m/s, LOS rate: nan deg/s, cmd heading: 279.089125 deg, new cmd heading: 279.107808 deg. ԱHeadingCmd: 4.871350 target range: 180.408813 and range: 181.70 m.b@ZrjRJB~~}||||@ =KBEaaie@iiC}AC}AH-Ѽ>H-CH-dHH-KBH- =H)H-'DH-<H-EDM9DQDQDQDQKˢP"Ku9*K2K:K6C$K*V ,gMP2'* L D v'S<9i]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757936bE}AZE}A EEEE4EF}AF~A6Gm S>~Ga A A N >A %,(5LA9N@N#@YN=yNZ,>NHI`?`r?0@z5?`+yt?x? N@Nޒ;)NCBDAT read: Rx Time:05:59:43.6180 TRx dataTimestamp_ set to:1749103184.893135checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016797LBHEMb@Mb@Mb@AAA A)AYEL7A`??yE+>E٥9A EHE;FE M>IUX4Mജ?]X49M\ IMccBy] >];]#@]?MCiME:M:M!tX4qulAyFNOT Ignoring new targets: 180.41 m. /: ProNav pure pursuit: ac range: 180.408813 m, nav range: 147.835922 m, bearing: 279.127077 deg, approach rate: 0.090041 m/s, LOS rate: nan deg/s, cmd heading: 279.107812 deg, new cmd heading: 279.127077 deg. HeadingCmd: 4.871686 target range: 180.408813 and range: 181.70 m.b@ZrjRJB~~}|||| @A KBѫ>i@iDό9qEu?EyEyE}@0E6GM R}>ZGU }ARGU }A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266841~G! A) AA NM >ԙ A%,NLA9F@FX@YFz7=yFf%>FH@B@`e?@?`?Zz?? F@F;)FCiPRA)VԼ TIT T)VAVVFXX\i`I`dIdifA fʽfF)hh jAhhhlnAIn ׽)lil)pIrArEp pٯpz,LBzHI I(2h> =yH:Q ?٥ H%Iw: w ;~<= i@iEDAT read: 05:59:43.6180 LVL= 13248, 16561, 16242, 30547, AGC= 61, IDX= 445, 0.06,-2.791,-1.436, 2.926, 2.777, PHS= 0.804, 2.117, 0.146, RAW= 349.1, -32.0, CAL= 356.8, -44.9, ROT= 153.2, 44.9 MYgot valid direction response: 05:59:43.6180 LVL= 13248, 16561, 16242, 30547, AGC= 61, IDX= 445, 0.06,-2.791,-1.436, 2.926, 2.777, PHS= 0.804, 2.117, 0.146, RAW= 349.1, -32.0, CAL= 356.8, -44.9, ROT= 153.2, 44.9 ]PDAT read: Bearing 153.2, 44.9 (Local) :JmVBJmRJJmBRJiZJm9bJmS29Jm-4JiDuˍ9ԩ~Local bearing/azimuth received: Bearing 153.2, 44.9 (Local) DAT read: Range 10 to 50 : 182.9 m (Round-trip 243.9 ms) speed 0.3 m/s *DAT read: user:587> EBDAT read: Tx time:05:59:44.7200 M$Ping request sent.M g@)5ISF@iyHD +@yH? )._3i8 'iU,?D +@yH? )}:publishing transmit ping timeIFpublishing direction and range info HHy%l;y= p?"濹Y )Ii )Ii )._3i8 'i )H ˼>H H HH KBH H H &DH <H lEK iP"K 9*K 2K :K ^aY(7A6ZSS /bFDZ"EM<<ng`B6G% F>~G A A N >%,#hLA*JDAT read: TxSync time:05:59:44.7192 9M@Mb@YM|=yMm>MH6,4?`? U.?`?@? M@M;)MC3LB(HI I̍2-6< -:=y->9Q ->٥QY ]HY]Ҙ e>iX4mٴ?X49m ImLcBy#@?mCim +Is$: U;@<ix@iC*?CP?D9rEe>jE >1 E E E E O0E F >F >Y 6G ؅>~GiAqAN>n!%,mLAxNLBIH5Mb@Mb@Mb@111 1)1Y5@5^I ?Mby5b>555A 5A)5=AI11y5AIUIU?13m\= m(=ymQ m>٥qq uHu=F} }>yX4}մ?X49} I}?cByO>;@?}Ci}v;};}X4гAB*** querying acoustic contact ***JRFNOT Ignoring new targets: 181.58 m.:: ProNav: ac range: 181.584366 m, nav range: 148.149994 m, bearing: 279.620791 deg, approach rate: 0.118593 m/s, LOS rate: 0.032701 deg/s, cmd heading: 281.951684 deg, new cmd heading: 281.996873 deg. :HeadingCmd: 4.921774 target range: 181.584366 and range: 182.90 m.b,@ZrjRJB~~}||| |  &6? 5KB=x9IEU: AAE(;MIQiU,@iYDEEEEEIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.:J BJ JJJ ERJ ZJ bJ &9J 4J y 6G >jG >bG .?~G A A N >'%,/6LAH>HCHHHLBH =HH%DH<H?E9r@rQ@Yr‡=yr~>rH?a$?q?V@??y? r@r;)rC~jLB~kHI I 2D= c=y%vQ %>٥!! %H%>F-uh; ->AMX4EҴ?MX49E IE6cByIM@U?ECiE:QE:EX4aeAaFNOT Ignoring new targets: 181.58 m.z:z: ProNav: ac range: 181.584366 m, nav range: 148.191162 m, bearing: 279.632152 deg, approach rate: 0.113663 m/s, LOS rate: 0.031359 deg/s, cmd heading: 281.996873 deg, new cmd heading: 282.030947 deg. ,:HeadingCmd: 4.922369 target range: 181.584366 and range: 182.90 m.b @ZrjRJB~~}||||@>?KUWP"KU9*KQ2KU:KU~K9^r2!G((rJShyc>h'^EXax]-<$f KB靭V`I: 1;Bi @iD 95checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215764ԉE!E!E!E%0E!Ա6Gm >~G A A N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467598.%,ZLA9Z@Zɤ@YZm=yZ>ZH*nh?`?@g ? @զ? 2? Z@ZL;)ZCfLBfH]Mb@Mb@Mb@YYY Y)YY]+?~jtQy]v>>]ļ]u] A ]1A)]AI]AYyYIuIuV83= D=yM:Q >٥ H >X4δ?X49 I)cBy@>;2@?Ci ;;;X4IA#EFNOT Ignoring new targets: 181.58 m.:: ProNav: ac range: 181.584366 m, nav range: 148.259811 m, bearing: 279.646063 deg, approach rate: 0.157129 m/s, LOS rate: 0.031824 deg/s, cmd heading: 282.030942 deg, new cmd heading: 282.072654 deg. :HeadingCmd: 4.923097 target range: 181.584366 and range: 182.90 m.b@Z r j R J B~~}|!|!|1|5@? KB靅IO: <;:*si@iCC{AD9zEqE9E9EAEE)2EAFIFM}AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.720180ԉ6G ~G A A N- >Ա 4%,ԔLA9>iP@>c@Y>s'=y>ѣ>>H@??ʫ`h?@AjY?? >iP@>N3;)٥II MHM?FU"% U>X4˴?X49 IcBy @?'CiY;;uX47AFNOT Ignoring new targets: 181.58 m.:%:5 ProNav: ac range: 181.584366 m, nav range: 148.326904 m, bearing: 279.659503 deg, approach rate: 0.172279 m/s, LOS rate: 0.034495 deg/s, cmd heading: 282.072661 deg, new cmd heading: 282.112963 deg. 5d:=HeadingCmd: 4.923800 target range: 181.584366 and range: 182.90 m.b=ŏ@Z9r9j9R9J9BA~A~A}A|I|I|I|M @ KB ؕN?וF?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971637ԙ靍=I;: kE;OBiŏ@iIIBAD,9E%?E!E!E-4E)H%>H%CH%^HH%`LBH% =H!H%$DH%<H%"EHƗCHƗCHƔCH =I = Id5KP"Kk9*K2K:KFQ-]uV18aP0&(UgQO5A_lH +B ` hb@J{AJ6Ga E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223149~GI Ai A N > F';%,LA9:I@:@Y:=y:>:H{6@6?a-? `T? s?? :I@:c;)8FLBFH-PExceeded connect timeout, disconnecting.I=I=<2p= F=y:Q >٥ H@FI >X4HǴ?X49 IcBy @?:Ci;;cX4A!EYeFNOT Ignoring new targets: 181.58 m.uA:uA: ProNav: ac range: 181.584366 m, nav range: 148.392761 m, bearing: 279.672508 deg, approach rate: 0.159729 m/s, LOS rate: 0.031530 deg/s, cmd heading: 282.112959 deg, new cmd heading: 282.151958 deg. : HeadingCmd: 4.924480 target range: 181.584366 and range: 182.90 m.bX@ZrjR!JQBY~~}|||| X@ KBOqIuE; yyaR;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475231T׾iX@iC?C?:J-[BJ-LJJ-BRJ)ZJ-:bJ-q9J--4J)zJ-:5jJ-:5J-:=rJ-:=D_9EM?EIEIEM`5EQA q 6G >U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727683~G A A N >B%,# LAeLBeHiuMb@Mb@Mb@qqq q)qYuGz?:vZd;Oyup>uTujuA q)uAIuAqyuAII2~< (=yQ >٥ H >X4)´?X49] IbByw>[;@?WCi] ;:fX4A%B*** querying acoustic contact ***J!R!)5FNOT Ignoring new targets: 181.58 m.= := :M ProNav: ac range: 181.584366 m, nav range: 148.499863 m, bearing: 279.689238 deg, approach rate: 0.224115 m/s, LOS rate: 0.034983 deg/s, cmd heading: 282.151945 deg, new cmd heading: 282.202099 deg. M:UHeadingCmd: 4.925356 target range: 181.584366 and range: 182.90 m.bU@Z r j R)J1B1~1~1}9|9|9|9|Ed@ KBfI,)!; \; Zi@iD I9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.980493EEEE4E9H >H CH HH LBH =H H H !<H tEi 6G >~GY Ai ) > CA N > G EPI%,Z'LA >Yy?BK^P"K^9*K\2K^:K^{ 5 z LtIO'OC`D9S%mhzT(mwF#v2VC9zV@z"j@YzU=yz>zH@vt?e?@aC?`ڱ Z? ? zV@z<;)x-LB-HyBDAT read: Rx Time:05:59:47.3687  TRx dataTimestamp_ set to:1749103188.675884checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237520I]I]2< ?=yo;Q >٥ HAFK >X4?MX49 IbByIM6@M?rCiP^<^<X4Y]AYFNOT Ignoring new targets: 181.58 m.:: ProNav: ac range: 181.584366 m, nav range: 148.596069 m, bearing: 279.703745 deg, approach rate: 0.216877 m/s, LOS rate: 0.032681 deg/s, cmd heading: 282.202106 deg, new cmd heading: 282.245599 deg. n:HeadingCmd: 4.926115 target range: 181.584366 and range: 182.90 m.b@ZrjRJ B ~~}!|I|I|I|M @ KB靝yI z1; >g;ԡ(i@ nManaging dock network, ignoring radio surface power offiD9EEEE@0E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483137:J WBJ MJJ CRJ ZJ ;9bJ 9J 4J zJ ̛:jJ ћ:J +:rJ .: 6G >~G A A N >WP%,oHBLA9b@@b@Ybl1=yb+=bHy`#`?@? gJ@v2?]L?? b@@bSA;)bCnLBnH9Mb@Mb@Mb@ )YV-?i|?5L7A`堿yh>q+A )=AIAy=AIIF3]&= 1=y :Q >٥ HBF )  >Y4ӷ?Y49 IbByDAT read: 05:59:47.3687 LVL= 13968, 17681, 18898, 30499, AGC= 58, IDX= 452, 0.04,-0.232, 1.143,-0.847,-0.941, PHS= 0.797, 2.131, 0.091, RAW= 349.9, -30.7, CAL= 357.6, -43.6, ROT= 152.4, 43.6 Ygot valid direction response: 05:59:47.3687 LVL= 13968, 17681, 18898, 30499, AGC= 58, IDX= 452, 0.04,-0.232, 1.143,-0.847,-0.941, PHS= 0.797, 2.131, 0.091, RAW= 349.9, -30.7, CAL= 357.6, -43.6, ROT= 152.4, 43.6 PDAT read: Bearing 152.4, 43.6 (Local) ~Local bearing/azimuth received: Bearing 152.4, 43.6 (Local) DAT read: Range 10 to 50 : 183.4 m (Round-trip 244.6 ms) speed -0.4 m/s *DAT read: user:588> BDAT read: Tx time:05:59:48.4700 $Ping request sent.5;@?Ci<<Y4AE5^= Ek@)E>+ IE@iEBE;*@EB? A)AEu٤Q1 n\iEuLE_ ?E;*@EB? A)A:publishing transmit ping timeک Fpublishing direction and range infoAyE-tSi$`x?B\濹AYA A)AIAiAAAAA A)AIAiAAA A)AEu٤Q1 n\iAAAA A)AZAbE]6KLAE6CE6CE@ʁEm76]5A N@JUc_E-tSi$`x?B\E;*@EB?ҁE!K<@Xx:a$Sl'[E$N ?tNZi0DzEQEAjElh?rE{ EeE?E{  ETECEy@ addTargetRange:: Added new target pos. range: 183.399994 m, deltaT: 3.779185 s, deltaX: 0.500000 m, approachRate: 0.132304 m/s, rangeRepo size: 3  Added new target pos. range: 182.071869 m, bearing: 281.246666 deg, lat: 36.906135 deg, lon: -122.116095 deg, deltaT: 3.779185 s, deltaX: 0.487503 m, approachRate: 0.128997 m/s, posRepo size: 3 FNOT Ignoring new targets: 182.07 m.= ProNav: ac range: 182.071869 m, nav range: 146.063766 m, bearing: 281.124699 deg, approach rate: 0.000000 m/s, LOS rate: 0.032681 deg/s, cmd heading: 282.245601 deg, new cmd heading: 282.293991 deg. 9EHeadingCmd: 4.926960 target range: 182.071869 and range: 183.40 m.bE@ZArIjIRIJqBq~q~y}y|y|y|}f@| ?ԩ KBвIE;  t; 5 i@iCC}AD 9E E E E P5E  JDAT read: TxSync time:05:59:48.4692 6G>HM>HIHMHHMLBHIHIHIHM<HMZE~GAAN?pnX%,%]cLA9Z@m@Y.=yR=HY `:??@?Q ٥19 =H=CF >Y4 ?Y49 IbBy@?Ci::K/P"K`9*K2K:KAg YPe@\!2a)h*det<<wwq}Qp#Y4ӲA9=FNOT Ignoring new targets: 182.07 m.E;:E;:U ProNav: ac range: 182.071869 m, nav range: 146.189438 m, bearing: 281.142430 deg, approach rate: 0.291163 m/s, LOS rate: 0.041044 deg/s, cmd heading: 282.293986 deg, new cmd heading: 282.347133 deg. UX:}HeadingCmd: 4.927887 target range: 182.071869 and range: 183.40 m.b}@@ZyrjRJB~~}|||| R? KBpIMLU;  k~; !ZJ i@@i1ԑD9EEEE@0E6G Jk4Jk4Jk0:J YBJ EJJ BRJ ZJ 9bJ 8J -4J zJ e:jJ j:J 9rJ 9~G! A1 A N >^%,}LAMLBUHԉMb@Mb@Mb@ )Y#~j?T㥛 J +y>HA 9A)AIAyAI I<2%= %F=y-Q ->٥)) -H)5 5>9EY4=@?EY49=! I=bByEت>E;M@M?=Ci=v;=;=*%Y4Q]A]$EFNOT Ignoring new targets: 182.07 m.Q:Q: ProNav: ac range: 182.071869 m, nav range: 146.311157 m, bearing: 281.160462 deg, approach rate: 0.309548 m/s, LOS rate: 0.045821 deg/s, cmd heading: 282.347125 deg, new cmd heading: 282.401177 deg. :HeadingCmd: 4.928830 target range: 182.071869 and range: 183.40 m.b@ZrjRJB~a~a}i|i|i|q|u@D? KBw(I]e; ;%X`!% i-@i)ԱD9EaEaEaEeC0EaA 6G >~G A A N >e%,1aLA9N@N@YN X=yN=NH5K>?:?$?VDZ?? N@N>;)NCZLBZHIb Ib̍2n#< rZ=yv(Q v>٥tt zHzDFz߼ z>|Y4~񦴜?Y49~a I~mbBy  L@ ?~Ci~;~I;~K2Y4ײA5B*** querying acoustic contact ***J1R19EFNOT Ignoring new targets: 182.07 m.MG:MG:m ProNav: ac range: 182.071869 m, nav range: 146.425766 m, bearing: 281.176754 deg, approach rate: 0.306303 m/s, LOS rate: 0.043509 deg/s, cmd heading: 282.401165 deg, new cmd heading: 282.450004 deg. m:uHeadingCmd: 4.929683 target range: 182.071869 and range: 183.40 m.bu@ZqrqjqRqJyBy~y~y}||||?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Թ KBgI]r; ;+si@iC"?C?DΖ9zEH>HHHHLBHHHH<H`EEEEEO0E6G>~GAANj>KP"K*K2K:Ky|,Jh0&gG +^6*8P4/!*%1fHF \0 H : J o $] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498550) k%,LA9>'@>+;@Y>0=y>=>H@5@L9??@7Ͻ?ӱ?? >'@>;)>CNLBNHIb Ibb3n?; nK=yn:9Q r>٥pp rHpvO v>x~Y4z\?~Y49zn IzMbBy|~@?zCizA;z;zI@Y4  ղA 15FNOT Ignoring new targets: 182.07 m.=A:=A:m ProNav: ac range: 182.071869 m, nav range: 146.548340 m, bearing: 281.193686 deg, approach rate: 0.306446 m/s, LOS rate: 0.042295 deg/s, cmd heading: 282.450015 deg, new cmd heading: 282.500767 deg. m7:uHeadingCmd: 4.930569 target range: 182.071869 and range: 183.40 m.bu8ǝ@ZyryjyRyJyBy~~}|||| h?9 KB靝JI'; ;vK!!iM8ǝ@iYDm9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751090:JUUBJUVaJJUCRJQZJU9bJUB9JU4JQzJU4:jJU9:JUX:rJUX:EEEEE6G]>~GAAN>ԑԹ er%,˕LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0039209F;@F@YFy=yFG=FH@KjC?@ST?`s@ ?'ϸ?,? F;@F ;)DRLBRHMb@Mb@Mb@ )Yrh|?A`"i|?5y>YqA A)ICAyAII1]< <=y:Q >٥ HEF >Y4?Y49 I&bBy=> ;R @?@Ci:;zOY4ɲA!-FNOT Ignoring new targets: 182.07 m.=p:=p:M ProNav: ac range: 182.071869 m, nav range: 146.695572 m, bearing: 281.216620 deg, approach rate: 0.338419 m/s, LOS rate: 0.052662 deg/s, cmd heading: 282.500777 deg, new cmd heading: 282.569510 deg. M;UHeadingCmd: 4.931768 target range: 182.071869 and range: 183.40 m.bU ѝ@ZQrQjQRYJYBY~Y~a}a|a|a|a|mື@ԑ KB靝GIM; 6;aIIiM ѝ@iQD-9E?EEE0E6G,>jG?bG ?~GAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254935AN G G H H H H H H H H C<H E9 y%,LA9:j@:@Y:=y:=:Hq`@٥xx zHzFF~ļ ~>Y4ꓴ?Y49 IbBy%@%?cCir;ׄ;\Y4)-A)Q]FNOT Ignoring new targets: 182.07 m.]i:]i:m ProNav: ac range: 182.071869 m, nav range: 146.823227 m, bearing: 281.235926 deg, approach rate: 0.338201 m/s, LOS rate: 0.051104 deg/s, cmd heading: 282.569516 deg, new cmd heading: 282.627383 deg. mI ;uHeadingCmd: 4.932778 target range: 182.071869 and range: 183.40 m.buRٝ@ZyryjyRyJyBy~~}||||`@ KBMDI; ;TᙿiRٝ@iCCD9KJQ"K 9*K2K:K9g} {"-PK C 2Y I$[1&q9 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506860E-?E)E)E-a5E)F1F16GT>~GAANF>Ai  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758454,%,+LA9:v@:܉@Y:x)=y:D=:H`B @x?ƪ?o`6&?` ?j? :v@:;):CL^LB^Hif>Ifp;Mb@Mb@Mb@ )YK7?:vi|?5y>Լ9A A)IypAI I̍2 ;=yEQ >٥ H   >Y4 ?Y49 IaByi>;1 @?Ci{::lY4BA5'EԩFNOT Ignoring new targets: 182.07 m.E:E: ProNav: ac range: 182.071869 m, nav range: 146.983673 m, bearing: 281.265312 deg, approach rate: 0.337549 m/s, LOS rate: 0.061754 deg/s, cmd heading: 282.627381 deg, new cmd heading: 282.715442 deg. );HeadingCmd: 4.934315 target range: 182.071869 and range: 183.40 m.b@ZrjRJB~)~)}1|1|1|1|=ا@ KBWIO; h;aaie@iaEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010735DM39EEEE1E6G{=~G A A N > %,LA9>h@>)@Y>=y>K=>H j@17?`n?@o?ѱ`L?? >h@>9T;)>CJLBJHIVIV<2^ ^_=ybQ b>٥`d fHfGFlr r>tzY4vM?zY49v: IvaByxz @}?vCivqIu ; qquw;}4Vyyip@iD09 H>HHHHLBHHHH<HgEHeĔCHeĔCHeēCHe =Ie = Ie4E?EEEA0E6G]5<~G1A9AQQNew>K% P"K% ж9*K! 2K% :K% /]uU^xjk!=W0W    a"SJ5 ?J5 ?M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514363y P>%,BZ3LA9F@F-@YFP=yFo=FHQFo?P? YѼ?w #?` ? F@F;)FCnLBnHpaImImbms5 2=y[ٺQ >٥ HHF%q* %>AY4E{?Y49E9 IEaBy @?ECiE BDAT read: Tx time:05:59:52.2201 $Ping request sent.ܭ*@ܭV>? ݩ)ݩ ProNav: ac range: 182.071869 m, nav range: 147.277573 m, bearing: 281.317746 deg, approach rate: 0.330946 m/s, LOS rate: 0.058601 deg/s, cmd heading: 282.782071 deg, new cmd heading: 282.872579 deg.  ;HeadingCmd: 4.937058 target range: 182.071869 and range: 183.40 m.ba@ZrjRJݭ3<⿩~2 忻"߿iݭXݭM?ݭ*@ݭV>? ީ)ީ:publishing transmit ping timeFpublishing direction and range infoکyڭ[Qla俰K]9c?a2忹کYک ۩)۩I۩i۩۩۩۩۩ ܩ)ܩIܩiܩܩܩ ݩ)ݩݭ3<⿩~2 忻"߿iݩݩݩݩ ީB~9~A}I|I|Q|U`f&g@)ީ|-X? EKBMjIE; 5;>ia@iԱDP9EE ?EA EA EM p5EI 6G% GjG% ?bG% ?~G A A) N= >%,MLAJDAT read: TxSync time:05:59:52.2193 I\)^@9=@=\@Y=X|=y=g==HuAܠ?`4?@@?*Lt?? =@=df;)=Cu{LBuHMb@Mb@Mb@ )Y"~? rhA`"y>CYA )ݡAIAyAII(*3-B 5?=y=5FQ ]>٥aa eHam m>iuY4mr?}Y49m ImlaBy}>: @?mCim;m;mėY4tAZb=LA7C7Cě@ʁqÒ%^*N@'_[Qla俰K]9c?a2*@V>?ҁxύ$6@9;bk]gd[O..п?bt^LzɶAjf?r i emC"@e addTargetRange:: Added new target pos. range: 185.199997 m, deltaT: 3.779463 s, deltaX: 1.800003 m, approachRate: 0.476259 m/s, rangeRepo size: 4  Added new target pos. range: 183.858963 m, bearing: 278.902780 deg, lat: 36.906135 deg, lon: -122.116095 deg, deltaT: 3.779463 s, deltaX: 1.787094 m, approachRate: 0.472843 m/s, posRepo size: 4 FNOT Ignoring new targets: 183.86 m. ProNav: ac range: 183.858963 m, nav range: 147.428070 m, bearing: 281.345760 deg, approach rate: 0.000000 m/s, LOS rate: 0.058601 deg/s, cmd heading: 282.872585 deg, new cmd heading: 282.938557 deg. HeadingCmd: 4.938210 target range: 183.858963 and range: 185.20 m.b@ZrjRJB~~}|||| iI; ;-(i@iDb9!:JUWBJUGJJUERJQZJU;9bJU9JU4JQEaEaEaEeF0Ei6G= 銝~G A! A1 NE > H <H <H >H CH HH LBH  =H H %DH <H NEQ E%,&fLA"dG.A:A VCYVAyVBB9-\@-@Y-2=y-=-H΢??m? @(?? -\@-J;)-CgLBgH)I=I=1pO T=yQ >٥ HIFG@; >Y4j?Y49n IMaBy @ ?6Ci #<3#<Y4K%P"K%9*K!2K%:K%c3AL|TWVkw"oF3v-z0$C Eqh2 R U c J5}AJ5}A!eAe)EFNOT Ignoring new targets: 183.86 m.ě:ě:% ProNav: ac range: 183.858963 m, nav range: 147.568588 m, bearing: 281.371960 deg, approach rate: 0.365545 m/s, LOS rate: 0.068091 deg/s, cmd heading: 282.938565 deg, new cmd heading: 283.017089 deg. %:;-HeadingCmd: 4.939580 target range: 183.858963 and range: 185.20 m.b- @Z)r)j)R)J)B1~1~1}1|9|y|y|}? KBnIҩ; ;=AIiM @YiqDup9EE E E N0E ԩ6G ~G AY A N > n(%,LA9:@:@Y:~=y: 6=:HrC\?N?@嵻?a쯿p?? :@:>;):CmRLBmMHԱMb@Mb@Mb@ )YQ?Mbp?/$y>;,9A A)IyIIV83= :=yQ >٥ HJF; >Y4`?Y49k I.aBy>:@?iCi(::_Y4ųA!%FNOT Ignoring new targets: 183.86 m.+:+: ProNav: ac range: 183.858963 m, nav range: 147.742767 m, bearing: 281.408382 deg, approach rate: 0.421034 m/s, LOS rate: 0.087938 deg/s, cmd heading: 283.017084 deg, new cmd heading: 283.126223 deg. gq;HeadingCmd: 4.941485 target range: 183.858963 and range: 185.20 m.b @ZrjRJB~~}||||^o? mKBmX^Q T%,LA9>G@>@Y>s=y>Ym=>H`>~}??`L?yS?? >G@>_;)>C D)FAɿDDHHHiHIHHILiNA LP)PP PRPPTV=AIT)TiT)XIZAXX X\\\i``ٯ`f;LBj1HIv,Iv3}h }w=y}R Q }?٥ H< ?Y4W?Y49h IaByH@?Ci;;Y4A:JZBJHJJGRJZJ9bJ9Jc4J]B*** querying acoustic contact ***JYRYFNOT Ignoring new targets: 183.86 m.8:8: ProNav: ac range: 183.858963 m, nav range: 147.873886 m, bearing: 281.436144 deg, approach rate: 0.370345 m/s, LOS rate: 0.078343 deg/s, cmd heading: 283.126231 deg, new cmd heading: 283.209442 deg. W;HeadingCmd: 4.942937 target range: 183.858963 and range: 185.20 m.b,@Zr!j!R!J!)BQ~Y~Y}a|||| 9? -KB->KHIHMjHHMjLBHM =HIHIHM<HMEiE,@iDYE1E1E1E5_0E16G Y~GAAN >m T****** received valid address query ******m R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode.ԉ K XnQ"K ж9*K 2K :K  7Ke/|GFLe6viR9la} J(0 BJ ?J >|%,F`LA03LB(HII(*2P E=yQ >٥ HKF >Y4M?Y49 I`By?Ci;I;nY4  A,EIMFNOT Ignoring new targets: 183.86 m.U:U:e ProNav: ac range: 183.858963 m, nav range: 148.038483 m, bearing: 281.470914 deg, approach rate: 0.417777 m/s, LOS rate: 0.088153 deg/s, cmd heading: 283.209450 deg, new cmd heading: 283.313642 deg. eq;mHeadingCmd: 4.944756 target range: 183.858963 and range: 185.20 m.bmq;@ZirijiRqJqBq~y~y}y|y|y||a!?ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.008315 KB3 ]d%,.:ΖLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2592769FP@F$@YFa=yF>FH@Ks*?@?%?X9@?? FP@F7;`)FC2LB&HMMb@Mb@Mb@III I)IYMkt?Mt٥yy }H}LF= >Y4yB?Y49ɵ I`By>:3@?Ci;;M;DY4AFNOT Ignoring new targets: 183.86 m.:: ProNav: ac range: 183.858963 m, nav range: 148.208160 m, bearing: 281.510641 deg, approach rate: 0.401874 m/s, LOS rate: 0.093984 deg/s, cmd heading: 283.313651 deg, new cmd heading: 283.432696 deg. ;HeadingCmd: 4.946834 target range: 183.858963 and range: 185.20 m.bvL@ZrjRJB~~ } | | ||=@ MKBUL2He CHe 8HHe ALBHe  =Ha He &DHe ՚<He E~G A A N >揹%,;LA96. @6w@Y6OT=y6!&>6H]?z/?@po@ڇ?熪@߾?? 6. @6M׏;)4JLBJHIR IR2ZM Zk=yQ ?٥    H  /= >!%Y4%8?-Y49% I%`By)-D@-?%Ci%:%:%Y49=HA9aeFNOT Ignoring new targets: 183.86 m.m{:m{: ProNav: ac range: 183.858963 m, nav range: 148.349976 m, bearing: 281.545022 deg, approach rate: 0.397924 m/s, LOS rate: 0.096380 deg/s, cmd heading: 283.432688 deg, new cmd heading: 283.535734 deg. J;HeadingCmd: 4.948632 target range: 183.858963 and range: 185.20 m.b2[@ZrjRJB~~}||||`t@ KBųԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016886v%,(LA9BD@BW@YB|B=yBxV<>BHY X`Fغ??{@?T\b?l? BD@Bn;)@NLBRH=Mb@Mb@Mb@999 9)9Y=rh|?S㥛?=/<=t=XA =A)9I=A9y=AIUIU3uy; u?=yu8"yQ }>٥ HMF9= >Y4M,?Y49® I`Bys>::@?RCim ;q ;Y4AA.EFNOT Ignoring new targets: 183.86 m.:: ProNav: ac range: 183.858963 m, nav range: 148.522202 m, bearing: 281.589561 deg, approach rate: 0.388483 m/s, LOS rate: 0.100347 deg/s, cmd heading: 283.535742 deg, new cmd heading: 283.669202 deg. ;HeadingCmd: 4.950962 target range: 183.858963 and range: 185.20 m.bGn@ZrjRJB~~}||||j @ KB-;I) =I9; &;UNYaiGn@iԩDe9MBDAT read: Rx Time:05:59:54.8710 MTRx dataTimestamp_ set to:1749103196.236184Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269063E?EEED0E6G  ~G A A N >m%,SLA9J-@Ju@YJ4&0=yJN>JH``l? Q?7>? `٬?Q? J-@J;)HVLBVHIf IfV2n rT=yrYCQ r>٥pt vHtv,j= v>xZ4z ?Z49z_ Iz`By@?zCiz;zc;zZ4 `AAMFNOT Ignoring new targets: 183.86 m.M;M;m ProNav: ac range: 183.858963 m, nav range: 148.675446 m, bearing: 281.631022 deg, approach rate: 0.427249 m/s, LOS rate: 0.115475 deg/s, cmd heading: 283.669204 deg, new cmd heading: 283.793458 deg. m;uHeadingCmd: 4.953130 target range: 183.858963 and range: 185.20 m.bu @ZqrqjqRqJyBy~~}||||> @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519547 KB靥;I) M<I; f=;A?i @iCCD9rEjE>Hּ>HCHHHLBHHH'DH<H?E E?EEEO0E1] DAT read: Range 10 to 50 : 185.1 m (Round-trip 246.8 ms) speed -0.4 m/s m *DAT read: user:590> u BDAT read: Tx time:05:59:55.9701 u $Ping request sent.u Y :%,L5LA9Z/@Z4C@YZ=yZ^>ZHk :vk]??`?`b|W?`9? Z/@ZΎ;)ZCfKBjHllIrIr<2z zI=yzFQ ~>٥9A EHMNFUi= }>Z4?Z49 I`By2@?Ci>:l:Z4oAB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 185.100006 m, deltaT: 3.784004 s, deltaX: -0.099991 m, approachRate: -0.026425 m/s, rangeRepo size: 4 %FNOT Ignoring new targets: 183.86 m.-8:-8:1 ProNav: ac range: 183.858963 m, nav range: 148.842743 m, bearing: 281.678514 deg, approach rate: 0.391903 m/s, LOS rate: 0.111128 deg/s, cmd heading: 283.793458 deg, new cmd heading: 283.935774 deg. ;HeadingCmd: 4.955614 target range: 183.858963 and range: 185.10 m.bd@ZrjRJB~~}|||%@3#g@|me?JDAT read: TxSync time:05:59:55.9693 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a KB靕T;I)@Ibk; ;id@i:JZBJIJJERJZJ9bJ 9J4JzJ1:jJ5:J9rJ9D9E5?E1E1E1E1ԉ 6Gq  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503857~Ga Aq A N >P%,"RLA9Ri @R@YR ^=yR~l>RHMJd?٥ HOFC= >Z4k?Z49 I`By!?:x@?Ci ;C ;&Z4BA1E  FNOT Ignoring new targets: 183.86 m. ; ;% ProNav: ac range: 183.858963 m, nav range: 149.059052 m, bearing: 281.742298 deg, approach rate: 0.420532 m/s, LOS rate: 0.123824 deg/s, cmd heading: 283.935772 deg, new cmd heading: 284.126845 deg. %;-HeadingCmd: 4.958949 target range: 183.858963 and range: 185.10 m.b-@Z)r1j1R1J1B1~9~9}9|9|9|A|Ej?ԁ %LB%V\;I!)%ȳ!I-Q̴; ))-;511i5@i9D$9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757035EEEEEԹ H<H<H>HCHHHLBH =HH)DHݚ<HSEHȖCHȗCHȕCH =I = I[m6 6G ~G A A N >6%,#NmLAi!%A)%`e %FI! ))-A-}))15Ai5ĻI11I1i5A =-9)99 999AAEAIEOmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009715)Iiy)yIׅAօٽօF ׁٯKBHI Ib3< a=yQ >٥ HPF >Z43?Z49 I`By?.Ci:-:T3Z4uAK-P"K-9*K)2K-!:K-vCf67i 92C I M   $ n ObJ)2/@cS{Vdc1"O-A!FNOT Ignoring new targets: 183.86 m. ; ; ProNav: ac range: 183.858963 m, nav range: 149.211227 m, bearing: 281.787026 deg, approach rate: 0.419319 m/s, LOS rate: 0.123124 deg/s, cmd heading: 284.126854 deg, new cmd heading: 284.260903 deg. ;HeadingCmd: 4.961288 target range: 183.858963 and range: 185.10 m.bž@ZrjRJB~~}||||M? e LBm;Ii)mОiImiT; iiu,;u3yyi}ž@iyC!?C>AD39zEE5?E1E1E5^0E1F9F==i > =% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262498:J WBJ HJJ HRJ ZJ ;9bJ 9J Ժ4J zJ ɛ:jJ Λ:J 9rJ 96G ȹԙ ~Gq Ay A N >W%, LA9>>6 @>I@Y>Al>>H&{*??h ?@IRQ?`1$? >>6 @>;)>C]KB]Haԁ) mMb@Mb@Mb@iii i)iYmJ +?/$?~jtym?m٥ H= >9EZ4=g泜?EZ49=ʛ I=`ByM?M:M@M?=kCi=;=;=BZ4Y]A]4EFNOT Ignoring new targets: 183.86 m.a;a; ProNav: ac range: 183.858963 m, nav range: 149.395523 m, bearing: 281.845730 deg, approach rate: 0.410515 m/s, LOS rate: 0.130599 deg/s, cmd heading: 284.260889 deg, new cmd heading: 284.436781 deg. B;HeadingCmd: 4.964358 target range: 183.858963 and range: 185.10 m.bܞ@ZrjRJB~~}||||? LB|A;IDY(<)I K; ;UϨiܞ@iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511347ԩD%S9EEEE0E6G ~G A A N >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764741%,vLAI>C=I>4=9 Ji@ |@Y ]G H, >@? ?a*? z눿?@? Ji@ sO;) CH>HCHHHKBH =HH-DH<HPE %KB%H)> CII25ĀAMAA e@YĀAyAB˻ :=yrQ >٥ HQF= >Z4ֳ?Z49S I`ByF!@?Ci;r;QZ4AFNOT Ignoring new targets: 183.86 m.%;;%;;5 ProNav: ac range: 183.858963 m, nav range: 149.562134 m, bearing: 281.904258 deg, approach rate: 0.394239 m/s, LOS rate: 0.138338 deg/s, cmd heading: 284.436780 deg, new cmd heading: 284.612170 deg. 5;=HeadingCmd: 4.967420 target range: 183.858963 and range: 185.10 m.b=@Z9rAjARAJABA~I~I}I|I|Q|Q|U5? LB靕C7;I)@IC; ;ki@i9De9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016794E?EEE0EqKP"K}9*K2K":Kk%W/L$qVYz ??:+#Lw|/WA)"Om7eJ>J>ԑ 6G ~G A A N >}9%,LA9j@j @YjNijH1?'&?`?`̀nj?`%? j@jܜ;)jC~KBH!IIF2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269450ԑi= P=:J-cBJ-PJJ-ERJ)ZJ-:bJ-*9J-4J)zJ-;jJ-;J--:rJ--:yE!Q E>٥AA MHMRFMeq= M>YZ4]dz?Z49]" I]~`By"@?]Ci]9:]-:]_Z4uA7EB*** querying acoustic contact ***JR FNOT Ignoring new targets: 183.86 m. u; u;= ProNav: ac range: 183.858963 m, nav range: 149.717468 m, bearing: 281.961312 deg, approach rate: 0.375191 m/s, LOS rate: 0.137662 deg/s, cmd heading: 284.612180 deg, new cmd heading: 284.783161 deg. =;EHeadingCmd: 4.970404 target range: 183.858963 and range: 185.10 m.bE @ZArIjIRIJIBI~Q~Q}Q|y|y|y|} @ #LB';I)*IӰ; ;; i @iԱD9E?EEEo5E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5192706G ȹZG |ARG }A ~G A A N >{^%,֗LA9>m@>!@Y>Ј;y>4>>HM`7;??j= aB?@q`?? >m@>;)>CJKBJHMb@Mb@Mb@ )YMbX?{Gzt?k W=yU(Q >٥ H= >Z4?Z49 Iz`By ?:W"@?Ci~ ;;lZ4A!%FNOT Ignoring new targets: 183.86 m.-(;-(;i ProNav: ac range: 183.858963 m, nav range: 149.863785 m, bearing: 282.014140 deg, approach rate: 0.408760 m/s, LOS rate: 0.147441 deg/s, cmd heading: 284.783153 deg, new cmd heading: 284.941483 deg. `;HeadingCmd: 4.973167 target range: 183.858963 and range: 185.10 m.b/$@ZrjRJB~~}| | | | @k@ *LB靅P:I)\I; ;i/$@iD9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773892ԙGG@AH>>HCHHHLBH =HH1DH<H6E>E ȿ<E ?E E E 0E  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023275KP"K*K2K#:K1=bHE^n) vN^c,scl+f[v ;'J5|AJ16Gy~GqAAN?.%,GLA9J@J+#@YJMo:yJ">JH@][`?@?'?M? u? J@Jbћ;)JCbKBbHII1%P; %&=y-Q ->٥)I MHUSFUB= U>YeZ4]?eZ49]< I]v`Byam#@m?]TCi]`:]):]~Z4|A8EFNOT Ignoring new targets: 183.86 m.#;#;% ProNav: ac range: 183.858963 m, nav range: 150.054718 m, bearing: 282.086164 deg, approach rate: 0.379701 m/s, LOS rate: 0.143049 deg/s, cmd heading: 284.941477 deg, new cmd heading: 285.157273 deg. %X;UHeadingCmd: 4.976933 target range: 183.858963 and range: 185.10 m.bU C@ZQrYjYRYJaB~~}||ԩ||κ @BDAT read: Rx Time:05:59:58.6232 TRx dataTimestamp_ set to:1749103200.024527 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284214:JWBJMJJGRJZJ;9bJ9Jc4JzJɛ:jJΛ:J*:rJ,: 54LB5S:I1)5~9I=W; 99=;EA3AAiE C@iICU?CU&?D 9 >E &<1 u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527179E ?E E E O0E a6G~GAAN?&,MLA9>H@>$@Y>+y>H>>H `M8?B? h@?ae?`2?=? >H@>2;)>CDNLBNHMb@Mb@Mb@ )Ysh|??Mbp{Gzty ?ףA )AIAmDAT read: 05:59:58.6232 LVL= 13040, 17393, 14610, 26803, AGC= 62, IDX= 449,-0.09,-2.723,-1.233, 3.015, 2.906, PHS= 0.742, 2.191, 0.106, RAW= 347.3, -30.1, CAL= 354.4, -43.0, ROT= 155.6, 43.0 uYgot valid direction response: 05:59:58.6232 LVL= 13040, 17393, 14610, 26803, AGC= 62, IDX= 449,-0.09,-2.723,-1.233, 3.015, 2.906, PHS= 0.742, 2.191, 0.106, RAW= 347.3, -30.1, CAL= 354.4, -43.0, ROT= 155.6, 43.0 }PDAT read: Bearing 155.6, 43.0 (Local) }~Local bearing/azimuth received: Bearing 155.6, 43.0 (Local) DAT read: Range 10 to 50 : 186.7 m (Round-trip 249.0 ms) speed -0.4 m/s *DAT read: user:591> BDAT read: Tx time:05:59:59.7201 $Ping request sent.%=?%X9 @%= % @)%|I%.@i%7 @%-@%7 @? !)!%zSm 7W俻*< ٥ HTF= >i%6%?%-@%7 @? !)!M:publishing transmit ping timeڑMFpublishing direction and range info!y%SP"PeV?ʩ%2忹!Y! !)!I!i!!!!! !)!I!i!!!eZ4?eZ49G Is`Bym ?m:mJ$@m?Ci:8:Z4qubA !)!%zSm 7W俻*i!!!! !)!};EԹHC>HCHHHLBH =HDDHHq<HEZ!b%dt!LA%f9C%f9C%K@ʁ%^L@{X_%SP"PeV?ʩ%2%-@%7 @?ҁ%O77ϟL@. aayV[%?Ձ8Ǔиz% %dBj%GfƜ?r%VA %e%lh?! %e%]C%:@E addTargetRange:: Added new target pos. range: 186.699997 m, deltaT: 3.784069 s, deltaX: 1.599991 m, approachRate: 0.422823 m/s, rangeRepo size: 4  Added new target pos. range: 185.400635 m, bearing: 292.380028 deg, lat: 36.906138 deg, lon: -122.116095 deg, deltaT: 7.568073 s, deltaX: 1.541672 m, approachRate: 0.203707 m/s, posRepo size: 4 FNOT Ignoring new targets: 185.40 m. ProNav: ac range: 185.400635 m, nav range: 150.367111 m, bearing: 282.298000 deg, approach rate: 0.000000 m/s, LOS rate: 0.143049 deg/s, cmd heading: 285.157283 deg, new cmd heading: 285.457170 deg.  HeadingCmd: 4.982168 target range: 185.400635 and range: 186.70 m.bm@ZrjRJB~~}||!|%`fVg@|%I? ALBf:I)΀I]; !% ;-))i-m@i1D%Ƨ9D!D!D)D) JDAT read: TxSync time:05:59:59.7193  Ku P"Ku 9*Kq 2Ku $:Ku VHB{^?~_ $TQZk  J} ?J} ?EE ?EA EA EE N0EA a i6Gȹ~GAAN% ?a:&,&ELA89^@^(@Y^=)y^>^HO@,T޿.2?]? \?'?S?t? ^@^ۇ;)^CjLBjHMb@Mb@Mb@ )Y rh?I +~jth?yC ?9D; )AIyQAII3:  =yTQ >٥ HUFL= > Z4cw? Z49Ƅ Iu`By a ? :%@?Ci ;:bZ4`A5B*** querying acoustic contact ***J9R9AMFNOT Ignoring new targets: 185.40 m.Mb>;Mb>;m ProNav: ac range: 185.400635 m, nav range: 150.593124 m, bearing: 282.386602 deg, approach rate: 0.425224 m/s, LOS rate: 0.166447 deg/s, cmd heading: 285.457183 deg, new cmd heading: 285.722589 deg. uv;}HeadingCmd: 4.986800 target range: 185.400635 and range: 186.70 m.b}ݓ@ZyryjyRyJyB~~}||||`ׄ? KLB靽:I)I5; ;勵iݓ@iԙD=ը9EEEEO0ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6G  ~G A A N >y\&, ^LA9f@lf@ *@Yfvcyf$>fHOFܿ`7?@?@T 2? b?-?? f@f ;)fCLB HI%I%25= 5W=y5hQ =>٥99 =HEVFEģ= E>YeZ4]Ch?eZ49] I]w`Byimu'@m?]5Ci]:]:]Z4qu(Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.994392>EFNOT Ignoring new targets: 185.40 m..;.; ProNav: ac range: 185.400635 m, nav range: 150.733276 m, bearing: 282.444763 deg, approach rate: 0.367073 m/s, LOS rate: 0.152186 deg/s, cmd heading: 285.722577 deg, new cmd heading: 285.896895 deg. ;J4J4J0:J=[BJ=LJJ=LRJ9ZJ=:bJ=q9J=4J9M@M@M@M@HeadingCmd: 4.989842 target range: 185.400635 and range: 186.70 m.bɬ@ZrjRJB~~}||||Z? HH<H8>HCH,HH7LBH =HHH<HIE  TLB:I!)%Z!I%q; !IM;MFQQiUɬ@iQCCD9zE9EEEEEFF~A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246522ԑ K= P"K= K9*K9 2K= %:K= 6y X<}""P 'C6/3$4D VARKwBDJ{6G ~G A A N >&, yLA9R@hR',@YRyR>RHoڿ ?`????? R@R@;)RC~LB~Hi =I .?II1%; %C=y-Q ->٥)) 5H15= 5>9EZ4=eW?EZ49=5 I=z`ByIM)@M?=oCi=:=0;=FZ4UBU"AQy}FNOT Ignoring new targets: 185.40 m.3;3; ProNav: ac range: 185.400635 m, nav range: 150.881271 m, bearing: 282.510200 deg, approach rate: 0.356101 m/s, LOS rate: 0.157299 deg/s, cmd heading: 285.896883 deg, new cmd heading: 286.093002 deg. ;HeadingCmd: 4.993265 target range: 185.400635 and range: 186.70 m.bȟ@ZrjRJB~~}||||l? \LBeJ:I )  r I E;  );!iȟ@iD9-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502214IEEEE0Ei6G= ȹ~Gq A A ԙ N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750200z$&,cLA9>@>-@Y>my>l>>H+uٿq?@G?`8:?\͒??? >@>빍;)٥ HWFY= >Z4BF?Z49}| I}`By ?:+@?Ci& ;M:Z4AAEFNOT Ignoring new targets: 185.40 m.l6;l6; ProNav: ac range: 185.400635 m, nav range: 151.026108 m, bearing: 282.577038 deg, approach rate: 0.345939 m/s, LOS rate: 0.159488 deg/s, cmd heading: 286.092992 deg, new cmd heading: 286.293313 deg. ;HeadingCmd: 4.996761 target range: 185.400635 and range: 186.70 m.bw@ZrjRJB~~}||||? 5eLB5 :I5#:)=B9I=; 99=;EAAiEw@iIDm(9ԹEEEE0E%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002647:JWBJJJRJZJ;9bJJJH;>HHQHHVLBH =HEDH0DH<HMEH]ȢCH]ȡCHYH] =I] = I]{66G ~G A  A N >*&,KwLA9:!!@:i/@Y:ĝy:0>:HTq׿`p? N?}?`C?@$?? :!!@:ڌ;):CJ-LBJ HIRIRb1Z ZY=y^Q ^>٥`` bH`b= b>djZ4f6?jZ49f/z If`Byln,@n?fCif{;ff;fZ4prAtFNOT Ignoring new targets: 185.40 m.40;40; ProNav: ac range: 185.400635 m, nav range: 151.151718 m, bearing: 282.638162 deg, approach rate: 0.316834 m/s, LOS rate: 0.154048 deg/s, cmd heading: 286.293308 deg, new cmd heading: 286.476526 deg. q;HeadingCmd: 4.999959 target range: 185.400635 and range: 186.70 m.b@ZrjRJB~~}||||@@ 5mLB5/9I9)=9I=/\; 99=^;E@AAiM@iICU%?CUA?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255806DU69bEZE|AK Q"K 9*K2K&:K6n ^+nXds.!t$}| t k(?a/ wJ_ hF)hEIEIEQEU`5EYFm=Fm=96GM ȹM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509587~GY A A1 i N >o1&,zPǘLA9>S#@>Eg1@Y>qy>~>>H8տ3 ?P? d?0??F? >S#@>Dg;)>CJ7LBJ-H)L L-Mb@Mb@Mb@))) )))Y-MbX?٥ii mHmXFmd{= u>qZ4u%?Z49uw Iu`By ?:6-@?u Ciu:u{:uZ4  A DE1MB*** querying acoustic contact ***JQRQyFNOT Ignoring new targets: 185.40 m.9;9; ProNav: ac range: 185.400635 m, nav range: 151.292740 m, bearing: 282.707539 deg, approach rate: 0.329220 m/s, LOS rate: 0.161813 deg/s, cmd heading: 286.476521 deg, new cmd heading: 286.684458 deg. ;HeadingCmd: 5.003588 target range: 185.400635 and range: 186.70 m.bd@ZrjRJB~~}||||@@ mwLB靕pB:I)I; m;ɣid@iD5H9iׁׁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758823EEEEEԑ6G Թ ~G9 AI Aa Nu >l7&,iLAfBDAT read: Rx Time:06:00:02.3214 fTRx dataTimestamp_ set to:1749103203.547485jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0115189^%@^`3@Y^y^>^H`W oԿ#?e?z#K?@^?@?? ^%@^q;)\vDLBv٥ HYF܀= >Z4a?Z49;u I`By.@?S Ci::Z4سAH=9>H9H=wHH=tLBH= =H9H=1DH=<H=EyG =m>YAyE?BFNOT Ignoring new targets: 185.40 m..4;.4; ProNav: ac range: 185.400635 m, nav range: 151.427444 m, bearing: 282.777314 deg, approach rate: 0.304386 m/s, LOS rate: 0.157526 deg/s, cmd heading: 286.684459 deg, new cmd heading: 286.893596 deg. 7;HeadingCmd: 5.007238 target range: 185.400635 and range: 186.70 m.bK;@ZrjRJB~~}!|1|1|1|= @ LB靅^:I)vIʞ; ;=RiK;@iԩD%V9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262262>E! K PoP"K 9*K 2K ':K mm  f z HUjn(2'vDZ;aIJ1 J1 E E E E 0E 96GZG}AMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518037RG~GAQAYN}?*A&,-LAMMLBUGHEMb@Mb@Mb@AAA A)AYEDl? ףp= {GztyEO ?EQ8EףEA EA)AIE AAyE¡AI]I]3mj< m=yuQ }>٥ HZF >[4?[49}q I`By ?:9.@? Ci:D;[4ųAGEFNOT Ignoring new targets: 185.40 m.O;O; ProNav: ac range: 185.400635 m, nav range: 151.636642 m, bearing: 282.882833 deg, approach rate: 0.359331 m/s, LOS rate: 0.180996 deg/s, cmd heading: 286.893599 deg, new cmd heading: 287.209717 deg. n;  HeadingCmd: 5.012755 target range: 185.400635 and range: 186.70 m.b ~h@ZrjRJB~~}||!|!|%N @ ULBU:IQ)U^QI]Qi; YY]kc;=tAAiE~h@iACICID-w9D5=D5=DAT read: 06:00:02.3214 LVL= 18272, 21457, 21090, 28371, AGC= 57, IDX= 399, 0.35, 1.560, 1.673,-0.407, 0.893, PHS= 0.755, 0.827,-1.303, RAW= 28.3, -2.7, CAL= 28.1, -5.4, ROT= 121.9, 5.4 Ygot valid direction response: 06:00:02.3214 LVL= 18272, 21457, 21090, 28371, AGC= 57, IDX= 399, 0.35, 1.560, 1.673,-0.407, 0.893, PHS= 0.755, 0.827,-1.303, RAW= 28.3, -2.7, CAL= 28.1, -5.4, ROT= 121.9, 5.4 PDAT read: Bearing 121.9, 5.4 (Local) ~Local bearing/azimuth received: Bearing 121.9, 5.4 (Local) DAT read: Range 10 to 50 : 147.9 m (Round-trip 197.2 ms) speed -0.4 m/s *DAT read: user:592> BDAT read: Tx time:06:00:03.4201 $Ping request sent.r& ! ?|ӄ{]CYY ]`G)]SI]bRi]n]9]GA?]FS?]Ȧ ]'>)]AI]>i]])@]= Y)Y](qSbWN4i]P̿]@=])@]= Y)Y:publishing transmit ping timeFpublishing direction and range infoYy]]>r& ! ?|ӄ{YYY Y)YIYiYYYYY Y)YIYiYYY Y)Y](qSbWN4iYYYY Y)Y>Ee q:q EQ EQ EY E] O0EY ԉ IaIea=:JmWBJmNJJmERJiZJm;9bJm!9Jm4JiH}5>H}CH}HH}LBH} =HyH}0DH}<H}aE6GyԹ~GAAN ?`cJ&,:+LA9>0*@>@D8@Y>~Qڼy>9>>H@+Ͽѷ??@ @p?\I?u? ? >0*@>;)>CNULBNQHPI$I<3]ف< ]=ymQ m>٥ii uHu[Fu > u>y[4}Ნ?[49}n I}`Bye3@?} Ci}pl<}l<}&[4BAIEZb`LACCd@ʁ#PS5~q_@N+]>r& ! ?|ӄ{)@=ҁhE@6 kaB=1@;??8*ap\M? ?zX O,Bju?rD* B꿻?a  8C{@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 147.899994 m, deltaT: 3.780050 s, deltaX: -38.800003 m, approachRate: -10.264416 m/s, rangeRepo size: 4FNOT Ignoring new targets: 185.40 m.>;>; ProNav: ac range: 185.400635 m, nav range: 151.789780 m, bearing: 282.974231 deg, approach rate: 0.280060 m/s, LOS rate: 0.166981 deg/s, cmd heading: 287.209728 deg, new cmd heading: 287.483642 deg. 2;HeadingCmd: 5.017536 target range: 185.400635 and range: 186.70 m.b@ZrjRJB!~!~!})|)|)|-|b@|-? LB1&:I)֍I%ҙ; !!%UO;-))i-@i1D9D!D!D%D%1KP"K9*K2K(:K?T>y \ f . 8 5 < =Q 1 "7:i=Vkx2/J ?J ?YEQ EQ EQ EQ EQ Ա 6G1jG=?bG=>Ա~GA!A9N]?{R&,UKLA9Fs+@F :@YFyFR>FH)˿=ε??s/V?`T?g?`? Fs+@F;)FCReLBRdHMb@Mb@Mb@ )YS?L7A`堿 rhy?+CA )IAy3AI I<2*< =yzQ >٥! %H5\F=0W= =>A][4Eɲ?][49El IE{`By]k?]:]6@]?EB CiE{r;ED;E9[4imAmLEԉB*** querying acoustic contact ***JRFNOT Ignoring new targets: 185.40 m.w];w]; ProNav: ac range: 185.400635 m, nav range: 151.934555 m, bearing: 283.071552 deg, approach rate: 0.288307 m/s, LOS rate: 0.193621 deg/s, cmd heading: 287.483646 deg, new cmd heading: 287.775328 deg. <HeadingCmd: 5.022627 target range: 185.400635 and range: 186.70 m.b\@ZrjRJB~~}||||7?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. mLBu8, :Iq)uqIu; qy}Q;Yi\@iC(?C/?D9E-?E)E)E5P0E16G ȹ ؝ i>ם I? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242583~G A  A N5 >X&,eeLA:JZYBJZRJJXRJXZJZ9bJZS29JXJXHRB>HRCHRHHRLBHR =HPHR1DHR<HRjE9e-@e;@Ye ye`>eHyKȿQ?uq? Z[`n?b?y?@&? e-@eϑ;)eCiLBiHII#3] < M=yvQ  >٥)) -H)5͇= 5>9m[4=?m[49=Kk I=x`Byim8@m?={ Ci=;=K;=G[4y}AyFNOT Ignoring new targets: 185.40 m.`P;`P; ProNav: ac range: 185.400635 m, nav range: 152.039215 m, bearing: 283.146168 deg, approach rate: 0.255706 m/s, LOS rate: 0.182176 deg/s, cmd heading: 287.775322 deg, new cmd heading: 287.999015 deg.  ;%HeadingCmd: 5.026531 target range: 185.400635 and range: 186.70 m.b%X٠@Z!r)j)R)J)B)~1~1}1|1|1|9|=!0? LBp"I)ȓI+; a; ڠ i X٠@i Dʰ91E?EEE_0E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493341Y K5 P"K5 9*K1 2K5 ):K5 (<NW0RMh&Z=}-:>0%Z<8>S?:^sZ4JI JM zA6G) ~G AI AY Nm >M!_&,uLA 9FAN/@Fa=@YF'yF>FHt~ſG?@8?z} &??/?? FAN/@F;)FCmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747894iԑhLBhHe Mb@Mb@Mb@a a a a )a Ye ʡE?Qy&1ye ?e ue `e A a )e OAIa a ya I} I} (* 2  ٥  H ]F !=  >  [4 m? [49 li I o`By ? :Թ <@ ? Ci ; G; ][4 A OE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997228  FNOT Ignoring new targets: 185.40 m. V; V;  ProNav: ac range: 185.400635 m, nav range: 152.190140 m, bearing: 283.271357 deg, approach rate: 0.225835 m/s, LOS rate: 0.187140 deg/s, cmd heading: 287.999024 deg, new cmd heading: 288.374214 deg.  n<% HeadingCmd: 5.033080 target range: 185.400635 and range: 186.70 m.b% @Z! r! j! R! J! B) ~ ~ } | | | | @ E LBE AǹIA )E A IM ; I H; x i @i C |AC ~A D ر9EEEEK0E9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249258HI>HCHHH =HH2DHx<HEq6GZG|ARGzA~GAAN0?`j&,FH @Ծ`b??>7??y? ? Fx2@Fɔ;)FC h)lɿlpptAiIIiA )) MAIIIYe?AIa)aԑi‘)ÙIÙ™™ ÙáåAáiááٯWLBSHI  I <2 7=y% ;Q %>٥AA MHM^FMX= M>Q][4Ua?e[49Uuh IUi`By?@?U CiU;UA;Usm[4AREFNOT Ignoring new targets: 185.40 m. }l; }l; ProNav: ac range: 185.400635 m, nav range: 152.283386 m, bearing: 283.359659 deg, approach rate: 0.218466 m/s, LOS rate: 0.206756 deg/s, cmd heading: 288.374220 deg, new cmd heading: 288.638963 deg.  <EHeadingCmd: 5.037700 target range: 185.400635 and range: 186.70 m.bM4@ZIrIjIRIJIBI~Q~Q}Q|Q|Y|Y|]@ LBlqI)𽉞I; ;li4@iechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501503D9KP"K9*K2K*:K^9-P<,WjLIM2_u0CFu Q 7 ' I p# d JJ?>E 0::E E E E *5E   checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754368:J [BJ JJJ RJ ZJ :bJ &9J J I6G~GAAN? s&,̙LA9>)4@>y>Ň>>H`X?;?j|?ڝ?#?J? >)4@>:e;)>CM]LBU[HԉMb@Mb@Mb@ )Y&1?Mb`?Q롿y?;\ A)IyAIIeE< =yS:Q >٥ H_F%8R= %>)5[4-k?=[49-g I-``By=,?=:=}C@=?-d Ci-Z:-:-u[4QUA]UEuB*** querying acoustic contact ***JqRqFNOT Ignoring new targets: 185.40 m.j;j; ProNav: ac range: 185.400635 m, nav range: 152.375580 m, bearing: 283.463912 deg, approach rate: 0.181413 m/s, LOS rate: 0.205018 deg/s, cmd heading: 288.638959 deg, new cmd heading: 288.951524 deg.  <%HeadingCmd: 5.043156 target range: 185.400635 and range: 186.70 m.b%a@Z!r!j!R!J)B)~)~)}1|1|1|1|= @ LBaI)BDAT read: Rx Time:06:00:06.0229 TRx dataTimestamp_ set to:1749103207.327905checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006893IV; G;Jia@i C,?CA?D9>Eq9E ?E E E p5E   checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257282G G H L>H CH HH LBH H H H v<H HYH]̢CH]̔CHYI] = I]696G~GAAN?{&,t`LAiTLBPHI)I)e m=ymQ m>٥qq uHu`F} }>[4eR?[49g IW`By? Ci;X;([4AAADAT read: 06:00:06.0229 LVL= 22048, 26593, 26578, 32755, AGC= 63, IDX= 461, 0.38,-1.964,-2.663, 2.023, 3.114, PHS= 1.293, 0.554,-1.094, RAW= 47.6, -7.2, CAL= 52.0, -12.8, ROT= 98.0, 12.8 Ygot valid direction response: 06:00:06.0229 LVL= 22048, 26593, 26578, 32755, AGC= 63, IDX= 461, 0.38,-1.964,-2.663, 2.023, 3.114, PHS= 1.293, 0.554,-1.094, RAW= 47.6, -7.2, CAL= 52.0, -12.8, ROT= 98.0, 12.8 PDAT read: Bearing 98.0, 12.8 (Local) ~Local bearing/azimuth received: Bearing 98.0, 12.8 (Local) DAT read: Range 10 to 50 : 148.9 m (Round-trip 198.6 ms) speed 0.0 m/s *DAT read: user:593> BDAT read: Tx time:06:00:07.1202 %$Ping request sent.% I)IM&S3?|C}iM0M >M!?Md> I)I:publishing transmit ping time!Fpublishing direction and range infoIyMPj_wRF?@|[̿IYI I)IIIiIIIII I)IIIiIII I)IM&S3?|C}iIIII I)I LB靽3ԕI)Iy; H;i@iD=9DDDDKƥP"K9*K2K+:K keG]e$ g)  S_w<aytuK/:#DRs; 0 JJ}A JDAT read: TxSync time:06:00:07.1194 E ?E E E n0E :Jm WBJm QJJm DRJi ZJm ;9bJm -.9Jm 4Ji 96G%ȹa~GA AN-?l&,uxLA]gLB]gHie=Iea=Mb@Mb@Mb@ )Y-? rh?Mby??C<"A )~AIy3AII|=  =yQ >٥!! %H%aF) ->AM[4E5?M[49Ef IEQ`ByM?M:MD@U?E CiE ;E~ ;E[4]B]A]XEiZb2>LACCSǗ@ʁ=+R M4sHT9a@Em7a@Pj_wRF?@|[̿!?d>ҁ>P#@?vb#삮@< Rg?Yo lg_z?z@j匿?ri IaBlh?i  eꁥCx@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 148.899994 m, deltaT: 7.309192 s, deltaX: -37.800003 m, approachRate: -5.171571 m/s, rangeRepo size: 4FNOT Ignoring new targets: 185.40 m.e;e;u ProNav: ac range: 185.400635 m, nav range: 152.573822 m, bearing: 283.694937 deg, approach rate: 0.188169 m/s, LOS rate: 0.226646 deg/s, cmd heading: 289.275669 deg, new cmd heading: 289.644143 deg. u<}HeadingCmd: 5.055244 target range: 185.400635 and range: 186.70 m.b}ġ@ZyryjRJB~~}||||{? -LB-z>I))-j)I5~; 115O;]0-aaieġ@iaDM99ԑEEEE0E -=->) CH M>H H HH LBH  =H H H <H qEu )GI} 4=Iy A A  ?Y Ay Q?B6G ~Gq Ay A N > ~&,2:.LA9V>;@VRI@YVyV>VH`]?$?p@t?@t8?p? e? V>;@VP;)VC``In In(2vI va=yv?Q v>٥xx zHxz> ~> [4#? [49f IM`By  F?? Ci::O[4))-[EQUFNOT Ignoring new targets: 185.40 m.]vx;]vx;m ProNav: ac range: 185.400635 m, nav range: 152.614441 m, bearing: 283.772794 deg, approach rate: 0.113357 m/s, LOS rate: 0.217222 deg/s, cmd heading: 289.644144 deg, new cmd heading: 289.877651 deg. m<uHeadingCmd: 5.059319 target range: 185.400635 and range: 186.70 m.bu@ZqryjyRyJyBy~~}||||Z? eMBeTIa)etiIm[w; iimU\;i@iDl9EAEAEAEEA5EIKP"K}9*K2K,:K  j - rgFgU6hgtbZS%R]i8-X'RYYK%UJ>J ?) 6G) ~G A A! N- >Y &,4IHLA:J&]BJ&RJJ&HRJ$ZJ&]:bJ&S29J&Ժ4J$9<@ K@Yy>HaQ?h^?̟@?@e?`?? <@;) YLB VH1]Mb@Mb@Mb@YYY Y)YY] ףp= ?Mb?Zd;Oy]Q?]=]jY ]GA)]OAIYYyYI} I}b3ռ %=yVQ >٥ HbF2`= >[4 ?[49~g IO`By?:C? Ci ; ;[4A^EFNOT Ignoring new targets: 185.40 m. ~; ~; ProNav: ac range: 185.400635 m, nav range: 152.657944 m, bearing: 283.882029 deg, approach rate: 0.088475 m/s, LOS rate: 0.222096 deg/s, cmd heading: 289.877654 deg, new cmd heading: 290.205263 deg. l<HeadingCmd: 5.065037 target range: 185.400635 and range: 186.70 m.b@ZrjRJB!~!~!}!|)|)|)|-S? ]MB]IY)e9aIel; aae;mF웿qqiu@iDz9aE9E9EAEEP5EAԑ 6G ȹ~G A A N >vp&,ecLA9>>@>DL@Y>۲y>(>>H ?0s?@#`? ??@t? >>@>-;)>C H<H<H I>H CH H H  =H H H u<H ELLBFHII(*3 ==ya Q >٥ HcF|u= >[4?[49Lh IQ`ByIUtAU? CiRk<k<[4aeAa}B*** querying acoustic contact ***JyRyFNOT Ignoring new targets: 185.40 m.v;v; ProNav: ac range: 185.400635 m, nav range: 152.689880 m, bearing: 283.977988 deg, approach rate: 0.071817 m/s, LOS rate: 0.215741 deg/s, cmd heading: 290.205258 deg, new cmd heading: 290.493070 deg. <HeadingCmd: 5.070061 target range: 185.400635 and range: 186.70 m.b=@ZrjRJB~~}|||| M? MBt(I ) S I `;   A;Gi=@iC%?C%*?)D59E?EEE5ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.a 6G ԁ ~G A A N >Ȟ&,~LA9>>@@>PQN@Y>|{y>P>>H@EE?K}?`o@?B?? ? >>@@>ҕ;)>CKFP"KD*KD2KF-:KF#{"h2)# f?I4.sg m>4';8)H.ki`bA)bu dId d)fAfнhhhjAihIhhInCil nнl)lrfC ppppv@CvAIt)tit)zCIzAxx xٯx~aLB~`HII@{= n=y';Q ?٥ H= ?[4<䱜?[49i IS`By?? Ci ;;[4  A aEFNOT Ignoring new targets: 185.40 m.{;{; ProNav: ac range: 185.400635 m, nav range: 152.710709 m, bearing: 284.055451 deg, approach rate: 0.059137 m/s, LOS rate: 0.219912 deg/s, cmd heading: 290.493082 deg, new cmd heading: 290.725440 deg. <HeadingCmd: 5.074116 target range: 185.400635 and range: 186.70 m.b)_@ZrjRJB~~}| | | | F@ }*MB靅a6I)HIAXW; y;ši)_@i C?%= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240791D9bEZE~A:J\BJIJJRJZJ=:bJ 9JJ9EEEEN0EF=FY 6G- ȹ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491596~G! A1 AA ԉ N >/ߥ&,ϠLA9^9C@^Q@Y^y^>^H@?(;*?`? ?? ^9C@^8;)^CnLBpHMb@Mb@Mb@ )Yx? rh?:vyK?C =TA A)zAIAyAII2< 5=yE;Q M>٥QQ UHUdF]H= ]>i}[4mZͱ?[49mj ImY`By?:~<?mI Cimi;mC{;m)[4{AdEFNOT Ignoring new targets: 185.40 m.; ;% ProNav: ac range: 185.400635 m, nav range: 152.724518 m, bearing: 284.159194 deg, approach rate: 0.030001 m/s, LOS rate: 0.225366 deg/s, cmd heading: 290.725445 deg, new cmd heading: 291.036641 deg. %<-HeadingCmd: 5.079547 target range: 185.400635 and range: 186.70 m.b-@Z)r)j)R)J1B1~9~9}9|9|A|A|M`@ 9MB+I)JI[TJ; ;)AIiM@iYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.743214D!HeO>HeCHaHaHe =HaHaHe<HeFEE?EEEO0EQ ԑ 6G ~G A AN->&,SLAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.9950809J\E@JApS@YJ1yJP>JH?A鎿@HĿef???? J\E@J^;)JCԡyLB~Hi4>I<II(*3< :=y-Q >٥ HeF,= > [4 ?[49 k I _`By:?  Ci : F: [4!%eA!IUFNOT Ignoring new targets: 185.40 m.];e;u ProNav: ac range: 185.400635 m, nav range: 152.730606 m, bearing: 284.252179 deg, approach rate: 0.014873 m/s, LOS rate: 0.227149 deg/s, cmd heading: 291.036628 deg, new cmd heading: 291.315569 deg. u<}HeadingCmd: 5.084416 target range: 185.400635 and range: 186.70 m.b}@ZrjRJB~~}||||@:@ DMB靅=I)vJI@; 0;Fqi@iCC}ADu9KCP"K9*K2K.:KJv;XJ QkIxk(h41LS DMZ=#OE?EEEEBDAT read: Rx Time:06:00:09.7235 TRx dataTimestamp_ set to:1749103211.107287checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2482376G ~G A ) Ai N >ѳ&,KКLA}HMb@Mb@Mb@ )Y333333?I +?Mbpy?9<|A rA)AIKAyŸAII(U L=yQ >٥ H > \4? \495m Ig`By?:O<? Ci2;0; \4!!%gEFNOT Ignoring new targets: 185.40 m.s;s;  ProNav: ac range: 185.400635 m, nav range: 152.742691 m, bearing: 284.342357 deg, approach rate: 0.028555 m/s, LOS rate: 0.213061 deg/s, cmd heading: 291.315573 deg, new cmd heading: 291.586085 deg.  8<5HeadingCmd: 5.089137 target range: 185.400635 and range: 186.70 m.b56ڢ@Z1r1j9R9J9B9~A~A}A|A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500130|I|| K_ @ RMB靭7I)YIa4;  ;֘i6ڢ@iADۺ9E?EEEEq5 DAT read: 06:00:09.7235 LVL= 21584, 29329, 28626, 32755, AGC= 59, IDX= 452,-0.05,-1.966,-2.831, 2.202,-3.023, PHS= 1.146, 0.240,-1.061, RAW= 54.1, -3.4, CAL= 57.6, -7.6, ROT= 92.4, 7.6 = Ygot valid direction response: 06:00:09.7235 LVL= 21584, 29329, 28626, 32755, AGC= 59, IDX= 452,-0.05,-1.966,-2.831, 2.202,-3.023, PHS= 1.146, 0.240,-1.061, RAW= 54.1, -3.4, CAL= 57.6, -7.6, ROT= 92.4, 7.6 G G H H>H CH HH LBH  =H H H |<H %Eԡ 6G ȹ PDAT read: Bearing 92.4, 7.6 (Local)  ~Local bearing/azimuth received: Bearing 92.4, 7.6 (Local) 5 DAT read: Range 10 to 50 : 149.4 m (Round-trip 199.2 ms) speed -0.1 m/s :Je XBJe JJJe DRJa ZJe {9bJe &9Je 4Ja zJe :} jJe :} Je : rJe : ~G A A NE >v&,LA"*DAT read: user:594> &BDAT read: Tx time:06:00:10.8202 &$Ping request sent.*=· =q?)=sI=?i==pl?=> 9)9=~mF?œq(Vi=8=t==pl?=> 9)9n:publishing transmit ping time$nFpublishing direction and range info9y=JO@A@?) 9Y9 9)9I9i99999 9)9I9i999 99UIH@UW@ԁ)9=~mF?œq(VYUzyU2>UH:N? ˿@E?9?? ? UIH@U\;)UCi9999 9)9LBHII(*2%= %8=y-Q ->٥)1 5HefFmQ= m>q\4u?\49uo Iup`By8?u Ciu ;uy;u\4BCAjEZ9b=LA=\C=\C==@ʁ=}dv6A,]b@=T.3=JO@A@?) =pl?=>ҁ=,C@Eas~4@=vh?G>[R?z= =`Bj=DB.?r=H =lB=DB.?=H  =IaB=C==@} addTargetRange:: Added new target pos. range: 149.399994 m, deltaT: 11.087874 s, deltaX: -37.300003 m, approachRate: -3.364036 m/s, rangeRepo size: 4  Added new target pos. range: 148.361908 m, bearing: 285.120345 deg, lat: 36.906140 deg, lon: -122.116027 deg, deltaT: 11.087874 s, deltaX: -37.038727 m, approachRate: -3.340472 m/s, posRepo size: 4 UFNOT Ignoring new targets: 148.36 m.UQe ProNav: ac range: 148.361908 m, nav range: 146.996826 m, bearing: 285.120857 deg, approach rate: 0.000000 m/s, LOS rate: 0.213061 deg/s, cmd heading: 291.586076 deg, new cmd heading: 291.875076 deg. aԩHeadingCmd: 5.094181 target range: 148.361908 and range: 149.40 m.b@ZrjRJB~~}|||̬b@|`LO? `MB靍T5I)VI?'; Ο;L1i@iDƻ9EEEEEK ėP"K 9*K 2K /:K @N*R'  } i.6EhVsNR{{ P]K =H 6G= ~G A A! N- >U&,bLA9rXJ@rX@YrFyrs>rH3h%?@ʛ=Ͽ `[ ??? ? rXJ@r;)rC~LB~H )1 1II2X; +=y٥ HgFs= > \4w? \419#q I{`By6?UCi<5<g-\4=AlEB*** querying acoustic contact ***JR)-FNOT Ignoring new targets: 148.36 m.5;5;E ProNav: ac range: 148.361908 m, nav range: 146.991348 m, bearing: 285.233806 deg, approach rate: -0.011334 m/s, LOS rate: 0.233708 deg/s, cmd heading: 291.875075 deg, new cmd heading: 292.213930 deg. Ed <HeadingCmd: 5.100095 target range: 148.361908 and range: 149.40 m.b3@ZrjRJB~~}||||? oMB靍y+EI)!bIMH; u;oi3@iC"?CF?iץAסT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.D9Eu ?Eq Eq Eq Eq ԉ 6G ~GqAAN>&,;&LAVchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.923506H F>H H HH LBH  =H H H <H VEHCHCHCHI = IS=55LB5HMb@Mb@Mb@ )Yx?I +?= 4=yQ >٥ H >\4b?\49s I`Byk?:<7?Ci;:<\4  AoEy}FNOT Ignoring new targets: 148.36 m.};}; ProNav: ac range: 148.361908 m, nav range: 146.988281 m, bearing: 285.335347 deg, approach rate: -0.007156 m/s, LOS rate: 0.236907 deg/s, cmd heading: 292.213934 deg, new cmd heading: 292.518562 deg. "<HeadingCmd: 5.105412 target range: 148.361908 and range: 149.40 m.b_@ZrjRJB~~}||||? E|MBEjAKIA)EYAIE; IIM;uFqqi}_@iyqD}9EEEEP0E]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175362ԑ6GA jGM ?bGM "? ~Gy A A N >@1&,@LA9BВN@B\@YBjyB>BH`"? (Eӿ`]L@3?`̠?>?@? BВN@BU;)BCNLBNHKVbP"KT*KT2KV0:KV/XRi}}qIe -|^D\a]K|{x50uakDIV IV2ft= fi=yjQ j>٥hh jHnhFn,> n>pe\4r R?e\49rt Ir`Byimq3m?rCir checking for new query: numPingsReceived=0, elapsed TxPingTime=1.680475 XR&,ӃZLA9F^P@Fq^@YFyFU>FH6 ¼?0`Կ@?9?@I>?`? F^P@Fi;)D-LB-Hi5=I5Y>eMb@Mb@Mb@aaa a)aYel?:v?~jtx?ye?eT٥ HiF w= >\41HCHHHLBH =HH1DH<H3EEE E E 0E tG-ĀAUAA K;YĀAyj9 |&,9_tLAELBMHI]I]?13mtA= ma=ymQ u>٥qq uHq} }>\4f+?\49Hy I`By?JCi::e\4AuEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.183576FNOT Ignoring new targets: 148.36 m.;; ProNav: ac range: 148.361908 m, nav range: 146.933945 m, bearing: 285.605967 deg, approach rate: -0.047912 m/s, LOS rate: 0.230590 deg/s, cmd heading: 293.082898 deg, new cmd heading: 293.330527 deg. @< HeadingCmd: 5.119584 target range: 148.361908 and range: 149.40 m.b ӣ@Z r j R J B ~~}||||6@ ]MB]ZIa)eQJaIeD: aamY;m𔿩iqiuӣ@iqDu]9EEEE4E9K5P"K59*K12K51:K5 \/ <y\ 00Wod?@=6y_!kkJAJA6G ȹq  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436427~GI AY Ai N >i&,PLA9CS@b@Y7 yJM>H`@?@g`Sؿ`gg`9?W#?`0?? CS@骭G;)CLB HMb@Mb@Mb@ )Ygfffff?٥ HjF-B= ->1M\45?U\495{ I5`Bay]:?m:mD1m?5Ci5;5;5v\4qu{AyB*** querying acoustic contact ***JRFNOT Ignoring new targets: 148.36 m.};}; ProNav: ac range: 148.361908 m, nav range: 146.907928 m, bearing: 285.708615 deg, approach rate: -0.056069 m/s, LOS rate: 0.221260 deg/s, cmd heading: 293.330534 deg, new cmd heading: 293.638527 deg. <HeadingCmd: 5.124959 target range: 148.361908 and range: 149.40 m.b@ZrjRJB~~}||||@ MB靝4I){EIb: ݒ;@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687468i@iDo9ԑEm?EiEiEm@5Eq 6G  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940340~G H C>H CH KHH !MBH  =H H H l<H EA A N >4&,jLA9BU@B0c@YByBZ>BH:e?ش Eٿ ΂?U? H2?? BU@Bf;)BCNLBNH:J5XBJ5nJJ5CRJ1ZJ5{9bJ599J54J1zJ5:jJ5:J5Q:rJ5R:)Q QIeIem?3%T< %N=y-8Q ->٥)) 5H5kF5*= 5>9u\4=?u\49=#~ I=`Byy}{/?=Ci= Q<=<=Ճ\4bAxEFNOT Ignoring new targets: 148.36 m.%y;%y;5 ProNav: ac range: 148.361908 m, nav range: 146.879761 m, bearing: 285.796246 deg, approach rate: -0.070179 m/s, LOS rate: 0.218372 deg/s, cmd heading: 293.638520 deg, new cmd heading: 293.901464 deg. 5<eHeadingCmd: 5.129548 target range: 148.361908 and range: 149.40 m.bmB%@ZirijiRiJiBi~q~q}||||`_@ @ MBCI)%G!I%׳: !!%ʵ;-e))i-B%@i1C=?C=*?D}9QE?EEEM0EMBDAT read: Rx Time:06:00:13.4233 UTRx dataTimestamp_ set to:1749103214.888525]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194115y 6G ȹ~G A A N >&,5ÛLA0KB P"KB@9*K@2KB2:KBSEw!"HrJ W$8-^$v]R7 dj \TJF?JF?9N W@NTe@YNfyNg‹>NH-@B?@}Ƕ4ۿ@f?@??`>?@? N W@Nk;)NCZMBZ5H`IeIe3d= T=yb9Q >٥ H}= >\4?\49 I`By-?Ci::K\46AFNOT Ignoring new targets: 148.36 m.; ;- ProNav: ac range: 148.361908 m, nav range: 146.846436 m, bearing: 285.881602 deg, approach rate: -0.090088 m/s, LOS rate: 0.230795 deg/s, cmd heading: 293.901455 deg, new cmd heading: 294.157580 deg. 5d<MHeadingCmd: 5.134018 target range: 148.361908 and range: 149.40 m.bMI@ZIrQjYRYJaBa~q~y}y|y|||- @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.444158ԑ uMB}AI)?I: ;!)i-I@i9D9EEEEN0E  DAT read: 06:00:13.4233 LVL= 21792, 28385, 30018, 32755, AGC= 63, IDX= 418, 0.23, 0.870,-0.017,-1.196,-0.281, PHS= 1.239, 0.311,-0.918, RAW= 55.4, -6.8, CAL= 61.5, -12.7, ROT= 88.5, 12.7  Ygot valid direction response: 06:00:13.4233 LVL= 21792, 28385, 30018, 32755, AGC= 63, IDX= 418, 0.23, 0.870,-0.017,-1.196,-0.281, PHS= 1.239, 0.311,-0.918, RAW= 55.4, -6.8, CAL= 61.5, -12.7, ROT= 88.5, 12.7  PDAT read: Bearing 88.5, 12.7 (Local)  ~Local bearing/azimuth received: Bearing 88.5, 12.7 (Local)  DAT read: Range 10 to 50 : 149.2 m (Round-trip 199.0 ms) speed 0.1 m/s  *DAT read: user:595>  BDAT read: Tx time:06:00:14.5202  $Ping request sent. m k m w?)m Im od?im bm ?m b> i )i m =@?J;tNim Tm C =m ?m b> i )i % :publishing transmit ping time % Fpublishing direction and range infoi ym A&?Kv(4?F#̿i Yi i )i Ii ii i i i i i )i Ii ii i i i )i m =@?J;tNii i i i i )i  6G ~G AA9N]>`&,TLA9[@&i@Yy7>H`7 @?@lo޿_??:?@L?? [@骕C;) MB -HGGH@>HCHqHH?MBHHHHe<HEMb@Mb@Mb@ )Ykt?٥II MHMlFM= U>Ye\4]ܰ?e\49]H I]`Bye4?e:e +e?]PCi]:]:]\4uBBA{EZbٛLA)C)C#@ʁyoD@俐b@#ХcJI@A&?Kv(4?F#̿?b>ҁ-$P@fm`t3U@y"^?WaxaE0?zhBjp=ǜ?re_ ]lBu?VA  ]lBꁕC@- addTargetRange:: Added new target pos. range: 149.199997 m, deltaT: 3.780123 s, deltaX: -0.199997 m, approachRate: -0.052908 m/s, rangeRepo size: 4 e Added new target pos. range: 148.160767 m, bearing: 297.355699 deg, lat: 36.906219 deg, lon: -122.116006 deg, deltaT: 3.780123 s, deltaX: -0.201141 m, approachRate: -0.053210 m/s, posRepo size: 4 aeFNOT Ignoring new targets: 148.16 m.m ProNav: ac range: 148.160767 m, nav range: 147.665115 m, bearing: 289.469118 deg, approach rate: 0.000000 m/s, LOS rate: 0.230795 deg/s, cmd heading: 294.157587 deg, new cmd heading: 294.554490 deg. HeadingCmd: 5.140946 target range: 148.160767 and range: 149.20 m.b@ZrjRJB~~}|||`fb@|@%? MB靝߂?I) YIw: ;4i@i CC}AD9AEq Ey Ey E} 4Ey q 6G ~GԙAAN> ',GLA9>+\@>rj@Y>/ y>̍>>Hz?@m!Km=-?@c?.}?`-? >+\@>P;)٥hh jHjmFn= n>pr\4r Ͱ?v\49r Ir`BytzJ)z?rCir-;r9;r\4|~A~~E15FNOT Ignoring new targets: 148.16 m.=ƀ;=ƀ;  ProNav: ac range: 148.160767 m, nav range: 147.632767 m, bearing: 289.548934 deg, approach rate: -0.091237 m/s, LOS rate: 0.225165 deg/s, cmd heading: 294.554503 deg, new cmd heading: 294.794003 deg.  <HeadingCmd: 5.145126 target range: 148.160767 and range: 149.20 m.bߤ@ZrjRJB~~}|!|I|I|M?KeP"Ke+9*Ka2Ke3:KeC- l 8 PHx| `  ~  o ) fl ~#<w?;hvJu}AJu|A MB靝riI)PI\: [މ;iߤ@i D9 e>e8?EEEEO0E:JWBJWJJDRJZJ;9bJG9J4J @@@@AY 6G ~Gq Ay A N >#3',LA 9B^@Bl@YBj~ yB ߌ>BH"?`y@?殡?`?,? B^@Bϋ;)BCR+MBVXHmMb@Mb@Mb@iii i)iYmGz?=yQ >٥ HQ= >\4?\49; I`By?:%?Cia::\4AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 148.16 m. v; v;- ProNav: ac range: 148.160767 m, nav range: 147.583038 m, bearing: 289.641265 deg, approach rate: -0.116074 m/s, LOS rate: 0.215588 deg/s, cmd heading: 294.793997 deg, new cmd heading: 295.071081 deg. -<5HeadingCmd: 5.149962 target range: 148.160767 and range: 149.20 m.b5}̤@Z9r9j9R9J9B9~A~A}A|A|I|I|M`q?q MB靍>1YI)RIW.: z;y i}̤@iD9E=?EAEAEAEAԙH]B>HYH]HH]^MBHYHYHYH]a<H]ET****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 6Ga ~GA AQ Ai Nu >\ ',3LA9:w`@:n@Y:Sy:̋>:H࿦ 4H?@IB !?xɡ? ??@? :w`@:|;)8PM1MBU`HI&I3< C=yQ >٥!! %H%nF%= ->)=\4-?=\49- I-`By9=2$=?-Ci-;-;-N\4AMAMEyFNOT Ignoring new targets: 148.16 m. t; t; ProNav: ac range: 148.160767 m, nav range: 147.528519 m, bearing: 289.730683 deg, approach rate: -0.130038 m/s, LOS rate: 0.213353 deg/s, cmd heading: 295.071084 deg, new cmd heading: 295.339433 deg. l<HeadingCmd: 5.154645 target range: 148.160767 and range: 149.20 m.b@ZrjRJB~~}||||@o#?  NB'oIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500708)Z I62: n;ti@iC?C>D9Ee?EaEaEaEaKlP"K9*K2K4:Kydk!_G~I Ua]q N O n " O Qm1G) 6GA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754450~G A9 AQ N] >H',~MLA:JYBJIJJFRJZJ9bJ 9J4J|9Ob@cp@Y yA>H`!`K? x`p?@?-C?@h? Ob@ﲋ;)i%C%A)) 1I1 MsC)UAQYYuُCuAiyIyŁIƕCiƝA ƥDš)ƩƭsC ǭAƩƱƱǵYCDZIDZ)DZiǹ)ȽCIȽAǹǹ ȹ&CiٯAMBtH!5Mb@Mb@Mb@111 1)1Y5Cl?:v?Mby5?5T<55A 5ЅA)5zAI5KA1y5AIM IM2e= e*=ym:Q m>٥qq uHuoF}au= }>\49?\49 I`By?:?GCiL;;\4!%ͱA%EFNOT Ignoring new targets: 148.16 m.i;i; ProNav: ac range: 148.160767 m, nav range: 147.446701 m, bearing: 289.833746 deg, approach rate: -0.162107 m/s, LOS rate: 0.204315 deg/s, cmd heading: 295.339429 deg, new cmd heading: 295.648788 deg. 8 <HeadingCmd: 5.160045 target range: 148.160767 and range: 149.20 m.b@ZrjRJB~~}||||`G@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004363 NBWI) \ I 9   ;QÏQQiU@iYD-9E ?E E E E ԁ  HI HM <H] C>H] CH] HH] |MBHY HY HY H] `<HY H%͢CH%͢CH!H!I! I%w46G ȹjG ?bG ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258624 ~GAAN>D',lLA9R&d@R9r@YR yRD>RHb@Ӷ?e_`K.`z q&? ^^?8C?z? R&d@RVk;)RC%JMB%~HI5I5E< EW=yE;:Q M>٥QY ]HY] = ]>am\4e?m\49en Ie`Byquu?e}Cie5;e;ew\4AEFNOT Ignoring new targets: 148.16 m.t;t; ProNav: ac range: 148.160767 m, nav range: 147.380142 m, bearing: 289.910192 deg, approach rate: -0.186224 m/s, LOS rate: 0.213984 deg/s, cmd heading: 295.648782 deg, new cmd heading: 295.878222 deg. <HeadingCmd: 5.164049 target range: 148.160767 and range: 149.20 m.b?@ZrjRJB~~}||||`@ +NBTI!)%za!I%E9 !!%A;-?11i5?@i9D-9E?EEE0EAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508264q6G~G! A) AA NM >ԑ !',LAK&P"K&ŷ9*K$2K&5:K&\ =3{Z} t$[gG3"^(]$o<r9Ne@Nt@YN yNaԋ>NH e? 2¿`ʢ?@b? @?? Ne@N~;)L]EMB]yHImIm2}7+ }G=yQ >٥ HpFތ= >\4{?\49X I`By.?Ci;Q;\4ƱAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760241yFNOT Ignoring new targets: 148.16 m.k;k; ProNav: ac range: 148.160767 m, nav range: 147.300598 m, bearing: 289.994152 deg, approach rate: -0.194557 m/s, LOS rate: 0.205467 deg/s, cmd heading: 295.878221 deg, new cmd heading: 296.130233 deg.  <HeadingCmd: 5.168447 target range: 148.160767 and range: 149.20 m.bc@ZrjRJB~~}||||z@ u5'',GXLA9>g@>u@Y>Z y>>>H@{`' ?`¿8eg@}?w?T:?? >g@>0;) CUG 1:YyO;BH!H!H%HH%MBH!H!H!H%<H%dEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.266544R2@03B5Mb@Mb@Mb@111 1)1Y5٥ii uHuqFu:N= u>y]4}g?]49}ޞ I}`By?:{?}Ci}w;}|;}]4±AEԩB*** querying acoustic contact ***JRFNOT Ignoring new targets: 148.16 m. m; m;IC=I%= ProNav: ac range: 148.160767 m, nav range: 147.184326 m, bearing: 290.108136 deg, approach rate: -0.211232 m/s, LOS rate: 0.207239 deg/s, cmd heading: 296.130228 deg, new cmd heading: 296.472446 deg. 9<HeadingCmd: 5.174420 target range: 148.160767 and range: 149.20 m.bڔ@ZrjRJB~~}|||| @ UQNBU9"IQ)]YI]ù YY x;썿iڔ@iD@9rE G>jE >E ?E E E P0E } PExceeded connect timeout, disconnecting.  DAT read: 06:00:17.1229 LVL= 22832, 32753, 28722, 32755, AGC= 64, IDX= 430, 0.25, 2.375, 0.757, 0.456, 1.237, PHS= 1.226,-0.433,-0.784, RAW= 80.6, -0.1, CAL= 86.9, -4.5, ROT= 63.1, 4.5  Ygot valid direction response: 06:00:17.1229 LVL= 22832, 32753, 28722, 32755, AGC= 64, IDX= 430, 0.25, 2.375, 0.757, 0.456, 1.237, PHS= 1.226,-0.433,-0.784, RAW= 80.6, -0.1, CAL= 86.9, -4.5, ROT= 63.1, 4.5  PDAT read: Bearing 63.1, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 63.1, 4.5 (Local)  DAT read: Range 10 to 50 : 148.9 m (Round-trip 198.6 ms) speed 0.2 m/s  *DAT read: user:596>  BDAT read: Tx time:06:00:18.2202  $Ping request sent. vH`.?@ÿ;? I?`V.?O? vsi@vp;)t y)yɿyyyyyiIIiA ) ¹DI)i)IA 111i19ٯ9}VMB}HK8P"K9*K2K6:Kglf^u||{oKXR:VK"_w):  J?J>IM IM2]= ]8=yegQ >٥ HrFJx= >]4 X?]49 I`By?JCi?;;]4AZ1b5 LA5C5C57@ʁ5+PP@٣n`@*3'5p?s?5;5}?5|٠=eJDAT read: TxSync time:06:00:18.2194 ҁ5URtB@%@aņg:@5j?A$tlRʈ7',ߜLA9%ul@%{@Y%Ry%B>%H?`i)ſ`d 1?L?@GH?? %ul@%r;)%CaUMBHMb@Mb@Mb@ )Y`"?Q?٥ H%= %>!-]4%H?5]49% I%`By5?5:5 =?%Ci%T ;%z ;%4.]4AEAEEimFNOT Ignoring new targets: 147.86 m.uu;uu; ProNav: ac range: 147.863586 m, nav range: 145.959747 m, bearing: 286.813193 deg, approach rate: -0.313105 m/s, LOS rate: 0.214650 deg/s, cmd heading: 296.765244 deg, new cmd heading: 297.037137 deg. O<HeadingCmd: 5.184276 target range: 147.863586 and range: 148.90 m.b@ZrjRJB~~}||||F%? rNBI)IB[ \Aq;i@iԑC  ?C  ?GG?AH%B>H!H%HH%MBH% =H!H!H%<H%2EDr9E9E9E9E=j0EAIIԹ 6G ȹ~GY e nManaging dock network, ignoring radio surface power offAi A N >#=',pLA9ZCn@Z|@YZyZ*>ZH& +?Nƿ`+u?Т??? ZCn@Z;;)ZCjmMBjHIU#IU%x3ԁ= b=yźQ >٥ HsF= >]4$$tA.[? &UBpa J|AJyA6G :J YBJ UJJ JRJ ZJ 9bJ >9J 4J  ~G A! A1 NM >H^!?@_ƿ@W@ ?1?T?`? p@骽-;)U]MBUHYUMb@Mb@Mb@QQQ Q)QYUQ? rh?MbyU(?UC٥ HtFY{= >]40-?]49 I`ByF?:3?Ci?;6;#K]4BAEFNOT Ignoring new targets: 147.86 m.)e;)e; ProNav: ac range: 147.863586 m, nav range: 145.692505 m, bearing: 286.978810 deg, approach rate: -0.331638 m/s, LOS rate: 0.200348 deg/s, cmd heading: 297.254313 deg, new cmd heading: 297.534449 deg.  < HeadingCmd: 5.192956 target range: 147.863586 and range: 148.90 m.b ,@Z rjRJB~~}||||`K?) NB靍:I)cI( i;i,@iD9IE?EEE~1EH A>H CH HH MBH  =H H H <H CEq إ A?ץ y?6Gm ~GI AY Ai N >XxK',0LA9>~r@>H@Y>yy>;>>HS?Ytǿb/? ?@L??? >~r@>>;)>CJeMBJHI~I~#3E4< E\=yM|:Q M>٥QQ UHQ]b= ]>am]4eR!?m]49eF Ie`Byib?eHCie[R',ILAK.ݛP"K.9*K,2K.8:K. W k . < V 1 4  OMs*0r =  LV*A^ % V?&&PYJ6 ?J6?9NtDt@N+@YNY yNܯ>NH`=? ȿ? `?@X? ;?@? NtDt@NEa;)LZjMBZHIbIbm?3j;f< jR=yjp:Q n>٥ll rHruFrB= r>tz]4va?z]49vD IvaByxz ~?vCiv;v;ve]4zA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2549081=FNOT Ignoring new targets: 147.86 m.Eg;Eg;M ProNav: ac range: 147.863586 m, nav range: 145.424042 m, bearing: 287.127550 deg, approach rate: -0.374971 m/s, LOS rate: 0.202460 deg/s, cmd heading: 297.755048 deg, new cmd heading: 297.981101 deg. U <]HeadingCmd: 5.200751 target range: 147.863586 and range: 148.90 m.b]l@ZYrYjYRYJaBa~a~a}i|i|i|i|m#:@y NB靥TWͼI)죾I S;e;2il@iD9EQEQEYE]O0EYԱ6Gichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507307~GI AY A N > ߇X',cLA9Nu@N@YNyNt>NH`S@?@Řȿ;zZaZ?gբ?3%?? Nu@NM;)NCZvMBZHMb@Mb@Mb@ )YMbX9?Mb?~jty!?<DA A)dAInAyAII3>< <=y6¹Q >٥ HvF>}= >]4?]49) I aBy!?:- ?Civ:Q:t]4aAE)-FNOT Ignoring new targets: 147.86 m.5mb;5mb;E ProNav: ac range: 147.863586 m, nav range: 145.257416 m, bearing: 287.213664 deg, approach rate: -0.382597 m/s, LOS rate: 0.197956 deg/s, cmd heading: 297.981100 deg, new cmd heading: 298.239736 deg. E<MHeadingCmd: 5.205266 target range: 147.863586 and range: 148.90 m.bM@ZIrQjQRQJQBQ~Y~Y}Y|Y|Y|a|eö@ %NB%I!)%@!I- ))-b;5E11i=@i9 HYH]4<HaHeCHeHHeMBHe =HaHaHe<He6E-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759040De9EEEEE:J)BJ-KJJ-HRJ)ZJ)bJ-K9J-Ժ4J)zJ-c:5jJ-h:=J- :=rJ- :=)6G ~GQ Y Aa Ay N > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0108773^',k}LA9>w@>@Y>y>6C>>H/B?ȿ` {???`? >w@>,;)>CJMBJHIVIVT3^< ^]=y^knQ b>٥`` bH`f= f>hj]4j?n]49jE IjaBypru v?jCij|j;j;j́]4|~KA|!%FNOT Ignoring new targets: 147.86 m.-x^;-x^; ProNav: ac range: 147.863586 m, nav range: 145.110870 m, bearing: 287.285598 deg, approach rate: -0.395831 m/s, LOS rate: 0.194497 deg/s, cmd heading: 298.239746 deg, new cmd heading: 298.455765 deg. {<HeadingCmd: 5.209036 target range: 147.863586 and range: 148.90 m.bl@ZrjRJB~~}|||| @9 }NB靅JyּI)II g_;}il@iC ?C?D9EAEAEAEEP0EAiKP"Kŷ9*K2K9:K( Xu<}Cp 39M=W= U ? F ME4JJ|A=BDAT read: Rx Time:06:00:20.8215 =TRx dataTimestamp_ set to:1749103222.199381Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263977ԑ6G) ~G A A) NM >Թ Je', LA9hy@@Y6y6>Hu?`Wɿy@= ? e? ?? hy@;)C-MB-HMb@Mb@Mb@ )Y"~j?~jt?~jthyS#?D<DԺA nA)ԛAIAyGAII?13ez< e2=ymںQ m>٥iq uHuwFul= u>y]4}zﯜ?]49} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515035ԑI}aBy[#?:f ?}RCi};}P;}ޑ]4HM CHM HHM MBHM  =HI HI HM <HM EH ɣCH H H  =I  = I ɢ5 DAT read: 06:00:20.8215 LVL= 21344, 32753, 27042, 32755, AGC= 63, IDX= 432, 0.04,-0.623,-2.316,-2.071,-1.477, PHS= 0.942,-0.792,-0.597, RAW= 95.9, 5.5, CAL= 104.8, 4.2, ROT= 45.2, -4.2  Ygot valid direction response: 06:00:20.8215 LVL= 21344, 32753, 27042, 32755, AGC= 63, IDX= 432, 0.04,-0.623,-2.316,-2.071,-1.477, PHS= 0.942,-0.792,-0.597, RAW= 95.9, 5.5, CAL= 104.8, 4.2, ROT= 45.2, -4.2 6G ȹ PDAT read: Bearing 45.2, -4.2 (Local)  ~Local bearing/azimuth received: Bearing 45.2, -4.2 (Local)  DAT read: Range 10 to 50 : 147.9 m (Round-trip 197.2 ms) speed 0.2 m/s  *DAT read: user:597> % BDAT read: Tx time:06:00:21.9202 - $Ping request sent.-  \direction in FSK: [0.702742,0.707665,0.073238] :publishing transmit ping time!  Fpublishing direction and range infoA yE 0E|? 2h1??E CYA E `S)A IE iiA E ?E &q?E JE  E >?)E =IE  ? :J5 bBJ5 nJJ5 IRJ1 ZJ5 :bJ5 99J5 F4J1 zJ5 I ;jJ5 K ;J5 Q:rJ5 R:iE Q =E I?E Q ]k',/NLA y)y}20?ziڿ8Hǘz?i}*o׾}}!Ľ}I?}Q y)yb:publishing transmit ping timeafFpublishing direction and range infoyy}0E|? 2h1??yYy y)yIyiyyyyy y)yIyiyyy y)y}20?ziڿ8Hǘz?iyyyy y)y9{@ @Y+yb>H`}8l,?i ʿ|WC?@@??? {@骍ӆ;)CMBHIIb2 ڳ<  Q=y Q >٥qq uHuxF}= }>]4'䯜?]49 I%aBy?Cij;e;]4*AEZyb}vLA}C}C}a @ʁ}ɩuY@QwY@ @%@}0E|? 2h1??}I?}Q ҁ}_VG;@YЁcyCa7mD@}21?_oja켈=?z} }:Aj}޸?r};' }B}o~?};'  }lB}QC}Ks@ addTargetRange:: Added new target pos. range: 147.899994 m, deltaT: 3.780488 s, deltaX: -1.000000 m, approachRate: -0.264516 m/s, rangeRepo size: 4 - Added new target pos. range: 146.868011 m, bearing: 281.173025 deg, lat: 36.906094 deg, lon: -122.116028 deg, deltaT: 3.780488 s, deltaX: -0.995575 m, approachRate: -0.263346 m/s, posRepo size: 4 )5FNOT Ignoring new targets: 146.87 m.=Au ProNav: ac range: 146.868011 m, nav range: 143.316818 m, bearing: 285.494769 deg, approach rate: 0.000000 m/s, LOS rate: 0.193370 deg/s, cmd heading: 298.723569 deg, new cmd heading: 298.971808 deg. q}HeadingCmd: 5.218042 target range: 146.868011 and range: 147.90 m.b}4@ZyryjRJB~~}||||b@|`? NB%zԼI!)%h)I-B ))-Z;5V99ie4@iaJDAT read: TxSync time:06:00:21.9194 EqEqEqEuP0EqQ y 6G K5 }P"K5 9*K1 2K5 ::K5 |LNKxiz_+1qjdVfA}BJ2: oARW~GQ AY Ay N >@s',͝LA96|@6j@Y6!r#y6҉>6H ?hʿ@_AM߿X?l?`? ? 6|@6ъ;)6CFMBFH)P RIR!IRi3^Ad= ^L=yb{Q b>٥tt vHtz= z>|]4~ٯ?%]49~> I~0aBy)- -?~Ci~;~;~]415A9B*** querying acoustic contact ***JR!)-FNOT Ignoring new targets: 146.87 m.5}O;5}O;e ProNav: ac range: 146.868011 m, nav range: 143.141418 m, bearing: 285.566257 deg, approach rate: -0.444531 m/s, LOS rate: 0.181400 deg/s, cmd heading: 298.971805 deg, new cmd heading: 299.186531 deg. e;mHeadingCmd: 5.221790 target range: 146.868011 and range: 147.90 m.bm@ZirqjqRqJqBq~y~y}!|!|)|)|-[?Q  OB靕ۼI)'IvU 3W;ۇiiim@iqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.yEEEE\0Eԩ  tG- A6GA M A } :Y Ay :B~GA)AAGIGIHU)>HUCHU9HHUMBHU =HQHU/DHU<HUIENm>vz',LA0vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9826129NKc~@NI;@YN,yN߈>NHB߿?6ʿ``ݿ A?ߘ? "?? NKc~@N;)NC%MB%HeMb@Mb@Mb@aaa a)aYe r?ye#?eeeA eKA)eAIaaye̠AI}I}V83U< =y Q >J4J4JT0:JYBJSJJFRJZJ9bJy69J4JzJd:jJi:J)C:rJ,C:٥ HyFA= >]4N˯?]49 I?aBy%#?%:%%?,Cie:s:v]4)-A-EFNOT Ignoring new targets: 146.87 m.jX;jX;ԡ ProNav: ac range: 146.868011 m, nav range: 142.900208 m, bearing: 285.663817 deg, approach rate: -0.467010 m/s, LOS rate: 0.189204 deg/s, cmd heading: 299.186519 deg, new cmd heading: 299.479689 deg. <HeadingCmd: 5.226907 target range: 146.868011 and range: 147.90 m.bB@ZrjRJB~~} | | | |-`? !OB靍ڼI)9Ik ]VS;$4iB@iEEEEo0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.234430 6G ZG }ARG yA~G A A N >P',oLA9>>@> @Y>0y>>>H@:޿[?o˿@,?ܿ?`?@t? ? >>@>Y;)>CJMBJ HIZ&IZ3f̺< fo=yfQ f?٥hh jHjzFjS= n?ppv]4r¯?z]49r IrHaByxz z?rbCirh:ru:r]4Y}ְAyFNOT Ignoring new targets: 146.87 m.8E;8E; ProNav: ac range: 146.868011 m, nav range: 142.746780 m, bearing: 285.723062 deg, approach rate: -0.446041 m/s, LOS rate: 0.172422 deg/s, cmd heading: 299.479698 deg, new cmd heading: 299.657625 deg. ; HeadingCmd: 5.230012 target range: 146.868011 and range: 147.90 m.b C\@Z r j RJB~A~A}I|I|I|I|MU? 0OB靝.rI)I{ "RQ;_ΆiC\@iKP"K9*K2K;:KhRil"Ed4*s,duI0c:T[M]O\C!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487350EEEEp5E96G i ~G A A N >׹ ׹  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738620}',hLA9^@^{@Y^0y^:>^H@xܿX?@̿@ڿ??@?r? ^@^A;)^CrMBrH9Mb@Mb@Mb@ )Y{Gz?~jth~jth?y#?DD;A A)AIAyA@AII(,K< 9=y%Q >٥ H = >]4?]49 IUaBy #?:?Ci ];[;]4!%˰A!IUFNOT Ignoring new targets: 146.87 m.UdP;UdP;e ProNav: ac range: 146.868011 m, nav range: 142.539902 m, bearing: 285.799743 deg, approach rate: -0.490828 m/s, LOS rate: 0.182191 deg/s, cmd heading: 299.657638 deg, new cmd heading: 299.888012 deg. e;mHeadingCmd: 5.234033 target range: 146.868011 and range: 147.90 m.bu3}@ZqrqjqRqJqBq~y~y}y|y||| ? eCOB靍I)QIQ ON; J  i 3}@iaCCCCH>HCH^HHNBH =HH.DH<HCEEEEEo5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990518ԙ:JZBJLJJ]RJZJ9bJq9J!5JzJ0:jJ5:J:rJ: 6G ~G A A N% >',!=9LA9>}Ձ@> ߈@Y>m/y>Φ>>HPڿ ?@̿ Yٿ???y? >}Ձ@>;;)٥!! %H%{F%= ->)5]4-h?=]49-d I-aaBy9==?-Ci-@;-;-]4EBMAMEyFNOT Ignoring new targets: 146.87 m.qA;qA;ԙ ProNav: ac range: 146.868011 m, nav range: 142.358246 m, bearing: 285.863467 deg, approach rate: -0.481487 m/s, LOS rate: 0.169119 deg/s, cmd heading: 299.888007 deg, new cmd heading: 300.079422 deg. !;HeadingCmd: 5.237374 target range: 146.868011 and range: 147.90 m.b@ZrjRJB~~}||||`o@ SOB&jI)ѼIt 7DL;)݅  i @i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243870EEEEO0EFF=6GjG?bG*?~GqAyAN>- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494827KE P"KE 9*KA 2KE <:KE z5Cu a  |:U@Dcn?cR'Ri6e ',t)SLA9Rپ@R}ȉ@YR1yRT>RH Jٿ f{? &Ϳ\κ׿"\?@;?q?`? Rپ@Rٌ;)RC^MB^@HIEIE2= B=ynQ >٥ H|F= >]4@?]49 qInaBy?.Ci==]4 |AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 146.87 m.";";M ProNav: ac range: 146.868011 m, nav range: 142.149124 m, bearing: 285.932969 deg, approach rate: -0.427324 m/s, LOS rate: 0.142232 deg/s, cmd heading: 300.079416 deg, new cmd heading: 300.288229 deg. M9;UHeadingCmd: 5.241018 target range: 146.868011 and range: 147.90 m.b]l@ZYrajaRaJiBi~i~i}q|q|q|q|u=@ -jOB-I))-&1I5oǝ 115*H;=e99i=l@iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.746696ԙEEEEE6G H >H CH HH )NBH  =H H H <H E ~G) A9 AI N] >',mLArchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.999458MB\H Mb@Mb@Mb@    ) Y +?~jthMb`?y ?  ; A EA) AI ʟA y pA)p; 4<I!I!EB= E1=yMQ M>٥II MHQU U>Ye^4]?e^49] I]{aBye?m:mm?]vCi];];]v^4quOAqFNOT Ignoring new targets: 146.87 m.6W;6W; ProNav: ac range: 146.868011 m, nav range: 141.929718 m, bearing: 286.006143 deg, approach rate: -0.563292 m/s, LOS rate: 0.188154 deg/s, cmd heading: 300.288229 deg, new cmd heading: 300.508089 deg.  <HeadingCmd: 5.244855 target range: 146.868011 and range: 147.90 m.bէ@ZrjRJB~~}|||| @ zOB^I)UIĦ !%E;%焿))i-է@i)EqEqEqEuN0EqBDAT read: Rx Time:06:00:24.5193 TRx dataTimestamp_ set to:1749103225.983519checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251732 6GY ~G1 A9 AQ Ne >',ˆLA9VA@V塋@YVz5yVi>VH@>տ@?ο nbԿL?`H?? ? VA@Vd;)VC^`BPC1A got IPBS message with 6 sticks (min is 7). bC)bȀAɰbbF`dɱdidIddIdid jh)hjC jAjףjפFɲln@CnbAIn)nFip)r3CIr?ArɳrQF pٯtzNBzaHIeIe(*26< i=y"%Q >٥qq uHu}F}> }>^4ϕ?^49 IaByk?Ci;7 ;^4GAFNOT Ignoring new targets: 146.87 m.%\&;-\&;Qe ProNav: ac range: 146.868011 m, nav range: 141.741608 m, bearing: 286.062039 deg, approach rate: -0.488826 m/s, LOS rate: 0.145445 deg/s, cmd heading: 300.508079 deg, new cmd heading: 300.675990 deg. e;mHeadingCmd: 5.247786 target range: 146.868011 and range: 147.90 m.bm@ZirqjqRqJqBq~y~y}y|y|y|| $$ @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502585 OB I)pž!Km5P"Km9*Ki2Km=:KmvNko^  o:WG1pl?r! zY: y}IͰ цC; i @i):JXBJFJJCRJZJ{9bJ9J4J@@@@ԁE?EEEO0EF F Ա 6GI ZGQ RGU }A DAT read: 06:00:24.5194 LVL= 32752, 32753, 30002, 32755, AGC= 66, IDX= 426,-0.43,-1.718, 2.934,-2.780,-2.391, PHS= 0.761,-0.911,-0.392, RAW= 107.7, 7.4, CAL= 117.8, 5.1, ROT= 32.2, -5.1  Ygot valid direction response: 06:00:24.5194 LVL= 32752, 32753, 30002, 32755, AGC= 66, IDX= 426,-0.43,-1.718, 2.934,-2.780,-2.391, PHS= 0.761,-0.911,-0.392, RAW= 107.7, 7.4, CAL= 117.8, 5.1, ROT= 32.2, -5.1  PDAT read: Bearing 32.2, -5.1 (Local)  ~Local bearing/azimuth received: Bearing 32.2, -5.1 (Local) ~GA AY Ay N >',ԡLADAT read: Range 10 to 50 : 146.2 m (Round-trip 195.0 ms) speed 0.3 m/s *DAT read: user:598> BDAT read: Tx time:06:00:25.6203 $Ping request sent.R#Rx 1: Read range and direction messages.B\direction in FSK: [0.842843,0.530767,0.088894]B:publishing transmit ping timeBFpublishing direction and range infoAyEZ!(?8d ??E3CYA E)AIE2uiAEBEB?EL7iE9Ⱦ E?)E A>IEx@iEK=E?EK A)AEv6$An?=c%˿EW1i?iE!\EOE?EK A)An:publishing transmit ping timenFpublishing direction and range infoAyEZ!(?8d ??AYA A)AIAiAAAAA A)AIAiAAA A)AEv6$An?=c%˿EW1i?iAAAA A)A9q@~{@Y6yΠ>HYҿU?οп?֦?`?/? q@Y;)C%NB%hH)) )Mb@Mb@Mb@ )YʡE?:v?y?T<H>HHHHHNBH =HH-DH}<HEA AA)AIAyAI}I}<2M.< =yQ >٥ H~F= >^4f?^49 IaBy ?%:%%?CIih;E<='^4 m=m<:AEZAbE,LAE+CE+CEDy@ʁEH^@EmFCS@/1:)@EZ!(?8d ??E?EKҁExAգ@@:-ka{C@EX??%b0G/O?zE EBjEԂ?rE* EfBAA EzBEv CE_Ο@5 addTargetRange:: Added new target pos. range: 146.199997 m, deltaT: 3.784145 s, deltaX: -1.699997 m, approachRate: -0.449242 m/s, rangeRepo size: 4  Added new target pos. range: 145.169571 m, bearing: 283.746064 deg, lat: 36.906094 deg, lon: -122.116028 deg, deltaT: 3.784145 s, deltaX: -1.698441 m, approachRate: -0.448831 m/s, posRepo size: 4 FNOT Ignoring new targets: 145.17 m. ProNav: ac range: 145.169571 m, nav range: 141.461426 m, bearing: 286.131799 deg, approach rate: 0.000000 m/s, LOS rate: 0.145445 deg/s, cmd heading: 300.675992 deg, new cmd heading: 300.918102 deg. HeadingCmd: 5.252012 target range: 145.169571 and range: 146.20 m.b{@ZrjRJB~~}|||`fFb@|C? eOB}Iy)ϾI ƿ l"?;i{@iy E5 ?E1 E1 E9 E9 ԡ 6G~GAAN?̰',YÞLA9N>@NGH@YNV?yN>NH`Aп? WϿ ο ??`? ? N>@N1D;)NCb%NBbHInIn[3r= v]=yv»Q v>٥xx zHx~S= ~>|^4~Չ? ^49~ I~aBy ?~?Ci~ ;~;~3^4AEQUFNOT Ignoring new targets: 145.17 m.];];u ProNav: ac range: 145.169571 m, nav range: 141.269012 m, bearing: 286.177245 deg, approach rate: -0.576248 m/s, LOS rate: 0.136288 deg/s, cmd heading: 300.918109 deg, new cmd heading: 301.054631 deg. u;uHeadingCmd: 5.254395 target range: 145.169571 and range: 146.20 m.b}$@ZyryjyRyJyBy~~}|||| ? eOBmIIi)mǾiImpǻ iqu*=;ulyyi}$@iyE=?EAEAEM\0EI)KP"K@9*K2K>:KWgq6X_"tLgu:ozmrx lm eXu P  S n  p B   J?J?:JWBJIJJGRJZJ;9bJ 9Jc4J6Ga ~Gy A A N > ',!ݞLA 9b"6@b?@YbzAyb0~>bHyͿ ? ϿR@˿vO?-?` ?@S? b"6@bq;)bC&NBH]Mb@Mb@Mb@YYY Y)YY]Q?~jth~jtxy](?]D]Ļ]A Y)]AIYYy]AImImV83}`: }4=ynQ >٥ HF = >^4S?^49 IaBy+?:?Ciy;x;C^4AB*** querying acoustic contact ***JRaimFNOT Ignoring new targets: 145.17 m.u) ;u) ; ProNav: ac range: 145.169571 m, nav range: 141.028488 m, bearing: 286.233249 deg, approach rate: -0.529117 m/s, LOS rate: 0.123411 deg/s, cmd heading: 301.054631 deg, new cmd heading: 301.222930 deg. d;HeadingCmd: 5.257332 target range: 145.169571 and range: 146.20 m.b<@ZrjRJB~~} | | | | ? }OB}:AI):ӾI ջ 9;+Oi<@iEU?EYEYE]O0EYFaFe=ԹH] >HYH]HH]pNBH] =HYHYH]<H]EH%ǞCH%ǟCH%ǔCH% =I% = I%f5T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. 6G jG% ?bG% ?~G A A N% >$',LA96$@6-@Y6&4Ay6|/>6HAʿN@?`8п@H@fǿ ~?9$?c*?b? 6$@6R;)6CX^CNB^Hib=Ibp=IfIf 3nO= ri=yrH9Q r>٥tt vHvFvx= v>| ^4~? ^49~@ I~aBy ?~Ci~K,;~';~P^4¯A!AMFNOT Ignoring new targets: 145.17 m.M;M;e ProNav: ac range: 145.169571 m, nav range: 140.839417 m, bearing: 286.274504 deg, approach rate: -0.539073 m/s, LOS rate: 0.117782 deg/s, cmd heading: 301.222926 deg, new cmd heading: 301.346857 deg. e;eHeadingCmd: 5.259495 target range: 145.169571 and range: 146.20 m.bmM@ZirijiRiJiB~~!}!|!|!|!|-t? OB靽I)̾I%޻ 7;JiM@iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.465615EaEaEaEe2Ea6G~G A A N >9 I? Y? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717549R',(LAK* P"K*9*K(2K*?:K*X>ONwoUZ t929&CaE<= >4 n U ) ^9JX@J @YJJH`4ƿg?@vvпJw`(ĿR?@? 6?? JX@J^;)HVTNBVHI^I^F2fH%= jI=yj\0;Q j>٥ll nHln= n>pxz^4r|?z^49r& IraBy|~߿~?rCir(;r6);rC^^4A)-FNOT Ignoring new targets: 145.17 m.5:5:E ProNav: ac range: 145.169571 m, nav range: 140.618210 m, bearing: 286.319530 deg, approach rate: -0.546044 m/s, LOS rate: 0.111320 deg/s, cmd heading: 301.346853 deg, new cmd heading: 301.482143 deg. E˘;MHeadingCmd: 5.261856 target range: 145.169571 and range: 146.20 m.bM a@ZIrQjQRQJQBQ~Y~Y}Y|Y|Y|a|em6?II@A:JXBJHJJFRJZJ{9bJ9J4J ]OB靍I);In ֺ5;i a@i!E?EEE`5E5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969972I6Gȹ~G A A N >q ) ېCE G] ĀAu AA &Y ĀAy 'Bl:',u*LA9Ni@N @YNi9yN;>NH¿ Ą?пࣝ`L?3+?@Y?`~? Ni@N@;)LbXNBbHHv>HvCHvHHvNBHv =HtHv,DHv<Hv"EYMb@Mb@Mb@ )YCl?{Gz?~jth?yd?#=D;A )VAIyAII(*3< 8=y:Q >٥ HF%r= %>1=^45z?E^495- I5aByE?E:EԿE?5BCi5;5;5m^4IUAQFNOT Ignoring new targets: 145.17 m.z:z:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221400 ProNav: ac range: 145.169571 m, nav range: 140.366516 m, bearing: 286.359514 deg, approach rate: -0.564403 m/s, LOS rate: 0.089822 deg/s, cmd heading: 301.482146 deg, new cmd heading: 301.602313 deg. v;HeadingCmd: 5.263953 target range: 145.169571 and range: 146.20 m.bNr@ZrjRJB~ ~ }1|9|9|A|EP@ PB靽XI)־I I`3; 4viNr@iԉEEEEH5EFF}AԱ6G ZG RG ~AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474944~G A A N > $',dDLA9B@B@YB'F7yB>BHN,?п z@D?? ZU?`P? B@B;)@RZNBVHI^I^3f; fa=yf:Q f>٥hh jHjFn= n>pv^4ry?v^49r3 IraBytvпv?rzCirG:r:rpz^4|~A~E15FNOT Ignoring new targets: 145.17 m.=(:=(:M ProNav: ac range: 145.169571 m, nav range: 140.160141 m, bearing: 286.389706 deg, approach rate: -0.570338 m/s, LOS rate: 0.083562 deg/s, cmd heading: 301.602302 deg, new cmd heading: 301.693012 deg. Mce;UHeadingCmd: 5.265536 target range: 145.169571 and range: 146.20 m.bUF@ZYrYjYRYJYBY~a~a}a|a|i|i|m@ PB靭6&I)޾I{ ۠2;SBiF@i1EEEEN0Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.727015KP"Kŷ9*K2K@:KEgKym d'>    Y8S 9t<X   n \ 3g 6GII:JWBJQJJBRJZJ;9bJ-.9J-4Jԉ~G! AA AY Nm >Թ _',^LArBDAT read: Rx Time:06:00:28.2173 vTRx dataTimestamp_ set to:1749103229.512208zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.9796499̌@֓@Yy5y|>H@p3?п ">?%?%?? ̌@%;)cNBHiMb@Mb@Mb@ )YK?Zd;O?Mb`y^?j<=SA A)AIyI I<2< )=y%R0:Q %>٥!) -H)- k= ->1=^45ay?=^4958; I5aByE?E:E`˿E?5Ci5:5j;5^^4Y]Aa}B*** querying acoustic contact ***JyRyFNOT Ignoring new targets: 145.17 m.z:z: ProNav: ac range: 145.169571 m, nav range: 139.881134 m, bearing: 286.425576 deg, approach rate: -0.575095 m/s, LOS rate: 0.074084 deg/s, cmd heading: 301.693007 deg, new cmd heading: 301.800833 deg. _K;HeadingCmd: 5.267418 target range: 145.169571 and range: 146.20 m.b@ZrjRJB~~}||||@ .PBI)徉I ^   w0;i@iEEEEO0EԱ H<H<H >HH3HHNBHHHH<H6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2298476G ~G A A N > ',,xLA9B@BK@YB[5yB>BHu@?`п ĩp?`{?{?@? B@B~3;)BCRxNBRHIbIbb1jƒ= jy=yj9Q j?٥ll nHnFr(= r?tz^4vy?z^49vo@ IvaByxzǿz?vCiv":vP:vԖ^4 YA Y]FNOT Ignoring new targets: 145.17 m.e:e: ProNav: ac range: 145.169571 m, nav range: 139.690720 m, bearing: 286.447753 deg, approach rate: -0.480159 m/s, LOS rate: 0.055997 deg/s, cmd heading: 301.800842 deg, new cmd heading: 301.867461 deg. ;HeadingCmd: 5.268581 target range: 145.169571 and range: 146.20 m.b7@ZrjRJB~~}||||`[4 @%DAT read: 06:00:28.2173 LVL= 29648, 32753, 27810, 32755, AGC= 65, IDX= 419, 0.28, 1.665, 0.012, 0.744, 0.874, PHS= 0.880,-0.815,-0.132, RAW= 113.6, 0.9, CAL= 122.8, -4.8, ROT= 27.2, 4.8 -Ygot valid direction response: 06:00:28.2173 LVL= 29648, 32753, 27810, 32755, AGC= 65, IDX= 419, 0.28, 1.665, 0.012, 0.744, 0.874, PHS= 0.880,-0.815,-0.132, RAW= 113.6, 0.9, CAL= 122.8, -4.8, ROT= 27.2, 4.8 5PDAT read: Bearing 27.2, 4.8 (Local) 5~Local bearing/azimuth received: Bearing 27.2, 4.8 (Local) UDAT read: Range 10 to 50 : 144.6 m (Round-trip 192.9 ms) speed 0.8 m/s U*DAT read: user:599> ]BDAT read: Tx time:06:00:29.3203 ]$Ping request sent.]+ @i>= )&iu?ϗeramk?i佉\>= ):publishing transmit ping timeY Fpublishing direction and range infoy͂\?{&?U]kY )Ii )Ii )&iu?ϗeramk?i ) UDPBU]IQ)U徉QI] YY]9d/;ށi7@iE)E1E9EAEAF]=F]=1 6G} ȹjG ?bG > JDAT read: TxSync time:06:00:29.3195 ~GY Ai Ay ԁ N >Ɗ', LAKRnQ"KR9*KP2KRA:KR # C^  H  u >j7}%-E&pe,>q&9b@b@YbeV6ybv>bH Oܢ@h?пQ M^`?`Ȧ?`q?e? b@b;)bC%{NB-H1II3:; %=yڹQ >٥ HFA= >IY^4]z?^49]I I]bByAĿ?]SCi]$<]n <]l^4A15SA1ZbLACC@ʁ>4_@[YP@_QW(͂\?{&?U]k>=ҁn#N@+-[W'`S7?&@l?_O$M쿛!E?z:vBjq7Ü?r} {B X C@ addTargetRange:: Added new target pos. range: 144.600006 m, deltaT: 3.527810 s, deltaX: -1.599991 m, approachRate: -0.453537 m/s, rangeRepo size: 4  Added new target pos. range: 143.578476 m, bearing: 295.458539 deg, lat: 36.906094 deg, lon: -122.116028 deg, deltaT: 3.527810 s, deltaX: -1.591095 m, approachRate: -0.451015 m/s, posRepo size: 4 FNOT Ignoring new targets: 143.58 m. ProNav: ac range: 143.578476 m, nav range: 139.346069 m, bearing: 286.483864 deg, approach rate: 0.000000 m/s, LOS rate: 0.055997 deg/s, cmd heading: 301.867450 deg, new cmd heading: 301.959694 deg. HeadingCmd: 5.270191 target range: 143.578476 and range: 144.60 m.bg@ZrjRJB~~}|||@3b@|ND? ^PBٱI)Y񾉞I !%n-;%Щ))i-g@i)q E ?E E E E ԙ H >H H LHH NBH H H -DH <H /E6G~G)A1AINU?5',3LA89N^@N5h@YN5=yNVψ>NH`䈿?`п=?{r? ? d?? N^@N;)NCiXX)X XIX X)\^ף\\`bAi`I``Ij CijA hh)hl llllppIp)pip)pIptt txxxiz?Fxٯx~tNB~H:J][BJ]PJJ]FRJYZJ]:bJ]*9J]4JYzJ]:mjJ]:mJ]-:mrJ]-:mMb@Mb@Mb@ )YZd;? rh?{Gzty?C =ףA 9A)AIAy3AIIDŽ <=y ӅQ  >٥    H F{z= >E^4{?E^49P I"bByM?U:UZÿ]?ԡCi<<E^4aAE FNOT Ignoring new targets: 143.58 m. ߋ: ߋ:= ProNav: ac range: 143.578476 m, nav range: 139.114914 m, bearing: 286.507473 deg, approach rate: -0.597653 m/s, LOS rate: 0.061142 deg/s, cmd heading: 301.959685 deg, new cmd heading: 302.030629 deg. =';EHeadingCmd: 5.271429 target range: 143.578476 and range: 144.60 m.bE@ZArIjIRIJIBQ~y~y}y||||`:? rPBe6I)Id' $^-;;  i @i E ?E E E E  6G5 ȹ~G A A1 N= >|',^̟LA9>3@>Z=@Y>g?y>[>>HQU?~?2пEx̙?Y?`?$$?? >3@>;)>Ct~NB~H ImImT3h= e=yĺQ >٥ H,= >^4|?^49U I.bBy?Ci;;^47AFNOT Ignoring new targets: 143.58 m.%O:%O:5 ProNav: ac range: 143.578476 m, nav range: 138.903809 m, bearing: 286.526708 deg, approach rate: -0.624240 m/s, LOS rate: 0.056964 deg/s, cmd heading: 302.030637 deg, new cmd heading: 302.088429 deg. 5_; e >ep=HeadingCmd: 5.272438 target range: 143.578476 and range: 144.60 m.bϷ@ZrjRJB~~}||||@? PB靝~>I)I U-;.`iϷ@i!K5UP"K5}9*K12K5B:K52KFp!_9$ Z " 6kvPD/u urr U P>EEEEP0EFF~AA6G q ~G A) AA NM >0',LA9J@Jm@YJ8AyJ>JH?`?>пve?`_?`$?j?@}? J@J};)H=NBE H M=M=YMb@Mb@Mb@ )YK?Q?Mbpy^?<A AA)IjAy AI#I%x3_; ==y Q >٥ HF= >^4~?^49\ IHYH]eHH]NBHYHYHYH]<H]EmT]:uT]:} ProNav: ac range: 143.578476 m, nav range: 138.647919 m, bearing: 286.547899 deg, approach rate: -0.583068 m/s, LOS rate: 0.048375 deg/s, cmd heading: 302.088421 deg, new cmd heading: 302.152111 deg. ;HeadingCmd: 5.273549 target range: 143.578476 and range: 144.60 m.b@Zrj R J B ~~}||||`?ԉ PB靵N6I)Id( V,;;  i @i T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EyEEE_0E:JUBJOJJCRJZJ9bJ%9J4JzJ2:jJ7:J&:rJ&:Ա6G ȹ ~G A A N >(,hLA9>@>@Y>.O@y> ,>>Hi?`?KпI???`?r? >@>- ;)>CbNBbHIj Ij2rAprchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.006324z< zk=yzI':Q z?٥|| ~H|@= ? ^4 쀯?^49 b I HbBy!%广%? ?Ci ; E; ^415%A1ԹFNOT Ignoring new targets: 143.58 m.8:8:= ProNav: ac range: 143.578476 m, nav range: 138.442291 m, bearing: 286.562537 deg, approach rate: -0.566698 m/s, LOS rate: 0.040401 deg/s, cmd heading: 302.152105 deg, new cmd heading: 302.196084 deg. =:EHeadingCmd: 5.274317 target range: 143.578476 and range: 144.60 m.bE4Ǩ@ZArAjARAJABI~I~I}I|Q|q|q|u@ PBbNI)IO. Z-; " )i-4Ǩ@i1E?EEE3Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2580626G ~G A A N >K P"K 9*K 2K C:K 6pC3z=@hz`=f@  v&Dp _k I I BAJ J }A9 D(,ILA9bV@b@Yb?ybH>bH߸? @?  ѿ J%?٣?ާ??? bV@buח;)bCllIvIvb2~l{: ~I=y~I:Q >٥ HF 4=  >^4򃯜?^49mh IUbBy8%?~Ci;Q;;^4)-$A)Q]FNOT Ignoring new targets: 143.58 m.m+:m+: ProNav: ac range: 143.578476 m, nav range: 138.200348 m, bearing: 286.576863 deg, approach rate: -0.632700 m/s, LOS rate: 0.037531 deg/s, cmd heading: 302.196092 deg, new cmd heading: 302.239147 deg. :HeadingCmd: 5.275068 target range: 143.578476 and range: 144.60 m.b\ͨ@ZrjRJB~~}||||@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513375 PB٠EI)# !IM5 IIM-;U QQiU\ͨ@iYAE?EE!E%p5E!iHM >HI HM ~HHM NBHI HI HI HM <HM EHɝCHɝCHɓCH =I = I46G] ȹjGe ?bGe > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762792~G Թ A A N >l (,K4LA%NB%H:JmXBJmWJJmGRJiZJm{9bJmG9Jmc4JizJm:jJm:Jm_:rJm_:Mb@Mb@Mb@ )Yrh|?~jt?{Gzy?D<#A A)IAyAI}I}(*3< 4=ԑyQ >٥ HF >^4Ȇ?^49o I_bBy?:?Ci;;G^4AIMFNOT Ignoring new targets: 143.58 m.u>:u>: ProNav: ac range: 143.578476 m, nav range: 137.924744 m, bearing: 286.596345 deg, approach rate: -0.589078 m/s, LOS rate: 0.041722 deg/s, cmd heading: 302.239149 deg, new cmd heading: 302.297709 deg. :HeadingCmd: 5.276090 target range: 143.578476 and range: 144.60 m.bը@ZrjRJB~~}||||`@ =PBEҪJIA)EbAIE= IIMZ.;U~耿QQiUը@iQEEEE 5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0150456G% ~G A A N > T(,MLA9>@@>ś@Y>#>y>!>>H?h?Kѿj E?g?G§?@ ?-? >@@>vٖ;)>CJNBJ'HIV IV2f5< fl=yjO$:Q j?٥hh jHhn-> n?pv_4r鉯?v_49r%u IrgbBytz)z?rCir::rG:r@ _4|~A~E!-FNOT Ignoring new targets: 143.58 m.-:-:M ProNav: ac range: 143.578476 m, nav range: 137.717453 m, bearing: 286.605935 deg, approach rate: -0.620326 m/s, LOS rate: 0.028743 deg/s, cmd heading: 302.297698 deg, new cmd heading: 302.326512 deg. Mϝ:UHeadingCmd: 5.276593 target range: 143.578476 and range: 144.60 m.bU٨@ZQrYjYRYJYBY~a~a}a|a|i|i|m` @]BDAT read: Rx Time:06:00:31.9420 eTRx dataTimestamp_ set to:1749103233.295397echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267148 mPBm4cIi)miIudD qq}/;؀i٨@iEIEQEQEUN0EQKmP"Km}9*Ki2KmDII<:KmQ Y v M ) ~ ONv-Ws?H Q L l 9 0:O J>J>6GQ ~G A A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519124N- >~(,gLAFtGZAd ~aY~Ay~B9@@Y>y@>H"? ?U(ѿ<?>Χ?w?{? @#͓;)CNB%HMb@Mb@Mb@ )Y~jt?{Gz/$y?# A)KAIAyAII(*2Y -=yUQ >٥ HFH=>H=CH=HH=NBH= =H9H9H=<H=EQm= m>q}_4u?}_49u| IujbBy?:?uGCiuo:uw:uP_4AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 143.58 m.-9-9u ProNav: ac range: 143.578476 m, nav range: 137.421432 m, bearing: 286.616165 deg, approach rate: -0.595219 m/s, LOS rate: 0.020615 deg/s, cmd heading: 302.326521 deg, new cmd heading: 302.357278 deg. u]b:HeadingCmd: 5.277130 target range: 143.578476 and range: 144.60 m.b@ި@ZrjRJB~~}|!|)|1|5`7@uDAT read: Range 10 to 50 : 163.2 m (Round-trip 217.6 ms) speed 0.4 m/s u*DAT read: user:600> }BDAT read: Tx time:06:00:33.0203 }$Ping request sent.( (,ƊLA .JDAT read: TxSync time:06:00:33.0195 5NB5FHIEIE2UD= ]_=y]Q ]>٥Ya eHeFe e>iu_4m?u_49mO ImlbByyy}?m}Ciim{:m(_4ЮAE addTargetRange:: Added new target pos. range: 163.199997 m, deltaT: 3.783712 s, deltaX: 18.599991 m, approachRate: 4.915805 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 143.58 m.99 ProNav: ac range: 143.578476 m, nav range: 137.208710 m, bearing: 286.623544 deg, approach rate: -0.619048 m/s, LOS rate: 0.021506 deg/s, cmd heading: 302.357284 deg, new cmd heading: 302.379455 deg. 'l:HeadingCmd: 5.277517 target range: 143.578476 and range: 163.20 m.bk@ZrjRJB~~}|||`ffd@|? QB靵T3tI)ItmT 2;_=@zik@iAEyEyEEE6G]5~GA!A9NEQ>q < =ԙ KU 'P"KU ŷ9*KQ 2KU E:KU (sy2N3N'#h:C#J w_D S  Hn2 CHP]R&(,ZLA<9=T@=/^@Y=9Iy=s>=H?`Ҵ?пW%?$? ~? ? =T@=륓;)=CNB5HI-I-3e m;=y}o»Q }>٥ HF= >_4?_49: IobBy?ԱCi =W =08_4  AFNOT Ignoring new targets: 143.58 m."8"8 ProNav: ac range: 143.578476 m, nav range: 136.937012 m, bearing: 286.626869 deg, approach rate: -0.546257 m/s, LOS rate: 0.006697 deg/s, cmd heading: 302.379441 deg, new cmd heading: 302.389435 deg. 9HeadingCmd: 5.277691 target range: 143.578476 and range: 163.20 m.b@Zrj1R1J1B1~9~9}||||? }5QB}UIy)}!IH_ "3;.=XHi@iEIEIEIEIEIH >HCHHH OBH =HHH<H-E 6G 2-(,TLA9R6@R?@YRnKyR3>RH?n? п٥ HF= >_4?_49 InbBy?:?Ci::tG_4®AE!%FNOT Ignoring new targets: 143.58 m.- 8- 8= ProNav: ac range: 143.578476 m, nav range: 136.667496 m, bearing: 286.629233 deg, approach rate: -0.696269 m/s, LOS rate: 0.006121 deg/s, cmd heading: 302.389441 deg, new cmd heading: 302.396549 deg. =m9EHeadingCmd: 5.277815 target range: 143.578476 and range: 163.20 m.bE@ZArAjARIJIBI~Q~Q}Q|Q|Y|Y|]? HQB靝{I)!Igf 5;J=v5i@iE!E!E!E%`0E!6G ?&o9~GAAN J>aԑ 4(,:ԠLA9>@>%@Y>Iy>>>H;Q?%?`qпMi?ޞ`6? ?@? >@>\;)>CbNBb[HddIrIr#3z< zX=yzj:Q ~>٥|| ~HF= > _4 x?_49  I mbBy? DCi < F< T_4AJSJ[/4J[_'2:J^BJVJJNRJZJ} :bJB9J|4J @ @ @ @FNOT Ignoring new targets: 143.58 m.%- ProNav: ac range: 143.578476 m, nav range: 136.434067 m, bearing: 286.628530 deg, approach rate: -0.581520 m/s, LOS rate: -0.001756 deg/s, cmd heading: 302.396544 deg, new cmd heading: 302.394430 deg. 5>]HeadingCmd: 5.277779 target range: 143.578476 and range: 163.20 m.be@ZarajaRiJiBiyK|P"K9*K2KF:Kv245&T}j-  5 r 5 5'" .:?r~~}||||^? m_QBmmIi)m$qIuro qqu7;},}=}=i}@iEe?EaEiEmo0Eiԡ6GeM~GAAN> :(,8LAG@GB@AHF>HDHFHHFOBHF =HDHF,DHF<HFE9>@>@Y>Dy>݇>>H??xп`? )`?? ? >@> *;)>CZNBZgH`bAAd-Mb@Mb@Mb@))) )))Y-Mb?ˡEX9vy- ?-'--A ))-AI-A)y-AIQIQeG< e5=ye-;Q m>٥ii mHiuˆ= u>y_4}?_49} I}hbBy !?:B?}Ci}:}:}pd_4AB*** querying acoustic contact ***JRT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.FNOT Ignoring new targets: 143.58 m.ww ProNav: ac range: 143.578476 m, nav range: 136.150360 m, bearing: 286.626987 deg, approach rate: -0.621501 m/s, LOS rate: -0.003387 deg/s, cmd heading: 302.394440 deg, new cmd heading: 302.389802 deg. HeadingCmd: 5.277698 target range: 143.578476 and range: 163.20 m.b@ZrjRJB~)~)})|)|1|1|5 Ut@ xQBqI);(Idx Y:;ӳ G= [i @i E}?EEE0E1 6Ge iIZGq RGq  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265474~G A A N >Q A(,LA9>@>l@Y>Ay>Ϗ>>H%? E?Jiп -@?R`/?`|?@? >@>;)= b=y%;Q %>٥!! %H%F-{= ->1=_45ֱ?=_495Ţ I5dbBy9EўE?5Ci5;5:5q_4IMyAMEq}FNOT Ignoring new targets: 143.58 m.}S}S ProNav: ac range: 143.578476 m, nav range: 135.922516 m, bearing: 286.623158 deg, approach rate: -0.687464 m/s, LOS rate: -0.011572 deg/s, cmd heading: 302.389796 deg, new cmd heading: 302.378290 deg. $HeadingCmd: 5.277497 target range: 143.578476 and range: 163.20 m.bA@ZrjRJB~~}|||| @ QBI)e(Ij A=;f=%߽iA@i1E?EEE4E6GȣE~GAAIAaNm5>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517144Y:JUBJJJJ@RJZJ9bJ&9JJ4JKP"Kŷ9*K2KG:Kbrl`9q +7 z4f<%vUpMlB+p,ԉ x H(, !LA@aa}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7728239@ƣ@Y>y>H`9?M?SϿ-_?@\ܭ@?!?Y? @;)CNBH)) )ԡMb@Mb@Mb@ )YK7?Zd;OI +y)?j<9A )IjAy AII % = #=y:Q >٥ HFN= >!-_4%c?5_49% I%cbBy5:*?5:55?%Ci%A:%:%_49EWAAamFNOT Ignoring new targets: 143.58 m.uu ProNav: ac range: 143.578476 m, nav range: 135.589798 m, bearing: 286.615152 deg, approach rate: -0.664295 m/s, LOS rate: -0.016024 deg/s, cmd heading: 302.378294 deg, new cmd heading: 302.354216 deg. /HeadingCmd: 5.277077 target range: 143.578476 and range: 163.20 m.bݨ@ZrjRJB~~}|||| @ QB$mI).+Ic @;)Ȁo =niݨ@iH}>H}CH}HH} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021068 y3N(,G;LA9Be~@B @YB0:yBT>BH`F?@F ?u Ͽ2[v?VO?]?m? Be~@Bu;)BC^OB^H ``pI-I-?13}Ѣ= }=y1;Q  ?٥ Hu=  ?_4?_49< IbbBy?RCi;:Í_4#AEFNOT Ignoring new targets: 143.58 m.ιι ProNav: ac range: 143.578476 m, nav range: 135.378479 m, bearing: 286.607949 deg, approach rate: -0.662295 m/s, LOS rate: -0.022608 deg/s, cmd heading: 302.354224 deg, new cmd heading: 302.332584 deg. >xHeadingCmd: 5.276699 target range: 143.578476 and range: 163.20 m.bڨ@ZrjRJB~~}|||| @ MQB靍I))I6 D;Ԁ@ =֩iڨ@i }BDAT read: Rx Time:06:00:35.6676 }TRx dataTimestamp_ set to:1749103237.077158checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275983E?EEEO0E16G a ~G9 AA AQ Ne >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525619U(,JH??@.οD`j?`O??T? J1@J;)HV*OBVHIb Ib2j#j= nV=ynX;Q n>٥pp rHrFv*j= v>xz_4z ʯ?~_49zo IzabBy|喿?zCizN;z;z&_4  A 15FNOT Ignoring new targets: 143.58 m.9MMe ProNav: ac range: 143.578476 m, nav range: 135.125153 m, bearing: 286.596946 deg, approach rate: -0.661611 m/s, LOS rate: -0.028790 deg/s, cmd heading: 302.332586 deg, new cmd heading: 302.299515 deg. emHeadingCmd: 5.276122 target range: 143.578476 and range: 163.20 m.bmը@ZirijiRiJiBq:JBJHJJBRJZJbJ9J-4J~9~A}I|y||| @K5qP"K59*K12K5H:K5LJfAQ;?.Cd +5@ / (kU*d -/58JU>JU ? QB靥"I) *Ij H;s瀿G: =1Yiը@iiEM?EIEIEIEI6G~GYԹ-DAT read: 06:00:35.6676 LVL= 19952, 25041, 16370, 22355, AGC= 65, IDX= 198, 0.18,-0.559,-1.373,-0.124,-1.459, PHS= 0.988, 0.133, 1.332, RAW= 166.2, -39.0, CAL= 167.4, -43.2, ROT= 342.6, 43.2 AIAi}Ygot valid direction response: 06:00:35.6676 LVL= 19952, 25041, 16370, 22355, AGC= 65, IDX= 198, 0.18,-0.559,-1.373,-0.124,-1.459, PHS= 0.988, 0.133, 1.332, RAW= 166.2, -39.0, CAL= 167.4, -43.2, ROT= 342.6, 43.2 PDAT read: Bearing 342.6, 43.2 (Local) ~Local bearing/azimuth received: Bearing 342.6, 43.2 (Local) Nu > DAT read: Range 10 to 50 : 182.4 m (Round-trip 243.2 ms) speed 0.2 m/s  *DAT read: user:601>  BDAT read: Tx time:06:00:36.7703  $Ping request sent. ۅ~? ܅9@)܅@.I܅:@i܅A܅ X@܅A? ݁)݁݅w|5?'a?3/(i݅vQN?݅Pr.?݅|݅A? ށ)ށ :publishing transmit ping timeڙ  Fpublishing direction and range infoځyڅо}rB?,$˿X忹ځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅w|5?'a?3/(i݁݁݁݁ ށ)ށ D[(,BoLA H<HH>HHHHdOBH =HHHa<HEHqHqHuCHu =Iu = Iu+w5I4)6@9ZО@Z~ڥ@YZZH@?U?Ϳ?@2??@? ZО@ZD;)Xf;OBfHԹuMb@Mb@Mb@qqq q)qYuq= ףp?~jt٥ HF2)= >_4ԯ?_49& IebBy+?%:%U-?CiA<A<_4}B}ԭA}EZbeLA5C5Cь@ʁi ~_@+OuCx>^о}rB?,$˿X|A?ҁbrI@O[^_Қ<?t7YzLBjNs?re3`=  ꁵC@-UaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 182.399994 m, deltaT: 3.781187 s, deltaX: 19.199997 m, approachRate: 5.077770 m/s, rangeRepo size: 4QUFNOT Ignoring new targets: 143.58 m.]I ]I u ProNav: ac range: 143.578476 m, nav range: 134.808716 m, bearing: 286.581484 deg, approach rate: -0.626035 m/s, LOS rate: -0.030662 deg/s, cmd heading: 302.299528 deg, new cmd heading: 302.253033 deg. uW}HeadingCmd: 5.275311 target range: 143.578476 and range: 163.20 m.b}XϨ@ZyrjRJB~~}|||f@|=? QBE~IA)EI,IIM IIMׅ Aׅ A9 ;.b(,c%LA96.Q@6Z@Y6)3.y6ZKj>6H ?i?$̿ !D ?\±ĥ?t?@J#? 6.Q@6w5;)6CrTOBrHIzIz2= m=y8@:Q ?٥ H%9= %?)5_4-{ܯ?5_49- I-ibBy9=Z=?- Ci-;-(;-_4AEAAeB*** querying acoustic contact ***JaRaiuFNOT Ignoring new targets: 143.58 m.};}; ProNav: ac range: 143.578476 m, nav range: 134.581192 m, bearing: 286.568800 deg, approach rate: -0.732125 m/s, LOS rate: -0.040884 deg/s, cmd heading: 302.253028 deg, new cmd heading: 302.214911 deg. wHeadingCmd: 5.274645 target range: 143.578476 and range: 163.20 m.bɨ@ZrjRJB~~}||||@]? QBIm.<)l*I Q;, =ʼiɨ@i EEEEo0EAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.6GrII:JWBJ]JJGRJZJ;9bJ_9Jc4Ji~G) A9 AI NU >K Q"K 9*K 2K I:K .#/?9D$ oJ2 ?/j J c  - 2 & Rw_`U~&ԙ DYh(,WLA9zɟ@z,Ӧ@Yz'yzob>zH %???`˿ |?\ޤ?  ?1? zɟ@zЎ;)zC]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.941743ugOB}HIIT3ye(=)  7=-Gyt;Q 5>ErA٥IYY }HF 7YrAyB(< >_4+诜?_49 ImbBy?tCi::_4}A9=FNOT Ignoring new targets: 143.58 m.e;m; ProNav: ac range: 143.578476 m, nav range: 134.254807 m, bearing: 286.548475 deg, approach rate: -0.658034 m/s, LOS rate: -0.041077 deg/s, cmd heading: 302.214916 deg, new cmd heading: 302.153793 deg. HeadingCmd: 5.273579 target range: 143.578476 and range: 163.20 m.b(@ZrjRJB~~}||||? eRBmxIq)uC-yI}^ 7IW;:ר =Ui(@iԙH%>H!H%RHH%OBH!H!H%+DH%<H%EEiEqEqEuP0Ey6GM Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.191186~G A! A1 NE > ԁn(,ؼLA9j#@jV-@Yj3yj(Y>jHQS?$?ɿ??`A?cA? j#@jT;)jCvOBv6HMb@Mb@Mb@ )Y rh?Mb{Gzt?y,?ף;вA A)IAyzAII(*3z= R=y';Q >٥ HFe= ? _4 ?_49  I ubBy,?:? Ci * ; ; _4!%MA%EYeFNOT Ignoring new targets: 143.58 m.eAheAh} ProNav: ac range: 143.578476 m, nav range: 134.025299 m, bearing: 286.531115 deg, approach rate: -0.669977 m/s, LOS rate: -0.050763 deg/s, cmd heading: 302.153799 deg, new cmd heading: 302.101631 deg. }Z HeadingCmd: 5.272668 target range: 143.578476 and range: 163.20 m.b@ZrjRJB~~}||||J?  M/RBM IQ)U+YI]:; YY]\;eXe0e =e,!aie@i]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.444607EAEAEAEE(2EA6Gc׼jG%?bG%>A~GAAN l>q  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695272hu(,֡LA09B @B@YB+yBN>BH y?`?2qȿY ?@ ?]?T? B @B@M;)@bOBbTHIjIj2ra= r]=yv"٥tt vHxz= z>|_4~?_49~ I~~bBy  ) ?~Ci~:~:~_4AI4=Ia=:J=VBJ=KJJ=?RJ9ZJ=9bJ=K9J=ـ4J9Y]FNOT Ignoring new targets: 143.58 m.eaea ProNav: ac range: 143.578476 m, nav range: 133.780807 m, bearing: 286.511272 deg, approach rate: -0.606754 m/s, LOS rate: -0.049336 deg/s, cmd heading: 302.101644 deg, new cmd heading: 302.042004 deg. oHeadingCmd: 5.271627 target range: 143.578476 and range: 163.20 m.b,@ZrjRJB~~}||||@? %GRB-YKMQ"KM}9*KI2KMJ:KM ppwz7(_ @ T -H[2 } Z 5 ( ?cLc` iIa)e+aIeΣ aae{c;ԉz( =;i,@i}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.949869>E9E E E E m0E H% >H% CH% HH% OBH! H! H! H% <H% E9 6G a.ʼ~GAAN>|(,LA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.198499-OB-nHa%Mb@Mb@Mb@!!! !)!Y%q= ףp? rh/$?y%+?%C%<%A %A)%AI%VA!y%AI=I=V83M = M=yMQ U>٥QQ UHUF] ]>am_4e?u_49e7 IebBy}+?}:}?eLCiez;ex;e_4AFNOT Ignoring new targets: 143.58 m. ProNav: ac range: 143.578476 m, nav range: 133.429062 m, bearing: 286.479955 deg, approach rate: -0.700338 m/s, LOS rate: -0.062518 deg/s, cmd heading: 302.042003 deg, new cmd heading: 301.947804 deg. +HeadingCmd: 5.269983 target range: 143.578476 and range: 163.20 m.b@ZrjRyJyBy~~}||||u @ fRB <|I ) I. I8 19=Lk;=E=E,;iE@iAԑD=D=>Em.<E%?E!E!E%0E!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4506916Gk}~GA A1 NM > (,LA9BL@B@YB$yB4>BH@#n?@g? "ſq@XQ? `?{?H}? BL@B O;)BCJOBNHIVIV2^/= bi=ybT٥dd fHfFf6= f>hr`4j?v`49j IjbByxz뇿z?jCijz;j{;j`4|~AEB*** querying acoustic contact ***JR)-FNOT Ignoring new targets: 143.58 m.55E ProNav: ac range: 143.578476 m, nav range: 133.200287 m, bearing: 286.457813 deg, approach rate: -0.652320 m/s, LOS rate: -0.063242 deg/s, cmd heading: 301.947801 deg, new cmd heading: 301.881261 deg. E-MHeadingCmd: 5.268822 target range: 143.578476 and range: 163.20 m.bM1@ZIrQjQRQJQBQ~Y~}||||@ m|RBuI)*Ie r;ցj=ʵ5==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702720 K=P"K=9*K92K=K:K=x1Z}lsdn.Y_VlWk@lwf})E1E1E9E=2E9A6G 1X<~G! A9 AQ N] > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.956800a Y(,)LAOBHmMb@Mb@Mb@iii i)iYmK7?{Gz?Zd;O?ymI,?m#٥ H >`4d ?`49 IbByh,?:肿?Cis:w:<`4AFNOT Ignoring new targets: 143.58 m.8 8H>HHHHPBH =HHH<HEE ProNav: ac range: 143.578476 m, nav range: 132.894821 m, bearing: 286.422658 deg, approach rate: -0.652632 m/s, LOS rate: -0.075282 deg/s, cmd heading: 301.881275 deg, new cmd heading: 301.775567 deg. MNUHeadingCmd: 5.266977 target range: 143.578476 and range: 163.20 m.bU@ZQrQjQRQJQBY~Y~Y}Y|a|a|a|e{ @ RB靕6I)}2I (|;=ԙ Ԑ(,{CLA9n]L@nV@YnBlyn>nH? ?\ N9?;7 ?@B?`? n]L@n*a;)nCEOBEHIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.458390) II 3  =  V=y[dԙ٥ HFԯ< >`4,?`49 IbBy ? Ci%;<]`4}AEyFNOT Ignoring new targets: 143.58 m.WW ProNav: ac range: 143.578476 m, nav range: 132.632935 m, bearing: 286.391217 deg, approach rate: -0.582682 m/s, LOS rate: -0.070091 deg/s, cmd heading: 301.775571 deg, new cmd heading: 301.681063 deg. i@HeadingCmd: 5.265328 target range: 143.578476 and range: 163.20 m.b}@ZrjRJB~~}|!|!|!|-`$ @ -RB5I1)593yI}j yy};&I=  BDAT read: Tx time:06:00:40.5204  $Ping request sent.  R#Rx 1: Read range and direction messages. `direction in FSK: [0.716652,-0.162819,-0.678160] :publishing transmit ping time  Fpublishing direction and range infoY y] o6?3@Ŀ{忹] 4CYY ] U)] wI] ;i] 3~] B] S?] `=] ʡ? ] 4@)] ,I] o5@i] >] @] >? Y )Y ] F_?}?c+~i] 7?] ,?] td] >? Y )Y % :publishing transmit ping time - Fpublishing direction and range infoY y] o6?3@Ŀ{忹Y YY Y )Y IY iY Y Y Y Y Y )Y IY iY Y Y Y )Y ] F_?}?c+~iY Y Y Y Y )Y  ;(,[a]LAKP"K*K2KL:KnA r7<yx[pcp Q  0{YV-` AID& MOBMHII3}3= }C=y}Q }>٥ HF >`4{8?`49 IbBy?c Ci:>:Q-`4XAEZb|WLA3C3Cĥ@ʁߗ{`@ o>==-s^o6?3@Ŀ{td>?ҁm#M@B +s].ڴu^Buh5?EkznBjIEÜ?reG[ Ns?}  {BꁅhC,@ addTargetRange:: Added new target pos. range: 180.899994 m, deltaT: 7.561622 s, deltaX: 17.699997 m, approachRate: 2.340767 m/s, rangeRepo size: 4  Added new target pos. range: 179.615692 m, bearing: 296.806617 deg, lat: 36.906208 deg, lon: -122.115978 deg, deltaT: 11.345334 s, deltaX: 36.037216 m, approachRate: 3.176391 m/s, posRepo size: 4 )5FNOT Ignoring new targets: 179.62 m.uqJDAT read: TxSync time:06:00:40.5196 5 ProNav: ac range: 179.615692 m, nav range: 132.406830 m, bearing: 292.162435 deg, approach rate: 0.000000 m/s, LOS rate: -0.070091 deg/s, cmd heading: 301.681068 deg, new cmd heading: 301.600051 deg. 9eHeadingCmd: 5.263914 target range: 179.615692 and range: 180.90 m.beq@ZarijiRiJiBq~~}|||̜f@|L? RBTI)|5I}P W7;yw7=H5 CH5 IH5 :PBH5  =H1 H5 *DH5 <H5 EE ?E E E O0E q 6G -<:JuWBJuOJJuHRJqZJu;9bJu%9JuԺ4JqzJư:jJuћ:Ju&:rJu&:~GAAN >L(,|LAH9 ]@ .g@Y %;y YB= H@? } ?E ?Kg?0?? ]@ Ë;) C%OB%H -=)9}Mb@Mb@Mb@yyy y)yY}K7?Q?Mb?yy}\=}<}A }VA)}AI}Ayy}̖AII2즼 $=y٥ H; >`4^H?`49 IbBy,?:x? Cio:V:>`4mAFNOT Ignoring new targets: 179.62 m.HH5 ProNav: ac range: 179.615692 m, nav range: 132.079956 m, bearing: 292.131891 deg, approach rate: -0.701313 m/s, LOS rate: -0.065694 deg/s, cmd heading: 301.600062 deg, new cmd heading: 301.508205 deg. 5W4=HeadingCmd: 5.262311 target range: 179.615692 and range: 180.90 m.bd@ZrjRJB~~}|||| "? }RB靅0I)>I¼ ;=? =id@iE?EEEEFF}A6GeF<~GyAAN> g(,ެLA9RuW@Ra@YREiyR=RHs?T?t线I?쁦?@ Ѽ?? RuW@Rj;)RC`bH|I5I53mx: mb=ym͂;Q m>٥qq uHuFu >`4CT?`49 tIIbByx? Ci{:X%;K`4EB*** querying acoustic contact ***J!R!9EFNOT Ignoring new targets: 179.62 m.ECEC] ProNav: ac range: 179.615692 m, nav range: 131.835083 m, bearing: 292.108963 deg, approach rate: -0.653619 m/s, LOS rate: -0.061314 deg/s, cmd heading: 301.508210 deg, new cmd heading: 301.439297 deg. ]Q(]HeadingCmd: 5.261108 target range: 179.615692 and range: 180.90 m.be[@ZarajaRaJaBa~i~i}i|i|q|y|}2? RB靽:I;<)eCIYƼ j;kӂ= X =i[@i1EIEIEIEUP0EQK P"K 9*K 2K M:K  Q]rrU*V1uO]zT*9!HT:s]5 1YAAT****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.6G=:^<~Gi A A NE >ԁ (,LAH>HCHIHNPBHHH)DH<HEHmCHmCHiHm =Im = Im5Q]PBeHeMb@Mb@Mb@aaa a)aYeNbX9? ףp= ?{Gztye%?eQ8=eףe~A eA)eAIeAayeAI}I}37= 8=yQ >٥ HF >`4a?`49 IbBy &?:s?@!Ci::Z`4DAFNOT Ignoring new targets: 179.62 m.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.486080 ProNav: ac range: 179.615692 m, nav range: 131.563187 m, bearing: 292.080802 deg, approach rate: -0.634689 m/s, LOS rate: -0.065871 deg/s, cmd heading: 301.439307 deg, new cmd heading: 301.354651 deg. 4HeadingCmd: 5.259631 target range: 179.615692 and range: 180.90 m.bN@ZrjRJB~~}|||| a? =SBeIa)e{EaIm̼ iimЛ;uu=ut=iuN@iyԁ:JXBJNJJIRJZJ{9bJ!9JF4JzJ:jJ:JV:rJX:EEEEEԱ 6G == checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740645~G A A N >g{(,iʢLA9^X@^a@Y^WWy^$=^HJ?@$?I~`٥ Hk9 >!-`4%!m?-`49%n I%bBy15s5?%{!Ci% :%:%g`49=nAAy}FNOT Ignoring new targets: 179.62 m.uu ProNav: ac range: 179.615692 m, nav range: 131.340591 m, bearing: 292.057650 deg, approach rate: -0.627071 m/s, LOS rate: -0.065333 deg/s, cmd heading: 301.354640 deg, new cmd heading: 301.285065 deg. Y3HeadingCmd: 5.258416 target range: 179.615692 and range: 180.90 m.bD@ZrjRJB~~}||||`m?Ա 1SB靅cYI),PI#м ;+&=W=iD@iEIEIEIEMf1EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9913736Gm=IC=I4=~GA AQ Ai Nu >K= ʛP"K= s9*K9 2K= N:K= =r4:bbs` 7P [| k w = p .du5:5o*sA JM ?JM >$(,d>LA9JbU@J_@YJ0yJ=JH?A,? J@m?@tȢ`? w?? JbU@J-;)JCVOBVHI^I^?13rS vM=yz;Q ~>٥  H FuX >!=`4%y?M`49%  I%bByQUs]?%!Ci%|;%;%-u`4uBu}A}EFNOT Ignoring new targets: 179.62 m. ProNav: ac range: 179.615692 m, nav range: 131.085922 m, bearing: 292.031105 deg, approach rate: -0.623708 m/s, LOS rate: -0.065138 deg/s, cmd heading: 301.285054 deg, new cmd heading: 301.205263 deg. 2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244209G ĀA!i .YĀAyB HeadingCmd: 5.257023 target range: 179.615692 and range: 180.90 m.b 9@Z r j RJB~~}||!|I|M@A MPSBMNXII)MYIIU ׼ QQU`;HY==i9@iG!G!H5>H5CH5 IH5XPBH5 =H1H5*DH5<H5Eq>Em :< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496223EI EI EQ EU O0EY :J ZBJ HJJ ERJ ZJ 9bJ 9J 4J zJ 1:jJ 6:J 9rJ 9Ա 6G{=jG%?bG%?~GAA!N-?)(,BLA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7458969BL@BU@YByBv=BH@/?k5?*`O?n@??@? BL@BB;)BCdOBHmonly read 2 of 4 data items for water velocity. Device response is::WS,-3276,-32768,V aIm@au aMu@au aQu@au aEu@a} II(*3ՠ ٥ HFJҺ z>iu`4m8?u`49mK ImcBu+:yq}:}s}?m8"Cim%;m$>?m`4AEFNOT Ignoring new targets: 179.62 m.!EEU ProNav: ac range: 179.615692 m, nav range: 130.621872 m, bearing: 291.982709 deg, approach rate: -0.629318 m/s, LOS rate: -0.065864 deg/s, cmd heading: 301.205250 deg, new cmd heading: 301.059549 deg. U4]HeadingCmd: 5.254480 target range: 179.615692 and range: 180.90 m.b]$@ZYrYjYRYJaBa~i~i}i|i|i|q|uC@ ySB靭hI)eIi ;BDAT read: Rx Time:06:00:43.1626 TRx dataTimestamp_ set to:1749103244.383739checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999318==i$@iD}AD}AQ >E <zE K P"K 59*K 2K O:K 9)O 7*4 4}u<s"5 Ur[L y E E E E W4E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252259Ա6G~GAA N ?υ(,eT0LAH@H@HBIHBNPBH@H@H@HBo<HBE9Vl/@V9@YVߊǻyVې=VH֓?I? ^s? Qx?@?l?\ Vl/@Vڊ;)VCibC`)` `I` d)fAdddjChihIhQIQi]A YY)Y]C ]AYaaaaIa)aii)iIiii iquAqiuFqٯqOBHaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YuV?I +?lyr(?94= A hA)AIAyAIIF2 =y;Q >٥ HFgջ >`4?`49& IbBT:y)?:t?"Ci:3:`4 A -B*** querying acoustic contact ***J)R)AEFNOT Ignoring new targets: 179.62 m.M⚺M⚺] ProNav: ac range: 179.615692 m, nav range: 130.293137 m, bearing: 291.948611 deg, approach rate: -0.651087 m/s, LOS rate: -0.067706 deg/s, cmd heading: 301.059548 deg, new cmd heading: 300.956994 deg. ]9eHeadingCmd: 5.252690 target range: 179.615692 and range: 180.90 m.be @ZarijiRiJiBi~q~q}q|q|y|y|}@ @ SB靽I)6qI( ^~;B烿=0=i @iDDDDchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.503923E ?E E E 4E A  DAT read: 06:00:43.1626 LVL= 19488, 21313, 15106, 22163, AGC= 67, IDX= 107,-0.44, 0.181,-1.055, 0.833, 0.110, PHS= 0.159,-1.118, 0.720, RAW= 167.3, 3.0, CAL= 168.0, -5.8, ROT= 342.0, 5.8  Ygot valid direction response: 06:00:43.1626 LVL= 19488, 21313, 15106, 22163, AGC= 67, IDX= 107,-0.44, 0.181,-1.055, 0.833, 0.110, PHS= 0.159,-1.118, 0.720, RAW= 167.3, 3.0, CAL= 168.0, -5.8, ROT= 342.0, 5.8  PDAT read: Bearing 342.0, 5.8 (Local)  ~Local bearing/azimuth received: Bearing 342.0, 5.8 (Local)  DAT read: Range 10 to 50 : 178.5 m (Round-trip 238.1 ms) speed 0.5 m/s  *DAT read: user:603>  BDAT read: Tx time:06:00:44.2704 % $Ping request sent.% ۵ ۵ Q8? ܵ ;:@)ܵ PwV=Iܵ f;@iܵ 4QϽܵ C@ܵ 4Q= ݱ )ݱ ݵ vw?`ɽ~?&d_{?iݵ rS?ݵ 4Sݵ z٠ݵ 4Q= ޱ )ޱ E :publishing transmit ping time M Fpublishing direction and range infoڱ yڵ o+G?Yӿ+hg޹ڱ Yڱ ۱ )۱ I۱ i۱ ۱ ۱ ۱ ۱ ܱ )ܱ Iܱ iܱ ܱ ܱ ݱ )ݱ ݵ vw?`ɽ~?&d_{?iݱ ݱ ݱ ݱ ޱ )ޱ i 6G :; =~GIAaAyN>(,FNLA9E @Ep*@YE\yE=EHT?aR?6`tf`?@𷠿w?u?O? E @E;)ECOBHII2U& U2=yeц:Q e>٥ii mHmFu} u>y`4}j?`49}- I}bByu?}"Ci};}S;}`4AEZbHLA:1C:1Cg^@ʁnf)!d@)9?>KBe1o+G?Yӿ+hg޹z٠4Q=ҁ(D@SןbeHߋ4#m?o,Kk%z+ %Bj x:E?ry A AꁵC @ addTargetRange:: Added new target pos. range: 178.500000 m, deltaT: 3.778322 s, deltaX: -2.399994 m, approachRate: -0.635201 m/s, rangeRepo size: 4  Added new target pos. range: 177.228699 m, bearing: 283.558166 deg, lat: 36.906208 deg, lon: -122.115978 deg, deltaT: 3.778322 s, deltaX: -2.386993 m, approachRate: -0.631760 m/s, posRepo size: 4 FNOT Ignoring new targets: 177.23 m. ProNav: ac range: 177.228699 m, nav range: 129.996811 m, bearing: 291.917979 deg, approach rate: 0.000000 m/s, LOS rate: -0.067706 deg/s, cmd heading: 300.956986 deg, new cmd heading: 300.859639 deg. HeadingCmd: 5.250991 target range: 177.228699 and range: 178.50 m.b@ZrjRJB~~}!|)|)|-Pf@|-`XS? SB靽`1I)+|I ;y=n=i@iJDAT read: TxSync time:06:00:44.2696 9E}?EyEyE}O0Ey:JXBJKJJRJZJ{9bJK9JJ-@-@-@-@iK% P"K% 9*K! 2K% P:K% f 9 0shfI9 # , F%VRKr=#GBa L  s 6G =~GY Aa Aq N} >ԑ (,`hLA9zr@z@Yz1޻yz\=zHjf?d? 9#zq^?`󇠿!{?@?'? zr@z;)zCi}OBrHMb@Mb@Mb@ )YK7??ktyI,?< 0A )IגAyAII36b  2=y &Q >٥ H`' >!-`4%?-`49%3 I%bBy-,?5:5}5?%+#Ci%:%;:%`49HU>HUCHUIHU/PBHU =HQHQHUF<HUsE=AmEFNOT Ignoring new targets: 177.23 m.<<% ProNav: ac range: 177.228699 m, nav range: 129.693848 m, bearing: 291.891218 deg, approach rate: -0.682511 m/s, LOS rate: -0.060428 deg/s, cmd heading: 300.859642 deg, new cmd heading: 300.779172 deg. %%-HeadingCmd: 5.249587 target range: 177.228699 and range: 178.50 m.b-@Z)r1j1R1J1B1~Y~Y}Y|Y|a|a|e?ԙ SB,̽Iی<)IKX ;L(=^ =i@iEEEEE6G = ~G A A N >x(,7QLAi9uF۠@u@YuyuI=uHK?`t?!K @C?\ T|?@ ?? uF۠@u<;)uCmOBmiHII(*35H =A=y=Q E>٥II UHUFU U>a`4e˰?`49e@: IebBy~?eu#CieU (,DLAJם4Jş4J0:J>WBJ>OJJ>ARJ<ZJ>;9bJ>%9J>4J<5OB5bHIII?13~ w=yQ ?٥ HFE E?IU`4M_ְ?U`49MT? IMbByYY]?M#CiM;M;M`4ae AeEԙFNOT Ignoring new targets: 177.23 m.SS ProNav: ac range: 177.228699 m, nav range: 129.187469 m, bearing: 291.847090 deg, approach rate: -0.681170 m/s, LOS rate: -0.059593 deg/s, cmd heading: 300.705744 deg, new cmd heading: 300.646530 deg. #HeadingCmd: 5.247272 target range: 177.228699 and range: 178.50 m.b@ZrjRJB~~}||||§?  TB"~I)I. !!%n;%Θ-=-=i-@i)K Q"K*K2KQ:K ? _  W+3n37wC[,<O,@3]z/%r%EEEEo0E6G e[=H >H H HH PBH  =H H +DH u<H E~G A) A9 NM >! ((,0LA%OB%^H %=%=5Mb@Mb@Mb@111 1)1Y5(\?~jt rhy5.?55C 5QA 5A)5AI5A1y5A)E4< EIMIM3]  ]C=yaQ e>٥ai mH >`41Ⱌ?`49E IbBy].?:‡?#Ci;:`4A5B*** querying acoustic contact ***J1R1AEFNOT Ignoring new targets: 177.23 m.M2M2] ProNav: ac range: 177.228699 m, nav range: 128.902542 m, bearing: 291.830676 deg, approach rate: -0.676769 m/s, LOS rate: -0.039073 deg/s, cmd heading: 300.646540 deg, new cmd heading: 300.597189 deg. ]ֺeHeadingCmd: 5.246411 target range: 177.228699 and range: 178.50 m.be@ZarajaRaJaBi~q~q}y|y|y||i? %TB靵5I)I ; =$( =i@i9>E-oE<T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i E ?E E E O0E ԡ 6G =~GAAN>D(,"֣LA9>죠@>@Y>y>l =>H?4?h?|?@?,? >죠@>ʼn;)>CJOBJ\HLI I<2%- %9=y-oQ ->٥)) -H-F5| 5>9E`4=?E`49=L I=bByIMM?=C$Ci=;=;=t`4QUAQFNOT Ignoring new targets: 177.23 m.(( ProNav: ac range: 177.228699 m, nav range: 128.614655 m, bearing: 291.814945 deg, approach rate: -0.673429 m/s, LOS rate: -0.036881 deg/s, cmd heading: 300.597199 deg, new cmd heading: 300.549900 deg. |ʺHeadingCmd: 5.245585 target range: 177.228699 and range: 178.50 m.bۧ@ZrjRJB~~}||||`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255105 BTBI)qI f<%Є%=%0E<:JABJETJJECRJAZJAbJE:9JE4JAԁEEEE0EԙKʈP"K59*K2KR:K<)''zd m6](~Siey lDq`Gn6Gk = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508946~G A A N > f(,LA9BD@B颧@YB!!yB-9=BH??Dl` ?؛d}? ?? BD@Bxh;)@NOBNEHH5>H5CH5HH5OBH5 =H1H5*DH5t<H5EHCHCHCH =I I,5ԱMb@Mb@Mb@ )YV-?٥ HF5; >a40?a49T IbBy1?:?$CiPx;\;^a4;AE)-FNOT Ignoring new targets: 177.23 m.55E ProNav: ac range: 177.228699 m, nav range: 128.300064 m, bearing: 291.801479 deg, approach rate: -0.691826 m/s, LOS rate: -0.029687 deg/s, cmd heading: 300.549907 deg, new cmd heading: 300.509409 deg. EMHeadingCmd: 5.244879 target range: 177.228699 and range: 178.50 m.bM ֧@ZIrQjQRQJQBQ~Y~Y}Y|Y|i|i|mR@ aTB靥yI)I5 f<;焿=E<Ea Ea Ea Ee ^0Ea 1  BDAT read: Rx Time:06:00:46.9101  TRx dataTimestamp_ set to:1749103248.163354 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0120586G <ZG }ARG }A~GaiAqAN>,u),LA9jlj@jl@YjLyj͆=jH>?@ܡ?@Q2% 9?` ^?xְ?? jlj@j;)h5OB59H9=AAAEDAIMIM3]3 ]<=ye=Q e>٥aa eHim m>qa4u?a49u[ IubByW?u$Ciu3 - X#Rx 1: Read range message, but no direction.q u 0CYq  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.~G AA!N-> ),K;,LA .YY2Ay2BԙH߼>HCHHHOBH =HH)DH<HE9m@w@Y 0yf=H?@֮? ?@@?j?? m@;)C-OB-AH)1 1Mb@Mb@Mb@ )Y"~?V-~jthy3?mDA )IגAyIIV83-.< -=y5Q U>٥YY ]H]F] ]>ama4e?ma49ee Iayu4?:ې?eR%Cie;e);ei)a4BBAE@DAT read: T time:06:00:48.0204 ^unknown deviceResponse_: T time:06:00:48.0204 JDAT read: TxSync time:06:00:48.0196 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768838% addTargetRange:: Added new target pos. range: 176.699997 m, deltaT: 3.528733 s, deltaX: -1.800003 m, approachRate: -0.510099 m/s, rangeRepo size: 4 !UFNOT Ignoring new targets: 177.23 m.UUe ProNav: ac range: 177.228699 m, nav range: 127.559418 m, bearing: 291.777187 deg, approach rate: -0.695732 m/s, LOS rate: -0.018470 deg/s, cmd heading: 300.471469 deg, new cmd heading: 300.436320 deg. eJHeadingCmd: 5.243603 target range: 177.228699 and range: 176.70 m.b˧@ZrjRJB~~}|||`ff@|`N? }TB}KܽIy)}I њ< i=/Z@>:d@Y>uSy>=>H:?`Ϸ?`"ZJ@G?@y? ?[? >Z@>i;) `),zTgLA9B@@BI@YBDyB=BH?s?m@ ? b k?@? _? B@@B;)BCJOBJWH N=N>RMT Queue status failed to be acquired within timeout. Will not retry this session.)V; V4<IVIV3K^6P"K\*K\2K^T:K^9. -"PZ``'6z-k T)9$@  1  ?Jf?Jf>f^= jI=yjQ j>٥hl nHnFny r>pva4r7(?za49r%r IrbByxzz?r%Cir:r:rcCa4|AE!-FNOT Ignoring new targets: 177.23 m.-$-$ ProNav: ac range: 177.228699 m, nav range: 127.035889 m, bearing: 291.764207 deg, approach rate: -0.708537 m/s, LOS rate: -0.017173 deg/s, cmd heading: 300.418112 deg, new cmd heading: 300.397285 deg. <HeadingCmd: 5.242922 target range: 177.228699 and range: 176.70 m.bƧ@ZrjRJB~~checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523125}|||| 2? MTBM0nII)MqIb" 6!<['kd=[uHqHqHqHu =HqHqHu<HuEI6GM =< checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775392~G! A) AA NM >y :J XBJ MJJ LRJ ZJ {9bJ 9J 4J zJ : jJ : J +: rJ -: }G ),+LAPExceeded connect timeout, disconnecting.9V'@Vp1@YV͆yVv=VH>_? |? lJ_?@=<P?j?? V'@V܈;)VCzOBz_HMb@Mb@Mb@ )Ygfffff?V-{Gz?y33?h#<A hA)(AI(AyAII#3-d< -6=y-lQ ->٥11 5H1E%ػ M>YI]a4M2?ea49My IMbBye#4?e:ee?M)&CiM ?;M=;MSa4imAuEFNOT Ignoring new targets: 177.23 m.22 ProNav: ac range: 177.228699 m, nav range: 126.719604 m, bearing: 291.759814 deg, approach rate: -0.701006 m/s, LOS rate: -0.009761 deg/s, cmd heading: 300.397293 deg, new cmd heading: 300.384081 deg. ^ֹHeadingCmd: 5.242691 target range: 177.228699 and range: 176.70 m.b ħ@ZrjRJB~~}|||| ? TB DI)I' u](<.%E=%t q&),LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2789189fc @f*@Yfwyf=fHR?&?o0@6T?N\?2?? fc @fK;)fCnOBnvHIxIxhM= _=y\Q >٥    H F U" >-a4t;?5a49 IbBy155?k&Ci@;i@;_a4AEAAamFNOT Ignoring new targets: 177.23 m.m9.u9. ProNav: ac range: 177.228699 m, nav range: 126.463593 m, bearing: 291.756346 deg, approach rate: -0.701464 m/s, LOS rate: -0.009520 deg/s, cmd heading: 300.384070 deg, new cmd heading: 300.373646 deg. ѹHeadingCmd: 5.242509 target range: 177.228699 and range: 176.70 m.b§@ZrjRJB~~}||||`? UB I)jI + ).< 4 Z(= qlEKP"K9*K2KU:KE6 d ezL (/H3R2># 4  %6 ~checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531944EEEE2E H >H CH HH PBH H H +DH }<H 9 6G <~G A AN%>-),:LAI ) 9>#@>9-@Y>Hy>U=>HyW? ?wZ?@#?`dF?? >#@>;)>CJOBJ|H-Mb@Mb@Mb@))) )))AY-Q?Q/$?y-\/?-u-<-A -A)-ےAI--A)y-AQUAAIUIU3eT!< e,=ymQ m>٥ii mHuFu~V: u>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783074y%a4}F?%a49}ׇ I}bBy%0?%:%%?}&Ci}<}A:}xpa4)5A1FNOT Ignoring new targets: 177.23 m.ihih ProNav: ac range: 177.228699 m, nav range: 126.136688 m, bearing: 291.749974 deg, approach rate: -0.649807 m/s, LOS rate: -0.012699 deg/s, cmd heading: 300.373633 deg, new cmd heading: 300.354467 deg. r HeadingCmd: 5.242174 target range: 177.228699 and range: 176.70 m.b俧@ZrjRJB~ ~ } | ||1|5T@ E&=EEEEP5Eԙ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=6.0349936G < ~Gi Ay A N >S^4),RҤLAEOBEHIUIU2eG= eL=yeQ e>٥ii mHim u>ya4}DP?a49}s I}bBy?}'Ci}:}:}u~a4AEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 177.23 m.كك ProNav: ac range: 177.228699 m, nav range: 125.861931 m, bearing: 291.744593 deg, approach rate: -0.734055 m/s, LOS rate: -0.014409 deg/s, cmd heading: 300.354454 deg, new cmd heading: 300.338274 deg. 7HeadingCmd: 5.241892 target range: 177.228699 and range: 176.70 m.b@ZrjRJB~~}||||&@ XUB%,xI!)%b!I%M]5 !)-;<I=q~GAIAqHӼ>HCHIH%PBH =HH(DH<HENu ?<),LA)9e#@en-@YeRܼye=eH@V?@?ܚM@ a?M@?y?? e#@e9;)eC}OB}HMb@Mb@Mb@ )Y|?5^?kt{Gz?y2? 0ף<A jA)~AIAy)-p< -<I5I52=  =yw/Q >٥ HF58 >a41_?a49% IbByZ3?:?n'Ci;;ڒa4AE!-FNOT Ignoring new targets: 177.23 m.-ʹ5ʹE ProNav: ac range: 177.228699 m, nav range: 125.454567 m, bearing: 291.731716 deg, approach rate: -0.699203 m/s, LOS rate: -0.022173 deg/s, cmd heading: 300.338280 deg, new cmd heading: 300.299526 deg. ExsMHeadingCmd: 5.241216 target range: 177.228699 and range: 176.70 m.bM @ZIrIjIRIJIBQ~Q~Q}Y|Y|Y|Y|e o$ @BDAT read: Rx Time:06:00:50.6577 TRx dataTimestamp_ set to:1749103251.944334checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793026 UB靵zI)I; C<B_~=yC),}LA9b #@b,@Ybeybs=bHT?? C@b?? ?? b #@bm8;)bCjOBnHIrIr00= l=yQ  ?٥    HF ?%a4 h?%a49 IbBy)--?'Ci::a415gA9YeFNOT Ignoring new targets: 177.23 m.eE̹eE̹ ProNav: ac range: 177.228699 m, nav range: 125.212837 m, bearing: 291.724050 deg, approach rate: -0.702529 m/s, LOS rate: -0.022324 deg/s, cmd heading: 300.299539 deg, new cmd heading: 300.276496 deg.  uԉHeadingCmd: 5.240814 target range: 177.228699 and range: 176.70 m.b@ZrjRJB~~}||||` @ UUBU IY)]\YI]_? YY]H BDAT read: Tx time:06:00:51.7705 $Ping request sent.1 I),[(LA9J"@Jx,@YJyJ=JHpS??@iye?Zt`?? ? J"@J;)JC~OB~Hi>I<  AI I =: EG=yE Q E>٥II MHIMp U>Yma4]r?ma49] I]bByquu?K}ܺP"K}9*Ky2K}W:K}rXp S^;dDG*r4 F N ) ~/?&Pu;c2x7&R]'Ci]/<<]<<]Ma4jAEJDAT read: TxSync time:06:00:51.7697 !ZbLA-C-Cܣ@ʁdڝX@y4c8a&O[/%?SôoS64Rs?ҁ*oD@|QWkںha'2X?vQa}z^$Bj?rwp e3`=  B@@ addTargetRange:: Added new target pos. range: 174.899994 m, deltaT: 3.779282 s, deltaX: -1.800003 m, approachRate: -0.476282 m/s, rangeRepo size: 4  Added new target pos. range: 173.650101 m, bearing: 293.389594 deg, lat: 36.906208 deg, lon: -122.115940 deg, deltaT: 7.308015 s, deltaX: -3.578598 m, approachRate: -0.489681 m/s, posRepo size: 4 FNOT Ignoring new targets: 173.65 m. ProNav: ac range: 173.650101 m, nav range: 121.790421 m, bearing: 292.303675 deg, approach rate: 0.000000 m/s, LOS rate: -0.022324 deg/s, cmd heading: 300.276508 deg, new cmd heading: 300.246828 deg. HeadingCmd: 5.240296 target range: 173.650101 and range: 174.90 m.b@ZrjRJB~~}!|!|!|%e@|-`[? UB $0I)I%0E ACO<%h}%{=%٥HuCHu IHuXPBHu =HqHu&DHu<Hu/EH%řCH%řCH%ŕCH% =E?EEEEI% = I%36i6Ge 7ͤ<~G9 AI AY Ne >ԡ :J% WBJ% IJJ% ?RJ! ZJ% ;9bJ% 9J% ـ4J! zJ% ͛:jJ% қ:J% 9rJ% 9P),BBLA9N @NT@YNyN =NH`a+??7ҳC?x@?མ?:?@h? N @Nێ;)LjPBjH Mb@Mb@Mb@    ) Y gfffff?Mbi٥ HFgƻ >a4~?a49 IcByN3?: ?E(Cij;;a40A!MFNOT Ignoring new targets: 173.65 m.MUe ProNav: ac range: 173.650101 m, nav range: 121.480049 m, bearing: 292.289688 deg, approach rate: -0.734929 m/s, LOS rate: -0.033203 deg/s, cmd heading: 300.246838 deg, new cmd heading: 300.204771 deg. eKHeadingCmd: 5.239562 target range: 173.650101 and range: 174.90 m.b}@ZrjRJB~~}||||͝? UBI)ԸIE%J AAEKU?r?? ް?? Z@Zć;)ZC~PBHI I M3- ; 5a=y5-Q 5>٥99 =H=FEܺ E>IMa4M?Ua49Mױ IMcByQUU?M(CiM~:Mh:Mta4ae/AeEB*** querying acoustic contact ***JRFNOT Ignoring new targets: 173.65 m. ProNav: ac range: 173.650101 m, nav range: 121.229904 m, bearing: 292.278432 deg, approach rate: -0.712043 m/s, LOS rate: -0.032106 deg/s, cmd heading: 300.204764 deg, new cmd heading: 300.170927 deg. EHeadingCmd: 5.238971 target range: 173.650101 and range: 174.90 m.b@ZrjRJB~1~1}9|9|A|A|E ̑? UBMI)kIiN E"[Hi Hm 9IHm PBHm =Hi Hi Hm <Hm EA N >=\),uLA PBH) =Mb@Mb@Mb@999 9)9Y=|?5^?I +?:v?y=2?=94<=T<=QA =A)=zAI=A9y9IU IUb3e ; e8=ymQ m>٥ii uHqu u>a4?a49 I'cBy2?:?(CiT;?;a4B+AEIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500021FNOT Ignoring new targets: 173.65 m.>> ProNav: ac range: 173.650101 m, nav range: 120.922150 m, bearing: 292.258750 deg, approach rate: -0.650612 m/s, LOS rate: -0.041716 deg/s, cmd heading: 300.170913 deg, new cmd heading: 300.111715 deg.  HeadingCmd: 5.237937 target range: 173.650101 and range: 174.90 m.b/@ZrjRJB~~}||||]? VBP}I)濿I%S !!%h3a<-ʅ-+=-jE=>ԁEEEE_0Eԡ 6G <E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751178~G A A N c),"ÏLA@9V@V@YVECyV&.=VH+? T?!崿@P?L-?@Df??W? V@V%(;)VCb#PBbH)j4< jp;IjIj1zh= zf=yz~Q z>٥|| ~HF/ ; > a4 $?a49  I 8cBy? )Ci ; H; la4!%A!IUFNOT Ignoring new targets: 173.65 m.U^U^u ProNav: ac range: 173.650101 m, nav range: 120.676559 m, bearing: 292.242869 deg, approach rate: -0.752015 m/s, LOS rate: -0.048727 deg/s, cmd heading: 300.111709 deg, new cmd heading: 300.063970 deg. HeadingCmd: 5.237104 target range: 173.650101 and range: 174.90 m.b%\@Z!r!j!R!J!B!~)~)})|)|1|1|5 ? /VB靍~)I)IVX ]f<兿+= q Ei),LA9>P@>"@Y>VMy>=>H`+=??^@e?Y߅?@?(I?`? >P@>Z;)>CJ4PBN IITITZg)= ^N=ybԻQ b>٥dh jHjFjQ; j>lpva4r嫱?va49r IrLcBytvمz?r\)Cir:r`:r\a4|~A!-FNOT Ignoring new targets: 173.65 m.-O-OE ProNav: ac range: 173.650101 m, nav range: 120.400993 m, bearing: 292.224802 deg, approach rate: -0.690592 m/s, LOS rate: -0.045380 deg/s, cmd heading: 300.063980 deg, new cmd heading: 300.009657 deg. M&UHeadingCmd: 5.236156 target range: 173.650101 and range: 174.90 m.bU@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254705ZQrjRJB~ ~ } | |KyP"K9*K2KY:Kd.GQL?I0b  ?<e<#CO89!3J!J!||-0@ NVB靽#I)?ÿIh] }l< =$H CH RIH PBH H H $DH <H EY6GN<~Gi Ay A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506794ԁ p),yåLA9:c@:#@Y:SpYy: Ί=:H` =y ػQ >٥ HN7 >b4y?b49 I`cBy@4?:?)Cip;^;Qb4ޫA~EFNOT Ignoring new targets: 173.65 m.UU ProNav: ac range: 173.650101 m, nav range: 120.104988 m, bearing: 292.199458 deg, approach rate: -0.689250 m/s, LOS rate: -0.059160 deg/s, cmd heading: 300.009666 deg, new cmd heading: 299.933446 deg. g" HeadingCmd: 5.234826 target range: 173.650101 and range: 174.90 m.b @ZrjRJABA~I~I}I|I|Q|Q|U`w@ lVB靅:'I)ſI~b Jr<505$=5] 2w),geݥLA9:@ F>F<Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016897:,@Y:5lgy:4ԋ=:H)2?H?@H@`c?=? ?`o?@? :@:G7;):CVCPBVI`b@AIf If2ԱY< G=yQ >٥ HF >b4Ʊ?b49 IucBy?)Ci;&;b4ҫA E-B*** querying acoustic contact ***J)R)9=FNOT Ignoring new targets: 173.65 m.EEU ProNav: ac range: 173.650101 m, nav range: 119.818886 m, bearing: 292.174924 deg, approach rate: -0.689410 m/s, LOS rate: -0.059261 deg/s, cmd heading: 299.933441 deg, new cmd heading: 299.859663 deg. U"]HeadingCmd: 5.233539 target range: 173.650101 and range: 174.90 m.b]&y@ZYrYjaRaJaBa~i:JXBJZJJGRJZJ{9bJS9Jc4J~i}||||@ MVBM@&II)UCɿQIU h QQU8Ix<]Z]=]lH H dIH PBH H H H <H E9 ~GI Aq A NU >/}),bNLA9f@fW@YfNsyf=fH+?`?`x Ma?@'? w?W?? f@fF;)fCr9PBr I =Mb@Mb@Mb@999 9)9Y=l?~jt?y=7?=D==9 =A)=AI=A9y=\AIUIU1u7 u?=yuoQ }>٥yy }H}FT >b4Ա?b49 IcBy7?:~?A*CiA::b4A|E)-FNOT Ignoring new targets: 173.65 m.5a5am ProNav: ac range: 173.650101 m, nav range: 119.518700 m, bearing: 292.147319 deg, approach rate: -0.689341 m/s, LOS rate: -0.063550 deg/s, cmd heading: 299.859675 deg, new cmd heading: 299.776653 deg. mt.uHeadingCmd: 5.232090 target range: 173.650101 and range: 174.90 m.buGm@ZqrqjyRyJychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518864B~~}||||@UL @ EVBM*II)MοIIMm IQUe~  BDAT read: Tx time:06:00:55.5205  $Ping request sent. 5 ux5 )\/? 5 7@)5 d;I5 8@i5 V5 hY@5 V> 1 )1 5 "?jL,?i(k?i5 C?5 @FY5 *g5 V> 1 )1  :publishing transmit ping timeڙ  Fpublishing direction and range info1 y5 ]i?[ܪѿ'ЌCz¿A N >1 Y1 1 )1 I1 i1 1 1 1 1 1 )1 I1 i1 1 1 1 )1 5 "?jL,?i(k?i1 1 1 1 1 )1 s), LARPBII Ib3= \=yQ >٥ H > eb4 Xᱜ?eb49  I cByaae? *Ci 8< 7< +-b4qAZqbuLAu ,Cu ,Cuɞ@ʁu6d@5F6;Q8u]i?[ܪѿ'ЌCz¿u*guV>ҁu"E@R~8dnJPT2uWs?=$溿zu%u)Bju˿?ru uBu˿?q quBu}@] addTargetRange:: Added new target pos. range: 173.300003 m, deltaT: 3.784052 s, deltaX: -1.599991 m, approachRate: -0.422825 m/s, rangeRepo size: 4   Added new target pos. range: 172.045303 m, bearing: 284.304521 deg, lat: 36.906184 deg, lon: -122.115940 deg, deltaT: 3.784052 s, deltaX: -1.604797 m, approachRate: -0.424095 m/s, posRepo size: 4 FNOT Ignoring new targets: 172.05 m.M ProNav: ac range: 172.045303 m, nav range: 118.280502 m, bearing: 290.940650 deg, approach rate: 0.000000 m/s, LOS rate: -0.063550 deg/s, cmd heading: 299.776648 deg, new cmd heading: 299.699277 deg. IUHeadingCmd: 5.230739 target range: 172.045303 and range: 173.30 m.b]7b@ZYrYjaRaJaBa~~}|||e@| ? -VB-,I))5Ͽ1I5s 115I<====S}0),˼*LA9@@YQryQ)=H??@tjE?@?` ?W?`? @È;)CuQPBq); II#3j: F=yeQ >٥ HF >)5b4-?5b49-a I-cBy9=#=?-*Ci-S;-;Km{P"Ki*Ki2Km[:KmG|t/uGY7:CF&&@-a,DpQAz* RA' U-V;b4AFNOT Ignoring new targets: 172.05 m.xxAU ProNav: ac range: 172.045303 m, nav range: 117.996223 m, bearing: 290.911416 deg, approach rate: -0.727140 m/s, LOS rate: -0.074956 deg/s, cmd heading: 299.699275 deg, new cmd heading: 299.611362 deg. UM]HeadingCmd: 5.229205 target range: 172.045303 and range: 173.30 m.b]U@ZYrYjYRYJYB~~}||||@? VBD9IY)]PӿaImyx iiu: <H>HCHwIHPBHHH#DH<HE膿% =%'),DLA9>ڟ@>@Y>P鑽@y>"=>H?n?~׹z@??79?r?{? >ڟ@>T;)>CJXPBJ I}Mb@Mb@Mb@yyy y)yY}zG?A`"?{Gzty} 7?}Y=}ף}A y)}ŽAIyyy}AII 3^< N=yB?Q >٥ HF4 >b4w?b49 IcBy7?:O~?+Ciq ; ;Hb4AyE  FNOT Ignoring new targets: 172.05 m.  % ProNav: ac range: 172.045303 m, nav range: 117.723778 m, bearing: 290.882814 deg, approach rate: -0.731339 m/s, LOS rate: -0.076955 deg/s, cmd heading: 299.611357 deg, new cmd heading: 299.525353 deg. %AS=HeadingCmd: 5.227704 target range: 172.045303 and range: 173.30 m.b=YI@Z9r9jARAJABA~I~I}I|I|I|Q|U@4H? ] WB]:Ia)e.ֿaIe} aaė< =A),p^LA9^HƟ@^Ϧ@Y^}y^k=^H ?p?S ?@R? +?$\?@? ^HƟ@^j;)^Chv^PBv$IAI&I35< 5Q=y=Q =>٥AA EHAM˻ M>Yeb4]K?eb49] I]cByam~m?]b+Ci]G:]:]Vb4y}A}zEFNOT Ignoring new targets: 172.05 m. ProNav: ac range: 172.045303 m, nav range: 117.450096 m, bearing: 290.854282 deg, approach rate: -0.694749 m/s, LOS rate: -0.072599 deg/s, cmd heading: 299.525351 deg, new cmd heading: 299.439555 deg. KGHeadingCmd: 5.226206 target range: 172.045303 and range: 173.30 m.b=@ZrjRJB~~}|||| ? %%WBJ4J4Ji`1:JBJJJ>RJZJbJJt4J޾?I)ؿIQc }<KT|=ua H >H CH IH PBH  =H H "DH X<H ,EHuʔCHuʔCHuʔCHu =Iu = Iu_5l),KxLA9@Wʦ@Y'yy=H|? R? 3 ?˾?߳?˽?? @;)C1fPB(IYMb@Mb@Mb@ )Y-?I +?Mbpy?5?94=  A)AIyzAIIm?3|i< =yIQ >٥ HF1 >b4?b49 IcBy5?:?+Ci;:hb4BAwEB*** querying acoustic contact ***JR)-FNOT Ignoring new targets: 172.05 m.5|5|E ProNav: ac range: 172.045303 m, nav range: 117.090927 m, bearing: 290.818957 deg, approach rate: -0.693393 m/s, LOS rate: -0.068405 deg/s, cmd heading: 299.439564 deg, new cmd heading: 299.333266 deg. M;MHeadingCmd: 5.224351 target range: 172.045303 and range: 173.30 m.bM-@ZQrQjQRQJQBY~a~a}a|a|a|i|m7? ]PWB]-IY)]CݿYIe41 aae6),ྔLA(9V*Ÿ@V˦@YVyVTʼn=VHݕ??ظ`h@?*?]?`'? ? V*Ÿ@V+;)VCi\`)` `I` bC)bA`dddfAihIhhIhih hh)ll llllprAIp)pip)vCIvAtt txxxixxٯx~kPB+III(*2-}< 5z=y5Q 5?٥99 =H9=p: =?AUb4E*#?Ub49E IEdByQUU?E+CiE ;Ep;E0tb4YeAaFNOT Ignoring new targets: 172.05 m.YYM ProNav: ac range: 172.045303 m, nav range: 116.863785 m, bearing: 290.796482 deg, approach rate: -0.698206 m/s, LOS rate: -0.069220 deg/s, cmd heading: 299.333259 deg, new cmd heading: 299.265703 deg. M>UHeadingCmd: 5.223172 target range: 172.045303 and range: 173.30 m.bU9$@ZQrQjYRYJYBY~Y~a}a|||| h@ jWB LI ) ߿ I ]),LA96@67Ǧ@Y6ozy6HH=6H)?n?⸿@?༪?9 ? Bװ?}? 6@6xy;)4bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506690`%lPB%,II5I52en: eH=ymѻQ m>٥ii mHmFu >b4M0?b49 I!dBy"?F,Ci::b4KP"K9*K2K]:KLM1+0}nD~#<eEG RQN) -&>: JJtE)UFNOT Ignoring new targets: 172.05 m.U͙U͙e ProNav: ac range: 172.045303 m, nav range: 116.577042 m, bearing: 290.768063 deg, approach rate: -0.676683 m/s, LOS rate: -0.067232 deg/s, cmd heading: 299.265695 deg, new cmd heading: 299.180227 deg. m8HeadingCmd: 5.221680 target range: 172.045303 and range: 173.30 m.b@ZrjRJB~~}||||`*@H>HCHIHQBH =HH!DHǚ<HE WB@DI)㿉I B<i߇@=),dWȦLA9J)@JϿ@YJsyJH=JH}??c@?`?&??? J)@J9;)JC!!Mb@Mb@Mb@ )Yn?X9v?Mby6?<GA hA)IAyA) II 2#g: 9=yQ >٥ HF/ >b4=?b49 I9dBy36?:?,Ci;;b4AFNOT Ignoring new targets: 172.05 m. ProNav: ac range: 172.045303 m, nav range: 116.271843 m, bearing: 290.740630 deg, approach rate: -0.710781 m/s, LOS rate: -0.064055 deg/s, cmd heading: 299.180235 deg, new cmd heading: 299.097723 deg. /HeadingCmd: 5.220240 target range: 172.045303 and range: 173.30 m.b5 @Zrj!R!J!B!~)~)})|)|1|1|5 P@ ]WBeEIq)u翉qIu yy}X;<}1=: BDAT read: Rx Time:06:00:58.0911  TRx dataTimestamp_ set to:1749103259.509807 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266424'),4LA9J@JŹ@YJߋyJ׃=JH q??@&/?t? j?g?`? J@J*;)JCVrPBV0II^ I^̍2j< jk=ynQ n?٥ll rHpr r?tzb4vH?zb49v% IvMdByx~M?v,Civ9nG) G- ?AHE >HE CHE IHE .QBHE  =HA HA HE ՚<HE E6G 7<~G A A  N5 > S),LA9:Ĩ@:j@Y:Ay:=:H eb??2 @? ? $?B?@^? :Ĩ@:;):CFPBF<IMb@Mb@Mb@ )Y +?~jt?~jtxy6?<ĻA  A) AIGAyAI I(2 ,= 8=yKQ >٥! %H%FDAT read: 06:00:58.0911 LVL= 21584, 24161, 16178, 30355, AGC= 63, IDX= 293,-0.35,-0.475,-1.659, 0.032,-0.668, PHS= 0.281,-0.944, 0.697, RAW= 164.1, -0.5, CAL= 166.0, -8.8, ROT= 344.0, 8.8 Ygot valid direction response: 06:00:58.0911 LVL= 21584, 24161, 16178, 30355, AGC= 63, IDX= 293,-0.35,-0.475,-1.659, 0.032,-0.668, PHS= 0.281,-0.944, 0.697, RAW= 164.1, -0.5, CAL= 166.0, -8.8, ROT= 344.0, 8.8 PDAT read: Bearing 344.0, 8.8 (Local) ~Local bearing/azimuth received: Bearing 344.0, 8.8 (Local) DAT read: Range 10 to 50 : 124.8 m (Round-trip 166.5 ms) speed 0.8 m/s *DAT read: user:607> BDAT read: Tx time:06:00:59.1705 $Ping request sent.b4V?b49 IjdBy%6?%:%-R#Rx 1: Read range and direction messages.=`direction in FSK: [0.949946,-0.272393,-0.152986]=:publishing transmit ping time=Fpublishing direction and range info1y5c4Ae?&6nѿ8C ÿ5BY1 5PT)5a^I52?i5v5?5;ߏ>5q5n2? 5-M7@)55I5}l9@-?+-Ci;;b4QURAUsEi5nF57 @5nF> 1)15wZ}?<lE?#C'i5CE?5I<5:5nF> 1)1:publishing transmit ping timeFpublishing direction and range info1y5c4Ae?&6nѿ8C ÿ1Y1 1)1I1i11111 1)1I1Z1i111 1)15wZ}?<lE?#C'i1111 1)1b5XLA5B5B5q-@ʁ5Uyk]@3@f25c4Ae?&6nѿ8C ÿ5:5nF>ҁ5|R9<@ }c% ^0$5d_)?j B2hz5^5Aj5]X?r5̹:x 5'B5?5̹:x  5A5`B5@:JmUBJmIJJm>RJiZJm9bJm 9Jmt4JizJm6:}jJm;:}Jm9}rJm 9}-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 124.800003 m, deltaT: 3.779993 s, deltaX: -48.500000 m, approachRate: -12.830711 m/s, rangeRepo size: 4FNOT Ignoring new targets: 172.05 m.   ProNav: ac range: 172.045303 m, nav range: 115.695671 m, bearing: 290.690542 deg, approach rate: -0.677192 m/s, LOS rate: -0.057554 deg/s, cmd heading: 299.032048 deg, new cmd heading: 298.947076 deg. eHeadingCmd: 5.217611 target range: 172.045303 and range: 173.30 m.be@ZarijiRiJiBi~q~q}q|q|q|}@33_@|}@/j? WB &@I ) Il 0]<dM=it),LA9f @f@Yfyf6%=fHXV?@? }?Pd?Tɷ? ?`Y? f @fL`;)fCPB:I11IEiIET3}hڻ }G=yQ >٥ HFߺ >b4b?b49 IdBy,?p-Ci::b4WAB*** querying acoustic contact ***JR)-FNOT Ignoring new targets: 172.05 m.55m ProNav: ac range: 172.045303 m, nav range: 115.428795 m, bearing: 290.667900 deg, approach rate: -0.740580 m/s, LOS rate: -0.062975 deg/s, cmd heading: 298.947080 deg, new cmd heading: 298.878999 deg. m,uHeadingCmd: 5.216423 target range: 172.045303 and range: 173.30 m.bu@ZqrqjqRqJyBy~y~y}||||`l? XBR`ImO=)f񿉞I% !!%<--Z=-tk 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734002),K1LA9R-@Rґ@YRlǽyR:=RH`#??@ޕ?`\t?`?/?? R-@R:;)PbPBbCIIj Ij2v = vU=yv٥xx zHx~C ~> b4n? b490& IdBy  ?-Ci:::`b4H CH IH BQBH  =H H DH <H (EimFNOT Ignoring new targets: 172.05 m.u{{ ProNav: ac range: 172.045303 m, nav range: 115.159836 m, bearing: 290.645420 deg, approach rate: -0.655089 m/s, LOS rate: -0.054882 deg/s, cmd heading: 298.878997 deg, new cmd heading: 298.811398 deg. HeadingCmd: 5.215243 target range: 172.045303 and range: 173.30 m.bE@ZrjRJB~~}||||_M? -/XBU8TIY)]󿉞YIe& aim<X=/iy ),4KLA~PB~NIMb@Mb@Mb@ )YbX9?Mb`yE6? A)^AIyIIV83$= ;=yQ >٥ HF >Ib4]z?b49d- IdByE6?:T?.Ci <ǧ<b4ApEFNOT Ignoring new targets: 172.05 m.4[4[checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238179 ProNav: ac range: 172.045303 m, nav range: 114.852623 m, bearing: 290.625418 deg, approach rate: -0.733912 m/s, LOS rate: -0.047911 deg/s, cmd heading: 298.811405 deg, new cmd heading: 298.751239 deg. HeadingCmd: 5.214193 target range: 172.045303 and range: 173.30 m.bڦ@ZrjRJ B ~~}!|!|!|!|%`/F? UQXBU|VIY)]YI]` YY] H),eLA9>I_@>h@Y>UoԽy>(f=>H\?`E?5.@hQ?:9??s?? >I_@>X;)٥`` bHbFf9` f>hnb4j?nb49ji3 IjdByprr?jG.Cijo;j';jgb4x~A}qEFNOT Ignoring new targets: 172.05 m.HH ProNav: ac range: 172.045303 m, nav range: 114.596359 m, bearing: 290.609301 deg, approach rate: -0.695271 m/s, LOS rate: -0.043827 deg/s, cmd heading: 298.751245 deg, new cmd heading: 298.702784 deg. HeadingCmd: 5.213347 target range: 172.045303 and range: 173.30 m.bӦ@ZrjRJB~~}| | | | &? =oXB=>`IA)E]AIEI AAEҧE$=KP"K+9*K2K`:KS;,6 < 4 ad5xA)X~8;i t V E-Niw&3=J?JHb>HCHIH`QBH =HHDH<HEEEEE0E 9 6Gu <~GQ Ai A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999705N5>l),ƂLA96g@6%q@Y6ֽy6L%=6H?`? i ^`?W?Һ?J?`5? 6g@6F;)6CJPBJdI1eMb@Mb@Mb@aaa a)aYeQ?RJZJ{9bJ>9Jt4JzJ:jJ:JQ:rJQ:I- I-(25 = 5=y=`Q =>٥99 =HEFE: M>QUb4Um?]b49Us< IUdBy]5?]:]]?U.CiU,:U:Ub4mBmѪAmnEFNOT Ignoring new targets: 172.05 m.DD ProNav: ac range: 172.045303 m, nav range: 114.212990 m, bearing: 290.586790 deg, approach rate: -0.729379 m/s, LOS rate: -0.042971 deg/s, cmd heading: 298.702778 deg, new cmd heading: 298.635019 deg. HeadingCmd: 5.212164 target range: 172.045303 and range: 173.30 m.b ʦ@ZrjRJB~~}||||C@ XBLI)_I]z  <%9%$=%KE= "N=EEEE=5E]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251115ԑԹ 6G P<~G A A N >),ɐLAMPBUnIim>Im<II3ԙ-1= h=yQ >٥ H >c4?c49NB IeBy?.Ci;M;c4 AEB*** querying acoustic contact ***JARAQUFNOT Ignoring new targets: 172.05 m.]:]:} ProNav: ac range: 172.045303 m, nav range: 113.964630 m, bearing: 290.572125 deg, approach rate: -0.689645 m/s, LOS rate: -0.040809 deg/s, cmd heading: 298.635022 deg, new cmd heading: 298.590933 deg. }HeadingCmd: 5.211395 target range: 172.045303 and range: 173.30 m.bæ@ZrjRJB~~}|||| *@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502170 eXBmFdI)eI z <p0֩=nH- CH- IH- QBH) H) H- DH- <H- EHˏCHˎCH˕CH =I = Iz5&] TFailed to parse incomplete device message.6GU <~GaiAAN>=),LA9^@xh@Y؆y(x=H|??@~_@@T?? a?Z?? ^@,[;)CPBsIMb@Mb@Mb@ )Y"~?/$y3?ԡ=A A)IAyzAMBDAT read: Rx Time:06:01:01.8003 UTRx dataTimestamp_ set to:1749103263.040590]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009846I5I52h< =y5Q >٥ HFj >c4?c49xK IFeBy 4?:t?M/CiI;;Dc4)=A915FNOT Ignoring new targets: 172.05 m.=s=sIM@AII:JUVBJUKJJUBRJQZJU9bJUK9JU-4JQzJU:jJU:JU :rJU : ProNav: ac range: 172.045303 m, nav range: 113.578728 m, bearing: 290.552821 deg, approach rate: -0.663826 m/s, LOS rate: -0.033321 deg/s, cmd heading: 298.590927 deg, new cmd heading: 298.532815 deg. HeadingCmd: 5.210381 target range: 172.045303 and range: 173.30 m.bp@Zrj R J B ~~}||||@ uXBuIMIq)}yI}Og yy}%z<Q=C), קLA9NT@N5^@YN*yNtu~=NH ?@?0`E?U?5?O?@Ϻ? NT@N;)NCVPBZIIfIf2n= nn=yrQ r?٥pp vHvFvn v?x~c4zT?c49zQ IzaeBy?z/Ciz:z:z$c4 mAlE9EFNOT Ignoring new targets: 172.05 m.UQ0UQ0e ProNav: ac range: 172.045303 m, nav range: 113.343071 m, bearing: 290.541119 deg, approach rate: -0.774501 m/s, LOS rate: -0.038538 deg/s, cmd heading: 298.532815 deg, new cmd heading: 298.497638 deg. eӺmHeadingCmd: 5.209766 target range: 172.045303 and range: 173.30 m.bmh@ZirijiRiJqBq~q~q}y|y|y|y|}@? @  MYBUIQ)UQIU YY]<]ee=eq aY y Bԑ ),PLA9NI@N&S@YN>yN=NH .?`#?4C@ `66? ??? ? NI@N/;;)NCzDAT read: 06:01:01.8003 LVL= 32752, 32753, 29298, 29331, AGC= 67, IDX= 19, 0.39,-3.025, 2.631,-2.668, 2.120, PHS= 1.226, 0.557, 1.492, RAW= 166.0, -54.2, CAL= 167.7, -51.4, ROT= 342.3, 51.4 ~Ygot valid direction response: 06:01:01.8003 LVL= 32752, 32753, 29298, 29331, AGC= 67, IDX= 19, 0.39,-3.025, 2.631,-2.668, 2.120, PHS= 1.226, 0.557, 1.492, RAW= 166.0, -54.2, CAL= 167.7, -51.4, ROT= 342.3, 51.4 PDAT read: Bearing 342.3, 51.4 (Local)  ~Local bearing/azimuth received: Bearing 342.3, 51.4 (Local) DAT read: Range 10 to 50 : 169.2 m (Round-trip 225.7 ms) speed 0.4 m/s *DAT read: user:608> %BDAT read: Tx time:06:01:02.9205 -$Ping request sent.-٥))H]Q>H]CH]IH]QBHYHYH]DH]<H]Eq 5H? >KP"K59*K2Kb:K+n\tRxC=3ZKM'' 34+ 0U 5?PIc4J?c49X IeByʎ?/Cik2<2<A4c4!%-A)Z`bbLAb'Cb'Cbwڟ@ʁb hX@ 6?D#h`b8? #pGȿ0?7b:+bLe?ҁb?Mw[@@\ȩs3^b`L?{1nP  .zbbBjbnY?rb^< b$b x:E?` `bBb @ addTargetRange:: Added new target pos. range: 169.199997 m, deltaT: 7.564008 s, deltaX: -4.100006 m, approachRate: -0.542041 m/s, rangeRepo size: 4 ԡ Added new target pos. range: 167.947464 m, bearing: 286.216378 deg, lat: 36.906142 deg, lon: -122.116075 deg, deltaT: 7.564008 s, deltaX: -4.097839 m, approachRate: -0.541755 m/s, posRepo size: 4 FNOT Ignoring new targets: 167.95 m. ProNav: ac range: 167.947464 m, nav range: 122.885887 m, bearing: 286.545764 deg, approach rate: 0.000000 m/s, LOS rate: -0.038538 deg/s, cmd heading: 298.497626 deg, new cmd heading: 298.438321 deg.  HeadingCmd: 5.208731 target range: 167.947464 and range: 169.20 m.b @Z r j R1J1B9~9~9}9|A|A|M`f&e@|M@V~? M7YB靅NI)Icӳ n<#g=!0@V9@YV|yV=VHt?@.?`~м #R??@??p? V>0@V;)VC 1QB I=Mb@Mb@Mb@999 9)9Y=x?X9vMb`?y=K7?==;9 9)=IAI=A9y=QA)M4< M4<IUIUF33= =yQ >٥ HFȻ >c4Ͳ?c49Ca IeByw7?:?80CiG;;Ec4AEFNOT Ignoring new targets: 167.95 m.MxMx] ProNav: ac range: 167.947464 m, nav range: 122.531311 m, bearing: 286.520752 deg, approach rate: -0.768319 m/s, LOS rate: -0.054356 deg/s, cmd heading: 298.438313 deg, new cmd heading: 298.363058 deg. ]7aHeadingCmd: 5.207417 target range: 167.947464 and range: 169.20 m.b*@ZrjRJB~~}||||G? EVYBE=sIA)EPIIMH㶽 IIM7[i *,P+LA`9zW@z&@Yz`yz#=zH2O?K6?1m(?h9? M/?? *? zW@z5͆;)x YQB II!Ii3-= -b=y5IQ 5>٥11 5H5F=$ӻ =>AUc4E/ֲ?]c49EWg IEeByY];e?Ez0CiEh;Ei;EdRc4imAmiEB*** querying acoustic contact ***JR5FNOT Ignoring new targets: 167.95 m.=Z=ZM ProNav: ac range: 167.947464 m, nav range: 122.279495 m, bearing: 286.503180 deg, approach rate: -0.684332 m/s, LOS rate: -0.047851 deg/s, cmd heading: 298.363044 deg, new cmd heading: 298.310220 deg. U\HeadingCmd: 5.206496 target range: 167.947464 and range: 169.20 m.b@ZrjRJB~~}||||3?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. yYBv mI)I%J !!%H1H5 IH5QBH1H1H1H5<H5EKqP"K*K2Kc:Ki{t@x-v+Q\2IOI-?XE-?E)E1E5O0E1) 6Ge 5<~GA u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248806Ay A N >DQ*,ELA9b@b @Yb yb~=bH 5?SB?i0? D@?>?`?? b@bɆ;)b~CniQBnI|Mb@Mb@Mb@ )Y㥛 ?٥ H >c4ಜ?c49n IeBy5?:?0CiL ;<:Hac4  A 9EFNOT Ignoring new targets: 167.95 m.MWMW] ProNav: ac range: 167.947464 m, nav range: 121.982430 m, bearing: 286.483915 deg, approach rate: -0.725760 m/s, LOS rate: -0.047181 deg/s, cmd heading: 298.310233 deg, new cmd heading: 298.252297 deg. ]eHeadingCmd: 5.205484 target range: 167.947464 and range: 169.20 m.beT@ZarajaRaJiBi~i~i}q|q|q|y|}? YB靥yI)IG t<򉿩L#=ԁ 4*,u_LA9r@r> @YryrO}=rH &?@1C?@@V/`&??@?\?༧? r@r|;)rC~QB~IAAIIb2%x= -V=y-Q ->q٥qq }H}FE >c4?겜?c493u I&fBy? 1Ci;;oc4?AkEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752045Q]FNOT Ignoring new targets: 167.95 m.]H]H} ProNav: ac range: 167.947464 m, nav range: 121.707581 m, bearing: 286.466047 deg, approach rate: -0.672825 m/s, LOS rate: -0.043838 deg/s, cmd heading: 298.252286 deg, new cmd heading: 298.198562 deg. }HeadingCmd: 5.204547 target range: 167.947464 and range: 169.20 m.b@ZrjRJB~~}||||?? YBTeoI!)%AI? n<=p  H <H H% J>H% CH% RIH% JRBH%  =H! H! H% <H% E*,:=yLAK"P"K"9*K 2K"d:K""TTHqM("E:7SW[D<U[vp (<#Efgk#v| $3*9^@^@Y^2 y^+{=^H ? ٥11 5H=FM M>amc4e?mc49e{ IeMfByiuu?eU1CieG:e:e|c4y}A}hEFNOT Ignoring new targets: 167.95 m.XX ProNav: ac range: 167.947464 m, nav range: 121.432182 m, bearing: 286.448137 deg, approach rate: -0.724401 m/s, LOS rate: -0.047216 deg/s, cmd heading: 298.198573 deg, new cmd heading: 298.144722 deg. !5HeadingCmd: 5.203607 target range: 167.947464 and range: 169.20 m.b=@Z9rAjARIJQBy~~}|||| F@ YBnI)I-fhĽ ))-2<5/5E=51ԙ \$*,LABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506929QBI) -Mb@Mb@Mb@))) )))Y-ʡE?+{Gzt?y--2?--ף;-A )))I))y-AIm Im(2q&= 6=yQ >٥ H >c4c?c49> IyfByu2?:o?1Ci::bc4AFNOT Ignoring new targets: 167.95 m.DD ProNav: ac range: 167.947464 m, nav range: 121.128731 m, bearing: 286.429096 deg, approach rate: -0.681226 m/s, LOS rate: -0.042854 deg/s, cmd heading: 298.144724 deg, new cmd heading: 298.087456 deg. H HeadingCmd: 5.202608 target range: 167.947464 and range: 169.20 m.b {@Z r j RJB~~}|||!|%@ MZBUyIQ)UzQI]ǽ Yae:JI BJM DJJM >RJI ZJI bJM 8JM t4JI j**,LA9F@@F@YF'yF(x=FH?@O? >`3?@?s?@?? F@@FV;)FCbQBb"I)h jIjIj2v= vh=yvjQ z>٥ai mHmFm m>q}c4u?}c49uW IufByГ?u1Ciu:uS:u5c4jAB*** querying acoustic contact ***JRFNOT Ignoring new targets: 167.95 m.AA ProNav: ac range: 167.947464 m, nav range: 120.877724 m, bearing: 286.413630 deg, approach rate: -0.683485 m/s, LOS rate: -0.042200 deg/s, cmd heading: 298.087460 deg, new cmd heading: 298.040966 deg. HeadingCmd: 5.201796 target range: 167.947464 and range: 169.20 m.bu@ZrjRJB~~}||||@ -"ZB5}I9)=b9IEDʽ AAEqHHIHRBHHHDH<HhE~GAA N*>K]вP"K]9*KY2K]e:K]En_ 'J X)C:2 B O!6b9" JiJm}A1 E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2628461*,7ƨLAX9֞@{@Y%yҍx=H@?U?`6 {?ƹ?3t?͹?~? ֞@[j;)}C5RB=1IMb@Mb@Mb@ )Y٥99 =H=F=x E>AMc4E ?Uc49E IEfByU3?U:UU?E12CiE] ;E;EKc4]Be;AefEFNOT Ignoring new targets: 167.95 m.r9r9 ProNav: ac range: 167.947464 m, nav range: 120.580299 m, bearing: 286.396267 deg, approach rate: -0.692603 m/s, LOS rate: -0.040533 deg/s, cmd heading: 298.040960 deg, new cmd heading: 297.988742 deg. ޺HeadingCmd: 5.200885 target range: 167.947464 and range: 169.20 m.bm@ZrjRJB~~}||||< @ HZBtI)@IGν << ш=DAT read: Range 10 to 50 : 167.2 m (Round-trip 223.0 ms) speed 0.9 m/s *DAT read: user:609> BDAT read: Tx time:06:01:06.6206 $Ping request sent. =\=yEQ E>٥AA EHIM` M>Q]c4U?]c49UՖ IUfByaee?Us2CiUw;U;UJc4imۧAi addTargetRange:: Added new target pos. range: 167.199997 m, deltaT: 3.527983 s, deltaX: -2.000000 m, approachRate: -0.566896 m/s, rangeRepo size: 4 FNOT Ignoring new targets: 167.95 m.;5;5 ProNav: ac range: 167.947464 m, nav range: 120.324074 m, bearing: 286.381485 deg, approach rate: -0.685156 m/s, LOS rate: -0.039612 deg/s, cmd heading: 297.988750 deg, new cmd heading: 297.944310 deg. zٺHeadingCmd: 5.200109 target range: 167.947464 and range: 167.20 m.bKg@ZrjRJB~~}|||`fd@|? =%=JDAT read: TxSync time:06:01:06.6198 jZB7o}I)Y I~ѽ P<@|=!A H B>H H IH SBH  =H H H К<H EHʊCHʊCHʓCH =I = I=5=*,LAKRP"KRs9*KP2KRf:KRNSR9B 5X5m@h9nT ^;U`^M f3]eRB]cIaeBAIm#Im%x3} = }F=yQ >٥ HF >c4N#?c49ם I&gBy?2Ci :%:c4AFNOT Ignoring new targets: 167.95 m.88 ProNav: ac range: 167.947464 m, nav range: 120.036476 m, bearing: 286.364817 deg, approach rate: -0.692524 m/s, LOS rate: -0.040232 deg/s, cmd heading: 297.944299 deg, new cmd heading: 297.894175 deg. ܺHeadingCmd: 5.199234 target range: 167.947464 and range: 167.20 m.b `@ZrjRJB~1~1}9|A|Y|a|'?A uZB靅qI)I6nս ^<뾊][=qD*,__LA02AԙRBI5Mb@Mb@Mb@111 1)1Y5kt?X9vI +?y5 0?5594<5A 5SA)5AI11y5̎AI]I]?13m= m<=yiQ m>٥qq uHuFy }>c4e-?c49ڤ IVgByT0?:?3Ci<x<c49=-A9FNOT Ignoring new targets: 167.95 m.@@ ProNav: ac range: 167.947464 m, nav range: 119.747421 m, bearing: 286.345721 deg, approach rate: -0.635464 m/s, LOS rate: -0.042083 deg/s, cmd heading: 297.894165 deg, new cmd heading: 297.836739 deg.  HeadingCmd: 5.198232 target range: 167.947464 and range: 167.20 m.bW@ZrjRJB~~}||||@? %ZB%~I!)%!IKؽ =mx^K*,d/LA9>;s@>|@Y> "y>}}A=>H@?? S`?`ľ?,? ?`? >;s@>;)>}CJRBJIIR(IR̍3~B > ~W=y~Q ~>٥ H 4ܼ  >c46?c49 IgBy<?I3Ciq::%c4)-æA-cEIMB*** querying acoustic contact ***JIRIY]FNOT Ignoring new targets: 167.95 m.eJeJ ProNav: ac range: 167.947464 m, nav range: 119.491943 m, bearing: 286.330026 deg, approach rate: -0.719549 m/s, LOS rate: -0.044298 deg/s, cmd heading: 297.836737 deg, new cmd heading: 297.789553 deg. 5HeadingCmd: 5.197408 target range: 167.947464 and range: 167.20 m.b+Q@ZrjRJB~~}||||? ZBI)TIΓ۽   wA< =(HCHIHqSBH =HFDHH<HEE?EEE_0EqKeoP"Keh9*Ka2Keg:KeToI +%ckUcU|g0'5;*(A] qE4%D =ԡ6GSݮ<jG?bG?~GA A) N} > } 4?} ? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761072 =R*,'fILAJA{4Jm4Jl0:J"UBJ"JJJ"=RJ ZJ"9bJ"&9J"g4J zJ"7:*jJ"<:.J":2rJ":69%l_@%i@Y%$y%R=%H? ?ؽYT??{??`ŋ? %l_@%B;)%{C5SB=IԹMb@Mb@Mb@ )Ygfffff?Mb rh?y33?C< A)5AIy=AI]I]V83}= }5=yAQ >٥ H¡F >c4A?c49 IgByL3?:?3Ci:(:c4_AdEFNOT Ignoring new targets: 167.95 m.9_9_ ProNav: ac range: 167.947464 m, nav range: 119.184509 m, bearing: 286.308110 deg, approach rate: -0.682660 m/s, LOS rate: -0.048790 deg/s, cmd heading: 297.789554 deg, new cmd heading: 297.723638 deg. HeadingCmd: 5.196258 target range: 167.947464 and range: 167.20 m.bG@ZrjRJB ~ ~}||||s? EZBEvII)MuIIM@߽ QQU{ 9 gX*,@cLA9>h^@>h@Y>x&y>a=>H??#辿W`? ?@?ګ?? >h^@>e;)>}C^-SB^IIjIjm?3v= vh=yvEQ v>٥xx zHx~p ~>c4I? c49N IgBy  đ ?3Cie:::c4 AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265052FNOT Ignoring new targets: 167.95 m.QQ ProNav: ac range: 167.947464 m, nav range: 118.944672 m, bearing: 286.290960 deg, approach rate: -0.637781 m/s, LOS rate: -0.045699 deg/s, cmd heading: 297.723629 deg, new cmd heading: 297.672074 deg. %HeadingCmd: 5.195358 target range: 167.947464 and range: 167.20 m.b%_@@Z!r!j)R)J)B)~Q~Q}Q|Q|Y|Y|]`op@ "[BI)I|h <==n6H H LIH SBH H H DH !<H E~Ga Ay A N >ԙ ^*,}LAKBLP"KB]9*K@2KBh:KB6/#KCgdG;(;sBWOwf]]$9Rh\@Rf@YR.b(yR\p=RH*?@?@忿@V/?;??`4?? Rh\@Rc;)PZTSBZIi^%>I^=If If̍2jZ= nL=yn[Q n>٥pp rHráFvf v>xzd4z]S?~d49z Iz#hBy|~ϑ~?z4Ciz3;zQ;zA d4)-A5aEFNOT Ignoring new targets: 167.95 m.gg ProNav: ac range: 167.947464 m, nav range: 118.671448 m, bearing: 286.271381 deg, approach rate: -0.704512 m/s, LOS rate: -0.050601 deg/s, cmd heading: 297.672075 deg, new cmd heading: 297.613202 deg.  HeadingCmd: 5.194330 target range: 167.947464 and range: 167.20 m.b7@ZrjRJB~~}|||| C@y F[B5[I9)E@AIM QY])<}_=? checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019006 9}e*,LAI)@96 T@6]@Y6,j*y6Cv=6H? T?`6W`?@ A?`"4?V?8? 6 T@6;)6~CESBEIMb@Mb@Mb@ )Y/$?~jth?~jt?y&1?D;< A)فAIQAyAII#3= 7=yQ >٥!! %H%ġF% ->1=d45^?=d495 I5chBy=B1?=:=}=?5k4Ci5:5E:5d4IMPAIFNOT Ignoring new targets: 167.95 m.%}E}U ProNav: ac range: 167.947464 m, nav range: 118.373131 m, bearing: 286.246057 deg, approach rate: -0.651998 m/s, LOS rate: -0.055486 deg/s, cmd heading: 297.613199 deg, new cmd heading: 297.537036 deg. UQ]HeadingCmd: 5.193001 target range: 167.947464 and range: 167.20 m.b]-@ZYrYjYRYJB~~}||||hB @ eo[BeŏzIa)e{aImI iimSsQk*,ǰLA9F<@E@Y;/yR}=H3? ?ਣH\ w?!?'?>?x? F<@;)}C=SBE0IIM IM<2)= U=yHQ >٥ H< >d4Hh?d49> IhByގ?4Ci::K'd4AB*** querying acoustic contact ***JRFNOT Ignoring new targets: 167.95 m.ll ProNav: ac range: 167.947464 m, nav range: 118.116356 m, bearing: 286.224536 deg, approach rate: -0.704779 m/s, LOS rate: -0.059198 deg/s, cmd heading: 297.537028 deg, new cmd heading: 297.472325 deg. "HeadingCmd: 5.191872 target range: 167.947464 and range: 167.20 m.b#@Zr!j!R!J!B!~)~)})|)|)|1|5 \ @ e[Be~_Ia)eaIe iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523091<,8=OK&HCHIHeTBH =HHH<HEEEEEO0EԁKUP"Ks9*K2Ki:KG:dy_gguq?9MvFCW   G  0 y9 6G><jG ?bG ?Ա ~G AY  DAT read: 06:01:09.1808 LVL= 28400, 29281, 20642, 32755, AGC= 65, IDX= 267, 0.31,-1.457,-2.736,-1.088,-1.853, PHS= 0.484,-0.836, 0.762, RAW= 159.4, -5.6, CAL= 163.2, -13.3, ROT= 346.8, 13.3  Ygot valid direction response: 06:01:09.1808 LVL= 28400, 29281, 20642, 32755, AGC= 65, IDX= 267, 0.31,-1.457,-2.736,-1.088,-1.853, PHS= 0.484,-0.836, 0.762, RAW= 159.4, -5.6, CAL= 163.2, -13.3, ROT= 346.8, 13.3  PDAT read: Bearing 346.8, 13.3 (Local) A N% >= ~Local bearing/azimuth received: Bearing 346.8, 13.3 (Local) M DAT read: Range 10 to 50 : 117.0 m (Round-trip 156.1 ms) speed 0.5 m/s U *DAT read: user:610>  BDAT read: Tx time:06:01:10.2706  $Ping request sent. RJZJbJ&9Jt4JzJjJJ:rJ:D,ʩLAyڕQQ?4婶q̿gz}"ErͿڕBYڑ ەn)ەarIەPiەەAە>ەVەoC? ܕ/ 2@)ܕ+ȽIܕK6@iܕ,mܕ@ܕ,m> ݑ)ݑݕ?4h3?U,iݕT/?ݕ/=ݕkݕ,m> ޑ)ޑ:publishing transmit ping timeFpublishing direction and range infoڑyڕQQ?4婶q̿gz}"ErͿڑYڑ ۑ)ۑIۑiۑۑۑۑۑ ܑ)ܑIܑiܑܑܑ ݑ)ݑݕ?4h3?U,iݑݑݑݑ ޑ)ޑ9#1@:@Y-1y =H z??'^`x?N??@|? t? #1@骥S;){CSBVI)! !Mb@Mb@Mb@ )Y> ףp=?y&1?Q?y1?`<ԡ<גA IA)+AIAyAI I2 = '=yQ >٥ HšF%6 %>)-d4-iu?5d49- I-hBy5:2?5:5l5?-5Ci-b:-:-V8d4BA`EZbzƩLAABABÇ@ʁ4fȁ[@9v :QQ?4婶q̿gz}"ErͿk,m>ҁܖd;@݇\FNdg!1?Ú_zAj?rOe g0BnY?Oe  BꁕBJ@-addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 117.000000 m, deltaT: 3.781211 s, deltaX: -50.199997 m, approachRate: -13.276169 m/s, rangeRepo size: 4FNOT Ignoring new targets: 167.95 m.%u%u5 ProNav: ac range: 167.947464 m, nav range: 117.791931 m, bearing: 286.191523 deg, approach rate: -0.644568 m/s, LOS rate: -0.065770 deg/s, cmd heading: 297.472333 deg, new cmd heading: 297.373023 deg. 54]HeadingCmd: 5.190138 target range: 167.947464 and range: 167.20 m.b]@ZarajaRaJaBa~i~i}i|i|i|u@]@|u@|?׹׹ [BrI!)%!I%R !!-з<-苿-=5^.x*,3LADTBoI)p; ԱII3= J=yQ >٥ HơF >d4Q?d49Z I%iBy?I5Ci7;,;~Fd46A)5FNOT Ignoring new targets: 167.95 m.=W=WM ProNav: ac range: 167.947464 m, nav range: 117.522530 m, bearing: 286.163969 deg, approach rate: -0.692246 m/s, LOS rate: -0.070965 deg/s, cmd heading: 297.373022 deg, new cmd heading: 297.290169 deg. MBUHeadingCmd: 5.188692 target range: 167.947464 and range: 167.20 m.bU @ZQrQjQRQJQBY~Y~Y}a|i|q|q|u? [B靥…I)I< j<Z=vCH! H% IH% TBH! H! H! H% 5<H% E 6G 9)<~G A A N >~*,LAKNP"KN9*KL2KNj:KNYXKm Q  peN mGQ&(WOTI$R QJy2\JV?JV?|iA) I !)%A!!!!-Ai)I))I)i) )1)11 5A11199I9)9i9)AIAAA AM3CIIiQQٯYuOTB}IIIT3$> w=yQ ?٥ H ?d4/?d49 IXiBy?5Ci:~:Rd4ɣAQeFNOT Ignoring new targets: 167.95 m.ɗɗ ProNav: ac range: 167.947464 m, nav range: 117.303505 m, bearing: 286.141471 deg, approach rate: -0.644750 m/s, LOS rate: -0.066351 deg/s, cmd heading: 297.290158 deg, new cmd heading: 297.222538 deg. %6HeadingCmd: 5.187512 target range: 167.947464 and range: 167.20 m.b@ZrjRJB~!~!}!|!)|I|I|M L? \B靝͂I)I=d <? =qQ*,ALA9v@v6@Yvh:yv=vH@?`_?r@=or ? Q?:,?i?`g? v@v߈;)v}CYrTBIMb@Mb@Mb@ )YtV?{Gz?X9v?y2?#=< )|AIAypAIuIu#3 =  /=yQ >٥ HǡF%{ %>)5d4-|?5d49-2 I-iBy5(3?5:5?=?-5Ci-;-l,;-bd4QUAU]EԉFNOT Ignoring new targets: 167.95 m.EE ProNav: ac range: 167.947464 m, nav range: 116.981125 m, bearing: 286.106684 deg, approach rate: -0.671716 m/s, LOS rate: -0.072683 deg/s, cmd heading: 297.222539 deg, new cmd heading: 297.117890 deg. GHeadingCmd: 5.185686 target range: 167.947464 and range: 167.20 m.b #@Z r j R J B ~~}||||@@0? 0\BI)I% !!%2<-z-v=-U;i-#@i1rE}R>jE}>ԹE?EEEP0EF}AFA 6GU 5[<~G1 A9 AQ N] >]*,4LA9V@V;@YV^;XyV=VHK?6?Em@(?Ce?@]J??e? V@VZ;)V|CTBII-I-3== =b=yER1Q E?٥AA EHMȡFQQ]9 ]?aed4e?md49e IeiByim;m?e6Cie;e;e od4y}7AyB*** querying acoustic contact ***JRFNOT Ignoring new targets: 167.95 m.{{H0>HCH9IHcUBH =HHDH<HEHCHCHHI = I4 ProNav: ac range: 167.947464 m, nav range: 116.750496 m, bearing: 286.081663 deg, approach rate: -0.673505 m/s, LOS rate: -0.073212 deg/s, cmd heading: 297.117901 deg, new cmd heading: 297.042690 deg. HHeadingCmd: 5.184373 target range: 167.947464 and range: 167.20 m.bb@ZrjRJB~~}||||V? -Q\B57oI1)51I5( 19= T****** received valid address query ****** R****** received valid ping request ******% Querying Benthos address 50 with one ping in standard two-way mode.9 I AAI BAu*,NLA9V@V@YV]٥ H/F >d4g?d49$ I$jBys4?:?]6Ci::}d4ޢA^E!-FNOT Ignoring new targets: 167.95 m.5ź5źE ProNav: ac range: 167.947464 m, nav range: 116.473351 m, bearing: 286.045638 deg, approach rate: -0.664272 m/s, LOS rate: -0.086552 deg/s, cmd heading: 297.042687 deg, new cmd heading: 296.934354 deg. EmMHeadingCmd: 5.182482 target range: 167.947464 and range: 167.20 m.bM֥@ZIrIjIRIJQBQ~Q~Q}Y|Y|Y|Y|e@ =w\BM[II)M4QIU QQU<]㌿]=]$ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476240?*,iWhLA9>-@>@Y>=y>F=>H"??@_Qm~?=?? [|?@b? >-@>ԇ;)MGeAԑ -YAycB:JUBJLJJ>RJZJ9bJq9Jt4J@@@@٥ HɡFɓ >!-d4%?-d49% I%ijBy)5!5?%6Ci%\:%;%d4YeAe[EFNOT Ignoring new targets: 167.95 m.5 ProNav: ac range: 167.947464 m, nav range: 116.199188 m, bearing: 286.009890 deg, approach rate: -0.637330 m/s, LOS rate: -0.083299 deg/s, cmd heading: 296.934360 deg, new cmd heading: 296.826862 deg. 5d=HeadingCmd: 5.180606 target range: 167.947464 and range: 167.20 m.b=ǥ@Z9r9j9R9J9BA~A~A}A|I|I||`#@ \B靝:!I)Im <ԡQ!?=M5HH~IHUBHHHHR<HE6G k < ~GY Ai Ay N >K] P"KY *KY 2K] l:K] x0W.oDt`RE Z1$6[oYJ_*,lLA9Ru@R@YRL?yR4=RH? O?m`???]?;`? Ru@R};)R}C^UB^IIfIf2nV= nD=yngQ r>٥pp rHrʡFv v>-d4ó?5d49a IjByAM7M?6CiJ<<6d4qu\AԡBDAT read: Rx Time:06:01:12.8276 TRx dataTimestamp_ set to:1749103274.130730checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986148y}FNOT Ignoring new targets: 167.95 m.᭺᭺ ProNav: ac range: 167.947464 m, nav range: 115.950417 m, bearing: 285.977391 deg, approach rate: -0.580597 m/s, LOS rate: -0.076009 deg/s, cmd heading: 296.826853 deg, new cmd heading: 296.729149 deg. PHeadingCmd: 5.178901 target range: 167.947464 and range: 167.20 m.b@ZrjRJB~~}|||| ؃@ \B靕{;I).I"W <4Y=A<IR=Ia=i@iEEEE`5EM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2322806G ŋ4+*,Z LA9RL۝@R@YR"@yRو=RH? ?o@J?O??ʰ?]? RL۝@RQ;)R~Cr7UBrIMb@Mb@Mb@ )YʡE? rh?Mb?y-2?< A)xAIyAI  I ̍2%p= -:=9yECZQ E>٥II MHIU ]>aud4eг?ud49e1 IejBy}3?}:}#}?e57Cieom;e@Y;ed4AXEFNOT Ignoring new targets: 167.95 m.} ProNav: ac range: 167.947464 m, nav range: 115.659409 m, bearing: 285.939097 deg, approach rate: -0.780567 m/s, LOS rate: -0.102975 deg/s, cmd heading: 296.729154 deg, new cmd heading: 296.613982 deg. }WHeadingCmd: 5.176890 target range: 167.947464 and range: 167.20 m.b@ZrjRJB~~}1|9|A|| @ ]\B]}ㅾIY)]aYI \<=cN MBDAT read: Tx time:06:01:13.9206 M$Ping request sent.Uw?? m(1@) AI6@i A&@ A> )٩Vh A> )}:publishing transmit ping timeI}Fpublishing direction and range infoy8%?]lפ˿l39YпY )Ii )Ii )٩#g*,;7LAJDAT read: TxSync time:06:01:13.9198 H:#>H:CH:IH:BVBH: =H8H:DH:<H:E9V՝@V+ߤ@YV.ByV0=VH`v?`?¿zo@??`??Z? V՝@Vч;)VzCr\UBr6Iiz=Iz<II3ʵ= J=yMnQ =>٥99 EHEˡFE E>IUd4Mܳ?Ud49Mq yIM*kBy:?M{7CiM;M>;Md4AZb`LA|B|B/i@ʁ,Z@Ѽ8*E =8%?]lפ˿l39YпVh A>ҁ|J" ==6GM P<~GA AI Ai N >! KO*,ҪLA9>-@>¤@Y>Dy>xC=>H஍?`?`!¿@w?r?vp?`?V? >-@>Kć;)>{CJcUBJ:ImMb@Mb@Mb@iii i)iYm9v?A`"?~jtx?ym4?mY=m;mʐA mA)m$zAImCAiym A@AI Ib3b< B=yǻQ >٥ H̡F' >d4賜?d49 IhkBy5?:?7Ci;;Md4BAYEB*** querying acoustic contact ***JR FNOT Ignoring new targets: 167.95 m.  % ProNav: ac range: 167.947464 m, nav range: 115.111389 m, bearing: 285.870468 deg, approach rate: -0.707201 m/s, LOS rate: -0.084302 deg/s, cmd heading: 296.508101 deg, new cmd heading: 296.407591 deg. %lg%HeadingCmd: 5.173288 target range: 167.947464 and range: 167.20 m.b-@Z)r)j)R)J)B)~1~1}1|9|9|9|=[/? :]B5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. 2I)I  <J=@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994270ԁ y*, LA9>@>½@Y>5]Fy>j=>H? ?w@6?r5??@?Y? >@>;)>CJUBJTI:JVUBJVHJJVBRJTZJV9bJV9JV-4JTIfIf3n= rW=yrQ r>٥pt vHtvպ v>x~d4z?~d49z% IzkBy?z 8Ciz;zo;zd4  PA VEAMFNOT Ignoring new targets: 167.95 m.MM ProNav: ac range: 167.947464 m, nav range: 114.854607 m, bearing: 285.839849 deg, approach rate: -0.676734 m/s, LOS rate: -0.080875 deg/s, cmd heading: 296.407588 deg, new cmd heading: 296.315526 deg. ^HeadingCmd: 5.171681 target range: 167.947464 and range: 167.20 m.bj~@ZrjRJB~~}||||?Q u_]B靕LHI)*In b <E &=8RHiHmIHmVBHiHiHiHm0<HmE6G(<ԱjG?bG?~G A A N > }`*,qLAKP"Ks9*K2Kn:K /tntbFkvt{MT}SApvj.#y-Rktchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5019479,@Ҭ@YGyt=H`b?`c?@&Y|?`eC?? ?`;V? ,@Ա骅;)|CUBdIMb@Mb@Mb@ )Y7A`?{Gz?~jtxy6?#=ĻnA ߃A)IMAyAI IV2H= #=y4Q >٥ H͡FΆ >d4?d49U! IkBy6?:0?c8CiV:;)d4A9=FNOT Ignoring new targets: 167.95 m.E[E[U ProNav: ac range: 167.947464 m, nav range: 114.510239 m, bearing: 285.802266 deg, approach rate: -0.688293 m/s, LOS rate: -0.075342 deg/s, cmd heading: 296.315517 deg, new cmd heading: 296.202431 deg. UN]HeadingCmd: 5.169708 target range: 167.947464 and range: 167.20 m.b]?n@ZYrYjYRYJYBa~i~i}q|y|y|| ? ]B HI)I] !*+<o=i'NjE>EYEYEYE]P0EYFe=Fep= U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7502516G ,<9 ~Gq A A N >*, LA9Z@ZZ@YZGyZ1B=ZHj? ?ƻz %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002740EQEQEQEU0EQԹ:J5VBJ5OJJ5=RJ1ZJ59bJ5%9J5g4J16G Qd<~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254297H >H CH 'IH VBH H H H G<H E *,Έ:LA9fy@f@YfGyf=fHf??6{Ζ??`?@k?`S? fy@fED;)f{CvUBzII~I~3 3=  J=y8Q >٥ H%p0 %>)-d4-?5d49-B- I-JlBy15&5?-8Ci-X:-I;-d4AEAESEq}FNOT Ignoring new targets: 167.95 m. ProNav: ac range: 167.947464 m, nav range: 114.008690 m, bearing: 285.747001 deg, approach rate: -0.682365 m/s, LOS rate: -0.075481 deg/s, cmd heading: 296.128234 deg, new cmd heading: 296.036280 deg. 5OHeadingCmd: 5.166808 target range: 167.947464 and range: 167.20 m.b}V@ZrjRJB~~}||||@ ]B%I!)%1!I% ))-=-y县Uf=UzS*,^TLAUBIi%>I%=Mb@Mb@Mb@ )YQ?{Gz?~jty5?ף<A A)KoAIAyQAII -O= -9=y5Q 5>٥19 =HEϡFM M>Q]e4U!?]e49U4 IUlBy]5?e:ee?U69CiU:U(:U1 e4imwAmUEB*** querying acoustic contact ***JRchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758411FNOT Ignoring new targets: 167.95 m.II ProNav: ac range: 167.947464 m, nav range: 113.704811 m, bearing: 285.717639 deg, approach rate: -0.687114 m/s, LOS rate: -0.066569 deg/s, cmd heading: 296.036272 deg, new cmd heading: 295.947951 deg. 6HeadingCmd: 5.165266 target range: 167.947464 and range: 167.20 m.bI@ZrjRJB~~}|||| B@ ^BI)XIV !%`=%-=-ΆM checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010453*,lnLA49~O@~@Y~$I:J BJ IJJ >RJ ZJ bJ  9J t4J y~$%=~H#8?0? &?¿o? ?>?`f?KP? ~O@~uv;)~}C-VB-II=I=F2M O= UX=yU~Q U>٥QY ]H]СF] ]>ame4e+?ue49e: IelByquu?ey9Cie\:e:e^e4yPAFNOT Ignoring new targets: 167.95 m. ProNav: ac range: 167.947464 m, nav range: 113.445473 m, bearing: 285.692864 deg, approach rate: -0.687962 m/s, LOS rate: -0.065874 deg/s, cmd heading: 295.947944 deg, new cmd heading: 295.873448 deg. 4HeadingCmd: 5.163966 target range: 167.947464 and range: 167.20 m.b5?@ZrYjYRYJYBY~a~a}a|i|i|i|m@:c @ (^BǑI)I =Bop=mnHqHuSIHu,WBHu =HqHqHuS<Hu EBDAT read: Rx Time:06:01:16.4742 TRx dataTimestamp_ set to:1749103277.907715checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264888H=ņCH=ņCH9H= =I9 I=j56Gp<~G A A N > K ՉP"K 9*K 2K p:K e]gVrSKiU% BTOm E vm#,qb/r w*,LAp%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5172489x@>@Y JJyH=Hg??;¿gL?`L:?;? ۰?N? x@骅 %;)|C'VBI mMb@Mb@Mb@iii i)iYmbX9?Mb~jtymE6?mimhA mفA)m`sAImAiymAII#3e3= e=yeQ m>٥ii mHiu u>ye4}8?e49}C I}lByb6?:㔿?}9Ci};};} -e4!ARE%FNOT Ignoring new targets: 167.95 m.%?W%?W5 ProNav: ac range: 167.947464 m, nav range: 113.073608 m, bearing: 285.667517 deg, approach rate: -0.687947 m/s, LOS rate: -0.047046 deg/s, cmd heading: 295.873440 deg, new cmd heading: 295.797149 deg. 5&]HeadingCmd: 5.162634 target range: 167.947464 and range: 167.20 m.beM4@ZarajaRaJaBa~i~i}i|i|q|q|u @ ]^BI)dI< D=96n?=sb ] BDAT read: Tx time:06:01:17.5707 e $Ping request sent.e ݱ)ݱݵ#?rS?8 ;Zſiݵ*?ݵC+>ݵmݵ;> ޱ)ޱ :publishing transmit ping timeY  Fpublishing direction and range infoڱyڵ;?]VP4̿gdҿڱYڱ ۱)۱I۱i۱۱۱۱۱ ܱ)ܱIܱiܱܱܱ ݱ)ݱݵ#?rS?8 ;Zſiݱݱݱݱ ޱ)ޱi ԑ 6G W}g<jG ?bG >~GAAN>4P*,LA9nd@nnn@YnKyn =nH`Y?!?8¿)?n?H?ǰ?`L? nd@nS};)nzC]VBI)9 9IMIM2U> }i=y!iQ >٥ HѡFݻ >JDAT read: TxSync time:06:01:17.5699 ) ېC =ȈGQiY aYyBe4]@?e49]VJ F@ /BI]!mBy)535?]:Ci]t<]H<]_:e49=A9ZqbuvTLAuQBuQBu @ʁu+bkY@e~8@ci?u;?]VP4̿gdҿumu;>ҁu'!h8@L5Zߚ(uX N?3p8)zuyuEAju?I?ru&` u$Bu?ua  qudBu,@ addTargetRange:: Added new target pos. range: 112.000000 m, deltaT: 11.088766 s, deltaX: -55.199997 m, approachRate: -4.978011 m/s, rangeRepo size: 4 5 Added new target pos. range: 111.160065 m, bearing: 282.765353 deg, lat: 36.906096 deg, lon: -122.116065 deg, deltaT: 14.616749 s, deltaX: -56.787399 m, approachRate: -3.885091 m/s, posRepo size: 4 9=FNOT Ignoring new targets: 111.16 m.EAu ProNav: ac range: 111.160065 m, nav range: 110.696037 m, bearing: 283.210630 deg, approach rate: 0.000000 m/s, LOS rate: -0.047046 deg/s, cmd heading: 295.797161 deg, new cmd heading: 295.738173 deg. q}HeadingCmd: 5.161605 target range: 111.160065 and range: 112.00 m.b}+@ZyryjyRyJB~~}|||\@|@}?! -^B-dH H ~IH sWBH H H DH /<H EQ Q 6G% Qdh(*,zLA9:P@:Y@Y:/My:f=:H? ]?EC¿ݖ@?? &u?@Ѱ?HJ? :P@:tև;):{CJVBJIIRIR3Z= ZX=yZvQ ^>٥\\ ^HbҡFbfݻ b>dje4fI?je49fGP IfLmByhjn?f]:Cif:f~:fFe4prnArSE%FNOT Ignoring new targets: 111.16 m.%%5 ProNav: ac range: 111.160065 m, nav range: 110.454559 m, bearing: 283.188859 deg, approach rate: -0.787278 m/s, LOS rate: -0.071134 deg/s, cmd heading: 295.738175 deg, new cmd heading: 295.672720 deg. 5FCHeadingCmd: 5.160462 target range: 111.160065 and range: 112.00 m.b"@ZrjRJB~ ~ } | | ||iQ?q ^B靽VIws=)kIU `=d<< dR*,ګLA9B9@BB@YB:NyB.Ɋ=BH?`?a¿ b?3?ү? y?F? B9@B6;)B|CNVBNImMb@Mb@Mb@iii i)iYm-?y&1:vym?5?m`emTmZA mԁA)mpAIm9AiymAIIM3 = ;=yшQ >٥ Hһ >e4Q?e49W ImBy5?:H?:Ci;~;Ue4BAPEB*** querying acoustic contact ***J!R!9=FNOT Ignoring new targets: 111.16 m.EC9EC9m ProNav: ac range: 111.160065 m, nav range: 110.150703 m, bearing: 283.171108 deg, approach rate: -0.691224 m/s, LOS rate: -0.040493 deg/s, cmd heading: 295.672715 deg, new cmd heading: 295.619314 deg. mQ޺}HeadingCmd: 5.159530 target range: 111.160065 and range: 112.00 m.b}@ZyrjRJB~~}|||| ۫? ^BI)I 0   =ӏ<!{*,\LA$9N]@N@YN QyN̉=NHS??V¿`?`6?? ڰ?C? N]@N;)N}C^VB^ IIj Ij(2r= rY=yvjQ v>٥tt vHvӡFzM z>|e4~ Y?e49~h^ I~mBy  䝿 ?~:Ci~;~$:~ce4AamFNOT Ignoring new targets: 111.16 m.mt2ut2 ProNav: ac range: 111.160065 m, nav range: 109.889130 m, bearing: 283.156406 deg, approach rate: -0.692306 m/s, LOS rate: -0.039004 deg/s, cmd heading: 295.619303 deg, new cmd heading: 295.575091 deg. %ֺHeadingCmd: 5.158759 target range: 111.160065 and range: 112.00 m.b@ZrjRJB~~}|||| Y? }^B}"DI)I &=6폿-<i;i@iGGH>HCHIHWBHHHH|<H?Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.494974qEU?EYEYE]e0EYԙ6Gm<~GI AQ Aq Ku P"Ku s9*Kq 2Ku r:Ku x7uzTgo9o*   1nZ f2f ,    i xt . mNI"!jHN > % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748647g+,IILAJt4Jcw4J/:JRVBJRTJJR?RJPZJR9bJR:9JRـ4JPzJR:jJR:JRVJ:rJRXJ:WB=I8Not Powering down - fast GPSIi )Ii   ) Mb@Mb@Mb@ )YM?+Mbp?yn2?;A A)mAIAyAII?13ƽ= &=yQ >٥ HԡF >e4a?e49g ImBy3?:c?!F;CiKc<b<qte4IM`AIFNOT Ignoring new targets: 111.16 m.ff ProNav: ac range: 111.160065 m, nav range: 109.547356 m, bearing: 283.143416 deg, approach rate: -0.671879 m/s, LOS rate: -0.025616 deg/s, cmd heading: 295.575098 deg, new cmd heading: 295.536006 deg. HeadingCmd: 5.158076 target range: 111.160065 and range: 112.00 m.b@ZrjRJB~~}!|!|)|1|5@ϴ? +_B靅MI)+I J0 =l<n;i@iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.998955I>E dO=y Eq Eq Eq E} O0Ey ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2499316G;jG?bG*?~GAA1N=? +,n2LA9B@B9@YBtSyB[=BH??@Q¿T o^??>?#?` @? B@B铆;)B{CNWWBNmI)Z; Zp;I^I^F3f&> f-=y5Q 5>٥19 =H9= =>Ame4Ei?ue49EXo IECnByqu뢿u?E;CiE5;E;E?e4yAFNOT Ignoring new targets: 111.16 m.e ProNav: ac range: 111.160065 m, nav range: 109.217834 m, bearing: 283.131541 deg, approach rate: -0.688170 m/s, LOS rate: -0.024874 deg/s, cmd heading: 295.536002 deg, new cmd heading: 295.500270 deg. emHeadingCmd: 5.157453 target range: 111.160065 and range: 112.00 m.bm @ZqrqjqRqJqBq~y~y}y|y|||@ [_B?#I)HI jd =F,<;i @i>EHu=H>HHIH*XBHHHHc<HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502910E?EEEP0E! 6G] 2<~G9 AI Aq N >K P"K 9*K 2K s:K Z$$MMRKRRIxtk~ w DrWXS|yYQ PExceeded connect timeout, disconnecting. - >- 4=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754117a+,'2LLA:JBJKJJRJZJbJK9JJzJjJJ :rJ :9@@YTy3Ç=H`=? ? F¿bE?? b??t>? @骵S*;))5WB5IMb@Mb@Mb@ )YʡE?I +{Gz?y/?9ף<OA |A)lAIݔAyAII3>  =ymQ u>٥ HաF\S >e4q?e493x InBy!1?:?;Ci::\e4;A NEQUFNOT Ignoring new targets: 111.16 m.]] ProNav: ac range: 111.160065 m, nav range: 108.868767 m, bearing: 283.122625 deg, approach rate: -0.680433 m/s, LOS rate: -0.017436 deg/s, cmd heading: 295.500266 deg, new cmd heading: 295.473431 deg. v?HeadingCmd: 5.156984 target range: 111.160065 and range: 112.00 m.b@ZrjRJB~~}||||Ӿ@ _BuYI)=9I= 9AE֛ =E['Mї٥11 5H5֡F=P =>AEe4Ex?Me49E IEnByIMU?E@HQHU@IHUXBHQHQHQHU2<HUEMDAT read: 06:01:20.1208 LVL= 24816, 32241, 20738, 32755, AGC= 65, IDX= 404, 0.08,-0.801,-1.929,-0.499,-1.297, PHS= 0.584,-0.585, 0.795, RAW= 158.1, -12.3, CAL= 164.0, -18.9, ROT= 346.0, 18.9 UYgot valid direction response: 06:01:20.1208 LVL= 24816, 32241, 20738, 32755, AGC= 65, IDX= 404, 0.08,-0.801,-1.929,-0.499,-1.297, PHS= 0.584,-0.585, 0.795, RAW= 158.1, -12.3, CAL= 164.0, -18.9, ROT= 346.0, 18.9 ]PDAT read: Bearing 346.0, 18.9 (Local) ]~Local bearing/azimuth received: Bearing 346.0, 18.9 (Local) eDAT read: Range 10 to 50 : 109.5 m (Round-trip 146.0 ms) speed 0.6 m/s u*DAT read: user:613> }BDAT read: Tx time:06:01:21.2207 $Ping request sent.@[> )/w;"?Cbz5z[> ):publishing transmit ping timeyFpublishing direction and range infoy&\`? sP?KͿԿY )Ii )Ii )/w;"?Cbzԑ M nManaging dock network, ignoring radio surface power offDQ"+,VLAK:sP"K:59*K82K:t:K:8_c^;CjZCtNS:MR~>TlK+7SB%'BSq9FҜ@FHܣ@YFWyF=FHu??k¿;H0?o?`=??`7? FҜ@F;)F|C^-XB^IIr Ir(25^> 5I=y=Q =>٥99 EHEסFJDAT read: TxSync time:06:01:21.2199  >%e4G?Me49 I oByYeʥq?ҁEԆ85@6 r`Z!?.E2m?2X ■/zEEAjE3\{?rEb EBAA E$BEBE@ addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.535298 s, deltaX: -2.500000 m, approachRate: -0.707154 m/s, rangeRepo size: 4 - Added new target pos. range: 108.676949 m, bearing: 281.371349 deg, lat: 36.906096 deg, lon: -122.116065 deg, deltaT: 3.535298 s, deltaX: -2.483116 m, approachRate: -0.702378 m/s, posRepo size: 4 15FNOT Ignoring new targets: 108.68 m.=9m ProNav: ac range: 108.676949 m, nav range: 108.285744 m, bearing: 283.108162 deg, approach rate: 0.000000 m/s, LOS rate: -0.016413 deg/s, cmd heading: 295.451198 deg, new cmd heading: 295.428352 deg. iuHeadingCmd: 5.156198 target range: 108.676949 and range: 109.50 m.bu@ZqrqjqRqJqB~~}|||5`[@|= ? _B靅CI)I  =ԑ%A~<;i@irEeN>jEe%>EEEEO0E6G 4&; ~G) A9 AI N] >(+,%LA-eXB-IMb@Mb@Mb@ )Yx&?+٥! -H)5 5>9Ee4=?Ee49=N I=moByM*?M:MǤM?=HA HE IHE GYBHA HA HA HE <HE ?EHɄCHɄCHH =I = IC\4~G A A N >Q q/+,kaLA9>@>hƣ@Y>]\y>̊^=>H ?6?@+``?@]?`m]? H)?6? >@>?O;)>{CRXBRFIIVIV<2nb> rb=yv{OQ v>٥tt vHvءFz z>|e4~?e49~/ I~oBy   ?~=Ci~},;~TE;~e4!%A%PEIMFNOT Ignoring new targets: 108.68 m.UU ProNav: ac range: 108.676949 m, nav range: 107.765282 m, bearing: 283.093284 deg, approach rate: -0.640550 m/s, LOS rate: -0.017984 deg/s, cmd heading: 295.403168 deg, new cmd heading: 295.383625 deg. zE HeadingCmd: 5.155417 target range: 108.676949 and range: 109.50 m.b -@Z r j RJB!~!~!}!|)|)|)|-?1 >`B靭UI)𿉞I {/=Zo<B"9i-@iaKP"K+9*K2Ku:KCU!T7Vw $!E+WHI.D >EԡEm ?Eq Eq Eu P0Eq 6G ˨;~GAAN>C7+,wެLA9Zǜ@Zaѣ@YZS`yZ}=ZH?`(? D¿G?@[??J?@,? Zǜ@Za;)ZzCnXBnpIMb@Mb@Mb@ )YS㥛?333333Q?y$&?\=A $zA)iAIAyA) <II#3 e> =yQ >٥ H١F'; >!-e4%Z?5e49% I% pBy5}'?5:55?%d=Ci%:%:%3e49E|AEMEimFNOT Ignoring new targets: 108.68 m.uu ProNav: ac range: 108.676949 m, nav range: 107.434906 m, bearing: 283.083378 deg, approach rate: -0.632539 m/s, LOS rate: -0.019024 deg/s, cmd heading: 295.383634 deg, new cmd heading: 295.353826 deg. PHeadingCmd: 5.154897 target range: 108.676949 and range: 109.50 m.b@ZrjRJB~~}||||EK@=Eu?EqEyE}`0Ey6GU9ԩ)GĀA~G1AAAQN]v> u YuĀAyuB:J BJ GJJ ARJ ZJ bJ 9J 4J  @ @ @ @ i=+,ALA9BҜ@Bܣ@YBQIbyBR=BH@?@X?¿ϧ4?@X?_?@t?@m'? BҜ@BuP;)ByC\^XYB^IIfIf2r~> r`=yzɫQ z>٥|| ~H|s; > e4 ؘ?e49 f I IpByz? =Ci 2; ; e4!%™A!EB*** querying acoustic contact ***JARAIUFNOT Ignoring new targets: 108.68 m.]U]UG}?AG}?AH >HCHIHYBHHHDH<H2E ProNav: ac range: 108.676949 m, nav range: 107.204018 m, bearing: 283.076280 deg, approach rate: -0.628999 m/s, LOS rate: -0.019379 deg/s, cmd heading: 295.353827 deg, new cmd heading: 295.332486 deg. THeadingCmd: 5.154524 target range: 108.676949 and range: 109.50 m.b@ZrjRJB~~}||||`@ e`BT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I)N迉I l`=w<9u;i@i>EeoM<EEEE0EK -^P"K *K 2K v:K =t5*^I7>I8AOIX6 -bhB^E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2547766GM !jGU >bGU >a ~G! AI Ai N >8TD+,5(LA9֜@ߣ@Y٥ HڡFO: >f4?f49; IpBy'?:?=CiA::gf4CA!%FNOT Ignoring new targets: 108.68 m.-!-!= ProNav: ac range: 108.676949 m, nav range: 106.891251 m, bearing: 283.058738 deg, approach rate: -0.629163 m/s, LOS rate: -0.035390 deg/s, cmd heading: 295.332489 deg, new cmd heading: 295.279711 deg. A=MºMHeadingCmd: 5.153603 target range: 108.676949 and range: 109.50 m.bMQ@ZIrQjQRQJaBa~a~a}i|i|i|i|u@ `B靝Iʊ;)濉I ͷ=(<<;iQ@iD=D=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506683q>Ezl<E} ?Ey Ey E U0E F F =ԡ M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758677 6G)o;:JMUBJMIJJM@RJIZJM9bJM 9JMJ4JI~GyAAN?*L+,13LA9Zޜ@Z+@YZayZ)=ZH-??`Aÿ X???9α?%%? Zޜ@Z;)ZyCfYBjIir>Irp=IvIv2~?4> ~A=y5;Q >٥    H ۡF; >f4ڨ?%f49߰ IpBy!%c%?4>Ci;;)f45B5A5NEAimFNOT Ignoring new targets: 108.68 m.u"u" ProNav: ac range: 108.676949 m, nav range: 106.625916 m, bearing: 283.043642 deg, approach rate: -0.624554 m/s, LOS rate: -0.035622 deg/s, cmd heading: 295.279706 deg, new cmd heading: 295.234305 deg. úHeadingCmd: 5.152811 target range: 108.676949 and range: 109.50 m.b@ZrjRJB~~}|9|A|A|Ed@ }`B}DI)⿉I 8=ͧ<E7;i@i>ET;H >HHyIHZBH =HHHZ<HEqEIEIEIEM1EQquA}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016279ԙ6Gu d;~GI AQ Ai Nu > S+,LLAKBEnP"KB59*K@2KBw:KB.I/?aLbwI&~OR\TD1>>Hw-C}A1]H6[9Na@N@YN[^yNk=NHC?\ ?mÿ J@v?0u?F?` w?<)? Na@N;)LrBDAT read: Rx Time:06:01:23.7676 vTRx dataTimestamp_ set to:1749103285.227507vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267961IIu3ZB}0IMb@Mb@Mb@ )YHzG?y&1|Mb?y=*?`廹A xA)eAIAyAII>  =y=ު;Q =>٥99 EHEܡFED; E>IUf4M?Uf49MN IMVqBy]r*?]:]?]?M>CiM;M;ME&f4aeAeKEFNOT Ignoring new targets: 108.68 m.00 ProNav: ac range: 108.676949 m, nav range: 106.243317 m, bearing: 283.008364 deg, approach rate: -0.633871 m/s, LOS rate: -0.058658 deg/s, cmd heading: 295.234298 deg, new cmd heading: 295.128082 deg. !HeadingCmd: 5.150957 target range: 108.676949 and range: 109.50 m.bԤ@ZrjRJB~~}||||@~ @ :aBнI)࿉I 4=%쐿%G#<-! BDAT read: Tx time:06:01:24.8707 $Ping request sent.ETA A)A-:publishing transmit ping time5Fpublishing direction and range infoAyE_jğ?XYȿԿAYA A)AIAiAԩ:J%YBJ%SJJ%>RJ!ZJ%9bJ%y69J%t4J!6G=;AAAA A)AIAiAAA A)AE&i? F?܎ ʿiAAAA A)A~GAA1NE!?\+, uLA9R@Rf @YRUyRԜ=RH?.? '?ÿg?@AB?`?` )?6? R@Rr];)PiA) I I)IMIIIUAiQIQQIQiUA QY)YY ]AYYaԉljljIlj)ljilj)ȑIȑǑǑ ȑșȝAșișșٯZBnIII(*2-S> -+=y-֛٥11 5H5ݡF=_; =>auf4ek?}f49e IeqBy?e>CieHECHEIHEW[BHAHAHAHE><HEEZbnLABB^@ʁ*qX@ՃkÇ47A_jğ?XYȿԿTҁ߿FJ09@T"M)Yx[-U?9\A{;K% n]P"K% 9*K! 2K% x:K%  l;  ( PB-v}aLDHLUt;S^ ,c+,LA9z@z@Yz:Pyz_|=zHv? ?` ;X?X?`??F? z@zt;)xII%=-ZB5I) ;I(I̍30> ?=yH٥ H >)5f4-mȴ?=f49-Y I-qBy9==?-+?Ci-K:-:-Ef4AEAIeB*** querying acoustic contact ***JaRaFNOT Ignoring new targets: 106.29 m. ProNav: ac range: 106.293610 m, nav range: 105.673325 m, bearing: 282.954766 deg, approach rate: -0.677180 m/s, LOS rate: -0.063812 deg/s, cmd heading: 295.039884 deg, new cmd heading: 294.963067 deg. ,/HeadingCmd: 5.148077 target range: 106.293610 and range: 107.10 m.b @Z r j R J B ~~}|||| I? aB靝PLI)׿I C<@K }m< U<­i+,xLA9>@> @Y>Jy>=>HB? ?@xx?z?6? Ȱ?O? >@>͑;)>}Cv([BvIMb@Mb@Mb@ )YCl?Q?S㥛?y/?</< tA)fdAIxAyAI#I%x3>> b=y٥ HޡF; >f4TѴ?f49 I+rBy,0?:?h?CiR;;*Rf4$AHE FNOT Ignoring new targets: 106.29 m.- ProNav: ac range: 106.293610 m, nav range: 105.440010 m, bearing: 282.925045 deg, approach rate: -0.662972 m/s, LOS rate: -0.084642 deg/s, cmd heading: 294.963058 deg, new cmd heading: 294.873696 deg. -[h5HeadingCmd: 5.146517 target range: 106.293610 and range: 107.10 m.b5D@QZ1rjRJB~~}||||S?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.987255 aB靕lUI)eӿI ts<[~0<ItHi Hm GIHm [BHi Hi Hm DHm V<Hm E6G =< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238261~G A A N% > \p+,ur­LA9Rn@R@YRDyR=RH^?@'?`e`?#?]?`Y?V? Rn@R7;)RyCb^[BbIIdIdr > rX=yr7}٥tt vHtz7s; z>|f4~ڴ?f49~ I~hrBy~?~?Ci~';~;~U_f4AJEIMFNOT Ignoring new targets: 106.29 m.UUUUe ProNav: ac range: 106.293610 m, nav range: 105.194557 m, bearing: 282.893458 deg, approach rate: -0.648415 m/s, LOS rate: -0.083638 deg/s, cmd heading: 294.873692 deg, new cmd heading: 294.778710 deg. eemHeadingCmd: 5.144859 target range: 106.293610 and range: 107.10 m.bm@ZirijiRiJqBq~q~q}||||? MaBMƇII)UѿQI <k<LA Mv+,hYܭLA9J@JS&@YJs=yJT=JH~?`?`>` ?@?@?`?@^_? J@J;)HR[BVImMb@Mb@Mb@iii i)iYm`"?Dl?~jt?ym7?mO=m=yv٥ HߡFu; >f4I紜?f49 IrBy8?:`??CiB;h;gnf4TA%FNOT Ignoring new targets: 106.29 m.--E ProNav: ac range: 106.293610 m, nav range: 104.903290 m, bearing: 282.846300 deg, approach rate: -0.674806 m/s, LOS rate: -0.109559 deg/s, cmd heading: 294.778698 deg, new cmd heading: 294.636830 deg. MaUHeadingCmd: 5.142383 target range: 106.293610 and range: 107.10 m.bUf@ZYrYjYRYJYBa~i~i}i|q|q|y|}ʰ?  }bB}޽I)iѿI |<}<Eb W=y ٥ HF%9 ->1Mf45?Mf495- I5rByIIU?5<@Ci5 ;5;5{f4imޔAuGE9=FNOT Ignoring new targets: 106.29 m.EMEMU ProNav: ac range: 106.293610 m, nav range: 104.643425 m, bearing: 282.803998 deg, approach rate: -0.638350 m/s, LOS rate: -0.104170 deg/s, cmd heading: 294.636821 deg, new cmd heading: 294.509602 deg. u}HeadingCmd: 5.140162 target range: 106.293610 and range: 107.10 m.b}5|@ZrjRJB~~}|G@AGAAH>HHIH\BHHHHI<HEH‚CH‚CHH =I = Is4||I|U @q HbB靥I ) Ͽ I G<NT<A,] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497823؃+,-"LAK*sP"K*s9*K(2K*z:K*IPLFT9vx;I'*  H9Z}@Z$'@YZ0yZ6=ZH?@?Ur ? k٥AA EHIMF M>Q]f4Ue?]f49U IU0sByyf?U@CiU ;U`;Usf4nAԹB*** querying acoustic contact ***JR  FNOT Ignoring new targets: 106.29 m.E ProNav: ac range: 106.293610 m, nav range: 104.321526 m, bearing: 282.751327 deg, approach rate: -0.692104 m/s, LOS rate: -0.113596 deg/s, cmd heading: 294.509588 deg, new cmd heading: 294.351087 deg. E뛻MHeadingCmd: 5.137395 target range: 106.293610 and range: 107.10 m.bMe@ZIrIjIRIJQBQ~Q~Q}y|y|y|y|Y@ ybBA۽I!)%ο!I! !!-<-?-#<5/,2+,})LA)JT> NːCG A1 %YAyaB9]C@]@Y]@*y]%=]H ??@V`M?d? /?^?y? ]C@]Վ;)Y2\BjIUMb@Mb@Mb@QQQ Q)QYU+?bX9ȶ?Mb?yUv>?UE=U٥ HF >f4O ?f49( IhsBy??:v?@Cie;j;f4AFNOT Ignoring new targets: 106.29 m.!! ><%BDAT read: Rx Time:06:01:27.4141 %TRx dataTimestamp_ set to:1749103288.755655-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003216 ProNav: ac range: 106.293610 m, nav range: 104.058228 m, bearing: 282.704338 deg, approach rate: -0.723851 m/s, LOS rate: -0.129506 deg/s, cmd heading: 294.351073 deg, new cmd heading: 294.209751 deg. ±HeadingCmd: 5.134929 target range: 106.293610 and range: 107.10 m.bVQ@ZrjRJB~~}||||@"_@1 ]bB]xIeྎ<)eοaIa aaeHCHIH]BHHHHs<HE6G <ԙ ~G  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257639A A) NE >Ԑ+,yCLA9> @>@Y>6$y>vM=>H~??@aVn?ؽ?xk?M)?`-? > @>;)>yCJa\BJIIVIVb> bm=yb@ZrjRJB~~}||||m @ ebBmEMIi)m̿iI <Dl<@iIE%?E!E!E%U0E!}DAT read: 06:01:27.4141 LVL= 23744, 25457, 16962, 24803, AGC= 65, IDX= 399,-0.02, 1.730, 0.418, 2.045, 1.294, PHS= 0.524,-0.828, 0.749, RAW= 157.6, -6.1, CAL= 161.7, -13.8, ROT= 348.3, 13.8 Ygot valid direction response: 06:01:27.4141 LVL= 23744, 25457, 16962, 24803, AGC= 65, IDX= 399,-0.02, 1.730, 0.418, 2.045, 1.294, PHS= 0.524,-0.828, 0.749, RAW= 157.6, -6.1, CAL= 161.7, -13.8, ROT= 348.3, 13.8 PDAT read: Bearing 348.3, 13.8 (Local) ~Local bearing/azimuth received: Bearing 348.3, 13.8 (Local) DAT read: Range 10 to 50 : 104.4 m (Round-trip 139.3 ms) speed 0.4 m/s *DAT read: user:615> BDAT read: Tx time:06:01:28.5207 $Ping request sent. I)IM \z7?iZg?SiMf'?MF=MQMϢv> I)I:publishing transmit ping timeFpublishing direction and range infoIyM E>+,5]]LAJDAT read: TxSync time:06:01:28.5199  {\BIMMb@Mb@Mb@III I)IYMZd;?bX9ȶ??IMt٥ HF >f4%)?f49a IsByX@?:?ACi:(:ff4AZqbuPLAu8Bu8BuJ@ʁu^ZߡX@Eg4)8u EҁuQϺ7@C5+,ȗ{LA 9>@>&@Y>Yuy>.=>H,\?? aj1/?? ?t?@? >@>_;)HRCHR(IHRg]BHR =HPHRDHRD<HREJIIf#If%x3r > r=yr=Q r ?٥tt vHtz! z ?|f4~(3?f49~ I~tBy   ?~ACi~u:~:~uf4*ABE9EFNOT Ignoring new targets: 103.61 m.E;M;e ProNav: ac range: 103.610687 m, nav range: 103.216331 m, bearing: 282.673414 deg, approach rate: -0.718116 m/s, LOS rate: -0.127846 deg/s, cmd heading: 293.864272 deg, new cmd heading: 293.745061 deg. ezmHeadingCmd: 5.126819 target range: 103.610687 and range: 104.40 m.bm@ZirijqRJB~~}||||@? M)cBuIq)u7пqIq qy}`<}a<ߴE0;EEEEEԡ KU GP"KU 9*KQ 2KU |:KU _xILa>['#O]56_9y]/Je ?Je >:J1 BJ5 FJJ1 RJ1 ZJ1 bJ5 9J1 J1 zJ5 v:jJ1 J5 96Gu N<rJ5 9 ~Gq A A N >,ݥ+,_LA9Vm@V@YVU:yVܗ=VH@v>?@ ?`m@ @?@?W?,?ޒ? Vm@V;)VzCb\BbIuMb@Mb@Mb@qqq q)qYuV-?V-?{Gzt?yu|??uh=uף;uA ujA)qIuƅAqyuvAI I̍2U= *=y.٥ HF >f4A?f49 IJtByZ@?:n?BCi:V:;f4AAeB*** querying acoustic contact ***JaRaquFNOT Ignoring new targets: 103.61 m.}i}i ProNav: ac range: 103.610687 m, nav range: 102.874428 m, bearing: 282.617874 deg, approach rate: -0.694194 m/s, LOS rate: -0.113141 deg/s, cmd heading: 293.745071 deg, new cmd heading: 293.577900 deg. KHeadingCmd: 5.123901 target range: 103.610687 and range: 104.40 m.b@Zr!j)R)J1B1~a~a}i|q|y||?-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode. edcBmнIi)mNԿiIi qqu~<ncZ<WE}]<zEyE E E E _0E FFzAԙ6G- < checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494366 ~G A A) N5 >+,UPLAM\BMIIUIU2m\> mP=yuQ u>٥qq uHq >f4M?f49 IytBy?gBCi::f4ACEFNOT Ignoring new targets: 103.61 m.i i  ProNav: ac range: 103.610687 m, nav range: 102.594780 m, bearing: 282.572161 deg, approach rate: -0.732918 m/s, LOS rate: -0.120133 deg/s, cmd heading: 293.577896 deg, new cmd heading: 293.440384 deg. 䤻HeadingCmd: 5.121501 target range: 103.610687 and range: 104.40 m.bV@ZrjRJB~~}| | | | |? EcBE1cII)M>ҿIII IIM<]]A]<]H-CH-ZIH-]BH- =H)H-DH-f<H-EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746709EEEEo0E 6G 5<9 ~Gy A A N > +,%̮LA9>d@> ã@Y>hf y>p=>H?7? %?H???.? >d@>`;)>xCF ]BJIIRIR2ZCQ= ZR=yZ٥\\ ^H^Ff0H f>lnf4nOY?rf49n[ IntBypr r?nBCin:n:nf4zBzdAz@EFNOT Ignoring new targets: 103.61 m.kk ProNav: ac range: 103.610687 m, nav range: 102.315399 m, bearing: 282.527049 deg, approach rate: -0.684175 m/s, LOS rate: -0.110778 deg/s, cmd heading: 293.440390 deg, new cmd heading: 293.304683 deg.  5HeadingCmd: 5.119133 target range: 103.610687 and range: 104.40 m.b=ϣ@Z9r9j9R9JA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999782B~~}||||0@ cB31I)տI u<-5pW<=<:0+,]LA9>H@>﹣@Y>zy>U=>H@? =?@f/@`-?Z??Y?3? >H@>"%;)>yCJ2]BJIeMb@Mb@Mb@aaa a)aYe333333?I +?ye9?e94=eeA ejA)ebdAIeAayepuAII 3"= >=y6٥ HFf) >f4d?f49 ItBy9?:?CCia;+u;f4AFNOT Ignoring new targets: 103.61 m.  ProNav: ac range: 103.610687 m, nav range: 102.015984 m, bearing: 282.484742 deg, approach rate: -0.726490 m/s, LOS rate: -0.102953 deg/s, cmd heading: 293.304688 deg, new cmd heading: 293.177395 deg.  OHeadingCmd: 5.116911 target range: 103.610687 and range: 104.40 m.b@ZrjRJB~!~!}!|)|)|)|-N@Q mcBmCIq)uֿqIq qq}<}{H}U<oH H IH ^BH H H H <H ,E~G AA AQ Nm >+,4gLA@9Fݧ@F@YF4yF=FH`? C?t4 ?y?`?9?`g? Fݧ@Fy;)FwCVE]BVIiZ>IZ<bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754149If If2n%E= rV=yr#=٥pt vHtv0 v>x~g4zUo?~g49z' IztBy?zGCCiz;z;z g4  A AEFNOT Ignoring new targets: 103.61 m.MM] ProNav: ac range: 103.610687 m, nav range: 101.749695 m, bearing: 282.447070 deg, approach rate: -0.698499 m/s, LOS rate: -0.099076 deg/s, cmd heading: 293.177401 deg, new cmd heading: 293.064089 deg. ]eHeadingCmd: 5.114933 target range: 103.610687 and range: 104.40 m.be@ZarajiRiJiBi~q~q}q|q|q|y|}2[@ dB靽rI<)iٿI $<F?W<z K5 \P"K5 @9*K1 2K5 ~:K5 " GN@djZU: k k~Tm= a'^5]_mk5IE C=IE =H+,>\LA9:΢@:u@Y:?y:袉=:H?F?ٻ :{??d˾?`? (? :΢@:;):yCF^]BF#IhmMb@Mb@Mb@iii i)iYm٥ HF >g4qy?g49T. IuBy}3?:N?CCi;;g4A=E B*** querying acoustic contact ***JRFNOT Ignoring new targets: 103.61 m.-o-oE ProNav: ac range: 103.610687 m, nav range: 101.455856 m, bearing: 282.414306 deg, approach rate: -0.677975 m/s, LOS rate: -0.075814 deg/s, cmd heading: 293.064102 deg, new cmd heading: 292.965527 deg. MPeHeadingCmd: 5.113213 target range: 103.610687 and range: 104.40 m.bq@ZrjRJB~ ~ }||!|I|U1 @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258071 GdB(I) ݿI <=E]=r+, 44LA:J~SBJ~JJJ|RJ|ZJ~;9bJ~&9J|J|@@@@19'@Σ@Yyc%=H1?`+K?@$bAg??˽??@? '@骕 ;)vC{]B5III[3D= G=y٥ HFn' >g4$?g49H5 I2uByq?CCi::%:`*g4iuAu?EFNOT Ignoring new targets: 103.61 m. ProNav: ac range: 103.610687 m, nav range: 101.173340 m, bearing: 282.382799 deg, approach rate: -0.667061 m/s, LOS rate: -0.074600 deg/s, cmd heading: 292.965528 deg, new cmd heading: 292.870743 deg. LHeadingCmd: 5.111559 target range: 103.610687 and range: 104.40 m.b䑣@ZrjRJB!~)~)})|)|)|1|5kG @ }sdBI)߿I <d<5=i䑣@iiH>H~CHIH3^BHHHH<HEHECHEĀCHEĔCHE =IE = IEm5E?EEEP0EF}AF~ADAT read: 06:01:31.0607 LVL= 21568, 25649, 14514, 24515, AGC= 65, IDX= 412, 0.18,-1.739,-3.097,-1.361,-2.061, PHS= 0.410,-0.988, 0.698, RAW= 159.2, -1.5, CAL= 161.9, -10.0, ROT= 348.1, 10.0 Ygot valid direction response: 06:01:31.0607 LVL= 21568, 25649, 14514, 24515, AGC= 65, IDX= 412, 0.18,-1.739,-3.097,-1.361,-2.061, PHS= 0.410,-0.988, 0.698, RAW= 159.2, -1.5, CAL= 161.9, -10.0, ROT= 348.1, 10.0 %PDAT read: Bearing 348.1, 10.0 (Local) -~Local bearing/azimuth received: Bearing 348.1, 10.0 (Local) =DAT read: Range 10 to 50 : 101.9 m (Round-trip 135.9 ms) speed 0.5 m/s =*DAT read: user:616> EBDAT read: Tx time:06:01:32.1707 E$Ping request sent.E|!2? 1@)PwּI4@i¸2mj@¸2> )!t+ ?|U6?o͛i/?~r<T¸2> ):publishing transmit ping timeAFpublishing direction and range infoԉy{Kw*? š<ɿٖNs:ƿY )Ii )Ii )!t+ ?|U6?o͛i )6G =ZG RG Թ ~G A A N >3V+,MLA9N.@N֚@YNyNj=NH@?HP?Iƺ`HaR? ߳?\̼?`ΰ?6? N.@N!;)LZ]BZCI)` `IfIf3ny= n[=yr-٥pp vHtvA v>xg4zЋ?g49z; IzKuBy!%%?zDCiz%;z;zN7g4)-WA)ԑZ b BLA @B @B qn@ʁ EN\X@4z.j1 {Kw*? š<ɿٖNs:ƿ T ¸2>ҁ u4@zX/ E?8xz T Aj )I`?r -b  c>B )I`?   }B o@% addTargetRange:: Added new target pos. range: 101.900002 m, deltaT: 3.779354 s, deltaX: -2.500000 m, approachRate: -0.661489 m/s, rangeRepo size: 4 U Added new target pos. range: 101.125244 m, bearing: 281.879855 deg, lat: 36.906091 deg, lon: -122.116065 deg, deltaT: 3.779354 s, deltaX: -2.485443 m, approachRate: -0.657637 m/s, posRepo size: 4 QUFNOT Ignoring new targets: 101.13 m.]Ym ProNav: ac range: 101.125244 m, nav range: 100.744316 m, bearing: 281.889751 deg, approach rate: 0.000000 m/s, LOS rate: -0.074600 deg/s, cmd heading: 292.870753 deg, new cmd heading: 292.785094 deg. iHeadingCmd: 5.110064 target range: 101.125244 and range: 101.90 m.b@ZrjRJB~~}|||yY@|` ? dBnI)ΈI !!%HR<%(-&m<5b=i5@iQK!Q"K59*K2K:K5x.j_]a`L yJ;$s\rY'2U'>Eum<E5 ?E9 E9 E= O0EA  6Gm =I~GYAAĀAN>"+,:AmLA "Y"ĀAy&B]]B]NI Mb@Mb@Mb@    ) Y Q?{Gz{Gzy (? # ף  zA gA) I A y qAI5 I5b3E = E=yEQ E>٥II UHUFU U>Yeg4]ŕ?eg49]FD I]huBymX)?m:mR}?]yDCi]z;]ax;]Ig43AE)<E?EEEE H<H<H޻>HHIHe^BH =HGDHDH<H?E6G = ~G A A N >+,JLA9Ne@N'o@YNhӽyN~=NH~?d?@L@a@?@m?h?@V?? Ne@NR;)NwC^]B^\IIf"Ifq3nAn= nU=yn٥pp rHrFvd v>x~g4z˜?~g49zJ IzzuBy?zDCizq:z:z]Wg4  A 1EFNOT Ignoring new targets: 101.13 m.MmMme ProNav: ac range: 101.125244 m, nav range: 100.144470 m, bearing: 281.844193 deg, approach rate: -0.694674 m/s, LOS rate: -0.051816 deg/s, cmd heading: 292.704041 deg, new cmd heading: 292.648007 deg. e>mHeadingCmd: 5.107671 target range: 101.125244 and range: 101.90 m.bm r@ZirijqRqJqBq~q~y}y|y|y|y|@*S?) meBmAImt=)m 鿉iIq qqu<}=w}P~<}I+,(勞LA9>d@>qn@Y>̽y>=>H~?f?븿c?@;?`Ջ?@J?k? >d@>ȯ;)>vCR]BRmIiV=IV٥9A EHEFe9 >g4֣?g49R IuBy#?:Φ? ECi ; ;hg4ϐA=EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 101.13 m.%Uɹ%Uɹ5 ProNav: ac range: 101.125244 m, nav range: 99.828995 m, bearing: 281.833150 deg, approach rate: -0.626589 m/s, LOS rate: -0.022002 deg/s, cmd heading: 292.648006 deg, new cmd heading: 292.614773 deg. Uq]HeadingCmd: 5.107091 target range: 101.125244 and range: 101.90 m.b]Km@ZYrajaRaJaBa~i~i}i|i|i|q|ubg? @eB;fI)I y<@~<5#:JXBJDJJ<RJZJ{9bJ8J [4J H ܻ>H H IH ^BH H H H Y<H E+,LA9^l@^{v@Y^'8Žy^p.=^H?c?+`c =?`X?E?O?R? ^l@^֋;)^xCj]BjIIrIr~= ~a=y8%٥  H  3;  >g4ި?%g49MX IuBy!%%?EECi>;;tg4)-A1Q]FNOT Ignoring new targets: 101.13 m.]ֹeֹ ProNav: ac range: 101.125244 m, nav range: 99.604355 m, bearing: 281.825114 deg, approach rate: -0.654484 m/s, LOS rate: -0.023467 deg/s, cmd heading: 292.614784 deg, new cmd heading: 292.590621 deg. ׀HeadingCmd: 5.106670 target range: 101.125244 and range: 101.90 m.bi@ZrjRJB~~}||||S? geB<I)RI }<4<C=ii@i]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001287EEEEp5E!6G checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253378y KU C`P"KU h9*KQ 2KU :KU ?}:VR1TsD{-bJ 3 @dJ,Y& XKkqUo'+,دLAJJ9eAp@ey@Yeye=eHڗ?%b?>d? p.?? ?? eAp@e/;)ewC ^BIIIu Iu<2Y= 0=y;Q >٥ HFj: >g4?%g49_ IuBy)--?ECi;;Gg49]cAaFNOT Ignoring new targets: 101.13 m.-ɹ5ɹm ProNav: ac range: 101.125244 m, nav range: 99.306152 m, bearing: 281.814306 deg, approach rate: -0.606317 m/s, LOS rate: -0.022040 deg/s, cmd heading: 292.590633 deg, new cmd heading: 292.558113 deg. mruHeadingCmd: 5.106102 target range: 101.125244 and range: 101.90 m.bu1e@ZrjRJB~~}||||Y@q}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507667 eBI)򿉞I) 115 I<5=֎<=u=i=1e@i9EEEE0EFFԡ 6G- =ZG1 RG1  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757807~G! A1 AA NM >+,}LA-^B-I)9 9:JTBJFJJ:RJZJ{9bJ9JFA4JԩMb@Mb@Mb@ )Y"~j?:vQyS#?ԽvA bdA)I zAy=nAII3r= E=yQ >٥ HF% %>1Eg45ٴ?Eg495f I5uByM%?M:MM?5ECi5Q;5;;5g4U BUEAU:EyFNOT Ignoring new targets: 101.13 m.Hh Hh ProNav: ac range: 101.125244 m, nav range: 99.040413 m, bearing: 281.809395 deg, approach rate: -0.684963 m/s, LOS rate: -0.012692 deg/s, cmd heading: 292.558121 deg, new cmd heading: 292.543349 deg. ^ EHeadingCmd: 5.105844 target range: 101.125244 and range: 101.90 m.bEc@ZArAjARAJIBI~I~I}Q|Q|Q|Q|U@*@ eBy I)~I :_<N<=ic@i!Hڻ>H}CHIH^BHHHH<HE}BDAT read: Rx Time:06:01:34.7464 }TRx dataTimestamp_ set to:1749103296.064585checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011634>E< E E E E o0E 1 6G $3=Y~GAAN>ע,,qLA.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261359~=^B~II I m?3= 5=y!Q %>٥99 =H99 E>AUg4E?Ug49E5n IEuByQQ]?E FCiE|;Ex;Eg4aeAaFNOT Ignoring new targets: 101.13 m.&]&] ProNav: ac range: 101.125244 m, nav range: 98.747223 m, bearing: 281.803947 deg, approach rate: -0.648280 m/s, LOS rate: -0.012084 deg/s, cmd heading: 292.543341 deg, new cmd heading: 292.526945 deg. HeadingCmd: 5.105558 target range: 101.125244 and range: 101.90 m.b`@ZrjRJB~~}||||`Y @ fBI)I   gs<|,<=i`@iI54=I1KmP"K9*K2K:K@OK;hZYSbD-{d<Rr{ZQ(fX.3, LJ?J>>E =E?EEEa5EDAT read: 06:01:34.7464 LVL= 25472, 29585, 20642, 25939, AGC= 71, IDX= 296,-0.16,-2.148,-2.548,-1.721,-3.102, PHS= 1.041, 0.601, 1.377, RAW= 175.6, -57.7, CAL= 174.9, -53.4, ROT= 335.1, 53.4 Ygot valid direction response: 06:01:34.7464 LVL= 25472, 29585, 20642, 25939, AGC= 71, IDX= 296,-0.16,-2.148,-2.548,-1.721,-3.102, PHS= 1.041, 0.601, 1.377, RAW= 175.6, -57.7, CAL= 174.9, -53.4, ROT= 335.1, 53.4 PDAT read: Bearing 335.1, 53.4 (Local) ~Local bearing/azimuth received: Bearing 335.1, 53.4 (Local) DAT read: Range 10 to 50 : 128.6 m (Round-trip 171.5 ms) speed 0.3 m/s *DAT read: user:617>  BDAT read: Tx time:06:01:35.8708  $Ping request sent. ,,6-LA}Z^B}IMb@Mb@Mb@ )Y~jt?|?5^~jty$?ҽ KcA)5bAIwAymAII#3~= 3=yQ  >٥ HF! %>IuJDAT read: TxSync time:06:01:35.8700 yg4}?g49}v I}uBy&?:g?}oFCi};};}g4̏AHYH] IH]^BH] =HYH]DH]<H]&Eԩ >E =E1 E9 E9 E= _0E9 FM =FM = 6G}=jG?bG4?~GYAiAN?#K,,RLA9F/@Fu9@YF9yF:s=FH\$?}?`Z` ?i? ??`A? F/@F;)FxCN}^BRIiV=IVp;IZ0IZ(3b= b!=yb1٥dd fHfFj׀ j>tzg4vǵ?zg49vN~ IvuByx~k~?vFCiv:v$:v?g4A%B*** querying acoustic contact ***ԡJ!R!FNOT Ignoring new targets: 101.13 m.J4J4 ProNav: ac range: 101.125244 m, nav range: 98.119171 m, bearing: 281.793132 deg, approach rate: -0.654459 m/s, LOS rate: -0.009851 deg/s, cmd heading: 292.508807 deg, new cmd heading: 292.494402 deg. YعHeadingCmd: 5.104990 target range: 101.125244 and range: 101.90 m.b\@ZrjRJB~~ } | | | |? xfB靍I)bI |<ϖǡ< , ^E?EEE`0E T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.! 6G 3;=~G9 AA AQ Ne >,,nLA9>/@>#@Y>͵y>G=>H?h?x .V]?@̽?`? :0?H? >/@>M|;)>vCJ^BJIxuMb@Mb@Mb@qqq q)qYuˡE?MbX~jtxyu'?uʽuĻutA uaA)u]AIutAqyujAII<2= /=yغQ >٥ HFǹ >g4͵?g491 IuBy)?:ʪ?GCiR;\ ;g4AFNOT Ignoring new targets: 101.13 m. 9b 9b ProNav: ac range: 101.125244 m, nav range: 97.811455 m, bearing: 281.787603 deg, approach rate: -0.685801 m/s, LOS rate: -0.012361 deg/s, cmd heading: 292.494409 deg, new cmd heading: 292.477770 deg. %HeadingCmd: 5.104700 target range: 101.125244 and range: 101.90 m.b%Y@Z!r!j!R!J)B)~1~1}9|A|A||@&? =fB=amchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.232435Ii)uqIq qqu<}ؖ}<}^ H H <Hл>H|CHA IH1_BHHHHƛ<HIEH}CH}CHǓCH =I = I4y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484116!,,ӇLA9>@>o@Y>y>~=>H@??k`X @>t;)>wCb^Bb IIfIf3S= T=y2Q %>٥)) -H)5 5>9Eg4=ҵ?Eg49= I=uByIMM?=QGCi=:=~:=g4QUAU9EYFNOT Ignoring new targets: 101.13 m.0K0K ProNav: ac range: 101.125244 m, nav range: 97.555923 m, bearing: 281.783323 deg, approach rate: -0.661176 m/s, LOS rate: -0.011103 deg/s, cmd heading: 292.477771 deg, new cmd heading: 292.464898 deg. HeadingCmd: 5.104475 target range: 101.125244 and range: 101.90 m.bW@ZrjRJB~~}||||]? fBrI)8I tI< ߖ [n<K S^P"K 9*K 2K :K EIPi ( &T]g;33T{UCys!.#m  (,,!LA9>Y @>@Y>y>2=>H`??``F?@hp? ?2?G? >Y @>h=;)>tCԹAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.993066^B I) mMb@Mb@Mb@iii i)iYmB`"?{Gz~jtx?ym.?mףm;muA i)maAIiiym3kAII2= =yQ >٥)  HFP: >Ag4ڵ? aY Ay Bg49V I!vBy% 0?%:%ꦿ%?GCi,4<R3<Eg4)-A5:EQ]FNOT Ignoring new targets: 101.13 m.]P޹]P޹m ProNav: ac range: 101.125244 m, nav range: 97.179031 m, bearing: 281.769724 deg, approach rate: -0.670757 m/s, LOS rate: -0.024295 deg/s, cmd heading: 292.464903 deg, new cmd heading: 292.423949 deg. mcuHeadingCmd: 5.103761 target range: 101.125244 and range: 101.90 m.buR@ZqrqjyRyJyBy~~}||||gc@ U$gBUlUIQ)]YIY YY]W<}cII<H{CHm IHx_BH =HHDHk<HE6GMEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.496358 F=yQ >٥ HF > h4Z൜? h49 I:vBy?GCi:2:h42A!AFNOT Ignoring new targets: 101.13 m. ProNav: ac range: 101.125244 m, nav range: 96.915871 m, bearing: 281.760204 deg, approach rate: -0.686154 m/s, LOS rate: -0.024891 deg/s, cmd heading: 292.423949 deg, new cmd heading: 292.395310 deg. HeadingCmd: 5.103261 target range: 101.125244 and range: 101.90 m.bM@ZrjRJ B ~ ~ }||||D@ PgBoI)}I h<]]&4<]|ץ = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7516076GM +^<~G) A1 :JU WBJU eJJU ?RJQ ZJU ;9bJU 9JU ـ4JQ zJU ͛:jJU қ:JU :rJU :Ai N} >ԩ 6,,d۰LAKFhP"KFs9*KD2KF:KF^,:HRvG\3{Ya_3|OP w.(?.9@W @Y^y==H?`?`󽷿4?x?T?`{?"? @aS;)vCԙ5S_B5W IMb@Mb@Mb@ )Yi|?5?~jtI +?y1?9<sA )`AIyfjAII#3 =  ,=yYQ >٥ H  >!-h4%鵜?-h49%% I%bvBy52?5:5X5?%IHCi% ;%;%*h49=ۍA9]B*** querying acoustic contact ***JYRYimFNOT Ignoring new targets: 101.13 m.ufuf ProNav: ac range: 101.125244 m, nav range: 96.593430 m, bearing: 281.737015 deg, approach rate: -0.699393 m/s, LOS rate: -0.050466 deg/s, cmd heading: 292.395317 deg, new cmd heading: 292.325518 deg.  HeadingCmd: 5.102043 target range: 101.125244 and range: 101.90 m.bC@ZrjRJB~~}||||c+@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000447 gB靝E I)DI < /<Jq=,,aLA9M@M-@YM侽yM=MH C??@巿K%?? ӷ?"?? M@M;)MsCԡq_Bi III 34= W=y)UQ >٥ HF mA  >h4&?h49 IvBy~%?HCi';;i!h4)-A-7EQUFNOT Ignoring new targets: 101.13 m.eaea} ProNav: ac range: 101.125244 m, nav range: 96.333679 m, bearing: 281.718398 deg, approach rate: -0.685916 m/s, LOS rate: -0.049293 deg/s, cmd heading: 292.325512 deg, new cmd heading: 292.269511 deg. }QHeadingCmd: 5.101065 target range: 101.125244 and range: 101.90 m.b;@ZrjRJB~~}||||2 @ -gB-I))--)I1 115+e<Huǻ>HqHu IHu_BHu =HqHqHu<Hu EO <r) ND,,ILA9Z@Z<@YZ`yZ܀=ZH?@?ⷿ8 ?5e?`"??^? Z@Z8X;)ZtCf_Bf IIr Ir̍2zU= z^=y~XQ ~>٥ HF  > h4 ?h49  I vBy? HCi ; ; I.h4%B-AA-8EFNOT Ignoring new targets: 101.13 m.VV  ProNav: ac range: 101.125244 m, nav range: 96.081223 m, bearing: 281.700449 deg, approach rate: -0.656367 m/s, LOS rate: -0.046790 deg/s, cmd heading: 292.269505 deg, new cmd heading: 292.215514 deg.  ruDAT read: 06:01:38.4427 LVL= 26128, 29425, 23122, 32755, AGC= 68, IDX= 403,-0.10, 1.713, 0.339, 2.016, 1.370, PHS= 0.431,-0.984, 0.643, RAW= 156.9, -1.2, CAL= 159.7, -9.8, ROT= 350.3, 9.8 }Ygot valid direction response: 06:01:38.4427 LVL= 26128, 29425, 23122, 32755, AGC= 68, IDX= 403,-0.10, 1.713, 0.339, 2.016, 1.370, PHS= 0.431,-0.984, 0.643, RAW= 156.9, -1.2, CAL= 159.7, -9.8, ROT= 350.3, 9.8 8DAT read: $Error in header *Received a bad headerHeadingCmd: 5.100123 target range: 101.125244 and range: 101.90 m.b54@ZrjRJB~~}||||l@X#Rx 1: Read direction message, but no range.`direction in FSK: [0.971320,-0.166031,-0.170209]9y=} ?l4@ſrlſY9 =f)=rI=RZi==D=>=m{=$? =LB/@)=I=b2@i=%/=@=%/> 9=s ?@3?߼pCi=9$?=<=4\-=%/>=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseIC=Ia=:JSBJEJJ;RJZJ;9bJ8J(N4JzJ6a:jJ@a:J9rJ9 =gB=I9)=L9IA AAEyJ,,_+LA9J@JY@YJ5ĽyJ=JH?0?ঘ=?9?x? c ?O? J@J;)JsCV_BV IEMb@Mb@Mb@AAA A)AYEn?I +?yE6?EAA A)E]AIAAyEiAI]I]?13m\= mC=yu&NQ u>٥qq }Hy}b }>h4?h49F IvBy6?:֘?ICi::H} zCH} IH} /`BH}  =Hy H} DH} <H} E~G A A N > gQ,,ELA9:՛@:ޢ@Y:ƽy: =:Hrw??;??ո? +?`? :՛@:;):tCJT****** received valid address query ******NR****** received valid ping request ******Nreceived new query, but waiting for acoustic response period to elapseR_BR IIZIZ2b= bU=yb$sQ b>٥dd fHjFjzs j>lrh4n~?rh49n InvBytvv?n^ICin:n:n[Jh4xzAx)5FNOT Ignoring new targets: 101.13 m.55E ProNav: ac range: 101.125244 m, nav range: 95.522919 m, bearing: 281.642316 deg, approach rate: -0.694736 m/s, LOS rate: -0.072440 deg/s, cmd heading: 292.124158 deg, new cmd heading: 292.040624 deg. EFMHeadingCmd: 5.097070 target range: 101.125244 and range: 101.90 m.bU3@ZQrQjQRQJQBQ~Y~Y}Y|Y|a|a|e?H@ UDhBUIY)]YIY YYei٥19 =H=F=\ =>AIUh4M3?Uh49M IMwByU5?]:]钿]?MICiM,:M(:M=[h4aehAe5EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 101.13 m.ӺӺT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsee ProNav: ac range: 101.125244 m, nav range: 95.192688 m, bearing: 281.597896 deg, approach rate: -0.685053 m/s, LOS rate: -0.092468 deg/s, cmd heading: 292.040611 deg, new cmd heading: 291.906888 deg. e}mHeadingCmd: 5.094736 target range: 101.125244 and range: 101.90 m.bm@ZqrqjqRqJqBq~y~y}||||R@ ehBe#Ii)u qI <G<TB#^,,DL{LA9J|@J$Ţ@YJ0̽yJO؁=JHF?@?md`R??0{?#?? J|@J3;)JtCZ4`BZ IIbIbb1f> jf=yj*Q j>٥hl nHlr r>pvh4r?zh49r IrBwByxz~?rICirJ;r[;rgh4%A)YeFNOT Ignoring new targets: 101.13 m.eκmκ} ProNav: ac range: 101.125244 m, nav range: 94.951569 m, bearing: 281.565491 deg, approach rate: -0.670926 m/s, LOS rate: -0.090398 deg/s, cmd heading: 291.906876 deg, new cmd heading: 291.809414 deg. (xHeadingCmd: 5.093035 target range: 101.125244 and range: 101.90 m.b%@ZrjRJB~~}||||@H=>H9H= IH=`BH= =H9H9H=<H=E hB靝""I)I <V9<i e,,!LA9>@>@Y>ۤνy>=>H`0???@ ?`dɹ?*?@? >@>ۅ;)>vCJL`BJ IIR IR̍2Zs= ZL=y^cDQ ^>٥\` bHbFbSe f>x~h4zu&?h49z IzlwByH?zԩ a4k,,LAD9@@YԽyP=H? ߳?V`x?`)ز?셺??@? @;)uC]e`B] IMb@Mb@Mb@ )Y(\?Mb?{Gz?yz4?=ף< `A)]AIsAyhAI-I-2=^= =4=yEлQ E>٥IQ UHUFUۻ ]>Yeh4]F2?mh49]G I]wBymK5?m:mLm?]JCi]:]:]zh4q}A}4EFNOT Ignoring new targets: 101.13 m.|| ProNav: ac range: 101.125244 m, nav range: 94.368980 m, bearing: 281.479349 deg, approach rate: -0.678726 m/s, LOS rate: -0.109059 deg/s, cmd heading: 291.697654 deg, new cmd heading: 291.550196 deg. HeadingCmd: 5.088511 target range: 101.125244 and range: 101.90 m.bբ@ZrjRJB~~}||||\ @ iBQI) I ʹ=%똿%a<%S5H=yCH=T IH=`BH= =H9H9H=@<H=gEHzCHzCHȔCH =I = I56G) ZG1 RG1  ~GA AQ Ai N} >= T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapsesr,,ȱLA9V,@Vԓ@YV׽yV-1=VH??3׸@b?a5?r?D,?#? V,@V2g;)VvC^`B^ IIfIf(1lrN= rd=yrsQ r>٥tt vHtzY z>xh4z;?h49z6 IzwBy ?zJCiz? ;z ;zh4ZAAMFNOT Ignoring new targets: 101.13 m.MM ProNav: ac range: 101.125244 m, nav range: 94.126144 m, bearing: 281.440468 deg, approach rate: -0.674955 m/s, LOS rate: -0.108347 deg/s, cmd heading: 291.550204 deg, new cmd heading: 291.433260 deg. HeadingCmd: 5.086470 target range: 101.125244 and range: 101.90 m.b]Ģ@Zr j R J B ~~}1|Q|Q|Y|]@̗@ CiB靍I) I V=-AN<a K LP"K *K 2K :K t~SB1psN.?h@ /%;iY,1Ulzt>g4NIx,,fLAA9T{@@Yڽy =HX?`U?ݸ`Ŵ5H?@Υ?MN? ?? T{@ ;)tC`B& I) AMb@Mb@Mb@ )Y"~?L7A`?:v?y3?+=T<VpA )[AItAy(hA)p< 4<I I2Hj= -=yuUT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ >٥ HF{ > h4G?h49 IwBy4?:B?"KCi;:}h4#A!mB*** querying acoustic contact ***JqRqFNOT Ignoring new targets: 101.13 m.i)A u޿Yqyu{A ProNav: ac range: 101.125244 m, nav range: 93.806740 m, bearing: 281.388624 deg, approach rate: -0.668053 m/s, LOS rate: -0.108803 deg/s, cmd heading: 291.433271 deg, new cmd heading: 291.277211 deg. WHeadingCmd: 5.083746 target range: 101.125244 and range: 101.90 m.b @ZrjRJB~~}||1|9|=n@ iB靅 I)I !=77<8,,LAG&@AG&@AH*>H(H* IH*KaBH(H(H(H*_<H*E9RUn@Rw@YRݽyRNҀ=RHA?@ ?p丿@$`1?1?@٥xx zHzFz z>|h4~R? h49~o I~xBy  v ?~hKCi~ ;~e ;~ h4A2E9EFNOT Ignoring new targets: 101.13 m.MM ProNav: ac range: 101.125244 m, nav range: 93.544296 m, bearing: 281.346020 deg, approach rate: -0.690750 m/s, LOS rate: -0.112449 deg/s, cmd heading: 291.277215 deg, new cmd heading: 291.149044 deg. XHeadingCmd: 5.081510 target range: 101.125244 and range: 101.90 m.b@ZrjRJB~~}||!|!|%{@ iB靝fy3I7F=)I =Й+</% T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapseX,,LA@9>:`@>i@Y>6!y>2=>H`?@?@lḿػ?@`??? ? >:`@>b;)>sCN`BN= IIV IV2Z^= ^O=y^Q ^>٥`` bH`bَ f>lrh4na\?vh49n In5xBytvv?nKCin>:n:nh4xz܊A|!%FNOT Ignoring new targets: 101.13 m.-=-== ProNav: ac range: 101.125244 m, nav range: 93.276146 m, bearing: 281.302531 deg, approach rate: -0.675231 m/s, LOS rate: -0.109826 deg/s, cmd heading: 291.149053 deg, new cmd heading: 291.018210 deg. =EHeadingCmd: 5.079226 target range: 101.125244 and range: 101.90 m.bE@ZArAjIRIJIBI~Y~Y}Y|a|a|a|m@@IR=I4= iB!I)I 15)=EUm s^'] >  U v e E [ b|B%J5>J5?Em?EqEqEyEyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse6G < ~G A A N >?,,_3LA9NYS@N]@YN yNZ3}=NH7~? ?@ո-@>?A?r? o?? NYS@N;)Lb`BbM Il]Mb@Mb@Mb@YYY Y)YY]ʡE?㥛 ?Mb`?y]-2?]=];Y ]]A)]YAIYYy] gAImImb2}u= }>=yYQ >٥ HFo >h4g?h49 IYxBy'3?:^?KCiH::h4AYeFNOT Ignoring new targets: 101.13 m.e`m` ProNav: ac range: 101.125244 m, nav range: 92.989204 m, bearing: 281.253768 deg, approach rate: -0.644628 m/s, LOS rate: -0.109885 deg/s, cmd heading: 291.018214 deg, new cmd heading: 290.871476 deg. ӖHeadingCmd: 5.076665 target range: 101.125244 and range: 101.90 m.b t@ZrjRJB~~}||||M @T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse %jB% I!)%1)II IIMD=UDoUHaHe IHeaBHaHaHaHe^<HeE16Ge <~GA AI Ai i Nu > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse%,,;4MLA%`B%T II5I59E < MN=yMQ M>٥QQ UHQU U>Yeh4]r?mh49]| I]{xByiim?]ALCi]>:]K:]h4uBuA}/EFNOT Ignoring new targets: 101.13 m. ProNav: ac range: 101.125244 m, nav range: 92.723679 m, bearing: 281.208364 deg, approach rate: -0.696596 m/s, LOS rate: -0.119457 deg/s, cmd heading: 290.871474 deg, new cmd heading: 290.734872 deg. HeadingCmd: 5.074281 target range: 101.125244 and range: 101.90 m.b`@ZrjRJB~~}||||g!@ -EjB-R .I))-f1I1 19= ==cEE}=ԙE=?EAEAEEP0EAIQIUBAK P"K 59*K 2K :K ~ rH 4Z6 Nr m\y3  B),j zpbRFJ }AJ }A 6G 5<~G A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA N > ,,'jLA9JA<@JE@YJ`yJ}=JHdQ???^? f.?y?? JA<@Jb;)JqCV`BVY IUMb@Mb@Mb@QQQ Q)QYUi|?5?I +?~jthyU1?U94=UDU(nA U\A)QIUrAQyUeAIEIEb18< $=y?Q >٥ HF >h4~?h49 IxBy2?:?LCi::Qh4 A)EB*** querying acoustic contact ***JAIRAq}FNOT Ignoring new targets: 101.13 m.}SںSں ProNav: ac range: 101.125244 m, nav range: 92.384827 m, bearing: 281.159840 deg, approach rate: -0.664015 m/s, LOS rate: -0.095438 deg/s, cmd heading: 290.734870 deg, new cmd heading: 290.588763 deg. HeadingCmd: 5.071731 target range: 101.125244 and range: 101.90 m.bK@ZrjRJB~~}||||p"@ =jB=I9)=AIA Aae =mmEG=ԩ :J TBJ FJJ CRJ ZJ {9bJ 9J 4J E ?E E E O0E  H <H <H >H H IH aBH H H H q<H E 6GmN<jGm?bGm>MT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapse~GaAiAN? ,,ÊLA89B0@B\:@YB(&yB=BH@:?;?@Gk??`ғ? ?`L? B0@B;;)BtCNaBNg IIVIV 3bH= b7=yfdQ f>٥hh jHjFjO j>lrh4n?rh49n. InxBytv(v?nLCinе(,,ĨLA9B%@B/@YByB;s~=BH`%? ? M[?@ s??@j?-? B%@B҆;)BwCNaBNn If٥AA EHEFM' M>I]i4M?]i49M IMxBy]p0?]:]e?MCMCiM;M;M i4im=Am.E15FNOT Ignoring new targets: 101.13 m.]]m ProNav: ac range: 101.125244 m, nav range: 91.739716 m, bearing: 281.076699 deg, approach rate: -0.678433 m/s, LOS rate: -0.079364 deg/s, cmd heading: 290.460461 deg, new cmd heading: 290.338451 deg. mYuHeadingCmd: 5.067362 target range: 101.125244 and range: 101.90 m.bu'@ZqrjRJB~~}||||#e$@ kB靕4I)I SH=T<H H IH aBH H H DH w<H E~GA AY Ay N >~ް,,3òLA9Z@Z!@YZUyZ}~=ZH ??i`K@Ԙ?`?RX? ?? Z@Z;)ZrCf aBfr IInInM3r~< vY=yvQ v>٥xx zHxz z>|i4~? i49~*# I~ yBy ՘?~MCi~/x;~G;~i4A1AFNOT Ignoring new targets: 101.13 m.ڴڴ ProNav: ac range: 101.125244 m, nav range: 91.485916 m, bearing: 281.047203 deg, approach rate: -0.678365 m/s, LOS rate: -0.079056 deg/s, cmd heading: 290.338446 deg, new cmd heading: 290.249714 deg.  Y HeadingCmd: 5.065813 target range: 101.125244 and range: 101.90 m.b$@ZrjRJIBQ~Q~Q}Q|Y|Y|Y|'%@]jE>EEEE`0EFF}A96G :^<~G A A N > ٥ HF-: 5>Ya}i4e?}i49e* Ie/yBy(?eMCie;e;e*i4AFNOT Ignoring new targets: 101.13 m.CC ProNav: ac range: 101.125244 m, nav range: 91.184097 m, bearing: 281.012409 deg, approach rate: -0.696385 m/s, LOS rate: -0.080547 deg/s, cmd heading: 290.249708 deg, new cmd heading: 290.144979 deg. ]HeadingCmd: 5.063985 target range: 101.125244 and range: 101.90 m.b+ @Zr)j)R)J)B1~1~1}1|9|A|Q|]@&@KEHP"KA*KA2KE:KErOC+\GF[ ,]}R7*Cv|CplphK\R*7|RH =hkB靝s0I ) "I aamg=ԁ'< BDAT read: Tx time:06:01:46.8208 $Ping request sent.掽,,LA9Bܚ@B@YB&yBcy=BH`٥ HF7 >i4묶?i491 INyBy.?:?NCiE::8i4A/E B*** querying acoustic contact ***J R FNOT Ignoring new targets: 101.13 m. ProNav: ac range: 101.125244 m, nav range: 90.908340 m, bearing: 280.986679 deg, approach rate: -0.675881 m/s, LOS rate: -0.063255 deg/s, cmd heading: 290.144988 deg, new cmd heading: 290.067564 deg. -HeadingCmd: 5.062634 target range: 101.125244 and range: 101.90 m.b@ZrjRJB~~}|||| &@ }kB靅L7I)%I n= ;&<ʱi n,,tLA9BԚ@BVޡ@YBcTyBJ=BH?`?붿@-q? c٥hh jHhj0 n>pvi4r?vi49r7 IrkyBytv͝v?r\NCir:r:rEi4zB~щA~,E)5FNOT Ignoring new targets: 101.13 m.='='M ProNav: ac range: 101.125244 m, nav range: 90.658958 m, bearing: 280.963465 deg, approach rate: -0.670418 m/s, LOS rate: -0.062577 deg/s, cmd heading: 290.067561 deg, new cmd heading: 289.997729 deg. M+UHeadingCmd: 5.061415 target range: 101.125244 and range: 101.90 m.bU@ZQrQjQRYJYBY~a~a}a|a|i|i|m@('@ kB靵II)='I MI =bo<K eP"K 9*K 2K :K (l\/%T{Y+w4MtDM^J}%j]7b`x . @ Y ` D  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007458 )- 4> - ƐC,,Ɗ,LA^GjrAt 5߿Y5rAy5A9U=@Uǡ@YUyUU=UH[? ? `;?@ ? H?w?@? U=@Uu;)UtCm`aB I) eMb@Mb@Mb@aaa a)aYem?ktI +ye.?e 0aeiA a)eRAIaayeaAIu"Iuq3< 1=ypQ >٥ HF >i4L?i49? IyBy.?:?NCi;;Vi4AFNOT Ignoring new targets: 101.13 m.>&>& ProNav: ac range: 101.125244 m, nav range: 90.346039 m, bearing: 280.945653 deg, approach rate: -0.636144 m/s, LOS rate: -0.036336 deg/s, cmd heading: 289.997729 deg, new cmd heading: 289.944108 deg. ~ǺEHeadingCmd: 5.060479 target range: 101.125244 and range: 101.90 m.bEr@ZYrYjYRYJYBa~a~a}a|i|i|i|m@K(@ lB(I)<*I  =<7},,>FLA9B@B>@YB<yBvP`=BH +? ?@~yg?3?@(?hǫ?ѫ? B@B};)BqCNtaBN IIv&Iv3~qh= ~i=yQ >٥!! %H%F% ->)5i4-?=i49-E I-yBy9=~=?-NCi-:-L ;-bi4IMAIy}FNOT Ignoring new targets: 101.13 m.;; ProNav: ac range: 101.125244 m, nav range: 90.106140 m, bearing: 280.932372 deg, approach rate: -0.738636 m/s, LOS rate: -0.041001 deg/s, cmd heading: 289.944098 deg, new cmd heading: 289.904149 deg. HeadingCmd: 5.059782 target range: 101.125244 and range: 101.90 m.b@ZrjRJB~~}||||-)@ *lBKYI) X+ I    = =z|<2ԉ U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761568 ,,C_LA:J:SBJ:EJJ:;RJ8ZJ:;9bJ:8J:(N4J8zJ:4a:jJ:>a:J:9rJ:9D9vf@v@Yv| yvg=vH`;?^? `??B??9? vf@vLu;)vrCaB III(*2%]= %J=y%лQ ->٥)) -H)5һ 5>9Ei4=Ƕ?Ei49=L I=yByAEҥM?=/OCi= :=2:=pi4Q]^AYFNOT Ignoring new targets: 101.13 m.f'f' ProNav: ac range: 101.125244 m, nav range: 89.834305 m, bearing: 280.917685 deg, approach rate: -0.675132 m/s, LOS rate: -0.036588 deg/s, cmd heading: 289.904155 deg, new cmd heading: 289.859960 deg. ȺHeadingCmd: 5.059011 target range: 101.125244 and range: 101.90 m.bj@ZrjRJB~~}|||| 2)@ ]lB靭W,,+yLA9By@Bx@YBl yBHj=BH@??|f 'z?U?f?@?? By@Bu;)BsCNaBN IiR>IR=l z?4=%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265928MMb@Mb@Mb@III I)IYMMbX?Zd;MbyM*?MyMMiA MZA)MQAIMhqAIyIIeIeuMw; uE=y}ʻQ }>٥y HFٻ >i4̶?i49S IyByz+?:ש?vOCi;v; i4[A-EB*** querying acoustic contact ***JRFNOT Ignoring new targets: 101.13 m.TϹTϹ ProNav: ac range: 101.125244 m, nav range: 89.558807 m, bearing: 280.908272 deg, approach rate: -0.661098 m/s, LOS rate: -0.022657 deg/s, cmd heading: 289.859950 deg, new cmd heading: 289.831625 deg. xHeadingCmd: 5.058516 target range: 101.125244 and range: 101.90 m.b]ߡ@ZrjRJB~~}|| | | *@ lB靥T-=I)f0I  =<ͩHH; IHhbBH =HHH0<HGEIEEEEP0E1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5194946G q<ԙ ~G A A! N- >,,LA9>g@>q@Y>Ǎy>Bm=>H@?`? \?G?? k?@? >g@>(;)>tCRaBR IIZIZ2b= bV=yf̻Q f>٥dd fHjFj庻 j>lri4nѶ?vi49nfZ In zBytvv?nOCin`:n:nbi4xzA~*E)-FNOT Ignoring new targets: 101.13 m.5ʹ5ʹy ProNav: ac range: 101.125244 m, nav range: 89.305336 m, bearing: 280.899917 deg, approach rate: -0.668067 m/s, LOS rate: -0.022084 deg/s, cmd heading: 289.831619 deg, new cmd heading: 289.806482 deg. ~rHeadingCmd: 5.058077 target range: 101.125244 and range: 101.90 m.bۡ@ZrjRJB~~}||||+@ lB靕mNI)0I  =WМdm<  BDAT read: Rx Time:06:01:49.3850  TRx dataTimestamp_ set to:1749103310.695260 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022585,,:zLA}aB} I5Mb@Mb@Mb@111 1)1Y5K7?V-{Gzty5I,?5h5ף5gA 59VA)5OAI5QpA1y5_AI]I]3u*= u2=y}Q }>٥ H >i4׶?i49Vb I5zBy?-?:?PCiZ:=:{i4AFNOT Ignoring new targets: 101.13 m.FF- ProNav: ac range: 101.125244 m, nav range: 88.996239 m, bearing: 280.892516 deg, approach rate: -0.642613 m/s, LOS rate: -0.015439 deg/s, cmd heading: 289.806484 deg, new cmd heading: 289.784206 deg. 5)5HeadingCmd: 5.057689 target range: 101.125244 and range: 101.90 m.b5ء@Z9r9j9R9J9B9~A~A}a|i|i|i|m ,@ lB靽o8I)83I ie =ݜL;<~8H H a IH bBH H H H 3<H JEY 6G ˙<jG ?bG ?~G A A N >,,lȳLAIp)r@q9?@I@YMyMs=Hd?]'?@J???O?? ?@骅;)uCaB III2s= I=DAT read: 06:01:49.3850 LVL= 27888, 30913, 23826, 32499, AGC= 66, IDX= 355, 0.22,-1.700,-3.062,-1.583,-2.221, PHS= 0.609,-0.794, 0.636, RAW= 150.9, -6.4, CAL= 156.1, -14.6, ROT= 353.9, 14.6 Ygot valid direction response: 06:01:49.3850 LVL= 27888, 30913, 23826, 32499, AGC= 66, IDX= 355, 0.22,-1.700,-3.062,-1.583,-2.221, PHS= 0.609,-0.794, 0.636, RAW= 150.9, -6.4, CAL= 156.1, -14.6, ROT= 353.9, 14.6 8DAT read: $Error in header *Received a bad headery%DQ ->٥)1 5H5F5<@ 5>9Ei4=ܶ?Ei49=i I=ZzByIMM?=NPCi= ;=!;=i4Q]AYX#Rx 1: Read direction message, but no range.`direction in FSK: [0.962230,-0.102833,-0.252069]y2Ro?$?S!пY l)xI]i~Bm?CK"? (@)I].@iw@w> E?1mvZ?ʆ5iLD ?=i ڽw>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAEFNOT Ignoring new targets: 101.13 m. ProNav: ac range: 101.125244 m, nav range: 88.716476 m, bearing: 280.886668 deg, approach rate: -0.666064 m/s, LOS rate: -0.013967 deg/s, cmd heading: 289.784217 deg, new cmd heading: 289.766618 deg. ^HeadingCmd: 5.057382 target range: 101.125244 and range: 101.90 m.b֡@ZrjRJB~~}||||g-@ },mBԡ靥EI)4I  =%眿r<K,,LA9 .@ 8@Y ey s= H{B? z,?@Vs?@?@?s#?ෘ? .@ ^8;) qC% bB% II= I=<2E= MS=yMDǻQ M>٥QY ]H]F] ]>ami4eᶜ?ui49ep Ie}zByqu۬}?ePCieL;eQ;e:i4bA,EFNOT Ignoring new targets: 101.13 m. ProNav: ac range: 101.125244 m, nav range: 88.463928 m, bearing: 280.881702 deg, approach rate: -0.713471 m/s, LOS rate: -0.014070 deg/s, cmd heading: 289.766623 deg, new cmd heading: 289.751682 deg. HeadingCmd: 5.057121 target range: 101.125244 and range: 101.90 m.bӡ@ZrjRJB~i~i}i|i|i|q|u .@ VmBWI!)M4QIY Ya=KMZP"K9*K2K:K\:=J?E*c{VbMp)[N:S>hQ[f`$)<]lp,,LA"T****** received valid address query ******"R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapse9B@B('@YBzyBt=BH ?`1??=Q?? 8?? B@BO;)BpCNbB} I Mb@Mb@Mb@    ) Y Zd;O?bX9ȶ~jthy ~*? E D peA OWA) MAI  y ^AI%I%T3q5P= }==y}Q }>٥ H >:JTBJDJJ:RJZJ{9bJ8JFA4J@@@@i4J涜?i49w IzBy,?:?PCi;T;i4AAH>HxCH IHbBH =HHHC<H]E5B*** querying acoustic contact ***J1R1AEFNOT Ignoring new targets: 101.13 m.MOuO ProNav: ac range: 101.125244 m, nav range: 88.168327 m, bearing: 280.881674 deg, approach rate: -0.651715 m/s, LOS rate: -0.000062 deg/s, cmd heading: 289.751678 deg, new cmd heading: 289.751593 deg. /HeadingCmd: 5.057119 target range: 101.125244 and range: 101.90 m.bӡ@ZrjRJB~~}||||!/@ MmBU\BIQ)U7QIQ QQ]^=]eix 8Y-,nLA9>N @>@Y>y>u=>H ?`6?Xͺ y?t?l?=R?`? >N @>;)<5SbB5/ II= I=V2]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsee> e8=yuQ u>٥qq }H}F}% }>i4궜?i49 IzBy?$QCi;M;i4BчAFNOT Ignoring new targets: 101.13 m.77 ProNav: ac range: 101.125244 m, nav range: 87.880669 m, bearing: 280.882071 deg, approach rate: -0.684051 m/s, LOS rate: 0.000946 deg/s, cmd heading: 289.751596 deg, new cmd heading: 289.752790 deg. ?&8HeadingCmd: 5.057140 target range: 101.125244 and range: 101.90 m.bԡ@ZrjRJB~~}!|!|)|)|-`/@ }mB靅AI)6I =  !<=2R -,91LA96E@6@Y6uy6V/x=6H?:?@6 F ? B?}?`7? B? 6E@6h%;)4i<<)@ @I@ @)@@HHLLiLILLIPiP PP)PT VATTTXZAIX)XiX)XI^A\\ \```i`dٯdnbBnK I]Mb@Mb@Mb@YYY Y)YY]sh|??333333Mb`?y])?]];]ZdA ] TA)]nLAI]hqAYy]]AIuIuF2Թ = J=y ûQ >٥9A EHMFU ]>yi4}ﶜ?i49}< I}zBy+?:?}kQCi}b:}:}ri4xA  FNOT Ignoring new targets: 101.13 m.- ProNav: ac range: 101.125244 m, nav range: 87.604774 m, bearing: 280.879195 deg, approach rate: -0.644917 m/s, LOS rate: -0.006743 deg/s, cmd heading: 289.752798 deg, new cmd heading: 289.744144 deg. -UHeadingCmd: 5.056989 target range: 101.125244 and range: 101.90 m.bUҡ@ZQrYjYRYJYBY~a~a}a|a|a|i|mX0@ mB靽#NI)6I .=U󜿩]|<]_HH IH=cBH =HHH]<H~EHAHAHAHAIA IE55 6G% 2<~G A A! N5 >-,JLA9^@^@Y^s y^2z=^H ?A>?.a??`??? ^@^ap;)^tCeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseebBmh IIuIu<2> g=y$ۻQ >٥ H ?i4h?i49 I{By쮿?QCiFk;k;Vi4A)EFNOT Ignoring new targets: 101.13 m.dd ProNav: ac range: 101.125244 m, nav range: 87.380051 m, bearing: 280.877083 deg, approach rate: -0.676861 m/s, LOS rate: -0.006376 deg/s, cmd heading: 289.744138 deg, new cmd heading: 289.737787 deg.  HeadingCmd: 5.056879 target range: 101.125244 and range: 101.90 m.bѡ@ZrjRJB~~}||||β0@Q ]nBeG-ZIa)e6aIa iim(=uu4-,dLA9:@<:@Y:*!#y:#|=:H?`A?w?`?N?J? ? :@:l5;):qC]bBe IImIm20= J=yQ >٥ H FO >i4?i49 IH{By"?QCi;;i4B҆A*EFNOT Ignoring new targets: 101.13 m.˸˸ ProNav: ac range: 101.125244 m, nav range: 87.112267 m, bearing: 280.874841 deg, approach rate: -0.662796 m/s, LOS rate: -0.005566 deg/s, cmd heading: 289.737799 deg, new cmd heading: 289.731053 deg. wtHeadingCmd: 5.056761 target range: 101.125244 and range: 101.90 m.bС@ZrjRJ!B!~!~!})|)|)|)|5r1@ ]FnBe SIa)e7aIa iim;=}y(<w;iС@iԱK%yP"K*K2K:Kx)i_)|h#)ye{]b#;UMUL X i jׁׅAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIGA -#ݿY-Ay5AEE?EAEAEE_0EA6G- O < ~GY Ai Ay N >E T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapse-,~LA9>ՙ@>hߠ@Y>g%y>~=>H%?D?@r޻@;d??? o?@? >ՙ@>׉;)>oCJbBJ IlaI@a aM@a aQ@a aE@a I  I 2= G=yñQ >٥ H Fm >j4|?j49 It{B+:y:T?.RCi;> j4  AJ(N4J]4J40:JUBJDJJBRJZJ9bJ8J-4J H=<H=<H=>H9H= IH=cBH9H9H= DH=v<H=EeB*** querying acoustic contact ***JaRaFNOT Ignoring new targets: 101.13 m. ProNav: ac range: 101.125244 m, nav range: 86.842621 m, bearing: 280.872840 deg, approach rate: -0.633439 m/s, LOS rate: -0.004716 deg/s, cmd heading: 289.731051 deg, new cmd heading: 289.725028 deg. (OHeadingCmd: 5.056656 target range: 101.125244 and range: 101.90 m.b С@ZrjRJB~~}||||ԁ1@ UynB]#EIY)]7YIY aaei-=em]4%-,${LA9>ʙ@>Ԡ@Y>đ'y><=>H8z?@G?qFR?U?R??т? >ʙ@>H;)>qCJ-cBJ IIVIV?13^= b\=ybBQ b>٥dh jHhnf n>pvj4r?vj49rH Ir{Bv :yxzP:zz?rmRCir:rH?rj4#A)-FNOT Ignoring new targets: 101.13 m.559] ProNav: ac range: 101.125244 m, nav range: 86.595802 m, bearing: 280.871218 deg, approach rate: -0.690510 m/s, LOS rate: -0.004552 deg/s, cmd heading: 289.725041 deg, new cmd heading: 289.720159 deg. ]GeHeadingCmd: 5.056571 target range: 101.125244 and range: 101.90 m.bemϡ@ZarajaRaJiBi~i~i}q|q|q||`81@ }nB靅BSI)7I =T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse\<;imϡ@iiE?EEEN1EF~AF~Aԑ6G7;ZG RG ~A~G A) KE P"KA *KA 2KE :KE _q!}>33Ql od9+^Sj)h]zon{CA  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse N >,-,.YLA9JUș@JѠ@YJx)yJ=JH@}s?F?顼rS?+?@y?7? ? JUș@J:|;)JpCjfcBj Iin <=y=ߘQ U>٥QQ UH] F]; ]>amj4eP?mj49eէ Ie{BuT:yuG)?u:ufu?eRCieK;e;e}#j4y}AyFNOT Ignoring new targets: 101.13 m.--- ProNav: ac range: 101.125244 m, nav range: 86.301506 m, bearing: 280.863004 deg, approach rate: -0.644546 m/s, LOS rate: -0.018051 deg/s, cmd heading: 289.720150 deg, new cmd heading: 289.695424 deg. 56FEHeadingCmd: 5.056139 target range: 101.125244 and range: 101.90 m.bmˡ@ZqrqjqRqJyBy~~}||||W2@ unBuc:?Iy)}T7yI U=<{&;i ˡ@iT****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE?EEE0EH5>H5wCH5B IH5dBH5 =H1H1H5y<H5E:JuVBJuAJJu7RJqZJu9bJu8Ju4JqzJu:jJu:Ju[9rJu`96G CQ;! ~G A A N% >T2-,-̴LA9>Qř@>Π@Y>+y>N=>H3l?@E?`@R??K]?o?{? >Qř@>jR;)>rCcB II%I%m?3-> 5S=y5&Q 5>٥19 =H9EN E>IUj4M ?Uj49M IM|ByQUsU?MRC]A]AeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseiMP:MHv;MU0j4iu=AqFNOT Ignoring new targets: 101.13 m. ProNav: ac range: 101.125244 m, nav range: 86.062935 m, bearing: 280.856371 deg, approach rate: -0.651037 m/s, LOS rate: -0.018150 deg/s, cmd heading: 289.695425 deg, new cmd heading: 289.675471 deg. MGHeadingCmd: 5.055791 target range: 101.125244 and range: 101.90 m.b ɡ@ZrjRJB~~}||||62@ oB__I) 6!I! !!%(=-E-/<-u=;i- ɡ@i1EEEEO0E)6GG;Q~GA T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA9 NM >ԁ 9-,F LA9>Ù@>:͠@Y>-y>=>Hdg?D?`蚽@! T?`??`U?cx? >Ù@>̊;)>oCFcBJ IIbIbj= jP=ynQ n>٥lp rHr Fr r>xj4z?j49z Iz4|By  | ?z7SCiz)f;z}f;z>j4A,EFNOT Ignoring new targets: 101.13 m. ProNav: ac range: 101.125244 m, nav range: 85.807968 m, bearing: 280.849287 deg, approach rate: -0.620043 m/s, LOS rate: -0.017277 deg/s, cmd heading: 289.675481 deg, new cmd heading: 289.654168 deg. =HeadingCmd: 5.055419 target range: 101.125244 and range: 101.90 m.bš@Zrj R J B ~~}|||| 3@ M2oBMӖIII)M6IQIQ YY]=]t'e(  = % T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapse;?-,.LA9>@>=Š@Y>/y>l=>HV?;F?彿`I??%??Du? >@>d;)>nCFcBF5 I)H JAH>HvCH IHdBHHHH<HE:JfBJDJJPRJZJ|":bJ8J^4JzJ;jJ;JY9rJ^9ԱMb@Mb@Mb@ )YK7A`?V-{Gz?y+?ף<CcA PA)EAIy=ZAII1߹= =y%_Q %>٥!) -H- F-zݺ ->9ej4=8?ej49= I=|Bym>+?u:uu?=SCi=j<=Y<=:Rj4 BA)EB*** querying acoustic contact ***JR!%FNOT Ignoring new targets: 101.13 m.%-T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ProNav: ac range: 101.125244 m, nav range: 85.430588 m, bearing: 280.829979 deg, approach rate: -0.654377 m/s, LOS rate: -0.033629 deg/s, cmd heading: 289.654171 deg, new cmd heading: 289.595989 deg. HeadingCmd: 5.054403 target range: 101.125244 and range: 101.90 m.b@ZrjRJB~~ } | | |I|U`+3@ yoB]K%I=)7 I    f= H < ~;i @i! E E E E r5E 9 6G {/;ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsei~GA A!N5?H-,7!LA9n~@n'@YnȊ1yn+=nHjM?F?]( D?J??>? Ir? n~@nW;)npCMdBf III<2Ie4=IeR=M> S=yTQ >٥ HFm >j4?j49 I|By%?SCi;;_j4A  FNOT Ignoring new targets: 101.13 m.t!t!% ProNav: ac range: 101.125244 m, nav range: 85.180183 m, bearing: 280.817162 deg, approach rate: -0.687448 m/s, LOS rate: -0.035289 deg/s, cmd heading: 289.595977 deg, new cmd heading: 289.557415 deg. %-HeadingCmd: 5.053730 target range: 101.125244 and range: 101.90 m.b-)@Z)r)j)R1J1B1~1~9}9|A|A|A|E\ 4@Y oB靅NaI8C=)5I ?=^n9<Ϋ;i)@iE?EEEO0EԡT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseKP"Kh9*K2K:K}( <;(=^?@^N G x z D L1 ibs^ >e J ?J >Թ6GCQ;~G A A N > w4N-,p;LA9}@}7@Y}$V5y}F;=}H@,=?@FG?>??|?@|?rl? }@};)}oC|dB IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseMb@Mb@Mb@ )YFx?Zd;O?y+?j< MA)DAI$nAyXAI I2%= %5=y-[Q ->٥11 5H15 =>9Ej4=V%?Mj49= I=|ByM+?M:MM?=$TCi= ;= ;=hoj4Q]AYH >H H  IH %eBH  =H H  DH <H E)-FNOT Ignoring new targets: 101.13 m.5g5gE ProNav: ac range: 101.125244 m, nav range: 84.885658 m, bearing: 280.793367 deg, approach rate: -0.625156 m/s, LOS rate: -0.050682 deg/s, cmd heading: 289.557428 deg, new cmd heading: 289.485795 deg. e! }HeadingCmd: 5.052480 target range: 101.125244 and range: 101.90 m.b}뭡@ZyryjyRyJyB~~}|||| m4@ -oB-8I-^=)551I1 115J=<E;i뭡@i!EEEE3EFF!  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6G ~q;ZG RG }AQ ~G A A N >_U-,jVLA9j@j@YjI7yj=jH`0?@G?c`7?&??`? 3i? j@jnT;)jpCrdBr IIzIz2[> i=y ̱Q  >٥ HF >!%j4%8+?-j49% I%*}By)--?%_TCi%;%j!;%{j4IMAM*Eq}FNOT Ignoring new targets: 101.13 m.}h}h ProNav: ac range: 101.125244 m, nav range: 84.656425 m, bearing: 280.774845 deg, approach rate: -0.688991 m/s, LOS rate: -0.055824 deg/s, cmd heading: 289.485793 deg, new cmd heading: 289.430074 deg. >HeadingCmd: 5.051508 target range: 101.125244 and range: 101.90 m.b@ZrjRJB~~}|||| 4@ԡ oB靭!]Iam9=)4I =k<;i@iT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse>E4|E=:JSBJAJJ;RJZJ;9bJ8J(N4J%@%@%@%@EEEEN0E 1 ] E\-,|{tLA dB IUMb@Mb@Mb@QQQ Q)QYU/$?V-?Zd;O?yU&1?U٥ HF > j4 5?j49  I {}Byg1?:B? TCi f: : @j4!%A%'EIUFNOT Ignoring new targets: 101.13 m.UGUGm ProNav: ac range: 101.125244 m, nav range: 84.301758 m, bearing: 280.735456 deg, approach rate: -0.671359 m/s, LOS rate: -0.074873 deg/s, cmd heading: 289.430086 deg, new cmd heading: 289.311424 deg. mMmHeadingCmd: 5.049437 target range: 101.125244 and range: 101.90 m.bu@ZqrqjqRqJqBq~y~y}|||| ^5@ 8pBY靝Y2I=)5I Ҝ=w띿<.,;i@iHuCH6 IHeBH =HHH<HEH]vCH]vCH]ǔCH] =I] = I]޶5>Eп8=Eu ?Eq Eq E} c5Ey u W@>@Y>:y>q;=>H)?G?@1~@8?E?`6?? c? >W@>~V;)>oCFeBF IININV = V-=yZ)Q ^>٥`` bHdf%6 f>hlrj4n>?rj49nZ In}ByprMr?n UCin:n:nTj4iuWAqB*** querying acoustic contact ***JRFNOT Ignoring new targets: 101.13 m.確確  ProNav: ac range: 101.125244 m, nav range: 83.994682 m, bearing: 280.701152 deg, approach rate: -0.635115 m/s, LOS rate: -0.071211 deg/s, cmd heading: 289.311432 deg, new cmd heading: 289.208142 deg. |CHeadingCmd: 5.047634 target range: 101.125244 and range: 101.90 m.b8@ZrjRJB~!~!}!|I|I|I|U\5@ opBW8I) 5 I    T=-&-<- BDAT read: Tx time:06:01:57.7709  $Ping request sent. EuV =E E E E 4E 1:JQBJUGJJU7RJQZJQbJU9JU4JQQ ) T> ːC6G% &;i ĀA ~G - Y5 ĀAy5 KAAY  JDAT read: TxSync time:06:01:57.7702  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251294&U TFailed to parse incomplete device message.A9 ԉ N >09l-,DLA9 Z@ @Y m٥ HF >j4I?j49 I~By/?:?bUCi ;A:)j4A!-FNOT Ignoring new targets: 101.13 m.-c-cE ProNav: ac range: 101.125244 m, nav range: 83.660553 m, bearing: 280.652828 deg, approach rate: -0.678530 m/s, LOS rate: -0.098525 deg/s, cmd heading: 289.208132 deg, new cmd heading: 289.062582 deg. E;EHeadingCmd: 5.045094 target range: 101.125244 and range: 101.90 m.bMiq@ZIrIjIRIJIBI~Q~Q}Y|Y|Y|Y|]*X6@ pB靍I:I)5I =UyUR)u٥\\ ^HbFb޺ b>djj4fR?jj49fd IfP~Bylnn?fUCif`:fl:fj4)e!BeAe%EFNOT Ignoring new targets: 101.13 m.κκ- ProNav: ac range: 101.125244 m, nav range: 83.389709 m, bearing: 280.613501 deg, approach rate: -0.619815 m/s, LOS rate: -0.090291 deg/s, cmd heading: 289.062594 deg, new cmd heading: 288.944229 deg. -w5HeadingCmd: 5.043028 target range: 101.125244 and range: 101.90 m.b5}`@Z1r9j9R9JABA~A~A}I|I|I|I|M`>6@ pBD?I)5I =x< :ԩ Yz-,rjLA9>{@>$@Y>~=y>=>H2?uK?l 6??J?5?`hc? >{@>oCFeBJ> IIPIPV= ZL=yZaR:Q Z>٥\\ ^H^FbЊ; b>djj4fS[?jj49f If~ByhjZj?fUCif:f,:fj4pr*ApFNOT Ignoring new targets: 101.13 m.%%5 ProNav: ac range: 101.125244 m, nav range: 83.127869 m, bearing: 280.574859 deg, approach rate: -0.701758 m/s, LOS rate: -0.103891 deg/s, cmd heading: 288.944241 deg, new cmd heading: 288.827950 deg. 5=HeadingCmd: 5.040998 target range: 101.125244 and range: 101.90 m.b=O@Z9r9j9R9JABA~A~A}I|I|I|I|M s'7@Թ =qB=-PI9)=T59IA AAE=MM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5062449 H- >H) H- IH- fBH) H- HDH- DH- <H- EA-,=FLA9F@F@@YF=yF<=FH'?`K?f@.??@? ?@b? F@FE;)FmCneBnW Ii>I%?Mb@Mb@Mb@ )Y@5^I ?T㥛 ?Q?yb0?=u<]A AJA)`?AIjAyTAI%I)3  =  6=yM-Q >٥ H%Ѻ %>)5j4-Re?5j49-E 5tII-~By5)1?=:==?-;VCi-K;-O;-Mj4AEـAAq}FNOT Ignoring new targets: 101.13 m.} ProNav: ac range: 101.125244 m, nav range: 82.831062 m, bearing: 280.529721 deg, approach rate: -0.660906 m/s, LOS rate: -0.100869 deg/s, cmd heading: 288.827936 deg, new cmd heading: 288.692039 deg. sHeadingCmd: 5.038627 target range: 101.125244 and range: 101.90 m.bn<@ZrjRJB~~}|||| d7@ 2qB)DI)5I =M`<At J=y:Q >٥ HF %>1quj45Sn?}j495 I5 Byޕ?5VCi5'<5 $<5yj4iAB*** querying acoustic contact ***JRFNOT Ignoring new targets: 101.13 m.?Ժ?ԺII<:JRBJGJJ8RJZJ9bJ9J'4J ProNav: ac range: 101.125244 m, nav range: 82.563080 m, bearing: 280.488880 deg, approach rate: -0.606806 m/s, LOS rate: -0.092780 deg/s, cmd heading: 288.692043 deg, new cmd heading: 288.569120 deg. ~HeadingCmd: 5.036481 target range: 101.125244 and range: 101.90 m.b*@ZrjR!J!B!~a~i}i|i|i|i|u8@ fqB2 ;I)5aIa aae=mm J5 >6G= !~< ~G A9 AI N} >-,=`9LA9N@N@YNZ ףp=?)\(?y&1?y]1?]Ga=]`e<]ZA ]HA)]I>AI]iAYy]RAII= H=y9Q  >٥    H F >%j4"w?%j49 IIBy%2?-:--?VCi ;;j415'A5"EY]FNOT Ignoring new targets: 101.13 m.eeu ProNav: ac range: 101.125244 m, nav range: 82.291496 m, bearing: 280.449850 deg, approach rate: -0.736428 m/s, LOS rate: -0.106182 deg/s, cmd heading: 288.569127 deg, new cmd heading: 288.451652 deg. u}HeadingCmd: 5.034431 target range: 101.125244 and range: 101.90 m.b}@ZyryjRJB~~}||||i8@ԡ qB;\I}v4=)}5I 6=0ן <ӎHtCHIH gBH =HHH]<HPE 6G M<~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766179) T-,SLA9n@nJ@Yn٥!) -H)-K ->1=k45+?=k495 I5ByAEїE?5 WCi5;5M;5k4IMAU$EFNOT Ignoring new targets: 101.13 m.EںEں ProNav: ac range: 101.125244 m, nav range: 82.042587 m, bearing: 280.414187 deg, approach rate: -0.663927 m/s, LOS rate: -0.095414 deg/s, cmd heading: 288.451647 deg, new cmd heading: 288.344334 deg. HeadingCmd: 5.032558 target range: 101.125244 and range: 101.90 m.b @ZrjRJB~~}||||8@ qB靝MI)5I m=<AjEU>E?EEE1EF}AF9EBDAT read: Rx Time:06:02:00.2843 MTRx dataTimestamp_ set to:1749103321.536377Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0203776G 喇-, mLA9V}@V@YVNn٥xx ~H~F~k ~> k4? k49 IBy?OWCi;;k42AFNOT Ignoring new targets: 101.13 m.gѺgѺ  ProNav: ac range: 101.125244 m, nav range: 81.775749 m, bearing: 280.375986 deg, approach rate: -0.637320 m/s, LOS rate: -0.091538 deg/s, cmd heading: 288.344332 deg, new cmd heading: 288.229354 deg.  I{HeadingCmd: 5.030551 target range: 101.125244 and range: 101.90 m.bG@ZrjRJB~~}!|!|!|!|M@69@ qB靅ULchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270559I)6I =NV'<YTd/ 4!KJJE5?E9E9E=p5E9ԉ6Ge p< ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524790~Gi A A N= > H <H <H >H H UIH rgBH  =H H H <H E;-,LA:J&TBJ&CJJ$RJ$ZJ&{9bJ&=8J$J$zJ&v:*jJ&v:*J&9*rJ&9.@9jbp@j z@Yj:٥   HFs >%k4?%k49 IBy-.?-:--?WCi::#k415~A=!EYeFNOT Ignoring new targets: 101.13 m.eʺeʺ} ProNav: ac range: 101.125244 m, nav range: 81.484131 m, bearing: 280.338826 deg, approach rate: -0.693113 m/s, LOS rate: -0.088638 deg/s, cmd heading: 288.229366 deg, new cmd heading: 288.117486 deg. SsHeadingCmd: 5.028599 target range: 101.125244 and range: 101.90 m.bH@ZrjRJBDReached init depth of 57.657555 m.~~}||||V9@ rBøHI)7I =Igi< BDAT read: Tx time:06:02:01.3709 $Ping request sent. ݁)݁݅jb(j?S^&g?.ȸɿi݅`?݅l/O>݅iwֽ݅%> ށ)ށ5:publishing transmit ping time5Fpublishing direction and range infoځyڅ0?Gnu5g* xտځYځ ہ)ہIہiہہہہہ ܁)܁I܁i܁܁܁ ݁)݁݅jb(j?S^&g?.ȸɿi݁݁݁݁ ށ)ށ>Eu=EEEE0E) 6G E<jG% ?bG% ?Q ~GIAQAaNu>%-,_LA9R@a@Rj@YRo;yR=RH@? eb?i潿3 ?? Z?q? e? R@a@Rn;)PZfB^ IifR=If<InInm?3r= v;=yvaU:Q v>٥xx zHx~y ~>k47? k49( IBy  , ?WCiD;;e2k4~AZbLABB@ʁ8S@2  B;0?Gnu5g* xտiwֽ%>ҁvP M1@6;S;̾*a>vjb?rzPY/BſzT Aj@fq?rym3 @1BC ?`F  @1Bꁕ1Bg@} addTargetRange:: Added new target pos. range: 81.900002 m, deltaT: 29.251505 s, deltaX: -20.000000 m, approachRate: -0.683725 m/s, rangeRepo size: 4  Added new target pos. range: 81.263763 m, bearing: 282.797551 deg, lat: 36.906109 deg, lon: -122.116053 deg, deltaT: 29.251505 s, deltaX: -19.861481 m, approachRate: -0.678990 m/s, posRepo size: 4 DNOT Ignoring new targets: 81.26 m. ProNav: ac range: 81.263763 m, nav range: 80.596840 m, bearing: 281.834014 deg, approach rate: 0.000000 m/s, LOS rate: -0.088638 deg/s, cmd heading: 288.117487 deg, new cmd heading: 287.999529 deg. HeadingCmd: 5.026540 target range: 81.263763 and range: 81.90 m.bj٠@ZrjRJB~~ }I|I|Q|UyT@|U ? DrB靥(?I)h8I =٠4<cE3=EEEE65EAׁׅAK  P"K 9*K 2K :K ps(<Uz(zwgR?=!gex? *7Hli6G] <~G A9 AQ N] >ԑ -,<-LAfB I%Mb@Mb@Mb@!!! !)!Y%K7A`?٥aa eHeFe m>iq}k4u򠷜?}k49u/ Iu3By+?:ʠ?u2XCiuA:u:u(Bk4}AB*** querying acoustic contact ***JRH>HsCHIHgBH =HH DHx<HnEeDNOT Ignoring new targets: 81.26 m.mjmj} ProNav: ac range: 81.263763 m, nav range: 80.302162 m, bearing: 281.811198 deg, approach rate: -0.660154 m/s, LOS rate: -0.051301 deg/s, cmd heading: 287.999516 deg, new cmd heading: 287.930817 deg. } HeadingCmd: 5.025341 target range: 81.263763 and range: 81.90 m.bϠ@ZrjRJB~~bzB}|||| `?:JMSBJMAJJIRJIZJM;9bJM8JIJIzJM-a:jJM7a:JMY9rJM^9 efBeFiIm(#)m\iImN iim=uu 2d-,q߶LA9~9@~B@Y~uJ=y~=~H@U?dn?ѽZ? ?`ކ?i?b? ~9@~|B;)~rC%gB%II5I53M= M0=yUEQ U>٥QQ ]H]F]- ]>amk4e?uk49e"7 IePByquku?eXCiel;e%;eORk4}"B}|A"EDNOT Ignoring new targets: 81.26 m.]`]` ProNav: ac range: 81.263763 m, nav range: 80.000069 m, bearing: 281.788706 deg, approach rate: -0.656183 m/s, LOS rate: -0.049039 deg/s, cmd heading: 287.930805 deg, new cmd heading: 287.863075 deg. HeadingCmd: 5.024158 target range: 81.263763 and range: 81.90 m.bŠ@ZrjRJB~~}||||`{? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246079 靵r{;I)Tj=IU8 HU='<K O"K *K 2K :K +p &"{N>Qs1.l+-zvwnh_8 wΈ-,rLA,9VL6@V?@YVz=yV.=VHP?٥YY ]Ham4G u>yk4}v?k49}@> I}hBy%?:?}XCi}]u;}t;}ak4"|ADNOT Ignoring new targets: 81.26 m.KK ProNav: ac range: 81.263763 m, nav range: 79.721741 m, bearing: 281.780650 deg, approach rate: -0.629458 m/s, LOS rate: -0.018283 deg/s, cmd heading: 287.863076 deg, new cmd heading: 287.838824 deg. HԉHeadingCmd: 5.023735 target range: 81.263763 and range: 81.90 m.bp @ZrjRJB~~1zB}||||@? mfBm";Ii)m=iIuo 9 qqu} =}5}e<};HIHMIHM)hBHIHIHIHM<HMEHtCHtCHƓCH =I = Iƺ5ԹE?EEEl4E:JWBJCJJ;RJZJ;9bJ=8J(N4JzJț:jJ͛:J9rJ9 6G5 T<~GQ Ai Ay N >O-,h=LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0019134^gBIII%I% 3]= ]U=y]Q ]>٥aa eHmFm m>q}k4ul?}k49umD Iu}By?uYCiu:u:unk4!%{A%EYeDNOT Ignoring new targets: 81.26 m.eomou ProNav: ac range: 81.263763 m, nav range: 79.480240 m, bearing: 281.773615 deg, approach rate: -0.607488 m/s, LOS rate: -0.017752 deg/s, cmd heading: 287.838816 deg, new cmd heading: 287.817645 deg. }BHeadingCmd: 5.023365 target range: 81.263763 and range: 81.90 m.bi@ZrjRJB~~}|||| @  է-,[,LA9>:@>7D@Y>#=>HSY?zo?hIY??`r?2?d? >:@> ;)|٥| HF,: > k4 r?k49 J I By? DYCi ; ; Z|k4)-zA)Q]DNOT Ignoring new targets: 81.26 m.e!e!u ProNav: ac range: 81.263763 m, nav range: 79.236015 m, bearing: 281.766367 deg, approach rate: -0.672319 m/s, LOS rate: -0.020013 deg/s, cmd heading: 287.817642 deg, new cmd heading: 287.795832 deg. u[}HeadingCmd: 5.022985 target range: 81.263763 and range: 81.90 m.bK@ZrjRJB~~}||||Y@ fB[KI̴9 =?N0<EB4=YEEEEEԁ - >) E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7613116G ^<H5 >H5 rCH5 IH5 hBH5  =H1 H1 H5 @<H5 E~G J'4JI4J2:J SBJ ?JJ 7RJ ZJ ;9bJ 8J 4J zJ ,a:jJ 6a:J ^O9rJ hO9Թ A A N >U-, ILAMgBMzIiUV>IU=Mb@Mb@Mb@ )YT㥛 ?v/~jty!?xiDQA BA)5AI_AyJAI I 2= &=yQ >٥! %H!% ->)Ek4-?Ek49-R I-ByM!?M:MM?-YCi-t;-m^;-k4QU[zAU!EuB*** querying acoustic contact ***JqRqDNOT Ignoring new targets: 81.26 m. ProNav: ac range: 81.263763 m, nav range: 78.929443 m, bearing: 281.766254 deg, approach rate: -0.621045 m/s, LOS rate: -0.000230 deg/s, cmd heading: 287.795840 deg, new cmd heading: 287.795499 deg. !HeadingCmd: 5.022979 target range: 81.263763 and range: 81.90 m.b?@ZrjRJB~~zB}||||`@ fBDXIY: =-nN-d<-E<BDAT read: Rx Time:06:02:03.8813 TRx dataTimestamp_ set to:1749103325.315695checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011412)E)E1E1E5P0E1Y 6GU oT<~G) A9 Aa Nu >8u-,ycLA 6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2620239FM@FV@YF}y=yF_=FH@V{?i? ~@M|?@ ?? J!?@c? FM@FB;)FmCgBIIIm?3-= 5\=y5Q 5>٥99 =H=FEx; E>IUk4M?Uk49MX IMByQUl]?MYCiM;Mr;Mk4aeyAaDNOT Ignoring new targets: 81.26 m.5 ProNav: ac range: 81.263763 m, nav range: 78.697296 m, bearing: 281.765790 deg, approach rate: -0.612886 m/s, LOS rate: -0.001229 deg/s, cmd heading: 287.795512 deg, new cmd heading: 287.794115 deg. WII@AHeadingCmd: 5.022955 target range: 81.263763 and range: 81.90 m.b @ZrjR J1B9q~I~q}y|y|y|y|} @ fBAIiE: =M9OME%8ԙEEEEEMDAT read: 06:02:03.8813 LVL= 18528, 21809, 14946, 24931, AGC= 69, IDX= 412,-0.04, 1.709, 0.237, 1.711, 0.985, PHS= 0.812,-0.701, 0.722, RAW= 147.0, -11.3, CAL= 154.1, -19.7, ROT= 355.9, 19.7 ]Ygot valid direction response: 06:02:03.8813 LVL= 18528, 21809, 14946, 24931, AGC= 69, IDX= 412,-0.04, 1.709, 0.237, 1.711, 0.985, PHS= 0.812,-0.701, 0.722, RAW= 147.0, -11.3, CAL= 154.1, -19.7, ROT= 355.9, 19.7 ePDAT read: Bearing 355.9, 19.7 (Local) e~Local bearing/azimuth received: Bearing 355.9, 19.7 (Local) uDAT read: Range 10 to 50 : 79.6 m (Round-trip 106.2 ms) speed 0.7 m/s u*DAT read: user:623> }BDAT read: Tx time:06:02:04.9709 }$Ping request sent. *KY 2K] :K] Pt1P4^t:l@"'lLnh?+6GE 喇<JY JY )#i?Nvs?>$ɿi>-wJ>ix > )} :publishing transmit ping timey Fpublishing direction and range infoy ?Ӹl;MտY )Ii )Ii )#i?Nvs?>$ɿi )~G A! A9 NE >/-,M.}LAXJDAT read: TxSync time:06:02:04.9702  H]<H]4=He>HaHe6IHehBHaHaHe DHez<HebE gBIMb@Mb@Mb@ )YS?#~jQy/?㥽uPA r@A) 5AIp_AypIAII#3HI= ٥ HF >k4^Ƿ?k49b IހBy?:?3ZCi::Hk4)yA ZQbUNctLAUBUBUDܞ@ʁU TR@C.{:U ?Ӹl;MտUiUx >ҁUEG I (>: C< P < 3EԑEIEIEIEMu3EQ >:?ԹIUR=IUa=:JeTBJeGJJe:RJaZJe{9bJe9JeFA4Jau@}@}@}@6G<~GAAN>?O-,ЬLA9jZE@jO@Yj6yj|y=jH@)s?`^p?x#7^?S?`I?@? o? jZE@j*;)jkCiprA)t tIt t)xxxxxzAixI||I|i~A ||)|   I ) i)I iٯ%KhB-II=I=m?3> =ye٥ HF > k4 ˷?k49 2k I By? ZCi n: : qk4!%wAIDNOT Ignoring new targets: 78.98 m.z9z9 ProNav: ac range: 78.979507 m, nav range: 77.277229 m, bearing: 281.896705 deg, approach rate: -0.606996 m/s, LOS rate: 0.018521 deg/s, cmd heading: 287.791742 deg, new cmd heading: 287.820876 deg. `K: HeadingCmd: 5.023422 target range: 78.979507 and range: 79.60 m.b ߿@Z r j R J B~~}||||=v?a fB靝`I۽: !<?J<&ڎE 7ƙԹ E E E E 0E He >Ha He nIHe ~G1A9AQN] ?-,!ϷLAhBIMb@Mb@Mb@ )YMb?bX9ȶMby ?EOA ?A)I^AyHAIMIM2]H= ]=y]Q ]>٥aa eHeFm m>quk4uMз?}k49u$t IuBy}""?}:}%}?uZCiu8:u:uk4#BwAE)B*** querying acoustic contact ***JRDNOT Ignoring new targets: 78.98 m.99 ProNav: ac range: 78.979507 m, nav range: 76.934082 m, bearing: 281.910014 deg, approach rate: -0.593938 m/s, LOS rate: 0.023139 deg/s, cmd heading: 287.820866 deg, new cmd heading: 287.860971 deg. ~:%HeadingCmd: 5.024122 target range: 78.979507 and range: 79.60 m.b%Š@Z!r!j!R!J!B)~)~-zB})|1|1|1|5? fB靥}I: <(<֣ -,=y5J=Q 5>٥11 5H5 F=)q; =>AUk4EAԷ?]k49E{ IE%Byaeشe?E)[CiEI;E;E9k4imuAiDNOT Ignoring new targets: 78.98 m.@9@9  ProNav: ac range: 78.979507 m, nav range: 76.636360 m, bearing: 281.921135 deg, approach rate: -0.679761 m/s, LOS rate: 0.025491 deg/s, cmd heading: 287.860973 deg, new cmd heading: 287.894466 deg.  :HeadingCmd: 5.024706 target range: 78.979507 and range: 79.60 m.beʠ@ZrjRJ9B9~A~A}A|A|I|I|M 9 @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006937 fB;X =I))>IY; o<<u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258681G G AAH ~>H qCH IH iBH H H H j<H CEJ., LAPhBGIMb@Mb@Mb@ )Y(\?(\µ~jth?y'?D;MA >A)94AIXAyEAIIT3= C=yQ >٥ H >k4"ط?k49 I:By)?:?p[Cif::k4/uADNOT Ignoring new targets: 78.98 m.W9W9 ProNav: ac range: 78.979507 m, nav range: 76.362091 m, bearing: 281.929284 deg, approach rate: -0.631625 m/s, LOS rate: 0.018834 deg/s, cmd heading: 287.894468 deg, new cmd heading: 287.919003 deg. N:HeadingCmd: 5.025135 target range: 78.979507 and range: 79.60 m.b͠@ZrjRJB~~BzB}||||@u@ mfB靕5|=I)?Izu5; <g<%t.,w#LA9bhf@bp@YbE yb<4=bH`? f?IJ?@O?`?z?q? bhf@b3;)bkCjEiBjtIIvIv2z D> ~W=y']=Q >٥   H !F ;  >%l4۷?-l49v IKBy15'5?[Ci<;;"l4AEtAAechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766771quDNOT Ignoring new targets: 78.98 m.}*9}*9 ProNav: ac range: 78.979507 m, nav range: 76.114372 m, bearing: 281.936194 deg, approach rate: -0.676247 m/s, LOS rate: 0.018924 deg/s, cmd heading: 287.919002 deg, new cmd heading: 287.939798 deg. O:HeadingCmd: 5.025497 target range: 78.979507 and range: 79.60 m.bР@ZrjRJB~~}||1|9|=aw@ fB靍$9=I)?IR; <<}< ƐCE?E tGEE0E%AA u{YuAyuBQ! ! - BDAT read: Rx Time:06:02:07.4784 5 TRx dataTimestamp_ set to:1749103328.8546285 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0230756G {<ԉ ~G A A N K @%Q"K *K 2K :K +/?vW qZ9>T-$ 8[ rteP>1(QdW-.,2W=LA9rl@r\v@Yryr_=rH@?`d?@捺 CQ??A?ٱ? 7? rl@r ;)p~piB~IYMb@Mb@Mb@ )YCl?x&I +?y/?794<KA ;A) 5AITAyCAI I M3-i= =8=y=٥AA EHE"FE: E>IUl4Mො?]l49MN IM_By]0?]:]]?M[CiM;M;Ml4aeYsAm!EDNOT Ignoring new targets: 78.98 m.G8G8 ProNav: ac range: 78.979507 m, nav range: 75.810356 m, bearing: 281.937392 deg, approach rate: -0.690395 m/s, LOS rate: 0.002732 deg/s, cmd heading: 287.939793 deg, new cmd heading: 287.943402 deg. 8HeadingCmd: 5.025560 target range: 78.979507 and range: 79.60 m.bdѠ@ZrjRJB~~3zB}||||C @ fB==I)Q?I't; <V<P(HHIHiBHHHHw<HTEH}rCH}rCHyH} =I} = I} 4EEEEO0EԹ6G <~GA AI AY Nm > u DAT read: 06:02:07.4784 LVL= 24416, 31953, 18354, 21619, AGC= 69, IDX= 413,-0.09,-0.182,-1.613,-0.161,-0.826, PHS= 0.732,-0.740, 0.662, RAW= 147.6, -9.1, CAL= 153.9, -17.6, ROT= 356.1, 17.6  Ygot valid direction response: 06:02:07.4784 LVL= 24416, 31953, 18354, 21619, AGC= 69, IDX= 413,-0.09,-0.182,-1.613,-0.161,-0.826, PHS= 0.732,-0.740, 0.662, RAW= 147.6, -9.1, CAL= 153.9, -17.6, ROT= 356.1, 17.6  8DAT read: $Error in header  *Received a bad header/.,ÜWLA6X#Rx 1: Read direction message, but no range.:`direction in FSK: [0.950983,-0.064832,-0.302370]AyEtn?̘-JZӿYA E`_)E|IEGiEsTAEZd;?Ep=Ex)? E$@)E"IEo+@iEnFE>@EnF> AEL?]O~B?l$QĿiE~>E9#>E)gEnF>FT****** received valid address query ******FR****** received valid ping request ******Jreceived new query, but waiting for acoustic response period to elapseԉiBII I2e> eD=yeQ e>٥ii mHiu u>yl4}巜?l49} I}sBy?}F\Ci});}u;}2!l4jrAB*** querying acoustic contact ***JR%DNOT Ignoring new targets: 78.98 m.%A8%A85 ProNav: ac range: 78.979507 m, nav range: 75.525719 m, bearing: 281.938523 deg, approach rate: -0.663531 m/s, LOS rate: 0.002645 deg/s, cmd heading: 287.943399 deg, new cmd heading: 287.946804 deg. 5d8eHeadingCmd: 5.025620 target range: 78.979507 and range: 79.60 m.beѠ@ZarajaRaJiBi~i~i}q|q|q||`fX @ fB靍BF=ԱI)i-?I(; <*<n.,EJqLA9jm@jBw@YjIսyj:=jH'?`f?-h@5b@s?@??@v6?w? jm@ju;)jlCviBvIII2 = d=y]=Q >٥ H#F%9 %>)=l4-鷜?=l49- I-ByAEE?-\Ci-H;-H;--l4IMqAIy}DNOT Ignoring new targets: 78.98 m.B8B8 ProNav: ac range: 78.979507 m, nav range: 75.279640 m, bearing: 281.939444 deg, approach rate: -0.707789 m/s, LOS rate: 0.002660 deg/s, cmd heading: 287.946815 deg, new cmd heading: 287.949589 deg. 8HeadingCmd: 5.025669 target range: 78.979507 and range: 79.60 m.bGҠ@ZrjRJB~~}||9|9|E@ fB靕s=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI)7?Ins; m,<P <K.zrd5#AX . H X{d `Q6G ,<~Ga Aq  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseH |>H H $IH bjBH H H H {<H WEA N >ԁ >".,O>LA9rk@rqu@Yr½yrI=rH4?ch?@ Ӹ`if??`U?p[?? rk@r;)rjCzjBzIMb@Mb@Mb@ )Y9v?ktMb?y4? 0<lIA I8A)6AIOAyAAI IV2C > ?=y5٥ H >l4﷜?l49 IBy_5?:m?\Ci;; ;(.,LA9Fn@Fx@YFyFP=FHJ?g?@B oGd???ڲ?f? Fn@F;)FlCn/jBrIII(1= W=y٥ H$F%c: %>)5l4-C?5l49- I-By15_5?-]CET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsei-\;-7_;-Il4IM^pAME1=DNOT Ignoring new targets: 78.98 m.=钹=钹M ProNav: ac range: 78.979507 m, nav range: 74.710930 m, bearing: 281.925847 deg, approach rate: -0.661809 m/s, LOS rate: -0.016055 deg/s, cmd heading: 287.928127 deg, new cmd heading: 287.908648 deg. MK0}HeadingCmd: 5.024954 target range: 78.979507 and range: 79.60 m.bl̠@ZrjRJB~~}Ա||||h@ %fB%=I!)% L?)I-; ))E9 R..,㾸LAKNKP"KN9*KL2KN:KN[aU Y t"JT ] 4  ^=\qi]L:(^PD2-P_g^4eq9Nn@NRx@YNyN=NH`O?`g?`Q ZuZ?`??K?@Z? Nn@NÉ;)NkC~cjB~%I) Mb@Mb@Mb@ )Ykt?y&1|{Gz?y 0?`廹#<GA 6A)IGAy3?AII3= A=y٥ H%F~ >l4J?l49 IBy'0?:У?a]Ciȓ;x;Xl4$BoAEAMDNOT Ignoring new targets: 78.98 m.MpQMpQ ProNav: ac range: 78.979507 m, nav range: 74.421310 m, bearing: 281.907326 deg, approach rate: -0.713039 m/s, LOS rate: -0.045777 deg/s, cmd heading: 287.908647 deg, new cmd heading: 287.852867 deg. THeadingCmd: 5.023980 target range: 78.979507 and range: 79.60 m.brĠ@ZrjRJB~~yB}||||`N @  gB靭=I)"X?I>; z<-<LHAHE\IHEjBHAHAHEDHEڛ<HEEEEEE1E9:JmUBJmDJJm;RJiZJm9bJm8Jm(N4JizJm/:jJm4:JmW9rJm\9a 6GE <~G A) A9 NE > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse5.,ظLA 9 fn@ x@Y Oy = H`?i?@uzO?? n?S?`? fn@ ~;) MjBM;IIu Iu<2O= M=yֵ٥ H >l4?l49ͻ IBy?]Ci ;";fl4oADNOT Ignoring new targets: 78.98 m.jMjM ProNav: ac range: 78.979507 m, nav range: 74.148697 m, bearing: 281.889765 deg, approach rate: -0.694417 m/s, LOS rate: -0.044897 deg/s, cmd heading: 287.852858 deg, new cmd heading: 287.799981 deg.   HeadingCmd: 5.023057 target range: 78.979507 and range: 79.60 m.b 㼠@ZrjRJB~~}||!|!|%@ ]gB]b=Ia)eQ`?aIe; aae <.,LAP9ZGp@Zy@YZsyZ =ZH2?@i?Y.~@J?SB?@z?l?`,? ZGp@Z;)ZjCrjBr]IIzIzV83> S=y٥   H&F%: %>)5l4-\ ?=l49- I-āByAEɣE?-]Ci-;-;-Rtl4e*Be[nAiB*** querying acoustic contact ***JRDNOT Ignoring new targets: 78.98 m.FF  ProNav: ac range: 78.979507 m, nav range: 73.882729 m, bearing: 281.872461 deg, approach rate: -0.665258 m/s, LOS rate: -0.043437 deg/s, cmd heading: 287.799993 deg, new cmd heading: 287.747895 deg. {-HeadingCmd: 5.022148 target range: 78.979507 and range: 79.60 m.b-p@Z1r1j1R1J9B9~9~9}A|A|A|A|E@.@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse U gBUL|=IUt)]m?YI])w< YY]!H) H- IH- kBH) H) H) H- <H- aEI m T****** received valid address query ******m R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapse~G A A N >B.,w LA:JSBJFJJ9RJZJ;9bJ9Jc44JzJ-a:jJ6a:J9rJ99=%r@={@Y=Qy=v==H ?`j?綿:C?*? 9??u? =%r@=!;)=mCUjBUdIUMb@Mb@Mb@QQQ Q)QYUGz?:v?Q?yU0?UTAImIm1%< 4=y٥ H'F: >l4?l49U IЁBy0?:?;^CiP;T;$l4+B/nAEDNOT Ignoring new targets: 78.98 m.MsMs] ProNav: ac range: 78.979507 m, nav range: 73.573067 m, bearing: 281.845179 deg, approach rate: -0.703817 m/s, LOS rate: -0.062270 deg/s, cmd heading: 287.747892 deg, new cmd heading: 287.665701 deg. ]*eHeadingCmd: 5.020714 target range: 78.979507 and range: 79.60 m.be@ZarajaRaJB~~OzB}||||z@ gB f=I ) n? I< <SY<e8!I.,bJ&LA9^u@^@Y^0y^pc=^H@%?j?@g @A?+? ? f?D? ^u@^܈;)^iCjjBjIIvIv0~H= ~h=y٥   H  Y:  > !%<%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapse-l4?-l49h I؁By)-5?y^Cigk;k;wl4ymAEDNOT Ignoring new targets: 78.98 m.  E ProNav: ac range: 78.979507 m, nav range: 73.331772 m, bearing: 281.823674 deg, approach rate: -0.643398 m/s, LOS rate: -0.057531 deg/s, cmd heading: 287.665711 deg, new cmd heading: 287.600983 deg. EMHeadingCmd: 5.019584 target range: 78.979507 and range: 79.60 m.bMo@ZIrIjIRIJQBq~y~y}y|y|y||q@ gB=I)4y?Id < 9<L<I P.,&5@LAK&O"K$*K$2K&:K&lK( 5iM VI"I\~jZGpR|JV>JV ?9 x@ X@Y y K:= H??k?7` AII2OY= <=y٥ H(FQH: >l4 ?l49 IށBy-?: ?^Ci::l4!mAq}DNOT Ignoring new targets: 78.98 m.yy ProNav: ac range: 78.979507 m, nav range: 73.040573 m, bearing: 281.794949 deg, approach rate: -0.695083 m/s, LOS rate: -0.068837 deg/s, cmd heading: 287.600988 deg, new cmd heading: 287.514472 deg. <HeadingCmd: 5.018074 target range: 78.979507 and range: 79.60 m.b@Zrj!R)J)B)~)~5zB}1|1|1|1|=(@ gB靥5=I)}?IQ.< }<,5E<HpCHIH`kBH =HHH<HE-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse9:JIBJMTJJM7RJIZJIbJM:9JM4JIzJIjJM7a:JMRJ:rJMUJ:>E 'iE E E E O0E ԑ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6G /<~GA1AINe?W.,`LA9b*~@bԇ@Yb"*߼ybԟ=bH)?`j? @=?d? b?`? ? b*~@bx;)bmCnkBnIIv Iv<2~< ,=yɆ٥)1 5H5)F5: 5>9El4=)?El49= I=ByIMM?=_Ci=;=;=pl4QUlAQyDNOT Ignoring new targets: 78.98 m.QQ ProNav: ac range: 78.979507 m, nav range: 72.718323 m, bearing: 281.762721 deg, approach rate: -0.680230 m/s, LOS rate: -0.068332 deg/s, cmd heading: 287.514464 deg, new cmd heading: 287.417349 deg. ;-HeadingCmd: 5.016379 target range: 78.979507 and range: 79.60 m.b--@Z)r)j)R)J1B1~1~1}9|9|9|9|= @ԁ gB靥逛=I)?I=< H<&F<]E -T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseEQEQEQEYEYԱIGĀA ݿYĀAyA6G} `<<~GQ Aa Aq N > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse].,AzLA9u~@u(@Yu{@yuy=uH@>? i?@.@C@>?zP?oI?? u~@uO;)ulC+kBII$I<3= ?=y=Q >٥ HC; >l40?l49 IByd?`_Ci%;/;-l4 ,BlAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 78.98 m.Y  KW'P"K9*K2K:Kbchhi mZr%%;*@h^u+5aj@Usq%rJJ|A ProNav: ac range: 78.979507 m, nav range: 72.435509 m, bearing: 281.733915 deg, approach rate: -0.633256 m/s, LOS rate: -0.064751 deg/s, cmd heading: 287.417338 deg, new cmd heading: 287.330584 deg. 1%HeadingCmd: 5.014865 target range: 78.979507 and range: 79.60 m.b%y@Z!r!j!R!J!BI~I~I}I|Q|Q|Q|Uhw @ "gB靥i)=I67i:)!?IYaM< 䇯<RXQ<_HHIHkBHHHHX<HEHqCHqCHHI = Iw4ET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse:Ja BJe FJJe 8RJa ZJa bJe 9Je '4Ja zJa jJa Je 9rJe 9ԩ Ea Ea Ea Ee '1Ei 6G<jG?bG?T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse~GaAqAN?*if.,㚹LA89rA@r딠@Yryr=rHGD?j?`w;?`z3s??? rA@r݇;)rgC Ay=AII3"= =yy\٥ H*F,: >l4d:? l49a IBy)?:?_CiW;[;)l4!%nlA)q}DNOT Ignoring new targets: 78.98 m.%5 ProNav: ac range: 78.979507 m, nav range: 72.097687 m, bearing: 281.698221 deg, approach rate: -0.679933 m/s, LOS rate: -0.072177 deg/s, cmd heading: 287.330595 deg, new cmd heading: 287.223012 deg. 5#FeHeadingCmd: 5.012987 target range: 78.979507 and range: 79.60 m.bedj@ZarijiRiJiBi~q~uPzB}q|q|q|y|} n!@ԙ 'gB!=I)?9I= ]< AAEFl.,@LA9>q@>@Y>:y>=>H@!P? Vj?>?+U0^C? ? >q@>;)>fCJDkBJIIVIV 3^ < ^`=yb٥`d fHf+Ffb; f>hlrl4j#A?rl49jb IjBypr՝v?j_Cij';j';jl4xzPlAzE!-DNOT Ignoring new targets: 78.98 m.-5E ProNav: ac range: 78.979507 m, nav range: 71.858307 m, bearing: 281.672576 deg, approach rate: -0.665919 m/s, LOS rate: -0.071580 deg/s, cmd heading: 287.223006 deg, new cmd heading: 287.145813 deg. EDMHeadingCmd: 5.011640 target range: 78.979507 and range: 79.60 m.bM[_@ZIrIjIRIJIBQ~Q~Q}Q|Y|Y|Y|]"@ U,gBU>=I])]?YI];i< YY]ڪgP pV-Q1zEvjk296GM: =~G9 AY Aq N} >H s>H H IH kBH H H H <H {E- T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapsei +ws., ιLA:JLBJNCJJN7RJLZJLbJN=8JN4JLzJLjJLJN9rJN99rN@r@YrAI ^٥99 =H=,F=': =>AMl4EH?Ul49E IE݁ByUb#?U:U{U?E?`CiE;E;El4Y]UlAaDNOT Ignoring new targets: 78.98 m.BwBw ProNav: ac range: 78.979507 m, nav range: 71.571617 m, bearing: 281.648273 deg, approach rate: -0.634973 m/s, LOS rate: -0.054042 deg/s, cmd heading: 287.145825 deg, new cmd heading: 287.072624 deg. ZHeadingCmd: 5.010363 target range: 78.979507 and range: 79.60 m.bT@ZrjRJB~~lzB}||||`"@ 1gBPo=I)'?Iw< q<뢿<2=iT@iiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEEEEEԙ6G H=~G A A N >(y.,WLAI)9>@>=@Y>d=>Ha?k? D`~MB?I`?*? >@>#;)>iCJAkBJI)R; PIR IR<2Zd Zf=y^Y٥\` bH`bh: b>djl4fXN?jl49fM IfفBvT****** received valid address query ******vR****** received valid ping request ******vreceived new query, but waiting for acoustic response period to elapsey9=k=?fy`CifiE5Z.,LA$9:@:L@Y:?II_?? :@:F;):jCB;kBFI)H HMb@Mb@Mb@ )Yp= ף?QI +y%?u9 5A)>AI;Ay=AGG@AHp>HHIHkBHHHH<HEI=I=33 $=y:٥ H-F9 > m4V?m49l IЁByB%?:N?`Ci:: m4EgB=I)_?Ih< <2  < ==i 0C@i Թ>EE9E E E E O0E  %ш.,&$LA9V<@V榠@YVZC٥ H.F 9 > m4  ]?m49  I ƁByJ? aCi : %; m4)-lA-EAQ]DNOT Ignoring new targets: 78.98 m.]ReR} ProNav: ac range: 78.979507 m, nav range: 70.732712 m, bearing: 281.586965 deg, approach rate: -0.666842 m/s, LOS rate: -0.046059 deg/s, cmd heading: 286.948815 deg, new cmd heading: 286.887982 deg. HeadingCmd: 5.007140 target range: 78.979507 and range: 79.60 m.b}:@ZrjRJB~~}||||ଟ%@ mDgBmp7=Ii)mJ{?iIm>< qqu5<xU/#<- =i}:@iDDDDBDAT read: Response Not Received *response not received*DAT read: user:625> BDAT read: Tx time:06:02:15.9211 $Ping request sent.8.,?LA!9 @ =@Y B= H@Ga?@o? Ԯ{4?_S`⑲?? @ ;) hCM3kBMIKO"K9*K2K:Kn m4wGHxsMD0pI7*"(9GGCXfn REMb@Mb@Mb@AAA A)AYE"~j?L7A`堿Zd;OyES#?E+EjEXEA E94A)Er@AIE:AAyE=AI]I]2e; m#=ymK٥qq uHq}Թ }>m4c?m49 IBy#?:?iaCiI:;,m4lADNOT Ignoring new targets: 78.98 m. ProNav: ac range: 78.979507 m, nav range: 70.414413 m, bearing: 281.572304 deg, approach rate: -0.637829 m/s, LOS rate: -0.029512 deg/s, cmd heading: 286.887971 deg, new cmd heading: 286.843788 deg. HeadingCmd: 5.006369 target range: 78.979507 and range: 79.60 m.b,4@ZrjRJB~~HzB}||||&@IHHHIHkBHHHH{<HHE 5KgB=?0=I9)=y?9I=< 9AEq<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501529mnm]-., YLA9Fo@F@YFG=yFIu=FHG?t?q ~@?@I.*蠿h?Q? Fo@Fz;)FgCR"kBRIiVC=IV=^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753569IfIf2r\ r=yr.:~"8m4 lA9=DNOT Ignoring new targets: 78.98 m.EEe ProNav: ac range: 78.979507 m, nav range: 70.211250 m, bearing: 281.563149 deg, approach rate: -0.636905 m/s, LOS rate: -0.028783 deg/s, cmd heading: 286.843794 deg, new cmd heading: 286.816249 deg. eeHeadingCmd: 5.005888 target range: 78.979507 and range: 79.60 m.bm<0@ZirijiRiJiBq~q~q}q|y|y|y|}GB'@ -PgB-=I))5_t?1I5< 19=CIy I} ?A:J UBJ GJJ RJ ZJ 9bJ 9J J Q >.,\sLAkBII-!I-i3E  ED=yMQ M>٥II UHU0FU U>Yem4]m?em49]% I]Byiim?]aCi].:]:]Fm4qulAyDNOT Ignoring new targets: 78.98 m. ProNav: ac range: 78.979507 m, nav range: 69.946526 m, bearing: 281.551140 deg, approach rate: -0.636358 m/s, LOS rate: -0.028976 deg/s, cmd heading: 286.816254 deg, new cmd heading: 286.780092 deg. HeadingCmd: 5.005257 target range: 78.979507 and range: 79.60 m.b+@ZrjRJB~~}||||(@ %VgB%+j=I!)-q?)I-< ))-<9E-E=P"K *K 2K :K x$ C[fegE4Z+YS|Ma|@E])!B_RJI JM }A~G A A N > H H <H q>H H IH kBH H H H <H uE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511185Թ 4.,!sLAI0)2@9No@Nx@YNY=yNڊ=NH ?ˀ?@@@?` ˹T?`? No@N";)NhCZkBZIeMb@Mb@Mb@aaa a)aYe?A`"/$yef&?eYee(FA e 5A)eBAIe9Aaye=AI9I9yzż 4=yF٥ H >m4ys?m49- IBy '?:~?,bCi ;;Vm4-BmAE B*** querying acoustic contact ***J R Y]DNOT Ignoring new targets: 78.98 m.eOeO ProNav: ac range: 78.979507 m, nav range: 69.651268 m, bearing: 281.545896 deg, approach rate: -0.636102 m/s, LOS rate: -0.011345 deg/s, cmd heading: 286.780082 deg, new cmd heading: 286.764284 deg. $HeadingCmd: 5.004981 target range: 78.979507 and range: 79.60 m.b(@ZrjRJB~~PzB}||||)@ -^gB-=I5<)5Km?1I5ɫ< 115<=4=<=7K=iE(@iAԩE!E)E)E-3E)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7623646GE =~G! A1 AI NU > fS.,zLA9fs@f}@Yff+=yfj$=fH@p?M?P? Qs l?v? fs@fE;)fiCrjBrI)| |iI  I V2%_ %i=y%٥)) -H-1F5: 5>9Em4=w?Em49=]3 I=ByAEmE?=fbCi=:=:=bm4QUkmAUEDNOT Ignoring new targets: 78.98 m.`` ProNav: ac range: 78.979507 m, nav range: 69.423546 m, bearing: 281.541722 deg, approach rate: -0.667128 m/s, LOS rate: -0.012269 deg/s, cmd heading: 286.764290 deg, new cmd heading: 286.751726 deg. HeadingCmd: 5.004762 target range: 78.979507 and range: 79.60 m.b'@ZrjRJ 5?5==checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013791Bi~q~q}y||||)@ dgB="=I)f?I$< ~<c ><  =) Ci '@i9GA z YAy B=$ @= B:JMSBJMCJJM5RJIZJM;9bJM=8JM4JIE?EEEO0E!6G^S=~GAAN>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265474B.,LA9jsu@j@Yj9=yjS=jH ??u`?@ @?`? jsu@j׈;)jjC-kB-II=I=#3L< 4=y;Q >٥ H2F9 >m4A}?m49: IByh?bCi;;rm4KP"Ks9*K2K:K f8#o8fQ$y<UW19ScS' ;1\$J>J>ZmAYDNOT Ignoring new targets: 78.98 m.\\ ProNav: ac range: 78.979507 m, nav range: 69.128319 m, bearing: 281.536231 deg, approach rate: -0.645864 m/s, LOS rate: -0.012064 deg/s, cmd heading: 286.751723 deg, new cmd heading: 286.735180 deg. wHeadingCmd: 5.004473 target range: 78.979507 and range: 79.60 m.b$@ZrjRJB~~}||| | *@HHHIHVkBHHHH<HEHpCHpCHH =I IÈ45checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517643 UlgBU=IQ)U f?QI]g< YY]h<ڬ}<t=i$@iԉE?EE E E Ա 6G% @=~G A A! N- >dY.,bںLAZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769364\jBI٥    H  >%m4?%m49B I{B%+:y!-:)-?cCi:>+m415mA1amDNOT Ignoring new targets: 78.98 m.}a}a ProNav: ac range: 78.979507 m, nav range: 68.817581 m, bearing: 281.530401 deg, approach rate: -0.654683 m/s, LOS rate: -0.012339 deg/s, cmd heading: 286.735166 deg, new cmd heading: 286.717597 deg. }HeadingCmd: 5.004166 target range: 78.979507 and range: 79.60 m.b!"@ZrjRJB~~}||||q+@ tgB靝٤=I)a?I鮾< DU<嶣bH<z=i!"@i mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0222559 :J UBJ JJ 6RJ ZJ 9bJ J 4J >E "E E E E 05E a checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2740836G=ԙ~GA- bCommunications Fault in component: RDI_PathfinderAN?G;.,LA9F&_@Fh@YFtX=yF%݆=FHa??@25`>?߱Y Ұ?`? F&_@F;)DiLNA)P PIP P)PPTTTTiTITTIXiZA XX)X\ \\\\``I`)`i`)dIddd dhlliAAٯAMjBMIi])>I]٥1 =H=3FM U>m4 ?m49AK IlB :yU:ì?TcCi<~?m4YemAiK-O"K-9*K)2K-:K-[6$R; 3 U \]QS.H V.!)/<U-{ n IUDNOT Ignoring new targets: 78.98 m.U4]4 ProNav: ac range: 78.979507 m, nav range: 68.494003 m, bearing: 281.525032 deg, approach rate: -0.591946 m/s, LOS rate: -0.009868 deg/s, cmd heading: 286.717599 deg, new cmd heading: 286.701417 deg. عHeadingCmd: 5.003884 target range: 78.979507 and range: 79.60 m.b@ZrjRJB~~}||GGAAHHHIHBkBH =HHHP<H E|| ,@) U}gBU=IQ)U^?QI]a< YY]}<(p<.d=i@i = =checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527046Q>E X<EY Ea Ea Ee 1Ea ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777455ԩ6Gk[=~GAAN ?-l.,S#LA9JW@J`@YJ'n`=yJ=JHn?$? @LJi?+\ - (?? JW@JG;)JfCxMjBUI)]p< ]<Ie IeV2uj u=yuk;Q u>٥yy }H}4F}\ >m4E?m49S I\B9y,:䬿?cCiS;Կ?Am4mAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 78.98 m.QQ ProNav: ac range: 78.979507 m, nav range: 68.155937 m, bearing: 281.519650 deg, approach rate: -0.714101 m/s, LOS rate: -0.011425 deg/s, cmd heading: 286.701425 deg, new cmd heading: 286.685199 deg. HeadingCmd: 5.003601 target range: 78.979507 and range: 79.60 m.b@ZrjRJB~~}||||M-@ UgBUۢ=IY)]\?YI]A< qqu<oɣ< =i@iDDDDchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029673QEEEE#1Eq 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2814226G s=ԡ ~G A A N>(3.,@LA9>L@>yV@Y>B9e=y>`=>H??x~`HZ?@@T-?? >L@>u;)>gCjB~II%I%25_ 54=y5@);Q 5>٥99 =H=5FE4 E>IUm4M?Um49M[ IMNBU9yQU :U ]?McCiMA:M?Mm4m.BmmAmEDNOT Ignoring new targets: 78.98 m.44 ProNav: ac range: 78.979507 m, nav range: 67.861443 m, bearing: 281.515221 deg, approach rate: -0.651285 m/s, LOS rate: -0.009837 deg/s, cmd heading: 286.685197 deg, new cmd heading: 286.671852 deg. عHeadingCmd: 5.003368 target range: 78.979507 and range: 79.60 m.b@ZrjRJB~~}|||| .@ gB%_=I!)%xY?!I% < ))-<-ѣ5ԫ<5o =i5@i1ԹK*P"K9*K2K:KGE g qP>b"q#Mv5 l09Ia8>MEW|:E1E1E1E5O0E9H}o>HyH}IH}-kBH} =HyHyH}Z<H}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.533733:JQBJLJJRJZJ9bJq9JJzJ5:jJ6:J:rJ:6G}H= ~GQ Aq  dClearing failed state for component RDI_Pathfinderq A N >Q.,ÁZLA9>@@>tJ@Y>wg=y>É=>H`q?t?@vo?ٲ.?@a? >@@>1 ;)>iCRjBRzI)` `j:Expecting PD13 message formatIrIr<2z6 ~P=y~F:Q ~>٥ H t  >m4O?m49b IBB9y9<?8dCi3;@ߠm4)-mA)Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.785508quDNOT Ignoring new targets: 78.98 m.u$}$ ProNav: ac range: 78.979507 m, nav range: 67.605759 m, bearing: 281.511664 deg, approach rate: -0.645347 m/s, LOS rate: -0.009013 deg/s, cmd heading: 286.671864 deg, new cmd heading: 286.661151 deg. ŹHeadingCmd: 5.003181 target range: 78.979507 and range: 79.60 m.b@ZrjRJB~~}||||tL/@ gB5=I)U?Ih|< 0<1ףY< =i@ibE ZE ~AQEqEqEqEuP0Eqԁ6GB =~GqAAN>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037428ԩ I I BA||.,_tLA@9V&@Vj0@YVDf=yV3D=VH|??j?t=?`Ų Ĭ`^?'? V&@VY;)VeChjyIlnBAIrIr2zY zK=yz~Q z>٥QQ UHU6Fe e>imm4m%?um49m i Im5Buo9yqu9uu?m}dCim;m0@mm4mADNOT Ignoring new targets: 78.98 m. ProNav: ac range: 78.979507 m, nav range: 67.335854 m, bearing: 281.508602 deg, approach rate: -0.655980 m/s, LOS rate: -0.007471 deg/s, cmd heading: 286.661154 deg, new cmd heading: 286.651933 deg. HeadingCmd: 5.003020 target range: 78.979507 and range: 79.60 m.b@ZrjRJB~~}||||0@ gB0=I!)%S?!I%< !!%o<-xܣ-P<-;  H <H H H H IH kBH H H H <H PEK} ,WP"K} 9*Ky 2K} :K} {D3m W n>7F8piE".Ub^`pxBJ J |A checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541392[d.,&:LA9j@j[(@lYjjb=yjk%=jHm??㨿`/?;V:?@? j@j;)jgCzjBzzIIIb1 : H=y Q >٥ H%7F-y" ->A]m4EŢ?]m49Eo IE(BeB9yae9mĭm?EdCiE ;EJ@E*m4mA:JTBJDJJ:RJZJ{9bJ8JFA4JzJv:jJv:JW9rJ\99=DNOT Ignoring new targets: 78.98 m.=EM ProNav: ac range: 78.979507 m, nav range: 67.076408 m, bearing: 281.505857 deg, approach rate: -0.614404 m/s, LOS rate: -0.006525 deg/s, cmd heading: 286.651920 deg, new cmd heading: 286.643653 deg. UN}HeadingCmd: 5.002875 target range: 78.979507 and range: 79.60 m.b}@ZyryjyRyJyB~~}|||||0@ 5gB5=I1)5Q?1I==< 99=cߐ.,OLA96@6N#@Y6W_=y6h=6H-d?b?`ܨ™>'?[E V竿=#?k? 6@6 ;)4FjBJoIILILV; VQ=yZLQ Z>٥XX ^H\^κ b>`fm4bB?fm49b;v IbBj9yhjq9jحj?beCib^;b!c@bm4lrnArE B*** querying acoustic contact ***J R QDNOT Ignoring new targets: 78.98 m. ProNav: ac range: 78.979507 m, nav range: 66.823975 m, bearing: 281.503301 deg, approach rate: -0.687173 m/s, LOS rate: -0.006985 deg/s, cmd heading: 286.643642 deg, new cmd heading: 286.635944 deg. eHeadingCmd: 5.002741 target range: 78.979507 and range: 79.60 m.bt@ZrjRJB~~}!|!|!|!|%0@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045627 -gB5=I1)5 K?1I5< 99=<=壿E2jEu?>ԉE?EEE_0EFFԱ6G- N<~G A A! NM >e checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297647 v.,LA9>@>T@Y>\=y>~=>HZ??R@?@v-&?? >@>{;)>eCJjBJpI)N4< Np<IPIPZZ; ZJ=yZQ Z>٥\\ ^H^8Fb%ź b>djm4f꫸?jm49f| IfBj8yhjC9n쭿n?fCeCifG);f}@fͬm4tvmAtDNOT Ignoring new targets: 78.98 m.ݸݸ ProNav: ac range: 78.979507 m, nav range: 66.561554 m, bearing: 281.500759 deg, approach rate: -0.623595 m/s, LOS rate: -0.006065 deg/s, cmd heading: 286.635937 deg, new cmd heading: 286.628281 deg. Թ1HeadingCmd: 5.002607 target range: 78.979507 and range: 79.60 m.b\@ZrjRJB~~}||||% G1@ gB@~=I)I?I=< _<飿<,H5oCH5IH5kBH5 =H1H5DH5<H5dEEEEEo0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.549511K%P"K59*K2K:Kz/l+hz#- -Gs`w#g-va]|:zvN!J ?J?:JBJCJJ8RJZJbJ=8J'4JzJv:jJv:J9rJ96G <~Ga Ai A N >A  PExceeded connect timeout, disconnecting..,ۻLA9>x@>"@Y>Y=y>f=>H$O?@V?@E? 59 @#? ? >x@>@;)٥XX ZHZ9Fb^ b>djm4f?jm49fà IfBn8yln9nn?feCifm ;fn@fm4pr2nAvE DNOT Ignoring new targets: 78.98 m.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8016005 ProNav: ac range: 78.979507 m, nav range: 66.298782 m, bearing: 281.498364 deg, approach rate: -0.681147 m/s, LOS rate: -0.006232 deg/s, cmd heading: 286.628287 deg, new cmd heading: 286.621075 deg. 5ۈMHeadingCmd: 5.002481 target range: 78.979507 and range: 79.60 m.bMT@ZQrQjQRQJQBQ~~}||||1@ gB靥=I)D?I8< hK<x<E Y y AI I @Aԙ .,ҦLA9>@>@Y>IEW=y>}=>H`,A?@A?N`?`ű`}媿-?2? >@>;)>iCFjBJiIIRIR1ZO|; ZJ=y^κQ >٥    H    >%m4H?-m49 IB-8y)595"5?eCii;@m49=,nA9amDNOT Ignoring new targets: 78.98 m.mǸmǸ ProNav: ac range: 78.979507 m, nav range: 66.030273 m, bearing: 281.496105 deg, approach rate: -0.646696 m/s, LOS rate: -0.005463 deg/s, cmd heading: 286.621075 deg, new cmd heading: 286.614270 deg. oHeadingCmd: 5.002363 target range: 78.979507 and range: 79.60 m.b[@ZrjRJB~~}||||~2@ gB?=I)nB?I< w}<񣿩v<G) G- @AH5 h>H1 H5 IH5 kBH5  =H1 H1 H5 <H5 MEHHHH =I = I5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558181 K O"K 9*K 2K :K Vcp]48EBl6IR+~p){k[nE"3c/,LA9j@j{@YjOT=yju=jH1?`?稿?〱􆪿?? j@j;)jgCvjBvbII~I~F2 tƼ  C=y Q  >٥ H:FS! >!-m4%󹸜?-m49% I%B-8y)-8-D-?%fCi%t:%ĥ@%m49=XnA=Ei:JBJJJ5RJZJbJJ4JzJv:jJv:JrJuDNOT Ignoring new targets: 78.98 m.~~  ProNav: ac range: 78.979507 m, nav range: 65.763763 m, bearing: 281.494088 deg, approach rate: -0.652325 m/s, LOS rate: -0.004959 deg/s, cmd heading: 286.614272 deg, new cmd heading: 286.608194 deg. 5Y=HeadingCmd: 5.002257 target range: 78.979507 and range: 79.60 m.b=}@Z9r9j9R9J9BA~A~A}A|I|I|I|M`Ѐ2@ gB靝.=I)m=?I?< <ԩv<[9 ` /,)LA9:@:@Y:tR=y:=:H7&?? 娿@v.?X@ְ?u? :@:[҅;):fCFjBFRIIN IN<2V VQ=yZ;Q Z>٥XX ZH^;F^ b>hnm4jh?nm49j" IjBr[8ypr8r\r?jQfCij";j^@jm4tvnAx B*** querying acoustic contact ***J R DNOT Ignoring new targets: 78.98 m.%%5 ProNav: ac range: 78.979507 m, nav range: 65.508255 m, bearing: 281.492302 deg, approach rate: -0.648983 m/s, LOS rate: -0.004553 deg/s, cmd heading: 286.608207 deg, new cmd heading: 286.602829 deg. 5H=HeadingCmd: 5.002163 target range: 78.979507 and range: 79.60 m.b=@Z9r9jARAJIBI~Q~Q}Q|Y|Y|a|ef2@ gB w=I ) t4? I= 5<==<=i - checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313470/,|CLA 9Fz@F$@YFWO=yF+=FHW??@iը`G?`#@*詿?? Fz@FU;)FgCVjBVLIiZ٥hl nHlr# r>tvm4vø?zm49v IvԀBz18yxz8z~z?vfCiv:v`@vm4nA1=DNOT Ignoring new targets: 78.98 m.EnEnU ProNav: ac range: 78.979507 m, nav range: 65.243622 m, bearing: 281.490677 deg, approach rate: -0.649069 m/s, LOS rate: -0.004001 deg/s, cmd heading: 286.602825 deg, new cmd heading: 286.597931 deg. U/]HeadingCmd: 5.002078 target range: 78.979507 and range: 79.60 m.b]@ZYrYjYRYJaBa~a~a}i|i|i|i|mKH3@ gB靝|l=I)0?I = !<X<HH{IHjBHHHH<HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.565428KO"K}9*K2K:Kl_Xe<8 btB7N%4 :BTGjDn{j{J-?J- ?Ա6GVv<~GAAN> /,^]LA9:@:<@Y:EL=y:U=:HY?`.?"ۨ`?Oˮ? Y? :@: ;):fCLfjBjBIrchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.818269IIF3) E=y%ӺQ %>٥)) -H-AUm4EǸ?Um49E IEȀB]8yY]\8]]?EfCiE+Z;E@EUm4iu-oAqDNOT Ignoring new targets: 78.98 m.{{ ProNav: ac range: 78.979507 m, nav range: 64.972984 m, bearing: 281.489233 deg, approach rate: -0.642132 m/s, LOS rate: -0.003440 deg/s, cmd heading: 286.597934 deg, new cmd heading: 286.593584 deg. HeadingCmd: 5.002002 target range: 78.979507 and range: 79.60 m.bf@ZrjRJB~~}||||3@ gB~=I))?Is= 9\<1<-<:J BJ ?JJ >RJ ZJ bJ 8J t4J  @ @ @ @_)/,+4wLA9Bl@B@YBDJ=yBޅ=BH?8?X?ΰ`E@?`? Bl@Bj;)BdCNijBN(IIVIV3^ҽ ^Q=y^|Q b>٥`` bHb=Ff\ f>hnm4j ̸?nm49jt IjBn7ypr28rv?jgCijj[;j1@jͳm4|x~oA!-DNOT Ignoring new targets: 78.98 m.-Kn-KnE ProNav: ac range: 78.979507 m, nav range: 64.720299 m, bearing: 281.487986 deg, approach rate: -0.656969 m/s, LOS rate: -0.003255 deg/s, cmd heading: 286.593590 deg, new cmd heading: 286.589834 deg. EMHeadingCmd: 5.001936 target range: 78.979507 and range: 79.60 m.bM@ZIrIjIRIJIBQ~Q~Q}Y|Y|Y|Y|e4@ gB靝ğ=I)?ID= <<1 H <H <H h>H H oIH jBH H H H <H [Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573867$/, LAKrO"K9*K2K:Kz]Cc +pmo~#~;x[39Bߘ@B{@YBG=yB=BH@?2?Y׿?ݰ@qհ?@? Bߘ@B}Ɔ;)BfCNSjBNI)P PIVIVb1^Y ^J=ybºQ b>٥`` fHdfa f>hnm4jи?nm49j: IjBr7ypr8rr?j^gCij;j@j1m4v/Bv.pAvEDNOT Ignoring new targets: 78.98 m.=X=X- ProNav: ac range: 78.979507 m, nav range: 64.457649 m, bearing: 281.486805 deg, approach rate: -0.654312 m/s, LOS rate: -0.002954 deg/s, cmd heading: 286.589847 deg, new cmd heading: 286.586290 deg. -5HeadingCmd: 5.001874 target range: 78.979507 and range: 79.60 m.b5[@Z1r9j9R9J9B9~A~A}A|A|I|I|M@W}4@Y %hB%ח=I))-?)I-, = )15<==F<=XjEM>EEEE0Eԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827172Թ6G% <~Gi Ay A N > \:*/,2檼LA9Rۘ@R?@YR>D=yRuJ=RH?ʬ?U ٥xx zHz>Fz z> m4!ո? m49 IB 7y  7 Ϯ ?gCi:/@m4vpAEB*** querying acoustic contact ***JARAQUDNOT Ignoring new targets: 78.98 m.]C]Cm ProNav: ac range: 78.979507 m, nav range: 64.191208 m, bearing: 281.485709 deg, approach rate: -0.646856 m/s, LOS rate: -0.002672 deg/s, cmd heading: 286.586295 deg, new cmd heading: 286.582993 deg. muHeadingCmd: 5.001817 target range: 78.979507 and range: 79.60 m.bu@ZqryjyRyJyBy~~}||||`4@  hB=I) ?I = ]<< 0٘@>@Y>?B=y>(=>Hd??`שԮ?~mY?? >0٘@>R;)>gC'jBIII(*3-w -F=y-ɞQ 5>٥11 =H9=H9 =>AMm4Eٸ?Mm49E IEBMw7yIU7UٮU?EgCiE:E5AEǴm4]0BepAaDNOT Ignoring new targets: 78.98 m.99 ProNav: ac range: 78.979507 m, nav range: 63.922653 m, bearing: 281.484669 deg, approach rate: -0.652552 m/s, LOS rate: -0.002537 deg/s, cmd heading: 286.582990 deg, new cmd heading: 286.579858 deg. ޸HeadingCmd: 5.001762 target range: 78.979507 and range: 79.60 m.bo@ZrjRJB~~}||||`P5@ hB =I)?I = <%=y<%_HYH]OIH]jBHYHYHYH]<H]EE?EEEO5EAԙ &Q7/,޼LArBDAT read: Response Not Received v*response not receivedz*DAT read: user:626> -z٥ai mHm?Fuau u>ym4}P޸?m49} I}BH7y7殿?}+hCi};}A}m4qADNOT Ignoring new targets: 78.98 m.)) ProNav: ac range: 78.979507 m, nav range: 63.654675 m, bearing: 281.483715 deg, approach rate: -0.648865 m/s, LOS rate: -0.002322 deg/s, cmd heading: 286.579848 deg, new cmd heading: 286.576971 deg. ˸HeadingCmd: 5.001712 target range: 78.979507 and range: 79.60 m.b@Z r j R J B~~}||||κ5@i  hB靅Jچ=I)>I= 3<Rc<|JSJ[7&4J[0:J TBJ AJJ 8RJ ZJ {9bJ 8J '4J bw=/,_{LAiBII-I-b=l =M=y=Q E>٥AA EHE@FM U>Yem4]⸜?em49] I]Bm"7yimy7im?]nhCi]4:]. A](m4q}qAyDNOT Ignoring new targets: 78.98 m.,,,, ProNav: ac range: 78.979507 m, nav range: 63.395237 m, bearing: 281.482783 deg, approach rate: -0.651999 m/s, LOS rate: -0.002352 deg/s, cmd heading: 286.576979 deg, new cmd heading: 286.574171 deg. θHeadingCmd: 5.001663 target range: 78.979507 and range: 79.60 m.b @ZrjRJB~~}|||| 6@ *hBc=I)>I3= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250598uHQ HU *IHU ljBHU  =HQ HQ HU p<HU 2E6G% <~G A A! N- > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502161^D/,SLAK"ѹP"K"59*K 2K":K"jLVUeg 0W)Co[MH NrN]TU#,J$J&}A9fǘ@fџ@Yfrg7=yfl=fH?X?i?`*.@ꦿ@t?4? fǘ@f;)fdCniBrIIv!Ivi3~ ~N=yQ >٥  H  퍻  >m4縜?m49? IxB%7y!%I7%(%?hCi;}AKm4)-prA-EQUDNOT Ignoring new targets: 78.98 m.]E]Em ProNav: ac range: 78.979507 m, nav range: 63.138954 m, bearing: 281.482326 deg, approach rate: -0.650776 m/s, LOS rate: -0.001163 deg/s, cmd heading: 286.574165 deg, new cmd heading: 286.572791 deg. mSLuHeadingCmd: 5.001639 target range: 78.979507 and range: 79.60 m.bum @ZqrjRJB~~}||||6@Q 5hB}"=I)&>I-.= ))-><5 57<5S}J/,-,LA@9VØ@V̟@YVn3=yVv=VH`??lV@\?=kҮ?D? VØ@V(;)VbCbiBbIIjIjb2)t tmfG~^rA K= yYrAyByyQ %>٥)) -H-AFU밺 ]>a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010618m4e츜?m49e IelB6y#78?ehCieYyI}= %Ɋ<:JSBJBJJ?RJZJ;9bJ8Jـ4Jc <pQ/,N FLA9J@J@YJ.R/=yJ<=JHǧ?·?1<@Pw?@西@? ? J@J8;)JgCViBVII^!I^i3f> fM=yf5Q j>٥hh jHjBFlnݑ r>tzm4v︜?m49v IvbB6y7i?v5iCiv |;v\ Av~m4 @sA1=DNOT Ignoring new targets: 78.98 m.E}ڳE}ڳU ProNav: ac range: 78.979507 m, nav range: 62.616947 m, bearing: 281.481933 deg, approach rate: -0.694600 m/s, LOS rate: -0.000006 deg/s, cmd heading: 286.571624 deg, new cmd heading: 286.571618 deg. U]HeadingCmd: 5.001618 target range: 78.979507 and range: 79.60 m.bYZYrYjYRYJaBa~a~a}i|i|i|i|u`R7@ IhB靭){=I)ã>IV= 2h<b <HHIH%jBH =HHH<HEHoCHoCHHI I4EE?EAEAEMm0EIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.515549K(P"K}9*K2K:K[R8"&C .)+Ie051a$Q V6M%vh9J ?J>6G=5a W/,5_LArchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7666219v@v0ǟ@Yv1/=yvv=vHC?@? ,`?dZ췰?@? v@v!;)vcCziBII I  2_ E=y%I9Q %>٥!! -H)-; ->19Em4=p?Em49= I=WBE6yAE6EHM?=ziCi=V;=&A=m4]1B]sAeEDNOT Ignoring new targets: 78.98 m.// ProNav: ac range: 78.979507 m, nav range: 62.346909 m, bearing: 281.481685 deg, approach rate: -0.650877 m/s, LOS rate: -0.000600 deg/s, cmd heading: 286.571624 deg, new cmd heading: 286.570878 deg. ҷHeadingCmd: 5.001606 target range: 78.979507 and range: 79.60 m.b' @ZrjRJB~~}||||@7@ UhBIO= [< C< *زԹ v]/,yLA%iiB%IIEIEb2U' UG=yUQ U>٥YY ]H]CFe e>ium4m?um49m ImLBub6yq}6y}?miCim;m-Amm4sAEԙDNOT Ignoring new targets: 78.98 m.<1<1 ProNav: ac range: 78.979507 m, nav range: 62.080582 m, bearing: 281.481439 deg, approach rate: -0.651309 m/s, LOS rate: -0.000605 deg/s, cmd heading: 286.570887 deg, new cmd heading: 286.570144 deg. ԷHeadingCmd: 5.001593 target range: 78.979507 and range: 79.60 m.b @ZrjRJB~~}||||`%8@ %`hB%7I^=I))- >)I-A-= ))-H h>H H IH iBH H H H x<H @E!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522167d/,LA9>ǽ@>qǟ@Y>~H-=y>z=>H? ? @R@?@H`h,?`2? >ǽ@>I;)<KRHP"KR9*KP2KR:KR !XwWvYh.`#tB@ o," 1vN~WiB~I) ; 4<I I (1E2 MK=yMԺQ M>٥IQ UHUDFU8 U>:JeRBJeAJJe6RJaZJe9bJe8Je 4JazJeK:mjJeK:mJeY9urJe^9uym4}a?m49}c I}AB76y6E?}jCi}V:}4A}m4/tADNOT Ignoring new targets: 78.98 m.DD ProNav: ac range: 78.979507 m, nav range: 61.816452 m, bearing: 281.481167 deg, approach rate: -0.651964 m/s, LOS rate: -0.000673 deg/s, cmd heading: 286.570149 deg, new cmd heading: 286.569331 deg. eHeadingCmd: 5.001578 target range: 78.979507 and range: 79.60 m.b @ZrjRJB~~}|||| 8@ %lhB%"fW=I!)%j>)I-@= ))-{<5 5D<5 ٥X\ ^H\n, n>pvm4r?vm49r Ir7Bz6yxzd6zZ~?rBjCiro;r4:Arm4  otA 15DNOT Ignoring new targets: 78.98 m.88 ProNav: ac range: 78.979507 m, nav range: 61.566181 m, bearing: 281.481059 deg, approach rate: -0.647302 m/s, LOS rate: -0.000280 deg/s, cmd heading: 286.569329 deg, new cmd heading: 286.569004 deg. EHeadingCmd: 5.001573 target range: 78.979507 and range: 79.60 m.b @ZrjRJB~~}||||`8@]BDAT read: Rx Time:06:02:29.3594 eTRx dataTimestamp_ set to:1749103350.787467echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027334i mxhBu@]N=Iq)ugN>qIu'= qy}R>< ш<F Uq/,\ǽLA9=F@=@Y=Y(=y===H`? 5?qj?4 ̱?@0? =F@= ;)=bCU=y<ۺQ >٥ HEF& >m4>?m49 I,B5y86t?jCi:AAm4tAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 78.98 m.`6`6 ProNav: ac range: 78.979507 m, nav range: 61.288235 m, bearing: 281.481141 deg, approach rate: -0.650222 m/s, LOS rate: 0.000191 deg/s, cmd heading: 286.569001 deg, new cmd heading: 286.569247 deg. h7 HeadingCmd: 5.001577 target range: 78.979507 and range: 79.60 m.b  @Z r j R JB~~}||||%]9@ MhBMK=IQ)Uf8>QI]5= YYee EBDAT read: Tx time:06:02:30.4728 E$Ping request sent.EmX9m~> mϩ'@)m|=Im)@imnFmU@mnF= i)imJhh~?ޙ?,߽?im|?mゥm޹mnF= i)i:publishing transmit ping timeAFpublishing direction and range infoiym?~2Fh6.iYi i)iIiiiiiii i)iIiiiii i)imJhh~?ޙ?,߽?iiiii i)iK5P"K5s9*K12K5:K5p[ zGnt$@P[oPQ >~ Jqw:JyBJ}KJJ}7RJyZJybJ}K9J}4JyzJyjJyJ} :rJ} :6G%< ~G A A N >1 w/, 5LAfJDAT read: TxSync time:06:02:30.4720 9z律@z@Yz&=yz^=zH??@x? @Y?뽭 ¤L?@7? z律@z E;)zeCM2iBMiIyyII2  I=yںQ >٥ HFF2 > m4 ? m49 I!B5y6?jCie&;GAƵm415tA9ZbzҽLAzBzB @ʁ8%8O@-J2?~2Fh6.޹nF=ҁYvn/@N23G?Yy(Mёzpc~AjF?rK*? UB@fq? 4BꁝuB՝@  addTargetRange:: Added new target pos. range: 63.000000 m, deltaT: 25.473155 s, deltaX: -16.599998 m, approachRate: -0.651666 m/s, rangeRepo size: 4  Added new target pos. range: 62.505726 m, bearing: 284.784861 deg, lat: 36.906120 deg, lon: -122.116045 deg, deltaT: 25.473155 s, deltaX: -16.473782 m, approachRate: -0.646711 m/s, posRepo size: 4 QDNOT Ignoring new targets: 62.51 m.% ProNav: ac range: 62.505726 m, nav range: 61.271721 m, bearing: 282.603617 deg, approach rate: 0.000000 m/s, LOS rate: 0.000191 deg/s, cmd heading: 286.569247 deg, new cmd heading: 286.569504 deg. !EHeadingCmd: 5.001581 target range: 62.505726 and range: 63.00 m.bE @ZIrIjIRQJQBQ~y~}|||O@|S?9 mhBm/>=Ii)m>qIu<= q=҈< .7<x~/,0LA9>@>F@Y>y" =y>A=>H\h??z`4? ?(? >@>ڌ;)>cCN+iBReIIZIZ3b bG=yboQ b>٥dd fHdj j>lrm4n ?rm49n InBr5ypr5r䯿v?nkCin:nNAn˵m4xztAzE)5DNOT Ignoring new targets: 62.51 m.5)95)9E ProNav: ac range: 62.505726 m, nav range: 61.012253 m, bearing: 282.609305 deg, approach rate: -0.700619 m/s, LOS rate: 0.015427 deg/s, cmd heading: 286.569493 deg, new cmd heading: 286.586632 deg. Ed):HeadingCmd: 5.001880 target range: 62.505726 and range: 63.00 m.bg@ZrjRJB~~}||||`6?a mhBmDC=Ii)uZ >qIuaG= qqus<}i<-Ƌ y/,LAK;P"K9*K 2K:KE7 DPJ)|yD,ZVh(cM;dU$=c&:J"UBJ"AJJ":RJ ZJ"9bJ"8J"FA4J zJ"0:jJ"5:J"Z9rJ"_99v@v.@Yvr=yv9=vH`b?? s4`5?ԫO7a?"? v@vf;)ti R=I N>IIT3%u: %E=y-Q ->٥)) -H5GF5n 5>9Em4={?Em49= I= BM5yIM5MM?=VkCi=:=TA=ϵm4U2BUtA]EyDNOT Ignoring new targets: 62.51 m.99 ProNav: ac range: 62.505726 m, nav range: 60.742092 m, bearing: 282.615441 deg, approach rate: -0.654339 m/s, LOS rate: 0.014927 deg/s, cmd heading: 286.586623 deg, new cmd heading: 286.605112 deg. #:HeadingCmd: 5.002203 target range: 62.505726 and range: 63.00 m.b @ZrjRJB~~}||||c? hB?=I)>I= 6/,T0LA 9V1|@V܅@YV^=yVև=VH9?@h? ?@*?B? V1|@VX;)VbCb/iBbgI)j4< jIjIj2v< vO=yz[,Q z>٥|| HHFֻ > m4 ?m49 k I BO5y5K? kCi Y; [A ӵm4!%tA!QUDNOT Ignoring new targets: 62.51 m.]Ζ9]Ζ9} ProNav: ac range: 62.505726 m, nav range: 60.483856 m, bearing: 282.621972 deg, approach rate: -0.648870 m/s, LOS rate: 0.016481 deg/s, cmd heading: 286.605119 deg, new cmd heading: 286.624796 deg. }4:HeadingCmd: 5.002546 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~~}|||| I^? hBl&;=I)=I = 8<룿<wfԩ /,JLA@9F|@F@YFp=yFK=FH9?)?@3謿` ?j좿Ӣ?? F|@FK;)FcCR$iBR`IIZIZm?3fϼ fL=yjAQ j>٥ll nHlr r>tzm4v?zm49v$' IvBz(5yxz5zHz?vkCiv:vzaAvյm4tA%B*** querying acoustic contact ***J!R!)5DNOT Ignoring new targets: 62.51 m.5959U ProNav: ac range: 62.505726 m, nav range: 60.223850 m, bearing: 282.628583 deg, approach rate: -0.650902 m/s, LOS rate: 0.016620 deg/s, cmd heading: 286.624790 deg, new cmd heading: 286.644707 deg. U6:Hee>HaHeIHeZiBHe =HaHaHe<HeE}HeadingCmd: 5.002894 target range: 62.505726 and range: 63.00 m.b}@ZyrjRJB~~}||||@? hBT4=I)=Is[= QY]/J>6GNXd<~G A A N >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240045 /,rdLA9Jz@JS@YJ=yJ%|=JH6??`S?ګ ⢿`?? Jz@J;)JaCZ5iBZkIIbIb0jt%=l nI=yrXQ r>٥pp rHrIFv v>x]m4z( ?]m49z- IzB]5yY]P5]Le?zlCizg/,hBLA(9>w@>@Y>=y>^=>H q1?@ ?@4@2? ǫED?? >w@>:;)>bCJKiBNxIaeBAImIm1}A= }4=y})`Q }>٥ HJFG >m4$?m495 IB4y)5V?jlCi::oAڵm4etAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.743399DNOT Ignoring new targets: 62.51 m.ͣ9ͣ9- ProNav: ac range: 62.505726 m, nav range: 59.664989 m, bearing: 282.643135 deg, approach rate: -0.677477 m/s, LOS rate: 0.017901 deg/s, cmd heading: 286.665198 deg, new cmd heading: 286.688582 deg. 5D:=HeadingCmd: 5.003660 target range: 62.505726 and range: 63.00 m.b=@Z9r9jARAJABA~I~I}I|I|Q|Q|U M@ hB靅Q9=I)2=I=   Ɨ< ~ǣ+<SHqHuIHudiBHqHqHqHu<HuaEH9H9H9H9I9 I=ƕ4ԩ6GRe< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995527~G A A N > K- O"K- h9*K) 2K- :K- y:_gR1Rha uz82p,O'JE |AJA 5/,5 LA:JRBJFJJ8RJZJ9bJ9J'4JzJK:jJK:J9rJ99:u@:~@Y:M=y:%=:H`,?Y?``?CЫp}?-? :u@:k;):dCNFiBNuIIVIV2lU Q=y8ȹQ >٥!! %H!%rg ->)Um4-)?]m49-*< I-B]4yY]5]`]?-lCi-q;-uA-۵m4amztAiQ]DNOT Ignoring new targets: 62.51 m.e9e9 ProNav: ac range: 62.505726 m, nav range: 59.411160 m, bearing: 282.649947 deg, approach rate: -0.611029 m/s, LOS rate: 0.016468 deg/s, cmd heading: 286.688584 deg, new cmd heading: 286.709108 deg. 4:HeadingCmd: 5.004018 target range: 62.505726 and range: 63.00 m.b @ZrjRJB~~}||||۸ @ hB靥2=I)=I=f= Kb< <7?JR]/,QܳLA&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4993129f}t@f(~@Yf4=yfϔ=fH@+?F?ޮ@<?`𯫿`n ?`? f}t@fY;)fbCrGiBrvIiv=ItIaIaI aMaM aQaQ aEaE a)a) Mb@Mb@Mb@ )YS㥛?V-٥ HKF >m4.?m49C IBT:y_&?:;?lCi::m4utADNOT Ignoring new targets: 62.51 m.,\,\% ProNav: ac range: 62.505726 m, nav range: 59.116348 m, bearing: 282.648676 deg, approach rate: -0.694030 m/s, LOS rate: -0.003008 deg/s, cmd heading: 286.709102 deg, new cmd heading: 286.705269 deg. %%HeadingCmd: 5.003951 target range: 62.505726 and range: 63.00 m.b-^ @Z)r)j)R)J1B1~1~5zB}9|9|9|9|E@ @ hB0=I)N=I= 2<Z<2K%E/,=;LAHc>HHIHniBHHHDH<HxE9JTt@J}@YJ$=yJ=JH@*??x(S|? cX?? JTt@J5r;)JcCVciBZI ^p=^=)` b4<IfIf2r= rl=yvQ v?٥tt vHtzl z?|m4~2?m49~I I~By  < ?~1mCi~:~:~m4 tAEԙB*** querying acoustic contact ***JR!%DNOT Ignoring new targets: 62.51 m.-!>-!>e ProNav: ac range: 62.505726 m, nav range: 58.890820 m, bearing: 282.647702 deg, approach rate: -0.599114 m/s, LOS rate: -0.002597 deg/s, cmd heading: 286.705277 deg, new cmd heading: 286.702344 deg. e(uHeadingCmd: 5.003900 target range: 62.505726 and range: 63.00 m.bu@ZqrqjyRyJyBy~y~}||||@@@ 5iB=?5=I9)=>=9I== 9AEPJM>6G H<~GA AY Aq N > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.255249 Io/,qLA9>Vt@>~@Y>=y>|=>H*?@u?@h?`1?H? >Vt@>\;)٥ H LF *6  >m47?m49RP IBy!%=%?tmCi;;m4-3B-!tA-EaeDNOT Ignoring new targets: 62.51 m.u6^6^ ProNav: ac range: 62.505726 m, nav range: 58.626179 m, bearing: 282.646556 deg, approach rate: -0.697697 m/s, LOS rate: -0.003035 deg/s, cmd heading: 286.702354 deg, new cmd heading: 286.698900 deg. SHeadingCmd: 5.003840 target range: 62.505726 and range: 63.00 m.bu@ZrjRJB~~}||||@ @ iB1=I)=IL*= %rˆ<]ey [/,}LA9>y@>9@Y>P=y>F{=>H4?1?@`F?@7`)`?v? >y@>;)>bC^fiBbIUMb@Mb@Mb@QQQ Q)QYU}?5^I?~jty&1?yUM"?UDU`eA)QIUn@AQyUFAImIm2^< ?=y!Q >checking for new query: numPingsReceived=0, elapsed TxPingTime=4.759244٥11 5H5MF5e: 5>9Em4==?Em49=~W I=BQyM_"?:Ҩ?=mCi=*&<=%<=m4sA DNOT Ignoring new targets: 62.51 m.M ProNav: ac range: 62.505726 m, nav range: 58.345207 m, bearing: 282.637955 deg, approach rate: -0.611422 m/s, LOS rate: -0.018805 deg/s, cmd heading: 286.698912 deg, new cmd heading: 286.672987 deg. U}NUHeadingCmd: 5.003387 target range: 62.505726 and range: 63.00 m.b]@ZYrYjYRYJYBY~a~zB}||||@c@ }#iB靵Ƞ,=I)$=ICm= O<iУr<[H!H%IH%iBH!H!H%DH%u<H%8EEAEAEAEAEIFU=FU=ԡm checking for new query: numPingsReceived=0, elapsed TxPingTime=5.0112706G] N<jGe ?bGe ?~Gq A A N > /,OXLAK.IO"K.59*K,2K.:K.KRJex)E1I!hx^+(f9n@nR@Ynl=ynl=nH U?`?`g!?߫,@:?? n@np;)n`CzSiBz}I~A~AI#I%x3 A R=yx8Q >٥!! %H!%A; %>)=m4-B?=m49-w] I-ByAEE?-mCi->/;-/;-vm4IMItAIDNOT Ignoring new targets: 62.51 m.ǹǹ ProNav: ac range: 62.505726 m, nav range: 58.111248 m, bearing: 282.630255 deg, approach rate: -0.660762 m/s, LOS rate: -0.021836 deg/s, cmd heading: 286.672984 deg, new cmd heading: 286.649789 deg. oHeadingCmd: 5.002983 target range: 62.505726 and range: 63.00 m.bo@ZrjRJB~~}||||@ .iBT'=I)=I= x< ݣf<@1 /,+55LAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.5159679^D@^@Y^%V=y^+=^Hbf??>2?@z竿)=?`? ^D@^H;)^bC%MiB-yIMb@Mb@Mb@ )YV-?٥    H NF; >%n4mH?%n49=d IBy%?%:%ǧ%?iB v=I ) `o< I2= ]<j-<sqH- d>H) H- IH- iBH-  =H) H) H- <H- ]EQ/,NLA 9>@>@Y>3=y>k=>H xs?r?J;:>?@}%l?@8? >@>6e;)>cCJFiBJuIIRIR2Zڟ Zc=yZ#Q ^>٥dd fHfOFjA; j>lrn4n@M?rn49ni InBytvv?nunCin;n:nJn4xztAx%DNOT Ignoring new targets: 62.51 m.%%5 ProNav: ac range: 62.505726 m, nav range: 57.623615 m, bearing: 282.610871 deg, approach rate: -0.649525 m/s, LOS rate: -0.026328 deg/s, cmd heading: 286.618343 deg, new cmd heading: 286.591378 deg. 5HeadingCmd: 5.001963 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~~}||||@ ]JiBe*'=Ia)eaIeȐ= aamP  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.271498f/,hLAP9Z@Zǫ@YZ=yZHq=ZH?@?N M?#[0"?? Z@Z;)ZbCfAiBfrI n=n=IrIrm?3zI zF=yzR9Q ~>٥|| ~H|y; > n4 R?n49 Mp I By!%%? nCi g; h; &n4)-tAEB*** querying acoustic contact ***JR)5DNOT Ignoring new targets: 62.51 m.5O۹5O۹ ProNav: ac range: 62.505726 m, nav range: 57.371807 m, bearing: 282.600373 deg, approach rate: -0.572360 m/s, LOS rate: -0.023967 deg/s, cmd heading: 286.591377 deg, new cmd heading: 286.559745 deg. HeadingCmd: 5.001411 target range: 62.505726 and range: 63.00 m.b @Zrj RJB~I~Q}Y|a|||@T@ \iB w=I ) x޼ I~t= J<1=z<=ͦ*/,łLA9>`@> @Y>=y>l=>H?P?I/a?t1 3|? ? >`@>";)>aCv-iBvfI|checking for new query: numPingsReceived=0, elapsed TxPingTime=6.775296Mb@Mb@Mb@ )YZd;O?~jth?Mbpyj?D;QA )OAIBAyHAII2=/ =7=y= }8Q =>٥AA EHEPFMF8; M>n4LY?n49Rw IByk?:?nCiQ::6n4tADNOT Ignoring new targets: 62.51 m.>>5 ProNav: ac range: 62.505726 m, nav range: 57.094894 m, bearing: 282.582543 deg, approach rate: -0.644539 m/s, LOS rate: -0.041700 deg/s, cmd heading: 286.559740 deg, new cmd heading: 286.505993 deg. 5=HeadingCmd: 5.000473 target range: 62.505726 and range: 63.00 m.b=@Z9rAjARAJABa~i~m7{B}i|i|q|q|u t@ jiBju =I)XrIG=! !%W<-/-<5Т/,LA9>@>j@Y>=y>r=>Hʤ??% `p?5`@BSf?7? >@>,;)٥dh jHjQFj%; j>pvn4rT^?zn49r| IrzByxzz?r3oCirW:rW:rBn4YEuA9EDNOT Ignoring new targets: 62.51 m.E)M) ProNav: ac range: 62.505726 m, nav range: 56.882870 m, bearing: 282.568582 deg, approach rate: -0.559169 m/s, LOS rate: -0.036957 deg/s, cmd heading: 286.506000 deg, new cmd heading: 286.463960 deg. ʺHeadingCmd: 4.999739 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~ ~ }||!|!|%`@ }xiB}y C G9 a 6G B< - Y) y5 AjGE >bGE > ~G! A9 AQ Ne >] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.531144/,=LAU iBUQIiiԱJK4JCJK0:J-QBJ-EJJ-6RJ)ZJ-9bJ-8J- 4J)Mb@Mb@Mb@ )YMbX9?Mbp?:vy!?;T^RA >A)ICAyIAI IV2 /=yQ >٥ H >n4de?n49) IjBy!?:G?oCi::Sn4ruADNOT Ignoring new targets: 62.51 m.WW- ProNav: ac range: 62.505726 m, nav range: 56.588001 m, bearing: 282.548247 deg, approach rate: -0.680700 m/s, LOS rate: -0.047189 deg/s, cmd heading: 286.463953 deg, new cmd heading: 286.402628 deg. 55HeadingCmd: 4.998669 target range: 62.505726 and range: 63.00 m.b=@Z9r9j9R9J9BA~I~M{B}Q|Q|Q|Q|]@ iB靍DH H H IH niBH  =H H H k<H )EHHHHI I޻4/,DпLA9FcĘ@FΟ@YFU=yFNV=FH ? ?Q`?\<@9@b?@E? FcĘ@F;)F_CRhBV=IIbIb<2j׽ jo=yjHQ j?٥ll nHrRFr; r?tzn4vj?zn49v Iv]Byx~~?voCiv:v:v^n4uA9=DNOT Ignoring new targets: 62.51 m.EwNEwNU ProNav: ac range: 62.505726 m, nav range: 56.373844 m, bearing: 282.532900 deg, approach rate: -0.627333 m/s, LOS rate: -0.045127 deg/s, cmd heading: 286.402618 deg, new cmd heading: 286.356402 deg. UHeadingCmd: 4.997862 target range: 62.505726 and range: 63.00 m.b|@ZrjRJB~~}|||| @ EiB] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.287197ԙ /,*LA9fȘ@fOҟ@Yfw=yf=fH?๫?~+t?$``^n? B? fȘ@f)Ն;)fbCrhBv,IIzIz1Eƒ EC=yEPQ E>٥II MHMSFU: U>Yen4]p?en49]A I]NByaee?]oCi]:]:]mn4u4BugvAuEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.51 m.ePeP ProNav: ac range: 62.505726 m, nav range: 56.110210 m, bearing: 282.513704 deg, approach rate: -0.622648 m/s, LOS rate: -0.045548 deg/s, cmd heading: 286.356391 deg, new cmd heading: 286.298535 deg. HeadingCmd: 4.996852 target range: 62.505726 and range: 63.00 m.b6@ZrjRJB~~}||| | @ UiB]ݼ٥yy }Hض >n4w?n49 I;By;&?:?CpCiS;;}n4vA1=DNOT Ignoring new targets: 62.51 m.=FEF} ProNav: ac range: 62.505726 m, nav range: 55.824081 m, bearing: 282.494269 deg, approach rate: -0.635554 m/s, LOS rate: -0.043391 deg/s, cmd heading: 286.298526 deg, new cmd heading: 286.239921 deg. };HeadingCmd: 4.995829 target range: 62.505726 and range: 63.00 m.bݟ@ZrjRJB~~zB}||||@!@ iB $Em ܪ&<E E E E P0E :JE UBJE DJJE :RJA ZJE 9bJE 8JE FA4JA zJE /:U jJE 4:U JE X9U rJE ]9U Q KU xO"KU }9*KQ 2KU :KU -\YLOankuL4Ek `KJB*x\H9(}[%Je }AJe |A6G%<ԁ~GYAiAyN ?'6 0,Ϣ&LA6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.2967479NȘ@NKҟ@YN =yN=NH?@?@`@?枫yI? ? NȘ@N;)LZhBZ IIb Ib̍2jC j=yn"oQ n>٥ll nHnTFr&6 r>tzn4v.?~n49v Iv%By  ?vpCivߥ;v;vn4!%?wA!DNOT Ignoring new targets: 62.51 m.II)m ProNav: ac range: 62.505726 m, nav range: 55.508636 m, bearing: 282.472612 deg, approach rate: -0.638231 m/s, LOS rate: -0.044067 deg/s, cmd heading: 286.239923 deg, new cmd heading: 286.174583 deg. m}HeadingCmd: 4.994689 target range: 62.505726 and range: 63.00 m.b}ԟ@ZrjRJB~~}||||@"@ iB靥{E-<checking for new query: numPingsReceived=0, elapsed TxPingTime=9.547891ԁE ?E E E E Ա 6G <~GyAAN>G0,]ELAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.799139]~hBeIimAEMb@Mb@Mb@AAA A)AYEV-?~jtx~jtyE-?EĻEEQA EBA)EtMAIECAAyEpIAIuIu<2G =yQ >٥)) -H5UF5 5>9En4=͇?En49= I= ByM-?M:UҥU?=pCi=};={;=n4aimwAiDNOT Ignoring new targets: 62.51 m.@@ ProNav: ac range: 62.505726 m, nav range: 55.132870 m, bearing: 282.450083 deg, approach rate: -0.697696 m/s, LOS rate: -0.042116 deg/s, cmd heading: 286.174572 deg, new cmd heading: 286.106524 deg. :HeadingCmd: 4.993501 target range: 62.505726 and range: 63.00 m.bʟ@ZrjRJB~~zB}||||#@ iB !xHHOIH iBH =HHH<HEԑrE]>jE>J} >~G!A)A9NM>k0,RcLA96u@6 ˟@Y6,e =y6=6Hv? ?u`ऍ?@+ .? Y? 6u@6S5;)6aCRfhBVIIfIf 3z1` zE=yz Q ~>٥  H VF >%n4?%n49 I~By!-勵-?9qCiS::yn4xADNOT Ignoring new targets: 62.51 m.11-Ա <0,'}LA9bK@b@Yb.=ybc5=bH?v?`p?`Bv?@)? bK@bcq;)b_CnThBnImMb@Mb@Mb@iii i)iYmGz?~jtx rhym0?imCmZRA mj@A)mOAIiiyiII3- A=y!VQ >٥ H >n4?n49F I~By0?:4?qCi:I:>n45BWxAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.51 m. A A ProNav: ac range: 62.505726 m, nav range: 54.572758 m, bearing: 282.417088 deg, approach rate: -0.721870 m/s, LOS rate: -0.042196 deg/s, cmd heading: 286.058021 deg, new cmd heading: 286.007033 deg. %HeadingCmd: 4.991765 target range: 62.505726 and range: 63.00 m.b%@Z!r!j!R!J)B1ԙ~~}zB}||||`$%@ -jBM8;IQ)UվQIU= QY]"<]GMess uBDAT read: Tx time:06:02:41.4213 u$Ping request sent.}HH0IHhBHHHDH<HqE6GI ~G) AY A N  M%0,,LA9:@:@Y:٥hh jHjWFjW j>lvn4nx?zn49n In~Byxz]~?nqCin8W;nW;nn4xA )5DNOT Ignoring new targets: 62.51 m.5555E ProNav: ac range: 62.505726 m, nav range: 54.311390 m, bearing: 282.402084 deg, approach rate: -0.685972 m/s, LOS rate: -0.039568 deg/s, cmd heading: 286.007041 deg, new cmd heading: 285.961813 deg. M=ٺMHeadingCmd: 4.990975 target range: 62.505726 and range: 63.00 m.bU@ZQrQjQRQJQBQ~Y~Y}a|a|a|a|e>;&@:JSBJBJJ9RJZJ;9bJ8Jc44JzJ.a:jJ8a:J9rJ9 jB靽Y?;I)쾉IV}= ݊<"gMq<9<i@izEE?EEE0EK  O"K 9*K 2K :K P &! 5/xdY`u_LACb4{zO!5H/C0P=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4980806G %<1 ~G A A N >+0,>ʰLA9>;@>擟@Y>+o=>H`U?B? S̳`+?ك@Գ`?p? >;@>LL;)>^CJ(hBJIIR"IRq3^ bM=yj಻Q j>٥11 5H5XF5{ =>Aen4EҠ?mn49E' IE~ByyĦ?ErCiEe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.00221920,LA@9V@Va@YVh٥ HӺ >n4?n49 I~By=1?:?YrCi<<n49=EyA9Hd>HH IHhBHHHDH<HEDNOT Ignoring new targets: 62.51 m.ʹʹ ProNav: ac range: 62.505726 m, nav range: 53.738953 m, bearing: 282.377374 deg, approach rate: -0.692785 m/s, LOS rate: -0.022180 deg/s, cmd heading: 285.914970 deg, new cmd heading: 285.887296 deg. sHeadingCmd: 4.989675 target range: 62.505726 and range: 63.00 m.bj@ZrjRJB~~AzB}| | | |-'@ }2jB}P&(I)]I = _k<ԩđ_Y<K `O"K 9*K 2K :K vzCCoQ.vAjgNA]oR;)(GwXr;Sm`80,LA96x@6@Y6d٥dd fHfYFjqy j>llrn4n?vn49n1 In~Bytv©v?nrCin);n2*;nn4xzpyA~E%DNOT Ignoring new targets: 62.51 m.%Ϲ-Ϲ ProNav: ac range: 62.505726 m, nav range: 53.477882 m, bearing: 282.369389 deg, approach rate: -0.738029 m/s, LOS rate: -0.022685 deg/s, cmd heading: 285.887294 deg, new cmd heading: 285.863220 deg. yHeadingCmd: 4.989254 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~ ~ } | | ||(@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506286 ]AjBe@CIa)e aIea = iimt5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758618a I I >0,bLA9:x@:Y@Y:٥yy HZFh >o4ȱ?o49 I~By-?:꪿?rCi:k:o4yAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.51 m.惹惹 ProNav: ac range: 62.505726 m, nav range: 53.187260 m, bearing: 282.363241 deg, approach rate: -0.677706 m/s, LOS rate: -0.014415 deg/s, cmd heading: 285.863224 deg, new cmd heading: 285.844680 deg. HHeadingCmd: 4.988931 target range: 62.505726 and range: 63.00 m.bR@ZrjRJB~~3zB}||||)@ SjBI)  I9[ = <5"5;<5*HHIHphBHHHDHɛ<HEHYHYHYH] =I] = I]46G% V<~Ga Ai A N > E0,6LABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2620689>|r@>'|@Y>|V֚=>H~(??W̰? ] NT?@? >|r@>!;)>\CegBeII ԙIV2B* F=yQ >٥ H > o4U? o49 I~By ?/sCi:;Jo49=yA9DNOT Ignoring new targets: 62.51 m.M{M{ ProNav: ac range: 62.505726 m, nav range: 52.903999 m, bearing: 282.357419 deg, approach rate: -0.664526 m/s, LOS rate: -0.013732 deg/s, cmd heading: 285.844674 deg, new cmd heading: 285.827114 deg. HeadingCmd: 4.988624 target range: 62.505726 and range: 63.00 m.bϢ@ZrjRJB~~}|||| \*@ -ejB-dI))51I5L= 99=1 K0,42LA9Fpg@Fq@YFI٥hh nHn[Fnl r>pvo4r1?zo49rI Ir~Byxz/z?rosCir:r:r" o4 yAIUDNOT Ignoring new targets: 62.51 m.esesu ProNav: ac range: 62.505726 m, nav range: 52.654831 m, bearing: 282.352613 deg, approach rate: -0.686954 m/s, LOS rate: -0.013312 deg/s, cmd heading: 285.827106 deg, new cmd heading: 285.812621 deg. u+}HeadingCmd: 4.988371 target range: 62.505726 and range: 63.00 m.b}@ZyryjyRyJyB~~}||||m+@ EvjBE*Iq)uyIG= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768649 <xH<,jE >):JSBJDJJ6RJZJ;9bJ8J 4J@@@@EEEEEQ6G <~G A A N% >E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018183ԁ R0,KLA9^`@^i@Y^ W=y?Q >٥ H >o49?o49 I~By~)?:뭿?sCi8W; K P"K s9*K 2K :K |8Y}j/owg?xh[n1>Nl1ArTH(J% ?J% ?Y0,eLA96AV@6_@Y6٥TT VHV\FZQ Z>\bo4^Ź?bo49^ I^~By`ff?^sCi^;^ :^+:J RBJ EJJ RJ ZJ 9bJ 8J J +_0,LA9V T@V]@YV2٥ H]F   >o4ʹ?o49 I~By%*?%:!%?CtCi;b:Ko4)-KzA)]B*** querying acoustic contact ***JYRYiuDNOT Ignoring new targets: 62.51 m.w8w8 ProNav: ac range: 62.505726 m, nav range: 51.825649 m, bearing: 282.356575 deg, approach rate: -0.695251 m/s, LOS rate: 0.003701 deg/s, cmd heading: 285.819812 deg, new cmd heading: 285.824575 deg. "9HeadingCmd: 4.988580 target range: 62.505726 and range: 63.00 m.br@ZrjRJB~~izB}||||@-@ jBW0I)4I9 < ]2<<ouH9H=IH=3hBH= =H9H9H=<H=E6Gm Sݮ<ԩ ~G A A N >f0,ڑLA.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.27806289F S@F\@YF٥ll nHlr; r>tzo4v'Ϲ?zo49v Iv{~Byxz~?vtCiv#;v;vXo4zA)-DNOT Ignoring new targets: 62.51 m.5J85J8E ProNav: ac range: 62.505726 m, nav range: 51.581074 m, bearing: 282.357915 deg, approach rate: -0.671632 m/s, LOS rate: 0.003696 deg/s, cmd heading: 285.824565 deg, new cmd heading: 285.828603 deg. EY"9]HeadingCmd: 4.988650 target range: 62.505726 and range: 63.00 m.b]@ZYrYjYRYJYBa~a~a}a|i|i|i|m`N.@ jB6I),<I%P< !!%ELEmm<checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531087E-?E)E1E50E1 6GU R<<) ~G A A N >m0,LA9mMQ@mZ@YmB٥ H^F͹ >o4Oչ?o49 Ip~By%?:?tCie<\e<ko4 zA  E:J%QBJ%IJJ%7RJ!ZJ%9bJ% 9J%4J!yDNOT Ignoring new targets: 62.51 m.H~8H~8 ProNav: ac range: 62.505726 m, nav range: 51.231930 m, bearing: 282.359853 deg, approach rate: -0.621622 m/s, LOS rate: 0.003474 deg/s, cmd heading: 285.828609 deg, new cmd heading: 285.834462 deg. 9HeadingCmd: 4.988752 target range: 62.505726 and range: 63.00 m.bܣ@ZrjRJB~~VzB}|||| Es/@Ա jB靽 5|I)CI5< <ۃ<E D%< E ?E E E P0E H k>H pCH IH hBH  =H H H <H E16GHv<ZGRG~AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.286608~GaAqAN?v0,tLAdgBIII1F =yQ >٥ H_F >uo4?۹?}o49 If~By?1uCi<:<}o47BzAEDNOT Ignoring new targets: 62.51 m.88 ProNav: ac range: 62.505726 m, nav range: 50.894905 m, bearing: 282.361748 deg, approach rate: -0.644154 m/s, LOS rate: 0.003647 deg/s, cmd heading: 285.834456 deg, new cmd heading: 285.840181 deg. 4 9 HeadingCmd: 4.988853 target range: 62.505726 and range: 63.00 m.b @Z r jRJB~~}||!|!|%V=0@ MjBUħIQ)U.KQI]< YY]E)<EQ EQ EQ EQ EY I 6G %<Ա ~GYA=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793686AQN?S~0,nLA9:JRBJDJJ8RJZJ9bJ8J'4JgBI) AMb@Mb@Mb@ )YuV?٥ H`F >o4Ṝ?o49 I\~By(? : ʭ ?uCi ;P;Րo4zAIMDNOT Ignoring new targets: 62.51 m.U>8U>8e ProNav: ac range: 62.505726 m, nav range: 50.534966 m, bearing: 282.362851 deg, approach rate: -0.687334 m/s, LOS rate: 0.002121 deg/s, cmd heading: 285.840193 deg, new cmd heading: 285.843525 deg. eJ8mHeadingCmd: 4.988911 target range: 62.505726 and range: 63.00 m.bm(@ZirijqRqJqBq~y~}zB}y|y|y||0@ kB靽@SI)SI< <ͪB7<^ҨE<E! E! E! E! E! H5 l>H1 H5 IH5 hBH1 H1 H1 H5 <H5 EԹ 6GFթ<checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295372~GAAN ?0,LA9B#9@BB@YBcl=BHغ?@?s< ?@`Y q`R?#? B#9@Bw;)@VgBZ~IIjIj( u0 u*=y} Q }>٥ HaFjǻ >o4F繜?o49 ' IU~By*?uCi;A;ơo4zA5B*** querying acoustic contact ***J1R1amDNOT Ignoring new targets: 62.51 m.m̘8m̘8 ProNav: ac range: 62.505726 m, nav range: 50.215599 m, bearing: 282.364912 deg, approach rate: -0.642656 m/s, LOS rate: 0.004175 deg/s, cmd heading: 285.843526 deg, new cmd heading: 285.849750 deg. [79HeadingCmd: 4.989019 target range: 62.505726 and range: 63.00 m.b @ZrjRJB~~}||||D1@ }kB靅TѼI)ZI< ]<<< E<<)Q UCȈG ] Ya ye eAE ?E E E O0E ԉ 6G M=Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=6.802639~G1A9AQN]?Ǝ0,=LA5gB=wI Mp=Mp=uonly read 0 of 1 data item for BIT error. Device response is::TS,25060422040539,35.0, +10.7, 04, 0 aIu@au aMu@au aQu@au aEu@au I}I}3ԉ !=yQ >٥ HbF >o4?o49/ IM~B+:y:?4vCi;)?o4{ADNOT Ignoring new targets: 62.51 m.p8p8 ProNav: ac range: 62.505726 m, nav range: 49.885006 m, bearing: 282.367074 deg, approach rate: -0.611990 m/s, LOS rate: 0.004028 deg/s, cmd heading: 285.849755 deg, new cmd heading: 285.856283 deg. 09HeadingCmd: 4.989133 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~~}|| | | 1@Թ 8kB}gۼI)cI< <J<ƐE= e<Hu q>Hq Hu IHu hBHq Hq Hu DHu <Hu gEH-pCH-pCH)H)I) I-ɕ4E ?E E E F5E  Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.302025Q6G<~GA A!N5?0,`LA:J"UBJ"OJJ"7RJ ZJ"9bJ"%9J"4J zJ"0:.jJ"5:.J"~&:2rJ"&:29%U@)% @Y%d"٥ H >o40?o498 IH~B :yS:?vCi ;U?Oo4zA EiuDNOT Ignoring new targets: 62.51 m.u9u9 ProNav: ac range: 62.505726 m, nav range: 49.530712 m, bearing: 282.371163 deg, approach rate: -0.714160 m/s, LOS rate: 0.008302 deg/s, cmd heading: 285.856285 deg, new cmd heading: 285.868641 deg. R9HeadingCmd: 4.989349 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~~}||||M2@ 5OkB5|eI1)5e9I=< 99=&ݜE<Ee ?Ea Ea Ee o5Ea  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.8089956G p< ~GAAN>~0, LAa9 @@Y٥ HcF$& >o4?o49,B ID~BT:yg+?:?vCi<<^o4y}zAyDNOT Ignoring new targets: 62.51 m. ProNav: ac range: 62.505726 m, nav range: 49.165627 m, bearing: 282.369999 deg, approach rate: -0.650217 m/s, LOS rate: -0.002089 deg/s, cmd heading: 285.868634 deg, new cmd heading: 285.865115 deg.  HeadingCmd: 4.989287 target range: 62.505726 and range: 63.00 m.b >@Z r j RJB~~TzB}||||%`[2@ԉ kkBt/Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.058443IY)]naIe< a!%L<-q-+<-%3X@i1Թ H<HH s>H H H H H H H G<H E>E &l< E E E E% e0E!  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311616JJ{4J/:J=SBJ=SJJ=5RJ9ZJ=;9bJ=y69J=4J9zJ=/a:jJ=8a:J=(C:rJ=+C:6GEQd<jGM?bGM?~GA)9AANM?0,EgLA9R@R@YRGW;yRΓ=RH J?a?w89?韘*xu?@? R@R>;)R\CegBaIuIu2*@ =yFwQ >٥ HdF7 >o4Q?o49QK I@~ByC?GwCi; ; ;o4zAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.51 m. ProNav: ac range: 62.505726 m, nav range: 48.810078 m, bearing: 282.369467 deg, approach rate: -0.674140 m/s, LOS rate: -0.001016 deg/s, cmd heading: 285.865109 deg, new cmd heading: 285.863502 deg. }2HeadingCmd: 4.989259 target range: 62.505726 and range: 63.00 m.b@Zrj R J B ~ ~}|||| d3@K.P"K9*K2K:Kw.pyiBxYN6SWner?2F>+{: 8ETJ)J-|A1echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.562453 kB靅I)@uI< b<`><FDE8<Ey E E E _0E ԁ - checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816166ԡ 6G 3Z<~GYAaAN>A0,LA9R@Rp@YR:yR=RH`N?I?ߩs ?{sY+Z?? R@R%;)P Z C)ZAɵZnZFX^ُCɶ^SAi^DI\\IbYCi` ``)`fLC dddɷdfChIh)hih)jLCIhhɸl lɹnCnAninFli @C ߃A)  IٯgBwIAMb@Mb@Mb@ )Y(\?y&1Mbp?y'?`e; )^LAI1JAyImIm3G =y Q >٥ HeFwû >o4?o49T IB~By '? : J ?wCid.;,;$o458B={A=EDNOT Ignoring new targets: 62.51 m.tt ProNav: ac range: 62.505726 m, nav range: 48.468594 m, bearing: 282.362724 deg, approach rate: -0.670485 m/s, LOS rate: -0.013334 deg/s, cmd heading: 285.863498 deg, new cmd heading: 285.843125 deg. iHeadingCmd: 4.988904 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~~MzB}|||!|%@3@=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066657i -kB-I))54}1I5df< 115<==oy<=HqCHHHHHH<HxEԙ>Em < E E E E P0E  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318333 :JQBJBJJ7RJZJ9bJ8J4JzJ5:jJ6:J9rJ96G'F<~GaAqAN ?=90,LA9>2ݗ@>@Y>ry>=>H ?t?`?ĔNQ??`N? >2ݗ@>w;)>^CH-gB-{Ii==I== ====IEIEb)U<  =yQ >٥ HfF >p4V ?p49\ IC~Byl?wCiB:-:p4{A DNOT Ignoring new targets: 62.51 m.OgOg- ProNav: ac range: 62.505726 m, nav range: 48.138344 m, bearing: 282.356524 deg, approach rate: -0.668726 m/s, LOS rate: -0.012639 deg/s, cmd heading: 285.843116 deg, new cmd heading: 285.824391 deg. - =HeadingCmd: 4.988577 target range: 62.505726 and range: 63.00 m.b=l@Z9r9j9R9JABA~I~I}I|I|I|Q|Udc4@ }kB靅)0I)€I~< b<!<[J]>Թ>EU<EEEEE  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8246786G l0,QLA9J'ԗ@Jݞ@YJkjUyJrN=JH_? ?b@?@Jj?vŲ?`? J'ԗ@J9;)J[CMgBUzIMb@Mb@Mb@ )YE?{Gzt{Gz?y&?ף#<$VA CA)IGKAyQLAI] I]<2u u,=yuQ u>٥yy }H}gF}? >p4?p49gd II~By&?:詿?BxCi:b:Bp4 {A EDNOT Ignoring new targets: 62.51 m.ƹƹ ProNav: ac range: 62.505726 m, nav range: 47.831146 m, bearing: 282.346312 deg, approach rate: -0.648587 m/s, LOS rate: -0.021701 deg/s, cmd heading: 285.824402 deg, new cmd heading: 285.793567 deg. InHeadingCmd: 4.988039 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~ ~ zB} | | ||94@ EkBMOH=pCH=IH=hBH9H9H9H=<H=E>Em< E9 E9 E9 EA EA I } 0,!LA:JPBJDJJ5RJ ZJ|9bJ8J4J zJd :jJn :JX9rJ]99^L̗@^՞@Y^y^ ӗ=^H`?7?@εa? ?v??@a? ^L̗@^`;)^^Cx~gBwI  @AII3%0 %<=yM1Q M>٥II MHQUG U>Yep4]Z?p49]k I]O~By?]xCi]\;];]%p4{ADNOT Ignoring new targets: 62.51 m.   ProNav: ac range: 62.505726 m, nav range: 47.545883 m, bearing: 282.337044 deg, approach rate: -0.642103 m/s, LOS rate: -0.020987 deg/s, cmd heading: 285.793556 deg, new cmd heading: 285.765585 deg. rfHeadingCmd: 4.987550 target range: 62.505726 and range: 63.00 m.b@ZArAjARAJABA~I~I}I|I|Q|Q|UP5@ %kB%^KI!)%!I-< ))- <5`ץ5f<5e0E.<zEE] ?EY EY Ee O0Ea i U ԩ ~GAA NE>o0,ALAԁgBzI5Mb@Mb@Mb@111 1)1Y5J +?~jtx?I +?y5(?5;594<1 5BA)5GKAI5^LA1y5(LAIMIMM3]; ]=y]Q e>٥aa eHmhFm m>p4 ?p49t IW~By(?:槿?xCi::]8p4{A EB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.51 m.## ProNav: ac range: 62.505726 m, nav range: 47.192078 m, bearing: 282.318235 deg, approach rate: -0.667243 m/s, LOS rate: -0.035737 deg/s, cmd heading: 285.765580 deg, new cmd heading: 285.708731 deg. 5ĺHeadingCmd: 4.986558 target range: 62.505726 and range: 63.00 m.b⑟@ZrjRJB~~zB}||| |  5@ 5lB=pFI9)=_9IE#h< AAE BDAT read: Tx time:06:02:52.3715 $Ping request sent.Ep<Ht>HqCHIHhBHHHHڛ<HEE% ?E! E! E! E! e 0,q8`LA9I@Þ@YAy䬛=H`??F?~!?@xp?? I@D̊;)[C gBvII% I%25IL =.=yE\Q E>:JMRBJMFJJM8RJIZJM9bJM9JM'4JIzJMK:jJMK:JM9rJM9٥IY ]H]iFe e>iup4m'?up49m| Ima~Byy}/}?m5yCimy:m:mHp4*{ADNOT Ignoring new targets: 62.51 m.ZZ ProNav: ac range: 62.505726 m, nav range: 46.881268 m, bearing: 282.302327 deg, approach rate: -0.659018 m/s, LOS rate: -0.033955 deg/s, cmd heading: 285.708725 deg, new cmd heading: 285.660684 deg. lHeadingCmd: 4.985720 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~a~i}i|i|i|i|uR6@ lBAYI)UIq< +ԧ<Z<VJ ?I E E E E P0E i 6G jx<mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757439~GAA9Nu?+0,LA9m@@Yby3=Hp? y?ױ7|?lS? ?? m@;)ZCgB}IMb@Mb@Mb@ )YE?Zd;O?٥ HjFzߺ >p4*/?p49 Ij~By&?:礿?yCik;i;Zp4 zA1=DNOT Ignoring new targets: 62.51 m.=@y=@y ProNav: ac range: 62.505726 m, nav range: 46.562378 m, bearing: 282.275688 deg, approach rate: -0.647707 m/s, LOS rate: -0.054478 deg/s, cmd heading: 285.660696 deg, new cmd heading: 285.580231 deg. HeadingCmd: 4.984315 target range: 62.505726 and range: 63.00 m.b@ZrjRJB~~zB}|| | | 6@I e4lBeh`I)?I=I< 9)<]Ap=<V HpCHIH)hBH =HHH<HEHyHyHyHyIy I}|4ԡ 6G 2<ZG RG }A~G A A N >lR0,'LA9>Dz@@>s@Y>&y>+=>H`n??T"@~?,a D?`2?>? >Dz@>6;)>YCJgBJsIIVIVm?3Z{. ^_=y^Q ^>٥`` bH`fb f>hrp4j4?rp49jɊ Ijr~Bypr뤿v?jyCijSM;jM;jfp4z9BzB{Az E%DNOT Ignoring new targets: 62.51 m.%J|%J|5 ProNav: ac range: 62.505726 m, nav range: 46.323803 m, bearing: 282.255553 deg, approach rate: -0.650033 m/s, LOS rate: -0.055142 deg/s, cmd heading: 285.580236 deg, new cmd heading: 285.519521 deg. 5_=HeadingCmd: 4.983256 target range: 62.505726 and range: 63.00 m.b=v@ZArAjARAJABA~I~I}I|I|I|Q|UU*7@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259363 -GlB-ُI))51IUXx< YY]s K "P"K 59*K 2K :K MeTiS_n|\n4PheeWB! 5u|0,$_LA9F@F+@YFݓyF*=FH hU?a?n b@(k?tC|{?&?]? F@F[;)F[CNgBRyIIVIV2^< bJ=ybQ b>٥`d fHfkFfe f>hlrp4j:?rp49js Ij|~Byprv?jzCij';j;(;jtp4xz{Az EDNOT Ignoring new targets: 62.51 m.%|%|5 ProNav: ac range: 62.505726 m, nav range: 46.060997 m, bearing: 282.233397 deg, approach rate: -0.651372 m/s, LOS rate: -0.055228 deg/s, cmd heading: 285.519529 deg, new cmd heading: 285.452682 deg. 5=HeadingCmd: 4.982089 target range: 62.505726 and range: 63.00 m.bEFm@ZArAjIRIJQBQ~a~a}i|q|y||@u7@ \lBHI)IUi< QQU迫<]S]`i d0,~;LA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014098gB%mI9Mb@Mb@Mb@ )Yx&?y&1?Mbp?y7)?`e<;;WA )1JAIOAyLA  AAII(1-3* 55=y5Q =>٥99 =H=lFE E>IH]s>HYHYHYH] =HYHYH]<H]EUp4MA?up49M IM~ByuA)?u:uu?MTzCiM;M;MȄp4j{AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 62.51 m.LL ProNav: ac range: 62.505726 m, nav range: 45.762806 m, bearing: 282.213022 deg, approach rate: -0.651433 m/s, LOS rate: -0.044801 deg/s, cmd heading: 285.452675 deg, new cmd heading: 285.391153 deg. HeadingCmd: 4.981015 target range: 62.505726 and range: 63.00 m.bzd@ZrjRJB~~zB}||||8@ ulB靥I)I8W< <4<[<) 0,LA96ﭗ@6@Y6Ǵy6=6HUZ?`? dzz?B c??@ٳ?U? 6ﭗ@6A;)4NgBNkIIVIV<2^J! be=yb~8Q b>٥dd fHdf: f>hnp4jF?rp49j Ij~Byprr?jzCijI;jK:j@p4tvx{Ax!%DNOT Ignoring new targets: 62.51 m.-(U-(U= ProNav: ac range: 62.505726 m, nav range: 45.527405 m, bearing: 282.196705 deg, approach rate: -0.668653 m/s, LOS rate: -0.046589 deg/s, cmd heading: 285.391149 deg, new cmd heading: 285.341944 deg. =EHeadingCmd: 4.980156 target range: 62.505726 and range: 63.00 m.bEq]@ZArAjARIJIBI~I~Q}Qԑ|Q|||e8@ %lB%RI))-l)I-H< ))U% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7734901 z1,iLA:JtBJvBJJv7RJtZJtbJv8Jv4Jt9d@@Yؾży^q=HS??`cy?q?=?@m?~? d@;)WCEgBEiIMb@Mb@Mb@ )YHzG? rh?Mb`y=*?C<$VA AA)INAy(LAIIV83 0=yQQ >٥ HmFԹ >p4M?p49ڦ I~ByK*?:?zCi;m;up4 {A IUDNOT Ignoring new targets: 62.51 m.UcUc ProNav: ac range: 62.505726 m, nav range: 45.219498 m, bearing: 282.173194 deg, approach rate: -0.647329 m/s, LOS rate: -0.049765 deg/s, cmd heading: 285.341944 deg, new cmd heading: 285.270931 deg. HeadingCmd: 4.978917 target range: 62.505726 and range: 63.00 m.bJS@ZrjRJB~~jzB}||||8@ lB靍 I)I5< <D򦿩K<jC<iJS@i!eBDAT read: Rx Time:06:02:54.8372 eTRx dataTimestamp_ set to:1749103376.240463uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024674E?EEEm5EAHUu>HUqCHQHQHU =HQHQHU<HU~E6G 3Q1,LA9>@>M@Y>)ռy>8Z=>HaX??)@]?M1x? ?/$?? >@>;)>YCJgBJ^I)L LIRIR2Z[ Zo=yZ)Q Z?٥`` fHdf9 f?hnp4jS?rp49j Ij~Byprr?j{Cij;j;jyp4v:Bv{AzEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034DNOT Ignoring new targets: 62.51 m.&v&v ProNav: ac range: 62.505726 m, nav range: 44.991272 m, bearing: 282.155514 deg, approach rate: -0.691017 m/s, LOS rate: -0.053800 deg/s, cmd heading: 285.270938 deg, new cmd heading: 285.217631 deg. %HeadingCmd: 4.977987 target range: 62.505726 and range: 63.00 m.b%K@Z)r)j)R)J)QBY~Y~a}a|a|i|i|m89@ lBԚI M)=) ˦Iu%< d<o<XR  BDAT read: Tx time:06:02:55.9215  $Ping request sent. u u > u ~%@)u w>Iu '@iu +ȼu ;u +< q )q u ?G? -?iu 77>u Mu ;u +< q )q % :publishing transmit ping time % Fpublishing direction and range infoq yu JZ?X%]2|?{Jq Yq q )q Iq iq q q q q q )q Iq iq q q q )q u ?G? -?iq q q q q )q ~GA AI AY N= > ( 1,5LAKO"K59*K2K:K\^BM nh! ".X$Y&9N@N@YN/yN=NH X]?@?GT `?T?Ŝ?-?D? N@N;)LZtgBZWIIrIrT3z"ټ zF=y~Q ~>٥ HnF9  > p4 OY?=p49  I ~By9==? `{Ci ; G; ڻp4IM|AM EZbZ/LA6B6Bz@ʁ4F@c &n?]8TJZ?X%]2|?{J;+<ҁ6'@k"9Fp@/?"@-=?KRDq?z09AjJ+?rS4A =hBJ+? ꁥ4B@Ա addTargetRange:: Added new target pos. range: 46.099998 m, deltaT: 25.452263 s, deltaX: -16.900002 m, approachRate: -0.663988 m/s, rangeRepo size: 4  Added new target pos. range: 45.739342 m, bearing: 284.698722 deg, lat: 36.906139 deg, lon: -122.116045 deg, deltaT: 25.452263 s, deltaX: -16.766384 m, approachRate: -0.658738 m/s, posRepo size: 4 !UDNOT Ignoring new targets: 45.74 m.Q]Powering the camera and arming the capture device at range: 46.10 m.zem ProNav: ac range: 45.739342 m, nav range: 45.233345 m, bearing: 284.866925 deg, approach rate: 0.000000 m/s, LOS rate: -0.053800 deg/s, cmd heading: 285.217635 deg, new cmd heading: 285.144361 deg. HeadingCmd: 4.976708 target range: 45.739342 and range: 46.10 m.b1A@ZrjRzJB~ ~ }|||% G@|%Y? lB靭I)XI< <:|\<d<JDAT read: TxSync time:06:02:55.9208 i1A@i "}&Changing to mode: 2"Armed mode.:JTBJJJ6RJZJ{9bJJ 4J"2Commanding negative:54494EIEQEQEUO0EQ 9 6G zQ<~Gq Ay A N >T1,J'RLAH^p>H^pCH^IH^hBH^ =H\H\H^<H^uE9~*@~ֺ@Y~y~O=~HIe? ? @ `?@?@MU?ڳ?? ~*@~^Í;)~ZCUngBUSIMb@Mb@Mb@ )YʡE?y&1|?y&1|y/?`;` BA)IAItMAyKA@AIIX #=yGQ >٥ HoF: > p4 `?p49  I ~By/?:짿? {Ci M: I: p4%|A!EB*** querying acoustic contact ***JARAquDNOT Ignoring new targets: 45.74 m.q}Powering the camera and arming the capture device at range: 46.10 m.zy}#7}#7 ProNav: ac range: 45.739342 m, nav range: 44.883621 m, bearing: 284.867188 deg, approach rate: -0.740092 m/s, LOS rate: 0.000559 deg/s, cmd heading: 285.144361 deg, new cmd heading: 285.145153 deg. q7HeadingCmd: 4.976722 target range: 45.739342 and range: 46.10 m.bNA@ZrjRzJB~~0zB}||||e? lB靥:I)GIb; w<1:e<~ey1,kLA9>@>e@Y>zy><=>H@8? !?p[l q?v??? ? >@>;)>[C^lgBbRIIfIf(*2n_ nn=yr4Q r?٥pt vHtvj v?x~p4ze?~p49zZ Iz~By?z{Ciz;z;z^p4   |A AEDNOT Ignoring new targets: 45.74 m.AMPowering the camera and arming the capture device at range: 46.10 m.zIM8M8 ProNav: ac range: 45.739342 m, nav range: 44.654015 m, bearing: 284.867772 deg, approach rate: -0.693309 m/s, LOS rate: 0.001773 deg/s, cmd heading: 285.145153 deg, new cmd heading: 285.146914 deg. 8HeadingCmd: 4.976752 target range: 45.739342 and range: 46.10 m.bA@ZrjRzJB~~}-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996451| 9|)|q|u@\? lB:ŽI)ﱿI; y<49l<N Q wp"m\7@ a>E<bE}AZEzAԑEm :Ei Ei Eu P0Eq ? V? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246952:J QBJ NJJ 7RJ ZJ 9bJ !9J 4J ! 6G Qd<~GAAN>%"1,LA 5mgB1)9 =AMb@Mb@Mb@ )YQ?MbP٥ HpF >p4m?p49u I~By`/?:?P|Ci:V:p4-|A)QUDNOT Ignoring new targets: 45.74 m.Y]Powering the camera and arming the capture device at range: 46.10 m.zYeZ9eZ9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499489AU ProNav: ac range: 45.739342 m, nav range: 44.297562 m, bearing: 284.873947 deg, approach rate: -0.684921 m/s, LOS rate: 0.011962 deg/s, cmd heading: 285.146901 deg, new cmd heading: 285.165577 deg. UX:]HeadingCmd: 4.977078 target range: 45.739342 and range: 46.10 m.b]:D@ZYrYjRzJB~~DzB}||||? %mB%_禽I!)%!I->; )15<HEm>HAHEIHE hBHE =HAHEDHE<HE~Ee.eE=ԡ E= 7E9 E9 EE O0EA e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751309 6G}iG<~GYAyAN?l*1,=LA@9V`@V @YVYyVz=VH?`?%t]?ʐ??`Ƴ?? V`@Vj;)TfWgBjEIIrIrb2z7 z+=y~+Q ~>٥|| HqFZ > p4 s?p49  I ~By? |Ci s; ^; Np4%;B%{|A%E) EG]rA]DNOT Ignoring new targets: 45.74 m.auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003228}AAPowering the camera and arming the capture device at range: 46.10 m. YrAyBzg9g9 ProNav: ac range: 45.739342 m, nav range: 43.969391 m, bearing: 284.880162 deg, approach rate: -0.661679 m/s, LOS rate: 0.012624 deg/s, cmd heading: 285.165589 deg, new cmd heading: 285.184372 deg.  :HeadingCmd: 4.977407 target range: 45.739342 and range: 46.10 m.bF@ZrjRzJB~~}||||.M@ 6mB靕 I)仿Iv; Vg<#ԩJ<84Q21,LA9J@J6@YJFyJ=JH5??T?F@?`v?׳?j? J@JX;)JWCVfgBVNIMb@Mb@Mb@ )YʡE?:v{Gzy/?Լ#UA AA)HAItMAy KA II<< %!=y%RQ %>٥)) -H-rF5; 5>1Mq45y?Mq495 I5~ByU/?U:U3U?5|Ci5i;5`;5q4Y]B|AYDNOT Ignoring new targets: 45.74 m.Powering the camera and arming the capture device at range: 46.10 m.zU:U: ProNav: ac range: 45.739342 m, nav range: 43.621777 m, bearing: 284.902939 deg, approach rate: -0.707917 m/s, LOS rate: 0.046756 deg/s, cmd heading: 285.184385 deg, new cmd heading: 285.253263 deg. Z;HeadingCmd: 4.978609 target range: 45.739342 and range: 46.10 m.bP@ZrjRzJB~~yB}||||@@ PmBW½I)Z I ;   <]Z<6HHIHhBHHHHț<HEHHHH =I IXJ59a6Gܸ<<~G A A N >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759402ԑ Au81,yLA9Bf@B@YB"yBƞ=BH]D?@h?@വ`'|?`?[? ϳ?@? Bf@Bw ;)BYCJPgBJAIin>In= r=r=Iv Iv2~l:J RBJ @JJ 8RJ ZJ 9bJ [8J '4J zJ K:-jJ K:5J  l95rJ l95 =`=y=̙Q E>٥AA EHAM: M>Q]q4Ul~?]q49Uj IU~ByY]#e?U>}CiU:Ub;Uq4im|AiB*** querying acoustic contact ***JRDNOT Ignoring new targets: 45.74 m.Powering the camera and arming the capture device at range: 46.10 m.zP:P: ProNav: ac range: 45.739342 m, nav range: 43.366089 m, bearing: 284.919768 deg, approach rate: -0.689339 m/s, LOS rate: 0.045639 deg/s, cmd heading: 285.253261 deg, new cmd heading: 285.304046 deg. :HeadingCmd: 4.979495 target range: 45.739342 and range: 46.10 m.bX@ZrjRzJB~~}||||`@ fmB߽I)¿I: Ǽ<%Tߦ%<%0K O"K }9*K 2K :K "gGG&lo^pxe-^%(us> U>1,TLA ^gB III-I-F3e= eD=ymQ m>٥ii uHusFu u>yq4}_?q49} I}~By?}}Ci}.:}\:}a)q4`|ADNOT Ignoring new targets: 45.74 m.Powering the camera and arming the capture device at range: 46.10 m.zR:R: ProNav: ac range: 45.739342 m, nav range: 43.085228 m, bearing: 284.938485 deg, approach rate: -0.686191 m/s, LOS rate: 0.046026 deg/s, cmd heading: 285.304050 deg, new cmd heading: 285.360566 deg. :checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263252HeadingCmd: 4.980482 target range: 45.739342 and range: 46.10 m.b%`@Z!r!j)R)z1J1B9~9~9}9|A|A|A|E[N @ umBu׽Iy)}ĿyI}7 yy}<w<e$"M DAT read: 06:02:58.3838 LVL= 16944, 29681, 15090, 29283, AGC= 66, IDX= 399, 0.47, 1.078,-0.360, 0.961, 0.744, PHS= 0.422,-1.056, 0.215, RAW= 142.5, 6.1, CAL= 145.6, -2.0, ROT= 4.4, 2.0 U Ygot valid direction response: 06:02:58.3838 LVL= 16944, 29681, 15090, 29283, AGC= 66, IDX= 399, 0.47, 1.078,-0.360, 0.961, 0.744, PHS= 0.422,-1.056, 0.215, RAW= 142.5, 6.1, CAL= 145.6, -2.0, ROT= 4.4, 2.0 U PDAT read: Bearing 4.4, 2.0 (Local) ] ~Local bearing/azimuth received: Bearing 4.4, 2.0 (Local) m DAT read: Range 10 to 50 : 43.6 m (Round-trip 58.2 ms) speed 0.7 m/s m *DAT read: user:631> u BDAT read: Tx time:06:02:59.4715 u $Ping request sent.u ۵ +۵ (\> ܵ ,@)ܵ ^ =Iܵ "@iܵ 5G G @AH m>H H IH gBH  =H H H ›<H Eܵ nF=ܵ 5= ݱ )ݱ ݵ )Ɔa?J'l?'{D4?iݵ 5>ݵ ڽݵ nF=ݵ 5= ޱ )ޱ  :publishing transmit ping timeq  Fpublishing direction and range infoڱ yڵ *nh?4ˠ?Xޡڱ E1,1LAY )Ii )Ii ))Ɔa?J'l?'{D4?i )rgBUIIeMb@Mb@Mb@aaa a)aYe(\?:vy&1|ye.?eTe`eSA ej@A)eFAIaaye=JAIIF2('= +=yQ >٥ HtF >%q4+?%q49P I~By5.?5:55?}Ci;;x:q4QU|AU EZbkLA-B-B$<@ʁz_E@|% @E`n'*nh?4ˠ?XޡnF=5=ҁe:+@|T|DHd9?JDAT read: TxSync time:06:02:59.4708 4?uO,@?z#]Ajhn:?r* PiB?,? UB+B,@U addTargetRange:: Added new target pos. range: 43.599998 m, deltaT: 3.531376 s, deltaX: -2.500000 m, approachRate: -0.707939 m/s, rangeRepo size: 4  Added new target pos. range: 43.258255 m, bearing: 288.690030 deg, lat: 36.906140 deg, lon: -122.116045 deg, deltaT: 3.531376 s, deltaX: -2.481087 m, approachRate: -0.702584 m/s, posRepo size: 4 DNOT Ignoring new targets: 43.26 m.Powering the camera and arming the capture device at range: 43.60 m.z ProNav: ac range: 43.258255 m, nav range: 42.757992 m, bearing: 285.002638 deg, approach rate: 0.000000 m/s, LOS rate: 0.046026 deg/s, cmd heading: 285.360577 deg, new cmd heading: 285.432467 deg. HeadingCmd: 4.981736 target range: 43.258255 and range: 43.60 m.bbj@ZrjRzJ!B!~)~-yB})|)|)|5E@|5 ?ԁ mB靥qW½I)ſI[պ v<╦@<YL1,3LA9J@JE@YJ%@yJ=JH:N?x?@?@Tƚ?@? =+?`q? J@JZ;)JWCf`gBfJI)h hInIn?13eK b=y뤼Q >٥! %HAEF: M>IUq4M?Uq49M IM~ByY] ]?M~CiM::M:MFq4im]|AiDNOT Ignoring new targets: 43.26 m.Powering the camera and arming the capture device at range: 43.60 m.z:: ProNav: ac range: 43.258255 m, nav range: 42.516426 m, bearing: 285.031945 deg, approach rate: -0.740452 m/s, LOS rate: 0.090344 deg/s, cmd heading: 285.432458 deg, new cmd heading: 285.520880 deg. x;HeadingCmd: 4.983279 target range: 43.258255 and range: 43.60 m.bw@ZrjRzJB~~}||||@ ?Y umBu~rIq)u1ʿqI+ '<Ucq<3':?6G~G A A N > 4S1,6sMLA9Fo@F@YF/iOyF,=FH@4??@i?@?O?`?}? Fo@F4;)FXCRhgBRPI5Mb@Mb@Mb@111 1)1Y5(\? rh~jtxy5'?5C5Ļ5fVA 5b@A)5GAI5ANA1y53KAIM%IM)3]< ]G=yeSQ e>٥ai mHmuFm m>qq4u玺?q49u Iu~By(?:?u^~Ciu/Y;u51;uUq4:|AYeDNOT Ignoring new targets: 43.26 m.aePowering the camera and arming the capture device at range: 43.60 m.zam:m: ProNav: ac range: 43.258255 m, nav range: 42.251209 m, bearing: 285.074660 deg, approach rate: -0.623361 m/s, LOS rate: 0.101027 deg/s, cmd heading: 285.520868 deg, new cmd heading: 285.649818 deg. ;HeadingCmd: 4.985530 target range: 43.258255 and range: 43.60 m.bv@ZrjRzJB~~zB}||1H}p>HyHyHyH} =HyHyH}<H}E|I|` ? MmBMnIQ)Uv̿QIU QQU<]]n<];iev@iaE%%E!E!E%P5E!1 6Ge U;~G9 AI AY N} >JJ4J//:J RBJ JJ 6RJ ZJ 9bJ J 4J zJ K:jJ K:J rJ Y bY1,ZgLA9>@>4@Y>m^y>/=>H? (? ն_A?? 2ʫ? ?? >@>qӍ;)٥ii mHmvFm u>y}q4}?q49} I}~By?}~Ci} :}:}?cq4K% O"K% 9*K! 2K% :K% rh -Afwb_[SU[i 4:&Yp|me"t T k@5 X $Qԁ wG`1,+LA49J@J@YJmyJc=JHE? `?`ӊ?=? 8?@?`? J@Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.738399Jd;)HZgB^^Iib;>Ib>IfIfT3n< nS=yrQQ r>٥pp rHpv v>x~q4z(?~q49z( Iz~By|˶?z~Ciz6;z=N;zpq4)5{A1AuDNOT Ignoring new targets: 43.26 m.yPowering the camera and arming the capture device at range: 43.60 m.zԑ7:7: ProNav: ac range: 43.258255 m, nav range: 41.734184 m, bearing: 285.160363 deg, approach rate: -0.556906 m/s, LOS rate: 0.093640 deg/s, cmd heading: 285.781262 deg, new cmd heading: 285.908511 deg. ;HeadingCmd: 4.990045 target range: 43.258255 and range: 43.60 m.bs@ZrjRzJB~)~)}1|1|1|1|5@? mBJI)ϿI{ܻ ,Hq Hu IHu hBHq Hq Hq Hu <Hu {E 6G ~q;~G A A N >qf1,LA\%gB-mIMb@Mb@Mb@ )Y{Gz?+~jthy#?DSA )EAINAy=JAI IV2`=  9=yQ >٥ HwF >q4S?q49 I By %?:?1Ci;;+q415{A5EyDNOT Ignoring new targets: 43.26 m.Powering the camera and arming the capture device at range: 43.60 m.z#;#; ProNav: ac range: 43.258255 m, nav range: 41.434429 m, bearing: 285.218794 deg, approach rate: -0.728263 m/s, LOS rate: 0.142985 deg/s, cmd heading: 285.908522 deg, new cmd heading: 286.085081 deg. B;HeadingCmd: 4.993126 target range: 43.258255 and range: 43.60 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243840bǟ@ZrjRzJB~~yB}||||]9@ EnBE~II)M пIIM IIUI e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494507l1,LA96@6ʞ@Y6gy6 =6H`??@˂ ?ᄥ?J?]? ? 6@6.Ύ;)4fgBfwI)l n<InIn 2vU-= v]=yzbQ z?٥|| ~H~xF r[<  ?%q4?%q49 IBy!--?iCiC;GD;$q415B{A1Y]DNOT Ignoring new targets: 43.26 m.aePowering the camera and arming the capture device at range: 43.60 m.elFinal approach. Armed for intercept at range: 43.60 m.e\Transitioning guidance mode to: FINAL_APPROACHe@m>;m>; ProNav: ac range: 43.258255 m, nav range: 41.215900 m, bearing: 285.260500 deg, approach rate: -0.652726 m/s, LOS rate: 0.125233 deg/s, cmd heading: 286.085069 deg, new cmd heading: 286.210851 deg. ;HeadingCmd: 4.995322 target range: 43.258255 and range: 43.60 m.bٟ@ZrjRJB~~}||||@ +nB靕ʏI)aпI _<ؤ <D9iٟ@iKmpP"Km9*Ki2Km:KmTVz8g+fu` *  P T [/,I +|Bo 4 >AEMEIEIEM_0EIFU|AFQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748156q6Gu!ZGRG~G A A N} >ԡ s1,غLA9>ؗ@>@Y>gy>C=>H ?0?@4YhH?@\?? ?? >ؗ@>;)>VCJgBJI)L LeMb@Mb@Mb@aaa aԁ)aYeZd;?Q뱿ye?e\ea e3AA)evDAIeOAayefJAII 3W= >=yQ >٥ H; >q4?q49" I#By?: ?Ciۅ;v;q4zA%BDAT read: Rx Time:06:03:01.9310 %TRx dataTimestamp_ set to:1749103383.299647-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9997699EDNOT Ignoring new targets: 43.26 m.AEn:Mn:] ProNav: ac range: 43.258255 m, nav range: 40.950844 m, bearing: 285.307339 deg, approach rate: -0.613036 m/s, LOS rate: 0.109034 deg/s, cmd heading: 286.210854 deg, new cmd heading: 286.352281 deg. ];eHeadingCmd: 4.997790 target range: 43.258255 and range: 43.60 m.be@ZirijiRiJyBy~~&zB}|||| L@Hk>HHIH)hBH =HHHț<HE HnB靵UI) ѿI- <Ӈ~I<9m9i@iqԩE=EAEAEAEA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2531796G }: ~G A A N >Ty1,LA)GĀA -NY-ĀAy- PBMDAT read: 06:03:01.9310 LVL= 20944, 26513, 17698, 29459, AGC= 67, IDX= 417, 0.28,-0.204,-1.608,-0.217,-0.536, PHS= 0.420,-1.025, 0.316, RAW= 146.3, 4.2, CAL= 148.9, -4.5, ROT= 1.1, 4.5 UYgot valid direction response: 06:03:01.9310 LVL= 20944, 26513, 17698, 29459, AGC= 67, IDX= 417, 0.28,-0.204,-1.608,-0.217,-0.536, PHS= 0.420,-1.025, 0.316, RAW= 146.3, 4.2, CAL= 148.9, -4.5, ROT= 1.1, 4.5 ]PDAT read: Bearing 1.1, 4.5 (Local) e~Local bearing/azimuth received: Bearing 1.1, 4.5 (Local) mDAT read: Range 10 to 50 : 41.4 m (Round-trip 55.2 ms) speed 0.5 m/s u*DAT read: user:632> uBDAT read: Tx time:06:03:03.0216 }$Ping request sent.}=?_Ǫ%?5;%BY Q)gI"EisC= >33ʡ> .k#@)Q =IR&@i|٠nF<|٠= )71b?>H?%nD?i@>7nF<|٠= ):publishing transmit ping timeyFpublishing direction and range infoyFj>=?_Ǫ%?5;Y )Ii )Ii )71b?>H?%nD?i )gBIIMAAIUIU2:= =yQ >٥ HyF >q4Z?q49, I9By!!%?Ci;;Qq4)-uzA)ZbF]LAM$BM$B@ʁ!yxD@f=G'?T* Fj>=?_Ǫ%?5;nF<|٠=ҁ$J&@A%GC8ۿ0Xc~?9*!_υzr4Aj[X?r^5= fBF?^5=  fB$B2@ addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.527213 s, deltaX: -2.199997 m, approachRate: -0.623721 m/s, rangeRepo size: 4   Added new target pos. range: 41.075382 m, bearing: 285.937096 deg, lat: 36.906142 deg, lon: -122.116049 deg, deltaT: 3.527213 s, deltaX: -2.182873 m, approachRate: -0.618866 m/s, posRepo size: 4   DNOT Ignoring new targets: 41.08 m. % ! 5  ProNav: ac range: 41.075382 m, nav range: 41.014412 m, bearing: 285.647955 deg, approach rate: 0.000000 m/s, LOS rate: 0.109034 deg/s, cmd heading: 286.352293 deg, new cmd heading: 286.556166 deg. 1 e HeadingCmd: 5.001348 target range: 41.075382 and range: 41.40 m.be @Zi ri ji Ri Ji Bi ~ ~ } | | | @3D@| ?K `P"K 59*K 2K :K 'zH v A n 59\cN/5x$': =VUt*;naudUn]D EJ ?J > nnB ׽I) )5 ]ҿ1 I5 ܘN 1 1 5 F<= := <= 7iE @iA I E E E E O0E  JDAT read: TxSync time:06:03:03.0208 y:JRBJCJJRJZJ9bJ=8JJE@E@E@M@6G9jG?bG>~GIAQAaN}?61,{ LA 9J$@Jb.@YJ yJ =JH?@t?@}*@? ?鼲?>l?6? J$@J;)JWC !)%Aɵ%ľ-F)-Cɶ)i)I)1I5fCi1 11)AEYC AAIɷIM&CIII)IiI)QIQQɸ ɹC鹝Aii)D IٯgBIMb@Mb@Mb@ )YZd;O?~jtyj?DUA BA)CAIQAy\KAI Ib3\^= @=yVQ %>٥!! %H%zFI-(< m>q}q4u^?}q49up3 IuKBy?:?u(CiuHoCHIHRhBH =HHH<HEHHHH =I I,4B*** querying acoustic contact ***JRIMDNOT Ignoring new targets: 41.08 m.IU:U:u ProNav: ac range: 41.075382 m, nav range: 40.754574 m, bearing: 285.680692 deg, approach rate: -0.612480 m/s, LOS rate: 0.077659 deg/s, cmd heading: 286.556161 deg, new cmd heading: 286.654998 deg. }/U;}HeadingCmd: 5.003074 target range: 41.075382 and range: 41.40 m.b}.@ZrjRJB~~zB}||||`ԩ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.q_1,O'LA@9>=@>tG@Y>y>=>H ?@α?஫ @ ?@?`ho?Y?? >=@>b;)>XC=hB=IiE4=IER=IMIM?13ek= mk=ymQ m?٥iq uHu{Fu(< u?q4?q498 IZBy%?CCiu::q4yADNOT Ignoring new targets: 41.08 m.¶:¶: ProNav: ac range: 41.075382 m, nav range: 40.547512 m, bearing: 285.706166 deg, approach rate: -0.646057 m/s, LOS rate: 0.079890 deg/s, cmd heading: 286.655007 deg, new cmd heading: 286.731821 deg. O[;HeadingCmd: 5.004415 target range: 41.075382 and range: 41.40 m.b*$@ZrjRJB~~}||||? 5nB=[I9)=п9I=Nu AAED[ K @Q"K s9*K 2K :K  o Q l XgK{0KswcfW7!SfApY\ `uG1,+ALA9^P@^UZ@Y^^Jy^AK=^Hr?S?ػ g`OH?CU?`#?@N?@{? ^P@^f;)^WCpechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246957e.hBeI)up; u4<I} I}b37r= D=yٻQ >٥Q UHQ]I; ]>amq4eЭ?mq49e? IemByimڰm?eeCie:e ;eH H IH hBH H H DH ƛ<H Ei 6G 7;ZG }ARG ~Gy A A N >1,[LA9>e@>o@Y>ldy>6=>H`N? ?U `9@ut?-j?`ƴ?J?@? >e@>׍;)>XCJBhBJIt}Mb@Mb@Mb@yyy y)yY}+?{Gz{Gz?y}v?}ף}#<}SA }S?A)}AAI}OAyy}IAII#3E= F=yeŻQ >٥ H|F; >q4?q49E IBy? : Ԫ ?Ci'v;h;/q4xAEimDNOT Ignoring new targets: 41.08 m.qu:}: ProNav: ac range: 41.075382 m, nav range: 40.037868 m, bearing: 285.751675 deg, approach rate: -0.629479 m/s, LOS rate: 0.034901 deg/s, cmd heading: 286.828330 deg, new cmd heading: 286.869246 deg. :HeadingCmd: 5.006813 target range: 41.075382 and range: 41.40 m.b7@ZrjRJB~~WzB}||||e~? nB靵I)+ҿIA O <*`*<;i7@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751124!EEEEp2EA6G ~q;ԉ ~G A A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0031021,euLA9B@BU@YBgөyBE=BH`6M??Q:/??34?`K?`? B@Bј;)BVCJ]hBJI)P PIVIV<2^Z= ^^=ybٔQ f>٥hh jHhjS< n>prq4r9?vq49rK IrBytv9v?rCir%:r2:rq4xzvxA|!%DNOT Ignoring new targets: 41.08 m.!- :- :E ProNav: ac range: 41.075382 m, nav range: 39.811462 m, bearing: 285.762755 deg, approach rate: -0.628883 m/s, LOS rate: 0.030952 deg/s, cmd heading: 286.869257 deg, new cmd heading: 286.902686 deg. E:UHeadingCmd: 5.007397 target range: 41.075382 and range: 41.40 m.bU<@ZQrQyjQRJB~~}|||| ÿ@ enBmHIi)mѿiIm^ qqqa< M<-EGY]P5&1ԩ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2549976GMo;IQ IU @A:Jm TBJm AJJm 8RJi ZJm {9bJm 8Jm '4Ji ~G A  A N >1,?LA9>@>M@Y>5y>=>H ?@o?@$X`H?#???v? >@>;)٥ H}FL; %>)5r4-F?=r49-~T I-ByE!#?E:EE?-΀Ci-;-f;- r4QU1xAUEmB*** querying acoustic contact ***JiRiy}DNOT Ignoring new targets: 41.08 m.MƸMƸ ProNav: ac range: 41.075382 m, nav range: 39.466850 m, bearing: 285.759820 deg, approach rate: -0.630705 m/s, LOS rate: -0.005418 deg/s, cmd heading: 286.902697 deg, new cmd heading: 286.893816 deg. mHeadingCmd: 5.007242 target range: 41.075382 and range: 41.40 m.bS;@ZrjRJB~~zB}||||P@  oB{I)ӿI@ <  R<4a`k1,=LA9FΘ@FR؟@YFyF+˿=FH??/ G?M?`O?@ٷ?? FΘ@F6.;)FYCVhBVII^I^T3 $> v=yZһQ %?٥)) -H-~F5\M< 5 ?9Er4=ĺ?Er49=Y I=ByAEE?=Ci=;=j;=Fr4QUVwAQy}DNOT Ignoring new targets: 41.08 m.y)) ProNav: ac range: 41.075382 m, nav range: 39.263420 m, bearing: 285.756876 deg, approach rate: -0.637283 m/s, LOS rate: -0.009271 deg/s, cmd heading: 286.893818 deg, new cmd heading: 286.884939 deg. ˹HeadingCmd: 5.007087 target range: 41.075382 and range: 41.40 m.b:@ZrjRJB~~}||||@ "oB>I)~ϿI2 <3W<yԡKU P"KU s9*KQ 2KU :KU GX~~:~|z:wTE45UR. *\D l4!,52,8Xy>y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265020d1,{LA9F9@F@YFyF=FH@?2{?½ؒ`Ä??@?@6?E? F9@F0;)FUC%hB%!Ii-=I-;I5I5 3E]= EC=yMHQ M>٥II UHUF]< e>yr4}Uʺ?r49}5` I}By ?} Ci}:}:}"r4vA:JRBJCJJ6RJZJ9bJ=8J 4JDNOT Ignoring new targets: 41.08 m. b b ProNav: ac range: 41.075382 m, nav range: 39.003292 m, bearing: 285.751701 deg, approach rate: -0.619232 m/s, LOS rate: -0.012400 deg/s, cmd heading: 286.884939 deg, new cmd heading: 286.869312 deg. )%HeadingCmd: 5.006814 target range: 41.075382 and range: 41.40 m.b%7@Z!r!j!R)J)B~~}|)|9|A|m3 @ CoB-_I1)5п1I5 115<]"`]^e<]F~ BDAT read: Tx time:06:03:06.5716 $Ping request sent.HHbIH'iBHHHDH<HmEFpublishing direction and range infoQyUTb?D%a'ЌCz¿UBYQ U0N)UQeIUrDiUSkU>U>QU-? U"-@)U5 Q)QUh4?ʌ\?E?iUu?U )UUV> Q)QM:publishing transmit ping timeMFpublishing direction and range infoQyUTb?D%a'ЌCz¿QYQ Q)QIQiQQQQQ Q)QIQiQQQ Q)QUh4?ʌ\?E?iQQQQ Q)Q6G :m]1,}LAhB.I1JDAT read: TxSync time:06:03:06.5708 only read 0 of 1 data item for altitude. Device response is::BD, -0.74, , -0.05, 12.60, 0.00 aI@a aM@a aQ@a aE@a ) II(*3 ,(=  %=yQ >٥ H >AMr4EѺ?Mr49E h IEBU+:yQU:QU?E1CiE:Em>E0r4]>B]vAEZb)LABB6@ʁM C@b^\CzKuTb?D%a'ЌCz¿V>ҁ %@/6+CaVN}?'qmH_x,qWz-@j?rW H^BK*?  ꁅ Bݒ@= addTargetRange:: Added new target pos. range: 39.200001 m, deltaT: 3.528091 s, deltaX: -2.200001 m, approachRate: -0.623567 m/s, rangeRepo size: 4 Yu Added new target pos. range: 38.892124 m, bearing: 279.698423 deg, lat: 36.906142 deg, lon: -122.116050 deg, deltaT: 3.528091 s, deltaX: -2.183258 m, approachRate: -0.618821 m/s, posRepo size: 4 quDNOT Ignoring new targets: 38.89 m.q ProNav: ac range: 38.892124 m, nav range: 38.761200 m, bearing: 285.715580 deg, approach rate: 0.000000 m/s, LOS rate: -0.012400 deg/s, cmd heading: 286.869311 deg, new cmd heading: 286.850417 deg. HeadingCmd: 5.006484 target range: 38.892124 and range: 39.20 m.b5@ZrjRJB~~}|||C@| ? U`oB]ާIY)]ѿYI]v˼ Yae/eԹ 1,֎LA9>@>@#@Y>jy>i=>H@5V? p?1a@v?0? ?_?`]? >@>?;) J1,~VLA%hB%CI)) )HHHIHniBHHHHHaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YE?~jt?Zd;O?y&?D=j<SA QAIQRAyQHAIIF3 X=  7=y Q  >٥ H >!-r4%޺?-r49%s I%/B-T:y-6'?-:-5?%nCi%:%:%Fr4"vAE:^@q}}1=DNOT Ignoring new targets: 38.89 m.9EӺMӺ} ProNav: ac range: 38.892124 m, nav range: 38.289734 m, bearing: 285.672138 deg, approach rate: -0.611327 m/s, LOS rate: -0.081668 deg/s, cmd heading: 286.833931 deg, new cmd heading: 286.719154 deg. 1`HeadingCmd: 5.004193 target range: 38.892124 and range: 39.20 m.bZ"@ZrjRJB~~zB}||||p? UoBUx IY)]ӿYI]߼ YY]a=I 6G Hn<:J BJ HJJ :RJ ZJ bJ 9J FA4J zJ K: jJ K: J  rJ  ~Gy A A N > 1,;4-LA9F7@FrA@YFɽyF=FH?m?v?@>α?3? :>?ѻ? F7@F4ʍ;)FTCZiBZVI`bBAIbIbM3j= j`=ynIQ n>٥pp rHrFr%< r>tzr4v溜?zr49vy Iv@By|~!~?vCiv;v;vSr4uA B)}-}55B*** querying acoustic contact ***J1R5xAMDNOT Ignoring new targets: 38.89 m.IM2ߺM2ߺ)m4> mC ProNav: ac range: 38.892124 m, nav range: 38.054871 m, bearing: 285.639113 deg, approach rate: -0.689610 m/s, LOS rate: -0.097566 deg/s, cmd heading: 286.719156 deg, new cmd heading: 286.619471 deg. ꅻGHeadingCmd: 5.002453 target range: 38.892124 and range: 39.20 m.rAb@ZrjR 6YrAyBJB~~}||||s? EoBE[IA)MӿIQIMo qqu<}}{V<}T=i}@i5T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E-E)E)E-0E1y6GM <ԩ ~G! K- P"K- 9*K) 2K- :K- >E+VEhzU*<VL.=P!WET~iVE<15hwy<J5 |AJ5 |AAA AQ N] > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7454731, GLA<9BA@BmK@YB|νyB<=BH?@$k?@ q)?`L`?jĹ??? BA@Bq;)BUCN"iBN_IIRIR2Z= ^L=y^`Q ^>٥`` bHbFb&G; b>djr4f?nr49f IfSBylnn?fCifA;f;far4prkuAtJ}  Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL|Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL9=DNOT Ignoring new targets: 38.89 m.9EԺEԺ ProNav: ac range: 38.892124 m, nav range: 37.796818 m, bearing: 285.601849 deg, approach rate: -0.639606 m/s, LOS rate: -0.092993 deg/s, cmd heading: 286.619463 deg, new cmd heading: 286.506908 deg. GHeadingCmd: 5.000489 target range: 38.892124 and range: 39.20 m.b@ZrjRJ!B!~!~!})|)|I|I|U C?Ա uoB}hFI)ԿI H<i/Cw<R =i@iEEEE1EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.996935HyHyH}IH}iBHyHyHyH}<H}EH=oCH=oCH9H9I9 I=Ǽ4 6G $3=~G A A N >1,`LAp=8iB=mIiE,>IEt> E=E=Mb@Mb@Mb@ )Y~jt?٥19 =H9= =>AMr4E?Mr49E IEiByU%?U:UU?EҁCiEF;E ;Emqr4u?B}uAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247964DNOT Ignoring new targets: 38.89 m.HH ProNav: ac range: 38.892124 m, nav range: 37.510349 m, bearing: 285.542957 deg, approach rate: -0.630054 m/s, LOS rate: -0.130514 deg/s, cmd heading: 286.506901 deg, new cmd heading: 286.328878 deg. $HeadingCmd: 4.997382 target range: 38.892124 and range: 39.20 m.b@ZrjRJB~~{B} | |||F@ =oBE"IA)ETտAIEԫ IIM2jE >:J[BJEJJ6RJZJ:bJ8J 4JzJ:jJ:J9rJ9EEEEP5E16G =M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499425a ~G A A N >1,:zLA9>W@>`@Y>9ֽy>8)=>H1?d?ͻhU?L? ?´?? >W@>ϲ;)>TCJ:iBJnI)r; r4<Ir Ir(2z; za=yz!*Q ~>٥|| HF; > r4 a?r49  I {By? Ci ; `; %~r4!%uA!9aeDNOT Ignoring new targets: 38.89 m.amm} ProNav: ac range: 38.892124 m, nav range: 37.279568 m, bearing: 285.493873 deg, approach rate: -0.644931 m/s, LOS rate: -0.138018 deg/s, cmd heading: 286.328879 deg, new cmd heading: 286.180715 deg. pHeadingCmd: 4.994796 target range: 38.892124 and range: 39.20 m.b^՟@ZrjRJB~~}||||5@ oB :!I)(ؿI: 6<餿<,&=i^՟@iEQEQEQE]O0EYK P"K *K 2K :K 9=!5Ve3i`o7S$`N%m W6GMe=y~GAA!N-->checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751452ԑIIAA J1,סLA9:\@:Pf@Y:b/ڽy:T=:H?^c? ϻ e*b?˳? 8?`+?׶? :\@: ;):SC^OiBb{IBDAT read: Rx Time:06:03:09.0249 TRx dataTimestamp_ set to:1749103390.355289 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004436 H%<H!H-d>H)H-IH-iBH)H)H)H-<H-EԡMb@Mb@Mb@ )Y{Gz?v/?{Gzt?y#?xi=ף;QA =A)"=AIyGAImIm 3A9= 2=yVQ >٥ HFh: >r4?r49 IBy~$?:P?Ci;;Yr4tAEaeDNOT Ignoring new targets: 38.89 m.i ProNav: ac range: 38.892124 m, nav range: 36.985916 m, bearing: 285.439832 deg, approach rate: -0.625236 m/s, LOS rate: -0.115976 deg/s, cmd heading: 286.180719 deg, new cmd heading: 286.017310 deg. /mHeadingCmd: 4.991944 target range: 38.892124 and range: 39.20 m.bm@ZirijqRqJqBy~~{B}||||@7 @ mpBmIi)mٿiIu qqu<}fG}<'<}S0=i}@iEEEE4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255819:J QBJ CJJ 7RJ ZJ 9bJ =8J 4J zJ 5:jJ 6:J 9rJ 9 6G= V=jG9 bG= ?~G Aa A N >D1,fLAT9}h@}Br@Y}y}=}H@?a?@^`^ Uy?ݴ?#?г?? }h@}+;)}UCRiB|III; B=yN Q >٥ He; >r4Q?r49Y IBy?8Ci::ߜr4@BtAE B*** querying acoustic contact ***J R DNOT Ignoring new targets: 38.89 m.% - E ProNav: ac range: 38.892124 m, nav range: 36.722878 m, bearing: 285.390045 deg, approach rate: -0.646114 m/s, LOS rate: -0.123172 deg/s, cmd heading: 286.017313 deg, new cmd heading: 285.866881 deg. EMHeadingCmd: 4.989318 target range: 38.892124 and range: 39.20 m.bM@ZIrIjIRQJQBQ~Q~Q}Y|Y|Y|Y|e% @ 9pB靝%DAT read: 06:03:09.0249 LVL= 21632, 24161, 17858, 27411, AGC= 64, IDX= 403,-0.04, 1.197,-0.200, 1.451, 0.905, PHS= 0.380,-1.058, 0.543, RAW= 155.3, 1.8, CAL= 157.4, -7.1, ROT= 352.6, 7.1 Ygot valid direction response: 06:03:09.0249 LVL= 21632, 24161, 17858, 27411, AGC= 64, IDX= 403,-0.04, 1.197,-0.200, 1.451, 0.905, PHS= 0.380,-1.058, 0.543, RAW= 155.3, 1.8, CAL= 157.4, -7.1, ROT= 352.6, 7.1 PDAT read: Bearing 352.6, 7.1 (Local) ~Local bearing/azimuth received: Bearing 352.6, 7.1 (Local) %DAT read: Range 10 to 50 : 36.8 m (Round-trip 49.1 ms) speed 0.7 m/s 5*DAT read: user:634> =BDAT read: Tx time:06:03:10.1216 E$Ping request sent.E۵l۵  ? ܵx-@)ܵ=IܵF/@iܵܵ@ܵ= ݱ)ݱݵa?`|?+ҟ?iݵw?ݵdݵ@ݵ= ޱ)ޱu:publishing transmit ping timeAuFpublishing direction and range infoڱyڵؚz}?hQ\A7XڱYڱ ۱)۱I۱i۱۱۱۱۱ ܱ)ܱIܱiܱܱܱ ݱ)ݱݵa?`|?+ҟ?iݱݱݱݱ ޱ)ޱchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.009177I)ܿI <qy<҂>=i@iEEEEO0E6G-=~GIAYAiNuz>K O"K }9*K 2K :K  $]pq06L.(`+ 9[{[eGf]9 ] JDAT read: TxSync time:06:03:10.1208 e checking for new query: numPingsReceived=1, elapsed TxPingTime=0.233804Ю1,@LA9N>j@Ns@YNfyN=NH?`3b?@&\|?.n?i?`n? ? N>j@Na;)NSCZViBZI`bAAIb|IbV83f7< U=y%Q %>٥!! -H-F- : M>Q]r4U>?]r49U^ IUByaee?UWCiU:U:Ukr4tAZbGLA B BӪ@ʁC+A@|a3 ؚz}?hQ\A7X@=ҁBؕ@=A|)DR"X?O t4;ůz@jahJ?rQ fBJ+?S4A  B@E addTargetRange:: Added new target pos. range: 36.799999 m, deltaT: 3.528855 s, deltaX: -2.400002 m, approachRate: -0.680108 m/s, rangeRepo size: 4 M Added new target pos. range: 36.511024 m, bearing: 280.511683 deg, lat: 36.906139 deg, lon: -122.116051 deg, deltaT: 3.528855 s, deltaX: -2.381100 m, approachRate: -0.674751 m/s, posRepo size: 4 QUDNOT Ignoring new targets: 36.51 m.Q]y ProNav: ac range: 36.511024 m, nav range: 36.468098 m, bearing: 284.820201 deg, approach rate: 0.000000 m/s, LOS rate: -0.123172 deg/s, cmd heading: 285.866885 deg, new cmd heading: 285.694106 deg. HeadingCmd: 4.986303 target range: 36.511024 and range: 36.80 m.bˏ@ZrjRJB~~}|||`ffB@|CQ? E[pBEII)M࿉IIM+ IIMSAHHIH%jBHHHDH<H~EE E E E EIy 6G {/=ZG RG ~G A A N >1,R LAchecking for new query: numPingsReceived=1, elapsed TxPingTime=0.736753Y9ev@e@Ye,hyeDY=eH?:T?8 tX`r?`?`Fݼ?F??? ev@e;)eUCLiByIMb@Mb@Mb@ )YK7A?ˡE?Mby "?'=PA ;A)Q٥QQ UHUF] H; ]>Yer4]@"?mr49] I]Bymf"?m:mЙu?]}Ci]m ;]3;]պr4tADNOT Ignoring new targets: 36.51 m.'' ProNav: ac range: 36.511024 m, nav range: 36.173664 m, bearing: 284.768478 deg, approach rate: -0.751110 m/s, LOS rate: -0.133022 deg/s, cmd heading: 285.694109 deg, new cmd heading: 285.537676 deg. HeadingCmd: 4.983572 target range: 36.511024 and range: 36.80 m.bmy@ZrjRJB~~zB}||||? -upB-n-I))-)忉1I5 115<=Y=LE<=l9W=i=my@iAEEEEP0E6G}D=~GQAaAqN}{>checking for new query: numPingsReceived=1, elapsed TxPingTime=0.9890129 w1,LA9:q@:J{@Y: y:Hl=:H`?Z?ߖY!?;l?G?Ĵ?֯? :q@:r;):RCrViBrIIv"Ivq3~!< x=yJQ ?٥   H  bں  ?r4(?%r49 IɀBy!%䙿%?Ci;;Pr4)-tA)amDNOT Ignoring new targets: 36.51 m.imu ProNav: ac range: 36.511024 m, nav range: 35.967701 m, bearing: 284.731984 deg, approach rate: -0.627827 m/s, LOS rate: -0.111879 deg/s, cmd heading: 285.537670 deg, new cmd heading: 285.427562 deg. HeadingCmd: 4.981651 target range: 36.511024 and range: 36.80 m.bi@ZrjRJB~~}||||? pB7I)濉I]" 8<-<ɝZ=ii@iԙKuP"K 9*K2K:K.*M!Zt,MXAL 8Y|  96FF/tKIIEEEE0E=checking for new query: numPingsReceived=1, elapsed TxPingTime=1.2418386G.H=~GI Ay A N >H a>H nCH IH DjBH H H H <H E  checking for new query: numPingsReceived=1, elapsed TxPingTime=1.493101 m2,LA9ZTi@Zs@YZryZ8ߛ=ZH5?`&b? R Z~?RK?}? U?? ZTi@Z8;)ZTCrFiBruIMb@Mb@Mb@ )YMb?~jth?I +y ?D;9ANA )9AIOAyDA) <II 2m <=yzQ >٥ HF >r4/?r49 IՀBy ?:?Ciw;H;r4tAE15DNOT Ignoring new targets: 36.51 m.1=p=pM ProNav: ac range: 36.511024 m, nav range: 35.696339 m, bearing: 284.709319 deg, approach rate: -0.625507 m/s, LOS rate: -0.052643 deg/s, cmd heading: 285.427568 deg, new cmd heading: 285.359054 deg. MeHeadingCmd: 4.980455 target range: 36.511024 and range: 36.80 m.be_@ZarajaRiJiBi~i~mFzB}q|q|q|y|}`b? pB靽(I)쿉I( (o<ῦ<i_@iEE E E 0E checking for new query: numPingsReceived=1, elapsed TxPingTime=1.744787) 6G5 '\=jGE ?bGE ?~Ga Ay A N > 2,S2LA9JZ@Jd@YJQyJWϑ=JH?mj?7 \@^?4%?@?`? 2? JZ@J ;)JSCZMiB^yIIfIf 3jA< n^=ynQ n>٥pp rHrFr v>tzr4v`5?~r49vY IvހBy|~?v؂Civ;v;var4  tA EAEDNOT Ignoring new targets: 36.51 m.AMjMj] ProNav: ac range: 36.511024 m, nav range: 35.466202 m, bearing: 284.690544 deg, approach rate: -0.623192 m/s, LOS rate: -0.051171 deg/s, cmd heading: 285.359047 deg, new cmd heading: 285.302357 deg. ]x eHeadingCmd: 4.979465 target range: 36.511024 and range: 36.80 m.beW@ZarijiRiJiBi~q~q}q|q|q|y|}? pB靵L7I)￉I؛. <Lি<W=iW@ichecking for new query: numPingsReceived=1, elapsed TxPingTime=1.997867QEYEYEYE]5EYFe=Fe=y6G`hZ=~GiAyAN>Km .P"Km @9*Ki 2Km :Km ibXMCA<8!pSmJ {:Gv-,|q=-ԩ M checking for new query: numPingsReceived=1, elapsed TxPingTime=2.248715J+'4J+$4J+8/:J] TBJ] AJJ] 7RJY ZJ] {9bJ] 8J] 4JY m @m @m @m @2,LLA49J(J@JS@YJyJB=JH?qq?@G`;?ҷ?`]?e? ? J(J@Jh;)HPiB-{I)A AIUIU3u ; u?=yu˂Q u>٥yy }Hy蜻 >r4"HYH]IH]NjBH] =HYHYH]<HYchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.501602EEEAEAEMc5EI 6Gm YW=~G A A N >/!2,JfLApchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.752624 RiB |IMb@Mb@Mb@ )Y-?Q롿S㥛y5?\/ݼJA :A)l7AIOAy CA@AI%I)3 s;  B=y Q  >٥ HF >!-s4%nA?-s49% I%By5?5:5ʩ5?%Ci% ;%;%s49=tA9DNOT Ignoring new targets: 36.51 m.-`9-`9 ProNav: ac range: 36.511024 m, nav range: 34.939655 m, bearing: 284.674408 deg, approach rate: -0.632700 m/s, LOS rate: 0.012249 deg/s, cmd heading: 285.238481 deg, new cmd heading: 285.253576 deg. :HeadingCmd: 4.978614 target range: 36.511024 and range: 36.80 m.bP@ZrjRJB~~yB}||||`@ qB靕@I==)I; <.h<T=iP@i UȈGuĀAEEEEO0E Y ĀAy BIBDAT read: Rx Time:06:03:12.5718 TRx dataTimestamp_ set to:1749103393.883248checking for new query: numPingsReceived=1, elapsed TxPingTime=3.0057546G ,S=y ~G A A! N5 > 2,%LA9>/@>^9@Y>Iy>=>Hr? }?e}e?ȸ? ? ?ij? >/@>@;)>QCJ\iBJIIRIR2b< bb=ybBQ f>٥dd fHfFj[ j>lrs4nE?rs49nk InBypr<v?n8Cin;n):n s4xztAxDNOT Ignoring new targets: 36.51 m.!%9%9A ProNav: ac range: 36.511024 m, nav range: 34.716240 m, bearing: 284.680043 deg, approach rate: -0.624641 m/s, LOS rate: 0.015858 deg/s, cmd heading: 285.253589 deg, new cmd heading: 285.270605 deg. !.:HeadingCmd: 4.978911 target range: 36.511024 and range: 36.80 m.b>S@ZrjRJB~~}||||ӡ @ -qB-I?I1)UQI].A YY]äS@iiKU#P"KQ*KQ2KU:KU-o,b>6H{vBOscD%,euvsam S checking for new query: numPingsReceived=1, elapsed TxPingTime=3.258031EMEIEIEIEIFU}AFU~Aq:J-SBJ-JJJ-8RJ)ZJ-;9bJ-&9J-'4J)ԑ6G8U=~Gq A A N >  Ha He <Hu [>Hq Hq Hq Hu  =Hq Hq Hu <Hu jEH%nCH%nCH!H!I! I%S4 DAT read: 06:03:12.5719 LVL= 24304, 25873, 15714, 26163, AGC= 63, IDX= 404, 0.13, 2.584, 1.128, 2.918, 2.249, PHS= 0.424,-1.074, 0.667, RAW= 157.4, -0.2, CAL= 159.9, -8.9, ROT= 350.1, 8.9  Ygot valid direction response: 06:03:12.5719 LVL= 24304, 25873, 15714, 26163, AGC= 63, IDX= 404, 0.13, 2.584, 1.128, 2.918, 2.249, PHS= 0.424,-1.074, 0.667, RAW= 157.4, -0.2, CAL= 159.9, -8.9, ROT= 350.1, 8.9  PDAT read: Bearing 350.1, 8.9 (Local)  ~Local bearing/azimuth received: Bearing 350.1, 8.9 (Local)  DAT read: Range 10 to 50 : 34.5 m (Round-trip 46.0 ms) speed 0.5 m/s  *DAT read: user:635> % BDAT read: Tx time:06:03:13.6717 % $Ping request sent.% ۽ x۽ *? ܽ F/@)ܽ dIܽ )2@iܽ ܽ a@ܽ > ݹ )ݹ ݽ ]Ayk?Q-p?r)&niݽ '?ݽ q1q;ݽ 40ݽ > ޹ )޹ M :publishing transmit ping time! U Fpublishing direction and range infoڹ yڽ 8$?S$ſjÿڹ *3&2, LAY )Ii )Ii )]Ayk?Q-p?r)&ni )=checking for new query: numPingsReceived=2, elapsed TxPingTime=0.046613ԙRiB|IiG>I=Mb@Mb@Mb@ )Y?ʡES㥛y ?\IA )5AIPAyBAII2%O -=y5Q 5>٥99 =H9U U>ams4eK?us49er IeByu[!?u:uu?edCie:eM:es4BBtAEZb༘LABB@ʁ'| @@nA0!.8$?S$ſjÿ40>ҁG>G@rw8=@Ů{{I-c?A¢wRTҧz9@j̼?rܵ-R bBahJ?Q  fB Bx@e addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 3.527014 s, deltaX: -2.299999 m, approachRate: -0.652109 m/s, rangeRepo size: 4 u Added new target pos. range: 34.228485 m, bearing: 277.680378 deg, lat: 36.906115 deg, lon: -122.116058 deg, deltaT: 3.527014 s, deltaX: -2.282539 m, approachRate: -0.647159 m/s, posRepo size: 4 DNOT Ignoring new targets: 34.23 m. ProNav: ac range: 34.228485 m, nav range: 34.414181 m, bearing: 280.156687 deg, approach rate: 0.000000 m/s, LOS rate: 0.015858 deg/s, cmd heading: 285.270610 deg, new cmd heading: 285.297822 deg. HeadingCmd: 4.979386 target range: 34.228485 and range: 34.50 m.b"W@ZrjRJB~~yB =<%JDAT read: TxSync time:06:03:13.6709 %checking for new query: numPingsReceived=2, elapsed TxPingTime=0.240193})|)|1|U@A@|]v? DqB{(I)XIqK Q<⦿E<G=i"W@i1E E E E 4E ! 6G .H=Qchecking for new query: numPingsReceived=2, elapsed TxPingTime=0.492308~G!A1AANM?-2,LA9>@>@Y>y>i|=>H@/7?@\? m ?@d?I?K?*? >@>;)>SC~qiB~III[3%v= %Z=y-Q ->٥11 5H5F5& =>9Es4=PN?Ms49=g I=ByIM-M?=Ci=;=;=,s4Q]JtAYDNOT Ignoring new targets: 34.23 m.99 ProNav: ac range: 34.228485 m, nav range: 34.184654 m, bearing: 280.159110 deg, approach rate: -0.658531 m/s, LOS rate: 0.006997 deg/s, cmd heading: 285.297821 deg, new cmd heading: 285.305138 deg. 9HeadingCmd: 4.979514 target range: 34.228485 and range: 34.50 m.b.X@ZrjRJB~ ~}||!q||@s? \qBNI)`IP <ަ<"Y9=i.X@iԑKP"K*K2K:KE O  > fom$YI}'@a?OPN@3gz-RbwJ}AJ}A>E y==checking for new query: numPingsReceived=2, elapsed TxPingTime=0.744331EEEE4E:Ji BJm BJJm 7RJi ZJi bJm 8Jm 4Ji  6G H=~G A A N >52,t_LAH:Z>H8H:IH:XjBH: =H8H8H:<H:E9f@f;@YfEyfyS=fH$?٥qq uHuF}e }>s4Q?s49 IBy{?:P?Ci::.>s4sAEB*** querying acoustic contact ***JRDNOT Ignoring new targets: 34.23 m.:: ProNav: ac range: 34.228485 m, nav range: 33.875267 m, bearing: 280.187544 deg, approach rate: -0.621754 m/s, LOS rate: 0.057664 deg/s, cmd heading: 285.305143 deg, new cmd heading: 285.391224 deg. K;HeadingCmd: 4.981017 target range: 34.228485 and range: 34.50 m.b}d@ZrjRJB~~yB}| | | | ?? |qB\Y9I)I%X 115yEC;=bEZE~AE E E E `5E F =F = 6G 9= ~GAAN->s'=2,,LA9:@:o@Y:gy:t^=:H'?ѓ?`Yr}? F?@׿?ϓ? e? :@:;)8JiBJI)L NALNAIRIR 3Z[= Z9=y^10Q ^>٥\` bHbFb) f>djs4fNT?ns49f If+Byl%checking for new query: numPingsReceived=2, elapsed TxPingTime=1.498859n]?f̓CifeE2,LAHv[>HtHv0IHvwjBHv =HtHtHv<HvE%iB%Ichecking for new query: numPingsReceived=2, elapsed TxPingTime=2.003191%Mb@Mb@Mb@!!! !)!Y%V-?S㥻Mb`y%?%/ݽ%! !)%X3AI%KA!y%?AIE IEV2UFY= U=y]Q ]>٥Ya eHae e>ius4mW?us49m{ Im>By}X?}:}}?mCim ;m;m`s4rAEDNOT Ignoring new targets: 34.23 m.:: ProNav: ac range: 34.228485 m, nav range: 33.265877 m, bearing: 280.251934 deg, approach rate: -0.647335 m/s, LOS rate: 0.073879 deg/s, cmd heading: 285.471089 deg, new cmd heading: 285.586210 deg. J;HeadingCmd: 4.984420 target range: 34.228485 and range: 34.50 m.b^@ZrjRJB~~yB}||||@ -qB-l9I))-$)Ih y<=aj<w!=i^@iEEEEN0E5 checking for new query: numPingsReceived=2, elapsed TxPingTime=2.2548949 6G- ɓ%=~GA AI Ai N} >K2,F0LA9BӘ@Bݟ@YB=zyB~v=BH?`6?@9~w`W?X?v?@:?լ? BӘ@B(;)@^jBbIIf Ifb3G> c=yTQ >٥! %H%F-ZG 5>9Es4=Y?Es49=W I=KByIM0M?=Ci=:=u:=Dms4QUqAQDNOT Ignoring new targets: 34.23 m.:: ProNav: ac range: 34.228485 m, nav range: 33.042690 m, bearing: 280.279282 deg, approach rate: -0.616333 m/s, LOS rate: 0.076031 deg/s, cmd heading: 285.586219 deg, new cmd heading: 285.668817 deg. P;HeadingCmd: 4.985861 target range: 34.228485 and range: 34.50 m.b-@ZrjRJB~~}||||g@ qBMI)6I:^n +< ņ< {o =i -@i YEEEEO0EFFchecking for new query: numPingsReceived=2, elapsed TxPingTime=2.507110y6G =~GAAN>ԩ m checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760717zR2,fJLA0K}ZP"K}9*Ky2K}:K}8|`V/@?4UvbWf\#.a]FIg;- Mi;_9RȘ@RSҟ@YR'yRy=RH`?@z?Psx$E? ӻ?`??N?`4? RȘ@R^;)RRC:JBJMJJ9RJZJbJ9Jc44Jԑ0jBIi=I= ==II?13R= #=ygQ >٥ HF2 >s4P\?s49l I]By!-^5?HHVIHjBHHHH<H~EB~~}||||2 @ }qB}ה1Iy)}Iw BDAT read: Rx Time:06:03:16.1191 TRx dataTimestamp_ set to:1749103397.411339checking for new query: numPingsReceived=2, elapsed TxPingTime=3.012059<˥,<4Z=i@iEm Ei Ei Ei Ei  6G sc=~GAAN>5Y2,RiLA9>Ø@>K͟@Y>Fchecking for new query: numPingsReceived=2, elapsed TxPingTime=3.263093y>{=>H Ý?@K?@Ew ,>?\G?`?@+? ? >Ø@><;)>QC L)NҀAɵNN FLPɶPiPIPPITiT TT)TX XXXɷXX\I\)\i\)\I^A\ɸ\ `ɹdfAdiddifLCd)j hIhٯhnnjBn+IԁMb@Mb@Mb@ )YCl?~jt:v?yd?ĽT<FA 6A)2AIy>AII<2/ > 7=y"Q >٥ H >s4_?s49 IqBy[?:t?^Ci;M;Fs4^pA%B*** querying acoustic contact ***J!R!)5DNOT Ignoring new targets: 34.23 m.1=V:=V:M ProNav: ac range: 34.228485 m, nav range: 32.464352 m, bearing: 280.346154 deg, approach rate: -0.617475 m/s, LOS rate: 0.063969 deg/s, cmd heading: 285.787081 deg, new cmd heading: 285.871231 deg. M/;UHeadingCmd: 4.989394 target range: 34.228485 and range: 34.50 m.bU@ZQrQjQRYJYBY~Y~eyB}a|a|a|a|mY @ rB靥]OI)Ib} l<1<^mDAT read: 06:03:16.1191 LVL= 21968, 25121, 17250, 28019, AGC= 62, IDX= 406, 0.42,-2.211, 2.688,-1.951,-2.601, PHS= 0.478,-0.947, 0.647, RAW= 155.5, -2.4, CAL= 158.9, -10.8, ROT= 351.1, 10.8 uYgot valid direction response: 06:03:16.1191 LVL= 21968, 25121, 17250, 28019, AGC= 62, IDX= 406, 0.42,-2.211, 2.688,-1.951,-2.601, PHS= 0.478,-0.947, 0.647, RAW= 155.5, -2.4, CAL= 158.9, -10.8, ROT= 351.1, 10.8 }PDAT read: Bearing 351.1, 10.8 (Local) }~Local bearing/azimuth received: Bearing 351.1, 10.8 (Local) DAT read: Range 10 to 50 : 32.4 m (Round-trip 43.2 ms) speed 0.5 m/s *DAT read: user:636> BDAT read: Tx time:06:03:17.2217 $Ping request sent.=j>=nr=ˡ%? =-@)=+I=5~1@i=A=[@=A> 9)9=;5LX?Dq?U:i=?=%)===A> 9)9:publishing transmit ping timeڡFpublishing direction and range info9y=? sÿ0iǿ9Y9 9)9I9i99999 9)9I9i999 9)9=;5LX?Dq?U:i9999 9)9M checking for new query: numPingsReceived=3, elapsed TxPingTime=0.017534 `2,LAejBeSII}I}3k/> \=yQ >٥11 5H5F= =>AMs4Exa?Ms49E IEByIIM?E|CiE{!ҁk@tfy?5a4U??JGڝrǰz@jgJۼ?raSS AbB?ܵ-R  bBꁅTB@] addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 3.528284 s, deltaX: -2.099998 m, approachRate: -0.595190 m/s, rangeRepo size: 4 } Added new target pos. range: 32.144997 m, bearing: 278.048897 deg, lat: 36.906107 deg, lon: -122.116058 deg, deltaT: 3.528284 s, deltaX: -2.083488 m, approachRate: -0.590510 m/s, posRepo size: 4 yDNOT Ignoring new targets: 32.14 m.JDAT read: TxSync time:06:03:17.2209 checking for new query: numPingsReceived=3, elapsed TxPingTime=0.239825 ProNav: ac range: 32.144997 m, nav range: 32.082306 m, bearing: 278.663502 deg, approach rate: 0.000000 m/s, LOS rate: 0.063969 deg/s, cmd heading: 285.871229 deg, new cmd heading: 285.947880 deg. K ,O"K s9*K 2K :K /`<bh(& :2X MtXw-L5yeY-HeadingCmd: 4.990732 target range: 32.144997 and range: 32.40 m.b-@Z)r)j1R1J1B1~1~9}9|9|9|=@33@@|EGR? 2rB靭BI)l𿉞Ip <on<YH H IH kBH  =H H H <H E6G =a a m checking for new query: numPingsReceived=3, elapsed TxPingTime=0.491975~Gy A ԙ A N >"f2,VҜLA9B@Bʟ@YB yB=BH=??`b`\t5A?F??%+?V? B@B%;)BTC=jB=lI)Q UAmMb@Mb@Mb@iii i)iqYmrh|?p= ףS㥛?ym?mm/٥ HFM >s4e?s49 IBy?:9?Ci ;;-s4CBnAEDNOT Ignoring new targets: 32.14 m.`˹`˹ ProNav: ac range: 32.144997 m, nav range: 31.830273 m, bearing: 278.654705 deg, approach rate: -0.631770 m/s, LOS rate: -0.022226 deg/s, cmd heading: 285.947891 deg, new cmd heading: 285.921292 deg.  t%HeadingCmd: 4.990268 target range: 32.144997 and range: 32.40 m.b%F@Z!r!j!R!J!B!~)~-RzB}1|1|1|1|5`}? mJrBu=NIq)ubqIu΄ qq}<}S~}9<:JTBJBJJ7RJZJ{9bJ8J4JzJv: jJv: J9 rJ9 )y y G rA = Y= rAy= -B @ @ B m2,jLA9B8@B廟@YByB]o=BHx?`?`v@u'??@?"?ן? B8@B;)BQCZkBZIIb%Ib)3nA> nk=yn ջQ n?٥pp rHpr6 v?t~s4v h?~s49v IvBy|~v~?vCiv;vL;vWs4 mA AEDNOT Ignoring new targets: 32.14 m.IMM] ProNav: ac range: 32.144997 m, nav range: 31.620237 m, bearing: 278.647967 deg, approach rate: -0.602504 m/s, LOS rate: -0.019459 deg/s, cmd heading: 285.921281 deg, new cmd heading: 285.900931 deg. ]UeHeadingCmd: 4.989913 target range: 32.144997 and range: 32.40 m.be]@ZarijiRiJiBi~q~q}q|q|y|y|}У?checking for new query: numPingsReceived=3, elapsed TxPingTime=0.994731 crB靥II) 鿉IB U~=<̱ checking for new query: numPingsReceived=3, elapsed TxPingTime=1.247521K ͝P"K 9*K 2K :K %C?)p yC/z3q.`iGW { =  O c\j8s2,ߋLA09f@fm@Yf yf5=fHj??`빿_t?lZ?n1?h?ϛ? f@f;)fPCnHkBrIIvIvF3~= ~H=yXQ >٥  H F   >s4k?s49 IÁBy!%%?ׄCi;r;s4)-lA)QDNOT Ignoring new targets: 32.14 m.   ProNav: ac range: 32.144997 m, nav range: 31.374254 m, bearing: 278.640360 deg, approach rate: -0.607014 m/s, LOS rate: -0.018920 deg/s, cmd heading: 285.900927 deg, new cmd heading: 285.877926 deg. OHeadingCmd: 4.989511 target range: 32.144997 and range: 32.40 m.b%@Z!r)j)R)JqBy~y~y}|||| v?aHmW>HmmCHmIHmkBHiHiHiHm<HmEHHHHI Iy4 rB~L5z2,gLABchecking for new query: numPingsReceived=3, elapsed TxPingTime=1.750702D9>@>@Y>m8y>t=>Hk??LHq&?ξ? v? ?@ޘ? >@>5;)>SCRkBRIiV=IVt>Mb@Mb@Mb@ )Y/$? ==y:Q >٥ HF9 > s4p? s49' I݁By?:?Ci;;s4lA%EIMDNOT Ignoring new targets: 32.14 m.I:JRBJ@JJ5RJZJ9bJ[8J4JzJK:jJK:J l9rJl9 ss ProNav: ac range: 32.144997 m, nav range: 31.113979 m, bearing: 278.594983 deg, approach rate: -0.597893 m/s, LOS rate: -0.105109 deg/s, cmd heading: 285.877923 deg, new cmd heading: 285.740655 deg. %E%HeadingCmd: 4.987115 target range: 32.144997 and range: 32.40 m.b-s@Z)r)j)R1J1B1~1~={B}9|9|9|9|EG?ԩ rB靵^MI)⿉I =奿<2,d>LA9>@>@Y>qy>=>Hu?@Ú?8Jn`^5? ?|?`W?l? >@>]S;)>OCJkBNIITIT^)> ^_=ybQ b>٥`d fHhln; r>tvs4vdu?zs49vK- IvByxzz?vCiv:v:vs4RkA%B*** querying acoustic contact ***J!R!)5DNOT Ignoring new targets: 32.14 m.15=M ProNav: ac range: 32.144997 m, nav range: 30.894093 m, bearing: 278.555783 deg, approach rate: -0.598211 m/s, LOS rate: -0.107404 deg/s, cmd heading: 285.740663 deg, new cmd heading: 285.622227 deg. Uk=HeadingCmd: 4.985048 target range: 32.144997 and range: 32.40 m.b=@Z9r9j9R9J9B9~A~A}A|A|I|I|u@ rBHI)߿I{ h=[)< =i@ichecking for new query: numPingsReceived=3, elapsed TxPingTime=2.256035KP"K*K2K:KD 9 CB3[) 8$wsUj ~ [ Q  c{BJ>J?EEEEO0EIIBA96G+V<~G G1 G5 AAHU U>ԉ A HQ HU 0IHU lBHU  =HQ HU DHU ›<HU EA N >E checking for new query: numPingsReceived=3, elapsed TxPingTime=2.506664M2,<LA9z@z@YzW|yz=zH@z??`- k>? g?`??? z@z c;)zPC%kB%IMb@Mb@Mb@ )YZd;?Zd;O?Q?y?j<\=FA (4A)C/AILAy=AI%I%<25<= 51=y=nQ =>٥99 =HEFEU: E>IUs4M|?Us49MG4 IMBy]V?]:]]?M8CiMH;M<;Ms4eDBe|jAeEDNOT Ignoring new targets: 32.14 m.nVnV ProNav: ac range: 32.144997 m, nav range: 30.619169 m, bearing: 278.470521 deg, approach rate: -0.599104 m/s, LOS rate: -0.187469 deg/s, cmd heading: 285.622228 deg, new cmd heading: 285.364146 deg. HeadingCmd: 4.980544 target range: 32.144997 and range: 32.40 m.b`@ZrjRJB~~&{B}||||d?@ rB靽r?I)ܿI =򼦿3!<=i`@1i1EEEAEAEAEAuchecking for new query: numPingsReceived=3, elapsed TxPingTime=2.761137Q:JBJDJJ:RJZJbJ8JFA4JzJjJJX9rJ]96Ge sc=ZGi RGm ~Aԉ ~G9 AI Aq N >v2,w8LA9>@>a@Y>ey>WI=>H v?O?W\i??̿?`?kS?@B? >@>r;)>RCJ'lBJ;IIrIr 3~+> a=yQ >٥   H F v  >s4e?%s499 I*By!%%?UCis;M;Xs4)-iA)YimDNOT Ignoring new targets: 32.14 m.iuYuY ProNav: ac range: 32.144997 m, nav range: 30.400444 m, bearing: 278.401652 deg, approach rate: -0.599643 m/s, LOS rate: -0.190165 deg/s, cmd heading: 285.364156 deg, new cmd heading: 285.156064 deg. HeadingCmd: 4.976912 target range: 32.144997 and range: 32.40 m.bB@ZrjRJB~~}||||*@BDAT read: Rx Time:06:03:19.6661 TRx dataTimestamp_ set to:1749103400.944325checking for new query: numPingsReceived=3, elapsed TxPingTime=3.016744 rBpLI)׿I $=3 ZL< %"=i B@i EEEEEԉ6Gs=~GiAyAN:>Ա checking for new query: numPingsReceived=3, elapsed TxPingTime=3.266594K %Q"K 9*K 2K :K m~3o3+Lo\Ib3},puP9Pw I I =J`2,ZRLA9V@Vj@YV/yVc=VHv{?m?f1I??S??@? V@VY[;)VOCr9lBrFIIzIz2-= J=yzQ >٥    H o: >%t4Έ?%t49@ IEBy!%蠿%?tCi:: t415 mBDAT read: Tx time:06:03:20.7717 m$Ping request sent.m 2,'.lLA&JDAT read: TxSync time:06:03:20.7709 &checking for new query: numPingsReceived=4, elapsed TxPingTime=0.236064]olB]gI:JYBJYJJ]6RJYZJYbJYJ] 4JYzJYjJ]K:JYrJYMb@Mb@Mb@ )YZd;?i|?5?Q?yq=<vDA )r.AIy٥ HF >t4 ?t49vG IeBy?:R?CiE::t4-fhA-EZ!b%\LA%A%A%Լ@ʁ%,' =@VVb* b%oGb?dD0iǿ%!ҁ% qY@qpy=07W5% ?] Tj$s#Kz%%Β@j%5?r% DP %fB!! !%A%4_@ addTargetRange:: Added new target pos. range: 30.100000 m, deltaT: 3.533680 s, deltaX: -2.300001 m, approachRate: -0.650880 m/s, rangeRepo size: 4  Added new target pos. range: 29.862913 m, bearing: 278.847123 deg, lat: 36.906107 deg, lon: -122.116058 deg, deltaT: 3.533680 s, deltaX: -2.282084 m, approachRate: -0.645809 m/s, posRepo size: 4 DNOT Ignoring new targets: 29.86 m.-1e ProNav: ac range: 29.862913 m, nav range: 29.861736 m, bearing: 278.192299 deg, approach rate: 0.000000 m/s, LOS rate: -0.195122 deg/s, cmd heading: 284.920494 deg, new cmd heading: 284.616631 deg. amHeadingCmd: 4.967497 target range: 29.862913 and range: 30.10 m.bm@ZirijiRiJiBq~q~uz{B}q|y|y|}>@|}`f? #sB 8I)xֿI/ =EwhEԡ2,ѮLA9>ζ@>{@Y>y>H=>HJw? ?b lK?@~? m?玱?ζ@>;)>RCJlBJIIN(IN̍3> p=y%'Q %?٥!! -H-F5/ 5?9Et4=?Mt49=L I=|ByY]Se?=Ci=֊;=;=(t4imgAiB*** querying acoustic contact ***JRDNOT Ignoring new targets: 29.86 m.jj ProNav: ac range: 29.862913 m, nav range: 29.658535 m, bearing: 278.100392 deg, approach rate: -0.631287 m/s, LOS rate: -0.287485 deg/s, cmd heading: 284.616633 deg, new cmd heading: 284.339024 deg. LEHeadingCmd: 4.962652 target range: 29.862913 and range: 30.10 m.b Ξ@ZrjRJB~~}||||[l? 7sB dXI )WӿI 4=:E<]S=i Ξ@i!ichecking for new query: numPingsReceived=4, elapsed TxPingTime=0.739183K`P"K59*K2K:K!n?C|U}a.[P :m%l,O%'-  E}EyEyE}0Ey6GUA=ԑ~GA!A9N=Q>HT>HHIH4mBHHHHԛ<HE1 e checking for new query: numPingsReceived=4, elapsed TxPingTime=0.996224 2,lLA9:@:g@Y: y:1=:H_W??`d2? ?&??? :@@:;):OC^lBbIMb@Mb@Mb@ )Y)\(?333333?Q?yG!?=u<CA X3A),AIKAy;AI$I<3= A=y+Q >٥ H >t4?t49R IByv"?:Q?ׅCi::7t4EB2gAE!-DNOT Ignoring new targets: 29.86 m.15Ʊ=ƱM ProNav: ac range: 29.862913 m, nav range: 29.403652 m, bearing: 277.970848 deg, approach rate: -0.606347 m/s, LOS rate: -0.310846 deg/s, cmd heading: 284.339027 deg, new cmd heading: 283.947033 deg. MTUMHeadingCmd: 4.955811 target range: 29.862913 and range: 30.10 m.bM@ZQrQjQRQJQBY~Y~]{B}Y|a|a|a|e@m? SsB靕CI)ҿIsY ɑ=m穿5N<5ĸb=i5@i9ԱEEEE1Echecking for new query: numPingsReceived=4, elapsed TxPingTime=1.2437186G ߛC=ZG RG ~G A ) A1 NM >%2,SLA96W@6@Y6_#y6=6H8?%?t ?f??J??@$? 6W@6;)6QCFlBJIILILV= V^=yZĻQ Z>٥\\ ^H^Fb b>dft4f?jt49fX IfByhjj?fCifA;f<;fuDt4prfAp checking for new query: numPingsReceived=4, elapsed TxPingTime=1.496543 !-DNOT Ignoring new targets: 29.86 m.)55E ProNav: ac range: 29.862913 m, nav range: 29.181177 m, bearing: 277.856707 deg, approach rate: -0.597420 m/s, LOS rate: -0.308843 deg/s, cmd heading: 283.947028 deg, new cmd heading: 283.602000 deg. ESMHeadingCmd: 4.949789 target range: 29.862913 and range: 30.10 m.bMd@ZIrIjIRIJIBQ~a~a}a|i|i|i|m/e? ulsB}HIy)wҿI  =C<$p=id@i!E=E9E9EEs5EAFM=FM=6Gb=~GAA!N-p>Qchecking for new query: numPingsReceived=4, elapsed TxPingTime=1.747127KE +O"KE }9*KA 2KE :KE ,da@ GsvZ8 K||~QBq\<6FWI/.gxb{&"y :J SBJ JJ 7RJ ZJ ;9bJ J 4J  @ @ @ @ 2,-LA9R5@R⑟@YR&$yRP=RH? t?'ha? L??6?? R5@RC;)RPCnlBnI)p pIvIv25I= 5B=y=6Q =>٥9A EHAEՏ E>Iaet4M?mt49M^ IMƂByquƖ}?MCiM;M;M*St4-fAEDNOT Ignoring new targets: 29.86 m.°° ProNav: ac range: 29.862913 m, nav range: 28.927605 m, bearing: 277.725344 deg, approach rate: -0.591413 m/s, LOS rate: -0.309068 deg/s, cmd heading: 283.601995 deg, new cmd heading: 283.204456 deg. T HeadingCmd: 4.942850 target range: 29.862913 and range: 30.10 m.b +@Z r jRJB~~}||||%$:?HS>HH*IHmBHHHH<HtE%checking for new query: numPingsReceived=4, elapsed TxPingTime=2.001377 ]sB]@IY)]^ѿԁI ,u=\<D=i+@iE9E9E9E=o5E9ԩ6Ge 6a= ~G9 AA AQ Nu > ؽ ^?׽ 4= checking for new query: numPingsReceived=4, elapsed TxPingTime=2.25140962,LAMtG}AmBIԱ YAy>BMb@Mb@Mb@ )Y'1Z?#~j?Mb`?y"?=;3AA 1A)b*AIy=:AII35= 3=yQ >٥ HF >t4?t49e IBy!$?:?;Ci::(ct4  eA 15DNOT Ignoring new targets: 29.86 m.1=Ż=Ż] ProNav: ac range: 29.862913 m, nav range: 28.648863 m, bearing: 277.572576 deg, approach rate: -0.625179 m/s, LOS rate: -0.345971 deg/s, cmd heading: 283.204450 deg, new cmd heading: 282.741698 deg. ]omeHeadingCmd: 4.934773 target range: 29.862913 and range: 30.10 m.be@ZarajaRaJiBi~i~up{B}q|q|q|q|}2@ sB靥HtKI)ѿIں =˜L=i@iEEEEz3E6Gx}=checking for new query: numPingsReceived=4, elapsed TxPingTime=2.503383~GqAAN>9 C2,LA9Bqv@B@YBϤ&yBB=BH??Ej?@5? ??e? Bqv@B Ɗ;)BQCN(mBNIIrIr1zMe= zo=y~Q ~?٥ HFϻ ? t4 ?t49 5k I Byؕ? WCi o;  ; ot415eA1UB*** querying acoustic contact ***JQRQquDNOT Ignoring new targets: 29.86 m.q}} ProNav: ac range: 29.862913 m, nav range: 28.440786 m, bearing: 277.457455 deg, approach rate: -0.600985 m/s, LOS rate: -0.334933 deg/s, cmd heading: 282.741691 deg, new cmd heading: 282.393808 deg. eHeadingCmd: 4.928702 target range: 29.862913 and range: 30.10 m.b@ZrjRJB~~}||||`1@ sBέSI)QҿI %Xs=-_}checking for new query: numPingsReceived=4, elapsed TxPingTime=2.755025<~=i@iKMO"KMh9*KI2KM:KMxF&BPmW>L4D?<9/{("$Dc hnL,E]EYEYE]O0EYFaFe~AJk4Jk4Jk/:JBJSJJ9RJZJbJy69Jc44JAGyG}?AHR>HHcIH nBHHHH̛<HEHMmCHMmCHI6GiT=HIII IM4) = 2DAT read: Rx Time:.2131 ~GQ m TRx dataTimestamp_ set to:1749103404.477818u checking for new query: numPingsReceived=4, elapsed TxPingTime=3.016285A A N > H2,"LA96-d@6m@Y6Ҡ'y6y=6H@!?ű?d'n ?`T?`-?`ắ?? 6-d@6vA;)6PCN1mBNIiRR>IRp=}Mb@Mb@Mb@yyy y)yY}x&1?:v?~jthy}!?}T=}D}?A }0A)})AI}-JAyy}9AII?13< ==yQ >٥ H >t4ɻ?t49q I By"?:؛?zCi ;?;4~t4FBmeAE1=DNOT Ignoring new targets: 29.86 m.9====M ProNav: ac range: 29.862913 m, nav range: 28.177584 m, bearing: 277.336008 deg, approach rate: -0.612870 m/s, LOS rate: -0.285432 deg/s, cmd heading: 282.393816 deg, new cmd heading: 282.026077 deg. UCUHeadingCmd: 4.922284 target range: 29.862913 and range: 30.10 m.bUY@ZYrYjYRYJYBY~a~eE{B}a|a|i|i|m b @ =sBEHIA)EԿAIE IIM=m2mrI s2,rףr? ruY+@)rIr.@ir+rn@r+> prj#?![P?w\᏿ir ?rMchecking for new query: numPingsReceived=5, elapsed TxPingTime=3.5584229}+:@}C@Y})y}{t=}H?@?Eɹ !vQ? `?'&?` ?@? }+:@}G;)}OCCmBII-I-(*3=|= =5=yEQ E>ԉ٥ HFH5 >t4ѻ?t49 y I#By?Ci;;.;gt4(eAEDNOT Ignoring new targets: 29.86 m.== ProNav: ac range: 29.862913 m, nav range: 27.895187 m, bearing: 277.206200 deg, approach rate: -0.588377 m/s, LOS rate: -0.273194 deg/s, cmd heading: 282.026079 deg, new cmd heading: 281.632720 deg. };HeadingCmd: 4.915418 target range: 29.862913 and range: 30.10 m.bK@ZrjRJB~ ~ }||9|9|E] @ sB EI)^ֿIOw '[= $o< ۝=i K@i ԱEEEEO0EF=F >DAT read: Range 10 to 50 : 27.9 m (Round-trip 37.2 ms) speed 0.6 m/s *DAT read: user:638> BDAT read: Tx time:06:03:24.3218 $Ping request sent.2,iXLAH1H1H5IH5PnBH1H1H1H5<H5~E]mBIII35%= 5L=yEQ M>٥QY eHeFm u>t4ػ?t49. I8By?Ci& <checking for new query: numPingsReceived=6, elapsed TxPingTime=0.2489691 <Bt4dA addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 3.778746 s, deltaX: -2.200001 m, approachRate: -0.582204 m/s, rangeRepo size: 4 DNOT Ignoring new targets: 29.86 m.   ProNav: ac range: 29.862913 m, nav range: 27.653751 m, bearing: 277.093064 deg, approach rate: -0.547639 m/s, LOS rate: -0.258863 deg/s, cmd heading: 281.632714 deg, new cmd heading: 281.290347 deg. 1HeadingCmd: 4.909443 target range: 29.862913 and range: 27.90 m.b(@ZrjRJB~~}|||`f;@| ^? 5tB5PI1)5Fֿ9I=aN 99=!=E֯EW2,rLA,9Z@Z @YZD+yZv1=ZH ??K `? 8? T\?oݥ?? Z@Z;)ZPCjpmBjImMb@Mb@Mb@iii i)iYmףp= ?y&1?Mbym?m`e٥ H7 >t4L޻?t49 IJBy?:?܆Ci;;Lt4sdADNOT Ignoring new targets: 29.86 m.    ProNav: ac range: 29.862913 m, nav range: 27.428005 m, bearing: 277.018170 deg, approach rate: -0.721453 m/s, LOS rate: -0.241322 deg/s, cmd heading: 281.290358 deg, new cmd heading: 281.063827 deg. %%%HeadingCmd: 4.905489 target range: 29.862913 and range: 27.90 m.b%@Z)r)j)R)J)B)~~zB}||||? e%tBԉ靭;^I)ֿI j =]X<+{=i@iEEEEo0E-checking for new query: numPingsReceived=6, elapsed TxPingTime=0.7511576G] =Թ~G1A9AQN]v> 2,5LA9:@:@Y:,y:P.=:H? ?R2?c?v?my?@? :@:<;):OC\jtmBnIIvIv#3~7< ~U=y~ Q >٥ HF !  >t4㻜?t49 I]By?Ciu:b;t4)-adA)uB*** querying acoustic contact ***checking for new query: numPingsReceived=6, elapsed TxPingTime=1.003819JRDNOT Ignoring new targets: 29.86 m.__ ProNav: ac range: 29.862913 m, nav range: 27.195972 m, bearing: 276.941769 deg, approach rate: -0.589005 m/s, LOS rate: -0.195595 deg/s, cmd heading: 281.063814 deg, new cmd heading: 280.832657 deg. <HeadingCmd: 4.901454 target range: 29.862913 and range: 27.90 m.b؜@ZrjRJ B~~}!|)|)||@? M>tBm-VIi)u2ٿqIum qquX =}ܰ}<}٣=i}؜@i:JBJDJJ:RJZJbJ8JFA4JK pP"K 9*K 2K :K >!! r]1?pspS5kF" 8EEEAEAEE1EAFIFI H=<H=<HEQ>HAHEIHEnBHAHAHAHE<HEgEU checking for new query: numPingsReceived=6, elapsed TxPingTime=1.2580526G Z=A ~G A A N- >g2,ͥLA9:@::Ş@Y:q-y:4*=:H u??@^x4???=? Ń? :@:;):PCV~mBVIImMb@Mb@Mb@iii i)iYm^I +?/$:vymX?mmTi mr.A)m$AImFAiymp5AI&I3T< @=yO Q >٥ HF> >t4?軜?t49i IpByy?:?Cib::t4GB>dAEDNOT Ignoring new targets: 29.86 m.W W   ProNav: ac range: 29.862913 m, nav range: 26.944866 m, bearing: 276.891662 deg, approach rate: -0.609197 m/s, LOS rate: -0.122694 deg/s, cmd heading: 280.832653 deg, new cmd heading: 280.680933 deg. h%HeadingCmd: 4.898807 target range: 29.862913 and range: 27.90 m.b%Ü@Z!r!j!R!J)B)~)~-zB}1|1|1|9|= C? eUtBeb\Ii)mڿiIm unManaging dock network, ignoring radio surface power off yy} =S3<Ο=iÜ@ibEZE|AEEEIEIEM05EIqchecking for new query: numPingsReceived=6, elapsed TxPingTime=1.5065866G-d=~GA AN5O>ԑ = checking for new query: numPingsReceived=6, elapsed TxPingTime=1.758472+2,LA9e@eɞ@Ye!O.ye-=eHZ??2}P?? ? jg?`U? e@eX;)eNCԙmBIi=IJ> =R=IIF2< F=yKQ >٥ H: > t4컜? t49 IBy-?9Cin;;9;t4 dA!IMDNOT Ignoring new targets: 29.86 m.IU<U<e ProNav: ac range: 29.862913 m, nav range: 26.701162 m, bearing: 276.844595 deg, approach rate: -0.588702 m/s, LOS rate: -0.114736 deg/s, cmd heading: 280.680941 deg, new cmd heading: 280.538451 deg. e{mHeadingCmd: 4.896320 target range: 29.862913 and range: 27.90 m.bm@ZirijiRiJiBq~y~y}||||? }ptB}~VI)ܿIC) L =΄<%G=i@iEEEE5Echecking for new query: numPingsReceived=6, elapsed TxPingTime=2.0111726G x=I a=I %=Ke P"Ke 9*Ka 2Ke :Ke QOmj$pVcyuo  O&W`A~j-|}\UL~G A A N >) 2,ׄLA9jl@jVv@YjL/yj40=HrN>HrlCHrIHrnBHr =HpHpHr<HrCEjH@D?v?༡@@?n? 9?v?@ɀ? jl@j0;)hmB IIIm?3%#= -W=y-q&Q ->٥11 5H5F=UT =>AEt4Ek?Mt49E IEByIMήM?EVCiE:EG:EEt4Q]cA]EDNOT Ignoring new targets: 29.86 m. ProNav: ac range: 29.862913 m, nav range: 26.476433 m, bearing: 276.802837 deg, approach rate: -0.584636 m/s, LOS rate: -0.109556 deg/s, cmd heading: 280.538463 deg, new cmd heading: 280.412127 deg. _HeadingCmd: 4.894115 target range: 29.862913 and range: 27.90 m.b@ZrjRJB~~}|||| @checking for new query: numPingsReceived=6, elapsed TxPingTime=2.265009 tB靽^I)ݿI½ !!%` =5ͱ5^<5͗=i5@i9!EEEEO0EI6G =~G  checking for new query: numPingsReceived=6, elapsed TxPingTime=2.515201A A N >y >2,O[LA:J2QBJ2EJJ27RJ0ZJ29bJ28J24J0zJ25::jJ26::J29:rJ29:mB(IMb@Mb@Mb@ )Y㥛 ?x&Qy?7ul7A ) #AIvDAy\3AI- I-2M= M9=QyUQ ]>٥YY ]H]Fe e>iut4m!?ut49mB ImBy}?}:}}?mwCim;m;mt4HBcAUDNOT Ignoring new targets: 29.86 m.QU' U' e ProNav: ac range: 29.862913 m, nav range: 26.219215 m, bearing: 276.799053 deg, approach rate: -0.589056 m/s, LOS rate: -0.008751 deg/s, cmd heading: 280.412132 deg, new cmd heading: 280.400669 deg. e.HeadingCmd: 4.893915 target range: 29.862913 and range: 27.90 m.b@ZrjRJB~~MzB}||||@ tBc[I)߿I^ƽ %J =%ӱM"jEe>ԁBDAT read: Rx Time:06:03:26.7603  TRx dataTimestamp_ set to:1749103407.999411 checking for new query: numPingsReceived=6, elapsed TxPingTime=2.767558EE!E!E!E!ԩ6GE ޖ=~G A) A9 NE > %3,D4 LA9>%@>1/@Y>0y>)=>H? v?` &?-? &?`??? >%@>;)>MC^mB^6I)` `IfIf#3nlr= ne=yr[Q r>٥pp rHpvǼ v>x~t4echecking for new query: numPingsReceived=6, elapsed TxPingTime=3.018498z)?t49z IzBy?zCizHHIHnBHHHH<HPE= checking for new query: numPingsReceived=6, elapsed TxPingTime=3.274563a 6G- :=~G A) A9 NU >5P 3,'LA=mB=FIonly read 2 of 4 data items for bottom velocity. Device response is::BS, -89, +10,A aI@a aM@a aQ@a aE@a II(t= ;=yQ >٥ HF > u4? u49^ IȃB+:y:?CimG;y> u4!%bA-EIUDNOT Ignoring new targets: 29.86 m.Q]_O8]_O8m ProNav: ac range: 29.862913 m, nav range: 25.756414 m, bearing: 276.801073 deg, approach rate: -0.637474 m/s, LOS rate: 0.002833 deg/s, cmd heading: 280.403362 deg, new cmd heading: 280.406770 deg. m8mHeadingCmd: 4.894022 target range: 29.862913 and range: 27.90 m.buӛ@ZqrqjqRqJqBy~~}|||| @ tB.gI)޿I˽ ߏ =бS^<~=iӛ@iDAT read: 06:03:26.7603 LVL= 19104, 21617, 15282, 28291, AGC= 61, IDX= 412,-0.29,-0.578,-2.018,-0.390,-1.004, PHS= 0.515,-0.967, 0.611, RAW= 153.1, -2.1, CAL= 156.7, -10.7, ROT= 353.3, 10.7 Ygot valid direction response: 06:03:26.7603 LVL= 19104, 21617, 15282, 28291, AGC= 61, IDX= 412,-0.29,-0.578,-2.018,-0.390,-1.004, PHS= 0.515,-0.967, 0.611, RAW= 153.1, -2.1, CAL= 156.7, -10.7, ROT= 353.3, 10.7 PDAT read: Bearing 353.3, 10.7 (Local) ~Local bearing/azimuth received: Bearing 353.3, 10.7 (Local) )T> CDAT read: Range 10 to 50 : 25.7 m (Round-trip 34.3 ms) speed 0.4 m/s EE=IGE1UĀAiu*DAT read: user:639> YĀAyBBDAT read: Tx time:06:03:27.8734 $Ping request sent. i)im,?hIw?G@Ţim9?m4=m|mt;?> i:JBJIJJ8RJZJbJ 9J'4JzJ5:jJ6:J9rJ9)i:publishing transmit ping timeکFpublishing direction and range infoiymW!:?6Y &K{ǿiYi i)iIi6GgP=iiiiii i)iIiiiii i)im,?hIw?G@Ţiiii~GyAAN>i i)i%checking for new query: numPingsReceived=7, elapsed TxPingTime=0.080586) % checking for new query: numPingsReceived=7, elapsed TxPingTime=0.21093483,@LA9>@>@Y>ҡ1y>'=>H`?"?h`?@_?@? G?@L~? >@>;)>KCbmBbPIIfIf#3v+= z[=yzk Q z>٥x|| HF %>!-u4%?-u49% I%؃B5 :y15l:525?%·Ci%:%SR?%1u4imbAiZbJ0LAAA|@ʁ#8@+Rlb*W!:?6Y &K{ǿ|t;?>ҁ 4Ex@ޔR9`/޿~t?LH~ɭ*\z;@j`?r-mEQ kB`?Q  fBꁝ#A{@E addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 3.527335 s, deltaX: -2.199999 m, approachRate: -0.623700 m/s, rangeRepo size: 4  Added new target pos. range: 25.497158 m, bearing: 276.608324 deg, lat: 36.906106 deg, lon: -122.116058 deg, deltaT: 7.306081 s, deltaX: -4.365755 m, approachRate: -0.597551 m/s, posRepo size: 4 DNOT Ignoring new targets: 25.50 m. ProNav: ac range: 25.497158 m, nav range: 25.517097 m, bearing: 276.602037 deg, approach rate: 0.000000 m/s, LOS rate: 0.002833 deg/s, cmd heading: 280.406777 deg, new cmd heading: 280.410195 deg. HeadingCmd: 4.894081 target range: 25.497158 and range: 25.70 m.bP@ZrjRJB~~} | | |%@39@|%i3? tBQY^I) ࿉Iν )2=5)α55<5,v=i5P@i1zEAEEEEEQchecking for new query: numPingsReceived=7, elapsed TxPingTime=0.4642686G% =ԁ K P"K 9*K 2K :K BsrD%h2N`Ik#@zz]Ih0$[*T~G A A! N- >b3,~ZLAHRF>HPHRIHRnBHR =HPHRDHR<HREHMlCHMlCHIHIII IMf595P@5@Y52y50=5H?`/?':6O?6? @??@6}? 5P@5<;)5OCYenBebI mp=mp=)u4< u4<I}I}[3= A=yDQ >٥ H=m >u4?u49~ IB9y?:?Ci::?u4$bA!-DNOT Ignoring new targets: 25.50 m.)=̦9=̦9m ProNav: ac range: 25.497158 m, nav range: 25.273087 m, bearing: 276.609270 deg, approach rate: -0.609068 m/s, LOS rate: 0.018228 deg/s, cmd heading: 280.410193 deg, new cmd heading: 280.432101 deg. m(H:checking for new query: numPingsReceived=7, elapsed TxPingTime=0.717333-HeadingCmd: 4.894464 target range: 25.497158 and range: 25.70 m.b-r@ZQrQjQRYJYBa~~}||||5)?ԉ uB/aI)s߿Iѽ -=s<b=ir@iE}EEE0E6G]nu=Ա~G1A9AQNm> checking for new query: numPingsReceived=7, elapsed TxPingTime=0.966824 y3,tLA9o@@Y\J4yh"=Hc?%8? P ??k??{? o@骅S;)LCԱ:JSBJLJJ7RJZJ;9bJq9J4JzJ/a:jJ8a:J:rJ:٥ HF: >u4 ?u494 IBT:y!?:n¿?Ci7::*u4  TaAAMDNOT Ignoring new targets: 25.50 m.IU:U:e ProNav: ac range: 25.497158 m, nav range: 24.980618 m, bearing: 276.651963 deg, approach rate: -0.617550 m/s, LOS rate: 0.091202 deg/s, cmd heading: 280.432104 deg, new cmd heading: 280.561682 deg. ]z; HeadingCmd: 4.896725 target range: 25.497158 and range: 25.70 m.b @Z r j RJB~~2zB}||||E`1? uB靍6aI)ܿIԽ u=w<Z?I=i@ichecking for new query: numPingsReceived=7, elapsed TxPingTime=1.221945E]EYEYE]0EY9 6Gy jG ?bG ?~GY Ai Ay N >d#3,CLA9n\@ngf@Yn4yn (=nH?;?? ?@^?{?@Ĥ?y? n\@n7ώ;)l~jnB~Ichecking for new query: numPingsReceived=7, elapsed TxPingTime=1.471135IIF3% > -~=y-ϺQ - ?٥11 5H5F5j = ?9Mu4=?Uu49=^ I=ByQ]ÿ]?=,Ci=w;=;=6u4im`AiB*** querying acoustic contact ***JRDNOT Ignoring new targets: 25.50 m./:/: ProNav: ac range: 25.497158 m, nav range: 24.784958 m, bearing: 276.683171 deg, approach rate: -0.606877 m/s, LOS rate: 0.097562 deg/s, cmd heading: 280.561686 deg, new cmd heading: 280.656049 deg. ;HeadingCmd: 4.898372 target range: 25.497158 and range: 25.70 m.bw@ZrjRJB~a~a}i|i|i|i|u? /uB%htI)ؿIzֽ 8=Aa <M4=iw@i&TFailed to parse incomplete device message.EEEEV4E6GDb= HM<HM<HUE>HUkCHUIHU:oBHQHQHQHU<HUE~GAANd>Ichecking for new query: numPingsReceived=7, elapsed TxPingTime=1.726329i ŭ)3,LAQnBI)! !!%A5checking for new query: numPingsReceived=7, elapsed TxPingTime=1.975572%Mb@Mb@Mb@!!! !)!Y%"~j?/${Gzt?y%S#?%%ף;%2A %(A)%$AI%>A!y%.AII<2VW= =yQ >٥ H >u4?u49 I1By$?:?WCij:Z:AHu4IB2`AE)5DNOT Ignoring new targets: 25.50 m.1=O:=O:M ProNav: ac range: 25.497158 m, nav range: 24.454586 m, bearing: 276.716862 deg, approach rate: -0.635714 m/s, LOS rate: 0.065706 deg/s, cmd heading: 280.656052 deg, new cmd heading: 280.758491 deg. M_4;]HeadingCmd: 4.900160 target range: 25.497158 and range: 25.70 m.beΜ@ZarajaRaJaBi~i~myB}i|q|q|q|uv@ԁ LuB靭YI)ؿIsڽ =V<l1=iΜ@i:JMRBJMCJJM6RJIZJM9bJM=8JM 4JIzJMK:jJMK:JM9rJM9E=E9E9E=@5E9Ա6G H= checking for new query: numPingsReceived=7, elapsed TxPingTime=2.226894 ~G A A N- >03, uLA9V*@Va4@YV;5yV6=VH?@G? D$1@k?`a? ?!~?Qx? V*@V ;)VMC vC)v߀AɵvvFtxɶxixIxxI9iA AA)AEfC AIIɷIIIII)IiQ)UYCIUAQɸQ QɹY]AYiYYiaeA)a aIaٯanBIII2J> =y!Q ?٥ HF桼 ? u4? u492 ICBy {?pCi:; Su49=:_A9DNOT Ignoring new targets: 25.50 m.::Ա ProNav: ac range: 25.497158 m, nav range: 24.259253 m, bearing: 276.740039 deg, approach rate: -0.617890 m/s, LOS rate: 0.073903 deg/s, cmd heading: 280.758505 deg, new cmd heading: 280.828594 deg. J;HeadingCmd: 4.901383 target range: 25.497158 and range: 25.70 m.b"؜@ZrjRJB~~}||||@x @ u^uBu6qIq)}[ӿyI}\ܽ yy}Q=ް8v<=i"؜@iE%E!E!E%O0E)6G1=~GA!Mchecking for new query: numPingsReceived=7, elapsed TxPingTime=2.480116AQNew> K KP"K 9*K 2K :K wEw[@'R3L!1{;s y /)*LJ- |AJ) 1 HY HY H] PIH] oBH]  =HY HY H] <H] E;63,rLA9@@Y+5y,B=H୬?J? d@;?S?@ϗ?@? Rv? @骅w;)nB%IIeIe2ug=}BDAT read: Rx Time:06:03:30.3091 TRx dataTimestamp_ set to:1749103411.527441checking for new query: numPingsReceived=7, elapsed TxPingTime=2.731969 >=y̺Q >٥ HF >qu4u?u49u tIIu]By?uCiu6=uG5=ubu4v^AIMDNOT Ignoring new targets: 25.50 m.QUo:Uo: ProNav: ac range: 25.497158 m, nav range: 23.971769 m, bearing: 276.777006 deg, approach rate: -0.575876 m/s, LOS rate: 0.074940 deg/s, cmd heading: 280.828583 deg, new cmd heading: 280.940814 deg. M;HeadingCmd: 4.903342 target range: 25.497158 and range: 25.70 m.b.@ZrjRJB~~}||||; @ {uB!=ҬXIA)EпAIE߽ AAE=MM=3,8KLA9BV@B@YB6yBRN=BHSL?M?m`?`?`?m?`s? BV@BE';)BLCu-oB}Ii)>I<Mb@Mb@Mb@ )YL7A`?X9vMb?y+'?}< 'A)AIb@Ay-AI5I53E= E8=yE Q M>٥IQ UHQUE U>Yeu4]?eu49] I]xBym'?m:mm?]Ci]&;]=;]cqu4]A)5DNOT Ignoring new targets: 25.50 m.1=*:=*:m ProNav: ac range: 25.497158 m, nav range: 23.705591 m, bearing: 276.791045 deg, approach rate: -0.700509 m/s, LOS rate: 0.037362 deg/s, cmd heading: 280.940816 deg, new cmd heading: 280.983406 deg. m :uHeadingCmd: 4.904086 target range: 25.497158 and range: 25.70 m.buE@ZqryjyRyJB~~tzB}||||Q @))]checking for new query: numPingsReceived=7, elapsed TxPingTime=3.240555! uB靭bI)̿I 8t=V֘<q  DAT read: 06:03:30.3091 LVL= 19184, 22721, 17186, 25123, AGC= 58, IDX= 416,-0.33, 0.156,-1.320, 0.160,-0.432, PHS= 0.676,-0.841, 0.590, RAW= 147.1, -5.8, CAL= 152.4, -14.5, ROT= 357.6, 14.5 - Ygot valid direction response: 06:03:30.3091 LVL= 19184, 22721, 17186, 25123, AGC= 58, IDX= 416,-0.33, 0.156,-1.320, 0.160,-0.432, PHS= 0.676,-0.841, 0.590, RAW= 147.1, -5.8, CAL= 152.4, -14.5, ROT= 357.6, 14.5 5 PDAT read: Bearing 357.6, 14.5 (Local) 5 ~Local bearing/azimuth received: Bearing 357.6, 14.5 (Local) E DAT read: Range 10 to 50 : 23.7 m (Round-trip 31.6 ms) speed 0.7 m/s E *DAT read: user:640> M BDAT read: Tx time:06:03:31.4218 D3,3LA$Ping request sent. ) !J^V?2I$? 5i ;> = Q+ > ) *:publishing transmit ping time.Fpublishing direction and range info y O ?N=9п Y ) I i ) I i ) !J^V?2I$? 5i ) :checking for new query: numPingsReceived=8, elapsed TxPingTime=0.010224:JlBJIJJ<RJZJ<5:bJ 9J [4J@@@@`oB6IYI#I%x3= G=yQ >٥ HF >u4?5u49 IBy115?وCi.<)<u4AE\AAKc6P"K9*K2K:KI*mbM6   !BcT1P_ )x*   ),toJ?J?Z b LA A A #@ʁ 7i6@Q9x\f O ?N=9п Q+ >ҁ R*@em7Ra{h 2j{E?$w\z  ,x@j ֏M?r m#M  /hB  -mEQ  fB IA @ addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 3.527960 s, deltaX: -2.000000 m, approachRate: -0.566900 m/s, rangeRepo size: 4 HD>HHIHoBH =HHHɛ<HE Added new target pos. range: 23.512701 m, bearing: 279.520697 deg, lat: 36.906106 deg, lon: -122.116058 deg, deltaT: 3.527960 s, deltaX: -1.984457 m, approachRate: -0.562494 m/s, posRepo size: 4 DNOT Ignoring new targets: 23.51 m.  ProNav: ac range: 23.512701 m, nav range: 23.410830 m, bearing: 276.812779 deg, approach rate: 0.000000 m/s, LOS rate: 0.037362 deg/s, cmd heading: 280.983409 deg, new cmd heading: 281.033313 deg.  HeadingCmd: 4.904957 target range: 23.512701 and range: 23.70 m.bh@ZrjRJB~~}A|A|A|M@37@|Ml?ԁ EuBE]II)MYɿIIU QQU=iP<K3,^0LA9Ns͕@N!ל@YN8yNqR]=NHO?`S?1@ =7? : ,=yLQ >٥ HF4 >u4M ?u49 IByG(?:?Ci +;;^u4!%[A%EmB*** querying acoustic contact ***JiRiDNOT Ignoring new targets: 23.51 m.   ProNav: ac range: 23.512701 m, nav range: 23.111698 m, bearing: 276.799521 deg, approach rate: -0.670656 m/s, LOS rate: -0.030111 deg/s, cmd heading: 281.033324 deg, new cmd heading: 280.993033 deg. Q%HeadingCmd: 4.904253 target range: 23.512701 and range: 23.70 m.b%@Z!r)j)R)J)B)~1~5zB}9|9|9|9|E? uBɀ^I)¿I& |=؀<&R3,]JLA9>k@>@Y>U9y>UQ=>H/?[?"Tay?i?c ?Z?@o? >k@>;)>KCJoBJI)L LIRIR2Z_> Zu=y^lͺQ ^?٥\` bH`b3 f?lru4n ?ru49nC InτBypvv?nCin:n:nu4xzuZAx9DNOT Ignoring new targets: 23.51 m.ڹڹ ProNav: ac range: 23.512701 m, nav range: 22.896732 m, bearing: 276.791693 deg, approach rate: -0.648351 m/s, LOS rate: -0.023830 deg/s, cmd heading: 280.993026 deg, new cmd heading: 280.969323 deg. 5Ղ=HeadingCmd: 4.903840 target range: 23.512701 and range: 23.70 m.b=A@Z9r9j9RAJABA~A~I}I|I|Q||y? uBfI)ֻ I =<   =gN<ԑK- P"K)*K)2K-:K-A644!8a..a}_S{ VD1J=}AJ9HHHIHkpBHHHH<HCE  checking for new query: numPingsReceived=8, elapsed TxPingTime=1.240312øX3,dLAԙ9$@ҧ@Y:y ]=Hx?\? ]?r?2?=?@l? $@;)NC pB IMb@Mb@Mb@ )YL7A`?y&1|+?y+'?`廹=0A $A)AI"=Ay3+AIIm?3v= *=y y'Q  >٥   HF-, 5>AMu4E?Mu49E? IEByMy'?M:MuU?EBCiE* ;E:Eu4]JB]YA]EDNOT Ignoring new targets: 23.51 m.úú ProNav: ac range: 23.512701 m, nav range: 22.589693 m, bearing: 276.752536 deg, approach rate: -0.661641 m/s, LOS rate: -0.085527 deg/s, cmd heading: 280.969312 deg, new cmd heading: 280.850244 deg. jHeadingCmd: 4.901762 target range: 23.512701 and range: 23.70 m.b;ۜ@ZrjRJB~~zB}||||ݚ? uBT\ZI)Id  fu= ~Ұ k<^3,W[~LA9>A@>@Y>r]o=>Hy?`^?@ J+??i?p? h? >A@>A;)>KCRnpBRIIZIZ(1bN> bx=ybeQ f?٥dd fHdj0 j?lru4n?ru49n InByprr?n]Cin;n;nOu4xzXAx)-DNOT Ignoring new targets: 23.51 m.)5~5~E ProNav: ac range: 23.512701 m, nav range: 22.384258 m, bearing: 276.727739 deg, approach rate: -0.629762 m/s, LOS rate: -0.076714 deg/s, cmd heading: 280.850248 deg, new cmd heading: 280.775174 deg. ERMHeadingCmd: 4.900451 target range: 23.512701 and range: 23.70 m.bMМ@ZIrQjQRQJQBQ~Y~Y}Y|a|a|a|e ?=checking for new query: numPingsReceived=8, elapsed TxPingTime=1.744427 EuBE†cII)MIIM IIU=qQ<°y :J RBJ FJJ 8RJ ZJ 9bJ 9J '4J e3,v7LA9>Ot@>}@Y>>y>E{=>H F?_?@ ˷ ,@ ?%??@ٮ?@:d? >Ot@>>;)>JCJpBJIiJJ>IJp<IRIR 3Z= ZK=yZQ ^>٥\\ bHbFb b>dju4fg?ju49f; If0Byhn+n?f}CifT:fo;f`u4prWApDNOT Ignoring new targets: 23.51 m.22 ProNav: ac range: 23.512701 m, nav range: 22.129044 m, bearing: 276.697455 deg, approach rate: -0.605260 m/s, LOS rate: -0.072650 deg/s, cmd heading: 280.775171 deg, new cmd heading: 280.683270 deg. oGHeadingCmd: 4.898847 target range: 23.512701 and range: 23.70 m.b[Ü@Zrj R J B ~~KO"K}9*K2K:K  ,f< 15s*J# z @ U <i0b){^NctM}1|1|9|9|=X@H]A>HYH]1IH]pBHYHYHYH]ϛ<H]EHkCHkCHHI IT4y vBWI)I/ <=24< k3,oLA9F*n@Fw@YF1?yFd=FHV,?^?o=@??`??`? F*n@F;)FLCRchecking for new query: numPingsReceived=8, elapsed TxPingTime=2.500369VpBVI=Mb@Mb@Mb@999 9)9Y=Pn?Q?{Gz?y=$?=u<=#==C/A =h!A)=CAI99y=)AIeIe(*3m> u?=yuBQ u>٥yy }H}F} >u4?u49 ISByu$?:Я?Ciw:;Su4VAEDNOT Ignoring new targets: 23.51 m.u ProNav: ac range: 23.512701 m, nav range: 21.863663 m, bearing: 276.641441 deg, approach rate: -0.652977 m/s, LOS rate: -0.139495 deg/s, cmd heading: 280.683263 deg, new cmd heading: 280.513185 deg. wHeadingCmd: 4.895879 target range: 23.512701 and range: 23.70 m.b @ZrjII@ARJB~~{B}||||0@ ,vB`WI)I%q !!%=-C-<-.kQ r3,LA9>n@>jx@Y>r}Ay>=>H,?`b]?` ?@)? ?X.?`]? >n@>;)>JCJqBJEIIrIrT3v&> vR=yzGQ z>٥|| ~H|~;9 > u4? u49Z IsBy?Ci;;u4%UA!MB*** querying acoustic contact ***JIRIY]DNOT Ignoring new targets: 23.51 m.Yeeu ProNav: ac range: 23.512701 m, nav range: 21.622881 m, bearing: 276.589438 deg, approach rate: -0.616130 m/s, LOS rate: -0.134552 deg/s, cmd heading: 280.513192 deg, new cmd heading: 280.355445 deg. u}HeadingCmd: 4.893126 target range: 23.512701 and range: 23.70 m.b}|@ZyryjRJB~~}||||@ ?vB[I)̤IsZ =z2<HYH]IH]qBHYHYHYH]ʛ<H]{EKu(Q"Kq*Kq2Ku:Kus,5U.jbdeipn~Jxl\e.^g/vLZzT:-~GA AY ԁ A N >] checking for new query: numPingsReceived=8, elapsed TxPingTime=3.256296y3,LAy-BqB-^I)) )Mb@Mb@Mb@ )YS??S㥛?y?</<r.A A)AI9Ay(AII3= #=yQ >٥ HF >u4%%? u49" IBy ? : P ?CiQ: ;ru4!%NUA!IUDNOT Ignoring new targets: 23.51 m.QUz:Uz:m ProNav: ac range: 23.512701 m, nav range: 21.329018 m, bearing: 276.508819 deg, approach rate: -0.586190 m/s, LOS rate: -0.163031 deg/s, cmd heading: 280.355442 deg, new cmd heading: 280.110255 deg. m߻mHeadingCmd: 4.888846 target range: 23.512701 and range: 23.70 m.bunq@ZqrqjqRqJqBq~y~}{B}y|||| @ԡ EZvBELGLIA)EAIE IIMo=UyU -BDAT read: Tx time:06:03:34.9718 5$Ping request sent.5 ݹ)ݹݽOAͤ???Ǜiݽ>ݽ6=ݽ5<ݽ A>EmEiEiEiEi ޹)޹:publishing transmit ping time1Fpublishing direction and range infoڹyڽtd?l|umG?l39YпڹYڹ ۹)۹I۹i۹۹۹۹۹ ܹ)ܹIܹiܹܹܹ ݹ)ݹݽOAͤ???Ǜiݹݹݹݹ ޹)޹mchecking for new query: numPingsReceived=9, elapsed TxPingTime=0.039776 6G S4<~GQ AY Ai N} >k3,LAԩqBII IV2&Z> p=yQ ?٥ HJDAT read: TxSync time:06:03:34.9710 checking for new query: numPingsReceived=9, elapsed TxPingTime=0.236853%F >v4 )?v49|( IBy?Ci:>:7v4$TAZbLABABAD@ʁYҁ(@)R1E4~ bdQmu5?CEXFPxrxzr݆@j1?r( F kB5? DP  /hBA @ addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 3.529519 s, deltaX: -2.500000 m, approachRate: -0.708312 m/s, rangeRepo size: 4 % Added new target pos. range: 21.032400 m, bearing: 281.586854 deg, lat: 36.906110 deg, lon: -122.116057 deg, deltaT: 3.529519 s, deltaX: -2.480301 m, approachRate: -0.702731 m/s, posRepo size: 4 )-DNOT Ignoring new targets: 21.03 m.)uq ProNav: ac range: 21.032400 m, nav range: 21.119438 m, bearing: 277.610038 deg, approach rate: 0.000000 m/s, LOS rate: -0.163031 deg/s, cmd heading: 280.110265 deg, new cmd heading: 279.902423 deg. HeadingCmd: 4.885219 target range: 21.032400 and range: 21.20 m.bS@ZrjRJB~~}|||@335@|? -qvB59QI1)51I5< 99=@==𲿩Eg(_3,LAGxGz@AH|H|H~IH~4rBH|H|H|H~<H~E9K@@Y_Ey6|=H@7?`)Y?`Z`9 ܁? ? 1?@?X? K@;))=qB=IIE!IEi3m= mD=ym1!Q u>٥qq uHq}? < }>v4O-?v49n. IυBy̬?CiH;I;v4K`O"K9*K2K:K XQ  IH>zvkR(aJ?J ?tSADNOT Ignoring new targets: 21.03 m.44 ProNav: ac range: 21.032400 m, nav range: 20.889057 m, bearing: 277.554299 deg, approach rate: -0.643771 m/s, LOS rate: -0.157472 deg/s, cmd heading: 279.902436 deg, new cmd heading: 279.733377 deg. $ػHeadingCmd: 4.882268 target range: 21.032400 and range: 21.20 m.b;@ZrjRJB~~}|| | | ;? ]vB靝WZI)TI {{=?Q|I<Y=i;@i5checking for new query: numPingsReceived=9, elapsed TxPingTime=0.742601YEEEEW0Eԉ6Gu 3;=Ա ~G A  checking for new query: numPingsReceived=9, elapsed TxPingTime=0.992051A N > 3,r5LA9N)@Nנ@YNEyNmB=NH2?"U?$`N?`?`]?6?V? N)@N;)NKCZqBZIina=InR>ԙMb@Mb@Mb@ )Yd;O?S㥛?:v?y?/<T<,A  A)AIy\'AI#I%x3= C=y Q >٥ HF?); > v41? v494 IBy ?:٫?5checking for new query: numPingsReceived=9, elapsed TxPingTime=1.243870 o3,BOLA9>٥@>@Y>xFy>B=>H`G? P?o湿@?9?g?`ݰ?xT? >٥@>K;)>ICJrBJIIV%IV)3v6 > z`=yzQ z>٥|| ~H~F; > v4 5?v49 9 I By? WCi : M; *v4)-QA1MB*** querying acoustic contact ***JIRIYeDNOT Ignoring new targets: 21.03 m.ae6e6} ProNav: ac range: 21.032400 m, nav range: 20.442083 m, bearing: 277.432140 deg, approach rate: -0.564531 m/s, LOS rate: -0.159138 deg/s, cmd heading: 279.540518 deg, new cmd heading: 279.362894 deg. }nڻ}HeadingCmd: 4.875803 target range: 21.032400 and range: 21.20 m.b@ZrjRJB~~}||||? vBiTI)I =% <#<=i@ichecking for new query: numPingsReceived=9, elapsed TxPingTime=1.496298EmEqEqEup5Eq!H>>HHQIHrBHHHH<HfE6G:; =KO"Kŷ9*K2K:K ZcO7(CRgk[RCH4X[efNTy&;V2ycC"Cl6Y~GqAAN>M checking for new query: numPingsReceived=9, elapsed TxPingTime=1.747986ԁ љ3,/iLA9=@뼜@Y%VFy>=H0?L?4`;9?}?(??)T? =@骭A;)KC.rBIIMb@Mb@Mb@ )YI +?:v?y9?T< $A)^AI9Ay&AII2+;= .=ym9Q >٥ Hog; >v4~:?v49@ IByB?:_?xCio:::v4QADNOT Ignoring new targets: 21.03 m.!%e-e5 ProNav: ac range: 21.032400 m, nav range: 20.179785 m, bearing: 277.373338 deg, approach rate: -0.567451 m/s, LOS rate: -0.128863 deg/s, cmd heading: 279.362906 deg, new cmd heading: 279.184209 deg. =఻=HeadingCmd: 4.872684 target range: 21.032400 and range: 21.20 m.b=@ZArAjARAJABA~I~M{B}I|Q|Q|Q|U ? vB靅0)MI)AI9 {=Tm<RK=i@i!bE)ZE-}Aychecking for new query: numPingsReceived=9, elapsed TxPingTime=2.000325EEEEE:JQBJBJJ7RJZJ9bJ8J4JzJ5:jJ6:J9rJ9ԩ6G R>=~G A A N > 3,LA9Jj@Jɜ@YJ[FyJ=JH _?`J?@5 hkg? ĉ?@ģ?B ? FT? Jj@Jj;)JGCVFrBVIZAZAIbIbm?3f= jp=yjhQ j?٥hl nHnFr; r?xchecking for new query: numPingsReceived=9, elapsed TxPingTime=2.252044 v4z=? v49zE Iz0By  .?zCizom;zm;zFv4CQAAEDNOT Ignoring new targets: 21.03 m.AMM] ProNav: ac range: 21.032400 m, nav range: 19.986156 m, bearing: 277.328107 deg, approach rate: -0.565756 m/s, LOS rate: -0.133440 deg/s, cmd heading: 279.184201 deg, new cmd heading: 279.047193 deg. e(uHeadingCmd: 4.870292 target range: 21.032400 and range: 21.20 m.buoٛ@ZqrqjqRyJyBy~y~}|||| E@ vBulrYIy)}gyI}  yyC$=ٴw<2SX=ioٛ@iԱEMEIEIEMN0EI6G%checking for new query: numPingsReceived=9, elapsed TxPingTime=2.503916 9 ߦ3,-ҜLA9>ɕ@>Ҝ@Y>DFy>=>H*?`I?&@څ? ? ?'?`U? >ɕ@>;)>HCJorBJI HR<HR4<HTHTHVIHV٥xx zHzF~z<; ~> v4 A?v49 K I GBy%%? Ci {W; Q; Tv415PA1KO"K*K2K:K;Wh}a&:yChH(TsFO[U@!  3#.=Fe&??T!-DNOT Ignoring new targets: 21.03 m.)--e ProNav: ac range: 21.032400 m, nav range: 19.755949 m, bearing: 277.272384 deg, approach rate: -0.531711 m/s, LOS rate: -0.130202 deg/s, cmd heading: 279.047187 deg, new cmd heading: 278.878073 deg. eeHeadingCmd: 4.867341 target range: 21.032400 and range: 21.20 m.bmA@ZirijiRiJiBi~~}||||`@ vBpNI)I C=f:%#<%e=i%A@i!=BDAT read: Rx Time:06:03:37.4013 =TRx dataTimestamp_ set to:1749103418.588457Echecking for new query: numPingsReceived=9, elapsed TxPingTime=2.762505EEEEO0EI6G5PK=i ~G A A N >) >  Cm G A Y Ay 6B checking for new query: numPingsReceived=9, elapsed TxPingTime=3.011934 3,LA ]xrB]I:JRBJAJJ6RJZJ9bJ8J 4JzJK:jJK:JZ9rJ_9=Mb@Mb@Mb@999 9)9Y=I +?~jthI +y9=D=94=b*A =A)=AI=5A9y=#AIUIU#3e< e5=yeQ m>٥ii mHiu u>yv4}E?v49}]R I}_By@?:v?}ЊCi},:}:}dv4LBPAEQUDNOT Ignoring new targets: 21.03 m.Q]]i ProNav: ac range: 21.032400 m, nav range: 19.498724 m, bearing: 277.228918 deg, approach rate: -0.581321 m/s, LOS rate: -0.099528 deg/s, cmd heading: 278.878072 deg, new cmd heading: 278.745954 deg. HeadingCmd: 4.865035 target range: 21.032400 and range: 21.20 m.b]@ZrjRJB~~:{B}||||@2K @ vB"PI)Il !!%h=MM7qjE]>EEEEP0Eԡ6Gf=Echecking for new query: numPingsReceived=9, elapsed TxPingTime=3.264091~GAAN> 3,LA9:ƕ@:М@Y:y;Fy:;=:H{?L?+`;sk? ?@??V? :ƕ@:;):ICLnrBn,Iir=Ir< v=v=)v; vIz Iz̍2ۄ= b=y8Q >٥ %H%F%n? %>)5v4-%I?5v49-W I-qBy9==?-Ci-o;-';-aqv4AE#PAAeB*** querying acoustic contact ***JaRaiuDNOT Ignoring new targets: 21.03 m.q}} ProNav: ac range: 21.032400 m, nav range: 19.292780 m, bearing: 277.193480 deg, approach rate: -0.600196 m/s, LOS rate: -0.104382 deg/s, cmd heading: 278.745949 deg, new cmd heading: 278.638500 deg. EHeadingCmd: 4.863159 target range: 21.032400 and range: 21.20 m.b@ZrjRJB~~}|||| @ wB\I)Io =lõ<#r=i@iDAT read: 06:03:37.4014 LVL= 19520, 22161, 18466, 28339, AGC= 55, IDX= 415, 0.46, 2.179, 0.668, 2.154, 1.567, PHS= 0.700,-0.852, 0.583, RAW= 146.1, -5.8, CAL= 151.6, -14.6, ROT= 358.4, 14.6 Ygot valid direction response: 06:03:37.4014 LVL= 19520, 22161, 18466, 28339, AGC= 55, IDX= 415, 0.46, 2.179, 0.668, 2.154, 1.567, PHS= 0.700,-0.852, 0.583, RAW= 146.1, -5.8, CAL= 151.6, -14.6, ROT= 358.4, 14.6 PDAT read: Bearing 358.4, 14.6 (Local) ~Local bearing/azimuth received: Bearing 358.4, 14.6 (Local) DAT read: Range 10 to 50 : 18.9 m (Round-trip 25.3 ms) speed 0.4 m/s -*DAT read: user:642> 5BDAT read: Tx time:06:03:38.5219 5$Ping request sent.= ݙ)ݙݝV褕?-?B칿iݝMf>ݝ=ݝݝw> ޙ)ޙ:publishing transmit ping time1Fpublishing direction and range infoڙyڝ¿a?Va&!пڙYڙ ۙ)ۙIۙiۙۙۙۙۙ ܙ)ܙIܙiܙܙܙ ݙ)ݙݝV褕?-?B칿iݙݙݙݙ ޙ)ޙMchecking for new query: numPingsReceived=10, elapsed TxPingTime=0.035046HHHIHsBHHHH<HEHqHqHqHqIq Iu.36GCf=KMP"KM9*KI2KM:KM^bef;eaXvReLFpA<~6v0D*$   5 ! l'(| 6  FkJaJe|A~GAAN>e JDAT read: TxSync time:06:03:38.5211 m checking for new query: numPingsReceived=10, elapsed TxPingTime=0.236051ԁ 3,NzLAY9=E@=Ȝ@Y=OFy=xz==H^?O?`W`??`%?g?S?`W? =E@=;)9UrBU7IMb@Mb@Mb@ )Y-?S㥛٥ HF >v4L?v49_ IByz?:ٶ?Ci:I:v4OAZbLAAAj@ʁ04pU#2@h6࿕0¿a?Va&!пw>ҁ>% @?aG,m2n S!bO?/Ler n믿zi.Q@j*`?rE mB֏M?m#M  kBA@checking for new query: numPingsReceived=10, elapsed TxPingTime=0.482993 addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 3.532235 s, deltaX: -2.300001 m, approachRate: -0.651146 m/s, rangeRepo size: 4  Added new target pos. range: 18.750568 m, bearing: 280.058445 deg, lat: 36.906116 deg, lon: -122.116057 deg, deltaT: 3.532235 s, deltaX: -2.281832 m, approachRate: -0.646002 m/s, posRepo size: 4 DNOT Ignoring new targets: 18.75 m.5 ProNav: ac range: 18.750568 m, nav range: 19.012913 m, bearing: 279.226630 deg, approach rate: 0.000000 m/s, LOS rate: -0.104382 deg/s, cmd heading: 278.638496 deg, new cmd heading: 278.469609 deg. 1=HeadingCmd: 4.860211 target range: 18.750568 and range: 18.90 m.b=چ@Z9r9j9R9JABA~A~EzB}I|I|I|M`f2@|]? )wBI:JTBJDJJRJZJ{9bJ8JJzJv:jJv:JX9rJ]9ԩI)퐿I =$o<Ex=iچ@izEE} E E E O0E M checking for new query: numPingsReceived=10, elapsed TxPingTime=0.7348306G ghs=1~GAAN>F3, LA9>w@>%@Y>GkFy>zN=>H$?W]?`^ ,??`?@P?z\? >w@>e܏;)٥\\ ^H\bl b>9Ev4=9O?Ev49=e I=ByIMTM?=,Ci=;=94;=v4YeOAaDNOT Ignoring new targets: 18.75 m.0?:0?: ProNav: ac range: 18.750568 m, nav range: 18.799515 m, bearing: 279.241273 deg, approach rate: -0.602151 m/s, LOS rate: 0.041788 deg/s, cmd heading: 278.469599 deg, new cmd heading: 278.514027 deg. m:HeadingCmd: 4.860987 target range: 18.750568 and range: 18.90 m.b4@ZrjRJB~~}||||@T? 9wBG`I)xI    b= <0h=i4@iEEEE_0E  ->-@-checking for new query: numPingsReceived=10, elapsed TxPingTime=0.9869916Gv=~GA A N% >1 G G AAH <>H jCH IH sBH H H H <H Ee3,L8#LA K2Q"K29*K02K2:K2<'tYtF) 8tvB. wVi c9Bᒕ@B@YBwZFyB~\O=BH2?]`?lLT?4?`?`l? ~\? Bᒕ@B;)BHCNrBNRI)P PVAVAIV"IVq3bD~= bK=yb&9Q b>٥dd fHfFf j>hnv4jQ?rv49jj IjByprr?jICij{;jD;jv4tz+OAzEDNOT Ignoring new targets: 18.75 m.%"M:%"M:5 ProNav: ac range: 18.750568 m, nav range: 18.575792 m, bearing: 279.258378 deg, approach rate: -0.579433 m/s, LOS rate: 0.044836 deg/s, cmd heading: 278.514023 deg, new cmd heading: 278.565957 deg. 5):=HeadingCmd: 4.861893 target range: 18.750568 and range: 18.90 m.b=@Z9r9j9R9JABA~A~A}I|I|I|I|M?checking for new query: numPingsReceived=10, elapsed TxPingTime=1.238807 eLwBeWIi)uyI}q yyS3=쵿f<u_=i@iyEeEiEiEuo0Eqԙ6G$g=U checking for new query: numPingsReceived=10, elapsed TxPingTime=1.490780~Gy A A N > I9 I= BA:JE SBJE EJJE 7RJA ZJE ;9bJE 8JE 4JA zJE .a:jJE 8a:JE 9rJE 9ŏ3,f=LAP9nu@n7@YnɪFynQ]U=nHA?d?.ڵ S???@(?g[? nu@n;)nIC rB ^IMb@Mb@Mb@ )YGz?kty&1yp? 0`e|%A rA)IAI1Ay AII?13=*= =5=yEx1Q E>٥AA EHMFM M>Q]v4UNT?ev49U-r IUƆBye?e:e'e?UlCiU:U:Uv4mMBuNAEDNOT Ignoring new targets: 18.75 m.":": ProNav: ac range: 18.750568 m, nav range: 18.300648 m, bearing: 279.304013 deg, approach rate: -0.594961 m/s, LOS rate: 0.100162 deg/s, cmd heading: 278.565959 deg, new cmd heading: 278.704921 deg. {;%HeadingCmd: 4.864318 target range: 18.750568 and range: 18.90 m.b%@Z!r!j!R)J)B)~Q~UzB}Q|Q|Y|Y|](? ]bwB]TRIY)]aIe0 aaea=p<K=i@ichecking for new query: numPingsReceived=10, elapsed TxPingTime=1.742928EEEAEIEIEI! 6G .H_=~Ga Ai A N >m checking for new query: numPingsReceived=10, elapsed TxPingTime=1.9961643,!WLA9>`@>j@Y>Fy>Y=>H?g?`@? ?@?u? [? >`@>/V;)>GCJrBJiItIRIR3=@= =Z=y=!9Q =>٥AA EHAM%ܻ M>Q]v4UVV?]v49U!x IUچByY]x]?UCiU;U;Uv4imNAiB*** querying acoustic contact ***JRDNOT Ignoring new targets: 18.75 m.:: ProNav: ac range: 18.750568 m, nav range: 18.073799 m, bearing: 279.344475 deg, approach rate: -0.618600 m/s, LOS rate: 0.111724 deg/s, cmd heading: 278.704913 deg, new cmd heading: 278.827824 deg. Y;HeadingCmd: 4.866464 target range: 18.750568 and range: 18.90 m.b@ZrjRJB~~}||||Р@ rwBVaI!)%ď!I%pM !!%P=-#W-I <5;=i5@i1EEEEp5EH:>HH8IHDtBHHHHv<HE6G@O=K=EP"K=59*K92K=:K=(S7ZL|K% W ) b5QkGqj"\?YIoo}~GAANg>9checking for new query: numPingsReceived=10, elapsed TxPingTime=2.246725q 3,KpLA9:G@:Q@Y:GFy:QvW=:H,?l?R`:?`$?]?@j?`Z? :G@:;):HCFsBJIiJ0>IJ4= N=LYeMb@Mb@Mb@aaa a)aYe}?5^I?A`"{GztyeM"?eYeףe #A eA)e AIaayefAII2= F=yQ >٥ HF >v4AX?v49~ IBy"?:?Ci;;qv4MADNOT Ignoring new targets: 18.75 m..;.; ProNav: ac range: 18.750568 m, nav range: 17.816149 m, bearing: 279.406545 deg, approach rate: -0.625238 m/s, LOS rate: 0.152802 deg/s, cmd heading: 278.827829 deg, new cmd heading: 279.016730 deg. ;HeadingCmd: 4.869761 target range: 18.750568 and range: 18.90 m.b՛@Z!r!j!R!J!B!~)~-zB})|)|)|1|@ wB|VI ) 3 checking for new query: numPingsReceived=10, elapsed TxPingTime=2.498900I-|F 115w=5봿=@<=&=i=՛@i9ԉIR=I4=E%E!E!E%P5E!Թ6Gm 5PK=~GA AI Aa Nm > checking for new query: numPingsReceived=10, elapsed TxPingTime=2.751042 3,LA9B1@B0;@YBGyB(Z=BH :?rp?ǵ ?/?`?[? DZ? B1@Ba;)BGC^5sB^IIn In<2v= vV=yviQ z>٥xx zHzF~ ~> v4Y? v490 I By  ?ɋCi"::v4MAAUDNOT Ignoring new targets: 18.75 m.Q]D:;]D:;m ProNav: ac range: 18.750568 m, nav range: 17.577736 m, bearing: 279.467744 deg, approach rate: -0.625912 m/s, LOS rate: 0.162845 deg/s, cmd heading: 279.016725 deg, new cmd heading: 279.202810 deg. m;uHeadingCmd: 4.873008 target range: 18.750568 and range: 18.90 m.bu@ZyryjyRyJyBy~~}||||@@Թ wBk]I) I> )%=\<=i@iEEEEO0E6G{/=~GAA%BDAT read: Rx Time:06:03:40.9488 %TRx dataTimestamp_ set to:1749103422.367341-checking for new query: numPingsReceived=10, elapsed TxPingTime=3.003847N5O>:JRBJFJJ6RJZJ9bJ9J 4J%@%@%@%@) H <H <H 7>H H ]IH tBH H H H <H E9 ˴3,٥dd fHdjo j>lrv4n[?rv49n In Byprvr?nCin|:n:nv4xzMAx}checking for new query: numPingsReceived=10, elapsed TxPingTime=3.254806DNOT Ignoring new targets: 18.75 m.E;E; ProNav: ac range: 18.750568 m, nav range: 17.329218 m, bearing: 279.535638 deg, approach rate: -0.624196 m/s, LOS rate: 0.172974 deg/s, cmd heading: 279.202806 deg, new cmd heading: 279.409410 deg. k;HeadingCmd: 4.876614 target range: 18.750568 and range: 18.90 m.b9 @ZrjRJB~~}||||nO @ wB靕GWI)I} [= f<Ω  BDAT read: Tx time:06:03:42.0719  $Ping request sent. ѿ- AY) - E)- JI- R=i- ^) - MB?- )\O- ? - | @)- I- 6'@i- Ð- @- Ð> ) )) - {#T?OZ?0f+տi- >- R=- .;4- Ð> ) ))  :publishing transmit ping timeڹ  Fpublishing direction and range info) y- ι?a)>ѿ) Y) ) )) I) i) ) ) ) ) ) )) I) i) ) ) ) )) - {#T?OZ?0f+տi) ) ) ) ) ))  checking for new query: numPingsReceived=11, elapsed TxPingTime=0.012538~GA AQ Ai Nu >ԙ 3,bLAzsBI) AqMb@Mb@Mb@ )Yw/?p= ףMb?y&?<A )9 AI-Ay(AQUAAIUIU3et= e'=yQ >٥ HF >v4|]?v494 IBBy'?:?Ci::Av4NBLAEZYb]NLA]A]A] @ʁ]eDd20@'&> 5;]ι?a)>ѿ].;4]Ð>ҁ]78iT@h09t]!bM?mYY¢"Xz]0]B@j]5]?r]~G ]mB]5]?]~G  ]kB]hA]@} addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 3.526337 s, deltaX: -1.900000 m, approachRate: -0.538803 m/s, rangeRepo size: 4 JDAT read: TxSync time:06:03:42.0711 checking for new query: numPingsReceived=11, elapsed TxPingTime=0.235129 Added new target pos. range: 16.865425 m, bearing: 280.429308 deg, lat: 36.906118 deg, lon: -122.116054 deg, deltaT: 3.526337 s, deltaX: -1.885143 m, approachRate: -0.534590 m/s, posRepo size: 4 DNOT Ignoring new targets: 16.87 m. ProNav: ac range: 16.865425 m, nav range: 16.801056 m, bearing: 280.429366 deg, approach rate: 0.000000 m/s, LOS rate: 0.172974 deg/s, cmd heading: 279.409406 deg, new cmd heading: 279.676160 deg. HeadingCmd: 4.881270 target range: 16.865425 and range: 17.00 m.b]3@Zr j R JB~a~eQzB}i|i|q|u1@ԩ|@? ]wB]OIa)eaIeO1 aae=mqm^ E checking for new query: numPingsReceived=11, elapsed TxPingTime=0.487048g3,=LA9:@:w@Y:NIy:X?b=:HOE? y?@{`Y?`x?`^?@?BV? :@:w8;)8sBII%I%3== =v=y=Q =?٥AA EHEFMt M?I]w4M^?]w49M IMWByY]Z]?M,CiM2:MQ;Mw4amKAiB*** querying acoustic contact ***JRDNOT Ignoring new targets: 16.87 m.;; ProNav: ac range: 16.865425 m, nav range: 16.596006 m, bearing: 280.516034 deg, approach rate: -0.656516 m/s, LOS rate: 0.280917 deg/s, cmd heading: 279.676166 deg, new cmd heading: 279.939381 deg. @<HeadingCmd: 4.885864 target range: 16.865425 and range: 17.00 m.bX@ZrjRJB:JBJGJJ7RJZJbJ9J4J~~}|||| ]? 5wB5„hI9)=9I= 99==En۲EWEHIHMIHMtBHM =HMIDHIHM<HMEEiEiEiEmX0EiKvO"K9*K2K:K5M6 'kyFZ e@Turx.A:h/qx^j %<$ JJ}Achecking for new query: numPingsReceived=11, elapsed TxPingTime=0.7380666G1 ~G A A N >3,x*LA NGZĀAt YĀAyB9u@u@Yu JyuRGW=uH?~?@Aצ???!`?U? u@uL;)qsBIMb@Mb@Mb@ )Yv/?T㥛 Mb?yx)?<A A) AI-AyAI5'I5@3E> E:=yMQ M>٥QQ ]HY]e e>checking for new query: numPingsReceived=11, elapsed TxPingTime=0.989921w4`?w49y IyByI*?:,?RCi:;w4-B-.NA)AquDNOT Ignoring new targets: 16.87 m.q}ٟ;}ٟ; ProNav: ac range: 16.865425 m, nav range: 16.300280 m, bearing: 280.643417 deg, approach rate: -0.637317 m/s, LOS rate: 0.279503 deg/s, cmd heading: 279.939374 deg, new cmd heading: 280.328451 deg. ?<HeadingCmd: 4.892654 target range: 16.865425 and range: 17.00 m.b@ZrjRJB~~\zB}||||1? wB靅7PI)9I ?=<ODԙ  checking for new query: numPingsReceived=11, elapsed TxPingTime=1.2420804,c LA9:Ĕ@:dΛ@Y:[K٥qq uHuF} }>w4ka?w49 IBy?uCiF;;A w4MAԩDNOT Ignoring new targets: 16.87 m.9;9; ProNav: ac range: 16.865425 m, nav range: 16.028799 m, bearing: 280.767892 deg, approach rate: -0.653347 m/s, LOS rate: 0.304636 deg/s, cmd heading: 280.328449 deg, new cmd heading: 280.708193 deg. Q<HeadingCmd: 4.899282 target range: 16.865425 and range: 17.00 m.bƜ@ZrjRJB~~}|||| ?checking for new query: numPingsReceived=11, elapsed TxPingTime=1.494272 %wB-QI))-9|)I- 115[=5#]~<]|;i]Ɯ@iabEiZEi:JUBJEJJ6RJZJ9bJ8J 4JE EEEO0EF=F= H= 6>H9 H= IH= BuBH=  =H9 H= DH= <H9 HEjCHEjCHAHAIA IE546G5 <K- ٥P"K- 9*K) 2K- :K- ?@ T&'*>lqB41Ck\;4 @ )rPfd9 J= >J= >~Gi Ay A N >- 4,Hp(LAchecking for new query: numPingsReceived=11, elapsed TxPingTime=1.7460909fG@f@Yf\fLyfZl=fH[? ?b/R)?`?@ra??`P? fG@fXڏ;)d r C)rAɵrlrFptɶtiv94IttIxizȀA xx)xx |||ɷ|||I|)i)Iɸ ɹ   i  i)D Iٯ%KtB%<II5I5V83E{8> EZ=yE62Q E>٥II MHMFU~ U>iw4mb?w49m ImBy?mCim;m;mk-w4LAY]DNOT Ignoring new targets: 16.87 m.Ye;e;u ProNav: ac range: 16.865425 m, nav range: 15.786261 m, bearing: 280.884270 deg, approach rate: -0.611964 m/s, LOS rate: 0.298150 deg/s, cmd heading: 280.708180 deg, new cmd heading: 281.062672 deg. uL<HeadingCmd: 4.905469 target range: 16.865425 and range: 17.00 m.b@ZrjRJB~!~!})|1|9||? xBdeSI!)%?o)I-r 1QUO =eYmL! 4,0BLA(}tB}^I%Mb@Mb@Mb@!!! !)!Y%uV?y&1/$?y%r(?%`e%<%SA %A)%AI%)A!y%zAI5I5(*3M= M;=y]Q ]>٥YY ]Hae e>iuw4m%d?uw49mz ImԇBy}$)?}:}}?mCim;m+;m4, \LA:JFQBJDJJDRJDZJF9bJDJDJD9Z@Z:ț@YZVMyZ =ZH@v?@f|?@@k? /?~?"֯?K? Z@Zd6;)ZEC1]tB]II I 2%g)> -M=y5Q =>٥AA EHEFM; M>iw4me?w49mP ImBy?mڌCimj;m0;mJw4H5>HH%IHuBHHHH<HWEJAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 16.87 m.N;N; ProNav: ac range: 16.865425 m, nav range: 15.250279 m, bearing: 281.134336 deg, approach rate: -0.636476 m/s, LOS rate: 0.306527 deg/s, cmd heading: 281.453217 deg, new cmd heading: 281.825925 deg. ]R< HeadingCmd: 4.918790 target range: 16.865425 and range: 17.00 m.b f@Z r jRJB~~}|||||@I U)xBUCLIU==)UXYI]< YY]l$=ee@jE>9=AEchecking for new query: numPingsReceived=11, elapsed TxPingTime=2.754141&TFailed to parse incomplete device message.yEEEE1E6G;3~G A AA Nu >ԩ 4,NuLA96ɔ@6^ӛ@Y6My6Ո=6H[?w?޸`?@?ő?@M? H? 6ɔ@64;)6GCF uBFIMMb@Mb@Mb@III I)IYMS㥛?+Zd;O?yM$?MMj }V=yʺQ >٥ HBDAT read: Rx Time:06:03:44.4958 TRx dataTimestamp_ set to:1749103425.895451checking for new query: numPingsReceived=11, elapsed TxPingTime=3.007245Fg; >w4zg?w49 IByE%?:1?Ci::Xw4IADNOT Ignoring new targets: 16.87 m.V;V; ProNav: ac range: 16.865425 m, nav range: 15.011937 m, bearing: 281.227080 deg, approach rate: -0.638448 m/s, LOS rate: 0.252378 deg/s, cmd heading: 281.825927 deg, new cmd heading: 282.108574 deg. 4-<HeadingCmd: 4.923724 target range: 16.865425 and range: 17.00 m.b%@Zr!j!R!J!B!~I~MzB}I|I|Q|Q|Uz@I4=IR= :xB靵KI)LIW{ =<ri%@iԩEE!E!E%4E!-#JgetPosition uart error serial timeout]#^Rudder uart error - getPosition..serial timeout-#(Communications Fault M checking for new query: numPingsReceived=11, elapsed TxPingTime=3.258264~G A1 - \Communications Fault in component: RudderServoA N > #4,1ΏLA9 <ڔ@ @Y yNy '= H`?`Fr?չ?h? ?@ٖ?`7F? <ڔ@ A);) FCMEuBMIIuIu2> I=yQ >٥ Hɤ; >w4|i?w496 I.By?Ci::fw4HADNOT Ignoring new targets: 16.87 m.,;,;- ProNav: ac range: 16.865425 m, nav range: 14.761057 m, bearing: 281.326080 deg, approach rate: -0.615094 m/s, LOS rate: 0.246847 deg/s, cmd heading: 282.108587 deg, new cmd heading: 282.410632 deg. -h)<5HeadingCmd: 4.928995 target range: 16.865425 and range: 17.00 m.b5T@Z1r1j9R9J9B9~9~A}A|A|A|A|M @ IxB靅mKI)AI  =V<KiT@iDAT read: 06:03:44.4958 LVL= 19744, 22705, 18834, 29139, AGC= 52, IDX= 406,-0.36, 1.037,-0.475, 0.830, 0.350, PHS= 0.775,-0.778, 0.477, RAW= 139.6, -6.7, CAL= 145.6, -16.5, ROT= 4.4, 16.5 Ygot valid direction response: 06:03:44.4958 LVL= 19744, 22705, 18834, 29139, AGC= 52, IDX= 406,-0.36, 1.037,-0.475, 0.830, 0.350, PHS= 0.775,-0.778, 0.477, RAW= 139.6, -6.7, CAL= 145.6, -16.5, ROT= 4.4, 16.5 -PDAT read: Bearing 4.4, 16.5 (Local) -~Local bearing/azimuth received: Bearing 4.4, 16.5 (Local) =DAT read: Range 10 to 50 : 14.7 m (Round-trip 19.7 ms) speed 0.7 m/s 9E*DAT read: user:644> MBDAT read: Tx time:06:03:45.6219 M$Ping request sent.M ܭI@)ܭ|Iܭ"@iܭrܭnF=ܭr> ݩ)ݩݭB2Op?!fN?`Q$ٽiݭ.>ݭ~T=ݭnF=ݭr> ީ)ީ:publishing transmit ping timeIFpublishing direction and range infoکyڭmk?DTԲ?HN-ҿکYک ۩)۩I۩i۩۩۩۩۩ ܩ)ܩIܩiܩܩܩ ݩ)ݩݭB2Op?!fN?`Q$ٽiݩݩݩݩ ީ)ީchecking for new query: numPingsReceived=12, elapsed TxPingTime=0.011025EEEEO0E #4Uninitialize Rudder Servo.#Powering downFFFFZGRG~GAANb> HH4=HU3>iHUiCHUIHU_vBHQHQHQHU<HUEԙ ] JDAT read: TxSync time:06:03:45.6211 e checking for new query: numPingsReceived=12, elapsed TxPingTime=0.231728)4,ƩLA96@68@Y6]Oy6=6H[2?j?@ t?%?}? f?`MB? 6@62ċ;)6GCF{uBFIKVP"KV9*KT2KV:KV(]$5jyuvgH@C3toB)0I!;.BzKr4n(ININ 3-> -O=y-0 Q 5>٥11 5H5F=_; =>A}w4Ek?w49E IELBy?E9CiEZҁ(^ @3,I䈞˖# 3?˦8p1}mz`?l@j|?r9$C pB*`?( F  mBrgA^C@ addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 3.528625 s, deltaX: -2.300000 m, approachRate: -0.651812 m/s, rangeRepo size: 4  Added new target pos. range: 14.583558 m, bearing: 284.710202 deg, lat: 36.906118 deg, lon: -122.116053 deg, deltaT: 3.528625 s, deltaX: -2.281867 m, approachRate: -0.646673 m/s, posRepo size: 4 DNOT Ignoring new targets: 14.58 m.m ProNav: ac range: 14.583558 m, nav range: 14.465338 m, bearing: 281.578604 deg, approach rate: 0.000000 m/s, LOS rate: 0.246847 deg/s, cmd heading: 282.410618 deg, new cmd heading: 282.726274 deg. iHeadingCmd: 4.934505 target range: 14.583558 and range: 14.70 m.bv@ZrjRJB~~}|Q|Q|]`ff-@|]`}u?ԉ %^xB%AII)M8IIU} QQ]`=]eE e?=zE E% E! E! E- 2E) ~GY Aq A N >ޜ14,LA9B@B'@YBPyB5ژ=BH?Gb? q`.? R??m??? B@B;)BDCVuBV IAׁׅAchecking for new query: numPingsReceived=12, elapsed TxPingTime=0.735054=Mb@Mb@Mb@999 9)9Y=X9v?MbI +?y=?=@=9<=A = A)=AI99y=AII(*3 > -=yKQ >٥ HF+E< >w4m?w49. IoBy?:?]Ci:1:ew4FA)5DNOT Ignoring new targets: 14.58 m.1=;=;M ProNav: ac range: 14.583558 m, nav range: 14.182177 m, bearing: 281.711021 deg, approach rate: -0.649128 m/s, LOS rate: 0.309617 deg/s, cmd heading: 282.726282 deg, new cmd heading: 283.131457 deg. M|T<UHeadingCmd: 4.941576 target range: 14.583558 and range: 14.70 m.bUd!@ZQrQjQRQJYBY~Y~]{B}a|a|a|a|m ? lxB靝HI)+IH =ݹchid!@i>E-=qEMEIEIEMO0EI #U4Initializing EZServoServo.ԙ #2Initializing RudderServo.5 checking for new query: numPingsReceived=12, elapsed TxPingTime=0.986825~G A  ^Clearing failed state for component RudderServo A N > %74,hLAH^0>H\H^IH^vBH^ =H\H\H^<H^)E}vB}MII%I)3 :> O=yQ >٥ H >Թw4Vo?w49s IBy?|Ci::Bw4EAB*** querying acoustic contact ***JRDNOT Ignoring new targets: 14.58 m.;; ProNav: ac range: 14.583558 m, nav range: 13.944910 m, bearing: 281.826146 deg, approach rate: -0.569222 m/s, LOS rate: 0.280893 deg/s, cmd heading: 283.131449 deg, new cmd heading: 283.482695 deg. @<HeadingCmd: 4.947706 target range: 14.583558 and range: 14.70 m.bS@ZrjRJB~~}||||{:? }xB@I)I%| ))-d=5𪿩5L<=׼i=S@i9checking for new query: numPingsReceived=12, elapsed TxPingTime=1.241205K P"K59*K2K:K=rVL([JXo2 ic |}ZbP({L>E]3=AEEEEE jGm ?bGm ?~GI Ai A N >Y e checking for new query: numPingsReceived=12, elapsed TxPingTime=1.491097=4,LA9NW@N1a@YN(QyN_U=NH B?WM?T?]? ?n?E7? NW@N0;)NECZGvBZuIMMb@Mb@Mb@III I)IYMZd;?+Mb?yM?MM J=y0Q >٥ HF<:JTBJ?JJ5RJZJ{9bJ8J4JzJv:jJv:JaO9rJkO9 U>Ymw4]q?uw49] I]Byu;?}:}}?]Ci];];]4w4BDAEDNOT Ignoring new targets: 14.58 m.;;  ProNav: ac range: 14.583558 m, nav range: 13.695038 m, bearing: 281.931552 deg, approach rate: -0.606890 m/s, LOS rate: 0.260681 deg/s, cmd heading: 283.482685 deg, new cmd heading: 283.804669 deg.  2<5HeadingCmd: 4.953326 target range: 14.583558 and range: 14.70 m.b5@Z1r1j1R1J1B9~9~=[{B}9|A|A|A|E? xB靽ԙ D4,2LA9>@>@Y>Qy>W=>HY? B?@qj?uy?? 5?y5? >@>N;)>FCZvBZIIbIb<2ji!> jY=yj :Q j>٥pp vHtzP< z>|w4~s?w49~| I~ˆBy 亿 ?~Ci~;~y;~w4CA9EDNOT Ignoring new targets: 14.58 m.AEZ;EZ;U ProNav: ac range: 14.583558 m, nav range: 13.487772 m, bearing: 282.017728 deg, approach rate: -0.593747 m/s, LOS rate: 0.250660 deg/s, cmd heading: 283.804660 deg, new cmd heading: 284.067160 deg. U,<mHeadingCmd: 4.957907 target range: 14.583558 and range: 14.70 m.bm-@ZirijqRqJqBq~y~y}y|y|||`:m? xB靵>I)I  =@<)ɼi-@iԑchecking for new query: numPingsReceived=12, elapsed TxPingTime=1.995638E5E1E1E54E9~GiAAN>GAGE@AHM,>HIHMEIHMwBHM =HIHIHM<HM'E checking for new query: numPingsReceived=12, elapsed TxPingTime=2.246741K] P"K] ŷ9*KY 2K] :K] z[+ EmzM;)OONE^T;J%D=V J4, -LA96ک@6@Y6^ Qy6-=6Hw?9?` w?K? ??|5? 6ک@6;)6DCNvBRIIVIVm?3Mp= UC=y}:Q }>٥yy HFyJ< >w4u?w49 I߈By:?֍Ci;;cw4BAE)T> %ECȈGQ .YyBDNOT Ignoring new targets: 14.58 m.Bb;Bb; ProNav: ac range: 14.583558 m, nav range: 13.240328 m, bearing: 282.118524 deg, approach rate: -0.476700 m/s, LOS rate: 0.197812 deg/s, cmd heading: 284.067158 deg, new cmd heading: 284.375194 deg. <%HeadingCmd: 4.963284 target range: 14.583558 and range: 14.70 m.b%8Ӟ@Z!r)j)R)J)B)~1~1}1|1|1|9|=p@ xB)[5I)I5 =򨿩l<ɼi8Ӟ@i =checking for new query: numPingsReceived=12, elapsed TxPingTime=2.5016119EuEqEyE}q0EyZGRG:JQBJDJJ7RJZJ9bJ8J4JzJ5:jJ6:JX9rJ]9~GQAaAyN>i ;Q4, GLA9:DЕ@:ٜ@Y:P@y:=:HÓ?/? X`L M?c"??S?4? :DЕ@:;;):EC^vB^Ii`Ib٥99 =H=¢FECB< E>IMw4MJx?Uw49M IMBU+:yQU:U]?MCiMe;M>Mw4ae@BAa}checking for new query: numPingsReceived=12, elapsed TxPingTime=2.750782DNOT Ignoring new targets: 14.58 m.Ҭ;Ҭ;  ProNav: ac range: 14.583558 m, nav range: 13.008963 m, bearing: 282.211462 deg, approach rate: -0.739122 m/s, LOS rate: 0.302182 deg/s, cmd heading: 284.375199 deg, new cmd heading: 284.658970 deg. 5bO<=HeadingCmd: 4.968236 target range: 14.583558 and range: 14.70 m.b=@Z9rAjARAJABA~I~I}I|I|I||`˶@ԩ xB }D:I)=ノI& YQ=%@PR<jμi@iE=E9EAEEp5EA~GA!A1NMt> - ,>- =5 BDAT read: Rx Time:06:03:48.0424 5 TRx dataTimestamp_ set to:1749103429.423919E checking for new query: numPingsReceived=12, elapsed TxPingTime=3.004790 H= )>H= hCH= IH= (xBH9 H9 X4,зaLAHiHmś<HmMEHiCHiCHHI I49R@R@YRPyRd=RH`v-?@x'?@oo ????`6? R@R9;)RCClwBII-I-2ee > eG=ye:Q e>٥ii mHimA< u>yw4}z?w49}` I}B :yg:?}Ci}9<}OQ?}w4_AAB*** querying acoustic contact ***JR9EDNOT Ignoring new targets: 14.58 m.AE;E; ProNav: ac range: 14.583558 m, nav range: 12.768601 m, bearing: 282.306307 deg, approach rate: -0.581725 m/s, LOS rate: 0.233865 deg/s, cmd heading: 284.658980 deg, new cmd heading: 284.948868 deg.  <HeadingCmd: 4.973296 target range: 14.583558 and range: 14.70 m.b>%@ZrjRJB~~}||||u @  MxBeU4Ia)eھiIm iim=usuj%@iychecking for new query: numPingsReceived=12, elapsed TxPingTime=3.256020KeP"Ke9*Ka2Ke:Ke59(<> hWW_Wz@RV [EZL_Ju|AJqE=E9E9E= 5E99~GAA N= >i ;5^4,{LA6DAT read: 06:03:48.0424 LVL= 17376, 24625, 15842, 28131, AGC= 54, IDX= 403, 0.47, 1.968, 0.461, 1.729, 1.270, PHS= 0.786,-0.762, 0.456, RAW= 138.3, -6.9, CAL= 144.3, -17.0, ROT= 5.7, 17.0 :Ygot valid direction response: 06:03:48.0424 LVL= 17376, 24625, 15842, 28131, AGC= 54, IDX= 403, 0.47, 1.968, 0.461, 1.729, 1.270, PHS= 0.786,-0.762, 0.456, RAW= 138.3, -6.9, CAL= 144.3, -17.0, ROT= 5.7, 17.0 >PDAT read: Bearing 5.7, 17.0 (Local) >~Local bearing/azimuth received: Bearing 5.7, 17.0 (Local) BDAT read: Range 10 to 50 : 12.3 m (Round-trip 16.4 ms) speed 0.4 m/s F*DAT read: user:645> JBDAT read: Tx time:06:03:49.1219 J$Ping request sent.J m{@)mϢImE/!@im闾m%=m> i)imC )?.PP?\g+imݿ>m=m%=m> i)i^:publishing transmit ping timeH^Fpublishing direction and range infoiymMPs?rfP?兗7ҿiYi i)iIiiiiiii i)iIiiiii i)imC )?.PP?\g+iiiii i)i~checking for new query: numPingsReceived=13, elapsed TxPingTime=0.0128901:JUBJ@JJRJZJ9bJ[8JJzJ0:jJ5:J l9rJl9HwBIaaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )YʡE?~jty-?CA $A)AI #AypAII 3=S= ==yEQ E>٥AI MHMâFM M>Qw4U~?w49U IU5BT:yA?:?U9CiU&ҁmɏ<@Xr'm .?;l"N8󅮵zm8mq@jmU?rm85 m&sBm1?mE  mmBmHAm@e addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 3.528581 s, deltaX: -2.400000 m, approachRate: -0.680160 m/s, rangeRepo size: 4  Added new target pos. range: 12.202387 m, bearing: 288.111544 deg, lat: 36.906123 deg, lon: -122.116053 deg, deltaT: 3.528581 s, deltaX: -2.381171 m, approachRate: -0.674824 m/s, posRepo size: 4 DNOT Ignoring new targets: 12.20 m. ProNav: ac range: 12.202387 m, nav range: 12.556587 m, bearing: 284.748242 deg, approach rate: 0.000000 m/s, LOS rate: 0.233865 deg/s, cmd heading: 284.948881 deg, new cmd heading: 285.327270 deg.  HeadingCmd: 4.979900 target range: 12.202387 and range: 12.30 m.b X[@Z r)j1R1J1B1~9~=q{B}9|9|9|E(@|E@?JDAT read: TxSync time:06:03:49.1211 checking for new query: numPingsReceived=13, elapsed TxPingTime=0.230215ԡ xB0I)̾IV Mo= Ҧ)<i-X[@i)zE9E E E E p5E jG ?bG >Թ ~G A A N >ke4,gLA9>~>@>-H@Y>|IOy>'=>H=?@D?6`{@_?f??1? T6? >~>@>/;) =y#;Q ?٥ HĢF< ?ԙ!-w4%1?-w49%p I%FBy)-q-?%NCi%:%:%w49=?A9DNOT Ignoring new targets: 12.20 m.;;checking for new query: numPingsReceived=13, elapsed TxPingTime=0.481452 ProNav: ac range: 12.202387 m, nav range: 12.390175 m, bearing: 284.816544 deg, approach rate: -0.587131 m/s, LOS rate: 0.244219 deg/s, cmd heading: 285.327273 deg, new cmd heading: 285.534931 deg. '< HeadingCmd: 4.983525 target range: 12.202387 and range: 12.30 m.b  y@Z r j RJB~~}||||%`F? xB靭6I)I o:=E[O<l6ռi y@iEeEiEiEmO0Ei HH<H'>HHIHxBH =HHDH<H3E6G  checking for new query: numPingsReceived=13, elapsed TxPingTime=0.733231~G A A N > K 'P"K *K 2K :K vP5h[,R0 l% E sX/~i/U||)X' Ck4,?LA96\`@6 j@Y6XOOy6I=6H?? f@`{?Z?? ?`6? 6\`@6!;)6DCbwBbPIIjIj3r5= rU=yrtQ r>٥tt vHtv0< z>xw4z*?w49z Iz[By  겿 ?ziCiz.;z-/;zw4?ADNOT Ignoring new targets: 12.20 m.;; ProNav: ac range: 12.202387 m, nav range: 12.186110 m, bearing: 284.898862 deg, approach rate: -0.557969 m/s, LOS rate: 0.228849 deg/s, cmd heading: 285.534938 deg, new cmd heading: 285.786025 deg. <HeadingCmd: 4.987907 target range: 12.202387 and range: 12.30 m.b@ZrjRJB~~}||||`? xB靕e/I)󦾉I !%=-˥53<5޼i5@i1)checking for new query: numPingsReceived=13, elapsed TxPingTime=0.985424E E E E P0E 6Gd~GAAN>IIQy 30r4,-LA%wB%]I]checking for new query: numPingsReceived=13, elapsed TxPingTime=1.237384Mb@Mb@Mb@ )YM?/$Mbpyn?A SA)V@Ih!AyA)< <I Ib3== :=yQ >٥ HŢF > x4 ?x49 / I tBy?:E? Ci ]: A: & x4%B%>A-EQY]DNOT Ignoring new targets: 12.20 m.Ye ;e ;u ProNav: ac range: 12.202387 m, nav range: 11.939408 m, bearing: 285.005469 deg, approach rate: -0.571377 m/s, LOS rate: 0.252011 deg/s, cmd heading: 285.786016 deg, new cmd heading: 286.112443 deg. u,<}HeadingCmd: 4.993604 target range: 12.202387 and range: 12.30 m.b}˟@ZrjRJB~~y{B}||||? myBm.Iq)uqIu qque=}}|<}i˟@ibEZEzAE=E9E9E=`0E9y6G ټZG!RG!~GIAYAiNuz>ԩ checking for new query: numPingsReceived=13, elapsed TxPingTime=1.490959:J RBJ GJJ :RJ ZJ 9bJ 9J FA4J  @ @ @ @H %>H H ,IH yBH H H H <H E fx4,K=LA]wB]sIie=Ie>ImIm3= N=yQ >٥ HƢF >x4ފ?x49 IBy?Ci;;x4,>AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 12.20 m. #; #; ProNav: ac range: 12.202387 m, nav range: 11.718581 m, bearing: 285.104719 deg, approach rate: -0.558019 m/s, LOS rate: 0.255524 deg/s, cmd heading: 286.112444 deg, new cmd heading: 286.415800 deg. ]/<%HeadingCmd: 4.998899 target range: 12.202387 and range: 12.30 m.b%@Z!r!j!R!J)B)~)~)}1|9|9|9|=!? uyB}W.I}<)}yI}J ,=c@<]3i@ԑiEMEIEIEM0EIy}Achecking for new query: numPingsReceived=13, elapsed TxPingTime=1.747896KP"K}9*K2K:K.%cUO<?#N4@SBMGe tP9>6GmFټ~Gi A A N > checking for new query: numPingsReceived=13, elapsed TxPingTime=1.997323! ~4,QLA9>ݖ@>@Y>MLy>1C=>H@¢?]?X) i?=?s?裷?8? >ݖ@>c;)>CCJwBJIMb@Mb@Mb@ )Y^I +?/$MbpyX?tA &A)I$Ay AII2n= H=y;Q >٥ Hw= >x4?x49-! IByq?:?ÎCi,::=&x4=ADNOT Ignoring new targets: 12.20 m.%;%;E ProNav: ac range: 12.202387 m, nav range: 11.478522 m, bearing: 285.196435 deg, approach rate: -0.590080 m/s, LOS rate: 0.230159 deg/s, cmd heading: 286.415787 deg, new cmd heading: 286.696687 deg. E<MHeadingCmd: 5.003801 target range: 12.202387 and range: 12.30 m.bM$@ZIrIjQRQJQBQ~Y~]E{B}Y|Y|a|a|ee@ %yBT -I)ÓIM =£e<ڼi$@i EEEE0E6G_checking for new query: numPingsReceived=13, elapsed TxPingTime=2.250014~GAAN>I ${4,3LA xBI!%@AI-I-T3]= eP=yeQ e>٥ai mHmǢFm m>y}x4}E?x49})' I}By?}Ci}d;}r;}3x4c=AEDNOT Ignoring new targets: 12.20 m.·;·; ProNav: ac range: 12.202387 m, nav range: 11.248053 m, bearing: 285.288182 deg, approach rate: -0.584529 m/s, LOS rate: 0.237462 deg/s, cmd heading: 286.696699 deg, new cmd heading: 286.977578 deg. "<HeadingCmd: 5.008704 target range: 12.202387 and range: 12.30 m.bMG@ZrjRJB~~}||||@ E3yBEߣ,IA)E%AIMe IIM,=U8"UhHaHe^IHecyBHaHaHaHe[<HeEq6G jG- ?bG- ?~G A A! N5 >ԡ  checking for new query: numPingsReceived=13, elapsed TxPingTime=2.753319K .P"K *K 2K :K aroi'Hj $ . " : P ).DfZ3lC Q tL: :[4,d0LA96H@6Q@Y6FKy6=6H:?@? ¿2? a?2>? ?I5? 6H@6;)4@bBxBbIIjIj2r = rS=yr\;Q r>٥tt vHvȢFvI = z>x]x4z?]x49z - IzωByY]le?zCiz]EN!= EE EA EA EE 0EI FU p=FU =1 ס ץ A checking for new query: numPingsReceived=13, elapsed TxPingTime=3.2609776GM˱~GiAAiN ?4,SLA9jx@jc@Yj\Kyjg=jH`t? ڽ?@K!ÿ`Mw e|?d?`K7?@?`n2? jx@jʊ;)jECv^xBvIMb@Mb@Mb@ )Y1Zd?{Gzty"?̼ף^A A)@IAy( A); 4<II<2B= =y9Q >٥ H )< >x4ԛ?x495 IByE?:o?*Ci;s;Ux4BOE<DAT read: Range 10 to 50 : 10.3 m (Round-trip 13.8 ms) speed 0.4 m/s *DAT read: user:646> BDAT read: Tx time:06:03:52.6220 $Ping request sent. ݩ)ݩݭ}J?p4ԠV?}*iݭ>ݭu>ݭnF<ݭ> ީ)ީ:publishing transmit ping timeFpublishing direction and range infoکyڭVԺŜ?^.(ϒ?TcݚҿکYک ۩)۩I۩i۩۩۩۩H!>HgCHIHyBHHHHy<HE6Gea.ʼ۩ ܩ)ܩIܩiܩܩܩ ݩ)ݩݭ}J?p4ԠV?}*iݩݩݩݩ ީ)ީchecking for new query: numPingsReceived=14, elapsed TxPingTime=0.057180~G9AIAaNm>9 M checking for new query: numPingsReceived=14, elapsed TxPingTime=0.206493Hݚ4,mLA~xB~II I 3== =S=y=Q =>٥AA EHEɢFM M>x4ş?x49; IBy?HCi::[cx4K^Q"Kh9*K2K :K}T^"bWO 4^!OC"&DDj2 ,TF`\Z5MW<, _ sJ}AJ;AZb~]LA}#A}#A@ʁwΌ#@H8?;mVԺŜ?^.(ϒ?TcݚҿnF<>ҁ:ڟjK@<#blq=ARmѷz[:@j"%?r}< tB"%?9$C  pB{&Alߟ@GrAA 5GY5rAy5BAm addTargetRange:: Added new target pos. range: 10.300000 m, deltaT: 3.533040 s, deltaX: -2.000000 m, approachRate: -0.566085 m/s, rangeRepo size: 4  Added new target pos. range: 10.218100 m, bearing: 286.631125 deg, lat: 36.906123 deg, lon: -122.116052 deg, deltaT: 3.533040 s, deltaX: -1.984287 m, approachRate: -0.561637 m/s, posRepo size: 4 DNOT Ignoring new targets: 10.22 m. ProNav: ac range: 10.218100 m, nav range: 10.405100 m, bearing: 286.251041 deg, approach rate: 0.000000 m/s, LOS rate: 0.231784 deg/s, cmd heading: 287.605223 deg, new cmd heading: 287.913275 deg. ]HeadingCmd: 5.025034 target range: 10.218100 and range: 10.30 m.b]͠@ZYrYjYRaJaBa~a~i}i|i|i|m$@|u Z? eyB-(I)Y`Iv %=U e ٥ HʢF&< >x4?x49F I-By?:y?zCi ; ;yx4H;AB*** querying acoustic contact ***JRDNOT Ignoring new targets: 10.22 m.;;  ProNav: ac range: 10.218100 m, nav range: 10.014378 m, bearing: 286.421069 deg, approach rate: -0.644155 m/s, LOS rate: 0.291248 deg/s, cmd heading: 287.913265 deg, new cmd heading: 288.443234 deg. G<EHeadingCmd: 5.034284 target range: 10.218100 and range: 10.30 m.bE@ZArAjARIJIBI~I~UzB}Q|Q|Q|Q|?checking for new query: numPingsReceived=14, elapsed TxPingTime=0.962418 =xyBE8&IA)EXIIM IIM=ܟT<i@i!:JBJ?JJ:RJZJbJ8JFA4JH>HHIHyBH =H)HH<HEHhCHgCHH =I = IF4E E E E O0E Y i i u checking for new query: numPingsReceived=14, elapsed TxPingTime=1.2151596G rԩ~GAAN>&4,+LAK:=Q"K:9*K82K: :K:_E*w,Jb?'".?sD{L^[D{m$J>?J>?MxBU II]I][3> B=yQ >٥ HˢF >x4?x49L IFBy?CiP:~:ex4W:ADNOT Ignoring new targets: 10.22 m.;; ProNav: ac range: 10.218100 m, nav range: 9.756783 m, bearing: 286.540636 deg, approach rate: -0.640925 m/s, LOS rate: 0.305353 deg/s, cmd heading: 288.443233 deg, new cmd heading: 288.811400 deg.  Q< HeadingCmd: 5.040710 target range: 10.218100 and range: 10.30 m.b M@ZrjRJB~~}||!|!|%? yB靍'&I)d(I =o F0iM@iԉEeEaEiEm0Ei6GU^=checking for new query: numPingsReceived=14, elapsed TxPingTime=1.467599~GIAaԩANm> M4,yLA9>_@>gi@Y>8(Gy>y=>Hij?o?ſ@DO??? ,?H-? >_@>;)>@C`r yBr(Ichecking for new query: numPingsReceived=14, elapsed TxPingTime=1.718339Mb@Mb@Mb@ )Y"~j?X9v{Gzt?yS#?ף;A ?@)@I-AyzAI I(2y= F=y2;Q >٥ HH< > x4Я? x49aS IaBy#?:?Ci$;|;֖x4%9A%EQ]DNOT Ignoring new targets: 10.22 m.Yeg;eg;m ProNav: ac range: 10.218100 m, nav range: 9.498520 m, bearing: 286.649181 deg, approach rate: -0.621316 m/s, LOS rate: 0.268230 deg/s, cmd heading: 288.811407 deg, new cmd heading: 289.145890 deg. u8<}HeadingCmd: 5.046548 target range: 10.218100 and range: 10.30 m.b}R}@ZyryjyRyJB~~zB}||||? yB2#I)Ie ="Jv<N˼iR}@ibEZE}AE%E!E)E-1E)F5=F5p=] checking for new query: numPingsReceived=14, elapsed TxPingTime=1.9709436Ge ^a ~G A A N >H >H fCH IH CzBH  =H H DH <H Eø4,'LA9>^@> @Y> eEy>8=>H? d?ſc;Ĝ? [??@Ȑ?@h0? >^@>;) b_=yf;Q f>٥dd jHj̢Fji< j>lrx4n?rx49nFY InxBytvXv?nڏCin:n:nx4zBz8AzEYq}DNOT Ignoring new targets: 10.22 m.y};; ProNav: ac range: 10.218100 m, nav range: 9.269568 m, bearing: 286.743047 deg, approach rate: -0.610733 m/s, LOS rate: 0.256575 deg/s, cmd heading: 289.145895 deg, new cmd heading: 289.434448 deg. 0<HeadingCmd: 5.051584 target range: 10.218100 and range: 10.30 m.b@ZrjRJB~~}||||dk@ EyBM$!II)MǽIIM. QQu=}}ȡ<}=μi}@iE=E9E9E=A5E9ԉchecking for new query: numPingsReceived=14, elapsed TxPingTime=2.223487K5$P"K}9*K2K :KcX3j'?tsk;J/IJ*|)u@L\Z6G~ʼ~G A A9 Nm > } DDAT read: Rx Time:06:03:54.7624  TRx dataTimestamp_ set to:1749103435.983015 PDAT read: Bearing 356.6, 13.6 (Local)  ~Local bearing/azimuth received: Bearing 356.6, 13.6 (Local)  DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed 0.6 d 4,c'LA"DAT read: 06:03:54.7624 LVL= 18064, 18881, 16130, 25315, AGC= 51, IDX= 159,-0.01, 1.502, 0.033, 1.546, 0.948, PHS= 0.642,-0.868, 0.595, RAW= 148.4, -5.0, CAL= 153.4, -13.6, ROT= 356.6, 13.6 &Ygot valid direction response: 06:03:54.7624 LVL= 18064, 18881, 16130, 25315, AGC= 51, IDX= 159,-0.01, 1.502, 0.033, 1.546, 0.948, PHS= 0.642,-0.868, 0.595, RAW= 148.4, -5.0, CAL= 153.4, -13.6, ROT= 356.6, 13.6 *T#Rx 15: Read range and direction messages..`direction in FSK: [0.970250,-0.057644,-0.235142].Fpublishing direction and range infoy$uJ ?єKt#οfAY F)II?ib3Z$??5^Q? %@)¸IuY+@is)@s> )I7-._?QZ?B3_i >6=ss> )Jchecking for new query: numPingsReceived=15, elapsed TxPingTime=2.5163729r'@rֻ@YrOCyr3=rHNR?+Y?'ſ 3?@? S?@?2? r'@r Ӈ;)rAC~`yB~\II%R=I%a=:J-TBJ-GJJ-9RJ)ZJ-{9bJ-9J-c44J)zJ-v:=jJ-v:EJ-V9ErJ-[9M}Mb@Mb@Mb@yyy y)yY}Q?~jt:v?y}(?}D}T<}A }@)}G@I}Ayy}3AIIF2n= =y>;Q >٥ H͢F< >x4?x49,b IByp)?:?Ci::7x4)-N8A)IZbLATATA|ɞ@ʁ9Gl + @zwrd޿<.0~Y$uJ ?єKt#οss>ҁ0i-Ws@QJ) \s;Rxۿ#ٖ? cx_z@jHg?rG6 wB}<  &sB! A@  addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 2.522145 s, deltaX: -1.900001 m, approachRate: -0.753327 m/s, rangeRepo size: 4  Added new target pos. range: 8.333067 m, bearing: 284.307106 deg, lat: 36.906123 deg, lon: -122.116049 deg, deltaT: 2.522145 s, deltaX: -1.885033 m, approachRate: -0.747393 m/s, posRepo size: 4 BNOT Ignoring new targets: 8.33 m.-6Short final. Range: 8.40 m.-VTransitioning guidance mode to: SHORT_FINAL-@@} ProNav: ac range: 8.333067 m, nav range: 8.695770 m, bearing: 287.402491 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 289.434457 deg, new cmd heading: 289.850397 deg. |HeadingCmd: 5.058844 target range: 8.333067 and range: 8.40 m.b @ZrjRJB~~zB}||| @|? uyB靝I)6I] =<5c<sLi @i checking for new query: numPingsReceived=15, elapsed TxPingTime=2.728509yEmEqEqEu0Eqԩ 6G} p6ϼZG RG }A~GQ AY Ay N >4,|LA$9Zfט@Z@YZG ByZPb=ZH`?O?@lſp+@'??o?`@q?5? Zfט@Zy;)Z?CjyBjIInIn?13g/> l=y;Q  ?٥    H V< ?%x4=DDAT read: Rx Time:06:03:55.2621 =TRx dataTimestamp_ set to:1749103436.484751UPDAT read: Bearing 356.4, 13.1 (Local) U~Local bearing/azimuth received: Bearing 356.4, 13.1 (Local) uDAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.7 DAT read: 06:03:55.2621 LVL= 19104, 20561, 16674, 27299, AGC= 48, IDX= 508,-0.26,-0.302,-1.764,-0.244,-0.836, PHS= 0.621,-0.881, 0.588, RAW= 148.9, -4.5, CAL= 153.6, -13.1, ROT= 356.4, 13.1 Ygot valid direction response: 06:03:55.2621 LVL= 19104, 20561, 16674, 27299, AGC= 48, IDX= 508,-0.26,-0.302,-1.764,-0.244,-0.836, PHS= 0.621,-0.881, 0.588, RAW= 148.9, -4.5, CAL= 153.6, -13.1, ROT= 356.4, 13.1 T#Rx 16: Read range and direction messages.潼?x49g IByr?#Ci<%<Vx4[7A-`direction in FSK: [0.972054,-0.061157,-0.226651]-Fpublishing direction and range info9y=1Z ?pwO+#Ϳ=AY9 =J)=QPI="Ai=j=0=?=7a=+? =R&@)=|٠I=+@i= j=" @= j> 9)9= ?<5?yK?볿i=?=)==)= j> 9)9checking for new query: numPingsReceived=16, elapsed TxPingTime=3.024090Z9b=)LA=@=@=Ȟ@ʁ=@=ǁ߿m==1Z ?pwO+#Ϳ=)= j>ҁ=jU?g;ֿ=[?"7 U9 z==?j=Ob?r=`2 =/xB9=G6  =tB=A=ޠ@ addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.501736 s, deltaX: -0.400000 m, approachRate: -0.797231 m/s, rangeRepo size: 4 - Added new target pos. range: 7.936255 m, bearing: 284.301120 deg, lat: 36.906123 deg, lon: -122.116047 deg, deltaT: 0.501736 s, deltaX: -0.396812 m, approachRate: -0.790879 m/s, posRepo size: 4 ))5zIgnoring new targets. Set target to previous: 7.94 m. 8.33 m.G9G9HE>HEeCHE IHEzBHE =HAHEDHE<HEEy] ProNav: ac range: 8.333067 m, nav range: 8.471830 m, bearing: 287.548046 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 289.850388 deg, new cmd heading: 290.141731 deg. Ye|HeadingCmd: 5.063929 target range: 8.333067 and range: 8.00 m.be @ZarajaRaJaBa~i~i}i||| @|4E? myBuD_Iq)uqIu% yy}l=}<Di @iԩEmEiEiEup5Eqchecking for new query: numPingsReceived=16, elapsed TxPingTime=3.230422  PExceeded connect timeout, disconnecting.KU wP"KU +9*KQ 2KU :KU *L  ; w Oa^je] o mRlU94:#ng6G V~G A A N >.4,K7LA9m@m3@YmoC@ymɽ=mH?+F?ſ# f? ˄?@X?@x@? h9? m@m‡;)iyBIi->I-%=a =<DDAT read: Rx Time:06:03:55.7620 TRx dataTimestamp_ set to:1749103436.991108 PDAT read: Bearing 356.1, 12.9 (Local) ~Local bearing/azimuth received: Bearing 356.1, 12.9 (Local) 5DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed 0.6 -DAT read: 06:03:55.7620 LVL= 18448, 20897, 16546, 24851, AGC= 48, IDX= 506, 0.24, 3.038, 1.538, 3.106, 2.496, PHS= 0.630,-0.911, 0.607, RAW= 149.3, -4.3, CAL= 153.9, -12.9, ROT= 356.1, 12.9 5Ygot valid direction response: 06:03:55.7620 LVL= 18448, 20897, 16546, 24851, AGC= 48, IDX= 506, 0.24, 3.038, 1.538, 3.106, 2.496, PHS= 0.630,-0.911, 0.607, RAW= 149.3, -4.3, CAL= 153.9, -12.9, ROT= 356.1, 12.9 mMb@Mb@Mb@uT#Rx 17: Read range and direction messages.`direction in FSK: [0.972504,-0.066299,-0.223250]Fpublishing direction and range infoyDى?&&;Nu̿@Y H)QI@iaG!?L7iZd?:JBJJJJ5RJZJbJ&9J4JzJv:jJv:J:rJ:iii i)iYmuV?J + rh?ymr(?mHmC٥ H΢Fj; >  &@)`Io+@if>@f> )?y/?E16 ) checking for new query: numPingsReceived=17, elapsed TxPingTime=3.5568675x4qļ?5x49q IۊBy=(?=:=4=?SCi%<:x4AE6AEEԉZbPn?LA@@@ʁ0@{~jqDى?&&;Nu̿)gf>ҁTe?>M տqGfpm?pP߼xz.?jd?rz6 kxBHg? wB0@:@E addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.506357 s, deltaX: -0.200000 m, approachRate: -0.394978 m/s, rangeRepo size: 4  Added new target pos. range: 7.737709 m, bearing: 284.227336 deg, lat: 36.906119 deg, lon: -122.116047 deg, deltaT: 1.008093 s, deltaX: -0.595358 m, approachRate: -0.590579 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 7.74 m. 8.33 m. ProNav: ac range: 8.333067 m, nav range: 8.100758 m, bearing: 287.802058 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 290.141737 deg, new cmd heading: 290.572947 deg.  |HeadingCmd: 5.071455 target range: 8.333067 and range: 7.80 m.b [I@Z rjRJB~~zB}|||@33@| ? yBI)ɻI' =] e q9@5H@Y5>=y5=5H%a?@k0?l:ſ.`5?C?@n? ?@5ň;)5@C]DDAT read: Rx Time:06:03:56.2616 aeTRx dataTimestamp_ set to:1749103437.493713uPDAT read: Bearing 356.2, 12.1 (Local) }~Local bearing/azimuth received: Bearing 356.2, 12.1 (Local) DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.7 DAT read: 06:03:56.2616 LVL= 20016, 23281, 17586, 30419, AGC= 47, IDX= 503,-0.06,-0.368,-1.817,-0.293,-0.866, PHS= 0.586,-0.904, 0.571, RAW= 149.5, -3.5, CAL= 153.8, -12.1, ROT= 356.2, 12.1 %Ygot valid direction response: 06:03:56.2616 LVL= 20016, 23281, 17586, 30419, AGC= 47, IDX= 503,-0.06,-0.368,-1.817,-0.293,-0.866, PHS= 0.586,-0.904, 0.571, RAW= 149.5, -3.5, CAL= 153.8, -12.1, ROT= 356.2, 12.1 %T#Rx 18: Read range and direction messages.-`direction in FSK: [0.975634,-0.064801,-0.209619]5Fpublishing direction and range infoYy]]\c8?;kϖ9hʿ]f@YY ]0N)]ZI]Di]v]/]?]lg]-? ]<&@)]5zI]+@i]@X]@]@X> Y)Y]&'?,[t?\ծi]S?]{v=]Ӈ]@X> Y)Ychecking for new query: numPingsReceived=18, elapsed TxPingTime=4.028029H=>H=dCH=kIH={BH=" =H9H9H=ћ<H=2EԉzBII I  3Q >  =y};Q >٥AA EHEϢFMGa< M>Q]x4U˼?]x49U{ IUByy&?UCiU;Uy;Umx4j5AZYb]_LA]@]@]F@ʁ]M@EݿMfaw]]\c8?;kϖ9hʿ]Ӈ]@X>ҁ]RW\?(B-ο]t>?Hو -sr2Ϡz]] ?j]Dd?r]s1 ])yB]d?Y ]/xB]@] Ϟ@  addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.502605 s, deltaX: -0.600000 m, approachRate: -1.193781 m/s, rangeRepo size: 4   Added new target pos. range: 7.142422 m, bearing: 284.711312 deg, lat: 36.906118 deg, lon: -122.116047 deg, deltaT: 1.510698 s, deltaX: -1.190645 m, approachRate: -0.788142 m/s, posRepo size: 4    zIgnoring new targets. Set target to previous: 7.14 m. 8.33 m.Թ     ProNav: ac range: 8.333067 m, nav range: 7.715228 m, bearing: 288.068103 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 290.572940 deg, new cmd heading: 291.026165 deg.   |HeadingCmd: 5.079365 target range: 8.333067 and range: 7.20 m.b (@Z r! j! R! J! B! ~) ~) }) |) |) |5 @|5 ? yB I ) l= I  A A checking for new query: numPingsReceived=18, elapsed TxPingTime=4.239768  9 = 5 :<= i= (@iq  nManaging dock network, ignoring radio surface power off EM EQ EY E] O0EY K wP"K 9*K 2K :K CX^M[g?w'8ewHJ{UT7~m3D+ek v9J J 6G~DDAT read: Rx Time:06:03:56.7615 TRx dataTimestamp_ set to:1749103437.997268PDAT read: Bearing 355.9, 11.7 (Local) ~Local bearing/azimuth received: Bearing 355.9, 11.7 (Local) DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed 0.7 ~G!AuDAT read: 06:03:56.7615 LVL= 20608, 24497, 17266, 31091, AGC= 47, IDX= 502,-0.48, 1.165,-0.310, 1.253, 0.672, PHS= 0.581,-0.935, 0.579, RAW= 149.9, -3.0, CAL= 154.1, -11.7, ROT= 355.9, 11.7 AyAN%?{4,LAIYgot valid direction response: 06:03:56.7615 LVL= 20608, 24497, 17266, 31091, AGC= 47, IDX= 502,-0.48, 1.165,-0.310, 1.253, 0.672, PHS= 0.581,-0.935, 0.579, RAW= 149.9, -3.0, CAL= 154.1, -11.7, ROT= 355.9, 11.7 T#Rx 19: Read range and direction messages."`direction in FSK: [0.976717,-0.070012,-0.202787]&Fpublishing direction and range infoyy}{CA?*Q챿 ɿ}3@Yy }P)}_I}rC)@i}syy}j?})\o}X9? }p'@)}PwVI}!,@i}Q}@}Q> y)y}Zd?d8?Bتi}?}V=}i}Q> y)yFchecking for new query: numPingsReceived=19, elapsed TxPingTime=4.543802J4J{4Ja0:JbUBJbSJJb7RJ`ZJb9bJby69Jb4J`zJb+:jJb0:Jb&C:rJb(C:9ue@un@Yu;yu)=uH?-%?;ſM (?@:?LU?@M?@>? ue@u;)u?C )AɵF鵁ɶQAiIIsCiʀA 鶹)鷹 ɷI)i)Iɸ ɹii߃A) IٯMZzBMIԩMMb@Mb@Mb@III I)IYM%C?i|?5{Gz?yMZ$?MqMף٥yy HТF< >x4Ѽ?x49 I(By%?:⮿?Ci;F;x4l4AEZyb}=LA}b@}b@}@ʁ}S qU@1#߿鶬7}{CA?*Q챿 ɿ}i}Q>ҁ}uu?0?TIɿ}9pO)?cی0-q"vz}}?j}~eg?r}8 }yByy }kxB}N@}@checking for new query: numPingsReceived=19, elapsed TxPingTime=4.742407 addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503555 s, deltaX: -0.100000 m, approachRate: -0.198588 m/s, rangeRepo size: 4  Added new target pos. range: 7.043221 m, bearing: 284.632658 deg, lat: 36.906118 deg, lon: -122.116047 deg, deltaT: 2.014253 s, deltaX: -1.289845 m, approachRate: -0.640359 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 7.04 m. 8.33 m. I] ProNav: ac range: 8.333067 m, nav range: 7.365968 m, bearing: 288.370505 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 291.026164 deg, new cmd heading: 291.458722 deg. Ye|HeadingCmd: 5.086915 target range: 8.333067 and range: 7.10 m.beȢ@ZarajaRaJiB~~{B}|||`ff@| ?? yBI)p=!IMl QQ]:V=ha<iȢ@i E E E E P0E F ~AF ~A1 UDDAT read: Rx Time:06:03:57.2611 ]TRx dataTimestamp_ set to:1749103438.501114mPDAT read: Bearing 355.5, 11.5 (Local) u~Local bearing/azimuth received: Bearing 355.5, 11.5 (Local) DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.7 DAT read: 06:03:57.2611 LVL= 21024, 22689, 18450, 29523, AGC= 48, IDX= 498, 0.06, 1.729, 0.216, 1.832, 1.229, PHS= 0.587,-0.966, 0.600, RAW= 150.4, -2.9, CAL= 154.5, -11.5, ROT= 355.5, 11.5 Ygot valid direction response: 06:03:57.2611 LVL= 21024, 22689, 18450, 29523, AGC= 48, IDX= 498, 0.06, 1.729, 0.216, 1.832, 1.229, PHS= 0.587,-0.966, 0.600, RAW= 150.4, -2.9, CAL= 154.5, -11.5, ROT= 355.5, 11.5 T#Rx 20: Read range and direction messages.`direction in FSK: [0.976904,-0.076884,-0.199368]%Fpublishing direction and range infoYy] B?T"=iɿ]@YY ] R)]XI]Hi]Ss]0]E?]Kw]? ]'@)]4QOI],@i]M]u@]M> Y)Y]YF?k-?[լi]?]R M=]i٠]M>Y Y)Y6GdZGRGchecking for new query: numPingsReceived=20, elapsed TxPingTime=5.046260 H1H5<H=>H9H=IH={BH=+ =H9H9H=<H=E~GAAN ?4,G e/=ym ;Q m>٥ii uHuѢFu< >y4ּ?y49 IFBy?֐Ci#;%;y4V3AZb@LAV@V@ @ʁHm M2@'&\a߿u@bNj B?T"=iɿi٠M>ҁJWK?0st^ǿT,>P?9:yzo^?j*a?rI:0 yBDd?`2  )yB@@ addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.503846 s, deltaX: -0.600000 m, approachRate: -1.190840 m/s, rangeRepo size: 4  Added new target pos. range: 6.448047 m, bearing: 284.772943 deg, lat: 36.906118 deg, lon: -122.116045 deg, deltaT: 2.518099 s, deltaX: -1.885020 m, approachRate: -0.748589 m/s, posRepo size: 4 %zIgnoring new targets. Set target to previous: 6.45 m. 8.33 m.))} ProNav: ac range: 8.333067 m, nav range: 7.079633 m, bearing: 288.618993 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 291.458734 deg, new cmd heading: 291.808365 deg. y|HeadingCmd: 5.093017 target range: 8.333067 and range: 6.50 m.b@ZrjRJB~~}|||@|@? yBI)$>I  =%sW%"<%5checking for new query: numPingsReceived=20, elapsed TxPingTime=5.246664i%@ii) 5ȈGMAmAA O YAy~ BEEEE%O0E)KU.Q"KU}9*KQ2KU:KUzQDVXh?AnS8?GvCzP5w ;GA 6G O DDAT read: Rx Time:06:03:57.7609  TRx dataTimestamp_ set to:1749103439.004005 @DAT read: Bearing 35.8 (Local)  nLocal bearing/azimuth received: Bearing 35.8 (Local)  DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6 E DAT read: 06:03:57.7609 LVL= 21584, 24881, 17138, 29091, AGC= 47, IDX= 496,-0.27, 0.246,-1.255, 0.352,-0.226, PHS= 0.560,-0.982, 0.575, RAW= 150.5, -2.0, CAL= 154.3, -10.8, ROT= 355.7, 10.8 M Ygot valid direction response: 06:03:57.7609 LVL= 21584, 24881, 17138, 29091, AGC= 47, IDX= 496,-0.27, 0.246,-1.255, 0.352,-0.226, PHS= 0.560,-0.982, 0.575, RAW= 150.5, -2.0, CAL= 154.3, -10.8, ROT= 355.7, 10.8 ~Gy A A N >ԍ4,RLAT#Rx 21: Read range and direction messages."`direction in FSK: [0.979522,-0.073650,-0.187381]&Fpublishing direction and range infoډHyڍz?X?xxڲ0iǿڍf@Yډ ۍPT)ۍ1aIۍBiۍqۍ/ۍ)\?ۍZd{ۍ33? ܍0(@)܍5I܍Z,@i܍A܍@܍A> ݉)݉ݍ#\O?48?zܡiݍ/?ݍ=ݍ)ݍA> މ)މIdIfAA:Jn[BJnQJJn:RJlZJn:bJn-.9JnFA4JlzJn:jJn:Jn4:rJn4:vchecking for new query: numPingsReceived=21, elapsed TxPingTime=5.5530439%ڙ@%@Y%3,7y% =%H??ſ@[s?`I?P?@L?`B? %ڙ@%C;)%@CMzBMIIuMb@Mb@Mb@qqq q)qYuT㥛 ?y&1?yu!?uLu`e٥ HҢFS&< >Ey4ܼ?My49 IeByM!?M:MIU?CiA<?A<* y4}B}X2A}EZbALA@@F@ʁ"+@ܿ(}pz?X?xxڲ0iǿ)A>ҁI?Cn cNJ>?9bX[瑿z?j Td?rNJ0 rzB Td?s1  yBꁍ%@6@u addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.502891 s, deltaX: -0.300000 m, approachRate: -0.596551 m/s, rangeRepo size: 4  Added new target pos. range: 6.150444 m, bearing: 285.178046 deg, lat: 36.906118 deg, lon: -122.116044 deg, deltaT: 3.020990 s, deltaX: -2.182623 m, approachRate: -0.722486 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 6.15 m. 8.33 m. ProNav: ac range: 8.333067 m, nav range: 6.772956 m, bearing: 288.859336 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 291.808358 deg, new cmd heading: 292.195852 deg. |HeadingCmd: 5.099780 target range: 8.333067 and range: 6.20 m.be1@ZrjRJB~~{B}!|!|!|%@|-!?checking for new query: numPingsReceived=21, elapsed TxPingTime=5.750378  zBY I)U>I?    = yN<wie1@iEEEEE A 6Ge v~GAAQuDDAT read: Rx Time:06:03:58.2606 }TRx dataTimestamp_ set to:1749103439.510180PDAT read: Bearing 355.9, 10.9 (Local) ~Local bearing/azimuth received: Bearing 355.9, 10.9 (Local) DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.6 DAT read: 06:03:58.2606 LVL= 23392, 24545, 18658, 28915, AGC= 48, IDX= 508, 0.29, 1.015,-0.505, 1.114, 0.530, PHS= 0.573,-0.988, 0.581, RAW= 150.3, -2.1, CAL= 154.1, -10.9, ROT= 355.9, 10.9 Ygot valid direction response: 06:03:58.2606 LVL= 23392, 24545, 18658, 28915, AGC= 48, IDX= 508, 0.29, 1.015,-0.505, 1.114, 0.530, PHS= 0.573,-0.988, 0.581, RAW= 150.3, -2.1, CAL= 154.1, -10.9, ROT= 355.9, 10.9 T#Rx 22: Read range and direction messages.`direction in FSK: [0.979446,-0.070208,-0.189095]Fpublishing direction and range infoyAN>4,LAyj~gW?`?#oG4ȿ̼@Y `[)_IHip0!?|j? '@)Q I!,@iB@B> )_3N?Q >w?R?/i,?a=iB> )Zchecking for new query: numPingsReceived=22, elapsed TxPingTime=6.041182H(>HHIH|BH5 =HJDHHƛ<H&EHdCHeCHCH" =I% = I57= {B=pIIMIM2Yj> C=yQ >٥ H >y4Ἔ?y49 I~By?Ci;m;.y4Z1AZbʦLAK@K@c@ʁҁui? J mY⭔6?Rۭ97z?j^d?rʐ?/ zBNJ0  yBu@Q@ addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.506175 s, deltaX: -0.300000 m, approachRate: -0.592680 m/s, rangeRepo size: 4  Added new target pos. range: 5.852916 m, bearing: 285.385881 deg, lat: 36.906118 deg, lon: -122.116044 deg, deltaT: 3.527165 s, deltaX: -2.480151 m, approachRate: -0.703157 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 5.85 m. 8.33 m. ProNav: ac range: 8.333067 m, nav range: 6.513893 m, bearing: 289.080085 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 292.195848 deg, new cmd heading: 292.506077 deg. |HeadingCmd: 5.105194 target range: 8.333067 and range: 5.90 m.b]@Z r j R J Bq~q~y}y|y||@|A? zBI)>Ic h =%iȖ%LK} P"Ky *Ky 2K} :K} q}v Nx'z+}gW@I T0OGKdY j \ //P ~GY Ai Ay N > F4,LAԹDDAT read: Rx Time:06:03:58.7604 TRx dataTimestamp_ set to:1749103440.019261PDAT read: Bearing 356.3, 10.7 (Local) ~Local bearing/azimuth received: Bearing 356.3, 10.7 (Local) DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed 0.6 93@=@=DAT read: 06:03:58.7604 LVL= 22880, 24657, 17074, 28419, AGC= 49, IDX= 507, 0.12, 1.639, 0.132, 1.725, 1.163, PHS= 0.564,-0.984, 0.560, RAW= 149.8, -1.8, CAL= 153.7, -10.7, ROT= 356.3, 10.7 Y)3yc=H3?`?`ſ@?,?n`?x?F? 3@d;)?CYgot valid direction response: 06:03:58.7604 LVL= 22880, 24657, 17074, 28419, AGC= 49, IDX= 507, 0.12, 1.639, 0.132, 1.725, 1.163, PHS= 0.564,-0.984, 0.560, RAW= 149.8, -1.8, CAL= 153.7, -10.7, ROT= 356.3, 10.7 T#Rx 23: Read range and direction messages.T{BI`direction in FSK: [0.980565,-0.063410,-0.185667]Fpublishing direction and range infoڑyڕu`?E |; &K{ǿڕ3@Yڑ ە`Y)ەQ`IەBiەoە1ەNb?ەm{ە)\? ܕT'@:J\BJUJJ;RJZJ=:bJ>9J(N4J@@@@)ܕIܕ>+@iܕt;?ܕ@ܕt;?> ݑ)ݑݕh}?c?4Mbiݕw?ݕ*=ݕ)Aݕt;?> ޑ)ޑchecking for new query: numPingsReceived=23, elapsed TxPingTime=6.584862Mb@Mb@Mb@ )YA`"?S㥫Mb?y?/]<A )|@I AyQAI I<2%= -=y-ٺ;Q ->٥1Q UHUӢFe< e>iy4m+輜?y49m ImBy?:?mICimq;m;meBy40AZb;LAű@ű@@ʁҁ?cLcP E=>@ ?>+rHT"z?j< +l?rEx/ zB^d?I:0  rzBꁕձ@f@ addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.509081 s, deltaX: -0.300000 m, approachRate: -0.589298 m/s, rangeRepo size: 4 5 Added new target pos. range: 5.555310 m, bearing: 286.380156 deg, lat: 36.906118 deg, lon: -122.116044 deg, deltaT: 4.036246 s, deltaX: -2.777757 m, approachRate: -0.688203 m/s, posRepo size: 4 11=zIgnoring new targets. Set target to previous: 5.56 m. 8.33 m.99 ProNav: ac range: 8.333067 m, nav range: 6.184929 m, bearing: 289.383153 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 292.506075 deg, new cmd heading: 292.955566 deg. |HeadingCmd: 5.113039 target range: 8.333067 and range: 5.60 m.b@ZrjRJB~~6{B}|||`ff@|? %zB靅 9wI ) |> I  P = \Ǖ 4< # i @i zE - checking for new query: numPingsReceived=23, elapsed TxPingTime=6.7635199 E5 EA EI EM @5EI a6G=~GA!A1NE?%5,LAQDDAT read: Rx Time:06:03:59.2602 TRx dataTimestamp_ set to:1749103440.521331PDAT read: Bearing 356.7, 10.0 (Local) ~Local bearing/azimuth received: Bearing 356.7, 10.0 (Local) DAT read: Range 10 to 50 : 5.3 m (trip time 3.5 ms) speed 0.5 DAT read: 06:03:59.2602 LVL= 17568, 24561, 15202, 28275, AGC= 48, IDX= 504, 0.07,-1.252,-2.723,-1.172,-1.699, PHS= 0.535,-0.977, 0.524, RAW= 149.6, -1.1, CAL= 153.3, -10.0, ROT= 356.7, 10.0 Ygot valid direction response: 06:03:59.2602 LVL= 17568, 24561, 15202, 28275, AGC= 48, IDX= 504, 0.07,-1.252,-2.723,-1.172,-1.699, PHS= 0.535,-0.977, 0.524, RAW= 149.6, -1.1, CAL= 153.3, -10.0, ROT= 356.7, 10.0 T#Rx 24: Read range and direction messages.`direction in FSK: [0.983175,-0.056689,-0.173648]Fpublishing direction and range infoڡyڥ~*v?EO]ٖNs:ƿڥ@Yڡ ۥD)ۥ_Iۥb;iۥsnۥ0ۥ?ۥzۥ$? ܥ'@)ܥnFIܥ<+@iܥ¸2ܥ8@ܥ¸2> ݡ)ݡݥcE ?mr?0Yiݥ)l?ݥ6<ݥQkݥ¸2> ޡ)ޡ%checking for new query: numPingsReceived=24, elapsed TxPingTime=7.03279392@ᠡ@Y!0y=H ?ʸ?Fƿ``??`V? [l?G? 2@骍ȉ;)>CGG@AH 8>H eCH LIH |BH @ =H H DH <H Ee{BeIIuIu<28 > 4=y ;Q >٥ HԢFY< > y4? y49 IBy?kCi::IRy49=/AAyZb}]!LA?@?@E@ʁ;Ad@jӿǘX7~*v?EO]ٖNs:ƿQk¸2>ҁ Q+?Q5!U-y^T&?`Ji@nz^?j=Cr?r+. h{BEx/  zBꁥX@n{@% addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.502070 s, deltaX: -0.300000 m, approachRate: -0.597526 m/s, rangeRepo size: 4 ] Added new target pos. range: 5.257791 m, bearing: 287.411009 deg, lat: 36.906118 deg, lon: -122.116044 deg, deltaT: 4.538316 s, deltaX: -3.075276 m, approachRate: -0.677625 m/s, posRepo size: 4 YYezIgnoring new targets. Set target to previous: 5.26 m. 8.33 m.aa ProNav: ac range: 8.333067 m, nav range: 5.917167 m, bearing: 289.622944 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 292.955556 deg, new cmd heading: 293.293671 deg. |HeadingCmd: 5.118940 target range: 8.333067 and range: 5.30 m.b\Σ@ZrjRJB~ ~ }i|i|i|u@33@|u`73? 2zBI)>I M =Ur85,";LA 9}ǚ@DDAT read: Rx Time:06:03:59.7601 TRx dataTimestamp_ set to:1749103441.025815PDAT read: Bearing 356.9, 9.3 (Local) ~Local bearing/azimuth received: Bearing 356.9, 9.3 (Local) DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.5 -DAT read: 06:03:59.7601 LVL= 17904, 25505, 14834, 26739, AGC= 47, IDX= 503, 0.08,-0.747,-2.222,-0.663,-1.176, PHS= 0.517,-0.998, 0.510, RAW= 149.8, -0.4, CAL= 153.1, -9.3, ROT= 356.9, 9.3 5Ygot valid direction response: 06:03:59.7601 LVL= 17904, 25505, 14834, 26739, AGC= 47, IDX= 503, 0.08,-0.747,-2.222,-0.663,-1.176, PHS= 0.517,-0.998, 0.510, RAW= 149.8, -0.4, CAL= 153.1, -9.3, ROT= 356.9, 9.3 5T#Rx 25: Read range and direction messages.=`direction in FSK: [0.985412,-0.053368,-0.161604]=Fpublishing direction and range infoAytx}?P;% SoĿ3@Y E)cI9ish/Z?|\? T'@)I+@i6&T@6&> )*?H?vN{i?E;Q]6&> )]checking for new query: numPingsReceived=25, elapsed TxPingTime=7.536996};ѡ@Y}i.y}>}HKK?`?@mpƿ ?zý?`??H? }ǚ@};)};Q >٥ %H%բF%5< %>q)y4-?y49-ѱ I-΋By?:`?-Ci-TA<-4:-dy4B.AEZbALA@@Š@ʁ:@EhN?Gѿ)tx}?P;% SoĿQ]6&>ҁ ?k*C@0$?WD#?| uP3g?z?jvv?r0 {B< +l? zBJ@@= addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504484 s, deltaX: -0.200000 m, approachRate: -0.396445 m/s, rangeRepo size: 4  Added new target pos. range: 5.059384 m, bearing: 287.863361 deg, lat: 36.906119 deg, lon: -122.116044 deg, deltaT: 5.042800 s, deltaX: -3.273683 m, approachRate: -0.649180 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 5.06 m. 8.33 m.-  ProNav: ac range: 8.333067 m, nav range: 5.610469 m, bearing: 289.921267 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 293.293678 deg, new cmd heading: 293.727232 deg. ) 5 |HeadingCmd: 5.126507 target range: 8.333067 and range: 5.10 m.b5 Y @Z1 r1 j1 R1 J1 B9 ~y ~ ;{B} | | | `ff@| F?ԙ  checking for new query: numPingsReceived=25, elapsed TxPingTime=7.771308 @zB靵 I ) > I G  =  < i Y @i bE% ~AZE! E E E E 0E F F }A6G^ZGRG~A~GAAN?5,+QaLA"DDAT read: Rx Time:06:04:00.2598 &TRx dataTimestamp_ set to:1749103441.529311.PDAT read: Bearing 356.7, 8.8 (Local) 2~Local bearing/azimuth received: Bearing 356.7, 8.8 (Local) >DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.5 ^DAT read: 06:04:00.2598 LVL= 19424, 25585, 14786, 30355, AGC= 45, IDX= 500, 0.12,-1.723, 3.073,-1.628,-2.140, PHS= 0.505,-1.023, 0.509, RAW= 150.1, 0.1, CAL= 153.3, -8.8, ROT= 356.7, 8.8 vYgot valid direction response: 06:04:00.2598 LVL= 19424, 25585, 14786, 30355, AGC= 45, IDX= 500, 0.12,-1.723, 3.073,-1.628,-2.140, PHS= 0.505,-1.023, 0.509, RAW= 150.1, 0.1, CAL= 153.3, -8.8, ROT= 356.7, 8.8 vT#Rx 26: Read range and direction messages.z`direction in FSK: [0.986590,-0.056886,-0.152986]~Fpublishing direction and range info$y&f$?JJM, 8C ÿ&f@Y$ &K)&cI&9i&v&-&G?&&M? &ϩ'@)&:I&<+@i&nF&8@&nF> $)$&J<,? ?e{ a?i&?&K&Qk&nF> $)$Uchecking for new query: numPingsReceived=26, elapsed TxPingTime=8.059101)HH>HHIH|BHF =HHDHc<HE:JeBJJJ:RJZJ\:bJJFA4JzJr;jJt;JtQ:rJwQ:9)@@Y,y>H?@6?hcƿH?`v??_?K? )@ ;)?C{BI)A AIUIU3:= /=y;Q >٥ H֢FB_< >y4?y49 IBy?Ci;T;luy4-AZ$b&;aLA&4@&4@&XԠ@ʁ&af@آпDI&f$?JJM, 8C ÿ&Qk&nF>ҁ&i ? @ƞPL?&6?r>uOpM@݂?z&&?j&'Gr?r&!- &(|B&=Cr?&ʐ?/  &h{B&@&@m addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503496 s, deltaX: -0.400000 m, approachRate: -0.794445 m/s, rangeRepo size: 4  Added new target pos. range: 4.662669 m, bearing: 287.964062 deg, lat: 36.906120 deg, lon: -122.116043 deg, deltaT: 5.546296 s, deltaX: -3.670398 m, approachRate: -0.661775 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.66 m. 8.33 m. ProNav: ac range: 8.333067 m, nav range: 5.339635 m, bearing: 290.194425 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 293.727231 deg, new cmd heading: 294.060603 deg.  |HeadingCmd: 5.132326 target range: 8.333067 and range: 4.70 m.b <@Z r j R J B~~9}9|A|I|M@|Mr?Y KzBsI)d>I g =aO^<Ji<@iEEEE4Eԉchecking for new query: numPingsReceived=26, elapsed TxPingTime=8.274727Ա 6G oK P"K 9*K 2K :K L :@;&"b,(s*M(Y7D>~G A A N >5, {LA$|B%III 3>= Z=ԙyQ >٥ H >9uy4=?}y49= I=By?=ӑCi=.<=<=y4}DDAT read: Rx Time:06:04:00.7597 TRx dataTimestamp_ set to:1749103442.037134PDAT read: Bearing 356.1, 8.0 (Local) ~Local bearing/azimuth received: Bearing 356.1, 8.0 (Local) N-A=B*** querying acoustic contact ***J9R9MDAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.5 I4=I4=mzIgnoring new targets. Set target to previous: 8.33 m. 8.33 m.}#<DAT read: 06:04:00.7597 LVL= 17744, 23729, 13778, 27603, AGC= 42, IDX= 498, 0.26,-2.745, 2.056,-2.624,-3.133, PHS= 0.475,-1.048, 0.506, RAW= 151.0, 0.9, CAL= 153.9, -8.0, ROT= 356.1, 8.0 Ygot valid direction response: 06:04:00.7597 LVL= 17744, 23729, 13778, 27603, AGC= 42, IDX= 498, 0.26,-2.745, 2.056,-2.624,-3.133, PHS= 0.475,-1.048, 0.506, RAW= 151.0, 0.9, CAL= 153.9, -8.0, ROT= 356.1, 8.0 T#Rx 27: Read range and direction messages.`direction in FSK: [0.987975,-0.067353,-0.139173]Fpublishing direction and range infoځyڅR}? E=>H@lڅ@Yځ ۅPE)ۅ\Iۅ5iۅkۅ*}#< ProNav: ac range: 8.333067 m, nav range: 5.115525 m, bearing: 290.442438 deg, approach rate: -0.495375 m/s, LOS rate: 0.572226 deg/s, cmd heading: 294.060599 deg, new cmd heading: 294.837185 deg. [<ۅ33>ۅ$ۅ7? ܅+(@)܅@܅5> ݁)݁݅¯}m??z?Ͻ4?i݅ ?݅44|݅)g݅5> ށ)ށchecking for new query: numPingsReceived=27, elapsed TxPingTime=8.607786|HeadingCmd: 5.145880 target range: 8.333067 and range: 4.70 m.b @ZrjRJB~~}|||@| K? WzB靍"I)>I} =<,/i @iEUEQEQEUv5EQ checking for new query: numPingsReceived=27, elapsed TxPingTime=8.778326! 6G] ~GQ Ai Ay N >%5,VaLA`9 g@ p@Y )y L> H/w?m?#ƿ~@??? ?N? g@ ;;) <|BIMb@Mb@Mb@ )Y㥛 ?A`"y&1|y?Y`A f@)@IfAyG@)p; IIT3-;= -%=y-;Q ->٥11 5H5עFe< e>qy4u?y49u Iu By!?:奿?uCiuJK;uI;uy4,AZbg`LAێ@ێ@ݠ@ʁ7&m@ ;c>ӿ& R}? E=>H@l)g5>ҁ}3W?\W95H?XE?H1tl m;?zчҰ?j}fy?rFm5 |B'Gr?Ex/  {Bꁅ3@ ٠@5DDAT read: Rx Time:06:04:01.2594 =TRx dataTimestamp_ set to:1749103442.535988EPDAT read: Bearing 355.3, 7.2 (Local) E~Local bearing/azimuth received: Bearing 355.3, 7.2 (Local) UDAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4 DAT read: 06:04:01.2594 LVL= 20576, 26449, 16274, 29907, AGC= 42, IDX= 496,-0.44, 0.483,-0.997, 0.645, 0.130, PHS= 0.441,-1.080, 0.512, RAW= 152.3, 1.7, CAL= 154.7, -7.2, ROT= 355.3, 7.2 Ygot valid direction response: 06:04:01.2594 LVL= 20576, 26449, 16274, 29907, AGC= 42, IDX= 496,-0.44, 0.483,-0.997, 0.645, 0.130, PHS= 0.441,-1.080, 0.512, RAW= 152.3, 1.7, CAL= 154.7, -7.2, ROT= 355.3, 7.2 T#Rx 28: Read range and direction messages.`direction in FSK: [0.988779,-0.081293,-0.125333]Fpublishing direction and range info addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.507823 s, deltaX: -0.200000 m, approachRate: -0.393838 m/s, rangeRepo size: 4  Added new target pos. range: 4.464257 m, bearing: 288.028818 deg, lat: 36.906120 deg, lon: -122.116044 deg, deltaT: 6.054119 s, deltaX: -3.868810 m, approachRate: -0.639038 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.46 m. 8.33 m.9y=3?/ϴcK =3@Y9 =`P)=QgI=?i=t9=>=q==o? =*@)= 9)9='Ӛd ??iX1?i='&?=켩==> 9)9checking for new query: numPingsReceived=28, elapsed TxPingTime=9.052532; ProNav: ac range: 8.333067 m, nav range: 4.836356 m, bearing: 290.714485 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 294.837191 deg, new cmd heading: 295.179752 deg. 0<|HeadingCmd: 5.151858 target range: 8.333067 and range: 4.50 m.bܤ@Zrj!R!JABA~I~M1{B}I|Q|Q|U`ff@|UG? Hm<Hm<H}P>H}fCH}IH}Q}BH}K =HyH}DH}i<H}E:JcBJYJJ9RJZJ:bJ[O9Jc44JzJ;jJ;Jn:rJn:! %bzB%I!)->)I- ))-=5Sϐ5|<5i5ܤ@i9EEEE 4E 6G )jG ?bG ?Q ~G A A N >ұ+5, LAI)@9>՛@>@Y>(y>6>>H?Y?ƿ n(6? |?u?`?@P? >՛@>R;)>=CRchecking for new query: numPingsReceived=28, elapsed TxPingTime=9.282159Am`|Bm5II"Iq3E= E\=yMW;Q >٥ HآFߊ< >y4" ?y49+ IBy?Ci>;;(y4b,AZbMLA(@(@@ʁk$[@st)տ2P3?/ϴcK >ҁ|?##/| ?=?.rTlVzp?z)x?j0.q?rBT1 |B0  (|Bꁅ@ʠ@ addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.498854 s, deltaX: -0.400000 m, approachRate: -0.801838 m/s, rangeRepo size: 4  Added new target pos. range: 4.067475 m, bearing: 287.503967 deg, lat: 36.906120 deg, lon: -122.116044 deg, deltaT: 6.552973 s, deltaX: -4.265592 m, approachRate: -0.650940 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 4.07 m. 8.33 m.- ProNav: ac range: 8.333067 m, nav range: 4.617183 m, bearing: 290.933505 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 295.179739 deg, new cmd heading: 295.451010 deg. )5|HeadingCmd: 5.156593 target range: 8.333067 and range: 4.10 m.b5@Z1r1j1R9J9B9~9~9}A|Ai|i|q|u ?KP"K*K2K:KXp" ] n V 4 <~bC  M8 QZ:$G/d|]a) =kzB靽AI0<)V>I M=.4<W i@iԙEEEE;2E ]%=]=DDAT read: Rx Time:06:04:01.7593 TRx dataTimestamp_ set to:1749103443.045603PDAT read: Bearing 354.4, 6.4 (Local) ~Local bearing/azimuth received: Bearing 354.4, 6.4 (Local) DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 M DAT read: 06:04:01.7593 LVL= 20560, 27089, 16674, 31091, AGC= 42, IDX= 511,-0.18, 0.260,-1.207, 0.463,-0.052, PHS= 0.400,-1.108, 0.513, RAW= 153.6, 2.5, CAL= 155.6, -6.4, ROT= 354.4, 6.4 U Ygot valid direction response: 06:04:01.7593 LVL= 20560, 27089, 16674, 31091, AGC= 42, IDX= 511,-0.18, 0.260,-1.207, 0.463,-0.052, PHS= 0.400,-1.108, 0.513, RAW= 153.6, 2.5, CAL= 155.6, -6.4, ROT= 354.4, 6.4 ] T#Rx 29: Read range and direction messages.e `direction in FSK: [0.989025,-0.096975,-0.111469]e Fpublishing direction and range infoډyڍj.?XXӸ -V:ڍy@Yډ ۍPP)ۍiIۍ"Aiۍsyۉۍ>ۍҍۍS? ܍+@)܍¸2=I܍-@i܍佉܍.@܍= ݉)݉ݍOL3{W?c0?m?iݍ?ݍ4ݍ)+Ƚݍ= މ)މ checking for new query: numPingsReceived=29, elapsed TxPingTime=9.576626 6G +~G A A N >25,iLAp]|B]HIMb@Mb@Mb@ )Yx?i|?5:vyK?qTchecking for new query: numPingsReceived=29, elapsed TxPingTime=9.789724A @) @I9Ay@IeIe(*3= +=yQ >٥yy H >y4?y49 I/By?: ?8CiE:(:y4B+AEZb)LAw@w@@ʁhߜ@WJiNؿۿj.?XXӸ -V:)+Ƚ=ҁ-Dj%?<. ,x?!h+?FAʮ?z8m?j`m?rRD4 }BBT1  |Bq@DӠ@e addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.509615 s, deltaX: -0.200000 m, approachRate: -0.392453 m/s, rangeRepo size: 4 u Added new target pos. range: 3.869062 m, bearing: 286.506935 deg, lat: 36.906120 deg, lon: -122.116044 deg, deltaT: 7.062588 s, deltaX: -4.464005 m, approachRate: -0.632064 m/s, posRepo size: 4 qquzIgnoring new targets. Set target to previous: 3.87 m. 8.33 m. ProNav: ac range: 8.333067 m, nav range: 4.325121 m, bearing: 291.289523 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 295.451007 deg, new cmd heading: 295.838586 deg. |HeadingCmd: 5.163357 target range: 8.333067 and range: 3.90 m.b9:@ZrjRJB~~#{B} | | | @33@| N?A exzBe"(Ia)e?aIm) iimv=VD<&i9:@ii  DDAT read: Rx Time:06:04:02.2590  TRx dataTimestamp_ set to:1749103443.545524 PDAT read: Bearing 353.3, 6.0 (Local)  ~Local bearing/azimuth received: Bearing 353.3, 6.0 (Local)  DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4  DAT read: 06:04:02.2590 LVL= 19184, 25121, 14642, 29427, AGC= 41, IDX= 508,-0.00, 0.103,-1.368, 0.353,-0.181, PHS= 0.372,-1.140, 0.532, RAW= 155.0, 3.0, CAL= 156.7, -6.0, ROT= 353.3, 6.0  Ygot valid direction response: 06:04:02.2590 LVL= 19184, 25121, 14642, 29427, AGC= 41, IDX= 508,-0.00, 0.103,-1.368, 0.353,-0.181, PHS= 0.372,-1.140, 0.532, RAW= 155.0, 3.0, CAL= 156.7, -6.0, ROT= 353.3, 6.0 E- E) E1 E5 p5E1 U T#Rx 30: Read range and direction messages.e `direction in FSK: [0.987730,-0.116032,-0.104528]e Fpublishing direction and range infoڹ yڽ Yz{?]X:E4ޮ`ºڽ `@Yڹ ۽ J)۽ !bI۽ 29i۽ r۽ )۽ v>۽ 둿۽ '1? ܽ "-@)ܽ PwV=Iܽ  /@iܽ Pwֽܽ Q@ܽ Pw= ݹ )ݹ ݽ sv/?XQ?]t?iݽ VD?ݽ qUݽ |ݽ Pw= ޹ )޹ } checking for new query: numPingsReceived=30, elapsed TxPingTime=10.065116H Q>H eCH IH }BH O =H H H g<H E:Ja BJe aJJe =RJa ZJa bJe p9Je g4Ja zJa jJe ;Je :rJe :ԑ 6G-t ZG1RG5zA~GAA!N-? ;5,PLAP9 PD@ M@Y F#y >> H? E?6ƿ`5b?b?_??U? PD@ 5;) >CE|BMZIY]@AI]I]3{= 5=y٥ H٢FA= >y4?y49 I@Bye?YCi::y4GĀA! uYuĀAyumAy+A =DDAT read: Rx Time:06:04:02.7590 ETRx dataTimestamp_ set to:1749103443.862516MPDAT read: Bearing 352.4, 5.4 (Local) M~Local bearing/azimuth received: Bearing 352.4, 5.4 (Local) ZbLA8^@8^@ @ʁ8o @sXXٿ:׿Yz{?]X:E4ޮ`º|Pw=ҁe?]{Bf L1?G37?Ś+JFԼ?f?zTvDAT read: Range 10 to 50 : 3.5 m (e 2.3 ms) speed 0.4 |?j{Ej?r 70 +}B0.q? |BAa@@ addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.499921 s, deltaX: -0.400000 m, approachRate: -0.800127 m/s, rangeRepo size: 4 EDAT read: 06:04:02.7590 LVL= 22208, 24625, 15858, 30451, AGC= 42, IDX= 507, 0.19, 1.767, 0.287, 2.060, 1.512, PHS= 0.342,-1.178, 0.544, RAW= 156.2, 3.6, CAL= 157.6, -5.4, ROT= 352.4, 5.4 MYgot valid direction response: 06:04:02.7590 LVL= 22208, 24625, 15858, 30451, AGC= 42, IDX= 507, 0.19, 1.767, 0.287, 2.060, 1.512, PHS= 0.342,-1.178, 0.544, RAW= 156.2, 3.6, CAL= 157.6, -5.4, ROT= 352.4, 5.4 MT#Rx 31: Read range and direction messages.U`direction in FSK: [0.986816,-0.131669,-0.094108] Added new target pos. range: 3.472220 m, bearing: 286.549214 deg, lat: 36.906120 deg, lon: -122.116044 deg, deltaT: 7.562509 s, deltaX: -4.860847 m, approachRate: -0.642756 m/s, posRepo size: 4 zIgnoring new targets. Set target to previous: 3.47 m. 8.33 m.Fpublishing direction and range infoAyE2?|ӄ{AYA EV)E1`IE=iEvE*E>EȖEC ? E!z.@)E=IEx 0@iEE:@E= A)AEe?o֍?cp-?iE!?EEE= A)A ProNav: ac range: 8.333067 m, nav range: 4.072953 m, bearing: 291.564368 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 295.838579 deg, new cmd heading: 296.225962 deg. -|HeadingCmd: 5.170118 target range: 8.333067 and range: 3.50 m.Uchecking for new query: numPingsReceived=31, elapsed TxPingTime=10.409135b-q@ZqrqjqRqJqBq~y~y}y|y|| @|`?KQP"K9*K2K:K Gn6T~CALC c t }Qo9Cn|Y;gbWa#{%> ]zB]<5IY)]?YIeʣ aae=x.<Yiq@iEm Ei Ei Eu s5Eq  checking for new query: numPingsReceived=31, elapsed TxPingTime=10.546060) I a=I I 6G ,&~GAAN>_/C5,[ LA|BfIԡDDAT read: Rx Time:06:04:03.2587 TRx dataTimestamp_ set to:1749103444.303020PDAT read: Bearing 351.9, 4.6 (Local) ~Local bearing/azimuth received: Bearing 351.9, 4.6 (Local) checking for new query: numPingsReceived=31, elapsed TxPingTime=10.804160Mb@Mb@Mb@ )Y1Zd?Zd;~jtxy"?yĻA @)@I Ay@II(1S= =yQ >٥ HڢF >y4 ?y49m IZBy?:?Ci;:7y4IU(+AQZbv3LA~@ʁ.<6h[i @"фBݿԿ2?|ӄ{=ҁ!|? x_҂? *?/VH=4Ũ?zUdn?jln?rDq: \}Bln?RD4  }BO@@m addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.316992 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 } Added new target pos. range: 3.472220 m, bearing: 285.575371 deg, lat: 36.906119 deg, lon: -122.116046 deg, deltaT: 7.879501 s, deltaX: -4.860847 m, approachRate: -0.616898 m/s, posRepo size: 4  zIgnoring new targets. Set target to previous: 3.47 m. 8.33 m.  E ProNav: ac range: 8.333067 m, nav range: 3.700505 m, bearing: 292.053882 deg, approach rate: 0.000000 m/s, LOS rate: 0.256575 deg/s, cmd heading: 296.225960 deg, new cmd heading: 296.658786 deg. AM|HeadingCmd: 5.177672 target range: 8.333067 and range: 3.50 m.bM~@ZIrIjIRIJIBI~Q~UzB}Q|Y|||;? U zBU Iy )} ?y I u = s < i ~@i  DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4  DAT read: 06:04:03.2587 LVL= 21008, 24689, 13874, 29843, AGC= 39, IDX= 504, 0.40, 0.860,-0.601, 1.180, 0.644, PHS= 0.304,-1.198, 0.533, RAW= 157.0, 4.5, CAL= 158.1, -4.6, ROT= 351.9, 4.6  Ygot valid direction response: 06:04:03.2587 LVL= 21008, 24689, 13874, 29843, AGC= 39, IDX= 504, 0.40, 0.860,-0.601, 1.180, 0.644, PHS= 0.304,-1.198, 0.533, RAW= 157.0, 4.5, CAL= 158.1, -4.6, ROT= 351.9, 4.6  T#Rx 32: Read range and direction messages. `direction in FSK: [0.986835,-0.140447,-0.080199] Fpublishing direction and range infoq yu uV&? ,zꇴu @@Yq u R)u q`Iu 26iu tu 'u 㥛>u Xu r? u ^/@1 Gq Gu ?AH H>H dCH IH }BH Q =H H DH N<H }EHEeCHAHE˓CHEK =IEJ = IEL6)u |٠=Iu r0@iu lu @:J- fBJ- `JJ- >RJ) ZJ- |":bJ- bl9J- t4J) zJ- ;jJ- ;J- ":rJ- #:u l= q )q u Y4z? URc[2?ED?iu J%?u +u u l= q )q  checking for new query: numPingsReceived=32, elapsed TxPingTime=11.114771>E=G٥)) -H-ۢF1 5>9ey4=8(?ey49= I=rByaam?=Ci=;=;=y4qu*AqZb*3LA8@8@}'@ʁ\@he ٿ(2lͿuV&? ,zꇴl=ҁD;&h?Ɉf1{!`m?~??7{D8tB.?z1=?jf?r4 }B`m?4  +}B'9@@ addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.946454 s, deltaX: -0.600000 m, approachRate: -0.633945 m/s, rangeRepo size: 4 M Added new target pos. range: 2.876920 m, bearing: 284.964583 deg, lat: 36.906119 deg, lon: -122.116045 deg, deltaT: 8.825955 s, deltaX: -5.456147 m, approachRate: -0.618193 m/s, posRepo size: 4 BIntercept lockout. Range: 2.90 m.bTransitioning guidance mode to: INTERCEPT_LOCKOUT@bZrjRJBDAT read: 06:04:03.7586 LVL= 21216, 25569, 13842, 28259, AGC= 40, IDX= 504,-0.41, 1.281,-0.169, 1.631, 1.118, PHS= 0.251,-1.240, 0.510, RAW= 157.9, 5.9, CAL= 158.4, -3.4, ROT= 351.6, 3.4 ~~}|||@33@|ߢ? Ygot valid direction response: 06:04:03.7586 LVL= 21216, 25569, 13842, 28259, AGC= 40, IDX= 504,-0.41, 1.281,-0.169, 1.631, 1.118, PHS= 0.251,-1.240, 0.510, RAW= 157.9, 5.9, CAL= 158.4, -3.4, ROT= 351.6, 3.4 Z#Rx 34: Read direction message, but no range.Ae`direction in FSK: [0.987531,-0.145826,-0.059306]yTMpڙ?Ǧl¿Cg]Y R)cI6icn(>R\? A`0@)B=I;0@is^@s= @_?oLI?,`'+\?im@)?4AӽT s=}checking for new query: numPingsReceived=34, elapsed TxPingTime=11.596623 zB靵I) ?Ig[ =td<ii>Eԅ<EU EY EY EY EY ԁ 6G- g~G A A N= >hqT5,RLA0BABARDDAT read: Rx Time:06:04:04.2583 VTRx dataTimestamp_ set to:1749103445.312215bPDAT read: Bearing 350.4, 2.5 (Local) f~Local bearing/azimuth received: Bearing 350.4, 2.5 (Local) rDAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.5 -Z#Rx 35: Read range message, but no direction.TV@YTuchecking for new query: numPingsReceived=35, elapsed TxPingTime=11.8245479+)@2@YM y>H? 5?ƿ@s?\?`?@?+Z? +)@骥;)=C}}B}IԡMb@Mb@Mb@ )Y'1Z?p= ף~jthy"?DA @)`@IyQ@I]I]3m= m =yu;Q u>٥qq uHuܢF0^= >y40?y49 IBy#?:n?ݒCiM::y4B)AEZTbVUSLAV`@V`@Vȟ@ʁVj+H@t\y8ֿSJ¿VTMpڙ?Ǧl¿Cg]VT Vs=ҁV~/ ?>lb ۡ?V%iܽ?tZN*ٳ?zVVp(?jV&Eh?rV}3/ V}BV{Ej?T V\}BV#@Vo@ addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503245 s, deltaX: -0.500000 m, approachRate: -0.993552 m/s, rangeRepo size: 4 ] Added new target pos. range: 2.380899 m, bearing: 286.092332 deg, lat: 36.906119 deg, lon: -122.116045 deg, deltaT: 0.503245 s, deltaX: -0.496021 m, approachRate: -0.985644 m/s, posRepo size: 4 YYbYZYrYjYRaJaBa~a~mzB}i|||@33@|? %zB%^Yֽ]DAT read: 06:04:04.2583 LVL= 24272, 27089, 15378, 32051, AGC= 42, IDX= 501,-0.32, 0.923,-0.500, 1.334, 0.821, PHS= 0.190,-1.274, 0.510, RAW= 159.7, 7.0, CAL= 159.6, -2.5, ROT= 350.4, 2.5 eYgot valid direction response: 06:04:04.2583 LVL= 24272, 27089, 15378, 32051, AGC= 42, IDX= 501,-0.32, 0.923,-0.500, 1.334, 0.821, PHS= 0.190,-1.274, 0.510, RAW= 159.7, 7.0, CAL= 159.6, -2.5, ROT= 350.4, 2.5 eZ#Rx 36: Read direction message, but no range.m`direction in FSK: [0.985058,-0.166610,-0.043619]1y5hj?\"{SſGUY1 5^)5iI5<i53}5*5\B>5o1 5b2@)55=I5aF2@i5¸25E@5¸2= 15¼d,q?VAG? NL?i5KO1?5:5+5¸2=checking for new query: numPingsReceived=36, elapsed TxPingTime=12.067358I!)?I 3=s<5-iiDDDDH :>H bCH @IH ~BH R =H KDH DH <H E E!E!E)E)E)F1F1DDAT read: Rx Time:06:04:04.7582  TRx dataTimestamp_ set to:1749103445.816009-PDAT read: Bearing 347.9, 1.4 (Local) 5~Local bearing/azimuth received: Bearing 347.9, 1.4 (Local) UDAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.5 -eZ#Rx 37: Read range message, but no direction.  f@Y ԉchecking for new query: numPingsReceived=37, elapsed TxPingTime=12.3300206GMZGQRGU}A~G)A1AANU"?^5,>${LA(9Fz`@F)j@YF]yFw>FH?.?;ƿpW?(?`W??]? Fz`@F;)FK5P"K5s9*K12K5:K5# )I_;zd{xTY?vxuXBXlI!.L=٥AA EHEݢFEa< M>Q]z4U!9?]z49U IUByY]]?UCiU:Uu:U z4amH)AZ9b=~9tLA=S@=S@=A@ʁ= j@APL6ֿяi1C=hj?\"{SſGU=+=¸2=ҁ=zY?TB]Q??=~? 9VͶ?z=.= ?j=U f?r=7/ =}B=&Eh?= 70  =}B=n@=z[@= addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503794 s, deltaX: -0.300000 m, approachRate: -0.595482 m/s, rangeRepo size: 4 m Added new target pos. range: 2.083226 m, bearing: 285.148566 deg, lat: 36.906119 deg, lon: -122.116044 deg, deltaT: 0.503794 s, deltaX: -0.297673 m, approachRate: -0.590863 m/s, posRepo size: 4 iibiZqrqjqRqJqBq~y~y}y|y|y|@|? zBLԽI)<?I7 pj=reIMD5@iM+ȼMM@M+< IM{hN^5?~J!?us?iM j??M"M@XM+<uchecking for new query: numPingsReceived=38, elapsed TxPingTime=12.695955~GAAN>  DDAT read: Rx Time:06:04:05.2578  TRx dataTimestamp_ set to:1749103446.3194075 PDAT read: Bearing 345.1, -1.7 (Local) = ~Local bearing/azimuth received: Bearing 345.1, -1.7 (Local) d5,LARDAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.5 XDAT read: 06:04:05.2578 LVL= 28336, 32753, 15730, 32755, AGC= 43, IDX= 496,-0.23, 0.118,-1.283, 0.774, 0.248, PHS=-0.042,-1.484, 0.523, RAW= 165.8, 11.2, CAL= 164.9, 1.7, ROT= 345.1, -1.7 Ygot valid direction response: 06:04:05.2578 LVL= 28336, 32753, 15730, 32755, AGC= 43, IDX= 496,-0.23, 0.118,-1.283, 0.774, 0.248, PHS=-0.042,-1.484, 0.523, RAW= 165.8, 11.2, CAL= 164.9, 1.7, ROT= 345.1, -1.7 T#Rx 39: Read range and direction messages.^direction in FSK: [0.965951,-0.257020,0.029666]Fpublishing direction and range infoIyMӖ?Ssп `?M?YI Mn)MIMr=iIM+b}BIM1,MMT? ML39@)M+H>IM18@iM٥ H >z4,A?z49 IBy%?:B?-Ci<<z4i(AZIbM*qLAMw?Mw?Ma@ʁM e?<:zؿ]@?MӖ?Ssп `?M%MҁMbrY0J1?$(>=?M YJ?/Z>ᅰH k?zMMq>jM U?rM6( MA~BMU f?M7/  M}BM?M_@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503398 s, deltaX: -0.600000 m, approachRate: -1.191900 m/s, rangeRepo size: 4  Added new target pos. range: 1.488019 m, bearing: 279.221668 deg, lat: 36.906119 deg, lon: -122.116044 deg, deltaT: 0.503398 s, deltaX: -0.595207 m, approachRate: -1.182379 m/s, posRepo size: 4 bZrjRJB~~zB}!|!|!|%?|-l? zB靽DѽI)l)?I =uIk<iiUchecking for new query: numPingsReceived=39, elapsed TxPingTime=13.062534 H H <H->HaCHkIHY~BHHHDHy<HEEEEEP0E9 6G .-jG ?bG ?i ~G A A N >k5,|ֱLAuDDAT read: Rx Time:06:04:05.7580 TRx dataTimestamp_ set to:1749103446.826910PDAT read: Bearing 338.5, -9.9 (Local) ~Local bearing/azimuth received: Bearing 338.5, -9.9 (Local) DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.4 -Z#Rx 40: Read range message, but no direction.y}f?Yy%checking for new query: numPingsReceived=40, elapsed TxPingTime=13.343472 }BIII(-= 5==y1Q 5>٥99 =H=ޢF9 E>Amz4EVH?uz49E IEɌByyy}?EPCiE;E;E-z4'AB*** querying acoustic contact ***JR5 addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.507503 s, deltaX: 0.300000 m, approachRate: 0.591129 m/s, rangeRepo size: 4 11b1Z1r1j9R9J9B9~A~A}a|a|a|m?|m? zB靽%I)2?IG m=th<iiK}_P"K}9*Ky2K}:K}DhD u L <shtD,A?<:d@!W 3 EEEEEFF=1 } DAT read: 06:04:05.7580 LVL= 22992, 31377, 14498, 32371, AGC= 42, IDX= 511,-0.28, 2.604, 1.405,-2.851, 2.989, PHS=-0.296,-1.537, 0.440, RAW= 171.6, 15.9, CAL= 171.5, 9.9, ROT= 338.5, -9.9  Ygot valid direction response: 06:04:05.7580 LVL= 22992, 31377, 14498, 32371, AGC= 42, IDX= 511,-0.28, 2.604, 1.405,-2.851, 2.989, PHS=-0.296,-1.537, 0.440, RAW= 171.6, 15.9, CAL= 171.5, 9.9, ROT= 338.5, -9.9  Z#Rx 41: Read direction message, but no range.E ^direction in FSK: [0.916563,-0.361044,0.171929]yra{T?TW׿!?Y Y)zI8is~*PjĿG> ֭?@)q>I=?@i;0> @;0 iw?Q?f.m?iCf?/󍾩: ;0] checking for new query: numPingsReceived=41, elapsed TxPingTime=13.6126866G >u:J eBJ iJJ >RJ ZJ \:bJ ڈ9J t4J ~Ga Ay A N >r5,LA]}Be IMb@Mb@Mb@ )Y#~j?x&{Gz?y%?7#<@ `@)I?@y@IIV83%= MK=yYQ e>q٥ HߢF >z4O?%z4mDDAT read: Rx Time:06:04:06.2578 }TRx dataTimestamp_ set to:1749103447.327999PDAT read: Bearing 359.4, -28.1 (Local) ~Local bearing/azimuth received: Bearing 359.4, -28.1 (Local) DAT read: Range 10 to 50 : 1.5 m (trip time 1.0 ms) speed 0.3 9t IߌBy&?:?sCi*<<-Z#Rx 42: Read range message, but no direction.qu?Yq?!40]y_?ura{T?TW׿!?u: u;0ҁu~%o?KTj.x=M?uRt?vz?zuu<ju=R?ruuI=6 uQBuf?q u}Bud?u@ addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.501089 s, deltaX: -0.300000 m, approachRate: -0.598696 m/s, rangeRepo size: 4  Added new target pos. range: 1.487982 m, bearing: 271.187311 deg, lat: 36.906119 deg, lon: -122.116044 deg, deltaT: 1.008592 s, deltaX: -0.000036 m, approachRate: -0.000036 m/s, posRepo size: 4   b Z r j R J B~~{B}|9|9|=?|= $?ԙ zBJgI);?I:? <sL<iiEEEEE  < <- DAT read: 06:04:06.2578 LVL= 20752, 27793, 15074, 32755, AGC= 45, IDX= 509, 0.27,-0.625,-2.262,-0.744,-0.416, PHS=-0.122,-1.799,-0.332, RAW= 143.4, 26.7, CAL= 150.6, 28.1, ROT= 359.4, -28.1 5 Ygot valid direction response: 06:04:06.2578 LVL= 20752, 27793, 15074, 32755, AGC= 45, IDX= 509, 0.27,-0.625,-2.262,-0.744,-0.416, PHS=-0.122,-1.799,-0.332, RAW= 143.4, 26.7, CAL= 150.6, 28.1, ROT= 359.4, -28.1 = Z#Rx 43: Read direction message, but no range.E ^direction in FSK: [0.882078,-0.009238,0.471012] y R9?ј%낿(%?Y  Q) lI :i  - # E  - @) >I 8(@i > @    j q;?FiF?qAn?i z>  D+ ] checking for new query: numPingsReceived=43, elapsed TxPingTime=14.082379H >H _CH IH ~BH H H DH ƛ<H E 6G5 g~G A AN%>٥ H~ >]z4U?]z49 IByY]?e?CiNo<kn<Jz4mBmi&AuEbZrjRJB~~}||||? zB靭ڭI)C?I, O<r7<L5iibEZE)EeEaEiEm_0EiDDAT read: Rx Time:06:04:06.7576 TRx dataTimestamp_ set to:1749103447.829050DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.3 -Z#Rx 44: Read range message, but no direction.ڙڝ?Yڙchecking for new query: numPingsReceived=44, elapsed TxPingTime=14.327270Q6G ~G A A K P"K }9*K 2K :K F z   u !  b cc*b)d@\j0:\3#a#"U^)JDN >ԁ ܴ5,LA9rf@rp@YrHݽ%checking for new query: numPingsReceived=44, elapsed TxPingTime=14.577207yrB=rH`?˦?@L I?`?`R?@PF? ? rf@r';)r:Ce ~Bm<III2yIIR=:JlBJnJJ=RJZJ<5:bJ99Jg4J= H=y=Q  >٥   HF5 5>9Ez4=\?Ez49=A I=ByAE㧿E?=Ci=:=:=3Zz4qu%Aq addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.501051 s, deltaX: -0.300000 m, approachRate: -0.598741 m/s, rangeRepo size: 4 bZr)j)R)J1B1~9~A}i|q|q|}@33?|?P? 5zB5@I9)=LK?9I= 99=<ԡu<C}iiE=EAEAEIEI6G5DDAT read: Rx Time:06:04:07.2574 TRx dataTimestamp_ set to:1749103448.335981 PDAT read: Bearing 8.7, -48.5 (Local)  ~Local bearing/azimuth received: Bearing 8.7, -48.5 (Local) 5 DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.4 U DAT read: 06:04:07.2574 LVL= 26000, 32753, 31922, 32755, AGC= 36, IDX= 506, 0.22, 1.519,-0.192, 0.972, 2.009, PHS=-0.402,-2.155,-1.040, RAW= 128.9, 39.6, CAL= 141.3, 48.5, ROT= 8.7, -48.5 ] Ygot valid direction response: 06:04:07.2574 LVL= 26000, 32753, 31922, 32755, AGC= 36, IDX= 506, 0.22, 1.519,-0.192, 0.972, 2.009, PHS=-0.402,-2.155,-1.040, RAW= 128.9, 39.6, CAL= 141.3, 48.5, ROT= 8.7, -48.5 ] T#Rx 45: Read range and direction messages.e \direction in FSK: [0.654996,0.100228,0.748956]~Gi Aq A  Fpublishing direction and range infoyS;?دZ?ғq?ff?Y e)I|i$;  @);0?Ih@i8X?|>8X N >);Z?שқ?7f?i>0|>8X ) checking for new query: numPingsReceived=45, elapsed TxPingTime=14.860282! ߆5,0LA9>@>ʍ@Y>y>=>H`?@?r@@`?M?+?T?&? >@>\B;)>٥ HF >checking for new query: numPingsReceived=45, elapsed TxPingTime=15.078447)5z4-t^?5z49-$ I-By59?5:=ں=?-ړCi-b:-:-hiz4AEi%AAGGAAH>H]CHIHBHS =HHDH<H EZ b LA d? d? /@ʁ ÔtK?RG3$?Mwe? S;?دZ?ғq? |> 8Xҁ U$?ʜ޿B >? BL]'?S?_L)?z X G>j n?r a1  B U f?  A~B T> Y  DDAT read: Rx Time:06:04:07.7576  TRx dataTimestamp_ set to:1749103448.844894 PDAT read: Bearing 44.9, -56.7 (Local)  ~Local bearing/azimuth received: Bearing 44.9, -56.7 (Local) - vDAT read: Range 10 to 50 : 1.2 m (trip tis) speed 0.0 M DAT read: 06:04:07.7511504, 8417, 7154, 10675, AGC= 23, IDX= 508, 0.05,-0.650,-1.877,-1.530,-0.046, PHS=-0.517,-1.784,-1.488, RAW= 102.9, 49.4, CAL= 105.1, 56.7, ROT= 44.9, -56.7 U !unknown deviceResponse_: 06:04:07.7511504, 8417, 7154, 10675, AGC= 23, IDX= 508, 0.05,-0.650,-1.877,-1.530,-0.046, PHS=-0.517,-1.784,-1.488, RAW= 102.9, 49.4, CAL= 105.1, 56.7, ROT= 44.9, -56.7 -U Z#Rx 46: Read range message, but no direction. ?Y ] checking for new query: numPingsReceived=46, elapsed TxPingTime=15.3504096Ge ojGm ?bGm ?ԁ Y y zA~G1 A9 AQ Ne >Ï5,8LAeg~BmtII}I}38> `=yQ >٥ H >z4j`?z49d* IBy?Ci::uz4\$A!AB*** querying acoustic contact ***JR= addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.508913 s, deltaX: 0.300000 m, approachRate: 0.589492 m/s, rangeRepo size: 4 99b9Z9rAjARAJABA~I~I}I|I|I|U@33?|U@$|? zB1I)<^?I$ )L<KP"K۵9*K2K:K n 3  N:{%}-zD p  P = qB6:s<liirE=e>jE9qEEEEq5E }<}<checking for new query: numPingsReceived=46, elapsed TxPingTime=15.5986616G`i"J(N4JU4J/:JnBJmJJ;RJZJ|;:bJ&9J(N4J~GYAiAyN>ԙ ms5,RLA9No@N~y@YN9[yNH8>NH?,ɿz 5c?"???`-^? No@N`;)N;Czb~BzqIMb@Mb@Mb@ )Y\(\?RQ~jt?y>½<t@ 3@)v@I1@DDAT read: Rx Time:06:04:08.2575 TRx dataTimestamp_ set to:1749103449.351559DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -Z#Rx 47: Read range message, but no direction.̌?Ychecking for new query: numPingsReceived=47, elapsed TxPingTime=15.849819yp@I!Ii3H  E=yo٥ HF%= %>)5z4-Oc?5z49-/ I-(By=>=:==?-Ci-:-:-z4AEq$AAu addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.506665 s, deltaX: -0.100000 m, approachRate: -0.197369 m/s, rangeRepo size: 4 yybyZyryjyRyJyB~~zB}|||?|? -zB-bݢI))-Z?)I5| 115"<=r]Q<] x]iaiaEEEE/E!16G T~G1AAAQNe>Y  checking for new query: numPingsReceived=47, elapsed TxPingTime=16.098236H >H [CH IH /BH X =H H DH <H EHU_CHU_CHUɖCHUR =IUS = IUB(65,GqlLA 9>P@>@Y>4y>6>>H ?`?2ɿ`Uo??`9?@r? V_? >P@>K;)>:CN~BNI na=nR=IrIrV83zI= ~^=yhQ >٥    H F = >z4nf?%z49x4 I1By!%箿%?&Ci;w;Zz4)5#A5E]]TStarting intercept timer at range: 1.10 m.YbYZarajaRaJaBa~i~i}i|i|i|q|u#? zB靵WI)d?IC A<uJ<iiyDDAT read: Rx Time:06:04:08.7575 TRx dataTimestamp_ set to:1749103449.855888PDAT read: Bearing 86.8, -54.6 (Local) ~Local bearing/azimuth received: Bearing 86.8, -54.6 (Local) EDAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 06:04:08.7575 LVL= 13616, 19745, 9202, 16851, AGC= 26, IDX= 507,-0.21,-0.059,-0.646,-1.057, 0.481, PHS=-0.452,-1.079,-1.541, RAW= 65.1, 48.9, CAL= 63.2, 54.6, ROT= 86.8, -54.6 >ER5<Ygot valid direction response: 06:04:08.7575 LVL= 13616, 19745, 9202, 16851, AGC= 26, IDX= 507,-0.21,-0.059,-0.646,-1.057, 0.481, PHS=-0.452,-1.079,-1.541, RAW= 65.1, 48.9, CAL= 63.2, 54.6, ROT= 86.8, -54.6 T#Rx 48: Read range and direction messages.\direction in FSK: [0.032336,0.578378,0.815128]Fpublishing direction and range infoyxTb?ow?6?Y 05)!MI#iAl}?ſ Oo?)|Z?I0?is??s )ԡ?IoAK9'5}`?iȾuZZ?s )checking for new query: numPingsReceived=48, elapsed TxPingTime=16.408669E]E]EYE]EY KE tP"KE 9*KA 2KE :KE  !kY~2,KE9~K1e|Cu 3XHDB > L \/~\%6G LZG RG  checking for new query: numPingsReceived=48, elapsed TxPingTime=16.604689~G A A9 Ne > 5,LA9!@Q+@Y9½yG>HЩ?`Q?@e%ƿ3@nJ?K?hJ??@? !@拉;)=C~BIԹMb@Mb@Mb@ )Y&1?Mb?:v?y><<A h@)@I^@yQ@)%4< !I-I-3=k ==y=YQ E>٥AA EHAM= M>%z4ll?%z497 I@By->-:;-?9Cix<a{<,z4#AZ b vLA ? ? 6|?ʁ R(W?V.|1?Iy{u? xTb?ow?6? ? sҁ T#c?d?ܢ &? ʐrˠ?}a.?ʕ}?z > >j t͏?r 0  6B  0  QB G> h?u addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504329 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.091063 m, bearing: 32.337468 deg, lat: 36.906119 deg, lon: -122.116044 deg, deltaT: 1.519907 s, deltaX: 0.198305 m, approachRate: 0.130472 m/s, posRepo size: 4 XStarting latch delay timer at range: 1.10 m."Cable is present.bZrjR?JB~~a{BDDAT read: Rx Time:06:04:09.2574 TRx dataTimestamp_ set to:1749103450.361751PDAT read: Bearing 58.0, -52.7 (Local)  ~Local bearing/azimuth received: Bearing 58.0, -52.7 (Local) DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 =DAT read: 06:04:09.2574 LVL= 14928, 15937, 11170, 18403, AGC= 27, IDX= 506,-0.09,-1.840,-2.896,-2.804,-1.427, PHS=-0.325,-1.422,-1.380, RAW= 91.9, 45.8, CAL= 92.0, 52.7, ROT= 58.0, -52.7 EYgot valid direction response: 06:04:09.2574 LVL= 14928, 15937, 11170, 18403, AGC= 27, IDX= 506,-0.09,-1.840,-2.896,-2.804,-1.427, PHS=-0.325,-1.422,-1.380, RAW= 91.9, 45.8, CAL= 92.0, 52.7, ROT= 58.0, -52.7 ET#Rx 49: Read range and direction messages.M\direction in FSK: [0.321125,0.513907,0.795473]UFpublishing direction and range infoyhÌO?(2q? Ԅt?ff?Y P:)A>I+iGffף |N?)L?I?iCwk??Cwk )uVK?iտcZ7?i&uL?Cwk )checking for new query: numPingsReceived=49, elapsed TxPingTime=16.875795}|||?|@Y? {BeI)`?I% !!%x<-t-oO<-4$jE] <zEa E E E E O E F F  H}<Hychecking for new query: numPingsReceived=49, elapsed TxPingTime=17.107141H>HHIHWBHY =HHHٛ<HE6G>Yi~GAAN?5,CLA:J{BJtJJ:RJZJd:bJ9JFA4JzJ;jJ;J:"rJ:"9r@r@YrΜ׽yr4=rH@7?? @Ŀ???q?E? r@r[;)r:C~BIIMIM?13 ~= 2=yQ >٥ HF= >z4q?z49: IMBy냿?ICi;K;}z4Bb#AEZb&LAd?d?}@ʁX?Dž#c\?]H?hÌO?(2q? Ԅt??Cwkҁ!M*?:|x$1?+?";yn{T8?zûy>j.?r: B n?a1  B>kt? addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.505863 s, deltaX: -0.200000 m, approachRate: -0.395364 m/s, rangeRepo size: 4  Added new target pos. range: 0.892698 m, bearing: 359.186115 deg, lat: 36.906119 deg, lon: -122.116044 deg, deltaT: 0.505863 s, deltaX: -0.198365 m, approachRate: -0.392132 m/s, posRepo size: 4 zbZrjRzJB~~}||||C? E{BEHIE,<)Mzf?IIM/p IIMk.Ȱ5,GLA KӡP"KӰ9*K 2K:K5j+i6$ Y6&vlA+BlB)di$ +6?xu~BuIII1Echecking for new query: numPingsReceived=50, elapsed TxPingTime=17.619913] :=yQ >٥  H F >Iyz4}Cw?z49}= I}[By?}ZCi}{Y<} <}z4#AZbrMLA??w3@ʁAK?F?낽N?L{L?j?&+Ob7?o5?Vhҁ^b?%ζYʿI1Е?jz?r C 9Bt͏?uI=6  B> D? addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.502351 s, deltaX: 0.200000 m, approachRate: 0.398128 m/s, rangeRepo size: 4  Added new target pos. range: 1.091075 m, bearing: 336.972662 deg, lat: 36.906123 deg, lon: -122.116046 deg, deltaT: 0.502351 s, deltaX: 0.198377 m, approachRate: 0.394898 m/s, posRepo size: 4 zbZrjRzJB~~}|!|)|-?|5? {B I ) Fb? I Ջ <rQ!<==ii!qEEEEE ԡ A DDAT read: Rx Time:06:04:10.2574  TRx dataTimestamp_ set to:1749103451.377929 PDAT read: Bearing 23.9, -48.2 (Local)  ~Local bearing/azimuth received: Bearing 23.9, -48.2 (Local)  DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 E DAT read: 06:04:10.2574 LVL= 12528, 10769, 9970, 14355, AGC= 26, IDX= 506,-0.03,-1.338, 3.029,-2.313,-1.002, PHS=-0.248,-2.205,-1.314, RAW= 117.0, 38.1, CAL= 126.1, 48.2, ROT= 23.9, -48.2 M Ygot valid direction response: 06:04:10.2574 LVL= 12528, 10769, 9970, 14355, AGC= 26, IDX= 506,-0.03,-1.338, 3.029,-2.313,-1.002, PHS=-0.248,-2.205,-1.314, RAW= 117.0, 38.1, CAL= 126.1, 48.2, ROT= 23.9, -48.2 M T#Rx 51: Read range and direction messages.U \direction in FSK: [0.609380,0.270040,0.745476]U Fpublishing direction and range info y Ujc ? UH??Mx? ff?Y 0) *I &i 8  }  '1 @) ;*?I @i \W? > \W ) #?9WĤpe~?i HS RW* > \W )  checking for new query: numPingsReceived=51, elapsed TxPingTime=17.8982286GU ^ ~G I{AA A) N= >h5,LA9e*@e3@Ye},yew=eHJ? s?#`?y?U?` ??? e*@e;)e8CԹH>H\CH-IHBHW =HHH<HE]checking for new query: numPingsReceived=51, elapsed TxPingTime=18.123156:JuwBJumJJqRJqZJuW:bJu&9JqJqzJuz;jJuz;Ju:rJu:=~B=IMb@Mb@Mb@ )Y٥ >> H> >!%z4%|?-z49%= I%^By-=-;-|-?%bCi%:%-:%z41=#A9Z9b=/LA=d?=d?= @ʁ=#}hh?;?'AjK?=Ujc ? UH??Mx?=>=\Wҁ=oH(??:ҿ ?=',?/[qFԿ7y.?z==>j=?r=^E =ۀB=.?=:  9=>=>] addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.513827 s, deltaX: -0.200000 m, approachRate: -0.389236 m/s, rangeRepo size: 4  Added new target pos. range: 0.892703 m, bearing: 324.159690 deg, lat: 36.906123 deg, lon: -122.116048 deg, deltaT: 0.513827 s, deltaX: -0.198372 m, approachRate: -0.386068 m/s, posRepo size: 4 zbZrjRzJB~~9{B}|||?|x[? {B靥 fDI ) g? I } N< u F< 8=i i bE }AZE ~A DDAT read: Rx Time:06:04:10.7575  TRx dataTimestamp_ set to:1749103451.880021% PDAT read: Bearing 20.7, -48.7 (Local) % ~Local bearing/azimuth received: Bearing 20.7, -48.7 (Local) A M DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0  DAT read: 06:04:10.7575 LVL= 12624, 10545, 10594, 14099, AGC= 26, IDX= 507,-0.04, 0.370,-1.589,-0.553, 0.767, PHS=-0.309,-2.308,-1.323, RAW= 119.5, 38.8, CAL= 129.3, 48.7, ROT= 20.7, -48.7  Ygot valid direction response: 06:04:10.7575 LVL= 12624, 10545, 10594, 14099, AGC= 26, IDX= 507,-0.04, 0.370,-1.589,-0.553, 0.767, PHS=-0.309,-2.308,-1.323, RAW= 119.5, 38.8, CAL= 129.3, 48.7, ROT= 20.7, -48.7  T#Rx 52: Read range and direction messages. \direction in FSK: [0.617395,0.233294,0.751264] Fpublishing direction and range info y ׋X?,%?$[ ? ̌?Y P1) 1)I b)i 7 E= #E9 E9 E= E9 FE =FE = ?5 F X {@) -\-?I m@i Y? > Y ) T[;?oLazYy?i 9 (t- > Y )  checking for new query: numPingsReceived=52, elapsed TxPingTime=18.4239626G ;~GAAN >5,4LA09^z@^@Y^(y^oZ=^H_??`? ? ? ?֩? ^z@^;)^9C jC)j݀AɵjrjFhhɶlinDIllI!i! !!)!! -A))ɷ)))I))1i1)1I11ɸ1 1ɹy鹅AiiA)D Iٯ~BII I(2}ݹ; m=y6Q ?K/P"K89*K2K:Ko7  87&VaK;s>upzL 'q3 % V٥ HF-= >1=z45z?=z495= I5aBy9==?5hCi5:5:5z4AM#AIԉZbDRLA??d@ʁFcƂ[?pimJ?p%>:?׋X?,%?$[ ?>Yҁ˫?׿:״J(?PfWGX?>fc0տ +J?z^>j)ܨ?ryCG 2B? C  2BꁍH>B@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.502092 s, deltaX: 0.200000 m, approachRate: 0.398333 m/s, rangeRepo size: 4 - Added new target pos. range: 1.091081 m, bearing: 322.993745 deg, lat: 36.906124 deg, lon: -122.116052 deg, deltaT: 0.502092 s, deltaX: 0.198378 m, approachRate: 0.395104 m/s, posRepo size: 4 )z19b9ZIrIjQRQzYJYBY~a~a}a|i|i|m?|m?checking for new query: numPingsReceived=52, elapsed TxPingTime=18.627951 %{BDŽI)f? I  jiiEu%EqEqEu:Ey6Gm = ~Gi A A N >e DDAT read: Rx Time:06:04:11.2574 e TRx dataTimestamp_ set to:1749103452.384038u PDAT read: Bearing 112.4, -49.7 (Local) u ~Local bearing/azimuth received: Bearing 112.4, -49.7 (Local)  DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 06:04:11.2574 LVL= 13648, 12785, 10866, 13811, AGC= 26, IDX= 506,-0.03,-0.471,-0.628,-1.361, 0.056, PHS=-0.439,-0.637,-1.419, RAW= 41.0, 44.5, CAL= 37.6, 49.7, ROT= 112.4, -49.7  Ygot valid direction response: 06:04:11.2574 LVL= 13648, 12785, 10866, 13811, AGC= 26, IDX= 506,-0.03,-0.471,-0.628,-1.361, 0.056, PHS=-0.439,-0.637,-1.419, RAW= 41.0, 44.5, CAL= 37.6, 49.7, ROT= 112.4, -49.7  T#Rx 53: Read range and direction messages. ^direction in FSK: [-0.246472,0.597987,0.762668] Fpublishing direction and range infoa ye ihϿ2h"?3hqg?e ff?Ya e P55,~LA )1Ir*i5o#ˡ 07?)F?I'?i^??^ )iUp?Hf2P9n?it'F?^ )6checking for new query: numPingsReceived=53, elapsed TxPingTime=18.9065029^n@^@Y^Hy^=^HQ?`b?uÿ0?o՝?X? غ?? ^n@^;)\~BIi-=I-4< ==qMb@Mb@Mb@ )Y&1?/$?{Gzt?yP=<ף;^@ @)@I^@y@); II(*2< "=y r7;Q  >٥   H= >ez4Y?mz49> IdByub=uojY?r0 ΀B B>ɸ@} addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504017 s, deltaX: -0.200000 m, approachRate: -0.396812 m/s, rangeRepo size: 4  Added new target pos. range: 0.892703 m, bearing: 69.792481 deg, lat: 36.906124 deg, lon: -122.116052 deg, deltaT: 0.504017 s, deltaX: -0.198378 m, approachRate: -0.393595 m/s, posRepo size: 4 zbZrjRzH>HH@IHBHS =HHDHߛ<HEԹJB~~{B}|||?|7?=checking for new query: numPingsReceived=53, elapsed TxPingTime=19.130318 -{B靽zɚI) h?I ]%<s<.%>ii:J]BJ]tJJ]=RJYZJ]p:bJ]9J]g4JYzJ];jJ];J]:rJ]: >E ) E} ^)Ey Ey E E DDAT read: Rx Time:06:04:11.7575 TRx dataTimestamp_ set to:1749103452.887806PDAT read: Bearing 106.4, -49.0 (Local) ~Local bearing/azimuth received: Bearing 106.4, -49.0 (Local) DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 EDAT read: 06:04:11.7575 LVL= 13488, 12785, 11826, 16243, AGC= 25, IDX= 507, 0.02, 1.460, 1.198, 0.524, 1.921, PHS=-0.373,-0.676,-1.400, RAW= 46.7, 43.4, CAL= 43.6, 49.0, ROT= 106.4, -49.0 MYgot valid direction response: 06:04:11.7575 LVL= 13488, 12785, 11826, 16243, AGC= 25, IDX= 507, 0.02, 1.460, 1.198, 0.524, 1.921, PHS=-0.373,-0.676,-1.400, RAW= 46.7, 43.4, CAL= 43.6, 49.0, ROT= 106.4, -49.0 MT#Rx 54: Read range and direction messages.U^direction in FSK: [-0.185233,0.629367,0.754710]]Fpublishing direction and range infoy bǿ(ei#?&?̌?Y 4)I2.is?V-33 YP?)A?IB?i!Z?,?!Z )pY?(@濆5J?iɣ3$B,?!Z )uchecking for new query: numPingsReceived=54, elapsed TxPingTime=19.399567A6G 8<=~GqAyAN?5,}@LA9b)ۤ@b@Ybyb=bH`z?o?@'Ŀp"@?.]??@ܽ?6? b)ۤ@b;)`h}~B}II I2/ #=y;Q >٥ HFE= >{4O?{49u> IgBy{?nCi;;{4%#AK-OhP"K)*K)2K-:K-Ni NGdP) fO4ZnpyT J[  J = J=?J=?Zb8LA??HC?ʁFndɿEe?3Y? bǿ(ei#?&?,?!Zҁp`?|9?;?1*ON?K͝?` ?z?T>j.k?r. B B5>Ӹ@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503768 s, deltaX: 0.200000 m, approachRate: 0.397008 m/s, rangeRepo size: 4  Added new target pos. range: 1.091087 m, bearing: 65.023019 deg, lat: 36.906124 deg, lon: -122.116052 deg, deltaT: 0.503768 s, deltaX: 0.198385 m, approachRate: 0.393802 m/s, posRepo size: 4 zbZrjRzJB~~}|||?|? }4{B}@왽Iy)}`?yI 3<rf<59>ii%checking for new query: numPingsReceived=54, elapsed TxPingTime=19.6369619>E.<I!I!EU+EQEQEUFEQ6G-@Z=Q~GA A)NM>y  DDAT read: Rx Time:06:04:12.2574  TRx dataTimestamp_ set to:1749103453.393012 PDAT read: Bearing 21.2, -48.5 (Local)  ~Local bearing/azimuth received: Bearing 21.2, -48.5 (Local)  DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 06:04:12.2574 LVL= 12784, 10465, 9970, 13923, AGC= 26, IDX= 506, 0.12, 0.321,-1.636,-0.614, 0.703, PHS=-0.294,-2.292,-1.321, RAW= 119.1, 38.6, CAL= 128.8, 48.5, ROT= 21.2, -48.5  Ygot valid direction response: 06:04:12.2574 LVL= 12784, 10465, 9970, 13923, AGC= 26, IDX= 506, 0.12, 0.321,-1.636,-0.614, 0.703, PHS=-0.294,-2.292,-1.321, RAW= 119.1, 38.6, CAL= 128.8, 48.5, ROT= 21.2, -48.5  T#Rx 55: Read range and direction messages. \direction in FSK: [0.617776,0.239620,0.748956] Fpublishing direction and range info y ed"?3]۫?ғq? ff?Y 1) (I &i c6  + !  6 @) iw,?I @i 8X? q> 8X )  O?O=剿/)?i ! t, q> 8X ) = checking for new query: numPingsReceived=55, elapsed TxPingTime=19.903021;C5,pDZLAn~BnIYMb@Mb@Mb@ )Y+~jtxI +?yĻ94<@ @)3@I@yz@I I<2U U'=yUQ U>٥YY ]HY] e>ԉ{4 ?{49> IiBy'=<:@?qCi};y;?{4^#AZb'YLAd?d?9ô@ʁl֥?dS\ja?B)e?ed"?3]۫?ғq?q>8Xҁ0b-ujauG?rE ҀB^E  ۀB>>S@M addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.505206 s, deltaX: -0.200000 m, approachRate: -0.395878 m/s, rangeRepo size: 4 He>He[CHaHaHeU =HaHeDHe<HeE Added new target pos. range: 0.892708 m, bearing: 323.654165 deg, lat: 36.906124 deg, lon: -122.116053 deg, deltaT: 0.505206 s, deltaX: -0.198380 m, approachRate: -0.392671 m/s, posRepo size: 4 zbZrjRzJB~~{B}|||?|H?%checking for new query: numPingsReceived=55, elapsed TxPingTime=20.139353 ]<{BuRIy)}8[?yI}W, yy}<u9<Y7>iiDDDDԱ:J=}BJ=yJJ=:RJ9ZJ=[j:bJ=9J=FA4J9zJ=;jJ=;J=:rJ=: fG rAE /E E E 2E F =F = = &Y= rAyE V'B6G =jG >bG e> ~GADDAT read: Rx Time:06:04:12.7574 TRx dataTimestamp_ set to:1749103453.895659DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 -Z#Rx 56: Read range message, but no direction.Ychecking for new query: numPingsReceived=56, elapsed TxPingTime=20.393896AN>5,MyLA9}g@}@Y}?H̽y}=}H b?q?Y ʛ?؍p?@2~??ò? }g@};)}8C~BIII(11M{ M@=yM٥qq uHuF}P> }>{4߁?{49= IjBy!@?sCiL;6; &{4#A B*** querying acoustic contact ***J R E addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.502647 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 IziibiZqrqjqRqzqJqBq~y~y}y|y|||? A{BI)DV?I& < t  >iiaE@1EEE5EKP"K9*K2K:K-.OP7 @\C {7C\enlj@/r2{=B5<?B,6Gs>checking for new query: numPingsReceived=56, elapsed TxPingTime=20.644596~GAAN>ԑ 5,LA~BIMb@Mb@Mb@ )Y(\µy&1? rh?ԉy`<C<@ @)`@I^@y(@ADDAT read: Rx Time:06:04:13.2573 TRx dataTimestamp_ set to:1749103454.400081PDAT read: Bearing 330.1, -51.0 (Local) ~Local bearing/azimuth received: Bearing 330.1, -51.0 (Local) DAT read: Range 10 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 -DAT read: 06:04:13.2573 LVL= 13072, 9297, 8402, 9459, AGC= 25, IDX= 508, 0.18,-0.744,-1.617, 0.093, 0.630, PHS=-1.287,-2.200,-0.540, RAW= 176.7, 44.7, CAL= 179.9, 51.0, ROT= 330.1, -51.0 5Ygot valid direction response: 06:04:13.2573 LVL= 13072, 9297, 8402, 9459, AGC= 25, IDX= 508, 0.18,-0.744,-1.617, 0.093, 0.630, PHS=-1.287,-2.200,-0.540, RAW= 176.7, 44.7, CAL= 179.9, 51.0, ROT= 330.1, -51.0 5T#Rx 57: Read range and direction messages.=^direction in FSK: [0.545556,-0.313708,0.777146]=Fpublishing direction and range infoyք1u?P_Կ t=a?L?Y 3)Q$I i$j q= 4`E@)G?IBH@ic?\@c )ha*L@???iQ}?JG-c )}checking for new query: numPingsReceived=57, elapsed TxPingTime=20.915714II(( 3=yQ >٥ H- ->1={45 k@Թ addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504422 s, deltaX: -0.100000 m, approachRate: -0.198247 m/s, rangeRepo size: 4  Added new target pos. range: 0.793512 m, bearing: 275.211626 deg, lat: 36.906124 deg, lon: -122.116053 deg, deltaT: 1.007069 s, deltaX: -0.099196 m, approachRate: -0.098500 m/s, posRepo size: 4 bZr9j9R9z9JABA~I~MzB}I|Q|Q|}?|}`x? H{B@6I9)=\S?9I=ڭ 99E[fH \CH -IH BH V =H H DH <H ,EHm\CHm\CHmɓCHmV =ImV = ImɅ 6 checking for new query: numPingsReceived=57, elapsed TxPingTime=21.146488 6G5 TK%>ZG9 RG= |A~GaAiAN>95,2sLAH9j6@j?@Yjyj=jH Y??Q`&G?ZwͶ?`K?R? j6@j;)j:Cv~BvII~I~1 4  R=y٥ HFR> >15{45~?={495< I5oBy9=h@=?5}Ci5:5:5|C{4AE#AIqqbqZqrqjqRqzyJyBy~y~y}|||| ? L{BI)M?AIM( IIM~GAA NM>K 6+P"K -9*K 2K Q :K |n'h/ PgwdO!]rx91GX3fl@&&ZK$f) [ u z  1 5 <= checking for new query: numPingsReceived=58, elapsed TxPingTime=21.65059735,-BLA:JBJJJ;RJZJ̈́:bJU:J(N4J2@6@6@6@ 9D7@@@Y\yT=H@?P?s?%Y? ?Z? D7@骽4;)5C|~BIMb@Mb@Mb@ )Y333333Mb`?Q?y;\=1@ @)I@y3@IIy 1=y)J٥  H E= %>A]{4EC|?e{49E; IEvBym=m jGM >bGM x>~G A! AI y N >5,x LA9:@:@Y:Hy:=:HO?@/?LF"j`k??PO?@?` ? :@:W;):8CJf~BJtIIRIRb2ZP Zu=yZHH]CHIHvBHS =HHHʛ<HEE addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.504722 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 AzAAbIZIrIjIRIzIJIBI~Q~QY}Y|Y|a|a|ef?checking for new query: numPingsReceived=59, elapsed TxPingTime=22.157820 ]V{B]&戽IY)]C?YIeB aae~GAAAQNeU>Թױ ׵ A DDAT read: Rx Time:06:04:14.7575  TRx dataTimestamp_ set to:1749103455.914822 DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 - Z#Rx 60: Read range message, but no direction. ̌?Y  checking for new query: numPingsReceived=60, elapsed TxPingTime=22.412928 ;5,XLA9>@>@Y>PꝽy>N=>H`??%K`&? H?.?? >@> ی;)>6CzX~BzkIII2 D=y;Q >٥! %H%F%Fv= %>)5{4-Xx?5{49-: I-By9=!@E?-Ci-);-*;-m{4IM$AIuB*** querying acoustic contact ***JqRq addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505627 s, deltaX: 0.200000 m, approachRate: 0.395549 m/s, rangeRepo size: 4 zbZrjRzJB~~}|||?|͍?Թ [{B>I)4??I> r<siiEuA2EqEqEuEqK P"K u9*K 2K :K   % [ } |1uXIYS?Fy5lpESxeC ]hx, checking for new query: numPingsReceived=60, elapsed TxPingTime=22.658463:J]yBJ]JJ]<RJYZJ]]:bJ]_:J] [4JY6G63>~GA AI N >9 >'6, LA2DDAT read: Rx Time:06:04:15.2575 6TRx dataTimestamp_ set to:1749103456.415967:PDAT read: Bearing 323.1, -55.2 (Local) :~Local bearing/azimuth received: Bearing 323.1, -55.2 (Local) BDAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 VDAT read: 06:04:15.2575 LVL= 15504, 23393, 11858, 15155, AGC= 28, IDX= 509,-0.47, 2.178, 1.515,-3.054,-2.330, PHS=-1.687,-2.391,-0.727, RAW= 185.1, 49.6, CAL= 186.9, 55.2, ROT= 323.1, -55.2 ^Ygot valid direction response: 06:04:15.2575 LVL= 15504, 23393, 11858, 15155, AGC= 28, IDX= 509,-0.47, 2.178, 1.515,-3.054,-2.330, PHS=-1.687,-2.391,-0.727, RAW= 185.1, 49.6, CAL= 186.9, 55.2, ROT= 323.1, -55.2 bT#Rx 61: Read range and direction messages.f^direction in FSK: [0.456391,-0.342668,0.821149]fFpublishing direction and range info0y25?5&Eտ[F?0Y0 2<)2a[I2R.i23;22׿2%2: 2:N@)2k]?I2P@i2Ϣv?2s@2Ϣv 0)02Lw|?* ?f\?i2a?2]2$2Ϣv 0)0checking for new query: numPingsReceived=61, elapsed TxPingTime=22.931704H~BaI}Mb@Mb@Mb@yyy y)yY}Zd; rh/$?y}}C }<}^@ }@)}@I}1@yy}z@IIb2 "  =yQ >٥ H9M U>Q}{4Ur?{49U: IUByu>;2@?UCiU:U#:U{4$AZ0b24LA2?2?2՚@ʁ2*Ѷ?׿?25?5&Eտ[F?2$2Ϣvҁ26W:?8EA6?2yA?H[DiQ+?z2w2ҡ=j2ky?r2ͺkJ 2B2Y?0 02?2M"@% addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.501145 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 5 Added new target pos. range: 1.091101 m, bearing: 277.229242 deg, lat: 36.906123 deg, lon: -122.116053 deg, deltaT: 2.015886 s, deltaX: 0.297589 m, approachRate: 0.147622 m/s, posRepo size: 4 YzYYbYZYrYjaRazaJaBa~i~mzB}i|i|i|q|}p? b{B˫IJ=)9?I(fGG?AH>HHIHCBHT =HHHٛ<HE ))5<5r19i9i9checking for new query: numPingsReceived=61, elapsed TxPingTime=23.162882i"E 2Commanding positive:21980E P2E E E E ԡ 6GE%)>ZGIRGM}A~GA)A9NM? 6,9LA>DDAT read: Rx Time:06:04:15.7576 BTRx dataTimestamp_ set to:1749103456.919978FPDAT read: Bearing 328.2, -55.0 (Local) F~Local bearing/azimuth received: Bearing 328.2, -55.0 (Local) NDAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 jDAT read: 06:04:15.7576 LVL= 15920, 24193, 13554, 15155, AGC= 28, IDX= 510,-0.33, 2.671, 1.867,-2.720,-1.971, PHS=-1.553,-2.398,-0.752, RAW= 179.1, 49.4, CAL= 181.8, 55.0, ROT= 328.2, -55.0 nYgot valid direction response: 06:04:15.7576 LVL= 15920, 24193, 13554, 15155, AGC= 28, IDX= 510,-0.33, 2.671, 1.867,-2.720,-1.971, PHS=-1.553,-2.398,-0.752, RAW= 179.1, 49.4, CAL= 181.8, 55.0, ROT= 328.2, -55.0 nT#Rx 62: Read range and direction messages.r^direction in FSK: [0.487479,-0.302249,0.819152]rFpublishing direction and range info4k2?5u XӿU~6?>?Y< >0>)>^I>4i<<>ƿ>x>@ >H@)>\?I>K@i> u?>-M@> u <)<>ob?nh?^1 K?i>?>\>m> u <)<%checking for new query: numPingsReceived=62, elapsed TxPingTime=23.4361509Ew@EĀ@YEryE_2=EH ?C?@2} 9?⤿ɲ?R?? Ew@E0;)E7C].~B]QIIu Iu2W U=yc٥ HFg> >{4n?{499 IBy6@?Ci* ;;{4BD%AEԩZ<b>:LA>[?>[?>uI@ʁ>gW?.Dd׿ns3?>4k2?5u XӿU~6?>m> uҁ>zO?1( 3@9?>I8?zLH;?z>f(> 7>j>i~?r>0J > B>샽?>GI  >B>&?>U@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.504011 s, deltaX: 0.100000 m, approachRate: 0.198408 m/s, rangeRepo size: 4  Added new target pos. range: 1.190293 m, bearing: 285.202178 deg, lat: 36.906122 deg, lon: -122.116055 deg, deltaT: 0.504011 s, deltaX: 0.099192 m, approachRate: 0.196805 m/s, posRepo size: 4 zyybyZyryjyRyzyJB~~}|||@33?|? Mg{BM+pII)M1?IIU qqu<}uyyiyiEM`2EIEQEU4EQKma{P"Km9*Ki2Km :Km4.(5ldYLV :5$B e  5 ;3N\WD k$-checking for new query: numPingsReceived=62, elapsed TxPingTime=23.666851 :J |BJ JJ :RJ ZJ ;g:bJ wR:J FA4J 6G5 >~G A A! ) N5 >\6,WxSLA9z,C@zL@Yzyzi=zH ??1ཿ`+*?3?q?`? z,C@zj;)x!~BII}Mb@Mb@Mb@yyy y)yY}x&Q롿y&1?y}7 }\}`e٥ Hi= >{4j?{49,9 Iy>;l6@?Ci#::@{4v%A!iziibiZirijqRqzqJqBq~y~}}zBDDAT read: Rx Time:06:04:16.2575 TRx dataTimestamp_ set to:1749103457.423515DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -Z#Rx 63: Read range message, but no direction.ڡڥ̌?Yڡchecking for new query: numPingsReceived=63, elapsed TxPingTime=23.924129}|||?|? }k{B})Iy)}-?yI? <tiiE5p2E1E9E=+E9Qԁ H% >H! H% IH% BH! H! H! H% ݛ<H% E6G] >u checking for new query: numPingsReceived=63, elapsed TxPingTime=24.174555~G A A N >6,"4mLA09F2 @F@YFc2yF!=FH0?Z?@Ŀ( ?x@? ؼ?`II I b1%K -g=y-_;Q ->٥11 5H5F== =>AM{4Ef?M{49E8 IAyIU8@U?ECiES:E:E{4Y]%AY addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503537 s, deltaX: -0.100000 m, approachRate: -0.198595 m/s, rangeRepo size: 4 zbZrjRzJB~~}||||? n{B}I)I(?Iѡ k<siiԑ>E]<DDAT read: Rx Time:06:04:16.7575 TRx dataTimestamp_ set to:1749103457.928801PDAT read: Bearing 336.7, -52.6 (Local) ~Local bearing/azimuth received: Bearing 336.7, -52.6 (Local) DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -DAT read: 06:04:16.7575 LVL= 16176, 23729, 12482, 13235, AGC= 28, IDX= 509,-0.18, 1.118, 0.019, 1.799, 2.537, PHS=-1.330,-2.471,-0.740, RAW= 169.6, 46.5, CAL= 173.3, 52.6, ROT= 336.7, -52.6 EYgot valid direction response: 06:04:16.7575 LVL= 16176, 23729, 12482, 13235, AGC= 28, IDX= 509,-0.18, 1.118, 0.019, 1.799, 2.537, PHS=-1.330,-2.471,-0.740, RAW= 169.6, 46.5, CAL= 173.3, 52.6, ROT= 336.7, -52.6 ET#Rx 64: Read range and direction messages.Ye^direction in FSK: [0.557842,-0.240245,0.794415]eFpublishing direction and range infoyӀ-?Uο^%k?Y 0?)\I0i3q=$p= q=@)O?IA@ik?| @k )N6'?w i?V5?i]?O5оk )checking for new query: numPingsReceived=64, elapsed TxPingTime=24.455248E2EEE`EF%=F%=ԁ 6G= ..>jGE {>bGE i>~Gi Ay A N >Q"6,عLA9BDZ@BEѸ@YB}yB=BHW??᷼ ߿? Jl?@?@,? BDZ@BR;)B6CKb}P"Kb9*K`2Kb!jchecking for new query: numPingsReceived=64, elapsed TxPingTime=24.674242:KbdhUNH1=5kJK3" %  PZz,nc ZX2=a%" 1 v~BzAII~I~b -< 9=y:Q >٥ HV= >!-{4%`?5{49%q8 I!y15w9@5?%Ci%;%;%{49=%AAZbzq{LA??{@ʁXU-+z?]O1пVݹ?Ӏ-?Uο^%k?5оkҁt ?(l7p?7 ?PXp?z>j׌z?rwG ȀBi~? ҀBꁽ;?m@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.091103 m, bearing: 298.087564 deg, lat: 36.906121 deg, lon: -122.116055 deg, deltaT: 1.008823 s, deltaX: -0.099190 m, approachRate: -0.098322 m/s, posRepo size: 4 zbZrjRzJB~~}|||| &? s{B [I ) _(? Iik oy<rii!:JmrBJmJJm8RJiZJmG:bJmo5:Jm'4JiQ>EEV<EEEE2 Eq ؅=ׅ<DDAT read: Rx Time:06:04:17.2574 TRx dataTimestamp_ set to:1749103458.432246PDAT read: Bearing 335.1, -54.3 (Local) ~Local bearing/azimuth received: Bearing 335.1, -54.3 (Local) DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 06:04:17.2574 LVL= 15408, 24977, 11986, 14291, AGC= 27, IDX= 508,-0.11,-0.221,-1.182, 0.462, 1.216, PHS=-1.348,-2.350,-0.757, RAW= 171.5, 48.5, CAL= 174.9, 54.3, ROT= 335.1, -54.3 Ygot valid direction response: 06:04:17.2574 LVL= 15408, 24977, 11986, 14291, AGC= 27, IDX= 508,-0.11,-0.221,-1.182, 0.462, 1.216, PHS=-1.348,-2.350,-0.757, RAW= 171.5, 48.5, CAL= 174.9, 54.3, ROT= 335.1, -54.3 T#Rx 65: Read range and direction messages.^direction in FSK: [0.529298,-0.245692,0.812084]Fpublishing direction and range infoڑyڕ?e rϿ\?ڕff?Yڑ ە0<)ەaIە.iە7ەەDەffەA ܕ=?@)ܕ8X?Iܕ|]C@iܕ_r?ܕ'@ܕ_r ݑ)ݑݕ ?e??\?iݕ@:f?ݕ4Xݕ*޾ݕ_r ޑ)ޑ5 checking for new query: numPingsReceived=65, elapsed TxPingTime=24.948122ԡ 6G5 >~G A A! NE >u(6,|LA@ H<H<H>HHIH~BHR =HHH֛<HEMb@Mb@Mb@ )YS㥛I +?y̽/ݼ94<@ @)@I1@y@I I X .=y%Q %>٥!) -H)5 5>AM{4E\?U{49E$8 IEByUS=U;U:@U?ECiE]$;E";Ez{4qu%AqԱchecking for new query: numPingsReceived=65, elapsed TxPingTime=25.178427Zb멛LAd?d?A@ʁ$U =? D̿m2??e rϿ\?*޾_rҁ>?V}ݿ[6wzE?>(E5?2Y n?z|g>jdBp?riD ~B׌z? ȀB??/@} addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503445 s, deltaX: -0.200000 m, approachRate: -0.397263 m/s, rangeRepo size: 4  Added new target pos. range: 0.892716 m, bearing: 295.890482 deg, lat: 36.906121 deg, lon: -122.116055 deg, deltaT: 0.503445 s, deltaX: -0.198386 m, approachRate: -0.394058 m/s, posRepo size: 4 zbZrjRzJB~~zB}|||?|W$? mw{BmIi)m'?qIu7 qqu(<}uyyiiDDDD)T> @CIG 6Y y 6B} (@} B E 2E E E nE  DDAT read: Rx Time:06:04:17.7575  TRx dataTimestamp_ set to:1749103458.936001 PDAT read: Bearing 132.9, -53.8 (Local)  ~Local bearing/azimuth received: Bearing 132.9, -53.8 (Local)  DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0  DAT read: 06:04:17.7575 LVL= 12432, 23585, 10594, 13187, AGC= 28, IDX= 506, 0.44,-2.935,-2.675, 2.269,-1.698, PHS=-1.149,-0319, RAW= 21., CAL= 17.1, 53.8, ROT= 13.8  unknown deviceResponse_: 06:04:17.7575 LVL= 12432, 23585, 10594, 13187, AGC= 28, IDX= 506, 0.44,-2.935,-2.675, 2.269,-1.698, PHS=-1.149,-0319, RAW= 21., CAL= 17.1, 53.8, ROT= 13.8 - Z#Rx 66: Read range message, but no direction.ک ڭ ̌?Yک  checking for new query: numPingsReceived=66, elapsed TxPingTime=25.4430011 6GZGRG~GAAN?16,LAD9j@j@YjUyjN=jH ?`1?Fۿ`?@ ?j?? j@j$Ɗ;)hv~Bv>II~I~ 2 8  5=y ;Q >٥ HF-P> ->1={45Y?={4957 I1y9=4>@=?5Ci5::5:5>{4IM%AQmB*** querying acoustic contact ***JqRq addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503755 s, deltaX: 0.200000 m, approachRate: 0.397018 m/s, rangeRepo size: 4 zbZrjRzJB~~}|||?|`T? {{B]IY)e$?aIe aaeL ~G A A N >5 DDAT read: Rx Time:06:04:18.2574 5 TRx dataTimestamp_ set to:1749103459.439887E PDAT read: Bearing 299.0, -46.5 (Local) M ~Local bearing/azimuth received: Bearing 299.0, -46.5 (Local) e DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0  DAT read: 06:04:18.2574 LVL= 13808, 27073, 10098, 15219, AGC= 28, IDX= 506, 0.22,-0.117, 0.029, 1.472, 1.538, PHS=-1.568,-1.463,-0.069, RAW= 213.6, 37.1, CAL= 211.0, 46.5, ROT= 299.0, -46.5  Ygot valid direction response: 06:04:18.2574 LVL= 13808, 27073, 10098, 15219, AGC= 28, IDX= 506, 0.22,-0.117, 0.029, 1.472, 1.538, PHS=-1.568,-1.463,-0.069, RAW= 213.6, 37.1, CAL= 211.0, 46.5, ROT= 299.0, -46.5  T#Rx 67: Read range and direction messages. ^direction in FSK: [0.333721,-0.602048,0.725374] Fpublishing direction and range info1 y5 h7[?%},C3upMD6?5 ff?Y1 5 5)5 iI5 r'?76,#hLAius;uu9ȿuCuO un@)u%?Iusk@iuO?u<@uO q)qup؇,3y?`F M?iu?u#%u{FuO q)qchecking for new query: numPingsReceived=67, elapsed TxPingTime=25.97673095@5K@Y5uy5bs=5H #?`? ڿ#?˰?B?A? 5@5:;)57C}B+I)5Mb@Mb@Mb@111 1)1Y5)\(Mbp~jth?y5Ga55D;5@ 53@)5@I5@1y5p@ImIm3u`f }=y}Z:Q }>٥ H= >{4V?{497 Iy5b=p<3@?CiX;;&{48&AH->H-\CH-IH-~BH-U =H)H-DH-<H-EH]CH]CHHT =IT = I^5Zqbu'LAqqu9V@ʁuG(?XY2t?uh7[?%},C3upMD6?u{FuOҁuسd\%5PZ信z?u8p^g翞ch#?zu$'ujuRV?ruS(H u0Buky?uS(H  quE?u˨@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503886 s, deltaX: -0.200000 m, approachRate: -0.396915 m/s, rangeRepo size: 4  Added new target pos. range: 0.892716 m, bearing: 269.177026 deg, lat: 36.906121 deg, lon: -122.116054 deg, deltaT: 1.007641 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 zbZrjRzJB~~lzB}|||?|% ?checking for new query: numPingsReceived=67, elapsed TxPingTime=26.186338 {B)I)L?I}  <siizEQE2EEE Eԁ 6G %)>~Gi Ay A N >x >6,}LAbDDAT read: Rx Time:06:04:18.7575 bTRx dataTimestamp_ set to:1749103459.945099jPDAT read: Bearing 278.9, -54.3 (Local) j~Local bearing/azimuth received: Bearing 278.9, -54.3 (Local) rDAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0  DAT read: 06:04:18.7575 LVL= 19184, 24385, 11938, 18483, AGC= 29, IDX= 508,-0.29, 1.289, 1.775, 2.958,-2.878, PHS=-2.028,-1.583,-0.450, RAW= 225.9, 45.5, CAL= 231.1, 54.3, ROT= 278.9, -54.3 Ygot valid direction response: 06:04:18.7575 LVL= 19184, 24385, 11938, 18483, AGC= 29, IDX= 508,-0.29, 1.289, 1.775, 2.958,-2.878, PHS=-2.028,-1.583,-0.450, RAW= 225.9, 45.5, CAL= 231.1, 54.3, ROT= 278.9, -54.3 T#Rx 68: Read range and direction messages.^direction in FSK: [0.090280,-0.576515,0.812084]Fpublishing direction and range info`yb)fF?!?r⿇\?b̌?Y` bJ)bA_Ib.ib3Hbbbʿbff b-U|@)bKK?Ib@ib_r?bcě@b_r `)`bȿ@?q?ib?bsKb-b_r `)`9Rq@R @YRyRp=RH [? ?<縿&ٿ X?80?@ꕹ?@? Rq@R;)R6Cmchecking for new query: numPingsReceived=68, elapsed TxPingTime=26.457241u}Bu.II}I}(*[< O=y;Q >٥ HF-= >AYe{4]U?e{49]}7 I]Byim4@m?]Ci]:]:]V{4qu)&AqZ`bb|LAb?b?b@ʁbM^z7?T 俇ԈZ?b)fF?!?r⿇\?b-b_rҁbRcο@<t!W?b,˿)%[㡦$?zb,b[tjb@?rbgGI bBbdBp?` bBb;?b,@@m addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505212 s, deltaX: 0.200000 m, approachRate: 0.395874 m/s, rangeRepo size: 4  Added new target pos. range: 1.091084 m, bearing: 250.535131 deg, lat: 36.906120 deg, lon: -122.116054 deg, deltaT: 0.505212 s, deltaX: 0.198368 m, approachRate: 0.392643 m/s, posRepo size: 4 zbZrjRzJB~~}|||?|$? -{B-DI))-e?)IuŘ qqu;u<}ryyiyiiE-2E)E)E-E)mchecking for new query: numPingsReceived=68, elapsed TxPingTime=26.690928KmP"Kmȱ9*Ki2Km#:KmPJHm\,z_([7PIoekU W= %`Fs Y k Pl}Z5 ԙ 6G ~G1 AQ Ai Nu >E6,LA(~B9I ==Mb@Mb@Mb@ )Y~jt:v?Mb`y<t@ )@I@y)p< IIb1.= J=yQ >٥ H >|48T?|497 Iy<=<@?ÔCi:: |4 %A 1z11b1Z1r1j1R9z9J9B9~A~EzB}A|A|I|I|Mg?ԁ {B靍c*I) ?I ;<DDAT read: Rx Time:06:04:19.2574 TRx dataTimestamp_ set to:1749103460.447549DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 -Z#Rx 69: Read range message, but no direction.ڡڥff?Yڡchecking for new query: numPingsReceived=69, elapsed TxPingTime=26.945776=u99i9i9E2EEEEԩG G AA H >H ]CH H H V =H H DH <H E6G >~G) A9 U checking for new query: numPingsReceived=69, elapsed TxPingTime=27.194424AY Ne >g$K6,ػ.LAJFA4JI4J/:JFnBJF_JJF=RJDZJF|;:bJF=h9JFg4JDzJFJ;NjJF J;NJF:NrJF:N9R͵@R.׼@YRdZqyRq=RH?;^?˴ ׿? ~ɲ&?&9?? R͵@R9[;)R7C`b~Bb:IIjIj2v; zp=yzQ #% JgetVelocity uart error serial timeout#% FThruster uart error: serial timeout% #% (Communications Fault- A1 - E `Communications Fault in component: ThrusterServoAA NU >f R6,HLA!%checking for new query: numPingsReceived=70, elapsed TxPingTime=27.698481&eTFailed to parse incomplete device message.9 @ @Y iy = HX?? n`b׿ ?@I,?A?? @ ;) 5Ce ~BeIII}I}3rG= '=y&};Q >٥ H =ui< E>Q |4YR?|4986 IBy% @%?ȔCi<<3%|4|%A-B*** querying acoustic contact ***J)R)e addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.503922 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 azaabiZirijiRiziJiBq~q~q}q|y|y|y|}@d#58Uninitialize Thruster Servo.#5Powering downZG=RG=jG=bG=AAAQNe>:Y6, fLA9r <@rE@YrJdyr=rH@k?@ލ?@Z3u׿5?@{?h?D? r <@rҊ;)p~*~B~OI) AAHu >Hu^CHqHqHuR =HqHuDHu<HuE Mb@Mb@Mb@    ) Y ~jth{Gz?=y]D;Q ]>٥ H(v< >|4R?|495 IByb(=ԡ<~??ʔCi_;;H3|4T%A%checking for new query: numPingsReceived=71, elapsed TxPingTime=28.202473E addTargetRange:: Added new target pos. range: 0.800000 m, deltaT: 0.504263 s, deltaX: -0.100000 m, approachRate: -0.198309 m/s, rangeRepo size: 4 AzAAbAZArAjIRIzIJIBI~Q~UzB}Q|Q|y|}?|}? {BI)&?IP i<rii:JfBJZJJ;RJZJ|":bJS9J(N4JzJ;jJ;JFu:rJIu:"2Commanding positive:21395]"dTimed out moving from: 12975 to: 16450 response: 1-"Hardware Fault DDAT read: Rx Time:06:04:20.7574  TRx dataTimestamp_ set to:1749103461.962204 PDAT read: Bearing 113.2, -55.7 (Local)  ~Local bearing/azimuth received: Bearing 113.2, -55.7 (Local)  DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 M DAT read: 06:04:20.7574 LVL= 15216, 8161, 15330, 11507, AGC= 27, IDX= 505,-0.41,-0.970,-1.133,-2.003,-0.106, PHS=-0.776,-0.980,-1.900, RAW= 39.8, 51.3, CAL= 36.8, 55.7, ROT= 113.2, -55.7  Ygot valid direction response: 06:04:20.7574 LVL= 15216, 8161, 15330, 11507, AGC= 27, IDX= 505,-0.41,-0.970,-1.133,-2.003,-0.106, PHS=-0.776,-0.980,-1.900, RAW= 39.8, 51.3, CAL= 36.8, 55.7, ROT= 113.2, -55.7 6G- >) A9 - M VHardware Fault in component: DockingStepperAI Nm >-`6,LAT#Rx 72: Read range and direction messages.^direction in FSK: [-0.221996,0.517957,0.826098]Fpublishing direction and range infoy|Jaj̿1?RYeo?ff?Y p;)I;i,FHz33 1?)5e?Il$?ix?'?x )_J?tyA/޻d4n?i&e'?x )2checking for new query: numPingsReceived=72, elapsed TxPingTime=28.518873 2~B TIII(1-O< -K=y5Q 5>٥11 =H=F= =>Am|4E+S?m|49Ef5 IAyqqu?E̔CiE;E;E)A|44%AZb}LAd?d?b?ʁiq^ɿ ?v?|Jaj̿1?RYeo?'?xҁIZ鮦b:5j cK?r1) BRV?wG  1?\@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.506470 s, deltaX: 0.100000 m, approachRate: 0.197445 m/s, rangeRepo size: 4  Added new target pos. range: 0.892731 m, bearing: 101.335591 deg, lat: 36.906117 deg, lon: -122.116054 deg, deltaT: 2.017105 s, deltaX: -0.198353 m, approachRate: -0.098336 m/s, posRepo size: 4 zbZrjRzJB~~}!|!|!|%?|%_? u{Bu Iq)uQ(?yI) c<uii"Stop ":Uninitialize Docking Stepper."Powering downbEZErEjEchecking for new query: numPingsReceived=72, elapsed TxPingTime=28.706600!KP"K-9*K2K%:K(Hx3 `36/*d$9Pk J X F  *  X 5Go4-;w5J|AJ|Aa 6Gu 63>#} 4Initializing EZServoServo.#} 6Initializing ThrusterServo.A  bClearing failed state for component ThrusterServo A N >Uf6,LA9Zԕ@Z@YZoyZ>=ZH?@?@,߷@Zֿ? X`1?L?? Zԕ@Z+4;)X%G~B%aIDDAT read: Rx Time:06:04:21.2574 TRx dataTimestamp_ set to:1749103462.464009PDAT read: Bearing 109.8, -53.3 (Local) ~Local bearing/azimuth received: Bearing 109.8, -53.3 (Local) DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 06:04:21.2574 LVL= 12368, 8881, 12098, 9363, AGC= 25, IDX= 504,-0.21, 2.548, 2.292, 1.396,-2.965, PHS=-0.683,-0.979,-1.926, RAW= 43.2, 48.4, CAL= 40.2, 53.3, ROT= 109.8, -53.3 Ygot valid direction response: 06:04:21.2574 LVL= 12368, 8881, 12098, 9363, AGC= 25, IDX= 504,-0.21, 2.548, 2.292, 1.396,-2.965, PHS=-0.683,-0.979,-1.926, RAW= 43.2, 48.4, CAL= 40.2, 53.3, ROT= 109.8, -53.3 T#Rx 73: Read range and direction messages.^direction in FSK: [-0.202438,0.562294,0.801776]Fpublishing direction and range infoځyڅWɿO?_ԉa%?ځYځ ۅP0)ۅ"IۅB/iۅ$ۅۅ.ۅzۅ+ ܅A?)܅@X?I܅3?i܅%n?܅K?܅%n ݁)݁݅Z?OnR n?i݅r݅pX݅K?݅%n ށ)ށ checking for new query: numPingsReceived=73, elapsed TxPingTime=28.976505}Mb@Mb@Mb@yyy y)yY}+?٥ H< >|4T?|49w5 IBy7%=<?ϔCi$;;P|4!%$A!AZbSLA`?ʁf>!ǿO^z2?+#?WɿO?_ԉa%?K?%nҁ-srYSK4?l!o)?9U(kw? ?z>j>O?rW?) B>O?iD  ꁅ,?F0@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.501805 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 0.892731 m, bearing: 97.751435 deg, lat: 36.906116 deg, lon: -122.116052 deg, deltaT: 0.501805 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 zbZrjRzJB!~!~%zB})|)|)|)|-EҾ? {B9I)-?IM cH]]CH]IH]~BH]T =HYqH]DH]<H] E- checking for new query: numPingsReceived=73, elapsed TxPingTime=29.210342 :J gBJ ^JJ ?RJ ZJ %:bJ d9J ـ4J zJ <$;jJ >$;J :rJ :6G] >A A Nu > l6,oLA9E'@Eɽ@YE~yE=EH@?ׅ?`ʸl ֿ?` nگ?)?7? E'@E;q)E4CQ~BgIiI4=IIb< k=y,Q ?٥ HFr< ? |4 U?|49 5 I By!M U? ДCi < < K]|4Y]$AYzbZrjRzJB~~}|||| !X? ]{B] I)/?I vu<sii"StoppingFFFF e  checking for new query: numPingsReceived=74, elapsed TxPingTime=29.714293xs6,LA96Y@6@Y6}Ոy6$=6H ?)@? ƹ տ ?;m?(?? 6Y@6T;)62CKFJ2Q"KF9*KD2KF&:KFo_|7x4}h G^Q9$:k[ ,8h^`~B^pIIf If2IYIYuA= }Q=y}>Q }>٥ H)< >|4W?|495 IBy5- =?ҔCi;<<j|4|$AZbLA??i?ʁݦmȿ ك?3jH?#Gϱƿh?)m&l?va?qҁd 7I* ??Ę௿`?̡KS?zQ? jA^Q?rɷ&  B1)  Bꁥ9>mO?m addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504358 s, deltaX: 0.200000 m, approachRate: 0.396544 m/s, rangeRepo size: 4 } Added new target pos. range: 1.091104 m, bearing: 96.871196 deg, lat: 36.906116 deg, lon: -122.116041 deg, deltaT: 0.504358 s, deltaX: 0.198373 m, approachRate: 0.393319 m/s, posRepo size: 4 yzybZrjRzJB~~}|||?|e? 5{B5Iy)}B2?yI} y<rii"Stoppingi DDAT read: Rx Time:06:04:22.2575  TRx dataTimestamp_ set to:1749103463.523115 PDAT read: Bearing 110.2, -49.5 (Local)  ~Local bearing/azimuth received: Bearing 110.2, -49.5 (Local) A1 AA NM > DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 U DAT read: 06:04:22.2575 LVL= 11008, 10289, 12834, 11155, AGC= 26, IDX= 504,-0.02, 1.558, 1.274, 0.279, 2.217, PHS=-0.570,-0.895,-1.940, RAW= 43.1, 44.2, CAL= 39.8, 49.5, ROT= 110.2, -49.5  Ygot valid direction response: 06:04:22.2575 LVL= 11008, 10289, 12834, 11155, AGC= 26, IDX= 504,-0.02, 1.558, 1.274, 0.279, 2.217, PHS=-0.570,-0.895,-1.940, RAW= 43.1, 44.2, CAL= 39.8, 49.5, ROT= 110.2, -49.5  T#Rx 75: Read range and direction messages. ^direction in FSK: [-0.224253,0.609502,0.760406] Fpublishing direction and range info y WT̿k՟P ?y;>U? Y +) 1(I "2i +  e Q @?) |E?I 1?i +]? m0? +] ) ?j?\F[9J?i 俫 IE m0? +] )  checking for new query: numPingsReceived=75, elapsed TxPingTime=30.086254ԑ .y6,S[LA9:@:k@Y:y:v=:H`??G`տ?oK;?`-? K? :@:1;):4CNj~BNvIHv>Hv\CHvIHvBHvR =HtHtHvЛ<HvEMb@Mb@Mb@ )YA`"?V-?Mb?yY=<<@ )@Iy@I I V=Q< =?=y=*Q E>٥AA EHAMu; M>y|4>Y?|49x5 IByy=Y<=>?֔CiI:$:z|4V$Achecking for new query: numPingsReceived=75, elapsed TxPingTime=30.218433ZAbEzLAE?E?EgF?ʁE'٪QϿgmG?G?EWT̿k՟P ?y;>U?Em0?E +]ҁE5v^ȸx^{?rJsD?Eu7LD˒?VW>>?zE#?EBƽjERQ?rEd$ EBAEW?)  EBE?>E? addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.554748 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.091087 m, bearing: 98.600224 deg, lat: 36.906116 deg, lon: -122.116041 deg, deltaT: 0.554748 s, deltaX: -0.000017 m, approachRate: -0.000031 m/s, posRepo size: 4 zbZ!r!j)R)z)J)B)~1~5{B}1|1|1|9|=k?:JukBJueJJu;RJqZJu2:bJu9Ju(N4JqzJu9;jJu9;Ju :rJu : {BEhIQ)]?4?ԡȈGEAiIX Z'YAy(B <uii"StoppingA AYNmx> DDAT read: Rx Time:06:04:22.7576  TRx dataTimestamp_ set to:1749103463.977125 PDAT read: Bearing 108.7, -53.2 (Local)  ~Local bearing/azimuth received: Bearing 108.7, -53.2 (Local)  DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0  DAT read: 06:04:22.7576 LVL= 11120, 12673, 12914, 11251, AGC= 26, IDX= 505,-0.01,-2.920, 3.082, 2.196,-2.1-0.672,-0.993,-1.930, RAW= 44.3, 48.3, CAL= 41.3, 53.2, ROT= 108.7, -53.2  !unknown deviceResponse_: 06:04:22.7576 LVL= 11120, 12673, 12914, 11251, AGC= 26, IDX= 505,-0.01,-2.920, 3.082, 2.196,-2.1-0.672,-0.993,-1.930, RAW= 44.3, 48.3, CAL= 41.3, 53.2, ROT= 108.7, -53.2 - Z#Rx 76: Read range message, but no direction.ڑ ڕ ?Yڑ  checking for new query: numPingsReceived=76, elapsed TxPingTime=30.483135 ׆6,5LA9>@>I@Y> y>=>H`+?l?@ OJտ`?#`/?Ϛ?? >@>ߋ;)٥ HF#$; >|4[?|49b5 IBy>?ؔCi'<'<2|4  $A B*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.454010 s, deltaX: 0.100000 m, approachRate: 0.220260 m/s, rangeRepo size: 4 zbZrjRzJB~~}|||@33?|? ={B=iI9)=9?9IE AAE:٥9 =H9EE E>IU|4M]?|49M+5 IMByU=P<q>?MݔCiM&(HHIH9BHT =HHH<HEHHHHI IG5ZAbELAAAE{7?ʁE4sͿb?>1a?EI.RjʿYw7+?^H,}?E 6,6LA9BVض@B@YB=eyB=BH?`B?Cտ>? g?z?? BVض@Bp;)@X ~B II%I%= =yQ )?٥ HFe /?M|4H_?M|495 IByIUNn>U?ߔCi6< 1<ͣ|4Y]i#AYzbZrjRzJB~~}||||@F? U{BUL:IU<)UB?QI] YY]hDAT read: 06:04:23.7577 LVL= 11600, 6625, 13410, 10115, AGC= 26, IDX= 506,-0.05,-0.381,-0.630,-1.491, 0.390, PHS=-0.683,-0.973,-1.884, RAW= 43.4, 49.1, CAL= 40.4, 53.9, ROT= 109.6, -53.9 5Ygot valid direction response: 06:04:23.7577 LVL= 11600, 6625, 13410, 10115, AGC= 26, IDX= 506,-0.05,-0.381,-0.630,-1.491, 0.390, PHS=-0.683,-0.973,-1.884, RAW= 43.4, 49.1, CAL= 40.4, 53.9, ROT= 109.6, -53.9 =T#Rx 78: Read range and direction messages.E^direction in FSK: [-0.197647,0.555057,0.807990]EFpublishing direction and range infoIyM,z}Lɿ'?p ?M3?YI MP-)MIMb4iM'IM.MyM& MA?)Ma[?IMJ4?iMp?MG?Mp I)IMlLCug?,ǫeMHX,?iM,M:[MG?Mp I)I}checking for new query: numPingsReceived=78, elapsed TxPingTime=31.518757 1  checking for new query: numPingsReceived=78, elapsed TxPingTime=31.730291“6,OLA9>]@> @Y>?y>=>H|?@?ֿi?J@#´?`6?d? >]@>y;)>0CKnP"K9*K2K(:Ke20{#bj0zar[qwWcM Cv9Pf ,kgso:J]cBJ]nJJ]9RJYZJ]:bJ]99J]c44JY@@@@Qm~BuIiu٥aa mHiu }>|4b?|495 IBy0}=V</=?Ci;';|4[#AqDDAT read: Rx Time:06:04:24.2575 TRx dataTimestamp_ set to:1749103465.494194DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -Z#Rx 79: Read range message, but no direction.ڑڕ̌?Yڑchecking for new query: numPingsReceived=79, elapsed TxPingTime=31.993736Zb_LAM?ʁlai˿2a?Gn5?,z}Lɿ'?p ?G?pҁ8g4#b?;?mg&dE8?%'k ?z?ɽjZGY?rt%% ,BA^Q?t%%   Bꁕ?q? addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 1.014178 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.091087 m, bearing: 99.724346 deg, lat: 36.906116 deg, lon: -122.116039 deg, deltaT: 1.014178 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 z b Z r j R z J B ~ ~ {B} |! |! |! |% U? {B I ) dB? I y < uA Y iY iY ԡ "E StoppingAQ Aa Nm >6,EiLAHF>HF[CHFIHFbBHFS =HDHFDHFț<HFE ] C)eȀAɵe\eFaaɶiiiIiiIiii qq)qq uAԙɷ3CAI)i)IA鸩ɸ ɹ鹵Aii߃A) Iٯ~BIII(#e= =y5Q 5&?٥99 =H9E E'?Iu|4Mwc?}|49M4 IMByyy}?MCiM;MC;M\|4#Achecking for new query: numPingsReceived=79, elapsed TxPingTime=32.239182zbZrjRzJB~~}||| | @`W? e{BeHIa)eF?iIm H<tii"StoppingAAN>> ؅ <ׅ < DDAT read: Rx Time:06:04:24.7575  TRx dataTimestamp_ set to:1749103465.997139 DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 - Z#Rx 80: Read range message, but no direction.ڙ ڙ Yڙ  checking for new query: numPingsReceived=80, elapsed TxPingTime=32.498383! Ԡ6,|LA]~B]IIuIu(*2 R=yQ >٥ HF! %>Q]|4Ue?]|49U4 IUByaae?UCiU=:U:U|4im,#AB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.502945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 z1b1Z1r1j9R9z9J9BA~A~I}i|i|i|q|u? {BRyI)D?I/ R<sii !checking for new query: numPingsReceived=80, elapsed TxPingTime=32.742466:JmjBJm]JJiRJiZJm.:bJm_9JiJiKfP"K9*K2K):Kz`uM ;}2$l"x&g! vVX}#>EUy (6,vTLA9V7!@V*@YVLȭyV=VH?ఁ?"ξ<)׿ฺ?k]?`Rl?` ? V7!@V;)V2CUDDAT read: Rx Time:06:04:25.2574 ]TRx dataTimestamp_ set to:1749103466.501374mDAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 -uZ#Rx 81: Read range message, but no direction.QUff?YQ}checking for new query: numPingsReceived=81, elapsed TxPingTime=33.001896Qqy)y yMb@Mb@Mb@ )YX9v?٥)1 5H15 5>9E|4=h?e|49=4 I=Bym=mKHH!IHBHW =HHH<HE>E<"Stopping~GAAN>Թchecking for new query: numPingsReceived=81, elapsed TxPingTime=33.246544 )6,4LA~BII-I-(=< ==yEQ E?٥AA EHMFM M?Q]|4Ui?]|49U 5 IUByYae?UCiU:UQ;U|4q}#AyzbZrjRzJB~~}||||? {BhAI)yF?I]   ơ< uiiDDD!D!ԱMDDAT read: Rx Time:06:04:25.7575 UTRx dataTimestamp_ set to:1749103467.003505]DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -eZ#Rx 82: Read range message, but no direction.QǓ?YQmchecking for new query: numPingsReceived=82, elapsed TxPingTime=33.501888"StoppingjG=bG=~GyAAN`>  checking for new query: numPingsReceived=82, elapsed TxPingTime=33.7503059 6, LA9:@:[¼@Y: y:=:HP?C?^@׿5?@Υ@%:??`X? :@:+;):5C:J%gBJ%cJJ%8RJ!ZJ%%:bJ%x9J%'4J!=~B=IIMIM<2CY< F=yQ >٥ H< >KqP"K89*K2K*:K`yM%=RwS:9fp4|[d2an$J6AR-|4k?|49 5 IByh?Ci::0|4"AM addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.502131 s, deltaX: 0.200000 m, approachRate: 0.398303 m/s, rangeRepo size: 4 IzIQbqZyryjyRzJB~~}||| ?|5~? {B靭 ~I)G?IpG ><tii"Stopping~GAAND>9 e=e=uDDAT read: Rx Time:06:04:26.2575 }TRx dataTimestamp_ set to:1749103467.510644DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -Z#Rx 83: Read range message, but no direction.yyYychecking for new query: numPingsReceived=83, elapsed TxPingTime=34.018135i =<6,LAH>HH'IHBHU =HHH<H E\=~B=IiAIE4< E=E=Mb@Mb@Mb@ )YV-?~jtx{Gz?ym=Ļ#< @)@Iyp@I I  A=y%Q %>٥!! %H-Fchecking for new query: numPingsReceived=83, elapsed TxPingTime=34.255577- >}4m?}49t5 IByRr=`<$?Ci,::}4c#A  addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.507139 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 z))b)Z)r)j)R)z1J1B1~9~=!{B}||||? 5{B5)vI1)=??aIe aaeu!PExceeded connect timeout, disconnecting.A m DDAT read: Rx Time:06:04:26.7576 u TRx dataTimestamp_ set to:1749103468.012230} DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 - Z#Rx 84: Read range message, but no direction.i m ?Yi  checking for new query: numPingsReceived=84, elapsed TxPingTime=34.510452"6,LA!95!=@5F@Y5'y5=5HB^?`7?-澿4ؿm?R=??@R? 5!=@5֊;)51CM~BMIIeIe1m" mV=yuQ u>٥yy }Hy}! >}49o?}495 IBy?Cix;z;1}4#A addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.501586 s, deltaX: 0.100000 m, approachRate: 0.199368 m/s, rangeRepo size: 4 zbZrjRzJB~~}|||@33?| =? YeίRIa)e=?aIe iim\٥ H >}4p?}496 IByK=<4,?Ci<;/;$}4B#AEB*** querying acoustic contact ***JR5 addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.506087 s, deltaX: -0.100000 m, approachRate: -0.197595 m/s, rangeRepo size: 4 1z99b9Z9r9j9R9z9J9BA~A~M3{B}I|I|I|M?|U? {B靍I)9?I k<uiԡi"Stopping~GAANA>GGH%>H!H!H!H!H!H!H%<H%Echecking for new query: numPingsReceived=85, elapsed TxPingTime=35.262253)I M ;C G % Y! y- 4Av6,-y8LA9>:@>霻@Y>y>}=>H`?`~t?q ڿ +?@e?్? ? >:@>R.;)>-CR~BRI)T TTVAIZIZbA b=yf;Q f?٥hh jHnF =nManaging dock network, ignoring radio surface power offE E ?Ie}4Mq?e}49Ma6 IIyam/m?MCiMXz;MDw;M+0}4qu$AqzbZrjRzJB~~}||||uU? {BT]I!)%5?!I%"߽ !!%<-t)1i1i1"EStopping~G)A9AIN]=5DDAT read: Rx Time:06:04:27.7576 5TRx dataTimestamp_ set to:1749103469.019429=DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 -EZ#Rx 86: Read range message, but no direction.15?Y1Mchecking for new query: numPingsReceived=86, elapsed TxPingTime=35.5176581Y  checking for new query: numPingsReceived=86, elapsed TxPingTime=35.766384?c6,٥    H   >%}4s?%}496 IBy!%2-?Ci";6<>}4+$AK'Q"K9*K2K,:K>.Dr o  6 }  T  ? : 5% pg~jQ z S%N%.*"J?J>1 addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.501112 s, deltaX: 0.100000 m, approachRate: 0.199556 m/s, rangeRepo size: 4 zbZrjRzJB)~9~A}q|q|y|@33?|`?Y im"Iq)u3?I6޽ ha<sii"Stopping~GAANg>EDDAT read: Rx Time:06:04:28.2576 MTRx dataTimestamp_ set to:1749103469.525137]DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 -mZ#Rx 87: Read range message, but no direction.AAYA}checking for new query: numPingsReceived=87, elapsed TxPingTime=36.027199ԁԱ H >H H IH lBH H H H <H EH[CH[CHHU =IU = IŔ56,.lLA9:3̳@:պ@Y:2y:'B=:H?`?,roۿ)? L@??@v? :3̳@:쵊;)8=_~B=oIMb@Mb@Mb@ )YQ?y&1y\=`et@ I@)I@yp@II 35J 59=y5;Q =>٥99 =H=FE E>IU}4Mis?checking for new query: numPingsReceived=87, elapsed TxPingTime=36.270699ԩ}49My7 IMBy>=H<?MCiMЦ٥!! %H!-\ ->1}45s?}495+8 I5By8?5Ci5e<5:5[}4$AZbAӁLAZ?Z?@Ɗ@ʁ-/?ji]忻?j=߼?Q!:⿻; ?w "sҁ26*OҿהB5*tC? Aο5* )-?z9yj[?rGK BƏ3U? ꁅzH?9@] addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503382 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.190259 m, bearing: 248.474642 deg, lat: 36.906117 deg, lon: -122.116039 deg, deltaT: 4.534325 s, deltaX: 0.099172 m, approachRate: 0.021871 m/s, posRepo size: 4 zbZrjRzJB~~}||||`6V? !%(;pIa)m *?iIm2ܽ iim'a!KM0Q"KM9*KI2KM-:KM)P>6Wl)-P  MUh-n9}fu 7bY>U v'`F&J]~AJYI >6,LAL~DDAT read: Rx Time:06:04:29.2575 TRx dataTimestamp_ set to:1749103470.531557 DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 - Z#Rx 89: Read range message, but no direction.̌?Ychecking for new query: numPingsReceived=89, elapsed TxPingTime=37.0298819]@]@Y]oy]O=]HO??@̽`WoݿY?#`^?z? ? ]@];)]0C0~BRIMb@Mb@Mb@ )YI +?~jt~jty94<ļ 3@)IyI5 I5̍2m m6=ym;Q m>٥qq uHq}G }>ԡy}4}s?}49}h8 I}By:=<?}Ci}b;};}2k}4B%AB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503038 s, deltaX: -0.100000 m, approachRate: -0.198792 m/s, rangeRepo size: 4 zbZr9jARAzAJABA~I~MzB}I|I|Q|U?|U? 5I)!?Iu۽  <tii"Stopping H<H4<H>HHIH/BHT =HHH<HE~GAA NL>checking for new query: numPingsReceived=89, elapsed TxPingTime=37.278942 :J= oBJ= JJ= 8RJ9 ZJ= >:bJ= y9J= '4J9 zJ= mO;jJ= pO;J= 3:rJ= 5:6,YĹLApE)~BENIIUIU(eY er=ymQ m?٥ii mHmFu u?y}4}s?}49}8 I}By?} Ci}:}:}v}4]%AzbZrjRzJB~~}|||| ? IkI) ?I&/ڽ <%s!!i!i)"5Stopping~GQAYAiN}=DDAT read: Rx Time:06:04:29.7576 TRx dataTimestamp_ set to:1749103471.035987%PDAT read: Bearing 299.8, -50.8 (Local) %~Local bearing/azimuth received: Bearing 299.8, -50.8 (Local) 5DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 eDAT read: 06:04:29.7576 LVL= 13248, 23377, 8674, 14003, AGC= 27, IDX= 507,-0.11,-0.302,-0.172, 1.491, 1.815, PHS=-2.028,-1.939,-0.327, RAW= 212.7, 42.5, CAL= 210.2, 50.8, ROT= 299.8, -50.8 mYgot valid direction response: 06:04:29.7576 LVL= 13248, 23377, 8674, 14003, AGC= 27, IDX= 507,-0.11,-0.302,-0.172, 1.491, 1.815, PHS=-2.028,-1.939,-0.327, RAW= 212.7, 42.5, CAL= 210.2, 50.8, ROT= 299.8, -50.8 mT#Rx 90: Read range and direction messages.u^direction in FSK: [0.314102,-0.548453,0.774944]uFpublishing direction and range infoyeZ>?7T;dUaX??Y 3)Q[I!i6'1l m@)N=?Ij@ib?p@b )v٢“?(?ip?=|b )checking for new query: numPingsReceived=90, elapsed TxPingTime=37.547230ԙԱ A checking for new query: numPingsReceived=90, elapsed TxPingTime=37.784943׷6, LA9>F@>P@Y>Lry>0=>H ?S?>Žf&޿ L+?Ѭ`k??`W? >F@>3;)٥!! EHAM M>Q]}4U t?]}49U8 IUByY]|e?U CiU;U;U}4%AԡZ1b5MLA115P@ʁ5Z?b)?5eZ>?7T;dUaX?5|5bҁ5< wӭ O?5Udp忤WB?z5}M5j59m?r5M 5€B5ZGY?1 5B5H?5V?5 addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.504430 s, deltaX: 0.100000 m, approachRate: 0.198244 m/s, rangeRepo size: 4 K=P"K=9*K92K=.:K=^^os"ce4rxF  GF%# Added new target pos. range: 1.190257 m, bearing: 264.246806 deg, lat: 36.906117 deg, lon: -122.116039 deg, deltaT: 1.007468 s, deltaX: -0.000002 m, approachRate: -0.000002 m/s, posRepo size: 4 zbZrjRzJB~~}|||@33?| ? I靕JI) ?I-ٽ ))-#g<5r19i9i9"EStopping~G)A9AQNuW> DDAT read: Rx Time:06:04:30.2575  TRx dataTimestamp_ set to:1749103471.539601DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -Z#Rx 91: Read range message, but no direction.  ̌?Y %checking for new query: numPingsReceived=91, elapsed TxPingTime=38.037834) H >H H IH ~BH U =H H H ֛<H E6,1zLA96H4@6=@Y6Jcy6=6H@R??@ƽ@RF޿$?3C? ?? 6H4@6?;)6/Cn~Bn6IMb@Mb@Mb@ )YMbQy̼ @)I@y(@IIb1~ A=y^Q >٥ HF >}4As?}498 IBy,=<|'? Ci::}4%Achecking for new query: numPingsReceived=91, elapsed TxPingTime=38.2882005 addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503614 s, deltaX: -0.100000 m, approachRate: -0.198565 m/s, rangeRepo size: 4 1z11b1Z1r1j1R9z9J9B9~9~ETzB}A|A|A|E?|M`? {B靽$I)f?I\ؽ IIBAJ;c44J;#E4J;[0:JqBJJJ?RJZJD:bJ#:Jـ4JzJ9Z;jJ - <- <5 DDAT read: Rx Time:06:04:30.7576 = TRx dataTimestamp_ set to:1749103472.044921E DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 -M Z#Rx 92: Read range message, but no direction.9 = ?Y9 M checking for new query: numPingsReceived=92, elapsed TxPingTime=38.5431379 7,RLA9>4A@>J@Y>}y>=>H@I??Gh.޿,?Z˩"j?w?&? >4A@>‰;)٥dd fHdf8; f>hv}4jr?v}49j9 IjBytz,'z?j Cij[;j3=;j}4|~&A- addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.505320 s, deltaX: 0.100000 m, approachRate: 0.197894 m/s, rangeRepo size: 4 1z11b1Z1r1j1R1zJB~~}|||@33?|%? %{B-}I))-?)I- D׽ )15<tii"Stopping)~GAAN>DDAT read: Rx Time:06:04:31.2575 TRx dataTimestamp_ set to:1749103472.299043PDAT read: Bearing 307.0, -44.1 (Local) ~Local bearing/azimuth received: Bearing 307.0, -44.1 (Local) checking for new query: numPingsReceived=92, elapsed TxPingTime=38.800224AKy^P"KM9*K2K/:Kn2$] - IN|O #,u Aqf,\!%BJ}AJ~Ai 7,-!LA8vDAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 06:04:31.2575 LVL= 12864, 23073, 9346, 14371, AGC= 27, IDX= 506,-0.01, 0.386, 0.235, 2.172, 2.187, PHS=-1.713,-1.904,-0.017, RAW= 204.7, 35.5, CAL= 203.0, 44.1, ROT= 307.0, -44.1 Ygot valid direction response: 06:04:31.2575 LVL= 12864, 23073, 9346, 14371, AGC= 27, IDX= 506,-0.01, 0.386, 0.235, 2.172, 2.187, PHS=-1.713,-1.904,-0.017, RAW= 204.7, 35.5, CAL= 203.0, 44.1, ROT= 307.0, -44.1 T#Rx 93: Read range and direction messages.%^direction in FSK: [0.432179,-0.573521,0.695913]%Fpublishing direction and range infolynYhӨ?OHZ9D?ň?Yl n@2)n!ZIn$in#8lnCۿnFnC nd@)n?Inb@inj E?nv@nj E l)lnvqe'?>X?:՘?inF?nnelnj E l)lEchecking for new query: numPingsReceived=93, elapsed TxPingTime=39.054310}}B}IuMb@Mb@Mb@qqq q)qYuS㥫MbMbyu/]uuu@ u@)uv@Iu@qyuz@ԉ); 4<II<b !=yQ >٥ H >}4p?}499 IBy-K=-<<-G-?Ci;;Q}415&A9Zlbnv"LAn?n?n-@ʁn-?PQ!俙kL?nYhӨ?OHZ9D?nelnj Eҁn%?wYgnO?n !n?hc翢A ^]?znOni=jnUs?rn­xN naBn[?nGK  nBnc;?n @ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.501555 s, deltaX: -0.100000 m, approachRate: -0.199380 m/s, rangeRepo size: 4  Added new target pos. range: 1.091064 m, bearing: 272.470459 deg, lat: 36.906117 deg, lon: -122.116055 deg, deltaT: 1.510489 s, deltaX: -0.099193 m, approachRate: -0.065670 m/s, posRepo size: 4 zbZrjRzJB~~5zB}|||?|+-?Hm>HiHmIHm~BHiHiHmDHmߛ<HmE {B靥zI) ?Ia ֽ Q<sii"StoppingԹ~GAANl>- DDAT read: Rx Time:06:04:31.7576 5 TRx dataTimestamp_ set to:1749103472.818647U PDAT read: Bearing 307.2, -41.4 (Local) ] ~Local bearing/azimuth received: Bearing 307.2, -41.4 (Local)  DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 - Z#Rx 94: Read range message, but no direction.) - ?Y) :J sBJ xJJ :RJ ZJ K:bJ 9J FA4J zJ e;jJ e;J :rJ : checking for new query: numPingsReceived=94, elapsed TxPingTime=39.3591167,( ;LA9>ʹ@>|@Y>L,y>=>H M?`? Iy@_ݿc?] ?Cظ?B? >ʹ@>=;) Xd@)ZQ?Ib@i8?@8 =_w?5m?w?i?zk8Mchecking for new query: numPingsReceived=95, elapsed TxPingTime=39.558102Q~GYAaAqN>qԡ  DDAT read: Rx Time:06:04:32.2576  TRx dataTimestamp_ set to:1749103473.306290 PDAT read: Bearing 306.2, -41.6 (Local)  ~Local bearing/azimuth received: Bearing 306.2, -41.6 (Local)  checking for new query: numPingsReceived=95, elapsed TxPingTime=39.8128597,TLAq9mg@m(@Ym~ymb=mHf|?`"?@;ܿ m?`?`$?? mg@mN;)m.C}B III(M>k M9=yUGtQ U>٥QQ ]HY]A< ]>a}4eWl?}49e$9 IesByE?eCie;e;e}4'AK؞P"K9*K2K0:KB}u[$!r_H%jznInC>^V5 fq!] J?J>zbZr!j!R!z!J)B)~)~)}1|1|1|1|5T? e{BeT\Ii)mY?iIm-kԽ qquZ<}uii"Stopping~GAANa>DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 %DAT read: 06:04:32.2576 LVL= 12272, 24801, 8690, 13491, AGC= 28, IDX= 506, 0.07, 1.152, 1.036, 3.002, 2.875, PHS=-1.635,-1.792, 0.124, RAW= 205.8, 32.4, CAL= 203.8, 41.6, ROT= 306.2, -41.6 -Ygot valid direction response: 06:04:32.2576 LVL= 12272, 24801, 8690, 13491, AGC= 28, IDX= 506, 0.07, 1.152, 1.036, 3.002, 2.875, PHS=-1.635,-1.792, 0.124, RAW= 205.8, 32.4, CAL= 203.8, 41.6, ROT= 306.2, -41.6 5T#Rx 96: Read range and direction messages.=^direction in FSK: [0.441654,-0.603443,0.663926]=Fpublishing direction and range infoy{vD?zhO\!>?Y /)`I!i4GѿB`= }e@)?Ic@i9?@9 )'ND?p?-PRp!?i?Tuap9 )Uchecking for new query: numPingsReceived=96, elapsed TxPingTime=40.062664 HY HY H] IH] ~BHY HY HY H] <H] E]%7,߿nLA9: @:ϸ@Y:.y:+R=:HA? ? iۿ@!? #@:9?`*ȸ?t? : @:;):/CN}BR IeMb@Mb@Mb@aaa a)aYebX9ȶy&1S㥛yeEe`弹e/ݼa a)aIe@aye@I}I}(1g X=yNPQ >٥ HF>= >}4|i?}498 IlBy=<>@?Ci><<"}49= 'AAuDDAT read: Rx Time:06:04:32.7576 TRx dataTimestamp_ set to:1749103473.810931fG ؐYyA PDAT read: Bearing 304.0, -45.1 (Local)  ~Local bearing/azimuth received: Bearing 304.0, -45.1 (Local) DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 Z)b-cLA-Z?-Z?-kX@ʁ-?GY?%I?-{vD?zhO\!>?-uap-9ҁ-?uX?6IW:gv0N?-M"*]?z{?l?z-i-R=j-fo?r-sWQ -cB-9m?-M DAT read: 06:04:32.7576 LVL= 14768, 27473, 8498, 17699, AGC= 29, IDX= 506, 0.16, 0.990, 0.972, 2.704, 2.739, PHS=-1.661,-1.720,-0.038, RAW= 208.3, 36.2, CAL= 206.0, T= 304.0, -45.1  -€B-K?-@!5!unknown deviceResponse_: 06:04:32.7576 LVL= 14768, 27473, 8498, 17699, AGC= 29, IDX= 506, 0.16, 0.990, 0.972, 2.704, 2.739, PHS=-1.661,-1.720,-0.038, RAW= 208.3, 36.2, CAL= 206.0, T= 304.0, -45.1 -=Z#Rx 97: Read range message, but no direction.yyYychecking for new query: numPingsReceived=97, elapsed TxPingTime=40.406528 addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.992284 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.190247 m, bearing: 274.563849 deg, lat: 36.906119 deg, lon: -122.116057 deg, deltaT: 1.008183 s, deltaX: 0.099184 m, approachRate: 0.098379 m/s, posRepo size: 4 zbZrjRzJB~~#zB} | | | | H? {B靥I)?Igӽ <tii"Stopping~GAAN>Q checking for new query: numPingsReceived=97, elapsed TxPingTime=40.555958y 3 "7,ؚLA9>Y@>c@Y>y>cr=>H ??kڿ? W??? >Y@>;)>-CN}BRIIVIV(*j0= jW=yjSQ j>٥ll nHlrBa= r>tz}4vf?z}49v8 IveByxz?@z?vCivq:v:vG}4&A)z))b)Z1r1j1R1z1J1B1~9~9}A|A|I|I|Ut? {B%dI!)% ?!I%2ҽ ))-D<-sY1YiYia"mStopping~GiAyAN=ԉDDAT read: Rx Time:06:04:33.2575 TRx dataTimestamp_ set to:1749103474.317028PDAT read: Bearing 300.2, -49.2 (Local) ~Local bearing/azimuth received: Bearing 300.2, -49.2 (Local) DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -Z#Rx 98: Read range message, but no direction.ڑڕ̌?Yڑ]checking for new query: numPingsReceived=98, elapsed TxPingTime=40.828442:JqBJgJJRJZJD:bJ9JJ@@@@ԩKE 5P"KE 9*KA 2KE 1:KE |BO,m<#"(&%?y ]>[c&h("di1wWtmJy Jy  F7(7,uLA9J%@J.@YJ3yJK=JHT?p?aY!ؿGh?Y @X? J&?? J%@JZ;)J+CrDAT read: 06:04:33.2575 LVL= 14832, 30017, 9202, 16931, AGC= 29, IDX= 505, 0.29,-0.972,-0.858, 0.688, 0.901, PHS=-1.785,-1.712,-0.216, RAW= 212.4, 40.6, CAL= 209.8, 49.2, ROT= 300.2, -49.2 vYgot valid direction response: 06:04:33.2575 LVL= 14832, 30017, 9202, 16931, AGC= 29, IDX= 505, 0.29,-0.972,-0.858, 0.688, 0.901, PHS=-1.785,-1.712,-0.216, RAW= 212.4, 40.6, CAL= 209.8, 49.2, ROT= 300.2, -49.2 vZ#Rx 99: Read direction message, but no range.z^direction in FSK: [0.328684,-0.564735,0.756995]\y^!Q' ?N⿑M9?Y\ ^9)^AuI^#i^#B^^z^"ۿ^/] ^@m@)^ g5?I^NYj@i^[?^ϩ@^[ \^qV apJ?|f?i^V?^85^/^[ checking for new query: numPingsReceived=99, elapsed TxPingTime=41.067478}BIMb@Mb@Mb@ )Y)\(٥ Hh= >}4b?}49u8 I_By=;3@?%Ci===}4Y]&AaZb0JLA??Ӛ@ʁa?l╔Om?!Q' ?N⿑M9?/[ҁ1$'yr>迗&C? ;QtpV濵4!(?z@ɓj2~b?r4KL yB yB@S?^@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.506097 s, deltaX: -0.100000 m, approachRate: -0.197591 m/s, rangeRepo size: 4  Added new target pos. range: 1.091060 m, bearing: 269.656838 deg, lat: 36.906119 deg, lon: -122.116057 deg, deltaT: 0.762369 s, deltaX: -0.099187 m, approachRate: -0.130104 m/s, posRepo size: 4 zbZrjRzJB~~zB}|||?|A?H H H H H H H H <H EHHHHI I4 u{Bu>Iq)u ?qI}ѽ yy}ϥ<rii"StoppingZG~ARG}A~GAANh>DDAT read: Rx Time:06:04:33.7576 TRx dataTimestamp_ set to:1749103474.820923PDAT read: Bearing 294.9, -53.4 (Local) ~Local bearing/azimuth received: Bearing 294.9, -53.4 (Local) DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 ) -U \#Rx 100: Read range message, but no direction.ڡڥ?Yڡ] checking for new query: numPingsReceived=100, elapsed TxPingTime=41.340096Y g.7,kLA9>D @>@Y> y>=>H`?4?ý&Q׿?`9 b?MR?? >D @>96;)>-CZ}BZ#II`I`O= X=y /%;Q  >٥11 5H5F=`= =>AE~4E_?M~49E!8 IEZByim5@m?E*CiE.;E;E~4ys&AB*** querying acoustic contact ***JR5 addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503895 s, deltaX: 0.100000 m, approachRate: 0.198454 m/s, rangeRepo size: 4 9z99b9ZArAjiRiziJqBq~~}|||@33?|@?! =DAT read: 06:04:33.7576 LVL= 15616, 24225, 10738, 18163, AGC= 29, IDX= 507,-0.47,-2.683,-2.455,-1.054,-0.656, PHS=-1.939,-1.752,-0.401, RAW= 216.4, 44.9, CAL= 215.1, 53.4, ROT= 294.9, -53.4 Ygot valid direction response: 06:04:33.7576 LVL= 15616, 24225, 10738, 18163, AGC= 29, IDX= 507,-0.47,-2.683,-2.455,-1.054,-0.656, PHS=-1.939,-1.752,-0.401, RAW= 216.4, 44.9, CAL= 215.1, 53.4, ROT= 294.9, -53.4 \#Rx 101: Read direction message, but no range.^direction in FSK: [0.251032,-0.540802,0.802817]yΨ??5g@N@۾F?Y =)^I)iF'1AO; q@)yH?IDp@in?@n ߆*+7㛥 ? 综?iIZ?uHOon%checking for new query: numPingsReceived=101, elapsed TxPingTime=41.574131 ]{BewIa)eZ?aIeн aimQԁ  DDAT read: Rx Time:06:04:34.2575  TRx dataTimestamp_ set to:1749103475.323771 PDAT read: Bearing 276.8, -55.5 (Local)  ~Local bearing/azimuth received: Bearing 276.8, -55.5 (Local)  DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 - \#Rx 102: Read range message, but no direction.UH57,(LA0:JVoBJV\JJV;RJTZJV>:bJV[9JV(N4JŤ?Y^checking for new query: numPingsReceived=102, elapsed TxPingTime=41.8647169@M @Yy=H}??kҼտ? ذ?@|? ? @c;)}B)IIIV< @=yף;Q >٥ H= >9E~4=[?E~49=7 I=UByAMq7@M?=0Ci=u:=`:=#~4QuL&AyZbLAZ4@ʁop?N3줭 ZF?Ψ??5g@N@۾F?OonҁF"~g?//sȐ^9=zl?z<4jgeX?rwWJ B ]?l@= addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.502848 s, deltaX: -0.100000 m, approachRate: -0.198867 m/s, rangeRepo size: 4 ԉ Added new target pos. range: 1.091062 m, bearing: 267.149626 deg, lat: 36.906119 deg, lon: -122.116057 deg, deltaT: 1.006743 s, deltaX: 0.000002 m, approachRate: 0.000002 m/s, posRepo size: 4 zbZrjRzJB ~~!K-% P"K-89*K)2K-2:K-a$'!esbYZCN.\hcoF>@8mhdlC.BE-UJ]>J]>}|||?|F? {BRŁI)[? I :Ͻ ff@iw?#@w mA=]'ʿ? m?i@e?"CT޹wMchecking for new query: numPingsReceived=103, elapsed TxPingTime=42.079475~GqAAN> H >H H IH ~BH V =H H DH ӛ<H Es;7,:LA9:]@: @Y:`y:H=:H@Y??'ӿ N`?I̴?й?@? :]@:E;):.C\b~Bf9IMb@Mb@Mb@ )YZd;O?~jth?yj<D;t@ )`@I^@yz@II-m= -D=y-;Q ->=DDAT read: Rx Time:06:04:34.7576 ETRx dataTimestamp_ set to:1749103475.823523MDAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 -]\#Rx 104: Read range message, but no direction.9=?Y9echecking for new query: numPingsReceived=104, elapsed TxPingTime=42.323174٥aa mHmFm4= m>~4X?~4987 ITByX= <e$@?5Ci0;%;!~4%AZ9b=LA=Z?=Z?= @ʁ=ykVo?a0kk#wc?=@'+?`X3 \s=_?=޹=wҁ=|ˑeͿ[',?=*VXȿY0o?z=:=,kj=E?r=sJ =րB=2~b?=4KL  9=N?=R@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.499752 s, deltaX: 0.100000 m, approachRate: 0.200099 m/s, rangeRepo size: 4  Added new target pos. range: 1.190251 m, bearing: 252.535598 deg, lat: 36.906118 deg, lon: -122.116056 deg, deltaT: 0.499752 s, deltaX: 0.099189 m, approachRate: 0.198477 m/s, posRepo size: 4 zb!Z)r)j)R)z)J)B)~1~5czB}1|9|9|=@33?|=ะ? {B靵*gI)?Iν <sii "StoppingjG{>bG]>~GA A!N-N> checking for new query: numPingsReceived=104, elapsed TxPingTime=42.571152A \B7,q LA9@@YWyx"=H'?U+? a+0ѿ@??Ƽ ų?v$?? @6g;)-C%!~B-II)I IIII]I]e= mW=ym-٥iq uHqu&= }>y~4}cV?~49}6 Iyyh&@?}:Ci}:}h:}.~4y%AzbZrjRzJB~~}||||Z&? {BOI)"?Iν %?<%r))i1i1"EStopping~G AA1NE=QMDDAT read: Rx Time:06:04:35.2575 UTRx dataTimestamp_ set to:1749103476.328234]DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -]\#Rx 105: Read range message, but no direction.IM̌?YIechecking for new query: numPingsReceived=105, elapsed TxPingTime=42.826435:JrBJJJ?RJZJG:bJJـ4JqK 7P"K 9*K 2K 3:K &0< !pf5, ZrD&N 9i ,MPԩ J ~AJ H7,#LAZchecking for new query: numPingsReceived=105, elapsed TxPingTime=43.075752q}0~B}RIUMb@Mb@Mb@QQQ Q)QYU rhy&1? rh?yUC U`e=UC٥ H >~4U?~496 IXBy=D<??=Ci4:|: >~4>%A addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504711 s, deltaX: -0.100000 m, approachRate: -0.198133 m/s, rangeRepo size: 4 zbZrjRz J B ~~zB}|||?|`HHIH~BHHHHݛ<HE~GAAIAYNm5>}DDAT read: Rx Time:06:04:35.7576 TRx dataTimestamp_ set to:1749103476.837028PDAT read: Bearing 108.8, -57.1 (Local) ~Local bearing/azimuth received: Bearing 108.8, -57.1 (Local) DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 DAT read: 06:04:35.7576 LVL= 11696, 7729, 11602, 9139, AGC= 25, IDX= 504, 0.41,-2.938, 3.112, 2.336,-2.081, PHS=-0.770,-1.043,-1.870, RAW= 43.8, 52.7, CAL= 41.2, 57.1, ROT= 108.8, -57.1 Ygot valid direction response: 06:04:35.7576 LVL= 11696, 7729, 11602, 9139, AGC= 25, IDX= 504, 0.41,-2.938, 3.112, 2.336,-2.081, PHS=-0.770,-1.043,-1.870, RAW= 43.8, 52.7, CAL= 41.2, 57.1, ROT= 108.8, -57.1 V#Rx 106: Read range and direction messages.^direction in FSK: [-0.175047,0.514196,0.839620]Fpublishing direction and range infoځyڅYgƿJt?u*u*?څ?Yځ ۅ-)ۅ1IۅR-iۅ#ۅۅEۅۅ)\ ܅EC?)܅Cwk?I܅X8?i܅ ?܅?܅  ݁)݁݅Bi#|?z;ݙ5d:t?i݅B݅lsk݅?݅  ށ)ށ checking for new query: numPingsReceived=106, elapsed TxPingTime=43.375031 ٯN7,=LA9:wߺ@:&@Y:EWy:=:H !?S?q̶8M̿?'6 xg?h?n? :wߺ@:;׊;):,CbF~Bb`IIjIj(1= g=y٥!! %H%F%O&> ->)5~4-T?=~49-v5 I-\By9=?E?-@Ci-l;-W;-kJ~4IM$AIZbޑ5LAG?ʁAʿ-?Q9?YgƿJt?u*u*?? ҁ]ĿqQ?Wј?XaQV??z ?$jkG?r& 8BgeX?sJ  BꁵDL?@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.508794 s, deltaX: 0.100000 m, approachRate: 0.196543 m/s, rangeRepo size: 4  Added new target pos. range: 1.190262 m, bearing: 106.211743 deg, lat: 36.906117 deg, lon: -122.116055 deg, deltaT: 1.013505 s, deltaX: 0.000011 m, approachRate: 0.000011 m/s, posRepo size: 4 zbZrjRzJB~~}|||@33?|? {B-LI)K-?IN˽ $7<%t!!i!i)"StoppingZGRG~GqAAN=checking for new query: numPingsReceived=106, elapsed TxPingTime=43.578228!Ia e A DDAT read: Rx Time:06:04:36.2575  TRx dataTimestamp_ set to:1749103477.340991 PDAT read: Bearing 106.7, -55.5 (Local)  ~Local bearing/azimuth received: Bearing 106.7, -55.5 (Local)  DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 - \#Rx 107: Read range message, but no direction.ڑ ڕ ̌?Yڑ  checking for new query: numPingsReceived=107, elapsed TxPingTime=43.844044 ЗU7,uuWLA:JBsBJBeJJB<RJ@ZJBK:bJB9JB [4J@9>_@>@Y>KFy>=>HmM?f?[Rɿ;? )7@ &?>?O? >_@>;)>-Cfy~BfIin٥! %H!%r= %>)5~4-,T?5~49-4 I-`ByYe?e?-DCi-/;-z;-X~4im$AiB*** querying acoustic contact ***JR addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503963 s, deltaX: -0.100000 m, approachRate: -0.198427 m/s, rangeRepo size: 4 zbZrjRzJB~~}|||?|%=?ԑ {B靵-CHI):?Iʽ <sii"Stopping~GA!AiN>KO"Kk9*K2K4:K=Gov+ q)=Ap`u_^N5tIYv BBDAT read: 06:04:36.2575 LVL= 12096, 13169, 12978, 10739, AGC= 26, IDX= 504,-0.40,-0.110,-0.412,-1.225, 0.707, PHS=-0.730,-1.072,-1.935, RAW= 46.0, 50.8, CAL= 43.3, 55.5, ROT= 106.7, -55.5 Ygot valid direction response: 06:04:36.2575 LVL= 12096, 13169, 12978, 10739, AGC= 26, IDX= 504,-0.40,-0.110,-0.412,-1.225, 0.707, PHS=-0.730,-1.072,-1.935, RAW= 46.0, 50.8, CAL= 43.3, 55.5, ROT= 106.7, -55.5 \#Rx 108: Read direction message, but no range. ^direction in FSK: [-0.162763,0.542517,0.824126]yΒ5iĿK\?s=_?Y @/)q3I2i)H:L7 M?)b?I\wA?iw?^?w V@?k9}?iZ-5c^?w-checking for new query: numPingsReceived=108, elapsed TxPingTime=44.096169H >H \CH IH BH S =H H H ϛ<H E [7,JqLA9N2;@ND@YNoyN=NH Ql? I"?\oǿU?` ?`?? N2;@Nj;)Le~BeIEDDAT read: Rx Time:06:04:36.7575 ETRx dataTimestamp_ set to:1749103477.844079UPDAT read: Bearing 106.5, -54.5 (Local) U~Local bearing/azimuth received: Bearing 106.5, -54.5 (Local) eDAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 06:04:36.7575 LVL= 10672, 14369, 10514, 9683, AGC= 25, IDX= 504,-0.30,-0.903,-1.224,-2.072,-0.110, PHS=-0.705,-1.067,-1.965, RAW= 46.2, 49.6, CAL= 43.5, 54.5, ROT= 106.5, -54.5 Ygot valid direction response: 06:04:36.7575 LVL= 10672, 14369, 10514, 9683, AGC= 25, IDX= 504,-0.30,-0.903,-1.224,-2.072,-0.110, PHS=-0.705,-1.067,-1.965, RAW= 46.2, 49.6, CAL= 43.5, 54.5, ROT= 106.5, -54.5 V#Rx 109: Read range and direction messages.^direction in FSK: [-0.164929,0.556789,0.814116]Fpublishing direction and range infoAyE`ſ1 +8?; ?AYA E))E!8IE)iE%EEz4EuE EplN?)Ek]?IE \B?iE"s?E\?E"s A)AEr]j"? |p\+hv`?iEIޤEe]E\?E"s A)Amchecking for new query: numPingsReceived=109, elapsed TxPingTime=44.376587IIAAMb@Mb@Mb@ )YX9v?zG?Mb?y< =<t@ )v@I@y@ImImb})= }=y}٥ HFP= >~4?V?~493 IhBy=;???KCi(4<3<j~4#AZAbEdvLAE?E?E1?ʁEWH5ǿ(Kbp?.VWl?E`ſ1 +8?; ?E\?E"sҁEu 2g?|}qQ?E\u\J?)o?zE> ?EjEh~J?rEK0% E&BEh~J?EwWJ  EրBE`?E;@!- addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503088 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 = Added new target pos. range: 1.091083 m, bearing: 104.381950 deg, lat: 36.906116 deg, lon: -122.116055 deg, deltaT: 1.007051 s, deltaX: -0.099179 m, approachRate: -0.098485 m/s, posRepo size: 4 azaabaZarajaRazaJiBi~i~mz{B}q|q|q|q|}? E{BE|*[II)UA?QIȽ <rii"StoppingjG>bGN>~GAAN >I < < checking for new query: numPingsReceived=109, elapsed TxPingTime=44.586731Jb7,)LA9>@>@Y>_y>f=>H?s? 7FſPg?@5@xޫ?U? ? >@>;)>*Cf~BfIInInƲv= v=yv`j:I]F\N^R"sh7,5 LAFchecking for new query: numPingsReceived=110, elapsed TxPingTime=45.091640L95@5@Y5;-Sy5C=5HI?ii?lN4Ŀ8q?`" b?@ׄ?`? 5@5;)5-C~BIԩH]>HYH]IH]9BH]T =HYHYH]ԛ<H]EMb@Mb@Mb@ )YB`"۹?ˡE?/$?y==<l@ )@I@y@  II(*2%0< %=y%.;Q ->٥)) -H-F5ۀ< 5>9E~4=g\?E~49=1 I=vByE>E;M?M?=WCi=;=1:=~4QU9#AQZibm$LAmd?md?mq(?ʁmW[KZÿ;a?r I?m$8Qĭſ)?6?mQ ?msҁm0ߏuo ?0:2?m){{θl?m~jm.R?rmZ& mBim&  mBmp>m@ addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.501874 s, deltaX: -0.200000 m, approachRate: -0.398506 m/s, rangeRepo size: 4 M Added new target pos. range: 0.892703 m, bearing: 105.709805 deg, lat: 36.906116 deg, lon: -122.116040 deg, deltaT: 0.501874 s, deltaX: -0.198380 m, approachRate: -0.395278 m/s, posRepo size: 4 )4> ,C=DDAT read: Rx Time:06:04:37.7575 =TRx dataTimestamp_ set to:1749103478.848194EPDAT read: Bearing 107.6, -51.8 (Local) M~Local bearing/azimuth received: Bearing 107.6, -51.8 (Local) ]DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 }DAT read: 06:04:37.7575 LVL= 9536, 14113, 10226, 9571, AGC= 25, IDX= 504,-0.21,-0.206,-0.545,-1.499, 0.532, PHS=-0.651,-1.031,-2.034, RAW= 45.4, 46.7, CAL= 42.4, 51.8, ROT= 107.6, -51.8 Ygot valid direction response: 06:04:37.7575 LVL= 9536, 14113, 10226, 9571, AGC= 25, IDX= 504,-0.21,-0.206,-0.545,-1.499, 0.532, PHS=-0.651,-1.031,-2.034, RAW= 45.4, 46.7, CAL= 42.4, 51.8, ROT= 107.6, -51.8 V#Rx 111: Read range and direction messages.^direction in FSK: [-0.186988,0.589461,0.785857]Fpublishing direction and range info9y=HD9ǿҝ?L%?=̌?GY9 =@%)=!7I='i=c%==&==- =bJ?)=YP?I=q=?i=qg?=va?=qg 9)9=K V?K&忩i:K?i= =̵P=va?=qg 9)9checking for new query: numPingsReceived=111, elapsed TxPingTime=45.359875yzbZrj  .Y y gAR z! J! B) ~) ~- {B}) |1 |1 |1 |5 vh? {B靭 {[I ) J? I Ž XI< t i i " Stopping ~G A A N >n7,߾LAp !)%Aɵ%^:%F!)ɶ)i-94I))I)i1 11)11 119ɷ99=AI9)9iA)AIEAAɸA AɹIIIiIIiQA) Iٯ~BIIIb O~<  =y Q ?٥99 =H9= E?AM~4ED_?U~49Ee1 IE{ByQY]?E\CiE4;EK;ED~4im&#AiZibmHLAm?m?mc?ʁmMʿد?=~p?mHD9ǿҝ?L%?mva?mqgҁmӯĿC\ ?fR>?m2lL¿)I_??zmw?m~%jmaQ?rmC7" m,BimZ&  m&Bm>m(@= addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.502241 s, deltaX: 0.200000 m, approachRate: 0.398215 m/s, rangeRepo size: 4 m Added new target pos. range: 1.091082 m, bearing: 105.571575 deg, lat: 36.906116 deg, lon: -122.116040 deg, deltaT: 0.502241 s, deltaX: 0.198379 m, approachRate: 0.394987 m/s, posRepo size: 4 izqqbqZqrqjqRqzqJyBy~y~y}||||F?checking for new query: numPingsReceived=111, elapsed TxPingTime=45.594379 {BJI)iL?I[AŽ  -<-s)1i1i1"=Stopping~GAA!N5->9a M DDAT read: Rx Time:06:04:38.2576 M TRx dataTimestamp_ set to:1749103479.352056U PDAT read: Bearing 106.7, -53.4 (Local) ] ~Local bearing/azimuth received: Bearing 106.7, -53.4 (Local) m DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0  DAT read: 06:04:38.2576 LVL= 8944, 15073, 9922, 9171, AGC= 25, IDX= 503,-0.21,-0.770,-1.117,-2.037, 0.021, PHS=-0.703,-1.092,-2.061, RAW= 46.1, 48.4, CAL= 43.3, 53.4, ROT= 106.7, -53.4  Ygot valid direction response: 06:04:38.2576 LVL= 8944, 15073, 9922, 9171, AGC= 25, IDX= 503,-0.21,-0.770,-1.117,-2.037, 0.021, PHS=-0.703,-1.092,-2.061, RAW= 46.1, 48.4, CAL= 43.3, 53.4, ROT= 106.7, -53.4  V#Rx 112: Read range and direction messages. ^direction in FSK: [-0.171331,0.571078,0.802817] Fpublishing direction and range infoI yM ޘ.0ſ({DF?@۾F?M ?YI M ")M :IM &iM #I M 3M ƋM m M M?)M @X?IM \wA?iM n?M ^?M n I )I M 3sI%?띳tj俰=?iM M (XM ^?M n I )I  checking for new query: numPingsReceived=112, elapsed TxPingTime=45.863777Tu7,LA9@A @YKyE=H?)?@۰`ÿ@)r?q?@?`? @x%;),Cu~BuII I̍2Q= B=y ;Q >٥ H$; >~4&c?~490 IBy(??cCi4<5<ՠ~415"A1Zyb}LA}Z?}Z?}3?ʁ}|FhʿXg?G3?}ޘ.0ſ({DF?@۾F?}^?}nҁ}hsĿۺqS?s)4?} u`O}@K%JP"K!*K!2K%6:K%O81o;~ZWRx]\QiS6EYK Oa'5 % Au addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503862 s, deltaX: 0.100000 m, approachRate: 0.198467 m/s, rangeRepo size: 4  Added new target pos. range: 1.190271 m, bearing: 105.044945 deg, lat: 36.906116 deg, lon: -122.116039 deg, deltaT: 0.503862 s, deltaX: 0.099189 m, approachRate: 0.196858 m/s, posRepo size: 4 !z!)b)Z1r1j1RYzaJiBqchecking for new query: numPingsReceived=112, elapsed TxPingTime=46.098488~~}|||@33?|i2? m{BuW4I)uU?I~ý <ԑrii"StoppingjGR>bGe>~GAAN>H] >HY H] IH] bBH] S =HY H] DH] ݛ<H] EH \CH \CH H T =I T = I n5 N|7,ߥLAԙ9޼@@YIOy=H@v?@*?`JĿ@4k?? eg? ? ޼@骵;)DDAT read: Rx Time:06:04:38.7577 TRx dataTimestamp_ set to:1749103479.855891PDAT read: Bearing 105.7, -55.8 (Local)  ~Local bearing/azimuth received: Bearing 105.7, -55.8 (Local) %DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 MDAT read: 06:04:38.7577 LVL= 8768, 17633, 9714, 8851, AGC= 25, IDX= 504,-0.22, 1.093, 0.749,-0.106, 1.964, PHS=-0.783,-1.168,-2.073, RAW= 46.9, 51.1, CAL= 44.3, 55.8, ROT= 105.7, -55.8 uYgot valid direction response: 06:04:38.7577 LVL= 8768, 17633, 9714, 8851, AGC= 25, IDX= 504,-0.22, 1.093, 0.749,-0.106, 1.964, PHS=-0.783,-1.168,-2.073, RAW= 46.9, 51.1, CAL= 44.3, 55.8, ROT= 105.7, -55.8 uV#Rx 113: Read range and direction messages.}^direction in FSK: [-0.152100,0.541113,0.827081]}Fpublishing direction and range infoyIxÿrsPP?!Cqw?3?Y @")DI%i"rH Q?)&Qd?I.E?iQy?"?Qy )dZ?&)7ho?iMOkd"?Qy )~BIchecking for new query: numPingsReceived=113, elapsed TxPingTime=46.373089:JmlBJmrJJm=RJiZJm<5:bJm9Jmg4JizJm;?;}jJm=?;}Jm:}rJm:}Mb@Mb@Mb@ )Y~jt?Q?Q?y>\=u< )@I@y@I=ԹI=(*2; +=y/Q >٥ HFO >~4\i?~490 IByu >;a=?mCi:y:~4"AZbLA?? ?ʁC ˿s ?04M^a`?IxÿrsPP?!Cqw?"?QyҁΨ.ſɕvk? Af?]Z[/?#Ņ?z'?9.jV[?rX ځB.R?C7"  ?lg@ addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503835 s, deltaX: 0.200000 m, approachRate: 0.396955 m/s, rangeRepo size: 4 U Added new target pos. range: 1.388656 m, bearing: 104.562071 deg, lat: 36.906116 deg, lon: -122.116038 deg, deltaT: 0.503835 s, deltaX: 0.198385 m, approachRate: 0.393750 m/s, posRepo size: 4 YzYYbYZYrYjYRYzaJaBa~a~m{B}i|i|i|m`ff?|@:? {B }I ) V? I$½ C<uii!"UStopping~G1AAAYNe> checking for new query: numPingsReceived=113, elapsed TxPingTime=46.602310 7,]o LA9Vy@V(@YVYyV9=VHZ?͙?"tſ a?@ 2?:?? Vy@V;)V*Cb~BbIIjIj ?   =y Q  ?٥ H;ܼ ]?ae~4em?m~49e0 IeByim>B=m?erCiem:ez:e~4"AB*** querying acoustic contact ***JR!z!)b)Z)r)j)R)z)J)B1~q~q}q|y|||? ~{B靝TI)YT?I <tii"Stopping  ADDAT read: Rx Time:06:04:39.2576 TRx dataTimestamp_ set to:1749103480.361220-PDAT read: Bearing 108.0, -51.6 (Local) -~Local bearing/azimuth received: Bearing 108.0, -51.6 (Local) =DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 AeDAT read: 06:04:39.2576 LVL= 7728, 14481, 8722, 7955, AGC= 24, IDX= 503,-0.11,-0.662,-1.005,-2.001, 0.094, PHS=-0.668,-1.051,-2.097, RAW= 45.0, 46.5, CAL= 42.0, 51.6, ROT= 108.0, -51.6 mYgot valid direction response: 06:04:39.2576 LVL= 7728, 14481, 8722, 7955, AGC= 24, IDX= 503,-0.11,-0.662,-1.005,-2.001, 0.094, PHS=-0.668,-1.051,-2.097, RAW= 45.0, 46.5, CAL= 42.0, 51.6, ROT= 108.0, -51.6 uV#Rx 114: Read range and direction messages.u^direction in FSK: [-0.191945,0.590747,0.783693]}Fpublishing direction and range infoyL}ȿ"ie?I??Y 0)8I"i ++?5 I?)O?If;?if?:F?f )?']HwW4?i6O:F?f )checking for new query: numPingsReceived=114, elapsed TxPingTime=46.882401~GaAiAN\>qK} P"K} 9*Ky 2K} 7ԡ :K} z  K7"  f`#3 L 4GK#)/w+, >&J J }A%'7,c&LA:checking for new query: numPingsReceived=114, elapsed TxPingTime=47.1082889 R@[@YF6hyb=H`Dq??X: Iƿ}U?l?ob? ??  R@yf;)E~BEIiMMb@Mb@Mb@III I)IYM^I +?:vMTMt٥ H >~4!t?~491 IBy :>;?}Ci; ;C~4BI"AEZAbE:LAEZ?EZ?Ej?ʁE p>ͿHMo8?.O[?EL}ȿ"ie?I?E:F?EfҁEx \fƿ)#\?zݭ?Ea¿D!Ej?l?H>H[CH!IHBHHHDH<HEzE"?E53jE be?rE[ ErBE)ixU?E  ErBE7?E @ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.505329 s, deltaX: -0.200000 m, approachRate: -0.395782 m/s, rangeRepo size: 4 E Added new target pos. range: 1.190277 m, bearing: 105.378137 deg, lat: 36.906117 deg, lon: -122.116037 deg, deltaT: 0.505329 s, deltaX: -0.198379 m, approachRate: -0.392575 m/s, posRepo size: 4 IzIQbQZQrQjQRYzJB~~{B}| ||U@33?|Uqo?ԑ u|{B};I)f\?Il e.<sii1"uStoppingZGRGADDAT read: Rx Time:06:04:39.7576 TRx dataTimestamp_ set to:1749103480.8649375PDAT read: Bearing 109.9, -51.3 (Local) 5~Local bearing/azimuth received: Bearing 109.9, -51.3 (Local) MDAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 }DAT read: 06:04:39.7576 LVL= 8336, 14113, 9170, 8051, AGC= 24, IDX= 503,-0.03,-0.742,-1.038,-2.063, 0.019, PHS=-0.672,-1.010,-2.085, RAW= 43.2, 46.2, CAL= 40.1, 51.3, ROT= 109.9, -51.3 Ygot valid direction response: 06:04:39.7576 LVL= 8336, 14113, 9170, 8051, AGC= 24, IDX= 503,-0.03,-0.742,-1.038,-2.063, 0.019, PHS=-0.672,-1.010,-2.085, RAW= 43.2, 46.2, CAL= 40.1, 51.3, ROT= 109.9, -51.3 V#Rx 115: Read range and direction messages.^direction in FSK: [-0.212820,0.587908,0.780430]Fpublishing direction and range infoyH^=˿d$? 2I?Y  )!7I#is1,Gp A?)plN?I$+3?i5e?ۄ?5e )~GAAN>mL?fn]2:^?i5{0XNۄ?5e )checking for new query: numPingsReceived=115, elapsed TxPingTime=47.386425:J qBJ JJ :RJ ZJ D:bJ J FA4J zJ :Z;jJ @>@Y> {y>'=>H^? ?ސȿ@H?膸`9]?G?? >@>^;)<~~B~II I p %{=y%gQ % ?٥!) -H-F- - ?9M~4=x?M~49=1 I=ByQUBU?=Ci=;=";=~4y}"AyZQbU![7LAQQU?ʁUۮ@B6пzd?uű?UH^=˿d$? 2I?Uۄ?U5eҁU r`G0ɿuO@?C.o?ULR)ſI[zF?B&G!Di?zU$?UIjUYh?rUu UdBUV[?Uu  QU;?U@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503717 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 1.190263 m, bearing: 107.026558 deg, lat: 36.906117 deg, lon: -122.116037 deg, deltaT: 0.503717 s, deltaX: -0.000013 m, approachRate: -0.000026 m/s, posRepo size: 4 zbZrjRzJB~!~!}!|!|)|)uchecking for new query: numPingsReceived=115, elapsed TxPingTime=47.610401|-@? -{{B-I1)5W?1I5K 115u<=rQQiQiY"eStopping~GaAiAN9>1 - DDAT read: Rx Time:06:04:40.2575 - TRx dataTimestamp_ set to:1749103481.3678945 PDAT read: Bearing 112.5, -50.9 (Local) = ~Local bearing/azimuth received: Bearing 112.5, -50.9 (Local) M DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 } DAT read: 06:04:40.2575 LVL= 10192, 13985, 10610, 9139, AGC= 25, IDX= 502, 0.08,-1.921,-2.153, 3.084,-1.162, PHS=-0.670,-0.944,-2.040, RAW= 40.9, 45.8, CAL= 37.5, 50.9, ROT= 112.5, -50.9  Ygot valid direction response: 06:04:40.2575 LVL= 10192, 13985, 10610, 9139, AGC= 25, IDX= 502, 0.08,-1.921,-2.153, 3.084,-1.162, PHS=-0.670,-0.944,-2.040, RAW= 40.9, 45.8, CAL= 37.5, 50.9, ROT= 112.5, -50.9  V#Rx 116: Read range and direction messages. ^direction in FSK: [-0.241349,0.582668,0.776046] Fpublishing direction and range info) y- |οNLY8?٥ H >~4#?~492 IByA?Ci::~~4"A1ZQbUWLAU?U?UA?ʁUZMeпdW?R$Y^?U|οNLY8?D\U>r 9   * M ^ 4>|JX0}A`1,Jm?Jm ?Y 5z{Bmr checking for new query: numPingsReceived=116, elapsed TxPingTime=48.116661I)VR?I <uii"Stopping~GAA N>ԉ H >H H 'IH BH U =H H H <H EK_7,sLA0DDAT read: Rx Time:06:04:40.7576 TRx dataTimestamp_ set to:1749103481.871784PDAT read: Bearing 114.4, -51.5 (Local) ~Local bearing/azimuth received: Bearing 114.4, -51.5 (Local)  DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 -DAT read: 06:04:40.7576 LVL= 12224, 11857, 11570, 10195, AGC= 25, IDX= 503, 0.11,-0.031,-0.209,-1.244, 0.756, PHS=-0.699,-0.918,-2.004, RAW= 39.0, 46.6, CAL= 35.6, 51.5, ROT= 114.4, -51.5 5Ygot valid direction response: 06:04:40.7576 LVL= 12224, 11857, 11570, 10195, AGC= 25, IDX= 503, 0.11,-0.031,-0.209,-1.244, 0.756, PHS=-0.699,-0.918,-2.004, RAW= 39.0, 46.6, CAL= 35.6, 51.5, ROT= 114.4, -51.5 5V#Rx 117: Read range and direction messages.=^direction in FSK: [-0.257164,0.566914,0.782608]=Fpublishing direction and range infoy>#^uпh3v($?iŪ: ??Y /)Q.I2-i'2 kA @.?)5P?I?if?r?f )c1Ȏ?Dـa@?i[촿;Pr?f )]checking for new query: numPingsReceived=117, elapsed TxPingTime=48.382828~BI:JUvBJUwJJU9RJQZJU{T:bJU9JUc44JQzJU8u;jJU;u;JU:rJU:ԉ]Mb@Mb@Mb@YYY Y)YY]ףp= ?Zd;O{Gzty]>]j]ףY Y)YI]@Yy]G@ImIm0} 2< }"=yQ >٥ HF >~4c?~492 IBy >;?Ci}<8<~4"AZbOwLAZ?Z?9?ʁLkӿe?J?>#^uпh3v($?iŪ: ?r?fҁ?NпAF?\=ibN;?iʿi?pP=?z4"?,jJp?r" XBYh? dB{E?+@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.503890 s, deltaX: 0.100000 m, approachRate: 0.198456 m/s, rangeRepo size: 4 Ա Added new target pos. range: 1.190253 m, bearing: 111.558899 deg, lat: 36.906119 deg, lon: -122.116037 deg, deltaT: 0.503890 s, deltaX: 0.099178 m, approachRate: 0.196825 m/s, posRepo size: 4 zbZrjRzJB~~{B}|||@33?| C? ey{BeIa)eT?aIm. iimbG%>~GiAyAN> checking for new query: numPingsReceived=117, elapsed TxPingTime=48.618626 E7,kLA9BR@B@YB嶞yBVd=BH%??r9̿`?ѳ?w?? BR@BNJ;)@\b~BbI fa=fp=IjIjb2v z=yzu"Q z ?٥x| ~H|  ? 4 ӈ?49 13 I y亾? Ci : a: 4!%-#A!IzIIbIZIrIjIRIzQJQBQ~Q~Y}a|a|i|i|m ? x{B靝(|^Ic<)?O?Ix <sii"Stopping~GAAN =DDAT read: Rx Time:06:04:41.2575 TRx dataTimestamp_ set to:1749103482.377197 PDAT read: Bearing 120.0, -50.5 (Local)  ~Local bearing/azimuth received: Bearing 120.0, -50.5 (Local) DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 EDAT read: 06:04:41.2575 LVL= 13424, 8049, 13394, 10131, AGC= 26, IDX= 502, 0.03, 0.251, 0.201,-0.892, 1.050, PHS=-0.710,-0.801,-1.944, RAW= 33.8, 45.7, CAL= 30.0, 50.5, ROT= 120.0, -50.5 MYgot valid direction response: 06:04:41.2575 LVL= 13424, 8049, 13394, 10131, AGC= 26, IDX= 502, 0.03, 0.251, 0.201,-0.892, 1.050, PHS=-0.710,-0.801,-1.944, RAW= 33.8, 45.7, CAL= 30.0, 50.5, ROT= 120.0, -50.5 MV#Rx 118: Read range and direction messages.U^direction in FSK: [-0.318039,0.550860,0.771625]UFpublishing direction and range infoyZԿeठ?p&?̌?Y p4)qIR4i'5VM ?)0L?I ?iܢa? @ܢa ).K]d?& ?MJ3.?i7 JL @ܢa )checking for new query: numPingsReceived=118, elapsed TxPingTime=48.901848I K P"K ȱ9*K 2K 9:K ]m"_~?z]$4RM- s)X-.U$J J au7,LAZchecking for new query: numPingsReceived=118, elapsed TxPingTime=49.124462M~BMIMb@Mb@Mb@ )Y1Zd?S㥫{Gzty"=/]@ )Iy@II0%+ %+=y%Q ->٥)) -H)5 5>9E4=?E49=$4 I9yE=E;Ej.M?=Ci=;=/;=w4QUV#AQZ!b%#LA%?%?%@ H<H<H>HHHHHHHΛ<HEʁ%V*E5ֿt;?cY?%ZԿeठ?p&?% @%ܢaҁ%$ҿh?-{ pM?%8w3ѿNlD?z[A?z%?%&j%9s?r%$ %B%m?%"  %XB%"G?%z@ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505413 s, deltaX: -0.100000 m, approachRate: -0.197858 m/s, rangeRepo size: 4  Added new target pos. range: 1.091065 m, bearing: 116.478484 deg, lat: 36.906119 deg, lon: -122.116038 deg, deltaT: 0.505413 s, deltaX: -0.099188 m, approachRate: -0.196251 m/s, posRepo size: 4 z b ZrjR!z!J)B)~)~-{B}1|1|1|5?|=X? w{B靭+IV<)L?Iﴸ s<rii"StoppedZGRG~A~GA dClearing failed state for component DockingStepper1 A Nn>DDAT read: Rx Time:06:04:41.7575 TRx dataTimestamp_ set to:1749103482.879651DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -\#Rx 119: Read range message, but no direction.Y checking for new query: numPingsReceived=119, elapsed TxPingTime=49.377880 J(N4JR4J+/:J {BJ JJ <RJ ZJ d:bJ 9J [4J zJ ;jJ ;J d;rJ e;1 yW7,nLA9B`@Bjj@YB곽yBg=BH?@?仿-ο ?xu??ɵ? B`@Br;)B,Cb~BbIdfDAIjIj<r ry=yrQ r?٥tt vHvFv|T z?x~4z?49z4 Ixy2?zCizQ;z;z4 #A=B*** querying acoustic contact ***J9R9U addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.502454 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 QzQQbYZYrYjYRYzYJYBa~a~a}a|i|i|i|m@]2? 靥Iz<)F?I6ٷ ss<uii" Start "4Initializing EZServoServo. "8Initializing DockingStepper.~GAAN=]checking for new query: numPingsReceived=119, elapsed TxPingTime=49.626652Ay DDAT read: Rx Time:06:04:42.2575  TRx dataTimestamp_ set to:1749103483.383363 DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 - \#Rx 120: Read range message, but no direction. Y  T****** received valid address query ****** R****** received valid ping request ******% Querying Benthos address 50 with 120 pings in terminal homing one-way mode.ԙ J7,QLA9:j.@:8@Y:Wy:=:H??oDο`?۳ r?4?`)? :j.@:Vw;):)C=~B=IIMIM  ;=yQ >٥ 5H1=Qa =>Aq}4E?49E5 IEBy_4?ECiE_E <" StartingjG {>bG >~G A A N > 7,0LAJGT` ~Y|y~ÍADDAT read: Rx Time:06:04:42.7576 TRx dataTimestamp_ set to:1749103483.887893PDAT read: Bearing 284.8, -54.5 (Local) ~Local bearing/azimuth received: Bearing 284.8, -54.5 (Local) DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 DAT read: 06:04:42.7576 LVL= 13520, 21537, 9778, 15091, AGC= 27, IDX= 505, 0.48,-2.861,-2.418,-1.034,-0.549, PHS=-2.223,-1.822,-0.487, RAW= 222.8, 45.5, CAL= 225.2, 54.5, ROT= 284.8, -54.5 Ygot valid direction response: 06:04:42.7576 LVL= 13520, 21537, 9778, 15091, AGC= 27, IDX= 505, 0.48,-2.861,-2.418,-1.034,-0.549, PHS=-2.223,-1.822,-0.487, RAW= 222.8, 45.5, CAL= 225.2, 54.5, ROT= 284.8, -54.5 R#Rx 1: Read range and direction messages.%^direction in FSK: [0.148338,-0.561437,0.814116]%Fpublishing direction and range infoڹyڽzҼ?ǂGKΏ; ?ڽ?Yڹ ۽4)۽!TI۽2&i۽:۽۽E۽L7۽X ܽx@)ܽKK?Iܽ{@iܽ"s?ܽ@ܽ"s ݹ)ݹݽÿF9?fk}?iݽ5?ݽQKݽݽ"s ޹)޹ e2Acoustic response timeout9}@}Y@Y}0ýy}J=}H?x?h@aϿ?V?`S?@? }@};)}*CQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.h~BuI-Mb@Mb@Mb@))) )))Y-٥ HFD >4?49d6 IBy%g=%k<-։-?CiJ<L<?4g$AZb=LAZ?Z?@ʁێ뀙?ܭQbd?zҼ?ǂGKΏ; ?"sҁS9ŹӱyU\?jd, 俊^Iz^?zC.νjj8?r*J BJp?ai"  )Bꁽ]?@ addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.504530 s, deltaX: 0.100000 m, approachRate: 0.198204 m/s, rangeRepo size: 4  Added new target pos. range: 1.190252 m, bearing: 262.501365 deg, lat: 36.906120 deg, lon: -122.116038 deg, deltaT: 1.510696 s, deltaX: 0.099187 m, approachRate: 0.065656 m/s, posRepo size: 4 zbZrjRzJB~~zB}|||@33?|`#I? QU,4IQ)UE} &<" Starting"= BInit string: /1z12992aE13561N3m50Q ~G A AN5>7,LAI9@F@Y ʽy=H?k?CϿ?X+6?`%?@? @9P;)O~BfIIIV83   i=y"Q ?٥ H ?)-4-w?549-6 I-By155?-Ci-q:-::-K49E$AAqzqybyZyryDDAT read: Rx Time:06:04:43.2575 TRx dataTimestamp_ set to:1749103484.393373PDAT read: Bearing 304.3, -42.9 (Local) ~Local bearing/azimuth received: Bearing 304.3, -42.9 (Local) DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 =DAT read: 06:04:43.2575 LVL= 12080, 23921, 9458, 14147, AGC= 27, IDX= 504, 0.32,-1.358,-1.393, 0.567, 0.491, PHS=-1.762,-1.837, 0.073, RAW= 208.0, 33.6, CAL= 205.7, 42.9, ROT= 304.3, -42.9 EYgot valid direction response: 06:04:43.2575 LVL= 12080, 23921, 9458, 14147, AGC= 27, IDX= 504, 0.32,-1.358,-1.393, 0.567, 0.491, PHS=-1.762,-1.837, 0.073, RAW= 208.0, 33.6, CAL= 205.7, 42.9, ROT= 304.3, -42.9 ER#Rx 1: Read range and direction messages.M^direction in FSK: [0.412807,-0.605153,0.680721]MFpublishing direction and range infoy*vk3mk?eh]8F,w?̌?Y 0/)q]I$iC77"= Vh@)Q ?Ie@i֭??@֭? )k`荝?V鍙-?-h?i?Kx֭? ) m2Acoustic response timeout}Querying Benthos address 50 with 120 pings in terminal homing one-way mode.jRzJB~~}|||?|`Ϟ? =u{B=`I9)=6?9IE AAEKm sP"Km 9*Ki 2Km ;:Km [Om Gq 8 :MwqNTvhyl5bu5 ٥ HF >4L?497 IByD=@<2?CiW;;Z415 %A9Z1b5-LA5?5?5^@ʁ5;AT?1 忹{nG?5*vk3mk?eh]8F,w?5x5֭?ҁ5@9I?=Hm"?5*mt{?~Ȏ%?z5N5v?>j5 ?r5+i\L 5B59s?5$  5B5I?5@u addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.505480 s, deltaX: -0.100000 m, approachRate: -0.197832 m/s, rangeRepo size: 4  Added new target pos. range: 1.091064 m, bearing: 283.033360 deg, lat: 36.906120 deg, lon: -122.116039 deg, deltaT: 0.505480 s, deltaX: -0.099188 m, approachRate: -0.196226 m/s, posRepo size: 4 zbZrjRzJB~~zB}|||||? et{Be%Ii)m2?qIuv qqu<}uyyii"StartingA DDAT read: Rx Time:06:04:43.7575 TRx dataTimestamp_ set to:1749103484.896837%DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -%X#Rx 1: Read range message, but no direction.  Y  -2Acoustic response timeout5Querying Benthos address 50 with 120 pings in terminal homing one-way mode.~GaAyANa> 1 7,\FLA'~BMI)-AAI-I-3]٥ H   >9M4=a?U49=L7 I=By?=Ci=`<=`<=h4k%AB*** querying acoustic contact ***JR% addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.503464 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 !z))b)Z)r)j1R1z1J1B1~9~9}9|9|A|I|Ui? s{B靥I),?I~ r<tii"Starting~GAAN)>Aq DDAT read: Rx Time:06:04:44.2574  TRx dataTimestamp_ set to:1749103485.399421 DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 -% X#Rx 1: Read range message, but no direction.  ff?Y - 2Acoustic response timeout- Querying Benthos address 50 with 120 pings in terminal homing one-way mode.:J BJ JJ >RJ ZJ p:bJ dP:J t4J ԡ 7,o`LA9^b@^Ql@Y^ǽy^=^H??m>ο ?@.`?C??? ^b@^ŀ;)\j ~Bj;III(*-ȓ 5R=y5;;Q 5>٥99 =H9== E>AM4E?U49E7 IEByQU1U?ECiE^;EY;E u4]Be%AeE addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.502584 s, deltaX: -0.200000 m, approachRate: -0.397944 m/s, rangeRepo size: 4 zbZrjRzJB~~}|||?|? r{BI)&?I O<sii" Starting~G)A9AYN=uJ?H]>HYH]IH]%BH]U =HYH]DH]<H]E!  DDAT read: Rx Time:06:04:44.7575 % TRx dataTimestamp_ set to:1749103485.903455- DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -- X#Rx 1: Read range message, but no direction.  ̌?Y 5 2Acoustic response timeout5 Querying Benthos address 50 with 120 pings in terminal homing one-way mode.7,VzLA<}B4IMb@Mb@Mb@ )Y`"X9v{Gzty}ף@ @)X@I?@yz@IIF3м 1=y Q  >٥    HF >%4f?E497 IByMQ >M;M:M?ɕCi;;^4QU &AQԁ addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.504034 s, deltaX: 0.200000 m, approachRate: 0.396799 m/s, rangeRepo size: 4 zbZrjRzJB~~ZzB} | ||?|`? p{B靍q8I)v#?IL h<rii"Starting"}LSent speed cmd:/1V10000 Response:/0@ jG>bGR>~GAԱANc>m٥ H Fj= >4~?498 IwBy?>;:?ڕCiT ;G ;R4n&A- addTargetRange:: Added new target pos. range: 0.900000 m, deltaT: 0.505596 s, deltaX: -0.200000 m, approachRate: -0.395573 m/s, rangeRepo size: 4 1z11b1Z1r1j1R9z9J9B9~A~EKzB}A|A|A|M?|Md? um{B}k6Iy)}?yI}O y<tii"&Changing to mode: 1"Standby mode.i"2Commanding positive:21302DDAT read: Rx Time:06:04:45.7575  TRx dataTimestamp_ set to:1749103486.915692DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -X#Rx 1: Read range message, but no direction.  ̌?Y  %2Acoustic response timeout%Querying Benthos address 50 with 120 pings in terminal homing one-way mode.E}2EyEyE} E}~GYAiAyN|>ԑ 7,LA9:e@:1o@Y:/ y:=:H a?%?@r`Mƿe?@E ?``?ӵ? :e@:\;):(CR}BVIIZ IZ<2b fq=yfI;Q f?٥hh jHhjc= j?pr4rsy?v49r9 IrtBytvX9v?rCir:r:r"4xz&A|5 addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.506641 s, deltaX: 0.200000 m, approachRate: 0.394757 m/s, rangeRepo size: 4 = DDAT read: Rx Time:06:04:46.2575  TRx dataTimestamp_ set to:1749103487.418084% DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 -% X#Rx 1: Read range message, but no direction. Y 5 2Acoustic response timeout= Querying Benthos address 50 with 120 pings in terminal homing one-way mode.:J BJ JJ 9RJ ZJ bJ \3:J c44J ) 7,#LA96*@6@Y6౽y6C=6H {??xع@Ŀ _|?@j4?`p?`k? 6*@6I;)6'C^}B^!IIfIf(*2nl< nI=yn;Q n>٥pp rHpr0= v>tU4vGs?U49v9 IvqByY];8]?vCivd:K.I[ ?r5$~yP_lzR\}e%> _yF!RGjG=bG=~GMJU>JU?AANE>H>HHIH~BHHHHǛ<HEQq  DDAT read: Rx Time:06:04:46.7576  TRx dataTimestamp_ set to:1749103487.919844 PDAT read: Bearing 130.1, -53.6 (Local)  ~Local bearing/azimuth received: Bearing 130.1, -53.6 (Local)  DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 M DAT read: 06:04:46.7576 LVL= 14752, 25361, 11330, 13587, AGC= 27, IDX= 504,-0.22, 3.042,-3.066, 2.062,-2.192, PHS=-0.962,-0.827,-2.032, RAW= 24.1, 49.7, CAL= 19.9, 53.6, ROT= 130.1, -53.6 p27,LA"Ygot valid direction response: 06:04:46.7576 LVL= 14752, 25361, 11330, 13587, AGC= 27, IDX= 504,-0.22, 3.042,-3.066, 2.062,-2.192, PHS=-0.962,-0.827,-2.032, RAW= 24.1, 49.7, CAL= 19.9, 53.6, ROT= 130.1, -53.6 &R#Rx 1: Read range and direction messages.*^direction in FSK: [-0.382235,0.453919,0.804894]*Fpublishing direction and range info1y5xvؿUJ ?y?5?Y1 59)5cI5B,i5515Ev5FS5J  5\>)5^?I5ӱ>i5|o?5R@5|o 1)15k鰿W4g^l?i5,ֿ5KM^5R@5|o 1)1  2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.9u@uʓ@Yuyu y=uHl?ह?K? @Y?? ? u@ui;)u(C}B"IQMb@Mb@Mb@ )YV-ǿi|?5~jt?y|?qD<?@ @)X@I?@y@II 2@; "=yU;Q >٥ H!-= ->1=45j?=495: I5oBy=+I>E;E,>E?5Ci5:5:5-4mBut&AuEZ1b5LA5Z?5Z?5@ʁ5ݿ[I?gkA#?5xvؿUJ ?y?5R@5|oҁ5 ޿Ea?8'?5sGLٿ@<ą?ȚE'?z5?5j5FPC?r5lњ, 5߀B15lњ,  5B5?5?€MxMJIBI~Q~U*zBUCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guidequUUAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guidevU ]Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlv]]Uninitialize.w]w]]Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance}Yԉ|||@33?|`?bs+I>js+I>rs.\@zs)S@ g{Bɝ I )?IX 9iAzEIeԩ 8,*rLA9R"@R@YR擢yRo=RH`t?"?T R@?w'`M?&?@6? R"@R˝;)R'Cn}BlppIvIvF2~' ~=y[Eܪ&<E>3EEE E u 8>A A N >4 8,p^0LAHHHIH~BHT =HHDHƛ<H4)a i}BȈG/IĀA MYMĀAyMAԁMb@Mb@Mb@ )YS㥛ĿMbp?{Gzt?y$;ף;@ +@)@Iy@) p;IIN= =yQ >٥ H >4^?49 : tIIkBy$>;?@? Ci;;4!&A?{1|Zqbu 6LAMDDAT read: Rx Time:06:04:47.7575 MTRx dataTimestamp_ set to:1749103488.928501UPDAT read: Bearing 287.9, -52.0 (Local) ]~Local bearing/azimuth received: Bearing 287.9, -52.0 (Local) mDAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 06:04:47.7575 LVL= 13584, 26353, 9442, 12979, AGC= 30, IDX= 504, 0.19,-0.491,-0.095, 1.328, 1.651, PHS=-2.054,-1.699,-0.326, RAW= 221.2, 42.4, CAL= 222.1, 52.0, ROT= 287.9, -52.0 Ygot valid direction response: 06:04:47.7575 LVL= 13584, 26353, 9442, 12979, AGC= 30, IDX= 504, 0.19,-0.491,-0.095, 1.328, 1.651, PHS=-2.054,-1.699,-0.326, RAW= 221.2, 42.4, CAL= 222.1, 52.0, ROT= 287.9, -52.0 R#Rx 1: Read range and direction messages.^direction in FSK: [0.189227,-0.585860,0.788011]Fpublishing direction and range infoIyMJ8?\Ŷ]&+Ob7?IYI M5)MfIM$iM2MMtMxٿMy馾 M0w@)Mq=?IMx@iMVh?M/ˠ@MVhu?u?uRm@ʁuL?-IjOhӿXi_v?u!&I?ѿ -w?uuKҁu@Ŷ7?-ڿ ׈%?u)J~?R73Rؿ}\ .?zuIԾu<ju"Xh_?ruD uBquD  uBu>u(5@ I)IM6U1d¿Sa.0?V?iM?MQV=MMVh I)I 2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.}|||?| ?bs-$>js-$>rs-xG@zs-/?@ԩ:JtBJqJJARJZJ;N:bJq9J4JzJlj;jJnj;J :rJ :I i>EጹE @3E E E r E 6G} | >A A N >to8,6JLA9:l @:@Y:y:=:H?:?`N O?`m;߱? V"?E? :l @:/e;)8NA A N >8,cLA9B懿@B@YB2煽yBrw=BH?`l?Dz⳿ q?`ع?@tP? ? B懿@Bp;)B)CR~BR7IIVIV(1bߵ< bS=yb=٥dd fHdf = j>hr4jU?r49j9 IjiByprB@v?jCijE9;j M;j.4|~%AB*** querying acoustic contact ***JR}!|!|)|-?|-`s?bsIjsIrsIzsMAAQNE>K.P"K9*K2K@:KBQ4TO>RlB?'jDvU@|$1\N7[<IH!H!H!H!H!H!H!H%<H%EHHHHIU = Io4qԡ e DDAT read: Rx Time:06:04:48.7576 m TRx dataTimestamp_ set to:1749103489.935362u DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 -u X#Rx 1: Read range message, but no direction.a e ?Ya } 2Acoustic response timeout} Querying Benthos address 50 with one ping in standard two-way mode.8, ~LA9Rտ@R@YRuyRM=RH8?3l?@9rv?@?6?? Rտ@RT;)R(Ca~BDIMb@Mb@Mb@ )YV-V-?Mbpym=@ @)@I(@yII8*= .=y.A٥ Hz< >40Q?498 IhBy>;&@?!Cim ;:o 4%A} | ||@33?|@0?bs>js>rstc+@zsO&@I iԑEN3EEE EAANi>Թ y%8,LA9:@:K @Y:u]y:y=:H?@? ? U`z??(? :@:;):&CR3~BRTIIb Ib(2j= jp=yjЊ1 HyH}IH}~BH}U =HyHyH}ě<H}E9@%@Y:Gyb=H?ի?@뫿` >? 5@ߨ?J?? @骵A;)9MN~BUeI]Mb@Mb@Mb@YYY Y)YY] ףp= ?y]L]Q8=]]l@ ])YI]@Yy]@IuIu3V= &=yL6٥ HX; >4L?497 IhByÉ=E<@?+Ci=:;4$AZYb]7LA]?]?]7?ʁ]ǿɭ(+j?`Pz?])A,PſxD=?0?]?]ҁ];ZRhʿtr?,\?]>Lj7Iȿ `?nG?z]>]Sj]J:?r]Xn+ ]B]"Xh_?]D  Y] ?]X@}|||%?|% ?bsÉ=jsÉ=rsi)@zsA@I  i EDDAT read: Rx Time:06:04:49.7576 MTRx dataTimestamp_ set to:1749103490.946658UPDAT read: Bearing 108.1, -55.2 (Local) U~Local bearing/azimuth received: Bearing 108.1, -55.2 (Local) amDAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 DAT read: 06:04:49.7576 LVL= 9824, 13441, 11714, 11299, AGC= 26, IDX= 502, 0.16,-2.019,-2.294,-3.135,-1.197, PHS=-0.733,-1.050,-1.941, RAW= 44.7, 50.5, CAL= 41.9, 55.2, ROT= 108.1, -55.2 Ygot valid direction response: 06:04:49.7576 LVL= 9824, 13441, 11714, 11299, AGC= 26, IDX= 502, 0.16,-2.019,-2.294,-3.135,-1.197, PHS=-0.733,-1.050,-1.941, RAW= 44.7, 50.5, CAL= 41.9, 55.2, ROT= 108.1, -55.2 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.177307,0.542472,0.821149]Fpublishing direction and range infoAyE0Pƿ+[?[F?E?YA E`&)E4IE-iE#,AE;EffEr EG?)Eܢa?IE6;?iEϢv?Ej?EϢv A)AEi?|k㿇i?iE1PE²aEj?EϢv A)A 2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.EQ3EEE E:JqBJgJJ;RJZJD:bJ9J(N4JzJ9Z;jJԑԹ ɹ28,nLABуǿyeI?7R ?zu?uDdju.K7?ru( u5BuFPC?ulњ,  uBu>uV?}|||@33?|@>?bsjsrszs@I iԑEN3EEE3 E6G U:;A!A1N=/>Թ=DDAT read: Rx Time:06:04:50.2575 =TRx dataTimestamp_ set to:1749103491.447876EPDAT read: Bearing 101.8, -56.2 (Local) M~Local bearing/azimuth received: Bearing 101.8, -56.2 (Local) ]DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 06:04:50.2575 LVL= 7312, 16225, 8210, 9299, AGC= 25, IDX= 501, 0.06,-1.717,-2.127,-2.892,-0.889, PHS=-0.740,-1.191,-2.006, RAW= 50.6, 51.4, CAL= 48.2, 56.2, ROT= 101.8, -56.2  Ygot valid direction response: 06:04:50.2575 LVL= 7312, 16225, 8210, 9299, AGC= 25, IDX= 501, 0.06,-1.717,-2.127,-2.892,-0.889, PHS=-0.740,-1.191,-2.006, RAW= 50.6, 51.4, CAL= 48.2, 56.2, ROT= 101.8, -56.2  R#Rx 1: Read range and direction messages.U ^direction in FSK: [-0.113760,0.544540,0.830984]U Fpublishing direction and range info9y=ks_dΑRl?=gl?=̌?Y9 =)=a?I= i=S$==p==r=Nb ==b?)=Le?I=\W?i={?=cl?={ 9)9=F?f;?i==e=cl?={ 9)9  2Acoustic response timeoute Querying Benthos address 50 with one ping in standard two-way mode. =88, GLA9>?@>@Y>y>i=>H?K?`Ț1@#? I@]?zg?@u? >?@><;)>$C ^~B oIII(1=L= E-=yU_/٥QY ]HYeл e>q}4uH?}49u6 IuiByy}Y@?u2Ciu:u:u%4mks_dΑRl?=gl?mcl?m{ҁm T!T?T?mN`&D"QW?Ip?zm?mjmP'=?rmE) mBmP'=?mXn+  mBm >m?H>HHIH~BHHHHԛ<HE}|||?|`?bsjsrszsY@I  i Q " 2Commanding positive:20403E P3E E E E ] DDAT read: Rx Time:06:04:50.7576 e TRx dataTimestamp_ set to:1749103491.955309u PDAT read: Bearing 97.4, -49.5 (Local) u ~Local bearing/azimuth received: Bearing 97.4, -49.5 (Local)  DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0  DAT read: 06:04:50.7576 LVL= 7664, 19729, 8946, 9267, AGC= 26, IDX= 502, 0.01, 1.192, 0.550,-0.316, 1.765, PHS=-0.485,-1.168,-2.083, RAW= 55.2, 43.6, CAL= 52.6, 49.5, ROT= 97.4, -49.5  Ygot valid direction response: 06:04:50.7576 LVL= 7664, 19729, 8946, 9267, AGC= 26, IDX= 502, 0.01, 1.192, 0.550,-0.316, 1.765, PHS=-0.485,-1.168,-2.083, RAW= 55.2, 43.6, CAL= 52.6, 49.5, ROT= 97.4, -49.5  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.083646,0.644039,0.760406] Fpublishing direction and range infoa ye ZiOz?y;>U?e ?Ya e )e MIe "ie 3$e e Qe e O e Ϣv?)e B?Ie k?ie +]?e ?e +] a )a e q^?e֐俌울 ?ie ̾e IBe ?e +] a )a m 2Acoustic response timeoutm Querying Benthos address 50 with one ping in standard two-way mode.y :J xBJ tJJ :RJ ZJ Z:bJ 9J FA4J zJ ;jJ ;J :rJ :6GzQAAN>5A8,;LA9^տ@p^2@Y^8 y^,=^H?6?8 `?!]?@ W?? ^տ@^r܍;)^#C ) Aɵ I  ɶiDIIi 9)9A AAAɷAAIII)IiI)QIYyɸy yɹ鹁ii) Iٯh~BuIi٥ H( >4%I?4966 IyB!=<3??5Ci ;;.4V$A -U?%?% +]ҁ%qEbF{Y? Z]?%^$!ݶЀL?%r_%?z%B.?%3j%A?r%G$ %&B!%E)  %B%I?%?Done Waiting.x8Uninitialize Wait Component.1y}|||@33?|@H?bsB!=jsB!=rs?zs3?1I1 1119i9Ea3E E E  EF%F%F)F)Ia A A N >  DDAT read: Rx Time:06:04:51.2575  TRx dataTimestamp_ set to:1749103492.456284 PDAT read: Bearing 84.6, -49.5 (Local)  ~Local bearing/azimuth received: Bearing 84.6, -49.5 (Local)  DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 = DAT read: 06:04:51.2575 LVL= 6960, 19905, 7858, 10051, AGC= 25, IDX= 501,-0.00, 0.845,-0.157,-0.765, 1.321, PHS=-0.388,-1.431,-2.089, RAW= 67.4, 42.9, CAL= 65.4, 49.5, ROT= 84.6, -49.5 E Ygot valid direction response: 06:04:51.2575 LVL= 6960, 19905, 7858, 10051, AGC= 25, IDX= 501,-0.00, 0.845,-0.157,-0.765, 1.321, PHS=-0.388,-1.431,-2.089, RAW= 67.4, 42.9, CAL= 65.4, 49.5, ROT= 84.6, -49.5 E R#Rx 1: Read range and direction messages.M \direction in FSK: [0.061118,0.646566,0.760406]M Fpublishing direction and range info y 6MJ??y;>U? ̌?Y 0) MI i C' ,G8,LAƾ+- ?)֭??I?i? )!;a~?RSHT?iij?? ) b2Acoustic response timeoutbQuerying Benthos address 50 with one ping in standard two-way mode.A9$@ә@YOyg=H ?ʲ? 䨳?`Ըd|? ~?`? $@骕~;)%C~BIII(15= T=y{&٥ H  >iu4mhI?u49m5 ImjByy}?}?m7Cim:mK:my54#AZb3LA??%?ʁzN;@? ?;̐?6MJ??y;>U??ҁ*A)?4:;cx?%%?зaP?Q?3W8R?zK?M=j;P?r;^% B(  ??8GuidanceMode 0.000000 count 1y%}!|!|!|%?|m@J?uNCompleted lineCaptureHoming:LineCaptureiuujAggregate::uninitialize lineCaptureHoming:LineCapturej} }Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopesj}}NUninitialize AltitudeEnvelopeComponent.1k} }Uninitialize.qk}}NUninitialize OffshoreEnvelopeComponent.ql}l}l}}|Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass1m}qm}څUninitialize.m ۅAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancymۅ@Uninitialize Buoyancy Component.ibsjsrszs3?I! !!!)i)E`3EEE EAAN l>=}0=38[7]D0ji3OU8 ~ XM8,@7LA9F/@F/9@YF yF=FH?`ݵ?t?߸ }??`? F/@Fyэ;)F&C~BIԙMb@Mb@Mb@ )Y~jt?:vMby<T@ +@)@In@yG@I5I5bU*j= UV=y] ٥aa mHiu u>DDAT read: Rx Time:06:04:51.7575 TRx dataTimestamp_ set to:1749103492.962572PDAT read: Bearing 81.0, -47.0 (Local) ~Local bearing/azimuth received: Bearing 81.0, -47.0 (Local) DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 =DAT read: 06:04:51.7575 LVL= 8624, 20465, 10178, 12915, AGC= 26, IDX= 501, 0.08, 1.108,-0.084,-0.646, 1.452, PHS=-0.256,-1.489,-2.101, RAW= 71.0, 39.9, CAL= 69.0, 47.0, ROT= 81.0, -47.0 EYgot valid direction response: 06:04:51.7575 LVL= 8624, 20465, 10178, 12915, AGC= 26, IDX= 501, 0.08, 1.108,-0.084,-0.646, 1.452, PHS=-0.256,-1.489,-2.101, RAW= 71.0, 39.9, CAL= 69.0, 47.0, ROT= 81.0, -47.0 MR#Rx 1: Read range and direction messages.U\direction in FSK: [0.106688,0.673602,0.731354]UFpublishing direction and range infoڱyڵ بO?Li%??g?ڱYڱ ۵!)۵OI۵'i۵s2۵۵o۵۵v ܵ?)ܵaF2?Iܵ%?iܵ~Q?ܵ?ܵ~Q ݱ)ݱݵ#L.X?w⿤8s?iݵuZݵ)2ݵ?ݵ~Qm4#J?u495 IhByu<uj V?r %  BA?;^%  ꁵ ?K?bs<js<rs)-@zs_@5s:I1 9999iqE_3EEE EAAN>M ٥II MHIM M>Y]4]J?e49]6 I]gByaae?]9Ci]?:]L:]B4im?#AiZqB*** querying acoustic contact ***JRbsjsrszsI iEEEE EAAN>!DDAT read: Rx Time:06:04:52.2574 TRx dataTimestamp_ set to:1749103493.463948PDAT read: Bearing 81.9, -42.2 (Local) ~Local bearing/azimuth received: Bearing 81.9, -42.2 (Local) DAT read: Range 10 to 50 : 0.9 m (trip time 0.6 ms) speed 0.0 DAT read: 06:04:52.2574 LVL= 8688, 21169, 8466, 10307, AGC= 27, IDX= 500, 0.13, 0.111,-1.237,-1.909, 0.227, PHS=-0.028,-1.417,-2.139, RAW= 70.4, 34.3, CAL= 68.1, 42.2, ROT= 81.9, -42.2 Ygot valid direction response: 06:04:52.2574 LVL= 8688, 21169, 8466, 10307, AGC= 27, IDX= 500, 0.13, 0.111,-1.237,-1.909, 0.227, PHS=-0.028,-1.417,-2.139, RAW= 70.4, 34.3, CAL= 68.1, 42.2, ROT= 81.9, -42.2 R#Rx 1: Read range and direction messages.\direction in FSK: [0.104380,0.733414,0.671721]Fpublishing direction and range infoکyڭA?% x?O(~?ڭff?Yک ۭ!)ۭRIۭ!iۭC(ۭۭB`ۭB`ۭ` ܭnF?)ܭ@?Iܭ #?iܭ)٥   H %>Aԡ4EK?49EB6 IEeByy?E;CiEH=\CH=IH=/BH9H9H9H=Ǜ<H9:K\K?HYvvj /y `Lg J[8QEI4"A)MGa YyBGC(Mode 0.000000 count cCZAggregate::initialize lineCaptureHoming:Lap:EZbS]LAd?d?l?ʁJhڷ?_ׅx?TYN0?A?% x?O(~?c?)<ҁP,3˗?8/x?$Xs1CJ?!D?\9ܰ?j׸Y?z?>jW?rb ' B;P? BZ"?X?bsIjsIrsIzsM@yIy iEUo3EQEYE]v EYAADDAT read: Rx Time:06:04:52.7575 TRx dataTimestamp_ set to:1749103493.969776PDAT read: Bearing 82.0, -45.1 (Local) ~Local bearing/azimuth received: Bearing 82.0, -45.1 (Local)  DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 E DAT read: 06:04:52.7575 LVL= 9504, 21969, 9298, 13939, AGC= 27, IDX= 501, 0.13, 1.649, 0.409,-0.217, 1.910, PHS=-0.173,-1.454,-2.130, RAW= 70.1, 37.7, CAL= 68.0, 45.1, ROT= 82.0, -45.1 M Ygot valid direction response: 06:04:52.7575 LVL= 9504, 21969, 9298, 13939, AGC= 27, IDX= 501, 0.13, 1.649, 0.409,-0.217, 1.910, PHS=-0.173,-1.454,-2.130, RAW= 70.1, 37.7, CAL= 68.0, 45.1, ROT= 82.0, -45.1 U R#Rx 1: Read range and direction messages.] \direction in FSK: [0.098238,0.699002,0.708340]] Fpublishing direction and range infoyo%&?9^?H)E?̌?Y  %)UIR$is6Nm >&1Q ۚ?)q(?I?it;l@ @)@Iy@II; I=yQ >٥ H >4O?496 IfByX> ; ̾ ?ACiZ::P4"A-@-fAggregate::initialize lineCaptureHoming:restartDHCP1-A-$Restarting DHCP...15q5Zb~LA??w?ʁ dE}p?y g?j_]?r4BC% B V?4BC%  +??bsX>jsX>rs@zs0E@ I  DDAT read: Rx Time:06:04:53.2575  TRx dataTimestamp_ set to:1749103494.471850 PDAT read: Bearing 90.3, -46.4 (Local)  ~Local bearing/azimuth received: Bearing 90.3, -46.4 (Local)  DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0  DAT read: 06:04:53.2575 LVL= 8656, 19825, 7538, 8579, AGC= 26, IDX= 500, 0.13, 0.839,-0.103,-0.912, 1.231, PHS=-0.304,-1.287,-2.146, RAW= 62.2, 39.6, CAL= 59.7, 46.4, ROT= 90.3, -46.4 - Ygot valid direction response: 06:04:53.2575 LVL= 8656, 19825, 7538, 8579, AGC= 26, IDX= 500, 0.13, 0.839,-0.103,-0.912, 1.231, PHS=-0.304,-1.287,-2.146, RAW= 62.2, 39.6, CAL= 59.7, 46.4, ROT= 90.3, -46.4 5 R#Rx 1: Read range and direction messages.= ^direction in FSK: [-0.003611,0.689610,0.724172]E Fpublishing direction and range info y tom`(I?SFj,? Y !) qMI ri !  㥛 j X ?) ;0?i|g8,fLA I^?i4QO?n?4QO ) ]J?*g?i0n?4QO )  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.:J%sBJ%oJJ%:RJ!ZJ%K:bJ%K9J%FA4J!9uEs@u|@Yug>Լyu=uH?`}? :¿@?` ?R?`? uEs@u];)q~BII]I]<2e mB=ymQ m>٥qq uHq}߂ }>4S?49b7 IgByyھ?HCiF<<?X4%#A%Ei'A`Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.shq@NCompleted lineCaptureHoming:restartDHCP@jAggregate::uninitialize lineCaptureHoming:restartDHCPZb2LAϻ?ʁ$#p?'j/H?tom`(I?SFj,?n?4QOҁ,8ੱ?jzP@?6?tf0?*z?OO?z*?O=j Y?r % BW?;^%  -??bsqjsqrsqzsuGh@I i=Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shHq Hu IHu MBHq zE :K} YwCFz%JD0 z " mksbyW'A#r)ZdHq Hu DHu ֛<Hu EHH\CHHT =IT = I+5E] k3EY EY E] EY Aq A N >Mm8,aƹLA9E @EV@YE3?yEh=EH`ә?NT?@Ϧ iÿ qx?( F?:?@D? E @E;)E#CUDDAT read: Rx Time:06:04:53.7576 ]TRx dataTimestamp_ set to:1749103494.978591uPDAT read: Bearing 99.7, -56.8 (Local) }~Local bearing/azimuth received: Bearing 99.7, -56.8 (Local) DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 ~BI%DAT read: 06:04:53.7576 LVL= 8848, 19377, 8146, 10611, AGC= 26, IDX= 501, 0.18, 2.063, 1.599, 0.847, 2.928, PHS=-0.777,-1.282,-2.084, RAW= 52.5, 52.1, CAL= 50.3, 56.8, ROT= 99.7, -56.8 Ygot valid direction response: 06:04:53.7576 LVL= 8848, 19377, 8146, 10611, AGC= 26, IDX= 501, 0.18, 2.063, 1.599, 0.847, 2.928, PHS=-0.777,-1.282,-2.084, RAW= 52.5, 52.1, CAL= 50.3, 56.8, ROT= 99.7, -56.8 R#Rx 1: Read range and direction messages.^direction in FSK: [-0.092259,0.539735,0.836764]Fpublishing direction and range infoQyUA{FE?M?U?YQ U")UKIUiUs)QUyFUUB` Uj?)Uh?IU`?iU}?U`?U} Q)QU[$?V5+ d=?iU/UhU`?U} Q)Q 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.))=Mb@Mb@Mb@999 9)9Y=K7?&1MbPy=I >=P==V@ =+@)=@I99y=3@BAIIF2%= %=y-eQ ->٥11 5H1=彼 =>A}4EY?}49Ed8 IEfBy}>};}V?ERCiE;E;Ea4"AgCBCompleted lineCaptureHoming:Lap:EcCU^Aggregate::uninitialize lineCaptureHoming:Lap:E1]C]dAggregate::initialize lineCaptureHoming:Lap:DockedqeZQbUjse>rse{@zse Ÿ@I iD  t8, LA9ٳ@@Yy/=H?೮?mݨ`<-ſ)m?@?Xظ?`? ٳ@骵vь;)$C~BIAIeIe0- =yBQ ?٥ H ?4\?498 Iy!%,%?XCi&<&<f4)-"A1CDWaiting on dock for 5.000000 min qB*** querying acoustic contact ***JRbsjsrszsLj@I iD d9MDDAT read: Rx Time:06:04:54.2575 UTRx dataTimestamp_ set to:1749103495.486483]PDAT read: Bearing 105.7, -56.3 (Local) e~Local bearing/azimuth received: Bearing 105.7, -56.3 (Local) iDAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 DAT read: 06:04:54.2575 LVL= 7776, 17137, 8002, 7907, AGC= 25, IDX= 500, 0.38,-1.487,-1.826,-2.673,-0.598, PHS=-0.801,-1.181,-2.078, RAW= 46.8, 51.7, CAL= 44.3, 56.3, ROT= 105.7, -56.3 Ygot valid direction response: 06:04:54.2575 LVL= 7776, 17137, 8002, 7907, AGC= 25, IDX= 500, 0.38,-1.487,-1.826,-2.673,-0.598, PHS=-0.801,-1.181,-2.078, RAW= 46.8, 51.7, CAL= 44.3, 56.3, ROT= 105.7, -56.3 UR#Rx 1: Read range and direction messages.]^direction in FSK: [-0.150141,0.534144,0.831954]]Fpublishing direction and range infoIyM!7ÿO?0=^?M̌?YI M`)MBIMBiMMMVMM+M MQ?)Mqf?IM.E?iM{?M"?M{ I)IMUo?]㿝5T?iMnMfM"?M{ I)I 2Acoustic response timeoutEa3EEE EAJJOS4J@o0:JzBJuJJ;RJZJ`:bJ9J(N4JA Nn>%Querying Benthos address 50 with one ping in standard two-way mode.ԙ z8,LA9F]`@F j@YFyF=FH{?L?^`2uƿ@ra??m8?WI?`@? F]`@F;)F&CR٥11 5H1=b =>AM4E`?M49E9 IAyQUU?E^CiE:E7:El4am"Ai^@Zb"LA??G?ʁp|*ĿVJ?7YO- ?Թ!7ÿO?0=^?"?{ҁ": 8"?#AHw?ekǹ#1??K5cP"K5C9*K12K5FH>HHIHlB:K5]a~:E[l4 Igu9L[B#NHQ =HHHٛ<HEzy?jqGW?r>+ LBb '  Bꁕ6?6}?bsIjsIrsIzsM'@YIY aaaiiiCu=CuC>DMC9bEU}AZEU}AE_3EEE` EAA N5q>e*DAT read: user:647> uBDAT read: Command 'l' not found u`unknown deviceResponse_: Command 'l' not found }"DAT read: Error @unknown deviceResponse_: Error *DAT read: user:648> BDAT read: Tx time:06:04:55.1728 $Ping request sent.@ )@I@y@); I  I (2: <=yQ >٥!! %H!- ->)=4-Cf?=49-i: I-gBy=.>=;=ϾE?-hCi-eA;--J;-t4Q]"AYu}1}D}Initialize.D}dInitializing internal variables to default values.yjbs.>js.>rs@zs/@I i  ح=׭%=JDAT read: TxSync time:06:04:55.1720 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244713D)Ef3EEE EAA!N5O>9i m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4954988,!LA:JBtBJ@JJB=RJ@ZJB;N:bJ@JBg4J@96-@6@HY6Ay6ػ=6H`??OvbȿN? ŷ7? k?n? 6-@6BB;)6%C~BII-I-<2=޼ =7=y=5Q E>٥AA EHAM1 M>Q]4Ul?]49U<; IUhByae׾e?UrCiU;UB;UQ|4im#Ai„DTFound local IP address 10.89.10.2 for eth0DZNo IP address on dock subnet, restarting DHCP=Tgot command ! /mnt/mmc/LRAUV/Tools/dhcp.shbsYjsYrsYzs]@} 9I ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.748336DGGAA"% 2Commanding positive:20231H>H[CH!IHBHR =HKe ^P"Ke u9*Ka 2Ke G:Ke Ku8gjsT/]LNmgS; 0U3j{>(M;( OvHDH<HE]" dTimed out moving from: 13164 to: 16450 response: 1 -" Hardware FaultAI - e VHardware Fault in component: DockingStepperAa Nu >) 1 28,ʌ;LA9>@>B@Y>_Xy>6j=>HT? ~? 2ɿ C?`<2 ?r?`? >@>K;)>#Ci`d)d dId d)hhhhhnAilI9AIIiI IQ)Q}C }Ay}]FyхCхAIх)хdFiс)ҍ&CIҍAщщ ҉ґґґiҕŵFұٯ~BIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.998794Mb@Mb@Mb@ )Yrh|?kty= 0V@ )@I@y@II2% -@=y5VQQ 5>٥19 =H9=Hw =>IU4M9p?U49M; IIy]m>];]]?MyCiM5;M;M烀4eBm#AmE„bsm>jsm>rsL@zsp@I i" Stop ":Uninitialize Docking Stepper."Powering downbEZErEjEA)A9NM1>9i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2508218,hULA0}~B}IAAI I(2u; x=yQ  ?٥ H  ?4@s?49< IiBy?~Ci֊;;~4 #A„bs!js!rs!zs!1I9 999AiI"]StoppingAiAyN=ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503128Թ D8,t@oLAJchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759833\9b7@b@Ybyb/=bH N??6ᶿ ȿpH? |?U?(? b7@b;)b!C~BIIEIE H>HH'IHBHT =HHDHԛ<HEu >=yQ1Q  >٥9A EHAKUP"KUC9*KQ2KUH:KUp6)WOJIAA,EC J}>J}?5; >4w?49`= IjBy?Ci;;ґ4)-C#A1i„iiqbsjsrszsm@I i"StoppingA)AaN}7>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010782:J BJ }JJ 8RJ ZJ bJ S9J '4J zJ lj; jJ oj; J : rJ : A .8,&LA9V_@V @YVȡyV%k=VH >V??7ǿ@S?-@3?mN?4? V_@V~;)V$Cb~BbIhjAeMb@Mb@Mb@aaa a)aYe+?I +ye=e9aa a)en@Ie@ayeG@I}I} 2\ Y=yLQ >٥ H< ?4y?49= Iy=#<?CiX::4X#A„bs=js=rsC@zsF@I i"StoppingAA9NE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264062Aqԡ E DDAT read: Rx Time:06:04:57.3026 M TRx dataTimestamp_ set to:1749103498.512590] DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -e X#Rx 1: Read range message, but no direction.I M ?YI =m XRequesting device enable set for address 50.V8,LA9>V@>=`@Y>ey>G=>Ha?[m? ?鹿`Պƿ`Xb?̓ ̵?E?࠸? >V@>H;)٥IQ UHQyUH< }>48|?49> IkBy5?CiE;Z;4#A„bsAjsArsAzsE@yIy yyyiCCCC"StoppingA!A1N==ԩ=XRequesting device enable set for address 50. HqHu4=H}>HyHyHyH}U =HyHyH}ڛ<H}E) t>  !C sG A! )Y Ay l+BK RWP"K ȱ9*K 2K I:K H V`ciw q3 ?ziV*2;ni=J |AJ {A g8,UۼLA9:ü@:B@Y:y:T=:HFp?^?Ŀ`ts?+7?#?B? :ü@:;):"CDDAT read: Rx Time:06:04:57.8027 TRx dataTimestamp_ set to:1749103499.015278DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 - X#Rx 2: Read range message, but no direction.?Y=XRequesting device enable set for address 50.~BPExceeded connect timeout, disconnecting.I:JuzBJuzJJu<RJqZJu`:bJu9Ju [4JqzJuh;jJuj;JuI:rJuK:only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3 aI@a aM@a aQ@a aE@a IeIe(*uz  u!=y}2Q }>٥yy H,< >4h?49> ImB+:y<i%?Ci;?ݥ4)-#A)i„qqqI  i "]StoppingAqAN`>)Y k8,LA9e\>@e H@Ye9½ye=eH9?d?@ ڻ¿?@DŶ`H? NJ?മ? e\>@e1i;)e$C}~B}Ii=I<II($< =y\Q ?٥ HL= ?4E?49> I :y;ؾ?Ci;Q?M4#A„19I9 99AAiI"UStoppingAaAqN}=DDAT read: Rx Time:06:04:58.3026 TRx dataTimestamp_ set to:1749103499.520737PDAT read: Bearing 296.4, -48.5 (Local) %~Local bearing/azimuth received: Bearing 296.4, -48.5 (Local) 5DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 YmDAT read: 06:04:58.3026 LVL= 14176, 22161, 8850, 15603, AGC= 27, IDX= 500, 0.16,-1.386,-1.183, 0.261, 0.407, PHS=-1.705,-1.542,-0.149, RAW= 215.4, 39.0, CAL= 213.6, 48.5, ROT= 296.4, -48.5 uYgot valid direction response: 06:04:58.3026 LVL= 14176, 22161, 8850, 15603, AGC= 27, IDX= 500, 0.16,-1.386,-1.183, 0.261, 0.407, PHS=-1.705,-1.542,-0.149, RAW= 215.4, 39.0, CAL= 213.6, 48.5, ROT= 296.4, -48.5 uR#Rx 3: Read range and direction messages.^direction in FSK: [0.294624,-0.593517,0.748956]Fpublishing direction and range infoy "?6ғq??Y `7)VI"i<q=ڿB`ſu p@)@.?In@i8X?~@8X )*?%u&?icG?`.s8X )ԉԱ 8,LA9Jǽ@JI@YJǽyJ،=JH?@? ѕ?@|?`?`? Jǽ@Jaۊ;)J CVr~BV{I\^@AIbIbfB jX=yjһQ j>٥ll nHlrM6= r>tz4v?z49v? IvnB~9y|~;~)о~?vCivX%;v?v̬48$A1„199ZAbESLAE>E>E@ʁEq8?ҿ%?E "?6ғq?EsE8XҁE(B@ P?V ֿ@>:u?Eot?|O0S?zEE=jES?rE+H EBE Y?E?)  AEWs?E@I i"StoppingԑH}>HyH}IH}vBH}S =HyHyH}̛<A)H}EHH[CK`mP"KM9*K2KJ:K;^ShM@/*Fkrsi^TblcC(D -l2orSm8AANM>HHS =IS = IB5DDAT read: Rx Time:06:04:58.8026 %TRx dataTimestamp_ set to:1749103500.0250185PDAT read: Bearing 305.0, -37.8 (Local) 5~Local bearing/azimuth received: Bearing 305.0, -37.8 (Local) MDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 mDAT read: 06:04:58.8026 LVL= 14544, 23905, 8818, 16819, AGC= 27, IDX= 500,-0.00, 1.093, 1.030, 2.789, 2.538, PHS=-1.357,-1.461, 0.248, RAW= 206.9, 28.7, CAL= 205.0, 37.8, ROT= 305.0, -37.8 uYgot valid direction response: 06:04:58.8026 LVL= 14544, 23905, 8818, 16819, AGC= 27, IDX= 500,-0.00, 1.093, 1.030, 2.789, 2.538, PHS=-1.357,-1.461, 0.248, RAW= 206.9, 28.7, CAL= 205.0, 37.8, ROT= 305.0, -37.8 uR#Rx 4: Read range and direction messages.}^direction in FSK: [0.453214,-0.647257,0.612907]Fpublishing direction and range info!y%C Gv?^To m4? nManaging dock network, ignoring radio surface power off!Y! %8)%a]I%r"i%A!%-% %}> % g@)%;?I%d@i%[(?%X@%[( !)!%l_?P-? }?i%~?%?% u%[( !)!I I @A:J BJ JJ =RJ ZJ bJ 59J g4J zJ jJ J ;rJ ; z8,e LA9:W@:`@Y:mɽy:]'=:H s??tCz?*@@#? ?4? :W@:;):!CN[~BRmIaIeaIe aMeaMe aQeaQe aEeaEe eMb@Mb@Mb@aaa a)aYe~jt{GzQ?yeDe#eu=y Q >٥ HF'= >4с?49-? IpBT:yR=<A?Ci-;l;K4$A„ZQbULAQQU{@ʁUts?=Կr !t?UC Gv?^To m4?U uU[(ҁUYb?B3׿+}?U0?lMx 0$?zUaUh>jU[n?rU!H UBQU>+  QUl_?Ux @bs=R=js=R=rs= 5V@zs=#uP@III IIIQiY"eStoppingAyA)N==!I 5 DDAT read: Rx Time:06:04:59.3025 5 TRx dataTimestamp_ set to:1749103500.528815= PDAT read: Bearing 137.8, -51.9 (Local) E ~Local bearing/azimuth received: Bearing 137.8, -51.9 (Local) U DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 u DAT read: 06:04:59.3025 LVL= 12704, 23697, 11362, 13203, AGC= 28, IDX= 498, 0.37, 2.004, 2.374, 1.011,-3.069, PHS=-1.122,-0.792,-2.206, RAW= 17.1, 48.7, CAL= 12.2, 51.9, ROT= 137.8, -51.9 } Ygot valid direction response: 06:04:59.3025 LVL= 12704, 23697, 11362, 13203, AGC= 28, IDX= 498, 0.37, 2.004, 2.374, 1.011,-3.069, PHS=-1.122,-0.792,-2.206, RAW= 17.1, 48.7, CAL= 12.2, 51.9, ROT= 137.8, -51.9 } R#Rx 5: Read range and direction messages. ^direction in FSK: [-0.457103,0.414476,0.786935] Fpublishing direction and range info1 y5 i71-Aݿ}Ć??e.?5 >Y1 5 1)5 \I5 b,i5 35 5 5 J5 / 5 Θ>)5 Y?I5 ^ Z>i5 5g?5 @5 5g 1 )1 5 dVe@¿6?i5 忉5 oY5 @5 5g 1 )1 H8,>$LA09v"@v@YvȽyvu=vH? ?pplpI?? J_?`v? v"@vg;)v C@~B\I) II(*2 D=y=:Q >٥    H  ";= >9E4= ?M49=@? I=rByIMm@M?=Ci=o<=#p<=4%A9„999Zabe!LAeZ>eZ>e@ʁe^hD%?"G?ei71-Aݿ}Ć??e.?e@e5gҁeR5goÿc? *ã?eNx՘L'?c?ze=ejess?re?J< e.Bess?e?J<  eBe\?>e@ԉbsjsrszsiQ@I i" StoppingAAQNe>ԹGaGe@AH}>HyH}IH}WBH}U =HyHyH}<H}E K %P"K 9*K 2K K:K 7 i03\B)nVeoy{An+(+@#.6vm.<L*48,%>LA9R苿@R@YR ƽyR=RH ??躺 5`?bع I̸?V?"? R苿@Rt;)R"C\^H~BbaIeMb@Mb@Mb@aaa a)aYe|?5^Mb{Gz?yeҽeeף٥ HC= >4|?49Z? ItBy^=;C?Ci ; ;g€4$A%DDAT read: Rx Time:06:04:59.8026 -TRx dataTimestamp_ set to:1749103501.041192=PDAT read: Bearing 329.7, -53.8 (Local) =~Local bearing/azimuth received: Bearing 329.7, -53.8 (Local) MDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 }DAT read: 06:04:59.8026 LVL= 14784, 25585, 11330, 14403, AGC= 27, IDX= 502,-0.02, 0.225,-0.661, 1.102, 1.818, PHS=-1.504,-2.432,-0.718, RAW= 177.3, 47.9, CAL= 180.3, 53.8, ROT= 329.7, -53.8 Ygot valid direction response: 06:04:59.8026 LVL= 14784, 25585, 11330, 14403, AGC= 27, IDX= 502,-0.02, 0.225,-0.661, 1.102, 1.818, PHS=-1.504,-2.432,-0.718, RAW= 177.3, 47.9, CAL= 180.3, 53.8, ROT= 329.7, -53.8 R#Rx 6: Read range and direction messages.^direction in FSK: [0.509926,-0.297977,0.806960]Fpublishing direction and range info!y%2N QQ?/5X ӿf1n?%?Y! %9)%cI%B,i%C8%%%%7 % F@)%V?I%eI@i%vap?%#@%vap !)!%@J2?U$~ ?I~?i%?%UV%a%vap !)!:JYBJ]JJ]ARJYZJYbJ]h:J]4JYzJYjJ]i;J]Ki;rJ]Li;„Z!b%BLA%>%>%}^@ʁ%P5`/?{yb¿fX?%2N QQ?/5X ӿf1n?%a%vapҁ%1R?}5mʿA?%=չ?ڿh7t?z%hS%"L>j%x.j?r%D %B%S?%D  !%>%@@bs^=js^=rsR@zs*O@ I i"%StoppingA1AiNu>a 8,WLA9:'@:1@Y:½y:!}=:H?QO?ʹ$? !뺿@S??? ? :'@:U;):#CN*~BNOIIVIVb1^` ^Y=y^[;Q b>٥`` bH`fvO= f>hn4jIy?n49jx? IjuByprAr?jCij;j;jȀ4tvX%Ax„!9bsAjsArsAzsErVP@QI i"StoppingAA1NE=i5DDAT read: Rx Time:06:05:00.3025 5TRx dataTimestamp_ set to:1749103501.544498EDAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -EX#Rx 7: Read range message, but no direction.15>Y1ԑ 8,qLA9F/@F@YFyFZ=FH٥hh nHln+5= r>pz4ru?~49r? IrwBy@?rCir҇;r7;rЀ4z%A1„111bsQjsQrsQzsUQ@aIi iiiqi"StoppingԙAAH>HHIH/BHT =HHDH<HEN=K9@P"Ku9*K2KL:K"8*}igq~9rR<Fe. oj$'('R&Q$!C=DDAT read: Rx Time:06:05:00.8026 =TRx dataTimestamp_ set to:1749103502.047877MPDAT read: Bearing 141.4, -53.4 (Local) M~Local bearing/azimuth received: Bearing 141.4, -53.4 (Local) eDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:00.8026 LVL= 14800, 25137, 11442, 13987, AGC= 27, IDX= 499, 0.39,-2.049,-1.666,-2.789,-0.922, PHS=-1.039,-0.697,-1.870, RAW= 13.5, 50.7, CAL= 8.6, 53.4, ROT= 141.4, -53.4 Ygot valid direction response: 06:05:00.8026 LVL= 14800, 25137, 11442, 13987, AGC= 27, IDX= 499, 0.39,-2.049,-1.666,-2.789,-0.922, PHS=-1.039,-0.697,-1.870, RAW= 13.5, 50.7, CAL= 8.6, 53.4, ROT= 141.4, -53.4 R#Rx 8: Read range and direction messages.^direction in FSK: [-0.465962,0.371973,0.802817]Fpublishing direction and range info9y=+DQݿne?@۾F?=?Y9 =9)=1bI=,i=69==n2=)\ =:Fq>)=b?I=`>i=n?=@=n 9)9=Zƿ+|se?i==^b=@=n 9)9:JM }BJM JJI RJI ZJM [j:bJM :JI JI zJM ;jJM ;JM Z;rJM Z;! 8,LA9>B@>uL@Y>ϸy>=>H Y?3|?雷`R @? `?`=?q? >B@>Bъ;)> CN)~BRNIMb@Mb@Mb@ )YV-¿y&1/$?yh`e<l@ @)n@IV@yp@AAII2< 8=y i;Q  >٥   H]= ]>i4m4p?49m? ImyBy>;TC?mCim;m%;m؀4]%A„!!!ZibmkLAm>m>m)@ʁmZͿi?-|L{?m+DQݿne?@۾F?m@mnҁm{ûп.Ţu?1rt8?mGc,ҥoD?>Im?zm>mUjmY?rm; mBii mBm>m߶@bsu>jsu>rsuYO@zsuN@I i"StoppingAAN=)QM DDAT read: Rx Time:06:05:01.3026 M TRx dataTimestamp_ set to:1749103502.552143] PDAT read: Bearing 128.2, -52.9 (Local) ] ~Local bearing/azimuth received: Bearing 128.2, -52.9 (Local) m DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 ԙ  DAT read: 06:05:01.3026 LVL= 12576, 24273, 11602, 12643, AGC= 28, IDX= 499,-0.28,-0.536,-0.387,-1.716, 0.598, PHS=-1.045,-0.938,-2.317, RAW= 26.0, 48.9, CAL= 21.8, 52.9, ROT= 128.2, -52.9  Ygot valid direction response: 06:05:01.3026 LVL= 12576, 24273, 11602, 12643, AGC= 28, IDX= 499,-0.28,-0.536,-0.387,-1.716, 0.598, PHS=-1.045,-0.938,-2.317, RAW= 26.0, 48.9, CAL= 21.8, 52.9, ROT= 128.2, -52.9  R#Rx 9: Read range and direction messages. ^direction in FSK: [-0.373029,0.474035,0.797584] Fpublishing direction and range infoI yM ,t׿i?eV?(΅?I YI M 1)M ^IM R-iM c1M M …M pM I M V>)M |Z?IM >iM \l?M f3@M \l I )I M !Hiݵ1w$?iM ѿM W?ZM f3@M \l I )I 8,ꑥLA9v@v@YvŲyvY=vH`p?bAspa?5$lQ?@>?? v@vV;)v!Cu ~B}=II I(2d M=y);Q >٥ HJ= >4k?49? IzByhB?Ci ::ހ4 B %A E)„)))qZqbuPVLAqquEK@ʁuQǿ;0c?i;]\P?u,t׿i?eV?(΅?uf3@u\lҁuQNy ̿65[?Ga??uJo9Fܿ# 7;?]+?zuB>u[`juQ Y?ru5: uBuss?u?J<  uBu+>u2x?bsIjsIrsIzsM?O@YIY aaai"StoppingAAN% >ԙ H<H<H>H\CHIHBHQ =HHHś<HEK ~P"K *K 2K M:K jJ D  WkQ%+XPLJH[m~ U e ,   8,NbLAe~Be6I)i iqqonly read 0 of 1 data item for BIT error. Device response is::TS,25060422061938,354, 0.0,1491.6, 0 aI@a aM@a aQ@a aE@a II(*2߼ L=yQ >٥ H >ADDAT read: Rx Time:06:05:01.8027  TRx dataTimestamp_ set to:1749103503.056311PDAT read: Bearing 130.3, -65.1 (Local) ~Local bearing/azimuth received: Bearing 130.3, -65.1 (Local) -DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 MDAT read: 06:05:01.8027 LVL= 14224, 28497, 10146, 15475, AGC= 29, IDX= 500, 0.09,-2.375,-2.216,-3.015,-1.046, PHS=-1.241,-1.123,-1.972, RAW= 22.6, 62.5, CAL= 19.7, 65.1, ROT= 130.3, -65.1 ]Ygot valid direction response: 06:05:01.8027 LVL= 14224, 28497, 10146, 15475, AGC= 29, IDX= 500, 0.09,-2.375,-2.216,-3.015,-1.046, PHS=-1.241,-1.123,-1.972, RAW= 22.6, 62.5, CAL= 19.7, 65.1, ROT= 130.3, -65.1 ]T#Rx 10: Read range and direction messages.m^direction in FSK: [-0.272322,0.321111,0.907044]mFpublishing direction and range infoyhmѿ=?0??Y 7)QoI'is<ٞwj >)X?Ix >iOo?4f?49@ I|B+:y;?ƖCiA<>4%A@Oo )MIX DݿX"5e?i-ٿ¸@Oo )„ZbLAZ?Z?.r%@ʁb(I4Ŀmv?l$F?hmѿ=?0?@OoҁJø'ʿ?OTW?avֿ|3?u}{b#?z>Ujr U?rQΩ< BY? BU>I@I i"StoppingAAN (>) 8,OLA<9B.f@B@٥99 =H9Eb= E>IU4Mb?U49MD@ IM}BU :yQ]q;]A]?M͖CiM ;MJ?M4ae%Aa„I i"StoppingAAN =)DDAT read: Rx Time:06:05:02.3026 TRx dataTimestamp_ set to:1749103503.561113PDAT read: Bearing 293.9, -52.0 (Local) %~Local bearing/azimuth received: Bearing 293.9, -52.0 (Local) 5DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 UDAT read: 06:05:02.3026 LVL= 16624, 28033, 11058, 19187, AGC= 29, IDX= 500,-0.34, 2.252, 2.475,-2.609,-2.341, PHS=-1.602,-1.420,-0.270, RAW= 217.2, 42.9, CAL= 216.1, 52.0, ROT= 293.9, -52.0 ]Ygot valid direction response: 06:05:02.3026 LVL= 16624, 28033, 11058, 19187, AGC= 29, IDX= 500,-0.34, 2.252, 2.475,-2.609,-2.341, PHS=-1.602,-1.420,-0.270, RAW= 217.2, 42.9, CAL= 216.1, 52.0, ROT= 293.9, -52.0 ]T#Rx 11: Read range and direction messages.e^direction in FSK: [0.249430,-0.562871,0.788011]mFpublishing direction and range infoyS?굧 &+Ob7??Y @)mI2+iJVͿµq= _r@)֭??Ibq@iVh? %@Vh ):tA-Z\=?Zf!?i{;??7Vh ):J=vBJ=wJJ=>RJ9ZJ={T:bJ=9J=t4J9E@E@E@E@Qy .8,LA 24=0@9F@F٥    H 9e< >!H>HHIH~BHT =HHH<HE4ʼnG%<]? }rYytA49%w@ ԱI%B9yC;@?%ՖCi%ķ=%4?%4!%%AQK:P"K9*K2KN:K-nMuQB#8OrM?Nmz„ZIbMGLAM>M>M@ʁM/Š?xѿ?MS?굧 &+Ob7?M7MVhҁM{{?ۇhjUԿPG?MjۯV6?M%i俎gWw?zMM=jMse?rMH MBIMQΩ<  IM.>M?yIy yyi"StoppingAANH>5DDAT read: Rx Time:06:05:02.8026 ETRx dataTimestamp_ set to:1749103504.067348]PDAT read: Bearing 271.6, -51.5 (Local) ]~Local bearing/azimuth received: Bearing 271.6, -51.5 (Local) mDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:02.8026 LVL= 16976, 28337, 11410, 15779, AGC= 31, IDX= 500, 0.11,-2.065,-1.365 0.319, PHS=-2.296,-1.637,-0.447, RAW= 230.6, 43.7, CAL= 238.4, 51.5, ROT= 51.5 unknown deviceResponse_: 06:05:02.8026 LVL= 16976, 28337, 11410, 15779, AGC= 31, IDX= 500, 0.11,-2.065,-1.365 0.319, PHS=-2.296,-1.637,-0.447, RAW= 230.6, 43.7, CAL= 238.4, 51.5, ROT= 51.5 -Z#Rx 12: Read range message, but no direction.99Y9II II 9, LAI)9>h@><=y>\=>H?Ke}?l? 䰲? O?[? >h@>0;)>CR~BR@I V=V=lzonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 77.08, 67.23, 68.25, I~I~F2 K;  J=y  ٥ H; >!-4%`X?-49%@ I%B-9y)-;-@-?%ܖCi%:%?%4AE%AIa„aai I  1i9"uStoppingAAN=9a ! % A- DDAT read: Rx Time:06:05:03.3025 - TRx dataTimestamp_ set to:1749103504.5676825 DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -= Z#Rx 13: Read range message, but no direction.) - >Y) :J] pBJ] sJJ] :RJY ZJ] A:bJ] 9J] FA4JY R 9,'LA9Jv@JaIIn InV2vVݻ vJ=yzB*٥! %H!%1 %>)54-qS?U49-@ I-B]9yY];]@]?-Ci-;-N@-#4ae%Ai„I i"-StoppingA9AIN}=AG}?AGyH>HHIH~BHHHH<HEHU\CHQHQHUT =IUT = IU 5 K VP"K 9*K 2K O! :K x0 , IR ;@8_B['hqpQ2) V]89,d@LA9>P&@>;Y>'y>=>H`?,2F`m p??`8@?? ? >P&@>F;)>CDDAT read: Rx Time:06:05:03.8026 TRx dataTimestamp_ set to:1749103505.071833PDAT read: Bearing 110.6, -53.3 (Local) ~Local bearing/azimuth received: Bearing 110.6, -53.3 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 5DAT read: 06:05:03.8026 LVL= 9008, 5217, 12562, 9779, AGC= 29, IDX= 2,-0.09, 2.435, 2.202, 1.311,-3.083, PHS=-0.677,-0.951,-1.891, RAW= 42.4, 48.4, CAL= 39.4, 53.3, ROT= 110.6, -53.3 =Ygot valid direction response: 06:05:03.8026 LVL= 9008, 5217, 12562, 9779, AGC= 29, IDX= 2,-0.09, 2.435, 2.202, 1.311,-3.083, PHS=-0.677,-0.951,-1.891, RAW= 42.4, 48.4, CAL= 39.4, 53.3, ROT= 110.6, -53.3 ET#Rx 14: Read range and direction messages.M^direction in FSK: [-0.210269,0.559413,0.801776]MFpublishing direction and range infoysʿ?_ԉa%??Y 0#)aI1IC=Ii3&O-tsJ q=?)@X?Ix 0?i%n?0?%n )zD?俟4&Q?iMWuX0?%n )!U~BUFIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Y㥛 Q?Mb`yu<@ A@)@I?@y@I I̍2< =yO;Q >٥ H` >!-4%O?-49%@ I%B5T:y5=52<54<@5?%Ci%;%;%-49=%AEEQa„aaaZbDLA'6@ʁv/ Axx?Yr?sʿ?_ԉa%?0?%nҁ-[V3? B?{FѿIlq?kM|?zi>j:eD?rr: BQ Y?;  *V>Y?bs=js=rs<@zs4<@) I) ) 1 1 1 i9 "E StoppingAQ A N >ԁ Zc9,)ZLA9B@B@YBuyB=BH?cj?w!@ ? |պ? a? 8? B@Bu;)BC L)N߀AɵNYN٧FLPɶPiR94IPPITiT TT)TX XXXɷX``I`)`id)dIddɸd dɹhhhihhill)l pIpٯpv~BvGII~I~  <  =y H9H9H9H=Q =H9H=DH=<H=E9F @)@YΉby=H@?@'? ޻}`?@4M??@? F @骝;)/~BRIԱIIF2= 0=y&٥ H!5S =>Qu4UK?}49UT@ IUBy*:@?UCiUW?7? <=#ȿ 2L?Y&*B?z `> ýj C?r ֍:  B r U? 5:  B o> "?bsjsrszs*:@I i"StoppingAANEQ>DDAT read: Rx Time:06:05:04.8027 TRx dataTimestamp_ set to:1749103506.079892PDAT read: Bearing 104.8, -54.1 (Local) ~Local bearing/azimuth received: Bearing 104.8, -54.1 (Local) DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 %DAT read: 06:05:04.8027 LVL= 8576, 14577, 9282, 9779, AGC= 25, IDX= 498,-0.02, 2.988, 2.622, 1.780,-2.523, PHS=-0.684,-1.091,-1.983, RAW= 47.8, 49.1, CAL= 45.2, 54.1, ROT= 104.8, -54.1 5Ygot valid direction response: 06:05:04.8027 LVL= 8576, 14577, 9282, 9779, AGC= 25, IDX= 498,-0.02, 2.988, 2.622, 1.780,-2.523, PHS=-0.684,-1.091,-1.983, RAW= 47.8, 49.1, CAL= 45.2, 54.1, ROT= 104.8, -54.1 5T#Rx 16: Read range and direction messages.=^direction in FSK: [-0.149786,0.566919,0.810042]=Fpublishing direction and range infoy:>3,ÿnJ2$?)m&l??Y !)8IB$i3&/㥋 U?)a[?II?iq? ?q )%cͪ?R{㿽l30?i7d[ ?q ) 1 u#9,VLA9F@FM@YFVPyFd_=FHp?S?X ? ?`S?@ ? F@Fa/;)F C=8~B=WIMb@Mb@Mb@ )Y~jt{Gzyļ̼#@ )@I@y=@IIe8< eS=ye/=٥ii mHiuBJ u>y4}J?49}@ I}}By=<:?}Ci}fs;}Ir;}4%A„Z b LA Z? Z? h?ʁ fPҶ>ߗ?cG? :>3,ÿnJ2$?)m&l?  ? qҁ I톌^?R\?  )Iſfu].?i}?z > нj F9B?r 8  "B :eD? r:  B s> ?bs=js=rs#|@zsKx@!I! !!!1i9"EStoppingAaANU>9a  DDAT read: Rx Time:06:05:05.3026  TRx dataTimestamp_ set to:1749103506.584803 PDAT read: Bearing 99.2, -53.0 (Local)  ~Local bearing/azimuth received: Bearing 99.2, -53.0 (Local) 5 DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 u DAT read: 06:05:05.3026 LVL= 6736, 16593, 7922, 8947, AGC= 25, IDX= 497,-0.09,-2.905, 2.854, 2.048,-2.199, PHS=-0.618,-1.183,-2.039, RAW= 53.3, 47.6, CAL= 50.8, 53.0, ROT= 99.2, -53.0  Ygot valid direction response: 06:05:05.3026 LVL= 6736, 16593, 7922, 8947, AGC= 25, IDX= 497,-0.09,-2.905, 2.854, 2.048,-2.199, PHS=-0.618,-1.183,-2.039, RAW= 53.3, 47.6, CAL= 50.8, 53.0, ROT= 99.2, -53.0  T#Rx 17: Read range and direction messages.J;|a4J;2`4J;0:J vBJ uJJ 8RJ ZJ {T:bJ 9J '4J = ^direction in FSK: [-0.096219,0.594073,0.798636]E Fpublishing direction and range info y SH>̡?M?|>l? ?Y P) @I i " ?5 l ~ %n?) ȭT?I b?i hl? k? hlǞ)9,YLA49b߿@bv@Yb@yb=bH??󇫿*`?`?Ȼ?? b߿@b;)bCjP~BnfI !)!%LQ ?-،?i%%T%k?%hl !)!I I <˄= ]b=y]0٥ii mHqu` u>y4} J?49}@ I}zBy?}Ci}.:}\:}4$AA„AAIZ!b%jmLA%>%>%J?ʁ%n} ,5?fY?%SH>̡?M?|>l?%k?%hlҁ%Y-n՜>?m4.?%v*0ݽȥ`? 1 JK?z%>%Oj%E?r%: %B!% ֍:  !%={>%m?bs)js)rs)zs-ˌw@AIA AAAIiQ"]StoppingԉAAN= H<H4=H5>H1H1H1H5R =H1H5DH5<H5 E K] (P"K] M9*KY 2K] Q:K] v2[ R~1&;2F[?>{7xO 4[_5{'u8bF>09, 3LA9F9=@FF@YF$3yFH=FH &??$:J?<`Lr?@^l?? F9=@FT;)FCrE~Br_IDDAT read: Rx Time:06:05:05.8027 TRx dataTimestamp_ set to:1749103507.088011PDAT read: Bearing 93.5, -50.4 (Local) ~Local bearing/azimuth received: Bearing 93.5, -50.4 (Local) DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 06:05:05.8027 LVL= 7824, 18385, 8690, 9139, AGC= 26, IDX= 498,-0.13,-0.137,-0.870,-1.648, 0.437, PHS=-0.486,-1.260,-2.087, RAW= 58.9, 44.3, CAL= 56.5, 50.4, ROT= 93.5, -50.4 Ygot valid direction response: 06:05:05.8027 LVL= 7824, 18385, 8690, 9139, AGC= 26, IDX= 498,-0.13,-0.137,-0.870,-1.648, 0.437, PHS=-0.486,-1.260,-2.087, RAW= 58.9, 44.3, CAL= 56.5, 50.4, ROT= 93.5, -50.4 T#Rx 18: Read range and direction messages.%^direction in FSK: [-0.038914,0.636235,0.770513]%Fpublishing direction and range infoڡyڥ3ƒ죿s \?d/c ?ڥ?Yڡ ۥ)ۥGIۥ!iۥ#ۥۥۥGۥhY ܥx?)ܥ.E?Iܥq|?iܥz0a?ܥ?ܥz0a ݡ)ݡݥ z?"Y ʮ]?iݥ|ݥFݥ?ݥz0a ޡ)ޡMb@Mb@Mb@ )Y&1?i|?5{Gz?y=qף< @ "@)@I@yG@II(1翼 /=y ;Q  >٥ 9 EHAE]/ E>4M?49A I~By=; ?Ci::4$A„iiqZbLAZ?Z?ԁ_?ʁ'/;?% Y?3ƒ죿s \?d/c ??z0aҁL#?,u?n@:ƫ"+ڽ?kOI?z>jjؕ~L?r8  B:  Bꁥ>?bs=js=rsG@zs@AIA AIIIiQ"}StoppingAAN%n>ԩ 69,0LA9:@:@Y:+y:u=:H?ù?x O?广p?&?? :@:߫;):!CR\~BRnI)X XI^I^fa= fw=yfF;Q j?٥hh jHhnl r ?pv4r[P?v49r:B IrByxzk%z?rCir4:r:rd#4$AE„bsAjsArsAzsElb@I Աi"StoppingAANE=ססDDAT read: Rx Time:06:05:06.3026 TRx dataTimestamp_ set to:1749103507.593375PDAT read: Bearing 85.0, -48.2 (Local) ~Local bearing/azimuth received: Bearing 85.0, -48.2 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:06.3026 LVL= 7088, 19569, 7538, 9779, AGC= 25, IDX= 497,-0.12,-1.086,-2.116,-2.756,-0.661, PHS=-0.336,-1.407,-2.098, RAW= 67.1, 41.5, CAL= 65.0, 48.2, ROT= 85.0, -48.2  Ygot valid direction response: 06:05:06.3026 LVL= 7088, 19569, 7538, 9779, AGC= 25, IDX= 497,-0.12,-1.086,-2.116,-2.756,-0.661, PHS=-0.336,-1.407,-2.098, RAW= 67.1, 41.5, CAL= 65.0, 48.2, ROT= 85.0, -48.2  T#Rx 19: Read range and direction messages.\direction in FSK: [0.058092,0.663996,0.745476]Fpublishing direction and range infoڹyڽudA?Ct???Mx?ڽ?Yڹ ۽)۽qLI۽ri۽3&۽۽1۽۽E ܽ ?)ܽ}l9?Iܽ6?iܽ\W?ܽN?ܽ\W ݹ)ݹݽ]?8!J.?iݽ^lݽ19ݽN?ݽ\W ޹)޹ A <9,6LAH^>H\H^IH^~BH^S =H\H\H^<H\9@@YbP)y =H=???ݿ֗?@O@(?`κ?`? @7f;) C^~BoII I F2; 5=y%:Q %>٥!! %H)-, ->1=45S?=495C I5ByAE@*E?5Ci5z:5e:5G+4IM$AQ„ZbLA>>U?ʁ+C}?\NT?ef?udA?Ct???Mx?N?\WҁšQ֘?+e=?äc?ziU̸?#)Ac?d?z>D=j&W?r; BE? > @bsjsrszsdz@I !i"StoppingAYAN*>KE4P"KEȱ9*KA2KER:KEm3 W'uRzNAor=> gn5j5 &DSuTiDDAT read: Rx Time:06:05:06.8026 TRx dataTimestamp_ set to:1749103508.098146PDAT read: Bearing 84.9, -48.4 (Local) ~Local bearing/azimuth received: Bearing 84.9, -48.4 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:06.8026 LVL= 8096, 20113, 8626, 12003, AGC= 26, IDX= 497,-0.10,-0.523,-1.558,-2.198,-0.092, PHS=-0.343,-1.419,-2.109, RAW= 67.2, 41.6, CAL= 65.1, 48.4, ROT= 84.9, -48.4 Ygot valid direction response: 06:05:06.8026 LVL= 8096, 20113, 8626, 12003, AGC= 26, IDX= 497,-0.10,-0.523,-1.558,-2.198,-0.092, PHS=-0.343,-1.419,-2.109, RAW= 67.2, 41.6, CAL= 65.1, 48.4, ROT= 84.9, -48.4 T#Rx 20: Read range and direction messages.\direction in FSK: [0.059019,0.661298,0.747798]Fpublishing direction and range infoکyڭr7?QY)?I?کYک ۭ)ۭNIۭ!iۭ.ۭۭۭˡۭ ܭQ ?)ܭ9?IܭOo?iܭ@X?ܭ?ܭ@X ݩ)ݩݭC?-l -]]>?iݭmkݭ+9ݭ?ݭ@X ީ)ީIIBA:JyBJxJJ;RJZJ]:bJ9J(N4JzJ;jJ;J:rJ :A C9,LA09>w@>3@Y>8,y>Hݥ?`t?@̬ &¿@*?@ָ`? ?@Q? >w@>[;)>CRp~BRzIMb@Mb@Mb@ )YʡE?x&Mb`?y-=7;d@ @)Iy@)4< <I I24= R=yQ >٥ H7 >4lV?49C Iy=;K? Ci::24  <$A1„111ZbHLA`?ʁC?\g?"D?r7?QY)?I??@XҁUF?c/u? ? V?fA??zߐ>X=jSZ?rks< Bؕ~L? B'>A?-DDAT read: Rx Time:06:05:07.3026 =TRx dataTimestamp_ set to:1749103508.350685MPDAT read: Bearing 93.5, -48.8 (Local) U~Local bearing/azimuth received: Bearing 93.5, -48.8 (Local) bs=js=ԑrs@zsj@I 1i9"StoppingAAN#>Թ  DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 06:05:07.3026 LVL= 8384, 18753, 8098, 8179, AGC= 26, IDX= 496,-0.03,-1.791,-2.567, 2.901,-1.275, PHS=-0.428,-1.244,-2.110, RAW= 59.0, 42.5, CAL= 56.5, 48.8, ROT= 93.5, -48.8  Ygot valid direction response: 06:05:07.3026 LVL= 8384, 18753, 8098, 8179, AGC= 26, IDX= 496,-0.03,-1.791,-2.567, 2.901,-1.275, PHS=-0.428,-1.244,-2.110, RAW= 59.0, 42.5, CAL= 56.5, 48.8, ROT= 93.5, -48.8  T#Rx 21: Read range and direction messages. ^direction in FSK: [-0.040212,0.657461,0.752415] Fpublishing direction and range info y #Z ?ԏs? Y ) AII i  "۾ d; =  ΃?) N=?I q|?i ^ Z? ? ^ Z )  ?lHlтN?i < 0> ? ^ Z ) *I9,j)LA9:0@:@Y:3y:KW=:H??{DĿr? 4c|?2x?%? :0@:I;):C`f|~BjIilIn<I%I%b15@= 5U=y=Q =>٥9A EHAM2 M>y4}X?49}D IyyGP?}Ci}:}P:}84 $A„ZbN&LA{?ʁ.(kvʗ:?t}T?#Z ?ԏs??^ Zҁg~?d|ވo?.#9|?+?I!?E/ ?z|><jybY?r"=  B&W?;  >:?bsjsrszs@I i"StoppingAAN-=)EDDAT read: Rx Time:06:05:07.8027 MTRx dataTimestamp_ set to:1749103508.855634mPDAT read: Bearing 102.4, -58.8 (Local) u~Local bearing/azimuth received: Bearing 102.4, -58.8 (Local) DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -Z#Rx 22: Read range message, but no direction.G@AG?AH>HHIH~BHHHH<HEԑAE?YA C5GIa iYykA & TFailed to parse incomplete device message.\P9,zCLA9Bq@B{@YB7?yB.=BH`{?z?`J@Q.ƿ_? ?i?P? Bq@B;)@n~BnIԙDAT read: 06:05:07.8027 LVL= 7408, 15169, 7666, 7699, AGC= 28, IDX= 1, 0.06,-0.555,-0.928,-1.664, 0.384, PHS=-0.851,-1.265,-2.051, RAW= 49.9, 54.4, CAL= 47.6, 58.8, ROT= 102.4, -58.8 Ygot valid direction response: 06:05:07.8027 LVL= 7408, 15169, 7666, 7699, AGC= 28, IDX= 1, 0.06,-0.555,-0.928,-1.664, 0.384, PHS=-0.851,-1.265,-2.051, RAW= 49.9, 54.4, CAL= 47.6, 58.8, ROT= 102.4, -58.8 Z#Rx 23: Read direction message, but no range.^direction in FSK: [-0.111239,0.505943,0.855364]ځyڅF#z4C0? $_?Yځ ۅ)ۅA;Iۅiۅۅۅ#Yۅ롿ۅC ܅^?)܅s?I܅ȭT?i܅G\?܅?܅G\IR=Ip=:JuBJJJ<RJZJ[Q:bJJ [4JzJo;jJo;JrJ ݁݅ HQ?"ͭM?i݅嵜݅yr݅?݅G\=Mb@Mb@Mb@999 9)9Y=y&1?p= ףy=`===9 = @)=@I99y==@IuIu(*< *=yQ >٥ H1 >4\?49E Iy>;x2?Ci=::[A4#AA„AAAZqbu6LAuZ?uZ?u? ?ʁuvTSIE?1J?uF#z4C0? $_?u?uG\ҁu+zJ_z)n?@$ "?u`m6qD4?F!h$?zu>uz@ju=X?ru'j> uUBu=X?uks<  u Bu>uT?bs>js>rs<@zs@I i"StoppingAAINUT>M DDAT read: Rx Time:06:05:08.3026 U TRx dataTimestamp_ set to:1749103509.358673m PDAT read: Bearing 108.5, -57.1 (Local) u ~Local bearing/azimuth received: Bearing 108.5, -57.1 (Local)  DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 - Z#Rx 24: Read range message, but no direction.I M ?YI ! W9,p`]LA9:g@:@Y:F;Ny:r=:He??}CǿM?hĩ?`9? v? :g@:;)8N~BNITVBAIVIV(*2~O< ~=y~=Q  ?٥    H,  ?%4_?%49zF IBy)-5-?Ci::F41=#A9Y„YYYbsyjsyrsyzs}9S@I i"StoppingAAN=DAT read: 06:05:08.3026 LVL= 8800, 16305, 9490, 9427, AGC= 25, IDX= 496, 0.28, 2.227, 1.965, 1.123,-3.137, PHS=-0.832,-1.134,-2.027, RAW= 44.1, 52.7, CAL= 41.5, 57.1, ROT= 108.5, -57.1 Ygot valid direction response: 06:05:08.3026 LVL= 8800, 16305, 9490, 9427, AGC= 25, IDX= 496, 0.28, 2.227, 1.965, 1.123,-3.137, PHS=-0.832,-1.134,-2.027, RAW= 44.1, 52.7, CAL= 41.5, 57.1, ROT= 108.5, -57.1 Z#Rx 25: Read direction message, but no range.^direction in FSK: [-0.172352,0.515105,0.839620]ځyڅwƿ {?u*u*?Yځ ۅ`")ۅ?Iۅ%iۅ$ۅۅTۅ&ۅ^ ܅j E?)܅Cwk?I܅}l9?i܅ ?܅.d?܅  ݁݅Cs?uu_Rr?i݅t݅_k݅.d?݅ !Iy E =E <+]9,>wLA&DDAT read: Rx Time:06:05:08.8027 .TRx dataTimestamp_ set to:1749103509.873413:PDAT read: Bearing 108.8, -52.9 (Local) HJ>HHHJIHJBHJR =HHHHHJ<HJEH9H=\CH9H=R =I=R = I=t5~Local bearing/azimuth received: Bearing 108.8, -52.9 (Local) DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 06:05:08.8027 LVL= 8176, 9585, 10210, 9443, AGC= 28, IDX= 2,-0.44,-0.074,-0.369,-1.303, 0.704, PHS=-0.690,-1.026,-2.010, RAW= 44.1, 48.0, CAL= 41.2, 52.9, ROT= 108.8, -52.9 9=z@=)@Y=\`y=#S==H$S?`i?ɲ`v2ɿ ??`d?@չ?? =z@=ы;)=CI}Ygot valid direction response: 06:05:08.8027 LVL= 8176, 9585, 10210, 9443, AGC= 28, IDX= 2,-0.44,-0.074,-0.369,-1.303, 0.704, PHS=-0.690,-1.026,-2.010, RAW= 44.1, 48.0, CAL= 41.2, 52.9, ROT= 108.8, -52.9 }T#Rx 26: Read range and direction messages.^direction in FSK: [-0.194393,0.571026,0.797584]Fpublishing direction and range info(y*`*ȿZ E?(΅?*?Y( *)*q%I*'i*$**ף0*S*ף ()*PwV?I*X8?i*\l?*?*\l ()(* 4c?($\%?i*d*5?V*?*\l ()(ԁKP"K*K2KT:KO#XAL DzrX /A3!e_ zuD4zԡ:JtBJ~JJ?RJZJ;N:bJf9Jـ4JzJmj;jJoj;J:rJ: ~B I) U Mb@Mb@Mb@Q Q Q Q )Q YU K7A?:vyU >U TQ Q U )U @IU @Q yU @Im Im 2} ;  ٥  H 0v  z>  4 if? 49 G I By > ;  ? +Ci ; ; MS4 #A  „   Z(b*wLA((*a?ʁ*YҸ՝`߿?>)Q`?*`*ȿZ E?(΅?*?*\lҁ*NQw0?Tq4o?*GK;K+?2tO?z*>*j*g[e_?r*]? *IB*ybY?*"=  (*b>*? bs >js >rs <@zs rW@ I  i "% StoppingA9 AI NU >d9,dLA9tm@#w@Y2.vy+=H@D?R?<-'ʿ@4?@?`O[?? tm@,;)Ci)ף I sC)A!!!%C%Ai%I%ԡF)I-Ci-A --F))Q UA]ף]-FY]CYIY)Yia)e3CIaaa aiiiiiiٯ~BIII(1D= '>y~0Q ?٥  HSw %?Ա4g?491H  DDAT read: Rx Time:06:05:09.3026 TRx dataTimestamp_ set to:1749103510.367013-PDAT read: Bearing 110.7, -49.6 (Local) 5~Local bearing/azimuth received: Bearing 110.7, -49.6 (Local) ]DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -Z#Rx 27: Read range message, but no direction.  ?Y Iy?-Ci'=h.=U4#A1„111bsqjsqrsqzsu@I i"StoppingAA!N-->  DAT read: 06:05:09.3026 LVL= 11488, 11601, 13650, 10931, AGC= 26, IDX= 497,-0.34,-1.360,-1.637,-2.652,-0.684, PHS=-0.588,-0.906,-1.971, RAW= 42.7, 44.3, CAL= 39.3, 49.6, ROT= 110.7, -49.6  Ygot valid direction response: 06:05:09.3026 LVL= 11488, 11601, 13650, 10931, AGC= 26, IDX= 497,-0.34,-1.360,-1.637,-2.652,-0.684, PHS=-0.588,-0.906,-1.971, RAW= 42.7, 44.3, CAL= 39.3, 49.6, ROT= 110.7, -49.6  Z#Rx 28: Read direction message, but no range. ^direction in FSK: [-0.229094,0.606280,0.761538]ڙ yڝ m/PRͿap0f?#L̓^?Yڙ ۝ ,)۝ Q-I۝ R5i۝ *۝ ۝ +۝ g۝ I ܝ >?)ܝ .E?Iܝ /?iܝ k]?ܝ aN?ܝ k] ݙ ݝ Z? ?V5r6[?iݝ 컬ݝ AFݝ aN?ݝ k]1 N;j9,)LA]~B]IIm ImV2 ȼ L=yQ >٥ H >4kk?49H IBy?4Ci:L:l\4#A„bsAjsArsAzsAQIY YYYYia"mStoppingAyAN= -DDAT read: Rx Time:06:05:09.8027 5TRx dataTimestamp_ set to:1749103510.8724539ePDAT read: Bearing 110.9, -52.8 (Local) m~Local bearing/azimuth received: Bearing 110.9, -52.8 (Local)  HH<H>H[CHIH9BHT =HHH<HEDAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 06:05:09.8027 LVL= 8992, 6593, 11538, 8979, AGC= 28, IDX= 2,-0.42, 1.164, 0.921,-0.021, 1.944, PHS=-0.692,-0.975,-1.968, RAW= 42.2, 47.9, CAL= 39.1, 52.8, ROT= 110.9, -52.8 %Ygot valid direction response: 06:05:09.8027 LVL= 8992, 6593, 11538, 8979, AGC= 28, IDX= 2,-0.42, 1.164, 0.921,-0.021, 1.944, PHS=-0.692,-0.975,-1.968, RAW= 42.2, 47.9, CAL= 39.1, 52.8, ROT= 110.9, -52.8 %T#Rx 29: Read range and direction messages.-^direction in FSK: [-0.215683,0.564819,0.796530]5Fpublishing direction and range info)y-c˿=U,?^H,}?-?Y) - #)-I--i-#--&1-y-m -)Jri>v~BzIi%ee;el@ a)e@Ie@aye@I} I}(2 = ?=y?ؼQ >٥ Hg >4o?49I IByh>;:JuBJsJJ9RJZJ[Q:bJ9Jc44JzJo;jJo;J5:rJ6:ݾ?;Ci[;ش;c4#A „ZYb]EַLAYY]~?ʁ]`n}itP?,'V?]c˿=U,?^H,}?]?]kҁ]AK}:?k7MD?]}ߡſ?L&?z]ա>]ͽj] =g?r]3b@A ]LB]SZ?]'j>  ]IB]>]@qbsh>jsh>rs@zsu5@I i"-StoppingA9AqN}>ԙ  < 5 DDAT read: Rx Time:06:05:10.3026 E TRx dataTimestamp_ set to:1749103511.376181] PDAT read: Bearing 113.1, -52.7 (Local) m ~Local bearing/azimuth received: Bearing 113.1, -52.7 (Local)  DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 - Z#Rx 30: Read range message, but no direction.9 = ?Y9 Mw9,LAL9Nt@Nc~@YNyN=NH /٥ H0< >4os?49J IBy۾?ACiz::ej4B#AE„bsjsrszs^U@I i!"-StoppingA9AIN]=DAT read: 06:05:10.3026 LVL= 12720, 7313, 15938, 12659, AGC= 27, IDX= 497,-0.50, 1.343, 1.157, 0.217, 2.119, PHS=-0.688,-0.915,-1.905, RAW= 40.1, 47.9, CAL= 36.9, 52.7, ROT= 113.1, -52.7 Ygot valid direction response: 06:05:10.3026 LVL= 12720, 7313, 15938, 12659, AGC= 27, IDX= 497,-0.50, 1.343, 1.157, 0.217, 2.119, PHS=-0.688,-0.915,-1.905, RAW= 40.1, 47.9, CAL= 36.9, 52.7, ROT= 113.1, -52.7 Z#Rx 31: Read direction message, but no range.^direction in FSK: [-0.237752,0.557401,0.795473]iymټťnοE:? Ԅt?Yi m1)mImB>ims1mm 0mq=jm m$+3?)iIm$?imCwk?m?mCwk im,?v}&H?im~mUm?mCwk! % DDAT read: Rx Time:06:05:10.8026 - TRx dataTimestamp_ set to:1749103511.8764425 DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -= Z#Rx 32: Read range message, but no direction.) ) Y) w}9,zLAHHHIHWBHHHH<HE%~B%I)-@AI1I1= =?=y=Q E>٥AA EHAM M>Qm4Uw?49UJ IUBy?UHCiU ]>]?ʁ]V`/*y%?Д??]ټťnοE:? Ԅt?]?]Cwkҁ]~b8:M#?-I1?]Kr=mɿP?Ȝ0h?z]A>]ɽj]K="7P"K=89*K92K=V:K=}ehZ?7D_wu_dGN w^ci\JE~AJE}Ayԡ S_9,VLA9>@> @Y>zy>C*=>HcP?p?(@ǿU?`"}`g?E? :? >@>Z;)>Cf~BfI)h hԁMb@Mb@Mb@ )Y|?5^?٥    HH/= >9M4=9{?M49=J I=ByM:=U;UzU?=NCi=.F;=3";=x4Y]#AYy„yyybs:=js:=rs)1>zs`@I iDDAT read: Rx Time:06:05:11.3025 TRx dataTimestamp_ set to:1749103512.379591DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -Z#Rx 33: Read range message, but no direction.>Y"StoppingAAN%=ԡ I I AA:J zBJ yJJ ?RJ ZJ `:bJ 9J ـ4J  @ @ @ @鈊9,/,LA9:g@:Tq@Y:ANy:;=:H_?E?n`eDƿ g?淴K? ?͵? :g@:Պ;):C~~B~II I  2-]< -Z=y- ٥11 5H15 = =>AE4Ey~?M49EJ IEByIMM?ESCiE:Ea:E\4Q]#AYy„yyybsjsrszs@I i"StoppingA AyN=DDAT read: Rx Time:06:05:11.8026 TRx dataTimestamp_ set to:1749103512.883467DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -Z#Rx 34: Read range message, but no direction.?YG!G%AAH->H)H-IH-bBH)H)H)H-Y<H-,E1i t9,3FLAK:w#P"K:9*K82K:W:K:v[AH;Kj0&g,n @TUa]$1\JB>JB>9VI@V@YV½yVf=VHfr?$"?{hUĿ p{?6U?@I?@? VI@V ";)VCb~BbIMb@Mb@Mb@ )Y)\(?Mbp? rh?yGa=;C<7@ @)O@I7@y(@II(*2A >=ynQ >٥ H j=  >1=4f?E49J IByM]l=MeYԱ 9,!_LA9f@fU@Yfǽyfc0=fH߇? O?@,:?Z@?V?q? f@fщ;)fCvz~BzIiz٥! %H!%O= %>)54-?549-J I-By1ʽ?-XCi-B<-B<-o4$A„bs)js)rs)zs-~@AIA AAAIiI"}StoppingAԑAN=IMA:JwBJ{JJ:RJZJW:bJ-9JFA4JԹ1 I a _Y y aA DDAT read: Rx Time:06:05:12.8026  TRx dataTimestamp_ set to:1749103513.891961H% >H! H% IH% lBH% U =H! H% DH% <H% E= DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -E Z#Rx 36: Read range message, but no direction.  ?Y I ՝9,zLA9>1+@>4@Y>rɽy>-=>H?@?S | e?%@W3?`8?? >1+@>&;)<5m~B5xIIeIe<uK B=y.Q >٥ HF= >4?49J IBy?[CiN;;4 N$A A„IIIbsjsrszs@I i"StoppingA A!N==K]*P"K]9*KY2K]X:K]  O :\$?u@P/}o\zW [JiJm~AA ^9,mLAXe~BsIUMb@Mb@Mb@QQQ Q)QYUMbPMbP~jt?yUUUYڙyQ >٥ H >4Ճ?49J IBy< =H?i; ;4m$A „  bs-<js-<rs-S{@zs-(t@9IA AAAIiI"UStoppingAaAqN=aԑԹ :J zBJ JJ <RJ ZJ `:bJ y9J [4J 9,sLA9JC@J@YJg2ƽyJM[=JH@{?̢?ṿ/?@g?6?`? JC@JV;)JC-Y~B-kI)1 1I= I=V2MJ Ma=yUʦ;Q U>٥QY ]HYeO> m>q}4u?}49uJ IuBy?qiu;u::uآ4$Aԙ„bsjsrszs@{@I i" StoppingAA)N==DDAT read: Rx Time:06:05:13.8026 TRx dataTimestamp_ set to:1749103514.899338DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -Z#Rx 38: Read range message, but no direction.ڡڥ?YڡHHZCHIHWBHW =HHHٛ<HEHm[CHm[CHiHmT =ImU = Im-5! /Ա9,LAKNP"KNȱ9*KL2KNY:KN O h] ` R  9r_4   ^]hK@,DY SJR?JR ?X~BMb@Mb@Mb@ )YT㥛 Mb`?S㥛?y;/<z@ "@)O@Iy@I5I5<e. e:=yuQ u>٥yy H >4J?49J IByo=A<F@?_Ci ; ;4$A„bso=jso=rsG@zs+F@I i"StoppingAA)N5 >ADDAT read: Rx Time:06:05:14.3026 TRx dataTimestamp_ set to:1749103515.403483DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -Z#Rx 39: Read range message, but no direction.ککYکq s9,DnLA9BP@B9YByBm=BH?^@+"?D?sr>?@GR?>? BP@Bu;)BCbA~Bb]I)h jp;IjIj(1v vf=yvS8٥xx zHxz > z>4]? 49J IBy  H ?bCi::4$AA„AAAbsajsarsazse[J@qIy yyyi"StoppingAANl=Q:JmBJmJJm9RJiZJm]:bJm[9Jmc44JiԁԩH >H [CH IH 9BH V =H H DH <H E DDAT read: Rx Time:06:05:14.8027  TRx dataTimestamp_ set to:1749103515.915676 DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 - Z#Rx 40: Read range message, but no direction.  ?Y ! %9, TLA96@6V٥|| H W=  >=4!}?=49J IByAEFE?fCi2;d:з4IMP%AI„   bsIjsIrsIzsMvK@yI i"StoppingAAN-=KP"K89*K2KZ:KZ_ E'U  4kw7fP=sl JJI z9,=LA<9b?U@b'=YbXybZ=bH@a?멿-ڤ?`?`Iq?@?J? b?U@b>;)bCv5~BvVIMb@Mb@Mb@ )YbX9ȶMbP?Q?yE:<@  @)I7@yp@II(1< 8=y;Q >٥ Hp6= >4y? 49K IBy \=  < D ?kCi;;j4-%A1„999bs]\=js]\=rs]WH@uDDAT read: Rx Time:06:05:15.3026 uTRx dataTimestamp_ set to:1749103516.411943DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -Z#Rx 41: Read range message, but no direction.qu?Yqzs]_M@I !i!"5StoppingAaAqԡN= Iq Iu @AE9,F/LA`9rJ@rk=YrLyrU=rH?@Z$n#R??` ;?}?C? rJ@r!;)rC~~B~CI@AI I b2К V=y;Q %>٥)) -H1=1= =>AM4Ev?M49E$K IEByIMCM?EoCiE:E:EƁ4Y]%AY„bsjsrszszN@QIQ QQYYia"mStoppingAAN==HM>HM\CHMIHMBHMS =HIHIHMÛ<mDDAT read: Rx Time:06:05:15.8027 mTRx dataTimestamp_ set to:1749103516.915666uDAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -}Z#Rx 42: Read range message, but no direction.im?YiHMEA y"9,HLAKnP"Kn9*Kl2Kn[:Kn8Kp DCYk2~eW@U{ E cm=&/Uyr9%2K@%A=Y%Yy%.Y=%H{? ~ϲ@l?`?؂$??b? %2K@% ԉ;)%C1=~B=BI)A AIMAMb@Mb@Mb@ )YA`"{Gz?{Gz?yٽ#<ף<@ A@)n@I?@y@II(* ?=yt;Q >٥ H= >:JU{BJU}JJU@RJQZJUd:bJUS9JUJ4JQzJU;]jJU;]JU :]rJU :e4r?49$K IBy=;I?uCi<t<́4%A„bs]=js]=rs] C@zs]WI@I i"StoppingAAN >aԉDDAT read: Rx Time:06:05:16.3026 TRx dataTimestamp_ set to:1749103517.419463DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -Z#Rx 43: Read range message, but no direction.ډڍ?Yډ I9,bLA96@6a=Y6y6=6H t?ж`ѱu??` `z?s?`c? 6@6N;)6CN~BN:IIVIV0=p =W=yE;Q E>٥AA MHIM< M>Q]4Uo?e49U'K IUčByaejHe?UzCiU\:U:U5ԁ4mBm%AuEԑ„bsjsrszsI@I i"StoppedA dClearing failed state for component DockingStepper1AN%= HY HY H] IH] ~BHY HY HY H] כ<H] E DDAT read: Rx Time:06:05:16.8026  TRx dataTimestamp_ set to:1749103517.923446 DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 - Z#Rx 44: Read range message, but no direction.ڙ ڙ Yڙ p9,|LA9N7@N­=YNE)yN=NH@4?鷿3갿`?@K?< !?Ծ?ǫ? N7@Nn;)NC ~B;I)-; -4<I-I-(1]; eI=ye;Q m>٥qq uHqq5< >4k?49,K IǍByH?CiX:":nہ4%A!„!))bsajsarsazse J@I i" Start "4Initializing EZServoServo. "8Initializing DockingStepper.A)AANM=)K5vP"K59*K12K5\:K5NU=gVIi{Z8QJ T4J Y4J 0:JurBJutJJu:RJqZJuG:bJu9JuFA4JqzJu_;jJu_;Ju:rJu:ԉ YX9,DkLA9zٹ@z@=Yz yz=zHN?B*??N@?`8 ?`? zٹ@z8;)zCeDDAT read: Rx Time:06:05:17.3026 eTRx dataTimestamp_ set to:1749103518.428248mDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -uZ#Rx 45: Read range message, but no direction.aaYayM~BM8Ii]=I]p< Mb@Mb@Mb@    ) Y B`"۹/$?Mb`?y ν ,= ; @ n@) @I (@ y  @IMIM0]' =y;Q >٥ H J >ԡ4g?49J Iy=;5@?Ci;;4%A„bsU=jsU=rsU/@zsU|5@iIq qqqyi"StartingAA!N-p> 9,FLA9>a@>@͠=Y>y>=>H?"'c-? ?;1T???`Q? >a@>f[;)>C FC)DɺF94DDHɻJAiJ!IJFHINCiL LL)LRC RARRqFɼPZ̏CZAIX)XiX)^CI^A=%ɽ=AF 9ɾE@CAAiAAiECI)I IIIٯIU~BU7IIm Im<2 =yH H IH ~BH Q =H H H <H #EAQmDDAT read: Rx Time:06:05:17.8026 uTRx dataTimestamp_ set to:1749103518.932027}PDAT read: Bearing 111.3, -59.2 (Local) ~Local bearing/azimuth received: Bearing 111.3, -59.2 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:17.8026 LVL= 14832, 9457, 14722, 10675, AGC= 27, IDX= 511, 0.31, 0.718, 0.550,-0.209, 1.659, PHS=-0.853,-1.063,-1.871, RAW= 41.2, 55.2, CAL= 38.7, 59.2, ROT= 111.3, -59.2 Ygot valid direction response: 06:05:17.8026 LVL= 14832, 9457, 14722, 10675, AGC= 27, IDX= 511, 0.31, 0.718, 0.550,-0.209, 1.659, PHS=-0.853,-1.063,-1.871, RAW= 41.2, 55.2, CAL= 38.7, 59.2, ROT= 111.3, -59.2 T#Rx 46: Read range and direction messages.^direction in FSK: [-0.186000,0.477066,0.858960]Fpublishing direction and range infoqyu ǿ0?? KS|?qYq u9)u$Iu9iu)qu5^Zubu| uX8?)uϢv?Iu,?iu A?u?u A q)qu5nj?pIE?iu䯿uvu?u A q)qA!N-O>) a :|9,lLAKAP"K9*K2K]:Kwmt`k)'BrYT7}CDQdImFWk0sSOdJ%>J% ?9E1@E=YE2yEr=EH u?{_`hzP?k?O ±?@?@3? E1@E~;)EC~B>I:JBJ}JJ?RJZJbJS9Jـ4JzJjJ_;J :rJ :Mb@Mb@Mb@ )Y٥ii mHqu u>4a?49kJ IčBy=6<E@?Ci;{;4%A„Zyb}ULA}>}>}@ʁ}_t"H?©>KC?} ǿ0?? KS|?}?} Aҁ}(hWSV?aj?}|ѿO9?%?z}2>} j}HhV?r}nE }By}3b@A  y}ɲ>}?bs=js=rsA@zsE@!I) ))))i1"=Starting9"BInit string: /1z13168aE13561N3m50AAN%>UDDAT read: Rx Time:06:05:18.3025 ]TRx dataTimestamp_ set to:1749103519.435846ePDAT read: Bearing 107.7, -54.8 (Local) e~Local bearing/azimuth received: Bearing 107.7, -54.8 (Local) uDAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 DAT read: 06:05:18.3025 LVL= 12576, 12705, 10578, 11891, AGC= 25, IDX= 511,-0.41, 2.373, 2.085, 1.239,-3.102, PHS=-0.721,-1.050,-1.946, RAW= 45.0, 50.1, CAL= 42.3, 54.8, ROT= 107.7, -54.8 Ygot valid direction response: 06:05:18.3025 LVL= 12576, 12705, 10578, 11891, AGC= 25, IDX= 511,-0.41, 2.373, 2.085, 1.239,-3.102, PHS=-0.721,-1.050,-1.946, RAW= 45.0, 50.1, CAL= 42.3, 54.8, ROT= 107.7, -54.8 T#Rx 47: Read range and direction messages.^direction in FSK: [-0.175254,0.549145,0.817145]Fpublishing direction and range infoYy]9nƿ_[?" &?]>YY ] 1)]1I]R)i]s.]]u8]ff] ]I?)]T_?I]w]_]?]Gt Y)Ya 9,LA09>L@>W=Y>y>G=>H1? ׮5ޮ`Aߪ??,q0?`?@? >L@>;)>C~B6I)! !I-I-1' o=y;Q ?٥ H6 ?4_?49`J IÍByD@?CiG::4%A„ZbLAZ>Z>d@ʁ6?nr?c,$?9nƿ_[?" &??Gtҁ0y6ĉ{J?2p?U rпԚى? ?zr>jHOY?r/F  BSC  Bꁭ>=?bsAjsArsAzsE=D@YIY YYYaia"mStartingAAN=ԉIEC=IEa=Թ H >H [CH IH ~BH R =H H H <H H\CH\CHHS =IS = Ip5 DDAT read: Rx Time:06:05:18.8026  TRx dataTimestamp_ set to:1749103519.939929 PDAT read: Bearing 111.7, -44.1 (Local)  ~Local bearing/azimuth received: Bearing 111.7, -44.1 (Local)  DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 06:05:18.8026 LVL= 9712, 15009, 10114, 9939, AGC= 25, IDX= 512,-0.33, 2.400, 2.075, 0.834, 2.931, PHS=-0.443,-0.809,-2.100, RAW= 42.1, 38.2, CAL= 38.3, 44.1, ROT= 111.7, -44.1  Ygot valid direction response: 06:05:18.8026 LVL= 9712, 15009, 10114, 9939, AGC= 25, IDX= 512,-0.33, 2.400, 2.075, 0.834, 2.931, PHS=-0.443,-0.809,-2.100, RAW= 42.1, 38.2, CAL= 38.3, 44.1, ROT= 111.7, -44.1  T#Rx 48: Read range and direction messages. ^direction in FSK: [-0.265525,0.667235,0.695913] Fpublishing direction and range infoډ yڍ  [пOY?9D?ڍ ?Yډ ۍ %)ۍ :Iۍ 'iۍ &ۉ ۍ ۍ Oۍ ff ܍ ٥AA EHAMQ4 M>4$]?49NJ IByC@?Ci:):B4%A „   Zb'LA>>|@ʁK >\-?Iĥ? [пOY?9D?J?j Eҁ1>ſ^?F7?Rjտ:)j(O?rpB BHOY? BꁽL>n?bsjsrszsC@I    i"StartingA1AiN}>KP"K*K2K^:KcrwzZM{V -i3d_E`xQ#( t *gf = piRC_\J}AJ}A:J]wBJ]oJJ]<RJYZJ]W:bJ]K9J] [4JYzJ]z;jJ]z;J]:rJ]:A ':,aLA95l@5Ll?E>YA E")Eq6IE%iE&AET%E'1E/ EU?I%I%2= B=y;Q >)EV?IEI?iEhl?E?Ehl A)AE[ ;?i4[?49J IBy`=r<  ?CiOI<H<4D%AAq„qqqZAbEzLAEZ>EZ>E?ʁEfOD$?̈́/k?EKYÿ63?|>l?E?EhlҁECy&qdl?MU'?ENx˿j,*.k?^8rk$?zE`>EjEdfV?rEaF E0BEHhV?EnE  EBE$K>EA9?bs]`=js]`=rs]}@zs]~@iIi iqqqiy"StartingAANG>iԙ  :,ڏ1LA9:L@:@Y:zy}y:=:H ?d?  Kn?|c ?|?Z? :L@:`;):C^F~Bb`IibHHIH~BHS =HHH<HEMDDAT read: Rx Time:06:05:19.8027 UTRx dataTimestamp_ set to:1749103520.947811]PDAT read: Bearing 109.4, -43.4 (Local) ]~Local bearing/azimuth received: Bearing 109.4, -43.4 (Local) mDAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 06:05:19.8027 LVL= 7920, 17649, 8946, 9715, AGC= 25, IDX= 512,-0.34,-2.552,-2.924, 2.221,-2.103, PHS=-0.361,-0.774,-1.963, RAW= 44.4, 37.2, CAL= 40.6, 43.4, ROT= 109.4, -43.4 Ygot valid direction response: 06:05:19.8027 LVL= 7920, 17649, 8946, 9715, AGC= 25, IDX= 512,-0.34,-2.552,-2.924, 2.221,-2.103, PHS=-0.361,-0.774,-1.963, RAW= 44.4, 37.2, CAL= 40.6, 43.4, ROT= 109.4, -43.4 T#Rx 50: Read range and direction messages.^direction in FSK: [-0.241340,0.685322,0.687088]Fpublishing direction and range infoIyMj9ο'?)?M?YI M)MDIM"iM%IMԸM$FMC MaF?)M6&?IM g5?iMA?Mf?MA I)IM' ,9L?e返`C ^?iMY򨿉Mj&Mf?MA I)I M:,KLAK}pP"K}9*Ky2K}_:K}N0Vt~]!AsQTsp4bx_ >eoJJ>Թ B~B ]I:JuBJ{JJCRJZJ[Q:bJ-9J4JzJo;jJo;J:rJ:MMb@Mb@Mb@III I)IYM:v?Dl٥ H >4e[?49K IBy=;<?Ci:_:(4$A„Zabee+jeZ@M?re uB eBedfV?a aev>e?bsU=jsU=rsUn@zsU4@aIa iiiAi"StartingA)AiNuX>EDDAT read: Rx Time:06:05:20.3026 ETRx dataTimestamp_ set to:1749103521.452006UPDAT read: Bearing 100.3, -55.7 (Local) U~Local bearing/azimuth received: Bearing 100.3, -55.7 (Local) eDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:20.3026 LVL= 7808, 17569, 8482, 9427, AGC= 25, IDX= 511,-0.32,-1.982,-2.432, 3.096,-1.179, PHS=-0.715,-1.206,-2.011, RAW= 52.0, 50.8, CAL= 49.7, 55.7, ROT= 100.3, -55.7 Ygot valid direction response: 06:05:20.3026 LVL= 7808, 17569, 8482, 9427, AGC= 25, IDX= 511,-0.32,-1.982,-2.432, 3.096,-1.179, PHS=-0.715,-1.206,-2.011, RAW= 52.0, 50.8, CAL= 49.7, 55.7, ROT= 100.3, -55.7 T#Rx 51: Read range and direction messages.^direction in FSK: [-0.100760,0.554445,0.826098]Fpublishing direction and range infoAyEc˹ʼn?RYeo?E?YA E)EDIE"!iE$AE= 7E5^E9 EVh?)Eb?IE^?iEx?E?Ex A)AE kX?I ⿹뮶v?iEԗE*cE?Ex A)AA I:,=GeLA9>+Q@>Z@Y>uy>q=>H?է? *@ f?ƺ`+Q@>;)>CNN~BReITVDAIZIZV83f-= f=yj;Q j?٥|| ~H| ? 4 [?49 L I Byյ? Ci ; ~; 4AE$AA„Zb\LA>>A?ʁƕ3Z"?bs8?c˹ʼn?RYeo??xҁb9Q??z<-ksR ?#?zxn>jL^LV?rogF BL^LV?ogF  ꁍ>w>A?1bs1js1rs1zs5l@I i"&Changing to mode: 1"Standby mode."2Commanding positive:20213aEo3EEEI EAANM>ԑH >H H IH ~BH T =H H H <H 6Ee DDAT read: Rx Time:06:05:20.8027 m TRx dataTimestamp_ set to:1749103521.955848u PDAT read: Bearing 107.9, -45.8 (Local) u ~Local bearing/azimuth received: Bearing 107.9, -45.8 (Local)  DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 06:05:20.8027 LVL= 7456, 18065, 8498, 9379, AGC= 25, IDX= 512,-0.25,-2.102,-2.487, 2.735,-1.588, PHS=-0.426,-0.852,-1.963, RAW= 45.6, 39.8, CAL= 42.1, 45.8, ROT= 107.9, -45.8 Թ  Ygot valid direction response: 06:05:20.8027 LVL= 7456, 18065, 8498, 9379, AGC= 25, IDX= 512,-0.25,-2.102,-2.487, 2.735,-1.588, PHS=-0.426,-0.852,-1.963, RAW= 45.6, 39.8, CAL= 42.1, 45.8, ROT= 107.9, -45.8  T#Rx 52: Read range and direction messages. ^direction in FSK: [-0.214278,0.663418,0.716911] Fpublishing direction and range infoi ym 5xm˿d5:?[?m ?Yi m )m FIm 2!im $i m ھm Zm C m %K?)m 1?Im ٥ԑ H4 > 4 \?49 cM I By{? Ci : : "4!%g$A)a„aiiZb,}LAZ?Z?a?ʁ(usRvkD?+LN?5xm˿d5:?[? ?LҁxAji'Q?r#C Bi'Q?#C  Bꁝ>a?bs)js)rs)zs-@QIQ YYYYiaE%3E)E)E- E1AA Nmx>K #P"K M9*K 2K `:K IKR*.%~j=qEExH-!Z0D@,bhzC$:3" t%:, LA9V @V@YVmyVd=VH?@"?t8QԳ? ׂl? ?? V @V;)VCb~BbI%DDAT read: Rx Time:06:05:21.3026 -TRx dataTimestamp_ set to:1749103522.4611935PDAT read: Bearing 104.1, -52.4 (Local) 5~Local bearing/azimuth received: Bearing 104.1, -52.4 (Local) EDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 mDAT read: 06:05:21.3026 LVL= 8256, 15409, 9266, 9715, AGC= 25, IDX= 511,-0.12, 2.801, 2.390, 1.509,-2.764, PHS=-0.630,-1.083,-2.013, RAW= 48.7, 47.2, CAL= 45.9, 52.4, ROT= 104.1, -52.4 uYgot valid direction response: 06:05:21.3026 LVL= 8256, 15409, 9266, 9715, AGC= 25, IDX= 511,-0.12, 2.801, 2.390, 1.509,-2.764, PHS=-0.630,-1.083,-2.013, RAW= 48.7, 47.2, CAL= 45.9, 52.4, ROT= 104.1, -52.4 uT#Rx 53: Read range and direction messages.}^direction in FSK: [-0.148641,0.591763,0.792290]}Fpublishing direction and range info!y%΁ÿw+O?){oZ?%?Y! %@ )%1<I%2$i%%!%G!%% Mb@Mb@Mb@    ) Y ʡE?/$~jtx?y -=  ; M@ |@) @I @  %Y?)%BR?I%KM?i% j?%Ǐ?% j !)!%!f':c?M \Xg@w?i%e3%R%Ǐ?% j !)!y @II΁= (=y1;Q >٥ H% >4_?49N IBy=;\?Ci;;*415#A1q„qqqZ!b%0LA%>%>%{?ʁ%DM߲5\?e%?%΁ÿw+O?){oZ?%Ǐ?% jҁ% c?%hj%X?r%G %B%L^LV?%ogF  %B%>%?bs =js =rs }@zs h}@9I9 999AiAzEqE3EEE4 EAA1NE>I :JA BJE uJJE ;RJA ZJA bJE 9JE (N4JA U @U @U @U @K,:,'زLA96W~@6@Y6tckPy6=6H?낺?x$F?@N渿@Ih??? 6W~@6;)6Cz~BzI)%p< !I-I-b25= ==y= ;Q E?٥II UHYm&w m?4a?49;O Iy a?Ciw<m <04#A„bsQjsQrsQzsUV@aIi iiԹHQHQHUIHUBHUS =HQHQHUݛ<HUE-DDAT read: Rx Time:06:05:21.8026 5TRx dataTimestamp_ set to:1749103522.963964=PDAT read: Bearing 108.8, -52.5 (Local) =~Local bearing/azimuth received: Bearing 108.8, -52.5 (Local) MDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:21.8026 LVL= 9280, 13921, 10130, 9923, AGC= 25, IDX= 511, 0.00, 2.480, 2.185, 1.250,-3.045, PHS=-0.670,-1.006,-1.991, RAW= 44.2, 47.5, CAL= 41.2, 52.5, ROT= 108.8, -52.5 E3EEE EAANC>=Ygot valid direction response: 06:05:21.8026 LVL= 9280, 13921, 10130, 9923, AGC= 25, IDX= 511, 0.00, 2.480, 2.185, 1.250,-3.045, PHS=-0.670,-1.006,-1.991, RAW= 44.2, 47.5, CAL= 41.2, 52.5, ROT= 108.8, -52.5 =T#Rx 54: Read range and direction messages.E^direction in FSK: [-0.196183,0.576284,0.793353]EFpublishing direction and range info1y5ɿz3p?m &c?1Y1 5@$)5a6I5'i5&15+5Ā5 5|E?)5g;T?I5X8?i5j?5?5j 1)15/= +?бl_?i5Jk5T5?5j 1)1 w 3:,PLAp9Z@ @Y)iyuq=H?IO?Ŵ@뿿`?\u4?+W?? Z@骽;)CK /P"K C9*K 2K a:K  [R%fG MSB |aP]}utY+;U@tU -~B-Ii٥AI MHI]&׼ ]>4Te?49eP Iy=;06?Ci; ;:4B#AE„ZYb]LAYY]P?ʁ]0U踿ZÖJ?Vhc.?]ɿz3p?m &c?]?]jҁ]?zt.q?WDs?]*ǿ>5]?}q?z]>]Ϸj]]]?r]GI ]BYY ]B]>]2@bs-=js-=)rs->@zs-I@YIa aaa5DDAT read: Rx Time:06:05:22.3026 5TRx dataTimestamp_ set to:1749103523.467738=PDAT read: Bearing 111.6, -51.5 (Local) E~Local bearing/azimuth received: Bearing 111.6, -51.5 (Local) UDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:22.3026 LVL= 11232, 11761, 13218, 10963, AGC= 26, IDX= 510, 0.08, 1.252, 1.015, 0.039, 1.994, PHS=-0.654,-0.932,-1.958, RAW= 41.7, 46.5, CAL= 38.4, 51.5, ROT= 111.6, -51.5 Ygot valid direction response: 06:05:22.3026 LVL= 11232, 11761, 13218, 10963, AGC= 26, IDX= 510, 0.08, 1.252, 1.015, 0.039, 1.994, PHS=-0.654,-0.932,-1.958, RAW= 41.7, 46.5, CAL= 38.4, 51.5, ROT= 111.6, -51.5 T#Rx 55: Read range and direction messages.^direction in FSK: [-0.229163,0.578799,0.782608]Fpublishing direction and range info1y59#5UͿږ?iŪ: ?1Y1 5+)5-I53i5*55l'5n5 5AQ:?)5O?I5+?i5f?5Q?5f 1)15oI ?ɍ紓u4?i5!5O5Q?5f 1)1ia E E E E s E A A N >19:,LA9>@>Z@Y>"iy>=>HΥ?Ӱ?`鱿|T?з? ?O? >@>[;)>CiDFA)D DID JC)HHHHN&CLiLILLIPiRA RP)PT VAVTTZCXIX)XiX)^@CI``` `ddf94iddٯdn~BII- I-V29]= ]=y]/:Q e6?٥aa eHamBL m8?q4ug?49uP IqyJ9?uCiu;u};u%>4#Aq„qqyZibmkLAiim?ʁms?j@_?4C& ?m9#5UͿږ?iŪ: ?mQ?mfҁmp %C41-?s?m[ʿ2ta?JPQV?zmi>m(ѽjmс^?rmI m BmX?mG  mBm\>m-y@bsjsrszs@1I1 1119iAiE3EEE EAA):J5yBJ5qJJ5<RJ1ZJ5]:bJ5q9J5 [4J1NU2>ԙGĀA  x߿Y ĀAy AHM >HI HM IHM CBHI HI HI HM <HM E E DDAT read: Rx Time:06:05:22.8027 M TRx dataTimestamp_ set to:1749103523.971768U PDAT read: Bearing 111.4, -53.5 (Local) U ~Local bearing/azimuth received: Bearing 111.4, -53.5 (Local) u DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 06:05:22.8027 LVL= 12688, 8833, 14002, 10819, AGC= 26, IDX= 511, 0.02,-2.602,-2.818, 2.562,-1.818, PHS=-0.696,-0.954,-1.906, RAW= 41., CAL= 38.6, 53.5, ROT= 111.4, -53.5  !unknown deviceResponse_: 06:05:22.8027 LVL= 12688, 8833, 14002, 10819, AGC= 26, IDX= 511, 0.02,-2.602,-2.818, 2.562,-1.818, PHS=-0.696,-0.954,-1.906, RAW= 41., CAL= 38.6, 53.5, ROT= 111.4, -53.5 - Z#Rx 56: Read range message, but no direction.I M ?YI r@:,jLA9:U@:L_@Y:Lky:=:H@ǚ?`d?@I7 $¿@?H@p? {?@? :U@:*;):C~~BI  @AԡII2?= D=yºQ >٥ H6 >4Aj?49Q IBy  ; ?ƗCi::E4156#A9q„qyybsjsrszs@I i"2Commanding positive:19621E3EEEI EAIAiN}z>KmF"P"Km9*Ki2Kmb:KmKA<$3UC ,rh`2T8+0.k:fGet8 @ BF:,SBLA}~B}I DDAT read: Rx Time:06:05:23.3025 TRx dataTimestamp_ set to:1749103524.477125%DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -5Z#Rx 57: Read range message, but no direction.  >Y yeMb@Mb@Mb@aaa a)aYeEԸ?Qye=eeeM@ a)ef@Ie@aye@II(1 *=yQ >٥!! %H!% M>IU4Mm?]49MSR IIy]=]<]]?M̗CiMA:M:MM4D#A„bs=js=rsv@zsѺ@QIQ QQQYiYԩE3EEEb EAaAyN~>:JA BJE ~JJE ?RJA ZJA bJE f9JE ـ4JA mL:,B"4LA=~B=IIMIM?Ҽ =yQ  ?٥ H  ?4fp?49R IBy?ЗCiL::lS4k#AE„bsjsrszsI i!EEEE< EAH>HHIHWBHT =HHDH<HEH[CH[CHHI I×4AN- >  DDAT read: Rx Time:06:05:23.8026 TRx dataTimestamp_ set to:1749103524.979734DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -Z#Rx 58: Read range message, but no direction.  ?Y ) ZS:,MNLA89@v@Ya{ya=H ? _?M*Ŀ|? q? V?[? @+;)C~BIMb@Mb@Mb@ )Y+?{Gz{Gz?y=##<7@ @)|@I@y3@);K=P"KC9*K2Kc:K1/r?Q"jh ) }%$][#7xX? 6- W[J ?J? II(*2< 5=yXQ >٥ Hؼ >!40s?49WS IBy=<$?՗Cij;b;[4M#A)„111bsm=jsm=rsm@zsm}@I iQE3EEEv EAANj>DDAT read: Rx Time:06:05:24.3025 TRx dataTimestamp_ set to:1749103525.4843425DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -=Z#Rx 59: Read range message, but no direction.>Yԁ ~Y:,gLA09F@Fu@YFv}yF=FH?B?@a_Ŀb}?`?`.F?V? F@F2;)FCn~BnIipIr4<IvIv2~͈ q=y>Q ?٥    H  $;  ?4u?%49S IBy)-^$5?ٗCiw;x;H ZCH IH lBH U =H H H <H E DDAT read: Rx Time:06:05:24.8026  TRx dataTimestamp_ set to:1749103525.999495 DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 - Z#Rx 60: Read range message, but no direction.ځ څ ?Yځ i`:,0LA9R@R!@YRڵ~yR=RH@J?>? Pfÿ`m?˷zѯ? d?? R@RN;)RC\j~BnIIrIrb H=yCQ >٥! %H!%< %>)u4-{w?u49-WT I-Byy}x#}?-ݗCi-.<-W2<-\h4)-#A)„bsjsrszs@I i9"2Commanding positive:19615KE P"KA *KA 2KE d:KE hC*'E|kSsoV{@3)0D   a ^=M`qJq Jq E 3E E E F E A A N >9 f:,LA96,E@6N@Y6y6s=6H@?@?1a¿n?t?c? ? 6,E@6_;)6CR~BRI5Mb@Mb@Mb@111 1)1Y5~jt?~jtx٥ HU< >4x?49zT IBy!=<?ߗCiL;r;o4#A„   bs-!=js-!=rs- @zs-q@MDDAT read: Rx Time:06:05:25.3026 ]TRx dataTimestamp_ set to:1749103526.506084mDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -}Z#Rx 61: Read range message, but no direction.QQYQI iQE3EEEV EAAN%,>qԡ l:,LA9N@ND@YN9٥tt vHtz< z>|4~y?49~T I~ByԤ?~Ci~:~ :~cv4 $A9„99Absajsarsazse¾@iI   ibEU}AZEU}AH>HHIHbBHV =HHH<H6EEEEE EA)AINe>ԙ=DDAT read: Rx Time:06:05:25.8026 =TRx dataTimestamp_ set to:1749103527.007421UDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -]Z#Rx 62: Read range message, but no direction.99Y9 s:,}@LA9uν@u@Yu0yu=uH? ӿ?@`B_?`-+?`q?? uν@uRu;)uCp~BzI:JxBJzJJ?RJZJZ:bJ9Jـ4JzJ;%jJ;-JI:=rJJ:=QKmP"Km9*Ki2Kme:Kmb p7 rc>-7& TxlQ`w|?:93=j~U6NJ}>J}>Mb@Mb@Mb@ )Y{Gz~jth?I +?y#D;94<z@ @)@I@y@II?13-ۼ 5 =y5oQ 5>٥99 =H9=< =>IM4Myy?U49MT IMÍByUyx<UZ=Uw5@U?MCiM:M:ML4YeE$Aa„bsyx<jsyx<rsh6@zsw5@I iiEYEYEYEe5 EaAqAN[>eDDAT read: Rx Time:06:05:26.3025 mTRx dataTimestamp_ set to:1749103527.512856}DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -Z#Rx 63: Read range message, but no direction.aԑe>YaԹ Vy:,)LA9:'&@:/@Y:Gy:h=:H˲? ? `۾@z?зߥ?~?^? :'&@:!;):CNU~BNiIIVIVr´ r=yrQ r?٥tt vHtz= z?| 4~6y?49~T I~čByy}D6@}?|i~ފ<~?<~|4$A„bsjsrszs+D6@I iԑE3EEE EAAN>IIԹH >H H IH MBH U =H H H <H Em DDAT read: Rx Time:06:05:26.8026 } TRx dataTimestamp_ set to:1749103528.017755 DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 - Z#Rx 64: Read range message, but no direction.q u ?Yq  :,LA9:8@:@Y:C@y:=:Hi??` ٻ?5y ?g?Z? :8@:};):C^O~B^eIIfIf0%m ==yZQ >٥ H< >4x?49T IƍBy&7@?Ci:? ;4$AY„YYYbsjsrszs&7@I irE5?jE5?E3EEE EAAN'>):JwBJtJJ<RJZJW:bJ9J [4JzJz;jJz;J:rJ:I K BP"K u9*K 2K f:K &YPg'5'KAdPC;lAYYfB<4LB G (߆:,pLA49>@>d@Y>%Ey>=>H?݌?H̳ s?'5e?|ߺ?`? >@>;)>Cb>~Bb[IMb@Mb@Mb@ )YA`"~jth٥%DDAT read: Rx Time:06:05:27.3025 %TRx dataTimestamp_ set to:1749103528.5201615DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -5Z#Rx 65: Read range message, but no direction.!%>Y! H < >4v?49{T IȍBy%\=%v<%G@%?Ci <+<4Ye%Aaԉ„bs\=js\=rsCL@zs2G@I i)"2Commanding positive:19615ԹEM3EIEIEMK EIAAN> & :,6LA)*T> *CZGdjAp XYAyB9ug@uq@Yutyu=uHK? ?޴`?Pù ?@?? ug@u@O;)uC4~BUIII<2޸ M=yлQ >٥ H= >4/u?49zT IɍByH@?Cij;;"43%A „   bs1js1rs1zs5[H@III IIIQiYH9H9H=IH=/BH9H9H9H=<H=?EEEEEs EAAN>-DDAT read: Rx Time:06:05:27.8027 -TRx dataTimestamp_ set to:1749103529.023465=DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -MZ#Rx 66: Read range message, but no direction.)-?Y)A :,PLA9ZN@Z@YZyZD=ZH@?b?6s@?j?`?? ZN@ZƲ;)ZC*~BOI9=AIe$Ie<3J [4J7i4J0:J{BJJJ;RJZJd:bJJ(N4JzJ;jJ;JrJ <=yDϻQ >٥ H3 = >44s?49{T IʍByH?Ci;`;̡4  [%AQ„QQQK*P"KC9*K2Kg:K#x9RX+\~.&ADdHT]eI ebsjsrszs ~I@I izE 1EEEE EAAN J>a-DDAT read: Rx Time:06:05:28.3027 -TRx dataTimestamp_ set to:1749103529.5282295DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -=Z#Rx 67: Read range message, but no direction.))Y)ԉ G:,cjLA"~BJIyMb@Mb@Mb@ )YMbX9Zd;O?{Gzt?yʡj<ף; )f@Iy@)4< p;IIF X=yQ >٥    H  >4p?492T IyҨ= <63@?Ci::4}%A„bsҨ=jsҨ=rs#6@zs263@I iE3EEEm EAI4=I<AN">H= >H= [CH= IH= BH9 H9 H9 H= .<H= `EHZCHZCHHU =IU = I64! M DDAT read: Rx Time:06:05:28.8027 M TRx dataTimestamp_ set to:1749103530.031743U DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -] Z#Rx 68: Read range message, but no direction.I I YI :,ALA9>@>@Y>y>~A=>H@?{r?@Ф?(H˝?? ? >@>/2;)٥xx zHxz= ~>!%4%En?-49%S I!y)-4@-?%Ci%:%:%ꮂ41=v%A=E„bs!js!rs!zs%34@YIa aaaaii PExceeded connect timeout, disconnecting.E-3E)E)E- E)A9AIN]>!:JtBJuJJ=RJZJ;N:bJ9Jg4JzJlj;jJnj;J_:rJ`:YK% &P"K% 9*K! 2K% h:K% rG %1?3Zm\FY{r89#Tub*5=^y N/:,"LA9R/@R"@YR.yRF"=RH@?? 9N?ǿ@?@h??? R/@R+;)P~~B~BIiI= a= %=DDAT read: Rx Time:06:05:29.3026  TRx dataTimestamp_ set to:1749103530.536789%DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -%Z#Rx 69: Read range message, but no direction.?YQUMb@Mb@Mb@QQQ Q)QYU(\µMb?MbPyUU=UU@ U @)U|@IU7@QyU@IiIi} }3=y})Q >٥ H< >4k?49S IɍBy=<50@?Ci:_:ж4%Ai„qqqbs5=js5=rs52@zs5h50@iIi iiqqiybEZEyEEEE EA A!N-O>ԩ :W:,LA9Fl@F8v@YFyF=FH?`VX?c %`?*? u?? Fl@Fm;)FCV!~BZII``IbIb2jw = jj=yj@Q n>٥ll rHpr< r>tz4vh?z49v=S IvȍByx~0@~?vCiv;v#;v꼂4 |%AI„IIQbsijsirsizsm0@I iԱHHHIH~BHHHH<H#E"2Commanding positive:19424]"dTimed out moving from: 13295 to: 16450 response: 1-"Hardware FaultA- VHardware Fault in component: DockingStepperAN"> DDAT read: Rx Time:06:05:29.8027 TRx dataTimestamp_ set to:1749103531.039444DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -Z#Rx 70: Read range message, but no direction.  ?Y   nManaging dock network, ignoring radio surface power off9 t?:,LA9R"@R@YRVyR=RH?@.2?h?UnE?@CԼ?@? R"@R;;)P^~B^CII]I]2K %9=yU,%Q ]>٥i H֧< >)m4-.e?49-R I-ǍByx1@?-Ci-<-Z<-Cł4%A9„AAKM+P"KM89*KI2KMi:KMs qD  /dU!=tXyquXYQagZwZzQqLJaJe?bsjsrszsRx1@I i" Stop " :Uninitialize Docking Stepper." Powering downbE ZE rE jE A!A1N=/>ADDAT read: Rx Time:06:05:30.3026 %TRx dataTimestamp_ set to:1749103531.543855-PDAT read: Bearing 107.0, -56.6 (Local) -~Local bearing/azimuth received: Bearing 107.0, -56.6 (Local) =DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 mDAT read: 06:05:30.3026 LVL= 14304, 8433, 14002, 10739, AGC= 27, IDX= 510,-0.17, 1.115, 0.837, 0.061, 1.952, PHS=-0.750,-1.068,-1.894, RAW= 45.6, 52.1, CAL= 43.0, 56.6, ROT= 107.0, -56.6 }Ygot valid direction response: 06:05:30.3026 LVL= 14304, 8433, 14002, 10739, AGC= 27, IDX= 510,-0.17, 1.115, 0.837, 0.061, 1.952, PHS=-0.750,-1.068,-1.894, RAW= 45.6, 52.1, CAL= 43.0, 56.6, ROT= 107.0, -56.6 T#Rx 71: Read range and direction messages.^direction in FSK: [-0.160945,0.526427,0.834848]Fpublishing direction and range infoyoؙĿ=4~?&j??Y 7) I6i)@9n %K?)h?I7 @?i'|?Q ?'| )Y|/?H)5⿎ۈ=?i^*hQ ?'| )y fk:,LA9~5"@~H`;Y~(y~# =~Hm?p_k?`?dt˳?=?? ~5"@~;)~C55~B=VI)9 9Mb@Mb@Mb@ )YDlV-?MbpyO<z@ @)IM@yp@I-I-2== =E=y=;Q =>٥AA EHAE= M>Qe4Ub?e49UR IUƍBym=m1MUjM[Y?rML MBM[Y?MGI  IM߶>M]?bs=js=rs/@zsG/@I i" StoppingAiiqAN>:JsBJpJJ8RJZJK:bJ^9J'4J@@@@ԙH>HHIH~BHHHH<H=E % DDAT read: Rx Time:06:05:30.8028 - TRx dataTimestamp_ set to:1749103532.0479375 PDAT read: Bearing 107.0, -56.2 (Local) 5 ~Local bearing/azimuth received: Bearing 107.0, -56.2 (Local) E DAT read: Range 10 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0  DAT read: 06:05:30.8028 LVL= 12208, 11633, 12530, 10499, AGC= 26, IDX= 511,-0.03, 1.495, 1.211, 0.418, 2.330, PHS=-0.747,-1.072,-1.915, RAW= 45.6, 51.7, CAL= 43.0, 56.2, ROT= 107.0, -56.2  Ygot valid direction response: 06:05:30.8028 LVL= 12208, 11633, 12530, 10499, AGC= 26, IDX= 511,-0.03, 1.495, 1.211, 0.418, 2.330, PHS=-0.747,-1.072,-1.915, RAW= 45.6, 51.7, CAL= 43.0, 56.2, ROT= 107.0, -56.2  T#Rx 72: Read range and direction messages. ^direction in FSK: [-0.162645,0.531988,0.830984] Fpublishing direction and range info) y- Gs ĿҐ ?=gl?- L?Y) - /)- q-I- 0i- )- - d;?- L7-  ) )- qf?I) i- {?) - { ) )) - 1вgg?fva"`;?i- ` - Ef) - { ) )) R:,LA9JG@Jr??L JG@Jl;)HJ~BbI) p< 4<I I <#= %$=y%;Q %>٥)) -H)-< ->1=45`?E495)R I5ōByIM/@M?5 Ci5_;5qa;5Ԃ4Y]$Aay„ZYb]fLA]"K?]"K?]1M@ʁ],fGĖ6?}V?]Gs ĿҐ ?=gl?Y]{ҁ] MCǿ9*0?i#?]Ϳ*M?`?z]>]=j]:>P?r]](I ]BYY Y]>] ?bsjsrszsx/@I i"StoppingAANEs>! K FP"K u9*K 2K j:K 9vmIbMf?_<2LQP"2<dS*+7I&aLGJ J ~A:,LA9rEV@tr2 ٥ H; >!-4% _?549%Q I%čByuT=us>?3ŃпY??иK?z>!jt#Q?r J !BI   B>?bsuT=jsuT=rsu`d$@zsua$@I i"StoppingAA1N9Iq :J BJ oJJ =RJ ZJ bJ K9J g4J :,>9LA96P@6HHIH~BHS =HHDHHAN=ԉ-DDAT read: Rx Time:06:05:31.8028 5TRx dataTimestamp_ set to:1749103533.063894=PDAT read: Bearing 106.9, -55.7 (Local) =~Local bearing/azimuth received: Bearing 106.9, -55.7 (Local) MDAT read: Range 10 to 50 : 0.8 m (trip time 0.5 ms) speed 0.0 uDAT read: 06:05:31.8028 LVL= 10672, 13377, 11250, 11107, AGC= 25, IDX= 511, 0.08, 2.095, 1.800, 0.984, 2.920, PHS=-0.738,-1.074,-1.939, RAW= 45.7, 51.0, CAL= 43.1, 55.7, ROT= 106.9, -55.7 }Ygot valid direction response: 06:05:31.8028 LVL= 10672, 13377, 11250, 11107, AGC= 25, IDX= 511, 0.08, 2.095, 1.800, 0.984, 2.920, PHS=-0.738,-1.074,-1.939, RAW= 45.7, 51.0, CAL= 43.1, 55.7, ROT= 106.9, -55.7 }T#Rx 74: Read range and direction messages.^direction in FSK: [-0.163818,0.539189,0.826098]Fpublishing direction and range info)y-?/Ŀ1 A?RYeo?-L?Y) -))-A4I-+i-c+--<-x-'1 -0L?)-c?I-@?i-x?- ?-x )))-?M F`>?i-꥿--c- ?-x )))Ա :,SLA9:f=@:;Y:?y:g=:Hl?O?Tְ{??D$?a? ? :f=@:9;):CeX~BmkI)-BAIeIe1sB= 4=y: ٥II UHQU U>Y4]]?49]Q IYy$@?]Ci]J;];]4$A„ZabeDLAe"K?e"K?e@ʁeقŻa?J?e?/Ŀ1 A?RYeo?e ?exҁeFmҳƿ'`?_?e̿3?ά%?ze>e67je{N?reXYH eBet#Q?a e!BeǢ>e ~@bsjsrszs$@I K+}P"K9*K2Kk:KgJ1e8'bDA W_&^8/ITz9iSRR ug@J?J?i"StoppingAAN+>EDDAT read: Rx Time:06:05:32.3027 ETRx dataTimestamp_ set to:1749103533.568650UPDAT read: Bearing 108.2, -55.6 (Local) U~Local bearing/azimuth received: Bearing 108.2, -55.6 (Local) eDAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 06:05:32.3027 LVL= 10272, 12961, 10066, 11091, AGC= 25, IDX= 510, 0.12, 1.539, 1.267, 0.428, 2.379, PHS=-0.752,-1.066,-1.954, RAW= 44.6, 51.0, CAL= 41.8, 55.6, ROT= 108.2, -55.6 Ygot valid direction response: 06:05:32.3027 LVL= 10272, 12961, 10066, 11091, AGC= 25, IDX= 510, 0.12, 1.539, 1.267, 0.428, 2.379, PHS=-0.752,-1.066,-1.954, RAW= 44.6, 51.0, CAL= 41.8, 55.6, ROT= 108.2, -55.6 T#Rx 75: Read range and direction messages.^direction in FSK: [-0.176459,0.536703,0.825113]Fpublishing direction and range infoAyEԴ4ƿ Ɠ,?~g]Tg?E?YA E ()E2IER'iES+AE@ErE ESFG?)AIE:?iEUlx?E?EUlx A)AE~ZCH?!|㿼1??iEyEcE?EUlx A)AA J:,blLA9>@>:Y>Ry>=>H? :\?]?.?ě?4? >@>Љ;)٥ HW >4n]?49Q Iy94<=:?Ci::F4$A„ZqbuddLAuZ?uZ?ui@ʁuʗG⺿ϐ$q? Mm?uԴ4ƿ Ɠ,?~g]Tg?u?uUlxҁuNLCBM^?Je?u@XͿ1?gh'a]?zu:>u juQ?ruvJ u5BquvJ  u5Buڗ>u{@bsu94<jsu94<rsu/3zsu:I i"StoppingAA,G:Jr 5- Y1y5U BBJqJJIRJZJG:bJq9JF4JAAN]U>iHyHyH}IH}BH}R =HyHyH}<H}EM DDAT read: Rx Time:06:05:32.8027 M TRx dataTimestamp_ set to:1749103534.072339] PDAT read: Bearing 107.1, -55.8 (Local) ] ~Local bearing/azimuth received: Bearing 107.1, -55.8 (Local) u DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 ԙ  DAT read: 06:05:32.8027 LVL= 9936, 13809, 9202, 10867, AGC= 24, IDX= 510, 0.13, 1.442, 1.146, 0.316, 2.289, PHS=-0.759,-1.097,-1.977, RAW= 45.6, 51.2, CAL= 42.9, 55.8, ROT= 107.1, -55.8  Ygot valid direction response: 06:05:32.8027 LVL= 9936, 13809, 9202, 10867, AGC= 24, IDX= 510, 0.13, 1.442, 1.146, 0.316, 2.289, PHS=-0.759,-1.097,-1.977, RAW= 45.6, 51.2, CAL= 42.9, 55.8, ROT= 107.1, -55.8  T#Rx 76: Read range and direction messages. ^direction in FSK: [-0.165275,0.537235,0.827081] Fpublishing direction and range infoI yM  +g'ſA[HH1?!Cqw?I YI M &)M 5IM #iM s*M M MBM jM V M %K?)M d?IM ֭??iM Qy?M C?M Qy I )I M LS?P N㿪s?iM :M dM C?M Qy I )I :,φLA9b@b@YbNuyb-)=bHE?zob`*r``?d ]?i?৾? b@bG;)bC=w~B=~I)A AAEAIMIM(*2= \=y٥ H >4]?49Q Iy?i:":4$$A„Zyb}4LAyy}@ʁ}6.!Xv?~?} +g'ſA[HH1?!Cqw?}C?}Qyҁ}~Cnăq?$J?}L=˿X?I״?z}>}wj}GR?r}J }DBy}J  }DB}}>}N@qbsYjsYrsYzs]@I i"StoppingAA N>ԡK P"K 9*K 2K l:K W'jO V64lk5I = ~.zC lE{ 4^J ~AJ }A R:,ɬLA9fn@f@Yf6jyf!=fH?`w?q׭ޤ? 'HW?bI?J? fn@f;)fCvh~BvuIMb@Mb@Mb@ )YQ?~jtyu=Dz@ )|@I@y@); IIb  E=yZ;Q >٥ Hx >DDAT read: Rx Time:06:05:33.3026 TRx dataTimestamp_ set to:1749103534.575954PDAT read: Bearing 108.5, -55.4 (Local) ~Local bearing/azimuth received: Bearing 108.5, -55.4 (Local) EDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 eDAT read: 06:05:33.3026 LVL= 9584, 14449, 9826, 10563, AGC= 25, IDX= 509, 0.21, 0.502, 0.228,-0.636, 1.349, PHS=-0.759,-1.074,-1.988, RAW= 44.3, 50.7, CAL= 41.5, 55.4, ROT= 108.5, -55.4 mYgot valid direction response: 06:05:33.3026 LVL= 9584, 14449, 9826, 10563, AGC= 25, IDX= 509, 0.21, 0.502, 0.228,-0.636, 1.349, PHS=-0.759,-1.074,-1.988, RAW= 44.3, 50.7, CAL= 41.5, 55.4, ROT= 108.5, -55.4 u4_?}49Q Iy}z=}X<}VU}?Ci1< < 4^$AT#Rx 77: Read range and direction messages.^direction in FSK: [-0.180179,0.538500,0.823136]Fpublishing direction and range infoysǿU$c;?!"W??Y p%)q8Ib&iC)xv .E?)b?I}l9?iw?.d?w ) ?$$/)d?i&ʈb„.d?w )ZbnܤLA>>3]@ʁm*඿f<?kU] ?sǿU$c;?!"W?.d?wҁ:Z&Ċ_ypl]?G{?M̿V?W劵?zb>Vj*>uV?rCK BQ?vJ  5Bo>G@bsz=jsz=rsʾ@zs$e@I i"StoppingAA!N-->) :J xBJ JJ :RJ ZJ Z:bJ "9J FA4J M:,LA49B_@B]i@YBdcyB=BH?#ٌ?`@!ǔu?黿h?)?`? B_@BɈ;)BCz~B~III1= X=y;Q >٥!! %H!- ->1545a?=495Q I5ōBy9=]=?5Ci5~:5:54IM#AIq„yyybsjsrszse!@I i"StoppingAAN=H>HHIHBHS =HHH<HEH[CH[CHHS =IT = I5ԉDDAT read: Rx Time:06:05:33.8027 TRx dataTimestamp_ set to:1749103535.079945PDAT read: Bearing 108.4, -55.5 (Local) %~Local bearing/azimuth received: Bearing 108.4, -55.5 (Local) 5DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 UDAT read: 06:05:33.8027 LVL= 9600, 14545, 9010, 10355, AGC= 24, IDX= 510, 0.26, 1.540, 1.264, 0.398, 2.395, PHS=-0.767,-1.084,-2.000, RAW= 44.3, 50.8, CAL= 41.6, 55.5, ROT= 108.4, -55.5 ]Ygot valid direction response: 06:05:33.8027 LVL= 9600, 14545, 9010, 10355, AGC= 24, IDX= 510, 0.26, 1.540, 1.264, 0.398, 2.395, PHS=-0.767,-1.084,-2.000, RAW= 44.3, 50.8, CAL= 41.6, 55.5, ROT= 108.4, -55.5 ]T#Rx 78: Read range and direction messages.e^direction in FSK: [-0.178786,0.537449,0.824126]mFpublishing direction and range infoy݊h!rƿJ2?s=_??Y %)8I2#is(ZD )b?I9?iw?*?w )㄁?4m8?i /#c*?w ) :,`LA`~BIi%=I= -=-p=IMIM 5=yQ >٥ H >i4m*d?49mQ Iiy?mCim;m;m 4#A„ZAbELAEZ?EZ?Eފ@ʁE?R=MOkx?v/Nʫc?E݊h!rƿJ2?s=_?E*?EwҁE#%KYE?2?EFP˿σ&h?⍝?zEz>EjE59Y?rEJ EPBEGR?A EDBE۰>E{ @bsyjsyrsyzsyI i"StoppingAAN&>K\P"K89*K2Km:KY[c3[Xv`iUL8 -9ku .UYRt l z e]gtU+o+DDAT read: Rx Time:06:05:34.3026 %TRx dataTimestamp_ set to:1749103535.583862-PDAT read: Bearing 110.2, -55.5 (Local) -~Local bearing/azimuth received: Bearing 110.2, -55.5 (Local) =DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 eDAT read: 06:05:34.3026 LVL= 10784, 15265, 10290, 9763, AGC= 25, IDX= 509, 0.35, 0.198,-0.038,-0.922, 1.068, PHS=-0.782,-1.059,-1.993, RAW= 42.6, 51.0, CAL= 39.8, 55.5, ROT= 110.2, -55.5 mYgot valid direction response: 06:05:34.3026 LVL= 10784, 15265, 10290, 9763, AGC= 25, IDX= 509, 0.35, 0.198,-0.038,-0.922, 1.068, PHS=-0.782,-1.059,-1.993, RAW= 42.6, 51.0, CAL= 39.8, 55.5, ROT= 110.2, -55.5 mT#Rx 79: Read range and direction messages.^direction in FSK: [-0.195579,0.531568,0.824126]Fpublishing direction and range infoy-ɿ?s=_??Y  *);I2(i#&'1HP V>?)c?I1?im0? )0?g ,㿥piY?i;嬿Bcm0? )I :,٥ HB > 4bf? 49IR IƍBy (= %<̾?Ci;;A4#AA„IIIZIbM]LAM>M>M@ʁM!_ԸZ:?E{ld(?M-ɿ?s=_?Mm0?IҁMZhͼ.(h?Tt?MpձH Ϳr?f#?zMFc>MojM<\?rM)pL M"BM*>uV?MJ  M5BM>M @bs(=js(=rsȠ@zsG@I i" StoppingAAYDDAT read: Rx Time:06:05:34.8027 TRx dataTimestamp_ set to:1749103535.838275N>IImC=Ima=qHHHIH/BHT =HHDH<HEԡ - PDAT read: Bearing 111.2, -53.4 (Local) - ~Local bearing/azimuth received: Bearing 111.2, -53.4 (Local) = DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 m DAT read: 06:05:34.8027 LVL= 10864, 12881, 9634, 10467, AGC= 24, IDX= 510, 0.48, 0.554, 0.321,-0.626, 1.366, PHS=-0.725,-0.999,-1.995, RAW= 41.8, 48.6, CAL= 38.8, 53.4, ROT= 111.2, -53.4 u Ygot valid direction response: 06:05:34.8027 LVL= 10864, 12881, 9634, 10467, AGC= 24, IDX= 510, 0.48, 0.554, 0.321,-0.626, 1.366, PHS=-0.725,-0.999,-1.995, RAW= 41.8, 48.6, CAL= 38.8, 53.4, ROT= 111.2, -53.4 u T#Rx 80: Read range and direction messages. ^direction in FSK: [-0.215610,0.555875,0.802817] Fpublishing direction and range info! y% !˿_J?@۾F?% ?Y! % p*)% Q2I% %i% (% % 9% w% )\ % :?)% %Y?I% -\-?i% n?% Ul?% n ! )! % 8V?;sf ?i% ֢% FSY% Ul?% n ! )! ;,#LA96؈@6@Y6Ujy6^b=6H?ă?d ɧK?H F??m? 6؈@6;)6CN~BNIIVIV<%; %X=y%CQ %>٥)) -H)5q 5>4h?49R IǍByо?#Ci::)4)5#A1„ZIbM+LAMZ?MZ?ME@ʁM.l,?׊?M!˿_J?@۾F?MUl?MnҁM 3v¿`.?2{?M3frϿ욍?ž?zMv>MjMK\?rM.?"K MIBM59Y?M.?"K  MDBM>M@ @bsijsirsizsm\@yIy yyyi"StoppingAAN% >ԡׁׁDDAT read: Rx Time:06:05:35.3026 TRx dataTimestamp_ set to:1749103536.344351PDAT read: Bearing 111.5, -51.4 (Local) ~Local bearing/azimuth received: Bearing 111.5, -51.4 (Local) -DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -EZ#Rx 81: Read range message, but no direction.ڡڥ?Yڡ:JyBJyJJ=RJZJ]:bJ9Jg4JzJ;jJ;UJ:]rJ:e K= :P"K= 9*K9 2K= n:K=  lzgt3VYtlL;$5wv;;,!LA96K@6U@Y6uy6=6HV?@)?`_nL?@_ߵ?Έ?? 6K@6H#;)4DAT read: 06:05:35.3026 LVL= 12752, 12097, 13810, 10915, AGC= 26, IDX= 510,-0.44,-1.228,-1.469,-2.448,-0.488, PHS=-0.652,-0.934,-1.963, RAW= 41.8, 46.4, CAL= 38.5, 51.4, ROT= 111.5, -51.4 Ygot valid direction response: 06:05:35.3026 LVL= 12752, 12097, 13810, 10915, AGC= 26, IDX= 510,-0.44,-1.228,-1.469,-2.448,-0.488, PHS=-0.652,-0.934,-1.963, RAW= 41.8, 46.4, CAL= 38.5, 51.4, ROT= 111.5, -51.4 Z#Rx 82: Read direction message, but no range. ^direction in FSK: [-0.228653,0.580469,0.781520]yW9}DͿv2?0?7?Y 1)A/I5i*y&oC )4QO?I,?iLe??Le Em  ?);n䥦+?i޸THO?Lea~BI) AԁMb@Mb@Mb@ )YMb?/$Mb`y=d@ )|@Iy) II#  =yͤQ >٥ HAZ >4m?49R IȍBy L=  < R ?)Cia;D;"4#A9„999Zb LA>>@ʁvF׎l?Uqp/?W9}DͿv2?0?7??Leҁ3l:O@'*?)?3'п :?̔`?zɀ>j믍b?r`[L BK\?CK  "B>o @bs}L=js}L=rs}K@zs}j@I i"StoppingAAYNew>ԩ DDAT read: Rx Time:06:05:35.8027  TRx dataTimestamp_ set to:1749103536.846691 PDAT read: Bearing 113.2, -51.0 (Local)  ~Local bearing/azimuth received: Bearing 113.2, -51.0 (Local) I I AA A;,;LA9:@:C)@Y:Ųy:=:H??ֱUe?`S?~? ׿? :@:A;):CiDFA)FĻ DID D)HHHHHJAiHILLIPiP RP)PT VAVDV&FTTZAIX)XiX)XIXX\ \\bۃAbDi`dٯdhhIvIv(1z#R; ~=y=vQ =1?٥AI MHIU뮼 U0?Ye4] o?e49])S IYyimm?]-Ci]:]:]'4qu#AqH>HZCHIH9BHS =HHH<HE„bs!js!rs!zs%*>@1IY YYYaia"mStoppingAyԱAN=DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 06:05:35.8027 LVL= 12992, 9281, 13042, 10483, AGC= 26, IDX= 511,-0.47, 0.676, 0.472,-0.535, 1.420, PHS=-0.655,-0.901,-1.957, RAW= 40.2, 46.0, CAL= 36.8, 51.0, ROT= 113.2, -51.0 %Ygot valid direction response: 06:05:35.8027 LVL= 12992, 9281, 13042, 10483, AGC= 26, IDX= 511,-0.47, 0.676, 0.472,-0.535, 1.420, PHS=-0.655,-0.901,-1.957, RAW= 40.2, 46.0, CAL= 36.8, 51.0, ROT= 113.2, -51.0 -T#Rx 83: Read range and direction messages.5^direction in FSK: [-0.247916,0.578431,0.777146]5Fpublishing direction and range infoyH_Ͽ◷瀂? t=a??Y 2)A$I2i('f~ 3?)M?Il$?ic?'?c )S 0?sNK忷r?i-׫M'?c ) A -;,ULA*DDAT read: Rx Time:06:05:36.3027 .TRx dataTimestamp_ set to:1749103537.3501886PDAT read: Bearing 129.0, -51.5 (Local) >~Local bearing/azimuth received: Bearing 129.0, -51.5 (Local) :J]qBJ]|JJ]<RJYZJ]D:bJ]@9J] [4JYzJ]:Z;jJ]٥)) 5H11=$ =>AM4EKr?M49EcS IEɍByM=M= &j d?r -YeK  :B <\? -YeK  :B > i@bs=js=rs@zsj@I i"StoppingAANn>DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 %DAT read: 06:05:36.3027 LVL= 14528, 7841, 12722, 10099, AGC= 26, IDX= 509, 0.37, 2.912, 3.056, 1.942,-2.458, PHS=-0.825,-0.722,-1.886, RAW= 25.4, 47.4, CAL= 21.0, 51.5, ROT= 129.0, -51.5 -Ygot valid direction response: 06:05:36.3027 LVL= 14528, 7841, 12722, 10099, AGC= 26, IDX= 509, 0.37, 2.912, 3.056, 1.942,-2.458, PHS=-0.825,-0.722,-1.886, RAW= 25.4, 47.4, CAL= 21.0, 51.5, ROT= 129.0, -51.5 5T#Rx 84: Read range and direction messages.=^direction in FSK: [-0.391761,0.483785,0.782608]=Fpublishing direction and range infoy*_1ٿAkT?iŪ: ?Y 8)I1is'33S8sh >)S?If>if?)@f )&9i-?iMӿS)@f )a W;,oLA9:@:<@Y:ay:s=:H??BGaְ?@9֜?0n?? :@:u;)8]~B]IImIm}2< =yQ 1?٥ H0 0?4s?49}S Iyd?4Ci;;Z54#A„Z!b%WfLA!!%ԧ@ʁ%xͿF_m?{[?%*_1ٿAkT?iŪ: ?%)@%fҁ%*:0[d%п'Ơ7?Ar?%Qx!ۿ̝@?,[w?z%>%+j%{^?r%QL %7B%{^?%`[L  %7B%w>%K@bs)js)rs)zs-@9I9 99AAiA"UStoppingAaAqN}=MDDAT read: Rx Time:06:05:36.8027 UTRx dataTimestamp_ set to:1749103537.851312iIER=IEp=ԑH>HHIHCBHT =HHH<HE  DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 - Z#Rx 85: Read range message, but no direction. Y <";,bLAT9>J@>@Y>y>m[=>H?ͭ?@@?V; ܳ?U?`? >J@>;)>C~~BII I<2  C=y >Q  >٥!) -H)-{ ->1=45)v?E495S I5ʍByAEeE?58Ci5:5C:5<4IM $AQy„yyybsjsrszs4@I i"StoppingAAN=eDDAT read: Rx Time:06:05:37.3026 eTRx dataTimestamp_ set to:1749103538.355434mDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -uZ#Rx 86: Read range message, but no direction.ae?Ya:J]rBJ]JJ]:RJYZJ]G:bJ]9J]FA4JYzJ]_;jJ]_;J];rJ];! K $P"K 9*K 2K p:K $<8L9VR!ul,RU>}[lv]3"jNFfysfPe(;,9LA96ۿ@6@Y6y64=6H ?$?d@J?1k ?r?t? 6ۿ@6;)4Nu~BR}I)P P|-Mb@Mb@Mb@))) )))Y-l?{Gz?~jthy-=-#<-D-z@ -@ ؽ=׹)-@I))y-@IIb2% %H=y%:Q %>٥)) -H)5غ 5>Ye4]uw?e49]S I]ˍByex=ee?]:Ci]t:]:]C4i0$A„bsx=jsx=rs=&>zsO>QIQ QQQYiY"eStoppingAAN>)Q} DDAT read: Rx Time:06:05:37.8027 } TRx dataTimestamp_ set to:1749103538.860585 DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 - Z#Rx 87: Read range message, but no direction.y } ?Yy ) 5 GA Y Ia Ie @Aԑ V^Y y 6`A.;,LA9:z@:*@Y:y:=:H&? 1? P˷ @1?@\@?nɻ?Ͱ? :z@:\;):CNe~BNsII^I^Ff1 fc=yf>Q f>٥hh jHhn; n>pv4rx?v49rS IpytvP>v?r;Cirv:r:rJ4|~p$A|„bsAjsArsAzsE:P>He>HaHeIHeMBHaHaHaHaHeEqyIy i"StoppingA!AQN]=ԁԱ @x5;,LA&DDAT read: Rx Time:06:05:38.3026 *TRx dataTimestamp_ set to:1749103539.367938.DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -.Z#Rx 88: Read range message, but no direction.$&?Y$:J%wBJ%|JJ%9RJ!ZJ%W:bJ%@9J%c44J!zJ%z;jJ%z;J%t:rJ%u:9nY@n @Ynyn=nHj?L?(`'`s?i??@ǭ? nY@nh;)lmh~BmuIԹII(; :=y`Q >٥ H%C; ->a4ez?49ejS IayQ>?e>Cie)I1 1119iA"MStoppingAiANC>KVsP"K*K2Kq:K>R~k&l%NdW)+4($. 8Xg.{A ;;,dLA9:@:x@Y:/?y:[=:H ? ?`4``?պH?=? ֪? :@:㫊;):C^\~B^nIibp٥ H ; >4y?49S I̍By<< ??Ci;n;X4$AY„YYabs<js<rs@zs@I UDDAT read: Rx Time:06:05:38.8027 ]TRx dataTimestamp_ set to:1749103539.871486eDAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -mZ#Rx 89: Read range message, but no direction.Y]?YYi"StoppingAAN>AH]>HYH]IH]CBH]U =HYHYH]<H]EH-ZCH-ZCH)H-T =I) I-ǹ4iԡ B;,h LA9>@>@Y>y>N=>H&?k?u`3鮿.? ?@f?@`? >@>?J;)>CJI~BJbIIRIRZN Z\=y^MNQ ^>٥\\ ^H\b; f>ln4ny?r49nS In͍Bypr r?n@Cin:n:nA_4tv$Ax „  bs1js1rs1zs5@AIA IIIYiY"eStoppingAqAN=iԙeDDAT read: Rx Time:06:05:39.3026 mTRx dataTimestamp_ set to:1749103540.376438uDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -}Z#Rx 90: Read range message, but no direction.ae?Ya K5 P"K1 *K1 2K5 r:K5 g]b]KW'\insrE4* %?\mX8 GL]/>xkOo8@H;,s$LA96'@61@Y6`y6g'=6H?J?Ӽ? C??D? 6'@6;)6C^@~B^\IMb@Mb@Mb@ )YV-~jtx?Mb`ym;d@  @)f@I @y@II0 <=y Q >٥ H; >4v?49S IˍByn=c<{>@?CCi'8;0;f4!%%A!a„aaabsn=jsn=rsvB@zs{>@I i"StoppingA AINu=9i i u DDAT read: Rx Time:06:05:39.8027 u TRx dataTimestamp_ set to:1749103540.879646} DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 - Z#Rx 91: Read range message, but no direction.q u ?Yq ԉ J+|a4J+cw4J+1:JI BJM xJJM MRJI ZJI bJM 9JM 4JI e @e @e @e @N;,c>LA,9B4=@BF@YByBz=BH!?.?tXk`?`?;μ?`? B4=@Bֈ;)B CR5~BRUI)T TIXIXb fZ=yfѼ9Q f>٥hh jHhj1; n>pr4r.u?v49rS IrʍBytv>@v?rFCir:rS:rbm4H>HHIH9BHV =HHH՛<HE!%1%A!A„AAAbsajsarsazseA>@yIy yyyi"StoppingA)A9NM=ԉ U;, 7XLA&DDAT read: Rx Time:06:05:40.3026 &TRx dataTimestamp_ set to:1749103541.387292*DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -.Z#Rx 92: Read range message, but no direction.$&?Y$p9=uN@=%X@Y=Ay=ސ==H\?T?@ Z`?[`0?~? ? =uN@=* ;)=CU"~BUJIII.2 >=yЀ;Q >٥ H; >4s?49S IɍBy>@?ICi;;t4~%A„bsjsrszs>@I i"StoppingAAN&>K] P"KY*KY2K]s:K]Je R\2]Y{4 h2"<45@( #=+'Je?Je>1 <٥ Hd; >4o? 49oS IōBy = ; C@ ?OCi::#|4%AE9„999bs]=js]=rs]G@zs](C@yIy yyyi"StoppingAUDDAT read: Rx Time:06:05:40.8026 ]TRx dataTimestamp_ set to:1749103541.891577mDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -uZ#Rx 93: Read range message, but no direction.AyYYYYN=:JzBJJJ?RJZJ`:bJ9Jـ4JiH>HHIHBHHHH<HEԑ b;,LA~~B~:I  @AI I b1-_ -W=y-Q ->٥11 =HAE E>IU4MYa9 6i;,ȥLA9:N@:SX@Y:y:=:H`#? ?3]? ܻ{ϴ??G? :N@:;)8K^P"K^9*K\2K^t:K^Wk#+:=S>"O6ML2mI)myH5.WiJdJdj ~Bj=IMb@Mb@Mb@ )Y!rhQ?Mbyl罙u<z@ )O@I @y@II2u6< B=y٥ H] >4Sh?49S IBy=;<@?ZCi ;r;#4%A„bs=js=rs@@zs<@1I9 99AAiq"StoppingAAN>Aiu DDAT read: Rx Time:06:05:41.8027 u TRx dataTimestamp_ set to:1749103542.899477} DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 - Z#Rx 95: Read range message, but no direction.q u ?Yq :JU BJU zJJU =RJQ ZJU v:bJU 9JU g4JQ ԙ v,o;,LA964@66>@Y6gy6! =6H ?`v?$K^?cɻ맳?`ۼ?r? 64@6T;)4HR>HPHRIHR~BHRU =HPHPHR<HREr~Br6IIvIv] ]O=ye<٥aa mHim m>q4ud?49uR IuBy;@?u`Ciu*;u;u4%A„bsjsrszs;@I i"StoppingA!A1N==qԡ v;,ԂLA&DDAT read: Rx Time:06:05:42.3026 &TRx dataTimestamp_ set to:1749103543.4080382PDAT read: Bearing 109.4, -57.3 (Local) 6~Local bearing/azimuth received: Bearing 109.4, -57.3 (Local) >DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 RDAT read: 06:05:42.3026 LVL= 11712, 8785, 11426, 9363, AGC= 25, IDX= 508, 0.18,-1.287,-1.508,-2.290,-0.417, PHS=-0.781,-1.044,-1.876, RAW= 43.3, 52.9, CAL= 40.6, 57.3, ROT= 109.4, -57.3 VYgot valid direction response: 06:05:42.3026 LVL= 11712, 8785, 11426, 9363, AGC= 25, IDX= 508, 0.18,-1.287,-1.508,-2.290,-0.417, PHS=-0.781,-1.044,-1.876, RAW= 43.3, 52.9, CAL= 40.6, 57.3, ROT= 109.4, -57.3 VT#Rx 96: Read range and direction messages.Z^direction in FSK: [-0.179447,0.509567,0.841511]ZFpublishing direction and range info$y&f/ƿG?_N??&?Y$ &-)&Q"I&,i&$&&G&ˡ& &\wA?)&\l?I& g5?i&j?&f?&j $)$&:~?O S?i&]Y&Ml&f?&j $)$9@}@Y!yY=H`Q?@?%;@?D|?-ȼ?? @e ;) C-}B-0IIEIEM  MK=yU:٥!! -H)! >e4`?49R IBy;@?fCi"=*#=Ø49m&Aq)„)))Z$b&KLA&>&>&N@ʁ&S9ȶ3`,?Uk?&f/ƿG?_N??&f?&jҁ&A1_ c?D=7j?&Xn˿ &Jݽj&WEnW?r&M &B$$ $&`s>&4?bsjsrszs;@!I! !!!)i)"5StoppingAIKjP"KC9*K2Ku:KR0-l2v _17G;9I aqiy(T^wANUu>) a QN|;,bLA}B1IȈG #eYygA=DDAT read: Rx Time:06:05:42.8027 ETRx dataTimestamp_ set to:1749103543.912300MPDAT read: Bearing 110.7, -55.8 (Local) M~Local bearing/azimuth received: Bearing 110.7, -55.8 (Local) ]DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 06:05:42.8027 LVL= 11152, 12817, 11458, 10899, AGC= 26, IDX= 509, 0.31,-0.849,-1.062,-1.902,-0.002, PHS=-0.759,-1.013,-1.903, RAW= 42.2, 51.3, CAL= 39.3, 55.8, ROT= 110.7, -55.8 Ygot valid direction response: 06:05:42.8027 LVL= 11152, 12817, 11458, 10899, AGC= 26, IDX= 509, 0.31,-0.849,-1.062,-1.902,-0.002, PHS=-0.759,-1.013,-1.903, RAW= 42.2, 51.3, CAL= 39.3, 55.8, ROT= 110.7, -55.8 T#Rx 97: Read range and direction messages.^direction in FSK: [-0.198682,0.525798,0.827081]Fpublishing direction and range info9y=Nlnɿ6jU?!Cqw?=?Y9 =+)=2I=,i=*==MB== =)٥ii mHiu u>HHHIH~BHV =HHH<HE4\?49R IBy=<:?mCiU::H4&A)„QQQZ9b= cLA=Y?=Y?=`@ʁ=GDѲ? rN?=Nlnɿ6jU?!Cqw?=aN?=Qyҁ=%|0)D?2?v?=:xο*lq?m?z=j>=;j=CpLP?r=|K =B99 =B=S>=?bs=js=rs\@zs X@I  i1"EStoppingAQAiNu>! I&;,5 LA9:ݦ@:@Y:Ty:)B=:H@?*?,:.첿?G?*?? :ݦ@:D;):Cn}Bn.IItIt~g׼ ~=y]=Q H?٥  H  :m  H?!-4ZZ?549 S IBy15:5?pCi;;4AE.&AAa„aaabsjsrszsL3W@I i"StoppingAAN=QeDDAT read: Rx Time:06:05:43.3026 mTRx dataTimestamp_ set to:1749103544.415860uPDAT read: Bearing 108.2, -56.5 (Local) u~Local bearing/azimuth received: Bearing 108.2, -56.5 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:43.3026 LVL= 9872, 14369, 10290, 10179, AGC= 25, IDX= 508, 0.40,-2.786,-3.045, 2.427,-1.924, PHS=-0.774,-1.074,-1.935, RAW= 44.4, 52.0, CAL= 41.8, 56.5, ROT= 108.2, -56.5 Ygot valid direction response: 06:05:43.3026 LVL= 9872, 14369, 10290, 10179, AGC= 25, IDX= 508, 0.40,-2.786,-3.045, 2.427,-1.924, PHS=-0.774,-1.074,-1.935, RAW= 44.4, 52.0, CAL= 41.8, 56.5, ROT= 108.2, -56.5 T#Rx 98: Read range and direction messages.^direction in FSK: [-0.172389,0.524325,0.833886]Fpublishing direction and range infoiymB>(ƿhD?V1?m?Yi m&)m!8Im2(im'mm$Fmxm maF?)mVh?Im:?imq|?m?mq| i)im_ۙ?-FAv9?imuݨmxhm?mq| i)iyԡ S;,'LA96m@6w@KJ:P"KH*KH2KJv:KJkG]3_`=x0g$Yr% BfbKFO:Y6%kty6r=6H`??`@o )? +u??"? 6m@6Ƈ;)6 CJ\J^~A^~Bb6IEMb@Mb@Mb@AAA A)AYE333333A`"~jtyEEYEDEz@ A)AIE@AyE@Y]AAIeIem٥yy H >4W?49S IBy=<T'?tCiY;;O4%A„ZbsLA>>F?ʁ6?⵿:NG?ɼw?B>(ƿhD?V1??q|ҁbPT h?V/z?Ϸk'Q:ȿTm?U?zGc>>jӰO?rĮM BWEnW?QL  Bꁕ>?bs =js =rs op@zs j@I i"%StoppingAQAN=ԙm DDAT read: Rx Time:06:05:43.8026 u TRx dataTimestamp_ set to:1749103544.919903} PDAT read: Bearing 108.1, -55.7 (Local) } ~Local bearing/azimuth received: Bearing 108.1, -55.7 (Local)  DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0  DAT read: 06:05:43.8026 LVL= 10384, 14225, 10946, 10259, AGC= 25, IDX= 508, 0.47,-2.869,-3.139, 2.316,-2.032, PHS=-0.749,-1.060,-1.938, RAW= 44.6, 51.1, CAL= 41.9, 55.7, ROT= 108.1, -55.7  Ygot valid direction response: 06:05:43.8026 LVL= 10384, 14225, 10946, 10259, AGC= 25, IDX= 508, 0.47,-2.869,-3.139, 2.316,-2.032, PHS=-0.749,-1.060,-1.938, RAW= 44.6, 51.1, CAL= 41.9, 55.7, ROT= 108.1, -55.7  T#Rx 99: Read range and direction messages.I @AI AA ^direction in FSK: [-0.175074,0.535640,0.826098] Fpublishing direction and range infoi ym ˸ hƿB#?RYeo?i :J wBJ sJJ RJ ZJ W:bJ 9J J Yi m ()m 7Im *im (i m w?m m b m SFG?)m &Qd?Im 6;?im x?m j?m x i )i m @iB? ao㿠Y?im 2nm mdm j?m x i )i 9;,F@LAH">H H"IH"~BH"U =H H"DH"Ǜ<H"EH H H H V =I V = I 059R<@R~F@YRN4fyR=RH??1:c?`w ¬?KY?? R<@R7;)R C=~B=7IIMIM1|; I=yu ٥ H5r >4T?49T IBy'?yCi::u4%A1„999Zb:LA?ʁ&S:8?ף(E8?˸ hƿB#?RYeo?j?xҁ.l)r{yy~S?Zq>?tǿ<&?d!?zj>j0M?rM BCpLP?M  Bꁥ׊> ?bsjsrszsdj@I i"StoppingAQAN=1a fb;,*ZLA&DDAT read: Rx Time:06:05:44.3025 &TRx dataTimestamp_ set to:1749103545.427372*PDAT read: Bearing 106.5, -55.5 (Local) .~Local bearing/azimuth received: Bearing 106.5, -55.5 (Local) VDAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 nDAT read: 06:05:44.3025 LVL= 9504, 15761, 9970, 10179, AGC= 25, IDX= 508,-0.46, 1.351, 1.041, 0.215, 2.179, PHS=-0.740,-1.091,-1.967, RAW= 46.1, 50.8, CAL= 43.5, 55.5, ROT= 106.5, -55.5 9N@N@YN%[yN=NH? ? ?`dz? ^a? ?`^? N@Nf;)N C%Ygot valid direction response: 06:05:44.3025 LVL= 9504, 15761, 9970, 10179, AGC= 25, IDX= 508,-0.46, 1.351, 1.041, 0.215, 2.179, PHS=-0.740,-1.091,-1.967, RAW= 46.1, 50.8, CAL= 43.5, 55.5, ROT= 106.5, -55.5 %V#Rx 100: Read range and direction messages.-^direction in FSK: [-0.160868,0.543081,0.824126]-Fpublishing direction and range info$y&sRĿl`?s=_?&>Y$ & %)&=I&&i&'$&p=&㥋& &M?)&b?I& \B?i&w?&\?&w $)$&4+Hu?=TFl\?i&s & c&\?&w $)$9aK53P"K1*K12K5w:K5v~1_$0I\H?W] -cZYh o#gRpN] ~B];I)a aimAԡ= Mb@Mb@Mb@9 9 9 9 )9 Y= ٥y  H  >  4 S? 49 T I By b= o< X ? ~Ci ; ; 4 %A  „   Z$b&Z[LA&Y>&Y>&H?ʁ&tp?G'8?~c?&sRĿl`?s=_?&\?&wҁ&U#]?5x@?&وRPſBڛ?~G?z&5>&Ij&|O?r&+Q &B&ӰO?&ĮM  &B&M>&H?bs b=js b=rs h@zs 9@ I i " StoppingA A! N- >Թ 玜;,GtLA9@o@Y+)Ty*f=H`X? c?^G ? D]@??9? @骕#;) C )dAɺ94ɻAi%IFI i A  )  A"ɼI)i)!I-A-#ɽ-3F )ɾ5LC11i11i99)9 9I9ٯ9E$~BMKII]I] ey> m=ymU>U'?ʁU>z \^?$Rp?U"ƿqVёY6? 2?U ?UQ oҁUg2??@U?Uſ1T?*^)?zU9~>UjUiJL?rUˇN UBU|O?UM  UBU>Uu?bsjsrszs@I !i!"]StoppingAiAN=>HE>HAHEIHE~BHAHAHAHE<HEE! pv;,LA9:*߾@:@Y:nORy:[b=P:H?~?@8% İ?2F?-w?@? :*߾@:;): C=&~B=LIIE IEV2e; e]=yeƟ:Q m>٥ii mHiuV޻ u>4R?49U IBy?CiiD;;;Ƀ4h%A„bsjsrszsO@I i"StoppingAAN=ԱeDDAT read: Rx Time:06:05:45.3026 eTRx dataTimestamp_ set to:1749103546.435927uPDAT read: Bearing 109.0, -51.3 (Local) u~Local bearing/azimuth received: Bearing 109.0, -51.3 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:45.3026 LVL= 10784, 12273, 12754, 11219, AGC= 26, IDX= 508,-0.26, 0.427, 0.132,-0.812, 1.137, PHS=-0.622,-0.958,-1.952, RAW= 44.1, 46.2, CAL= 41.0, 51.3, ROT= 109.0, -51.3 Ygot valid direction response: 06:05:45.3026 LVL= 10784, 12273, 12754, 11219, AGC= 26, IDX= 508,-0.26, 0.427, 0.132,-0.812, 1.137, PHS=-0.622,-0.958,-1.952, RAW= 44.1, 46.2, CAL= 41.0, 51.3, ROT= 109.0, -51.3 V#Rx 102: Read range and direction messages.:JyBJuJJ<RJZJ]:bJ9J [4JzJ;jJ;J_:rJ`:}^direction in FSK: [-0.203559,0.591179,0.780430]}Fpublishing direction and range infoaye0:9ʿ!UG? 2I?aYa e *)e/Ie1ie+eed;e}?ue# ej E?)eplN?Ie07?ie5e?e"?e5e a)aefN=JD?m^}忴=?ieeKbNe"?e5e a)a ;,\LA9:Ѿ@:@Y:yTy:=:H?"?@B?Ը2?R?? ? :Ѿ@:Y;): C|~9~BXIiIR=KoP"K9*K2Kx:Kir]2qnn6,. !k<-|yWXi3!Mb@Mb@Mb@ )YI +?=y=ƠQ =>٥AA EHAMXu M>Q]4U,T?]49UU IQy]h=]i<]#He?UCiU:UN:U у4im%Ai„Zb:LA>>?ʁ$׹7Fx?}0?0:9ʿ!UG? 2I?"?5eҁYE2b[?D1?-ȿM ?i?z>Žj L?rO B0M?ˇN  ꁕ>?bsh=jsh=rs\@zsq @I ii"StoppingAAN=!Yi i u DDAT read: Rx Time:06:05:45.8027 u TRx dataTimestamp_ set to:1749103546.940134 PDAT read: Bearing 107.9, -52.7 (Local)  ~Local bearing/azimuth received: Bearing 107.9, -52.7 (Local)  DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 06:05:45.8027 LVL= 11504, 13089, 11554, 10115, AGC= 25, IDX= 509,-0.23, 1.488, 1.181, 0.280, 2.231, PHS=-0.655,-1.003,-1.954, RAW= 45.0, 47.6, CAL= 42.1, 52.7, ROT= 107.9, -52.7  Ygot valid direction response: 06:05:45.8027 LVL= 11504, 13089, 11554, 10115, AGC= 25, IDX= 509,-0.23, 1.488, 1.181, 0.280, 2.231, PHS=-0.655,-1.003,-1.954, RAW= 45.0, 47.6, CAL= 42.1, 52.7, ROT= 107.9, -52.7  V#Rx 103: Read range and direction messages. ^direction in FSK: [-0.186255,0.576655,0.795473] Fpublishing direction and range infoq yu HP0ǿ@I}s? Ԅt?u ?Yq u ,)u !3Iu "-iu 'u u 'u Nbu  u I?)u ȭT?Iu k־@>@Y>Xy>ep=>H?@5?`-jӰ?`4˸ ? 8? u? >k־@>r;)٥ Hn: >4~U?49fV IyG?CiA;];׃4!%$A!i„iiiZb(+LAY?Y?%w?ʁN%`U h?gbL?HP0ǿ@I}s? Ԅt? ?CwkҁI{R?۠?ϧ#ǿxjf?x0|?z*>SܽjnL?rg]N )BnL? Bꁭ>N?bsjsrszs@I! !!!)i)"5StoppingAAAyN=ԉԱ B;, LA6DDAT read: Rx Time:06:05:46.3026 :TRx dataTimestamp_ set to:1749103547.452198>PDAT read: Bearing 108.2, -52.3 (Local) >~Local bearing/azimuth received: Bearing 108.2, -52.3 (Local) FDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 :JZuBJZvJJZ;RJXZJZ[Q:bJZϣ9JZ(N4JXzJZo;jJZo;JZ:rJZ:jDAT read: 06:05:46.3026 LVL= 11824, 12369, 11698, 10035, AGC= 25, IDX= 508,-0.18, 0.234,-0.072,-0.984, 0.965, PHS=-0.644,-0.990,-1.952, RAW= 44.8, 47.2, CAL= 41.8, 52.3, ROT= 108.2, -52.3 9z@zx@mYgot valid direction response: 06:05:46.3026 LVL= 11824, 12369, 11698, 10035, AGC= 25, IDX= 508,-0.18, 0.234,-0.072,-0.984, 0.965, PHS=-0.644,-0.990,-1.952, RAW= 44.8, 47.2, CAL= 41.8, 52.3, ROT= 108.2, -52.3 uV#Rx 104: Read range and direction messages.YzZayz[=zH`f?]v?` ?Mϸ'?C?N? z@z^;^direction in FSK: [-0.191001,0.580934,0.791224]Fpublishing direction and range infoԹ8y:zrȿ S?)Q?:?Y8 :0.):Q0I:-i:3'8:/$:p}:# :+H?):BR?I::?i:i?:?:i 8)8)zC:l2?x\;jA{?i::\R:?:i 8)8Z~BlIII0Y< 9=y٥ HCo; >4V?49V IByG?Ci;b;|߃4!%$A! „ Z8b:LA:>:>: ?ʁ:A۹?Na":p?%2?:zrȿ S?)Q?:?:iҁ:NQ7xзPk?M5` ?:Վȿξ/`?iݷ?z:^>:j:%O?r: P :B8:O  :B:>: S?bsjsrszs@ I iY"eStoppingAqAN`>K9P"K9*K2Ky:K]To%AW }*"^$-ml/RiC9 ݼ;,LA9,@6@Y7~y,=H`?? ?`ָ"ٯ?`L?? ,@骕v;) Cp~BzI) AEMb@Mb@Mb@AAA A)AYE?:vy&1|?yE=ETE`;EM@ A)E@IE@AyE@I]I]b1m"a= uM=yuQ u>٥yy }Hy}.< }>49HHHIH~BHHHH<HEiԑ ;,LAv~BvIII-= -b=y-Q 5>٥11 5H1= =>AM4E5]?M49ENW IEByIQU?ECiE:E:E4Y]#AY„Zb/LAY?Y?[?ʁ0E뽿=o+ ?Ђ`?Dx6'#ɿ SB@?(΅?"?\lҁ{A6uNP,@?*?Lq9ʿQ\,?ܝbn?z>jL"R?rbO HB Bꁭ޽>!@bsjsrszsI iy"StoppingA1AN=ԡDDAT read: Rx Time:06:05:47.3026 TRx dataTimestamp_ set to:1749103548.461143PDAT read: Bearing 111.1, -50.5 (Local) ~Local bearing/azimuth received: Bearing 111.1, -50.5 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 :JwBJtJJ9RJZJW:bJ9Jc44JzJz;jJz;J:rJ:DAT read: 06:05:47.3026 LVL= 10688, 10321, 10866, 9891, AGC= 25, IDX= 508,-0.08, 0.798, 0.542,-0.445, 1.500, PHS=-0.615,-0.911,-1.948, RAW= 42.2, 45.4, CAL= 38.9, 50.5, ROT= 111.1, -50.5 Ygot valid direction response: 06:05:47.3026 LVL= 10688, 10321, 10866, 9891, AGC= 25, IDX= 508,-0.08, 0.798, 0.542,-0.445, 1.500, PHS=-0.615,-0.911,-1.948, RAW= 42.2, 45.4, CAL= 38.9, 50.5, ROT= 111.1, -50.5 V#Rx 106: Read range and direction messages.=^direction in FSK: [-0.228986,0.593431,0.771625]=Fpublishing direction and range infoڑyڕ'jOͿ4,c?p&?ڕ?Yڑ ە))ەQ(Iەr*iە&ەەpەL7iەX ܕ)i@>r@Y>/ˈy>=>Hz?` ?  e״?F︿$?Y?`? >i@>;)> CR~BVIKujP"Ku-9*Kq2Kuz:KuUMS:PgXMJ!d. &&F6-8'$ c JJ}AMb@Mb@Mb@ )Yn?l?=t<7@ )IyQ@II<= @=y_/Q >٥ HB< >4>b?49W IBy>;1>?Ci;;4 L#A !„!))Zb^LA>>?ʁ ظI?Τ}?'jOͿ4,c?p&?%3?ܢaҁٝ[q,ȓ?%?m?ۅοU%?,}?z>j.*X?r)P $B%O?bO  $B>@bse>jse>rse2>zse1>I i!"MStoppingAAN>)  CG xbYybdA)  DDAT read: Rx Time:06:05:47.8027  TRx dataTimestamp_ set to:1749103548.963907 PDAT read: Bearing 110.6, -50.2 (Local)  ~Local bearing/azimuth received: Bearing 110.6, -50.2 (Local)  DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 06:05:47.8027 LVL= 11312, 10689, 13538, 11027, AGC= 26, IDX= 508,-0.05, 0.600, 0.330,-0.657, 1.287, PHS=-0.599,-0.910,-1.948, RAW= 42.7, 45.0, CAL= 39.4, 50.2, ROT= 110.6, -50.2  Ygot valid direction response: 06:05:47.8027 LVL= 11312, 10689, 13538, 11027, AGC= 26, IDX= 508,-0.05, 0.600, 0.330,-0.657, 1.287, PHS=-0.599,-0.910,-1.948, RAW= 42.7, 45.0, CAL= 39.4, 50.2, ROT= 110.6, -50.2  V#Rx 107: Read range and direction messages. ^direction in FSK: [-0.225217,0.599181,0.768284] Fpublishing direction and range infoڑ yڕ ̿ +},?_Ǖ?ڕ ?Yڑ ە 0,)ە )Iە 4iە +ە ە Xە hۑ ܕ >?)ܕ I?Iܕ x 0?iܕ K`?ܕ 0?ܕ K` ݑ )ݑ ݕ M8?0dz激E?iݕ ݕ Hݕ 0?ݕ K` ޑ )ޑ H H H IH %BH H H H <H E;,_{CLA09~@~G @Y~b۝y~=~H? F?/ܮ`(? N l?걺?? ~@~=;)~ C=~B=IiE٥aa mHim_= m>q4uf?49uV IuByG>?uCiu;u;u4?#A„Zb=LAY?Y?H@ʁ'v$3?,C?̿ +},?_Ǖ?0?K`ҁ Y+ÿdC?2?Ajп[U?t?z>QjY?r iN NBL"R? )BP>m]@bsjsrszsG>I i"StoppingAAN=ԉ @;,i]LA&DDAT read: Rx Time:06:05:48.3026 *TRx dataTimestamp_ set to:1749103549.4694482PDAT read: Bearing 109.8, -52.8 (Local) 6~Local bearing/azimuth received: Bearing 109.8, -52.8 (Local) :JNpBJNpJJLRJLZJNA:bJN^9JLJLzJNT;jJNT;JNu:rJNv:^DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 hUDAT read: 06:05:48.3026 LVL= 12400, 11681, 12274, 9939, AGC= 25, IDX= 507,-0.03, 0.037,-0.227,-1.145, 0.799, PHS=-0.675,-0.979,-1.948, RAW= 43.2, 47.9, CAL= 40.2, 52.8, ROT= 109.8, -52.8 eYgot valid direction response: 06:05:48.3026 LVL= 12400, 11681, 12274, 9939, AGC= 25, IDX= 507,-0.03, 0.037,-0.227,-1.145, 0.799, PHS=-0.675,-0.979,-1.948, RAW= 43.2, 47.9, CAL= 40.2, 52.8, ROT= 109.8, -52.8 eV#Rx 108: Read range and direction messages.^direction in FSK: [-0.204801,0.568856,0.796530]Fpublishing direction and range info(y*dy6ʿ0w4?^H,}?*?Y( *p0)*-I*/i*&**,*z( *A?)*V?I*3?i*k?*K?*k ()(*%4?Z%QgZ?i*!*U*K?*k ()(9 @@Y͑yN=H`?Nף?<3kZ?" ? ?C?  @骝<;)~BII I̍2Ec= e0=ye5Q m>٥ii mHiu< u>y4 }Vl?49}cV I}By>T>?}Ci} =}8=}$4!-"A)„Z(b*p ^LA*>*>*@ʁ*<l+? H?*dy6ʿ0w4?^H,}?*K?*kҁ*;ڿ.֢W?2Bm?*Ѭ8п䲝?Ӥ?z*z>*j*a?r*O *8B*.*X?*O  *8B*S>*\@bsijsirsizsm>T>yIy yyyi"StoppingAA)Nuy>KP"K9*K2K{:KfV;Y:=']}s$kRq`]5G|`Zql2!UJ>J?Y -;,cCwLA1UDDAT read: Rx Time:06:05:48.8027 UTRx dataTimestamp_ set to:1749103549.971876]PDAT read: Bearing 111.9, -51.0 (Local) e~Local bearing/azimuth received: Bearing 111.9, -51.0 (Local) }DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 DAT read: 06:05:48.8027 LVL= 11536, 9809, 13810, 10803, AGC= 26, IDX= 508, 0.01, 1.843, 1.614, 0.633, 2.565, PHS=-0.634,-0.904,-1.935, RAW= 41.4, 45.9, CAL= 38.1, 51.0, ROT= 111.9, -51.0 Ygot valid direction response: 06:05:48.8027 LVL= 11536, 9809, 13810, 10803, AGC= 26, IDX= 508, 0.01, 1.843, 1.614, 0.633, 2.565, PHS=-0.634,-0.904,-1.935, RAW= 41.4, 45.9, CAL= 38.1, 51.0, ROT= 111.9, -51.0 V#Rx 109: Read range and direction messages.^direction in FSK: [-0.234729,0.583906,0.777146]Fpublishing direction and range infoQyU͂ ο@=,\? t=a?U?YQ U-)UQ&IU5iU3*UUM"UlgU U8?)UKM?IU;*?iUc?U?Uc Q)QU_?Y}ɏ֍?iUUk(MU?Uc Q)QaH>HHIHbBHHHDH<HEHAHAHAHEU =IEU = IEI4~BIAԑ=Mb@Mb@Mb@999 9)9Y='1Z?Q?Mb?y=">=u==<=M@ 9)=|@I=@9y=@)I IIUIUb2e?= e=ymQ m>٥ii mHiu u>y4}s?49}U I}By.>;>?}Ci}2;}\};} 4m"AE„ZQbU73~LAUY?UY?Ug@ʁU÷]xAvG=?,-+n?U͂ ο@=,\? t=a?U?UcҁUU25ſDpݽ4?6?U ѿ/UD,c?ST?zU >U)jUte?rUM UjBUY?UbO  UHBUN>U@bse .>jse .>rse >zse }>q Iq q y y i " StoppingA A N >Թ &;,LA9BnX@Bb@YB1yBD=BH` ?%4v?%49gU IBy!%ު>-?Ci::415n"A1Y„Yaaԙbs)js)rs)zs-ު>I 1i9"StoppingAAN >mDDAT read: Rx Time:06:05:49.3026 uTRx dataTimestamp_ set to:1749103550.477089}PDAT read: Bearing 112.5, -51.6 (Local) ~Local bearing/azimuth received: Bearing 112.5, -51.6 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:49.3026 LVL= 11568, 8849, 13890, 10835, AGC= 26, IDX= 507, 0.02, 1.342, 1.131, 0.164, 2.084, PHS=-0.654,-0.906,-1.922, RAW= 40.8, 46.6, CAL= 37.5, 51.6, ROT= 112.5, -51.6 Ygot valid direction response: 06:05:49.3026 LVL= 11568, 8849, 13890, 10835, AGC= 26, IDX= 507, 0.02, 1.342, 1.131, 0.164, 2.084, PHS=-0.654,-0.906,-1.922, RAW= 40.8, 46.6, CAL= 37.5, 51.6, ROT= 112.5, -51.6 V#Rx 110: Read range and direction messages.^direction in FSK: [-0.237703,0.573866,0.783693] Fpublishing direction and range infoqyu mοŅ]?I?u?Yq u0-)u"IuB6iuS*qul'ugu uK6?)u5P?Iu6'?iuf?uS?uf q)quOAE4?JΔWm8ȹC?ium䰿u3`PuS?uf q)q! :;,LA}~B}IK'P"K9*K2K|:K6D_K, t/ {O S7SA$r9BlMl-Mb@Mb@Mb@))) )))Y-(\?kt? rh?y-z>- =-C<-z@ ))-O@I- @)y-@IEIEbUր< U7=y]Q ]>٥YY ]Hae e>iu4m{?u49msT ImByu->};}?}?mŘCim;m;m4Q"A„ZbLA>>@ʁ}M-׋.6?2Ɲ? mοŅ]?I?S?fҁ_Jÿ=?c?}DyzsӿG*/}?\?p?zy>Wj7n?r<N EBa? iN  EBꁥ!>@bs}->js}->rs} ?zs}?I i"StoppingA1AiN>)Qu DDAT read: Rx Time:06:05:49.8027 u TRx dataTimestamp_ set to:1749103550.979881 PDAT read: Bearing 114.5, -51.8 (Local)  ~Local bearing/azimuth received: Bearing 114.5, -51.8 (Local)  DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0  DAT read: 06:05:49.8027 LVL= 12624, 7985, 12722, 10099, AGC= 26, IDX= 508, 0.00,-3.066, 3.053, 2.070,-2.299, PHS=-0.679,-0.884,-1.917, RAW= 38.9, 46.9, CAL= 35.5, 51.8, ROT= 114.5, -51.8  Ygot valid direction response: 06:05:49.8027 LVL= 12624, 7985, 12722, 10099, AGC= 26, IDX= 508, 0.00,-3.066, 3.053, 2.070,-2.299, PHS=-0.679,-0.884,-1.917, RAW= 38.9, 46.9, CAL= 35.5, 51.8, ROT= 114.5, -51.8  V#Rx 111: Read range and direction messages.:J BJ qJJ ;RJ ZJ y:bJ q9J (N4J  @ @ @ @ ^direction in FSK: [-0.256450,0.562728,0.785857] Fpublishing direction and range infoq yu #kiп @?L%?u ?Yq u P1)u 1Iu 1iu s'q u -u Mbu B` u -?)u Q?Iu ?iu qg?u ?u qg q )q u A?fcE ,g}b?iu 5u Qu ?u qg q )q H >H H 3IH BH H H H <H Eԙ !#;,LA9:>@:;Y:ͽy:w=:Hz?LU{?`?v讹?%?? :>@:P;): C~~B~Ii4=I= = =II-`c -_=y5Q 5>٥11 5HY]= ]>am4e?m49eS IeōByiuA ?u?e̘Cie:e:e(4f"A)„))1QZb_LAY?Y? @ʁJcΟÿPLn?4\?#kiп @?L%??qgҁX ʿ)TT???p? 3տ074?\)!?z=>Qjn?rAL kBte?<N  NBꁥ|>ԁԱ L;,kLA02A:DDAT read: Rx Time:06:05:50.3026 BTRx dataTimestamp_ set to:1749103551.493669JPDAT read: Bearing 136.5, -44.7 (Local) N~Local bearing/azimuth received: Bearing 136.5, -44.7 (Local) zDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -DAT read: 06:05:50.3026 LVL= 14384, 7921, 12498, 9875, AGC= 26, IDX= 507,-0.07,-3.074,-2.755, 2.162,-2.218, PHS=-0.768,-0.491,-1.907, RAW= 19.3, 40.7, CAL= 13.5, 44.7, ROT= 136.5, -44.7 9M@MʮɀeFteP?bij5?>?Y< >08)>I>0i>&<~BI>D>Zd> >iw>)>o5?I>:Fq>i>G?>x@>G <)<>1.}ץlh|۝?i>3࿉>5>x@>G <)<II(1/== A=y#ѻQ >٥ H= >y4}?49}R I}ύBy??}֘CԱi}(<}=<}%4"A„Z<b>FLA>>>>>#@ʁ>mR[]пXH?-aFS?>ɀeFteP?bij5?>x@>Gҁ> sӿ)?D-?>k+hT~v[F?.1h0J?z>H>>j>4 l?r>wM >.B>4 l?>M  >EB>>>ݐ$@bsAjsArsAzsE?AIA AAAIiI"}StoppingAAN>K5 )P"K5C9*K12K5}:K5lR,4O1e!F~KuzD5EWJ 3'{\YxepZ%J=?J=? 1 v;,_yLA=~BEI=Mb@Mb@Mb@999 9)9Y=??:v?y=====T<9 9)=9@I=M@9y==@IUIUm m@=ymQ u>٥yy }Hy} >4R?49Q I֍Bym>;O??ݘCir;;,41"A„bsm>jsm>rsI?zssO?I i "StoppedA! =dClearing failed state for component DockingStepper1=A9NE=UDDAT read: Rx Time:06:05:50.8026 ]TRx dataTimestamp_ set to:1749103551.991459uDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -u\#Rx 113: Read range message, but no direction.QQYQJK(N4JKR4JK0:JqBJJJ=RJZJD:bJ9Jg4JH)H)H-SIH-BH-T =H)H)H-<H-E9i <N_<,VLA@9J@J=I=YJֽyJh=JH? -?=?b`к??`? J@J9;)JCn~BnI)p pIzIz(*MY U^=yeɚQ e>٥iq }Hy= >4Yi x <,-,LA9>)@>y=Y>Խy>H=>H?a@b??@澿@ ?@/? ? >)@>u.;)> Cb~BbIlMb@Mb@Mb@ )Y rh?Mb?L7A`?yC =<+=@ 9@)I @yp@IIF඼ C=y`;Q >٥ H< >4A?49cP IByL=<d>?Cir;Q;:4q"A)„11K5 .P"K5M9*K12K5~:K5W@3_U " wv\Q. e !   xJAJE~A1bseL=jseL=rse 3>zsed>qIy yyyi"StartingAAN= 1u DDAT read: Rx Time:06:05:51.8025 u TRx dataTimestamp_ set to:1749103552.999427} DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 - \#Rx 115: Read range message, but no direction.q q Yq :J yBJ JJ 7RJ ZJ ]:bJ y9J 4J a H- >H) H- _IH- BH- U =H) H- DH- <H- Ep<, FLA9BF@B1=YBQнyBd=BH w?7㴿u?@?Y@?ht?? BF@B ;)BC^~B^IIfIf<n n[=yr>;Q r>٥pp rHpv< v>x4z-? 49z@P IzBy  .> ?zCizM;;z6;z3A4"A1„1191bsYjsYrsYzs]=.>iIi qqqi"StartingAANh=iԙ ƚ<,\_LA&DDAT read: Rx Time:06:05:52.3025 *TRx dataTimestamp_ set to:1749103553.5085926DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -:\#Rx 116: Read range message, but no direction.((Y(9y@@=YAɽy,=H?Kbl?٨?!?`ý?? y@+;) Cԙ~BIi٥)1 5HQUsa< ]>i4mL?49mP ImBy>?mCim#;m;mI4F#A„bsjsrszsu>I i "Starting"BInit string: /1z13295aE13561N3m50A1AIN]T>KtP"K*K2K:K^@dm^Tn/'P V>-"n g$1Ntpyq! ) Q <,yLA96@6:=Y6Ly6.=6H?`#жn4 ?Ʀ?&迿@ ?H?@#? 6@65;)6 CLb~BjI rcYpyreAMb@Mb@Mb@ )YJ +~jt?{Gz?yH=#<z@ O@)O@Iy@IUIUV83u }E=y&٥ Hب; >4y?49O IBy=S<%@?Ci::BP4-#A-E]DDAT read: Rx Time:06:05:52.8027 ]TRx dataTimestamp_ set to:1749103554.011976eDAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 ImC=Im4=:Ju{BJuJJu<RJqZJud:bJu9Ju [4Jq-\#Rx 117: Read range message, but no direction.Y]?YY„bs=js=rs@zs%@I i" StartingAAqN}>HHYCHLIHBHV =HHH<HE!Iy $<,LA9B{@BW=YByBT=BH`?6Z ??M@6?@&2?@? B{@Bx;)BCR~BVIIj Ij2.  e=y*L٥!) -H)5 5>9E4=ߊ?E49=kO I=ByIM%@M?=Ci=B:=:=V4QU$AQq„qqybsjsrszs%@I i"StartingQAqAN=ԁaamDDAT read: Rx Time:06:05:53.3026 uTRx dataTimestamp_ set to:1749103554.516759DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -\#Rx 118: Read range message, but no direction.im?Yiԩ 2*<,5|LA96zI@6Ӑ=Y6dy6=6HA?ֈ LH`?@\?@⥵?Ql?d? 6zI@6O;)4bZ~BblI)d dhjA]Mb@Mb@Mb@YYY Y)YY]Zd;~jtx?~jth?y]];]D;]M@ Y)]f@I]@Yy]@Iu!Iui3d B=y@٥ H,o >4?49tO IBy;=;yG?CiL;K;]4$A„bs;=js;=rsE@zsAJ@)ԱI) i"StartingKNP"K*K2K:KL k?;ppiG eQ[2-A AN-= m DDAT read: Rx Time:06:05:53.8027 u TRx dataTimestamp_ set to:1749103555.019433} DAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -} \#Rx 119: Read range message, but no direction.i m ?I I @AYi H >H ZCH -IH BH U =H H DH <H EHHHHI I@59 *1<,SLA9:;@:z=Y:yy:"=:H?`}Y"? ? i?`ó? ? :;@:;): CNJ~BRbIIV IVV2vT/ zU=yz O٥|| ~H|μ > 4 ?49 xO I ByH? Ci ]: u: d4!%$A!„bsjsrszszJ@ I 1119i9"EStarting"5LSent speed cmd:/1V10000 Response:/0@ A9AQN]=9i 7<,H5LA:J$BJ&JJ$RJ$ZJ$bJ&H9J$J$zJ&;*jJ&;*J&N;.rJ&O;.6DDAT read: Rx Time:06:05:54.3026 6TRx dataTimestamp_ set to:1749103555.531876:PDAT read: Bearing 264.9, -53.6 (Local) :~Local bearing/azimuth received: Bearing 264.9, -53.6 (Local) RDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 5DAT read: 06:05:54.3026 LVL= 21648, 23073, 12018, 17171, AGC= 29, IDX= 509,-0.07, 0.079, 0.919, 1.924, 2.572, PHS=-2.405,-1.606,-0.651, RAW= 237.0, 47.3, CAL= 245.1, 53.6, ROT= 264.9, -53.6 =Ygot valid direction response: 06:05:54.3026 LVL= 21648, 23073, 12018, 17171, AGC= 29, IDX= 509,-0.07, 0.079, 0.919, 1.924, 2.572, PHS=-2.405,-1.606,-0.651, RAW= 237.0, 47.3, CAL= 245.1, 53.6, ROT= 264.9, -53.6 EV#Rx 120: Read range and direction messages.U`direction in FSK: [-0.052752,-0.591070,0.804894]UFpublishing direction and range info49]@]sB=Y]uy]=]H?Ŭ V:?`Զ?꿿O3??? ]@];)]C}~B}CIII2y6OG: y?6?Y4 6T)6!ZI6.i6C666hͿ6& 6]@)6VS?I6@i6|o?6@6|o 4)46tfȾӿ/g]S?r}[?UN޽ U6=yU,٥YY ]HYeJ e>i6@6US6tԿ6|o 4)4i4m~?49myO ImByH?mCimԊxX 6B6n?4 46G>63:1@Ibsjsrszs*I@I iA"StartingAAN l>qK% MO"K% 9*K! 2K% :K% i`%V7Lv o%D! tF3Y$q#/ sHfMԙ ><,LA9FP@F$٥ HF >4x?49O IBy@>;H? Ci:k:!s4%AI„bs @>js @>rs I@zs kJ@!I! !!!UDDAT read: Rx Time:06:05:54.8027 ]TRx dataTimestamp_ set to:1749103556.031465eDAT read: Range 10 to 50 : 0.6 m (trip time 0.4 ms) speed 0.0 -e\#Rx 121: Read range message, but no direction.Y]?YYIqIuC=qiy"&Changing to mode: 1"Standby mode.H>HHIHCBHHHH<HEԩ"2Commanding positive:19424EE3EAEAEE EAAQAaNuX> D<,LA9jTH@jP٥)) -H)-] ->9E4=r?E49=~O I=ByAEH@E?=Ci=:=:=y4QU&AQq„qqqbsjsrszsZH@I iE-4E)E1E5 E1AAAQNe=]DDAT read: Rx Time:06:05:55.3026 ]TRx dataTimestamp_ set to:1749103556.535394eDAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -m\#Rx 122: Read range message, but no direction.Y]?YY:J}BJ}JJ}8RJyZJ}p:bJ}9J}'4JyzJ};jJ};J};rJ};)Y P)K<,p.LA9F@FNj@YFyFV=FH`?`U3?n`x_?=оR?x?`I? F@Fφ;)FCR}BRIuMb@Mb@Mb@qqq q)qYu"~ʿ~jthI +yuSuDu94uz@ u9@)u|@Iu@qyu@IIb2g C=yz;Q >٥ H;l >4j?49nO IۍByX>z;IG@?Ci ::24B&AE„bs%X>js%X>rs%II@zs%TIG@)9I9 999AiAK-P"K-X9*K)2K-:K-965a:*6NS^bL") HMX;l+D *sJqJu}AE4EEE7 EAA N>Yԉm DDAT read: Rx Time:06:05:55.8026 m TRx dataTimestamp_ set to:1749103557.039510u DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 -} \#Rx 123: Read range message, but no direction.i i Yi GY G] AAHe >Ha He IHe ~BHe T =Ha Ha He Λ<He EԱ R<,HLA9:@:̵@Y:y:=:H?Oa?` 9??B? ? ? :@:d;):CN}BN IPRAIVIVr rW=yr(:Q r>٥tt vHtv z>|4~Kd?49~RO I~ЍByE@?~)Ci~~:~h:~Ӈ4 'A1„111bsYjsYrsYzs]žE@qIq qqqyiyzEԉE%4E)E)E- E)A9AQN]=Թ 7X<,tbLA:J&{BJ&}JJ&<RJ$ZJ&d:bJ&S9J& [4J$zJ&;jJ&;J& :rJ& :,.A2DDAT read: Rx Time:06:05:56.3025 6TRx dataTimestamp_ set to:1749103557.550937:DAT read: Range 10 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 -:\#Rx 124: Read range message, but no direction.02>Y0I)9Eѿ@EY@YE+yE=EH?`I?uײ @?h`T?g?ֲ? Eѿ@E: ;)EC]}B]IImIm2%B %8=y-xQ ->٥11 =H9=!u =>AM4E\?M49E!O IEÍByIUC@u?E5CiE6;E;E4y}p'Ay„bs js rs zs C@AIA AAAiiqE 4E EE EAYA1NEQ>Q K %&P"K ȱ9*K 2K :K @ cM]e9WJr8pAo)5xsJ >J >`^<,N|LA0-}B-IMb@Mb@Mb@ )Y^I +ǿMb:vyX9@Td@ @)@I@y@II 2 M=yQ >٥ H > 4 V?49 lO I ByF>;?? >Ci ; ; 4!%'A)A„AAIbsF>jsF>rsURY@zscS@1I1 1119i9}DDAT read: Rx Time:06:05:56.8026 }TRx dataTimestamp_ set to:1749103558.056161PDAT read: Bearing 78.5, -60.7 (Local) ԑ~Local bearing/azimuth received: Bearing 78.5, -60.7 (Local) DAT read: Range 10 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 DAT read: 06:05:56.8026 LVL= 14320, 8337, 14018, 10915, AGC= 27, IDX= 507,-0.22, 0.512,-0.236,-0.533, 1.357, PHS=-0.757,-1.547,-1.893, RAW= 72.7, 55.8, CAL= 71.5, 60.7, ROT= 78.5, -60.7 Ygot valid direction response: 06:05:56.8026 LVL= 14320, 8337, 14018, 10915, AGC= 27, IDX= 507,-0.22, 0.512,-0.236,-0.533, 1.357, PHS=-0.757,-1.547,-1.893, RAW= 72.7, 55.8, CAL= 71.5, 60.7, ROT= 78.5, -60.7 V#Rx 125: Read range and direction messages.H>HHIH~BHHHH<H Em\direction in FSK: [0.097567,0.479558,0.872069]mFpublishing direction and range infoyy}R&)???}?Yy }7)} I}6i}*}}A}ƿ}M }i?)}Qy?I}?E4EEE EAAN">i}蚇?}^?}蚇 y)y}ٵgg?R8nڿ^vN6w?i}ADS}My}^?}蚇 y)y Ke<,6LA9Bg@B#@YB΋yBj1=BH`??EٴT?v?\ ev?`J?@? Bg@B";)BC^}B^Iib=Ib<IfIf(*2lv ؼ v]=yzȻQ z>٥|| ~H|~F > 4 Q? 49O IBypB?GCi3;;4%'A!A„AAAZb$LA?ʁ1~ ƨ?2;#q?ڭ?R&)???^?蚇ҁ^r_V?]?f?4?sR?U?z:>"=j]cT?rJ fBwM  .Bꁥ>vh>bsjsrszs3O@I ibE~AZE~A"2Commanding positive:19129 Ee4EiEiEm EiAAN>:J]tBJ]yJJ];RJYZJ];N:bJ]9J](N4JYzJ]lj;jJ]oj;J]:rJ]:1Y vk<,LA9^oO@^Y@Y^0y^m=^H? ݰ?T@ ¿S}?)ݹW?`?? ^oO@^ʉ;)\1}BIK!P"K9*K2K:KYY\Y"{@t~mvQ5$@)F2* P YJ|AJ{AMb@Mb@Mb@ )Yp= ף@5^I ¿Q롿yb\z@ )|@Iy@II(1< #=yQ >٥ HI >4J?49$Q IBy G> ;  ?SCi;;ȥ4'AEa) C %ĀA9 mzYmĀAyuA„bsG>jsG>rs|}@zs]Tt@9IA AAAAiIԉE E E E } E AA1N=>H >H H kIH Y~BH S =H H H ʛ<H EԹ Zr<,7LA9>@>@Y>y>r=>HMz?4?=ſg? `̱??%? >@>*;)>C D)FbAɺDDHHɻHiJ-IJFHILiL LL)LP RAR.RcFɼPXZAIX)XiX)\I^A^94ɽ^,F \ɾ```i``idd)d dIdٯdj}BnIIr Ir(2zHz< z=y~N$Q ~?٥ H*  ? 4 G?49 R I By? ZCi ; ; &4!-'A)Q„QQQbsqjsqrsqԙzsus@I  i E4EEE EAAN>! x<,LA9V1@VT;@YV쒎yV=VHd?!?@ZU"ǿU? ~`α?@?? V1@VF;)VC]}B]I)i iII 2C< @=yfQ >٥ HH >4A?49QS IBy?dCiy<G<4y}i'Ay„bsjsrszs*r@1I1 1119i9rEE?jEE?E4EEE EAAN&>) ٥AA EHAIM U>Q]4U>??e49UXT IUyBye=e;ee?UjCiU:UHHHHT =HHDH<HEHqHqHqHuT =IuT = Iu!!5„bs==js==rs=U@zs=$@QIQ QQQYiYyE4EEE EAA)N5P>ԡ ܖ<,vqLA}BII-I-b2e= mZ=yiQ m>٥qq uHqq u>4=?49BU IqBy?pCi::4&A„bsjsrszsI iԱ"2Commanding positive:19215E4EEE~ EAAN&>eAeA 9 Ћ<,1LA9rV@r@Yryrl=rHQ? s?\%\ȿD?`@=? `?b? rV@r;)rC~~B~5IiI= p=a=Mb@Mb@Mb@ )YQ? ףp= {Gzty<Q8ףd@ )f@I@y@II  в=  >=yx7٥!! %H)-K ->1=45=?=495U I5oByEx^=Etӣ@I izEKGVP"Ku9*K2K:KG?N;j|R*d%o V ` ; 9)HxAzW@E54E9E9E=@ E9AIAaNm>I) I- ?A:JE wBJE ~JJE 9RJA ZJE W:bJE f9JE c44JA H >H H ~IH x~BH U =H H H <H $<,(KLA09>ܻ@>@Y>e}y>=>H )Y?"?QF[rȿK?|`?K?G? >ܻ@>pS;)٥   H  =< >)-4-v>?549-KV I-nBy15{5?-uCi-:-:-΄4AEr%AAa„aaabsjsrszs@I iEM4EQEQEU EQAaAqN}=ԉPExceeded connect timeout, disconnecting. ֘<,oeLA9B@B%@YB^nyB=BHf?@?{ǿ`LW? zέ??? B@B@;)BC\^9~B^XIIf If̍2%^= %H=y%u٥)) -H)5F< =>9E4=6??E49=V I=lByIMM?=xCi=:=:=Մ4QU%AY„bsjsrszs+@I iEaEiEiEm EiAAN=!9 K] }P"K] 9*KY 2K] :K] M@(&Oe5%54G){* g7NbTRUF2&Pz|gK38+@Si`tZ{<,~LA9Nl@Nu@YN_yN=NH`v?@̅?`?`BƿNd? ?*ʸ??? Nl@N>;)NCZ[~BZmI\^A5only read 2 of 4 data items for bottom velocity. Device response is::BS, +18, +17,A aI5@a5 aM@a aQ@a aE@a II(*2= ?=y ٥ H< >4@?49`W IkB+:yE<]?{Ci:>ۄ4$AQ„QQQI iI I a=:JuBJqJJ:RJZJ[Q:bJq9JFA4JHm>HmYCHmIHm~BHiHiHiHm<Hm)EE-4E)E)E- E1AAAAYNu>q  nManaging dock network, ignoring radio surface power offԩ <,LA~BII-I- 2Me> MU=yUQ U>٥QQ UHQ] ]>am4e@?m49eW IeiBm :yiu  <,LA9=DS@=\@Y=ZKy=[==H`۝?6? Al¿@? dh?`_?? =DS@=_;)9U~BUIaIaI aMaM aQaQ aEaE Mb@Mb@Mb@ )Ygfffff?l?:v?y33>=<M@ )|@IyI I 15k= 5<=y59٥99 =H9E-= E>A4EbG?49E[W IEsBT:y`D>;Gx>?ECiE@=E@=E4K],P"K]89*KY2K]:K].d&jd[_Xg R ( O?Z=X:JiJm|A"A„bsU`D>jsU`D>rsU>zsUGx>I irE?jE?E4EEE EAAN>)JG4JC4J 0:J- xBJ- vJJ- 9RJ) ZJ- Z:bJ- ϣ9J- c44J) HM >HI HM IHM BHI HI HI HM <HM EQ +<,.pLA9B׽@B@YB=LyB=BH?@^?ݯا?yη?¥?? 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Vӽ@V;)VCq}~B}I%Mb@Mb@Mb@!!! !)!Y%㥛 l?ly%%=%! % @)%@I%@!y%@15AAI=I=bEY= M<=yMx٥ Hz< >4g'?49"H IBy=<7 @?*Ci;n;Ն4d"A9„999bs=js=rs +@zs7 @I i"&Changing to mode: 1"Standby mode.ԩ"2Commanding positive:19030E/4EEEi EA AN=r> g}>,~:LA9:b@:@Y:c2y:Ѿ=:H@?`¿?? G`oT?з?? :b@:A;):C^~B^IIf If(2n7= ne=yrm٥pp vHtv{< z? 4t%? 49G IBy   @ ?-Ci::ۆ4""A„bsjsrszsޗ @ I   iEd4EEEj EAAN>)H >H H IH MBH H H H <H Ea N>,wLA9R@R4 @YR Y»yRNF=RH`? ?בh`}?`yKx??`g? R@R;)RCjBjI v=v=:JuwBJuyJJu;RJqZJuW:bJu9Ju(N4JqzJuz;jJuz;Ju:rJu:Mb@Mb@Mb@ )Yn?S㥫?I +?yV>/]=19<7@ )@Iy@IuIub1%+= 2=y1٥ H; >4-?49`G IBy0^>t;=?:Ci?;;4!A„bs0^>js0^>rst>zst=!I! !!!)i)zE9K P"K 9*K 2K :K V-e+VW#U.  uqFp|Sn2M;Ey4EEET EAA!N5->aPExceeded connect timeout, disconnecting.ԉԹ x>,F+LA9:%@:/@Y:Ky:~=:H??Dl﾿?@oi?`ϸ?e? :%@:o;):CFBFI)N; LIrIrzG= zh=yzx٥|| ~H|N; > 4 4?49 "G I By=? 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B)@B(;)BCPRZ~BRlIIZ IZ<2f jI=yjaQ j>٥hl nHlrg< r>x~4zn?49zB IzBy>?zCizO;z;z74  $A )„))1bsIjsIrsIzsM>aIi iiiqiybE}AZE|AE4EEE EA A!N-=HHHIHvBHHHH<HE! Ke P"Ke 89*Ka 2Ke :Ke n]XIdT,h>}fRA4|/UN1>y'>,3bLA96{@6q@Y6y6s=6H~?@?>[`f?Ժ@*?ǻ?h? 6{@6a;)6C^2~BbTIMb@Mb@Mb@ )Yy&1+?~jth?y`e= )f@I@y@); I I2 9=yGdQ >٥ H_< > 4 ;n?49 B I By+*=<6?? Ci ; ; /?4!%3%A!„bs-+*=js-+*=rs-B-?zs-6?aIa iiii)E%4E!E!E% E!A1AINU2>Qԁ U>, |LA9r@r@YrqGyr!=rH?@S?xϣE?{?@?`? r@rp;)p%/~B%RII=I=2M} MU=yM`Q M>Q٥YY ]HY]4< ]>am4em?u49eA IeByqu?u?eCie;e;eE4?%A„bsjsrszs?I i"2Commanding positive:17947yE4EEE EAAN )>ԩH >H H IH MBH H H H Л<H E <>>,LA9r@r@Yryr=rH@?@?:g`l?ַ?`?? r@:J~yBJ~JJ~:RJ|ZJ~]:bJ~9J~FA4J|zJ~;jJ~;J~;rJ~;r؅;)rC%~B-7I11ԩeMb@Mb@Mb@aaa a)aYe"~jQQ?yeS㽙eueu٥ Hԟ< >4i?49A IByq=;A?Ci::M4%Aa„aaibsq=jsq=rsQ@zsP@I irE?jE?K5P"K59*K12K5:K5`!"04W0p0obI59F|B! Hx~XGH7%9E]4EYEYE]D EYAqAN:> 9 pc>,;įLA}B3I@AI%I%(15q 5A=y5Q =>٥99 =H9E E>IU4Me?U49MA IMByQY]?MCiM;MS;MU4ae &Aa„bs1js1rs1zs1AII IIIIiQq) E 4E E E  E =GIa {Yy]BAANm>ԑԹ K>,LA9>x@>@Y>zѽy>.=>H@?@Bu?`}0]?`u(?H?@M? >x@>0;)>C D)DɺFDDHHɻJĀAiJIJFHILi| ||)| ȀA+ɼ  I ) i ) I AɽF ɾii!!)! !I!ٯ!-}B5(IIEIE(*2]H ]n=ymؼQ m?٥ H= ?4Lb?49 B Iy@?Ci::.[4O&A„bsjsrszsJlQ@I i!ԑHAHAHEIHEBHAHAHAHE<HEEE4EEE EAAN- >:JBJJJ>RJZJy:bJ9Jt4JzJ;jJ;J$ ;rJ$ ;K O"K ȱ9*K 2K :K :Wq<-;g1 ?@=L#H8) !v>,g}LAM}BMIi}٥ii mHiu u>y4}[?49}/B I} By4>;/G?}Ci}M:}R:}b4&A„bsm4>jsm4>rsmTL@zsm8J@I izEE4EEE. EAANH>9i ş>,VLA 9B@B@YB޽yB=BH`?=?`x a?`꼿̻? ?"? B@B-^;)@=}B=I)M4< M<IMIMm  m\=ym獼Q m>٥qq uHq}<< }>4{V?49>B IByF?ȜCit;u;=i4&A„bsajsarsazse9K@I iq"2Commanding positive:17848EE4EAEAEE EAAYAiNu6>ԙH= >H9 H= IH= ~BH9 H9 H9 H= ۛ<H= EHHHHI I`4 3?,#MLALIjR=IjR=:JzvBJzJJzARJxZJz{T:bJz9Jz4JxzJz8u;jJz;u;Jz;rJz;5}B5IMb@Mb@Mb@ )Y|?5^ʿ٥   H >%4N?%49JB IBy--;-G-?ԜCiK ; ;>q415&A5EQ„QYYbsjsrs4K@zsLJ@I iEu4EyEyE}A EyKP"K89*K2K:KB~`xz[>)ZeMY4v95<8>Qg*aXJ ?J?AANE> Q ?, 1LA9F@F@YF%yF =FH`?g?` ޼@j ?`f??`*? F@F;)FCR}BRIIZIZb1b! by=yfQ f?٥hh nHlr r?tv4v I?z49vQB IvByxz Hz?vܜCiv:v:vw4|&A!„!!)bsAjsArsAzsEJ@I iE4EEE EAAN>)Qԉ ?,-KLA9NL@NU@YN߽yNE=NH?3?@ad ?@3g ? ܽ?? NL@N#W;)NC^}B^IfBAdIjIj<2r= rH=yr;Q r>٥tt vHtzD z>|4~B?49~VB I~ByxH?~Ci~:~:~$~4&A9„9AAIbsajsarsazseuI@yIy yyyiHHHIH~BHU =HHHț<HEE5EEE EA AN-=yII@A:JqBJJJ9RJZJD:bJ9Jc44JzJ9Z;jJ|`[civ[;vkJ5 |AJ1 ?, dLA96@6.@Y6fؽy6`k=6H ?h#?@ûb@? ?Y? ? 6@6u;)6Cn}Bn!IeMb@Mb@Mb@aaa a)aYe-ƿQye?5eee@ e@)e"@Ie@aye@I}I}F>&= A=yF ٥ Hƶ >Թ4;?49;E@?Ci%;$;4v&A„!!!bs7>js7>rsI@zsE@I iE4EEE EAAN*>A ?,~LA9B@BM@YBfνyBH=BH?b?ếi ?Ĺ?`?? B@Bb;)BCJ}BN3IiPIR=IVIVb2^H= ^X=ybQ٥`` bH`f} f>hn4ji6?n49j B Ij،BylrD@r?jCijU;j;j$4tv&At„bsjsrszsD@ I    i"-2Commanding positive:17744]"EdTimed out moving from: 13568 to: 16450 response: 1E-"EHardware FaultIAY- mVHardware Fault in component: DockingStepperAiM uVHardware Fault in component: DockingStepperAqN8> ع׽HHHHHHH<HEԡ %?,LA9mC8@mA@YmK*ym=mH?_?ʹ?RA@ ?`#?@? mC8@mЇ;)mC~B7IqmMb@Mb@Mb@iii i)iYmI +?+ymm9٥ Hʼ >4`1?49A ǏBy>;7@?Ci<<䔇4%Ai„iiqbs>js>rs=@zs7@I i"Stop ":Uninitialize Docking Stepper."Powering downbEZErEjE]FScheduling is paused for 1 commands BCritical error at 20250605T060642N VStop Mission called by CBIT::checkCriticalsA AAAANM2>ԙKP"K9*K2K:KE.&!9FEc0=#GDT[6kFMgJ6.2ro{8:%a w+?,RLA9Fÿ@FE@YFyF=FH`?ڮ? xv?*?Q?? Fÿ@F$Lj;)DN(~BRMIIVIV<2vL= vo=yvAY 2?,7LAB*DAT read: user:649> FBDAT read: Tx time:06:06:42.3733 F$Ping request sent.Fyn0=nHI?@M?[``?ʺl"?@"?? nO@nt;)nCz=~BzZI) I%I%b5L= 5E=yU٥YY ]HYe e>iu4m *?u49mA ImBy6@?m Cim`;m;m4$A'BStarted mission DefaultWithUndocknK)NAggregate::initialize DefaultWithUndock1 *4Initialize Wait Component.s:I i"StoppingA!AYAYNe=)&8LCB fault: Invalid Command.q & Hardware Faulta=5XRequesting device enable clr for address 50.ԁ 9?, LAI)96Ͼ@6F@Y6 ȑy6 =6H`??vȴM?5?`4?c? 6Ͼ@66;)4@K~BcI Mb@Mb@Mb@    ) Y p= ףZd;OMby  j<  @ ) I M@ y =@AAAAI%I%m?35< 5.=y5٥99 =H9E E>IU4Md'?U49MuA IMByUW=U#<](]?MCiMe ;M7 ;Mʩ4ae$AaqIy yyyyi"StoppingAԩA- PHardware Fault in component: WetLabsUBATAN=! ȈG  M YI yU B;??,LA965W@6`@Y6̀y6t=6H@?q?貿-X@?`4 ?*?? 65W@61f;)4i<<)>Ļ ٥ Hk >4%?49VB IBy==<Ȼ?CiΓ<<4 $AI i"StoppingAAAN- >ԁԩ ML?, 3LA9: @:@Y:s:y:4@=:H??@3䭿?U?[׸? ? : @:UA;):C~BI)-p; -<I-I-=R= Ej=yE٥AI MHIM M?Q]4U%?]49UB IUByaeMe?UCiU;U8;Uٽ4im#AiI iԹD=}9"EStoppingAQAaAaNmW>9 a5S?,uMLA 2??2=9:U@:^@Y:Vy:r=:H m?`f'?`¿l? `)??? :U@:[;):Cf~BfIInInb1vn= vP=yvЩ٥xx zHx~ ~> 4%? 499C IBy  y ?Cie::ć4#A)I) )111i9D9!"%StoppingAAAN=ABDAT read: Rx Time:06:06:44.2687 TRx dataTimestamp_ set to:1749103605.475308qԙ _Y?,QgLA96~+@6-5@Y6Rdy6=6H ?`J?MUÿ?U@??˸?? 6~+@6J;)4N~BRI)P PTVA-Mb@Mb@Mb@))) )))Y-v/?{Gzy-xi=-ף--M@ -"@)-@I-@)y-@I I(2%m= %8=y-o٥)1 5Hq) >  4 [(?49 C I ymw=[<? Ci w: : ·4ԡ!#AI iD"StoppingAAAN>! ! a`?,LA9R\ @R @YRl׼yRx=RH?@c?ÿ 4z?`!??@Z? R\ @R;)RCZ~B^I`b@AIfIfbnM?< n^=ynM٥pp rHpvH: v ?x~4z)?~49zC Ixy|~{~?z!Ciz:zX:z҇4   #A I !!!i)D9" StoppingAA)A)N==ԙuDAT read: 06:06:44.2687 LVL= 7552, 18145, 7794, 8307, AGC= 27, IDX= 137, 0.20,-0.049,-0.499,-1.228, 0.843, PHS=-0.803,-1.294,-2.073, RAW= 52.5, 53.0, CAL= 50.4, 57.7, ROT= 99.6, -57.7 }Ygot valid direction response: 06:06:44.2687 LVL= 7552, 18145, 7794, 8307, AGC= 27, IDX= 137, 0.20,-0.049,-0.499,-1.228, 0.843, PHS=-0.803,-1.294,-2.073, RAW= 52.5, 53.0, CAL= 50.4, 57.7, ROT= 99.6, -57.7 }DAT read: OK }:unknown deviceResponse_: OK *DAT read: user:650> BDAT read: Tx time:06:06:45.3732 $Ping request sent.٥ H >4F.?49D IBy=;?)Ci_::ۇ4(#A I    iD9"StoppingA A9A9NM>Aq ؕ =ו %=l?,LA09:@:B@Y:ܖy:=:H? G?`URĿs? +[? .?-? :@:_%;):CB~BFIiF=IF%= J=J=ININ1r:b< vq=yv=6; rJ=yv) Q v>٥tt vHxzO; z>|4~5?49~VD I~By   ?~4Ci~X:~:~4#A)I) )))1i1D9"StoppingAAAN%=A ;y?,LA96 %@6.@Y6_ּy6[=6H@-?`?@oÿ{?@C6˚??@;? 6 %@6;)6C^~B^IEMb@Mb@Mb@AAA A)AYEn?~jth?I +?yEV>ED;E94٥qy }Hy}O@< }>4:?49D IBy>;6?٥tt vHtz < z>|4~??49~D I~By?~BCi~<;~;~4\#A!I! !)))i1C5"?C5S?yD9"StoppingAAAN=ԡ †?,[LABDAT read: Rx Time:06:06:47.2689 TRx dataTimestamp_ set to:1749103608.5063095~B5I%Mb@Mb@Mb@!!! !)!Y%K7A?/$?y&1|?y% >%<%`;%7@ !)%@I%?@!y%\@99I=I=(*2MY U)=yUQ U>٥QY ]HY] ]>am4eZD?m49eD IeByu>u;uP<u?eJCie:eB:e4y}#AyI iD9"StoppingAAAN">Iq ?,t)6LA96y@6(@Y6+'y6=6H`ֶ? W? a @? qͷ?@N?? 6y@6ѷ;)6CRr~BR{IIZIZb1^s׽ b=ybzQ b ?٥dd fHdfg= f ?hn4jG?r49jD IjBypr<r?jPCij:j:j)4tv1$AxI  i D&9"StoppingA AA!N-=Q)t> EC]GuA C¿YAyAԉԩ ѓ?,SPLA6DAT read: 06:06:47.2689 LVL= 11248, 15729, 11346, 9251, AGC= 26, IDX= 442, 0.09, 2.364, 2.202, 1.228,-3.022, PHS=-0.809,-1.012,-2.036, RAW= 38.9, 50.1, CAL= 35.8, 54.6, ROT= 114.2, -54.6 :Ygot valid direction response: 06:06:47.2689 LVL= 11248, 15729, 11346, 9251, AGC= 26, IDX= 442, 0.09, 2.364, 2.202, 1.228,-3.022, PHS=-0.809,-1.012,-2.036, RAW= 38.9, 50.1, CAL= 35.8, 54.6, ROT= 114.2, -54.6 :DAT read: OK >:unknown deviceResponse_: OK >*DAT read: user:651> BBDAT read: Tx time:06:06:48.3733 B$Ping request sent.B٥)) 5H15< 5>9E4=LL?E49=D I=ŒByIMj)=M?=WCi=:=C:=t 4QU"$AQiIi iiqqiԱD"StoppingAAAN= 9 ?,*iLA96ј@6@Y6|hy6=6H?-?(#R?ut ?@d?? 6ј@6;)6CfX~BfkIUMb@Mb@Mb@QQQ Q)QYUS㥻?kt?Mb`?yU/=U 0=U;Q Q)QIU@QyU@)e4< eImIm[3} }E=yQ >٥ H< >40P?49ID IŌBy=;G>?]Ci;;4$AEI iDF9"StoppingA A!A!N-= QUa=Ai ?,ܺLA 9:M@:@Y:7y:=:H ?`ڶ?KB ?V긿@?`?? :M@:똈;):CRR~BRhIIZIZ(*2vW vT=yvļQ v>٥xx zHx~I< ~>Qe4US?e49UC IUnjByae>e?UcCiUG:U:U4qu$AqI iDj9"StoppingAA A N=iԙ ?,WLAT9f C@fL@Yft嚽yf*=fH +?]?@Y``?i W?A?o? f C@fR~;)d8~BWI)) )15AIUIUF2Epk M6=y})Q }>٥ HJ< >4X?49C IˌBy?>?iCiq::v!4%AI !!i!D g9"StoppingAA1A1N= >! 7?,vqLA9>@>^@Y>Ŭy>=>H`?ɰ?z-Ͻ?5@,?ͻ? >? >@>sr;)٥IQ UHQU< U>Ye4] Z?m49]=C I]͌Bym=m2m?]lCi]:]:]'4y}_%AyI iD]9"]StoppingAiAAN=)Qԁ @ ?,24=9:@:>@Y:y:T=:H`?@p? VF jѯz?`C`??&? :@:٥xx zHx~= ~> 4*\? 49B IЌBy>?pCi::.4w%A!1I1 1119i9aD"StoppingA)AAN=ԁԹ-BDAT read: Rx Time:06:06:50.2689 5TRx dataTimestamp_ set to:1749103611.538062 I?,'LA~~B~DIii>I  =Mb@Mb@Mb@ )YI +??Mbp?y94<L= )@I@Թy=@I I(2K <=yQ >٥ H >4\?49UB IҌByVR=<A??sCiy;;264%AI !i!D9"StoppingA)A9A9NE=! ! % DAT read: OK - :unknown deviceResponse_: OK 9 }2?,LA9b@b@Yb@ݽybj=bH]?@r?3y`fF}? |K?<?? b@ba;)bC~BBI)p; II< :=yQ >٥ HЄ= >4]? 49A IՌBy  ^?e?vCiZ<Z<=4qu%AqI iDm9"StoppingAA A N*>Aiԙ {]?,GLA9vi@vfs@Yvqyv=vH@?t? J彿l`j?I,??t? vi@v)_;)vC ))1ɺ119AɻMAiIIUFYIaia ii)i鼁 A94MFɼAI)i)I€A齵1ɽF ɾqii) Iٯ ~B:IMb@Mb@Mb@ )YL7A`堿Mbp?~jt?y+;<@ @)O@Id@y@I  I (2= =7=yMQ M>٥QQ UHQUa= ]>Ym4][?m49]A I]،Bym=m %= < ?,8LA9:&@:@Y:y:A;=:H ?P@s?쾿%%?ؾ?@? :&@:-r;)8~~B>I)   AIIb1%ߓ< -=y-Q -?٥)1 5H15jA= 5?9E4=Z?E49=A I=یByIME@M?=yCi=~:=:=J4QU%AQiIi iiiqiqD9"StoppingAAAN=) m?,lRLA9:eM@:r٥ H= >4Y?49A IތByF@?{Ci::CR4%AI iDg9"StoppingA)A9A9NE=Q&Powering downJJJJy99ԩ o?,plLA966@6 ٥ HJ< >4BW?49A IߌBy=><7;@?Ci;;Y4%AI !i!D 9"StoppingԩAAAN=%sG9Q }ϿYyy}kA ?,JLA9:y@:M٥\\ ^H\b5< b>df4f)U?j49fiA IfByhj;@j?fCifW:f:f_4lpr%ApxI| |||iC ~AC ~ADu9"}StoppingAAAN= 1a ?,V,LA9B4@BX=YB yBA>BH@A?\Y@s ?4?`z0?Ӱ? 4v? B4@Bs;)BCf~BfFI)j4< jp;In In2v= vF=yvQ z>٥x| ~H |< >9)]4-R?e49-BA I-ByiuN<@}?-Ci- <-!<-2g4%AI !!iD%;9"-StoppingA9AIAIN]>aԑԹ ?,rLA9:S@:&=Y:y:s>:Hb?#H&:@i??{( ??!v? :S@:7;):CF;~BFYI=Mb@Mb@Mb@999 9)9Y=MbX9X9v?{Gzt?y=ʡ=<=ף;=@ =@)= @I=@9y9IU IUV2e= eC=yms=;Q m>٥ii mHiu< u>y4}O?49}@ I}By=<|4@?}Ci}:}:}kn4 %AEԙI iD\9"StoppingAAqAyN=! ͼ?,LA9><@>g=Y>\y>#>>H ?mƿ{A?4?f`l?,?"x? ><@>;)٥\\ bH`b b>dj4f^M?j49f@ IdyhnP4@n?fCif;f;fu4pr'%ApxI| |||iD"StoppingAAAN=!Qy ?,ԵLAI)96s5@6=Y6y6>6H`?"= ̢?`??3? |? 6s5@6;)6Cj2~BjTIUMb@Mb@Mb@QQQ Q)QYUV-ˡE?{GztyUhU'=UףU@ Q)QIQQyQiiIuIu}m >=y0٥ H; >4J?49A@ IߌBy9=!<)@?Ci; ;:|4.%AI iYD|9"StoppingA AAN%= u6H6? jE(B? ?`=_??? 6: @6*P;)6C}K~B}cIIIa= :=Աyb٥ H9 >4H?49? I݌By3)@?Ci;;Z4$AI iD-9"StoppingAAAN!> 9 X@,m!MA96~@6~q6Hd? P ?@]?I/ո?J?? 6~@6,;)6CBV~BBjIiF=IF< J=Ja=IJIJ(*RG= Vo=yV&@>@Y>!սy>=>H`s?@ a n?R৺?5?? >&@>p;)>C\~BnI-Mb@Mb@Mb@))) )))Y-T㥛 {GztMby--ף--@ -)-@I-@)y-z@)E; EIEIEb1UC< ]&=y],٥Ya eHae e>iu4mC?}49m}? Im،By}v=}P<}E}?mCim:m:m֒4$AIII IQQQiYD9"StoppingAAANC>! O @,#UMA 9:Db@:k@Y:ýy:[=:H`?`8?޸d ?:o?`?? :Db@:h;)8iDD)D DID H)JAJHHHJAiNYILLILiRA RP)PP RARTTTVAIV/ݼ)V\FiT|)\I=A9A AAAAiAIٯIU`~BUpIIeIeb2u(< uo=yu٥ H  zL  >40@?49 @ IҌBy%=%G<%%?CiH::-4)- $A)AIA AAAIiICUQ?CU_?D59"=StoppingAAAaAaNm=ԁԱ  A AN"@,4ڈMA9N:@N8D@YN?IyN}?=NH`?+?ZG`v? ,@V?@ż?ࣷ? N:@N=c;)NCv~B}IAAII0%3n %Y=y-1=Q ->٥)) 5H15 5>9E4=>?E49=@ I=όByIM&M?=Ci=:=:=¦4QU!$AQiIi iiiqiqԹD9"StoppingA)A9A9NE=9 ZH(@,fMA9>#t@>}@Y> y>=>H ?‰?@2kr6?tn9#t@>c;)>CJs~BJ{IIRIRV9 ZR=yZ٥X\ ^H\^~ b>`f4b:=?j49b@ Ib̌Byhjj?bCibe:b.:b4lr,$ApxIx xxx|i|DY"uStoppingAA AN==9i m ٥ HX >!-4%S٥tt vHtzR{ z>|4~;?49~B I~ČByQ?~Ci~;~;~Ȼ4/$A!I! !)))i1D>9"StoppingA A!A!N5=AA1 ;@,#IMA9>S@>\@Y>Uy>=>H }s??۱ǥƿ`X?"}l?`:?a? >S@>:'e;)>CJt~BJ|IMb@Mb@Mb@ )YMb?:vy&1|y<Խ`z@ )@I@y@I-I-b=ܙ; =D=yEʢ;Q E>٥AI MHIMH M>Q]4Uy;?]49UC IUBye=e;eʿe?UCiU;U;U È4im'$AiI iD"StoppingAAAN=)Yԁ DjB@,2! MA96/Ȼ@6@Y6tTy6s=6HY??ȿgA?}?꨺? a? 6/Ȼ@6 f;)6C٥xx zHx~0 ~> 4];? 49 E IBy  'Ϳ ?CiX::Ɉ4L$A)I) )111i9CES?CE^?D_9"StoppingA)AAN=ԉ }٥dh jHhj} j>pv4r4;?v49r$F IrBytzοz?rŝCir%:r:rЈ4|~$A| I iD9"StoppingAAA Nu=A N@,=MA9:@:@Y:Liy:=:H/??J̼˿?0?? |? :@:#d;):CFN~BFeIMb@Mb@Mb@ )Ykt?ˡE{Gzy 0=什# )@I@y@I5I5b1Eͼ EC=yEQ E>٥II MHIMü U>Qe4U٥xx zHxzk z>4̺@6@Y6y6=6H@?า?PO i̿|?@u#2?K? ? 6>̺@6a;)6CNA~BR]I]Mb@Mb@Mb@YYY Y)YY]~jt?Q뱿~jthy]D=]\]D]7@ ]n@)YI]@Yy]=@)m4< m4<Iu Iu<2Ӽ A=y[Q >٥ HU >4>?49H IBy=<̗?ӝCi(:F:4$AI iD9"StoppingA AAN%= QU=1Y tb@,#iMA96@6@Y6̽y6;=6H? 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L@?߾u?@q?2? 62@6S];)6Ci<>A)>ף ٥yy }Hy}v# }>4E?49D Iy5;=<HȾ? Ci;;e4$AI iDt9AAAN>iԑ -@, MA9:-@:܏@Y: ZȽy: =:H@?̻?.@L৿? ? .?٥ii mHiuE u>y4}TF?49}BD I}ByѾ?}Ci}:}:}ۏ4$AԙI iD9AA1A9NE=! KW@,MA96@6@Y6ͽy6$ =6H@9?@x?yԟ`? "?b?@`? 6@6_;)6Cm~BxIMb@Mb@Mb@ )Yy&1? ףp= ~jtxy`e=Q8z@ )9@I7@y@I I2j= A=y-ԻQ >٥    H  2  >4AH?%49D IBy%=%8<%.9%?CiF::D4)-D$A1AIA AAAIiID9AAAN=!Qy ?A,pMA9>S@>7]@Y>gԽy>H=>H?VB?@;ռp? m?C?@ ? >S@>n`;)٥\\ ^H\b3W b>dj4fI?j49f@E IfByhj>j?fCifv:f:f4prw$ApxIx xx||iC U?C 9?D59YAIA dClearing failed state for component DockingStepper1AN=ԁԩ i A,+MA96.@6@Y6ܽy6=6H ?p?7-Ӧ? v?c?h? 6.@6 a;)6Cbp~BbyIhj@AInIn v= vG=yvDQ v>٥xx zHxz: ~>4K? 49E IBy  B ?Ci*:z:ä49$A)I) )111i9DZ:"- Start "-4Initializing EZServoServo.Ա "8Initializing DockingStepper.AAN= 1 PA,#EMA96,)@62@Y6PNy6=6HU? 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N% >&$A,MA96@6`@Y6%6y6=6H;U?l?G`3ſk?÷|T?q?@M? 6@6R_;)6CBT~BBhIIJIJ2r" vT= y~Q  >٥  H >%4O?-49*H IBy)--?(Ci\:h:415$A9,EEither camera/lights unpowered or charge off not requested, but continuing with undock,ElEngaging thruster for 10.0 seconds (max) to disengage.MEMAMIMIMIQIYIY YYaaieS"StartingAA)N5=)iԁ e*A,MA96M@6V@Y68y6=6H`tC??@`ƿ\?@٥tt vHxzq z>Removing expired estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 19.02 mm.Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 19.02 mm. 4 P?49 H I By? *Ci  ;  ; ȉ4!%n$A%E,-Either camera/lights unpowered or charge off not requested, but continuing with undockM1M1M1M1M1AIIII IIIQiQY"eStartingAqAaNm=ԉԱ О1A,MA9R֠@R@YRyR=RH #? ?`;ɿ@y??CMm?Ŭ?? R֠@R_;)P^L~B^dIEMb@Mb@Mb@AAA A)AYE/$ rh٥qq }Hy}L >4XO?49H IBy=<*?,Ci:t:jω4$AE,Either camera/lights unpowered or charge off not requested, but continuing with undockMMMMMԹII i"StartingAAyN=A <7A,4MA9BX@Bib@YBӧyBd=BH??`rUʿ@1? D?T?? 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BA,0MA96x@6'@Y6Ey6+>6H!?`@V?*F+̿?¿ދ?T?w? 6x@6'#^;)6CB}BBIiF=IFp= F=Fp=IJIJ(*2RC RT=yV5OQ V>٥TT ZHXZw; Z>|!-4% ?-49%D I%By)-.@-?%vCi%:%:%249=A'AAMIMIMIMIMIyIyIy yiD9)"MnFailure count cleared after critical for DockingStepperEMEIEIEMP6EMAYAyN>Qԁ ZA,JMA96t@6#@Y6y66>6H`F ?`qa?T`̿?@!@G\?1?٥ H*: >4l?49[D IBy<<=<@?yCi;);94'A,Either camera/lights unpowered or charge off not requested, but continuing with undock,lEngaging thruster for 10.0 seconds (max) to disengage.MMMMM!I)I) )))1i5SD 9ԉEEEE6EAANC>ԱH>HHxIHn~BHW =HHDH2<HEHHHHW =IX = I`\6 ѳA,$dMA96@6@Y6Сy64.%>6H2?q'?{`̿@-?4?v~?l|? 6@6!c;)4B}BBIIJIJ1R.~= R`=yRQ V>٥TT VHTZ: Z>\b4^b?b49^D I^By`f@f?^{Ci^ ;^C ;^?4hj&Ah,nEither camera/lights unpowered or charge off not requested, but continuing with undockMpMpMpMpMpxIxIx xxx|iC C ~AԹD9EmEqEqEu5EqAAN=A A,g~MAu}Bu%I)y yMb@Mb@Mb@ )Y{Gzt?{Gz{Gztyף;#ף&@ )|@I @yp@I- I-<2=C= =3=yEQ E>٥AA MHIM M>Q]4U?]49U9D IUByeH<e=ee?QiU:UR:UG4imY&Aq,}Either camera/lights unpowered or charge off not requested, but continuing with undockMyMyMyMyMy ؕ<ו<II iDE99EEEE1EA)A9NER>iԑ ťA,6MA96)@6@Y64by6;:I>6H`!?`? Uݿ}˿?ƿL?3?@D? 6)@6`;)6ߐCB}BB.IHHIJIJ2r)= rd=yrjQ v>٥tt vHtz9< z>|4~?49~QD I~By֜?~|Ci~;~:~+N4&A,Either camera/lights unpowered or charge off not requested, but continuing with undockMMM!M!M!)I1I1 1119i9H>HXCHHHX =HHH֜<H> A,MA96(@6(@Y6y6K>6H!??q@H˿l? GMƿ`?3?=? 6(@6>_;)4B~BB8IIJIJ 2R= RN=yR$Q V>٥TT VHTZY; Z>\b4^?b49^kD I^By`b<b?\i^8;^{;^U4hj%Ah,nEither camera/lights unpowered or charge off not requested, but continuing with undockMlMlMpMpMptIxIx xxx|iyC=Cp;DU9EEEE0E~GIAAAN&>) HزA,MA'~BMIi%٥?? H F > 4? 49D IBy _ = < <?Ci:Y;\4W%A,%Either camera/lights unpowered or charge off not requested, but continuing with undockM!M)M)M)M)9I9I9 9AAAiI)D9E}EEE5E~GYaAiAyNZ>HyHyH}IH}~BHyHyHyH}<H}Eԉ A,LMA09>!@>*@Y>̽y>ʏ3>>H? ?:˿]?`ÿ?8? Z? >!@>S<^;)>C]S~B]hI)e4< eImIm(1}L= }A=y俼Q >٥ H F: >4 ?49E IBy<?Ci::Dd4$A,Either camera/lights unpowered or charge off not requested, but continuing with undockMMMMM,B*** querying acoustic contact ***zLLII iԉDM9EeEaEaEeh2Ea~G9AIAYNuW>Թ 2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode. - GM Al-A,MAp vAYvAyvA9]T"@],@Y]<ؽy]xD/>]H ??`1˿f?@s¿ ??[? ]T"@]];)]ߐCimCmA)mף mFIi uC)uAuuȤFq}C}Ai}ףIyyIՁiՅA ՅףԅpF)ՁՍYC ֍AՉՉՉ֍YC֍AI֕)֕&Fi֑)בIםA֝֝oF יٯ_~BoIaI@a aM@a aQ@a aE@a II<  R=y *vQ  >٥  H<9 >%4!?%49IE IB-+:y)-<-<-?CiW:<>i41=u$A9,EEither camera/lights unpowered or charge off not requested, but continuing with undockMAMAMAMAMAu*DAT read: user:652> }BDAT read: Tx time:06:07:23.2248 }$Ping request sent.H%YCH%IH%~BH!H!H!H%<H%Ea}~BI) II[3= O=yQ >٥ HF >4"?49E IB :y^<?Ci; I?Ln4#A,Either camera/lights unpowered or charge off not requested, but continuing with undockMMMMM I I  iDU9qEEEE0Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503329~GAAN5O>ԙ TAA,f3MA96=6@6?@Y6\y6>>6H n??ÿ/ʿS?` Ŀe?`?@8? 6=6@6`;)6Crchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755306z~B~I@AI I Eo= ER=yE Q E>٥II MHMFM; M>Q]4U#?]49UE IQe9yae4ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006880ԑ %A,3MMA9>7J@>S@Y>:vy>O>>H P ?Z ?Ŀ`>ʿ@?~ſ ?@?@ ? >7J@>6d;)>ߐC^~BbIaIEaIM aMMaMM aQMaQM aEMaEM MMb@Mb@Mb@III I)IYMkt?:v?{Gz?yM =M٥yy }H}F!; >4&?49E tIIBT:y#=<Y=?Ci`;;y4W#A,Either camera/lights unpowered or charge off not requested, but continuing with undockMMMMMII iCC=CC=ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258887ԡD}9H%>H!H%IH%%BH%W =H!H%DH%y<H%EEEEE0E~GAA N > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853 OA,gMA ~B Iia=Ip<IIF2-^= -O=y-Q 5>٥11 5H5F= =>AM4E)?M49EE IEByIIU?ECiEk:E:E4Y]"AY,eEither camera/lights unpowered or charge off not requested, but continuing with undockMaMiMiMiMiyIyIy yiEEEE1E~GIAQAaNm>Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763081) 9A,AMA9Mp@Mmz@YM1 yMmf>MH ??@vVƿ@ɿ? exȿ lM?A?? Mp@MOb;)MݐCe~BeI]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014927I5Mb@Mb@Mb@111 1)1Y5ˡE?ˡE? rh?y5=5'=5C<5CA 5n@)5f@I5@1y5z@) II3q= =yNQ >٥ H=F=< =>AM4E-?M49EjE IEByU=UU?ECiEr;EW;E扊4Yeo"Aa,mEither camera/lights unpowered or charge off not requested, but continuing with undockMiMiMiMiMiyII iEEEE5E~G! A1 AA NM >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266813aA,]ŚMA96@6n@Y6TLy6j>6H ?z;?`>ƿɿ@? ɿ`?? w? 6@6`;)6ߐC@G\G^?AH`H`HbIHbvBH`H`H`HbX<HbEHHXCHHX =IW = Iq5r~BrIIzIz(*2< =y _Q  5?٥    H8"< >?%46/?%49KE IBy)-m>-?Ci:A:415_"A1,=Either camera/lights unpowered or charge off not requested, but continuing with undockMAMAMAMAMAQIQIQ QQYYiaEEEE0Eԩ~GAAQAaN>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518938 A,0MA9:@:e@Y:<y:8b>:H`i ?)? $ƿ@dɿ`U?yǿ]?@٥tt vHvFz; z>|4~2?49~E I~By Cq> ?~Ci~:~(:~4B$"AE,Either camera/lights unpowered or charge off not requested, but continuing with undockM!M!M!M!M!1I1I1 1119iAEEEEP5E~GAAN> 9uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022850a 1tA,|MAI)96J@6@Y6hy6ԙT>6H ?3?cƿ,#ɿ`?V[ƿ ? ?? 6J@6^;)6ސCN~BRI9eMb@Mb@Mb@aaa a)aYeS㥛?A`"?I +?ye/٥ HF͛; >4"3?49D IBy=Q<n??Ci::k4~"A,Either camera/lights unpowered or charge off not requested, but continuing with undockMMMMMII iCCCCchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277644E5E9E9EE1EAq~GiAAN>>HHXCHFIHBHHHHf<HEԙ  DAT read: 06:07:25.6299 LVL= 7216, 11105, 7618, 10723, AGC= 33, IDX= 23, 0.17,-2.225, 2.558, 1.886,-2.586, PHS= 0.449,-1.093,-1.815, RAW= 71.8, 23.5, CAL= 70.8, 31.7, ROT= 79.2, -31.7  Ygot valid direction response: 06:07:25.6299 LVL= 7216, 11105, 7618, 10723, AGC= 33, IDX= 23, 0.17,-2.225, 2.558, 1.886,-2.586, PHS= 0.449,-1.093,-1.815, RAW= 71.8, 23.5, CAL= 70.8, 31.7, ROT= 79.2, -31.7  PDAT read: Bearing 79.2, -31.7 (Local)  ~Local bearing/azimuth received: Bearing 79.2, -31.7 (Local)  DAT read: Range 10 to 50 : 0.7 m (Round-trip 1.0 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.159426,0.835741,0.525472] Fpublishing direction and range infoy y}  Z8Ph?Yc?k?} 33?Yy } 0)} a+I} i} )} !} T>} m狿} Q } g?)} ~>I} 2+?i}  ?} ;?}  y )} } "|?Ui快S% {?i} OW} yѾ} ;?}  y )y A,YMA9Z@Z@YZ\yZjJ>ZH;?W7?@?ƿ \ȿJ?`=ſ`G?@?`? Z@Z2^;)X}~BIԙII2u F=yٝ:Q >٥ HF{; > 4 :4?549 %D I By1=o?=? Ci ); ; 4AE"AAMIMIMQMqMq M @?Mf7 LLMAL33?L1?LV?LsvX? x?4?L Z8Ph?Yc?k?L;?L MGk?ir?VD'?L|/]?^D?F<@?L->L>L$@?Lm7 LaB*Mɜ?2MII iEEEE0E~GAANE> B,QhMA9E]ƻ@E @YEWyEM>EH ??`3ƿ ޗȿ!? ſ@?@I? ? E]ƻ@E];)Au~B}Ii=I; =a= ٥qq uHuFu; }>y4}2?49}lC I}ByY=*<!@?}Ci}:}:}4"AMMMMMII iEIEQEQEU0EQ ~G)A1AANU2>1a B, MAH4H4H6_IH6BH4H4H4H6<H6E9Z@Zx@YZ;OyZ_EZ>ZH1??Cƿ 6ǿ?@Hǿ?@ ?Q? Z@Z!];)ZߐCf~BfI)n; n;Ir IrV2vHL zh=yzj:Q z>٥|| ~H|_< > 41?49B IBy@?Ci::?4!%9#A!M)M)M1M1M1AIAIA AAAIiIQEEEEE~GAAN=ԁԩ 5 B,!5MA96K$@6-@Y6*y6Ba>6H |(?o?@ƿ,ǿ?LȿŶ??? 6K$@6];)6ސCB~BBIIJIJ 3VҼ VO=yV8;Q Z>٥XX ZHZF^< ^>`f4b0?f49b)B IbŌBydfD@j?bCib :b:b'4lnb#AYMqMqMqMqMyII iԱEEEE@5E)) )~G1AiAyGN>ĀA Y ĀAy A 9 xB,OMA96;@6CE@Y6 y6cc>6H-?`e?ƿƿ`?!ȿ@ ??? 6;@6FC];)6ܐCNu~BR}I)P PTT-Mb@Mb@Mb@))) )))Y-i|?5:v?:v?y--T=-T<-1A -@))I-@)y)IIT3Eڽ :=yi:Q >٥ HF; >4,?49]A InjBy>;;%@?CiE::ֿ4B$AEMMMMM II iEEEE5E~GAAN$>9HaHaHeYIHeBHeX =HaHaHe|<HeEi B,giMA 9>"@>@Y>}y>.a>>H@O"?!t?9Gƿ@ǿ@?@1ȿ@X?\?? >"@>"];)>ސCJK~BJcIPRBAIVIV3ZO ^]=y^KQ ^>٥`` bHbFbč f>dj4fE)?j49f@ IfȌByln$@n?fCif;f;fLƊ4pv$AtMxMxMxMxMxI I    ibE%}AZE%}AE}EyEyE}2Eyi~GAAN>ԙ B,MAP9\@ @YWQy]G^>H`_??̦ƿ`vɿm?ǿ?8K?p? \@骍5];)ܐC0~BRIMb@Mb@Mb@ )YNbX9ȿy&1yE`eA I@)f@I/@y@IIXe ,=yf9Q >٥ HF >4!?49/@ IBy&F>;U;@?ƞCi::Ί42%AMMMMM!I!I! ))))i1EEEE0E~GAANI> A A &B,rRMAG G"AAH&>H$H&:IH&BH$H$H$H&v<H&E9J@J@YJWyJ/2W>JH ?hF?*ǿP˿?:ƿ ;?`n?`? J@Jw];)JېCV~BV7IiZq4ua?49u? IuBy*:@?uϞCiu3A;uA;uԊ4%AMMMMMI I    iEEEE0EI~GAAN>qԡ Y(-B,/MA96@6@Y6G_y6EX>6H`? j.?5ǿ0IͿf? ƿ[? ?@? 6@6];)6ܐCB}BFI)H JININ2Z ֽ ZL=yZ$Q ^>٥\\ ^H^Fb + b>dj4fz?j49fN? IfByhj"9@j?f؞Cif:fl:fxۊ4pr&ApMtMtMtMxMxII  i yEqEqEyE}0Ey~GAAN>ԡ 4B,MA96@62!@Y6jy6$\>6H̳?@?Uȿ@ϿP? 3'ƿ S?@?? 6@69K^;)4B}BBI5Mb@Mb@Mb@111 1)1Y5MbXѿy&1y55L5`5-A 5@)1I5&@1y5p@IMIM3]l̽ ]@=yen!:Q e>٥aa eHeFm& m>q}4u ?}49u ? IuBy}э>?;C@?uCiu:u,:u4B:'AEM,Thruster off.MMMM!I)I) IIIQiUEEEEp5E~GAAN (>H=>H=YCH=IH=WBH=W =H9H9H=<H=EHXCHHHW =I Ie4)Y M::B,MA96䢹@6@Y6X<y6Vc>6H@?z?xwȿUjп h?@ƿ@7??? 6䢹@6W^;)6ݐCjr}BnI)| |I  I V2' O=y ;Q >٥!! %H%F- ->)54-$?=49-> I-By9=B@=?-Ci-;-a;-4AM'(AIMQMQMQMQaIaIi iiiiiq1EEEE5EZGRGjGbG~GA AN%=aԉԹ %AB,p MA9~Ӹ@-ݿ@Y9r yb>H e?@?Jwȿѿ`6?@ƿ??p? ~Ӹ@骽_;)ܐC%X}B-IԉMb@Mb@Mb@ )Y/$տ㥛 Q롿y\A @)I5Ay @AAII2(^  .=y #٥ H] >%4?-49a> IxBy->-;-B@-?Ci ;;41=(A9MAMAMAMAQIQIY YYYYiazEiEEEE0EAA!N-->Թ  H9 H= <HE >HA HE IHE ~BHA HA HA LGB,9 MAHu<HuE9Vg@Vq@YV yVRJ>VHJ?v?`pǿpҿ8?) ÿ|??`? Vg@V5_;)T}BII- I-̍2=' =G=y=*٥AA EHAEs M>Q]4U뼜?]49U> IUdByY]XB@]?UCiU:Ud:U'4im)AmEMqMqMqMqII i %=%4=EEEAEAEE0EIAYAiNu6>!I zMB,8 MA 9B@B@YB8yBr:>BH`)?@?@ƿ:ӿ`%??@'?74? B@B݈_;)@ L)N`AɺNTLLPɻRAiRIRFPIPiP TT)TT VAVzV8FɼXXZAIX)Xi\)\I^A^nɽ^F \ɾ```i``idf݃A)d dIdٯdn|BnI r=rp=IvIv 2~6 ~w=y~H>6H ??ૣƿ tԿ?`N@&? M?e2? 6&@6t_;)6ېCL|BIMb@Mb@Mb@ )YV-׿I +~jty9A @)@IS@y@II<2: ;=y ٥    H  >%4Լ?-491= I>By-2>- ;-A@-?H>HHIH~BHV =HHH<HE! ZB,.l MA9:%%@:.@Y:y:H>:HV?@{{?{ƿ-տr?`¿??%? :%%@:_;)8F|BFxIIN INV2Vx Vc=yZ;Q Z>٥XX ^H\^ ^>`f4bɼ?f49b< Ib,Byhj!A@j?bMCibu:b:b 4nBn*AnEMtMtMtMt,vB*** querying acoustic contact ***zLtLt|II   i EEEEEAAN=)T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q= G] Aq 1Y Ay ̿Aԁ paB,5 MA9Z۶@Zv@YZ?4yZ<N>ZH?T?,ƿfտ@? ¿ ?Mf?`? Z۶@Z_;)ZِCa|BgI ==*DAT read: user:653> -BDAT read: Tx time:06:07:33.3249 5$Ping request sent.5٥qq uHq}? }>ԁ4G?49c< IBys>;/D@?eCi0;k:4+AMMMMII iE}EyEyE}5EyAAN_>Ա JDAT read: TxSync time:06:07:33.3241  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253588 ZgB, MA9J@J@YJyJ1K>JH`? ?ƿ7ֿ?`!c¿?`/ ?{%?HR>HRZCHRIHR}BHPHPHPHR><HRnE J@Jo_;)JېCf|BfaIIn%In)3vm  v=yv`;Q z?٥xx zHx~ ~? 4? 49)< IBy  C@ ?rCi:: 4C+AM!M!M!M!1I1ԹI9 iEEEEp5EAAN=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504613]PExceeded connect timeout, disconnecting.9 mB,l͹ MA96f@6p@Y6y6B>6H@?@d?|ƿֿ? 'X:C?`;?3? 6f@6`;)4B|BBfILNARchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757009IJIJF3Z$< ZN=yZTz;Q Z>٥\\ ^H\bw b>df4f񥼜?j49f; IfByhjYC@j?fCiff;f@;f"4pr+Ar EMtMtMtMt|I|I i EEEE5EAAN=9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.011034qԑ xtB,[ MA9>#=@>F@Y>Py>v@>>H``?S? =Uƿ6ֿ?`??@7? >#=@>_;)<^|BblIib=Ib< f=f=MMb@Mb@Mb@III I)IYM)\(Կ(\µZd;OyMGMMjM^A M@)M@IME@IyM@IeIe3u6< u?=yuf[;Q u>٥yy }HyB >4?49j; IByv>";A@?Ci ; ;)4*AMMMMII izEqE5E1E1E51E1AIAYNe=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260646ԡHHHIH}BHU =HHHb<HE e >e ?e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512916 zB,u MA96@6@Y6y6(B>6H ?@?`ƿ3׿ ~?@=b ?`?@8? 6@6_;)6ِCr|BvmI ~nManaging dock network, ignoring radio surface power offIz Izb3a; Q=y;Q >٥ H%[ %>)54-?549-; I-ԋBy159A@5?-Ci-:-;-e04AE*AAMIMIMIMIYIaIa aaaiiiEEEE0EAAN%=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764718) B,*S MA9J~@J-@YJ%yJJE>JH@r?@b?`_ƿ@ ׿`Kp? 9n?+T?` 7? J~@J}'_;)JڐC=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020020)|BsIMb@Mb@Mb@ )Y|?5^ҿDlI +y񒾙O941A @)@I9AyQ@IIb< =y!;Q >٥ Hp >4_?49i: IŋBy<>3;s?@?Cio:I:94B*A EM M M M II !!!!i)bE5~AZE5AYEEEEu0EAANj>ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270538B,1! MA,H2>H0H0H0H0H0H2DH2]<H2EHZCHYCHHV =IV = Is 59J@JYǼ@YJܫ޽yJM+G>JH? fE?ſ z׿\?sǻ??6? J@J~^;)HiRCP)P PIP V&C)VAVףTTZCXiZIXXI\i^A ^D^iF)\` bA````bAIf)did)dIfAfh hٯhn|BnIIv Iv(2~L= ~=yd4)-u*A)M1M9M9M9AIIII IIIQiQE E EE0EA!A1N==ԉ-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520733Ա B,; MA9:@:N@Y:$ٽy:[G>:H2n??pſ91ؿ I?b*?x?7? :@:l^;):ِCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773368`=|B=IIMIM2]4= ]E=y];Q e>٥aa eHamp m>q}4ur?}49u9 IuByy}>@?uӟCiu;u8;uE4**AMMMMII iEEEE~0EA)A9NE=MBDAT read: Rx Time:06:07:35.7323 UTRx dataTimestamp_ set to:1749103657.194243echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.029901A B,2T MA96Y@6]c@Y6$սy6F>6H\?@ ?ſvؿ8?`@K?x? ;? 6Y@6]^;)6ؐC-|B-IMb@Mb@Mb@ )Yrh|Ͽy{LGA "@)@IAy@II<2 < B=yD;Q >٥ Hm >4i?499 IBy>S;n<@?Ci;;M4 B )A EMMMM!I)I) )))1i1rEE>jEE>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277409E-E1E1E5o0E9IAAN$>H>HHIH}BHT =HHHE<H~Eqԡ m DAT read: 06:07:35.7323 LVL= 15264, 29249, 29010, 32755, AGC= 37, IDX= 462,-0.00,-0.479,-1.821,-1.012,-0.797, PHS= 0.406,-0.977,-0.218, RAW= 123.2, 13.1, CAL= 130.2, 8.9, ROT= 19.8, -8.9 u Ygot valid direction response: 06:07:35.7323 LVL= 15264, 29249, 29010, 32755, AGC= 37, IDX= 462,-0.00,-0.479,-1.821,-1.012,-0.797, PHS= 0.406,-0.977,-0.218, RAW= 123.2, 13.1, CAL= 130.2, 8.9, ROT= 19.8, -8.9 } PDAT read: Bearing 19.8, -8.9 (Local) } ~Local bearing/azimuth received: Bearing 19.8, -8.9 (Local)  DAT read: Range 10 to 50 : 2.4 m (Round-trip 3.3 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.929552,0.334659,0.154710] Fpublishing direction and range infoA yE {?eBk?j?E @YA E ;)E ArIE RqiE E %E ;>E zE d;_ E @)E  j>IE Oo@iE >E ;>E  A )A E x?׼ɀ??iE f=E iE ;>E  A )A K%B,n MA9f&@fp0@YfA ѽyfCD>fHJ? mt?SſؿG&?l`?A?`#@? f&@fd^;)fېC}BIII(1e= eR=ye;Q m>٥ii mHiuꂼ u>y4a? 49}8 IBy  <@ ?Ci:B:,T4)AM!M!M)M) Mm ?Mmve= LiLmrl MALm@LmY@Lmm@LmQc@džK?$u?Lm{?eBk?j?Lm;>LmMmR/v2@ˌ` ȿݸ}?Lm!:T?Zm :=?LmL@Lm@Lm hQ!?Lmo= LmB*MmPmɜ?2Mm 3 :MmzBMm'B"Mmt>YIYIa aaaaiiE E E E O5E AA)N= >ԡ B," MA9Fd@F@YF1νyFbC>FH@6?`?;ſwQٿ@>?JA赹? &? B? Fd@Fjo^;)FؐCR6}BRIIZIZ 3b|= bU=ybWz;Q b>٥dd fHdj j>lr4nZ?r49n7 InByx~;@~?nCinz;n;nZ4%(A!MAMIMIMIII IQQaiqEEEAEAEE5EAAQAiNu>)G! G% @AY H H H 'IH }BH U =H H H t<H E6B,Ps MA9Rľ@RtȻ@YRT˽yRɱC>RH #?:?@3ſ`Ӭٿq?@U:_? 1?@C? Rľ@R}^;)RאCZ:}B^I=Mb@Mb@Mb@999 9)9Y=1Zd˿~jtI +?y="[=ļ=94<=A =9@)9I99y=@IUIU2e; eA=ye L;Q m>٥ii mHiu8j u>y4}R?49}I7 I}By\>v;'6@?}Ci}#:}:}a4(AMMMMII izE1E5E1E1E1E1AAAQN]=aԉԹ `B,M MA96{@6*@Y6Gɽy6*D>6H ?E?@;ſ` ڿ\?>=?K?B? 6{@65P^;)6ِCF\}BFIIN IN(2= Q=y l';Q  >٥ -H)-ρ ->1E45K?E4)MT> M&C956 I5Byam5@m?5Ci5"<55<5h4sGfA^(AE YfAyEAM MMM!I!I) ))))i1ԑEEEE1EAAN > HB,) MA96W@6a@Y6tǽy6DF>6H@V??Tſhڿ?X??@? 6W@6e^;)6ڐCz`}BzIMb@Mb@Mb@ )YʡEƿ~jtx rh?y-2ĻC<ZA f@)(@IKAyz@II(1< >=y;Q >٥ Hnq >4F?495 Iy!3>; 1@?Ci ; ;Zp4N(AM M M M I!I! !!!)i)EEEE0EAAN>HHHLIH'~BHT =HHHU<HEI rB, MA09:"@:z,@Y:fkƽy:~G>:H?P?pſNڿi?_ø?ȩ?V?? :"@:k^;):֐C FC)DɿFDDJ̏CJAiJtIHHIJ@CiJA LL)LNC NANPPRCPIP)PiP)V CITTT TZ@CZAXiXXٯXn~}BnI r=r=Iv Iv̍2~= Y=y:Q >٥    H  ⌼  >4@?%49A5 Iy!%0@%?!Ci;<;v4)-'A)M9M9M9M9IIIII IIQQiQbEeAZEaEEEE0EA!A9N==ԉԹ ZB, MA9:@:@Y:=Žy:F>:H@? X?uſ`X,ۿ ?@0??`@? :@:m^;):ؐC`}BII-I- 3MH< UE=yeT:Q e>٥qq }Hyd >4';?494 Iy60@?+Ci;\;S~4'AMMMMQIYIY YYYaiaE!E!E)E-~0E)A9AINU2>I  H H <H >H H eIH O~BH U =H H H [<H E҄B,# MA969@6辺@Y6vĽy6<6HϷ??@rſ:ۿ *?` 3?c?C? 69@6`^;)4%}B!Mb@Mb@Mb@ )YjtĿ rh?Mb?y C<< A )V@Iy@IIM3p C=yn:Q >٥ HR >4i6?493 Iy">;&@?3Ci:(:4'AMMMMII !!i!EEEE0EAAN>Iqԡ B,)= MA96}@69@Y6wvýy6eD>6H?ф?vſXۿ{?Qe? I? 2E? 6}@6Hk^;)6ڐCB}BBIDFAIJIJ?13R= R_=yVϮ:Q V>٥TT VHXZ Z>\f4^62?f49^2 I^Bydf|&@j?^:Ci^@;^:^ꋋ4lna'AlMpMpMtMtxI|I| |||irEi>jE>yEEEEEAAN=ԡ wB,tW MA96H@6sR@Y6+½y6ײD>6HC??ſ Rܿe?`y:?S?@٥99 =H9Ey E>IU4M-?U49M1 IMByU>U;U#@U?MBCiM;M ;ML4eBeW'AeEMiMiMiMiII! !!!)i)EEEEp0EAAN% >H>HHrIHd~BHT =HHDHz<HEHHZCHHT =IU = I51Y %B,DMq MA9>@>Q@Y>/y>OWE>>Hq?@PA?Ӛſ`ܿM?@@? g? D? >@>s^;)>אCF}BJIININT3V/> VS=yZ:Q Z>٥XX ^H\^a ^>`f4b)?f49b1 IbByhj"@j?bJCib:bu:b4ln'AlMpMtMtMtxI|I| |||i9EqEyEyEyEyAAN=aԉԹ ҨB,' MA96@66@Y60.y6dE>6H\?(?@ſݿ 7??v?`CD? 6@6G^;)6ؐCf}BfI j=j=)jp< j<InIn2vj:= vF=yzS:Q z>٥xx zHxm  >-4%?-49*0 IBy)-6"@5?RCi:`:Q49=T'A9MAMAMIMIQIYIY YYYaiazEqԙEEEE3EA!AAN=) ) Gy G} AAH >H YCH xIH n~BH W =H H H <H E! B,X MA96@6@Y6 y6aE>6HG?@ ?ſYݿ@#?Zjط?u?@D? 6@6 ^;)4Bw}BBIMb@Mb@Mb@ )Y@5^I ¿y&1?{Gz?yb`<#< A |@)@IAy @II(*2-U -F=y5b:Q 5>٥11 5H14!?49./ Iy>;@?YCiZ::4'AEMMMMII !!i!EEEEz5EAAN>I B,G MA9:s@:"@Y:y:E>:H5?5?ijſ Xݿ?Yk?u?PE? :s@:о^;)8By}BBIIJ IJV2RV; RS=yV:Q V>٥TT VHXZ_ Z>\b4^?b49^P. I\y`f@f?^`Ci^N:^:^94hj'AhMpMpMpMtxI|I| |||iEEEEp5EAAN=Iyԩ B, MA9:_@:i@Y: y:q]E>@:HA!?? ίſݿe?@; x?@6j?qF? :_@:S^;):אCJQ}BJIMb@Mb@Mb@ )Y㥛 ¿/$?{Gzt?y<ף; A )@IAyI- I-(2E EA=yE:Q E>٥II MHIMM U>Q]4U?e49UZ- IUBye!>e;e5!@e?UhCiUa;UE:U4iu(AqMyMyMyMyII ibEZEEEEE5EA!A9NE=ԩH->H)H-eIH-O~BH-Y =H)H)H-<H-E! WB,> MAv<}BvII~I~M3-OO -L=y5Q 5>٥11 5H1= =>AM4E?M49Eq, IEByIIU?EpCiE:E:E4Y](AYMaMaMaMi,mB*** querying acoustic contact ***zLiLiyIyIy yyiE5E1E1E52E1AAAYNe=IeʼnGy @YyAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.qԡ 9C,ip MA96 @6@Y6y6GD>6H@p?p?ſG޿?`?fI?I? 6 @6o^;)6ՐC^1}B^IIfIf3n nP=yrĥ;Q r>٥pp rHtvaҼ v>x~4z?~49z+ Ixy @?zwCiz;z8;zċ4  )A MMMM!I)I) )))1i1ym*DAT read: user:654> BDAT read: Tx time:06:07:43.4250 $Ping request sent.ԩ JDAT read: TxSync time:06:07:43.4242  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246063 H <H <H! H! H% FIH% ~BH% W =H! H! H% <H% E) \! C,K& MA9:r@:!@Y:ky: D>:H?7c?@ſ޿?%ݥ? YQ?J? :r@:g^;):ӐC^}B^Iib٥qq uHq}6 }>4 ?49* IBy;*>;z%@?Ci::ˋ4B)AEMMMMII irEe>jE>EmEiEiEu0EqAAN= e>6H??Eſ@-߿ F?|f? }? R? 6@65^;)6֐CR|BRIIZIZ2bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749375%o %O=y-M:Q ->٥)) -H)5Ȕ 5>9E4=?E49=) I=ByAE%@M?=Ci=:=S:=ҋ4QU1*AQMYMYMYMaiIiIq qqqyiy9EEEE0EA AN%=a}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001392ԑԹ b3C,Z MA96'@6֕@Y6玲y6azA>6HǾ?c ?]ſ`e߿`?`J?&?O? 6'@6O@a;)6אCR|BRyI]Mb@Mb@Mb@YYY Y)YY]Mbȿy&1:vy]@]`e]T] A ]|@)]@I]AYy]@Im!Imi3O D=y6;Q >٥ H >4:?49( IByA>;+@?Ci::ڋ4*AMMMMII iԑH>HHIH}BHHHH<HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253361EEEE0EAAN> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505239 ]C,s MA|BaI)! !I-I-[3=;ƽ =O=yEQ E>٥AA MHIM M>Q]4U?]49U' IUByaae?UCiU;U#;U4im$+AiMqMqMMII izEEEEEu0EAAN>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757161I E#C, MA9BY@B`c@YB{yB6C>BHE?7h?C#ſ߿j?@I? +?O? BY@B`;)B֐CJ|BNMIIVIVT3Zt ^S=y^&٥`` bH`bi f>dj4f4?j49f' If~Byln+@n?fCif;f;f4pv+AtMxMxMxMxII    i]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011850EEEE{0EAQAiN=yG G ?AH >H ZCH IH z}BH U =H H DH y<H EHYCHYCHHW =IW = I45  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261281o)C,h MA96MA@6J@Y6 y6C>6H`?(?Ŀ ߿\r?)?`-9?P? 6MA@6_;)4LRh|BR:I]Mb@Mb@Mb@YYY Y)YY]Clɿ=y0;Q >٥ H >4X?49<& IuByT>;1@?Ci:,:@4#,AMMMMII iEmEiEqEuo0EqAAN=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513260! W0C,"m MA96X)@63@Y6jy6C>6H?`?Ŀ; d?x?`=?KR? 6X)@6d_;)6ԐC`bAfBDAT read: Rx Time:06:07:45.8347 fTRx dataTimestamp_ set to:1749103667.047649jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770654jA|Bj"IinY>In=IrIrb2z ǽ zT=y~x;|Q >٥ H    >4.껜?49|% ImByc1@?Ci<'<4B,AEMMMMYIaIa aaaiiibE~AZE~AE)E)E)E)E)1AAAqN}>Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023411ԉ |6C,I MA96@6@Y6]Ey6C>6H@ ??@Ŀ!.W?@f,`c??@? S? 6@6_;)4B$|BBIMb@Mb@Mb@ )YCl˿i|?5y;_q̼ @)@IE@y@I%I%m?35 5F=y=;Q =>٥AA EHAE M>IU4YM⻜?]49M$ IMbByeh>ei;e6@e?MƠCiM4;M2;M34im*-AiMMMM I1I1 999AiAHe>HaHeIHe)}BHeT =HaHaHeb<HeEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273612EEEE3EAYAyԉN%>Ա } =y  DAT read: 06:07:45.8347 LVL= 13200, 30193, 31282, 32755, AGC= 39, IDX= 470, 0.46,-2.433, 2.437,-3.068,-2.815, PHS= 0.470,-0.985,-0.256, RAW= 120.1, 12.2, CAL= 127.7, 8.4, ROT= 22.3, -8.4  Ygot valid direction response: 06:07:45.8347 LVL= 13200, 30193, 31282, 32755, AGC= 39, IDX= 470, 0.46,-2.433, 2.437,-3.068,-2.815, PHS= 0.470,-0.985,-0.256, RAW= 120.1, 12.2, CAL= 127.7, 8.4, ROT= 22.3, -8.4  PDAT read: Bearing 22.3, -8.4 (Local)  ~Local bearing/azimuth received: Bearing 22.3, -8.4 (Local)  DAT read: Range 10 to 50 : 4.2 m (Round-trip 5.6 ms) speed -0.2 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.915284,0.375385,0.146083] Fpublishing direction and range infoځ yڅ e yJ?|P?/8ٲ?څ f@Yځ ۅ 3)ۅ uIۅ 2ziہ ۅ 'ۅ ף>ۅ (|ۅ o ܅ *'@)܅ ^ Z>I܅ l@i܅ Q >܅ SF>܅ Q  ݁ )݁ ݅ oŴF?BĔS?j?i݅ :݅ (Z݅ SF>݅ Q  ށ )ށ ]jH~?"?@RĿ 4@HJ?`K@Aϲ?`K?T? j@j ^;)j֐C=|B=IIMIMV83ԹT B=y;Q >٥ H0ӻ >1=45ۻ?E495$ I5VByAE6@E?5ҠCi5p:5-:54IMm-AQMyMyMyMy Mf '?M5 LLa MALf@LN@L@LWn@4KF9?7W 0?Le yJ?|P?/8ٲ?LSF>LQ M[ 7@^3i/?L>NC? OüĿv==gp?L1.L9~@L)?LT6 LgB*M$@?2MT6 :MBMT@"M}@II iEEEEc5EAAN">9 !CC,T MA96f@6@Y6͑y6w#D>6Hlt?`M?`Ŀ`G=?f`5?RN?U? 6f@6^;)4R|BRIVBATIZIZ0~$ ~X=y;Q >٥  H  &  >4Ի?49w# IMBy!%S6@%?ݠCiq ;K ;/ 41=-AAMYMYMYMaiIqIq qqqyiyE1E9E9E=4EAAqAN>Aq HM <HM <HU >HQ HU ~IHU |BHU V =HQ HU DHU y<HU E ԙ [IC,( MA96ΰ@6Pط@Y6Iy6C>6H`i?5{?Pÿ[x1?@gq7?s@?`W? 6ΰ@6^;)6ՐCU{BUIqMb@Mb@Mb@ )Y}?5^I̿#~j:vyMb㥽Լ @)@I\@y @IIb{_ -=y;Q >٥ H!% %>)54-˻?549-" I-?By=}r>=`;=;@=?-Ci- ;-;-q4AE.AEEMQMQMQMQYIaIa aaaiiiEEEE5EAAN(>ԡ) - sGA Y ؏Y y kA PC,jB MA96@6p@Y6Ry6C>6H@]?`?Ҭÿr#?@Yu`*?*0?@Y? 6@6\^;)6ԐCiVCT)V TIT X)XZXXX^Ai^I\\I`ibA b`)`d fAddddfAIh)hih)hIjAhh lٯlr{BrIIzIz2] p=yi;Q ?٥    H $ ?%4Ż?%49q" I5By!%;@%?Ci;):b4)5[.A1M9M9M9M9IIIIQ QQQQiYԹEEEE5EA!A9NE= 11 9 VC, \ MA9V@VX@YVyV.C>VHAF?H?@Pÿӝ?`<@?0?\? V@Vy^;)V֐C]{B]Iie٥ HX >4k?49! I*Byr>_;<@?CiE:A:M!4b.AMMMMIH>H[CHXIH|BHU =HHDHX<HEI iEEEEi1EAAN">9i ]C,v MA9Bh@B0r@YB]xyBDC>BH 8?\?n0ÿ@mx?@8?]7?\? Bh@B^;)@{BII- I-V2e< e^=ye;Q e>٥ii mHim u>q}4u^?49u{! Iu!By<@?u Ciu6:uB:u'4B.AMMMMII iEmEiEiEm2EiqAAN=ԙ McC,P MA9:N@:W@Y:vqy: fC>:H +?7?ÿU?j2?٥tt vHtz z>x4z?49z! IzByY<@?zCiz3;z;z~.4 B.A!EMMMMII iEUEYEYE]E1EaAAN>GGAAH>HHLIH|BHT =HHHd<HEA jC,c MA96m2@6<@Y6[ky6C>6H?SQ??¿*?Lg?3?^? 6m2@6}^;)6ՐC^{BbI)` `MMb@Mb@Mb@III I)IYM"~ʿ#~j{GzyMSM㥽M#I I)M@IM=@IyM@IeIe2uڵ< uA=yuop;Q >٥ H > 4? 49 IByc>n;<@?%Ci ; ;(64%-A!M)M)M)M)9I9IA AAAAiIbEUAZEUAEEEE0EAANI %=a=qԡ gqC,gH MA9>u@>$"@Y>Ӕey>) C>>H?i? ¿7? c?`1?7_? >u@>#^;)>ԐC^{B^IIfIfbnE= nT=yro;Q r>٥pp vHtv v>x~4zM?~49z IzByY<@?z/CizD;z;z<4  -A MMMM!I)I) )))1i1qEEEE0EAAN=ԡ -wC, MA9>@>@Y>(ay>B>>H?`?@¿"?_!?)?`? >@>M^;)<H}>HyH}RIH}|BH}Q =HyHyH}i<H}EH=[CH=ZCH9H=T =I=T = I= 5"|BIMMb@Mb@Mb@III I)IYM rȿ+MbPyMCMMM( A M@)M7@IMS@IyM@IeIe<2qq}X= }'=y;Q >٥ Hػ >4?49 IByDS>;|=@?>1Y )W}C,8 MA96U@6@Y6=]y6tB>6H /??¿(&@?`3Y?%?@`? 6U@6 ~^;)6ӐC BC)@ɿ@@@BُCDiDIDDIFLCiD DH)HJC HHHHN&CN=AIL)LiL)RCIRAPP PVLCTTiTTٯTZ8|BZIIb Ib(2j?= j=ynwP;Q n ?٥pp rHprL r ?tz4v?z49vP IvBy|~J=@?vDCiv #;v#;vJ4  ,A MMMM!I!I) ))))i19EEEE0EAAN=aԉԹ ?C,OMA9:oͯ@:׶@Y::H`??¿ p: r?`] RD?@)?`? :oͯ@:^;)8%?|B%!II5I5?13Eщ< ED=yEu:Q E>٥II MHIM U>Q]4U?e49U IUByae=@e?UOCiU&;U;UQ4mBm,Au$EMyMyMyMyII i =<ԑEE!E!E%0E)AaAN= Hu<HqH}>H}ZCH}kIH}|BH}T =HyH}DH}@<H}tE iC,+MA96ε@6}@Y63Xy6B>6H?ܿ? ¿hN?@?`+?a? 6ε@6^;)4MN|BM*IMb@Mb@Mb@ )YS㥛Ŀy&1{Gz?y$`e#< @)M@Iy=@II = ?=yY:Q >٥ Hܻ  > 4 ?49 s I By.>;3:@? YCi ; "; yY4!-t,A)M1M1M1M1AIAIA IIIIiQEEEEp0EAAN>I QC,ׅEMA0449>@>P@Y>Wy>B>>H ?`?¿a ?@ܪ?(?@Ma? >@>l^;)>ҐCJ|BJNI)L LNANAIR IR(2Z > Zb=y^S:Q ^>٥\` bH`b b>dj4f?j49f IfByhn:@n?f`CifG:f;f_4pr+ApMtMtMxMxII  i EEEEo0EAAN=ԉ M}C,i_MA9Vb@V@YVnVyVoB>\VH@?`?@¿9q?@:`ʪ?}'?@da? Vb@VW^;)VӐCn|BnSIeMb@Mb@Mb@aaa a)aYeK7MbI +?yeI ee9٥ H$ >4z?49h IBy>;F-@?hCia;T;\g4i+AMMMMH>HYCHIH|BHW =HHHJ<H~EqIqIy yyyiEE E E E AA)N5 >A   4=DC,;yMA96O|@6@Y6 .Vy6QB>6H??N¿~wx? ª?}?a? 6O|@6^;)6ԐCB|BBgIIJIJF2j= jW=yn*9Q n>٥lp rHpr: r>tz4vv?z49v IvByx~%-@~?voCivb;vI;vn4*AM MMM,B*** querying acoustic contact ***zLL)I)I) )))1i1EEEEEAAN=}eG Yy!AIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.qԡ tC,DMA96n@6~x@Y6Vy6oA>6H?B?@o¿@q?y ̪??@b? 6n@6^;)6ӐCR|BRtI Vp=Va=IZIZ(1~*O= ~H=y0HQ >٥   H    >y}4r?49. IBy -@?vCim<m<&u4*AMMMMII i*DAT read: user:655> BDAT read: Tx time:06:07:53.5250 $Ping request sent.ԱGG?AH>H[CHIH=}BHHHDHh<HE׉ ׉  JDAT read: TxSync time:06:07:53.5243  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249925 C,8MA96D^@6g@Y69\Xy6lA>6H H? ?@¿i?hO?F?c? 6D^@6(^;)4N|BN{I%Mb@Mb@Mb@!!! !)!Y%ʡEy&1?V-?y%y%`e<%<% A %@)%d@I!!y%@I=I=#3M< ME=yMՏQ M>٥QQ UHQ]͟ ]>ae4e8o?m49ed IeBym=m;mE@m?e|Cie:e:eb|4y}]*A}'EMMMMII iEEEEEAAN>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500876)Y *C,SMA&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7527869VA@VOK@YV-\yV;>VH'?@'?@¿A$a?_W?2K?,k? VA@Vga;)VАCb|BbIIfIf2ne= rR=yrQ r>٥pt vHtv v>x~4z"l?~49z IzBy@?zCiz;z;z24  *A MMMM)I)I) )))1i11EEEEp0EAAN=achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004792ԑ ʷC,MA9B+7@B@@YB_yB=>BH?,?¿ྷ@Z?? ?z? g? B+7@BfOc;)BѐCN|BNI)P P]Mb@Mb@Mb@YYY Y)YY]v/I +?Q?y]x齙]94=]<]C A Y)YI]AYyYImIm?13}< }@=yQ >٥ HD >4ni?49 I By>;N@?CiM:=:4)AH>HZCHIHz}BHS =HHHV<HEMMMMII iԑ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257537EEEE^4EAAN=Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508768 C,MA96=@6gG@Y6by6 0@>6H@v?`-#?`ÿ &@[?  @>??c? 6=@6b;)6ϐCN}BRIIZIZm?3^_= bW=yb:ҺQ b>٥dd fHdf* ; f>hn4jg?n49j IjByprg@r?jCij:j:j?4tv)AtMxM|M|M| I I   iEEEE 1EAAN=echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760807I C,dMA9:=E@:N@Y:=`y:A>:H@??@ ÿ@&^?)9?`U?a? :=E@:J`;)8F|BFIIJIJ3R VL=yV7:Q V>٥XX ZHXZ; Z>\b4^rd?f49^ I^Bydf|@f?^Ci^:^:^C4hj)AlMpMpMpMpxIxIx x|||ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017119EEEEw4EAAN=Iy H<H<H>HYCHIH}BHV =HHDHi<HEH}ZCHyHyH}V =I}U = I}A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268755ԡ C,%;.MA96C@6M@Y6]ay6t:B>6H??ÿ@\?@G(??`? 6C@6_;)6ѐCIZ=5Mb@Mb@Mb@111 1)1Y5q= ףpX9v?Zd;O?y5뽙5}=5j<5A 5@)1I5OA1y5@IMIM3]H4 ]?=yeQ e>٥aa eHamѹ m>q}4ub?}49u[ IuBy}>};@?uCiuT;u;u4)AMMMMII izEE1E1E9E=h5E9AIAYNe=Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520791 C,HMA96'>@6G@Y6)by6jB>6H@??*ÿ`Y?^C`Q?{?{`? 6'>@6^;)6ҐCVBDAT read: Rx Time:06:07:55.9375 VTRx dataTimestamp_ set to:1749103677.147673Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.786238Z|BZIIb Ib<2j3 jS=ynXQ n>p٥yy Hߺ >4_?49) I$By@?Ci;;Ԧ4 *AMMMMII  i EEEE5EAAN>)9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.036768q C,PaMA9B$7@B@@YBdyB^B>BH?a%?96ÿ @rV?`38@|??`g`? B$7@B^;)BӐCN|BNIMb@Mb@Mb@ )YA`"?H]XCHYHYH]Y =HYH]DH]e<H]EԑI5I5#3O :=yBQ >٥ H  >4]?%49 I'By%U >%;% @%?CiV::74QUD*AQMYMYMYMaII ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.289469EMEIEQEU4EQA1AQN@>  DAT read: 06:07:55.9375 LVL= 17568, 32753, 32754, 32755, AGC= 49, IDX= 451,-0.24,-0.022,-1.414,-0.933,-0.440, PHS= 0.506,-0.927,-0.496, RAW= 107.0, 14.3, CAL= 115.4, 12.9, ROT= 34.6, -12.9  Ygot valid direction response: 06:07:55.9375 LVL= 17568, 32753, 32754, 32755, AGC= 49, IDX= 451,-0.24,-0.022,-1.414,-0.933,-0.440, PHS= 0.506,-0.927,-0.496, RAW= 107.0, 14.3, CAL= 115.4, 12.9, ROT= 34.6, -12.9  PDAT read: Bearing 34.6, -12.9 (Local)  ~Local bearing/azimuth received: Bearing 34.6, -12.9 (Local)  DAT read: Range 10 to 50 : 6.2 m (Round-trip 8.3 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.802361,0.553512,0.223250] Fpublishing direction and range infoY y] ?^?Nu?] f@YY ] D)] I] iY ] 1] 7?] Om] ] Q ?)] r>I] .@i] f>] #?] f Y )Y ] Έ8?+P*c˿坄?i] ڋg] H] #?] f Y )Y #RC,|MA9/@\9@YUey{#B>H\?Q+?&@ÿS?&@2?? `? /@骍];)АC|BkI) AAIIm?3 ˜  F=yNpQ 5>٥99 =H9E E>IM4MhZ?u49M IM)Byqu @u?MCiM;M;Mr4y*AMMMM Mm>%)Y )C,¦MA96?(@61@Y6Fgy6A>6H?01?Jÿ`O?^? ?`? 6?(@6nn];)6ѐCV|BV`II^ I^<2fQ fd=yjQ j>٥hh jHln' n>pv4rX?v49r Ir,Bytz @z?rCir:rS:r4|~+A|MM M M II !i!YEEEE5EAAN=ԉGYG]@AH]>HYH]IH]p}BH]Z =HYHYH]W<H]Eԩ SC,sMA96"@6v,@Y6hy6A>6H?25?Xÿ`@M?@?I ?`? 6"@6e[];)4R|BRIIUMb@Mb@Mb@QQQ Q)QYUp= ף/$?Mb`yUU,=UU( A Q)QIUAQyU@ImIm 3}Ī }@=yQ >٥ H4ͺ >4U?49t I+By >;x@?Ci;;Ì4+AMMMMII iԱE5E1E1E=1E9AIAYNm=)> C9Qi ؔYyyA 9 ;C,]MA96V@6&@Y6jy6_A>6H ?:?fÿOJ?@1X? [ ? `? 6V@6#];)6ҐC`bAfd|Bf7Iif=If=InInbv vT=yv[Q v>٥xx zHxz ~>4PR? 49] Iy  k@ ?ơCi:y:Ɍ4B,A%EM!M!M!M!1I1I1 1irE>jEEqEqEqEu_1EqAAN=9i dhC,CMA$9bX@b!@YblybA>bH@*?@y=?xuÿ`TG?߿@䓭?@ ?G`? bX@bJ%];)bѐCnA|Br"IH>HHIH3}BHY =HHH<HEMb@Mb@Mb@ )Y(\¿~jth?=yQ >٥)1 5H15Q 5>9E4=M?E49=] I=%ByM>M;M` @M?=ΡCi=;=);=ь4qu,A}(EMMMMII iiEeEaEaEe0EaAqAN>ԑ } <} <C,MA96@6J@Y6$lny6A>6H΀? A?ÿ E?ƿ5ɭ?&?@2`? 6@6@5];)6АCTZ |B^IIbIb1jX  jY=yn䍺Q n>٥pp rHpr v>tz4vtJ?z49v Iv By|~U @~?vաCiv;vT;v׌4o-A MMMM!I!I! !)))i1EEEE1EAAN=! wD,pMA96 @6m@Y6ʢpy6LA>6H5|?`G?̒ÿ`W@dA?2?@J?`? 6 @6[G];)6ϐCB|BBIJ@AJ@AIJIJV83R VM=yVQ V>٥XX ZHXZ# Z>\b4^F?f49^ I^BydfE @f?^ܡCi^l:^:^ތ4hj-AlM!M!M!M!1I1IY YYYaiazEiEEEE0EA!A1NE=I H<HH>HYCH~IH|BHZ =HHHHEq ԡ Y D,0MA96@6c @Y6*6Hx?$L?8ÿ;>?یC? i?_? 6@6>B];)4y-{B-IMb@Mb@Mb@ )YjtĿ٥11 5H1=ƺ =>9E4=A?M49= I=ByM#>M;Mc(@U?=Ci=;=;=W4Y]u.AYMaMaMaMaqIyIy yyyiԩEEE E o0E AA)N5.> bD,|JMA96@6Y@Y6ty6NA>6Ht?R?఩ÿ`:?udd{?@F? 1`? 6@6{];)6ҐCi<@)Bף @I@ @)@DFFDDFAiFIDHIHiJA LL)NRfC RAPPPTVAIT)TiT)XIZAXX XٯX^{BbIIfIfF2n׽ nx=yr*Q r?٥pp vHtvC v?x~4z?=?~49z Iz ByT(@?zCiz:z:z4  /A MMMM!I)I) )))1i1EEEE0EAAN=)Y D,ndMAHV>HTHVLIHV|BHVW =HTHVDHV<HVEH]XCH]XCHYH]Y =I]Y = I]O59M@MX@YMuyM\A>MH }p?V?ÿ 7?Qꮮ?@?_? M@M];)MѐC{B I!Mb@Mb@Mb@ )YQſi|?5V-y(q A @)d@IAy@II2᤼ /=y{]Q >٥ Hͺ >46?49o IBy5>;6@?Ci~ ;P;@4*/AMMMMI I    ibE%AZE!EEEEo0EAAN$>Qyԩ D,Z~MA96 @6@Y6ywy6iA>6H`|k?`$]?Hÿ3?`6? #?_? 6 @6!^;)6̐C}{BII-I-3=7 =g=yEƺQ E>٥AA MHIMA M>Q]4U1?]49U IUByYe6@e?UCiU:UQ;Uk4im/AiMqMqMqMyII iԑEEEE~0EA AN-= %D,5MA96@6K@Y6Qzy68A>6H`d?f? ÿ.?CE?@?_? 6@6D^;)6ΐC^{BbIIfIf#3nT< nQ=yrYͺQ r>٥pp vHtv-k v>x~4z,?~49z~ IzBy6@?zCiz;z;zC4 B /A +EMMMMII iEYEYEYE]p0EaAyAN=!GGAAH>HZCH IH?|BHU =HHH<HEI +D,MA 9:׮@:r@Y: }y:CA>:H ^?@-m?ÿ`G)?徿v??`-_? :׮@:_;):ϐCFs{BFI)H HMb@Mb@Mb@ )YˡEĿ~jt~jty'ļ? A @)IAy@I-I- 3= =D=y=ѺQ E>٥AA EHAMU= M>Q]4Uy&?]49U! IUBy]:>e;e<@e?UCiU7 ;U;U 4im/AiMqMqMqMII     irE=Y>jE=>qEEEEEAAN> %<%<ԙ T2D,MA9:1ή@:׵@Y:wy:OA>:HOY?1t?- Ŀ@~ $?@ƾ? W?`^? :1ή@:7_;):АCJ_{BJIPIVIV(*3^WN ^S=ybpǺQ b>٥`` fHdfvE f>hn4j ?n49j IjيBypr<@r?jCij;jr;jO4tv0AtMxMxM|M| I I    iEyEyEyE}o0EyAAN=! 9D,MAH&>H$H&IH&|BH$H$H$H&<H&E|9mƮ@mQе@YmymA>mH`T?y?Ŀ ?? ?I^? mƮ@m_;)mΐC]i{B]IׁׁMb@Mb@Mb@ )YQſʡE rhy(-CZA @)IfAy@II#3!%< -=y-GvQ ->٥11 5H15 5>9E4=?M49=v I=ΊByM?>M;M@@M?=%Ci=:=_:=Z4QU/AYMaMaMaMaqIqIq qqyyiEEEEn0EA)A9NER>Iy ,?D,MAVG`l Yy,A9=w@=&ǵ@Y=y=cA>=H_O??@ 5Ŀ$?@`?? ?`]? =w@=_;)9 I)QɿQQQQUAYiQIYYIaia aa)ai imDiiqu?AIq)qiq)qIyyy yyÁÁiÁÁٯt{BI ==II(1;= ~=yQ  ?٥ Hc  ?4?49A INJByx@@?,Ci&:;4/AMMMM,B*** querying acoustic contact ***zLLII  i EEEEo0EAAN>ԉT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ա yFD,RMAYYImIm2yQ >٥ H >4 ?49 IBy?Թ6Cim(;%);%4B/A.E =<*DAT read: user:656> BDAT read: Tx time:06:08:03.6251 $Ping request sent.HYHYHYH]T =HYHYH]<H]E JDAT read: TxSync time:06:08:03.6244  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251474A H>LD,!Z3MA96ĩ@6s@Y6*iy6 rA>6H`C?ێ? UZĿ)u?L1??`r]? 6ĩ@6_;)6ːC{BIMb@Mb@Mb@ )Y#~jĿ㥛 {Gzty%ף A @)IAyI"Iq3X< ٥ HV > 4?49 IBy6>;<@??Ci2;x1;=-4!%g/A!M)M1M1M1II iEEEEEAAN!> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502525Aiԙ %SD,3MMA6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7546049:@:E@Y:y:B>:Hd:?s?@ەĿ5 ?F?w?[? :@:^;):̐CF{BFIIRIR(*3Vs\= Za=yZQ Z>٥X\ ^H\^O b>`f4b?f49bP IbByhj<@j?bGCib:b:b34ln/ApMtMtMtMt|IaIi iiiqiqqEIEIEQEUo0EQAaAqN}=ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006568 RYD,gMAH>HHIH5|BHHHH[<HE9吮@@YZ:y?>H3?0?ްĿ <z ?TɃ?"?]? 吮@骝ld;)ːC{BI=Mb@Mb@Mb@999 9)9Y=jtĿS㥫~jtx?y= =/]=;= A =@)=@I=A9y=@IUIU<2e^= e2=yetQ e>٥ii mHiug( u>y4}}?49} I}By*>;~7@?}QCi}:}:};4.AMMMMII iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258872EEEIEIEMk0EIAYAiNu>PExceeded connect timeout, disconnecting.!  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5105417`D,-MA0n{BrI)v; vIzIz(*3-k'= -a=y-Q ->٥11 5H15 =>AE4E?M49EW IEByIIM?EYCiE:E:EA4QUt.AYMaMaMaMaqIqIq qyyyiEEEEo0EA AN%=ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762573 afD,ĚMAl9~Đ@~s@Y~Uڊy~NA>~H4?@l?ĿI=?<`W??[? ~Đ@~a;)~̐C={B=IiE%>IE>IMIM3]= ]G=ye-:Q e>٥aa mHim m>q}4u?}49u IuBy}7@?uaCiua;u;u$I43.AMMMMII ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016589EuEqEqEum0EqAAN= GG@AH >H H 9IH h|BH H H DH <H EHZCHZCHHT =IT = I 59׉ ׍ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266788a TlD,{MA9J@J\@YJm#yJA>JH@1?O?Ŀ@H?Sa?8?[? J@J!`;)Hn{BnI9 ]nManaging dock network, ignoring radio surface power offMb@Mb@Mb@ )Y㥛 ¿/$:v?yT<VA @)z@IAy @I I2K= C=yݮQ >٥ Hr >4i?49% IBy>;,@?iCi:_:tP4-A1EMMMM II !i!EEEEi0EAAN>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518589ԑ tsD, |MA&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7706179:@:l@Y:Cy:mA>:Hm/?@?ĿC<?񦽿e? ?[? :@:.^;):ːCV{BVIZAAZDAI^I^ 2f_`< f\=yfe-Q f>٥hh jHhj멺 n>pv4r?麜?v49r Ipytv,@v?rpCir:r:rV4x~-A|MMMMII i!zE)ԙEEEEl0EAAN=BDAT read: Rx Time:06:08:06.0396 TRx dataTimestamp_ set to:1749103687.487934 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024564! H >H H XIH |BH H H H P<H EyD,DkMA |BI) !!Mb@Mb@Mb@ )Yny&1|?Q?yV`;u<pA G@)IAy(AIIM3< .=yQ >٥ H >4亜?49z IByW>;9 @?yCi ;D;(_4l-AMMMMII i!]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276128EEEE4EA!AANm5>A% DAT read: 06:08:06.0396 LVL= 16432, 32753, 28754, 32755, AGC= 46, IDX= 453, 0.47, 2.399, 0.913, 1.586, 1.888, PHS= 0.599,-0.928,-0.305, RAW= 113.9, 9.6, CAL= 123.1, 6.5, ROT= 26.9, -6.5 - Ygot valid direction response: 06:08:06.0396 LVL= 16432, 32753, 28754, 32755, AGC= 46, IDX= 453, 0.47, 2.399, 0.913, 1.586, 1.888, PHS= 0.599,-0.928,-0.305, RAW= 113.9, 9.6, CAL= 123.1, 6.5, ROT= 26.9, -6.5 5 PDAT read: Bearing 26.9, -6.5 (Local) = ~Local bearing/azimuth received: Bearing 26.9, -6.5 (Local) E DAT read: Range 10 to 50 : 7.7 m (Round-trip 10.3 ms) speed -0.2 m/s E R#Rx 1: Read range and direction messages.M \direction in FSK: [0.886065,0.449526,0.113203]U Fpublishing direction and range info y jդZ?v5Y ?5? f@Y 0@) I Rpi . 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Q{@&];)ʐC  |B IMb@Mb@Mb@ )YX9vQ?y&1|?y\=`; 1@)@IAyQA@AII3 -=y'n9Q >٥ H >4Ժ?49 IBy!>;a@?Ci(:$:m4 -AMMMMII irE>jE>E]EYEaEe5EaAqAN:>I ԠD,{MA9:x@:t@Y: my:zA>:H|&?@?@KĿP ?䣽`BJ??[? :x@:];):ːCN|BRI)P PIZIZ<2v vn=yv{:Q z?٥xx zHx~Xm ~? 4Ѻ? 49 IBy  \@?Ci::n4!%B-A!M)M)M)M)9I9IA AAAAiIEEEE2EAAN=Iqԡ :D,TMA96w@6@Y6|y6XA>6H%? ?Ŀ@R?@ 0??>\? 6w@61];)6̐Cf|BfIIrIrz ~J=y{:Q  >٥   H >!-4%κ?549% I%By15X@5?%Ci%@;%A;%4EBMM-AM4EMQMQMYMYqIqyI iEEEE4EA AN-=ԡG)G-AAHE>HEZCHExIHE|BHER =HAHAHEr<HEE Q(D,/MA96r@6~|@Y6وy6A>6Hk#?`>?`8ĿVa??? \? 6r@6Q:^;)6ːCR{BRI]Mb@Mb@Mb@YYY Y)YY]V-Zd;O?MbPy]]j<]Y Y)]@IYYy](A)q qIuIu2\= A=yk:Q >٥ H >4˺?49 IBy3=;@?Ci::䖍4-AMMMMII izEEiEqEqEu95EqAAN=1Y 0D, MA2A09:So@:y@Y:݇y:@>:H`!?Լ? ĿY`$?@ ?~??]? :So@:Ì^;)8b{BbIib٥tt vHtz z>|4~6ɺ?49~ I~Byx@?~Ci~';~;~4-AMMMM)I)I1 1111i99EEEE4EA AN-=aԉH% >H! H% eIH% |BH% U =H! H% DH% O<H% EHHHHI Iʖ|5Թ X:D,!MA9%k@%t@Y%(نy%@>%Hb? ?`Ŀ\c?ذ?1?]? %k@%^;)%ǐCU{BUIԑMb@Mb@Mb@ )YCl绿MbP?Mby;߽:A G@)@IyAII<2 a  ,=y b:Q >٥ HZ >!-4%ź?-49%2 I%By-=-;-b @5?%Ci% ;%;%्49=E.A9MAMAMAMAQIQIY YYYaiaEEEE5EAAANM1> N"D,MA96f@6o@Y6Ѧy6D@>6H@?`? `~Ŀ`@D?뽽 ѱ?`?^? 6f@6^;)6ːCB{BBIHJBAIJ IJ<2Rp R{=yV :Q V ?٥TT ZHXZ\ Z ?\%4^Uú?%49^ I^By!%X @%?^Ci^$:^l:^415.A1M9M9M9M9IIIIQ QQQQiYEEEE?5EA!A1NE=I MD,MA 9J_@Ji@YJ[yJ@>JH?@?`GoĿ3f@T?@cɽp??^? J_@JNb_;)JȐC^{B^I)` `IjIj2v~ vF=yz:Q z>٥|| ~H| > 4 J?49  I ByL @? ŢCi < < Ѳ4.AMMMMII iEmEqEqEup5EqAAN=ԡ HH<HHHLIH|BHHHH<H3E׉ ׉ |vD,w8MA9:W@:5a@Y:%y:@>:H?E?dĿ8m ?@׽a??^? :W@: `;)8\E{BEIMb@Mb@Mb@ )YA`"{Gzty&1|yٽף`A 1@)I|AyAII(*3 .=y:Q >٥ H2 > 4Ѽ?}49: IBy=;#@?ˢCi_<3<4:/AMMMMII iEeEaEaEeg2EaAqAN:>A D^D,YRRMAiprA)r pIp t)vAtttxxixIxxI|i~A ||)~| AAI ) i ) I A   ٯ%{B%I)-4< )I5I5[3e eg=ymQ m>٥iq uHqu u>y4}1?49} I}By?}ТCi}%:}2:}-4X/AMMMMII iEUEQEQEUq5EQAaAN=Iq =<ԡ H H H -IH S|BH T =H H H <H ,ED,?;lMA9B>I@BR@YBڸyBY7A>BH@< ?@?`TĿ 5y ?@ e?(?^? B>I@Bg`;)@y{BIi٥ H >4ᶺ?49 IBy#@?֢Ci;;ȍ4/AMMMMII i ԡEEEE4EAAN%>- GA Q PY y A pD, MA96?@6I@Y6~y6d@A>6H?`#?eGĿ@?ί??_? 6?@6`;)4z{BIMb@Mb@Mb@ )YzGếX9v٥ H E  >4?49 IBy=;2@%?ۢCi ; ;ύ4)-/A)M1M1M1M9,=B*** querying acoustic contact ***zL9L9IIIII IIIYiYEEEE5EAAN>]T****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.1Y D,MA9J4@J>@YJ){yJA>JH ?@?6Ŀ' *?`q?@M?@_? J4@Ja;)JɐCjh{BjIInInF2zA z\=yz:Q z>٥|| ~H|~dk > 4v?49F IBy2@?CiM;;֍4/A!M)M)M)M)9I9I9 9AAAiIzEQ*DAT read: user:657> BDAT read: Tx time:06:08:13.7252 $Ping request sent.6H`?0?y,Ŀs?4? ?#`? 6b)@6y`;)6ȐCbj{BfI)d dhjAMMb@Mb@Mb@III I)IYMA`"Mb~jtxyMٽM@MĻMA I)IIIIyMzAIeIeM3u; }C=y}p:Q }>٥ H[ >4?49 IBy=;K;@?Cim ;/;sݍ4B/A7EMMMMII iԑEQEQEQEQEQAaAqN}=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502719Թ D,MA6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7629049:w@:&@Y:+~y:!E>:HU??@Ŀ`?Ⱦ ί??`$X? :w@:uqb;)8^_{BbIIfIf?13ne rT=yrIQ r>٥pt vHtv v>x}4z診?}49z IzByy};@}?zCizƑHi Hm IHm |BHi Hi Hi Hm s<Hm ED,XuMA$9F@F|@YF %}yFC>FH ?@?ຆĿ ߱?Z@y?E?m[? F@Fxoc;)Duchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.266738ya{BImMb@Mb@Mb@iii i)iYmV-{Gzymm#mmA m1@)m@ImAiymAI%I)3 ; =y.0:Q >٥ HY > 4 ?49 @ I ByK=;6@? Ci : : 4!%0A)M1M1M1M1AIAIA AIIIiQbE]AZE]}AԙEEEE0EAANj> % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518710E,PMA9JG@J@YJyyJB>PJH ?$?EgĿ Ө?&, :?$?i]? JG@Jnc;)H T)TɿTTXZCXiXIXXI\i\ \\)\` ````ddId)did)dIhhh hhj Ahillٯlrf{BrIIz Iz̍2< =y 7;Q  "?٥    H "?%4?%49 IBy!-5@-?Ci::`415/A1M9M9MAMAIIQIQ QQQYiYEEEE5EA AN%=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770705! E,o-!MA96@6@Y6ָry6A>6H?'? ,Ŀt?K@R?`?Q_? 6@6+wb;)6ɐC%o{B%II-I-3=< EG=yEG;Q E>٥II MHIMո M>Q]4U䜺?]49U IUByae5@e?UCiU;U;U4im/AiMyMyMyMyII i r?4=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023038E5E1E1E1E1AAAQNe= H H <H>HHIH |BHHHH2<HdEHHHHI Ih-4Iy checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274750ԡ E,1;MA96@6p@Y68my6A>6H@?`)?PĿq?yڢ? ?`? 6@6a;)6ȐCEr{BEIIIyMb@Mb@Mb@ )YPn~jt~jtx?y;pA )@IyzAAAI I̍2< ?=yM;Q >٥ HDW > 4 S?49  I By >;3@? Ci a; D; 4!%/A!M)M1M1M1AIAIA AAAIiIEEEE5EAAN>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526691 SE,TMA6A4:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784393~x{B~II  I (2m< Y=y%Q %>٥!! -H)- ->1=45N?=495 I5ByAAE?5 Ci5G:5;54IM/AIMQMQMQMYaIiIi iiiqiqEmEqEqEu5EqAAN=BDAT read: Rx Time:06:08:16.1411 TRx dataTimestamp_ set to:1749103697.591326%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0358081H >H H IH |BH H H DH H gEY $E,QnMA9>!@>@Y> $fy>RA>>H`? 85?ÿ f?5??a? >!@>y`;)>ǐCZt{BZIIb Ib̍2j`" jO=yj;Q j>٥ll nHlrW r>tv4v?z49v3 Iv~Byxzi3@z?vCiv:v:v4/AM MMMIIQIY aaaqiy9EEEE%5E!A9AIN]=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286791iԉ % =% =M DAT read: 06:08:16.1411 LVL= 18240, 32753, 32754, 32755, AGC= 45, IDX= 436, 0.15,-1.578,-3.056,-2.313,-2.056, PHS= 0.566,-0.953,-0.260, RAW= 117.1, 9.9, CAL= 125.8, 6.3, ROT= 24.2, -6.3 U Ygot valid direction response: 06:08:16.1411 LVL= 18240, 32753, 32754, 32755, AGC= 45, IDX= 436, 0.15,-1.578,-3.056,-2.313,-2.056, PHS= 0.566,-0.953,-0.260, RAW= 117.1, 9.9, CAL= 125.8, 6.3, ROT= 24.2, -6.3 e PDAT read: Bearing 24.2, -6.3 (Local) e ~Local bearing/azimuth received: Bearing 24.2, -6.3 (Local) m DAT read: Range 10 to 50 : 8.7 m (Round-trip 11.7 ms) speed -0.1 m/s u R#Rx 1: Read range and direction messages.} \direction in FSK: [0.906612,0.407447,0.109734]} Fpublishing direction and range info! y% 4-?B?,=?% 3 AY! % @G)! 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Z?\b4^t?b49^ I^|By`f|-@f?^"Ci^;^;^4hj/AhMlMlMpMptIxIx xxx|i|EEEE5EAAN=GG@AH>H[CHHHS =HHH%<HWE9i ׉ ׉ `.E,NMA$9>׭@>}@Y>g_y>A>>H V?kE?ÿu@F?@p??b? >׭@>_;)>ȐCJ{BJIMb@Mb@Mb@ )YDlI +y&1|?y94A t@)IAyAI-I-0=,< =A=y=Ƒ:Q E>٥AA EHAMú M>Q]4U9?]49U) IU{By] >];]M&@e?U)CiUa;U;U#4im~/AiMqMqMqMqII i)A MCsGEEEE5EA)AA ]5jYYy]lANe=iO?Aԙ H5E,x)MAT~{B~II I 3?; L=y%Q %>٥!! %H)- ->1=459?=495g I1y99E?51Ci5;5o;5*4IMy/AIMQMQMQMQaIiIi iiiqiqEEEE5EA!A1NE= <H H H H H H H H <H 8EA r;E,MAo{B IIIF2-09 -I=y1Q 5>٥11 5H99 =>AM4E({?M49E IEzByIQU?E8CiE:E2:E24eBm/Am8EMMMMII iEEEE3EAAN>Iqԡ ZBE, MA96eɭ@6Ӵ@Y66cA>6H@7?Q?Yÿ`XȊ?Ѿ`??b? 6eɭ@6^;)6ƐCRv{BRI%Mb@Mb@Mb@!!! !)!Y%Qy&1|~jth?y%\%`廹%D;%A !)%@I%|A!y%AI=I=m?3MI< MH=yM(;Q M>٥QQ UHQԙU >4v?49 IyBy>;#@??CiM:k:g94/AM!M!M!M!1IQIQ QQYYiYE E E E  2E AA1N= >! ݄HE,4#MA9>­@>M̴@Y>>Zy>[=A>>HB?W?[ÿ@?@ƾ@vN?H?`c? >­@>R^;)٥\\ ^H\b b>df4fVs?j49f IfxByhj#@j?fFCifu:f:f?4lr/ApMtMtMtMt|I|I| |i EuEyEyE}5EyAAN= HU<HQH]>HYHYHYH]R =HYHYH]<H] E!Qy NE,=MA96@67ô@Y6Zy6@>6Hݼ?#_?`۝ÿ! ?4@bV?? c? 6@6;^;)6ŐCf^{BfIMMb@Mb@Mb@III I)IYMn~jt~jthyMVMDMDM$A I)M@IMAIyIImIm1u u>=y}Q }>٥ H^) >4o?496 IuBy>;%@?NCi ;;WG4/A;EMMMMII iYEQEQEQEUb4EQAaAqN}= =ԁԩ ʖUE,*qWMA S{B III<2Mؼ MM=yMQ M>٥QQ UHQU U>Ye4]k?m49]q I]rByiim?]UCi]:]N:]LN4qu*0AyMMMMII iԱEUEQEQEU5EQAaAyN= HU >HU ZCHU IHU |BHU S =HQ HQ HU <HU CEH[CH[CHHS =IS = I59 u[E,NqMA96@6̳@Y6[y6@>6H ?k?`*ÿwy?~`#s??c? 6@6];)4RN{BRI)P PIXIXvsT vQ=yvQ v>٥xx zHxza ~>|4~1g? 49~ I~pBy  %@ ?~\Ci~:~>:~%U4?0AMAMAMAMIQIYIY YYYaiazEqE!E!E)E-5E)y}AAiAN>9i ŨbE,['MA 9:X@:@Y:u\y:@>:H?p?@ÿv?`tm??c? :X@:];)8v6{Bv~IMb@Mb@Mb@ )Yp= ףMbMbyA )@IAyII3[ >=y Q >٥ HQ >4c?49 IlBy_>;N'@?cCi.';%;\40AMMMM I I  iqEEEE\2EAA N>ԙ hE,MA96@6@Y6]y6g@>6H?t?`ÿ`lr?e@9? ?`Sc? 6@6];)6ĐCB({BBuIIJ IJ(2PR V^=yVaQ V>٥TX ZHXZ Z>\b4^_?b49^O I^hBydfA'@f?^iCi^:^:^c4hj0AhMpMpMpMpxIxIx x||i <<EEEE5EAAN=GGAAH>H[CHIH{BHT =HHH <H3E ! jnE,H߾MA96@6@Y6_y6@>6H /?`]{?ÿ `m? _N??b? 6@6];)6ÐCN{BRnI|MMb@Mb@Mb@III I)IYMy&1{GzyMM`弹M#I I)M@IMAIyI)ep< aIeIe(*2uм u>=yQ >٥ H > 4Q[? 49 IcBy > ; 7-@ ?pCiA::j41AM!M!M!M!1I9I9 999AiAEEEE1EAAN>)Qԁ uE,ZMA449BŠ@Bq@YBbyBA>BHr?? Wÿ3h? D3>?@~?b? BŠ@B];)BĐC^{BbfIIjIj?13n rT=yr٥tt vHtvI z>x~4zW?49z) Iz_By$-@?zvCiz;z;z[q4  <1AMMMM)I)I) )111i9aEEEE5EAAN =ԉԱH>HHIH{BHS =HHH<<H{E m|E,MA9~,w@~ۀ@Y~fy~ZA>~H@T??` Ŀ$@@^?J1Ԭ?`? a? ~,w@~];)~ŐC={B=^IIMIM(*3], ]C=y]r2Q e>٥aa eHau0 }>4S?49 IZBy,@?}Cih;;x4n1AԹMMMMII iEuEyEyE3EAAN- >eGy YyAA E,À MA9>i@>}s@Y>{iy> A>>H ?`?%Ŀ/.W?ý~7?@?a? >i@>1^;)>ÐCJzBJ\I)L LMb@Mb@Mb@ )YZd;MbI +y94A @)IyI5 I52E EK=yEQ E>٥II MHIe >4O?49 IUBy>;/@?Ci ;/;4Bw1A>EMM M M  ,B*** querying acoustic contact ***zLL!I!I! !!!)i1EEEEM2EAAN>9T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.aԑ !E,kJ&MA9>_@>h@Y>zly>A>>HY?f?<Ŀb7Q?,`ؑ??`Va? >_@>"#^;)>ĐC^zBbQIIfIf̍no8 rQ=yrQ r>٥tt vHtv[ v>x~4zL?~49z IzQBy/@?zCizs;z;z4  1A MMMM)I)I) ))11i1e*DAT read: user:658> mBDAT read: Tx time:06:08:23.8253 m$Ping request sent.q}<H~EEEEE5EAAN=ԡ JDAT read: TxSync time:06:08:23.8246  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251331 [ E,='@MA96M@6W@Y6vSry6pA>6H@|z?@?tmĿD`H?_E??0`? 6M@6<7^;)4-zB5RIMb@Mb@Mb@ )Yy&1Mb~jty`彙@DA ^@)@IAyAII(*3; -=y@?Q >٥ Hڑ > 4G?49% IJBy=;7@?Ci3&;$;Ǝ4!%1A!M)M)M)M)9I9IA AAAAiIEEEE0EAA N)>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501582) 2E,mYMA09:;@:6E@Y:Kxy:G@>:Hn??bĿR 7@?7ռ??9a? :;@:d_;):ŐCi@BA)BD BޤFID D)DDDDHJAiHIHHILiNA LL)LP PPPPPTIT)TiT)TIVAXX XٯX^zB^MIbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753582Ij$Ij<3rD vr=yvQ v?٥tx zHxzٻ z?|4~?D?49~ I~FBy  7@ ?~Ci~:~:~41AM!M!M!M!1I1I1 111yiyzEEEEE5EA1AINU=ԑԹ u>u=}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005635HHHIH{BHHHHS<HE \E,sMA9>)@>_3@Y>sy>u1A>>H[c??;Ŀ `@6?X`(??@^? >)@>`;)>ĐC`I-I-2y=Q E>٥AA EHAM M>Q]4U?@?]49U IU@ByYe7@e?UCiU;U;U뛎4iiiMqMqMqMqII iEEEE!E!AYAN=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259490A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509406EE,MA960"@6+@Y64y6iA>6H@^?@?@Ŀ `f2?W??W^? 60"@6]X`;)6ŐC%zB%XIMb@Mb@Mb@ )YS㥻٥ H >43Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761455qԩ 4oE,MA96@6$@Y6y6A>6H]Z?%? Ŀk-?@ڡ ??`]? 6@6O`;)6ÐCRzBRNITVAIZ IZ(2b- b]=yfnӹQ f>٥dd jHhj j>lr4n8?r49n In6Bypv:@v?nCin:n>:nƩ4xz1AxM|M|M|M| I I yibE~AZE=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013535GAGE@AHM>HIHIHIHMT =HIHIHMG<HMEHHHHI I4EQEQEQEU5EQAaAyN=ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267752 VE,lMA96p@6@Y6vāy6A>6HS??Ŀ`2t(?ڄ5?@ ?g]? 6p@6_;)4BzBFXIMb@Mb@Mb@ )Y+ηkt~jthyv 0D @)@IAyAI-I-M35= =C=y=߿Q =>٥AA EHAEK M>IU4M05?]49M IM2By]=]<]T:@]?MCiM ;Me ;M4im1AiMqMqMqMq!I!I! !!!)i)EEEE5EAAN >Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5174941Y %E,HMA9F@F@YF炽yFB>FH`M? ?@eſ {"?k@%Z??\? F@Fu_;)DRBDAT read: Rx Time:06:08:26.2430 VTRx dataTimestamp_ set to:1749103707.447347Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770594f{Bf^IIjIj3<  M=y >Q  >٥ H> >!%4%1?-49%r I%/By)-A:@-?%Ci%:%:% 415j1AMMMMII i1EEEE5EAAN=aH=>H9H9H9H=S =H9H9H=<<H=~E]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021566ԉԹ DE,>#MAI)96@6@Y64y6B>6H D??@.-ſ8T?:??r\? 6@6D_;)4e{Be]IimY>Im4<IuIu3* 4=yQ >٥ Hԙes >4.?49* I+By&:@?Ci;;4B!%AEMAMIMIMQII ׹׹checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276836irE >jE >EEEE0EAANc> DAT read: 06:08:26.2431 LVL= 16624, 32753, 32674, 32755, AGC= 49, IDX= 439, 0.23, 2.848, 1.363, 2.082, 2.344, PHS= 0.592,-0.934,-0.265, RAW= 115.9, 9.2, CAL= 124.9, 5.8, ROT= 25.1, -5.8  Ygot valid direction response: 06:08:26.2431 LVL= 16624, 32753, 32674, 32755, AGC= 49, IDX= 439, 0.23, 2.848, 1.363, 2.082, 2.344, PHS= 0.592,-0.934,-0.265, RAW= 115.9, 9.2, CAL= 124.9, 5.8, ROT= 25.1, -5.8  PDAT read: Bearing 25.1, -5.8 (Local)  ~Local bearing/azimuth received: Bearing 25.1, -5.8 (Local)  DAT read: Range 10 to 50 : 10.1 m (Round-trip 13.5 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.900933,0.422028,0.101056] Fpublishing direction and range infoa ye (Gq?3 ?+hg޹?e !AYa e @)a Ie ia e 1e P?e oe  e (v@)e l$>Ie @ie 4Q=e K>e 4QϽ a )a e BP8?7HuaV|w?ie me p$e K>e 4QϽ a )a  ֓E,KMA9 @ @Y , y ;*B> Hy٥ H| >%4*?-49 I(By-=ML4QϽMӗ /#@yC% T$-@LaUf1?ͿH@`?LhLyALWM?Lzi" LSB*M QPA?2Mzi" :MBMA"MA@II iEEEE0EAANB>9Y ޽E, (MA$9>ݬ@>@Y>ty>B>>H3??\ſ= ?ڻk?c?[? >ݬ@>N^;)<{BjII- I-V2=< =j=yEMQ E>٥AA MHIMâ M?Q]4U(?]49U IU&Byae9@e?U£CiU;U+;UW͎4im1AiMuMqMyMyMyII i"&Changing to mode: 1"Standby mode. << H]<H]<He>HaHeIHe{BHaHaHaHe.<HejEq"2Commanding positive:54691EEEE5EAAN!>ԙ ) > C% ʼnG9 zE,BMA JYHyJ AL}{B}oIAAMb@Mb@Mb@ )YʡEy&1Mb?y-`弹<A t@)@IAyA@AII[3-j< -<=y-Q ->٥11 5H1= =>AE4E$?M49EW IE%ByM=M! E,\MA96@65ʳ@Y6*y6A>6H`!?R?ſ`ڱ?+tA?`?f[? 6@6b;)6C@@F@{BFIININ 3V<= Vf=yZDtQ Z>٥XX ZHX^<% ^>`f4b["?f49b Ib$Bydj3@j?bˣCib:b:b#ێ4lnn0ApMtMtMtMtMt||II    iED"EEEP5EAAN=)QHu>HqHuIHu{BHqHqHuDHuO<HuEԁ E,kvMA965@6俳@Y6碊y6ۖA>6H ? g?`ſ@߹?QP?? [? 65@6b;)6ÐC^H{BbIIf If<2n < nG=yrQ r>٥pp vHtvI v>x~4z_?~49z Ixy 3@?zУCiz;z;zM4  N0A MMMMM!I)I) )))1i1aE$EEE5EAAN>ԉԱ [E,oFMA9:@:M@Y: y:gA>:H 8?@."?ſ ? (l? ?[? :@:{a;)8JM{BJIiN=INC=Mb@Mb@Mb@ )YZd;Oy&1~jt?yj`eD<;A @)IGAyAI-I-b1=G< ED=yEKQ E>٥II MHIM^ U>Qe4Uz?e49U: IQye)=e 6H ?@~(? ſ`[?`~??[? 6$@6K`;)6CBS{BBIIJIJFjF< jQ=yn9Q n>٥pp rHpr- r>tz4v?z49v Iv%By|~A)@~?vڣCiv;v;vi4 0A MMMMM!I!I! !!))i1G G ?AHH\CHIH{BHR =HHH5<HxEE)EEE3EAAN%=Aqԙ BE,LMA96+@6ڣ@Y6 y6@>6H@?٥ H2 >4?49 I'Byq=;@?Ci;];4>0AMMMMMII iqEu-EqEqEut4EqAAN=ԡ rE,MA9:@:@Y:y:@>:H?@N5?ſ@+`F?@غz?``?\? :@:^;):C^I{BbI)d dInIn(1v zS=yz@9Q z>٥|| H  >46?%49F I(By!%@-?Ci>;A;415I0A9MAMIMIMIMIII irE\?jE?E//EEE3EAAN>HH[CHIH{BHS =HHHg<HEHHH %=%=HI ILJ4) GE,MA9>v@>%@Y>8y>m@>>H?6?@ſ?+躿`c?@?@\? >v@>s9^;)٥\\ ^H\bd b>dj4f?j49f If*Byhj@j?fCifG:f:f4prk0ApMtMtMtMtMt|I|I  i Ew1EEE_0EAAN=aԁԩ t/F,MA96@6–@Y6y6@>6H?:?ſ ?<麿{S? ?]? 6@6\%^;)6CPVC{BVI-Mb@Mb@Mb@))) )))Y-y&1y&1?~jt?y-`彙-`e<-D<-;A )))I-A)y-\AIMIMb2Uj; ]@=y]:Q ]>٥aa eHae m>iu4m?}49m Im+By}v=};}@}?mCim;m;m 4[0ADEMMMMMII iE54E1E1E5^0E1AAAQN]=׉׉)A Y F,@i+MAv9{BvIiz٥ H %>!-4% ?-49% I%-By115?%Ci%L:%X:%49=0A9MAMIMIMIMIQIYIY YYYaiazEq HH<H>H\CHHHHHH<HEE6EEE_0EA!A1NE=Iqԩ AF,BEMA96@6Ŕ@Y6\y6@>6Hs? =?@3jſ`?r?`w?]? 6@6<^;)4B2{BB{IMb@Mb@Mb@ )YT㥛 ٥11 5H1y< >4?49 I,ByY>;^@?Ci:I:=40AMMMMM1I1I9 999AiAE?9EEEEAAN >ԡ =4= rF,<_MA9R@R.@YRyR@>RH a???[ſ`?@<=Ͱ? ?`]? R@RXx^;)RCb{BbiIIn In(2zu zM=y~p:Q ~>٥ H= > 4 ?49  I +By]@? Ci : : !4!%1A!M1M1M1M1M1AIAIA AIIIiQE;EEE`0EAAANM=H>HHIH{BHR =HHHI<HE!Q F,xMA9>؈@>@Y>xy>/{@>>H?A?>ſ`e@?`U@?b?^? >؈@>^;)٥\\ ^H`bN b>dj4f?j49f IdyhjY@j?f CifG:fu:f(4pr1ApMtMtMtMtMx|II  i bE}AZE1E=EEE_0EAAN=QQGrAa YrAygAԉԹ }$F,֒MA96Q@6@Y6y6+C@>6H?E?U%ſr?@jP?`?_? 6Q@6]_;)6CNzBRYI5only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, , +0.00, 20.00,363.38 aI5@a5 aM5@a5 aQ5@a= aE=@a= IEIEMfb UA=yU ;Q U>٥YY ]HYe e>im4m?u49m Im*Bu+:yqu;uR@u?mCim;mK>m.4{1AMMMMM,B*** querying acoustic contact ***zLLII iԑE5?E1E1E1E=AIAYNe=eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode. *F,-MA96*@6ٍ@Y6񒀽y6.@>6H?H?2 ſ@`i?`? ?J`? 6*@6a;)6CNzBRMIIVIV2vP vQ=yvq';Q v>٥xx zHxz漹 ~>4? 49 I  :y  ; P@ ?Ci:Q?J34G9G=@AHE>HAHEIHE{BHES =HAHAHEF<HEE ؽ=׽=*DAT read: user:659> BDAT read: Tx time:06:08:33.9254 $Ping request sent.I  JDAT read: TxSync time:06:08:33.9247  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255457׏1F, MA9:솬@:@Y:n|y:F1@>:H ?OG?@Ŀ?e/??`? :솬@:bb;):CfzBf@I ja=haIUaIU aMUaMU aQUaQU aEUaEU UMb@Mb@Mb@QQQ Q)QYUy&1~jtyUU`eUDUQA Q)U/@IUAQyU(A)m; iImImV83}H }A=yt/;Q >٥ HP: >4E?493 I%BT:yb>;$@?Ci;;:4!2A,8Undocking sequence complete.q*JCompleted DefaultWithUndock:LeaveDockq*fAggregate::uninitialize DefaultWithUndock:LeaveDock1 ,HUninitializing TrackAcousticContact. -lAggregate::initialize DefaultWithUndock:SurfaceDefault-@Initialize GoToSurfaceComponent.-No depth rate setting specified. Using default value of nan m/s.-~No pitch setting specified. Using default value of nan degrees.-No speed setting specified. Using default value of 1.000000 m/s.-No surface timeout specified. Using default value of 1000.000000 seconds.-No altitude timeout specified. Using default value of 600.000000 seconds.-nReceived pitch timeout configuration 60.000000 seconds.s:I iQE?EEEEAAN>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502738yԩ 7F,lMA &checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759446L9Nu@Nj@YNyNI>NH ?F?ſ@?-V ?Y? R? Nu@Nd;)NCnzBn)IIvIv 3~» ~S=yQ >٥ H V  >4?49 I!By#@?$Ci<<H<tA42ABNJN"N?*NN:N9N2N: ?i9I#)zBI PwV=iSAEEEE_0EAAN=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010650! =F,BMA96q@6S{@Y6<~y6F>6H`e? MN?|ſ`Y?}Ἷ`¯??\V? 6q@6T5j;)6C^zBbIIfIf#3n< nM=yr:Q r>٥pp vHtv v>x|4z`?49z IzBy#@ ?z*Ciz2;z 3;zpH463ABNJN"N*NN:N!N!2N!)1I1)5zBI1 5Bw71=q9iAE?EEEi0EAA N5=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2646541Powering upQԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514568DF,MA~zBI) YMb@Mb@Mb@ )Yv/Qyx齙̼u$A @)@IAy AII<2@ ==yQ >٥ H >4?49, IBy=; *@?1Ci] ;;O4BF3AGEBNJN"N*NN:NN2NyyI)zBI s8u%iEaEiEiEm_0EiAyԁAN>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766674Ա JF,4-MA96e@6Oo@Y6kqy6@B>6H@? a?,Ŀ z? e)?$?_? 6e@6bh;)6CB~zBB IIJIJ 3R"Ǽ R]=yV ٥TT ZHXZ4 Z>!1n@!)n@!%r@!-r@!!r@!r@!5r@!9r@GrGr HrHr\%4^빜?%49^ I^By!%)@-?^6Ci^:^:^nV415j3A1BN9JN9"N9*NANA:NANA2NAIQIQ)U~zBIQ ]<8y}$yichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.018711>E]?BI9EEEEe0EPExceeded connect timeout, disconnecting.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270622I i6Gg;%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523279AaAqN}?rTF,RMAAjzBIMb@Mb@Mb@ )Y"~jZd;OMbyS㽙j<A @)E@Iy=AI-I-2U{Լ ]٥aa eHae mu>i4m乜?49m ImBy?=;Z5@?mACimE}Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774507E?EEE0Eԙ Fi Fu R=Fu a=6GE+= ?>< BDAT read: Rx Time:06:08:36.3446  TRx dataTimestamp_ set to:1749103717.783829checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028186~G=IAAIAYNe?%\F,rMA96f@H6p@Y6zby6V@>6HH?ng?F_Ŀ`?КM?[?c? 6f@6Qoj;)4iprA)r pIp t)ttttiII iI II)IQ UAQQQY]AI]t)YiY)YIeAaa aٯadzBIII<2 R=y٥?? HFy9 >4Ṝ?49 IBy]5@?GCi6::i43ABN JN "N *N N :NN2N!I!)%dzBIA Ee8IMޚNIiQ>EUzI nManaging dock network, ignoring radio surface power offEEEEp0E Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278644F<6G R=~G  A1 AY Ne >cF,$MA96z{@6)@Y6!^y6 @>6Hp?;Y?P5Ŀ +?Ѽ?J?d? 6z{@68d;)6C|~[zBIMb@Mb@Mb@ )Y ףp= MbyQL;A @)/@IyAII#3   E=y );Q >٥ H; >!-4%ݹ?-49%i I%By-}=-<5r=@5?%LCi%" ;%G ;%q49=3A9BNAJNA"NA*NINI:NINI2NIYYI]'")][zBIa eI8aemiiiD}=D}=DAT read: 06:08:36.3446 LVL= 21360, 32753, 29042, 32755, AGC= 50, IDX= 437, 0.36, 1.880, 0.345, 1.209, 1.402, PHS= 0.566,-1.011,-0.196, RAW= 121.1, 9.4, CAL= 129.3, 5.3, ROT= 20.7, -5.3 Ygot valid direction response: 06:08:36.3446 LVL= 21360, 32753, 29042, 32755, AGC= 50, IDX= 437, 0.36, 1.880, 0.345, 1.209, 1.402, PHS= 0.566,-1.011,-0.196, RAW= 121.1, 9.4, CAL= 129.3, 5.3, ROT= 20.7, -5.3 PDAT read: Bearing 20.7, -5.3 (Local) ~Local bearing/azimuth received: Bearing 20.7, -5.3 (Local) DAT read: Range 10 to 50 : 11.1 m (Round-trip 14.9 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.%\direction in FSK: [0.931445,0.351964,0.092371]%Fpublishing direction and range infoڱ>Emyڵ%e?u$8?{]U?ڵ1AYڱ ۵pS)۱I۵rqi۱۵2۵`?۵sh۵9H ܵE@)ܵ'>Iܵm@iܵq=ܵ>ܵq ݱ)ݱݵc?71:?m#7.?iݵO<ݵ^[(ݵ>ݵq ޱ)ޱ)E?EEE1EF0iF,MA96@6?@Y6IYy6=>6H ?@*Q?ÿ0? @9??h? 6@6<`;)6C\zBI)! !I-I-3=K; EX=yE3;Q E>٥AI MHMFM; M>QYe4Upڹ?e49U< IUByim=@m?UQCiU<;Uf=;Uw4qu3AqBNyJNy"N*NN:NN2N靑I)\zBI 8r i>ESE?EEE3EԑF<FFFFԱ~GA AQ Aa Nu > pF,fMA9:@:c@Y:?Vy:9>:H ?0N?Drÿu`?@軿Ī??o? :@:];):CFNzBFIIN IN2V^  VT=yV;Q Z>٥XX ZHZ F^N|; ^>)d dh 4j2׹?mGA49j IjB ӿYAyAy=@?jVCij=j=jv~4)5'4AYBNiJNi"N*NN:NN2N)I9)=NzBIA E9IM4ʕi>EdE E E E _0E F VMvF,TqMA96@6L@Y6 Ry6"4>6H?`M? 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V@V}f;)VCn =rxC)p ptt|-/$?Mbv?-&>--x> )))Y-HzG?Q{Gzy-= >--#-B -Q|B)-I-B)y-BI]"I]q3m5= m6=yu=Q u>٥yy }Hy} >C4œ?C49} I@yj>;?{Bi~;;C4BBNJN"N*N2N:NqIqIy yyyi) =G)EAEIEIEIEIAYAqN}7> 2HYyIAQԁ *d,3MA9>@iBa>IBa>>&@Y>&;y>O>>H3ؿ` 7?Ktѿ`Ҩ׿Lj?ӄx@9?? >@>Yi;)>CJQ ^?٥`` fHdf f?hnC4jœ?nC49j~ Ij(@yprr?jBijb;j;jC4tvBtBNxJNx"Nx*N|2N|:N|I I    iYEEEE0EAAN=MReceived command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m" 29yr9 1 2=got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m" 29yr9 1 2.000000=PScheduling command #1 of 2 with id=29yr9=Scheduled #16 (#1 of 2 with id='29yr9'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.DockingAltitude 8.05 m;set lineCaptureHoming.AltitudeDepthLimit 68 m;set lineCaptureHoming.MaxDepth 70 m", ASAPԹԱ 1d,=ǐMA96f@6p@Y6_J6H+ؿ? 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V? :7W@:d;):CVzV9I^I^(*3fHH< fU=yf޽Q f>٥hh jHhja n>pvC4r;œ?vC49r Ir?@ytv>/z?rBirh:rh:rC4|~ BYBNaJNa"Na*Na2Na:NaqIqIq qyiE1E1E1E1E1AAAQNe=qԙ Qd,VHMA96dv@6@Y6'6Hz׿@e?`п;I׿1?`E? /? 6dv@6Dye;)4B%BLlLIJIJ#3V}< ZL=yZ ٥\\ ^H\bg< b>`fD4b(œ?jD49b Ib@yhj0j?b! Bib.:b:bD4lrBpBNtJNt"Nt*Nt2Nt:Nt|I|I| |i bEZE~AE?EEE_0EAAN=! 'Xd,1bMA9>[@>e@Y>DƲ>>HPֿ? ԿUa[տ@S?`T(`R?P? >[@>oj;)>C^Ebo!ddIfIfV83nʼ rG=yr٥tt vHtv= v>x|D4z52œ?D49zw Iz @y - ?z Biz);z*;z D4 BEBNJN"N*N!2N!:N!)I)I1 1111iAEEEEEAAN%=)Qԁ 9Q^d, |MAI)9:@:@Y:y:Yo>:H 8տ@?+ҿ``ӿ@W?;^?@?#? :@:|;):CJxJ4InIn3vY= vI=yzPQ z>٥xx zH|~QE< ~> D4;œ?D49 I+@y4"?G!Bi;3;:%D4%B!BN)JN)"N)*N)2N):N)9I9I9 99AAiIqE?EEE}0EAAN!ԁԱ 9ed,畑MA96@6m@Y6(%y67O>6Hૣ׿0_?¿տX?`?`?$? 6@6o|;)6CB✼B@aIe@ae aMe@am aQm@am aEm@am ey&1> ףp=ʿe`eaeQ a)aIeMb@Mb@Mb@ie‰e©ee eAuB)eIeeye=uBII= @=y9Q >٥饙 Hp >D4mFœ?D49' I@+:yԹ:E$?!Bil0;>C1D4B BEBNJN"N*N2N:NII irER>jE>E?EEE0EAAN>9 ckd,ůMA96/@6@Y6+y6ɷ=6Hؿm?@x|ؿ?`x?`&?? 6/@6m{;)4FPFƋ)N; NIRIR#3V ZZ=yZ8D>Q Z>٥\\ ^H\bL; b>`fD4bOœ?fD49b Ib@j :yhj:j-j?by"Bib:bTM?b9D4xzBBN JN "N *N2N:NI!I! !!!)i)E?EEEy5EAAN%=Aiԙ Krd,ǠɑMA" c@>l@Y>=>H ؿw?e`Tؿ`t;?Eא ?? > c@>)u;)Q  >٥ H(< >9ED4=@Zœ?ED49=$ I=@M9yIM:M-M?=#Bi=:=S?=AD4UBUB}EBNyJN"N*N2N:NII iqEM?EQEQEU`5EQAaAqN}=׉׍Aԡ)Q Y .G 5 JY1 y5 LA uxd,{MAi>{>I>Y>9RB@R@YRnyRx>RH׿6?`ҿ@ LֿV?YS?` ? F? RB@Rr;)RCvFv"I~I~2 <  J=yQ >٥ H=G< =>AMD4Ecœ?MD49E IE@M9yIUl:U-U?E#BiE1:E ?EGD4Y] BYBNaJNa"Na*Ni2Ni:NiqII izEEM?EIEQEUO0EQAaAqNy) -~d,/mMA9V.@V8@YVLyV>VH\zؿb?`4ӿ 2տj?5?U? ? V.@VAm;)VCQ <M٥  H    >D4:nœ?D495 I>@9y%?:E.E?U$Bi;@gMD4IMBIBNQJNQ"NY*NY2NY:NYII iyE%?E!E)E-4E)AiANK>ԩ d,3MAI)9By@B. @YB䏽yB0>BH@ؿ,D?`п-l'@ֿ"???1K? By@B~j;)@N)=RCaIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a a)@a L7A`-?!rhԿ+?5>l )IMb@Mb@Mb@iԹ )IiII2{= ^=yRQ >٥饙 H_ >D4?wœ?D49y I8@o9y:D-?$Bi!;@>QD4BޭEBNJN"N *N 2N:NII! !!!)iIE?EEEP0EAAN&>9 ӱd, 1MA02A9>@>@Y>{|y>x>>Hֿ .?ɿ@QSտC?`T?@0?? >@>Uh;)٥ H= >%D4œ?-D49 I@-B9y)-9-$-?e%Bit:U5@TD415BYBNaJNa"Na*Na2Na:NaqIqIq qibEAZEE?EEE_0EA!A1NE=Aqԡ d,JMA96@6@Y61y6*0>6H.տ ?`Iÿ`t-Կ@k??@t?@? 6@6{;)6CN,R)V4< V4<IZIZ<2v vL=yvw=Q v>٥xx zHxz.= ~>D4œ?D49 I@9y9)?&Bik:0P@VD4 BBNJN"N*N2N:NII iqE?EEEEAAN>ԡ Ød,dMA6Hտ m?؞`0, zԿ@{?? ?D? 6@6qq{;)6CN}>RBITITf fL=yfQ f>٥hh jHhn; n>D4œ? D49 IL@ 8y  9  ?&Bi:h@XD4B=B=ۭEBNAJNA"NA*NA2NA:NAQIQIQ iEEEEo0EAAN=) d,~MA96t@6)@Y61sy6ҧJ>6H|տ?gſ`Կ'?a? `?`Q? 6t@6H~;)6C|H3{I-I-2ez; eA=ym Q m>٥ii uHqu3ռ u>D4\œ?D49 I@8y9 ?;'Bi:@ZD4BBNJN"N*N2N:N I I 19i9rEAjEE>E?EEE0EAAN >)Q׉ ׉ ԁ եd,yyMA96"@6,@Y6Ayy6x>6H@ٱֿ`?nοnԿ@?N#?ƪ?`? 6"@6v;)4NƼRtYaIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a a)a) `"? rh?$C˿>l>Z )IMb@Mb@Mb@i B)IByׇB  BAI I ?13=L9= E==yE`Q E>٥II MHIM M>q}D4uœ?}D49u Iu@8yX9$?u'Biu:uȏ@u\D4BBN1JN1"N1*N12N9:N9AIAII IIIiԉE%?E!E!E%0E!A1AINU2>Ա d,TMAI)9:G@:Q@Y:Kʢy:>:H=vֿ@l?%fҿ)Կ_?X??@_? :G@:Mn;):CN ٥xx zHxzM< ~>D4*œ? D49 I@ 8y  .9 ( ?Z(Bit:-@]D4BحEBN!JN!"N!*N!2N!:N!1I1I1 999AiAԱE?EEE4EAA)N== 9 Od,-̒MA9>M@)@ @>VW@Y>,#=y>Æ>>Hyiֿ@?Pпr@+ֿJ? ?}? >M@>@l;)>CJQ ^>٥\\ bH`b: b>djD4fœ?jD49fe If:@j[8yln 9n+n?f(Bif ;f@f]D4prBpBNtJNt"Nx*Nx2Nx:NxII  i zEE?EEEP0EAAN=Aiԙ {d,MA96 ƒ@6ˊ@Y6>w=y6#>6HWf׿@H?ҿſȸ&׿g?⮿@U?׈? 6 ƒ@6j;)6CBwf٥tt vHtzP* z>|D4~œ?D49~ I~d@18y8Z. ?~)Bi~;~@~^D4BBNJN"N*N2N!:N!)I)I1 1111i9qE?EEEEAAN%=Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 29yr9 2 2=got command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 29yr9 2 2.000000=PScheduling command #2 of 2 with id=29yr9=Scheduled #17 (#2 of 2 with id='29yr9'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP=M xgot command load ./Missions/Engineering/lineCaptureHoming.tl'U Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl'U TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl'u TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tlA٥hh jHhn7; n>9ED4=Eœ?MD49= I=6@M8yIM8M,M?=/*Bi=t:=9@=X_D4UBB֭Es:I iE?EEEEAAN>$d,rMA96@6@Y6ût>I٥饁 HN< >D4œ?D49 IA7y8(?*Bi_:@_D4BI ibE5~AZE1E?EEEEAANEQ>=m 2SBD MTMSN=20250605T061644+Nd,Ü3MA9BՃ@Bߊ@YB yB=>BH`=׿@l?U@qֿLF?=R? 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D49 IA 6y  _7 ' ?|/Bi:(AaD4=B9III IIIQiQE?EEEEAA1N= >-e,uMA)< >@A9>@>s @Y>=|;y>N>>Hؿ?@AӿM}wz׿gG?o2?@#? >@>&i;)>CNG rI=yr=Q r>٥tt vHtz z>x=D4z1Ü?=D49z[ IzAE6yAE47E6E?z0Biz#De,PMA96o@6$ @Y66H fؿW?TпH|Lؿ z'?hCS?? 6o@6xak;)6CN=;RBaIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a kt-?MbX9? ?>!> )IMb@Mb@Mb@i )Ii) I I(2Eg9 E6=yE4=Q E>٥II MHIM?: U>D4<Ü?D49P IAb6y%7%m5%?0BiI:,)AaD4)mBiI iEAEAEAEAEAAQAaNm6> e,6:6MA96e@6go@Y6y6N3>6Hؿ/?Ŀ[ڽ׿ذ?Sx?Y? -? 6e@6 g;)6CN:NQA)P PIV IVb3ny nd=ynXQ r>٥pp rHpv< = v>xuD4zDÜ?uD49zb IzL A}76yy}6}-}?z>1BizVe,pPMA96a@6ck@Y6)=y6@=6Hؿ@? `B׿ ??`W?? 6a@6i;)6Ci>t>I>e>NNDIV"IVq3wF 8=yսQ >٥!! %H!%Ґ %>)uD4-PÜ?uD49- I- A}6yy}6}x*}?-1Bi-$<-5A-aD4 BB̭EI iEE?EAEAEE0EAAQAaNm5>) =G E]YAyE_Ae,iMA9:?,@:5@Y:y:=:H`xؿ@?;- }ؿ@f?@_?a? ? :?,@:cl;):C^^/1df@AIfIf?13vE; v`=yvfrQ v>٥xx zHxzH ~>YeD4]YÜ?eD49]v I]N Am5yim6m+m?]}2Bi]:];A]aD4qBI iD}:E?EEEo0EA!AIN]> e,MA96@6@Y6sy6ǾJ>6Hïؿ@?VĿ Tv׿?r?""?Q? 6@6i;)6CEE?-i٥QQ ]HYm >mD4eÜ?mD49r I6 Au5yqu|6u,u?73Bie<CAaD4yyyI iD}:E1E1E1E50E1AAAQN]>r'e,ȘMA9:X@:@Y:y:vS>:Hؿ`?ӿ`lt]ֿ 5?`\٣?|?@? :X@:ql;):C)< ̼ > )YS㥛:v}?5^Iܿy/ݼTMґB B)BIBykBII(*2 %G=y%&_=Q %>٥)) -H)- 5>1=D45XhÜ?ED495 I5AET:yEH>E:ERE?5[3Bi5j:5#:5mD4IUB1AIA AAAIiID-L:zE1E?EEE4EAANB>8-e,XtMA9:c`@:j@Y:oy:>:H %ؿJE?2׿ 8տ ?ӻ?`u?Z? :c`@:p;):CN9Rb)V4< V<IVIV3r+= ra=yrq=Q r>٥tt vHtz= z>x=D4z3lÜ?ED49z IzVAyAEpE?z3Biz" 4e,QOєMA6H`)׿ r?/ֿ@yyֿ`ܕ?`b?`? 6|@6Sr;)6CNyN_%PPIVIV?13]-F ]C=yeK=Q e>٥ai mHim< m>qD4upÜ?D49u* IutAy?u3Biu$J:e,,*MA96{@61@Y6y6|>6H ׿@?@ ̿sֿX?`α?`/?? 6{@6Tl;)6Ci@IB>N^RIVIV2rŽ< rS=yrVQ r>٥tt vHtz&< z>xD4zwrÜ?D49z3 IzAypx?z3Biz@5Ae,MA96d1@6;@Y6y6h=6H>nؿ?0o~@r7ؿ`U?`۱?? ? 6d1@63on;)6CNxR `bAAIfIf2EƏ MD=y5IQ 5>٥AI H >Q]D4UeqÜ?]D49U IU@yY]9@]?U3BiU:Ul:UD4BI AiAE?EEEEAAN J>\Ge,LMAI)9:@:Z@Y:Yy:Ƽ:H׿0?@f?.׿ܘ?@-j?aӘ@J? :@:s;):CNNiRp;> )IMb@Mb@Mb@i‰© )IiI5I5 3E E;=yMU=Q M>٥II UH< >D4oÜ?D49 I@+:y:K%@ ?3Bi,:>D4ai̭EI iE=?E9E9E9EAAQAaNmV>݆Me,M8MA96@6@Y6 =y6=6H`gؿm?`)2s|ٿ:ސX4ߣ?? 6@6uo;)4)< >?AN9R[IVIVV83r rd=yrH>Q r>٥tt vHtvR z?xD4z+oÜ?D49zM Iz=@ :y:??z4BiznTe,RMA96 @6@Y66=y6tt?>6Hڿ@j?`+ǿڿ@Ҧ?Ԧ?9i? 6 @6k;)6CN̼R{)V; V<IVIV(*3 J= %F=y%٥)) -H)- 5>1D45pÜ?D495 I5h@9y}: ??5)4Bi5<5?5#D4!%B%ɭEqIy yyyyiCCCCEEEEo5EAAN$> ء ס Ze,qlMA9:ڤ@:@Y:y:+v>:H\Rۿ@#? "ԿkٿN?؀? q?`o? :ڤ@:Po;):CNR)P PIZIZ2X= L=y?Q >٥    H   >]D4htÜ?]D49= I@e9yaeM:ehee?V4Biz%<?'D4im BqI iE?EEE3EAAN>Gae,㎆MAi2p>I2{>9N !@N*@YN}WyN+>NHgڿ@?@ֿ=ֿNr??@j?@? N !@NIn;)NCrJr}\I]I]2b- @=yսQ u>٥饁 H1= >D4]yÜ?D49 I|@9y&:Ⱦ?4Bi:@D4iuBqI iE?EEEO0EAAN?>A uG Y y Age,((MA9:5@:z?@Y:̥y:]j>:H`ؿ٥ H= >)5D4-T|Ü?5D49-[ I-@=o9y9=:= =?-4Bi-:-@-D4AE!BII iEEEEEAAN J>me,MAI)@9:@:^@Y:y:O>:H$׿`C?Ŀ@wֿi? H??`D? :@:j;):CNRe V>TIZIZ2= ^=y=Q >٥ H< >D4c}Ü?D49 I@%B9y!%9%%?4BiX:}2@D4)-B1I iE?EEEY0EAAN> u=u4=te,7ӕMA9:x@:.@Y:'y:m=:H{ؿF? C=JwؿhY??ֿ?`? :x@: i;)8)< >@ANƼRtIVIV3r< rZ=yr>Q r>٥tt vHtzS z>' nTethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into: 3 180 3 1 5 4 1.5 1.5 60 2 2 5 1 120 40 5 NaN 10 NaN 4 205 2 20 0.05 NaN NaN NaN 60 -1 1 1 0 0 0 No longer in Terminal. Resuming normal ranging with pings. 5 Entering USBL mode with pings at (mode ). 5 Resuming normal ranging with pings (mode ). 5 Entering Midcourse tracking update period sec at (mode ). 5 0 Entering Terminal tracking update period sec at (mode ). Restarting DHCP... ! /mnt/mmc/LRAUV/Tools/dhcp.sh Restarting logs restart logs Timed out trying to reach the target depth. Stopping mission at current depth of stop 1 -99 Mode 0 Waiting on dock for Retrying incomplete docking attempt 1 Breaking off. Range: . Driving to post-undock waypoint , No post-undock waypoint, drifting for minutes 0 0 0 xD4z}Ü?D49zb IzZ@9y9z??z4Biz'EDefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 hN#U:hQ']fDefineArg lineCaptureHoming.Repeat = 1.000000 countN#eJha'xDefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 minN#Zh'^DefineArg lineCaptureHoming.StayOnDock = 0 boolN#%jh!'EZDefineArg lineCaptureHoming.TrySlide = 0 boolN!#MzhI'UpDefineArg lineCaptureHoming.RetryIncompleteDock = 0 boolN%#h'rDefineArg lineCaptureHoming.SlideRetries = 4.000000 countN)#h'xDefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 minN-#h'zDefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 minN1#h'=lDefineArg lineCaptureHoming.TransponderCode = 50 countN5#EhI'MDefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 sN9#}hy'DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 sN=#h'DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 minNA#i'%DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 countNE#-i)'5tDefineArg lineCaptureHoming.NumberOfPings = 1.000000 countNI#}"iy'vDefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 countNM#2i'fDefineArg lineCaptureHoming.RangeUSBL = 40.000000 mNQ#Bi'DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 countNU#5Ri5'=fDefineArg lineCaptureHoming.DockingAltitude = nan mNY#EbiA'MDefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 minN]# ri ' lDefineArg lineCaptureHoming.AltitudeDepthLimit = nan mNa#% i! 'm hDefineArg lineCaptureHoming.MinAltitude = 4.000000 mNe#u iu i@'} fDefineArg lineCaptureHoming.MaxDepth = 205.000000 mNi# i ' jDefineArg lineCaptureHoming.MinOffshore = 2.000000 kmNm# i ' DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 minNq#- i) '- xDefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/sNu#= i9 '= ZDefineArg lineCaptureHoming.Lat1 = nan arcdegNy# i ' ZDefineArg lineCaptureHoming.Lon1 = nan arcdegN}# i ' bDefineArg lineCaptureHoming.CaptureRadius = nan mN# j ' rDefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 boolN#e ja 'm pDefineArg lineCaptureHoming.MidcourseDepth = 50.000000 mN#u 2jq ' rDefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/sN#= Bj= N@'E pDefineArg lineCaptureHoming.TrackingPeriod = 60.000000 sN#M JjM zze,MA96g@6@Y6ܟȼy6T>6Hٿ?/E N3ٿ .?@W??`C? 6g@6f;)6CNмR)V4< V4<IZIZ0'njDefineOutput lineCaptureHoming.Mode = -1.000000 countN#rZjp'zpDefineOutput lineCaptureHoming.NumPings = 1.000000 countN#~-9 -F=y5Q 5>٥1jj~?'DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 countN#zj'~DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool9 H >D4E~Ü?D49C I9@8y9j??4Bip:N#j'tDefineOutput lineCaptureHoming.EndDockingSequence = 0 boolN# j e@yD4999III IQQ'tDefineOutput lineCaptureHoming.LastDockSuccessful = 0 boolN#}jy'DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 countN#ji'5rDefineOutput lineCaptureHoming.RepeatArg = 1.000000 count'=jInserting Stack from file: Missions/Insert/Science.tl'=^TethyslAPI: loading: Missions/Insert/Science.tl'vTethyslAPI: mission file loaded: Missions/Insert/Science.tlEM?EIEIEM|0EIAYAiN}>lсe,MArEH@o׿@?Ϳ`a7տ@A?x?Y?? E@Eq;e;)EC}}aI}aI} aM}aM aQaQ aEaE a)a)  r?MbPV-Ϳ>m )Y{Gzt?kt"~yף; 5B )9BI%ByBII(*3e e =ymQ m>٥iq uHquа= u>yD4}Ü?D49} I}@T:y?:0c?}5Bi};}:}D4BI iE?EEEh0EAANc>e,o!MA;#lBII 3%}= -=y-Q -?٥11 5H15 5?YeD4]Ü?eD49] I]@yiim?]#5Bi]::]:]BD4quBI irER>jE>Em?EiEqEue5EqAAN= M~Hm׿Ar?nѿJcTֿib?@d?h? ? ~Ã@~Hh;)~C׌<%5-C))I5I5 2< C=yE>Q >٥饡 HC >E4Ü?E49 I۱@y?I5BiC;v;E4BI !i!E?EEE4EAAN>e,>UMAI)@96@6W@Y6uZ-y66>6HC׿?Ϳ`@տ ???? 6@6Af;)6CJJDIRIR2^Mǽ bY=yb׽Q b>٥`d fHdf< v>x~E4zxÜ?~E49z IzǪ@y]D?zf5BizX:z:zE4 5B1AIA AAAIiiE%?E!E!E%P0E!A1AINm=4e,eoMA96@6ʊ@Y6Ͷy6j>6H`Sp׿? NF̿`?ֿ]?`՟??? 6@6d;)6C^ ^DIfIfF3v< vH=yv٥xx zHxzl ~>%E4Ü?-E49 I3@y)-<-?5Bi::UE41]BYiIi iqqqizEE1E1E1E5O0E1AAAYNe= e,숖MA9@P@Y;yDin>H @8׿?V˿@`ֿa?sxI? "? @骭n(d;)C ` aI@a aM@a aQ@a aE@a% &1?RQ?-?P="??5> )IMb@Mb@Mb@i‰© tB)I'By3B)9 =I=I=T3M3, M)=yU=Q U>٥QQ UHY]< ]>E4Ü?E49R I1@+:y:Oξ?5Bi:u>-E4BI iEEEEP0EA)A9NER>Fe,VMA96G@6$@Y6],Z;y6^0>6H`ֿs?Ŀ|ֿ缭?`Ek?M? 6G@6Id;)6CNRD)P PTVAIZIZ(*3v v|=yvQ v ?٥xx zHxz< ~ ?%E4SÜ?%E49d I @- :y)-n:-P-?5Bit:MO?u4E415BI iE?EEE^0EAAN> unManaging dock network, ignoring radio surface power offlre,NMA96 @6@Y6dy62>6H3׿`? ½ @Rֿ?u? ;?? 6 @6&e;)6CiBl>IB>nnΉII?13- -F=y5KQ 5>٥99 =H9=ˇ E>AME4E׉Ü?ME49Em IEy@U9yQUA:U:U?E5BiE;E?EXe,Pm֖MA9: @:@Y:%3y:z=:Hֿͭ?Ļ`ֿ??@)?`ֿ? : @:`e;):CNRTTIVIV1vҼ vO=yv{Q v>٥xx zHxz4N< ~>%E44Ü?%E49 I@-9y)-:-)-?5Bi:?BE415BYiIi iiiqiqE5?E1E1E5_1E1AAAQNe=) UC=G9I }wLYyy}0NA A E <' TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , 6H׿n? ÿqտ??Gq?:? 6@6cf;)6Cnynir٥饙 H* >'DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %E4Ü?E49N I)y@9y9?5Bi !O $2l'DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool!O $Jl'|DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool!O$bl' zDefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool!O$zl'}~DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool!O$l'vDefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool!O$l'DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool!O!$-l)'-DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool!O%$]lY'e~DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 1 bool!O)$mlq'DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count!O-$l'DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count!O1$ m'pDefineArg lineCaptureHoming:Science.ShallowBound = nan m!O5$m'jDefineArg lineCaptureHoming:Science.DeepBound = nan m!O9$*m'%DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m!O=$-:mI'UDefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %!OA$eJma'eDefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %!OE$Zm'DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l!OI$jm'DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool!OM$zm'zDefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l!OQ$ m '- zDefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l!OU$5 m1 '= DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count!OY$e m ' DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s!O]$ m ' DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s!Oa$ m ' DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml!Oe$ m 'U DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml!Oi$ m ' lDefineOutput lineCaptureHoming:Science.GoDown = 1 bool!Om$ m ' rDefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l!Oq$ n ' vDefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m!Ou$e na ' DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC4pe,: MA)< >?A!Oy$"n'%DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg!O}$-2n)']DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg!O$eBna'mrDefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l!O$uRny'vDefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m!O$bn'DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC!O$rn l Ý'MDefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg!O$UnQ']DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg!O$n'-vDefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l!O$5n1'=vDefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m!O$n'DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg!O$naIaI aMaM aQaQ aEaE  r?L7A`尿Zd;O?>+j='DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg!O$n'tDefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3 )Yy&1|A`"{Gz?y`廙Y#= dB)(BIaByQB)) -4<I5 I52EQ= E-=yEQ E>٥II MHIM U>Q!O$}ny'vDefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m!O$nE4U|Ü?E49U IUy@T:y=F<9'@?U5BiU&!O$ bo 'rDefineOutput lineCaptureHoming:Science.PeakSalt = nan psu!O$ro!'%xDefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m!O$UoQ']DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC!O$eoa'DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg!O$o'DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg!O$o'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s!O$o'%DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m!O$-o)'=DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC!O$Eoa'mDefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg!O$uoq'}DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg!O$p'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s!O$pסס'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m!O$"p'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC!O$= 2pA 'M DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg!O%U BpQ '] DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg!O%e Rpa 'm DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s!O %u bpq ' DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m!O % rp ' DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC!O% p 'E DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg!O%M pI 'U DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg!O% p ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s!O% p ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m!O!% p ' DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC!O%%U pQ '] DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg!O)%e pa 'u DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg!O-%} py ' DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml!O1% q ' DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m!O5% q ' DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC!O9%5 "q1 '= DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg!O=%E 2qA ]e,i$MA96&@6/@Y6y6>6Hȏؿ@?$oӿֿ@?@B??? 6&@6-m;)6C^O3^IfIfm?3rD< v=yv(V>Q v?٥xx zHxz} z?'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg)5E4-Ü?5E49- !OA%=BqA'MDefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml!OE%URqQ']DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m!OI%ebqa'mDefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degCI-Zz@yy}A(@}?-5Bi-L%<-v%<-"bE4BI !OM%rq'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg!OQ%qi'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg!OU%]qY'eDefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml!OY%mqi'}DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m!O]%q'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC!Oa%q'DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg!Oe%q'UDefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg!Oi%eqaE?EEEP0EAAN='DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml!Om%q'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m!Oq%r'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC!Ou%r'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg!Oy%"r'DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg!O}%2r'tDefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l!O%Br'xDefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m!O%Rr'DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg!O%EbrA'MDefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg!O%UrrQ'~DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m!O%r'tDefineOutput lineCaptureHoming:Science.PatchSalt = nan psu!O%r'zDefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m!O%r'DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg!O%-r)'5DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg!O%}ry'DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m!O%r'rDefineOutput lineCaptureHoming:Science.PatchOil = nan psu!O%r'xDefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m!O%r'DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg!O%s'DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg!O%s'%~DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m!O%-"s1'E|DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool!O%U2s'~DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/laQ! aQ! aQ! aQ! aQ! aQ!  8Construct PeakDetectVsDepth.޾e,=MA96>@6OH@Y6?|:y6%>6H@Q;ڿ?uпF0,ٿ|?R $?? 6>@66;)4^bXdfA r8Construct EdgeDetectVsDepth.IjIj?13ɼ ?=y?=Q >٥饩 H: >9EE4=Ü?EE49=R I={@yAE&@E?=6Bi=):=:=tqE4QBI  i  >Construct PeakDetectHorizontal.E?EEEE AA)N5.>8Construct PeakDetectVsDepth. 8Construct PeakDetectVsDepth. >Construct PeakDetectHorizontal.- 8Construct PeakDetectVsDepth.E 8Construct PeakDetectVsDepth.we,WMA96@6@Y65iBp>IBV>6H@ۿb?Jƿ@L@ڿƛ? f?l? 6@6N|;)6CRERo!IZIZF3b(o< bZ=ybS=Q b>٥dd fHdj@ j>h z>Construct PeakDetectHorizontal.=E4jÜ?=E49j Ij{@yAE&@E?j/6Bijd٥aa mHim m>qE4uÜ?E49u Iu||@y?uI6Biu:f e8Construct EdgeDetectVsDepth. e,Construct ValueDetect.'~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl' rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl'TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tle,sMA9R렂@R@YR ףp=?uݤu 0u> q)qIuMb@Mb@Mb@iu‰u©uq uwB)uIuuyuuBI I2{ &=yeֻQ e>٥ai mHimhq= m>q}E4u~Ü?}E49uN Iu}@}+:y <'@?uf6Biu!g 5 1.5 200 2000 ac%u@'DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 mE?EEEO0EA AN%o>ac%=u9'EDefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 mac%Mui@'DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 mac%u'DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m 6Construct AltitudeEnvelope.=0Construct DepthEnvelope. 5 6Construct OffshoreEnvelope.!du '5 nInserting Stack from file: Missions/Insert/NeedComms.tl'5 bTethyslAPI: loading: Missions/Insert/NeedComms.tl' zTethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl8e,FMA96̃@6֊@Y65Dpy6х=6H R׿k?5@kֿ V? ??@? 6̃@6\;)6C)@ B@AN|RIVIV(*3r r=yrQ r?٥tt vHtz> z?xE4zq}Ü?E49z IzD~@ :y<.'@?zw6Biz e,W$MA96̂@69։@Y6sy6lo>6H`!ٿ ?O4ǿ@+Pk׿Z? |??9? 6̂@6w;)6CN1NIVIV#3= 5= =E=y=cQ E>٥AA EHAMC M>QE4U{Ü?E49U IU~@9y;%@?U6BiU 1 10 20 NaN 1 1000 7 30 0 last time_fix was: first GPS update timeout Comms timed out after minutes second GPS update timeout !e%*w @'~DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h!e%:w@E?EEE 1EAAN >'-DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min!e%5Jw1'=DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg!e%mZwi'mDefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s!e%}jwy'DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s!e%MzwI'UDefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s!e%]wY'~DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min!e%w'DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min ,Construct GoToSurface.'MzInserting Stack from file: Missions/Insert/MicromodemComms.tl'MnTethyslAPI: loading: Missions/Insert/MicromodemComms.tl'uTethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl' TethyslAPI: Missions/Insert/MicromodemComms.tl translated into: 10 5 h%} bxy ' DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 minh% rx r@' DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min' RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval'- rInserting Stack from file: Missions/Insert/LineCapture.tl'5 fTethyslAPI: loading: Missions/Insert/LineCapture.tlOe,ؗMA96܀@6R@Y67Ҽy6>6H4ܿK?(Կڕڿ$|?@BF? M=?`͚? 6܀@6T=s;)6C~I~H  @AII 3'~TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tlIb= A=y[>Q >٥ H  >]E4yÜ?]E49U Ii@]9yY];]#@]?6Bif<?ǯE4imBiI iE?EEE2EAAN&>[e,kMA964[@6d@Y6Yyy6>6H ݿ`B? ٿ{[~ٿ ??g?Q? 64[@6y;)6CiBa>I@N.RIVIV2rE= r\=yr٥tt vHtz- z>x}E4zwÜ?}E49z Iz@9y;7#@?z6BizѓjE>E5?E1E1E54E1AAAQNe=5f,t MA96'@6ݟ@Y69gy6>6H`,ݿ`q?Կ`l.ٿ@?ܬ? ?@s? 6'@6z;)6CN:RQA n=laIaI aMUaMU aQUaQU aEUaEU aIU@aU aMU@aU aQ]@a] aE]@a] a)]@a] UMbпZd;?ktƿUU>U 0 Q)QIUMb@Mb@Mb@iQQQQ U)QIQQiUImIm<2g< -=yUQ >٥ H Wy<  >E4uÜ?E49 I@o9y`;"@?6Bi$<g @*E4BI iE?EEEH5EAANG>.G = KY9 yE bMA[1 f,&MA9:o@:%@Y:Ӧ~y:C`>:H Tܿ@?Uſvsۿq?ϯ??+? :o@:t;):CNp&י י f,h@MA96x@6. @Y6`Oy6ǹ=6HSoܿ?@+Q8ܿ`u??ΰ?? 6x@6fy;)4)@ B?ANYRIZIZ3%nk %H=y%٥)) -H)-5< 5>1}E45rÜ?}E495 I5Ԁ@9y;t!@?57Bi5$<5O@5^E4BI izEE5?E1E1E5[0E1AAAQNe=JCf,DZMA96@6t @Y6qy6<6Hoܿ࿪?Ri?/ iܿAq?`5?@?4? 6@6٥饁 H >E4GqÜ?E49 IW@8y: @?)7Bi*$<i@E4B9I9 999AiAE?EEEEAAN!>  < <mf,2 tMA96@6œ@Y6y6S=6H@Rݿx?`>`A6vܿ90?`?Cd?? 6@6Lw;)6CNER)P PIZIZ3r0м rU=yrQ r>٥tt vHtz z>xE4zoÜ?%E49z# Iz@%8y!%:%z@%?z@7Biz;z@z.E4)5B5̭EAIA AAAIiIE?EEEo0EAAN>'MBTethyslAPI: Missions/Insert/LineCapture.tl translated into: 30 0.0 1 0.01 0.001 2 8 1 NaN NaN NaN 0.0 0 NaN -1 0 1 2 3 1 5 0 0 Timed out while trying to detach from dock at current depth of . Transitioning to midcourse guidance. Navigating to dock waypoint ( , ) Transitioning to terminal guidance at range Terminating homing sequence: timed out while navigating to the dock waypoint. Executing search pattern. Timed out while executing search pattern around dock waypoint. Homing sequence timed out prior to docking. Terminal guidance. Transitioning to midcourse guidance. Received last range of ago. Docked. Homing sequence complete. 3 GuidanceMode i%x'DefineArg lineCaptureHoming:LineCapture.DockLat = 36.905698 arcdegi%x'DefineArg lineCaptureHoming:LineCapture.DockLon = -122.116120 arcdegi&x'DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 mini&x'DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 mi & x 'DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/si &EyA'MDefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 hi&}*yy'DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 mi&By'DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 mini&Ry'DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/ai&- jy) '5 DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 mini!&M yI ' DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 mi%&U yQ ' DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 mi)& y ' DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 booli-&= y9 '= DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 mi1&M yI 'U DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdegOU#f, MA96t@6Æ@Y6iy6>i>i>I>>6Hx޿7?ّǿ%uۿ`N??F?v? 6t@6ot;)6Ci5&ryr@'vDefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 mi9&zyz @==L']zDefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 mi=&eym?'mDefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 miA&z'~DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan miE&z'DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan miniI&]"z]'eDefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan miM&m2zi'DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/aiQ&Bz'DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 minaI=aI= aM=aM= aQ=aQ= aE=aE= aIE@aE aME@aE aQE@aE aEE@aE a)Ea)E =5^I ?I +?l?=>=94==> 9)9iU&MRzM'UjDefineArg lineCaptureHoming:LineCapture.Range = nan miY&]ZzY'mDefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 countI=Mb@Mb@Mb@i999=B 9)=rBI99y=BI IV2i]&jz'DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 countia&zz x=  !=yQQ >٥ HL >!'-DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 countie&5z9'EDefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 countE4%mÜ?E49% I%@8y:@?%a7Bi%f<%{@%E4 BI iii&z'DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 countim&z?bE!ZE!'=DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 countiq&z?'DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 miu&z' DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 countEEEE_0EAANc>'~Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl'rTethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl'TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tlqq~)f,|ӧMA96@6@Y6$믽y6>6H޿?:{Կ@Wڿ@?y? ?? 6@6r;)6CBfB IJIJ<2v0; v=yv>Q v?٥xx zHx~ ~?yE4}FlÜ?E49}L I}B@8y}: @?}v7Bi}:}>@}E4!I) ))))i1EM?EIEIEM1EIAYAqN}>'TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 jy&{@' DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 mj}&{'}DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 mj&"{i@'DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 mj&2{'DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m6Construct AltitudeEnvelope. 0Construct DepthEnvelope.E6Construct OffshoreEnvelope. Construct. &Construct Buoyancy.M Construct.U dInitializing internal variables to default values.ah0f,̵MA96#~@6~@Y62y6>6H ߿?1Կ-ܿ? gP? ?? 6#~@6Pw;)6CN팻NO-)P PIV IV(2= =E=y==Q E>٥AA EHAM# M>QE4UjÜ?E49U IUw@[8yM: @?U7BiU“Construct Wait.Construct.uConstruct. Construct.!x!x!x&!x&!x&!x&!x&!x&!x&!x& dInitializing internal variables to default values.ZTransitioning guidance mode to: UNINITIALIZED=Construct Wait.6f,ۘMA96j,@6럆@Y6׼y6>6H`7޿@}?`sͿ {@\ݿ+??n?@ü? 6j,@6Ay;)6C)< ٥tt vHtz(= z>x=E4zhÜ?=E49z IzÂ@E18yAE&:E @E?z7Biz$jEu>E?EEE3EAAN >#Ae$Construct Execute.A}$Construct Execute.AConstruct.AConstruct.BMConstruct.cB$Construct Execute.'xInserting Stack from file: Missions/Insert/SetNavAcoustic.tl'lTethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl'TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl:H8ݿ`M?Ŀ q@*ܿ]?AG?"?L? :@:tRp;)8N4RsIVIV2r rJ=yr_Q r>٥tt vHtz9= z>x=E4z*gÜ?EE49z% Iz @E8yAE:E"@E?z7Bixz@zE4IUBQ'mTethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into: Reseting nav to dock location at range I i&era'mDefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.905698 arcdeg&'%DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.116120 arcdeg&uq'DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m&'DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 minE ?E E E P0E AA1N= >#D"Construct SetNav.aaaDConstruct.DdInitializing internal variables to default values.E-Construct.E5dInitializing internal variables to default values.#FConstruct.CFeConstruct.cF&Construct Waypoint.F &Construct Buoyancy.F= Construct.G Construct.!y #G Construct.Cf, CMA96g@6q@Y6 fy6_O>6H~ݿO?@ÿWKܿp ??`:?K? 6g@6&n;)6C^ ^<)` `ddCGConstruct Wait.aI%aI% aM%aM% aQ%aQ% aE%aE% aI%@a% aM-@a- aQ-@a- aE-@a- %V-?ףp= ?NbX9п%<%>% !)!I%Mb@Mb@Mb@i!!!% %IyB)%I!!y%GyBI}I}T3d< E2=yE Q E>٥II H. >E4"eÜ?E49 I@7y9@!@?7Bi:)@E4BI QiaE?EEEEAANc>'G # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission lineCaptureHoming { """ Home to transponder while maintaining altitude or depth. Altitude gets priority if non nan. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using USBL tracking data (4) Dock: final approach using fixed heading. """ # Define mission arguments arguments { MissionTimeout = 3 hour """ Maximum length of mission """ NeedCommsTime = 180 minute """ How often to surface for commumications """ MicromodemCommsInterval = 3 hour """ How often to trigger Umodem communications """ Repeat = 1 count """ Number of times the vehicle should try to cycle through the homing sequence. """ WaitOnDockTimeout = 5 minute """ Time duration to wait on the dock after a successful line capture. """ StayOnDock = false """ If true, mission terminates after WaitOnDockTimeout following a successful capture, without executing the undock sequence. """ TrySlide = false """ If true, once docked, try to slide down the docking rod until charging and comms are acheived """ RetryIncompleteDock = false """ If true, restart docking sequence in event of a successful capture but unsuccessful slide """ SlideRetries = 4 count """ If using slide mode, max number of times to try the slide sequence before giving up """ SlideSinkDuration = 1.5 minute """ Time duration to slide down by sinking during each slide mode iteration """ SlideCloseDuration = 1.5 minute """ Time duration to close arm to check for power/comms during each slide mode iteration """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ TrackingUpdatePeriodMidcourse = 60 second """ How long to wait between acoustic queries. """ TrackingUpdatePeriodTerminal = 2 second """ How long to wait between acoustic queries. """ TrackingUpdatePeriodDocked = 2 minute """ How long to wait between acoustic queries. """ TrackingNumFixesLowPassFilter = 5 count """ Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter. """ NumberOfPings = 1 count """ Number of pings requested each time. """ NumPingsUSBL = 120 count """ Number of pings requested while in USBL mode range. """ RangeUSBL = 40 meter """ USBL mode range. """ TrackingNumFixesLowPassFilterUSBL = 5 count """ Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter. """ DockingAltitude = NaN meter """ Docking altitude. Ignored when NaN and used over depth when a valid altitude is set. """ InvalidAltitudeTimeout = 10 minute """ The mission will use the last good depth command if no valid altitude readings are received within this specified time duration. """ AltitudeDepthLimit = NaN meter """ Vehicle will not be commanded deeper than this regardless of altitude command. """ MinAltitude = 4 meter """ Minimum height above the sea floor for the entire mission. """ MaxDepth = 205 meter """ Maximum depth for the entire mission. """ MinOffshore = 2 kilometer """ Minimum offshore distance for the entire mission. """ ApproachDepthTimeout = 20 minute """ Maximum wait time for the vehicle to reach the target depth on initial dive. """ ApproachDepthRate = 0.05 meter_per_second """ Descent depth rate (positive depth is down). Used only as a smoothing parameter. """ Lat1 = NaN degree """ Latitude of rollout waypoint. If nan, waypoint is skipped. """ Lon1 = NaN degree """ Longitude of rollout waypoint. If nan, waypoint is skipped. """ CaptureRadius = NaN meter """ How close to call the waypiont behavior satisfied. Nan uses default value. """ CorrectForSoundSpeed = false """ Whether or not to apply sound speed correction to acoustic ranges """ # Mission Variables (don't change) MidcourseDepth = Dock:LineCapture.midcourseDepth """ Desired vehicle depth when navigating to dock WP (during midcourse phase). """ MidcourseSpeed = Dock:LineCapture.midcourseSpeed """ Speed during initial dive and waypoint. """ TrackingPeriod = 60 second """ Mission variable (don't change). The mission sets this variable to update the how long to wait between acoustic queries. """ } output { Mode = -1 count """ Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert. """ NumPings = 1 count """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ LowPassFilterWinSize = 1 count """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ LowPassFilterWinOverlap = true """ Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. """ EndDockingSequence = StayOnDock """ Mission variable (don't change). The mission sets this variable to determine whether or not to restart the docking sequence upon completion of the Docked behavior. """ LastDockSuccessful = false """ Mission variable (don't change). The mission sets this variable based on the last run of the Docked behavior """ DockSuccessfulCount = 0 count """ Mission variable (don't change). The mission sets this variable to track the number of complete docking attempts """ RepeatArg = Repeat """ Mission variable (don't change). Actual number of Lap repetitions """ } # Mission timeout timeout duration=MissionTimeout insert Insert/Science.tl { """ Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. """ } # Safety nets and surfacing behaviors insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore insert id="NeedComms" Insert/NeedComms.tl assign in sequence NeedComms:DiveInterval = NeedCommsTime assign in sequence NeedComms:WaitForPitchUp = 0 minute # Micromodem comms insert id="MicromodemComms" Insert/MicromodemComms.tl { redefineArg CommsInterval = MicromodemCommsInterval } readData { while ( Mode >= 0 count and Sensor:DataOverHttps.connectionStatus == true ) Universal:platform_communications } # Add LineCapture directives. insert Insert/LineCapture.tl assign in sequence LineCapture:MaxDepth = MaxDepth assign in sequence LineCapture:MinOffshore = MinOffshore assign in sequence LineCapture:MinAltitude = MinAltitude assign in sequence LineCapture:DockingAltitude = DockingAltitude assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit # Add track acoustic contact directive. assign in sequence NumPings = NumberOfPings behavior Estimation:TrackAcousticContact id="TrackAC" { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumPings set updatePeriodSetting = TrackingPeriod set numFixesLowPassSetting = LowPassFilterWinSize set lowPassOverlapSetting = LowPassFilterWinOverlap set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed } # Add USBL mode directives. aggregate UpdateNumPings_NotTerminal { run while ( not ( LineCapture:GuidanceMode == LineCapture:Terminal ) and not ( NumPings == NumberOfPings ) ) syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count + "pings." assign in sequence NumPings = NumberOfPings assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate UpdateNumPings_Terminal { run while ( LineCapture:GuidanceMode == LineCapture:Terminal ) aggregate UpdateNumPingsUSBL { run when ( not ( NumPings == NumPingsUSBL ) and ( ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout and not ( Dock:LineCapture.guidanceMode == 5 count ) ) ) syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at " + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence NumPings = NumPingsUSBL assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL assign in sequence LowPassFilterWinOverlap = true } aggregate UpdateNumPingsATR { run when ( not ( NumPings == NumberOfPings ) and ( ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout or Dock:LineCapture.guidanceMode == 5 count ) ) syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings " + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence NumPings = NumberOfPings assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } } aggregate UpdatePingUpdateRate_Midcourse { run when ( not ( TrackingPeriod == TrackingUpdatePeriodMidcourse ) and ( ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout or Dock:LineCapture.guidanceMode == 5 count ) ) syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate UpdatePingUpdateRate_Terminal { run when ( not ( TrackingPeriod == TrackingUpdatePeriodTerminal ) and ( ( LineCapture:Range <= LineCapture:TerminalRange ) and not ( Dock:LineCapture.guidanceMode == 5 count ) and not ( LineCapture:GuidanceMode == 0 count ) ) # don't enter fast ping mode during rollout or on dock ) syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")." assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter assign in sequence LowPassFilterWinOverlap = true } aggregate restartDHCP { run when ( called ) syslog important "Restarting DHCP..." behavior Guidance:Execute { run in sequence set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh" } } # Start mission sequence. call id="StartingMission" priorityHere=false refId="NeedComms" syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate InitialDive { run in sequence behavior Guidance:SetSpeed { run in parallel set speed = MidcourseSpeed } behavior Guidance:Mass { run in parallel set position = Control:VerticalControl.massDefault } behavior Guidance:Pitch { run in sequence timeout duration=ApproachDepthTimeout { syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of " + Universal:depth~meter behavior Guidance:Execute { run in sequence set command = "stop" } } set depth = MidcourseDepth set depthRate = ApproachDepthRate } } # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the # required repetition count (which has just been decremented by the lap attempt). # But that repeat check is evaluated at the beginning of the aggregate, not the end. # In order to be able to retry an incomplete docking attempt on the last lap # we need to make it back up to the top of the Lap aggregate somehow. # Solve this by quietly setting the repeat count to one more than actually desired. # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra # lap, but starting the Lap aggregate will allow us to check the repeat on each run. aggregate RepeatHack { run in sequence break if ( not RetryIncompleteDock ) assign in sequence RepeatArg = Repeat + 1 count } aggregate Lap { run in sequence repeat=RepeatArg break if ( ( StayOnDock and LastDockSuccessful ) or ( RetryIncompleteDock # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count and ( DockSuccessfulCount == Repeat ) ) ) assign in sequence Mode = -99 count # Execute the LineCapture sequence. call priorityHere=false refId="LineCapture" assign in sequence Mode = LineCapture:GuidanceMode syslog info "Mode" + Mode~count call priorityHere=false refId="restartDHCP" aggregate Docked { run in sequence break if ( Mode < 0 count ) syslog info "Waiting on dock for " + WaitOnDockTimeout~minute # Add SetNav directives. insert Insert/SetNavAcoustic.tl assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked assign in sequence EndDockingSequence = StayOnDock behavior Dock:Docked id="Docked" { run in sequence timeout duration=WaitOnDockTimeout set slideSinkTime = SlideSinkDuration set slideCloseTime = SlideCloseDuration set slideRetries = SlideRetries set slideAllowed = TrySlide outputArg LastDockSuccessful = dockSuccessful } # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock aggregate setCompletion { run in sequence break if ( not RetryIncompleteDock ) assign in sequence EndDockingSequence = ( LastDockSuccessful and StayOnDock ) assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful aggregate setRetry { run in sequence break if ( LastDockSuccessful ) syslog important "Retrying incomplete docking attempt" # This lap failed and doesn't "count", so repeat one additional time assign in sequence RepeatArg = RepeatArg + 1 count } } aggregate Detach { run in sequence break if ( EndDockingSequence ) syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "." behavior Dock:Undock id="Undock" { run in sequence } call priorityHere=false refId="restartDHCP" } aggregate Wpt1 { run in sequence break if ( isNaN ( Lat1 ) or isNaN ( Lon1 ) or ( EndDockingSequence ) ) syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree behavior Guidance:Pitch { run in parallel set depth = MidcourseDepth } behavior Guidance:SetSpeed { run in parallel set speed = MidcourseSpeed } behavior Guidance:Waypoint { run in sequence set latitude = Lat1 set longitude = Lon1 set captureRadius = CaptureRadius } } aggregate Drift { """ Drift before next docking attempt """ run in sequence break if ( not isNaN ( Lat1 ) and not isNaN ( Lon1 ) or ( EndDockingSequence ) ) syslog important "No post-undock waypoint, drifting for " + Dock:LineCapture.rolloutTimeout~minute + " minutes" behavior Guidance:Buoyancy { run in parallel set position = Control:VerticalControl.buoyancyNeutral } behavior Guidance:Pitch { run in parallel set massPosition = Control:VerticalControl.massDefault set elevatorAngle = 0 degree } behavior Guidance:Point { run in parallel set rudderAngle = 0 degree } behavior Guidance:SetSpeed { run in parallel set speed = 0 meter_per_second } behavior Guidance:Wait { run in sequence set duration = Dock:LineCapture.rolloutTimeout } } } } } =Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHomingIf,!")MA96n~@6@@Y6y6>T^>6Hh߿`wa?@tĿ`E !޿@|?/?`?@/? 6n~@6i;)6CiV>NNӼNIV IV2=L< =c=y=>Q =?٥AA EHAM M?I5E4McÜ?5E49M] IMڃ@57y1595@=?M7BiMSQPf,BMA9:|@:W@Y:`y:=e>:HB?ÿ I ]߿5?`V?X? ? :|@:g;):CLPIVIVM3yiQ >٥   H    >]E48bÜ?]E49 I0@e7yae9e@e?8Bi&<@?E4iiiBNqJN"N*N2N:NII iEIEIEIEM`0EIAAN>uVf,\MA96={@6@Y6#a|y6v>6H?6ſ 9!@X߿@?`?`Ă?? 6={@6@0f;)6C)t tEGMUYqiA٥! %H!% %>)E4-x`Ü?E49- I-@w7yh9@?-*8Bi-<-@-E4 BBNJN"N *N 2N:NII! !!!)i)EAEAEIEM_0EIAYAiNu6>~ ]f,uvMA96{@6Մ@Y6?oy6Gy>6H@k`\?ȿ k`hG? ?'?9 ? 6{@6f;)6C)@ @N%RLlIZIZ3fx; fa=yfF=Q f>٥hh jHhnx n>YeE4]^Ü?eE49] I]݄@mH7yim<9m[@m?]B8Bi]o:]EA]E4q BBNJN"N*N2N:NII 1QQiYbEaZEaE?EEE1E6Gl;AQAyN>Zcf,MA96z@6@Y6l6HM?_aʿy ? =? z$? 6z@6Qg;)6C @B )IMb@Mb@Mb@i )IiI IV2 8=y=Q >٥ H s  >E4<]Ü?E49 I<@"7y9@?]8BiC<kAE4BBNJN"N*N2N:NII !i!E?EEE1E 6GRe<AANI>yjf,dMA96foy@6i@Y6)y6~[Q>6H`"?ſ QMT?w?@?@U? 6foy@6Ki;)6CND RD)P PIZIZV83v+j v]=yvQ v>٥xx zHx~ ]>YeE4][Ü?mE49]I I]@m7yim8m`@m?]t8Bi]A:]3A]E4BBNJN"N*N2N:NII iD]́:E?EEE0EF~AF~A6G R=AA N >`qf,?ęMA96Xy@6#@Y6ýMy6N?>6H j.? /qi?? ?`Lg? 6Xy@6 h;)6Cii>NRIVIV3%:< -F=y-ܽQ ->٥11 5H1=Z =>AME4ECZÜ?ME49E IE@U6yQU8U@U?E8BiE:EAE$E4)-B)BNJN"N*N2N:NII )i1E?EEE4E 6GW=AAN>t-wf,ޙMA9>w@>@Y>Qk:Z>>H࿣c?@iƿ@nC@8ܽ?-ꀿ@S?fF? >w@>ng;)<^ ^IfIf2&H=  L=y >Q  >٥ HY >9EE4=XÜ?EE49=m I=P@M6yIM8M@M?=8Bi=:=A=;E4QUByBNyJN"N*N2N:NII iEM?EQEQEUP0EQF]F]FYFYAAN%n>W}f,+MA96,u@6@Y6L9=y6>6H@hh?S̿f?/ ?@^? 6,u@6o;)6C`didIf=InIn2y =Q  >٥   H >9EE4=3WÜ?EE49= I=@E6yAM8M:@M?=8Bi=:=!A=NE4QQQBNyJNy"Ny*N2N:NII izEE?EEEEAAN=8?f, MA9:t@:o@Y:)̼y: &>:H{?̿ ??`?u? :t@:{;):C)< >@AN @5޾l>ݧB oB)BIByBIIT3< ٥   H  7  >1=E45FÜ?=E495 I5@ET:yE?E:E80@E?59Bi5o;5:5E4MBMBMͭEBNYJNY"NY*NY2NY:NYiIiIi iiiiEEEEZ0EAAN!>A&kf,ղ+MA96o4x@6#@Y6Ldy6ԧ>6Hj?hͿ`ZG?{??`?? 6o4x@6Ut;)6CNy٥pt vHtvL> v>xE4z7Ü?E49z/ Iz@y!%H3@%?z\:Bizf;z6;z~Qf,EMA i 9>z@>(j@Y>4y>>>H@bU?Ͽ` ???'? >z@>{ l;)>C^=;^B)` `IfIf2 G=y]=Q >٥!! %H!%~= %>)5E4-&Ü?5E49- I-'@yY]Z6@]?-/;Bi-;-;-E4aeBeЭEBNiJNi"Nq*Nq2Nq:NqII ibEU}AZEU|AE?EEE0EAAN > yyb{f,a_MA96_\x@67@Y6=y6{R>6H^@Մ?`JǿK.++?o@l?O? 6_\x@6h;)6Ci>l>I>V>~%ͺ~H|I I  3ѵ J=y%=Q %>٥!! -H)-, ->1]F45Ü?]F495 I5ߋ@yae 5@e?5;Bi5 ;5H;5F4imBiBNqJNq"Nq*N2N:NII iEm?EqEqEu5EqAAN=Υf,>yMA9Vܸx@V#f@YV뎟yV@X>VH`-$C? 8 ??pr?? 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G49~ I~ Ay  j ?~fBi~%:~G:~G4 BBNJN"N*N2N:NII iE?EEE[0EAANMmi,&_MA96zIk@6\y@Y6y6Y`>6H0%?@e(@+0p?}?%?? 6zIk@6 ?o;)6CN ٥AA EHAM&= M>IG4Mœ?G49M IM,Ay|?MgBiM..i,xMA9: j@:R4x@Y:y:︣>:H`SG?`d eYP=???X+? : j@:L٥  H: >%H4œ?%H49d I Ay)-{-?#hBi:):OH45B5B5֭EBNyJNy"N*N2N:NII izEE?EEE0EAAN=~$i,גMA96j@6y@Y6 y6^>6H2?+>`%C `?`eq?`?? 6j@6>h;)4N =NyD)P PaI@a aM@a aQ@a aE@a a)@a y&1~jt?(\¿`D=z )IMb@Mb@Mb@i‰© )IiI5 I5<2]ǻ ]=y]mQ ]>٥aa HQ< >H4œ?H49 I@A+:yj:z?iBi:?*H4AEBIBNIJNQ"NQ*NQ2NQ:NQ9I9I9 AAAAiIuG =TJY9yE LAEU?EQEQEU]0EQAaAN>K*i,JMA96m@6>{@Y6bQy6=>6H@>?-rJbW? ?@?`2? 6m@6h;)4N4=RnCIVIVm?3U^ Ur=y][MQ ]?٥YY eHae#> e ?iil>IY>H4mœ?H49m{ ImdA :y=:{?mYjBim91i,ƤMA964o@6 H}@Y6[y6,t>6Hmp?Ke#`?-?-?`b? 64o@6m;)4>E;=BMC)D F4<IFIF3; a=y%ռQ %>٥!! -H)--c= ->1H45œ?H495 I5k@9y:wz?5DkBi5<5V?5e!H4!)-ӭEBN1JNy"Ny*Ny2Ny:NyII ibE~AZEAEm?EiEiEma5EiAyAN>E7i,wiMA9:xm@:|@Y:7-y:GY>:HL? !`W`?)?3?? :xm@:.n;):CNI[=RDiRQ >٥ H? >UH4 Ü?UH49. I@]9yY]9]x]?OlBi<?'H4aeBiBNiJNi"N*N2N:NII iE?EEE1EAAN>G=i,DMA96l@6Zz@Y6 y6,>6H ܠ`٥饁 H~M >H4Ü?H49b I@9y9}?BmBi$<@,H4BBNJN"N1*N12N1:N1AIAIA AIII) @AiQE?EEEP0EAAN!>)Di,GMA96k@6Fy@Y6y6>6H``Ih??Xvn?b?`?@b[? 6k@6f;)6CB @E;_> A)AIEMb@Mb@Mb@iAAAA EzB)EBIAAyE(BBAI%I%F3-` 5?=y50)Q 5>٥99 =H9= E>AMH4EÜ?MH49E IE@o9y9?EAnBiEz%jEu>E?EEE E AA)N5.>Ji,;.MA96Zl@6-nz@Y6o"y6r>6H``?؅?@) /J?@/8?@a?&C? 6Zl@6e;)4N;٥AA EHAE< M>IH4M#Ü?H49M IMS@B9y9:?M"oBiMUQi,EGMA9:l@:m{@Y:]y:zf>:H ?qP~@F?!?O?? :l@:d;):CN٥    H  F< >]H4X/Ü?]H49@ IW@e9yaeV9e+xe?pBi#<jO@\6H4imBiBNqJN"N*N2N:NII iit>Ia>EM?EIEIEM_0EIAYAiNu>]Xi,aMA96Hm@6!{@Y6 y6k>6H`}` ?]xZ@ ?S4?`? ? 6Hm@6^d;)6C>9=BUC)D DIFIF3=M#= =F=yEl1Q E>٥AA EHIM; M>QH4U<Ü?H49U IU@8y-97u?U)qBiU$2^i,.{MAI)@96l@6^z@Y6 Dy6w>6H s?͡.@uB?x??? 6l@6-d;)4nE;=nMCir=Ir< v=v=IzIzT3w: F=yQ >٥饉 H >H4GÜ?H49 I@8y 9ǀ?4rBi:ځ@G:H4BNJN"N*N2N:N II QQQYiYE ?E E E `2E AA)N= >[ei,AgMAn٥饹 H >  H4 rVÜ?H49  I W@8y8? sBi : ]@ =5 fgot command set lineCaptureHoming.StayOnDock 1 boolZh5 =5 xgot command set lineCaptureHoming.DockingAltitude 8.05 meterRi=  @=] zgot command set lineCaptureHoming.AltitudeDepthLimit 68 meterrie Q@=e fgot command set lineCaptureHoming.MaxDepth 70 meterie Q@i = 6got command schedule resume= *Scheduling is resumedDki,BMA9Vn@V0#|@YV7?yV>VH `d'??` O@c?A5??`\? 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V8n@V6e;)T~<~xCI  I 2}p= }I=y}-Q }>٥饁 Hс< >Q]I4U>Ü?]I49U IUE@]9yYe:e@e?UBiUM:U@UiI4imBi) ?ABNJN"N*N2N:N II iE ?E E E Z0E AA1N=/>=}zgot command set lineCaptureHoming.CorrectForSoundSpeed 1 boolj}=}got command run=Running ԑԑ ,j,9MA96p@6&3~@Y6^y6rƈ>6H@?ſ )?? ? ? 6p@6Ce;)6Cn;rfBԙaIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a K7?Dl?Zd;O?>O>j> )IMb@Mb@Mb@i {B)Iy{BI= I=(2E>E M>=yMK٥QQ UHQ];= ]>YeI4]#3Ü?mI49] I]K@mo9yim9mB@m?]Bi]:]x@]mI4y}By)RAggregate::uninitialize DefaultWithUndock -pAggregate::uninitialize DefaultWithUndock:SurfaceDefault-DUninitialize GoToSurfaceComponent.1 .Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn 18Uninitialize Wait Component.'BStarted mission lineCaptureHomingnKNNAggregate::initialize lineCaptureHoming1O ^Aggregate::initialize lineCaptureHoming:ScienceqOOO1PqPPPQ MzAggregate::initialize lineCaptureHoming:Science:PeakDetectChlQMRU UzAggregate::initialize lineCaptureHoming:Science:EdgeDetectChlRUSUUAggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport1TUUInitialize.qT]]zAggregate::initialize lineCaptureHoming:Science:PeakDetectNO3T]qU]]zAggregate::initialize lineCaptureHoming:Science:PeakDetectOilU]qV]]Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReportV]eInitialize.Vee|Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM1WeWeeAggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity1XmXmAggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport1YInitialize.qYAggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROIYqZAggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROIZ[ Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI[\ Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI\]Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms1^^Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms1_1` Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellatesq`1a Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellatesqaqbAggregate::initialize lineCaptureHoming:Science:ChlThreshTriggerbInitialize.1Q  xAggregate::initialize lineCaptureHoming:Science:OceanCurrentqQ  9 Oj,MA9:n@:|@Y:3̼y:g>>:H@y +?(#?@ƅ?@s?o? :n@:d;):ÐCrv) II2ؽ Q=y٥ H}Y1 >AMI4E(Ü?MI49E IE{R@MB9yIM9M@M?EvBiE:EU5@EpI4} B}B}խEwQ@dd9I9 999AiAaE?EEEz0EAAN J>%Powering up&]Powering up MGj,+MA96F m@63{@Y6k0y6=6HY`?@ [?z%?`31?? 6F m@6"d;)6ŐC~JC~*II3l̼ I=y\X;Q >٥ H- >=I4Ü?=I49 I%Z@U9yQU9U @]?҈Bi ;O@vsI4ae"Bawyd}1h}iIY>I    YiYE?EEE`1EAAN-->I +rj,N ۪MA@9Nam@Nt{@YNeyN {0>NH|?O.Ƨ?o?6?`? Nam@Nvd;)L%T%I5I5#3E?5 ER=yM!Q M>٥II MHQU&< U>YeI4]Ü?eI49], I]`@e8yimi9m @m?]1Bi]:]pg@]uI4uBu#BuԭEJx@1hqhI ibE ZE Eu?EqEqEu 5Eqԩ)9 9G  =TFY9y=HAbC?EA6GMR`U=AYAiN}> 'j, MAdj,jin٥| H   > I4  Ü?I49 4 I g@8y=9? Bi : i@ /wI4!- B-׭ERxEqhEqyE إ=סI  i EEEEO0E6Gu&/=AAN>!  nManaging dock network, ignoring radio surface power offY "j,nMA96m@6{@Y6S y6B>6Hg`>?@ǿ lV?c?"n?L? 6m@6]zd;)4VV=l9aIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a ˡE?I +ƿSÿ'=94 )IMb@Mb@Mb@i 1B)I+By.BIIV83? ==yt!=Q >٥ H< > I4Ü? 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I49r I @ 8y  8 @?Bi:@{I4B5@qz5z5Iq qqqyiyQEM?EIEIEM0EIAYAqN}>yԩ  H <H <-$ jFailed to parse device response: !j,MAI) D:JBJJJMRJZJ:bJ:Ji6J@@@@aI5aI5 aM5aM5 aQ=aQ= aE=aE= aI=@a= aM=@a= aQ=@a= aE=@a= ԙ=Zd;?K7A`??=~>=>=> 9)9I=Mb@Mb@Mb@i9999 =B)9I=9y=BIIF3o< =yQ >٥饩 H >I4œ?%I49 I@%7y!%U8!%?Bi:q@|I4-B5 BuۭEQ@zz)I) iEe?EaEaEe^0EaAqAN>1 -j,MAx9%=un@%|@Y% L%H@1 H?˿P X_?U\?? %=un@% |i;)%ŐC}<}BI I(2@l= =y4>Q ?٥ H ?1=I45œ?=I495 I5@=7y9=-8=@=?5iBi5Z:5k@5|I4IMBIzCAnAggregate::initialize lineCaptureHoming:StartingMissionI  i aE}?EyEyE1EAANE>ԉ ص<ױ "j,vīMA96]m@6{@Y6y6_5>6Ht4?* $WEd?࿶q?@?`? 6]m@6Fl;)6ɐC?-I-I-(1χ L=y+Q >٥饑 HԹag >I4œ?I49 Iz@7y 8@?ɌBi4:@:}I49=B91eU bAggregate::initialize lineCaptureHoming:NeedCommse @Initialize GoToSurfaceComponent.HReceived depth rate setting nan m/s.RReceived pitch setting 19.999999 degrees.HReceived speed setting 1.000000 m/s.jReceived surface timeout setting 1000.000000 seconds. %No altitude timeout specified. 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H% HH% H%  =Fhn,MA9:_@:~m@Y:A2HqHqHu<HuFy:vu>:H\+4?@ h{?S?ai?g ? :_@:;):ܐC~~I IV2eY e=ym>Q m?٥iq uHqu۷; u?>4]Ɯ?>49+ IIy?=Aiu::ߣ>4:B B*** querying acoustic contact ***J R q xxwwwxbsqjsqrsqzsu)@II  2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.iE-?E)E)E-_0E)AIAYNm5>ԡK P"K ȱ9*K 2K 2:K \TWWZ\d#hANvv~> \ (j;0 i KyJ >J >:J BJ JJ @RJ ZJ bJ 9J _6J zJ ; jJ ; J 1; rJ 1; E *DAT read: user:660> M BDAT read: Tx time:06:19:18.0827 M $Ping request sent.M Ͼ`@>?n@Y>6Ay>>>H``?`Fƿ``8?䇒??@? >Ͼ`@>[4;)>ېCZW^\IfIf3= G=y0~=Q >٥饙 H = >u>4Ɯ?}>49R ILyy?Ai`<!d<>4)-+B5E xxwwwxbsjsrszs@AIAII IIIIiQE?EEEEA A!!N5P>JDAT read: TxSync time:06:19:18.0819 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2534779 lZun,sֹMA 9B_@Bbm@YByB>BH j}? ƿp `?u?e?? B_@Bd;)BݐCNl٥dh jHhj5 j>|>4~Ɯ?>49~ I~Py   ?~Ai~:~:~D>4=!B9 xIxQwQwQwQxqbsjsrszs@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503409II izEIEM?EIEIEMO1EQAiAN>HD>HHHHH =HHH<HFy) mG AA  RY Ay Au ?u A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754890ԩ i5 a>I1 {n,IMA<9J#_@Jm@YJۿyJ*,>JHt0?.渿N]u? ?s? ? J#_@Jl;)JېC^hM^I~ I~V2 9  F=yHQ >٥9 =H9= E>I}>4MƜ?}>49MϠ IMTy?MnAiM=;MF;M>4)B)BE xxwwwxbsjsrszs @1I1I9 999AiAԩKP"K}9*K2K3:K4eqqM . {\;>rN lZR-0:8JJxA:JBJJJARJZJ]:bJ9J_6JzJR;jJS;J17;rJ27;E?EEEq5EA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006994ANE0> on,7 MA:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260943h9HD`@Wn@YBG yKU=>H z?1?`q2?x;?`[Q?+? HD`@骵f;)ݐCM aIM@aM aMM@aM aQM@aM aEM@aM M~jt?#~j?y&1|?MD>M?M`; I)IIMMb@Mb@Mb@iM‰M©MM MmpB)MIMMyMppBIIT3 '=yQ >٥饙 Hmw< m>q}>4u#Ɯ?>49u IuXY+:ym:Y ?uĕAiu;u?u>4*B xxwwwxYIYIa aaaaii)EiEiEiEm1EqAAN> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510915Y G G @AH H H HCH <H  =H H H <H FHHHHI Iˮ4n,`$MA9:`@:[n@Y:K!y:==:HH ?~?`vI&@M?%?S?j? :`@:+s;):ېC^=;^BIf If̍2nZ = r=yrOQ r ?٥pt vHtv\< v?x~>4zǜ?~>49z Izp\ :y@:. ?zhAiz#9;zL?z>4Y%B xxwwwx!I!I! !!!)i1bE=}AZE=|A}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764020EEEEP0EAAN>ԁԱ:J BJ JJ ;RJ ZJ m:bJ 9J [6J zJ ;jJ ;J 3;rJ 3;K P"K 9*K 2K 4:K Klv`N/Osqv.m@ZP J! {TS4J ?J ? % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014836În,=MA)&?A $9Ja@JVo@YJyJJ=JH O `t?};?(?/?``?@ŗ? Ja@J;)JݐCR㬼RTÉTI5I5 3Ա >=y:=Q >٥ H#= >>4 ǜ?>49n Ia9y:Ѿ?mAi J; ?>44B xxww!w!x!AIAIA IIIQiQEEEEEA AN- >}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267168 1 n,lWMA9Ba@B/p@YB pyBǯA>BH%2F?`VhH< ?@?? `? Ba@Bщ;)BߐCnܼrևIm!Imi3checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519738h F=y >Q >٥ H ;  >%>48ǜ?%>49 I5e%9y!-9-ƾ-?Ai:`?>47BEAHHHCH"=H =HHH<HF xxwwwxaIaqIi irEi>jE> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770867EY Ea Ea Ee q5Ea Aq A N >ԙ ϛn,qMA9E]@EP l@YEsٽyE>EH A/?gϥ @|?c!??? E]@Eޔ;)EސC}}P ==II 3}< P=yNQ >٥饩 H$ >>4"ǜ?>49 Ii9y9.?ęAiZ<o@>4iy4B xxwwwx:J]BJYJJ]0RJYZJ]:bJYJ]/R6JYzJ]Q;jJ]R;JYrJYII iK P"K ۵9*K 2K 5:K -+   Xf:`]U0= KASHXBDAT read: Rx Time:06:19:20.6609 TRx dataTimestamp_ set to:1749104361.936340checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025317E?EEEY0EԡAAN%M> n,IMAi>IV>.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2780139U \@Uj@YU&yU3^>UHwC? |K? ?̈́?Z? U \@U ;)UܐCeeaIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a n?y&1̿X9v?V>`e= )IMb@Mb@Mb@i ~B)Iy~BI I<2 9=y٥饹 He6 >>4.ǜ?>49' Imo9y9 ? Ai1:@&>4!%8B) x9x9w9wAwaxaII iEU?EYEYE]`0EYAiAN?>EDAT read: 06:19:20.6610 LVL= 29232, 32529, 15170, 31395, AGC= 70, IDX= 1, 0.19, 2.637,-2.387,-1.300,-2.716, PHS=-0.842, 0.376, 1.413, RAW= 242.7, -9.7, CAL= 240.7, -21.7, ROT= 269.3, 21.7 MYgot valid direction response: 06:19:20.6610 LVL= 29232, 32529, 15170, 31395, AGC= 70, IDX= 1, 0.19, 2.637,-2.387,-1.300,-2.716, PHS=-0.842, 0.376, 1.413, RAW= 242.7, -9.7, CAL= 240.7, -21.7, ROT= 269.3, 21.7 UPDAT read: Bearing 269.3, 21.7 (Local) U~Local bearing/azimuth received: Bearing 269.3, 21.7 (Local) ]DAT read: Range 10 to 50 : 130.5 m (Round-trip 174.1 ms) speed 0.0 m/s eR#Rx 1: Read range and direction messages.mbdirection in FSK: [-0.011351,-0.929063,-0.369747]uFpublishing direction and range info y % 4g?3`׿ CY  0r) I B;i z F PW > /ݴ? @) -\-I n@i  g@ > )  k3ǘ=+H?BOdſi J @ -> 3ʿ > ) !  Hq Hq H} C>Hy H} HCH} <H}  =Hy Hy H} <H} FI n,PMA9Rʽ\@R:j@YRyRk2>RHy`2?` ?a߱?"?Fp? 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Zh]@Z;)ZC~~<)eT> eCIuԹGIuT3-A9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506613 1Y AyAO?dAL< %=y\Q >٥AI MHIM8>= M>Q]C4U1Ü?]C49U IUue9y:@?UBiU;U?UؙC4%B xAxIwIwIwIxI I I HHHHHHHHHi:JBJJJ3RJZJ:bJ9JT6JzJ;jJ;JrJ)K P"K #9*K 2K n:K h}B?/KE% n,o:'}j/8=qJ ?J >E ?E E E p5E Ai A N > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758504ԙ K@r,>MA9:v_@: n@Y:@{y:#>:HV?@麿 \qp?k??/? :v_@:ȝ;):Czyz_%I#I%x3; v=y=Q ?٥ H= 5 ?qA5C4E3Ü?=C49E IEv9y9@?EBiEP=Ek@EC4y#BE xixiwqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010532wqwxII i E ?E E E V5E A AA NU >Fr,GMA 9j{ `@jn@Yj[yjѐ>jH`j??@Xm)?fp?`?a? j{ `@jS;)jC})  5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263853ԱaI%aI% aM%aM% aQ%aQ aEaE aI@a aM@a aQ@a aE@a a)a) +?M?Mb?>n>< )IMb@Mb@Mb@i }B)/BIyBII?13= =y=Q >٥ EHAM: M>QUC4U9Ü?]C49Uˎ IUx]o9yY]9]@]?UBiU-=UB%@UC4B*BE xxwwwxQIQIQ QYYYiachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.515363zEiI E ?E E E 4E A A N >H} G>Hy H} H} sHy Hy Hy H} F<H} FHHHHI I˘4Lr,5MAl9n^^@nArl@YnYnH:Y?($@2V?i4Q?G? n^^@na;)nCz^z:J]BJ]JJ]<RJYZJ]M:bJ]:J][6JYzJ]7;jJ]9;J]E;rJ]E;II2e= ev=ym>Q m?KmP"Km-9*Ki2Kmo:KmIIMx:}.fs"{Z{$K]EO2 (yJyJ}{A٥ H ?C4Ü?C49 IyB9y9R@ ?Bi<49@C4Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766514 xxwwwxA9II iE]?EYEYE]P0EYqAqAN}>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018629zSr,ρOMA9>^@> l@Y>e6>>HW,1|?ǽ s?4«?@`{? >^@>q,;)>C%%}ÉԹIEIE3e @=y=Q >٥!! %H!%; %>)EC4-ѧÜ?EC49-K I-{E9yIM9M @M?-lBi-0Q;-QS@-KC4B-BE xxww!w!x!!II    i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271433QE?EEE^0EAAN > Yr,iMA9}y`@}n@Y}y}q)V>}H Jh?]f` &??X?G? }y`@}T;)}C5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522596qIEIE2y5"Q 5>٥99 =H9Eݔ= E>C4ؚÜ?C49 It|8yX9@?[Bis:m@C4 xxwwwx!I)I) )))1i1bE}AZEHHH/HMHHHH-<HFE?EEEo0E:JUBJUJJU0RJQZJU :bJU9JU/R6JQzJUk;jJUl;JU17;rJU27;AAINU>KP"K9*K2Kp:K" B@ &RIw'Et7QTQd|NRO* A!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774661`r,MA9:O_@:m@Y:˄y:E}>:H/?@Q`? 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G?`7@ ?@? Bb@Bu;)BCZWZ\ b=b;>IfIf(*2r' rO=yra٥x| ~H|& >F4œ?F49T I>>4y%4%%?JBi ;&A"F4)-B) xxwwwxII i!"5StoppingAaԑAN=HHHzHJ˽HHHH<HtF! du,;MA9Bc@Bq@YBG2yB')=BH2?N`ࠇ?`]?Z?8? Bc@B\;)BCbEbaIeaIe aMeaMe aQeaQe aEeaEm aIm@am aMm@am aQm@am aEm@am mrh|(\ڿI +mmzԾm94 i)iImMb@Mb@Mb@iiiii i)iIiiiiII1H ?=yѽQ >٥饙 H\.= >F4œ?F49V I ?4y4bKBi ;A"F4+B xxwwwxII i"StoppingA!AYNm=! Jb@>L^p@Y>ʰy>>>H` ?@m C_@$? Y?@??? >Jb@>;)>CJJeIZ IZ2~< ~U=yQ >٥ H    >!œ?9X IB+?3y!%4%Ə%?GKBiH;A9=)B9 xQxQwQwQwQxQyIyIy i"StoppingAANq=qKP"K9*K2K:K2Mz& /C~SDlUsDX-zyBgMUG $"1k:JBJJJ7RJZJbJ9JW6J@@@@ zu, BMA96`@6wn@Y6͝y6V>6H@yy?dQ`nm??}?5? 6`@6;)6CLNмNPPPHyHyH}H}"HyHyHyH}<H};FII(*2~< <=yܮ٥ HP >F4'œ?F49&Z IR?3y4ZKBi%;A"F4!%%B! x9x9wAwAwAxAII i"StoppingAAN= u,[MA9B\a@Bo@YBo*lyB>BH >t?@I¾8`C? ? Y? ? B\a@B9;)BCRRD|I%I%b}u< Q=y4K=Q >٥饉 H= >Qœ?9Y[ IHv?3yW4mKBiA;>A"B xxwwwxII  )i1"=StoppingAqAN=)Qԁ Ke ,P"Ke Ӱ9*Ka 2Ke :Ke JI- QF 8_,P3]:?B}oUou6">\ :J BJ JJ JRJ ZJ :bJ 9J g6J ʜu,uMA962pb@6p@Y6w՗y6>6H ?d[¿s@?;??|? 62pb@6<;)6C%Lü%-p)) )aI5I5 2v- I=yb&Q >٥饙 H< >Oœ?9[\ I?3y.4΢?KBi:vA%B xxwwwx!I)I) )))1iy"StoppingAAN=ԉ unManaging dock network, ignoring radio surface power offH}F>HyHyHyHyHyHyH}ߓ<H}ZFԱ ղu,MMA9:b@:Dp@Y::y:yV>:Ha+?@F:¿ ? @W|? =? G?? :b@:9͊;):C^:^QA b=b=ԹaIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a Mb?K7?%C̿>I>Zd )IMb@Mb@Mb@i )IiII}= D=y+Q >٥ HgF< >  bœ?9 g] I ?V3y 4> LBi : ˔A !%B! xAxAwIwIwIxIiIqIq qqqyiy"StoppingAA)NU=9 eߩu,hMA9:c@:Pq@Y:: y:>:H`?p¿`Po@Ͻ?`1??:?? :c@:Bϊ;):CN_f;N BIVIVF^8; ^`=yb)=Q b>٥`` fHdfhE= f>hrF4jgœ?rF49j^ IjL?v-3ytz3z j=LBij ;jAj"F4)5؇GAeAA xx  YyAwwwxII i"-StoppingA9AiN}=K=|P"K=u9*K92K=:K=;)  ) t+Zw[uh+ 8 C v iQ~I:JBJJJ@RJZJݒ:bJ9J_6Jiԑ İu,8MA9BHd@Br@YBфyB8u>BH "y`C?F¿/^@ٽ>?:P?T\?7? BHd@B;)BCN,٥`d fHdf< f>hjœ?9j` Ij`?r 3ypv3vjyLBija;jAhH)H)H-H-H)H)H)H-ړ<H-WFAEBA xYxYwYwawaxaII i"StoppingAAN]=qԡ u,HMA~y_%  @A)%4< %4<I%I%m m@=ymQ u>٥yy H >œ?9a I?2y3LBi;`A!B xxwwwxII !!!!i)"StoppingAA!NU=) K P"K 9*K 2K :K lLO ;)(Q8aA)7LSm}:$6wLJ J I I :J BJ JJ :RJ ZJ :bJ 9J >EHۚ?٥    H  h7 >T4%T49%tII%O>y%%?%%?il:9:T4)5B1 xIxIwIwIwIxIiIqIq qqqyiy"StoppingAA!N5=QyH%G>H!H%H%"H!H!H!H%<H%aFHHHHI I3Ա u,\MA<9VPc@V+dq@YV8U"=yV>VH`uࢂ?@꽿`s`ʰ?JI|?@? VPc@V;)VCnEno!)p paIaI aMaM aQaQ aEaE aI@a aM@a% aQ%@a% aE%@a% (\?333333?zG?z>> > )IMb@Mb@Mb@i )IiI]I] 2m( mD=ym-=Q m>٥饙 H6& >b4b49tIIy?i;:Qb4!Bԩ xxwwwxII aii"uStoppingAAN#> u+u,*MA </B = AAII(En= M_=yMQ M>٥QQ UHQU }>o4o49tIIy?i::Jpo49=BA xyxwwwxII i "5StoppingAAAN>)KSP"K9*K2K:KIQy\$9"?uc=3~WC05./76A;DQv|eiQԁ u,ρDMA9>a@>:o@Y>y>->>HE$?@q#;`V?h~?Ҕ?`L? >a@>;)٥! %H!%^q %>)5|4)5|49)5tII)y1a1e?)i-^;-;-"|4iuBq xxwwwxII i"StoppingAAIN]=ԁԱ:JBJJJ@RJZJ}:bJ:J_6JzJ;jJ;J&@;rJ'@; ?u,h^MA9J|b@Jp@YJxyJ[>JH-?axo`V??D?B? J|b@J;)H <B)i٥ H< >449tIIy%?i::ԅ4)-B) xaxawawawaxaiIiIi iiqqiy"StoppingAAN> UAUA9 K5 P"K5 U9*K1 2K5 :K5 Gi \yO 94ZJ\n~ B+PG0bggu,8xMA96b@6"p@Y6RQAy6p>6H@8,\?λ``4m?`'??? 6b@6Ɗ;)6CN̻R |PRAAII1)$ L=yQ >٥ H'C< > 4 49 tIIy ?i%;;U4AEBI xyxwwwxII QiY"eStoppingAqAN>IHHHH"HHHH0<HFqԙ Ou,MA96,b@6f@p@Y6`ȕy6;>6H`@I?`쵿@X:,]?`ƴ? ? 8? 6,b@6h;)6CNZL:RO@aI}aI} aM}aM} aQ}aQ} aE}aE} aI@a aM@a aQ@a aE@a /$ÿ~jt?Mb`= )IMb@Mb@Mb@i )IiI I<2< I=y+Q >٥   H  eü  >1=41=491=tII1yAAE?1i5k:5/:5N4IMBI:JBJJJ5RJZJ:bJu9J6V6JzJ;jJ;J0;rJ0;ԩ x!x!w!w!w!x!II i"-StoppingA9AN>Թ ؽ=׽%= \yu,pMA9>q`@>)n@Y>wy>M>>Hؤ?3 I`Q~?? w?`SL? >q`@>;)> CRˌ;R&-B)T TTTIZIZFf< f]=yf =Q f>٥hl ~H|啽 >  4 49 tII y? i $:  : 4B xxwww!x!II i"StoppingA9AIN=K=~P"K=9*K92K=:K= 41Sf9 e]7 f  & | " 4  4 o ' UI bu,MA H0H0H2H2H0H0H0H2<H2hF9N3:`@NMn@YNyNt8>NH 7ࡍ?}`dcY?`? j?? N3:`@N_;)N C^ `^ b=`IjIjb2%1 %D=y%l=Q ->٥)) -H)= E>IM4IU49IUtIIIyqqu?IiM;M;M4BUB*** querying acoustic contact ***JQRQ xYxYwYwYwYxYII Qiiq"StoppingA!A9NM> %2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.ԁ:JBJJJFRJZJ}:bJ9Jc6JzJ;jJ;J!;rJ!;ԡ !u,!MAB*DAT read: user:662> FBDAT read: Tx time:06:21:18.6339 J$Ping request sent.JH [?*\) @f??l?`? Oa@;)C-NmII<榽 5=yQ >٥饡 H0= >449tIIy?is::;ʨ4IM2BI xaxawawwx II i"mStoppingAyAN">) ѐCG9UA }Yyy}A?A=JDAT read: TxSync time:06:21:18.6332 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252097! u,?MA96_@6hn@Y6@y64>K:uP"K: 9*K82K::K:FNEfe&IMO;}f/  l ]EvE%?B1rA6HE? |X)?@?9x? 8? 6_@6Չ;)4JCNmIVIV3bY= bm=ybf=Q b?٥dd fHdf j?x|4|49|tII|y  ?|i|~:~z4)B xAxAwAwiwixiII i"StoppingAAQN]=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502020!HeF>HaHeHeHe =HaHaHe<HexFQy = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7536952v,KZMA9v]@vk@Yvv1=yv9z>vH|i`a? ɎĿ s `q? 8@N?$? v]@v;)tam9mbqq:JyBJ}JJ}@RJyZJybJ}9J}_6JyzJyjJyJ}f5;rJ}g5;aIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a ˡEԿ(\ȿq= ףpͿ茶Gk )IMb@Mb@Mb@i )Ii) <II(*`*= $=y=Q >٥ H >IM4IU49IUtIIIyQQU@IiM:M:MP4YeBaԁ xxwwwxIIa aaaiiq"StoppingAachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006333ANf>Ա v,r6-MA9F]@F&k@YF%yFT6>FH@W_?u< ? 垤?@0?C? F]@F g;)DNPRƋIZIZ2vV v=yvQ v?٥xx zHxzGm< ~?!%4!-49!-tII!y))-@!i%:%:%p415'BY xixqwqwqwqxqԹII i"Stoppingchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257539AAN=KP"K9*K2K:K B MpI.XPXe1  OxF*!=;;a 0{O~ `/ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5096409 Hm G>Hi Hm Hm "Hm  =Hi Hi Hm *<Hm FH!H!H!H!I! I%δ4v,GMA9:v?_@:Rm@Y:cy:>:H5?@ϝ h??;? rS? :v?_@:$;):CEּE)Q QIe Ie<2mMl; u<=yuSQ u>٥yy }Hy}tL= >449tIIy @i::?4&BԱ xxwwwxII i" StoppingAA)N5=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761511 9 v,laMA*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0190989F]]@Fqk@YF%yF/>FHc@")?ujXPR: ??|?? F]]@FEn;)DN٥ll nHlrʞ r>tv4tv49tztIItyxxz@tiv$:vo:v =4B xxw!w!w!x!IIQIQ QQi" Stopping1A9AyN=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265612ԉIY IY J_6J `6JP*2:Jm BJm JJm HRJi ZJm :bJm :Jm e6Ji  @ @ @ @Թ Y"v,sH{MAK>`P"K>9*K<2K>:K>);qg hs; kaWr%`gEx^2=;8DUJ^'vv0K-JF|AJD9v9\@v.Mj@YvEyvzu>vH:?`N߿ ??c?(? v9\@v܉;)t%Ll‰ II(*2 ;=y*/>Q >٥ H' >4%49%tIIy!)-@i);8;4YuByԑ xxwwwxI I i"%Stopping5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517573AQAiNu=HHHHsHHHH?<HF1I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769605%v,5MA96Z@6)h@Y6AFy6A?>P6HIV?޿/%k? ۈ?`?`? 6Z@6;)6 C l< PBiu!>Iu=aI aI aMaM aQaQ aEaE aI%@a% aM%@a- aQ-@a- aE-@a5  )IMb@Mb@Mb@i )IiIUIUF]= e@=yeMQ e>٥i H^K >449tIIy-@i;;1415B1 xixiwiwiwixiII i"StoppingAANE>=BDAT read: Rx Time:06:21:21.2206 =TRx dataTimestamp_ set to:1749104482.535415Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022719 t5+v,\MA9:4=Z@:Ph@Y:^Kny:>w=:H`C6x4? (?ݿs?ŭ?䴻?@? :4=Z@:}-;):C^<^pBb@Ab@AIjIj2v: vf=yzbQ z>|٥ HYۼ ? 4 49 tII y1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273763"@ i < k< 4 x x w w w x qIqIy yyyi"StoppingAAN=):J-BJ-JJ-8RJ)ZJ-:bJ-u9J-X6J)KiP"K۵9*K2K:KL  | m qns  |OQb{8H4,i } Yu DAT read: 06:21:21.2206 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 455, 0.19, 0.965, 2.173, 2.953, 1.812, PHS=-0.759, 0.408, 1.138, RAW= 247.6, -9.5, CAL= 247.7, -21.6, ROT= 262.3, 21.6  Ygot valid direction response: 06:21:21.2206 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 455, 0.19, 0.965, 2.173, 2.953, 1.812, PHS=-0.759, 0.408, 1.138, RAW= 247.6, -9.5, CAL= 247.7, -21.6, ROT= 262.3, 21.6  PDAT read: Bearing 262.3, 21.6 (Local)  ~Local bearing/azimuth received: Bearing 262.3, 21.6 (Local)  DAT read: Range 10 to 50 : 136.8 m (Round-trip 182.5 ms) speed -0.6 m/s  R#Rx 1: Read range and direction messages. bdirection in FSK: [-0.124577,-0.921393,-0.368125] Fpublishing direction and range infoI yM >-J俿2* |{.MZ׿M CYI M )M IM iM M IM MBM `>M ? 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I 0 1e6Z9JA JA \y,tDMA9b h@bNv@Yb!ybn>bHS?Pبaul?`/? :? ? b h@b- ;)bC}x} AAiAII2 ?=ycQ >٥ H& %>!-S5%Ü?-S59%7X I%!;Ay@%cBi%o<%o<%S5,BE xxwwwxbsjsrszsc@@II iEEEEP5EA!iAyN>ԙ ʹy,&MA9jj@j/x@Yj yjh>jH@o?@~e x0?`ַ?վ?: ? jj@jB;)jC H=<H=<HAHAHEHCHE<HAHAHAHE֓<HESF] ]MIm Im̍2< O=yTQ >٥饩 H2=ԩ:JBJJJRRJZJ:bJ:Jm6JzJ;jJ;JC;rJC; >%T5Ü?%T59[ Ih=Ay!%;@OdBis<Qt<T5+BuB*** querying acoustic contact ***JqRq xqxywywywyxybsjsrszs7@IIIII IQQQiYE5?E1E1E5^0E9AIAYNew> 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I y,TMA9^Lk@^q_y@Y^y^)7l>^H@?``X6?7? #2? ? ^Lk@^ֈ;)^C }> B)i q%GAYIE IEV2 cYyjA15A=*DAT read: user:663> EBDAT read: Tx time:06:22:18.9861 E$Ping request sent.EoG1^ zk"b?Aļ =yM7=Q >٥ H = >T5 Ü?%T59` I?Ay!%%@dBi#<#<"T5)-1B1Թ xxwwwxbs1js1rs1zs5K@AIAII IIIi! E E E E !5E  JDAT read: TxSync time:06:22:18.9853  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255165A9 AQ N >y,MA|9Il@6]z@Yya>H '?7O5`? ʴ?w? w ? Il@;)CammaIM@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.514878aU aM@a aQ@a aE@a MQMbK7A?MuMM > I)IIMMb@Mb@Mb@iM‰M©MM M B)M6BIMMyMBI#I%x3= 8=y#Q >٥ H =  >HqHqHuBHu"<HqHqHqHu˓<HuKFԉT5tÜ?T59c IYBA+:y:Ҧ@eBi:c>f T5  !B:JBJJJARJZJ :bJJ_6JzJk;jJl;JrJ x! x! w! w! w! x! I I y y i  ) ?AE} ?Ey Ey E} 05Ey A A N >W9y,o~"MAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.765908#II 3<= =yQ ?٥! %H!% %?iuT5mÜ?}T59m?f ImCA} :yy}:y}@meBimV:mU>?m T5AEBA xxwwwxII     i E-?E)E)E-_0E1AAAQN>M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.017965K xP"K 9*K 2K :K ra  7 8(r:(bJ^CD9@DP%<J% |AJ! ԁ sqy,:rH O?@MBƿ i b`S?B ?@/? rl@rȊ;)rC];<]BImIm3o< Z=y%>Q ->1٥QQ UHQ]< ]>aeT5eÜ?mT59ei IeEAm9yimt:m0m@eufBieWfM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.523586Wy,iVMAԁGPGR?AHTHTHVHVHTHTHTHV<HV=FH)H)H)H)I) I-^49}j@}Rx@Y}=y}xI>}H ]`?@vʿ@-x@_5?3O`?i7? }j@};)}C%g:%Q E>٥AI MHI >T5.!Ü?T59m IGA9yE:Ĺ@gBi:"?kT5iuBq x!xawiwiwixiyII ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.774952EU?EQEQEUo0EQAaAyN>ԩ iy,$FpMA`9jj@j:y@YjV*Q=yjQ>jH_a?mƿ%_? b"=?MJ? jj@jՉ;)jCvo;vB!%AII3>< h=yQ >٥饱 Hqu< }>yT5}"Ü?T59}Bq I}WIA9y :@}gBi}:}?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025849}T5BBE x9x9w9w9wAxAI!I! !!!izEK%P"K%9*K!2K%:K%\z7 $t9 E#uP16}/;* \t  E M e E=?EAEAEE52EAAQAaN^>aԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280520y,6xMAq9l@Zz@YO_ey>H`>?`YƿpF y??Q?b? l@a;)C:QAԡaIaI aMaM aQaQ aEaE aI@a aM@a aQ@a aE@a ʡE?㥛 ?Mbp=> )IMb@Mb@Mb@i jB)IBy3BaaIeIe(*3checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529959u  =yFHQ >٥ HHF>HHHsHHHH<HeF^= m>q}T5u%Ü?}T59uu Iu}LA}o9yy}:}I}@uVhBiu:u@uT5   BI)I-AA:J=BJ=JJ=2RJ9ZJ=:bJ=b9J=S6J9zJ=;jJ=;J=<.;rJ==.; xxwwwx I I i 9 E E E E _0E A A N >y,_MA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.78207499uB=n@uP|@Yuuyur>uH C?`0ʿ@@0q???bb? uB=n@u;)q;ѼAII2-: -w=y-Ĩ=Q  ?٥ HՆ= ?uT5y'Ü?}T59!x INA}B9yy}9}ɮ}@hBi#<3@T5a xixqwqwqwqxyII iEyEEE5EBDAT read: Rx Time:06:22:21.5762 TRx dataTimestamp_ set to:1749104542.859313checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034932AA N >K] P"K] 9*KY 2K] :K] .],@mVU  V| s  b  ' m 3 U<^]'n_[kJi Ji ;y,`MA9:l@:F{@Y:_*y:ເ>:H`" `? ſ``@ ?T??? :l@:Յ;):Cu}ueII3 d=y_^=Q >٥饡 Hdm ?T5m)Ü?T59{ IOA9y9Ǯ@'iBi:[H@T5B xaxawawawaxachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286997IaIi iiiiEEEE3EAANew>ԁ  DAT read: 06:22:21.5762 LVL= 17792, 27121, 19282, 19955, AGC= 68, IDX= 461, 0.32, 0.018, 0.271, 2.208, 1.051, PHS=-0.945,-0.733, 1.154, RAW= 215.3, 5.3, CAL= 217.5, 0.2, ROT= 292.5, -0.2  Ygot valid direction response: 06:22:21.5762 LVL= 17792, 27121, 19282, 19955, AGC= 68, IDX= 461, 0.32, 0.018, 0.271, 2.208, 1.051, PHS=-0.945,-0.733, 1.154, RAW= 215.3, 5.3, CAL= 217.5, 0.2, ROT= 292.5, -0.2 % PDAT read: Bearing 292.5, -0.2 (Local) % ~Local bearing/azimuth received: Bearing 292.5, -0.2 (Local) - X#Rx 1: Read direction message, but no range. Hu <Hu =Hq Hq Hq Hq Hq Hq Hq Hu <Hu =Fy,8MA^direction in FSK: [0.382681,-0.923874,0.003491]ڱyڵK#ω}?&_QC1ml?Yڱ ۵E)۵iI۵RKi۵M۵D۵q۵;۵F? ܵ~p@)ܵq=Iܵ(r@iܵd;ܵ\@ܵd$I,), ݱݵD(4b26?L?XSz?iݵ?ݵݵ˖ݵd9)k@F=y@YUݼyI=H`OX?.@/P?۩?~?? )k@5;)C-R5ԑII[3q- !=yQ >٥饑 He >T5--Ü?T59 IRA8y9@iBi#<ui@T5)-*B) xAxwwwx9ԹI9I iDAT read: Range 10 to 50 : 139.5 m (Round-trip 186.0 ms) speed -0.3 m/s -X#Rx 2: Read range message, but no direction. CYE ?E E E -5E A! 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